diff --git a/.gitattributes b/.gitattributes index 023247289f16b8d7a2fe23b3a0090dc5a86054c2..c0d36e824d854dc2999b276dea555f82001319c4 100644 --- a/.gitattributes +++ b/.gitattributes @@ -34,3 +34,7 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text *.zst filter=lfs diff=lfs merge=lfs -text *tfevents* filter=lfs diff=lfs merge=lfs -text GenAD/no_hlc/20260213_082314.log.json filter=lfs diff=lfs merge=lfs -text +DriveTransformer/goalpoint_1gpu/20260224_021525.log.json filter=lfs diff=lfs merge=lfs -text +DriveTransformer/goalpoint_1gpu/20260302_071515.log filter=lfs diff=lfs merge=lfs -text +DriveTransformer/goalpoint_1gpu/20260302_071515.log.json filter=lfs diff=lfs merge=lfs -text +DriveTransformer/goalpoint_1gpu/train.log filter=lfs diff=lfs merge=lfs -text diff --git a/DriveTransformer/goalpoint_1gpu/20260223_225608.log b/DriveTransformer/goalpoint_1gpu/20260223_225608.log new file mode 100644 index 0000000000000000000000000000000000000000..6b5723fe52d6ab2109d562b0b49034949ffafca2 --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260223_225608.log @@ -0,0 +1,4120 @@ +2026-02-23 22:56:16,375 - mmdet - INFO - initialize ResNet with init_cfg {'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} +2026-02-23 22:56:16,501 - mmdet - INFO - initialize FPN with init_cfg {'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} +Name of parameter - Initialization information + +pts_bbox_head.code_weights - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_code_weights - torch.Size([4]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.position_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.pc_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_query.weight - torch.Size([900, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_reference_points.weight - torch.Size([900, 3]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.weight - torch.Size([512, 9]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.weight - torch.Size([512, 768]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.mode_embedding.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_query.weight - torch.Size([100, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_reference_points.weight - torch.Size([100, 2]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.weight - torch.Size([512, 6]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.weight - torch.Size([512, 141]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.weight - torch.Size([512, 1920]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.weight - torch.Size([512, 640]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.featurized_pe.reduce.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.spatial_alignment.reduce.0.weight - torch.Size([512, 8]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.time_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.weight - torch.Size([512, 192]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_pose_memory.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_c2026-02-23 22:56:16,521 - DriveTransformer - INFO - Model: +DriveTransformer( + (pts_bbox_head): DriveTransformerlHead( + (loss_cls): FocalLoss() + (loss_bbox): L1Loss() + (loss_traj): L1Loss() + (loss_traj_cls): FocalLoss() + (loss_map_cls): FocalLoss() + (loss_map_pts): PtsL1Loss() + (loss_map_dir): PtsDirCosLoss() + (loss_plan_reg_fix_dist): L1Loss() + (loss_plan_reg_fix_time): L1Loss() + (loss_plan_cls): FocalLoss() + (agent_query): Embedding(900, 512) + (agent_reference_points): Embedding(900, 3) + (agent_cls_embedding): Sequential( + (0): Linear(in_features=9, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (agent_ref_embedding): Sequential( + (0): Linear(in_features=768, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (mode_embedding): Embedding(6, 512) + (map_query): Embedding(100, 512) + (map_reference_points): Embedding(100, 2) + (map_cls_embedding): Sequential( + (0): Linear(in_features=6, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (map_ref_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_lcf_encoder): Sequential( + (0): Linear(in_features=141, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_time_embedding): Sequential( + (0): Linear(in_features=1920, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_dist_embedding): Sequential( + (0): Linear(in_features=640, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (featurized_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (spatial_alignment): MLN( + (reduce): Sequential( + (0): Linear(in_features=8, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (time_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (img_position_encoder): Sequential( + (0): Linear(in_features=192, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_pose_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (ego_pose_memory): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (agent_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (map_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (transformer): DriveTransformerWrapper( + (decoder): DriveTransformerDecoder( + (layers): ModuleList( + (0-5): 6 x DriveTransformerDecoderLayer( + (task_self_attentions): ModuleList( + (0): AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (temporal_cross_attention_layers): ModuleList( + (0-2): 3 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (sensor_cross_attentions): ModuleList( + (0): AttentionLayer( + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (cross_w_q): ModuleList( + (0-2): 3 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + ) + (ffns): ModuleList( + (0): ModuleList( + (0-2): 3 x SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + ) + ) + (cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=9, bias=False) + ) + ) + (reg_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=10, bias=True) + ) + ) + (traj_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=12, bias=True) + ) + ) + (traj_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (6): Linear(in_features=512, out_features=1, bias=False) + ) + ) + (map_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=6, bias=False) + ) + ) + (map_reg_branches): ModuleList( + (0-5): 6 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=2, bias=True) + ) + (6): Linear(in_features=512, out_features=40, bias=True) + ) + (ego_traj_branches_fix_dist): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=20, bias=True) + ) + ) + (ego_traj_branches_fix_time): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=60, bias=True) + ) + ) + ) + (img_backbone): ResNet( + (conv1): Conv2d(3, 64, kernel_size=(7, 7), stride=(2, 2), padding=(3, 3), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (maxpool): MaxPool2d(kernel_size=3, stride=2, padding=1, dilation=1, ceil_mode=False) + (layer1): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(64, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer2): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(256, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(256, 512, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer3): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(512, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(512, 1024, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (4): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (5): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer4): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(1024, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(1024, 2048, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + ) + init_cfg={'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} + (img_neck): FPN( + (lateral_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1)) + ) + ) + (fpn_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) + ) + ) + ) + init_cfg={'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} + (grid_mask): GridMask() +) +2026-02-23 22:56:16,725 - DriveTransformer - INFO - Start running, host: humble@ysh-4090, work_dir: /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu +2026-02-23 22:56:16,725 - DriveTransformer - INFO - Hooks will be executed in the following order: +before_run: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_epoch: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_iter: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook + -------------------- +after_train_iter: +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +after_train_epoch: +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_val_epoch: +(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 + -------------------- +2026-02-23 22:56:16,725 - DriveTransformer - INFO - workflow: [('train', 1)], max: 60 epochs +2026-02-23 22:56:16,727 - DriveTransformer - INFO - Checkpoints will be saved to /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu by HardDiskBackend. +value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.6.weight - torch.Size([40, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.6.bias - torch.Size([40]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +img_backbone.conv1.weight - torch.Size([64, 3, 7, 7]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv1.weight - torch.Size([64, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.0.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv1.weight - torch.Size([64, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv1.weight - torch.Size([64, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv1.weight - torch.Size([128, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.0.weight - torch.Size([512, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv1.weight - torch.Size([256, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.0.weight - torch.Size([1024, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.1.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.1.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv1.weight - torch.Size([512, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.0.weight - torch.Size([2048, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.1.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.1.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv1.weight - torch.Size([512, 2048, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv1.weight - torch.Size([512, 2048, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_neck.lateral_convs.0.conv.weight - torch.Size([512, 2048, 1, 1]): +XavierInit: gain=1, distribution=uniform, bias=0 + +img_neck.lateral_convs.0.conv.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +img_neck.fpn_convs.0.conv.weight - torch.Size([512, 512, 3, 3]): +XavierInit: gain=1, distribution=uniform, bias=0 + +img_neck.fpn_convs.0.conv.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer diff --git a/DriveTransformer/goalpoint_1gpu/20260223_225608.log.json b/DriveTransformer/goalpoint_1gpu/20260223_225608.log.json new file mode 100644 index 0000000000000000000000000000000000000000..48a3b2f1277882263964c770f60b6eab3c358a5b --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260223_225608.log.json @@ -0,0 +1 @@ +{"env_info": "MMCV: 0.0.1", "config": "point_cloud_range = [-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]\nclass_names = [\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n]\ndataset_type = 'B2D_DriveTransformer_GoalPoint_Dataset'\ndata_root = 'data/bench2drive'\ninput_modality = dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True)\nfile_client_args = dict(backend='disk')\ntrain_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\ntest_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\neval_pipeline = [\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone', 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n]\ndata = dict(\n samples_per_gpu=2,\n workers_per_gpu=8,\n train=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=False,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n sub_seq_lenth=-1,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n val=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_root='data/bench2drive',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n test=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n shuffler_sampler=dict(type='InfiniteGroupEachSampleInBatchSampler'),\n nonshuffler_sampler=dict(type='DistributedSampler'))\nevaluation = dict(\n interval=24,\n pipeline=[\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone',\n 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n ])\ncheckpoint_config = dict(interval=1)\nlog_config = dict(\n interval=50,\n hooks=[dict(type='TextLoggerHook'),\n dict(type='TensorboardLoggerHook')])\ndist_params = dict(backend='nccl')\nlog_level = 'INFO'\nwork_dir = 'work_dirs/drivetransformer_goalpoint_1gpu'\nload_from = None\nresume_from = None\nworkflow = [('train', 1)]\nplugin = True\nplugin_dir = 'adzoo/drivetransformer/mmdet3d_plugin/'\nvoxel_size = [0.15, 0.15, 4]\nimg_norm_cfg = dict(\n mean=[123.675, 116.28, 103.53], std=[58.395, 57.12, 57.375], to_rgb=True)\nNameMapping = dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n})\ncollect_keys = [\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', 'ego_pose',\n 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n]\nnum_classes = 9\nmap_classes = [\n 'Broken', 'Solid', 'SolidSolid', 'Center', 'TrafficLight', 'StopSign'\n]\nmap_fixed_ptsnum_per_gt_line = 20\nmap_fixed_ptsnum_per_pred_line = 20\nmap_eval_use_same_gt_sample_num_flag = True\nmap_num_classes = 6\nagent_query_num_vec = 900\nagent_num_topk_sift = 900\nagent_num_propagated = 50\nmap_query_num_vec = 100\nmap_num_topk_sift = 100\nmap_num_propagated = 50\nmemory_len_frame = 10\nnum_mode = 6\nnum_gpus = 1\nbatch_size = 2\nnum_iters_per_epoch = 1041\ndata_aug_conf = dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0])\n_dim_ = 512\nqueue_length = 1\ntotal_epochs = 60\ndropout = 0.1\nmodel = dict(\n type='DriveTransformer',\n use_grid_mask=False,\n pretrained=dict(img='./ckpts/resnet50-19c8e357.pth'),\n img_backbone=dict(\n type='ResNet',\n depth=50,\n num_stages=4,\n out_indices=(3, ),\n frozen_stages=1,\n norm_cfg=dict(type='BN', requires_grad=False),\n norm_eval=True,\n style='pytorch'),\n img_neck=dict(\n type='FPN',\n in_channels=[2048],\n out_channels=512,\n start_level=0,\n add_extra_convs='on_output',\n num_outs=1,\n relu_before_extra_convs=True),\n pts_bbox_head=dict(\n type='DriveTransformerlHead',\n ego_lcf_feat_idx=[0, 1, 2, 3, 4, 5, 6, 7, 8],\n ego_command_dim=128,\n img_stride=32,\n embed_dims=512,\n num_reg_fcs=2,\n num_cls_fcs=2,\n agent_num_propagated=50,\n map_num_propagated=50,\n memory_len_frame=10,\n agent_num_query=900,\n agent_num_query_sifted=900,\n fut_mode=6,\n fut_ego_mode=1,\n fut_ts=6,\n fut_ego_fix_dist=True,\n fut_ts_ego_fix_dist=20,\n fut_ts_ego_fix_time=30,\n num_classes=9,\n code_size=10,\n map_num_query=100,\n map_num_query_sifted=100,\n map_num_classes=6,\n map_num_pts_per_vec=20,\n map_num_pts_per_gt_vec=20,\n map_query_embed_type='instance_pts',\n map_transform_method='minmax',\n map_gt_shift_pts_pattern='v2',\n map_dir_interval=1,\n map_code_size=2,\n map_code_weights=[1.0, 1.0, 1.0, 1.0],\n sync_cls_avg_factor=True,\n with_box_refine=True,\n LID=True,\n with_ego_pos=True,\n position_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n depth_start=1,\n depth_step=0.8,\n depth_num=64,\n agent_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n map_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n transformer=dict(\n type='DriveTransformerWrapper',\n embed_dims=512,\n decoder=dict(\n type='DriveTransformerDecoder',\n num_layers=6,\n fut_mode=6,\n agent_num_query=900,\n map_num_query=100,\n map_num_pts_per_vec=20,\n return_intermediate=True,\n embed_dims=512,\n refine=True,\n transformerlayers=dict(\n type='DriveTransformerDecoderLayer',\n agent_query_num=900,\n map_query_num=100,\n memory_len_frame=10,\n agent_num_propagated=50,\n map_num_propagated=50,\n map_pts_per_vec=20,\n feedforward_channels=2048,\n ffn_dropout=0.1,\n with_cp=False,\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n no_wq=True)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n operation_order=('task_self_attn', 'norm',\n 'temporal_cross_attn', 'norm',\n 'sensor_cross_attn', 'norm', 'ffn',\n 'norm')))),\n bbox_coder=dict(\n type='CustomNMSFreeCoder',\n post_center_range=[-20, -35, -10.0, 20, 35, 10.0],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=100,\n voxel_size=[0.15, 0.15, 4],\n num_classes=9),\n loss_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_bbox=dict(type='L1Loss', loss_weight=0.25),\n loss_traj=dict(type='L1Loss', loss_weight=0.2),\n loss_traj_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.5,\n loss_weight=0.2),\n map_bbox_coder=dict(\n type='MapNMSFreeCoder',\n post_center_range=[-20, -35, -20, -35, 20, 35, 20, 35],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=50,\n voxel_size=[0.15, 0.15, 4],\n num_classes=6),\n loss_map_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_map_pts=dict(type='PtsL1Loss', loss_weight=1.0),\n loss_map_dir=dict(type='PtsDirCosLoss', loss_weight=0.005),\n loss_plan_reg_fix_time=dict(type='L1Loss', loss_weight=3.5),\n loss_plan_reg_fix_dist=dict(type='L1Loss', loss_weight=10.0),\n loss_plan_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=4.0,\n alpha=0.5,\n loss_weight=20.0)),\n train_cfg=dict(\n pts=dict(\n grid_size=[512, 512, 1],\n voxel_size=[0.15, 0.15, 4],\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n out_size_factor=4,\n assigner=dict(\n type='HungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(type='BBox3DL1Cost', weight=0.25),\n iou_cost=dict(type='IoUCost', weight=0.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n map_assigner=dict(\n type='MapHungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(\n type='BBoxL1Cost', weight=0.0, box_format='xywh'),\n iou_cost=dict(type='IoUCost', iou_mode='giou', weight=0.0),\n pts_cost=dict(type='OrderedPtsL1Cost', weight=1.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]))))\ninfo_root = 'data/infos'\nmap_root = 'data/bench2drive/maps'\nmap_file = 'data/infos/b2d_map_infos.pkl'\nann_file_train = 'data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl'\nann_file_val = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\nann_file_test = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\noptimizer = dict(type='AdamW', lr=0.0001, weight_decay=0.01)\noptimizer_config = dict(\n grad_clip=dict(max_norm=35, norm_type=2),\n type='GradientCumulativeFp16OptimizerHook',\n cumulative_iters=96)\nlr_config = dict(\n policy='CosineAnnealing',\n warmup='linear',\n warmup_iters=1000,\n warmup_ratio=0.1,\n min_lr_ratio=0.01)\nrunner = dict(type='EpochBasedRunner', max_epochs=60)\nfp16 = dict(loss_scale=512.0)\nfind_unused_parameters = True\ncustom_hooks = [dict(type='CustomSetEpochInfoHook')]\ncumulative_iters = 96\ngpu_ids = range(0, 1)\n", "seed": 0, "exp_name": "drivetransformer_goalpoint_1gpu.py"} diff --git a/DriveTransformer/goalpoint_1gpu/20260223_230843.log b/DriveTransformer/goalpoint_1gpu/20260223_230843.log new file mode 100644 index 0000000000000000000000000000000000000000..53c215c62442342efc03a3b676332d166816e39b --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260223_230843.log @@ -0,0 +1,4120 @@ +2026-02-23 23:08:51,459 - mmdet - INFO - initialize ResNet with init_cfg {'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} +2026-02-23 23:08:51,568 - mmdet - INFO - initialize FPN with init_cfg {'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} +Name of parameter - Initialization information + +pts_bbox_head.code_weights - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_code_weights - torch.Size([4]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.position_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.pc_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_query.weight - torch.Size([900, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_reference_points.weight - torch.Size([900, 3]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.weight - torch.Size([512, 9]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.weight - torch.Size([512, 768]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.mode_embedding.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_query.weight - torch.Size([100, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_reference_points.weight - torch.Size([100, 2]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.weight - torch.Size([512, 6]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.weight - torch.Size([512, 141]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.weight - torch.Size([512, 1920]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.weight - torch.Size([512, 640]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.featurized_pe.reduce.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.spatial_alignment.reduce.0.weight - torch.Size([512, 8]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.time_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.weight - torch.Size([512, 192]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_pose_memory.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cro2026-02-23 23:08:51,587 - DriveTransformer - INFO - Model: +DriveTransformer( + (pts_bbox_head): DriveTransformerlHead( + (loss_cls): FocalLoss() + (loss_bbox): L1Loss() + (loss_traj): L1Loss() + (loss_traj_cls): FocalLoss() + (loss_map_cls): FocalLoss() + (loss_map_pts): PtsL1Loss() + (loss_map_dir): PtsDirCosLoss() + (loss_plan_reg_fix_dist): L1Loss() + (loss_plan_reg_fix_time): L1Loss() + (loss_plan_cls): FocalLoss() + (agent_query): Embedding(900, 512) + (agent_reference_points): Embedding(900, 3) + (agent_cls_embedding): Sequential( + (0): Linear(in_features=9, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (agent_ref_embedding): Sequential( + (0): Linear(in_features=768, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (mode_embedding): Embedding(6, 512) + (map_query): Embedding(100, 512) + (map_reference_points): Embedding(100, 2) + (map_cls_embedding): Sequential( + (0): Linear(in_features=6, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (map_ref_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_lcf_encoder): Sequential( + (0): Linear(in_features=141, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_time_embedding): Sequential( + (0): Linear(in_features=1920, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_dist_embedding): Sequential( + (0): Linear(in_features=640, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (featurized_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (spatial_alignment): MLN( + (reduce): Sequential( + (0): Linear(in_features=8, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (time_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (img_position_encoder): Sequential( + (0): Linear(in_features=192, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_pose_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (ego_pose_memory): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (agent_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (map_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (transformer): DriveTransformerWrapper( + (decoder): DriveTransformerDecoder( + (layers): ModuleList( + (0-5): 6 x DriveTransformerDecoderLayer( + (task_self_attentions): ModuleList( + (0): AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (temporal_cross_attention_layers): ModuleList( + (0-2): 3 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (sensor_cross_attentions): ModuleList( + (0): AttentionLayer( + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (cross_w_q): ModuleList( + (0-2): 3 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + ) + (ffns): ModuleList( + (0): ModuleList( + (0-2): 3 x SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + ) + ) + (cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=9, bias=False) + ) + ) + (reg_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=10, bias=True) + ) + ) + (traj_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=12, bias=True) + ) + ) + (traj_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (6): Linear(in_features=512, out_features=1, bias=False) + ) + ) + (map_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=6, bias=False) + ) + ) + (map_reg_branches): ModuleList( + (0-5): 6 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=2, bias=True) + ) + (6): Linear(in_features=512, out_features=40, bias=True) + ) + (ego_traj_branches_fix_dist): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=20, bias=True) + ) + ) + (ego_traj_branches_fix_time): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=60, bias=True) + ) + ) + ) + (img_backbone): ResNet( + (conv1): Conv2d(3, 64, kernel_size=(7, 7), stride=(2, 2), padding=(3, 3), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (maxpool): MaxPool2d(kernel_size=3, stride=2, padding=1, dilation=1, ceil_mode=False) + (layer1): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(64, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer2): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(256, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(256, 512, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer3): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(512, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(512, 1024, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (4): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (5): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer4): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(1024, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(1024, 2048, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + ) + init_cfg={'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} + (img_neck): FPN( + (lateral_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1)) + ) + ) + (fpn_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) + ) + ) + ) + init_cfg={'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} + (grid_mask): GridMask() +) +2026-02-23 23:08:51,792 - DriveTransformer - INFO - Start running, host: humble@ysh-4090, work_dir: /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu +2026-02-23 23:08:51,792 - DriveTransformer - INFO - Hooks will be executed in the following order: +before_run: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_epoch: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_iter: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook + -------------------- +after_train_iter: +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +after_train_epoch: +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_val_epoch: +(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 + -------------------- +2026-02-23 23:08:51,792 - DriveTransformer - INFO - workflow: [('train', 1)], max: 60 epochs +2026-02-23 23:08:51,794 - DriveTransformer - INFO - Checkpoints will be saved to /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu by HardDiskBackend. +lue is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.6.weight - torch.Size([40, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.6.bias - torch.Size([40]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +img_backbone.conv1.weight - torch.Size([64, 3, 7, 7]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv1.weight - torch.Size([64, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.0.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv1.weight - torch.Size([64, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv1.weight - torch.Size([64, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv1.weight - torch.Size([128, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.0.weight - torch.Size([512, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv1.weight - torch.Size([256, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.0.weight - torch.Size([1024, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.1.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.1.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv1.weight - torch.Size([512, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.0.weight - torch.Size([2048, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.1.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.1.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv1.weight - torch.Size([512, 2048, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv1.weight - torch.Size([512, 2048, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_neck.lateral_convs.0.conv.weight - torch.Size([512, 2048, 1, 1]): +XavierInit: gain=1, distribution=uniform, bias=0 + +img_neck.lateral_convs.0.conv.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +img_neck.fpn_convs.0.conv.weight - torch.Size([512, 512, 3, 3]): +XavierInit: gain=1, distribution=uniform, bias=0 + +img_neck.fpn_convs.0.conv.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer diff --git a/DriveTransformer/goalpoint_1gpu/20260223_230843.log.json b/DriveTransformer/goalpoint_1gpu/20260223_230843.log.json new file mode 100644 index 0000000000000000000000000000000000000000..afe16db944be10ebca5542f946bf99b36919d18d --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260223_230843.log.json @@ -0,0 +1 @@ +{"env_info": "MMCV: 0.0.1", "config": "point_cloud_range = [-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]\nclass_names = [\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n]\ndataset_type = 'B2D_DriveTransformer_GoalPoint_Dataset'\ndata_root = 'data/bench2drive'\ninput_modality = dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True)\nfile_client_args = dict(backend='disk')\ntrain_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\ntest_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\neval_pipeline = [\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone', 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n]\ndata = dict(\n samples_per_gpu=2,\n workers_per_gpu=8,\n train=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=False,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n sub_seq_lenth=-1,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n val=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_root='data/bench2drive',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n test=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n shuffler_sampler=dict(type='InfiniteGroupEachSampleInBatchSampler'),\n nonshuffler_sampler=dict(type='DistributedSampler'))\nevaluation = dict(\n interval=24,\n pipeline=[\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone',\n 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n ])\ncheckpoint_config = dict(interval=1)\nlog_config = dict(\n interval=50,\n hooks=[dict(type='TextLoggerHook'),\n dict(type='TensorboardLoggerHook')])\ndist_params = dict(backend='nccl')\nlog_level = 'INFO'\nwork_dir = './work_dirs/drivetransformer_goalpoint_1gpu'\nload_from = None\nresume_from = None\nworkflow = [('train', 1)]\nplugin = True\nplugin_dir = 'adzoo/drivetransformer/mmdet3d_plugin/'\nvoxel_size = [0.15, 0.15, 4]\nimg_norm_cfg = dict(\n mean=[123.675, 116.28, 103.53], std=[58.395, 57.12, 57.375], to_rgb=True)\nNameMapping = dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n})\ncollect_keys = [\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', 'ego_pose',\n 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n]\nnum_classes = 9\nmap_classes = [\n 'Broken', 'Solid', 'SolidSolid', 'Center', 'TrafficLight', 'StopSign'\n]\nmap_fixed_ptsnum_per_gt_line = 20\nmap_fixed_ptsnum_per_pred_line = 20\nmap_eval_use_same_gt_sample_num_flag = True\nmap_num_classes = 6\nagent_query_num_vec = 900\nagent_num_topk_sift = 900\nagent_num_propagated = 50\nmap_query_num_vec = 100\nmap_num_topk_sift = 100\nmap_num_propagated = 50\nmemory_len_frame = 10\nnum_mode = 6\nnum_gpus = 1\nbatch_size = 2\nnum_iters_per_epoch = 1041\ndata_aug_conf = dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0])\n_dim_ = 512\nqueue_length = 1\ntotal_epochs = 60\ndropout = 0.1\nmodel = dict(\n type='DriveTransformer',\n use_grid_mask=False,\n pretrained=dict(img='./ckpts/resnet50-19c8e357.pth'),\n img_backbone=dict(\n type='ResNet',\n depth=50,\n num_stages=4,\n out_indices=(3, ),\n frozen_stages=1,\n norm_cfg=dict(type='BN', requires_grad=False),\n norm_eval=True,\n style='pytorch'),\n img_neck=dict(\n type='FPN',\n in_channels=[2048],\n out_channels=512,\n start_level=0,\n add_extra_convs='on_output',\n num_outs=1,\n relu_before_extra_convs=True),\n pts_bbox_head=dict(\n type='DriveTransformerlHead',\n ego_lcf_feat_idx=[0, 1, 2, 3, 4, 5, 6, 7, 8],\n ego_command_dim=128,\n img_stride=32,\n embed_dims=512,\n num_reg_fcs=2,\n num_cls_fcs=2,\n agent_num_propagated=50,\n map_num_propagated=50,\n memory_len_frame=10,\n agent_num_query=900,\n agent_num_query_sifted=900,\n fut_mode=6,\n fut_ego_mode=1,\n fut_ts=6,\n fut_ego_fix_dist=True,\n fut_ts_ego_fix_dist=20,\n fut_ts_ego_fix_time=30,\n num_classes=9,\n code_size=10,\n map_num_query=100,\n map_num_query_sifted=100,\n map_num_classes=6,\n map_num_pts_per_vec=20,\n map_num_pts_per_gt_vec=20,\n map_query_embed_type='instance_pts',\n map_transform_method='minmax',\n map_gt_shift_pts_pattern='v2',\n map_dir_interval=1,\n map_code_size=2,\n map_code_weights=[1.0, 1.0, 1.0, 1.0],\n sync_cls_avg_factor=True,\n with_box_refine=True,\n LID=True,\n with_ego_pos=True,\n position_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n depth_start=1,\n depth_step=0.8,\n depth_num=64,\n agent_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n map_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n transformer=dict(\n type='DriveTransformerWrapper',\n embed_dims=512,\n decoder=dict(\n type='DriveTransformerDecoder',\n num_layers=6,\n fut_mode=6,\n agent_num_query=900,\n map_num_query=100,\n map_num_pts_per_vec=20,\n return_intermediate=True,\n embed_dims=512,\n refine=True,\n transformerlayers=dict(\n type='DriveTransformerDecoderLayer',\n agent_query_num=900,\n map_query_num=100,\n memory_len_frame=10,\n agent_num_propagated=50,\n map_num_propagated=50,\n map_pts_per_vec=20,\n feedforward_channels=2048,\n ffn_dropout=0.1,\n with_cp=False,\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n no_wq=True)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n operation_order=('task_self_attn', 'norm',\n 'temporal_cross_attn', 'norm',\n 'sensor_cross_attn', 'norm', 'ffn',\n 'norm')))),\n bbox_coder=dict(\n type='CustomNMSFreeCoder',\n post_center_range=[-20, -35, -10.0, 20, 35, 10.0],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=100,\n voxel_size=[0.15, 0.15, 4],\n num_classes=9),\n loss_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_bbox=dict(type='L1Loss', loss_weight=0.25),\n loss_traj=dict(type='L1Loss', loss_weight=0.2),\n loss_traj_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.5,\n loss_weight=0.2),\n map_bbox_coder=dict(\n type='MapNMSFreeCoder',\n post_center_range=[-20, -35, -20, -35, 20, 35, 20, 35],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=50,\n voxel_size=[0.15, 0.15, 4],\n num_classes=6),\n loss_map_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_map_pts=dict(type='PtsL1Loss', loss_weight=1.0),\n loss_map_dir=dict(type='PtsDirCosLoss', loss_weight=0.005),\n loss_plan_reg_fix_time=dict(type='L1Loss', loss_weight=3.5),\n loss_plan_reg_fix_dist=dict(type='L1Loss', loss_weight=10.0),\n loss_plan_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=4.0,\n alpha=0.5,\n loss_weight=20.0)),\n train_cfg=dict(\n pts=dict(\n grid_size=[512, 512, 1],\n voxel_size=[0.15, 0.15, 4],\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n out_size_factor=4,\n assigner=dict(\n type='HungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(type='BBox3DL1Cost', weight=0.25),\n iou_cost=dict(type='IoUCost', weight=0.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n map_assigner=dict(\n type='MapHungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(\n type='BBoxL1Cost', weight=0.0, box_format='xywh'),\n iou_cost=dict(type='IoUCost', iou_mode='giou', weight=0.0),\n pts_cost=dict(type='OrderedPtsL1Cost', weight=1.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]))))\ninfo_root = 'data/infos'\nmap_root = 'data/bench2drive/maps'\nmap_file = 'data/infos/b2d_map_infos.pkl'\nann_file_train = 'data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl'\nann_file_val = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\nann_file_test = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\noptimizer = dict(type='AdamW', lr=0.0001, weight_decay=0.01)\noptimizer_config = dict(\n grad_clip=dict(max_norm=35, norm_type=2),\n type='GradientCumulativeFp16OptimizerHook',\n cumulative_iters=96)\nlr_config = dict(\n policy='CosineAnnealing',\n warmup='linear',\n warmup_iters=1000,\n warmup_ratio=0.1,\n min_lr_ratio=0.01)\nrunner = dict(type='EpochBasedRunner', max_epochs=60)\nfp16 = dict(loss_scale=512.0)\nfind_unused_parameters = True\ncustom_hooks = [dict(type='CustomSetEpochInfoHook')]\ncumulative_iters = 96\ngpu_ids = range(0, 1)\n", "seed": 0, "exp_name": "drivetransformer_goalpoint_1gpu.py"} diff --git a/DriveTransformer/goalpoint_1gpu/20260223_230908.log b/DriveTransformer/goalpoint_1gpu/20260223_230908.log new file mode 100644 index 0000000000000000000000000000000000000000..77ae35b0e113696c7344ebc1cc970bec5b8305e6 --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260223_230908.log @@ -0,0 +1,4120 @@ +2026-02-23 23:09:15,820 - mmdet - INFO - initialize ResNet with init_cfg {'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} +2026-02-23 23:09:15,930 - mmdet - INFO - initialize FPN with init_cfg {'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} +Name of parameter - Initialization information + +pts_bbox_head.code_weights - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_code_weights - torch.Size([4]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.position_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.pc_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_query.weight - torch.Size([900, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_reference_points.weight - torch.Size([900, 3]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.weight - torch.Size([512, 9]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.weight - torch.Size([512, 768]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.mode_embedding.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_query.weight - torch.Size([100, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_reference_points.weight - torch.Size([100, 2]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.weight - torch.Size([512, 6]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.weight - torch.Size([512, 141]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.weight - torch.Size([512, 1920]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.weight - torch.Size([512, 640]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.featurized_pe.reduce.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.spatial_alignment.reduce.0.weight - torch.Size([512, 8]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.time_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.weight - torch.Size([512, 192]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_pose_memory.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cro2026-02-23 23:09:15,955 - DriveTransformer - INFO - Model: +DriveTransformer( + (pts_bbox_head): DriveTransformerlHead( + (loss_cls): FocalLoss() + (loss_bbox): L1Loss() + (loss_traj): L1Loss() + (loss_traj_cls): FocalLoss() + (loss_map_cls): FocalLoss() + (loss_map_pts): PtsL1Loss() + (loss_map_dir): PtsDirCosLoss() + (loss_plan_reg_fix_dist): L1Loss() + (loss_plan_reg_fix_time): L1Loss() + (loss_plan_cls): FocalLoss() + (agent_query): Embedding(900, 512) + (agent_reference_points): Embedding(900, 3) + (agent_cls_embedding): Sequential( + (0): Linear(in_features=9, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (agent_ref_embedding): Sequential( + (0): Linear(in_features=768, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (mode_embedding): Embedding(6, 512) + (map_query): Embedding(100, 512) + (map_reference_points): Embedding(100, 2) + (map_cls_embedding): Sequential( + (0): Linear(in_features=6, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (map_ref_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_lcf_encoder): Sequential( + (0): Linear(in_features=141, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_time_embedding): Sequential( + (0): Linear(in_features=1920, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_dist_embedding): Sequential( + (0): Linear(in_features=640, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (featurized_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (spatial_alignment): MLN( + (reduce): Sequential( + (0): Linear(in_features=8, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (time_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (img_position_encoder): Sequential( + (0): Linear(in_features=192, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_pose_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (ego_pose_memory): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (agent_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (map_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (transformer): DriveTransformerWrapper( + (decoder): DriveTransformerDecoder( + (layers): ModuleList( + (0-5): 6 x DriveTransformerDecoderLayer( + (task_self_attentions): ModuleList( + (0): AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (temporal_cross_attention_layers): ModuleList( + (0-2): 3 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (sensor_cross_attentions): ModuleList( + (0): AttentionLayer( + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (cross_w_q): ModuleList( + (0-2): 3 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + ) + (ffns): ModuleList( + (0): ModuleList( + (0-2): 3 x SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + ) + ) + (cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=9, bias=False) + ) + ) + (reg_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=10, bias=True) + ) + ) + (traj_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=12, bias=True) + ) + ) + (traj_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (6): Linear(in_features=512, out_features=1, bias=False) + ) + ) + (map_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=6, bias=False) + ) + ) + (map_reg_branches): ModuleList( + (0-5): 6 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=2, bias=True) + ) + (6): Linear(in_features=512, out_features=40, bias=True) + ) + (ego_traj_branches_fix_dist): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=20, bias=True) + ) + ) + (ego_traj_branches_fix_time): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=60, bias=True) + ) + ) + ) + (img_backbone): ResNet( + (conv1): Conv2d(3, 64, kernel_size=(7, 7), stride=(2, 2), padding=(3, 3), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (maxpool): MaxPool2d(kernel_size=3, stride=2, padding=1, dilation=1, ceil_mode=False) + (layer1): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(64, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer2): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(256, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(256, 512, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer3): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(512, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(512, 1024, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (4): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (5): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer4): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(1024, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(1024, 2048, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + ) + init_cfg={'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} + (img_neck): FPN( + (lateral_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1)) + ) + ) + (fpn_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) + ) + ) + ) + init_cfg={'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} + (grid_mask): GridMask() +) +2026-02-23 23:09:16,155 - DriveTransformer - INFO - Start running, host: humble@ysh-4090, work_dir: /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu +2026-02-23 23:09:16,155 - DriveTransformer - INFO - Hooks will be executed in the following order: +before_run: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_epoch: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_iter: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook + -------------------- +after_train_iter: +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +after_train_epoch: +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_val_epoch: +(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 + -------------------- +2026-02-23 23:09:16,155 - DriveTransformer - INFO - workflow: [('train', 1)], max: 60 epochs +2026-02-23 23:09:16,157 - DriveTransformer - INFO - Checkpoints will be saved to /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu by HardDiskBackend. +lue is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.6.weight - torch.Size([40, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.6.bias - torch.Size([40]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +img_backbone.conv1.weight - torch.Size([64, 3, 7, 7]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv1.weight - torch.Size([64, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.0.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv1.weight - torch.Size([64, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv1.weight - torch.Size([64, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv1.weight - torch.Size([128, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.0.weight - torch.Size([512, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv1.weight - torch.Size([256, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.0.weight - torch.Size([1024, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.1.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.1.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv1.weight - torch.Size([512, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.0.weight - torch.Size([2048, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.1.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.1.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv1.weight - torch.Size([512, 2048, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv1.weight - torch.Size([512, 2048, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_neck.lateral_convs.0.conv.weight - torch.Size([512, 2048, 1, 1]): +XavierInit: gain=1, distribution=uniform, bias=0 + +img_neck.lateral_convs.0.conv.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +img_neck.fpn_convs.0.conv.weight - torch.Size([512, 512, 3, 3]): +XavierInit: gain=1, distribution=uniform, bias=0 + +img_neck.fpn_convs.0.conv.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer diff --git a/DriveTransformer/goalpoint_1gpu/20260223_230908.log.json b/DriveTransformer/goalpoint_1gpu/20260223_230908.log.json new file mode 100644 index 0000000000000000000000000000000000000000..afe16db944be10ebca5542f946bf99b36919d18d --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260223_230908.log.json @@ -0,0 +1 @@ +{"env_info": "MMCV: 0.0.1", "config": "point_cloud_range = [-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]\nclass_names = [\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n]\ndataset_type = 'B2D_DriveTransformer_GoalPoint_Dataset'\ndata_root = 'data/bench2drive'\ninput_modality = dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True)\nfile_client_args = dict(backend='disk')\ntrain_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\ntest_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\neval_pipeline = [\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone', 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n]\ndata = dict(\n samples_per_gpu=2,\n workers_per_gpu=8,\n train=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=False,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n sub_seq_lenth=-1,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n val=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_root='data/bench2drive',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n test=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n shuffler_sampler=dict(type='InfiniteGroupEachSampleInBatchSampler'),\n nonshuffler_sampler=dict(type='DistributedSampler'))\nevaluation = dict(\n interval=24,\n pipeline=[\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone',\n 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n ])\ncheckpoint_config = dict(interval=1)\nlog_config = dict(\n interval=50,\n hooks=[dict(type='TextLoggerHook'),\n dict(type='TensorboardLoggerHook')])\ndist_params = dict(backend='nccl')\nlog_level = 'INFO'\nwork_dir = './work_dirs/drivetransformer_goalpoint_1gpu'\nload_from = None\nresume_from = None\nworkflow = [('train', 1)]\nplugin = True\nplugin_dir = 'adzoo/drivetransformer/mmdet3d_plugin/'\nvoxel_size = [0.15, 0.15, 4]\nimg_norm_cfg = dict(\n mean=[123.675, 116.28, 103.53], std=[58.395, 57.12, 57.375], to_rgb=True)\nNameMapping = dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n})\ncollect_keys = [\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', 'ego_pose',\n 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n]\nnum_classes = 9\nmap_classes = [\n 'Broken', 'Solid', 'SolidSolid', 'Center', 'TrafficLight', 'StopSign'\n]\nmap_fixed_ptsnum_per_gt_line = 20\nmap_fixed_ptsnum_per_pred_line = 20\nmap_eval_use_same_gt_sample_num_flag = True\nmap_num_classes = 6\nagent_query_num_vec = 900\nagent_num_topk_sift = 900\nagent_num_propagated = 50\nmap_query_num_vec = 100\nmap_num_topk_sift = 100\nmap_num_propagated = 50\nmemory_len_frame = 10\nnum_mode = 6\nnum_gpus = 1\nbatch_size = 2\nnum_iters_per_epoch = 1041\ndata_aug_conf = dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0])\n_dim_ = 512\nqueue_length = 1\ntotal_epochs = 60\ndropout = 0.1\nmodel = dict(\n type='DriveTransformer',\n use_grid_mask=False,\n pretrained=dict(img='./ckpts/resnet50-19c8e357.pth'),\n img_backbone=dict(\n type='ResNet',\n depth=50,\n num_stages=4,\n out_indices=(3, ),\n frozen_stages=1,\n norm_cfg=dict(type='BN', requires_grad=False),\n norm_eval=True,\n style='pytorch'),\n img_neck=dict(\n type='FPN',\n in_channels=[2048],\n out_channels=512,\n start_level=0,\n add_extra_convs='on_output',\n num_outs=1,\n relu_before_extra_convs=True),\n pts_bbox_head=dict(\n type='DriveTransformerlHead',\n ego_lcf_feat_idx=[0, 1, 2, 3, 4, 5, 6, 7, 8],\n ego_command_dim=128,\n img_stride=32,\n embed_dims=512,\n num_reg_fcs=2,\n num_cls_fcs=2,\n agent_num_propagated=50,\n map_num_propagated=50,\n memory_len_frame=10,\n agent_num_query=900,\n agent_num_query_sifted=900,\n fut_mode=6,\n fut_ego_mode=1,\n fut_ts=6,\n fut_ego_fix_dist=True,\n fut_ts_ego_fix_dist=20,\n fut_ts_ego_fix_time=30,\n num_classes=9,\n code_size=10,\n map_num_query=100,\n map_num_query_sifted=100,\n map_num_classes=6,\n map_num_pts_per_vec=20,\n map_num_pts_per_gt_vec=20,\n map_query_embed_type='instance_pts',\n map_transform_method='minmax',\n map_gt_shift_pts_pattern='v2',\n map_dir_interval=1,\n map_code_size=2,\n map_code_weights=[1.0, 1.0, 1.0, 1.0],\n sync_cls_avg_factor=True,\n with_box_refine=True,\n LID=True,\n with_ego_pos=True,\n position_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n depth_start=1,\n depth_step=0.8,\n depth_num=64,\n agent_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n map_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n transformer=dict(\n type='DriveTransformerWrapper',\n embed_dims=512,\n decoder=dict(\n type='DriveTransformerDecoder',\n num_layers=6,\n fut_mode=6,\n agent_num_query=900,\n map_num_query=100,\n map_num_pts_per_vec=20,\n return_intermediate=True,\n embed_dims=512,\n refine=True,\n transformerlayers=dict(\n type='DriveTransformerDecoderLayer',\n agent_query_num=900,\n map_query_num=100,\n memory_len_frame=10,\n agent_num_propagated=50,\n map_num_propagated=50,\n map_pts_per_vec=20,\n feedforward_channels=2048,\n ffn_dropout=0.1,\n with_cp=False,\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n no_wq=True)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n operation_order=('task_self_attn', 'norm',\n 'temporal_cross_attn', 'norm',\n 'sensor_cross_attn', 'norm', 'ffn',\n 'norm')))),\n bbox_coder=dict(\n type='CustomNMSFreeCoder',\n post_center_range=[-20, -35, -10.0, 20, 35, 10.0],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=100,\n voxel_size=[0.15, 0.15, 4],\n num_classes=9),\n loss_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_bbox=dict(type='L1Loss', loss_weight=0.25),\n loss_traj=dict(type='L1Loss', loss_weight=0.2),\n loss_traj_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.5,\n loss_weight=0.2),\n map_bbox_coder=dict(\n type='MapNMSFreeCoder',\n post_center_range=[-20, -35, -20, -35, 20, 35, 20, 35],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=50,\n voxel_size=[0.15, 0.15, 4],\n num_classes=6),\n loss_map_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_map_pts=dict(type='PtsL1Loss', loss_weight=1.0),\n loss_map_dir=dict(type='PtsDirCosLoss', loss_weight=0.005),\n loss_plan_reg_fix_time=dict(type='L1Loss', loss_weight=3.5),\n loss_plan_reg_fix_dist=dict(type='L1Loss', loss_weight=10.0),\n loss_plan_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=4.0,\n alpha=0.5,\n loss_weight=20.0)),\n train_cfg=dict(\n pts=dict(\n grid_size=[512, 512, 1],\n voxel_size=[0.15, 0.15, 4],\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n out_size_factor=4,\n assigner=dict(\n type='HungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(type='BBox3DL1Cost', weight=0.25),\n iou_cost=dict(type='IoUCost', weight=0.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n map_assigner=dict(\n type='MapHungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(\n type='BBoxL1Cost', weight=0.0, box_format='xywh'),\n iou_cost=dict(type='IoUCost', iou_mode='giou', weight=0.0),\n pts_cost=dict(type='OrderedPtsL1Cost', weight=1.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]))))\ninfo_root = 'data/infos'\nmap_root = 'data/bench2drive/maps'\nmap_file = 'data/infos/b2d_map_infos.pkl'\nann_file_train = 'data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl'\nann_file_val = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\nann_file_test = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\noptimizer = dict(type='AdamW', lr=0.0001, weight_decay=0.01)\noptimizer_config = dict(\n grad_clip=dict(max_norm=35, norm_type=2),\n type='GradientCumulativeFp16OptimizerHook',\n cumulative_iters=96)\nlr_config = dict(\n policy='CosineAnnealing',\n warmup='linear',\n warmup_iters=1000,\n warmup_ratio=0.1,\n min_lr_ratio=0.01)\nrunner = dict(type='EpochBasedRunner', max_epochs=60)\nfp16 = dict(loss_scale=512.0)\nfind_unused_parameters = True\ncustom_hooks = [dict(type='CustomSetEpochInfoHook')]\ncumulative_iters = 96\ngpu_ids = range(0, 1)\n", "seed": 0, "exp_name": "drivetransformer_goalpoint_1gpu.py"} diff --git a/DriveTransformer/goalpoint_1gpu/20260223_231013.log b/DriveTransformer/goalpoint_1gpu/20260223_231013.log new file mode 100644 index 0000000000000000000000000000000000000000..25ca952738e903b40ec7212f1febc07f7a1a284a --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260223_231013.log @@ -0,0 +1,4120 @@ +2026-02-23 23:10:21,525 - mmdet - INFO - initialize ResNet with init_cfg {'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} +2026-02-23 23:10:21,639 - mmdet - INFO - initialize FPN with init_cfg {'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} +Name of parameter - Initialization information + +pts_bbox_head.code_weights - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_code_weights - torch.Size([4]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.position_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.pc_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_query.weight - torch.Size([900, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_reference_points.weight - torch.Size([900, 3]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.weight - torch.Size([512, 9]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.weight - torch.Size([512, 768]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.mode_embedding.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_query.weight - torch.Size([100, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_reference_points.weight - torch.Size([100, 2]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.weight - torch.Size([512, 6]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.weight - torch.Size([512, 141]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.weight - torch.Size([512, 1920]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.weight - torch.Size([512, 640]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.featurized_pe.reduce.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.spatial_alignment.reduce.0.weight - torch.Size([512, 8]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.time_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.weight - torch.Size([512, 192]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_pose_memory.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cro2026-02-23 23:10:21,660 - DriveTransformer - INFO - Model: +DriveTransformer( + (pts_bbox_head): DriveTransformerlHead( + (loss_cls): FocalLoss() + (loss_bbox): L1Loss() + (loss_traj): L1Loss() + (loss_traj_cls): FocalLoss() + (loss_map_cls): FocalLoss() + (loss_map_pts): PtsL1Loss() + (loss_map_dir): PtsDirCosLoss() + (loss_plan_reg_fix_dist): L1Loss() + (loss_plan_reg_fix_time): L1Loss() + (loss_plan_cls): FocalLoss() + (agent_query): Embedding(900, 512) + (agent_reference_points): Embedding(900, 3) + (agent_cls_embedding): Sequential( + (0): Linear(in_features=9, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (agent_ref_embedding): Sequential( + (0): Linear(in_features=768, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (mode_embedding): Embedding(6, 512) + (map_query): Embedding(100, 512) + (map_reference_points): Embedding(100, 2) + (map_cls_embedding): Sequential( + (0): Linear(in_features=6, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (map_ref_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_lcf_encoder): Sequential( + (0): Linear(in_features=141, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_time_embedding): Sequential( + (0): Linear(in_features=1920, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_dist_embedding): Sequential( + (0): Linear(in_features=640, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (featurized_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (spatial_alignment): MLN( + (reduce): Sequential( + (0): Linear(in_features=8, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (time_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (img_position_encoder): Sequential( + (0): Linear(in_features=192, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_pose_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (ego_pose_memory): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (agent_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (map_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (transformer): DriveTransformerWrapper( + (decoder): DriveTransformerDecoder( + (layers): ModuleList( + (0-5): 6 x DriveTransformerDecoderLayer( + (task_self_attentions): ModuleList( + (0): AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (temporal_cross_attention_layers): ModuleList( + (0-2): 3 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (sensor_cross_attentions): ModuleList( + (0): AttentionLayer( + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (cross_w_q): ModuleList( + (0-2): 3 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + ) + (ffns): ModuleList( + (0): ModuleList( + (0-2): 3 x SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + ) + ) + (cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=9, bias=False) + ) + ) + (reg_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=10, bias=True) + ) + ) + (traj_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=12, bias=True) + ) + ) + (traj_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (6): Linear(in_features=512, out_features=1, bias=False) + ) + ) + (map_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=6, bias=False) + ) + ) + (map_reg_branches): ModuleList( + (0-5): 6 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=2, bias=True) + ) + (6): Linear(in_features=512, out_features=40, bias=True) + ) + (ego_traj_branches_fix_dist): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=20, bias=True) + ) + ) + (ego_traj_branches_fix_time): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=60, bias=True) + ) + ) + ) + (img_backbone): ResNet( + (conv1): Conv2d(3, 64, kernel_size=(7, 7), stride=(2, 2), padding=(3, 3), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (maxpool): MaxPool2d(kernel_size=3, stride=2, padding=1, dilation=1, ceil_mode=False) + (layer1): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(64, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer2): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(256, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(256, 512, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer3): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(512, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(512, 1024, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (4): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (5): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer4): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(1024, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(1024, 2048, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + ) + init_cfg={'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} + (img_neck): FPN( + (lateral_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1)) + ) + ) + (fpn_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) + ) + ) + ) + init_cfg={'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} + (grid_mask): GridMask() +) +2026-02-23 23:10:21,858 - DriveTransformer - INFO - Start running, host: humble@ysh-4090, work_dir: /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu +2026-02-23 23:10:21,858 - DriveTransformer - INFO - Hooks will be executed in the following order: +before_run: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_epoch: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_iter: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook + -------------------- +after_train_iter: +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +after_train_epoch: +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_val_epoch: +(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 + -------------------- +2026-02-23 23:10:21,858 - DriveTransformer - INFO - workflow: [('train', 1)], max: 60 epochs +2026-02-23 23:10:21,860 - DriveTransformer - INFO - Checkpoints will be saved to /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu by HardDiskBackend. +lue is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.6.weight - torch.Size([40, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.6.bias - torch.Size([40]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +img_backbone.conv1.weight - torch.Size([64, 3, 7, 7]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv1.weight - torch.Size([64, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.0.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv1.weight - torch.Size([64, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv1.weight - torch.Size([64, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv1.weight - torch.Size([128, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.0.weight - torch.Size([512, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv1.weight - torch.Size([256, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.0.weight - torch.Size([1024, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.1.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.1.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv1.weight - torch.Size([512, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.0.weight - torch.Size([2048, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.1.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.1.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv1.weight - torch.Size([512, 2048, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv1.weight - torch.Size([512, 2048, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_neck.lateral_convs.0.conv.weight - torch.Size([512, 2048, 1, 1]): +XavierInit: gain=1, distribution=uniform, bias=0 + +img_neck.lateral_convs.0.conv.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +img_neck.fpn_convs.0.conv.weight - torch.Size([512, 512, 3, 3]): +XavierInit: gain=1, distribution=uniform, bias=0 + +img_neck.fpn_convs.0.conv.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer diff --git a/DriveTransformer/goalpoint_1gpu/20260223_231013.log.json b/DriveTransformer/goalpoint_1gpu/20260223_231013.log.json new file mode 100644 index 0000000000000000000000000000000000000000..afe16db944be10ebca5542f946bf99b36919d18d --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260223_231013.log.json @@ -0,0 +1 @@ +{"env_info": "MMCV: 0.0.1", "config": "point_cloud_range = [-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]\nclass_names = [\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n]\ndataset_type = 'B2D_DriveTransformer_GoalPoint_Dataset'\ndata_root = 'data/bench2drive'\ninput_modality = dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True)\nfile_client_args = dict(backend='disk')\ntrain_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\ntest_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\neval_pipeline = [\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone', 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n]\ndata = dict(\n samples_per_gpu=2,\n workers_per_gpu=8,\n train=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=False,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n sub_seq_lenth=-1,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n val=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_root='data/bench2drive',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n test=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n shuffler_sampler=dict(type='InfiniteGroupEachSampleInBatchSampler'),\n nonshuffler_sampler=dict(type='DistributedSampler'))\nevaluation = dict(\n interval=24,\n pipeline=[\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone',\n 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n ])\ncheckpoint_config = dict(interval=1)\nlog_config = dict(\n interval=50,\n hooks=[dict(type='TextLoggerHook'),\n dict(type='TensorboardLoggerHook')])\ndist_params = dict(backend='nccl')\nlog_level = 'INFO'\nwork_dir = './work_dirs/drivetransformer_goalpoint_1gpu'\nload_from = None\nresume_from = None\nworkflow = [('train', 1)]\nplugin = True\nplugin_dir = 'adzoo/drivetransformer/mmdet3d_plugin/'\nvoxel_size = [0.15, 0.15, 4]\nimg_norm_cfg = dict(\n mean=[123.675, 116.28, 103.53], std=[58.395, 57.12, 57.375], to_rgb=True)\nNameMapping = dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n})\ncollect_keys = [\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', 'ego_pose',\n 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n]\nnum_classes = 9\nmap_classes = [\n 'Broken', 'Solid', 'SolidSolid', 'Center', 'TrafficLight', 'StopSign'\n]\nmap_fixed_ptsnum_per_gt_line = 20\nmap_fixed_ptsnum_per_pred_line = 20\nmap_eval_use_same_gt_sample_num_flag = True\nmap_num_classes = 6\nagent_query_num_vec = 900\nagent_num_topk_sift = 900\nagent_num_propagated = 50\nmap_query_num_vec = 100\nmap_num_topk_sift = 100\nmap_num_propagated = 50\nmemory_len_frame = 10\nnum_mode = 6\nnum_gpus = 1\nbatch_size = 2\nnum_iters_per_epoch = 1041\ndata_aug_conf = dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0])\n_dim_ = 512\nqueue_length = 1\ntotal_epochs = 60\ndropout = 0.1\nmodel = dict(\n type='DriveTransformer',\n use_grid_mask=False,\n pretrained=dict(img='./ckpts/resnet50-19c8e357.pth'),\n img_backbone=dict(\n type='ResNet',\n depth=50,\n num_stages=4,\n out_indices=(3, ),\n frozen_stages=1,\n norm_cfg=dict(type='BN', requires_grad=False),\n norm_eval=True,\n style='pytorch'),\n img_neck=dict(\n type='FPN',\n in_channels=[2048],\n out_channels=512,\n start_level=0,\n add_extra_convs='on_output',\n num_outs=1,\n relu_before_extra_convs=True),\n pts_bbox_head=dict(\n type='DriveTransformerlHead',\n ego_lcf_feat_idx=[0, 1, 2, 3, 4, 5, 6, 7, 8],\n ego_command_dim=128,\n img_stride=32,\n embed_dims=512,\n num_reg_fcs=2,\n num_cls_fcs=2,\n agent_num_propagated=50,\n map_num_propagated=50,\n memory_len_frame=10,\n agent_num_query=900,\n agent_num_query_sifted=900,\n fut_mode=6,\n fut_ego_mode=1,\n fut_ts=6,\n fut_ego_fix_dist=True,\n fut_ts_ego_fix_dist=20,\n fut_ts_ego_fix_time=30,\n num_classes=9,\n code_size=10,\n map_num_query=100,\n map_num_query_sifted=100,\n map_num_classes=6,\n map_num_pts_per_vec=20,\n map_num_pts_per_gt_vec=20,\n map_query_embed_type='instance_pts',\n map_transform_method='minmax',\n map_gt_shift_pts_pattern='v2',\n map_dir_interval=1,\n map_code_size=2,\n map_code_weights=[1.0, 1.0, 1.0, 1.0],\n sync_cls_avg_factor=True,\n with_box_refine=True,\n LID=True,\n with_ego_pos=True,\n position_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n depth_start=1,\n depth_step=0.8,\n depth_num=64,\n agent_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n map_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n transformer=dict(\n type='DriveTransformerWrapper',\n embed_dims=512,\n decoder=dict(\n type='DriveTransformerDecoder',\n num_layers=6,\n fut_mode=6,\n agent_num_query=900,\n map_num_query=100,\n map_num_pts_per_vec=20,\n return_intermediate=True,\n embed_dims=512,\n refine=True,\n transformerlayers=dict(\n type='DriveTransformerDecoderLayer',\n agent_query_num=900,\n map_query_num=100,\n memory_len_frame=10,\n agent_num_propagated=50,\n map_num_propagated=50,\n map_pts_per_vec=20,\n feedforward_channels=2048,\n ffn_dropout=0.1,\n with_cp=False,\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n no_wq=True)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n operation_order=('task_self_attn', 'norm',\n 'temporal_cross_attn', 'norm',\n 'sensor_cross_attn', 'norm', 'ffn',\n 'norm')))),\n bbox_coder=dict(\n type='CustomNMSFreeCoder',\n post_center_range=[-20, -35, -10.0, 20, 35, 10.0],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=100,\n voxel_size=[0.15, 0.15, 4],\n num_classes=9),\n loss_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_bbox=dict(type='L1Loss', loss_weight=0.25),\n loss_traj=dict(type='L1Loss', loss_weight=0.2),\n loss_traj_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.5,\n loss_weight=0.2),\n map_bbox_coder=dict(\n type='MapNMSFreeCoder',\n post_center_range=[-20, -35, -20, -35, 20, 35, 20, 35],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=50,\n voxel_size=[0.15, 0.15, 4],\n num_classes=6),\n loss_map_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_map_pts=dict(type='PtsL1Loss', loss_weight=1.0),\n loss_map_dir=dict(type='PtsDirCosLoss', loss_weight=0.005),\n loss_plan_reg_fix_time=dict(type='L1Loss', loss_weight=3.5),\n loss_plan_reg_fix_dist=dict(type='L1Loss', loss_weight=10.0),\n loss_plan_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=4.0,\n alpha=0.5,\n loss_weight=20.0)),\n train_cfg=dict(\n pts=dict(\n grid_size=[512, 512, 1],\n voxel_size=[0.15, 0.15, 4],\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n out_size_factor=4,\n assigner=dict(\n type='HungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(type='BBox3DL1Cost', weight=0.25),\n iou_cost=dict(type='IoUCost', weight=0.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n map_assigner=dict(\n type='MapHungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(\n type='BBoxL1Cost', weight=0.0, box_format='xywh'),\n iou_cost=dict(type='IoUCost', iou_mode='giou', weight=0.0),\n pts_cost=dict(type='OrderedPtsL1Cost', weight=1.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]))))\ninfo_root = 'data/infos'\nmap_root = 'data/bench2drive/maps'\nmap_file = 'data/infos/b2d_map_infos.pkl'\nann_file_train = 'data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl'\nann_file_val = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\nann_file_test = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\noptimizer = dict(type='AdamW', lr=0.0001, weight_decay=0.01)\noptimizer_config = dict(\n grad_clip=dict(max_norm=35, norm_type=2),\n type='GradientCumulativeFp16OptimizerHook',\n cumulative_iters=96)\nlr_config = dict(\n policy='CosineAnnealing',\n warmup='linear',\n warmup_iters=1000,\n warmup_ratio=0.1,\n min_lr_ratio=0.01)\nrunner = dict(type='EpochBasedRunner', max_epochs=60)\nfp16 = dict(loss_scale=512.0)\nfind_unused_parameters = True\ncustom_hooks = [dict(type='CustomSetEpochInfoHook')]\ncumulative_iters = 96\ngpu_ids = range(0, 1)\n", "seed": 0, "exp_name": "drivetransformer_goalpoint_1gpu.py"} diff --git a/DriveTransformer/goalpoint_1gpu/20260223_231057.log b/DriveTransformer/goalpoint_1gpu/20260223_231057.log new file mode 100644 index 0000000000000000000000000000000000000000..90da3b3bcb50b23e96acc3c0520bd1f5b18e7059 --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260223_231057.log @@ -0,0 +1,4120 @@ +2026-02-23 23:11:05,175 - mmdet - INFO - initialize ResNet with init_cfg {'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} +2026-02-23 23:11:05,288 - mmdet - INFO - initialize FPN with init_cfg {'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} +Name of parameter - Initialization information + +pts_bbox_head.code_weights - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_code_weights - torch.Size([4]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.position_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.pc_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_query.weight - torch.Size([900, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_reference_points.weight - torch.Size([900, 3]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.weight - torch.Size([512, 9]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.weight - torch.Size([512, 768]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.mode_embedding.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_query.weight - torch.Size([100, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_reference_points.weight - torch.Size([100, 2]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.weight - torch.Size([512, 6]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.weight - torch.Size([512, 141]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.weight - torch.Size([512, 1920]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.weight - torch.Size([512, 640]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.featurized_pe.reduce.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.spatial_alignment.reduce.0.weight - torch.Size([512, 8]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.time_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.weight - torch.Size([512, 192]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_pose_memory.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cro2026-02-23 23:11:05,307 - DriveTransformer - INFO - Model: +DriveTransformer( + (pts_bbox_head): DriveTransformerlHead( + (loss_cls): FocalLoss() + (loss_bbox): L1Loss() + (loss_traj): L1Loss() + (loss_traj_cls): FocalLoss() + (loss_map_cls): FocalLoss() + (loss_map_pts): PtsL1Loss() + (loss_map_dir): PtsDirCosLoss() + (loss_plan_reg_fix_dist): L1Loss() + (loss_plan_reg_fix_time): L1Loss() + (loss_plan_cls): FocalLoss() + (agent_query): Embedding(900, 512) + (agent_reference_points): Embedding(900, 3) + (agent_cls_embedding): Sequential( + (0): Linear(in_features=9, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (agent_ref_embedding): Sequential( + (0): Linear(in_features=768, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (mode_embedding): Embedding(6, 512) + (map_query): Embedding(100, 512) + (map_reference_points): Embedding(100, 2) + (map_cls_embedding): Sequential( + (0): Linear(in_features=6, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (map_ref_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_lcf_encoder): Sequential( + (0): Linear(in_features=141, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_time_embedding): Sequential( + (0): Linear(in_features=1920, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_dist_embedding): Sequential( + (0): Linear(in_features=640, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (featurized_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (spatial_alignment): MLN( + (reduce): Sequential( + (0): Linear(in_features=8, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (time_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (img_position_encoder): Sequential( + (0): Linear(in_features=192, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_pose_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (ego_pose_memory): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (agent_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (map_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (transformer): DriveTransformerWrapper( + (decoder): DriveTransformerDecoder( + (layers): ModuleList( + (0-5): 6 x DriveTransformerDecoderLayer( + (task_self_attentions): ModuleList( + (0): AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (temporal_cross_attention_layers): ModuleList( + (0-2): 3 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (sensor_cross_attentions): ModuleList( + (0): AttentionLayer( + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (cross_w_q): ModuleList( + (0-2): 3 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + ) + (ffns): ModuleList( + (0): ModuleList( + (0-2): 3 x SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + ) + ) + (cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=9, bias=False) + ) + ) + (reg_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=10, bias=True) + ) + ) + (traj_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=12, bias=True) + ) + ) + (traj_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (6): Linear(in_features=512, out_features=1, bias=False) + ) + ) + (map_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=6, bias=False) + ) + ) + (map_reg_branches): ModuleList( + (0-5): 6 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=2, bias=True) + ) + (6): Linear(in_features=512, out_features=40, bias=True) + ) + (ego_traj_branches_fix_dist): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=20, bias=True) + ) + ) + (ego_traj_branches_fix_time): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=60, bias=True) + ) + ) + ) + (img_backbone): ResNet( + (conv1): Conv2d(3, 64, kernel_size=(7, 7), stride=(2, 2), padding=(3, 3), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (maxpool): MaxPool2d(kernel_size=3, stride=2, padding=1, dilation=1, ceil_mode=False) + (layer1): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(64, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer2): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(256, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(256, 512, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer3): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(512, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(512, 1024, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (4): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (5): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer4): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(1024, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(1024, 2048, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + ) + init_cfg={'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} + (img_neck): FPN( + (lateral_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1)) + ) + ) + (fpn_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) + ) + ) + ) + init_cfg={'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} + (grid_mask): GridMask() +) +2026-02-23 23:11:05,508 - DriveTransformer - INFO - Start running, host: humble@ysh-4090, work_dir: /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu +2026-02-23 23:11:05,509 - DriveTransformer - INFO - Hooks will be executed in the following order: +before_run: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_epoch: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_iter: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook + -------------------- +after_train_iter: +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +after_train_epoch: +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_val_epoch: +(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 + -------------------- +2026-02-23 23:11:05,509 - DriveTransformer - INFO - workflow: [('train', 1)], max: 60 epochs +2026-02-23 23:11:05,511 - DriveTransformer - INFO - Checkpoints will be saved to /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu by HardDiskBackend. +lue is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.6.weight - torch.Size([40, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.6.bias - torch.Size([40]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +img_backbone.conv1.weight - torch.Size([64, 3, 7, 7]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv1.weight - torch.Size([64, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.0.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv1.weight - torch.Size([64, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv1.weight - torch.Size([64, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv1.weight - torch.Size([128, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.0.weight - torch.Size([512, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv1.weight - torch.Size([256, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.0.weight - torch.Size([1024, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.1.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.1.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv1.weight - torch.Size([512, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.0.weight - torch.Size([2048, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.1.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.1.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv1.weight - torch.Size([512, 2048, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv1.weight - torch.Size([512, 2048, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_neck.lateral_convs.0.conv.weight - torch.Size([512, 2048, 1, 1]): +XavierInit: gain=1, distribution=uniform, bias=0 + +img_neck.lateral_convs.0.conv.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +img_neck.fpn_convs.0.conv.weight - torch.Size([512, 512, 3, 3]): +XavierInit: gain=1, distribution=uniform, bias=0 + +img_neck.fpn_convs.0.conv.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer diff --git a/DriveTransformer/goalpoint_1gpu/20260223_231057.log.json b/DriveTransformer/goalpoint_1gpu/20260223_231057.log.json new file mode 100644 index 0000000000000000000000000000000000000000..afe16db944be10ebca5542f946bf99b36919d18d --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260223_231057.log.json @@ -0,0 +1 @@ +{"env_info": "MMCV: 0.0.1", "config": "point_cloud_range = [-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]\nclass_names = [\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n]\ndataset_type = 'B2D_DriveTransformer_GoalPoint_Dataset'\ndata_root = 'data/bench2drive'\ninput_modality = dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True)\nfile_client_args = dict(backend='disk')\ntrain_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\ntest_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\neval_pipeline = [\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone', 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n]\ndata = dict(\n samples_per_gpu=2,\n workers_per_gpu=8,\n train=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=False,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n sub_seq_lenth=-1,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n val=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_root='data/bench2drive',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n test=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n shuffler_sampler=dict(type='InfiniteGroupEachSampleInBatchSampler'),\n nonshuffler_sampler=dict(type='DistributedSampler'))\nevaluation = dict(\n interval=24,\n pipeline=[\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone',\n 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n ])\ncheckpoint_config = dict(interval=1)\nlog_config = dict(\n interval=50,\n hooks=[dict(type='TextLoggerHook'),\n dict(type='TensorboardLoggerHook')])\ndist_params = dict(backend='nccl')\nlog_level = 'INFO'\nwork_dir = './work_dirs/drivetransformer_goalpoint_1gpu'\nload_from = None\nresume_from = None\nworkflow = [('train', 1)]\nplugin = True\nplugin_dir = 'adzoo/drivetransformer/mmdet3d_plugin/'\nvoxel_size = [0.15, 0.15, 4]\nimg_norm_cfg = dict(\n mean=[123.675, 116.28, 103.53], std=[58.395, 57.12, 57.375], to_rgb=True)\nNameMapping = dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n})\ncollect_keys = [\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', 'ego_pose',\n 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n]\nnum_classes = 9\nmap_classes = [\n 'Broken', 'Solid', 'SolidSolid', 'Center', 'TrafficLight', 'StopSign'\n]\nmap_fixed_ptsnum_per_gt_line = 20\nmap_fixed_ptsnum_per_pred_line = 20\nmap_eval_use_same_gt_sample_num_flag = True\nmap_num_classes = 6\nagent_query_num_vec = 900\nagent_num_topk_sift = 900\nagent_num_propagated = 50\nmap_query_num_vec = 100\nmap_num_topk_sift = 100\nmap_num_propagated = 50\nmemory_len_frame = 10\nnum_mode = 6\nnum_gpus = 1\nbatch_size = 2\nnum_iters_per_epoch = 1041\ndata_aug_conf = dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0])\n_dim_ = 512\nqueue_length = 1\ntotal_epochs = 60\ndropout = 0.1\nmodel = dict(\n type='DriveTransformer',\n use_grid_mask=False,\n pretrained=dict(img='./ckpts/resnet50-19c8e357.pth'),\n img_backbone=dict(\n type='ResNet',\n depth=50,\n num_stages=4,\n out_indices=(3, ),\n frozen_stages=1,\n norm_cfg=dict(type='BN', requires_grad=False),\n norm_eval=True,\n style='pytorch'),\n img_neck=dict(\n type='FPN',\n in_channels=[2048],\n out_channels=512,\n start_level=0,\n add_extra_convs='on_output',\n num_outs=1,\n relu_before_extra_convs=True),\n pts_bbox_head=dict(\n type='DriveTransformerlHead',\n ego_lcf_feat_idx=[0, 1, 2, 3, 4, 5, 6, 7, 8],\n ego_command_dim=128,\n img_stride=32,\n embed_dims=512,\n num_reg_fcs=2,\n num_cls_fcs=2,\n agent_num_propagated=50,\n map_num_propagated=50,\n memory_len_frame=10,\n agent_num_query=900,\n agent_num_query_sifted=900,\n fut_mode=6,\n fut_ego_mode=1,\n fut_ts=6,\n fut_ego_fix_dist=True,\n fut_ts_ego_fix_dist=20,\n fut_ts_ego_fix_time=30,\n num_classes=9,\n code_size=10,\n map_num_query=100,\n map_num_query_sifted=100,\n map_num_classes=6,\n map_num_pts_per_vec=20,\n map_num_pts_per_gt_vec=20,\n map_query_embed_type='instance_pts',\n map_transform_method='minmax',\n map_gt_shift_pts_pattern='v2',\n map_dir_interval=1,\n map_code_size=2,\n map_code_weights=[1.0, 1.0, 1.0, 1.0],\n sync_cls_avg_factor=True,\n with_box_refine=True,\n LID=True,\n with_ego_pos=True,\n position_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n depth_start=1,\n depth_step=0.8,\n depth_num=64,\n agent_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n map_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n transformer=dict(\n type='DriveTransformerWrapper',\n embed_dims=512,\n decoder=dict(\n type='DriveTransformerDecoder',\n num_layers=6,\n fut_mode=6,\n agent_num_query=900,\n map_num_query=100,\n map_num_pts_per_vec=20,\n return_intermediate=True,\n embed_dims=512,\n refine=True,\n transformerlayers=dict(\n type='DriveTransformerDecoderLayer',\n agent_query_num=900,\n map_query_num=100,\n memory_len_frame=10,\n agent_num_propagated=50,\n map_num_propagated=50,\n map_pts_per_vec=20,\n feedforward_channels=2048,\n ffn_dropout=0.1,\n with_cp=False,\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n no_wq=True)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n operation_order=('task_self_attn', 'norm',\n 'temporal_cross_attn', 'norm',\n 'sensor_cross_attn', 'norm', 'ffn',\n 'norm')))),\n bbox_coder=dict(\n type='CustomNMSFreeCoder',\n post_center_range=[-20, -35, -10.0, 20, 35, 10.0],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=100,\n voxel_size=[0.15, 0.15, 4],\n num_classes=9),\n loss_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_bbox=dict(type='L1Loss', loss_weight=0.25),\n loss_traj=dict(type='L1Loss', loss_weight=0.2),\n loss_traj_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.5,\n loss_weight=0.2),\n map_bbox_coder=dict(\n type='MapNMSFreeCoder',\n post_center_range=[-20, -35, -20, -35, 20, 35, 20, 35],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=50,\n voxel_size=[0.15, 0.15, 4],\n num_classes=6),\n loss_map_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_map_pts=dict(type='PtsL1Loss', loss_weight=1.0),\n loss_map_dir=dict(type='PtsDirCosLoss', loss_weight=0.005),\n loss_plan_reg_fix_time=dict(type='L1Loss', loss_weight=3.5),\n loss_plan_reg_fix_dist=dict(type='L1Loss', loss_weight=10.0),\n loss_plan_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=4.0,\n alpha=0.5,\n loss_weight=20.0)),\n train_cfg=dict(\n pts=dict(\n grid_size=[512, 512, 1],\n voxel_size=[0.15, 0.15, 4],\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n out_size_factor=4,\n assigner=dict(\n type='HungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(type='BBox3DL1Cost', weight=0.25),\n iou_cost=dict(type='IoUCost', weight=0.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n map_assigner=dict(\n type='MapHungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(\n type='BBoxL1Cost', weight=0.0, box_format='xywh'),\n iou_cost=dict(type='IoUCost', iou_mode='giou', weight=0.0),\n pts_cost=dict(type='OrderedPtsL1Cost', weight=1.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]))))\ninfo_root = 'data/infos'\nmap_root = 'data/bench2drive/maps'\nmap_file = 'data/infos/b2d_map_infos.pkl'\nann_file_train = 'data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl'\nann_file_val = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\nann_file_test = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\noptimizer = dict(type='AdamW', lr=0.0001, weight_decay=0.01)\noptimizer_config = dict(\n grad_clip=dict(max_norm=35, norm_type=2),\n type='GradientCumulativeFp16OptimizerHook',\n cumulative_iters=96)\nlr_config = dict(\n policy='CosineAnnealing',\n warmup='linear',\n warmup_iters=1000,\n warmup_ratio=0.1,\n min_lr_ratio=0.01)\nrunner = dict(type='EpochBasedRunner', max_epochs=60)\nfp16 = dict(loss_scale=512.0)\nfind_unused_parameters = True\ncustom_hooks = [dict(type='CustomSetEpochInfoHook')]\ncumulative_iters = 96\ngpu_ids = range(0, 1)\n", "seed": 0, "exp_name": "drivetransformer_goalpoint_1gpu.py"} diff --git a/DriveTransformer/goalpoint_1gpu/20260223_231151.log b/DriveTransformer/goalpoint_1gpu/20260223_231151.log new file mode 100644 index 0000000000000000000000000000000000000000..c368fcdcc5aee7e3e3e57c231ba82b24310d3af9 --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260223_231151.log @@ -0,0 +1,4120 @@ +2026-02-23 23:11:59,381 - mmdet - INFO - initialize ResNet with init_cfg {'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} +2026-02-23 23:11:59,496 - mmdet - INFO - initialize FPN with init_cfg {'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} +Name of parameter - Initialization information + +pts_bbox_head.code_weights - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_code_weights - torch.Size([4]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.position_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.pc_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_query.weight - torch.Size([900, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_reference_points.weight - torch.Size([900, 3]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.weight - torch.Size([512, 9]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.weight - torch.Size([512, 768]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.mode_embedding.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_query.weight - torch.Size([100, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_reference_points.weight - torch.Size([100, 2]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.weight - torch.Size([512, 6]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.weight - torch.Size([512, 141]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.weight - torch.Size([512, 1920]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.weight - torch.Size([512, 640]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.featurized_pe.reduce.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.spatial_alignment.reduce.0.weight - torch.Size([512, 8]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.time_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.weight - torch.Size([512, 192]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_pose_memory.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cro2026-02-23 23:11:59,524 - DriveTransformer - INFO - Model: +DriveTransformer( + (pts_bbox_head): DriveTransformerlHead( + (loss_cls): FocalLoss() + (loss_bbox): L1Loss() + (loss_traj): L1Loss() + (loss_traj_cls): FocalLoss() + (loss_map_cls): FocalLoss() + (loss_map_pts): PtsL1Loss() + (loss_map_dir): PtsDirCosLoss() + (loss_plan_reg_fix_dist): L1Loss() + (loss_plan_reg_fix_time): L1Loss() + (loss_plan_cls): FocalLoss() + (agent_query): Embedding(900, 512) + (agent_reference_points): Embedding(900, 3) + (agent_cls_embedding): Sequential( + (0): Linear(in_features=9, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (agent_ref_embedding): Sequential( + (0): Linear(in_features=768, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (mode_embedding): Embedding(6, 512) + (map_query): Embedding(100, 512) + (map_reference_points): Embedding(100, 2) + (map_cls_embedding): Sequential( + (0): Linear(in_features=6, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (map_ref_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_lcf_encoder): Sequential( + (0): Linear(in_features=141, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_time_embedding): Sequential( + (0): Linear(in_features=1920, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_dist_embedding): Sequential( + (0): Linear(in_features=640, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (featurized_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (spatial_alignment): MLN( + (reduce): Sequential( + (0): Linear(in_features=8, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (time_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (img_position_encoder): Sequential( + (0): Linear(in_features=192, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_pose_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (ego_pose_memory): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (agent_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (map_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (transformer): DriveTransformerWrapper( + (decoder): DriveTransformerDecoder( + (layers): ModuleList( + (0-5): 6 x DriveTransformerDecoderLayer( + (task_self_attentions): ModuleList( + (0): AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (temporal_cross_attention_layers): ModuleList( + (0-2): 3 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (sensor_cross_attentions): ModuleList( + (0): AttentionLayer( + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (cross_w_q): ModuleList( + (0-2): 3 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + ) + (ffns): ModuleList( + (0): ModuleList( + (0-2): 3 x SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + ) + ) + (cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=9, bias=False) + ) + ) + (reg_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=10, bias=True) + ) + ) + (traj_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=12, bias=True) + ) + ) + (traj_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (6): Linear(in_features=512, out_features=1, bias=False) + ) + ) + (map_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=6, bias=False) + ) + ) + (map_reg_branches): ModuleList( + (0-5): 6 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=2, bias=True) + ) + (6): Linear(in_features=512, out_features=40, bias=True) + ) + (ego_traj_branches_fix_dist): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=20, bias=True) + ) + ) + (ego_traj_branches_fix_time): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=60, bias=True) + ) + ) + ) + (img_backbone): ResNet( + (conv1): Conv2d(3, 64, kernel_size=(7, 7), stride=(2, 2), padding=(3, 3), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (maxpool): MaxPool2d(kernel_size=3, stride=2, padding=1, dilation=1, ceil_mode=False) + (layer1): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(64, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer2): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(256, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(256, 512, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer3): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(512, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(512, 1024, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (4): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (5): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer4): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(1024, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(1024, 2048, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + ) + init_cfg={'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} + (img_neck): FPN( + (lateral_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1)) + ) + ) + (fpn_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) + ) + ) + ) + init_cfg={'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} + (grid_mask): GridMask() +) +2026-02-23 23:11:59,729 - DriveTransformer - INFO - Start running, host: humble@ysh-4090, work_dir: /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu +2026-02-23 23:11:59,729 - DriveTransformer - INFO - Hooks will be executed in the following order: +before_run: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_epoch: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_iter: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook + -------------------- +after_train_iter: +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +after_train_epoch: +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_val_epoch: +(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 + -------------------- +2026-02-23 23:11:59,729 - DriveTransformer - INFO - workflow: [('train', 1)], max: 60 epochs +2026-02-23 23:11:59,730 - DriveTransformer - INFO - Checkpoints will be saved to /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu by HardDiskBackend. +lue is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.6.weight - torch.Size([40, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.6.bias - torch.Size([40]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +img_backbone.conv1.weight - torch.Size([64, 3, 7, 7]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv1.weight - torch.Size([64, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.0.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv1.weight - torch.Size([64, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv1.weight - torch.Size([64, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv1.weight - torch.Size([128, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.0.weight - torch.Size([512, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv1.weight - torch.Size([256, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.0.weight - torch.Size([1024, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.1.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.1.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv1.weight - torch.Size([512, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.0.weight - torch.Size([2048, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.1.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.1.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv1.weight - torch.Size([512, 2048, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv1.weight - torch.Size([512, 2048, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_neck.lateral_convs.0.conv.weight - torch.Size([512, 2048, 1, 1]): +XavierInit: gain=1, distribution=uniform, bias=0 + +img_neck.lateral_convs.0.conv.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +img_neck.fpn_convs.0.conv.weight - torch.Size([512, 512, 3, 3]): +XavierInit: gain=1, distribution=uniform, bias=0 + +img_neck.fpn_convs.0.conv.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer diff --git a/DriveTransformer/goalpoint_1gpu/20260223_231151.log.json b/DriveTransformer/goalpoint_1gpu/20260223_231151.log.json new file mode 100644 index 0000000000000000000000000000000000000000..afe16db944be10ebca5542f946bf99b36919d18d --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260223_231151.log.json @@ -0,0 +1 @@ +{"env_info": "MMCV: 0.0.1", "config": "point_cloud_range = [-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]\nclass_names = [\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n]\ndataset_type = 'B2D_DriveTransformer_GoalPoint_Dataset'\ndata_root = 'data/bench2drive'\ninput_modality = dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True)\nfile_client_args = dict(backend='disk')\ntrain_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\ntest_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\neval_pipeline = [\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone', 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n]\ndata = dict(\n samples_per_gpu=2,\n workers_per_gpu=8,\n train=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=False,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n sub_seq_lenth=-1,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n val=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_root='data/bench2drive',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n test=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n shuffler_sampler=dict(type='InfiniteGroupEachSampleInBatchSampler'),\n nonshuffler_sampler=dict(type='DistributedSampler'))\nevaluation = dict(\n interval=24,\n pipeline=[\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone',\n 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n ])\ncheckpoint_config = dict(interval=1)\nlog_config = dict(\n interval=50,\n hooks=[dict(type='TextLoggerHook'),\n dict(type='TensorboardLoggerHook')])\ndist_params = dict(backend='nccl')\nlog_level = 'INFO'\nwork_dir = './work_dirs/drivetransformer_goalpoint_1gpu'\nload_from = None\nresume_from = None\nworkflow = [('train', 1)]\nplugin = True\nplugin_dir = 'adzoo/drivetransformer/mmdet3d_plugin/'\nvoxel_size = [0.15, 0.15, 4]\nimg_norm_cfg = dict(\n mean=[123.675, 116.28, 103.53], std=[58.395, 57.12, 57.375], to_rgb=True)\nNameMapping = dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n})\ncollect_keys = [\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', 'ego_pose',\n 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n]\nnum_classes = 9\nmap_classes = [\n 'Broken', 'Solid', 'SolidSolid', 'Center', 'TrafficLight', 'StopSign'\n]\nmap_fixed_ptsnum_per_gt_line = 20\nmap_fixed_ptsnum_per_pred_line = 20\nmap_eval_use_same_gt_sample_num_flag = True\nmap_num_classes = 6\nagent_query_num_vec = 900\nagent_num_topk_sift = 900\nagent_num_propagated = 50\nmap_query_num_vec = 100\nmap_num_topk_sift = 100\nmap_num_propagated = 50\nmemory_len_frame = 10\nnum_mode = 6\nnum_gpus = 1\nbatch_size = 2\nnum_iters_per_epoch = 1041\ndata_aug_conf = dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0])\n_dim_ = 512\nqueue_length = 1\ntotal_epochs = 60\ndropout = 0.1\nmodel = dict(\n type='DriveTransformer',\n use_grid_mask=False,\n pretrained=dict(img='./ckpts/resnet50-19c8e357.pth'),\n img_backbone=dict(\n type='ResNet',\n depth=50,\n num_stages=4,\n out_indices=(3, ),\n frozen_stages=1,\n norm_cfg=dict(type='BN', requires_grad=False),\n norm_eval=True,\n style='pytorch'),\n img_neck=dict(\n type='FPN',\n in_channels=[2048],\n out_channels=512,\n start_level=0,\n add_extra_convs='on_output',\n num_outs=1,\n relu_before_extra_convs=True),\n pts_bbox_head=dict(\n type='DriveTransformerlHead',\n ego_lcf_feat_idx=[0, 1, 2, 3, 4, 5, 6, 7, 8],\n ego_command_dim=128,\n img_stride=32,\n embed_dims=512,\n num_reg_fcs=2,\n num_cls_fcs=2,\n agent_num_propagated=50,\n map_num_propagated=50,\n memory_len_frame=10,\n agent_num_query=900,\n agent_num_query_sifted=900,\n fut_mode=6,\n fut_ego_mode=1,\n fut_ts=6,\n fut_ego_fix_dist=True,\n fut_ts_ego_fix_dist=20,\n fut_ts_ego_fix_time=30,\n num_classes=9,\n code_size=10,\n map_num_query=100,\n map_num_query_sifted=100,\n map_num_classes=6,\n map_num_pts_per_vec=20,\n map_num_pts_per_gt_vec=20,\n map_query_embed_type='instance_pts',\n map_transform_method='minmax',\n map_gt_shift_pts_pattern='v2',\n map_dir_interval=1,\n map_code_size=2,\n map_code_weights=[1.0, 1.0, 1.0, 1.0],\n sync_cls_avg_factor=True,\n with_box_refine=True,\n LID=True,\n with_ego_pos=True,\n position_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n depth_start=1,\n depth_step=0.8,\n depth_num=64,\n agent_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n map_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n transformer=dict(\n type='DriveTransformerWrapper',\n embed_dims=512,\n decoder=dict(\n type='DriveTransformerDecoder',\n num_layers=6,\n fut_mode=6,\n agent_num_query=900,\n map_num_query=100,\n map_num_pts_per_vec=20,\n return_intermediate=True,\n embed_dims=512,\n refine=True,\n transformerlayers=dict(\n type='DriveTransformerDecoderLayer',\n agent_query_num=900,\n map_query_num=100,\n memory_len_frame=10,\n agent_num_propagated=50,\n map_num_propagated=50,\n map_pts_per_vec=20,\n feedforward_channels=2048,\n ffn_dropout=0.1,\n with_cp=False,\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n no_wq=True)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n operation_order=('task_self_attn', 'norm',\n 'temporal_cross_attn', 'norm',\n 'sensor_cross_attn', 'norm', 'ffn',\n 'norm')))),\n bbox_coder=dict(\n type='CustomNMSFreeCoder',\n post_center_range=[-20, -35, -10.0, 20, 35, 10.0],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=100,\n voxel_size=[0.15, 0.15, 4],\n num_classes=9),\n loss_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_bbox=dict(type='L1Loss', loss_weight=0.25),\n loss_traj=dict(type='L1Loss', loss_weight=0.2),\n loss_traj_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.5,\n loss_weight=0.2),\n map_bbox_coder=dict(\n type='MapNMSFreeCoder',\n post_center_range=[-20, -35, -20, -35, 20, 35, 20, 35],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=50,\n voxel_size=[0.15, 0.15, 4],\n num_classes=6),\n loss_map_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_map_pts=dict(type='PtsL1Loss', loss_weight=1.0),\n loss_map_dir=dict(type='PtsDirCosLoss', loss_weight=0.005),\n loss_plan_reg_fix_time=dict(type='L1Loss', loss_weight=3.5),\n loss_plan_reg_fix_dist=dict(type='L1Loss', loss_weight=10.0),\n loss_plan_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=4.0,\n alpha=0.5,\n loss_weight=20.0)),\n train_cfg=dict(\n pts=dict(\n grid_size=[512, 512, 1],\n voxel_size=[0.15, 0.15, 4],\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n out_size_factor=4,\n assigner=dict(\n type='HungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(type='BBox3DL1Cost', weight=0.25),\n iou_cost=dict(type='IoUCost', weight=0.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n map_assigner=dict(\n type='MapHungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(\n type='BBoxL1Cost', weight=0.0, box_format='xywh'),\n iou_cost=dict(type='IoUCost', iou_mode='giou', weight=0.0),\n pts_cost=dict(type='OrderedPtsL1Cost', weight=1.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]))))\ninfo_root = 'data/infos'\nmap_root = 'data/bench2drive/maps'\nmap_file = 'data/infos/b2d_map_infos.pkl'\nann_file_train = 'data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl'\nann_file_val = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\nann_file_test = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\noptimizer = dict(type='AdamW', lr=0.0001, weight_decay=0.01)\noptimizer_config = dict(\n grad_clip=dict(max_norm=35, norm_type=2),\n type='GradientCumulativeFp16OptimizerHook',\n cumulative_iters=96)\nlr_config = dict(\n policy='CosineAnnealing',\n warmup='linear',\n warmup_iters=1000,\n warmup_ratio=0.1,\n min_lr_ratio=0.01)\nrunner = dict(type='EpochBasedRunner', max_epochs=60)\nfp16 = dict(loss_scale=512.0)\nfind_unused_parameters = True\ncustom_hooks = [dict(type='CustomSetEpochInfoHook')]\ncumulative_iters = 96\ngpu_ids = range(0, 1)\n", "seed": 0, "exp_name": "drivetransformer_goalpoint_1gpu.py"} diff --git a/DriveTransformer/goalpoint_1gpu/20260223_231305.log b/DriveTransformer/goalpoint_1gpu/20260223_231305.log new file mode 100644 index 0000000000000000000000000000000000000000..40a8e393e5c6a2e9197e32bf72fa3cef7429fcc2 --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260223_231305.log @@ -0,0 +1,1690 @@ +2026-02-23 23:13:13,336 - mmdet - INFO - initialize ResNet with init_cfg {'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} +2026-02-23 23:13:13,454 - mmdet - INFO - initialize FPN with init_cfg {'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} +Name of parameter - Initialization information + +pts_bbox_head.code_weights - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_code_weights - torch.Size([4]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.position_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.pc_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_query.weight - torch.Size([900, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_reference_points.weight - torch.Size([900, 3]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.weight - torch.Size([512, 9]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.weight - torch.Size([512, 768]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.mode_embedding.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_query.weight - torch.Size([100, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_reference_points.weight - torch.Size([100, 2]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.weight - torch.Size([512, 6]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.weight - torch.Size([512, 141]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.weight - torch.Size([512, 1920]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.weight - torch.Size([512, 640]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.featurized_pe.reduce.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.spatial_alignment.reduce.0.weight - torch.Size([512, 8]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.time_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.weight - torch.Size([512, 192]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_pose_memory.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cro2026-02-23 23:13:13,506 - DriveTransformer - INFO - Model: +DriveTransformer( + (pts_bbox_head): DriveTransformerlHead( + (loss_cls): FocalLoss() + (loss_bbox): L1Loss() + (loss_traj): L1Loss() + (loss_traj_cls): FocalLoss() + (loss_map_cls): FocalLoss() + (loss_map_pts): PtsL1Loss() + (loss_map_dir): PtsDirCosLoss() + (loss_plan_reg_fix_dist): L1Loss() + (loss_plan_reg_fix_time): L1Loss() + (loss_plan_cls): FocalLoss() + (agent_query): Embedding(900, 512) + (agent_reference_points): Embedding(900, 3) + (agent_cls_embedding): Sequential( + (0): Linear(in_features=9, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (agent_ref_embedding): Sequential( + (0): Linear(in_features=768, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (mode_embedding): Embedding(6, 512) + (map_query): Embedding(100, 512) + (map_reference_points): Embedding(100, 2) + (map_cls_embedding): Sequential( + (0): Linear(in_features=6, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (map_ref_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_lcf_encoder): Sequential( + (0): Linear(in_features=141, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_time_embedding): Sequential( + (0): Linear(in_features=1920, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_dist_embedding): Sequential( + (0): Linear(in_features=640, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (featurized_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (spatial_alignment): MLN( + (reduce): Sequential( + (0): Linear(in_features=8, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (time_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (img_position_encoder): Sequential( + (0): Linear(in_features=192, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_pose_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (ego_pose_memory): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (agent_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (map_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (transformer): DriveTransformerWrapper( + (decoder): DriveTransformerDecoder( + (layers): ModuleList( + (0-5): 6 x DriveTransformerDecoderLayer( + (task_self_attentions): ModuleList( + (0): AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (temporal_cross_attention_layers): ModuleList( + (0-2): 3 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (sensor_cross_attentions): ModuleList( + (0): AttentionLayer( + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (cross_w_q): ModuleList( + (0-2): 3 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + ) + (ffns): ModuleList( + (0): ModuleList( + (0-2): 3 x SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + ) + ) + (cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=9, bias=False) + ) + ) + (reg_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=10, bias=True) + ) + ) + (traj_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=12, bias=True) + ) + ) + (traj_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (6): Linear(in_features=512, out_features=1, bias=False) + ) + ) + (map_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=6, bias=False) + ) + ) + (map_reg_branches): ModuleList( + (0-5): 6 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=2, bias=True) + ) + (6): Linear(in_features=512, out_features=40, bias=True) + ) + (ego_traj_branches_fix_dist): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=20, bias=True) + ) + ) + (ego_traj_branches_fix_time): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=60, bias=True) + ) + ) + ) + (img_backbone): ResNet( + (conv1): Conv2d(3, 64, kernel_size=(7, 7), stride=(2, 2), padding=(3, 3), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (maxpool): MaxPool2d(kernel_size=3, stride=2, padding=1, dilation=1, ceil_mode=False) + (layer1): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(64, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer2): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(256, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(256, 512, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer3): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(512, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(512, 1024, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (4): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (5): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer4): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(1024, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(1024, 2048, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + ) + init_cfg={'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} + (img_neck): FPN( + (lateral_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1)) + ) + ) + (fpn_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) + ) + ) + ) + init_cfg={'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} + (grid_mask): GridMask() +) +2026-02-23 23:13:13,707 - DriveTransformer - INFO - Start running, host: humble@ysh-4090, work_dir: /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu +2026-02-23 23:13:13,708 - DriveTransformer - INFO - Hooks will be executed in the following order: +before_run: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_epoch: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_iter: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook + -------------------- +after_train_iter: +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +after_train_epoch: +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_val_epoch: +(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 + -------------------- +2026-02-23 23:13:13,708 - DriveTransformer - INFO - workflow: [('train', 1)], max: 60 epochs +2026-02-23 23:13:13,710 - DriveTransformer - INFO - Checkpoints will be saved to /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu by HardDiskBackend. +2026-02-23 23:13:18,843 - DriveTransformer - WARNING - GradientCumulativeOptimizerHook may slightly decrease performance if the model has BatchNorm layers. +2026-02-23 23:13:37,703 - DriveTransformer - INFO - Epoch [1][50/117620] lr: 1.441e-05, eta: 39 days, 3:00:41, time: 0.479, data_time: 0.099, memory: 7284, loss_cls: 657.0177, loss_bbox: 1.7126, loss_traj: 4.0331, loss_traj_cls: 0.0986, loss_map_cls: 9.2025, loss_map_pts: 5.1980, loss_map_dir: 0.0946, d0.loss_plan_l1_fix_time: 9.3064, d0.loss_plan_l1_fix_dist: 3.1385, d1.loss_plan_l1_fix_time: 9.7504, d1.loss_plan_l1_fix_dist: 4.0820, d2.loss_plan_l1_fix_time: 10.2569, d2.loss_plan_l1_fix_dist: 5.5467, d3.loss_plan_l1_fix_time: 10.8451, d3.loss_plan_l1_fix_dist: 7.2853, d4.loss_plan_l1_fix_time: 11.3784, d4.loss_plan_l1_fix_dist: 9.8207, d5.loss_plan_l1_fix_time: 11.9745, d5.loss_plan_l1_fix_dist: 12.4756, d6.loss_plan_l1_fix_time: 12.5522, d6.loss_plan_l1_fix_dist: 14.9600, d0.loss_cls_all: 450.4785, d0.loss_bbox_all: 1.6361, d0.loss_cls: 450.4785, d0.loss_bbox: 1.6361, d1.loss_cls: 498.7639, d1.loss_bbox: 1.6127, d2.loss_cls: 493.9947, d2.loss_bbox: 1.6771, d3.loss_cls: 564.4796, d3.loss_bbox: 1.6715, d4.loss_cls: 529.9633, d4.loss_bbox: 1.6285, d5.loss_cls: 598.1542, d5.loss_bbox: 1.7129, d0.loss_traj_cls: 0.0725, d0.loss_traj: 4.0100, d1.loss_traj_cls: 0.0616, d1.loss_traj: 4.0386, d2.loss_traj_cls: 0.0645, d2.loss_traj: 4.1268, d3.loss_traj_cls: 0.1104, d3.loss_traj: 4.0976, d4.loss_traj_cls: 0.0551, d4.loss_traj: 3.9702, d5.loss_traj_cls: 0.0604, d5.loss_traj: 4.0178, d0.loss_map_cls_all: 6.9678, d0.loss_map_pts_all: 4.8605, d0.loss_map_dir_all: 0.0948, d0.loss_map_cls: 6.9678, d0.loss_map_pts: 4.8605, d0.loss_map_dir: 0.0948, d1.loss_map_cls: 6.2881, d1.loss_map_pts: 4.8943, d1.loss_map_dir: 0.0946, d2.loss_map_cls: 6.9919, d2.loss_map_pts: 4.9406, d2.loss_map_dir: 0.0943, d3.loss_map_cls: 9.5294, d3.loss_map_pts: 4.9800, d3.loss_map_dir: 0.0945, d4.loss_map_cls: 9.5364, d4.loss_map_pts: 5.0468, d4.loss_map_dir: 0.0946, d5.loss_map_cls: 9.5420, d5.loss_map_pts: 5.1216, d5.loss_map_dir: 0.0947, loss: 4524.4928 +2026-02-23 23:13:54,942 - DriveTransformer - INFO - Epoch [1][100/117620] lr: 1.891e-05, eta: 33 days, 15:28:37, time: 0.345, data_time: 0.016, memory: 8389, loss_cls: 626.4423, loss_bbox: 1.5986, loss_traj: 6.4412, loss_traj_cls: 0.0977, loss_map_cls: 10.3471, loss_map_pts: 5.7189, loss_map_dir: 0.0949, d0.loss_plan_l1_fix_time: 12.7941, d0.loss_plan_l1_fix_dist: 3.4560, d1.loss_plan_l1_fix_time: 13.1416, d1.loss_plan_l1_fix_dist: 4.5200, d2.loss_plan_l1_fix_time: 13.5316, d2.loss_plan_l1_fix_dist: 6.3581, d3.loss_plan_l1_fix_time: 14.0300, d3.loss_plan_l1_fix_dist: 8.3249, d4.loss_plan_l1_fix_time: 14.4850, d4.loss_plan_l1_fix_dist: 11.1415, d5.loss_plan_l1_fix_time: 15.0075, d5.loss_plan_l1_fix_dist: 14.0320, d6.loss_plan_l1_fix_time: 15.4970, d6.loss_plan_l1_fix_dist: 16.7320, d0.loss_cls_all: 439.3889, d0.loss_bbox_all: 1.5691, d0.loss_cls: 439.3889, d0.loss_bbox: 1.5691, d1.loss_cls: 475.7485, d1.loss_bbox: 1.5340, d2.loss_cls: 472.1050, d2.loss_bbox: 1.6203, d3.loss_cls: 534.0959, d3.loss_bbox: 1.6084, d4.loss_cls: 507.8107, d4.loss_bbox: 1.5102, d5.loss_cls: 568.9101, d5.loss_bbox: 1.6094, d0.loss_traj_cls: 0.0739, d0.loss_traj: 6.4160, d1.loss_traj_cls: 0.0622, d1.loss_traj: 6.4786, d2.loss_traj_cls: 0.0639, d2.loss_traj: 6.5505, d3.loss_traj_cls: 0.1072, d3.loss_traj: 6.4956, d4.loss_traj_cls: 0.0534, d4.loss_traj: 6.4070, d5.loss_traj_cls: 0.0578, d5.loss_traj: 6.4554, d0.loss_map_cls_all: 7.8838, d0.loss_map_pts_all: 5.4573, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 7.8838, d0.loss_map_pts: 5.4573, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 7.5399, d1.loss_map_pts: 5.4801, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 8.0800, d2.loss_map_pts: 5.5107, d2.loss_map_dir: 0.0949, d3.loss_map_cls: 10.8225, d3.loss_map_pts: 5.5467, d3.loss_map_dir: 0.0949, d4.loss_map_cls: 10.6928, d4.loss_map_pts: 5.6095, d4.loss_map_dir: 0.0949, d5.loss_map_cls: 10.5945, d5.loss_map_pts: 5.6656, d5.loss_map_dir: 0.0948, loss: 4404.3713, grad_norm: 60564.4180 +2026-02-23 23:14:11,830 - DriveTransformer - INFO - Epoch [1][150/117620] lr: 2.341e-05, eta: 31 days, 14:59:07, time: 0.338, data_time: 0.014, memory: 8392, loss_cls: 304.2264, loss_bbox: 1.9153, loss_traj: 5.3777, loss_traj_cls: 0.0796, loss_map_cls: 10.8681, loss_map_pts: 5.5583, loss_map_dir: 0.0954, d0.loss_plan_l1_fix_time: 11.5006, d0.loss_plan_l1_fix_dist: 3.2705, d1.loss_plan_l1_fix_time: 11.8258, d1.loss_plan_l1_fix_dist: 4.1176, d2.loss_plan_l1_fix_time: 12.2162, d2.loss_plan_l1_fix_dist: 5.5551, d3.loss_plan_l1_fix_time: 12.7129, d3.loss_plan_l1_fix_dist: 7.1503, d4.loss_plan_l1_fix_time: 13.1407, d4.loss_plan_l1_fix_dist: 9.1856, d5.loss_plan_l1_fix_time: 13.6123, d5.loss_plan_l1_fix_dist: 11.1148, d6.loss_plan_l1_fix_time: 14.0798, d6.loss_plan_l1_fix_dist: 12.9513, d0.loss_cls_all: 273.0269, d0.loss_bbox_all: 1.5982, d0.loss_cls: 273.0269, d0.loss_bbox: 1.5982, d1.loss_cls: 283.4932, d1.loss_bbox: 1.5694, d2.loss_cls: 251.1035, d2.loss_bbox: 1.6338, d3.loss_cls: 261.5273, d3.loss_bbox: 1.6313, d4.loss_cls: 239.7305, d4.loss_bbox: 1.6924, d5.loss_cls: 278.1803, d5.loss_bbox: 1.8730, d0.loss_traj_cls: 0.0615, d0.loss_traj: 5.2645, d1.loss_traj_cls: 0.0470, d1.loss_traj: 5.3895, d2.loss_traj_cls: 0.0434, d2.loss_traj: 5.4401, d3.loss_traj_cls: 0.0905, d3.loss_traj: 5.4115, d4.loss_traj_cls: 0.0426, d4.loss_traj: 5.3370, d5.loss_traj_cls: 0.0518, d5.loss_traj: 5.3934, d0.loss_map_cls_all: 8.0538, d0.loss_map_pts_all: 5.2660, d0.loss_map_dir_all: 0.0955, d0.loss_map_cls: 8.0538, d0.loss_map_pts: 5.2660, d0.loss_map_dir: 0.0955, d1.loss_map_cls: 7.6627, d1.loss_map_pts: 5.3052, d1.loss_map_dir: 0.0952, d2.loss_map_cls: 8.3483, d2.loss_map_pts: 5.3479, d2.loss_map_dir: 0.0951, d3.loss_map_cls: 11.9259, d3.loss_map_pts: 5.3764, d3.loss_map_dir: 0.0953, d4.loss_map_cls: 11.4619, d4.loss_map_pts: 5.4331, d4.loss_map_dir: 0.0955, d5.loss_map_cls: 11.3641, d5.loss_map_pts: 5.4940, d5.loss_map_dir: 0.0953, loss: 2479.8382, grad_norm: 60564.4180 +2026-02-23 23:14:28,470 - DriveTransformer - INFO - Epoch [1][200/117620] lr: 2.791e-05, eta: 30 days, 12:20:04, time: 0.333, data_time: 0.014, memory: 8392, loss_cls: 279.1683, loss_bbox: 1.8880, loss_traj: 5.5597, loss_traj_cls: 0.0761, loss_map_cls: 8.8517, loss_map_pts: 5.3317, loss_map_dir: 0.0956, d0.loss_plan_l1_fix_time: 12.1687, d0.loss_plan_l1_fix_dist: 3.2580, d1.loss_plan_l1_fix_time: 12.4261, d1.loss_plan_l1_fix_dist: 3.9923, d2.loss_plan_l1_fix_time: 12.7427, d2.loss_plan_l1_fix_dist: 5.3854, d3.loss_plan_l1_fix_time: 13.1551, d3.loss_plan_l1_fix_dist: 6.8306, d4.loss_plan_l1_fix_time: 13.5195, d4.loss_plan_l1_fix_dist: 8.6923, d5.loss_plan_l1_fix_time: 13.9350, d5.loss_plan_l1_fix_dist: 10.4222, d6.loss_plan_l1_fix_time: 14.3541, d6.loss_plan_l1_fix_dist: 12.0619, d0.loss_cls_all: 255.7239, d0.loss_bbox_all: 1.5567, d0.loss_cls: 255.7239, d0.loss_bbox: 1.5567, d1.loss_cls: 264.1303, d1.loss_bbox: 1.5163, d2.loss_cls: 229.5322, d2.loss_bbox: 1.5773, d3.loss_cls: 236.7735, d3.loss_bbox: 1.5671, d4.loss_cls: 217.6831, d4.loss_bbox: 1.6270, d5.loss_cls: 255.2735, d5.loss_bbox: 1.8372, d0.loss_traj_cls: 0.0590, d0.loss_traj: 5.4155, d1.loss_traj_cls: 0.0459, d1.loss_traj: 5.5547, d2.loss_traj_cls: 0.0429, d2.loss_traj: 5.6045, d3.loss_traj_cls: 0.0876, d3.loss_traj: 5.5848, d4.loss_traj_cls: 0.0423, d4.loss_traj: 5.5243, d5.loss_traj_cls: 0.0489, d5.loss_traj: 5.5798, d0.loss_map_cls_all: 6.6891, d0.loss_map_pts_all: 5.1565, d0.loss_map_dir_all: 0.0953, d0.loss_map_cls: 6.6891, d0.loss_map_pts: 5.1565, d0.loss_map_dir: 0.0953, d1.loss_map_cls: 6.3889, d1.loss_map_pts: 5.1763, d1.loss_map_dir: 0.0951, d2.loss_map_cls: 6.9013, d2.loss_map_pts: 5.1947, d2.loss_map_dir: 0.0953, d3.loss_map_cls: 9.8591, d3.loss_map_pts: 5.2115, d3.loss_map_dir: 0.0954, d4.loss_map_cls: 9.3899, d4.loss_map_pts: 5.2462, d4.loss_map_dir: 0.0955, d5.loss_map_cls: 9.3578, d5.loss_map_pts: 5.2920, d5.loss_map_dir: 0.0956, loss: 2295.9602, grad_norm: 46417.6348 +2026-02-23 23:14:45,446 - DriveTransformer - INFO - Epoch [1][250/117620] lr: 3.241e-05, eta: 29 days, 22:58:01, time: 0.340, data_time: 0.016, memory: 8392, loss_cls: 118.8165, loss_bbox: 1.8936, loss_traj: 5.4645, loss_traj_cls: 0.0642, loss_map_cls: 8.7064, loss_map_pts: 5.4567, loss_map_dir: 0.0961, d0.loss_plan_l1_fix_time: 10.5593, d0.loss_plan_l1_fix_dist: 3.1679, d1.loss_plan_l1_fix_time: 10.7962, d1.loss_plan_l1_fix_dist: 3.6672, d2.loss_plan_l1_fix_time: 11.1035, d2.loss_plan_l1_fix_dist: 4.9681, d3.loss_plan_l1_fix_time: 11.4938, d3.loss_plan_l1_fix_dist: 6.4380, d4.loss_plan_l1_fix_time: 11.8636, d4.loss_plan_l1_fix_dist: 8.0701, d5.loss_plan_l1_fix_time: 12.2550, d5.loss_plan_l1_fix_dist: 9.4082, d6.loss_plan_l1_fix_time: 12.6721, d6.loss_plan_l1_fix_dist: 10.2223, d0.loss_cls_all: 150.2000, d0.loss_bbox_all: 1.5651, d0.loss_cls: 150.2000, d0.loss_bbox: 1.5651, d1.loss_cls: 137.1770, d1.loss_bbox: 1.6234, d2.loss_cls: 104.6323, d2.loss_bbox: 1.6663, d3.loss_cls: 98.3676, d3.loss_bbox: 1.5952, d4.loss_cls: 95.7741, d4.loss_bbox: 1.6881, d5.loss_cls: 115.2410, d5.loss_bbox: 1.8499, d0.loss_traj_cls: 0.0486, d0.loss_traj: 5.2744, d1.loss_traj_cls: 0.0328, d1.loss_traj: 5.4563, d2.loss_traj_cls: 0.0304, d2.loss_traj: 5.4445, d3.loss_traj_cls: 0.0612, d3.loss_traj: 5.4704, d4.loss_traj_cls: 0.0284, d4.loss_traj: 5.4347, d5.loss_traj_cls: 0.0370, d5.loss_traj: 5.5049, d0.loss_map_cls_all: 6.6490, d0.loss_map_pts_all: 5.2697, d0.loss_map_dir_all: 0.0960, d0.loss_map_cls: 6.6490, d0.loss_map_pts: 5.2697, d0.loss_map_dir: 0.0960, d1.loss_map_cls: 6.7324, d1.loss_map_pts: 5.3024, d1.loss_map_dir: 0.0961, d2.loss_map_cls: 7.3017, d2.loss_map_pts: 5.3332, d2.loss_map_dir: 0.0961, d3.loss_map_cls: 10.3287, d3.loss_map_pts: 5.3417, d3.loss_map_dir: 0.0960, d4.loss_map_cls: 9.6059, d4.loss_map_pts: 5.3705, d4.loss_map_dir: 0.0961, d5.loss_map_cls: 9.3639, d5.loss_map_pts: 5.4062, d5.loss_map_dir: 0.0962, loss: 1257.7482, grad_norm: 46417.6348 +2026-02-23 23:15:01,925 - DriveTransformer - INFO - Epoch [1][300/117620] lr: 3.691e-05, eta: 29 days, 10:47:18, time: 0.330, data_time: 0.016, memory: 8392, loss_cls: 93.3809, loss_bbox: 1.8152, loss_traj: 5.7054, loss_traj_cls: 0.0669, loss_map_cls: 7.5694, loss_map_pts: 5.4962, loss_map_dir: 0.0961, d0.loss_plan_l1_fix_time: 11.1261, d0.loss_plan_l1_fix_dist: 3.1714, d1.loss_plan_l1_fix_time: 11.3548, d1.loss_plan_l1_fix_dist: 3.6295, d2.loss_plan_l1_fix_time: 11.6502, d2.loss_plan_l1_fix_dist: 4.9081, d3.loss_plan_l1_fix_time: 12.0446, d3.loss_plan_l1_fix_dist: 6.2635, d4.loss_plan_l1_fix_time: 12.4405, d4.loss_plan_l1_fix_dist: 7.6791, d5.loss_plan_l1_fix_time: 12.8452, d5.loss_plan_l1_fix_dist: 8.9206, d6.loss_plan_l1_fix_time: 13.2650, d6.loss_plan_l1_fix_dist: 9.5938, d0.loss_cls_all: 118.9566, d0.loss_bbox_all: 1.5416, d0.loss_cls: 118.9566, d0.loss_bbox: 1.5416, d1.loss_cls: 105.8456, d1.loss_bbox: 1.6264, d2.loss_cls: 79.5773, d2.loss_bbox: 1.6418, d3.loss_cls: 76.0537, d3.loss_bbox: 1.5707, d4.loss_cls: 74.7411, d4.loss_bbox: 1.6662, d5.loss_cls: 89.5834, d5.loss_bbox: 1.7887, d0.loss_traj_cls: 0.0447, d0.loss_traj: 5.5213, d1.loss_traj_cls: 0.0313, d1.loss_traj: 5.6864, d2.loss_traj_cls: 0.0298, d2.loss_traj: 5.6658, d3.loss_traj_cls: 0.0604, d3.loss_traj: 5.6948, d4.loss_traj_cls: 0.0286, d4.loss_traj: 5.6691, d5.loss_traj_cls: 0.0370, d5.loss_traj: 5.7457, d0.loss_map_cls_all: 6.1976, d0.loss_map_pts_all: 5.3953, d0.loss_map_dir_all: 0.0962, d0.loss_map_cls: 6.1976, d0.loss_map_pts: 5.3953, d0.loss_map_dir: 0.0962, d1.loss_map_cls: 6.2696, d1.loss_map_pts: 5.4140, d1.loss_map_dir: 0.0960, d2.loss_map_cls: 6.6788, d2.loss_map_pts: 5.4292, d2.loss_map_dir: 0.0960, d3.loss_map_cls: 9.2347, d3.loss_map_pts: 5.4321, d3.loss_map_dir: 0.0961, d4.loss_map_cls: 8.5333, d4.loss_map_pts: 5.4466, d4.loss_map_dir: 0.0961, d5.loss_map_cls: 8.2352, d5.loss_map_pts: 5.4689, d5.loss_map_dir: 0.0961, loss: 1042.3299, grad_norm: 35614.8210 +2026-02-23 23:15:18,021 - DriveTransformer - INFO - Epoch [1][350/117620] lr: 4.141e-05, eta: 28 days, 23:57:06, time: 0.322, data_time: 0.015, memory: 8392, loss_cls: 33.5969, loss_bbox: 1.6434, loss_traj: 6.5622, loss_traj_cls: 0.0436, loss_map_cls: 4.9871, loss_map_pts: 5.2635, loss_map_dir: 0.0977, d0.loss_plan_l1_fix_time: 12.7414, d0.loss_plan_l1_fix_dist: 3.2510, d1.loss_plan_l1_fix_time: 12.9101, d1.loss_plan_l1_fix_dist: 3.4680, d2.loss_plan_l1_fix_time: 13.1505, d2.loss_plan_l1_fix_dist: 4.6443, d3.loss_plan_l1_fix_time: 13.5101, d3.loss_plan_l1_fix_dist: 5.7555, d4.loss_plan_l1_fix_time: 13.9524, d4.loss_plan_l1_fix_dist: 6.9441, d5.loss_plan_l1_fix_time: 14.3527, d5.loss_plan_l1_fix_dist: 7.7428, d6.loss_plan_l1_fix_time: 14.7922, d6.loss_plan_l1_fix_dist: 7.8665, d0.loss_cls_all: 63.3213, d0.loss_bbox_all: 1.4637, d0.loss_cls: 63.3213, d0.loss_bbox: 1.4637, d1.loss_cls: 49.0229, d1.loss_bbox: 1.5566, d2.loss_cls: 32.4956, d2.loss_bbox: 1.5338, d3.loss_cls: 29.1100, d3.loss_bbox: 1.4331, d4.loss_cls: 27.4430, d4.loss_bbox: 1.5225, d5.loss_cls: 33.3288, d5.loss_bbox: 1.6348, d0.loss_traj_cls: 0.0329, d0.loss_traj: 6.3757, d1.loss_traj_cls: 0.0222, d1.loss_traj: 6.5432, d2.loss_traj_cls: 0.0214, d2.loss_traj: 6.4816, d3.loss_traj_cls: 0.0387, d3.loss_traj: 6.5287, d4.loss_traj_cls: 0.0218, d4.loss_traj: 6.5103, d5.loss_traj_cls: 0.0246, d5.loss_traj: 6.6089, d0.loss_map_cls_all: 4.6627, d0.loss_map_pts_all: 5.2210, d0.loss_map_dir_all: 0.0977, d0.loss_map_cls: 4.6627, d0.loss_map_pts: 5.2210, d0.loss_map_dir: 0.0977, d1.loss_map_cls: 4.8069, d1.loss_map_pts: 5.2441, d1.loss_map_dir: 0.0977, d2.loss_map_cls: 4.9554, d2.loss_map_pts: 5.2501, d2.loss_map_dir: 0.0978, d3.loss_map_cls: 6.0601, d3.loss_map_pts: 5.2467, d3.loss_map_dir: 0.0978, d4.loss_map_cls: 5.8758, d4.loss_map_pts: 5.2488, d4.loss_map_dir: 0.0978, d5.loss_map_cls: 5.4762, d5.loss_map_pts: 5.2499, d5.loss_map_dir: 0.0977, loss: 609.0024, grad_norm: 35614.8210 +2026-02-23 23:15:34,684 - DriveTransformer - INFO - Epoch [1][400/117620] lr: 4.591e-05, eta: 28 days, 18:36:45, time: 0.333, data_time: 0.015, memory: 8392, loss_cls: 24.6391, loss_bbox: 1.6130, loss_traj: 5.9725, loss_traj_cls: 0.0443, loss_map_cls: 5.3045, loss_map_pts: 5.1623, loss_map_dir: 0.0979, d0.loss_plan_l1_fix_time: 9.7844, d0.loss_plan_l1_fix_dist: 3.0411, d1.loss_plan_l1_fix_time: 9.9496, d1.loss_plan_l1_fix_dist: 3.1719, d2.loss_plan_l1_fix_time: 10.1855, d2.loss_plan_l1_fix_dist: 3.9104, d3.loss_plan_l1_fix_time: 10.5254, d3.loss_plan_l1_fix_dist: 4.7044, d4.loss_plan_l1_fix_time: 10.9394, d4.loss_plan_l1_fix_dist: 5.4436, d5.loss_plan_l1_fix_time: 11.3375, d5.loss_plan_l1_fix_dist: 6.0921, d6.loss_plan_l1_fix_time: 11.7667, d6.loss_plan_l1_fix_dist: 6.4760, d0.loss_cls_all: 49.1777, d0.loss_bbox_all: 1.4941, d0.loss_cls: 49.1777, d0.loss_bbox: 1.4941, d1.loss_cls: 38.0129, d1.loss_bbox: 1.5871, d2.loss_cls: 24.2309, d2.loss_bbox: 1.5507, d3.loss_cls: 21.9212, d3.loss_bbox: 1.4507, d4.loss_cls: 20.1722, d4.loss_bbox: 1.5338, d5.loss_cls: 24.6191, d5.loss_bbox: 1.6113, d0.loss_traj_cls: 0.0283, d0.loss_traj: 5.8160, d1.loss_traj_cls: 0.0204, d1.loss_traj: 5.9724, d2.loss_traj_cls: 0.0208, d2.loss_traj: 5.9055, d3.loss_traj_cls: 0.0390, d3.loss_traj: 5.9435, d4.loss_traj_cls: 0.0206, d4.loss_traj: 5.9287, d5.loss_traj_cls: 0.0249, d5.loss_traj: 6.0095, d0.loss_map_cls_all: 5.4224, d0.loss_map_pts_all: 5.1406, d0.loss_map_dir_all: 0.0980, d0.loss_map_cls: 5.4224, d0.loss_map_pts: 5.1406, d0.loss_map_dir: 0.0980, d1.loss_map_cls: 5.4489, d1.loss_map_pts: 5.1559, d1.loss_map_dir: 0.0981, d2.loss_map_cls: 5.5800, d2.loss_map_pts: 5.1577, d2.loss_map_dir: 0.0981, d3.loss_map_cls: 6.5905, d3.loss_map_pts: 5.1540, d3.loss_map_dir: 0.0980, d4.loss_map_cls: 6.4674, d4.loss_map_pts: 5.1536, d4.loss_map_dir: 0.0980, d5.loss_map_cls: 5.9332, d5.loss_map_pts: 5.1527, d5.loss_map_dir: 0.0979, loss: 501.5304, grad_norm: 27999.5945 +2026-02-23 23:15:51,631 - DriveTransformer - INFO - Epoch [1][450/117620] lr: 5.041e-05, eta: 28 days, 15:41:42, time: 0.339, data_time: 0.014, memory: 8392, loss_cls: 9.3690, loss_bbox: 1.4882, loss_traj: 6.7813, loss_traj_cls: 0.0353, loss_map_cls: 3.2561, loss_map_pts: 5.4190, loss_map_dir: 0.0979, d0.loss_plan_l1_fix_time: 13.1956, d0.loss_plan_l1_fix_dist: 3.0269, d1.loss_plan_l1_fix_time: 13.2765, d1.loss_plan_l1_fix_dist: 3.2757, d2.loss_plan_l1_fix_time: 13.4419, d2.loss_plan_l1_fix_dist: 3.4983, d3.loss_plan_l1_fix_time: 13.6845, d3.loss_plan_l1_fix_dist: 3.5776, d4.loss_plan_l1_fix_time: 13.9947, d4.loss_plan_l1_fix_dist: 3.5498, d5.loss_plan_l1_fix_time: 14.2627, d5.loss_plan_l1_fix_dist: 4.0079, d6.loss_plan_l1_fix_time: 14.5687, d6.loss_plan_l1_fix_dist: 5.2099, d0.loss_cls_all: 24.4731, d0.loss_bbox_all: 1.5234, d0.loss_cls: 24.4731, d0.loss_bbox: 1.5234, d1.loss_cls: 18.4519, d1.loss_bbox: 1.5868, d2.loss_cls: 10.5757, d2.loss_bbox: 1.5122, d3.loss_cls: 9.3493, d3.loss_bbox: 1.4228, d4.loss_cls: 7.6997, d4.loss_bbox: 1.4783, d5.loss_cls: 9.1629, d5.loss_bbox: 1.5098, d0.loss_traj_cls: 0.0195, d0.loss_traj: 6.6361, d1.loss_traj_cls: 0.0158, d1.loss_traj: 6.8196, d2.loss_traj_cls: 0.0187, d2.loss_traj: 6.7181, d3.loss_traj_cls: 0.0322, d3.loss_traj: 6.7381, d4.loss_traj_cls: 0.0180, d4.loss_traj: 6.7516, d5.loss_traj_cls: 0.0219, d5.loss_traj: 6.8019, d0.loss_map_cls_all: 4.2335, d0.loss_map_pts_all: 5.4224, d0.loss_map_dir_all: 0.0980, d0.loss_map_cls: 4.2335, d0.loss_map_pts: 5.4224, d0.loss_map_dir: 0.0980, d1.loss_map_cls: 4.2879, d1.loss_map_pts: 5.4323, d1.loss_map_dir: 0.0981, d2.loss_map_cls: 4.1548, d2.loss_map_pts: 5.4295, d2.loss_map_dir: 0.0980, d3.loss_map_cls: 4.1831, d3.loss_map_pts: 5.4243, d3.loss_map_dir: 0.0979, d4.loss_map_cls: 4.4571, d4.loss_map_pts: 5.4222, d4.loss_map_dir: 0.0979, d5.loss_map_cls: 3.9123, d5.loss_map_pts: 5.4171, d5.loss_map_dir: 0.0978, loss: 372.4692, grad_norm: 27999.5945 +2026-02-23 23:16:09,469 - DriveTransformer - INFO - Epoch [1][500/117620] lr: 5.491e-05, eta: 28 days, 16:51:02, time: 0.357, data_time: 0.016, memory: 8392, loss_cls: 7.5002, loss_bbox: 1.5428, loss_traj: 6.5607, loss_traj_cls: 0.0328, loss_map_cls: 1.8306, loss_map_pts: 5.0145, loss_map_dir: 0.0963, d0.loss_plan_l1_fix_time: 13.4037, d0.loss_plan_l1_fix_dist: 2.8616, d1.loss_plan_l1_fix_time: 13.4624, d1.loss_plan_l1_fix_dist: 3.0023, d2.loss_plan_l1_fix_time: 13.6073, d2.loss_plan_l1_fix_dist: 3.1435, d3.loss_plan_l1_fix_time: 13.8202, d3.loss_plan_l1_fix_dist: 3.4854, d4.loss_plan_l1_fix_time: 14.0544, d4.loss_plan_l1_fix_dist: 3.8708, d5.loss_plan_l1_fix_time: 14.2650, d5.loss_plan_l1_fix_dist: 4.7065, d6.loss_plan_l1_fix_time: 14.5122, d6.loss_plan_l1_fix_dist: 6.0068, d0.loss_cls_all: 19.4166, d0.loss_bbox_all: 1.5796, d0.loss_cls: 19.4166, d0.loss_bbox: 1.5796, d1.loss_cls: 14.4075, d1.loss_bbox: 1.6186, d2.loss_cls: 8.2369, d2.loss_bbox: 1.5346, d3.loss_cls: 7.3773, d3.loss_bbox: 1.4797, d4.loss_cls: 6.0380, d4.loss_bbox: 1.5265, d5.loss_cls: 7.2839, d5.loss_bbox: 1.5664, d0.loss_traj_cls: 0.0157, d0.loss_traj: 6.4443, d1.loss_traj_cls: 0.0141, d1.loss_traj: 6.6135, d2.loss_traj_cls: 0.0186, d2.loss_traj: 6.5187, d3.loss_traj_cls: 0.0291, d3.loss_traj: 6.5167, d4.loss_traj_cls: 0.0169, d4.loss_traj: 6.5279, d5.loss_traj_cls: 0.0206, d5.loss_traj: 6.5652, d0.loss_map_cls_all: 2.5907, d0.loss_map_pts_all: 5.0026, d0.loss_map_dir_all: 0.0966, d0.loss_map_cls: 2.5907, d0.loss_map_pts: 5.0026, d0.loss_map_dir: 0.0966, d1.loss_map_cls: 2.6305, d1.loss_map_pts: 5.0115, d1.loss_map_dir: 0.0966, d2.loss_map_cls: 2.5225, d2.loss_map_pts: 5.0112, d2.loss_map_dir: 0.0964, d3.loss_map_cls: 2.3790, d3.loss_map_pts: 5.0068, d3.loss_map_dir: 0.0965, d4.loss_map_cls: 2.6556, d4.loss_map_pts: 5.0078, d4.loss_map_dir: 0.0965, d5.loss_map_cls: 2.2258, d5.loss_map_pts: 5.0084, d5.loss_map_dir: 0.0963, loss: 332.4643, grad_norm: 22780.0710 +2026-02-23 23:16:26,231 - DriveTransformer - INFO - Epoch [1][550/117620] lr: 5.941e-05, eta: 28 days, 13:56:38, time: 0.335, data_time: 0.015, memory: 8392, loss_cls: 3.8144, loss_bbox: 1.5131, loss_traj: 4.6797, loss_traj_cls: 0.0233, loss_map_cls: 1.1945, loss_map_pts: 5.1504, loss_map_dir: 0.0955, d0.loss_plan_l1_fix_time: 11.4806, d0.loss_plan_l1_fix_dist: 3.0239, d1.loss_plan_l1_fix_time: 11.5076, d1.loss_plan_l1_fix_dist: 2.9703, d2.loss_plan_l1_fix_time: 11.6760, d2.loss_plan_l1_fix_dist: 2.7514, d3.loss_plan_l1_fix_time: 11.9139, d3.loss_plan_l1_fix_dist: 3.3519, d4.loss_plan_l1_fix_time: 12.1197, d4.loss_plan_l1_fix_dist: 4.4576, d5.loss_plan_l1_fix_time: 12.3373, d5.loss_plan_l1_fix_dist: 5.7115, d6.loss_plan_l1_fix_time: 12.5666, d6.loss_plan_l1_fix_dist: 7.1530, d0.loss_cls_all: 11.5783, d0.loss_bbox_all: 1.5465, d0.loss_cls: 11.5783, d0.loss_bbox: 1.5465, d1.loss_cls: 7.7192, d1.loss_bbox: 1.6007, d2.loss_cls: 4.6621, d2.loss_bbox: 1.5141, d3.loss_cls: 4.2051, d3.loss_bbox: 1.4772, d4.loss_cls: 3.4210, d4.loss_bbox: 1.5031, d5.loss_cls: 3.7990, d5.loss_bbox: 1.5420, d0.loss_traj_cls: 0.0102, d0.loss_traj: 4.5898, d1.loss_traj_cls: 0.0106, d1.loss_traj: 4.7554, d2.loss_traj_cls: 0.0162, d2.loss_traj: 4.6418, d3.loss_traj_cls: 0.0229, d3.loss_traj: 4.6256, d4.loss_traj_cls: 0.0148, d4.loss_traj: 4.6341, d5.loss_traj_cls: 0.0176, d5.loss_traj: 4.6448, d0.loss_map_cls_all: 1.8909, d0.loss_map_pts_all: 5.1393, d0.loss_map_dir_all: 0.0960, d0.loss_map_cls: 1.8909, d0.loss_map_pts: 5.1393, d0.loss_map_dir: 0.0960, d1.loss_map_cls: 1.9748, d1.loss_map_pts: 5.1493, d1.loss_map_dir: 0.0960, d2.loss_map_cls: 1.8568, d2.loss_map_pts: 5.1427, d2.loss_map_dir: 0.0959, d3.loss_map_cls: 1.5473, d3.loss_map_pts: 5.1372, d3.loss_map_dir: 0.0958, d4.loss_map_cls: 1.9510, d4.loss_map_pts: 5.1381, d4.loss_map_dir: 0.0956, d5.loss_map_cls: 1.5166, d5.loss_map_pts: 5.1392, d5.loss_map_dir: 0.0955, loss: 264.4534, grad_norm: 22780.0710 +2026-02-23 23:16:43,107 - DriveTransformer - INFO - Epoch [1][600/117620] lr: 6.391e-05, eta: 28 days, 11:54:56, time: 0.338, data_time: 0.015, memory: 8392, loss_cls: 3.1018, loss_bbox: 1.5241, loss_traj: 6.5058, loss_traj_cls: 0.0181, loss_map_cls: 0.9797, loss_map_pts: 5.0470, loss_map_dir: 0.0950, d0.loss_plan_l1_fix_time: 13.4301, d0.loss_plan_l1_fix_dist: 2.7410, d1.loss_plan_l1_fix_time: 13.3564, d1.loss_plan_l1_fix_dist: 2.6543, d2.loss_plan_l1_fix_time: 13.4291, d2.loss_plan_l1_fix_dist: 2.8594, d3.loss_plan_l1_fix_time: 13.5780, d3.loss_plan_l1_fix_dist: 3.5063, d4.loss_plan_l1_fix_time: 13.7020, d4.loss_plan_l1_fix_dist: 4.5052, d5.loss_plan_l1_fix_time: 13.8426, d5.loss_plan_l1_fix_dist: 5.7033, d6.loss_plan_l1_fix_time: 13.9874, d6.loss_plan_l1_fix_dist: 7.2035, d0.loss_cls_all: 9.0472, d0.loss_bbox_all: 1.5463, d0.loss_cls: 9.0472, d0.loss_bbox: 1.5463, d1.loss_cls: 5.9610, d1.loss_bbox: 1.5667, d2.loss_cls: 3.7651, d2.loss_bbox: 1.5131, d3.loss_cls: 3.4252, d3.loss_bbox: 1.4792, d4.loss_cls: 2.8450, d4.loss_bbox: 1.5221, d5.loss_cls: 3.0928, d5.loss_bbox: 1.5545, d0.loss_traj_cls: 0.0073, d0.loss_traj: 6.4177, d1.loss_traj_cls: 0.0091, d1.loss_traj: 6.5671, d2.loss_traj_cls: 0.0125, d2.loss_traj: 6.5025, d3.loss_traj_cls: 0.0185, d3.loss_traj: 6.4578, d4.loss_traj_cls: 0.0122, d4.loss_traj: 6.4489, d5.loss_traj_cls: 0.0167, d5.loss_traj: 6.4640, d0.loss_map_cls_all: 1.4848, d0.loss_map_pts_all: 5.0600, d0.loss_map_dir_all: 0.0953, d0.loss_map_cls: 1.4848, d0.loss_map_pts: 5.0600, d0.loss_map_dir: 0.0953, d1.loss_map_cls: 1.5276, d1.loss_map_pts: 5.0727, d1.loss_map_dir: 0.0951, d2.loss_map_cls: 1.4298, d2.loss_map_pts: 5.0580, d2.loss_map_dir: 0.0951, d3.loss_map_cls: 1.2036, d3.loss_map_pts: 5.0447, d3.loss_map_dir: 0.0952, d4.loss_map_cls: 1.4738, d4.loss_map_pts: 5.0386, d4.loss_map_dir: 0.0951, d5.loss_map_cls: 1.1650, d5.loss_map_pts: 5.0347, d5.loss_map_dir: 0.0950, loss: 274.4201, grad_norm: 19153.3416 +2026-02-23 23:16:59,915 - DriveTransformer - INFO - Epoch [1][650/117620] lr: 6.841e-05, eta: 28 days, 9:59:22, time: 0.336, data_time: 0.016, memory: 8392, loss_cls: 2.0678, loss_bbox: 1.5357, loss_traj: 5.3479, loss_traj_cls: 0.0153, loss_map_cls: 0.8329, loss_map_pts: 5.0247, loss_map_dir: 0.0942, d0.loss_plan_l1_fix_time: 9.7649, d0.loss_plan_l1_fix_dist: 2.5502, d1.loss_plan_l1_fix_time: 9.7483, d1.loss_plan_l1_fix_dist: 2.5208, d2.loss_plan_l1_fix_time: 9.8815, d2.loss_plan_l1_fix_dist: 3.0757, d3.loss_plan_l1_fix_time: 10.0788, d3.loss_plan_l1_fix_dist: 3.6694, d4.loss_plan_l1_fix_time: 10.2282, d4.loss_plan_l1_fix_dist: 4.4666, d5.loss_plan_l1_fix_time: 10.4354, d5.loss_plan_l1_fix_dist: 5.5529, d6.loss_plan_l1_fix_time: 10.6222, d6.loss_plan_l1_fix_dist: 7.1600, d0.loss_cls_all: 4.6591, d0.loss_bbox_all: 1.5361, d0.loss_cls: 4.6591, d0.loss_bbox: 1.5361, d1.loss_cls: 3.1630, d1.loss_bbox: 1.5417, d2.loss_cls: 2.3133, d2.loss_bbox: 1.5355, d3.loss_cls: 2.1775, d3.loss_bbox: 1.5202, d4.loss_cls: 1.9560, d4.loss_bbox: 1.5539, d5.loss_cls: 2.0783, d5.loss_bbox: 1.5751, d0.loss_traj_cls: 0.0043, d0.loss_traj: 5.2373, d1.loss_traj_cls: 0.0077, d1.loss_traj: 5.3799, d2.loss_traj_cls: 0.0102, d2.loss_traj: 5.3442, d3.loss_traj_cls: 0.0159, d3.loss_traj: 5.3240, d4.loss_traj_cls: 0.0107, d4.loss_traj: 5.2905, d5.loss_traj_cls: 0.0161, d5.loss_traj: 5.2887, d0.loss_map_cls_all: 1.1484, d0.loss_map_pts_all: 5.0592, d0.loss_map_dir_all: 0.0945, d0.loss_map_cls: 1.1484, d0.loss_map_pts: 5.0592, d0.loss_map_dir: 0.0945, d1.loss_map_cls: 1.1836, d1.loss_map_pts: 5.0576, d1.loss_map_dir: 0.0944, d2.loss_map_cls: 1.1354, d2.loss_map_pts: 5.0458, d2.loss_map_dir: 0.0944, d3.loss_map_cls: 0.9883, d3.loss_map_pts: 5.0336, d3.loss_map_dir: 0.0944, d4.loss_map_cls: 1.1637, d4.loss_map_pts: 5.0250, d4.loss_map_dir: 0.0943, d5.loss_map_cls: 0.9272, d5.loss_map_pts: 5.0213, d5.loss_map_dir: 0.0942, loss: 222.0653, grad_norm: 19153.3416 +2026-02-23 23:17:17,170 - DriveTransformer - INFO - Epoch [1][700/117620] lr: 7.291e-05, eta: 28 days, 9:35:10, time: 0.345, data_time: 0.016, memory: 8392, loss_cls: 1.8359, loss_bbox: 1.5005, loss_traj: 6.7626, loss_traj_cls: 0.0143, loss_map_cls: 0.8685, loss_map_pts: 5.2678, loss_map_dir: 0.0948, d0.loss_plan_l1_fix_time: 11.9349, d0.loss_plan_l1_fix_dist: 2.3649, d1.loss_plan_l1_fix_time: 11.8313, d1.loss_plan_l1_fix_dist: 2.4107, d2.loss_plan_l1_fix_time: 11.8909, d2.loss_plan_l1_fix_dist: 3.0574, d3.loss_plan_l1_fix_time: 12.0042, d3.loss_plan_l1_fix_dist: 3.9247, d4.loss_plan_l1_fix_time: 12.1014, d4.loss_plan_l1_fix_dist: 5.1839, d5.loss_plan_l1_fix_time: 12.2726, d5.loss_plan_l1_fix_dist: 6.3077, d6.loss_plan_l1_fix_time: 12.4444, d6.loss_plan_l1_fix_dist: 7.2992, d0.loss_cls_all: 3.7087, d0.loss_bbox_all: 1.5535, d0.loss_cls: 3.7087, d0.loss_bbox: 1.5535, d1.loss_cls: 2.6697, d1.loss_bbox: 1.5246, d2.loss_cls: 1.9997, d2.loss_bbox: 1.5219, d3.loss_cls: 1.9168, d3.loss_bbox: 1.4997, d4.loss_cls: 1.7841, d4.loss_bbox: 1.5373, d5.loss_cls: 1.8558, d5.loss_bbox: 1.5360, d0.loss_traj_cls: 0.0030, d0.loss_traj: 6.6229, d1.loss_traj_cls: 0.0056, d1.loss_traj: 6.7484, d2.loss_traj_cls: 0.0094, d2.loss_traj: 6.7694, d3.loss_traj_cls: 0.0142, d3.loss_traj: 6.7433, d4.loss_traj_cls: 0.0093, d4.loss_traj: 6.6995, d5.loss_traj_cls: 0.0139, d5.loss_traj: 6.7155, d0.loss_map_cls_all: 1.1186, d0.loss_map_pts_all: 5.3504, d0.loss_map_dir_all: 0.0950, d0.loss_map_cls: 1.1186, d0.loss_map_pts: 5.3504, d0.loss_map_dir: 0.0950, d1.loss_map_cls: 1.1104, d1.loss_map_pts: 5.3408, d1.loss_map_dir: 0.0949, d2.loss_map_cls: 1.0670, d2.loss_map_pts: 5.3120, d2.loss_map_dir: 0.0949, d3.loss_map_cls: 0.9546, d3.loss_map_pts: 5.2905, d3.loss_map_dir: 0.0948, d4.loss_map_cls: 1.0854, d4.loss_map_pts: 5.2748, d4.loss_map_dir: 0.0948, d5.loss_map_cls: 0.9186, d5.loss_map_pts: 5.2675, d5.loss_map_dir: 0.0948, loss: 245.3209, grad_norm: 16539.4023 +2026-02-23 23:17:33,531 - DriveTransformer - INFO - Epoch [1][750/117620] lr: 7.741e-05, eta: 28 days, 6:53:59, time: 0.327, data_time: 0.015, memory: 8392, loss_cls: 1.5799, loss_bbox: 1.4439, loss_traj: 5.5254, loss_traj_cls: 0.0134, loss_map_cls: 0.8476, loss_map_pts: 5.1339, loss_map_dir: 0.0944, d0.loss_plan_l1_fix_time: 10.7003, d0.loss_plan_l1_fix_dist: 2.2602, d1.loss_plan_l1_fix_time: 10.5914, d1.loss_plan_l1_fix_dist: 2.5126, d2.loss_plan_l1_fix_time: 10.6119, d2.loss_plan_l1_fix_dist: 3.2210, d3.loss_plan_l1_fix_time: 10.6840, d3.loss_plan_l1_fix_dist: 4.2021, d4.loss_plan_l1_fix_time: 10.7490, d4.loss_plan_l1_fix_dist: 5.7465, d5.loss_plan_l1_fix_time: 10.9362, d5.loss_plan_l1_fix_dist: 6.9113, d6.loss_plan_l1_fix_time: 11.1409, d6.loss_plan_l1_fix_dist: 7.5018, d0.loss_cls_all: 2.4768, d0.loss_bbox_all: 1.5026, d0.loss_cls: 2.4768, d0.loss_bbox: 1.5026, d1.loss_cls: 2.0048, d1.loss_bbox: 1.4544, d2.loss_cls: 1.6297, d2.loss_bbox: 1.4666, d3.loss_cls: 1.6038, d3.loss_bbox: 1.4399, d4.loss_cls: 1.5694, d4.loss_bbox: 1.4842, d5.loss_cls: 1.5969, d5.loss_bbox: 1.4712, d0.loss_traj_cls: 0.0018, d0.loss_traj: 5.3390, d1.loss_traj_cls: 0.0045, d1.loss_traj: 5.4497, d2.loss_traj_cls: 0.0092, d2.loss_traj: 5.5204, d3.loss_traj_cls: 0.0132, d3.loss_traj: 5.5164, d4.loss_traj_cls: 0.0082, d4.loss_traj: 5.4591, d5.loss_traj_cls: 0.0115, d5.loss_traj: 5.4783, d0.loss_map_cls_all: 0.8579, d0.loss_map_pts_all: 5.2240, d0.loss_map_dir_all: 0.0945, d0.loss_map_cls: 0.8579, d0.loss_map_pts: 5.2240, d0.loss_map_dir: 0.0945, d1.loss_map_cls: 0.8317, d1.loss_map_pts: 5.2054, d1.loss_map_dir: 0.0944, d2.loss_map_cls: 0.8275, d2.loss_map_pts: 5.1762, d2.loss_map_dir: 0.0944, d3.loss_map_cls: 0.8050, d3.loss_map_pts: 5.1561, d3.loss_map_dir: 0.0944, d4.loss_map_cls: 0.8622, d4.loss_map_pts: 5.1446, d4.loss_map_dir: 0.0944, d5.loss_map_cls: 0.8082, d5.loss_map_pts: 5.1385, d5.loss_map_dir: 0.0944, loss: 221.6784, grad_norm: 16539.4023 +2026-02-23 23:17:50,293 - DriveTransformer - INFO - Epoch [1][800/117620] lr: 8.191e-05, eta: 28 days, 5:31:51, time: 0.335, data_time: 0.015, memory: 8392, loss_cls: 1.6243, loss_bbox: 1.5477, loss_traj: 4.7211, loss_traj_cls: 0.0139, loss_map_cls: 0.8296, loss_map_pts: 4.9901, loss_map_dir: 0.0944, d0.loss_plan_l1_fix_time: 11.0934, d0.loss_plan_l1_fix_dist: 2.3337, d1.loss_plan_l1_fix_time: 10.9207, d1.loss_plan_l1_fix_dist: 2.5577, d2.loss_plan_l1_fix_time: 10.8454, d2.loss_plan_l1_fix_dist: 3.3779, d3.loss_plan_l1_fix_time: 10.8534, d3.loss_plan_l1_fix_dist: 4.3531, d4.loss_plan_l1_fix_time: 10.8773, d4.loss_plan_l1_fix_dist: 5.5339, d5.loss_plan_l1_fix_time: 11.0249, d5.loss_plan_l1_fix_dist: 6.6876, d6.loss_plan_l1_fix_time: 11.2314, d6.loss_plan_l1_fix_dist: 7.7926, d0.loss_cls_all: 2.2415, d0.loss_bbox_all: 1.5376, d0.loss_cls: 2.2415, d0.loss_bbox: 1.5376, d1.loss_cls: 1.8891, d1.loss_bbox: 1.5162, d2.loss_cls: 1.6314, d2.loss_bbox: 1.5155, d3.loss_cls: 1.6058, d3.loss_bbox: 1.5161, d4.loss_cls: 1.5822, d4.loss_bbox: 1.5345, d5.loss_cls: 1.6117, d5.loss_bbox: 1.5265, d0.loss_traj_cls: 0.0015, d0.loss_traj: 4.6062, d1.loss_traj_cls: 0.0032, d1.loss_traj: 4.6812, d2.loss_traj_cls: 0.0079, d2.loss_traj: 4.7249, d3.loss_traj_cls: 0.0120, d3.loss_traj: 4.7470, d4.loss_traj_cls: 0.0071, d4.loss_traj: 4.7015, d5.loss_traj_cls: 0.0104, d5.loss_traj: 4.7060, d0.loss_map_cls_all: 0.8190, d0.loss_map_pts_all: 5.0756, d0.loss_map_dir_all: 0.0945, d0.loss_map_cls: 0.8190, d0.loss_map_pts: 5.0756, d0.loss_map_dir: 0.0945, d1.loss_map_cls: 0.7936, d1.loss_map_pts: 5.0525, d1.loss_map_dir: 0.0944, d2.loss_map_cls: 0.7907, d2.loss_map_pts: 5.0219, d2.loss_map_dir: 0.0944, d3.loss_map_cls: 0.7802, d3.loss_map_pts: 5.0045, d3.loss_map_dir: 0.0944, d4.loss_map_cls: 0.8334, d4.loss_map_pts: 4.9930, d4.loss_map_dir: 0.0944, d5.loss_map_cls: 0.8047, d5.loss_map_pts: 4.9911, d5.loss_map_dir: 0.0944, loss: 216.5159, grad_norm: 14590.8012 +2026-02-23 23:18:07,793 - DriveTransformer - INFO - Epoch [1][850/117620] lr: 8.641e-05, eta: 28 days, 6:01:32, time: 0.350, data_time: 0.015, memory: 8392, loss_cls: 1.4829, loss_bbox: 1.4263, loss_traj: 5.8674, loss_traj_cls: 0.0139, loss_map_cls: 0.8373, loss_map_pts: 5.0178, loss_map_dir: 0.0944, d0.loss_plan_l1_fix_time: 12.2983, d0.loss_plan_l1_fix_dist: 2.3348, d1.loss_plan_l1_fix_time: 12.0844, d1.loss_plan_l1_fix_dist: 2.4556, d2.loss_plan_l1_fix_time: 11.9576, d2.loss_plan_l1_fix_dist: 3.3390, d3.loss_plan_l1_fix_time: 11.9248, d3.loss_plan_l1_fix_dist: 4.1813, d4.loss_plan_l1_fix_time: 11.9053, d4.loss_plan_l1_fix_dist: 5.0471, d5.loss_plan_l1_fix_time: 12.0261, d5.loss_plan_l1_fix_dist: 6.0204, d6.loss_plan_l1_fix_time: 12.1959, d6.loss_plan_l1_fix_dist: 7.1998, d0.loss_cls_all: 1.8641, d0.loss_bbox_all: 1.4654, d0.loss_cls: 1.8641, d0.loss_bbox: 1.4654, d1.loss_cls: 1.6792, d1.loss_bbox: 1.4425, d2.loss_cls: 1.5068, d2.loss_bbox: 1.4499, d3.loss_cls: 1.4942, d3.loss_bbox: 1.4286, d4.loss_cls: 1.4849, d4.loss_bbox: 1.4552, d5.loss_cls: 1.4886, d5.loss_bbox: 1.4360, d0.loss_traj_cls: 0.0013, d0.loss_traj: 5.8215, d1.loss_traj_cls: 0.0024, d1.loss_traj: 5.8518, d2.loss_traj_cls: 0.0071, d2.loss_traj: 5.8884, d3.loss_traj_cls: 0.0111, d3.loss_traj: 5.9102, d4.loss_traj_cls: 0.0061, d4.loss_traj: 5.8742, d5.loss_traj_cls: 0.0092, d5.loss_traj: 5.8762, d0.loss_map_cls_all: 0.7609, d0.loss_map_pts_all: 5.0428, d0.loss_map_dir_all: 0.0945, d0.loss_map_cls: 0.7609, d0.loss_map_pts: 5.0428, d0.loss_map_dir: 0.0945, d1.loss_map_cls: 0.7332, d1.loss_map_pts: 5.0269, d1.loss_map_dir: 0.0944, d2.loss_map_cls: 0.7420, d2.loss_map_pts: 5.0046, d2.loss_map_dir: 0.0945, d3.loss_map_cls: 0.7541, d3.loss_map_pts: 5.0018, d3.loss_map_dir: 0.0945, d4.loss_map_cls: 0.7940, d4.loss_map_pts: 5.0014, d4.loss_map_dir: 0.0944, d5.loss_map_cls: 0.7847, d5.loss_map_pts: 5.0089, d5.loss_map_dir: 0.0944, loss: 227.6148, grad_norm: 14590.8012 +2026-02-23 23:18:25,011 - DriveTransformer - INFO - Epoch [1][900/117620] lr: 9.091e-05, eta: 28 days, 5:50:21, time: 0.344, data_time: 0.015, memory: 8392, loss_cls: 1.4749, loss_bbox: 1.4426, loss_traj: 4.9401, loss_traj_cls: 0.0116, loss_map_cls: 0.8474, loss_map_pts: 5.2066, loss_map_dir: 0.0961, d0.loss_plan_l1_fix_time: 10.6354, d0.loss_plan_l1_fix_dist: 2.1969, d1.loss_plan_l1_fix_time: 10.3763, d1.loss_plan_l1_fix_dist: 2.4165, d2.loss_plan_l1_fix_time: 10.2024, d2.loss_plan_l1_fix_dist: 3.5179, d3.loss_plan_l1_fix_time: 10.1282, d3.loss_plan_l1_fix_dist: 4.9119, d4.loss_plan_l1_fix_time: 10.0926, d4.loss_plan_l1_fix_dist: 6.0960, d5.loss_plan_l1_fix_time: 10.1687, d5.loss_plan_l1_fix_dist: 7.4610, d6.loss_plan_l1_fix_time: 10.2905, d6.loss_plan_l1_fix_dist: 9.0414, d0.loss_cls_all: 1.7142, d0.loss_bbox_all: 1.4741, d0.loss_cls: 1.7142, d0.loss_bbox: 1.4741, d1.loss_cls: 1.6163, d1.loss_bbox: 1.4718, d2.loss_cls: 1.5004, d2.loss_bbox: 1.4491, d3.loss_cls: 1.4745, d3.loss_bbox: 1.4411, d4.loss_cls: 1.4625, d4.loss_bbox: 1.4396, d5.loss_cls: 1.4627, d5.loss_bbox: 1.4364, d0.loss_traj_cls: 0.0008, d0.loss_traj: 4.9135, d1.loss_traj_cls: 0.0017, d1.loss_traj: 4.9254, d2.loss_traj_cls: 0.0052, d2.loss_traj: 4.9360, d3.loss_traj_cls: 0.0084, d3.loss_traj: 4.9541, d4.loss_traj_cls: 0.0054, d4.loss_traj: 4.9391, d5.loss_traj_cls: 0.0080, d5.loss_traj: 4.9315, d0.loss_map_cls_all: 0.7863, d0.loss_map_pts_all: 5.2792, d0.loss_map_dir_all: 0.0964, d0.loss_map_cls: 0.7863, d0.loss_map_pts: 5.2792, d0.loss_map_dir: 0.0964, d1.loss_map_cls: 0.7608, d1.loss_map_pts: 5.2444, d1.loss_map_dir: 0.0963, d2.loss_map_cls: 0.7611, d2.loss_map_pts: 5.2172, d2.loss_map_dir: 0.0963, d3.loss_map_cls: 0.7731, d3.loss_map_pts: 5.2038, d3.loss_map_dir: 0.0962, d4.loss_map_cls: 0.8041, d4.loss_map_pts: 5.1983, d4.loss_map_dir: 0.0962, d5.loss_map_cls: 0.8072, d5.loss_map_pts: 5.2008, d5.loss_map_dir: 0.0961, loss: 215.0906, grad_norm: 13041.5467 +2026-02-23 23:18:42,119 - DriveTransformer - INFO - Epoch [1][950/117620] lr: 9.541e-05, eta: 28 days, 5:27:51, time: 0.342, data_time: 0.017, memory: 8392, loss_cls: 1.4808, loss_bbox: 1.5119, loss_traj: 5.6818, loss_traj_cls: 0.0107, loss_map_cls: 0.8614, loss_map_pts: 5.1906, loss_map_dir: 0.0962, d0.loss_plan_l1_fix_time: 9.9541, d0.loss_plan_l1_fix_dist: 2.1953, d1.loss_plan_l1_fix_time: 9.7786, d1.loss_plan_l1_fix_dist: 2.4028, d2.loss_plan_l1_fix_time: 9.6951, d2.loss_plan_l1_fix_dist: 3.5299, d3.loss_plan_l1_fix_time: 9.7173, d3.loss_plan_l1_fix_dist: 5.2755, d4.loss_plan_l1_fix_time: 9.7726, d4.loss_plan_l1_fix_dist: 6.6707, d5.loss_plan_l1_fix_time: 9.9319, d5.loss_plan_l1_fix_dist: 8.2907, d6.loss_plan_l1_fix_time: 10.1377, d6.loss_plan_l1_fix_dist: 10.1413, d0.loss_cls_all: 1.5877, d0.loss_bbox_all: 1.5216, d0.loss_cls: 1.5877, d0.loss_bbox: 1.5216, d1.loss_cls: 1.5752, d1.loss_bbox: 1.5412, d2.loss_cls: 1.4998, d2.loss_bbox: 1.5009, d3.loss_cls: 1.4724, d3.loss_bbox: 1.4951, d4.loss_cls: 1.4633, d4.loss_bbox: 1.4981, d5.loss_cls: 1.4595, d5.loss_bbox: 1.5022, d0.loss_traj_cls: 0.0006, d0.loss_traj: 5.6419, d1.loss_traj_cls: 0.0014, d1.loss_traj: 5.6578, d2.loss_traj_cls: 0.0043, d2.loss_traj: 5.6582, d3.loss_traj_cls: 0.0072, d3.loss_traj: 5.6840, d4.loss_traj_cls: 0.0050, d4.loss_traj: 5.6799, d5.loss_traj_cls: 0.0075, d5.loss_traj: 5.6627, d0.loss_map_cls_all: 0.7854, d0.loss_map_pts_all: 5.2974, d0.loss_map_dir_all: 0.0966, d0.loss_map_cls: 0.7854, d0.loss_map_pts: 5.2974, d0.loss_map_dir: 0.0966, d1.loss_map_cls: 0.7649, d1.loss_map_pts: 5.2594, d1.loss_map_dir: 0.0965, d2.loss_map_cls: 0.7596, d2.loss_map_pts: 5.2204, d2.loss_map_dir: 0.0965, d3.loss_map_cls: 0.7791, d3.loss_map_pts: 5.1979, d3.loss_map_dir: 0.0964, d4.loss_map_cls: 0.8096, d4.loss_map_pts: 5.1871, d4.loss_map_dir: 0.0964, d5.loss_map_cls: 0.8191, d5.loss_map_pts: 5.1854, d5.loss_map_dir: 0.0963, loss: 220.3871, grad_norm: 13041.5467 +2026-02-23 23:18:59,241 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-23 23:18:59,241 - DriveTransformer - INFO - Epoch [1][1000/117620] lr: 9.991e-05, eta: 28 days, 5:09:05, time: 0.342, data_time: 0.015, memory: 8392, loss_cls: 1.5246, loss_bbox: 1.4894, loss_traj: 4.4721, loss_traj_cls: 0.0111, loss_map_cls: 0.7641, loss_map_pts: 5.0734, loss_map_dir: 0.0955, d0.loss_plan_l1_fix_time: 9.4062, d0.loss_plan_l1_fix_dist: 1.8315, d1.loss_plan_l1_fix_time: 9.1843, d1.loss_plan_l1_fix_dist: 1.9727, d2.loss_plan_l1_fix_time: 9.0716, d2.loss_plan_l1_fix_dist: 2.6860, d3.loss_plan_l1_fix_time: 9.0608, d3.loss_plan_l1_fix_dist: 3.8659, d4.loss_plan_l1_fix_time: 9.0961, d4.loss_plan_l1_fix_dist: 5.0294, d5.loss_plan_l1_fix_time: 9.2022, d5.loss_plan_l1_fix_dist: 6.2420, d6.loss_plan_l1_fix_time: 9.3504, d6.loss_plan_l1_fix_dist: 7.6139, d0.loss_cls_all: 1.5744, d0.loss_bbox_all: 1.4948, d0.loss_cls: 1.5744, d0.loss_bbox: 1.4948, d1.loss_cls: 1.5907, d1.loss_bbox: 1.5095, d2.loss_cls: 1.5446, d2.loss_bbox: 1.5005, d3.loss_cls: 1.5143, d3.loss_bbox: 1.4990, d4.loss_cls: 1.4968, d4.loss_bbox: 1.4989, d5.loss_cls: 1.5009, d5.loss_bbox: 1.4987, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.3866, d1.loss_traj_cls: 0.0016, d1.loss_traj: 4.3977, d2.loss_traj_cls: 0.0036, d2.loss_traj: 4.4306, d3.loss_traj_cls: 0.0074, d3.loss_traj: 4.4249, d4.loss_traj_cls: 0.0040, d4.loss_traj: 4.4580, d5.loss_traj_cls: 0.0063, d5.loss_traj: 4.4597, d0.loss_map_cls_all: 0.7248, d0.loss_map_pts_all: 5.2029, d0.loss_map_dir_all: 0.0958, d0.loss_map_cls: 0.7248, d0.loss_map_pts: 5.2029, d0.loss_map_dir: 0.0958, d1.loss_map_cls: 0.7081, d1.loss_map_pts: 5.1462, d1.loss_map_dir: 0.0957, d2.loss_map_cls: 0.7026, d2.loss_map_pts: 5.1025, d2.loss_map_dir: 0.0957, d3.loss_map_cls: 0.7264, d3.loss_map_pts: 5.0745, d3.loss_map_dir: 0.0956, d4.loss_map_cls: 0.7409, d4.loss_map_pts: 5.0658, d4.loss_map_dir: 0.0955, d5.loss_map_cls: 0.7385, d5.loss_map_pts: 5.0679, d5.loss_map_dir: 0.0956, loss: 196.5149, grad_norm: 11821.4935 +2026-02-23 23:19:17,012 - DriveTransformer - INFO - Epoch [1][1050/117620] lr: 1.000e-04, eta: 28 days, 6:04:08, time: 0.355, data_time: 0.015, memory: 8392, loss_cls: 1.4597, loss_bbox: 1.3729, loss_traj: 5.2983, loss_traj_cls: 0.0112, loss_map_cls: 0.8268, loss_map_pts: 5.0847, loss_map_dir: 0.0953, d0.loss_plan_l1_fix_time: 11.8534, d0.loss_plan_l1_fix_dist: 1.8623, d1.loss_plan_l1_fix_time: 11.5368, d1.loss_plan_l1_fix_dist: 1.9498, d2.loss_plan_l1_fix_time: 11.3117, d2.loss_plan_l1_fix_dist: 2.4431, d3.loss_plan_l1_fix_time: 11.1768, d3.loss_plan_l1_fix_dist: 3.4323, d4.loss_plan_l1_fix_time: 11.0779, d4.loss_plan_l1_fix_dist: 4.4684, d5.loss_plan_l1_fix_time: 11.0322, d5.loss_plan_l1_fix_dist: 5.5231, d6.loss_plan_l1_fix_time: 11.0407, d6.loss_plan_l1_fix_dist: 6.7441, d0.loss_cls_all: 1.5108, d0.loss_bbox_all: 1.4200, d0.loss_cls: 1.5108, d0.loss_bbox: 1.4200, d1.loss_cls: 1.5435, d1.loss_bbox: 1.4530, d2.loss_cls: 1.5072, d2.loss_bbox: 1.4195, d3.loss_cls: 1.4570, d3.loss_bbox: 1.4084, d4.loss_cls: 1.4403, d4.loss_bbox: 1.4005, d5.loss_cls: 1.4373, d5.loss_bbox: 1.3883, d0.loss_traj_cls: 0.0006, d0.loss_traj: 5.2110, d1.loss_traj_cls: 0.0015, d1.loss_traj: 5.2138, d2.loss_traj_cls: 0.0033, d2.loss_traj: 5.2563, d3.loss_traj_cls: 0.0075, d3.loss_traj: 5.2429, d4.loss_traj_cls: 0.0039, d4.loss_traj: 5.2797, d5.loss_traj_cls: 0.0061, d5.loss_traj: 5.2850, d0.loss_map_cls_all: 0.7660, d0.loss_map_pts_all: 5.0153, d0.loss_map_dir_all: 0.0954, d0.loss_map_cls: 0.7660, d0.loss_map_pts: 5.0153, d0.loss_map_dir: 0.0954, d1.loss_map_cls: 0.7626, d1.loss_map_pts: 4.9872, d1.loss_map_dir: 0.0954, d2.loss_map_cls: 0.7651, d2.loss_map_pts: 4.9787, d2.loss_map_dir: 0.0954, d3.loss_map_cls: 0.7884, d3.loss_map_pts: 4.9918, d3.loss_map_dir: 0.0954, d4.loss_map_cls: 0.8036, d4.loss_map_pts: 5.0226, d4.loss_map_dir: 0.0954, d5.loss_map_cls: 0.8015, d5.loss_map_pts: 5.0553, d5.loss_map_dir: 0.0954, loss: 212.6168, grad_norm: 11821.4935 +2026-02-23 23:19:33,911 - DriveTransformer - INFO - Epoch [1][1100/117620] lr: 1.000e-04, eta: 28 days, 5:20:54, time: 0.338, data_time: 0.019, memory: 8394, loss_cls: 1.4893, loss_bbox: 1.4871, loss_traj: 5.2321, loss_traj_cls: 0.0107, loss_map_cls: 0.7402, loss_map_pts: 4.8468, loss_map_dir: 0.0935, d0.loss_plan_l1_fix_time: 11.9905, d0.loss_plan_l1_fix_dist: 1.9636, d1.loss_plan_l1_fix_time: 11.6701, d1.loss_plan_l1_fix_dist: 2.1299, d2.loss_plan_l1_fix_time: 11.4309, d2.loss_plan_l1_fix_dist: 2.8353, d3.loss_plan_l1_fix_time: 11.3029, d3.loss_plan_l1_fix_dist: 3.7594, d4.loss_plan_l1_fix_time: 11.2019, d4.loss_plan_l1_fix_dist: 4.7084, d5.loss_plan_l1_fix_time: 11.1418, d5.loss_plan_l1_fix_dist: 5.6318, d6.loss_plan_l1_fix_time: 11.1372, d6.loss_plan_l1_fix_dist: 6.6541, d0.loss_cls_all: 1.5124, d0.loss_bbox_all: 1.4423, d0.loss_cls: 1.5124, d0.loss_bbox: 1.4423, d1.loss_cls: 1.5437, d1.loss_bbox: 1.4549, d2.loss_cls: 1.5285, d2.loss_bbox: 1.4539, d3.loss_cls: 1.4802, d3.loss_bbox: 1.4388, d4.loss_cls: 1.4582, d4.loss_bbox: 1.4543, d5.loss_cls: 1.4691, d5.loss_bbox: 1.4426, d0.loss_traj_cls: 0.0006, d0.loss_traj: 5.1184, d1.loss_traj_cls: 0.0016, d1.loss_traj: 5.1601, d2.loss_traj_cls: 0.0043, d2.loss_traj: 5.2049, d3.loss_traj_cls: 0.0083, d3.loss_traj: 5.1947, d4.loss_traj_cls: 0.0033, d4.loss_traj: 5.2020, d5.loss_traj_cls: 0.0051, d5.loss_traj: 5.2096, d0.loss_map_cls_all: 0.7265, d0.loss_map_pts_all: 4.7891, d0.loss_map_dir_all: 0.0937, d0.loss_map_cls: 0.7265, d0.loss_map_pts: 4.7891, d0.loss_map_dir: 0.0937, d1.loss_map_cls: 0.7263, d1.loss_map_pts: 4.7687, d1.loss_map_dir: 0.0938, d2.loss_map_cls: 0.7283, d2.loss_map_pts: 4.7691, d2.loss_map_dir: 0.0938, d3.loss_map_cls: 0.7373, d3.loss_map_pts: 4.7812, d3.loss_map_dir: 0.0936, d4.loss_map_cls: 0.7447, d4.loss_map_pts: 4.8070, d4.loss_map_dir: 0.0936, d5.loss_map_cls: 0.7303, d5.loss_map_pts: 4.8309, d5.loss_map_dir: 0.0935, loss: 212.5147, grad_norm: 10806.9396 +2026-02-23 23:19:50,050 - DriveTransformer - INFO - Epoch [1][1150/117620] lr: 1.000e-04, eta: 28 days, 3:23:50, time: 0.323, data_time: 0.015, memory: 8394, loss_cls: 1.4058, loss_bbox: 1.2444, loss_traj: 6.4300, loss_traj_cls: 0.0102, loss_map_cls: 0.7926, loss_map_pts: 5.2719, loss_map_dir: 0.0928, d0.loss_plan_l1_fix_time: 11.0335, d0.loss_plan_l1_fix_dist: 1.9167, d1.loss_plan_l1_fix_time: 10.7042, d1.loss_plan_l1_fix_dist: 2.1204, d2.loss_plan_l1_fix_time: 10.4585, d2.loss_plan_l1_fix_dist: 2.8398, d3.loss_plan_l1_fix_time: 10.3271, d3.loss_plan_l1_fix_dist: 3.7048, d4.loss_plan_l1_fix_time: 10.2152, d4.loss_plan_l1_fix_dist: 4.6224, d5.loss_plan_l1_fix_time: 10.1492, d5.loss_plan_l1_fix_dist: 5.4720, d6.loss_plan_l1_fix_time: 10.1470, d6.loss_plan_l1_fix_dist: 6.4139, d0.loss_cls_all: 1.4962, d0.loss_bbox_all: 1.3053, d0.loss_cls: 1.4962, d0.loss_bbox: 1.3053, d1.loss_cls: 1.5032, d1.loss_bbox: 1.3065, d2.loss_cls: 1.4675, d2.loss_bbox: 1.2916, d3.loss_cls: 1.4003, d3.loss_bbox: 1.2448, d4.loss_cls: 1.3902, d4.loss_bbox: 1.2472, d5.loss_cls: 1.3903, d5.loss_bbox: 1.2101, d0.loss_traj_cls: 0.0006, d0.loss_traj: 6.3113, d1.loss_traj_cls: 0.0013, d1.loss_traj: 6.3480, d2.loss_traj_cls: 0.0038, d2.loss_traj: 6.4038, d3.loss_traj_cls: 0.0077, d3.loss_traj: 6.3962, d4.loss_traj_cls: 0.0031, d4.loss_traj: 6.4005, d5.loss_traj_cls: 0.0050, d5.loss_traj: 6.4102, d0.loss_map_cls_all: 0.7553, d0.loss_map_pts_all: 5.3416, d0.loss_map_dir_all: 0.0930, d0.loss_map_cls: 0.7553, d0.loss_map_pts: 5.3416, d0.loss_map_dir: 0.0930, d1.loss_map_cls: 0.7691, d1.loss_map_pts: 5.2915, d1.loss_map_dir: 0.0931, d2.loss_map_cls: 0.7833, d2.loss_map_pts: 5.2718, d2.loss_map_dir: 0.0931, d3.loss_map_cls: 0.7885, d3.loss_map_pts: 5.2602, d3.loss_map_dir: 0.0930, d4.loss_map_cls: 0.7967, d4.loss_map_pts: 5.2634, d4.loss_map_dir: 0.0929, d5.loss_map_cls: 0.7733, d5.loss_map_pts: 5.2690, d5.loss_map_dir: 0.0928, loss: 215.8302, grad_norm: 10806.9396 +2026-02-23 23:20:07,159 - DriveTransformer - INFO - Epoch [1][1200/117620] lr: 1.000e-04, eta: 28 days, 3:12:12, time: 0.342, data_time: 0.016, memory: 8394, loss_cls: 1.4305, loss_bbox: 1.3282, loss_traj: 5.1602, loss_traj_cls: 0.0078, loss_map_cls: 0.7834, loss_map_pts: 4.9873, loss_map_dir: 0.0912, d0.loss_plan_l1_fix_time: 11.5055, d0.loss_plan_l1_fix_dist: 1.8472, d1.loss_plan_l1_fix_time: 11.1283, d1.loss_plan_l1_fix_dist: 2.0370, d2.loss_plan_l1_fix_time: 10.8346, d2.loss_plan_l1_fix_dist: 3.0361, d3.loss_plan_l1_fix_time: 10.6183, d3.loss_plan_l1_fix_dist: 4.0815, d4.loss_plan_l1_fix_time: 10.4658, d4.loss_plan_l1_fix_dist: 5.2425, d5.loss_plan_l1_fix_time: 10.3607, d5.loss_plan_l1_fix_dist: 6.3466, d6.loss_plan_l1_fix_time: 10.3135, d6.loss_plan_l1_fix_dist: 7.2895, d0.loss_cls_all: 1.4500, d0.loss_bbox_all: 1.3039, d0.loss_cls: 1.4500, d0.loss_bbox: 1.3039, d1.loss_cls: 1.4888, d1.loss_bbox: 1.3306, d2.loss_cls: 1.4706, d2.loss_bbox: 1.3220, d3.loss_cls: 1.4252, d3.loss_bbox: 1.2813, d4.loss_cls: 1.4122, d4.loss_bbox: 1.2772, d5.loss_cls: 1.4185, d5.loss_bbox: 1.2930, d0.loss_traj_cls: 0.0006, d0.loss_traj: 5.0517, d1.loss_traj_cls: 0.0007, d1.loss_traj: 5.0756, d2.loss_traj_cls: 0.0020, d2.loss_traj: 5.1341, d3.loss_traj_cls: 0.0039, d3.loss_traj: 5.1368, d4.loss_traj_cls: 0.0026, d4.loss_traj: 5.1398, d5.loss_traj_cls: 0.0043, d5.loss_traj: 5.1415, d0.loss_map_cls_all: 0.7209, d0.loss_map_pts_all: 5.0141, d0.loss_map_dir_all: 0.0915, d0.loss_map_cls: 0.7209, d0.loss_map_pts: 5.0141, d0.loss_map_dir: 0.0915, d1.loss_map_cls: 0.7316, d1.loss_map_pts: 4.9793, d1.loss_map_dir: 0.0917, d2.loss_map_cls: 0.7479, d2.loss_map_pts: 4.9741, d2.loss_map_dir: 0.0916, d3.loss_map_cls: 0.7555, d3.loss_map_pts: 4.9789, d3.loss_map_dir: 0.0914, d4.loss_map_cls: 0.7436, d4.loss_map_pts: 4.9863, d4.loss_map_dir: 0.0912, d5.loss_map_cls: 0.7527, d5.loss_map_pts: 4.9900, d5.loss_map_dir: 0.0912, loss: 209.5668, grad_norm: 9955.3990 +2026-02-23 23:20:24,634 - DriveTransformer - INFO - Epoch [1][1250/117620] lr: 1.000e-04, eta: 28 days, 3:35:38, time: 0.350, data_time: 0.016, memory: 8394, loss_cls: 1.4516, loss_bbox: 1.2962, loss_traj: 5.9337, loss_traj_cls: 0.0080, loss_map_cls: 0.8187, loss_map_pts: 4.9969, loss_map_dir: 0.0906, d0.loss_plan_l1_fix_time: 11.0047, d0.loss_plan_l1_fix_dist: 1.6658, d1.loss_plan_l1_fix_time: 10.6453, d1.loss_plan_l1_fix_dist: 1.8008, d2.loss_plan_l1_fix_time: 10.3777, d2.loss_plan_l1_fix_dist: 2.8441, d3.loss_plan_l1_fix_time: 10.2065, d3.loss_plan_l1_fix_dist: 3.8853, d4.loss_plan_l1_fix_time: 10.1034, d4.loss_plan_l1_fix_dist: 5.0436, d5.loss_plan_l1_fix_time: 10.0593, d5.loss_plan_l1_fix_dist: 6.0577, d6.loss_plan_l1_fix_time: 10.0750, d6.loss_plan_l1_fix_dist: 6.9427, d0.loss_cls_all: 1.4693, d0.loss_bbox_all: 1.3172, d0.loss_cls: 1.4693, d0.loss_bbox: 1.3172, d1.loss_cls: 1.5056, d1.loss_bbox: 1.3379, d2.loss_cls: 1.4910, d2.loss_bbox: 1.3177, d3.loss_cls: 1.4540, d3.loss_bbox: 1.2751, d4.loss_cls: 1.4418, d4.loss_bbox: 1.2584, d5.loss_cls: 1.4414, d5.loss_bbox: 1.2723, d0.loss_traj_cls: 0.0006, d0.loss_traj: 5.8131, d1.loss_traj_cls: 0.0007, d1.loss_traj: 5.8457, d2.loss_traj_cls: 0.0019, d2.loss_traj: 5.9050, d3.loss_traj_cls: 0.0037, d3.loss_traj: 5.9117, d4.loss_traj_cls: 0.0028, d4.loss_traj: 5.9199, d5.loss_traj_cls: 0.0044, d5.loss_traj: 5.9207, d0.loss_map_cls_all: 0.7423, d0.loss_map_pts_all: 5.0453, d0.loss_map_dir_all: 0.0909, d0.loss_map_cls: 0.7423, d0.loss_map_pts: 5.0453, d0.loss_map_dir: 0.0909, d1.loss_map_cls: 0.7551, d1.loss_map_pts: 5.0083, d1.loss_map_dir: 0.0910, d2.loss_map_cls: 0.7809, d2.loss_map_pts: 5.0008, d2.loss_map_dir: 0.0910, d3.loss_map_cls: 0.7797, d3.loss_map_pts: 4.9992, d3.loss_map_dir: 0.0908, d4.loss_map_cls: 0.7751, d4.loss_map_pts: 4.9992, d4.loss_map_dir: 0.0906, d5.loss_map_cls: 0.7886, d5.loss_map_pts: 4.9997, d5.loss_map_dir: 0.0906, loss: 211.1032, grad_norm: 9232.1755 +2026-02-23 23:20:41,193 - DriveTransformer - INFO - Epoch [1][1300/117620] lr: 1.000e-04, eta: 28 days, 2:34:01, time: 0.331, data_time: 0.015, memory: 8394, loss_cls: 1.4606, loss_bbox: 1.3015, loss_traj: 6.4580, loss_traj_cls: 0.0091, loss_map_cls: 0.8324, loss_map_pts: 5.2067, loss_map_dir: 0.0827, d0.loss_plan_l1_fix_time: 11.4345, d0.loss_plan_l1_fix_dist: 1.6171, d1.loss_plan_l1_fix_time: 11.0523, d1.loss_plan_l1_fix_dist: 1.7670, d2.loss_plan_l1_fix_time: 10.7713, d2.loss_plan_l1_fix_dist: 2.5060, d3.loss_plan_l1_fix_time: 10.5769, d3.loss_plan_l1_fix_dist: 3.2618, d4.loss_plan_l1_fix_time: 10.4593, d4.loss_plan_l1_fix_dist: 4.1666, d5.loss_plan_l1_fix_time: 10.3855, d5.loss_plan_l1_fix_dist: 5.0749, d6.loss_plan_l1_fix_time: 10.3370, d6.loss_plan_l1_fix_dist: 6.0242, d0.loss_cls_all: 1.4330, d0.loss_bbox_all: 1.2745, d0.loss_cls: 1.4330, d0.loss_bbox: 1.2745, d1.loss_cls: 1.4772, d1.loss_bbox: 1.2928, d2.loss_cls: 1.4653, d2.loss_bbox: 1.2703, d3.loss_cls: 1.4701, d3.loss_bbox: 1.2615, d4.loss_cls: 1.4680, d4.loss_bbox: 1.2860, d5.loss_cls: 1.4664, d5.loss_bbox: 1.3083, d0.loss_traj_cls: 0.0007, d0.loss_traj: 6.3422, d1.loss_traj_cls: 0.0006, d1.loss_traj: 6.3689, d2.loss_traj_cls: 0.0013, d2.loss_traj: 6.3982, d3.loss_traj_cls: 0.0037, d3.loss_traj: 6.4231, d4.loss_traj_cls: 0.0023, d4.loss_traj: 6.4634, d5.loss_traj_cls: 0.0033, d5.loss_traj: 6.4724, d0.loss_map_cls_all: 0.7964, d0.loss_map_pts_all: 5.2642, d0.loss_map_dir_all: 0.0822, d0.loss_map_cls: 0.7964, d0.loss_map_pts: 5.2642, d0.loss_map_dir: 0.0822, d1.loss_map_cls: 0.7890, d1.loss_map_pts: 5.2314, d1.loss_map_dir: 0.0826, d2.loss_map_cls: 0.8071, d2.loss_map_pts: 5.2193, d2.loss_map_dir: 0.0827, d3.loss_map_cls: 0.7987, d3.loss_map_pts: 5.2161, d3.loss_map_dir: 0.0826, d4.loss_map_cls: 0.7990, d4.loss_map_pts: 5.2130, d4.loss_map_dir: 0.0826, d5.loss_map_cls: 0.8206, d5.loss_map_pts: 5.2096, d5.loss_map_dir: 0.0827, loss: 215.2493, grad_norm: 9232.1755 +2026-02-23 23:20:58,561 - DriveTransformer - INFO - Epoch [1][1350/117620] lr: 1.000e-04, eta: 28 days, 2:47:16, time: 0.347, data_time: 0.014, memory: 8394, loss_cls: 1.5636, loss_bbox: 1.4314, loss_traj: 4.6480, loss_traj_cls: 0.0088, loss_map_cls: 0.7132, loss_map_pts: 4.8618, loss_map_dir: 0.0838, d0.loss_plan_l1_fix_time: 10.4225, d0.loss_plan_l1_fix_dist: 1.7818, d1.loss_plan_l1_fix_time: 10.1014, d1.loss_plan_l1_fix_dist: 1.9322, d2.loss_plan_l1_fix_time: 9.8848, d2.loss_plan_l1_fix_dist: 2.6334, d3.loss_plan_l1_fix_time: 9.7616, d3.loss_plan_l1_fix_dist: 3.3566, d4.loss_plan_l1_fix_time: 9.7265, d4.loss_plan_l1_fix_dist: 4.2133, d5.loss_plan_l1_fix_time: 9.7224, d5.loss_plan_l1_fix_dist: 5.0402, d6.loss_plan_l1_fix_time: 9.7415, d6.loss_plan_l1_fix_dist: 5.9435, d0.loss_cls_all: 1.5063, d0.loss_bbox_all: 1.4034, d0.loss_cls: 1.5063, d0.loss_bbox: 1.4034, d1.loss_cls: 1.5625, d1.loss_bbox: 1.4088, d2.loss_cls: 1.5598, d2.loss_bbox: 1.4063, d3.loss_cls: 1.6004, d3.loss_bbox: 1.4110, d4.loss_cls: 1.5835, d4.loss_bbox: 1.4381, d5.loss_cls: 1.5807, d5.loss_bbox: 1.4523, d0.loss_traj_cls: 0.0007, d0.loss_traj: 4.5619, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.5839, d2.loss_traj_cls: 0.0013, d2.loss_traj: 4.5943, d3.loss_traj_cls: 0.0038, d3.loss_traj: 4.6155, d4.loss_traj_cls: 0.0022, d4.loss_traj: 4.6483, d5.loss_traj_cls: 0.0034, d5.loss_traj: 4.6546, d0.loss_map_cls_all: 0.6692, d0.loss_map_pts_all: 4.9568, d0.loss_map_dir_all: 0.0834, d0.loss_map_cls: 0.6692, d0.loss_map_pts: 4.9568, d0.loss_map_dir: 0.0834, d1.loss_map_cls: 0.6772, d1.loss_map_pts: 4.9080, d1.loss_map_dir: 0.0836, d2.loss_map_cls: 0.6844, d2.loss_map_pts: 4.8854, d2.loss_map_dir: 0.0841, d3.loss_map_cls: 0.6928, d3.loss_map_pts: 4.8735, d3.loss_map_dir: 0.0841, d4.loss_map_cls: 0.6827, d4.loss_map_pts: 4.8661, d4.loss_map_dir: 0.0840, d5.loss_map_cls: 0.7020, d5.loss_map_pts: 4.8619, d5.loss_map_dir: 0.0839, loss: 195.7381, grad_norm: 8609.1419 +2026-02-23 23:21:15,012 - DriveTransformer - INFO - Epoch [1][1400/117620] lr: 1.000e-04, eta: 28 days, 1:43:00, time: 0.329, data_time: 0.015, memory: 8394, loss_cls: 1.5405, loss_bbox: 1.4896, loss_traj: 5.0378, loss_traj_cls: 0.0074, loss_map_cls: 0.7831, loss_map_pts: 5.0140, loss_map_dir: 0.0839, d0.loss_plan_l1_fix_time: 11.7158, d0.loss_plan_l1_fix_dist: 1.4285, d1.loss_plan_l1_fix_time: 11.2797, d1.loss_plan_l1_fix_dist: 1.8773, d2.loss_plan_l1_fix_time: 10.9252, d2.loss_plan_l1_fix_dist: 2.2968, d3.loss_plan_l1_fix_time: 10.6610, d3.loss_plan_l1_fix_dist: 2.9827, d4.loss_plan_l1_fix_time: 10.4648, d4.loss_plan_l1_fix_dist: 3.6137, d5.loss_plan_l1_fix_time: 10.3287, d5.loss_plan_l1_fix_dist: 4.5639, d6.loss_plan_l1_fix_time: 10.2511, d6.loss_plan_l1_fix_dist: 5.6715, d0.loss_cls_all: 1.4941, d0.loss_bbox_all: 1.4840, d0.loss_cls: 1.4941, d0.loss_bbox: 1.4840, d1.loss_cls: 1.5623, d1.loss_bbox: 1.4895, d2.loss_cls: 1.5521, d2.loss_bbox: 1.4819, d3.loss_cls: 1.5809, d3.loss_bbox: 1.5221, d4.loss_cls: 1.5378, d4.loss_bbox: 1.5278, d5.loss_cls: 1.5414, d5.loss_bbox: 1.5050, d0.loss_traj_cls: 0.0007, d0.loss_traj: 4.8714, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.9387, d2.loss_traj_cls: 0.0013, d2.loss_traj: 4.9604, d3.loss_traj_cls: 0.0042, d3.loss_traj: 4.9730, d4.loss_traj_cls: 0.0016, d4.loss_traj: 5.0113, d5.loss_traj_cls: 0.0032, d5.loss_traj: 5.0187, d0.loss_map_cls_all: 0.7788, d0.loss_map_pts_all: 5.1004, d0.loss_map_dir_all: 0.0839, d0.loss_map_cls: 0.7788, d0.loss_map_pts: 5.1004, d0.loss_map_dir: 0.0839, d1.loss_map_cls: 0.7555, d1.loss_map_pts: 5.0460, d1.loss_map_dir: 0.0839, d2.loss_map_cls: 0.7634, d2.loss_map_pts: 5.0198, d2.loss_map_dir: 0.0839, d3.loss_map_cls: 0.7642, d3.loss_map_pts: 5.0067, d3.loss_map_dir: 0.0841, d4.loss_map_cls: 0.7707, d4.loss_map_pts: 4.9999, d4.loss_map_dir: 0.0841, d5.loss_map_cls: 0.7759, d5.loss_map_pts: 5.0000, d5.loss_map_dir: 0.0838, loss: 204.3080, grad_norm: 8609.1419 +2026-02-23 23:21:31,819 - DriveTransformer - INFO - Epoch [1][1450/117620] lr: 1.000e-04, eta: 28 days, 1:11:25, time: 0.336, data_time: 0.016, memory: 8394, loss_cls: 1.4905, loss_bbox: 1.4118, loss_traj: 5.6897, loss_traj_cls: 0.0072, loss_map_cls: 0.7462, loss_map_pts: 4.8933, loss_map_dir: 0.0847, d0.loss_plan_l1_fix_time: 9.1380, d0.loss_plan_l1_fix_dist: 1.4691, d1.loss_plan_l1_fix_time: 8.9162, d1.loss_plan_l1_fix_dist: 1.9492, d2.loss_plan_l1_fix_time: 8.7958, d2.loss_plan_l1_fix_dist: 2.4113, d3.loss_plan_l1_fix_time: 8.7561, d3.loss_plan_l1_fix_dist: 3.1041, d4.loss_plan_l1_fix_time: 8.7700, d4.loss_plan_l1_fix_dist: 3.7238, d5.loss_plan_l1_fix_time: 8.8293, d5.loss_plan_l1_fix_dist: 4.6055, d6.loss_plan_l1_fix_time: 8.9237, d6.loss_plan_l1_fix_dist: 5.6314, d0.loss_cls_all: 1.4537, d0.loss_bbox_all: 1.3887, d0.loss_cls: 1.4537, d0.loss_bbox: 1.3887, d1.loss_cls: 1.5186, d1.loss_bbox: 1.3855, d2.loss_cls: 1.5045, d2.loss_bbox: 1.3889, d3.loss_cls: 1.5175, d3.loss_bbox: 1.4221, d4.loss_cls: 1.4848, d4.loss_bbox: 1.4253, d5.loss_cls: 1.4916, d5.loss_bbox: 1.4150, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.5256, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.5843, d2.loss_traj_cls: 0.0013, d2.loss_traj: 5.6224, d3.loss_traj_cls: 0.0040, d3.loss_traj: 5.6350, d4.loss_traj_cls: 0.0017, d4.loss_traj: 5.6559, d5.loss_traj_cls: 0.0031, d5.loss_traj: 5.6709, d0.loss_map_cls_all: 0.6916, d0.loss_map_pts_all: 4.9788, d0.loss_map_dir_all: 0.0848, d0.loss_map_cls: 0.6916, d0.loss_map_pts: 4.9788, d0.loss_map_dir: 0.0848, d1.loss_map_cls: 0.6957, d1.loss_map_pts: 4.9343, d1.loss_map_dir: 0.0847, d2.loss_map_cls: 0.7102, d2.loss_map_pts: 4.9111, d2.loss_map_dir: 0.0848, d3.loss_map_cls: 0.7171, d3.loss_map_pts: 4.8959, d3.loss_map_dir: 0.0849, d4.loss_map_cls: 0.7198, d4.loss_map_pts: 4.8886, d4.loss_map_dir: 0.0850, d5.loss_map_cls: 0.7310, d5.loss_map_pts: 4.8862, d5.loss_map_dir: 0.0848, loss: 193.3153, grad_norm: 8069.7351 +2026-02-23 23:21:49,526 - DriveTransformer - INFO - Epoch [1][1500/117620] lr: 1.000e-04, eta: 28 days, 1:53:20, time: 0.354, data_time: 0.017, memory: 8394, loss_cls: 1.4904, loss_bbox: 1.3352, loss_traj: 6.6433, loss_traj_cls: 0.0058, loss_map_cls: 0.7667, loss_map_pts: 5.0473, loss_map_dir: 0.0876, d0.loss_plan_l1_fix_time: 11.3568, d0.loss_plan_l1_fix_dist: 1.4770, d1.loss_plan_l1_fix_time: 11.0173, d1.loss_plan_l1_fix_dist: 2.0805, d2.loss_plan_l1_fix_time: 10.7902, d2.loss_plan_l1_fix_dist: 2.7246, d3.loss_plan_l1_fix_time: 10.6855, d3.loss_plan_l1_fix_dist: 3.4746, d4.loss_plan_l1_fix_time: 10.6381, d4.loss_plan_l1_fix_dist: 4.1821, d5.loss_plan_l1_fix_time: 10.6263, d5.loss_plan_l1_fix_dist: 4.9766, d6.loss_plan_l1_fix_time: 10.6413, d6.loss_plan_l1_fix_dist: 5.8437, d0.loss_cls_all: 1.4556, d0.loss_bbox_all: 1.2996, d0.loss_cls: 1.4556, d0.loss_bbox: 1.2996, d1.loss_cls: 1.5186, d1.loss_bbox: 1.2990, d2.loss_cls: 1.5034, d2.loss_bbox: 1.3031, d3.loss_cls: 1.5019, d3.loss_bbox: 1.3142, d4.loss_cls: 1.4849, d4.loss_bbox: 1.3005, d5.loss_cls: 1.4919, d5.loss_bbox: 1.3267, d0.loss_traj_cls: 0.0008, d0.loss_traj: 6.4393, d1.loss_traj_cls: 0.0006, d1.loss_traj: 6.5187, d2.loss_traj_cls: 0.0011, d2.loss_traj: 6.5957, d3.loss_traj_cls: 0.0034, d3.loss_traj: 6.5937, d4.loss_traj_cls: 0.0017, d4.loss_traj: 6.5949, d5.loss_traj_cls: 0.0026, d5.loss_traj: 6.6038, d0.loss_map_cls_all: 0.7043, d0.loss_map_pts_all: 5.1290, d0.loss_map_dir_all: 0.0877, d0.loss_map_cls: 0.7043, d0.loss_map_pts: 5.1290, d0.loss_map_dir: 0.0877, d1.loss_map_cls: 0.7053, d1.loss_map_pts: 5.0699, d1.loss_map_dir: 0.0878, d2.loss_map_cls: 0.7302, d2.loss_map_pts: 5.0433, d2.loss_map_dir: 0.0881, d3.loss_map_cls: 0.7366, d3.loss_map_pts: 5.0261, d3.loss_map_dir: 0.0877, d4.loss_map_cls: 0.7438, d4.loss_map_pts: 5.0199, d4.loss_map_dir: 0.0877, d5.loss_map_cls: 0.7488, d5.loss_map_pts: 5.0257, d5.loss_map_dir: 0.0875, loss: 215.9323, grad_norm: 8069.7351 +2026-02-23 23:22:06,861 - DriveTransformer - INFO - Epoch [1][1550/117620] lr: 1.000e-04, eta: 28 days, 2:03:36, time: 0.347, data_time: 0.015, memory: 8394, loss_cls: 1.5028, loss_bbox: 1.5047, loss_traj: 5.4842, loss_traj_cls: 0.0059, loss_map_cls: 0.7604, loss_map_pts: 4.6249, loss_map_dir: 0.0867, d0.loss_plan_l1_fix_time: 10.6964, d0.loss_plan_l1_fix_dist: 1.4304, d1.loss_plan_l1_fix_time: 10.3903, d1.loss_plan_l1_fix_dist: 2.0230, d2.loss_plan_l1_fix_time: 10.2037, d2.loss_plan_l1_fix_dist: 2.6177, d3.loss_plan_l1_fix_time: 10.1212, d3.loss_plan_l1_fix_dist: 3.3348, d4.loss_plan_l1_fix_time: 10.0905, d4.loss_plan_l1_fix_dist: 4.0292, d5.loss_plan_l1_fix_time: 10.1027, d5.loss_plan_l1_fix_dist: 4.7965, d6.loss_plan_l1_fix_time: 10.1648, d6.loss_plan_l1_fix_dist: 5.6466, d0.loss_cls_all: 1.4720, d0.loss_bbox_all: 1.4976, d0.loss_cls: 1.4720, d0.loss_bbox: 1.4976, d1.loss_cls: 1.5585, d1.loss_bbox: 1.4934, d2.loss_cls: 1.5281, d2.loss_bbox: 1.4908, d3.loss_cls: 1.5280, d3.loss_bbox: 1.5005, d4.loss_cls: 1.4938, d4.loss_bbox: 1.4957, d5.loss_cls: 1.5052, d5.loss_bbox: 1.5002, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.2789, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.3619, d2.loss_traj_cls: 0.0011, d2.loss_traj: 5.4399, d3.loss_traj_cls: 0.0031, d3.loss_traj: 5.4402, d4.loss_traj_cls: 0.0016, d4.loss_traj: 5.4462, d5.loss_traj_cls: 0.0025, d5.loss_traj: 5.4495, d0.loss_map_cls_all: 0.6979, d0.loss_map_pts_all: 4.6989, d0.loss_map_dir_all: 0.0866, d0.loss_map_cls: 0.6979, d0.loss_map_pts: 4.6989, d0.loss_map_dir: 0.0866, d1.loss_map_cls: 0.6959, d1.loss_map_pts: 4.6364, d1.loss_map_dir: 0.0868, d2.loss_map_cls: 0.7187, d2.loss_map_pts: 4.6057, d2.loss_map_dir: 0.0868, d3.loss_map_cls: 0.7225, d3.loss_map_pts: 4.5934, d3.loss_map_dir: 0.0869, d4.loss_map_cls: 0.7285, d4.loss_map_pts: 4.5937, d4.loss_map_dir: 0.0868, d5.loss_map_cls: 0.7377, d5.loss_map_pts: 4.6020, d5.loss_map_dir: 0.0868, loss: 201.1127, grad_norm: 7599.4295 +2026-02-23 23:22:25,186 - DriveTransformer - INFO - Epoch [1][1600/117620] lr: 1.000e-04, eta: 28 days, 3:26:38, time: 0.367, data_time: 0.015, memory: 8394, loss_cls: 1.4772, loss_bbox: 1.3362, loss_traj: 4.7417, loss_traj_cls: 0.0064, loss_map_cls: 0.7986, loss_map_pts: 4.9372, loss_map_dir: 0.0811, d0.loss_plan_l1_fix_time: 9.9303, d0.loss_plan_l1_fix_dist: 1.4106, d1.loss_plan_l1_fix_time: 9.6287, d1.loss_plan_l1_fix_dist: 1.9074, d2.loss_plan_l1_fix_time: 9.4341, d2.loss_plan_l1_fix_dist: 2.4343, d3.loss_plan_l1_fix_time: 9.3451, d3.loss_plan_l1_fix_dist: 3.0453, d4.loss_plan_l1_fix_time: 9.3353, d4.loss_plan_l1_fix_dist: 3.7391, d5.loss_plan_l1_fix_time: 9.3769, d5.loss_plan_l1_fix_dist: 4.3811, d6.loss_plan_l1_fix_time: 9.4689, d6.loss_plan_l1_fix_dist: 5.0781, d0.loss_cls_all: 1.4751, d0.loss_bbox_all: 1.2718, d0.loss_cls: 1.4751, d0.loss_bbox: 1.2718, d1.loss_cls: 1.5371, d1.loss_bbox: 1.2656, d2.loss_cls: 1.4963, d2.loss_bbox: 1.2781, d3.loss_cls: 1.4874, d3.loss_bbox: 1.2744, d4.loss_cls: 1.4793, d4.loss_bbox: 1.2777, d5.loss_cls: 1.4885, d5.loss_bbox: 1.3105, d0.loss_traj_cls: 0.0008, d0.loss_traj: 4.5382, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.6057, d2.loss_traj_cls: 0.0010, d2.loss_traj: 4.6922, d3.loss_traj_cls: 0.0022, d3.loss_traj: 4.7079, d4.loss_traj_cls: 0.0015, d4.loss_traj: 4.7270, d5.loss_traj_cls: 0.0021, d5.loss_traj: 4.7266, d0.loss_map_cls_all: 0.7361, d0.loss_map_pts_all: 5.0067, d0.loss_map_dir_all: 0.0812, d0.loss_map_cls: 0.7361, d0.loss_map_pts: 5.0067, d0.loss_map_dir: 0.0812, d1.loss_map_cls: 0.7322, d1.loss_map_pts: 4.9638, d1.loss_map_dir: 0.0812, d2.loss_map_cls: 0.7630, d2.loss_map_pts: 4.9488, d2.loss_map_dir: 0.0815, d3.loss_map_cls: 0.7690, d3.loss_map_pts: 4.9429, d3.loss_map_dir: 0.0814, d4.loss_map_cls: 0.7770, d4.loss_map_pts: 4.9395, d4.loss_map_dir: 0.0813, d5.loss_map_cls: 0.7755, d5.loss_map_pts: 4.9371, d5.loss_map_dir: 0.0813, loss: 189.8911, grad_norm: 7599.4295 +2026-02-23 23:22:41,840 - DriveTransformer - INFO - Epoch [1][1650/117620] lr: 1.000e-04, eta: 28 days, 2:44:55, time: 0.333, data_time: 0.016, memory: 8394, loss_cls: 1.5335, loss_bbox: 1.4541, loss_traj: 5.6503, loss_traj_cls: 0.0062, loss_map_cls: 0.7604, loss_map_pts: 4.8191, loss_map_dir: 0.0818, d0.loss_plan_l1_fix_time: 12.5454, d0.loss_plan_l1_fix_dist: 1.2772, d1.loss_plan_l1_fix_time: 11.9626, d1.loss_plan_l1_fix_dist: 1.7284, d2.loss_plan_l1_fix_time: 11.4890, d2.loss_plan_l1_fix_dist: 2.3048, d3.loss_plan_l1_fix_time: 11.1444, d3.loss_plan_l1_fix_dist: 2.8795, d4.loss_plan_l1_fix_time: 10.8997, d4.loss_plan_l1_fix_dist: 3.5551, d5.loss_plan_l1_fix_time: 10.7202, d5.loss_plan_l1_fix_dist: 4.1287, d6.loss_plan_l1_fix_time: 10.6366, d6.loss_plan_l1_fix_dist: 4.7617, d0.loss_cls_all: 1.5224, d0.loss_bbox_all: 1.4032, d0.loss_cls: 1.5224, d0.loss_bbox: 1.4032, d1.loss_cls: 1.6015, d1.loss_bbox: 1.3990, d2.loss_cls: 1.5433, d2.loss_bbox: 1.4081, d3.loss_cls: 1.5495, d3.loss_bbox: 1.3948, d4.loss_cls: 1.5355, d4.loss_bbox: 1.4003, d5.loss_cls: 1.5504, d5.loss_bbox: 1.4267, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.4261, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.5156, d2.loss_traj_cls: 0.0009, d2.loss_traj: 5.5849, d3.loss_traj_cls: 0.0021, d3.loss_traj: 5.6087, d4.loss_traj_cls: 0.0013, d4.loss_traj: 5.6361, d5.loss_traj_cls: 0.0021, d5.loss_traj: 5.6384, d0.loss_map_cls_all: 0.7085, d0.loss_map_pts_all: 4.8701, d0.loss_map_dir_all: 0.0822, d0.loss_map_cls: 0.7085, d0.loss_map_pts: 4.8701, d0.loss_map_dir: 0.0822, d1.loss_map_cls: 0.7111, d1.loss_map_pts: 4.8317, d1.loss_map_dir: 0.0820, d2.loss_map_cls: 0.7301, d2.loss_map_pts: 4.8185, d2.loss_map_dir: 0.0820, d3.loss_map_cls: 0.7325, d3.loss_map_pts: 4.8100, d3.loss_map_dir: 0.0818, d4.loss_map_cls: 0.7359, d4.loss_map_pts: 4.8081, d4.loss_map_dir: 0.0819, d5.loss_map_cls: 0.7401, d5.loss_map_pts: 4.8101, d5.loss_map_dir: 0.0817, loss: 207.8753, grad_norm: 7179.1819 +2026-02-23 23:22:58,896 - DriveTransformer - INFO - Epoch [1][1700/117620] lr: 1.000e-04, eta: 28 days, 2:34:08, time: 0.341, data_time: 0.014, memory: 8394, loss_cls: 1.4373, loss_bbox: 1.2781, loss_traj: 4.9246, loss_traj_cls: 0.0062, loss_map_cls: 0.8005, loss_map_pts: 4.7881, loss_map_dir: 0.0820, d0.loss_plan_l1_fix_time: 11.4298, d0.loss_plan_l1_fix_dist: 1.3393, d1.loss_plan_l1_fix_time: 10.8478, d1.loss_plan_l1_fix_dist: 1.7414, d2.loss_plan_l1_fix_time: 10.3825, d2.loss_plan_l1_fix_dist: 2.3484, d3.loss_plan_l1_fix_time: 10.0369, d3.loss_plan_l1_fix_dist: 2.7977, d4.loss_plan_l1_fix_time: 9.7839, d4.loss_plan_l1_fix_dist: 3.4420, d5.loss_plan_l1_fix_time: 9.6272, d5.loss_plan_l1_fix_dist: 3.9072, d6.loss_plan_l1_fix_time: 9.5942, d6.loss_plan_l1_fix_dist: 4.4303, d0.loss_cls_all: 1.4268, d0.loss_bbox_all: 1.1982, d0.loss_cls: 1.4268, d0.loss_bbox: 1.1982, d1.loss_cls: 1.4780, d1.loss_bbox: 1.2086, d2.loss_cls: 1.4260, d2.loss_bbox: 1.1988, d3.loss_cls: 1.4517, d3.loss_bbox: 1.1980, d4.loss_cls: 1.4501, d4.loss_bbox: 1.2140, d5.loss_cls: 1.4593, d5.loss_bbox: 1.2474, d0.loss_traj_cls: 0.0008, d0.loss_traj: 4.7160, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.8153, d2.loss_traj_cls: 0.0008, d2.loss_traj: 4.8489, d3.loss_traj_cls: 0.0017, d3.loss_traj: 4.8934, d4.loss_traj_cls: 0.0010, d4.loss_traj: 4.9194, d5.loss_traj_cls: 0.0019, d5.loss_traj: 4.9283, d0.loss_map_cls_all: 0.7491, d0.loss_map_pts_all: 4.8570, d0.loss_map_dir_all: 0.0818, d0.loss_map_cls: 0.7491, d0.loss_map_pts: 4.8570, d0.loss_map_dir: 0.0818, d1.loss_map_cls: 0.7499, d1.loss_map_pts: 4.8055, d1.loss_map_dir: 0.0817, d2.loss_map_cls: 0.7649, d2.loss_map_pts: 4.7852, d2.loss_map_dir: 0.0818, d3.loss_map_cls: 0.7741, d3.loss_map_pts: 4.7748, d3.loss_map_dir: 0.0818, d4.loss_map_cls: 0.7666, d4.loss_map_pts: 4.7708, d4.loss_map_dir: 0.0818, d5.loss_map_cls: 0.7846, d5.loss_map_pts: 4.7733, d5.loss_map_dir: 0.0818, loss: 192.2700, grad_norm: 7179.1819 +2026-02-23 23:23:16,223 - DriveTransformer - INFO - Epoch [1][1750/117620] lr: 1.000e-04, eta: 28 days, 2:41:16, time: 0.346, data_time: 0.014, memory: 8394, loss_cls: 1.4748, loss_bbox: 1.4401, loss_traj: 5.7908, loss_traj_cls: 0.0054, loss_map_cls: 0.7643, loss_map_pts: 4.6509, loss_map_dir: 0.0816, d0.loss_plan_l1_fix_time: 9.9538, d0.loss_plan_l1_fix_dist: 1.2685, d1.loss_plan_l1_fix_time: 9.4441, d1.loss_plan_l1_fix_dist: 1.6780, d2.loss_plan_l1_fix_time: 9.0670, d2.loss_plan_l1_fix_dist: 2.2186, d3.loss_plan_l1_fix_time: 8.8241, d3.loss_plan_l1_fix_dist: 2.7285, d4.loss_plan_l1_fix_time: 8.6857, d4.loss_plan_l1_fix_dist: 3.3547, d5.loss_plan_l1_fix_time: 8.6264, d5.loss_plan_l1_fix_dist: 3.8937, d6.loss_plan_l1_fix_time: 8.6980, d6.loss_plan_l1_fix_dist: 4.4984, d0.loss_cls_all: 1.4866, d0.loss_bbox_all: 1.3654, d0.loss_cls: 1.4866, d0.loss_bbox: 1.3654, d1.loss_cls: 1.5259, d1.loss_bbox: 1.3718, d2.loss_cls: 1.4814, d2.loss_bbox: 1.3684, d3.loss_cls: 1.5076, d3.loss_bbox: 1.3793, d4.loss_cls: 1.4968, d4.loss_bbox: 1.3865, d5.loss_cls: 1.4916, d5.loss_bbox: 1.4112, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.5239, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.6517, d2.loss_traj_cls: 0.0008, d2.loss_traj: 5.6949, d3.loss_traj_cls: 0.0018, d3.loss_traj: 5.7415, d4.loss_traj_cls: 0.0010, d4.loss_traj: 5.7708, d5.loss_traj_cls: 0.0018, d5.loss_traj: 5.7805, d0.loss_map_cls_all: 0.7259, d0.loss_map_pts_all: 4.7187, d0.loss_map_dir_all: 0.0817, d0.loss_map_cls: 0.7259, d0.loss_map_pts: 4.7187, d0.loss_map_dir: 0.0817, d1.loss_map_cls: 0.7209, d1.loss_map_pts: 4.6675, d1.loss_map_dir: 0.0820, d2.loss_map_cls: 0.7447, d2.loss_map_pts: 4.6495, d2.loss_map_dir: 0.0820, d3.loss_map_cls: 0.7470, d3.loss_map_pts: 4.6390, d3.loss_map_dir: 0.0820, d4.loss_map_cls: 0.7446, d4.loss_map_pts: 4.6355, d4.loss_map_dir: 0.0820, d5.loss_map_cls: 0.7558, d5.loss_map_pts: 4.6371, d5.loss_map_dir: 0.0818, loss: 189.8460, grad_norm: 6813.1128 +2026-02-23 23:23:32,669 - DriveTransformer - INFO - Epoch [1][1800/117620] lr: 1.000e-04, eta: 28 days, 1:50:58, time: 0.329, data_time: 0.014, memory: 8394, loss_cls: 1.4120, loss_bbox: 1.3492, loss_traj: 5.1242, loss_traj_cls: 0.0050, loss_map_cls: 0.7225, loss_map_pts: 4.8644, loss_map_dir: 0.0782, d0.loss_plan_l1_fix_time: 9.8160, d0.loss_plan_l1_fix_dist: 1.1532, d1.loss_plan_l1_fix_time: 9.6021, d1.loss_plan_l1_fix_dist: 1.5730, d2.loss_plan_l1_fix_time: 9.4945, d2.loss_plan_l1_fix_dist: 2.0820, d3.loss_plan_l1_fix_time: 9.4372, d3.loss_plan_l1_fix_dist: 2.6831, d4.loss_plan_l1_fix_time: 9.4411, d4.loss_plan_l1_fix_dist: 3.3152, d5.loss_plan_l1_fix_time: 9.5019, d5.loss_plan_l1_fix_dist: 3.9986, d6.loss_plan_l1_fix_time: 9.6774, d6.loss_plan_l1_fix_dist: 4.7589, d0.loss_cls_all: 1.4104, d0.loss_bbox_all: 1.2797, d0.loss_cls: 1.4104, d0.loss_bbox: 1.2797, d1.loss_cls: 1.4394, d1.loss_bbox: 1.2848, d2.loss_cls: 1.4113, d2.loss_bbox: 1.2898, d3.loss_cls: 1.4546, d3.loss_bbox: 1.3123, d4.loss_cls: 1.4394, d4.loss_bbox: 1.3244, d5.loss_cls: 1.4324, d5.loss_bbox: 1.3401, d0.loss_traj_cls: 0.0008, d0.loss_traj: 4.8416, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.9921, d2.loss_traj_cls: 0.0007, d2.loss_traj: 5.0252, d3.loss_traj_cls: 0.0020, d3.loss_traj: 5.0642, d4.loss_traj_cls: 0.0010, d4.loss_traj: 5.0849, d5.loss_traj_cls: 0.0016, d5.loss_traj: 5.1001, d0.loss_map_cls_all: 0.7115, d0.loss_map_pts_all: 4.9491, d0.loss_map_dir_all: 0.0785, d0.loss_map_cls: 0.7115, d0.loss_map_pts: 4.9491, d0.loss_map_dir: 0.0785, d1.loss_map_cls: 0.6962, d1.loss_map_pts: 4.8801, d1.loss_map_dir: 0.0782, d2.loss_map_cls: 0.7140, d2.loss_map_pts: 4.8557, d2.loss_map_dir: 0.0783, d3.loss_map_cls: 0.7127, d3.loss_map_pts: 4.8422, d3.loss_map_dir: 0.0783, d4.loss_map_cls: 0.7137, d4.loss_map_pts: 4.8405, d4.loss_map_dir: 0.0783, d5.loss_map_cls: 0.7194, d5.loss_map_pts: 4.8461, d5.loss_map_dir: 0.0782, loss: 189.0038, grad_norm: 6813.1128 +2026-02-23 23:23:49,877 - DriveTransformer - INFO - Epoch [1][1850/117620] lr: 1.000e-04, eta: 28 days, 1:51:29, time: 0.344, data_time: 0.014, memory: 8394, loss_cls: 1.4429, loss_bbox: 1.3154, loss_traj: 6.5959, loss_traj_cls: 0.0047, loss_map_cls: 0.7658, loss_map_pts: 4.8696, loss_map_dir: 0.0789, d0.loss_plan_l1_fix_time: 12.4728, d0.loss_plan_l1_fix_dist: 1.2009, d1.loss_plan_l1_fix_time: 11.6558, d1.loss_plan_l1_fix_dist: 1.5749, d2.loss_plan_l1_fix_time: 10.9965, d2.loss_plan_l1_fix_dist: 1.9150, d3.loss_plan_l1_fix_time: 10.4657, d3.loss_plan_l1_fix_dist: 2.3407, d4.loss_plan_l1_fix_time: 10.0602, d4.loss_plan_l1_fix_dist: 2.8814, d5.loss_plan_l1_fix_time: 9.7664, d5.loss_plan_l1_fix_dist: 3.4981, d6.loss_plan_l1_fix_time: 9.6389, d6.loss_plan_l1_fix_dist: 4.2595, d0.loss_cls_all: 1.4254, d0.loss_bbox_all: 1.2219, d0.loss_cls: 1.4254, d0.loss_bbox: 1.2219, d1.loss_cls: 1.4695, d1.loss_bbox: 1.2302, d2.loss_cls: 1.4469, d2.loss_bbox: 1.2278, d3.loss_cls: 1.4940, d3.loss_bbox: 1.2483, d4.loss_cls: 1.4711, d4.loss_bbox: 1.2655, d5.loss_cls: 1.4575, d5.loss_bbox: 1.3009, d0.loss_traj_cls: 0.0009, d0.loss_traj: 6.2546, d1.loss_traj_cls: 0.0007, d1.loss_traj: 6.4130, d2.loss_traj_cls: 0.0007, d2.loss_traj: 6.4845, d3.loss_traj_cls: 0.0020, d3.loss_traj: 6.5237, d4.loss_traj_cls: 0.0010, d4.loss_traj: 6.5432, d5.loss_traj_cls: 0.0015, d5.loss_traj: 6.5574, d0.loss_map_cls_all: 0.7332, d0.loss_map_pts_all: 4.9495, d0.loss_map_dir_all: 0.0791, d0.loss_map_cls: 0.7332, d0.loss_map_pts: 4.9495, d0.loss_map_dir: 0.0791, d1.loss_map_cls: 0.7324, d1.loss_map_pts: 4.9080, d1.loss_map_dir: 0.0790, d2.loss_map_cls: 0.7485, d2.loss_map_pts: 4.8974, d2.loss_map_dir: 0.0790, d3.loss_map_cls: 0.7602, d3.loss_map_pts: 4.8933, d3.loss_map_dir: 0.0790, d4.loss_map_cls: 0.7586, d4.loss_map_pts: 4.8859, d4.loss_map_dir: 0.0791, d5.loss_map_cls: 0.7624, d5.loss_map_pts: 4.8763, d5.loss_map_dir: 0.0790, loss: 205.6313, grad_norm: 6477.2291 +2026-02-23 23:24:07,007 - DriveTransformer - INFO - Epoch [1][1900/117620] lr: 1.000e-04, eta: 28 days, 1:47:19, time: 0.343, data_time: 0.017, memory: 8394, loss_cls: 1.4211, loss_bbox: 1.2604, loss_traj: 5.8852, loss_traj_cls: 0.0042, loss_map_cls: 0.7739, loss_map_pts: 5.0891, loss_map_dir: 0.0798, d0.loss_plan_l1_fix_time: 9.7990, d0.loss_plan_l1_fix_dist: 1.3040, d1.loss_plan_l1_fix_time: 9.3235, d1.loss_plan_l1_fix_dist: 1.5684, d2.loss_plan_l1_fix_time: 9.0603, d2.loss_plan_l1_fix_dist: 1.7935, d3.loss_plan_l1_fix_time: 8.8897, d3.loss_plan_l1_fix_dist: 2.0643, d4.loss_plan_l1_fix_time: 8.8227, d4.loss_plan_l1_fix_dist: 2.5040, d5.loss_plan_l1_fix_time: 8.8644, d5.loss_plan_l1_fix_dist: 3.0086, d6.loss_plan_l1_fix_time: 9.0258, d6.loss_plan_l1_fix_dist: 3.7076, d0.loss_cls_all: 1.4073, d0.loss_bbox_all: 1.1907, d0.loss_cls: 1.4073, d0.loss_bbox: 1.1907, d1.loss_cls: 1.4458, d1.loss_bbox: 1.2066, d2.loss_cls: 1.4303, d2.loss_bbox: 1.2015, d3.loss_cls: 1.4661, d3.loss_bbox: 1.2208, d4.loss_cls: 1.4452, d4.loss_bbox: 1.2373, d5.loss_cls: 1.4303, d5.loss_bbox: 1.2652, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.5820, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.7160, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.7938, d3.loss_traj_cls: 0.0021, d3.loss_traj: 5.8173, d4.loss_traj_cls: 0.0009, d4.loss_traj: 5.8247, d5.loss_traj_cls: 0.0014, d5.loss_traj: 5.8348, d0.loss_map_cls_all: 0.7477, d0.loss_map_pts_all: 5.2027, d0.loss_map_dir_all: 0.0798, d0.loss_map_cls: 0.7477, d0.loss_map_pts: 5.2027, d0.loss_map_dir: 0.0798, d1.loss_map_cls: 0.7462, d1.loss_map_pts: 5.1414, d1.loss_map_dir: 0.0798, d2.loss_map_cls: 0.7593, d2.loss_map_pts: 5.1140, d2.loss_map_dir: 0.0797, d3.loss_map_cls: 0.7747, d3.loss_map_pts: 5.1067, d3.loss_map_dir: 0.0800, d4.loss_map_cls: 0.7710, d4.loss_map_pts: 5.0993, d4.loss_map_dir: 0.0800, d5.loss_map_cls: 0.7710, d5.loss_map_pts: 5.0933, d5.loss_map_dir: 0.0799, loss: 189.2056, grad_norm: 6477.2291 +2026-02-23 23:24:23,811 - DriveTransformer - INFO - Epoch [1][1950/117620] lr: 1.000e-04, eta: 28 days, 1:23:55, time: 0.336, data_time: 0.016, memory: 8394, loss_cls: 1.4527, loss_bbox: 1.2187, loss_traj: 5.0470, loss_traj_cls: 0.0048, loss_map_cls: 0.7405, loss_map_pts: 4.6320, loss_map_dir: 0.0802, d0.loss_plan_l1_fix_time: 8.7675, d0.loss_plan_l1_fix_dist: 1.3287, d1.loss_plan_l1_fix_time: 8.4598, d1.loss_plan_l1_fix_dist: 1.5807, d2.loss_plan_l1_fix_time: 8.3179, d2.loss_plan_l1_fix_dist: 1.7898, d3.loss_plan_l1_fix_time: 8.2272, d3.loss_plan_l1_fix_dist: 2.1101, d4.loss_plan_l1_fix_time: 8.2119, d4.loss_plan_l1_fix_dist: 2.5312, d5.loss_plan_l1_fix_time: 8.2855, d5.loss_plan_l1_fix_dist: 2.9728, d6.loss_plan_l1_fix_time: 8.4745, d6.loss_plan_l1_fix_dist: 3.5489, d0.loss_cls_all: 1.4291, d0.loss_bbox_all: 1.1665, d0.loss_cls: 1.4291, d0.loss_bbox: 1.1665, d1.loss_cls: 1.4714, d1.loss_bbox: 1.1888, d2.loss_cls: 1.4587, d2.loss_bbox: 1.1691, d3.loss_cls: 1.4808, d3.loss_bbox: 1.1927, d4.loss_cls: 1.4598, d4.loss_bbox: 1.2000, d5.loss_cls: 1.4426, d5.loss_bbox: 1.2173, d0.loss_traj_cls: 0.0009, d0.loss_traj: 4.7804, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.8923, d2.loss_traj_cls: 0.0007, d2.loss_traj: 4.9721, d3.loss_traj_cls: 0.0017, d3.loss_traj: 4.9973, d4.loss_traj_cls: 0.0009, d4.loss_traj: 5.0231, d5.loss_traj_cls: 0.0013, d5.loss_traj: 5.0196, d0.loss_map_cls_all: 0.7248, d0.loss_map_pts_all: 4.7120, d0.loss_map_dir_all: 0.0805, d0.loss_map_cls: 0.7248, d0.loss_map_pts: 4.7120, d0.loss_map_dir: 0.0805, d1.loss_map_cls: 0.7147, d1.loss_map_pts: 4.6582, d1.loss_map_dir: 0.0802, d2.loss_map_cls: 0.7275, d2.loss_map_pts: 4.6442, d2.loss_map_dir: 0.0802, d3.loss_map_cls: 0.7305, d3.loss_map_pts: 4.6389, d3.loss_map_dir: 0.0802, d4.loss_map_cls: 0.7359, d4.loss_map_pts: 4.6350, d4.loss_map_dir: 0.0803, d5.loss_map_cls: 0.7379, d5.loss_map_pts: 4.6334, d5.loss_map_dir: 0.0803, loss: 174.2378, grad_norm: 6176.0000 +2026-02-23 23:24:40,971 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-23 23:24:40,971 - DriveTransformer - INFO - Epoch [1][2000/117620] lr: 1.000e-04, eta: 28 days, 1:22:29, time: 0.343, data_time: 0.014, memory: 8394, loss_cls: 1.4334, loss_bbox: 1.3092, loss_traj: 5.6665, loss_traj_cls: 0.0052, loss_map_cls: 0.7247, loss_map_pts: 4.6287, loss_map_dir: 0.0808, d0.loss_plan_l1_fix_time: 9.6079, d0.loss_plan_l1_fix_dist: 1.4457, d1.loss_plan_l1_fix_time: 9.0905, d1.loss_plan_l1_fix_dist: 1.7197, d2.loss_plan_l1_fix_time: 8.7597, d2.loss_plan_l1_fix_dist: 1.9509, d3.loss_plan_l1_fix_time: 8.5694, d3.loss_plan_l1_fix_dist: 2.3541, d4.loss_plan_l1_fix_time: 8.4826, d4.loss_plan_l1_fix_dist: 2.8275, d5.loss_plan_l1_fix_time: 8.4877, d5.loss_plan_l1_fix_dist: 3.2778, d6.loss_plan_l1_fix_time: 8.5999, d6.loss_plan_l1_fix_dist: 3.8351, d0.loss_cls_all: 1.4091, d0.loss_bbox_all: 1.2592, d0.loss_cls: 1.4091, d0.loss_bbox: 1.2592, d1.loss_cls: 1.4401, d1.loss_bbox: 1.2833, d2.loss_cls: 1.4220, d2.loss_bbox: 1.2656, d3.loss_cls: 1.4285, d3.loss_bbox: 1.2908, d4.loss_cls: 1.4226, d4.loss_bbox: 1.2949, d5.loss_cls: 1.4159, d5.loss_bbox: 1.2965, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.3287, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.4732, d2.loss_traj_cls: 0.0007, d2.loss_traj: 5.5723, d3.loss_traj_cls: 0.0015, d3.loss_traj: 5.6068, d4.loss_traj_cls: 0.0008, d4.loss_traj: 5.6534, d5.loss_traj_cls: 0.0012, d5.loss_traj: 5.6458, d0.loss_map_cls_all: 0.7166, d0.loss_map_pts_all: 4.7679, d0.loss_map_dir_all: 0.0809, d0.loss_map_cls: 0.7166, d0.loss_map_pts: 4.7679, d0.loss_map_dir: 0.0809, d1.loss_map_cls: 0.6995, d1.loss_map_pts: 4.6728, d1.loss_map_dir: 0.0807, d2.loss_map_cls: 0.7133, d2.loss_map_pts: 4.6365, d2.loss_map_dir: 0.0808, d3.loss_map_cls: 0.7141, d3.loss_map_pts: 4.6207, d3.loss_map_dir: 0.0809, d4.loss_map_cls: 0.7217, d4.loss_map_pts: 4.6174, d4.loss_map_dir: 0.0811, d5.loss_map_cls: 0.7231, d5.loss_map_pts: 4.6211, d5.loss_map_dir: 0.0810, loss: 183.3152, grad_norm: 6176.0000 +2026-02-23 23:24:57,686 - DriveTransformer - INFO - Epoch [1][2050/117620] lr: 1.000e-04, eta: 28 days, 0:55:16, time: 0.334, data_time: 0.015, memory: 8394, loss_cls: 1.5150, loss_bbox: 1.3858, loss_traj: 5.1423, loss_traj_cls: 0.0045, loss_map_cls: 0.7387, loss_map_pts: 5.0894, loss_map_dir: 0.0822, d0.loss_plan_l1_fix_time: 9.5341, d0.loss_plan_l1_fix_dist: 1.3883, d1.loss_plan_l1_fix_time: 8.9670, d1.loss_plan_l1_fix_dist: 1.6387, d2.loss_plan_l1_fix_time: 8.6042, d2.loss_plan_l1_fix_dist: 1.9460, d3.loss_plan_l1_fix_time: 8.3808, d3.loss_plan_l1_fix_dist: 2.3923, d4.loss_plan_l1_fix_time: 8.2409, d4.loss_plan_l1_fix_dist: 2.8580, d5.loss_plan_l1_fix_time: 8.2170, d5.loss_plan_l1_fix_dist: 3.3078, d6.loss_plan_l1_fix_time: 8.3041, d6.loss_plan_l1_fix_dist: 3.7018, d0.loss_cls_all: 1.4734, d0.loss_bbox_all: 1.3336, d0.loss_cls: 1.4734, d0.loss_bbox: 1.3336, d1.loss_cls: 1.5291, d1.loss_bbox: 1.3654, d2.loss_cls: 1.5027, d2.loss_bbox: 1.3368, d3.loss_cls: 1.5224, d3.loss_bbox: 1.3465, d4.loss_cls: 1.5219, d4.loss_bbox: 1.3516, d5.loss_cls: 1.5047, d5.loss_bbox: 1.3620, d0.loss_traj_cls: 0.0009, d0.loss_traj: 4.7844, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.9633, d2.loss_traj_cls: 0.0007, d2.loss_traj: 5.0419, d3.loss_traj_cls: 0.0013, d3.loss_traj: 5.0861, d4.loss_traj_cls: 0.0008, d4.loss_traj: 5.1279, d5.loss_traj_cls: 0.0011, d5.loss_traj: 5.1288, d0.loss_map_cls_all: 0.7224, d0.loss_map_pts_all: 5.2697, d0.loss_map_dir_all: 0.0827, d0.loss_map_cls: 0.7224, d0.loss_map_pts: 5.2697, d0.loss_map_dir: 0.0827, d1.loss_map_cls: 0.7164, d1.loss_map_pts: 5.1659, d1.loss_map_dir: 0.0825, d2.loss_map_cls: 0.7277, d2.loss_map_pts: 5.1271, d2.loss_map_dir: 0.0823, d3.loss_map_cls: 0.7271, d3.loss_map_pts: 5.1079, d3.loss_map_dir: 0.0822, d4.loss_map_cls: 0.7317, d4.loss_map_pts: 5.0967, d4.loss_map_dir: 0.0823, d5.loss_map_cls: 0.7359, d5.loss_map_pts: 5.0906, d5.loss_map_dir: 0.0822, loss: 183.3215, grad_norm: 5897.2598 +2026-02-23 23:25:14,953 - DriveTransformer - INFO - Epoch [1][2100/117620] lr: 1.000e-04, eta: 28 days, 1:00:23, time: 0.345, data_time: 0.015, memory: 8394, loss_cls: 1.5375, loss_bbox: 1.3465, loss_traj: 5.2491, loss_traj_cls: 0.0045, loss_map_cls: 0.7367, loss_map_pts: 4.9005, loss_map_dir: 0.0835, d0.loss_plan_l1_fix_time: 10.9373, d0.loss_plan_l1_fix_dist: 1.1216, d1.loss_plan_l1_fix_time: 10.2438, d1.loss_plan_l1_fix_dist: 1.3985, d2.loss_plan_l1_fix_time: 9.7404, d2.loss_plan_l1_fix_dist: 1.7543, d3.loss_plan_l1_fix_time: 9.3992, d3.loss_plan_l1_fix_dist: 2.2565, d4.loss_plan_l1_fix_time: 9.1224, d4.loss_plan_l1_fix_dist: 2.7401, d5.loss_plan_l1_fix_time: 8.9448, d5.loss_plan_l1_fix_dist: 3.2145, d6.loss_plan_l1_fix_time: 8.8657, d6.loss_plan_l1_fix_dist: 3.5681, d0.loss_cls_all: 1.4664, d0.loss_bbox_all: 1.2777, d0.loss_cls: 1.4664, d0.loss_bbox: 1.2777, d1.loss_cls: 1.5057, d1.loss_bbox: 1.3016, d2.loss_cls: 1.5003, d2.loss_bbox: 1.2808, d3.loss_cls: 1.5111, d3.loss_bbox: 1.2961, d4.loss_cls: 1.5427, d4.loss_bbox: 1.2942, d5.loss_cls: 1.5296, d5.loss_bbox: 1.3018, d0.loss_traj_cls: 0.0009, d0.loss_traj: 4.9559, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.1131, d2.loss_traj_cls: 0.0007, d2.loss_traj: 5.1661, d3.loss_traj_cls: 0.0011, d3.loss_traj: 5.2217, d4.loss_traj_cls: 0.0007, d4.loss_traj: 5.2395, d5.loss_traj_cls: 0.0010, d5.loss_traj: 5.2513, d0.loss_map_cls_all: 0.7171, d0.loss_map_pts_all: 4.9716, d0.loss_map_dir_all: 0.0839, d0.loss_map_cls: 0.7171, d0.loss_map_pts: 4.9716, d0.loss_map_dir: 0.0839, d1.loss_map_cls: 0.7080, d1.loss_map_pts: 4.9176, d1.loss_map_dir: 0.0836, d2.loss_map_cls: 0.7219, d2.loss_map_pts: 4.9167, d2.loss_map_dir: 0.0835, d3.loss_map_cls: 0.7232, d3.loss_map_pts: 4.9246, d3.loss_map_dir: 0.0835, d4.loss_map_cls: 0.7292, d4.loss_map_pts: 4.9219, d4.loss_map_dir: 0.0836, d5.loss_map_cls: 0.7321, d5.loss_map_pts: 4.9117, d5.loss_map_dir: 0.0835, loss: 187.8394, grad_norm: 5897.2598 +2026-02-23 23:25:32,534 - DriveTransformer - INFO - Epoch [1][2150/117620] lr: 1.000e-04, eta: 28 days, 1:22:35, time: 0.352, data_time: 0.015, memory: 8394, loss_cls: 1.5071, loss_bbox: 1.3898, loss_traj: 5.5508, loss_traj_cls: 0.0036, loss_map_cls: 0.7369, loss_map_pts: 5.0899, loss_map_dir: 0.0863, d0.loss_plan_l1_fix_time: 8.1748, d0.loss_plan_l1_fix_dist: 1.1481, d1.loss_plan_l1_fix_time: 8.0056, d1.loss_plan_l1_fix_dist: 1.4090, d2.loss_plan_l1_fix_time: 7.9819, d2.loss_plan_l1_fix_dist: 1.6245, d3.loss_plan_l1_fix_time: 8.0653, d3.loss_plan_l1_fix_dist: 1.9309, d4.loss_plan_l1_fix_time: 8.1603, d4.loss_plan_l1_fix_dist: 2.2805, d5.loss_plan_l1_fix_time: 8.3006, d5.loss_plan_l1_fix_dist: 2.6241, d6.loss_plan_l1_fix_time: 8.4647, d6.loss_plan_l1_fix_dist: 3.0915, d0.loss_cls_all: 1.4690, d0.loss_bbox_all: 1.3431, d0.loss_cls: 1.4690, d0.loss_bbox: 1.3431, d1.loss_cls: 1.5173, d1.loss_bbox: 1.3692, d2.loss_cls: 1.5029, d2.loss_bbox: 1.3519, d3.loss_cls: 1.5311, d3.loss_bbox: 1.3585, d4.loss_cls: 1.5328, d4.loss_bbox: 1.3627, d5.loss_cls: 1.4989, d5.loss_bbox: 1.3758, d0.loss_traj_cls: 0.0010, d0.loss_traj: 5.1337, d1.loss_traj_cls: 0.0007, d1.loss_traj: 5.3575, d2.loss_traj_cls: 0.0007, d2.loss_traj: 5.4314, d3.loss_traj_cls: 0.0011, d3.loss_traj: 5.4956, d4.loss_traj_cls: 0.0008, d4.loss_traj: 5.5112, d5.loss_traj_cls: 0.0010, d5.loss_traj: 5.5225, d0.loss_map_cls_all: 0.7111, d0.loss_map_pts_all: 5.2820, d0.loss_map_dir_all: 0.0862, d0.loss_map_cls: 0.7111, d0.loss_map_pts: 5.2820, d0.loss_map_dir: 0.0862, d1.loss_map_cls: 0.7102, d1.loss_map_pts: 5.1546, d1.loss_map_dir: 0.0860, d2.loss_map_cls: 0.7224, d2.loss_map_pts: 5.1052, d2.loss_map_dir: 0.0862, d3.loss_map_cls: 0.7286, d3.loss_map_pts: 5.0836, d3.loss_map_dir: 0.0862, d4.loss_map_cls: 0.7341, d4.loss_map_pts: 5.0783, d4.loss_map_dir: 0.0862, d5.loss_map_cls: 0.7338, d5.loss_map_pts: 5.0815, d5.loss_map_dir: 0.0862, loss: 179.8298, grad_norm: 5647.4855 +2026-02-23 23:25:49,583 - DriveTransformer - INFO - Epoch [1][2200/117620] lr: 1.000e-04, eta: 28 days, 1:15:08, time: 0.341, data_time: 0.015, memory: 8394, loss_cls: 1.4047, loss_bbox: 1.3475, loss_traj: 5.5159, loss_traj_cls: 0.0033, loss_map_cls: 0.7734, loss_map_pts: 4.8713, loss_map_dir: 0.0876, d0.loss_plan_l1_fix_time: 10.2012, d0.loss_plan_l1_fix_dist: 1.2769, d1.loss_plan_l1_fix_time: 9.5314, d1.loss_plan_l1_fix_dist: 1.5227, d2.loss_plan_l1_fix_time: 9.0834, d2.loss_plan_l1_fix_dist: 1.6862, d3.loss_plan_l1_fix_time: 8.8547, d3.loss_plan_l1_fix_dist: 1.9383, d4.loss_plan_l1_fix_time: 8.7430, d4.loss_plan_l1_fix_dist: 2.2255, d5.loss_plan_l1_fix_time: 8.7226, d5.loss_plan_l1_fix_dist: 2.5379, d6.loss_plan_l1_fix_time: 8.7541, d6.loss_plan_l1_fix_dist: 3.0024, d0.loss_cls_all: 1.4030, d0.loss_bbox_all: 1.3427, d0.loss_cls: 1.4030, d0.loss_bbox: 1.3427, d1.loss_cls: 1.4425, d1.loss_bbox: 1.3641, d2.loss_cls: 1.4060, d2.loss_bbox: 1.3519, d3.loss_cls: 1.4143, d3.loss_bbox: 1.3663, d4.loss_cls: 1.4188, d4.loss_bbox: 1.3590, d5.loss_cls: 1.4087, d5.loss_bbox: 1.3468, d0.loss_traj_cls: 0.0009, d0.loss_traj: 5.1244, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.3303, d2.loss_traj_cls: 0.0007, d2.loss_traj: 5.3992, d3.loss_traj_cls: 0.0010, d3.loss_traj: 5.4644, d4.loss_traj_cls: 0.0008, d4.loss_traj: 5.4697, d5.loss_traj_cls: 0.0010, d5.loss_traj: 5.4861, d0.loss_map_cls_all: 0.7717, d0.loss_map_pts_all: 5.0005, d0.loss_map_dir_all: 0.0873, d0.loss_map_cls: 0.7717, d0.loss_map_pts: 5.0005, d0.loss_map_dir: 0.0873, d1.loss_map_cls: 0.7703, d1.loss_map_pts: 4.9082, d1.loss_map_dir: 0.0874, d2.loss_map_cls: 0.7778, d2.loss_map_pts: 4.8791, d2.loss_map_dir: 0.0875, d3.loss_map_cls: 0.7705, d3.loss_map_pts: 4.8689, d3.loss_map_dir: 0.0876, d4.loss_map_cls: 0.7823, d4.loss_map_pts: 4.8669, d4.loss_map_dir: 0.0875, d5.loss_map_cls: 0.7717, d5.loss_map_pts: 4.8677, d5.loss_map_dir: 0.0876, loss: 184.1531, grad_norm: 5647.4855 +2026-02-23 23:26:07,220 - DriveTransformer - INFO - Epoch [1][2250/117620] lr: 1.000e-04, eta: 28 days, 1:38:54, time: 0.353, data_time: 0.016, memory: 8394, loss_cls: 1.4820, loss_bbox: 1.4477, loss_traj: 4.7724, loss_traj_cls: 0.0034, loss_map_cls: 0.7252, loss_map_pts: 4.7254, loss_map_dir: 0.0889, d0.loss_plan_l1_fix_time: 9.7062, d0.loss_plan_l1_fix_dist: 1.2764, d1.loss_plan_l1_fix_time: 9.2942, d1.loss_plan_l1_fix_dist: 1.5713, d2.loss_plan_l1_fix_time: 9.0969, d2.loss_plan_l1_fix_dist: 1.8062, d3.loss_plan_l1_fix_time: 9.0426, d3.loss_plan_l1_fix_dist: 2.2326, d4.loss_plan_l1_fix_time: 9.0708, d4.loss_plan_l1_fix_dist: 2.5558, d5.loss_plan_l1_fix_time: 9.1742, d5.loss_plan_l1_fix_dist: 2.8428, d6.loss_plan_l1_fix_time: 9.3293, d6.loss_plan_l1_fix_dist: 3.1418, d0.loss_cls_all: 1.4441, d0.loss_bbox_all: 1.3735, d0.loss_cls: 1.4441, d0.loss_bbox: 1.3735, d1.loss_cls: 1.4962, d1.loss_bbox: 1.3769, d2.loss_cls: 1.4759, d2.loss_bbox: 1.3737, d3.loss_cls: 1.4942, d3.loss_bbox: 1.3828, d4.loss_cls: 1.4920, d4.loss_bbox: 1.3999, d5.loss_cls: 1.4639, d5.loss_bbox: 1.4150, d0.loss_traj_cls: 0.0009, d0.loss_traj: 4.4243, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.6186, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.6810, d3.loss_traj_cls: 0.0012, d3.loss_traj: 4.7275, d4.loss_traj_cls: 0.0007, d4.loss_traj: 4.7449, d5.loss_traj_cls: 0.0009, d5.loss_traj: 4.7460, d0.loss_map_cls_all: 0.7105, d0.loss_map_pts_all: 4.9341, d0.loss_map_dir_all: 0.0885, d0.loss_map_cls: 0.7105, d0.loss_map_pts: 4.9341, d0.loss_map_dir: 0.0885, d1.loss_map_cls: 0.7107, d1.loss_map_pts: 4.8094, d1.loss_map_dir: 0.0884, d2.loss_map_cls: 0.7139, d2.loss_map_pts: 4.7646, d2.loss_map_dir: 0.0887, d3.loss_map_cls: 0.7225, d3.loss_map_pts: 4.7462, d3.loss_map_dir: 0.0889, d4.loss_map_cls: 0.7256, d4.loss_map_pts: 4.7382, d4.loss_map_dir: 0.0889, d5.loss_map_cls: 0.7247, d5.loss_map_pts: 4.7312, d5.loss_map_dir: 0.0890, loss: 180.6362, grad_norm: 5414.4645 +2026-02-23 23:26:24,183 - DriveTransformer - INFO - Epoch [1][2300/117620] lr: 1.000e-04, eta: 28 days, 1:27:11, time: 0.339, data_time: 0.015, memory: 8394, loss_cls: 1.4953, loss_bbox: 1.4328, loss_traj: 5.1095, loss_traj_cls: 0.0034, loss_map_cls: 0.7696, loss_map_pts: 5.0000, loss_map_dir: 0.0890, d0.loss_plan_l1_fix_time: 10.8553, d0.loss_plan_l1_fix_dist: 1.2033, d1.loss_plan_l1_fix_time: 9.9744, d1.loss_plan_l1_fix_dist: 1.4932, d2.loss_plan_l1_fix_time: 9.3360, d2.loss_plan_l1_fix_dist: 1.7656, d3.loss_plan_l1_fix_time: 8.8710, d3.loss_plan_l1_fix_dist: 2.2008, d4.loss_plan_l1_fix_time: 8.5715, d4.loss_plan_l1_fix_dist: 2.5179, d5.loss_plan_l1_fix_time: 8.3904, d5.loss_plan_l1_fix_dist: 2.7890, d6.loss_plan_l1_fix_time: 8.3115, d6.loss_plan_l1_fix_dist: 3.0326, d0.loss_cls_all: 1.4666, d0.loss_bbox_all: 1.3533, d0.loss_cls: 1.4666, d0.loss_bbox: 1.3533, d1.loss_cls: 1.5083, d1.loss_bbox: 1.3593, d2.loss_cls: 1.4941, d2.loss_bbox: 1.3532, d3.loss_cls: 1.5030, d3.loss_bbox: 1.3638, d4.loss_cls: 1.5003, d4.loss_bbox: 1.3883, d5.loss_cls: 1.4826, d5.loss_bbox: 1.4103, d0.loss_traj_cls: 0.0009, d0.loss_traj: 4.7136, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.9233, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.0008, d3.loss_traj_cls: 0.0012, d3.loss_traj: 5.0497, d4.loss_traj_cls: 0.0007, d4.loss_traj: 5.0758, d5.loss_traj_cls: 0.0009, d5.loss_traj: 5.0810, d0.loss_map_cls_all: 0.7766, d0.loss_map_pts_all: 5.1298, d0.loss_map_dir_all: 0.0886, d0.loss_map_cls: 0.7766, d0.loss_map_pts: 5.1298, d0.loss_map_dir: 0.0886, d1.loss_map_cls: 0.7620, d1.loss_map_pts: 5.0437, d1.loss_map_dir: 0.0885, d2.loss_map_cls: 0.7702, d2.loss_map_pts: 5.0258, d2.loss_map_dir: 0.0889, d3.loss_map_cls: 0.7691, d3.loss_map_pts: 5.0204, d3.loss_map_dir: 0.0890, d4.loss_map_cls: 0.7745, d4.loss_map_pts: 5.0149, d4.loss_map_dir: 0.0890, d5.loss_map_cls: 0.7711, d5.loss_map_pts: 5.0070, d5.loss_map_dir: 0.0890, loss: 184.4572, grad_norm: 5414.4645 +2026-02-23 23:26:41,779 - DriveTransformer - INFO - Epoch [1][2350/117620] lr: 1.000e-04, eta: 28 days, 1:47:37, time: 0.352, data_time: 0.015, memory: 8394, loss_cls: 1.4347, loss_bbox: 1.3231, loss_traj: 5.8350, loss_traj_cls: 0.0039, loss_map_cls: 0.7287, loss_map_pts: 5.0482, loss_map_dir: 0.0868, d0.loss_plan_l1_fix_time: 10.3223, d0.loss_plan_l1_fix_dist: 1.0151, d1.loss_plan_l1_fix_time: 9.5849, d1.loss_plan_l1_fix_dist: 1.2331, d2.loss_plan_l1_fix_time: 9.1059, d2.loss_plan_l1_fix_dist: 1.5647, d3.loss_plan_l1_fix_time: 8.7598, d3.loss_plan_l1_fix_dist: 1.9111, d4.loss_plan_l1_fix_time: 8.5389, d4.loss_plan_l1_fix_dist: 2.2781, d5.loss_plan_l1_fix_time: 8.4198, d5.loss_plan_l1_fix_dist: 2.6008, d6.loss_plan_l1_fix_time: 8.3867, d6.loss_plan_l1_fix_dist: 2.8877, d0.loss_cls_all: 1.3753, d0.loss_bbox_all: 1.2326, d0.loss_cls: 1.3753, d0.loss_bbox: 1.2326, d1.loss_cls: 1.4049, d1.loss_bbox: 1.2382, d2.loss_cls: 1.3940, d2.loss_bbox: 1.2354, d3.loss_cls: 1.3993, d3.loss_bbox: 1.2519, d4.loss_cls: 1.4158, d4.loss_bbox: 1.2783, d5.loss_cls: 1.4167, d5.loss_bbox: 1.2952, d0.loss_traj_cls: 0.0009, d0.loss_traj: 5.3704, d1.loss_traj_cls: 0.0007, d1.loss_traj: 5.5995, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.6992, d3.loss_traj_cls: 0.0012, d3.loss_traj: 5.7627, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.8173, d5.loss_traj_cls: 0.0008, d5.loss_traj: 5.8325, d0.loss_map_cls_all: 0.7334, d0.loss_map_pts_all: 5.1356, d0.loss_map_dir_all: 0.0864, d0.loss_map_cls: 0.7334, d0.loss_map_pts: 5.1356, d0.loss_map_dir: 0.0864, d1.loss_map_cls: 0.7233, d1.loss_map_pts: 5.0615, d1.loss_map_dir: 0.0865, d2.loss_map_cls: 0.7300, d2.loss_map_pts: 5.0508, d2.loss_map_dir: 0.0867, d3.loss_map_cls: 0.7313, d3.loss_map_pts: 5.0566, d3.loss_map_dir: 0.0869, d4.loss_map_cls: 0.7347, d4.loss_map_pts: 5.0564, d4.loss_map_dir: 0.0869, d5.loss_map_cls: 0.7290, d5.loss_map_pts: 5.0505, d5.loss_map_dir: 0.0869, loss: 184.9699, grad_norm: 5209.6392 +2026-02-23 23:26:59,669 - DriveTransformer - INFO - Epoch [1][2400/117620] lr: 1.000e-04, eta: 28 days, 2:22:24, time: 0.358, data_time: 0.015, memory: 8394, loss_cls: 1.5412, loss_bbox: 1.4587, loss_traj: 3.7903, loss_traj_cls: 0.0039, loss_map_cls: 0.7159, loss_map_pts: 4.8101, loss_map_dir: 0.0878, d0.loss_plan_l1_fix_time: 8.2149, d0.loss_plan_l1_fix_dist: 1.2528, d1.loss_plan_l1_fix_time: 7.7270, d1.loss_plan_l1_fix_dist: 1.4537, d2.loss_plan_l1_fix_time: 7.5351, d2.loss_plan_l1_fix_dist: 1.7721, d3.loss_plan_l1_fix_time: 7.5028, d3.loss_plan_l1_fix_dist: 2.0867, d4.loss_plan_l1_fix_time: 7.5798, d4.loss_plan_l1_fix_dist: 2.4482, d5.loss_plan_l1_fix_time: 7.7304, d5.loss_plan_l1_fix_dist: 2.7601, d6.loss_plan_l1_fix_time: 7.9609, d6.loss_plan_l1_fix_dist: 3.0463, d0.loss_cls_all: 1.4930, d0.loss_bbox_all: 1.4148, d0.loss_cls: 1.4930, d0.loss_bbox: 1.4148, d1.loss_cls: 1.5354, d1.loss_bbox: 1.4189, d2.loss_cls: 1.5313, d2.loss_bbox: 1.4143, d3.loss_cls: 1.5435, d3.loss_bbox: 1.4281, d4.loss_cls: 1.5424, d4.loss_bbox: 1.4421, d5.loss_cls: 1.5249, d5.loss_bbox: 1.4430, d0.loss_traj_cls: 0.0009, d0.loss_traj: 3.4584, d1.loss_traj_cls: 0.0006, d1.loss_traj: 3.6321, d2.loss_traj_cls: 0.0006, d2.loss_traj: 3.6947, d3.loss_traj_cls: 0.0012, d3.loss_traj: 3.7411, d4.loss_traj_cls: 0.0006, d4.loss_traj: 3.7826, d5.loss_traj_cls: 0.0008, d5.loss_traj: 3.7945, d0.loss_map_cls_all: 0.7057, d0.loss_map_pts_all: 5.0351, d0.loss_map_dir_all: 0.0875, d0.loss_map_cls: 0.7057, d0.loss_map_pts: 5.0351, d0.loss_map_dir: 0.0875, d1.loss_map_cls: 0.7033, d1.loss_map_pts: 4.8878, d1.loss_map_dir: 0.0873, d2.loss_map_cls: 0.7151, d2.loss_map_pts: 4.8426, d2.loss_map_dir: 0.0877, d3.loss_map_cls: 0.7206, d3.loss_map_pts: 4.8305, d3.loss_map_dir: 0.0879, d4.loss_map_cls: 0.7234, d4.loss_map_pts: 4.8215, d4.loss_map_dir: 0.0879, d5.loss_map_cls: 0.7188, d5.loss_map_pts: 4.8135, d5.loss_map_dir: 0.0879, loss: 164.0986, grad_norm: 5013.2594 +2026-02-23 23:27:17,289 - DriveTransformer - INFO - Epoch [1][2450/117620] lr: 1.000e-04, eta: 28 days, 2:40:58, time: 0.352, data_time: 0.016, memory: 8394, loss_cls: 1.4231, loss_bbox: 1.3249, loss_traj: 6.7407, loss_traj_cls: 0.0031, loss_map_cls: 0.7334, loss_map_pts: 4.9424, loss_map_dir: 0.0873, d0.loss_plan_l1_fix_time: 10.2713, d0.loss_plan_l1_fix_dist: 1.0627, d1.loss_plan_l1_fix_time: 9.4982, d1.loss_plan_l1_fix_dist: 1.2462, d2.loss_plan_l1_fix_time: 9.0128, d2.loss_plan_l1_fix_dist: 1.5434, d3.loss_plan_l1_fix_time: 8.6709, d3.loss_plan_l1_fix_dist: 1.7905, d4.loss_plan_l1_fix_time: 8.4858, d4.loss_plan_l1_fix_dist: 2.1252, d5.loss_plan_l1_fix_time: 8.4087, d5.loss_plan_l1_fix_dist: 2.5320, d6.loss_plan_l1_fix_time: 8.4528, d6.loss_plan_l1_fix_dist: 3.0765, d0.loss_cls_all: 1.3819, d0.loss_bbox_all: 1.2065, d0.loss_cls: 1.3819, d0.loss_bbox: 1.2065, d1.loss_cls: 1.4039, d1.loss_bbox: 1.2135, d2.loss_cls: 1.3942, d2.loss_bbox: 1.2223, d3.loss_cls: 1.4022, d3.loss_bbox: 1.2325, d4.loss_cls: 1.4228, d4.loss_bbox: 1.2463, d5.loss_cls: 1.4236, d5.loss_bbox: 1.2639, d0.loss_traj_cls: 0.0009, d0.loss_traj: 6.1613, d1.loss_traj_cls: 0.0006, d1.loss_traj: 6.4256, d2.loss_traj_cls: 0.0006, d2.loss_traj: 6.5645, d3.loss_traj_cls: 0.0009, d3.loss_traj: 6.6529, d4.loss_traj_cls: 0.0006, d4.loss_traj: 6.7169, d5.loss_traj_cls: 0.0007, d5.loss_traj: 6.7190, d0.loss_map_cls_all: 0.7327, d0.loss_map_pts_all: 5.1277, d0.loss_map_dir_all: 0.0872, d0.loss_map_cls: 0.7327, d0.loss_map_pts: 5.1277, d0.loss_map_dir: 0.0872, d1.loss_map_cls: 0.7380, d1.loss_map_pts: 5.0172, d1.loss_map_dir: 0.0869, d2.loss_map_cls: 0.7366, d2.loss_map_pts: 4.9831, d2.loss_map_dir: 0.0872, d3.loss_map_cls: 0.7342, d3.loss_map_pts: 4.9709, d3.loss_map_dir: 0.0873, d4.loss_map_cls: 0.7369, d4.loss_map_pts: 4.9606, d4.loss_map_dir: 0.0873, d5.loss_map_cls: 0.7356, d5.loss_map_pts: 4.9504, d5.loss_map_dir: 0.0873, loss: 189.9729, grad_norm: 5013.2594 +2026-02-23 23:27:35,743 - DriveTransformer - INFO - Epoch [1][2500/117620] lr: 1.000e-04, eta: 28 days, 3:38:53, time: 0.369, data_time: 0.016, memory: 8394, loss_cls: 1.4501, loss_bbox: 1.4744, loss_traj: 4.7729, loss_traj_cls: 0.0031, loss_map_cls: 0.6833, loss_map_pts: 4.6466, loss_map_dir: 0.0884, d0.loss_plan_l1_fix_time: 8.1971, d0.loss_plan_l1_fix_dist: 1.0610, d1.loss_plan_l1_fix_time: 7.9311, d1.loss_plan_l1_fix_dist: 1.2497, d2.loss_plan_l1_fix_time: 7.8798, d2.loss_plan_l1_fix_dist: 1.5209, d3.loss_plan_l1_fix_time: 7.8748, d3.loss_plan_l1_fix_dist: 1.7682, d4.loss_plan_l1_fix_time: 7.9376, d4.loss_plan_l1_fix_dist: 2.0898, d5.loss_plan_l1_fix_time: 8.0665, d5.loss_plan_l1_fix_dist: 2.4907, d6.loss_plan_l1_fix_time: 8.2810, d6.loss_plan_l1_fix_dist: 3.0365, d0.loss_cls_all: 1.4024, d0.loss_bbox_all: 1.3915, d0.loss_cls: 1.4024, d0.loss_bbox: 1.3915, d1.loss_cls: 1.4296, d1.loss_bbox: 1.4057, d2.loss_cls: 1.4199, d2.loss_bbox: 1.4158, d3.loss_cls: 1.4345, d3.loss_bbox: 1.4236, d4.loss_cls: 1.4581, d4.loss_bbox: 1.4321, d5.loss_cls: 1.4501, d5.loss_bbox: 1.4392, d0.loss_traj_cls: 0.0010, d0.loss_traj: 4.2686, d1.loss_traj_cls: 0.0007, d1.loss_traj: 4.5072, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.6205, d3.loss_traj_cls: 0.0009, d3.loss_traj: 4.6941, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.7505, d5.loss_traj_cls: 0.0008, d5.loss_traj: 4.7510, d0.loss_map_cls_all: 0.6849, d0.loss_map_pts_all: 4.8550, d0.loss_map_dir_all: 0.0883, d0.loss_map_cls: 0.6849, d0.loss_map_pts: 4.8550, d0.loss_map_dir: 0.0883, d1.loss_map_cls: 0.6883, d1.loss_map_pts: 4.7270, d1.loss_map_dir: 0.0881, d2.loss_map_cls: 0.6873, d2.loss_map_pts: 4.6868, d2.loss_map_dir: 0.0882, d3.loss_map_cls: 0.6838, d3.loss_map_pts: 4.6736, d3.loss_map_dir: 0.0884, d4.loss_map_cls: 0.6843, d4.loss_map_pts: 4.6635, d4.loss_map_dir: 0.0884, d5.loss_map_cls: 0.6834, d5.loss_map_pts: 4.6536, d5.loss_map_dir: 0.0884, loss: 168.5262, grad_norm: 4834.5729 +2026-02-23 23:27:52,847 - DriveTransformer - INFO - Epoch [1][2550/117620] lr: 1.000e-04, eta: 28 days, 3:32:25, time: 0.342, data_time: 0.016, memory: 8394, loss_cls: 1.4376, loss_bbox: 1.2519, loss_traj: 5.7632, loss_traj_cls: 0.0023, loss_map_cls: 0.7938, loss_map_pts: 4.8337, loss_map_dir: 0.0876, d0.loss_plan_l1_fix_time: 11.2589, d0.loss_plan_l1_fix_dist: 1.0279, d1.loss_plan_l1_fix_time: 10.2632, d1.loss_plan_l1_fix_dist: 1.2739, d2.loss_plan_l1_fix_time: 9.6159, d2.loss_plan_l1_fix_dist: 1.5877, d3.loss_plan_l1_fix_time: 9.1490, d3.loss_plan_l1_fix_dist: 1.8116, d4.loss_plan_l1_fix_time: 8.7983, d4.loss_plan_l1_fix_dist: 2.0678, d5.loss_plan_l1_fix_time: 8.5680, d5.loss_plan_l1_fix_dist: 2.4324, d6.loss_plan_l1_fix_time: 8.4507, d6.loss_plan_l1_fix_dist: 2.9299, d0.loss_cls_all: 1.4406, d0.loss_bbox_all: 1.2225, d0.loss_cls: 1.4406, d0.loss_bbox: 1.2225, d1.loss_cls: 1.4723, d1.loss_bbox: 1.2372, d2.loss_cls: 1.4502, d2.loss_bbox: 1.2268, d3.loss_cls: 1.4511, d3.loss_bbox: 1.2304, d4.loss_cls: 1.4438, d4.loss_bbox: 1.2381, d5.loss_cls: 1.4358, d5.loss_bbox: 1.2382, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.2881, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.5266, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.6425, d3.loss_traj_cls: 0.0007, d3.loss_traj: 5.7074, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.7337, d5.loss_traj_cls: 0.0007, d5.loss_traj: 5.7487, d0.loss_map_cls_all: 0.7638, d0.loss_map_pts_all: 4.9705, d0.loss_map_dir_all: 0.0874, d0.loss_map_cls: 0.7638, d0.loss_map_pts: 4.9705, d0.loss_map_dir: 0.0874, d1.loss_map_cls: 0.7795, d1.loss_map_pts: 4.9053, d1.loss_map_dir: 0.0876, d2.loss_map_cls: 0.7678, d2.loss_map_pts: 4.8905, d2.loss_map_dir: 0.0877, d3.loss_map_cls: 0.7762, d3.loss_map_pts: 4.8834, d3.loss_map_dir: 0.0878, d4.loss_map_cls: 0.7861, d4.loss_map_pts: 4.8694, d4.loss_map_dir: 0.0877, d5.loss_map_cls: 0.7964, d5.loss_map_pts: 4.8494, d5.loss_map_dir: 0.0876, loss: 186.1920, grad_norm: 4834.5729 +2026-02-23 23:28:10,036 - DriveTransformer - INFO - Epoch [1][2600/117620] lr: 1.000e-04, eta: 28 days, 3:30:03, time: 0.344, data_time: 0.015, memory: 8394, loss_cls: 1.4084, loss_bbox: 1.3341, loss_traj: 6.3194, loss_traj_cls: 0.0024, loss_map_cls: 0.7190, loss_map_pts: 5.0305, loss_map_dir: 0.0880, d0.loss_plan_l1_fix_time: 10.1442, d0.loss_plan_l1_fix_dist: 1.1320, d1.loss_plan_l1_fix_time: 9.3127, d1.loss_plan_l1_fix_dist: 1.3778, d2.loss_plan_l1_fix_time: 8.8431, d2.loss_plan_l1_fix_dist: 1.6594, d3.loss_plan_l1_fix_time: 8.5595, d3.loss_plan_l1_fix_dist: 1.8804, d4.loss_plan_l1_fix_time: 8.3872, d4.loss_plan_l1_fix_dist: 2.1442, d5.loss_plan_l1_fix_time: 8.3268, d5.loss_plan_l1_fix_dist: 2.4854, d6.loss_plan_l1_fix_time: 8.3565, d6.loss_plan_l1_fix_dist: 2.9262, d0.loss_cls_all: 1.3893, d0.loss_bbox_all: 1.3026, d0.loss_cls: 1.3893, d0.loss_bbox: 1.3026, d1.loss_cls: 1.4180, d1.loss_bbox: 1.3184, d2.loss_cls: 1.3994, d2.loss_bbox: 1.3055, d3.loss_cls: 1.4130, d3.loss_bbox: 1.3100, d4.loss_cls: 1.4209, d4.loss_bbox: 1.3180, d5.loss_cls: 1.4084, d5.loss_bbox: 1.3186, d0.loss_traj_cls: 0.0010, d0.loss_traj: 5.7278, d1.loss_traj_cls: 0.0007, d1.loss_traj: 6.0244, d2.loss_traj_cls: 0.0006, d2.loss_traj: 6.1656, d3.loss_traj_cls: 0.0008, d3.loss_traj: 6.2467, d4.loss_traj_cls: 0.0006, d4.loss_traj: 6.2790, d5.loss_traj_cls: 0.0008, d5.loss_traj: 6.2989, d0.loss_map_cls_all: 0.7058, d0.loss_map_pts_all: 5.1803, d0.loss_map_dir_all: 0.0879, d0.loss_map_cls: 0.7058, d0.loss_map_pts: 5.1803, d0.loss_map_dir: 0.0879, d1.loss_map_cls: 0.7157, d1.loss_map_pts: 5.1033, d1.loss_map_dir: 0.0880, d2.loss_map_cls: 0.7108, d2.loss_map_pts: 5.0784, d2.loss_map_dir: 0.0881, d3.loss_map_cls: 0.7113, d3.loss_map_pts: 5.0679, d3.loss_map_dir: 0.0881, d4.loss_map_cls: 0.7147, d4.loss_map_pts: 5.0566, d4.loss_map_dir: 0.0881, d5.loss_map_cls: 0.7199, d5.loss_map_pts: 5.0418, d5.loss_map_dir: 0.0880, loss: 187.5068, grad_norm: 4667.9432 +2026-02-23 23:28:26,439 - DriveTransformer - INFO - Epoch [1][2650/117620] lr: 1.000e-04, eta: 28 days, 2:52:54, time: 0.328, data_time: 0.014, memory: 8394, loss_cls: 1.4609, loss_bbox: 1.4001, loss_traj: 5.6192, loss_traj_cls: 0.0023, loss_map_cls: 0.7472, loss_map_pts: 4.6592, loss_map_dir: 0.0890, d0.loss_plan_l1_fix_time: 10.3836, d0.loss_plan_l1_fix_dist: 1.1716, d1.loss_plan_l1_fix_time: 9.7744, d1.loss_plan_l1_fix_dist: 1.3370, d2.loss_plan_l1_fix_time: 9.4247, d2.loss_plan_l1_fix_dist: 1.5394, d3.loss_plan_l1_fix_time: 9.2322, d3.loss_plan_l1_fix_dist: 1.7674, d4.loss_plan_l1_fix_time: 9.1384, d4.loss_plan_l1_fix_dist: 2.1171, d5.loss_plan_l1_fix_time: 9.1470, d5.loss_plan_l1_fix_dist: 2.4558, d6.loss_plan_l1_fix_time: 9.2240, d6.loss_plan_l1_fix_dist: 2.8150, d0.loss_cls_all: 1.4384, d0.loss_bbox_all: 1.3739, d0.loss_cls: 1.4384, d0.loss_bbox: 1.3739, d1.loss_cls: 1.4598, d1.loss_bbox: 1.3865, d2.loss_cls: 1.4466, d2.loss_bbox: 1.3718, d3.loss_cls: 1.4426, d3.loss_bbox: 1.3715, d4.loss_cls: 1.4477, d4.loss_bbox: 1.3796, d5.loss_cls: 1.4477, d5.loss_bbox: 1.3871, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.0615, d1.loss_traj_cls: 0.0007, d1.loss_traj: 5.3559, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.4740, d3.loss_traj_cls: 0.0008, d3.loss_traj: 5.5541, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.5788, d5.loss_traj_cls: 0.0007, d5.loss_traj: 5.6129, d0.loss_map_cls_all: 0.7299, d0.loss_map_pts_all: 4.8911, d0.loss_map_dir_all: 0.0889, d0.loss_map_cls: 0.7299, d0.loss_map_pts: 4.8911, d0.loss_map_dir: 0.0889, d1.loss_map_cls: 0.7332, d1.loss_map_pts: 4.7570, d1.loss_map_dir: 0.0891, d2.loss_map_cls: 0.7311, d2.loss_map_pts: 4.7017, d2.loss_map_dir: 0.0892, d3.loss_map_cls: 0.7333, d3.loss_map_pts: 4.6756, d3.loss_map_dir: 0.0892, d4.loss_map_cls: 0.7396, d4.loss_map_pts: 4.6658, d4.loss_map_dir: 0.0891, d5.loss_map_cls: 0.7475, d5.loss_map_pts: 4.6626, d5.loss_map_dir: 0.0891, loss: 184.9252, grad_norm: 4667.9432 +2026-02-23 23:28:43,359 - DriveTransformer - INFO - Epoch [1][2700/117620] lr: 1.000e-04, eta: 28 days, 2:39:27, time: 0.338, data_time: 0.015, memory: 8394, loss_cls: 1.4221, loss_bbox: 1.2284, loss_traj: 6.7562, loss_traj_cls: 0.0023, loss_map_cls: 0.7476, loss_map_pts: 5.0385, loss_map_dir: 0.0875, d0.loss_plan_l1_fix_time: 11.1240, d0.loss_plan_l1_fix_dist: 1.1070, d1.loss_plan_l1_fix_time: 10.1904, d1.loss_plan_l1_fix_dist: 1.3044, d2.loss_plan_l1_fix_time: 9.5650, d2.loss_plan_l1_fix_dist: 1.5573, d3.loss_plan_l1_fix_time: 9.1460, d3.loss_plan_l1_fix_dist: 1.8322, d4.loss_plan_l1_fix_time: 8.8421, d4.loss_plan_l1_fix_dist: 2.2137, d5.loss_plan_l1_fix_time: 8.6562, d5.loss_plan_l1_fix_dist: 2.5690, d6.loss_plan_l1_fix_time: 8.5710, d6.loss_plan_l1_fix_dist: 2.9033, d0.loss_cls_all: 1.4116, d0.loss_bbox_all: 1.1731, d0.loss_cls: 1.4116, d0.loss_bbox: 1.1731, d1.loss_cls: 1.4366, d1.loss_bbox: 1.1826, d2.loss_cls: 1.4232, d2.loss_bbox: 1.1662, d3.loss_cls: 1.4339, d3.loss_bbox: 1.1744, d4.loss_cls: 1.4261, d4.loss_bbox: 1.1895, d5.loss_cls: 1.4150, d5.loss_bbox: 1.2029, d0.loss_traj_cls: 0.0008, d0.loss_traj: 6.0881, d1.loss_traj_cls: 0.0007, d1.loss_traj: 6.4259, d2.loss_traj_cls: 0.0006, d2.loss_traj: 6.5765, d3.loss_traj_cls: 0.0008, d3.loss_traj: 6.6674, d4.loss_traj_cls: 0.0006, d4.loss_traj: 6.7073, d5.loss_traj_cls: 0.0007, d5.loss_traj: 6.7422, d0.loss_map_cls_all: 0.7292, d0.loss_map_pts_all: 5.2278, d0.loss_map_dir_all: 0.0876, d0.loss_map_cls: 0.7292, d0.loss_map_pts: 5.2278, d0.loss_map_dir: 0.0876, d1.loss_map_cls: 0.7345, d1.loss_map_pts: 5.1355, d1.loss_map_dir: 0.0876, d2.loss_map_cls: 0.7320, d2.loss_map_pts: 5.0996, d2.loss_map_dir: 0.0877, d3.loss_map_cls: 0.7373, d3.loss_map_pts: 5.0782, d3.loss_map_dir: 0.0876, d4.loss_map_cls: 0.7426, d4.loss_map_pts: 5.0616, d4.loss_map_dir: 0.0876, d5.loss_map_cls: 0.7473, d5.loss_map_pts: 5.0477, d5.loss_map_dir: 0.0875, loss: 193.9392, grad_norm: 4511.4064 +2026-02-23 23:28:59,865 - DriveTransformer - INFO - Epoch [1][2750/117620] lr: 1.000e-04, eta: 28 days, 2:08:53, time: 0.330, data_time: 0.014, memory: 8394, loss_cls: 1.4887, loss_bbox: 1.2562, loss_traj: 6.0549, loss_traj_cls: 0.0023, loss_map_cls: 0.7490, loss_map_pts: 4.8754, loss_map_dir: 0.0873, d0.loss_plan_l1_fix_time: 10.6616, d0.loss_plan_l1_fix_dist: 0.9745, d1.loss_plan_l1_fix_time: 9.7191, d1.loss_plan_l1_fix_dist: 1.1357, d2.loss_plan_l1_fix_time: 9.0690, d2.loss_plan_l1_fix_dist: 1.4280, d3.loss_plan_l1_fix_time: 8.6273, d3.loss_plan_l1_fix_dist: 1.7467, d4.loss_plan_l1_fix_time: 8.3223, d4.loss_plan_l1_fix_dist: 2.1194, d5.loss_plan_l1_fix_time: 8.1425, d5.loss_plan_l1_fix_dist: 2.4308, d6.loss_plan_l1_fix_time: 8.0546, d6.loss_plan_l1_fix_dist: 2.6145, d0.loss_cls_all: 1.4738, d0.loss_bbox_all: 1.1208, d0.loss_cls: 1.4738, d0.loss_bbox: 1.1208, d1.loss_cls: 1.4966, d1.loss_bbox: 1.1312, d2.loss_cls: 1.4713, d2.loss_bbox: 1.1282, d3.loss_cls: 1.4867, d3.loss_bbox: 1.1373, d4.loss_cls: 1.4776, d4.loss_bbox: 1.1587, d5.loss_cls: 1.4736, d5.loss_bbox: 1.1884, d0.loss_traj_cls: 0.0007, d0.loss_traj: 5.3704, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.7051, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.8567, d3.loss_traj_cls: 0.0009, d3.loss_traj: 5.9436, d4.loss_traj_cls: 0.0005, d4.loss_traj: 6.0134, d5.loss_traj_cls: 0.0006, d5.loss_traj: 6.0371, d0.loss_map_cls_all: 0.7383, d0.loss_map_pts_all: 5.0998, d0.loss_map_dir_all: 0.0876, d0.loss_map_cls: 0.7383, d0.loss_map_pts: 5.0998, d0.loss_map_dir: 0.0876, d1.loss_map_cls: 0.7417, d1.loss_map_pts: 4.9816, d1.loss_map_dir: 0.0875, d2.loss_map_cls: 0.7387, d2.loss_map_pts: 4.9323, d2.loss_map_dir: 0.0875, d3.loss_map_cls: 0.7423, d3.loss_map_pts: 4.9000, d3.loss_map_dir: 0.0875, d4.loss_map_cls: 0.7508, d4.loss_map_pts: 4.8816, d4.loss_map_dir: 0.0875, d5.loss_map_cls: 0.7467, d5.loss_map_pts: 4.8745, d5.loss_map_dir: 0.0874, loss: 183.4073, grad_norm: 4511.4064 +2026-02-23 23:29:16,693 - DriveTransformer - INFO - Epoch [1][2800/117620] lr: 1.000e-04, eta: 28 days, 1:52:54, time: 0.337, data_time: 0.015, memory: 8394, loss_cls: 1.4851, loss_bbox: 1.3309, loss_traj: 5.6982, loss_traj_cls: 0.0022, loss_map_cls: 0.7375, loss_map_pts: 4.7509, loss_map_dir: 0.0883, d0.loss_plan_l1_fix_time: 8.2538, d0.loss_plan_l1_fix_dist: 1.1061, d1.loss_plan_l1_fix_time: 8.0556, d1.loss_plan_l1_fix_dist: 1.2593, d2.loss_plan_l1_fix_time: 8.0760, d2.loss_plan_l1_fix_dist: 1.5168, d3.loss_plan_l1_fix_time: 8.2113, d3.loss_plan_l1_fix_dist: 1.7626, d4.loss_plan_l1_fix_time: 8.3850, d4.loss_plan_l1_fix_dist: 2.0534, d5.loss_plan_l1_fix_time: 8.6011, d5.loss_plan_l1_fix_dist: 2.3316, d6.loss_plan_l1_fix_time: 8.8291, d6.loss_plan_l1_fix_dist: 2.5693, d0.loss_cls_all: 1.4687, d0.loss_bbox_all: 1.2323, d0.loss_cls: 1.4687, d0.loss_bbox: 1.2323, d1.loss_cls: 1.5029, d1.loss_bbox: 1.2430, d2.loss_cls: 1.4699, d2.loss_bbox: 1.2452, d3.loss_cls: 1.4891, d3.loss_bbox: 1.2563, d4.loss_cls: 1.4875, d4.loss_bbox: 1.2703, d5.loss_cls: 1.4763, d5.loss_bbox: 1.2871, d0.loss_traj_cls: 0.0008, d0.loss_traj: 4.9985, d1.loss_traj_cls: 0.0007, d1.loss_traj: 5.3396, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.4984, d3.loss_traj_cls: 0.0010, d3.loss_traj: 5.5805, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.6563, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.6762, d0.loss_map_cls_all: 0.7300, d0.loss_map_pts_all: 5.0111, d0.loss_map_dir_all: 0.0883, d0.loss_map_cls: 0.7300, d0.loss_map_pts: 5.0111, d0.loss_map_dir: 0.0883, d1.loss_map_cls: 0.7323, d1.loss_map_pts: 4.8461, d1.loss_map_dir: 0.0885, d2.loss_map_cls: 0.7315, d2.loss_map_pts: 4.7745, d2.loss_map_dir: 0.0885, d3.loss_map_cls: 0.7324, d3.loss_map_pts: 4.7416, d3.loss_map_dir: 0.0885, d4.loss_map_cls: 0.7399, d4.loss_map_pts: 4.7352, d4.loss_map_dir: 0.0884, d5.loss_map_cls: 0.7357, d5.loss_map_pts: 4.7416, d5.loss_map_dir: 0.0883, loss: 176.5994, grad_norm: 4365.7658 +2026-02-23 23:29:33,582 - DriveTransformer - INFO - Epoch [1][2850/117620] lr: 1.000e-04, eta: 28 days, 1:39:49, time: 0.338, data_time: 0.015, memory: 8394, loss_cls: 1.4725, loss_bbox: 1.4541, loss_traj: 4.6701, loss_traj_cls: 0.0021, loss_map_cls: 0.6931, loss_map_pts: 4.6263, loss_map_dir: 0.0891, d0.loss_plan_l1_fix_time: 9.0443, d0.loss_plan_l1_fix_dist: 1.0910, d1.loss_plan_l1_fix_time: 8.7230, d1.loss_plan_l1_fix_dist: 1.2807, d2.loss_plan_l1_fix_time: 8.6100, d2.loss_plan_l1_fix_dist: 1.6180, d3.loss_plan_l1_fix_time: 8.6126, d3.loss_plan_l1_fix_dist: 1.8684, d4.loss_plan_l1_fix_time: 8.6640, d4.loss_plan_l1_fix_dist: 2.1299, d5.loss_plan_l1_fix_time: 8.7684, d5.loss_plan_l1_fix_dist: 2.3975, d6.loss_plan_l1_fix_time: 8.9142, d6.loss_plan_l1_fix_dist: 2.7912, d0.loss_cls_all: 1.4547, d0.loss_bbox_all: 1.4287, d0.loss_cls: 1.4547, d0.loss_bbox: 1.4287, d1.loss_cls: 1.4904, d1.loss_bbox: 1.4288, d2.loss_cls: 1.4720, d2.loss_bbox: 1.4382, d3.loss_cls: 1.4883, d3.loss_bbox: 1.4446, d4.loss_cls: 1.4853, d4.loss_bbox: 1.4522, d5.loss_cls: 1.4661, d5.loss_bbox: 1.4532, d0.loss_traj_cls: 0.0009, d0.loss_traj: 4.0653, d1.loss_traj_cls: 0.0008, d1.loss_traj: 4.3608, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.5086, d3.loss_traj_cls: 0.0009, d3.loss_traj: 4.5767, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.6396, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.6446, d0.loss_map_cls_all: 0.6878, d0.loss_map_pts_all: 4.8355, d0.loss_map_dir_all: 0.0896, d0.loss_map_cls: 0.6878, d0.loss_map_pts: 4.8355, d0.loss_map_dir: 0.0896, d1.loss_map_cls: 0.6904, d1.loss_map_pts: 4.6675, d1.loss_map_dir: 0.0895, d2.loss_map_cls: 0.6935, d2.loss_map_pts: 4.6094, d2.loss_map_dir: 0.0894, d3.loss_map_cls: 0.6901, d3.loss_map_pts: 4.5898, d3.loss_map_dir: 0.0894, d4.loss_map_cls: 0.6922, d4.loss_map_pts: 4.5925, d4.loss_map_dir: 0.0893, d5.loss_map_cls: 0.6953, d5.loss_map_pts: 4.6089, d5.loss_map_dir: 0.0891, loss: 172.9081, grad_norm: 4365.7658 +2026-02-23 23:29:50,514 - DriveTransformer - INFO - Epoch [1][2900/117620] lr: 1.000e-04, eta: 28 days, 1:29:11, time: 0.339, data_time: 0.016, memory: 8394, loss_cls: 1.4530, loss_bbox: 1.3606, loss_traj: 5.7188, loss_traj_cls: 0.0020, loss_map_cls: 0.7131, loss_map_pts: 4.9308, loss_map_dir: 0.0872, d0.loss_plan_l1_fix_time: 10.1161, d0.loss_plan_l1_fix_dist: 1.1097, d1.loss_plan_l1_fix_time: 9.1542, d1.loss_plan_l1_fix_dist: 1.2682, d2.loss_plan_l1_fix_time: 8.5317, d2.loss_plan_l1_fix_dist: 1.5787, d3.loss_plan_l1_fix_time: 8.1190, d3.loss_plan_l1_fix_dist: 1.8048, d4.loss_plan_l1_fix_time: 7.8519, d4.loss_plan_l1_fix_dist: 2.0492, d5.loss_plan_l1_fix_time: 7.7082, d5.loss_plan_l1_fix_dist: 2.2855, d6.loss_plan_l1_fix_time: 7.6785, d6.loss_plan_l1_fix_dist: 2.6578, d0.loss_cls_all: 1.4466, d0.loss_bbox_all: 1.3071, d0.loss_cls: 1.4466, d0.loss_bbox: 1.3071, d1.loss_cls: 1.4744, d1.loss_bbox: 1.3105, d2.loss_cls: 1.4600, d2.loss_bbox: 1.3229, d3.loss_cls: 1.4685, d3.loss_bbox: 1.3365, d4.loss_cls: 1.4631, d4.loss_bbox: 1.3526, d5.loss_cls: 1.4493, d5.loss_bbox: 1.3565, d0.loss_traj_cls: 0.0008, d0.loss_traj: 4.9669, d1.loss_traj_cls: 0.0007, d1.loss_traj: 5.3319, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.5244, d3.loss_traj_cls: 0.0008, d3.loss_traj: 5.6162, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.6837, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.6968, d0.loss_map_cls_all: 0.7009, d0.loss_map_pts_all: 5.1947, d0.loss_map_dir_all: 0.0876, d0.loss_map_cls: 0.7009, d0.loss_map_pts: 5.1947, d0.loss_map_dir: 0.0876, d1.loss_map_cls: 0.7060, d1.loss_map_pts: 5.0390, d1.loss_map_dir: 0.0875, d2.loss_map_cls: 0.7082, d2.loss_map_pts: 4.9737, d2.loss_map_dir: 0.0875, d3.loss_map_cls: 0.7081, d3.loss_map_pts: 4.9416, d3.loss_map_dir: 0.0873, d4.loss_map_cls: 0.7128, d4.loss_map_pts: 4.9302, d4.loss_map_dir: 0.0873, d5.loss_map_cls: 0.7149, d5.loss_map_pts: 4.9291, d5.loss_map_dir: 0.0872, loss: 179.2713, grad_norm: 4232.1341 +2026-02-23 23:30:06,797 - DriveTransformer - INFO - Epoch [1][2950/117620] lr: 1.000e-04, eta: 28 days, 0:52:51, time: 0.326, data_time: 0.015, memory: 8394, loss_cls: 1.4835, loss_bbox: 1.4206, loss_traj: 5.2047, loss_traj_cls: 0.0017, loss_map_cls: 0.7617, loss_map_pts: 4.8147, loss_map_dir: 0.0853, d0.loss_plan_l1_fix_time: 9.7795, d0.loss_plan_l1_fix_dist: 1.0288, d1.loss_plan_l1_fix_time: 8.8991, d1.loss_plan_l1_fix_dist: 1.1873, d2.loss_plan_l1_fix_time: 8.3586, d2.loss_plan_l1_fix_dist: 1.4735, d3.loss_plan_l1_fix_time: 8.0246, d3.loss_plan_l1_fix_dist: 1.6411, d4.loss_plan_l1_fix_time: 7.8046, d4.loss_plan_l1_fix_dist: 1.8599, d5.loss_plan_l1_fix_time: 7.6712, d5.loss_plan_l1_fix_dist: 2.0380, d6.loss_plan_l1_fix_time: 7.6388, d6.loss_plan_l1_fix_dist: 2.3710, d0.loss_cls_all: 1.4709, d0.loss_bbox_all: 1.3587, d0.loss_cls: 1.4709, d0.loss_bbox: 1.3587, d1.loss_cls: 1.4870, d1.loss_bbox: 1.3550, d2.loss_cls: 1.4868, d2.loss_bbox: 1.3750, d3.loss_cls: 1.4867, d3.loss_bbox: 1.3902, d4.loss_cls: 1.4888, d4.loss_bbox: 1.4049, d5.loss_cls: 1.4795, d5.loss_bbox: 1.4141, d0.loss_traj_cls: 0.0007, d0.loss_traj: 4.5562, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.8897, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.0580, d3.loss_traj_cls: 0.0007, d3.loss_traj: 5.1454, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.1887, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.1998, d0.loss_map_cls_all: 0.7568, d0.loss_map_pts_all: 5.1204, d0.loss_map_dir_all: 0.0856, d0.loss_map_cls: 0.7568, d0.loss_map_pts: 5.1204, d0.loss_map_dir: 0.0856, d1.loss_map_cls: 0.7692, d1.loss_map_pts: 4.9298, d1.loss_map_dir: 0.0857, d2.loss_map_cls: 0.7658, d2.loss_map_pts: 4.8501, d2.loss_map_dir: 0.0854, d3.loss_map_cls: 0.7622, d3.loss_map_pts: 4.8181, d3.loss_map_dir: 0.0854, d4.loss_map_cls: 0.7611, d4.loss_map_pts: 4.8088, d4.loss_map_dir: 0.0854, d5.loss_map_cls: 0.7628, d5.loss_map_pts: 4.8123, d5.loss_map_dir: 0.0853, loss: 174.0098, grad_norm: 4232.1341 +2026-02-23 23:30:24,260 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-23 23:30:24,260 - DriveTransformer - INFO - Epoch [1][3000/117620] lr: 1.000e-04, eta: 28 days, 1:04:05, time: 0.349, data_time: 0.015, memory: 8394, loss_cls: 1.4541, loss_bbox: 1.3512, loss_traj: 6.5258, loss_traj_cls: 0.0017, loss_map_cls: 0.7532, loss_map_pts: 4.6822, loss_map_dir: 0.0850, d0.loss_plan_l1_fix_time: 9.4426, d0.loss_plan_l1_fix_dist: 0.9997, d1.loss_plan_l1_fix_time: 8.7267, d1.loss_plan_l1_fix_dist: 1.1578, d2.loss_plan_l1_fix_time: 8.3758, d2.loss_plan_l1_fix_dist: 1.3937, d3.loss_plan_l1_fix_time: 8.1929, d3.loss_plan_l1_fix_dist: 1.6354, d4.loss_plan_l1_fix_time: 8.1263, d4.loss_plan_l1_fix_dist: 1.8765, d5.loss_plan_l1_fix_time: 8.1646, d5.loss_plan_l1_fix_dist: 2.0956, d6.loss_plan_l1_fix_time: 8.2723, d6.loss_plan_l1_fix_dist: 2.3469, d0.loss_cls_all: 1.4332, d0.loss_bbox_all: 1.3025, d0.loss_cls: 1.4332, d0.loss_bbox: 1.3025, d1.loss_cls: 1.4534, d1.loss_bbox: 1.3083, d2.loss_cls: 1.4524, d2.loss_bbox: 1.3162, d3.loss_cls: 1.4446, d3.loss_bbox: 1.3288, d4.loss_cls: 1.4395, d4.loss_bbox: 1.3450, d5.loss_cls: 1.4401, d5.loss_bbox: 1.3503, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.6791, d1.loss_traj_cls: 0.0007, d1.loss_traj: 6.0993, d2.loss_traj_cls: 0.0006, d2.loss_traj: 6.3091, d3.loss_traj_cls: 0.0007, d3.loss_traj: 6.4301, d4.loss_traj_cls: 0.0006, d4.loss_traj: 6.4835, d5.loss_traj_cls: 0.0006, d5.loss_traj: 6.5008, d0.loss_map_cls_all: 0.7456, d0.loss_map_pts_all: 4.9286, d0.loss_map_dir_all: 0.0851, d0.loss_map_cls: 0.7456, d0.loss_map_pts: 4.9286, d0.loss_map_dir: 0.0851, d1.loss_map_cls: 0.7488, d1.loss_map_pts: 4.7549, d1.loss_map_dir: 0.0852, d2.loss_map_cls: 0.7515, d2.loss_map_pts: 4.6946, d2.loss_map_dir: 0.0851, d3.loss_map_cls: 0.7495, d3.loss_map_pts: 4.6749, d3.loss_map_dir: 0.0851, d4.loss_map_cls: 0.7502, d4.loss_map_pts: 4.6717, d4.loss_map_dir: 0.0851, d5.loss_map_cls: 0.7566, d5.loss_map_pts: 4.6762, d5.loss_map_dir: 0.0850, loss: 181.6889, grad_norm: 4103.3972 +2026-02-23 23:30:41,670 - DriveTransformer - INFO - Epoch [1][3050/117620] lr: 1.000e-04, eta: 28 days, 1:12:54, time: 0.348, data_time: 0.014, memory: 8394, loss_cls: 1.4503, loss_bbox: 1.3435, loss_traj: 5.3609, loss_traj_cls: 0.0016, loss_map_cls: 0.7202, loss_map_pts: 4.7105, loss_map_dir: 0.0850, d0.loss_plan_l1_fix_time: 9.0746, d0.loss_plan_l1_fix_dist: 1.1318, d1.loss_plan_l1_fix_time: 8.2567, d1.loss_plan_l1_fix_dist: 1.2956, d2.loss_plan_l1_fix_time: 7.7895, d2.loss_plan_l1_fix_dist: 1.4918, d3.loss_plan_l1_fix_time: 7.5275, d3.loss_plan_l1_fix_dist: 1.7866, d4.loss_plan_l1_fix_time: 7.4210, d4.loss_plan_l1_fix_dist: 2.0249, d5.loss_plan_l1_fix_time: 7.4250, d5.loss_plan_l1_fix_dist: 2.2822, d6.loss_plan_l1_fix_time: 7.5187, d6.loss_plan_l1_fix_dist: 2.4151, d0.loss_cls_all: 1.4177, d0.loss_bbox_all: 1.3321, d0.loss_cls: 1.4177, d0.loss_bbox: 1.3321, d1.loss_cls: 1.4513, d1.loss_bbox: 1.3386, d2.loss_cls: 1.4370, d2.loss_bbox: 1.3312, d3.loss_cls: 1.4379, d3.loss_bbox: 1.3342, d4.loss_cls: 1.4325, d4.loss_bbox: 1.3399, d5.loss_cls: 1.4251, d5.loss_bbox: 1.3414, d0.loss_traj_cls: 0.0008, d0.loss_traj: 4.5928, d1.loss_traj_cls: 0.0007, d1.loss_traj: 4.9701, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.1479, d3.loss_traj_cls: 0.0007, d3.loss_traj: 5.2700, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.2984, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.3221, d0.loss_map_cls_all: 0.7032, d0.loss_map_pts_all: 4.9353, d0.loss_map_dir_all: 0.0849, d0.loss_map_cls: 0.7032, d0.loss_map_pts: 4.9353, d0.loss_map_dir: 0.0849, d1.loss_map_cls: 0.7090, d1.loss_map_pts: 4.7831, d1.loss_map_dir: 0.0850, d2.loss_map_cls: 0.7098, d2.loss_map_pts: 4.7374, d2.loss_map_dir: 0.0850, d3.loss_map_cls: 0.7121, d3.loss_map_pts: 4.7195, d3.loss_map_dir: 0.0850, d4.loss_map_cls: 0.7192, d4.loss_map_pts: 4.7113, d4.loss_map_dir: 0.0850, d5.loss_map_cls: 0.7255, d5.loss_map_pts: 4.7083, d5.loss_map_dir: 0.0850, loss: 170.1942, grad_norm: 4103.3972 +2026-02-23 23:30:58,712 - DriveTransformer - INFO - Epoch [1][3100/117620] lr: 1.000e-04, eta: 28 days, 1:07:23, time: 0.341, data_time: 0.015, memory: 8394, loss_cls: 1.4919, loss_bbox: 1.4899, loss_traj: 5.4281, loss_traj_cls: 0.0017, loss_map_cls: 0.7006, loss_map_pts: 4.5794, loss_map_dir: 0.0849, d0.loss_plan_l1_fix_time: 9.8407, d0.loss_plan_l1_fix_dist: 0.9563, d1.loss_plan_l1_fix_time: 8.6468, d1.loss_plan_l1_fix_dist: 1.0865, d2.loss_plan_l1_fix_time: 7.9472, d2.loss_plan_l1_fix_dist: 1.2611, d3.loss_plan_l1_fix_time: 7.5515, d3.loss_plan_l1_fix_dist: 1.5263, d4.loss_plan_l1_fix_time: 7.3398, d4.loss_plan_l1_fix_dist: 1.8131, d5.loss_plan_l1_fix_time: 7.2760, d5.loss_plan_l1_fix_dist: 2.1396, d6.loss_plan_l1_fix_time: 7.2977, d6.loss_plan_l1_fix_dist: 2.3774, d0.loss_cls_all: 1.4653, d0.loss_bbox_all: 1.4114, d0.loss_cls: 1.4653, d0.loss_bbox: 1.4114, d1.loss_cls: 1.4970, d1.loss_bbox: 1.4422, d2.loss_cls: 1.4905, d2.loss_bbox: 1.4379, d3.loss_cls: 1.4942, d3.loss_bbox: 1.4477, d4.loss_cls: 1.4870, d4.loss_bbox: 1.4576, d5.loss_cls: 1.4785, d5.loss_bbox: 1.4684, d0.loss_traj_cls: 0.0007, d0.loss_traj: 4.6703, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.0374, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.2199, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.3274, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.3716, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.3997, d0.loss_map_cls_all: 0.6838, d0.loss_map_pts_all: 4.8592, d0.loss_map_dir_all: 0.0846, d0.loss_map_cls: 0.6838, d0.loss_map_pts: 4.8592, d0.loss_map_dir: 0.0846, d1.loss_map_cls: 0.6851, d1.loss_map_pts: 4.6696, d1.loss_map_dir: 0.0848, d2.loss_map_cls: 0.6886, d2.loss_map_pts: 4.6113, d2.loss_map_dir: 0.0849, d3.loss_map_cls: 0.6916, d3.loss_map_pts: 4.5905, d3.loss_map_dir: 0.0849, d4.loss_map_cls: 0.6969, d4.loss_map_pts: 4.5809, d4.loss_map_dir: 0.0848, d5.loss_map_cls: 0.7042, d5.loss_map_pts: 4.5759, d5.loss_map_dir: 0.0849, loss: 170.4949, grad_norm: 3984.8450 +2026-02-23 23:31:15,685 - DriveTransformer - INFO - Epoch [1][3150/117620] lr: 1.000e-04, eta: 28 days, 0:59:30, time: 0.339, data_time: 0.016, memory: 8394, loss_cls: 1.4260, loss_bbox: 1.4728, loss_traj: 6.1539, loss_traj_cls: 0.0017, loss_map_cls: 0.7252, loss_map_pts: 4.8007, loss_map_dir: 0.0850, d0.loss_plan_l1_fix_time: 9.6681, d0.loss_plan_l1_fix_dist: 1.1287, d1.loss_plan_l1_fix_time: 8.4933, d1.loss_plan_l1_fix_dist: 1.2585, d2.loss_plan_l1_fix_time: 7.7866, d2.loss_plan_l1_fix_dist: 1.4240, d3.loss_plan_l1_fix_time: 7.3785, d3.loss_plan_l1_fix_dist: 1.7283, d4.loss_plan_l1_fix_time: 7.2054, d4.loss_plan_l1_fix_dist: 2.0629, d5.loss_plan_l1_fix_time: 7.1917, d5.loss_plan_l1_fix_dist: 2.4776, d6.loss_plan_l1_fix_time: 7.2614, d6.loss_plan_l1_fix_dist: 2.8289, d0.loss_cls_all: 1.3927, d0.loss_bbox_all: 1.3335, d0.loss_cls: 1.3927, d0.loss_bbox: 1.3335, d1.loss_cls: 1.4087, d1.loss_bbox: 1.3821, d2.loss_cls: 1.4079, d2.loss_bbox: 1.3933, d3.loss_cls: 1.3990, d3.loss_bbox: 1.4003, d4.loss_cls: 1.4061, d4.loss_bbox: 1.4144, d5.loss_cls: 1.4172, d5.loss_bbox: 1.4287, d0.loss_traj_cls: 0.0007, d0.loss_traj: 5.2712, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.7019, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.9206, d3.loss_traj_cls: 0.0006, d3.loss_traj: 6.0307, d4.loss_traj_cls: 0.0005, d4.loss_traj: 6.0935, d5.loss_traj_cls: 0.0006, d5.loss_traj: 6.1318, d0.loss_map_cls_all: 0.7168, d0.loss_map_pts_all: 5.0671, d0.loss_map_dir_all: 0.0849, d0.loss_map_cls: 0.7168, d0.loss_map_pts: 5.0671, d0.loss_map_dir: 0.0849, d1.loss_map_cls: 0.7225, d1.loss_map_pts: 4.8792, d1.loss_map_dir: 0.0849, d2.loss_map_cls: 0.7249, d2.loss_map_pts: 4.8215, d2.loss_map_dir: 0.0850, d3.loss_map_cls: 0.7215, d3.loss_map_pts: 4.8068, d3.loss_map_dir: 0.0851, d4.loss_map_cls: 0.7229, d4.loss_map_pts: 4.7994, d4.loss_map_dir: 0.0851, d5.loss_map_cls: 0.7274, d5.loss_map_pts: 4.7954, d5.loss_map_dir: 0.0850, loss: 177.1067, grad_norm: 3984.8450 +2026-02-23 23:31:33,220 - DriveTransformer - INFO - Epoch [1][3200/117620] lr: 1.000e-04, eta: 28 days, 1:12:39, time: 0.351, data_time: 0.016, memory: 8394, loss_cls: 1.4556, loss_bbox: 1.3889, loss_traj: 5.2556, loss_traj_cls: 0.0017, loss_map_cls: 0.7117, loss_map_pts: 4.7260, loss_map_dir: 0.0837, d0.loss_plan_l1_fix_time: 8.8905, d0.loss_plan_l1_fix_dist: 0.9974, d1.loss_plan_l1_fix_time: 7.7964, d1.loss_plan_l1_fix_dist: 1.1320, d2.loss_plan_l1_fix_time: 7.2261, d2.loss_plan_l1_fix_dist: 1.2988, d3.loss_plan_l1_fix_time: 6.9633, d3.loss_plan_l1_fix_dist: 1.5247, d4.loss_plan_l1_fix_time: 6.9139, d4.loss_plan_l1_fix_dist: 1.7760, d5.loss_plan_l1_fix_time: 6.9765, d5.loss_plan_l1_fix_dist: 2.0728, d6.loss_plan_l1_fix_time: 7.0822, d6.loss_plan_l1_fix_dist: 2.4056, d0.loss_cls_all: 1.4436, d0.loss_bbox_all: 1.3307, d0.loss_cls: 1.4436, d0.loss_bbox: 1.3307, d1.loss_cls: 1.4797, d1.loss_bbox: 1.3491, d2.loss_cls: 1.4584, d2.loss_bbox: 1.3485, d3.loss_cls: 1.4611, d3.loss_bbox: 1.3495, d4.loss_cls: 1.4555, d4.loss_bbox: 1.3584, d5.loss_cls: 1.4491, d5.loss_bbox: 1.3694, d0.loss_traj_cls: 0.0008, d0.loss_traj: 4.5297, d1.loss_traj_cls: 0.0007, d1.loss_traj: 4.8811, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.0614, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.1359, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.2085, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.2345, d0.loss_map_cls_all: 0.6979, d0.loss_map_pts_all: 4.9964, d0.loss_map_dir_all: 0.0838, d0.loss_map_cls: 0.6979, d0.loss_map_pts: 4.9964, d0.loss_map_dir: 0.0838, d1.loss_map_cls: 0.7042, d1.loss_map_pts: 4.7874, d1.loss_map_dir: 0.0838, d2.loss_map_cls: 0.7060, d2.loss_map_pts: 4.7331, d2.loss_map_dir: 0.0837, d3.loss_map_cls: 0.7041, d3.loss_map_pts: 4.7242, d3.loss_map_dir: 0.0837, d4.loss_map_cls: 0.7068, d4.loss_map_pts: 4.7238, d4.loss_map_dir: 0.0837, d5.loss_map_cls: 0.7131, d5.loss_map_pts: 4.7247, d5.loss_map_dir: 0.0837, loss: 165.5642, grad_norm: 3873.7402 +2026-02-23 23:31:50,819 - DriveTransformer - INFO - Epoch [1][3250/117620] lr: 1.000e-04, eta: 28 days, 1:27:31, time: 0.352, data_time: 0.014, memory: 8394, loss_cls: 1.4760, loss_bbox: 1.3881, loss_traj: 6.1555, loss_traj_cls: 0.0015, loss_map_cls: 0.7580, loss_map_pts: 4.6529, loss_map_dir: 0.0841, d0.loss_plan_l1_fix_time: 8.5250, d0.loss_plan_l1_fix_dist: 0.8364, d1.loss_plan_l1_fix_time: 7.8279, d1.loss_plan_l1_fix_dist: 1.0214, d2.loss_plan_l1_fix_time: 7.5126, d2.loss_plan_l1_fix_dist: 1.2071, d3.loss_plan_l1_fix_time: 7.3727, d3.loss_plan_l1_fix_dist: 1.4232, d4.loss_plan_l1_fix_time: 7.3252, d4.loss_plan_l1_fix_dist: 1.6517, d5.loss_plan_l1_fix_time: 7.3456, d5.loss_plan_l1_fix_dist: 1.8952, d6.loss_plan_l1_fix_time: 7.4048, d6.loss_plan_l1_fix_dist: 2.2252, d0.loss_cls_all: 1.4639, d0.loss_bbox_all: 1.3581, d0.loss_cls: 1.4639, d0.loss_bbox: 1.3581, d1.loss_cls: 1.4803, d1.loss_bbox: 1.3701, d2.loss_cls: 1.4829, d2.loss_bbox: 1.3698, d3.loss_cls: 1.4777, d3.loss_bbox: 1.3646, d4.loss_cls: 1.4711, d4.loss_bbox: 1.3668, d5.loss_cls: 1.4786, d5.loss_bbox: 1.3763, d0.loss_traj_cls: 0.0006, d0.loss_traj: 5.2343, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.6827, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.9120, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.9987, d4.loss_traj_cls: 0.0005, d4.loss_traj: 6.1042, d5.loss_traj_cls: 0.0006, d5.loss_traj: 6.1256, d0.loss_map_cls_all: 0.7526, d0.loss_map_pts_all: 5.0381, d0.loss_map_dir_all: 0.0841, d0.loss_map_cls: 0.7526, d0.loss_map_pts: 5.0381, d0.loss_map_dir: 0.0841, d1.loss_map_cls: 0.7549, d1.loss_map_pts: 4.7658, d1.loss_map_dir: 0.0841, d2.loss_map_cls: 0.7613, d2.loss_map_pts: 4.6907, d2.loss_map_dir: 0.0840, d3.loss_map_cls: 0.7541, d3.loss_map_pts: 4.6700, d3.loss_map_dir: 0.0840, d4.loss_map_cls: 0.7563, d4.loss_map_pts: 4.6641, d4.loss_map_dir: 0.0840, d5.loss_map_cls: 0.7563, d5.loss_map_pts: 4.6611, d5.loss_map_dir: 0.0840, loss: 172.4372, grad_norm: 3873.7402 +2026-02-23 23:32:08,275 - DriveTransformer - INFO - Epoch [1][3300/117620] lr: 1.000e-04, eta: 28 days, 1:36:51, time: 0.349, data_time: 0.016, memory: 8394, loss_cls: 1.4145, loss_bbox: 1.3843, loss_traj: 4.9104, loss_traj_cls: 0.0014, loss_map_cls: 0.7178, loss_map_pts: 4.8108, loss_map_dir: 0.0840, d0.loss_plan_l1_fix_time: 7.9135, d0.loss_plan_l1_fix_dist: 1.2039, d1.loss_plan_l1_fix_time: 7.2234, d1.loss_plan_l1_fix_dist: 1.3342, d2.loss_plan_l1_fix_time: 6.9734, d2.loss_plan_l1_fix_dist: 1.5457, d3.loss_plan_l1_fix_time: 6.9443, d3.loss_plan_l1_fix_dist: 1.7411, d4.loss_plan_l1_fix_time: 7.0548, d4.loss_plan_l1_fix_dist: 1.9761, d5.loss_plan_l1_fix_time: 7.2622, d5.loss_plan_l1_fix_dist: 2.2329, d6.loss_plan_l1_fix_time: 7.4915, d6.loss_plan_l1_fix_dist: 2.5050, d0.loss_cls_all: 1.4094, d0.loss_bbox_all: 1.3320, d0.loss_cls: 1.4094, d0.loss_bbox: 1.3320, d1.loss_cls: 1.4323, d1.loss_bbox: 1.3422, d2.loss_cls: 1.4257, d2.loss_bbox: 1.3532, d3.loss_cls: 1.4246, d3.loss_bbox: 1.3573, d4.loss_cls: 1.4180, d4.loss_bbox: 1.3654, d5.loss_cls: 1.4190, d5.loss_bbox: 1.3813, d0.loss_traj_cls: 0.0008, d0.loss_traj: 4.0557, d1.loss_traj_cls: 0.0007, d1.loss_traj: 4.4684, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.6778, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.7766, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.8556, d5.loss_traj_cls: 0.0007, d5.loss_traj: 4.8748, d0.loss_map_cls_all: 0.7098, d0.loss_map_pts_all: 5.1400, d0.loss_map_dir_all: 0.0840, d0.loss_map_cls: 0.7098, d0.loss_map_pts: 5.1400, d0.loss_map_dir: 0.0840, d1.loss_map_cls: 0.7223, d1.loss_map_pts: 4.8873, d1.loss_map_dir: 0.0839, d2.loss_map_cls: 0.7166, d2.loss_map_pts: 4.8258, d2.loss_map_dir: 0.0839, d3.loss_map_cls: 0.7155, d3.loss_map_pts: 4.8205, d3.loss_map_dir: 0.0839, d4.loss_map_cls: 0.7178, d4.loss_map_pts: 4.8198, d4.loss_map_dir: 0.0839, d5.loss_map_cls: 0.7178, d5.loss_map_pts: 4.8160, d5.loss_map_dir: 0.0839, loss: 163.8865, grad_norm: 3767.3799 +2026-02-23 23:32:26,110 - DriveTransformer - INFO - Epoch [1][3350/117620] lr: 1.000e-04, eta: 28 days, 1:59:10, time: 0.357, data_time: 0.014, memory: 8394, loss_cls: 1.4241, loss_bbox: 1.3664, loss_traj: 4.8151, loss_traj_cls: 0.0013, loss_map_cls: 0.7045, loss_map_pts: 4.4605, loss_map_dir: 0.0843, d0.loss_plan_l1_fix_time: 8.2655, d0.loss_plan_l1_fix_dist: 0.9484, d1.loss_plan_l1_fix_time: 7.4364, d1.loss_plan_l1_fix_dist: 1.0629, d2.loss_plan_l1_fix_time: 7.0983, d2.loss_plan_l1_fix_dist: 1.3161, d3.loss_plan_l1_fix_time: 6.9734, d3.loss_plan_l1_fix_dist: 1.5294, d4.loss_plan_l1_fix_time: 6.9696, d4.loss_plan_l1_fix_dist: 1.7858, d5.loss_plan_l1_fix_time: 7.0494, d5.loss_plan_l1_fix_dist: 2.0601, d6.loss_plan_l1_fix_time: 7.1630, d6.loss_plan_l1_fix_dist: 2.3208, d0.loss_cls_all: 1.4111, d0.loss_bbox_all: 1.3177, d0.loss_cls: 1.4111, d0.loss_bbox: 1.3177, d1.loss_cls: 1.4159, d1.loss_bbox: 1.3208, d2.loss_cls: 1.4309, d2.loss_bbox: 1.3337, d3.loss_cls: 1.4222, d3.loss_bbox: 1.3398, d4.loss_cls: 1.4174, d4.loss_bbox: 1.3501, d5.loss_cls: 1.4277, d5.loss_bbox: 1.3663, d0.loss_traj_cls: 0.0007, d0.loss_traj: 3.9855, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.3921, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.5917, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.6957, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.7655, d5.loss_traj_cls: 0.0007, d5.loss_traj: 4.7790, d0.loss_map_cls_all: 0.6957, d0.loss_map_pts_all: 4.7369, d0.loss_map_dir_all: 0.0844, d0.loss_map_cls: 0.6957, d0.loss_map_pts: 4.7369, d0.loss_map_dir: 0.0844, d1.loss_map_cls: 0.7026, d1.loss_map_pts: 4.5077, d1.loss_map_dir: 0.0843, d2.loss_map_cls: 0.7029, d2.loss_map_pts: 4.4638, d2.loss_map_dir: 0.0842, d3.loss_map_cls: 0.7014, d3.loss_map_pts: 4.4576, d3.loss_map_dir: 0.0842, d4.loss_map_cls: 0.7098, d4.loss_map_pts: 4.4526, d4.loss_map_dir: 0.0842, d5.loss_map_cls: 0.7067, d5.loss_map_pts: 4.4496, d5.loss_map_dir: 0.0842, loss: 158.6405, grad_norm: 3767.3799 +2026-02-23 23:32:42,471 - DriveTransformer - INFO - Epoch [1][3400/117620] lr: 1.000e-04, eta: 28 days, 1:29:55, time: 0.327, data_time: 0.014, memory: 8394, loss_cls: 1.4869, loss_bbox: 1.2506, loss_traj: 6.7382, loss_traj_cls: 0.0012, loss_map_cls: 0.7373, loss_map_pts: 4.6413, loss_map_dir: 0.0833, d0.loss_plan_l1_fix_time: 9.7640, d0.loss_plan_l1_fix_dist: 0.8092, d1.loss_plan_l1_fix_time: 8.3521, d1.loss_plan_l1_fix_dist: 0.9434, d2.loss_plan_l1_fix_time: 7.4609, d2.loss_plan_l1_fix_dist: 1.2028, d3.loss_plan_l1_fix_time: 6.8790, d3.loss_plan_l1_fix_dist: 1.4332, d4.loss_plan_l1_fix_time: 6.5013, d4.loss_plan_l1_fix_dist: 1.7143, d5.loss_plan_l1_fix_time: 6.2680, d5.loss_plan_l1_fix_dist: 1.9958, d6.loss_plan_l1_fix_time: 6.1459, d6.loss_plan_l1_fix_dist: 2.3453, d0.loss_cls_all: 1.4344, d0.loss_bbox_all: 1.1949, d0.loss_cls: 1.4344, d0.loss_bbox: 1.1949, d1.loss_cls: 1.4493, d1.loss_bbox: 1.1934, d2.loss_cls: 1.4558, d2.loss_bbox: 1.2125, d3.loss_cls: 1.4491, d3.loss_bbox: 1.2195, d4.loss_cls: 1.4658, d4.loss_bbox: 1.2322, d5.loss_cls: 1.4704, d5.loss_bbox: 1.2436, d0.loss_traj_cls: 0.0006, d0.loss_traj: 5.5671, d1.loss_traj_cls: 0.0006, d1.loss_traj: 6.1653, d2.loss_traj_cls: 0.0005, d2.loss_traj: 6.4298, d3.loss_traj_cls: 0.0006, d3.loss_traj: 6.5681, d4.loss_traj_cls: 0.0006, d4.loss_traj: 6.6517, d5.loss_traj_cls: 0.0006, d5.loss_traj: 6.6918, d0.loss_map_cls_all: 0.7205, d0.loss_map_pts_all: 4.8180, d0.loss_map_dir_all: 0.0833, d0.loss_map_cls: 0.7205, d0.loss_map_pts: 4.8180, d0.loss_map_dir: 0.0833, d1.loss_map_cls: 0.7315, d1.loss_map_pts: 4.6301, d1.loss_map_dir: 0.0835, d2.loss_map_cls: 0.7337, d2.loss_map_pts: 4.5944, d2.loss_map_dir: 0.0835, d3.loss_map_cls: 0.7336, d3.loss_map_pts: 4.6004, d3.loss_map_dir: 0.0834, d4.loss_map_cls: 0.7377, d4.loss_map_pts: 4.6022, d4.loss_map_dir: 0.0834, d5.loss_map_cls: 0.7374, d5.loss_map_pts: 4.6048, d5.loss_map_dir: 0.0833, loss: 171.8475, grad_norm: 3668.2765 +2026-02-23 23:32:59,958 - DriveTransformer - INFO - Epoch [1][3450/117620] lr: 1.000e-04, eta: 28 days, 1:39:51, time: 0.350, data_time: 0.014, memory: 8394, loss_cls: 1.3812, loss_bbox: 1.2306, loss_traj: 5.4196, loss_traj_cls: 0.0012, loss_map_cls: 0.7338, loss_map_pts: 4.5656, loss_map_dir: 0.0833, d0.loss_plan_l1_fix_time: 8.5094, d0.loss_plan_l1_fix_dist: 1.1245, d1.loss_plan_l1_fix_time: 7.4704, d1.loss_plan_l1_fix_dist: 1.2225, d2.loss_plan_l1_fix_time: 6.9517, d2.loss_plan_l1_fix_dist: 1.4413, d3.loss_plan_l1_fix_time: 6.6819, d3.loss_plan_l1_fix_dist: 1.6557, d4.loss_plan_l1_fix_time: 6.5869, d4.loss_plan_l1_fix_dist: 1.9258, d5.loss_plan_l1_fix_time: 6.5872, d5.loss_plan_l1_fix_dist: 2.1987, d6.loss_plan_l1_fix_time: 6.6415, d6.loss_plan_l1_fix_dist: 2.5522, d0.loss_cls_all: 1.3511, d0.loss_bbox_all: 1.1875, d0.loss_cls: 1.3511, d0.loss_bbox: 1.1875, d1.loss_cls: 1.3566, d1.loss_bbox: 1.1825, d2.loss_cls: 1.3639, d2.loss_bbox: 1.1974, d3.loss_cls: 1.3615, d3.loss_bbox: 1.2064, d4.loss_cls: 1.3675, d4.loss_bbox: 1.2152, d5.loss_cls: 1.3729, d5.loss_bbox: 1.2232, d0.loss_traj_cls: 0.0007, d0.loss_traj: 4.3999, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.9036, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.1350, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.2648, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.3399, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.3797, d0.loss_map_cls_all: 0.7184, d0.loss_map_pts_all: 4.7290, d0.loss_map_dir_all: 0.0835, d0.loss_map_cls: 0.7184, d0.loss_map_pts: 4.7290, d0.loss_map_dir: 0.0835, d1.loss_map_cls: 0.7287, d1.loss_map_pts: 4.5190, d1.loss_map_dir: 0.0833, d2.loss_map_cls: 0.7322, d2.loss_map_pts: 4.4857, d2.loss_map_dir: 0.0832, d3.loss_map_cls: 0.7321, d3.loss_map_pts: 4.4934, d3.loss_map_dir: 0.0832, d4.loss_map_cls: 0.7358, d4.loss_map_pts: 4.5010, d4.loss_map_dir: 0.0833, d5.loss_map_cls: 0.7345, d5.loss_map_pts: 4.5088, d5.loss_map_dir: 0.0833, loss: 160.9653, grad_norm: 3668.2765 +2026-02-23 23:33:16,894 - DriveTransformer - INFO - Epoch [1][3500/117620] lr: 1.000e-04, eta: 28 days, 1:30:59, time: 0.339, data_time: 0.017, memory: 8394, loss_cls: 1.4864, loss_bbox: 1.4342, loss_traj: 4.2695, loss_traj_cls: 0.0011, loss_map_cls: 0.7090, loss_map_pts: 4.5384, loss_map_dir: 0.0840, d0.loss_plan_l1_fix_time: 7.8440, d0.loss_plan_l1_fix_dist: 1.1937, d1.loss_plan_l1_fix_time: 7.0203, d1.loss_plan_l1_fix_dist: 1.3080, d2.loss_plan_l1_fix_time: 6.7935, d2.loss_plan_l1_fix_dist: 1.4894, d3.loss_plan_l1_fix_time: 6.7780, d3.loss_plan_l1_fix_dist: 1.6924, d4.loss_plan_l1_fix_time: 6.8655, d4.loss_plan_l1_fix_dist: 1.9327, d5.loss_plan_l1_fix_time: 6.9954, d5.loss_plan_l1_fix_dist: 2.1732, d6.loss_plan_l1_fix_time: 7.1472, d6.loss_plan_l1_fix_dist: 2.3505, d0.loss_cls_all: 1.4592, d0.loss_bbox_all: 1.3281, d0.loss_cls: 1.4592, d0.loss_bbox: 1.3281, d1.loss_cls: 1.4983, d1.loss_bbox: 1.3376, d2.loss_cls: 1.4669, d2.loss_bbox: 1.3476, d3.loss_cls: 1.4731, d3.loss_bbox: 1.3684, d4.loss_cls: 1.4749, d4.loss_bbox: 1.3921, d5.loss_cls: 1.4738, d5.loss_bbox: 1.4134, d0.loss_traj_cls: 0.0007, d0.loss_traj: 3.4482, d1.loss_traj_cls: 0.0006, d1.loss_traj: 3.8327, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.0409, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.1290, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.2069, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.2317, d0.loss_map_cls_all: 0.6953, d0.loss_map_pts_all: 4.8202, d0.loss_map_dir_all: 0.0842, d0.loss_map_cls: 0.6953, d0.loss_map_pts: 4.8202, d0.loss_map_dir: 0.0842, d1.loss_map_cls: 0.7089, d1.loss_map_pts: 4.5634, d1.loss_map_dir: 0.0841, d2.loss_map_cls: 0.7097, d2.loss_map_pts: 4.5290, d2.loss_map_dir: 0.0840, d3.loss_map_cls: 0.7067, d3.loss_map_pts: 4.5264, d3.loss_map_dir: 0.0840, d4.loss_map_cls: 0.7094, d4.loss_map_pts: 4.5253, d4.loss_map_dir: 0.0840, d5.loss_map_cls: 0.7119, d5.loss_map_pts: 4.5287, d5.loss_map_dir: 0.0840, loss: 155.6589, grad_norm: 3574.0847 +2026-02-23 23:33:34,059 - DriveTransformer - INFO - Epoch [1][3550/117620] lr: 1.000e-04, eta: 28 days, 1:29:52, time: 0.343, data_time: 0.014, memory: 8394, loss_cls: 1.4458, loss_bbox: 1.3923, loss_traj: 6.4449, loss_traj_cls: 0.0011, loss_map_cls: 0.7430, loss_map_pts: 4.5512, loss_map_dir: 0.0835, d0.loss_plan_l1_fix_time: 8.5035, d0.loss_plan_l1_fix_dist: 1.0276, d1.loss_plan_l1_fix_time: 7.5061, d1.loss_plan_l1_fix_dist: 1.1662, d2.loss_plan_l1_fix_time: 7.1248, d2.loss_plan_l1_fix_dist: 1.3530, d3.loss_plan_l1_fix_time: 6.9794, d3.loss_plan_l1_fix_dist: 1.5609, d4.loss_plan_l1_fix_time: 6.9765, d4.loss_plan_l1_fix_dist: 1.8022, d5.loss_plan_l1_fix_time: 7.0336, d5.loss_plan_l1_fix_dist: 2.0527, d6.loss_plan_l1_fix_time: 7.1342, d6.loss_plan_l1_fix_dist: 2.2325, d0.loss_cls_all: 1.4103, d0.loss_bbox_all: 1.2687, d0.loss_cls: 1.4103, d0.loss_bbox: 1.2687, d1.loss_cls: 1.4256, d1.loss_bbox: 1.2728, d2.loss_cls: 1.4282, d2.loss_bbox: 1.2890, d3.loss_cls: 1.4238, d3.loss_bbox: 1.3098, d4.loss_cls: 1.4359, d4.loss_bbox: 1.3373, d5.loss_cls: 1.4396, d5.loss_bbox: 1.3675, d0.loss_traj_cls: 0.0007, d0.loss_traj: 5.2126, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.8178, d2.loss_traj_cls: 0.0006, d2.loss_traj: 6.1200, d3.loss_traj_cls: 0.0006, d3.loss_traj: 6.2446, d4.loss_traj_cls: 0.0006, d4.loss_traj: 6.3568, d5.loss_traj_cls: 0.0006, d5.loss_traj: 6.3911, d0.loss_map_cls_all: 0.7274, d0.loss_map_pts_all: 4.8672, d0.loss_map_dir_all: 0.0838, d0.loss_map_cls: 0.7274, d0.loss_map_pts: 4.8672, d0.loss_map_dir: 0.0838, d1.loss_map_cls: 0.7403, d1.loss_map_pts: 4.6144, d1.loss_map_dir: 0.0836, d2.loss_map_cls: 0.7417, d2.loss_map_pts: 4.5646, d2.loss_map_dir: 0.0835, d3.loss_map_cls: 0.7396, d3.loss_map_pts: 4.5565, d3.loss_map_dir: 0.0835, d4.loss_map_cls: 0.7410, d4.loss_map_pts: 4.5497, d4.loss_map_dir: 0.0835, d5.loss_map_cls: 0.7452, d5.loss_map_pts: 4.5495, d5.loss_map_dir: 0.0835, loss: 170.6657, grad_norm: 3574.0847 +2026-02-23 23:33:50,542 - DriveTransformer - INFO - Epoch [1][3600/117620] lr: 1.000e-04, eta: 28 days, 1:06:43, time: 0.330, data_time: 0.015, memory: 8394, loss_cls: 1.4103, loss_bbox: 1.2571, loss_traj: 5.5002, loss_traj_cls: 0.0011, loss_map_cls: 0.7346, loss_map_pts: 4.7101, loss_map_dir: 0.0830, d0.loss_plan_l1_fix_time: 8.7822, d0.loss_plan_l1_fix_dist: 1.0440, d1.loss_plan_l1_fix_time: 7.5943, d1.loss_plan_l1_fix_dist: 1.1498, d2.loss_plan_l1_fix_time: 7.0237, d2.loss_plan_l1_fix_dist: 1.3158, d3.loss_plan_l1_fix_time: 6.7649, d3.loss_plan_l1_fix_dist: 1.4700, d4.loss_plan_l1_fix_time: 6.7006, d4.loss_plan_l1_fix_dist: 1.6527, d5.loss_plan_l1_fix_time: 6.7099, d5.loss_plan_l1_fix_dist: 1.8896, d6.loss_plan_l1_fix_time: 6.7803, d6.loss_plan_l1_fix_dist: 2.2686, d0.loss_cls_all: 1.3934, d0.loss_bbox_all: 1.2406, d0.loss_cls: 1.3934, d0.loss_bbox: 1.2406, d1.loss_cls: 1.4083, d1.loss_bbox: 1.2491, d2.loss_cls: 1.4124, d2.loss_bbox: 1.2436, d3.loss_cls: 1.4114, d3.loss_bbox: 1.2397, d4.loss_cls: 1.4069, d4.loss_bbox: 1.2422, d5.loss_cls: 1.4062, d5.loss_bbox: 1.2542, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.3421, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.8949, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.1949, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.3182, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.4223, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.4526, d0.loss_map_cls_all: 0.7154, d0.loss_map_pts_all: 4.9760, d0.loss_map_dir_all: 0.0834, d0.loss_map_cls: 0.7154, d0.loss_map_pts: 4.9760, d0.loss_map_dir: 0.0834, d1.loss_map_cls: 0.7260, d1.loss_map_pts: 4.7449, d1.loss_map_dir: 0.0831, d2.loss_map_cls: 0.7267, d2.loss_map_pts: 4.7041, d2.loss_map_dir: 0.0830, d3.loss_map_cls: 0.7264, d3.loss_map_pts: 4.6957, d3.loss_map_dir: 0.0830, d4.loss_map_cls: 0.7329, d4.loss_map_pts: 4.6927, d4.loss_map_dir: 0.0830, d5.loss_map_cls: 0.7361, d5.loss_map_pts: 4.7005, d5.loss_map_dir: 0.0830, loss: 163.1638, grad_norm: 3485.4840 +2026-02-23 23:34:08,599 - DriveTransformer - INFO - Epoch [1][3650/117620] lr: 1.000e-04, eta: 28 days, 1:34:37, time: 0.361, data_time: 0.017, memory: 8394, loss_cls: 1.4433, loss_bbox: 1.3470, loss_traj: 5.7413, loss_traj_cls: 0.0012, loss_map_cls: 0.7130, loss_map_pts: 4.5113, loss_map_dir: 0.0834, d0.loss_plan_l1_fix_time: 9.6575, d0.loss_plan_l1_fix_dist: 0.9816, d1.loss_plan_l1_fix_time: 8.2021, d1.loss_plan_l1_fix_dist: 1.1174, d2.loss_plan_l1_fix_time: 7.3376, d2.loss_plan_l1_fix_dist: 1.2934, d3.loss_plan_l1_fix_time: 6.8230, d3.loss_plan_l1_fix_dist: 1.4600, d4.loss_plan_l1_fix_time: 6.5303, d4.loss_plan_l1_fix_dist: 1.6543, d5.loss_plan_l1_fix_time: 6.3558, d5.loss_plan_l1_fix_dist: 1.9021, d6.loss_plan_l1_fix_time: 6.2693, d6.loss_plan_l1_fix_dist: 2.2969, d0.loss_cls_all: 1.4236, d0.loss_bbox_all: 1.3398, d0.loss_cls: 1.4236, d0.loss_bbox: 1.3398, d1.loss_cls: 1.4434, d1.loss_bbox: 1.3450, d2.loss_cls: 1.4412, d2.loss_bbox: 1.3380, d3.loss_cls: 1.4381, d3.loss_bbox: 1.3338, d4.loss_cls: 1.4394, d4.loss_bbox: 1.3342, d5.loss_cls: 1.4387, d5.loss_bbox: 1.3443, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.5270, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.1128, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.4214, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.5495, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.6572, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.6900, d0.loss_map_cls_all: 0.6995, d0.loss_map_pts_all: 4.6635, d0.loss_map_dir_all: 0.0838, d0.loss_map_cls: 0.6995, d0.loss_map_pts: 4.6635, d0.loss_map_dir: 0.0838, d1.loss_map_cls: 0.7123, d1.loss_map_pts: 4.4850, d1.loss_map_dir: 0.0836, d2.loss_map_cls: 0.7103, d2.loss_map_pts: 4.4704, d2.loss_map_dir: 0.0836, d3.loss_map_cls: 0.7071, d3.loss_map_pts: 4.4816, d3.loss_map_dir: 0.0837, d4.loss_map_cls: 0.7077, d4.loss_map_pts: 4.4894, d4.loss_map_dir: 0.0836, d5.loss_map_cls: 0.7125, d5.loss_map_pts: 4.5019, d5.loss_map_dir: 0.0835, loss: 164.3955, grad_norm: 3401.6935 +2026-02-23 23:34:24,923 - DriveTransformer - INFO - Epoch [1][3700/117620] lr: 1.000e-04, eta: 28 days, 1:06:56, time: 0.327, data_time: 0.015, memory: 8394, loss_cls: 1.4144, loss_bbox: 1.2383, loss_traj: 4.5286, loss_traj_cls: 0.0010, loss_map_cls: 0.6960, loss_map_pts: 4.6459, loss_map_dir: 0.0830, d0.loss_plan_l1_fix_time: 8.6646, d0.loss_plan_l1_fix_dist: 0.9578, d1.loss_plan_l1_fix_time: 7.3844, d1.loss_plan_l1_fix_dist: 1.0567, d2.loss_plan_l1_fix_time: 6.7270, d2.loss_plan_l1_fix_dist: 1.1980, d3.loss_plan_l1_fix_time: 6.4089, d3.loss_plan_l1_fix_dist: 1.4032, d4.loss_plan_l1_fix_time: 6.2707, d4.loss_plan_l1_fix_dist: 1.6183, d5.loss_plan_l1_fix_time: 6.2184, d5.loss_plan_l1_fix_dist: 1.8663, d6.loss_plan_l1_fix_time: 6.2186, d6.loss_plan_l1_fix_dist: 2.0704, d0.loss_cls_all: 1.3843, d0.loss_bbox_all: 1.1797, d0.loss_cls: 1.3843, d0.loss_bbox: 1.1797, d1.loss_cls: 1.3996, d1.loss_bbox: 1.1933, d2.loss_cls: 1.4111, d2.loss_bbox: 1.1999, d3.loss_cls: 1.4042, d3.loss_bbox: 1.2093, d4.loss_cls: 1.4044, d4.loss_bbox: 1.2167, d5.loss_cls: 1.4037, d5.loss_bbox: 1.2313, d0.loss_traj_cls: 0.0007, d0.loss_traj: 3.6266, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.0512, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.2924, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.3944, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.4717, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.4876, d0.loss_map_cls_all: 0.6856, d0.loss_map_pts_all: 4.8638, d0.loss_map_dir_all: 0.0832, d0.loss_map_cls: 0.6856, d0.loss_map_pts: 4.8638, d0.loss_map_dir: 0.0832, d1.loss_map_cls: 0.6862, d1.loss_map_pts: 4.6511, d1.loss_map_dir: 0.0832, d2.loss_map_cls: 0.6918, d2.loss_map_pts: 4.6336, d2.loss_map_dir: 0.0831, d3.loss_map_cls: 0.6913, d3.loss_map_pts: 4.6332, d3.loss_map_dir: 0.0830, d4.loss_map_cls: 0.7050, d4.loss_map_pts: 4.6313, d4.loss_map_dir: 0.0830, d5.loss_map_cls: 0.6961, d5.loss_map_pts: 4.6384, d5.loss_map_dir: 0.0829, loss: 152.5379, grad_norm: 3401.6935 +2026-02-23 23:34:40,991 - DriveTransformer - INFO - Epoch [1][3750/117620] lr: 1.000e-04, eta: 28 days, 0:31:54, time: 0.321, data_time: 0.013, memory: 8394, loss_cls: 1.4226, loss_bbox: 1.2916, loss_traj: 5.7137, loss_traj_cls: 0.0010, loss_map_cls: 0.7418, loss_map_pts: 4.3304, loss_map_dir: 0.0830, d0.loss_plan_l1_fix_time: 8.8430, d0.loss_plan_l1_fix_dist: 0.8587, d1.loss_plan_l1_fix_time: 7.3707, d1.loss_plan_l1_fix_dist: 0.9960, d2.loss_plan_l1_fix_time: 6.5827, d2.loss_plan_l1_fix_dist: 1.1701, d3.loss_plan_l1_fix_time: 6.1367, d3.loss_plan_l1_fix_dist: 1.4062, d4.loss_plan_l1_fix_time: 5.8974, d4.loss_plan_l1_fix_dist: 1.6506, d5.loss_plan_l1_fix_time: 5.7810, d5.loss_plan_l1_fix_dist: 1.9131, d6.loss_plan_l1_fix_time: 5.7284, d6.loss_plan_l1_fix_dist: 2.1331, d0.loss_cls_all: 1.3980, d0.loss_bbox_all: 1.2555, d0.loss_cls: 1.3980, d0.loss_bbox: 1.2555, d1.loss_cls: 1.3972, d1.loss_bbox: 1.2653, d2.loss_cls: 1.4257, d2.loss_bbox: 1.2648, d3.loss_cls: 1.4146, d3.loss_bbox: 1.2696, d4.loss_cls: 1.4137, d4.loss_bbox: 1.2770, d5.loss_cls: 1.4160, d5.loss_bbox: 1.2870, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.4361, d1.loss_traj_cls: 0.0005, d1.loss_traj: 5.0491, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.3771, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.5219, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.6300, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.6575, d0.loss_map_cls_all: 0.7289, d0.loss_map_pts_all: 4.5598, d0.loss_map_dir_all: 0.0832, d0.loss_map_cls: 0.7289, d0.loss_map_pts: 4.5598, d0.loss_map_dir: 0.0832, d1.loss_map_cls: 0.7388, d1.loss_map_pts: 4.3378, d1.loss_map_dir: 0.0831, d2.loss_map_cls: 0.7395, d2.loss_map_pts: 4.3043, d2.loss_map_dir: 0.0830, d3.loss_map_cls: 0.7389, d3.loss_map_pts: 4.3005, d3.loss_map_dir: 0.0830, d4.loss_map_cls: 0.7511, d4.loss_map_pts: 4.3061, d4.loss_map_dir: 0.0829, d5.loss_map_cls: 0.7450, d5.loss_map_pts: 4.3211, d5.loss_map_dir: 0.0829, loss: 156.9066, grad_norm: 3321.3717 +2026-02-23 23:34:57,856 - DriveTransformer - INFO - Epoch [1][3800/117620] lr: 1.000e-04, eta: 28 days, 0:22:14, time: 0.337, data_time: 0.014, memory: 8394, loss_cls: 1.4388, loss_bbox: 1.3618, loss_traj: 5.2304, loss_traj_cls: 0.0009, loss_map_cls: 0.6908, loss_map_pts: 4.5820, loss_map_dir: 0.0834, d0.loss_plan_l1_fix_time: 7.4842, d0.loss_plan_l1_fix_dist: 1.0444, d1.loss_plan_l1_fix_time: 6.4312, d1.loss_plan_l1_fix_dist: 1.1257, d2.loss_plan_l1_fix_time: 6.0789, d2.loss_plan_l1_fix_dist: 1.2520, d3.loss_plan_l1_fix_time: 5.9906, d3.loss_plan_l1_fix_dist: 1.4387, d4.loss_plan_l1_fix_time: 6.0384, d4.loss_plan_l1_fix_dist: 1.5995, d5.loss_plan_l1_fix_time: 6.1762, d5.loss_plan_l1_fix_dist: 1.7643, d6.loss_plan_l1_fix_time: 6.3734, d6.loss_plan_l1_fix_dist: 1.9516, d0.loss_cls_all: 1.4126, d0.loss_bbox_all: 1.3350, d0.loss_cls: 1.4126, d0.loss_bbox: 1.3350, d1.loss_cls: 1.4188, d1.loss_bbox: 1.3421, d2.loss_cls: 1.4315, d2.loss_bbox: 1.3428, d3.loss_cls: 1.4232, d3.loss_bbox: 1.3495, d4.loss_cls: 1.4290, d4.loss_bbox: 1.3520, d5.loss_cls: 1.4296, d5.loss_bbox: 1.3574, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.1133, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.6205, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.9038, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.0498, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.1494, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.1765, d0.loss_map_cls_all: 0.6746, d0.loss_map_pts_all: 4.6844, d0.loss_map_dir_all: 0.0835, d0.loss_map_cls: 0.6746, d0.loss_map_pts: 4.6844, d0.loss_map_dir: 0.0835, d1.loss_map_cls: 0.6872, d1.loss_map_pts: 4.4249, d1.loss_map_dir: 0.0835, d2.loss_map_cls: 0.6910, d2.loss_map_pts: 4.3844, d2.loss_map_dir: 0.0834, d3.loss_map_cls: 0.6899, d3.loss_map_pts: 4.3966, d3.loss_map_dir: 0.0835, d4.loss_map_cls: 0.6953, d4.loss_map_pts: 4.4515, d4.loss_map_dir: 0.0835, d5.loss_map_cls: 0.6916, d5.loss_map_pts: 4.5266, d5.loss_map_dir: 0.0835, loss: 153.4661, grad_norm: 3321.3717 +2026-02-23 23:35:13,647 - DriveTransformer - INFO - Epoch [1][3850/117620] lr: 1.000e-04, eta: 27 days, 23:40:11, time: 0.316, data_time: 0.014, memory: 8394, loss_cls: 1.4319, loss_bbox: 1.2138, loss_traj: 4.9234, loss_traj_cls: 0.0008, loss_map_cls: 0.7498, loss_map_pts: 4.3484, loss_map_dir: 0.0821, d0.loss_plan_l1_fix_time: 8.4962, d0.loss_plan_l1_fix_dist: 1.0528, d1.loss_plan_l1_fix_time: 6.9567, d1.loss_plan_l1_fix_dist: 1.1368, d2.loss_plan_l1_fix_time: 6.2498, d2.loss_plan_l1_fix_dist: 1.2735, d3.loss_plan_l1_fix_time: 5.9297, d3.loss_plan_l1_fix_dist: 1.4648, d4.loss_plan_l1_fix_time: 5.7824, d4.loss_plan_l1_fix_dist: 1.6383, d5.loss_plan_l1_fix_time: 5.7182, d5.loss_plan_l1_fix_dist: 1.8020, d6.loss_plan_l1_fix_time: 5.7309, d6.loss_plan_l1_fix_dist: 1.9673, d0.loss_cls_all: 1.4102, d0.loss_bbox_all: 1.1715, d0.loss_cls: 1.4102, d0.loss_bbox: 1.1715, d1.loss_cls: 1.4155, d1.loss_bbox: 1.1821, d2.loss_cls: 1.4355, d2.loss_bbox: 1.1842, d3.loss_cls: 1.4247, d3.loss_bbox: 1.1907, d4.loss_cls: 1.4219, d4.loss_bbox: 1.1962, d5.loss_cls: 1.4244, d5.loss_bbox: 1.2071, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.8473, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.3514, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.6248, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.7552, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.8489, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.8766, d0.loss_map_cls_all: 0.7376, d0.loss_map_pts_all: 4.4831, d0.loss_map_dir_all: 0.0823, d0.loss_map_cls: 0.7376, d0.loss_map_pts: 4.4831, d0.loss_map_dir: 0.0823, d1.loss_map_cls: 0.7531, d1.loss_map_pts: 4.3079, d1.loss_map_dir: 0.0822, d2.loss_map_cls: 0.7527, d2.loss_map_pts: 4.2739, d2.loss_map_dir: 0.0821, d3.loss_map_cls: 0.7490, d3.loss_map_pts: 4.2566, d3.loss_map_dir: 0.0820, d4.loss_map_cls: 0.7543, d4.loss_map_pts: 4.2690, d4.loss_map_dir: 0.0821, d5.loss_map_cls: 0.7526, d5.loss_map_pts: 4.3078, d5.loss_map_dir: 0.0821, loss: 149.6960, grad_norm: 3244.4305 +2026-02-23 23:35:29,730 - DriveTransformer - INFO - Epoch [1][3900/117620] lr: 1.000e-04, eta: 27 days, 23:07:59, time: 0.322, data_time: 0.014, memory: 8394, loss_cls: 1.4159, loss_bbox: 1.3036, loss_traj: 5.6786, loss_traj_cls: 0.0008, loss_map_cls: 0.7158, loss_map_pts: 4.4642, loss_map_dir: 0.0809, d0.loss_plan_l1_fix_time: 8.5869, d0.loss_plan_l1_fix_dist: 1.0431, d1.loss_plan_l1_fix_time: 7.1002, d1.loss_plan_l1_fix_dist: 1.1048, d2.loss_plan_l1_fix_time: 6.4507, d2.loss_plan_l1_fix_dist: 1.2086, d3.loss_plan_l1_fix_time: 6.2408, d3.loss_plan_l1_fix_dist: 1.3225, d4.loss_plan_l1_fix_time: 6.1685, d4.loss_plan_l1_fix_dist: 1.4884, d5.loss_plan_l1_fix_time: 6.1547, d5.loss_plan_l1_fix_dist: 1.6328, d6.loss_plan_l1_fix_time: 6.2193, d6.loss_plan_l1_fix_dist: 1.7298, d0.loss_cls_all: 1.3965, d0.loss_bbox_all: 1.2288, d0.loss_cls: 1.3965, d0.loss_bbox: 1.2288, d1.loss_cls: 1.4098, d1.loss_bbox: 1.2428, d2.loss_cls: 1.4092, d2.loss_bbox: 1.2611, d3.loss_cls: 1.4066, d3.loss_bbox: 1.2751, d4.loss_cls: 1.4098, d4.loss_bbox: 1.2916, d5.loss_cls: 1.4110, d5.loss_bbox: 1.3081, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.3752, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.9747, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.3117, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.4674, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.5906, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.6252, d0.loss_map_cls_all: 0.7015, d0.loss_map_pts_all: 4.6947, d0.loss_map_dir_all: 0.0811, d0.loss_map_cls: 0.7015, d0.loss_map_pts: 4.6947, d0.loss_map_dir: 0.0811, d1.loss_map_cls: 0.7135, d1.loss_map_pts: 4.4482, d1.loss_map_dir: 0.0809, d2.loss_map_cls: 0.7157, d2.loss_map_pts: 4.4234, d2.loss_map_dir: 0.0809, d3.loss_map_cls: 0.7138, d3.loss_map_pts: 4.4194, d3.loss_map_dir: 0.0810, d4.loss_map_cls: 0.7159, d4.loss_map_pts: 4.4240, d4.loss_map_dir: 0.0810, d5.loss_map_cls: 0.7164, d5.loss_map_pts: 4.4440, d5.loss_map_dir: 0.0809, loss: 157.2284, grad_norm: 3244.4305 +2026-02-23 23:35:45,991 - DriveTransformer - INFO - Epoch [1][3950/117620] lr: 1.000e-04, eta: 27 days, 22:41:53, time: 0.325, data_time: 0.013, memory: 8394, loss_cls: 1.4113, loss_bbox: 1.2334, loss_traj: 5.4047, loss_traj_cls: 0.0008, loss_map_cls: 0.7695, loss_map_pts: 4.4410, loss_map_dir: 0.0809, d0.loss_plan_l1_fix_time: 6.4423, d0.loss_plan_l1_fix_dist: 0.7965, d1.loss_plan_l1_fix_time: 5.4333, d1.loss_plan_l1_fix_dist: 0.8875, d2.loss_plan_l1_fix_time: 5.1858, d2.loss_plan_l1_fix_dist: 1.0392, d3.loss_plan_l1_fix_time: 5.1978, d3.loss_plan_l1_fix_dist: 1.1839, d4.loss_plan_l1_fix_time: 5.2947, d4.loss_plan_l1_fix_dist: 1.3739, d5.loss_plan_l1_fix_time: 5.4123, d5.loss_plan_l1_fix_dist: 1.5516, d6.loss_plan_l1_fix_time: 5.5857, d6.loss_plan_l1_fix_dist: 1.6834, d0.loss_cls_all: 1.3887, d0.loss_bbox_all: 1.1547, d0.loss_cls: 1.3887, d0.loss_bbox: 1.1547, d1.loss_cls: 1.3953, d1.loss_bbox: 1.1706, d2.loss_cls: 1.4084, d2.loss_bbox: 1.1827, d3.loss_cls: 1.4064, d3.loss_bbox: 1.1961, d4.loss_cls: 1.4084, d4.loss_bbox: 1.2127, d5.loss_cls: 1.4060, d5.loss_bbox: 1.2283, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.0020, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.6560, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.0178, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.1836, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.3184, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.3562, d0.loss_map_cls_all: 0.7517, d0.loss_map_pts_all: 4.6991, d0.loss_map_dir_all: 0.0811, d0.loss_map_cls: 0.7517, d0.loss_map_pts: 4.6991, d0.loss_map_dir: 0.0811, d1.loss_map_cls: 0.7719, d1.loss_map_pts: 4.4259, d1.loss_map_dir: 0.0810, d2.loss_map_cls: 0.7707, d2.loss_map_pts: 4.3857, d2.loss_map_dir: 0.0809, d3.loss_map_cls: 0.7695, d3.loss_map_pts: 4.3829, d3.loss_map_dir: 0.0809, d4.loss_map_cls: 0.7666, d4.loss_map_pts: 4.3964, d4.loss_map_dir: 0.0809, d5.loss_map_cls: 0.7713, d5.loss_map_pts: 4.4224, d5.loss_map_dir: 0.0809, loss: 145.3802, grad_norm: 3171.3105 +2026-02-23 23:36:01,815 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-23 23:36:01,815 - DriveTransformer - INFO - Epoch [1][4000/117620] lr: 1.000e-04, eta: 27 days, 22:03:42, time: 0.317, data_time: 0.014, memory: 8394, loss_cls: 1.4535, loss_bbox: 1.5247, loss_traj: 5.6431, loss_traj_cls: 0.0009, loss_map_cls: 0.7144, loss_map_pts: 4.1399, loss_map_dir: 0.0815, d0.loss_plan_l1_fix_time: 7.0952, d0.loss_plan_l1_fix_dist: 0.8358, d1.loss_plan_l1_fix_time: 5.9971, d1.loss_plan_l1_fix_dist: 0.9408, d2.loss_plan_l1_fix_time: 5.7753, d2.loss_plan_l1_fix_dist: 1.1697, d3.loss_plan_l1_fix_time: 5.8001, d3.loss_plan_l1_fix_dist: 1.3608, d4.loss_plan_l1_fix_time: 5.9006, d4.loss_plan_l1_fix_dist: 1.5815, d5.loss_plan_l1_fix_time: 6.0431, d5.loss_plan_l1_fix_dist: 1.8211, d6.loss_plan_l1_fix_time: 6.2643, d6.loss_plan_l1_fix_dist: 2.0746, d0.loss_cls_all: 1.4271, d0.loss_bbox_all: 1.4965, d0.loss_cls: 1.4271, d0.loss_bbox: 1.4965, d1.loss_cls: 1.4375, d1.loss_bbox: 1.5013, d2.loss_cls: 1.4508, d2.loss_bbox: 1.5079, d3.loss_cls: 1.4497, d3.loss_bbox: 1.5067, d4.loss_cls: 1.4596, d4.loss_bbox: 1.5105, d5.loss_cls: 1.4537, d5.loss_bbox: 1.5157, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.3756, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.9486, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.2995, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.4522, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.5722, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.5984, d0.loss_map_cls_all: 0.6985, d0.loss_map_pts_all: 4.3832, d0.loss_map_dir_all: 0.0816, d0.loss_map_cls: 0.6985, d0.loss_map_pts: 4.3832, d0.loss_map_dir: 0.0816, d1.loss_map_cls: 0.7092, d1.loss_map_pts: 4.1463, d1.loss_map_dir: 0.0815, d2.loss_map_cls: 0.7096, d2.loss_map_pts: 4.1185, d2.loss_map_dir: 0.0815, d3.loss_map_cls: 0.7137, d3.loss_map_pts: 4.1081, d3.loss_map_dir: 0.0816, d4.loss_map_cls: 0.7203, d4.loss_map_pts: 4.1082, d4.loss_map_dir: 0.0815, d5.loss_map_cls: 0.7164, d5.loss_map_pts: 4.1230, d5.loss_map_dir: 0.0815, loss: 153.0163, grad_norm: 3171.3105 +2026-02-23 23:36:19,197 - DriveTransformer - INFO - Epoch [1][4050/117620] lr: 1.000e-04, eta: 27 days, 22:11:29, time: 0.348, data_time: 0.015, memory: 8394, loss_cls: 1.4607, loss_bbox: 1.5236, loss_traj: 4.7619, loss_traj_cls: 0.0009, loss_map_cls: 0.7214, loss_map_pts: 4.4665, loss_map_dir: 0.0807, d0.loss_plan_l1_fix_time: 6.5935, d0.loss_plan_l1_fix_dist: 0.9772, d1.loss_plan_l1_fix_time: 5.5839, d1.loss_plan_l1_fix_dist: 1.0583, d2.loss_plan_l1_fix_time: 5.4371, d2.loss_plan_l1_fix_dist: 1.2511, d3.loss_plan_l1_fix_time: 5.5604, d3.loss_plan_l1_fix_dist: 1.4269, d4.loss_plan_l1_fix_time: 5.7679, d4.loss_plan_l1_fix_dist: 1.6304, d5.loss_plan_l1_fix_time: 6.0043, d5.loss_plan_l1_fix_dist: 1.8504, d6.loss_plan_l1_fix_time: 6.3009, d6.loss_plan_l1_fix_dist: 2.1127, d0.loss_cls_all: 1.4328, d0.loss_bbox_all: 1.4718, d0.loss_cls: 1.4328, d0.loss_bbox: 1.4718, d1.loss_cls: 1.4429, d1.loss_bbox: 1.4832, d2.loss_cls: 1.4552, d2.loss_bbox: 1.4929, d3.loss_cls: 1.4548, d3.loss_bbox: 1.4991, d4.loss_cls: 1.4607, d4.loss_bbox: 1.5070, d5.loss_cls: 1.4611, d5.loss_bbox: 1.5139, d0.loss_traj_cls: 0.0006, d0.loss_traj: 3.4571, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.0416, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.3914, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.5562, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.6782, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.7113, d0.loss_map_cls_all: 0.7010, d0.loss_map_pts_all: 4.7845, d0.loss_map_dir_all: 0.0809, d0.loss_map_cls: 0.7010, d0.loss_map_pts: 4.7845, d0.loss_map_dir: 0.0809, d1.loss_map_cls: 0.7133, d1.loss_map_pts: 4.4652, d1.loss_map_dir: 0.0806, d2.loss_map_cls: 0.7151, d2.loss_map_pts: 4.4204, d2.loss_map_dir: 0.0807, d3.loss_map_cls: 0.7192, d3.loss_map_pts: 4.4244, d3.loss_map_dir: 0.0808, d4.loss_map_cls: 0.7220, d4.loss_map_pts: 4.4397, d4.loss_map_dir: 0.0807, d5.loss_map_cls: 0.7222, d5.loss_map_pts: 4.4578, d5.loss_map_dir: 0.0808, loss: 148.3252, grad_norm: 3102.5134 +2026-02-23 23:36:35,083 - DriveTransformer - INFO - Epoch [1][4100/117620] lr: 1.000e-04, eta: 27 days, 21:36:19, time: 0.318, data_time: 0.015, memory: 8394, loss_cls: 1.4583, loss_bbox: 1.2837, loss_traj: 6.7633, loss_traj_cls: 0.0010, loss_map_cls: 0.7693, loss_map_pts: 4.3725, loss_map_dir: 0.0787, d0.loss_plan_l1_fix_time: 7.3581, d0.loss_plan_l1_fix_dist: 0.8479, d1.loss_plan_l1_fix_time: 5.9011, d1.loss_plan_l1_fix_dist: 0.9369, d2.loss_plan_l1_fix_time: 5.4758, d2.loss_plan_l1_fix_dist: 1.0932, d3.loss_plan_l1_fix_time: 5.3715, d3.loss_plan_l1_fix_dist: 1.2775, d4.loss_plan_l1_fix_time: 5.3678, d4.loss_plan_l1_fix_dist: 1.4621, d5.loss_plan_l1_fix_time: 5.4394, d5.loss_plan_l1_fix_dist: 1.6490, d6.loss_plan_l1_fix_time: 5.6242, d6.loss_plan_l1_fix_dist: 1.9187, d0.loss_cls_all: 1.4337, d0.loss_bbox_all: 1.1457, d0.loss_cls: 1.4337, d0.loss_bbox: 1.1457, d1.loss_cls: 1.4317, d1.loss_bbox: 1.1740, d2.loss_cls: 1.4583, d2.loss_bbox: 1.1878, d3.loss_cls: 1.4587, d3.loss_bbox: 1.2152, d4.loss_cls: 1.4545, d4.loss_bbox: 1.2311, d5.loss_cls: 1.4547, d5.loss_bbox: 1.2553, d0.loss_traj_cls: 0.0005, d0.loss_traj: 4.8896, d1.loss_traj_cls: 0.0005, d1.loss_traj: 5.7797, d2.loss_traj_cls: 0.0005, d2.loss_traj: 6.2645, d3.loss_traj_cls: 0.0006, d3.loss_traj: 6.4761, d4.loss_traj_cls: 0.0005, d4.loss_traj: 6.6343, d5.loss_traj_cls: 0.0006, d5.loss_traj: 6.6930, d0.loss_map_cls_all: 0.7546, d0.loss_map_pts_all: 4.6928, d0.loss_map_dir_all: 0.0788, d0.loss_map_cls: 0.7546, d0.loss_map_pts: 4.6928, d0.loss_map_dir: 0.0788, d1.loss_map_cls: 0.7586, d1.loss_map_pts: 4.4317, d1.loss_map_dir: 0.0786, d2.loss_map_cls: 0.7643, d2.loss_map_pts: 4.3795, d2.loss_map_dir: 0.0787, d3.loss_map_cls: 0.7645, d3.loss_map_pts: 4.3692, d3.loss_map_dir: 0.0787, d4.loss_map_cls: 0.7691, d4.loss_map_pts: 4.3728, d4.loss_map_dir: 0.0787, d5.loss_map_cls: 0.7689, d5.loss_map_pts: 4.3753, d5.loss_map_dir: 0.0788, loss: 156.8700, grad_norm: 3102.5134 +2026-02-23 23:36:52,110 - DriveTransformer - INFO - Epoch [1][4150/117620] lr: 1.000e-04, eta: 27 days, 21:34:17, time: 0.341, data_time: 0.014, memory: 8394, loss_cls: 1.3926, loss_bbox: 1.3336, loss_traj: 4.5577, loss_traj_cls: 0.0009, loss_map_cls: 0.7184, loss_map_pts: 4.2529, loss_map_dir: 0.0787, d0.loss_plan_l1_fix_time: 7.4664, d0.loss_plan_l1_fix_dist: 0.9160, d1.loss_plan_l1_fix_time: 6.0513, d1.loss_plan_l1_fix_dist: 0.9910, d2.loss_plan_l1_fix_time: 5.5165, d2.loss_plan_l1_fix_dist: 1.1351, d3.loss_plan_l1_fix_time: 5.3046, d3.loss_plan_l1_fix_dist: 1.2980, d4.loss_plan_l1_fix_time: 5.2308, d4.loss_plan_l1_fix_dist: 1.4929, d5.loss_plan_l1_fix_time: 5.2691, d5.loss_plan_l1_fix_dist: 1.6911, d6.loss_plan_l1_fix_time: 5.4207, d6.loss_plan_l1_fix_dist: 1.9144, d0.loss_cls_all: 1.3723, d0.loss_bbox_all: 1.2689, d0.loss_cls: 1.3723, d0.loss_bbox: 1.2689, d1.loss_cls: 1.3829, d1.loss_bbox: 1.2832, d2.loss_cls: 1.3899, d2.loss_bbox: 1.2891, d3.loss_cls: 1.3921, d3.loss_bbox: 1.3020, d4.loss_cls: 1.3933, d4.loss_bbox: 1.3075, d5.loss_cls: 1.3897, d5.loss_bbox: 1.3180, d0.loss_traj_cls: 0.0006, d0.loss_traj: 3.3158, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.8761, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.1928, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.3476, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.4617, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.5046, d0.loss_map_cls_all: 0.6948, d0.loss_map_pts_all: 4.5910, d0.loss_map_dir_all: 0.0785, d0.loss_map_cls: 0.6948, d0.loss_map_pts: 4.5910, d0.loss_map_dir: 0.0785, d1.loss_map_cls: 0.7140, d1.loss_map_pts: 4.3260, d1.loss_map_dir: 0.0783, d2.loss_map_cls: 0.7143, d2.loss_map_pts: 4.2699, d2.loss_map_dir: 0.0785, d3.loss_map_cls: 0.7176, d3.loss_map_pts: 4.2564, d3.loss_map_dir: 0.0785, d4.loss_map_cls: 0.7220, d4.loss_map_pts: 4.2554, d4.loss_map_dir: 0.0786, d5.loss_map_cls: 0.7214, d5.loss_map_pts: 4.2567, d5.loss_map_dir: 0.0786, loss: 141.5401, grad_norm: 3036.4817 +2026-02-23 23:37:08,161 - DriveTransformer - INFO - Epoch [1][4200/117620] lr: 1.000e-04, eta: 27 days, 21:05:02, time: 0.321, data_time: 0.014, memory: 8394, loss_cls: 1.4329, loss_bbox: 1.3397, loss_traj: 5.0661, loss_traj_cls: 0.0008, loss_map_cls: 0.6993, loss_map_pts: 4.4085, loss_map_dir: 0.0762, d0.loss_plan_l1_fix_time: 6.5861, d0.loss_plan_l1_fix_dist: 0.8237, d1.loss_plan_l1_fix_time: 5.4974, d1.loss_plan_l1_fix_dist: 0.9195, d2.loss_plan_l1_fix_time: 5.2386, d2.loss_plan_l1_fix_dist: 1.0373, d3.loss_plan_l1_fix_time: 5.1650, d3.loss_plan_l1_fix_dist: 1.1697, d4.loss_plan_l1_fix_time: 5.1679, d4.loss_plan_l1_fix_dist: 1.3703, d5.loss_plan_l1_fix_time: 5.2524, d5.loss_plan_l1_fix_dist: 1.5816, d6.loss_plan_l1_fix_time: 5.4339, d6.loss_plan_l1_fix_dist: 1.7680, d0.loss_cls_all: 1.4072, d0.loss_bbox_all: 1.2747, d0.loss_cls: 1.4072, d0.loss_bbox: 1.2747, d1.loss_cls: 1.4147, d1.loss_bbox: 1.2914, d2.loss_cls: 1.4274, d2.loss_bbox: 1.2957, d3.loss_cls: 1.4259, d3.loss_bbox: 1.3085, d4.loss_cls: 1.4284, d4.loss_bbox: 1.3141, d5.loss_cls: 1.4314, d5.loss_bbox: 1.3262, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.5726, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.2371, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.6215, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.8165, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.9595, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.0079, d0.loss_map_cls_all: 0.6724, d0.loss_map_pts_all: 4.7624, d0.loss_map_dir_all: 0.0762, d0.loss_map_cls: 0.6724, d0.loss_map_pts: 4.7624, d0.loss_map_dir: 0.0762, d1.loss_map_cls: 0.6970, d1.loss_map_pts: 4.4899, d1.loss_map_dir: 0.0760, d2.loss_map_cls: 0.6954, d2.loss_map_pts: 4.4341, d2.loss_map_dir: 0.0760, d3.loss_map_cls: 0.7018, d3.loss_map_pts: 4.4208, d3.loss_map_dir: 0.0761, d4.loss_map_cls: 0.7007, d4.loss_map_pts: 4.4174, d4.loss_map_dir: 0.0762, d5.loss_map_cls: 0.7020, d5.loss_map_pts: 4.4147, d5.loss_map_dir: 0.0762, loss: 143.3569, grad_norm: 3036.4817 +2026-02-23 23:37:24,112 - DriveTransformer - INFO - Epoch [1][4250/117620] lr: 1.000e-04, eta: 27 days, 20:33:31, time: 0.319, data_time: 0.014, memory: 8394, loss_cls: 1.4343, loss_bbox: 1.3017, loss_traj: 5.7979, loss_traj_cls: 0.0007, loss_map_cls: 0.7579, loss_map_pts: 4.2602, loss_map_dir: 0.0748, d0.loss_plan_l1_fix_time: 7.5583, d0.loss_plan_l1_fix_dist: 0.8102, d1.loss_plan_l1_fix_time: 6.2682, d1.loss_plan_l1_fix_dist: 0.8885, d2.loss_plan_l1_fix_time: 5.8593, d2.loss_plan_l1_fix_dist: 1.0188, d3.loss_plan_l1_fix_time: 5.7150, d3.loss_plan_l1_fix_dist: 1.1644, d4.loss_plan_l1_fix_time: 5.6670, d4.loss_plan_l1_fix_dist: 1.3589, d5.loss_plan_l1_fix_time: 5.6952, d5.loss_plan_l1_fix_dist: 1.5816, d6.loss_plan_l1_fix_time: 5.8119, d6.loss_plan_l1_fix_dist: 1.7805, d0.loss_cls_all: 1.4208, d0.loss_bbox_all: 1.2290, d0.loss_cls: 1.4208, d0.loss_bbox: 1.2290, d1.loss_cls: 1.4331, d1.loss_bbox: 1.2524, d2.loss_cls: 1.4306, d2.loss_bbox: 1.2561, d3.loss_cls: 1.4372, d3.loss_bbox: 1.2673, d4.loss_cls: 1.4339, d4.loss_bbox: 1.2796, d5.loss_cls: 1.4313, d5.loss_bbox: 1.2952, d0.loss_traj_cls: 0.0005, d0.loss_traj: 4.3172, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.9939, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.3768, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.5587, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.6993, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.7420, d0.loss_map_cls_all: 0.7419, d0.loss_map_pts_all: 4.4847, d0.loss_map_dir_all: 0.0751, d0.loss_map_cls: 0.7419, d0.loss_map_pts: 4.4847, d0.loss_map_dir: 0.0751, d1.loss_map_cls: 0.7496, d1.loss_map_pts: 4.2933, d1.loss_map_dir: 0.0747, d2.loss_map_cls: 0.7527, d2.loss_map_pts: 4.2554, d2.loss_map_dir: 0.0748, d3.loss_map_cls: 0.7531, d3.loss_map_pts: 4.2466, d3.loss_map_dir: 0.0746, d4.loss_map_cls: 0.7588, d4.loss_map_pts: 4.2449, d4.loss_map_dir: 0.0747, d5.loss_map_cls: 0.7574, d5.loss_map_pts: 4.2468, d5.loss_map_dir: 0.0747, loss: 151.3485, grad_norm: 2973.3361 +2026-02-23 23:37:40,576 - DriveTransformer - INFO - Epoch [1][4300/117620] lr: 1.000e-04, eta: 27 days, 20:16:53, time: 0.329, data_time: 0.014, memory: 8394, loss_cls: 1.4686, loss_bbox: 1.4555, loss_traj: 4.8956, loss_traj_cls: 0.0007, loss_map_cls: 0.6872, loss_map_pts: 4.2673, loss_map_dir: 0.0730, d0.loss_plan_l1_fix_time: 7.3582, d0.loss_plan_l1_fix_dist: 1.0588, d1.loss_plan_l1_fix_time: 6.1103, d1.loss_plan_l1_fix_dist: 1.1290, d2.loss_plan_l1_fix_time: 5.7523, d2.loss_plan_l1_fix_dist: 1.2613, d3.loss_plan_l1_fix_time: 5.6447, d3.loss_plan_l1_fix_dist: 1.4041, d4.loss_plan_l1_fix_time: 5.6946, d4.loss_plan_l1_fix_dist: 1.5714, d5.loss_plan_l1_fix_time: 5.8516, d5.loss_plan_l1_fix_dist: 1.7775, d6.loss_plan_l1_fix_time: 6.0799, d6.loss_plan_l1_fix_dist: 1.9935, d0.loss_cls_all: 1.4482, d0.loss_bbox_all: 1.3868, d0.loss_cls: 1.4482, d0.loss_bbox: 1.3868, d1.loss_cls: 1.4569, d1.loss_bbox: 1.4119, d2.loss_cls: 1.4640, d2.loss_bbox: 1.4167, d3.loss_cls: 1.4612, d3.loss_bbox: 1.4296, d4.loss_cls: 1.4652, d4.loss_bbox: 1.4457, d5.loss_cls: 1.4668, d5.loss_bbox: 1.4546, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.4437, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.0869, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.4818, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.6616, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.8040, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.8383, d0.loss_map_cls_all: 0.6717, d0.loss_map_pts_all: 4.5342, d0.loss_map_dir_all: 0.0736, d0.loss_map_cls: 0.6717, d0.loss_map_pts: 4.5342, d0.loss_map_dir: 0.0736, d1.loss_map_cls: 0.6870, d1.loss_map_pts: 4.2997, d1.loss_map_dir: 0.0732, d2.loss_map_cls: 0.6853, d2.loss_map_pts: 4.2589, d2.loss_map_dir: 0.0732, d3.loss_map_cls: 0.6859, d3.loss_map_pts: 4.2444, d3.loss_map_dir: 0.0731, d4.loss_map_cls: 0.6878, d4.loss_map_pts: 4.2363, d4.loss_map_dir: 0.0732, d5.loss_map_cls: 0.6881, d5.loss_map_pts: 4.2424, d5.loss_map_dir: 0.0731, loss: 147.6380, grad_norm: 2973.3361 +2026-02-23 23:37:56,844 - DriveTransformer - INFO - Epoch [1][4350/117620] lr: 1.000e-04, eta: 27 days, 19:55:20, time: 0.325, data_time: 0.017, memory: 8394, loss_cls: 1.4190, loss_bbox: 1.2493, loss_traj: 5.8077, loss_traj_cls: 0.0006, loss_map_cls: 0.7525, loss_map_pts: 4.2606, loss_map_dir: 0.0696, d0.loss_plan_l1_fix_time: 7.2330, d0.loss_plan_l1_fix_dist: 0.9437, d1.loss_plan_l1_fix_time: 5.8246, d1.loss_plan_l1_fix_dist: 1.0461, d2.loss_plan_l1_fix_time: 5.3255, d2.loss_plan_l1_fix_dist: 1.1971, d3.loss_plan_l1_fix_time: 5.1176, d3.loss_plan_l1_fix_dist: 1.3666, d4.loss_plan_l1_fix_time: 5.0531, d4.loss_plan_l1_fix_dist: 1.5326, d5.loss_plan_l1_fix_time: 5.0929, d5.loss_plan_l1_fix_dist: 1.7384, d6.loss_plan_l1_fix_time: 5.2065, d6.loss_plan_l1_fix_dist: 1.9806, d0.loss_cls_all: 1.4034, d0.loss_bbox_all: 1.1950, d0.loss_cls: 1.4034, d0.loss_bbox: 1.1950, d1.loss_cls: 1.4097, d1.loss_bbox: 1.2084, d2.loss_cls: 1.4206, d2.loss_bbox: 1.2153, d3.loss_cls: 1.4190, d3.loss_bbox: 1.2243, d4.loss_cls: 1.4182, d4.loss_bbox: 1.2331, d5.loss_cls: 1.4229, d5.loss_bbox: 1.2449, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.9368, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.7797, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.2785, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.4985, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.6746, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.7319, d0.loss_map_cls_all: 0.7249, d0.loss_map_pts_all: 4.6172, d0.loss_map_dir_all: 0.0703, d0.loss_map_cls: 0.7249, d0.loss_map_pts: 4.6172, d0.loss_map_dir: 0.0703, d1.loss_map_cls: 0.7482, d1.loss_map_pts: 4.3311, d1.loss_map_dir: 0.0697, d2.loss_map_cls: 0.7516, d2.loss_map_pts: 4.2695, d2.loss_map_dir: 0.0696, d3.loss_map_cls: 0.7521, d3.loss_map_pts: 4.2558, d3.loss_map_dir: 0.0696, d4.loss_map_cls: 0.7590, d4.loss_map_pts: 4.2469, d4.loss_map_dir: 0.0696, d5.loss_map_cls: 0.7540, d5.loss_map_pts: 4.2478, d5.loss_map_dir: 0.0695, loss: 147.8228, grad_norm: 2912.1414 +2026-02-23 23:38:12,827 - DriveTransformer - INFO - Epoch [1][4400/117620] lr: 1.000e-04, eta: 27 days, 19:26:36, time: 0.320, data_time: 0.013, memory: 8394, loss_cls: 1.3886, loss_bbox: 1.1516, loss_traj: 6.0905, loss_traj_cls: 0.0007, loss_map_cls: 0.7981, loss_map_pts: 4.4235, loss_map_dir: 0.0680, d0.loss_plan_l1_fix_time: 7.4516, d0.loss_plan_l1_fix_dist: 0.9595, d1.loss_plan_l1_fix_time: 5.8788, d1.loss_plan_l1_fix_dist: 1.0600, d2.loss_plan_l1_fix_time: 5.2229, d2.loss_plan_l1_fix_dist: 1.2212, d3.loss_plan_l1_fix_time: 4.9107, d3.loss_plan_l1_fix_dist: 1.4127, d4.loss_plan_l1_fix_time: 4.7728, d4.loss_plan_l1_fix_dist: 1.5920, d5.loss_plan_l1_fix_time: 4.7796, d5.loss_plan_l1_fix_dist: 1.8046, d6.loss_plan_l1_fix_time: 4.8850, d6.loss_plan_l1_fix_dist: 2.0673, d0.loss_cls_all: 1.3619, d0.loss_bbox_all: 1.1153, d0.loss_cls: 1.3619, d0.loss_bbox: 1.1153, d1.loss_cls: 1.3712, d1.loss_bbox: 1.1219, d2.loss_cls: 1.3950, d2.loss_bbox: 1.1277, d3.loss_cls: 1.3921, d3.loss_bbox: 1.1280, d4.loss_cls: 1.3894, d4.loss_bbox: 1.1279, d5.loss_cls: 1.3946, d5.loss_bbox: 1.1449, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.1461, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.0258, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.5356, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.7603, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.9461, d5.loss_traj_cls: 0.0006, d5.loss_traj: 6.0144, d0.loss_map_cls_all: 0.7640, d0.loss_map_pts_all: 4.6407, d0.loss_map_dir_all: 0.0684, d0.loss_map_cls: 0.7640, d0.loss_map_pts: 4.6407, d0.loss_map_dir: 0.0684, d1.loss_map_cls: 0.7719, d1.loss_map_pts: 4.4315, d1.loss_map_dir: 0.0677, d2.loss_map_cls: 0.7809, d2.loss_map_pts: 4.4075, d2.loss_map_dir: 0.0680, d3.loss_map_cls: 0.7889, d3.loss_map_pts: 4.4025, d3.loss_map_dir: 0.0679, d4.loss_map_cls: 0.7962, d4.loss_map_pts: 4.4014, d4.loss_map_dir: 0.0679, d5.loss_map_cls: 0.7937, d5.loss_map_pts: 4.4094, d5.loss_map_dir: 0.0679, loss: 149.1884, grad_norm: 2912.1414 +2026-02-23 23:38:29,486 - DriveTransformer - INFO - Epoch [1][4450/117620] lr: 1.000e-04, eta: 27 days, 19:16:28, time: 0.333, data_time: 0.014, memory: 8394, loss_cls: 1.4132, loss_bbox: 1.3315, loss_traj: 5.4881, loss_traj_cls: 0.0007, loss_map_cls: 0.6984, loss_map_pts: 4.2706, loss_map_dir: 0.0687, d0.loss_plan_l1_fix_time: 6.8496, d0.loss_plan_l1_fix_dist: 1.1580, d1.loss_plan_l1_fix_time: 5.7559, d1.loss_plan_l1_fix_dist: 1.2508, d2.loss_plan_l1_fix_time: 5.6052, d2.loss_plan_l1_fix_dist: 1.4020, d3.loss_plan_l1_fix_time: 5.6585, d3.loss_plan_l1_fix_dist: 1.5993, d4.loss_plan_l1_fix_time: 5.7835, d4.loss_plan_l1_fix_dist: 1.8000, d5.loss_plan_l1_fix_time: 5.9570, d5.loss_plan_l1_fix_dist: 2.0417, d6.loss_plan_l1_fix_time: 6.1588, d6.loss_plan_l1_fix_dist: 2.2951, d0.loss_cls_all: 1.3938, d0.loss_bbox_all: 1.3144, d0.loss_cls: 1.3938, d0.loss_bbox: 1.3144, d1.loss_cls: 1.4039, d1.loss_bbox: 1.3150, d2.loss_cls: 1.4131, d2.loss_bbox: 1.3129, d3.loss_cls: 1.4143, d3.loss_bbox: 1.3151, d4.loss_cls: 1.4132, d4.loss_bbox: 1.3181, d5.loss_cls: 1.4100, d5.loss_bbox: 1.3250, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.8296, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.5591, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.0029, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.2057, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.3658, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.4295, d0.loss_map_cls_all: 0.6833, d0.loss_map_pts_all: 4.5596, d0.loss_map_dir_all: 0.0699, d0.loss_map_cls: 0.6833, d0.loss_map_pts: 4.5596, d0.loss_map_dir: 0.0699, d1.loss_map_cls: 0.6945, d1.loss_map_pts: 4.3049, d1.loss_map_dir: 0.0690, d2.loss_map_cls: 0.6970, d2.loss_map_pts: 4.2614, d2.loss_map_dir: 0.0690, d3.loss_map_cls: 0.6966, d3.loss_map_pts: 4.2558, d3.loss_map_dir: 0.0689, d4.loss_map_cls: 0.6997, d4.loss_map_pts: 4.2595, d4.loss_map_dir: 0.0688, d5.loss_map_cls: 0.6990, d5.loss_map_pts: 4.2656, d5.loss_map_dir: 0.0689, loss: 150.8440, grad_norm: 2854.5508 +2026-02-23 23:38:46,173 - DriveTransformer - INFO - Epoch [1][4500/117620] lr: 1.000e-04, eta: 27 days, 19:07:21, time: 0.334, data_time: 0.014, memory: 8394, loss_cls: 1.4493, loss_bbox: 1.2904, loss_traj: 5.3309, loss_traj_cls: 0.0007, loss_map_cls: 0.7071, loss_map_pts: 4.0801, loss_map_dir: 0.0672, d0.loss_plan_l1_fix_time: 6.6965, d0.loss_plan_l1_fix_dist: 0.9812, d1.loss_plan_l1_fix_time: 5.4037, d1.loss_plan_l1_fix_dist: 1.0393, d2.loss_plan_l1_fix_time: 5.1029, d2.loss_plan_l1_fix_dist: 1.1711, d3.loss_plan_l1_fix_time: 5.0379, d3.loss_plan_l1_fix_dist: 1.3476, d4.loss_plan_l1_fix_time: 5.0946, d4.loss_plan_l1_fix_dist: 1.5358, d5.loss_plan_l1_fix_time: 5.2347, d5.loss_plan_l1_fix_dist: 1.7669, d6.loss_plan_l1_fix_time: 5.4156, d6.loss_plan_l1_fix_dist: 1.9964, d0.loss_cls_all: 1.4192, d0.loss_bbox_all: 1.2815, d0.loss_cls: 1.4192, d0.loss_bbox: 1.2815, d1.loss_cls: 1.4286, d1.loss_bbox: 1.2833, d2.loss_cls: 1.4421, d2.loss_bbox: 1.2844, d3.loss_cls: 1.4394, d3.loss_bbox: 1.2870, d4.loss_cls: 1.4430, d4.loss_bbox: 1.2905, d5.loss_cls: 1.4464, d5.loss_bbox: 1.2944, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.7551, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.4389, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.8562, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.0555, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.2098, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.2733, d0.loss_map_cls_all: 0.6887, d0.loss_map_pts_all: 4.4346, d0.loss_map_dir_all: 0.0684, d0.loss_map_cls: 0.6887, d0.loss_map_pts: 4.4346, d0.loss_map_dir: 0.0684, d1.loss_map_cls: 0.7019, d1.loss_map_pts: 4.1437, d1.loss_map_dir: 0.0673, d2.loss_map_cls: 0.7053, d2.loss_map_pts: 4.0850, d2.loss_map_dir: 0.0673, d3.loss_map_cls: 0.7053, d3.loss_map_pts: 4.0776, d3.loss_map_dir: 0.0672, d4.loss_map_cls: 0.7081, d4.loss_map_pts: 4.0797, d4.loss_map_dir: 0.0672, d5.loss_map_cls: 0.7073, d5.loss_map_pts: 4.0809, d5.loss_map_dir: 0.0672, loss: 143.0969, grad_norm: 2854.5508 +2026-02-23 23:39:02,757 - DriveTransformer - INFO - Epoch [1][4550/117620] lr: 1.000e-04, eta: 27 days, 18:55:29, time: 0.332, data_time: 0.016, memory: 8394, loss_cls: 1.4524, loss_bbox: 1.2359, loss_traj: 4.9156, loss_traj_cls: 0.0006, loss_map_cls: 0.7320, loss_map_pts: 4.4828, loss_map_dir: 0.0667, d0.loss_plan_l1_fix_time: 6.6453, d0.loss_plan_l1_fix_dist: 1.0718, d1.loss_plan_l1_fix_time: 5.5744, d1.loss_plan_l1_fix_dist: 1.1400, d2.loss_plan_l1_fix_time: 5.3433, d2.loss_plan_l1_fix_dist: 1.2663, d3.loss_plan_l1_fix_time: 5.3602, d3.loss_plan_l1_fix_dist: 1.3944, d4.loss_plan_l1_fix_time: 5.4907, d4.loss_plan_l1_fix_dist: 1.5384, d5.loss_plan_l1_fix_time: 5.6610, d5.loss_plan_l1_fix_dist: 1.7045, d6.loss_plan_l1_fix_time: 5.8391, d6.loss_plan_l1_fix_dist: 1.8892, d0.loss_cls_all: 1.4240, d0.loss_bbox_all: 1.2074, d0.loss_cls: 1.4240, d0.loss_bbox: 1.2074, d1.loss_cls: 1.4414, d1.loss_bbox: 1.2124, d2.loss_cls: 1.4446, d2.loss_bbox: 1.2120, d3.loss_cls: 1.4480, d3.loss_bbox: 1.2140, d4.loss_cls: 1.4519, d4.loss_bbox: 1.2204, d5.loss_cls: 1.4529, d5.loss_bbox: 1.2306, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.2280, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.9542, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.4067, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.6315, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.7903, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.8467, d0.loss_map_cls_all: 0.7095, d0.loss_map_pts_all: 4.8405, d0.loss_map_dir_all: 0.0681, d0.loss_map_cls: 0.7095, d0.loss_map_pts: 4.8405, d0.loss_map_dir: 0.0681, d1.loss_map_cls: 0.7208, d1.loss_map_pts: 4.5734, d1.loss_map_dir: 0.0671, d2.loss_map_cls: 0.7235, d2.loss_map_pts: 4.5103, d2.loss_map_dir: 0.0671, d3.loss_map_cls: 0.7270, d3.loss_map_pts: 4.4932, d3.loss_map_dir: 0.0667, d4.loss_map_cls: 0.7346, d4.loss_map_pts: 4.4873, d4.loss_map_dir: 0.0666, d5.loss_map_cls: 0.7317, d5.loss_map_pts: 4.4827, d5.loss_map_dir: 0.0667, loss: 145.0107, grad_norm: 2798.3200 +2026-02-23 23:39:19,759 - DriveTransformer - INFO - Epoch [1][4600/117620] lr: 1.000e-04, eta: 27 days, 18:54:37, time: 0.340, data_time: 0.018, memory: 8394, loss_cls: 1.4605, loss_bbox: 1.3497, loss_traj: 5.3386, loss_traj_cls: 0.0006, loss_map_cls: 0.7491, loss_map_pts: 4.1071, loss_map_dir: 0.0665, d0.loss_plan_l1_fix_time: 6.6076, d0.loss_plan_l1_fix_dist: 0.9496, d1.loss_plan_l1_fix_time: 5.2830, d1.loss_plan_l1_fix_dist: 1.0446, d2.loss_plan_l1_fix_time: 4.9106, d2.loss_plan_l1_fix_dist: 1.1868, d3.loss_plan_l1_fix_time: 4.8086, d3.loss_plan_l1_fix_dist: 1.3280, d4.loss_plan_l1_fix_time: 4.8359, d4.loss_plan_l1_fix_dist: 1.4808, d5.loss_plan_l1_fix_time: 4.9374, d5.loss_plan_l1_fix_dist: 1.6408, d6.loss_plan_l1_fix_time: 5.0767, d6.loss_plan_l1_fix_dist: 1.8278, d0.loss_cls_all: 1.4350, d0.loss_bbox_all: 1.3118, d0.loss_cls: 1.4350, d0.loss_bbox: 1.3118, d1.loss_cls: 1.4604, d1.loss_bbox: 1.3249, d2.loss_cls: 1.4590, d2.loss_bbox: 1.3190, d3.loss_cls: 1.4667, d3.loss_bbox: 1.3204, d4.loss_cls: 1.4660, d4.loss_bbox: 1.3288, d5.loss_cls: 1.4650, d5.loss_bbox: 1.3422, d0.loss_traj_cls: 0.0004, d0.loss_traj: 3.5482, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.3100, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.7865, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.0253, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.1961, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.2575, d0.loss_map_cls_all: 0.7270, d0.loss_map_pts_all: 4.4731, d0.loss_map_dir_all: 0.0680, d0.loss_map_cls: 0.7270, d0.loss_map_pts: 4.4731, d0.loss_map_dir: 0.0680, d1.loss_map_cls: 0.7417, d1.loss_map_pts: 4.2098, d1.loss_map_dir: 0.0669, d2.loss_map_cls: 0.7424, d2.loss_map_pts: 4.1398, d2.loss_map_dir: 0.0669, d3.loss_map_cls: 0.7472, d3.loss_map_pts: 4.1162, d3.loss_map_dir: 0.0667, d4.loss_map_cls: 0.7508, d4.loss_map_pts: 4.1083, d4.loss_map_dir: 0.0667, d5.loss_map_cls: 0.7490, d5.loss_map_pts: 4.1049, d5.loss_map_dir: 0.0666, loss: 141.8428, grad_norm: 2798.3200 +2026-02-23 23:39:36,105 - DriveTransformer - INFO - Epoch [1][4650/117620] lr: 1.000e-04, eta: 27 days, 18:37:18, time: 0.327, data_time: 0.014, memory: 8394, loss_cls: 1.3894, loss_bbox: 1.2376, loss_traj: 5.3204, loss_traj_cls: 0.0006, loss_map_cls: 0.7049, loss_map_pts: 4.3299, loss_map_dir: 0.0676, d0.loss_plan_l1_fix_time: 7.1972, d0.loss_plan_l1_fix_dist: 0.9329, d1.loss_plan_l1_fix_time: 5.7450, d1.loss_plan_l1_fix_dist: 1.0489, d2.loss_plan_l1_fix_time: 5.2602, d2.loss_plan_l1_fix_dist: 1.2191, d3.loss_plan_l1_fix_time: 5.0552, d3.loss_plan_l1_fix_dist: 1.3950, d4.loss_plan_l1_fix_time: 5.0184, d4.loss_plan_l1_fix_dist: 1.5936, d5.loss_plan_l1_fix_time: 5.0760, d5.loss_plan_l1_fix_dist: 1.7943, d6.loss_plan_l1_fix_time: 5.1893, d6.loss_plan_l1_fix_dist: 1.9332, d0.loss_cls_all: 1.3705, d0.loss_bbox_all: 1.2113, d0.loss_cls: 1.3705, d0.loss_bbox: 1.2113, d1.loss_cls: 1.3839, d1.loss_bbox: 1.2226, d2.loss_cls: 1.3874, d2.loss_bbox: 1.2206, d3.loss_cls: 1.3874, d3.loss_bbox: 1.2203, d4.loss_cls: 1.3887, d4.loss_bbox: 1.2225, d5.loss_cls: 1.3877, d5.loss_bbox: 1.2318, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.4165, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.2056, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.7134, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.9721, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.1712, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.2311, d0.loss_map_cls_all: 0.6875, d0.loss_map_pts_all: 4.6641, d0.loss_map_dir_all: 0.0689, d0.loss_map_cls: 0.6875, d0.loss_map_pts: 4.6641, d0.loss_map_dir: 0.0689, d1.loss_map_cls: 0.6913, d1.loss_map_pts: 4.4018, d1.loss_map_dir: 0.0680, d2.loss_map_cls: 0.6953, d2.loss_map_pts: 4.3567, d2.loss_map_dir: 0.0678, d3.loss_map_cls: 0.6960, d3.loss_map_pts: 4.3404, d3.loss_map_dir: 0.0677, d4.loss_map_cls: 0.7035, d4.loss_map_pts: 4.3320, d4.loss_map_dir: 0.0676, d5.loss_map_cls: 0.7025, d5.loss_map_pts: 4.3284, d5.loss_map_dir: 0.0676, loss: 143.8660, grad_norm: 2745.6859 +2026-02-23 23:39:51,217 - DriveTransformer - INFO - Epoch [1][4700/117620] lr: 1.000e-04, eta: 27 days, 17:49:27, time: 0.302, data_time: 0.014, memory: 8394, loss_cls: 1.3859, loss_bbox: 1.2251, loss_traj: 6.9339, loss_traj_cls: 0.0006, loss_map_cls: 0.7657, loss_map_pts: 4.2440, loss_map_dir: 0.0648, d0.loss_plan_l1_fix_time: 7.2692, d0.loss_plan_l1_fix_dist: 0.8462, d1.loss_plan_l1_fix_time: 5.7927, d1.loss_plan_l1_fix_dist: 0.9603, d2.loss_plan_l1_fix_time: 5.2556, d2.loss_plan_l1_fix_dist: 1.1183, d3.loss_plan_l1_fix_time: 5.0320, d3.loss_plan_l1_fix_dist: 1.2847, d4.loss_plan_l1_fix_time: 4.9799, d4.loss_plan_l1_fix_dist: 1.4889, d5.loss_plan_l1_fix_time: 5.0169, d5.loss_plan_l1_fix_dist: 1.6902, d6.loss_plan_l1_fix_time: 5.0915, d6.loss_plan_l1_fix_dist: 1.8072, d0.loss_cls_all: 1.3649, d0.loss_bbox_all: 1.2036, d0.loss_cls: 1.3649, d0.loss_bbox: 1.2036, d1.loss_cls: 1.3782, d1.loss_bbox: 1.2166, d2.loss_cls: 1.3837, d2.loss_bbox: 1.2167, d3.loss_cls: 1.3830, d3.loss_bbox: 1.2147, d4.loss_cls: 1.3884, d4.loss_bbox: 1.2164, d5.loss_cls: 1.3863, d5.loss_bbox: 1.2207, d0.loss_traj_cls: 0.0005, d0.loss_traj: 4.4893, d1.loss_traj_cls: 0.0005, d1.loss_traj: 5.5369, d2.loss_traj_cls: 0.0005, d2.loss_traj: 6.1802, d3.loss_traj_cls: 0.0005, d3.loss_traj: 6.5131, d4.loss_traj_cls: 0.0005, d4.loss_traj: 6.7574, d5.loss_traj_cls: 0.0005, d5.loss_traj: 6.8266, d0.loss_map_cls_all: 0.7437, d0.loss_map_pts_all: 4.4923, d0.loss_map_dir_all: 0.0662, d0.loss_map_cls: 0.7437, d0.loss_map_pts: 4.4923, d0.loss_map_dir: 0.0662, d1.loss_map_cls: 0.7621, d1.loss_map_pts: 4.2938, d1.loss_map_dir: 0.0654, d2.loss_map_cls: 0.7599, d2.loss_map_pts: 4.2585, d2.loss_map_dir: 0.0651, d3.loss_map_cls: 0.7625, d3.loss_map_pts: 4.2445, d3.loss_map_dir: 0.0650, d4.loss_map_cls: 0.7664, d4.loss_map_pts: 4.2376, d4.loss_map_dir: 0.0649, d5.loss_map_cls: 0.7653, d5.loss_map_pts: 4.2383, d5.loss_map_dir: 0.0648, loss: 152.7201, grad_norm: 2745.6859 +2026-02-23 23:40:06,894 - DriveTransformer - INFO - Epoch [1][4750/117620] lr: 1.000e-04, eta: 27 days, 17:16:32, time: 0.313, data_time: 0.014, memory: 8395, loss_cls: 1.4190, loss_bbox: 1.2797, loss_traj: 5.6029, loss_traj_cls: 0.0006, loss_map_cls: 0.7359, loss_map_pts: 4.1026, loss_map_dir: 0.0661, d0.loss_plan_l1_fix_time: 6.7803, d0.loss_plan_l1_fix_dist: 0.9067, d1.loss_plan_l1_fix_time: 5.4164, d1.loss_plan_l1_fix_dist: 1.0278, d2.loss_plan_l1_fix_time: 4.9764, d2.loss_plan_l1_fix_dist: 1.1905, d3.loss_plan_l1_fix_time: 4.8267, d3.loss_plan_l1_fix_dist: 1.3906, d4.loss_plan_l1_fix_time: 4.8156, d4.loss_plan_l1_fix_dist: 1.6027, d5.loss_plan_l1_fix_time: 4.8823, d5.loss_plan_l1_fix_dist: 1.7840, d6.loss_plan_l1_fix_time: 4.9887, d6.loss_plan_l1_fix_dist: 1.9712, d0.loss_cls_all: 1.3911, d0.loss_bbox_all: 1.2617, d0.loss_cls: 1.3911, d0.loss_bbox: 1.2617, d1.loss_cls: 1.4072, d1.loss_bbox: 1.2741, d2.loss_cls: 1.4135, d2.loss_bbox: 1.2685, d3.loss_cls: 1.4125, d3.loss_bbox: 1.2694, d4.loss_cls: 1.4151, d4.loss_bbox: 1.2727, d5.loss_cls: 1.4172, d5.loss_bbox: 1.2749, d0.loss_traj_cls: 0.0004, d0.loss_traj: 3.7794, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.5392, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.0161, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.2648, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.4656, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.5276, d0.loss_map_cls_all: 0.7150, d0.loss_map_pts_all: 4.4039, d0.loss_map_dir_all: 0.0674, d0.loss_map_cls: 0.7150, d0.loss_map_pts: 4.4039, d0.loss_map_dir: 0.0674, d1.loss_map_cls: 0.7268, d1.loss_map_pts: 4.1785, d1.loss_map_dir: 0.0665, d2.loss_map_cls: 0.7285, d2.loss_map_pts: 4.1336, d2.loss_map_dir: 0.0664, d3.loss_map_cls: 0.7309, d3.loss_map_pts: 4.1156, d3.loss_map_dir: 0.0662, d4.loss_map_cls: 0.7316, d4.loss_map_pts: 4.1083, d4.loss_map_dir: 0.0662, d5.loss_map_cls: 0.7331, d5.loss_map_pts: 4.1054, d5.loss_map_dir: 0.0661, loss: 143.0893, grad_norm: 2694.9169 +2026-02-23 23:40:22,801 - DriveTransformer - INFO - Epoch [1][4800/117620] lr: 1.000e-04, eta: 27 days, 16:50:28, time: 0.319, data_time: 0.013, memory: 8395, loss_cls: 1.4264, loss_bbox: 1.3132, loss_traj: 4.1139, loss_traj_cls: 0.0006, loss_map_cls: 0.7005, loss_map_pts: 4.2934, loss_map_dir: 0.0684, d0.loss_plan_l1_fix_time: 5.9625, d0.loss_plan_l1_fix_dist: 0.9992, d1.loss_plan_l1_fix_time: 5.1770, d1.loss_plan_l1_fix_dist: 1.0917, d2.loss_plan_l1_fix_time: 5.1793, d2.loss_plan_l1_fix_dist: 1.2478, d3.loss_plan_l1_fix_time: 5.3263, d3.loss_plan_l1_fix_dist: 1.4407, d4.loss_plan_l1_fix_time: 5.5081, d4.loss_plan_l1_fix_dist: 1.6354, d5.loss_plan_l1_fix_time: 5.6683, d5.loss_plan_l1_fix_dist: 1.8044, d6.loss_plan_l1_fix_time: 5.8198, d6.loss_plan_l1_fix_dist: 1.9847, d0.loss_cls_all: 1.3956, d0.loss_bbox_all: 1.3000, d0.loss_cls: 1.3956, d0.loss_bbox: 1.3000, d1.loss_cls: 1.4117, d1.loss_bbox: 1.3117, d2.loss_cls: 1.4212, d2.loss_bbox: 1.3050, d3.loss_cls: 1.4195, d3.loss_bbox: 1.3065, d4.loss_cls: 1.4214, d4.loss_bbox: 1.3088, d5.loss_cls: 1.4244, d5.loss_bbox: 1.3097, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.8815, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.3873, d2.loss_traj_cls: 0.0006, d2.loss_traj: 3.7081, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.8862, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.0243, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.0679, d0.loss_map_cls_all: 0.6759, d0.loss_map_pts_all: 4.6088, d0.loss_map_dir_all: 0.0697, d0.loss_map_cls: 0.6759, d0.loss_map_pts: 4.6088, d0.loss_map_dir: 0.0697, d1.loss_map_cls: 0.6884, d1.loss_map_pts: 4.3773, d1.loss_map_dir: 0.0688, d2.loss_map_cls: 0.6926, d2.loss_map_pts: 4.3241, d2.loss_map_dir: 0.0687, d3.loss_map_cls: 0.6940, d3.loss_map_pts: 4.3034, d3.loss_map_dir: 0.0685, d4.loss_map_cls: 0.6984, d4.loss_map_pts: 4.2964, d4.loss_map_dir: 0.0684, d5.loss_map_cls: 0.6985, d5.loss_map_pts: 4.2941, d5.loss_map_dir: 0.0684, loss: 137.8699, grad_norm: 2645.9376 +2026-02-23 23:40:38,600 - DriveTransformer - INFO - Epoch [1][4850/117620] lr: 1.000e-04, eta: 27 days, 16:21:18, time: 0.316, data_time: 0.014, memory: 8395, loss_cls: 1.4361, loss_bbox: 1.2950, loss_traj: 4.3824, loss_traj_cls: 0.0006, loss_map_cls: 0.7256, loss_map_pts: 4.3103, loss_map_dir: 0.0661, d0.loss_plan_l1_fix_time: 6.1008, d0.loss_plan_l1_fix_dist: 0.9832, d1.loss_plan_l1_fix_time: 5.1440, d1.loss_plan_l1_fix_dist: 1.0524, d2.loss_plan_l1_fix_time: 4.9613, d2.loss_plan_l1_fix_dist: 1.1670, d3.loss_plan_l1_fix_time: 4.9558, d3.loss_plan_l1_fix_dist: 1.3214, d4.loss_plan_l1_fix_time: 5.0278, d4.loss_plan_l1_fix_dist: 1.5085, d5.loss_plan_l1_fix_time: 5.1274, d5.loss_plan_l1_fix_dist: 1.6830, d6.loss_plan_l1_fix_time: 5.2573, d6.loss_plan_l1_fix_dist: 1.8973, d0.loss_cls_all: 1.4019, d0.loss_bbox_all: 1.2677, d0.loss_cls: 1.4019, d0.loss_bbox: 1.2677, d1.loss_cls: 1.4201, d1.loss_bbox: 1.2669, d2.loss_cls: 1.4318, d2.loss_bbox: 1.2666, d3.loss_cls: 1.4271, d3.loss_bbox: 1.2748, d4.loss_cls: 1.4331, d4.loss_bbox: 1.2832, d5.loss_cls: 1.4334, d5.loss_bbox: 1.2897, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.8922, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.4941, d2.loss_traj_cls: 0.0006, d2.loss_traj: 3.8836, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.1133, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.2608, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.3162, d0.loss_map_cls_all: 0.7028, d0.loss_map_pts_all: 4.6212, d0.loss_map_dir_all: 0.0676, d0.loss_map_cls: 0.7028, d0.loss_map_pts: 4.6212, d0.loss_map_dir: 0.0676, d1.loss_map_cls: 0.7106, d1.loss_map_pts: 4.3591, d1.loss_map_dir: 0.0666, d2.loss_map_cls: 0.7159, d2.loss_map_pts: 4.3031, d2.loss_map_dir: 0.0664, d3.loss_map_cls: 0.7191, d3.loss_map_pts: 4.2959, d3.loss_map_dir: 0.0662, d4.loss_map_cls: 0.7235, d4.loss_map_pts: 4.2949, d4.loss_map_dir: 0.0661, d5.loss_map_cls: 0.7234, d5.loss_map_pts: 4.2980, d5.loss_map_dir: 0.0662, loss: 136.4905, grad_norm: 2645.9376 +2026-02-23 23:40:55,055 - DriveTransformer - INFO - Epoch [1][4900/117620] lr: 1.000e-04, eta: 27 days, 16:09:01, time: 0.329, data_time: 0.017, memory: 8395, loss_cls: 1.4476, loss_bbox: 1.4140, loss_traj: 5.5288, loss_traj_cls: 0.0007, loss_map_cls: 0.7254, loss_map_pts: 4.1525, loss_map_dir: 0.0658, d0.loss_plan_l1_fix_time: 6.6688, d0.loss_plan_l1_fix_dist: 1.1032, d1.loss_plan_l1_fix_time: 5.6109, d1.loss_plan_l1_fix_dist: 1.1707, d2.loss_plan_l1_fix_time: 5.3432, d2.loss_plan_l1_fix_dist: 1.2889, d3.loss_plan_l1_fix_time: 5.2942, d3.loss_plan_l1_fix_dist: 1.4405, d4.loss_plan_l1_fix_time: 5.3459, d4.loss_plan_l1_fix_dist: 1.6230, d5.loss_plan_l1_fix_time: 5.4334, d5.loss_plan_l1_fix_dist: 1.7972, d6.loss_plan_l1_fix_time: 5.5503, d6.loss_plan_l1_fix_dist: 2.0014, d0.loss_cls_all: 1.4194, d0.loss_bbox_all: 1.3852, d0.loss_cls: 1.4194, d0.loss_bbox: 1.3852, d1.loss_cls: 1.4299, d1.loss_bbox: 1.3902, d2.loss_cls: 1.4410, d2.loss_bbox: 1.3904, d3.loss_cls: 1.4426, d3.loss_bbox: 1.3972, d4.loss_cls: 1.4449, d4.loss_bbox: 1.4052, d5.loss_cls: 1.4454, d5.loss_bbox: 1.4105, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.3756, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.2585, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.8193, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.1450, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.3611, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.4393, d0.loss_map_cls_all: 0.7028, d0.loss_map_pts_all: 4.4189, d0.loss_map_dir_all: 0.0671, d0.loss_map_cls: 0.7028, d0.loss_map_pts: 4.4189, d0.loss_map_dir: 0.0671, d1.loss_map_cls: 0.7180, d1.loss_map_pts: 4.1881, d1.loss_map_dir: 0.0663, d2.loss_map_cls: 0.7223, d2.loss_map_pts: 4.1426, d2.loss_map_dir: 0.0661, d3.loss_map_cls: 0.7225, d3.loss_map_pts: 4.1338, d3.loss_map_dir: 0.0659, d4.loss_map_cls: 0.7256, d4.loss_map_pts: 4.1325, d4.loss_map_dir: 0.0658, d5.loss_map_cls: 0.7246, d5.loss_map_pts: 4.1374, d5.loss_map_dir: 0.0658, loss: 146.2698, grad_norm: 1439.7706 +2026-02-23 23:41:11,032 - DriveTransformer - INFO - Epoch [1][4950/117620] lr: 1.000e-04, eta: 27 days, 15:45:32, time: 0.319, data_time: 0.013, memory: 8395, loss_cls: 1.4142, loss_bbox: 1.3297, loss_traj: 5.5411, loss_traj_cls: 0.0007, loss_map_cls: 0.7233, loss_map_pts: 4.2244, loss_map_dir: 0.0656, d0.loss_plan_l1_fix_time: 7.3028, d0.loss_plan_l1_fix_dist: 0.9876, d1.loss_plan_l1_fix_time: 6.2159, d1.loss_plan_l1_fix_dist: 1.0633, d2.loss_plan_l1_fix_time: 5.8739, d2.loss_plan_l1_fix_dist: 1.1863, d3.loss_plan_l1_fix_time: 5.7185, d3.loss_plan_l1_fix_dist: 1.3326, d4.loss_plan_l1_fix_time: 5.6698, d4.loss_plan_l1_fix_dist: 1.5001, d5.loss_plan_l1_fix_time: 5.6776, d5.loss_plan_l1_fix_dist: 1.7225, d6.loss_plan_l1_fix_time: 5.7186, d6.loss_plan_l1_fix_dist: 1.9169, d0.loss_cls_all: 1.3843, d0.loss_bbox_all: 1.2969, d0.loss_cls: 1.3843, d0.loss_bbox: 1.2969, d1.loss_cls: 1.4031, d1.loss_bbox: 1.3033, d2.loss_cls: 1.4075, d2.loss_bbox: 1.3096, d3.loss_cls: 1.4109, d3.loss_bbox: 1.3134, d4.loss_cls: 1.4109, d4.loss_bbox: 1.3209, d5.loss_cls: 1.4125, d5.loss_bbox: 1.3218, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.3016, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.1709, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.7659, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.1128, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.3644, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.4427, d0.loss_map_cls_all: 0.7023, d0.loss_map_pts_all: 4.5010, d0.loss_map_dir_all: 0.0666, d0.loss_map_cls: 0.7023, d0.loss_map_pts: 4.5010, d0.loss_map_dir: 0.0666, d1.loss_map_cls: 0.7159, d1.loss_map_pts: 4.2967, d1.loss_map_dir: 0.0660, d2.loss_map_cls: 0.7194, d2.loss_map_pts: 4.2534, d2.loss_map_dir: 0.0658, d3.loss_map_cls: 0.7199, d3.loss_map_pts: 4.2376, d3.loss_map_dir: 0.0657, d4.loss_map_cls: 0.7234, d4.loss_map_pts: 4.2310, d4.loss_map_dir: 0.0657, d5.loss_map_cls: 0.7227, d5.loss_map_pts: 4.2269, d5.loss_map_dir: 0.0656, loss: 148.0388, grad_norm: 1439.7706 +2026-02-23 23:41:27,133 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-23 23:41:27,133 - DriveTransformer - INFO - Epoch [1][5000/117620] lr: 1.000e-04, eta: 27 days, 15:25:32, time: 0.322, data_time: 0.014, memory: 8395, loss_cls: 1.4004, loss_bbox: 1.1784, loss_traj: 5.0863, loss_traj_cls: 0.0007, loss_map_cls: 0.7085, loss_map_pts: 4.2410, loss_map_dir: 0.0662, d0.loss_plan_l1_fix_time: 6.1653, d0.loss_plan_l1_fix_dist: 0.8600, d1.loss_plan_l1_fix_time: 5.2956, d1.loss_plan_l1_fix_dist: 0.9381, d2.loss_plan_l1_fix_time: 5.0346, d2.loss_plan_l1_fix_dist: 1.0583, d3.loss_plan_l1_fix_time: 4.9714, d3.loss_plan_l1_fix_dist: 1.2061, d4.loss_plan_l1_fix_time: 4.9815, d4.loss_plan_l1_fix_dist: 1.3785, d5.loss_plan_l1_fix_time: 5.0419, d5.loss_plan_l1_fix_dist: 1.6056, d6.loss_plan_l1_fix_time: 5.1494, d6.loss_plan_l1_fix_dist: 1.8169, d0.loss_cls_all: 1.3676, d0.loss_bbox_all: 1.1431, d0.loss_cls: 1.3676, d0.loss_bbox: 1.1431, d1.loss_cls: 1.3921, d1.loss_bbox: 1.1431, d2.loss_cls: 1.3927, d2.loss_bbox: 1.1482, d3.loss_cls: 1.3979, d3.loss_bbox: 1.1530, d4.loss_cls: 1.3969, d4.loss_bbox: 1.1646, d5.loss_cls: 1.3993, d5.loss_bbox: 1.1680, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.3372, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.0277, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.5025, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.7681, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.9546, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.0113, d0.loss_map_cls_all: 0.6898, d0.loss_map_pts_all: 4.5216, d0.loss_map_dir_all: 0.0672, d0.loss_map_cls: 0.6898, d0.loss_map_pts: 4.5216, d0.loss_map_dir: 0.0672, d1.loss_map_cls: 0.7045, d1.loss_map_pts: 4.3080, d1.loss_map_dir: 0.0665, d2.loss_map_cls: 0.7062, d2.loss_map_pts: 4.2621, d2.loss_map_dir: 0.0663, d3.loss_map_cls: 0.7062, d3.loss_map_pts: 4.2503, d3.loss_map_dir: 0.0663, d4.loss_map_cls: 0.7098, d4.loss_map_pts: 4.2453, d4.loss_map_dir: 0.0663, d5.loss_map_cls: 0.7075, d5.loss_map_pts: 4.2427, d5.loss_map_dir: 0.0662, loss: 138.2986, grad_norm: 799.1943 +2026-02-23 23:41:43,748 - DriveTransformer - INFO - Epoch [1][5050/117620] lr: 1.000e-04, eta: 27 days, 15:17:48, time: 0.332, data_time: 0.015, memory: 8395, loss_cls: 1.4290, loss_bbox: 1.3207, loss_traj: 5.9432, loss_traj_cls: 0.0006, loss_map_cls: 0.7074, loss_map_pts: 4.1470, loss_map_dir: 0.0641, d0.loss_plan_l1_fix_time: 6.5045, d0.loss_plan_l1_fix_dist: 0.7533, d1.loss_plan_l1_fix_time: 5.2564, d1.loss_plan_l1_fix_dist: 0.8641, d2.loss_plan_l1_fix_time: 4.7948, d2.loss_plan_l1_fix_dist: 1.0735, d3.loss_plan_l1_fix_time: 4.5944, d3.loss_plan_l1_fix_dist: 1.2844, d4.loss_plan_l1_fix_time: 4.5243, d4.loss_plan_l1_fix_dist: 1.4845, d5.loss_plan_l1_fix_time: 4.5340, d5.loss_plan_l1_fix_dist: 1.7544, d6.loss_plan_l1_fix_time: 4.5993, d6.loss_plan_l1_fix_dist: 2.0605, d0.loss_cls_all: 1.3933, d0.loss_bbox_all: 1.2931, d0.loss_cls: 1.3933, d0.loss_bbox: 1.2931, d1.loss_cls: 1.4139, d1.loss_bbox: 1.2978, d2.loss_cls: 1.4278, d2.loss_bbox: 1.3019, d3.loss_cls: 1.4251, d3.loss_bbox: 1.3044, d4.loss_cls: 1.4291, d4.loss_bbox: 1.3082, d5.loss_cls: 1.4288, d5.loss_bbox: 1.3143, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.4076, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.4002, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.0674, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.4466, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.7244, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.8326, d0.loss_map_cls_all: 0.6854, d0.loss_map_pts_all: 4.5382, d0.loss_map_dir_all: 0.0653, d0.loss_map_cls: 0.6854, d0.loss_map_pts: 4.5382, d0.loss_map_dir: 0.0653, d1.loss_map_cls: 0.6980, d1.loss_map_pts: 4.2804, d1.loss_map_dir: 0.0645, d2.loss_map_cls: 0.7001, d2.loss_map_pts: 4.2114, d2.loss_map_dir: 0.0643, d3.loss_map_cls: 0.7027, d3.loss_map_pts: 4.1817, d3.loss_map_dir: 0.0643, d4.loss_map_cls: 0.7034, d4.loss_map_pts: 4.1672, d4.loss_map_dir: 0.0641, d5.loss_map_cls: 0.7054, d5.loss_map_pts: 4.1577, d5.loss_map_dir: 0.0641, loss: 142.0079, grad_norm: 799.1943 +2026-02-23 23:41:59,882 - DriveTransformer - INFO - Epoch [1][5100/117620] lr: 1.000e-04, eta: 27 days, 14:59:11, time: 0.323, data_time: 0.015, memory: 8395, loss_cls: 1.4186, loss_bbox: 1.3228, loss_traj: 4.7925, loss_traj_cls: 0.0006, loss_map_cls: 0.7182, loss_map_pts: 4.2145, loss_map_dir: 0.0657, d0.loss_plan_l1_fix_time: 6.1954, d0.loss_plan_l1_fix_dist: 0.8767, d1.loss_plan_l1_fix_time: 5.2663, d1.loss_plan_l1_fix_dist: 0.9713, d2.loss_plan_l1_fix_time: 4.9674, d2.loss_plan_l1_fix_dist: 1.1284, d3.loss_plan_l1_fix_time: 4.8495, d3.loss_plan_l1_fix_dist: 1.3004, d4.loss_plan_l1_fix_time: 4.8422, d4.loss_plan_l1_fix_dist: 1.4691, d5.loss_plan_l1_fix_time: 4.8930, d5.loss_plan_l1_fix_dist: 1.6892, d6.loss_plan_l1_fix_time: 4.9814, d6.loss_plan_l1_fix_dist: 1.9606, d0.loss_cls_all: 1.3852, d0.loss_bbox_all: 1.2976, d0.loss_cls: 1.3852, d0.loss_bbox: 1.2976, d1.loss_cls: 1.4091, d1.loss_bbox: 1.3005, d2.loss_cls: 1.4102, d2.loss_bbox: 1.3037, d3.loss_cls: 1.4120, d3.loss_bbox: 1.3082, d4.loss_cls: 1.4148, d4.loss_bbox: 1.3106, d5.loss_cls: 1.4158, d5.loss_bbox: 1.3126, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.1888, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.8112, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.2255, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.4752, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.6555, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.7272, d0.loss_map_cls_all: 0.6971, d0.loss_map_pts_all: 4.5078, d0.loss_map_dir_all: 0.0669, d0.loss_map_cls: 0.6971, d0.loss_map_pts: 4.5078, d0.loss_map_dir: 0.0669, d1.loss_map_cls: 0.7077, d1.loss_map_pts: 4.2829, d1.loss_map_dir: 0.0660, d2.loss_map_cls: 0.7101, d2.loss_map_pts: 4.2353, d2.loss_map_dir: 0.0658, d3.loss_map_cls: 0.7107, d3.loss_map_pts: 4.2209, d3.loss_map_dir: 0.0657, d4.loss_map_cls: 0.7164, d4.loss_map_pts: 4.2167, d4.loss_map_dir: 0.0657, d5.loss_map_cls: 0.7166, d5.loss_map_pts: 4.2150, d5.loss_map_dir: 0.0657, loss: 137.5784, grad_norm: 523.7619 +2026-02-23 23:42:17,357 - DriveTransformer - INFO - Epoch [1][5150/117620] lr: 1.000e-04, eta: 27 days, 15:11:29, time: 0.349, data_time: 0.019, memory: 8395, loss_cls: 1.4369, loss_bbox: 1.2890, loss_traj: 4.8099, loss_traj_cls: 0.0005, loss_map_cls: 0.6816, loss_map_pts: 4.1309, loss_map_dir: 0.0643, d0.loss_plan_l1_fix_time: 5.4491, d0.loss_plan_l1_fix_dist: 1.0303, d1.loss_plan_l1_fix_time: 4.5960, d1.loss_plan_l1_fix_dist: 1.0694, d2.loss_plan_l1_fix_time: 4.4000, d2.loss_plan_l1_fix_dist: 1.1639, d3.loss_plan_l1_fix_time: 4.3821, d3.loss_plan_l1_fix_dist: 1.2938, d4.loss_plan_l1_fix_time: 4.4402, d4.loss_plan_l1_fix_dist: 1.4201, d5.loss_plan_l1_fix_time: 4.5070, d5.loss_plan_l1_fix_dist: 1.5494, d6.loss_plan_l1_fix_time: 4.6002, d6.loss_plan_l1_fix_dist: 1.7542, d0.loss_cls_all: 1.3926, d0.loss_bbox_all: 1.2436, d0.loss_cls: 1.3926, d0.loss_bbox: 1.2436, d1.loss_cls: 1.4234, d1.loss_bbox: 1.2614, d2.loss_cls: 1.4297, d2.loss_bbox: 1.2663, d3.loss_cls: 1.4281, d3.loss_bbox: 1.2780, d4.loss_cls: 1.4323, d4.loss_bbox: 1.2800, d5.loss_cls: 1.4329, d5.loss_bbox: 1.2846, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.8641, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.6333, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.1343, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.4448, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.6358, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.7325, d0.loss_map_cls_all: 0.6643, d0.loss_map_pts_all: 4.4562, d0.loss_map_dir_all: 0.0655, d0.loss_map_cls: 0.6643, d0.loss_map_pts: 4.4562, d0.loss_map_dir: 0.0655, d1.loss_map_cls: 0.6759, d1.loss_map_pts: 4.2131, d1.loss_map_dir: 0.0647, d2.loss_map_cls: 0.6766, d2.loss_map_pts: 4.1577, d2.loss_map_dir: 0.0645, d3.loss_map_cls: 0.6789, d3.loss_map_pts: 4.1407, d3.loss_map_dir: 0.0645, d4.loss_map_cls: 0.6822, d4.loss_map_pts: 4.1318, d4.loss_map_dir: 0.0642, d5.loss_map_cls: 0.6808, d5.loss_map_pts: 4.1275, d5.loss_map_dir: 0.0642, loss: 132.1652, grad_norm: 523.7619 +2026-02-23 23:42:33,310 - DriveTransformer - INFO - Epoch [1][5200/117620] lr: 1.000e-04, eta: 27 days, 14:49:13, time: 0.319, data_time: 0.014, memory: 8395, loss_cls: 1.4032, loss_bbox: 1.3167, loss_traj: 5.3286, loss_traj_cls: 0.0005, loss_map_cls: 0.7146, loss_map_pts: 4.2637, loss_map_dir: 0.0643, d0.loss_plan_l1_fix_time: 6.3177, d0.loss_plan_l1_fix_dist: 1.0127, d1.loss_plan_l1_fix_time: 5.2215, d1.loss_plan_l1_fix_dist: 1.0907, d2.loss_plan_l1_fix_time: 4.9168, d2.loss_plan_l1_fix_dist: 1.2048, d3.loss_plan_l1_fix_time: 4.8345, d3.loss_plan_l1_fix_dist: 1.3533, d4.loss_plan_l1_fix_time: 4.8411, d4.loss_plan_l1_fix_dist: 1.5101, d5.loss_plan_l1_fix_time: 4.8924, d5.loss_plan_l1_fix_dist: 1.6644, d6.loss_plan_l1_fix_time: 4.9886, d6.loss_plan_l1_fix_dist: 1.8616, d0.loss_cls_all: 1.3654, d0.loss_bbox_all: 1.2789, d0.loss_cls: 1.3654, d0.loss_bbox: 1.2789, d1.loss_cls: 1.3879, d1.loss_bbox: 1.2914, d2.loss_cls: 1.4000, d2.loss_bbox: 1.2975, d3.loss_cls: 1.3989, d3.loss_bbox: 1.3047, d4.loss_cls: 1.4000, d4.loss_bbox: 1.3075, d5.loss_cls: 1.4031, d5.loss_bbox: 1.3116, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.2222, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.0452, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.5954, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.9279, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.1398, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.2417, d0.loss_map_cls_all: 0.6884, d0.loss_map_pts_all: 4.5752, d0.loss_map_dir_all: 0.0652, d0.loss_map_cls: 0.6884, d0.loss_map_pts: 4.5752, d0.loss_map_dir: 0.0652, d1.loss_map_cls: 0.7015, d1.loss_map_pts: 4.3518, d1.loss_map_dir: 0.0646, d2.loss_map_cls: 0.7071, d2.loss_map_pts: 4.2996, d2.loss_map_dir: 0.0645, d3.loss_map_cls: 0.7093, d3.loss_map_pts: 4.2756, d3.loss_map_dir: 0.0643, d4.loss_map_cls: 0.7165, d4.loss_map_pts: 4.2641, d4.loss_map_dir: 0.0643, d5.loss_map_cls: 0.7142, d5.loss_map_pts: 4.2605, d5.loss_map_dir: 0.0641, loss: 140.7483, grad_norm: 425.0718 +2026-02-23 23:42:49,506 - DriveTransformer - INFO - Epoch [1][5250/117620] lr: 1.000e-04, eta: 27 days, 14:32:46, time: 0.324, data_time: 0.013, memory: 8395, loss_cls: 1.4080, loss_bbox: 1.2546, loss_traj: 5.4992, loss_traj_cls: 0.0005, loss_map_cls: 0.6904, loss_map_pts: 3.8701, loss_map_dir: 0.0614, d0.loss_plan_l1_fix_time: 5.6494, d0.loss_plan_l1_fix_dist: 0.8873, d1.loss_plan_l1_fix_time: 4.6449, d1.loss_plan_l1_fix_dist: 1.0124, d2.loss_plan_l1_fix_time: 4.3915, d2.loss_plan_l1_fix_dist: 1.1591, d3.loss_plan_l1_fix_time: 4.3332, d3.loss_plan_l1_fix_dist: 1.3488, d4.loss_plan_l1_fix_time: 4.3635, d4.loss_plan_l1_fix_dist: 1.5621, d5.loss_plan_l1_fix_time: 4.4285, d5.loss_plan_l1_fix_dist: 1.7622, d6.loss_plan_l1_fix_time: 4.5280, d6.loss_plan_l1_fix_dist: 1.9289, d0.loss_cls_all: 1.3677, d0.loss_bbox_all: 1.2337, d0.loss_cls: 1.3677, d0.loss_bbox: 1.2337, d1.loss_cls: 1.3928, d1.loss_bbox: 1.2375, d2.loss_cls: 1.3974, d2.loss_bbox: 1.2367, d3.loss_cls: 1.4021, d3.loss_bbox: 1.2418, d4.loss_cls: 1.4030, d4.loss_bbox: 1.2475, d5.loss_cls: 1.4066, d5.loss_bbox: 1.2483, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.1277, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.0147, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.6430, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.0071, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.2857, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.3903, d0.loss_map_cls_all: 0.6685, d0.loss_map_pts_all: 4.2455, d0.loss_map_dir_all: 0.0621, d0.loss_map_cls: 0.6685, d0.loss_map_pts: 4.2455, d0.loss_map_dir: 0.0621, d1.loss_map_cls: 0.6836, d1.loss_map_pts: 3.9850, d1.loss_map_dir: 0.0618, d2.loss_map_cls: 0.6878, d2.loss_map_pts: 3.9218, d2.loss_map_dir: 0.0617, d3.loss_map_cls: 0.6862, d3.loss_map_pts: 3.8950, d3.loss_map_dir: 0.0616, d4.loss_map_cls: 0.6909, d4.loss_map_pts: 3.8787, d4.loss_map_dir: 0.0616, d5.loss_map_cls: 0.6904, d5.loss_map_pts: 3.8723, d5.loss_map_dir: 0.0614, loss: 133.9241, grad_norm: 425.0718 +2026-02-23 23:43:06,352 - DriveTransformer - INFO - Epoch [1][5300/117620] lr: 1.000e-04, eta: 27 days, 14:30:56, time: 0.337, data_time: 0.014, memory: 8395, loss_cls: 1.4303, loss_bbox: 1.4379, loss_traj: 4.9401, loss_traj_cls: 0.0005, loss_map_cls: 0.7557, loss_map_pts: 4.0597, loss_map_dir: 0.0622, d0.loss_plan_l1_fix_time: 6.1630, d0.loss_plan_l1_fix_dist: 1.0892, d1.loss_plan_l1_fix_time: 5.1305, d1.loss_plan_l1_fix_dist: 1.2138, d2.loss_plan_l1_fix_time: 4.8727, d2.loss_plan_l1_fix_dist: 1.3670, d3.loss_plan_l1_fix_time: 4.8463, d3.loss_plan_l1_fix_dist: 1.5474, d4.loss_plan_l1_fix_time: 4.9175, d4.loss_plan_l1_fix_dist: 1.7602, d5.loss_plan_l1_fix_time: 5.0132, d5.loss_plan_l1_fix_dist: 1.9697, d6.loss_plan_l1_fix_time: 5.1405, d6.loss_plan_l1_fix_dist: 2.1452, d0.loss_cls_all: 1.3867, d0.loss_bbox_all: 1.4157, d0.loss_cls: 1.3867, d0.loss_bbox: 1.4157, d1.loss_cls: 1.4095, d1.loss_bbox: 1.4186, d2.loss_cls: 1.4188, d2.loss_bbox: 1.4232, d3.loss_cls: 1.4223, d3.loss_bbox: 1.4263, d4.loss_cls: 1.4293, d4.loss_bbox: 1.4331, d5.loss_cls: 1.4289, d5.loss_bbox: 1.4346, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.9597, d1.loss_traj_cls: 0.0006, d1.loss_traj: 3.6782, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.1921, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.5203, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.7514, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.8459, d0.loss_map_cls_all: 0.7327, d0.loss_map_pts_all: 4.4447, d0.loss_map_dir_all: 0.0632, d0.loss_map_cls: 0.7327, d0.loss_map_pts: 4.4447, d0.loss_map_dir: 0.0632, d1.loss_map_cls: 0.7406, d1.loss_map_pts: 4.1599, d1.loss_map_dir: 0.0627, d2.loss_map_cls: 0.7468, d2.loss_map_pts: 4.1032, d2.loss_map_dir: 0.0626, d3.loss_map_cls: 0.7499, d3.loss_map_pts: 4.0802, d3.loss_map_dir: 0.0625, d4.loss_map_cls: 0.7531, d4.loss_map_pts: 4.0717, d4.loss_map_dir: 0.0624, d5.loss_map_cls: 0.7535, d5.loss_map_pts: 4.0649, d5.loss_map_dir: 0.0623, loss: 139.6803, grad_norm: 392.6794 +2026-02-23 23:43:23,383 - DriveTransformer - INFO - Epoch [1][5350/117620] lr: 1.000e-04, eta: 27 days, 14:33:20, time: 0.341, data_time: 0.015, memory: 8395, loss_cls: 1.4328, loss_bbox: 1.2782, loss_traj: 5.2725, loss_traj_cls: 0.0005, loss_map_cls: 0.7166, loss_map_pts: 3.9794, loss_map_dir: 0.0602, d0.loss_plan_l1_fix_time: 5.3683, d0.loss_plan_l1_fix_dist: 0.9187, d1.loss_plan_l1_fix_time: 4.6887, d1.loss_plan_l1_fix_dist: 1.0366, d2.loss_plan_l1_fix_time: 4.5678, d2.loss_plan_l1_fix_dist: 1.2310, d3.loss_plan_l1_fix_time: 4.5610, d3.loss_plan_l1_fix_dist: 1.4391, d4.loss_plan_l1_fix_time: 4.5974, d4.loss_plan_l1_fix_dist: 1.6850, d5.loss_plan_l1_fix_time: 4.6623, d5.loss_plan_l1_fix_dist: 1.9365, d6.loss_plan_l1_fix_time: 4.7699, d6.loss_plan_l1_fix_dist: 2.1557, d0.loss_cls_all: 1.3779, d0.loss_bbox_all: 1.2536, d0.loss_cls: 1.3779, d0.loss_bbox: 1.2536, d1.loss_cls: 1.4083, d1.loss_bbox: 1.2588, d2.loss_cls: 1.4205, d2.loss_bbox: 1.2579, d3.loss_cls: 1.4277, d3.loss_bbox: 1.2634, d4.loss_cls: 1.4304, d4.loss_bbox: 1.2708, d5.loss_cls: 1.4333, d5.loss_bbox: 1.2729, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.2039, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.9543, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.4935, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.8329, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.0514, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.1674, d0.loss_map_cls_all: 0.6966, d0.loss_map_pts_all: 4.3025, d0.loss_map_dir_all: 0.0609, d0.loss_map_cls: 0.6966, d0.loss_map_pts: 4.3025, d0.loss_map_dir: 0.0609, d1.loss_map_cls: 0.7088, d1.loss_map_pts: 4.0520, d1.loss_map_dir: 0.0608, d2.loss_map_cls: 0.7125, d2.loss_map_pts: 4.0071, d2.loss_map_dir: 0.0605, d3.loss_map_cls: 0.7137, d3.loss_map_pts: 3.9916, d3.loss_map_dir: 0.0604, d4.loss_map_cls: 0.7167, d4.loss_map_pts: 3.9845, d4.loss_map_dir: 0.0603, d5.loss_map_cls: 0.7159, d5.loss_map_pts: 3.9811, d5.loss_map_dir: 0.0602, loss: 135.7778, grad_norm: 392.6794 +2026-02-23 23:43:40,088 - DriveTransformer - INFO - Epoch [1][5400/117620] lr: 1.000e-04, eta: 27 days, 14:28:36, time: 0.334, data_time: 0.015, memory: 8395, loss_cls: 1.4437, loss_bbox: 1.3456, loss_traj: 4.2293, loss_traj_cls: 0.0005, loss_map_cls: 0.6804, loss_map_pts: 4.0834, loss_map_dir: 0.0588, d0.loss_plan_l1_fix_time: 5.9401, d0.loss_plan_l1_fix_dist: 0.8891, d1.loss_plan_l1_fix_time: 5.1306, d1.loss_plan_l1_fix_dist: 0.9924, d2.loss_plan_l1_fix_time: 4.9313, d2.loss_plan_l1_fix_dist: 1.1555, d3.loss_plan_l1_fix_time: 4.9055, d3.loss_plan_l1_fix_dist: 1.3349, d4.loss_plan_l1_fix_time: 4.9534, d4.loss_plan_l1_fix_dist: 1.5545, d5.loss_plan_l1_fix_time: 5.0360, d5.loss_plan_l1_fix_dist: 1.7907, d6.loss_plan_l1_fix_time: 5.1565, d6.loss_plan_l1_fix_dist: 2.0232, d0.loss_cls_all: 1.4034, d0.loss_bbox_all: 1.3289, d0.loss_cls: 1.4034, d0.loss_bbox: 1.3289, d1.loss_cls: 1.4246, d1.loss_bbox: 1.3330, d2.loss_cls: 1.4402, d2.loss_bbox: 1.3327, d3.loss_cls: 1.4411, d3.loss_bbox: 1.3364, d4.loss_cls: 1.4426, d4.loss_bbox: 1.3390, d5.loss_cls: 1.4438, d5.loss_bbox: 1.3404, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.4465, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.0857, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.5544, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.8658, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.0582, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.1491, d0.loss_map_cls_all: 0.6598, d0.loss_map_pts_all: 4.4040, d0.loss_map_dir_all: 0.0594, d0.loss_map_cls: 0.6598, d0.loss_map_pts: 4.4040, d0.loss_map_dir: 0.0594, d1.loss_map_cls: 0.6689, d1.loss_map_pts: 4.1604, d1.loss_map_dir: 0.0589, d2.loss_map_cls: 0.6737, d2.loss_map_pts: 4.1131, d2.loss_map_dir: 0.0589, d3.loss_map_cls: 0.6742, d3.loss_map_pts: 4.0943, d3.loss_map_dir: 0.0587, d4.loss_map_cls: 0.6777, d4.loss_map_pts: 4.0874, d4.loss_map_dir: 0.0588, d5.loss_map_cls: 0.6792, d5.loss_map_pts: 4.0841, d5.loss_map_dir: 0.0586, loss: 132.5901, grad_norm: 377.8281 +2026-02-23 23:43:56,064 - DriveTransformer - INFO - Epoch [1][5450/117620] lr: 1.000e-04, eta: 27 days, 14:08:07, time: 0.319, data_time: 0.013, memory: 8395, loss_cls: 1.3734, loss_bbox: 1.2787, loss_traj: 4.6464, loss_traj_cls: 0.0005, loss_map_cls: 0.7088, loss_map_pts: 4.1031, loss_map_dir: 0.0552, d0.loss_plan_l1_fix_time: 5.5317, d0.loss_plan_l1_fix_dist: 0.8274, d1.loss_plan_l1_fix_time: 4.5453, d1.loss_plan_l1_fix_dist: 0.8935, d2.loss_plan_l1_fix_time: 4.2756, d2.loss_plan_l1_fix_dist: 1.0122, d3.loss_plan_l1_fix_time: 4.1849, d3.loss_plan_l1_fix_dist: 1.1400, d4.loss_plan_l1_fix_time: 4.1817, d4.loss_plan_l1_fix_dist: 1.3095, d5.loss_plan_l1_fix_time: 4.2318, d5.loss_plan_l1_fix_dist: 1.5113, d6.loss_plan_l1_fix_time: 4.3238, d6.loss_plan_l1_fix_dist: 1.7415, d0.loss_cls_all: 1.3335, d0.loss_bbox_all: 1.2642, d0.loss_cls: 1.3335, d0.loss_bbox: 1.2642, d1.loss_cls: 1.3545, d1.loss_bbox: 1.2682, d2.loss_cls: 1.3616, d2.loss_bbox: 1.2693, d3.loss_cls: 1.3659, d3.loss_bbox: 1.2715, d4.loss_cls: 1.3709, d4.loss_bbox: 1.2720, d5.loss_cls: 1.3712, d5.loss_bbox: 1.2750, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.6410, d1.loss_traj_cls: 0.0006, d1.loss_traj: 3.3703, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.9147, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.2550, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.4554, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.5608, d0.loss_map_cls_all: 0.6815, d0.loss_map_pts_all: 4.4259, d0.loss_map_dir_all: 0.0557, d0.loss_map_cls: 0.6815, d0.loss_map_pts: 4.4259, d0.loss_map_dir: 0.0557, d1.loss_map_cls: 0.6934, d1.loss_map_pts: 4.1900, d1.loss_map_dir: 0.0554, d2.loss_map_cls: 0.6996, d2.loss_map_pts: 4.1388, d2.loss_map_dir: 0.0553, d3.loss_map_cls: 0.7022, d3.loss_map_pts: 4.1171, d3.loss_map_dir: 0.0553, d4.loss_map_cls: 0.7055, d4.loss_map_pts: 4.1057, d4.loss_map_dir: 0.0552, d5.loss_map_cls: 0.7072, d5.loss_map_pts: 4.1032, d5.loss_map_dir: 0.0553, loss: 128.2179, grad_norm: 377.8281 +2026-02-23 23:44:12,372 - DriveTransformer - INFO - Epoch [1][5500/117620] lr: 1.000e-04, eta: 27 days, 13:55:06, time: 0.326, data_time: 0.013, memory: 8395, loss_cls: 1.3998, loss_bbox: 1.3336, loss_traj: 4.9774, loss_traj_cls: 0.0005, loss_map_cls: 0.7226, loss_map_pts: 4.0794, loss_map_dir: 0.0560, d0.loss_plan_l1_fix_time: 4.8279, d0.loss_plan_l1_fix_dist: 0.7567, d1.loss_plan_l1_fix_time: 3.9996, d1.loss_plan_l1_fix_dist: 0.8688, d2.loss_plan_l1_fix_time: 3.8071, d2.loss_plan_l1_fix_dist: 1.0318, d3.loss_plan_l1_fix_time: 3.7806, d3.loss_plan_l1_fix_dist: 1.2280, d4.loss_plan_l1_fix_time: 3.8196, d4.loss_plan_l1_fix_dist: 1.4451, d5.loss_plan_l1_fix_time: 3.8899, d5.loss_plan_l1_fix_dist: 1.6796, d6.loss_plan_l1_fix_time: 3.9978, d6.loss_plan_l1_fix_dist: 1.9270, d0.loss_cls_all: 1.3422, d0.loss_bbox_all: 1.3084, d0.loss_cls: 1.3422, d0.loss_bbox: 1.3084, d1.loss_cls: 1.3715, d1.loss_bbox: 1.3169, d2.loss_cls: 1.3828, d2.loss_bbox: 1.3199, d3.loss_cls: 1.3907, d3.loss_bbox: 1.3233, d4.loss_cls: 1.3962, d4.loss_bbox: 1.3240, d5.loss_cls: 1.3986, d5.loss_bbox: 1.3297, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.4951, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.3927, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.0569, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.4376, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.7171, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.8553, d0.loss_map_cls_all: 0.6993, d0.loss_map_pts_all: 4.4502, d0.loss_map_dir_all: 0.0567, d0.loss_map_cls: 0.6993, d0.loss_map_pts: 4.4502, d0.loss_map_dir: 0.0567, d1.loss_map_cls: 0.7148, d1.loss_map_pts: 4.1482, d1.loss_map_dir: 0.0562, d2.loss_map_cls: 0.7166, d2.loss_map_pts: 4.0962, d2.loss_map_dir: 0.0562, d3.loss_map_cls: 0.7199, d3.loss_map_pts: 4.0819, d3.loss_map_dir: 0.0561, d4.loss_map_cls: 0.7199, d4.loss_map_pts: 4.0791, d4.loss_map_dir: 0.0560, d5.loss_map_cls: 0.7219, d5.loss_map_pts: 4.0794, d5.loss_map_dir: 0.0560, loss: 127.2124, grad_norm: 365.5922 +2026-02-23 23:44:29,215 - DriveTransformer - INFO - Epoch [1][5550/117620] lr: 1.000e-04, eta: 27 days, 13:53:42, time: 0.337, data_time: 0.014, memory: 8395, loss_cls: 1.4105, loss_bbox: 1.2906, loss_traj: 5.1600, loss_traj_cls: 0.0006, loss_map_cls: 0.7061, loss_map_pts: 4.1330, loss_map_dir: 0.0546, d0.loss_plan_l1_fix_time: 4.8974, d0.loss_plan_l1_fix_dist: 0.9948, d1.loss_plan_l1_fix_time: 3.8292, d1.loss_plan_l1_fix_dist: 1.1530, d2.loss_plan_l1_fix_time: 3.5494, d2.loss_plan_l1_fix_dist: 1.3242, d3.loss_plan_l1_fix_time: 3.4739, d3.loss_plan_l1_fix_dist: 1.5567, d4.loss_plan_l1_fix_time: 3.4838, d4.loss_plan_l1_fix_dist: 1.7811, d5.loss_plan_l1_fix_time: 3.5440, d5.loss_plan_l1_fix_dist: 2.0179, d6.loss_plan_l1_fix_time: 3.6515, d6.loss_plan_l1_fix_dist: 2.2588, d0.loss_cls_all: 1.3526, d0.loss_bbox_all: 1.2700, d0.loss_cls: 1.3526, d0.loss_bbox: 1.2700, d1.loss_cls: 1.3850, d1.loss_bbox: 1.2771, d2.loss_cls: 1.3969, d2.loss_bbox: 1.2816, d3.loss_cls: 1.4016, d3.loss_bbox: 1.2826, d4.loss_cls: 1.4052, d4.loss_bbox: 1.2832, d5.loss_cls: 1.4082, d5.loss_bbox: 1.2866, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.5397, d1.loss_traj_cls: 0.0006, d1.loss_traj: 3.4739, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.1729, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.5515, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.8731, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.0197, d0.loss_map_cls_all: 0.6807, d0.loss_map_pts_all: 4.4753, d0.loss_map_dir_all: 0.0553, d0.loss_map_cls: 0.6807, d0.loss_map_pts: 4.4753, d0.loss_map_dir: 0.0553, d1.loss_map_cls: 0.6908, d1.loss_map_pts: 4.2103, d1.loss_map_dir: 0.0547, d2.loss_map_cls: 0.6965, d2.loss_map_pts: 4.1574, d2.loss_map_dir: 0.0548, d3.loss_map_cls: 0.7008, d3.loss_map_pts: 4.1295, d3.loss_map_dir: 0.0547, d4.loss_map_cls: 0.7027, d4.loss_map_pts: 4.1268, d4.loss_map_dir: 0.0548, d5.loss_map_cls: 0.7044, d5.loss_map_pts: 4.1291, d5.loss_map_dir: 0.0547, loss: 128.5030, grad_norm: 365.5922 +2026-02-23 23:44:45,468 - DriveTransformer - INFO - Epoch [1][5600/117620] lr: 1.000e-04, eta: 27 days, 13:39:58, time: 0.325, data_time: 0.015, memory: 8395, loss_cls: 1.4021, loss_bbox: 1.2057, loss_traj: 6.0069, loss_traj_cls: 0.0005, loss_map_cls: 0.7095, loss_map_pts: 4.0416, loss_map_dir: 0.0529, d0.loss_plan_l1_fix_time: 5.2803, d0.loss_plan_l1_fix_dist: 0.7999, d1.loss_plan_l1_fix_time: 4.1083, d1.loss_plan_l1_fix_dist: 0.9428, d2.loss_plan_l1_fix_time: 3.7984, d2.loss_plan_l1_fix_dist: 1.1000, d3.loss_plan_l1_fix_time: 3.7160, d3.loss_plan_l1_fix_dist: 1.2887, d4.loss_plan_l1_fix_time: 3.7065, d4.loss_plan_l1_fix_dist: 1.4832, d5.loss_plan_l1_fix_time: 3.7356, d5.loss_plan_l1_fix_dist: 1.6794, d6.loss_plan_l1_fix_time: 3.8099, d6.loss_plan_l1_fix_dist: 1.8943, d0.loss_cls_all: 1.3483, d0.loss_bbox_all: 1.1858, d0.loss_cls: 1.3483, d0.loss_bbox: 1.1858, d1.loss_cls: 1.3738, d1.loss_bbox: 1.1875, d2.loss_cls: 1.3875, d2.loss_bbox: 1.1911, d3.loss_cls: 1.3954, d3.loss_bbox: 1.1953, d4.loss_cls: 1.3971, d4.loss_bbox: 1.1957, d5.loss_cls: 1.4016, d5.loss_bbox: 1.2016, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.8258, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.9532, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.8054, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.2743, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.6431, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.8399, d0.loss_map_cls_all: 0.6759, d0.loss_map_pts_all: 4.3527, d0.loss_map_dir_all: 0.0534, d0.loss_map_cls: 0.6759, d0.loss_map_pts: 4.3527, d0.loss_map_dir: 0.0534, d1.loss_map_cls: 0.6892, d1.loss_map_pts: 4.1232, d1.loss_map_dir: 0.0531, d2.loss_map_cls: 0.6982, d2.loss_map_pts: 4.0757, d2.loss_map_dir: 0.0531, d3.loss_map_cls: 0.7039, d3.loss_map_pts: 4.0468, d3.loss_map_dir: 0.0530, d4.loss_map_cls: 0.7081, d4.loss_map_pts: 4.0416, d4.loss_map_dir: 0.0529, d5.loss_map_cls: 0.7087, d5.loss_map_pts: 4.0404, d5.loss_map_dir: 0.0529, loss: 131.3673, grad_norm: 352.6128 +2026-02-23 23:45:01,325 - DriveTransformer - INFO - Epoch [1][5650/117620] lr: 1.000e-04, eta: 27 days, 13:18:10, time: 0.317, data_time: 0.014, memory: 8395, loss_cls: 1.3890, loss_bbox: 1.1802, loss_traj: 5.1035, loss_traj_cls: 0.0005, loss_map_cls: 0.6988, loss_map_pts: 4.0469, loss_map_dir: 0.0509, d0.loss_plan_l1_fix_time: 4.7264, d0.loss_plan_l1_fix_dist: 0.7770, d1.loss_plan_l1_fix_time: 3.6744, d1.loss_plan_l1_fix_dist: 0.9014, d2.loss_plan_l1_fix_time: 3.4299, d2.loss_plan_l1_fix_dist: 1.0312, d3.loss_plan_l1_fix_time: 3.3592, d3.loss_plan_l1_fix_dist: 1.1897, d4.loss_plan_l1_fix_time: 3.3451, d4.loss_plan_l1_fix_dist: 1.3633, d5.loss_plan_l1_fix_time: 3.3693, d5.loss_plan_l1_fix_dist: 1.5226, d6.loss_plan_l1_fix_time: 3.4354, d6.loss_plan_l1_fix_dist: 1.7132, d0.loss_cls_all: 1.3276, d0.loss_bbox_all: 1.1646, d0.loss_cls: 1.3276, d0.loss_bbox: 1.1646, d1.loss_cls: 1.3636, d1.loss_bbox: 1.1655, d2.loss_cls: 1.3772, d2.loss_bbox: 1.1680, d3.loss_cls: 1.3874, d3.loss_bbox: 1.1712, d4.loss_cls: 1.3867, d4.loss_bbox: 1.1739, d5.loss_cls: 1.3876, d5.loss_bbox: 1.1769, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.7102, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.5243, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.1657, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.5320, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.8129, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.9795, d0.loss_map_cls_all: 0.6689, d0.loss_map_pts_all: 4.3747, d0.loss_map_dir_all: 0.0514, d0.loss_map_cls: 0.6689, d0.loss_map_pts: 4.3747, d0.loss_map_dir: 0.0514, d1.loss_map_cls: 0.6803, d1.loss_map_pts: 4.1387, d1.loss_map_dir: 0.0511, d2.loss_map_cls: 0.6895, d2.loss_map_pts: 4.0873, d2.loss_map_dir: 0.0511, d3.loss_map_cls: 0.6924, d3.loss_map_pts: 4.0612, d3.loss_map_dir: 0.0511, d4.loss_map_cls: 0.6977, d4.loss_map_pts: 4.0459, d4.loss_map_dir: 0.0510, d5.loss_map_cls: 0.6979, d5.loss_map_pts: 4.0421, d5.loss_map_dir: 0.0509, loss: 123.0564, grad_norm: 352.6128 +2026-02-23 23:45:17,589 - DriveTransformer - INFO - Epoch [1][5700/117620] lr: 1.000e-04, eta: 27 days, 13:05:12, time: 0.325, data_time: 0.015, memory: 8395, loss_cls: 1.3899, loss_bbox: 1.2201, loss_traj: 5.1349, loss_traj_cls: 0.0005, loss_map_cls: 0.7240, loss_map_pts: 3.9483, loss_map_dir: 0.0516, d0.loss_plan_l1_fix_time: 5.5461, d0.loss_plan_l1_fix_dist: 0.9722, d1.loss_plan_l1_fix_time: 4.4580, d1.loss_plan_l1_fix_dist: 1.0992, d2.loss_plan_l1_fix_time: 4.1801, d2.loss_plan_l1_fix_dist: 1.3141, d3.loss_plan_l1_fix_time: 4.1033, d3.loss_plan_l1_fix_dist: 1.5200, d4.loss_plan_l1_fix_time: 4.1016, d4.loss_plan_l1_fix_dist: 1.7533, d5.loss_plan_l1_fix_time: 4.1400, d5.loss_plan_l1_fix_dist: 1.9870, d6.loss_plan_l1_fix_time: 4.2271, d6.loss_plan_l1_fix_dist: 2.2175, d0.loss_cls_all: 1.3258, d0.loss_bbox_all: 1.2049, d0.loss_cls: 1.3258, d0.loss_bbox: 1.2049, d1.loss_cls: 1.3594, d1.loss_bbox: 1.2001, d2.loss_cls: 1.3711, d2.loss_bbox: 1.2050, d3.loss_cls: 1.3810, d3.loss_bbox: 1.2079, d4.loss_cls: 1.3831, d4.loss_bbox: 1.2079, d5.loss_cls: 1.3875, d5.loss_bbox: 1.2112, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.5476, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.4197, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.1290, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.5183, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.8442, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.9904, d0.loss_map_cls_all: 0.6977, d0.loss_map_pts_all: 4.2646, d0.loss_map_dir_all: 0.0523, d0.loss_map_cls: 0.6977, d0.loss_map_pts: 4.2646, d0.loss_map_dir: 0.0523, d1.loss_map_cls: 0.7060, d1.loss_map_pts: 4.0119, d1.loss_map_dir: 0.0520, d2.loss_map_cls: 0.7136, d2.loss_map_pts: 3.9621, d2.loss_map_dir: 0.0519, d3.loss_map_cls: 0.7185, d3.loss_map_pts: 3.9532, d3.loss_map_dir: 0.0517, d4.loss_map_cls: 0.7223, d4.loss_map_pts: 3.9454, d4.loss_map_dir: 0.0517, d5.loss_map_cls: 0.7233, d5.loss_map_pts: 3.9461, d5.loss_map_dir: 0.0517, loss: 130.2075, grad_norm: 344.8180 +2026-02-23 23:45:33,612 - DriveTransformer - INFO - Epoch [1][5750/117620] lr: 1.000e-04, eta: 27 days, 12:47:27, time: 0.320, data_time: 0.014, memory: 8395, loss_cls: 1.4187, loss_bbox: 1.4464, loss_traj: 4.6629, loss_traj_cls: 0.0005, loss_map_cls: 0.7117, loss_map_pts: 4.0079, loss_map_dir: 0.0551, d0.loss_plan_l1_fix_time: 5.1092, d0.loss_plan_l1_fix_dist: 0.8697, d1.loss_plan_l1_fix_time: 4.2898, d1.loss_plan_l1_fix_dist: 1.0169, d2.loss_plan_l1_fix_time: 4.1071, d2.loss_plan_l1_fix_dist: 1.2586, d3.loss_plan_l1_fix_time: 4.0854, d3.loss_plan_l1_fix_dist: 1.4734, d4.loss_plan_l1_fix_time: 4.1147, d4.loss_plan_l1_fix_dist: 1.7234, d5.loss_plan_l1_fix_time: 4.1660, d5.loss_plan_l1_fix_dist: 1.9784, d6.loss_plan_l1_fix_time: 4.2553, d6.loss_plan_l1_fix_dist: 2.2169, d0.loss_cls_all: 1.3562, d0.loss_bbox_all: 1.4215, d0.loss_cls: 1.3562, d0.loss_bbox: 1.4215, d1.loss_cls: 1.3862, d1.loss_bbox: 1.4304, d2.loss_cls: 1.4016, d2.loss_bbox: 1.4336, d3.loss_cls: 1.4082, d3.loss_bbox: 1.4413, d4.loss_cls: 1.4120, d4.loss_bbox: 1.4425, d5.loss_cls: 1.4138, d5.loss_bbox: 1.4416, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.7784, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.3889, d2.loss_traj_cls: 0.0006, d2.loss_traj: 3.9083, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.1988, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.4581, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.5540, d0.loss_map_cls_all: 0.6855, d0.loss_map_pts_all: 4.3308, d0.loss_map_dir_all: 0.0557, d0.loss_map_cls: 0.6855, d0.loss_map_pts: 4.3308, d0.loss_map_dir: 0.0557, d1.loss_map_cls: 0.6958, d1.loss_map_pts: 4.0619, d1.loss_map_dir: 0.0552, d2.loss_map_cls: 0.7033, d2.loss_map_pts: 4.0083, d2.loss_map_dir: 0.0552, d3.loss_map_cls: 0.7064, d3.loss_map_pts: 4.0004, d3.loss_map_dir: 0.0551, d4.loss_map_cls: 0.7100, d4.loss_map_pts: 3.9957, d4.loss_map_dir: 0.0551, d5.loss_map_cls: 0.7112, d5.loss_map_pts: 4.0030, d5.loss_map_dir: 0.0550, loss: 130.0401, grad_norm: 344.8180 +2026-02-23 23:45:49,140 - DriveTransformer - INFO - Epoch [1][5800/117620] lr: 1.000e-04, eta: 27 days, 12:20:01, time: 0.311, data_time: 0.014, memory: 8395, loss_cls: 1.4190, loss_bbox: 1.2758, loss_traj: 5.2486, loss_traj_cls: 0.0005, loss_map_cls: 0.7417, loss_map_pts: 4.0075, loss_map_dir: 0.0499, d0.loss_plan_l1_fix_time: 5.6316, d0.loss_plan_l1_fix_dist: 0.9665, d1.loss_plan_l1_fix_time: 4.5227, d1.loss_plan_l1_fix_dist: 1.0938, d2.loss_plan_l1_fix_time: 4.2425, d2.loss_plan_l1_fix_dist: 1.3099, d3.loss_plan_l1_fix_time: 4.1757, d3.loss_plan_l1_fix_dist: 1.5288, d4.loss_plan_l1_fix_time: 4.1697, d4.loss_plan_l1_fix_dist: 1.7759, d5.loss_plan_l1_fix_time: 4.2031, d5.loss_plan_l1_fix_dist: 2.0218, d6.loss_plan_l1_fix_time: 4.2763, d6.loss_plan_l1_fix_dist: 2.2480, d0.loss_cls_all: 1.3431, d0.loss_bbox_all: 1.2650, d0.loss_cls: 1.3431, d0.loss_bbox: 1.2650, d1.loss_cls: 1.3782, d1.loss_bbox: 1.2673, d2.loss_cls: 1.3922, d2.loss_bbox: 1.2672, d3.loss_cls: 1.4005, d3.loss_bbox: 1.2713, d4.loss_cls: 1.4077, d4.loss_bbox: 1.2717, d5.loss_cls: 1.4119, d5.loss_bbox: 1.2710, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.5641, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.3937, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.1162, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.5376, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.9121, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.0676, d0.loss_map_cls_all: 0.7085, d0.loss_map_pts_all: 4.3440, d0.loss_map_dir_all: 0.0502, d0.loss_map_cls: 0.7085, d0.loss_map_pts: 4.3440, d0.loss_map_dir: 0.0502, d1.loss_map_cls: 0.7187, d1.loss_map_pts: 4.0901, d1.loss_map_dir: 0.0502, d2.loss_map_cls: 0.7269, d2.loss_map_pts: 4.0369, d2.loss_map_dir: 0.0501, d3.loss_map_cls: 0.7324, d3.loss_map_pts: 4.0233, d3.loss_map_dir: 0.0500, d4.loss_map_cls: 0.7349, d4.loss_map_pts: 4.0140, d4.loss_map_dir: 0.0499, d5.loss_map_cls: 0.7394, d5.loss_map_pts: 4.0103, d5.loss_map_dir: 0.0499, loss: 132.3412, grad_norm: 334.3645 +2026-02-23 23:46:05,399 - DriveTransformer - INFO - Epoch [1][5850/117620] lr: 1.000e-04, eta: 27 days, 12:07:46, time: 0.325, data_time: 0.015, memory: 8395, loss_cls: 1.3978, loss_bbox: 1.2103, loss_traj: 4.3929, loss_traj_cls: 0.0005, loss_map_cls: 0.6731, loss_map_pts: 3.9625, loss_map_dir: 0.0501, d0.loss_plan_l1_fix_time: 5.1016, d0.loss_plan_l1_fix_dist: 0.7634, d1.loss_plan_l1_fix_time: 4.4313, d1.loss_plan_l1_fix_dist: 0.9300, d2.loss_plan_l1_fix_time: 4.3206, d2.loss_plan_l1_fix_dist: 1.1952, d3.loss_plan_l1_fix_time: 4.3103, d3.loss_plan_l1_fix_dist: 1.4435, d4.loss_plan_l1_fix_time: 4.3324, d4.loss_plan_l1_fix_dist: 1.7206, d5.loss_plan_l1_fix_time: 4.3799, d5.loss_plan_l1_fix_dist: 1.9894, d6.loss_plan_l1_fix_time: 4.4703, d6.loss_plan_l1_fix_dist: 2.2285, d0.loss_cls_all: 1.3364, d0.loss_bbox_all: 1.1937, d0.loss_cls: 1.3364, d0.loss_bbox: 1.1937, d1.loss_cls: 1.3667, d1.loss_bbox: 1.1969, d2.loss_cls: 1.3819, d2.loss_bbox: 1.2021, d3.loss_cls: 1.3889, d3.loss_bbox: 1.2048, d4.loss_cls: 1.3920, d4.loss_bbox: 1.2071, d5.loss_cls: 1.3972, d5.loss_bbox: 1.2072, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2793, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.9086, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.4818, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.8110, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.1115, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.2391, d0.loss_map_cls_all: 0.6480, d0.loss_map_pts_all: 4.2770, d0.loss_map_dir_all: 0.0504, d0.loss_map_cls: 0.6480, d0.loss_map_pts: 4.2770, d0.loss_map_dir: 0.0504, d1.loss_map_cls: 0.6632, d1.loss_map_pts: 4.0473, d1.loss_map_dir: 0.0501, d2.loss_map_cls: 0.6682, d2.loss_map_pts: 3.9986, d2.loss_map_dir: 0.0502, d3.loss_map_cls: 0.6709, d3.loss_map_pts: 3.9781, d3.loss_map_dir: 0.0502, d4.loss_map_cls: 0.6733, d4.loss_map_pts: 3.9660, d4.loss_map_dir: 0.0501, d5.loss_map_cls: 0.6720, d5.loss_map_pts: 3.9637, d5.loss_map_dir: 0.0501, loss: 125.6461, grad_norm: 334.3645 +2026-02-23 23:46:21,425 - DriveTransformer - INFO - Epoch [1][5900/117620] lr: 1.000e-04, eta: 27 days, 11:51:03, time: 0.321, data_time: 0.014, memory: 8395, loss_cls: 1.4020, loss_bbox: 1.1696, loss_traj: 5.5366, loss_traj_cls: 0.0005, loss_map_cls: 0.7308, loss_map_pts: 4.0061, loss_map_dir: 0.0482, d0.loss_plan_l1_fix_time: 4.9675, d0.loss_plan_l1_fix_dist: 0.8052, d1.loss_plan_l1_fix_time: 4.1611, d1.loss_plan_l1_fix_dist: 0.9253, d2.loss_plan_l1_fix_time: 4.0316, d2.loss_plan_l1_fix_dist: 1.0838, d3.loss_plan_l1_fix_time: 4.0260, d3.loss_plan_l1_fix_dist: 1.2582, d4.loss_plan_l1_fix_time: 4.0606, d4.loss_plan_l1_fix_dist: 1.4571, d5.loss_plan_l1_fix_time: 4.1100, d5.loss_plan_l1_fix_dist: 1.6661, d6.loss_plan_l1_fix_time: 4.2035, d6.loss_plan_l1_fix_dist: 1.9022, d0.loss_cls_all: 1.3239, d0.loss_bbox_all: 1.1420, d0.loss_cls: 1.3239, d0.loss_bbox: 1.1420, d1.loss_cls: 1.3591, d1.loss_bbox: 1.1433, d2.loss_cls: 1.3740, d2.loss_bbox: 1.1458, d3.loss_cls: 1.3849, d3.loss_bbox: 1.1547, d4.loss_cls: 1.3938, d4.loss_bbox: 1.1605, d5.loss_cls: 1.3980, d5.loss_bbox: 1.1660, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.2371, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.9230, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.5535, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.9347, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.2337, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.3857, d0.loss_map_cls_all: 0.6985, d0.loss_map_pts_all: 4.2683, d0.loss_map_dir_all: 0.0487, d0.loss_map_cls: 0.6985, d0.loss_map_pts: 4.2683, d0.loss_map_dir: 0.0487, d1.loss_map_cls: 0.7070, d1.loss_map_pts: 4.0474, d1.loss_map_dir: 0.0483, d2.loss_map_cls: 0.7150, d2.loss_map_pts: 4.0005, d2.loss_map_dir: 0.0483, d3.loss_map_cls: 0.7212, d3.loss_map_pts: 3.9730, d3.loss_map_dir: 0.0480, d4.loss_map_cls: 0.7247, d4.loss_map_pts: 3.9787, d4.loss_map_dir: 0.0481, d5.loss_map_cls: 0.7291, d5.loss_map_pts: 3.9901, d5.loss_map_dir: 0.0481, loss: 130.2931, grad_norm: 326.7500 +2026-02-23 23:46:37,172 - DriveTransformer - INFO - Epoch [1][5950/117620] lr: 1.000e-04, eta: 27 days, 11:29:06, time: 0.315, data_time: 0.015, memory: 8395, loss_cls: 1.3908, loss_bbox: 1.2384, loss_traj: 4.7311, loss_traj_cls: 0.0005, loss_map_cls: 0.7147, loss_map_pts: 3.9390, loss_map_dir: 0.0484, d0.loss_plan_l1_fix_time: 4.6767, d0.loss_plan_l1_fix_dist: 0.9917, d1.loss_plan_l1_fix_time: 4.0427, d1.loss_plan_l1_fix_dist: 1.0895, d2.loss_plan_l1_fix_time: 3.9707, d2.loss_plan_l1_fix_dist: 1.2142, d3.loss_plan_l1_fix_time: 3.9900, d3.loss_plan_l1_fix_dist: 1.3682, d4.loss_plan_l1_fix_time: 4.0423, d4.loss_plan_l1_fix_dist: 1.5401, d5.loss_plan_l1_fix_time: 4.1110, d5.loss_plan_l1_fix_dist: 1.7333, d6.loss_plan_l1_fix_time: 4.2208, d6.loss_plan_l1_fix_dist: 1.9671, d0.loss_cls_all: 1.3049, d0.loss_bbox_all: 1.2178, d0.loss_cls: 1.3049, d0.loss_bbox: 1.2178, d1.loss_cls: 1.3487, d1.loss_bbox: 1.2170, d2.loss_cls: 1.3643, d2.loss_bbox: 1.2144, d3.loss_cls: 1.3783, d3.loss_bbox: 1.2219, d4.loss_cls: 1.3808, d4.loss_bbox: 1.2294, d5.loss_cls: 1.3837, d5.loss_bbox: 1.2364, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.6075, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.2160, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.7889, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.1238, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.4476, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.5876, d0.loss_map_cls_all: 0.6854, d0.loss_map_pts_all: 4.3066, d0.loss_map_dir_all: 0.0486, d0.loss_map_cls: 0.6854, d0.loss_map_pts: 4.3066, d0.loss_map_dir: 0.0486, d1.loss_map_cls: 0.6942, d1.loss_map_pts: 4.0187, d1.loss_map_dir: 0.0483, d2.loss_map_cls: 0.7020, d2.loss_map_pts: 3.9524, d2.loss_map_dir: 0.0484, d3.loss_map_cls: 0.7069, d3.loss_map_pts: 3.9225, d3.loss_map_dir: 0.0483, d4.loss_map_cls: 0.7093, d4.loss_map_pts: 3.9239, d4.loss_map_dir: 0.0484, d5.loss_map_cls: 0.7129, d5.loss_map_pts: 3.9263, d5.loss_map_dir: 0.0483, loss: 125.4078, grad_norm: 326.7500 +2026-02-23 23:46:54,492 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-23 23:46:54,492 - DriveTransformer - INFO - Epoch [1][6000/117620] lr: 1.000e-04, eta: 27 days, 11:38:21, time: 0.346, data_time: 0.014, memory: 8395, loss_cls: 1.3815, loss_bbox: 1.2149, loss_traj: 3.6453, loss_traj_cls: 0.0005, loss_map_cls: 0.7172, loss_map_pts: 3.9623, loss_map_dir: 0.0463, d0.loss_plan_l1_fix_time: 5.3147, d0.loss_plan_l1_fix_dist: 0.8268, d1.loss_plan_l1_fix_time: 4.2287, d1.loss_plan_l1_fix_dist: 0.9495, d2.loss_plan_l1_fix_time: 3.9437, d2.loss_plan_l1_fix_dist: 1.1189, d3.loss_plan_l1_fix_time: 3.8750, d3.loss_plan_l1_fix_dist: 1.3183, d4.loss_plan_l1_fix_time: 3.8851, d4.loss_plan_l1_fix_dist: 1.5427, d5.loss_plan_l1_fix_time: 3.9231, d5.loss_plan_l1_fix_dist: 1.8180, d6.loss_plan_l1_fix_time: 4.0121, d6.loss_plan_l1_fix_dist: 2.1261, d0.loss_cls_all: 1.3060, d0.loss_bbox_all: 1.1650, d0.loss_cls: 1.3060, d0.loss_bbox: 1.1650, d1.loss_cls: 1.3461, d1.loss_bbox: 1.1742, d2.loss_cls: 1.3617, d2.loss_bbox: 1.1798, d3.loss_cls: 1.3745, d3.loss_bbox: 1.1888, d4.loss_cls: 1.3768, d4.loss_bbox: 1.1943, d5.loss_cls: 1.3783, d5.loss_bbox: 1.2038, d0.loss_traj_cls: 0.0005, d0.loss_traj: 1.9771, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4353, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.9001, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.1630, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.4260, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.5207, d0.loss_map_cls_all: 0.6886, d0.loss_map_pts_all: 4.3259, d0.loss_map_dir_all: 0.0467, d0.loss_map_cls: 0.6886, d0.loss_map_pts: 4.3259, d0.loss_map_dir: 0.0467, d1.loss_map_cls: 0.6990, d1.loss_map_pts: 4.0777, d1.loss_map_dir: 0.0464, d2.loss_map_cls: 0.7067, d2.loss_map_pts: 4.0135, d2.loss_map_dir: 0.0467, d3.loss_map_cls: 0.7107, d3.loss_map_pts: 3.9848, d3.loss_map_dir: 0.0464, d4.loss_map_cls: 0.7151, d4.loss_map_pts: 3.9703, d4.loss_map_dir: 0.0464, d5.loss_map_cls: 0.7158, d5.loss_map_pts: 3.9625, d5.loss_map_dir: 0.0464, loss: 118.9072, grad_norm: 320.4279 +2026-02-23 23:47:10,234 - DriveTransformer - INFO - Epoch [1][6050/117620] lr: 1.000e-04, eta: 27 days, 11:16:41, time: 0.315, data_time: 0.014, memory: 8395, loss_cls: 1.4165, loss_bbox: 1.3420, loss_traj: 5.4103, loss_traj_cls: 0.0005, loss_map_cls: 0.7415, loss_map_pts: 3.8042, loss_map_dir: 0.0465, d0.loss_plan_l1_fix_time: 5.4465, d0.loss_plan_l1_fix_dist: 0.9023, d1.loss_plan_l1_fix_time: 4.5955, d1.loss_plan_l1_fix_dist: 1.0052, d2.loss_plan_l1_fix_time: 4.4356, d2.loss_plan_l1_fix_dist: 1.1537, d3.loss_plan_l1_fix_time: 4.4354, d3.loss_plan_l1_fix_dist: 1.3326, d4.loss_plan_l1_fix_time: 4.4845, d4.loss_plan_l1_fix_dist: 1.5486, d5.loss_plan_l1_fix_time: 4.5426, d5.loss_plan_l1_fix_dist: 1.8195, d6.loss_plan_l1_fix_time: 4.6400, d6.loss_plan_l1_fix_dist: 2.1218, d0.loss_cls_all: 1.3391, d0.loss_bbox_all: 1.2866, d0.loss_cls: 1.3391, d0.loss_bbox: 1.2866, d1.loss_cls: 1.3746, d1.loss_bbox: 1.2939, d2.loss_cls: 1.3965, d2.loss_bbox: 1.3017, d3.loss_cls: 1.4044, d3.loss_bbox: 1.3106, d4.loss_cls: 1.4104, d4.loss_bbox: 1.3187, d5.loss_cls: 1.4109, d5.loss_bbox: 1.3315, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.9514, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.6524, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.3212, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.7283, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.0819, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.2343, d0.loss_map_cls_all: 0.7038, d0.loss_map_pts_all: 4.1746, d0.loss_map_dir_all: 0.0471, d0.loss_map_cls: 0.7038, d0.loss_map_pts: 4.1746, d0.loss_map_dir: 0.0471, d1.loss_map_cls: 0.7173, d1.loss_map_pts: 3.9007, d1.loss_map_dir: 0.0469, d2.loss_map_cls: 0.7272, d2.loss_map_pts: 3.8453, d2.loss_map_dir: 0.0467, d3.loss_map_cls: 0.7330, d3.loss_map_pts: 3.8231, d3.loss_map_dir: 0.0466, d4.loss_map_cls: 0.7400, d4.loss_map_pts: 3.8118, d4.loss_map_dir: 0.0466, d5.loss_map_cls: 0.7402, d5.loss_map_pts: 3.8075, d5.loss_map_dir: 0.0466, loss: 132.9331, grad_norm: 314.4476 +2026-02-23 23:47:26,384 - DriveTransformer - INFO - Epoch [1][6100/117620] lr: 1.000e-04, eta: 27 days, 11:03:18, time: 0.323, data_time: 0.015, memory: 8395, loss_cls: 1.3878, loss_bbox: 1.2015, loss_traj: 5.5146, loss_traj_cls: 0.0005, loss_map_cls: 0.7307, loss_map_pts: 3.6537, loss_map_dir: 0.0408, d0.loss_plan_l1_fix_time: 5.1927, d0.loss_plan_l1_fix_dist: 0.7988, d1.loss_plan_l1_fix_time: 4.1017, d1.loss_plan_l1_fix_dist: 0.9107, d2.loss_plan_l1_fix_time: 3.8722, d2.loss_plan_l1_fix_dist: 1.0852, d3.loss_plan_l1_fix_time: 3.8388, d3.loss_plan_l1_fix_dist: 1.2823, d4.loss_plan_l1_fix_time: 3.8620, d4.loss_plan_l1_fix_dist: 1.5075, d5.loss_plan_l1_fix_time: 3.8958, d5.loss_plan_l1_fix_dist: 1.7683, d6.loss_plan_l1_fix_time: 3.9754, d6.loss_plan_l1_fix_dist: 2.0371, d0.loss_cls_all: 1.2949, d0.loss_bbox_all: 1.1699, d0.loss_cls: 1.2949, d0.loss_bbox: 1.1699, d1.loss_cls: 1.3407, d1.loss_bbox: 1.1757, d2.loss_cls: 1.3575, d2.loss_bbox: 1.1747, d3.loss_cls: 1.3734, d3.loss_bbox: 1.1784, d4.loss_cls: 1.3767, d4.loss_bbox: 1.1891, d5.loss_cls: 1.3812, d5.loss_bbox: 1.1887, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.9748, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.6063, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.3131, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.7628, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.1366, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.3158, d0.loss_map_cls_all: 0.6926, d0.loss_map_pts_all: 4.0980, d0.loss_map_dir_all: 0.0416, d0.loss_map_cls: 0.6926, d0.loss_map_pts: 4.0980, d0.loss_map_dir: 0.0416, d1.loss_map_cls: 0.7091, d1.loss_map_pts: 3.8281, d1.loss_map_dir: 0.0410, d2.loss_map_cls: 0.7191, d2.loss_map_pts: 3.7421, d2.loss_map_dir: 0.0409, d3.loss_map_cls: 0.7231, d3.loss_map_pts: 3.7056, d3.loss_map_dir: 0.0409, d4.loss_map_cls: 0.7279, d4.loss_map_pts: 3.6832, d4.loss_map_dir: 0.0409, d5.loss_map_cls: 0.7295, d5.loss_map_pts: 3.6678, d5.loss_map_dir: 0.0409, loss: 126.5410, grad_norm: 314.4476 +2026-02-23 23:47:42,246 - DriveTransformer - INFO - Epoch [1][6150/117620] lr: 1.000e-04, eta: 27 days, 10:44:41, time: 0.317, data_time: 0.015, memory: 8395, loss_cls: 1.4008, loss_bbox: 1.3038, loss_traj: 4.8484, loss_traj_cls: 0.0005, loss_map_cls: 0.6972, loss_map_pts: 3.9351, loss_map_dir: 0.0445, d0.loss_plan_l1_fix_time: 5.3084, d0.loss_plan_l1_fix_dist: 0.7802, d1.loss_plan_l1_fix_time: 4.2169, d1.loss_plan_l1_fix_dist: 0.8877, d2.loss_plan_l1_fix_time: 4.0120, d2.loss_plan_l1_fix_dist: 1.0426, d3.loss_plan_l1_fix_time: 4.0080, d3.loss_plan_l1_fix_dist: 1.2277, d4.loss_plan_l1_fix_time: 4.0438, d4.loss_plan_l1_fix_dist: 1.4444, d5.loss_plan_l1_fix_time: 4.0748, d5.loss_plan_l1_fix_dist: 1.6959, d6.loss_plan_l1_fix_time: 4.1401, d6.loss_plan_l1_fix_dist: 1.9607, d0.loss_cls_all: 1.3189, d0.loss_bbox_all: 1.2780, d0.loss_cls: 1.3189, d0.loss_bbox: 1.2780, d1.loss_cls: 1.3593, d1.loss_bbox: 1.2834, d2.loss_cls: 1.3744, d2.loss_bbox: 1.2842, d3.loss_cls: 1.3878, d3.loss_bbox: 1.2884, d4.loss_cls: 1.3900, d4.loss_bbox: 1.2941, d5.loss_cls: 1.3953, d5.loss_bbox: 1.2944, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.5046, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.1160, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.7523, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.1569, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.5038, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.6664, d0.loss_map_cls_all: 0.6604, d0.loss_map_pts_all: 4.2345, d0.loss_map_dir_all: 0.0450, d0.loss_map_cls: 0.6604, d0.loss_map_pts: 4.2345, d0.loss_map_dir: 0.0450, d1.loss_map_cls: 0.6756, d1.loss_map_pts: 3.9907, d1.loss_map_dir: 0.0447, d2.loss_map_cls: 0.6858, d2.loss_map_pts: 3.9425, d2.loss_map_dir: 0.0445, d3.loss_map_cls: 0.6912, d3.loss_map_pts: 3.9419, d3.loss_map_dir: 0.0445, d4.loss_map_cls: 0.6935, d4.loss_map_pts: 3.9396, d4.loss_map_dir: 0.0445, d5.loss_map_cls: 0.6957, d5.loss_map_pts: 3.9397, d5.loss_map_dir: 0.0446, loss: 125.6207, grad_norm: 309.7256 +2026-02-23 23:47:58,560 - DriveTransformer - INFO - Epoch [1][6200/117620] lr: 1.000e-04, eta: 27 days, 10:34:49, time: 0.326, data_time: 0.014, memory: 8395, loss_cls: 1.3868, loss_bbox: 1.2308, loss_traj: 5.1160, loss_traj_cls: 0.0006, loss_map_cls: 0.7147, loss_map_pts: 3.8986, loss_map_dir: 0.0434, d0.loss_plan_l1_fix_time: 4.7570, d0.loss_plan_l1_fix_dist: 0.7417, d1.loss_plan_l1_fix_time: 3.9459, d1.loss_plan_l1_fix_dist: 0.7919, d2.loss_plan_l1_fix_time: 3.8107, d2.loss_plan_l1_fix_dist: 0.8726, d3.loss_plan_l1_fix_time: 3.8201, d3.loss_plan_l1_fix_dist: 0.9983, d4.loss_plan_l1_fix_time: 3.8601, d4.loss_plan_l1_fix_dist: 1.1440, d5.loss_plan_l1_fix_time: 3.9270, d5.loss_plan_l1_fix_dist: 1.3018, d6.loss_plan_l1_fix_time: 4.0314, d6.loss_plan_l1_fix_dist: 1.4754, d0.loss_cls_all: 1.2986, d0.loss_bbox_all: 1.1847, d0.loss_cls: 1.2986, d0.loss_bbox: 1.1847, d1.loss_cls: 1.3362, d1.loss_bbox: 1.1863, d2.loss_cls: 1.3531, d2.loss_bbox: 1.1903, d3.loss_cls: 1.3704, d3.loss_bbox: 1.2001, d4.loss_cls: 1.3775, d4.loss_bbox: 1.2138, d5.loss_cls: 1.3811, d5.loss_bbox: 1.2190, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.7151, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.3030, d2.loss_traj_cls: 0.0006, d2.loss_traj: 3.9476, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.3805, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.7453, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.9367, d0.loss_map_cls_all: 0.6753, d0.loss_map_pts_all: 4.3255, d0.loss_map_dir_all: 0.0439, d0.loss_map_cls: 0.6753, d0.loss_map_pts: 4.3255, d0.loss_map_dir: 0.0439, d1.loss_map_cls: 0.6874, d1.loss_map_pts: 4.0228, d1.loss_map_dir: 0.0435, d2.loss_map_cls: 0.6994, d2.loss_map_pts: 3.9458, d2.loss_map_dir: 0.0435, d3.loss_map_cls: 0.7058, d3.loss_map_pts: 3.9238, d3.loss_map_dir: 0.0435, d4.loss_map_cls: 0.7092, d4.loss_map_pts: 3.9089, d4.loss_map_dir: 0.0435, d5.loss_map_cls: 0.7133, d5.loss_map_pts: 3.9019, d5.loss_map_dir: 0.0436, loss: 123.2198, grad_norm: 309.7256 +2026-02-23 23:48:15,160 - DriveTransformer - INFO - Epoch [1][6250/117620] lr: 1.000e-04, eta: 27 days, 10:30:33, time: 0.332, data_time: 0.014, memory: 8395, loss_cls: 1.4033, loss_bbox: 1.3248, loss_traj: 4.0228, loss_traj_cls: 0.0005, loss_map_cls: 0.7173, loss_map_pts: 4.0239, loss_map_dir: 0.0460, d0.loss_plan_l1_fix_time: 4.2449, d0.loss_plan_l1_fix_dist: 0.8584, d1.loss_plan_l1_fix_time: 3.7016, d1.loss_plan_l1_fix_dist: 0.9341, d2.loss_plan_l1_fix_time: 3.7081, d2.loss_plan_l1_fix_dist: 1.0497, d3.loss_plan_l1_fix_time: 3.7793, d3.loss_plan_l1_fix_dist: 1.2082, d4.loss_plan_l1_fix_time: 3.8409, d4.loss_plan_l1_fix_dist: 1.3837, d5.loss_plan_l1_fix_time: 3.8955, d5.loss_plan_l1_fix_dist: 1.5634, d6.loss_plan_l1_fix_time: 3.9871, d6.loss_plan_l1_fix_dist: 1.7545, d0.loss_cls_all: 1.3251, d0.loss_bbox_all: 1.2846, d0.loss_cls: 1.3251, d0.loss_bbox: 1.2846, d1.loss_cls: 1.3597, d1.loss_bbox: 1.2889, d2.loss_cls: 1.3759, d2.loss_bbox: 1.2964, d3.loss_cls: 1.3893, d3.loss_bbox: 1.3023, d4.loss_cls: 1.3939, d4.loss_bbox: 1.3119, d5.loss_cls: 1.3993, d5.loss_bbox: 1.3196, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.1985, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.6282, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.1100, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.4404, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.7357, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.8822, d0.loss_map_cls_all: 0.6741, d0.loss_map_pts_all: 4.4581, d0.loss_map_dir_all: 0.0465, d0.loss_map_cls: 0.6741, d0.loss_map_pts: 4.4581, d0.loss_map_dir: 0.0465, d1.loss_map_cls: 0.6881, d1.loss_map_pts: 4.1446, d1.loss_map_dir: 0.0460, d2.loss_map_cls: 0.6991, d2.loss_map_pts: 4.0686, d2.loss_map_dir: 0.0459, d3.loss_map_cls: 0.7058, d3.loss_map_pts: 4.0454, d3.loss_map_dir: 0.0460, d4.loss_map_cls: 0.7098, d4.loss_map_pts: 4.0327, d4.loss_map_dir: 0.0459, d5.loss_map_cls: 0.7152, d5.loss_map_pts: 4.0257, d5.loss_map_dir: 0.0459, loss: 119.5249, grad_norm: 303.4832 +2026-02-23 23:48:31,124 - DriveTransformer - INFO - Epoch [1][6300/117620] lr: 1.000e-04, eta: 27 days, 10:14:27, time: 0.319, data_time: 0.015, memory: 8395, loss_cls: 1.3570, loss_bbox: 1.2985, loss_traj: 5.8032, loss_traj_cls: 0.0006, loss_map_cls: 0.7095, loss_map_pts: 3.8762, loss_map_dir: 0.0450, d0.loss_plan_l1_fix_time: 4.9705, d0.loss_plan_l1_fix_dist: 0.8633, d1.loss_plan_l1_fix_time: 4.2559, d1.loss_plan_l1_fix_dist: 1.0087, d2.loss_plan_l1_fix_time: 4.1477, d2.loss_plan_l1_fix_dist: 1.2014, d3.loss_plan_l1_fix_time: 4.1636, d3.loss_plan_l1_fix_dist: 1.4267, d4.loss_plan_l1_fix_time: 4.1905, d4.loss_plan_l1_fix_dist: 1.6656, d5.loss_plan_l1_fix_time: 4.2311, d5.loss_plan_l1_fix_dist: 1.9063, d6.loss_plan_l1_fix_time: 4.3086, d6.loss_plan_l1_fix_dist: 2.1467, d0.loss_cls_all: 1.2452, d0.loss_bbox_all: 1.2260, d0.loss_cls: 1.2452, d0.loss_bbox: 1.2260, d1.loss_cls: 1.2850, d1.loss_bbox: 1.2407, d2.loss_cls: 1.3112, d2.loss_bbox: 1.2476, d3.loss_cls: 1.3312, d3.loss_bbox: 1.2605, d4.loss_cls: 1.3432, d4.loss_bbox: 1.2762, d5.loss_cls: 1.3492, d5.loss_bbox: 1.2890, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.9350, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.5855, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.3338, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.8844, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.3293, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.5590, d0.loss_map_cls_all: 0.6711, d0.loss_map_pts_all: 4.2263, d0.loss_map_dir_all: 0.0453, d0.loss_map_cls: 0.6711, d0.loss_map_pts: 4.2263, d0.loss_map_dir: 0.0453, d1.loss_map_cls: 0.6863, d1.loss_map_pts: 3.9337, d1.loss_map_dir: 0.0449, d2.loss_map_cls: 0.6937, d2.loss_map_pts: 3.8766, d2.loss_map_dir: 0.0449, d3.loss_map_cls: 0.7015, d3.loss_map_pts: 3.8581, d3.loss_map_dir: 0.0449, d4.loss_map_cls: 0.7049, d4.loss_map_pts: 3.8635, d4.loss_map_dir: 0.0448, d5.loss_map_cls: 0.7073, d5.loss_map_pts: 3.8675, d5.loss_map_dir: 0.0449, loss: 131.0857, grad_norm: 303.4832 +2026-02-23 23:48:46,745 - DriveTransformer - INFO - Epoch [1][6350/117620] lr: 1.000e-04, eta: 27 days, 9:52:18, time: 0.312, data_time: 0.013, memory: 8395, loss_cls: 1.3287, loss_bbox: 1.3141, loss_traj: 5.9662, loss_traj_cls: 0.0006, loss_map_cls: 0.6944, loss_map_pts: 3.7891, loss_map_dir: 0.0444, d0.loss_plan_l1_fix_time: 4.8541, d0.loss_plan_l1_fix_dist: 1.0602, d1.loss_plan_l1_fix_time: 4.1244, d1.loss_plan_l1_fix_dist: 1.1979, d2.loss_plan_l1_fix_time: 4.0018, d2.loss_plan_l1_fix_dist: 1.3904, d3.loss_plan_l1_fix_time: 4.0002, d3.loss_plan_l1_fix_dist: 1.6018, d4.loss_plan_l1_fix_time: 4.0170, d4.loss_plan_l1_fix_dist: 1.8342, d5.loss_plan_l1_fix_time: 4.0538, d5.loss_plan_l1_fix_dist: 2.0724, d6.loss_plan_l1_fix_time: 4.1360, d6.loss_plan_l1_fix_dist: 2.3107, d0.loss_cls_all: 1.2404, d0.loss_bbox_all: 1.2604, d0.loss_cls: 1.2404, d0.loss_bbox: 1.2604, d1.loss_cls: 1.2743, d1.loss_bbox: 1.2661, d2.loss_cls: 1.2946, d2.loss_bbox: 1.2719, d3.loss_cls: 1.3110, d3.loss_bbox: 1.2830, d4.loss_cls: 1.3192, d4.loss_bbox: 1.2960, d5.loss_cls: 1.3237, d5.loss_bbox: 1.3055, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.7917, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.4866, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.3577, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.9542, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.4443, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.7001, d0.loss_map_cls_all: 0.6618, d0.loss_map_pts_all: 4.0951, d0.loss_map_dir_all: 0.0449, d0.loss_map_cls: 0.6618, d0.loss_map_pts: 4.0951, d0.loss_map_dir: 0.0449, d1.loss_map_cls: 0.6743, d1.loss_map_pts: 3.8512, d1.loss_map_dir: 0.0446, d2.loss_map_cls: 0.6811, d2.loss_map_pts: 3.8000, d2.loss_map_dir: 0.0445, d3.loss_map_cls: 0.6881, d3.loss_map_pts: 3.7776, d3.loss_map_dir: 0.0446, d4.loss_map_cls: 0.6906, d4.loss_map_pts: 3.7795, d4.loss_map_dir: 0.0444, d5.loss_map_cls: 0.6929, d5.loss_map_pts: 3.7807, d5.loss_map_dir: 0.0445, loss: 130.7190, grad_norm: 298.5458 +2026-02-23 23:49:02,633 - DriveTransformer - INFO - Epoch [1][6400/117620] lr: 1.000e-04, eta: 27 days, 9:35:19, time: 0.318, data_time: 0.014, memory: 8395, loss_cls: 1.3773, loss_bbox: 1.2226, loss_traj: 4.6774, loss_traj_cls: 0.0005, loss_map_cls: 0.7082, loss_map_pts: 3.9112, loss_map_dir: 0.0448, d0.loss_plan_l1_fix_time: 4.4875, d0.loss_plan_l1_fix_dist: 0.8708, d1.loss_plan_l1_fix_time: 3.9148, d1.loss_plan_l1_fix_dist: 1.0258, d2.loss_plan_l1_fix_time: 3.8157, d2.loss_plan_l1_fix_dist: 1.2337, d3.loss_plan_l1_fix_time: 3.8340, d3.loss_plan_l1_fix_dist: 1.4377, d4.loss_plan_l1_fix_time: 3.8909, d4.loss_plan_l1_fix_dist: 1.6800, d5.loss_plan_l1_fix_time: 3.9764, d5.loss_plan_l1_fix_dist: 1.9137, d6.loss_plan_l1_fix_time: 4.1100, d6.loss_plan_l1_fix_dist: 2.1379, d0.loss_cls_all: 1.2561, d0.loss_bbox_all: 1.2056, d0.loss_cls: 1.2561, d0.loss_bbox: 1.2056, d1.loss_cls: 1.2920, d1.loss_bbox: 1.2142, d2.loss_cls: 1.3215, d2.loss_bbox: 1.2105, d3.loss_cls: 1.3474, d3.loss_bbox: 1.2099, d4.loss_cls: 1.3579, d4.loss_bbox: 1.2131, d5.loss_cls: 1.3668, d5.loss_bbox: 1.2182, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.5693, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.9612, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.5524, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.9413, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.2958, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.4808, d0.loss_map_cls_all: 0.6720, d0.loss_map_pts_all: 4.3902, d0.loss_map_dir_all: 0.0459, d0.loss_map_cls: 0.6720, d0.loss_map_pts: 4.3902, d0.loss_map_dir: 0.0459, d1.loss_map_cls: 0.6870, d1.loss_map_pts: 4.0216, d1.loss_map_dir: 0.0449, d2.loss_map_cls: 0.6950, d2.loss_map_pts: 3.9347, d2.loss_map_dir: 0.0446, d3.loss_map_cls: 0.6998, d3.loss_map_pts: 3.9047, d3.loss_map_dir: 0.0447, d4.loss_map_cls: 0.7058, d4.loss_map_pts: 3.9002, d4.loss_map_dir: 0.0447, d5.loss_map_cls: 0.7063, d5.loss_map_pts: 3.9005, d5.loss_map_dir: 0.0447, loss: 123.3446, grad_norm: 298.5458 +2026-02-23 23:49:18,716 - DriveTransformer - INFO - Epoch [1][6450/117620] lr: 1.000e-04, eta: 27 days, 9:22:11, time: 0.322, data_time: 0.014, memory: 8395, loss_cls: 1.4003, loss_bbox: 1.3613, loss_traj: 4.3063, loss_traj_cls: 0.0006, loss_map_cls: 0.6747, loss_map_pts: 3.9333, loss_map_dir: 0.0492, d0.loss_plan_l1_fix_time: 4.3563, d0.loss_plan_l1_fix_dist: 0.8895, d1.loss_plan_l1_fix_time: 3.8845, d1.loss_plan_l1_fix_dist: 1.0176, d2.loss_plan_l1_fix_time: 3.8164, d2.loss_plan_l1_fix_dist: 1.1857, d3.loss_plan_l1_fix_time: 3.8395, d3.loss_plan_l1_fix_dist: 1.3662, d4.loss_plan_l1_fix_time: 3.8936, d4.loss_plan_l1_fix_dist: 1.5750, d5.loss_plan_l1_fix_time: 3.9756, d5.loss_plan_l1_fix_dist: 1.7968, d6.loss_plan_l1_fix_time: 4.1052, d6.loss_plan_l1_fix_dist: 2.0027, d0.loss_cls_all: 1.3069, d0.loss_bbox_all: 1.3214, d0.loss_cls: 1.3069, d0.loss_bbox: 1.3214, d1.loss_cls: 1.3305, d1.loss_bbox: 1.3236, d2.loss_cls: 1.3509, d2.loss_bbox: 1.3266, d3.loss_cls: 1.3686, d3.loss_bbox: 1.3319, d4.loss_cls: 1.3824, d4.loss_bbox: 1.3405, d5.loss_cls: 1.3882, d5.loss_bbox: 1.3464, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.3771, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.7619, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.2769, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.6301, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.9547, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.1333, d0.loss_map_cls_all: 0.6466, d0.loss_map_pts_all: 4.2652, d0.loss_map_dir_all: 0.0497, d0.loss_map_cls: 0.6466, d0.loss_map_pts: 4.2652, d0.loss_map_dir: 0.0497, d1.loss_map_cls: 0.6573, d1.loss_map_pts: 3.9764, d1.loss_map_dir: 0.0491, d2.loss_map_cls: 0.6637, d2.loss_map_pts: 3.9212, d2.loss_map_dir: 0.0492, d3.loss_map_cls: 0.6691, d3.loss_map_pts: 3.9116, d3.loss_map_dir: 0.0492, d4.loss_map_cls: 0.6714, d4.loss_map_pts: 3.9142, d4.loss_map_dir: 0.0492, d5.loss_map_cls: 0.6741, d5.loss_map_pts: 3.9197, d5.loss_map_dir: 0.0493, loss: 121.4614, grad_norm: 294.8415 +2026-02-23 23:49:34,850 - DriveTransformer - INFO - Epoch [1][6500/117620] lr: 1.000e-04, eta: 27 days, 9:10:14, time: 0.323, data_time: 0.015, memory: 8395, loss_cls: 1.3763, loss_bbox: 1.4389, loss_traj: 4.6973, loss_traj_cls: 0.0005, loss_map_cls: 0.6769, loss_map_pts: 3.8018, loss_map_dir: 0.0448, d0.loss_plan_l1_fix_time: 5.2494, d0.loss_plan_l1_fix_dist: 1.0016, d1.loss_plan_l1_fix_time: 4.4579, d1.loss_plan_l1_fix_dist: 1.0716, d2.loss_plan_l1_fix_time: 4.3105, d2.loss_plan_l1_fix_dist: 1.1741, d3.loss_plan_l1_fix_time: 4.3043, d3.loss_plan_l1_fix_dist: 1.3012, d4.loss_plan_l1_fix_time: 4.3437, d4.loss_plan_l1_fix_dist: 1.4546, d5.loss_plan_l1_fix_time: 4.4108, d5.loss_plan_l1_fix_dist: 1.6274, d6.loss_plan_l1_fix_time: 4.5190, d6.loss_plan_l1_fix_dist: 1.7882, d0.loss_cls_all: 1.2869, d0.loss_bbox_all: 1.3428, d0.loss_cls: 1.2869, d0.loss_bbox: 1.3428, d1.loss_cls: 1.3174, d1.loss_bbox: 1.3400, d2.loss_cls: 1.3333, d2.loss_bbox: 1.3505, d3.loss_cls: 1.3514, d3.loss_bbox: 1.3664, d4.loss_cls: 1.3604, d4.loss_bbox: 1.3852, d5.loss_cls: 1.3673, d5.loss_bbox: 1.4008, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.3857, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.8110, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.4518, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.8960, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.2759, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.5083, d0.loss_map_cls_all: 0.6459, d0.loss_map_pts_all: 4.1764, d0.loss_map_dir_all: 0.0455, d0.loss_map_cls: 0.6459, d0.loss_map_pts: 4.1764, d0.loss_map_dir: 0.0455, d1.loss_map_cls: 0.6559, d1.loss_map_pts: 3.8801, d1.loss_map_dir: 0.0448, d2.loss_map_cls: 0.6639, d2.loss_map_pts: 3.8239, d2.loss_map_dir: 0.0449, d3.loss_map_cls: 0.6684, d3.loss_map_pts: 3.8026, d3.loss_map_dir: 0.0449, d4.loss_map_cls: 0.6731, d4.loss_map_pts: 3.7925, d4.loss_map_dir: 0.0447, d5.loss_map_cls: 0.6755, d5.loss_map_pts: 3.7946, d5.loss_map_dir: 0.0448, loss: 125.6045, grad_norm: 294.8415 +2026-02-23 23:49:51,327 - DriveTransformer - INFO - Epoch [1][6550/117620] lr: 1.000e-04, eta: 27 days, 9:04:29, time: 0.329, data_time: 0.014, memory: 8395, loss_cls: 1.3468, loss_bbox: 1.2851, loss_traj: 4.6568, loss_traj_cls: 0.0006, loss_map_cls: 0.7667, loss_map_pts: 3.8105, loss_map_dir: 0.0426, d0.loss_plan_l1_fix_time: 4.9120, d0.loss_plan_l1_fix_dist: 0.7964, d1.loss_plan_l1_fix_time: 4.2420, d1.loss_plan_l1_fix_dist: 0.8760, d2.loss_plan_l1_fix_time: 4.1479, d2.loss_plan_l1_fix_dist: 0.9853, d3.loss_plan_l1_fix_time: 4.1756, d3.loss_plan_l1_fix_dist: 1.1348, d4.loss_plan_l1_fix_time: 4.2251, d4.loss_plan_l1_fix_dist: 1.3121, d5.loss_plan_l1_fix_time: 4.2746, d5.loss_plan_l1_fix_dist: 1.5003, d6.loss_plan_l1_fix_time: 4.3536, d6.loss_plan_l1_fix_dist: 1.6830, d0.loss_cls_all: 1.2501, d0.loss_bbox_all: 1.2153, d0.loss_cls: 1.2501, d0.loss_bbox: 1.2153, d1.loss_cls: 1.2927, d1.loss_bbox: 1.2031, d2.loss_cls: 1.3067, d2.loss_bbox: 1.2081, d3.loss_cls: 1.3246, d3.loss_bbox: 1.2208, d4.loss_cls: 1.3314, d4.loss_bbox: 1.2414, d5.loss_cls: 1.3380, d5.loss_bbox: 1.2596, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.3096, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.7296, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.3833, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.8278, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.2314, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.4481, d0.loss_map_cls_all: 0.7226, d0.loss_map_pts_all: 4.1619, d0.loss_map_dir_all: 0.0435, d0.loss_map_cls: 0.7226, d0.loss_map_pts: 4.1619, d0.loss_map_dir: 0.0435, d1.loss_map_cls: 0.7373, d1.loss_map_pts: 3.8820, d1.loss_map_dir: 0.0426, d2.loss_map_cls: 0.7489, d2.loss_map_pts: 3.8268, d2.loss_map_dir: 0.0425, d3.loss_map_cls: 0.7531, d3.loss_map_pts: 3.8106, d3.loss_map_dir: 0.0425, d4.loss_map_cls: 0.7581, d4.loss_map_pts: 3.7995, d4.loss_map_dir: 0.0426, d5.loss_map_cls: 0.7630, d5.loss_map_pts: 3.8010, d5.loss_map_dir: 0.0425, loss: 122.0669, grad_norm: 287.4860 +2026-02-23 23:50:08,192 - DriveTransformer - INFO - Epoch [1][6600/117620] lr: 1.000e-04, eta: 27 days, 9:06:03, time: 0.338, data_time: 0.015, memory: 8395, loss_cls: 1.3394, loss_bbox: 1.2326, loss_traj: 5.3157, loss_traj_cls: 0.0005, loss_map_cls: 0.7250, loss_map_pts: 3.6705, loss_map_dir: 0.0423, d0.loss_plan_l1_fix_time: 4.3307, d0.loss_plan_l1_fix_dist: 0.7771, d1.loss_plan_l1_fix_time: 3.6811, d1.loss_plan_l1_fix_dist: 0.8769, d2.loss_plan_l1_fix_time: 3.5570, d2.loss_plan_l1_fix_dist: 1.0147, d3.loss_plan_l1_fix_time: 3.5495, d3.loss_plan_l1_fix_dist: 1.1925, d4.loss_plan_l1_fix_time: 3.5854, d4.loss_plan_l1_fix_dist: 1.3974, d5.loss_plan_l1_fix_time: 3.6345, d5.loss_plan_l1_fix_dist: 1.5938, d6.loss_plan_l1_fix_time: 3.7217, d6.loss_plan_l1_fix_dist: 1.8102, d0.loss_cls_all: 1.2106, d0.loss_bbox_all: 1.2230, d0.loss_cls: 1.2106, d0.loss_bbox: 1.2230, d1.loss_cls: 1.2678, d1.loss_bbox: 1.2011, d2.loss_cls: 1.2910, d2.loss_bbox: 1.2017, d3.loss_cls: 1.3111, d3.loss_bbox: 1.2087, d4.loss_cls: 1.3219, d4.loss_bbox: 1.2193, d5.loss_cls: 1.3284, d5.loss_bbox: 1.2324, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.6445, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.1234, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.8677, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.3656, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.8320, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.0700, d0.loss_map_cls_all: 0.6784, d0.loss_map_pts_all: 4.1199, d0.loss_map_dir_all: 0.0435, d0.loss_map_cls: 0.6784, d0.loss_map_pts: 4.1199, d0.loss_map_dir: 0.0435, d1.loss_map_cls: 0.6919, d1.loss_map_pts: 3.7797, d1.loss_map_dir: 0.0426, d2.loss_map_cls: 0.7050, d2.loss_map_pts: 3.7107, d2.loss_map_dir: 0.0424, d3.loss_map_cls: 0.7116, d3.loss_map_pts: 3.6815, d3.loss_map_dir: 0.0423, d4.loss_map_cls: 0.7166, d4.loss_map_pts: 3.6685, d4.loss_map_dir: 0.0423, d5.loss_map_cls: 0.7213, d5.loss_map_pts: 3.6660, d5.loss_map_dir: 0.0423, loss: 120.3534, grad_norm: 287.4860 +2026-02-23 23:50:24,146 - DriveTransformer - INFO - Epoch [1][6650/117620] lr: 1.000e-04, eta: 27 days, 8:51:06, time: 0.319, data_time: 0.016, memory: 8395, loss_cls: 1.3593, loss_bbox: 1.3640, loss_traj: 5.7325, loss_traj_cls: 0.0006, loss_map_cls: 0.7018, loss_map_pts: 3.8200, loss_map_dir: 0.0440, d0.loss_plan_l1_fix_time: 4.7698, d0.loss_plan_l1_fix_dist: 0.9324, d1.loss_plan_l1_fix_time: 3.9768, d1.loss_plan_l1_fix_dist: 1.0465, d2.loss_plan_l1_fix_time: 3.8491, d2.loss_plan_l1_fix_dist: 1.2010, d3.loss_plan_l1_fix_time: 3.8514, d3.loss_plan_l1_fix_dist: 1.3704, d4.loss_plan_l1_fix_time: 3.8900, d4.loss_plan_l1_fix_dist: 1.5489, d5.loss_plan_l1_fix_time: 3.9456, d5.loss_plan_l1_fix_dist: 1.7409, d6.loss_plan_l1_fix_time: 4.0338, d6.loss_plan_l1_fix_dist: 1.9663, d0.loss_cls_all: 1.2644, d0.loss_bbox_all: 1.2937, d0.loss_cls: 1.2644, d0.loss_bbox: 1.2937, d1.loss_cls: 1.3014, d1.loss_bbox: 1.2773, d2.loss_cls: 1.3153, d2.loss_bbox: 1.2857, d3.loss_cls: 1.3314, d3.loss_bbox: 1.2982, d4.loss_cls: 1.3404, d4.loss_bbox: 1.3157, d5.loss_cls: 1.3483, d5.loss_bbox: 1.3411, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.5601, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.0750, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.9583, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.5511, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.1363, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.4103, d0.loss_map_cls_all: 0.6595, d0.loss_map_pts_all: 4.2324, d0.loss_map_dir_all: 0.0451, d0.loss_map_cls: 0.6595, d0.loss_map_pts: 4.2324, d0.loss_map_dir: 0.0451, d1.loss_map_cls: 0.6735, d1.loss_map_pts: 3.9047, d1.loss_map_dir: 0.0441, d2.loss_map_cls: 0.6848, d2.loss_map_pts: 3.8464, d2.loss_map_dir: 0.0440, d3.loss_map_cls: 0.6899, d3.loss_map_pts: 3.8258, d3.loss_map_dir: 0.0440, d4.loss_map_cls: 0.6952, d4.loss_map_pts: 3.8195, d4.loss_map_dir: 0.0441, d5.loss_map_cls: 0.6990, d5.loss_map_pts: 3.8167, d5.loss_map_dir: 0.0439, loss: 126.8600, grad_norm: 284.2888 +2026-02-23 23:50:39,437 - DriveTransformer - INFO - Epoch [1][6700/117620] lr: 1.000e-04, eta: 27 days, 8:24:50, time: 0.306, data_time: 0.014, memory: 8395, loss_cls: 1.3488, loss_bbox: 1.3916, loss_traj: 5.5158, loss_traj_cls: 0.0005, loss_map_cls: 0.7191, loss_map_pts: 3.5305, loss_map_dir: 0.0401, d0.loss_plan_l1_fix_time: 4.3252, d0.loss_plan_l1_fix_dist: 0.6353, d1.loss_plan_l1_fix_time: 3.6598, d1.loss_plan_l1_fix_dist: 0.7866, d2.loss_plan_l1_fix_time: 3.5233, d2.loss_plan_l1_fix_dist: 1.0070, d3.loss_plan_l1_fix_time: 3.5165, d3.loss_plan_l1_fix_dist: 1.2111, d4.loss_plan_l1_fix_time: 3.5417, d4.loss_plan_l1_fix_dist: 1.4048, d5.loss_plan_l1_fix_time: 3.5850, d5.loss_plan_l1_fix_dist: 1.6191, d6.loss_plan_l1_fix_time: 3.6632, d6.loss_plan_l1_fix_dist: 1.8895, d0.loss_cls_all: 1.2020, d0.loss_bbox_all: 1.2871, d0.loss_cls: 1.2020, d0.loss_bbox: 1.2871, d1.loss_cls: 1.2609, d1.loss_bbox: 1.2747, d2.loss_cls: 1.2931, d2.loss_bbox: 1.2867, d3.loss_cls: 1.3170, d3.loss_bbox: 1.2998, d4.loss_cls: 1.3264, d4.loss_bbox: 1.3215, d5.loss_cls: 1.3334, d5.loss_bbox: 1.3537, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.8500, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.2712, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.0014, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.4897, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.0070, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.2305, d0.loss_map_cls_all: 0.6706, d0.loss_map_pts_all: 3.9597, d0.loss_map_dir_all: 0.0418, d0.loss_map_cls: 0.6706, d0.loss_map_pts: 3.9597, d0.loss_map_dir: 0.0418, d1.loss_map_cls: 0.6859, d1.loss_map_pts: 3.6341, d1.loss_map_dir: 0.0405, d2.loss_map_cls: 0.6979, d2.loss_map_pts: 3.5702, d2.loss_map_dir: 0.0404, d3.loss_map_cls: 0.7073, d3.loss_map_pts: 3.5479, d3.loss_map_dir: 0.0402, d4.loss_map_cls: 0.7117, d4.loss_map_pts: 3.5384, d4.loss_map_dir: 0.0402, d5.loss_map_cls: 0.7165, d5.loss_map_pts: 3.5337, d5.loss_map_dir: 0.0401, loss: 120.7014, grad_norm: 284.2888 +2026-02-23 23:50:56,227 - DriveTransformer - INFO - Epoch [1][6750/117620] lr: 1.000e-04, eta: 27 days, 8:25:05, time: 0.336, data_time: 0.014, memory: 8395, loss_cls: 1.3729, loss_bbox: 1.3861, loss_traj: 4.7622, loss_traj_cls: 0.0005, loss_map_cls: 0.6927, loss_map_pts: 3.7356, loss_map_dir: 0.0413, d0.loss_plan_l1_fix_time: 4.2430, d0.loss_plan_l1_fix_dist: 0.7652, d1.loss_plan_l1_fix_time: 3.7715, d1.loss_plan_l1_fix_dist: 0.8631, d2.loss_plan_l1_fix_time: 3.7083, d2.loss_plan_l1_fix_dist: 1.0108, d3.loss_plan_l1_fix_time: 3.7167, d3.loss_plan_l1_fix_dist: 1.1492, d4.loss_plan_l1_fix_time: 3.7458, d4.loss_plan_l1_fix_dist: 1.2799, d5.loss_plan_l1_fix_time: 3.7788, d5.loss_plan_l1_fix_dist: 1.4176, d6.loss_plan_l1_fix_time: 3.8320, d6.loss_plan_l1_fix_dist: 1.5863, d0.loss_cls_all: 1.2535, d0.loss_bbox_all: 1.3114, d0.loss_cls: 1.2535, d0.loss_bbox: 1.3114, d1.loss_cls: 1.3000, d1.loss_bbox: 1.3063, d2.loss_cls: 1.3262, d2.loss_bbox: 1.3083, d3.loss_cls: 1.3456, d3.loss_bbox: 1.3160, d4.loss_cls: 1.3540, d4.loss_bbox: 1.3304, d5.loss_cls: 1.3628, d5.loss_bbox: 1.3499, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.3879, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.6751, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.3100, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.7834, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.2780, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.4893, d0.loss_map_cls_all: 0.6589, d0.loss_map_pts_all: 4.0952, d0.loss_map_dir_all: 0.0429, d0.loss_map_cls: 0.6589, d0.loss_map_pts: 4.0952, d0.loss_map_dir: 0.0429, d1.loss_map_cls: 0.6724, d1.loss_map_pts: 3.7787, d1.loss_map_dir: 0.0417, d2.loss_map_cls: 0.6782, d2.loss_map_pts: 3.7429, d2.loss_map_dir: 0.0414, d3.loss_map_cls: 0.6843, d3.loss_map_pts: 3.7270, d3.loss_map_dir: 0.0413, d4.loss_map_cls: 0.6894, d4.loss_map_pts: 3.7316, d4.loss_map_dir: 0.0413, d5.loss_map_cls: 0.6914, d5.loss_map_pts: 3.7351, d5.loss_map_dir: 0.0413, loss: 118.1470, grad_norm: 281.1983 +2026-02-23 23:51:13,334 - DriveTransformer - INFO - Epoch [1][6800/117620] lr: 1.000e-04, eta: 27 days, 8:30:51, time: 0.342, data_time: 0.014, memory: 8395, loss_cls: 1.3665, loss_bbox: 1.4119, loss_traj: 3.9806, loss_traj_cls: 0.0005, loss_map_cls: 0.6789, loss_map_pts: 3.8859, loss_map_dir: 0.0455, d0.loss_plan_l1_fix_time: 3.5529, d0.loss_plan_l1_fix_dist: 0.7446, d1.loss_plan_l1_fix_time: 3.3571, d1.loss_plan_l1_fix_dist: 0.8185, d2.loss_plan_l1_fix_time: 3.4094, d2.loss_plan_l1_fix_dist: 0.9355, d3.loss_plan_l1_fix_time: 3.4543, d3.loss_plan_l1_fix_dist: 1.0541, d4.loss_plan_l1_fix_time: 3.4951, d4.loss_plan_l1_fix_dist: 1.1540, d5.loss_plan_l1_fix_time: 3.5235, d5.loss_plan_l1_fix_dist: 1.2564, d6.loss_plan_l1_fix_time: 3.5780, d6.loss_plan_l1_fix_dist: 1.3742, d0.loss_cls_all: 1.2212, d0.loss_bbox_all: 1.3693, d0.loss_cls: 1.2212, d0.loss_bbox: 1.3693, d1.loss_cls: 1.2853, d1.loss_bbox: 1.3486, d2.loss_cls: 1.3137, d2.loss_bbox: 1.3524, d3.loss_cls: 1.3322, d3.loss_bbox: 1.3605, d4.loss_cls: 1.3418, d4.loss_bbox: 1.3725, d5.loss_cls: 1.3514, d5.loss_bbox: 1.3839, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.1093, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3514, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.8509, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.2373, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.5980, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.7557, d0.loss_map_cls_all: 0.6502, d0.loss_map_pts_all: 4.3144, d0.loss_map_dir_all: 0.0473, d0.loss_map_cls: 0.6502, d0.loss_map_pts: 4.3144, d0.loss_map_dir: 0.0473, d1.loss_map_cls: 0.6649, d1.loss_map_pts: 3.9556, d1.loss_map_dir: 0.0460, d2.loss_map_cls: 0.6675, d2.loss_map_pts: 3.9036, d2.loss_map_dir: 0.0458, d3.loss_map_cls: 0.6708, d3.loss_map_pts: 3.8827, d3.loss_map_dir: 0.0456, d4.loss_map_cls: 0.6770, d4.loss_map_pts: 3.8844, d4.loss_map_dir: 0.0455, d5.loss_map_cls: 0.6769, d5.loss_map_pts: 3.8868, d5.loss_map_dir: 0.0454, loss: 112.7291, grad_norm: 281.1983 +2026-02-23 23:51:30,564 - DriveTransformer - INFO - Epoch [1][6850/117620] lr: 1.000e-04, eta: 27 days, 8:38:39, time: 0.345, data_time: 0.016, memory: 8395, loss_cls: 1.3709, loss_bbox: 1.4431, loss_traj: 5.5437, loss_traj_cls: 0.0006, loss_map_cls: 0.7356, loss_map_pts: 3.6598, loss_map_dir: 0.0404, d0.loss_plan_l1_fix_time: 4.8472, d0.loss_plan_l1_fix_dist: 0.7365, d1.loss_plan_l1_fix_time: 4.4008, d1.loss_plan_l1_fix_dist: 0.8326, d2.loss_plan_l1_fix_time: 4.3828, d2.loss_plan_l1_fix_dist: 0.9806, d3.loss_plan_l1_fix_time: 4.4040, d3.loss_plan_l1_fix_dist: 1.1378, d4.loss_plan_l1_fix_time: 4.4301, d4.loss_plan_l1_fix_dist: 1.2971, d5.loss_plan_l1_fix_time: 4.4519, d5.loss_plan_l1_fix_dist: 1.4498, d6.loss_plan_l1_fix_time: 4.4970, d6.loss_plan_l1_fix_dist: 1.5807, d0.loss_cls_all: 1.2462, d0.loss_bbox_all: 1.3744, d0.loss_cls: 1.2462, d0.loss_bbox: 1.3744, d1.loss_cls: 1.2960, d1.loss_bbox: 1.3650, d2.loss_cls: 1.3211, d2.loss_bbox: 1.3658, d3.loss_cls: 1.3433, d3.loss_bbox: 1.3781, d4.loss_cls: 1.3506, d4.loss_bbox: 1.3913, d5.loss_cls: 1.3568, d5.loss_bbox: 1.4157, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.8408, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.2545, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.9269, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.4574, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.9847, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.2366, d0.loss_map_cls_all: 0.6993, d0.loss_map_pts_all: 4.0762, d0.loss_map_dir_all: 0.0421, d0.loss_map_cls: 0.6993, d0.loss_map_pts: 4.0762, d0.loss_map_dir: 0.0421, d1.loss_map_cls: 0.7093, d1.loss_map_pts: 3.7470, d1.loss_map_dir: 0.0408, d2.loss_map_cls: 0.7151, d2.loss_map_pts: 3.6823, d2.loss_map_dir: 0.0405, d3.loss_map_cls: 0.7239, d3.loss_map_pts: 3.6649, d3.loss_map_dir: 0.0405, d4.loss_map_cls: 0.7298, d4.loss_map_pts: 3.6593, d4.loss_map_dir: 0.0403, d5.loss_map_cls: 0.7331, d5.loss_map_pts: 3.6584, d5.loss_map_dir: 0.0405, loss: 127.6126, grad_norm: 279.5343 +2026-02-23 23:51:46,994 - DriveTransformer - INFO - Epoch [1][6900/117620] lr: 1.000e-04, eta: 27 days, 8:32:41, time: 0.329, data_time: 0.014, memory: 8395, loss_cls: 1.3505, loss_bbox: 1.4506, loss_traj: 4.2541, loss_traj_cls: 0.0006, loss_map_cls: 0.7314, loss_map_pts: 3.8066, loss_map_dir: 0.0435, d0.loss_plan_l1_fix_time: 4.8374, d0.loss_plan_l1_fix_dist: 0.7857, d1.loss_plan_l1_fix_time: 4.7135, d1.loss_plan_l1_fix_dist: 0.8769, d2.loss_plan_l1_fix_time: 4.7664, d2.loss_plan_l1_fix_dist: 1.0244, d3.loss_plan_l1_fix_time: 4.8156, d3.loss_plan_l1_fix_dist: 1.1837, d4.loss_plan_l1_fix_time: 4.8565, d4.loss_plan_l1_fix_dist: 1.3622, d5.loss_plan_l1_fix_time: 4.8854, d5.loss_plan_l1_fix_dist: 1.5291, d6.loss_plan_l1_fix_time: 4.9311, d6.loss_plan_l1_fix_dist: 1.6516, d0.loss_cls_all: 1.2424, d0.loss_bbox_all: 1.3587, d0.loss_cls: 1.2424, d0.loss_bbox: 1.3587, d1.loss_cls: 1.2721, d1.loss_bbox: 1.3656, d2.loss_cls: 1.2925, d2.loss_bbox: 1.3735, d3.loss_cls: 1.3185, d3.loss_bbox: 1.3910, d4.loss_cls: 1.3287, d4.loss_bbox: 1.4031, d5.loss_cls: 1.3372, d5.loss_bbox: 1.4292, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.3326, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5714, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.0028, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.4100, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.8099, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.0072, d0.loss_map_cls_all: 0.7059, d0.loss_map_pts_all: 4.1370, d0.loss_map_dir_all: 0.0446, d0.loss_map_cls: 0.7059, d0.loss_map_pts: 4.1370, d0.loss_map_dir: 0.0446, d1.loss_map_cls: 0.7159, d1.loss_map_pts: 3.8606, d1.loss_map_dir: 0.0437, d2.loss_map_cls: 0.7194, d2.loss_map_pts: 3.8135, d2.loss_map_dir: 0.0433, d3.loss_map_cls: 0.7237, d3.loss_map_pts: 3.8012, d3.loss_map_dir: 0.0433, d4.loss_map_cls: 0.7288, d4.loss_map_pts: 3.7989, d4.loss_map_dir: 0.0433, d5.loss_map_cls: 0.7290, d5.loss_map_pts: 3.8004, d5.loss_map_dir: 0.0434, loss: 124.3910, grad_norm: 279.5343 +2026-02-23 23:52:03,541 - DriveTransformer - INFO - Epoch [1][6950/117620] lr: 1.000e-04, eta: 27 days, 8:28:45, time: 0.331, data_time: 0.016, memory: 8395, loss_cls: 1.2708, loss_bbox: 1.5084, loss_traj: 4.8292, loss_traj_cls: 0.0005, loss_map_cls: 0.6970, loss_map_pts: 3.6546, loss_map_dir: 0.0391, d0.loss_plan_l1_fix_time: 4.3661, d0.loss_plan_l1_fix_dist: 0.9789, d1.loss_plan_l1_fix_time: 4.2980, d1.loss_plan_l1_fix_dist: 1.0584, d2.loss_plan_l1_fix_time: 4.3274, d2.loss_plan_l1_fix_dist: 1.2018, d3.loss_plan_l1_fix_time: 4.3528, d3.loss_plan_l1_fix_dist: 1.3736, d4.loss_plan_l1_fix_time: 4.3761, d4.loss_plan_l1_fix_dist: 1.5845, d5.loss_plan_l1_fix_time: 4.3796, d5.loss_plan_l1_fix_dist: 1.8188, d6.loss_plan_l1_fix_time: 4.3964, d6.loss_plan_l1_fix_dist: 2.0326, d0.loss_cls_all: 1.1381, d0.loss_bbox_all: 1.3312, d0.loss_cls: 1.1381, d0.loss_bbox: 1.3312, d1.loss_cls: 1.1788, d1.loss_bbox: 1.3394, d2.loss_cls: 1.2114, d2.loss_bbox: 1.3550, d3.loss_cls: 1.2414, d3.loss_bbox: 1.3872, d4.loss_cls: 1.2513, d4.loss_bbox: 1.4219, d5.loss_cls: 1.2564, d5.loss_bbox: 1.4729, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.4775, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.8512, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.4026, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.8887, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.3121, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.5821, d0.loss_map_cls_all: 0.6529, d0.loss_map_pts_all: 4.1747, d0.loss_map_dir_all: 0.0402, d0.loss_map_cls: 0.6529, d0.loss_map_pts: 4.1747, d0.loss_map_dir: 0.0402, d1.loss_map_cls: 0.6700, d1.loss_map_pts: 3.7543, d1.loss_map_dir: 0.0391, d2.loss_map_cls: 0.6790, d2.loss_map_pts: 3.6551, d2.loss_map_dir: 0.0390, d3.loss_map_cls: 0.6848, d3.loss_map_pts: 3.6284, d3.loss_map_dir: 0.0390, d4.loss_map_cls: 0.6893, d4.loss_map_pts: 3.6212, d4.loss_map_dir: 0.0390, d5.loss_map_cls: 0.6938, d5.loss_map_pts: 3.6301, d5.loss_map_dir: 0.0390, loss: 123.7529, grad_norm: 279.0959 +2026-02-23 23:52:19,691 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-23 23:52:19,691 - DriveTransformer - INFO - Epoch [1][7000/117620] lr: 1.000e-04, eta: 27 days, 8:18:07, time: 0.323, data_time: 0.014, memory: 8395, loss_cls: 1.3222, loss_bbox: 1.5745, loss_traj: 4.5531, loss_traj_cls: 0.0006, loss_map_cls: 0.6723, loss_map_pts: 3.9044, loss_map_dir: 0.0402, d0.loss_plan_l1_fix_time: 4.3936, d0.loss_plan_l1_fix_dist: 0.8209, d1.loss_plan_l1_fix_time: 3.8874, d1.loss_plan_l1_fix_dist: 0.9223, d2.loss_plan_l1_fix_time: 3.8232, d2.loss_plan_l1_fix_dist: 1.0822, d3.loss_plan_l1_fix_time: 3.8187, d3.loss_plan_l1_fix_dist: 1.2771, d4.loss_plan_l1_fix_time: 3.8291, d4.loss_plan_l1_fix_dist: 1.5211, d5.loss_plan_l1_fix_time: 3.8411, d5.loss_plan_l1_fix_dist: 1.7926, d6.loss_plan_l1_fix_time: 3.8759, d6.loss_plan_l1_fix_dist: 2.0451, d0.loss_cls_all: 1.1991, d0.loss_bbox_all: 1.3961, d0.loss_cls: 1.1991, d0.loss_bbox: 1.3961, d1.loss_cls: 1.2400, d1.loss_bbox: 1.3975, d2.loss_cls: 1.2732, d2.loss_bbox: 1.4042, d3.loss_cls: 1.2996, d3.loss_bbox: 1.4363, d4.loss_cls: 1.3059, d4.loss_bbox: 1.4773, d5.loss_cls: 1.3114, d5.loss_bbox: 1.5347, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.4157, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.7457, d2.loss_traj_cls: 0.0006, d2.loss_traj: 3.2442, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.6864, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.0777, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.3432, d0.loss_map_cls_all: 0.6374, d0.loss_map_pts_all: 4.2286, d0.loss_map_dir_all: 0.0409, d0.loss_map_cls: 0.6374, d0.loss_map_pts: 4.2286, d0.loss_map_dir: 0.0409, d1.loss_map_cls: 0.6531, d1.loss_map_pts: 3.8907, d1.loss_map_dir: 0.0402, d2.loss_map_cls: 0.6580, d2.loss_map_pts: 3.8348, d2.loss_map_dir: 0.0403, d3.loss_map_cls: 0.6625, d3.loss_map_pts: 3.8295, d3.loss_map_dir: 0.0400, d4.loss_map_cls: 0.6658, d4.loss_map_pts: 3.8358, d4.loss_map_dir: 0.0400, d5.loss_map_cls: 0.6696, d5.loss_map_pts: 3.8627, d5.loss_map_dir: 0.0401, loss: 120.9610, grad_norm: 279.0959 +2026-02-23 23:52:35,676 - DriveTransformer - INFO - Epoch [1][7050/117620] lr: 1.000e-04, eta: 27 days, 8:05:00, time: 0.320, data_time: 0.016, memory: 8395, loss_cls: 1.3115, loss_bbox: 1.2877, loss_traj: 4.1988, loss_traj_cls: 0.0005, loss_map_cls: 0.6947, loss_map_pts: 3.5967, loss_map_dir: 0.0389, d0.loss_plan_l1_fix_time: 4.4283, d0.loss_plan_l1_fix_dist: 0.8384, d1.loss_plan_l1_fix_time: 4.0268, d1.loss_plan_l1_fix_dist: 0.8972, d2.loss_plan_l1_fix_time: 3.9921, d2.loss_plan_l1_fix_dist: 1.0048, d3.loss_plan_l1_fix_time: 4.0178, d3.loss_plan_l1_fix_dist: 1.1500, d4.loss_plan_l1_fix_time: 4.0504, d4.loss_plan_l1_fix_dist: 1.3307, d5.loss_plan_l1_fix_time: 4.0769, d5.loss_plan_l1_fix_dist: 1.5334, d6.loss_plan_l1_fix_time: 4.1176, d6.loss_plan_l1_fix_dist: 1.7237, d0.loss_cls_all: 1.1601, d0.loss_bbox_all: 1.2596, d0.loss_cls: 1.1601, d0.loss_bbox: 1.2596, d1.loss_cls: 1.2133, d1.loss_bbox: 1.2325, d2.loss_cls: 1.2412, d2.loss_bbox: 1.2307, d3.loss_cls: 1.2743, d3.loss_bbox: 1.2367, d4.loss_cls: 1.2873, d4.loss_bbox: 1.2458, d5.loss_cls: 1.3001, d5.loss_bbox: 1.2680, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.1911, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5314, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.9408, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.3883, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.7583, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.9606, d0.loss_map_cls_all: 0.6501, d0.loss_map_pts_all: 4.1083, d0.loss_map_dir_all: 0.0398, d0.loss_map_cls: 0.6501, d0.loss_map_pts: 4.1083, d0.loss_map_dir: 0.0398, d1.loss_map_cls: 0.6585, d1.loss_map_pts: 3.7520, d1.loss_map_dir: 0.0389, d2.loss_map_cls: 0.6721, d2.loss_map_pts: 3.6673, d2.loss_map_dir: 0.0389, d3.loss_map_cls: 0.6832, d3.loss_map_pts: 3.6337, d3.loss_map_dir: 0.0388, d4.loss_map_cls: 0.6881, d4.loss_map_pts: 3.6158, d4.loss_map_dir: 0.0389, d5.loss_map_cls: 0.6923, d5.loss_map_pts: 3.6048, d5.loss_map_dir: 0.0389, loss: 115.9187, grad_norm: 278.6191 +2026-02-23 23:52:52,414 - DriveTransformer - INFO - Epoch [1][7100/117620] lr: 1.000e-04, eta: 27 days, 8:04:30, time: 0.335, data_time: 0.014, memory: 8395, loss_cls: 1.3215, loss_bbox: 1.3413, loss_traj: 4.3875, loss_traj_cls: 0.0005, loss_map_cls: 0.7046, loss_map_pts: 3.6318, loss_map_dir: 0.0416, d0.loss_plan_l1_fix_time: 3.8717, d0.loss_plan_l1_fix_dist: 0.6409, d1.loss_plan_l1_fix_time: 3.2404, d1.loss_plan_l1_fix_dist: 0.7097, d2.loss_plan_l1_fix_time: 3.1556, d2.loss_plan_l1_fix_dist: 0.8256, d3.loss_plan_l1_fix_time: 3.1750, d3.loss_plan_l1_fix_dist: 0.9839, d4.loss_plan_l1_fix_time: 3.2056, d4.loss_plan_l1_fix_dist: 1.1748, d5.loss_plan_l1_fix_time: 3.2405, d5.loss_plan_l1_fix_dist: 1.3872, d6.loss_plan_l1_fix_time: 3.2964, d6.loss_plan_l1_fix_dist: 1.5868, d0.loss_cls_all: 1.1966, d0.loss_bbox_all: 1.3298, d0.loss_cls: 1.1966, d0.loss_bbox: 1.3298, d1.loss_cls: 1.2327, d1.loss_bbox: 1.3252, d2.loss_cls: 1.2575, d2.loss_bbox: 1.3173, d3.loss_cls: 1.2887, d3.loss_bbox: 1.3145, d4.loss_cls: 1.2969, d4.loss_bbox: 1.3197, d5.loss_cls: 1.3064, d5.loss_bbox: 1.3379, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3057, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.6007, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.0235, d3.loss_traj_cls: 0.0004, d3.loss_traj: 3.4974, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.9066, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.1281, d0.loss_map_cls_all: 0.6765, d0.loss_map_pts_all: 4.1198, d0.loss_map_dir_all: 0.0425, d0.loss_map_cls: 0.6765, d0.loss_map_pts: 4.1198, d0.loss_map_dir: 0.0425, d1.loss_map_cls: 0.6802, d1.loss_map_pts: 3.7737, d1.loss_map_dir: 0.0420, d2.loss_map_cls: 0.6889, d2.loss_map_pts: 3.6880, d2.loss_map_dir: 0.0417, d3.loss_map_cls: 0.6955, d3.loss_map_pts: 3.6583, d3.loss_map_dir: 0.0417, d4.loss_map_cls: 0.6998, d4.loss_map_pts: 3.6436, d4.loss_map_dir: 0.0417, d5.loss_map_cls: 0.7024, d5.loss_map_pts: 3.6359, d5.loss_map_dir: 0.0415, loss: 111.1898, grad_norm: 278.6191 +2026-02-23 23:53:09,291 - DriveTransformer - INFO - Epoch [1][7150/117620] lr: 1.000e-04, eta: 27 days, 8:06:20, time: 0.338, data_time: 0.017, memory: 8395, loss_cls: 1.3121, loss_bbox: 1.5258, loss_traj: 4.1630, loss_traj_cls: 0.0006, loss_map_cls: 0.7131, loss_map_pts: 3.7207, loss_map_dir: 0.0467, d0.loss_plan_l1_fix_time: 3.5178, d0.loss_plan_l1_fix_dist: 0.7006, d1.loss_plan_l1_fix_time: 3.1148, d1.loss_plan_l1_fix_dist: 0.7899, d2.loss_plan_l1_fix_time: 3.0683, d2.loss_plan_l1_fix_dist: 0.9106, d3.loss_plan_l1_fix_time: 3.0958, d3.loss_plan_l1_fix_dist: 1.0579, d4.loss_plan_l1_fix_time: 3.1332, d4.loss_plan_l1_fix_dist: 1.2034, d5.loss_plan_l1_fix_time: 3.1766, d5.loss_plan_l1_fix_dist: 1.3624, d6.loss_plan_l1_fix_time: 3.2577, d6.loss_plan_l1_fix_dist: 1.5668, d0.loss_cls_all: 1.1560, d0.loss_bbox_all: 1.3724, d0.loss_cls: 1.1560, d0.loss_bbox: 1.3724, d1.loss_cls: 1.2211, d1.loss_bbox: 1.3618, d2.loss_cls: 1.2430, d2.loss_bbox: 1.3742, d3.loss_cls: 1.2657, d3.loss_bbox: 1.4074, d4.loss_cls: 1.2804, d4.loss_bbox: 1.4357, d5.loss_cls: 1.2922, d5.loss_bbox: 1.4773, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.1663, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.4802, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.8458, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.2871, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.7209, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.9421, d0.loss_map_cls_all: 0.6788, d0.loss_map_pts_all: 4.2227, d0.loss_map_dir_all: 0.0466, d0.loss_map_cls: 0.6788, d0.loss_map_pts: 4.2227, d0.loss_map_dir: 0.0466, d1.loss_map_cls: 0.6911, d1.loss_map_pts: 3.8423, d1.loss_map_dir: 0.0466, d2.loss_map_cls: 0.6979, d2.loss_map_pts: 3.7619, d2.loss_map_dir: 0.0467, d3.loss_map_cls: 0.7055, d3.loss_map_pts: 3.7380, d3.loss_map_dir: 0.0467, d4.loss_map_cls: 0.7082, d4.loss_map_pts: 3.7305, d4.loss_map_dir: 0.0467, d5.loss_map_cls: 0.7110, d5.loss_map_pts: 3.7250, d5.loss_map_dir: 0.0466, loss: 110.7398, grad_norm: 273.4133 +2026-02-23 23:53:25,671 - DriveTransformer - INFO - Epoch [1][7200/117620] lr: 1.000e-04, eta: 27 days, 8:00:18, time: 0.328, data_time: 0.016, memory: 8395, loss_cls: 1.2919, loss_bbox: 1.4700, loss_traj: 4.8154, loss_traj_cls: 0.0006, loss_map_cls: 0.6791, loss_map_pts: 3.6645, loss_map_dir: 0.0451, d0.loss_plan_l1_fix_time: 4.4150, d0.loss_plan_l1_fix_dist: 0.8100, d1.loss_plan_l1_fix_time: 3.9429, d1.loss_plan_l1_fix_dist: 0.8954, d2.loss_plan_l1_fix_time: 3.8753, d2.loss_plan_l1_fix_dist: 1.0157, d3.loss_plan_l1_fix_time: 3.8950, d3.loss_plan_l1_fix_dist: 1.1519, d4.loss_plan_l1_fix_time: 3.9307, d4.loss_plan_l1_fix_dist: 1.2933, d5.loss_plan_l1_fix_time: 3.9794, d5.loss_plan_l1_fix_dist: 1.4443, d6.loss_plan_l1_fix_time: 4.0683, d6.loss_plan_l1_fix_dist: 1.6599, d0.loss_cls_all: 1.1725, d0.loss_bbox_all: 1.2786, d0.loss_cls: 1.1725, d0.loss_bbox: 1.2786, d1.loss_cls: 1.1990, d1.loss_bbox: 1.2857, d2.loss_cls: 1.2188, d2.loss_bbox: 1.3059, d3.loss_cls: 1.2389, d3.loss_bbox: 1.3448, d4.loss_cls: 1.2529, d4.loss_bbox: 1.3746, d5.loss_cls: 1.2692, d5.loss_bbox: 1.4164, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.6991, d1.loss_traj_cls: 0.0006, d1.loss_traj: 3.0586, d2.loss_traj_cls: 0.0006, d2.loss_traj: 3.4242, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.9126, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.3465, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.5936, d0.loss_map_cls_all: 0.6469, d0.loss_map_pts_all: 4.1895, d0.loss_map_dir_all: 0.0450, d0.loss_map_cls: 0.6469, d0.loss_map_pts: 4.1895, d0.loss_map_dir: 0.0450, d1.loss_map_cls: 0.6534, d1.loss_map_pts: 3.8035, d1.loss_map_dir: 0.0449, d2.loss_map_cls: 0.6631, d2.loss_map_pts: 3.7145, d2.loss_map_dir: 0.0451, d3.loss_map_cls: 0.6693, d3.loss_map_pts: 3.6878, d3.loss_map_dir: 0.0449, d4.loss_map_cls: 0.6733, d4.loss_map_pts: 3.6742, d4.loss_map_dir: 0.0452, d5.loss_map_cls: 0.6763, d5.loss_map_pts: 3.6668, d5.loss_map_dir: 0.0453, loss: 120.0603, grad_norm: 272.7073 +2026-02-23 23:53:42,610 - DriveTransformer - INFO - Epoch [1][7250/117620] lr: 1.000e-04, eta: 27 days, 8:02:44, time: 0.338, data_time: 0.014, memory: 8395, loss_cls: 1.3877, loss_bbox: 1.5635, loss_traj: 4.2847, loss_traj_cls: 0.0005, loss_map_cls: 0.6723, loss_map_pts: 3.7129, loss_map_dir: 0.0509, d0.loss_plan_l1_fix_time: 3.7483, d0.loss_plan_l1_fix_dist: 0.7795, d1.loss_plan_l1_fix_time: 3.4250, d1.loss_plan_l1_fix_dist: 0.8853, d2.loss_plan_l1_fix_time: 3.4078, d2.loss_plan_l1_fix_dist: 1.0613, d3.loss_plan_l1_fix_time: 3.4286, d3.loss_plan_l1_fix_dist: 1.2287, d4.loss_plan_l1_fix_time: 3.4630, d4.loss_plan_l1_fix_dist: 1.3974, d5.loss_plan_l1_fix_time: 3.5079, d5.loss_plan_l1_fix_dist: 1.5547, d6.loss_plan_l1_fix_time: 3.5968, d6.loss_plan_l1_fix_dist: 1.7356, d0.loss_cls_all: 1.1773, d0.loss_bbox_all: 1.3562, d0.loss_cls: 1.1773, d0.loss_bbox: 1.3562, d1.loss_cls: 1.2220, d1.loss_bbox: 1.3823, d2.loss_cls: 1.2666, d2.loss_bbox: 1.3991, d3.loss_cls: 1.2985, d3.loss_bbox: 1.4390, d4.loss_cls: 1.3249, d4.loss_bbox: 1.4807, d5.loss_cls: 1.3492, d5.loss_bbox: 1.5180, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2757, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5572, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.9311, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.3809, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.7877, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.0471, d0.loss_map_cls_all: 0.6461, d0.loss_map_pts_all: 4.1316, d0.loss_map_dir_all: 0.0512, d0.loss_map_cls: 0.6461, d0.loss_map_pts: 4.1316, d0.loss_map_dir: 0.0512, d1.loss_map_cls: 0.6559, d1.loss_map_pts: 3.7535, d1.loss_map_dir: 0.0510, d2.loss_map_cls: 0.6610, d2.loss_map_pts: 3.6954, d2.loss_map_dir: 0.0510, d3.loss_map_cls: 0.6661, d3.loss_map_pts: 3.6901, d3.loss_map_dir: 0.0510, d4.loss_map_cls: 0.6683, d4.loss_map_pts: 3.6951, d4.loss_map_dir: 0.0511, d5.loss_map_cls: 0.6715, d5.loss_map_pts: 3.7016, d5.loss_map_dir: 0.0510, loss: 114.3935, grad_norm: 272.7073 +2026-02-23 23:53:59,109 - DriveTransformer - INFO - Epoch [1][7300/117620] lr: 1.000e-04, eta: 27 days, 7:58:25, time: 0.330, data_time: 0.015, memory: 8395, loss_cls: 1.3881, loss_bbox: 1.5406, loss_traj: 3.7592, loss_traj_cls: 0.0006, loss_map_cls: 0.6686, loss_map_pts: 3.6667, loss_map_dir: 0.0494, d0.loss_plan_l1_fix_time: 4.9258, d0.loss_plan_l1_fix_dist: 0.8567, d1.loss_plan_l1_fix_time: 4.6920, d1.loss_plan_l1_fix_dist: 0.9271, d2.loss_plan_l1_fix_time: 4.6806, d2.loss_plan_l1_fix_dist: 1.0573, d3.loss_plan_l1_fix_time: 4.6950, d3.loss_plan_l1_fix_dist: 1.1970, d4.loss_plan_l1_fix_time: 4.7182, d4.loss_plan_l1_fix_dist: 1.3374, d5.loss_plan_l1_fix_time: 4.7400, d5.loss_plan_l1_fix_dist: 1.4730, d6.loss_plan_l1_fix_time: 4.7902, d6.loss_plan_l1_fix_dist: 1.6356, d0.loss_cls_all: 1.2009, d0.loss_bbox_all: 1.3607, d0.loss_cls: 1.2009, d0.loss_bbox: 1.3607, d1.loss_cls: 1.2299, d1.loss_bbox: 1.3935, d2.loss_cls: 1.2576, d2.loss_bbox: 1.4188, d3.loss_cls: 1.2986, d3.loss_bbox: 1.4475, d4.loss_cls: 1.3388, d4.loss_bbox: 1.4669, d5.loss_cls: 1.3611, d5.loss_bbox: 1.4997, d0.loss_traj_cls: 0.0005, d0.loss_traj: 1.9709, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.2575, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.5329, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.9457, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.3208, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.5446, d0.loss_map_cls_all: 0.6434, d0.loss_map_pts_all: 4.1704, d0.loss_map_dir_all: 0.0493, d0.loss_map_cls: 0.6434, d0.loss_map_pts: 4.1704, d0.loss_map_dir: 0.0493, d1.loss_map_cls: 0.6514, d1.loss_map_pts: 3.8055, d1.loss_map_dir: 0.0495, d2.loss_map_cls: 0.6558, d2.loss_map_pts: 3.7248, d2.loss_map_dir: 0.0494, d3.loss_map_cls: 0.6620, d3.loss_map_pts: 3.6915, d3.loss_map_dir: 0.0494, d4.loss_map_cls: 0.6648, d4.loss_map_pts: 3.6759, d4.loss_map_dir: 0.0494, d5.loss_map_cls: 0.6676, d5.loss_map_pts: 3.6684, d5.loss_map_dir: 0.0493, loss: 120.0507, grad_norm: 270.6497 +2026-02-23 23:54:15,758 - DriveTransformer - INFO - Epoch [1][7350/117620] lr: 1.000e-04, eta: 27 days, 7:56:32, time: 0.333, data_time: 0.016, memory: 8395, loss_cls: 1.1541, loss_bbox: 1.2418, loss_traj: 4.1934, loss_traj_cls: 0.0005, loss_map_cls: 0.7185, loss_map_pts: 3.5234, loss_map_dir: 0.0477, d0.loss_plan_l1_fix_time: 3.6047, d0.loss_plan_l1_fix_dist: 0.8731, d1.loss_plan_l1_fix_time: 3.2725, d1.loss_plan_l1_fix_dist: 0.9447, d2.loss_plan_l1_fix_time: 3.2357, d2.loss_plan_l1_fix_dist: 1.0684, d3.loss_plan_l1_fix_time: 3.2571, d3.loss_plan_l1_fix_dist: 1.2139, d4.loss_plan_l1_fix_time: 3.2907, d4.loss_plan_l1_fix_dist: 1.3781, d5.loss_plan_l1_fix_time: 3.3268, d5.loss_plan_l1_fix_dist: 1.5479, d6.loss_plan_l1_fix_time: 3.3854, d6.loss_plan_l1_fix_dist: 1.7371, d0.loss_cls_all: 1.0439, d0.loss_bbox_all: 1.1937, d0.loss_cls: 1.0439, d0.loss_bbox: 1.1937, d1.loss_cls: 1.0709, d1.loss_bbox: 1.1850, d2.loss_cls: 1.0825, d2.loss_bbox: 1.1853, d3.loss_cls: 1.1049, d3.loss_bbox: 1.1945, d4.loss_cls: 1.1149, d4.loss_bbox: 1.2093, d5.loss_cls: 1.1265, d5.loss_bbox: 1.2146, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1771, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5041, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.8125, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.2694, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.6988, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.9243, d0.loss_map_cls_all: 0.6840, d0.loss_map_pts_all: 4.0589, d0.loss_map_dir_all: 0.0473, d0.loss_map_cls: 0.6840, d0.loss_map_pts: 4.0589, d0.loss_map_dir: 0.0473, d1.loss_map_cls: 0.6944, d1.loss_map_pts: 3.6605, d1.loss_map_dir: 0.0476, d2.loss_map_cls: 0.6991, d2.loss_map_pts: 3.5731, d2.loss_map_dir: 0.0477, d3.loss_map_cls: 0.7068, d3.loss_map_pts: 3.5490, d3.loss_map_dir: 0.0478, d4.loss_map_cls: 0.7108, d4.loss_map_pts: 3.5377, d4.loss_map_dir: 0.0478, d5.loss_map_cls: 0.7159, d5.loss_map_pts: 3.5296, d5.loss_map_dir: 0.0477, loss: 108.5645, grad_norm: 270.6497 +2026-02-23 23:54:32,144 - DriveTransformer - INFO - Epoch [1][7400/117620] lr: 1.000e-04, eta: 27 days, 7:50:30, time: 0.328, data_time: 0.014, memory: 8395, loss_cls: 1.2288, loss_bbox: 1.3034, loss_traj: 4.1375, loss_traj_cls: 0.0006, loss_map_cls: 0.7096, loss_map_pts: 3.4402, loss_map_dir: 0.0453, d0.loss_plan_l1_fix_time: 3.3011, d0.loss_plan_l1_fix_dist: 0.7846, d1.loss_plan_l1_fix_time: 3.1084, d1.loss_plan_l1_fix_dist: 0.8642, d2.loss_plan_l1_fix_time: 3.1140, d2.loss_plan_l1_fix_dist: 0.9977, d3.loss_plan_l1_fix_time: 3.1455, d3.loss_plan_l1_fix_dist: 1.1440, d4.loss_plan_l1_fix_time: 3.1875, d4.loss_plan_l1_fix_dist: 1.3098, d5.loss_plan_l1_fix_time: 3.2288, d5.loss_plan_l1_fix_dist: 1.4840, d6.loss_plan_l1_fix_time: 3.2992, d6.loss_plan_l1_fix_dist: 1.6601, d0.loss_cls_all: 1.1409, d0.loss_bbox_all: 1.2339, d0.loss_cls: 1.1409, d0.loss_bbox: 1.2339, d1.loss_cls: 1.1619, d1.loss_bbox: 1.2340, d2.loss_cls: 1.1722, d2.loss_bbox: 1.2384, d3.loss_cls: 1.1952, d3.loss_bbox: 1.2433, d4.loss_cls: 1.2016, d4.loss_bbox: 1.2648, d5.loss_cls: 1.2101, d5.loss_bbox: 1.2721, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.2496, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.6172, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.9118, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.3253, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.7146, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.9116, d0.loss_map_cls_all: 0.6685, d0.loss_map_pts_all: 4.0090, d0.loss_map_dir_all: 0.0450, d0.loss_map_cls: 0.6685, d0.loss_map_pts: 4.0090, d0.loss_map_dir: 0.0450, d1.loss_map_cls: 0.6831, d1.loss_map_pts: 3.5713, d1.loss_map_dir: 0.0451, d2.loss_map_cls: 0.6908, d2.loss_map_pts: 3.4745, d2.loss_map_dir: 0.0452, d3.loss_map_cls: 0.6979, d3.loss_map_pts: 3.4504, d3.loss_map_dir: 0.0453, d4.loss_map_cls: 0.7027, d4.loss_map_pts: 3.4408, d4.loss_map_dir: 0.0454, d5.loss_map_cls: 0.7072, d5.loss_map_pts: 3.4386, d5.loss_map_dir: 0.0455, loss: 107.6991, grad_norm: 268.3169 +2026-02-23 23:54:49,170 - DriveTransformer - INFO - Epoch [1][7450/117620] lr: 1.000e-04, eta: 27 days, 7:54:46, time: 0.341, data_time: 0.014, memory: 8395, loss_cls: 1.2361, loss_bbox: 1.4868, loss_traj: 4.2168, loss_traj_cls: 0.0006, loss_map_cls: 0.6745, loss_map_pts: 3.7476, loss_map_dir: 0.0465, d0.loss_plan_l1_fix_time: 4.5790, d0.loss_plan_l1_fix_dist: 0.9286, d1.loss_plan_l1_fix_time: 4.0772, d1.loss_plan_l1_fix_dist: 1.0364, d2.loss_plan_l1_fix_time: 3.9647, d2.loss_plan_l1_fix_dist: 1.1779, d3.loss_plan_l1_fix_time: 3.9573, d3.loss_plan_l1_fix_dist: 1.3037, d4.loss_plan_l1_fix_time: 3.9753, d4.loss_plan_l1_fix_dist: 1.4329, d5.loss_plan_l1_fix_time: 4.0181, d5.loss_plan_l1_fix_dist: 1.5864, d6.loss_plan_l1_fix_time: 4.0990, d6.loss_plan_l1_fix_dist: 1.6876, d0.loss_cls_all: 1.1612, d0.loss_bbox_all: 1.3515, d0.loss_cls: 1.1612, d0.loss_bbox: 1.3515, d1.loss_cls: 1.1865, d1.loss_bbox: 1.3643, d2.loss_cls: 1.1989, d2.loss_bbox: 1.3729, d3.loss_cls: 1.2117, d3.loss_bbox: 1.3940, d4.loss_cls: 1.2145, d4.loss_bbox: 1.4277, d5.loss_cls: 1.2207, d5.loss_bbox: 1.4589, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.6540, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.8654, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.0859, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.3745, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.8182, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.9840, d0.loss_map_cls_all: 0.6538, d0.loss_map_pts_all: 4.2521, d0.loss_map_dir_all: 0.0457, d0.loss_map_cls: 0.6538, d0.loss_map_pts: 4.2521, d0.loss_map_dir: 0.0457, d1.loss_map_cls: 0.6562, d1.loss_map_pts: 3.8698, d1.loss_map_dir: 0.0460, d2.loss_map_cls: 0.6630, d2.loss_map_pts: 3.7891, d2.loss_map_dir: 0.0464, d3.loss_map_cls: 0.6683, d3.loss_map_pts: 3.7529, d3.loss_map_dir: 0.0464, d4.loss_map_cls: 0.6714, d4.loss_map_pts: 3.7382, d4.loss_map_dir: 0.0464, d5.loss_map_cls: 0.6731, d5.loss_map_pts: 3.7368, d5.loss_map_dir: 0.0465, loss: 119.4467, grad_norm: 268.3169 +2026-02-23 23:55:05,116 - DriveTransformer - INFO - Epoch [1][7500/117620] lr: 1.000e-04, eta: 27 days, 7:41:53, time: 0.319, data_time: 0.014, memory: 8395, loss_cls: 1.1453, loss_bbox: 1.4471, loss_traj: 4.1554, loss_traj_cls: 0.0006, loss_map_cls: 0.6806, loss_map_pts: 3.4696, loss_map_dir: 0.0454, d0.loss_plan_l1_fix_time: 4.4013, d0.loss_plan_l1_fix_dist: 0.8347, d1.loss_plan_l1_fix_time: 3.8640, d1.loss_plan_l1_fix_dist: 0.9293, d2.loss_plan_l1_fix_time: 3.7499, d2.loss_plan_l1_fix_dist: 1.0627, d3.loss_plan_l1_fix_time: 3.7384, d3.loss_plan_l1_fix_dist: 1.1864, d4.loss_plan_l1_fix_time: 3.7592, d4.loss_plan_l1_fix_dist: 1.3173, d5.loss_plan_l1_fix_time: 3.7960, d5.loss_plan_l1_fix_dist: 1.4638, d6.loss_plan_l1_fix_time: 3.8564, d6.loss_plan_l1_fix_dist: 1.5754, d0.loss_cls_all: 1.0939, d0.loss_bbox_all: 1.3113, d0.loss_cls: 1.0939, d0.loss_bbox: 1.3113, d1.loss_cls: 1.1074, d1.loss_bbox: 1.3073, d2.loss_cls: 1.1034, d2.loss_bbox: 1.3272, d3.loss_cls: 1.1138, d3.loss_bbox: 1.3532, d4.loss_cls: 1.1313, d4.loss_bbox: 1.3757, d5.loss_cls: 1.1315, d5.loss_bbox: 1.4118, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.0888, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4164, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.7565, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.1696, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.6608, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.8887, d0.loss_map_cls_all: 0.6541, d0.loss_map_pts_all: 4.0455, d0.loss_map_dir_all: 0.0452, d0.loss_map_cls: 0.6541, d0.loss_map_pts: 4.0455, d0.loss_map_dir: 0.0452, d1.loss_map_cls: 0.6627, d1.loss_map_pts: 3.6131, d1.loss_map_dir: 0.0455, d2.loss_map_cls: 0.6680, d2.loss_map_pts: 3.5198, d2.loss_map_dir: 0.0455, d3.loss_map_cls: 0.6730, d3.loss_map_pts: 3.4822, d3.loss_map_dir: 0.0454, d4.loss_map_cls: 0.6767, d4.loss_map_pts: 3.4642, d4.loss_map_dir: 0.0455, d5.loss_map_cls: 0.6784, d5.loss_map_pts: 3.4618, d5.loss_map_dir: 0.0455, loss: 112.2523, grad_norm: 267.5349 +2026-02-23 23:55:21,612 - DriveTransformer - INFO - Epoch [1][7550/117620] lr: 1.000e-04, eta: 27 days, 7:37:41, time: 0.330, data_time: 0.014, memory: 8395, loss_cls: 1.1929, loss_bbox: 1.3876, loss_traj: 4.8152, loss_traj_cls: 0.0006, loss_map_cls: 0.7040, loss_map_pts: 3.5385, loss_map_dir: 0.0429, d0.loss_plan_l1_fix_time: 5.0241, d0.loss_plan_l1_fix_dist: 0.6848, d1.loss_plan_l1_fix_time: 4.3923, d1.loss_plan_l1_fix_dist: 0.7676, d2.loss_plan_l1_fix_time: 4.2729, d2.loss_plan_l1_fix_dist: 0.9034, d3.loss_plan_l1_fix_time: 4.2578, d3.loss_plan_l1_fix_dist: 1.0507, d4.loss_plan_l1_fix_time: 4.2748, d4.loss_plan_l1_fix_dist: 1.2336, d5.loss_plan_l1_fix_time: 4.3041, d5.loss_plan_l1_fix_dist: 1.4237, d6.loss_plan_l1_fix_time: 4.3513, d6.loss_plan_l1_fix_dist: 1.5787, d0.loss_cls_all: 1.1469, d0.loss_bbox_all: 1.2917, d0.loss_cls: 1.1469, d0.loss_bbox: 1.2917, d1.loss_cls: 1.2020, d1.loss_bbox: 1.2904, d2.loss_cls: 1.1785, d2.loss_bbox: 1.2941, d3.loss_cls: 1.1703, d3.loss_bbox: 1.3130, d4.loss_cls: 1.1673, d4.loss_bbox: 1.3375, d5.loss_cls: 1.1775, d5.loss_bbox: 1.3537, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.7768, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.0077, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.3333, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.7616, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.2903, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.5364, d0.loss_map_cls_all: 0.6757, d0.loss_map_pts_all: 3.9596, d0.loss_map_dir_all: 0.0420, d0.loss_map_cls: 0.6757, d0.loss_map_pts: 3.9596, d0.loss_map_dir: 0.0420, d1.loss_map_cls: 0.6769, d1.loss_map_pts: 3.6146, d1.loss_map_dir: 0.0424, d2.loss_map_cls: 0.6847, d2.loss_map_pts: 3.5544, d2.loss_map_dir: 0.0426, d3.loss_map_cls: 0.6931, d3.loss_map_pts: 3.5340, d3.loss_map_dir: 0.0427, d4.loss_map_cls: 0.6972, d4.loss_map_pts: 3.5286, d4.loss_map_dir: 0.0429, d5.loss_map_cls: 0.7027, d5.loss_map_pts: 3.5310, d5.loss_map_dir: 0.0430, loss: 120.0575, grad_norm: 267.5349 +2026-02-23 23:55:37,320 - DriveTransformer - INFO - Epoch [1][7600/117620] lr: 1.000e-04, eta: 27 days, 7:21:30, time: 0.314, data_time: 0.014, memory: 8395, loss_cls: 1.1922, loss_bbox: 1.4394, loss_traj: 4.0276, loss_traj_cls: 0.0006, loss_map_cls: 0.7064, loss_map_pts: 3.4964, loss_map_dir: 0.0449, d0.loss_plan_l1_fix_time: 4.4996, d0.loss_plan_l1_fix_dist: 0.7559, d1.loss_plan_l1_fix_time: 4.0936, d1.loss_plan_l1_fix_dist: 0.8370, d2.loss_plan_l1_fix_time: 4.0443, d2.loss_plan_l1_fix_dist: 0.9647, d3.loss_plan_l1_fix_time: 4.0575, d3.loss_plan_l1_fix_dist: 1.1033, d4.loss_plan_l1_fix_time: 4.0894, d4.loss_plan_l1_fix_dist: 1.2627, d5.loss_plan_l1_fix_time: 4.1255, d5.loss_plan_l1_fix_dist: 1.4409, d6.loss_plan_l1_fix_time: 4.1812, d6.loss_plan_l1_fix_dist: 1.6160, d0.loss_cls_all: 1.1522, d0.loss_bbox_all: 1.3370, d0.loss_cls: 1.1522, d0.loss_bbox: 1.3370, d1.loss_cls: 1.1789, d1.loss_bbox: 1.3519, d2.loss_cls: 1.1607, d2.loss_bbox: 1.3623, d3.loss_cls: 1.1671, d3.loss_bbox: 1.3751, d4.loss_cls: 1.1701, d4.loss_bbox: 1.3938, d5.loss_cls: 1.1745, d5.loss_bbox: 1.4142, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.2533, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4709, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.7696, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.1508, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.5481, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.7756, d0.loss_map_cls_all: 0.6776, d0.loss_map_pts_all: 3.9547, d0.loss_map_dir_all: 0.0445, d0.loss_map_cls: 0.6776, d0.loss_map_pts: 3.9547, d0.loss_map_dir: 0.0445, d1.loss_map_cls: 0.6860, d1.loss_map_pts: 3.5980, d1.loss_map_dir: 0.0446, d2.loss_map_cls: 0.6907, d2.loss_map_pts: 3.5287, d2.loss_map_dir: 0.0450, d3.loss_map_cls: 0.6968, d3.loss_map_pts: 3.5039, d3.loss_map_dir: 0.0450, d4.loss_map_cls: 0.7019, d4.loss_map_pts: 3.4904, d4.loss_map_dir: 0.0449, d5.loss_map_cls: 0.7054, d5.loss_map_pts: 3.4903, d5.loss_map_dir: 0.0449, loss: 114.3474, grad_norm: 266.6048 +2026-02-23 23:55:52,339 - DriveTransformer - INFO - Epoch [1][7650/117620] lr: 1.000e-04, eta: 27 days, 6:54:53, time: 0.300, data_time: 0.015, memory: 8395, loss_cls: 1.2105, loss_bbox: 1.4311, loss_traj: 3.8999, loss_traj_cls: 0.0006, loss_map_cls: 0.6705, loss_map_pts: 3.3267, loss_map_dir: 0.0423, d0.loss_plan_l1_fix_time: 4.0552, d0.loss_plan_l1_fix_dist: 0.6481, d1.loss_plan_l1_fix_time: 3.8573, d1.loss_plan_l1_fix_dist: 0.7279, d2.loss_plan_l1_fix_time: 3.8675, d2.loss_plan_l1_fix_dist: 0.8579, d3.loss_plan_l1_fix_time: 3.8888, d3.loss_plan_l1_fix_dist: 1.0091, d4.loss_plan_l1_fix_time: 3.9239, d4.loss_plan_l1_fix_dist: 1.1791, d5.loss_plan_l1_fix_time: 3.9442, d5.loss_plan_l1_fix_dist: 1.3611, d6.loss_plan_l1_fix_time: 3.9810, d6.loss_plan_l1_fix_dist: 1.5996, d0.loss_cls_all: 1.1395, d0.loss_bbox_all: 1.3228, d0.loss_cls: 1.1395, d0.loss_bbox: 1.3228, d1.loss_cls: 1.1568, d1.loss_bbox: 1.3495, d2.loss_cls: 1.1618, d2.loss_bbox: 1.3674, d3.loss_cls: 1.1756, d3.loss_bbox: 1.3806, d4.loss_cls: 1.1902, d4.loss_bbox: 1.3902, d5.loss_cls: 1.1919, d5.loss_bbox: 1.4056, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.0580, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2959, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.5848, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.9984, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.3882, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.6196, d0.loss_map_cls_all: 0.6373, d0.loss_map_pts_all: 3.8483, d0.loss_map_dir_all: 0.0419, d0.loss_map_cls: 0.6373, d0.loss_map_pts: 3.8483, d0.loss_map_dir: 0.0419, d1.loss_map_cls: 0.6480, d1.loss_map_pts: 3.4471, d1.loss_map_dir: 0.0420, d2.loss_map_cls: 0.6553, d2.loss_map_pts: 3.3604, d2.loss_map_dir: 0.0421, d3.loss_map_cls: 0.6612, d3.loss_map_pts: 3.3339, d3.loss_map_dir: 0.0421, d4.loss_map_cls: 0.6650, d4.loss_map_pts: 3.3246, d4.loss_map_dir: 0.0421, d5.loss_map_cls: 0.6689, d5.loss_map_pts: 3.3247, d5.loss_map_dir: 0.0422, loss: 109.4789, grad_norm: 266.6048 +2026-02-23 23:56:08,649 - DriveTransformer - INFO - Epoch [1][7700/117620] lr: 1.000e-04, eta: 27 days, 6:48:16, time: 0.326, data_time: 0.014, memory: 8395, loss_cls: 1.1846, loss_bbox: 1.4638, loss_traj: 3.4801, loss_traj_cls: 0.0006, loss_map_cls: 0.6923, loss_map_pts: 3.7067, loss_map_dir: 0.0453, d0.loss_plan_l1_fix_time: 3.8136, d0.loss_plan_l1_fix_dist: 0.8362, d1.loss_plan_l1_fix_time: 3.5107, d1.loss_plan_l1_fix_dist: 0.9026, d2.loss_plan_l1_fix_time: 3.5045, d2.loss_plan_l1_fix_dist: 0.9925, d3.loss_plan_l1_fix_time: 3.5195, d3.loss_plan_l1_fix_dist: 1.1142, d4.loss_plan_l1_fix_time: 3.5498, d4.loss_plan_l1_fix_dist: 1.2562, d5.loss_plan_l1_fix_time: 3.5642, d5.loss_plan_l1_fix_dist: 1.4032, d6.loss_plan_l1_fix_time: 3.5994, d6.loss_plan_l1_fix_dist: 1.6063, d0.loss_cls_all: 1.1544, d0.loss_bbox_all: 1.3656, d0.loss_cls: 1.1544, d0.loss_bbox: 1.3656, d1.loss_cls: 1.1784, d1.loss_bbox: 1.3765, d2.loss_cls: 1.1743, d2.loss_bbox: 1.3892, d3.loss_cls: 1.1745, d3.loss_bbox: 1.4030, d4.loss_cls: 1.1743, d4.loss_bbox: 1.4224, d5.loss_cls: 1.1737, d5.loss_bbox: 1.4400, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0210, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2177, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4553, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7297, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.0536, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.2434, d0.loss_map_cls_all: 0.6801, d0.loss_map_pts_all: 4.1782, d0.loss_map_dir_all: 0.0451, d0.loss_map_cls: 0.6801, d0.loss_map_pts: 4.1782, d0.loss_map_dir: 0.0451, d1.loss_map_cls: 0.6846, d1.loss_map_pts: 3.8083, d1.loss_map_dir: 0.0449, d2.loss_map_cls: 0.6853, d2.loss_map_pts: 3.7329, d2.loss_map_dir: 0.0449, d3.loss_map_cls: 0.6864, d3.loss_map_pts: 3.7142, d3.loss_map_dir: 0.0449, d4.loss_map_cls: 0.6881, d4.loss_map_pts: 3.7074, d4.loss_map_dir: 0.0450, d5.loss_map_cls: 0.6903, d5.loss_map_pts: 3.7047, d5.loss_map_dir: 0.0452, loss: 109.5499, grad_norm: 264.7225 +2026-02-23 23:56:25,381 - DriveTransformer - INFO - Epoch [1][7750/117620] lr: 1.000e-04, eta: 27 days, 6:48:19, time: 0.335, data_time: 0.014, memory: 8395, loss_cls: 1.1845, loss_bbox: 1.3993, loss_traj: 3.6696, loss_traj_cls: 0.0007, loss_map_cls: 0.6852, loss_map_pts: 3.7272, loss_map_dir: 0.0426, d0.loss_plan_l1_fix_time: 3.9446, d0.loss_plan_l1_fix_dist: 0.8126, d1.loss_plan_l1_fix_time: 3.6330, d1.loss_plan_l1_fix_dist: 0.8500, d2.loss_plan_l1_fix_time: 3.6058, d2.loss_plan_l1_fix_dist: 0.8973, d3.loss_plan_l1_fix_time: 3.6060, d3.loss_plan_l1_fix_dist: 0.9876, d4.loss_plan_l1_fix_time: 3.6208, d4.loss_plan_l1_fix_dist: 1.0996, d5.loss_plan_l1_fix_time: 3.6290, d5.loss_plan_l1_fix_dist: 1.2160, d6.loss_plan_l1_fix_time: 3.6545, d6.loss_plan_l1_fix_dist: 1.3835, d0.loss_cls_all: 1.1586, d0.loss_bbox_all: 1.2804, d0.loss_cls: 1.1586, d0.loss_bbox: 1.2804, d1.loss_cls: 1.1850, d1.loss_bbox: 1.2954, d2.loss_cls: 1.1832, d2.loss_bbox: 1.3097, d3.loss_cls: 1.1760, d3.loss_bbox: 1.3187, d4.loss_cls: 1.1743, d4.loss_bbox: 1.3400, d5.loss_cls: 1.1737, d5.loss_bbox: 1.3765, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.4603, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.6851, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.9007, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.0503, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.3499, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.4869, d0.loss_map_cls_all: 0.6568, d0.loss_map_pts_all: 4.2163, d0.loss_map_dir_all: 0.0427, d0.loss_map_cls: 0.6568, d0.loss_map_pts: 4.2163, d0.loss_map_dir: 0.0427, d1.loss_map_cls: 0.6695, d1.loss_map_pts: 3.7989, d1.loss_map_dir: 0.0424, d2.loss_map_cls: 0.6742, d2.loss_map_pts: 3.7187, d2.loss_map_dir: 0.0425, d3.loss_map_cls: 0.6783, d3.loss_map_pts: 3.7035, d3.loss_map_dir: 0.0424, d4.loss_map_cls: 0.6815, d4.loss_map_pts: 3.7083, d4.loss_map_dir: 0.0425, d5.loss_map_cls: 0.6841, d5.loss_map_pts: 3.7151, d5.loss_map_dir: 0.0424, loss: 111.0724, grad_norm: 264.7225 +2026-02-23 23:56:41,945 - DriveTransformer - INFO - Epoch [1][7800/117620] lr: 1.000e-04, eta: 27 days, 6:45:32, time: 0.331, data_time: 0.015, memory: 8395, loss_cls: 1.1289, loss_bbox: 1.4113, loss_traj: 3.8952, loss_traj_cls: 0.0006, loss_map_cls: 0.7009, loss_map_pts: 3.4160, loss_map_dir: 0.0393, d0.loss_plan_l1_fix_time: 3.8295, d0.loss_plan_l1_fix_dist: 0.8207, d1.loss_plan_l1_fix_time: 3.4401, d1.loss_plan_l1_fix_dist: 0.8965, d2.loss_plan_l1_fix_time: 3.4011, d2.loss_plan_l1_fix_dist: 0.9899, d3.loss_plan_l1_fix_time: 3.4046, d3.loss_plan_l1_fix_dist: 1.1090, d4.loss_plan_l1_fix_time: 3.4235, d4.loss_plan_l1_fix_dist: 1.2473, d5.loss_plan_l1_fix_time: 3.4436, d5.loss_plan_l1_fix_dist: 1.3884, d6.loss_plan_l1_fix_time: 3.4812, d6.loss_plan_l1_fix_dist: 1.5587, d0.loss_cls_all: 1.1187, d0.loss_bbox_all: 1.2792, d0.loss_cls: 1.1187, d0.loss_bbox: 1.2792, d1.loss_cls: 1.1405, d1.loss_bbox: 1.3066, d2.loss_cls: 1.1291, d2.loss_bbox: 1.3257, d3.loss_cls: 1.1255, d3.loss_bbox: 1.3340, d4.loss_cls: 1.1187, d4.loss_bbox: 1.3598, d5.loss_cls: 1.1147, d5.loss_bbox: 1.3977, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.2678, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.5060, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.7995, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.0534, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.4642, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.7028, d0.loss_map_cls_all: 0.6595, d0.loss_map_pts_all: 3.9673, d0.loss_map_dir_all: 0.0398, d0.loss_map_cls: 0.6595, d0.loss_map_pts: 3.9673, d0.loss_map_dir: 0.0398, d1.loss_map_cls: 0.6659, d1.loss_map_pts: 3.5763, d1.loss_map_dir: 0.0392, d2.loss_map_cls: 0.6787, d2.loss_map_pts: 3.4770, d2.loss_map_dir: 0.0392, d3.loss_map_cls: 0.6894, d3.loss_map_pts: 3.4418, d3.loss_map_dir: 0.0393, d4.loss_map_cls: 0.6944, d4.loss_map_pts: 3.4263, d4.loss_map_dir: 0.0392, d5.loss_map_cls: 0.6990, d5.loss_map_pts: 3.4166, d5.loss_map_dir: 0.0393, loss: 108.2660, grad_norm: 265.1752 +2026-02-23 23:56:58,024 - DriveTransformer - INFO - Epoch [1][7850/117620] lr: 1.000e-04, eta: 27 days, 6:35:44, time: 0.322, data_time: 0.014, memory: 8395, loss_cls: 1.1173, loss_bbox: 1.3732, loss_traj: 3.7045, loss_traj_cls: 0.0006, loss_map_cls: 0.6858, loss_map_pts: 3.5881, loss_map_dir: 0.0386, d0.loss_plan_l1_fix_time: 3.1799, d0.loss_plan_l1_fix_dist: 0.8186, d1.loss_plan_l1_fix_time: 2.7990, d1.loss_plan_l1_fix_dist: 0.9191, d2.loss_plan_l1_fix_time: 2.7753, d2.loss_plan_l1_fix_dist: 1.0248, d3.loss_plan_l1_fix_time: 2.7916, d3.loss_plan_l1_fix_dist: 1.1542, d4.loss_plan_l1_fix_time: 2.8145, d4.loss_plan_l1_fix_dist: 1.3038, d5.loss_plan_l1_fix_time: 2.8388, d5.loss_plan_l1_fix_dist: 1.4523, d6.loss_plan_l1_fix_time: 2.8823, d6.loss_plan_l1_fix_dist: 1.5792, d0.loss_cls_all: 1.0909, d0.loss_bbox_all: 1.2456, d0.loss_cls: 1.0909, d0.loss_bbox: 1.2456, d1.loss_cls: 1.1192, d1.loss_bbox: 1.2686, d2.loss_cls: 1.1050, d2.loss_bbox: 1.2879, d3.loss_cls: 1.0964, d3.loss_bbox: 1.3091, d4.loss_cls: 1.0990, d4.loss_bbox: 1.3334, d5.loss_cls: 1.1013, d5.loss_bbox: 1.3627, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3651, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.5025, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.7220, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.0037, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.3188, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.5477, d0.loss_map_cls_all: 0.6599, d0.loss_map_pts_all: 4.1647, d0.loss_map_dir_all: 0.0392, d0.loss_map_cls: 0.6599, d0.loss_map_pts: 4.1647, d0.loss_map_dir: 0.0392, d1.loss_map_cls: 0.6662, d1.loss_map_pts: 3.7166, d1.loss_map_dir: 0.0381, d2.loss_map_cls: 0.6759, d2.loss_map_pts: 3.6173, d2.loss_map_dir: 0.0382, d3.loss_map_cls: 0.6797, d3.loss_map_pts: 3.5925, d3.loss_map_dir: 0.0384, d4.loss_map_cls: 0.6818, d4.loss_map_pts: 3.5843, d4.loss_map_dir: 0.0384, d5.loss_map_cls: 0.6854, d5.loss_map_pts: 3.5820, d5.loss_map_dir: 0.0385, loss: 104.4607, grad_norm: 265.1752 +2026-02-23 23:57:14,025 - DriveTransformer - INFO - Epoch [1][7900/117620] lr: 1.000e-04, eta: 27 days, 6:24:48, time: 0.320, data_time: 0.015, memory: 8395, loss_cls: 1.1306, loss_bbox: 1.4322, loss_traj: 3.4993, loss_traj_cls: 0.0007, loss_map_cls: 0.6957, loss_map_pts: 3.6649, loss_map_dir: 0.0437, d0.loss_plan_l1_fix_time: 3.5040, d0.loss_plan_l1_fix_dist: 0.8091, d1.loss_plan_l1_fix_time: 3.4081, d1.loss_plan_l1_fix_dist: 0.9159, d2.loss_plan_l1_fix_time: 3.4733, d2.loss_plan_l1_fix_dist: 1.0483, d3.loss_plan_l1_fix_time: 3.5288, d3.loss_plan_l1_fix_dist: 1.2067, d4.loss_plan_l1_fix_time: 3.5736, d4.loss_plan_l1_fix_dist: 1.3790, d5.loss_plan_l1_fix_time: 3.6178, d5.loss_plan_l1_fix_dist: 1.5584, d6.loss_plan_l1_fix_time: 3.6724, d6.loss_plan_l1_fix_dist: 1.7158, d0.loss_cls_all: 1.1291, d0.loss_bbox_all: 1.3383, d0.loss_cls: 1.1291, d0.loss_bbox: 1.3383, d1.loss_cls: 1.1440, d1.loss_bbox: 1.3566, d2.loss_cls: 1.1275, d2.loss_bbox: 1.3681, d3.loss_cls: 1.1181, d3.loss_bbox: 1.3834, d4.loss_cls: 1.1248, d4.loss_bbox: 1.4043, d5.loss_cls: 1.1232, d5.loss_bbox: 1.4311, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.1198, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.2559, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4699, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7729, d4.loss_traj_cls: 0.0006, d4.loss_traj: 3.0892, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.3222, d0.loss_map_cls_all: 0.6611, d0.loss_map_pts_all: 4.0762, d0.loss_map_dir_all: 0.0438, d0.loss_map_cls: 0.6611, d0.loss_map_pts: 4.0762, d0.loss_map_dir: 0.0438, d1.loss_map_cls: 0.6738, d1.loss_map_pts: 3.7130, d1.loss_map_dir: 0.0431, d2.loss_map_cls: 0.6797, d2.loss_map_pts: 3.6593, d2.loss_map_dir: 0.0433, d3.loss_map_cls: 0.6857, d3.loss_map_pts: 3.6504, d3.loss_map_dir: 0.0434, d4.loss_map_cls: 0.6902, d4.loss_map_pts: 3.6445, d4.loss_map_dir: 0.0434, d5.loss_map_cls: 0.6942, d5.loss_map_pts: 3.6539, d5.loss_map_dir: 0.0436, loss: 108.9511, grad_norm: 268.2488 +2026-02-23 23:57:30,522 - DriveTransformer - INFO - Epoch [1][7950/117620] lr: 1.000e-04, eta: 27 days, 6:21:19, time: 0.330, data_time: 0.014, memory: 8395, loss_cls: 1.1865, loss_bbox: 1.4379, loss_traj: 4.8252, loss_traj_cls: 0.0006, loss_map_cls: 0.6692, loss_map_pts: 3.7914, loss_map_dir: 0.0463, d0.loss_plan_l1_fix_time: 4.2350, d0.loss_plan_l1_fix_dist: 0.8804, d1.loss_plan_l1_fix_time: 3.9129, d1.loss_plan_l1_fix_dist: 1.0107, d2.loss_plan_l1_fix_time: 3.9360, d2.loss_plan_l1_fix_dist: 1.1719, d3.loss_plan_l1_fix_time: 3.9816, d3.loss_plan_l1_fix_dist: 1.3709, d4.loss_plan_l1_fix_time: 4.0174, d4.loss_plan_l1_fix_dist: 1.5804, d5.loss_plan_l1_fix_time: 4.0637, d5.loss_plan_l1_fix_dist: 1.7816, d6.loss_plan_l1_fix_time: 4.1155, d6.loss_plan_l1_fix_dist: 1.9605, d0.loss_cls_all: 1.1485, d0.loss_bbox_all: 1.3438, d0.loss_cls: 1.1485, d0.loss_bbox: 1.3438, d1.loss_cls: 1.1605, d1.loss_bbox: 1.3764, d2.loss_cls: 1.1487, d2.loss_bbox: 1.3890, d3.loss_cls: 1.1555, d3.loss_bbox: 1.4039, d4.loss_cls: 1.1791, d4.loss_bbox: 1.4225, d5.loss_cls: 1.1748, d5.loss_bbox: 1.4450, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.3938, d1.loss_traj_cls: 0.0006, d1.loss_traj: 3.5933, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.7859, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.0778, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.3431, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.6211, d0.loss_map_cls_all: 0.6384, d0.loss_map_pts_all: 4.2073, d0.loss_map_dir_all: 0.0461, d0.loss_map_cls: 0.6384, d0.loss_map_pts: 4.2073, d0.loss_map_dir: 0.0461, d1.loss_map_cls: 0.6502, d1.loss_map_pts: 3.8532, d1.loss_map_dir: 0.0459, d2.loss_map_cls: 0.6511, d2.loss_map_pts: 3.7916, d2.loss_map_dir: 0.0459, d3.loss_map_cls: 0.6543, d3.loss_map_pts: 3.7716, d3.loss_map_dir: 0.0461, d4.loss_map_cls: 0.6579, d4.loss_map_pts: 3.7677, d4.loss_map_dir: 0.0463, d5.loss_map_cls: 0.6676, d5.loss_map_pts: 3.7798, d5.loss_map_dir: 0.0462, loss: 123.8926, grad_norm: 268.2488 +2026-02-23 23:57:46,396 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-23 23:57:46,396 - DriveTransformer - INFO - Epoch [1][8000/117620] lr: 1.000e-04, eta: 27 days, 6:08:48, time: 0.318, data_time: 0.015, memory: 8395, loss_cls: 1.1446, loss_bbox: 1.3909, loss_traj: 4.5027, loss_traj_cls: 0.0007, loss_map_cls: 0.6985, loss_map_pts: 3.3039, loss_map_dir: 0.0432, d0.loss_plan_l1_fix_time: 3.4150, d0.loss_plan_l1_fix_dist: 0.9323, d1.loss_plan_l1_fix_time: 3.0030, d1.loss_plan_l1_fix_dist: 1.0170, d2.loss_plan_l1_fix_time: 2.9934, d2.loss_plan_l1_fix_dist: 1.1347, d3.loss_plan_l1_fix_time: 3.0268, d3.loss_plan_l1_fix_dist: 1.2736, d4.loss_plan_l1_fix_time: 3.0605, d4.loss_plan_l1_fix_dist: 1.4190, d5.loss_plan_l1_fix_time: 3.0998, d5.loss_plan_l1_fix_dist: 1.5941, d6.loss_plan_l1_fix_time: 3.1547, d6.loss_plan_l1_fix_dist: 1.7700, d0.loss_cls_all: 1.1077, d0.loss_bbox_all: 1.2690, d0.loss_cls: 1.1077, d0.loss_bbox: 1.2690, d1.loss_cls: 1.1273, d1.loss_bbox: 1.2930, d2.loss_cls: 1.1228, d2.loss_bbox: 1.3037, d3.loss_cls: 1.1220, d3.loss_bbox: 1.3325, d4.loss_cls: 1.1282, d4.loss_bbox: 1.3537, d5.loss_cls: 1.1316, d5.loss_bbox: 1.3835, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.6721, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.8865, d2.loss_traj_cls: 0.0006, d2.loss_traj: 3.2094, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.5075, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.9101, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.2077, d0.loss_map_cls_all: 0.6668, d0.loss_map_pts_all: 3.8814, d0.loss_map_dir_all: 0.0433, d0.loss_map_cls: 0.6668, d0.loss_map_pts: 3.8814, d0.loss_map_dir: 0.0433, d1.loss_map_cls: 0.6706, d1.loss_map_pts: 3.4770, d1.loss_map_dir: 0.0427, d2.loss_map_cls: 0.6811, d2.loss_map_pts: 3.3786, d2.loss_map_dir: 0.0429, d3.loss_map_cls: 0.6876, d3.loss_map_pts: 3.3364, d3.loss_map_dir: 0.0430, d4.loss_map_cls: 0.6921, d4.loss_map_pts: 3.3164, d4.loss_map_dir: 0.0431, d5.loss_map_cls: 0.6953, d5.loss_map_pts: 3.3090, d5.loss_map_dir: 0.0431, loss: 109.0687, grad_norm: 267.4264 +2026-02-23 23:58:02,091 - DriveTransformer - INFO - Epoch [1][8050/117620] lr: 1.000e-04, eta: 27 days, 5:53:52, time: 0.314, data_time: 0.014, memory: 8395, loss_cls: 1.1826, loss_bbox: 1.4030, loss_traj: 3.7201, loss_traj_cls: 0.0006, loss_map_cls: 0.7006, loss_map_pts: 3.2615, loss_map_dir: 0.0451, d0.loss_plan_l1_fix_time: 3.9259, d0.loss_plan_l1_fix_dist: 0.6174, d1.loss_plan_l1_fix_time: 3.6063, d1.loss_plan_l1_fix_dist: 0.6742, d2.loss_plan_l1_fix_time: 3.6077, d2.loss_plan_l1_fix_dist: 0.7883, d3.loss_plan_l1_fix_time: 3.6418, d3.loss_plan_l1_fix_dist: 0.9125, d4.loss_plan_l1_fix_time: 3.6767, d4.loss_plan_l1_fix_dist: 1.0398, d5.loss_plan_l1_fix_time: 3.7193, d5.loss_plan_l1_fix_dist: 1.2118, d6.loss_plan_l1_fix_time: 3.7784, d6.loss_plan_l1_fix_dist: 1.3966, d0.loss_cls_all: 1.1364, d0.loss_bbox_all: 1.2693, d0.loss_cls: 1.1364, d0.loss_bbox: 1.2693, d1.loss_cls: 1.1501, d1.loss_bbox: 1.3032, d2.loss_cls: 1.1552, d2.loss_bbox: 1.3077, d3.loss_cls: 1.1567, d3.loss_bbox: 1.3311, d4.loss_cls: 1.1667, d4.loss_bbox: 1.3440, d5.loss_cls: 1.1639, d5.loss_bbox: 1.3836, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8502, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0230, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3590, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.6481, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.0631, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.3781, d0.loss_map_cls_all: 0.6651, d0.loss_map_pts_all: 3.8940, d0.loss_map_dir_all: 0.0455, d0.loss_map_cls: 0.6651, d0.loss_map_pts: 3.8940, d0.loss_map_dir: 0.0455, d1.loss_map_cls: 0.6740, d1.loss_map_pts: 3.4320, d1.loss_map_dir: 0.0446, d2.loss_map_cls: 0.6859, d2.loss_map_pts: 3.3287, d2.loss_map_dir: 0.0445, d3.loss_map_cls: 0.6927, d3.loss_map_pts: 3.2908, d3.loss_map_dir: 0.0447, d4.loss_map_cls: 0.6952, d4.loss_map_pts: 3.2774, d4.loss_map_dir: 0.0449, d5.loss_map_cls: 0.6978, d5.loss_map_pts: 3.2676, d5.loss_map_dir: 0.0449, loss: 104.9833, grad_norm: 267.4264 +2026-02-23 23:58:18,274 - DriveTransformer - INFO - Epoch [1][8100/117620] lr: 1.000e-04, eta: 27 days, 5:46:02, time: 0.324, data_time: 0.014, memory: 8395, loss_cls: 1.1094, loss_bbox: 1.3478, loss_traj: 3.4942, loss_traj_cls: 0.0007, loss_map_cls: 0.6856, loss_map_pts: 3.4469, loss_map_dir: 0.0485, d0.loss_plan_l1_fix_time: 3.5058, d0.loss_plan_l1_fix_dist: 0.8592, d1.loss_plan_l1_fix_time: 3.1267, d1.loss_plan_l1_fix_dist: 0.9125, d2.loss_plan_l1_fix_time: 3.0937, d2.loss_plan_l1_fix_dist: 1.0189, d3.loss_plan_l1_fix_time: 3.1166, d3.loss_plan_l1_fix_dist: 1.1123, d4.loss_plan_l1_fix_time: 3.1453, d4.loss_plan_l1_fix_dist: 1.2170, d5.loss_plan_l1_fix_time: 3.1881, d5.loss_plan_l1_fix_dist: 1.3500, d6.loss_plan_l1_fix_time: 3.2492, d6.loss_plan_l1_fix_dist: 1.5049, d0.loss_cls_all: 1.0576, d0.loss_bbox_all: 1.2633, d0.loss_cls: 1.0576, d0.loss_bbox: 1.2633, d1.loss_cls: 1.0798, d1.loss_bbox: 1.2819, d2.loss_cls: 1.0766, d2.loss_bbox: 1.2840, d3.loss_cls: 1.0794, d3.loss_bbox: 1.2996, d4.loss_cls: 1.0910, d4.loss_bbox: 1.3094, d5.loss_cls: 1.0982, d5.loss_bbox: 1.3452, d0.loss_traj_cls: 0.0005, d0.loss_traj: 1.9221, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0724, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3340, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.6036, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.0226, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.2771, d0.loss_map_cls_all: 0.6539, d0.loss_map_pts_all: 4.0837, d0.loss_map_dir_all: 0.0491, d0.loss_map_cls: 0.6539, d0.loss_map_pts: 4.0837, d0.loss_map_dir: 0.0491, d1.loss_map_cls: 0.6658, d1.loss_map_pts: 3.6599, d1.loss_map_dir: 0.0481, d2.loss_map_cls: 0.6756, d2.loss_map_pts: 3.5454, d2.loss_map_dir: 0.0481, d3.loss_map_cls: 0.6804, d3.loss_map_pts: 3.4997, d3.loss_map_dir: 0.0482, d4.loss_map_cls: 0.6809, d4.loss_map_pts: 3.4763, d4.loss_map_dir: 0.0484, d5.loss_map_cls: 0.6847, d5.loss_map_pts: 3.4581, d5.loss_map_dir: 0.0484, loss: 103.1967, grad_norm: 267.9280 +2026-02-23 23:58:34,434 - DriveTransformer - INFO - Epoch [1][8150/117620] lr: 1.000e-04, eta: 27 days, 5:38:05, time: 0.323, data_time: 0.015, memory: 8395, loss_cls: 1.2019, loss_bbox: 1.5055, loss_traj: 3.4851, loss_traj_cls: 0.0007, loss_map_cls: 0.6768, loss_map_pts: 3.5906, loss_map_dir: 0.0497, d0.loss_plan_l1_fix_time: 4.4650, d0.loss_plan_l1_fix_dist: 0.9956, d1.loss_plan_l1_fix_time: 4.2738, d1.loss_plan_l1_fix_dist: 1.0481, d2.loss_plan_l1_fix_time: 4.3048, d2.loss_plan_l1_fix_dist: 1.1641, d3.loss_plan_l1_fix_time: 4.3525, d3.loss_plan_l1_fix_dist: 1.2628, d4.loss_plan_l1_fix_time: 4.3947, d4.loss_plan_l1_fix_dist: 1.3767, d5.loss_plan_l1_fix_time: 4.4435, d5.loss_plan_l1_fix_dist: 1.5233, d6.loss_plan_l1_fix_time: 4.4966, d6.loss_plan_l1_fix_dist: 1.6932, d0.loss_cls_all: 1.1667, d0.loss_bbox_all: 1.4157, d0.loss_cls: 1.1667, d0.loss_bbox: 1.4157, d1.loss_cls: 1.1735, d1.loss_bbox: 1.4457, d2.loss_cls: 1.1815, d2.loss_bbox: 1.4474, d3.loss_cls: 1.1841, d3.loss_bbox: 1.4632, d4.loss_cls: 1.1927, d4.loss_bbox: 1.4688, d5.loss_cls: 1.1940, d5.loss_bbox: 1.5047, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.0961, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.1958, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.4154, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.6802, d4.loss_traj_cls: 0.0006, d4.loss_traj: 3.0828, d5.loss_traj_cls: 0.0006, d5.loss_traj: 3.3122, d0.loss_map_cls_all: 0.6479, d0.loss_map_pts_all: 4.1164, d0.loss_map_dir_all: 0.0504, d0.loss_map_cls: 0.6479, d0.loss_map_pts: 4.1164, d0.loss_map_dir: 0.0504, d1.loss_map_cls: 0.6533, d1.loss_map_pts: 3.7547, d1.loss_map_dir: 0.0492, d2.loss_map_cls: 0.6633, d2.loss_map_pts: 3.6641, d2.loss_map_dir: 0.0492, d3.loss_map_cls: 0.6691, d3.loss_map_pts: 3.6266, d3.loss_map_dir: 0.0494, d4.loss_map_cls: 0.6720, d4.loss_map_pts: 3.6071, d4.loss_map_dir: 0.0497, d5.loss_map_cls: 0.6761, d5.loss_map_pts: 3.5978, d5.loss_map_dir: 0.0497, loss: 115.9721, grad_norm: 267.9280 +2026-02-23 23:58:51,292 - DriveTransformer - INFO - Epoch [1][8200/117620] lr: 1.000e-04, eta: 27 days, 5:40:14, time: 0.337, data_time: 0.015, memory: 8395, loss_cls: 1.1264, loss_bbox: 1.3495, loss_traj: 3.7842, loss_traj_cls: 0.0006, loss_map_cls: 0.6886, loss_map_pts: 3.4370, loss_map_dir: 0.0509, d0.loss_plan_l1_fix_time: 4.3310, d0.loss_plan_l1_fix_dist: 0.7401, d1.loss_plan_l1_fix_time: 4.0545, d1.loss_plan_l1_fix_dist: 0.8347, d2.loss_plan_l1_fix_time: 4.0508, d2.loss_plan_l1_fix_dist: 0.9758, d3.loss_plan_l1_fix_time: 4.0741, d3.loss_plan_l1_fix_dist: 1.1234, d4.loss_plan_l1_fix_time: 4.1052, d4.loss_plan_l1_fix_dist: 1.2787, d5.loss_plan_l1_fix_time: 4.1332, d5.loss_plan_l1_fix_dist: 1.4272, d6.loss_plan_l1_fix_time: 4.1676, d6.loss_plan_l1_fix_dist: 1.5800, d0.loss_cls_all: 1.1131, d0.loss_bbox_all: 1.2528, d0.loss_cls: 1.1131, d0.loss_bbox: 1.2528, d1.loss_cls: 1.1301, d1.loss_bbox: 1.2703, d2.loss_cls: 1.1320, d2.loss_bbox: 1.2799, d3.loss_cls: 1.1257, d3.loss_bbox: 1.3031, d4.loss_cls: 1.1248, d4.loss_bbox: 1.3140, d5.loss_cls: 1.1201, d5.loss_bbox: 1.3530, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.4285, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5330, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.7627, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.9823, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.3701, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.5411, d0.loss_map_cls_all: 0.6501, d0.loss_map_pts_all: 4.0247, d0.loss_map_dir_all: 0.0519, d0.loss_map_cls: 0.6501, d0.loss_map_pts: 4.0247, d0.loss_map_dir: 0.0519, d1.loss_map_cls: 0.6614, d1.loss_map_pts: 3.6195, d1.loss_map_dir: 0.0507, d2.loss_map_cls: 0.6720, d2.loss_map_pts: 3.5193, d2.loss_map_dir: 0.0507, d3.loss_map_cls: 0.6781, d3.loss_map_pts: 3.4772, d3.loss_map_dir: 0.0508, d4.loss_map_cls: 0.6817, d4.loss_map_pts: 3.4563, d4.loss_map_dir: 0.0508, d5.loss_map_cls: 0.6856, d5.loss_map_pts: 3.4431, d5.loss_map_dir: 0.0509, loss: 112.4206, grad_norm: 266.2950 +2026-02-23 23:59:07,169 - DriveTransformer - INFO - Epoch [1][8250/117620] lr: 1.000e-04, eta: 27 days, 5:28:20, time: 0.318, data_time: 0.014, memory: 8395, loss_cls: 1.1227, loss_bbox: 1.3929, loss_traj: 3.7898, loss_traj_cls: 0.0007, loss_map_cls: 0.7289, loss_map_pts: 3.1885, loss_map_dir: 0.0501, d0.loss_plan_l1_fix_time: 4.5808, d0.loss_plan_l1_fix_dist: 0.8109, d1.loss_plan_l1_fix_time: 4.3413, d1.loss_plan_l1_fix_dist: 0.8981, d2.loss_plan_l1_fix_time: 4.3564, d2.loss_plan_l1_fix_dist: 1.0207, d3.loss_plan_l1_fix_time: 4.3914, d3.loss_plan_l1_fix_dist: 1.1680, d4.loss_plan_l1_fix_time: 4.4259, d4.loss_plan_l1_fix_dist: 1.3280, d5.loss_plan_l1_fix_time: 4.4709, d5.loss_plan_l1_fix_dist: 1.4727, d6.loss_plan_l1_fix_time: 4.5253, d6.loss_plan_l1_fix_dist: 1.6083, d0.loss_cls_all: 1.1071, d0.loss_bbox_all: 1.2974, d0.loss_cls: 1.1071, d0.loss_bbox: 1.2974, d1.loss_cls: 1.1311, d1.loss_bbox: 1.3212, d2.loss_cls: 1.1290, d2.loss_bbox: 1.3348, d3.loss_cls: 1.1251, d3.loss_bbox: 1.3494, d4.loss_cls: 1.1127, d4.loss_bbox: 1.3745, d5.loss_cls: 1.1152, d5.loss_bbox: 1.4058, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2735, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4214, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.6676, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.8924, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.3186, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.4750, d0.loss_map_cls_all: 0.6844, d0.loss_map_pts_all: 3.7652, d0.loss_map_dir_all: 0.0509, d0.loss_map_cls: 0.6844, d0.loss_map_pts: 3.7652, d0.loss_map_dir: 0.0509, d1.loss_map_cls: 0.7031, d1.loss_map_pts: 3.3815, d1.loss_map_dir: 0.0501, d2.loss_map_cls: 0.7073, d2.loss_map_pts: 3.2769, d2.loss_map_dir: 0.0501, d3.loss_map_cls: 0.7166, d3.loss_map_pts: 3.2270, d3.loss_map_dir: 0.0502, d4.loss_map_cls: 0.7187, d4.loss_map_pts: 3.2041, d4.loss_map_dir: 0.0502, d5.loss_map_cls: 0.7234, d5.loss_map_pts: 3.1936, d5.loss_map_dir: 0.0502, loss: 113.0355, grad_norm: 266.2950 +2026-02-23 23:59:23,344 - DriveTransformer - INFO - Epoch [1][8300/117620] lr: 1.000e-04, eta: 27 days, 5:20:47, time: 0.323, data_time: 0.016, memory: 8395, loss_cls: 1.1196, loss_bbox: 1.3451, loss_traj: 3.7166, loss_traj_cls: 0.0006, loss_map_cls: 0.6931, loss_map_pts: 3.2384, loss_map_dir: 0.0508, d0.loss_plan_l1_fix_time: 4.0738, d0.loss_plan_l1_fix_dist: 0.8601, d1.loss_plan_l1_fix_time: 3.6660, d1.loss_plan_l1_fix_dist: 0.9441, d2.loss_plan_l1_fix_time: 3.6041, d2.loss_plan_l1_fix_dist: 1.0649, d3.loss_plan_l1_fix_time: 3.6039, d3.loss_plan_l1_fix_dist: 1.2258, d4.loss_plan_l1_fix_time: 3.6120, d4.loss_plan_l1_fix_dist: 1.4153, d5.loss_plan_l1_fix_time: 3.6295, d5.loss_plan_l1_fix_dist: 1.6040, d6.loss_plan_l1_fix_time: 3.6592, d6.loss_plan_l1_fix_dist: 1.7912, d0.loss_cls_all: 1.0936, d0.loss_bbox_all: 1.2200, d0.loss_cls: 1.0936, d0.loss_bbox: 1.2200, d1.loss_cls: 1.1133, d1.loss_bbox: 1.2417, d2.loss_cls: 1.1126, d2.loss_bbox: 1.2564, d3.loss_cls: 1.1115, d3.loss_bbox: 1.2790, d4.loss_cls: 1.1163, d4.loss_bbox: 1.2991, d5.loss_cls: 1.1174, d5.loss_bbox: 1.3331, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.4472, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5834, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.8079, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.0271, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.3581, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.5113, d0.loss_map_cls_all: 0.6483, d0.loss_map_pts_all: 3.8932, d0.loss_map_dir_all: 0.0514, d0.loss_map_cls: 0.6483, d0.loss_map_pts: 3.8932, d0.loss_map_dir: 0.0514, d1.loss_map_cls: 0.6631, d1.loss_map_pts: 3.4617, d1.loss_map_dir: 0.0506, d2.loss_map_cls: 0.6724, d2.loss_map_pts: 3.3465, d2.loss_map_dir: 0.0507, d3.loss_map_cls: 0.6798, d3.loss_map_pts: 3.2957, d3.loss_map_dir: 0.0507, d4.loss_map_cls: 0.6838, d4.loss_map_pts: 3.2625, d4.loss_map_dir: 0.0507, d5.loss_map_cls: 0.6898, d5.loss_map_pts: 3.2448, d5.loss_map_dir: 0.0508, loss: 108.7027, grad_norm: 265.9622 +2026-02-23 23:59:40,064 - DriveTransformer - INFO - Epoch [1][8350/117620] lr: 1.000e-04, eta: 27 days, 5:21:01, time: 0.334, data_time: 0.013, memory: 8395, loss_cls: 1.0853, loss_bbox: 1.3621, loss_traj: 3.5397, loss_traj_cls: 0.0007, loss_map_cls: 0.6685, loss_map_pts: 3.3372, loss_map_dir: 0.0516, d0.loss_plan_l1_fix_time: 4.1312, d0.loss_plan_l1_fix_dist: 0.7390, d1.loss_plan_l1_fix_time: 3.8470, d1.loss_plan_l1_fix_dist: 0.8308, d2.loss_plan_l1_fix_time: 3.8411, d2.loss_plan_l1_fix_dist: 0.9522, d3.loss_plan_l1_fix_time: 3.8666, d3.loss_plan_l1_fix_dist: 1.1239, d4.loss_plan_l1_fix_time: 3.8934, d4.loss_plan_l1_fix_dist: 1.3226, d5.loss_plan_l1_fix_time: 3.9233, d5.loss_plan_l1_fix_dist: 1.5246, d6.loss_plan_l1_fix_time: 3.9595, d6.loss_plan_l1_fix_dist: 1.7202, d0.loss_cls_all: 1.0505, d0.loss_bbox_all: 1.2549, d0.loss_cls: 1.0505, d0.loss_bbox: 1.2549, d1.loss_cls: 1.0707, d1.loss_bbox: 1.2703, d2.loss_cls: 1.0727, d2.loss_bbox: 1.2851, d3.loss_cls: 1.0780, d3.loss_bbox: 1.3016, d4.loss_cls: 1.0860, d4.loss_bbox: 1.3192, d5.loss_cls: 1.0755, d5.loss_bbox: 1.3592, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.3286, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.4684, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.7022, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.9251, d4.loss_traj_cls: 0.0006, d4.loss_traj: 3.2141, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.3482, d0.loss_map_cls_all: 0.6352, d0.loss_map_pts_all: 3.9757, d0.loss_map_dir_all: 0.0523, d0.loss_map_cls: 0.6352, d0.loss_map_pts: 3.9757, d0.loss_map_dir: 0.0523, d1.loss_map_cls: 0.6425, d1.loss_map_pts: 3.5354, d1.loss_map_dir: 0.0515, d2.loss_map_cls: 0.6535, d2.loss_map_pts: 3.4285, d2.loss_map_dir: 0.0515, d3.loss_map_cls: 0.6585, d3.loss_map_pts: 3.3821, d3.loss_map_dir: 0.0516, d4.loss_map_cls: 0.6633, d4.loss_map_pts: 3.3545, d4.loss_map_dir: 0.0516, d5.loss_map_cls: 0.6664, d5.loss_map_pts: 3.3410, d5.loss_map_dir: 0.0516, loss: 109.1494, grad_norm: 265.9622 +2026-02-23 23:59:55,814 - DriveTransformer - INFO - Epoch [1][8400/117620] lr: 1.000e-04, eta: 27 days, 5:07:40, time: 0.315, data_time: 0.013, memory: 8395, loss_cls: 1.1220, loss_bbox: 1.3869, loss_traj: 3.0647, loss_traj_cls: 0.0006, loss_map_cls: 0.6712, loss_map_pts: 3.3869, loss_map_dir: 0.0535, d0.loss_plan_l1_fix_time: 3.7524, d0.loss_plan_l1_fix_dist: 0.8334, d1.loss_plan_l1_fix_time: 3.5427, d1.loss_plan_l1_fix_dist: 0.9048, d2.loss_plan_l1_fix_time: 3.5419, d2.loss_plan_l1_fix_dist: 1.0135, d3.loss_plan_l1_fix_time: 3.5648, d3.loss_plan_l1_fix_dist: 1.1196, d4.loss_plan_l1_fix_time: 3.5888, d4.loss_plan_l1_fix_dist: 1.2400, d5.loss_plan_l1_fix_time: 3.6145, d5.loss_plan_l1_fix_dist: 1.3889, d6.loss_plan_l1_fix_time: 3.6424, d6.loss_plan_l1_fix_dist: 1.5488, d0.loss_cls_all: 1.1007, d0.loss_bbox_all: 1.2313, d0.loss_cls: 1.1007, d0.loss_bbox: 1.2313, d1.loss_cls: 1.1116, d1.loss_bbox: 1.2703, d2.loss_cls: 1.1183, d2.loss_bbox: 1.2848, d3.loss_cls: 1.1156, d3.loss_bbox: 1.3035, d4.loss_cls: 1.1142, d4.loss_bbox: 1.3247, d5.loss_cls: 1.1052, d5.loss_bbox: 1.3669, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1317, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2256, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3728, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.5854, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.7995, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.9367, d0.loss_map_cls_all: 0.6494, d0.loss_map_pts_all: 3.9441, d0.loss_map_dir_all: 0.0544, d0.loss_map_cls: 0.6494, d0.loss_map_pts: 3.9441, d0.loss_map_dir: 0.0544, d1.loss_map_cls: 0.6546, d1.loss_map_pts: 3.5608, d1.loss_map_dir: 0.0535, d2.loss_map_cls: 0.6634, d2.loss_map_pts: 3.4553, d2.loss_map_dir: 0.0535, d3.loss_map_cls: 0.6677, d3.loss_map_pts: 3.4119, d3.loss_map_dir: 0.0536, d4.loss_map_cls: 0.6686, d4.loss_map_pts: 3.3915, d4.loss_map_dir: 0.0534, d5.loss_map_cls: 0.6677, d5.loss_map_pts: 3.3847, d5.loss_map_dir: 0.0535, loss: 104.9054, grad_norm: 265.8217 +2026-02-24 00:00:11,966 - DriveTransformer - INFO - Epoch [1][8450/117620] lr: 1.000e-04, eta: 27 days, 5:00:06, time: 0.323, data_time: 0.013, memory: 8395, loss_cls: 1.1225, loss_bbox: 1.3993, loss_traj: 2.8637, loss_traj_cls: 0.0007, loss_map_cls: 0.6558, loss_map_pts: 3.4459, loss_map_dir: 0.0532, d0.loss_plan_l1_fix_time: 4.0783, d0.loss_plan_l1_fix_dist: 0.9095, d1.loss_plan_l1_fix_time: 3.6849, d1.loss_plan_l1_fix_dist: 0.9713, d2.loss_plan_l1_fix_time: 3.6359, d2.loss_plan_l1_fix_dist: 1.0793, d3.loss_plan_l1_fix_time: 3.6494, d3.loss_plan_l1_fix_dist: 1.1849, d4.loss_plan_l1_fix_time: 3.6703, d4.loss_plan_l1_fix_dist: 1.3053, d5.loss_plan_l1_fix_time: 3.7055, d5.loss_plan_l1_fix_dist: 1.4635, d6.loss_plan_l1_fix_time: 3.7411, d6.loss_plan_l1_fix_dist: 1.6324, d0.loss_cls_all: 1.1116, d0.loss_bbox_all: 1.2449, d0.loss_cls: 1.1116, d0.loss_bbox: 1.2449, d1.loss_cls: 1.1201, d1.loss_bbox: 1.2876, d2.loss_cls: 1.1331, d2.loss_bbox: 1.3034, d3.loss_cls: 1.1300, d3.loss_bbox: 1.3230, d4.loss_cls: 1.1272, d4.loss_bbox: 1.3426, d5.loss_cls: 1.1218, d5.loss_bbox: 1.3758, d0.loss_traj_cls: 0.0005, d0.loss_traj: 1.8342, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9438, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1343, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3395, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.5664, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.7159, d0.loss_map_cls_all: 0.6271, d0.loss_map_pts_all: 4.1398, d0.loss_map_dir_all: 0.0544, d0.loss_map_cls: 0.6271, d0.loss_map_pts: 4.1398, d0.loss_map_dir: 0.0544, d1.loss_map_cls: 0.6316, d1.loss_map_pts: 3.6839, d1.loss_map_dir: 0.0533, d2.loss_map_cls: 0.6454, d2.loss_map_pts: 3.5535, d2.loss_map_dir: 0.0533, d3.loss_map_cls: 0.6514, d3.loss_map_pts: 3.4921, d3.loss_map_dir: 0.0533, d4.loss_map_cls: 0.6517, d4.loss_map_pts: 3.4628, d4.loss_map_dir: 0.0533, d5.loss_map_cls: 0.6525, d5.loss_map_pts: 3.4479, d5.loss_map_dir: 0.0533, loss: 105.5492, grad_norm: 264.4505 +2026-02-24 00:00:28,378 - DriveTransformer - INFO - Epoch [1][8500/117620] lr: 1.000e-04, eta: 27 days, 4:56:12, time: 0.328, data_time: 0.018, memory: 8395, loss_cls: 1.1101, loss_bbox: 1.3450, loss_traj: 3.4390, loss_traj_cls: 0.0007, loss_map_cls: 0.7076, loss_map_pts: 3.1936, loss_map_dir: 0.0552, d0.loss_plan_l1_fix_time: 3.8059, d0.loss_plan_l1_fix_dist: 0.6724, d1.loss_plan_l1_fix_time: 3.6664, d1.loss_plan_l1_fix_dist: 0.7187, d2.loss_plan_l1_fix_time: 3.6579, d2.loss_plan_l1_fix_dist: 0.8370, d3.loss_plan_l1_fix_time: 3.6721, d3.loss_plan_l1_fix_dist: 0.9608, d4.loss_plan_l1_fix_time: 3.6973, d4.loss_plan_l1_fix_dist: 1.1032, d5.loss_plan_l1_fix_time: 3.7131, d5.loss_plan_l1_fix_dist: 1.2967, d6.loss_plan_l1_fix_time: 3.7293, d6.loss_plan_l1_fix_dist: 1.4989, d0.loss_cls_all: 1.0843, d0.loss_bbox_all: 1.2269, d0.loss_cls: 1.0843, d0.loss_bbox: 1.2269, d1.loss_cls: 1.0921, d1.loss_bbox: 1.2792, d2.loss_cls: 1.1031, d2.loss_bbox: 1.2871, d3.loss_cls: 1.1010, d3.loss_bbox: 1.3028, d4.loss_cls: 1.0990, d4.loss_bbox: 1.3132, d5.loss_cls: 1.1024, d5.loss_bbox: 1.3302, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.2435, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.4147, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.5856, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7452, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.0873, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.1764, d0.loss_map_cls_all: 0.6746, d0.loss_map_pts_all: 3.8478, d0.loss_map_dir_all: 0.0557, d0.loss_map_cls: 0.6746, d0.loss_map_pts: 3.8478, d0.loss_map_dir: 0.0557, d1.loss_map_cls: 0.6906, d1.loss_map_pts: 3.4059, d1.loss_map_dir: 0.0547, d2.loss_map_cls: 0.6985, d2.loss_map_pts: 3.2881, d2.loss_map_dir: 0.0547, d3.loss_map_cls: 0.7016, d3.loss_map_pts: 3.2384, d3.loss_map_dir: 0.0549, d4.loss_map_cls: 0.7053, d4.loss_map_pts: 3.2101, d4.loss_map_dir: 0.0549, d5.loss_map_cls: 0.7049, d5.loss_map_pts: 3.1958, d5.loss_map_dir: 0.0551, loss: 105.0385, grad_norm: 264.4505 +2026-02-24 00:00:45,374 - DriveTransformer - INFO - Epoch [1][8550/117620] lr: 1.000e-04, eta: 27 days, 5:00:20, time: 0.340, data_time: 0.016, memory: 8395, loss_cls: 1.1385, loss_bbox: 1.3397, loss_traj: 3.7671, loss_traj_cls: 0.0007, loss_map_cls: 0.6871, loss_map_pts: 3.4564, loss_map_dir: 0.0535, d0.loss_plan_l1_fix_time: 4.2157, d0.loss_plan_l1_fix_dist: 1.0006, d1.loss_plan_l1_fix_time: 3.7968, d1.loss_plan_l1_fix_dist: 1.0493, d2.loss_plan_l1_fix_time: 3.7538, d2.loss_plan_l1_fix_dist: 1.1563, d3.loss_plan_l1_fix_time: 3.7677, d3.loss_plan_l1_fix_dist: 1.2614, d4.loss_plan_l1_fix_time: 3.7918, d4.loss_plan_l1_fix_dist: 1.3832, d5.loss_plan_l1_fix_time: 3.8099, d5.loss_plan_l1_fix_dist: 1.5474, d6.loss_plan_l1_fix_time: 3.8290, d6.loss_plan_l1_fix_dist: 1.7219, d0.loss_cls_all: 1.0987, d0.loss_bbox_all: 1.2545, d0.loss_cls: 1.0987, d0.loss_bbox: 1.2545, d1.loss_cls: 1.1277, d1.loss_bbox: 1.2775, d2.loss_cls: 1.1349, d2.loss_bbox: 1.2827, d3.loss_cls: 1.1288, d3.loss_bbox: 1.2993, d4.loss_cls: 1.1256, d4.loss_bbox: 1.3084, d5.loss_cls: 1.1251, d5.loss_bbox: 1.3280, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.6380, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.8195, d2.loss_traj_cls: 0.0006, d2.loss_traj: 3.0017, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.1571, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.4699, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.5340, d0.loss_map_cls_all: 0.6565, d0.loss_map_pts_all: 4.0280, d0.loss_map_dir_all: 0.0546, d0.loss_map_cls: 0.6565, d0.loss_map_pts: 4.0280, d0.loss_map_dir: 0.0546, d1.loss_map_cls: 0.6657, d1.loss_map_pts: 3.6497, d1.loss_map_dir: 0.0534, d2.loss_map_cls: 0.6743, d2.loss_map_pts: 3.5506, d2.loss_map_dir: 0.0533, d3.loss_map_cls: 0.6795, d3.loss_map_pts: 3.4981, d3.loss_map_dir: 0.0534, d4.loss_map_cls: 0.6826, d4.loss_map_pts: 3.4751, d4.loss_map_dir: 0.0535, d5.loss_map_cls: 0.6842, d5.loss_map_pts: 3.4607, d5.loss_map_dir: 0.0536, loss: 112.7614, grad_norm: 264.6387 +2026-02-24 00:01:01,370 - DriveTransformer - INFO - Epoch [1][8600/117620] lr: 1.000e-04, eta: 27 days, 4:50:44, time: 0.320, data_time: 0.015, memory: 8395, loss_cls: 1.0589, loss_bbox: 1.2098, loss_traj: 3.4543, loss_traj_cls: 0.0006, loss_map_cls: 0.6959, loss_map_pts: 2.9224, loss_map_dir: 0.0496, d0.loss_plan_l1_fix_time: 3.8573, d0.loss_plan_l1_fix_dist: 0.7337, d1.loss_plan_l1_fix_time: 3.4478, d1.loss_plan_l1_fix_dist: 0.8345, d2.loss_plan_l1_fix_time: 3.4041, d2.loss_plan_l1_fix_dist: 0.9833, d3.loss_plan_l1_fix_time: 3.4188, d3.loss_plan_l1_fix_dist: 1.1258, d4.loss_plan_l1_fix_time: 3.4415, d4.loss_plan_l1_fix_dist: 1.2987, d5.loss_plan_l1_fix_time: 3.4612, d5.loss_plan_l1_fix_dist: 1.4663, d6.loss_plan_l1_fix_time: 3.4827, d6.loss_plan_l1_fix_dist: 1.6382, d0.loss_cls_all: 1.0239, d0.loss_bbox_all: 1.1644, d0.loss_cls: 1.0239, d0.loss_bbox: 1.1644, d1.loss_cls: 1.0490, d1.loss_bbox: 1.1660, d2.loss_cls: 1.0473, d2.loss_bbox: 1.1723, d3.loss_cls: 1.0530, d3.loss_bbox: 1.1787, d4.loss_cls: 1.0627, d4.loss_bbox: 1.1889, d5.loss_cls: 1.0563, d5.loss_bbox: 1.1997, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3613, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4422, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.5951, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7947, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.0537, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.2176, d0.loss_map_cls_all: 0.6670, d0.loss_map_pts_all: 3.6162, d0.loss_map_dir_all: 0.0502, d0.loss_map_cls: 0.6670, d0.loss_map_pts: 3.6162, d0.loss_map_dir: 0.0502, d1.loss_map_cls: 0.6760, d1.loss_map_pts: 3.1816, d1.loss_map_dir: 0.0491, d2.loss_map_cls: 0.6862, d2.loss_map_pts: 3.0595, d2.loss_map_dir: 0.0493, d3.loss_map_cls: 0.6903, d3.loss_map_pts: 2.9913, d3.loss_map_dir: 0.0495, d4.loss_map_cls: 0.6931, d4.loss_map_pts: 2.9556, d4.loss_map_dir: 0.0496, d5.loss_map_cls: 0.6962, d5.loss_map_pts: 2.9333, d5.loss_map_dir: 0.0496, loss: 101.4804, grad_norm: 264.6387 +2026-02-24 00:01:17,299 - DriveTransformer - INFO - Epoch [1][8650/117620] lr: 1.000e-04, eta: 27 days, 4:40:21, time: 0.319, data_time: 0.014, memory: 8395, loss_cls: 1.1278, loss_bbox: 1.3366, loss_traj: 2.8565, loss_traj_cls: 0.0007, loss_map_cls: 0.6972, loss_map_pts: 3.0399, loss_map_dir: 0.0529, d0.loss_plan_l1_fix_time: 3.4197, d0.loss_plan_l1_fix_dist: 0.8747, d1.loss_plan_l1_fix_time: 3.2152, d1.loss_plan_l1_fix_dist: 0.9488, d2.loss_plan_l1_fix_time: 3.2188, d2.loss_plan_l1_fix_dist: 1.0708, d3.loss_plan_l1_fix_time: 3.2440, d3.loss_plan_l1_fix_dist: 1.2002, d4.loss_plan_l1_fix_time: 3.2713, d4.loss_plan_l1_fix_dist: 1.3592, d5.loss_plan_l1_fix_time: 3.2891, d5.loss_plan_l1_fix_dist: 1.5109, d6.loss_plan_l1_fix_time: 3.3121, d6.loss_plan_l1_fix_dist: 1.6655, d0.loss_cls_all: 1.0959, d0.loss_bbox_all: 1.2260, d0.loss_cls: 1.0959, d0.loss_bbox: 1.2260, d1.loss_cls: 1.1184, d1.loss_bbox: 1.2755, d2.loss_cls: 1.1262, d2.loss_bbox: 1.2844, d3.loss_cls: 1.1349, d3.loss_bbox: 1.2927, d4.loss_cls: 1.1299, d4.loss_bbox: 1.3131, d5.loss_cls: 1.1211, d5.loss_bbox: 1.3274, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9431, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0470, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2221, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3888, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.5704, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.6765, d0.loss_map_cls_all: 0.6676, d0.loss_map_pts_all: 3.7452, d0.loss_map_dir_all: 0.0537, d0.loss_map_cls: 0.6676, d0.loss_map_pts: 3.7452, d0.loss_map_dir: 0.0537, d1.loss_map_cls: 0.6794, d1.loss_map_pts: 3.3101, d1.loss_map_dir: 0.0526, d2.loss_map_cls: 0.6890, d2.loss_map_pts: 3.1727, d2.loss_map_dir: 0.0526, d3.loss_map_cls: 0.6921, d3.loss_map_pts: 3.1069, d3.loss_map_dir: 0.0527, d4.loss_map_cls: 0.6946, d4.loss_map_pts: 3.0737, d4.loss_map_dir: 0.0529, d5.loss_map_cls: 0.6965, d5.loss_map_pts: 3.0517, d5.loss_map_dir: 0.0530, loss: 99.6936, grad_norm: 264.7185 +2026-02-24 00:01:33,066 - DriveTransformer - INFO - Epoch [1][8700/117620] lr: 1.000e-04, eta: 27 days, 4:27:57, time: 0.315, data_time: 0.014, memory: 8395, loss_cls: 1.1493, loss_bbox: 1.4185, loss_traj: 3.6122, loss_traj_cls: 0.0007, loss_map_cls: 0.7303, loss_map_pts: 3.3606, loss_map_dir: 0.0543, d0.loss_plan_l1_fix_time: 4.0713, d0.loss_plan_l1_fix_dist: 0.8995, d1.loss_plan_l1_fix_time: 4.0440, d1.loss_plan_l1_fix_dist: 0.9852, d2.loss_plan_l1_fix_time: 4.1006, d2.loss_plan_l1_fix_dist: 1.1057, d3.loss_plan_l1_fix_time: 4.1343, d3.loss_plan_l1_fix_dist: 1.2476, d4.loss_plan_l1_fix_time: 4.1702, d4.loss_plan_l1_fix_dist: 1.3938, d5.loss_plan_l1_fix_time: 4.1859, d5.loss_plan_l1_fix_dist: 1.5289, d6.loss_plan_l1_fix_time: 4.2061, d6.loss_plan_l1_fix_dist: 1.6844, d0.loss_cls_all: 1.0946, d0.loss_bbox_all: 1.2481, d0.loss_cls: 1.0946, d0.loss_bbox: 1.2481, d1.loss_cls: 1.1224, d1.loss_bbox: 1.2815, d2.loss_cls: 1.1252, d2.loss_bbox: 1.2923, d3.loss_cls: 1.1316, d3.loss_bbox: 1.3018, d4.loss_cls: 1.1312, d4.loss_bbox: 1.3243, d5.loss_cls: 1.1413, d5.loss_bbox: 1.3355, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2963, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3941, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.5889, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.8605, d4.loss_traj_cls: 0.0006, d4.loss_traj: 3.0654, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.2304, d0.loss_map_cls_all: 0.7023, d0.loss_map_pts_all: 3.8407, d0.loss_map_dir_all: 0.0553, d0.loss_map_cls: 0.7023, d0.loss_map_pts: 3.8407, d0.loss_map_dir: 0.0553, d1.loss_map_cls: 0.7097, d1.loss_map_pts: 3.4845, d1.loss_map_dir: 0.0541, d2.loss_map_cls: 0.7202, d2.loss_map_pts: 3.4011, d2.loss_map_dir: 0.0541, d3.loss_map_cls: 0.7260, d3.loss_map_pts: 3.3659, d3.loss_map_dir: 0.0543, d4.loss_map_cls: 0.7283, d4.loss_map_pts: 3.3547, d4.loss_map_dir: 0.0543, d5.loss_map_cls: 0.7292, d5.loss_map_pts: 3.3545, d5.loss_map_dir: 0.0544, loss: 111.4365, grad_norm: 264.7185 +2026-02-24 00:01:49,322 - DriveTransformer - INFO - Epoch [1][8750/117620] lr: 1.000e-04, eta: 27 days, 4:22:11, time: 0.325, data_time: 0.013, memory: 8395, loss_cls: 1.1399, loss_bbox: 1.3950, loss_traj: 3.1811, loss_traj_cls: 0.0007, loss_map_cls: 0.6624, loss_map_pts: 3.2959, loss_map_dir: 0.0525, d0.loss_plan_l1_fix_time: 4.4558, d0.loss_plan_l1_fix_dist: 0.8435, d1.loss_plan_l1_fix_time: 4.3401, d1.loss_plan_l1_fix_dist: 0.9105, d2.loss_plan_l1_fix_time: 4.3411, d2.loss_plan_l1_fix_dist: 1.0148, d3.loss_plan_l1_fix_time: 4.3613, d3.loss_plan_l1_fix_dist: 1.1458, d4.loss_plan_l1_fix_time: 4.3929, d4.loss_plan_l1_fix_dist: 1.2865, d5.loss_plan_l1_fix_time: 4.4149, d5.loss_plan_l1_fix_dist: 1.4338, d6.loss_plan_l1_fix_time: 4.4429, d6.loss_plan_l1_fix_dist: 1.6013, d0.loss_cls_all: 1.0878, d0.loss_bbox_all: 1.2772, d0.loss_cls: 1.0878, d0.loss_bbox: 1.2772, d1.loss_cls: 1.1242, d1.loss_bbox: 1.2829, d2.loss_cls: 1.1242, d2.loss_bbox: 1.2951, d3.loss_cls: 1.1209, d3.loss_bbox: 1.3090, d4.loss_cls: 1.1181, d4.loss_bbox: 1.3266, d5.loss_cls: 1.1287, d5.loss_bbox: 1.3330, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9578, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0624, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2337, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.4731, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.6684, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.8616, d0.loss_map_cls_all: 0.6334, d0.loss_map_pts_all: 4.0079, d0.loss_map_dir_all: 0.0532, d0.loss_map_cls: 0.6334, d0.loss_map_pts: 4.0079, d0.loss_map_dir: 0.0532, d1.loss_map_cls: 0.6484, d1.loss_map_pts: 3.5523, d1.loss_map_dir: 0.0522, d2.loss_map_cls: 0.6548, d2.loss_map_pts: 3.4117, d2.loss_map_dir: 0.0523, d3.loss_map_cls: 0.6587, d3.loss_map_pts: 3.3479, d3.loss_map_dir: 0.0525, d4.loss_map_cls: 0.6612, d4.loss_map_pts: 3.3157, d4.loss_map_dir: 0.0526, d5.loss_map_cls: 0.6622, d5.loss_map_pts: 3.3026, d5.loss_map_dir: 0.0526, loss: 109.7324, grad_norm: 265.6943 +2026-02-24 00:02:05,816 - DriveTransformer - INFO - Epoch [1][8800/117620] lr: 1.000e-04, eta: 27 days, 4:19:43, time: 0.330, data_time: 0.014, memory: 8395, loss_cls: 1.0283, loss_bbox: 1.2745, loss_traj: 3.0725, loss_traj_cls: 0.0006, loss_map_cls: 0.6874, loss_map_pts: 2.8678, loss_map_dir: 0.0486, d0.loss_plan_l1_fix_time: 4.1363, d0.loss_plan_l1_fix_dist: 0.7184, d1.loss_plan_l1_fix_time: 3.8564, d1.loss_plan_l1_fix_dist: 0.8053, d2.loss_plan_l1_fix_time: 3.8152, d2.loss_plan_l1_fix_dist: 0.9301, d3.loss_plan_l1_fix_time: 3.8122, d3.loss_plan_l1_fix_dist: 1.1010, d4.loss_plan_l1_fix_time: 3.8344, d4.loss_plan_l1_fix_dist: 1.2814, d5.loss_plan_l1_fix_time: 3.8653, d5.loss_plan_l1_fix_dist: 1.5147, d6.loss_plan_l1_fix_time: 3.9121, d6.loss_plan_l1_fix_dist: 1.7671, d0.loss_cls_all: 0.9927, d0.loss_bbox_all: 1.1225, d0.loss_cls: 0.9927, d0.loss_bbox: 1.1225, d1.loss_cls: 1.0038, d1.loss_bbox: 1.1614, d2.loss_cls: 1.0033, d2.loss_bbox: 1.1801, d3.loss_cls: 1.0006, d3.loss_bbox: 1.1888, d4.loss_cls: 1.0044, d4.loss_bbox: 1.2014, d5.loss_cls: 1.0108, d5.loss_bbox: 1.2065, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1445, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2465, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3872, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.5432, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.6774, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.9005, d0.loss_map_cls_all: 0.6540, d0.loss_map_pts_all: 3.6363, d0.loss_map_dir_all: 0.0497, d0.loss_map_cls: 0.6540, d0.loss_map_pts: 3.6363, d0.loss_map_dir: 0.0497, d1.loss_map_cls: 0.6662, d1.loss_map_pts: 3.1166, d1.loss_map_dir: 0.0481, d2.loss_map_cls: 0.6736, d2.loss_map_pts: 2.9702, d2.loss_map_dir: 0.0483, d3.loss_map_cls: 0.6782, d3.loss_map_pts: 2.9057, d3.loss_map_dir: 0.0483, d4.loss_map_cls: 0.6830, d4.loss_map_pts: 2.8786, d4.loss_map_dir: 0.0484, d5.loss_map_cls: 0.6860, d5.loss_map_pts: 2.8691, d5.loss_map_dir: 0.0485, loss: 101.4721, grad_norm: 265.6943 +2026-02-24 00:02:21,310 - DriveTransformer - INFO - Epoch [1][8850/117620] lr: 1.000e-04, eta: 27 days, 4:03:55, time: 0.310, data_time: 0.013, memory: 8395, loss_cls: 1.1565, loss_bbox: 1.3018, loss_traj: 2.6953, loss_traj_cls: 0.0006, loss_map_cls: 0.7174, loss_map_pts: 3.1929, loss_map_dir: 0.0547, d0.loss_plan_l1_fix_time: 3.4934, d0.loss_plan_l1_fix_dist: 0.7634, d1.loss_plan_l1_fix_time: 3.4009, d1.loss_plan_l1_fix_dist: 0.8393, d2.loss_plan_l1_fix_time: 3.4364, d2.loss_plan_l1_fix_dist: 0.9520, d3.loss_plan_l1_fix_time: 3.4713, d3.loss_plan_l1_fix_dist: 1.1052, d4.loss_plan_l1_fix_time: 3.5139, d4.loss_plan_l1_fix_dist: 1.2615, d5.loss_plan_l1_fix_time: 3.5552, d5.loss_plan_l1_fix_dist: 1.4687, d6.loss_plan_l1_fix_time: 3.6066, d6.loss_plan_l1_fix_dist: 1.6984, d0.loss_cls_all: 1.1530, d0.loss_bbox_all: 1.1653, d0.loss_cls: 1.1530, d0.loss_bbox: 1.1653, d1.loss_cls: 1.1661, d1.loss_bbox: 1.2177, d2.loss_cls: 1.1682, d2.loss_bbox: 1.2309, d3.loss_cls: 1.1620, d3.loss_bbox: 1.2502, d4.loss_cls: 1.1548, d4.loss_bbox: 1.2602, d5.loss_cls: 1.1579, d5.loss_bbox: 1.2602, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1336, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2264, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3241, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.4066, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.4180, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.6119, d0.loss_map_cls_all: 0.6788, d0.loss_map_pts_all: 3.7776, d0.loss_map_dir_all: 0.0548, d0.loss_map_cls: 0.6788, d0.loss_map_pts: 3.7776, d0.loss_map_dir: 0.0548, d1.loss_map_cls: 0.6943, d1.loss_map_pts: 3.3428, d1.loss_map_dir: 0.0540, d2.loss_map_cls: 0.7037, d2.loss_map_pts: 3.2305, d2.loss_map_dir: 0.0543, d3.loss_map_cls: 0.7095, d3.loss_map_pts: 3.1934, d3.loss_map_dir: 0.0544, d4.loss_map_cls: 0.7134, d4.loss_map_pts: 3.1835, d4.loss_map_dir: 0.0545, d5.loss_map_cls: 0.7154, d5.loss_map_pts: 3.1853, d5.loss_map_dir: 0.0546, loss: 101.4401, grad_norm: 265.2092 +2026-02-24 00:02:38,065 - DriveTransformer - INFO - Epoch [1][8900/117620] lr: 1.000e-04, eta: 27 days, 4:05:02, time: 0.335, data_time: 0.014, memory: 8395, loss_cls: 1.1359, loss_bbox: 1.3459, loss_traj: 2.9892, loss_traj_cls: 0.0005, loss_map_cls: 0.6752, loss_map_pts: 3.0700, loss_map_dir: 0.0507, d0.loss_plan_l1_fix_time: 4.1341, d0.loss_plan_l1_fix_dist: 0.7074, d1.loss_plan_l1_fix_time: 3.9664, d1.loss_plan_l1_fix_dist: 0.7671, d2.loss_plan_l1_fix_time: 3.9725, d2.loss_plan_l1_fix_dist: 0.8557, d3.loss_plan_l1_fix_time: 3.9950, d3.loss_plan_l1_fix_dist: 0.9888, d4.loss_plan_l1_fix_time: 4.0286, d4.loss_plan_l1_fix_dist: 1.1342, d5.loss_plan_l1_fix_time: 4.0702, d5.loss_plan_l1_fix_dist: 1.3294, d6.loss_plan_l1_fix_time: 4.1210, d6.loss_plan_l1_fix_dist: 1.5498, d0.loss_cls_all: 1.1093, d0.loss_bbox_all: 1.2421, d0.loss_cls: 1.1093, d0.loss_bbox: 1.2421, d1.loss_cls: 1.1387, d1.loss_bbox: 1.2578, d2.loss_cls: 1.1371, d2.loss_bbox: 1.2716, d3.loss_cls: 1.1337, d3.loss_bbox: 1.2905, d4.loss_cls: 1.1258, d4.loss_bbox: 1.3105, d5.loss_cls: 1.1300, d5.loss_bbox: 1.3188, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1801, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2191, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3402, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.5032, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.6257, d5.loss_traj_cls: 0.0004, d5.loss_traj: 2.8791, d0.loss_map_cls_all: 0.6495, d0.loss_map_pts_all: 3.7747, d0.loss_map_dir_all: 0.0516, d0.loss_map_cls: 0.6495, d0.loss_map_pts: 3.7747, d0.loss_map_dir: 0.0516, d1.loss_map_cls: 0.6598, d1.loss_map_pts: 3.2588, d1.loss_map_dir: 0.0503, d2.loss_map_cls: 0.6643, d2.loss_map_pts: 3.1215, d2.loss_map_dir: 0.0505, d3.loss_map_cls: 0.6679, d3.loss_map_pts: 3.0681, d3.loss_map_dir: 0.0506, d4.loss_map_cls: 0.6718, d4.loss_map_pts: 3.0553, d4.loss_map_dir: 0.0506, d5.loss_map_cls: 0.6746, d5.loss_map_pts: 3.0589, d5.loss_map_dir: 0.0507, loss: 104.5604, grad_norm: 265.2092 +2026-02-24 00:02:54,298 - DriveTransformer - INFO - Epoch [1][8950/117620] lr: 1.000e-04, eta: 27 days, 3:59:13, time: 0.325, data_time: 0.016, memory: 8395, loss_cls: 1.0523, loss_bbox: 1.2532, loss_traj: 3.1442, loss_traj_cls: 0.0006, loss_map_cls: 0.6884, loss_map_pts: 2.8835, loss_map_dir: 0.0481, d0.loss_plan_l1_fix_time: 4.0023, d0.loss_plan_l1_fix_dist: 0.7371, d1.loss_plan_l1_fix_time: 3.8421, d1.loss_plan_l1_fix_dist: 0.8213, d2.loss_plan_l1_fix_time: 3.8551, d2.loss_plan_l1_fix_dist: 0.9481, d3.loss_plan_l1_fix_time: 3.8791, d3.loss_plan_l1_fix_dist: 1.1100, d4.loss_plan_l1_fix_time: 3.9094, d4.loss_plan_l1_fix_dist: 1.2839, d5.loss_plan_l1_fix_time: 3.9444, d5.loss_plan_l1_fix_dist: 1.4780, d6.loss_plan_l1_fix_time: 3.9836, d6.loss_plan_l1_fix_dist: 1.6918, d0.loss_cls_all: 1.0368, d0.loss_bbox_all: 1.1604, d0.loss_cls: 1.0368, d0.loss_bbox: 1.1604, d1.loss_cls: 1.0638, d1.loss_bbox: 1.1773, d2.loss_cls: 1.0651, d2.loss_bbox: 1.1826, d3.loss_cls: 1.0614, d3.loss_bbox: 1.2022, d4.loss_cls: 1.0604, d4.loss_bbox: 1.2096, d5.loss_cls: 1.0548, d5.loss_bbox: 1.2222, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.5147, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5624, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.6559, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7715, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.8817, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.0547, d0.loss_map_cls_all: 0.6654, d0.loss_map_pts_all: 3.5905, d0.loss_map_dir_all: 0.0487, d0.loss_map_cls: 0.6654, d0.loss_map_pts: 3.5905, d0.loss_map_dir: 0.0487, d1.loss_map_cls: 0.6751, d1.loss_map_pts: 3.0657, d1.loss_map_dir: 0.0478, d2.loss_map_cls: 0.6821, d2.loss_map_pts: 2.9324, d2.loss_map_dir: 0.0479, d3.loss_map_cls: 0.6848, d3.loss_map_pts: 2.8745, d3.loss_map_dir: 0.0479, d4.loss_map_cls: 0.6883, d4.loss_map_pts: 2.8619, d4.loss_map_dir: 0.0479, d5.loss_map_cls: 0.6884, d5.loss_map_pts: 2.8687, d5.loss_map_dir: 0.0479, loss: 103.5648, grad_norm: 265.8446 +2026-02-24 00:03:11,314 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 00:03:11,314 - DriveTransformer - INFO - Epoch [1][9000/117620] lr: 1.000e-04, eta: 27 days, 4:03:40, time: 0.340, data_time: 0.016, memory: 8395, loss_cls: 1.1899, loss_bbox: 1.3134, loss_traj: 2.9650, loss_traj_cls: 0.0006, loss_map_cls: 0.6834, loss_map_pts: 3.3281, loss_map_dir: 0.0550, d0.loss_plan_l1_fix_time: 4.1085, d0.loss_plan_l1_fix_dist: 0.7416, d1.loss_plan_l1_fix_time: 3.9256, d1.loss_plan_l1_fix_dist: 0.8629, d2.loss_plan_l1_fix_time: 3.9396, d2.loss_plan_l1_fix_dist: 1.0282, d3.loss_plan_l1_fix_time: 3.9801, d3.loss_plan_l1_fix_dist: 1.2084, d4.loss_plan_l1_fix_time: 4.0234, d4.loss_plan_l1_fix_dist: 1.3988, d5.loss_plan_l1_fix_time: 4.0780, d5.loss_plan_l1_fix_dist: 1.5749, d6.loss_plan_l1_fix_time: 4.1321, d6.loss_plan_l1_fix_dist: 1.7684, d0.loss_cls_all: 1.1532, d0.loss_bbox_all: 1.1881, d0.loss_cls: 1.1532, d0.loss_bbox: 1.1881, d1.loss_cls: 1.1668, d1.loss_bbox: 1.2544, d2.loss_cls: 1.1757, d2.loss_bbox: 1.2602, d3.loss_cls: 1.1723, d3.loss_bbox: 1.2816, d4.loss_cls: 1.1838, d4.loss_bbox: 1.2943, d5.loss_cls: 1.1909, d5.loss_bbox: 1.3023, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3712, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5074, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.6113, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7271, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.9008, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.9221, d0.loss_map_cls_all: 0.6544, d0.loss_map_pts_all: 3.9350, d0.loss_map_dir_all: 0.0558, d0.loss_map_cls: 0.6544, d0.loss_map_pts: 3.9350, d0.loss_map_dir: 0.0558, d1.loss_map_cls: 0.6659, d1.loss_map_pts: 3.4238, d1.loss_map_dir: 0.0548, d2.loss_map_cls: 0.6765, d2.loss_map_pts: 3.3278, d2.loss_map_dir: 0.0549, d3.loss_map_cls: 0.6801, d3.loss_map_pts: 3.3026, d3.loss_map_dir: 0.0550, d4.loss_map_cls: 0.6828, d4.loss_map_pts: 3.3030, d4.loss_map_dir: 0.0550, d5.loss_map_cls: 0.6842, d5.loss_map_pts: 3.3128, d5.loss_map_dir: 0.0552, loss: 108.9385, grad_norm: 265.8446 +2026-02-24 00:03:28,812 - DriveTransformer - INFO - Epoch [1][9050/117620] lr: 1.000e-04, eta: 27 days, 4:14:23, time: 0.350, data_time: 0.014, memory: 8395, loss_cls: 1.0430, loss_bbox: 1.2793, loss_traj: 3.1005, loss_traj_cls: 0.0007, loss_map_cls: 0.6777, loss_map_pts: 3.1417, loss_map_dir: 0.0505, d0.loss_plan_l1_fix_time: 3.9620, d0.loss_plan_l1_fix_dist: 0.7836, d1.loss_plan_l1_fix_time: 3.7811, d1.loss_plan_l1_fix_dist: 0.8713, d2.loss_plan_l1_fix_time: 3.8018, d2.loss_plan_l1_fix_dist: 1.0036, d3.loss_plan_l1_fix_time: 3.8449, d3.loss_plan_l1_fix_dist: 1.1545, d4.loss_plan_l1_fix_time: 3.8844, d4.loss_plan_l1_fix_dist: 1.3171, d5.loss_plan_l1_fix_time: 3.9318, d5.loss_plan_l1_fix_dist: 1.4638, d6.loss_plan_l1_fix_time: 3.9776, d6.loss_plan_l1_fix_dist: 1.6342, d0.loss_cls_all: 1.0346, d0.loss_bbox_all: 1.1858, d0.loss_cls: 1.0346, d0.loss_bbox: 1.1858, d1.loss_cls: 1.0614, d1.loss_bbox: 1.2219, d2.loss_cls: 1.0690, d2.loss_bbox: 1.2254, d3.loss_cls: 1.0658, d3.loss_bbox: 1.2403, d4.loss_cls: 1.0650, d4.loss_bbox: 1.2478, d5.loss_cls: 1.0525, d5.loss_bbox: 1.2539, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.2168, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.3089, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.4669, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.5846, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.7729, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.9404, d0.loss_map_cls_all: 0.6516, d0.loss_map_pts_all: 3.8146, d0.loss_map_dir_all: 0.0513, d0.loss_map_cls: 0.6516, d0.loss_map_pts: 3.8146, d0.loss_map_dir: 0.0513, d1.loss_map_cls: 0.6635, d1.loss_map_pts: 3.2970, d1.loss_map_dir: 0.0502, d2.loss_map_cls: 0.6708, d2.loss_map_pts: 3.1698, d2.loss_map_dir: 0.0503, d3.loss_map_cls: 0.6724, d3.loss_map_pts: 3.1359, d3.loss_map_dir: 0.0504, d4.loss_map_cls: 0.6738, d4.loss_map_pts: 3.1320, d4.loss_map_dir: 0.0505, d5.loss_map_cls: 0.6770, d5.loss_map_pts: 3.1361, d5.loss_map_dir: 0.0505, loss: 104.4576, grad_norm: 266.7679 +2026-02-24 00:03:45,621 - DriveTransformer - INFO - Epoch [1][9100/117620] lr: 1.000e-04, eta: 27 days, 4:16:04, time: 0.336, data_time: 0.017, memory: 8395, loss_cls: 1.0868, loss_bbox: 1.2685, loss_traj: 3.3972, loss_traj_cls: 0.0006, loss_map_cls: 0.6788, loss_map_pts: 2.9654, loss_map_dir: 0.0497, d0.loss_plan_l1_fix_time: 3.9156, d0.loss_plan_l1_fix_dist: 0.6933, d1.loss_plan_l1_fix_time: 3.6965, d1.loss_plan_l1_fix_dist: 0.7832, d2.loss_plan_l1_fix_time: 3.7120, d2.loss_plan_l1_fix_dist: 0.9214, d3.loss_plan_l1_fix_time: 3.7590, d3.loss_plan_l1_fix_dist: 1.0752, d4.loss_plan_l1_fix_time: 3.8021, d4.loss_plan_l1_fix_dist: 1.2286, d5.loss_plan_l1_fix_time: 3.8579, d5.loss_plan_l1_fix_dist: 1.3557, d6.loss_plan_l1_fix_time: 3.9127, d6.loss_plan_l1_fix_dist: 1.5035, d0.loss_cls_all: 1.0777, d0.loss_bbox_all: 1.2002, d0.loss_cls: 1.0777, d0.loss_bbox: 1.2002, d1.loss_cls: 1.1011, d1.loss_bbox: 1.2273, d2.loss_cls: 1.1174, d2.loss_bbox: 1.2250, d3.loss_cls: 1.1087, d3.loss_bbox: 1.2346, d4.loss_cls: 1.1073, d4.loss_bbox: 1.2417, d5.loss_cls: 1.0886, d5.loss_bbox: 1.2489, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.7289, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.7743, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.8768, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.9254, d4.loss_traj_cls: 0.0006, d4.loss_traj: 3.0496, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.1968, d0.loss_map_cls_all: 0.6490, d0.loss_map_pts_all: 3.6972, d0.loss_map_dir_all: 0.0507, d0.loss_map_cls: 0.6490, d0.loss_map_pts: 3.6972, d0.loss_map_dir: 0.0507, d1.loss_map_cls: 0.6643, d1.loss_map_pts: 3.1186, d1.loss_map_dir: 0.0494, d2.loss_map_cls: 0.6689, d2.loss_map_pts: 3.0032, d2.loss_map_dir: 0.0498, d3.loss_map_cls: 0.6735, d3.loss_map_pts: 2.9781, d3.loss_map_dir: 0.0499, d4.loss_map_cls: 0.6758, d4.loss_map_pts: 2.9679, d4.loss_map_dir: 0.0497, d5.loss_map_cls: 0.6791, d5.loss_map_pts: 2.9667, d5.loss_map_dir: 0.0497, loss: 104.9135, grad_norm: 266.7679 +2026-02-24 00:04:02,899 - DriveTransformer - INFO - Epoch [1][9150/117620] lr: 1.000e-04, eta: 27 days, 4:23:47, time: 0.346, data_time: 0.021, memory: 8395, loss_cls: 1.1449, loss_bbox: 1.3247, loss_traj: 2.7079, loss_traj_cls: 0.0006, loss_map_cls: 0.6725, loss_map_pts: 3.2120, loss_map_dir: 0.0490, d0.loss_plan_l1_fix_time: 3.5416, d0.loss_plan_l1_fix_dist: 0.8562, d1.loss_plan_l1_fix_time: 3.2850, d1.loss_plan_l1_fix_dist: 0.9085, d2.loss_plan_l1_fix_time: 3.2591, d2.loss_plan_l1_fix_dist: 0.9927, d3.loss_plan_l1_fix_time: 3.2829, d3.loss_plan_l1_fix_dist: 1.0886, d4.loss_plan_l1_fix_time: 3.3106, d4.loss_plan_l1_fix_dist: 1.2038, d5.loss_plan_l1_fix_time: 3.3441, d5.loss_plan_l1_fix_dist: 1.3247, d6.loss_plan_l1_fix_time: 3.3821, d6.loss_plan_l1_fix_dist: 1.4396, d0.loss_cls_all: 1.1077, d0.loss_bbox_all: 1.2428, d0.loss_cls: 1.1077, d0.loss_bbox: 1.2428, d1.loss_cls: 1.1312, d1.loss_bbox: 1.2418, d2.loss_cls: 1.1453, d2.loss_bbox: 1.2456, d3.loss_cls: 1.1411, d3.loss_bbox: 1.2628, d4.loss_cls: 1.1382, d4.loss_bbox: 1.2847, d5.loss_cls: 1.1392, d5.loss_bbox: 1.3001, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0344, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0948, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2030, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2967, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.4501, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5736, d0.loss_map_cls_all: 0.6595, d0.loss_map_pts_all: 3.9305, d0.loss_map_dir_all: 0.0499, d0.loss_map_cls: 0.6595, d0.loss_map_pts: 3.9305, d0.loss_map_dir: 0.0499, d1.loss_map_cls: 0.6642, d1.loss_map_pts: 3.3809, d1.loss_map_dir: 0.0489, d2.loss_map_cls: 0.6649, d2.loss_map_pts: 3.2491, d2.loss_map_dir: 0.0489, d3.loss_map_cls: 0.6675, d3.loss_map_pts: 3.2031, d3.loss_map_dir: 0.0489, d4.loss_map_cls: 0.6687, d4.loss_map_pts: 3.1933, d4.loss_map_dir: 0.0489, d5.loss_map_cls: 0.6724, d5.loss_map_pts: 3.1981, d5.loss_map_dir: 0.0490, loss: 99.8043, grad_norm: 267.5184 +2026-02-24 00:04:18,661 - DriveTransformer - INFO - Epoch [1][9200/117620] lr: 1.000e-04, eta: 27 days, 4:11:59, time: 0.315, data_time: 0.014, memory: 8395, loss_cls: 1.0549, loss_bbox: 1.2133, loss_traj: 2.7338, loss_traj_cls: 0.0005, loss_map_cls: 0.7122, loss_map_pts: 2.8277, loss_map_dir: 0.0484, d0.loss_plan_l1_fix_time: 3.3143, d0.loss_plan_l1_fix_dist: 0.7559, d1.loss_plan_l1_fix_time: 3.0754, d1.loss_plan_l1_fix_dist: 0.8093, d2.loss_plan_l1_fix_time: 3.0807, d2.loss_plan_l1_fix_dist: 0.8898, d3.loss_plan_l1_fix_time: 3.1180, d3.loss_plan_l1_fix_dist: 0.9801, d4.loss_plan_l1_fix_time: 3.1542, d4.loss_plan_l1_fix_dist: 1.0801, d5.loss_plan_l1_fix_time: 3.1916, d5.loss_plan_l1_fix_dist: 1.1976, d6.loss_plan_l1_fix_time: 3.2305, d6.loss_plan_l1_fix_dist: 1.2902, d0.loss_cls_all: 1.0317, d0.loss_bbox_all: 1.1378, d0.loss_cls: 1.0317, d0.loss_bbox: 1.1378, d1.loss_cls: 1.0452, d1.loss_bbox: 1.1350, d2.loss_cls: 1.0444, d2.loss_bbox: 1.1501, d3.loss_cls: 1.0369, d3.loss_bbox: 1.1656, d4.loss_cls: 1.0354, d4.loss_bbox: 1.1787, d5.loss_cls: 1.0432, d5.loss_bbox: 1.1912, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1455, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2162, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3165, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.4019, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.5255, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.6293, d0.loss_map_cls_all: 0.6942, d0.loss_map_pts_all: 3.4221, d0.loss_map_dir_all: 0.0486, d0.loss_map_cls: 0.6942, d0.loss_map_pts: 3.4221, d0.loss_map_dir: 0.0486, d1.loss_map_cls: 0.7045, d1.loss_map_pts: 2.9338, d1.loss_map_dir: 0.0478, d2.loss_map_cls: 0.7052, d2.loss_map_pts: 2.8151, d2.loss_map_dir: 0.0480, d3.loss_map_cls: 0.7081, d3.loss_map_pts: 2.7791, d3.loss_map_dir: 0.0481, d4.loss_map_cls: 0.7063, d4.loss_map_pts: 2.7826, d4.loss_map_dir: 0.0482, d5.loss_map_cls: 0.7094, d5.loss_map_pts: 2.8005, d5.loss_map_dir: 0.0483, loss: 93.5761, grad_norm: 267.5184 +2026-02-24 00:04:35,334 - DriveTransformer - INFO - Epoch [1][9250/117620] lr: 1.000e-04, eta: 27 days, 4:11:56, time: 0.333, data_time: 0.014, memory: 8395, loss_cls: 1.1061, loss_bbox: 1.3364, loss_traj: 2.7555, loss_traj_cls: 0.0006, loss_map_cls: 0.6594, loss_map_pts: 3.0793, loss_map_dir: 0.0495, d0.loss_plan_l1_fix_time: 2.8493, d0.loss_plan_l1_fix_dist: 0.7848, d1.loss_plan_l1_fix_time: 2.6938, d1.loss_plan_l1_fix_dist: 0.8568, d2.loss_plan_l1_fix_time: 2.7161, d2.loss_plan_l1_fix_dist: 0.9636, d3.loss_plan_l1_fix_time: 2.7530, d3.loss_plan_l1_fix_dist: 1.0829, d4.loss_plan_l1_fix_time: 2.7947, d4.loss_plan_l1_fix_dist: 1.2147, d5.loss_plan_l1_fix_time: 2.8325, d5.loss_plan_l1_fix_dist: 1.3917, d6.loss_plan_l1_fix_time: 2.8777, d6.loss_plan_l1_fix_dist: 1.5581, d0.loss_cls_all: 1.0888, d0.loss_bbox_all: 1.2395, d0.loss_cls: 1.0888, d0.loss_bbox: 1.2395, d1.loss_cls: 1.1025, d1.loss_bbox: 1.2351, d2.loss_cls: 1.1111, d2.loss_bbox: 1.2542, d3.loss_cls: 1.1216, d3.loss_bbox: 1.2768, d4.loss_cls: 1.1047, d4.loss_bbox: 1.3002, d5.loss_cls: 1.1035, d5.loss_bbox: 1.3134, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0854, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.1546, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2365, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3208, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.4915, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5838, d0.loss_map_cls_all: 0.6398, d0.loss_map_pts_all: 3.7462, d0.loss_map_dir_all: 0.0499, d0.loss_map_cls: 0.6398, d0.loss_map_pts: 3.7462, d0.loss_map_dir: 0.0499, d1.loss_map_cls: 0.6469, d1.loss_map_pts: 3.1960, d1.loss_map_dir: 0.0490, d2.loss_map_cls: 0.6518, d2.loss_map_pts: 3.0721, d2.loss_map_dir: 0.0492, d3.loss_map_cls: 0.6574, d3.loss_map_pts: 3.0339, d3.loss_map_dir: 0.0495, d4.loss_map_cls: 0.6589, d4.loss_map_pts: 3.0384, d4.loss_map_dir: 0.0494, d5.loss_map_cls: 0.6583, d5.loss_map_pts: 3.0551, d5.loss_map_dir: 0.0495, loss: 94.5992, grad_norm: 266.3512 +2026-02-24 00:04:53,473 - DriveTransformer - INFO - Epoch [1][9300/117620] lr: 1.000e-04, eta: 27 days, 4:30:23, time: 0.363, data_time: 0.015, memory: 8395, loss_cls: 1.0764, loss_bbox: 1.3214, loss_traj: 3.4910, loss_traj_cls: 0.0006, loss_map_cls: 0.6805, loss_map_pts: 3.1560, loss_map_dir: 0.0513, d0.loss_plan_l1_fix_time: 4.1063, d0.loss_plan_l1_fix_dist: 0.6337, d1.loss_plan_l1_fix_time: 3.8138, d1.loss_plan_l1_fix_dist: 0.7249, d2.loss_plan_l1_fix_time: 3.7829, d2.loss_plan_l1_fix_dist: 0.8499, d3.loss_plan_l1_fix_time: 3.7925, d3.loss_plan_l1_fix_dist: 0.9977, d4.loss_plan_l1_fix_time: 3.8183, d4.loss_plan_l1_fix_dist: 1.1621, d5.loss_plan_l1_fix_time: 3.8449, d5.loss_plan_l1_fix_dist: 1.3761, d6.loss_plan_l1_fix_time: 3.8832, d6.loss_plan_l1_fix_dist: 1.5798, d0.loss_cls_all: 1.0714, d0.loss_bbox_all: 1.1849, d0.loss_cls: 1.0714, d0.loss_bbox: 1.1849, d1.loss_cls: 1.0764, d1.loss_bbox: 1.1815, d2.loss_cls: 1.0825, d2.loss_bbox: 1.2067, d3.loss_cls: 1.0995, d3.loss_bbox: 1.2359, d4.loss_cls: 1.0935, d4.loss_bbox: 1.2550, d5.loss_cls: 1.0819, d5.loss_bbox: 1.2821, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.5917, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.6725, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.7616, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.8853, d4.loss_traj_cls: 0.0006, d4.loss_traj: 3.1104, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.2538, d0.loss_map_cls_all: 0.6581, d0.loss_map_pts_all: 3.6286, d0.loss_map_dir_all: 0.0513, d0.loss_map_cls: 0.6581, d0.loss_map_pts: 3.6286, d0.loss_map_dir: 0.0513, d1.loss_map_cls: 0.6705, d1.loss_map_pts: 3.1757, d1.loss_map_dir: 0.0508, d2.loss_map_cls: 0.6732, d2.loss_map_pts: 3.0930, d2.loss_map_dir: 0.0509, d3.loss_map_cls: 0.6754, d3.loss_map_pts: 3.0880, d3.loss_map_dir: 0.0509, d4.loss_map_cls: 0.6787, d4.loss_map_pts: 3.1009, d4.loss_map_dir: 0.0511, d5.loss_map_cls: 0.6781, d5.loss_map_pts: 3.1241, d5.loss_map_dir: 0.0512, loss: 105.4177, grad_norm: 266.3512 +2026-02-24 00:05:10,875 - DriveTransformer - INFO - Epoch [1][9350/117620] lr: 1.000e-04, eta: 27 days, 4:39:20, time: 0.348, data_time: 0.015, memory: 8395, loss_cls: 1.1367, loss_bbox: 1.3188, loss_traj: 2.6708, loss_traj_cls: 0.0006, loss_map_cls: 0.6896, loss_map_pts: 2.9407, loss_map_dir: 0.0506, d0.loss_plan_l1_fix_time: 3.4023, d0.loss_plan_l1_fix_dist: 0.7262, d1.loss_plan_l1_fix_time: 3.2294, d1.loss_plan_l1_fix_dist: 0.7845, d2.loss_plan_l1_fix_time: 3.2208, d2.loss_plan_l1_fix_dist: 0.8668, d3.loss_plan_l1_fix_time: 3.2320, d3.loss_plan_l1_fix_dist: 0.9573, d4.loss_plan_l1_fix_time: 3.2616, d4.loss_plan_l1_fix_dist: 1.0603, d5.loss_plan_l1_fix_time: 3.2833, d5.loss_plan_l1_fix_dist: 1.1986, d6.loss_plan_l1_fix_time: 3.3167, d6.loss_plan_l1_fix_dist: 1.3498, d0.loss_cls_all: 1.1013, d0.loss_bbox_all: 1.2409, d0.loss_cls: 1.1013, d0.loss_bbox: 1.2409, d1.loss_cls: 1.1128, d1.loss_bbox: 1.2286, d2.loss_cls: 1.1173, d2.loss_bbox: 1.2425, d3.loss_cls: 1.1285, d3.loss_bbox: 1.2542, d4.loss_cls: 1.1254, d4.loss_bbox: 1.2689, d5.loss_cls: 1.1215, d5.loss_bbox: 1.2987, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1074, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.1598, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2537, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.2900, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.4615, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5173, d0.loss_map_cls_all: 0.6574, d0.loss_map_pts_all: 3.5132, d0.loss_map_dir_all: 0.0509, d0.loss_map_cls: 0.6574, d0.loss_map_pts: 3.5132, d0.loss_map_dir: 0.0509, d1.loss_map_cls: 0.6723, d1.loss_map_pts: 3.0216, d1.loss_map_dir: 0.0503, d2.loss_map_cls: 0.6783, d2.loss_map_pts: 2.9224, d2.loss_map_dir: 0.0505, d3.loss_map_cls: 0.6811, d3.loss_map_pts: 2.9007, d3.loss_map_dir: 0.0506, d4.loss_map_cls: 0.6851, d4.loss_map_pts: 2.9050, d4.loss_map_dir: 0.0506, d5.loss_map_cls: 0.6869, d5.loss_map_pts: 2.9187, d5.loss_map_dir: 0.0506, loss: 95.8408, grad_norm: 267.4519 +2026-02-24 00:05:27,204 - DriveTransformer - INFO - Epoch [1][9400/117620] lr: 1.000e-04, eta: 27 days, 4:34:48, time: 0.327, data_time: 0.016, memory: 8395, loss_cls: 1.0603, loss_bbox: 1.2504, loss_traj: 2.8609, loss_traj_cls: 0.0005, loss_map_cls: 0.7341, loss_map_pts: 2.8499, loss_map_dir: 0.0471, d0.loss_plan_l1_fix_time: 4.6575, d0.loss_plan_l1_fix_dist: 0.7403, d1.loss_plan_l1_fix_time: 4.6612, d1.loss_plan_l1_fix_dist: 0.7744, d2.loss_plan_l1_fix_time: 4.6929, d2.loss_plan_l1_fix_dist: 0.8230, d3.loss_plan_l1_fix_time: 4.7184, d3.loss_plan_l1_fix_dist: 0.8818, d4.loss_plan_l1_fix_time: 4.7540, d4.loss_plan_l1_fix_dist: 0.9550, d5.loss_plan_l1_fix_time: 4.7832, d5.loss_plan_l1_fix_dist: 1.0575, d6.loss_plan_l1_fix_time: 4.8217, d6.loss_plan_l1_fix_dist: 1.1849, d0.loss_cls_all: 1.0131, d0.loss_bbox_all: 1.1875, d0.loss_cls: 1.0131, d0.loss_bbox: 1.1875, d1.loss_cls: 1.0305, d1.loss_bbox: 1.1780, d2.loss_cls: 1.0317, d2.loss_bbox: 1.1895, d3.loss_cls: 1.0305, d3.loss_bbox: 1.2054, d4.loss_cls: 1.0192, d4.loss_bbox: 1.2210, d5.loss_cls: 1.0250, d5.loss_bbox: 1.2454, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2705, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.3026, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.4127, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.4655, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.6707, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.7215, d0.loss_map_cls_all: 0.7005, d0.loss_map_pts_all: 3.4288, d0.loss_map_dir_all: 0.0471, d0.loss_map_cls: 0.7005, d0.loss_map_pts: 3.4288, d0.loss_map_dir: 0.0471, d1.loss_map_cls: 0.7132, d1.loss_map_pts: 2.9241, d1.loss_map_dir: 0.0466, d2.loss_map_cls: 0.7251, d2.loss_map_pts: 2.8063, d2.loss_map_dir: 0.0470, d3.loss_map_cls: 0.7273, d3.loss_map_pts: 2.7903, d3.loss_map_dir: 0.0470, d4.loss_map_cls: 0.7288, d4.loss_map_pts: 2.8080, d4.loss_map_dir: 0.0471, d5.loss_map_cls: 0.7321, d5.loss_map_pts: 2.8265, d5.loss_map_dir: 0.0470, loss: 105.1025, grad_norm: 267.4519 +2026-02-24 00:05:44,334 - DriveTransformer - INFO - Epoch [1][9450/117620] lr: 1.000e-04, eta: 27 days, 4:40:16, time: 0.343, data_time: 0.018, memory: 8395, loss_cls: 1.1705, loss_bbox: 1.3310, loss_traj: 3.1298, loss_traj_cls: 0.0006, loss_map_cls: 0.6723, loss_map_pts: 3.2488, loss_map_dir: 0.0504, d0.loss_plan_l1_fix_time: 3.5737, d0.loss_plan_l1_fix_dist: 0.7755, d1.loss_plan_l1_fix_time: 3.3260, d1.loss_plan_l1_fix_dist: 0.8560, d2.loss_plan_l1_fix_time: 3.3150, d2.loss_plan_l1_fix_dist: 0.9766, d3.loss_plan_l1_fix_time: 3.3322, d3.loss_plan_l1_fix_dist: 1.1307, d4.loss_plan_l1_fix_time: 3.3626, d4.loss_plan_l1_fix_dist: 1.2868, d5.loss_plan_l1_fix_time: 3.3902, d5.loss_plan_l1_fix_dist: 1.4353, d6.loss_plan_l1_fix_time: 3.4206, d6.loss_plan_l1_fix_dist: 1.6160, d0.loss_cls_all: 1.1539, d0.loss_bbox_all: 1.2689, d0.loss_cls: 1.1539, d0.loss_bbox: 1.2689, d1.loss_cls: 1.1865, d1.loss_bbox: 1.2461, d2.loss_cls: 1.1845, d2.loss_bbox: 1.2603, d3.loss_cls: 1.1745, d3.loss_bbox: 1.2703, d4.loss_cls: 1.1686, d4.loss_bbox: 1.2909, d5.loss_cls: 1.1663, d5.loss_bbox: 1.3115, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.7187, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.8133, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.8615, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.9546, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.9570, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.0488, d0.loss_map_cls_all: 0.6466, d0.loss_map_pts_all: 3.8484, d0.loss_map_dir_all: 0.0502, d0.loss_map_cls: 0.6466, d0.loss_map_pts: 3.8484, d0.loss_map_dir: 0.0502, d1.loss_map_cls: 0.6577, d1.loss_map_pts: 3.3614, d1.loss_map_dir: 0.0497, d2.loss_map_cls: 0.6607, d2.loss_map_pts: 3.2659, d2.loss_map_dir: 0.0498, d3.loss_map_cls: 0.6651, d3.loss_map_pts: 3.2410, d3.loss_map_dir: 0.0500, d4.loss_map_cls: 0.6669, d4.loss_map_pts: 3.2365, d4.loss_map_dir: 0.0501, d5.loss_map_cls: 0.6702, d5.loss_map_pts: 3.2412, d5.loss_map_dir: 0.0503, loss: 104.8696, grad_norm: 266.1515 +2026-02-24 00:06:01,662 - DriveTransformer - INFO - Epoch [1][9500/117620] lr: 1.000e-04, eta: 27 days, 4:48:08, time: 0.347, data_time: 0.020, memory: 8395, loss_cls: 1.0866, loss_bbox: 1.2991, loss_traj: 2.6821, loss_traj_cls: 0.0005, loss_map_cls: 0.6502, loss_map_pts: 3.1606, loss_map_dir: 0.0501, d0.loss_plan_l1_fix_time: 3.7294, d0.loss_plan_l1_fix_dist: 0.7961, d1.loss_plan_l1_fix_time: 3.6843, d1.loss_plan_l1_fix_dist: 0.8769, d2.loss_plan_l1_fix_time: 3.7155, d2.loss_plan_l1_fix_dist: 1.0117, d3.loss_plan_l1_fix_time: 3.7494, d3.loss_plan_l1_fix_dist: 1.1790, d4.loss_plan_l1_fix_time: 3.7901, d4.loss_plan_l1_fix_dist: 1.3449, d5.loss_plan_l1_fix_time: 3.8168, d5.loss_plan_l1_fix_dist: 1.4968, d6.loss_plan_l1_fix_time: 3.8448, d6.loss_plan_l1_fix_dist: 1.6842, d0.loss_cls_all: 1.0678, d0.loss_bbox_all: 1.2117, d0.loss_cls: 1.0678, d0.loss_bbox: 1.2117, d1.loss_cls: 1.1006, d1.loss_bbox: 1.1912, d2.loss_cls: 1.0996, d2.loss_bbox: 1.2117, d3.loss_cls: 1.0884, d3.loss_bbox: 1.2245, d4.loss_cls: 1.0773, d4.loss_bbox: 1.2503, d5.loss_cls: 1.0764, d5.loss_bbox: 1.2706, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2566, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3257, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3811, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.4930, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.4946, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5774, d0.loss_map_cls_all: 0.6270, d0.loss_map_pts_all: 3.7416, d0.loss_map_dir_all: 0.0491, d0.loss_map_cls: 0.6270, d0.loss_map_pts: 3.7416, d0.loss_map_dir: 0.0491, d1.loss_map_cls: 0.6388, d1.loss_map_pts: 3.2710, d1.loss_map_dir: 0.0487, d2.loss_map_cls: 0.6440, d2.loss_map_pts: 3.1751, d2.loss_map_dir: 0.0493, d3.loss_map_cls: 0.6461, d3.loss_map_pts: 3.1498, d3.loss_map_dir: 0.0497, d4.loss_map_cls: 0.6452, d4.loss_map_pts: 3.1450, d4.loss_map_dir: 0.0498, d5.loss_map_cls: 0.6477, d5.loss_map_pts: 3.1496, d5.loss_map_dir: 0.0500, loss: 102.5251, grad_norm: 266.1515 +2026-02-24 00:06:18,513 - DriveTransformer - INFO - Epoch [1][9550/117620] lr: 1.000e-04, eta: 27 days, 4:50:02, time: 0.337, data_time: 0.015, memory: 8395, loss_cls: 1.0686, loss_bbox: 1.3257, loss_traj: 2.7050, loss_traj_cls: 0.0006, loss_map_cls: 0.6514, loss_map_pts: 3.2054, loss_map_dir: 0.0502, d0.loss_plan_l1_fix_time: 3.1503, d0.loss_plan_l1_fix_dist: 0.7776, d1.loss_plan_l1_fix_time: 3.1026, d1.loss_plan_l1_fix_dist: 0.8729, d2.loss_plan_l1_fix_time: 3.1023, d2.loss_plan_l1_fix_dist: 1.0179, d3.loss_plan_l1_fix_time: 3.1167, d3.loss_plan_l1_fix_dist: 1.1965, d4.loss_plan_l1_fix_time: 3.1481, d4.loss_plan_l1_fix_dist: 1.3950, d5.loss_plan_l1_fix_time: 3.1705, d5.loss_plan_l1_fix_dist: 1.5674, d6.loss_plan_l1_fix_time: 3.1965, d6.loss_plan_l1_fix_dist: 1.7615, d0.loss_cls_all: 1.0372, d0.loss_bbox_all: 1.2394, d0.loss_cls: 1.0372, d0.loss_bbox: 1.2394, d1.loss_cls: 1.0488, d1.loss_bbox: 1.2141, d2.loss_cls: 1.0498, d2.loss_bbox: 1.2276, d3.loss_cls: 1.0622, d3.loss_bbox: 1.2352, d4.loss_cls: 1.0613, d4.loss_bbox: 1.2560, d5.loss_cls: 1.0606, d5.loss_bbox: 1.2888, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9761, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0229, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1220, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.2795, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.4223, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.5650, d0.loss_map_cls_all: 0.6403, d0.loss_map_pts_all: 3.8104, d0.loss_map_dir_all: 0.0501, d0.loss_map_cls: 0.6403, d0.loss_map_pts: 3.8104, d0.loss_map_dir: 0.0501, d1.loss_map_cls: 0.6460, d1.loss_map_pts: 3.2892, d1.loss_map_dir: 0.0493, d2.loss_map_cls: 0.6476, d2.loss_map_pts: 3.2034, d2.loss_map_dir: 0.0498, d3.loss_map_cls: 0.6488, d3.loss_map_pts: 3.1844, d3.loss_map_dir: 0.0499, d4.loss_map_cls: 0.6495, d4.loss_map_pts: 3.1821, d4.loss_map_dir: 0.0500, d5.loss_map_cls: 0.6506, d5.loss_map_pts: 3.1917, d5.loss_map_dir: 0.0502, loss: 97.5746, grad_norm: 266.8181 +2026-02-24 00:06:36,879 - DriveTransformer - INFO - Epoch [1][9600/117620] lr: 1.000e-04, eta: 27 days, 5:10:42, time: 0.368, data_time: 0.016, memory: 8395, loss_cls: 1.0989, loss_bbox: 1.2990, loss_traj: 2.8963, loss_traj_cls: 0.0005, loss_map_cls: 0.6672, loss_map_pts: 3.1936, loss_map_dir: 0.0482, d0.loss_plan_l1_fix_time: 3.6651, d0.loss_plan_l1_fix_dist: 0.8253, d1.loss_plan_l1_fix_time: 3.6838, d1.loss_plan_l1_fix_dist: 0.9058, d2.loss_plan_l1_fix_time: 3.7113, d2.loss_plan_l1_fix_dist: 1.0422, d3.loss_plan_l1_fix_time: 3.7312, d3.loss_plan_l1_fix_dist: 1.2092, d4.loss_plan_l1_fix_time: 3.7604, d4.loss_plan_l1_fix_dist: 1.3910, d5.loss_plan_l1_fix_time: 3.7788, d5.loss_plan_l1_fix_dist: 1.5516, d6.loss_plan_l1_fix_time: 3.7985, d6.loss_plan_l1_fix_dist: 1.7366, d0.loss_cls_all: 1.0556, d0.loss_bbox_all: 1.2191, d0.loss_cls: 1.0556, d0.loss_bbox: 1.2191, d1.loss_cls: 1.0768, d1.loss_bbox: 1.1835, d2.loss_cls: 1.0775, d2.loss_bbox: 1.1957, d3.loss_cls: 1.0871, d3.loss_bbox: 1.2057, d4.loss_cls: 1.0822, d4.loss_bbox: 1.2301, d5.loss_cls: 1.0834, d5.loss_bbox: 1.2562, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1312, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1991, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2894, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.4578, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.6179, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.7692, d0.loss_map_cls_all: 0.6555, d0.loss_map_pts_all: 3.8230, d0.loss_map_dir_all: 0.0481, d0.loss_map_cls: 0.6555, d0.loss_map_pts: 3.8230, d0.loss_map_dir: 0.0481, d1.loss_map_cls: 0.6605, d1.loss_map_pts: 3.3157, d1.loss_map_dir: 0.0476, d2.loss_map_cls: 0.6644, d2.loss_map_pts: 3.2073, d2.loss_map_dir: 0.0478, d3.loss_map_cls: 0.6670, d3.loss_map_pts: 3.1783, d3.loss_map_dir: 0.0479, d4.loss_map_cls: 0.6661, d4.loss_map_pts: 3.1725, d4.loss_map_dir: 0.0481, d5.loss_map_cls: 0.6674, d5.loss_map_pts: 3.1786, d5.loss_map_dir: 0.0481, loss: 103.1600, grad_norm: 267.4949 +2026-02-24 00:06:54,906 - DriveTransformer - INFO - Epoch [1][9650/117620] lr: 1.000e-04, eta: 27 days, 5:26:32, time: 0.360, data_time: 0.015, memory: 8395, loss_cls: 1.1034, loss_bbox: 1.3270, loss_traj: 2.6649, loss_traj_cls: 0.0005, loss_map_cls: 0.6883, loss_map_pts: 2.9325, loss_map_dir: 0.0473, d0.loss_plan_l1_fix_time: 3.7876, d0.loss_plan_l1_fix_dist: 0.6332, d1.loss_plan_l1_fix_time: 3.4657, d1.loss_plan_l1_fix_dist: 0.6832, d2.loss_plan_l1_fix_time: 3.4438, d2.loss_plan_l1_fix_dist: 0.7339, d3.loss_plan_l1_fix_time: 3.4659, d3.loss_plan_l1_fix_dist: 0.7929, d4.loss_plan_l1_fix_time: 3.4946, d4.loss_plan_l1_fix_dist: 0.8717, d5.loss_plan_l1_fix_time: 3.5291, d5.loss_plan_l1_fix_dist: 0.9587, d6.loss_plan_l1_fix_time: 3.5640, d6.loss_plan_l1_fix_dist: 1.0442, d0.loss_cls_all: 1.0686, d0.loss_bbox_all: 1.2615, d0.loss_cls: 1.0686, d0.loss_bbox: 1.2615, d1.loss_cls: 1.0815, d1.loss_bbox: 1.2389, d2.loss_cls: 1.0837, d2.loss_bbox: 1.2498, d3.loss_cls: 1.0865, d3.loss_bbox: 1.2600, d4.loss_cls: 1.0780, d4.loss_bbox: 1.2729, d5.loss_cls: 1.0786, d5.loss_bbox: 1.2886, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.3349, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4144, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4583, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.5108, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.5311, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5889, d0.loss_map_cls_all: 0.6703, d0.loss_map_pts_all: 3.5542, d0.loss_map_dir_all: 0.0472, d0.loss_map_cls: 0.6703, d0.loss_map_pts: 3.5542, d0.loss_map_dir: 0.0472, d1.loss_map_cls: 0.6804, d1.loss_map_pts: 3.0882, d1.loss_map_dir: 0.0466, d2.loss_map_cls: 0.6807, d2.loss_map_pts: 2.9793, d2.loss_map_dir: 0.0468, d3.loss_map_cls: 0.6869, d3.loss_map_pts: 2.9448, d3.loss_map_dir: 0.0469, d4.loss_map_cls: 0.6884, d4.loss_map_pts: 2.9338, d4.loss_map_dir: 0.0471, d5.loss_map_cls: 0.6887, d5.loss_map_pts: 2.9335, d5.loss_map_dir: 0.0472, loss: 97.5351, grad_norm: 267.4949 +2026-02-24 00:07:12,302 - DriveTransformer - INFO - Epoch [1][9700/117620] lr: 1.000e-04, eta: 27 days, 5:34:48, time: 0.348, data_time: 0.015, memory: 8395, loss_cls: 1.0894, loss_bbox: 1.3547, loss_traj: 2.4039, loss_traj_cls: 0.0006, loss_map_cls: 0.6795, loss_map_pts: 3.0393, loss_map_dir: 0.0474, d0.loss_plan_l1_fix_time: 4.7734, d0.loss_plan_l1_fix_dist: 0.7324, d1.loss_plan_l1_fix_time: 4.5504, d1.loss_plan_l1_fix_dist: 0.7777, d2.loss_plan_l1_fix_time: 4.5391, d2.loss_plan_l1_fix_dist: 0.8412, d3.loss_plan_l1_fix_time: 4.5661, d3.loss_plan_l1_fix_dist: 0.9074, d4.loss_plan_l1_fix_time: 4.5952, d4.loss_plan_l1_fix_dist: 0.9867, d5.loss_plan_l1_fix_time: 4.6367, d5.loss_plan_l1_fix_dist: 1.0816, d6.loss_plan_l1_fix_time: 4.6734, d6.loss_plan_l1_fix_dist: 1.1735, d0.loss_cls_all: 1.0663, d0.loss_bbox_all: 1.2990, d0.loss_cls: 1.0663, d0.loss_bbox: 1.2990, d1.loss_cls: 1.0768, d1.loss_bbox: 1.2806, d2.loss_cls: 1.0799, d2.loss_bbox: 1.2883, d3.loss_cls: 1.0852, d3.loss_bbox: 1.2959, d4.loss_cls: 1.0798, d4.loss_bbox: 1.3006, d5.loss_cls: 1.0760, d5.loss_bbox: 1.3128, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0400, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0887, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1375, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2062, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.2515, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3269, d0.loss_map_cls_all: 0.6554, d0.loss_map_pts_all: 3.6368, d0.loss_map_dir_all: 0.0472, d0.loss_map_cls: 0.6554, d0.loss_map_pts: 3.6368, d0.loss_map_dir: 0.0472, d1.loss_map_cls: 0.6646, d1.loss_map_pts: 3.1701, d1.loss_map_dir: 0.0465, d2.loss_map_cls: 0.6722, d2.loss_map_pts: 3.0714, d2.loss_map_dir: 0.0468, d3.loss_map_cls: 0.6782, d3.loss_map_pts: 3.0424, d3.loss_map_dir: 0.0469, d4.loss_map_cls: 0.6784, d4.loss_map_pts: 3.0356, d4.loss_map_dir: 0.0472, d5.loss_map_cls: 0.6795, d5.loss_map_pts: 3.0374, d5.loss_map_dir: 0.0473, loss: 104.7535, grad_norm: 266.9365 +2026-02-24 00:07:29,991 - DriveTransformer - INFO - Epoch [1][9750/117620] lr: 1.000e-04, eta: 27 days, 5:46:34, time: 0.354, data_time: 0.014, memory: 8395, loss_cls: 1.1270, loss_bbox: 1.2398, loss_traj: 2.1288, loss_traj_cls: 0.0006, loss_map_cls: 0.6917, loss_map_pts: 3.0511, loss_map_dir: 0.0446, d0.loss_plan_l1_fix_time: 3.1878, d0.loss_plan_l1_fix_dist: 0.7060, d1.loss_plan_l1_fix_time: 3.0700, d1.loss_plan_l1_fix_dist: 0.7748, d2.loss_plan_l1_fix_time: 3.0694, d2.loss_plan_l1_fix_dist: 0.8909, d3.loss_plan_l1_fix_time: 3.0917, d3.loss_plan_l1_fix_dist: 1.0310, d4.loss_plan_l1_fix_time: 3.1249, d4.loss_plan_l1_fix_dist: 1.1922, d5.loss_plan_l1_fix_time: 3.1645, d5.loss_plan_l1_fix_dist: 1.3920, d6.loss_plan_l1_fix_time: 3.2067, d6.loss_plan_l1_fix_dist: 1.6271, d0.loss_cls_all: 1.0955, d0.loss_bbox_all: 1.1741, d0.loss_cls: 1.0955, d0.loss_bbox: 1.1741, d1.loss_cls: 1.1035, d1.loss_bbox: 1.1652, d2.loss_cls: 1.1031, d2.loss_bbox: 1.1731, d3.loss_cls: 1.1018, d3.loss_bbox: 1.1754, d4.loss_cls: 1.1019, d4.loss_bbox: 1.1896, d5.loss_cls: 1.1063, d5.loss_bbox: 1.2005, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7287, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.7945, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8571, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9038, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9997, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0732, d0.loss_map_cls_all: 0.6756, d0.loss_map_pts_all: 3.6333, d0.loss_map_dir_all: 0.0444, d0.loss_map_cls: 0.6756, d0.loss_map_pts: 3.6333, d0.loss_map_dir: 0.0444, d1.loss_map_cls: 0.6823, d1.loss_map_pts: 3.1516, d1.loss_map_dir: 0.0434, d2.loss_map_cls: 0.6849, d2.loss_map_pts: 3.0520, d2.loss_map_dir: 0.0441, d3.loss_map_cls: 0.6897, d3.loss_map_pts: 3.0299, d3.loss_map_dir: 0.0443, d4.loss_map_cls: 0.6897, d4.loss_map_pts: 3.0305, d4.loss_map_dir: 0.0445, d5.loss_map_cls: 0.6894, d5.loss_map_pts: 3.0374, d5.loss_map_dir: 0.0446, loss: 92.7970, grad_norm: 266.9365 +2026-02-24 00:07:46,088 - DriveTransformer - INFO - Epoch [1][9800/117620] lr: 1.000e-04, eta: 27 days, 5:39:04, time: 0.322, data_time: 0.015, memory: 8395, loss_cls: 1.0189, loss_bbox: 1.2057, loss_traj: 2.2171, loss_traj_cls: 0.0006, loss_map_cls: 0.6572, loss_map_pts: 2.6871, loss_map_dir: 0.0394, d0.loss_plan_l1_fix_time: 3.2565, d0.loss_plan_l1_fix_dist: 0.6380, d1.loss_plan_l1_fix_time: 3.0841, d1.loss_plan_l1_fix_dist: 0.7276, d2.loss_plan_l1_fix_time: 3.0812, d2.loss_plan_l1_fix_dist: 0.8624, d3.loss_plan_l1_fix_time: 3.1000, d3.loss_plan_l1_fix_dist: 1.0135, d4.loss_plan_l1_fix_time: 3.1275, d4.loss_plan_l1_fix_dist: 1.1761, d5.loss_plan_l1_fix_time: 3.1639, d5.loss_plan_l1_fix_dist: 1.3768, d6.loss_plan_l1_fix_time: 3.1984, d6.loss_plan_l1_fix_dist: 1.6087, d0.loss_cls_all: 0.9949, d0.loss_bbox_all: 1.1303, d0.loss_cls: 0.9949, d0.loss_bbox: 1.1303, d1.loss_cls: 1.0092, d1.loss_bbox: 1.1200, d2.loss_cls: 1.0109, d2.loss_bbox: 1.1253, d3.loss_cls: 1.0106, d3.loss_bbox: 1.1320, d4.loss_cls: 1.0045, d4.loss_bbox: 1.1529, d5.loss_cls: 1.0026, d5.loss_bbox: 1.1719, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7614, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8240, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8777, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9644, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0768, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1567, d0.loss_map_cls_all: 0.6239, d0.loss_map_pts_all: 3.4482, d0.loss_map_dir_all: 0.0395, d0.loss_map_cls: 0.6239, d0.loss_map_pts: 3.4482, d0.loss_map_dir: 0.0395, d1.loss_map_cls: 0.6385, d1.loss_map_pts: 2.8750, d1.loss_map_dir: 0.0385, d2.loss_map_cls: 0.6443, d2.loss_map_pts: 2.7403, d2.loss_map_dir: 0.0388, d3.loss_map_cls: 0.6526, d3.loss_map_pts: 2.6950, d3.loss_map_dir: 0.0391, d4.loss_map_cls: 0.6550, d4.loss_map_pts: 2.6792, d4.loss_map_dir: 0.0394, d5.loss_map_cls: 0.6573, d5.loss_map_pts: 2.6780, d5.loss_map_dir: 0.0394, loss: 89.2288, grad_norm: 267.8856 +2026-02-24 00:08:03,613 - DriveTransformer - INFO - Epoch [1][9850/117620] lr: 1.000e-04, eta: 27 days, 5:48:40, time: 0.350, data_time: 0.014, memory: 8395, loss_cls: 1.1116, loss_bbox: 1.3075, loss_traj: 2.8536, loss_traj_cls: 0.0005, loss_map_cls: 0.7004, loss_map_pts: 2.9685, loss_map_dir: 0.0468, d0.loss_plan_l1_fix_time: 3.8056, d0.loss_plan_l1_fix_dist: 0.7090, d1.loss_plan_l1_fix_time: 3.5642, d1.loss_plan_l1_fix_dist: 0.7952, d2.loss_plan_l1_fix_time: 3.5420, d2.loss_plan_l1_fix_dist: 0.9350, d3.loss_plan_l1_fix_time: 3.5578, d3.loss_plan_l1_fix_dist: 1.0926, d4.loss_plan_l1_fix_time: 3.5837, d4.loss_plan_l1_fix_dist: 1.2418, d5.loss_plan_l1_fix_time: 3.6166, d5.loss_plan_l1_fix_dist: 1.4111, d6.loss_plan_l1_fix_time: 3.6481, d6.loss_plan_l1_fix_dist: 1.6052, d0.loss_cls_all: 1.1154, d0.loss_bbox_all: 1.2191, d0.loss_cls: 1.1154, d0.loss_bbox: 1.2191, d1.loss_cls: 1.1188, d1.loss_bbox: 1.2148, d2.loss_cls: 1.1196, d2.loss_bbox: 1.2161, d3.loss_cls: 1.1203, d3.loss_bbox: 1.2255, d4.loss_cls: 1.1228, d4.loss_bbox: 1.2412, d5.loss_cls: 1.1131, d5.loss_bbox: 1.2726, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.4055, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5344, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.5611, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.6374, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.7127, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.8176, d0.loss_map_cls_all: 0.6840, d0.loss_map_pts_all: 3.6749, d0.loss_map_dir_all: 0.0461, d0.loss_map_cls: 0.6840, d0.loss_map_pts: 3.6749, d0.loss_map_dir: 0.0461, d1.loss_map_cls: 0.6947, d1.loss_map_pts: 3.1609, d1.loss_map_dir: 0.0459, d2.loss_map_cls: 0.6945, d2.loss_map_pts: 3.0423, d2.loss_map_dir: 0.0463, d3.loss_map_cls: 0.6957, d3.loss_map_pts: 2.9978, d3.loss_map_dir: 0.0465, d4.loss_map_cls: 0.6975, d4.loss_map_pts: 2.9788, d4.loss_map_dir: 0.0467, d5.loss_map_cls: 0.7006, d5.loss_map_pts: 2.9691, d5.loss_map_dir: 0.0469, loss: 101.8763, grad_norm: 267.8856 +2026-02-24 00:08:20,533 - DriveTransformer - INFO - Epoch [1][9900/117620] lr: 1.000e-04, eta: 27 days, 5:50:59, time: 0.338, data_time: 0.014, memory: 8395, loss_cls: 1.0766, loss_bbox: 1.3954, loss_traj: 2.6653, loss_traj_cls: 0.0006, loss_map_cls: 0.6681, loss_map_pts: 3.0915, loss_map_dir: 0.0461, d0.loss_plan_l1_fix_time: 4.0871, d0.loss_plan_l1_fix_dist: 0.7468, d1.loss_plan_l1_fix_time: 4.0170, d1.loss_plan_l1_fix_dist: 0.8032, d2.loss_plan_l1_fix_time: 4.0365, d2.loss_plan_l1_fix_dist: 0.9086, d3.loss_plan_l1_fix_time: 4.0646, d3.loss_plan_l1_fix_dist: 1.0398, d4.loss_plan_l1_fix_time: 4.1022, d4.loss_plan_l1_fix_dist: 1.1778, d5.loss_plan_l1_fix_time: 4.1384, d5.loss_plan_l1_fix_dist: 1.3417, d6.loss_plan_l1_fix_time: 4.1754, d6.loss_plan_l1_fix_dist: 1.5110, d0.loss_cls_all: 1.0628, d0.loss_bbox_all: 1.3182, d0.loss_cls: 1.0628, d0.loss_bbox: 1.3182, d1.loss_cls: 1.0798, d1.loss_bbox: 1.3076, d2.loss_cls: 1.0866, d2.loss_bbox: 1.3080, d3.loss_cls: 1.0739, d3.loss_bbox: 1.3247, d4.loss_cls: 1.0747, d4.loss_bbox: 1.3366, d5.loss_cls: 1.0731, d5.loss_bbox: 1.3618, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2891, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4243, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.4357, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.4837, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.5479, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.6240, d0.loss_map_cls_all: 0.6513, d0.loss_map_pts_all: 3.7069, d0.loss_map_dir_all: 0.0459, d0.loss_map_cls: 0.6513, d0.loss_map_pts: 3.7069, d0.loss_map_dir: 0.0459, d1.loss_map_cls: 0.6633, d1.loss_map_pts: 3.2223, d1.loss_map_dir: 0.0457, d2.loss_map_cls: 0.6644, d2.loss_map_pts: 3.1001, d2.loss_map_dir: 0.0458, d3.loss_map_cls: 0.6650, d3.loss_map_pts: 3.0702, d3.loss_map_dir: 0.0459, d4.loss_map_cls: 0.6669, d4.loss_map_pts: 3.0680, d4.loss_map_dir: 0.0460, d5.loss_map_cls: 0.6678, d5.loss_map_pts: 3.0768, d5.loss_map_dir: 0.0460, loss: 104.5931, grad_norm: 267.9037 +2026-02-24 00:08:38,247 - DriveTransformer - INFO - Epoch [1][9950/117620] lr: 1.000e-04, eta: 27 days, 6:02:41, time: 0.354, data_time: 0.015, memory: 8395, loss_cls: 1.0501, loss_bbox: 1.2494, loss_traj: 3.0350, loss_traj_cls: 0.0006, loss_map_cls: 0.6614, loss_map_pts: 3.2068, loss_map_dir: 0.0465, d0.loss_plan_l1_fix_time: 3.7196, d0.loss_plan_l1_fix_dist: 0.7457, d1.loss_plan_l1_fix_time: 3.6795, d1.loss_plan_l1_fix_dist: 0.8016, d2.loss_plan_l1_fix_time: 3.6968, d2.loss_plan_l1_fix_dist: 0.9038, d3.loss_plan_l1_fix_time: 3.7167, d3.loss_plan_l1_fix_dist: 1.0147, d4.loss_plan_l1_fix_time: 3.7465, d4.loss_plan_l1_fix_dist: 1.1268, d5.loss_plan_l1_fix_time: 3.7783, d5.loss_plan_l1_fix_dist: 1.2533, d6.loss_plan_l1_fix_time: 3.8189, d6.loss_plan_l1_fix_dist: 1.3536, d0.loss_cls_all: 1.0257, d0.loss_bbox_all: 1.1850, d0.loss_cls: 1.0257, d0.loss_bbox: 1.1850, d1.loss_cls: 1.0259, d1.loss_bbox: 1.1794, d2.loss_cls: 1.0299, d2.loss_bbox: 1.1807, d3.loss_cls: 1.0275, d3.loss_bbox: 1.1882, d4.loss_cls: 1.0246, d4.loss_bbox: 1.1935, d5.loss_cls: 1.0270, d5.loss_bbox: 1.2057, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.5501, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.6204, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.6646, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.7400, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.8740, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.9317, d0.loss_map_cls_all: 0.6397, d0.loss_map_pts_all: 3.7336, d0.loss_map_dir_all: 0.0467, d0.loss_map_cls: 0.6397, d0.loss_map_pts: 3.7336, d0.loss_map_dir: 0.0467, d1.loss_map_cls: 0.6552, d1.loss_map_pts: 3.2406, d1.loss_map_dir: 0.0459, d2.loss_map_cls: 0.6555, d2.loss_map_pts: 3.1264, d2.loss_map_dir: 0.0461, d3.loss_map_cls: 0.6575, d3.loss_map_pts: 3.1122, d3.loss_map_dir: 0.0462, d4.loss_map_cls: 0.6607, d4.loss_map_pts: 3.1289, d4.loss_map_dir: 0.0463, d5.loss_map_cls: 0.6604, d5.loss_map_pts: 3.1627, d5.loss_map_dir: 0.0464, loss: 102.6249, grad_norm: 267.9037 +2026-02-24 00:08:55,597 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 00:08:55,597 - DriveTransformer - INFO - Epoch [1][10000/117620] lr: 1.000e-04, eta: 27 days, 6:10:00, time: 0.347, data_time: 0.016, memory: 8395, loss_cls: 1.0543, loss_bbox: 1.3002, loss_traj: 2.6739, loss_traj_cls: 0.0006, loss_map_cls: 0.6842, loss_map_pts: 2.8345, loss_map_dir: 0.0427, d0.loss_plan_l1_fix_time: 3.3018, d0.loss_plan_l1_fix_dist: 0.6832, d1.loss_plan_l1_fix_time: 3.1176, d1.loss_plan_l1_fix_dist: 0.7499, d2.loss_plan_l1_fix_time: 3.1074, d2.loss_plan_l1_fix_dist: 0.8539, d3.loss_plan_l1_fix_time: 3.1208, d3.loss_plan_l1_fix_dist: 0.9649, d4.loss_plan_l1_fix_time: 3.1453, d4.loss_plan_l1_fix_dist: 1.0791, d5.loss_plan_l1_fix_time: 3.1766, d5.loss_plan_l1_fix_dist: 1.2076, d6.loss_plan_l1_fix_time: 3.2164, d6.loss_plan_l1_fix_dist: 1.3175, d0.loss_cls_all: 1.0319, d0.loss_bbox_all: 1.2391, d0.loss_cls: 1.0319, d0.loss_bbox: 1.2391, d1.loss_cls: 1.0415, d1.loss_bbox: 1.2351, d2.loss_cls: 1.0449, d2.loss_bbox: 1.2311, d3.loss_cls: 1.0407, d3.loss_bbox: 1.2434, d4.loss_cls: 1.0351, d4.loss_bbox: 1.2495, d5.loss_cls: 1.0332, d5.loss_bbox: 1.2632, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3000, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3699, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.4049, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.4459, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.5445, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5971, d0.loss_map_cls_all: 0.6629, d0.loss_map_pts_all: 3.4031, d0.loss_map_dir_all: 0.0426, d0.loss_map_cls: 0.6629, d0.loss_map_pts: 3.4031, d0.loss_map_dir: 0.0426, d1.loss_map_cls: 0.6773, d1.loss_map_pts: 2.8804, d1.loss_map_dir: 0.0421, d2.loss_map_cls: 0.6758, d2.loss_map_pts: 2.7558, d2.loss_map_dir: 0.0422, d3.loss_map_cls: 0.6776, d3.loss_map_pts: 2.7464, d3.loss_map_dir: 0.0423, d4.loss_map_cls: 0.6799, d4.loss_map_pts: 2.7687, d4.loss_map_dir: 0.0426, d5.loss_map_cls: 0.6822, d5.loss_map_pts: 2.7938, d5.loss_map_dir: 0.0427, loss: 94.0246, grad_norm: 268.8049 +2026-02-24 00:09:12,386 - DriveTransformer - INFO - Epoch [1][10050/117620] lr: 1.000e-04, eta: 27 days, 6:10:38, time: 0.336, data_time: 0.015, memory: 8395, loss_cls: 0.9939, loss_bbox: 1.2001, loss_traj: 3.0243, loss_traj_cls: 0.0005, loss_map_cls: 0.7212, loss_map_pts: 2.5467, loss_map_dir: 0.0375, d0.loss_plan_l1_fix_time: 3.5111, d0.loss_plan_l1_fix_dist: 0.6159, d1.loss_plan_l1_fix_time: 3.2638, d1.loss_plan_l1_fix_dist: 0.6850, d2.loss_plan_l1_fix_time: 3.2481, d2.loss_plan_l1_fix_dist: 0.7993, d3.loss_plan_l1_fix_time: 3.2632, d3.loss_plan_l1_fix_dist: 0.9222, d4.loss_plan_l1_fix_time: 3.2863, d4.loss_plan_l1_fix_dist: 1.0607, d5.loss_plan_l1_fix_time: 3.3149, d5.loss_plan_l1_fix_dist: 1.2036, d6.loss_plan_l1_fix_time: 3.3590, d6.loss_plan_l1_fix_dist: 1.3396, d0.loss_cls_all: 0.9873, d0.loss_bbox_all: 1.1082, d0.loss_cls: 0.9873, d0.loss_bbox: 1.1082, d1.loss_cls: 1.0013, d1.loss_bbox: 1.1171, d2.loss_cls: 0.9991, d2.loss_bbox: 1.1105, d3.loss_cls: 1.0110, d3.loss_bbox: 1.1227, d4.loss_cls: 0.9965, d4.loss_bbox: 1.1343, d5.loss_cls: 0.9941, d5.loss_bbox: 1.1491, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.5111, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5800, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.6661, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7223, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.8227, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.9326, d0.loss_map_cls_all: 0.7012, d0.loss_map_pts_all: 3.2372, d0.loss_map_dir_all: 0.0382, d0.loss_map_cls: 0.7012, d0.loss_map_pts: 3.2372, d0.loss_map_dir: 0.0382, d1.loss_map_cls: 0.7055, d1.loss_map_pts: 2.6383, d1.loss_map_dir: 0.0370, d2.loss_map_cls: 0.7090, d2.loss_map_pts: 2.4730, d2.loss_map_dir: 0.0372, d3.loss_map_cls: 0.7111, d3.loss_map_pts: 2.4546, d3.loss_map_dir: 0.0375, d4.loss_map_cls: 0.7075, d4.loss_map_pts: 2.4737, d4.loss_map_dir: 0.0376, d5.loss_map_cls: 0.7139, d5.loss_map_pts: 2.5018, d5.loss_map_dir: 0.0375, loss: 93.6899, grad_norm: 268.8049 +2026-02-24 00:09:30,686 - DriveTransformer - INFO - Epoch [1][10100/117620] lr: 1.000e-04, eta: 27 days, 6:28:50, time: 0.366, data_time: 0.015, memory: 8395, loss_cls: 1.0793, loss_bbox: 1.3144, loss_traj: 2.4665, loss_traj_cls: 0.0005, loss_map_cls: 0.6838, loss_map_pts: 3.0353, loss_map_dir: 0.0465, d0.loss_plan_l1_fix_time: 3.8754, d0.loss_plan_l1_fix_dist: 0.6862, d1.loss_plan_l1_fix_time: 3.7802, d1.loss_plan_l1_fix_dist: 0.7381, d2.loss_plan_l1_fix_time: 3.8074, d2.loss_plan_l1_fix_dist: 0.8292, d3.loss_plan_l1_fix_time: 3.8421, d3.loss_plan_l1_fix_dist: 0.9381, d4.loss_plan_l1_fix_time: 3.8749, d4.loss_plan_l1_fix_dist: 1.0617, d5.loss_plan_l1_fix_time: 3.9100, d5.loss_plan_l1_fix_dist: 1.1880, d6.loss_plan_l1_fix_time: 3.9596, d6.loss_plan_l1_fix_dist: 1.3265, d0.loss_cls_all: 1.0808, d0.loss_bbox_all: 1.2668, d0.loss_cls: 1.0808, d0.loss_bbox: 1.2668, d1.loss_cls: 1.0809, d1.loss_bbox: 1.2696, d2.loss_cls: 1.0834, d2.loss_bbox: 1.2676, d3.loss_cls: 1.0870, d3.loss_bbox: 1.2770, d4.loss_cls: 1.0769, d4.loss_bbox: 1.2850, d5.loss_cls: 1.0783, d5.loss_bbox: 1.2863, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0744, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1491, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2167, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2332, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.2934, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3763, d0.loss_map_cls_all: 0.6635, d0.loss_map_pts_all: 3.6424, d0.loss_map_dir_all: 0.0462, d0.loss_map_cls: 0.6635, d0.loss_map_pts: 3.6424, d0.loss_map_dir: 0.0462, d1.loss_map_cls: 0.6775, d1.loss_map_pts: 3.1029, d1.loss_map_dir: 0.0456, d2.loss_map_cls: 0.6767, d2.loss_map_pts: 2.9826, d2.loss_map_dir: 0.0458, d3.loss_map_cls: 0.6790, d3.loss_map_pts: 2.9733, d3.loss_map_dir: 0.0461, d4.loss_map_cls: 0.6814, d4.loss_map_pts: 2.9878, d4.loss_map_dir: 0.0463, d5.loss_map_cls: 0.6825, d5.loss_map_pts: 3.0086, d5.loss_map_dir: 0.0465, loss: 99.6639, grad_norm: 268.1186 +2026-02-24 00:09:47,805 - DriveTransformer - INFO - Epoch [1][10150/117620] lr: 1.000e-04, eta: 27 days, 6:33:11, time: 0.342, data_time: 0.014, memory: 8395, loss_cls: 1.0669, loss_bbox: 1.2643, loss_traj: 2.4969, loss_traj_cls: 0.0006, loss_map_cls: 0.6896, loss_map_pts: 2.9806, loss_map_dir: 0.0450, d0.loss_plan_l1_fix_time: 3.9803, d0.loss_plan_l1_fix_dist: 0.8743, d1.loss_plan_l1_fix_time: 3.8209, d1.loss_plan_l1_fix_dist: 0.9187, d2.loss_plan_l1_fix_time: 3.8277, d2.loss_plan_l1_fix_dist: 0.9939, d3.loss_plan_l1_fix_time: 3.8528, d3.loss_plan_l1_fix_dist: 1.0956, d4.loss_plan_l1_fix_time: 3.8817, d4.loss_plan_l1_fix_dist: 1.2062, d5.loss_plan_l1_fix_time: 3.9137, d5.loss_plan_l1_fix_dist: 1.3245, d6.loss_plan_l1_fix_time: 3.9653, d6.loss_plan_l1_fix_dist: 1.4821, d0.loss_cls_all: 1.0597, d0.loss_bbox_all: 1.2057, d0.loss_cls: 1.0597, d0.loss_bbox: 1.2057, d1.loss_cls: 1.0586, d1.loss_bbox: 1.2152, d2.loss_cls: 1.0628, d2.loss_bbox: 1.2214, d3.loss_cls: 1.0597, d3.loss_bbox: 1.2289, d4.loss_cls: 1.0589, d4.loss_bbox: 1.2355, d5.loss_cls: 1.0647, d5.loss_bbox: 1.2410, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1421, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2450, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2786, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3199, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3743, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4151, d0.loss_map_cls_all: 0.6754, d0.loss_map_pts_all: 3.6462, d0.loss_map_dir_all: 0.0453, d0.loss_map_cls: 0.6754, d0.loss_map_pts: 3.6462, d0.loss_map_dir: 0.0453, d1.loss_map_cls: 0.6875, d1.loss_map_pts: 3.1003, d1.loss_map_dir: 0.0445, d2.loss_map_cls: 0.6881, d2.loss_map_pts: 2.9670, d2.loss_map_dir: 0.0448, d3.loss_map_cls: 0.6881, d3.loss_map_pts: 2.9441, d3.loss_map_dir: 0.0450, d4.loss_map_cls: 0.6875, d4.loss_map_pts: 2.9554, d4.loss_map_dir: 0.0449, d5.loss_map_cls: 0.6871, d5.loss_map_pts: 2.9678, d5.loss_map_dir: 0.0450, loss: 100.7682, grad_norm: 268.1186 +2026-02-24 00:10:04,451 - DriveTransformer - INFO - Epoch [1][10200/117620] lr: 1.000e-04, eta: 27 days, 6:32:07, time: 0.333, data_time: 0.016, memory: 8395, loss_cls: 1.1186, loss_bbox: 1.3319, loss_traj: 2.0261, loss_traj_cls: 0.0005, loss_map_cls: 0.6877, loss_map_pts: 2.8859, loss_map_dir: 0.0443, d0.loss_plan_l1_fix_time: 3.6729, d0.loss_plan_l1_fix_dist: 0.7146, d1.loss_plan_l1_fix_time: 3.5538, d1.loss_plan_l1_fix_dist: 0.7698, d2.loss_plan_l1_fix_time: 3.5610, d2.loss_plan_l1_fix_dist: 0.8508, d3.loss_plan_l1_fix_time: 3.5889, d3.loss_plan_l1_fix_dist: 0.9519, d4.loss_plan_l1_fix_time: 3.6170, d4.loss_plan_l1_fix_dist: 1.0558, d5.loss_plan_l1_fix_time: 3.6477, d5.loss_plan_l1_fix_dist: 1.1679, d6.loss_plan_l1_fix_time: 3.6852, d6.loss_plan_l1_fix_dist: 1.3118, d0.loss_cls_all: 1.0803, d0.loss_bbox_all: 1.2365, d0.loss_cls: 1.0803, d0.loss_bbox: 1.2365, d1.loss_cls: 1.0937, d1.loss_bbox: 1.2392, d2.loss_cls: 1.0981, d2.loss_bbox: 1.2423, d3.loss_cls: 1.0909, d3.loss_bbox: 1.2580, d4.loss_cls: 1.0930, d4.loss_bbox: 1.2745, d5.loss_cls: 1.0986, d5.loss_bbox: 1.2959, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7299, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.7990, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8418, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8668, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9178, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9666, d0.loss_map_cls_all: 0.6757, d0.loss_map_pts_all: 3.5980, d0.loss_map_dir_all: 0.0441, d0.loss_map_cls: 0.6757, d0.loss_map_pts: 3.5980, d0.loss_map_dir: 0.0441, d1.loss_map_cls: 0.6850, d1.loss_map_pts: 3.0358, d1.loss_map_dir: 0.0436, d2.loss_map_cls: 0.6880, d2.loss_map_pts: 2.9003, d2.loss_map_dir: 0.0440, d3.loss_map_cls: 0.6863, d3.loss_map_pts: 2.8704, d3.loss_map_dir: 0.0441, d4.loss_map_cls: 0.6859, d4.loss_map_pts: 2.8665, d4.loss_map_dir: 0.0442, d5.loss_map_cls: 0.6857, d5.loss_map_pts: 2.8742, d5.loss_map_dir: 0.0441, loss: 94.6203, grad_norm: 266.8358 +2026-02-24 00:10:21,465 - DriveTransformer - INFO - Epoch [1][10250/117620] lr: 1.000e-04, eta: 27 days, 6:35:12, time: 0.340, data_time: 0.019, memory: 8395, loss_cls: 1.0583, loss_bbox: 1.3799, loss_traj: 2.1828, loss_traj_cls: 0.0006, loss_map_cls: 0.6944, loss_map_pts: 3.0202, loss_map_dir: 0.0458, d0.loss_plan_l1_fix_time: 3.7174, d0.loss_plan_l1_fix_dist: 0.8084, d1.loss_plan_l1_fix_time: 3.6613, d1.loss_plan_l1_fix_dist: 0.8455, d2.loss_plan_l1_fix_time: 3.6833, d2.loss_plan_l1_fix_dist: 0.9172, d3.loss_plan_l1_fix_time: 3.7096, d3.loss_plan_l1_fix_dist: 1.0034, d4.loss_plan_l1_fix_time: 3.7378, d4.loss_plan_l1_fix_dist: 1.0917, d5.loss_plan_l1_fix_time: 3.7613, d5.loss_plan_l1_fix_dist: 1.1947, d6.loss_plan_l1_fix_time: 3.7917, d6.loss_plan_l1_fix_dist: 1.3063, d0.loss_cls_all: 1.0290, d0.loss_bbox_all: 1.2762, d0.loss_cls: 1.0290, d0.loss_bbox: 1.2762, d1.loss_cls: 1.0386, d1.loss_bbox: 1.2681, d2.loss_cls: 1.0437, d2.loss_bbox: 1.2593, d3.loss_cls: 1.0448, d3.loss_bbox: 1.2680, d4.loss_cls: 1.0440, d4.loss_bbox: 1.2833, d5.loss_cls: 1.0400, d5.loss_bbox: 1.3282, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8865, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9099, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9603, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9950, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0461, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1139, d0.loss_map_cls_all: 0.6790, d0.loss_map_pts_all: 3.7033, d0.loss_map_dir_all: 0.0465, d0.loss_map_cls: 0.6790, d0.loss_map_pts: 3.7033, d0.loss_map_dir: 0.0465, d1.loss_map_cls: 0.6943, d1.loss_map_pts: 3.1728, d1.loss_map_dir: 0.0453, d2.loss_map_cls: 0.6934, d2.loss_map_pts: 3.0351, d2.loss_map_dir: 0.0456, d3.loss_map_cls: 0.6911, d3.loss_map_pts: 3.0010, d3.loss_map_dir: 0.0456, d4.loss_map_cls: 0.6920, d4.loss_map_pts: 2.9954, d4.loss_map_dir: 0.0458, d5.loss_map_cls: 0.6936, d5.loss_map_pts: 3.0018, d5.loss_map_dir: 0.0459, loss: 97.5111, grad_norm: 266.8358 +2026-02-24 00:10:38,880 - DriveTransformer - INFO - Epoch [1][10300/117620] lr: 1.000e-04, eta: 27 days, 6:42:51, time: 0.348, data_time: 0.014, memory: 8395, loss_cls: 1.1222, loss_bbox: 1.3925, loss_traj: 2.1140, loss_traj_cls: 0.0006, loss_map_cls: 0.6571, loss_map_pts: 3.2422, loss_map_dir: 0.0526, d0.loss_plan_l1_fix_time: 3.5684, d0.loss_plan_l1_fix_dist: 0.7935, d1.loss_plan_l1_fix_time: 3.4514, d1.loss_plan_l1_fix_dist: 0.8501, d2.loss_plan_l1_fix_time: 3.4601, d2.loss_plan_l1_fix_dist: 0.9318, d3.loss_plan_l1_fix_time: 3.4865, d3.loss_plan_l1_fix_dist: 1.0206, d4.loss_plan_l1_fix_time: 3.5163, d4.loss_plan_l1_fix_dist: 1.1188, d5.loss_plan_l1_fix_time: 3.5443, d5.loss_plan_l1_fix_dist: 1.2381, d6.loss_plan_l1_fix_time: 3.5668, d6.loss_plan_l1_fix_dist: 1.3490, d0.loss_cls_all: 1.0893, d0.loss_bbox_all: 1.2731, d0.loss_cls: 1.0893, d0.loss_bbox: 1.2731, d1.loss_cls: 1.0943, d1.loss_bbox: 1.2739, d2.loss_cls: 1.1013, d2.loss_bbox: 1.2787, d3.loss_cls: 1.1006, d3.loss_bbox: 1.2936, d4.loss_cls: 1.0998, d4.loss_bbox: 1.3041, d5.loss_cls: 1.1026, d5.loss_bbox: 1.3342, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8160, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8640, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8880, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9243, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9639, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0771, d0.loss_map_cls_all: 0.6535, d0.loss_map_pts_all: 3.7609, d0.loss_map_dir_all: 0.0520, d0.loss_map_cls: 0.6535, d0.loss_map_pts: 3.7609, d0.loss_map_dir: 0.0520, d1.loss_map_cls: 0.6608, d1.loss_map_pts: 3.2890, d1.loss_map_dir: 0.0515, d2.loss_map_cls: 0.6639, d2.loss_map_pts: 3.2042, d2.loss_map_dir: 0.0519, d3.loss_map_cls: 0.6593, d3.loss_map_pts: 3.1997, d3.loss_map_dir: 0.0523, d4.loss_map_cls: 0.6547, d4.loss_map_pts: 3.2071, d4.loss_map_dir: 0.0526, d5.loss_map_cls: 0.6563, d5.loss_map_pts: 3.2218, d5.loss_map_dir: 0.0527, loss: 97.3323, grad_norm: 268.0422 +2026-02-24 00:10:55,584 - DriveTransformer - INFO - Epoch [1][10350/117620] lr: 1.000e-04, eta: 27 days, 6:42:20, time: 0.334, data_time: 0.015, memory: 8395, loss_cls: 1.1074, loss_bbox: 1.3722, loss_traj: 2.2440, loss_traj_cls: 0.0006, loss_map_cls: 0.6641, loss_map_pts: 2.8513, loss_map_dir: 0.0430, d0.loss_plan_l1_fix_time: 3.6902, d0.loss_plan_l1_fix_dist: 0.8536, d1.loss_plan_l1_fix_time: 3.7011, d1.loss_plan_l1_fix_dist: 0.9246, d2.loss_plan_l1_fix_time: 3.7339, d2.loss_plan_l1_fix_dist: 1.0333, d3.loss_plan_l1_fix_time: 3.7692, d3.loss_plan_l1_fix_dist: 1.1454, d4.loss_plan_l1_fix_time: 3.8104, d4.loss_plan_l1_fix_dist: 1.2711, d5.loss_plan_l1_fix_time: 3.8453, d5.loss_plan_l1_fix_dist: 1.4182, d6.loss_plan_l1_fix_time: 3.8717, d6.loss_plan_l1_fix_dist: 1.5447, d0.loss_cls_all: 1.0724, d0.loss_bbox_all: 1.2400, d0.loss_cls: 1.0724, d0.loss_bbox: 1.2400, d1.loss_cls: 1.0777, d1.loss_bbox: 1.2479, d2.loss_cls: 1.0890, d2.loss_bbox: 1.2445, d3.loss_cls: 1.0891, d3.loss_bbox: 1.2603, d4.loss_cls: 1.0872, d4.loss_bbox: 1.2662, d5.loss_cls: 1.0892, d5.loss_bbox: 1.3014, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9458, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9860, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9952, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0438, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0435, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2173, d0.loss_map_cls_all: 0.6475, d0.loss_map_pts_all: 3.4908, d0.loss_map_dir_all: 0.0429, d0.loss_map_cls: 0.6475, d0.loss_map_pts: 3.4908, d0.loss_map_dir: 0.0429, d1.loss_map_cls: 0.6597, d1.loss_map_pts: 2.9774, d1.loss_map_dir: 0.0421, d2.loss_map_cls: 0.6604, d2.loss_map_pts: 2.8397, d2.loss_map_dir: 0.0424, d3.loss_map_cls: 0.6619, d3.loss_map_pts: 2.8107, d3.loss_map_dir: 0.0426, d4.loss_map_cls: 0.6625, d4.loss_map_pts: 2.8149, d4.loss_map_dir: 0.0428, d5.loss_map_cls: 0.6629, d5.loss_map_pts: 2.8301, d5.loss_map_dir: 0.0429, loss: 97.6626, grad_norm: 268.0422 +2026-02-24 00:11:12,133 - DriveTransformer - INFO - Epoch [1][10400/117620] lr: 1.000e-04, eta: 27 days, 6:40:05, time: 0.331, data_time: 0.016, memory: 8395, loss_cls: 1.1178, loss_bbox: 1.3046, loss_traj: 2.5269, loss_traj_cls: 0.0006, loss_map_cls: 0.6786, loss_map_pts: 2.8702, loss_map_dir: 0.0436, d0.loss_plan_l1_fix_time: 4.1428, d0.loss_plan_l1_fix_dist: 0.8012, d1.loss_plan_l1_fix_time: 4.0256, d1.loss_plan_l1_fix_dist: 0.8344, d2.loss_plan_l1_fix_time: 4.0479, d2.loss_plan_l1_fix_dist: 0.9034, d3.loss_plan_l1_fix_time: 4.0693, d3.loss_plan_l1_fix_dist: 0.9874, d4.loss_plan_l1_fix_time: 4.0970, d4.loss_plan_l1_fix_dist: 1.0886, d5.loss_plan_l1_fix_time: 4.1206, d5.loss_plan_l1_fix_dist: 1.2168, d6.loss_plan_l1_fix_time: 4.1392, d6.loss_plan_l1_fix_dist: 1.3531, d0.loss_cls_all: 1.0798, d0.loss_bbox_all: 1.2458, d0.loss_cls: 1.0798, d0.loss_bbox: 1.2458, d1.loss_cls: 1.0823, d1.loss_bbox: 1.2430, d2.loss_cls: 1.0937, d2.loss_bbox: 1.2404, d3.loss_cls: 1.0984, d3.loss_bbox: 1.2512, d4.loss_cls: 1.0997, d4.loss_bbox: 1.2636, d5.loss_cls: 1.1008, d5.loss_bbox: 1.2900, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2707, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3144, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3222, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3639, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.3823, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4649, d0.loss_map_cls_all: 0.6494, d0.loss_map_pts_all: 3.6081, d0.loss_map_dir_all: 0.0436, d0.loss_map_cls: 0.6494, d0.loss_map_pts: 3.6081, d0.loss_map_dir: 0.0436, d1.loss_map_cls: 0.6621, d1.loss_map_pts: 3.0207, d1.loss_map_dir: 0.0428, d2.loss_map_cls: 0.6665, d2.loss_map_pts: 2.8731, d2.loss_map_dir: 0.0430, d3.loss_map_cls: 0.6692, d3.loss_map_pts: 2.8488, d3.loss_map_dir: 0.0431, d4.loss_map_cls: 0.6731, d4.loss_map_pts: 2.8510, d4.loss_map_dir: 0.0433, d5.loss_map_cls: 0.6756, d5.loss_map_pts: 2.8612, d5.loss_map_dir: 0.0434, loss: 101.5239, grad_norm: 266.4279 +2026-02-24 00:11:30,103 - DriveTransformer - INFO - Epoch [1][10450/117620] lr: 1.000e-04, eta: 27 days, 6:53:48, time: 0.359, data_time: 0.015, memory: 8395, loss_cls: 1.0163, loss_bbox: 1.2152, loss_traj: 2.3199, loss_traj_cls: 0.0006, loss_map_cls: 0.6703, loss_map_pts: 2.7831, loss_map_dir: 0.0448, d0.loss_plan_l1_fix_time: 3.8263, d0.loss_plan_l1_fix_dist: 0.6301, d1.loss_plan_l1_fix_time: 3.7055, d1.loss_plan_l1_fix_dist: 0.6658, d2.loss_plan_l1_fix_time: 3.7128, d2.loss_plan_l1_fix_dist: 0.7202, d3.loss_plan_l1_fix_time: 3.7315, d3.loss_plan_l1_fix_dist: 0.7883, d4.loss_plan_l1_fix_time: 3.7565, d4.loss_plan_l1_fix_dist: 0.8786, d5.loss_plan_l1_fix_time: 3.7799, d5.loss_plan_l1_fix_dist: 0.9903, d6.loss_plan_l1_fix_time: 3.7945, d6.loss_plan_l1_fix_dist: 1.1204, d0.loss_cls_all: 1.0010, d0.loss_bbox_all: 1.1694, d0.loss_cls: 1.0010, d0.loss_bbox: 1.1694, d1.loss_cls: 1.0085, d1.loss_bbox: 1.1652, d2.loss_cls: 1.0114, d2.loss_bbox: 1.1740, d3.loss_cls: 1.0194, d3.loss_bbox: 1.1861, d4.loss_cls: 1.0168, d4.loss_bbox: 1.2020, d5.loss_cls: 1.0181, d5.loss_bbox: 1.2178, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1657, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2011, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1840, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.2041, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2304, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2611, d0.loss_map_cls_all: 0.6454, d0.loss_map_pts_all: 3.4131, d0.loss_map_dir_all: 0.0446, d0.loss_map_cls: 0.6454, d0.loss_map_pts: 3.4131, d0.loss_map_dir: 0.0446, d1.loss_map_cls: 0.6600, d1.loss_map_pts: 2.8837, d1.loss_map_dir: 0.0440, d2.loss_map_cls: 0.6611, d2.loss_map_pts: 2.7618, d2.loss_map_dir: 0.0442, d3.loss_map_cls: 0.6642, d3.loss_map_pts: 2.7536, d3.loss_map_dir: 0.0444, d4.loss_map_cls: 0.6669, d4.loss_map_pts: 2.7651, d4.loss_map_dir: 0.0446, d5.loss_map_cls: 0.6693, d5.loss_map_pts: 2.7763, d5.loss_map_dir: 0.0448, loss: 94.4505, grad_norm: 266.4279 +2026-02-24 00:11:47,420 - DriveTransformer - INFO - Epoch [1][10500/117620] lr: 1.000e-04, eta: 27 days, 7:00:09, time: 0.346, data_time: 0.013, memory: 8395, loss_cls: 1.0698, loss_bbox: 1.3028, loss_traj: 2.6089, loss_traj_cls: 0.0006, loss_map_cls: 0.6660, loss_map_pts: 3.2269, loss_map_dir: 0.0466, d0.loss_plan_l1_fix_time: 3.7511, d0.loss_plan_l1_fix_dist: 0.6796, d1.loss_plan_l1_fix_time: 3.6011, d1.loss_plan_l1_fix_dist: 0.7149, d2.loss_plan_l1_fix_time: 3.6011, d2.loss_plan_l1_fix_dist: 0.7872, d3.loss_plan_l1_fix_time: 3.6301, d3.loss_plan_l1_fix_dist: 0.8881, d4.loss_plan_l1_fix_time: 3.6624, d4.loss_plan_l1_fix_dist: 0.9967, d5.loss_plan_l1_fix_time: 3.6929, d5.loss_plan_l1_fix_dist: 1.1240, d6.loss_plan_l1_fix_time: 3.7184, d6.loss_plan_l1_fix_dist: 1.2759, d0.loss_cls_all: 1.0427, d0.loss_bbox_all: 1.2273, d0.loss_cls: 1.0427, d0.loss_bbox: 1.2273, d1.loss_cls: 1.0497, d1.loss_bbox: 1.2312, d2.loss_cls: 1.0565, d2.loss_bbox: 1.2367, d3.loss_cls: 1.0680, d3.loss_bbox: 1.2505, d4.loss_cls: 1.0677, d4.loss_bbox: 1.2788, d5.loss_cls: 1.0694, d5.loss_bbox: 1.3049, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3143, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.3578, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.4036, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.4242, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.4783, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.5359, d0.loss_map_cls_all: 0.6429, d0.loss_map_pts_all: 3.7740, d0.loss_map_dir_all: 0.0461, d0.loss_map_cls: 0.6429, d0.loss_map_pts: 3.7740, d0.loss_map_dir: 0.0461, d1.loss_map_cls: 0.6540, d1.loss_map_pts: 3.2578, d1.loss_map_dir: 0.0457, d2.loss_map_cls: 0.6554, d2.loss_map_pts: 3.1801, d2.loss_map_dir: 0.0461, d3.loss_map_cls: 0.6600, d3.loss_map_pts: 3.1869, d3.loss_map_dir: 0.0463, d4.loss_map_cls: 0.6627, d4.loss_map_pts: 3.2039, d4.loss_map_dir: 0.0465, d5.loss_map_cls: 0.6637, d5.loss_map_pts: 3.2186, d5.loss_map_dir: 0.0465, loss: 100.2158, grad_norm: 264.8071 +2026-02-24 00:12:03,895 - DriveTransformer - INFO - Epoch [1][10550/117620] lr: 1.000e-04, eta: 27 days, 6:56:59, time: 0.329, data_time: 0.014, memory: 8395, loss_cls: 1.1213, loss_bbox: 1.2907, loss_traj: 2.2548, loss_traj_cls: 0.0006, loss_map_cls: 0.6700, loss_map_pts: 2.8825, loss_map_dir: 0.0460, d0.loss_plan_l1_fix_time: 3.5124, d0.loss_plan_l1_fix_dist: 0.8653, d1.loss_plan_l1_fix_time: 3.3524, d1.loss_plan_l1_fix_dist: 0.9025, d2.loss_plan_l1_fix_time: 3.3678, d2.loss_plan_l1_fix_dist: 0.9714, d3.loss_plan_l1_fix_time: 3.3939, d3.loss_plan_l1_fix_dist: 1.0740, d4.loss_plan_l1_fix_time: 3.4220, d4.loss_plan_l1_fix_dist: 1.1817, d5.loss_plan_l1_fix_time: 3.4488, d5.loss_plan_l1_fix_dist: 1.3067, d6.loss_plan_l1_fix_time: 3.4754, d6.loss_plan_l1_fix_dist: 1.4537, d0.loss_cls_all: 1.1119, d0.loss_bbox_all: 1.2062, d0.loss_cls: 1.1119, d0.loss_bbox: 1.2062, d1.loss_cls: 1.1214, d1.loss_bbox: 1.2145, d2.loss_cls: 1.1187, d2.loss_bbox: 1.2258, d3.loss_cls: 1.1157, d3.loss_bbox: 1.2453, d4.loss_cls: 1.1239, d4.loss_bbox: 1.2679, d5.loss_cls: 1.1314, d5.loss_bbox: 1.2876, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9164, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9750, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0235, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0572, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1008, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1692, d0.loss_map_cls_all: 0.6458, d0.loss_map_pts_all: 3.5011, d0.loss_map_dir_all: 0.0451, d0.loss_map_cls: 0.6458, d0.loss_map_pts: 3.5011, d0.loss_map_dir: 0.0451, d1.loss_map_cls: 0.6554, d1.loss_map_pts: 2.9367, d1.loss_map_dir: 0.0455, d2.loss_map_cls: 0.6611, d2.loss_map_pts: 2.8334, d2.loss_map_dir: 0.0459, d3.loss_map_cls: 0.6665, d3.loss_map_pts: 2.8316, d3.loss_map_dir: 0.0461, d4.loss_map_cls: 0.6671, d4.loss_map_pts: 2.8516, d4.loss_map_dir: 0.0460, d5.loss_map_cls: 0.6683, d5.loss_map_pts: 2.8715, d5.loss_map_dir: 0.0460, loss: 94.9842, grad_norm: 264.8071 +2026-02-24 00:12:21,237 - DriveTransformer - INFO - Epoch [1][10600/117620] lr: 1.000e-04, eta: 27 days, 7:03:29, time: 0.347, data_time: 0.015, memory: 8395, loss_cls: 1.0508, loss_bbox: 1.2612, loss_traj: 2.8804, loss_traj_cls: 0.0006, loss_map_cls: 0.6916, loss_map_pts: 2.5335, loss_map_dir: 0.0408, d0.loss_plan_l1_fix_time: 4.2354, d0.loss_plan_l1_fix_dist: 0.7702, d1.loss_plan_l1_fix_time: 4.1737, d1.loss_plan_l1_fix_dist: 0.8083, d2.loss_plan_l1_fix_time: 4.2064, d2.loss_plan_l1_fix_dist: 0.8869, d3.loss_plan_l1_fix_time: 4.2519, d3.loss_plan_l1_fix_dist: 0.9976, d4.loss_plan_l1_fix_time: 4.2905, d4.loss_plan_l1_fix_dist: 1.1243, d5.loss_plan_l1_fix_time: 4.3293, d5.loss_plan_l1_fix_dist: 1.2697, d6.loss_plan_l1_fix_time: 4.3675, d6.loss_plan_l1_fix_dist: 1.4342, d0.loss_cls_all: 1.0296, d0.loss_bbox_all: 1.2024, d0.loss_cls: 1.0296, d0.loss_bbox: 1.2024, d1.loss_cls: 1.0358, d1.loss_bbox: 1.2086, d2.loss_cls: 1.0396, d2.loss_bbox: 1.2128, d3.loss_cls: 1.0456, d3.loss_bbox: 1.2140, d4.loss_cls: 1.0419, d4.loss_bbox: 1.2251, d5.loss_cls: 1.0387, d5.loss_bbox: 1.2539, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.5697, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.6245, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.6399, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.6650, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.7268, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.7597, d0.loss_map_cls_all: 0.6680, d0.loss_map_pts_all: 3.1935, d0.loss_map_dir_all: 0.0406, d0.loss_map_cls: 0.6680, d0.loss_map_pts: 3.1935, d0.loss_map_dir: 0.0406, d1.loss_map_cls: 0.6841, d1.loss_map_pts: 2.6317, d1.loss_map_dir: 0.0404, d2.loss_map_cls: 0.6888, d2.loss_map_pts: 2.5086, d2.loss_map_dir: 0.0405, d3.loss_map_cls: 0.6911, d3.loss_map_pts: 2.4946, d3.loss_map_dir: 0.0407, d4.loss_map_cls: 0.6908, d4.loss_map_pts: 2.5014, d4.loss_map_dir: 0.0408, d5.loss_map_cls: 0.6917, d5.loss_map_pts: 2.5156, d5.loss_map_dir: 0.0407, loss: 101.4792, grad_norm: 263.5539 +2026-02-24 00:12:38,368 - DriveTransformer - INFO - Epoch [1][10650/117620] lr: 1.000e-04, eta: 27 days, 7:07:37, time: 0.343, data_time: 0.016, memory: 8395, loss_cls: 1.1372, loss_bbox: 1.2925, loss_traj: 2.4520, loss_traj_cls: 0.0006, loss_map_cls: 0.6656, loss_map_pts: 3.0220, loss_map_dir: 0.0478, d0.loss_plan_l1_fix_time: 3.2291, d0.loss_plan_l1_fix_dist: 0.7154, d1.loss_plan_l1_fix_time: 3.0698, d1.loss_plan_l1_fix_dist: 0.7522, d2.loss_plan_l1_fix_time: 3.0771, d2.loss_plan_l1_fix_dist: 0.8378, d3.loss_plan_l1_fix_time: 3.1173, d3.loss_plan_l1_fix_dist: 0.9512, d4.loss_plan_l1_fix_time: 3.1590, d4.loss_plan_l1_fix_dist: 1.0854, d5.loss_plan_l1_fix_time: 3.2025, d5.loss_plan_l1_fix_dist: 1.2418, d6.loss_plan_l1_fix_time: 3.2464, d6.loss_plan_l1_fix_dist: 1.4181, d0.loss_cls_all: 1.1349, d0.loss_bbox_all: 1.2431, d0.loss_cls: 1.1349, d0.loss_bbox: 1.2431, d1.loss_cls: 1.1399, d1.loss_bbox: 1.2481, d2.loss_cls: 1.1391, d2.loss_bbox: 1.2491, d3.loss_cls: 1.1419, d3.loss_bbox: 1.2510, d4.loss_cls: 1.1273, d4.loss_bbox: 1.2677, d5.loss_cls: 1.1256, d5.loss_bbox: 1.2907, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0591, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1092, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1350, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1888, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2786, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3199, d0.loss_map_cls_all: 0.6454, d0.loss_map_pts_all: 3.6642, d0.loss_map_dir_all: 0.0470, d0.loss_map_cls: 0.6454, d0.loss_map_pts: 3.6642, d0.loss_map_dir: 0.0470, d1.loss_map_cls: 0.6541, d1.loss_map_pts: 3.1226, d1.loss_map_dir: 0.0470, d2.loss_map_cls: 0.6569, d2.loss_map_pts: 3.0220, d2.loss_map_dir: 0.0475, d3.loss_map_cls: 0.6615, d3.loss_map_pts: 3.0048, d3.loss_map_dir: 0.0477, d4.loss_map_cls: 0.6623, d4.loss_map_pts: 3.0067, d4.loss_map_dir: 0.0478, d5.loss_map_cls: 0.6638, d5.loss_map_pts: 3.0113, d5.loss_map_dir: 0.0478, loss: 94.9683, grad_norm: 263.5539 +2026-02-24 00:12:55,794 - DriveTransformer - INFO - Epoch [1][10700/117620] lr: 1.000e-04, eta: 27 days, 7:14:54, time: 0.348, data_time: 0.014, memory: 8395, loss_cls: 1.0942, loss_bbox: 1.2973, loss_traj: 2.9068, loss_traj_cls: 0.0005, loss_map_cls: 0.6699, loss_map_pts: 3.0863, loss_map_dir: 0.0454, d0.loss_plan_l1_fix_time: 3.5744, d0.loss_plan_l1_fix_dist: 0.6625, d1.loss_plan_l1_fix_time: 3.5374, d1.loss_plan_l1_fix_dist: 0.6982, d2.loss_plan_l1_fix_time: 3.5425, d2.loss_plan_l1_fix_dist: 0.7589, d3.loss_plan_l1_fix_time: 3.5608, d3.loss_plan_l1_fix_dist: 0.8232, d4.loss_plan_l1_fix_time: 3.5864, d4.loss_plan_l1_fix_dist: 0.9024, d5.loss_plan_l1_fix_time: 3.6102, d5.loss_plan_l1_fix_dist: 0.9946, d6.loss_plan_l1_fix_time: 3.6445, d6.loss_plan_l1_fix_dist: 1.0943, d0.loss_cls_all: 1.0597, d0.loss_bbox_all: 1.2221, d0.loss_cls: 1.0597, d0.loss_bbox: 1.2221, d1.loss_cls: 1.0709, d1.loss_bbox: 1.2212, d2.loss_cls: 1.0816, d2.loss_bbox: 1.2221, d3.loss_cls: 1.0777, d3.loss_bbox: 1.2306, d4.loss_cls: 1.0819, d4.loss_bbox: 1.2510, d5.loss_cls: 1.0804, d5.loss_bbox: 1.2742, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.4869, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5892, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.6585, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7007, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.7428, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.8404, d0.loss_map_cls_all: 0.6264, d0.loss_map_pts_all: 3.6569, d0.loss_map_dir_all: 0.0439, d0.loss_map_cls: 0.6264, d0.loss_map_pts: 3.6569, d0.loss_map_dir: 0.0439, d1.loss_map_cls: 0.6375, d1.loss_map_pts: 3.0559, d1.loss_map_dir: 0.0443, d2.loss_map_cls: 0.6445, d2.loss_map_pts: 2.9475, d2.loss_map_dir: 0.0449, d3.loss_map_cls: 0.6510, d3.loss_map_pts: 2.9617, d3.loss_map_dir: 0.0451, d4.loss_map_cls: 0.6579, d4.loss_map_pts: 2.9954, d4.loss_map_dir: 0.0452, d5.loss_map_cls: 0.6625, d5.loss_map_pts: 3.0361, d5.loss_map_dir: 0.0451, loss: 99.3962, grad_norm: 262.6693 +2026-02-24 00:13:12,602 - DriveTransformer - INFO - Epoch [1][10750/117620] lr: 1.000e-04, eta: 27 days, 7:15:22, time: 0.336, data_time: 0.014, memory: 8395, loss_cls: 1.0771, loss_bbox: 1.2529, loss_traj: 2.9880, loss_traj_cls: 0.0006, loss_map_cls: 0.6766, loss_map_pts: 2.6744, loss_map_dir: 0.0415, d0.loss_plan_l1_fix_time: 3.6603, d0.loss_plan_l1_fix_dist: 0.8098, d1.loss_plan_l1_fix_time: 3.6298, d1.loss_plan_l1_fix_dist: 0.8475, d2.loss_plan_l1_fix_time: 3.6582, d2.loss_plan_l1_fix_dist: 0.9089, d3.loss_plan_l1_fix_time: 3.6916, d3.loss_plan_l1_fix_dist: 0.9717, d4.loss_plan_l1_fix_time: 3.7242, d4.loss_plan_l1_fix_dist: 1.0507, d5.loss_plan_l1_fix_time: 3.7540, d5.loss_plan_l1_fix_dist: 1.1398, d6.loss_plan_l1_fix_time: 3.7889, d6.loss_plan_l1_fix_dist: 1.2318, d0.loss_cls_all: 1.0576, d0.loss_bbox_all: 1.1566, d0.loss_cls: 1.0576, d0.loss_bbox: 1.1566, d1.loss_cls: 1.0651, d1.loss_bbox: 1.1610, d2.loss_cls: 1.0733, d2.loss_bbox: 1.1637, d3.loss_cls: 1.0677, d3.loss_bbox: 1.1725, d4.loss_cls: 1.0689, d4.loss_bbox: 1.1897, d5.loss_cls: 1.0701, d5.loss_bbox: 1.2144, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.5513, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.6507, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.7334, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7801, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.8355, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.9404, d0.loss_map_cls_all: 0.6435, d0.loss_map_pts_all: 3.2303, d0.loss_map_dir_all: 0.0414, d0.loss_map_cls: 0.6435, d0.loss_map_pts: 3.2303, d0.loss_map_dir: 0.0414, d1.loss_map_cls: 0.6548, d1.loss_map_pts: 2.6008, d1.loss_map_dir: 0.0412, d2.loss_map_cls: 0.6575, d2.loss_map_pts: 2.4806, d2.loss_map_dir: 0.0411, d3.loss_map_cls: 0.6592, d3.loss_map_pts: 2.5117, d3.loss_map_dir: 0.0411, d4.loss_map_cls: 0.6648, d4.loss_map_pts: 2.5620, d4.loss_map_dir: 0.0412, d5.loss_map_cls: 0.6701, d5.loss_map_pts: 2.6147, d5.loss_map_dir: 0.0413, loss: 97.8601, grad_norm: 262.6693 +2026-02-24 00:13:29,336 - DriveTransformer - INFO - Epoch [1][10800/117620] lr: 1.000e-04, eta: 27 days, 7:15:03, time: 0.335, data_time: 0.019, memory: 8395, loss_cls: 1.0521, loss_bbox: 1.2011, loss_traj: 2.1738, loss_traj_cls: 0.0005, loss_map_cls: 0.6946, loss_map_pts: 2.6790, loss_map_dir: 0.0426, d0.loss_plan_l1_fix_time: 3.7514, d0.loss_plan_l1_fix_dist: 0.6042, d1.loss_plan_l1_fix_time: 3.6223, d1.loss_plan_l1_fix_dist: 0.6820, d2.loss_plan_l1_fix_time: 3.6266, d2.loss_plan_l1_fix_dist: 0.7820, d3.loss_plan_l1_fix_time: 3.6490, d3.loss_plan_l1_fix_dist: 0.8814, d4.loss_plan_l1_fix_time: 3.6690, d4.loss_plan_l1_fix_dist: 0.9877, d5.loss_plan_l1_fix_time: 3.6919, d5.loss_plan_l1_fix_dist: 1.0958, d6.loss_plan_l1_fix_time: 3.7126, d6.loss_plan_l1_fix_dist: 1.2080, d0.loss_cls_all: 1.0489, d0.loss_bbox_all: 1.1279, d0.loss_cls: 1.0489, d0.loss_bbox: 1.1279, d1.loss_cls: 1.0495, d1.loss_bbox: 1.1438, d2.loss_cls: 1.0514, d2.loss_bbox: 1.1584, d3.loss_cls: 1.0454, d3.loss_bbox: 1.1700, d4.loss_cls: 1.0483, d4.loss_bbox: 1.1820, d5.loss_cls: 1.0509, d5.loss_bbox: 1.1954, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0534, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0750, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1102, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1227, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1411, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1400, d0.loss_map_cls_all: 0.6830, d0.loss_map_pts_all: 3.2765, d0.loss_map_dir_all: 0.0425, d0.loss_map_cls: 0.6830, d0.loss_map_pts: 3.2765, d0.loss_map_dir: 0.0425, d1.loss_map_cls: 0.6891, d1.loss_map_pts: 2.6942, d1.loss_map_dir: 0.0423, d2.loss_map_cls: 0.6877, d2.loss_map_pts: 2.6107, d2.loss_map_dir: 0.0424, d3.loss_map_cls: 0.6905, d3.loss_map_pts: 2.6079, d3.loss_map_dir: 0.0426, d4.loss_map_cls: 0.6923, d4.loss_map_pts: 2.6219, d4.loss_map_dir: 0.0427, d5.loss_map_cls: 0.6951, d5.loss_map_pts: 2.6470, d5.loss_map_dir: 0.0427, loss: 92.7547, grad_norm: 261.7997 +2026-02-24 00:13:53,864 - DriveTransformer - INFO - Epoch [1][10850/117620] lr: 1.000e-04, eta: 27 days, 8:39:09, time: 0.491, data_time: 0.019, memory: 8395, loss_cls: 1.1432, loss_bbox: 1.2671, loss_traj: 2.4563, loss_traj_cls: 0.0005, loss_map_cls: 0.6772, loss_map_pts: 2.9039, loss_map_dir: 0.0485, d0.loss_plan_l1_fix_time: 3.7544, d0.loss_plan_l1_fix_dist: 0.6405, d1.loss_plan_l1_fix_time: 3.6238, d1.loss_plan_l1_fix_dist: 0.7033, d2.loss_plan_l1_fix_time: 3.6262, d2.loss_plan_l1_fix_dist: 0.7965, d3.loss_plan_l1_fix_time: 3.6457, d3.loss_plan_l1_fix_dist: 0.8864, d4.loss_plan_l1_fix_time: 3.6656, d4.loss_plan_l1_fix_dist: 0.9886, d5.loss_plan_l1_fix_time: 3.6872, d5.loss_plan_l1_fix_dist: 1.0908, d6.loss_plan_l1_fix_time: 3.7066, d6.loss_plan_l1_fix_dist: 1.1954, d0.loss_cls_all: 1.1176, d0.loss_bbox_all: 1.2103, d0.loss_cls: 1.1176, d0.loss_bbox: 1.2103, d1.loss_cls: 1.1225, d1.loss_bbox: 1.2174, d2.loss_cls: 1.1297, d2.loss_bbox: 1.2203, d3.loss_cls: 1.1301, d3.loss_bbox: 1.2311, d4.loss_cls: 1.1376, d4.loss_bbox: 1.2431, d5.loss_cls: 1.1430, d5.loss_bbox: 1.2548, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2650, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3341, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3675, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.4039, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.4202, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4308, d0.loss_map_cls_all: 0.6405, d0.loss_map_pts_all: 3.5495, d0.loss_map_dir_all: 0.0480, d0.loss_map_cls: 0.6405, d0.loss_map_pts: 3.5495, d0.loss_map_dir: 0.0480, d1.loss_map_cls: 0.6525, d1.loss_map_pts: 2.9753, d1.loss_map_dir: 0.0483, d2.loss_map_cls: 0.6566, d2.loss_map_pts: 2.8874, d2.loss_map_dir: 0.0485, d3.loss_map_cls: 0.6624, d3.loss_map_pts: 2.8737, d3.loss_map_dir: 0.0485, d4.loss_map_cls: 0.6707, d4.loss_map_pts: 2.8726, d4.loss_map_dir: 0.0486, d5.loss_map_cls: 0.6739, d5.loss_map_pts: 2.8837, d5.loss_map_dir: 0.0485, loss: 97.7450, grad_norm: 261.1417 +2026-02-24 00:14:18,783 - DriveTransformer - INFO - Epoch [1][10900/117620] lr: 1.000e-04, eta: 27 days, 10:06:38, time: 0.498, data_time: 0.018, memory: 8395, loss_cls: 1.0473, loss_bbox: 1.2192, loss_traj: 2.9438, loss_traj_cls: 0.0005, loss_map_cls: 0.6822, loss_map_pts: 2.8741, loss_map_dir: 0.0496, d0.loss_plan_l1_fix_time: 3.7645, d0.loss_plan_l1_fix_dist: 0.8562, d1.loss_plan_l1_fix_time: 3.7917, d1.loss_plan_l1_fix_dist: 0.8883, d2.loss_plan_l1_fix_time: 3.8155, d2.loss_plan_l1_fix_dist: 0.9566, d3.loss_plan_l1_fix_time: 3.8383, d3.loss_plan_l1_fix_dist: 1.0524, d4.loss_plan_l1_fix_time: 3.8725, d4.loss_plan_l1_fix_dist: 1.1573, d5.loss_plan_l1_fix_time: 3.9047, d5.loss_plan_l1_fix_dist: 1.2746, d6.loss_plan_l1_fix_time: 3.9345, d6.loss_plan_l1_fix_dist: 1.3932, d0.loss_cls_all: 1.0202, d0.loss_bbox_all: 1.1558, d0.loss_cls: 1.0202, d0.loss_bbox: 1.1558, d1.loss_cls: 1.0237, d1.loss_bbox: 1.1551, d2.loss_cls: 1.0259, d2.loss_bbox: 1.1617, d3.loss_cls: 1.0240, d3.loss_bbox: 1.1755, d4.loss_cls: 1.0208, d4.loss_bbox: 1.1841, d5.loss_cls: 1.0282, d5.loss_bbox: 1.1998, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.3295, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4413, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.5523, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.6436, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.7327, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.8412, d0.loss_map_cls_all: 0.6622, d0.loss_map_pts_all: 3.4733, d0.loss_map_dir_all: 0.0495, d0.loss_map_cls: 0.6622, d0.loss_map_pts: 3.4733, d0.loss_map_dir: 0.0495, d1.loss_map_cls: 0.6760, d1.loss_map_pts: 2.9214, d1.loss_map_dir: 0.0493, d2.loss_map_cls: 0.6799, d2.loss_map_pts: 2.8606, d2.loss_map_dir: 0.0498, d3.loss_map_cls: 0.6827, d3.loss_map_pts: 2.8544, d3.loss_map_dir: 0.0500, d4.loss_map_cls: 0.6846, d4.loss_map_pts: 2.8578, d4.loss_map_dir: 0.0498, d5.loss_map_cls: 0.6835, d5.loss_map_pts: 2.8663, d5.loss_map_dir: 0.0498, loss: 100.5973, grad_norm: 261.1417 +2026-02-24 00:14:43,425 - DriveTransformer - INFO - Epoch [1][10950/117620] lr: 1.000e-04, eta: 27 days, 11:30:15, time: 0.493, data_time: 0.018, memory: 8395, loss_cls: 1.1262, loss_bbox: 1.2458, loss_traj: 2.6603, loss_traj_cls: 0.0006, loss_map_cls: 0.6558, loss_map_pts: 2.7937, loss_map_dir: 0.0448, d0.loss_plan_l1_fix_time: 3.0683, d0.loss_plan_l1_fix_dist: 0.7139, d1.loss_plan_l1_fix_time: 3.0000, d1.loss_plan_l1_fix_dist: 0.7568, d2.loss_plan_l1_fix_time: 2.9955, d2.loss_plan_l1_fix_dist: 0.8294, d3.loss_plan_l1_fix_time: 3.0069, d3.loss_plan_l1_fix_dist: 0.9358, d4.loss_plan_l1_fix_time: 3.0374, d4.loss_plan_l1_fix_dist: 1.0465, d5.loss_plan_l1_fix_time: 3.0660, d5.loss_plan_l1_fix_dist: 1.1627, d6.loss_plan_l1_fix_time: 3.0995, d6.loss_plan_l1_fix_dist: 1.2795, d0.loss_cls_all: 1.0990, d0.loss_bbox_all: 1.1886, d0.loss_cls: 1.0990, d0.loss_bbox: 1.1886, d1.loss_cls: 1.0892, d1.loss_bbox: 1.2005, d2.loss_cls: 1.1068, d2.loss_bbox: 1.1926, d3.loss_cls: 1.1087, d3.loss_bbox: 1.2013, d4.loss_cls: 1.1001, d4.loss_bbox: 1.2105, d5.loss_cls: 1.1069, d5.loss_bbox: 1.2251, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1342, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2154, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3163, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3950, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.4795, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5708, d0.loss_map_cls_all: 0.6397, d0.loss_map_pts_all: 3.4681, d0.loss_map_dir_all: 0.0453, d0.loss_map_cls: 0.6397, d0.loss_map_pts: 3.4681, d0.loss_map_dir: 0.0453, d1.loss_map_cls: 0.6467, d1.loss_map_pts: 2.8214, d1.loss_map_dir: 0.0445, d2.loss_map_cls: 0.6498, d2.loss_map_pts: 2.7458, d2.loss_map_dir: 0.0448, d3.loss_map_cls: 0.6517, d3.loss_map_pts: 2.7500, d3.loss_map_dir: 0.0448, d4.loss_map_cls: 0.6549, d4.loss_map_pts: 2.7640, d4.loss_map_dir: 0.0449, d5.loss_map_cls: 0.6552, d5.loss_map_pts: 2.7801, d5.loss_map_dir: 0.0448, loss: 92.4065, grad_norm: 260.7894 +2026-02-24 00:15:13,227 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 00:15:13,238 - DriveTransformer - INFO - Epoch [1][11000/117620] lr: 1.000e-04, eta: 27 days, 13:48:14, time: 0.596, data_time: 0.017, memory: 8395, loss_cls: 1.0157, loss_bbox: 1.2021, loss_traj: 1.7681, loss_traj_cls: 0.0006, loss_map_cls: 0.6525, loss_map_pts: 2.7222, loss_map_dir: 0.0447, d0.loss_plan_l1_fix_time: 3.0928, d0.loss_plan_l1_fix_dist: 0.6224, d1.loss_plan_l1_fix_time: 2.9884, d1.loss_plan_l1_fix_dist: 0.6484, d2.loss_plan_l1_fix_time: 2.9667, d2.loss_plan_l1_fix_dist: 0.7124, d3.loss_plan_l1_fix_time: 2.9701, d3.loss_plan_l1_fix_dist: 0.7945, d4.loss_plan_l1_fix_time: 2.9930, d4.loss_plan_l1_fix_dist: 0.8748, d5.loss_plan_l1_fix_time: 3.0195, d5.loss_plan_l1_fix_dist: 0.9642, d6.loss_plan_l1_fix_time: 3.0517, d6.loss_plan_l1_fix_dist: 1.0563, d0.loss_cls_all: 0.9981, d0.loss_bbox_all: 1.1614, d0.loss_cls: 0.9981, d0.loss_bbox: 1.1614, d1.loss_cls: 1.0015, d1.loss_bbox: 1.1661, d2.loss_cls: 1.0109, d2.loss_bbox: 1.1660, d3.loss_cls: 1.0090, d3.loss_bbox: 1.1751, d4.loss_cls: 1.0048, d4.loss_bbox: 1.1798, d5.loss_cls: 1.0053, d5.loss_bbox: 1.1798, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.6500, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.6872, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7239, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7183, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7605, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8346, d0.loss_map_cls_all: 0.6257, d0.loss_map_pts_all: 3.4229, d0.loss_map_dir_all: 0.0440, d0.loss_map_cls: 0.6257, d0.loss_map_pts: 3.4229, d0.loss_map_dir: 0.0440, d1.loss_map_cls: 0.6404, d1.loss_map_pts: 2.7864, d1.loss_map_dir: 0.0437, d2.loss_map_cls: 0.6445, d2.loss_map_pts: 2.6870, d2.loss_map_dir: 0.0439, d3.loss_map_cls: 0.6450, d3.loss_map_pts: 2.6834, d3.loss_map_dir: 0.0441, d4.loss_map_cls: 0.6448, d4.loss_map_pts: 2.6920, d4.loss_map_dir: 0.0444, d5.loss_map_cls: 0.6493, d5.loss_map_pts: 2.7033, d5.loss_map_dir: 0.0446, loss: 84.9379, grad_norm: 260.7894 +2026-02-24 00:15:40,997 - DriveTransformer - INFO - Epoch [1][11050/117620] lr: 1.000e-04, eta: 27 days, 15:43:27, time: 0.555, data_time: 0.020, memory: 8395, loss_cls: 1.0565, loss_bbox: 1.2977, loss_traj: 2.2898, loss_traj_cls: 0.0006, loss_map_cls: 0.6445, loss_map_pts: 2.9529, loss_map_dir: 0.0505, d0.loss_plan_l1_fix_time: 3.5596, d0.loss_plan_l1_fix_dist: 0.7423, d1.loss_plan_l1_fix_time: 3.4073, d1.loss_plan_l1_fix_dist: 0.7783, d2.loss_plan_l1_fix_time: 3.3938, d2.loss_plan_l1_fix_dist: 0.8437, d3.loss_plan_l1_fix_time: 3.4042, d3.loss_plan_l1_fix_dist: 0.9291, d4.loss_plan_l1_fix_time: 3.4186, d4.loss_plan_l1_fix_dist: 1.0150, d5.loss_plan_l1_fix_time: 3.4389, d5.loss_plan_l1_fix_dist: 1.1061, d6.loss_plan_l1_fix_time: 3.4572, d6.loss_plan_l1_fix_dist: 1.2057, d0.loss_cls_all: 1.0415, d0.loss_bbox_all: 1.2444, d0.loss_cls: 1.0415, d0.loss_bbox: 1.2444, d1.loss_cls: 1.0460, d1.loss_bbox: 1.2463, d2.loss_cls: 1.0585, d2.loss_bbox: 1.2486, d3.loss_cls: 1.0551, d3.loss_bbox: 1.2590, d4.loss_cls: 1.0499, d4.loss_bbox: 1.2710, d5.loss_cls: 1.0497, d5.loss_bbox: 1.2738, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0529, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0957, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1442, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1664, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2327, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.3203, d0.loss_map_cls_all: 0.6299, d0.loss_map_pts_all: 3.4864, d0.loss_map_dir_all: 0.0498, d0.loss_map_cls: 0.6299, d0.loss_map_pts: 3.4864, d0.loss_map_dir: 0.0498, d1.loss_map_cls: 0.6412, d1.loss_map_pts: 2.9688, d1.loss_map_dir: 0.0497, d2.loss_map_cls: 0.6454, d2.loss_map_pts: 2.9171, d2.loss_map_dir: 0.0500, d3.loss_map_cls: 0.6459, d3.loss_map_pts: 2.9228, d3.loss_map_dir: 0.0501, d4.loss_map_cls: 0.6446, d4.loss_map_pts: 2.9327, d4.loss_map_dir: 0.0503, d5.loss_map_cls: 0.6435, d5.loss_map_pts: 2.9409, d5.loss_map_dir: 0.0503, loss: 94.6232, grad_norm: 260.4493 +2026-02-24 00:16:07,239 - DriveTransformer - INFO - Epoch [1][11100/117620] lr: 1.000e-04, eta: 27 days, 17:21:19, time: 0.525, data_time: 0.017, memory: 8395, loss_cls: 1.0965, loss_bbox: 1.2791, loss_traj: 2.9339, loss_traj_cls: 0.0005, loss_map_cls: 0.6432, loss_map_pts: 3.0746, loss_map_dir: 0.0495, d0.loss_plan_l1_fix_time: 3.5528, d0.loss_plan_l1_fix_dist: 0.7282, d1.loss_plan_l1_fix_time: 3.3709, d1.loss_plan_l1_fix_dist: 0.7686, d2.loss_plan_l1_fix_time: 3.3452, d2.loss_plan_l1_fix_dist: 0.8376, d3.loss_plan_l1_fix_time: 3.3528, d3.loss_plan_l1_fix_dist: 0.9284, d4.loss_plan_l1_fix_time: 3.3662, d4.loss_plan_l1_fix_dist: 1.0400, d5.loss_plan_l1_fix_time: 3.3834, d5.loss_plan_l1_fix_dist: 1.1679, d6.loss_plan_l1_fix_time: 3.4042, d6.loss_plan_l1_fix_dist: 1.3120, d0.loss_cls_all: 1.0933, d0.loss_bbox_all: 1.2171, d0.loss_cls: 1.0933, d0.loss_bbox: 1.2171, d1.loss_cls: 1.0955, d1.loss_bbox: 1.2226, d2.loss_cls: 1.0985, d2.loss_bbox: 1.2259, d3.loss_cls: 1.0981, d3.loss_bbox: 1.2278, d4.loss_cls: 1.0927, d4.loss_bbox: 1.2432, d5.loss_cls: 1.0920, d5.loss_bbox: 1.2539, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2201, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.3315, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.4204, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.5512, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.6999, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.8191, d0.loss_map_cls_all: 0.6321, d0.loss_map_pts_all: 3.7077, d0.loss_map_dir_all: 0.0491, d0.loss_map_cls: 0.6321, d0.loss_map_pts: 3.7077, d0.loss_map_dir: 0.0491, d1.loss_map_cls: 0.6394, d1.loss_map_pts: 3.1567, d1.loss_map_dir: 0.0490, d2.loss_map_cls: 0.6420, d2.loss_map_pts: 3.0729, d2.loss_map_dir: 0.0491, d3.loss_map_cls: 0.6408, d3.loss_map_pts: 3.0637, d3.loss_map_dir: 0.0493, d4.loss_map_cls: 0.6412, d4.loss_map_pts: 3.0639, d4.loss_map_dir: 0.0494, d5.loss_map_cls: 0.6422, d5.loss_map_pts: 3.0666, d5.loss_map_dir: 0.0495, loss: 98.6058, grad_norm: 260.4493 +2026-02-24 00:16:36,010 - DriveTransformer - INFO - Epoch [1][11150/117620] lr: 1.000e-04, eta: 27 days, 19:25:02, time: 0.575, data_time: 0.017, memory: 8395, loss_cls: 1.1244, loss_bbox: 1.2793, loss_traj: 2.9370, loss_traj_cls: 0.0005, loss_map_cls: 0.6607, loss_map_pts: 3.1099, loss_map_dir: 0.0527, d0.loss_plan_l1_fix_time: 3.9710, d0.loss_plan_l1_fix_dist: 0.6781, d1.loss_plan_l1_fix_time: 3.9475, d1.loss_plan_l1_fix_dist: 0.7239, d2.loss_plan_l1_fix_time: 3.9455, d2.loss_plan_l1_fix_dist: 0.8033, d3.loss_plan_l1_fix_time: 3.9526, d3.loss_plan_l1_fix_dist: 0.9006, d4.loss_plan_l1_fix_time: 3.9723, d4.loss_plan_l1_fix_dist: 1.0241, d5.loss_plan_l1_fix_time: 3.9933, d5.loss_plan_l1_fix_dist: 1.1670, d6.loss_plan_l1_fix_time: 4.0258, d6.loss_plan_l1_fix_dist: 1.3319, d0.loss_cls_all: 1.0999, d0.loss_bbox_all: 1.2190, d0.loss_cls: 1.0999, d0.loss_bbox: 1.2190, d1.loss_cls: 1.1021, d1.loss_bbox: 1.2247, d2.loss_cls: 1.1139, d2.loss_bbox: 1.2210, d3.loss_cls: 1.1141, d3.loss_bbox: 1.2247, d4.loss_cls: 1.1129, d4.loss_bbox: 1.2349, d5.loss_cls: 1.1161, d5.loss_bbox: 1.2507, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1622, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.2876, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3941, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.5334, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.7133, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.7989, d0.loss_map_cls_all: 0.6469, d0.loss_map_pts_all: 3.6377, d0.loss_map_dir_all: 0.0522, d0.loss_map_cls: 0.6469, d0.loss_map_pts: 3.6377, d0.loss_map_dir: 0.0522, d1.loss_map_cls: 0.6581, d1.loss_map_pts: 3.1548, d1.loss_map_dir: 0.0522, d2.loss_map_cls: 0.6593, d2.loss_map_pts: 3.0938, d2.loss_map_dir: 0.0525, d3.loss_map_cls: 0.6577, d3.loss_map_pts: 3.0915, d3.loss_map_dir: 0.0526, d4.loss_map_cls: 0.6585, d4.loss_map_pts: 3.0970, d4.loss_map_dir: 0.0526, d5.loss_map_cls: 0.6590, d5.loss_map_pts: 3.1048, d5.loss_map_dir: 0.0527, loss: 102.6179, grad_norm: 259.9284 +2026-02-24 00:17:01,909 - DriveTransformer - INFO - Epoch [1][11200/117620] lr: 1.000e-04, eta: 27 days, 20:57:34, time: 0.518, data_time: 0.018, memory: 8395, loss_cls: 1.1501, loss_bbox: 1.1942, loss_traj: 2.4740, loss_traj_cls: 0.0005, loss_map_cls: 0.6874, loss_map_pts: 2.8297, loss_map_dir: 0.0486, d0.loss_plan_l1_fix_time: 3.6625, d0.loss_plan_l1_fix_dist: 0.7754, d1.loss_plan_l1_fix_time: 3.5146, d1.loss_plan_l1_fix_dist: 0.8494, d2.loss_plan_l1_fix_time: 3.5105, d2.loss_plan_l1_fix_dist: 0.9553, d3.loss_plan_l1_fix_time: 3.5289, d3.loss_plan_l1_fix_dist: 1.0811, d4.loss_plan_l1_fix_time: 3.5447, d4.loss_plan_l1_fix_dist: 1.2369, d5.loss_plan_l1_fix_time: 3.5658, d5.loss_plan_l1_fix_dist: 1.3962, d6.loss_plan_l1_fix_time: 3.5900, d6.loss_plan_l1_fix_dist: 1.5640, d0.loss_cls_all: 1.1036, d0.loss_bbox_all: 1.1385, d0.loss_cls: 1.1036, d0.loss_bbox: 1.1385, d1.loss_cls: 1.1007, d1.loss_bbox: 1.1486, d2.loss_cls: 1.1046, d2.loss_bbox: 1.1584, d3.loss_cls: 1.1079, d3.loss_bbox: 1.1639, d4.loss_cls: 1.1138, d4.loss_bbox: 1.1642, d5.loss_cls: 1.1229, d5.loss_bbox: 1.1770, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0901, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1406, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1964, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2732, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3937, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3882, d0.loss_map_cls_all: 0.6607, d0.loss_map_pts_all: 3.4455, d0.loss_map_dir_all: 0.0487, d0.loss_map_cls: 0.6607, d0.loss_map_pts: 3.4455, d0.loss_map_dir: 0.0487, d1.loss_map_cls: 0.6752, d1.loss_map_pts: 2.9200, d1.loss_map_dir: 0.0481, d2.loss_map_cls: 0.6789, d2.loss_map_pts: 2.8225, d2.loss_map_dir: 0.0482, d3.loss_map_cls: 0.6825, d3.loss_map_pts: 2.8075, d3.loss_map_dir: 0.0484, d4.loss_map_cls: 0.6870, d4.loss_map_pts: 2.8125, d4.loss_map_dir: 0.0483, d5.loss_map_cls: 0.6878, d5.loss_map_pts: 2.8261, d5.loss_map_dir: 0.0485, loss: 96.6430, grad_norm: 259.9284 +2026-02-24 00:17:28,493 - DriveTransformer - INFO - Epoch [1][11250/117620] lr: 1.000e-04, eta: 27 days, 22:36:23, time: 0.532, data_time: 0.017, memory: 8395, loss_cls: 1.1701, loss_bbox: 1.2966, loss_traj: 2.5558, loss_traj_cls: 0.0005, loss_map_cls: 0.6628, loss_map_pts: 2.9782, loss_map_dir: 0.0511, d0.loss_plan_l1_fix_time: 3.3470, d0.loss_plan_l1_fix_dist: 0.9029, d1.loss_plan_l1_fix_time: 3.2354, d1.loss_plan_l1_fix_dist: 0.9459, d2.loss_plan_l1_fix_time: 3.2386, d2.loss_plan_l1_fix_dist: 1.0140, d3.loss_plan_l1_fix_time: 3.2583, d3.loss_plan_l1_fix_dist: 1.0957, d4.loss_plan_l1_fix_time: 3.2819, d4.loss_plan_l1_fix_dist: 1.2011, d5.loss_plan_l1_fix_time: 3.3080, d5.loss_plan_l1_fix_dist: 1.3189, d6.loss_plan_l1_fix_time: 3.3365, d6.loss_plan_l1_fix_dist: 1.4539, d0.loss_cls_all: 1.1104, d0.loss_bbox_all: 1.2325, d0.loss_cls: 1.1104, d0.loss_bbox: 1.2325, d1.loss_cls: 1.1156, d1.loss_bbox: 1.2368, d2.loss_cls: 1.1180, d2.loss_bbox: 1.2458, d3.loss_cls: 1.1216, d3.loss_bbox: 1.2534, d4.loss_cls: 1.1244, d4.loss_bbox: 1.2640, d5.loss_cls: 1.1379, d5.loss_bbox: 1.2800, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8860, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0173, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1331, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2758, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3984, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4513, d0.loss_map_cls_all: 0.6458, d0.loss_map_pts_all: 3.5794, d0.loss_map_dir_all: 0.0501, d0.loss_map_cls: 0.6458, d0.loss_map_pts: 3.5794, d0.loss_map_dir: 0.0501, d1.loss_map_cls: 0.6580, d1.loss_map_pts: 3.0696, d1.loss_map_dir: 0.0505, d2.loss_map_cls: 0.6598, d2.loss_map_pts: 2.9745, d2.loss_map_dir: 0.0509, d3.loss_map_cls: 0.6610, d3.loss_map_pts: 2.9570, d3.loss_map_dir: 0.0510, d4.loss_map_cls: 0.6630, d4.loss_map_pts: 2.9630, d4.loss_map_dir: 0.0510, d5.loss_map_cls: 0.6637, d5.loss_map_pts: 2.9744, d5.loss_map_dir: 0.0511, loss: 96.4501, grad_norm: 259.1911 +2026-02-24 00:17:55,287 - DriveTransformer - INFO - Epoch [1][11300/117620] lr: 1.000e-04, eta: 28 days, 0:16:29, time: 0.536, data_time: 0.016, memory: 8395, loss_cls: 1.1262, loss_bbox: 1.2222, loss_traj: 2.6256, loss_traj_cls: 0.0006, loss_map_cls: 0.6610, loss_map_pts: 2.6943, loss_map_dir: 0.0469, d0.loss_plan_l1_fix_time: 2.9029, d0.loss_plan_l1_fix_dist: 0.5814, d1.loss_plan_l1_fix_time: 2.8409, d1.loss_plan_l1_fix_dist: 0.6205, d2.loss_plan_l1_fix_time: 2.8602, d2.loss_plan_l1_fix_dist: 0.6840, d3.loss_plan_l1_fix_time: 2.8898, d3.loss_plan_l1_fix_dist: 0.7589, d4.loss_plan_l1_fix_time: 2.9201, d4.loss_plan_l1_fix_dist: 0.8469, d5.loss_plan_l1_fix_time: 2.9497, d5.loss_plan_l1_fix_dist: 0.9453, d6.loss_plan_l1_fix_time: 2.9845, d6.loss_plan_l1_fix_dist: 1.0622, d0.loss_cls_all: 1.0488, d0.loss_bbox_all: 1.1555, d0.loss_cls: 1.0488, d0.loss_bbox: 1.1555, d1.loss_cls: 1.0490, d1.loss_bbox: 1.1650, d2.loss_cls: 1.0596, d2.loss_bbox: 1.1755, d3.loss_cls: 1.0623, d3.loss_bbox: 1.1798, d4.loss_cls: 1.0624, d4.loss_bbox: 1.1914, d5.loss_cls: 1.0834, d5.loss_bbox: 1.2076, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.6909, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8698, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0231, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.2152, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3038, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4833, d0.loss_map_cls_all: 0.6443, d0.loss_map_pts_all: 3.3966, d0.loss_map_dir_all: 0.0467, d0.loss_map_cls: 0.6443, d0.loss_map_pts: 3.3966, d0.loss_map_dir: 0.0467, d1.loss_map_cls: 0.6546, d1.loss_map_pts: 2.8154, d1.loss_map_dir: 0.0466, d2.loss_map_cls: 0.6566, d2.loss_map_pts: 2.7101, d2.loss_map_dir: 0.0468, d3.loss_map_cls: 0.6602, d3.loss_map_pts: 2.6882, d3.loss_map_dir: 0.0470, d4.loss_map_cls: 0.6637, d4.loss_map_pts: 2.6916, d4.loss_map_dir: 0.0469, d5.loss_map_cls: 0.6620, d5.loss_map_pts: 2.6977, d5.loss_map_dir: 0.0469, loss: 87.7668, grad_norm: 259.1911 +2026-02-24 00:18:22,829 - DriveTransformer - INFO - Epoch [1][11350/117620] lr: 1.000e-04, eta: 28 days, 2:03:28, time: 0.551, data_time: 0.018, memory: 8395, loss_cls: 1.1458, loss_bbox: 1.2416, loss_traj: 2.0730, loss_traj_cls: 0.0005, loss_map_cls: 0.6728, loss_map_pts: 2.6864, loss_map_dir: 0.0445, d0.loss_plan_l1_fix_time: 3.2476, d0.loss_plan_l1_fix_dist: 0.5829, d1.loss_plan_l1_fix_time: 3.1824, d1.loss_plan_l1_fix_dist: 0.6405, d2.loss_plan_l1_fix_time: 3.2009, d2.loss_plan_l1_fix_dist: 0.7206, d3.loss_plan_l1_fix_time: 3.2258, d3.loss_plan_l1_fix_dist: 0.8083, d4.loss_plan_l1_fix_time: 3.2553, d4.loss_plan_l1_fix_dist: 0.8994, d5.loss_plan_l1_fix_time: 3.2841, d5.loss_plan_l1_fix_dist: 1.0089, d6.loss_plan_l1_fix_time: 3.3185, d6.loss_plan_l1_fix_dist: 1.1319, d0.loss_cls_all: 1.1034, d0.loss_bbox_all: 1.1650, d0.loss_cls: 1.1034, d0.loss_bbox: 1.1650, d1.loss_cls: 1.1047, d1.loss_bbox: 1.1864, d2.loss_cls: 1.1096, d2.loss_bbox: 1.1992, d3.loss_cls: 1.1148, d3.loss_bbox: 1.2114, d4.loss_cls: 1.1212, d4.loss_bbox: 1.2152, d5.loss_cls: 1.1269, d5.loss_bbox: 1.2213, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.3993, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.5493, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.6566, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7846, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8436, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9679, d0.loss_map_cls_all: 0.6602, d0.loss_map_pts_all: 3.4361, d0.loss_map_dir_all: 0.0440, d0.loss_map_cls: 0.6602, d0.loss_map_pts: 3.4361, d0.loss_map_dir: 0.0440, d1.loss_map_cls: 0.6689, d1.loss_map_pts: 2.8196, d1.loss_map_dir: 0.0444, d2.loss_map_cls: 0.6732, d2.loss_map_pts: 2.7061, d2.loss_map_dir: 0.0444, d3.loss_map_cls: 0.6748, d3.loss_map_pts: 2.6802, d3.loss_map_dir: 0.0445, d4.loss_map_cls: 0.6786, d4.loss_map_pts: 2.6779, d4.loss_map_dir: 0.0445, d5.loss_map_cls: 0.6749, d5.loss_map_pts: 2.6820, d5.loss_map_dir: 0.0446, loss: 88.1626, grad_norm: 259.8574 +2026-02-24 00:18:50,165 - DriveTransformer - INFO - Epoch [1][11400/117620] lr: 1.000e-04, eta: 28 days, 3:47:20, time: 0.547, data_time: 0.017, memory: 8395, loss_cls: 1.1481, loss_bbox: 1.2667, loss_traj: 2.6897, loss_traj_cls: 0.0006, loss_map_cls: 0.6501, loss_map_pts: 2.8049, loss_map_dir: 0.0459, d0.loss_plan_l1_fix_time: 4.0542, d0.loss_plan_l1_fix_dist: 0.7573, d1.loss_plan_l1_fix_time: 4.0346, d1.loss_plan_l1_fix_dist: 0.8305, d2.loss_plan_l1_fix_time: 4.0792, d2.loss_plan_l1_fix_dist: 0.9284, d3.loss_plan_l1_fix_time: 4.1149, d3.loss_plan_l1_fix_dist: 1.0284, d4.loss_plan_l1_fix_time: 4.1472, d4.loss_plan_l1_fix_dist: 1.1231, d5.loss_plan_l1_fix_time: 4.1760, d5.loss_plan_l1_fix_dist: 1.2391, d6.loss_plan_l1_fix_time: 4.2031, d6.loss_plan_l1_fix_dist: 1.3675, d0.loss_cls_all: 1.1352, d0.loss_bbox_all: 1.2140, d0.loss_cls: 1.1352, d0.loss_bbox: 1.2140, d1.loss_cls: 1.1379, d1.loss_bbox: 1.2235, d2.loss_cls: 1.1465, d2.loss_bbox: 1.2246, d3.loss_cls: 1.1535, d3.loss_bbox: 1.2328, d4.loss_cls: 1.1623, d4.loss_bbox: 1.2360, d5.loss_cls: 1.1548, d5.loss_bbox: 1.2390, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8726, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0108, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1524, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3075, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3666, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5511, d0.loss_map_cls_all: 0.6369, d0.loss_map_pts_all: 3.4432, d0.loss_map_dir_all: 0.0457, d0.loss_map_cls: 0.6369, d0.loss_map_pts: 3.4432, d0.loss_map_dir: 0.0457, d1.loss_map_cls: 0.6431, d1.loss_map_pts: 2.9050, d1.loss_map_dir: 0.0456, d2.loss_map_cls: 0.6458, d2.loss_map_pts: 2.8128, d2.loss_map_dir: 0.0458, d3.loss_map_cls: 0.6477, d3.loss_map_pts: 2.7904, d3.loss_map_dir: 0.0459, d4.loss_map_cls: 0.6486, d4.loss_map_pts: 2.7839, d4.loss_map_dir: 0.0460, d5.loss_map_cls: 0.6486, d5.loss_map_pts: 2.7879, d5.loss_map_dir: 0.0459, loss: 100.3573, grad_norm: 259.8574 +2026-02-24 00:19:17,265 - DriveTransformer - INFO - Epoch [1][11450/117620] lr: 1.000e-04, eta: 28 days, 5:28:00, time: 0.542, data_time: 0.020, memory: 8395, loss_cls: 1.0658, loss_bbox: 1.2306, loss_traj: 2.9182, loss_traj_cls: 0.0006, loss_map_cls: 0.6664, loss_map_pts: 2.7769, loss_map_dir: 0.0488, d0.loss_plan_l1_fix_time: 3.3579, d0.loss_plan_l1_fix_dist: 0.6838, d1.loss_plan_l1_fix_time: 3.3243, d1.loss_plan_l1_fix_dist: 0.7731, d2.loss_plan_l1_fix_time: 3.3474, d2.loss_plan_l1_fix_dist: 0.8681, d3.loss_plan_l1_fix_time: 3.3727, d3.loss_plan_l1_fix_dist: 0.9721, d4.loss_plan_l1_fix_time: 3.3946, d4.loss_plan_l1_fix_dist: 1.0805, d5.loss_plan_l1_fix_time: 3.4168, d5.loss_plan_l1_fix_dist: 1.2025, d6.loss_plan_l1_fix_time: 3.4357, d6.loss_plan_l1_fix_dist: 1.3297, d0.loss_cls_all: 1.0588, d0.loss_bbox_all: 1.1990, d0.loss_cls: 1.0588, d0.loss_bbox: 1.1990, d1.loss_cls: 1.0653, d1.loss_bbox: 1.1978, d2.loss_cls: 1.0706, d2.loss_bbox: 1.2009, d3.loss_cls: 1.0719, d3.loss_bbox: 1.2035, d4.loss_cls: 1.0742, d4.loss_bbox: 1.2024, d5.loss_cls: 1.0717, d5.loss_bbox: 1.2065, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3838, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4895, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.5900, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.6893, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.7309, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.7957, d0.loss_map_cls_all: 0.6457, d0.loss_map_pts_all: 3.4712, d0.loss_map_dir_all: 0.0482, d0.loss_map_cls: 0.6457, d0.loss_map_pts: 3.4712, d0.loss_map_dir: 0.0482, d1.loss_map_cls: 0.6585, d1.loss_map_pts: 2.8865, d1.loss_map_dir: 0.0486, d2.loss_map_cls: 0.6610, d2.loss_map_pts: 2.7856, d2.loss_map_dir: 0.0487, d3.loss_map_cls: 0.6610, d3.loss_map_pts: 2.7610, d3.loss_map_dir: 0.0488, d4.loss_map_cls: 0.6618, d4.loss_map_pts: 2.7534, d4.loss_map_dir: 0.0489, d5.loss_map_cls: 0.6639, d5.loss_map_pts: 2.7580, d5.loss_map_dir: 0.0490, loss: 96.6544, grad_norm: 259.8139 +2026-02-24 00:19:44,607 - DriveTransformer - INFO - Epoch [1][11500/117620] lr: 1.000e-04, eta: 28 days, 7:10:05, time: 0.547, data_time: 0.019, memory: 8395, loss_cls: 1.0954, loss_bbox: 1.2845, loss_traj: 2.6542, loss_traj_cls: 0.0006, loss_map_cls: 0.6635, loss_map_pts: 2.9876, loss_map_dir: 0.0453, d0.loss_plan_l1_fix_time: 4.1222, d0.loss_plan_l1_fix_dist: 0.8407, d1.loss_plan_l1_fix_time: 4.0604, d1.loss_plan_l1_fix_dist: 0.9193, d2.loss_plan_l1_fix_time: 4.0832, d2.loss_plan_l1_fix_dist: 1.0169, d3.loss_plan_l1_fix_time: 4.1076, d3.loss_plan_l1_fix_dist: 1.1309, d4.loss_plan_l1_fix_time: 4.1322, d4.loss_plan_l1_fix_dist: 1.2506, d5.loss_plan_l1_fix_time: 4.1570, d5.loss_plan_l1_fix_dist: 1.3775, d6.loss_plan_l1_fix_time: 4.1786, d6.loss_plan_l1_fix_dist: 1.5089, d0.loss_cls_all: 1.0771, d0.loss_bbox_all: 1.2497, d0.loss_cls: 1.0771, d0.loss_bbox: 1.2497, d1.loss_cls: 1.0789, d1.loss_bbox: 1.2525, d2.loss_cls: 1.0900, d2.loss_bbox: 1.2456, d3.loss_cls: 1.0901, d3.loss_bbox: 1.2477, d4.loss_cls: 1.0928, d4.loss_bbox: 1.2489, d5.loss_cls: 1.1035, d5.loss_bbox: 1.2607, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2787, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3404, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.4522, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.5156, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.5149, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5340, d0.loss_map_cls_all: 0.6360, d0.loss_map_pts_all: 3.6240, d0.loss_map_dir_all: 0.0450, d0.loss_map_cls: 0.6360, d0.loss_map_pts: 3.6240, d0.loss_map_dir: 0.0450, d1.loss_map_cls: 0.6477, d1.loss_map_pts: 3.0663, d1.loss_map_dir: 0.0450, d2.loss_map_cls: 0.6522, d2.loss_map_pts: 2.9643, d2.loss_map_dir: 0.0452, d3.loss_map_cls: 0.6533, d3.loss_map_pts: 2.9453, d3.loss_map_dir: 0.0453, d4.loss_map_cls: 0.6529, d4.loss_map_pts: 2.9460, d4.loss_map_dir: 0.0453, d5.loss_map_cls: 0.6580, d5.loss_map_pts: 2.9583, d5.loss_map_dir: 0.0453, loss: 103.6007, grad_norm: 259.8139 +2026-02-24 00:20:14,667 - DriveTransformer - INFO - Epoch [1][11550/117620] lr: 1.000e-04, eta: 28 days, 9:18:48, time: 0.601, data_time: 0.019, memory: 8395, loss_cls: 1.0984, loss_bbox: 1.2278, loss_traj: 2.8475, loss_traj_cls: 0.0005, loss_map_cls: 0.7079, loss_map_pts: 2.9950, loss_map_dir: 0.0464, d0.loss_plan_l1_fix_time: 4.2310, d0.loss_plan_l1_fix_dist: 0.6487, d1.loss_plan_l1_fix_time: 4.0943, d1.loss_plan_l1_fix_dist: 0.7104, d2.loss_plan_l1_fix_time: 4.1022, d2.loss_plan_l1_fix_dist: 0.7922, d3.loss_plan_l1_fix_time: 4.1217, d3.loss_plan_l1_fix_dist: 0.8901, d4.loss_plan_l1_fix_time: 4.1419, d4.loss_plan_l1_fix_dist: 0.9948, d5.loss_plan_l1_fix_time: 4.1645, d5.loss_plan_l1_fix_dist: 1.1094, d6.loss_plan_l1_fix_time: 4.1843, d6.loss_plan_l1_fix_dist: 1.2114, d0.loss_cls_all: 1.0751, d0.loss_bbox_all: 1.1932, d0.loss_cls: 1.0751, d0.loss_bbox: 1.1932, d1.loss_cls: 1.0808, d1.loss_bbox: 1.1974, d2.loss_cls: 1.0821, d2.loss_bbox: 1.1940, d3.loss_cls: 1.0825, d3.loss_bbox: 1.1992, d4.loss_cls: 1.0838, d4.loss_bbox: 1.2019, d5.loss_cls: 1.0917, d5.loss_bbox: 1.2200, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.5447, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5906, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.6684, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7030, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.7502, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.7570, d0.loss_map_cls_all: 0.6935, d0.loss_map_pts_all: 3.4796, d0.loss_map_dir_all: 0.0461, d0.loss_map_cls: 0.6935, d0.loss_map_pts: 3.4796, d0.loss_map_dir: 0.0461, d1.loss_map_cls: 0.7022, d1.loss_map_pts: 3.0165, d1.loss_map_dir: 0.0460, d2.loss_map_cls: 0.7061, d2.loss_map_pts: 2.9572, d2.loss_map_dir: 0.0463, d3.loss_map_cls: 0.7051, d3.loss_map_pts: 2.9562, d3.loss_map_dir: 0.0464, d4.loss_map_cls: 0.7043, d4.loss_map_pts: 2.9621, d4.loss_map_dir: 0.0463, d5.loss_map_cls: 0.7066, d5.loss_map_pts: 2.9720, d5.loss_map_dir: 0.0463, loss: 103.3655, grad_norm: 258.1590 +2026-02-24 00:20:45,787 - DriveTransformer - INFO - Epoch [1][11600/117620] lr: 1.000e-04, eta: 28 days, 11:37:38, time: 0.623, data_time: 0.021, memory: 8395, loss_cls: 1.1253, loss_bbox: 1.2945, loss_traj: 2.3114, loss_traj_cls: 0.0006, loss_map_cls: 0.6605, loss_map_pts: 3.0090, loss_map_dir: 0.0483, d0.loss_plan_l1_fix_time: 3.0264, d0.loss_plan_l1_fix_dist: 0.7984, d1.loss_plan_l1_fix_time: 3.0370, d1.loss_plan_l1_fix_dist: 0.8280, d2.loss_plan_l1_fix_time: 3.0657, d2.loss_plan_l1_fix_dist: 0.8904, d3.loss_plan_l1_fix_time: 3.0937, d3.loss_plan_l1_fix_dist: 0.9667, d4.loss_plan_l1_fix_time: 3.1253, d4.loss_plan_l1_fix_dist: 1.0545, d5.loss_plan_l1_fix_time: 3.1541, d5.loss_plan_l1_fix_dist: 1.1553, d6.loss_plan_l1_fix_time: 3.1825, d6.loss_plan_l1_fix_dist: 1.2294, d0.loss_cls_all: 1.1117, d0.loss_bbox_all: 1.2548, d0.loss_cls: 1.1117, d0.loss_bbox: 1.2548, d1.loss_cls: 1.1168, d1.loss_bbox: 1.2673, d2.loss_cls: 1.1211, d2.loss_bbox: 1.2670, d3.loss_cls: 1.1248, d3.loss_bbox: 1.2736, d4.loss_cls: 1.1219, d4.loss_bbox: 1.2767, d5.loss_cls: 1.1168, d5.loss_bbox: 1.2920, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7067, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8388, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9807, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0376, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1527, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.1923, d0.loss_map_cls_all: 0.6356, d0.loss_map_pts_all: 3.5937, d0.loss_map_dir_all: 0.0481, d0.loss_map_cls: 0.6356, d0.loss_map_pts: 3.5937, d0.loss_map_dir: 0.0481, d1.loss_map_cls: 0.6452, d1.loss_map_pts: 3.0688, d1.loss_map_dir: 0.0481, d2.loss_map_cls: 0.6481, d2.loss_map_pts: 3.0000, d2.loss_map_dir: 0.0481, d3.loss_map_cls: 0.6500, d3.loss_map_pts: 2.9925, d3.loss_map_dir: 0.0482, d4.loss_map_cls: 0.6544, d4.loss_map_pts: 2.9937, d4.loss_map_dir: 0.0482, d5.loss_map_cls: 0.6572, d5.loss_map_pts: 2.9954, d5.loss_map_dir: 0.0484, loss: 92.7816, grad_norm: 258.1590 diff --git a/DriveTransformer/goalpoint_1gpu/20260223_231305.log.json b/DriveTransformer/goalpoint_1gpu/20260223_231305.log.json new file mode 100644 index 0000000000000000000000000000000000000000..613d561ff00b67eb8ebf9d473c1f43e266ccec29 --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260223_231305.log.json @@ -0,0 +1,233 @@ +{"env_info": "MMCV: 0.0.1", "config": "point_cloud_range = [-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]\nclass_names = [\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n]\ndataset_type = 'B2D_DriveTransformer_GoalPoint_Dataset'\ndata_root = 'data/bench2drive'\ninput_modality = dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True)\nfile_client_args = dict(backend='disk')\ntrain_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\ntest_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\neval_pipeline = [\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone', 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n]\ndata = dict(\n samples_per_gpu=2,\n workers_per_gpu=8,\n train=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=False,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n sub_seq_lenth=-1,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n val=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_root='data/bench2drive',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n test=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n shuffler_sampler=dict(type='InfiniteGroupEachSampleInBatchSampler'),\n nonshuffler_sampler=dict(type='DistributedSampler'))\nevaluation = dict(\n interval=24,\n pipeline=[\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone',\n 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n ])\ncheckpoint_config = dict(interval=1)\nlog_config = dict(\n interval=50,\n hooks=[dict(type='TextLoggerHook'),\n dict(type='TensorboardLoggerHook')])\ndist_params = dict(backend='nccl')\nlog_level = 'INFO'\nwork_dir = './work_dirs/drivetransformer_goalpoint_1gpu'\nload_from = None\nresume_from = None\nworkflow = [('train', 1)]\nplugin = True\nplugin_dir = 'adzoo/drivetransformer/mmdet3d_plugin/'\nvoxel_size = [0.15, 0.15, 4]\nimg_norm_cfg = dict(\n mean=[123.675, 116.28, 103.53], std=[58.395, 57.12, 57.375], to_rgb=True)\nNameMapping = dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n})\ncollect_keys = [\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', 'ego_pose',\n 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n]\nnum_classes = 9\nmap_classes = [\n 'Broken', 'Solid', 'SolidSolid', 'Center', 'TrafficLight', 'StopSign'\n]\nmap_fixed_ptsnum_per_gt_line = 20\nmap_fixed_ptsnum_per_pred_line = 20\nmap_eval_use_same_gt_sample_num_flag = True\nmap_num_classes = 6\nagent_query_num_vec = 900\nagent_num_topk_sift = 900\nagent_num_propagated = 50\nmap_query_num_vec = 100\nmap_num_topk_sift = 100\nmap_num_propagated = 50\nmemory_len_frame = 10\nnum_mode = 6\nnum_gpus = 1\nbatch_size = 2\nnum_iters_per_epoch = 1041\ndata_aug_conf = dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0])\n_dim_ = 512\nqueue_length = 1\ntotal_epochs = 60\ndropout = 0.1\nmodel = dict(\n type='DriveTransformer',\n use_grid_mask=False,\n pretrained=dict(img='./ckpts/resnet50-19c8e357.pth'),\n img_backbone=dict(\n type='ResNet',\n depth=50,\n num_stages=4,\n out_indices=(3, ),\n frozen_stages=1,\n norm_cfg=dict(type='BN', requires_grad=False),\n norm_eval=True,\n style='pytorch'),\n img_neck=dict(\n type='FPN',\n in_channels=[2048],\n out_channels=512,\n start_level=0,\n add_extra_convs='on_output',\n num_outs=1,\n relu_before_extra_convs=True),\n pts_bbox_head=dict(\n type='DriveTransformerlHead',\n ego_lcf_feat_idx=[0, 1, 2, 3, 4, 5, 6, 7, 8],\n ego_command_dim=128,\n img_stride=32,\n embed_dims=512,\n num_reg_fcs=2,\n num_cls_fcs=2,\n agent_num_propagated=50,\n map_num_propagated=50,\n memory_len_frame=10,\n agent_num_query=900,\n agent_num_query_sifted=900,\n fut_mode=6,\n fut_ego_mode=1,\n fut_ts=6,\n fut_ego_fix_dist=True,\n fut_ts_ego_fix_dist=20,\n fut_ts_ego_fix_time=30,\n num_classes=9,\n code_size=10,\n map_num_query=100,\n map_num_query_sifted=100,\n map_num_classes=6,\n map_num_pts_per_vec=20,\n map_num_pts_per_gt_vec=20,\n map_query_embed_type='instance_pts',\n map_transform_method='minmax',\n map_gt_shift_pts_pattern='v2',\n map_dir_interval=1,\n map_code_size=2,\n map_code_weights=[1.0, 1.0, 1.0, 1.0],\n sync_cls_avg_factor=True,\n with_box_refine=True,\n LID=True,\n with_ego_pos=True,\n position_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n depth_start=1,\n depth_step=0.8,\n depth_num=64,\n agent_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n map_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n transformer=dict(\n type='DriveTransformerWrapper',\n embed_dims=512,\n decoder=dict(\n type='DriveTransformerDecoder',\n num_layers=6,\n fut_mode=6,\n agent_num_query=900,\n map_num_query=100,\n map_num_pts_per_vec=20,\n return_intermediate=True,\n embed_dims=512,\n refine=True,\n transformerlayers=dict(\n type='DriveTransformerDecoderLayer',\n agent_query_num=900,\n map_query_num=100,\n memory_len_frame=10,\n agent_num_propagated=50,\n map_num_propagated=50,\n map_pts_per_vec=20,\n feedforward_channels=2048,\n ffn_dropout=0.1,\n with_cp=False,\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n no_wq=True)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n operation_order=('task_self_attn', 'norm',\n 'temporal_cross_attn', 'norm',\n 'sensor_cross_attn', 'norm', 'ffn',\n 'norm')))),\n bbox_coder=dict(\n type='CustomNMSFreeCoder',\n post_center_range=[-20, -35, -10.0, 20, 35, 10.0],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=100,\n voxel_size=[0.15, 0.15, 4],\n num_classes=9),\n loss_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_bbox=dict(type='L1Loss', loss_weight=0.25),\n loss_traj=dict(type='L1Loss', loss_weight=0.2),\n loss_traj_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.5,\n loss_weight=0.2),\n map_bbox_coder=dict(\n type='MapNMSFreeCoder',\n post_center_range=[-20, -35, -20, -35, 20, 35, 20, 35],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=50,\n voxel_size=[0.15, 0.15, 4],\n num_classes=6),\n loss_map_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_map_pts=dict(type='PtsL1Loss', loss_weight=1.0),\n loss_map_dir=dict(type='PtsDirCosLoss', loss_weight=0.005),\n loss_plan_reg_fix_time=dict(type='L1Loss', loss_weight=3.5),\n loss_plan_reg_fix_dist=dict(type='L1Loss', loss_weight=10.0),\n loss_plan_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=4.0,\n alpha=0.5,\n loss_weight=20.0)),\n train_cfg=dict(\n pts=dict(\n grid_size=[512, 512, 1],\n voxel_size=[0.15, 0.15, 4],\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n out_size_factor=4,\n assigner=dict(\n type='HungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(type='BBox3DL1Cost', weight=0.25),\n iou_cost=dict(type='IoUCost', weight=0.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n map_assigner=dict(\n type='MapHungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(\n type='BBoxL1Cost', weight=0.0, box_format='xywh'),\n iou_cost=dict(type='IoUCost', iou_mode='giou', weight=0.0),\n pts_cost=dict(type='OrderedPtsL1Cost', weight=1.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]))))\ninfo_root = 'data/infos'\nmap_root = 'data/bench2drive/maps'\nmap_file = 'data/infos/b2d_map_infos.pkl'\nann_file_train = 'data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl'\nann_file_val = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\nann_file_test = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\noptimizer = dict(type='AdamW', lr=0.0001, weight_decay=0.01)\noptimizer_config = dict(\n grad_clip=dict(max_norm=35, norm_type=2),\n type='GradientCumulativeFp16OptimizerHook',\n cumulative_iters=96)\nlr_config = dict(\n policy='CosineAnnealing',\n warmup='linear',\n warmup_iters=1000,\n warmup_ratio=0.1,\n min_lr_ratio=0.01)\nrunner = dict(type='EpochBasedRunner', max_epochs=60)\nfp16 = dict(loss_scale=512.0)\nfind_unused_parameters = True\ncustom_hooks = [dict(type='CustomSetEpochInfoHook')]\ncumulative_iters = 96\ngpu_ids = range(0, 1)\n", "seed": 0, "exp_name": "drivetransformer_goalpoint_1gpu.py"} +{"mode": "train", "epoch": 1, "iter": 50, "lr": 1e-05, "memory": 7284, "data_time": 0.09881, "loss_cls": 657.01774, "loss_bbox": 1.71262, "loss_traj": 4.03309, "loss_traj_cls": 0.09856, "loss_map_cls": 9.20249, "loss_map_pts": 5.19802, "loss_map_dir": 0.09459, "d0.loss_plan_l1_fix_time": 9.30642, "d0.loss_plan_l1_fix_dist": 3.13849, "d1.loss_plan_l1_fix_time": 9.75044, "d1.loss_plan_l1_fix_dist": 4.08195, "d2.loss_plan_l1_fix_time": 10.25692, "d2.loss_plan_l1_fix_dist": 5.54673, "d3.loss_plan_l1_fix_time": 10.84514, "d3.loss_plan_l1_fix_dist": 7.28534, "d4.loss_plan_l1_fix_time": 11.37837, "d4.loss_plan_l1_fix_dist": 9.82072, "d5.loss_plan_l1_fix_time": 11.97453, 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3.02645, "d0.loss_plan_l1_fix_dist": 0.79838, "d1.loss_plan_l1_fix_time": 3.03702, "d1.loss_plan_l1_fix_dist": 0.828, "d2.loss_plan_l1_fix_time": 3.06568, "d2.loss_plan_l1_fix_dist": 0.89039, "d3.loss_plan_l1_fix_time": 3.09367, "d3.loss_plan_l1_fix_dist": 0.96671, "d4.loss_plan_l1_fix_time": 3.12531, "d4.loss_plan_l1_fix_dist": 1.0545, "d5.loss_plan_l1_fix_time": 3.15412, "d5.loss_plan_l1_fix_dist": 1.15532, "d6.loss_plan_l1_fix_time": 3.18246, "d6.loss_plan_l1_fix_dist": 1.22938, "d0.loss_cls_all": 1.11171, "d0.loss_bbox_all": 1.25483, "d0.loss_cls": 1.11171, "d0.loss_bbox": 1.25483, "d1.loss_cls": 1.11678, "d1.loss_bbox": 1.26732, "d2.loss_cls": 1.12112, "d2.loss_bbox": 1.26697, "d3.loss_cls": 1.12484, "d3.loss_bbox": 1.27359, "d4.loss_cls": 1.12193, "d4.loss_bbox": 1.27674, "d5.loss_cls": 1.11683, "d5.loss_bbox": 1.29196, "d0.loss_traj_cls": 0.00042, "d0.loss_traj": 1.70671, "d1.loss_traj_cls": 0.00055, "d1.loss_traj": 1.83883, "d2.loss_traj_cls": 0.00064, "d2.loss_traj": 1.98066, "d3.loss_traj_cls": 0.0006, "d3.loss_traj": 2.03765, "d4.loss_traj_cls": 0.00065, "d4.loss_traj": 2.15272, "d5.loss_traj_cls": 0.00057, "d5.loss_traj": 2.19227, "d0.loss_map_cls_all": 0.63559, "d0.loss_map_pts_all": 3.59365, "d0.loss_map_dir_all": 0.04813, "d0.loss_map_cls": 0.63559, "d0.loss_map_pts": 3.59365, "d0.loss_map_dir": 0.04813, "d1.loss_map_cls": 0.64521, "d1.loss_map_pts": 3.06876, "d1.loss_map_dir": 0.04806, "d2.loss_map_cls": 0.64812, "d2.loss_map_pts": 2.99998, "d2.loss_map_dir": 0.0481, "d3.loss_map_cls": 0.65003, "d3.loss_map_pts": 2.99254, "d3.loss_map_dir": 0.0482, "d4.loss_map_cls": 0.65439, "d4.loss_map_pts": 2.99371, "d4.loss_map_dir": 0.04822, "d5.loss_map_cls": 0.65723, "d5.loss_map_pts": 2.9954, "d5.loss_map_dir": 0.04837, "loss": 92.78157, "time": 0.62302, "grad_norm": 258.159} diff --git a/DriveTransformer/goalpoint_1gpu/20260224_001423.log b/DriveTransformer/goalpoint_1gpu/20260224_001423.log new file mode 100644 index 0000000000000000000000000000000000000000..c0adcc21c7a7ed1284072a2b48e48d58758a1071 --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260224_001423.log @@ -0,0 +1,3726 @@ +2026-02-24 00:14:39,900 - mmdet - INFO - initialize ResNet with init_cfg {'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} +2026-02-24 00:14:40,168 - mmdet - INFO - initialize FPN with init_cfg {'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} +Name of parameter - Initialization information + +pts_bbox_head.code_weights - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_code_weights - torch.Size([4]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.position_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.pc_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_query.weight - torch.Size([900, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_reference_points.weight - torch.Size([900, 3]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.weight - torch.Size([512, 9]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.weight - torch.Size([512, 768]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.mode_embedding.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_query.weight - torch.Size([100, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_reference_points.weight - torch.Size([100, 2]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.weight - torch.Size([512, 6]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.weight - torch.Size([512, 141]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.weight - torch.Size([512, 1920]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.weight - torch.Size([512, 640]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.featurized_pe.reduce.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.spatial_alignment.reduce.0.weight - torch.Size([512, 8]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.time_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.weight - torch.Size([512, 192]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_pose_memory.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cro2026-02-24 00:14:40,199 - DriveTransformer - INFO - Model: +DriveTransformer( + (pts_bbox_head): DriveTransformerlHead( + (loss_cls): FocalLoss() + (loss_bbox): L1Loss() + (loss_traj): L1Loss() + (loss_traj_cls): FocalLoss() + (loss_map_cls): FocalLoss() + (loss_map_pts): PtsL1Loss() + (loss_map_dir): PtsDirCosLoss() + (loss_plan_reg_fix_dist): L1Loss() + (loss_plan_reg_fix_time): L1Loss() + (loss_plan_cls): FocalLoss() + (agent_query): Embedding(900, 512) + (agent_reference_points): Embedding(900, 3) + (agent_cls_embedding): Sequential( + (0): Linear(in_features=9, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (agent_ref_embedding): Sequential( + (0): Linear(in_features=768, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (mode_embedding): Embedding(6, 512) + (map_query): Embedding(100, 512) + (map_reference_points): Embedding(100, 2) + (map_cls_embedding): Sequential( + (0): Linear(in_features=6, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (map_ref_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_lcf_encoder): Sequential( + (0): Linear(in_features=141, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_time_embedding): Sequential( + (0): Linear(in_features=1920, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_dist_embedding): Sequential( + (0): Linear(in_features=640, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (featurized_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (spatial_alignment): MLN( + (reduce): Sequential( + (0): Linear(in_features=8, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (time_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (img_position_encoder): Sequential( + (0): Linear(in_features=192, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_pose_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (ego_pose_memory): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (agent_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (map_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (transformer): DriveTransformerWrapper( + (decoder): DriveTransformerDecoder( + (layers): ModuleList( + (0-5): 6 x DriveTransformerDecoderLayer( + (task_self_attentions): ModuleList( + (0): AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (temporal_cross_attention_layers): ModuleList( + (0-2): 3 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (sensor_cross_attentions): ModuleList( + (0): AttentionLayer( + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (cross_w_q): ModuleList( + (0-2): 3 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + ) + (ffns): ModuleList( + (0): ModuleList( + (0-2): 3 x SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + ) + ) + (cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=9, bias=False) + ) + ) + (reg_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=10, bias=True) + ) + ) + (traj_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=12, bias=True) + ) + ) + (traj_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (6): Linear(in_features=512, out_features=1, bias=False) + ) + ) + (map_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=6, bias=False) + ) + ) + (map_reg_branches): ModuleList( + (0-5): 6 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=2, bias=True) + ) + (6): Linear(in_features=512, out_features=40, bias=True) + ) + (ego_traj_branches_fix_dist): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=20, bias=True) + ) + ) + (ego_traj_branches_fix_time): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=60, bias=True) + ) + ) + ) + (img_backbone): ResNet( + (conv1): Conv2d(3, 64, kernel_size=(7, 7), stride=(2, 2), padding=(3, 3), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (maxpool): MaxPool2d(kernel_size=3, stride=2, padding=1, dilation=1, ceil_mode=False) + (layer1): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(64, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer2): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(256, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(256, 512, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer3): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(512, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(512, 1024, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (4): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (5): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer4): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(1024, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(1024, 2048, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + ) + init_cfg={'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} + (img_neck): FPN( + (lateral_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1)) + ) + ) + (fpn_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) + ) + ) + ) + init_cfg={'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} + (grid_mask): GridMask() +) +2026-02-24 00:14:40,658 - DriveTransformer - INFO - Start running, host: humble@ysh-4090, work_dir: /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu +2026-02-24 00:14:40,659 - DriveTransformer - INFO - Hooks will be executed in the following order: +before_run: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_epoch: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_iter: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook + -------------------- +after_train_iter: +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +after_train_epoch: +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_val_epoch: +(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 + -------------------- +2026-02-24 00:14:40,659 - DriveTransformer - INFO - workflow: [('train', 1)], max: 60 epochs +2026-02-24 00:14:40,663 - DriveTransformer - INFO - Checkpoints will be saved to /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu by HardDiskBackend. +2026-02-24 00:14:48,578 - DriveTransformer - WARNING - GradientCumulativeOptimizerHook may slightly decrease performance if the model has BatchNorm layers. +2026-02-24 00:15:17,766 - DriveTransformer - INFO - Epoch [1][50/117620] lr: 1.441e-05, eta: 60 days, 11:30:55, time: 0.740, data_time: 0.128, memory: 7284, loss_cls: 657.0177, loss_bbox: 1.7126, loss_traj: 4.0331, loss_traj_cls: 0.0986, loss_map_cls: 9.2025, loss_map_pts: 5.1980, loss_map_dir: 0.0946, d0.loss_plan_l1_fix_time: 9.3064, d0.loss_plan_l1_fix_dist: 3.1385, d1.loss_plan_l1_fix_time: 9.7504, d1.loss_plan_l1_fix_dist: 4.0820, d2.loss_plan_l1_fix_time: 10.2569, d2.loss_plan_l1_fix_dist: 5.5467, d3.loss_plan_l1_fix_time: 10.8451, d3.loss_plan_l1_fix_dist: 7.2853, d4.loss_plan_l1_fix_time: 11.3784, d4.loss_plan_l1_fix_dist: 9.8207, d5.loss_plan_l1_fix_time: 11.9745, d5.loss_plan_l1_fix_dist: 12.4756, d6.loss_plan_l1_fix_time: 12.5522, d6.loss_plan_l1_fix_dist: 14.9600, d0.loss_cls_all: 450.4785, d0.loss_bbox_all: 1.6361, d0.loss_cls: 450.4785, d0.loss_bbox: 1.6361, d1.loss_cls: 498.7639, d1.loss_bbox: 1.6127, d2.loss_cls: 493.9947, d2.loss_bbox: 1.6771, d3.loss_cls: 564.4796, d3.loss_bbox: 1.6715, d4.loss_cls: 529.9633, d4.loss_bbox: 1.6285, d5.loss_cls: 598.1542, d5.loss_bbox: 1.7129, d0.loss_traj_cls: 0.0725, d0.loss_traj: 4.0100, d1.loss_traj_cls: 0.0616, d1.loss_traj: 4.0386, d2.loss_traj_cls: 0.0645, d2.loss_traj: 4.1268, d3.loss_traj_cls: 0.1104, d3.loss_traj: 4.0976, d4.loss_traj_cls: 0.0551, d4.loss_traj: 3.9702, d5.loss_traj_cls: 0.0604, d5.loss_traj: 4.0178, d0.loss_map_cls_all: 6.9678, d0.loss_map_pts_all: 4.8605, d0.loss_map_dir_all: 0.0948, d0.loss_map_cls: 6.9678, d0.loss_map_pts: 4.8605, d0.loss_map_dir: 0.0948, d1.loss_map_cls: 6.2881, d1.loss_map_pts: 4.8943, d1.loss_map_dir: 0.0946, d2.loss_map_cls: 6.9919, d2.loss_map_pts: 4.9406, d2.loss_map_dir: 0.0943, d3.loss_map_cls: 9.5294, d3.loss_map_pts: 4.9800, d3.loss_map_dir: 0.0945, d4.loss_map_cls: 9.5364, d4.loss_map_pts: 5.0468, d4.loss_map_dir: 0.0946, d5.loss_map_cls: 9.5420, d5.loss_map_pts: 5.1216, d5.loss_map_dir: 0.0947, loss: 4524.4928 +2026-02-24 00:15:43,731 - DriveTransformer - INFO - Epoch [1][100/117620] lr: 1.891e-05, eta: 51 days, 10:38:31, time: 0.519, data_time: 0.017, memory: 8383, loss_cls: 626.4420, loss_bbox: 1.5986, loss_traj: 6.4413, loss_traj_cls: 0.0977, loss_map_cls: 10.3471, loss_map_pts: 5.7189, loss_map_dir: 0.0949, d0.loss_plan_l1_fix_time: 12.7941, d0.loss_plan_l1_fix_dist: 3.4560, d1.loss_plan_l1_fix_time: 13.1416, d1.loss_plan_l1_fix_dist: 4.5200, d2.loss_plan_l1_fix_time: 13.5316, d2.loss_plan_l1_fix_dist: 6.3581, d3.loss_plan_l1_fix_time: 14.0300, d3.loss_plan_l1_fix_dist: 8.3249, d4.loss_plan_l1_fix_time: 14.4851, d4.loss_plan_l1_fix_dist: 11.1415, d5.loss_plan_l1_fix_time: 15.0075, d5.loss_plan_l1_fix_dist: 14.0320, d6.loss_plan_l1_fix_time: 15.4970, d6.loss_plan_l1_fix_dist: 16.7320, d0.loss_cls_all: 439.3888, d0.loss_bbox_all: 1.5691, d0.loss_cls: 439.3888, d0.loss_bbox: 1.5691, d1.loss_cls: 475.7493, d1.loss_bbox: 1.5340, d2.loss_cls: 472.1062, d2.loss_bbox: 1.6203, d3.loss_cls: 534.0961, d3.loss_bbox: 1.6085, d4.loss_cls: 507.8107, d4.loss_bbox: 1.5102, d5.loss_cls: 568.9099, d5.loss_bbox: 1.6094, d0.loss_traj_cls: 0.0739, d0.loss_traj: 6.4161, d1.loss_traj_cls: 0.0622, d1.loss_traj: 6.4786, d2.loss_traj_cls: 0.0639, d2.loss_traj: 6.5505, d3.loss_traj_cls: 0.1072, d3.loss_traj: 6.4955, d4.loss_traj_cls: 0.0534, d4.loss_traj: 6.4070, d5.loss_traj_cls: 0.0578, d5.loss_traj: 6.4554, d0.loss_map_cls_all: 7.8838, d0.loss_map_pts_all: 5.4573, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 7.8838, d0.loss_map_pts: 5.4573, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 7.5399, d1.loss_map_pts: 5.4801, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 8.0800, d2.loss_map_pts: 5.5107, d2.loss_map_dir: 0.0949, d3.loss_map_cls: 10.8225, d3.loss_map_pts: 5.5467, d3.loss_map_dir: 0.0949, d4.loss_map_cls: 10.6928, d4.loss_map_pts: 5.6095, d4.loss_map_dir: 0.0949, d5.loss_map_cls: 10.5945, d5.loss_map_pts: 5.6656, d5.loss_map_dir: 0.0949, loss: 4404.3728, grad_norm: 60564.3828 +2026-02-24 00:16:10,176 - DriveTransformer - INFO - Epoch [1][150/117620] lr: 2.341e-05, eta: 48 days, 16:39:46, time: 0.529, data_time: 0.023, memory: 8386, loss_cls: 304.1647, loss_bbox: 1.9155, loss_traj: 5.3778, loss_traj_cls: 0.0796, loss_map_cls: 10.8674, loss_map_pts: 5.5582, loss_map_dir: 0.0954, d0.loss_plan_l1_fix_time: 11.5006, d0.loss_plan_l1_fix_dist: 3.2705, d1.loss_plan_l1_fix_time: 11.8258, d1.loss_plan_l1_fix_dist: 4.1175, d2.loss_plan_l1_fix_time: 12.2162, d2.loss_plan_l1_fix_dist: 5.5548, d3.loss_plan_l1_fix_time: 12.7128, d3.loss_plan_l1_fix_dist: 7.1503, d4.loss_plan_l1_fix_time: 13.1407, d4.loss_plan_l1_fix_dist: 9.1855, d5.loss_plan_l1_fix_time: 13.6123, d5.loss_plan_l1_fix_dist: 11.1148, d6.loss_plan_l1_fix_time: 14.0798, d6.loss_plan_l1_fix_dist: 12.9513, d0.loss_cls_all: 273.0265, d0.loss_bbox_all: 1.5982, d0.loss_cls: 273.0265, d0.loss_bbox: 1.5982, d1.loss_cls: 283.4599, d1.loss_bbox: 1.5695, d2.loss_cls: 251.0805, d2.loss_bbox: 1.6337, d3.loss_cls: 261.5088, d3.loss_bbox: 1.6315, d4.loss_cls: 239.6926, d4.loss_bbox: 1.6925, d5.loss_cls: 278.0819, d5.loss_bbox: 1.8730, d0.loss_traj_cls: 0.0615, d0.loss_traj: 5.2645, d1.loss_traj_cls: 0.0470, d1.loss_traj: 5.3895, d2.loss_traj_cls: 0.0434, d2.loss_traj: 5.4402, d3.loss_traj_cls: 0.0905, d3.loss_traj: 5.4116, d4.loss_traj_cls: 0.0426, d4.loss_traj: 5.3370, d5.loss_traj_cls: 0.0518, d5.loss_traj: 5.3933, d0.loss_map_cls_all: 8.0538, d0.loss_map_pts_all: 5.2660, d0.loss_map_dir_all: 0.0955, d0.loss_map_cls: 8.0538, d0.loss_map_pts: 5.2660, d0.loss_map_dir: 0.0955, d1.loss_map_cls: 7.6626, d1.loss_map_pts: 5.3052, d1.loss_map_dir: 0.0952, d2.loss_map_cls: 8.3479, d2.loss_map_pts: 5.3478, d2.loss_map_dir: 0.0951, d3.loss_map_cls: 11.9262, d3.loss_map_pts: 5.3764, d3.loss_map_dir: 0.0952, d4.loss_map_cls: 11.4616, d4.loss_map_pts: 5.4332, d4.loss_map_dir: 0.0954, d5.loss_map_cls: 11.3637, d5.loss_map_pts: 5.4940, d5.loss_map_dir: 0.0954, loss: 2479.5634, grad_norm: 60564.3828 +2026-02-24 00:16:36,393 - DriveTransformer - INFO - Epoch [1][200/117620] lr: 2.791e-05, eta: 47 days, 5:30:08, time: 0.524, data_time: 0.017, memory: 8387, loss_cls: 279.1596, loss_bbox: 1.8883, loss_traj: 5.5598, loss_traj_cls: 0.0761, loss_map_cls: 8.8526, loss_map_pts: 5.3318, loss_map_dir: 0.0956, d0.loss_plan_l1_fix_time: 12.1687, d0.loss_plan_l1_fix_dist: 3.2580, d1.loss_plan_l1_fix_time: 12.4261, d1.loss_plan_l1_fix_dist: 3.9922, d2.loss_plan_l1_fix_time: 12.7427, d2.loss_plan_l1_fix_dist: 5.3854, d3.loss_plan_l1_fix_time: 13.1551, d3.loss_plan_l1_fix_dist: 6.8306, d4.loss_plan_l1_fix_time: 13.5196, d4.loss_plan_l1_fix_dist: 8.6924, d5.loss_plan_l1_fix_time: 13.9351, d5.loss_plan_l1_fix_dist: 10.4227, d6.loss_plan_l1_fix_time: 14.3542, d6.loss_plan_l1_fix_dist: 12.0627, d0.loss_cls_all: 255.7249, d0.loss_bbox_all: 1.5567, d0.loss_cls: 255.7249, d0.loss_bbox: 1.5567, d1.loss_cls: 264.1475, d1.loss_bbox: 1.5163, d2.loss_cls: 229.5365, d2.loss_bbox: 1.5775, d3.loss_cls: 236.7383, d3.loss_bbox: 1.5674, d4.loss_cls: 217.6574, d4.loss_bbox: 1.6273, d5.loss_cls: 255.2539, d5.loss_bbox: 1.8374, d0.loss_traj_cls: 0.0590, d0.loss_traj: 5.4155, d1.loss_traj_cls: 0.0459, d1.loss_traj: 5.5547, d2.loss_traj_cls: 0.0429, d2.loss_traj: 5.6046, d3.loss_traj_cls: 0.0876, d3.loss_traj: 5.5846, d4.loss_traj_cls: 0.0423, d4.loss_traj: 5.5243, d5.loss_traj_cls: 0.0488, d5.loss_traj: 5.5796, d0.loss_map_cls_all: 6.6893, d0.loss_map_pts_all: 5.1565, d0.loss_map_dir_all: 0.0953, d0.loss_map_cls: 6.6893, d0.loss_map_pts: 5.1565, d0.loss_map_dir: 0.0953, d1.loss_map_cls: 6.3890, d1.loss_map_pts: 5.1763, d1.loss_map_dir: 0.0951, d2.loss_map_cls: 6.9014, d2.loss_map_pts: 5.1947, d2.loss_map_dir: 0.0953, d3.loss_map_cls: 9.8598, d3.loss_map_pts: 5.2115, d3.loss_map_dir: 0.0954, d4.loss_map_cls: 9.3909, d4.loss_map_pts: 5.2461, d4.loss_map_dir: 0.0955, d5.loss_map_cls: 9.3585, d5.loss_map_pts: 5.2919, d5.loss_map_dir: 0.0956, loss: 2295.9010, grad_norm: 46416.1172 +2026-02-24 00:17:05,091 - DriveTransformer - INFO - Epoch [1][250/117620] lr: 3.241e-05, eta: 47 days, 3:46:00, time: 0.574, data_time: 0.020, memory: 8387, loss_cls: 118.7981, loss_bbox: 1.8936, loss_traj: 5.4647, loss_traj_cls: 0.0642, loss_map_cls: 8.7059, loss_map_pts: 5.4567, loss_map_dir: 0.0961, d0.loss_plan_l1_fix_time: 10.5593, d0.loss_plan_l1_fix_dist: 3.1679, d1.loss_plan_l1_fix_time: 10.7962, d1.loss_plan_l1_fix_dist: 3.6669, d2.loss_plan_l1_fix_time: 11.1037, d2.loss_plan_l1_fix_dist: 4.9680, d3.loss_plan_l1_fix_time: 11.4939, d3.loss_plan_l1_fix_dist: 6.4389, d4.loss_plan_l1_fix_time: 11.8638, d4.loss_plan_l1_fix_dist: 8.0709, d5.loss_plan_l1_fix_time: 12.2551, d5.loss_plan_l1_fix_dist: 9.4095, d6.loss_plan_l1_fix_time: 12.6722, d6.loss_plan_l1_fix_dist: 10.2239, d0.loss_cls_all: 150.2075, d0.loss_bbox_all: 1.5651, d0.loss_cls: 150.2075, d0.loss_bbox: 1.5651, d1.loss_cls: 137.1919, d1.loss_bbox: 1.6235, d2.loss_cls: 104.6157, d2.loss_bbox: 1.6664, d3.loss_cls: 98.3511, d3.loss_bbox: 1.5954, d4.loss_cls: 95.7586, d4.loss_bbox: 1.6881, d5.loss_cls: 115.2247, d5.loss_bbox: 1.8499, d0.loss_traj_cls: 0.0486, d0.loss_traj: 5.2743, d1.loss_traj_cls: 0.0328, d1.loss_traj: 5.4563, d2.loss_traj_cls: 0.0304, d2.loss_traj: 5.4444, d3.loss_traj_cls: 0.0612, d3.loss_traj: 5.4703, d4.loss_traj_cls: 0.0284, d4.loss_traj: 5.4348, d5.loss_traj_cls: 0.0370, d5.loss_traj: 5.5049, d0.loss_map_cls_all: 6.6500, d0.loss_map_pts_all: 5.2698, d0.loss_map_dir_all: 0.0960, d0.loss_map_cls: 6.6500, d0.loss_map_pts: 5.2698, d0.loss_map_dir: 0.0960, d1.loss_map_cls: 6.7339, d1.loss_map_pts: 5.3025, d1.loss_map_dir: 0.0961, d2.loss_map_cls: 7.3017, d2.loss_map_pts: 5.3333, d2.loss_map_dir: 0.0961, d3.loss_map_cls: 10.3291, d3.loss_map_pts: 5.3417, d3.loss_map_dir: 0.0960, d4.loss_map_cls: 9.6062, d4.loss_map_pts: 5.3704, d4.loss_map_dir: 0.0961, d5.loss_map_cls: 9.3640, d5.loss_map_pts: 5.4061, d5.loss_map_dir: 0.0962, loss: 1257.7041, grad_norm: 46416.1172 +2026-02-24 00:17:32,393 - DriveTransformer - INFO - Epoch [1][300/117620] lr: 3.691e-05, eta: 46 days, 17:33:05, time: 0.546, data_time: 0.018, memory: 8387, loss_cls: 93.3903, loss_bbox: 1.8154, loss_traj: 5.7055, loss_traj_cls: 0.0669, loss_map_cls: 7.5704, loss_map_pts: 5.4961, loss_map_dir: 0.0961, d0.loss_plan_l1_fix_time: 11.1261, d0.loss_plan_l1_fix_dist: 3.1715, d1.loss_plan_l1_fix_time: 11.3548, d1.loss_plan_l1_fix_dist: 3.6293, d2.loss_plan_l1_fix_time: 11.6502, d2.loss_plan_l1_fix_dist: 4.9073, d3.loss_plan_l1_fix_time: 12.0446, d3.loss_plan_l1_fix_dist: 6.2630, d4.loss_plan_l1_fix_time: 12.4405, d4.loss_plan_l1_fix_dist: 7.6789, d5.loss_plan_l1_fix_time: 12.8453, d5.loss_plan_l1_fix_dist: 8.9208, d6.loss_plan_l1_fix_time: 13.2651, d6.loss_plan_l1_fix_dist: 9.5943, d0.loss_cls_all: 118.9627, d0.loss_bbox_all: 1.5416, d0.loss_cls: 118.9627, d0.loss_bbox: 1.5416, d1.loss_cls: 105.8394, d1.loss_bbox: 1.6263, d2.loss_cls: 79.5748, d2.loss_bbox: 1.6418, d3.loss_cls: 76.0520, d3.loss_bbox: 1.5706, d4.loss_cls: 74.7425, d4.loss_bbox: 1.6663, d5.loss_cls: 89.5788, d5.loss_bbox: 1.7891, d0.loss_traj_cls: 0.0447, d0.loss_traj: 5.5213, d1.loss_traj_cls: 0.0313, d1.loss_traj: 5.6863, d2.loss_traj_cls: 0.0298, d2.loss_traj: 5.6656, d3.loss_traj_cls: 0.0604, d3.loss_traj: 5.6946, d4.loss_traj_cls: 0.0286, d4.loss_traj: 5.6691, d5.loss_traj_cls: 0.0370, d5.loss_traj: 5.7456, d0.loss_map_cls_all: 6.1985, d0.loss_map_pts_all: 5.3954, d0.loss_map_dir_all: 0.0962, d0.loss_map_cls: 6.1985, d0.loss_map_pts: 5.3954, d0.loss_map_dir: 0.0962, d1.loss_map_cls: 6.2705, d1.loss_map_pts: 5.4141, d1.loss_map_dir: 0.0960, d2.loss_map_cls: 6.6788, d2.loss_map_pts: 5.4293, d2.loss_map_dir: 0.0960, d3.loss_map_cls: 9.2363, d3.loss_map_pts: 5.4321, d3.loss_map_dir: 0.0961, d4.loss_map_cls: 8.5336, d4.loss_map_pts: 5.4466, d4.loss_map_dir: 0.0961, d5.loss_map_cls: 8.2358, d5.loss_map_pts: 5.4689, d5.loss_map_dir: 0.0961, loss: 1042.3440, grad_norm: 35613.6217 +2026-02-24 00:17:58,681 - DriveTransformer - INFO - Epoch [1][350/117620] lr: 4.141e-05, eta: 46 days, 4:33:21, time: 0.526, data_time: 0.018, memory: 8387, loss_cls: 33.5960, loss_bbox: 1.6438, loss_traj: 6.5622, loss_traj_cls: 0.0436, loss_map_cls: 4.9871, loss_map_pts: 5.2634, loss_map_dir: 0.0977, d0.loss_plan_l1_fix_time: 12.7415, d0.loss_plan_l1_fix_dist: 3.2513, d1.loss_plan_l1_fix_time: 12.9102, d1.loss_plan_l1_fix_dist: 3.4681, d2.loss_plan_l1_fix_time: 13.1506, d2.loss_plan_l1_fix_dist: 4.6434, d3.loss_plan_l1_fix_time: 13.5103, d3.loss_plan_l1_fix_dist: 5.7542, d4.loss_plan_l1_fix_time: 13.9529, d4.loss_plan_l1_fix_dist: 6.9430, d5.loss_plan_l1_fix_time: 14.3534, d5.loss_plan_l1_fix_dist: 7.7417, d6.loss_plan_l1_fix_time: 14.7931, d6.loss_plan_l1_fix_dist: 7.8649, d0.loss_cls_all: 63.3251, d0.loss_bbox_all: 1.4636, d0.loss_cls: 63.3251, d0.loss_bbox: 1.4636, d1.loss_cls: 49.0232, d1.loss_bbox: 1.5566, d2.loss_cls: 32.4976, d2.loss_bbox: 1.5340, d3.loss_cls: 29.1091, d3.loss_bbox: 1.4336, d4.loss_cls: 27.4466, d4.loss_bbox: 1.5225, d5.loss_cls: 33.3322, d5.loss_bbox: 1.6350, d0.loss_traj_cls: 0.0329, d0.loss_traj: 6.3757, d1.loss_traj_cls: 0.0222, d1.loss_traj: 6.5431, d2.loss_traj_cls: 0.0214, d2.loss_traj: 6.4817, d3.loss_traj_cls: 0.0387, d3.loss_traj: 6.5286, d4.loss_traj_cls: 0.0218, d4.loss_traj: 6.5101, d5.loss_traj_cls: 0.0246, d5.loss_traj: 6.6089, d0.loss_map_cls_all: 4.6628, d0.loss_map_pts_all: 5.2212, d0.loss_map_dir_all: 0.0977, d0.loss_map_cls: 4.6628, d0.loss_map_pts: 5.2212, d0.loss_map_dir: 0.0977, d1.loss_map_cls: 4.8074, d1.loss_map_pts: 5.2443, d1.loss_map_dir: 0.0978, d2.loss_map_cls: 4.9554, d2.loss_map_pts: 5.2502, d2.loss_map_dir: 0.0978, d3.loss_map_cls: 6.0609, d3.loss_map_pts: 5.2468, d3.loss_map_dir: 0.0978, d4.loss_map_cls: 5.8758, d4.loss_map_pts: 5.2490, d4.loss_map_dir: 0.0979, d5.loss_map_cls: 5.4760, d5.loss_map_pts: 5.2500, d5.loss_map_dir: 0.0978, loss: 609.0175, grad_norm: 35613.6217 +2026-02-24 00:18:26,183 - DriveTransformer - INFO - Epoch [1][400/117620] lr: 4.591e-05, eta: 46 days, 0:44:29, time: 0.550, data_time: 0.022, memory: 8387, loss_cls: 24.6396, loss_bbox: 1.6129, loss_traj: 5.9727, loss_traj_cls: 0.0443, loss_map_cls: 5.3058, loss_map_pts: 5.1626, loss_map_dir: 0.0980, d0.loss_plan_l1_fix_time: 9.7844, d0.loss_plan_l1_fix_dist: 3.0415, d1.loss_plan_l1_fix_time: 9.9497, d1.loss_plan_l1_fix_dist: 3.1728, d2.loss_plan_l1_fix_time: 10.1855, d2.loss_plan_l1_fix_dist: 3.9114, d3.loss_plan_l1_fix_time: 10.5256, d3.loss_plan_l1_fix_dist: 4.7058, d4.loss_plan_l1_fix_time: 10.9396, d4.loss_plan_l1_fix_dist: 5.4453, d5.loss_plan_l1_fix_time: 11.3379, d5.loss_plan_l1_fix_dist: 6.0932, d6.loss_plan_l1_fix_time: 11.7671, d6.loss_plan_l1_fix_dist: 6.4773, d0.loss_cls_all: 49.1784, d0.loss_bbox_all: 1.4942, d0.loss_cls: 49.1784, d0.loss_bbox: 1.4942, d1.loss_cls: 38.0082, d1.loss_bbox: 1.5871, d2.loss_cls: 24.2305, d2.loss_bbox: 1.5509, d3.loss_cls: 21.9213, d3.loss_bbox: 1.4510, d4.loss_cls: 20.1734, d4.loss_bbox: 1.5339, d5.loss_cls: 24.6213, d5.loss_bbox: 1.6113, d0.loss_traj_cls: 0.0283, d0.loss_traj: 5.8160, d1.loss_traj_cls: 0.0204, d1.loss_traj: 5.9726, d2.loss_traj_cls: 0.0208, d2.loss_traj: 5.9057, d3.loss_traj_cls: 0.0390, d3.loss_traj: 5.9434, d4.loss_traj_cls: 0.0206, d4.loss_traj: 5.9287, d5.loss_traj_cls: 0.0249, d5.loss_traj: 6.0097, d0.loss_map_cls_all: 5.4245, d0.loss_map_pts_all: 5.1408, d0.loss_map_dir_all: 0.0981, d0.loss_map_cls: 5.4245, d0.loss_map_pts: 5.1408, d0.loss_map_dir: 0.0981, d1.loss_map_cls: 5.4501, d1.loss_map_pts: 5.1562, d1.loss_map_dir: 0.0983, d2.loss_map_cls: 5.5821, d2.loss_map_pts: 5.1580, d2.loss_map_dir: 0.0982, d3.loss_map_cls: 6.5933, d3.loss_map_pts: 5.1543, d3.loss_map_dir: 0.0982, d4.loss_map_cls: 6.4699, d4.loss_map_pts: 5.1539, d4.loss_map_dir: 0.0982, d5.loss_map_cls: 5.9350, d5.loss_map_pts: 5.1530, d5.loss_map_dir: 0.0981, loss: 501.5608, grad_norm: 27998.9496 +2026-02-24 00:18:53,723 - DriveTransformer - INFO - Epoch [1][450/117620] lr: 5.041e-05, eta: 45 days, 21:49:11, time: 0.550, data_time: 0.018, memory: 8387, loss_cls: 9.3740, loss_bbox: 1.4883, loss_traj: 6.7819, loss_traj_cls: 0.0353, loss_map_cls: 3.2596, loss_map_pts: 5.4195, loss_map_dir: 0.0981, d0.loss_plan_l1_fix_time: 13.1956, d0.loss_plan_l1_fix_dist: 3.0275, d1.loss_plan_l1_fix_time: 13.2769, d1.loss_plan_l1_fix_dist: 3.2774, d2.loss_plan_l1_fix_time: 13.4424, d2.loss_plan_l1_fix_dist: 3.5007, d3.loss_plan_l1_fix_time: 13.6850, d3.loss_plan_l1_fix_dist: 3.5816, d4.loss_plan_l1_fix_time: 13.9951, d4.loss_plan_l1_fix_dist: 3.5527, d5.loss_plan_l1_fix_time: 14.2633, d5.loss_plan_l1_fix_dist: 4.0093, d6.loss_plan_l1_fix_time: 14.5690, d6.loss_plan_l1_fix_dist: 5.2119, d0.loss_cls_all: 24.4658, d0.loss_bbox_all: 1.5236, d0.loss_cls: 24.4658, d0.loss_bbox: 1.5236, d1.loss_cls: 18.4556, d1.loss_bbox: 1.5873, d2.loss_cls: 10.5847, d2.loss_bbox: 1.5124, d3.loss_cls: 9.3562, d3.loss_bbox: 1.4227, d4.loss_cls: 7.7051, d4.loss_bbox: 1.4788, d5.loss_cls: 9.1702, d5.loss_bbox: 1.5099, d0.loss_traj_cls: 0.0195, d0.loss_traj: 6.6364, d1.loss_traj_cls: 0.0158, d1.loss_traj: 6.8201, d2.loss_traj_cls: 0.0187, d2.loss_traj: 6.7187, d3.loss_traj_cls: 0.0322, d3.loss_traj: 6.7386, d4.loss_traj_cls: 0.0180, d4.loss_traj: 6.7519, d5.loss_traj_cls: 0.0219, d5.loss_traj: 6.8023, d0.loss_map_cls_all: 4.2393, d0.loss_map_pts_all: 5.4224, d0.loss_map_dir_all: 0.0982, d0.loss_map_cls: 4.2393, d0.loss_map_pts: 5.4224, d0.loss_map_dir: 0.0982, d1.loss_map_cls: 4.2911, d1.loss_map_pts: 5.4326, d1.loss_map_dir: 0.0984, d2.loss_map_cls: 4.1593, d2.loss_map_pts: 5.4297, d2.loss_map_dir: 0.0982, d3.loss_map_cls: 4.1873, d3.loss_map_pts: 5.4247, d3.loss_map_dir: 0.0981, d4.loss_map_cls: 4.4627, d4.loss_map_pts: 5.4227, d4.loss_map_dir: 0.0982, d5.loss_map_cls: 3.9175, d5.loss_map_pts: 5.4175, d5.loss_map_dir: 0.0981, loss: 372.5573, grad_norm: 27998.9496 +2026-02-24 00:19:21,217 - DriveTransformer - INFO - Epoch [1][500/117620] lr: 5.491e-05, eta: 45 days, 19:24:53, time: 0.550, data_time: 0.029, memory: 8387, loss_cls: 7.5014, loss_bbox: 1.5410, loss_traj: 6.5606, loss_traj_cls: 0.0328, loss_map_cls: 1.8305, loss_map_pts: 5.0153, loss_map_dir: 0.0969, d0.loss_plan_l1_fix_time: 13.4037, d0.loss_plan_l1_fix_dist: 2.8622, d1.loss_plan_l1_fix_time: 13.4632, d1.loss_plan_l1_fix_dist: 3.0039, d2.loss_plan_l1_fix_time: 13.6090, d2.loss_plan_l1_fix_dist: 3.1479, d3.loss_plan_l1_fix_time: 13.8227, d3.loss_plan_l1_fix_dist: 3.4930, d4.loss_plan_l1_fix_time: 14.0579, d4.loss_plan_l1_fix_dist: 3.8830, d5.loss_plan_l1_fix_time: 14.2692, d5.loss_plan_l1_fix_dist: 4.7233, d6.loss_plan_l1_fix_time: 14.5172, d6.loss_plan_l1_fix_dist: 6.0262, d0.loss_cls_all: 19.4051, d0.loss_bbox_all: 1.5803, d0.loss_cls: 19.4051, d0.loss_bbox: 1.5803, d1.loss_cls: 14.4086, d1.loss_bbox: 1.6196, d2.loss_cls: 8.2383, d2.loss_bbox: 1.5353, d3.loss_cls: 7.3786, d3.loss_bbox: 1.4791, d4.loss_cls: 6.0407, d4.loss_bbox: 1.5262, d5.loss_cls: 7.2880, d5.loss_bbox: 1.5659, d0.loss_traj_cls: 0.0157, d0.loss_traj: 6.4436, d1.loss_traj_cls: 0.0141, d1.loss_traj: 6.6129, d2.loss_traj_cls: 0.0185, d2.loss_traj: 6.5186, d3.loss_traj_cls: 0.0290, d3.loss_traj: 6.5163, d4.loss_traj_cls: 0.0169, d4.loss_traj: 6.5277, d5.loss_traj_cls: 0.0206, d5.loss_traj: 6.5650, d0.loss_map_cls_all: 2.5983, d0.loss_map_pts_all: 5.0026, d0.loss_map_dir_all: 0.0971, d0.loss_map_cls: 2.5983, d0.loss_map_pts: 5.0026, d0.loss_map_dir: 0.0971, d1.loss_map_cls: 2.6360, d1.loss_map_pts: 5.0119, d1.loss_map_dir: 0.0970, d2.loss_map_cls: 2.5280, d2.loss_map_pts: 5.0118, d2.loss_map_dir: 0.0969, d3.loss_map_cls: 2.3821, d3.loss_map_pts: 5.0074, d3.loss_map_dir: 0.0970, d4.loss_map_cls: 2.6571, d4.loss_map_pts: 5.0086, d4.loss_map_dir: 0.0970, d5.loss_map_cls: 2.2272, d5.loss_map_pts: 5.0091, d5.loss_map_dir: 0.0968, loss: 332.5705, grad_norm: 22780.4346 +2026-02-24 00:19:48,558 - DriveTransformer - INFO - Epoch [1][550/117620] lr: 5.941e-05, eta: 45 days, 16:54:17, time: 0.547, data_time: 0.017, memory: 8387, loss_cls: 3.8131, loss_bbox: 1.5122, loss_traj: 4.6787, loss_traj_cls: 0.0233, loss_map_cls: 1.1924, loss_map_pts: 5.1517, loss_map_dir: 0.0961, d0.loss_plan_l1_fix_time: 11.4806, d0.loss_plan_l1_fix_dist: 3.0248, d1.loss_plan_l1_fix_time: 11.5085, d1.loss_plan_l1_fix_dist: 2.9713, d2.loss_plan_l1_fix_time: 11.6784, d2.loss_plan_l1_fix_dist: 2.7571, d3.loss_plan_l1_fix_time: 11.9178, d3.loss_plan_l1_fix_dist: 3.3615, d4.loss_plan_l1_fix_time: 12.1268, d4.loss_plan_l1_fix_dist: 4.4806, d5.loss_plan_l1_fix_time: 12.3461, d5.loss_plan_l1_fix_dist: 5.7443, d6.loss_plan_l1_fix_time: 12.5784, d6.loss_plan_l1_fix_dist: 7.1890, d0.loss_cls_all: 11.5578, d0.loss_bbox_all: 1.5475, d0.loss_cls: 11.5578, d0.loss_bbox: 1.5475, d1.loss_cls: 7.7242, d1.loss_bbox: 1.6027, d2.loss_cls: 4.6593, d2.loss_bbox: 1.5157, d3.loss_cls: 4.2023, d3.loss_bbox: 1.4773, d4.loss_cls: 3.4218, d4.loss_bbox: 1.5025, d5.loss_cls: 3.8014, d5.loss_bbox: 1.5413, d0.loss_traj_cls: 0.0102, d0.loss_traj: 4.5875, d1.loss_traj_cls: 0.0106, d1.loss_traj: 4.7529, d2.loss_traj_cls: 0.0161, d2.loss_traj: 4.6403, d3.loss_traj_cls: 0.0227, d3.loss_traj: 4.6248, d4.loss_traj_cls: 0.0148, d4.loss_traj: 4.6330, d5.loss_traj_cls: 0.0175, d5.loss_traj: 4.6438, d0.loss_map_cls_all: 1.9018, d0.loss_map_pts_all: 5.1393, d0.loss_map_dir_all: 0.0967, d0.loss_map_cls: 1.9018, d0.loss_map_pts: 5.1393, d0.loss_map_dir: 0.0967, d1.loss_map_cls: 1.9835, d1.loss_map_pts: 5.1502, d1.loss_map_dir: 0.0968, d2.loss_map_cls: 1.8651, d2.loss_map_pts: 5.1438, d2.loss_map_dir: 0.0966, d3.loss_map_cls: 1.5509, d3.loss_map_pts: 5.1385, d3.loss_map_dir: 0.0964, d4.loss_map_cls: 1.9507, d4.loss_map_pts: 5.1397, d4.loss_map_dir: 0.0963, d5.loss_map_cls: 1.5159, d5.loss_map_pts: 5.1408, d5.loss_map_dir: 0.0962, loss: 264.6030, grad_norm: 22780.4346 +2026-02-24 00:20:17,477 - DriveTransformer - INFO - Epoch [1][600/117620] lr: 6.391e-05, eta: 45 days, 20:03:18, time: 0.579, data_time: 0.021, memory: 8387, loss_cls: 3.1017, loss_bbox: 1.5156, loss_traj: 6.5066, loss_traj_cls: 0.0181, loss_map_cls: 0.9778, loss_map_pts: 5.0500, loss_map_dir: 0.0961, d0.loss_plan_l1_fix_time: 13.4301, d0.loss_plan_l1_fix_dist: 2.7438, d1.loss_plan_l1_fix_time: 13.3579, d1.loss_plan_l1_fix_dist: 2.6677, d2.loss_plan_l1_fix_time: 13.4319, d2.loss_plan_l1_fix_dist: 2.8831, d3.loss_plan_l1_fix_time: 13.5821, d3.loss_plan_l1_fix_dist: 3.5269, d4.loss_plan_l1_fix_time: 13.7064, d4.loss_plan_l1_fix_dist: 4.5194, d5.loss_plan_l1_fix_time: 13.8476, d5.loss_plan_l1_fix_dist: 5.7278, d6.loss_plan_l1_fix_time: 13.9945, d6.loss_plan_l1_fix_dist: 7.2369, d0.loss_cls_all: 9.0413, d0.loss_bbox_all: 1.5467, d0.loss_cls: 9.0413, d0.loss_bbox: 1.5467, d1.loss_cls: 5.9616, d1.loss_bbox: 1.5651, d2.loss_cls: 3.7627, d2.loss_bbox: 1.5079, d3.loss_cls: 3.4234, d3.loss_bbox: 1.4729, d4.loss_cls: 2.8467, d4.loss_bbox: 1.5156, d5.loss_cls: 3.0949, d5.loss_bbox: 1.5461, d0.loss_traj_cls: 0.0073, d0.loss_traj: 6.4153, d1.loss_traj_cls: 0.0091, d1.loss_traj: 6.5663, d2.loss_traj_cls: 0.0125, d2.loss_traj: 6.5028, d3.loss_traj_cls: 0.0185, d3.loss_traj: 6.4578, d4.loss_traj_cls: 0.0122, d4.loss_traj: 6.4491, d5.loss_traj_cls: 0.0167, d5.loss_traj: 6.4646, d0.loss_map_cls_all: 1.4870, d0.loss_map_pts_all: 5.0597, d0.loss_map_dir_all: 0.0966, d0.loss_map_cls: 1.4870, d0.loss_map_pts: 5.0597, d0.loss_map_dir: 0.0966, d1.loss_map_cls: 1.5335, d1.loss_map_pts: 5.0734, d1.loss_map_dir: 0.0966, d2.loss_map_cls: 1.4361, d2.loss_map_pts: 5.0590, d2.loss_map_dir: 0.0965, d3.loss_map_cls: 1.2054, d3.loss_map_pts: 5.0462, d3.loss_map_dir: 0.0964, d4.loss_map_cls: 1.4734, d4.loss_map_pts: 5.0407, d4.loss_map_dir: 0.0962, d5.loss_map_cls: 1.1644, d5.loss_map_pts: 5.0372, d5.loss_map_dir: 0.0962, loss: 274.5652, grad_norm: 19153.6749 +2026-02-24 00:20:45,562 - DriveTransformer - INFO - Epoch [1][650/117620] lr: 6.841e-05, eta: 45 days, 20:06:19, time: 0.562, data_time: 0.020, memory: 8390, loss_cls: 2.0692, loss_bbox: 1.5213, loss_traj: 5.3505, loss_traj_cls: 0.0154, loss_map_cls: 0.8306, loss_map_pts: 5.0267, loss_map_dir: 0.0962, d0.loss_plan_l1_fix_time: 9.7649, d0.loss_plan_l1_fix_dist: 2.5549, d1.loss_plan_l1_fix_time: 9.7493, d1.loss_plan_l1_fix_dist: 2.5436, d2.loss_plan_l1_fix_time: 9.8834, d2.loss_plan_l1_fix_dist: 3.1221, d3.loss_plan_l1_fix_time: 10.0815, d3.loss_plan_l1_fix_dist: 3.7031, d4.loss_plan_l1_fix_time: 10.2278, d4.loss_plan_l1_fix_dist: 4.4613, d5.loss_plan_l1_fix_time: 10.4332, d5.loss_plan_l1_fix_dist: 5.5550, d6.loss_plan_l1_fix_time: 10.6219, d6.loss_plan_l1_fix_dist: 7.1756, d0.loss_cls_all: 4.6676, d0.loss_bbox_all: 1.5363, d0.loss_cls: 4.6676, d0.loss_bbox: 1.5363, d1.loss_cls: 3.1623, d1.loss_bbox: 1.5377, d2.loss_cls: 2.3142, d2.loss_bbox: 1.5245, d3.loss_cls: 2.1780, d3.loss_bbox: 1.5078, d4.loss_cls: 1.9580, d4.loss_bbox: 1.5416, d5.loss_cls: 2.0806, d5.loss_bbox: 1.5604, d0.loss_traj_cls: 0.0044, d0.loss_traj: 5.2345, d1.loss_traj_cls: 0.0077, d1.loss_traj: 5.3801, d2.loss_traj_cls: 0.0102, d2.loss_traj: 5.3457, d3.loss_traj_cls: 0.0161, d3.loss_traj: 5.3236, d4.loss_traj_cls: 0.0108, d4.loss_traj: 5.2915, d5.loss_traj_cls: 0.0162, d5.loss_traj: 5.2901, d0.loss_map_cls_all: 1.1433, d0.loss_map_pts_all: 5.0590, d0.loss_map_dir_all: 0.0968, d0.loss_map_cls: 1.1433, d0.loss_map_pts: 5.0590, d0.loss_map_dir: 0.0968, d1.loss_map_cls: 1.1873, d1.loss_map_pts: 5.0582, d1.loss_map_dir: 0.0968, d2.loss_map_cls: 1.1400, d2.loss_map_pts: 5.0464, d2.loss_map_dir: 0.0966, d3.loss_map_cls: 0.9882, d3.loss_map_pts: 5.0345, d3.loss_map_dir: 0.0965, d4.loss_map_cls: 1.1634, d4.loss_map_pts: 5.0262, d4.loss_map_dir: 0.0963, d5.loss_map_cls: 0.9260, d5.loss_map_pts: 5.0228, d5.loss_map_dir: 0.0963, loss: 222.1652, grad_norm: 19153.6749 + DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.6.weight - torch.Size([40, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.6.bias - torch.Size([40]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +img_backbone.conv1.weight - torch.Size([64, 3, 7, 7]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv1.weight - torch.Size([64, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.0.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv1.weight - torch.Size([64, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv1.weight - torch.Size([64, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv1.weight - torch.Size([128, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.0.weight - torch.Size([512, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv1.weight - torch.Size([256, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.0.weight - torch.Size([1024, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.1.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.1.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv1.weight - torch.Size([512, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn1.weight - torch.Size([512]): +PretrainedInit: load from 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+img_backbone.layer4.0.downsample.1.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.1.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv1.weight - torch.Size([512, 2048, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv1.weight - torch.Size([512, 2048, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_neck.lateral_convs.0.conv.weight - torch.Size([512, 2048, 1, 1]): +XavierInit: gain=1, distribution=uniform, bias=0 + +img_neck.lateral_convs.0.conv.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +img_neck.fpn_convs.0.conv.weight - torch.Size([512, 512, 3, 3]): +XavierInit: gain=1, distribution=uniform, bias=0 + +img_neck.fpn_convs.0.conv.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer diff --git a/DriveTransformer/goalpoint_1gpu/20260224_001423.log.json b/DriveTransformer/goalpoint_1gpu/20260224_001423.log.json new file mode 100644 index 0000000000000000000000000000000000000000..10236aad9d0b722b2872ab076b08485eb26ba2d8 --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260224_001423.log.json @@ -0,0 +1,14 @@ +{"env_info": "MMCV: 0.0.1", "config": "point_cloud_range = [-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]\nclass_names = [\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n]\ndataset_type = 'B2D_DriveTransformer_GoalPoint_Dataset'\ndata_root = 'data/bench2drive'\ninput_modality = dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True)\nfile_client_args = dict(backend='disk')\ntrain_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\ntest_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\neval_pipeline = [\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone', 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n]\ndata = dict(\n samples_per_gpu=2,\n workers_per_gpu=8,\n train=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=False,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n sub_seq_lenth=-1,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n val=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_root='data/bench2drive',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n test=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n shuffler_sampler=dict(type='InfiniteGroupEachSampleInBatchSampler'),\n nonshuffler_sampler=dict(type='DistributedSampler'))\nevaluation = dict(\n interval=24,\n pipeline=[\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone',\n 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n ])\ncheckpoint_config = dict(interval=1)\nlog_config = dict(\n interval=50,\n hooks=[dict(type='TextLoggerHook'),\n dict(type='TensorboardLoggerHook')])\ndist_params = dict(backend='nccl')\nlog_level = 'INFO'\nwork_dir = './work_dirs/drivetransformer_goalpoint_1gpu'\nload_from = None\nresume_from = None\nworkflow = [('train', 1)]\nplugin = True\nplugin_dir = 'adzoo/drivetransformer/mmdet3d_plugin/'\nvoxel_size = [0.15, 0.15, 4]\nimg_norm_cfg = dict(\n mean=[123.675, 116.28, 103.53], std=[58.395, 57.12, 57.375], to_rgb=True)\nNameMapping = dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n})\ncollect_keys = [\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', 'ego_pose',\n 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n]\nnum_classes = 9\nmap_classes = [\n 'Broken', 'Solid', 'SolidSolid', 'Center', 'TrafficLight', 'StopSign'\n]\nmap_fixed_ptsnum_per_gt_line = 20\nmap_fixed_ptsnum_per_pred_line = 20\nmap_eval_use_same_gt_sample_num_flag = True\nmap_num_classes = 6\nagent_query_num_vec = 900\nagent_num_topk_sift = 900\nagent_num_propagated = 50\nmap_query_num_vec = 100\nmap_num_topk_sift = 100\nmap_num_propagated = 50\nmemory_len_frame = 10\nnum_mode = 6\nnum_gpus = 1\nbatch_size = 2\nnum_iters_per_epoch = 1041\ndata_aug_conf = dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0])\n_dim_ = 512\nqueue_length = 1\ntotal_epochs = 60\ndropout = 0.1\nmodel = dict(\n type='DriveTransformer',\n use_grid_mask=False,\n pretrained=dict(img='./ckpts/resnet50-19c8e357.pth'),\n img_backbone=dict(\n type='ResNet',\n depth=50,\n num_stages=4,\n out_indices=(3, ),\n frozen_stages=1,\n norm_cfg=dict(type='BN', requires_grad=False),\n norm_eval=True,\n style='pytorch'),\n img_neck=dict(\n type='FPN',\n in_channels=[2048],\n out_channels=512,\n start_level=0,\n add_extra_convs='on_output',\n num_outs=1,\n relu_before_extra_convs=True),\n pts_bbox_head=dict(\n type='DriveTransformerlHead',\n ego_lcf_feat_idx=[0, 1, 2, 3, 4, 5, 6, 7, 8],\n ego_command_dim=128,\n img_stride=32,\n embed_dims=512,\n num_reg_fcs=2,\n num_cls_fcs=2,\n agent_num_propagated=50,\n map_num_propagated=50,\n memory_len_frame=10,\n agent_num_query=900,\n agent_num_query_sifted=900,\n fut_mode=6,\n fut_ego_mode=1,\n fut_ts=6,\n fut_ego_fix_dist=True,\n fut_ts_ego_fix_dist=20,\n fut_ts_ego_fix_time=30,\n num_classes=9,\n code_size=10,\n map_num_query=100,\n map_num_query_sifted=100,\n map_num_classes=6,\n map_num_pts_per_vec=20,\n map_num_pts_per_gt_vec=20,\n map_query_embed_type='instance_pts',\n map_transform_method='minmax',\n map_gt_shift_pts_pattern='v2',\n map_dir_interval=1,\n map_code_size=2,\n map_code_weights=[1.0, 1.0, 1.0, 1.0],\n sync_cls_avg_factor=True,\n with_box_refine=True,\n LID=True,\n with_ego_pos=True,\n position_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n depth_start=1,\n depth_step=0.8,\n depth_num=64,\n agent_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n map_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n transformer=dict(\n type='DriveTransformerWrapper',\n embed_dims=512,\n decoder=dict(\n type='DriveTransformerDecoder',\n num_layers=6,\n fut_mode=6,\n agent_num_query=900,\n map_num_query=100,\n map_num_pts_per_vec=20,\n return_intermediate=True,\n embed_dims=512,\n refine=True,\n transformerlayers=dict(\n type='DriveTransformerDecoderLayer',\n agent_query_num=900,\n map_query_num=100,\n memory_len_frame=10,\n agent_num_propagated=50,\n map_num_propagated=50,\n map_pts_per_vec=20,\n feedforward_channels=2048,\n ffn_dropout=0.1,\n with_cp=False,\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n no_wq=True)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n operation_order=('task_self_attn', 'norm',\n 'temporal_cross_attn', 'norm',\n 'sensor_cross_attn', 'norm', 'ffn',\n 'norm')))),\n bbox_coder=dict(\n type='CustomNMSFreeCoder',\n post_center_range=[-20, -35, -10.0, 20, 35, 10.0],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=100,\n voxel_size=[0.15, 0.15, 4],\n num_classes=9),\n loss_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_bbox=dict(type='L1Loss', loss_weight=0.25),\n loss_traj=dict(type='L1Loss', loss_weight=0.2),\n loss_traj_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.5,\n loss_weight=0.2),\n map_bbox_coder=dict(\n type='MapNMSFreeCoder',\n post_center_range=[-20, -35, -20, -35, 20, 35, 20, 35],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=50,\n voxel_size=[0.15, 0.15, 4],\n num_classes=6),\n loss_map_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_map_pts=dict(type='PtsL1Loss', loss_weight=1.0),\n loss_map_dir=dict(type='PtsDirCosLoss', loss_weight=0.005),\n loss_plan_reg_fix_time=dict(type='L1Loss', loss_weight=3.5),\n loss_plan_reg_fix_dist=dict(type='L1Loss', loss_weight=10.0),\n loss_plan_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=4.0,\n alpha=0.5,\n loss_weight=20.0)),\n train_cfg=dict(\n pts=dict(\n grid_size=[512, 512, 1],\n voxel_size=[0.15, 0.15, 4],\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n out_size_factor=4,\n assigner=dict(\n type='HungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(type='BBox3DL1Cost', weight=0.25),\n iou_cost=dict(type='IoUCost', weight=0.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n map_assigner=dict(\n type='MapHungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(\n type='BBoxL1Cost', weight=0.0, box_format='xywh'),\n iou_cost=dict(type='IoUCost', iou_mode='giou', weight=0.0),\n pts_cost=dict(type='OrderedPtsL1Cost', weight=1.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]))))\ninfo_root = 'data/infos'\nmap_root = 'data/bench2drive/maps'\nmap_file = 'data/infos/b2d_map_infos.pkl'\nann_file_train = 'data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl'\nann_file_val = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\nann_file_test = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\noptimizer = dict(type='AdamW', lr=0.0001, weight_decay=0.01)\noptimizer_config = dict(\n grad_clip=dict(max_norm=35, norm_type=2),\n type='GradientCumulativeFp16OptimizerHook',\n cumulative_iters=96)\nlr_config = dict(\n policy='CosineAnnealing',\n warmup='linear',\n warmup_iters=1000,\n warmup_ratio=0.1,\n min_lr_ratio=0.01)\nrunner = dict(type='EpochBasedRunner', max_epochs=60)\nfp16 = dict(loss_scale=512.0)\nfind_unused_parameters = True\ncustom_hooks = [dict(type='CustomSetEpochInfoHook')]\ncumulative_iters = 96\ngpu_ids = range(0, 1)\n", "seed": 0, "exp_name": "drivetransformer_goalpoint_1gpu.py"} +{"mode": "train", "epoch": 1, "iter": 50, "lr": 1e-05, "memory": 7284, "data_time": 0.12848, "loss_cls": 657.01774, "loss_bbox": 1.71262, "loss_traj": 4.03309, "loss_traj_cls": 0.09856, "loss_map_cls": 9.20249, "loss_map_pts": 5.19802, "loss_map_dir": 0.09459, "d0.loss_plan_l1_fix_time": 9.30642, "d0.loss_plan_l1_fix_dist": 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"d2.loss_map_dir": 0.09646, "d3.loss_map_cls": 1.20538, "d3.loss_map_pts": 5.04622, "d3.loss_map_dir": 0.09644, "d4.loss_map_cls": 1.47343, "d4.loss_map_pts": 5.0407, "d4.loss_map_dir": 0.09624, "d5.loss_map_cls": 1.16439, "d5.loss_map_pts": 5.03719, "d5.loss_map_dir": 0.09615, "loss": 274.56516, "time": 0.57893, "grad_norm": 19153.67492} +{"mode": "train", "epoch": 1, "iter": 650, "lr": 7e-05, "memory": 8390, "data_time": 0.01972, "loss_cls": 2.06922, "loss_bbox": 1.52135, "loss_traj": 5.3505, "loss_traj_cls": 0.01538, "loss_map_cls": 0.83057, "loss_map_pts": 5.02671, "loss_map_dir": 0.09619, "d0.loss_plan_l1_fix_time": 9.76493, "d0.loss_plan_l1_fix_dist": 2.55493, "d1.loss_plan_l1_fix_time": 9.74933, "d1.loss_plan_l1_fix_dist": 2.54357, "d2.loss_plan_l1_fix_time": 9.88339, "d2.loss_plan_l1_fix_dist": 3.12213, "d3.loss_plan_l1_fix_time": 10.08146, "d3.loss_plan_l1_fix_dist": 3.70313, "d4.loss_plan_l1_fix_time": 10.22784, "d4.loss_plan_l1_fix_dist": 4.46131, "d5.loss_plan_l1_fix_time": 10.43322, "d5.loss_plan_l1_fix_dist": 5.555, "d6.loss_plan_l1_fix_time": 10.62189, "d6.loss_plan_l1_fix_dist": 7.17557, "d0.loss_cls_all": 4.66762, "d0.loss_bbox_all": 1.53631, "d0.loss_cls": 4.66762, "d0.loss_bbox": 1.53631, "d1.loss_cls": 3.16231, "d1.loss_bbox": 1.53773, "d2.loss_cls": 2.31416, "d2.loss_bbox": 1.52448, "d3.loss_cls": 2.17797, "d3.loss_bbox": 1.50777, "d4.loss_cls": 1.95798, "d4.loss_bbox": 1.54163, "d5.loss_cls": 2.08056, "d5.loss_bbox": 1.56037, "d0.loss_traj_cls": 0.00436, "d0.loss_traj": 5.23451, "d1.loss_traj_cls": 0.00768, "d1.loss_traj": 5.38012, "d2.loss_traj_cls": 0.0102, "d2.loss_traj": 5.3457, "d3.loss_traj_cls": 0.0161, "d3.loss_traj": 5.32362, "d4.loss_traj_cls": 0.01076, "d4.loss_traj": 5.29151, "d5.loss_traj_cls": 0.0162, "d5.loss_traj": 5.2901, "d0.loss_map_cls_all": 1.14329, "d0.loss_map_pts_all": 5.05898, "d0.loss_map_dir_all": 0.09683, "d0.loss_map_cls": 1.14329, "d0.loss_map_pts": 5.05898, "d0.loss_map_dir": 0.09683, "d1.loss_map_cls": 1.18734, "d1.loss_map_pts": 5.05824, "d1.loss_map_dir": 0.09678, "d2.loss_map_cls": 1.14, "d2.loss_map_pts": 5.04638, "d2.loss_map_dir": 0.09665, "d3.loss_map_cls": 0.98821, "d3.loss_map_pts": 5.03454, "d3.loss_map_dir": 0.09654, "d4.loss_map_cls": 1.16337, "d4.loss_map_pts": 5.02621, "d4.loss_map_dir": 0.09632, "d5.loss_map_cls": 0.92601, "d5.loss_map_pts": 5.02282, "d5.loss_map_dir": 0.09627, "loss": 222.16516, "time": 0.56159, "grad_norm": 19153.67492} diff --git a/DriveTransformer/goalpoint_1gpu/20260224_002002.log b/DriveTransformer/goalpoint_1gpu/20260224_002002.log new file mode 100644 index 0000000000000000000000000000000000000000..3a69617226ad8380fd9c0adc6484610641caa29b --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260224_002002.log @@ -0,0 +1,4120 @@ +2026-02-24 00:20:18,637 - mmdet - INFO - initialize ResNet with init_cfg {'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} +2026-02-24 00:20:19,334 - mmdet - INFO - initialize FPN with init_cfg {'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} +Name of parameter - Initialization information + +pts_bbox_head.code_weights - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_code_weights - torch.Size([4]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.position_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.pc_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_query.weight - torch.Size([900, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_reference_points.weight - torch.Size([900, 3]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.weight - torch.Size([512, 9]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.weight - torch.Size([512, 768]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.mode_embedding.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_query.weight - torch.Size([100, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_reference_points.weight - torch.Size([100, 2]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.weight - torch.Size([512, 6]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.weight - torch.Size([512, 141]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.weight - torch.Size([512, 1920]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.weight - torch.Size([512, 640]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.featurized_pe.reduce.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.spatial_alignment.reduce.0.weight - torch.Size([512, 8]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.time_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.weight - torch.Size([512, 192]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_pose_memory.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cro2026-02-24 00:20:19,392 - DriveTransformer - INFO - Model: +DriveTransformer( + (pts_bbox_head): DriveTransformerlHead( + (loss_cls): FocalLoss() + (loss_bbox): L1Loss() + (loss_traj): L1Loss() + (loss_traj_cls): FocalLoss() + (loss_map_cls): FocalLoss() + (loss_map_pts): PtsL1Loss() + (loss_map_dir): PtsDirCosLoss() + (loss_plan_reg_fix_dist): L1Loss() + (loss_plan_reg_fix_time): L1Loss() + (loss_plan_cls): FocalLoss() + (agent_query): Embedding(900, 512) + (agent_reference_points): Embedding(900, 3) + (agent_cls_embedding): Sequential( + (0): Linear(in_features=9, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (agent_ref_embedding): Sequential( + (0): Linear(in_features=768, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (mode_embedding): Embedding(6, 512) + (map_query): Embedding(100, 512) + (map_reference_points): Embedding(100, 2) + (map_cls_embedding): Sequential( + (0): Linear(in_features=6, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (map_ref_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_lcf_encoder): Sequential( + (0): Linear(in_features=141, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_time_embedding): Sequential( + (0): Linear(in_features=1920, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_dist_embedding): Sequential( + (0): Linear(in_features=640, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (featurized_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (spatial_alignment): MLN( + (reduce): Sequential( + (0): Linear(in_features=8, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (time_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (img_position_encoder): Sequential( + (0): Linear(in_features=192, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_pose_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (ego_pose_memory): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (agent_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (map_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (transformer): DriveTransformerWrapper( + (decoder): DriveTransformerDecoder( + (layers): ModuleList( + (0-5): 6 x DriveTransformerDecoderLayer( + (task_self_attentions): ModuleList( + (0): AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (temporal_cross_attention_layers): ModuleList( + (0-2): 3 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (sensor_cross_attentions): ModuleList( + (0): AttentionLayer( + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (cross_w_q): ModuleList( + (0-2): 3 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + ) + (ffns): ModuleList( + (0): ModuleList( + (0-2): 3 x SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + ) + ) + (cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=9, bias=False) + ) + ) + (reg_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=10, bias=True) + ) + ) + (traj_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=12, bias=True) + ) + ) + (traj_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (6): Linear(in_features=512, out_features=1, bias=False) + ) + ) + (map_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=6, bias=False) + ) + ) + (map_reg_branches): ModuleList( + (0-5): 6 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=2, bias=True) + ) + (6): Linear(in_features=512, out_features=40, bias=True) + ) + (ego_traj_branches_fix_dist): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=20, bias=True) + ) + ) + (ego_traj_branches_fix_time): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=60, bias=True) + ) + ) + ) + (img_backbone): ResNet( + (conv1): Conv2d(3, 64, kernel_size=(7, 7), stride=(2, 2), padding=(3, 3), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (maxpool): MaxPool2d(kernel_size=3, stride=2, padding=1, dilation=1, ceil_mode=False) + (layer1): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(64, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer2): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(256, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(256, 512, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer3): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(512, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(512, 1024, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (4): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (5): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer4): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(1024, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(1024, 2048, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + ) + init_cfg={'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} + (img_neck): FPN( + (lateral_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1)) + ) + ) + (fpn_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) + ) + ) + ) + init_cfg={'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} + (grid_mask): GridMask() +) +2026-02-24 00:20:19,969 - DriveTransformer - INFO - Start running, host: humble@ysh-4090, work_dir: /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu +2026-02-24 00:20:19,969 - DriveTransformer - INFO - Hooks will be executed in the following order: +before_run: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_epoch: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_iter: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook + -------------------- +after_train_iter: +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +after_train_epoch: +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_val_epoch: +(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 + -------------------- +2026-02-24 00:20:19,969 - DriveTransformer - INFO - workflow: [('train', 1)], max: 60 epochs +2026-02-24 00:20:19,971 - DriveTransformer - INFO - Checkpoints will be saved to /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu by HardDiskBackend. +lue is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.6.weight - torch.Size([40, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.6.bias - torch.Size([40]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +img_backbone.conv1.weight - torch.Size([64, 3, 7, 7]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv1.weight - torch.Size([64, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.0.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv1.weight - torch.Size([64, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv1.weight - torch.Size([64, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv1.weight - torch.Size([128, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.0.weight - torch.Size([512, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv1.weight - torch.Size([256, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.0.weight - torch.Size([1024, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.1.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.1.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + 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1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + 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torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv1.weight - torch.Size([512, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.0.weight - torch.Size([2048, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.1.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.1.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv1.weight - torch.Size([512, 2048, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv1.weight - torch.Size([512, 2048, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_neck.lateral_convs.0.conv.weight - torch.Size([512, 2048, 1, 1]): +XavierInit: gain=1, distribution=uniform, bias=0 + +img_neck.lateral_convs.0.conv.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +img_neck.fpn_convs.0.conv.weight - torch.Size([512, 512, 3, 3]): +XavierInit: gain=1, distribution=uniform, bias=0 + +img_neck.fpn_convs.0.conv.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer diff --git a/DriveTransformer/goalpoint_1gpu/20260224_002002.log.json b/DriveTransformer/goalpoint_1gpu/20260224_002002.log.json new file mode 100644 index 0000000000000000000000000000000000000000..afe16db944be10ebca5542f946bf99b36919d18d --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260224_002002.log.json @@ -0,0 +1 @@ +{"env_info": "MMCV: 0.0.1", "config": "point_cloud_range = [-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]\nclass_names = [\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n]\ndataset_type = 'B2D_DriveTransformer_GoalPoint_Dataset'\ndata_root = 'data/bench2drive'\ninput_modality = dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True)\nfile_client_args = dict(backend='disk')\ntrain_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\ntest_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\neval_pipeline = [\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone', 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n]\ndata = dict(\n samples_per_gpu=2,\n workers_per_gpu=8,\n train=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=False,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n sub_seq_lenth=-1,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n val=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_root='data/bench2drive',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n test=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n shuffler_sampler=dict(type='InfiniteGroupEachSampleInBatchSampler'),\n nonshuffler_sampler=dict(type='DistributedSampler'))\nevaluation = dict(\n interval=24,\n pipeline=[\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone',\n 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n ])\ncheckpoint_config = dict(interval=1)\nlog_config = dict(\n interval=50,\n hooks=[dict(type='TextLoggerHook'),\n dict(type='TensorboardLoggerHook')])\ndist_params = dict(backend='nccl')\nlog_level = 'INFO'\nwork_dir = './work_dirs/drivetransformer_goalpoint_1gpu'\nload_from = None\nresume_from = None\nworkflow = [('train', 1)]\nplugin = True\nplugin_dir = 'adzoo/drivetransformer/mmdet3d_plugin/'\nvoxel_size = [0.15, 0.15, 4]\nimg_norm_cfg = dict(\n mean=[123.675, 116.28, 103.53], std=[58.395, 57.12, 57.375], to_rgb=True)\nNameMapping = dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n})\ncollect_keys = [\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', 'ego_pose',\n 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n]\nnum_classes = 9\nmap_classes = [\n 'Broken', 'Solid', 'SolidSolid', 'Center', 'TrafficLight', 'StopSign'\n]\nmap_fixed_ptsnum_per_gt_line = 20\nmap_fixed_ptsnum_per_pred_line = 20\nmap_eval_use_same_gt_sample_num_flag = True\nmap_num_classes = 6\nagent_query_num_vec = 900\nagent_num_topk_sift = 900\nagent_num_propagated = 50\nmap_query_num_vec = 100\nmap_num_topk_sift = 100\nmap_num_propagated = 50\nmemory_len_frame = 10\nnum_mode = 6\nnum_gpus = 1\nbatch_size = 2\nnum_iters_per_epoch = 1041\ndata_aug_conf = dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0])\n_dim_ = 512\nqueue_length = 1\ntotal_epochs = 60\ndropout = 0.1\nmodel = dict(\n type='DriveTransformer',\n use_grid_mask=False,\n pretrained=dict(img='./ckpts/resnet50-19c8e357.pth'),\n img_backbone=dict(\n type='ResNet',\n depth=50,\n num_stages=4,\n out_indices=(3, ),\n frozen_stages=1,\n norm_cfg=dict(type='BN', requires_grad=False),\n norm_eval=True,\n style='pytorch'),\n img_neck=dict(\n type='FPN',\n in_channels=[2048],\n out_channels=512,\n start_level=0,\n add_extra_convs='on_output',\n num_outs=1,\n relu_before_extra_convs=True),\n pts_bbox_head=dict(\n type='DriveTransformerlHead',\n ego_lcf_feat_idx=[0, 1, 2, 3, 4, 5, 6, 7, 8],\n ego_command_dim=128,\n img_stride=32,\n embed_dims=512,\n num_reg_fcs=2,\n num_cls_fcs=2,\n agent_num_propagated=50,\n map_num_propagated=50,\n memory_len_frame=10,\n agent_num_query=900,\n agent_num_query_sifted=900,\n fut_mode=6,\n fut_ego_mode=1,\n fut_ts=6,\n fut_ego_fix_dist=True,\n fut_ts_ego_fix_dist=20,\n fut_ts_ego_fix_time=30,\n num_classes=9,\n code_size=10,\n map_num_query=100,\n map_num_query_sifted=100,\n map_num_classes=6,\n map_num_pts_per_vec=20,\n map_num_pts_per_gt_vec=20,\n map_query_embed_type='instance_pts',\n map_transform_method='minmax',\n map_gt_shift_pts_pattern='v2',\n map_dir_interval=1,\n map_code_size=2,\n map_code_weights=[1.0, 1.0, 1.0, 1.0],\n sync_cls_avg_factor=True,\n with_box_refine=True,\n LID=True,\n with_ego_pos=True,\n position_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n depth_start=1,\n depth_step=0.8,\n depth_num=64,\n agent_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n map_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n transformer=dict(\n type='DriveTransformerWrapper',\n embed_dims=512,\n decoder=dict(\n type='DriveTransformerDecoder',\n num_layers=6,\n fut_mode=6,\n agent_num_query=900,\n map_num_query=100,\n map_num_pts_per_vec=20,\n return_intermediate=True,\n embed_dims=512,\n refine=True,\n transformerlayers=dict(\n type='DriveTransformerDecoderLayer',\n agent_query_num=900,\n map_query_num=100,\n memory_len_frame=10,\n agent_num_propagated=50,\n map_num_propagated=50,\n map_pts_per_vec=20,\n feedforward_channels=2048,\n ffn_dropout=0.1,\n with_cp=False,\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n no_wq=True)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n operation_order=('task_self_attn', 'norm',\n 'temporal_cross_attn', 'norm',\n 'sensor_cross_attn', 'norm', 'ffn',\n 'norm')))),\n bbox_coder=dict(\n type='CustomNMSFreeCoder',\n post_center_range=[-20, -35, -10.0, 20, 35, 10.0],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=100,\n voxel_size=[0.15, 0.15, 4],\n num_classes=9),\n loss_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_bbox=dict(type='L1Loss', loss_weight=0.25),\n loss_traj=dict(type='L1Loss', loss_weight=0.2),\n loss_traj_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.5,\n loss_weight=0.2),\n map_bbox_coder=dict(\n type='MapNMSFreeCoder',\n post_center_range=[-20, -35, -20, -35, 20, 35, 20, 35],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=50,\n voxel_size=[0.15, 0.15, 4],\n num_classes=6),\n loss_map_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_map_pts=dict(type='PtsL1Loss', loss_weight=1.0),\n loss_map_dir=dict(type='PtsDirCosLoss', loss_weight=0.005),\n loss_plan_reg_fix_time=dict(type='L1Loss', loss_weight=3.5),\n loss_plan_reg_fix_dist=dict(type='L1Loss', loss_weight=10.0),\n loss_plan_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=4.0,\n alpha=0.5,\n loss_weight=20.0)),\n train_cfg=dict(\n pts=dict(\n grid_size=[512, 512, 1],\n voxel_size=[0.15, 0.15, 4],\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n out_size_factor=4,\n assigner=dict(\n type='HungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(type='BBox3DL1Cost', weight=0.25),\n iou_cost=dict(type='IoUCost', weight=0.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n map_assigner=dict(\n type='MapHungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(\n type='BBoxL1Cost', weight=0.0, box_format='xywh'),\n iou_cost=dict(type='IoUCost', iou_mode='giou', weight=0.0),\n pts_cost=dict(type='OrderedPtsL1Cost', weight=1.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]))))\ninfo_root = 'data/infos'\nmap_root = 'data/bench2drive/maps'\nmap_file = 'data/infos/b2d_map_infos.pkl'\nann_file_train = 'data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl'\nann_file_val = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\nann_file_test = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\noptimizer = dict(type='AdamW', lr=0.0001, weight_decay=0.01)\noptimizer_config = dict(\n grad_clip=dict(max_norm=35, norm_type=2),\n type='GradientCumulativeFp16OptimizerHook',\n cumulative_iters=96)\nlr_config = dict(\n policy='CosineAnnealing',\n warmup='linear',\n warmup_iters=1000,\n warmup_ratio=0.1,\n min_lr_ratio=0.01)\nrunner = dict(type='EpochBasedRunner', max_epochs=60)\nfp16 = dict(loss_scale=512.0)\nfind_unused_parameters = True\ncustom_hooks = [dict(type='CustomSetEpochInfoHook')]\ncumulative_iters = 96\ngpu_ids = range(0, 1)\n", "seed": 0, "exp_name": "drivetransformer_goalpoint_1gpu.py"} diff --git a/DriveTransformer/goalpoint_1gpu/20260224_002248.log b/DriveTransformer/goalpoint_1gpu/20260224_002248.log new file mode 100644 index 0000000000000000000000000000000000000000..24d3d99bae4e0461e5f4f2bfca1ae14d860857c3 --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260224_002248.log @@ -0,0 +1,3910 @@ +2026-02-24 00:22:57,145 - mmdet - INFO - initialize ResNet with init_cfg {'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} +2026-02-24 00:22:57,309 - mmdet - INFO - initialize FPN with init_cfg {'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} +Name of parameter - Initialization information + +pts_bbox_head.code_weights - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_code_weights - torch.Size([4]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.position_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.pc_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_query.weight - torch.Size([900, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_reference_points.weight - torch.Size([900, 3]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.weight - torch.Size([512, 9]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.weight - torch.Size([512, 768]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.mode_embedding.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_query.weight - torch.Size([100, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_reference_points.weight - torch.Size([100, 2]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.weight - torch.Size([512, 6]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.weight - torch.Size([512, 141]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.weight - torch.Size([512, 1920]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.weight - torch.Size([512, 640]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.featurized_pe.reduce.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.spatial_alignment.reduce.0.weight - torch.Size([512, 8]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.time_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.weight - torch.Size([512, 192]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_pose_memory.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cro2026-02-24 00:22:57,332 - DriveTransformer - INFO - Model: +DriveTransformer( + (pts_bbox_head): DriveTransformerlHead( + (loss_cls): FocalLoss() + (loss_bbox): L1Loss() + (loss_traj): L1Loss() + (loss_traj_cls): FocalLoss() + (loss_map_cls): FocalLoss() + (loss_map_pts): PtsL1Loss() + (loss_map_dir): PtsDirCosLoss() + (loss_plan_reg_fix_dist): L1Loss() + (loss_plan_reg_fix_time): L1Loss() + (loss_plan_cls): FocalLoss() + (agent_query): Embedding(900, 512) + (agent_reference_points): Embedding(900, 3) + (agent_cls_embedding): Sequential( + (0): Linear(in_features=9, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (agent_ref_embedding): Sequential( + (0): Linear(in_features=768, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (mode_embedding): Embedding(6, 512) + (map_query): Embedding(100, 512) + (map_reference_points): Embedding(100, 2) + (map_cls_embedding): Sequential( + (0): Linear(in_features=6, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (map_ref_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_lcf_encoder): Sequential( + (0): Linear(in_features=141, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_time_embedding): Sequential( + (0): Linear(in_features=1920, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_dist_embedding): Sequential( + (0): Linear(in_features=640, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (featurized_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (spatial_alignment): MLN( + (reduce): Sequential( + (0): Linear(in_features=8, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (time_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (img_position_encoder): Sequential( + (0): Linear(in_features=192, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_pose_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (ego_pose_memory): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (agent_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (map_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (transformer): DriveTransformerWrapper( + (decoder): DriveTransformerDecoder( + (layers): ModuleList( + (0-5): 6 x DriveTransformerDecoderLayer( + (task_self_attentions): ModuleList( + (0): AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (temporal_cross_attention_layers): ModuleList( + (0-2): 3 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (sensor_cross_attentions): ModuleList( + (0): AttentionLayer( + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (cross_w_q): ModuleList( + (0-2): 3 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + ) + (ffns): ModuleList( + (0): ModuleList( + (0-2): 3 x SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + ) + ) + (cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=9, bias=False) + ) + ) + (reg_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=10, bias=True) + ) + ) + (traj_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=12, bias=True) + ) + ) + (traj_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (6): Linear(in_features=512, out_features=1, bias=False) + ) + ) + (map_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=6, bias=False) + ) + ) + (map_reg_branches): ModuleList( + (0-5): 6 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=2, bias=True) + ) + (6): Linear(in_features=512, out_features=40, bias=True) + ) + (ego_traj_branches_fix_dist): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=20, bias=True) + ) + ) + (ego_traj_branches_fix_time): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=60, bias=True) + ) + ) + ) + (img_backbone): ResNet( + (conv1): Conv2d(3, 64, kernel_size=(7, 7), stride=(2, 2), padding=(3, 3), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (maxpool): MaxPool2d(kernel_size=3, stride=2, padding=1, dilation=1, ceil_mode=False) + (layer1): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(64, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer2): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(256, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(256, 512, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer3): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(512, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(512, 1024, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (4): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (5): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer4): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(1024, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(1024, 2048, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + ) + init_cfg={'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} + (img_neck): FPN( + (lateral_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1)) + ) + ) + (fpn_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) + ) + ) + ) + init_cfg={'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} + (grid_mask): GridMask() +) +2026-02-24 00:22:57,522 - DriveTransformer - INFO - Start running, host: humble@ysh-4090, work_dir: /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu +2026-02-24 00:22:57,522 - DriveTransformer - INFO - Hooks will be executed in the following order: +before_run: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_epoch: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_iter: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook + -------------------- +after_train_iter: +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +after_train_epoch: +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_val_epoch: +(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 + -------------------- +2026-02-24 00:22:57,523 - DriveTransformer - INFO - workflow: [('train', 1)], max: 60 epochs +2026-02-24 00:22:57,524 - DriveTransformer - INFO - Checkpoints will be saved to /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu by HardDiskBackend. +2026-02-24 00:23:02,624 - DriveTransformer - WARNING - GradientCumulativeOptimizerHook may slightly decrease performance if the model has BatchNorm layers. +2026-02-24 00:23:19,808 - DriveTransformer - INFO - Epoch [1][50/117620] lr: 1.441e-05, eta: 36 days, 7:44:39, time: 0.445, data_time: 0.095, memory: 7284, loss_cls: 657.0177, loss_bbox: 1.7126, loss_traj: 4.0331, loss_traj_cls: 0.0986, loss_map_cls: 9.2025, loss_map_pts: 5.1980, loss_map_dir: 0.0946, d0.loss_plan_l1_fix_time: 9.3064, d0.loss_plan_l1_fix_dist: 3.1385, d1.loss_plan_l1_fix_time: 9.7504, d1.loss_plan_l1_fix_dist: 4.0820, d2.loss_plan_l1_fix_time: 10.2569, d2.loss_plan_l1_fix_dist: 5.5467, d3.loss_plan_l1_fix_time: 10.8451, d3.loss_plan_l1_fix_dist: 7.2853, d4.loss_plan_l1_fix_time: 11.3784, d4.loss_plan_l1_fix_dist: 9.8207, d5.loss_plan_l1_fix_time: 11.9745, d5.loss_plan_l1_fix_dist: 12.4756, d6.loss_plan_l1_fix_time: 12.5522, d6.loss_plan_l1_fix_dist: 14.9600, d0.loss_cls_all: 450.4785, d0.loss_bbox_all: 1.6361, d0.loss_cls: 450.4785, d0.loss_bbox: 1.6361, d1.loss_cls: 498.7639, d1.loss_bbox: 1.6127, d2.loss_cls: 493.9947, d2.loss_bbox: 1.6771, d3.loss_cls: 564.4796, d3.loss_bbox: 1.6715, d4.loss_cls: 529.9633, d4.loss_bbox: 1.6285, d5.loss_cls: 598.1542, d5.loss_bbox: 1.7129, d0.loss_traj_cls: 0.0725, d0.loss_traj: 4.0100, d1.loss_traj_cls: 0.0616, d1.loss_traj: 4.0386, d2.loss_traj_cls: 0.0645, d2.loss_traj: 4.1268, d3.loss_traj_cls: 0.1104, d3.loss_traj: 4.0976, d4.loss_traj_cls: 0.0551, d4.loss_traj: 3.9702, d5.loss_traj_cls: 0.0604, d5.loss_traj: 4.0178, d0.loss_map_cls_all: 6.9678, d0.loss_map_pts_all: 4.8605, d0.loss_map_dir_all: 0.0948, d0.loss_map_cls: 6.9678, d0.loss_map_pts: 4.8605, d0.loss_map_dir: 0.0948, d1.loss_map_cls: 6.2881, d1.loss_map_pts: 4.8943, d1.loss_map_dir: 0.0946, d2.loss_map_cls: 6.9919, d2.loss_map_pts: 4.9406, d2.loss_map_dir: 0.0943, d3.loss_map_cls: 9.5294, d3.loss_map_pts: 4.9800, d3.loss_map_dir: 0.0945, d4.loss_map_cls: 9.5364, d4.loss_map_pts: 5.0468, d4.loss_map_dir: 0.0946, d5.loss_map_cls: 9.5420, d5.loss_map_pts: 5.1216, d5.loss_map_dir: 0.0947, loss: 4524.4928 +2026-02-24 00:23:36,759 - DriveTransformer - INFO - Epoch [1][100/117620] lr: 1.891e-05, eta: 32 days, 0:12:56, time: 0.339, data_time: 0.015, memory: 8383, loss_cls: 626.4416, loss_bbox: 1.5986, loss_traj: 6.4412, loss_traj_cls: 0.0977, loss_map_cls: 10.3471, loss_map_pts: 5.7189, loss_map_dir: 0.0949, d0.loss_plan_l1_fix_time: 12.7941, d0.loss_plan_l1_fix_dist: 3.4560, d1.loss_plan_l1_fix_time: 13.1416, d1.loss_plan_l1_fix_dist: 4.5200, d2.loss_plan_l1_fix_time: 13.5316, d2.loss_plan_l1_fix_dist: 6.3581, d3.loss_plan_l1_fix_time: 14.0300, d3.loss_plan_l1_fix_dist: 8.3249, d4.loss_plan_l1_fix_time: 14.4851, d4.loss_plan_l1_fix_dist: 11.1415, d5.loss_plan_l1_fix_time: 15.0075, d5.loss_plan_l1_fix_dist: 14.0320, d6.loss_plan_l1_fix_time: 15.4971, d6.loss_plan_l1_fix_dist: 16.7319, d0.loss_cls_all: 439.3890, d0.loss_bbox_all: 1.5691, d0.loss_cls: 439.3890, d0.loss_bbox: 1.5691, d1.loss_cls: 475.7492, d1.loss_bbox: 1.5340, d2.loss_cls: 472.1059, d2.loss_bbox: 1.6203, d3.loss_cls: 534.0959, d3.loss_bbox: 1.6085, d4.loss_cls: 507.8103, d4.loss_bbox: 1.5102, d5.loss_cls: 568.9093, d5.loss_bbox: 1.6094, d0.loss_traj_cls: 0.0739, d0.loss_traj: 6.4161, d1.loss_traj_cls: 0.0622, d1.loss_traj: 6.4786, d2.loss_traj_cls: 0.0639, d2.loss_traj: 6.5505, d3.loss_traj_cls: 0.1072, d3.loss_traj: 6.4955, d4.loss_traj_cls: 0.0534, d4.loss_traj: 6.4070, d5.loss_traj_cls: 0.0578, d5.loss_traj: 6.4554, d0.loss_map_cls_all: 7.8838, d0.loss_map_pts_all: 5.4573, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 7.8838, d0.loss_map_pts: 5.4573, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 7.5399, d1.loss_map_pts: 5.4801, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 8.0800, d2.loss_map_pts: 5.5107, d2.loss_map_dir: 0.0949, d3.loss_map_cls: 10.8225, d3.loss_map_pts: 5.5467, d3.loss_map_dir: 0.0949, d4.loss_map_cls: 10.6928, d4.loss_map_pts: 5.6095, d4.loss_map_dir: 0.0949, d5.loss_map_cls: 10.5945, d5.loss_map_pts: 5.6656, d5.loss_map_dir: 0.0949, loss: 4404.3711, grad_norm: 60564.4219 +2026-02-24 00:23:53,137 - DriveTransformer - INFO - Epoch [1][150/117620] lr: 2.341e-05, eta: 30 days, 6:11:01, time: 0.328, data_time: 0.013, memory: 8386, loss_cls: 304.1928, loss_bbox: 1.9153, loss_traj: 5.3777, loss_traj_cls: 0.0796, loss_map_cls: 10.8687, loss_map_pts: 5.5582, loss_map_dir: 0.0954, d0.loss_plan_l1_fix_time: 11.5006, d0.loss_plan_l1_fix_dist: 3.2705, d1.loss_plan_l1_fix_time: 11.8258, d1.loss_plan_l1_fix_dist: 4.1176, d2.loss_plan_l1_fix_time: 12.2163, d2.loss_plan_l1_fix_dist: 5.5551, d3.loss_plan_l1_fix_time: 12.7129, d3.loss_plan_l1_fix_dist: 7.1501, d4.loss_plan_l1_fix_time: 13.1408, d4.loss_plan_l1_fix_dist: 9.1854, d5.loss_plan_l1_fix_time: 13.6123, d5.loss_plan_l1_fix_dist: 11.1148, d6.loss_plan_l1_fix_time: 14.0798, d6.loss_plan_l1_fix_dist: 12.9509, d0.loss_cls_all: 273.0273, d0.loss_bbox_all: 1.5982, d0.loss_cls: 273.0273, d0.loss_bbox: 1.5982, d1.loss_cls: 283.4766, d1.loss_bbox: 1.5695, d2.loss_cls: 251.1055, d2.loss_bbox: 1.6338, d3.loss_cls: 261.5277, d3.loss_bbox: 1.6314, d4.loss_cls: 239.7147, d4.loss_bbox: 1.6923, d5.loss_cls: 278.1224, d5.loss_bbox: 1.8731, d0.loss_traj_cls: 0.0615, d0.loss_traj: 5.2645, d1.loss_traj_cls: 0.0470, d1.loss_traj: 5.3894, d2.loss_traj_cls: 0.0434, d2.loss_traj: 5.4401, d3.loss_traj_cls: 0.0905, d3.loss_traj: 5.4116, d4.loss_traj_cls: 0.0426, d4.loss_traj: 5.3368, d5.loss_traj_cls: 0.0517, d5.loss_traj: 5.3931, d0.loss_map_cls_all: 8.0539, d0.loss_map_pts_all: 5.2660, d0.loss_map_dir_all: 0.0955, d0.loss_map_cls: 8.0539, d0.loss_map_pts: 5.2660, d0.loss_map_dir: 0.0955, d1.loss_map_cls: 7.6628, d1.loss_map_pts: 5.3053, d1.loss_map_dir: 0.0952, d2.loss_map_cls: 8.3485, d2.loss_map_pts: 5.3479, d2.loss_map_dir: 0.0951, d3.loss_map_cls: 11.9259, d3.loss_map_pts: 5.3765, d3.loss_map_dir: 0.0952, d4.loss_map_cls: 11.4623, d4.loss_map_pts: 5.4331, d4.loss_map_dir: 0.0954, d5.loss_map_cls: 11.3644, d5.loss_map_pts: 5.4940, d5.loss_map_dir: 0.0953, loss: 2479.7188, grad_norm: 60564.4219 +2026-02-24 00:24:10,359 - DriveTransformer - INFO - Epoch [1][200/117620] lr: 2.791e-05, eta: 29 days, 17:26:29, time: 0.344, data_time: 0.013, memory: 8387, loss_cls: 279.1762, loss_bbox: 1.8884, loss_traj: 5.5597, loss_traj_cls: 0.0761, loss_map_cls: 8.8528, loss_map_pts: 5.3319, loss_map_dir: 0.0957, d0.loss_plan_l1_fix_time: 12.1688, d0.loss_plan_l1_fix_dist: 3.2580, d1.loss_plan_l1_fix_time: 12.4261, d1.loss_plan_l1_fix_dist: 3.9923, d2.loss_plan_l1_fix_time: 12.7427, d2.loss_plan_l1_fix_dist: 5.3855, d3.loss_plan_l1_fix_time: 13.1550, d3.loss_plan_l1_fix_dist: 6.8306, d4.loss_plan_l1_fix_time: 13.5195, d4.loss_plan_l1_fix_dist: 8.6929, d5.loss_plan_l1_fix_time: 13.9350, d5.loss_plan_l1_fix_dist: 10.4230, d6.loss_plan_l1_fix_time: 14.3541, d6.loss_plan_l1_fix_dist: 12.0629, d0.loss_cls_all: 255.7245, d0.loss_bbox_all: 1.5567, d0.loss_cls: 255.7245, d0.loss_bbox: 1.5567, d1.loss_cls: 264.1562, d1.loss_bbox: 1.5163, d2.loss_cls: 229.5229, d2.loss_bbox: 1.5775, d3.loss_cls: 236.7518, d3.loss_bbox: 1.5671, d4.loss_cls: 217.6643, d4.loss_bbox: 1.6270, d5.loss_cls: 255.2797, d5.loss_bbox: 1.8376, d0.loss_traj_cls: 0.0590, d0.loss_traj: 5.4155, d1.loss_traj_cls: 0.0459, d1.loss_traj: 5.5546, d2.loss_traj_cls: 0.0429, d2.loss_traj: 5.6045, d3.loss_traj_cls: 0.0876, d3.loss_traj: 5.5847, d4.loss_traj_cls: 0.0423, d4.loss_traj: 5.5242, d5.loss_traj_cls: 0.0488, d5.loss_traj: 5.5795, d0.loss_map_cls_all: 6.6890, d0.loss_map_pts_all: 5.1565, d0.loss_map_dir_all: 0.0953, d0.loss_map_cls: 6.6890, d0.loss_map_pts: 5.1565, d0.loss_map_dir: 0.0953, d1.loss_map_cls: 6.3891, d1.loss_map_pts: 5.1763, d1.loss_map_dir: 0.0951, d2.loss_map_cls: 6.9016, d2.loss_map_pts: 5.1947, d2.loss_map_dir: 0.0953, d3.loss_map_cls: 9.8604, d3.loss_map_pts: 5.2114, d3.loss_map_dir: 0.0954, d4.loss_map_cls: 9.3907, d4.loss_map_pts: 5.2462, d4.loss_map_dir: 0.0955, d5.loss_map_cls: 9.3588, d5.loss_map_pts: 5.2920, d5.loss_map_dir: 0.0956, loss: 2295.9592, grad_norm: 46417.1729 +2026-02-24 00:24:28,009 - DriveTransformer - INFO - Epoch [1][250/117620] lr: 3.241e-05, eta: 29 days, 13:07:12, time: 0.353, data_time: 0.014, memory: 8387, loss_cls: 118.8169, loss_bbox: 1.8936, loss_traj: 5.4645, loss_traj_cls: 0.0642, loss_map_cls: 8.7058, loss_map_pts: 5.4567, loss_map_dir: 0.0961, d0.loss_plan_l1_fix_time: 10.5593, d0.loss_plan_l1_fix_dist: 3.1677, d1.loss_plan_l1_fix_time: 10.7962, d1.loss_plan_l1_fix_dist: 3.6671, d2.loss_plan_l1_fix_time: 11.1036, d2.loss_plan_l1_fix_dist: 4.9683, d3.loss_plan_l1_fix_time: 11.4938, d3.loss_plan_l1_fix_dist: 6.4386, d4.loss_plan_l1_fix_time: 11.8637, d4.loss_plan_l1_fix_dist: 8.0710, d5.loss_plan_l1_fix_time: 12.2551, d5.loss_plan_l1_fix_dist: 9.4104, d6.loss_plan_l1_fix_time: 12.6721, d6.loss_plan_l1_fix_dist: 10.2254, d0.loss_cls_all: 150.2025, d0.loss_bbox_all: 1.5651, d0.loss_cls: 150.2025, d0.loss_bbox: 1.5651, d1.loss_cls: 137.1903, d1.loss_bbox: 1.6234, d2.loss_cls: 104.6181, d2.loss_bbox: 1.6663, d3.loss_cls: 98.3563, d3.loss_bbox: 1.5951, d4.loss_cls: 95.7674, d4.loss_bbox: 1.6881, d5.loss_cls: 115.2424, d5.loss_bbox: 1.8500, d0.loss_traj_cls: 0.0486, d0.loss_traj: 5.2743, d1.loss_traj_cls: 0.0328, d1.loss_traj: 5.4563, d2.loss_traj_cls: 0.0304, d2.loss_traj: 5.4446, d3.loss_traj_cls: 0.0612, d3.loss_traj: 5.4703, d4.loss_traj_cls: 0.0284, d4.loss_traj: 5.4345, d5.loss_traj_cls: 0.0370, d5.loss_traj: 5.5049, d0.loss_map_cls_all: 6.6488, d0.loss_map_pts_all: 5.2697, d0.loss_map_dir_all: 0.0960, d0.loss_map_cls: 6.6488, d0.loss_map_pts: 5.2697, d0.loss_map_dir: 0.0960, d1.loss_map_cls: 6.7332, d1.loss_map_pts: 5.3024, d1.loss_map_dir: 0.0960, d2.loss_map_cls: 7.3017, d2.loss_map_pts: 5.3332, d2.loss_map_dir: 0.0961, d3.loss_map_cls: 10.3285, d3.loss_map_pts: 5.3417, d3.loss_map_dir: 0.0960, d4.loss_map_cls: 9.6058, d4.loss_map_pts: 5.3704, d4.loss_map_dir: 0.0961, d5.loss_map_cls: 9.3638, d5.loss_map_pts: 5.4062, d5.loss_map_dir: 0.0962, loss: 1257.7421, grad_norm: 46417.1729 +2026-02-24 00:24:45,194 - DriveTransformer - INFO - Epoch [1][300/117620] lr: 3.691e-05, eta: 29 days, 7:12:24, time: 0.344, data_time: 0.015, memory: 8387, loss_cls: 93.3831, loss_bbox: 1.8155, loss_traj: 5.7053, loss_traj_cls: 0.0670, loss_map_cls: 7.5692, loss_map_pts: 5.4962, loss_map_dir: 0.0961, d0.loss_plan_l1_fix_time: 11.1261, d0.loss_plan_l1_fix_dist: 3.1712, d1.loss_plan_l1_fix_time: 11.3548, d1.loss_plan_l1_fix_dist: 3.6293, d2.loss_plan_l1_fix_time: 11.6502, d2.loss_plan_l1_fix_dist: 4.9077, d3.loss_plan_l1_fix_time: 12.0447, d3.loss_plan_l1_fix_dist: 6.2633, d4.loss_plan_l1_fix_time: 12.4407, d4.loss_plan_l1_fix_dist: 7.6794, d5.loss_plan_l1_fix_time: 12.8455, d5.loss_plan_l1_fix_dist: 8.9216, d6.loss_plan_l1_fix_time: 13.2653, d6.loss_plan_l1_fix_dist: 9.5952, d0.loss_cls_all: 118.9586, d0.loss_bbox_all: 1.5416, d0.loss_cls: 118.9586, d0.loss_bbox: 1.5416, d1.loss_cls: 105.8365, d1.loss_bbox: 1.6264, d2.loss_cls: 79.5668, d2.loss_bbox: 1.6417, d3.loss_cls: 76.0477, d3.loss_bbox: 1.5707, d4.loss_cls: 74.7356, d4.loss_bbox: 1.6662, d5.loss_cls: 89.5743, d5.loss_bbox: 1.7890, d0.loss_traj_cls: 0.0447, d0.loss_traj: 5.5213, d1.loss_traj_cls: 0.0313, d1.loss_traj: 5.6863, d2.loss_traj_cls: 0.0298, d2.loss_traj: 5.6658, d3.loss_traj_cls: 0.0604, d3.loss_traj: 5.6946, d4.loss_traj_cls: 0.0286, d4.loss_traj: 5.6692, d5.loss_traj_cls: 0.0370, d5.loss_traj: 5.7458, d0.loss_map_cls_all: 6.1971, d0.loss_map_pts_all: 5.3954, d0.loss_map_dir_all: 0.0962, d0.loss_map_cls: 6.1971, d0.loss_map_pts: 5.3954, d0.loss_map_dir: 0.0962, d1.loss_map_cls: 6.2696, d1.loss_map_pts: 5.4140, d1.loss_map_dir: 0.0960, d2.loss_map_cls: 6.6786, d2.loss_map_pts: 5.4292, d2.loss_map_dir: 0.0960, d3.loss_map_cls: 9.2352, d3.loss_map_pts: 5.4321, d3.loss_map_dir: 0.0961, d4.loss_map_cls: 8.5333, d4.loss_map_pts: 5.4466, d4.loss_map_dir: 0.0962, d5.loss_map_cls: 8.2351, d5.loss_map_pts: 5.4689, d5.loss_map_dir: 0.0962, loss: 1042.2982, grad_norm: 35614.2878 +2026-02-24 00:25:01,994 - DriveTransformer - INFO - Epoch [1][350/117620] lr: 4.141e-05, eta: 29 days, 0:49:14, time: 0.336, data_time: 0.018, memory: 8387, loss_cls: 33.6001, loss_bbox: 1.6437, loss_traj: 6.5623, loss_traj_cls: 0.0436, loss_map_cls: 4.9871, loss_map_pts: 5.2634, loss_map_dir: 0.0977, d0.loss_plan_l1_fix_time: 12.7415, d0.loss_plan_l1_fix_dist: 3.2508, d1.loss_plan_l1_fix_time: 12.9101, d1.loss_plan_l1_fix_dist: 3.4679, d2.loss_plan_l1_fix_time: 13.1505, d2.loss_plan_l1_fix_dist: 4.6440, d3.loss_plan_l1_fix_time: 13.5102, d3.loss_plan_l1_fix_dist: 5.7555, d4.loss_plan_l1_fix_time: 13.9528, d4.loss_plan_l1_fix_dist: 6.9446, d5.loss_plan_l1_fix_time: 14.3532, d5.loss_plan_l1_fix_dist: 7.7443, d6.loss_plan_l1_fix_time: 14.7929, d6.loss_plan_l1_fix_dist: 7.8682, d0.loss_cls_all: 63.3237, d0.loss_bbox_all: 1.4636, d0.loss_cls: 63.3237, d0.loss_bbox: 1.4636, d1.loss_cls: 49.0243, d1.loss_bbox: 1.5567, d2.loss_cls: 32.5011, d2.loss_bbox: 1.5338, d3.loss_cls: 29.1110, d3.loss_bbox: 1.4333, d4.loss_cls: 27.4480, d4.loss_bbox: 1.5224, d5.loss_cls: 33.3337, d5.loss_bbox: 1.6351, d0.loss_traj_cls: 0.0329, d0.loss_traj: 6.3757, d1.loss_traj_cls: 0.0222, d1.loss_traj: 6.5431, d2.loss_traj_cls: 0.0214, d2.loss_traj: 6.4816, d3.loss_traj_cls: 0.0387, d3.loss_traj: 6.5287, d4.loss_traj_cls: 0.0218, d4.loss_traj: 6.5100, d5.loss_traj_cls: 0.0246, d5.loss_traj: 6.6089, d0.loss_map_cls_all: 4.6614, d0.loss_map_pts_all: 5.2211, d0.loss_map_dir_all: 0.0977, d0.loss_map_cls: 4.6614, d0.loss_map_pts: 5.2211, d0.loss_map_dir: 0.0977, d1.loss_map_cls: 4.8071, d1.loss_map_pts: 5.2442, d1.loss_map_dir: 0.0977, d2.loss_map_cls: 4.9555, d2.loss_map_pts: 5.2502, d2.loss_map_dir: 0.0978, d3.loss_map_cls: 6.0606, d3.loss_map_pts: 5.2467, d3.loss_map_dir: 0.0978, d4.loss_map_cls: 5.8755, d4.loss_map_pts: 5.2489, d4.loss_map_dir: 0.0978, d5.loss_map_cls: 5.4760, d5.loss_map_pts: 5.2499, d5.loss_map_dir: 0.0977, loss: 609.0318, grad_norm: 35614.2878 +rs.3.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.6.weight - torch.Size([40, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.6.bias - torch.Size([40]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +img_backbone.conv1.weight - torch.Size([64, 3, 7, 7]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv1.weight - torch.Size([64, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.0.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv1.weight - torch.Size([64, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv1.weight - torch.Size([64, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv1.weight - torch.Size([128, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.0.weight - torch.Size([512, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv1.weight - torch.Size([256, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.0.weight - torch.Size([1024, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.1.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.1.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv1.weight - torch.Size([512, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.0.weight - torch.Size([2048, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.1.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.1.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv1.weight - torch.Size([512, 2048, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv1.weight - torch.Size([512, 2048, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_neck.lateral_convs.0.conv.weight - torch.Size([512, 2048, 1, 1]): +XavierInit: gain=1, distribution=uniform, bias=0 + +img_neck.lateral_convs.0.conv.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +img_neck.fpn_convs.0.conv.weight - torch.Size([512, 512, 3, 3]): +XavierInit: gain=1, distribution=uniform, bias=0 + +img_neck.fpn_convs.0.conv.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer diff --git a/DriveTransformer/goalpoint_1gpu/20260224_002248.log.json b/DriveTransformer/goalpoint_1gpu/20260224_002248.log.json new file mode 100644 index 0000000000000000000000000000000000000000..44689bddaddfcefb53cf091aeb5c6f08e08ae5da --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260224_002248.log.json @@ -0,0 +1,8 @@ +{"env_info": "MMCV: 0.0.1", "config": "point_cloud_range = [-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]\nclass_names = [\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n]\ndataset_type = 'B2D_DriveTransformer_GoalPoint_Dataset'\ndata_root = 'data/bench2drive'\ninput_modality = dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True)\nfile_client_args = dict(backend='disk')\ntrain_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\ntest_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\neval_pipeline = [\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone', 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n]\ndata = dict(\n samples_per_gpu=2,\n workers_per_gpu=8,\n train=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=False,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n sub_seq_lenth=-1,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n val=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_root='data/bench2drive',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n test=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=3,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n shuffler_sampler=dict(type='InfiniteGroupEachSampleInBatchSampler'),\n nonshuffler_sampler=dict(type='DistributedSampler'))\nevaluation = dict(\n interval=24,\n pipeline=[\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone',\n 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n ])\ncheckpoint_config = dict(interval=1)\nlog_config = dict(\n interval=50,\n hooks=[dict(type='TextLoggerHook'),\n dict(type='TensorboardLoggerHook')])\ndist_params = dict(backend='nccl')\nlog_level = 'INFO'\nwork_dir = './work_dirs/drivetransformer_goalpoint_1gpu'\nload_from = None\nresume_from = None\nworkflow = [('train', 1)]\nplugin = True\nplugin_dir = 'adzoo/drivetransformer/mmdet3d_plugin/'\nvoxel_size = [0.15, 0.15, 4]\nimg_norm_cfg = dict(\n mean=[123.675, 116.28, 103.53], std=[58.395, 57.12, 57.375], to_rgb=True)\nNameMapping = dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n})\ncollect_keys = [\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', 'ego_pose',\n 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n]\nnum_classes = 9\nmap_classes = [\n 'Broken', 'Solid', 'SolidSolid', 'Center', 'TrafficLight', 'StopSign'\n]\nmap_fixed_ptsnum_per_gt_line = 20\nmap_fixed_ptsnum_per_pred_line = 20\nmap_eval_use_same_gt_sample_num_flag = True\nmap_num_classes = 6\nagent_query_num_vec = 900\nagent_num_topk_sift = 900\nagent_num_propagated = 50\nmap_query_num_vec = 100\nmap_num_topk_sift = 100\nmap_num_propagated = 50\nmemory_len_frame = 10\nnum_mode = 6\nnum_gpus = 1\nbatch_size = 2\nnum_iters_per_epoch = 1041\ndata_aug_conf = dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0])\n_dim_ = 512\nqueue_length = 1\ntotal_epochs = 60\ndropout = 0.1\nmodel = dict(\n type='DriveTransformer',\n use_grid_mask=False,\n pretrained=dict(img='./ckpts/resnet50-19c8e357.pth'),\n img_backbone=dict(\n type='ResNet',\n depth=50,\n num_stages=4,\n out_indices=(3, ),\n frozen_stages=1,\n norm_cfg=dict(type='BN', requires_grad=False),\n norm_eval=True,\n style='pytorch'),\n img_neck=dict(\n type='FPN',\n in_channels=[2048],\n out_channels=512,\n start_level=0,\n add_extra_convs='on_output',\n num_outs=1,\n relu_before_extra_convs=True),\n pts_bbox_head=dict(\n type='DriveTransformerlHead',\n ego_lcf_feat_idx=[0, 1, 2, 3, 4, 5, 6, 7, 8],\n ego_command_dim=128,\n img_stride=32,\n embed_dims=512,\n num_reg_fcs=2,\n num_cls_fcs=2,\n agent_num_propagated=50,\n map_num_propagated=50,\n memory_len_frame=10,\n agent_num_query=900,\n agent_num_query_sifted=900,\n fut_mode=6,\n fut_ego_mode=1,\n fut_ts=6,\n fut_ego_fix_dist=True,\n fut_ts_ego_fix_dist=20,\n fut_ts_ego_fix_time=30,\n num_classes=9,\n code_size=10,\n map_num_query=100,\n map_num_query_sifted=100,\n map_num_classes=6,\n map_num_pts_per_vec=20,\n map_num_pts_per_gt_vec=20,\n map_query_embed_type='instance_pts',\n map_transform_method='minmax',\n map_gt_shift_pts_pattern='v2',\n map_dir_interval=1,\n map_code_size=2,\n map_code_weights=[1.0, 1.0, 1.0, 1.0],\n sync_cls_avg_factor=True,\n with_box_refine=True,\n LID=True,\n with_ego_pos=True,\n position_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n depth_start=1,\n depth_step=0.8,\n depth_num=64,\n agent_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n map_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n transformer=dict(\n type='DriveTransformerWrapper',\n embed_dims=512,\n decoder=dict(\n type='DriveTransformerDecoder',\n num_layers=6,\n fut_mode=6,\n agent_num_query=900,\n map_num_query=100,\n map_num_pts_per_vec=20,\n return_intermediate=True,\n embed_dims=512,\n refine=True,\n transformerlayers=dict(\n type='DriveTransformerDecoderLayer',\n agent_query_num=900,\n map_query_num=100,\n memory_len_frame=10,\n agent_num_propagated=50,\n map_num_propagated=50,\n map_pts_per_vec=20,\n feedforward_channels=2048,\n ffn_dropout=0.1,\n with_cp=False,\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n no_wq=True)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n operation_order=('task_self_attn', 'norm',\n 'temporal_cross_attn', 'norm',\n 'sensor_cross_attn', 'norm', 'ffn',\n 'norm')))),\n bbox_coder=dict(\n type='CustomNMSFreeCoder',\n post_center_range=[-20, -35, -10.0, 20, 35, 10.0],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=100,\n voxel_size=[0.15, 0.15, 4],\n num_classes=9),\n loss_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_bbox=dict(type='L1Loss', loss_weight=0.25),\n loss_traj=dict(type='L1Loss', loss_weight=0.2),\n loss_traj_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.5,\n loss_weight=0.2),\n map_bbox_coder=dict(\n type='MapNMSFreeCoder',\n post_center_range=[-20, -35, -20, -35, 20, 35, 20, 35],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=50,\n voxel_size=[0.15, 0.15, 4],\n num_classes=6),\n loss_map_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_map_pts=dict(type='PtsL1Loss', loss_weight=1.0),\n loss_map_dir=dict(type='PtsDirCosLoss', loss_weight=0.005),\n loss_plan_reg_fix_time=dict(type='L1Loss', loss_weight=3.5),\n loss_plan_reg_fix_dist=dict(type='L1Loss', loss_weight=10.0),\n loss_plan_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=4.0,\n alpha=0.5,\n loss_weight=20.0)),\n train_cfg=dict(\n pts=dict(\n grid_size=[512, 512, 1],\n voxel_size=[0.15, 0.15, 4],\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n out_size_factor=4,\n assigner=dict(\n type='HungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(type='BBox3DL1Cost', weight=0.25),\n iou_cost=dict(type='IoUCost', weight=0.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n map_assigner=dict(\n type='MapHungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(\n type='BBoxL1Cost', weight=0.0, box_format='xywh'),\n iou_cost=dict(type='IoUCost', iou_mode='giou', weight=0.0),\n pts_cost=dict(type='OrderedPtsL1Cost', weight=1.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]))))\ninfo_root = 'data/infos'\nmap_root = 'data/bench2drive/maps'\nmap_file = 'data/infos/b2d_map_infos.pkl'\nann_file_train = 'data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl'\nann_file_val = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\nann_file_test = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\noptimizer = dict(type='AdamW', lr=0.0001, weight_decay=0.01)\noptimizer_config = dict(\n grad_clip=dict(max_norm=35, norm_type=2),\n type='GradientCumulativeFp16OptimizerHook',\n cumulative_iters=96)\nlr_config = dict(\n policy='CosineAnnealing',\n warmup='linear',\n warmup_iters=1000,\n warmup_ratio=0.1,\n min_lr_ratio=0.01)\nrunner = dict(type='EpochBasedRunner', max_epochs=60)\nfp16 = dict(loss_scale=512.0)\nfind_unused_parameters = True\ncustom_hooks = [dict(type='CustomSetEpochInfoHook')]\ncumulative_iters = 96\ngpu_ids = range(0, 1)\n", "seed": 0, "exp_name": "drivetransformer_goalpoint_1gpu.py"} +{"mode": "train", "epoch": 1, "iter": 50, "lr": 1e-05, "memory": 7284, "data_time": 0.09463, "loss_cls": 657.01774, "loss_bbox": 1.71262, "loss_traj": 4.03309, "loss_traj_cls": 0.09856, "loss_map_cls": 9.20249, "loss_map_pts": 5.19802, "loss_map_dir": 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b/DriveTransformer/goalpoint_1gpu/20260224_002559.log @@ -0,0 +1,1685 @@ +2026-02-24 00:26:06,872 - mmdet - INFO - initialize ResNet with init_cfg {'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} +2026-02-24 00:26:06,987 - mmdet - INFO - initialize FPN with init_cfg {'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} +Name of parameter - Initialization information + +pts_bbox_head.code_weights - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_code_weights - torch.Size([4]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.position_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.pc_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_query.weight - torch.Size([900, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_reference_points.weight - torch.Size([900, 3]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.weight - torch.Size([512, 9]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.weight - torch.Size([512, 768]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.mode_embedding.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_query.weight - torch.Size([100, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_reference_points.weight - torch.Size([100, 2]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.weight - torch.Size([512, 6]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.weight - torch.Size([512, 141]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.weight - torch.Size([512, 1920]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.weight - torch.Size([512, 640]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.featurized_pe.reduce.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.spatial_alignment.reduce.0.weight - torch.Size([512, 8]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.time_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.weight - torch.Size([512, 192]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_pose_memory.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cro2026-02-24 00:26:07,010 - DriveTransformer - INFO - Model: +DriveTransformer( + (pts_bbox_head): DriveTransformerlHead( + (loss_cls): FocalLoss() + (loss_bbox): L1Loss() + (loss_traj): L1Loss() + (loss_traj_cls): FocalLoss() + (loss_map_cls): FocalLoss() + (loss_map_pts): PtsL1Loss() + (loss_map_dir): PtsDirCosLoss() + (loss_plan_reg_fix_dist): L1Loss() + (loss_plan_reg_fix_time): L1Loss() + (loss_plan_cls): FocalLoss() + (agent_query): Embedding(900, 512) + (agent_reference_points): Embedding(900, 3) + (agent_cls_embedding): Sequential( + (0): Linear(in_features=9, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (agent_ref_embedding): Sequential( + (0): Linear(in_features=768, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (mode_embedding): Embedding(6, 512) + (map_query): Embedding(100, 512) + (map_reference_points): Embedding(100, 2) + (map_cls_embedding): Sequential( + (0): Linear(in_features=6, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (map_ref_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_lcf_encoder): Sequential( + (0): Linear(in_features=141, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_time_embedding): Sequential( + (0): Linear(in_features=1920, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_dist_embedding): Sequential( + (0): Linear(in_features=640, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (featurized_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (spatial_alignment): MLN( + (reduce): Sequential( + (0): Linear(in_features=8, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (time_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (img_position_encoder): Sequential( + (0): Linear(in_features=192, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_pose_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (ego_pose_memory): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (agent_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (map_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (transformer): DriveTransformerWrapper( + (decoder): DriveTransformerDecoder( + (layers): ModuleList( + (0-5): 6 x DriveTransformerDecoderLayer( + (task_self_attentions): ModuleList( + (0): AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (temporal_cross_attention_layers): ModuleList( + (0-2): 3 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (sensor_cross_attentions): ModuleList( + (0): AttentionLayer( + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (cross_w_q): ModuleList( + (0-2): 3 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + ) + (ffns): ModuleList( + (0): ModuleList( + (0-2): 3 x SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + ) + ) + (cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=9, bias=False) + ) + ) + (reg_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=10, bias=True) + ) + ) + (traj_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=12, bias=True) + ) + ) + (traj_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (6): Linear(in_features=512, out_features=1, bias=False) + ) + ) + (map_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=6, bias=False) + ) + ) + (map_reg_branches): ModuleList( + (0-5): 6 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=2, bias=True) + ) + (6): Linear(in_features=512, out_features=40, bias=True) + ) + (ego_traj_branches_fix_dist): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=20, bias=True) + ) + ) + (ego_traj_branches_fix_time): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=60, bias=True) + ) + ) + ) + (img_backbone): ResNet( + (conv1): Conv2d(3, 64, kernel_size=(7, 7), stride=(2, 2), padding=(3, 3), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (maxpool): MaxPool2d(kernel_size=3, stride=2, padding=1, dilation=1, ceil_mode=False) + (layer1): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(64, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer2): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(256, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(256, 512, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer3): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(512, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(512, 1024, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (4): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (5): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer4): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(1024, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(1024, 2048, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + ) + init_cfg={'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} + (img_neck): FPN( + (lateral_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1)) + ) + ) + (fpn_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) + ) + ) + ) + init_cfg={'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} + (grid_mask): GridMask() +) +2026-02-24 00:26:07,220 - DriveTransformer - INFO - Start running, host: humble@ysh-4090, work_dir: /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu +2026-02-24 00:26:07,220 - DriveTransformer - INFO - Hooks will be executed in the following order: +before_run: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_epoch: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_iter: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook + -------------------- +after_train_iter: +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +after_train_epoch: +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_val_epoch: +(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 + -------------------- +2026-02-24 00:26:07,220 - DriveTransformer - INFO - workflow: [('train', 1)], max: 60 epochs +2026-02-24 00:26:07,222 - DriveTransformer - INFO - Checkpoints will be saved to /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu by HardDiskBackend. +2026-02-24 00:26:15,249 - DriveTransformer - WARNING - GradientCumulativeOptimizerHook may slightly decrease performance if the model has BatchNorm layers. +2026-02-24 00:26:44,897 - DriveTransformer - INFO - Epoch [1][50/59059] lr: 1.441e-05, eta: 30 days, 20:13:58, time: 0.752, data_time: 0.158, memory: 14119, loss_cls: 665.1157, loss_bbox: 1.6233, loss_traj: 6.0926, loss_traj_cls: 0.0888, loss_map_cls: 10.8933, loss_map_pts: 5.6514, loss_map_dir: 0.0951, d0.loss_plan_l1_fix_time: 11.0769, d0.loss_plan_l1_fix_dist: 3.3749, d1.loss_plan_l1_fix_time: 11.4573, d1.loss_plan_l1_fix_dist: 4.4321, d2.loss_plan_l1_fix_time: 11.9089, d2.loss_plan_l1_fix_dist: 6.0473, d3.loss_plan_l1_fix_time: 12.4576, d3.loss_plan_l1_fix_dist: 7.8964, d4.loss_plan_l1_fix_time: 12.9777, d4.loss_plan_l1_fix_dist: 10.5198, d5.loss_plan_l1_fix_time: 13.5678, d5.loss_plan_l1_fix_dist: 13.2775, d6.loss_plan_l1_fix_time: 14.1196, d6.loss_plan_l1_fix_dist: 15.8675, d0.loss_cls_all: 462.0928, d0.loss_bbox_all: 1.5989, d0.loss_cls: 462.0928, d0.loss_bbox: 1.5989, d1.loss_cls: 511.5482, d1.loss_bbox: 1.5521, d2.loss_cls: 509.3752, d2.loss_bbox: 1.6251, d3.loss_cls: 578.7340, d3.loss_bbox: 1.6192, d4.loss_cls: 542.3878, d4.loss_bbox: 1.5317, d5.loss_cls: 603.2402, d5.loss_bbox: 1.6373, d0.loss_traj_cls: 0.0747, d0.loss_traj: 6.0560, d1.loss_traj_cls: 0.0625, d1.loss_traj: 6.1144, d2.loss_traj_cls: 0.0640, d2.loss_traj: 6.2069, d3.loss_traj_cls: 0.1045, d3.loss_traj: 6.1479, d4.loss_traj_cls: 0.0534, d4.loss_traj: 6.0363, d5.loss_traj_cls: 0.0536, d5.loss_traj: 6.0899, d0.loss_map_cls_all: 8.4216, d0.loss_map_pts_all: 5.4001, d0.loss_map_dir_all: 0.0959, d0.loss_map_cls: 8.4216, d0.loss_map_pts: 5.4001, d0.loss_map_dir: 0.0959, d1.loss_map_cls: 7.6781, d1.loss_map_pts: 5.4225, d1.loss_map_dir: 0.0956, d2.loss_map_cls: 8.3617, d2.loss_map_pts: 5.4465, d2.loss_map_dir: 0.0953, d3.loss_map_cls: 11.2386, d3.loss_map_pts: 5.4836, d3.loss_map_dir: 0.0953, d4.loss_map_cls: 11.4251, d4.loss_map_pts: 5.5503, d4.loss_map_dir: 0.0951, d5.loss_map_cls: 11.3287, d5.loss_map_pts: 5.6056, d5.loss_map_dir: 0.0952, loss: 4662.0925, grad_norm: 63091.3398 +2026-02-24 00:27:12,376 - DriveTransformer - INFO - Epoch [1][100/59059] lr: 1.891e-05, eta: 26 days, 16:37:06, time: 0.550, data_time: 0.023, memory: 14124, loss_cls: 364.9208, loss_bbox: 1.8208, loss_traj: 5.8746, loss_traj_cls: 0.0884, loss_map_cls: 10.9275, loss_map_pts: 5.5150, loss_map_dir: 0.0952, d0.loss_plan_l1_fix_time: 10.6874, d0.loss_plan_l1_fix_dist: 3.3497, d1.loss_plan_l1_fix_time: 11.0376, d1.loss_plan_l1_fix_dist: 4.0949, d2.loss_plan_l1_fix_time: 11.4442, d2.loss_plan_l1_fix_dist: 5.5867, d3.loss_plan_l1_fix_time: 11.9538, d3.loss_plan_l1_fix_dist: 7.2250, d4.loss_plan_l1_fix_time: 12.3848, d4.loss_plan_l1_fix_dist: 9.4505, d5.loss_plan_l1_fix_time: 12.8737, d5.loss_plan_l1_fix_dist: 11.5230, d6.loss_plan_l1_fix_time: 13.3541, d6.loss_plan_l1_fix_dist: 13.5126, d0.loss_cls_all: 315.2261, d0.loss_bbox_all: 1.5803, d0.loss_cls: 315.2261, d0.loss_bbox: 1.5803, d1.loss_cls: 326.4064, d1.loss_bbox: 1.5262, d2.loss_cls: 290.8711, d2.loss_bbox: 1.5975, d3.loss_cls: 312.5557, d3.loss_bbox: 1.5709, d4.loss_cls: 289.4957, d4.loss_bbox: 1.5947, d5.loss_cls: 333.1301, d5.loss_bbox: 1.7894, d0.loss_traj_cls: 0.0634, d0.loss_traj: 5.7707, d1.loss_traj_cls: 0.0501, d1.loss_traj: 5.8890, d2.loss_traj_cls: 0.0472, d2.loss_traj: 5.9422, d3.loss_traj_cls: 0.0944, d3.loss_traj: 5.9128, d4.loss_traj_cls: 0.0450, d4.loss_traj: 5.8321, d5.loss_traj_cls: 0.0547, d5.loss_traj: 5.8939, d0.loss_map_cls_all: 8.2132, d0.loss_map_pts_all: 5.2584, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 8.2132, d0.loss_map_pts: 5.2584, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 7.8007, d1.loss_map_pts: 5.2869, d1.loss_map_dir: 0.0951, d2.loss_map_cls: 8.5716, d2.loss_map_pts: 5.3187, d2.loss_map_dir: 0.0950, d3.loss_map_cls: 11.9263, d3.loss_map_pts: 5.3418, d3.loss_map_dir: 0.0952, d4.loss_map_cls: 11.5058, d4.loss_map_pts: 5.3977, d4.loss_map_dir: 0.0952, d5.loss_map_cls: 11.4603, d5.loss_map_pts: 5.4544, d5.loss_map_dir: 0.0952, loss: 2863.1402, grad_norm: 51662.9902 +2026-02-24 00:27:38,545 - DriveTransformer - INFO - Epoch [1][150/59059] lr: 2.341e-05, eta: 24 days, 22:47:11, time: 0.523, data_time: 0.024, memory: 14128, loss_cls: 158.3773, loss_bbox: 1.9104, loss_traj: 5.7019, loss_traj_cls: 0.0615, loss_map_cls: 10.0843, loss_map_pts: 5.3371, loss_map_dir: 0.0968, d0.loss_plan_l1_fix_time: 11.3798, d0.loss_plan_l1_fix_dist: 3.2541, d1.loss_plan_l1_fix_time: 11.6302, d1.loss_plan_l1_fix_dist: 3.8358, d2.loss_plan_l1_fix_time: 11.9450, d2.loss_plan_l1_fix_dist: 5.1619, d3.loss_plan_l1_fix_time: 12.3619, d3.loss_plan_l1_fix_dist: 6.5676, d4.loss_plan_l1_fix_time: 12.7220, d4.loss_plan_l1_fix_dist: 8.3143, d5.loss_plan_l1_fix_time: 13.1138, d5.loss_plan_l1_fix_dist: 9.7374, d6.loss_plan_l1_fix_time: 13.5071, d6.loss_plan_l1_fix_dist: 10.8456, d0.loss_cls_all: 182.8726, d0.loss_bbox_all: 1.5273, d0.loss_cls: 182.8726, d0.loss_bbox: 1.5273, d1.loss_cls: 173.0771, d1.loss_bbox: 1.5386, d2.loss_cls: 135.7859, d2.loss_bbox: 1.6058, d3.loss_cls: 132.0764, d3.loss_bbox: 1.5687, d4.loss_cls: 125.3341, d4.loss_bbox: 1.6518, d5.loss_cls: 148.9963, d5.loss_bbox: 1.8575, d0.loss_traj_cls: 0.0525, d0.loss_traj: 5.5363, d1.loss_traj_cls: 0.0379, d1.loss_traj: 5.7111, d2.loss_traj_cls: 0.0333, d2.loss_traj: 5.7136, d3.loss_traj_cls: 0.0675, d3.loss_traj: 5.7106, d4.loss_traj_cls: 0.0318, d4.loss_traj: 5.6722, d5.loss_traj_cls: 0.0385, d5.loss_traj: 5.7352, d0.loss_map_cls_all: 7.8964, d0.loss_map_pts_all: 5.1967, d0.loss_map_dir_all: 0.0966, d0.loss_map_cls: 7.8964, d0.loss_map_pts: 5.1967, d0.loss_map_dir: 0.0966, d1.loss_map_cls: 7.9392, d1.loss_map_pts: 5.2133, d1.loss_map_dir: 0.0966, d2.loss_map_cls: 8.5920, d2.loss_map_pts: 5.2315, d2.loss_map_dir: 0.0967, d3.loss_map_cls: 11.7760, d3.loss_map_pts: 5.2400, d3.loss_map_dir: 0.0967, d4.loss_map_cls: 11.0947, d4.loss_map_pts: 5.2672, d4.loss_map_dir: 0.0967, d5.loss_map_cls: 10.7875, d5.loss_map_pts: 5.3003, d5.loss_map_dir: 0.0968, loss: 1545.8825, grad_norm: 40828.7305 +2026-02-24 00:28:07,190 - DriveTransformer - INFO - Epoch [1][200/59059] lr: 2.791e-05, eta: 24 days, 14:02:46, time: 0.573, data_time: 0.028, memory: 14132, loss_cls: 62.4457, loss_bbox: 1.7902, loss_traj: 6.4806, loss_traj_cls: 0.0542, loss_map_cls: 6.9785, loss_map_pts: 5.2263, loss_map_dir: 0.0972, d0.loss_plan_l1_fix_time: 12.9479, d0.loss_plan_l1_fix_dist: 3.2033, d1.loss_plan_l1_fix_time: 13.1021, d1.loss_plan_l1_fix_dist: 3.5603, d2.loss_plan_l1_fix_time: 13.3210, d2.loss_plan_l1_fix_dist: 4.8165, d3.loss_plan_l1_fix_time: 13.6697, d3.loss_plan_l1_fix_dist: 6.0473, d4.loss_plan_l1_fix_time: 14.0177, d4.loss_plan_l1_fix_dist: 7.3750, d5.loss_plan_l1_fix_time: 14.3691, d5.loss_plan_l1_fix_dist: 8.5147, d6.loss_plan_l1_fix_time: 14.7488, d6.loss_plan_l1_fix_dist: 8.9753, d0.loss_cls_all: 93.5120, d0.loss_bbox_all: 1.5288, d0.loss_cls: 93.5120, d0.loss_bbox: 1.5288, d1.loss_cls: 79.4665, d1.loss_bbox: 1.6234, d2.loss_cls: 56.1464, d2.loss_bbox: 1.6463, d3.loss_cls: 50.9766, d3.loss_bbox: 1.5672, d4.loss_cls: 49.1985, d4.loss_bbox: 1.6444, d5.loss_cls: 59.9782, d5.loss_bbox: 1.7668, d0.loss_traj_cls: 0.0417, d0.loss_traj: 6.2717, d1.loss_traj_cls: 0.0276, d1.loss_traj: 6.4602, d2.loss_traj_cls: 0.0259, d2.loss_traj: 6.4378, d3.loss_traj_cls: 0.0531, d3.loss_traj: 6.4667, d4.loss_traj_cls: 0.0245, d4.loss_traj: 6.4329, d5.loss_traj_cls: 0.0311, d5.loss_traj: 6.5228, d0.loss_map_cls_all: 5.7625, d0.loss_map_pts_all: 5.1419, d0.loss_map_dir_all: 0.0972, d0.loss_map_cls: 5.7625, d0.loss_map_pts: 5.1419, d0.loss_map_dir: 0.0972, d1.loss_map_cls: 5.8931, d1.loss_map_pts: 5.1548, d1.loss_map_dir: 0.0972, d2.loss_map_cls: 6.3264, d2.loss_map_pts: 5.1669, d2.loss_map_dir: 0.0972, d3.loss_map_cls: 8.3709, d3.loss_map_pts: 5.1689, d3.loss_map_dir: 0.0972, d4.loss_map_cls: 7.9010, d4.loss_map_pts: 5.1769, d4.loss_map_dir: 0.0972, d5.loss_map_cls: 7.6181, d5.loss_map_pts: 5.1938, d5.loss_map_dir: 0.0972, loss: 839.0935, grad_norm: 32993.6270 +2026-02-24 00:28:35,667 - DriveTransformer - INFO - Epoch [1][250/59059] lr: 3.241e-05, eta: 24 days, 8:08:08, time: 0.569, data_time: 0.026, memory: 14134, loss_cls: 23.6620, loss_bbox: 1.7118, loss_traj: 6.7461, loss_traj_cls: 0.0457, loss_map_cls: 4.2928, loss_map_pts: 4.8726, loss_map_dir: 0.0979, d0.loss_plan_l1_fix_time: 12.1498, d0.loss_plan_l1_fix_dist: 3.1528, d1.loss_plan_l1_fix_time: 12.3269, d1.loss_plan_l1_fix_dist: 3.3732, d2.loss_plan_l1_fix_time: 12.5597, d2.loss_plan_l1_fix_dist: 4.1438, d3.loss_plan_l1_fix_time: 12.9022, d3.loss_plan_l1_fix_dist: 4.8248, d4.loss_plan_l1_fix_time: 13.3056, d4.loss_plan_l1_fix_dist: 5.5265, d5.loss_plan_l1_fix_time: 13.6742, d5.loss_plan_l1_fix_dist: 6.2359, d6.loss_plan_l1_fix_time: 14.0767, d6.loss_plan_l1_fix_dist: 6.6302, d0.loss_cls_all: 45.6428, d0.loss_bbox_all: 1.5776, d0.loss_cls: 45.6428, d0.loss_bbox: 1.5776, d1.loss_cls: 35.9000, d1.loss_bbox: 1.6923, d2.loss_cls: 22.9568, d2.loss_bbox: 1.6430, d3.loss_cls: 20.8225, d3.loss_bbox: 1.5546, d4.loss_cls: 19.1268, d4.loss_bbox: 1.6401, d5.loss_cls: 23.0148, d5.loss_bbox: 1.7114, d0.loss_traj_cls: 0.0305, d0.loss_traj: 6.5667, d1.loss_traj_cls: 0.0217, d1.loss_traj: 6.7480, d2.loss_traj_cls: 0.0224, d2.loss_traj: 6.6802, d3.loss_traj_cls: 0.0416, d3.loss_traj: 6.7177, d4.loss_traj_cls: 0.0210, d4.loss_traj: 6.6986, d5.loss_traj_cls: 0.0252, d5.loss_traj: 6.7927, d0.loss_map_cls_all: 4.3559, d0.loss_map_pts_all: 4.8455, d0.loss_map_dir_all: 0.0981, d0.loss_map_cls: 4.3559, d0.loss_map_pts: 4.8455, d0.loss_map_dir: 0.0981, d1.loss_map_cls: 4.3639, d1.loss_map_pts: 4.8675, d1.loss_map_dir: 0.0982, d2.loss_map_cls: 4.5133, d2.loss_map_pts: 4.8782, d2.loss_map_dir: 0.0982, d3.loss_map_cls: 5.3190, d3.loss_map_pts: 4.8730, d3.loss_map_dir: 0.0981, d4.loss_map_cls: 5.2583, d4.loss_map_pts: 4.8725, d4.loss_map_dir: 0.0982, d5.loss_map_cls: 4.8517, d5.loss_map_pts: 4.8662, d5.loss_map_dir: 0.0981, loss: 498.9339, grad_norm: 27214.7181 +2026-02-24 00:29:03,936 - DriveTransformer - INFO - Epoch [1][300/59059] lr: 3.691e-05, eta: 24 days, 3:30:36, time: 0.565, data_time: 0.024, memory: 14134, loss_cls: 11.5199, loss_bbox: 1.5437, loss_traj: 7.6457, loss_traj_cls: 0.0397, loss_map_cls: 2.8155, loss_map_pts: 5.1456, loss_map_dir: 0.0972, d0.loss_plan_l1_fix_time: 13.0742, d0.loss_plan_l1_fix_dist: 3.0169, d1.loss_plan_l1_fix_time: 13.1494, d1.loss_plan_l1_fix_dist: 3.1722, d2.loss_plan_l1_fix_time: 13.2979, d2.loss_plan_l1_fix_dist: 3.4037, d3.loss_plan_l1_fix_time: 13.5348, d3.loss_plan_l1_fix_dist: 3.5415, d4.loss_plan_l1_fix_time: 13.8274, d4.loss_plan_l1_fix_dist: 3.6094, d5.loss_plan_l1_fix_time: 14.0940, d5.loss_plan_l1_fix_dist: 4.1187, d6.loss_plan_l1_fix_time: 14.3957, d6.loss_plan_l1_fix_dist: 5.1831, d0.loss_cls_all: 29.4816, d0.loss_bbox_all: 1.5735, d0.loss_cls: 29.4816, d0.loss_bbox: 1.5735, d1.loss_cls: 22.1904, d1.loss_bbox: 1.6327, d2.loss_cls: 12.5969, d2.loss_bbox: 1.5514, d3.loss_cls: 11.1892, d3.loss_bbox: 1.4614, d4.loss_cls: 9.3566, d4.loss_bbox: 1.5222, d5.loss_cls: 11.1329, d5.loss_bbox: 1.5647, d0.loss_traj_cls: 0.0201, d0.loss_traj: 7.5115, d1.loss_traj_cls: 0.0170, d1.loss_traj: 7.7024, d2.loss_traj_cls: 0.0221, d2.loss_traj: 7.5951, d3.loss_traj_cls: 0.0372, d3.loss_traj: 7.5974, d4.loss_traj_cls: 0.0185, d4.loss_traj: 7.6032, d5.loss_traj_cls: 0.0234, d5.loss_traj: 7.6604, d0.loss_map_cls_all: 3.6710, d0.loss_map_pts_all: 5.1384, d0.loss_map_dir_all: 0.0975, d0.loss_map_cls: 3.6710, d0.loss_map_pts: 5.1384, d0.loss_map_dir: 0.0975, d1.loss_map_cls: 3.6549, d1.loss_map_pts: 5.1512, d1.loss_map_dir: 0.0976, d2.loss_map_cls: 3.6032, d2.loss_map_pts: 5.1478, d2.loss_map_dir: 0.0976, d3.loss_map_cls: 3.5871, d3.loss_map_pts: 5.1441, d3.loss_map_dir: 0.0975, d4.loss_map_cls: 3.8864, d4.loss_map_pts: 5.1453, d4.loss_map_dir: 0.0974, d5.loss_map_cls: 3.4095, d5.loss_map_pts: 5.1413, d5.loss_map_dir: 0.0973, loss: 394.5156, grad_norm: 23083.6060 +2026-02-24 00:29:32,309 - DriveTransformer - INFO - Epoch [1][350/59059] lr: 4.141e-05, eta: 24 days, 0:30:19, time: 0.567, data_time: 0.024, memory: 14134, loss_cls: 4.1605, loss_bbox: 1.5115, loss_traj: 5.4986, loss_traj_cls: 0.0264, loss_map_cls: 1.5121, loss_map_pts: 5.3143, loss_map_dir: 0.0952, d0.loss_plan_l1_fix_time: 10.6646, d0.loss_plan_l1_fix_dist: 2.9411, d1.loss_plan_l1_fix_time: 10.7259, d1.loss_plan_l1_fix_dist: 2.9704, d2.loss_plan_l1_fix_time: 10.9148, d2.loss_plan_l1_fix_dist: 2.7965, d3.loss_plan_l1_fix_time: 11.1765, d3.loss_plan_l1_fix_dist: 2.9537, d4.loss_plan_l1_fix_time: 11.4396, d4.loss_plan_l1_fix_dist: 3.3913, d5.loss_plan_l1_fix_time: 11.6841, d5.loss_plan_l1_fix_dist: 4.1494, d6.loss_plan_l1_fix_time: 11.9524, d6.loss_plan_l1_fix_dist: 5.5187, d0.loss_cls_all: 12.1516, d0.loss_bbox_all: 1.5726, d0.loss_cls: 12.1516, d0.loss_bbox: 1.5726, d1.loss_cls: 8.3637, d1.loss_bbox: 1.6225, d2.loss_cls: 4.9051, d2.loss_bbox: 1.5235, d3.loss_cls: 4.4440, d3.loss_bbox: 1.4653, d4.loss_cls: 3.6718, d4.loss_bbox: 1.4930, d5.loss_cls: 4.1353, d5.loss_bbox: 1.5340, d0.loss_traj_cls: 0.0121, d0.loss_traj: 5.3889, d1.loss_traj_cls: 0.0119, d1.loss_traj: 5.5732, d2.loss_traj_cls: 0.0173, d2.loss_traj: 5.4431, d3.loss_traj_cls: 0.0252, d3.loss_traj: 5.4422, d4.loss_traj_cls: 0.0149, d4.loss_traj: 5.4514, d5.loss_traj_cls: 0.0188, d5.loss_traj: 5.4684, d0.loss_map_cls_all: 2.3935, d0.loss_map_pts_all: 5.3195, d0.loss_map_dir_all: 0.0955, d0.loss_map_cls: 2.3935, d0.loss_map_pts: 5.3195, d0.loss_map_dir: 0.0955, d1.loss_map_cls: 2.4242, d1.loss_map_pts: 5.3337, d1.loss_map_dir: 0.0954, d2.loss_map_cls: 2.2839, d2.loss_map_pts: 5.3267, d2.loss_map_dir: 0.0954, d3.loss_map_cls: 1.9461, d3.loss_map_pts: 5.3181, d3.loss_map_dir: 0.0953, d4.loss_map_cls: 2.3705, d4.loss_map_pts: 5.3137, d4.loss_map_dir: 0.0953, d5.loss_map_cls: 1.9065, d5.loss_map_pts: 5.3080, d5.loss_map_dir: 0.0953, loss: 268.4965, grad_norm: 19957.1423 +2026-02-24 00:30:00,282 - DriveTransformer - INFO - Epoch [1][400/59059] lr: 4.591e-05, eta: 23 days, 21:15:39, time: 0.559, data_time: 0.023, memory: 14134, loss_cls: 2.4466, loss_bbox: 1.3912, loss_traj: 5.8775, loss_traj_cls: 0.0161, loss_map_cls: 1.1782, loss_map_pts: 5.3594, loss_map_dir: 0.0942, d0.loss_plan_l1_fix_time: 11.4324, d0.loss_plan_l1_fix_dist: 2.7748, d1.loss_plan_l1_fix_time: 11.3894, d1.loss_plan_l1_fix_dist: 2.6205, d2.loss_plan_l1_fix_time: 11.4878, d2.loss_plan_l1_fix_dist: 2.4426, d3.loss_plan_l1_fix_time: 11.6483, d3.loss_plan_l1_fix_dist: 2.7605, d4.loss_plan_l1_fix_time: 11.7828, d4.loss_plan_l1_fix_dist: 3.4828, d5.loss_plan_l1_fix_time: 11.9505, d5.loss_plan_l1_fix_dist: 4.3168, d6.loss_plan_l1_fix_time: 12.1239, d6.loss_plan_l1_fix_dist: 5.1327, d0.loss_cls_all: 6.6812, d0.loss_bbox_all: 1.4909, d0.loss_cls: 6.6812, d0.loss_bbox: 1.4909, d1.loss_cls: 4.3562, d1.loss_bbox: 1.4801, d2.loss_cls: 2.8758, d2.loss_bbox: 1.4252, d3.loss_cls: 2.6724, d3.loss_bbox: 1.3870, d4.loss_cls: 2.3010, d4.loss_bbox: 1.4070, d5.loss_cls: 2.4795, d5.loss_bbox: 1.4335, d0.loss_traj_cls: 0.0067, d0.loss_traj: 5.7800, d1.loss_traj_cls: 0.0085, d1.loss_traj: 5.9422, d2.loss_traj_cls: 0.0121, d2.loss_traj: 5.8596, d3.loss_traj_cls: 0.0170, d3.loss_traj: 5.8479, d4.loss_traj_cls: 0.0114, d4.loss_traj: 5.8205, d5.loss_traj_cls: 0.0152, d5.loss_traj: 5.8283, d0.loss_map_cls_all: 2.0157, d0.loss_map_pts_all: 5.3951, d0.loss_map_dir_all: 0.0944, d0.loss_map_cls: 2.0157, d0.loss_map_pts: 5.3951, d0.loss_map_dir: 0.0944, d1.loss_map_cls: 2.0002, d1.loss_map_pts: 5.4014, d1.loss_map_dir: 0.0943, d2.loss_map_cls: 1.8490, d2.loss_map_pts: 5.3855, d2.loss_map_dir: 0.0944, d3.loss_map_cls: 1.5356, d3.loss_map_pts: 5.3719, d3.loss_map_dir: 0.0943, d4.loss_map_cls: 1.9260, d4.loss_map_pts: 5.3635, d4.loss_map_dir: 0.0944, d5.loss_map_cls: 1.4881, d5.loss_map_pts: 5.3576, d5.loss_map_dir: 0.0943, loss: 246.1815, grad_norm: 17551.6528 +2026-02-24 00:30:29,555 - DriveTransformer - INFO - Epoch [1][450/59059] lr: 5.041e-05, eta: 23 days, 21:34:36, time: 0.585, data_time: 0.028, memory: 14134, loss_cls: 1.8794, loss_bbox: 1.4593, loss_traj: 5.2009, loss_traj_cls: 0.0152, loss_map_cls: 0.8361, loss_map_pts: 5.0366, loss_map_dir: 0.0944, d0.loss_plan_l1_fix_time: 10.5917, d0.loss_plan_l1_fix_dist: 2.5206, d1.loss_plan_l1_fix_time: 10.5068, d1.loss_plan_l1_fix_dist: 2.4195, d2.loss_plan_l1_fix_time: 10.5405, d2.loss_plan_l1_fix_dist: 2.4524, d3.loss_plan_l1_fix_time: 10.6450, d3.loss_plan_l1_fix_dist: 2.9395, d4.loss_plan_l1_fix_time: 10.7568, d4.loss_plan_l1_fix_dist: 3.6763, d5.loss_plan_l1_fix_time: 10.9525, d5.loss_plan_l1_fix_dist: 4.3080, d6.loss_plan_l1_fix_time: 11.1445, d6.loss_plan_l1_fix_dist: 4.9326, d0.loss_cls_all: 3.9044, d0.loss_bbox_all: 1.5300, d0.loss_cls: 3.9044, d0.loss_bbox: 1.5300, d1.loss_cls: 2.8037, d1.loss_bbox: 1.4873, d2.loss_cls: 2.0667, d2.loss_bbox: 1.4795, d3.loss_cls: 1.9573, d3.loss_bbox: 1.4585, d4.loss_cls: 1.8134, d4.loss_bbox: 1.4804, d5.loss_cls: 1.8912, d5.loss_bbox: 1.4955, d0.loss_traj_cls: 0.0033, d0.loss_traj: 5.0622, d1.loss_traj_cls: 0.0063, d1.loss_traj: 5.1832, d2.loss_traj_cls: 0.0102, d2.loss_traj: 5.1982, d3.loss_traj_cls: 0.0149, d3.loss_traj: 5.1932, d4.loss_traj_cls: 0.0093, d4.loss_traj: 5.1423, d5.loss_traj_cls: 0.0129, d5.loss_traj: 5.1425, d0.loss_map_cls_all: 1.0432, d0.loss_map_pts_all: 5.0940, d0.loss_map_dir_all: 0.0945, d0.loss_map_cls: 1.0432, d0.loss_map_pts: 5.0940, d0.loss_map_dir: 0.0945, d1.loss_map_cls: 1.0114, d1.loss_map_pts: 5.0916, d1.loss_map_dir: 0.0945, d2.loss_map_cls: 0.9731, d2.loss_map_pts: 5.0704, d2.loss_map_dir: 0.0944, d3.loss_map_cls: 0.8929, d3.loss_map_pts: 5.0536, d3.loss_map_dir: 0.0944, d4.loss_map_cls: 1.0034, d4.loss_map_pts: 5.0439, d4.loss_map_dir: 0.0944, d5.loss_map_cls: 0.8718, d5.loss_map_pts: 5.0387, d5.loss_map_dir: 0.0944, loss: 215.6761, grad_norm: 15688.7594 +2026-02-24 00:30:56,106 - DriveTransformer - INFO - Epoch [1][500/59059] lr: 5.491e-05, eta: 23 days, 16:28:06, time: 0.531, data_time: 0.026, memory: 14134, loss_cls: 1.6351, loss_bbox: 1.3945, loss_traj: 6.5523, loss_traj_cls: 0.0156, loss_map_cls: 0.8721, loss_map_pts: 5.4765, loss_map_dir: 0.0944, d0.loss_plan_l1_fix_time: 12.5918, d0.loss_plan_l1_fix_dist: 2.3378, d1.loss_plan_l1_fix_time: 12.3886, d1.loss_plan_l1_fix_dist: 2.1555, d2.loss_plan_l1_fix_time: 12.2943, d2.loss_plan_l1_fix_dist: 2.6622, d3.loss_plan_l1_fix_time: 12.2562, d3.loss_plan_l1_fix_dist: 2.9858, d4.loss_plan_l1_fix_time: 12.2452, d4.loss_plan_l1_fix_dist: 3.5003, d5.loss_plan_l1_fix_time: 12.3293, d5.loss_plan_l1_fix_dist: 3.9804, d6.loss_plan_l1_fix_time: 12.4598, d6.loss_plan_l1_fix_dist: 4.8277, d0.loss_cls_all: 2.6679, d0.loss_bbox_all: 1.4648, d0.loss_cls: 2.6679, d0.loss_bbox: 1.4648, d1.loss_cls: 2.1324, d1.loss_bbox: 1.4102, d2.loss_cls: 1.7139, d2.loss_bbox: 1.4176, d3.loss_cls: 1.6710, d3.loss_bbox: 1.3819, d4.loss_cls: 1.6228, d4.loss_bbox: 1.4178, d5.loss_cls: 1.6492, d5.loss_bbox: 1.4145, d0.loss_traj_cls: 0.0018, d0.loss_traj: 6.4620, d1.loss_traj_cls: 0.0046, d1.loss_traj: 6.5273, d2.loss_traj_cls: 0.0103, d2.loss_traj: 6.5806, d3.loss_traj_cls: 0.0147, d3.loss_traj: 6.5576, d4.loss_traj_cls: 0.0072, d4.loss_traj: 6.5163, d5.loss_traj_cls: 0.0108, d5.loss_traj: 6.5337, d0.loss_map_cls_all: 0.9112, d0.loss_map_pts_all: 5.5047, d0.loss_map_dir_all: 0.0943, d0.loss_map_cls: 0.9112, d0.loss_map_pts: 5.5047, d0.loss_map_dir: 0.0943, d1.loss_map_cls: 0.8879, d1.loss_map_pts: 5.5005, d1.loss_map_dir: 0.0943, d2.loss_map_cls: 0.8677, d2.loss_map_pts: 5.4780, d2.loss_map_dir: 0.0943, d3.loss_map_cls: 0.8368, d3.loss_map_pts: 5.4721, d3.loss_map_dir: 0.0942, d4.loss_map_cls: 0.8827, d4.loss_map_pts: 5.4740, d4.loss_map_dir: 0.0943, d5.loss_map_cls: 0.8469, d5.loss_map_pts: 5.4762, d5.loss_map_dir: 0.0944, loss: 233.5938, grad_norm: 14188.1028 +2026-02-24 00:31:23,738 - DriveTransformer - INFO - Epoch [1][550/59059] lr: 5.941e-05, eta: 23 days, 14:13:37, time: 0.553, data_time: 0.025, memory: 14134, loss_cls: 1.4858, loss_bbox: 1.5207, loss_traj: 5.4176, loss_traj_cls: 0.0127, loss_map_cls: 0.8294, loss_map_pts: 5.0567, loss_map_dir: 0.0944, d0.loss_plan_l1_fix_time: 11.2683, d0.loss_plan_l1_fix_dist: 2.4668, d1.loss_plan_l1_fix_time: 11.0353, d1.loss_plan_l1_fix_dist: 2.2917, d2.loss_plan_l1_fix_time: 10.9054, d2.loss_plan_l1_fix_dist: 2.5433, d3.loss_plan_l1_fix_time: 10.8437, d3.loss_plan_l1_fix_dist: 2.9473, d4.loss_plan_l1_fix_time: 10.8033, d4.loss_plan_l1_fix_dist: 3.5908, d5.loss_plan_l1_fix_time: 10.8748, d5.loss_plan_l1_fix_dist: 4.1804, d6.loss_plan_l1_fix_time: 11.0118, d6.loss_plan_l1_fix_dist: 4.8276, d0.loss_cls_all: 1.8473, d0.loss_bbox_all: 1.5086, d0.loss_cls: 1.8473, d0.loss_bbox: 1.5086, d1.loss_cls: 1.6586, d1.loss_bbox: 1.5090, d2.loss_cls: 1.5170, d2.loss_bbox: 1.4935, d3.loss_cls: 1.4933, d3.loss_bbox: 1.4843, d4.loss_cls: 1.4820, d4.loss_bbox: 1.4935, d5.loss_cls: 1.4830, d5.loss_bbox: 1.5001, d0.loss_traj_cls: 0.0010, d0.loss_traj: 5.3292, d1.loss_traj_cls: 0.0029, d1.loss_traj: 5.3911, d2.loss_traj_cls: 0.0083, d2.loss_traj: 5.4275, d3.loss_traj_cls: 0.0111, d3.loss_traj: 5.4459, d4.loss_traj_cls: 0.0057, d4.loss_traj: 5.4180, d5.loss_traj_cls: 0.0093, d5.loss_traj: 5.4158, d0.loss_map_cls_all: 0.7814, d0.loss_map_pts_all: 5.1022, d0.loss_map_dir_all: 0.0945, d0.loss_map_cls: 0.7814, d0.loss_map_pts: 5.1022, d0.loss_map_dir: 0.0945, d1.loss_map_cls: 0.7520, d1.loss_map_pts: 5.0871, d1.loss_map_dir: 0.0945, d2.loss_map_cls: 0.7554, d2.loss_map_pts: 5.0666, d2.loss_map_dir: 0.0945, d3.loss_map_cls: 0.7572, d3.loss_map_pts: 5.0585, d3.loss_map_dir: 0.0945, d4.loss_map_cls: 0.7928, d4.loss_map_pts: 5.0556, d4.loss_map_dir: 0.0945, d5.loss_map_cls: 0.7886, d5.loss_map_pts: 5.0561, d5.loss_map_dir: 0.0945, loss: 209.8982, grad_norm: 12954.1778 +2026-02-24 00:31:51,034 - DriveTransformer - INFO - Epoch [1][600/59059] lr: 6.391e-05, eta: 23 days, 11:48:11, time: 0.546, data_time: 0.025, memory: 14134, loss_cls: 1.4365, loss_bbox: 1.3530, loss_traj: 5.5352, loss_traj_cls: 0.0105, loss_map_cls: 0.8473, loss_map_pts: 5.1505, loss_map_dir: 0.0932, d0.loss_plan_l1_fix_time: 11.4651, d0.loss_plan_l1_fix_dist: 2.0573, d1.loss_plan_l1_fix_time: 11.2106, d1.loss_plan_l1_fix_dist: 1.9134, d2.loss_plan_l1_fix_time: 11.0499, d2.loss_plan_l1_fix_dist: 1.9771, d3.loss_plan_l1_fix_time: 10.9776, d3.loss_plan_l1_fix_dist: 2.6817, d4.loss_plan_l1_fix_time: 10.9166, d4.loss_plan_l1_fix_dist: 3.4090, d5.loss_plan_l1_fix_time: 10.9511, d5.loss_plan_l1_fix_dist: 4.1549, d6.loss_plan_l1_fix_time: 11.0385, d6.loss_plan_l1_fix_dist: 4.8584, d0.loss_cls_all: 1.6392, d0.loss_bbox_all: 1.3860, d0.loss_cls: 1.6392, d0.loss_bbox: 1.3860, d1.loss_cls: 1.5538, d1.loss_bbox: 1.3944, d2.loss_cls: 1.4682, d2.loss_bbox: 1.3623, d3.loss_cls: 1.4407, d3.loss_bbox: 1.3594, d4.loss_cls: 1.4324, d4.loss_bbox: 1.3545, d5.loss_cls: 1.4302, d5.loss_bbox: 1.3665, d0.loss_traj_cls: 0.0007, d0.loss_traj: 5.4960, d1.loss_traj_cls: 0.0018, d1.loss_traj: 5.5253, d2.loss_traj_cls: 0.0055, d2.loss_traj: 5.5339, d3.loss_traj_cls: 0.0080, d3.loss_traj: 5.5436, d4.loss_traj_cls: 0.0046, d4.loss_traj: 5.5462, d5.loss_traj_cls: 0.0078, d5.loss_traj: 5.5268, d0.loss_map_cls_all: 0.7847, d0.loss_map_pts_all: 5.2002, d0.loss_map_dir_all: 0.0933, d0.loss_map_cls: 0.7847, d0.loss_map_pts: 5.2002, d0.loss_map_dir: 0.0933, d1.loss_map_cls: 0.7649, d1.loss_map_pts: 5.1801, d1.loss_map_dir: 0.0932, d2.loss_map_cls: 0.7729, d2.loss_map_pts: 5.1569, d2.loss_map_dir: 0.0932, d3.loss_map_cls: 0.7904, d3.loss_map_pts: 5.1520, d3.loss_map_dir: 0.0933, d4.loss_map_cls: 0.8087, d4.loss_map_pts: 5.1490, d4.loss_map_dir: 0.0933, d5.loss_map_cls: 0.8109, d5.loss_map_pts: 5.1491, d5.loss_map_dir: 0.0932, loss: 208.8574, grad_norm: 11935.5868 +2026-02-24 00:32:19,806 - DriveTransformer - INFO - Epoch [1][650/59059] lr: 6.841e-05, eta: 23 days, 11:59:12, time: 0.575, data_time: 0.023, memory: 14134, loss_cls: 1.4541, loss_bbox: 1.4799, loss_traj: 4.5543, loss_traj_cls: 0.0098, loss_map_cls: 0.7956, loss_map_pts: 4.9684, loss_map_dir: 0.0911, d0.loss_plan_l1_fix_time: 9.3112, d0.loss_plan_l1_fix_dist: 1.8434, d1.loss_plan_l1_fix_time: 9.1458, d1.loss_plan_l1_fix_dist: 1.7949, d2.loss_plan_l1_fix_time: 9.0961, d2.loss_plan_l1_fix_dist: 2.1197, d3.loss_plan_l1_fix_time: 9.1498, d3.loss_plan_l1_fix_dist: 2.5955, d4.loss_plan_l1_fix_time: 9.1925, d4.loss_plan_l1_fix_dist: 3.1510, d5.loss_plan_l1_fix_time: 9.2966, d5.loss_plan_l1_fix_dist: 3.7959, d6.loss_plan_l1_fix_time: 9.4679, d6.loss_plan_l1_fix_dist: 4.6083, d0.loss_cls_all: 1.5431, d0.loss_bbox_all: 1.4353, d0.loss_cls: 1.5431, d0.loss_bbox: 1.4353, d1.loss_cls: 1.5221, d1.loss_bbox: 1.4646, d2.loss_cls: 1.4816, d2.loss_bbox: 1.4530, d3.loss_cls: 1.4521, d3.loss_bbox: 1.4602, d4.loss_cls: 1.4401, d4.loss_bbox: 1.4630, d5.loss_cls: 1.4433, d5.loss_bbox: 1.4732, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.4890, d1.loss_traj_cls: 0.0017, d1.loss_traj: 4.5077, d2.loss_traj_cls: 0.0038, d2.loss_traj: 4.5237, d3.loss_traj_cls: 0.0067, d3.loss_traj: 4.5234, d4.loss_traj_cls: 0.0036, d4.loss_traj: 4.5515, d5.loss_traj_cls: 0.0063, d5.loss_traj: 4.5409, d0.loss_map_cls_all: 0.7475, d0.loss_map_pts_all: 5.0417, d0.loss_map_dir_all: 0.0911, d0.loss_map_cls: 0.7475, d0.loss_map_pts: 5.0417, d0.loss_map_dir: 0.0911, d1.loss_map_cls: 0.7359, d1.loss_map_pts: 5.0103, d1.loss_map_dir: 0.0910, d2.loss_map_cls: 0.7438, d2.loss_map_pts: 4.9817, d2.loss_map_dir: 0.0911, d3.loss_map_cls: 0.7689, d3.loss_map_pts: 4.9712, d3.loss_map_dir: 0.0912, d4.loss_map_cls: 0.7786, d4.loss_map_pts: 4.9652, d4.loss_map_dir: 0.0911, d5.loss_map_cls: 0.7684, d5.loss_map_pts: 4.9646, d5.loss_map_dir: 0.0911, loss: 186.5953, grad_norm: 11058.6370 +2026-02-24 00:32:48,327 - DriveTransformer - INFO - Epoch [1][700/59059] lr: 7.291e-05, eta: 23 days, 11:47:32, time: 0.570, data_time: 0.023, memory: 14134, loss_cls: 1.4346, loss_bbox: 1.3483, loss_traj: 5.9182, loss_traj_cls: 0.0088, loss_map_cls: 0.7591, loss_map_pts: 5.0042, loss_map_dir: 0.0913, d0.loss_plan_l1_fix_time: 11.4675, d0.loss_plan_l1_fix_dist: 1.6784, d1.loss_plan_l1_fix_time: 11.1376, d1.loss_plan_l1_fix_dist: 1.7425, d2.loss_plan_l1_fix_time: 10.9158, d2.loss_plan_l1_fix_dist: 2.1472, d3.loss_plan_l1_fix_time: 10.7942, d3.loss_plan_l1_fix_dist: 2.4057, d4.loss_plan_l1_fix_time: 10.7054, d4.loss_plan_l1_fix_dist: 2.7631, d5.loss_plan_l1_fix_time: 10.6678, d5.loss_plan_l1_fix_dist: 3.1351, d6.loss_plan_l1_fix_time: 10.7032, d6.loss_plan_l1_fix_dist: 3.6406, d0.loss_cls_all: 1.4757, d0.loss_bbox_all: 1.3406, d0.loss_cls: 1.4757, d0.loss_bbox: 1.3406, d1.loss_cls: 1.4724, d1.loss_bbox: 1.3905, d2.loss_cls: 1.4539, d2.loss_bbox: 1.3376, d3.loss_cls: 1.4247, d3.loss_bbox: 1.3132, d4.loss_cls: 1.4163, d4.loss_bbox: 1.3062, d5.loss_cls: 1.4256, d5.loss_bbox: 1.3239, d0.loss_traj_cls: 0.0006, d0.loss_traj: 5.8188, d1.loss_traj_cls: 0.0014, d1.loss_traj: 5.8493, d2.loss_traj_cls: 0.0036, d2.loss_traj: 5.8915, d3.loss_traj_cls: 0.0064, d3.loss_traj: 5.8843, d4.loss_traj_cls: 0.0029, d4.loss_traj: 5.9043, d5.loss_traj_cls: 0.0056, d5.loss_traj: 5.9077, d0.loss_map_cls_all: 0.7339, d0.loss_map_pts_all: 5.1030, d0.loss_map_dir_all: 0.0914, d0.loss_map_cls: 0.7339, d0.loss_map_pts: 5.1030, d0.loss_map_dir: 0.0914, d1.loss_map_cls: 0.7306, d1.loss_map_pts: 5.0651, d1.loss_map_dir: 0.0914, d2.loss_map_cls: 0.7377, d2.loss_map_pts: 5.0353, d2.loss_map_dir: 0.0914, d3.loss_map_cls: 0.7568, d3.loss_map_pts: 5.0195, d3.loss_map_dir: 0.0914, d4.loss_map_cls: 0.7491, d4.loss_map_pts: 5.0074, d4.loss_map_dir: 0.0914, d5.loss_map_cls: 0.7383, d5.loss_map_pts: 5.0039, d5.loss_map_dir: 0.0913, loss: 204.3990, grad_norm: 10304.7778 +2026-02-24 00:33:17,201 - DriveTransformer - INFO - Epoch [1][750/59059] lr: 7.741e-05, eta: 23 days, 12:05:38, time: 0.578, data_time: 0.025, memory: 14134, loss_cls: 1.4726, loss_bbox: 1.3611, loss_traj: 5.7049, loss_traj_cls: 0.0079, loss_map_cls: 0.8033, loss_map_pts: 4.8922, loss_map_dir: 0.0885, d0.loss_plan_l1_fix_time: 11.4326, d0.loss_plan_l1_fix_dist: 1.7414, d1.loss_plan_l1_fix_time: 11.0687, d1.loss_plan_l1_fix_dist: 1.8293, d2.loss_plan_l1_fix_time: 10.7858, d2.loss_plan_l1_fix_dist: 2.2667, d3.loss_plan_l1_fix_time: 10.5700, d3.loss_plan_l1_fix_dist: 2.7390, d4.loss_plan_l1_fix_time: 10.4290, d4.loss_plan_l1_fix_dist: 3.1530, d5.loss_plan_l1_fix_time: 10.3295, d5.loss_plan_l1_fix_dist: 3.5841, d6.loss_plan_l1_fix_time: 10.2989, d6.loss_plan_l1_fix_dist: 4.0326, d0.loss_cls_all: 1.4766, d0.loss_bbox_all: 1.3027, d0.loss_cls: 1.4766, d0.loss_bbox: 1.3027, d1.loss_cls: 1.4804, d1.loss_bbox: 1.3379, d2.loss_cls: 1.4739, d2.loss_bbox: 1.2953, d3.loss_cls: 1.4661, d3.loss_bbox: 1.2742, d4.loss_cls: 1.4677, d4.loss_bbox: 1.2820, d5.loss_cls: 1.4772, d5.loss_bbox: 1.3161, d0.loss_traj_cls: 0.0005, d0.loss_traj: 5.6047, d1.loss_traj_cls: 0.0010, d1.loss_traj: 5.6383, d2.loss_traj_cls: 0.0038, d2.loss_traj: 5.6788, d3.loss_traj_cls: 0.0056, d3.loss_traj: 5.6819, d4.loss_traj_cls: 0.0023, d4.loss_traj: 5.7021, d5.loss_traj_cls: 0.0045, d5.loss_traj: 5.7045, d0.loss_map_cls_all: 0.7418, d0.loss_map_pts_all: 4.9658, d0.loss_map_dir_all: 0.0883, d0.loss_map_cls: 0.7418, d0.loss_map_pts: 4.9658, d0.loss_map_dir: 0.0883, d1.loss_map_cls: 0.7519, d1.loss_map_pts: 4.9292, d1.loss_map_dir: 0.0884, d2.loss_map_cls: 0.7703, d2.loss_map_pts: 4.9089, d2.loss_map_dir: 0.0886, d3.loss_map_cls: 0.7781, d3.loss_map_pts: 4.8980, d3.loss_map_dir: 0.0886, d4.loss_map_cls: 0.7709, d4.loss_map_pts: 4.8934, d4.loss_map_dir: 0.0886, d5.loss_map_cls: 0.7776, d5.loss_map_pts: 4.8929, d5.loss_map_dir: 0.0885, loss: 202.4540, grad_norm: 9652.8110 +2026-02-24 00:33:47,723 - DriveTransformer - INFO - Epoch [1][800/59059] lr: 8.191e-05, eta: 23 days, 14:21:58, time: 0.610, data_time: 0.026, memory: 14134, loss_cls: 1.4490, loss_bbox: 1.4205, loss_traj: 5.2014, loss_traj_cls: 0.0069, loss_map_cls: 0.7250, loss_map_pts: 4.8455, loss_map_dir: 0.0860, d0.loss_plan_l1_fix_time: 11.0070, d0.loss_plan_l1_fix_dist: 1.5050, d1.loss_plan_l1_fix_time: 10.6578, d1.loss_plan_l1_fix_dist: 1.6395, d2.loss_plan_l1_fix_time: 10.4105, d2.loss_plan_l1_fix_dist: 2.0899, d3.loss_plan_l1_fix_time: 10.2391, d3.loss_plan_l1_fix_dist: 2.5690, d4.loss_plan_l1_fix_time: 10.1617, d4.loss_plan_l1_fix_dist: 3.1198, d5.loss_plan_l1_fix_time: 10.1270, d5.loss_plan_l1_fix_dist: 3.7981, d6.loss_plan_l1_fix_time: 10.1542, d6.loss_plan_l1_fix_dist: 4.5825, d0.loss_cls_all: 1.4295, d0.loss_bbox_all: 1.3312, d0.loss_cls: 1.4295, d0.loss_bbox: 1.3312, d1.loss_cls: 1.4561, d1.loss_bbox: 1.3489, d2.loss_cls: 1.4506, d2.loss_bbox: 1.3203, d3.loss_cls: 1.4467, d3.loss_bbox: 1.3323, d4.loss_cls: 1.4341, d4.loss_bbox: 1.3559, d5.loss_cls: 1.4439, d5.loss_bbox: 1.3845, d0.loss_traj_cls: 0.0006, d0.loss_traj: 5.1027, d1.loss_traj_cls: 0.0008, d1.loss_traj: 5.1381, d2.loss_traj_cls: 0.0029, d2.loss_traj: 5.1601, d3.loss_traj_cls: 0.0037, d3.loss_traj: 5.1779, d4.loss_traj_cls: 0.0019, d4.loss_traj: 5.2126, d5.loss_traj_cls: 0.0037, d5.loss_traj: 5.2014, d0.loss_map_cls_all: 0.6867, d0.loss_map_pts_all: 4.8615, d0.loss_map_dir_all: 0.0857, d0.loss_map_cls: 0.6867, d0.loss_map_pts: 4.8615, d0.loss_map_dir: 0.0857, d1.loss_map_cls: 0.7008, d1.loss_map_pts: 4.8346, d1.loss_map_dir: 0.0859, d2.loss_map_cls: 0.7033, d2.loss_map_pts: 4.8294, d2.loss_map_dir: 0.0860, d3.loss_map_cls: 0.7062, d3.loss_map_pts: 4.8329, d3.loss_map_dir: 0.0860, d4.loss_map_cls: 0.6975, d4.loss_map_pts: 4.8409, d4.loss_map_dir: 0.0860, d5.loss_map_cls: 0.7095, d5.loss_map_pts: 4.8453, d5.loss_map_dir: 0.0860, loss: 195.6944, grad_norm: 9091.9762 +2026-02-24 00:34:17,134 - DriveTransformer - INFO - Epoch [1][850/59059] lr: 8.641e-05, eta: 23 days, 15:05:38, time: 0.588, data_time: 0.025, memory: 14134, loss_cls: 1.4775, loss_bbox: 1.4746, loss_traj: 5.0718, loss_traj_cls: 0.0073, loss_map_cls: 0.7305, loss_map_pts: 5.1667, loss_map_dir: 0.0873, d0.loss_plan_l1_fix_time: 12.1655, d0.loss_plan_l1_fix_dist: 1.3593, d1.loss_plan_l1_fix_time: 11.7169, d1.loss_plan_l1_fix_dist: 1.4227, d2.loss_plan_l1_fix_time: 11.3656, d2.loss_plan_l1_fix_dist: 1.8905, d3.loss_plan_l1_fix_time: 11.0896, d3.loss_plan_l1_fix_dist: 2.1807, d4.loss_plan_l1_fix_time: 10.9058, d4.loss_plan_l1_fix_dist: 2.6094, d5.loss_plan_l1_fix_time: 10.7802, d5.loss_plan_l1_fix_dist: 3.1817, d6.loss_plan_l1_fix_time: 10.7066, d6.loss_plan_l1_fix_dist: 3.9086, d0.loss_cls_all: 1.4537, d0.loss_bbox_all: 1.3940, d0.loss_cls: 1.4537, d0.loss_bbox: 1.3940, d1.loss_cls: 1.4898, d1.loss_bbox: 1.4155, d2.loss_cls: 1.4844, d2.loss_bbox: 1.4058, d3.loss_cls: 1.4876, d3.loss_bbox: 1.4484, d4.loss_cls: 1.4684, d4.loss_bbox: 1.4580, d5.loss_cls: 1.4803, d5.loss_bbox: 1.4724, d0.loss_traj_cls: 0.0007, d0.loss_traj: 4.9873, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.0176, d2.loss_traj_cls: 0.0017, d2.loss_traj: 5.0339, d3.loss_traj_cls: 0.0034, d3.loss_traj: 5.0490, d4.loss_traj_cls: 0.0016, d4.loss_traj: 5.0984, d5.loss_traj_cls: 0.0031, d5.loss_traj: 5.0761, d0.loss_map_cls_all: 0.7011, d0.loss_map_pts_all: 5.1999, d0.loss_map_dir_all: 0.0870, d0.loss_map_cls: 0.7011, d0.loss_map_pts: 5.1999, d0.loss_map_dir: 0.0870, d1.loss_map_cls: 0.7046, d1.loss_map_pts: 5.1644, d1.loss_map_dir: 0.0870, d2.loss_map_cls: 0.7134, d2.loss_map_pts: 5.1561, d2.loss_map_dir: 0.0872, d3.loss_map_cls: 0.7137, d3.loss_map_pts: 5.1588, d3.loss_map_dir: 0.0873, d4.loss_map_cls: 0.7169, d4.loss_map_pts: 5.1627, d4.loss_map_dir: 0.0872, d5.loss_map_cls: 0.7244, d5.loss_map_pts: 5.1657, d5.loss_map_dir: 0.0872, loss: 201.6709, grad_norm: 8587.1978 +2026-02-24 00:34:44,292 - DriveTransformer - INFO - Epoch [1][900/59059] lr: 9.091e-05, eta: 23 days, 13:16:21, time: 0.543, data_time: 0.029, memory: 14134, loss_cls: 1.4683, loss_bbox: 1.3542, loss_traj: 6.2953, loss_traj_cls: 0.0065, loss_map_cls: 0.8752, loss_map_pts: 4.9609, loss_map_dir: 0.0884, d0.loss_plan_l1_fix_time: 11.9680, d0.loss_plan_l1_fix_dist: 1.3634, d1.loss_plan_l1_fix_time: 11.4899, d1.loss_plan_l1_fix_dist: 1.5789, d2.loss_plan_l1_fix_time: 11.1491, d2.loss_plan_l1_fix_dist: 1.9796, d3.loss_plan_l1_fix_time: 10.8853, d3.loss_plan_l1_fix_dist: 2.3855, d4.loss_plan_l1_fix_time: 10.7054, d4.loss_plan_l1_fix_dist: 2.8070, d5.loss_plan_l1_fix_time: 10.5897, d5.loss_plan_l1_fix_dist: 3.2070, d6.loss_plan_l1_fix_time: 10.5347, d6.loss_plan_l1_fix_dist: 3.7749, d0.loss_cls_all: 1.4473, d0.loss_bbox_all: 1.2531, d0.loss_cls: 1.4473, d0.loss_bbox: 1.2531, d1.loss_cls: 1.4857, d1.loss_bbox: 1.2741, d2.loss_cls: 1.4684, d2.loss_bbox: 1.2789, d3.loss_cls: 1.4787, d3.loss_bbox: 1.3161, d4.loss_cls: 1.4701, d4.loss_bbox: 1.3120, d5.loss_cls: 1.4761, d5.loss_bbox: 1.3236, d0.loss_traj_cls: 0.0006, d0.loss_traj: 6.1595, d1.loss_traj_cls: 0.0005, d1.loss_traj: 6.2051, d2.loss_traj_cls: 0.0012, d2.loss_traj: 6.2498, d3.loss_traj_cls: 0.0034, d3.loss_traj: 6.2659, d4.loss_traj_cls: 0.0013, d4.loss_traj: 6.3182, d5.loss_traj_cls: 0.0026, d5.loss_traj: 6.3047, d0.loss_map_cls_all: 0.8608, d0.loss_map_pts_all: 5.0039, d0.loss_map_dir_all: 0.0881, d0.loss_map_cls: 0.8608, d0.loss_map_pts: 5.0039, d0.loss_map_dir: 0.0881, d1.loss_map_cls: 0.7983, d1.loss_map_pts: 4.9752, d1.loss_map_dir: 0.0881, d2.loss_map_cls: 0.8177, d2.loss_map_pts: 4.9705, d2.loss_map_dir: 0.0881, d3.loss_map_cls: 0.8176, d3.loss_map_pts: 4.9688, d3.loss_map_dir: 0.0882, d4.loss_map_cls: 0.8619, d4.loss_map_pts: 4.9678, d4.loss_map_dir: 0.0882, d5.loss_map_cls: 0.8541, d5.loss_map_pts: 4.9656, d5.loss_map_dir: 0.0883, loss: 207.6086, grad_norm: 8135.8032 +2026-02-24 00:35:14,740 - DriveTransformer - INFO - Epoch [1][950/59059] lr: 9.541e-05, eta: 23 days, 15:03:22, time: 0.609, data_time: 0.025, memory: 14134, loss_cls: 1.5001, loss_bbox: 1.5537, loss_traj: 4.9956, loss_traj_cls: 0.0051, loss_map_cls: 0.7734, loss_map_pts: 4.9203, loss_map_dir: 0.0878, d0.loss_plan_l1_fix_time: 11.7340, d0.loss_plan_l1_fix_dist: 1.3719, d1.loss_plan_l1_fix_time: 11.1690, d1.loss_plan_l1_fix_dist: 1.5318, d2.loss_plan_l1_fix_time: 10.7227, d2.loss_plan_l1_fix_dist: 1.9115, d3.loss_plan_l1_fix_time: 10.3771, d3.loss_plan_l1_fix_dist: 2.3837, d4.loss_plan_l1_fix_time: 10.1069, d4.loss_plan_l1_fix_dist: 2.8855, d5.loss_plan_l1_fix_time: 9.9256, d5.loss_plan_l1_fix_dist: 3.2768, d6.loss_plan_l1_fix_time: 9.8381, d6.loss_plan_l1_fix_dist: 3.6997, d0.loss_cls_all: 1.4968, d0.loss_bbox_all: 1.5274, d0.loss_cls: 1.4968, d0.loss_bbox: 1.5274, d1.loss_cls: 1.5416, d1.loss_bbox: 1.5382, d2.loss_cls: 1.5058, d2.loss_bbox: 1.5287, d3.loss_cls: 1.5071, d3.loss_bbox: 1.5364, d4.loss_cls: 1.4872, d4.loss_bbox: 1.5328, d5.loss_cls: 1.5083, d5.loss_bbox: 1.5425, d0.loss_traj_cls: 0.0008, d0.loss_traj: 4.8195, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.8813, d2.loss_traj_cls: 0.0014, d2.loss_traj: 4.9272, d3.loss_traj_cls: 0.0029, d3.loss_traj: 4.9575, d4.loss_traj_cls: 0.0011, d4.loss_traj: 4.9872, d5.loss_traj_cls: 0.0022, d5.loss_traj: 4.9867, d0.loss_map_cls_all: 0.7298, d0.loss_map_pts_all: 4.9918, d0.loss_map_dir_all: 0.0878, d0.loss_map_cls: 0.7298, d0.loss_map_pts: 4.9918, d0.loss_map_dir: 0.0878, d1.loss_map_cls: 0.7212, d1.loss_map_pts: 4.9488, d1.loss_map_dir: 0.0877, d2.loss_map_cls: 0.7431, d2.loss_map_pts: 4.9279, d2.loss_map_dir: 0.0878, d3.loss_map_cls: 0.7546, d3.loss_map_pts: 4.9186, d3.loss_map_dir: 0.0878, d4.loss_map_cls: 0.7605, d4.loss_map_pts: 4.9151, d4.loss_map_dir: 0.0878, d5.loss_map_cls: 0.7565, d5.loss_map_pts: 4.9147, d5.loss_map_dir: 0.0878, loss: 196.0345, grad_norm: 7729.4752 +2026-02-24 00:35:42,234 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 00:35:42,234 - DriveTransformer - INFO - Epoch [1][1000/59059] lr: 9.991e-05, eta: 23 days, 13:44:46, time: 0.550, data_time: 0.023, memory: 14134, loss_cls: 1.4665, loss_bbox: 1.2713, loss_traj: 5.6869, loss_traj_cls: 0.0050, loss_map_cls: 0.8003, loss_map_pts: 5.1844, loss_map_dir: 0.0873, d0.loss_plan_l1_fix_time: 11.7475, d0.loss_plan_l1_fix_dist: 1.2540, d1.loss_plan_l1_fix_time: 11.1151, d1.loss_plan_l1_fix_dist: 1.4159, d2.loss_plan_l1_fix_time: 10.6024, d2.loss_plan_l1_fix_dist: 1.7394, d3.loss_plan_l1_fix_time: 10.1938, d3.loss_plan_l1_fix_dist: 2.0952, d4.loss_plan_l1_fix_time: 9.8715, d4.loss_plan_l1_fix_dist: 2.6582, d5.loss_plan_l1_fix_time: 9.6543, d5.loss_plan_l1_fix_dist: 3.2238, d6.loss_plan_l1_fix_time: 9.5678, d6.loss_plan_l1_fix_dist: 3.8046, d0.loss_cls_all: 1.4436, d0.loss_bbox_all: 1.2010, d0.loss_cls: 1.4436, d0.loss_bbox: 1.2010, d1.loss_cls: 1.4730, d1.loss_bbox: 1.2026, d2.loss_cls: 1.4574, d2.loss_bbox: 1.1851, d3.loss_cls: 1.4810, d3.loss_bbox: 1.2062, d4.loss_cls: 1.4761, d4.loss_bbox: 1.2194, d5.loss_cls: 1.4820, d5.loss_bbox: 1.2402, d0.loss_traj_cls: 0.0007, d0.loss_traj: 5.4780, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.5618, d2.loss_traj_cls: 0.0014, d2.loss_traj: 5.6209, d3.loss_traj_cls: 0.0020, d3.loss_traj: 5.6583, d4.loss_traj_cls: 0.0009, d4.loss_traj: 5.6889, d5.loss_traj_cls: 0.0018, d5.loss_traj: 5.6849, d0.loss_map_cls_all: 0.7669, d0.loss_map_pts_all: 5.2487, d0.loss_map_dir_all: 0.0874, d0.loss_map_cls: 0.7669, d0.loss_map_pts: 5.2487, d0.loss_map_dir: 0.0874, d1.loss_map_cls: 0.7692, d1.loss_map_pts: 5.1993, d1.loss_map_dir: 0.0874, d2.loss_map_cls: 0.7941, d2.loss_map_pts: 5.1741, d2.loss_map_dir: 0.0874, d3.loss_map_cls: 0.7970, d3.loss_map_pts: 5.1681, d3.loss_map_dir: 0.0875, d4.loss_map_cls: 0.7977, d4.loss_map_pts: 5.1682, d4.loss_map_dir: 0.0874, d5.loss_map_cls: 0.7955, d5.loss_map_pts: 5.1719, d5.loss_map_dir: 0.0873, loss: 198.3358, grad_norm: 7363.0140 +2026-02-24 00:36:10,302 - DriveTransformer - INFO - Epoch [1][1050/59059] lr: 1.000e-04, eta: 23 days, 13:06:15, time: 0.561, data_time: 0.032, memory: 14134, loss_cls: 1.4493, loss_bbox: 1.4282, loss_traj: 5.8424, loss_traj_cls: 0.0054, loss_map_cls: 0.7776, loss_map_pts: 5.0965, loss_map_dir: 0.0865, d0.loss_plan_l1_fix_time: 11.0672, d0.loss_plan_l1_fix_dist: 1.1675, d1.loss_plan_l1_fix_time: 10.4578, d1.loss_plan_l1_fix_dist: 1.4837, d2.loss_plan_l1_fix_time: 10.0196, d2.loss_plan_l1_fix_dist: 1.8543, d3.loss_plan_l1_fix_time: 9.6941, d3.loss_plan_l1_fix_dist: 2.2413, d4.loss_plan_l1_fix_time: 9.4723, d4.loss_plan_l1_fix_dist: 2.6648, d5.loss_plan_l1_fix_time: 9.3347, d5.loss_plan_l1_fix_dist: 3.1247, d6.loss_plan_l1_fix_time: 9.3263, d6.loss_plan_l1_fix_dist: 3.6179, d0.loss_cls_all: 1.4493, d0.loss_bbox_all: 1.3527, d0.loss_cls: 1.4493, d0.loss_bbox: 1.3527, d1.loss_cls: 1.4825, d1.loss_bbox: 1.3635, d2.loss_cls: 1.4476, d2.loss_bbox: 1.3541, d3.loss_cls: 1.4823, d3.loss_bbox: 1.3754, d4.loss_cls: 1.4588, d4.loss_bbox: 1.3920, d5.loss_cls: 1.4637, d5.loss_bbox: 1.3977, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.5973, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.7077, d2.loss_traj_cls: 0.0011, d2.loss_traj: 5.7688, d3.loss_traj_cls: 0.0016, d3.loss_traj: 5.8023, d4.loss_traj_cls: 0.0008, d4.loss_traj: 5.8726, d5.loss_traj_cls: 0.0016, d5.loss_traj: 5.8480, d0.loss_map_cls_all: 0.7557, d0.loss_map_pts_all: 5.1726, d0.loss_map_dir_all: 0.0865, d0.loss_map_cls: 0.7557, d0.loss_map_pts: 5.1726, d0.loss_map_dir: 0.0865, d1.loss_map_cls: 0.7559, d1.loss_map_pts: 5.1263, d1.loss_map_dir: 0.0864, d2.loss_map_cls: 0.7748, d2.loss_map_pts: 5.1055, d2.loss_map_dir: 0.0865, d3.loss_map_cls: 0.7662, d3.loss_map_pts: 5.0972, d3.loss_map_dir: 0.0865, d4.loss_map_cls: 0.7768, d4.loss_map_pts: 5.0927, d4.loss_map_dir: 0.0865, d5.loss_map_cls: 0.7791, d5.loss_map_pts: 5.0906, d5.loss_map_dir: 0.0864, loss: 196.4639, grad_norm: 7033.5652 +2026-02-24 00:36:39,314 - DriveTransformer - INFO - Epoch [1][1100/59059] lr: 1.000e-04, eta: 23 days, 13:21:37, time: 0.580, data_time: 0.023, memory: 14134, loss_cls: 1.4545, loss_bbox: 1.4597, loss_traj: 5.8278, loss_traj_cls: 0.0037, loss_map_cls: 0.7491, loss_map_pts: 5.0273, loss_map_dir: 0.0849, d0.loss_plan_l1_fix_time: 9.9860, d0.loss_plan_l1_fix_dist: 1.1042, d1.loss_plan_l1_fix_time: 9.5505, d1.loss_plan_l1_fix_dist: 1.3830, d2.loss_plan_l1_fix_time: 9.2963, d2.loss_plan_l1_fix_dist: 1.7069, d3.loss_plan_l1_fix_time: 9.1359, d3.loss_plan_l1_fix_dist: 2.1637, d4.loss_plan_l1_fix_time: 9.0777, d4.loss_plan_l1_fix_dist: 2.5827, d5.loss_plan_l1_fix_time: 9.0995, d5.loss_plan_l1_fix_dist: 3.1015, d6.loss_plan_l1_fix_time: 9.2246, d6.loss_plan_l1_fix_dist: 3.7730, d0.loss_cls_all: 1.4566, d0.loss_bbox_all: 1.3720, d0.loss_cls: 1.4566, d0.loss_bbox: 1.3720, d1.loss_cls: 1.4817, d1.loss_bbox: 1.3915, d2.loss_cls: 1.4486, d2.loss_bbox: 1.3844, d3.loss_cls: 1.4708, d3.loss_bbox: 1.4125, d4.loss_cls: 1.4510, d4.loss_bbox: 1.4294, d5.loss_cls: 1.4541, d5.loss_bbox: 1.4342, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.5059, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.6338, d2.loss_traj_cls: 0.0008, d2.loss_traj: 5.7156, d3.loss_traj_cls: 0.0018, d3.loss_traj: 5.7496, d4.loss_traj_cls: 0.0007, d4.loss_traj: 5.8237, d5.loss_traj_cls: 0.0013, d5.loss_traj: 5.8138, d0.loss_map_cls_all: 0.7381, d0.loss_map_pts_all: 5.1029, d0.loss_map_dir_all: 0.0849, d0.loss_map_cls: 0.7381, d0.loss_map_pts: 5.1029, d0.loss_map_dir: 0.0849, d1.loss_map_cls: 0.7283, d1.loss_map_pts: 5.0423, d1.loss_map_dir: 0.0849, d2.loss_map_cls: 0.7388, d2.loss_map_pts: 5.0198, d2.loss_map_dir: 0.0849, d3.loss_map_cls: 0.7234, d3.loss_map_pts: 5.0111, d3.loss_map_dir: 0.0849, d4.loss_map_cls: 0.7490, d4.loss_map_pts: 5.0142, d4.loss_map_dir: 0.0850, d5.loss_map_cls: 0.7497, d5.loss_map_pts: 5.0219, d5.loss_map_dir: 0.0849, loss: 191.1314, grad_norm: 6732.6333 +2026-02-24 00:37:08,021 - DriveTransformer - INFO - Epoch [1][1150/59059] lr: 1.000e-04, eta: 23 days, 13:20:01, time: 0.574, data_time: 0.031, memory: 14134, loss_cls: 1.4458, loss_bbox: 1.3678, loss_traj: 5.4633, loss_traj_cls: 0.0034, loss_map_cls: 0.8647, loss_map_pts: 5.0095, loss_map_dir: 0.0823, d0.loss_plan_l1_fix_time: 9.0528, d0.loss_plan_l1_fix_dist: 1.1973, d1.loss_plan_l1_fix_time: 8.7657, d1.loss_plan_l1_fix_dist: 1.4747, d2.loss_plan_l1_fix_time: 8.6714, d2.loss_plan_l1_fix_dist: 1.7862, d3.loss_plan_l1_fix_time: 8.6751, d3.loss_plan_l1_fix_dist: 2.1068, d4.loss_plan_l1_fix_time: 8.7728, d4.loss_plan_l1_fix_dist: 2.4078, d5.loss_plan_l1_fix_time: 8.9386, d5.loss_plan_l1_fix_dist: 2.7927, d6.loss_plan_l1_fix_time: 9.2059, d6.loss_plan_l1_fix_dist: 3.3016, d0.loss_cls_all: 1.4341, d0.loss_bbox_all: 1.2649, d0.loss_cls: 1.4341, d0.loss_bbox: 1.2649, d1.loss_cls: 1.4586, d1.loss_bbox: 1.2886, d2.loss_cls: 1.4433, d2.loss_bbox: 1.2819, d3.loss_cls: 1.4515, d3.loss_bbox: 1.3135, d4.loss_cls: 1.4434, d4.loss_bbox: 1.3236, d5.loss_cls: 1.4376, d5.loss_bbox: 1.3285, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.1494, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.2713, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.3658, d3.loss_traj_cls: 0.0018, d3.loss_traj: 5.4167, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.4560, d5.loss_traj_cls: 0.0011, d5.loss_traj: 5.4563, d0.loss_map_cls_all: 0.7776, d0.loss_map_pts_all: 5.1187, d0.loss_map_dir_all: 0.0828, d0.loss_map_cls: 0.7776, d0.loss_map_pts: 5.1187, d0.loss_map_dir: 0.0828, d1.loss_map_cls: 0.7779, d1.loss_map_pts: 5.0483, d1.loss_map_dir: 0.0825, d2.loss_map_cls: 0.7953, d2.loss_map_pts: 5.0143, d2.loss_map_dir: 0.0825, d3.loss_map_cls: 0.8120, d3.loss_map_pts: 5.0034, d3.loss_map_dir: 0.0824, d4.loss_map_cls: 0.8285, d4.loss_map_pts: 5.0001, d4.loss_map_dir: 0.0824, d5.loss_map_cls: 0.8469, d5.loss_map_pts: 5.0010, d5.loss_map_dir: 0.0824, loss: 184.1740, grad_norm: 6458.7740 +2026-02-24 00:37:35,880 - DriveTransformer - INFO - Epoch [1][1200/59059] lr: 1.000e-04, eta: 23 days, 12:39:08, time: 0.558, data_time: 0.027, memory: 14134, loss_cls: 1.4437, loss_bbox: 1.3106, loss_traj: 6.2873, loss_traj_cls: 0.0040, loss_map_cls: 0.7795, loss_map_pts: 4.8283, loss_map_dir: 0.0804, d0.loss_plan_l1_fix_time: 11.7813, d0.loss_plan_l1_fix_dist: 1.1748, d1.loss_plan_l1_fix_time: 10.9131, d1.loss_plan_l1_fix_dist: 1.3161, d2.loss_plan_l1_fix_time: 10.2635, d2.loss_plan_l1_fix_dist: 1.7004, d3.loss_plan_l1_fix_time: 9.8138, d3.loss_plan_l1_fix_dist: 2.0790, d4.loss_plan_l1_fix_time: 9.5399, d4.loss_plan_l1_fix_dist: 2.4973, d5.loss_plan_l1_fix_time: 9.3771, d5.loss_plan_l1_fix_dist: 3.0328, d6.loss_plan_l1_fix_time: 9.3489, d6.loss_plan_l1_fix_dist: 3.8012, d0.loss_cls_all: 1.4199, d0.loss_bbox_all: 1.2342, d0.loss_cls: 1.4199, d0.loss_bbox: 1.2342, d1.loss_cls: 1.4375, d1.loss_bbox: 1.2663, d2.loss_cls: 1.4428, d2.loss_bbox: 1.2555, d3.loss_cls: 1.4352, d3.loss_bbox: 1.2776, d4.loss_cls: 1.4512, d4.loss_bbox: 1.2975, d5.loss_cls: 1.4370, d5.loss_bbox: 1.3076, d0.loss_traj_cls: 0.0007, d0.loss_traj: 5.9241, d1.loss_traj_cls: 0.0005, d1.loss_traj: 6.0661, d2.loss_traj_cls: 0.0006, d2.loss_traj: 6.1714, d3.loss_traj_cls: 0.0013, d3.loss_traj: 6.2305, d4.loss_traj_cls: 0.0006, d4.loss_traj: 6.2700, d5.loss_traj_cls: 0.0009, d5.loss_traj: 6.2772, d0.loss_map_cls_all: 0.7260, d0.loss_map_pts_all: 4.9394, d0.loss_map_dir_all: 0.0803, d0.loss_map_cls: 0.7260, d0.loss_map_pts: 4.9394, d0.loss_map_dir: 0.0803, d1.loss_map_cls: 0.7165, d1.loss_map_pts: 4.8772, d1.loss_map_dir: 0.0801, d2.loss_map_cls: 0.7299, d2.loss_map_pts: 4.8507, d2.loss_map_dir: 0.0804, d3.loss_map_cls: 0.7374, d3.loss_map_pts: 4.8412, d3.loss_map_dir: 0.0805, d4.loss_map_cls: 0.7561, d4.loss_map_pts: 4.8340, d4.loss_map_dir: 0.0804, d5.loss_map_cls: 0.7681, d5.loss_map_pts: 4.8270, d5.loss_map_dir: 0.0803, loss: 197.0648, grad_norm: 5976.0548 +2026-02-24 00:38:07,866 - DriveTransformer - INFO - Epoch [1][1250/59059] lr: 1.000e-04, eta: 23 days, 15:12:36, time: 0.639, data_time: 0.035, memory: 14134, loss_cls: 1.4990, loss_bbox: 1.3947, loss_traj: 6.3784, loss_traj_cls: 0.0034, loss_map_cls: 0.7917, loss_map_pts: 4.9362, loss_map_dir: 0.0795, d0.loss_plan_l1_fix_time: 10.9935, d0.loss_plan_l1_fix_dist: 1.1585, d1.loss_plan_l1_fix_time: 10.1568, d1.loss_plan_l1_fix_dist: 1.3766, d2.loss_plan_l1_fix_time: 9.5638, d2.loss_plan_l1_fix_dist: 1.7355, d3.loss_plan_l1_fix_time: 9.2000, d3.loss_plan_l1_fix_dist: 2.1104, d4.loss_plan_l1_fix_time: 8.9702, d4.loss_plan_l1_fix_dist: 2.6074, d5.loss_plan_l1_fix_time: 8.8661, d5.loss_plan_l1_fix_dist: 3.0468, d6.loss_plan_l1_fix_time: 8.8910, d6.loss_plan_l1_fix_dist: 3.5277, d0.loss_cls_all: 1.4707, d0.loss_bbox_all: 1.3348, d0.loss_cls: 1.4707, d0.loss_bbox: 1.3348, d1.loss_cls: 1.4853, d1.loss_bbox: 1.3552, d2.loss_cls: 1.5072, d2.loss_bbox: 1.3352, d3.loss_cls: 1.5004, d3.loss_bbox: 1.3587, d4.loss_cls: 1.4957, d4.loss_bbox: 1.3830, d5.loss_cls: 1.4732, d5.loss_bbox: 1.4018, d0.loss_traj_cls: 0.0007, d0.loss_traj: 5.8936, d1.loss_traj_cls: 0.0005, d1.loss_traj: 6.0953, d2.loss_traj_cls: 0.0007, d2.loss_traj: 6.2194, d3.loss_traj_cls: 0.0009, d3.loss_traj: 6.2799, d4.loss_traj_cls: 0.0005, d4.loss_traj: 6.3641, d5.loss_traj_cls: 0.0009, d5.loss_traj: 6.3592, d0.loss_map_cls_all: 0.7433, d0.loss_map_pts_all: 5.0718, d0.loss_map_dir_all: 0.0796, d0.loss_map_cls: 0.7433, d0.loss_map_pts: 5.0718, d0.loss_map_dir: 0.0796, d1.loss_map_cls: 0.7484, d1.loss_map_pts: 4.9947, d1.loss_map_dir: 0.0793, d2.loss_map_cls: 0.7651, d2.loss_map_pts: 4.9657, d2.loss_map_dir: 0.0796, d3.loss_map_cls: 0.7739, d3.loss_map_pts: 4.9526, d3.loss_map_dir: 0.0796, d4.loss_map_cls: 0.7793, d4.loss_map_pts: 4.9443, d4.loss_map_dir: 0.0795, d5.loss_map_cls: 0.7849, d5.loss_map_pts: 4.9371, d5.loss_map_dir: 0.0794, loss: 195.2424, grad_norm: 5761.2103 +2026-02-24 00:38:56,550 - DriveTransformer - INFO - Epoch [1][1300/59059] lr: 1.000e-04, eta: 24 days, 6:13:28, time: 0.973, data_time: 0.038, memory: 14134, loss_cls: 1.4461, loss_bbox: 1.3040, loss_traj: 5.9910, loss_traj_cls: 0.0024, loss_map_cls: 0.7777, loss_map_pts: 4.9822, loss_map_dir: 0.0787, d0.loss_plan_l1_fix_time: 10.6773, d0.loss_plan_l1_fix_dist: 1.1980, d1.loss_plan_l1_fix_time: 9.9867, d1.loss_plan_l1_fix_dist: 1.3494, d2.loss_plan_l1_fix_time: 9.5106, d2.loss_plan_l1_fix_dist: 1.6882, d3.loss_plan_l1_fix_time: 9.2113, d3.loss_plan_l1_fix_dist: 2.0595, d4.loss_plan_l1_fix_time: 9.0499, d4.loss_plan_l1_fix_dist: 2.5475, d5.loss_plan_l1_fix_time: 9.0193, d5.loss_plan_l1_fix_dist: 2.8480, d6.loss_plan_l1_fix_time: 9.1159, d6.loss_plan_l1_fix_dist: 3.0260, d0.loss_cls_all: 1.4140, d0.loss_bbox_all: 1.2251, d0.loss_cls: 1.4140, d0.loss_bbox: 1.2251, d1.loss_cls: 1.4164, d1.loss_bbox: 1.2358, d2.loss_cls: 1.4244, d2.loss_bbox: 1.2168, d3.loss_cls: 1.4120, d3.loss_bbox: 1.2373, d4.loss_cls: 1.4289, d4.loss_bbox: 1.2583, d5.loss_cls: 1.4300, d5.loss_bbox: 1.2838, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.4949, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.7021, d2.loss_traj_cls: 0.0008, d2.loss_traj: 5.8458, d3.loss_traj_cls: 0.0008, d3.loss_traj: 5.9115, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.9834, d5.loss_traj_cls: 0.0008, d5.loss_traj: 5.9736, d0.loss_map_cls_all: 0.7360, d0.loss_map_pts_all: 5.1161, d0.loss_map_dir_all: 0.0789, d0.loss_map_cls: 0.7360, d0.loss_map_pts: 5.1161, d0.loss_map_dir: 0.0789, d1.loss_map_cls: 0.7425, d1.loss_map_pts: 5.0420, d1.loss_map_dir: 0.0785, d2.loss_map_cls: 0.7587, d2.loss_map_pts: 5.0173, d2.loss_map_dir: 0.0786, d3.loss_map_cls: 0.7569, d3.loss_map_pts: 5.0061, d3.loss_map_dir: 0.0787, d4.loss_map_cls: 0.7767, d4.loss_map_pts: 5.0005, d4.loss_map_dir: 0.0788, d5.loss_map_cls: 0.7697, d5.loss_map_pts: 4.9925, d5.loss_map_dir: 0.0788, loss: 190.5255, grad_norm: 5565.5264 +2026-02-24 00:39:25,238 - DriveTransformer - INFO - Epoch [1][1350/59059] lr: 1.000e-04, eta: 24 days, 5:33:46, time: 0.574, data_time: 0.029, memory: 14134, loss_cls: 1.4382, loss_bbox: 1.2860, loss_traj: 6.0905, loss_traj_cls: 0.0023, loss_map_cls: 0.7569, loss_map_pts: 4.7659, loss_map_dir: 0.0791, d0.loss_plan_l1_fix_time: 10.0153, d0.loss_plan_l1_fix_dist: 1.0485, d1.loss_plan_l1_fix_time: 9.2732, d1.loss_plan_l1_fix_dist: 1.1959, d2.loss_plan_l1_fix_time: 8.8341, d2.loss_plan_l1_fix_dist: 1.4250, d3.loss_plan_l1_fix_time: 8.5934, d3.loss_plan_l1_fix_dist: 1.6668, d4.loss_plan_l1_fix_time: 8.4779, d4.loss_plan_l1_fix_dist: 1.8626, d5.loss_plan_l1_fix_time: 8.5093, d5.loss_plan_l1_fix_dist: 2.0580, d6.loss_plan_l1_fix_time: 8.6643, d6.loss_plan_l1_fix_dist: 2.3116, d0.loss_cls_all: 1.4129, d0.loss_bbox_all: 1.2595, d0.loss_cls: 1.4129, d0.loss_bbox: 1.2595, d1.loss_cls: 1.4224, d1.loss_bbox: 1.2584, d2.loss_cls: 1.4259, d2.loss_bbox: 1.2746, d3.loss_cls: 1.4234, d3.loss_bbox: 1.2652, d4.loss_cls: 1.4363, d4.loss_bbox: 1.2798, d5.loss_cls: 1.4369, d5.loss_bbox: 1.2745, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.6100, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.8120, d2.loss_traj_cls: 0.0008, d2.loss_traj: 5.9509, d3.loss_traj_cls: 0.0009, d3.loss_traj: 6.0228, d4.loss_traj_cls: 0.0005, d4.loss_traj: 6.0794, d5.loss_traj_cls: 0.0007, d5.loss_traj: 6.0778, d0.loss_map_cls_all: 0.7337, d0.loss_map_pts_all: 4.8764, d0.loss_map_dir_all: 0.0788, d0.loss_map_cls: 0.7337, d0.loss_map_pts: 4.8764, d0.loss_map_dir: 0.0788, d1.loss_map_cls: 0.7372, d1.loss_map_pts: 4.8075, d1.loss_map_dir: 0.0788, d2.loss_map_cls: 0.7411, d2.loss_map_pts: 4.7867, d2.loss_map_dir: 0.0790, d3.loss_map_cls: 0.7405, d3.loss_map_pts: 4.7820, d3.loss_map_dir: 0.0791, d4.loss_map_cls: 0.7557, d4.loss_map_pts: 4.7821, d4.loss_map_dir: 0.0791, d5.loss_map_cls: 0.7503, d5.loss_map_pts: 4.7769, d5.loss_map_dir: 0.0791, loss: 182.1867, grad_norm: 5376.7920 +2026-02-24 00:39:53,966 - DriveTransformer - INFO - Epoch [1][1400/59059] lr: 1.000e-04, eta: 24 days, 4:58:27, time: 0.575, data_time: 0.026, memory: 14134, loss_cls: 1.4430, loss_bbox: 1.3623, loss_traj: 5.7264, loss_traj_cls: 0.0024, loss_map_cls: 0.7478, loss_map_pts: 4.8691, loss_map_dir: 0.0809, d0.loss_plan_l1_fix_time: 11.4622, d0.loss_plan_l1_fix_dist: 0.9885, d1.loss_plan_l1_fix_time: 10.3723, d1.loss_plan_l1_fix_dist: 1.2312, d2.loss_plan_l1_fix_time: 9.5545, d2.loss_plan_l1_fix_dist: 1.5227, d3.loss_plan_l1_fix_time: 8.9315, d3.loss_plan_l1_fix_dist: 1.9226, d4.loss_plan_l1_fix_time: 8.4745, d4.loss_plan_l1_fix_dist: 2.3424, d5.loss_plan_l1_fix_time: 8.2089, d5.loss_plan_l1_fix_dist: 2.8330, d6.loss_plan_l1_fix_time: 8.1375, d6.loss_plan_l1_fix_dist: 3.3912, d0.loss_cls_all: 1.4323, d0.loss_bbox_all: 1.3012, d0.loss_cls: 1.4323, d0.loss_bbox: 1.3012, d1.loss_cls: 1.4535, d1.loss_bbox: 1.3110, d2.loss_cls: 1.4446, d2.loss_bbox: 1.3392, d3.loss_cls: 1.4552, d3.loss_bbox: 1.3454, d4.loss_cls: 1.4532, d4.loss_bbox: 1.3453, d5.loss_cls: 1.4402, d5.loss_bbox: 1.3483, d0.loss_traj_cls: 0.0009, d0.loss_traj: 5.1678, d1.loss_traj_cls: 0.0007, d1.loss_traj: 5.3879, d2.loss_traj_cls: 0.0008, d2.loss_traj: 5.5577, d3.loss_traj_cls: 0.0009, d3.loss_traj: 5.6183, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.6996, d5.loss_traj_cls: 0.0007, d5.loss_traj: 5.7047, d0.loss_map_cls_all: 0.7359, d0.loss_map_pts_all: 5.0081, d0.loss_map_dir_all: 0.0807, d0.loss_map_cls: 0.7359, d0.loss_map_pts: 5.0081, d0.loss_map_dir: 0.0807, d1.loss_map_cls: 0.7341, d1.loss_map_pts: 4.9289, d1.loss_map_dir: 0.0806, d2.loss_map_cls: 0.7386, d2.loss_map_pts: 4.9072, d2.loss_map_dir: 0.0810, d3.loss_map_cls: 0.7447, d3.loss_map_pts: 4.8941, d3.loss_map_dir: 0.0811, d4.loss_map_cls: 0.7500, d4.loss_map_pts: 4.8828, d4.loss_map_dir: 0.0810, d5.loss_map_cls: 0.7476, d5.loss_map_pts: 4.8745, d5.loss_map_dir: 0.0810, loss: 186.4052, grad_norm: 5205.4507 +2026-02-24 00:40:22,728 - DriveTransformer - INFO - Epoch [1][1450/59059] lr: 1.000e-04, eta: 24 days, 4:26:56, time: 0.575, data_time: 0.024, memory: 14134, loss_cls: 1.4548, loss_bbox: 1.3675, loss_traj: 5.1867, loss_traj_cls: 0.0020, loss_map_cls: 0.7431, loss_map_pts: 4.6099, loss_map_dir: 0.0813, d0.loss_plan_l1_fix_time: 8.8684, d0.loss_plan_l1_fix_dist: 1.1323, d1.loss_plan_l1_fix_time: 8.3584, d1.loss_plan_l1_fix_dist: 1.3687, d2.loss_plan_l1_fix_time: 8.1590, d2.loss_plan_l1_fix_dist: 1.6831, d3.loss_plan_l1_fix_time: 8.1540, d3.loss_plan_l1_fix_dist: 2.0091, d4.loss_plan_l1_fix_time: 8.2715, d4.loss_plan_l1_fix_dist: 2.4066, d5.loss_plan_l1_fix_time: 8.5030, d5.loss_plan_l1_fix_dist: 2.8370, d6.loss_plan_l1_fix_time: 8.8590, d6.loss_plan_l1_fix_dist: 3.2998, d0.loss_cls_all: 1.4353, d0.loss_bbox_all: 1.2787, d0.loss_cls: 1.4353, d0.loss_bbox: 1.2787, d1.loss_cls: 1.4592, d1.loss_bbox: 1.2959, d2.loss_cls: 1.4455, d2.loss_bbox: 1.2992, d3.loss_cls: 1.4569, d3.loss_bbox: 1.3200, d4.loss_cls: 1.4465, d4.loss_bbox: 1.3281, d5.loss_cls: 1.4324, d5.loss_bbox: 1.3542, d0.loss_traj_cls: 0.0009, d0.loss_traj: 4.6120, d1.loss_traj_cls: 0.0007, d1.loss_traj: 4.8571, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.0382, d3.loss_traj_cls: 0.0009, d3.loss_traj: 5.0952, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.1813, d5.loss_traj_cls: 0.0007, d5.loss_traj: 5.1816, d0.loss_map_cls_all: 0.7328, d0.loss_map_pts_all: 4.7600, d0.loss_map_dir_all: 0.0815, d0.loss_map_cls: 0.7328, d0.loss_map_pts: 4.7600, d0.loss_map_dir: 0.0815, d1.loss_map_cls: 0.7350, d1.loss_map_pts: 4.6613, d1.loss_map_dir: 0.0814, d2.loss_map_cls: 0.7415, d2.loss_map_pts: 4.6264, d2.loss_map_dir: 0.0813, d3.loss_map_cls: 0.7483, d3.loss_map_pts: 4.6062, d3.loss_map_dir: 0.0815, d4.loss_map_cls: 0.7424, d4.loss_map_pts: 4.5952, d4.loss_map_dir: 0.0814, d5.loss_map_cls: 0.7513, d5.loss_map_pts: 4.5991, d5.loss_map_dir: 0.0814, loss: 174.9535, grad_norm: 5045.6124 +2026-02-24 00:40:53,047 - DriveTransformer - INFO - Epoch [1][1500/59059] lr: 1.000e-04, eta: 24 days, 4:58:44, time: 0.606, data_time: 0.026, memory: 14134, loss_cls: 1.4641, loss_bbox: 1.3293, loss_traj: 4.2282, loss_traj_cls: 0.0017, loss_map_cls: 0.7077, loss_map_pts: 4.8336, loss_map_dir: 0.0799, d0.loss_plan_l1_fix_time: 8.4798, d0.loss_plan_l1_fix_dist: 1.0738, d1.loss_plan_l1_fix_time: 7.8449, d1.loss_plan_l1_fix_dist: 1.2610, d2.loss_plan_l1_fix_time: 7.5821, d2.loss_plan_l1_fix_dist: 1.5299, d3.loss_plan_l1_fix_time: 7.5463, d3.loss_plan_l1_fix_dist: 1.8064, d4.loss_plan_l1_fix_time: 7.6530, d4.loss_plan_l1_fix_dist: 2.1028, d5.loss_plan_l1_fix_time: 7.8617, d5.loss_plan_l1_fix_dist: 2.4243, d6.loss_plan_l1_fix_time: 8.1906, d6.loss_plan_l1_fix_dist: 2.7676, d0.loss_cls_all: 1.4304, d0.loss_bbox_all: 1.2914, d0.loss_cls: 1.4304, d0.loss_bbox: 1.2914, d1.loss_cls: 1.4456, d1.loss_bbox: 1.3036, d2.loss_cls: 1.4388, d2.loss_bbox: 1.3012, d3.loss_cls: 1.4394, d3.loss_bbox: 1.3122, d4.loss_cls: 1.4451, d4.loss_bbox: 1.3215, d5.loss_cls: 1.4407, d5.loss_bbox: 1.3325, d0.loss_traj_cls: 0.0008, d0.loss_traj: 3.7071, d1.loss_traj_cls: 0.0006, d1.loss_traj: 3.9373, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.0826, d3.loss_traj_cls: 0.0007, d3.loss_traj: 4.1471, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.2187, d5.loss_traj_cls: 0.0007, d5.loss_traj: 4.2157, d0.loss_map_cls_all: 0.6859, d0.loss_map_pts_all: 5.0503, d0.loss_map_dir_all: 0.0801, d0.loss_map_cls: 0.6859, d0.loss_map_pts: 5.0503, d0.loss_map_dir: 0.0801, d1.loss_map_cls: 0.6979, d1.loss_map_pts: 4.9261, d1.loss_map_dir: 0.0801, d2.loss_map_cls: 0.7039, d2.loss_map_pts: 4.8785, d2.loss_map_dir: 0.0800, d3.loss_map_cls: 0.7084, d3.loss_map_pts: 4.8531, d3.loss_map_dir: 0.0800, d4.loss_map_cls: 0.7059, d4.loss_map_pts: 4.8414, d4.loss_map_dir: 0.0800, d5.loss_map_cls: 0.7131, d5.loss_map_pts: 4.8329, d5.loss_map_dir: 0.0799, loss: 164.1990, grad_norm: 4894.7838 +2026-02-24 00:41:21,267 - DriveTransformer - INFO - Epoch [1][1550/59059] lr: 1.000e-04, eta: 24 days, 4:08:33, time: 0.564, data_time: 0.028, memory: 14134, loss_cls: 1.4588, loss_bbox: 1.3604, loss_traj: 5.3527, loss_traj_cls: 0.0015, loss_map_cls: 0.7247, loss_map_pts: 4.7843, loss_map_dir: 0.0766, d0.loss_plan_l1_fix_time: 9.9445, d0.loss_plan_l1_fix_dist: 1.1330, d1.loss_plan_l1_fix_time: 8.9850, d1.loss_plan_l1_fix_dist: 1.2337, d2.loss_plan_l1_fix_time: 8.4121, d2.loss_plan_l1_fix_dist: 1.4335, d3.loss_plan_l1_fix_time: 8.1102, d3.loss_plan_l1_fix_dist: 1.6901, d4.loss_plan_l1_fix_time: 8.0061, d4.loss_plan_l1_fix_dist: 1.9656, d5.loss_plan_l1_fix_time: 8.0303, d5.loss_plan_l1_fix_dist: 2.2236, d6.loss_plan_l1_fix_time: 8.2066, d6.loss_plan_l1_fix_dist: 2.5319, d0.loss_cls_all: 1.4575, d0.loss_bbox_all: 1.2870, d0.loss_cls: 1.4575, d0.loss_bbox: 1.2870, d1.loss_cls: 1.4730, d1.loss_bbox: 1.3017, d2.loss_cls: 1.4521, d2.loss_bbox: 1.3106, d3.loss_cls: 1.4565, d3.loss_bbox: 1.3153, d4.loss_cls: 1.4574, d4.loss_bbox: 1.3367, d5.loss_cls: 1.4509, d5.loss_bbox: 1.3451, d0.loss_traj_cls: 0.0007, d0.loss_traj: 4.6582, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.9531, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.1467, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.2329, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.3253, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.3267, d0.loss_map_cls_all: 0.6938, d0.loss_map_pts_all: 5.0034, d0.loss_map_dir_all: 0.0768, d0.loss_map_cls: 0.6938, d0.loss_map_pts: 5.0034, d0.loss_map_dir: 0.0768, d1.loss_map_cls: 0.7029, d1.loss_map_pts: 4.8663, d1.loss_map_dir: 0.0768, d2.loss_map_cls: 0.7036, d2.loss_map_pts: 4.8120, d2.loss_map_dir: 0.0768, d3.loss_map_cls: 0.7064, d3.loss_map_pts: 4.7902, d3.loss_map_dir: 0.0768, d4.loss_map_cls: 0.7171, d4.loss_map_pts: 4.7872, d4.loss_map_dir: 0.0767, d5.loss_map_cls: 0.7227, d5.loss_map_pts: 4.7818, d5.loss_map_dir: 0.0767, loss: 175.2220, grad_norm: 4751.1361 +2026-02-24 00:41:47,427 - DriveTransformer - INFO - Epoch [1][1600/59059] lr: 1.000e-04, eta: 24 days, 2:05:30, time: 0.523, data_time: 0.024, memory: 14134, loss_cls: 1.4270, loss_bbox: 1.2883, loss_traj: 5.7787, loss_traj_cls: 0.0016, loss_map_cls: 0.7664, loss_map_pts: 4.5538, loss_map_dir: 0.0771, d0.loss_plan_l1_fix_time: 11.3390, d0.loss_plan_l1_fix_dist: 1.0829, d1.loss_plan_l1_fix_time: 9.9326, d1.loss_plan_l1_fix_dist: 1.3037, d2.loss_plan_l1_fix_time: 8.9516, d2.loss_plan_l1_fix_dist: 1.5708, d3.loss_plan_l1_fix_time: 8.2712, d3.loss_plan_l1_fix_dist: 1.8170, d4.loss_plan_l1_fix_time: 7.8512, d4.loss_plan_l1_fix_dist: 2.1477, d5.loss_plan_l1_fix_time: 7.6148, d5.loss_plan_l1_fix_dist: 2.5184, d6.loss_plan_l1_fix_time: 7.5749, d6.loss_plan_l1_fix_dist: 2.9033, d0.loss_cls_all: 1.4153, d0.loss_bbox_all: 1.1983, d0.loss_cls: 1.4153, d0.loss_bbox: 1.1983, d1.loss_cls: 1.4324, d1.loss_bbox: 1.2133, d2.loss_cls: 1.4195, d2.loss_bbox: 1.2284, d3.loss_cls: 1.4203, d3.loss_bbox: 1.2405, d4.loss_cls: 1.4189, d4.loss_bbox: 1.2623, d5.loss_cls: 1.4098, d5.loss_bbox: 1.2756, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.0620, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.3636, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.5717, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.6511, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.7407, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.7527, d0.loss_map_cls_all: 0.7189, d0.loss_map_pts_all: 4.7328, d0.loss_map_dir_all: 0.0768, d0.loss_map_cls: 0.7189, d0.loss_map_pts: 4.7328, d0.loss_map_dir: 0.0768, d1.loss_map_cls: 0.7244, d1.loss_map_pts: 4.6402, d1.loss_map_dir: 0.0771, d2.loss_map_cls: 0.7249, d2.loss_map_pts: 4.6070, d2.loss_map_dir: 0.0772, d3.loss_map_cls: 0.7328, d3.loss_map_pts: 4.5857, d3.loss_map_dir: 0.0772, d4.loss_map_cls: 0.7509, d4.loss_map_pts: 4.5699, d4.loss_map_dir: 0.0772, d5.loss_map_cls: 0.7584, d5.loss_map_pts: 4.5600, d5.loss_map_dir: 0.0771, loss: 178.5628, grad_norm: 4618.4101 +2026-02-24 00:42:15,852 - DriveTransformer - INFO - Epoch [1][1650/59059] lr: 1.000e-04, eta: 24 days, 1:30:52, time: 0.568, data_time: 0.026, memory: 14134, loss_cls: 1.4573, loss_bbox: 1.3216, loss_traj: 4.8902, loss_traj_cls: 0.0016, loss_map_cls: 0.7651, loss_map_pts: 4.4985, loss_map_dir: 0.0759, d0.loss_plan_l1_fix_time: 8.3737, d0.loss_plan_l1_fix_dist: 0.9692, d1.loss_plan_l1_fix_time: 7.6776, d1.loss_plan_l1_fix_dist: 1.2253, d2.loss_plan_l1_fix_time: 7.3297, d2.loss_plan_l1_fix_dist: 1.5138, d3.loss_plan_l1_fix_time: 7.2026, d3.loss_plan_l1_fix_dist: 1.7442, d4.loss_plan_l1_fix_time: 7.2485, d4.loss_plan_l1_fix_dist: 2.0805, d5.loss_plan_l1_fix_time: 7.4338, d5.loss_plan_l1_fix_dist: 2.4177, d6.loss_plan_l1_fix_time: 7.7023, d6.loss_plan_l1_fix_dist: 2.7709, d0.loss_cls_all: 1.4117, d0.loss_bbox_all: 1.2550, d0.loss_cls: 1.4117, d0.loss_bbox: 1.2550, d1.loss_cls: 1.4184, d1.loss_bbox: 1.2591, d2.loss_cls: 1.4330, d2.loss_bbox: 1.2810, d3.loss_cls: 1.4240, d3.loss_bbox: 1.2863, d4.loss_cls: 1.4294, d4.loss_bbox: 1.2952, d5.loss_cls: 1.4332, d5.loss_bbox: 1.3095, d0.loss_traj_cls: 0.0007, d0.loss_traj: 4.1571, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.4687, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.6618, d3.loss_traj_cls: 0.0007, d3.loss_traj: 4.7462, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.8421, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.8573, d0.loss_map_cls_all: 0.7303, d0.loss_map_pts_all: 4.7580, d0.loss_map_dir_all: 0.0761, d0.loss_map_cls: 0.7303, d0.loss_map_pts: 4.7580, d0.loss_map_dir: 0.0761, d1.loss_map_cls: 0.7375, d1.loss_map_pts: 4.6056, d1.loss_map_dir: 0.0760, d2.loss_map_cls: 0.7423, d2.loss_map_pts: 4.5416, d2.loss_map_dir: 0.0761, d3.loss_map_cls: 0.7493, d3.loss_map_pts: 4.5162, d3.loss_map_dir: 0.0760, d4.loss_map_cls: 0.7545, d4.loss_map_pts: 4.5043, d4.loss_map_dir: 0.0760, d5.loss_map_cls: 0.7616, d5.loss_map_pts: 4.5020, d5.loss_map_dir: 0.0760, loss: 163.2633, grad_norm: 4493.8449 +2026-02-24 00:42:45,469 - DriveTransformer - INFO - Epoch [1][1700/59059] lr: 1.000e-04, eta: 24 days, 1:39:37, time: 0.592, data_time: 0.025, memory: 14134, loss_cls: 1.4677, loss_bbox: 1.4860, loss_traj: 4.0754, loss_traj_cls: 0.0014, loss_map_cls: 0.6660, loss_map_pts: 4.6284, loss_map_dir: 0.0768, d0.loss_plan_l1_fix_time: 7.6387, d0.loss_plan_l1_fix_dist: 1.1917, d1.loss_plan_l1_fix_time: 7.2403, d1.loss_plan_l1_fix_dist: 1.3680, d2.loss_plan_l1_fix_time: 7.1815, d2.loss_plan_l1_fix_dist: 1.6533, d3.loss_plan_l1_fix_time: 7.2879, d3.loss_plan_l1_fix_dist: 1.9127, d4.loss_plan_l1_fix_time: 7.5080, d4.loss_plan_l1_fix_dist: 2.2033, d5.loss_plan_l1_fix_time: 7.8163, d5.loss_plan_l1_fix_dist: 2.5035, d6.loss_plan_l1_fix_time: 8.1465, d6.loss_plan_l1_fix_dist: 2.8307, d0.loss_cls_all: 1.4193, d0.loss_bbox_all: 1.4375, d0.loss_cls: 1.4193, d0.loss_bbox: 1.4375, d1.loss_cls: 1.4351, d1.loss_bbox: 1.4490, d2.loss_cls: 1.4513, d2.loss_bbox: 1.4654, d3.loss_cls: 1.4334, d3.loss_bbox: 1.4701, d4.loss_cls: 1.4402, d4.loss_bbox: 1.4717, d5.loss_cls: 1.4435, d5.loss_bbox: 1.4816, d0.loss_traj_cls: 0.0008, d0.loss_traj: 3.4512, d1.loss_traj_cls: 0.0007, d1.loss_traj: 3.7032, d2.loss_traj_cls: 0.0006, d2.loss_traj: 3.8707, d3.loss_traj_cls: 0.0008, d3.loss_traj: 3.9358, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.0442, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.0407, d0.loss_map_cls_all: 0.6681, d0.loss_map_pts_all: 4.8760, d0.loss_map_dir_all: 0.0772, d0.loss_map_cls: 0.6681, d0.loss_map_pts: 4.8760, d0.loss_map_dir: 0.0772, d1.loss_map_cls: 0.6714, d1.loss_map_pts: 4.7185, d1.loss_map_dir: 0.0772, d2.loss_map_cls: 0.6755, d2.loss_map_pts: 4.6577, d2.loss_map_dir: 0.0770, d3.loss_map_cls: 0.6711, d3.loss_map_pts: 4.6358, d3.loss_map_dir: 0.0770, d4.loss_map_cls: 0.6636, d4.loss_map_pts: 4.6286, d4.loss_map_dir: 0.0769, d5.loss_map_cls: 0.6697, d5.loss_map_pts: 4.6269, d5.loss_map_dir: 0.0769, loss: 160.4350, grad_norm: 4374.8621 +2026-02-24 00:43:14,046 - DriveTransformer - INFO - Epoch [1][1750/59059] lr: 1.000e-04, eta: 24 days, 1:12:49, time: 0.572, data_time: 0.026, memory: 14134, loss_cls: 1.4463, loss_bbox: 1.3146, loss_traj: 5.5147, loss_traj_cls: 0.0013, loss_map_cls: 0.7219, loss_map_pts: 4.6063, loss_map_dir: 0.0738, d0.loss_plan_l1_fix_time: 9.2535, d0.loss_plan_l1_fix_dist: 0.9883, d1.loss_plan_l1_fix_time: 8.2248, d1.loss_plan_l1_fix_dist: 1.1166, d2.loss_plan_l1_fix_time: 7.7280, d2.loss_plan_l1_fix_dist: 1.3858, d3.loss_plan_l1_fix_time: 7.5365, d3.loss_plan_l1_fix_dist: 1.6488, d4.loss_plan_l1_fix_time: 7.5110, d4.loss_plan_l1_fix_dist: 1.8998, d5.loss_plan_l1_fix_time: 7.5854, d5.loss_plan_l1_fix_dist: 2.1611, d6.loss_plan_l1_fix_time: 7.7272, d6.loss_plan_l1_fix_dist: 2.4516, d0.loss_cls_all: 1.4227, d0.loss_bbox_all: 1.2730, d0.loss_cls: 1.4227, d0.loss_bbox: 1.2730, d1.loss_cls: 1.4363, d1.loss_bbox: 1.2782, d2.loss_cls: 1.4311, d2.loss_bbox: 1.2878, d3.loss_cls: 1.4216, d3.loss_bbox: 1.2901, d4.loss_cls: 1.4305, d4.loss_bbox: 1.3006, d5.loss_cls: 1.4345, d5.loss_bbox: 1.3117, d0.loss_traj_cls: 0.0007, d0.loss_traj: 4.7065, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.0540, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.2826, d3.loss_traj_cls: 0.0008, d3.loss_traj: 5.3695, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.4671, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.4832, d0.loss_map_cls_all: 0.7038, d0.loss_map_pts_all: 4.8668, d0.loss_map_dir_all: 0.0740, d0.loss_map_cls: 0.7038, d0.loss_map_pts: 4.8668, d0.loss_map_dir: 0.0740, d1.loss_map_cls: 0.7209, d1.loss_map_pts: 4.6978, d1.loss_map_dir: 0.0738, d2.loss_map_cls: 0.7239, d2.loss_map_pts: 4.6417, d2.loss_map_dir: 0.0737, d3.loss_map_cls: 0.7264, d3.loss_map_pts: 4.6207, d3.loss_map_dir: 0.0738, d4.loss_map_cls: 0.7190, d4.loss_map_pts: 4.6104, d4.loss_map_dir: 0.0737, d5.loss_map_cls: 0.7265, d5.loss_map_pts: 4.6042, d5.loss_map_dir: 0.0738, loss: 169.7269, grad_norm: 4261.7267 +2026-02-24 00:43:41,464 - DriveTransformer - INFO - Epoch [1][1800/59059] lr: 1.000e-04, eta: 24 days, 0:09:25, time: 0.548, data_time: 0.024, memory: 14134, loss_cls: 1.4356, loss_bbox: 1.3177, loss_traj: 5.9980, loss_traj_cls: 0.0015, loss_map_cls: 0.7306, loss_map_pts: 4.5789, loss_map_dir: 0.0744, d0.loss_plan_l1_fix_time: 8.9465, d0.loss_plan_l1_fix_dist: 0.9419, d1.loss_plan_l1_fix_time: 7.9045, d1.loss_plan_l1_fix_dist: 1.0438, d2.loss_plan_l1_fix_time: 7.3934, d2.loss_plan_l1_fix_dist: 1.2437, d3.loss_plan_l1_fix_time: 7.1617, d3.loss_plan_l1_fix_dist: 1.4846, d4.loss_plan_l1_fix_time: 7.0741, d4.loss_plan_l1_fix_dist: 1.7428, d5.loss_plan_l1_fix_time: 7.0739, d5.loss_plan_l1_fix_dist: 2.0161, d6.loss_plan_l1_fix_time: 7.1587, d6.loss_plan_l1_fix_dist: 2.2844, d0.loss_cls_all: 1.4183, d0.loss_bbox_all: 1.2667, d0.loss_cls: 1.4183, d0.loss_bbox: 1.2667, d1.loss_cls: 1.4316, d1.loss_bbox: 1.2698, d2.loss_cls: 1.4272, d2.loss_bbox: 1.2744, d3.loss_cls: 1.4290, d3.loss_bbox: 1.2877, d4.loss_cls: 1.4350, d4.loss_bbox: 1.3011, d5.loss_cls: 1.4377, d5.loss_bbox: 1.3087, d0.loss_traj_cls: 0.0006, d0.loss_traj: 5.0556, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.4707, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.7292, d3.loss_traj_cls: 0.0007, d3.loss_traj: 5.8425, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.9461, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.9831, d0.loss_map_cls_all: 0.7152, d0.loss_map_pts_all: 4.7607, d0.loss_map_dir_all: 0.0746, d0.loss_map_cls: 0.7152, d0.loss_map_pts: 4.7607, d0.loss_map_dir: 0.0746, d1.loss_map_cls: 0.7294, d1.loss_map_pts: 4.6062, d1.loss_map_dir: 0.0746, d2.loss_map_cls: 0.7332, d2.loss_map_pts: 4.5731, d2.loss_map_dir: 0.0745, d3.loss_map_cls: 0.7328, d3.loss_map_pts: 4.5626, d3.loss_map_dir: 0.0745, d4.loss_map_cls: 0.7260, d4.loss_map_pts: 4.5618, d4.loss_map_dir: 0.0744, d5.loss_map_cls: 0.7335, d5.loss_map_pts: 4.5677, d5.loss_map_dir: 0.0744, loss: 168.6094, grad_norm: 4155.2182 +2026-02-24 00:44:11,058 - DriveTransformer - INFO - Epoch [1][1850/59059] lr: 1.000e-04, eta: 24 days, 0:18:51, time: 0.592, data_time: 0.030, memory: 14134, loss_cls: 1.4120, loss_bbox: 1.2922, loss_traj: 5.4218, loss_traj_cls: 0.0012, loss_map_cls: 0.7011, loss_map_pts: 4.4061, loss_map_dir: 0.0762, d0.loss_plan_l1_fix_time: 7.8042, d0.loss_plan_l1_fix_dist: 1.2249, d1.loss_plan_l1_fix_time: 7.0856, d1.loss_plan_l1_fix_dist: 1.3946, d2.loss_plan_l1_fix_time: 6.8772, d2.loss_plan_l1_fix_dist: 1.5981, d3.loss_plan_l1_fix_time: 6.8855, d3.loss_plan_l1_fix_dist: 1.8931, d4.loss_plan_l1_fix_time: 7.0238, d4.loss_plan_l1_fix_dist: 2.2241, d5.loss_plan_l1_fix_time: 7.1988, d5.loss_plan_l1_fix_dist: 2.5925, d6.loss_plan_l1_fix_time: 7.4107, d6.loss_plan_l1_fix_dist: 2.8846, d0.loss_cls_all: 1.3827, d0.loss_bbox_all: 1.2455, d0.loss_cls: 1.3827, d0.loss_bbox: 1.2455, d1.loss_cls: 1.3906, d1.loss_bbox: 1.2483, d2.loss_cls: 1.3975, d2.loss_bbox: 1.2494, d3.loss_cls: 1.3946, d3.loss_bbox: 1.2585, d4.loss_cls: 1.4047, d4.loss_bbox: 1.2677, d5.loss_cls: 1.4109, d5.loss_bbox: 1.2799, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.4343, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.8659, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.1379, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.2593, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.3755, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.4010, d0.loss_map_cls_all: 0.6780, d0.loss_map_pts_all: 4.6618, d0.loss_map_dir_all: 0.0762, d0.loss_map_cls: 0.6780, d0.loss_map_pts: 4.6618, d0.loss_map_dir: 0.0762, d1.loss_map_cls: 0.6870, d1.loss_map_pts: 4.4559, d1.loss_map_dir: 0.0763, d2.loss_map_cls: 0.6941, d2.loss_map_pts: 4.4063, d2.loss_map_dir: 0.0762, d3.loss_map_cls: 0.6962, d3.loss_map_pts: 4.3920, d3.loss_map_dir: 0.0762, d4.loss_map_cls: 0.6957, d4.loss_map_pts: 4.3986, d4.loss_map_dir: 0.0761, d5.loss_map_cls: 0.7042, d5.loss_map_pts: 4.4058, d5.loss_map_dir: 0.0761, loss: 163.1930, grad_norm: 4052.8245 +2026-02-24 00:44:39,351 - DriveTransformer - INFO - Epoch [1][1900/59059] lr: 1.000e-04, eta: 23 days, 23:47:24, time: 0.566, data_time: 0.028, memory: 14134, loss_cls: 1.4053, loss_bbox: 1.3632, loss_traj: 4.2863, loss_traj_cls: 0.0010, loss_map_cls: 0.6954, loss_map_pts: 4.4347, loss_map_dir: 0.0757, d0.loss_plan_l1_fix_time: 7.6061, d0.loss_plan_l1_fix_dist: 1.0713, d1.loss_plan_l1_fix_time: 6.9746, d1.loss_plan_l1_fix_dist: 1.2607, d2.loss_plan_l1_fix_time: 6.8542, d2.loss_plan_l1_fix_dist: 1.5129, d3.loss_plan_l1_fix_time: 6.9601, d3.loss_plan_l1_fix_dist: 1.8063, d4.loss_plan_l1_fix_time: 7.1819, d4.loss_plan_l1_fix_dist: 2.1080, d5.loss_plan_l1_fix_time: 7.4200, d5.loss_plan_l1_fix_dist: 2.4683, d6.loss_plan_l1_fix_time: 7.6805, d6.loss_plan_l1_fix_dist: 2.8351, d0.loss_cls_all: 1.3892, d0.loss_bbox_all: 1.3240, d0.loss_cls: 1.3892, d0.loss_bbox: 1.3240, d1.loss_cls: 1.3979, d1.loss_bbox: 1.3284, d2.loss_cls: 1.4014, d2.loss_bbox: 1.3329, d3.loss_cls: 1.3975, d3.loss_bbox: 1.3336, d4.loss_cls: 1.3999, d4.loss_bbox: 1.3354, d5.loss_cls: 1.4016, d5.loss_bbox: 1.3487, d0.loss_traj_cls: 0.0007, d0.loss_traj: 3.4117, d1.loss_traj_cls: 0.0007, d1.loss_traj: 3.7637, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.0203, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.1235, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.2331, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.2582, d0.loss_map_cls_all: 0.6725, d0.loss_map_pts_all: 4.6234, d0.loss_map_dir_all: 0.0756, d0.loss_map_cls: 0.6725, d0.loss_map_pts: 4.6234, d0.loss_map_dir: 0.0756, d1.loss_map_cls: 0.6835, d1.loss_map_pts: 4.4502, d1.loss_map_dir: 0.0758, d2.loss_map_cls: 0.6899, d2.loss_map_pts: 4.4052, d2.loss_map_dir: 0.0758, d3.loss_map_cls: 0.6921, d3.loss_map_pts: 4.3934, d3.loss_map_dir: 0.0758, d4.loss_map_cls: 0.6927, d4.loss_map_pts: 4.3943, d4.loss_map_dir: 0.0757, d5.loss_map_cls: 0.6974, d5.loss_map_pts: 4.4028, d5.loss_map_dir: 0.0757, loss: 155.5432, grad_norm: 3957.5284 +2026-02-24 00:45:06,496 - DriveTransformer - INFO - Epoch [1][1950/59059] lr: 1.000e-04, eta: 23 days, 22:42:44, time: 0.543, data_time: 0.028, memory: 14134, loss_cls: 1.4136, loss_bbox: 1.2576, loss_traj: 5.6947, loss_traj_cls: 0.0010, loss_map_cls: 0.7480, loss_map_pts: 4.3669, loss_map_dir: 0.0734, d0.loss_plan_l1_fix_time: 9.5174, d0.loss_plan_l1_fix_dist: 0.9761, d1.loss_plan_l1_fix_time: 8.2561, d1.loss_plan_l1_fix_dist: 1.1109, d2.loss_plan_l1_fix_time: 7.5726, d2.loss_plan_l1_fix_dist: 1.3608, d3.loss_plan_l1_fix_time: 7.1820, d3.loss_plan_l1_fix_dist: 1.6268, d4.loss_plan_l1_fix_time: 6.9605, d4.loss_plan_l1_fix_dist: 1.8999, d5.loss_plan_l1_fix_time: 6.8631, d5.loss_plan_l1_fix_dist: 2.1732, d6.loss_plan_l1_fix_time: 6.8878, d6.loss_plan_l1_fix_dist: 2.5268, d0.loss_cls_all: 1.4059, d0.loss_bbox_all: 1.1826, d0.loss_cls: 1.4059, d0.loss_bbox: 1.1826, d1.loss_cls: 1.4064, d1.loss_bbox: 1.1912, d2.loss_cls: 1.4127, d2.loss_bbox: 1.2091, d3.loss_cls: 1.4144, d3.loss_bbox: 1.2212, d4.loss_cls: 1.4119, d4.loss_bbox: 1.2253, d5.loss_cls: 1.4103, d5.loss_bbox: 1.2349, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.4347, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.9766, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.3324, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.4875, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.6217, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.6755, d0.loss_map_cls_all: 0.7450, d0.loss_map_pts_all: 4.5909, d0.loss_map_dir_all: 0.0739, d0.loss_map_cls: 0.7450, d0.loss_map_pts: 4.5909, d0.loss_map_dir: 0.0739, d1.loss_map_cls: 0.7518, d1.loss_map_pts: 4.3928, d1.loss_map_dir: 0.0738, d2.loss_map_cls: 0.7531, d2.loss_map_pts: 4.3544, d2.loss_map_dir: 0.0737, d3.loss_map_cls: 0.7493, d3.loss_map_pts: 4.3475, d3.loss_map_dir: 0.0736, d4.loss_map_cls: 0.7501, d4.loss_map_pts: 4.3480, d4.loss_map_dir: 0.0735, d5.loss_map_cls: 0.7480, d5.loss_map_pts: 4.3518, d5.loss_map_dir: 0.0735, loss: 165.0503, grad_norm: 3866.8379 +2026-02-24 00:45:34,179 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 00:45:34,179 - DriveTransformer - INFO - Epoch [1][2000/59059] lr: 1.000e-04, eta: 23 days, 21:57:12, time: 0.554, data_time: 0.026, memory: 14134, loss_cls: 1.4495, loss_bbox: 1.3364, loss_traj: 5.2129, loss_traj_cls: 0.0011, loss_map_cls: 0.7438, loss_map_pts: 4.6442, loss_map_dir: 0.0732, d0.loss_plan_l1_fix_time: 8.3746, d0.loss_plan_l1_fix_dist: 1.0618, d1.loss_plan_l1_fix_time: 7.2076, d1.loss_plan_l1_fix_dist: 1.2031, d2.loss_plan_l1_fix_time: 6.7486, d2.loss_plan_l1_fix_dist: 1.4133, d3.loss_plan_l1_fix_time: 6.6195, d3.loss_plan_l1_fix_dist: 1.6716, d4.loss_plan_l1_fix_time: 6.6133, d4.loss_plan_l1_fix_dist: 1.9759, d5.loss_plan_l1_fix_time: 6.6708, d5.loss_plan_l1_fix_dist: 2.2509, d6.loss_plan_l1_fix_time: 6.7961, d6.loss_plan_l1_fix_dist: 2.5219, d0.loss_cls_all: 1.4628, d0.loss_bbox_all: 1.2896, d0.loss_cls: 1.4628, d0.loss_bbox: 1.2896, d1.loss_cls: 1.4636, d1.loss_bbox: 1.2964, d2.loss_cls: 1.4551, d2.loss_bbox: 1.3068, d3.loss_cls: 1.4507, d3.loss_bbox: 1.3123, d4.loss_cls: 1.4516, d4.loss_bbox: 1.3162, d5.loss_cls: 1.4456, d5.loss_bbox: 1.3241, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.1239, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.5813, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.8988, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.0366, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.1495, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.1875, d0.loss_map_cls_all: 0.7265, d0.loss_map_pts_all: 4.8821, d0.loss_map_dir_all: 0.0735, d0.loss_map_cls: 0.7265, d0.loss_map_pts: 4.8821, d0.loss_map_dir: 0.0735, d1.loss_map_cls: 0.7353, d1.loss_map_pts: 4.6771, d1.loss_map_dir: 0.0736, d2.loss_map_cls: 0.7417, d2.loss_map_pts: 4.6342, d2.loss_map_dir: 0.0736, d3.loss_map_cls: 0.7394, d3.loss_map_pts: 4.6334, d3.loss_map_dir: 0.0734, d4.loss_map_cls: 0.7431, d4.loss_map_pts: 4.6400, d4.loss_map_dir: 0.0733, d5.loss_map_cls: 0.7417, d5.loss_map_pts: 4.6443, d5.loss_map_dir: 0.0733, loss: 161.5597, grad_norm: 3780.4528 +2026-02-24 00:46:00,719 - DriveTransformer - INFO - Epoch [1][2050/59059] lr: 1.000e-04, eta: 23 days, 20:40:57, time: 0.531, data_time: 0.027, memory: 14134, loss_cls: 1.4135, loss_bbox: 1.2360, loss_traj: 5.9591, loss_traj_cls: 0.0010, loss_map_cls: 0.7735, loss_map_pts: 4.6749, loss_map_dir: 0.0716, d0.loss_plan_l1_fix_time: 8.0539, d0.loss_plan_l1_fix_dist: 0.8464, d1.loss_plan_l1_fix_time: 6.8122, d1.loss_plan_l1_fix_dist: 1.0825, d2.loss_plan_l1_fix_time: 6.2762, d2.loss_plan_l1_fix_dist: 1.3691, d3.loss_plan_l1_fix_time: 6.0282, d3.loss_plan_l1_fix_dist: 1.6415, d4.loss_plan_l1_fix_time: 5.9582, d4.loss_plan_l1_fix_dist: 1.9681, d5.loss_plan_l1_fix_time: 5.9893, d5.loss_plan_l1_fix_dist: 2.3169, d6.loss_plan_l1_fix_time: 6.1245, d6.loss_plan_l1_fix_dist: 2.6417, d0.loss_cls_all: 1.3884, d0.loss_bbox_all: 1.1651, d0.loss_cls: 1.3884, d0.loss_bbox: 1.1651, d1.loss_cls: 1.3979, d1.loss_bbox: 1.1795, d2.loss_cls: 1.4060, d2.loss_bbox: 1.1872, d3.loss_cls: 1.4031, d3.loss_bbox: 1.2042, d4.loss_cls: 1.4078, d4.loss_bbox: 1.2178, d5.loss_cls: 1.4046, d5.loss_bbox: 1.2251, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.6058, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.1795, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.5830, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.7340, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.8968, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.9334, d0.loss_map_cls_all: 0.7449, d0.loss_map_pts_all: 4.8829, d0.loss_map_dir_all: 0.0718, d0.loss_map_cls: 0.7449, d0.loss_map_pts: 4.8829, d0.loss_map_dir: 0.0718, d1.loss_map_cls: 0.7554, d1.loss_map_pts: 4.7057, d1.loss_map_dir: 0.0719, d2.loss_map_cls: 0.7632, d2.loss_map_pts: 4.6628, d2.loss_map_dir: 0.0719, d3.loss_map_cls: 0.7642, d3.loss_map_pts: 4.6656, d3.loss_map_dir: 0.0718, d4.loss_map_cls: 0.7663, d4.loss_map_pts: 4.6714, d4.loss_map_dir: 0.0717, d5.loss_map_cls: 0.7707, d5.loss_map_pts: 4.6741, d5.loss_map_dir: 0.0717, loss: 161.2720, grad_norm: 3698.3422 +2026-02-24 00:46:29,676 - DriveTransformer - INFO - Epoch [1][2100/59059] lr: 1.000e-04, eta: 23 days, 20:36:11, time: 0.579, data_time: 0.025, memory: 14134, loss_cls: 1.4434, loss_bbox: 1.3558, loss_traj: 5.1606, loss_traj_cls: 0.0008, loss_map_cls: 0.7088, loss_map_pts: 4.6470, loss_map_dir: 0.0739, d0.loss_plan_l1_fix_time: 7.4925, d0.loss_plan_l1_fix_dist: 1.1430, d1.loss_plan_l1_fix_time: 6.5345, d1.loss_plan_l1_fix_dist: 1.3219, d2.loss_plan_l1_fix_time: 6.3006, d2.loss_plan_l1_fix_dist: 1.5218, d3.loss_plan_l1_fix_time: 6.3245, d3.loss_plan_l1_fix_dist: 1.7075, d4.loss_plan_l1_fix_time: 6.4477, d4.loss_plan_l1_fix_dist: 1.9606, d5.loss_plan_l1_fix_time: 6.5828, d5.loss_plan_l1_fix_dist: 2.2461, d6.loss_plan_l1_fix_time: 6.7771, d6.loss_plan_l1_fix_dist: 2.5546, d0.loss_cls_all: 1.4171, d0.loss_bbox_all: 1.3013, d0.loss_cls: 1.4171, d0.loss_bbox: 1.3013, d1.loss_cls: 1.4309, d1.loss_bbox: 1.3126, d2.loss_cls: 1.4320, d2.loss_bbox: 1.3124, d3.loss_cls: 1.4261, d3.loss_bbox: 1.3275, d4.loss_cls: 1.4382, d4.loss_bbox: 1.3392, d5.loss_cls: 1.4350, d5.loss_bbox: 1.3436, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.0226, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.4709, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.8320, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.9711, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.0877, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.1271, d0.loss_map_cls_all: 0.6921, d0.loss_map_pts_all: 4.8598, d0.loss_map_dir_all: 0.0745, d0.loss_map_cls: 0.6921, d0.loss_map_pts: 4.8598, d0.loss_map_dir: 0.0745, d1.loss_map_cls: 0.7058, d1.loss_map_pts: 4.6443, d1.loss_map_dir: 0.0744, d2.loss_map_cls: 0.7070, d2.loss_map_pts: 4.5900, d2.loss_map_dir: 0.0744, d3.loss_map_cls: 0.7069, d3.loss_map_pts: 4.5891, d3.loss_map_dir: 0.0743, d4.loss_map_cls: 0.7051, d4.loss_map_pts: 4.6007, d4.loss_map_dir: 0.0742, d5.loss_map_cls: 0.7072, d5.loss_map_pts: 4.6219, d5.loss_map_dir: 0.0741, loss: 158.2567, grad_norm: 3620.4968 +2026-02-24 00:46:56,642 - DriveTransformer - INFO - Epoch [1][2150/59059] lr: 1.000e-04, eta: 23 days, 19:37:00, time: 0.539, data_time: 0.024, memory: 14134, loss_cls: 1.4198, loss_bbox: 1.3318, loss_traj: 6.1253, loss_traj_cls: 0.0007, loss_map_cls: 0.6923, loss_map_pts: 4.4249, loss_map_dir: 0.0708, d0.loss_plan_l1_fix_time: 7.7731, d0.loss_plan_l1_fix_dist: 0.8733, d1.loss_plan_l1_fix_time: 6.4983, d1.loss_plan_l1_fix_dist: 1.0486, d2.loss_plan_l1_fix_time: 5.9795, d2.loss_plan_l1_fix_dist: 1.3327, d3.loss_plan_l1_fix_time: 5.7641, d3.loss_plan_l1_fix_dist: 1.6443, d4.loss_plan_l1_fix_time: 5.6821, d4.loss_plan_l1_fix_dist: 1.9510, d5.loss_plan_l1_fix_time: 5.6632, d5.loss_plan_l1_fix_dist: 2.2940, d6.loss_plan_l1_fix_time: 5.7523, d6.loss_plan_l1_fix_dist: 2.6757, d0.loss_cls_all: 1.4081, d0.loss_bbox_all: 1.2829, d0.loss_cls: 1.4081, d0.loss_bbox: 1.2829, d1.loss_cls: 1.4170, d1.loss_bbox: 1.2913, d2.loss_cls: 1.4127, d2.loss_bbox: 1.2918, d3.loss_cls: 1.4102, d3.loss_bbox: 1.3043, d4.loss_cls: 1.4179, d4.loss_bbox: 1.3092, d5.loss_cls: 1.4173, d5.loss_bbox: 1.3166, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.4778, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.1536, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.6422, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.8445, d4.loss_traj_cls: 0.0006, d4.loss_traj: 6.0274, d5.loss_traj_cls: 0.0006, d5.loss_traj: 6.0732, d0.loss_map_cls_all: 0.6847, d0.loss_map_pts_all: 4.7323, d0.loss_map_dir_all: 0.0711, d0.loss_map_cls: 0.6847, d0.loss_map_pts: 4.7323, d0.loss_map_dir: 0.0711, d1.loss_map_cls: 0.6894, d1.loss_map_pts: 4.4672, d1.loss_map_dir: 0.0711, d2.loss_map_cls: 0.6908, d2.loss_map_pts: 4.4193, d2.loss_map_dir: 0.0711, d3.loss_map_cls: 0.6888, d3.loss_map_pts: 4.4158, d3.loss_map_dir: 0.0710, d4.loss_map_cls: 0.6912, d4.loss_map_pts: 4.4175, d4.loss_map_dir: 0.0710, d5.loss_map_cls: 0.6904, d5.loss_map_pts: 4.4204, d5.loss_map_dir: 0.0709, loss: 158.1122, grad_norm: 3544.3314 +2026-02-24 00:47:24,835 - DriveTransformer - INFO - Epoch [1][2200/59059] lr: 1.000e-04, eta: 23 days, 19:13:26, time: 0.564, data_time: 0.025, memory: 14134, loss_cls: 1.4234, loss_bbox: 1.2433, loss_traj: 6.3937, loss_traj_cls: 0.0007, loss_map_cls: 0.7142, loss_map_pts: 4.2191, loss_map_dir: 0.0667, d0.loss_plan_l1_fix_time: 8.5037, d0.loss_plan_l1_fix_dist: 1.0659, d1.loss_plan_l1_fix_time: 7.1348, d1.loss_plan_l1_fix_dist: 1.2158, d2.loss_plan_l1_fix_time: 6.5410, d2.loss_plan_l1_fix_dist: 1.4891, d3.loss_plan_l1_fix_time: 6.2616, d3.loss_plan_l1_fix_dist: 1.8223, d4.loss_plan_l1_fix_time: 6.1079, d4.loss_plan_l1_fix_dist: 2.0966, d5.loss_plan_l1_fix_time: 6.0296, d5.loss_plan_l1_fix_dist: 2.4019, d6.loss_plan_l1_fix_time: 6.0425, d6.loss_plan_l1_fix_dist: 2.7379, d0.loss_cls_all: 1.3994, d0.loss_bbox_all: 1.2049, d0.loss_cls: 1.3994, d0.loss_bbox: 1.2049, d1.loss_cls: 1.4067, d1.loss_bbox: 1.2129, d2.loss_cls: 1.4141, d2.loss_bbox: 1.2124, d3.loss_cls: 1.4239, d3.loss_bbox: 1.2212, d4.loss_cls: 1.4222, d4.loss_bbox: 1.2237, d5.loss_cls: 1.4272, d5.loss_bbox: 1.2352, d0.loss_traj_cls: 0.0005, d0.loss_traj: 4.8160, d1.loss_traj_cls: 0.0005, d1.loss_traj: 5.4505, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.9250, d3.loss_traj_cls: 0.0005, d3.loss_traj: 6.1157, d4.loss_traj_cls: 0.0005, d4.loss_traj: 6.2999, d5.loss_traj_cls: 0.0005, d5.loss_traj: 6.3447, d0.loss_map_cls_all: 0.6967, d0.loss_map_pts_all: 4.4075, d0.loss_map_dir_all: 0.0672, d0.loss_map_cls: 0.6967, d0.loss_map_pts: 4.4075, d0.loss_map_dir: 0.0672, d1.loss_map_cls: 0.7051, d1.loss_map_pts: 4.2184, d1.loss_map_dir: 0.0672, d2.loss_map_cls: 0.7081, d2.loss_map_pts: 4.2072, d2.loss_map_dir: 0.0672, d3.loss_map_cls: 0.7098, d3.loss_map_pts: 4.2124, d3.loss_map_dir: 0.0669, d4.loss_map_cls: 0.7155, d4.loss_map_pts: 4.2135, d4.loss_map_dir: 0.0668, d5.loss_map_cls: 0.7120, d5.loss_map_pts: 4.2139, d5.loss_map_dir: 0.0667, loss: 162.1688, grad_norm: 3473.5614 +2026-02-24 00:47:51,697 - DriveTransformer - INFO - Epoch [1][2250/59059] lr: 1.000e-04, eta: 23 days, 18:15:59, time: 0.537, data_time: 0.025, memory: 14134, loss_cls: 1.4567, loss_bbox: 1.2545, loss_traj: 6.4070, loss_traj_cls: 0.0008, loss_map_cls: 0.7592, loss_map_pts: 4.4379, loss_map_dir: 0.0631, d0.loss_plan_l1_fix_time: 7.9606, d0.loss_plan_l1_fix_dist: 1.0742, d1.loss_plan_l1_fix_time: 6.6746, d1.loss_plan_l1_fix_dist: 1.1683, d2.loss_plan_l1_fix_time: 6.2107, d2.loss_plan_l1_fix_dist: 1.3728, d3.loss_plan_l1_fix_time: 6.0481, d3.loss_plan_l1_fix_dist: 1.6461, d4.loss_plan_l1_fix_time: 5.9899, d4.loss_plan_l1_fix_dist: 1.9122, d5.loss_plan_l1_fix_time: 5.9777, d5.loss_plan_l1_fix_dist: 2.1931, d6.loss_plan_l1_fix_time: 6.0306, d6.loss_plan_l1_fix_dist: 2.4387, d0.loss_cls_all: 1.4309, d0.loss_bbox_all: 1.2132, d0.loss_cls: 1.4309, d0.loss_bbox: 1.2132, d1.loss_cls: 1.4438, d1.loss_bbox: 1.2184, d2.loss_cls: 1.4529, d2.loss_bbox: 1.2206, d3.loss_cls: 1.4496, d3.loss_bbox: 1.2337, d4.loss_cls: 1.4517, d4.loss_bbox: 1.2449, d5.loss_cls: 1.4602, d5.loss_bbox: 1.2476, d0.loss_traj_cls: 0.0005, d0.loss_traj: 4.6538, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.3503, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.8935, d3.loss_traj_cls: 0.0005, d3.loss_traj: 6.1030, d4.loss_traj_cls: 0.0005, d4.loss_traj: 6.3039, d5.loss_traj_cls: 0.0005, d5.loss_traj: 6.3533, d0.loss_map_cls_all: 0.7220, d0.loss_map_pts_all: 4.7444, d0.loss_map_dir_all: 0.0637, d0.loss_map_cls: 0.7220, d0.loss_map_pts: 4.7444, d0.loss_map_dir: 0.0637, d1.loss_map_cls: 0.7469, d1.loss_map_pts: 4.5187, d1.loss_map_dir: 0.0637, d2.loss_map_cls: 0.7550, d2.loss_map_pts: 4.4713, d2.loss_map_dir: 0.0636, d3.loss_map_cls: 0.7596, d3.loss_map_pts: 4.4515, d3.loss_map_dir: 0.0634, d4.loss_map_cls: 0.7583, d4.loss_map_pts: 4.4380, d4.loss_map_dir: 0.0633, d5.loss_map_cls: 0.7596, d5.loss_map_pts: 4.4343, d5.loss_map_dir: 0.0632, loss: 161.9196, grad_norm: 3405.0808 +2026-02-24 00:48:19,578 - DriveTransformer - INFO - Epoch [1][2300/59059] lr: 1.000e-04, eta: 23 days, 17:47:06, time: 0.558, data_time: 0.025, memory: 14134, loss_cls: 1.4385, loss_bbox: 1.3552, loss_traj: 5.6180, loss_traj_cls: 0.0009, loss_map_cls: 0.7187, loss_map_pts: 4.1478, loss_map_dir: 0.0650, d0.loss_plan_l1_fix_time: 7.6220, d0.loss_plan_l1_fix_dist: 0.9333, d1.loss_plan_l1_fix_time: 6.2629, d1.loss_plan_l1_fix_dist: 1.0669, d2.loss_plan_l1_fix_time: 5.8651, d2.loss_plan_l1_fix_dist: 1.2712, d3.loss_plan_l1_fix_time: 5.7458, d3.loss_plan_l1_fix_dist: 1.4901, d4.loss_plan_l1_fix_time: 5.7039, d4.loss_plan_l1_fix_dist: 1.7621, d5.loss_plan_l1_fix_time: 5.7212, d5.loss_plan_l1_fix_dist: 2.0150, d6.loss_plan_l1_fix_time: 5.7994, d6.loss_plan_l1_fix_dist: 2.2593, d0.loss_cls_all: 1.4208, d0.loss_bbox_all: 1.3358, d0.loss_cls: 1.4208, d0.loss_bbox: 1.3358, d1.loss_cls: 1.4302, d1.loss_bbox: 1.3416, d2.loss_cls: 1.4339, d2.loss_bbox: 1.3397, d3.loss_cls: 1.4358, d3.loss_bbox: 1.3457, d4.loss_cls: 1.4376, d4.loss_bbox: 1.3493, d5.loss_cls: 1.4398, d5.loss_bbox: 1.3509, d0.loss_traj_cls: 0.0005, d0.loss_traj: 4.0335, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.6568, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.1310, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.3257, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.5231, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.5598, d0.loss_map_cls_all: 0.6887, d0.loss_map_pts_all: 4.3499, d0.loss_map_dir_all: 0.0657, d0.loss_map_cls: 0.6887, d0.loss_map_pts: 4.3499, d0.loss_map_dir: 0.0657, d1.loss_map_cls: 0.7054, d1.loss_map_pts: 4.1504, d1.loss_map_dir: 0.0656, d2.loss_map_cls: 0.7108, d2.loss_map_pts: 4.1092, d2.loss_map_dir: 0.0653, d3.loss_map_cls: 0.7126, d3.loss_map_pts: 4.0991, d3.loss_map_dir: 0.0653, d4.loss_map_cls: 0.7163, d4.loss_map_pts: 4.1139, d4.loss_map_dir: 0.0652, d5.loss_map_cls: 0.7187, d5.loss_map_pts: 4.1354, d5.loss_map_dir: 0.0650, loss: 151.2197, grad_norm: 3338.2208 +2026-02-24 00:48:46,316 - DriveTransformer - INFO - Epoch [1][2350/59059] lr: 1.000e-04, eta: 23 days, 16:50:44, time: 0.535, data_time: 0.031, memory: 14134, loss_cls: 1.4113, loss_bbox: 1.2056, loss_traj: 5.7665, loss_traj_cls: 0.0007, loss_map_cls: 0.7265, loss_map_pts: 4.2021, loss_map_dir: 0.0617, d0.loss_plan_l1_fix_time: 6.9724, d0.loss_plan_l1_fix_dist: 0.9879, d1.loss_plan_l1_fix_time: 5.8457, d1.loss_plan_l1_fix_dist: 1.0768, d2.loss_plan_l1_fix_time: 5.6275, d2.loss_plan_l1_fix_dist: 1.2529, d3.loss_plan_l1_fix_time: 5.5942, d3.loss_plan_l1_fix_dist: 1.4145, d4.loss_plan_l1_fix_time: 5.5768, d4.loss_plan_l1_fix_dist: 1.5982, d5.loss_plan_l1_fix_time: 5.6024, d5.loss_plan_l1_fix_dist: 1.7927, d6.loss_plan_l1_fix_time: 5.6723, d6.loss_plan_l1_fix_dist: 2.0495, d0.loss_cls_all: 1.3884, d0.loss_bbox_all: 1.1934, d0.loss_cls: 1.3884, d0.loss_bbox: 1.1934, d1.loss_cls: 1.3975, d1.loss_bbox: 1.1943, d2.loss_cls: 1.4042, d2.loss_bbox: 1.1946, d3.loss_cls: 1.4149, d3.loss_bbox: 1.2012, d4.loss_cls: 1.4134, d4.loss_bbox: 1.2063, d5.loss_cls: 1.4174, d5.loss_bbox: 1.2133, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.9412, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.6401, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.1992, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.4339, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.6437, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.7067, d0.loss_map_cls_all: 0.6973, d0.loss_map_pts_all: 4.4965, d0.loss_map_dir_all: 0.0623, d0.loss_map_cls: 0.6973, d0.loss_map_pts: 4.4965, d0.loss_map_dir: 0.0623, d1.loss_map_cls: 0.7082, d1.loss_map_pts: 4.2746, d1.loss_map_dir: 0.0621, d2.loss_map_cls: 0.7138, d2.loss_map_pts: 4.2219, d2.loss_map_dir: 0.0619, d3.loss_map_cls: 0.7167, d3.loss_map_pts: 4.2054, d3.loss_map_dir: 0.0618, d4.loss_map_cls: 0.7237, d4.loss_map_pts: 4.1993, d4.loss_map_dir: 0.0616, d5.loss_map_cls: 0.7249, d5.loss_map_pts: 4.1987, d5.loss_map_dir: 0.0617, loss: 148.7360, grad_norm: 3274.8639 +2026-02-24 00:49:14,203 - DriveTransformer - INFO - Epoch [1][2400/59059] lr: 1.000e-04, eta: 23 days, 16:26:05, time: 0.559, data_time: 0.025, memory: 14134, loss_cls: 1.4053, loss_bbox: 1.2486, loss_traj: 5.7984, loss_traj_cls: 0.0007, loss_map_cls: 0.7258, loss_map_pts: 4.2222, loss_map_dir: 0.0637, d0.loss_plan_l1_fix_time: 6.8030, d0.loss_plan_l1_fix_dist: 0.8545, d1.loss_plan_l1_fix_time: 5.7159, d1.loss_plan_l1_fix_dist: 0.9937, d2.loss_plan_l1_fix_time: 5.4720, d2.loss_plan_l1_fix_dist: 1.2779, d3.loss_plan_l1_fix_time: 5.3902, d3.loss_plan_l1_fix_dist: 1.5817, d4.loss_plan_l1_fix_time: 5.3644, d4.loss_plan_l1_fix_dist: 1.8749, d5.loss_plan_l1_fix_time: 5.3992, d5.loss_plan_l1_fix_dist: 2.2201, d6.loss_plan_l1_fix_time: 5.4886, d6.loss_plan_l1_fix_dist: 2.5784, d0.loss_cls_all: 1.3947, d0.loss_bbox_all: 1.2338, d0.loss_cls: 1.3947, d0.loss_bbox: 1.2338, d1.loss_cls: 1.4053, d1.loss_bbox: 1.2403, d2.loss_cls: 1.4019, d2.loss_bbox: 1.2435, d3.loss_cls: 1.4042, d3.loss_bbox: 1.2446, d4.loss_cls: 1.4041, d4.loss_bbox: 1.2493, d5.loss_cls: 1.4048, d5.loss_bbox: 1.2534, d0.loss_traj_cls: 0.0005, d0.loss_traj: 4.0301, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.6790, d2.loss_traj_cls: 0.0007, d2.loss_traj: 5.2380, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.4543, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.6933, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.7451, d0.loss_map_cls_all: 0.6968, d0.loss_map_pts_all: 4.5142, d0.loss_map_dir_all: 0.0639, d0.loss_map_cls: 0.6968, d0.loss_map_pts: 4.5142, d0.loss_map_dir: 0.0639, d1.loss_map_cls: 0.7068, d1.loss_map_pts: 4.2829, d1.loss_map_dir: 0.0638, d2.loss_map_cls: 0.7133, d2.loss_map_pts: 4.2235, d2.loss_map_dir: 0.0638, d3.loss_map_cls: 0.7173, d3.loss_map_pts: 4.2036, d3.loss_map_dir: 0.0636, d4.loss_map_cls: 0.7233, d4.loss_map_pts: 4.1986, d4.loss_map_dir: 0.0637, d5.loss_map_cls: 0.7239, d5.loss_map_pts: 4.2017, d5.loss_map_dir: 0.0637, loss: 149.3941, grad_norm: 3155.1128 +2026-02-24 00:49:44,585 - DriveTransformer - INFO - Epoch [1][2450/59059] lr: 1.000e-04, eta: 23 days, 17:00:22, time: 0.607, data_time: 0.026, memory: 14134, loss_cls: 1.4002, loss_bbox: 1.3566, loss_traj: 4.8955, loss_traj_cls: 0.0006, loss_map_cls: 0.6873, loss_map_pts: 4.2025, loss_map_dir: 0.0633, d0.loss_plan_l1_fix_time: 6.7141, d0.loss_plan_l1_fix_dist: 1.0450, d1.loss_plan_l1_fix_time: 5.7229, d1.loss_plan_l1_fix_dist: 1.1202, d2.loss_plan_l1_fix_time: 5.5431, d2.loss_plan_l1_fix_dist: 1.3196, d3.loss_plan_l1_fix_time: 5.5543, d3.loss_plan_l1_fix_dist: 1.5566, d4.loss_plan_l1_fix_time: 5.6427, d4.loss_plan_l1_fix_dist: 1.8207, d5.loss_plan_l1_fix_time: 5.7679, d5.loss_plan_l1_fix_dist: 2.1171, d6.loss_plan_l1_fix_time: 5.9135, d6.loss_plan_l1_fix_dist: 2.3373, d0.loss_cls_all: 1.3810, d0.loss_bbox_all: 1.3212, d0.loss_cls: 1.3810, d0.loss_bbox: 1.3212, d1.loss_cls: 1.3904, d1.loss_bbox: 1.3283, d2.loss_cls: 1.3968, d2.loss_bbox: 1.3313, d3.loss_cls: 1.3986, d3.loss_bbox: 1.3309, d4.loss_cls: 1.3975, d4.loss_bbox: 1.3390, d5.loss_cls: 1.3960, d5.loss_bbox: 1.3497, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.2428, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.8411, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.3286, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.5726, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.7835, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.8265, d0.loss_map_cls_all: 0.6552, d0.loss_map_pts_all: 4.5351, d0.loss_map_dir_all: 0.0636, d0.loss_map_cls: 0.6552, d0.loss_map_pts: 4.5351, d0.loss_map_dir: 0.0636, d1.loss_map_cls: 0.6707, d1.loss_map_pts: 4.2937, d1.loss_map_dir: 0.0632, d2.loss_map_cls: 0.6796, d2.loss_map_pts: 4.2204, d2.loss_map_dir: 0.0632, d3.loss_map_cls: 0.6833, d3.loss_map_pts: 4.2005, d3.loss_map_dir: 0.0632, d4.loss_map_cls: 0.6867, d4.loss_map_pts: 4.1992, d4.loss_map_dir: 0.0632, d5.loss_map_cls: 0.6879, d5.loss_map_pts: 4.1992, d5.loss_map_dir: 0.0631, loss: 144.7875, grad_norm: 1898.7373 +2026-02-24 00:50:13,521 - DriveTransformer - INFO - Epoch [1][2500/59059] lr: 1.000e-04, eta: 23 days, 17:00:11, time: 0.579, data_time: 0.030, memory: 14134, loss_cls: 1.4038, loss_bbox: 1.3948, loss_traj: 5.0508, loss_traj_cls: 0.0006, loss_map_cls: 0.6787, loss_map_pts: 3.9882, loss_map_dir: 0.0638, d0.loss_plan_l1_fix_time: 6.6445, d0.loss_plan_l1_fix_dist: 1.0026, d1.loss_plan_l1_fix_time: 5.4340, d1.loss_plan_l1_fix_dist: 1.0953, d2.loss_plan_l1_fix_time: 5.1290, d2.loss_plan_l1_fix_dist: 1.2363, d3.loss_plan_l1_fix_time: 5.0761, d3.loss_plan_l1_fix_dist: 1.3852, d4.loss_plan_l1_fix_time: 5.1101, d4.loss_plan_l1_fix_dist: 1.5705, d5.loss_plan_l1_fix_time: 5.1737, d5.loss_plan_l1_fix_dist: 1.7231, d6.loss_plan_l1_fix_time: 5.2499, d6.loss_plan_l1_fix_dist: 1.8903, d0.loss_cls_all: 1.3887, d0.loss_bbox_all: 1.3624, d0.loss_cls: 1.3887, d0.loss_bbox: 1.3624, d1.loss_cls: 1.3956, d1.loss_bbox: 1.3669, d2.loss_cls: 1.4015, d2.loss_bbox: 1.3738, d3.loss_cls: 1.4011, d3.loss_bbox: 1.3824, d4.loss_cls: 1.4005, d4.loss_bbox: 1.3873, d5.loss_cls: 1.4011, d5.loss_bbox: 1.3884, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.1904, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.8663, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.4277, d3.loss_traj_cls: 0.0007, d3.loss_traj: 4.6925, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.9302, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.9950, d0.loss_map_cls_all: 0.6509, d0.loss_map_pts_all: 4.3092, d0.loss_map_dir_all: 0.0643, d0.loss_map_cls: 0.6509, d0.loss_map_pts: 4.3092, d0.loss_map_dir: 0.0643, d1.loss_map_cls: 0.6667, d1.loss_map_pts: 4.0619, d1.loss_map_dir: 0.0639, d2.loss_map_cls: 0.6727, d2.loss_map_pts: 4.0019, d2.loss_map_dir: 0.0638, d3.loss_map_cls: 0.6743, d3.loss_map_pts: 3.9960, d3.loss_map_dir: 0.0638, d4.loss_map_cls: 0.6777, d4.loss_map_pts: 4.0021, d4.loss_map_dir: 0.0639, d5.loss_map_cls: 0.6792, d5.loss_map_pts: 4.0025, d5.loss_map_dir: 0.0637, loss: 139.6105, grad_norm: 1099.0461 +2026-02-24 00:50:41,382 - DriveTransformer - INFO - Epoch [1][2550/59059] lr: 1.000e-04, eta: 23 days, 16:35:02, time: 0.557, data_time: 0.024, memory: 14134, loss_cls: 1.3929, loss_bbox: 1.2526, loss_traj: 5.1247, loss_traj_cls: 0.0006, loss_map_cls: 0.7381, loss_map_pts: 4.2612, loss_map_dir: 0.0607, d0.loss_plan_l1_fix_time: 6.0157, d0.loss_plan_l1_fix_dist: 1.2712, d1.loss_plan_l1_fix_time: 5.1852, d1.loss_plan_l1_fix_dist: 1.3592, d2.loss_plan_l1_fix_time: 5.0268, d2.loss_plan_l1_fix_dist: 1.5080, d3.loss_plan_l1_fix_time: 5.0208, d3.loss_plan_l1_fix_dist: 1.6990, d4.loss_plan_l1_fix_time: 5.0899, d4.loss_plan_l1_fix_dist: 1.9317, d5.loss_plan_l1_fix_time: 5.1940, d5.loss_plan_l1_fix_dist: 2.1639, d6.loss_plan_l1_fix_time: 5.3017, d6.loss_plan_l1_fix_dist: 2.4057, d0.loss_cls_all: 1.3774, d0.loss_bbox_all: 1.1954, d0.loss_cls: 1.3774, d0.loss_bbox: 1.1954, d1.loss_cls: 1.3900, d1.loss_bbox: 1.2094, d2.loss_cls: 1.3907, d2.loss_bbox: 1.2149, d3.loss_cls: 1.3899, d3.loss_bbox: 1.2189, d4.loss_cls: 1.3940, d4.loss_bbox: 1.2265, d5.loss_cls: 1.3952, d5.loss_bbox: 1.2525, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.2685, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.8957, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.4606, d3.loss_traj_cls: 0.0007, d3.loss_traj: 4.7378, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.0106, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.0612, d0.loss_map_cls_all: 0.6903, d0.loss_map_pts_all: 4.6176, d0.loss_map_dir_all: 0.0616, d0.loss_map_cls: 0.6903, d0.loss_map_pts: 4.6176, d0.loss_map_dir: 0.0616, d1.loss_map_cls: 0.7116, d1.loss_map_pts: 4.3416, d1.loss_map_dir: 0.0609, d2.loss_map_cls: 0.7190, d2.loss_map_pts: 4.2619, d2.loss_map_dir: 0.0610, d3.loss_map_cls: 0.7234, d3.loss_map_pts: 4.2410, d3.loss_map_dir: 0.0609, d4.loss_map_cls: 0.7291, d4.loss_map_pts: 4.2358, d4.loss_map_dir: 0.0608, d5.loss_map_cls: 0.7337, d5.loss_map_pts: 4.2434, d5.loss_map_dir: 0.0608, loss: 142.6531, grad_norm: 722.1143 +2026-02-24 00:51:08,593 - DriveTransformer - INFO - Epoch [1][2600/59059] lr: 1.000e-04, eta: 23 days, 15:56:14, time: 0.544, data_time: 0.026, memory: 14134, loss_cls: 1.4402, loss_bbox: 1.4170, loss_traj: 4.7189, loss_traj_cls: 0.0006, loss_map_cls: 0.7281, loss_map_pts: 4.2220, loss_map_dir: 0.0619, d0.loss_plan_l1_fix_time: 6.2496, d0.loss_plan_l1_fix_dist: 0.9463, d1.loss_plan_l1_fix_time: 5.2983, d1.loss_plan_l1_fix_dist: 1.0016, d2.loss_plan_l1_fix_time: 5.0422, d2.loss_plan_l1_fix_dist: 1.1218, d3.loss_plan_l1_fix_time: 4.9899, d3.loss_plan_l1_fix_dist: 1.2788, d4.loss_plan_l1_fix_time: 5.0315, d4.loss_plan_l1_fix_dist: 1.4458, d5.loss_plan_l1_fix_time: 5.1224, d5.loss_plan_l1_fix_dist: 1.6664, d6.loss_plan_l1_fix_time: 5.2285, d6.loss_plan_l1_fix_dist: 1.9266, d0.loss_cls_all: 1.4177, d0.loss_bbox_all: 1.3719, d0.loss_cls: 1.4177, d0.loss_bbox: 1.3719, d1.loss_cls: 1.4313, d1.loss_bbox: 1.3840, d2.loss_cls: 1.4371, d2.loss_bbox: 1.3893, d3.loss_cls: 1.4396, d3.loss_bbox: 1.3943, d4.loss_cls: 1.4412, d4.loss_bbox: 1.4085, d5.loss_cls: 1.4449, d5.loss_bbox: 1.4201, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.0285, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.5871, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.0983, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.3710, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.6008, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.6537, d0.loss_map_cls_all: 0.6892, d0.loss_map_pts_all: 4.5001, d0.loss_map_dir_all: 0.0629, d0.loss_map_cls: 0.6892, d0.loss_map_pts: 4.5001, d0.loss_map_dir: 0.0629, d1.loss_map_cls: 0.7032, d1.loss_map_pts: 4.2675, d1.loss_map_dir: 0.0622, d2.loss_map_cls: 0.7116, d2.loss_map_pts: 4.2084, d2.loss_map_dir: 0.0623, d3.loss_map_cls: 0.7168, d3.loss_map_pts: 4.1929, d3.loss_map_dir: 0.0621, d4.loss_map_cls: 0.7234, d4.loss_map_pts: 4.1920, d4.loss_map_dir: 0.0621, d5.loss_map_cls: 0.7238, d5.loss_map_pts: 4.2010, d5.loss_map_dir: 0.0620, loss: 138.5066, grad_norm: 537.3731 +2026-02-24 00:51:37,358 - DriveTransformer - INFO - Epoch [1][2650/59059] lr: 1.000e-04, eta: 23 days, 15:53:18, time: 0.575, data_time: 0.034, memory: 14135, loss_cls: 1.4251, loss_bbox: 1.3719, loss_traj: 5.0525, loss_traj_cls: 0.0006, loss_map_cls: 0.7257, loss_map_pts: 4.2840, loss_map_dir: 0.0628, d0.loss_plan_l1_fix_time: 5.7959, d0.loss_plan_l1_fix_dist: 1.1011, d1.loss_plan_l1_fix_time: 4.8141, d1.loss_plan_l1_fix_dist: 1.1822, d2.loss_plan_l1_fix_time: 4.6485, d2.loss_plan_l1_fix_dist: 1.3098, d3.loss_plan_l1_fix_time: 4.6633, d3.loss_plan_l1_fix_dist: 1.5018, d4.loss_plan_l1_fix_time: 4.7453, d4.loss_plan_l1_fix_dist: 1.7238, d5.loss_plan_l1_fix_time: 4.8418, d5.loss_plan_l1_fix_dist: 1.9741, d6.loss_plan_l1_fix_time: 4.9397, d6.loss_plan_l1_fix_dist: 2.2227, d0.loss_cls_all: 1.3982, d0.loss_bbox_all: 1.3446, d0.loss_cls: 1.3982, d0.loss_bbox: 1.3446, d1.loss_cls: 1.4126, d1.loss_bbox: 1.3520, d2.loss_cls: 1.4138, d2.loss_bbox: 1.3520, d3.loss_cls: 1.4197, d3.loss_bbox: 1.3551, d4.loss_cls: 1.4215, d4.loss_bbox: 1.3685, d5.loss_cls: 1.4243, d5.loss_bbox: 1.3781, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.2135, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.8153, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.3822, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.6761, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.9219, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.9912, d0.loss_map_cls_all: 0.6897, d0.loss_map_pts_all: 4.6330, d0.loss_map_dir_all: 0.0638, d0.loss_map_cls: 0.6897, d0.loss_map_pts: 4.6330, d0.loss_map_dir: 0.0638, d1.loss_map_cls: 0.7044, d1.loss_map_pts: 4.3607, d1.loss_map_dir: 0.0630, d2.loss_map_cls: 0.7150, d2.loss_map_pts: 4.3038, d2.loss_map_dir: 0.0630, d3.loss_map_cls: 0.7184, d3.loss_map_pts: 4.2924, d3.loss_map_dir: 0.0630, d4.loss_map_cls: 0.7197, d4.loss_map_pts: 4.2921, d4.loss_map_dir: 0.0629, d5.loss_map_cls: 0.7241, d5.loss_map_pts: 4.2913, d5.loss_map_dir: 0.0628, loss: 139.9826, grad_norm: 460.6305 +2026-02-24 00:52:05,097 - DriveTransformer - INFO - Epoch [1][2700/59059] lr: 1.000e-04, eta: 23 days, 15:28:07, time: 0.555, data_time: 0.027, memory: 14135, loss_cls: 1.4395, loss_bbox: 1.2783, loss_traj: 5.3621, loss_traj_cls: 0.0005, loss_map_cls: 0.7490, loss_map_pts: 4.2258, loss_map_dir: 0.0605, d0.loss_plan_l1_fix_time: 6.4526, d0.loss_plan_l1_fix_dist: 0.8657, d1.loss_plan_l1_fix_time: 5.1128, d1.loss_plan_l1_fix_dist: 0.9509, d2.loss_plan_l1_fix_time: 4.6808, d2.loss_plan_l1_fix_dist: 1.1117, d3.loss_plan_l1_fix_time: 4.5060, d3.loss_plan_l1_fix_dist: 1.3076, d4.loss_plan_l1_fix_time: 4.4336, d4.loss_plan_l1_fix_dist: 1.4898, d5.loss_plan_l1_fix_time: 4.4185, d5.loss_plan_l1_fix_dist: 1.6581, d6.loss_plan_l1_fix_time: 4.4506, d6.loss_plan_l1_fix_dist: 1.8528, d0.loss_cls_all: 1.4069, d0.loss_bbox_all: 1.2460, d0.loss_cls: 1.4069, d0.loss_bbox: 1.2460, d1.loss_cls: 1.4239, d1.loss_bbox: 1.2557, d2.loss_cls: 1.4249, d2.loss_bbox: 1.2574, d3.loss_cls: 1.4310, d3.loss_bbox: 1.2541, d4.loss_cls: 1.4352, d4.loss_bbox: 1.2565, d5.loss_cls: 1.4398, d5.loss_bbox: 1.2753, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.1540, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.8823, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.5460, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.8893, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.2035, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.2787, d0.loss_map_cls_all: 0.7024, d0.loss_map_pts_all: 4.5220, d0.loss_map_dir_all: 0.0610, d0.loss_map_cls: 0.7024, d0.loss_map_pts: 4.5220, d0.loss_map_dir: 0.0610, d1.loss_map_cls: 0.7176, d1.loss_map_pts: 4.2813, d1.loss_map_dir: 0.0607, d2.loss_map_cls: 0.7294, d2.loss_map_pts: 4.2318, d2.loss_map_dir: 0.0606, d3.loss_map_cls: 0.7360, d3.loss_map_pts: 4.2221, d3.loss_map_dir: 0.0607, d4.loss_map_cls: 0.7397, d4.loss_map_pts: 4.2194, d4.loss_map_dir: 0.0606, d5.loss_map_cls: 0.7444, d5.loss_map_pts: 4.2211, d5.loss_map_dir: 0.0606, loss: 137.8404, grad_norm: 417.1716 +2026-02-24 00:52:32,656 - DriveTransformer - INFO - Epoch [1][2750/59059] lr: 1.000e-04, eta: 23 days, 15:00:01, time: 0.551, data_time: 0.024, memory: 14135, loss_cls: 1.4400, loss_bbox: 1.3515, loss_traj: 5.6570, loss_traj_cls: 0.0005, loss_map_cls: 0.7375, loss_map_pts: 4.0340, loss_map_dir: 0.0614, d0.loss_plan_l1_fix_time: 6.2831, d0.loss_plan_l1_fix_dist: 0.9070, d1.loss_plan_l1_fix_time: 5.1843, d1.loss_plan_l1_fix_dist: 1.0230, d2.loss_plan_l1_fix_time: 4.8284, d2.loss_plan_l1_fix_dist: 1.1780, d3.loss_plan_l1_fix_time: 4.6800, d3.loss_plan_l1_fix_dist: 1.3360, d4.loss_plan_l1_fix_time: 4.6477, d4.loss_plan_l1_fix_dist: 1.5252, d5.loss_plan_l1_fix_time: 4.6671, d5.loss_plan_l1_fix_dist: 1.7199, d6.loss_plan_l1_fix_time: 4.7196, d6.loss_plan_l1_fix_dist: 1.9304, d0.loss_cls_all: 1.4063, d0.loss_bbox_all: 1.3221, d0.loss_cls: 1.4063, d0.loss_bbox: 1.3221, d1.loss_cls: 1.4282, d1.loss_bbox: 1.3301, d2.loss_cls: 1.4281, d2.loss_bbox: 1.3344, d3.loss_cls: 1.4318, d3.loss_bbox: 1.3407, d4.loss_cls: 1.4358, d4.loss_bbox: 1.3503, d5.loss_cls: 1.4402, d5.loss_bbox: 1.3541, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.3974, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.1257, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.8165, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.1601, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.4893, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.5654, d0.loss_map_cls_all: 0.6897, d0.loss_map_pts_all: 4.3773, d0.loss_map_dir_all: 0.0619, d0.loss_map_cls: 0.6897, d0.loss_map_pts: 4.3773, d0.loss_map_dir: 0.0619, d1.loss_map_cls: 0.7065, d1.loss_map_pts: 4.1149, d1.loss_map_dir: 0.0614, d2.loss_map_cls: 0.7166, d2.loss_map_pts: 4.0490, d2.loss_map_dir: 0.0614, d3.loss_map_cls: 0.7214, d3.loss_map_pts: 4.0283, d3.loss_map_dir: 0.0614, d4.loss_map_cls: 0.7281, d4.loss_map_pts: 4.0236, d4.loss_map_dir: 0.0614, d5.loss_map_cls: 0.7335, d5.loss_map_pts: 4.0269, d5.loss_map_dir: 0.0614, loss: 140.2131, grad_norm: 398.7948 +2026-02-24 00:53:01,193 - DriveTransformer - INFO - Epoch [1][2800/59059] lr: 1.000e-04, eta: 23 days, 14:53:55, time: 0.571, data_time: 0.025, memory: 14136, loss_cls: 1.4003, loss_bbox: 1.2757, loss_traj: 5.1577, loss_traj_cls: 0.0006, loss_map_cls: 0.7102, loss_map_pts: 4.2243, loss_map_dir: 0.0633, d0.loss_plan_l1_fix_time: 5.5227, d0.loss_plan_l1_fix_dist: 0.8758, d1.loss_plan_l1_fix_time: 4.6928, d1.loss_plan_l1_fix_dist: 1.0134, d2.loss_plan_l1_fix_time: 4.5139, d2.loss_plan_l1_fix_dist: 1.1541, d3.loss_plan_l1_fix_time: 4.5045, d3.loss_plan_l1_fix_dist: 1.3208, d4.loss_plan_l1_fix_time: 4.5721, d4.loss_plan_l1_fix_dist: 1.5046, d5.loss_plan_l1_fix_time: 4.6498, d5.loss_plan_l1_fix_dist: 1.7258, d6.loss_plan_l1_fix_time: 4.7272, d6.loss_plan_l1_fix_dist: 1.9357, d0.loss_cls_all: 1.3696, d0.loss_bbox_all: 1.2526, d0.loss_cls: 1.3696, d0.loss_bbox: 1.2526, d1.loss_cls: 1.3892, d1.loss_bbox: 1.2562, d2.loss_cls: 1.3893, d2.loss_bbox: 1.2580, d3.loss_cls: 1.3958, d3.loss_bbox: 1.2645, d4.loss_cls: 1.3983, d4.loss_bbox: 1.2639, d5.loss_cls: 1.4011, d5.loss_bbox: 1.2703, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.1595, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.7778, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.4097, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.7197, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.0049, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.0754, d0.loss_map_cls_all: 0.6692, d0.loss_map_pts_all: 4.4943, d0.loss_map_dir_all: 0.0636, d0.loss_map_cls: 0.6692, d0.loss_map_pts: 4.4943, d0.loss_map_dir: 0.0636, d1.loss_map_cls: 0.6824, d1.loss_map_pts: 4.2717, d1.loss_map_dir: 0.0631, d2.loss_map_cls: 0.6915, d2.loss_map_pts: 4.2249, d2.loss_map_dir: 0.0631, d3.loss_map_cls: 0.6947, d3.loss_map_pts: 4.2101, d3.loss_map_dir: 0.0631, d4.loss_map_cls: 0.7007, d4.loss_map_pts: 4.2068, d4.loss_map_dir: 0.0630, d5.loss_map_cls: 0.7055, d5.loss_map_pts: 4.2116, d5.loss_map_dir: 0.0630, loss: 135.5955, grad_norm: 390.1690 +2026-02-24 00:53:29,510 - DriveTransformer - INFO - Epoch [1][2850/59059] lr: 1.000e-04, eta: 23 days, 14:42:36, time: 0.566, data_time: 0.027, memory: 14136, loss_cls: 1.4226, loss_bbox: 1.2391, loss_traj: 5.0373, loss_traj_cls: 0.0006, loss_map_cls: 0.7227, loss_map_pts: 4.1274, loss_map_dir: 0.0600, d0.loss_plan_l1_fix_time: 5.4344, d0.loss_plan_l1_fix_dist: 0.9324, d1.loss_plan_l1_fix_time: 4.3214, d1.loss_plan_l1_fix_dist: 0.9874, d2.loss_plan_l1_fix_time: 4.0196, d2.loss_plan_l1_fix_dist: 1.0969, d3.loss_plan_l1_fix_time: 3.9581, d3.loss_plan_l1_fix_dist: 1.2272, d4.loss_plan_l1_fix_time: 3.9805, d4.loss_plan_l1_fix_dist: 1.3501, d5.loss_plan_l1_fix_time: 4.0298, d5.loss_plan_l1_fix_dist: 1.4891, d6.loss_plan_l1_fix_time: 4.1009, d6.loss_plan_l1_fix_dist: 1.6360, d0.loss_cls_all: 1.3803, d0.loss_bbox_all: 1.1833, d0.loss_cls: 1.3803, d0.loss_bbox: 1.1833, d1.loss_cls: 1.4009, d1.loss_bbox: 1.1962, d2.loss_cls: 1.4099, d2.loss_bbox: 1.2024, d3.loss_cls: 1.4154, d3.loss_bbox: 1.2146, d4.loss_cls: 1.4170, d4.loss_bbox: 1.2369, d5.loss_cls: 1.4193, d5.loss_bbox: 1.2406, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.7584, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.4453, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.1489, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.5047, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.8459, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.9318, d0.loss_map_cls_all: 0.6764, d0.loss_map_pts_all: 4.5065, d0.loss_map_dir_all: 0.0602, d0.loss_map_cls: 0.6764, d0.loss_map_pts: 4.5065, d0.loss_map_dir: 0.0602, d1.loss_map_cls: 0.6927, d1.loss_map_pts: 4.2422, d1.loss_map_dir: 0.0599, d2.loss_map_cls: 0.7066, d2.loss_map_pts: 4.1700, d2.loss_map_dir: 0.0599, d3.loss_map_cls: 0.7119, d3.loss_map_pts: 4.1448, d3.loss_map_dir: 0.0600, d4.loss_map_cls: 0.7119, d4.loss_map_pts: 4.1344, d4.loss_map_dir: 0.0599, d5.loss_map_cls: 0.7192, d5.loss_map_pts: 4.1289, d5.loss_map_dir: 0.0599, loss: 129.2403, grad_norm: 378.3888 +2026-02-24 00:53:57,010 - DriveTransformer - INFO - Epoch [1][2900/59059] lr: 1.000e-04, eta: 23 days, 14:15:27, time: 0.550, data_time: 0.028, memory: 14136, loss_cls: 1.4049, loss_bbox: 1.3303, loss_traj: 5.9436, loss_traj_cls: 0.0006, loss_map_cls: 0.7130, loss_map_pts: 3.9908, loss_map_dir: 0.0577, d0.loss_plan_l1_fix_time: 5.9430, d0.loss_plan_l1_fix_dist: 0.8533, d1.loss_plan_l1_fix_time: 4.8152, d1.loss_plan_l1_fix_dist: 0.9381, d2.loss_plan_l1_fix_time: 4.4034, d2.loss_plan_l1_fix_dist: 1.0867, d3.loss_plan_l1_fix_time: 4.2390, d3.loss_plan_l1_fix_dist: 1.2713, d4.loss_plan_l1_fix_time: 4.1885, d4.loss_plan_l1_fix_dist: 1.4705, d5.loss_plan_l1_fix_time: 4.2044, d5.loss_plan_l1_fix_dist: 1.6617, d6.loss_plan_l1_fix_time: 4.2701, d6.loss_plan_l1_fix_dist: 1.8899, d0.loss_cls_all: 1.3592, d0.loss_bbox_all: 1.2400, d0.loss_cls: 1.3592, d0.loss_bbox: 1.2400, d1.loss_cls: 1.3839, d1.loss_bbox: 1.2534, d2.loss_cls: 1.3906, d2.loss_bbox: 1.2633, d3.loss_cls: 1.3953, d3.loss_bbox: 1.2823, d4.loss_cls: 1.4003, d4.loss_bbox: 1.2977, d5.loss_cls: 1.4025, d5.loss_bbox: 1.3136, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.1920, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.9976, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.8732, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.2944, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.7104, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.8155, d0.loss_map_cls_all: 0.6668, d0.loss_map_pts_all: 4.3346, d0.loss_map_dir_all: 0.0580, d0.loss_map_cls: 0.6668, d0.loss_map_pts: 4.3346, d0.loss_map_dir: 0.0580, d1.loss_map_cls: 0.6849, d1.loss_map_pts: 4.0605, d1.loss_map_dir: 0.0576, d2.loss_map_cls: 0.6958, d2.loss_map_pts: 3.9984, d2.loss_map_dir: 0.0577, d3.loss_map_cls: 0.7037, d3.loss_map_pts: 3.9869, d3.loss_map_dir: 0.0576, d4.loss_map_cls: 0.7049, d4.loss_map_pts: 3.9852, d4.loss_map_dir: 0.0576, d5.loss_map_cls: 0.7093, d5.loss_map_pts: 3.9878, d5.loss_map_dir: 0.0576, loss: 136.0674, grad_norm: 369.6161 +2026-02-24 00:54:24,354 - DriveTransformer - INFO - Epoch [1][2950/59059] lr: 1.000e-04, eta: 23 days, 13:46:04, time: 0.547, data_time: 0.027, memory: 14136, loss_cls: 1.4077, loss_bbox: 1.4343, loss_traj: 4.5051, loss_traj_cls: 0.0006, loss_map_cls: 0.7128, loss_map_pts: 4.0260, loss_map_dir: 0.0588, d0.loss_plan_l1_fix_time: 4.6742, d0.loss_plan_l1_fix_dist: 0.8191, d1.loss_plan_l1_fix_time: 3.9306, d1.loss_plan_l1_fix_dist: 0.8969, d2.loss_plan_l1_fix_time: 3.7508, d2.loss_plan_l1_fix_dist: 1.0363, d3.loss_plan_l1_fix_time: 3.7234, d3.loss_plan_l1_fix_dist: 1.2264, d4.loss_plan_l1_fix_time: 3.7623, d4.loss_plan_l1_fix_dist: 1.4455, d5.loss_plan_l1_fix_time: 3.8289, d5.loss_plan_l1_fix_dist: 1.6695, d6.loss_plan_l1_fix_time: 3.9244, d6.loss_plan_l1_fix_dist: 1.9427, d0.loss_cls_all: 1.3684, d0.loss_bbox_all: 1.3774, d0.loss_cls: 1.3684, d0.loss_bbox: 1.3774, d1.loss_cls: 1.3969, d1.loss_bbox: 1.3821, d2.loss_cls: 1.3991, d2.loss_bbox: 1.3899, d3.loss_cls: 1.4049, d3.loss_bbox: 1.4012, d4.loss_cls: 1.4069, d4.loss_bbox: 1.4091, d5.loss_cls: 1.4061, d5.loss_bbox: 1.4219, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.2939, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.8543, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.5607, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.9356, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.2980, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.3843, d0.loss_map_cls_all: 0.6700, d0.loss_map_pts_all: 4.4009, d0.loss_map_dir_all: 0.0592, d0.loss_map_cls: 0.6700, d0.loss_map_pts: 4.4009, d0.loss_map_dir: 0.0592, d1.loss_map_cls: 0.6828, d1.loss_map_pts: 4.1291, d1.loss_map_dir: 0.0589, d2.loss_map_cls: 0.6927, d2.loss_map_pts: 4.0561, d2.loss_map_dir: 0.0588, d3.loss_map_cls: 0.6989, d3.loss_map_pts: 4.0341, d3.loss_map_dir: 0.0587, d4.loss_map_cls: 0.7057, d4.loss_map_pts: 4.0302, d4.loss_map_dir: 0.0587, d5.loss_map_cls: 0.7089, d5.loss_map_pts: 4.0287, d5.loss_map_dir: 0.0588, loss: 123.9372, grad_norm: 362.7068 +2026-02-24 00:54:52,261 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 00:54:52,262 - DriveTransformer - INFO - Epoch [1][3000/59059] lr: 1.000e-04, eta: 23 days, 13:28:44, time: 0.558, data_time: 0.025, memory: 14136, loss_cls: 1.4085, loss_bbox: 1.3804, loss_traj: 5.2190, loss_traj_cls: 0.0005, loss_map_cls: 0.7115, loss_map_pts: 3.9481, loss_map_dir: 0.0555, d0.loss_plan_l1_fix_time: 5.5362, d0.loss_plan_l1_fix_dist: 0.8380, d1.loss_plan_l1_fix_time: 4.4339, d1.loss_plan_l1_fix_dist: 0.9492, d2.loss_plan_l1_fix_time: 4.0954, d2.loss_plan_l1_fix_dist: 1.1206, d3.loss_plan_l1_fix_time: 3.9922, d3.loss_plan_l1_fix_dist: 1.3063, d4.loss_plan_l1_fix_time: 3.9849, d4.loss_plan_l1_fix_dist: 1.5189, d5.loss_plan_l1_fix_time: 4.0116, d5.loss_plan_l1_fix_dist: 1.7503, d6.loss_plan_l1_fix_time: 4.0693, d6.loss_plan_l1_fix_dist: 1.9600, d0.loss_cls_all: 1.3619, d0.loss_bbox_all: 1.3160, d0.loss_cls: 1.3619, d0.loss_bbox: 1.3160, d1.loss_cls: 1.3898, d1.loss_bbox: 1.3267, d2.loss_cls: 1.3919, d2.loss_bbox: 1.3353, d3.loss_cls: 1.4017, d3.loss_bbox: 1.3459, d4.loss_cls: 1.4047, d4.loss_bbox: 1.3537, d5.loss_cls: 1.4074, d5.loss_bbox: 1.3748, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.8344, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.4023, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.1725, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.5745, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.9839, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.0870, d0.loss_map_cls_all: 0.6683, d0.loss_map_pts_all: 4.2868, d0.loss_map_dir_all: 0.0559, d0.loss_map_cls: 0.6683, d0.loss_map_pts: 4.2868, d0.loss_map_dir: 0.0559, d1.loss_map_cls: 0.6779, d1.loss_map_pts: 4.0530, d1.loss_map_dir: 0.0555, d2.loss_map_cls: 0.6905, d2.loss_map_pts: 3.9845, d2.loss_map_dir: 0.0555, d3.loss_map_cls: 0.6984, d3.loss_map_pts: 3.9626, d3.loss_map_dir: 0.0555, d4.loss_map_cls: 0.7034, d4.loss_map_pts: 3.9553, d4.loss_map_dir: 0.0554, d5.loss_map_cls: 0.7076, d5.loss_map_pts: 3.9513, d5.loss_map_dir: 0.0555, loss: 130.1192, grad_norm: 352.8696 +2026-02-24 00:55:19,681 - DriveTransformer - INFO - Epoch [1][3050/59059] lr: 1.000e-04, eta: 23 days, 13:02:33, time: 0.548, data_time: 0.031, memory: 14136, loss_cls: 1.3643, loss_bbox: 1.1453, loss_traj: 5.7852, loss_traj_cls: 0.0006, loss_map_cls: 0.7133, loss_map_pts: 3.8435, loss_map_dir: 0.0507, d0.loss_plan_l1_fix_time: 5.2165, d0.loss_plan_l1_fix_dist: 0.9473, d1.loss_plan_l1_fix_time: 4.1901, d1.loss_plan_l1_fix_dist: 1.0447, d2.loss_plan_l1_fix_time: 3.9283, d2.loss_plan_l1_fix_dist: 1.1899, d3.loss_plan_l1_fix_time: 3.8729, d3.loss_plan_l1_fix_dist: 1.3623, d4.loss_plan_l1_fix_time: 3.8863, d4.loss_plan_l1_fix_dist: 1.5336, d5.loss_plan_l1_fix_time: 3.9189, d5.loss_plan_l1_fix_dist: 1.7454, d6.loss_plan_l1_fix_time: 3.9867, d6.loss_plan_l1_fix_dist: 1.9285, d0.loss_cls_all: 1.3080, d0.loss_bbox_all: 1.1080, d0.loss_cls: 1.3080, d0.loss_bbox: 1.1080, d1.loss_cls: 1.3338, d1.loss_bbox: 1.1088, d2.loss_cls: 1.3423, d2.loss_bbox: 1.1131, d3.loss_cls: 1.3527, d3.loss_bbox: 1.1214, d4.loss_cls: 1.3575, d4.loss_bbox: 1.1235, d5.loss_cls: 1.3624, d5.loss_bbox: 1.1269, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.0060, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.6433, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.5571, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.0393, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.4941, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.6371, d0.loss_map_cls_all: 0.6716, d0.loss_map_pts_all: 4.1472, d0.loss_map_dir_all: 0.0508, d0.loss_map_cls: 0.6716, d0.loss_map_pts: 4.1472, d0.loss_map_dir: 0.0508, d1.loss_map_cls: 0.6836, d1.loss_map_pts: 3.9124, d1.loss_map_dir: 0.0506, d2.loss_map_cls: 0.6972, d2.loss_map_pts: 3.8605, d2.loss_map_dir: 0.0507, d3.loss_map_cls: 0.7034, d3.loss_map_pts: 3.8497, d3.loss_map_dir: 0.0507, d4.loss_map_cls: 0.7071, d4.loss_map_pts: 3.8451, d4.loss_map_dir: 0.0505, d5.loss_map_cls: 0.7105, d5.loss_map_pts: 3.8427, d5.loss_map_dir: 0.0505, loss: 129.0130, grad_norm: 347.7325 +2026-02-24 00:55:46,897 - DriveTransformer - INFO - Epoch [1][3100/59059] lr: 1.000e-04, eta: 23 days, 12:33:17, time: 0.544, data_time: 0.023, memory: 14136, loss_cls: 1.3911, loss_bbox: 1.3368, loss_traj: 4.4081, loss_traj_cls: 0.0005, loss_map_cls: 0.7052, loss_map_pts: 4.0125, loss_map_dir: 0.0542, d0.loss_plan_l1_fix_time: 4.7675, d0.loss_plan_l1_fix_dist: 0.8708, d1.loss_plan_l1_fix_time: 3.9149, d1.loss_plan_l1_fix_dist: 1.0071, d2.loss_plan_l1_fix_time: 3.7295, d2.loss_plan_l1_fix_dist: 1.1792, d3.loss_plan_l1_fix_time: 3.7043, d3.loss_plan_l1_fix_dist: 1.3702, d4.loss_plan_l1_fix_time: 3.7292, d4.loss_plan_l1_fix_dist: 1.5644, d5.loss_plan_l1_fix_time: 3.7798, d5.loss_plan_l1_fix_dist: 1.7701, d6.loss_plan_l1_fix_time: 3.8787, d6.loss_plan_l1_fix_dist: 1.9566, d0.loss_cls_all: 1.3396, d0.loss_bbox_all: 1.2933, d0.loss_cls: 1.3396, d0.loss_bbox: 1.2933, d1.loss_cls: 1.3655, d1.loss_bbox: 1.3019, d2.loss_cls: 1.3719, d2.loss_bbox: 1.3066, d3.loss_cls: 1.3783, d3.loss_bbox: 1.3137, d4.loss_cls: 1.3838, d4.loss_bbox: 1.3231, d5.loss_cls: 1.3872, d5.loss_bbox: 1.3310, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.2759, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.7222, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.4143, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.7862, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.1656, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.2867, d0.loss_map_cls_all: 0.6543, d0.loss_map_pts_all: 4.3363, d0.loss_map_dir_all: 0.0547, d0.loss_map_cls: 0.6543, d0.loss_map_pts: 4.3363, d0.loss_map_dir: 0.0547, d1.loss_map_cls: 0.6742, d1.loss_map_pts: 4.0845, d1.loss_map_dir: 0.0543, d2.loss_map_cls: 0.6835, d2.loss_map_pts: 4.0322, d2.loss_map_dir: 0.0543, d3.loss_map_cls: 0.6932, d3.loss_map_pts: 4.0206, d3.loss_map_dir: 0.0542, d4.loss_map_cls: 0.6995, d4.loss_map_pts: 4.0171, d4.loss_map_dir: 0.0541, d5.loss_map_cls: 0.7019, d5.loss_map_pts: 4.0143, d5.loss_map_dir: 0.0541, loss: 122.4963, grad_norm: 342.4414 +2026-02-24 00:56:15,730 - DriveTransformer - INFO - Epoch [1][3150/59059] lr: 1.000e-04, eta: 23 days, 12:35:15, time: 0.577, data_time: 0.038, memory: 14136, loss_cls: 1.4090, loss_bbox: 1.3082, loss_traj: 5.2954, loss_traj_cls: 0.0005, loss_map_cls: 0.7198, loss_map_pts: 3.9586, loss_map_dir: 0.0549, d0.loss_plan_l1_fix_time: 4.9245, d0.loss_plan_l1_fix_dist: 0.8982, d1.loss_plan_l1_fix_time: 4.1924, d1.loss_plan_l1_fix_dist: 1.0076, d2.loss_plan_l1_fix_time: 4.0783, d2.loss_plan_l1_fix_dist: 1.1687, d3.loss_plan_l1_fix_time: 4.1005, d3.loss_plan_l1_fix_dist: 1.3426, d4.loss_plan_l1_fix_time: 4.1561, d4.loss_plan_l1_fix_dist: 1.5499, d5.loss_plan_l1_fix_time: 4.2225, d5.loss_plan_l1_fix_dist: 1.7606, d6.loss_plan_l1_fix_time: 4.3182, d6.loss_plan_l1_fix_dist: 2.0025, d0.loss_cls_all: 1.3424, d0.loss_bbox_all: 1.2789, d0.loss_cls: 1.3424, d0.loss_bbox: 1.2789, d1.loss_cls: 1.3746, d1.loss_bbox: 1.2831, d2.loss_cls: 1.3796, d2.loss_bbox: 1.2848, d3.loss_cls: 1.3897, d3.loss_bbox: 1.2931, d4.loss_cls: 1.3989, d4.loss_bbox: 1.2953, d5.loss_cls: 1.4068, d5.loss_bbox: 1.2962, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.9745, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.4065, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.1519, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.5587, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.0035, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.1537, d0.loss_map_cls_all: 0.6714, d0.loss_map_pts_all: 4.2980, d0.loss_map_dir_all: 0.0556, d0.loss_map_cls: 0.6714, d0.loss_map_pts: 4.2980, d0.loss_map_dir: 0.0556, d1.loss_map_cls: 0.6872, d1.loss_map_pts: 4.0510, d1.loss_map_dir: 0.0552, d2.loss_map_cls: 0.6939, d2.loss_map_pts: 3.9942, d2.loss_map_dir: 0.0550, d3.loss_map_cls: 0.7058, d3.loss_map_pts: 3.9776, d3.loss_map_dir: 0.0550, d4.loss_map_cls: 0.7136, d4.loss_map_pts: 3.9703, d4.loss_map_dir: 0.0550, d5.loss_map_cls: 0.7173, d5.loss_map_pts: 3.9637, d5.loss_map_dir: 0.0550, loss: 130.1651, grad_norm: 336.9632 +2026-02-24 00:56:42,980 - DriveTransformer - INFO - Epoch [1][3200/59059] lr: 1.000e-04, eta: 23 days, 12:08:00, time: 0.545, data_time: 0.030, memory: 14136, loss_cls: 1.3625, loss_bbox: 1.1384, loss_traj: 5.3296, loss_traj_cls: 0.0005, loss_map_cls: 0.7218, loss_map_pts: 3.8159, loss_map_dir: 0.0484, d0.loss_plan_l1_fix_time: 5.2076, d0.loss_plan_l1_fix_dist: 0.7198, d1.loss_plan_l1_fix_time: 4.3896, d1.loss_plan_l1_fix_dist: 0.8033, d2.loss_plan_l1_fix_time: 4.2651, d2.loss_plan_l1_fix_dist: 0.9524, d3.loss_plan_l1_fix_time: 4.2929, d3.loss_plan_l1_fix_dist: 1.0929, d4.loss_plan_l1_fix_time: 4.3498, d4.loss_plan_l1_fix_dist: 1.2610, d5.loss_plan_l1_fix_time: 4.4000, d5.loss_plan_l1_fix_dist: 1.4294, d6.loss_plan_l1_fix_time: 4.4608, d6.loss_plan_l1_fix_dist: 1.6269, d0.loss_cls_all: 1.2789, d0.loss_bbox_all: 1.1138, d0.loss_cls: 1.2789, d0.loss_bbox: 1.1138, d1.loss_cls: 1.3157, d1.loss_bbox: 1.1108, d2.loss_cls: 1.3353, d2.loss_bbox: 1.1095, d3.loss_cls: 1.3433, d3.loss_bbox: 1.1112, d4.loss_cls: 1.3512, d4.loss_bbox: 1.1210, d5.loss_cls: 1.3583, d5.loss_bbox: 1.1259, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.6800, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.1321, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.0056, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.4862, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.9850, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.1666, d0.loss_map_cls_all: 0.6677, d0.loss_map_pts_all: 4.2085, d0.loss_map_dir_all: 0.0495, d0.loss_map_cls: 0.6677, d0.loss_map_pts: 4.2085, d0.loss_map_dir: 0.0495, d1.loss_map_cls: 0.6823, d1.loss_map_pts: 3.9181, d1.loss_map_dir: 0.0488, d2.loss_map_cls: 0.6965, d2.loss_map_pts: 3.8518, d2.loss_map_dir: 0.0487, d3.loss_map_cls: 0.7068, d3.loss_map_pts: 3.8324, d3.loss_map_dir: 0.0486, d4.loss_map_cls: 0.7155, d4.loss_map_pts: 3.8238, d4.loss_map_dir: 0.0485, d5.loss_map_cls: 0.7180, d5.loss_map_pts: 3.8182, d5.loss_map_dir: 0.0484, loss: 126.0530, grad_norm: 328.4554 +2026-02-24 00:57:11,143 - DriveTransformer - INFO - Epoch [1][3250/59059] lr: 1.000e-04, eta: 23 days, 11:58:02, time: 0.563, data_time: 0.028, memory: 14136, loss_cls: 1.3781, loss_bbox: 1.3122, loss_traj: 5.4686, loss_traj_cls: 0.0005, loss_map_cls: 0.7275, loss_map_pts: 3.8067, loss_map_dir: 0.0493, d0.loss_plan_l1_fix_time: 5.4863, d0.loss_plan_l1_fix_dist: 0.8274, d1.loss_plan_l1_fix_time: 4.6876, d1.loss_plan_l1_fix_dist: 0.9263, d2.loss_plan_l1_fix_time: 4.5622, d2.loss_plan_l1_fix_dist: 1.0669, d3.loss_plan_l1_fix_time: 4.5773, d3.loss_plan_l1_fix_dist: 1.2339, d4.loss_plan_l1_fix_time: 4.6212, d4.loss_plan_l1_fix_dist: 1.4005, d5.loss_plan_l1_fix_time: 4.6695, d5.loss_plan_l1_fix_dist: 1.5762, d6.loss_plan_l1_fix_time: 4.7244, d6.loss_plan_l1_fix_dist: 1.7392, d0.loss_cls_all: 1.2920, d0.loss_bbox_all: 1.2967, d0.loss_cls: 1.2920, d0.loss_bbox: 1.2967, d1.loss_cls: 1.3301, d1.loss_bbox: 1.2962, d2.loss_cls: 1.3459, d2.loss_bbox: 1.2939, d3.loss_cls: 1.3551, d3.loss_bbox: 1.2982, d4.loss_cls: 1.3654, d4.loss_bbox: 1.3014, d5.loss_cls: 1.3726, d5.loss_bbox: 1.3019, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.7349, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.1616, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.0548, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.5683, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.0998, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.2930, d0.loss_map_cls_all: 0.6851, d0.loss_map_pts_all: 4.1537, d0.loss_map_dir_all: 0.0504, d0.loss_map_cls: 0.6851, d0.loss_map_pts: 4.1537, d0.loss_map_dir: 0.0504, d1.loss_map_cls: 0.7030, d1.loss_map_pts: 3.8879, d1.loss_map_dir: 0.0497, d2.loss_map_cls: 0.7133, d2.loss_map_pts: 3.8323, d2.loss_map_dir: 0.0495, d3.loss_map_cls: 0.7178, d3.loss_map_pts: 3.8126, d3.loss_map_dir: 0.0495, d4.loss_map_cls: 0.7213, d4.loss_map_pts: 3.8058, d4.loss_map_dir: 0.0494, d5.loss_map_cls: 0.7243, d5.loss_map_pts: 3.8051, d5.loss_map_dir: 0.0493, loss: 130.9446, grad_norm: 322.5892 +2026-02-24 00:57:39,131 - DriveTransformer - INFO - Epoch [1][3300/59059] lr: 1.000e-04, eta: 23 days, 11:45:15, time: 0.560, data_time: 0.026, memory: 14136, loss_cls: 1.3965, loss_bbox: 1.2670, loss_traj: 4.7166, loss_traj_cls: 0.0005, loss_map_cls: 0.7273, loss_map_pts: 3.7490, loss_map_dir: 0.0439, d0.loss_plan_l1_fix_time: 4.3501, d0.loss_plan_l1_fix_dist: 0.7820, d1.loss_plan_l1_fix_time: 3.6219, d1.loss_plan_l1_fix_dist: 0.9182, d2.loss_plan_l1_fix_time: 3.5033, d2.loss_plan_l1_fix_dist: 1.0871, d3.loss_plan_l1_fix_time: 3.5194, d3.loss_plan_l1_fix_dist: 1.3029, d4.loss_plan_l1_fix_time: 3.5661, d4.loss_plan_l1_fix_dist: 1.5156, d5.loss_plan_l1_fix_time: 3.6240, d5.loss_plan_l1_fix_dist: 1.7389, d6.loss_plan_l1_fix_time: 3.6954, d6.loss_plan_l1_fix_dist: 1.9479, d0.loss_cls_all: 1.2754, d0.loss_bbox_all: 1.2477, d0.loss_cls: 1.2754, d0.loss_bbox: 1.2477, d1.loss_cls: 1.3239, d1.loss_bbox: 1.2452, d2.loss_cls: 1.3493, d2.loss_bbox: 1.2446, d3.loss_cls: 1.3676, d3.loss_bbox: 1.2509, d4.loss_cls: 1.3759, d4.loss_bbox: 1.2555, d5.loss_cls: 1.3862, d5.loss_bbox: 1.2507, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2970, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.6200, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.4213, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.8596, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.3533, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.5507, d0.loss_map_cls_all: 0.6771, d0.loss_map_pts_all: 4.2076, d0.loss_map_dir_all: 0.0456, d0.loss_map_cls: 0.6771, d0.loss_map_pts: 4.2076, d0.loss_map_dir: 0.0456, d1.loss_map_cls: 0.6940, d1.loss_map_pts: 3.8912, d1.loss_map_dir: 0.0444, d2.loss_map_cls: 0.7077, d2.loss_map_pts: 3.8081, d2.loss_map_dir: 0.0444, d3.loss_map_cls: 0.7148, d3.loss_map_pts: 3.7755, d3.loss_map_dir: 0.0443, d4.loss_map_cls: 0.7193, d4.loss_map_pts: 3.7581, d4.loss_map_dir: 0.0442, d5.loss_map_cls: 0.7243, d5.loss_map_pts: 3.7500, d5.loss_map_dir: 0.0439, loss: 118.8988, grad_norm: 318.3831 +2026-02-24 00:58:07,508 - DriveTransformer - INFO - Epoch [1][3350/59059] lr: 1.000e-04, eta: 23 days, 11:39:44, time: 0.568, data_time: 0.032, memory: 14136, loss_cls: 1.3929, loss_bbox: 1.3505, loss_traj: 4.7661, loss_traj_cls: 0.0005, loss_map_cls: 0.7130, loss_map_pts: 4.0778, loss_map_dir: 0.0461, d0.loss_plan_l1_fix_time: 4.7335, d0.loss_plan_l1_fix_dist: 0.8970, d1.loss_plan_l1_fix_time: 3.9995, d1.loss_plan_l1_fix_dist: 0.9910, d2.loss_plan_l1_fix_time: 3.8709, d2.loss_plan_l1_fix_dist: 1.1053, d3.loss_plan_l1_fix_time: 3.8878, d3.loss_plan_l1_fix_dist: 1.2537, d4.loss_plan_l1_fix_time: 3.9502, d4.loss_plan_l1_fix_dist: 1.4362, d5.loss_plan_l1_fix_time: 4.0384, d5.loss_plan_l1_fix_dist: 1.6510, d6.loss_plan_l1_fix_time: 4.1432, d6.loss_plan_l1_fix_dist: 1.8607, d0.loss_cls_all: 1.2942, d0.loss_bbox_all: 1.3326, d0.loss_cls: 1.2942, d0.loss_bbox: 1.3326, d1.loss_cls: 1.3353, d1.loss_bbox: 1.3290, d2.loss_cls: 1.3629, d2.loss_bbox: 1.3334, d3.loss_cls: 1.3743, d3.loss_bbox: 1.3367, d4.loss_cls: 1.3790, d4.loss_bbox: 1.3450, d5.loss_cls: 1.3839, d5.loss_bbox: 1.3399, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.3631, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.6686, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.4378, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.8936, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.4113, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.6046, d0.loss_map_cls_all: 0.6684, d0.loss_map_pts_all: 4.4502, d0.loss_map_dir_all: 0.0474, d0.loss_map_cls: 0.6684, d0.loss_map_pts: 4.4502, d0.loss_map_dir: 0.0474, d1.loss_map_cls: 0.6790, d1.loss_map_pts: 4.1824, d1.loss_map_dir: 0.0465, d2.loss_map_cls: 0.6888, d2.loss_map_pts: 4.1209, d2.loss_map_dir: 0.0464, d3.loss_map_cls: 0.6974, d3.loss_map_pts: 4.0936, d3.loss_map_dir: 0.0464, d4.loss_map_cls: 0.7068, d4.loss_map_pts: 4.0785, d4.loss_map_dir: 0.0464, d5.loss_map_cls: 0.7113, d5.loss_map_pts: 4.0737, d5.loss_map_dir: 0.0462, loss: 124.9166, grad_norm: 317.5355 +2026-02-24 00:58:36,966 - DriveTransformer - INFO - Epoch [1][3400/59059] lr: 1.000e-04, eta: 23 days, 11:53:06, time: 0.589, data_time: 0.028, memory: 14136, loss_cls: 1.4004, loss_bbox: 1.2679, loss_traj: 4.2379, loss_traj_cls: 0.0005, loss_map_cls: 0.6935, loss_map_pts: 3.9713, loss_map_dir: 0.0452, d0.loss_plan_l1_fix_time: 4.6708, d0.loss_plan_l1_fix_dist: 0.7610, d1.loss_plan_l1_fix_time: 4.0529, d1.loss_plan_l1_fix_dist: 0.8344, d2.loss_plan_l1_fix_time: 3.9618, d2.loss_plan_l1_fix_dist: 0.9270, d3.loss_plan_l1_fix_time: 3.9928, d3.loss_plan_l1_fix_dist: 1.0498, d4.loss_plan_l1_fix_time: 4.0568, d4.loss_plan_l1_fix_dist: 1.2171, d5.loss_plan_l1_fix_time: 4.1363, d5.loss_plan_l1_fix_dist: 1.3914, d6.loss_plan_l1_fix_time: 4.2359, d6.loss_plan_l1_fix_dist: 1.5712, d0.loss_cls_all: 1.2803, d0.loss_bbox_all: 1.2535, d0.loss_cls: 1.2803, d0.loss_bbox: 1.2535, d1.loss_cls: 1.3287, d1.loss_bbox: 1.2493, d2.loss_cls: 1.3530, d2.loss_bbox: 1.2557, d3.loss_cls: 1.3720, d3.loss_bbox: 1.2620, d4.loss_cls: 1.3802, d4.loss_bbox: 1.2668, d5.loss_cls: 1.3899, d5.loss_bbox: 1.2655, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.0987, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3540, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.0050, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.4247, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.8964, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.0553, d0.loss_map_cls_all: 0.6616, d0.loss_map_pts_all: 4.3517, d0.loss_map_dir_all: 0.0461, d0.loss_map_cls: 0.6616, d0.loss_map_pts: 4.3517, d0.loss_map_dir: 0.0461, d1.loss_map_cls: 0.6741, d1.loss_map_pts: 4.0718, d1.loss_map_dir: 0.0455, d2.loss_map_cls: 0.6801, d2.loss_map_pts: 4.0188, d2.loss_map_dir: 0.0455, d3.loss_map_cls: 0.6847, d3.loss_map_pts: 3.9984, d3.loss_map_dir: 0.0453, d4.loss_map_cls: 0.6902, d4.loss_map_pts: 3.9853, d4.loss_map_dir: 0.0453, d5.loss_map_cls: 0.6929, d5.loss_map_pts: 3.9752, d5.loss_map_dir: 0.0452, loss: 119.3211, grad_norm: 313.8408 +2026-02-24 00:59:05,692 - DriveTransformer - INFO - Epoch [1][3450/59059] lr: 1.000e-04, eta: 23 days, 11:53:35, time: 0.575, data_time: 0.030, memory: 14136, loss_cls: 1.3952, loss_bbox: 1.3872, loss_traj: 4.1579, loss_traj_cls: 0.0006, loss_map_cls: 0.6799, loss_map_pts: 3.8510, loss_map_dir: 0.0448, d0.loss_plan_l1_fix_time: 4.4784, d0.loss_plan_l1_fix_dist: 1.0073, d1.loss_plan_l1_fix_time: 4.0835, d1.loss_plan_l1_fix_dist: 1.1018, d2.loss_plan_l1_fix_time: 4.0682, d2.loss_plan_l1_fix_dist: 1.2693, d3.loss_plan_l1_fix_time: 4.1199, d3.loss_plan_l1_fix_dist: 1.4575, d4.loss_plan_l1_fix_time: 4.1808, d4.loss_plan_l1_fix_dist: 1.6331, d5.loss_plan_l1_fix_time: 4.2525, d5.loss_plan_l1_fix_dist: 1.8152, d6.loss_plan_l1_fix_time: 4.3602, d6.loss_plan_l1_fix_dist: 1.9944, d0.loss_cls_all: 1.2769, d0.loss_bbox_all: 1.3688, d0.loss_cls: 1.2769, d0.loss_bbox: 1.3688, d1.loss_cls: 1.3183, d1.loss_bbox: 1.3662, d2.loss_cls: 1.3461, d2.loss_bbox: 1.3697, d3.loss_cls: 1.3642, d3.loss_bbox: 1.3735, d4.loss_cls: 1.3754, d4.loss_bbox: 1.3753, d5.loss_cls: 1.3856, d5.loss_bbox: 1.3874, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.1178, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.3800, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.9274, d3.loss_traj_cls: 0.0006, d3.loss_traj: 3.3503, d4.loss_traj_cls: 0.0006, d4.loss_traj: 3.7961, d5.loss_traj_cls: 0.0006, d5.loss_traj: 3.9487, d0.loss_map_cls_all: 0.6390, d0.loss_map_pts_all: 4.3155, d0.loss_map_dir_all: 0.0453, d0.loss_map_cls: 0.6390, d0.loss_map_pts: 4.3155, d0.loss_map_dir: 0.0453, d1.loss_map_cls: 0.6542, d1.loss_map_pts: 4.0056, d1.loss_map_dir: 0.0450, d2.loss_map_cls: 0.6644, d2.loss_map_pts: 3.9284, d2.loss_map_dir: 0.0450, d3.loss_map_cls: 0.6677, d3.loss_map_pts: 3.8932, d3.loss_map_dir: 0.0448, d4.loss_map_cls: 0.6697, d4.loss_map_pts: 3.8737, d4.loss_map_dir: 0.0448, d5.loss_map_cls: 0.6759, d5.loss_map_pts: 3.8611, d5.loss_map_dir: 0.0448, loss: 121.9336, grad_norm: 309.4567 +2026-02-24 00:59:34,753 - DriveTransformer - INFO - Epoch [1][3500/59059] lr: 1.000e-04, eta: 23 days, 11:59:39, time: 0.581, data_time: 0.026, memory: 14136, loss_cls: 1.3489, loss_bbox: 1.3069, loss_traj: 4.4907, loss_traj_cls: 0.0005, loss_map_cls: 0.6760, loss_map_pts: 3.9448, loss_map_dir: 0.0469, d0.loss_plan_l1_fix_time: 4.2588, d0.loss_plan_l1_fix_dist: 0.8358, d1.loss_plan_l1_fix_time: 3.7138, d1.loss_plan_l1_fix_dist: 0.9704, d2.loss_plan_l1_fix_time: 3.6540, d2.loss_plan_l1_fix_dist: 1.1663, d3.loss_plan_l1_fix_time: 3.6939, d3.loss_plan_l1_fix_dist: 1.3791, d4.loss_plan_l1_fix_time: 3.7428, d4.loss_plan_l1_fix_dist: 1.5842, d5.loss_plan_l1_fix_time: 3.8048, d5.loss_plan_l1_fix_dist: 1.8052, d6.loss_plan_l1_fix_time: 3.9032, d6.loss_plan_l1_fix_dist: 2.0885, d0.loss_cls_all: 1.2077, d0.loss_bbox_all: 1.2960, d0.loss_cls: 1.2077, d0.loss_bbox: 1.2960, d1.loss_cls: 1.2692, d1.loss_bbox: 1.2825, d2.loss_cls: 1.2977, d2.loss_bbox: 1.2920, d3.loss_cls: 1.3224, d3.loss_bbox: 1.2882, d4.loss_cls: 1.3292, d4.loss_bbox: 1.2879, d5.loss_cls: 1.3358, d5.loss_bbox: 1.3051, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.3548, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.6413, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.2299, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.6370, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.1046, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.2796, d0.loss_map_cls_all: 0.6354, d0.loss_map_pts_all: 4.4008, d0.loss_map_dir_all: 0.0476, d0.loss_map_cls: 0.6354, d0.loss_map_pts: 4.4008, d0.loss_map_dir: 0.0476, d1.loss_map_cls: 0.6489, d1.loss_map_pts: 4.0823, d1.loss_map_dir: 0.0470, d2.loss_map_cls: 0.6560, d2.loss_map_pts: 4.0072, d2.loss_map_dir: 0.0470, d3.loss_map_cls: 0.6620, d3.loss_map_pts: 3.9756, d3.loss_map_dir: 0.0470, d4.loss_map_cls: 0.6643, d4.loss_map_pts: 3.9584, d4.loss_map_dir: 0.0470, d5.loss_map_cls: 0.6716, d5.loss_map_pts: 3.9454, d5.loss_map_dir: 0.0470, loss: 120.3578, grad_norm: 306.3807 +2026-02-24 01:00:03,723 - DriveTransformer - INFO - Epoch [1][3550/59059] lr: 1.000e-04, eta: 23 days, 12:04:01, time: 0.579, data_time: 0.028, memory: 14136, loss_cls: 1.3603, loss_bbox: 1.2498, loss_traj: 4.6307, loss_traj_cls: 0.0005, loss_map_cls: 0.6820, loss_map_pts: 3.6957, loss_map_dir: 0.0434, d0.loss_plan_l1_fix_time: 4.6089, d0.loss_plan_l1_fix_dist: 0.7513, d1.loss_plan_l1_fix_time: 4.0387, d1.loss_plan_l1_fix_dist: 0.8523, d2.loss_plan_l1_fix_time: 3.9580, d2.loss_plan_l1_fix_dist: 0.9901, d3.loss_plan_l1_fix_time: 3.9736, d3.loss_plan_l1_fix_dist: 1.1294, d4.loss_plan_l1_fix_time: 4.0052, d4.loss_plan_l1_fix_dist: 1.3161, d5.loss_plan_l1_fix_time: 4.0654, d5.loss_plan_l1_fix_dist: 1.5308, d6.loss_plan_l1_fix_time: 4.1548, d6.loss_plan_l1_fix_dist: 1.7723, d0.loss_cls_all: 1.2500, d0.loss_bbox_all: 1.2112, d0.loss_cls: 1.2500, d0.loss_bbox: 1.2112, d1.loss_cls: 1.2715, d1.loss_bbox: 1.1997, d2.loss_cls: 1.2867, d2.loss_bbox: 1.2054, d3.loss_cls: 1.3083, d3.loss_bbox: 1.2089, d4.loss_cls: 1.3264, d4.loss_bbox: 1.2185, d5.loss_cls: 1.3421, d5.loss_bbox: 1.2374, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0780, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3801, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.0093, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.6167, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.1730, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.3882, d0.loss_map_cls_all: 0.6444, d0.loss_map_pts_all: 4.1213, d0.loss_map_dir_all: 0.0439, d0.loss_map_cls: 0.6444, d0.loss_map_pts: 4.1213, d0.loss_map_dir: 0.0439, d1.loss_map_cls: 0.6521, d1.loss_map_pts: 3.8286, d1.loss_map_dir: 0.0435, d2.loss_map_cls: 0.6610, d2.loss_map_pts: 3.7568, d2.loss_map_dir: 0.0434, d3.loss_map_cls: 0.6679, d3.loss_map_pts: 3.7312, d3.loss_map_dir: 0.0434, d4.loss_map_cls: 0.6731, d4.loss_map_pts: 3.7199, d4.loss_map_dir: 0.0434, d5.loss_map_cls: 0.6797, d5.loss_map_pts: 3.7121, d5.loss_map_dir: 0.0434, loss: 117.9033, grad_norm: 303.0894 +2026-02-24 01:00:33,914 - DriveTransformer - INFO - Epoch [1][3600/59059] lr: 1.000e-04, eta: 23 days, 12:29:01, time: 0.605, data_time: 0.028, memory: 14136, loss_cls: 1.3077, loss_bbox: 1.2149, loss_traj: 4.9571, loss_traj_cls: 0.0006, loss_map_cls: 0.7079, loss_map_pts: 4.0102, loss_map_dir: 0.0436, d0.loss_plan_l1_fix_time: 4.8926, d0.loss_plan_l1_fix_dist: 0.8685, d1.loss_plan_l1_fix_time: 4.2342, d1.loss_plan_l1_fix_dist: 0.9511, d2.loss_plan_l1_fix_time: 4.1564, d2.loss_plan_l1_fix_dist: 1.1228, d3.loss_plan_l1_fix_time: 4.1769, d3.loss_plan_l1_fix_dist: 1.2987, d4.loss_plan_l1_fix_time: 4.2129, d4.loss_plan_l1_fix_dist: 1.4896, d5.loss_plan_l1_fix_time: 4.2603, d5.loss_plan_l1_fix_dist: 1.7018, d6.loss_plan_l1_fix_time: 4.3319, d6.loss_plan_l1_fix_dist: 1.8898, d0.loss_cls_all: 1.1899, d0.loss_bbox_all: 1.2312, d0.loss_cls: 1.1899, d0.loss_bbox: 1.2312, d1.loss_cls: 1.2361, d1.loss_bbox: 1.1970, d2.loss_cls: 1.2525, d2.loss_bbox: 1.1882, d3.loss_cls: 1.2745, d3.loss_bbox: 1.1871, d4.loss_cls: 1.2854, d4.loss_bbox: 1.1921, d5.loss_cls: 1.2958, d5.loss_bbox: 1.2053, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.6314, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.9825, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.5106, d3.loss_traj_cls: 0.0006, d3.loss_traj: 3.9836, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.5055, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.7226, d0.loss_map_cls_all: 0.6726, d0.loss_map_pts_all: 4.4411, d0.loss_map_dir_all: 0.0443, d0.loss_map_cls: 0.6726, d0.loss_map_pts: 4.4411, d0.loss_map_dir: 0.0443, d1.loss_map_cls: 0.6804, d1.loss_map_pts: 4.1218, d1.loss_map_dir: 0.0437, d2.loss_map_cls: 0.6866, d2.loss_map_pts: 4.0502, d2.loss_map_dir: 0.0435, d3.loss_map_cls: 0.6913, d3.loss_map_pts: 4.0194, d3.loss_map_dir: 0.0435, d4.loss_map_cls: 0.6981, d4.loss_map_pts: 4.0047, d4.loss_map_dir: 0.0434, d5.loss_map_cls: 0.7037, d5.loss_map_pts: 3.9997, d5.loss_map_dir: 0.0435, loss: 125.5143, grad_norm: 297.6763 +2026-02-24 01:01:02,733 - DriveTransformer - INFO - Epoch [1][3650/59059] lr: 1.000e-04, eta: 23 days, 12:29:51, time: 0.576, data_time: 0.029, memory: 14136, loss_cls: 1.3302, loss_bbox: 1.3664, loss_traj: 3.6199, loss_traj_cls: 0.0006, loss_map_cls: 0.6662, loss_map_pts: 3.8725, loss_map_dir: 0.0430, d0.loss_plan_l1_fix_time: 3.9552, d0.loss_plan_l1_fix_dist: 0.8001, d1.loss_plan_l1_fix_time: 3.4941, d1.loss_plan_l1_fix_dist: 0.8967, d2.loss_plan_l1_fix_time: 3.4444, d2.loss_plan_l1_fix_dist: 1.0500, d3.loss_plan_l1_fix_time: 3.4622, d3.loss_plan_l1_fix_dist: 1.2124, d4.loss_plan_l1_fix_time: 3.4989, d4.loss_plan_l1_fix_dist: 1.3931, d5.loss_plan_l1_fix_time: 3.5456, d5.loss_plan_l1_fix_dist: 1.5942, d6.loss_plan_l1_fix_time: 3.6130, d6.loss_plan_l1_fix_dist: 1.7858, d0.loss_cls_all: 1.2316, d0.loss_bbox_all: 1.3676, d0.loss_cls: 1.2316, d0.loss_bbox: 1.3676, d1.loss_cls: 1.2685, d1.loss_bbox: 1.3589, d2.loss_cls: 1.2901, d2.loss_bbox: 1.3470, d3.loss_cls: 1.3028, d3.loss_bbox: 1.3375, d4.loss_cls: 1.3089, d4.loss_bbox: 1.3402, d5.loss_cls: 1.3186, d5.loss_bbox: 1.3579, d0.loss_traj_cls: 0.0005, d0.loss_traj: 1.9153, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2390, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.7426, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.9381, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.2755, d5.loss_traj_cls: 0.0006, d5.loss_traj: 3.4493, d0.loss_map_cls_all: 0.6285, d0.loss_map_pts_all: 4.3383, d0.loss_map_dir_all: 0.0440, d0.loss_map_cls: 0.6285, d0.loss_map_pts: 4.3383, d0.loss_map_dir: 0.0440, d1.loss_map_cls: 0.6396, d1.loss_map_pts: 3.9874, d1.loss_map_dir: 0.0433, d2.loss_map_cls: 0.6415, d2.loss_map_pts: 3.9129, d2.loss_map_dir: 0.0432, d3.loss_map_cls: 0.6480, d3.loss_map_pts: 3.8865, d3.loss_map_dir: 0.0432, d4.loss_map_cls: 0.6529, d4.loss_map_pts: 3.8688, d4.loss_map_dir: 0.0431, d5.loss_map_cls: 0.6594, d5.loss_map_pts: 3.8593, d5.loss_map_dir: 0.0431, loss: 112.6302, grad_norm: 294.6453 +2026-02-24 01:01:30,979 - DriveTransformer - INFO - Epoch [1][3700/59059] lr: 1.000e-04, eta: 23 days, 12:21:54, time: 0.565, data_time: 0.027, memory: 14136, loss_cls: 1.3064, loss_bbox: 1.3966, loss_traj: 4.6902, loss_traj_cls: 0.0006, loss_map_cls: 0.7256, loss_map_pts: 3.8780, loss_map_dir: 0.0437, d0.loss_plan_l1_fix_time: 4.7663, d0.loss_plan_l1_fix_dist: 0.8227, d1.loss_plan_l1_fix_time: 4.2755, d1.loss_plan_l1_fix_dist: 0.9495, d2.loss_plan_l1_fix_time: 4.2352, d2.loss_plan_l1_fix_dist: 1.0969, d3.loss_plan_l1_fix_time: 4.2562, d3.loss_plan_l1_fix_dist: 1.2820, d4.loss_plan_l1_fix_time: 4.2809, d4.loss_plan_l1_fix_dist: 1.4668, d5.loss_plan_l1_fix_time: 4.3021, d5.loss_plan_l1_fix_dist: 1.6580, d6.loss_plan_l1_fix_time: 4.3455, d6.loss_plan_l1_fix_dist: 1.8350, d0.loss_cls_all: 1.2237, d0.loss_bbox_all: 1.3553, d0.loss_cls: 1.2237, d0.loss_bbox: 1.3553, d1.loss_cls: 1.2555, d1.loss_bbox: 1.3534, d2.loss_cls: 1.2541, d2.loss_bbox: 1.3535, d3.loss_cls: 1.2715, d3.loss_bbox: 1.3604, d4.loss_cls: 1.2827, d4.loss_bbox: 1.3731, d5.loss_cls: 1.2952, d5.loss_bbox: 1.3886, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.8856, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.0949, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.3571, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.8589, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.2697, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.5031, d0.loss_map_cls_all: 0.6697, d0.loss_map_pts_all: 4.2986, d0.loss_map_dir_all: 0.0445, d0.loss_map_cls: 0.6697, d0.loss_map_pts: 4.2986, d0.loss_map_dir: 0.0445, d1.loss_map_cls: 0.6896, d1.loss_map_pts: 3.9815, d1.loss_map_dir: 0.0438, d2.loss_map_cls: 0.6978, d2.loss_map_pts: 3.9261, d2.loss_map_dir: 0.0437, d3.loss_map_cls: 0.7061, d3.loss_map_pts: 3.9095, d3.loss_map_dir: 0.0437, d4.loss_map_cls: 0.7165, d4.loss_map_pts: 3.8992, d4.loss_map_dir: 0.0437, d5.loss_map_cls: 0.7229, d5.loss_map_pts: 3.8912, d5.loss_map_dir: 0.0437, loss: 125.3165, grad_norm: 290.2955 +2026-02-24 01:01:59,528 - DriveTransformer - INFO - Epoch [1][3750/59059] lr: 1.000e-04, eta: 23 days, 12:19:04, time: 0.571, data_time: 0.028, memory: 14138, loss_cls: 1.2759, loss_bbox: 1.4065, loss_traj: 3.9999, loss_traj_cls: 0.0006, loss_map_cls: 0.6868, loss_map_pts: 3.6159, loss_map_dir: 0.0461, d0.loss_plan_l1_fix_time: 4.5108, d0.loss_plan_l1_fix_dist: 0.6967, d1.loss_plan_l1_fix_time: 3.9241, d1.loss_plan_l1_fix_dist: 0.7880, d2.loss_plan_l1_fix_time: 3.8291, d2.loss_plan_l1_fix_dist: 0.9238, d3.loss_plan_l1_fix_time: 3.8240, d3.loss_plan_l1_fix_dist: 1.1031, d4.loss_plan_l1_fix_time: 3.8436, d4.loss_plan_l1_fix_dist: 1.3079, d5.loss_plan_l1_fix_time: 3.8795, d5.loss_plan_l1_fix_dist: 1.5040, d6.loss_plan_l1_fix_time: 3.9448, d6.loss_plan_l1_fix_dist: 1.7089, d0.loss_cls_all: 1.1840, d0.loss_bbox_all: 1.4068, d0.loss_cls: 1.1840, d0.loss_bbox: 1.4068, d1.loss_cls: 1.2341, d1.loss_bbox: 1.3968, d2.loss_cls: 1.2436, d2.loss_bbox: 1.3950, d3.loss_cls: 1.2514, d3.loss_bbox: 1.3960, d4.loss_cls: 1.2558, d4.loss_bbox: 1.3939, d5.loss_cls: 1.2598, d5.loss_bbox: 1.3957, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.1929, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5335, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.6926, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.3156, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.6715, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.8478, d0.loss_map_cls_all: 0.6574, d0.loss_map_pts_all: 4.0087, d0.loss_map_dir_all: 0.0465, d0.loss_map_cls: 0.6574, d0.loss_map_pts: 4.0087, d0.loss_map_dir: 0.0465, d1.loss_map_cls: 0.6673, d1.loss_map_pts: 3.6861, d1.loss_map_dir: 0.0460, d2.loss_map_cls: 0.6703, d2.loss_map_pts: 3.6223, d2.loss_map_dir: 0.0460, d3.loss_map_cls: 0.6755, d3.loss_map_pts: 3.6013, d3.loss_map_dir: 0.0461, d4.loss_map_cls: 0.6816, d4.loss_map_pts: 3.5946, d4.loss_map_dir: 0.0462, d5.loss_map_cls: 0.6838, d5.loss_map_pts: 3.5971, d5.loss_map_dir: 0.0462, loss: 114.6163, grad_norm: 290.4977 +2026-02-24 01:02:27,884 - DriveTransformer - INFO - Epoch [1][3800/59059] lr: 1.000e-04, eta: 23 days, 12:13:18, time: 0.567, data_time: 0.033, memory: 14138, loss_cls: 1.2553, loss_bbox: 1.3506, loss_traj: 4.0165, loss_traj_cls: 0.0006, loss_map_cls: 0.6873, loss_map_pts: 3.6707, loss_map_dir: 0.0449, d0.loss_plan_l1_fix_time: 4.0402, d0.loss_plan_l1_fix_dist: 0.6285, d1.loss_plan_l1_fix_time: 3.4837, d1.loss_plan_l1_fix_dist: 0.7039, d2.loss_plan_l1_fix_time: 3.4040, d2.loss_plan_l1_fix_dist: 0.8086, d3.loss_plan_l1_fix_time: 3.4030, d3.loss_plan_l1_fix_dist: 0.9577, d4.loss_plan_l1_fix_time: 3.4241, d4.loss_plan_l1_fix_dist: 1.1293, d5.loss_plan_l1_fix_time: 3.4563, d5.loss_plan_l1_fix_dist: 1.3233, d6.loss_plan_l1_fix_time: 3.5086, d6.loss_plan_l1_fix_dist: 1.5580, d0.loss_cls_all: 1.1489, d0.loss_bbox_all: 1.2560, d0.loss_cls: 1.1489, d0.loss_bbox: 1.2560, d1.loss_cls: 1.1735, d1.loss_bbox: 1.2524, d2.loss_cls: 1.1866, d2.loss_bbox: 1.2615, d3.loss_cls: 1.2077, d3.loss_bbox: 1.2750, d4.loss_cls: 1.2204, d4.loss_bbox: 1.2903, d5.loss_cls: 1.2352, d5.loss_bbox: 1.3130, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.4282, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.6082, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.9057, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.1841, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.6386, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.7886, d0.loss_map_cls_all: 0.6446, d0.loss_map_pts_all: 4.0622, d0.loss_map_dir_all: 0.0453, d0.loss_map_cls: 0.6446, d0.loss_map_pts: 4.0622, d0.loss_map_dir: 0.0453, d1.loss_map_cls: 0.6542, d1.loss_map_pts: 3.7292, d1.loss_map_dir: 0.0447, d2.loss_map_cls: 0.6605, d2.loss_map_pts: 3.6653, d2.loss_map_dir: 0.0447, d3.loss_map_cls: 0.6684, d3.loss_map_pts: 3.6479, d3.loss_map_dir: 0.0447, d4.loss_map_cls: 0.6790, d4.loss_map_pts: 3.6483, d4.loss_map_dir: 0.0447, d5.loss_map_cls: 0.6826, d5.loss_map_pts: 3.6554, d5.loss_map_dir: 0.0448, loss: 110.0556, grad_norm: 287.1056 +2026-02-24 01:02:57,160 - DriveTransformer - INFO - Epoch [1][3850/59059] lr: 1.000e-04, eta: 23 days, 12:21:48, time: 0.586, data_time: 0.026, memory: 14138, loss_cls: 1.2769, loss_bbox: 1.4743, loss_traj: 3.7816, loss_traj_cls: 0.0006, loss_map_cls: 0.6915, loss_map_pts: 3.9178, loss_map_dir: 0.0496, d0.loss_plan_l1_fix_time: 4.4801, d0.loss_plan_l1_fix_dist: 0.8708, d1.loss_plan_l1_fix_time: 4.0924, d1.loss_plan_l1_fix_dist: 0.9669, d2.loss_plan_l1_fix_time: 4.0415, d2.loss_plan_l1_fix_dist: 1.1391, d3.loss_plan_l1_fix_time: 4.0470, d3.loss_plan_l1_fix_dist: 1.2698, d4.loss_plan_l1_fix_time: 4.0716, d4.loss_plan_l1_fix_dist: 1.4436, d5.loss_plan_l1_fix_time: 4.1022, d5.loss_plan_l1_fix_dist: 1.6475, d6.loss_plan_l1_fix_time: 4.1536, d6.loss_plan_l1_fix_dist: 1.8815, d0.loss_cls_all: 1.2276, d0.loss_bbox_all: 1.4394, d0.loss_cls: 1.2276, d0.loss_bbox: 1.4394, d1.loss_cls: 1.2402, d1.loss_bbox: 1.4421, d2.loss_cls: 1.2560, d2.loss_bbox: 1.4434, d3.loss_cls: 1.2614, d3.loss_bbox: 1.4483, d4.loss_cls: 1.2617, d4.loss_bbox: 1.4601, d5.loss_cls: 1.2640, d5.loss_bbox: 1.4721, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.1882, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.3053, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.6481, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.9564, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.4041, d5.loss_traj_cls: 0.0006, d5.loss_traj: 3.5937, d0.loss_map_cls_all: 0.6576, d0.loss_map_pts_all: 4.3051, d0.loss_map_dir_all: 0.0496, d0.loss_map_cls: 0.6576, d0.loss_map_pts: 4.3051, d0.loss_map_dir: 0.0496, d1.loss_map_cls: 0.6678, d1.loss_map_pts: 3.9545, d1.loss_map_dir: 0.0494, d2.loss_map_cls: 0.6700, d2.loss_map_pts: 3.8857, d2.loss_map_dir: 0.0495, d3.loss_map_cls: 0.6739, d3.loss_map_pts: 3.8725, d3.loss_map_dir: 0.0494, d4.loss_map_cls: 0.6812, d4.loss_map_pts: 3.8742, d4.loss_map_dir: 0.0495, d5.loss_map_cls: 0.6870, d5.loss_map_pts: 3.8923, d5.loss_map_dir: 0.0496, loss: 118.5132, grad_norm: 284.2012 +2026-02-24 01:03:24,915 - DriveTransformer - INFO - Epoch [1][3900/59059] lr: 1.000e-04, eta: 23 days, 12:07:00, time: 0.555, data_time: 0.024, memory: 14138, loss_cls: 1.1866, loss_bbox: 1.3893, loss_traj: 3.7517, loss_traj_cls: 0.0007, loss_map_cls: 0.6966, loss_map_pts: 3.7620, loss_map_dir: 0.0482, d0.loss_plan_l1_fix_time: 3.6938, d0.loss_plan_l1_fix_dist: 0.7656, d1.loss_plan_l1_fix_time: 3.4117, d1.loss_plan_l1_fix_dist: 0.8901, d2.loss_plan_l1_fix_time: 3.3619, d2.loss_plan_l1_fix_dist: 1.0785, d3.loss_plan_l1_fix_time: 3.3561, d3.loss_plan_l1_fix_dist: 1.2521, d4.loss_plan_l1_fix_time: 3.3670, d4.loss_plan_l1_fix_dist: 1.4413, d5.loss_plan_l1_fix_time: 3.3924, d5.loss_plan_l1_fix_dist: 1.6666, d6.loss_plan_l1_fix_time: 3.4531, d6.loss_plan_l1_fix_dist: 1.9216, d0.loss_cls_all: 1.1173, d0.loss_bbox_all: 1.3574, d0.loss_cls: 1.1173, d0.loss_bbox: 1.3574, d1.loss_cls: 1.1441, d1.loss_bbox: 1.3599, d2.loss_cls: 1.1629, d2.loss_bbox: 1.3622, d3.loss_cls: 1.1677, d3.loss_bbox: 1.3629, d4.loss_cls: 1.1682, d4.loss_bbox: 1.3703, d5.loss_cls: 1.1750, d5.loss_bbox: 1.3821, d0.loss_traj_cls: 0.0005, d0.loss_traj: 1.9820, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.2096, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.6112, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.8969, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.3505, d5.loss_traj_cls: 0.0006, d5.loss_traj: 3.5508, d0.loss_map_cls_all: 0.6525, d0.loss_map_pts_all: 4.2312, d0.loss_map_dir_all: 0.0485, d0.loss_map_cls: 0.6525, d0.loss_map_pts: 4.2312, d0.loss_map_dir: 0.0485, d1.loss_map_cls: 0.6712, d1.loss_map_pts: 3.8297, d1.loss_map_dir: 0.0483, d2.loss_map_cls: 0.6740, d2.loss_map_pts: 3.7627, d2.loss_map_dir: 0.0483, d3.loss_map_cls: 0.6784, d3.loss_map_pts: 3.7448, d3.loss_map_dir: 0.0482, d4.loss_map_cls: 0.6847, d4.loss_map_pts: 3.7390, d4.loss_map_dir: 0.0482, d5.loss_map_cls: 0.6905, d5.loss_map_pts: 3.7470, d5.loss_map_dir: 0.0482, loss: 110.4231, grad_norm: 282.0516 +2026-02-24 01:03:53,044 - DriveTransformer - INFO - Epoch [1][3950/59059] lr: 1.000e-04, eta: 23 days, 11:58:13, time: 0.563, data_time: 0.024, memory: 14138, loss_cls: 1.2126, loss_bbox: 1.2981, loss_traj: 4.0832, loss_traj_cls: 0.0006, loss_map_cls: 0.6729, loss_map_pts: 3.6637, loss_map_dir: 0.0411, d0.loss_plan_l1_fix_time: 3.8554, d0.loss_plan_l1_fix_dist: 0.9254, d1.loss_plan_l1_fix_time: 3.4697, d1.loss_plan_l1_fix_dist: 0.9884, d2.loss_plan_l1_fix_time: 3.4377, d2.loss_plan_l1_fix_dist: 1.0848, d3.loss_plan_l1_fix_time: 3.4546, d3.loss_plan_l1_fix_dist: 1.2053, d4.loss_plan_l1_fix_time: 3.4802, d4.loss_plan_l1_fix_dist: 1.3340, d5.loss_plan_l1_fix_time: 3.5247, d5.loss_plan_l1_fix_dist: 1.4747, d6.loss_plan_l1_fix_time: 3.5952, d6.loss_plan_l1_fix_dist: 1.6093, d0.loss_cls_all: 1.1028, d0.loss_bbox_all: 1.2366, d0.loss_cls: 1.1028, d0.loss_bbox: 1.2366, d1.loss_cls: 1.1210, d1.loss_bbox: 1.2378, d2.loss_cls: 1.1336, d2.loss_bbox: 1.2469, d3.loss_cls: 1.1623, d3.loss_bbox: 1.2474, d4.loss_cls: 1.1805, d4.loss_bbox: 1.2601, d5.loss_cls: 1.1968, d5.loss_bbox: 1.2829, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.2195, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3967, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.7625, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.1236, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.6614, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.8540, d0.loss_map_cls_all: 0.6223, d0.loss_map_pts_all: 4.1240, d0.loss_map_dir_all: 0.0408, d0.loss_map_cls: 0.6223, d0.loss_map_pts: 4.1240, d0.loss_map_dir: 0.0408, d1.loss_map_cls: 0.6348, d1.loss_map_pts: 3.7025, d1.loss_map_dir: 0.0409, d2.loss_map_cls: 0.6460, d2.loss_map_pts: 3.6323, d2.loss_map_dir: 0.0409, d3.loss_map_cls: 0.6543, d3.loss_map_pts: 3.6162, d3.loss_map_dir: 0.0412, d4.loss_map_cls: 0.6635, d4.loss_map_pts: 3.6263, d4.loss_map_dir: 0.0412, d5.loss_map_cls: 0.6683, d5.loss_map_pts: 3.6486, d5.loss_map_dir: 0.0411, loss: 110.4530, grad_norm: 281.1707 +2026-02-24 01:04:21,132 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 01:04:21,132 - DriveTransformer - INFO - Epoch [1][4000/59059] lr: 1.000e-04, eta: 23 days, 11:48:58, time: 0.562, data_time: 0.030, memory: 14138, loss_cls: 1.1554, loss_bbox: 1.3569, loss_traj: 4.5481, loss_traj_cls: 0.0007, loss_map_cls: 0.6772, loss_map_pts: 3.4011, loss_map_dir: 0.0367, d0.loss_plan_l1_fix_time: 4.3468, d0.loss_plan_l1_fix_dist: 0.7706, d1.loss_plan_l1_fix_time: 3.8923, d1.loss_plan_l1_fix_dist: 0.8648, d2.loss_plan_l1_fix_time: 3.8669, d2.loss_plan_l1_fix_dist: 0.9707, d3.loss_plan_l1_fix_time: 3.8938, d3.loss_plan_l1_fix_dist: 1.1048, d4.loss_plan_l1_fix_time: 3.9247, d4.loss_plan_l1_fix_dist: 1.2548, d5.loss_plan_l1_fix_time: 3.9721, d5.loss_plan_l1_fix_dist: 1.4156, d6.loss_plan_l1_fix_time: 4.0392, d6.loss_plan_l1_fix_dist: 1.5869, d0.loss_cls_all: 1.0805, d0.loss_bbox_all: 1.2846, d0.loss_cls: 1.0805, d0.loss_bbox: 1.2846, d1.loss_cls: 1.1085, d1.loss_bbox: 1.2735, d2.loss_cls: 1.1178, d2.loss_bbox: 1.2826, d3.loss_cls: 1.1274, d3.loss_bbox: 1.2979, d4.loss_cls: 1.1309, d4.loss_bbox: 1.3184, d5.loss_cls: 1.1393, d5.loss_bbox: 1.3394, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.4776, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.6691, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.0407, d3.loss_traj_cls: 0.0006, d3.loss_traj: 3.3900, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.0373, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.2457, d0.loss_map_cls_all: 0.6395, d0.loss_map_pts_all: 3.9805, d0.loss_map_dir_all: 0.0366, d0.loss_map_cls: 0.6395, d0.loss_map_pts: 3.9805, d0.loss_map_dir: 0.0366, d1.loss_map_cls: 0.6478, d1.loss_map_pts: 3.5272, d1.loss_map_dir: 0.0361, d2.loss_map_cls: 0.6544, d2.loss_map_pts: 3.4193, d2.loss_map_dir: 0.0362, d3.loss_map_cls: 0.6586, d3.loss_map_pts: 3.3837, d3.loss_map_dir: 0.0364, d4.loss_map_cls: 0.6675, d4.loss_map_pts: 3.3738, d4.loss_map_dir: 0.0364, d5.loss_map_cls: 0.6731, d5.loss_map_pts: 3.3814, d5.loss_map_dir: 0.0366, loss: 113.6918, grad_norm: 278.4606 +2026-02-24 01:04:49,835 - DriveTransformer - INFO - Epoch [1][4050/59059] lr: 1.000e-04, eta: 23 days, 11:48:57, time: 0.574, data_time: 0.028, memory: 14138, loss_cls: 1.1558, loss_bbox: 1.4243, loss_traj: 3.5924, loss_traj_cls: 0.0006, loss_map_cls: 0.6487, loss_map_pts: 3.5394, loss_map_dir: 0.0406, d0.loss_plan_l1_fix_time: 4.2486, d0.loss_plan_l1_fix_dist: 0.7989, d1.loss_plan_l1_fix_time: 3.8555, d1.loss_plan_l1_fix_dist: 0.8910, d2.loss_plan_l1_fix_time: 3.8385, d2.loss_plan_l1_fix_dist: 1.0101, d3.loss_plan_l1_fix_time: 3.8667, d3.loss_plan_l1_fix_dist: 1.1442, d4.loss_plan_l1_fix_time: 3.9018, d4.loss_plan_l1_fix_dist: 1.2871, d5.loss_plan_l1_fix_time: 3.9448, d5.loss_plan_l1_fix_dist: 1.4350, d6.loss_plan_l1_fix_time: 4.0058, d6.loss_plan_l1_fix_dist: 1.6008, d0.loss_cls_all: 1.1112, d0.loss_bbox_all: 1.2704, d0.loss_cls: 1.1112, d0.loss_bbox: 1.2704, d1.loss_cls: 1.1238, d1.loss_bbox: 1.2933, d2.loss_cls: 1.1271, d2.loss_bbox: 1.3216, d3.loss_cls: 1.1320, d3.loss_bbox: 1.3552, d4.loss_cls: 1.1376, d4.loss_bbox: 1.3794, d5.loss_cls: 1.1489, d5.loss_bbox: 1.4064, d0.loss_traj_cls: 0.0005, d0.loss_traj: 1.9597, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1498, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4305, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7455, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.2021, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.3460, d0.loss_map_cls_all: 0.6209, d0.loss_map_pts_all: 4.0578, d0.loss_map_dir_all: 0.0403, d0.loss_map_cls: 0.6209, d0.loss_map_pts: 4.0578, d0.loss_map_dir: 0.0403, d1.loss_map_cls: 0.6300, d1.loss_map_pts: 3.6215, d1.loss_map_dir: 0.0401, d2.loss_map_cls: 0.6312, d2.loss_map_pts: 3.5094, d2.loss_map_dir: 0.0401, d3.loss_map_cls: 0.6361, d3.loss_map_pts: 3.4740, d3.loss_map_dir: 0.0401, d4.loss_map_cls: 0.6423, d4.loss_map_pts: 3.4703, d4.loss_map_dir: 0.0403, d5.loss_map_cls: 0.6450, d5.loss_map_pts: 3.4949, d5.loss_map_dir: 0.0404, loss: 109.6495, grad_norm: 276.4142 +2026-02-24 01:05:17,362 - DriveTransformer - INFO - Epoch [1][4100/59059] lr: 1.000e-04, eta: 23 days, 11:32:07, time: 0.551, data_time: 0.024, memory: 14138, loss_cls: 1.2436, loss_bbox: 1.4271, loss_traj: 3.6987, loss_traj_cls: 0.0007, loss_map_cls: 0.6780, loss_map_pts: 3.5578, loss_map_dir: 0.0418, d0.loss_plan_l1_fix_time: 4.2337, d0.loss_plan_l1_fix_dist: 0.7738, d1.loss_plan_l1_fix_time: 3.6732, d1.loss_plan_l1_fix_dist: 0.8393, d2.loss_plan_l1_fix_time: 3.6222, d2.loss_plan_l1_fix_dist: 0.9571, d3.loss_plan_l1_fix_time: 3.6435, d3.loss_plan_l1_fix_dist: 1.0911, d4.loss_plan_l1_fix_time: 3.6752, d4.loss_plan_l1_fix_dist: 1.2253, d5.loss_plan_l1_fix_time: 3.7053, d5.loss_plan_l1_fix_dist: 1.3633, d6.loss_plan_l1_fix_time: 3.7476, d6.loss_plan_l1_fix_dist: 1.5212, d0.loss_cls_all: 1.1528, d0.loss_bbox_all: 1.3739, d0.loss_cls: 1.1528, d0.loss_bbox: 1.3739, d1.loss_cls: 1.1710, d1.loss_bbox: 1.3883, d2.loss_cls: 1.1901, d2.loss_bbox: 1.3971, d3.loss_cls: 1.1919, d3.loss_bbox: 1.4110, d4.loss_cls: 1.2089, d4.loss_bbox: 1.4259, d5.loss_cls: 1.2299, d5.loss_bbox: 1.4262, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.1136, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2506, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.5395, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.8257, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.3250, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.4883, d0.loss_map_cls_all: 0.6592, d0.loss_map_pts_all: 4.0241, d0.loss_map_dir_all: 0.0416, d0.loss_map_cls: 0.6592, d0.loss_map_pts: 4.0241, d0.loss_map_dir: 0.0416, d1.loss_map_cls: 0.6697, d1.loss_map_pts: 3.6178, d1.loss_map_dir: 0.0413, d2.loss_map_cls: 0.6681, d2.loss_map_pts: 3.5274, d2.loss_map_dir: 0.0414, d3.loss_map_cls: 0.6699, d3.loss_map_pts: 3.5032, d3.loss_map_dir: 0.0415, d4.loss_map_cls: 0.6721, d4.loss_map_pts: 3.5003, d4.loss_map_dir: 0.0417, d5.loss_map_cls: 0.6746, d5.loss_map_pts: 3.5179, d5.loss_map_dir: 0.0417, loss: 110.0373, grad_norm: 274.8177 +2026-02-24 01:05:47,151 - DriveTransformer - INFO - Epoch [1][4150/59059] lr: 1.000e-04, eta: 23 days, 11:47:42, time: 0.596, data_time: 0.037, memory: 14138, loss_cls: 1.2399, loss_bbox: 1.5158, loss_traj: 2.9073, loss_traj_cls: 0.0007, loss_map_cls: 0.6448, loss_map_pts: 3.5615, loss_map_dir: 0.0443, d0.loss_plan_l1_fix_time: 3.8211, d0.loss_plan_l1_fix_dist: 0.8229, d1.loss_plan_l1_fix_time: 3.4300, d1.loss_plan_l1_fix_dist: 0.8735, d2.loss_plan_l1_fix_time: 3.3997, d2.loss_plan_l1_fix_dist: 0.9528, d3.loss_plan_l1_fix_time: 3.4231, d3.loss_plan_l1_fix_dist: 1.0428, d4.loss_plan_l1_fix_time: 3.4543, d4.loss_plan_l1_fix_dist: 1.1492, d5.loss_plan_l1_fix_time: 3.4797, d5.loss_plan_l1_fix_dist: 1.2746, d6.loss_plan_l1_fix_time: 3.5149, d6.loss_plan_l1_fix_dist: 1.4028, d0.loss_cls_all: 1.1820, d0.loss_bbox_all: 1.3649, d0.loss_cls: 1.1820, d0.loss_bbox: 1.3649, d1.loss_cls: 1.1951, d1.loss_bbox: 1.4164, d2.loss_cls: 1.2046, d2.loss_bbox: 1.4406, d3.loss_cls: 1.2120, d3.loss_bbox: 1.4553, d4.loss_cls: 1.2202, d4.loss_bbox: 1.4754, d5.loss_cls: 1.2268, d5.loss_bbox: 1.4995, d0.loss_traj_cls: 0.0005, d0.loss_traj: 1.7569, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9029, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1618, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3201, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.6267, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.7972, d0.loss_map_cls_all: 0.6324, d0.loss_map_pts_all: 4.1531, d0.loss_map_dir_all: 0.0441, d0.loss_map_cls: 0.6324, d0.loss_map_pts: 4.1531, d0.loss_map_dir: 0.0441, d1.loss_map_cls: 0.6403, d1.loss_map_pts: 3.7202, d1.loss_map_dir: 0.0439, d2.loss_map_cls: 0.6367, d2.loss_map_pts: 3.6278, d2.loss_map_dir: 0.0439, d3.loss_map_cls: 0.6372, d3.loss_map_pts: 3.5913, d3.loss_map_dir: 0.0440, d4.loss_map_cls: 0.6399, d4.loss_map_pts: 3.5735, d4.loss_map_dir: 0.0442, d5.loss_map_cls: 0.6424, d5.loss_map_pts: 3.5638, d5.loss_map_dir: 0.0442, loss: 105.1166, grad_norm: 272.7200 +2026-02-24 01:06:16,319 - DriveTransformer - INFO - Epoch [1][4200/59059] lr: 1.000e-04, eta: 23 days, 11:54:13, time: 0.583, data_time: 0.032, memory: 14138, loss_cls: 1.1624, loss_bbox: 1.4434, loss_traj: 3.5100, loss_traj_cls: 0.0006, loss_map_cls: 0.7242, loss_map_pts: 3.4015, loss_map_dir: 0.0416, d0.loss_plan_l1_fix_time: 4.4934, d0.loss_plan_l1_fix_dist: 0.7167, d1.loss_plan_l1_fix_time: 3.9765, d1.loss_plan_l1_fix_dist: 0.7673, d2.loss_plan_l1_fix_time: 3.8872, d2.loss_plan_l1_fix_dist: 0.8457, d3.loss_plan_l1_fix_time: 3.8799, d3.loss_plan_l1_fix_dist: 0.9371, d4.loss_plan_l1_fix_time: 3.8892, d4.loss_plan_l1_fix_dist: 1.0344, d5.loss_plan_l1_fix_time: 3.8996, d5.loss_plan_l1_fix_dist: 1.1447, d6.loss_plan_l1_fix_time: 3.9162, d6.loss_plan_l1_fix_dist: 1.2651, d0.loss_cls_all: 1.1250, d0.loss_bbox_all: 1.3036, d0.loss_cls: 1.1250, d0.loss_bbox: 1.3036, d1.loss_cls: 1.1407, d1.loss_bbox: 1.3355, d2.loss_cls: 1.1485, d2.loss_bbox: 1.3518, d3.loss_cls: 1.1481, d3.loss_bbox: 1.3739, d4.loss_cls: 1.1486, d4.loss_bbox: 1.3959, d5.loss_cls: 1.1565, d5.loss_bbox: 1.4087, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3369, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.4549, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.6853, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.8645, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.1506, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.3413, d0.loss_map_cls_all: 0.6870, d0.loss_map_pts_all: 3.9569, d0.loss_map_dir_all: 0.0416, d0.loss_map_cls: 0.6870, d0.loss_map_pts: 3.9569, d0.loss_map_dir: 0.0416, d1.loss_map_cls: 0.7027, d1.loss_map_pts: 3.5379, d1.loss_map_dir: 0.0412, d2.loss_map_cls: 0.7026, d2.loss_map_pts: 3.4585, d2.loss_map_dir: 0.0414, d3.loss_map_cls: 0.7074, d3.loss_map_pts: 3.4307, d3.loss_map_dir: 0.0415, d4.loss_map_cls: 0.7170, d4.loss_map_pts: 3.4184, d4.loss_map_dir: 0.0415, d5.loss_map_cls: 0.7189, d5.loss_map_pts: 3.4100, d5.loss_map_dir: 0.0418, loss: 109.6213, grad_norm: 270.7687 +2026-02-24 01:06:45,549 - DriveTransformer - INFO - Epoch [1][4250/59059] lr: 1.000e-04, eta: 23 days, 12:01:12, time: 0.584, data_time: 0.030, memory: 14138, loss_cls: 1.1637, loss_bbox: 1.4481, loss_traj: 3.4569, loss_traj_cls: 0.0007, loss_map_cls: 0.6857, loss_map_pts: 3.3017, loss_map_dir: 0.0441, d0.loss_plan_l1_fix_time: 3.5430, d0.loss_plan_l1_fix_dist: 0.9277, d1.loss_plan_l1_fix_time: 3.2809, d1.loss_plan_l1_fix_dist: 0.9807, d2.loss_plan_l1_fix_time: 3.2756, d2.loss_plan_l1_fix_dist: 1.0626, d3.loss_plan_l1_fix_time: 3.2998, d3.loss_plan_l1_fix_dist: 1.1751, d4.loss_plan_l1_fix_time: 3.3252, d4.loss_plan_l1_fix_dist: 1.3000, d5.loss_plan_l1_fix_time: 3.3509, d5.loss_plan_l1_fix_dist: 1.4428, d6.loss_plan_l1_fix_time: 3.3869, d6.loss_plan_l1_fix_dist: 1.6069, d0.loss_cls_all: 1.0959, d0.loss_bbox_all: 1.2649, d0.loss_cls: 1.0959, d0.loss_bbox: 1.2649, d1.loss_cls: 1.1154, d1.loss_bbox: 1.3065, d2.loss_cls: 1.1185, d2.loss_bbox: 1.3375, d3.loss_cls: 1.1238, d3.loss_bbox: 1.3609, d4.loss_cls: 1.1291, d4.loss_bbox: 1.3858, d5.loss_cls: 1.1406, d5.loss_bbox: 1.4076, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.0175, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.1527, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4098, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.6280, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.9858, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.2169, d0.loss_map_cls_all: 0.6693, d0.loss_map_pts_all: 3.9191, d0.loss_map_dir_all: 0.0445, d0.loss_map_cls: 0.6693, d0.loss_map_pts: 3.9191, d0.loss_map_dir: 0.0445, d1.loss_map_cls: 0.6766, d1.loss_map_pts: 3.4697, d1.loss_map_dir: 0.0438, d2.loss_map_cls: 0.6773, d2.loss_map_pts: 3.3785, d2.loss_map_dir: 0.0439, d3.loss_map_cls: 0.6786, d3.loss_map_pts: 3.3387, d3.loss_map_dir: 0.0440, d4.loss_map_cls: 0.6836, d4.loss_map_pts: 3.3164, d4.loss_map_dir: 0.0441, d5.loss_map_cls: 0.6848, d5.loss_map_pts: 3.3050, d5.loss_map_dir: 0.0441, loss: 104.3148, grad_norm: 269.8951 +2026-02-24 01:07:13,362 - DriveTransformer - INFO - Epoch [1][4300/59059] lr: 1.000e-04, eta: 23 days, 11:48:46, time: 0.556, data_time: 0.032, memory: 14138, loss_cls: 1.2326, loss_bbox: 1.4278, loss_traj: 2.8586, loss_traj_cls: 0.0006, loss_map_cls: 0.6897, loss_map_pts: 3.4385, loss_map_dir: 0.0425, d0.loss_plan_l1_fix_time: 3.3444, d0.loss_plan_l1_fix_dist: 0.6460, d1.loss_plan_l1_fix_time: 3.0751, d1.loss_plan_l1_fix_dist: 0.6695, d2.loss_plan_l1_fix_time: 3.0956, d2.loss_plan_l1_fix_dist: 0.7321, d3.loss_plan_l1_fix_time: 3.1245, d3.loss_plan_l1_fix_dist: 0.8111, d4.loss_plan_l1_fix_time: 3.1514, d4.loss_plan_l1_fix_dist: 0.9191, d5.loss_plan_l1_fix_time: 3.1815, d5.loss_plan_l1_fix_dist: 1.0466, d6.loss_plan_l1_fix_time: 3.2242, d6.loss_plan_l1_fix_dist: 1.1788, d0.loss_cls_all: 1.1507, d0.loss_bbox_all: 1.2459, d0.loss_cls: 1.1507, d0.loss_bbox: 1.2459, d1.loss_cls: 1.1682, d1.loss_bbox: 1.3000, d2.loss_cls: 1.1665, d2.loss_bbox: 1.3318, d3.loss_cls: 1.1753, d3.loss_bbox: 1.3538, d4.loss_cls: 1.1874, d4.loss_bbox: 1.3797, d5.loss_cls: 1.2081, d5.loss_bbox: 1.4008, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7842, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9416, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1446, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3723, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.5720, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.7161, d0.loss_map_cls_all: 0.6767, d0.loss_map_pts_all: 4.0406, d0.loss_map_dir_all: 0.0430, d0.loss_map_cls: 0.6767, d0.loss_map_pts: 4.0406, d0.loss_map_dir: 0.0430, d1.loss_map_cls: 0.6774, d1.loss_map_pts: 3.5572, d1.loss_map_dir: 0.0421, d2.loss_map_cls: 0.6769, d2.loss_map_pts: 3.4683, d2.loss_map_dir: 0.0421, d3.loss_map_cls: 0.6774, d3.loss_map_pts: 3.4381, d3.loss_map_dir: 0.0421, d4.loss_map_cls: 0.6819, d4.loss_map_pts: 3.4241, d4.loss_map_dir: 0.0422, d5.loss_map_cls: 0.6840, d5.loss_map_pts: 3.4264, d5.loss_map_dir: 0.0424, loss: 99.3321, grad_norm: 269.2395 +2026-02-24 01:07:40,119 - DriveTransformer - INFO - Epoch [1][4350/59059] lr: 1.000e-04, eta: 23 days, 11:22:17, time: 0.535, data_time: 0.024, memory: 14138, loss_cls: 1.1172, loss_bbox: 1.3548, loss_traj: 3.3359, loss_traj_cls: 0.0008, loss_map_cls: 0.7209, loss_map_pts: 3.3672, loss_map_dir: 0.0425, d0.loss_plan_l1_fix_time: 4.4720, d0.loss_plan_l1_fix_dist: 0.7139, d1.loss_plan_l1_fix_time: 4.2367, d1.loss_plan_l1_fix_dist: 0.7566, d2.loss_plan_l1_fix_time: 4.2476, d2.loss_plan_l1_fix_dist: 0.8406, d3.loss_plan_l1_fix_time: 4.2786, d3.loss_plan_l1_fix_dist: 0.9245, d4.loss_plan_l1_fix_time: 4.3140, d4.loss_plan_l1_fix_dist: 1.0054, d5.loss_plan_l1_fix_time: 4.3540, d5.loss_plan_l1_fix_dist: 1.1083, d6.loss_plan_l1_fix_time: 4.4090, d6.loss_plan_l1_fix_dist: 1.2339, d0.loss_cls_all: 1.0791, d0.loss_bbox_all: 1.2276, d0.loss_cls: 1.0791, d0.loss_bbox: 1.2276, d1.loss_cls: 1.0978, d1.loss_bbox: 1.2680, d2.loss_cls: 1.0972, d2.loss_bbox: 1.2892, d3.loss_cls: 1.1020, d3.loss_bbox: 1.3076, d4.loss_cls: 1.1051, d4.loss_bbox: 1.3231, d5.loss_cls: 1.1117, d5.loss_bbox: 1.3421, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2296, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3492, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.4776, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7128, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.9280, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.1096, d0.loss_map_cls_all: 0.6793, d0.loss_map_pts_all: 3.8893, d0.loss_map_dir_all: 0.0427, d0.loss_map_cls: 0.6793, d0.loss_map_pts: 3.8893, d0.loss_map_dir: 0.0427, d1.loss_map_cls: 0.6880, d1.loss_map_pts: 3.4650, d1.loss_map_dir: 0.0420, d2.loss_map_cls: 0.6918, d2.loss_map_pts: 3.3928, d2.loss_map_dir: 0.0421, d3.loss_map_cls: 0.6985, d3.loss_map_pts: 3.3627, d3.loss_map_dir: 0.0423, d4.loss_map_cls: 0.7044, d4.loss_map_pts: 3.3509, d4.loss_map_dir: 0.0423, d5.loss_map_cls: 0.7116, d5.loss_map_pts: 3.3536, d5.loss_map_dir: 0.0423, loss: 109.1545, grad_norm: 267.1376 +2026-02-24 01:08:08,683 - DriveTransformer - INFO - Epoch [1][4400/59059] lr: 1.000e-04, eta: 23 days, 11:20:37, time: 0.571, data_time: 0.029, memory: 14138, loss_cls: 1.1601, loss_bbox: 1.4073, loss_traj: 3.3142, loss_traj_cls: 0.0008, loss_map_cls: 0.7257, loss_map_pts: 3.3521, loss_map_dir: 0.0481, d0.loss_plan_l1_fix_time: 4.0869, d0.loss_plan_l1_fix_dist: 0.7808, d1.loss_plan_l1_fix_time: 3.8853, d1.loss_plan_l1_fix_dist: 0.8407, d2.loss_plan_l1_fix_time: 3.9269, d2.loss_plan_l1_fix_dist: 0.9343, d3.loss_plan_l1_fix_time: 3.9941, d3.loss_plan_l1_fix_dist: 1.0300, d4.loss_plan_l1_fix_time: 4.0593, d4.loss_plan_l1_fix_dist: 1.1198, d5.loss_plan_l1_fix_time: 4.1396, d5.loss_plan_l1_fix_dist: 1.2371, d6.loss_plan_l1_fix_time: 4.2271, d6.loss_plan_l1_fix_dist: 1.3976, d0.loss_cls_all: 1.1188, d0.loss_bbox_all: 1.2746, d0.loss_cls: 1.1188, d0.loss_bbox: 1.2746, d1.loss_cls: 1.1458, d1.loss_bbox: 1.3095, d2.loss_cls: 1.1467, d2.loss_bbox: 1.3183, d3.loss_cls: 1.1457, d3.loss_bbox: 1.3379, d4.loss_cls: 1.1446, d4.loss_bbox: 1.3482, d5.loss_cls: 1.1476, d5.loss_bbox: 1.3732, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.3925, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.4794, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.5948, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.7153, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.9090, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.0606, d0.loss_map_cls_all: 0.6548, d0.loss_map_pts_all: 3.8203, d0.loss_map_dir_all: 0.0476, d0.loss_map_cls: 0.6548, d0.loss_map_pts: 3.8203, d0.loss_map_dir: 0.0476, d1.loss_map_cls: 0.6795, d1.loss_map_pts: 3.3841, d1.loss_map_dir: 0.0469, d2.loss_map_cls: 0.6891, d2.loss_map_pts: 3.3342, d2.loss_map_dir: 0.0470, d3.loss_map_cls: 0.7007, d3.loss_map_pts: 3.3222, d3.loss_map_dir: 0.0474, d4.loss_map_cls: 0.7099, d4.loss_map_pts: 3.3227, d4.loss_map_dir: 0.0477, d5.loss_map_cls: 0.7158, d5.loss_map_pts: 3.3322, d5.loss_map_dir: 0.0479, loss: 108.4995, grad_norm: 266.8288 +2026-02-24 01:08:37,081 - DriveTransformer - INFO - Epoch [1][4450/59059] lr: 1.000e-04, eta: 23 days, 11:16:45, time: 0.568, data_time: 0.023, memory: 14138, loss_cls: 1.1579, loss_bbox: 1.3361, loss_traj: 3.2238, loss_traj_cls: 0.0007, loss_map_cls: 0.6991, loss_map_pts: 3.2729, loss_map_dir: 0.0449, d0.loss_plan_l1_fix_time: 3.7172, d0.loss_plan_l1_fix_dist: 0.8594, d1.loss_plan_l1_fix_time: 3.4779, d1.loss_plan_l1_fix_dist: 0.9201, d2.loss_plan_l1_fix_time: 3.5019, d2.loss_plan_l1_fix_dist: 1.0082, d3.loss_plan_l1_fix_time: 3.5565, d3.loss_plan_l1_fix_dist: 1.0815, d4.loss_plan_l1_fix_time: 3.6119, d4.loss_plan_l1_fix_dist: 1.1785, d5.loss_plan_l1_fix_time: 3.6758, d5.loss_plan_l1_fix_dist: 1.2784, d6.loss_plan_l1_fix_time: 3.7473, d6.loss_plan_l1_fix_dist: 1.3786, d0.loss_cls_all: 1.1100, d0.loss_bbox_all: 1.1707, d0.loss_cls: 1.1100, d0.loss_bbox: 1.1707, d1.loss_cls: 1.1273, d1.loss_bbox: 1.2230, d2.loss_cls: 1.1244, d2.loss_bbox: 1.2365, d3.loss_cls: 1.1258, d3.loss_bbox: 1.2550, d4.loss_cls: 1.1357, d4.loss_bbox: 1.2732, d5.loss_cls: 1.1435, d5.loss_bbox: 1.3006, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2076, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.3308, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4762, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.5981, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.8340, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.0163, d0.loss_map_cls_all: 0.6776, d0.loss_map_pts_all: 3.8886, d0.loss_map_dir_all: 0.0461, d0.loss_map_cls: 0.6776, d0.loss_map_pts: 3.8886, d0.loss_map_dir: 0.0461, d1.loss_map_cls: 0.6857, d1.loss_map_pts: 3.3883, d1.loss_map_dir: 0.0446, d2.loss_map_cls: 0.6854, d2.loss_map_pts: 3.3052, d2.loss_map_dir: 0.0446, d3.loss_map_cls: 0.6902, d3.loss_map_pts: 3.2714, d3.loss_map_dir: 0.0447, d4.loss_map_cls: 0.6936, d4.loss_map_pts: 3.2657, d4.loss_map_dir: 0.0448, d5.loss_map_cls: 0.6951, d5.loss_map_pts: 3.2659, d5.loss_map_dir: 0.0449, loss: 104.0954, grad_norm: 265.1434 +2026-02-24 01:09:05,841 - DriveTransformer - INFO - Epoch [1][4500/59059] lr: 1.000e-04, eta: 23 days, 11:17:54, time: 0.575, data_time: 0.028, memory: 14138, loss_cls: 1.1278, loss_bbox: 1.3456, loss_traj: 3.1092, loss_traj_cls: 0.0006, loss_map_cls: 0.6726, loss_map_pts: 3.3919, loss_map_dir: 0.0457, d0.loss_plan_l1_fix_time: 4.1439, d0.loss_plan_l1_fix_dist: 0.7944, d1.loss_plan_l1_fix_time: 3.9055, d1.loss_plan_l1_fix_dist: 0.8477, d2.loss_plan_l1_fix_time: 3.9110, d2.loss_plan_l1_fix_dist: 0.9147, d3.loss_plan_l1_fix_time: 3.9449, d3.loss_plan_l1_fix_dist: 0.9765, d4.loss_plan_l1_fix_time: 3.9874, d4.loss_plan_l1_fix_dist: 1.0760, d5.loss_plan_l1_fix_time: 4.0348, d5.loss_plan_l1_fix_dist: 1.1881, d6.loss_plan_l1_fix_time: 4.0842, d6.loss_plan_l1_fix_dist: 1.2965, d0.loss_cls_all: 1.0815, d0.loss_bbox_all: 1.2110, d0.loss_cls: 1.0815, d0.loss_bbox: 1.2110, d1.loss_cls: 1.1054, d1.loss_bbox: 1.2291, d2.loss_cls: 1.0996, d2.loss_bbox: 1.2472, d3.loss_cls: 1.1037, d3.loss_bbox: 1.2615, d4.loss_cls: 1.1180, d4.loss_bbox: 1.2768, d5.loss_cls: 1.1164, d5.loss_bbox: 1.3173, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.4398, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5256, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.6101, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7460, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.9063, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.9777, d0.loss_map_cls_all: 0.6579, d0.loss_map_pts_all: 3.9358, d0.loss_map_dir_all: 0.0462, d0.loss_map_cls: 0.6579, d0.loss_map_pts: 3.9358, d0.loss_map_dir: 0.0462, d1.loss_map_cls: 0.6629, d1.loss_map_pts: 3.4541, d1.loss_map_dir: 0.0450, d2.loss_map_cls: 0.6631, d2.loss_map_pts: 3.3860, d2.loss_map_dir: 0.0452, d3.loss_map_cls: 0.6654, d3.loss_map_pts: 3.3736, d3.loss_map_dir: 0.0453, d4.loss_map_cls: 0.6682, d4.loss_map_pts: 3.3756, d4.loss_map_dir: 0.0455, d5.loss_map_cls: 0.6699, d5.loss_map_pts: 3.3787, d5.loss_map_dir: 0.0455, loss: 107.2714, grad_norm: 263.6033 +2026-02-24 01:09:33,852 - DriveTransformer - INFO - Epoch [1][4550/59059] lr: 1.000e-04, eta: 23 days, 11:08:58, time: 0.560, data_time: 0.030, memory: 14138, loss_cls: 1.0851, loss_bbox: 1.2628, loss_traj: 3.1892, loss_traj_cls: 0.0006, loss_map_cls: 0.7484, loss_map_pts: 2.9463, loss_map_dir: 0.0430, d0.loss_plan_l1_fix_time: 4.1686, d0.loss_plan_l1_fix_dist: 0.7764, d1.loss_plan_l1_fix_time: 3.9977, d1.loss_plan_l1_fix_dist: 0.8374, d2.loss_plan_l1_fix_time: 4.0011, d2.loss_plan_l1_fix_dist: 0.9410, d3.loss_plan_l1_fix_time: 4.0247, d3.loss_plan_l1_fix_dist: 1.0712, d4.loss_plan_l1_fix_time: 4.0592, d4.loss_plan_l1_fix_dist: 1.2083, d5.loss_plan_l1_fix_time: 4.0946, d5.loss_plan_l1_fix_dist: 1.3668, d6.loss_plan_l1_fix_time: 4.1367, d6.loss_plan_l1_fix_dist: 1.5618, d0.loss_cls_all: 1.0270, d0.loss_bbox_all: 1.1730, d0.loss_cls: 1.0270, d0.loss_bbox: 1.1730, d1.loss_cls: 1.0481, d1.loss_bbox: 1.1924, d2.loss_cls: 1.0573, d2.loss_bbox: 1.2036, d3.loss_cls: 1.0522, d3.loss_bbox: 1.2193, d4.loss_cls: 1.0525, d4.loss_bbox: 1.2224, d5.loss_cls: 1.0658, d5.loss_bbox: 1.2476, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3826, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4855, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.6278, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.8273, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.0060, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.1325, d0.loss_map_cls_all: 0.6769, d0.loss_map_pts_all: 3.6098, d0.loss_map_dir_all: 0.0443, d0.loss_map_cls: 0.6769, d0.loss_map_pts: 3.6098, d0.loss_map_dir: 0.0443, d1.loss_map_cls: 0.6937, d1.loss_map_pts: 3.0677, d1.loss_map_dir: 0.0425, d2.loss_map_cls: 0.7070, d2.loss_map_pts: 2.9598, d2.loss_map_dir: 0.0427, d3.loss_map_cls: 0.7230, d3.loss_map_pts: 2.9257, d3.loss_map_dir: 0.0428, d4.loss_map_cls: 0.7163, d4.loss_map_pts: 2.9194, d4.loss_map_dir: 0.0430, d5.loss_map_cls: 0.7386, d5.loss_map_pts: 2.9310, d5.loss_map_dir: 0.0430, loss: 105.0052, grad_norm: 262.3640 +2026-02-24 01:10:02,255 - DriveTransformer - INFO - Epoch [1][4600/59059] lr: 1.000e-04, eta: 23 days, 11:05:25, time: 0.568, data_time: 0.027, memory: 14138, loss_cls: 1.1088, loss_bbox: 1.2900, loss_traj: 2.8065, loss_traj_cls: 0.0006, loss_map_cls: 0.6817, loss_map_pts: 3.3518, loss_map_dir: 0.0506, d0.loss_plan_l1_fix_time: 3.4951, d0.loss_plan_l1_fix_dist: 0.7522, d1.loss_plan_l1_fix_time: 3.2964, d1.loss_plan_l1_fix_dist: 0.8101, d2.loss_plan_l1_fix_time: 3.2977, d2.loss_plan_l1_fix_dist: 0.9319, d3.loss_plan_l1_fix_time: 3.3263, d3.loss_plan_l1_fix_dist: 1.0860, d4.loss_plan_l1_fix_time: 3.3660, d4.loss_plan_l1_fix_dist: 1.2429, d5.loss_plan_l1_fix_time: 3.3988, d5.loss_plan_l1_fix_dist: 1.4054, d6.loss_plan_l1_fix_time: 3.4347, d6.loss_plan_l1_fix_dist: 1.6168, d0.loss_cls_all: 1.0766, d0.loss_bbox_all: 1.2045, d0.loss_cls: 1.0766, d0.loss_bbox: 1.2045, d1.loss_cls: 1.1033, d1.loss_bbox: 1.2093, d2.loss_cls: 1.1007, d2.loss_bbox: 1.2447, d3.loss_cls: 1.0987, d3.loss_bbox: 1.2582, d4.loss_cls: 1.1008, d4.loss_bbox: 1.2636, d5.loss_cls: 1.0991, d5.loss_bbox: 1.2792, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2608, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3300, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4281, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.5169, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.7052, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.7611, d0.loss_map_cls_all: 0.6554, d0.loss_map_pts_all: 3.7864, d0.loss_map_dir_all: 0.0509, d0.loss_map_cls: 0.6554, d0.loss_map_pts: 3.7864, d0.loss_map_dir: 0.0509, d1.loss_map_cls: 0.6670, d1.loss_map_pts: 3.3823, d1.loss_map_dir: 0.0498, d2.loss_map_cls: 0.6691, d2.loss_map_pts: 3.3326, d2.loss_map_dir: 0.0502, d3.loss_map_cls: 0.6731, d3.loss_map_pts: 3.3231, d3.loss_map_dir: 0.0505, d4.loss_map_cls: 0.6749, d4.loss_map_pts: 3.3244, d4.loss_map_dir: 0.0504, d5.loss_map_cls: 0.6791, d5.loss_map_pts: 3.3391, d5.loss_map_dir: 0.0505, loss: 101.3765, grad_norm: 260.1193 +2026-02-24 01:10:30,832 - DriveTransformer - INFO - Epoch [1][4650/59059] lr: 1.000e-04, eta: 23 days, 11:04:06, time: 0.571, data_time: 0.028, memory: 14138, loss_cls: 1.1435, loss_bbox: 1.2870, loss_traj: 3.0398, loss_traj_cls: 0.0006, loss_map_cls: 0.6965, loss_map_pts: 3.1039, loss_map_dir: 0.0479, d0.loss_plan_l1_fix_time: 3.7767, d0.loss_plan_l1_fix_dist: 0.7583, d1.loss_plan_l1_fix_time: 3.7197, d1.loss_plan_l1_fix_dist: 0.8410, d2.loss_plan_l1_fix_time: 3.7339, d2.loss_plan_l1_fix_dist: 0.9794, d3.loss_plan_l1_fix_time: 3.7613, d3.loss_plan_l1_fix_dist: 1.1188, d4.loss_plan_l1_fix_time: 3.8001, d4.loss_plan_l1_fix_dist: 1.2928, d5.loss_plan_l1_fix_time: 3.8282, d5.loss_plan_l1_fix_dist: 1.4829, d6.loss_plan_l1_fix_time: 3.8603, d6.loss_plan_l1_fix_dist: 1.6919, d0.loss_cls_all: 1.0981, d0.loss_bbox_all: 1.2207, d0.loss_cls: 1.0981, d0.loss_bbox: 1.2207, d1.loss_cls: 1.1222, d1.loss_bbox: 1.2209, d2.loss_cls: 1.1255, d2.loss_bbox: 1.2563, d3.loss_cls: 1.1242, d3.loss_bbox: 1.2699, d4.loss_cls: 1.1173, d4.loss_bbox: 1.2714, d5.loss_cls: 1.1216, d5.loss_bbox: 1.2751, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3499, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4458, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.5041, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.6267, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.7293, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.8437, d0.loss_map_cls_all: 0.6604, d0.loss_map_pts_all: 3.6820, d0.loss_map_dir_all: 0.0482, d0.loss_map_cls: 0.6604, d0.loss_map_pts: 3.6820, d0.loss_map_dir: 0.0482, d1.loss_map_cls: 0.6725, d1.loss_map_pts: 3.2119, d1.loss_map_dir: 0.0470, d2.loss_map_cls: 0.6786, d2.loss_map_pts: 3.1388, d2.loss_map_dir: 0.0473, d3.loss_map_cls: 0.6855, d3.loss_map_pts: 3.1125, d3.loss_map_dir: 0.0474, d4.loss_map_cls: 0.6838, d4.loss_map_pts: 3.1030, d4.loss_map_dir: 0.0475, d5.loss_map_cls: 0.6905, d5.loss_map_pts: 3.1003, d5.loss_map_dir: 0.0476, loss: 104.1048, grad_norm: 262.3016 +2026-02-24 01:10:58,600 - DriveTransformer - INFO - Epoch [1][4700/59059] lr: 1.000e-04, eta: 23 days, 10:52:42, time: 0.555, data_time: 0.028, memory: 14138, loss_cls: 1.1134, loss_bbox: 1.1821, loss_traj: 2.8999, loss_traj_cls: 0.0006, loss_map_cls: 0.7059, loss_map_pts: 2.9386, loss_map_dir: 0.0439, d0.loss_plan_l1_fix_time: 3.6934, d0.loss_plan_l1_fix_dist: 0.7904, d1.loss_plan_l1_fix_time: 3.4715, d1.loss_plan_l1_fix_dist: 0.8334, d2.loss_plan_l1_fix_time: 3.4569, d2.loss_plan_l1_fix_dist: 0.9103, d3.loss_plan_l1_fix_time: 3.4757, d3.loss_plan_l1_fix_dist: 1.0075, d4.loss_plan_l1_fix_time: 3.4981, d4.loss_plan_l1_fix_dist: 1.1186, d5.loss_plan_l1_fix_time: 3.5186, d5.loss_plan_l1_fix_dist: 1.2702, d6.loss_plan_l1_fix_time: 3.5397, d6.loss_plan_l1_fix_dist: 1.4285, d0.loss_cls_all: 1.0448, d0.loss_bbox_all: 1.1279, d0.loss_cls: 1.0448, d0.loss_bbox: 1.1279, d1.loss_cls: 1.0588, d1.loss_bbox: 1.1184, d2.loss_cls: 1.0752, d2.loss_bbox: 1.1315, d3.loss_cls: 1.0747, d3.loss_bbox: 1.1403, d4.loss_cls: 1.0628, d4.loss_bbox: 1.1482, d5.loss_cls: 1.0742, d5.loss_bbox: 1.1596, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.4096, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4952, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.5420, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.6609, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.7319, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.8087, d0.loss_map_cls_all: 0.6861, d0.loss_map_pts_all: 3.5801, d0.loss_map_dir_all: 0.0442, d0.loss_map_cls: 0.6861, d0.loss_map_pts: 3.5801, d0.loss_map_dir: 0.0442, d1.loss_map_cls: 0.6808, d1.loss_map_pts: 3.0887, d1.loss_map_dir: 0.0429, d2.loss_map_cls: 0.6848, d2.loss_map_pts: 2.9825, d2.loss_map_dir: 0.0432, d3.loss_map_cls: 0.6903, d3.loss_map_pts: 2.9384, d3.loss_map_dir: 0.0433, d4.loss_map_cls: 0.6848, d4.loss_map_pts: 2.9253, d4.loss_map_dir: 0.0435, d5.loss_map_cls: 0.6949, d5.loss_map_pts: 2.9239, d5.loss_map_dir: 0.0437, loss: 99.0694, grad_norm: 262.8141 +2026-02-24 01:11:26,943 - DriveTransformer - INFO - Epoch [1][4750/59059] lr: 1.000e-04, eta: 23 days, 10:48:39, time: 0.567, data_time: 0.026, memory: 14138, loss_cls: 1.1134, loss_bbox: 1.3359, loss_traj: 2.9455, loss_traj_cls: 0.0006, loss_map_cls: 0.6808, loss_map_pts: 2.9342, loss_map_dir: 0.0472, d0.loss_plan_l1_fix_time: 3.8399, d0.loss_plan_l1_fix_dist: 0.8228, d1.loss_plan_l1_fix_time: 3.5790, d1.loss_plan_l1_fix_dist: 0.9364, d2.loss_plan_l1_fix_time: 3.5569, d2.loss_plan_l1_fix_dist: 1.0795, d3.loss_plan_l1_fix_time: 3.5711, d3.loss_plan_l1_fix_dist: 1.2473, d4.loss_plan_l1_fix_time: 3.5935, d4.loss_plan_l1_fix_dist: 1.4190, d5.loss_plan_l1_fix_time: 3.6226, d5.loss_plan_l1_fix_dist: 1.6067, d6.loss_plan_l1_fix_time: 3.6524, d6.loss_plan_l1_fix_dist: 1.7908, d0.loss_cls_all: 1.0884, d0.loss_bbox_all: 1.2830, d0.loss_cls: 1.0884, d0.loss_bbox: 1.2830, d1.loss_cls: 1.1066, d1.loss_bbox: 1.2529, d2.loss_cls: 1.1142, d2.loss_bbox: 1.2629, d3.loss_cls: 1.1184, d3.loss_bbox: 1.2773, d4.loss_cls: 1.1265, d4.loss_bbox: 1.2919, d5.loss_cls: 1.1139, d5.loss_bbox: 1.3134, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.5335, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.6056, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.6465, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7321, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.8136, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.8700, d0.loss_map_cls_all: 0.6573, d0.loss_map_pts_all: 3.6016, d0.loss_map_dir_all: 0.0475, d0.loss_map_cls: 0.6573, d0.loss_map_pts: 3.6016, d0.loss_map_dir: 0.0475, d1.loss_map_cls: 0.6600, d1.loss_map_pts: 3.0645, d1.loss_map_dir: 0.0465, d2.loss_map_cls: 0.6636, d2.loss_map_pts: 2.9603, d2.loss_map_dir: 0.0469, d3.loss_map_cls: 0.6701, d3.loss_map_pts: 2.9296, d3.loss_map_dir: 0.0471, d4.loss_map_cls: 0.6654, d4.loss_map_pts: 2.9208, d4.loss_map_dir: 0.0471, d5.loss_map_cls: 0.6738, d5.loss_map_pts: 2.9252, d5.loss_map_dir: 0.0472, loss: 103.2818, grad_norm: 261.2036 +2026-02-24 01:11:53,913 - DriveTransformer - INFO - Epoch [1][4800/59059] lr: 1.000e-04, eta: 23 days, 10:28:22, time: 0.540, data_time: 0.026, memory: 14138, loss_cls: 1.1101, loss_bbox: 1.2902, loss_traj: 2.8008, loss_traj_cls: 0.0006, loss_map_cls: 0.6850, loss_map_pts: 2.8478, loss_map_dir: 0.0433, d0.loss_plan_l1_fix_time: 3.6842, d0.loss_plan_l1_fix_dist: 0.7778, d1.loss_plan_l1_fix_time: 3.2178, d1.loss_plan_l1_fix_dist: 0.8749, d2.loss_plan_l1_fix_time: 3.1527, d2.loss_plan_l1_fix_dist: 1.0145, d3.loss_plan_l1_fix_time: 3.1559, d3.loss_plan_l1_fix_dist: 1.1635, d4.loss_plan_l1_fix_time: 3.1802, d4.loss_plan_l1_fix_dist: 1.3259, d5.loss_plan_l1_fix_time: 3.2153, d5.loss_plan_l1_fix_dist: 1.4768, d6.loss_plan_l1_fix_time: 3.2530, d6.loss_plan_l1_fix_dist: 1.6515, d0.loss_cls_all: 1.0825, d0.loss_bbox_all: 1.2343, d0.loss_cls: 1.0825, d0.loss_bbox: 1.2343, d1.loss_cls: 1.0976, d1.loss_bbox: 1.2240, d2.loss_cls: 1.0980, d2.loss_bbox: 1.2375, d3.loss_cls: 1.1006, d3.loss_bbox: 1.2529, d4.loss_cls: 1.0979, d4.loss_bbox: 1.2609, d5.loss_cls: 1.1005, d5.loss_bbox: 1.2626, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2875, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.4448, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.4679, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.5142, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.6390, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.7048, d0.loss_map_cls_all: 0.6679, d0.loss_map_pts_all: 3.5431, d0.loss_map_dir_all: 0.0435, d0.loss_map_cls: 0.6679, d0.loss_map_pts: 3.5431, d0.loss_map_dir: 0.0435, d1.loss_map_cls: 0.6745, d1.loss_map_pts: 3.0183, d1.loss_map_dir: 0.0425, d2.loss_map_cls: 0.6782, d2.loss_map_pts: 2.8919, d2.loss_map_dir: 0.0428, d3.loss_map_cls: 0.6815, d3.loss_map_pts: 2.8458, d3.loss_map_dir: 0.0429, d4.loss_map_cls: 0.6873, d4.loss_map_pts: 2.8351, d4.loss_map_dir: 0.0431, d5.loss_map_cls: 0.6854, d5.loss_map_pts: 2.8443, d5.loss_map_dir: 0.0432, loss: 97.9153, grad_norm: 260.4638 +2026-02-24 01:12:22,658 - DriveTransformer - INFO - Epoch [1][4850/59059] lr: 1.000e-04, eta: 23 days, 10:28:58, time: 0.574, data_time: 0.024, memory: 14138, loss_cls: 1.1455, loss_bbox: 1.3394, loss_traj: 3.0694, loss_traj_cls: 0.0006, loss_map_cls: 0.6622, loss_map_pts: 3.2525, loss_map_dir: 0.0521, d0.loss_plan_l1_fix_time: 3.7097, d0.loss_plan_l1_fix_dist: 0.7562, d1.loss_plan_l1_fix_time: 3.5625, d1.loss_plan_l1_fix_dist: 0.8079, d2.loss_plan_l1_fix_time: 3.5753, d2.loss_plan_l1_fix_dist: 0.8950, d3.loss_plan_l1_fix_time: 3.6008, d3.loss_plan_l1_fix_dist: 1.0064, d4.loss_plan_l1_fix_time: 3.6391, d4.loss_plan_l1_fix_dist: 1.1156, d5.loss_plan_l1_fix_time: 3.6845, d5.loss_plan_l1_fix_dist: 1.2401, d6.loss_plan_l1_fix_time: 3.7344, d6.loss_plan_l1_fix_dist: 1.3907, d0.loss_cls_all: 1.1260, d0.loss_bbox_all: 1.2640, d0.loss_cls: 1.1260, d0.loss_bbox: 1.2640, d1.loss_cls: 1.1408, d1.loss_bbox: 1.2403, d2.loss_cls: 1.1498, d2.loss_bbox: 1.2552, d3.loss_cls: 1.1496, d3.loss_bbox: 1.2720, d4.loss_cls: 1.1518, d4.loss_bbox: 1.2873, d5.loss_cls: 1.1504, d5.loss_bbox: 1.3116, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3400, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.4411, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.5044, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.7463, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.8132, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.9776, d0.loss_map_cls_all: 0.6473, d0.loss_map_pts_all: 3.8577, d0.loss_map_dir_all: 0.0517, d0.loss_map_cls: 0.6473, d0.loss_map_pts: 3.8577, d0.loss_map_dir: 0.0517, d1.loss_map_cls: 0.6491, d1.loss_map_pts: 3.3743, d1.loss_map_dir: 0.0508, d2.loss_map_cls: 0.6528, d2.loss_map_pts: 3.2752, d2.loss_map_dir: 0.0511, d3.loss_map_cls: 0.6577, d3.loss_map_pts: 3.2373, d3.loss_map_dir: 0.0514, d4.loss_map_cls: 0.6578, d4.loss_map_pts: 3.2281, d4.loss_map_dir: 0.0517, d5.loss_map_cls: 0.6624, d5.loss_map_pts: 3.2331, d5.loss_map_dir: 0.0519, loss: 103.9528, grad_norm: 260.3208 +2026-02-24 01:12:52,874 - DriveTransformer - INFO - Epoch [1][4900/59059] lr: 1.000e-04, eta: 23 days, 10:47:49, time: 0.604, data_time: 0.028, memory: 14138, loss_cls: 1.1122, loss_bbox: 1.2859, loss_traj: 2.2055, loss_traj_cls: 0.0006, loss_map_cls: 0.6719, loss_map_pts: 3.1863, loss_map_dir: 0.0523, d0.loss_plan_l1_fix_time: 3.5164, d0.loss_plan_l1_fix_dist: 0.8244, d1.loss_plan_l1_fix_time: 3.4432, d1.loss_plan_l1_fix_dist: 0.9279, d2.loss_plan_l1_fix_time: 3.4734, d2.loss_plan_l1_fix_dist: 1.0680, d3.loss_plan_l1_fix_time: 3.5051, d3.loss_plan_l1_fix_dist: 1.2367, d4.loss_plan_l1_fix_time: 3.5431, d4.loss_plan_l1_fix_dist: 1.4247, d5.loss_plan_l1_fix_time: 3.5860, d5.loss_plan_l1_fix_dist: 1.6543, d6.loss_plan_l1_fix_time: 3.6341, d6.loss_plan_l1_fix_dist: 1.8798, d0.loss_cls_all: 1.0742, d0.loss_bbox_all: 1.2240, d0.loss_cls: 1.0742, d0.loss_bbox: 1.2240, d1.loss_cls: 1.0895, d1.loss_bbox: 1.2010, d2.loss_cls: 1.0970, d2.loss_bbox: 1.2119, d3.loss_cls: 1.1021, d3.loss_bbox: 1.2151, d4.loss_cls: 1.1195, d4.loss_bbox: 1.2390, d5.loss_cls: 1.1235, d5.loss_bbox: 1.2563, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7711, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8342, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9087, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9194, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0223, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0833, d0.loss_map_cls_all: 0.6645, d0.loss_map_pts_all: 3.8500, d0.loss_map_dir_all: 0.0522, d0.loss_map_cls: 0.6645, d0.loss_map_pts: 3.8500, d0.loss_map_dir: 0.0522, d1.loss_map_cls: 0.6623, d1.loss_map_pts: 3.3529, d1.loss_map_dir: 0.0515, d2.loss_map_cls: 0.6638, d2.loss_map_pts: 3.2538, d2.loss_map_dir: 0.0517, d3.loss_map_cls: 0.6649, d3.loss_map_pts: 3.2181, d3.loss_map_dir: 0.0519, d4.loss_map_cls: 0.6672, d4.loss_map_pts: 3.1974, d4.loss_map_dir: 0.0521, d5.loss_map_cls: 0.6693, d5.loss_map_pts: 3.1863, d5.loss_map_dir: 0.0522, loss: 98.9542, grad_norm: 260.9583 +2026-02-24 01:13:20,633 - DriveTransformer - INFO - Epoch [1][4950/59059] lr: 1.000e-04, eta: 23 days, 10:36:59, time: 0.555, data_time: 0.025, memory: 14138, loss_cls: 1.0196, loss_bbox: 1.2929, loss_traj: 2.6193, loss_traj_cls: 0.0006, loss_map_cls: 0.7367, loss_map_pts: 2.9789, loss_map_dir: 0.0478, d0.loss_plan_l1_fix_time: 3.4309, d0.loss_plan_l1_fix_dist: 0.6418, d1.loss_plan_l1_fix_time: 3.1650, d1.loss_plan_l1_fix_dist: 0.7428, d2.loss_plan_l1_fix_time: 3.1606, d2.loss_plan_l1_fix_dist: 0.8636, d3.loss_plan_l1_fix_time: 3.1812, d3.loss_plan_l1_fix_dist: 1.0003, d4.loss_plan_l1_fix_time: 3.2057, d4.loss_plan_l1_fix_dist: 1.1357, d5.loss_plan_l1_fix_time: 3.2354, d5.loss_plan_l1_fix_dist: 1.2948, d6.loss_plan_l1_fix_time: 3.2720, d6.loss_plan_l1_fix_dist: 1.4500, d0.loss_cls_all: 0.9978, d0.loss_bbox_all: 1.1896, d0.loss_cls: 0.9978, d0.loss_bbox: 1.1896, d1.loss_cls: 1.0140, d1.loss_bbox: 1.1749, d2.loss_cls: 1.0154, d2.loss_bbox: 1.1791, d3.loss_cls: 1.0219, d3.loss_bbox: 1.1938, d4.loss_cls: 1.0329, d4.loss_bbox: 1.2199, d5.loss_cls: 1.0295, d5.loss_bbox: 1.2535, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1788, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2577, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2845, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3500, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.4456, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5285, d0.loss_map_cls_all: 0.6941, d0.loss_map_pts_all: 3.6341, d0.loss_map_dir_all: 0.0480, d0.loss_map_cls: 0.6941, d0.loss_map_pts: 3.6341, d0.loss_map_dir: 0.0480, d1.loss_map_cls: 0.7066, d1.loss_map_pts: 3.1158, d1.loss_map_dir: 0.0472, d2.loss_map_cls: 0.7149, d2.loss_map_pts: 3.0170, d2.loss_map_dir: 0.0474, d3.loss_map_cls: 0.7215, d3.loss_map_pts: 2.9878, d3.loss_map_dir: 0.0475, d4.loss_map_cls: 0.7201, d4.loss_map_pts: 2.9762, d4.loss_map_dir: 0.0477, d5.loss_map_cls: 0.7272, d5.loss_map_pts: 2.9744, d5.loss_map_dir: 0.0477, loss: 95.6851, grad_norm: 259.4218 +2026-02-24 01:13:48,719 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 01:13:48,719 - DriveTransformer - INFO - Epoch [1][5000/59059] lr: 1.000e-04, eta: 23 days, 10:30:12, time: 0.562, data_time: 0.025, memory: 14138, loss_cls: 1.0881, loss_bbox: 1.4368, loss_traj: 2.6737, loss_traj_cls: 0.0005, loss_map_cls: 0.6390, loss_map_pts: 3.2235, loss_map_dir: 0.0565, d0.loss_plan_l1_fix_time: 3.8638, d0.loss_plan_l1_fix_dist: 0.7892, d1.loss_plan_l1_fix_time: 3.8033, d1.loss_plan_l1_fix_dist: 0.9095, d2.loss_plan_l1_fix_time: 3.8383, d2.loss_plan_l1_fix_dist: 1.1032, d3.loss_plan_l1_fix_time: 3.8741, d3.loss_plan_l1_fix_dist: 1.2920, d4.loss_plan_l1_fix_time: 3.9097, d4.loss_plan_l1_fix_dist: 1.5202, d5.loss_plan_l1_fix_time: 3.9491, d5.loss_plan_l1_fix_dist: 1.7601, d6.loss_plan_l1_fix_time: 3.9900, d6.loss_plan_l1_fix_dist: 2.0086, d0.loss_cls_all: 1.0475, d0.loss_bbox_all: 1.2618, d0.loss_cls: 1.0475, d0.loss_bbox: 1.2618, d1.loss_cls: 1.0629, d1.loss_bbox: 1.2520, d2.loss_cls: 1.0811, d2.loss_bbox: 1.2809, d3.loss_cls: 1.0789, d3.loss_bbox: 1.3046, d4.loss_cls: 1.0796, d4.loss_bbox: 1.3467, d5.loss_cls: 1.0788, d5.loss_bbox: 1.3912, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2004, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3410, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3934, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.4601, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.4869, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5698, d0.loss_map_cls_all: 0.6400, d0.loss_map_pts_all: 3.8251, d0.loss_map_dir_all: 0.0560, d0.loss_map_cls: 0.6400, d0.loss_map_pts: 3.8251, d0.loss_map_dir: 0.0560, d1.loss_map_cls: 0.6372, d1.loss_map_pts: 3.3390, d1.loss_map_dir: 0.0559, d2.loss_map_cls: 0.6376, d2.loss_map_pts: 3.2515, d2.loss_map_dir: 0.0562, d3.loss_map_cls: 0.6357, d3.loss_map_pts: 3.2280, d3.loss_map_dir: 0.0563, d4.loss_map_cls: 0.6381, d4.loss_map_pts: 3.2197, d4.loss_map_dir: 0.0563, d5.loss_map_cls: 0.6377, d5.loss_map_pts: 3.2192, d5.loss_map_dir: 0.0564, loss: 105.5264, grad_norm: 261.3781 +2026-02-24 01:14:17,403 - DriveTransformer - INFO - Epoch [1][5050/59059] lr: 1.000e-04, eta: 23 days, 10:30:32, time: 0.574, data_time: 0.026, memory: 14138, loss_cls: 1.0584, loss_bbox: 1.3762, loss_traj: 2.4327, loss_traj_cls: 0.0006, loss_map_cls: 0.6895, loss_map_pts: 3.0620, loss_map_dir: 0.0477, d0.loss_plan_l1_fix_time: 4.3331, d0.loss_plan_l1_fix_dist: 0.8341, d1.loss_plan_l1_fix_time: 4.2573, d1.loss_plan_l1_fix_dist: 0.9670, d2.loss_plan_l1_fix_time: 4.2948, d2.loss_plan_l1_fix_dist: 1.1506, d3.loss_plan_l1_fix_time: 4.3405, d3.loss_plan_l1_fix_dist: 1.3489, d4.loss_plan_l1_fix_time: 4.3867, d4.loss_plan_l1_fix_dist: 1.5757, d5.loss_plan_l1_fix_time: 4.4332, d5.loss_plan_l1_fix_dist: 1.8133, d6.loss_plan_l1_fix_time: 4.4828, d6.loss_plan_l1_fix_dist: 2.0792, d0.loss_cls_all: 1.0396, d0.loss_bbox_all: 1.2286, d0.loss_cls: 1.0396, d0.loss_bbox: 1.2286, d1.loss_cls: 1.0496, d1.loss_bbox: 1.2224, d2.loss_cls: 1.0585, d2.loss_bbox: 1.2533, d3.loss_cls: 1.0622, d3.loss_bbox: 1.2609, d4.loss_cls: 1.0705, d4.loss_bbox: 1.2887, d5.loss_cls: 1.0604, d5.loss_bbox: 1.3407, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2096, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.2713, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2422, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3439, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.3881, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.4058, d0.loss_map_cls_all: 0.6685, d0.loss_map_pts_all: 3.6240, d0.loss_map_dir_all: 0.0477, d0.loss_map_cls: 0.6685, d0.loss_map_pts: 3.6240, d0.loss_map_dir: 0.0477, d1.loss_map_cls: 0.6836, d1.loss_map_pts: 3.1078, d1.loss_map_dir: 0.0471, d2.loss_map_cls: 0.6842, d2.loss_map_pts: 3.0131, d2.loss_map_dir: 0.0474, d3.loss_map_cls: 0.6864, d3.loss_map_pts: 2.9989, d3.loss_map_dir: 0.0475, d4.loss_map_cls: 0.6858, d4.loss_map_pts: 3.0170, d4.loss_map_dir: 0.0477, d5.loss_map_cls: 0.6895, d5.loss_map_pts: 3.0393, d5.loss_map_dir: 0.0477, loss: 106.5551, grad_norm: 262.2212 +2026-02-24 01:14:45,341 - DriveTransformer - INFO - Epoch [1][5100/59059] lr: 1.000e-04, eta: 23 days, 10:22:13, time: 0.559, data_time: 0.026, memory: 14138, loss_cls: 1.0808, loss_bbox: 1.3379, loss_traj: 2.7724, loss_traj_cls: 0.0005, loss_map_cls: 0.6533, loss_map_pts: 2.9969, loss_map_dir: 0.0448, d0.loss_plan_l1_fix_time: 4.0508, d0.loss_plan_l1_fix_dist: 0.8065, d1.loss_plan_l1_fix_time: 3.8108, d1.loss_plan_l1_fix_dist: 0.8895, d2.loss_plan_l1_fix_time: 3.7851, d2.loss_plan_l1_fix_dist: 1.0046, d3.loss_plan_l1_fix_time: 3.7970, d3.loss_plan_l1_fix_dist: 1.1511, d4.loss_plan_l1_fix_time: 3.8247, d4.loss_plan_l1_fix_dist: 1.3025, d5.loss_plan_l1_fix_time: 3.8561, d5.loss_plan_l1_fix_dist: 1.4774, d6.loss_plan_l1_fix_time: 3.8923, d6.loss_plan_l1_fix_dist: 1.6713, d0.loss_cls_all: 1.0391, d0.loss_bbox_all: 1.2646, d0.loss_cls: 1.0391, d0.loss_bbox: 1.2646, d1.loss_cls: 1.0552, d1.loss_bbox: 1.2561, d2.loss_cls: 1.0611, d2.loss_bbox: 1.2705, d3.loss_cls: 1.0616, d3.loss_bbox: 1.2663, d4.loss_cls: 1.0592, d4.loss_bbox: 1.2883, d5.loss_cls: 1.0580, d5.loss_bbox: 1.3142, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.4731, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5269, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.5407, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.6184, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.6805, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.7154, d0.loss_map_cls_all: 0.6353, d0.loss_map_pts_all: 3.6903, d0.loss_map_dir_all: 0.0450, d0.loss_map_cls: 0.6353, d0.loss_map_pts: 3.6903, d0.loss_map_dir: 0.0450, d1.loss_map_cls: 0.6450, d1.loss_map_pts: 3.0961, d1.loss_map_dir: 0.0445, d2.loss_map_cls: 0.6460, d2.loss_map_pts: 2.9874, d2.loss_map_dir: 0.0447, d3.loss_map_cls: 0.6452, d3.loss_map_pts: 2.9639, d3.loss_map_dir: 0.0448, d4.loss_map_cls: 0.6512, d4.loss_map_pts: 2.9670, d4.loss_map_dir: 0.0449, d5.loss_map_cls: 0.6494, d5.loss_map_pts: 2.9838, d5.loss_map_dir: 0.0448, loss: 103.2620, grad_norm: 262.0341 +2026-02-24 01:15:14,785 - DriveTransformer - INFO - Epoch [1][5150/59059] lr: 1.000e-04, eta: 23 days, 10:31:27, time: 0.589, data_time: 0.029, memory: 14138, loss_cls: 1.0999, loss_bbox: 1.3274, loss_traj: 2.4244, loss_traj_cls: 0.0006, loss_map_cls: 0.6505, loss_map_pts: 3.2491, loss_map_dir: 0.0467, d0.loss_plan_l1_fix_time: 3.3251, d0.loss_plan_l1_fix_dist: 0.7179, d1.loss_plan_l1_fix_time: 3.2032, d1.loss_plan_l1_fix_dist: 0.8001, d2.loss_plan_l1_fix_time: 3.2083, d2.loss_plan_l1_fix_dist: 0.9199, d3.loss_plan_l1_fix_time: 3.2317, d3.loss_plan_l1_fix_dist: 1.0798, d4.loss_plan_l1_fix_time: 3.2665, d4.loss_plan_l1_fix_dist: 1.2479, d5.loss_plan_l1_fix_time: 3.3069, d5.loss_plan_l1_fix_dist: 1.4388, d6.loss_plan_l1_fix_time: 3.3538, d6.loss_plan_l1_fix_dist: 1.6328, d0.loss_cls_all: 1.0851, d0.loss_bbox_all: 1.2011, d0.loss_cls: 1.0851, d0.loss_bbox: 1.2011, d1.loss_cls: 1.0945, d1.loss_bbox: 1.2137, d2.loss_cls: 1.1028, d2.loss_bbox: 1.2048, d3.loss_cls: 1.0980, d3.loss_bbox: 1.2291, d4.loss_cls: 1.0919, d4.loss_bbox: 1.2513, d5.loss_cls: 1.0882, d5.loss_bbox: 1.2762, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0098, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0721, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1150, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1567, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2442, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3316, d0.loss_map_cls_all: 0.6237, d0.loss_map_pts_all: 3.9409, d0.loss_map_dir_all: 0.0471, d0.loss_map_cls: 0.6237, d0.loss_map_pts: 3.9409, d0.loss_map_dir: 0.0471, d1.loss_map_cls: 0.6305, d1.loss_map_pts: 3.3451, d1.loss_map_dir: 0.0463, d2.loss_map_cls: 0.6387, d2.loss_map_pts: 3.2384, d2.loss_map_dir: 0.0466, d3.loss_map_cls: 0.6397, d3.loss_map_pts: 3.2211, d3.loss_map_dir: 0.0467, d4.loss_map_cls: 0.6463, d4.loss_map_pts: 3.2233, d4.loss_map_dir: 0.0468, d5.loss_map_cls: 0.6434, d5.loss_map_pts: 3.2346, d5.loss_map_dir: 0.0468, loss: 97.6042, grad_norm: 261.5131 +2026-02-24 01:15:41,934 - DriveTransformer - INFO - Epoch [1][5200/59059] lr: 1.000e-04, eta: 23 days, 10:14:13, time: 0.543, data_time: 0.028, memory: 14138, loss_cls: 1.0243, loss_bbox: 1.4003, loss_traj: 2.5746, loss_traj_cls: 0.0006, loss_map_cls: 0.6825, loss_map_pts: 2.9694, loss_map_dir: 0.0426, d0.loss_plan_l1_fix_time: 3.7128, d0.loss_plan_l1_fix_dist: 0.7639, d1.loss_plan_l1_fix_time: 3.5458, d1.loss_plan_l1_fix_dist: 0.8678, d2.loss_plan_l1_fix_time: 3.5557, d2.loss_plan_l1_fix_dist: 1.0293, d3.loss_plan_l1_fix_time: 3.5801, d3.loss_plan_l1_fix_dist: 1.2092, d4.loss_plan_l1_fix_time: 3.6134, d4.loss_plan_l1_fix_dist: 1.3974, d5.loss_plan_l1_fix_time: 3.6532, d5.loss_plan_l1_fix_dist: 1.5800, d6.loss_plan_l1_fix_time: 3.6950, d6.loss_plan_l1_fix_dist: 1.7753, d0.loss_cls_all: 1.0144, d0.loss_bbox_all: 1.2436, d0.loss_cls: 1.0144, d0.loss_bbox: 1.2436, d1.loss_cls: 1.0253, d1.loss_bbox: 1.2439, d2.loss_cls: 1.0292, d2.loss_bbox: 1.2574, d3.loss_cls: 1.0284, d3.loss_bbox: 1.2841, d4.loss_cls: 1.0196, d4.loss_bbox: 1.3152, d5.loss_cls: 1.0183, d5.loss_bbox: 1.3565, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1175, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.1725, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2104, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3121, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3298, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.4167, d0.loss_map_cls_all: 0.6641, d0.loss_map_pts_all: 3.5839, d0.loss_map_dir_all: 0.0423, d0.loss_map_cls: 0.6641, d0.loss_map_pts: 3.5839, d0.loss_map_dir: 0.0423, d1.loss_map_cls: 0.6741, d1.loss_map_pts: 3.0631, d1.loss_map_dir: 0.0420, d2.loss_map_cls: 0.6770, d2.loss_map_pts: 2.9675, d2.loss_map_dir: 0.0422, d3.loss_map_cls: 0.6791, d3.loss_map_pts: 2.9519, d3.loss_map_dir: 0.0424, d4.loss_map_cls: 0.6795, d4.loss_map_pts: 2.9520, d4.loss_map_dir: 0.0426, d5.loss_map_cls: 0.6799, d5.loss_map_pts: 2.9541, d5.loss_map_dir: 0.0425, loss: 99.3998, grad_norm: 261.6178 +2026-02-24 01:16:10,322 - DriveTransformer - INFO - Epoch [1][5250/59059] lr: 1.000e-04, eta: 23 days, 10:11:20, time: 0.568, data_time: 0.027, memory: 14138, loss_cls: 1.0708, loss_bbox: 1.4348, loss_traj: 2.5458, loss_traj_cls: 0.0005, loss_map_cls: 0.6891, loss_map_pts: 3.0162, loss_map_dir: 0.0449, d0.loss_plan_l1_fix_time: 4.0215, d0.loss_plan_l1_fix_dist: 0.7166, d1.loss_plan_l1_fix_time: 3.6560, d1.loss_plan_l1_fix_dist: 0.7880, d2.loss_plan_l1_fix_time: 3.6338, d2.loss_plan_l1_fix_dist: 0.9098, d3.loss_plan_l1_fix_time: 3.6465, d3.loss_plan_l1_fix_dist: 1.0293, d4.loss_plan_l1_fix_time: 3.6707, d4.loss_plan_l1_fix_dist: 1.1677, d5.loss_plan_l1_fix_time: 3.7000, d5.loss_plan_l1_fix_dist: 1.3112, d6.loss_plan_l1_fix_time: 3.7313, d6.loss_plan_l1_fix_dist: 1.4664, d0.loss_cls_all: 1.0425, d0.loss_bbox_all: 1.2540, d0.loss_cls: 1.0425, d0.loss_bbox: 1.2540, d1.loss_cls: 1.0524, d1.loss_bbox: 1.2627, d2.loss_cls: 1.0629, d2.loss_bbox: 1.2793, d3.loss_cls: 1.0640, d3.loss_bbox: 1.3125, d4.loss_cls: 1.0542, d4.loss_bbox: 1.3535, d5.loss_cls: 1.0605, d5.loss_bbox: 1.3927, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.2686, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3524, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3640, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.4636, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.4621, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4904, d0.loss_map_cls_all: 0.6726, d0.loss_map_pts_all: 3.7262, d0.loss_map_dir_all: 0.0444, d0.loss_map_cls: 0.6726, d0.loss_map_pts: 3.7262, d0.loss_map_dir: 0.0444, d1.loss_map_cls: 0.6781, d1.loss_map_pts: 3.1677, d1.loss_map_dir: 0.0443, d2.loss_map_cls: 0.6834, d2.loss_map_pts: 3.0520, d2.loss_map_dir: 0.0445, d3.loss_map_cls: 0.6866, d3.loss_map_pts: 3.0249, d3.loss_map_dir: 0.0448, d4.loss_map_cls: 0.6874, d4.loss_map_pts: 3.0144, d4.loss_map_dir: 0.0448, d5.loss_map_cls: 0.6883, d5.loss_map_pts: 3.0100, d5.loss_map_dir: 0.0449, loss: 100.9450, grad_norm: 262.1984 +2026-02-24 01:16:38,726 - DriveTransformer - INFO - Epoch [1][5300/59059] lr: 1.000e-04, eta: 23 days, 10:08:40, time: 0.568, data_time: 0.030, memory: 14138, loss_cls: 1.1007, loss_bbox: 1.3867, loss_traj: 2.4119, loss_traj_cls: 0.0005, loss_map_cls: 0.6574, loss_map_pts: 3.0825, loss_map_dir: 0.0451, d0.loss_plan_l1_fix_time: 3.9773, d0.loss_plan_l1_fix_dist: 0.6210, d1.loss_plan_l1_fix_time: 3.7140, d1.loss_plan_l1_fix_dist: 0.7427, d2.loss_plan_l1_fix_time: 3.6959, d2.loss_plan_l1_fix_dist: 0.8903, d3.loss_plan_l1_fix_time: 3.7088, d3.loss_plan_l1_fix_dist: 1.0372, d4.loss_plan_l1_fix_time: 3.7297, d4.loss_plan_l1_fix_dist: 1.2036, d5.loss_plan_l1_fix_time: 3.7535, d5.loss_plan_l1_fix_dist: 1.3744, d6.loss_plan_l1_fix_time: 3.7778, d6.loss_plan_l1_fix_dist: 1.5292, d0.loss_cls_all: 1.0805, d0.loss_bbox_all: 1.1983, d0.loss_cls: 1.0805, d0.loss_bbox: 1.1983, d1.loss_cls: 1.0859, d1.loss_bbox: 1.2240, d2.loss_cls: 1.0908, d2.loss_bbox: 1.2402, d3.loss_cls: 1.0927, d3.loss_bbox: 1.2705, d4.loss_cls: 1.0982, d4.loss_bbox: 1.3129, d5.loss_cls: 1.1017, d5.loss_bbox: 1.3487, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0371, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1270, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2082, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2674, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3397, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3869, d0.loss_map_cls_all: 0.6440, d0.loss_map_pts_all: 3.6981, d0.loss_map_dir_all: 0.0455, d0.loss_map_cls: 0.6440, d0.loss_map_pts: 3.6981, d0.loss_map_dir: 0.0455, d1.loss_map_cls: 0.6503, d1.loss_map_pts: 3.1837, d1.loss_map_dir: 0.0448, d2.loss_map_cls: 0.6541, d2.loss_map_pts: 3.0889, d2.loss_map_dir: 0.0449, d3.loss_map_cls: 0.6557, d3.loss_map_pts: 3.0615, d3.loss_map_dir: 0.0450, d4.loss_map_cls: 0.6556, d4.loss_map_pts: 3.0619, d4.loss_map_dir: 0.0451, d5.loss_map_cls: 0.6559, d5.loss_map_pts: 3.0700, d5.loss_map_dir: 0.0451, loss: 99.9703, grad_norm: 263.2283 +2026-02-24 01:17:07,203 - DriveTransformer - INFO - Epoch [1][5350/59059] lr: 1.000e-04, eta: 23 days, 10:06:52, time: 0.570, data_time: 0.026, memory: 14138, loss_cls: 1.1365, loss_bbox: 1.3525, loss_traj: 2.4676, loss_traj_cls: 0.0005, loss_map_cls: 0.6686, loss_map_pts: 3.2803, loss_map_dir: 0.0503, d0.loss_plan_l1_fix_time: 3.6430, d0.loss_plan_l1_fix_dist: 0.8078, d1.loss_plan_l1_fix_time: 3.5748, d1.loss_plan_l1_fix_dist: 0.9304, d2.loss_plan_l1_fix_time: 3.5835, d2.loss_plan_l1_fix_dist: 1.0923, d3.loss_plan_l1_fix_time: 3.5987, d3.loss_plan_l1_fix_dist: 1.2550, d4.loss_plan_l1_fix_time: 3.6261, d4.loss_plan_l1_fix_dist: 1.4352, d5.loss_plan_l1_fix_time: 3.6527, d5.loss_plan_l1_fix_dist: 1.6275, d6.loss_plan_l1_fix_time: 3.6894, d6.loss_plan_l1_fix_dist: 1.8082, d0.loss_cls_all: 1.0871, d0.loss_bbox_all: 1.2145, d0.loss_cls: 1.0871, d0.loss_bbox: 1.2145, d1.loss_cls: 1.1011, d1.loss_bbox: 1.2286, d2.loss_cls: 1.0980, d2.loss_bbox: 1.2449, d3.loss_cls: 1.1040, d3.loss_bbox: 1.2725, d4.loss_cls: 1.1150, d4.loss_bbox: 1.3025, d5.loss_cls: 1.1278, d5.loss_bbox: 1.3256, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1064, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2030, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2644, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2716, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3642, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4182, d0.loss_map_cls_all: 0.6614, d0.loss_map_pts_all: 3.8005, d0.loss_map_dir_all: 0.0505, d0.loss_map_cls: 0.6614, d0.loss_map_pts: 3.8005, d0.loss_map_dir: 0.0505, d1.loss_map_cls: 0.6664, d1.loss_map_pts: 3.3095, d1.loss_map_dir: 0.0502, d2.loss_map_cls: 0.6684, d2.loss_map_pts: 3.2431, d2.loss_map_dir: 0.0503, d3.loss_map_cls: 0.6682, d3.loss_map_pts: 3.2402, d3.loss_map_dir: 0.0503, d4.loss_map_cls: 0.6682, d4.loss_map_pts: 3.2515, d4.loss_map_dir: 0.0502, d5.loss_map_cls: 0.6688, d5.loss_map_pts: 3.2654, d5.loss_map_dir: 0.0502, loss: 102.3604, grad_norm: 263.3810 +2026-02-24 01:17:35,142 - DriveTransformer - INFO - Epoch [1][5400/59059] lr: 1.000e-04, eta: 23 days, 9:59:12, time: 0.559, data_time: 0.025, memory: 14138, loss_cls: 1.0981, loss_bbox: 1.2699, loss_traj: 2.4547, loss_traj_cls: 0.0006, loss_map_cls: 0.6819, loss_map_pts: 2.6742, loss_map_dir: 0.0419, d0.loss_plan_l1_fix_time: 3.8024, d0.loss_plan_l1_fix_dist: 0.7413, d1.loss_plan_l1_fix_time: 3.6888, d1.loss_plan_l1_fix_dist: 0.8483, d2.loss_plan_l1_fix_time: 3.6917, d2.loss_plan_l1_fix_dist: 0.9896, d3.loss_plan_l1_fix_time: 3.7071, d3.loss_plan_l1_fix_dist: 1.1548, d4.loss_plan_l1_fix_time: 3.7331, d4.loss_plan_l1_fix_dist: 1.3241, d5.loss_plan_l1_fix_time: 3.7580, d5.loss_plan_l1_fix_dist: 1.5060, d6.loss_plan_l1_fix_time: 3.7952, d6.loss_plan_l1_fix_dist: 1.6847, d0.loss_cls_all: 1.0592, d0.loss_bbox_all: 1.1779, d0.loss_cls: 1.0592, d0.loss_bbox: 1.1779, d1.loss_cls: 1.0698, d1.loss_bbox: 1.1854, d2.loss_cls: 1.0704, d2.loss_bbox: 1.1890, d3.loss_cls: 1.0737, d3.loss_bbox: 1.1991, d4.loss_cls: 1.0818, d4.loss_bbox: 1.2104, d5.loss_cls: 1.0912, d5.loss_bbox: 1.2322, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0846, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.1460, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2037, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.2541, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2504, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.3282, d0.loss_map_cls_all: 0.6623, d0.loss_map_pts_all: 3.3732, d0.loss_map_dir_all: 0.0422, d0.loss_map_cls: 0.6623, d0.loss_map_pts: 3.3732, d0.loss_map_dir: 0.0422, d1.loss_map_cls: 0.6724, d1.loss_map_pts: 2.7844, d1.loss_map_dir: 0.0415, d2.loss_map_cls: 0.6769, d2.loss_map_pts: 2.6917, d2.loss_map_dir: 0.0418, d3.loss_map_cls: 0.6774, d3.loss_map_pts: 2.6672, d3.loss_map_dir: 0.0420, d4.loss_map_cls: 0.6817, d4.loss_map_pts: 2.6657, d4.loss_map_dir: 0.0421, d5.loss_map_cls: 0.6803, d5.loss_map_pts: 2.6690, d5.loss_map_dir: 0.0420, loss: 97.0256, grad_norm: 263.7415 +2026-02-24 01:18:02,820 - DriveTransformer - INFO - Epoch [1][5450/59059] lr: 1.000e-04, eta: 23 days, 9:48:50, time: 0.554, data_time: 0.025, memory: 14138, loss_cls: 1.0922, loss_bbox: 1.3049, loss_traj: 2.8147, loss_traj_cls: 0.0005, loss_map_cls: 0.7111, loss_map_pts: 2.8908, loss_map_dir: 0.0383, d0.loss_plan_l1_fix_time: 4.0971, d0.loss_plan_l1_fix_dist: 0.6580, d1.loss_plan_l1_fix_time: 3.8554, d1.loss_plan_l1_fix_dist: 0.7345, d2.loss_plan_l1_fix_time: 3.8583, d2.loss_plan_l1_fix_dist: 0.8629, d3.loss_plan_l1_fix_time: 3.8836, d3.loss_plan_l1_fix_dist: 1.0172, d4.loss_plan_l1_fix_time: 3.9085, d4.loss_plan_l1_fix_dist: 1.1747, d5.loss_plan_l1_fix_time: 3.9372, d5.loss_plan_l1_fix_dist: 1.3519, d6.loss_plan_l1_fix_time: 3.9675, d6.loss_plan_l1_fix_dist: 1.5455, d0.loss_cls_all: 1.0224, d0.loss_bbox_all: 1.1628, d0.loss_cls: 1.0224, d0.loss_bbox: 1.1628, d1.loss_cls: 1.0336, d1.loss_bbox: 1.1750, d2.loss_cls: 1.0446, d2.loss_bbox: 1.1936, d3.loss_cls: 1.0545, d3.loss_bbox: 1.2087, d4.loss_cls: 1.0702, d4.loss_bbox: 1.2357, d5.loss_cls: 1.0879, d5.loss_bbox: 1.2688, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.4929, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.4864, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.5190, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.5703, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.6009, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.7071, d0.loss_map_cls_all: 0.6834, d0.loss_map_pts_all: 3.5183, d0.loss_map_dir_all: 0.0386, d0.loss_map_cls: 0.6834, d0.loss_map_pts: 3.5183, d0.loss_map_dir: 0.0386, d1.loss_map_cls: 0.6930, d1.loss_map_pts: 2.9506, d1.loss_map_dir: 0.0380, d2.loss_map_cls: 0.7005, d2.loss_map_pts: 2.8678, d2.loss_map_dir: 0.0383, d3.loss_map_cls: 0.7025, d3.loss_map_pts: 2.8542, d3.loss_map_dir: 0.0383, d4.loss_map_cls: 0.7080, d4.loss_map_pts: 2.8632, d4.loss_map_dir: 0.0383, d5.loss_map_cls: 0.7069, d5.loss_map_pts: 2.8767, d5.loss_map_dir: 0.0382, loss: 101.4224, grad_norm: 263.9885 +2026-02-24 01:18:30,202 - DriveTransformer - INFO - Epoch [1][5500/59059] lr: 1.000e-04, eta: 23 days, 9:35:29, time: 0.548, data_time: 0.025, memory: 14138, loss_cls: 1.1304, loss_bbox: 1.3158, loss_traj: 2.8504, loss_traj_cls: 0.0006, loss_map_cls: 0.6795, loss_map_pts: 2.7208, loss_map_dir: 0.0373, d0.loss_plan_l1_fix_time: 4.0813, d0.loss_plan_l1_fix_dist: 0.7228, d1.loss_plan_l1_fix_time: 3.8492, d1.loss_plan_l1_fix_dist: 0.8160, d2.loss_plan_l1_fix_time: 3.8609, d2.loss_plan_l1_fix_dist: 0.9392, d3.loss_plan_l1_fix_time: 3.8930, d3.loss_plan_l1_fix_dist: 1.0768, d4.loss_plan_l1_fix_time: 3.9286, d4.loss_plan_l1_fix_dist: 1.2253, d5.loss_plan_l1_fix_time: 3.9663, d5.loss_plan_l1_fix_dist: 1.3882, d6.loss_plan_l1_fix_time: 4.0039, d6.loss_plan_l1_fix_dist: 1.5927, d0.loss_cls_all: 1.0679, d0.loss_bbox_all: 1.2041, d0.loss_cls: 1.0679, d0.loss_bbox: 1.2041, d1.loss_cls: 1.0753, d1.loss_bbox: 1.2107, d2.loss_cls: 1.0911, d2.loss_bbox: 1.2195, d3.loss_cls: 1.0954, d3.loss_bbox: 1.2336, d4.loss_cls: 1.1109, d4.loss_bbox: 1.2566, d5.loss_cls: 1.1243, d5.loss_bbox: 1.2872, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2892, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.3164, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3535, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.4052, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.4944, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.6498, d0.loss_map_cls_all: 0.6596, d0.loss_map_pts_all: 3.3964, d0.loss_map_dir_all: 0.0372, d0.loss_map_cls: 0.6596, d0.loss_map_pts: 3.3964, d0.loss_map_dir: 0.0372, d1.loss_map_cls: 0.6708, d1.loss_map_pts: 2.8098, d1.loss_map_dir: 0.0371, d2.loss_map_cls: 0.6723, d2.loss_map_pts: 2.7105, d2.loss_map_dir: 0.0371, d3.loss_map_cls: 0.6747, d3.loss_map_pts: 2.6905, d3.loss_map_dir: 0.0372, d4.loss_map_cls: 0.6760, d4.loss_map_pts: 2.6931, d4.loss_map_dir: 0.0372, d5.loss_map_cls: 0.6772, d5.loss_map_pts: 2.7044, d5.loss_map_dir: 0.0372, loss: 100.1912, grad_norm: 264.5936 +2026-02-24 01:18:57,497 - DriveTransformer - INFO - Epoch [1][5550/59059] lr: 1.000e-04, eta: 23 days, 9:21:27, time: 0.546, data_time: 0.025, memory: 14138, loss_cls: 1.1363, loss_bbox: 1.3857, loss_traj: 2.4757, loss_traj_cls: 0.0005, loss_map_cls: 0.6817, loss_map_pts: 2.4438, loss_map_dir: 0.0334, d0.loss_plan_l1_fix_time: 4.2567, d0.loss_plan_l1_fix_dist: 0.7238, d1.loss_plan_l1_fix_time: 4.1713, d1.loss_plan_l1_fix_dist: 0.8144, d2.loss_plan_l1_fix_time: 4.1924, d2.loss_plan_l1_fix_dist: 0.9239, d3.loss_plan_l1_fix_time: 4.2205, d3.loss_plan_l1_fix_dist: 1.0467, d4.loss_plan_l1_fix_time: 4.2523, d4.loss_plan_l1_fix_dist: 1.1939, d5.loss_plan_l1_fix_time: 4.2871, d5.loss_plan_l1_fix_dist: 1.3553, d6.loss_plan_l1_fix_time: 4.3224, d6.loss_plan_l1_fix_dist: 1.5487, d0.loss_cls_all: 1.0377, d0.loss_bbox_all: 1.1510, d0.loss_cls: 1.0377, d0.loss_bbox: 1.1510, d1.loss_cls: 1.0507, d1.loss_bbox: 1.1677, d2.loss_cls: 1.0724, d2.loss_bbox: 1.1919, d3.loss_cls: 1.0824, d3.loss_bbox: 1.2242, d4.loss_cls: 1.1001, d4.loss_bbox: 1.2675, d5.loss_cls: 1.1098, d5.loss_bbox: 1.3251, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.2364, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2575, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2848, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2992, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.3624, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4072, d0.loss_map_cls_all: 0.6574, d0.loss_map_pts_all: 3.2643, d0.loss_map_dir_all: 0.0341, d0.loss_map_cls: 0.6574, d0.loss_map_pts: 3.2643, d0.loss_map_dir: 0.0341, d1.loss_map_cls: 0.6665, d1.loss_map_pts: 2.6170, d1.loss_map_dir: 0.0334, d2.loss_map_cls: 0.6718, d2.loss_map_pts: 2.4746, d2.loss_map_dir: 0.0334, d3.loss_map_cls: 0.6745, d3.loss_map_pts: 2.4389, d3.loss_map_dir: 0.0334, d4.loss_map_cls: 0.6774, d4.loss_map_pts: 2.4337, d4.loss_map_dir: 0.0334, d5.loss_map_cls: 0.6796, d5.loss_map_pts: 2.4368, d5.loss_map_dir: 0.0334, loss: 99.1355, grad_norm: 265.7641 +2026-02-24 01:19:25,111 - DriveTransformer - INFO - Epoch [1][5600/59059] lr: 1.000e-04, eta: 23 days, 9:11:01, time: 0.552, data_time: 0.025, memory: 14138, loss_cls: 1.2154, loss_bbox: 1.3393, loss_traj: 2.2247, loss_traj_cls: 0.0006, loss_map_cls: 0.6795, loss_map_pts: 2.8873, loss_map_dir: 0.0395, d0.loss_plan_l1_fix_time: 3.8902, d0.loss_plan_l1_fix_dist: 0.6819, d1.loss_plan_l1_fix_time: 3.7350, d1.loss_plan_l1_fix_dist: 0.7577, d2.loss_plan_l1_fix_time: 3.7354, d2.loss_plan_l1_fix_dist: 0.8649, d3.loss_plan_l1_fix_time: 3.7570, d3.loss_plan_l1_fix_dist: 0.9816, d4.loss_plan_l1_fix_time: 3.7867, d4.loss_plan_l1_fix_dist: 1.1174, d5.loss_plan_l1_fix_time: 3.8182, d5.loss_plan_l1_fix_dist: 1.2540, d6.loss_plan_l1_fix_time: 3.8507, d6.loss_plan_l1_fix_dist: 1.3887, d0.loss_cls_all: 1.1320, d0.loss_bbox_all: 1.2270, d0.loss_cls: 1.1320, d0.loss_bbox: 1.2270, d1.loss_cls: 1.1439, d1.loss_bbox: 1.2361, d2.loss_cls: 1.1623, d2.loss_bbox: 1.2466, d3.loss_cls: 1.1673, d3.loss_bbox: 1.2581, d4.loss_cls: 1.1814, d4.loss_bbox: 1.2767, d5.loss_cls: 1.1950, d5.loss_bbox: 1.2985, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0190, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0739, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0917, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1244, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1677, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.1822, d0.loss_map_cls_all: 0.6560, d0.loss_map_pts_all: 3.6345, d0.loss_map_dir_all: 0.0395, d0.loss_map_cls: 0.6560, d0.loss_map_pts: 3.6345, d0.loss_map_dir: 0.0395, d1.loss_map_cls: 0.6680, d1.loss_map_pts: 3.0433, d1.loss_map_dir: 0.0390, d2.loss_map_cls: 0.6710, d2.loss_map_pts: 2.9111, d2.loss_map_dir: 0.0393, d3.loss_map_cls: 0.6721, d3.loss_map_pts: 2.8766, d3.loss_map_dir: 0.0393, d4.loss_map_cls: 0.6776, d4.loss_map_pts: 2.8699, d4.loss_map_dir: 0.0393, d5.loss_map_cls: 0.6781, d5.loss_map_pts: 2.8742, d5.loss_map_dir: 0.0395, loss: 98.3503, grad_norm: 265.3170 +2026-02-24 01:19:54,195 - DriveTransformer - INFO - Epoch [1][5650/59059] lr: 1.000e-04, eta: 23 days, 9:16:04, time: 0.582, data_time: 0.028, memory: 14138, loss_cls: 1.1331, loss_bbox: 1.3067, loss_traj: 2.6757, loss_traj_cls: 0.0005, loss_map_cls: 0.6854, loss_map_pts: 2.8220, loss_map_dir: 0.0418, d0.loss_plan_l1_fix_time: 3.6759, d0.loss_plan_l1_fix_dist: 0.6589, d1.loss_plan_l1_fix_time: 3.5306, d1.loss_plan_l1_fix_dist: 0.7391, d2.loss_plan_l1_fix_time: 3.5338, d2.loss_plan_l1_fix_dist: 0.8540, d3.loss_plan_l1_fix_time: 3.5513, d3.loss_plan_l1_fix_dist: 0.9778, d4.loss_plan_l1_fix_time: 3.5777, d4.loss_plan_l1_fix_dist: 1.1042, d5.loss_plan_l1_fix_time: 3.6040, d5.loss_plan_l1_fix_dist: 1.2413, d6.loss_plan_l1_fix_time: 3.6332, d6.loss_plan_l1_fix_dist: 1.3734, d0.loss_cls_all: 1.0984, d0.loss_bbox_all: 1.1740, d0.loss_cls: 1.0984, d0.loss_bbox: 1.1740, d1.loss_cls: 1.0998, d1.loss_bbox: 1.1987, d2.loss_cls: 1.1068, d2.loss_bbox: 1.2264, d3.loss_cls: 1.1190, d3.loss_bbox: 1.2308, d4.loss_cls: 1.1204, d4.loss_bbox: 1.2521, d5.loss_cls: 1.1217, d5.loss_bbox: 1.2683, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.5376, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5801, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.5769, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.6363, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.6269, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.6347, d0.loss_map_cls_all: 0.6653, d0.loss_map_pts_all: 3.5509, d0.loss_map_dir_all: 0.0419, d0.loss_map_cls: 0.6653, d0.loss_map_pts: 3.5509, d0.loss_map_dir: 0.0419, d1.loss_map_cls: 0.6776, d1.loss_map_pts: 2.9753, d1.loss_map_dir: 0.0417, d2.loss_map_cls: 0.6789, d2.loss_map_pts: 2.8522, d2.loss_map_dir: 0.0417, d3.loss_map_cls: 0.6791, d3.loss_map_pts: 2.8209, d3.loss_map_dir: 0.0417, d4.loss_map_cls: 0.6847, d4.loss_map_pts: 2.8129, d4.loss_map_dir: 0.0417, d5.loss_map_cls: 0.6837, d5.loss_map_pts: 2.8133, d5.loss_map_dir: 0.0417, loss: 99.0086, grad_norm: 265.6006 +2026-02-24 01:20:22,917 - DriveTransformer - INFO - Epoch [1][5700/59059] lr: 1.000e-04, eta: 23 days, 9:17:20, time: 0.574, data_time: 0.026, memory: 14138, loss_cls: 1.1284, loss_bbox: 1.3138, loss_traj: 2.3844, loss_traj_cls: 0.0005, loss_map_cls: 0.6838, loss_map_pts: 2.9267, loss_map_dir: 0.0468, d0.loss_plan_l1_fix_time: 3.8765, d0.loss_plan_l1_fix_dist: 0.7149, d1.loss_plan_l1_fix_time: 3.7339, d1.loss_plan_l1_fix_dist: 0.8291, d2.loss_plan_l1_fix_time: 3.7313, d2.loss_plan_l1_fix_dist: 0.9948, d3.loss_plan_l1_fix_time: 3.7471, d3.loss_plan_l1_fix_dist: 1.1756, d4.loss_plan_l1_fix_time: 3.7742, d4.loss_plan_l1_fix_dist: 1.3555, d5.loss_plan_l1_fix_time: 3.7988, d5.loss_plan_l1_fix_dist: 1.5468, d6.loss_plan_l1_fix_time: 3.8266, d6.loss_plan_l1_fix_dist: 1.7248, d0.loss_cls_all: 1.0645, d0.loss_bbox_all: 1.2285, d0.loss_cls: 1.0645, d0.loss_bbox: 1.2285, d1.loss_cls: 1.0824, d1.loss_bbox: 1.2330, d2.loss_cls: 1.0989, d2.loss_bbox: 1.2575, d3.loss_cls: 1.1067, d3.loss_bbox: 1.2583, d4.loss_cls: 1.1039, d4.loss_bbox: 1.2699, d5.loss_cls: 1.1053, d5.loss_bbox: 1.2850, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1927, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2538, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2855, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2587, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2603, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2782, d0.loss_map_cls_all: 0.6760, d0.loss_map_pts_all: 3.3952, d0.loss_map_dir_all: 0.0466, d0.loss_map_cls: 0.6760, d0.loss_map_pts: 3.3952, d0.loss_map_dir: 0.0466, d1.loss_map_cls: 0.6875, d1.loss_map_pts: 2.9847, d1.loss_map_dir: 0.0464, d2.loss_map_cls: 0.6855, d2.loss_map_pts: 2.9292, d2.loss_map_dir: 0.0466, d3.loss_map_cls: 0.6829, d3.loss_map_pts: 2.9250, d3.loss_map_dir: 0.0466, d4.loss_map_cls: 0.6847, d4.loss_map_pts: 2.9263, d4.loss_map_dir: 0.0467, d5.loss_map_cls: 0.6839, d5.loss_map_pts: 2.9262, d5.loss_map_dir: 0.0467, loss: 99.8179, grad_norm: 265.7846 +2026-02-24 01:20:50,906 - DriveTransformer - INFO - Epoch [1][5750/59059] lr: 1.000e-04, eta: 23 days, 9:11:02, time: 0.560, data_time: 0.025, memory: 14138, loss_cls: 1.1154, loss_bbox: 1.3466, loss_traj: 2.3541, loss_traj_cls: 0.0006, loss_map_cls: 0.6630, loss_map_pts: 2.7587, loss_map_dir: 0.0400, d0.loss_plan_l1_fix_time: 3.7610, d0.loss_plan_l1_fix_dist: 0.8190, d1.loss_plan_l1_fix_time: 3.6378, d1.loss_plan_l1_fix_dist: 0.8983, d2.loss_plan_l1_fix_time: 3.6356, d2.loss_plan_l1_fix_dist: 1.0153, d3.loss_plan_l1_fix_time: 3.6464, d3.loss_plan_l1_fix_dist: 1.1397, d4.loss_plan_l1_fix_time: 3.6713, d4.loss_plan_l1_fix_dist: 1.2838, d5.loss_plan_l1_fix_time: 3.6957, d5.loss_plan_l1_fix_dist: 1.4454, d6.loss_plan_l1_fix_time: 3.7244, d6.loss_plan_l1_fix_dist: 1.6160, d0.loss_cls_all: 1.0826, d0.loss_bbox_all: 1.3167, d0.loss_cls: 1.0826, d0.loss_bbox: 1.3167, d1.loss_cls: 1.0870, d1.loss_bbox: 1.3138, d2.loss_cls: 1.0945, d2.loss_bbox: 1.3215, d3.loss_cls: 1.1076, d3.loss_bbox: 1.3231, d4.loss_cls: 1.1106, d4.loss_bbox: 1.3307, d5.loss_cls: 1.1079, d5.loss_bbox: 1.3366, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1724, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.3050, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3087, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3194, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3127, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.3179, d0.loss_map_cls_all: 0.6446, d0.loss_map_pts_all: 3.4505, d0.loss_map_dir_all: 0.0400, d0.loss_map_cls: 0.6446, d0.loss_map_pts: 3.4505, d0.loss_map_dir: 0.0400, d1.loss_map_cls: 0.6521, d1.loss_map_pts: 2.8811, d1.loss_map_dir: 0.0399, d2.loss_map_cls: 0.6554, d2.loss_map_pts: 2.7649, d2.loss_map_dir: 0.0400, d3.loss_map_cls: 0.6579, d3.loss_map_pts: 2.7420, d3.loss_map_dir: 0.0400, d4.loss_map_cls: 0.6574, d4.loss_map_pts: 2.7441, d4.loss_map_dir: 0.0399, d5.loss_map_cls: 0.6599, d5.loss_map_pts: 2.7516, d5.loss_map_dir: 0.0400, loss: 98.5763, grad_norm: 264.5935 +2026-02-24 01:21:20,645 - DriveTransformer - INFO - Epoch [1][5800/59059] lr: 1.000e-04, eta: 23 days, 9:22:36, time: 0.595, data_time: 0.030, memory: 14138, loss_cls: 1.0840, loss_bbox: 1.1994, loss_traj: 2.1044, loss_traj_cls: 0.0006, loss_map_cls: 0.6692, loss_map_pts: 2.8083, loss_map_dir: 0.0419, d0.loss_plan_l1_fix_time: 3.8839, d0.loss_plan_l1_fix_dist: 0.7391, d1.loss_plan_l1_fix_time: 3.6843, d1.loss_plan_l1_fix_dist: 0.8293, d2.loss_plan_l1_fix_time: 3.6670, d2.loss_plan_l1_fix_dist: 0.9503, d3.loss_plan_l1_fix_time: 3.6821, d3.loss_plan_l1_fix_dist: 1.0750, d4.loss_plan_l1_fix_time: 3.7038, d4.loss_plan_l1_fix_dist: 1.2065, d5.loss_plan_l1_fix_time: 3.7290, d5.loss_plan_l1_fix_dist: 1.3484, d6.loss_plan_l1_fix_time: 3.7528, d6.loss_plan_l1_fix_dist: 1.5069, d0.loss_cls_all: 1.0636, d0.loss_bbox_all: 1.1557, d0.loss_cls: 1.0636, d0.loss_bbox: 1.1557, d1.loss_cls: 1.0690, d1.loss_bbox: 1.1607, d2.loss_cls: 1.0708, d2.loss_bbox: 1.1673, d3.loss_cls: 1.0844, d3.loss_bbox: 1.1806, d4.loss_cls: 1.0890, d4.loss_bbox: 1.1915, d5.loss_cls: 1.0826, d5.loss_bbox: 1.1897, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8948, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9600, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9805, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9943, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0480, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1142, d0.loss_map_cls_all: 0.6452, d0.loss_map_pts_all: 3.5169, d0.loss_map_dir_all: 0.0426, d0.loss_map_cls: 0.6452, d0.loss_map_pts: 3.5169, d0.loss_map_dir: 0.0426, d1.loss_map_cls: 0.6542, d1.loss_map_pts: 2.9249, d1.loss_map_dir: 0.0421, d2.loss_map_cls: 0.6585, d2.loss_map_pts: 2.8146, d2.loss_map_dir: 0.0421, d3.loss_map_cls: 0.6632, d3.loss_map_pts: 2.7894, d3.loss_map_dir: 0.0421, d4.loss_map_cls: 0.6653, d4.loss_map_pts: 2.7904, d4.loss_map_dir: 0.0421, d5.loss_map_cls: 0.6668, d5.loss_map_pts: 2.7988, d5.loss_map_dir: 0.0419, loss: 95.4308, grad_norm: 264.6693 +2026-02-24 01:21:49,017 - DriveTransformer - INFO - Epoch [1][5850/59059] lr: 1.000e-04, eta: 23 days, 9:20:12, time: 0.567, data_time: 0.029, memory: 14138, loss_cls: 1.0503, loss_bbox: 1.2074, loss_traj: 2.0967, loss_traj_cls: 0.0006, loss_map_cls: 0.6494, loss_map_pts: 2.8249, loss_map_dir: 0.0398, d0.loss_plan_l1_fix_time: 3.2399, d0.loss_plan_l1_fix_dist: 0.6427, d1.loss_plan_l1_fix_time: 3.0416, d1.loss_plan_l1_fix_dist: 0.7407, d2.loss_plan_l1_fix_time: 3.0233, d2.loss_plan_l1_fix_dist: 0.8623, d3.loss_plan_l1_fix_time: 3.0336, d3.loss_plan_l1_fix_dist: 0.9976, d4.loss_plan_l1_fix_time: 3.0537, d4.loss_plan_l1_fix_dist: 1.1460, d5.loss_plan_l1_fix_time: 3.0790, d5.loss_plan_l1_fix_dist: 1.2999, d6.loss_plan_l1_fix_time: 3.1084, d6.loss_plan_l1_fix_dist: 1.4839, d0.loss_cls_all: 1.0270, d0.loss_bbox_all: 1.1670, d0.loss_cls: 1.0270, d0.loss_bbox: 1.1670, d1.loss_cls: 1.0294, d1.loss_bbox: 1.1812, d2.loss_cls: 1.0306, d2.loss_bbox: 1.1864, d3.loss_cls: 1.0437, d3.loss_bbox: 1.1987, d4.loss_cls: 1.0479, d4.loss_bbox: 1.2027, d5.loss_cls: 1.0443, d5.loss_bbox: 1.2056, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9050, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9550, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9890, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9902, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0280, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0568, d0.loss_map_cls_all: 0.6323, d0.loss_map_pts_all: 3.4629, d0.loss_map_dir_all: 0.0401, d0.loss_map_cls: 0.6323, d0.loss_map_pts: 3.4629, d0.loss_map_dir: 0.0401, d1.loss_map_cls: 0.6420, d1.loss_map_pts: 2.8874, d1.loss_map_dir: 0.0397, d2.loss_map_cls: 0.6437, d2.loss_map_pts: 2.7952, d2.loss_map_dir: 0.0397, d3.loss_map_cls: 0.6448, d3.loss_map_pts: 2.7824, d3.loss_map_dir: 0.0398, d4.loss_map_cls: 0.6456, d4.loss_map_pts: 2.7911, d4.loss_map_dir: 0.0398, d5.loss_map_cls: 0.6486, d5.loss_map_pts: 2.8043, d5.loss_map_dir: 0.0398, loss: 89.8614, grad_norm: 266.9185 +2026-02-24 01:22:16,648 - DriveTransformer - INFO - Epoch [1][5900/59059] lr: 1.000e-04, eta: 23 days, 9:10:27, time: 0.553, data_time: 0.023, memory: 14138, loss_cls: 1.0786, loss_bbox: 1.2560, loss_traj: 2.3334, loss_traj_cls: 0.0006, loss_map_cls: 0.6863, loss_map_pts: 2.7392, loss_map_dir: 0.0393, d0.loss_plan_l1_fix_time: 3.7838, d0.loss_plan_l1_fix_dist: 0.7044, d1.loss_plan_l1_fix_time: 3.6437, d1.loss_plan_l1_fix_dist: 0.8113, d2.loss_plan_l1_fix_time: 3.6376, d2.loss_plan_l1_fix_dist: 0.9691, d3.loss_plan_l1_fix_time: 3.6511, d3.loss_plan_l1_fix_dist: 1.1390, d4.loss_plan_l1_fix_time: 3.6703, d4.loss_plan_l1_fix_dist: 1.3167, d5.loss_plan_l1_fix_time: 3.6952, d5.loss_plan_l1_fix_dist: 1.4868, d6.loss_plan_l1_fix_time: 3.7216, d6.loss_plan_l1_fix_dist: 1.6407, d0.loss_cls_all: 1.0529, d0.loss_bbox_all: 1.2084, d0.loss_cls: 1.0529, d0.loss_bbox: 1.2084, d1.loss_cls: 1.0539, d1.loss_bbox: 1.2160, d2.loss_cls: 1.0656, d2.loss_bbox: 1.2249, d3.loss_cls: 1.0726, d3.loss_bbox: 1.2361, d4.loss_cls: 1.0797, d4.loss_bbox: 1.2503, d5.loss_cls: 1.0853, d5.loss_bbox: 1.2644, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0816, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1434, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1756, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1944, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2528, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.3071, d0.loss_map_cls_all: 0.6625, d0.loss_map_pts_all: 3.3361, d0.loss_map_dir_all: 0.0392, d0.loss_map_cls: 0.6625, d0.loss_map_pts: 3.3361, d0.loss_map_dir: 0.0392, d1.loss_map_cls: 0.6735, d1.loss_map_pts: 2.7953, d1.loss_map_dir: 0.0390, d2.loss_map_cls: 0.6785, d2.loss_map_pts: 2.7248, d2.loss_map_dir: 0.0392, d3.loss_map_cls: 0.6808, d3.loss_map_pts: 2.7139, d3.loss_map_dir: 0.0394, d4.loss_map_cls: 0.6835, d4.loss_map_pts: 2.7165, d4.loss_map_dir: 0.0394, d5.loss_map_cls: 0.6851, d5.loss_map_pts: 2.7254, d5.loss_map_dir: 0.0394, loss: 96.5833, grad_norm: 267.2979 +2026-02-24 01:22:44,492 - DriveTransformer - INFO - Epoch [1][5950/59059] lr: 1.000e-04, eta: 23 days, 9:02:56, time: 0.557, data_time: 0.024, memory: 14138, loss_cls: 1.1372, loss_bbox: 1.2771, loss_traj: 1.9293, loss_traj_cls: 0.0005, loss_map_cls: 0.6803, loss_map_pts: 2.9717, loss_map_dir: 0.0463, d0.loss_plan_l1_fix_time: 3.4851, d0.loss_plan_l1_fix_dist: 0.7084, d1.loss_plan_l1_fix_time: 3.3667, d1.loss_plan_l1_fix_dist: 0.8105, d2.loss_plan_l1_fix_time: 3.3688, d2.loss_plan_l1_fix_dist: 0.9480, d3.loss_plan_l1_fix_time: 3.3903, d3.loss_plan_l1_fix_dist: 1.0965, d4.loss_plan_l1_fix_time: 3.4160, d4.loss_plan_l1_fix_dist: 1.2572, d5.loss_plan_l1_fix_time: 3.4448, d5.loss_plan_l1_fix_dist: 1.4130, d6.loss_plan_l1_fix_time: 3.4723, d6.loss_plan_l1_fix_dist: 1.5375, d0.loss_cls_all: 1.1209, d0.loss_bbox_all: 1.2488, d0.loss_cls: 1.1209, d0.loss_bbox: 1.2488, d1.loss_cls: 1.1182, d1.loss_bbox: 1.2515, d2.loss_cls: 1.1340, d2.loss_bbox: 1.2586, d3.loss_cls: 1.1411, d3.loss_bbox: 1.2651, d4.loss_cls: 1.1478, d4.loss_bbox: 1.2765, d5.loss_cls: 1.1527, d5.loss_bbox: 1.2853, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7814, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8322, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8689, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8609, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8626, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9043, d0.loss_map_cls_all: 0.6647, d0.loss_map_pts_all: 3.5341, d0.loss_map_dir_all: 0.0457, d0.loss_map_cls: 0.6647, d0.loss_map_pts: 3.5341, d0.loss_map_dir: 0.0457, d1.loss_map_cls: 0.6720, d1.loss_map_pts: 3.0300, d1.loss_map_dir: 0.0458, d2.loss_map_cls: 0.6758, d2.loss_map_pts: 2.9628, d2.loss_map_dir: 0.0460, d3.loss_map_cls: 0.6768, d3.loss_map_pts: 2.9529, d3.loss_map_dir: 0.0462, d4.loss_map_cls: 0.6759, d4.loss_map_pts: 2.9563, d4.loss_map_dir: 0.0463, d5.loss_map_cls: 0.6766, d5.loss_map_pts: 2.9638, d5.loss_map_dir: 0.0463, loss: 94.6042, grad_norm: 267.9330 +2026-02-24 01:23:12,252 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 01:23:12,252 - DriveTransformer - INFO - Epoch [1][6000/59059] lr: 1.000e-04, eta: 23 days, 8:55:08, time: 0.556, data_time: 0.025, memory: 14138, loss_cls: 1.0673, loss_bbox: 1.3020, loss_traj: 2.5764, loss_traj_cls: 0.0005, loss_map_cls: 0.6713, loss_map_pts: 2.5739, loss_map_dir: 0.0399, d0.loss_plan_l1_fix_time: 3.9370, d0.loss_plan_l1_fix_dist: 0.6799, d1.loss_plan_l1_fix_time: 3.7197, d1.loss_plan_l1_fix_dist: 0.7452, d2.loss_plan_l1_fix_time: 3.7167, d2.loss_plan_l1_fix_dist: 0.8303, d3.loss_plan_l1_fix_time: 3.7362, d3.loss_plan_l1_fix_dist: 0.9315, d4.loss_plan_l1_fix_time: 3.7552, d4.loss_plan_l1_fix_dist: 1.0474, d5.loss_plan_l1_fix_time: 3.7756, d5.loss_plan_l1_fix_dist: 1.1802, d6.loss_plan_l1_fix_time: 3.7951, d6.loss_plan_l1_fix_dist: 1.3471, d0.loss_cls_all: 1.0545, d0.loss_bbox_all: 1.1873, d0.loss_cls: 1.0545, d0.loss_bbox: 1.1873, d1.loss_cls: 1.0532, d1.loss_bbox: 1.1963, d2.loss_cls: 1.0600, d2.loss_bbox: 1.2017, d3.loss_cls: 1.0644, d3.loss_bbox: 1.2055, d4.loss_cls: 1.0639, d4.loss_bbox: 1.2223, d5.loss_cls: 1.0673, d5.loss_bbox: 1.2443, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.4474, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4606, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.4821, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.4934, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.5205, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5418, d0.loss_map_cls_all: 0.6547, d0.loss_map_pts_all: 3.3054, d0.loss_map_dir_all: 0.0398, d0.loss_map_cls: 0.6547, d0.loss_map_pts: 3.3054, d0.loss_map_dir: 0.0398, d1.loss_map_cls: 0.6622, d1.loss_map_pts: 2.7028, d1.loss_map_dir: 0.0396, d2.loss_map_cls: 0.6661, d2.loss_map_pts: 2.5992, d2.loss_map_dir: 0.0397, d3.loss_map_cls: 0.6664, d3.loss_map_pts: 2.5816, d3.loss_map_dir: 0.0398, d4.loss_map_cls: 0.6687, d4.loss_map_pts: 2.5771, d4.loss_map_dir: 0.0399, d5.loss_map_cls: 0.6697, d5.loss_map_pts: 2.5759, d5.loss_map_dir: 0.0399, loss: 96.8083, grad_norm: 266.3974 +2026-02-24 01:23:41,135 - DriveTransformer - INFO - Epoch [1][6050/59059] lr: 1.000e-04, eta: 23 days, 8:57:33, time: 0.577, data_time: 0.026, memory: 14138, loss_cls: 1.1119, loss_bbox: 1.2665, loss_traj: 2.4026, loss_traj_cls: 0.0005, loss_map_cls: 0.6684, loss_map_pts: 2.8858, loss_map_dir: 0.0482, d0.loss_plan_l1_fix_time: 4.0016, d0.loss_plan_l1_fix_dist: 0.8044, d1.loss_plan_l1_fix_time: 3.8630, d1.loss_plan_l1_fix_dist: 0.8569, d2.loss_plan_l1_fix_time: 3.8544, d2.loss_plan_l1_fix_dist: 0.9494, d3.loss_plan_l1_fix_time: 3.8682, d3.loss_plan_l1_fix_dist: 1.0439, d4.loss_plan_l1_fix_time: 3.8850, d4.loss_plan_l1_fix_dist: 1.1462, d5.loss_plan_l1_fix_time: 3.9023, d5.loss_plan_l1_fix_dist: 1.2793, d6.loss_plan_l1_fix_time: 3.9222, d6.loss_plan_l1_fix_dist: 1.4431, d0.loss_cls_all: 1.0907, d0.loss_bbox_all: 1.1926, d0.loss_cls: 1.0907, d0.loss_bbox: 1.1926, d1.loss_cls: 1.0932, d1.loss_bbox: 1.2019, d2.loss_cls: 1.0986, d2.loss_bbox: 1.2064, d3.loss_cls: 1.1001, d3.loss_bbox: 1.2108, d4.loss_cls: 1.1082, d4.loss_bbox: 1.2184, d5.loss_cls: 1.1135, d5.loss_bbox: 1.2328, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2954, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3250, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3302, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3158, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3562, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3733, d0.loss_map_cls_all: 0.6560, d0.loss_map_pts_all: 3.4803, d0.loss_map_dir_all: 0.0476, d0.loss_map_cls: 0.6560, d0.loss_map_pts: 3.4803, d0.loss_map_dir: 0.0476, d1.loss_map_cls: 0.6633, d1.loss_map_pts: 2.9546, d1.loss_map_dir: 0.0480, d2.loss_map_cls: 0.6637, d2.loss_map_pts: 2.8803, d2.loss_map_dir: 0.0481, d3.loss_map_cls: 0.6661, d3.loss_map_pts: 2.8703, d3.loss_map_dir: 0.0483, d4.loss_map_cls: 0.6641, d4.loss_map_pts: 2.8723, d4.loss_map_dir: 0.0483, d5.loss_map_cls: 0.6666, d5.loss_map_pts: 2.8788, d5.loss_map_dir: 0.0483, loss: 99.7421, grad_norm: 265.5334 +2026-02-24 01:24:10,407 - DriveTransformer - INFO - Epoch [1][6100/59059] lr: 1.000e-04, eta: 23 days, 9:04:07, time: 0.585, data_time: 0.027, memory: 14138, loss_cls: 1.0445, loss_bbox: 1.2106, loss_traj: 2.1559, loss_traj_cls: 0.0005, loss_map_cls: 0.6626, loss_map_pts: 3.0420, loss_map_dir: 0.0470, d0.loss_plan_l1_fix_time: 3.2914, d0.loss_plan_l1_fix_dist: 0.6845, d1.loss_plan_l1_fix_time: 3.1651, d1.loss_plan_l1_fix_dist: 0.8063, d2.loss_plan_l1_fix_time: 3.1579, d2.loss_plan_l1_fix_dist: 0.9788, d3.loss_plan_l1_fix_time: 3.1686, d3.loss_plan_l1_fix_dist: 1.1348, d4.loss_plan_l1_fix_time: 3.1856, d4.loss_plan_l1_fix_dist: 1.2988, d5.loss_plan_l1_fix_time: 3.2042, d5.loss_plan_l1_fix_dist: 1.4721, d6.loss_plan_l1_fix_time: 3.2233, d6.loss_plan_l1_fix_dist: 1.6228, d0.loss_cls_all: 1.0304, d0.loss_bbox_all: 1.1506, d0.loss_cls: 1.0304, d0.loss_bbox: 1.1506, d1.loss_cls: 1.0368, d1.loss_bbox: 1.1592, d2.loss_cls: 1.0360, d2.loss_bbox: 1.1605, d3.loss_cls: 1.0420, d3.loss_bbox: 1.1695, d4.loss_cls: 1.0393, d4.loss_bbox: 1.1784, d5.loss_cls: 1.0396, d5.loss_bbox: 1.1854, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0119, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0180, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0389, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0449, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0583, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0858, d0.loss_map_cls_all: 0.6522, d0.loss_map_pts_all: 3.6706, d0.loss_map_dir_all: 0.0475, d0.loss_map_cls: 0.6522, d0.loss_map_pts: 3.6706, d0.loss_map_dir: 0.0475, d1.loss_map_cls: 0.6540, d1.loss_map_pts: 3.1394, d1.loss_map_dir: 0.0468, d2.loss_map_cls: 0.6574, d2.loss_map_pts: 3.0500, d2.loss_map_dir: 0.0469, d3.loss_map_cls: 0.6589, d3.loss_map_pts: 3.0251, d3.loss_map_dir: 0.0470, d4.loss_map_cls: 0.6595, d4.loss_map_pts: 3.0207, d4.loss_map_dir: 0.0470, d5.loss_map_cls: 0.6606, d5.loss_map_pts: 3.0268, d5.loss_map_dir: 0.0470, loss: 93.7544, grad_norm: 265.7476 +2026-02-24 01:24:38,850 - DriveTransformer - INFO - Epoch [1][6150/59059] lr: 1.000e-04, eta: 23 days, 9:02:37, time: 0.569, data_time: 0.029, memory: 14138, loss_cls: 1.0218, loss_bbox: 1.2047, loss_traj: 2.3214, loss_traj_cls: 0.0005, loss_map_cls: 0.6782, loss_map_pts: 2.5940, loss_map_dir: 0.0427, d0.loss_plan_l1_fix_time: 3.9884, d0.loss_plan_l1_fix_dist: 0.7304, d1.loss_plan_l1_fix_time: 3.8780, d1.loss_plan_l1_fix_dist: 0.8061, d2.loss_plan_l1_fix_time: 3.8780, d2.loss_plan_l1_fix_dist: 0.9257, d3.loss_plan_l1_fix_time: 3.8913, d3.loss_plan_l1_fix_dist: 1.0473, d4.loss_plan_l1_fix_time: 3.9134, d4.loss_plan_l1_fix_dist: 1.1822, d5.loss_plan_l1_fix_time: 3.9393, d5.loss_plan_l1_fix_dist: 1.3282, d6.loss_plan_l1_fix_time: 3.9665, d6.loss_plan_l1_fix_dist: 1.4656, d0.loss_cls_all: 1.0063, d0.loss_bbox_all: 1.1412, d0.loss_cls: 1.0063, d0.loss_bbox: 1.1412, d1.loss_cls: 1.0084, d1.loss_bbox: 1.1525, d2.loss_cls: 1.0110, d2.loss_bbox: 1.1510, d3.loss_cls: 1.0172, d3.loss_bbox: 1.1576, d4.loss_cls: 1.0141, d4.loss_bbox: 1.1667, d5.loss_cls: 1.0124, d5.loss_bbox: 1.1846, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.2105, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2452, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2603, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2840, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.2977, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2742, d0.loss_map_cls_all: 0.6524, d0.loss_map_pts_all: 3.3149, d0.loss_map_dir_all: 0.0425, d0.loss_map_cls: 0.6524, d0.loss_map_pts: 3.3149, d0.loss_map_dir: 0.0425, d1.loss_map_cls: 0.6639, d1.loss_map_pts: 2.7410, d1.loss_map_dir: 0.0423, d2.loss_map_cls: 0.6684, d2.loss_map_pts: 2.6295, d2.loss_map_dir: 0.0425, d3.loss_map_cls: 0.6712, d3.loss_map_pts: 2.6007, d3.loss_map_dir: 0.0427, d4.loss_map_cls: 0.6731, d4.loss_map_pts: 2.5910, d4.loss_map_dir: 0.0427, d5.loss_map_cls: 0.6746, d5.loss_map_pts: 2.5890, d5.loss_map_dir: 0.0428, loss: 96.2842, grad_norm: 264.7929 +2026-02-24 01:25:07,549 - DriveTransformer - INFO - Epoch [1][6200/59059] lr: 1.000e-04, eta: 23 days, 9:03:34, time: 0.574, data_time: 0.028, memory: 14138, loss_cls: 1.0808, loss_bbox: 1.2358, loss_traj: 2.3352, loss_traj_cls: 0.0005, loss_map_cls: 0.6753, loss_map_pts: 3.0189, loss_map_dir: 0.0486, d0.loss_plan_l1_fix_time: 3.6226, d0.loss_plan_l1_fix_dist: 0.7883, d1.loss_plan_l1_fix_time: 3.6059, d1.loss_plan_l1_fix_dist: 0.8738, d2.loss_plan_l1_fix_time: 3.6191, d2.loss_plan_l1_fix_dist: 0.9803, d3.loss_plan_l1_fix_time: 3.6348, d3.loss_plan_l1_fix_dist: 1.1177, d4.loss_plan_l1_fix_time: 3.6598, d4.loss_plan_l1_fix_dist: 1.2672, d5.loss_plan_l1_fix_time: 3.6870, d5.loss_plan_l1_fix_dist: 1.4203, d6.loss_plan_l1_fix_time: 3.7152, d6.loss_plan_l1_fix_dist: 1.6161, d0.loss_cls_all: 1.0824, d0.loss_bbox_all: 1.1519, d0.loss_cls: 1.0824, d0.loss_bbox: 1.1519, d1.loss_cls: 1.0833, d1.loss_bbox: 1.1755, d2.loss_cls: 1.0845, d2.loss_bbox: 1.1760, d3.loss_cls: 1.0843, d3.loss_bbox: 1.1913, d4.loss_cls: 1.0812, d4.loss_bbox: 1.2054, d5.loss_cls: 1.0784, d5.loss_bbox: 1.2256, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1371, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1987, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2221, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2546, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2613, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.2850, d0.loss_map_cls_all: 0.6628, d0.loss_map_pts_all: 3.6971, d0.loss_map_dir_all: 0.0487, d0.loss_map_cls: 0.6628, d0.loss_map_pts: 3.6971, d0.loss_map_dir: 0.0487, d1.loss_map_cls: 0.6693, d1.loss_map_pts: 3.1539, d1.loss_map_dir: 0.0484, d2.loss_map_cls: 0.6750, d2.loss_map_pts: 3.0528, d2.loss_map_dir: 0.0486, d3.loss_map_cls: 0.6742, d3.loss_map_pts: 3.0293, d3.loss_map_dir: 0.0485, d4.loss_map_cls: 0.6736, d4.loss_map_pts: 3.0203, d4.loss_map_dir: 0.0486, d5.loss_map_cls: 0.6739, d5.loss_map_pts: 3.0183, d5.loss_map_dir: 0.0486, loss: 98.9195, grad_norm: 265.0400 +2026-02-24 01:25:35,375 - DriveTransformer - INFO - Epoch [1][6250/59059] lr: 1.000e-04, eta: 23 days, 8:56:15, time: 0.556, data_time: 0.030, memory: 14138, loss_cls: 1.0642, loss_bbox: 1.1973, loss_traj: 2.1410, loss_traj_cls: 0.0006, loss_map_cls: 0.6592, loss_map_pts: 2.8717, loss_map_dir: 0.0452, d0.loss_plan_l1_fix_time: 3.5431, d0.loss_plan_l1_fix_dist: 0.5616, d1.loss_plan_l1_fix_time: 3.4524, d1.loss_plan_l1_fix_dist: 0.6492, d2.loss_plan_l1_fix_time: 3.4642, d2.loss_plan_l1_fix_dist: 0.7647, d3.loss_plan_l1_fix_time: 3.4846, d3.loss_plan_l1_fix_dist: 0.8955, d4.loss_plan_l1_fix_time: 3.5066, d4.loss_plan_l1_fix_dist: 1.0324, d5.loss_plan_l1_fix_time: 3.5290, d5.loss_plan_l1_fix_dist: 1.1684, d6.loss_plan_l1_fix_time: 3.5515, d6.loss_plan_l1_fix_dist: 1.3234, d0.loss_cls_all: 1.0613, d0.loss_bbox_all: 1.1485, d0.loss_cls: 1.0613, d0.loss_bbox: 1.1485, d1.loss_cls: 1.0660, d1.loss_bbox: 1.1636, d2.loss_cls: 1.0600, d2.loss_bbox: 1.1614, d3.loss_cls: 1.0655, d3.loss_bbox: 1.1688, d4.loss_cls: 1.0620, d4.loss_bbox: 1.1764, d5.loss_cls: 1.0595, d5.loss_bbox: 1.1925, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9172, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9597, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9996, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0504, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1009, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.1185, d0.loss_map_cls_all: 0.6454, d0.loss_map_pts_all: 3.5219, d0.loss_map_dir_all: 0.0451, d0.loss_map_cls: 0.6454, d0.loss_map_pts: 3.5219, d0.loss_map_dir: 0.0451, d1.loss_map_cls: 0.6529, d1.loss_map_pts: 2.9948, d1.loss_map_dir: 0.0447, d2.loss_map_cls: 0.6548, d2.loss_map_pts: 2.9020, d2.loss_map_dir: 0.0449, d3.loss_map_cls: 0.6566, d3.loss_map_pts: 2.8768, d3.loss_map_dir: 0.0451, d4.loss_map_cls: 0.6563, d4.loss_map_pts: 2.8711, d4.loss_map_dir: 0.0451, d5.loss_map_cls: 0.6571, d5.loss_map_pts: 2.8706, d5.loss_map_dir: 0.0452, loss: 93.0937, grad_norm: 264.8916 +2026-02-24 01:26:04,729 - DriveTransformer - INFO - Epoch [1][6300/59059] lr: 1.000e-04, eta: 23 days, 9:03:21, time: 0.587, data_time: 0.027, memory: 14138, loss_cls: 1.0978, loss_bbox: 1.2949, loss_traj: 1.8841, loss_traj_cls: 0.0006, loss_map_cls: 0.6828, loss_map_pts: 3.1976, loss_map_dir: 0.0507, d0.loss_plan_l1_fix_time: 3.4159, d0.loss_plan_l1_fix_dist: 0.7427, d1.loss_plan_l1_fix_time: 3.3105, d1.loss_plan_l1_fix_dist: 0.8031, d2.loss_plan_l1_fix_time: 3.3002, d2.loss_plan_l1_fix_dist: 0.9066, d3.loss_plan_l1_fix_time: 3.3130, d3.loss_plan_l1_fix_dist: 1.0271, d4.loss_plan_l1_fix_time: 3.3324, d4.loss_plan_l1_fix_dist: 1.1631, d5.loss_plan_l1_fix_time: 3.3548, d5.loss_plan_l1_fix_dist: 1.3134, d6.loss_plan_l1_fix_time: 3.3790, d6.loss_plan_l1_fix_dist: 1.4566, d0.loss_cls_all: 1.0885, d0.loss_bbox_all: 1.2318, d0.loss_cls: 1.0885, d0.loss_bbox: 1.2318, d1.loss_cls: 1.0906, d1.loss_bbox: 1.2403, d2.loss_cls: 1.0926, d2.loss_bbox: 1.2548, d3.loss_cls: 1.0966, d3.loss_bbox: 1.2630, d4.loss_cls: 1.0965, d4.loss_bbox: 1.2704, d5.loss_cls: 1.0998, d5.loss_bbox: 1.2808, d0.loss_traj_cls: 0.0005, d0.loss_traj: 1.6218, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.6633, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6829, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6959, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7287, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7595, d0.loss_map_cls_all: 0.6727, d0.loss_map_pts_all: 3.7050, d0.loss_map_dir_all: 0.0502, d0.loss_map_cls: 0.6727, d0.loss_map_pts: 3.7050, d0.loss_map_dir: 0.0502, d1.loss_map_cls: 0.6787, d1.loss_map_pts: 3.2716, d1.loss_map_dir: 0.0501, d2.loss_map_cls: 0.6827, d2.loss_map_pts: 3.2084, d2.loss_map_dir: 0.0505, d3.loss_map_cls: 0.6825, d3.loss_map_pts: 3.1973, d3.loss_map_dir: 0.0506, d4.loss_map_cls: 0.6806, d4.loss_map_pts: 3.1956, d4.loss_map_dir: 0.0507, d5.loss_map_cls: 0.6812, d5.loss_map_pts: 3.1959, d5.loss_map_dir: 0.0507, loss: 94.1911, grad_norm: 264.5886 +2026-02-24 01:26:33,115 - DriveTransformer - INFO - Epoch [1][6350/59059] lr: 1.000e-04, eta: 23 days, 9:01:24, time: 0.568, data_time: 0.027, memory: 14138, loss_cls: 1.1026, loss_bbox: 1.2568, loss_traj: 2.5131, loss_traj_cls: 0.0006, loss_map_cls: 0.6780, loss_map_pts: 2.7545, loss_map_dir: 0.0483, d0.loss_plan_l1_fix_time: 3.4594, d0.loss_plan_l1_fix_dist: 0.7382, d1.loss_plan_l1_fix_time: 3.3176, d1.loss_plan_l1_fix_dist: 0.8014, d2.loss_plan_l1_fix_time: 3.3064, d2.loss_plan_l1_fix_dist: 0.9113, d3.loss_plan_l1_fix_time: 3.3208, d3.loss_plan_l1_fix_dist: 1.0286, d4.loss_plan_l1_fix_time: 3.3404, d4.loss_plan_l1_fix_dist: 1.1589, d5.loss_plan_l1_fix_time: 3.3634, d5.loss_plan_l1_fix_dist: 1.3023, d6.loss_plan_l1_fix_time: 3.3862, d6.loss_plan_l1_fix_dist: 1.4435, d0.loss_cls_all: 1.0952, d0.loss_bbox_all: 1.1866, d0.loss_cls: 1.0952, d0.loss_bbox: 1.1866, d1.loss_cls: 1.0946, d1.loss_bbox: 1.1957, d2.loss_cls: 1.1036, d2.loss_bbox: 1.2074, d3.loss_cls: 1.1014, d3.loss_bbox: 1.2122, d4.loss_cls: 1.1019, d4.loss_bbox: 1.2251, d5.loss_cls: 1.1020, d5.loss_bbox: 1.2404, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2349, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2937, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2972, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3212, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3615, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4113, d0.loss_map_cls_all: 0.6594, d0.loss_map_pts_all: 3.4393, d0.loss_map_dir_all: 0.0475, d0.loss_map_cls: 0.6594, d0.loss_map_pts: 3.4393, d0.loss_map_dir: 0.0475, d1.loss_map_cls: 0.6698, d1.loss_map_pts: 2.8794, d1.loss_map_dir: 0.0475, d2.loss_map_cls: 0.6737, d2.loss_map_pts: 2.7803, d2.loss_map_dir: 0.0478, d3.loss_map_cls: 0.6756, d3.loss_map_pts: 2.7592, d3.loss_map_dir: 0.0480, d4.loss_map_cls: 0.6754, d4.loss_map_pts: 2.7539, d4.loss_map_dir: 0.0481, d5.loss_map_cls: 0.6766, d5.loss_map_pts: 2.7523, d5.loss_map_dir: 0.0482, loss: 95.1309, grad_norm: 264.0894 +2026-02-24 01:27:01,510 - DriveTransformer - INFO - Epoch [1][6400/59059] lr: 1.000e-04, eta: 23 days, 8:59:31, time: 0.568, data_time: 0.027, memory: 14138, loss_cls: 1.0855, loss_bbox: 1.2384, loss_traj: 2.5675, loss_traj_cls: 0.0005, loss_map_cls: 0.6515, loss_map_pts: 3.0465, loss_map_dir: 0.0501, d0.loss_plan_l1_fix_time: 3.8857, d0.loss_plan_l1_fix_dist: 0.6591, d1.loss_plan_l1_fix_time: 3.6801, d1.loss_plan_l1_fix_dist: 0.7194, d2.loss_plan_l1_fix_time: 3.6418, d2.loss_plan_l1_fix_dist: 0.8102, d3.loss_plan_l1_fix_time: 3.6382, d3.loss_plan_l1_fix_dist: 0.9101, d4.loss_plan_l1_fix_time: 3.6486, d4.loss_plan_l1_fix_dist: 1.0112, d5.loss_plan_l1_fix_time: 3.6638, d5.loss_plan_l1_fix_dist: 1.1288, d6.loss_plan_l1_fix_time: 3.6813, d6.loss_plan_l1_fix_dist: 1.2595, d0.loss_cls_all: 1.0828, d0.loss_bbox_all: 1.1715, d0.loss_cls: 1.0828, d0.loss_bbox: 1.1715, d1.loss_cls: 1.0795, d1.loss_bbox: 1.1805, d2.loss_cls: 1.0839, d2.loss_bbox: 1.1800, d3.loss_cls: 1.0839, d3.loss_bbox: 1.1827, d4.loss_cls: 1.0843, d4.loss_bbox: 1.1957, d5.loss_cls: 1.0826, d5.loss_bbox: 1.2124, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3393, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3744, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4042, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.4349, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.4949, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5285, d0.loss_map_cls_all: 0.6357, d0.loss_map_pts_all: 3.5888, d0.loss_map_dir_all: 0.0494, d0.loss_map_cls: 0.6357, d0.loss_map_pts: 3.5888, d0.loss_map_dir: 0.0494, d1.loss_map_cls: 0.6438, d1.loss_map_pts: 3.0963, d1.loss_map_dir: 0.0493, d2.loss_map_cls: 0.6474, d2.loss_map_pts: 3.0330, d2.loss_map_dir: 0.0496, d3.loss_map_cls: 0.6475, d3.loss_map_pts: 3.0270, d3.loss_map_dir: 0.0498, d4.loss_map_cls: 0.6483, d4.loss_map_pts: 3.0329, d4.loss_map_dir: 0.0499, d5.loss_map_cls: 0.6498, d5.loss_map_pts: 3.0396, d5.loss_map_dir: 0.0500, loss: 98.6931, grad_norm: 264.0976 +2026-02-24 01:27:30,627 - DriveTransformer - INFO - Epoch [1][6450/59059] lr: 1.000e-04, eta: 23 days, 9:04:10, time: 0.582, data_time: 0.025, memory: 14138, loss_cls: 1.1053, loss_bbox: 1.2473, loss_traj: 2.3409, loss_traj_cls: 0.0006, loss_map_cls: 0.6564, loss_map_pts: 3.3659, loss_map_dir: 0.0541, d0.loss_plan_l1_fix_time: 3.8196, d0.loss_plan_l1_fix_dist: 0.6631, d1.loss_plan_l1_fix_time: 3.6467, d1.loss_plan_l1_fix_dist: 0.7229, d2.loss_plan_l1_fix_time: 3.6456, d2.loss_plan_l1_fix_dist: 0.8116, d3.loss_plan_l1_fix_time: 3.6651, d3.loss_plan_l1_fix_dist: 0.9150, d4.loss_plan_l1_fix_time: 3.6829, d4.loss_plan_l1_fix_dist: 1.0266, d5.loss_plan_l1_fix_time: 3.7018, d5.loss_plan_l1_fix_dist: 1.1450, d6.loss_plan_l1_fix_time: 3.7152, d6.loss_plan_l1_fix_dist: 1.2666, d0.loss_cls_all: 1.0915, d0.loss_bbox_all: 1.1973, d0.loss_cls: 1.0915, d0.loss_bbox: 1.1973, d1.loss_cls: 1.0903, d1.loss_bbox: 1.2045, d2.loss_cls: 1.1036, d2.loss_bbox: 1.2059, d3.loss_cls: 1.1014, d3.loss_bbox: 1.2112, d4.loss_cls: 1.1055, d4.loss_bbox: 1.2180, d5.loss_cls: 1.1075, d5.loss_bbox: 1.2267, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1461, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2195, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2586, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2871, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3132, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.2973, d0.loss_map_cls_all: 0.6437, d0.loss_map_pts_all: 3.9117, d0.loss_map_dir_all: 0.0537, d0.loss_map_cls: 0.6437, d0.loss_map_pts: 3.9117, d0.loss_map_dir: 0.0537, d1.loss_map_cls: 0.6491, d1.loss_map_pts: 3.4097, d1.loss_map_dir: 0.0535, d2.loss_map_cls: 0.6526, d2.loss_map_pts: 3.3555, d2.loss_map_dir: 0.0538, d3.loss_map_cls: 0.6515, d3.loss_map_pts: 3.3491, d3.loss_map_dir: 0.0539, d4.loss_map_cls: 0.6514, d4.loss_map_pts: 3.3516, d4.loss_map_dir: 0.0540, d5.loss_map_cls: 0.6533, d5.loss_map_pts: 3.3587, d5.loss_map_dir: 0.0541, loss: 100.4448, grad_norm: 263.2971 +2026-02-24 01:27:58,464 - DriveTransformer - INFO - Epoch [1][6500/59059] lr: 1.000e-04, eta: 23 days, 8:57:12, time: 0.557, data_time: 0.027, memory: 14138, loss_cls: 1.0780, loss_bbox: 1.1725, loss_traj: 2.2653, loss_traj_cls: 0.0005, loss_map_cls: 0.6848, loss_map_pts: 2.7599, loss_map_dir: 0.0444, d0.loss_plan_l1_fix_time: 3.8410, d0.loss_plan_l1_fix_dist: 0.7513, d1.loss_plan_l1_fix_time: 3.7833, d1.loss_plan_l1_fix_dist: 0.8132, d2.loss_plan_l1_fix_time: 3.7953, d2.loss_plan_l1_fix_dist: 0.9010, d3.loss_plan_l1_fix_time: 3.8129, d3.loss_plan_l1_fix_dist: 1.0075, d4.loss_plan_l1_fix_time: 3.8347, d4.loss_plan_l1_fix_dist: 1.1264, d5.loss_plan_l1_fix_time: 3.8560, d5.loss_plan_l1_fix_dist: 1.2409, d6.loss_plan_l1_fix_time: 3.8783, d6.loss_plan_l1_fix_dist: 1.3584, d0.loss_cls_all: 1.0592, d0.loss_bbox_all: 1.1244, d0.loss_cls: 1.0592, d0.loss_bbox: 1.1244, d1.loss_cls: 1.0589, d1.loss_bbox: 1.1228, d2.loss_cls: 1.0690, d2.loss_bbox: 1.1319, d3.loss_cls: 1.0694, d3.loss_bbox: 1.1406, d4.loss_cls: 1.0782, d4.loss_bbox: 1.1425, d5.loss_cls: 1.0808, d5.loss_bbox: 1.1491, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0380, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1026, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0755, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0819, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1232, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1939, d0.loss_map_cls_all: 0.6662, d0.loss_map_pts_all: 3.4144, d0.loss_map_dir_all: 0.0443, d0.loss_map_cls: 0.6662, d0.loss_map_pts: 3.4144, d0.loss_map_dir: 0.0443, d1.loss_map_cls: 0.6730, d1.loss_map_pts: 2.8098, d1.loss_map_dir: 0.0440, d2.loss_map_cls: 0.6767, d2.loss_map_pts: 2.7458, d2.loss_map_dir: 0.0442, d3.loss_map_cls: 0.6787, d3.loss_map_pts: 2.7421, d3.loss_map_dir: 0.0443, d4.loss_map_cls: 0.6808, d4.loss_map_pts: 2.7497, d4.loss_map_dir: 0.0443, d5.loss_map_cls: 0.6824, d5.loss_map_pts: 2.7573, d5.loss_map_dir: 0.0443, loss: 95.7015, grad_norm: 262.8210 +2026-02-24 01:28:27,444 - DriveTransformer - INFO - Epoch [1][6550/59059] lr: 1.000e-04, eta: 23 days, 9:00:37, time: 0.580, data_time: 0.028, memory: 14138, loss_cls: 1.1064, loss_bbox: 1.1783, loss_traj: 2.5683, loss_traj_cls: 0.0005, loss_map_cls: 0.6468, loss_map_pts: 2.9538, loss_map_dir: 0.0518, d0.loss_plan_l1_fix_time: 3.6795, d0.loss_plan_l1_fix_dist: 0.5518, d1.loss_plan_l1_fix_time: 3.4903, d1.loss_plan_l1_fix_dist: 0.6125, d2.loss_plan_l1_fix_time: 3.4805, d2.loss_plan_l1_fix_dist: 0.7006, d3.loss_plan_l1_fix_time: 3.4914, d3.loss_plan_l1_fix_dist: 0.8035, d4.loss_plan_l1_fix_time: 3.5076, d4.loss_plan_l1_fix_dist: 0.9192, d5.loss_plan_l1_fix_time: 3.5250, d5.loss_plan_l1_fix_dist: 1.0464, d6.loss_plan_l1_fix_time: 3.5481, d6.loss_plan_l1_fix_dist: 1.1861, d0.loss_cls_all: 1.0829, d0.loss_bbox_all: 1.1145, d0.loss_cls: 1.0829, d0.loss_bbox: 1.1145, d1.loss_cls: 1.0863, d1.loss_bbox: 1.1178, d2.loss_cls: 1.0943, d2.loss_bbox: 1.1257, d3.loss_cls: 1.0985, d3.loss_bbox: 1.1381, d4.loss_cls: 1.0980, d4.loss_bbox: 1.1464, d5.loss_cls: 1.1017, d5.loss_bbox: 1.1534, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3643, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3914, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4200, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.4535, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.4766, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5265, d0.loss_map_cls_all: 0.6361, d0.loss_map_pts_all: 3.5909, d0.loss_map_dir_all: 0.0508, d0.loss_map_cls: 0.6361, d0.loss_map_pts: 3.5909, d0.loss_map_dir: 0.0508, d1.loss_map_cls: 0.6432, d1.loss_map_pts: 2.9986, d1.loss_map_dir: 0.0512, d2.loss_map_cls: 0.6474, d2.loss_map_pts: 2.9458, d2.loss_map_dir: 0.0516, d3.loss_map_cls: 0.6472, d3.loss_map_pts: 2.9413, d3.loss_map_dir: 0.0517, d4.loss_map_cls: 0.6464, d4.loss_map_pts: 2.9439, d4.loss_map_dir: 0.0518, d5.loss_map_cls: 0.6467, d5.loss_map_pts: 2.9472, d5.loss_map_dir: 0.0518, loss: 96.0604, grad_norm: 263.3220 +2026-02-24 01:28:55,756 - DriveTransformer - INFO - Epoch [1][6600/59059] lr: 1.000e-04, eta: 23 days, 8:58:01, time: 0.566, data_time: 0.031, memory: 14138, loss_cls: 1.0480, loss_bbox: 1.1711, loss_traj: 2.2320, loss_traj_cls: 0.0005, loss_map_cls: 0.6662, loss_map_pts: 2.7658, loss_map_dir: 0.0476, d0.loss_plan_l1_fix_time: 3.3263, d0.loss_plan_l1_fix_dist: 0.6321, d1.loss_plan_l1_fix_time: 3.2087, d1.loss_plan_l1_fix_dist: 0.6828, d2.loss_plan_l1_fix_time: 3.2139, d2.loss_plan_l1_fix_dist: 0.7497, d3.loss_plan_l1_fix_time: 3.2303, d3.loss_plan_l1_fix_dist: 0.8374, d4.loss_plan_l1_fix_time: 3.2485, d4.loss_plan_l1_fix_dist: 0.9443, d5.loss_plan_l1_fix_time: 3.2684, d5.loss_plan_l1_fix_dist: 1.0717, d6.loss_plan_l1_fix_time: 3.2941, d6.loss_plan_l1_fix_dist: 1.2013, d0.loss_cls_all: 1.0442, d0.loss_bbox_all: 1.0911, d0.loss_cls: 1.0442, d0.loss_bbox: 1.0911, d1.loss_cls: 1.0431, d1.loss_bbox: 1.1005, d2.loss_cls: 1.0472, d2.loss_bbox: 1.1057, d3.loss_cls: 1.0488, d3.loss_bbox: 1.1150, d4.loss_cls: 1.0467, d4.loss_bbox: 1.1320, d5.loss_cls: 1.0459, d5.loss_bbox: 1.1435, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0707, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1136, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1238, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1637, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1893, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.2025, d0.loss_map_cls_all: 0.6481, d0.loss_map_pts_all: 3.4093, d0.loss_map_dir_all: 0.0470, d0.loss_map_cls: 0.6481, d0.loss_map_pts: 3.4093, d0.loss_map_dir: 0.0470, d1.loss_map_cls: 0.6582, d1.loss_map_pts: 2.8057, d1.loss_map_dir: 0.0472, d2.loss_map_cls: 0.6645, d2.loss_map_pts: 2.7523, d2.loss_map_dir: 0.0473, d3.loss_map_cls: 0.6649, d3.loss_map_pts: 2.7447, d3.loss_map_dir: 0.0474, d4.loss_map_cls: 0.6647, d4.loss_map_pts: 2.7443, d4.loss_map_dir: 0.0475, d5.loss_map_cls: 0.6650, d5.loss_map_pts: 2.7499, d5.loss_map_dir: 0.0475, loss: 90.3662, grad_norm: 263.2432 +2026-02-24 01:29:24,044 - DriveTransformer - INFO - Epoch [1][6650/59059] lr: 1.000e-04, eta: 23 days, 8:55:13, time: 0.566, data_time: 0.027, memory: 14138, loss_cls: 1.0481, loss_bbox: 1.1202, loss_traj: 2.4455, loss_traj_cls: 0.0005, loss_map_cls: 0.7026, loss_map_pts: 2.7330, loss_map_dir: 0.0436, d0.loss_plan_l1_fix_time: 3.5639, d0.loss_plan_l1_fix_dist: 0.6791, d1.loss_plan_l1_fix_time: 3.5263, d1.loss_plan_l1_fix_dist: 0.7390, d2.loss_plan_l1_fix_time: 3.5499, d2.loss_plan_l1_fix_dist: 0.8313, d3.loss_plan_l1_fix_time: 3.5710, d3.loss_plan_l1_fix_dist: 0.9272, d4.loss_plan_l1_fix_time: 3.5928, d4.loss_plan_l1_fix_dist: 1.0288, d5.loss_plan_l1_fix_time: 3.6160, d5.loss_plan_l1_fix_dist: 1.1441, d6.loss_plan_l1_fix_time: 3.6391, d6.loss_plan_l1_fix_dist: 1.2580, d0.loss_cls_all: 1.0501, d0.loss_bbox_all: 1.0607, d0.loss_cls: 1.0501, d0.loss_bbox: 1.0607, d1.loss_cls: 1.0486, d1.loss_bbox: 1.0672, d2.loss_cls: 1.0585, d2.loss_bbox: 1.0723, d3.loss_cls: 1.0536, d3.loss_bbox: 1.0770, d4.loss_cls: 1.0551, d4.loss_bbox: 1.0863, d5.loss_cls: 1.0541, d5.loss_bbox: 1.0932, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.3546, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4185, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4069, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.4293, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.4398, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4287, d0.loss_map_cls_all: 0.6834, d0.loss_map_pts_all: 3.3020, d0.loss_map_dir_all: 0.0430, d0.loss_map_cls: 0.6834, d0.loss_map_pts: 3.3020, d0.loss_map_dir: 0.0430, d1.loss_map_cls: 0.6933, d1.loss_map_pts: 2.7148, d1.loss_map_dir: 0.0432, d2.loss_map_cls: 0.7005, d2.loss_map_pts: 2.6811, d2.loss_map_dir: 0.0435, d3.loss_map_cls: 0.7011, d3.loss_map_pts: 2.6966, d3.loss_map_dir: 0.0435, d4.loss_map_cls: 0.7029, d4.loss_map_pts: 2.7150, d4.loss_map_dir: 0.0435, d5.loss_map_cls: 0.7003, d5.loss_map_pts: 2.7279, d5.loss_map_dir: 0.0436, loss: 94.4358, grad_norm: 263.6674 +2026-02-24 01:29:52,506 - DriveTransformer - INFO - Epoch [1][6700/59059] lr: 1.000e-04, eta: 23 days, 8:54:00, time: 0.569, data_time: 0.026, memory: 14138, loss_cls: 1.0865, loss_bbox: 1.1198, loss_traj: 2.3489, loss_traj_cls: 0.0005, loss_map_cls: 0.7104, loss_map_pts: 2.6026, loss_map_dir: 0.0424, d0.loss_plan_l1_fix_time: 3.2960, d0.loss_plan_l1_fix_dist: 0.5516, d1.loss_plan_l1_fix_time: 3.0789, d1.loss_plan_l1_fix_dist: 0.6216, d2.loss_plan_l1_fix_time: 3.0660, d2.loss_plan_l1_fix_dist: 0.7282, d3.loss_plan_l1_fix_time: 3.0729, d3.loss_plan_l1_fix_dist: 0.8350, d4.loss_plan_l1_fix_time: 3.0841, d4.loss_plan_l1_fix_dist: 0.9497, d5.loss_plan_l1_fix_time: 3.0981, d5.loss_plan_l1_fix_dist: 1.0736, d6.loss_plan_l1_fix_time: 3.1144, d6.loss_plan_l1_fix_dist: 1.1951, d0.loss_cls_all: 1.0643, d0.loss_bbox_all: 1.0704, d0.loss_cls: 1.0643, d0.loss_bbox: 1.0704, d1.loss_cls: 1.0675, d1.loss_bbox: 1.0734, d2.loss_cls: 1.0793, d2.loss_bbox: 1.0719, d3.loss_cls: 1.0816, d3.loss_bbox: 1.0740, d4.loss_cls: 1.0829, d4.loss_bbox: 1.0841, d5.loss_cls: 1.0824, d5.loss_bbox: 1.0992, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2709, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3209, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3115, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3199, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3217, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3309, d0.loss_map_cls_all: 0.6954, d0.loss_map_pts_all: 3.2431, d0.loss_map_dir_all: 0.0428, d0.loss_map_cls: 0.6954, d0.loss_map_pts: 3.2431, d0.loss_map_dir: 0.0428, d1.loss_map_cls: 0.7003, d1.loss_map_pts: 2.6362, d1.loss_map_dir: 0.0423, d2.loss_map_cls: 0.7069, d2.loss_map_pts: 2.5703, d2.loss_map_dir: 0.0423, d3.loss_map_cls: 0.7065, d3.loss_map_pts: 2.5746, d3.loss_map_dir: 0.0423, d4.loss_map_cls: 0.7086, d4.loss_map_pts: 2.5852, d4.loss_map_dir: 0.0424, d5.loss_map_cls: 0.7081, d5.loss_map_pts: 2.5951, d5.loss_map_dir: 0.0424, loss: 89.2871, grad_norm: 262.1837 +2026-02-24 01:30:21,393 - DriveTransformer - INFO - Epoch [1][6750/59059] lr: 1.000e-04, eta: 23 days, 8:56:40, time: 0.578, data_time: 0.028, memory: 14138, loss_cls: 1.0515, loss_bbox: 1.1300, loss_traj: 2.2670, loss_traj_cls: 0.0006, loss_map_cls: 0.6540, loss_map_pts: 2.6576, loss_map_dir: 0.0411, d0.loss_plan_l1_fix_time: 3.3733, d0.loss_plan_l1_fix_dist: 0.6080, d1.loss_plan_l1_fix_time: 3.2494, d1.loss_plan_l1_fix_dist: 0.6603, d2.loss_plan_l1_fix_time: 3.2452, d2.loss_plan_l1_fix_dist: 0.7494, d3.loss_plan_l1_fix_time: 3.2536, d3.loss_plan_l1_fix_dist: 0.8530, d4.loss_plan_l1_fix_time: 3.2728, d4.loss_plan_l1_fix_dist: 0.9840, d5.loss_plan_l1_fix_time: 3.2946, d5.loss_plan_l1_fix_dist: 1.1228, d6.loss_plan_l1_fix_time: 3.3211, d6.loss_plan_l1_fix_dist: 1.2630, d0.loss_cls_all: 1.0193, d0.loss_bbox_all: 1.1000, d0.loss_cls: 1.0193, d0.loss_bbox: 1.1000, d1.loss_cls: 1.0274, d1.loss_bbox: 1.1025, d2.loss_cls: 1.0367, d2.loss_bbox: 1.1046, d3.loss_cls: 1.0407, d3.loss_bbox: 1.1090, d4.loss_cls: 1.0391, d4.loss_bbox: 1.1118, d5.loss_cls: 1.0376, d5.loss_bbox: 1.1216, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1479, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1840, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1983, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.2075, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2391, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.2425, d0.loss_map_cls_all: 0.6176, d0.loss_map_pts_all: 3.3325, d0.loss_map_dir_all: 0.0409, d0.loss_map_cls: 0.6176, d0.loss_map_pts: 3.3325, d0.loss_map_dir: 0.0409, d1.loss_map_cls: 0.6347, d1.loss_map_pts: 2.7154, d1.loss_map_dir: 0.0405, d2.loss_map_cls: 0.6404, d2.loss_map_pts: 2.6491, d2.loss_map_dir: 0.0408, d3.loss_map_cls: 0.6452, d3.loss_map_pts: 2.6390, d3.loss_map_dir: 0.0410, d4.loss_map_cls: 0.6471, d4.loss_map_pts: 2.6375, d4.loss_map_dir: 0.0410, d5.loss_map_cls: 0.6512, d5.loss_map_pts: 2.6450, d5.loss_map_dir: 0.0411, loss: 89.9357, grad_norm: 262.1991 +2026-02-24 01:30:48,641 - DriveTransformer - INFO - Epoch [1][6800/59059] lr: 1.000e-04, eta: 23 days, 8:44:46, time: 0.545, data_time: 0.030, memory: 14138, loss_cls: 1.1080, loss_bbox: 1.1735, loss_traj: 2.0820, loss_traj_cls: 0.0005, loss_map_cls: 0.6863, loss_map_pts: 2.5996, loss_map_dir: 0.0355, d0.loss_plan_l1_fix_time: 3.4951, d0.loss_plan_l1_fix_dist: 0.7995, d1.loss_plan_l1_fix_time: 3.4418, d1.loss_plan_l1_fix_dist: 0.8541, d2.loss_plan_l1_fix_time: 3.4525, d2.loss_plan_l1_fix_dist: 0.9392, d3.loss_plan_l1_fix_time: 3.4682, d3.loss_plan_l1_fix_dist: 1.0338, d4.loss_plan_l1_fix_time: 3.4960, d4.loss_plan_l1_fix_dist: 1.1499, d5.loss_plan_l1_fix_time: 3.5228, d5.loss_plan_l1_fix_dist: 1.2667, d6.loss_plan_l1_fix_time: 3.5543, d6.loss_plan_l1_fix_dist: 1.3889, d0.loss_cls_all: 1.0844, d0.loss_bbox_all: 1.1311, d0.loss_cls: 1.0844, d0.loss_bbox: 1.1311, d1.loss_cls: 1.0893, d1.loss_bbox: 1.1412, d2.loss_cls: 1.0982, d2.loss_bbox: 1.1442, d3.loss_cls: 1.1013, d3.loss_bbox: 1.1502, d4.loss_cls: 1.0999, d4.loss_bbox: 1.1556, d5.loss_cls: 1.1017, d5.loss_bbox: 1.1629, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9070, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9500, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9592, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9796, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0252, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0230, d0.loss_map_cls_all: 0.6702, d0.loss_map_pts_all: 3.3270, d0.loss_map_dir_all: 0.0362, d0.loss_map_cls: 0.6702, d0.loss_map_pts: 3.3270, d0.loss_map_dir: 0.0362, d1.loss_map_cls: 0.6708, d1.loss_map_pts: 2.6360, d1.loss_map_dir: 0.0352, d2.loss_map_cls: 0.6767, d2.loss_map_pts: 2.5467, d2.loss_map_dir: 0.0354, d3.loss_map_cls: 0.6792, d3.loss_map_pts: 2.5472, d3.loss_map_dir: 0.0356, d4.loss_map_cls: 0.6811, d4.loss_map_pts: 2.5666, d4.loss_map_dir: 0.0356, d5.loss_map_cls: 0.6831, d5.loss_map_pts: 2.5858, d5.loss_map_dir: 0.0355, loss: 91.5877, grad_norm: 260.4067 +2026-02-24 01:31:18,015 - DriveTransformer - INFO - Epoch [1][6850/59059] lr: 1.000e-04, eta: 23 days, 8:51:27, time: 0.587, data_time: 0.030, memory: 14138, loss_cls: 1.1463, loss_bbox: 1.2228, loss_traj: 2.3012, loss_traj_cls: 0.0005, loss_map_cls: 0.6853, loss_map_pts: 3.0223, loss_map_dir: 0.0475, d0.loss_plan_l1_fix_time: 3.8809, d0.loss_plan_l1_fix_dist: 0.6324, d1.loss_plan_l1_fix_time: 3.7779, d1.loss_plan_l1_fix_dist: 0.6862, d2.loss_plan_l1_fix_time: 3.7802, d2.loss_plan_l1_fix_dist: 0.7741, d3.loss_plan_l1_fix_time: 3.7937, d3.loss_plan_l1_fix_dist: 0.8709, d4.loss_plan_l1_fix_time: 3.8127, d4.loss_plan_l1_fix_dist: 0.9774, d5.loss_plan_l1_fix_time: 3.8328, d5.loss_plan_l1_fix_dist: 1.0958, d6.loss_plan_l1_fix_time: 3.8566, d6.loss_plan_l1_fix_dist: 1.2297, d0.loss_cls_all: 1.1088, d0.loss_bbox_all: 1.2047, d0.loss_cls: 1.1088, d0.loss_bbox: 1.2047, d1.loss_cls: 1.1156, d1.loss_bbox: 1.2094, d2.loss_cls: 1.1209, d2.loss_bbox: 1.2075, d3.loss_cls: 1.1267, d3.loss_bbox: 1.2122, d4.loss_cls: 1.1278, d4.loss_bbox: 1.2093, d5.loss_cls: 1.1295, d5.loss_bbox: 1.2157, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1674, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2371, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2425, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2589, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.2689, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2801, d0.loss_map_cls_all: 0.6751, d0.loss_map_pts_all: 3.5854, d0.loss_map_dir_all: 0.0467, d0.loss_map_cls: 0.6751, d0.loss_map_pts: 3.5854, d0.loss_map_dir: 0.0467, d1.loss_map_cls: 0.6816, d1.loss_map_pts: 3.0679, d1.loss_map_dir: 0.0468, d2.loss_map_cls: 0.6820, d2.loss_map_pts: 3.0073, d2.loss_map_dir: 0.0471, d3.loss_map_cls: 0.6814, d3.loss_map_pts: 3.0024, d3.loss_map_dir: 0.0475, d4.loss_map_cls: 0.6828, d4.loss_map_pts: 3.0107, d4.loss_map_dir: 0.0476, d5.loss_map_cls: 0.6837, d5.loss_map_pts: 3.0176, d5.loss_map_dir: 0.0476, loss: 98.5548, grad_norm: 260.3346 +2026-02-24 01:31:45,745 - DriveTransformer - INFO - Epoch [1][6900/59059] lr: 1.000e-04, eta: 23 days, 8:44:00, time: 0.555, data_time: 0.027, memory: 14138, loss_cls: 1.1615, loss_bbox: 1.1474, loss_traj: 2.5952, loss_traj_cls: 0.0005, loss_map_cls: 0.6567, loss_map_pts: 2.8346, loss_map_dir: 0.0451, d0.loss_plan_l1_fix_time: 3.1334, d0.loss_plan_l1_fix_dist: 0.6803, d1.loss_plan_l1_fix_time: 3.0101, d1.loss_plan_l1_fix_dist: 0.7341, d2.loss_plan_l1_fix_time: 3.0122, d2.loss_plan_l1_fix_dist: 0.8096, d3.loss_plan_l1_fix_time: 3.0343, d3.loss_plan_l1_fix_dist: 0.9184, d4.loss_plan_l1_fix_time: 3.0532, d4.loss_plan_l1_fix_dist: 1.0354, d5.loss_plan_l1_fix_time: 3.0735, d5.loss_plan_l1_fix_dist: 1.1767, d6.loss_plan_l1_fix_time: 3.0940, d6.loss_plan_l1_fix_dist: 1.3295, d0.loss_cls_all: 1.1263, d0.loss_bbox_all: 1.1223, d0.loss_cls: 1.1263, d0.loss_bbox: 1.1223, d1.loss_cls: 1.1319, d1.loss_bbox: 1.1306, d2.loss_cls: 1.1346, d2.loss_bbox: 1.1306, d3.loss_cls: 1.1422, d3.loss_bbox: 1.1319, d4.loss_cls: 1.1419, d4.loss_bbox: 1.1346, d5.loss_cls: 1.1490, d5.loss_bbox: 1.1392, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3476, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4220, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4950, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.5346, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.5798, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.6043, d0.loss_map_cls_all: 0.6542, d0.loss_map_pts_all: 3.4903, d0.loss_map_dir_all: 0.0448, d0.loss_map_cls: 0.6542, d0.loss_map_pts: 3.4903, d0.loss_map_dir: 0.0448, d1.loss_map_cls: 0.6591, d1.loss_map_pts: 2.9001, d1.loss_map_dir: 0.0445, d2.loss_map_cls: 0.6606, d2.loss_map_pts: 2.8277, d2.loss_map_dir: 0.0449, d3.loss_map_cls: 0.6576, d3.loss_map_pts: 2.8187, d3.loss_map_dir: 0.0451, d4.loss_map_cls: 0.6579, d4.loss_map_pts: 2.8213, d4.loss_map_dir: 0.0452, d5.loss_map_cls: 0.6554, d5.loss_map_pts: 2.8286, d5.loss_map_dir: 0.0452, loss: 93.4761, grad_norm: 259.5847 +2026-02-24 01:32:15,674 - DriveTransformer - INFO - Epoch [1][6950/59059] lr: 1.000e-04, eta: 23 days, 8:55:19, time: 0.599, data_time: 0.026, memory: 14138, loss_cls: 1.1540, loss_bbox: 1.2208, loss_traj: 2.1928, loss_traj_cls: 0.0006, loss_map_cls: 0.6453, loss_map_pts: 2.8381, loss_map_dir: 0.0415, d0.loss_plan_l1_fix_time: 4.1054, d0.loss_plan_l1_fix_dist: 0.9706, d1.loss_plan_l1_fix_time: 4.0338, d1.loss_plan_l1_fix_dist: 1.0176, d2.loss_plan_l1_fix_time: 4.0516, d2.loss_plan_l1_fix_dist: 1.0866, d3.loss_plan_l1_fix_time: 4.0805, d3.loss_plan_l1_fix_dist: 1.1760, d4.loss_plan_l1_fix_time: 4.1041, d4.loss_plan_l1_fix_dist: 1.2773, d5.loss_plan_l1_fix_time: 4.1291, d5.loss_plan_l1_fix_dist: 1.3893, d6.loss_plan_l1_fix_time: 4.1494, d6.loss_plan_l1_fix_dist: 1.4963, d0.loss_cls_all: 1.1273, d0.loss_bbox_all: 1.1810, d0.loss_cls: 1.1273, d0.loss_bbox: 1.1810, d1.loss_cls: 1.1319, d1.loss_bbox: 1.1895, d2.loss_cls: 1.1351, d2.loss_bbox: 1.1883, d3.loss_cls: 1.1376, d3.loss_bbox: 1.1904, d4.loss_cls: 1.1395, d4.loss_bbox: 1.1973, d5.loss_cls: 1.1521, d5.loss_bbox: 1.2065, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0192, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0476, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1143, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1269, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1471, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.1580, d0.loss_map_cls_all: 0.6378, d0.loss_map_pts_all: 3.4713, d0.loss_map_dir_all: 0.0420, d0.loss_map_cls: 0.6378, d0.loss_map_pts: 3.4713, d0.loss_map_dir: 0.0420, d1.loss_map_cls: 0.6467, d1.loss_map_pts: 2.8856, d1.loss_map_dir: 0.0411, d2.loss_map_cls: 0.6463, d2.loss_map_pts: 2.8186, d2.loss_map_dir: 0.0415, d3.loss_map_cls: 0.6442, d3.loss_map_pts: 2.8132, d3.loss_map_dir: 0.0415, d4.loss_map_cls: 0.6446, d4.loss_map_pts: 2.8171, d4.loss_map_dir: 0.0415, d5.loss_map_cls: 0.6437, d5.loss_map_pts: 2.8277, d5.loss_map_dir: 0.0415, loss: 99.9588, grad_norm: 260.6266 +2026-02-24 01:32:43,779 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 01:32:43,779 - DriveTransformer - INFO - Epoch [1][7000/59059] lr: 1.000e-04, eta: 23 days, 8:51:05, time: 0.562, data_time: 0.032, memory: 14138, loss_cls: 1.0893, loss_bbox: 1.2042, loss_traj: 2.7717, loss_traj_cls: 0.0005, loss_map_cls: 0.7300, loss_map_pts: 2.6037, loss_map_dir: 0.0368, d0.loss_plan_l1_fix_time: 3.6412, d0.loss_plan_l1_fix_dist: 0.6398, d1.loss_plan_l1_fix_time: 3.4950, d1.loss_plan_l1_fix_dist: 0.6864, d2.loss_plan_l1_fix_time: 3.4872, d2.loss_plan_l1_fix_dist: 0.7712, d3.loss_plan_l1_fix_time: 3.5044, d3.loss_plan_l1_fix_dist: 0.8740, d4.loss_plan_l1_fix_time: 3.5229, d4.loss_plan_l1_fix_dist: 0.9983, d5.loss_plan_l1_fix_time: 3.5441, d5.loss_plan_l1_fix_dist: 1.1186, d6.loss_plan_l1_fix_time: 3.5633, d6.loss_plan_l1_fix_dist: 1.2400, d0.loss_cls_all: 1.0541, d0.loss_bbox_all: 1.1618, d0.loss_cls: 1.0541, d0.loss_bbox: 1.1618, d1.loss_cls: 1.0598, d1.loss_bbox: 1.1683, d2.loss_cls: 1.0602, d2.loss_bbox: 1.1762, d3.loss_cls: 1.0712, d3.loss_bbox: 1.1842, d4.loss_cls: 1.0738, d4.loss_bbox: 1.1896, d5.loss_cls: 1.0838, d5.loss_bbox: 1.1944, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2592, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3624, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4177, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.5371, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.6473, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.6601, d0.loss_map_cls_all: 0.6832, d0.loss_map_pts_all: 3.1359, d0.loss_map_dir_all: 0.0368, d0.loss_map_cls: 0.6832, d0.loss_map_pts: 3.1359, d0.loss_map_dir: 0.0368, d1.loss_map_cls: 0.7001, d1.loss_map_pts: 2.5638, d1.loss_map_dir: 0.0365, d2.loss_map_cls: 0.7091, d2.loss_map_pts: 2.5146, d2.loss_map_dir: 0.0366, d3.loss_map_cls: 0.7163, d3.loss_map_pts: 2.5356, d3.loss_map_dir: 0.0368, d4.loss_map_cls: 0.7166, d4.loss_map_pts: 2.5592, d4.loss_map_dir: 0.0368, d5.loss_map_cls: 0.7253, d5.loss_map_pts: 2.5802, d5.loss_map_dir: 0.0368, loss: 94.3187, grad_norm: 259.8916 +2026-02-24 01:33:13,068 - DriveTransformer - INFO - Epoch [1][7050/59059] lr: 1.000e-04, eta: 23 days, 8:56:50, time: 0.586, data_time: 0.026, memory: 14138, loss_cls: 1.0813, loss_bbox: 1.2447, loss_traj: 2.6370, loss_traj_cls: 0.0006, loss_map_cls: 0.6555, loss_map_pts: 3.1482, loss_map_dir: 0.0463, d0.loss_plan_l1_fix_time: 4.1249, d0.loss_plan_l1_fix_dist: 0.8005, d1.loss_plan_l1_fix_time: 3.9987, d1.loss_plan_l1_fix_dist: 0.8364, d2.loss_plan_l1_fix_time: 3.9872, d2.loss_plan_l1_fix_dist: 0.9070, d3.loss_plan_l1_fix_time: 3.9965, d3.loss_plan_l1_fix_dist: 0.9922, d4.loss_plan_l1_fix_time: 4.0128, d4.loss_plan_l1_fix_dist: 1.1026, d5.loss_plan_l1_fix_time: 4.0323, d5.loss_plan_l1_fix_dist: 1.2188, d6.loss_plan_l1_fix_time: 4.0535, d6.loss_plan_l1_fix_dist: 1.3436, d0.loss_cls_all: 1.0633, d0.loss_bbox_all: 1.2032, d0.loss_cls: 1.0633, d0.loss_bbox: 1.2032, d1.loss_cls: 1.0642, d1.loss_bbox: 1.2103, d2.loss_cls: 1.0753, d2.loss_bbox: 1.2174, d3.loss_cls: 1.0752, d3.loss_bbox: 1.2323, d4.loss_cls: 1.0795, d4.loss_bbox: 1.2371, d5.loss_cls: 1.0805, d5.loss_bbox: 1.2417, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.4146, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4883, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.5117, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.5931, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.6459, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.6144, d0.loss_map_cls_all: 0.6419, d0.loss_map_pts_all: 3.5763, d0.loss_map_dir_all: 0.0458, d0.loss_map_cls: 0.6419, d0.loss_map_pts: 3.5763, d0.loss_map_dir: 0.0458, d1.loss_map_cls: 0.6528, d1.loss_map_pts: 3.0926, d1.loss_map_dir: 0.0458, d2.loss_map_cls: 0.6548, d2.loss_map_pts: 3.0657, d2.loss_map_dir: 0.0462, d3.loss_map_cls: 0.6539, d3.loss_map_pts: 3.0846, d3.loss_map_dir: 0.0462, d4.loss_map_cls: 0.6533, d4.loss_map_pts: 3.1069, d4.loss_map_dir: 0.0462, d5.loss_map_cls: 0.6547, d5.loss_map_pts: 3.1251, d5.loss_map_dir: 0.0464, loss: 103.0415, grad_norm: 257.0046 +2026-02-24 01:33:41,243 - DriveTransformer - INFO - Epoch [1][7100/59059] lr: 1.000e-04, eta: 23 days, 8:53:15, time: 0.563, data_time: 0.025, memory: 14138, loss_cls: 1.0646, loss_bbox: 1.1320, loss_traj: 2.7566, loss_traj_cls: 0.0005, loss_map_cls: 0.6959, loss_map_pts: 2.6470, loss_map_dir: 0.0349, d0.loss_plan_l1_fix_time: 3.4678, d0.loss_plan_l1_fix_dist: 0.6294, d1.loss_plan_l1_fix_time: 3.3215, d1.loss_plan_l1_fix_dist: 0.6720, d2.loss_plan_l1_fix_time: 3.3099, d2.loss_plan_l1_fix_dist: 0.7280, d3.loss_plan_l1_fix_time: 3.3186, d3.loss_plan_l1_fix_dist: 0.8142, d4.loss_plan_l1_fix_time: 3.3327, d4.loss_plan_l1_fix_dist: 0.9143, d5.loss_plan_l1_fix_time: 3.3484, d5.loss_plan_l1_fix_dist: 1.0284, d6.loss_plan_l1_fix_time: 3.3665, d6.loss_plan_l1_fix_dist: 1.1468, d0.loss_cls_all: 1.0586, d0.loss_bbox_all: 1.0877, d0.loss_cls: 1.0586, d0.loss_bbox: 1.0877, d1.loss_cls: 1.0533, d1.loss_bbox: 1.0957, d2.loss_cls: 1.0627, d2.loss_bbox: 1.0965, d3.loss_cls: 1.0647, d3.loss_bbox: 1.1044, d4.loss_cls: 1.0681, d4.loss_bbox: 1.1102, d5.loss_cls: 1.0697, d5.loss_bbox: 1.1193, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0187, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0981, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1913, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2960, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.4592, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5991, d0.loss_map_cls_all: 0.6724, d0.loss_map_pts_all: 3.2718, d0.loss_map_dir_all: 0.0350, d0.loss_map_cls: 0.6724, d0.loss_map_pts: 3.2718, d0.loss_map_dir: 0.0350, d1.loss_map_cls: 0.6831, d1.loss_map_pts: 2.6715, d1.loss_map_dir: 0.0346, d2.loss_map_cls: 0.6858, d2.loss_map_pts: 2.6183, d2.loss_map_dir: 0.0347, d3.loss_map_cls: 0.6899, d3.loss_map_pts: 2.6178, d3.loss_map_dir: 0.0349, d4.loss_map_cls: 0.6899, d4.loss_map_pts: 2.6269, d4.loss_map_dir: 0.0349, d5.loss_map_cls: 0.6934, d5.loss_map_pts: 2.6389, d5.loss_map_dir: 0.0349, loss: 91.2804, grad_norm: 255.8292 +2026-02-24 01:34:09,576 - DriveTransformer - INFO - Epoch [1][7150/59059] lr: 1.000e-04, eta: 23 days, 8:50:59, time: 0.567, data_time: 0.026, memory: 14138, loss_cls: 1.0584, loss_bbox: 1.2163, loss_traj: 2.9227, loss_traj_cls: 0.0006, loss_map_cls: 0.6855, loss_map_pts: 2.9677, loss_map_dir: 0.0433, d0.loss_plan_l1_fix_time: 3.2738, d0.loss_plan_l1_fix_dist: 0.6480, d1.loss_plan_l1_fix_time: 3.1627, d1.loss_plan_l1_fix_dist: 0.7096, d2.loss_plan_l1_fix_time: 3.1528, d2.loss_plan_l1_fix_dist: 0.7843, d3.loss_plan_l1_fix_time: 3.1581, d3.loss_plan_l1_fix_dist: 0.8692, d4.loss_plan_l1_fix_time: 3.1731, d4.loss_plan_l1_fix_dist: 0.9664, d5.loss_plan_l1_fix_time: 3.1887, d5.loss_plan_l1_fix_dist: 1.0778, d6.loss_plan_l1_fix_time: 3.2056, d6.loss_plan_l1_fix_dist: 1.1847, d0.loss_cls_all: 1.0354, d0.loss_bbox_all: 1.1997, d0.loss_cls: 1.0354, d0.loss_bbox: 1.1997, d1.loss_cls: 1.0434, d1.loss_bbox: 1.1957, d2.loss_cls: 1.0546, d2.loss_bbox: 1.2057, d3.loss_cls: 1.0582, d3.loss_bbox: 1.2057, d4.loss_cls: 1.0556, d4.loss_bbox: 1.2117, d5.loss_cls: 1.0531, d5.loss_bbox: 1.2141, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2256, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3522, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.4615, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.5497, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.6741, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.8014, d0.loss_map_cls_all: 0.6715, d0.loss_map_pts_all: 3.5445, d0.loss_map_dir_all: 0.0428, d0.loss_map_cls: 0.6715, d0.loss_map_pts: 3.5445, d0.loss_map_dir: 0.0428, d1.loss_map_cls: 0.6752, d1.loss_map_pts: 2.9878, d1.loss_map_dir: 0.0429, d2.loss_map_cls: 0.6779, d2.loss_map_pts: 2.9433, d2.loss_map_dir: 0.0430, d3.loss_map_cls: 0.6800, d3.loss_map_pts: 2.9439, d3.loss_map_dir: 0.0432, d4.loss_map_cls: 0.6797, d4.loss_map_pts: 2.9489, d4.loss_map_dir: 0.0432, d5.loss_map_cls: 0.6826, d5.loss_map_pts: 2.9584, d5.loss_map_dir: 0.0434, loss: 95.1959, grad_norm: 256.2734 +2026-02-24 01:34:39,383 - DriveTransformer - INFO - Epoch [1][7200/59059] lr: 1.000e-04, eta: 23 days, 9:01:11, time: 0.597, data_time: 0.026, memory: 14138, loss_cls: 1.0952, loss_bbox: 1.1763, loss_traj: 1.9910, loss_traj_cls: 0.0007, loss_map_cls: 0.6371, loss_map_pts: 3.2176, loss_map_dir: 0.0467, d0.loss_plan_l1_fix_time: 3.3872, d0.loss_plan_l1_fix_dist: 0.7132, d1.loss_plan_l1_fix_time: 3.3373, d1.loss_plan_l1_fix_dist: 0.7519, d2.loss_plan_l1_fix_time: 3.3292, d2.loss_plan_l1_fix_dist: 0.8296, d3.loss_plan_l1_fix_time: 3.3346, d3.loss_plan_l1_fix_dist: 0.9312, d4.loss_plan_l1_fix_time: 3.3483, d4.loss_plan_l1_fix_dist: 1.0334, d5.loss_plan_l1_fix_time: 3.3639, d5.loss_plan_l1_fix_dist: 1.1427, d6.loss_plan_l1_fix_time: 3.3806, d6.loss_plan_l1_fix_dist: 1.2689, d0.loss_cls_all: 1.0707, d0.loss_bbox_all: 1.1205, d0.loss_cls: 1.0707, d0.loss_bbox: 1.1205, d1.loss_cls: 1.0768, d1.loss_bbox: 1.1230, d2.loss_cls: 1.0970, d2.loss_bbox: 1.1290, d3.loss_cls: 1.0945, d3.loss_bbox: 1.1341, d4.loss_cls: 1.0949, d4.loss_bbox: 1.1508, d5.loss_cls: 1.0936, d5.loss_bbox: 1.1626, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8107, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8482, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8972, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.9574, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.9299, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.9594, d0.loss_map_cls_all: 0.6117, d0.loss_map_pts_all: 3.9063, d0.loss_map_dir_all: 0.0476, d0.loss_map_cls: 0.6117, d0.loss_map_pts: 3.9063, d0.loss_map_dir: 0.0476, d1.loss_map_cls: 0.6189, d1.loss_map_pts: 3.2826, d1.loss_map_dir: 0.0464, d2.loss_map_cls: 0.6244, d2.loss_map_pts: 3.2236, d2.loss_map_dir: 0.0465, d3.loss_map_cls: 0.6300, d3.loss_map_pts: 3.2127, d3.loss_map_dir: 0.0467, d4.loss_map_cls: 0.6287, d4.loss_map_pts: 3.2132, d4.loss_map_dir: 0.0467, d5.loss_map_cls: 0.6333, d5.loss_map_pts: 3.2168, d5.loss_map_dir: 0.0467, loss: 93.9101, grad_norm: 255.2296 +2026-02-24 01:35:08,313 - DriveTransformer - INFO - Epoch [1][7250/59059] lr: 1.000e-04, eta: 23 days, 9:03:22, time: 0.578, data_time: 0.028, memory: 14138, loss_cls: 1.0275, loss_bbox: 1.1685, loss_traj: 2.9906, loss_traj_cls: 0.0006, loss_map_cls: 0.6670, loss_map_pts: 2.9258, loss_map_dir: 0.0427, d0.loss_plan_l1_fix_time: 4.1145, d0.loss_plan_l1_fix_dist: 0.5756, d1.loss_plan_l1_fix_time: 4.0066, d1.loss_plan_l1_fix_dist: 0.6435, d2.loss_plan_l1_fix_time: 4.0017, d2.loss_plan_l1_fix_dist: 0.7152, d3.loss_plan_l1_fix_time: 4.0128, d3.loss_plan_l1_fix_dist: 0.8047, d4.loss_plan_l1_fix_time: 4.0316, d4.loss_plan_l1_fix_dist: 0.8938, d5.loss_plan_l1_fix_time: 4.0528, d5.loss_plan_l1_fix_dist: 0.9847, d6.loss_plan_l1_fix_time: 4.0751, d6.loss_plan_l1_fix_dist: 1.0804, d0.loss_cls_all: 1.0098, d0.loss_bbox_all: 1.1505, d0.loss_cls: 1.0098, d0.loss_bbox: 1.1505, d1.loss_cls: 1.0129, d1.loss_bbox: 1.1454, d2.loss_cls: 1.0148, d2.loss_bbox: 1.1418, d3.loss_cls: 1.0156, d3.loss_bbox: 1.1462, d4.loss_cls: 1.0158, d4.loss_bbox: 1.1499, d5.loss_cls: 1.0177, d5.loss_bbox: 1.1534, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3440, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4066, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.5112, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.6342, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.6862, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.8561, d0.loss_map_cls_all: 0.6538, d0.loss_map_pts_all: 3.3102, d0.loss_map_dir_all: 0.0423, d0.loss_map_cls: 0.6538, d0.loss_map_pts: 3.3102, d0.loss_map_dir: 0.0423, d1.loss_map_cls: 0.6605, d1.loss_map_pts: 2.8996, d1.loss_map_dir: 0.0423, d2.loss_map_cls: 0.6630, d2.loss_map_pts: 2.8861, d2.loss_map_dir: 0.0426, d3.loss_map_cls: 0.6650, d3.loss_map_pts: 2.8980, d3.loss_map_dir: 0.0428, d4.loss_map_cls: 0.6649, d4.loss_map_pts: 2.9084, d4.loss_map_dir: 0.0428, d5.loss_map_cls: 0.6658, d5.loss_map_pts: 2.9160, d5.loss_map_dir: 0.0428, loss: 99.4446, grad_norm: 254.9184 +2026-02-24 01:35:37,342 - DriveTransformer - INFO - Epoch [1][7300/59059] lr: 1.000e-04, eta: 23 days, 9:06:42, time: 0.581, data_time: 0.030, memory: 14138, loss_cls: 1.0989, loss_bbox: 1.0830, loss_traj: 2.9665, loss_traj_cls: 0.0006, loss_map_cls: 0.6737, loss_map_pts: 2.6802, loss_map_dir: 0.0424, d0.loss_plan_l1_fix_time: 3.7485, d0.loss_plan_l1_fix_dist: 0.8078, d1.loss_plan_l1_fix_time: 3.6568, d1.loss_plan_l1_fix_dist: 0.8620, d2.loss_plan_l1_fix_time: 3.6659, d2.loss_plan_l1_fix_dist: 0.9452, d3.loss_plan_l1_fix_time: 3.6861, d3.loss_plan_l1_fix_dist: 1.0349, d4.loss_plan_l1_fix_time: 3.7103, d4.loss_plan_l1_fix_dist: 1.1456, d5.loss_plan_l1_fix_time: 3.7349, d5.loss_plan_l1_fix_dist: 1.2645, d6.loss_plan_l1_fix_time: 3.7597, d6.loss_plan_l1_fix_dist: 1.3749, d0.loss_cls_all: 1.0656, d0.loss_bbox_all: 1.0535, d0.loss_cls: 1.0656, d0.loss_bbox: 1.0535, d1.loss_cls: 1.0717, d1.loss_bbox: 1.0590, d2.loss_cls: 1.0816, d2.loss_bbox: 1.0690, d3.loss_cls: 1.0881, d3.loss_bbox: 1.0744, d4.loss_cls: 1.0850, d4.loss_bbox: 1.0755, d5.loss_cls: 1.0883, d5.loss_bbox: 1.0796, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.6137, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.6794, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.6827, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.7198, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.7413, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.8486, d0.loss_map_cls_all: 0.6681, d0.loss_map_pts_all: 3.2794, d0.loss_map_dir_all: 0.0431, d0.loss_map_cls: 0.6681, d0.loss_map_pts: 3.2794, d0.loss_map_dir: 0.0431, d1.loss_map_cls: 0.6719, d1.loss_map_pts: 2.6928, d1.loss_map_dir: 0.0425, d2.loss_map_cls: 0.6714, d2.loss_map_pts: 2.6475, d2.loss_map_dir: 0.0425, d3.loss_map_cls: 0.6718, d3.loss_map_pts: 2.6502, d3.loss_map_dir: 0.0426, d4.loss_map_cls: 0.6719, d4.loss_map_pts: 2.6589, d4.loss_map_dir: 0.0425, d5.loss_map_cls: 0.6728, d5.loss_map_pts: 2.6676, d5.loss_map_dir: 0.0424, loss: 98.1117, grad_norm: 253.6213 +2026-02-24 01:36:07,101 - DriveTransformer - INFO - Epoch [1][7350/59059] lr: 1.000e-04, eta: 23 days, 9:15:55, time: 0.595, data_time: 0.026, memory: 14138, loss_cls: 1.1039, loss_bbox: 1.1140, loss_traj: 2.4738, loss_traj_cls: 0.0006, loss_map_cls: 0.6567, loss_map_pts: 2.7746, loss_map_dir: 0.0441, d0.loss_plan_l1_fix_time: 3.4954, d0.loss_plan_l1_fix_dist: 0.6709, d1.loss_plan_l1_fix_time: 3.4311, d1.loss_plan_l1_fix_dist: 0.7264, d2.loss_plan_l1_fix_time: 3.4411, d2.loss_plan_l1_fix_dist: 0.8091, d3.loss_plan_l1_fix_time: 3.4597, d3.loss_plan_l1_fix_dist: 0.8933, d4.loss_plan_l1_fix_time: 3.4804, d4.loss_plan_l1_fix_dist: 0.9893, d5.loss_plan_l1_fix_time: 3.5014, d5.loss_plan_l1_fix_dist: 1.0927, d6.loss_plan_l1_fix_time: 3.5219, d6.loss_plan_l1_fix_dist: 1.1957, d0.loss_cls_all: 1.0879, d0.loss_bbox_all: 1.0847, d0.loss_cls: 1.0879, d0.loss_bbox: 1.0847, d1.loss_cls: 1.0895, d1.loss_bbox: 1.0840, d2.loss_cls: 1.0912, d2.loss_bbox: 1.0895, d3.loss_cls: 1.0950, d3.loss_bbox: 1.0901, d4.loss_cls: 1.0978, d4.loss_bbox: 1.0923, d5.loss_cls: 1.1005, d5.loss_bbox: 1.1018, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2363, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3400, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3701, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.4779, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.5272, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4932, d0.loss_map_cls_all: 0.6392, d0.loss_map_pts_all: 3.4325, d0.loss_map_dir_all: 0.0443, d0.loss_map_cls: 0.6392, d0.loss_map_pts: 3.4325, d0.loss_map_dir: 0.0443, d1.loss_map_cls: 0.6517, d1.loss_map_pts: 2.8368, d1.loss_map_dir: 0.0438, d2.loss_map_cls: 0.6534, d2.loss_map_pts: 2.7849, d2.loss_map_dir: 0.0441, d3.loss_map_cls: 0.6544, d3.loss_map_pts: 2.7759, d3.loss_map_dir: 0.0442, d4.loss_map_cls: 0.6543, d4.loss_map_pts: 2.7727, d4.loss_map_dir: 0.0443, d5.loss_map_cls: 0.6560, d5.loss_map_pts: 2.7736, d5.loss_map_dir: 0.0442, loss: 94.2672, grad_norm: 253.6231 +2026-02-24 01:36:36,485 - DriveTransformer - INFO - Epoch [1][7400/59059] lr: 1.000e-04, eta: 23 days, 9:21:50, time: 0.587, data_time: 0.027, memory: 14138, loss_cls: 1.0957, loss_bbox: 1.1554, loss_traj: 2.1613, loss_traj_cls: 0.0006, loss_map_cls: 0.6765, loss_map_pts: 2.7169, loss_map_dir: 0.0430, d0.loss_plan_l1_fix_time: 3.0251, d0.loss_plan_l1_fix_dist: 0.8001, d1.loss_plan_l1_fix_time: 2.9879, d1.loss_plan_l1_fix_dist: 0.8650, d2.loss_plan_l1_fix_time: 3.0012, d2.loss_plan_l1_fix_dist: 0.9510, d3.loss_plan_l1_fix_time: 3.0250, d3.loss_plan_l1_fix_dist: 1.0473, d4.loss_plan_l1_fix_time: 3.0497, d4.loss_plan_l1_fix_dist: 1.1404, d5.loss_plan_l1_fix_time: 3.0763, d5.loss_plan_l1_fix_dist: 1.2454, d6.loss_plan_l1_fix_time: 3.1020, d6.loss_plan_l1_fix_dist: 1.3548, d0.loss_cls_all: 1.0561, d0.loss_bbox_all: 1.1424, d0.loss_cls: 1.0561, d0.loss_bbox: 1.1424, d1.loss_cls: 1.0652, d1.loss_bbox: 1.1484, d2.loss_cls: 1.0667, d2.loss_bbox: 1.1508, d3.loss_cls: 1.0791, d3.loss_bbox: 1.1449, d4.loss_cls: 1.0836, d4.loss_bbox: 1.1448, d5.loss_cls: 1.0870, d5.loss_bbox: 1.1543, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9557, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0001, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0550, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0741, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1158, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1327, d0.loss_map_cls_all: 0.6478, d0.loss_map_pts_all: 3.3897, d0.loss_map_dir_all: 0.0428, d0.loss_map_cls: 0.6478, d0.loss_map_pts: 3.3897, d0.loss_map_dir: 0.0428, d1.loss_map_cls: 0.6672, d1.loss_map_pts: 2.7203, d1.loss_map_dir: 0.0424, d2.loss_map_cls: 0.6702, d2.loss_map_pts: 2.6777, d2.loss_map_dir: 0.0428, d3.loss_map_cls: 0.6712, d3.loss_map_pts: 2.6808, d3.loss_map_dir: 0.0428, d4.loss_map_cls: 0.6712, d4.loss_map_pts: 2.6910, d4.loss_map_dir: 0.0429, d5.loss_map_cls: 0.6732, d5.loss_map_pts: 2.7058, d5.loss_map_dir: 0.0429, loss: 89.5820, grad_norm: 251.2938 +2026-02-24 01:37:04,102 - DriveTransformer - INFO - Epoch [1][7450/59059] lr: 1.000e-04, eta: 23 days, 9:13:46, time: 0.552, data_time: 0.025, memory: 14138, loss_cls: 1.0933, loss_bbox: 1.1223, loss_traj: 2.3740, loss_traj_cls: 0.0005, loss_map_cls: 0.6732, loss_map_pts: 2.7134, loss_map_dir: 0.0413, d0.loss_plan_l1_fix_time: 3.2146, d0.loss_plan_l1_fix_dist: 0.5636, d1.loss_plan_l1_fix_time: 3.0680, d1.loss_plan_l1_fix_dist: 0.6112, d2.loss_plan_l1_fix_time: 3.0635, d2.loss_plan_l1_fix_dist: 0.6836, d3.loss_plan_l1_fix_time: 3.0759, d3.loss_plan_l1_fix_dist: 0.7873, d4.loss_plan_l1_fix_time: 3.0911, d4.loss_plan_l1_fix_dist: 0.8913, d5.loss_plan_l1_fix_time: 3.1108, d5.loss_plan_l1_fix_dist: 1.0036, d6.loss_plan_l1_fix_time: 3.1329, d6.loss_plan_l1_fix_dist: 1.1148, d0.loss_cls_all: 1.0617, d0.loss_bbox_all: 1.0838, d0.loss_cls: 1.0617, d0.loss_bbox: 1.0838, d1.loss_cls: 1.0638, d1.loss_bbox: 1.0940, d2.loss_cls: 1.0679, d2.loss_bbox: 1.0944, d3.loss_cls: 1.0740, d3.loss_bbox: 1.0988, d4.loss_cls: 1.0750, d4.loss_bbox: 1.1028, d5.loss_cls: 1.0835, d5.loss_bbox: 1.1154, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.2479, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3775, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4599, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.4387, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.4606, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3960, d0.loss_map_cls_all: 0.6521, d0.loss_map_pts_all: 3.3065, d0.loss_map_dir_all: 0.0418, d0.loss_map_cls: 0.6521, d0.loss_map_pts: 3.3065, d0.loss_map_dir: 0.0418, d1.loss_map_cls: 0.6594, d1.loss_map_pts: 2.7079, d1.loss_map_dir: 0.0412, d2.loss_map_cls: 0.6665, d2.loss_map_pts: 2.6624, d2.loss_map_dir: 0.0412, d3.loss_map_cls: 0.6702, d3.loss_map_pts: 2.6680, d3.loss_map_dir: 0.0413, d4.loss_map_cls: 0.6707, d4.loss_map_pts: 2.6833, d4.loss_map_dir: 0.0413, d5.loss_map_cls: 0.6725, d5.loss_map_pts: 2.6968, d5.loss_map_dir: 0.0412, loss: 89.9387, grad_norm: 249.8174 +2026-02-24 01:37:33,191 - DriveTransformer - INFO - Epoch [1][7500/59059] lr: 1.000e-04, eta: 23 days, 9:17:22, time: 0.582, data_time: 0.027, memory: 14138, loss_cls: 1.0729, loss_bbox: 1.1990, loss_traj: 2.4531, loss_traj_cls: 0.0006, loss_map_cls: 0.6497, loss_map_pts: 3.1065, loss_map_dir: 0.0430, d0.loss_plan_l1_fix_time: 3.2359, d0.loss_plan_l1_fix_dist: 0.6487, d1.loss_plan_l1_fix_time: 3.1683, d1.loss_plan_l1_fix_dist: 0.6839, d2.loss_plan_l1_fix_time: 3.1768, d2.loss_plan_l1_fix_dist: 0.7447, d3.loss_plan_l1_fix_time: 3.1946, d3.loss_plan_l1_fix_dist: 0.8241, d4.loss_plan_l1_fix_time: 3.2162, d4.loss_plan_l1_fix_dist: 0.9158, d5.loss_plan_l1_fix_time: 3.2396, d5.loss_plan_l1_fix_dist: 1.0170, d6.loss_plan_l1_fix_time: 3.2658, d6.loss_plan_l1_fix_dist: 1.1164, d0.loss_cls_all: 1.0614, d0.loss_bbox_all: 1.1689, d0.loss_cls: 1.0614, d0.loss_bbox: 1.1689, d1.loss_cls: 1.0645, d1.loss_bbox: 1.1676, d2.loss_cls: 1.0700, d2.loss_bbox: 1.1711, d3.loss_cls: 1.0708, d3.loss_bbox: 1.1777, d4.loss_cls: 1.0757, d4.loss_bbox: 1.1796, d5.loss_cls: 1.0726, d5.loss_bbox: 1.1912, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3164, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4349, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4633, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.4736, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.5044, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4730, d0.loss_map_cls_all: 0.6378, d0.loss_map_pts_all: 3.6027, d0.loss_map_dir_all: 0.0437, d0.loss_map_cls: 0.6378, d0.loss_map_pts: 3.6027, d0.loss_map_dir: 0.0437, d1.loss_map_cls: 0.6397, d1.loss_map_pts: 3.0702, d1.loss_map_dir: 0.0428, d2.loss_map_cls: 0.6445, d2.loss_map_pts: 3.0434, d2.loss_map_dir: 0.0429, d3.loss_map_cls: 0.6462, d3.loss_map_pts: 3.0596, d3.loss_map_dir: 0.0430, d4.loss_map_cls: 0.6465, d4.loss_map_pts: 3.0743, d4.loss_map_dir: 0.0430, d5.loss_map_cls: 0.6481, d5.loss_map_pts: 3.0878, d5.loss_map_dir: 0.0430, loss: 94.6860, grad_norm: 249.2573 +2026-02-24 01:38:02,046 - DriveTransformer - INFO - Epoch [1][7550/59059] lr: 1.000e-04, eta: 23 days, 9:19:07, time: 0.577, data_time: 0.028, memory: 14138, loss_cls: 1.0622, loss_bbox: 1.1374, loss_traj: 2.3629, loss_traj_cls: 0.0006, loss_map_cls: 0.6320, loss_map_pts: 2.7534, loss_map_dir: 0.0394, d0.loss_plan_l1_fix_time: 3.4793, d0.loss_plan_l1_fix_dist: 0.7146, d1.loss_plan_l1_fix_time: 3.3590, d1.loss_plan_l1_fix_dist: 0.7427, d2.loss_plan_l1_fix_time: 3.3434, d2.loss_plan_l1_fix_dist: 0.8004, d3.loss_plan_l1_fix_time: 3.3491, d3.loss_plan_l1_fix_dist: 0.8658, d4.loss_plan_l1_fix_time: 3.3643, d4.loss_plan_l1_fix_dist: 0.9473, d5.loss_plan_l1_fix_time: 3.3809, d5.loss_plan_l1_fix_dist: 1.0376, d6.loss_plan_l1_fix_time: 3.4005, d6.loss_plan_l1_fix_dist: 1.1384, d0.loss_cls_all: 1.0513, d0.loss_bbox_all: 1.1268, d0.loss_cls: 1.0513, d0.loss_bbox: 1.1268, d1.loss_cls: 1.0589, d1.loss_bbox: 1.1257, d2.loss_cls: 1.0637, d2.loss_bbox: 1.1290, d3.loss_cls: 1.0650, d3.loss_bbox: 1.1261, d4.loss_cls: 1.0647, d4.loss_bbox: 1.1264, d5.loss_cls: 1.0644, d5.loss_bbox: 1.1330, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9816, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0221, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0870, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1544, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1901, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.3163, d0.loss_map_cls_all: 0.6137, d0.loss_map_pts_all: 3.5204, d0.loss_map_dir_all: 0.0403, d0.loss_map_cls: 0.6137, d0.loss_map_pts: 3.5204, d0.loss_map_dir: 0.0403, d1.loss_map_cls: 0.6261, d1.loss_map_pts: 2.7848, d1.loss_map_dir: 0.0394, d2.loss_map_cls: 0.6283, d2.loss_map_pts: 2.7166, d2.loss_map_dir: 0.0395, d3.loss_map_cls: 0.6283, d3.loss_map_pts: 2.7196, d3.loss_map_dir: 0.0395, d4.loss_map_cls: 0.6299, d4.loss_map_pts: 2.7287, d4.loss_map_dir: 0.0395, d5.loss_map_cls: 0.6298, d5.loss_map_pts: 2.7412, d5.loss_map_dir: 0.0395, loss: 91.3594, grad_norm: 248.3070 +2026-02-24 01:38:29,510 - DriveTransformer - INFO - Epoch [1][7600/59059] lr: 1.000e-04, eta: 23 days, 9:10:02, time: 0.549, data_time: 0.029, memory: 14138, loss_cls: 1.0237, loss_bbox: 1.1237, loss_traj: 2.2552, loss_traj_cls: 0.0005, loss_map_cls: 0.6799, loss_map_pts: 2.8170, loss_map_dir: 0.0393, d0.loss_plan_l1_fix_time: 3.2195, d0.loss_plan_l1_fix_dist: 0.5962, d1.loss_plan_l1_fix_time: 3.1328, d1.loss_plan_l1_fix_dist: 0.6584, d2.loss_plan_l1_fix_time: 3.1487, d2.loss_plan_l1_fix_dist: 0.7410, d3.loss_plan_l1_fix_time: 3.1692, d3.loss_plan_l1_fix_dist: 0.8344, d4.loss_plan_l1_fix_time: 3.1876, d4.loss_plan_l1_fix_dist: 0.9400, d5.loss_plan_l1_fix_time: 3.2055, d5.loss_plan_l1_fix_dist: 1.0556, d6.loss_plan_l1_fix_time: 3.2219, d6.loss_plan_l1_fix_dist: 1.1845, d0.loss_cls_all: 1.0166, d0.loss_bbox_all: 1.1121, d0.loss_cls: 1.0166, d0.loss_bbox: 1.1121, d1.loss_cls: 1.0173, d1.loss_bbox: 1.1135, d2.loss_cls: 1.0201, d2.loss_bbox: 1.1144, d3.loss_cls: 1.0211, d3.loss_bbox: 1.1136, d4.loss_cls: 1.0225, d4.loss_bbox: 1.1170, d5.loss_cls: 1.0242, d5.loss_bbox: 1.1178, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1194, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1120, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1315, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1559, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1919, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2034, d0.loss_map_cls_all: 0.6669, d0.loss_map_pts_all: 3.3479, d0.loss_map_dir_all: 0.0389, d0.loss_map_cls: 0.6669, d0.loss_map_pts: 3.3479, d0.loss_map_dir: 0.0389, d1.loss_map_cls: 0.6747, d1.loss_map_pts: 2.7952, d1.loss_map_dir: 0.0385, d2.loss_map_cls: 0.6741, d2.loss_map_pts: 2.7617, d2.loss_map_dir: 0.0389, d3.loss_map_cls: 0.6739, d3.loss_map_pts: 2.7673, d3.loss_map_dir: 0.0392, d4.loss_map_cls: 0.6742, d4.loss_map_pts: 2.7798, d4.loss_map_dir: 0.0392, d5.loss_map_cls: 0.6759, d5.loss_map_pts: 2.7990, d5.loss_map_dir: 0.0392, loss: 89.6686, grad_norm: 247.5258 +2026-02-24 01:38:58,235 - DriveTransformer - INFO - Epoch [1][7650/59059] lr: 1.000e-04, eta: 23 days, 9:10:46, time: 0.574, data_time: 0.035, memory: 14138, loss_cls: 1.0797, loss_bbox: 1.1646, loss_traj: 2.4997, loss_traj_cls: 0.0006, loss_map_cls: 0.6823, loss_map_pts: 2.9228, loss_map_dir: 0.0414, d0.loss_plan_l1_fix_time: 3.0756, d0.loss_plan_l1_fix_dist: 0.6132, d1.loss_plan_l1_fix_time: 2.9547, d1.loss_plan_l1_fix_dist: 0.6642, d2.loss_plan_l1_fix_time: 2.9505, d2.loss_plan_l1_fix_dist: 0.7345, d3.loss_plan_l1_fix_time: 2.9624, d3.loss_plan_l1_fix_dist: 0.8245, d4.loss_plan_l1_fix_time: 2.9785, d4.loss_plan_l1_fix_dist: 0.9175, d5.loss_plan_l1_fix_time: 2.9949, d5.loss_plan_l1_fix_dist: 1.0191, d6.loss_plan_l1_fix_time: 3.0090, d6.loss_plan_l1_fix_dist: 1.1251, d0.loss_cls_all: 1.0647, d0.loss_bbox_all: 1.1411, d0.loss_cls: 1.0647, d0.loss_bbox: 1.1411, d1.loss_cls: 1.0686, d1.loss_bbox: 1.1429, d2.loss_cls: 1.0729, d2.loss_bbox: 1.1438, d3.loss_cls: 1.0760, d3.loss_bbox: 1.1454, d4.loss_cls: 1.0782, d4.loss_bbox: 1.1510, d5.loss_cls: 1.0798, d5.loss_bbox: 1.1532, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2714, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2900, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2989, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3407, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3878, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4169, d0.loss_map_cls_all: 0.6669, d0.loss_map_pts_all: 3.4992, d0.loss_map_dir_all: 0.0414, d0.loss_map_cls: 0.6669, d0.loss_map_pts: 3.4992, d0.loss_map_dir: 0.0414, d1.loss_map_cls: 0.6774, d1.loss_map_pts: 2.9179, d1.loss_map_dir: 0.0410, d2.loss_map_cls: 0.6760, d2.loss_map_pts: 2.8806, d2.loss_map_dir: 0.0413, d3.loss_map_cls: 0.6763, d3.loss_map_pts: 2.8859, d3.loss_map_dir: 0.0413, d4.loss_map_cls: 0.6776, d4.loss_map_pts: 2.8972, d4.loss_map_dir: 0.0414, d5.loss_map_cls: 0.6795, d5.loss_map_pts: 2.9102, d5.loss_map_dir: 0.0414, loss: 91.2468, grad_norm: 247.6892 +2026-02-24 01:39:26,644 - DriveTransformer - INFO - Epoch [1][7700/59059] lr: 1.000e-04, eta: 23 days, 9:09:04, time: 0.568, data_time: 0.026, memory: 14138, loss_cls: 1.0360, loss_bbox: 1.0907, loss_traj: 1.8580, loss_traj_cls: 0.0005, loss_map_cls: 0.7084, loss_map_pts: 2.7662, loss_map_dir: 0.0395, d0.loss_plan_l1_fix_time: 3.2806, d0.loss_plan_l1_fix_dist: 0.5991, d1.loss_plan_l1_fix_time: 3.2113, d1.loss_plan_l1_fix_dist: 0.6432, d2.loss_plan_l1_fix_time: 3.2024, d2.loss_plan_l1_fix_dist: 0.7208, d3.loss_plan_l1_fix_time: 3.2144, d3.loss_plan_l1_fix_dist: 0.8197, d4.loss_plan_l1_fix_time: 3.2354, d4.loss_plan_l1_fix_dist: 0.9178, d5.loss_plan_l1_fix_time: 3.2570, d5.loss_plan_l1_fix_dist: 1.0110, d6.loss_plan_l1_fix_time: 3.2791, d6.loss_plan_l1_fix_dist: 1.0987, d0.loss_cls_all: 1.0275, d0.loss_bbox_all: 1.0850, d0.loss_cls: 1.0275, d0.loss_bbox: 1.0850, d1.loss_cls: 1.0274, d1.loss_bbox: 1.0890, d2.loss_cls: 1.0289, d2.loss_bbox: 1.0878, d3.loss_cls: 1.0354, d3.loss_bbox: 1.0852, d4.loss_cls: 1.0371, d4.loss_bbox: 1.0831, d5.loss_cls: 1.0388, d5.loss_bbox: 1.0845, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7427, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.7770, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.7742, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7771, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8017, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8178, d0.loss_map_cls_all: 0.6988, d0.loss_map_pts_all: 3.2329, d0.loss_map_dir_all: 0.0404, d0.loss_map_cls: 0.6988, d0.loss_map_pts: 3.2329, d0.loss_map_dir: 0.0404, d1.loss_map_cls: 0.7034, d1.loss_map_pts: 2.7444, d1.loss_map_dir: 0.0395, d2.loss_map_cls: 0.7054, d2.loss_map_pts: 2.7331, d2.loss_map_dir: 0.0396, d3.loss_map_cls: 0.7070, d3.loss_map_pts: 2.7507, d3.loss_map_dir: 0.0397, d4.loss_map_cls: 0.7062, d4.loss_map_pts: 2.7593, d4.loss_map_dir: 0.0396, d5.loss_map_cls: 0.7068, d5.loss_map_pts: 2.7620, d5.loss_map_dir: 0.0396, loss: 86.9259, grad_norm: 246.0707 +2026-02-24 01:39:56,559 - DriveTransformer - INFO - Epoch [1][7750/59059] lr: 1.000e-04, eta: 23 days, 9:18:49, time: 0.598, data_time: 0.028, memory: 14138, loss_cls: 1.0778, loss_bbox: 1.2244, loss_traj: 2.0897, loss_traj_cls: 0.0006, loss_map_cls: 0.6566, loss_map_pts: 3.0850, loss_map_dir: 0.0395, d0.loss_plan_l1_fix_time: 4.0482, d0.loss_plan_l1_fix_dist: 0.8096, d1.loss_plan_l1_fix_time: 4.0009, d1.loss_plan_l1_fix_dist: 0.8628, d2.loss_plan_l1_fix_time: 4.0077, d2.loss_plan_l1_fix_dist: 0.9409, d3.loss_plan_l1_fix_time: 4.0227, d3.loss_plan_l1_fix_dist: 1.0288, d4.loss_plan_l1_fix_time: 4.0412, d4.loss_plan_l1_fix_dist: 1.1258, d5.loss_plan_l1_fix_time: 4.0610, d5.loss_plan_l1_fix_dist: 1.2231, d6.loss_plan_l1_fix_time: 4.0831, d6.loss_plan_l1_fix_dist: 1.3292, d0.loss_cls_all: 1.0608, d0.loss_bbox_all: 1.2214, d0.loss_cls: 1.0608, d0.loss_bbox: 1.2214, d1.loss_cls: 1.0677, d1.loss_bbox: 1.2248, d2.loss_cls: 1.0720, d2.loss_bbox: 1.2243, d3.loss_cls: 1.0748, d3.loss_bbox: 1.2233, d4.loss_cls: 1.0759, d4.loss_bbox: 1.2213, d5.loss_cls: 1.0771, d5.loss_bbox: 1.2278, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9631, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9996, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0351, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0485, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0696, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0692, d0.loss_map_cls_all: 0.6492, d0.loss_map_pts_all: 3.5898, d0.loss_map_dir_all: 0.0406, d0.loss_map_cls: 0.6492, d0.loss_map_pts: 3.5898, d0.loss_map_dir: 0.0406, d1.loss_map_cls: 0.6538, d1.loss_map_pts: 3.0404, d1.loss_map_dir: 0.0396, d2.loss_map_cls: 0.6542, d2.loss_map_pts: 3.0336, d2.loss_map_dir: 0.0397, d3.loss_map_cls: 0.6549, d3.loss_map_pts: 3.0550, d3.loss_map_dir: 0.0396, d4.loss_map_cls: 0.6529, d4.loss_map_pts: 3.0686, d4.loss_map_dir: 0.0396, d5.loss_map_cls: 0.6539, d5.loss_map_pts: 3.0775, d5.loss_map_dir: 0.0395, loss: 99.3018, grad_norm: 244.9887 +2026-02-24 01:40:24,276 - DriveTransformer - INFO - Epoch [1][7800/59059] lr: 1.000e-04, eta: 23 days, 9:11:53, time: 0.554, data_time: 0.032, memory: 14138, loss_cls: 1.0477, loss_bbox: 1.0676, loss_traj: 2.2842, loss_traj_cls: 0.0006, loss_map_cls: 0.6535, loss_map_pts: 2.6810, loss_map_dir: 0.0348, d0.loss_plan_l1_fix_time: 3.5719, d0.loss_plan_l1_fix_dist: 0.7097, d1.loss_plan_l1_fix_time: 3.4324, d1.loss_plan_l1_fix_dist: 0.7621, d2.loss_plan_l1_fix_time: 3.4208, d2.loss_plan_l1_fix_dist: 0.8373, d3.loss_plan_l1_fix_time: 3.4294, d3.loss_plan_l1_fix_dist: 0.9185, d4.loss_plan_l1_fix_time: 3.4436, d4.loss_plan_l1_fix_dist: 1.0161, d5.loss_plan_l1_fix_time: 3.4628, d5.loss_plan_l1_fix_dist: 1.1232, d6.loss_plan_l1_fix_time: 3.4848, d6.loss_plan_l1_fix_dist: 1.2473, d0.loss_cls_all: 1.0395, d0.loss_bbox_all: 1.0662, d0.loss_cls: 1.0395, d0.loss_bbox: 1.0662, d1.loss_cls: 1.0423, d1.loss_bbox: 1.0680, d2.loss_cls: 1.0493, d2.loss_bbox: 1.0677, d3.loss_cls: 1.0478, d3.loss_bbox: 1.0664, d4.loss_cls: 1.0479, d4.loss_bbox: 1.0662, d5.loss_cls: 1.0465, d5.loss_bbox: 1.0651, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2088, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2199, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2453, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2393, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2315, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2442, d0.loss_map_cls_all: 0.6428, d0.loss_map_pts_all: 3.3003, d0.loss_map_dir_all: 0.0354, d0.loss_map_cls: 0.6428, d0.loss_map_pts: 3.3003, d0.loss_map_dir: 0.0354, d1.loss_map_cls: 0.6471, d1.loss_map_pts: 2.6700, d1.loss_map_dir: 0.0346, d2.loss_map_cls: 0.6468, d2.loss_map_pts: 2.6364, d2.loss_map_dir: 0.0345, d3.loss_map_cls: 0.6475, d3.loss_map_pts: 2.6431, d3.loss_map_dir: 0.0346, d4.loss_map_cls: 0.6478, d4.loss_map_pts: 2.6555, d4.loss_map_dir: 0.0348, d5.loss_map_cls: 0.6502, d5.loss_map_pts: 2.6691, d5.loss_map_dir: 0.0348, loss: 91.4433, grad_norm: 243.8896 +2026-02-24 01:40:52,943 - DriveTransformer - INFO - Epoch [1][7850/59059] lr: 1.000e-04, eta: 23 days, 9:12:07, time: 0.573, data_time: 0.030, memory: 14138, loss_cls: 1.0567, loss_bbox: 1.1466, loss_traj: 2.2756, loss_traj_cls: 0.0006, loss_map_cls: 0.6776, loss_map_pts: 3.0570, loss_map_dir: 0.0393, d0.loss_plan_l1_fix_time: 3.8479, d0.loss_plan_l1_fix_dist: 0.7178, d1.loss_plan_l1_fix_time: 3.7344, d1.loss_plan_l1_fix_dist: 0.7592, d2.loss_plan_l1_fix_time: 3.7297, d2.loss_plan_l1_fix_dist: 0.8282, d3.loss_plan_l1_fix_time: 3.7396, d3.loss_plan_l1_fix_dist: 0.9094, d4.loss_plan_l1_fix_time: 3.7530, d4.loss_plan_l1_fix_dist: 1.0014, d5.loss_plan_l1_fix_time: 3.7691, d5.loss_plan_l1_fix_dist: 1.1065, d6.loss_plan_l1_fix_time: 3.7880, d6.loss_plan_l1_fix_dist: 1.2221, d0.loss_cls_all: 1.0527, d0.loss_bbox_all: 1.1404, d0.loss_cls: 1.0527, d0.loss_bbox: 1.1404, d1.loss_cls: 1.0547, d1.loss_bbox: 1.1393, d2.loss_cls: 1.0592, d2.loss_bbox: 1.1380, d3.loss_cls: 1.0552, d3.loss_bbox: 1.1400, d4.loss_cls: 1.0523, d4.loss_bbox: 1.1399, d5.loss_cls: 1.0529, d5.loss_bbox: 1.1416, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1561, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1696, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1886, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1944, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2186, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.2151, d0.loss_map_cls_all: 0.6627, d0.loss_map_pts_all: 3.3988, d0.loss_map_dir_all: 0.0388, d0.loss_map_cls: 0.6627, d0.loss_map_pts: 3.3988, d0.loss_map_dir: 0.0388, d1.loss_map_cls: 0.6769, d1.loss_map_pts: 2.9267, d1.loss_map_dir: 0.0388, d2.loss_map_cls: 0.6758, d2.loss_map_pts: 2.9294, d2.loss_map_dir: 0.0391, d3.loss_map_cls: 0.6747, d3.loss_map_pts: 2.9572, d3.loss_map_dir: 0.0392, d4.loss_map_cls: 0.6725, d4.loss_map_pts: 2.9907, d4.loss_map_dir: 0.0393, d5.loss_map_cls: 0.6735, d5.loss_map_pts: 3.0248, d5.loss_map_dir: 0.0393, loss: 96.2633, grad_norm: 242.1188 +2026-02-24 01:41:22,416 - DriveTransformer - INFO - Epoch [1][7900/59059] lr: 1.000e-04, eta: 23 days, 9:18:26, time: 0.590, data_time: 0.025, memory: 14138, loss_cls: 1.0270, loss_bbox: 1.1335, loss_traj: 2.4991, loss_traj_cls: 0.0006, loss_map_cls: 0.6866, loss_map_pts: 2.9485, loss_map_dir: 0.0404, d0.loss_plan_l1_fix_time: 4.0757, d0.loss_plan_l1_fix_dist: 0.6096, d1.loss_plan_l1_fix_time: 4.0375, d1.loss_plan_l1_fix_dist: 0.6788, d2.loss_plan_l1_fix_time: 4.0431, d2.loss_plan_l1_fix_dist: 0.7629, d3.loss_plan_l1_fix_time: 4.0574, d3.loss_plan_l1_fix_dist: 0.8563, d4.loss_plan_l1_fix_time: 4.0749, d4.loss_plan_l1_fix_dist: 0.9460, d5.loss_plan_l1_fix_time: 4.0925, d5.loss_plan_l1_fix_dist: 1.0413, d6.loss_plan_l1_fix_time: 4.1111, d6.loss_plan_l1_fix_dist: 1.1338, d0.loss_cls_all: 1.0193, d0.loss_bbox_all: 1.1070, d0.loss_cls: 1.0193, d0.loss_bbox: 1.1070, d1.loss_cls: 1.0245, d1.loss_bbox: 1.1087, d2.loss_cls: 1.0267, d2.loss_bbox: 1.1083, d3.loss_cls: 1.0278, d3.loss_bbox: 1.1099, d4.loss_cls: 1.0199, d4.loss_bbox: 1.1199, d5.loss_cls: 1.0231, d5.loss_bbox: 1.1264, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.4353, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4334, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4473, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.4566, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.4704, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4654, d0.loss_map_cls_all: 0.6708, d0.loss_map_pts_all: 3.4387, d0.loss_map_dir_all: 0.0409, d0.loss_map_cls: 0.6708, d0.loss_map_pts: 3.4387, d0.loss_map_dir: 0.0409, d1.loss_map_cls: 0.6829, d1.loss_map_pts: 2.9191, d1.loss_map_dir: 0.0404, d2.loss_map_cls: 0.6854, d2.loss_map_pts: 2.8921, d2.loss_map_dir: 0.0406, d3.loss_map_cls: 0.6861, d3.loss_map_pts: 2.9013, d3.loss_map_dir: 0.0406, d4.loss_map_cls: 0.6843, d4.loss_map_pts: 2.9156, d4.loss_map_dir: 0.0405, d5.loss_map_cls: 0.6845, d5.loss_map_pts: 2.9321, d5.loss_map_dir: 0.0404, loss: 99.0030, grad_norm: 240.7367 +2026-02-24 01:41:51,492 - DriveTransformer - INFO - Epoch [1][7950/59059] lr: 1.000e-04, eta: 23 days, 9:21:37, time: 0.581, data_time: 0.026, memory: 14138, loss_cls: 1.1188, loss_bbox: 1.1469, loss_traj: 2.2573, loss_traj_cls: 0.0005, loss_map_cls: 0.6797, loss_map_pts: 2.7805, loss_map_dir: 0.0392, d0.loss_plan_l1_fix_time: 3.9464, d0.loss_plan_l1_fix_dist: 0.7280, d1.loss_plan_l1_fix_time: 3.9133, d1.loss_plan_l1_fix_dist: 0.7929, d2.loss_plan_l1_fix_time: 3.9263, d2.loss_plan_l1_fix_dist: 0.8850, d3.loss_plan_l1_fix_time: 3.9447, d3.loss_plan_l1_fix_dist: 0.9897, d4.loss_plan_l1_fix_time: 3.9674, d4.loss_plan_l1_fix_dist: 1.0954, d5.loss_plan_l1_fix_time: 3.9891, d5.loss_plan_l1_fix_dist: 1.2016, d6.loss_plan_l1_fix_time: 4.0112, d6.loss_plan_l1_fix_dist: 1.3063, d0.loss_cls_all: 1.0940, d0.loss_bbox_all: 1.1344, d0.loss_cls: 1.0940, d0.loss_bbox: 1.1344, d1.loss_cls: 1.0899, d1.loss_bbox: 1.1370, d2.loss_cls: 1.0957, d2.loss_bbox: 1.1400, d3.loss_cls: 1.1115, d3.loss_bbox: 1.1395, d4.loss_cls: 1.1177, d4.loss_bbox: 1.1450, d5.loss_cls: 1.1183, d5.loss_bbox: 1.1496, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2076, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2176, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2274, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2386, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2327, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2536, d0.loss_map_cls_all: 0.6683, d0.loss_map_pts_all: 3.3079, d0.loss_map_dir_all: 0.0401, d0.loss_map_cls: 0.6683, d0.loss_map_pts: 3.3079, d0.loss_map_dir: 0.0401, d1.loss_map_cls: 0.6728, d1.loss_map_pts: 2.7504, d1.loss_map_dir: 0.0394, d2.loss_map_cls: 0.6781, d2.loss_map_pts: 2.7283, d2.loss_map_dir: 0.0394, d3.loss_map_cls: 0.6802, d3.loss_map_pts: 2.7405, d3.loss_map_dir: 0.0393, d4.loss_map_cls: 0.6790, d4.loss_map_pts: 2.7494, d4.loss_map_dir: 0.0393, d5.loss_map_cls: 0.6795, d5.loss_map_pts: 2.7622, d5.loss_map_dir: 0.0393, loss: 97.1519, grad_norm: 238.6090 +2026-02-24 01:42:20,636 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 01:42:20,637 - DriveTransformer - INFO - Epoch [1][8000/59059] lr: 1.000e-04, eta: 23 days, 9:25:18, time: 0.583, data_time: 0.033, memory: 14138, loss_cls: 1.0927, loss_bbox: 1.1798, loss_traj: 2.2857, loss_traj_cls: 0.0006, loss_map_cls: 0.6487, loss_map_pts: 2.8960, loss_map_dir: 0.0376, d0.loss_plan_l1_fix_time: 3.5243, d0.loss_plan_l1_fix_dist: 0.6339, d1.loss_plan_l1_fix_time: 3.3912, d1.loss_plan_l1_fix_dist: 0.6874, d2.loss_plan_l1_fix_time: 3.3797, d2.loss_plan_l1_fix_dist: 0.7725, d3.loss_plan_l1_fix_time: 3.3852, d3.loss_plan_l1_fix_dist: 0.8712, d4.loss_plan_l1_fix_time: 3.3968, d4.loss_plan_l1_fix_dist: 0.9820, d5.loss_plan_l1_fix_time: 3.4121, d5.loss_plan_l1_fix_dist: 1.0969, d6.loss_plan_l1_fix_time: 3.4284, d6.loss_plan_l1_fix_dist: 1.2245, d0.loss_cls_all: 1.0763, d0.loss_bbox_all: 1.1584, d0.loss_cls: 1.0763, d0.loss_bbox: 1.1584, d1.loss_cls: 1.0736, d1.loss_bbox: 1.1591, d2.loss_cls: 1.0759, d2.loss_bbox: 1.1622, d3.loss_cls: 1.0816, d3.loss_bbox: 1.1659, d4.loss_cls: 1.0915, d4.loss_bbox: 1.1699, d5.loss_cls: 1.0946, d5.loss_bbox: 1.1721, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2403, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2665, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2818, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.2883, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2912, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2902, d0.loss_map_cls_all: 0.6448, d0.loss_map_pts_all: 3.4569, d0.loss_map_dir_all: 0.0388, d0.loss_map_cls: 0.6448, d0.loss_map_pts: 3.4569, d0.loss_map_dir: 0.0388, d1.loss_map_cls: 0.6502, d1.loss_map_pts: 2.8854, d1.loss_map_dir: 0.0378, d2.loss_map_cls: 0.6488, d2.loss_map_pts: 2.8591, d2.loss_map_dir: 0.0377, d3.loss_map_cls: 0.6475, d3.loss_map_pts: 2.8701, d3.loss_map_dir: 0.0378, d4.loss_map_cls: 0.6457, d4.loss_map_pts: 2.8767, d4.loss_map_dir: 0.0376, d5.loss_map_cls: 0.6461, d5.loss_map_pts: 2.8862, d5.loss_map_dir: 0.0377, loss: 93.7898, grad_norm: 238.8606 +2026-02-24 01:42:49,524 - DriveTransformer - INFO - Epoch [1][8050/59059] lr: 1.000e-04, eta: 23 days, 9:27:03, time: 0.578, data_time: 0.027, memory: 14138, loss_cls: 1.0479, loss_bbox: 1.1131, loss_traj: 2.0406, loss_traj_cls: 0.0005, loss_map_cls: 0.6708, loss_map_pts: 2.7195, loss_map_dir: 0.0406, d0.loss_plan_l1_fix_time: 3.4011, d0.loss_plan_l1_fix_dist: 0.5550, d1.loss_plan_l1_fix_time: 3.3712, d1.loss_plan_l1_fix_dist: 0.6037, d2.loss_plan_l1_fix_time: 3.3820, d2.loss_plan_l1_fix_dist: 0.6735, d3.loss_plan_l1_fix_time: 3.4000, d3.loss_plan_l1_fix_dist: 0.7543, d4.loss_plan_l1_fix_time: 3.4230, d4.loss_plan_l1_fix_dist: 0.8445, d5.loss_plan_l1_fix_time: 3.4470, d5.loss_plan_l1_fix_dist: 0.9449, d6.loss_plan_l1_fix_time: 3.4708, d6.loss_plan_l1_fix_dist: 1.0565, d0.loss_cls_all: 1.0181, d0.loss_bbox_all: 1.0930, d0.loss_cls: 1.0181, d0.loss_bbox: 1.0930, d1.loss_cls: 1.0208, d1.loss_bbox: 1.0933, d2.loss_cls: 1.0275, d2.loss_bbox: 1.0943, d3.loss_cls: 1.0383, d3.loss_bbox: 1.0935, d4.loss_cls: 1.0494, d4.loss_bbox: 1.0995, d5.loss_cls: 1.0519, d5.loss_bbox: 1.1072, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0288, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0629, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0668, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0661, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0583, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0402, d0.loss_map_cls_all: 0.6542, d0.loss_map_pts_all: 3.3008, d0.loss_map_dir_all: 0.0413, d0.loss_map_cls: 0.6542, d0.loss_map_pts: 3.3008, d0.loss_map_dir: 0.0413, d1.loss_map_cls: 0.6659, d1.loss_map_pts: 2.7535, d1.loss_map_dir: 0.0405, d2.loss_map_cls: 0.6659, d2.loss_map_pts: 2.7102, d2.loss_map_dir: 0.0407, d3.loss_map_cls: 0.6658, d3.loss_map_pts: 2.7098, d3.loss_map_dir: 0.0406, d4.loss_map_cls: 0.6654, d4.loss_map_pts: 2.7155, d4.loss_map_dir: 0.0407, d5.loss_map_cls: 0.6679, d5.loss_map_pts: 2.7196, d5.loss_map_dir: 0.0407, loss: 89.3200, grad_norm: 238.4965 +2026-02-24 01:43:17,830 - DriveTransformer - INFO - Epoch [1][8100/59059] lr: 1.000e-04, eta: 23 days, 9:24:32, time: 0.566, data_time: 0.028, memory: 14138, loss_cls: 1.0577, loss_bbox: 1.1594, loss_traj: 2.4419, loss_traj_cls: 0.0006, loss_map_cls: 0.6803, loss_map_pts: 2.8375, loss_map_dir: 0.0356, d0.loss_plan_l1_fix_time: 3.6838, d0.loss_plan_l1_fix_dist: 0.7421, d1.loss_plan_l1_fix_time: 3.6532, d1.loss_plan_l1_fix_dist: 0.7995, d2.loss_plan_l1_fix_time: 3.6637, d2.loss_plan_l1_fix_dist: 0.8753, d3.loss_plan_l1_fix_time: 3.6785, d3.loss_plan_l1_fix_dist: 0.9654, d4.loss_plan_l1_fix_time: 3.6947, d4.loss_plan_l1_fix_dist: 1.0545, d5.loss_plan_l1_fix_time: 3.7117, d5.loss_plan_l1_fix_dist: 1.1535, d6.loss_plan_l1_fix_time: 3.7274, d6.loss_plan_l1_fix_dist: 1.2589, d0.loss_cls_all: 1.0479, d0.loss_bbox_all: 1.1409, d0.loss_cls: 1.0479, d0.loss_bbox: 1.1409, d1.loss_cls: 1.0416, d1.loss_bbox: 1.1474, d2.loss_cls: 1.0436, d2.loss_bbox: 1.1494, d3.loss_cls: 1.0467, d3.loss_bbox: 1.1531, d4.loss_cls: 1.0589, d4.loss_bbox: 1.1556, d5.loss_cls: 1.0594, d5.loss_bbox: 1.1624, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3416, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3728, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3811, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3869, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.4063, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4212, d0.loss_map_cls_all: 0.6655, d0.loss_map_pts_all: 3.2933, d0.loss_map_dir_all: 0.0362, d0.loss_map_cls: 0.6655, d0.loss_map_pts: 3.2933, d0.loss_map_dir: 0.0362, d1.loss_map_cls: 0.6769, d1.loss_map_pts: 2.8076, d1.loss_map_dir: 0.0357, d2.loss_map_cls: 0.6758, d2.loss_map_pts: 2.7850, d2.loss_map_dir: 0.0358, d3.loss_map_cls: 0.6745, d3.loss_map_pts: 2.7936, d3.loss_map_dir: 0.0358, d4.loss_map_cls: 0.6746, d4.loss_map_pts: 2.8114, d4.loss_map_dir: 0.0358, d5.loss_map_cls: 0.6765, d5.loss_map_pts: 2.8255, d5.loss_map_dir: 0.0357, loss: 96.1542, grad_norm: 237.3350 +2026-02-24 01:43:46,172 - DriveTransformer - INFO - Epoch [1][8150/59059] lr: 1.000e-04, eta: 23 days, 9:22:18, time: 0.567, data_time: 0.028, memory: 14138, loss_cls: 1.0393, loss_bbox: 1.1225, loss_traj: 2.6102, loss_traj_cls: 0.0006, loss_map_cls: 0.6327, loss_map_pts: 2.6957, loss_map_dir: 0.0336, d0.loss_plan_l1_fix_time: 3.3705, d0.loss_plan_l1_fix_dist: 0.6976, d1.loss_plan_l1_fix_time: 3.3202, d1.loss_plan_l1_fix_dist: 0.7548, d2.loss_plan_l1_fix_time: 3.3381, d2.loss_plan_l1_fix_dist: 0.8463, d3.loss_plan_l1_fix_time: 3.3636, d3.loss_plan_l1_fix_dist: 0.9597, d4.loss_plan_l1_fix_time: 3.3918, d4.loss_plan_l1_fix_dist: 1.0723, d5.loss_plan_l1_fix_time: 3.4205, d5.loss_plan_l1_fix_dist: 1.1953, d6.loss_plan_l1_fix_time: 3.4469, d6.loss_plan_l1_fix_dist: 1.3256, d0.loss_cls_all: 1.0215, d0.loss_bbox_all: 1.0893, d0.loss_cls: 1.0215, d0.loss_bbox: 1.0893, d1.loss_cls: 1.0280, d1.loss_bbox: 1.0923, d2.loss_cls: 1.0323, d2.loss_bbox: 1.1020, d3.loss_cls: 1.0310, d3.loss_bbox: 1.1121, d4.loss_cls: 1.0322, d4.loss_bbox: 1.1176, d5.loss_cls: 1.0363, d5.loss_bbox: 1.1182, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2508, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3594, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4546, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.5014, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.5724, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5887, d0.loss_map_cls_all: 0.6024, d0.loss_map_pts_all: 3.3124, d0.loss_map_dir_all: 0.0345, d0.loss_map_cls: 0.6024, d0.loss_map_pts: 3.3124, d0.loss_map_dir: 0.0345, d1.loss_map_cls: 0.6189, d1.loss_map_pts: 2.6496, d1.loss_map_dir: 0.0337, d2.loss_map_cls: 0.6227, d2.loss_map_pts: 2.6027, d2.loss_map_dir: 0.0337, d3.loss_map_cls: 0.6267, d3.loss_map_pts: 2.6099, d3.loss_map_dir: 0.0337, d4.loss_map_cls: 0.6281, d4.loss_map_pts: 2.6373, d4.loss_map_dir: 0.0338, d5.loss_map_cls: 0.6294, d5.loss_map_pts: 2.6655, d5.loss_map_dir: 0.0337, loss: 92.6497, grad_norm: 242.4910 +2026-02-24 01:44:14,772 - DriveTransformer - INFO - Epoch [1][8200/59059] lr: 1.000e-04, eta: 23 days, 9:21:58, time: 0.572, data_time: 0.028, memory: 14138, loss_cls: 1.0739, loss_bbox: 1.1410, loss_traj: 2.3090, loss_traj_cls: 0.0005, loss_map_cls: 0.6457, loss_map_pts: 3.0594, loss_map_dir: 0.0417, d0.loss_plan_l1_fix_time: 3.5481, d0.loss_plan_l1_fix_dist: 0.6436, d1.loss_plan_l1_fix_time: 3.4804, d1.loss_plan_l1_fix_dist: 0.6795, d2.loss_plan_l1_fix_time: 3.4939, d2.loss_plan_l1_fix_dist: 0.7366, d3.loss_plan_l1_fix_time: 3.5140, d3.loss_plan_l1_fix_dist: 0.8119, d4.loss_plan_l1_fix_time: 3.5321, d4.loss_plan_l1_fix_dist: 0.9009, d5.loss_plan_l1_fix_time: 3.5536, d5.loss_plan_l1_fix_dist: 1.0011, d6.loss_plan_l1_fix_time: 3.5763, d6.loss_plan_l1_fix_dist: 1.1049, d0.loss_cls_all: 1.0515, d0.loss_bbox_all: 1.1160, d0.loss_cls: 1.0515, d0.loss_bbox: 1.1160, d1.loss_cls: 1.0528, d1.loss_bbox: 1.1233, d2.loss_cls: 1.0674, d2.loss_bbox: 1.1257, d3.loss_cls: 1.0705, d3.loss_bbox: 1.1321, d4.loss_cls: 1.0679, d4.loss_bbox: 1.1369, d5.loss_cls: 1.0685, d5.loss_bbox: 1.1357, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1842, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2255, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2648, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2796, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3463, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3234, d0.loss_map_cls_all: 0.6310, d0.loss_map_pts_all: 3.5936, d0.loss_map_dir_all: 0.0421, d0.loss_map_cls: 0.6310, d0.loss_map_pts: 3.5936, d0.loss_map_dir: 0.0421, d1.loss_map_cls: 0.6404, d1.loss_map_pts: 3.0763, d1.loss_map_dir: 0.0417, d2.loss_map_cls: 0.6422, d2.loss_map_pts: 3.0435, d2.loss_map_dir: 0.0418, d3.loss_map_cls: 0.6437, d3.loss_map_pts: 3.0393, d3.loss_map_dir: 0.0418, d4.loss_map_cls: 0.6431, d4.loss_map_pts: 3.0428, d4.loss_map_dir: 0.0418, d5.loss_map_cls: 0.6441, d5.loss_map_pts: 3.0492, d5.loss_map_dir: 0.0418, loss: 94.9973, grad_norm: 242.8804 +2026-02-24 01:44:43,772 - DriveTransformer - INFO - Epoch [1][8250/59059] lr: 1.000e-04, eta: 23 days, 9:24:29, time: 0.580, data_time: 0.027, memory: 14138, loss_cls: 1.1014, loss_bbox: 1.1621, loss_traj: 2.2023, loss_traj_cls: 0.0006, loss_map_cls: 0.6671, loss_map_pts: 2.8453, loss_map_dir: 0.0406, d0.loss_plan_l1_fix_time: 3.4332, d0.loss_plan_l1_fix_dist: 0.7381, d1.loss_plan_l1_fix_time: 3.3721, d1.loss_plan_l1_fix_dist: 0.7831, d2.loss_plan_l1_fix_time: 3.3775, d2.loss_plan_l1_fix_dist: 0.8415, d3.loss_plan_l1_fix_time: 3.3938, d3.loss_plan_l1_fix_dist: 0.9040, d4.loss_plan_l1_fix_time: 3.4108, d4.loss_plan_l1_fix_dist: 0.9868, d5.loss_plan_l1_fix_time: 3.4299, d5.loss_plan_l1_fix_dist: 1.0774, d6.loss_plan_l1_fix_time: 3.4508, d6.loss_plan_l1_fix_dist: 1.1729, d0.loss_cls_all: 1.0816, d0.loss_bbox_all: 1.1404, d0.loss_cls: 1.0816, d0.loss_bbox: 1.1404, d1.loss_cls: 1.0869, d1.loss_bbox: 1.1475, d2.loss_cls: 1.0974, d2.loss_bbox: 1.1455, d3.loss_cls: 1.1019, d3.loss_bbox: 1.1467, d4.loss_cls: 1.0987, d4.loss_bbox: 1.1497, d5.loss_cls: 1.0995, d5.loss_bbox: 1.1550, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8559, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9281, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9712, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0147, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0454, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1867, d0.loss_map_cls_all: 0.6566, d0.loss_map_pts_all: 3.4443, d0.loss_map_dir_all: 0.0404, d0.loss_map_cls: 0.6566, d0.loss_map_pts: 3.4443, d0.loss_map_dir: 0.0404, d1.loss_map_cls: 0.6664, d1.loss_map_pts: 2.8474, d1.loss_map_dir: 0.0403, d2.loss_map_cls: 0.6625, d2.loss_map_pts: 2.8255, d2.loss_map_dir: 0.0406, d3.loss_map_cls: 0.6622, d3.loss_map_pts: 2.8316, d3.loss_map_dir: 0.0407, d4.loss_map_cls: 0.6610, d4.loss_map_pts: 2.8354, d4.loss_map_dir: 0.0407, d5.loss_map_cls: 0.6636, d5.loss_map_pts: 2.8391, d5.loss_map_dir: 0.0407, loss: 92.0495, grad_norm: 241.2764 +2026-02-24 01:45:12,335 - DriveTransformer - INFO - Epoch [1][8300/59059] lr: 1.000e-04, eta: 23 days, 9:23:51, time: 0.571, data_time: 0.029, memory: 14138, loss_cls: 1.0453, loss_bbox: 1.1065, loss_traj: 2.2655, loss_traj_cls: 0.0005, loss_map_cls: 0.6722, loss_map_pts: 2.5633, loss_map_dir: 0.0331, d0.loss_plan_l1_fix_time: 3.0680, d0.loss_plan_l1_fix_dist: 0.6192, d1.loss_plan_l1_fix_time: 2.9159, d1.loss_plan_l1_fix_dist: 0.6927, d2.loss_plan_l1_fix_time: 2.8997, d2.loss_plan_l1_fix_dist: 0.7866, d3.loss_plan_l1_fix_time: 2.9031, d3.loss_plan_l1_fix_dist: 0.8790, d4.loss_plan_l1_fix_time: 2.9102, d4.loss_plan_l1_fix_dist: 0.9766, d5.loss_plan_l1_fix_time: 2.9221, d5.loss_plan_l1_fix_dist: 1.0787, d6.loss_plan_l1_fix_time: 2.9374, d6.loss_plan_l1_fix_dist: 1.1945, d0.loss_cls_all: 1.0205, d0.loss_bbox_all: 1.0640, d0.loss_cls: 1.0205, d0.loss_bbox: 1.0640, d1.loss_cls: 1.0310, d1.loss_bbox: 1.0584, d2.loss_cls: 1.0349, d2.loss_bbox: 1.0560, d3.loss_cls: 1.0395, d3.loss_bbox: 1.0583, d4.loss_cls: 1.0371, d4.loss_bbox: 1.0684, d5.loss_cls: 1.0400, d5.loss_bbox: 1.0864, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0501, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1030, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1318, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1543, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1590, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2483, d0.loss_map_cls_all: 0.6627, d0.loss_map_pts_all: 3.1532, d0.loss_map_dir_all: 0.0326, d0.loss_map_cls: 0.6627, d0.loss_map_pts: 3.1532, d0.loss_map_dir: 0.0326, d1.loss_map_cls: 0.6668, d1.loss_map_pts: 2.5485, d1.loss_map_dir: 0.0325, d2.loss_map_cls: 0.6624, d2.loss_map_pts: 2.5364, d2.loss_map_dir: 0.0328, d3.loss_map_cls: 0.6642, d3.loss_map_pts: 2.5459, d3.loss_map_dir: 0.0330, d4.loss_map_cls: 0.6655, d4.loss_map_pts: 2.5503, d4.loss_map_dir: 0.0330, d5.loss_map_cls: 0.6680, d5.loss_map_pts: 2.5561, d5.loss_map_dir: 0.0331, loss: 85.9239, grad_norm: 240.4733 +2026-02-24 01:45:40,863 - DriveTransformer - INFO - Epoch [1][8350/59059] lr: 1.000e-04, eta: 23 days, 9:22:59, time: 0.571, data_time: 0.032, memory: 14138, loss_cls: 1.1164, loss_bbox: 1.1032, loss_traj: 2.1110, loss_traj_cls: 0.0005, loss_map_cls: 0.6572, loss_map_pts: 2.4001, loss_map_dir: 0.0334, d0.loss_plan_l1_fix_time: 3.6061, d0.loss_plan_l1_fix_dist: 0.6740, d1.loss_plan_l1_fix_time: 3.4898, d1.loss_plan_l1_fix_dist: 0.7257, d2.loss_plan_l1_fix_time: 3.4770, d2.loss_plan_l1_fix_dist: 0.8033, d3.loss_plan_l1_fix_time: 3.4828, d3.loss_plan_l1_fix_dist: 0.8939, d4.loss_plan_l1_fix_time: 3.4953, d4.loss_plan_l1_fix_dist: 0.9842, d5.loss_plan_l1_fix_time: 3.5112, d5.loss_plan_l1_fix_dist: 1.0823, d6.loss_plan_l1_fix_time: 3.5303, d6.loss_plan_l1_fix_dist: 1.1895, d0.loss_cls_all: 1.1010, d0.loss_bbox_all: 1.0689, d0.loss_cls: 1.1010, d0.loss_bbox: 1.0689, d1.loss_cls: 1.1033, d1.loss_bbox: 1.0694, d2.loss_cls: 1.1105, d2.loss_bbox: 1.0687, d3.loss_cls: 1.1152, d3.loss_bbox: 1.0720, d4.loss_cls: 1.1114, d4.loss_bbox: 1.0824, d5.loss_cls: 1.1120, d5.loss_bbox: 1.0937, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9438, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9840, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9923, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0353, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1006, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0386, d0.loss_map_cls_all: 0.6404, d0.loss_map_pts_all: 3.2129, d0.loss_map_dir_all: 0.0341, d0.loss_map_cls: 0.6404, d0.loss_map_pts: 3.2129, d0.loss_map_dir: 0.0341, d1.loss_map_cls: 0.6522, d1.loss_map_pts: 2.5015, d1.loss_map_dir: 0.0334, d2.loss_map_cls: 0.6497, d2.loss_map_pts: 2.4300, d2.loss_map_dir: 0.0335, d3.loss_map_cls: 0.6513, d3.loss_map_pts: 2.4147, d3.loss_map_dir: 0.0335, d4.loss_map_cls: 0.6512, d4.loss_map_pts: 2.4081, d4.loss_map_dir: 0.0335, d5.loss_map_cls: 0.6530, d5.loss_map_pts: 2.4040, d5.loss_map_dir: 0.0335, loss: 89.1012, grad_norm: 239.5230 +2026-02-24 01:46:10,874 - DriveTransformer - INFO - Epoch [1][8400/59059] lr: 1.000e-04, eta: 23 days, 9:32:49, time: 0.601, data_time: 0.031, memory: 14138, loss_cls: 1.0970, loss_bbox: 1.1280, loss_traj: 1.9865, loss_traj_cls: 0.0006, loss_map_cls: 0.6616, loss_map_pts: 2.9792, loss_map_dir: 0.0406, d0.loss_plan_l1_fix_time: 3.3632, d0.loss_plan_l1_fix_dist: 0.6797, d1.loss_plan_l1_fix_time: 3.3393, d1.loss_plan_l1_fix_dist: 0.7521, d2.loss_plan_l1_fix_time: 3.3519, d2.loss_plan_l1_fix_dist: 0.8437, d3.loss_plan_l1_fix_time: 3.3727, d3.loss_plan_l1_fix_dist: 0.9484, d4.loss_plan_l1_fix_time: 3.4028, d4.loss_plan_l1_fix_dist: 1.0647, d5.loss_plan_l1_fix_time: 3.4326, d5.loss_plan_l1_fix_dist: 1.1831, d6.loss_plan_l1_fix_time: 3.4619, d6.loss_plan_l1_fix_dist: 1.2953, d0.loss_cls_all: 1.0908, d0.loss_bbox_all: 1.1245, d0.loss_cls: 1.0908, d0.loss_bbox: 1.1245, d1.loss_cls: 1.0881, d1.loss_bbox: 1.1244, d2.loss_cls: 1.0902, d2.loss_bbox: 1.1237, d3.loss_cls: 1.0950, d3.loss_bbox: 1.1177, d4.loss_cls: 1.0941, d4.loss_bbox: 1.1183, d5.loss_cls: 1.0936, d5.loss_bbox: 1.1241, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8475, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8477, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8487, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8950, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.9892, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9091, d0.loss_map_cls_all: 0.6506, d0.loss_map_pts_all: 3.4805, d0.loss_map_dir_all: 0.0411, d0.loss_map_cls: 0.6506, d0.loss_map_pts: 3.4805, d0.loss_map_dir: 0.0411, d1.loss_map_cls: 0.6588, d1.loss_map_pts: 2.9696, d1.loss_map_dir: 0.0407, d2.loss_map_cls: 0.6580, d2.loss_map_pts: 2.9433, d2.loss_map_dir: 0.0409, d3.loss_map_cls: 0.6589, d3.loss_map_pts: 2.9464, d3.loss_map_dir: 0.0409, d4.loss_map_cls: 0.6596, d4.loss_map_pts: 2.9582, d4.loss_map_dir: 0.0408, d5.loss_map_cls: 0.6601, d5.loss_map_pts: 2.9701, d5.loss_map_dir: 0.0406, loss: 91.8567, grad_norm: 239.6390 +2026-02-24 01:46:40,567 - DriveTransformer - INFO - Epoch [1][8450/59059] lr: 1.000e-04, eta: 23 days, 9:39:42, time: 0.593, data_time: 0.032, memory: 14138, loss_cls: 1.0949, loss_bbox: 1.1883, loss_traj: 2.1322, loss_traj_cls: 0.0006, loss_map_cls: 0.6539, loss_map_pts: 2.9295, loss_map_dir: 0.0411, d0.loss_plan_l1_fix_time: 3.8414, d0.loss_plan_l1_fix_dist: 0.7405, d1.loss_plan_l1_fix_time: 3.7417, d1.loss_plan_l1_fix_dist: 0.7931, d2.loss_plan_l1_fix_time: 3.7381, d2.loss_plan_l1_fix_dist: 0.8628, d3.loss_plan_l1_fix_time: 3.7513, d3.loss_plan_l1_fix_dist: 0.9434, d4.loss_plan_l1_fix_time: 3.7700, d4.loss_plan_l1_fix_dist: 1.0273, d5.loss_plan_l1_fix_time: 3.7907, d5.loss_plan_l1_fix_dist: 1.1192, d6.loss_plan_l1_fix_time: 3.8126, d6.loss_plan_l1_fix_dist: 1.2146, d0.loss_cls_all: 1.0800, d0.loss_bbox_all: 1.1560, d0.loss_cls: 1.0800, d0.loss_bbox: 1.1560, d1.loss_cls: 1.0744, d1.loss_bbox: 1.1652, d2.loss_cls: 1.0776, d2.loss_bbox: 1.1624, d3.loss_cls: 1.0778, d3.loss_bbox: 1.1674, d4.loss_cls: 1.0817, d4.loss_bbox: 1.1714, d5.loss_cls: 1.0897, d5.loss_bbox: 1.1783, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9981, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0089, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0883, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1478, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1172, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1563, d0.loss_map_cls_all: 0.6355, d0.loss_map_pts_all: 3.4262, d0.loss_map_dir_all: 0.0416, d0.loss_map_cls: 0.6355, d0.loss_map_pts: 3.4262, d0.loss_map_dir: 0.0416, d1.loss_map_cls: 0.6486, d1.loss_map_pts: 2.9143, d1.loss_map_dir: 0.0414, d2.loss_map_cls: 0.6485, d2.loss_map_pts: 2.8940, d2.loss_map_dir: 0.0415, d3.loss_map_cls: 0.6510, d3.loss_map_pts: 2.9002, d3.loss_map_dir: 0.0414, d4.loss_map_cls: 0.6509, d4.loss_map_pts: 2.9165, d4.loss_map_dir: 0.0412, d5.loss_map_cls: 0.6520, d5.loss_map_pts: 2.9246, d5.loss_map_dir: 0.0411, loss: 95.6385, grad_norm: 240.6159 +2026-02-24 01:47:07,010 - DriveTransformer - INFO - Epoch [1][8500/59059] lr: 1.000e-04, eta: 23 days, 9:24:16, time: 0.529, data_time: 0.025, memory: 14138, loss_cls: 1.0521, loss_bbox: 1.1014, loss_traj: 2.2886, loss_traj_cls: 0.0005, loss_map_cls: 0.6589, loss_map_pts: 2.6434, loss_map_dir: 0.0376, d0.loss_plan_l1_fix_time: 3.5737, d0.loss_plan_l1_fix_dist: 0.6438, d1.loss_plan_l1_fix_time: 3.5097, d1.loss_plan_l1_fix_dist: 0.6961, d2.loss_plan_l1_fix_time: 3.5124, d2.loss_plan_l1_fix_dist: 0.7748, d3.loss_plan_l1_fix_time: 3.5265, d3.loss_plan_l1_fix_dist: 0.8728, d4.loss_plan_l1_fix_time: 3.5443, d4.loss_plan_l1_fix_dist: 0.9816, d5.loss_plan_l1_fix_time: 3.5628, d5.loss_plan_l1_fix_dist: 1.1018, d6.loss_plan_l1_fix_time: 3.5836, d6.loss_plan_l1_fix_dist: 1.2316, d0.loss_cls_all: 1.0114, d0.loss_bbox_all: 1.0515, d0.loss_cls: 1.0114, d0.loss_bbox: 1.0515, d1.loss_cls: 1.0150, d1.loss_bbox: 1.0597, d2.loss_cls: 1.0234, d2.loss_bbox: 1.0648, d3.loss_cls: 1.0296, d3.loss_bbox: 1.0671, d4.loss_cls: 1.0384, d4.loss_bbox: 1.0775, d5.loss_cls: 1.0443, d5.loss_bbox: 1.0857, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.2141, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2176, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2455, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2989, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2782, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2912, d0.loss_map_cls_all: 0.6371, d0.loss_map_pts_all: 3.2390, d0.loss_map_dir_all: 0.0379, d0.loss_map_cls: 0.6371, d0.loss_map_pts: 3.2390, d0.loss_map_dir: 0.0379, d1.loss_map_cls: 0.6456, d1.loss_map_pts: 2.6786, d1.loss_map_dir: 0.0377, d2.loss_map_cls: 0.6508, d2.loss_map_pts: 2.6375, d2.loss_map_dir: 0.0379, d3.loss_map_cls: 0.6540, d3.loss_map_pts: 2.6359, d3.loss_map_dir: 0.0377, d4.loss_map_cls: 0.6563, d4.loss_map_pts: 2.6410, d4.loss_map_dir: 0.0377, d5.loss_map_cls: 0.6575, d5.loss_map_pts: 2.6431, d5.loss_map_dir: 0.0376, loss: 91.5947, grad_norm: 239.6773 +2026-02-24 01:47:37,890 - DriveTransformer - INFO - Epoch [1][8550/59059] lr: 1.000e-04, eta: 23 days, 9:39:36, time: 0.618, data_time: 0.029, memory: 14138, loss_cls: 1.0740, loss_bbox: 1.1304, loss_traj: 2.0268, loss_traj_cls: 0.0005, loss_map_cls: 0.6434, loss_map_pts: 3.3089, loss_map_dir: 0.0525, d0.loss_plan_l1_fix_time: 3.2602, d0.loss_plan_l1_fix_dist: 0.7077, d1.loss_plan_l1_fix_time: 3.2062, d1.loss_plan_l1_fix_dist: 0.7365, d2.loss_plan_l1_fix_time: 3.2097, d2.loss_plan_l1_fix_dist: 0.7891, d3.loss_plan_l1_fix_time: 3.2224, d3.loss_plan_l1_fix_dist: 0.8487, d4.loss_plan_l1_fix_time: 3.2391, d4.loss_plan_l1_fix_dist: 0.9224, d5.loss_plan_l1_fix_time: 3.2572, d5.loss_plan_l1_fix_dist: 1.0042, d6.loss_plan_l1_fix_time: 3.2771, d6.loss_plan_l1_fix_dist: 1.0917, d0.loss_cls_all: 1.0571, d0.loss_bbox_all: 1.1331, d0.loss_cls: 1.0571, d0.loss_bbox: 1.1331, d1.loss_cls: 1.0564, d1.loss_bbox: 1.1333, d2.loss_cls: 1.0588, d2.loss_bbox: 1.1341, d3.loss_cls: 1.0612, d3.loss_bbox: 1.1297, d4.loss_cls: 1.0645, d4.loss_bbox: 1.1288, d5.loss_cls: 1.0706, d5.loss_bbox: 1.1227, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9652, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0041, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0300, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0074, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0407, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0376, d0.loss_map_cls_all: 0.6298, d0.loss_map_pts_all: 3.7423, d0.loss_map_dir_all: 0.0522, d0.loss_map_cls: 0.6298, d0.loss_map_pts: 3.7423, d0.loss_map_dir: 0.0522, d1.loss_map_cls: 0.6437, d1.loss_map_pts: 3.2133, d1.loss_map_dir: 0.0524, d2.loss_map_cls: 0.6360, d2.loss_map_pts: 3.1986, d2.loss_map_dir: 0.0525, d3.loss_map_cls: 0.6397, d3.loss_map_pts: 3.2141, d3.loss_map_dir: 0.0526, d4.loss_map_cls: 0.6399, d4.loss_map_pts: 3.2334, d4.loss_map_dir: 0.0525, d5.loss_map_cls: 0.6413, d5.loss_map_pts: 3.2689, d5.loss_map_dir: 0.0525, loss: 92.8775, grad_norm: 238.5831 +2026-02-24 01:48:07,336 - DriveTransformer - INFO - Epoch [1][8600/59059] lr: 1.000e-04, eta: 23 days, 9:44:56, time: 0.589, data_time: 0.035, memory: 14138, loss_cls: 1.0767, loss_bbox: 1.1551, loss_traj: 2.2550, loss_traj_cls: 0.0006, loss_map_cls: 0.6598, loss_map_pts: 2.9028, loss_map_dir: 0.0411, d0.loss_plan_l1_fix_time: 3.6672, d0.loss_plan_l1_fix_dist: 0.7622, d1.loss_plan_l1_fix_time: 3.5800, d1.loss_plan_l1_fix_dist: 0.8301, d2.loss_plan_l1_fix_time: 3.5864, d2.loss_plan_l1_fix_dist: 0.9312, d3.loss_plan_l1_fix_time: 3.5971, d3.loss_plan_l1_fix_dist: 1.0463, d4.loss_plan_l1_fix_time: 3.6107, d4.loss_plan_l1_fix_dist: 1.1741, d5.loss_plan_l1_fix_time: 3.6287, d5.loss_plan_l1_fix_dist: 1.3030, d6.loss_plan_l1_fix_time: 3.6474, d6.loss_plan_l1_fix_dist: 1.4204, d0.loss_cls_all: 1.0639, d0.loss_bbox_all: 1.1258, d0.loss_cls: 1.0639, d0.loss_bbox: 1.1258, d1.loss_cls: 1.0659, d1.loss_bbox: 1.1291, d2.loss_cls: 1.0643, d2.loss_bbox: 1.1334, d3.loss_cls: 1.0647, d3.loss_bbox: 1.1372, d4.loss_cls: 1.0695, d4.loss_bbox: 1.1407, d5.loss_cls: 1.0711, d5.loss_bbox: 1.1458, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1651, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1873, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2382, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2321, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2491, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2561, d0.loss_map_cls_all: 0.6459, d0.loss_map_pts_all: 3.4299, d0.loss_map_dir_all: 0.0419, d0.loss_map_cls: 0.6459, d0.loss_map_pts: 3.4299, d0.loss_map_dir: 0.0419, d1.loss_map_cls: 0.6532, d1.loss_map_pts: 2.8364, d1.loss_map_dir: 0.0411, d2.loss_map_cls: 0.6542, d2.loss_map_pts: 2.8218, d2.loss_map_dir: 0.0413, d3.loss_map_cls: 0.6559, d3.loss_map_pts: 2.8358, d3.loss_map_dir: 0.0412, d4.loss_map_cls: 0.6566, d4.loss_map_pts: 2.8491, d4.loss_map_dir: 0.0412, d5.loss_map_cls: 0.6569, d5.loss_map_pts: 2.8761, d5.loss_map_dir: 0.0412, loss: 95.5453, grad_norm: 238.2531 +2026-02-24 01:48:35,549 - DriveTransformer - INFO - Epoch [1][8650/59059] lr: 1.000e-04, eta: 23 days, 9:41:46, time: 0.564, data_time: 0.029, memory: 14138, loss_cls: 1.0733, loss_bbox: 1.1872, loss_traj: 2.2518, loss_traj_cls: 0.0005, loss_map_cls: 0.6718, loss_map_pts: 2.6765, loss_map_dir: 0.0444, d0.loss_plan_l1_fix_time: 3.4457, d0.loss_plan_l1_fix_dist: 0.5764, d1.loss_plan_l1_fix_time: 3.3316, d1.loss_plan_l1_fix_dist: 0.6488, d2.loss_plan_l1_fix_time: 3.3391, d2.loss_plan_l1_fix_dist: 0.7528, d3.loss_plan_l1_fix_time: 3.3506, d3.loss_plan_l1_fix_dist: 0.8655, d4.loss_plan_l1_fix_time: 3.3644, d4.loss_plan_l1_fix_dist: 0.9944, d5.loss_plan_l1_fix_time: 3.3845, d5.loss_plan_l1_fix_dist: 1.1313, d6.loss_plan_l1_fix_time: 3.4067, d6.loss_plan_l1_fix_dist: 1.2723, d0.loss_cls_all: 1.0640, d0.loss_bbox_all: 1.1382, d0.loss_cls: 1.0640, d0.loss_bbox: 1.1382, d1.loss_cls: 1.0675, d1.loss_bbox: 1.1543, d2.loss_cls: 1.0705, d2.loss_bbox: 1.1584, d3.loss_cls: 1.0723, d3.loss_bbox: 1.1645, d4.loss_cls: 1.0714, d4.loss_bbox: 1.1687, d5.loss_cls: 1.0702, d5.loss_bbox: 1.1733, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0530, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0836, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0962, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1649, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2056, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2311, d0.loss_map_cls_all: 0.6661, d0.loss_map_pts_all: 3.2814, d0.loss_map_dir_all: 0.0447, d0.loss_map_cls: 0.6661, d0.loss_map_pts: 3.2814, d0.loss_map_dir: 0.0447, d1.loss_map_cls: 0.6724, d1.loss_map_pts: 2.7141, d1.loss_map_dir: 0.0447, d2.loss_map_cls: 0.6716, d2.loss_map_pts: 2.6783, d2.loss_map_dir: 0.0448, d3.loss_map_cls: 0.6722, d3.loss_map_pts: 2.6696, d3.loss_map_dir: 0.0446, d4.loss_map_cls: 0.6697, d4.loss_map_pts: 2.6697, d4.loss_map_dir: 0.0445, d5.loss_map_cls: 0.6698, d5.loss_map_pts: 2.6733, d5.loss_map_dir: 0.0443, loss: 91.1504, grad_norm: 238.0173 +2026-02-24 01:49:05,318 - DriveTransformer - INFO - Epoch [1][8700/59059] lr: 1.000e-04, eta: 23 days, 9:49:10, time: 0.595, data_time: 0.029, memory: 14138, loss_cls: 1.0701, loss_bbox: 1.0944, loss_traj: 2.2417, loss_traj_cls: 0.0005, loss_map_cls: 0.6553, loss_map_pts: 2.8569, loss_map_dir: 0.0457, d0.loss_plan_l1_fix_time: 3.6146, d0.loss_plan_l1_fix_dist: 0.7070, d1.loss_plan_l1_fix_time: 3.5948, d1.loss_plan_l1_fix_dist: 0.7651, d2.loss_plan_l1_fix_time: 3.6138, d2.loss_plan_l1_fix_dist: 0.8501, d3.loss_plan_l1_fix_time: 3.6340, d3.loss_plan_l1_fix_dist: 0.9469, d4.loss_plan_l1_fix_time: 3.6537, d4.loss_plan_l1_fix_dist: 1.0508, d5.loss_plan_l1_fix_time: 3.6751, d5.loss_plan_l1_fix_dist: 1.1624, d6.loss_plan_l1_fix_time: 3.6982, d6.loss_plan_l1_fix_dist: 1.2819, d0.loss_cls_all: 1.0451, d0.loss_bbox_all: 1.0869, d0.loss_cls: 1.0451, d0.loss_bbox: 1.0869, d1.loss_cls: 1.0475, d1.loss_bbox: 1.0879, d2.loss_cls: 1.0537, d2.loss_bbox: 1.0882, d3.loss_cls: 1.0582, d3.loss_bbox: 1.0890, d4.loss_cls: 1.0623, d4.loss_bbox: 1.0895, d5.loss_cls: 1.0638, d5.loss_bbox: 1.0847, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1049, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1466, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1645, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2070, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2336, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2454, d0.loss_map_cls_all: 0.6392, d0.loss_map_pts_all: 3.3818, d0.loss_map_dir_all: 0.0459, d0.loss_map_cls: 0.6392, d0.loss_map_pts: 3.3818, d0.loss_map_dir: 0.0459, d1.loss_map_cls: 0.6525, d1.loss_map_pts: 2.8476, d1.loss_map_dir: 0.0460, d2.loss_map_cls: 0.6518, d2.loss_map_pts: 2.8254, d2.loss_map_dir: 0.0460, d3.loss_map_cls: 0.6526, d3.loss_map_pts: 2.8313, d3.loss_map_dir: 0.0459, d4.loss_map_cls: 0.6534, d4.loss_map_pts: 2.8428, d4.loss_map_dir: 0.0459, d5.loss_map_cls: 0.6544, d5.loss_map_pts: 2.8484, d5.loss_map_dir: 0.0457, loss: 94.1304, grad_norm: 238.0371 +2026-02-24 01:49:33,166 - DriveTransformer - INFO - Epoch [1][8750/59059] lr: 1.000e-04, eta: 23 days, 9:43:35, time: 0.557, data_time: 0.030, memory: 14138, loss_cls: 1.0400, loss_bbox: 1.1004, loss_traj: 2.4892, loss_traj_cls: 0.0006, loss_map_cls: 0.6840, loss_map_pts: 2.7074, loss_map_dir: 0.0440, d0.loss_plan_l1_fix_time: 3.6211, d0.loss_plan_l1_fix_dist: 0.7234, d1.loss_plan_l1_fix_time: 3.6379, d1.loss_plan_l1_fix_dist: 0.7748, d2.loss_plan_l1_fix_time: 3.6659, d2.loss_plan_l1_fix_dist: 0.8622, d3.loss_plan_l1_fix_time: 3.6906, d3.loss_plan_l1_fix_dist: 0.9546, d4.loss_plan_l1_fix_time: 3.7136, d4.loss_plan_l1_fix_dist: 1.0465, d5.loss_plan_l1_fix_time: 3.7360, d5.loss_plan_l1_fix_dist: 1.1412, d6.loss_plan_l1_fix_time: 3.7587, d6.loss_plan_l1_fix_dist: 1.2418, d0.loss_cls_all: 1.0238, d0.loss_bbox_all: 1.0701, d0.loss_cls: 1.0238, d0.loss_bbox: 1.0701, d1.loss_cls: 1.0275, d1.loss_bbox: 1.0772, d2.loss_cls: 1.0338, d2.loss_bbox: 1.0788, d3.loss_cls: 1.0360, d3.loss_bbox: 1.0844, d4.loss_cls: 1.0338, d4.loss_bbox: 1.0915, d5.loss_cls: 1.0358, d5.loss_bbox: 1.0970, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3922, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4044, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4225, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.4487, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.4631, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4764, d0.loss_map_cls_all: 0.6661, d0.loss_map_pts_all: 3.3272, d0.loss_map_dir_all: 0.0444, d0.loss_map_cls: 0.6661, d0.loss_map_pts: 3.3272, d0.loss_map_dir: 0.0444, d1.loss_map_cls: 0.6792, d1.loss_map_pts: 2.7313, d1.loss_map_dir: 0.0442, d2.loss_map_cls: 0.6746, d2.loss_map_pts: 2.7009, d2.loss_map_dir: 0.0443, d3.loss_map_cls: 0.6777, d3.loss_map_pts: 2.6966, d3.loss_map_dir: 0.0443, d4.loss_map_cls: 0.6797, d4.loss_map_pts: 2.7006, d4.loss_map_dir: 0.0441, d5.loss_map_cls: 0.6825, d5.loss_map_pts: 2.7023, d5.loss_map_dir: 0.0441, loss: 95.2501, grad_norm: 237.8773 +2026-02-24 01:50:02,460 - DriveTransformer - INFO - Epoch [1][8800/59059] lr: 1.000e-04, eta: 23 days, 9:47:44, time: 0.586, data_time: 0.027, memory: 14138, loss_cls: 1.0447, loss_bbox: 1.0808, loss_traj: 2.3420, loss_traj_cls: 0.0006, loss_map_cls: 0.6487, loss_map_pts: 2.8850, loss_map_dir: 0.0464, d0.loss_plan_l1_fix_time: 4.0047, d0.loss_plan_l1_fix_dist: 0.7355, d1.loss_plan_l1_fix_time: 4.0118, d1.loss_plan_l1_fix_dist: 0.7927, d2.loss_plan_l1_fix_time: 4.0358, d2.loss_plan_l1_fix_dist: 0.8734, d3.loss_plan_l1_fix_time: 4.0626, d3.loss_plan_l1_fix_dist: 0.9744, d4.loss_plan_l1_fix_time: 4.0907, d4.loss_plan_l1_fix_dist: 1.0766, d5.loss_plan_l1_fix_time: 4.1153, d5.loss_plan_l1_fix_dist: 1.1811, d6.loss_plan_l1_fix_time: 4.1379, d6.loss_plan_l1_fix_dist: 1.2780, d0.loss_cls_all: 1.0337, d0.loss_bbox_all: 1.0834, d0.loss_cls: 1.0337, d0.loss_bbox: 1.0834, d1.loss_cls: 1.0336, d1.loss_bbox: 1.0854, d2.loss_cls: 1.0379, d2.loss_bbox: 1.0812, d3.loss_cls: 1.0369, d3.loss_bbox: 1.0821, d4.loss_cls: 1.0397, d4.loss_bbox: 1.0806, d5.loss_cls: 1.0415, d5.loss_bbox: 1.0821, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0783, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1477, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2030, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.2607, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.2834, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3168, d0.loss_map_cls_all: 0.6310, d0.loss_map_pts_all: 3.4569, d0.loss_map_dir_all: 0.0473, d0.loss_map_cls: 0.6310, d0.loss_map_pts: 3.4569, d0.loss_map_dir: 0.0473, d1.loss_map_cls: 0.6387, d1.loss_map_pts: 2.9147, d1.loss_map_dir: 0.0465, d2.loss_map_cls: 0.6386, d2.loss_map_pts: 2.8946, d2.loss_map_dir: 0.0466, d3.loss_map_cls: 0.6410, d3.loss_map_pts: 2.8890, d3.loss_map_dir: 0.0465, d4.loss_map_cls: 0.6441, d4.loss_map_pts: 2.8841, d4.loss_map_dir: 0.0465, d5.loss_map_cls: 0.6460, d5.loss_map_pts: 2.8837, d5.loss_map_dir: 0.0464, loss: 97.7241, grad_norm: 238.6909 +2026-02-24 01:50:31,119 - DriveTransformer - INFO - Epoch [1][8850/59059] lr: 1.000e-04, eta: 23 days, 9:47:35, time: 0.573, data_time: 0.026, memory: 14138, loss_cls: 1.0181, loss_bbox: 1.1017, loss_traj: 2.3901, loss_traj_cls: 0.0005, loss_map_cls: 0.6538, loss_map_pts: 2.6015, loss_map_dir: 0.0439, d0.loss_plan_l1_fix_time: 3.6157, d0.loss_plan_l1_fix_dist: 0.7163, d1.loss_plan_l1_fix_time: 3.5013, d1.loss_plan_l1_fix_dist: 0.7726, d2.loss_plan_l1_fix_time: 3.5036, d2.loss_plan_l1_fix_dist: 0.8482, d3.loss_plan_l1_fix_time: 3.5171, d3.loss_plan_l1_fix_dist: 0.9394, d4.loss_plan_l1_fix_time: 3.5341, d4.loss_plan_l1_fix_dist: 1.0376, d5.loss_plan_l1_fix_time: 3.5516, d5.loss_plan_l1_fix_dist: 1.1436, d6.loss_plan_l1_fix_time: 3.5694, d6.loss_plan_l1_fix_dist: 1.2562, d0.loss_cls_all: 1.0115, d0.loss_bbox_all: 1.1145, d0.loss_cls: 1.0115, d0.loss_bbox: 1.1145, d1.loss_cls: 1.0157, d1.loss_bbox: 1.1135, d2.loss_cls: 1.0160, d2.loss_bbox: 1.1155, d3.loss_cls: 1.0197, d3.loss_bbox: 1.1105, d4.loss_cls: 1.0169, d4.loss_bbox: 1.1094, d5.loss_cls: 1.0197, d5.loss_bbox: 1.1030, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1688, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2494, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2745, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3085, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.3510, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3691, d0.loss_map_cls_all: 0.6461, d0.loss_map_pts_all: 3.1616, d0.loss_map_dir_all: 0.0440, d0.loss_map_cls: 0.6461, d0.loss_map_pts: 3.1616, d0.loss_map_dir: 0.0440, d1.loss_map_cls: 0.6540, d1.loss_map_pts: 2.6415, d1.loss_map_dir: 0.0440, d2.loss_map_cls: 0.6481, d2.loss_map_pts: 2.6132, d2.loss_map_dir: 0.0441, d3.loss_map_cls: 0.6506, d3.loss_map_pts: 2.6061, d3.loss_map_dir: 0.0441, d4.loss_map_cls: 0.6495, d4.loss_map_pts: 2.6011, d4.loss_map_dir: 0.0440, d5.loss_map_cls: 0.6506, d5.loss_map_pts: 2.6012, d5.loss_map_dir: 0.0439, loss: 92.1721, grad_norm: 238.4591 +2026-02-24 01:51:01,358 - DriveTransformer - INFO - Epoch [1][8900/59059] lr: 1.000e-04, eta: 23 days, 9:57:54, time: 0.605, data_time: 0.027, memory: 14138, loss_cls: 1.0289, loss_bbox: 1.1773, loss_traj: 2.4426, loss_traj_cls: 0.0005, loss_map_cls: 0.6603, loss_map_pts: 3.0182, loss_map_dir: 0.0535, d0.loss_plan_l1_fix_time: 3.6406, d0.loss_plan_l1_fix_dist: 0.8538, d1.loss_plan_l1_fix_time: 3.5751, d1.loss_plan_l1_fix_dist: 0.9017, d2.loss_plan_l1_fix_time: 3.5765, d2.loss_plan_l1_fix_dist: 0.9737, d3.loss_plan_l1_fix_time: 3.5882, d3.loss_plan_l1_fix_dist: 1.0616, d4.loss_plan_l1_fix_time: 3.6046, d4.loss_plan_l1_fix_dist: 1.1698, d5.loss_plan_l1_fix_time: 3.6215, d5.loss_plan_l1_fix_dist: 1.2972, d6.loss_plan_l1_fix_time: 3.6399, d6.loss_plan_l1_fix_dist: 1.4370, d0.loss_cls_all: 1.0293, d0.loss_bbox_all: 1.1708, d0.loss_cls: 1.0293, d0.loss_bbox: 1.1708, d1.loss_cls: 1.0314, d1.loss_bbox: 1.1747, d2.loss_cls: 1.0323, d2.loss_bbox: 1.1785, d3.loss_cls: 1.0301, d3.loss_bbox: 1.1802, d4.loss_cls: 1.0316, d4.loss_bbox: 1.1791, d5.loss_cls: 1.0323, d5.loss_bbox: 1.1759, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2091, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2837, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3194, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3456, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.3923, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4110, d0.loss_map_cls_all: 0.6503, d0.loss_map_pts_all: 3.5523, d0.loss_map_dir_all: 0.0539, d0.loss_map_cls: 0.6503, d0.loss_map_pts: 3.5523, d0.loss_map_dir: 0.0539, d1.loss_map_cls: 0.6566, d1.loss_map_pts: 3.0452, d1.loss_map_dir: 0.0536, d2.loss_map_cls: 0.6597, d2.loss_map_pts: 3.0192, d2.loss_map_dir: 0.0537, d3.loss_map_cls: 0.6602, d3.loss_map_pts: 3.0170, d3.loss_map_dir: 0.0536, d4.loss_map_cls: 0.6584, d4.loss_map_pts: 3.0163, d4.loss_map_dir: 0.0536, d5.loss_map_cls: 0.6579, d5.loss_map_pts: 3.0176, d5.loss_map_dir: 0.0535, loss: 97.9222, grad_norm: 238.9289 +2026-02-24 01:51:29,261 - DriveTransformer - INFO - Epoch [1][8950/59059] lr: 1.000e-04, eta: 23 days, 9:52:46, time: 0.558, data_time: 0.030, memory: 14138, loss_cls: 1.0269, loss_bbox: 1.1339, loss_traj: 2.2440, loss_traj_cls: 0.0006, loss_map_cls: 0.6581, loss_map_pts: 2.7444, loss_map_dir: 0.0460, d0.loss_plan_l1_fix_time: 3.5796, d0.loss_plan_l1_fix_dist: 0.7754, d1.loss_plan_l1_fix_time: 3.5067, d1.loss_plan_l1_fix_dist: 0.8347, d2.loss_plan_l1_fix_time: 3.5157, d2.loss_plan_l1_fix_dist: 0.9154, d3.loss_plan_l1_fix_time: 3.5305, d3.loss_plan_l1_fix_dist: 1.0181, d4.loss_plan_l1_fix_time: 3.5484, d4.loss_plan_l1_fix_dist: 1.1268, d5.loss_plan_l1_fix_time: 3.5690, d5.loss_plan_l1_fix_dist: 1.2499, d6.loss_plan_l1_fix_time: 3.5907, d6.loss_plan_l1_fix_dist: 1.3735, d0.loss_cls_all: 1.0258, d0.loss_bbox_all: 1.1324, d0.loss_cls: 1.0258, d0.loss_bbox: 1.1324, d1.loss_cls: 1.0311, d1.loss_bbox: 1.1341, d2.loss_cls: 1.0303, d2.loss_bbox: 1.1396, d3.loss_cls: 1.0332, d3.loss_bbox: 1.1353, d4.loss_cls: 1.0310, d4.loss_bbox: 1.1347, d5.loss_cls: 1.0269, d5.loss_bbox: 1.1346, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0264, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0807, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1271, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1589, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.1781, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2100, d0.loss_map_cls_all: 0.6446, d0.loss_map_pts_all: 3.3501, d0.loss_map_dir_all: 0.0465, d0.loss_map_cls: 0.6446, d0.loss_map_pts: 3.3501, d0.loss_map_dir: 0.0465, d1.loss_map_cls: 0.6571, d1.loss_map_pts: 2.7822, d1.loss_map_dir: 0.0462, d2.loss_map_cls: 0.6546, d2.loss_map_pts: 2.7457, d2.loss_map_dir: 0.0462, d3.loss_map_cls: 0.6564, d3.loss_map_pts: 2.7431, d3.loss_map_dir: 0.0462, d4.loss_map_cls: 0.6571, d4.loss_map_pts: 2.7432, d4.loss_map_dir: 0.0461, d5.loss_map_cls: 0.6574, d5.loss_map_pts: 2.7436, d5.loss_map_dir: 0.0461, loss: 93.2734, grad_norm: 238.4842 +2026-02-24 01:51:56,712 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 01:51:56,712 - DriveTransformer - INFO - Epoch [1][9000/59059] lr: 1.000e-04, eta: 23 days, 9:44:37, time: 0.549, data_time: 0.027, memory: 14138, loss_cls: 1.0460, loss_bbox: 1.0782, loss_traj: 2.0461, loss_traj_cls: 0.0006, loss_map_cls: 0.6298, loss_map_pts: 2.3691, loss_map_dir: 0.0395, d0.loss_plan_l1_fix_time: 3.4403, d0.loss_plan_l1_fix_dist: 0.5948, d1.loss_plan_l1_fix_time: 3.3078, d1.loss_plan_l1_fix_dist: 0.6591, d2.loss_plan_l1_fix_time: 3.2976, d2.loss_plan_l1_fix_dist: 0.7490, d3.loss_plan_l1_fix_time: 3.3057, d3.loss_plan_l1_fix_dist: 0.8510, d4.loss_plan_l1_fix_time: 3.3206, d4.loss_plan_l1_fix_dist: 0.9429, d5.loss_plan_l1_fix_time: 3.3401, d5.loss_plan_l1_fix_dist: 1.0287, d6.loss_plan_l1_fix_time: 3.3619, d6.loss_plan_l1_fix_dist: 1.1104, d0.loss_cls_all: 1.0231, d0.loss_bbox_all: 1.0746, d0.loss_cls: 1.0231, d0.loss_bbox: 1.0746, d1.loss_cls: 1.0316, d1.loss_bbox: 1.0753, d2.loss_cls: 1.0424, d2.loss_bbox: 1.0775, d3.loss_cls: 1.0459, d3.loss_bbox: 1.0732, d4.loss_cls: 1.0458, d4.loss_bbox: 1.0721, d5.loss_cls: 1.0434, d5.loss_bbox: 1.0700, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9461, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9794, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9955, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0251, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.0237, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0166, d0.loss_map_cls_all: 0.6119, d0.loss_map_pts_all: 3.0573, d0.loss_map_dir_all: 0.0406, d0.loss_map_cls: 0.6119, d0.loss_map_pts: 3.0573, d0.loss_map_dir: 0.0406, d1.loss_map_cls: 0.6278, d1.loss_map_pts: 2.4037, d1.loss_map_dir: 0.0396, d2.loss_map_cls: 0.6225, d2.loss_map_pts: 2.3644, d2.loss_map_dir: 0.0395, d3.loss_map_cls: 0.6254, d3.loss_map_pts: 2.3591, d3.loss_map_dir: 0.0395, d4.loss_map_cls: 0.6277, d4.loss_map_pts: 2.3607, d4.loss_map_dir: 0.0395, d5.loss_map_cls: 0.6283, d5.loss_map_pts: 2.3639, d5.loss_map_dir: 0.0395, loss: 85.8818, grad_norm: 239.2220 +2026-02-24 01:52:24,189 - DriveTransformer - INFO - Epoch [1][9050/59059] lr: 1.000e-04, eta: 23 days, 9:36:47, time: 0.550, data_time: 0.026, memory: 14138, loss_cls: 1.0121, loss_bbox: 1.1495, loss_traj: 2.2780, loss_traj_cls: 0.0005, loss_map_cls: 0.6524, loss_map_pts: 2.5727, loss_map_dir: 0.0427, d0.loss_plan_l1_fix_time: 3.7774, d0.loss_plan_l1_fix_dist: 0.6803, d1.loss_plan_l1_fix_time: 3.6120, d1.loss_plan_l1_fix_dist: 0.7380, d2.loss_plan_l1_fix_time: 3.5957, d2.loss_plan_l1_fix_dist: 0.8200, d3.loss_plan_l1_fix_time: 3.5962, d3.loss_plan_l1_fix_dist: 0.9143, d4.loss_plan_l1_fix_time: 3.6038, d4.loss_plan_l1_fix_dist: 1.0104, d5.loss_plan_l1_fix_time: 3.6172, d5.loss_plan_l1_fix_dist: 1.1096, d6.loss_plan_l1_fix_time: 3.6332, d6.loss_plan_l1_fix_dist: 1.2179, d0.loss_cls_all: 1.0157, d0.loss_bbox_all: 1.1031, d0.loss_cls: 1.0157, d0.loss_bbox: 1.1031, d1.loss_cls: 1.0206, d1.loss_bbox: 1.1159, d2.loss_cls: 1.0215, d2.loss_bbox: 1.1275, d3.loss_cls: 1.0193, d3.loss_bbox: 1.1371, d4.loss_cls: 1.0165, d4.loss_bbox: 1.1380, d5.loss_cls: 1.0136, d5.loss_bbox: 1.1375, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1493, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2032, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2198, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2449, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.2472, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2528, d0.loss_map_cls_all: 0.6328, d0.loss_map_pts_all: 3.1695, d0.loss_map_dir_all: 0.0433, d0.loss_map_cls: 0.6328, d0.loss_map_pts: 3.1695, d0.loss_map_dir: 0.0433, d1.loss_map_cls: 0.6472, d1.loss_map_pts: 2.5940, d1.loss_map_dir: 0.0429, d2.loss_map_cls: 0.6422, d2.loss_map_pts: 2.5647, d2.loss_map_dir: 0.0429, d3.loss_map_cls: 0.6453, d3.loss_map_pts: 2.5634, d3.loss_map_dir: 0.0429, d4.loss_map_cls: 0.6486, d4.loss_map_pts: 2.5641, d4.loss_map_dir: 0.0428, d5.loss_map_cls: 0.6501, d5.loss_map_pts: 2.5661, d5.loss_map_dir: 0.0426, loss: 91.9298, grad_norm: 239.0477 +2026-02-24 01:52:51,898 - DriveTransformer - INFO - Epoch [1][9100/59059] lr: 1.000e-04, eta: 23 days, 9:30:31, time: 0.554, data_time: 0.027, memory: 14138, loss_cls: 1.0246, loss_bbox: 1.1019, loss_traj: 2.3436, loss_traj_cls: 0.0005, loss_map_cls: 0.6444, loss_map_pts: 2.4093, loss_map_dir: 0.0368, d0.loss_plan_l1_fix_time: 3.8663, d0.loss_plan_l1_fix_dist: 0.6131, d1.loss_plan_l1_fix_time: 3.7969, d1.loss_plan_l1_fix_dist: 0.6577, d2.loss_plan_l1_fix_time: 3.8029, d2.loss_plan_l1_fix_dist: 0.7248, d3.loss_plan_l1_fix_time: 3.8168, d3.loss_plan_l1_fix_dist: 0.8016, d4.loss_plan_l1_fix_time: 3.8339, d4.loss_plan_l1_fix_dist: 0.8904, d5.loss_plan_l1_fix_time: 3.8516, d5.loss_plan_l1_fix_dist: 0.9923, d6.loss_plan_l1_fix_time: 3.8712, d6.loss_plan_l1_fix_dist: 1.1032, d0.loss_cls_all: 1.0259, d0.loss_bbox_all: 1.0787, d0.loss_cls: 1.0259, d0.loss_bbox: 1.0787, d1.loss_cls: 1.0258, d1.loss_bbox: 1.0802, d2.loss_cls: 1.0255, d2.loss_bbox: 1.0860, d3.loss_cls: 1.0284, d3.loss_bbox: 1.0880, d4.loss_cls: 1.0278, d4.loss_bbox: 1.0897, d5.loss_cls: 1.0249, d5.loss_bbox: 1.0914, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.2225, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2648, d2.loss_traj_cls: 0.0004, d2.loss_traj: 2.2619, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3021, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.3053, d5.loss_traj_cls: 0.0004, d5.loss_traj: 2.3179, d0.loss_map_cls_all: 0.6214, d0.loss_map_pts_all: 3.1321, d0.loss_map_dir_all: 0.0381, d0.loss_map_cls: 0.6214, d0.loss_map_pts: 3.1321, d0.loss_map_dir: 0.0381, d1.loss_map_cls: 0.6339, d1.loss_map_pts: 2.4519, d1.loss_map_dir: 0.0369, d2.loss_map_cls: 0.6310, d2.loss_map_pts: 2.4130, d2.loss_map_dir: 0.0368, d3.loss_map_cls: 0.6376, d3.loss_map_pts: 2.4037, d3.loss_map_dir: 0.0368, d4.loss_map_cls: 0.6396, d4.loss_map_pts: 2.3997, d4.loss_map_dir: 0.0368, d5.loss_map_cls: 0.6407, d5.loss_map_pts: 2.4051, d5.loss_map_dir: 0.0368, loss: 91.6617, grad_norm: 239.0791 +2026-02-24 01:53:21,786 - DriveTransformer - INFO - Epoch [1][9150/59059] lr: 1.000e-04, eta: 23 days, 9:38:22, time: 0.598, data_time: 0.028, memory: 14138, loss_cls: 1.0134, loss_bbox: 1.0743, loss_traj: 2.2783, loss_traj_cls: 0.0005, loss_map_cls: 0.6697, loss_map_pts: 2.6618, loss_map_dir: 0.0408, d0.loss_plan_l1_fix_time: 3.5218, d0.loss_plan_l1_fix_dist: 0.5821, d1.loss_plan_l1_fix_time: 3.4468, d1.loss_plan_l1_fix_dist: 0.6380, d2.loss_plan_l1_fix_time: 3.4492, d2.loss_plan_l1_fix_dist: 0.7229, d3.loss_plan_l1_fix_time: 3.4630, d3.loss_plan_l1_fix_dist: 0.8123, d4.loss_plan_l1_fix_time: 3.4809, d4.loss_plan_l1_fix_dist: 0.9157, d5.loss_plan_l1_fix_time: 3.5001, d5.loss_plan_l1_fix_dist: 1.0223, d6.loss_plan_l1_fix_time: 3.5209, d6.loss_plan_l1_fix_dist: 1.1256, d0.loss_cls_all: 1.0028, d0.loss_bbox_all: 1.0826, d0.loss_cls: 1.0028, d0.loss_bbox: 1.0826, d1.loss_cls: 1.0104, d1.loss_bbox: 1.0775, d2.loss_cls: 1.0146, d2.loss_bbox: 1.0752, d3.loss_cls: 1.0212, d3.loss_bbox: 1.0727, d4.loss_cls: 1.0172, d4.loss_bbox: 1.0741, d5.loss_cls: 1.0161, d5.loss_bbox: 1.0727, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.1519, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1789, d2.loss_traj_cls: 0.0004, d2.loss_traj: 2.2095, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2321, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.2680, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2719, d0.loss_map_cls_all: 0.6516, d0.loss_map_pts_all: 3.3082, d0.loss_map_dir_all: 0.0412, d0.loss_map_cls: 0.6516, d0.loss_map_pts: 3.3082, d0.loss_map_dir: 0.0412, d1.loss_map_cls: 0.6666, d1.loss_map_pts: 2.7077, d1.loss_map_dir: 0.0409, d2.loss_map_cls: 0.6641, d2.loss_map_pts: 2.6686, d2.loss_map_dir: 0.0410, d3.loss_map_cls: 0.6658, d3.loss_map_pts: 2.6623, d3.loss_map_dir: 0.0410, d4.loss_map_cls: 0.6657, d4.loss_map_pts: 2.6588, d4.loss_map_dir: 0.0409, d5.loss_map_cls: 0.6668, d5.loss_map_pts: 2.6616, d5.loss_map_dir: 0.0408, loss: 90.7729, grad_norm: 239.1738 +2026-02-24 01:53:51,011 - DriveTransformer - INFO - Epoch [1][9200/59059] lr: 1.000e-04, eta: 23 days, 9:41:52, time: 0.584, data_time: 0.027, memory: 14138, loss_cls: 1.0022, loss_bbox: 1.1001, loss_traj: 2.1456, loss_traj_cls: 0.0005, loss_map_cls: 0.6627, loss_map_pts: 3.0340, loss_map_dir: 0.0485, d0.loss_plan_l1_fix_time: 4.1649, d0.loss_plan_l1_fix_dist: 0.7513, d1.loss_plan_l1_fix_time: 4.0492, d1.loss_plan_l1_fix_dist: 0.7963, d2.loss_plan_l1_fix_time: 4.0430, d2.loss_plan_l1_fix_dist: 0.8607, d3.loss_plan_l1_fix_time: 4.0513, d3.loss_plan_l1_fix_dist: 0.9424, d4.loss_plan_l1_fix_time: 4.0639, d4.loss_plan_l1_fix_dist: 1.0272, d5.loss_plan_l1_fix_time: 4.0773, d5.loss_plan_l1_fix_dist: 1.1139, d6.loss_plan_l1_fix_time: 4.0917, d6.loss_plan_l1_fix_dist: 1.2014, d0.loss_cls_all: 0.9895, d0.loss_bbox_all: 1.0929, d0.loss_cls: 0.9895, d0.loss_bbox: 1.0929, d1.loss_cls: 0.9955, d1.loss_bbox: 1.0888, d2.loss_cls: 0.9942, d2.loss_bbox: 1.0875, d3.loss_cls: 1.0005, d3.loss_bbox: 1.0867, d4.loss_cls: 1.0012, d4.loss_bbox: 1.0926, d5.loss_cls: 1.0022, d5.loss_bbox: 1.0931, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0297, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0755, d2.loss_traj_cls: 0.0004, d2.loss_traj: 2.0896, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1009, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.1362, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1414, d0.loss_map_cls_all: 0.6495, d0.loss_map_pts_all: 3.4660, d0.loss_map_dir_all: 0.0485, d0.loss_map_cls: 0.6495, d0.loss_map_pts: 3.4660, d0.loss_map_dir: 0.0485, d1.loss_map_cls: 0.6528, d1.loss_map_pts: 3.0596, d1.loss_map_dir: 0.0485, d2.loss_map_cls: 0.6498, d2.loss_map_pts: 3.0396, d2.loss_map_dir: 0.0485, d3.loss_map_cls: 0.6519, d3.loss_map_pts: 3.0362, d3.loss_map_dir: 0.0486, d4.loss_map_cls: 0.6565, d4.loss_map_pts: 3.0342, d4.loss_map_dir: 0.0486, d5.loss_map_cls: 0.6597, d5.loss_map_pts: 3.0340, d5.loss_map_dir: 0.0484, loss: 97.4563, grad_norm: 239.2082 +2026-02-24 01:54:20,801 - DriveTransformer - INFO - Epoch [1][9250/59059] lr: 1.000e-04, eta: 23 days, 9:48:56, time: 0.596, data_time: 0.030, memory: 14138, loss_cls: 1.0369, loss_bbox: 1.1120, loss_traj: 1.9358, loss_traj_cls: 0.0006, loss_map_cls: 0.6454, loss_map_pts: 3.0524, loss_map_dir: 0.0483, d0.loss_plan_l1_fix_time: 3.4811, d0.loss_plan_l1_fix_dist: 0.5954, d1.loss_plan_l1_fix_time: 3.4582, d1.loss_plan_l1_fix_dist: 0.6475, d2.loss_plan_l1_fix_time: 3.4738, d2.loss_plan_l1_fix_dist: 0.7218, d3.loss_plan_l1_fix_time: 3.4946, d3.loss_plan_l1_fix_dist: 0.8117, d4.loss_plan_l1_fix_time: 3.5177, d4.loss_plan_l1_fix_dist: 0.9110, d5.loss_plan_l1_fix_time: 3.5391, d5.loss_plan_l1_fix_dist: 1.0136, d6.loss_plan_l1_fix_time: 3.5598, d6.loss_plan_l1_fix_dist: 1.1164, d0.loss_cls_all: 1.0263, d0.loss_bbox_all: 1.1341, d0.loss_cls: 1.0263, d0.loss_bbox: 1.1341, d1.loss_cls: 1.0305, d1.loss_bbox: 1.1257, d2.loss_cls: 1.0332, d2.loss_bbox: 1.1202, d3.loss_cls: 1.0333, d3.loss_bbox: 1.1171, d4.loss_cls: 1.0331, d4.loss_bbox: 1.1136, d5.loss_cls: 1.0338, d5.loss_bbox: 1.1083, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8807, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8877, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8934, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9060, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.9125, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9297, d0.loss_map_cls_all: 0.6215, d0.loss_map_pts_all: 3.5189, d0.loss_map_dir_all: 0.0479, d0.loss_map_cls: 0.6215, d0.loss_map_pts: 3.5189, d0.loss_map_dir: 0.0479, d1.loss_map_cls: 0.6331, d1.loss_map_pts: 3.0897, d1.loss_map_dir: 0.0485, d2.loss_map_cls: 0.6305, d2.loss_map_pts: 3.0647, d2.loss_map_dir: 0.0486, d3.loss_map_cls: 0.6342, d3.loss_map_pts: 3.0576, d3.loss_map_dir: 0.0485, d4.loss_map_cls: 0.6393, d4.loss_map_pts: 3.0548, d4.loss_map_dir: 0.0484, d5.loss_map_cls: 0.6422, d5.loss_map_pts: 3.0544, d5.loss_map_dir: 0.0484, loss: 91.7751, grad_norm: 238.8942 +2026-02-24 01:54:49,232 - DriveTransformer - INFO - Epoch [1][9300/59059] lr: 1.000e-04, eta: 23 days, 9:47:18, time: 0.569, data_time: 0.028, memory: 14138, loss_cls: 1.0654, loss_bbox: 1.1214, loss_traj: 2.1913, loss_traj_cls: 0.0006, loss_map_cls: 0.6412, loss_map_pts: 2.7061, loss_map_dir: 0.0402, d0.loss_plan_l1_fix_time: 3.3832, d0.loss_plan_l1_fix_dist: 0.7207, d1.loss_plan_l1_fix_time: 3.2916, d1.loss_plan_l1_fix_dist: 0.7661, d2.loss_plan_l1_fix_time: 3.2942, d2.loss_plan_l1_fix_dist: 0.8322, d3.loss_plan_l1_fix_time: 3.3041, d3.loss_plan_l1_fix_dist: 0.9037, d4.loss_plan_l1_fix_time: 3.3179, d4.loss_plan_l1_fix_dist: 0.9859, d5.loss_plan_l1_fix_time: 3.3357, d5.loss_plan_l1_fix_dist: 1.0801, d6.loss_plan_l1_fix_time: 3.3532, d6.loss_plan_l1_fix_dist: 1.1770, d0.loss_cls_all: 1.0615, d0.loss_bbox_all: 1.0999, d0.loss_cls: 1.0615, d0.loss_bbox: 1.0999, d1.loss_cls: 1.0753, d1.loss_bbox: 1.1014, d2.loss_cls: 1.0731, d2.loss_bbox: 1.1083, d3.loss_cls: 1.0768, d3.loss_bbox: 1.1066, d4.loss_cls: 1.0739, d4.loss_bbox: 1.1087, d5.loss_cls: 1.0743, d5.loss_bbox: 1.1089, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1029, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1231, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1425, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1543, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.1691, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1727, d0.loss_map_cls_all: 0.6268, d0.loss_map_pts_all: 3.3519, d0.loss_map_dir_all: 0.0409, d0.loss_map_cls: 0.6268, d0.loss_map_pts: 3.3519, d0.loss_map_dir: 0.0409, d1.loss_map_cls: 0.6341, d1.loss_map_pts: 2.7467, d1.loss_map_dir: 0.0403, d2.loss_map_cls: 0.6300, d2.loss_map_pts: 2.7042, d2.loss_map_dir: 0.0403, d3.loss_map_cls: 0.6343, d3.loss_map_pts: 2.6989, d3.loss_map_dir: 0.0402, d4.loss_map_cls: 0.6360, d4.loss_map_pts: 2.6995, d4.loss_map_dir: 0.0401, d5.loss_map_cls: 0.6383, d5.loss_map_pts: 2.7006, d5.loss_map_dir: 0.0401, loss: 90.5724, grad_norm: 238.3464 +2026-02-24 01:55:18,627 - DriveTransformer - INFO - Epoch [1][9350/59059] lr: 1.000e-04, eta: 23 days, 9:51:45, time: 0.588, data_time: 0.030, memory: 14138, loss_cls: 0.9994, loss_bbox: 1.0511, loss_traj: 2.2013, loss_traj_cls: 0.0006, loss_map_cls: 0.6665, loss_map_pts: 2.6507, loss_map_dir: 0.0438, d0.loss_plan_l1_fix_time: 3.4732, d0.loss_plan_l1_fix_dist: 0.6257, d1.loss_plan_l1_fix_time: 3.3998, d1.loss_plan_l1_fix_dist: 0.6631, d2.loss_plan_l1_fix_time: 3.4098, d2.loss_plan_l1_fix_dist: 0.7156, d3.loss_plan_l1_fix_time: 3.4288, d3.loss_plan_l1_fix_dist: 0.7808, d4.loss_plan_l1_fix_time: 3.4500, d4.loss_plan_l1_fix_dist: 0.8619, d5.loss_plan_l1_fix_time: 3.4721, d5.loss_plan_l1_fix_dist: 0.9443, d6.loss_plan_l1_fix_time: 3.4949, d6.loss_plan_l1_fix_dist: 1.0316, d0.loss_cls_all: 0.9941, d0.loss_bbox_all: 1.0603, d0.loss_cls: 0.9941, d0.loss_bbox: 1.0603, d1.loss_cls: 0.9985, d1.loss_bbox: 1.0540, d2.loss_cls: 1.0022, d2.loss_bbox: 1.0485, d3.loss_cls: 0.9987, d3.loss_bbox: 1.0445, d4.loss_cls: 0.9964, d4.loss_bbox: 1.0434, d5.loss_cls: 0.9979, d5.loss_bbox: 1.0420, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1548, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1723, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1867, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1922, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.1928, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1972, d0.loss_map_cls_all: 0.6444, d0.loss_map_pts_all: 3.2210, d0.loss_map_dir_all: 0.0438, d0.loss_map_cls: 0.6444, d0.loss_map_pts: 3.2210, d0.loss_map_dir: 0.0438, d1.loss_map_cls: 0.6600, d1.loss_map_pts: 2.6880, d1.loss_map_dir: 0.0438, d2.loss_map_cls: 0.6594, d2.loss_map_pts: 2.6527, d2.loss_map_dir: 0.0440, d3.loss_map_cls: 0.6638, d3.loss_map_pts: 2.6476, d3.loss_map_dir: 0.0440, d4.loss_map_cls: 0.6635, d4.loss_map_pts: 2.6479, d4.loss_map_dir: 0.0440, d5.loss_map_cls: 0.6639, d5.loss_map_pts: 2.6482, d5.loss_map_dir: 0.0438, loss: 89.4324, grad_norm: 237.1323 +2026-02-24 01:55:47,040 - DriveTransformer - INFO - Epoch [1][9400/59059] lr: 1.000e-04, eta: 23 days, 9:50:00, time: 0.568, data_time: 0.027, memory: 14138, loss_cls: 1.0295, loss_bbox: 1.0501, loss_traj: 1.9105, loss_traj_cls: 0.0006, loss_map_cls: 0.6494, loss_map_pts: 2.6207, loss_map_dir: 0.0457, d0.loss_plan_l1_fix_time: 3.2320, d0.loss_plan_l1_fix_dist: 0.5310, d1.loss_plan_l1_fix_time: 3.1210, d1.loss_plan_l1_fix_dist: 0.5668, d2.loss_plan_l1_fix_time: 3.1202, d2.loss_plan_l1_fix_dist: 0.6149, d3.loss_plan_l1_fix_time: 3.1332, d3.loss_plan_l1_fix_dist: 0.6805, d4.loss_plan_l1_fix_time: 3.1498, d4.loss_plan_l1_fix_dist: 0.7494, d5.loss_plan_l1_fix_time: 3.1687, d5.loss_plan_l1_fix_dist: 0.8149, d6.loss_plan_l1_fix_time: 3.1892, d6.loss_plan_l1_fix_dist: 0.8833, d0.loss_cls_all: 1.0054, d0.loss_bbox_all: 1.0658, d0.loss_cls: 1.0054, d0.loss_bbox: 1.0658, d1.loss_cls: 1.0145, d1.loss_bbox: 1.0604, d2.loss_cls: 1.0211, d2.loss_bbox: 1.0558, d3.loss_cls: 1.0264, d3.loss_bbox: 1.0480, d4.loss_cls: 1.0253, d4.loss_bbox: 1.0446, d5.loss_cls: 1.0258, d5.loss_bbox: 1.0426, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8807, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9036, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8968, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8981, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.9059, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9005, d0.loss_map_cls_all: 0.6378, d0.loss_map_pts_all: 3.1606, d0.loss_map_dir_all: 0.0458, d0.loss_map_cls: 0.6378, d0.loss_map_pts: 3.1606, d0.loss_map_dir: 0.0458, d1.loss_map_cls: 0.6493, d1.loss_map_pts: 2.6462, d1.loss_map_dir: 0.0458, d2.loss_map_cls: 0.6444, d2.loss_map_pts: 2.6192, d2.loss_map_dir: 0.0459, d3.loss_map_cls: 0.6466, d3.loss_map_pts: 2.6153, d3.loss_map_dir: 0.0458, d4.loss_map_cls: 0.6465, d4.loss_map_pts: 2.6144, d4.loss_map_dir: 0.0458, d5.loss_map_cls: 0.6466, d5.loss_map_pts: 2.6195, d5.loss_map_dir: 0.0457, loss: 84.4227, grad_norm: 236.4980 +2026-02-24 01:56:15,792 - DriveTransformer - INFO - Epoch [1][9450/59059] lr: 1.000e-04, eta: 23 days, 9:50:22, time: 0.575, data_time: 0.027, memory: 14138, loss_cls: 1.0714, loss_bbox: 1.1237, loss_traj: 2.1629, loss_traj_cls: 0.0005, loss_map_cls: 0.6237, loss_map_pts: 2.7670, loss_map_dir: 0.0453, d0.loss_plan_l1_fix_time: 3.8436, d0.loss_plan_l1_fix_dist: 0.7433, d1.loss_plan_l1_fix_time: 3.8151, d1.loss_plan_l1_fix_dist: 0.7747, d2.loss_plan_l1_fix_time: 3.8271, d2.loss_plan_l1_fix_dist: 0.8263, d3.loss_plan_l1_fix_time: 3.8407, d3.loss_plan_l1_fix_dist: 0.8867, d4.loss_plan_l1_fix_time: 3.8580, d4.loss_plan_l1_fix_dist: 0.9578, d5.loss_plan_l1_fix_time: 3.8743, d5.loss_plan_l1_fix_dist: 1.0354, d6.loss_plan_l1_fix_time: 3.8929, d6.loss_plan_l1_fix_dist: 1.1135, d0.loss_cls_all: 1.0418, d0.loss_bbox_all: 1.1379, d0.loss_cls: 1.0418, d0.loss_bbox: 1.1379, d1.loss_cls: 1.0499, d1.loss_bbox: 1.1320, d2.loss_cls: 1.0506, d2.loss_bbox: 1.1239, d3.loss_cls: 1.0566, d3.loss_bbox: 1.1137, d4.loss_cls: 1.0656, d4.loss_bbox: 1.1108, d5.loss_cls: 1.0666, d5.loss_bbox: 1.1154, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0683, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0945, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1121, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1358, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.1598, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1511, d0.loss_map_cls_all: 0.6136, d0.loss_map_pts_all: 3.3762, d0.loss_map_dir_all: 0.0456, d0.loss_map_cls: 0.6136, d0.loss_map_pts: 3.3762, d0.loss_map_dir: 0.0456, d1.loss_map_cls: 0.6229, d1.loss_map_pts: 2.8036, d1.loss_map_dir: 0.0455, d2.loss_map_cls: 0.6163, d2.loss_map_pts: 2.7685, d2.loss_map_dir: 0.0454, d3.loss_map_cls: 0.6194, d3.loss_map_pts: 2.7613, d3.loss_map_dir: 0.0454, d4.loss_map_cls: 0.6206, d4.loss_map_pts: 2.7610, d4.loss_map_dir: 0.0454, d5.loss_map_cls: 0.6214, d5.loss_map_pts: 2.7661, d5.loss_map_dir: 0.0453, loss: 94.3122, grad_norm: 234.0609 +2026-02-24 01:56:43,806 - DriveTransformer - INFO - Epoch [1][9500/59059] lr: 1.000e-04, eta: 23 days, 9:46:09, time: 0.560, data_time: 0.030, memory: 14138, loss_cls: 1.0203, loss_bbox: 1.0690, loss_traj: 1.8152, loss_traj_cls: 0.0005, loss_map_cls: 0.6480, loss_map_pts: 2.3944, loss_map_dir: 0.0379, d0.loss_plan_l1_fix_time: 3.4316, d0.loss_plan_l1_fix_dist: 0.7041, d1.loss_plan_l1_fix_time: 3.3655, d1.loss_plan_l1_fix_dist: 0.7260, d2.loss_plan_l1_fix_time: 3.3764, d2.loss_plan_l1_fix_dist: 0.7691, d3.loss_plan_l1_fix_time: 3.3913, d3.loss_plan_l1_fix_dist: 0.8216, d4.loss_plan_l1_fix_time: 3.4083, d4.loss_plan_l1_fix_dist: 0.8803, d5.loss_plan_l1_fix_time: 3.4258, d5.loss_plan_l1_fix_dist: 0.9510, d6.loss_plan_l1_fix_time: 3.4449, d6.loss_plan_l1_fix_dist: 1.0240, d0.loss_cls_all: 1.0078, d0.loss_bbox_all: 1.0700, d0.loss_cls: 1.0078, d0.loss_bbox: 1.0700, d1.loss_cls: 1.0138, d1.loss_bbox: 1.0684, d2.loss_cls: 1.0144, d2.loss_bbox: 1.0668, d3.loss_cls: 1.0174, d3.loss_bbox: 1.0601, d4.loss_cls: 1.0161, d4.loss_bbox: 1.0634, d5.loss_cls: 1.0179, d5.loss_bbox: 1.0652, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7472, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.7693, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.7608, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7729, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7827, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7805, d0.loss_map_cls_all: 0.6404, d0.loss_map_pts_all: 3.0476, d0.loss_map_dir_all: 0.0382, d0.loss_map_cls: 0.6404, d0.loss_map_pts: 3.0476, d0.loss_map_dir: 0.0382, d1.loss_map_cls: 0.6438, d1.loss_map_pts: 2.4371, d1.loss_map_dir: 0.0382, d2.loss_map_cls: 0.6379, d2.loss_map_pts: 2.3990, d2.loss_map_dir: 0.0382, d3.loss_map_cls: 0.6406, d3.loss_map_pts: 2.3986, d3.loss_map_dir: 0.0381, d4.loss_map_cls: 0.6432, d4.loss_map_pts: 2.3976, d4.loss_map_dir: 0.0380, d5.loss_map_cls: 0.6462, d5.loss_map_pts: 2.3947, d5.loss_map_dir: 0.0380, loss: 84.7622, grad_norm: 233.3617 +2026-02-24 01:57:12,980 - DriveTransformer - INFO - Epoch [1][9550/59059] lr: 1.000e-04, eta: 23 days, 9:49:09, time: 0.583, data_time: 0.029, memory: 14138, loss_cls: 1.0736, loss_bbox: 1.1043, loss_traj: 1.9820, loss_traj_cls: 0.0005, loss_map_cls: 0.6574, loss_map_pts: 2.6937, loss_map_dir: 0.0392, d0.loss_plan_l1_fix_time: 3.8919, d0.loss_plan_l1_fix_dist: 0.6564, d1.loss_plan_l1_fix_time: 3.8054, d1.loss_plan_l1_fix_dist: 0.6939, d2.loss_plan_l1_fix_time: 3.8094, d2.loss_plan_l1_fix_dist: 0.7400, d3.loss_plan_l1_fix_time: 3.8218, d3.loss_plan_l1_fix_dist: 0.7932, d4.loss_plan_l1_fix_time: 3.8364, d4.loss_plan_l1_fix_dist: 0.8580, d5.loss_plan_l1_fix_time: 3.8523, d5.loss_plan_l1_fix_dist: 0.9248, d6.loss_plan_l1_fix_time: 3.8693, d6.loss_plan_l1_fix_dist: 0.9934, d0.loss_cls_all: 1.0483, d0.loss_bbox_all: 1.1294, d0.loss_cls: 1.0483, d0.loss_bbox: 1.1294, d1.loss_cls: 1.0621, d1.loss_bbox: 1.1160, d2.loss_cls: 1.0538, d2.loss_bbox: 1.1138, d3.loss_cls: 1.0579, d3.loss_bbox: 1.1094, d4.loss_cls: 1.0656, d4.loss_bbox: 1.1003, d5.loss_cls: 1.0698, d5.loss_bbox: 1.1008, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9211, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9531, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9660, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9722, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.9871, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9847, d0.loss_map_cls_all: 0.6524, d0.loss_map_pts_all: 3.2404, d0.loss_map_dir_all: 0.0393, d0.loss_map_cls: 0.6524, d0.loss_map_pts: 3.2404, d0.loss_map_dir: 0.0393, d1.loss_map_cls: 0.6577, d1.loss_map_pts: 2.7135, d1.loss_map_dir: 0.0395, d2.loss_map_cls: 0.6534, d2.loss_map_pts: 2.6888, d2.loss_map_dir: 0.0396, d3.loss_map_cls: 0.6555, d3.loss_map_pts: 2.6862, d3.loss_map_dir: 0.0396, d4.loss_map_cls: 0.6559, d4.loss_map_pts: 2.6877, d4.loss_map_dir: 0.0394, d5.loss_map_cls: 0.6564, d5.loss_map_pts: 2.6895, d5.loss_map_dir: 0.0393, loss: 91.8956, grad_norm: 231.6648 +2026-02-24 01:57:41,262 - DriveTransformer - INFO - Epoch [1][9600/59059] lr: 1.000e-04, eta: 23 days, 9:46:53, time: 0.567, data_time: 0.029, memory: 14138, loss_cls: 1.0372, loss_bbox: 1.0825, loss_traj: 2.3640, loss_traj_cls: 0.0005, loss_map_cls: 0.6482, loss_map_pts: 2.4279, loss_map_dir: 0.0391, d0.loss_plan_l1_fix_time: 3.1944, d0.loss_plan_l1_fix_dist: 0.5459, d1.loss_plan_l1_fix_time: 3.1104, d1.loss_plan_l1_fix_dist: 0.5655, d2.loss_plan_l1_fix_time: 3.1216, d2.loss_plan_l1_fix_dist: 0.6098, d3.loss_plan_l1_fix_time: 3.1406, d3.loss_plan_l1_fix_dist: 0.6690, d4.loss_plan_l1_fix_time: 3.1601, d4.loss_plan_l1_fix_dist: 0.7363, d5.loss_plan_l1_fix_time: 3.1797, d5.loss_plan_l1_fix_dist: 0.8146, d6.loss_plan_l1_fix_time: 3.1990, d6.loss_plan_l1_fix_dist: 0.9043, d0.loss_cls_all: 1.0190, d0.loss_bbox_all: 1.0962, d0.loss_cls: 1.0190, d0.loss_bbox: 1.0962, d1.loss_cls: 1.0318, d1.loss_bbox: 1.0798, d2.loss_cls: 1.0335, d2.loss_bbox: 1.0679, d3.loss_cls: 1.0393, d3.loss_bbox: 1.0590, d4.loss_cls: 1.0370, d4.loss_bbox: 1.0669, d5.loss_cls: 1.0371, d5.loss_bbox: 1.0744, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2663, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2961, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3073, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3353, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.3566, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3574, d0.loss_map_cls_all: 0.6393, d0.loss_map_pts_all: 3.1267, d0.loss_map_dir_all: 0.0396, d0.loss_map_cls: 0.6393, d0.loss_map_pts: 3.1267, d0.loss_map_dir: 0.0396, d1.loss_map_cls: 0.6479, d1.loss_map_pts: 2.4610, d1.loss_map_dir: 0.0394, d2.loss_map_cls: 0.6419, d2.loss_map_pts: 2.4233, d2.loss_map_dir: 0.0394, d3.loss_map_cls: 0.6450, d3.loss_map_pts: 2.4173, d3.loss_map_dir: 0.0393, d4.loss_map_cls: 0.6438, d4.loss_map_pts: 2.4202, d4.loss_map_dir: 0.0393, d5.loss_map_cls: 0.6455, d5.loss_map_pts: 2.4226, d5.loss_map_dir: 0.0392, loss: 86.4059, grad_norm: 228.9543 +2026-02-24 01:58:09,042 - DriveTransformer - INFO - Epoch [1][9650/59059] lr: 1.000e-04, eta: 23 days, 9:41:03, time: 0.555, data_time: 0.026, memory: 14138, loss_cls: 1.0814, loss_bbox: 1.0636, loss_traj: 1.7163, loss_traj_cls: 0.0005, loss_map_cls: 0.6617, loss_map_pts: 2.8889, loss_map_dir: 0.0434, d0.loss_plan_l1_fix_time: 2.9743, d0.loss_plan_l1_fix_dist: 0.6698, d1.loss_plan_l1_fix_time: 2.8530, d1.loss_plan_l1_fix_dist: 0.7053, d2.loss_plan_l1_fix_time: 2.8534, d2.loss_plan_l1_fix_dist: 0.7562, d3.loss_plan_l1_fix_time: 2.8672, d3.loss_plan_l1_fix_dist: 0.8170, d4.loss_plan_l1_fix_time: 2.8816, d4.loss_plan_l1_fix_dist: 0.8788, d5.loss_plan_l1_fix_time: 2.8975, d5.loss_plan_l1_fix_dist: 0.9502, d6.loss_plan_l1_fix_time: 2.9132, d6.loss_plan_l1_fix_dist: 1.0289, d0.loss_cls_all: 1.0534, d0.loss_bbox_all: 1.0896, d0.loss_cls: 1.0534, d0.loss_bbox: 1.0896, d1.loss_cls: 1.0663, d1.loss_bbox: 1.0726, d2.loss_cls: 1.0730, d2.loss_bbox: 1.0616, d3.loss_cls: 1.0773, d3.loss_bbox: 1.0553, d4.loss_cls: 1.0786, d4.loss_bbox: 1.0608, d5.loss_cls: 1.0826, d5.loss_bbox: 1.0600, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.6464, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.6665, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.6725, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6767, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6799, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6964, d0.loss_map_cls_all: 0.6420, d0.loss_map_pts_all: 3.4119, d0.loss_map_dir_all: 0.0430, d0.loss_map_cls: 0.6420, d0.loss_map_pts: 3.4119, d0.loss_map_dir: 0.0430, d1.loss_map_cls: 0.6478, d1.loss_map_pts: 2.9018, d1.loss_map_dir: 0.0435, d2.loss_map_cls: 0.6475, d2.loss_map_pts: 2.8809, d2.loss_map_dir: 0.0437, d3.loss_map_cls: 0.6555, d3.loss_map_pts: 2.8791, d3.loss_map_dir: 0.0437, d4.loss_map_cls: 0.6570, d4.loss_map_pts: 2.8817, d4.loss_map_dir: 0.0436, d5.loss_map_cls: 0.6586, d5.loss_map_pts: 2.8830, d5.loss_map_dir: 0.0435, loss: 84.6224, grad_norm: 227.7437 +2026-02-24 01:58:37,076 - DriveTransformer - INFO - Epoch [1][9700/59059] lr: 1.000e-04, eta: 23 days, 9:37:04, time: 0.561, data_time: 0.028, memory: 14138, loss_cls: 1.0359, loss_bbox: 1.0655, loss_traj: 2.4787, loss_traj_cls: 0.0006, loss_map_cls: 0.6527, loss_map_pts: 2.4665, loss_map_dir: 0.0377, d0.loss_plan_l1_fix_time: 3.5996, d0.loss_plan_l1_fix_dist: 0.6360, d1.loss_plan_l1_fix_time: 3.5070, d1.loss_plan_l1_fix_dist: 0.6629, d2.loss_plan_l1_fix_time: 3.5015, d2.loss_plan_l1_fix_dist: 0.7017, d3.loss_plan_l1_fix_time: 3.5097, d3.loss_plan_l1_fix_dist: 0.7444, d4.loss_plan_l1_fix_time: 3.5240, d4.loss_plan_l1_fix_dist: 0.7939, d5.loss_plan_l1_fix_time: 3.5402, d5.loss_plan_l1_fix_dist: 0.8458, d6.loss_plan_l1_fix_time: 3.5584, d6.loss_plan_l1_fix_dist: 0.8955, d0.loss_cls_all: 1.0176, d0.loss_bbox_all: 1.0716, d0.loss_cls: 1.0176, d0.loss_bbox: 1.0716, d1.loss_cls: 1.0154, d1.loss_bbox: 1.0591, d2.loss_cls: 1.0219, d2.loss_bbox: 1.0479, d3.loss_cls: 1.0283, d3.loss_bbox: 1.0436, d4.loss_cls: 1.0290, d4.loss_bbox: 1.0487, d5.loss_cls: 1.0332, d5.loss_bbox: 1.0551, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.4619, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4752, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4762, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.4918, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.4914, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4878, d0.loss_map_cls_all: 0.6370, d0.loss_map_pts_all: 3.0826, d0.loss_map_dir_all: 0.0371, d0.loss_map_cls: 0.6370, d0.loss_map_pts: 3.0826, d0.loss_map_dir: 0.0371, d1.loss_map_cls: 0.6449, d1.loss_map_pts: 2.5298, d1.loss_map_dir: 0.0376, d2.loss_map_cls: 0.6421, d2.loss_map_pts: 2.4827, d2.loss_map_dir: 0.0378, d3.loss_map_cls: 0.6462, d3.loss_map_pts: 2.4758, d3.loss_map_dir: 0.0377, d4.loss_map_cls: 0.6478, d4.loss_map_pts: 2.4695, d4.loss_map_dir: 0.0377, d5.loss_map_cls: 0.6494, d5.loss_map_pts: 2.4674, d5.loss_map_dir: 0.0377, loss: 90.5636, grad_norm: 226.6929 +2026-02-24 01:59:06,331 - DriveTransformer - INFO - Epoch [1][9750/59059] lr: 1.000e-04, eta: 23 days, 9:40:30, time: 0.585, data_time: 0.030, memory: 14138, loss_cls: 1.0453, loss_bbox: 1.0472, loss_traj: 1.5745, loss_traj_cls: 0.0005, loss_map_cls: 0.6382, loss_map_pts: 2.6387, loss_map_dir: 0.0403, d0.loss_plan_l1_fix_time: 3.4269, d0.loss_plan_l1_fix_dist: 0.6877, d1.loss_plan_l1_fix_time: 3.2906, d1.loss_plan_l1_fix_dist: 0.7308, d2.loss_plan_l1_fix_time: 3.2710, d2.loss_plan_l1_fix_dist: 0.7929, d3.loss_plan_l1_fix_time: 3.2755, d3.loss_plan_l1_fix_dist: 0.8655, d4.loss_plan_l1_fix_time: 3.2889, d4.loss_plan_l1_fix_dist: 0.9509, d5.loss_plan_l1_fix_time: 3.3052, d5.loss_plan_l1_fix_dist: 1.0429, d6.loss_plan_l1_fix_time: 3.3245, d6.loss_plan_l1_fix_dist: 1.1320, d0.loss_cls_all: 1.0184, d0.loss_bbox_all: 1.0404, d0.loss_cls: 1.0184, d0.loss_bbox: 1.0404, d1.loss_cls: 1.0304, d1.loss_bbox: 1.0304, d2.loss_cls: 1.0313, d2.loss_bbox: 1.0270, d3.loss_cls: 1.0401, d3.loss_bbox: 1.0197, d4.loss_cls: 1.0458, d4.loss_bbox: 1.0286, d5.loss_cls: 1.0447, d5.loss_bbox: 1.0352, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5416, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.5407, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.5495, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.5795, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5842, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5773, d0.loss_map_cls_all: 0.6290, d0.loss_map_pts_all: 3.3656, d0.loss_map_dir_all: 0.0404, d0.loss_map_cls: 0.6290, d0.loss_map_pts: 3.3656, d0.loss_map_dir: 0.0404, d1.loss_map_cls: 0.6304, d1.loss_map_pts: 2.6827, d1.loss_map_dir: 0.0403, d2.loss_map_cls: 0.6280, d2.loss_map_pts: 2.6287, d2.loss_map_dir: 0.0403, d3.loss_map_cls: 0.6305, d3.loss_map_pts: 2.6263, d3.loss_map_dir: 0.0403, d4.loss_map_cls: 0.6333, d4.loss_map_pts: 2.6288, d4.loss_map_dir: 0.0403, d5.loss_map_cls: 0.6350, d5.loss_map_pts: 2.6359, d5.loss_map_dir: 0.0402, loss: 84.8274, grad_norm: 227.8540 +2026-02-24 01:59:34,921 - DriveTransformer - INFO - Epoch [1][9800/59059] lr: 1.000e-04, eta: 23 days, 9:39:54, time: 0.572, data_time: 0.026, memory: 14139, loss_cls: 1.0421, loss_bbox: 1.0687, loss_traj: 2.2774, loss_traj_cls: 0.0005, loss_map_cls: 0.6280, loss_map_pts: 2.5661, loss_map_dir: 0.0379, d0.loss_plan_l1_fix_time: 3.3621, d0.loss_plan_l1_fix_dist: 0.8014, d1.loss_plan_l1_fix_time: 3.2878, d1.loss_plan_l1_fix_dist: 0.8340, d2.loss_plan_l1_fix_time: 3.2881, d2.loss_plan_l1_fix_dist: 0.8880, d3.loss_plan_l1_fix_time: 3.3015, d3.loss_plan_l1_fix_dist: 0.9548, d4.loss_plan_l1_fix_time: 3.3193, d4.loss_plan_l1_fix_dist: 1.0341, d5.loss_plan_l1_fix_time: 3.3369, d5.loss_plan_l1_fix_dist: 1.1239, d6.loss_plan_l1_fix_time: 3.3552, d6.loss_plan_l1_fix_dist: 1.2256, d0.loss_cls_all: 1.0092, d0.loss_bbox_all: 1.0849, d0.loss_cls: 1.0092, d0.loss_bbox: 1.0849, d1.loss_cls: 1.0270, d1.loss_bbox: 1.0657, d2.loss_cls: 1.0285, d2.loss_bbox: 1.0617, d3.loss_cls: 1.0323, d3.loss_bbox: 1.0617, d4.loss_cls: 1.0404, d4.loss_bbox: 1.0629, d5.loss_cls: 1.0401, d5.loss_bbox: 1.0630, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1938, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2078, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2285, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2592, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2613, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2553, d0.loss_map_cls_all: 0.6172, d0.loss_map_pts_all: 3.3232, d0.loss_map_dir_all: 0.0384, d0.loss_map_cls: 0.6172, d0.loss_map_pts: 3.3232, d0.loss_map_dir: 0.0384, d1.loss_map_cls: 0.6247, d1.loss_map_pts: 2.6228, d1.loss_map_dir: 0.0380, d2.loss_map_cls: 0.6202, d2.loss_map_pts: 2.5708, d2.loss_map_dir: 0.0380, d3.loss_map_cls: 0.6236, d3.loss_map_pts: 2.5640, d3.loss_map_dir: 0.0379, d4.loss_map_cls: 0.6230, d4.loss_map_pts: 2.5647, d4.loss_map_dir: 0.0378, d5.loss_map_cls: 0.6261, d5.loss_map_pts: 2.5658, d5.loss_map_dir: 0.0379, loss: 89.9665, grad_norm: 227.0334 +2026-02-24 02:00:02,852 - DriveTransformer - INFO - Epoch [1][9850/59059] lr: 1.000e-04, eta: 23 days, 9:35:22, time: 0.559, data_time: 0.030, memory: 14139, loss_cls: 1.0306, loss_bbox: 1.0773, loss_traj: 2.2674, loss_traj_cls: 0.0005, loss_map_cls: 0.6406, loss_map_pts: 2.8354, loss_map_dir: 0.0471, d0.loss_plan_l1_fix_time: 3.2917, d0.loss_plan_l1_fix_dist: 0.7125, d1.loss_plan_l1_fix_time: 3.2251, d1.loss_plan_l1_fix_dist: 0.7410, d2.loss_plan_l1_fix_time: 3.2292, d2.loss_plan_l1_fix_dist: 0.7816, d3.loss_plan_l1_fix_time: 3.2401, d3.loss_plan_l1_fix_dist: 0.8338, d4.loss_plan_l1_fix_time: 3.2560, d4.loss_plan_l1_fix_dist: 0.8962, d5.loss_plan_l1_fix_time: 3.2729, d5.loss_plan_l1_fix_dist: 0.9614, d6.loss_plan_l1_fix_time: 3.2923, d6.loss_plan_l1_fix_dist: 1.0320, d0.loss_cls_all: 0.9998, d0.loss_bbox_all: 1.0546, d0.loss_cls: 0.9998, d0.loss_bbox: 1.0546, d1.loss_cls: 1.0134, d1.loss_bbox: 1.0391, d2.loss_cls: 1.0201, d2.loss_bbox: 1.0328, d3.loss_cls: 1.0272, d3.loss_bbox: 1.0374, d4.loss_cls: 1.0287, d4.loss_bbox: 1.0480, d5.loss_cls: 1.0306, d5.loss_bbox: 1.0612, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1919, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2136, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2074, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2090, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2176, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2478, d0.loss_map_cls_all: 0.6339, d0.loss_map_pts_all: 3.3297, d0.loss_map_dir_all: 0.0468, d0.loss_map_cls: 0.6339, d0.loss_map_pts: 3.3297, d0.loss_map_dir: 0.0468, d1.loss_map_cls: 0.6366, d1.loss_map_pts: 2.8323, d1.loss_map_dir: 0.0471, d2.loss_map_cls: 0.6325, d2.loss_map_pts: 2.8132, d2.loss_map_dir: 0.0471, d3.loss_map_cls: 0.6340, d3.loss_map_pts: 2.8190, d3.loss_map_dir: 0.0471, d4.loss_map_cls: 0.6365, d4.loss_map_pts: 2.8219, d4.loss_map_dir: 0.0471, d5.loss_map_cls: 0.6387, d5.loss_map_pts: 2.8301, d5.loss_map_dir: 0.0471, loss: 89.9530, grad_norm: 225.8002 +2026-02-24 02:00:31,013 - DriveTransformer - INFO - Epoch [1][9900/59059] lr: 1.000e-04, eta: 23 days, 9:32:14, time: 0.563, data_time: 0.028, memory: 14139, loss_cls: 1.0571, loss_bbox: 1.0905, loss_traj: 1.8091, loss_traj_cls: 0.0005, loss_map_cls: 0.6332, loss_map_pts: 2.6432, loss_map_dir: 0.0433, d0.loss_plan_l1_fix_time: 2.8766, d0.loss_plan_l1_fix_dist: 0.5702, d1.loss_plan_l1_fix_time: 2.8032, d1.loss_plan_l1_fix_dist: 0.6108, d2.loss_plan_l1_fix_time: 2.8044, d2.loss_plan_l1_fix_dist: 0.6718, d3.loss_plan_l1_fix_time: 2.8134, d3.loss_plan_l1_fix_dist: 0.7375, d4.loss_plan_l1_fix_time: 2.8283, d4.loss_plan_l1_fix_dist: 0.8083, d5.loss_plan_l1_fix_time: 2.8442, d5.loss_plan_l1_fix_dist: 0.8920, d6.loss_plan_l1_fix_time: 2.8627, d6.loss_plan_l1_fix_dist: 0.9858, d0.loss_cls_all: 1.0267, d0.loss_bbox_all: 1.0891, d0.loss_cls: 1.0267, d0.loss_bbox: 1.0891, d1.loss_cls: 1.0428, d1.loss_bbox: 1.0744, d2.loss_cls: 1.0505, d2.loss_bbox: 1.0671, d3.loss_cls: 1.0607, d3.loss_bbox: 1.0629, d4.loss_cls: 1.0588, d4.loss_bbox: 1.0698, d5.loss_cls: 1.0579, d5.loss_bbox: 1.0767, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7550, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.7726, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.7719, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7794, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7861, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7935, d0.loss_map_cls_all: 0.6192, d0.loss_map_pts_all: 3.2176, d0.loss_map_dir_all: 0.0435, d0.loss_map_cls: 0.6192, d0.loss_map_pts: 3.2176, d0.loss_map_dir: 0.0435, d1.loss_map_cls: 0.6250, d1.loss_map_pts: 2.6609, d1.loss_map_dir: 0.0435, d2.loss_map_cls: 0.6205, d2.loss_map_pts: 2.6294, d2.loss_map_dir: 0.0434, d3.loss_map_cls: 0.6247, d3.loss_map_pts: 2.6290, d3.loss_map_dir: 0.0434, d4.loss_map_cls: 0.6256, d4.loss_map_pts: 2.6313, d4.loss_map_dir: 0.0434, d5.loss_map_cls: 0.6286, d5.loss_map_pts: 2.6369, d5.loss_map_dir: 0.0434, loss: 82.1904, grad_norm: 225.3029 +2026-02-24 02:00:58,890 - DriveTransformer - INFO - Epoch [1][9950/59059] lr: 1.000e-04, eta: 23 days, 9:27:28, time: 0.558, data_time: 0.027, memory: 14139, loss_cls: 0.9901, loss_bbox: 1.0042, loss_traj: 2.0979, loss_traj_cls: 0.0005, loss_map_cls: 0.6671, loss_map_pts: 2.6818, loss_map_dir: 0.0453, d0.loss_plan_l1_fix_time: 3.8795, d0.loss_plan_l1_fix_dist: 0.5868, d1.loss_plan_l1_fix_time: 3.8007, d1.loss_plan_l1_fix_dist: 0.6302, d2.loss_plan_l1_fix_time: 3.8065, d2.loss_plan_l1_fix_dist: 0.6921, d3.loss_plan_l1_fix_time: 3.8198, d3.loss_plan_l1_fix_dist: 0.7597, d4.loss_plan_l1_fix_time: 3.8344, d4.loss_plan_l1_fix_dist: 0.8388, d5.loss_plan_l1_fix_time: 3.8521, d5.loss_plan_l1_fix_dist: 0.9289, d6.loss_plan_l1_fix_time: 3.8702, d6.loss_plan_l1_fix_dist: 1.0186, d0.loss_cls_all: 0.9717, d0.loss_bbox_all: 1.0139, d0.loss_cls: 0.9717, d0.loss_bbox: 1.0139, d1.loss_cls: 0.9726, d1.loss_bbox: 0.9883, d2.loss_cls: 0.9814, d2.loss_bbox: 0.9814, d3.loss_cls: 0.9845, d3.loss_bbox: 0.9784, d4.loss_cls: 0.9855, d4.loss_bbox: 0.9843, d5.loss_cls: 0.9873, d5.loss_bbox: 0.9896, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0719, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0886, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0713, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0758, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0863, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0826, d0.loss_map_cls_all: 0.6497, d0.loss_map_pts_all: 3.2758, d0.loss_map_dir_all: 0.0458, d0.loss_map_cls: 0.6497, d0.loss_map_pts: 3.2758, d0.loss_map_dir: 0.0458, d1.loss_map_cls: 0.6505, d1.loss_map_pts: 2.7132, d1.loss_map_dir: 0.0453, d2.loss_map_cls: 0.6490, d2.loss_map_pts: 2.6811, d2.loss_map_dir: 0.0454, d3.loss_map_cls: 0.6550, d3.loss_map_pts: 2.6770, d3.loss_map_dir: 0.0454, d4.loss_map_cls: 0.6580, d4.loss_map_pts: 2.6764, d4.loss_map_dir: 0.0454, d5.loss_map_cls: 0.6618, d5.loss_map_pts: 2.6775, d5.loss_map_dir: 0.0453, loss: 90.9580, grad_norm: 225.0724 +2026-02-24 02:01:29,345 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 02:01:29,345 - DriveTransformer - INFO - Epoch [1][10000/59059] lr: 1.000e-04, eta: 23 days, 9:37:55, time: 0.609, data_time: 0.029, memory: 14139, loss_cls: 0.9970, loss_bbox: 1.0600, loss_traj: 2.2662, loss_traj_cls: 0.0005, loss_map_cls: 0.6720, loss_map_pts: 2.6905, loss_map_dir: 0.0475, d0.loss_plan_l1_fix_time: 3.7661, d0.loss_plan_l1_fix_dist: 0.7167, d1.loss_plan_l1_fix_time: 3.7200, d1.loss_plan_l1_fix_dist: 0.7499, d2.loss_plan_l1_fix_time: 3.7349, d2.loss_plan_l1_fix_dist: 0.7971, d3.loss_plan_l1_fix_time: 3.7576, d3.loss_plan_l1_fix_dist: 0.8493, d4.loss_plan_l1_fix_time: 3.7802, d4.loss_plan_l1_fix_dist: 0.9091, d5.loss_plan_l1_fix_time: 3.8052, d5.loss_plan_l1_fix_dist: 0.9707, d6.loss_plan_l1_fix_time: 3.8272, d6.loss_plan_l1_fix_dist: 1.0360, d0.loss_cls_all: 0.9792, d0.loss_bbox_all: 1.0573, d0.loss_cls: 0.9792, d0.loss_bbox: 1.0573, d1.loss_cls: 0.9831, d1.loss_bbox: 1.0365, d2.loss_cls: 0.9900, d2.loss_bbox: 1.0393, d3.loss_cls: 0.9894, d3.loss_bbox: 1.0409, d4.loss_cls: 0.9938, d4.loss_bbox: 1.0455, d5.loss_cls: 0.9955, d5.loss_bbox: 1.0487, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2210, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2597, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2515, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2546, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2690, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2752, d0.loss_map_cls_all: 0.6653, d0.loss_map_pts_all: 3.2832, d0.loss_map_dir_all: 0.0477, d0.loss_map_cls: 0.6653, d0.loss_map_pts: 3.2832, d0.loss_map_dir: 0.0477, d1.loss_map_cls: 0.6677, d1.loss_map_pts: 2.7354, d1.loss_map_dir: 0.0476, d2.loss_map_cls: 0.6613, d2.loss_map_pts: 2.6996, d2.loss_map_dir: 0.0475, d3.loss_map_cls: 0.6644, d3.loss_map_pts: 2.6919, d3.loss_map_dir: 0.0476, d4.loss_map_cls: 0.6677, d4.loss_map_pts: 2.6898, d4.loss_map_dir: 0.0475, d5.loss_map_cls: 0.6691, d5.loss_map_pts: 2.6895, d5.loss_map_dir: 0.0475, loss: 92.9900, grad_norm: 223.5308 +2026-02-24 02:01:56,836 - DriveTransformer - INFO - Epoch [1][10050/59059] lr: 1.000e-04, eta: 23 days, 9:30:51, time: 0.550, data_time: 0.026, memory: 14139, loss_cls: 1.0267, loss_bbox: 1.0791, loss_traj: 2.0705, loss_traj_cls: 0.0005, loss_map_cls: 0.6449, loss_map_pts: 2.7858, loss_map_dir: 0.0465, d0.loss_plan_l1_fix_time: 3.0910, d0.loss_plan_l1_fix_dist: 0.6535, d1.loss_plan_l1_fix_time: 2.9967, d1.loss_plan_l1_fix_dist: 0.6987, d2.loss_plan_l1_fix_time: 2.9984, d2.loss_plan_l1_fix_dist: 0.7699, d3.loss_plan_l1_fix_time: 3.0127, d3.loss_plan_l1_fix_dist: 0.8510, d4.loss_plan_l1_fix_time: 3.0302, d4.loss_plan_l1_fix_dist: 0.9315, d5.loss_plan_l1_fix_time: 3.0499, d5.loss_plan_l1_fix_dist: 1.0116, d6.loss_plan_l1_fix_time: 3.0696, d6.loss_plan_l1_fix_dist: 1.0928, d0.loss_cls_all: 1.0040, d0.loss_bbox_all: 1.0572, d0.loss_cls: 1.0040, d0.loss_bbox: 1.0572, d1.loss_cls: 1.0133, d1.loss_bbox: 1.0430, d2.loss_cls: 1.0174, d2.loss_bbox: 1.0478, d3.loss_cls: 1.0244, d3.loss_bbox: 1.0503, d4.loss_cls: 1.0250, d4.loss_bbox: 1.0594, d5.loss_cls: 1.0246, d5.loss_bbox: 1.0684, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0058, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0245, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0413, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0505, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0698, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0633, d0.loss_map_cls_all: 0.6441, d0.loss_map_pts_all: 3.2794, d0.loss_map_dir_all: 0.0463, d0.loss_map_cls: 0.6441, d0.loss_map_pts: 3.2794, d0.loss_map_dir: 0.0463, d1.loss_map_cls: 0.6442, d1.loss_map_pts: 2.7903, d1.loss_map_dir: 0.0467, d2.loss_map_cls: 0.6371, d2.loss_map_pts: 2.7729, d2.loss_map_dir: 0.0468, d3.loss_map_cls: 0.6394, d3.loss_map_pts: 2.7699, d3.loss_map_dir: 0.0467, d4.loss_map_cls: 0.6395, d4.loss_map_pts: 2.7720, d4.loss_map_dir: 0.0467, d5.loss_map_cls: 0.6413, d5.loss_map_pts: 2.7768, d5.loss_map_dir: 0.0466, loss: 86.9223, grad_norm: 222.8361 +2026-02-24 02:02:25,164 - DriveTransformer - INFO - Epoch [1][10100/59059] lr: 1.000e-04, eta: 23 days, 9:28:46, time: 0.567, data_time: 0.026, memory: 14139, loss_cls: 1.0152, loss_bbox: 1.0904, loss_traj: 1.9944, loss_traj_cls: 0.0005, loss_map_cls: 0.6232, loss_map_pts: 2.6263, loss_map_dir: 0.0369, d0.loss_plan_l1_fix_time: 3.3785, d0.loss_plan_l1_fix_dist: 0.7204, d1.loss_plan_l1_fix_time: 3.2857, d1.loss_plan_l1_fix_dist: 0.7725, d2.loss_plan_l1_fix_time: 3.2885, d2.loss_plan_l1_fix_dist: 0.8417, d3.loss_plan_l1_fix_time: 3.3018, d3.loss_plan_l1_fix_dist: 0.9146, d4.loss_plan_l1_fix_time: 3.3195, d4.loss_plan_l1_fix_dist: 0.9875, d5.loss_plan_l1_fix_time: 3.3384, d5.loss_plan_l1_fix_dist: 1.0676, d6.loss_plan_l1_fix_time: 3.3586, d6.loss_plan_l1_fix_dist: 1.1504, d0.loss_cls_all: 0.9940, d0.loss_bbox_all: 1.1040, d0.loss_cls: 0.9940, d0.loss_bbox: 1.1040, d1.loss_cls: 1.0047, d1.loss_bbox: 1.0819, d2.loss_cls: 1.0069, d2.loss_bbox: 1.0783, d3.loss_cls: 1.0125, d3.loss_bbox: 1.0758, d4.loss_cls: 1.0124, d4.loss_bbox: 1.0782, d5.loss_cls: 1.0126, d5.loss_bbox: 1.0827, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9218, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9441, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9718, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9877, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9965, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9962, d0.loss_map_cls_all: 0.6243, d0.loss_map_pts_all: 3.1569, d0.loss_map_dir_all: 0.0380, d0.loss_map_cls: 0.6243, d0.loss_map_pts: 3.1569, d0.loss_map_dir: 0.0380, d1.loss_map_cls: 0.6208, d1.loss_map_pts: 2.5925, d1.loss_map_dir: 0.0370, d2.loss_map_cls: 0.6116, d2.loss_map_pts: 2.5950, d2.loss_map_dir: 0.0370, d3.loss_map_cls: 0.6156, d3.loss_map_pts: 2.6046, d3.loss_map_dir: 0.0370, d4.loss_map_cls: 0.6139, d4.loss_map_pts: 2.6122, d4.loss_map_dir: 0.0370, d5.loss_map_cls: 0.6179, d5.loss_map_pts: 2.6174, d5.loss_map_dir: 0.0369, loss: 87.5005, grad_norm: 223.0430 +2026-02-24 02:02:53,352 - DriveTransformer - INFO - Epoch [1][10150/59059] lr: 1.000e-04, eta: 23 days, 9:25:53, time: 0.564, data_time: 0.030, memory: 14139, loss_cls: 1.0502, loss_bbox: 1.0552, loss_traj: 2.1558, loss_traj_cls: 0.0005, loss_map_cls: 0.6589, loss_map_pts: 2.6133, loss_map_dir: 0.0400, d0.loss_plan_l1_fix_time: 3.2427, d0.loss_plan_l1_fix_dist: 0.6055, d1.loss_plan_l1_fix_time: 3.1415, d1.loss_plan_l1_fix_dist: 0.6425, d2.loss_plan_l1_fix_time: 3.1397, d2.loss_plan_l1_fix_dist: 0.6914, d3.loss_plan_l1_fix_time: 3.1497, d3.loss_plan_l1_fix_dist: 0.7468, d4.loss_plan_l1_fix_time: 3.1637, d4.loss_plan_l1_fix_dist: 0.8080, d5.loss_plan_l1_fix_time: 3.1788, d5.loss_plan_l1_fix_dist: 0.8802, d6.loss_plan_l1_fix_time: 3.1960, d6.loss_plan_l1_fix_dist: 0.9615, d0.loss_cls_all: 1.0208, d0.loss_bbox_all: 1.0516, d0.loss_cls: 1.0208, d0.loss_bbox: 1.0516, d1.loss_cls: 1.0405, d1.loss_bbox: 1.0317, d2.loss_cls: 1.0475, d2.loss_bbox: 1.0256, d3.loss_cls: 1.0514, d3.loss_bbox: 1.0282, d4.loss_cls: 1.0575, d4.loss_bbox: 1.0353, d5.loss_cls: 1.0621, d5.loss_bbox: 1.0416, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1538, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1517, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1517, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1514, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1637, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1587, d0.loss_map_cls_all: 0.6528, d0.loss_map_pts_all: 3.1937, d0.loss_map_dir_all: 0.0401, d0.loss_map_cls: 0.6528, d0.loss_map_pts: 3.1937, d0.loss_map_dir: 0.0401, d1.loss_map_cls: 0.6529, d1.loss_map_pts: 2.6344, d1.loss_map_dir: 0.0400, d2.loss_map_cls: 0.6470, d2.loss_map_pts: 2.6145, d2.loss_map_dir: 0.0402, d3.loss_map_cls: 0.6533, d3.loss_map_pts: 2.6122, d3.loss_map_dir: 0.0403, d4.loss_map_cls: 0.6514, d4.loss_map_pts: 2.6113, d4.loss_map_dir: 0.0402, d5.loss_map_cls: 0.6530, d5.loss_map_pts: 2.6106, d5.loss_map_dir: 0.0402, loss: 86.9367, grad_norm: 221.9582 +2026-02-24 02:03:21,307 - DriveTransformer - INFO - Epoch [1][10200/59059] lr: 1.000e-04, eta: 23 days, 9:21:41, time: 0.559, data_time: 0.027, memory: 14139, loss_cls: 0.9927, loss_bbox: 1.0789, loss_traj: 1.9400, loss_traj_cls: 0.0005, loss_map_cls: 0.6530, loss_map_pts: 2.5491, loss_map_dir: 0.0386, d0.loss_plan_l1_fix_time: 3.6014, d0.loss_plan_l1_fix_dist: 0.6159, d1.loss_plan_l1_fix_time: 3.5300, d1.loss_plan_l1_fix_dist: 0.6614, d2.loss_plan_l1_fix_time: 3.5326, d2.loss_plan_l1_fix_dist: 0.7233, d3.loss_plan_l1_fix_time: 3.5440, d3.loss_plan_l1_fix_dist: 0.7929, d4.loss_plan_l1_fix_time: 3.5594, d4.loss_plan_l1_fix_dist: 0.8709, d5.loss_plan_l1_fix_time: 3.5750, d5.loss_plan_l1_fix_dist: 0.9569, d6.loss_plan_l1_fix_time: 3.5920, d6.loss_plan_l1_fix_dist: 1.0477, d0.loss_cls_all: 0.9626, d0.loss_bbox_all: 1.0207, d0.loss_cls: 0.9626, d0.loss_bbox: 1.0207, d1.loss_cls: 0.9817, d1.loss_bbox: 1.0211, d2.loss_cls: 0.9889, d2.loss_bbox: 1.0253, d3.loss_cls: 0.9909, d3.loss_bbox: 1.0320, d4.loss_cls: 0.9977, d4.loss_bbox: 1.0430, d5.loss_cls: 0.9973, d5.loss_bbox: 1.0606, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8855, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9087, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9168, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9212, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9255, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9281, d0.loss_map_cls_all: 0.6465, d0.loss_map_pts_all: 3.2094, d0.loss_map_dir_all: 0.0395, d0.loss_map_cls: 0.6465, d0.loss_map_pts: 3.2094, d0.loss_map_dir: 0.0395, d1.loss_map_cls: 0.6425, d1.loss_map_pts: 2.5664, d1.loss_map_dir: 0.0387, d2.loss_map_cls: 0.6409, d2.loss_map_pts: 2.5430, d2.loss_map_dir: 0.0387, d3.loss_map_cls: 0.6458, d3.loss_map_pts: 2.5455, d3.loss_map_dir: 0.0388, d4.loss_map_cls: 0.6455, d4.loss_map_pts: 2.5453, d4.loss_map_dir: 0.0387, d5.loss_map_cls: 0.6479, d5.loss_map_pts: 2.5468, d5.loss_map_dir: 0.0386, loss: 87.4044, grad_norm: 221.6363 +2026-02-24 02:03:49,455 - DriveTransformer - INFO - Epoch [1][10250/59059] lr: 1.000e-04, eta: 23 days, 9:18:37, time: 0.563, data_time: 0.028, memory: 14139, loss_cls: 1.0553, loss_bbox: 1.0757, loss_traj: 2.2685, loss_traj_cls: 0.0005, loss_map_cls: 0.6567, loss_map_pts: 2.5169, loss_map_dir: 0.0355, d0.loss_plan_l1_fix_time: 3.2799, d0.loss_plan_l1_fix_dist: 0.8327, d1.loss_plan_l1_fix_time: 3.2329, d1.loss_plan_l1_fix_dist: 0.8696, d2.loss_plan_l1_fix_time: 3.2484, d2.loss_plan_l1_fix_dist: 0.9226, d3.loss_plan_l1_fix_time: 3.2669, d3.loss_plan_l1_fix_dist: 0.9828, d4.loss_plan_l1_fix_time: 3.2869, d4.loss_plan_l1_fix_dist: 1.0482, d5.loss_plan_l1_fix_time: 3.3086, d5.loss_plan_l1_fix_dist: 1.1188, d6.loss_plan_l1_fix_time: 3.3306, d6.loss_plan_l1_fix_dist: 1.1876, d0.loss_cls_all: 1.0117, d0.loss_bbox_all: 1.0948, d0.loss_cls: 1.0117, d0.loss_bbox: 1.0948, d1.loss_cls: 1.0356, d1.loss_bbox: 1.0784, d2.loss_cls: 1.0489, d2.loss_bbox: 1.0636, d3.loss_cls: 1.0574, d3.loss_bbox: 1.0553, d4.loss_cls: 1.0659, d4.loss_bbox: 1.0567, d5.loss_cls: 1.0675, d5.loss_bbox: 1.0652, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2381, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2591, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2418, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2472, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2507, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2516, d0.loss_map_cls_all: 0.6511, d0.loss_map_pts_all: 3.1558, d0.loss_map_dir_all: 0.0364, d0.loss_map_cls: 0.6511, d0.loss_map_pts: 3.1558, d0.loss_map_dir: 0.0364, d1.loss_map_cls: 0.6485, d1.loss_map_pts: 2.5451, d1.loss_map_dir: 0.0358, d2.loss_map_cls: 0.6452, d2.loss_map_pts: 2.5146, d2.loss_map_dir: 0.0357, d3.loss_map_cls: 0.6499, d3.loss_map_pts: 2.5139, d3.loss_map_dir: 0.0356, d4.loss_map_cls: 0.6522, d4.loss_map_pts: 2.5132, d4.loss_map_dir: 0.0356, d5.loss_map_cls: 0.6529, d5.loss_map_pts: 2.5164, d5.loss_map_dir: 0.0356, loss: 89.5411, grad_norm: 221.9154 +2026-02-24 02:04:17,607 - DriveTransformer - INFO - Epoch [1][10300/59059] lr: 1.000e-04, eta: 23 days, 9:15:39, time: 0.563, data_time: 0.030, memory: 14139, loss_cls: 1.0047, loss_bbox: 1.0788, loss_traj: 1.8757, loss_traj_cls: 0.0005, loss_map_cls: 0.6382, loss_map_pts: 2.8843, loss_map_dir: 0.0399, d0.loss_plan_l1_fix_time: 3.3117, d0.loss_plan_l1_fix_dist: 0.6964, d1.loss_plan_l1_fix_time: 3.2500, d1.loss_plan_l1_fix_dist: 0.7354, d2.loss_plan_l1_fix_time: 3.2639, d2.loss_plan_l1_fix_dist: 0.7981, d3.loss_plan_l1_fix_time: 3.2828, d3.loss_plan_l1_fix_dist: 0.8664, d4.loss_plan_l1_fix_time: 3.3016, d4.loss_plan_l1_fix_dist: 0.9333, d5.loss_plan_l1_fix_time: 3.3231, d5.loss_plan_l1_fix_dist: 0.9991, d6.loss_plan_l1_fix_time: 3.3453, d6.loss_plan_l1_fix_dist: 1.0689, d0.loss_cls_all: 0.9738, d0.loss_bbox_all: 1.0948, d0.loss_cls: 0.9738, d0.loss_bbox: 1.0948, d1.loss_cls: 0.9994, d1.loss_bbox: 1.0676, d2.loss_cls: 1.0010, d2.loss_bbox: 1.0575, d3.loss_cls: 1.0102, d3.loss_bbox: 1.0522, d4.loss_cls: 1.0157, d4.loss_bbox: 1.0596, d5.loss_cls: 1.0183, d5.loss_bbox: 1.0697, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8100, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8489, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8589, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8629, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8691, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8609, d0.loss_map_cls_all: 0.6389, d0.loss_map_pts_all: 3.4809, d0.loss_map_dir_all: 0.0407, d0.loss_map_cls: 0.6389, d0.loss_map_pts: 3.4809, d0.loss_map_dir: 0.0407, d1.loss_map_cls: 0.6350, d1.loss_map_pts: 2.9143, d1.loss_map_dir: 0.0403, d2.loss_map_cls: 0.6297, d2.loss_map_pts: 2.8803, d2.loss_map_dir: 0.0403, d3.loss_map_cls: 0.6329, d3.loss_map_pts: 2.8739, d3.loss_map_dir: 0.0402, d4.loss_map_cls: 0.6341, d4.loss_map_pts: 2.8720, d4.loss_map_dir: 0.0400, d5.loss_map_cls: 0.6364, d5.loss_map_pts: 2.8745, d5.loss_map_dir: 0.0400, loss: 88.4052, grad_norm: 221.5223 +2026-02-24 02:04:45,615 - DriveTransformer - INFO - Epoch [1][10350/59059] lr: 1.000e-04, eta: 23 days, 9:11:48, time: 0.560, data_time: 0.027, memory: 14139, loss_cls: 1.0622, loss_bbox: 1.0397, loss_traj: 2.3949, loss_traj_cls: 0.0005, loss_map_cls: 0.6390, loss_map_pts: 2.5684, loss_map_dir: 0.0361, d0.loss_plan_l1_fix_time: 4.0397, d0.loss_plan_l1_fix_dist: 0.6411, d1.loss_plan_l1_fix_time: 3.9527, d1.loss_plan_l1_fix_dist: 0.6841, d2.loss_plan_l1_fix_time: 3.9581, d2.loss_plan_l1_fix_dist: 0.7397, d3.loss_plan_l1_fix_time: 3.9714, d3.loss_plan_l1_fix_dist: 0.8087, d4.loss_plan_l1_fix_time: 3.9864, d4.loss_plan_l1_fix_dist: 0.8844, d5.loss_plan_l1_fix_time: 4.0048, d5.loss_plan_l1_fix_dist: 0.9701, d6.loss_plan_l1_fix_time: 4.0242, d6.loss_plan_l1_fix_dist: 1.0664, d0.loss_cls_all: 1.0135, d0.loss_bbox_all: 1.0028, d0.loss_cls: 1.0135, d0.loss_bbox: 1.0028, d1.loss_cls: 1.0291, d1.loss_bbox: 1.0028, d2.loss_cls: 1.0341, d2.loss_bbox: 1.0091, d3.loss_cls: 1.0411, d3.loss_bbox: 1.0160, d4.loss_cls: 1.0474, d4.loss_bbox: 1.0262, d5.loss_cls: 1.0494, d5.loss_bbox: 1.0350, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3560, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3753, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3672, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3721, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3690, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3725, d0.loss_map_cls_all: 0.6263, d0.loss_map_pts_all: 3.1987, d0.loss_map_dir_all: 0.0368, d0.loss_map_cls: 0.6263, d0.loss_map_pts: 3.1987, d0.loss_map_dir: 0.0368, d1.loss_map_cls: 0.6211, d1.loss_map_pts: 2.5875, d1.loss_map_dir: 0.0364, d2.loss_map_cls: 0.6199, d2.loss_map_pts: 2.5576, d2.loss_map_dir: 0.0364, d3.loss_map_cls: 0.6263, d3.loss_map_pts: 2.5539, d3.loss_map_dir: 0.0362, d4.loss_map_cls: 0.6275, d4.loss_map_pts: 2.5526, d4.loss_map_dir: 0.0361, d5.loss_map_cls: 0.6323, d5.loss_map_pts: 2.5575, d5.loss_map_dir: 0.0361, loss: 93.8515, grad_norm: 221.9275 +2026-02-24 02:05:14,432 - DriveTransformer - INFO - Epoch [1][10400/59059] lr: 1.000e-04, eta: 23 days, 9:12:36, time: 0.576, data_time: 0.027, memory: 14139, loss_cls: 1.0134, loss_bbox: 1.0741, loss_traj: 2.3459, loss_traj_cls: 0.0005, loss_map_cls: 0.6545, loss_map_pts: 2.7330, loss_map_dir: 0.0397, d0.loss_plan_l1_fix_time: 4.0739, d0.loss_plan_l1_fix_dist: 0.6691, d1.loss_plan_l1_fix_time: 4.0410, d1.loss_plan_l1_fix_dist: 0.6934, d2.loss_plan_l1_fix_time: 4.0488, d2.loss_plan_l1_fix_dist: 0.7228, d3.loss_plan_l1_fix_time: 4.0633, d3.loss_plan_l1_fix_dist: 0.7662, d4.loss_plan_l1_fix_time: 4.0807, d4.loss_plan_l1_fix_dist: 0.8256, d5.loss_plan_l1_fix_time: 4.0991, d5.loss_plan_l1_fix_dist: 0.8935, d6.loss_plan_l1_fix_time: 4.1196, d6.loss_plan_l1_fix_dist: 0.9656, d0.loss_cls_all: 0.9727, d0.loss_bbox_all: 1.0629, d0.loss_cls: 0.9727, d0.loss_bbox: 1.0629, d1.loss_cls: 0.9835, d1.loss_bbox: 1.0545, d2.loss_cls: 0.9909, d2.loss_bbox: 1.0523, d3.loss_cls: 0.9945, d3.loss_bbox: 1.0544, d4.loss_cls: 1.0014, d4.loss_bbox: 1.0571, d5.loss_cls: 1.0052, d5.loss_bbox: 1.0588, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2997, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3155, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3092, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3200, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3374, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3343, d0.loss_map_cls_all: 0.6462, d0.loss_map_pts_all: 3.2860, d0.loss_map_dir_all: 0.0397, d0.loss_map_cls: 0.6462, d0.loss_map_pts: 3.2860, d0.loss_map_dir: 0.0397, d1.loss_map_cls: 0.6470, d1.loss_map_pts: 2.7428, d1.loss_map_dir: 0.0398, d2.loss_map_cls: 0.6447, d2.loss_map_pts: 2.7195, d2.loss_map_dir: 0.0398, d3.loss_map_cls: 0.6489, d3.loss_map_pts: 2.7168, d3.loss_map_dir: 0.0398, d4.loss_map_cls: 0.6484, d4.loss_map_pts: 2.7177, d4.loss_map_dir: 0.0398, d5.loss_map_cls: 0.6507, d5.loss_map_pts: 2.7234, d5.loss_map_dir: 0.0398, loss: 95.1693, grad_norm: 220.8978 +2026-02-24 02:05:43,477 - DriveTransformer - INFO - Epoch [1][10450/59059] lr: 1.000e-04, eta: 23 days, 9:14:41, time: 0.581, data_time: 0.030, memory: 14139, loss_cls: 1.0221, loss_bbox: 0.9981, loss_traj: 2.2380, loss_traj_cls: 0.0005, loss_map_cls: 0.6357, loss_map_pts: 2.6674, loss_map_dir: 0.0410, d0.loss_plan_l1_fix_time: 3.4812, d0.loss_plan_l1_fix_dist: 0.6151, d1.loss_plan_l1_fix_time: 3.4168, d1.loss_plan_l1_fix_dist: 0.6438, d2.loss_plan_l1_fix_time: 3.4311, d2.loss_plan_l1_fix_dist: 0.6877, d3.loss_plan_l1_fix_time: 3.4545, d3.loss_plan_l1_fix_dist: 0.7368, d4.loss_plan_l1_fix_time: 3.4791, d4.loss_plan_l1_fix_dist: 0.7950, d5.loss_plan_l1_fix_time: 3.5036, d5.loss_plan_l1_fix_dist: 0.8602, d6.loss_plan_l1_fix_time: 3.5290, d6.loss_plan_l1_fix_dist: 0.9297, d0.loss_cls_all: 0.9834, d0.loss_bbox_all: 0.9729, d0.loss_cls: 0.9834, d0.loss_bbox: 0.9729, d1.loss_cls: 1.0088, d1.loss_bbox: 0.9641, d2.loss_cls: 1.0065, d2.loss_bbox: 0.9668, d3.loss_cls: 1.0143, d3.loss_bbox: 0.9681, d4.loss_cls: 1.0198, d4.loss_bbox: 0.9728, d5.loss_cls: 1.0233, d5.loss_bbox: 0.9844, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2225, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2207, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2163, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2134, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2345, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2364, d0.loss_map_cls_all: 0.6273, d0.loss_map_pts_all: 3.2911, d0.loss_map_dir_all: 0.0414, d0.loss_map_cls: 0.6273, d0.loss_map_pts: 3.2911, d0.loss_map_dir: 0.0414, d1.loss_map_cls: 0.6321, d1.loss_map_pts: 2.7030, d1.loss_map_dir: 0.0412, d2.loss_map_cls: 0.6280, d2.loss_map_pts: 2.6728, d2.loss_map_dir: 0.0412, d3.loss_map_cls: 0.6305, d3.loss_map_pts: 2.6682, d3.loss_map_dir: 0.0411, d4.loss_map_cls: 0.6325, d4.loss_map_pts: 2.6654, d4.loss_map_dir: 0.0411, d5.loss_map_cls: 0.6343, d5.loss_map_pts: 2.6663, d5.loss_map_dir: 0.0411, loss: 89.0130, grad_norm: 221.9742 +2026-02-24 02:06:11,117 - DriveTransformer - INFO - Epoch [1][10500/59059] lr: 1.000e-04, eta: 23 days, 9:08:51, time: 0.553, data_time: 0.026, memory: 14139, loss_cls: 1.0844, loss_bbox: 1.0699, loss_traj: 2.0805, loss_traj_cls: 0.0005, loss_map_cls: 0.6745, loss_map_pts: 3.0218, loss_map_dir: 0.0415, d0.loss_plan_l1_fix_time: 4.0218, d0.loss_plan_l1_fix_dist: 0.6602, d1.loss_plan_l1_fix_time: 3.9982, d1.loss_plan_l1_fix_dist: 0.6856, d2.loss_plan_l1_fix_time: 4.0113, d2.loss_plan_l1_fix_dist: 0.7238, d3.loss_plan_l1_fix_time: 4.0304, d3.loss_plan_l1_fix_dist: 0.7624, d4.loss_plan_l1_fix_time: 4.0518, d4.loss_plan_l1_fix_dist: 0.8071, d5.loss_plan_l1_fix_time: 4.0730, d5.loss_plan_l1_fix_dist: 0.8594, d6.loss_plan_l1_fix_time: 4.0952, d6.loss_plan_l1_fix_dist: 0.9203, d0.loss_cls_all: 1.0033, d0.loss_bbox_all: 1.0716, d0.loss_cls: 1.0033, d0.loss_bbox: 1.0716, d1.loss_cls: 1.0230, d1.loss_bbox: 1.0551, d2.loss_cls: 1.0325, d2.loss_bbox: 1.0451, d3.loss_cls: 1.0480, d3.loss_bbox: 1.0427, d4.loss_cls: 1.0590, d4.loss_bbox: 1.0473, d5.loss_cls: 1.0640, d5.loss_bbox: 1.0555, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0477, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0646, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0622, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0571, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0608, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0737, d0.loss_map_cls_all: 0.6693, d0.loss_map_pts_all: 3.5716, d0.loss_map_dir_all: 0.0417, d0.loss_map_cls: 0.6693, d0.loss_map_pts: 3.5716, d0.loss_map_dir: 0.0417, d1.loss_map_cls: 0.6729, d1.loss_map_pts: 3.0517, d1.loss_map_dir: 0.0418, d2.loss_map_cls: 0.6676, d2.loss_map_pts: 3.0271, d2.loss_map_dir: 0.0417, d3.loss_map_cls: 0.6682, d3.loss_map_pts: 3.0218, d3.loss_map_dir: 0.0416, d4.loss_map_cls: 0.6702, d4.loss_map_pts: 3.0183, d4.loss_map_dir: 0.0415, d5.loss_map_cls: 0.6706, d5.loss_map_pts: 3.0208, d5.loss_map_dir: 0.0415, loss: 95.9273, grad_norm: 221.1587 +2026-02-24 02:06:38,723 - DriveTransformer - INFO - Epoch [1][10550/59059] lr: 1.000e-04, eta: 23 days, 9:02:53, time: 0.552, data_time: 0.029, memory: 14139, loss_cls: 1.0905, loss_bbox: 1.0461, loss_traj: 2.1035, loss_traj_cls: 0.0005, loss_map_cls: 0.6379, loss_map_pts: 2.7820, loss_map_dir: 0.0438, d0.loss_plan_l1_fix_time: 3.4679, d0.loss_plan_l1_fix_dist: 0.6237, d1.loss_plan_l1_fix_time: 3.4098, d1.loss_plan_l1_fix_dist: 0.6442, d2.loss_plan_l1_fix_time: 3.4213, d2.loss_plan_l1_fix_dist: 0.6769, d3.loss_plan_l1_fix_time: 3.4405, d3.loss_plan_l1_fix_dist: 0.7217, d4.loss_plan_l1_fix_time: 3.4616, d4.loss_plan_l1_fix_dist: 0.7648, d5.loss_plan_l1_fix_time: 3.4822, d5.loss_plan_l1_fix_dist: 0.8118, d6.loss_plan_l1_fix_time: 3.5027, d6.loss_plan_l1_fix_dist: 0.8683, d0.loss_cls_all: 1.0229, d0.loss_bbox_all: 1.0286, d0.loss_cls: 1.0229, d0.loss_bbox: 1.0286, d1.loss_cls: 1.0425, d1.loss_bbox: 1.0244, d2.loss_cls: 1.0531, d2.loss_bbox: 1.0240, d3.loss_cls: 1.0629, d3.loss_bbox: 1.0267, d4.loss_cls: 1.0735, d4.loss_bbox: 1.0339, d5.loss_cls: 1.0787, d5.loss_bbox: 1.0371, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0925, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1071, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0971, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1122, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1277, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1078, d0.loss_map_cls_all: 0.6292, d0.loss_map_pts_all: 3.4558, d0.loss_map_dir_all: 0.0437, d0.loss_map_cls: 0.6292, d0.loss_map_pts: 3.4558, d0.loss_map_dir: 0.0437, d1.loss_map_cls: 0.6337, d1.loss_map_pts: 2.8264, d1.loss_map_dir: 0.0438, d2.loss_map_cls: 0.6295, d2.loss_map_pts: 2.7884, d2.loss_map_dir: 0.0440, d3.loss_map_cls: 0.6317, d3.loss_map_pts: 2.7782, d3.loss_map_dir: 0.0439, d4.loss_map_cls: 0.6326, d4.loss_map_pts: 2.7752, d4.loss_map_dir: 0.0438, d5.loss_map_cls: 0.6342, d5.loss_map_pts: 2.7771, d5.loss_map_dir: 0.0438, loss: 89.7924, grad_norm: 213.1594 +2026-02-24 02:07:07,554 - DriveTransformer - INFO - Epoch [1][10600/59059] lr: 1.000e-04, eta: 23 days, 9:03:47, time: 0.577, data_time: 0.029, memory: 14139, loss_cls: 1.0458, loss_bbox: 1.0383, loss_traj: 2.0402, loss_traj_cls: 0.0005, loss_map_cls: 0.6680, loss_map_pts: 3.0479, loss_map_dir: 0.0426, d0.loss_plan_l1_fix_time: 3.4639, d0.loss_plan_l1_fix_dist: 0.5845, d1.loss_plan_l1_fix_time: 3.4186, d1.loss_plan_l1_fix_dist: 0.5991, d2.loss_plan_l1_fix_time: 3.4294, d2.loss_plan_l1_fix_dist: 0.6325, d3.loss_plan_l1_fix_time: 3.4492, d3.loss_plan_l1_fix_dist: 0.6731, d4.loss_plan_l1_fix_time: 3.4701, d4.loss_plan_l1_fix_dist: 0.7257, d5.loss_plan_l1_fix_time: 3.4910, d5.loss_plan_l1_fix_dist: 0.7809, d6.loss_plan_l1_fix_time: 3.5121, d6.loss_plan_l1_fix_dist: 0.8361, d0.loss_cls_all: 1.0112, d0.loss_bbox_all: 1.0475, d0.loss_cls: 1.0112, d0.loss_bbox: 1.0475, d1.loss_cls: 1.0256, d1.loss_bbox: 1.0286, d2.loss_cls: 1.0378, d2.loss_bbox: 1.0253, d3.loss_cls: 1.0438, d3.loss_bbox: 1.0216, d4.loss_cls: 1.0460, d4.loss_bbox: 1.0296, d5.loss_cls: 1.0449, d5.loss_bbox: 1.0347, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9647, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0068, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0193, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0294, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0550, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0642, d0.loss_map_cls_all: 0.6797, d0.loss_map_pts_all: 3.5981, d0.loss_map_dir_all: 0.0434, d0.loss_map_cls: 0.6797, d0.loss_map_pts: 3.5981, d0.loss_map_dir: 0.0434, d1.loss_map_cls: 0.6709, d1.loss_map_pts: 3.0525, d1.loss_map_dir: 0.0430, d2.loss_map_cls: 0.6632, d2.loss_map_pts: 3.0416, d2.loss_map_dir: 0.0430, d3.loss_map_cls: 0.6619, d3.loss_map_pts: 3.0409, d3.loss_map_dir: 0.0428, d4.loss_map_cls: 0.6634, d4.loss_map_pts: 3.0435, d4.loss_map_dir: 0.0428, d5.loss_map_cls: 0.6647, d5.loss_map_pts: 3.0437, d5.loss_map_dir: 0.0427, loss: 90.9500, grad_norm: 211.7329 +2026-02-24 02:07:36,088 - DriveTransformer - INFO - Epoch [1][10650/59059] lr: 1.000e-04, eta: 23 days, 9:03:00, time: 0.571, data_time: 0.029, memory: 14139, loss_cls: 1.0658, loss_bbox: 0.9970, loss_traj: 1.9951, loss_traj_cls: 0.0005, loss_map_cls: 0.6556, loss_map_pts: 2.6611, loss_map_dir: 0.0411, d0.loss_plan_l1_fix_time: 3.8161, d0.loss_plan_l1_fix_dist: 0.5169, d1.loss_plan_l1_fix_time: 3.7566, d1.loss_plan_l1_fix_dist: 0.5465, d2.loss_plan_l1_fix_time: 3.7698, d2.loss_plan_l1_fix_dist: 0.5885, d3.loss_plan_l1_fix_time: 3.7860, d3.loss_plan_l1_fix_dist: 0.6348, d4.loss_plan_l1_fix_time: 3.8046, d4.loss_plan_l1_fix_dist: 0.6849, d5.loss_plan_l1_fix_time: 3.8257, d5.loss_plan_l1_fix_dist: 0.7431, d6.loss_plan_l1_fix_time: 3.8464, d6.loss_plan_l1_fix_dist: 0.8132, d0.loss_cls_all: 1.0101, d0.loss_bbox_all: 0.9753, d0.loss_cls: 1.0101, d0.loss_bbox: 0.9753, d1.loss_cls: 1.0182, d1.loss_bbox: 0.9716, d2.loss_cls: 1.0357, d2.loss_bbox: 0.9757, d3.loss_cls: 1.0422, d3.loss_bbox: 0.9815, d4.loss_cls: 1.0431, d4.loss_bbox: 0.9856, d5.loss_cls: 1.0492, d5.loss_bbox: 0.9871, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8752, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9258, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9573, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9928, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0440, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0473, d0.loss_map_cls_all: 0.6623, d0.loss_map_pts_all: 3.1409, d0.loss_map_dir_all: 0.0422, d0.loss_map_cls: 0.6623, d0.loss_map_pts: 3.1409, d0.loss_map_dir: 0.0422, d1.loss_map_cls: 0.6557, d1.loss_map_pts: 2.6396, d1.loss_map_dir: 0.0414, d2.loss_map_cls: 0.6480, d2.loss_map_pts: 2.6463, d2.loss_map_dir: 0.0415, d3.loss_map_cls: 0.6485, d3.loss_map_pts: 2.6504, d3.loss_map_dir: 0.0414, d4.loss_map_cls: 0.6502, d4.loss_map_pts: 2.6521, d4.loss_map_dir: 0.0413, d5.loss_map_cls: 0.6530, d5.loss_map_pts: 2.6527, d5.loss_map_dir: 0.0413, loss: 88.8496, grad_norm: 209.8575 +2026-02-24 02:08:04,571 - DriveTransformer - INFO - Epoch [1][10700/59059] lr: 1.000e-04, eta: 23 days, 9:01:58, time: 0.570, data_time: 0.034, memory: 14139, loss_cls: 1.0466, loss_bbox: 1.0620, loss_traj: 2.2133, loss_traj_cls: 0.0005, loss_map_cls: 0.6369, loss_map_pts: 2.4475, loss_map_dir: 0.0387, d0.loss_plan_l1_fix_time: 3.3555, d0.loss_plan_l1_fix_dist: 0.7253, d1.loss_plan_l1_fix_time: 3.2609, d1.loss_plan_l1_fix_dist: 0.7502, d2.loss_plan_l1_fix_time: 3.2713, d2.loss_plan_l1_fix_dist: 0.7828, d3.loss_plan_l1_fix_time: 3.2847, d3.loss_plan_l1_fix_dist: 0.8128, d4.loss_plan_l1_fix_time: 3.3009, d4.loss_plan_l1_fix_dist: 0.8465, d5.loss_plan_l1_fix_time: 3.3205, d5.loss_plan_l1_fix_dist: 0.8905, d6.loss_plan_l1_fix_time: 3.3408, d6.loss_plan_l1_fix_dist: 0.9484, d0.loss_cls_all: 1.0015, d0.loss_bbox_all: 1.0746, d0.loss_cls: 1.0015, d0.loss_bbox: 1.0746, d1.loss_cls: 1.0142, d1.loss_bbox: 1.0557, d2.loss_cls: 1.0263, d2.loss_bbox: 1.0457, d3.loss_cls: 1.0390, d3.loss_bbox: 1.0405, d4.loss_cls: 1.0357, d4.loss_bbox: 1.0451, d5.loss_cls: 1.0368, d5.loss_bbox: 1.0487, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.1552, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1512, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1570, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1572, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1679, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1632, d0.loss_map_cls_all: 0.6405, d0.loss_map_pts_all: 3.1514, d0.loss_map_dir_all: 0.0399, d0.loss_map_cls: 0.6405, d0.loss_map_pts: 3.1514, d0.loss_map_dir: 0.0399, d1.loss_map_cls: 0.6311, d1.loss_map_pts: 2.4803, d1.loss_map_dir: 0.0390, d2.loss_map_cls: 0.6278, d2.loss_map_pts: 2.4588, d2.loss_map_dir: 0.0389, d3.loss_map_cls: 0.6299, d3.loss_map_pts: 2.4559, d3.loss_map_dir: 0.0388, d4.loss_map_cls: 0.6298, d4.loss_map_pts: 2.4528, d4.loss_map_dir: 0.0388, d5.loss_map_cls: 0.6322, d5.loss_map_pts: 2.4492, d5.loss_map_dir: 0.0388, loss: 87.1365, grad_norm: 209.1919 +2026-02-24 02:08:33,437 - DriveTransformer - INFO - Epoch [1][10750/59059] lr: 1.000e-04, eta: 23 days, 9:03:02, time: 0.577, data_time: 0.030, memory: 14139, loss_cls: 1.0336, loss_bbox: 1.0052, loss_traj: 2.0100, loss_traj_cls: 0.0005, loss_map_cls: 0.6525, loss_map_pts: 2.6443, loss_map_dir: 0.0424, d0.loss_plan_l1_fix_time: 3.7889, d0.loss_plan_l1_fix_dist: 0.6723, d1.loss_plan_l1_fix_time: 3.6716, d1.loss_plan_l1_fix_dist: 0.7104, d2.loss_plan_l1_fix_time: 3.6607, d2.loss_plan_l1_fix_dist: 0.7498, d3.loss_plan_l1_fix_time: 3.6674, d3.loss_plan_l1_fix_dist: 0.7866, d4.loss_plan_l1_fix_time: 3.6810, d4.loss_plan_l1_fix_dist: 0.8305, d5.loss_plan_l1_fix_time: 3.6975, d5.loss_plan_l1_fix_dist: 0.8709, d6.loss_plan_l1_fix_time: 3.7148, d6.loss_plan_l1_fix_dist: 0.9110, d0.loss_cls_all: 0.9864, d0.loss_bbox_all: 1.0241, d0.loss_cls: 0.9864, d0.loss_bbox: 1.0241, d1.loss_cls: 1.0009, d1.loss_bbox: 1.0055, d2.loss_cls: 1.0109, d2.loss_bbox: 0.9997, d3.loss_cls: 1.0226, d3.loss_bbox: 0.9994, d4.loss_cls: 1.0266, d4.loss_bbox: 1.0022, d5.loss_cls: 1.0336, d5.loss_bbox: 1.0034, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9014, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9434, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9540, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9686, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9868, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9645, d0.loss_map_cls_all: 0.6520, d0.loss_map_pts_all: 3.3340, d0.loss_map_dir_all: 0.0433, d0.loss_map_cls: 0.6520, d0.loss_map_pts: 3.3340, d0.loss_map_dir: 0.0433, d1.loss_map_cls: 0.6477, d1.loss_map_pts: 2.7031, d1.loss_map_dir: 0.0428, d2.loss_map_cls: 0.6486, d2.loss_map_pts: 2.6643, d2.loss_map_dir: 0.0427, d3.loss_map_cls: 0.6477, d3.loss_map_pts: 2.6530, d3.loss_map_dir: 0.0426, d4.loss_map_cls: 0.6485, d4.loss_map_pts: 2.6459, d4.loss_map_dir: 0.0425, d5.loss_map_cls: 0.6504, d5.loss_map_pts: 2.6434, d5.loss_map_dir: 0.0424, loss: 89.4734, grad_norm: 207.5258 +2026-02-24 02:09:02,560 - DriveTransformer - INFO - Epoch [1][10800/59059] lr: 1.000e-04, eta: 23 days, 9:05:44, time: 0.583, data_time: 0.033, memory: 14139, loss_cls: 1.0407, loss_bbox: 1.0275, loss_traj: 2.2890, loss_traj_cls: 0.0005, loss_map_cls: 0.6573, loss_map_pts: 2.5885, loss_map_dir: 0.0410, d0.loss_plan_l1_fix_time: 3.4773, d0.loss_plan_l1_fix_dist: 0.6756, d1.loss_plan_l1_fix_time: 3.3328, d1.loss_plan_l1_fix_dist: 0.6902, d2.loss_plan_l1_fix_time: 3.3180, d2.loss_plan_l1_fix_dist: 0.7203, d3.loss_plan_l1_fix_time: 3.3202, d3.loss_plan_l1_fix_dist: 0.7624, d4.loss_plan_l1_fix_time: 3.3268, d4.loss_plan_l1_fix_dist: 0.8116, d5.loss_plan_l1_fix_time: 3.3375, d5.loss_plan_l1_fix_dist: 0.8715, d6.loss_plan_l1_fix_time: 3.3517, d6.loss_plan_l1_fix_dist: 0.9479, d0.loss_cls_all: 0.9901, d0.loss_bbox_all: 1.0353, d0.loss_cls: 0.9901, d0.loss_bbox: 1.0353, d1.loss_cls: 0.9996, d1.loss_bbox: 1.0288, d2.loss_cls: 1.0107, d2.loss_bbox: 1.0286, d3.loss_cls: 1.0248, d3.loss_bbox: 1.0252, d4.loss_cls: 1.0293, d4.loss_bbox: 1.0239, d5.loss_cls: 1.0346, d5.loss_bbox: 1.0223, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2008, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1864, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1996, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2250, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2225, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2410, d0.loss_map_cls_all: 0.6652, d0.loss_map_pts_all: 3.2484, d0.loss_map_dir_all: 0.0416, d0.loss_map_cls: 0.6652, d0.loss_map_pts: 3.2484, d0.loss_map_dir: 0.0416, d1.loss_map_cls: 0.6550, d1.loss_map_pts: 2.6361, d1.loss_map_dir: 0.0415, d2.loss_map_cls: 0.6514, d2.loss_map_pts: 2.6008, d2.loss_map_dir: 0.0414, d3.loss_map_cls: 0.6507, d3.loss_map_pts: 2.5921, d3.loss_map_dir: 0.0413, d4.loss_map_cls: 0.6520, d4.loss_map_pts: 2.5876, d4.loss_map_dir: 0.0411, d5.loss_map_cls: 0.6534, d5.loss_map_pts: 2.5880, d5.loss_map_dir: 0.0411, loss: 88.5290, grad_norm: 204.1257 +2026-02-24 02:09:31,719 - DriveTransformer - INFO - Epoch [1][10850/59059] lr: 1.000e-04, eta: 23 days, 9:08:05, time: 0.582, data_time: 0.028, memory: 14139, loss_cls: 1.0681, loss_bbox: 1.0225, loss_traj: 1.9943, loss_traj_cls: 0.0005, loss_map_cls: 0.6485, loss_map_pts: 2.6655, loss_map_dir: 0.0407, d0.loss_plan_l1_fix_time: 3.9444, d0.loss_plan_l1_fix_dist: 0.7339, d1.loss_plan_l1_fix_time: 3.8635, d1.loss_plan_l1_fix_dist: 0.7539, d2.loss_plan_l1_fix_time: 3.8668, d2.loss_plan_l1_fix_dist: 0.7879, d3.loss_plan_l1_fix_time: 3.8814, d3.loss_plan_l1_fix_dist: 0.8254, d4.loss_plan_l1_fix_time: 3.8977, d4.loss_plan_l1_fix_dist: 0.8677, d5.loss_plan_l1_fix_time: 3.9139, d5.loss_plan_l1_fix_dist: 0.9140, d6.loss_plan_l1_fix_time: 3.9331, d6.loss_plan_l1_fix_dist: 0.9601, d0.loss_cls_all: 1.0209, d0.loss_bbox_all: 1.0179, d0.loss_cls: 1.0209, d0.loss_bbox: 1.0179, d1.loss_cls: 1.0455, d1.loss_bbox: 1.0117, d2.loss_cls: 1.0484, d2.loss_bbox: 1.0037, d3.loss_cls: 1.0543, d3.loss_bbox: 1.0033, d4.loss_cls: 1.0638, d4.loss_bbox: 1.0054, d5.loss_cls: 1.0684, d5.loss_bbox: 1.0092, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9613, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9640, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9712, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9735, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9943, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9976, d0.loss_map_cls_all: 0.6359, d0.loss_map_pts_all: 3.2938, d0.loss_map_dir_all: 0.0414, d0.loss_map_cls: 0.6359, d0.loss_map_pts: 3.2938, d0.loss_map_dir: 0.0414, d1.loss_map_cls: 0.6331, d1.loss_map_pts: 2.7049, d1.loss_map_dir: 0.0411, d2.loss_map_cls: 0.6345, d2.loss_map_pts: 2.6754, d2.loss_map_dir: 0.0411, d3.loss_map_cls: 0.6392, d3.loss_map_pts: 2.6689, d3.loss_map_dir: 0.0410, d4.loss_map_cls: 0.6402, d4.loss_map_pts: 2.6665, d4.loss_map_dir: 0.0409, d5.loss_map_cls: 0.6433, d5.loss_map_pts: 2.6663, d5.loss_map_dir: 0.0408, loss: 91.5591, grad_norm: 202.9253 +2026-02-24 02:10:00,734 - DriveTransformer - INFO - Epoch [1][10900/59059] lr: 1.000e-04, eta: 23 days, 9:09:54, time: 0.580, data_time: 0.033, memory: 14139, loss_cls: 0.9890, loss_bbox: 1.0251, loss_traj: 2.0605, loss_traj_cls: 0.0004, loss_map_cls: 0.6707, loss_map_pts: 2.8219, loss_map_dir: 0.0392, d0.loss_plan_l1_fix_time: 3.3931, d0.loss_plan_l1_fix_dist: 0.6628, d1.loss_plan_l1_fix_time: 3.2825, d1.loss_plan_l1_fix_dist: 0.6802, d2.loss_plan_l1_fix_time: 3.2784, d2.loss_plan_l1_fix_dist: 0.7121, d3.loss_plan_l1_fix_time: 3.2920, d3.loss_plan_l1_fix_dist: 0.7591, d4.loss_plan_l1_fix_time: 3.3118, d4.loss_plan_l1_fix_dist: 0.8148, d5.loss_plan_l1_fix_time: 3.3318, d5.loss_plan_l1_fix_dist: 0.8690, d6.loss_plan_l1_fix_time: 3.3537, d6.loss_plan_l1_fix_dist: 0.9208, d0.loss_cls_all: 0.9590, d0.loss_bbox_all: 1.0153, d0.loss_cls: 0.9590, d0.loss_bbox: 1.0153, d1.loss_cls: 0.9781, d1.loss_bbox: 0.9970, d2.loss_cls: 0.9799, d2.loss_bbox: 0.9979, d3.loss_cls: 0.9863, d3.loss_bbox: 1.0051, d4.loss_cls: 0.9889, d4.loss_bbox: 1.0110, d5.loss_cls: 0.9918, d5.loss_bbox: 1.0157, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0112, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0310, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0391, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0351, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0386, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0476, d0.loss_map_cls_all: 0.6367, d0.loss_map_pts_all: 3.3946, d0.loss_map_dir_all: 0.0397, d0.loss_map_cls: 0.6367, d0.loss_map_pts: 3.3946, d0.loss_map_dir: 0.0397, d1.loss_map_cls: 0.6372, d1.loss_map_pts: 2.8118, d1.loss_map_dir: 0.0395, d2.loss_map_cls: 0.6474, d2.loss_map_pts: 2.7940, d2.loss_map_dir: 0.0394, d3.loss_map_cls: 0.6597, d3.loss_map_pts: 2.7937, d3.loss_map_dir: 0.0392, d4.loss_map_cls: 0.6580, d4.loss_map_pts: 2.7966, d4.loss_map_dir: 0.0392, d5.loss_map_cls: 0.6638, d5.loss_map_pts: 2.8063, d5.loss_map_dir: 0.0392, loss: 87.9822, grad_norm: 202.0537 +2026-02-24 02:10:30,629 - DriveTransformer - INFO - Epoch [1][10950/59059] lr: 1.000e-04, eta: 23 days, 9:16:26, time: 0.598, data_time: 0.034, memory: 14139, loss_cls: 1.0196, loss_bbox: 1.0117, loss_traj: 2.0228, loss_traj_cls: 0.0005, loss_map_cls: 0.6114, loss_map_pts: 3.0254, loss_map_dir: 0.0459, d0.loss_plan_l1_fix_time: 3.0226, d0.loss_plan_l1_fix_dist: 0.5917, d1.loss_plan_l1_fix_time: 3.0398, d1.loss_plan_l1_fix_dist: 0.6219, d2.loss_plan_l1_fix_time: 3.0631, d2.loss_plan_l1_fix_dist: 0.6594, d3.loss_plan_l1_fix_time: 3.0930, d3.loss_plan_l1_fix_dist: 0.7096, d4.loss_plan_l1_fix_time: 3.1224, d4.loss_plan_l1_fix_dist: 0.7652, d5.loss_plan_l1_fix_time: 3.1486, d5.loss_plan_l1_fix_dist: 0.8286, d6.loss_plan_l1_fix_time: 3.1748, d6.loss_plan_l1_fix_dist: 0.9029, d0.loss_cls_all: 0.9838, d0.loss_bbox_all: 1.0257, d0.loss_cls: 0.9838, d0.loss_bbox: 1.0257, d1.loss_cls: 0.9910, d1.loss_bbox: 1.0056, d2.loss_cls: 1.0056, d2.loss_bbox: 1.0011, d3.loss_cls: 1.0131, d3.loss_bbox: 1.0049, d4.loss_cls: 1.0127, d4.loss_bbox: 1.0108, d5.loss_cls: 1.0152, d5.loss_bbox: 1.0091, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9862, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9605, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9743, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9844, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9941, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.0122, d0.loss_map_cls_all: 0.6099, d0.loss_map_pts_all: 3.5722, d0.loss_map_dir_all: 0.0465, d0.loss_map_cls: 0.6099, d0.loss_map_pts: 3.5722, d0.loss_map_dir: 0.0465, d1.loss_map_cls: 0.6050, d1.loss_map_pts: 3.0205, d1.loss_map_dir: 0.0463, d2.loss_map_cls: 0.6023, d2.loss_map_pts: 3.0023, d2.loss_map_dir: 0.0462, d3.loss_map_cls: 0.6057, d3.loss_map_pts: 3.0033, d3.loss_map_dir: 0.0461, d4.loss_map_cls: 0.6064, d4.loss_map_pts: 3.0067, d4.loss_map_dir: 0.0460, d5.loss_map_cls: 0.6084, d5.loss_map_pts: 3.0145, d5.loss_map_dir: 0.0459, loss: 87.2469, grad_norm: 202.2858 +2026-02-24 02:10:59,135 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 02:10:59,135 - DriveTransformer - INFO - Epoch [1][11000/59059] lr: 1.000e-04, eta: 23 days, 9:15:27, time: 0.570, data_time: 0.027, memory: 14139, loss_cls: 1.0504, loss_bbox: 1.0684, loss_traj: 1.9604, loss_traj_cls: 0.0005, loss_map_cls: 0.6365, loss_map_pts: 2.6344, loss_map_dir: 0.0397, d0.loss_plan_l1_fix_time: 3.5716, d0.loss_plan_l1_fix_dist: 0.6776, d1.loss_plan_l1_fix_time: 3.4932, d1.loss_plan_l1_fix_dist: 0.6984, d2.loss_plan_l1_fix_time: 3.5014, d2.loss_plan_l1_fix_dist: 0.7307, d3.loss_plan_l1_fix_time: 3.5129, d3.loss_plan_l1_fix_dist: 0.7704, d4.loss_plan_l1_fix_time: 3.5275, d4.loss_plan_l1_fix_dist: 0.8157, d5.loss_plan_l1_fix_time: 3.5456, d5.loss_plan_l1_fix_dist: 0.8730, d6.loss_plan_l1_fix_time: 3.5651, d6.loss_plan_l1_fix_dist: 0.9477, d0.loss_cls_all: 0.9882, d0.loss_bbox_all: 1.1149, d0.loss_cls: 0.9882, d0.loss_bbox: 1.1149, d1.loss_cls: 1.0174, d1.loss_bbox: 1.0870, d2.loss_cls: 1.0326, d2.loss_bbox: 1.0816, d3.loss_cls: 1.0421, d3.loss_bbox: 1.0692, d4.loss_cls: 1.0470, d4.loss_bbox: 1.0663, d5.loss_cls: 1.0499, d5.loss_bbox: 1.0580, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9541, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9533, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9481, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9473, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9492, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9601, d0.loss_map_cls_all: 0.6298, d0.loss_map_pts_all: 3.2767, d0.loss_map_dir_all: 0.0403, d0.loss_map_cls: 0.6298, d0.loss_map_pts: 3.2767, d0.loss_map_dir: 0.0403, d1.loss_map_cls: 0.6189, d1.loss_map_pts: 2.6764, d1.loss_map_dir: 0.0401, d2.loss_map_cls: 0.6177, d2.loss_map_pts: 2.6444, d2.loss_map_dir: 0.0399, d3.loss_map_cls: 0.6246, d3.loss_map_pts: 2.6397, d3.loss_map_dir: 0.0399, d4.loss_map_cls: 0.6289, d4.loss_map_pts: 2.6359, d4.loss_map_dir: 0.0398, d5.loss_map_cls: 0.6318, d5.loss_map_pts: 2.6361, d5.loss_map_dir: 0.0397, loss: 88.5411, grad_norm: 200.6722 +2026-02-24 02:11:28,221 - DriveTransformer - INFO - Epoch [1][11050/59059] lr: 1.000e-04, eta: 23 days, 9:17:36, time: 0.582, data_time: 0.029, memory: 14139, loss_cls: 1.0379, loss_bbox: 1.0287, loss_traj: 2.3421, loss_traj_cls: 0.0005, loss_map_cls: 0.6363, loss_map_pts: 2.9426, loss_map_dir: 0.0427, d0.loss_plan_l1_fix_time: 3.2245, d0.loss_plan_l1_fix_dist: 0.6269, d1.loss_plan_l1_fix_time: 3.1896, d1.loss_plan_l1_fix_dist: 0.6494, d2.loss_plan_l1_fix_time: 3.2042, d2.loss_plan_l1_fix_dist: 0.6852, d3.loss_plan_l1_fix_time: 3.2201, d3.loss_plan_l1_fix_dist: 0.7310, d4.loss_plan_l1_fix_time: 3.2393, d4.loss_plan_l1_fix_dist: 0.7848, d5.loss_plan_l1_fix_time: 3.2611, d5.loss_plan_l1_fix_dist: 0.8441, d6.loss_plan_l1_fix_time: 3.2856, d6.loss_plan_l1_fix_dist: 0.8980, d0.loss_cls_all: 1.0064, d0.loss_bbox_all: 1.0320, d0.loss_cls: 1.0064, d0.loss_bbox: 1.0320, d1.loss_cls: 1.0252, d1.loss_bbox: 1.0058, d2.loss_cls: 1.0264, d2.loss_bbox: 1.0121, d3.loss_cls: 1.0318, d3.loss_bbox: 1.0171, d4.loss_cls: 1.0364, d4.loss_bbox: 1.0223, d5.loss_cls: 1.0371, d5.loss_bbox: 1.0220, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.2485, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2867, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2941, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3110, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.3220, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3423, d0.loss_map_cls_all: 0.6274, d0.loss_map_pts_all: 3.5372, d0.loss_map_dir_all: 0.0429, d0.loss_map_cls: 0.6274, d0.loss_map_pts: 3.5372, d0.loss_map_dir: 0.0429, d1.loss_map_cls: 0.6165, d1.loss_map_pts: 2.9570, d1.loss_map_dir: 0.0429, d2.loss_map_cls: 0.6162, d2.loss_map_pts: 2.9356, d2.loss_map_dir: 0.0429, d3.loss_map_cls: 0.6241, d3.loss_map_pts: 2.9314, d3.loss_map_dir: 0.0428, d4.loss_map_cls: 0.6264, d4.loss_map_pts: 2.9311, d4.loss_map_dir: 0.0427, d5.loss_map_cls: 0.6312, d5.loss_map_pts: 2.9371, d5.loss_map_dir: 0.0427, loss: 90.4303, grad_norm: 199.2041 +2026-02-24 02:11:57,629 - DriveTransformer - INFO - Epoch [1][11100/59059] lr: 1.000e-04, eta: 23 days, 9:21:21, time: 0.588, data_time: 0.028, memory: 14139, loss_cls: 1.0254, loss_bbox: 0.9951, loss_traj: 1.9838, loss_traj_cls: 0.0005, loss_map_cls: 0.6248, loss_map_pts: 3.1011, loss_map_dir: 0.0458, d0.loss_plan_l1_fix_time: 3.1550, d0.loss_plan_l1_fix_dist: 0.7388, d1.loss_plan_l1_fix_time: 3.0943, d1.loss_plan_l1_fix_dist: 0.7650, d2.loss_plan_l1_fix_time: 3.1058, d2.loss_plan_l1_fix_dist: 0.8093, d3.loss_plan_l1_fix_time: 3.1221, d3.loss_plan_l1_fix_dist: 0.8652, d4.loss_plan_l1_fix_time: 3.1424, d4.loss_plan_l1_fix_dist: 0.9298, d5.loss_plan_l1_fix_time: 3.1648, d5.loss_plan_l1_fix_dist: 1.0004, d6.loss_plan_l1_fix_time: 3.1894, d6.loss_plan_l1_fix_dist: 1.0745, d0.loss_cls_all: 0.9937, d0.loss_bbox_all: 0.9910, d0.loss_cls: 0.9937, d0.loss_bbox: 0.9910, d1.loss_cls: 1.0071, d1.loss_bbox: 0.9695, d2.loss_cls: 1.0129, d2.loss_bbox: 0.9736, d3.loss_cls: 1.0179, d3.loss_bbox: 0.9888, d4.loss_cls: 1.0206, d4.loss_bbox: 0.9941, d5.loss_cls: 1.0265, d5.loss_bbox: 0.9918, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8474, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8778, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9125, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9428, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9802, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9720, d0.loss_map_cls_all: 0.6079, d0.loss_map_pts_all: 3.6193, d0.loss_map_dir_all: 0.0462, d0.loss_map_cls: 0.6079, d0.loss_map_pts: 3.6193, d0.loss_map_dir: 0.0462, d1.loss_map_cls: 0.6014, d1.loss_map_pts: 3.1207, d1.loss_map_dir: 0.0461, d2.loss_map_cls: 0.6028, d2.loss_map_pts: 3.1081, d2.loss_map_dir: 0.0460, d3.loss_map_cls: 0.6132, d3.loss_map_pts: 3.1024, d3.loss_map_dir: 0.0459, d4.loss_map_cls: 0.6164, d4.loss_map_pts: 3.1015, d4.loss_map_dir: 0.0459, d5.loss_map_cls: 0.6216, d5.loss_map_pts: 3.1011, d5.loss_map_dir: 0.0459, loss: 88.8073, grad_norm: 197.4791 +2026-02-24 02:12:25,746 - DriveTransformer - INFO - Epoch [1][11150/59059] lr: 1.000e-04, eta: 23 days, 9:18:18, time: 0.562, data_time: 0.027, memory: 14139, loss_cls: 0.9996, loss_bbox: 0.9903, loss_traj: 2.0040, loss_traj_cls: 0.0005, loss_map_cls: 0.6271, loss_map_pts: 2.7404, loss_map_dir: 0.0401, d0.loss_plan_l1_fix_time: 2.8326, d0.loss_plan_l1_fix_dist: 0.5834, d1.loss_plan_l1_fix_time: 2.7547, d1.loss_plan_l1_fix_dist: 0.6057, d2.loss_plan_l1_fix_time: 2.7612, d2.loss_plan_l1_fix_dist: 0.6482, d3.loss_plan_l1_fix_time: 2.7739, d3.loss_plan_l1_fix_dist: 0.6902, d4.loss_plan_l1_fix_time: 2.7890, d4.loss_plan_l1_fix_dist: 0.7383, d5.loss_plan_l1_fix_time: 2.8078, d5.loss_plan_l1_fix_dist: 0.7965, d6.loss_plan_l1_fix_time: 2.8276, d6.loss_plan_l1_fix_dist: 0.8696, d0.loss_cls_all: 0.9691, d0.loss_bbox_all: 1.0119, d0.loss_cls: 0.9691, d0.loss_bbox: 1.0119, d1.loss_cls: 0.9823, d1.loss_bbox: 0.9785, d2.loss_cls: 0.9959, d2.loss_bbox: 0.9722, d3.loss_cls: 0.9991, d3.loss_bbox: 0.9752, d4.loss_cls: 1.0004, d4.loss_bbox: 0.9802, d5.loss_cls: 0.9989, d5.loss_bbox: 0.9862, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9536, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9658, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9985, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9859, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9787, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9759, d0.loss_map_cls_all: 0.6287, d0.loss_map_pts_all: 3.3698, d0.loss_map_dir_all: 0.0407, d0.loss_map_cls: 0.6287, d0.loss_map_pts: 3.3698, d0.loss_map_dir: 0.0407, d1.loss_map_cls: 0.6167, d1.loss_map_pts: 2.7769, d1.loss_map_dir: 0.0405, d2.loss_map_cls: 0.6142, d2.loss_map_pts: 2.7567, d2.loss_map_dir: 0.0404, d3.loss_map_cls: 0.6184, d3.loss_map_pts: 2.7504, d3.loss_map_dir: 0.0403, d4.loss_map_cls: 0.6218, d4.loss_map_pts: 2.7439, d4.loss_map_dir: 0.0403, d5.loss_map_cls: 0.6236, d5.loss_map_pts: 2.7410, d5.loss_map_dir: 0.0402, loss: 82.7166, grad_norm: 196.3669 +2026-02-24 02:12:53,526 - DriveTransformer - INFO - Epoch [1][11200/59059] lr: 1.000e-04, eta: 23 days, 9:13:30, time: 0.556, data_time: 0.027, memory: 14139, loss_cls: 1.0191, loss_bbox: 1.0186, loss_traj: 2.2765, loss_traj_cls: 0.0005, loss_map_cls: 0.6311, loss_map_pts: 2.3970, loss_map_dir: 0.0363, d0.loss_plan_l1_fix_time: 3.2299, d0.loss_plan_l1_fix_dist: 0.6237, d1.loss_plan_l1_fix_time: 3.2167, d1.loss_plan_l1_fix_dist: 0.6513, d2.loss_plan_l1_fix_time: 3.2399, d2.loss_plan_l1_fix_dist: 0.6921, d3.loss_plan_l1_fix_time: 3.2662, d3.loss_plan_l1_fix_dist: 0.7374, d4.loss_plan_l1_fix_time: 3.2900, d4.loss_plan_l1_fix_dist: 0.7885, d5.loss_plan_l1_fix_time: 3.3124, d5.loss_plan_l1_fix_dist: 0.8432, d6.loss_plan_l1_fix_time: 3.3332, d6.loss_plan_l1_fix_dist: 0.9029, d0.loss_cls_all: 0.9703, d0.loss_bbox_all: 1.0355, d0.loss_cls: 0.9703, d0.loss_bbox: 1.0355, d1.loss_cls: 0.9947, d1.loss_bbox: 1.0138, d2.loss_cls: 1.0088, d2.loss_bbox: 1.0044, d3.loss_cls: 1.0221, d3.loss_bbox: 1.0004, d4.loss_cls: 1.0238, d4.loss_bbox: 1.0024, d5.loss_cls: 1.0201, d5.loss_bbox: 1.0081, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.2256, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2576, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2539, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2513, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.2549, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2599, d0.loss_map_cls_all: 0.6392, d0.loss_map_pts_all: 3.0453, d0.loss_map_dir_all: 0.0368, d0.loss_map_cls: 0.6392, d0.loss_map_pts: 3.0453, d0.loss_map_dir: 0.0368, d1.loss_map_cls: 0.6204, d1.loss_map_pts: 2.4301, d1.loss_map_dir: 0.0364, d2.loss_map_cls: 0.6131, d2.loss_map_pts: 2.4162, d2.loss_map_dir: 0.0364, d3.loss_map_cls: 0.6193, d3.loss_map_pts: 2.4101, d3.loss_map_dir: 0.0363, d4.loss_map_cls: 0.6260, d4.loss_map_pts: 2.4009, d4.loss_map_dir: 0.0363, d5.loss_map_cls: 0.6277, d5.loss_map_pts: 2.3986, d5.loss_map_dir: 0.0363, loss: 85.9094, grad_norm: 194.1594 +2026-02-24 02:13:21,848 - DriveTransformer - INFO - Epoch [1][11250/59059] lr: 1.000e-04, eta: 23 days, 9:11:35, time: 0.566, data_time: 0.029, memory: 14139, loss_cls: 1.0226, loss_bbox: 0.9886, loss_traj: 2.1791, loss_traj_cls: 0.0005, loss_map_cls: 0.6293, loss_map_pts: 2.5657, loss_map_dir: 0.0420, d0.loss_plan_l1_fix_time: 3.1357, d0.loss_plan_l1_fix_dist: 0.5978, d1.loss_plan_l1_fix_time: 3.0538, d1.loss_plan_l1_fix_dist: 0.6470, d2.loss_plan_l1_fix_time: 3.0589, d2.loss_plan_l1_fix_dist: 0.7057, d3.loss_plan_l1_fix_time: 3.0731, d3.loss_plan_l1_fix_dist: 0.7788, d4.loss_plan_l1_fix_time: 3.0888, d4.loss_plan_l1_fix_dist: 0.8622, d5.loss_plan_l1_fix_time: 3.1063, d5.loss_plan_l1_fix_dist: 0.9491, d6.loss_plan_l1_fix_time: 3.1262, d6.loss_plan_l1_fix_dist: 1.0226, d0.loss_cls_all: 0.9893, d0.loss_bbox_all: 0.9927, d0.loss_cls: 0.9893, d0.loss_bbox: 0.9927, d1.loss_cls: 1.0118, d1.loss_bbox: 0.9720, d2.loss_cls: 1.0192, d2.loss_bbox: 0.9755, d3.loss_cls: 1.0217, d3.loss_bbox: 0.9777, d4.loss_cls: 1.0253, d4.loss_bbox: 0.9791, d5.loss_cls: 1.0227, d5.loss_bbox: 0.9811, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0924, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1395, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1236, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1532, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1730, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1817, d0.loss_map_cls_all: 0.6281, d0.loss_map_pts_all: 3.2170, d0.loss_map_dir_all: 0.0423, d0.loss_map_cls: 0.6281, d0.loss_map_pts: 3.2170, d0.loss_map_dir: 0.0423, d1.loss_map_cls: 0.6196, d1.loss_map_pts: 2.6222, d1.loss_map_dir: 0.0422, d2.loss_map_cls: 0.6152, d2.loss_map_pts: 2.5996, d2.loss_map_dir: 0.0422, d3.loss_map_cls: 0.6212, d3.loss_map_pts: 2.5860, d3.loss_map_dir: 0.0423, d4.loss_map_cls: 0.6235, d4.loss_map_pts: 2.5742, d4.loss_map_dir: 0.0422, d5.loss_map_cls: 0.6253, d5.loss_map_pts: 2.5695, d5.loss_map_dir: 0.0421, loss: 85.4920, grad_norm: 193.7814 +2026-02-24 02:13:50,550 - DriveTransformer - INFO - Epoch [1][11300/59059] lr: 1.000e-04, eta: 23 days, 9:11:39, time: 0.574, data_time: 0.027, memory: 14139, loss_cls: 0.9887, loss_bbox: 1.0118, loss_traj: 2.0134, loss_traj_cls: 0.0005, loss_map_cls: 0.6191, loss_map_pts: 2.3974, loss_map_dir: 0.0360, d0.loss_plan_l1_fix_time: 3.4875, d0.loss_plan_l1_fix_dist: 0.5462, d1.loss_plan_l1_fix_time: 3.4360, d1.loss_plan_l1_fix_dist: 0.5879, d2.loss_plan_l1_fix_time: 3.4444, d2.loss_plan_l1_fix_dist: 0.6481, d3.loss_plan_l1_fix_time: 3.4615, d3.loss_plan_l1_fix_dist: 0.7158, d4.loss_plan_l1_fix_time: 3.4813, d4.loss_plan_l1_fix_dist: 0.7903, d5.loss_plan_l1_fix_time: 3.5024, d5.loss_plan_l1_fix_dist: 0.8714, d6.loss_plan_l1_fix_time: 3.5270, d6.loss_plan_l1_fix_dist: 0.9557, d0.loss_cls_all: 0.9550, d0.loss_bbox_all: 1.0049, d0.loss_cls: 0.9550, d0.loss_bbox: 1.0049, d1.loss_cls: 0.9732, d1.loss_bbox: 0.9908, d2.loss_cls: 0.9806, d2.loss_bbox: 0.9948, d3.loss_cls: 0.9857, d3.loss_bbox: 0.9969, d4.loss_cls: 0.9873, d4.loss_bbox: 1.0032, d5.loss_cls: 0.9861, d5.loss_bbox: 1.0048, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9766, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9980, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0033, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0022, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0301, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0201, d0.loss_map_cls_all: 0.6217, d0.loss_map_pts_all: 3.0308, d0.loss_map_dir_all: 0.0361, d0.loss_map_cls: 0.6217, d0.loss_map_pts: 3.0308, d0.loss_map_dir: 0.0361, d1.loss_map_cls: 0.6103, d1.loss_map_pts: 2.4270, d1.loss_map_dir: 0.0363, d2.loss_map_cls: 0.6053, d2.loss_map_pts: 2.4121, d2.loss_map_dir: 0.0363, d3.loss_map_cls: 0.6118, d3.loss_map_pts: 2.4017, d3.loss_map_dir: 0.0362, d4.loss_map_cls: 0.6136, d4.loss_map_pts: 2.3979, d4.loss_map_dir: 0.0362, d5.loss_map_cls: 0.6155, d5.loss_map_pts: 2.3960, d5.loss_map_dir: 0.0360, loss: 85.0279, grad_norm: 191.9441 +2026-02-24 02:14:19,271 - DriveTransformer - INFO - Epoch [1][11350/59059] lr: 1.000e-04, eta: 23 days, 9:11:48, time: 0.574, data_time: 0.027, memory: 14139, loss_cls: 1.0344, loss_bbox: 1.0151, loss_traj: 2.0189, loss_traj_cls: 0.0005, loss_map_cls: 0.6457, loss_map_pts: 2.7054, loss_map_dir: 0.0412, d0.loss_plan_l1_fix_time: 3.5005, d0.loss_plan_l1_fix_dist: 0.6732, d1.loss_plan_l1_fix_time: 3.4232, d1.loss_plan_l1_fix_dist: 0.7202, d2.loss_plan_l1_fix_time: 3.4271, d2.loss_plan_l1_fix_dist: 0.7942, d3.loss_plan_l1_fix_time: 3.4405, d3.loss_plan_l1_fix_dist: 0.8764, d4.loss_plan_l1_fix_time: 3.4569, d4.loss_plan_l1_fix_dist: 0.9673, d5.loss_plan_l1_fix_time: 3.4762, d5.loss_plan_l1_fix_dist: 1.0652, d6.loss_plan_l1_fix_time: 3.4982, d6.loss_plan_l1_fix_dist: 1.1759, d0.loss_cls_all: 1.0036, d0.loss_bbox_all: 1.0079, d0.loss_cls: 1.0036, d0.loss_bbox: 1.0079, d1.loss_cls: 1.0149, d1.loss_bbox: 0.9822, d2.loss_cls: 1.0263, d2.loss_bbox: 0.9852, d3.loss_cls: 1.0289, d3.loss_bbox: 0.9926, d4.loss_cls: 1.0290, d4.loss_bbox: 1.0020, d5.loss_cls: 1.0304, d5.loss_bbox: 1.0092, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9353, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9558, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9657, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9722, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0005, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0122, d0.loss_map_cls_all: 0.6402, d0.loss_map_pts_all: 3.3177, d0.loss_map_dir_all: 0.0412, d0.loss_map_cls: 0.6402, d0.loss_map_pts: 3.3177, d0.loss_map_dir: 0.0412, d1.loss_map_cls: 0.6347, d1.loss_map_pts: 2.7303, d1.loss_map_dir: 0.0414, d2.loss_map_cls: 0.6339, d2.loss_map_pts: 2.7132, d2.loss_map_dir: 0.0413, d3.loss_map_cls: 0.6385, d3.loss_map_pts: 2.7073, d3.loss_map_dir: 0.0412, d4.loss_map_cls: 0.6397, d4.loss_map_pts: 2.7045, d4.loss_map_dir: 0.0412, d5.loss_map_cls: 0.6416, d5.loss_map_pts: 2.7034, d5.loss_map_dir: 0.0411, loss: 88.8760, grad_norm: 192.0747 diff --git a/DriveTransformer/goalpoint_1gpu/20260224_002559.log.json b/DriveTransformer/goalpoint_1gpu/20260224_002559.log.json new file mode 100644 index 0000000000000000000000000000000000000000..e4c57696e9b5b2b1b13131f5121fa71135b05018 --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260224_002559.log.json @@ -0,0 +1,228 @@ +{"env_info": "MMCV: 0.0.1", "config": "point_cloud_range = [-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]\nclass_names = [\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n]\ndataset_type = 'B2D_DriveTransformer_GoalPoint_Dataset'\ndata_root = 'data/bench2drive'\ninput_modality = dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True)\nfile_client_args = dict(backend='disk')\ntrain_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\ntest_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\neval_pipeline = [\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone', 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n]\ndata = dict(\n samples_per_gpu=4,\n workers_per_gpu=8,\n train=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=False,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n sub_seq_lenth=-1,\n use_splited_data=True,\n cache_lenth=5,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n val=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_root='data/bench2drive',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=5,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n test=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=5,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n shuffler_sampler=dict(type='InfiniteGroupEachSampleInBatchSampler'),\n nonshuffler_sampler=dict(type='DistributedSampler'))\nevaluation = dict(\n interval=24,\n pipeline=[\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone',\n 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n ])\ncheckpoint_config = dict(interval=1)\nlog_config = dict(\n interval=50,\n hooks=[dict(type='TextLoggerHook'),\n dict(type='TensorboardLoggerHook')])\ndist_params = dict(backend='nccl')\nlog_level = 'INFO'\nwork_dir = './work_dirs/drivetransformer_goalpoint_1gpu'\nload_from = None\nresume_from = None\nworkflow = [('train', 1)]\nplugin = True\nplugin_dir = 'adzoo/drivetransformer/mmdet3d_plugin/'\nvoxel_size = [0.15, 0.15, 4]\nimg_norm_cfg = dict(\n mean=[123.675, 116.28, 103.53], std=[58.395, 57.12, 57.375], to_rgb=True)\nNameMapping = dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n})\ncollect_keys = [\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', 'ego_pose',\n 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n]\nnum_classes = 9\nmap_classes = [\n 'Broken', 'Solid', 'SolidSolid', 'Center', 'TrafficLight', 'StopSign'\n]\nmap_fixed_ptsnum_per_gt_line = 20\nmap_fixed_ptsnum_per_pred_line = 20\nmap_eval_use_same_gt_sample_num_flag = True\nmap_num_classes = 6\nagent_query_num_vec = 900\nagent_num_topk_sift = 900\nagent_num_propagated = 50\nmap_query_num_vec = 100\nmap_num_topk_sift = 100\nmap_num_propagated = 50\nmemory_len_frame = 10\nnum_mode = 6\nnum_gpus = 1\nbatch_size = 4\nnum_iters_per_epoch = 1041\ndata_aug_conf = dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0])\n_dim_ = 512\nqueue_length = 1\ntotal_epochs = 60\ndropout = 0.1\nmodel = dict(\n type='DriveTransformer',\n use_grid_mask=False,\n pretrained=dict(img='./ckpts/resnet50-19c8e357.pth'),\n img_backbone=dict(\n type='ResNet',\n depth=50,\n num_stages=4,\n out_indices=(3, ),\n frozen_stages=1,\n norm_cfg=dict(type='BN', requires_grad=False),\n norm_eval=True,\n style='pytorch'),\n img_neck=dict(\n type='FPN',\n in_channels=[2048],\n out_channels=512,\n start_level=0,\n add_extra_convs='on_output',\n num_outs=1,\n relu_before_extra_convs=True),\n pts_bbox_head=dict(\n type='DriveTransformerlHead',\n ego_lcf_feat_idx=[0, 1, 2, 3, 4, 5, 6, 7, 8],\n ego_command_dim=128,\n img_stride=32,\n embed_dims=512,\n num_reg_fcs=2,\n num_cls_fcs=2,\n agent_num_propagated=50,\n map_num_propagated=50,\n memory_len_frame=10,\n agent_num_query=900,\n agent_num_query_sifted=900,\n fut_mode=6,\n fut_ego_mode=1,\n fut_ts=6,\n fut_ego_fix_dist=True,\n fut_ts_ego_fix_dist=20,\n fut_ts_ego_fix_time=30,\n num_classes=9,\n code_size=10,\n map_num_query=100,\n map_num_query_sifted=100,\n map_num_classes=6,\n map_num_pts_per_vec=20,\n map_num_pts_per_gt_vec=20,\n map_query_embed_type='instance_pts',\n map_transform_method='minmax',\n map_gt_shift_pts_pattern='v2',\n map_dir_interval=1,\n map_code_size=2,\n map_code_weights=[1.0, 1.0, 1.0, 1.0],\n sync_cls_avg_factor=True,\n with_box_refine=True,\n LID=True,\n with_ego_pos=True,\n position_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n depth_start=1,\n depth_step=0.8,\n depth_num=64,\n agent_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n map_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n transformer=dict(\n type='DriveTransformerWrapper',\n embed_dims=512,\n decoder=dict(\n type='DriveTransformerDecoder',\n num_layers=6,\n fut_mode=6,\n agent_num_query=900,\n map_num_query=100,\n map_num_pts_per_vec=20,\n return_intermediate=True,\n embed_dims=512,\n refine=True,\n transformerlayers=dict(\n type='DriveTransformerDecoderLayer',\n agent_query_num=900,\n map_query_num=100,\n memory_len_frame=10,\n agent_num_propagated=50,\n map_num_propagated=50,\n map_pts_per_vec=20,\n feedforward_channels=2048,\n ffn_dropout=0.1,\n with_cp=False,\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n no_wq=True)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n operation_order=('task_self_attn', 'norm',\n 'temporal_cross_attn', 'norm',\n 'sensor_cross_attn', 'norm', 'ffn',\n 'norm')))),\n bbox_coder=dict(\n type='CustomNMSFreeCoder',\n post_center_range=[-20, -35, -10.0, 20, 35, 10.0],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=100,\n voxel_size=[0.15, 0.15, 4],\n num_classes=9),\n loss_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_bbox=dict(type='L1Loss', loss_weight=0.25),\n loss_traj=dict(type='L1Loss', loss_weight=0.2),\n loss_traj_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.5,\n loss_weight=0.2),\n map_bbox_coder=dict(\n type='MapNMSFreeCoder',\n post_center_range=[-20, -35, -20, -35, 20, 35, 20, 35],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=50,\n voxel_size=[0.15, 0.15, 4],\n num_classes=6),\n loss_map_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_map_pts=dict(type='PtsL1Loss', loss_weight=1.0),\n loss_map_dir=dict(type='PtsDirCosLoss', loss_weight=0.005),\n loss_plan_reg_fix_time=dict(type='L1Loss', loss_weight=3.5),\n loss_plan_reg_fix_dist=dict(type='L1Loss', loss_weight=10.0),\n loss_plan_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=4.0,\n alpha=0.5,\n loss_weight=20.0)),\n train_cfg=dict(\n pts=dict(\n grid_size=[512, 512, 1],\n voxel_size=[0.15, 0.15, 4],\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n out_size_factor=4,\n assigner=dict(\n type='HungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(type='BBox3DL1Cost', weight=0.25),\n iou_cost=dict(type='IoUCost', weight=0.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n map_assigner=dict(\n type='MapHungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(\n type='BBoxL1Cost', weight=0.0, box_format='xywh'),\n iou_cost=dict(type='IoUCost', iou_mode='giou', weight=0.0),\n pts_cost=dict(type='OrderedPtsL1Cost', weight=1.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]))))\ninfo_root = 'data/infos'\nmap_root = 'data/bench2drive/maps'\nmap_file = 'data/infos/b2d_map_infos.pkl'\nann_file_train = 'data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl'\nann_file_val = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\nann_file_test = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\noptimizer = dict(type='AdamW', lr=0.0001, weight_decay=0.01)\noptimizer_config = dict(\n grad_clip=dict(max_norm=35, norm_type=2),\n type='GradientCumulativeFp16OptimizerHook',\n cumulative_iters=48)\nlr_config = dict(\n policy='CosineAnnealing',\n warmup='linear',\n warmup_iters=1000,\n warmup_ratio=0.1,\n min_lr_ratio=0.01)\nrunner = dict(type='EpochBasedRunner', max_epochs=60)\nfp16 = dict(loss_scale=512.0)\nfind_unused_parameters = True\ncustom_hooks = [dict(type='CustomSetEpochInfoHook')]\ncumulative_iters = 48\ngpu_ids = range(0, 1)\n", "seed": 0, "exp_name": "drivetransformer_goalpoint_1gpu.py"} +{"mode": "train", "epoch": 1, "iter": 50, "lr": 1e-05, "memory": 14119, "data_time": 0.15806, "loss_cls": 665.11572, "loss_bbox": 1.62332, "loss_traj": 6.0926, "loss_traj_cls": 0.08884, "loss_map_cls": 10.89327, "loss_map_pts": 5.65141, "loss_map_dir": 0.09513, "d0.loss_plan_l1_fix_time": 11.07691, "d0.loss_plan_l1_fix_dist": 3.37486, "d1.loss_plan_l1_fix_time": 11.4573, "d1.loss_plan_l1_fix_dist": 4.43208, "d2.loss_plan_l1_fix_time": 11.90885, "d2.loss_plan_l1_fix_dist": 6.04733, "d3.loss_plan_l1_fix_time": 12.45759, "d3.loss_plan_l1_fix_dist": 7.8964, "d4.loss_plan_l1_fix_time": 12.97769, "d4.loss_plan_l1_fix_dist": 10.51976, "d5.loss_plan_l1_fix_time": 13.56776, "d5.loss_plan_l1_fix_dist": 13.27752, "d6.loss_plan_l1_fix_time": 14.11956, 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"d0.loss_traj_cls": 0.00032, "d0.loss_traj": 1.97657, "d1.loss_traj_cls": 0.00047, "d1.loss_traj": 1.99797, "d2.loss_traj_cls": 0.0005, "d2.loss_traj": 2.00327, "d3.loss_traj_cls": 0.00052, "d3.loss_traj": 2.00221, "d4.loss_traj_cls": 0.00057, "d4.loss_traj": 2.03014, "d5.loss_traj_cls": 0.00054, "d5.loss_traj": 2.0201, "d0.loss_map_cls_all": 0.62175, "d0.loss_map_pts_all": 3.03077, "d0.loss_map_dir_all": 0.03606, "d0.loss_map_cls": 0.62175, "d0.loss_map_pts": 3.03077, "d0.loss_map_dir": 0.03606, "d1.loss_map_cls": 0.61028, "d1.loss_map_pts": 2.42698, "d1.loss_map_dir": 0.03632, "d2.loss_map_cls": 0.60527, "d2.loss_map_pts": 2.41212, "d2.loss_map_dir": 0.03627, "d3.loss_map_cls": 0.61176, "d3.loss_map_pts": 2.40168, "d3.loss_map_dir": 0.03616, "d4.loss_map_cls": 0.61357, "d4.loss_map_pts": 2.3979, "d4.loss_map_dir": 0.03616, "d5.loss_map_cls": 0.61552, "d5.loss_map_pts": 2.39605, "d5.loss_map_dir": 0.03599, "loss": 85.02789, "time": 0.57408, "grad_norm": 191.94411} +{"mode": "train", "epoch": 1, "iter": 11350, "lr": 0.0001, "memory": 14139, "data_time": 0.02684, "loss_cls": 1.03439, "loss_bbox": 1.01506, "loss_traj": 2.01892, "loss_traj_cls": 0.00049, "loss_map_cls": 0.6457, "loss_map_pts": 2.70539, "loss_map_dir": 0.04117, "d0.loss_plan_l1_fix_time": 3.50045, "d0.loss_plan_l1_fix_dist": 0.67323, "d1.loss_plan_l1_fix_time": 3.42319, "d1.loss_plan_l1_fix_dist": 0.72021, "d2.loss_plan_l1_fix_time": 3.4271, "d2.loss_plan_l1_fix_dist": 0.79423, "d3.loss_plan_l1_fix_time": 3.44051, "d3.loss_plan_l1_fix_dist": 0.87642, "d4.loss_plan_l1_fix_time": 3.45691, "d4.loss_plan_l1_fix_dist": 0.96735, "d5.loss_plan_l1_fix_time": 3.47621, "d5.loss_plan_l1_fix_dist": 1.06516, "d6.loss_plan_l1_fix_time": 3.49823, "d6.loss_plan_l1_fix_dist": 1.17592, "d0.loss_cls_all": 1.00359, "d0.loss_bbox_all": 1.0079, "d0.loss_cls": 1.00359, "d0.loss_bbox": 1.0079, "d1.loss_cls": 1.01492, "d1.loss_bbox": 0.98223, "d2.loss_cls": 1.02626, "d2.loss_bbox": 0.98522, "d3.loss_cls": 1.0289, "d3.loss_bbox": 0.99263, "d4.loss_cls": 1.02897, "d4.loss_bbox": 1.00198, "d5.loss_cls": 1.03036, "d5.loss_bbox": 1.00918, "d0.loss_traj_cls": 0.00037, "d0.loss_traj": 1.93528, "d1.loss_traj_cls": 0.00052, "d1.loss_traj": 1.9558, "d2.loss_traj_cls": 0.00053, "d2.loss_traj": 1.96569, "d3.loss_traj_cls": 0.00055, "d3.loss_traj": 1.97218, "d4.loss_traj_cls": 0.0006, "d4.loss_traj": 2.00052, "d5.loss_traj_cls": 0.00053, "d5.loss_traj": 2.01224, "d0.loss_map_cls_all": 0.64022, "d0.loss_map_pts_all": 3.31768, "d0.loss_map_dir_all": 0.04119, "d0.loss_map_cls": 0.64022, "d0.loss_map_pts": 3.31768, "d0.loss_map_dir": 0.04119, "d1.loss_map_cls": 0.63468, "d1.loss_map_pts": 2.73027, "d1.loss_map_dir": 0.04135, "d2.loss_map_cls": 0.6339, "d2.loss_map_pts": 2.71319, "d2.loss_map_dir": 0.04131, "d3.loss_map_cls": 0.63851, "d3.loss_map_pts": 2.70728, "d3.loss_map_dir": 0.04119, "d4.loss_map_cls": 0.63968, "d4.loss_map_pts": 2.7045, "d4.loss_map_dir": 0.04118, "d5.loss_map_cls": 0.64161, "d5.loss_map_pts": 2.70337, "d5.loss_map_dir": 0.04113, "loss": 88.87598, "time": 0.57436, "grad_norm": 192.07468} diff --git a/DriveTransformer/goalpoint_1gpu/20260224_021525.log b/DriveTransformer/goalpoint_1gpu/20260224_021525.log new file mode 100644 index 0000000000000000000000000000000000000000..6639ff18a7c7cb40870e7dbceff6aa3904ccdcb4 --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260224_021525.log @@ -0,0 +1,6664 @@ +2026-02-24 02:15:34,755 - mmdet - INFO - initialize ResNet with init_cfg {'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} +2026-02-24 02:15:34,950 - mmdet - INFO - initialize FPN with init_cfg {'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} +Name of parameter - Initialization information + +pts_bbox_head.code_weights - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_code_weights - torch.Size([4]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.position_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.pc_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_query.weight - torch.Size([900, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_reference_points.weight - torch.Size([900, 3]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.weight - torch.Size([512, 9]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.weight - torch.Size([512, 768]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.mode_embedding.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_query.weight - torch.Size([100, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_reference_points.weight - torch.Size([100, 2]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.weight - torch.Size([512, 6]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.weight - torch.Size([512, 141]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.weight - torch.Size([512, 1920]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.weight - torch.Size([512, 640]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.featurized_pe.reduce.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.spatial_alignment.reduce.0.weight - torch.Size([512, 8]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.time_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.weight - torch.Size([512, 192]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_pose_memory.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cro2026-02-24 02:15:34,976 - DriveTransformer - INFO - Model: +DriveTransformer( + (pts_bbox_head): DriveTransformerlHead( + (loss_cls): FocalLoss() + (loss_bbox): L1Loss() + (loss_traj): L1Loss() + (loss_traj_cls): FocalLoss() + (loss_map_cls): FocalLoss() + (loss_map_pts): PtsL1Loss() + (loss_map_dir): PtsDirCosLoss() + (loss_plan_reg_fix_dist): L1Loss() + (loss_plan_reg_fix_time): L1Loss() + (loss_plan_cls): FocalLoss() + (agent_query): Embedding(900, 512) + (agent_reference_points): Embedding(900, 3) + (agent_cls_embedding): Sequential( + (0): Linear(in_features=9, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (agent_ref_embedding): Sequential( + (0): Linear(in_features=768, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (mode_embedding): Embedding(6, 512) + (map_query): Embedding(100, 512) + (map_reference_points): Embedding(100, 2) + (map_cls_embedding): Sequential( + (0): Linear(in_features=6, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (map_ref_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_lcf_encoder): Sequential( + (0): Linear(in_features=141, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_time_embedding): Sequential( + (0): Linear(in_features=1920, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_dist_embedding): Sequential( + (0): Linear(in_features=640, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (featurized_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (spatial_alignment): MLN( + (reduce): Sequential( + (0): Linear(in_features=8, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (time_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (img_position_encoder): Sequential( + (0): Linear(in_features=192, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_pose_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (ego_pose_memory): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (agent_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (map_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (transformer): DriveTransformerWrapper( + (decoder): DriveTransformerDecoder( + (layers): ModuleList( + (0-5): 6 x DriveTransformerDecoderLayer( + (task_self_attentions): ModuleList( + (0): AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (temporal_cross_attention_layers): ModuleList( + (0-2): 3 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (sensor_cross_attentions): ModuleList( + (0): AttentionLayer( + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (cross_w_q): ModuleList( + (0-2): 3 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + ) + (ffns): ModuleList( + (0): ModuleList( + (0-2): 3 x SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + ) + ) + (cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=9, bias=False) + ) + ) + (reg_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=10, bias=True) + ) + ) + (traj_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=12, bias=True) + ) + ) + (traj_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (6): Linear(in_features=512, out_features=1, bias=False) + ) + ) + (map_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=6, bias=False) + ) + ) + (map_reg_branches): ModuleList( + (0-5): 6 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=2, bias=True) + ) + (6): Linear(in_features=512, out_features=40, bias=True) + ) + (ego_traj_branches_fix_dist): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=20, bias=True) + ) + ) + (ego_traj_branches_fix_time): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=60, bias=True) + ) + ) + ) + (img_backbone): ResNet( + (conv1): Conv2d(3, 64, kernel_size=(7, 7), stride=(2, 2), padding=(3, 3), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (maxpool): MaxPool2d(kernel_size=3, stride=2, padding=1, dilation=1, ceil_mode=False) + (layer1): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(64, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer2): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(256, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(256, 512, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer3): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(512, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(512, 1024, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (4): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (5): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer4): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(1024, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(1024, 2048, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + ) + init_cfg={'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} + (img_neck): FPN( + (lateral_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1)) + ) + ) + (fpn_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) + ) + ) + ) + init_cfg={'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} + (grid_mask): GridMask() +) +2026-02-24 02:15:35,189 - DriveTransformer - INFO - Start running, host: humble@ysh-4090, work_dir: /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu +2026-02-24 02:15:35,189 - DriveTransformer - INFO - Hooks will be executed in the following order: +before_run: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_epoch: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_iter: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook + -------------------- +after_train_iter: +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +after_train_epoch: +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_val_epoch: +(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 + -------------------- +2026-02-24 02:15:35,189 - DriveTransformer - INFO - workflow: [('train', 1)], max: 24 epochs +2026-02-24 02:15:35,191 - DriveTransformer - INFO - Checkpoints will be saved to /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu by HardDiskBackend. +2026-02-24 02:15:45,967 - DriveTransformer - WARNING - GradientCumulativeOptimizerHook may slightly decrease performance if the model has BatchNorm layers. +2026-02-24 02:16:30,962 - DriveTransformer - INFO - Epoch [1][50/39528] lr: 1.441e-05, eta: 12 days, 5:18:38, time: 1.113, data_time: 0.216, memory: 18742, loss_cls: 765.5345, loss_bbox: 1.6525, loss_traj: 5.4214, loss_traj_cls: 0.0805, loss_map_cls: 10.7140, loss_map_pts: 5.5695, loss_map_dir: 0.0948, d0.loss_plan_l1_fix_time: 11.6801, d0.loss_plan_l1_fix_dist: 3.3227, d1.loss_plan_l1_fix_time: 12.0399, d1.loss_plan_l1_fix_dist: 4.3397, d2.loss_plan_l1_fix_time: 12.4709, d2.loss_plan_l1_fix_dist: 5.8793, d3.loss_plan_l1_fix_time: 13.0066, d3.loss_plan_l1_fix_dist: 7.7402, d4.loss_plan_l1_fix_time: 13.5054, d4.loss_plan_l1_fix_dist: 10.2273, d5.loss_plan_l1_fix_time: 14.0609, d5.loss_plan_l1_fix_dist: 12.8652, d6.loss_plan_l1_fix_time: 14.5860, d6.loss_plan_l1_fix_dist: 15.3838, d0.loss_cls_all: 526.0707, d0.loss_bbox_all: 1.6224, d0.loss_cls: 526.0707, d0.loss_bbox: 1.6224, d1.loss_cls: 587.8811, d1.loss_bbox: 1.5851, d2.loss_cls: 583.5278, d2.loss_bbox: 1.6719, d3.loss_cls: 660.6666, d3.loss_bbox: 1.6638, d4.loss_cls: 623.1928, d4.loss_bbox: 1.5679, d5.loss_cls: 690.5259, d5.loss_bbox: 1.6672, d0.loss_traj_cls: 0.0746, d0.loss_traj: 5.3930, d1.loss_traj_cls: 0.0630, d1.loss_traj: 5.4375, d2.loss_traj_cls: 0.0641, d2.loss_traj: 5.5115, d3.loss_traj_cls: 0.1034, d3.loss_traj: 5.4620, d4.loss_traj_cls: 0.0494, d4.loss_traj: 5.3747, d5.loss_traj_cls: 0.0496, d5.loss_traj: 5.4128, d0.loss_map_cls_all: 8.1190, d0.loss_map_pts_all: 5.2849, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 8.1190, d0.loss_map_pts: 5.2849, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 7.3747, d1.loss_map_pts: 5.3050, d1.loss_map_dir: 0.0951, d2.loss_map_cls: 8.0830, d2.loss_map_pts: 5.3385, d2.loss_map_dir: 0.0949, d3.loss_map_cls: 10.9808, d3.loss_map_pts: 5.3786, d3.loss_map_dir: 0.0949, d4.loss_map_cls: 10.9712, d4.loss_map_pts: 5.4438, d4.loss_map_dir: 0.0948, d5.loss_map_cls: 10.9086, d5.loss_map_pts: 5.5091, d5.loss_map_dir: 0.0949, loss: 5285.2736, grad_norm: inf +2026-02-24 02:17:10,661 - DriveTransformer - INFO - Epoch [1][100/39528] lr: 1.891e-05, eta: 10 days, 11:15:41, time: 0.794, data_time: 0.045, memory: 18742, loss_cls: 801.1629, loss_bbox: 1.6244, loss_traj: 6.7264, loss_traj_cls: 0.0914, loss_map_cls: 12.0765, loss_map_pts: 5.4557, loss_map_dir: 0.0951, d0.loss_plan_l1_fix_time: 13.6995, d0.loss_plan_l1_fix_dist: 3.3016, d1.loss_plan_l1_fix_time: 14.0050, d1.loss_plan_l1_fix_dist: 4.3949, d2.loss_plan_l1_fix_time: 14.3598, d2.loss_plan_l1_fix_dist: 6.1354, d3.loss_plan_l1_fix_time: 14.8063, d3.loss_plan_l1_fix_dist: 7.9970, d4.loss_plan_l1_fix_time: 15.2075, d4.loss_plan_l1_fix_dist: 10.6437, d5.loss_plan_l1_fix_time: 15.6787, d5.loss_plan_l1_fix_dist: 13.4252, d6.loss_plan_l1_fix_time: 16.1346, d6.loss_plan_l1_fix_dist: 16.0500, d0.loss_cls_all: 535.9388, d0.loss_bbox_all: 1.6058, d0.loss_cls: 535.9388, d0.loss_bbox: 1.6058, d1.loss_cls: 599.2235, d1.loss_bbox: 1.5675, d2.loss_cls: 599.7100, d2.loss_bbox: 1.6493, d3.loss_cls: 682.7772, d3.loss_bbox: 1.6522, d4.loss_cls: 652.6518, d4.loss_bbox: 1.5500, d5.loss_cls: 730.0613, d5.loss_bbox: 1.6438, d0.loss_traj_cls: 0.0750, d0.loss_traj: 6.6826, d1.loss_traj_cls: 0.0609, d1.loss_traj: 6.7408, d2.loss_traj_cls: 0.0633, d2.loss_traj: 6.8327, d3.loss_traj_cls: 0.1048, d3.loss_traj: 6.7782, d4.loss_traj_cls: 0.0534, d4.loss_traj: 6.6897, d5.loss_traj_cls: 0.0563, d5.loss_traj: 6.7206, d0.loss_map_cls_all: 8.9345, d0.loss_map_pts_all: 5.2281, d0.loss_map_dir_all: 0.0957, d0.loss_map_cls: 8.9345, d0.loss_map_pts: 5.2281, d0.loss_map_dir: 0.0957, d1.loss_map_cls: 8.3175, d1.loss_map_pts: 5.2484, d1.loss_map_dir: 0.0953, d2.loss_map_cls: 9.0979, d2.loss_map_pts: 5.2709, d2.loss_map_dir: 0.0952, d3.loss_map_cls: 12.2638, d3.loss_map_pts: 5.3037, d3.loss_map_dir: 0.0952, d4.loss_map_cls: 12.3238, d4.loss_map_pts: 5.3632, d4.loss_map_dir: 0.0952, d5.loss_map_cls: 12.2566, d5.loss_map_pts: 5.4132, d5.loss_map_dir: 0.0952, loss: 5491.3575, grad_norm: inf +2026-02-24 02:17:51,144 - DriveTransformer - INFO - Epoch [1][150/39528] lr: 2.341e-05, eta: 9 days, 22:36:26, time: 0.810, data_time: 0.040, memory: 18742, loss_cls: 658.1189, loss_bbox: 1.6822, loss_traj: 5.9608, loss_traj_cls: 0.0915, loss_map_cls: 12.3220, loss_map_pts: 5.7188, loss_map_dir: 0.0951, d0.loss_plan_l1_fix_time: 12.4242, d0.loss_plan_l1_fix_dist: 3.3145, d1.loss_plan_l1_fix_time: 12.7271, d1.loss_plan_l1_fix_dist: 4.3633, d2.loss_plan_l1_fix_time: 13.0966, d2.loss_plan_l1_fix_dist: 6.0568, d3.loss_plan_l1_fix_time: 13.5725, d3.loss_plan_l1_fix_dist: 7.9549, d4.loss_plan_l1_fix_time: 14.0106, d4.loss_plan_l1_fix_dist: 10.5606, d5.loss_plan_l1_fix_time: 14.5109, d5.loss_plan_l1_fix_dist: 13.3117, d6.loss_plan_l1_fix_time: 14.9835, d6.loss_plan_l1_fix_dist: 15.9024, d0.loss_cls_all: 455.1220, d0.loss_bbox_all: 1.6352, d0.loss_cls: 455.1220, d0.loss_bbox: 1.6352, d1.loss_cls: 495.4235, d1.loss_bbox: 1.6104, d2.loss_cls: 500.2615, d2.loss_bbox: 1.6870, d3.loss_cls: 570.4262, d3.loss_bbox: 1.6762, d4.loss_cls: 534.8431, d4.loss_bbox: 1.6061, d5.loss_cls: 596.2161, d5.loss_bbox: 1.6917, d0.loss_traj_cls: 0.0747, d0.loss_traj: 5.9430, d1.loss_traj_cls: 0.0648, d1.loss_traj: 5.9990, d2.loss_traj_cls: 0.0647, d2.loss_traj: 6.0705, d3.loss_traj_cls: 0.1126, d3.loss_traj: 6.0123, d4.loss_traj_cls: 0.0536, d4.loss_traj: 5.9306, d5.loss_traj_cls: 0.0557, d5.loss_traj: 5.9722, d0.loss_map_cls_all: 9.4107, d0.loss_map_pts_all: 5.3464, d0.loss_map_dir_all: 0.0953, d0.loss_map_cls: 9.4107, d0.loss_map_pts: 5.3464, d0.loss_map_dir: 0.0953, d1.loss_map_cls: 8.6732, d1.loss_map_pts: 5.3772, d1.loss_map_dir: 0.0953, d2.loss_map_cls: 9.3781, d2.loss_map_pts: 5.4285, d2.loss_map_dir: 0.0951, d3.loss_map_cls: 12.4898, d3.loss_map_pts: 5.4790, d3.loss_map_dir: 0.0951, d4.loss_map_cls: 12.5537, d4.loss_map_pts: 5.5599, d4.loss_map_dir: 0.0951, d5.loss_map_cls: 12.5333, d5.loss_map_pts: 5.6425, d5.loss_map_dir: 0.0950, loss: 4609.3843, grad_norm: inf +2026-02-24 02:18:32,167 - DriveTransformer - INFO - Epoch [1][200/39528] lr: 2.791e-05, eta: 9 days, 16:58:59, time: 0.820, data_time: 0.047, memory: 18742, loss_cls: 692.4351, loss_bbox: 1.7075, loss_traj: 5.3087, loss_traj_cls: 0.1032, loss_map_cls: 8.4466, loss_map_pts: 5.6586, loss_map_dir: 0.0949, d0.loss_plan_l1_fix_time: 9.6767, d0.loss_plan_l1_fix_dist: 3.3180, d1.loss_plan_l1_fix_time: 10.1224, d1.loss_plan_l1_fix_dist: 4.3448, d2.loss_plan_l1_fix_time: 10.6207, d2.loss_plan_l1_fix_dist: 6.1040, d3.loss_plan_l1_fix_time: 11.2203, d3.loss_plan_l1_fix_dist: 7.9613, d4.loss_plan_l1_fix_time: 11.7560, d4.loss_plan_l1_fix_dist: 10.5846, d5.loss_plan_l1_fix_time: 12.3599, d5.loss_plan_l1_fix_dist: 13.3086, d6.loss_plan_l1_fix_time: 12.9340, d6.loss_plan_l1_fix_dist: 15.9000, d0.loss_cls_all: 466.0879, d0.loss_bbox_all: 1.6489, d0.loss_cls: 466.0879, d0.loss_bbox: 1.6489, d1.loss_cls: 509.9786, d1.loss_bbox: 1.6219, d2.loss_cls: 512.1014, d2.loss_bbox: 1.6956, d3.loss_cls: 590.2991, d3.loss_bbox: 1.6969, d4.loss_cls: 552.7128, d4.loss_bbox: 1.6477, d5.loss_cls: 627.9561, d5.loss_bbox: 1.7146, d0.loss_traj_cls: 0.0749, d0.loss_traj: 5.2833, d1.loss_traj_cls: 0.0624, d1.loss_traj: 5.3204, d2.loss_traj_cls: 0.0674, d2.loss_traj: 5.4195, d3.loss_traj_cls: 0.1151, d3.loss_traj: 5.3851, d4.loss_traj_cls: 0.0566, d4.loss_traj: 5.2512, d5.loss_traj_cls: 0.0621, d5.loss_traj: 5.3088, d0.loss_map_cls_all: 6.2922, d0.loss_map_pts_all: 5.2547, d0.loss_map_dir_all: 0.0953, d0.loss_map_cls: 6.2922, d0.loss_map_pts: 5.2547, d0.loss_map_dir: 0.0953, d1.loss_map_cls: 5.7508, d1.loss_map_pts: 5.3031, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 6.2949, d2.loss_map_pts: 5.3552, d2.loss_map_dir: 0.0948, d3.loss_map_cls: 8.4902, d3.loss_map_pts: 5.4034, d3.loss_map_dir: 0.0948, d4.loss_map_cls: 8.4602, d4.loss_map_pts: 5.4942, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 8.5841, d5.loss_map_pts: 5.5752, d5.loss_map_dir: 0.0948, loss: 4711.7406, grad_norm: inf +2026-02-24 02:19:13,142 - DriveTransformer - INFO - Epoch [1][250/39528] lr: 3.241e-05, eta: 9 days, 13:33:14, time: 0.819, data_time: 0.043, memory: 18742, loss_cls: 607.7590, loss_bbox: 1.6261, loss_traj: 5.8898, loss_traj_cls: 0.0985, loss_map_cls: 8.8541, loss_map_pts: 5.5938, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 11.1997, d0.loss_plan_l1_fix_dist: 3.2853, d1.loss_plan_l1_fix_time: 11.5687, d1.loss_plan_l1_fix_dist: 4.2704, d2.loss_plan_l1_fix_time: 12.0002, d2.loss_plan_l1_fix_dist: 5.8473, d3.loss_plan_l1_fix_time: 12.5280, d3.loss_plan_l1_fix_dist: 7.5837, d4.loss_plan_l1_fix_time: 12.9973, d4.loss_plan_l1_fix_dist: 10.1815, d5.loss_plan_l1_fix_time: 13.5297, d5.loss_plan_l1_fix_dist: 12.8859, d6.loss_plan_l1_fix_time: 14.0310, d6.loss_plan_l1_fix_dist: 15.4012, d0.loss_cls_all: 421.3771, d0.loss_bbox_all: 1.5972, d0.loss_cls: 421.3771, d0.loss_bbox: 1.5972, d1.loss_cls: 454.5500, d1.loss_bbox: 1.5432, d2.loss_cls: 457.9506, d2.loss_bbox: 1.6219, d3.loss_cls: 525.3997, d3.loss_bbox: 1.6258, d4.loss_cls: 493.5486, d4.loss_bbox: 1.5432, d5.loss_cls: 552.4846, d5.loss_bbox: 1.6336, d0.loss_traj_cls: 0.0748, d0.loss_traj: 5.8681, d1.loss_traj_cls: 0.0602, d1.loss_traj: 5.9196, d2.loss_traj_cls: 0.0640, d2.loss_traj: 6.0099, d3.loss_traj_cls: 0.1087, d3.loss_traj: 5.9580, d4.loss_traj_cls: 0.0542, d4.loss_traj: 5.8457, d5.loss_traj_cls: 0.0590, d5.loss_traj: 5.8911, d0.loss_map_cls_all: 6.5892, d0.loss_map_pts_all: 5.2564, d0.loss_map_dir_all: 0.0950, d0.loss_map_cls: 6.5892, d0.loss_map_pts: 5.2564, d0.loss_map_dir: 0.0950, d1.loss_map_cls: 6.1365, d1.loss_map_pts: 5.2925, d1.loss_map_dir: 0.0949, d2.loss_map_cls: 6.6148, d2.loss_map_pts: 5.3371, d2.loss_map_dir: 0.0947, d3.loss_map_cls: 8.8682, d3.loss_map_pts: 5.3793, d3.loss_map_dir: 0.0948, d4.loss_map_cls: 8.8950, d4.loss_map_pts: 5.4596, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 9.0361, d5.loss_map_pts: 5.5306, d5.loss_map_dir: 0.0947, loss: 4241.8936, grad_norm: inf +2026-02-24 02:19:52,782 - DriveTransformer - INFO - Epoch [1][300/39528] lr: 3.691e-05, eta: 9 days, 10:05:41, time: 0.793, data_time: 0.037, memory: 18742, loss_cls: 665.0702, loss_bbox: 1.6790, loss_traj: 7.1555, loss_traj_cls: 0.0964, loss_map_cls: 9.8723, loss_map_pts: 5.3528, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 12.2042, d0.loss_plan_l1_fix_dist: 3.3882, d1.loss_plan_l1_fix_time: 12.5687, d1.loss_plan_l1_fix_dist: 4.3819, d2.loss_plan_l1_fix_time: 12.9850, d2.loss_plan_l1_fix_dist: 6.1408, d3.loss_plan_l1_fix_time: 13.5047, d3.loss_plan_l1_fix_dist: 7.9784, d4.loss_plan_l1_fix_time: 13.9638, d4.loss_plan_l1_fix_dist: 10.7149, d5.loss_plan_l1_fix_time: 14.4864, d5.loss_plan_l1_fix_dist: 13.5462, d6.loss_plan_l1_fix_time: 14.9835, d6.loss_plan_l1_fix_dist: 16.1851, d0.loss_cls_all: 457.2614, d0.loss_bbox_all: 1.6751, d0.loss_cls: 457.2614, d0.loss_bbox: 1.6751, d1.loss_cls: 500.4048, d1.loss_bbox: 1.6333, d2.loss_cls: 501.8250, d2.loss_bbox: 1.7207, d3.loss_cls: 572.8124, d3.loss_bbox: 1.7017, d4.loss_cls: 540.9890, d4.loss_bbox: 1.6037, d5.loss_cls: 607.1606, d5.loss_bbox: 1.6940, d0.loss_traj_cls: 0.0736, d0.loss_traj: 7.1298, d1.loss_traj_cls: 0.0590, d1.loss_traj: 7.1948, d2.loss_traj_cls: 0.0612, d2.loss_traj: 7.2840, d3.loss_traj_cls: 0.1073, d3.loss_traj: 7.2187, d4.loss_traj_cls: 0.0521, d4.loss_traj: 7.1189, d5.loss_traj_cls: 0.0585, d5.loss_traj: 7.1500, d0.loss_map_cls_all: 7.5615, d0.loss_map_pts_all: 5.0502, d0.loss_map_dir_all: 0.0948, d0.loss_map_cls: 7.5615, d0.loss_map_pts: 5.0502, d0.loss_map_dir: 0.0948, d1.loss_map_cls: 7.0150, d1.loss_map_pts: 5.0815, d1.loss_map_dir: 0.0948, d2.loss_map_cls: 7.4975, d2.loss_map_pts: 5.1204, d2.loss_map_dir: 0.0946, d3.loss_map_cls: 10.0605, d3.loss_map_pts: 5.1578, d3.loss_map_dir: 0.0946, d4.loss_map_cls: 9.9877, d4.loss_map_pts: 5.2320, d4.loss_map_dir: 0.0946, d5.loss_map_cls: 10.1048, d5.loss_map_pts: 5.2954, d5.loss_map_dir: 0.0946, loss: 4635.7177, grad_norm: inf +2026-02-24 02:20:30,510 - DriveTransformer - INFO - Epoch [1][350/39528] lr: 4.141e-05, eta: 9 days, 6:10:51, time: 0.755, data_time: 0.046, memory: 18742, loss_cls: 673.1100, loss_bbox: 1.6380, loss_traj: 6.2529, loss_traj_cls: 0.0970, loss_map_cls: 10.6596, loss_map_pts: 5.7996, loss_map_dir: 0.0952, d0.loss_plan_l1_fix_time: 11.7812, d0.loss_plan_l1_fix_dist: 3.2684, d1.loss_plan_l1_fix_time: 12.1331, d1.loss_plan_l1_fix_dist: 4.2585, d2.loss_plan_l1_fix_time: 12.5280, d2.loss_plan_l1_fix_dist: 6.0341, d3.loss_plan_l1_fix_time: 13.0318, d3.loss_plan_l1_fix_dist: 7.9004, d4.loss_plan_l1_fix_time: 13.4841, d4.loss_plan_l1_fix_dist: 10.5423, d5.loss_plan_l1_fix_time: 13.9951, d5.loss_plan_l1_fix_dist: 13.2787, d6.loss_plan_l1_fix_time: 14.4746, d6.loss_plan_l1_fix_dist: 15.8735, d0.loss_cls_all: 460.5382, d0.loss_bbox_all: 1.5998, d0.loss_cls: 460.5382, d0.loss_bbox: 1.5998, d1.loss_cls: 506.8330, d1.loss_bbox: 1.5606, d2.loss_cls: 509.0515, d2.loss_bbox: 1.6554, d3.loss_cls: 578.6469, d3.loss_bbox: 1.6498, d4.loss_cls: 546.0447, d4.loss_bbox: 1.5671, d5.loss_cls: 609.5109, d5.loss_bbox: 1.6541, d0.loss_traj_cls: 0.0741, d0.loss_traj: 6.2271, d1.loss_traj_cls: 0.0612, d1.loss_traj: 6.2789, d2.loss_traj_cls: 0.0616, d2.loss_traj: 6.3709, d3.loss_traj_cls: 0.1088, d3.loss_traj: 6.3129, d4.loss_traj_cls: 0.0519, d4.loss_traj: 6.2077, d5.loss_traj_cls: 0.0568, d5.loss_traj: 6.2502, d0.loss_map_cls_all: 7.9882, d0.loss_map_pts_all: 5.5520, d0.loss_map_dir_all: 0.0954, d0.loss_map_cls: 7.9882, d0.loss_map_pts: 5.5520, d0.loss_map_dir: 0.0954, d1.loss_map_cls: 7.4586, d1.loss_map_pts: 5.5736, d1.loss_map_dir: 0.0952, d2.loss_map_cls: 8.1349, d2.loss_map_pts: 5.6045, d2.loss_map_dir: 0.0951, d3.loss_map_cls: 10.8702, d3.loss_map_pts: 5.6406, d3.loss_map_dir: 0.0951, d4.loss_map_cls: 10.8224, d4.loss_map_pts: 5.6995, d4.loss_map_dir: 0.0952, d5.loss_map_cls: 10.7795, d5.loss_map_pts: 5.7557, d5.loss_map_dir: 0.0951, loss: 4674.8345, grad_norm: inf +2026-02-24 02:21:11,979 - DriveTransformer - INFO - Epoch [1][400/39528] lr: 4.591e-05, eta: 9 days, 5:42:19, time: 0.829, data_time: 0.040, memory: 18742, loss_cls: 583.0313, loss_bbox: 1.6943, loss_traj: 5.2646, loss_traj_cls: 0.0937, loss_map_cls: 7.6278, loss_map_pts: 5.5825, loss_map_dir: 0.0944, d0.loss_plan_l1_fix_time: 12.1575, d0.loss_plan_l1_fix_dist: 3.3865, d1.loss_plan_l1_fix_time: 12.4790, d1.loss_plan_l1_fix_dist: 4.4035, d2.loss_plan_l1_fix_time: 12.8563, d2.loss_plan_l1_fix_dist: 6.1912, d3.loss_plan_l1_fix_time: 13.3359, d3.loss_plan_l1_fix_dist: 8.0573, d4.loss_plan_l1_fix_time: 13.7586, d4.loss_plan_l1_fix_dist: 10.6800, d5.loss_plan_l1_fix_time: 14.2441, d5.loss_plan_l1_fix_dist: 13.4485, d6.loss_plan_l1_fix_time: 14.7108, d6.loss_plan_l1_fix_dist: 16.0812, d0.loss_cls_all: 402.6884, d0.loss_bbox_all: 1.6327, d0.loss_cls: 402.6884, d0.loss_bbox: 1.6327, d1.loss_cls: 436.6858, d1.loss_bbox: 1.5973, d2.loss_cls: 442.8255, d2.loss_bbox: 1.6820, d3.loss_cls: 502.0330, d3.loss_bbox: 1.6677, d4.loss_cls: 468.5493, d4.loss_bbox: 1.6164, d5.loss_cls: 530.1694, d5.loss_bbox: 1.6977, d0.loss_traj_cls: 0.0741, d0.loss_traj: 5.2467, d1.loss_traj_cls: 0.0606, d1.loss_traj: 5.3012, d2.loss_traj_cls: 0.0623, d2.loss_traj: 5.3717, d3.loss_traj_cls: 0.1071, d3.loss_traj: 5.3279, d4.loss_traj_cls: 0.0517, d4.loss_traj: 5.2340, d5.loss_traj_cls: 0.0567, d5.loss_traj: 5.2730, d0.loss_map_cls_all: 5.9572, d0.loss_map_pts_all: 5.1835, d0.loss_map_dir_all: 0.0945, d0.loss_map_cls: 5.9572, d0.loss_map_pts: 5.1835, d0.loss_map_dir: 0.0945, d1.loss_map_cls: 5.5614, d1.loss_map_pts: 5.2156, d1.loss_map_dir: 0.0944, d2.loss_map_cls: 6.0200, d2.loss_map_pts: 5.2676, d2.loss_map_dir: 0.0943, d3.loss_map_cls: 7.9719, d3.loss_map_pts: 5.3183, d3.loss_map_dir: 0.0943, d4.loss_map_cls: 7.8079, d4.loss_map_pts: 5.4038, d4.loss_map_dir: 0.0944, d5.loss_map_cls: 7.7875, d5.loss_map_pts: 5.4946, d5.loss_map_dir: 0.0944, loss: 4073.3033, grad_norm: inf +2026-02-24 02:21:52,088 - DriveTransformer - INFO - Epoch [1][450/39528] lr: 5.041e-05, eta: 9 days, 4:32:13, time: 0.802, data_time: 0.041, memory: 18742, loss_cls: 704.6943, loss_bbox: 1.6717, loss_traj: 4.9313, loss_traj_cls: 0.0941, loss_map_cls: 9.6847, loss_map_pts: 5.4581, loss_map_dir: 0.0945, d0.loss_plan_l1_fix_time: 10.8355, d0.loss_plan_l1_fix_dist: 3.4812, d1.loss_plan_l1_fix_time: 11.2339, d1.loss_plan_l1_fix_dist: 4.4472, d2.loss_plan_l1_fix_time: 11.6912, d2.loss_plan_l1_fix_dist: 6.1350, d3.loss_plan_l1_fix_time: 12.2563, d3.loss_plan_l1_fix_dist: 8.0301, d4.loss_plan_l1_fix_time: 12.7658, d4.loss_plan_l1_fix_dist: 10.7144, d5.loss_plan_l1_fix_time: 13.3260, d5.loss_plan_l1_fix_dist: 13.5308, d6.loss_plan_l1_fix_time: 13.8559, d6.loss_plan_l1_fix_dist: 16.1724, d0.loss_cls_all: 487.9108, d0.loss_bbox_all: 1.5986, d0.loss_cls: 487.9108, d0.loss_bbox: 1.5986, d1.loss_cls: 532.6075, d1.loss_bbox: 1.5569, d2.loss_cls: 539.1976, d2.loss_bbox: 1.6313, d3.loss_cls: 610.1922, d3.loss_bbox: 1.6189, d4.loss_cls: 570.9262, d4.loss_bbox: 1.5614, d5.loss_cls: 636.7171, d5.loss_bbox: 1.6716, d0.loss_traj_cls: 0.0739, d0.loss_traj: 4.9140, d1.loss_traj_cls: 0.0624, d1.loss_traj: 4.9496, d2.loss_traj_cls: 0.0638, d2.loss_traj: 5.0228, d3.loss_traj_cls: 0.1109, d3.loss_traj: 4.9806, d4.loss_traj_cls: 0.0532, d4.loss_traj: 4.8711, d5.loss_traj_cls: 0.0568, d5.loss_traj: 4.9249, d0.loss_map_cls_all: 7.2038, d0.loss_map_pts_all: 5.1295, d0.loss_map_dir_all: 0.0948, d0.loss_map_cls: 7.2038, d0.loss_map_pts: 5.1295, d0.loss_map_dir: 0.0948, d1.loss_map_cls: 6.8208, d1.loss_map_pts: 5.1622, d1.loss_map_dir: 0.0946, d2.loss_map_cls: 7.3169, d2.loss_map_pts: 5.2017, d2.loss_map_dir: 0.0945, d3.loss_map_cls: 9.9759, d3.loss_map_pts: 5.2441, d3.loss_map_dir: 0.0945, d4.loss_map_cls: 9.8206, d4.loss_map_pts: 5.3135, d4.loss_map_dir: 0.0945, d5.loss_map_cls: 9.8082, d5.loss_map_pts: 5.3825, d5.loss_map_dir: 0.0944, loss: 4877.2631, grad_norm: inf +2026-02-24 02:22:29,430 - DriveTransformer - INFO - Epoch [1][500/39528] lr: 5.491e-05, eta: 9 days, 2:08:32, time: 0.747, data_time: 0.048, memory: 18742, loss_cls: 648.5338, loss_bbox: 1.6501, loss_traj: 7.0770, loss_traj_cls: 0.0876, loss_map_cls: 13.7223, loss_map_pts: 5.5362, loss_map_dir: 0.0953, d0.loss_plan_l1_fix_time: 12.9995, d0.loss_plan_l1_fix_dist: 3.2266, d1.loss_plan_l1_fix_time: 13.3090, d1.loss_plan_l1_fix_dist: 4.2516, d2.loss_plan_l1_fix_time: 13.6746, d2.loss_plan_l1_fix_dist: 5.9462, d3.loss_plan_l1_fix_time: 14.1530, d3.loss_plan_l1_fix_dist: 7.7759, d4.loss_plan_l1_fix_time: 14.5750, d4.loss_plan_l1_fix_dist: 10.3193, d5.loss_plan_l1_fix_time: 15.0669, d5.loss_plan_l1_fix_dist: 12.9470, d6.loss_plan_l1_fix_time: 15.5352, d6.loss_plan_l1_fix_dist: 15.4714, d0.loss_cls_all: 441.2470, d0.loss_bbox_all: 1.6267, d0.loss_cls: 441.2470, d0.loss_bbox: 1.6267, d1.loss_cls: 489.6658, d1.loss_bbox: 1.5881, d2.loss_cls: 496.1577, d2.loss_bbox: 1.6799, d3.loss_cls: 554.9564, d3.loss_bbox: 1.6594, d4.loss_cls: 526.7379, d4.loss_bbox: 1.5631, d5.loss_cls: 587.0147, d5.loss_bbox: 1.6678, d0.loss_traj_cls: 0.0741, d0.loss_traj: 7.0461, d1.loss_traj_cls: 0.0605, d1.loss_traj: 7.1178, d2.loss_traj_cls: 0.0604, d2.loss_traj: 7.1948, d3.loss_traj_cls: 0.1073, d3.loss_traj: 7.1241, d4.loss_traj_cls: 0.0522, d4.loss_traj: 7.0418, d5.loss_traj_cls: 0.0542, d5.loss_traj: 7.0753, d0.loss_map_cls_all: 10.2160, d0.loss_map_pts_all: 5.3486, d0.loss_map_dir_all: 0.0957, d0.loss_map_cls: 10.2160, d0.loss_map_pts: 5.3486, d0.loss_map_dir: 0.0957, d1.loss_map_cls: 9.5434, d1.loss_map_pts: 5.3646, d1.loss_map_dir: 0.0956, d2.loss_map_cls: 10.3213, d2.loss_map_pts: 5.3817, d2.loss_map_dir: 0.0953, d3.loss_map_cls: 13.9192, d3.loss_map_pts: 5.4003, d3.loss_map_dir: 0.0954, d4.loss_map_cls: 13.8788, d4.loss_map_pts: 5.4465, d4.loss_map_dir: 0.0952, d5.loss_map_cls: 13.8827, d5.loss_map_pts: 5.4962, d5.loss_map_dir: 0.0952, loss: 4547.8327, grad_norm: inf +2026-02-24 02:23:09,958 - DriveTransformer - INFO - Epoch [1][550/39528] lr: 5.941e-05, eta: 9 days, 1:42:21, time: 0.810, data_time: 0.037, memory: 18742, loss_cls: 646.5359, loss_bbox: 1.6932, loss_traj: 5.7950, loss_traj_cls: 0.0846, loss_map_cls: 8.5928, loss_map_pts: 5.6950, loss_map_dir: 0.0945, d0.loss_plan_l1_fix_time: 11.3135, d0.loss_plan_l1_fix_dist: 3.3116, d1.loss_plan_l1_fix_time: 11.6702, d1.loss_plan_l1_fix_dist: 4.3796, d2.loss_plan_l1_fix_time: 12.0987, d2.loss_plan_l1_fix_dist: 5.9824, d3.loss_plan_l1_fix_time: 12.6301, d3.loss_plan_l1_fix_dist: 7.8318, d4.loss_plan_l1_fix_time: 13.1139, d4.loss_plan_l1_fix_dist: 10.4509, d5.loss_plan_l1_fix_time: 13.6562, d5.loss_plan_l1_fix_dist: 13.2275, d6.loss_plan_l1_fix_time: 14.1619, d6.loss_plan_l1_fix_dist: 15.8708, d0.loss_cls_all: 450.2105, d0.loss_bbox_all: 1.6396, d0.loss_cls: 450.2105, d0.loss_bbox: 1.6396, d1.loss_cls: 489.5889, d1.loss_bbox: 1.5974, d2.loss_cls: 498.5677, d2.loss_bbox: 1.6679, d3.loss_cls: 556.4854, d3.loss_bbox: 1.6637, d4.loss_cls: 524.5228, d4.loss_bbox: 1.5862, d5.loss_cls: 584.5502, d5.loss_bbox: 1.6980, d0.loss_traj_cls: 0.0739, d0.loss_traj: 5.7769, d1.loss_traj_cls: 0.0617, d1.loss_traj: 5.8302, d2.loss_traj_cls: 0.0599, d2.loss_traj: 5.8995, d3.loss_traj_cls: 0.1044, d3.loss_traj: 5.8463, d4.loss_traj_cls: 0.0494, d4.loss_traj: 5.7617, d5.loss_traj_cls: 0.0511, d5.loss_traj: 5.7990, d0.loss_map_cls_all: 6.7883, d0.loss_map_pts_all: 5.3674, d0.loss_map_dir_all: 0.0945, d0.loss_map_cls: 6.7883, d0.loss_map_pts: 5.3674, d0.loss_map_dir: 0.0945, d1.loss_map_cls: 6.4465, d1.loss_map_pts: 5.4033, d1.loss_map_dir: 0.0945, d2.loss_map_cls: 6.9141, d2.loss_map_pts: 5.4469, d2.loss_map_dir: 0.0944, d3.loss_map_cls: 9.0333, d3.loss_map_pts: 5.4877, d3.loss_map_dir: 0.0945, d4.loss_map_cls: 8.8788, d4.loss_map_pts: 5.5657, d4.loss_map_dir: 0.0944, d5.loss_map_cls: 8.8119, d5.loss_map_pts: 5.6301, d5.loss_map_dir: 0.0944, loss: 4511.7239, grad_norm: inf +2026-02-24 02:23:49,468 - DriveTransformer - INFO - Epoch [1][600/39528] lr: 6.391e-05, eta: 9 days, 0:53:42, time: 0.790, data_time: 0.039, memory: 18742, loss_cls: 706.9667, loss_bbox: 1.6559, loss_traj: 6.1754, loss_traj_cls: 0.1010, loss_map_cls: 13.0883, loss_map_pts: 5.3188, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 11.9823, d0.loss_plan_l1_fix_dist: 3.3205, d1.loss_plan_l1_fix_time: 12.3439, d1.loss_plan_l1_fix_dist: 4.3494, d2.loss_plan_l1_fix_time: 12.7608, d2.loss_plan_l1_fix_dist: 6.2154, d3.loss_plan_l1_fix_time: 13.2798, d3.loss_plan_l1_fix_dist: 8.1870, d4.loss_plan_l1_fix_time: 13.7411, d4.loss_plan_l1_fix_dist: 10.9877, d5.loss_plan_l1_fix_time: 14.2683, d5.loss_plan_l1_fix_dist: 13.8774, d6.loss_plan_l1_fix_time: 14.7614, d6.loss_plan_l1_fix_dist: 16.5939, d0.loss_cls_all: 490.0612, d0.loss_bbox_all: 1.5992, d0.loss_cls: 490.0612, d0.loss_bbox: 1.5992, d1.loss_cls: 527.3147, d1.loss_bbox: 1.5580, d2.loss_cls: 533.5097, d2.loss_bbox: 1.6521, d3.loss_cls: 605.7259, d3.loss_bbox: 1.6447, d4.loss_cls: 568.2091, d4.loss_bbox: 1.5773, d5.loss_cls: 638.3304, d5.loss_bbox: 1.6635, d0.loss_traj_cls: 0.0741, d0.loss_traj: 6.1514, d1.loss_traj_cls: 0.0650, d1.loss_traj: 6.2117, d2.loss_traj_cls: 0.0665, d2.loss_traj: 6.2788, d3.loss_traj_cls: 0.1166, d3.loss_traj: 6.2310, d4.loss_traj_cls: 0.0566, d4.loss_traj: 6.1411, d5.loss_traj_cls: 0.0604, d5.loss_traj: 6.1882, d0.loss_map_cls_all: 9.9565, d0.loss_map_pts_all: 5.0640, d0.loss_map_dir_all: 0.0951, d0.loss_map_cls: 9.9565, d0.loss_map_pts: 5.0640, d0.loss_map_dir: 0.0951, d1.loss_map_cls: 9.2224, d1.loss_map_pts: 5.0907, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 9.9015, d2.loss_map_pts: 5.1211, d2.loss_map_dir: 0.0948, d3.loss_map_cls: 13.2547, d3.loss_map_pts: 5.1515, d3.loss_map_dir: 0.0948, d4.loss_map_cls: 13.2477, d4.loss_map_pts: 5.2120, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 13.2427, d5.loss_map_pts: 5.2655, d5.loss_map_dir: 0.0947, loss: 4907.6325, grad_norm: inf +2026-02-24 02:24:29,369 - DriveTransformer - INFO - Epoch [1][650/39528] lr: 6.841e-05, eta: 9 days, 0:21:55, time: 0.798, data_time: 0.038, memory: 18742, loss_cls: 647.6969, loss_bbox: 1.6708, loss_traj: 6.3881, loss_traj_cls: 0.0946, loss_map_cls: 12.4364, loss_map_pts: 5.4679, loss_map_dir: 0.0951, d0.loss_plan_l1_fix_time: 12.6558, d0.loss_plan_l1_fix_dist: 3.3399, d1.loss_plan_l1_fix_time: 12.9996, d1.loss_plan_l1_fix_dist: 4.3499, d2.loss_plan_l1_fix_time: 13.4022, d2.loss_plan_l1_fix_dist: 6.0163, d3.loss_plan_l1_fix_time: 13.8987, d3.loss_plan_l1_fix_dist: 7.7851, d4.loss_plan_l1_fix_time: 14.3342, d4.loss_plan_l1_fix_dist: 10.3535, d5.loss_plan_l1_fix_time: 14.8296, d5.loss_plan_l1_fix_dist: 13.0229, d6.loss_plan_l1_fix_time: 15.3017, d6.loss_plan_l1_fix_dist: 15.5395, d0.loss_cls_all: 445.7475, d0.loss_bbox_all: 1.6481, d0.loss_cls: 445.7475, d0.loss_bbox: 1.6481, d1.loss_cls: 492.0513, d1.loss_bbox: 1.6063, d2.loss_cls: 492.5277, d2.loss_bbox: 1.6850, d3.loss_cls: 558.9836, d3.loss_bbox: 1.6674, d4.loss_cls: 525.4486, d4.loss_bbox: 1.5924, d5.loss_cls: 589.3921, d5.loss_bbox: 1.6819, d0.loss_traj_cls: 0.0754, d0.loss_traj: 6.3589, d1.loss_traj_cls: 0.0591, d1.loss_traj: 6.4124, d2.loss_traj_cls: 0.0629, d2.loss_traj: 6.5050, d3.loss_traj_cls: 0.1085, d3.loss_traj: 6.4563, d4.loss_traj_cls: 0.0537, d4.loss_traj: 6.3455, d5.loss_traj_cls: 0.0584, d5.loss_traj: 6.3893, d0.loss_map_cls_all: 9.2929, d0.loss_map_pts_all: 5.1852, d0.loss_map_dir_all: 0.0953, d0.loss_map_cls: 9.2929, d0.loss_map_pts: 5.1852, d0.loss_map_dir: 0.0953, d1.loss_map_cls: 8.6649, d1.loss_map_pts: 5.2129, d1.loss_map_dir: 0.0952, d2.loss_map_cls: 9.2942, d2.loss_map_pts: 5.2506, d2.loss_map_dir: 0.0950, d3.loss_map_cls: 12.4937, d3.loss_map_pts: 5.2891, d3.loss_map_dir: 0.0951, d4.loss_map_cls: 12.4865, d4.loss_map_pts: 5.3560, d4.loss_map_dir: 0.0950, d5.loss_map_cls: 12.7001, d5.loss_map_pts: 5.4179, d5.loss_map_dir: 0.0951, loss: 4543.7797, grad_norm: inf +2026-02-24 02:25:08,021 - DriveTransformer - INFO - Epoch [1][700/39528] lr: 7.291e-05, eta: 8 days, 23:26:26, time: 0.773, data_time: 0.038, memory: 18742, loss_cls: 667.9538, loss_bbox: 1.6024, loss_traj: 6.9691, loss_traj_cls: 0.0913, loss_map_cls: 12.8061, loss_map_pts: 5.7416, loss_map_dir: 0.0946, d0.loss_plan_l1_fix_time: 13.0044, d0.loss_plan_l1_fix_dist: 3.3780, d1.loss_plan_l1_fix_time: 13.3275, d1.loss_plan_l1_fix_dist: 4.4337, d2.loss_plan_l1_fix_time: 13.6984, d2.loss_plan_l1_fix_dist: 6.2369, d3.loss_plan_l1_fix_time: 14.1639, d3.loss_plan_l1_fix_dist: 8.1590, d4.loss_plan_l1_fix_time: 14.5786, d4.loss_plan_l1_fix_dist: 10.9139, d5.loss_plan_l1_fix_time: 15.0488, d5.loss_plan_l1_fix_dist: 13.7557, d6.loss_plan_l1_fix_time: 15.4994, d6.loss_plan_l1_fix_dist: 16.4181, d0.loss_cls_all: 464.7483, d0.loss_bbox_all: 1.5826, d0.loss_cls: 464.7483, d0.loss_bbox: 1.5826, d1.loss_cls: 511.1439, d1.loss_bbox: 1.5392, d2.loss_cls: 510.5562, d2.loss_bbox: 1.6287, d3.loss_cls: 577.3331, d3.loss_bbox: 1.6115, d4.loss_cls: 541.2187, d4.loss_bbox: 1.5289, d5.loss_cls: 607.3518, d5.loss_bbox: 1.6144, d0.loss_traj_cls: 0.0738, d0.loss_traj: 6.9574, d1.loss_traj_cls: 0.0600, d1.loss_traj: 7.0107, d2.loss_traj_cls: 0.0607, d2.loss_traj: 7.0972, d3.loss_traj_cls: 0.1073, d3.loss_traj: 7.0299, d4.loss_traj_cls: 0.0509, d4.loss_traj: 6.9400, d5.loss_traj_cls: 0.0551, d5.loss_traj: 6.9674, d0.loss_map_cls_all: 9.5825, d0.loss_map_pts_all: 5.4918, d0.loss_map_dir_all: 0.0951, d0.loss_map_cls: 9.5825, d0.loss_map_pts: 5.4918, d0.loss_map_dir: 0.0951, d1.loss_map_cls: 8.9048, d1.loss_map_pts: 5.5143, d1.loss_map_dir: 0.0949, d2.loss_map_cls: 9.6380, d2.loss_map_pts: 5.5421, d2.loss_map_dir: 0.0946, d3.loss_map_cls: 13.0881, d3.loss_map_pts: 5.5758, d3.loss_map_dir: 0.0946, d4.loss_map_cls: 12.9640, d4.loss_map_pts: 5.6351, d4.loss_map_dir: 0.0945, d5.loss_map_cls: 12.9956, d5.loss_map_pts: 5.6920, d5.loss_map_dir: 0.0946, loss: 4704.8354, grad_norm: inf +2026-02-24 02:25:48,398 - DriveTransformer - INFO - Epoch [1][750/39528] lr: 7.741e-05, eta: 8 days, 23:14:29, time: 0.807, data_time: 0.040, memory: 18742, loss_cls: 673.8623, loss_bbox: 1.6836, loss_traj: 5.6329, loss_traj_cls: 0.0993, loss_map_cls: 11.2471, loss_map_pts: 5.5845, loss_map_dir: 0.0946, d0.loss_plan_l1_fix_time: 11.4658, d0.loss_plan_l1_fix_dist: 3.3272, d1.loss_plan_l1_fix_time: 11.8537, d1.loss_plan_l1_fix_dist: 4.3394, d2.loss_plan_l1_fix_time: 12.2940, d2.loss_plan_l1_fix_dist: 6.0321, d3.loss_plan_l1_fix_time: 12.8325, d3.loss_plan_l1_fix_dist: 7.8940, d4.loss_plan_l1_fix_time: 13.3141, d4.loss_plan_l1_fix_dist: 10.5886, d5.loss_plan_l1_fix_time: 13.8592, d5.loss_plan_l1_fix_dist: 13.3824, d6.loss_plan_l1_fix_time: 14.3793, d6.loss_plan_l1_fix_dist: 16.0163, d0.loss_cls_all: 458.8739, d0.loss_bbox_all: 1.6245, d0.loss_cls: 458.8739, d0.loss_bbox: 1.6245, d1.loss_cls: 505.9493, d1.loss_bbox: 1.5936, d2.loss_cls: 506.3791, d2.loss_bbox: 1.6642, d3.loss_cls: 578.0215, d3.loss_bbox: 1.6545, d4.loss_cls: 544.7151, d4.loss_bbox: 1.5921, d5.loss_cls: 610.5907, d5.loss_bbox: 1.6855, d0.loss_traj_cls: 0.0731, d0.loss_traj: 5.6002, d1.loss_traj_cls: 0.0609, d1.loss_traj: 5.6539, d2.loss_traj_cls: 0.0626, d2.loss_traj: 5.7380, d3.loss_traj_cls: 0.1119, d3.loss_traj: 5.6877, d4.loss_traj_cls: 0.0540, d4.loss_traj: 5.5720, d5.loss_traj_cls: 0.0592, d5.loss_traj: 5.6197, d0.loss_map_cls_all: 8.3430, d0.loss_map_pts_all: 5.2634, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 8.3430, d0.loss_map_pts: 5.2634, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 7.7409, d1.loss_map_pts: 5.2950, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 8.4589, d2.loss_map_pts: 5.3346, d2.loss_map_dir: 0.0947, d3.loss_map_cls: 11.5070, d3.loss_map_pts: 5.3778, d3.loss_map_dir: 0.0947, d4.loss_map_cls: 11.3762, d4.loss_map_pts: 5.4565, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 11.4459, d5.loss_map_pts: 5.5258, d5.loss_map_dir: 0.0947, loss: 4664.3136, grad_norm: inf +2026-02-24 02:26:27,692 - DriveTransformer - INFO - Epoch [1][800/39528] lr: 8.191e-05, eta: 8 days, 22:44:02, time: 0.787, data_time: 0.038, memory: 18742, loss_cls: 608.1088, loss_bbox: 1.6665, loss_traj: 5.4548, loss_traj_cls: 0.1027, loss_map_cls: 10.7393, loss_map_pts: 5.6216, loss_map_dir: 0.0944, d0.loss_plan_l1_fix_time: 13.6165, d0.loss_plan_l1_fix_dist: 3.4658, d1.loss_plan_l1_fix_time: 13.9393, d1.loss_plan_l1_fix_dist: 4.4958, d2.loss_plan_l1_fix_time: 14.3109, d2.loss_plan_l1_fix_dist: 6.3108, d3.loss_plan_l1_fix_time: 14.7808, d3.loss_plan_l1_fix_dist: 8.2197, d4.loss_plan_l1_fix_time: 15.1958, d4.loss_plan_l1_fix_dist: 11.0095, d5.loss_plan_l1_fix_time: 15.6838, d5.loss_plan_l1_fix_dist: 13.8699, d6.loss_plan_l1_fix_time: 16.1568, d6.loss_plan_l1_fix_dist: 16.5545, d0.loss_cls_all: 420.0297, d0.loss_bbox_all: 1.5916, d0.loss_cls: 420.0297, d0.loss_bbox: 1.5916, d1.loss_cls: 454.7173, d1.loss_bbox: 1.5607, d2.loss_cls: 454.8828, d2.loss_bbox: 1.6366, d3.loss_cls: 521.9606, d3.loss_bbox: 1.6355, d4.loss_cls: 488.7369, d4.loss_bbox: 1.6057, d5.loss_cls: 557.6255, d5.loss_bbox: 1.6680, d0.loss_traj_cls: 0.0730, d0.loss_traj: 5.4391, d1.loss_traj_cls: 0.0587, d1.loss_traj: 5.4850, d2.loss_traj_cls: 0.0632, d2.loss_traj: 5.5750, d3.loss_traj_cls: 0.1127, d3.loss_traj: 5.5230, d4.loss_traj_cls: 0.0552, d4.loss_traj: 5.4062, d5.loss_traj_cls: 0.0631, d5.loss_traj: 5.4480, d0.loss_map_cls_all: 8.1523, d0.loss_map_pts_all: 5.3300, d0.loss_map_dir_all: 0.0947, d0.loss_map_cls: 8.1523, d0.loss_map_pts: 5.3300, d0.loss_map_dir: 0.0947, d1.loss_map_cls: 7.4995, d1.loss_map_pts: 5.3584, d1.loss_map_dir: 0.0945, d2.loss_map_cls: 8.0213, d2.loss_map_pts: 5.3979, d2.loss_map_dir: 0.0944, d3.loss_map_cls: 10.8856, d3.loss_map_pts: 5.4335, d3.loss_map_dir: 0.0943, d4.loss_map_cls: 10.7642, d4.loss_map_pts: 5.5019, d4.loss_map_dir: 0.0944, d5.loss_map_cls: 10.9401, d5.loss_map_pts: 5.5656, d5.loss_map_dir: 0.0944, loss: 4264.9662, grad_norm: inf +2026-02-24 02:27:06,982 - DriveTransformer - INFO - Epoch [1][850/39528] lr: 8.641e-05, eta: 8 days, 22:14:26, time: 0.784, data_time: 0.040, memory: 18742, loss_cls: 620.8184, loss_bbox: 1.6833, loss_traj: 5.0517, loss_traj_cls: 0.0933, loss_map_cls: 9.9208, loss_map_pts: 5.2253, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 11.5544, d0.loss_plan_l1_fix_dist: 3.3848, d1.loss_plan_l1_fix_time: 11.9328, d1.loss_plan_l1_fix_dist: 4.4213, d2.loss_plan_l1_fix_time: 12.3733, d2.loss_plan_l1_fix_dist: 6.0806, d3.loss_plan_l1_fix_time: 12.9125, d3.loss_plan_l1_fix_dist: 7.9353, d4.loss_plan_l1_fix_time: 13.3885, d4.loss_plan_l1_fix_dist: 10.5471, d5.loss_plan_l1_fix_time: 13.9275, d5.loss_plan_l1_fix_dist: 13.2568, d6.loss_plan_l1_fix_time: 14.4323, d6.loss_plan_l1_fix_dist: 15.8239, d0.loss_cls_all: 419.4657, d0.loss_bbox_all: 1.6222, d0.loss_cls: 419.4657, d0.loss_bbox: 1.6222, d1.loss_cls: 464.2315, d1.loss_bbox: 1.5879, d2.loss_cls: 465.3535, d2.loss_bbox: 1.6754, d3.loss_cls: 529.2070, d3.loss_bbox: 1.6711, d4.loss_cls: 500.5254, d4.loss_bbox: 1.6109, d5.loss_cls: 561.2353, d5.loss_bbox: 1.6899, d0.loss_traj_cls: 0.0740, d0.loss_traj: 5.0376, d1.loss_traj_cls: 0.0603, d1.loss_traj: 5.0761, d2.loss_traj_cls: 0.0630, d2.loss_traj: 5.1559, d3.loss_traj_cls: 0.1101, d3.loss_traj: 5.1110, d4.loss_traj_cls: 0.0546, d4.loss_traj: 5.0000, d5.loss_traj_cls: 0.0573, d5.loss_traj: 5.0467, d0.loss_map_cls_all: 7.5713, d0.loss_map_pts_all: 4.9617, d0.loss_map_dir_all: 0.0951, d0.loss_map_cls: 7.5713, d0.loss_map_pts: 4.9617, d0.loss_map_dir: 0.0951, d1.loss_map_cls: 7.1510, d1.loss_map_pts: 4.9841, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 7.6496, d2.loss_map_pts: 5.0159, d2.loss_map_dir: 0.0949, d3.loss_map_cls: 10.1487, d3.loss_map_pts: 5.0503, d3.loss_map_dir: 0.0949, d4.loss_map_cls: 9.9840, d4.loss_map_pts: 5.1149, d4.loss_map_dir: 0.0948, d5.loss_map_cls: 10.0916, d5.loss_map_pts: 5.1726, d5.loss_map_dir: 0.0947, loss: 4292.7621, grad_norm: inf +2026-02-24 02:27:47,112 - DriveTransformer - INFO - Epoch [1][900/39528] lr: 9.091e-05, eta: 8 days, 22:03:57, time: 0.803, data_time: 0.045, memory: 18742, loss_cls: 666.3100, loss_bbox: 1.6904, loss_traj: 5.3975, loss_traj_cls: 0.0873, loss_map_cls: 10.3735, loss_map_pts: 5.5749, loss_map_dir: 0.0949, d0.loss_plan_l1_fix_time: 11.0645, d0.loss_plan_l1_fix_dist: 3.4051, d1.loss_plan_l1_fix_time: 11.4678, d1.loss_plan_l1_fix_dist: 4.4277, d2.loss_plan_l1_fix_time: 11.9266, d2.loss_plan_l1_fix_dist: 6.1300, d3.loss_plan_l1_fix_time: 12.4722, d3.loss_plan_l1_fix_dist: 7.9292, d4.loss_plan_l1_fix_time: 12.9646, d4.loss_plan_l1_fix_dist: 10.5262, d5.loss_plan_l1_fix_time: 13.5228, d5.loss_plan_l1_fix_dist: 13.2782, d6.loss_plan_l1_fix_time: 14.0513, d6.loss_plan_l1_fix_dist: 15.8570, d0.loss_cls_all: 455.6791, d0.loss_bbox_all: 1.6361, d0.loss_cls: 455.6791, d0.loss_bbox: 1.6361, d1.loss_cls: 506.0995, d1.loss_bbox: 1.5959, d2.loss_cls: 507.8990, d2.loss_bbox: 1.6742, d3.loss_cls: 578.5818, d3.loss_bbox: 1.6649, d4.loss_cls: 541.3276, d4.loss_bbox: 1.5992, d5.loss_cls: 604.3018, d5.loss_bbox: 1.6979, d0.loss_traj_cls: 0.0747, d0.loss_traj: 5.3722, d1.loss_traj_cls: 0.0608, d1.loss_traj: 5.4246, d2.loss_traj_cls: 0.0621, d2.loss_traj: 5.5175, d3.loss_traj_cls: 0.1053, d3.loss_traj: 5.4635, d4.loss_traj_cls: 0.0508, d4.loss_traj: 5.3461, d5.loss_traj_cls: 0.0538, d5.loss_traj: 5.3875, d0.loss_map_cls_all: 7.7115, d0.loss_map_pts_all: 5.2596, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 7.7115, d0.loss_map_pts: 5.2596, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 7.1334, d1.loss_map_pts: 5.2882, d1.loss_map_dir: 0.0951, d2.loss_map_cls: 7.7371, d2.loss_map_pts: 5.3281, d2.loss_map_dir: 0.0949, d3.loss_map_cls: 10.4248, d3.loss_map_pts: 5.3717, d3.loss_map_dir: 0.0949, d4.loss_map_cls: 10.4280, d4.loss_map_pts: 5.4456, d4.loss_map_dir: 0.0949, d5.loss_map_cls: 10.5779, d5.loss_map_pts: 5.5144, d5.loss_map_dir: 0.0949, loss: 4632.3994, grad_norm: inf +2026-02-24 02:28:24,903 - DriveTransformer - INFO - Epoch [1][950/39528] lr: 9.541e-05, eta: 8 days, 21:15:53, time: 0.756, data_time: 0.039, memory: 18742, loss_cls: 683.9887, loss_bbox: 1.6500, loss_traj: 5.8803, loss_traj_cls: 0.0945, loss_map_cls: 10.9044, loss_map_pts: 5.2393, loss_map_dir: 0.0950, d0.loss_plan_l1_fix_time: 12.8412, d0.loss_plan_l1_fix_dist: 3.2161, d1.loss_plan_l1_fix_time: 13.1494, d1.loss_plan_l1_fix_dist: 4.3088, d2.loss_plan_l1_fix_time: 13.5142, d2.loss_plan_l1_fix_dist: 6.0590, d3.loss_plan_l1_fix_time: 13.9808, d3.loss_plan_l1_fix_dist: 7.9362, d4.loss_plan_l1_fix_time: 14.3964, d4.loss_plan_l1_fix_dist: 10.5589, d5.loss_plan_l1_fix_time: 14.8827, d5.loss_plan_l1_fix_dist: 13.2848, d6.loss_plan_l1_fix_time: 15.3533, d6.loss_plan_l1_fix_dist: 15.8578, d0.loss_cls_all: 473.7190, d0.loss_bbox_all: 1.6239, d0.loss_cls: 473.7190, d0.loss_bbox: 1.6239, d1.loss_cls: 513.1560, d1.loss_bbox: 1.5876, d2.loss_cls: 520.5884, d2.loss_bbox: 1.6749, d3.loss_cls: 594.5680, d3.loss_bbox: 1.6577, d4.loss_cls: 554.3763, d4.loss_bbox: 1.5807, d5.loss_cls: 622.0710, d5.loss_bbox: 1.6669, d0.loss_traj_cls: 0.0754, d0.loss_traj: 5.8579, d1.loss_traj_cls: 0.0621, d1.loss_traj: 5.9071, d2.loss_traj_cls: 0.0641, d2.loss_traj: 5.9842, d3.loss_traj_cls: 0.1118, d3.loss_traj: 5.9326, d4.loss_traj_cls: 0.0547, d4.loss_traj: 5.8529, d5.loss_traj_cls: 0.0588, d5.loss_traj: 5.8904, d0.loss_map_cls_all: 8.1875, d0.loss_map_pts_all: 4.9870, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 8.1875, d0.loss_map_pts: 4.9870, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 7.7025, d1.loss_map_pts: 5.0087, d1.loss_map_dir: 0.0951, d2.loss_map_cls: 8.2462, d2.loss_map_pts: 5.0438, d2.loss_map_dir: 0.0951, d3.loss_map_cls: 11.0692, d3.loss_map_pts: 5.0823, d3.loss_map_dir: 0.0951, d4.loss_map_cls: 11.0554, d4.loss_map_pts: 5.1393, d4.loss_map_dir: 0.0950, d5.loss_map_cls: 11.1256, d5.loss_map_pts: 5.1873, d5.loss_map_dir: 0.0949, loss: 4768.3318, grad_norm: inf +2026-02-24 02:29:05,760 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 02:29:05,761 - DriveTransformer - INFO - Epoch [1][1000/39528] lr: 9.991e-05, eta: 8 days, 21:20:36, time: 0.817, data_time: 0.039, memory: 18742, loss_cls: 721.0725, loss_bbox: 1.6789, loss_traj: 5.4590, loss_traj_cls: 0.0934, loss_map_cls: 9.7588, loss_map_pts: 5.3590, loss_map_dir: 0.0945, d0.loss_plan_l1_fix_time: 12.8332, d0.loss_plan_l1_fix_dist: 3.3264, d1.loss_plan_l1_fix_time: 13.1324, d1.loss_plan_l1_fix_dist: 4.4144, d2.loss_plan_l1_fix_time: 13.4871, d2.loss_plan_l1_fix_dist: 6.0716, d3.loss_plan_l1_fix_time: 13.9422, d3.loss_plan_l1_fix_dist: 7.8811, d4.loss_plan_l1_fix_time: 14.3377, d4.loss_plan_l1_fix_dist: 10.4385, d5.loss_plan_l1_fix_time: 14.8084, d5.loss_plan_l1_fix_dist: 13.1391, d6.loss_plan_l1_fix_time: 15.2626, d6.loss_plan_l1_fix_dist: 15.6911, d0.loss_cls_all: 492.7931, d0.loss_bbox_all: 1.6165, d0.loss_cls: 492.7931, d0.loss_bbox: 1.6165, d1.loss_cls: 546.7130, d1.loss_bbox: 1.5822, d2.loss_cls: 542.0845, d2.loss_bbox: 1.6618, d3.loss_cls: 616.9537, d3.loss_bbox: 1.6558, d4.loss_cls: 583.0096, d4.loss_bbox: 1.6008, d5.loss_cls: 654.0504, d5.loss_bbox: 1.6830, d0.loss_traj_cls: 0.0738, d0.loss_traj: 5.4460, d1.loss_traj_cls: 0.0611, d1.loss_traj: 5.4898, d2.loss_traj_cls: 0.0636, d2.loss_traj: 5.5603, d3.loss_traj_cls: 0.1065, d3.loss_traj: 5.5162, d4.loss_traj_cls: 0.0528, d4.loss_traj: 5.4227, d5.loss_traj_cls: 0.0572, d5.loss_traj: 5.4582, d0.loss_map_cls_all: 7.2452, d0.loss_map_pts_all: 5.0285, d0.loss_map_dir_all: 0.0948, d0.loss_map_cls: 7.2452, d0.loss_map_pts: 5.0285, d0.loss_map_dir: 0.0948, d1.loss_map_cls: 6.7936, d1.loss_map_pts: 5.0581, d1.loss_map_dir: 0.0946, d2.loss_map_cls: 7.3861, d2.loss_map_pts: 5.0991, d2.loss_map_dir: 0.0945, d3.loss_map_cls: 9.8967, d3.loss_map_pts: 5.1404, d3.loss_map_dir: 0.0946, d4.loss_map_cls: 9.8434, d4.loss_map_pts: 5.2151, d4.loss_map_dir: 0.0946, d5.loss_map_cls: 9.8743, d5.loss_map_pts: 5.2886, d5.loss_map_dir: 0.0945, loss: 4970.2098, grad_norm: inf +2026-02-24 02:29:47,260 - DriveTransformer - INFO - Epoch [1][1050/39528] lr: 1.000e-04, eta: 8 days, 21:34:34, time: 0.830, data_time: 0.039, memory: 18742, loss_cls: 622.7271, loss_bbox: 1.6847, loss_traj: 5.6765, loss_traj_cls: 0.0903, loss_map_cls: 9.1546, loss_map_pts: 5.5332, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 12.5658, d0.loss_plan_l1_fix_dist: 3.4335, d1.loss_plan_l1_fix_time: 12.8848, d1.loss_plan_l1_fix_dist: 4.4804, d2.loss_plan_l1_fix_time: 13.2674, d2.loss_plan_l1_fix_dist: 6.1354, d3.loss_plan_l1_fix_time: 13.7487, d3.loss_plan_l1_fix_dist: 7.9755, d4.loss_plan_l1_fix_time: 14.1948, d4.loss_plan_l1_fix_dist: 10.6058, d5.loss_plan_l1_fix_time: 14.7047, d5.loss_plan_l1_fix_dist: 13.3269, d6.loss_plan_l1_fix_time: 15.1852, d6.loss_plan_l1_fix_dist: 15.9268, d0.loss_cls_all: 421.7239, d0.loss_bbox_all: 1.6087, d0.loss_cls: 421.7239, d0.loss_bbox: 1.6087, d1.loss_cls: 468.9428, d1.loss_bbox: 1.5776, d2.loss_cls: 471.0365, d2.loss_bbox: 1.6611, d3.loss_cls: 527.7217, d3.loss_bbox: 1.6527, d4.loss_cls: 500.7604, d4.loss_bbox: 1.5978, d5.loss_cls: 562.7097, d5.loss_bbox: 1.6879, d0.loss_traj_cls: 0.0727, d0.loss_traj: 5.6659, d1.loss_traj_cls: 0.0605, d1.loss_traj: 5.7106, d2.loss_traj_cls: 0.0602, d2.loss_traj: 5.7856, d3.loss_traj_cls: 0.1056, d3.loss_traj: 5.7338, d4.loss_traj_cls: 0.0508, d4.loss_traj: 5.6267, d5.loss_traj_cls: 0.0538, d5.loss_traj: 5.6695, d0.loss_map_cls_all: 6.8675, d0.loss_map_pts_all: 5.2229, d0.loss_map_dir_all: 0.0947, d0.loss_map_cls: 6.8675, d0.loss_map_pts: 5.2229, d0.loss_map_dir: 0.0947, d1.loss_map_cls: 6.3210, d1.loss_map_pts: 5.2511, d1.loss_map_dir: 0.0946, d2.loss_map_cls: 6.8856, d2.loss_map_pts: 5.2910, d2.loss_map_dir: 0.0945, d3.loss_map_cls: 9.3124, d3.loss_map_pts: 5.3319, d3.loss_map_dir: 0.0946, d4.loss_map_cls: 9.3174, d4.loss_map_pts: 5.4026, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 9.3181, d5.loss_map_pts: 5.4709, d5.loss_map_dir: 0.0947, loss: 4316.7510, grad_norm: inf +2026-02-24 02:30:26,260 - DriveTransformer - INFO - Epoch [1][1100/39528] lr: 1.000e-04, eta: 8 days, 21:11:20, time: 0.780, data_time: 0.037, memory: 18742, loss_cls: 647.5471, loss_bbox: 1.6893, loss_traj: 5.2694, loss_traj_cls: 0.0899, loss_map_cls: 10.6667, loss_map_pts: 5.4604, loss_map_dir: 0.0946, d0.loss_plan_l1_fix_time: 11.3135, d0.loss_plan_l1_fix_dist: 3.3763, d1.loss_plan_l1_fix_time: 11.6853, d1.loss_plan_l1_fix_dist: 4.4234, d2.loss_plan_l1_fix_time: 12.1226, d2.loss_plan_l1_fix_dist: 6.1030, d3.loss_plan_l1_fix_time: 12.6552, d3.loss_plan_l1_fix_dist: 8.0122, d4.loss_plan_l1_fix_time: 13.1310, d4.loss_plan_l1_fix_dist: 10.7268, d5.loss_plan_l1_fix_time: 13.6704, d5.loss_plan_l1_fix_dist: 13.5481, d6.loss_plan_l1_fix_time: 14.1809, d6.loss_plan_l1_fix_dist: 16.1606, d0.loss_cls_all: 444.7982, d0.loss_bbox_all: 1.6214, d0.loss_cls: 444.7982, d0.loss_bbox: 1.6214, d1.loss_cls: 493.0543, d1.loss_bbox: 1.5821, d2.loss_cls: 489.7111, d2.loss_bbox: 1.6509, d3.loss_cls: 553.5269, d3.loss_bbox: 1.6413, d4.loss_cls: 522.8767, d4.loss_bbox: 1.5792, d5.loss_cls: 584.8339, d5.loss_bbox: 1.6926, d0.loss_traj_cls: 0.0739, d0.loss_traj: 5.2444, d1.loss_traj_cls: 0.0599, d1.loss_traj: 5.2825, d2.loss_traj_cls: 0.0618, d2.loss_traj: 5.3606, d3.loss_traj_cls: 0.1054, d3.loss_traj: 5.3195, d4.loss_traj_cls: 0.0512, d4.loss_traj: 5.2123, d5.loss_traj_cls: 0.0554, d5.loss_traj: 5.2561, d0.loss_map_cls_all: 7.9532, d0.loss_map_pts_all: 5.1459, d0.loss_map_dir_all: 0.0950, d0.loss_map_cls: 7.9532, d0.loss_map_pts: 5.1459, d0.loss_map_dir: 0.0950, d1.loss_map_cls: 7.3990, d1.loss_map_pts: 5.1749, d1.loss_map_dir: 0.0949, d2.loss_map_cls: 8.0414, d2.loss_map_pts: 5.2120, d2.loss_map_dir: 0.0947, d3.loss_map_cls: 10.8717, d3.loss_map_pts: 5.2482, d3.loss_map_dir: 0.0949, d4.loss_map_cls: 10.8182, d4.loss_map_pts: 5.3176, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 10.8601, d5.loss_map_pts: 5.3908, d5.loss_map_dir: 0.0947, loss: 4500.1941, grad_norm: inf +2026-02-24 02:31:06,376 - DriveTransformer - INFO - Epoch [1][1150/39528] lr: 1.000e-04, eta: 8 days, 21:05:22, time: 0.802, data_time: 0.038, memory: 18742, loss_cls: 695.3438, loss_bbox: 1.6650, loss_traj: 6.4102, loss_traj_cls: 0.0840, loss_map_cls: 10.8130, loss_map_pts: 5.7452, loss_map_dir: 0.0949, d0.loss_plan_l1_fix_time: 12.5967, d0.loss_plan_l1_fix_dist: 3.4071, d1.loss_plan_l1_fix_time: 12.8937, d1.loss_plan_l1_fix_dist: 4.4629, d2.loss_plan_l1_fix_time: 13.2564, d2.loss_plan_l1_fix_dist: 6.2016, d3.loss_plan_l1_fix_time: 13.7175, d3.loss_plan_l1_fix_dist: 8.1219, d4.loss_plan_l1_fix_time: 14.1311, d4.loss_plan_l1_fix_dist: 10.8462, d5.loss_plan_l1_fix_time: 14.6048, d5.loss_plan_l1_fix_dist: 13.6780, d6.loss_plan_l1_fix_time: 15.0490, d6.loss_plan_l1_fix_dist: 16.3360, d0.loss_cls_all: 481.2767, d0.loss_bbox_all: 1.6291, d0.loss_cls: 481.2767, d0.loss_bbox: 1.6291, d1.loss_cls: 519.9349, d1.loss_bbox: 1.5929, d2.loss_cls: 527.5950, d2.loss_bbox: 1.6816, d3.loss_cls: 595.3068, d3.loss_bbox: 1.6728, d4.loss_cls: 560.9442, d4.loss_bbox: 1.5793, d5.loss_cls: 626.6356, d5.loss_bbox: 1.6786, d0.loss_traj_cls: 0.0735, d0.loss_traj: 6.3859, d1.loss_traj_cls: 0.0609, d1.loss_traj: 6.4526, d2.loss_traj_cls: 0.0611, d2.loss_traj: 6.5236, d3.loss_traj_cls: 0.1063, d3.loss_traj: 6.4603, d4.loss_traj_cls: 0.0505, d4.loss_traj: 6.3791, d5.loss_traj_cls: 0.0519, d5.loss_traj: 6.4162, d0.loss_map_cls_all: 8.3141, d0.loss_map_pts_all: 5.4313, d0.loss_map_dir_all: 0.0951, d0.loss_map_cls: 8.3141, d0.loss_map_pts: 5.4313, d0.loss_map_dir: 0.0951, d1.loss_map_cls: 7.8858, d1.loss_map_pts: 5.4576, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 8.4809, d2.loss_map_pts: 5.4994, d2.loss_map_dir: 0.0948, d3.loss_map_cls: 11.1088, d3.loss_map_pts: 5.5421, d3.loss_map_dir: 0.0950, d4.loss_map_cls: 11.0350, d4.loss_map_pts: 5.6131, d4.loss_map_dir: 0.0948, d5.loss_map_cls: 10.9993, d5.loss_map_pts: 5.6806, d5.loss_map_dir: 0.0948, loss: 4828.3719, grad_norm: inf +2026-02-24 02:31:45,708 - DriveTransformer - INFO - Epoch [1][1200/39528] lr: 1.000e-04, eta: 8 days, 20:49:38, time: 0.787, data_time: 0.040, memory: 18742, loss_cls: 670.1423, loss_bbox: 1.6601, loss_traj: 5.4494, loss_traj_cls: 0.0914, loss_map_cls: 10.3358, loss_map_pts: 5.6657, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 11.0829, d0.loss_plan_l1_fix_dist: 3.5317, d1.loss_plan_l1_fix_time: 11.4542, d1.loss_plan_l1_fix_dist: 4.5697, d2.loss_plan_l1_fix_time: 11.8882, d2.loss_plan_l1_fix_dist: 6.2888, d3.loss_plan_l1_fix_time: 12.4195, d3.loss_plan_l1_fix_dist: 8.2091, d4.loss_plan_l1_fix_time: 12.9081, d4.loss_plan_l1_fix_dist: 10.9688, d5.loss_plan_l1_fix_time: 13.4603, d5.loss_plan_l1_fix_dist: 13.8467, d6.loss_plan_l1_fix_time: 13.9798, d6.loss_plan_l1_fix_dist: 16.5258, d0.loss_cls_all: 456.8729, d0.loss_bbox_all: 1.6077, d0.loss_cls: 456.8729, d0.loss_bbox: 1.6077, d1.loss_cls: 502.3951, d1.loss_bbox: 1.5659, d2.loss_cls: 502.7238, d2.loss_bbox: 1.6416, d3.loss_cls: 570.3357, d3.loss_bbox: 1.6378, d4.loss_cls: 537.8538, d4.loss_bbox: 1.5701, d5.loss_cls: 607.6350, d5.loss_bbox: 1.6662, d0.loss_traj_cls: 0.0734, d0.loss_traj: 5.4107, d1.loss_traj_cls: 0.0604, d1.loss_traj: 5.4665, d2.loss_traj_cls: 0.0612, d2.loss_traj: 5.5500, d3.loss_traj_cls: 0.1036, d3.loss_traj: 5.5082, d4.loss_traj_cls: 0.0524, d4.loss_traj: 5.4074, d5.loss_traj_cls: 0.0558, d5.loss_traj: 5.4486, d0.loss_map_cls_all: 7.8930, d0.loss_map_pts_all: 5.3930, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 7.8930, d0.loss_map_pts: 5.3930, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 7.3593, d1.loss_map_pts: 5.4175, d1.loss_map_dir: 0.0949, d2.loss_map_cls: 7.9835, d2.loss_map_pts: 5.4517, d2.loss_map_dir: 0.0949, d3.loss_map_cls: 10.6616, d3.loss_map_pts: 5.4924, d3.loss_map_dir: 0.0948, d4.loss_map_cls: 10.5790, d4.loss_map_pts: 5.5560, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 10.5798, d5.loss_map_pts: 5.6118, d5.loss_map_dir: 0.0946, loss: 4625.6864, grad_norm: inf +2026-02-24 02:32:24,618 - DriveTransformer - INFO - Epoch [1][1250/39528] lr: 1.000e-04, eta: 8 days, 20:29:41, time: 0.778, data_time: 0.040, memory: 18742, loss_cls: 597.2525, loss_bbox: 1.6483, loss_traj: 6.8611, loss_traj_cls: 0.0986, loss_map_cls: 11.7460, loss_map_pts: 5.5040, loss_map_dir: 0.0952, d0.loss_plan_l1_fix_time: 13.8816, d0.loss_plan_l1_fix_dist: 3.2253, d1.loss_plan_l1_fix_time: 14.1531, d1.loss_plan_l1_fix_dist: 4.3321, d2.loss_plan_l1_fix_time: 14.4818, d2.loss_plan_l1_fix_dist: 6.1363, d3.loss_plan_l1_fix_time: 14.9169, d3.loss_plan_l1_fix_dist: 8.0352, d4.loss_plan_l1_fix_time: 15.3096, d4.loss_plan_l1_fix_dist: 10.5561, d5.loss_plan_l1_fix_time: 15.7715, d5.loss_plan_l1_fix_dist: 13.1468, d6.loss_plan_l1_fix_time: 16.2153, d6.loss_plan_l1_fix_dist: 15.6660, d0.loss_cls_all: 412.1071, d0.loss_bbox_all: 1.6068, d0.loss_cls: 412.1071, d0.loss_bbox: 1.6068, d1.loss_cls: 448.8166, d1.loss_bbox: 1.5758, d2.loss_cls: 451.2812, d2.loss_bbox: 1.6736, d3.loss_cls: 508.6069, d3.loss_bbox: 1.6681, d4.loss_cls: 480.7853, d4.loss_bbox: 1.5676, d5.loss_cls: 538.9879, d5.loss_bbox: 1.6658, d0.loss_traj_cls: 0.0736, d0.loss_traj: 6.8318, d1.loss_traj_cls: 0.0639, d1.loss_traj: 6.8980, d2.loss_traj_cls: 0.0681, d2.loss_traj: 6.9704, d3.loss_traj_cls: 0.1152, d3.loss_traj: 6.9103, d4.loss_traj_cls: 0.0552, d4.loss_traj: 6.8458, d5.loss_traj_cls: 0.0591, d5.loss_traj: 6.8760, d0.loss_map_cls_all: 9.2309, d0.loss_map_pts_all: 5.3213, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 9.2309, d0.loss_map_pts: 5.3213, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 8.5378, d1.loss_map_pts: 5.3285, d1.loss_map_dir: 0.0952, d2.loss_map_cls: 9.2278, d2.loss_map_pts: 5.3488, d2.loss_map_dir: 0.0950, d3.loss_map_cls: 12.3022, d3.loss_map_pts: 5.3772, d3.loss_map_dir: 0.0951, d4.loss_map_cls: 12.1947, d4.loss_map_pts: 5.4246, d4.loss_map_dir: 0.0951, d5.loss_map_cls: 11.9983, d5.loss_map_pts: 5.4680, d5.loss_map_dir: 0.0952, loss: 4205.8359, grad_norm: inf +2026-02-24 02:33:04,332 - DriveTransformer - INFO - Epoch [1][1300/39528] lr: 1.000e-04, eta: 8 days, 20:21:16, time: 0.795, data_time: 0.039, memory: 18742, loss_cls: 622.4053, loss_bbox: 1.6591, loss_traj: 6.1149, loss_traj_cls: 0.0999, loss_map_cls: 12.2493, loss_map_pts: 5.5617, loss_map_dir: 0.0950, d0.loss_plan_l1_fix_time: 11.8465, d0.loss_plan_l1_fix_dist: 3.3836, d1.loss_plan_l1_fix_time: 12.2293, d1.loss_plan_l1_fix_dist: 4.4219, d2.loss_plan_l1_fix_time: 12.6629, d2.loss_plan_l1_fix_dist: 6.2219, d3.loss_plan_l1_fix_time: 13.1916, d3.loss_plan_l1_fix_dist: 8.1499, d4.loss_plan_l1_fix_time: 13.6773, d4.loss_plan_l1_fix_dist: 10.8517, d5.loss_plan_l1_fix_time: 14.2345, d5.loss_plan_l1_fix_dist: 13.6447, d6.loss_plan_l1_fix_time: 14.7618, d6.loss_plan_l1_fix_dist: 16.2579, d0.loss_cls_all: 430.0708, d0.loss_bbox_all: 1.6089, d0.loss_cls: 430.0708, d0.loss_bbox: 1.6089, d1.loss_cls: 469.7031, d1.loss_bbox: 1.5668, d2.loss_cls: 472.1392, d2.loss_bbox: 1.6551, d3.loss_cls: 536.7279, d3.loss_bbox: 1.6549, d4.loss_cls: 505.6733, d4.loss_bbox: 1.5947, d5.loss_cls: 567.0678, d5.loss_bbox: 1.6704, d0.loss_traj_cls: 0.0743, d0.loss_traj: 6.0890, d1.loss_traj_cls: 0.0625, d1.loss_traj: 6.1394, d2.loss_traj_cls: 0.0651, d2.loss_traj: 6.2270, d3.loss_traj_cls: 0.1121, d3.loss_traj: 6.1770, d4.loss_traj_cls: 0.0552, d4.loss_traj: 6.0577, d5.loss_traj_cls: 0.0593, d5.loss_traj: 6.1065, d0.loss_map_cls_all: 9.4324, d0.loss_map_pts_all: 5.2695, d0.loss_map_dir_all: 0.0955, d0.loss_map_cls: 9.4324, d0.loss_map_pts: 5.2695, d0.loss_map_dir: 0.0955, d1.loss_map_cls: 8.8461, d1.loss_map_pts: 5.2939, d1.loss_map_dir: 0.0952, d2.loss_map_cls: 9.3853, d2.loss_map_pts: 5.3313, d2.loss_map_dir: 0.0951, d3.loss_map_cls: 12.7708, d3.loss_map_pts: 5.3752, d3.loss_map_dir: 0.0950, d4.loss_map_cls: 12.6069, d4.loss_map_pts: 5.4506, d4.loss_map_dir: 0.0950, d5.loss_map_cls: 12.5546, d5.loss_map_pts: 5.5060, d5.loss_map_dir: 0.0950, loss: 4376.9487, grad_norm: inf +2026-02-24 02:33:41,968 - DriveTransformer - INFO - Epoch [1][1350/39528] lr: 1.000e-04, eta: 8 days, 19:48:41, time: 0.752, data_time: 0.038, memory: 18742, loss_cls: 667.6948, loss_bbox: 1.6454, loss_traj: 6.2757, loss_traj_cls: 0.0929, loss_map_cls: 12.1531, loss_map_pts: 5.4789, loss_map_dir: 0.0951, d0.loss_plan_l1_fix_time: 12.2530, d0.loss_plan_l1_fix_dist: 3.4492, d1.loss_plan_l1_fix_time: 12.6398, d1.loss_plan_l1_fix_dist: 4.4456, d2.loss_plan_l1_fix_time: 13.0694, d2.loss_plan_l1_fix_dist: 6.3128, d3.loss_plan_l1_fix_time: 13.6042, d3.loss_plan_l1_fix_dist: 8.2561, d4.loss_plan_l1_fix_time: 14.0721, d4.loss_plan_l1_fix_dist: 11.0069, d5.loss_plan_l1_fix_time: 14.6005, d5.loss_plan_l1_fix_dist: 13.8855, d6.loss_plan_l1_fix_time: 15.1009, d6.loss_plan_l1_fix_dist: 16.5903, d0.loss_cls_all: 470.0606, d0.loss_bbox_all: 1.6150, d0.loss_cls: 470.0606, d0.loss_bbox: 1.6150, d1.loss_cls: 510.6815, d1.loss_bbox: 1.5610, d2.loss_cls: 507.6582, d2.loss_bbox: 1.6397, d3.loss_cls: 579.1695, d3.loss_bbox: 1.6402, d4.loss_cls: 540.9997, d4.loss_bbox: 1.5524, d5.loss_cls: 604.2411, d5.loss_bbox: 1.6528, d0.loss_traj_cls: 0.0738, d0.loss_traj: 6.2422, d1.loss_traj_cls: 0.0612, d1.loss_traj: 6.2897, d2.loss_traj_cls: 0.0633, d2.loss_traj: 6.3720, d3.loss_traj_cls: 0.1087, d3.loss_traj: 6.3294, d4.loss_traj_cls: 0.0512, d4.loss_traj: 6.2276, d5.loss_traj_cls: 0.0563, d5.loss_traj: 6.2763, d0.loss_map_cls_all: 9.1256, d0.loss_map_pts_all: 5.2168, d0.loss_map_dir_all: 0.0955, d0.loss_map_cls: 9.1256, d0.loss_map_pts: 5.2168, d0.loss_map_dir: 0.0955, d1.loss_map_cls: 8.6560, d1.loss_map_pts: 5.2413, d1.loss_map_dir: 0.0954, d2.loss_map_cls: 9.2332, d2.loss_map_pts: 5.2803, d2.loss_map_dir: 0.0953, d3.loss_map_cls: 12.4086, d3.loss_map_pts: 5.3175, d3.loss_map_dir: 0.0952, d4.loss_map_cls: 12.2824, d4.loss_map_pts: 5.3771, d4.loss_map_dir: 0.0951, d5.loss_map_cls: 12.3163, d5.loss_map_pts: 5.4280, d5.loss_map_dir: 0.0951, loss: 4695.9140, grad_norm: inf +2026-02-24 02:34:21,056 - DriveTransformer - INFO - Epoch [1][1400/39528] lr: 1.000e-04, eta: 8 days, 19:34:55, time: 0.782, data_time: 0.041, memory: 18742, loss_cls: 709.3115, loss_bbox: 1.6734, loss_traj: 6.6202, loss_traj_cls: 0.0980, loss_map_cls: 11.4941, loss_map_pts: 5.4909, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 13.4808, d0.loss_plan_l1_fix_dist: 3.3734, d1.loss_plan_l1_fix_time: 13.7982, d1.loss_plan_l1_fix_dist: 4.3844, d2.loss_plan_l1_fix_time: 14.1795, d2.loss_plan_l1_fix_dist: 6.1882, d3.loss_plan_l1_fix_time: 14.6636, d3.loss_plan_l1_fix_dist: 8.1181, d4.loss_plan_l1_fix_time: 15.0903, d4.loss_plan_l1_fix_dist: 10.8156, d5.loss_plan_l1_fix_time: 15.5804, d5.loss_plan_l1_fix_dist: 13.5847, d6.loss_plan_l1_fix_time: 16.0470, d6.loss_plan_l1_fix_dist: 16.2092, d0.loss_cls_all: 486.5109, d0.loss_bbox_all: 1.6336, d0.loss_cls: 486.5109, d0.loss_bbox: 1.6336, d1.loss_cls: 529.7135, d1.loss_bbox: 1.6000, d2.loss_cls: 532.4114, d2.loss_bbox: 1.6904, d3.loss_cls: 608.7433, d3.loss_bbox: 1.6756, d4.loss_cls: 573.3561, d4.loss_bbox: 1.5966, d5.loss_cls: 642.0853, d5.loss_bbox: 1.6883, d0.loss_traj_cls: 0.0740, d0.loss_traj: 6.5820, d1.loss_traj_cls: 0.0602, d1.loss_traj: 6.6420, d2.loss_traj_cls: 0.0631, d2.loss_traj: 6.7276, d3.loss_traj_cls: 0.1089, d3.loss_traj: 6.6735, d4.loss_traj_cls: 0.0535, d4.loss_traj: 6.5808, d5.loss_traj_cls: 0.0584, d5.loss_traj: 6.6212, d0.loss_map_cls_all: 8.7227, d0.loss_map_pts_all: 5.2023, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 8.7227, d0.loss_map_pts: 5.2023, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 8.1744, d1.loss_map_pts: 5.2232, d1.loss_map_dir: 0.0951, d2.loss_map_cls: 8.7912, d2.loss_map_pts: 5.2545, d2.loss_map_dir: 0.0948, d3.loss_map_cls: 11.8271, d3.loss_map_pts: 5.2919, d3.loss_map_dir: 0.0948, d4.loss_map_cls: 11.7041, d4.loss_map_pts: 5.3580, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 11.7467, d5.loss_map_pts: 5.4324, d5.loss_map_dir: 0.0948, loss: 4918.7087, grad_norm: inf +2026-02-24 02:34:59,260 - DriveTransformer - INFO - Epoch [1][1450/39528] lr: 1.000e-04, eta: 8 days, 19:12:27, time: 0.764, data_time: 0.044, memory: 18742, loss_cls: 661.2053, loss_bbox: 1.6403, loss_traj: 6.3805, loss_traj_cls: 0.0957, loss_map_cls: 12.2454, loss_map_pts: 5.4452, loss_map_dir: 0.0946, d0.loss_plan_l1_fix_time: 10.6207, d0.loss_plan_l1_fix_dist: 3.3772, d1.loss_plan_l1_fix_time: 11.0269, d1.loss_plan_l1_fix_dist: 4.4152, d2.loss_plan_l1_fix_time: 11.5082, d2.loss_plan_l1_fix_dist: 6.1369, d3.loss_plan_l1_fix_time: 12.0953, d3.loss_plan_l1_fix_dist: 8.0954, d4.loss_plan_l1_fix_time: 12.6279, d4.loss_plan_l1_fix_dist: 10.8256, d5.loss_plan_l1_fix_time: 13.2144, d5.loss_plan_l1_fix_dist: 13.6358, d6.loss_plan_l1_fix_time: 13.7679, d6.loss_plan_l1_fix_dist: 16.2780, d0.loss_cls_all: 461.1959, d0.loss_bbox_all: 1.6133, d0.loss_cls: 461.1959, d0.loss_bbox: 1.6133, d1.loss_cls: 506.5029, d1.loss_bbox: 1.5721, d2.loss_cls: 503.5042, d2.loss_bbox: 1.6548, d3.loss_cls: 575.0454, d3.loss_bbox: 1.6445, d4.loss_cls: 536.4515, d4.loss_bbox: 1.5576, d5.loss_cls: 599.0358, d5.loss_bbox: 1.6515, d0.loss_traj_cls: 0.0733, d0.loss_traj: 6.3524, d1.loss_traj_cls: 0.0600, d1.loss_traj: 6.4074, d2.loss_traj_cls: 0.0630, d2.loss_traj: 6.4881, d3.loss_traj_cls: 0.1120, d3.loss_traj: 6.4363, d4.loss_traj_cls: 0.0544, d4.loss_traj: 6.3359, d5.loss_traj_cls: 0.0591, d5.loss_traj: 6.3730, d0.loss_map_cls_all: 9.2760, d0.loss_map_pts_all: 5.1903, d0.loss_map_dir_all: 0.0950, d0.loss_map_cls: 9.2760, d0.loss_map_pts: 5.1903, d0.loss_map_dir: 0.0950, d1.loss_map_cls: 8.5843, d1.loss_map_pts: 5.2134, d1.loss_map_dir: 0.0948, d2.loss_map_cls: 9.2118, d2.loss_map_pts: 5.2476, d2.loss_map_dir: 0.0947, d3.loss_map_cls: 12.4799, d3.loss_map_pts: 5.2840, d3.loss_map_dir: 0.0947, d4.loss_map_cls: 12.4427, d4.loss_map_pts: 5.3466, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 12.4948, d5.loss_map_pts: 5.3982, d5.loss_map_dir: 0.0947, loss: 4639.0855, grad_norm: inf +2026-02-24 02:35:39,836 - DriveTransformer - INFO - Epoch [1][1500/39528] lr: 1.000e-04, eta: 8 days, 19:16:25, time: 0.812, data_time: 0.045, memory: 18742, loss_cls: 631.6613, loss_bbox: 1.6440, loss_traj: 5.9764, loss_traj_cls: 0.0845, loss_map_cls: 10.9781, loss_map_pts: 5.5579, loss_map_dir: 0.0948, d0.loss_plan_l1_fix_time: 10.6330, d0.loss_plan_l1_fix_dist: 3.4159, d1.loss_plan_l1_fix_time: 11.0199, d1.loss_plan_l1_fix_dist: 4.3775, d2.loss_plan_l1_fix_time: 11.4677, d2.loss_plan_l1_fix_dist: 6.1303, d3.loss_plan_l1_fix_time: 12.0301, d3.loss_plan_l1_fix_dist: 8.0086, d4.loss_plan_l1_fix_time: 12.5405, d4.loss_plan_l1_fix_dist: 10.6781, d5.loss_plan_l1_fix_time: 13.1185, d5.loss_plan_l1_fix_dist: 13.4684, d6.loss_plan_l1_fix_time: 13.6642, d6.loss_plan_l1_fix_dist: 16.0833, d0.loss_cls_all: 430.3368, d0.loss_bbox_all: 1.6224, d0.loss_cls: 430.3368, d0.loss_bbox: 1.6224, d1.loss_cls: 479.7658, d1.loss_bbox: 1.5699, d2.loss_cls: 479.1303, d2.loss_bbox: 1.6419, d3.loss_cls: 542.1930, d3.loss_bbox: 1.6366, d4.loss_cls: 510.5802, d4.loss_bbox: 1.5440, d5.loss_cls: 570.6782, d5.loss_bbox: 1.6529, d0.loss_traj_cls: 0.0740, d0.loss_traj: 5.9434, d1.loss_traj_cls: 0.0601, d1.loss_traj: 5.9900, d2.loss_traj_cls: 0.0604, d2.loss_traj: 6.0714, d3.loss_traj_cls: 0.1055, d3.loss_traj: 6.0217, d4.loss_traj_cls: 0.0500, d4.loss_traj: 5.9132, d5.loss_traj_cls: 0.0513, d5.loss_traj: 5.9588, d0.loss_map_cls_all: 8.0927, d0.loss_map_pts_all: 5.2507, d0.loss_map_dir_all: 0.0953, d0.loss_map_cls: 8.0927, d0.loss_map_pts: 5.2507, d0.loss_map_dir: 0.0953, d1.loss_map_cls: 7.4907, d1.loss_map_pts: 5.2856, d1.loss_map_dir: 0.0952, d2.loss_map_cls: 8.0821, d2.loss_map_pts: 5.3266, d2.loss_map_dir: 0.0950, d3.loss_map_cls: 11.0015, d3.loss_map_pts: 5.3679, d3.loss_map_dir: 0.0950, d4.loss_map_cls: 10.9863, d4.loss_map_pts: 5.4384, d4.loss_map_dir: 0.0948, d5.loss_map_cls: 11.1156, d5.loss_map_pts: 5.4992, d5.loss_map_dir: 0.0948, loss: 4396.1902, grad_norm: inf +2026-02-24 02:36:18,163 - DriveTransformer - INFO - Epoch [1][1550/39528] lr: 1.000e-04, eta: 8 days, 18:57:11, time: 0.767, data_time: 0.039, memory: 18742, loss_cls: 643.9339, loss_bbox: 1.6493, loss_traj: 6.5012, loss_traj_cls: 0.0944, loss_map_cls: 9.5072, loss_map_pts: 5.3898, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 12.5035, d0.loss_plan_l1_fix_dist: 3.4720, d1.loss_plan_l1_fix_time: 12.8452, d1.loss_plan_l1_fix_dist: 4.5248, d2.loss_plan_l1_fix_time: 13.2487, d2.loss_plan_l1_fix_dist: 6.2821, d3.loss_plan_l1_fix_time: 13.7480, d3.loss_plan_l1_fix_dist: 8.1441, d4.loss_plan_l1_fix_time: 14.2038, d4.loss_plan_l1_fix_dist: 10.7745, d5.loss_plan_l1_fix_time: 14.7295, d5.loss_plan_l1_fix_dist: 13.5328, d6.loss_plan_l1_fix_time: 15.2332, d6.loss_plan_l1_fix_dist: 16.1138, d0.loss_cls_all: 437.5546, d0.loss_bbox_all: 1.6259, d0.loss_cls: 437.5546, d0.loss_bbox: 1.6259, d1.loss_cls: 487.7384, d1.loss_bbox: 1.5834, d2.loss_cls: 491.4238, d2.loss_bbox: 1.6762, d3.loss_cls: 557.0863, d3.loss_bbox: 1.6707, d4.loss_cls: 521.4808, d4.loss_bbox: 1.5888, d5.loss_cls: 584.4912, d5.loss_bbox: 1.6678, d0.loss_traj_cls: 0.0743, d0.loss_traj: 6.4738, d1.loss_traj_cls: 0.0595, d1.loss_traj: 6.5243, d2.loss_traj_cls: 0.0622, d2.loss_traj: 6.6207, d3.loss_traj_cls: 0.1075, d3.loss_traj: 6.5608, d4.loss_traj_cls: 0.0541, d4.loss_traj: 6.4557, d5.loss_traj_cls: 0.0589, d5.loss_traj: 6.4913, d0.loss_map_cls_all: 7.0872, d0.loss_map_pts_all: 5.0896, d0.loss_map_dir_all: 0.0949, d0.loss_map_cls: 7.0872, d0.loss_map_pts: 5.0896, d0.loss_map_dir: 0.0949, d1.loss_map_cls: 6.5391, d1.loss_map_pts: 5.1138, d1.loss_map_dir: 0.0948, d2.loss_map_cls: 7.1113, d2.loss_map_pts: 5.1472, d2.loss_map_dir: 0.0947, d3.loss_map_cls: 9.5971, d3.loss_map_pts: 5.1867, d3.loss_map_dir: 0.0948, d4.loss_map_cls: 9.5989, d4.loss_map_pts: 5.2525, d4.loss_map_dir: 0.0948, d5.loss_map_cls: 9.6820, d5.loss_map_pts: 5.3240, d5.loss_map_dir: 0.0947, loss: 4488.4079, grad_norm: inf +2026-02-24 02:36:58,883 - DriveTransformer - INFO - Epoch [1][1600/39528] lr: 1.000e-04, eta: 8 days, 19:03:24, time: 0.816, data_time: 0.036, memory: 18742, loss_cls: 649.8874, loss_bbox: 1.6516, loss_traj: 5.3396, loss_traj_cls: 0.0913, loss_map_cls: 12.9569, loss_map_pts: 5.4716, loss_map_dir: 0.0948, d0.loss_plan_l1_fix_time: 10.7249, d0.loss_plan_l1_fix_dist: 3.3568, d1.loss_plan_l1_fix_time: 11.0866, d1.loss_plan_l1_fix_dist: 4.3855, d2.loss_plan_l1_fix_time: 11.5183, d2.loss_plan_l1_fix_dist: 5.9549, d3.loss_plan_l1_fix_time: 12.0484, d3.loss_plan_l1_fix_dist: 7.7554, d4.loss_plan_l1_fix_time: 12.5270, d4.loss_plan_l1_fix_dist: 10.4042, d5.loss_plan_l1_fix_time: 13.0629, d5.loss_plan_l1_fix_dist: 13.1679, d6.loss_plan_l1_fix_time: 13.5713, d6.loss_plan_l1_fix_dist: 15.7415, d0.loss_cls_all: 448.3918, d0.loss_bbox_all: 1.6160, d0.loss_cls: 448.3918, d0.loss_bbox: 1.6160, d1.loss_cls: 493.5046, d1.loss_bbox: 1.5702, d2.loss_cls: 493.5782, d2.loss_bbox: 1.6429, d3.loss_cls: 562.7849, d3.loss_bbox: 1.6310, d4.loss_cls: 523.2586, d4.loss_bbox: 1.5536, d5.loss_cls: 589.6476, d5.loss_bbox: 1.6619, d0.loss_traj_cls: 0.0739, d0.loss_traj: 5.3260, d1.loss_traj_cls: 0.0607, d1.loss_traj: 5.3648, d2.loss_traj_cls: 0.0630, d2.loss_traj: 5.4503, d3.loss_traj_cls: 0.1071, d3.loss_traj: 5.3988, d4.loss_traj_cls: 0.0519, d4.loss_traj: 5.2902, d5.loss_traj_cls: 0.0559, d5.loss_traj: 5.3357, d0.loss_map_cls_all: 9.5408, d0.loss_map_pts_all: 5.1942, d0.loss_map_dir_all: 0.0953, d0.loss_map_cls: 9.5408, d0.loss_map_pts: 5.1942, d0.loss_map_dir: 0.0953, d1.loss_map_cls: 8.6865, d1.loss_map_pts: 5.2217, d1.loss_map_dir: 0.0951, d2.loss_map_cls: 9.5455, d2.loss_map_pts: 5.2520, d2.loss_map_dir: 0.0947, d3.loss_map_cls: 12.9619, d3.loss_map_pts: 5.2885, d3.loss_map_dir: 0.0947, d4.loss_map_cls: 12.9289, d4.loss_map_pts: 5.3547, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 13.1168, d5.loss_map_pts: 5.4145, d5.loss_map_dir: 0.0948, loss: 4538.1316, grad_norm: inf +2026-02-24 02:37:39,884 - DriveTransformer - INFO - Epoch [1][1650/39528] lr: 1.000e-04, eta: 8 days, 19:10:33, time: 0.819, data_time: 0.038, memory: 18742, loss_cls: 623.8899, loss_bbox: 1.7031, loss_traj: 5.0049, loss_traj_cls: 0.1023, loss_map_cls: 9.3823, loss_map_pts: 5.4933, loss_map_dir: 0.0948, d0.loss_plan_l1_fix_time: 12.9111, d0.loss_plan_l1_fix_dist: 3.3372, d1.loss_plan_l1_fix_time: 13.2188, d1.loss_plan_l1_fix_dist: 4.3481, d2.loss_plan_l1_fix_time: 13.5842, d2.loss_plan_l1_fix_dist: 6.0427, d3.loss_plan_l1_fix_time: 14.0486, d3.loss_plan_l1_fix_dist: 7.8785, d4.loss_plan_l1_fix_time: 14.4614, d4.loss_plan_l1_fix_dist: 10.4645, d5.loss_plan_l1_fix_time: 14.9481, d5.loss_plan_l1_fix_dist: 13.1419, d6.loss_plan_l1_fix_time: 15.4140, d6.loss_plan_l1_fix_dist: 15.7026, d0.loss_cls_all: 427.3224, d0.loss_bbox_all: 1.6159, d0.loss_cls: 427.3224, d0.loss_bbox: 1.6159, d1.loss_cls: 463.6851, d1.loss_bbox: 1.5875, d2.loss_cls: 462.3406, d2.loss_bbox: 1.6589, d3.loss_cls: 527.8244, d3.loss_bbox: 1.6499, d4.loss_cls: 499.3030, d4.loss_bbox: 1.6144, d5.loss_cls: 563.3139, d5.loss_bbox: 1.6999, d0.loss_traj_cls: 0.0727, d0.loss_traj: 4.9816, d1.loss_traj_cls: 0.0614, d1.loss_traj: 5.0229, d2.loss_traj_cls: 0.0645, d2.loss_traj: 5.0974, d3.loss_traj_cls: 0.1139, d3.loss_traj: 5.0644, d4.loss_traj_cls: 0.0543, d4.loss_traj: 4.9646, d5.loss_traj_cls: 0.0601, d5.loss_traj: 5.0053, d0.loss_map_cls_all: 7.1865, d0.loss_map_pts_all: 5.1608, d0.loss_map_dir_all: 0.0948, d0.loss_map_cls: 7.1865, d0.loss_map_pts: 5.1608, d0.loss_map_dir: 0.0948, d1.loss_map_cls: 6.6780, d1.loss_map_pts: 5.1886, d1.loss_map_dir: 0.0946, d2.loss_map_cls: 7.2304, d2.loss_map_pts: 5.2273, d2.loss_map_dir: 0.0945, d3.loss_map_cls: 9.7597, d3.loss_map_pts: 5.2696, d3.loss_map_dir: 0.0945, d4.loss_map_cls: 9.5761, d4.loss_map_pts: 5.3449, d4.loss_map_dir: 0.0946, d5.loss_map_cls: 9.5537, d5.loss_map_pts: 5.4235, d5.loss_map_dir: 0.0947, loss: 4312.8986, grad_norm: inf +2026-02-24 02:38:20,885 - DriveTransformer - INFO - Epoch [1][1700/39528] lr: 1.000e-04, eta: 8 days, 19:17:52, time: 0.820, data_time: 0.045, memory: 18742, loss_cls: 627.6191, loss_bbox: 1.6605, loss_traj: 5.1412, loss_traj_cls: 0.0968, loss_map_cls: 9.0627, loss_map_pts: 5.6009, loss_map_dir: 0.0943, d0.loss_plan_l1_fix_time: 10.4065, d0.loss_plan_l1_fix_dist: 3.4111, d1.loss_plan_l1_fix_time: 10.8096, d1.loss_plan_l1_fix_dist: 4.4413, d2.loss_plan_l1_fix_time: 11.2745, d2.loss_plan_l1_fix_dist: 6.0874, d3.loss_plan_l1_fix_time: 11.8439, d3.loss_plan_l1_fix_dist: 7.9292, d4.loss_plan_l1_fix_time: 12.3622, d4.loss_plan_l1_fix_dist: 10.5458, d5.loss_plan_l1_fix_time: 12.9483, d5.loss_plan_l1_fix_dist: 13.2948, d6.loss_plan_l1_fix_time: 13.5010, d6.loss_plan_l1_fix_dist: 15.9055, d0.loss_cls_all: 432.7659, d0.loss_bbox_all: 1.5911, d0.loss_cls: 432.7659, d0.loss_bbox: 1.5911, d1.loss_cls: 473.0107, d1.loss_bbox: 1.5604, d2.loss_cls: 474.0341, d2.loss_bbox: 1.6630, d3.loss_cls: 541.6449, d3.loss_bbox: 1.6536, d4.loss_cls: 507.1870, d4.loss_bbox: 1.5948, d5.loss_cls: 570.1415, d5.loss_bbox: 1.6756, d0.loss_traj_cls: 0.0729, d0.loss_traj: 5.1174, d1.loss_traj_cls: 0.0600, d1.loss_traj: 5.1596, d2.loss_traj_cls: 0.0631, d2.loss_traj: 5.2508, d3.loss_traj_cls: 0.1079, d3.loss_traj: 5.2140, d4.loss_traj_cls: 0.0526, d4.loss_traj: 5.0859, d5.loss_traj_cls: 0.0574, d5.loss_traj: 5.1349, d0.loss_map_cls_all: 6.9301, d0.loss_map_pts_all: 5.2821, d0.loss_map_dir_all: 0.0945, d0.loss_map_cls: 6.9301, d0.loss_map_pts: 5.2821, d0.loss_map_dir: 0.0945, d1.loss_map_cls: 6.3971, d1.loss_map_pts: 5.3182, d1.loss_map_dir: 0.0943, d2.loss_map_cls: 6.9048, d2.loss_map_pts: 5.3577, d2.loss_map_dir: 0.0942, d3.loss_map_cls: 9.4373, d3.loss_map_pts: 5.3940, d3.loss_map_dir: 0.0943, d4.loss_map_cls: 9.3428, d4.loss_map_pts: 5.4618, d4.loss_map_dir: 0.0943, d5.loss_map_cls: 9.2690, d5.loss_map_pts: 5.5292, d5.loss_map_dir: 0.0942, loss: 4361.7893, grad_norm: inf +2026-02-24 02:38:58,551 - DriveTransformer - INFO - Epoch [1][1750/39528] lr: 1.000e-04, eta: 8 days, 18:54:41, time: 0.753, data_time: 0.047, memory: 18742, loss_cls: 691.0901, loss_bbox: 1.7000, loss_traj: 6.4389, loss_traj_cls: 0.0967, loss_map_cls: 11.8140, loss_map_pts: 5.5271, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 13.2714, d0.loss_plan_l1_fix_dist: 3.3527, d1.loss_plan_l1_fix_time: 13.5774, d1.loss_plan_l1_fix_dist: 4.4215, d2.loss_plan_l1_fix_time: 13.9552, d2.loss_plan_l1_fix_dist: 6.0699, d3.loss_plan_l1_fix_time: 14.4274, d3.loss_plan_l1_fix_dist: 7.8754, d4.loss_plan_l1_fix_time: 14.8481, d4.loss_plan_l1_fix_dist: 10.4742, d5.loss_plan_l1_fix_time: 15.3343, d5.loss_plan_l1_fix_dist: 13.1543, d6.loss_plan_l1_fix_time: 15.7929, d6.loss_plan_l1_fix_dist: 15.7173, d0.loss_cls_all: 474.2096, d0.loss_bbox_all: 1.6703, d0.loss_cls: 474.2096, d0.loss_bbox: 1.6703, d1.loss_cls: 517.8794, d1.loss_bbox: 1.6380, d2.loss_cls: 520.5672, d2.loss_bbox: 1.7038, d3.loss_cls: 594.6847, d3.loss_bbox: 1.6994, d4.loss_cls: 561.3114, d4.loss_bbox: 1.6220, d5.loss_cls: 627.4047, d5.loss_bbox: 1.7124, d0.loss_traj_cls: 0.0749, d0.loss_traj: 6.4000, d1.loss_traj_cls: 0.0622, d1.loss_traj: 6.4556, d2.loss_traj_cls: 0.0655, d2.loss_traj: 6.5355, d3.loss_traj_cls: 0.1102, d3.loss_traj: 6.4850, d4.loss_traj_cls: 0.0555, d4.loss_traj: 6.3912, d5.loss_traj_cls: 0.0594, d5.loss_traj: 6.4342, d0.loss_map_cls_all: 8.8932, d0.loss_map_pts_all: 5.2045, d0.loss_map_dir_all: 0.0950, d0.loss_map_cls: 8.8932, d0.loss_map_pts: 5.2045, d0.loss_map_dir: 0.0950, d1.loss_map_cls: 8.2256, d1.loss_map_pts: 5.2330, d1.loss_map_dir: 0.0948, d2.loss_map_cls: 8.8718, d2.loss_map_pts: 5.2782, d2.loss_map_dir: 0.0947, d3.loss_map_cls: 11.9370, d3.loss_map_pts: 5.3250, d3.loss_map_dir: 0.0947, d4.loss_map_cls: 11.9434, d4.loss_map_pts: 5.3977, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 12.0689, d5.loss_map_pts: 5.4665, d5.loss_map_dir: 0.0947, loss: 4808.7515, grad_norm: inf +2026-02-24 02:39:35,574 - DriveTransformer - INFO - Epoch [1][1800/39528] lr: 1.000e-04, eta: 8 days, 18:27:06, time: 0.740, data_time: 0.047, memory: 18742, loss_cls: 666.1289, loss_bbox: 1.6376, loss_traj: 6.4724, loss_traj_cls: 0.0990, loss_map_cls: 14.8229, loss_map_pts: 5.4084, loss_map_dir: 0.0949, d0.loss_plan_l1_fix_time: 13.6132, d0.loss_plan_l1_fix_dist: 3.2728, d1.loss_plan_l1_fix_time: 13.9109, d1.loss_plan_l1_fix_dist: 4.2877, d2.loss_plan_l1_fix_time: 14.2654, d2.loss_plan_l1_fix_dist: 6.0390, d3.loss_plan_l1_fix_time: 14.7187, d3.loss_plan_l1_fix_dist: 7.8534, d4.loss_plan_l1_fix_time: 15.1064, d4.loss_plan_l1_fix_dist: 10.4971, d5.loss_plan_l1_fix_time: 15.5560, d5.loss_plan_l1_fix_dist: 13.2614, d6.loss_plan_l1_fix_time: 15.9984, d6.loss_plan_l1_fix_dist: 15.8677, d0.loss_cls_all: 458.6807, d0.loss_bbox_all: 1.5974, d0.loss_cls: 458.6807, d0.loss_bbox: 1.5974, d1.loss_cls: 503.2747, d1.loss_bbox: 1.5531, d2.loss_cls: 501.7266, d2.loss_bbox: 1.6438, d3.loss_cls: 572.7452, d3.loss_bbox: 1.6224, d4.loss_cls: 536.4417, d4.loss_bbox: 1.5573, d5.loss_cls: 603.0678, d5.loss_bbox: 1.6478, d0.loss_traj_cls: 0.0737, d0.loss_traj: 6.4277, d1.loss_traj_cls: 0.0593, d1.loss_traj: 6.4842, d2.loss_traj_cls: 0.0634, d2.loss_traj: 6.5700, d3.loss_traj_cls: 0.1135, d3.loss_traj: 6.5179, d4.loss_traj_cls: 0.0562, d4.loss_traj: 6.4248, d5.loss_traj_cls: 0.0617, d5.loss_traj: 6.4644, d0.loss_map_cls_all: 11.0474, d0.loss_map_pts_all: 5.1809, d0.loss_map_dir_all: 0.0953, d0.loss_map_cls: 11.0474, d0.loss_map_pts: 5.1809, d0.loss_map_dir: 0.0953, d1.loss_map_cls: 10.2322, d1.loss_map_pts: 5.2043, d1.loss_map_dir: 0.0951, d2.loss_map_cls: 10.8382, d2.loss_map_pts: 5.2372, d2.loss_map_dir: 0.0950, d3.loss_map_cls: 14.7559, d3.loss_map_pts: 5.2711, d3.loss_map_dir: 0.0949, d4.loss_map_cls: 14.6357, d4.loss_map_pts: 5.3268, d4.loss_map_dir: 0.0948, d5.loss_map_cls: 15.0527, d5.loss_map_pts: 5.3700, d5.loss_map_dir: 0.0948, loss: 4669.1117, grad_norm: inf +2026-02-24 02:40:13,964 - DriveTransformer - INFO - Epoch [1][1850/39528] lr: 1.000e-04, eta: 8 days, 18:12:38, time: 0.768, data_time: 0.041, memory: 18742, loss_cls: 622.9048, loss_bbox: 1.6114, loss_traj: 6.8920, loss_traj_cls: 0.0840, loss_map_cls: 11.1590, loss_map_pts: 5.7321, loss_map_dir: 0.0950, d0.loss_plan_l1_fix_time: 12.1669, d0.loss_plan_l1_fix_dist: 3.4458, d1.loss_plan_l1_fix_time: 12.5238, d1.loss_plan_l1_fix_dist: 4.5279, d2.loss_plan_l1_fix_time: 12.9525, d2.loss_plan_l1_fix_dist: 6.2593, d3.loss_plan_l1_fix_time: 13.4855, d3.loss_plan_l1_fix_dist: 8.2330, d4.loss_plan_l1_fix_time: 13.9651, d4.loss_plan_l1_fix_dist: 11.0151, d5.loss_plan_l1_fix_time: 14.5060, d5.loss_plan_l1_fix_dist: 13.9285, d6.loss_plan_l1_fix_time: 15.0138, d6.loss_plan_l1_fix_dist: 16.6415, d0.loss_cls_all: 429.9105, d0.loss_bbox_all: 1.5942, d0.loss_cls: 429.9105, d0.loss_bbox: 1.5942, d1.loss_cls: 472.9050, d1.loss_bbox: 1.5480, d2.loss_cls: 476.0542, d2.loss_bbox: 1.6369, d3.loss_cls: 539.4422, d3.loss_bbox: 1.6180, d4.loss_cls: 503.8353, d4.loss_bbox: 1.5221, d5.loss_cls: 564.2823, d5.loss_bbox: 1.6272, d0.loss_traj_cls: 0.0746, d0.loss_traj: 6.8498, d1.loss_traj_cls: 0.0619, d1.loss_traj: 6.9243, d2.loss_traj_cls: 0.0607, d2.loss_traj: 7.0098, d3.loss_traj_cls: 0.1057, d3.loss_traj: 6.9455, d4.loss_traj_cls: 0.0503, d4.loss_traj: 6.8504, d5.loss_traj_cls: 0.0529, d5.loss_traj: 6.8897, d0.loss_map_cls_all: 8.3607, d0.loss_map_pts_all: 5.4770, d0.loss_map_dir_all: 0.0956, d0.loss_map_cls: 8.3607, d0.loss_map_pts: 5.4770, d0.loss_map_dir: 0.0956, d1.loss_map_cls: 7.8039, d1.loss_map_pts: 5.5006, d1.loss_map_dir: 0.0954, d2.loss_map_cls: 8.4478, d2.loss_map_pts: 5.5320, d2.loss_map_dir: 0.0952, d3.loss_map_cls: 11.2541, d3.loss_map_pts: 5.5727, d3.loss_map_dir: 0.0952, d4.loss_map_cls: 11.3001, d4.loss_map_pts: 5.6382, d4.loss_map_dir: 0.0951, d5.loss_map_cls: 11.2632, d5.loss_map_pts: 5.6867, d5.loss_map_dir: 0.0950, loss: 4382.8410, grad_norm: inf +2026-02-24 02:40:54,566 - DriveTransformer - INFO - Epoch [1][1900/39528] lr: 1.000e-04, eta: 8 days, 18:17:17, time: 0.812, data_time: 0.036, memory: 18742, loss_cls: 791.7613, loss_bbox: 1.6560, loss_traj: 6.9061, loss_traj_cls: 0.0857, loss_map_cls: 10.1186, loss_map_pts: 5.4188, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 12.8502, d0.loss_plan_l1_fix_dist: 3.3622, d1.loss_plan_l1_fix_time: 13.1853, d1.loss_plan_l1_fix_dist: 4.3956, d2.loss_plan_l1_fix_time: 13.5850, d2.loss_plan_l1_fix_dist: 6.0471, d3.loss_plan_l1_fix_time: 14.0879, d3.loss_plan_l1_fix_dist: 7.8992, d4.loss_plan_l1_fix_time: 14.5409, d4.loss_plan_l1_fix_dist: 10.5349, d5.loss_plan_l1_fix_time: 15.0537, d5.loss_plan_l1_fix_dist: 13.2752, d6.loss_plan_l1_fix_time: 15.5394, d6.loss_plan_l1_fix_dist: 15.8502, d0.loss_cls_all: 543.0091, d0.loss_bbox_all: 1.6305, d0.loss_cls: 543.0091, d0.loss_bbox: 1.6305, d1.loss_cls: 605.1742, d1.loss_bbox: 1.5860, d2.loss_cls: 604.5777, d2.loss_bbox: 1.6690, d3.loss_cls: 684.0981, d3.loss_bbox: 1.6655, d4.loss_cls: 642.4420, d4.loss_bbox: 1.5748, d5.loss_cls: 720.9167, d5.loss_bbox: 1.6668, d0.loss_traj_cls: 0.0744, d0.loss_traj: 6.8767, d1.loss_traj_cls: 0.0606, d1.loss_traj: 6.9393, d2.loss_traj_cls: 0.0614, d2.loss_traj: 7.0215, d3.loss_traj_cls: 0.1072, d3.loss_traj: 6.9578, d4.loss_traj_cls: 0.0527, d4.loss_traj: 6.8614, d5.loss_traj_cls: 0.0538, d5.loss_traj: 6.9035, d0.loss_map_cls_all: 7.4735, d0.loss_map_pts_all: 5.1396, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 7.4735, d0.loss_map_pts: 5.1396, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 7.0048, d1.loss_map_pts: 5.1672, d1.loss_map_dir: 0.0951, d2.loss_map_cls: 7.6131, d2.loss_map_pts: 5.2011, d2.loss_map_dir: 0.0949, d3.loss_map_cls: 10.2328, d3.loss_map_pts: 5.2364, d3.loss_map_dir: 0.0949, d4.loss_map_cls: 10.2213, d4.loss_map_pts: 5.3012, d4.loss_map_dir: 0.0949, d5.loss_map_cls: 10.2626, d5.loss_map_pts: 5.3625, d5.loss_map_dir: 0.0948, loss: 5470.3628, grad_norm: inf +2026-02-24 02:41:34,042 - DriveTransformer - INFO - Epoch [1][1950/39528] lr: 1.000e-04, eta: 8 days, 18:12:31, time: 0.789, data_time: 0.037, memory: 18742, loss_cls: 689.3795, loss_bbox: 1.6248, loss_traj: 6.2514, loss_traj_cls: 0.0889, loss_map_cls: 12.5291, loss_map_pts: 5.6799, loss_map_dir: 0.0949, d0.loss_plan_l1_fix_time: 11.2489, d0.loss_plan_l1_fix_dist: 3.4236, d1.loss_plan_l1_fix_time: 11.6321, d1.loss_plan_l1_fix_dist: 4.4557, d2.loss_plan_l1_fix_time: 12.0847, d2.loss_plan_l1_fix_dist: 6.1643, d3.loss_plan_l1_fix_time: 12.6516, d3.loss_plan_l1_fix_dist: 8.0991, d4.loss_plan_l1_fix_time: 13.1495, d4.loss_plan_l1_fix_dist: 10.7975, d5.loss_plan_l1_fix_time: 13.7036, d5.loss_plan_l1_fix_dist: 13.6267, d6.loss_plan_l1_fix_time: 14.2333, d6.loss_plan_l1_fix_dist: 16.3225, d0.loss_cls_all: 479.8846, d0.loss_bbox_all: 1.6018, d0.loss_cls: 479.8846, d0.loss_bbox: 1.6018, d1.loss_cls: 521.8459, d1.loss_bbox: 1.5584, d2.loss_cls: 526.0016, d2.loss_bbox: 1.6370, d3.loss_cls: 589.2353, d3.loss_bbox: 1.6299, d4.loss_cls: 552.6781, d4.loss_bbox: 1.5363, d5.loss_cls: 620.3284, d5.loss_bbox: 1.6405, d0.loss_traj_cls: 0.0734, d0.loss_traj: 6.2229, d1.loss_traj_cls: 0.0604, d1.loss_traj: 6.2710, d2.loss_traj_cls: 0.0614, d2.loss_traj: 6.3480, d3.loss_traj_cls: 0.1091, d3.loss_traj: 6.3030, d4.loss_traj_cls: 0.0512, d4.loss_traj: 6.2104, d5.loss_traj_cls: 0.0536, d5.loss_traj: 6.2486, d0.loss_map_cls_all: 9.2856, d0.loss_map_pts_all: 5.4200, d0.loss_map_dir_all: 0.0954, d0.loss_map_cls: 9.2856, d0.loss_map_pts: 5.4200, d0.loss_map_dir: 0.0954, d1.loss_map_cls: 8.6337, d1.loss_map_pts: 5.4473, d1.loss_map_dir: 0.0953, d2.loss_map_cls: 9.1941, d2.loss_map_pts: 5.4826, d2.loss_map_dir: 0.0950, d3.loss_map_cls: 12.4849, d3.loss_map_pts: 5.5211, d3.loss_map_dir: 0.0950, d4.loss_map_cls: 12.4245, d4.loss_map_pts: 5.5869, d4.loss_map_dir: 0.0949, d5.loss_map_cls: 12.6475, d5.loss_map_pts: 5.6343, d5.loss_map_dir: 0.0948, loss: 4799.4527, grad_norm: inf +2026-02-24 02:42:14,722 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 02:42:14,722 - DriveTransformer - INFO - Epoch [1][2000/39528] lr: 1.000e-04, eta: 8 days, 18:17:30, time: 0.814, data_time: 0.038, memory: 18742, loss_cls: 673.4451, loss_bbox: 1.6737, loss_traj: 5.2639, loss_traj_cls: 0.0959, loss_map_cls: 9.3698, loss_map_pts: 5.2248, loss_map_dir: 0.0945, d0.loss_plan_l1_fix_time: 11.2549, d0.loss_plan_l1_fix_dist: 3.3757, d1.loss_plan_l1_fix_time: 11.6326, d1.loss_plan_l1_fix_dist: 4.3552, d2.loss_plan_l1_fix_time: 12.0642, d2.loss_plan_l1_fix_dist: 6.0188, d3.loss_plan_l1_fix_time: 12.5916, d3.loss_plan_l1_fix_dist: 7.8371, d4.loss_plan_l1_fix_time: 13.0632, d4.loss_plan_l1_fix_dist: 10.5406, d5.loss_plan_l1_fix_time: 13.6155, d5.loss_plan_l1_fix_dist: 13.3667, d6.loss_plan_l1_fix_time: 14.1451, d6.loss_plan_l1_fix_dist: 15.9761, d0.loss_cls_all: 457.0256, d0.loss_bbox_all: 1.6272, d0.loss_cls: 457.0256, d0.loss_bbox: 1.6272, d1.loss_cls: 503.7338, d1.loss_bbox: 1.5869, d2.loss_cls: 509.3917, d2.loss_bbox: 1.6571, d3.loss_cls: 580.3942, d3.loss_bbox: 1.6476, d4.loss_cls: 544.1526, d4.loss_bbox: 1.5860, d5.loss_cls: 617.1148, d5.loss_bbox: 1.6791, d0.loss_traj_cls: 0.0735, d0.loss_traj: 5.2499, d1.loss_traj_cls: 0.0588, d1.loss_traj: 5.2897, d2.loss_traj_cls: 0.0606, d2.loss_traj: 5.3808, d3.loss_traj_cls: 0.1052, d3.loss_traj: 5.3265, d4.loss_traj_cls: 0.0519, d4.loss_traj: 5.2100, d5.loss_traj_cls: 0.0578, d5.loss_traj: 5.2539, d0.loss_map_cls_all: 6.8029, d0.loss_map_pts_all: 4.9202, d0.loss_map_dir_all: 0.0946, d0.loss_map_cls: 6.8029, d0.loss_map_pts: 4.9202, d0.loss_map_dir: 0.0946, d1.loss_map_cls: 6.3569, d1.loss_map_pts: 4.9488, d1.loss_map_dir: 0.0945, d2.loss_map_cls: 6.9056, d2.loss_map_pts: 4.9881, d2.loss_map_dir: 0.0943, d3.loss_map_cls: 9.4213, d3.loss_map_pts: 5.0273, d3.loss_map_dir: 0.0944, d4.loss_map_cls: 9.3251, d4.loss_map_pts: 5.0989, d4.loss_map_dir: 0.0945, d5.loss_map_cls: 9.4840, d5.loss_map_pts: 5.1630, d5.loss_map_dir: 0.0944, loss: 4648.1993, grad_norm: inf +2026-02-24 02:42:53,827 - DriveTransformer - INFO - Epoch [1][2050/39528] lr: 1.000e-04, eta: 8 days, 18:10:04, time: 0.782, data_time: 0.045, memory: 18742, loss_cls: 612.6033, loss_bbox: 1.6153, loss_traj: 5.9581, loss_traj_cls: 0.0983, loss_map_cls: 11.1347, loss_map_pts: 5.6340, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 11.9071, d0.loss_plan_l1_fix_dist: 3.3799, d1.loss_plan_l1_fix_time: 12.2942, d1.loss_plan_l1_fix_dist: 4.3885, d2.loss_plan_l1_fix_time: 12.7311, d2.loss_plan_l1_fix_dist: 6.0441, d3.loss_plan_l1_fix_time: 13.2659, d3.loss_plan_l1_fix_dist: 7.8393, d4.loss_plan_l1_fix_time: 13.7445, d4.loss_plan_l1_fix_dist: 10.4775, d5.loss_plan_l1_fix_time: 14.2918, d5.loss_plan_l1_fix_dist: 13.2127, d6.loss_plan_l1_fix_time: 14.8146, d6.loss_plan_l1_fix_dist: 15.7785, d0.loss_cls_all: 421.8940, d0.loss_bbox_all: 1.5894, d0.loss_cls: 421.8940, d0.loss_bbox: 1.5894, d1.loss_cls: 461.7994, d1.loss_bbox: 1.5494, d2.loss_cls: 463.1411, d2.loss_bbox: 1.6407, d3.loss_cls: 526.0090, d3.loss_bbox: 1.6233, d4.loss_cls: 493.9646, d4.loss_bbox: 1.5529, d5.loss_cls: 554.1555, d5.loss_bbox: 1.6299, d0.loss_traj_cls: 0.0737, d0.loss_traj: 5.9122, d1.loss_traj_cls: 0.0601, d1.loss_traj: 5.9515, d2.loss_traj_cls: 0.0632, d2.loss_traj: 6.0507, d3.loss_traj_cls: 0.1081, d3.loss_traj: 6.0101, d4.loss_traj_cls: 0.0532, d4.loss_traj: 5.8893, d5.loss_traj_cls: 0.0582, d5.loss_traj: 5.9458, d0.loss_map_cls_all: 8.3485, d0.loss_map_pts_all: 5.3281, d0.loss_map_dir_all: 0.0956, d0.loss_map_cls: 8.3485, d0.loss_map_pts: 5.3281, d0.loss_map_dir: 0.0956, d1.loss_map_cls: 7.8048, d1.loss_map_pts: 5.3568, d1.loss_map_dir: 0.0952, d2.loss_map_cls: 8.4129, d2.loss_map_pts: 5.3924, d2.loss_map_dir: 0.0949, d3.loss_map_cls: 11.3976, d3.loss_map_pts: 5.4354, d3.loss_map_dir: 0.0948, d4.loss_map_cls: 11.2036, d4.loss_map_pts: 5.5098, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 11.2942, d5.loss_map_pts: 5.5760, d5.loss_map_dir: 0.0947, loss: 4286.9192, grad_norm: inf +2026-02-24 02:43:33,874 - DriveTransformer - INFO - Epoch [1][2100/39528] lr: 1.000e-04, eta: 8 days, 18:09:59, time: 0.801, data_time: 0.039, memory: 18742, loss_cls: 641.5603, loss_bbox: 1.6811, loss_traj: 4.7963, loss_traj_cls: 0.0874, loss_map_cls: 9.2969, loss_map_pts: 5.3352, loss_map_dir: 0.0945, d0.loss_plan_l1_fix_time: 11.6095, d0.loss_plan_l1_fix_dist: 3.2520, d1.loss_plan_l1_fix_time: 11.9696, d1.loss_plan_l1_fix_dist: 4.3138, d2.loss_plan_l1_fix_time: 12.3843, d2.loss_plan_l1_fix_dist: 6.1006, d3.loss_plan_l1_fix_time: 12.9031, d3.loss_plan_l1_fix_dist: 8.0160, d4.loss_plan_l1_fix_time: 13.3685, d4.loss_plan_l1_fix_dist: 10.6107, d5.loss_plan_l1_fix_time: 13.8927, d5.loss_plan_l1_fix_dist: 13.3326, d6.loss_plan_l1_fix_time: 14.3867, d6.loss_plan_l1_fix_dist: 15.9236, d0.loss_cls_all: 444.3106, d0.loss_bbox_all: 1.6222, d0.loss_cls: 444.3106, d0.loss_bbox: 1.6222, d1.loss_cls: 483.6375, d1.loss_bbox: 1.5813, d2.loss_cls: 484.1232, d2.loss_bbox: 1.6526, d3.loss_cls: 549.0770, d3.loss_bbox: 1.6425, d4.loss_cls: 519.4538, d4.loss_bbox: 1.5737, d5.loss_cls: 579.6894, d5.loss_bbox: 1.6786, d0.loss_traj_cls: 0.0736, d0.loss_traj: 4.7686, d1.loss_traj_cls: 0.0615, d1.loss_traj: 4.8155, d2.loss_traj_cls: 0.0621, d2.loss_traj: 4.8863, d3.loss_traj_cls: 0.1042, d3.loss_traj: 4.8425, d4.loss_traj_cls: 0.0498, d4.loss_traj: 4.7451, d5.loss_traj_cls: 0.0522, d5.loss_traj: 4.7943, d0.loss_map_cls_all: 7.2457, d0.loss_map_pts_all: 5.0563, d0.loss_map_dir_all: 0.0948, d0.loss_map_cls: 7.2457, d0.loss_map_pts: 5.0563, d0.loss_map_dir: 0.0948, d1.loss_map_cls: 6.9663, d1.loss_map_pts: 5.0816, d1.loss_map_dir: 0.0946, d2.loss_map_cls: 7.4413, d2.loss_map_pts: 5.1132, d2.loss_map_dir: 0.0946, d3.loss_map_cls: 9.9661, d3.loss_map_pts: 5.1478, d3.loss_map_dir: 0.0946, d4.loss_map_cls: 9.7349, d4.loss_map_pts: 5.2104, d4.loss_map_dir: 0.0945, d5.loss_map_cls: 9.5408, d5.loss_map_pts: 5.2693, d5.loss_map_dir: 0.0945, loss: 4454.8844, grad_norm: inf +2026-02-24 02:44:13,185 - DriveTransformer - INFO - Epoch [1][2150/39528] lr: 1.000e-04, eta: 8 days, 18:04:31, time: 0.786, data_time: 0.038, memory: 18742, loss_cls: 634.5081, loss_bbox: 1.5996, loss_traj: 6.2333, loss_traj_cls: 0.0949, loss_map_cls: 9.9109, loss_map_pts: 5.4718, loss_map_dir: 0.0946, d0.loss_plan_l1_fix_time: 11.3698, d0.loss_plan_l1_fix_dist: 3.5342, d1.loss_plan_l1_fix_time: 11.7675, d1.loss_plan_l1_fix_dist: 4.5563, d2.loss_plan_l1_fix_time: 12.2109, d2.loss_plan_l1_fix_dist: 6.2732, d3.loss_plan_l1_fix_time: 12.7508, d3.loss_plan_l1_fix_dist: 8.1980, d4.loss_plan_l1_fix_time: 13.2346, d4.loss_plan_l1_fix_dist: 11.0022, d5.loss_plan_l1_fix_time: 13.7855, d5.loss_plan_l1_fix_dist: 13.9193, d6.loss_plan_l1_fix_time: 14.3081, d6.loss_plan_l1_fix_dist: 16.6270, d0.loss_cls_all: 429.6911, d0.loss_bbox_all: 1.5938, d0.loss_cls: 429.6911, d0.loss_bbox: 1.5938, d1.loss_cls: 475.6839, d1.loss_bbox: 1.5456, d2.loss_cls: 475.9886, d2.loss_bbox: 1.6252, d3.loss_cls: 545.3557, d3.loss_bbox: 1.6235, d4.loss_cls: 511.5600, d4.loss_bbox: 1.5231, d5.loss_cls: 573.3655, d5.loss_bbox: 1.6151, d0.loss_traj_cls: 0.0734, d0.loss_traj: 6.2045, d1.loss_traj_cls: 0.0596, d1.loss_traj: 6.2621, d2.loss_traj_cls: 0.0614, d2.loss_traj: 6.3559, d3.loss_traj_cls: 0.1083, d3.loss_traj: 6.3068, d4.loss_traj_cls: 0.0524, d4.loss_traj: 6.1920, d5.loss_traj_cls: 0.0570, d5.loss_traj: 6.2311, d0.loss_map_cls_all: 7.3183, d0.loss_map_pts_all: 5.2262, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 7.3183, d0.loss_map_pts: 5.2262, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 6.8457, d1.loss_map_pts: 5.2487, d1.loss_map_dir: 0.0948, d2.loss_map_cls: 7.5064, d2.loss_map_pts: 5.2790, d2.loss_map_dir: 0.0946, d3.loss_map_cls: 10.1915, d3.loss_map_pts: 5.3132, d3.loss_map_dir: 0.0948, d4.loss_map_cls: 10.0818, d4.loss_map_pts: 5.3775, d4.loss_map_dir: 0.0946, d5.loss_map_cls: 10.0830, d5.loss_map_pts: 5.4263, d5.loss_map_dir: 0.0946, loss: 4398.9769, grad_norm: inf +2026-02-24 02:44:53,383 - DriveTransformer - INFO - Epoch [1][2200/39528] lr: 1.000e-04, eta: 8 days, 18:05:38, time: 0.804, data_time: 0.037, memory: 18742, loss_cls: 655.6752, loss_bbox: 1.6487, loss_traj: 5.0349, loss_traj_cls: 0.0954, loss_map_cls: 9.6823, loss_map_pts: 5.4717, loss_map_dir: 0.0946, d0.loss_plan_l1_fix_time: 12.2035, d0.loss_plan_l1_fix_dist: 3.4876, d1.loss_plan_l1_fix_time: 12.5543, d1.loss_plan_l1_fix_dist: 4.5107, d2.loss_plan_l1_fix_time: 12.9625, d2.loss_plan_l1_fix_dist: 6.2036, d3.loss_plan_l1_fix_time: 13.4689, d3.loss_plan_l1_fix_dist: 7.9968, d4.loss_plan_l1_fix_time: 13.9114, d4.loss_plan_l1_fix_dist: 10.6707, d5.loss_plan_l1_fix_time: 14.4174, d5.loss_plan_l1_fix_dist: 13.4667, d6.loss_plan_l1_fix_time: 14.8955, d6.loss_plan_l1_fix_dist: 16.0646, d0.loss_cls_all: 449.8722, d0.loss_bbox_all: 1.6276, d0.loss_cls: 449.8722, d0.loss_bbox: 1.6276, d1.loss_cls: 494.8963, d1.loss_bbox: 1.5808, d2.loss_cls: 496.3034, d2.loss_bbox: 1.6463, d3.loss_cls: 567.5586, d3.loss_bbox: 1.6339, d4.loss_cls: 532.7380, d4.loss_bbox: 1.5562, d5.loss_cls: 596.5458, d5.loss_bbox: 1.6549, d0.loss_traj_cls: 0.0739, d0.loss_traj: 5.0199, d1.loss_traj_cls: 0.0601, d1.loss_traj: 5.0619, d2.loss_traj_cls: 0.0623, d2.loss_traj: 5.1470, d3.loss_traj_cls: 0.1084, d3.loss_traj: 5.0970, d4.loss_traj_cls: 0.0528, d4.loss_traj: 4.9843, d5.loss_traj_cls: 0.0562, d5.loss_traj: 5.0280, d0.loss_map_cls_all: 7.0837, d0.loss_map_pts_all: 5.1549, d0.loss_map_dir_all: 0.0950, d0.loss_map_cls: 7.0837, d0.loss_map_pts: 5.1549, d0.loss_map_dir: 0.0950, d1.loss_map_cls: 6.6148, d1.loss_map_pts: 5.1854, d1.loss_map_dir: 0.0948, d2.loss_map_cls: 7.2299, d2.loss_map_pts: 5.2264, d2.loss_map_dir: 0.0947, d3.loss_map_cls: 9.7757, d3.loss_map_pts: 5.2719, d3.loss_map_dir: 0.0947, d4.loss_map_cls: 9.7471, d4.loss_map_pts: 5.3443, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 9.8500, d5.loss_map_pts: 5.4081, d5.loss_map_dir: 0.0947, loss: 4559.1771, grad_norm: inf +2026-02-24 02:45:32,049 - DriveTransformer - INFO - Epoch [1][2250/39528] lr: 1.000e-04, eta: 8 days, 17:55:56, time: 0.773, data_time: 0.038, memory: 18742, loss_cls: 635.5043, loss_bbox: 1.6708, loss_traj: 5.1710, loss_traj_cls: 0.0908, loss_map_cls: 10.6874, loss_map_pts: 5.4183, loss_map_dir: 0.0948, d0.loss_plan_l1_fix_time: 10.9349, d0.loss_plan_l1_fix_dist: 3.3136, d1.loss_plan_l1_fix_time: 11.3345, d1.loss_plan_l1_fix_dist: 4.3171, d2.loss_plan_l1_fix_time: 11.7821, d2.loss_plan_l1_fix_dist: 5.9566, d3.loss_plan_l1_fix_time: 12.3374, d3.loss_plan_l1_fix_dist: 7.8443, d4.loss_plan_l1_fix_time: 12.8285, d4.loss_plan_l1_fix_dist: 10.5123, d5.loss_plan_l1_fix_time: 13.3720, d5.loss_plan_l1_fix_dist: 13.2821, d6.loss_plan_l1_fix_time: 13.8896, d6.loss_plan_l1_fix_dist: 15.8932, d0.loss_cls_all: 436.4155, d0.loss_bbox_all: 1.6359, d0.loss_cls: 436.4155, d0.loss_bbox: 1.6359, d1.loss_cls: 479.0407, d1.loss_bbox: 1.5978, d2.loss_cls: 480.7643, d2.loss_bbox: 1.6913, d3.loss_cls: 545.4122, d3.loss_bbox: 1.6613, d4.loss_cls: 516.9908, d4.loss_bbox: 1.5921, d5.loss_cls: 576.6027, d5.loss_bbox: 1.6808, d0.loss_traj_cls: 0.0740, d0.loss_traj: 5.1470, d1.loss_traj_cls: 0.0619, d1.loss_traj: 5.1904, d2.loss_traj_cls: 0.0619, d2.loss_traj: 5.2642, d3.loss_traj_cls: 0.1079, d3.loss_traj: 5.2234, d4.loss_traj_cls: 0.0516, d4.loss_traj: 5.1148, d5.loss_traj_cls: 0.0548, d5.loss_traj: 5.1642, d0.loss_map_cls_all: 7.8180, d0.loss_map_pts_all: 5.1207, d0.loss_map_dir_all: 0.0951, d0.loss_map_cls: 7.8180, d0.loss_map_pts: 5.1207, d0.loss_map_dir: 0.0951, d1.loss_map_cls: 7.3627, d1.loss_map_pts: 5.1494, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 7.9718, d2.loss_map_pts: 5.1919, d2.loss_map_dir: 0.0949, d3.loss_map_cls: 10.7032, d3.loss_map_pts: 5.2345, d3.loss_map_dir: 0.0949, d4.loss_map_cls: 10.7699, d4.loss_map_pts: 5.3010, d4.loss_map_dir: 0.0949, d5.loss_map_cls: 10.8481, d5.loss_map_pts: 5.3590, d5.loss_map_dir: 0.0948, loss: 4421.3223, grad_norm: inf +2026-02-24 02:46:11,286 - DriveTransformer - INFO - Epoch [1][2300/39528] lr: 1.000e-04, eta: 8 days, 17:50:31, time: 0.785, data_time: 0.043, memory: 18742, loss_cls: 605.6419, loss_bbox: 1.6560, loss_traj: 6.7291, loss_traj_cls: 0.0958, loss_map_cls: 9.8323, loss_map_pts: 5.6269, loss_map_dir: 0.0951, d0.loss_plan_l1_fix_time: 11.3294, d0.loss_plan_l1_fix_dist: 3.3029, d1.loss_plan_l1_fix_time: 11.7324, d1.loss_plan_l1_fix_dist: 4.3145, d2.loss_plan_l1_fix_time: 12.1900, d2.loss_plan_l1_fix_dist: 6.0250, d3.loss_plan_l1_fix_time: 12.7542, d3.loss_plan_l1_fix_dist: 7.9073, d4.loss_plan_l1_fix_time: 13.2568, d4.loss_plan_l1_fix_dist: 10.6246, d5.loss_plan_l1_fix_time: 13.8282, d5.loss_plan_l1_fix_dist: 13.4557, d6.loss_plan_l1_fix_time: 14.3734, d6.loss_plan_l1_fix_dist: 16.0935, d0.loss_cls_all: 415.8026, d0.loss_bbox_all: 1.6450, d0.loss_cls: 415.8026, d0.loss_bbox: 1.6450, d1.loss_cls: 453.5868, d1.loss_bbox: 1.6081, d2.loss_cls: 461.4956, d2.loss_bbox: 1.7018, d3.loss_cls: 528.0700, d3.loss_bbox: 1.6864, d4.loss_cls: 493.1663, d4.loss_bbox: 1.6013, d5.loss_cls: 549.6850, d5.loss_bbox: 1.6749, d0.loss_traj_cls: 0.0744, d0.loss_traj: 6.7030, d1.loss_traj_cls: 0.0617, d1.loss_traj: 6.7623, d2.loss_traj_cls: 0.0635, d2.loss_traj: 6.8520, d3.loss_traj_cls: 0.1083, d3.loss_traj: 6.7989, d4.loss_traj_cls: 0.0527, d4.loss_traj: 6.6871, d5.loss_traj_cls: 0.0565, d5.loss_traj: 6.7374, d0.loss_map_cls_all: 7.3870, d0.loss_map_pts_all: 5.2990, d0.loss_map_dir_all: 0.0953, d0.loss_map_cls: 7.3870, d0.loss_map_pts: 5.2990, d0.loss_map_dir: 0.0953, d1.loss_map_cls: 6.8866, d1.loss_map_pts: 5.3351, d1.loss_map_dir: 0.0952, d2.loss_map_cls: 7.3933, d2.loss_map_pts: 5.3797, d2.loss_map_dir: 0.0952, d3.loss_map_cls: 9.8995, d3.loss_map_pts: 5.4263, d3.loss_map_dir: 0.0952, d4.loss_map_cls: 9.9235, d4.loss_map_pts: 5.5017, d4.loss_map_dir: 0.0950, d5.loss_map_cls: 10.0515, d5.loss_map_pts: 5.5682, d5.loss_map_dir: 0.0951, loss: 4248.3983, grad_norm: inf +2026-02-24 02:46:51,803 - DriveTransformer - INFO - Epoch [1][2350/39528] lr: 1.000e-04, eta: 8 days, 17:53:54, time: 0.810, data_time: 0.036, memory: 18742, loss_cls: 685.1892, loss_bbox: 1.6560, loss_traj: 5.7558, loss_traj_cls: 0.0968, loss_map_cls: 12.0923, loss_map_pts: 5.5977, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 11.7355, d0.loss_plan_l1_fix_dist: 3.3627, d1.loss_plan_l1_fix_time: 12.0842, d1.loss_plan_l1_fix_dist: 4.3860, d2.loss_plan_l1_fix_time: 12.4774, d2.loss_plan_l1_fix_dist: 6.0582, d3.loss_plan_l1_fix_time: 12.9833, d3.loss_plan_l1_fix_dist: 7.9457, d4.loss_plan_l1_fix_time: 13.4303, d4.loss_plan_l1_fix_dist: 10.6477, d5.loss_plan_l1_fix_time: 13.9352, d5.loss_plan_l1_fix_dist: 13.4155, d6.loss_plan_l1_fix_time: 14.4120, d6.loss_plan_l1_fix_dist: 16.0085, d0.loss_cls_all: 470.7633, d0.loss_bbox_all: 1.6166, d0.loss_cls: 470.7633, d0.loss_bbox: 1.6166, d1.loss_cls: 515.0743, d1.loss_bbox: 1.5793, d2.loss_cls: 516.8189, d2.loss_bbox: 1.6478, d3.loss_cls: 587.8627, d3.loss_bbox: 1.6405, d4.loss_cls: 556.3012, d4.loss_bbox: 1.5679, d5.loss_cls: 623.2944, d5.loss_bbox: 1.6617, d0.loss_traj_cls: 0.0737, d0.loss_traj: 5.7380, d1.loss_traj_cls: 0.0605, d1.loss_traj: 5.7863, d2.loss_traj_cls: 0.0625, d2.loss_traj: 5.8653, d3.loss_traj_cls: 0.1126, d3.loss_traj: 5.8154, d4.loss_traj_cls: 0.0532, d4.loss_traj: 5.7172, d5.loss_traj_cls: 0.0581, d5.loss_traj: 5.7525, d0.loss_map_cls_all: 9.2459, d0.loss_map_pts_all: 5.2877, d0.loss_map_dir_all: 0.0951, d0.loss_map_cls: 9.2459, d0.loss_map_pts: 5.2877, d0.loss_map_dir: 0.0951, d1.loss_map_cls: 8.7896, d1.loss_map_pts: 5.3145, d1.loss_map_dir: 0.0949, d2.loss_map_cls: 9.4472, d2.loss_map_pts: 5.3505, d2.loss_map_dir: 0.0948, d3.loss_map_cls: 12.6094, d3.loss_map_pts: 5.3890, d3.loss_map_dir: 0.0948, d4.loss_map_cls: 12.2987, d4.loss_map_pts: 5.4626, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 12.1855, d5.loss_map_pts: 5.5328, d5.loss_map_dir: 0.0947, loss: 4762.7797, grad_norm: inf +2026-02-24 02:47:31,173 - DriveTransformer - INFO - Epoch [1][2400/39528] lr: 1.000e-04, eta: 8 days, 17:50:03, time: 0.789, data_time: 0.041, memory: 18742, loss_cls: 624.7833, loss_bbox: 1.6603, loss_traj: 5.9272, loss_traj_cls: 0.0965, loss_map_cls: 11.6739, loss_map_pts: 5.8494, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 11.5233, d0.loss_plan_l1_fix_dist: 3.3732, d1.loss_plan_l1_fix_time: 11.8976, d1.loss_plan_l1_fix_dist: 4.4221, d2.loss_plan_l1_fix_time: 12.3277, d2.loss_plan_l1_fix_dist: 6.1419, d3.loss_plan_l1_fix_time: 12.8607, d3.loss_plan_l1_fix_dist: 8.0728, d4.loss_plan_l1_fix_time: 13.3368, d4.loss_plan_l1_fix_dist: 10.7499, d5.loss_plan_l1_fix_time: 13.8785, d5.loss_plan_l1_fix_dist: 13.5346, d6.loss_plan_l1_fix_time: 14.3930, d6.loss_plan_l1_fix_dist: 16.1918, d0.loss_cls_all: 425.3361, d0.loss_bbox_all: 1.6102, d0.loss_cls: 425.3361, d0.loss_bbox: 1.6102, d1.loss_cls: 468.8182, d1.loss_bbox: 1.5747, d2.loss_cls: 472.1690, d2.loss_bbox: 1.6743, d3.loss_cls: 535.0395, d3.loss_bbox: 1.6568, d4.loss_cls: 503.6453, d4.loss_bbox: 1.5821, d5.loss_cls: 565.1321, d5.loss_bbox: 1.6771, d0.loss_traj_cls: 0.0740, d0.loss_traj: 5.8910, d1.loss_traj_cls: 0.0611, d1.loss_traj: 5.9358, d2.loss_traj_cls: 0.0625, d2.loss_traj: 6.0213, d3.loss_traj_cls: 0.1077, d3.loss_traj: 5.9806, d4.loss_traj_cls: 0.0532, d4.loss_traj: 5.8696, d5.loss_traj_cls: 0.0575, d5.loss_traj: 5.9157, d0.loss_map_cls_all: 8.7786, d0.loss_map_pts_all: 5.5767, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 8.7786, d0.loss_map_pts: 5.5767, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 8.1714, d1.loss_map_pts: 5.6016, d1.loss_map_dir: 0.0949, d2.loss_map_cls: 8.8465, d2.loss_map_pts: 5.6342, d2.loss_map_dir: 0.0949, d3.loss_map_cls: 11.9422, d3.loss_map_pts: 5.6749, d3.loss_map_dir: 0.0949, d4.loss_map_cls: 11.8448, d4.loss_map_pts: 5.7420, d4.loss_map_dir: 0.0948, d5.loss_map_cls: 11.8110, d5.loss_map_pts: 5.8006, d5.loss_map_dir: 0.0947, loss: 4356.1255, grad_norm: inf +2026-02-24 02:48:08,231 - DriveTransformer - INFO - Epoch [1][2450/39528] lr: 1.000e-04, eta: 8 days, 17:30:41, time: 0.740, data_time: 0.042, memory: 18742, loss_cls: 647.8359, loss_bbox: 1.6236, loss_traj: 7.1097, loss_traj_cls: 0.0925, loss_map_cls: 12.0097, loss_map_pts: 5.3640, loss_map_dir: 0.0950, d0.loss_plan_l1_fix_time: 13.7694, d0.loss_plan_l1_fix_dist: 3.3440, d1.loss_plan_l1_fix_time: 14.0817, d1.loss_plan_l1_fix_dist: 4.4455, d2.loss_plan_l1_fix_time: 14.4495, d2.loss_plan_l1_fix_dist: 6.1842, d3.loss_plan_l1_fix_time: 14.9186, d3.loss_plan_l1_fix_dist: 8.0465, d4.loss_plan_l1_fix_time: 15.3474, d4.loss_plan_l1_fix_dist: 10.6867, d5.loss_plan_l1_fix_time: 15.8367, d5.loss_plan_l1_fix_dist: 13.3949, d6.loss_plan_l1_fix_time: 16.3058, d6.loss_plan_l1_fix_dist: 15.9659, d0.loss_cls_all: 443.0645, d0.loss_bbox_all: 1.6197, d0.loss_cls: 443.0645, d0.loss_bbox: 1.6197, d1.loss_cls: 486.6266, d1.loss_bbox: 1.5686, d2.loss_cls: 489.0232, d2.loss_bbox: 1.6688, d3.loss_cls: 551.9751, d3.loss_bbox: 1.6474, d4.loss_cls: 523.9140, d4.loss_bbox: 1.5348, d5.loss_cls: 592.3018, d5.loss_bbox: 1.6468, d0.loss_traj_cls: 0.0743, d0.loss_traj: 7.0703, d1.loss_traj_cls: 0.0589, d1.loss_traj: 7.1333, d2.loss_traj_cls: 0.0607, d2.loss_traj: 7.2241, d3.loss_traj_cls: 0.1070, d3.loss_traj: 7.1549, d4.loss_traj_cls: 0.0528, d4.loss_traj: 7.0637, d5.loss_traj_cls: 0.0568, d5.loss_traj: 7.1019, d0.loss_map_cls_all: 8.8914, d0.loss_map_pts_all: 5.1701, d0.loss_map_dir_all: 0.0955, d0.loss_map_cls: 8.8914, d0.loss_map_pts: 5.1701, d0.loss_map_dir: 0.0955, d1.loss_map_cls: 8.2978, d1.loss_map_pts: 5.1850, d1.loss_map_dir: 0.0953, d2.loss_map_cls: 8.9873, d2.loss_map_pts: 5.2042, d2.loss_map_dir: 0.0951, d3.loss_map_cls: 12.0570, d3.loss_map_pts: 5.2257, d3.loss_map_dir: 0.0951, d4.loss_map_cls: 12.1613, d4.loss_map_pts: 5.2726, d4.loss_map_dir: 0.0950, d5.loss_map_cls: 12.2121, d5.loss_map_pts: 5.3181, d5.loss_map_dir: 0.0950, loss: 4534.0515, grad_norm: inf +2026-02-24 02:48:49,414 - DriveTransformer - INFO - Epoch [1][2500/39528] lr: 1.000e-04, eta: 8 days, 17:38:15, time: 0.823, data_time: 0.049, memory: 18742, loss_cls: 662.0814, loss_bbox: 1.6698, loss_traj: 6.1341, loss_traj_cls: 0.1025, loss_map_cls: 10.6363, loss_map_pts: 5.4074, loss_map_dir: 0.0948, d0.loss_plan_l1_fix_time: 13.5748, d0.loss_plan_l1_fix_dist: 3.4603, d1.loss_plan_l1_fix_time: 13.9013, d1.loss_plan_l1_fix_dist: 4.5903, d2.loss_plan_l1_fix_time: 14.2796, d2.loss_plan_l1_fix_dist: 6.3571, d3.loss_plan_l1_fix_time: 14.7543, d3.loss_plan_l1_fix_dist: 8.2275, d4.loss_plan_l1_fix_time: 15.1718, d4.loss_plan_l1_fix_dist: 10.8895, d5.loss_plan_l1_fix_time: 15.6551, d5.loss_plan_l1_fix_dist: 13.6966, d6.loss_plan_l1_fix_time: 16.1161, d6.loss_plan_l1_fix_dist: 16.3820, d0.loss_cls_all: 464.3868, d0.loss_bbox_all: 1.6084, d0.loss_cls: 464.3868, d0.loss_bbox: 1.6084, d1.loss_cls: 500.5804, d1.loss_bbox: 1.5757, d2.loss_cls: 502.0687, d2.loss_bbox: 1.6547, d3.loss_cls: 574.7326, d3.loss_bbox: 1.6563, d4.loss_cls: 538.4096, d4.loss_bbox: 1.6015, d5.loss_cls: 599.4045, d5.loss_bbox: 1.6751, d0.loss_traj_cls: 0.0744, d0.loss_traj: 6.1124, d1.loss_traj_cls: 0.0615, d1.loss_traj: 6.1632, d2.loss_traj_cls: 0.0658, d2.loss_traj: 6.2430, d3.loss_traj_cls: 0.1135, d3.loss_traj: 6.1900, d4.loss_traj_cls: 0.0570, d4.loss_traj: 6.0916, d5.loss_traj_cls: 0.0621, d5.loss_traj: 6.1370, d0.loss_map_cls_all: 8.0872, d0.loss_map_pts_all: 5.1011, d0.loss_map_dir_all: 0.0951, d0.loss_map_cls: 8.0872, d0.loss_map_pts: 5.1011, d0.loss_map_dir: 0.0951, d1.loss_map_cls: 7.6068, d1.loss_map_pts: 5.1323, d1.loss_map_dir: 0.0949, d2.loss_map_cls: 8.1191, d2.loss_map_pts: 5.1732, d2.loss_map_dir: 0.0947, d3.loss_map_cls: 10.8975, d3.loss_map_pts: 5.2114, d3.loss_map_dir: 0.0947, d4.loss_map_cls: 10.6996, d4.loss_map_pts: 5.2783, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 10.8164, d5.loss_map_pts: 5.3453, d5.loss_map_dir: 0.0947, loss: 4647.2239, grad_norm: inf +2026-02-24 02:49:28,452 - DriveTransformer - INFO - Epoch [1][2550/39528] lr: 1.000e-04, eta: 8 days, 17:32:23, time: 0.781, data_time: 0.043, memory: 18742, loss_cls: 646.5841, loss_bbox: 1.6151, loss_traj: 6.0175, loss_traj_cls: 0.0994, loss_map_cls: 11.6401, loss_map_pts: 5.3541, loss_map_dir: 0.0943, d0.loss_plan_l1_fix_time: 12.6260, d0.loss_plan_l1_fix_dist: 3.3161, d1.loss_plan_l1_fix_time: 12.9451, d1.loss_plan_l1_fix_dist: 4.3597, d2.loss_plan_l1_fix_time: 13.3168, d2.loss_plan_l1_fix_dist: 6.0417, d3.loss_plan_l1_fix_time: 13.7802, d3.loss_plan_l1_fix_dist: 7.8094, d4.loss_plan_l1_fix_time: 14.1829, d4.loss_plan_l1_fix_dist: 10.4287, d5.loss_plan_l1_fix_time: 14.6600, d5.loss_plan_l1_fix_dist: 13.2099, d6.loss_plan_l1_fix_time: 15.1267, d6.loss_plan_l1_fix_dist: 15.7959, d0.loss_cls_all: 435.2323, d0.loss_bbox_all: 1.6081, d0.loss_cls: 435.2323, d0.loss_bbox: 1.6081, d1.loss_cls: 485.4349, d1.loss_bbox: 1.5602, d2.loss_cls: 480.8238, d2.loss_bbox: 1.6510, d3.loss_cls: 551.2134, d3.loss_bbox: 1.6369, d4.loss_cls: 519.7070, d4.loss_bbox: 1.5475, d5.loss_cls: 587.6507, d5.loss_bbox: 1.6329, d0.loss_traj_cls: 0.0740, d0.loss_traj: 5.9818, d1.loss_traj_cls: 0.0568, d1.loss_traj: 6.0350, d2.loss_traj_cls: 0.0603, d2.loss_traj: 6.1227, d3.loss_traj_cls: 0.1057, d3.loss_traj: 6.0725, d4.loss_traj_cls: 0.0535, d4.loss_traj: 5.9761, d5.loss_traj_cls: 0.0608, d5.loss_traj: 6.0082, d0.loss_map_cls_all: 8.6862, d0.loss_map_pts_all: 5.1423, d0.loss_map_dir_all: 0.0948, d0.loss_map_cls: 8.6862, d0.loss_map_pts: 5.1423, d0.loss_map_dir: 0.0948, d1.loss_map_cls: 8.0316, d1.loss_map_pts: 5.1590, d1.loss_map_dir: 0.0945, d2.loss_map_cls: 8.5060, d2.loss_map_pts: 5.1856, d2.loss_map_dir: 0.0944, d3.loss_map_cls: 11.6284, d3.loss_map_pts: 5.2151, d3.loss_map_dir: 0.0945, d4.loss_map_cls: 11.5604, d4.loss_map_pts: 5.2728, d4.loss_map_dir: 0.0944, d5.loss_map_cls: 11.8443, d5.loss_map_pts: 5.3161, d5.loss_map_dir: 0.0943, loss: 4478.1880, grad_norm: inf +2026-02-24 02:50:08,993 - DriveTransformer - INFO - Epoch [1][2600/39528] lr: 1.000e-04, eta: 8 days, 17:35:49, time: 0.811, data_time: 0.038, memory: 18742, loss_cls: 675.3548, loss_bbox: 1.7056, loss_traj: 6.2075, loss_traj_cls: 0.1002, loss_map_cls: 8.8923, loss_map_pts: 5.6320, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 13.6886, d0.loss_plan_l1_fix_dist: 3.3057, d1.loss_plan_l1_fix_time: 13.9573, d1.loss_plan_l1_fix_dist: 4.3667, d2.loss_plan_l1_fix_time: 14.2926, d2.loss_plan_l1_fix_dist: 6.1297, d3.loss_plan_l1_fix_time: 14.7378, d3.loss_plan_l1_fix_dist: 8.0085, d4.loss_plan_l1_fix_time: 15.1325, d4.loss_plan_l1_fix_dist: 10.5718, d5.loss_plan_l1_fix_time: 15.5985, d5.loss_plan_l1_fix_dist: 13.2173, d6.loss_plan_l1_fix_time: 16.0445, d6.loss_plan_l1_fix_dist: 15.7801, d0.loss_cls_all: 462.1833, d0.loss_bbox_all: 1.6642, d0.loss_cls: 462.1833, d0.loss_bbox: 1.6642, d1.loss_cls: 503.0771, d1.loss_bbox: 1.6206, d2.loss_cls: 507.7562, d2.loss_bbox: 1.7097, d3.loss_cls: 577.0608, d3.loss_bbox: 1.6951, d4.loss_cls: 543.7392, d4.loss_bbox: 1.6188, d5.loss_cls: 607.7335, d5.loss_bbox: 1.7223, d0.loss_traj_cls: 0.0737, d0.loss_traj: 6.1916, d1.loss_traj_cls: 0.0617, d1.loss_traj: 6.2465, d2.loss_traj_cls: 0.0647, d2.loss_traj: 6.3205, d3.loss_traj_cls: 0.1148, d3.loss_traj: 6.2637, d4.loss_traj_cls: 0.0561, d4.loss_traj: 6.1690, d5.loss_traj_cls: 0.0624, d5.loss_traj: 6.2052, d0.loss_map_cls_all: 6.6002, d0.loss_map_pts_all: 5.2863, d0.loss_map_dir_all: 0.0949, d0.loss_map_cls: 6.6002, d0.loss_map_pts: 5.2863, d0.loss_map_dir: 0.0949, d1.loss_map_cls: 6.0555, d1.loss_map_pts: 5.3104, d1.loss_map_dir: 0.0948, d2.loss_map_cls: 6.5902, d2.loss_map_pts: 5.3510, d2.loss_map_dir: 0.0948, d3.loss_map_cls: 8.9320, d3.loss_map_pts: 5.3969, d3.loss_map_dir: 0.0947, d4.loss_map_cls: 8.9048, d4.loss_map_pts: 5.4791, d4.loss_map_dir: 0.0946, d5.loss_map_cls: 8.9795, d5.loss_map_pts: 5.5623, d5.loss_map_dir: 0.0946, loss: 4667.0751, grad_norm: inf +2026-02-24 02:50:48,562 - DriveTransformer - INFO - Epoch [1][2650/39528] lr: 1.000e-04, eta: 8 days, 17:33:22, time: 0.792, data_time: 0.038, memory: 18742, loss_cls: 689.3891, loss_bbox: 1.6469, loss_traj: 6.8991, loss_traj_cls: 0.0991, loss_map_cls: 11.4221, loss_map_pts: 5.3908, loss_map_dir: 0.0946, d0.loss_plan_l1_fix_time: 12.4939, d0.loss_plan_l1_fix_dist: 3.3680, d1.loss_plan_l1_fix_time: 12.8499, d1.loss_plan_l1_fix_dist: 4.3870, d2.loss_plan_l1_fix_time: 13.2655, d2.loss_plan_l1_fix_dist: 6.1049, d3.loss_plan_l1_fix_time: 13.7692, d3.loss_plan_l1_fix_dist: 7.9816, d4.loss_plan_l1_fix_time: 14.2221, d4.loss_plan_l1_fix_dist: 10.6580, d5.loss_plan_l1_fix_time: 14.7392, d5.loss_plan_l1_fix_dist: 13.4519, d6.loss_plan_l1_fix_time: 15.2370, d6.loss_plan_l1_fix_dist: 16.0918, d0.loss_cls_all: 478.1863, d0.loss_bbox_all: 1.6310, d0.loss_cls: 478.1863, d0.loss_bbox: 1.6310, d1.loss_cls: 519.5967, d1.loss_bbox: 1.5937, d2.loss_cls: 521.8408, d2.loss_bbox: 1.6844, d3.loss_cls: 599.6416, d3.loss_bbox: 1.6639, d4.loss_cls: 556.4461, d4.loss_bbox: 1.5812, d5.loss_cls: 628.7514, d5.loss_bbox: 1.6612, d0.loss_traj_cls: 0.0737, d0.loss_traj: 6.8758, d1.loss_traj_cls: 0.0595, d1.loss_traj: 6.9357, d2.loss_traj_cls: 0.0635, d2.loss_traj: 7.0237, d3.loss_traj_cls: 0.1096, d3.loss_traj: 6.9601, d4.loss_traj_cls: 0.0545, d4.loss_traj: 6.8535, d5.loss_traj_cls: 0.0608, d5.loss_traj: 6.8889, d0.loss_map_cls_all: 8.8184, d0.loss_map_pts_all: 5.1197, d0.loss_map_dir_all: 0.0948, d0.loss_map_cls: 8.8184, d0.loss_map_pts: 5.1197, d0.loss_map_dir: 0.0948, d1.loss_map_cls: 8.0947, d1.loss_map_pts: 5.1484, d1.loss_map_dir: 0.0946, d2.loss_map_cls: 8.5801, d2.loss_map_pts: 5.1858, d2.loss_map_dir: 0.0944, d3.loss_map_cls: 11.6423, d3.loss_map_pts: 5.2213, d3.loss_map_dir: 0.0945, d4.loss_map_cls: 11.5268, d4.loss_map_pts: 5.2853, d4.loss_map_dir: 0.0945, d5.loss_map_cls: 11.6919, d5.loss_map_pts: 5.3403, d5.loss_map_dir: 0.0946, loss: 4815.8714, grad_norm: inf +2026-02-24 02:51:29,282 - DriveTransformer - INFO - Epoch [1][2700/39528] lr: 1.000e-04, eta: 8 days, 17:37:35, time: 0.814, data_time: 0.038, memory: 18742, loss_cls: 671.2563, loss_bbox: 1.7396, loss_traj: 5.4099, loss_traj_cls: 0.0825, loss_map_cls: 8.3630, loss_map_pts: 5.3787, loss_map_dir: 0.0946, d0.loss_plan_l1_fix_time: 12.3430, d0.loss_plan_l1_fix_dist: 3.4968, d1.loss_plan_l1_fix_time: 12.6799, d1.loss_plan_l1_fix_dist: 4.5016, d2.loss_plan_l1_fix_time: 13.0677, d2.loss_plan_l1_fix_dist: 6.2485, d3.loss_plan_l1_fix_time: 13.5536, d3.loss_plan_l1_fix_dist: 8.1762, d4.loss_plan_l1_fix_time: 13.9937, d4.loss_plan_l1_fix_dist: 10.8546, d5.loss_plan_l1_fix_time: 14.4895, d5.loss_plan_l1_fix_dist: 13.6295, d6.loss_plan_l1_fix_time: 14.9683, d6.loss_plan_l1_fix_dist: 16.2494, d0.loss_cls_all: 458.2951, d0.loss_bbox_all: 1.6541, d0.loss_cls: 458.2951, d0.loss_bbox: 1.6541, d1.loss_cls: 508.7166, d1.loss_bbox: 1.6185, d2.loss_cls: 508.3837, d2.loss_bbox: 1.6960, d3.loss_cls: 573.4529, d3.loss_bbox: 1.6847, d4.loss_cls: 545.8383, d4.loss_bbox: 1.6276, d5.loss_cls: 608.3463, d5.loss_bbox: 1.7413, d0.loss_traj_cls: 0.0741, d0.loss_traj: 5.3862, d1.loss_traj_cls: 0.0600, d1.loss_traj: 5.4315, d2.loss_traj_cls: 0.0599, d2.loss_traj: 5.5109, d3.loss_traj_cls: 0.0991, d3.loss_traj: 5.4563, d4.loss_traj_cls: 0.0481, d4.loss_traj: 5.3582, d5.loss_traj_cls: 0.0513, d5.loss_traj: 5.3941, d0.loss_map_cls_all: 6.3266, d0.loss_map_pts_all: 5.0095, d0.loss_map_dir_all: 0.0948, d0.loss_map_cls: 6.3266, d0.loss_map_pts: 5.0095, d0.loss_map_dir: 0.0948, d1.loss_map_cls: 5.8108, d1.loss_map_pts: 5.0442, d1.loss_map_dir: 0.0947, d2.loss_map_cls: 6.2950, d2.loss_map_pts: 5.0921, d2.loss_map_dir: 0.0947, d3.loss_map_cls: 8.5849, d3.loss_map_pts: 5.1417, d3.loss_map_dir: 0.0947, d4.loss_map_cls: 8.5265, d4.loss_map_pts: 5.2232, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 8.5290, d5.loss_map_pts: 5.3029, d5.loss_map_dir: 0.0946, loss: 4643.3964, grad_norm: inf +2026-02-24 02:52:10,764 - DriveTransformer - INFO - Epoch [1][2750/39528] lr: 1.000e-04, eta: 8 days, 17:46:04, time: 0.830, data_time: 0.046, memory: 18742, loss_cls: 630.4120, loss_bbox: 1.7200, loss_traj: 4.7347, loss_traj_cls: 0.0937, loss_map_cls: 9.8999, loss_map_pts: 5.5402, loss_map_dir: 0.0946, d0.loss_plan_l1_fix_time: 9.5561, d0.loss_plan_l1_fix_dist: 3.5491, d1.loss_plan_l1_fix_time: 9.9647, d1.loss_plan_l1_fix_dist: 4.4529, d2.loss_plan_l1_fix_time: 10.4411, d2.loss_plan_l1_fix_dist: 6.1787, d3.loss_plan_l1_fix_time: 11.0223, d3.loss_plan_l1_fix_dist: 8.0243, d4.loss_plan_l1_fix_time: 11.5548, d4.loss_plan_l1_fix_dist: 10.7347, d5.loss_plan_l1_fix_time: 12.1454, d5.loss_plan_l1_fix_dist: 13.5634, d6.loss_plan_l1_fix_time: 12.7078, d6.loss_plan_l1_fix_dist: 16.1874, d0.loss_cls_all: 441.0313, d0.loss_bbox_all: 1.6256, d0.loss_cls: 441.0313, d0.loss_bbox: 1.6256, d1.loss_cls: 479.7695, d1.loss_bbox: 1.5872, d2.loss_cls: 480.2082, d2.loss_bbox: 1.6609, d3.loss_cls: 543.0829, d3.loss_bbox: 1.6603, d4.loss_cls: 509.8241, d4.loss_bbox: 1.6238, d5.loss_cls: 570.7520, d5.loss_bbox: 1.7174, d0.loss_traj_cls: 0.0734, d0.loss_traj: 4.7206, d1.loss_traj_cls: 0.0623, d1.loss_traj: 4.7526, d2.loss_traj_cls: 0.0649, d2.loss_traj: 4.8305, d3.loss_traj_cls: 0.1091, d3.loss_traj: 4.7947, d4.loss_traj_cls: 0.0539, d4.loss_traj: 4.6840, d5.loss_traj_cls: 0.0576, d5.loss_traj: 4.7378, d0.loss_map_cls_all: 7.8274, d0.loss_map_pts_all: 5.1160, d0.loss_map_dir_all: 0.0948, d0.loss_map_cls: 7.8274, d0.loss_map_pts: 5.1160, d0.loss_map_dir: 0.0948, d1.loss_map_cls: 7.4018, d1.loss_map_pts: 5.1653, d1.loss_map_dir: 0.0946, d2.loss_map_cls: 7.9618, d2.loss_map_pts: 5.2165, d2.loss_map_dir: 0.0945, d3.loss_map_cls: 10.4567, d3.loss_map_pts: 5.2659, d3.loss_map_dir: 0.0947, d4.loss_map_cls: 10.2225, d4.loss_map_pts: 5.3542, d4.loss_map_dir: 0.0946, d5.loss_map_cls: 10.1080, d5.loss_map_pts: 5.4480, d5.loss_map_dir: 0.0946, loss: 4397.8693, grad_norm: inf +2026-02-24 02:52:50,367 - DriveTransformer - INFO - Epoch [1][2800/39528] lr: 1.000e-04, eta: 8 days, 17:43:38, time: 0.792, data_time: 0.037, memory: 18742, loss_cls: 692.8715, loss_bbox: 1.6521, loss_traj: 5.8793, loss_traj_cls: 0.0947, loss_map_cls: 11.6480, loss_map_pts: 5.3482, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 12.9466, d0.loss_plan_l1_fix_dist: 3.3639, d1.loss_plan_l1_fix_time: 13.2563, d1.loss_plan_l1_fix_dist: 4.5151, d2.loss_plan_l1_fix_time: 13.6317, d2.loss_plan_l1_fix_dist: 6.2181, d3.loss_plan_l1_fix_time: 14.1132, d3.loss_plan_l1_fix_dist: 8.1038, d4.loss_plan_l1_fix_time: 14.5531, d4.loss_plan_l1_fix_dist: 10.7131, d5.loss_plan_l1_fix_time: 15.0575, d5.loss_plan_l1_fix_dist: 13.4278, d6.loss_plan_l1_fix_time: 15.5395, d6.loss_plan_l1_fix_dist: 16.0072, d0.loss_cls_all: 479.6602, d0.loss_bbox_all: 1.5943, d0.loss_cls: 479.6602, d0.loss_bbox: 1.5943, d1.loss_cls: 520.8706, d1.loss_bbox: 1.5546, d2.loss_cls: 521.3406, d2.loss_bbox: 1.6461, d3.loss_cls: 592.8152, d3.loss_bbox: 1.6328, d4.loss_cls: 558.3446, d4.loss_bbox: 1.5565, d5.loss_cls: 626.6015, d5.loss_bbox: 1.6585, d0.loss_traj_cls: 0.0747, d0.loss_traj: 5.8631, d1.loss_traj_cls: 0.0624, d1.loss_traj: 5.9180, d2.loss_traj_cls: 0.0662, d2.loss_traj: 5.9906, d3.loss_traj_cls: 0.1093, d3.loss_traj: 5.9341, d4.loss_traj_cls: 0.0543, d4.loss_traj: 5.8463, d5.loss_traj_cls: 0.0583, d5.loss_traj: 5.8841, d0.loss_map_cls_all: 8.8475, d0.loss_map_pts_all: 5.1228, d0.loss_map_dir_all: 0.0950, d0.loss_map_cls: 8.8475, d0.loss_map_pts: 5.1228, d0.loss_map_dir: 0.0950, d1.loss_map_cls: 8.2183, d1.loss_map_pts: 5.1453, d1.loss_map_dir: 0.0949, d2.loss_map_cls: 8.7898, d2.loss_map_pts: 5.1754, d2.loss_map_dir: 0.0947, d3.loss_map_cls: 12.0162, d3.loss_map_pts: 5.2041, d3.loss_map_dir: 0.0948, d4.loss_map_cls: 11.8723, d4.loss_map_pts: 5.2527, d4.loss_map_dir: 0.0948, d5.loss_map_cls: 11.8847, d5.loss_map_pts: 5.2991, d5.loss_map_dir: 0.0948, loss: 4812.8890, grad_norm: inf +2026-02-24 02:53:30,808 - DriveTransformer - INFO - Epoch [1][2850/39528] lr: 1.000e-04, eta: 8 days, 17:45:53, time: 0.809, data_time: 0.039, memory: 18742, loss_cls: 712.0415, loss_bbox: 1.7074, loss_traj: 5.5128, loss_traj_cls: 0.0857, loss_map_cls: 9.0038, loss_map_pts: 5.5262, loss_map_dir: 0.0948, d0.loss_plan_l1_fix_time: 12.2427, d0.loss_plan_l1_fix_dist: 3.3552, d1.loss_plan_l1_fix_time: 12.5777, d1.loss_plan_l1_fix_dist: 4.4026, d2.loss_plan_l1_fix_time: 12.9875, d2.loss_plan_l1_fix_dist: 6.1407, d3.loss_plan_l1_fix_time: 13.4921, d3.loss_plan_l1_fix_dist: 7.9666, d4.loss_plan_l1_fix_time: 13.9498, d4.loss_plan_l1_fix_dist: 10.5527, d5.loss_plan_l1_fix_time: 14.4711, d5.loss_plan_l1_fix_dist: 13.2751, d6.loss_plan_l1_fix_time: 14.9649, d6.loss_plan_l1_fix_dist: 15.8739, d0.loss_cls_all: 492.9282, d0.loss_bbox_all: 1.6385, d0.loss_cls: 492.9282, d0.loss_bbox: 1.6385, d1.loss_cls: 541.4025, d1.loss_bbox: 1.6105, d2.loss_cls: 546.0123, d2.loss_bbox: 1.6908, d3.loss_cls: 615.4717, d3.loss_bbox: 1.6706, d4.loss_cls: 577.7014, d4.loss_bbox: 1.6197, d5.loss_cls: 643.1211, d5.loss_bbox: 1.7136, d0.loss_traj_cls: 0.0747, d0.loss_traj: 5.5091, d1.loss_traj_cls: 0.0607, d1.loss_traj: 5.5543, d2.loss_traj_cls: 0.0617, d2.loss_traj: 5.6283, d3.loss_traj_cls: 0.1018, d3.loss_traj: 5.5777, d4.loss_traj_cls: 0.0507, d4.loss_traj: 5.4751, d5.loss_traj_cls: 0.0525, d5.loss_traj: 5.5115, d0.loss_map_cls_all: 6.6869, d0.loss_map_pts_all: 5.1942, d0.loss_map_dir_all: 0.0950, d0.loss_map_cls: 6.6869, d0.loss_map_pts: 5.1942, d0.loss_map_dir: 0.0950, d1.loss_map_cls: 6.2008, d1.loss_map_pts: 5.2224, d1.loss_map_dir: 0.0949, d2.loss_map_cls: 6.7750, d2.loss_map_pts: 5.2642, d2.loss_map_dir: 0.0947, d3.loss_map_cls: 9.1797, d3.loss_map_pts: 5.3060, d3.loss_map_dir: 0.0948, d4.loss_map_cls: 9.1430, d4.loss_map_pts: 5.3759, d4.loss_map_dir: 0.0949, d5.loss_map_cls: 9.1526, d5.loss_map_pts: 5.4507, d5.loss_map_dir: 0.0948, loss: 4936.5272, grad_norm: inf +2026-02-24 02:54:08,823 - DriveTransformer - INFO - Epoch [1][2900/39528] lr: 1.000e-04, eta: 8 days, 17:34:52, time: 0.760, data_time: 0.039, memory: 18742, loss_cls: 737.4676, loss_bbox: 1.6090, loss_traj: 7.4839, loss_traj_cls: 0.0925, loss_map_cls: 15.1536, loss_map_pts: 5.1635, loss_map_dir: 0.0949, d0.loss_plan_l1_fix_time: 14.4444, d0.loss_plan_l1_fix_dist: 3.2673, d1.loss_plan_l1_fix_time: 14.6952, d1.loss_plan_l1_fix_dist: 4.3528, d2.loss_plan_l1_fix_time: 15.0069, d2.loss_plan_l1_fix_dist: 6.1385, d3.loss_plan_l1_fix_time: 15.4154, d3.loss_plan_l1_fix_dist: 7.9826, d4.loss_plan_l1_fix_time: 15.7796, d4.loss_plan_l1_fix_dist: 10.5191, d5.loss_plan_l1_fix_time: 16.2120, d5.loss_plan_l1_fix_dist: 13.2181, d6.loss_plan_l1_fix_time: 16.6311, d6.loss_plan_l1_fix_dist: 15.8018, d0.loss_cls_all: 511.7539, d0.loss_bbox_all: 1.5837, d0.loss_cls: 511.7539, d0.loss_bbox: 1.5837, d1.loss_cls: 564.2552, d1.loss_bbox: 1.5293, d2.loss_cls: 564.9665, d2.loss_bbox: 1.6274, d3.loss_cls: 637.9442, d3.loss_bbox: 1.6122, d4.loss_cls: 598.2414, d4.loss_bbox: 1.4987, d5.loss_cls: 667.8863, d5.loss_bbox: 1.6295, d0.loss_traj_cls: 0.0743, d0.loss_traj: 7.4457, d1.loss_traj_cls: 0.0612, d1.loss_traj: 7.5109, d2.loss_traj_cls: 0.0639, d2.loss_traj: 7.5892, d3.loss_traj_cls: 0.1087, d3.loss_traj: 7.5199, d4.loss_traj_cls: 0.0543, d4.loss_traj: 7.4423, d5.loss_traj_cls: 0.0588, d5.loss_traj: 7.4751, d0.loss_map_cls_all: 11.3179, d0.loss_map_pts_all: 5.0163, d0.loss_map_dir_all: 0.0956, d0.loss_map_cls: 11.3179, d0.loss_map_pts: 5.0163, d0.loss_map_dir: 0.0956, d1.loss_map_cls: 10.5956, d1.loss_map_pts: 5.0273, d1.loss_map_dir: 0.0954, d2.loss_map_cls: 11.3759, d2.loss_map_pts: 5.0396, d2.loss_map_dir: 0.0951, d3.loss_map_cls: 15.4160, d3.loss_map_pts: 5.0529, d3.loss_map_dir: 0.0950, d4.loss_map_cls: 15.3040, d4.loss_map_pts: 5.0888, d4.loss_map_dir: 0.0950, d5.loss_map_cls: 15.3353, d5.loss_map_pts: 5.1273, d5.loss_map_dir: 0.0949, loss: 5176.4976, grad_norm: inf +2026-02-24 02:54:47,561 - DriveTransformer - INFO - Epoch [1][2950/39528] lr: 1.000e-04, eta: 8 days, 17:28:03, time: 0.775, data_time: 0.041, memory: 18742, loss_cls: 682.0694, loss_bbox: 1.6245, loss_traj: 6.2847, loss_traj_cls: 0.0970, loss_map_cls: 11.8036, loss_map_pts: 5.3921, loss_map_dir: 0.0948, d0.loss_plan_l1_fix_time: 11.8860, d0.loss_plan_l1_fix_dist: 3.4351, d1.loss_plan_l1_fix_time: 12.2336, d1.loss_plan_l1_fix_dist: 4.4272, d2.loss_plan_l1_fix_time: 12.6436, d2.loss_plan_l1_fix_dist: 6.2045, d3.loss_plan_l1_fix_time: 13.1549, d3.loss_plan_l1_fix_dist: 8.1091, d4.loss_plan_l1_fix_time: 13.6118, d4.loss_plan_l1_fix_dist: 10.8715, d5.loss_plan_l1_fix_time: 14.1219, d5.loss_plan_l1_fix_dist: 13.7376, d6.loss_plan_l1_fix_time: 14.5974, d6.loss_plan_l1_fix_dist: 16.4115, d0.loss_cls_all: 471.4860, d0.loss_bbox_all: 1.6128, d0.loss_cls: 471.4860, d0.loss_bbox: 1.6128, d1.loss_cls: 510.9769, d1.loss_bbox: 1.5605, d2.loss_cls: 515.5748, d2.loss_bbox: 1.6445, d3.loss_cls: 585.6448, d3.loss_bbox: 1.6316, d4.loss_cls: 548.5546, d4.loss_bbox: 1.5238, d5.loss_cls: 617.9242, d5.loss_bbox: 1.6421, d0.loss_traj_cls: 0.0741, d0.loss_traj: 6.2650, d1.loss_traj_cls: 0.0606, d1.loss_traj: 6.3261, d2.loss_traj_cls: 0.0634, d2.loss_traj: 6.4014, d3.loss_traj_cls: 0.1100, d3.loss_traj: 6.3418, d4.loss_traj_cls: 0.0542, d4.loss_traj: 6.2545, d5.loss_traj_cls: 0.0578, d5.loss_traj: 6.2916, d0.loss_map_cls_all: 8.8007, d0.loss_map_pts_all: 5.0796, d0.loss_map_dir_all: 0.0949, d0.loss_map_cls: 8.8007, d0.loss_map_pts: 5.0796, d0.loss_map_dir: 0.0949, d1.loss_map_cls: 8.2386, d1.loss_map_pts: 5.1093, d1.loss_map_dir: 0.0947, d2.loss_map_cls: 8.9045, d2.loss_map_pts: 5.1545, d2.loss_map_dir: 0.0946, d3.loss_map_cls: 12.0688, d3.loss_map_pts: 5.1966, d3.loss_map_dir: 0.0947, d4.loss_map_cls: 11.8898, d4.loss_map_pts: 5.2648, d4.loss_map_dir: 0.0946, d5.loss_map_cls: 11.9237, d5.loss_map_pts: 5.3273, d5.loss_map_dir: 0.0947, loss: 4741.4890, grad_norm: inf +2026-02-24 02:55:24,485 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 02:55:24,485 - DriveTransformer - INFO - Epoch [1][3000/39528] lr: 1.000e-04, eta: 8 days, 17:11:59, time: 0.739, data_time: 0.041, memory: 18742, loss_cls: 678.7787, loss_bbox: 1.6722, loss_traj: 5.5236, loss_traj_cls: 0.0887, loss_map_cls: 11.6251, loss_map_pts: 5.6352, loss_map_dir: 0.0948, d0.loss_plan_l1_fix_time: 11.8488, d0.loss_plan_l1_fix_dist: 3.4836, d1.loss_plan_l1_fix_time: 12.2032, d1.loss_plan_l1_fix_dist: 4.4874, d2.loss_plan_l1_fix_time: 12.6160, d2.loss_plan_l1_fix_dist: 6.2752, d3.loss_plan_l1_fix_time: 13.1294, d3.loss_plan_l1_fix_dist: 8.2522, d4.loss_plan_l1_fix_time: 13.5941, d4.loss_plan_l1_fix_dist: 11.0667, d5.loss_plan_l1_fix_time: 14.1199, d5.loss_plan_l1_fix_dist: 14.0224, d6.loss_plan_l1_fix_time: 14.6090, d6.loss_plan_l1_fix_dist: 16.7655, d0.loss_cls_all: 470.2006, d0.loss_bbox_all: 1.6047, d0.loss_cls: 470.2006, d0.loss_bbox: 1.6047, d1.loss_cls: 514.1767, d1.loss_bbox: 1.5630, d2.loss_cls: 514.9904, d2.loss_bbox: 1.6629, d3.loss_cls: 582.2122, d3.loss_bbox: 1.6451, d4.loss_cls: 547.5591, d4.loss_bbox: 1.5761, d5.loss_cls: 613.2819, d5.loss_bbox: 1.6745, d0.loss_traj_cls: 0.0737, d0.loss_traj: 5.4972, d1.loss_traj_cls: 0.0625, d1.loss_traj: 5.5520, d2.loss_traj_cls: 0.0629, d2.loss_traj: 5.6205, d3.loss_traj_cls: 0.1068, d3.loss_traj: 5.5719, d4.loss_traj_cls: 0.0510, d4.loss_traj: 5.4717, d5.loss_traj_cls: 0.0535, d5.loss_traj: 5.5200, d0.loss_map_cls_all: 8.9157, d0.loss_map_pts_all: 5.3271, d0.loss_map_dir_all: 0.0950, d0.loss_map_cls: 8.9157, d0.loss_map_pts: 5.3271, d0.loss_map_dir: 0.0950, d1.loss_map_cls: 8.5195, d1.loss_map_pts: 5.3595, d1.loss_map_dir: 0.0949, d2.loss_map_cls: 9.1774, d2.loss_map_pts: 5.3977, d2.loss_map_dir: 0.0948, d3.loss_map_cls: 12.2357, d3.loss_map_pts: 5.4377, d3.loss_map_dir: 0.0949, d4.loss_map_cls: 11.9925, d4.loss_map_pts: 5.5089, d4.loss_map_dir: 0.0949, d5.loss_map_cls: 11.8866, d5.loss_map_pts: 5.5710, d5.loss_map_dir: 0.0947, loss: 4727.7245, grad_norm: inf +2026-02-24 02:56:05,473 - DriveTransformer - INFO - Epoch [1][3050/39528] lr: 1.000e-04, eta: 8 days, 17:17:18, time: 0.820, data_time: 0.037, memory: 18742, loss_cls: 666.0365, loss_bbox: 1.6303, loss_traj: 5.5656, loss_traj_cls: 0.0885, loss_map_cls: 10.4233, loss_map_pts: 5.3980, loss_map_dir: 0.0948, d0.loss_plan_l1_fix_time: 12.6159, d0.loss_plan_l1_fix_dist: 3.3578, d1.loss_plan_l1_fix_time: 12.9535, d1.loss_plan_l1_fix_dist: 4.4424, d2.loss_plan_l1_fix_time: 13.3558, d2.loss_plan_l1_fix_dist: 6.0576, d3.loss_plan_l1_fix_time: 13.8571, d3.loss_plan_l1_fix_dist: 7.9063, d4.loss_plan_l1_fix_time: 14.3051, d4.loss_plan_l1_fix_dist: 10.5139, d5.loss_plan_l1_fix_time: 14.8070, d5.loss_plan_l1_fix_dist: 13.1774, d6.loss_plan_l1_fix_time: 15.2766, d6.loss_plan_l1_fix_dist: 15.6964, d0.loss_cls_all: 457.4282, d0.loss_bbox_all: 1.6016, d0.loss_cls: 457.4282, d0.loss_bbox: 1.6016, d1.loss_cls: 501.7577, d1.loss_bbox: 1.5516, d2.loss_cls: 503.6873, d2.loss_bbox: 1.6337, d3.loss_cls: 576.0775, d3.loss_bbox: 1.6241, d4.loss_cls: 540.4528, d4.loss_bbox: 1.5445, d5.loss_cls: 605.0034, d5.loss_bbox: 1.6385, d0.loss_traj_cls: 0.0741, d0.loss_traj: 5.5445, d1.loss_traj_cls: 0.0618, d1.loss_traj: 5.6020, d2.loss_traj_cls: 0.0614, d2.loss_traj: 5.6813, d3.loss_traj_cls: 0.1059, d3.loss_traj: 5.6229, d4.loss_traj_cls: 0.0512, d4.loss_traj: 5.5212, d5.loss_traj_cls: 0.0544, d5.loss_traj: 5.5584, d0.loss_map_cls_all: 7.7739, d0.loss_map_pts_all: 5.1253, d0.loss_map_dir_all: 0.0951, d0.loss_map_cls: 7.7739, d0.loss_map_pts: 5.1253, d0.loss_map_dir: 0.0951, d1.loss_map_cls: 7.2421, d1.loss_map_pts: 5.1535, d1.loss_map_dir: 0.0949, d2.loss_map_cls: 7.9067, d2.loss_map_pts: 5.1830, d2.loss_map_dir: 0.0947, d3.loss_map_cls: 10.5893, d3.loss_map_pts: 5.2176, d3.loss_map_dir: 0.0949, d4.loss_map_cls: 10.5546, d4.loss_map_pts: 5.2801, d4.loss_map_dir: 0.0949, d5.loss_map_cls: 10.5797, d5.loss_map_pts: 5.3377, d5.loss_map_dir: 0.0948, loss: 4634.0361, grad_norm: inf +2026-02-24 02:56:44,869 - DriveTransformer - INFO - Epoch [1][3100/39528] lr: 1.000e-04, eta: 8 days, 17:14:22, time: 0.788, data_time: 0.037, memory: 18742, loss_cls: 653.9211, loss_bbox: 1.7590, loss_traj: 5.4966, loss_traj_cls: 0.0963, loss_map_cls: 9.5310, loss_map_pts: 5.3753, loss_map_dir: 0.0946, d0.loss_plan_l1_fix_time: 12.0714, d0.loss_plan_l1_fix_dist: 3.4794, d1.loss_plan_l1_fix_time: 12.4054, d1.loss_plan_l1_fix_dist: 4.5371, d2.loss_plan_l1_fix_time: 12.8125, d2.loss_plan_l1_fix_dist: 6.3193, d3.loss_plan_l1_fix_time: 13.3208, d3.loss_plan_l1_fix_dist: 8.2547, d4.loss_plan_l1_fix_time: 13.7667, d4.loss_plan_l1_fix_dist: 11.0352, d5.loss_plan_l1_fix_time: 14.2794, d5.loss_plan_l1_fix_dist: 13.8998, d6.loss_plan_l1_fix_time: 14.7670, d6.loss_plan_l1_fix_dist: 16.6055, d0.loss_cls_all: 446.4154, d0.loss_bbox_all: 1.6751, d0.loss_cls: 446.4154, d0.loss_bbox: 1.6751, d1.loss_cls: 493.4747, d1.loss_bbox: 1.6424, d2.loss_cls: 491.3610, d2.loss_bbox: 1.7070, d3.loss_cls: 556.1330, d3.loss_bbox: 1.7015, d4.loss_cls: 524.1483, d4.loss_bbox: 1.6500, d5.loss_cls: 591.3860, d5.loss_bbox: 1.7603, d0.loss_traj_cls: 0.0733, d0.loss_traj: 5.4674, d1.loss_traj_cls: 0.0615, d1.loss_traj: 5.5087, d2.loss_traj_cls: 0.0630, d2.loss_traj: 5.5865, d3.loss_traj_cls: 0.1103, d3.loss_traj: 5.5432, d4.loss_traj_cls: 0.0539, d4.loss_traj: 5.4451, d5.loss_traj_cls: 0.0588, d5.loss_traj: 5.4850, d0.loss_map_cls_all: 7.2546, d0.loss_map_pts_all: 5.0119, d0.loss_map_dir_all: 0.0949, d0.loss_map_cls: 7.2546, d0.loss_map_pts: 5.0119, d0.loss_map_dir: 0.0949, d1.loss_map_cls: 6.6923, d1.loss_map_pts: 5.0530, d1.loss_map_dir: 0.0947, d2.loss_map_cls: 7.2716, d2.loss_map_pts: 5.1040, d2.loss_map_dir: 0.0946, d3.loss_map_cls: 9.7635, d3.loss_map_pts: 5.1433, d3.loss_map_dir: 0.0946, d4.loss_map_cls: 9.6638, d4.loss_map_pts: 5.2210, d4.loss_map_dir: 0.0946, d5.loss_map_cls: 9.6944, d5.loss_map_pts: 5.2983, d5.loss_map_dir: 0.0946, loss: 4522.5310, grad_norm: inf +2026-02-24 02:57:22,713 - DriveTransformer - INFO - Epoch [1][3150/39528] lr: 1.000e-04, eta: 8 days, 17:03:47, time: 0.757, data_time: 0.043, memory: 18742, loss_cls: 712.2393, loss_bbox: 1.6528, loss_traj: 6.5509, loss_traj_cls: 0.0923, loss_map_cls: 11.4091, loss_map_pts: 5.6461, loss_map_dir: 0.0950, d0.loss_plan_l1_fix_time: 11.9052, d0.loss_plan_l1_fix_dist: 3.3564, d1.loss_plan_l1_fix_time: 12.2209, d1.loss_plan_l1_fix_dist: 4.4118, d2.loss_plan_l1_fix_time: 12.6101, d2.loss_plan_l1_fix_dist: 6.1391, d3.loss_plan_l1_fix_time: 13.1040, d3.loss_plan_l1_fix_dist: 8.0216, d4.loss_plan_l1_fix_time: 13.5449, d4.loss_plan_l1_fix_dist: 10.6945, d5.loss_plan_l1_fix_time: 14.0540, d5.loss_plan_l1_fix_dist: 13.4900, d6.loss_plan_l1_fix_time: 14.5479, d6.loss_plan_l1_fix_dist: 16.1445, d0.loss_cls_all: 488.7711, d0.loss_bbox_all: 1.5935, d0.loss_cls: 488.7711, d0.loss_bbox: 1.5935, d1.loss_cls: 541.2393, d1.loss_bbox: 1.5477, d2.loss_cls: 541.4163, d2.loss_bbox: 1.6254, d3.loss_cls: 609.9513, d3.loss_bbox: 1.6280, d4.loss_cls: 572.7788, d4.loss_bbox: 1.5273, d5.loss_cls: 641.1192, d5.loss_bbox: 1.6591, d0.loss_traj_cls: 0.0737, d0.loss_traj: 6.5317, d1.loss_traj_cls: 0.0591, d1.loss_traj: 6.5912, d2.loss_traj_cls: 0.0634, d2.loss_traj: 6.6691, d3.loss_traj_cls: 0.1076, d3.loss_traj: 6.6040, d4.loss_traj_cls: 0.0528, d4.loss_traj: 6.5164, d5.loss_traj_cls: 0.0562, d5.loss_traj: 6.5507, d0.loss_map_cls_all: 8.5151, d0.loss_map_pts_all: 5.3965, d0.loss_map_dir_all: 0.0954, d0.loss_map_cls: 8.5151, d0.loss_map_pts: 5.3965, d0.loss_map_dir: 0.0954, d1.loss_map_cls: 7.9549, d1.loss_map_pts: 5.4195, d1.loss_map_dir: 0.0952, d2.loss_map_cls: 8.6391, d2.loss_map_pts: 5.4508, d2.loss_map_dir: 0.0951, d3.loss_map_cls: 11.7992, d3.loss_map_pts: 5.4890, d3.loss_map_dir: 0.0951, d4.loss_map_cls: 11.6092, d4.loss_map_pts: 5.5489, d4.loss_map_dir: 0.0949, d5.loss_map_cls: 11.6836, d5.loss_map_pts: 5.5997, d5.loss_map_dir: 0.0949, loss: 4934.7107, grad_norm: inf +2026-02-24 02:58:01,846 - DriveTransformer - INFO - Epoch [1][3200/39528] lr: 1.000e-04, eta: 8 days, 17:00:10, time: 0.784, data_time: 0.041, memory: 18742, loss_cls: 744.1280, loss_bbox: 1.6750, loss_traj: 6.3211, loss_traj_cls: 0.0879, loss_map_cls: 10.2496, loss_map_pts: 5.5207, loss_map_dir: 0.0949, d0.loss_plan_l1_fix_time: 11.6581, d0.loss_plan_l1_fix_dist: 3.3340, d1.loss_plan_l1_fix_time: 11.9663, d1.loss_plan_l1_fix_dist: 4.3457, d2.loss_plan_l1_fix_time: 12.3439, d2.loss_plan_l1_fix_dist: 5.9848, d3.loss_plan_l1_fix_time: 12.8286, d3.loss_plan_l1_fix_dist: 7.8367, d4.loss_plan_l1_fix_time: 13.2746, d4.loss_plan_l1_fix_dist: 10.4515, d5.loss_plan_l1_fix_time: 13.7867, d5.loss_plan_l1_fix_dist: 13.1572, d6.loss_plan_l1_fix_time: 14.2719, d6.loss_plan_l1_fix_dist: 15.6932, d0.loss_cls_all: 510.3733, d0.loss_bbox_all: 1.6243, d0.loss_cls: 510.3733, d0.loss_bbox: 1.6243, d1.loss_cls: 563.5864, d1.loss_bbox: 1.5812, d2.loss_cls: 559.7212, d2.loss_bbox: 1.6720, d3.loss_cls: 632.8142, d3.loss_bbox: 1.6641, d4.loss_cls: 600.5534, d4.loss_bbox: 1.5754, d5.loss_cls: 674.4994, d5.loss_bbox: 1.6838, d0.loss_traj_cls: 0.0741, d0.loss_traj: 6.3077, d1.loss_traj_cls: 0.0624, d1.loss_traj: 6.3584, d2.loss_traj_cls: 0.0619, d2.loss_traj: 6.4326, d3.loss_traj_cls: 0.1069, d3.loss_traj: 6.3703, d4.loss_traj_cls: 0.0500, d4.loss_traj: 6.2910, d5.loss_traj_cls: 0.0534, d5.loss_traj: 6.3219, d0.loss_map_cls_all: 7.6816, d0.loss_map_pts_all: 5.2282, d0.loss_map_dir_all: 0.0953, d0.loss_map_cls: 7.6816, d0.loss_map_pts: 5.2282, d0.loss_map_dir: 0.0953, d1.loss_map_cls: 7.1729, d1.loss_map_pts: 5.2514, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 7.8068, d2.loss_map_pts: 5.2922, d2.loss_map_dir: 0.0949, d3.loss_map_cls: 10.4423, d3.loss_map_pts: 5.3359, d3.loss_map_dir: 0.0949, d4.loss_map_cls: 10.4643, d4.loss_map_pts: 5.4030, d4.loss_map_dir: 0.0949, d5.loss_map_cls: 10.3835, d5.loss_map_pts: 5.4621, d5.loss_map_dir: 0.0948, loss: 5120.3461, grad_norm: inf +2026-02-24 02:58:39,381 - DriveTransformer - INFO - Epoch [1][3250/39528] lr: 1.000e-04, eta: 8 days, 16:48:14, time: 0.749, data_time: 0.036, memory: 18742, loss_cls: 751.8855, loss_bbox: 1.6321, loss_traj: 7.1488, loss_traj_cls: 0.0876, loss_map_cls: 14.0787, loss_map_pts: 5.4874, loss_map_dir: 0.0948, d0.loss_plan_l1_fix_time: 13.6148, d0.loss_plan_l1_fix_dist: 3.2300, d1.loss_plan_l1_fix_time: 13.8838, d1.loss_plan_l1_fix_dist: 4.2650, d2.loss_plan_l1_fix_time: 14.2168, d2.loss_plan_l1_fix_dist: 5.9770, d3.loss_plan_l1_fix_time: 14.6628, d3.loss_plan_l1_fix_dist: 7.8661, d4.loss_plan_l1_fix_time: 15.0605, d4.loss_plan_l1_fix_dist: 10.4596, d5.loss_plan_l1_fix_time: 15.5242, d5.loss_plan_l1_fix_dist: 13.1770, d6.loss_plan_l1_fix_time: 15.9707, d6.loss_plan_l1_fix_dist: 15.7474, d0.loss_cls_all: 522.7574, d0.loss_bbox_all: 1.5959, d0.loss_cls: 522.7574, d0.loss_bbox: 1.5959, d1.loss_cls: 576.8133, d1.loss_bbox: 1.5565, d2.loss_cls: 574.9544, d2.loss_bbox: 1.6581, d3.loss_cls: 649.1044, d3.loss_bbox: 1.6438, d4.loss_cls: 612.2553, d4.loss_bbox: 1.5408, d5.loss_cls: 681.3709, d5.loss_bbox: 1.6485, d0.loss_traj_cls: 0.0735, d0.loss_traj: 7.1099, d1.loss_traj_cls: 0.0592, d1.loss_traj: 7.1701, d2.loss_traj_cls: 0.0592, d2.loss_traj: 7.2487, d3.loss_traj_cls: 0.1043, d3.loss_traj: 7.1901, d4.loss_traj_cls: 0.0501, d4.loss_traj: 7.1045, d5.loss_traj_cls: 0.0532, d5.loss_traj: 7.1359, d0.loss_map_cls_all: 10.3586, d0.loss_map_pts_all: 5.2531, d0.loss_map_dir_all: 0.0953, d0.loss_map_cls: 10.3586, d0.loss_map_pts: 5.2531, d0.loss_map_dir: 0.0953, d1.loss_map_cls: 9.6350, d1.loss_map_pts: 5.2718, d1.loss_map_dir: 0.0952, d2.loss_map_cls: 10.4528, d2.loss_map_pts: 5.3060, d2.loss_map_dir: 0.0949, d3.loss_map_cls: 14.1812, d3.loss_map_pts: 5.3422, d3.loss_map_dir: 0.0948, d4.loss_map_cls: 14.1843, d4.loss_map_pts: 5.3988, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 14.2196, d5.loss_map_pts: 5.4468, d5.loss_map_dir: 0.0947, loss: 5260.0082, grad_norm: inf +2026-02-24 02:59:20,362 - DriveTransformer - INFO - Epoch [1][3300/39528] lr: 1.000e-04, eta: 8 days, 16:53:26, time: 0.820, data_time: 0.040, memory: 18742, loss_cls: 659.9099, loss_bbox: 1.5988, loss_traj: 5.1318, loss_traj_cls: 0.0924, loss_map_cls: 10.5569, loss_map_pts: 5.6309, loss_map_dir: 0.0948, d0.loss_plan_l1_fix_time: 11.6045, d0.loss_plan_l1_fix_dist: 3.4602, d1.loss_plan_l1_fix_time: 11.9649, d1.loss_plan_l1_fix_dist: 4.5230, d2.loss_plan_l1_fix_time: 12.3872, d2.loss_plan_l1_fix_dist: 6.1467, d3.loss_plan_l1_fix_time: 12.9094, d3.loss_plan_l1_fix_dist: 7.9961, d4.loss_plan_l1_fix_time: 13.3926, d4.loss_plan_l1_fix_dist: 10.6052, d5.loss_plan_l1_fix_time: 13.9396, d5.loss_plan_l1_fix_dist: 13.3342, d6.loss_plan_l1_fix_time: 14.4543, d6.loss_plan_l1_fix_dist: 15.8848, d0.loss_cls_all: 450.1158, d0.loss_bbox_all: 1.5746, d0.loss_cls: 450.1158, d0.loss_bbox: 1.5746, d1.loss_cls: 495.3014, d1.loss_bbox: 1.5262, d2.loss_cls: 495.5536, d2.loss_bbox: 1.6004, d3.loss_cls: 566.5910, d3.loss_bbox: 1.5921, d4.loss_cls: 532.9789, d4.loss_bbox: 1.5114, d5.loss_cls: 596.0433, d5.loss_bbox: 1.6136, d0.loss_traj_cls: 0.0741, d0.loss_traj: 5.1102, d1.loss_traj_cls: 0.0612, d1.loss_traj: 5.1532, d2.loss_traj_cls: 0.0621, d2.loss_traj: 5.2278, d3.loss_traj_cls: 0.1055, d3.loss_traj: 5.1878, d4.loss_traj_cls: 0.0541, d4.loss_traj: 5.0826, d5.loss_traj_cls: 0.0577, d5.loss_traj: 5.1289, d0.loss_map_cls_all: 7.9166, d0.loss_map_pts_all: 5.3258, d0.loss_map_dir_all: 0.0950, d0.loss_map_cls: 7.9166, d0.loss_map_pts: 5.3258, d0.loss_map_dir: 0.0950, d1.loss_map_cls: 7.3031, d1.loss_map_pts: 5.3544, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 8.0577, d2.loss_map_pts: 5.3924, d2.loss_map_dir: 0.0948, d3.loss_map_cls: 10.7376, d3.loss_map_pts: 5.4345, d3.loss_map_dir: 0.0949, d4.loss_map_cls: 10.6283, d4.loss_map_pts: 5.5010, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 10.6391, d5.loss_map_pts: 5.5665, d5.loss_map_dir: 0.0948, loss: 4566.3798, grad_norm: inf +2026-02-24 02:59:58,966 - DriveTransformer - INFO - Epoch [1][3350/39528] lr: 1.000e-04, eta: 8 days, 16:47:22, time: 0.773, data_time: 0.045, memory: 18742, loss_cls: 750.2279, loss_bbox: 1.6264, loss_traj: 6.4884, loss_traj_cls: 0.0938, loss_map_cls: 10.3281, loss_map_pts: 5.4346, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 12.2356, d0.loss_plan_l1_fix_dist: 3.1155, d1.loss_plan_l1_fix_time: 12.5345, d1.loss_plan_l1_fix_dist: 4.1943, d2.loss_plan_l1_fix_time: 12.8995, d2.loss_plan_l1_fix_dist: 5.7756, d3.loss_plan_l1_fix_time: 13.3616, d3.loss_plan_l1_fix_dist: 7.5532, d4.loss_plan_l1_fix_time: 13.7814, d4.loss_plan_l1_fix_dist: 10.0559, d5.loss_plan_l1_fix_time: 14.2569, d5.loss_plan_l1_fix_dist: 12.6607, d6.loss_plan_l1_fix_time: 14.7105, d6.loss_plan_l1_fix_dist: 15.1387, d0.loss_cls_all: 505.5450, d0.loss_bbox_all: 1.6002, d0.loss_cls: 505.5450, d0.loss_bbox: 1.6002, d1.loss_cls: 553.9451, d1.loss_bbox: 1.5434, d2.loss_cls: 559.4621, d2.loss_bbox: 1.6288, d3.loss_cls: 637.5134, d3.loss_bbox: 1.6185, d4.loss_cls: 604.5910, d4.loss_bbox: 1.5190, d5.loss_cls: 684.3061, d5.loss_bbox: 1.6342, d0.loss_traj_cls: 0.0746, d0.loss_traj: 6.4713, d1.loss_traj_cls: 0.0612, d1.loss_traj: 6.5248, d2.loss_traj_cls: 0.0612, d2.loss_traj: 6.6014, d3.loss_traj_cls: 0.1034, d3.loss_traj: 6.5329, d4.loss_traj_cls: 0.0529, d4.loss_traj: 6.4513, d5.loss_traj_cls: 0.0568, d5.loss_traj: 6.4890, d0.loss_map_cls_all: 7.7580, d0.loss_map_pts_all: 5.1629, d0.loss_map_dir_all: 0.0951, d0.loss_map_cls: 7.7580, d0.loss_map_pts: 5.1629, d0.loss_map_dir: 0.0951, d1.loss_map_cls: 7.2480, d1.loss_map_pts: 5.1893, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 7.8266, d2.loss_map_pts: 5.2243, d2.loss_map_dir: 0.0948, d3.loss_map_cls: 10.4998, d3.loss_map_pts: 5.2635, d3.loss_map_dir: 0.0948, d4.loss_map_cls: 10.4745, d4.loss_map_pts: 5.3258, d4.loss_map_dir: 0.0948, d5.loss_map_cls: 10.5340, d5.loss_map_pts: 5.3816, d5.loss_map_dir: 0.0947, loss: 5127.5745, grad_norm: inf +2026-02-24 03:00:39,881 - DriveTransformer - INFO - Epoch [1][3400/39528] lr: 1.000e-04, eta: 8 days, 16:51:58, time: 0.818, data_time: 0.043, memory: 18742, loss_cls: 739.1428, loss_bbox: 1.6864, loss_traj: 6.3445, loss_traj_cls: 0.1005, loss_map_cls: 11.2732, loss_map_pts: 5.5678, loss_map_dir: 0.0946, d0.loss_plan_l1_fix_time: 11.2987, d0.loss_plan_l1_fix_dist: 3.4050, d1.loss_plan_l1_fix_time: 11.7126, d1.loss_plan_l1_fix_dist: 4.4662, d2.loss_plan_l1_fix_time: 12.1796, d2.loss_plan_l1_fix_dist: 6.2606, d3.loss_plan_l1_fix_time: 12.7387, d3.loss_plan_l1_fix_dist: 8.1476, d4.loss_plan_l1_fix_time: 13.2447, d4.loss_plan_l1_fix_dist: 10.8807, d5.loss_plan_l1_fix_time: 13.8208, d5.loss_plan_l1_fix_dist: 13.7484, d6.loss_plan_l1_fix_time: 14.3688, d6.loss_plan_l1_fix_dist: 16.3964, d0.loss_cls_all: 503.4271, d0.loss_bbox_all: 1.6509, d0.loss_cls: 503.4271, d0.loss_bbox: 1.6509, d1.loss_cls: 554.9924, d1.loss_bbox: 1.6036, d2.loss_cls: 558.4849, d2.loss_bbox: 1.6789, d3.loss_cls: 640.1116, d3.loss_bbox: 1.6700, d4.loss_cls: 598.4127, d4.loss_bbox: 1.5864, d5.loss_cls: 675.4072, d5.loss_bbox: 1.6936, d0.loss_traj_cls: 0.0752, d0.loss_traj: 6.3069, d1.loss_traj_cls: 0.0596, d1.loss_traj: 6.3580, d2.loss_traj_cls: 0.0647, d2.loss_traj: 6.4605, d3.loss_traj_cls: 0.1086, d3.loss_traj: 6.4049, d4.loss_traj_cls: 0.0548, d4.loss_traj: 6.2881, d5.loss_traj_cls: 0.0608, d5.loss_traj: 6.3340, d0.loss_map_cls_all: 8.3672, d0.loss_map_pts_all: 5.2009, d0.loss_map_dir_all: 0.0950, d0.loss_map_cls: 8.3672, d0.loss_map_pts: 5.2009, d0.loss_map_dir: 0.0950, d1.loss_map_cls: 7.7120, d1.loss_map_pts: 5.2400, d1.loss_map_dir: 0.0949, d2.loss_map_cls: 8.3119, d2.loss_map_pts: 5.2882, d2.loss_map_dir: 0.0947, d3.loss_map_cls: 11.3816, d3.loss_map_pts: 5.3369, d3.loss_map_dir: 0.0946, d4.loss_map_cls: 11.3069, d4.loss_map_pts: 5.4171, d4.loss_map_dir: 0.0946, d5.loss_map_cls: 11.5264, d5.loss_map_pts: 5.4915, d5.loss_map_dir: 0.0946, loss: 5106.0642, grad_norm: inf +2026-02-24 03:01:18,713 - DriveTransformer - INFO - Epoch [1][3450/39528] lr: 1.000e-04, eta: 8 days, 16:47:00, time: 0.777, data_time: 0.042, memory: 18742, loss_cls: 747.1332, loss_bbox: 1.7035, loss_traj: 7.3048, loss_traj_cls: 0.0964, loss_map_cls: 11.8431, loss_map_pts: 5.3870, loss_map_dir: 0.0949, d0.loss_plan_l1_fix_time: 13.1222, d0.loss_plan_l1_fix_dist: 3.4226, d1.loss_plan_l1_fix_time: 13.4742, d1.loss_plan_l1_fix_dist: 4.5343, d2.loss_plan_l1_fix_time: 13.8711, d2.loss_plan_l1_fix_dist: 6.3115, d3.loss_plan_l1_fix_time: 14.3624, d3.loss_plan_l1_fix_dist: 8.1725, d4.loss_plan_l1_fix_time: 14.7999, d4.loss_plan_l1_fix_dist: 10.8867, d5.loss_plan_l1_fix_time: 15.3079, d5.loss_plan_l1_fix_dist: 13.7103, d6.loss_plan_l1_fix_time: 15.7948, d6.loss_plan_l1_fix_dist: 16.3422, d0.loss_cls_all: 505.6292, d0.loss_bbox_all: 1.6463, d0.loss_cls: 505.6292, d0.loss_bbox: 1.6463, d1.loss_cls: 556.2428, d1.loss_bbox: 1.6020, d2.loss_cls: 560.0852, d2.loss_bbox: 1.6895, d3.loss_cls: 644.8832, d3.loss_bbox: 1.6852, d4.loss_cls: 602.4695, d4.loss_bbox: 1.6228, d5.loss_cls: 677.2970, d5.loss_bbox: 1.7103, d0.loss_traj_cls: 0.0750, d0.loss_traj: 7.2813, d1.loss_traj_cls: 0.0620, d1.loss_traj: 7.3454, d2.loss_traj_cls: 0.0660, d2.loss_traj: 7.4293, d3.loss_traj_cls: 0.1115, d3.loss_traj: 7.3684, d4.loss_traj_cls: 0.0562, d4.loss_traj: 7.2699, d5.loss_traj_cls: 0.0599, d5.loss_traj: 7.3145, d0.loss_map_cls_all: 8.8954, d0.loss_map_pts_all: 5.1062, d0.loss_map_dir_all: 0.0955, d0.loss_map_cls: 8.8954, d0.loss_map_pts: 5.1062, d0.loss_map_dir: 0.0955, d1.loss_map_cls: 8.1262, d1.loss_map_pts: 5.1346, d1.loss_map_dir: 0.0952, d2.loss_map_cls: 8.7889, d2.loss_map_pts: 5.1756, d2.loss_map_dir: 0.0950, d3.loss_map_cls: 11.9565, d3.loss_map_pts: 5.2184, d3.loss_map_dir: 0.0950, d4.loss_map_cls: 11.9213, d4.loss_map_pts: 5.2788, d4.loss_map_dir: 0.0949, d5.loss_map_cls: 12.1010, d5.loss_map_pts: 5.3350, d5.loss_map_dir: 0.0949, loss: 5153.6590, grad_norm: inf +2026-02-24 03:02:00,237 - DriveTransformer - INFO - Epoch [1][3500/39528] lr: 1.000e-04, eta: 8 days, 16:54:17, time: 0.830, data_time: 0.051, memory: 18742, loss_cls: 713.9470, loss_bbox: 1.6368, loss_traj: 6.4673, loss_traj_cls: 0.0964, loss_map_cls: 10.6631, loss_map_pts: 5.5941, loss_map_dir: 0.0949, d0.loss_plan_l1_fix_time: 12.3867, d0.loss_plan_l1_fix_dist: 3.3168, d1.loss_plan_l1_fix_time: 12.7152, d1.loss_plan_l1_fix_dist: 4.3664, d2.loss_plan_l1_fix_time: 13.1006, d2.loss_plan_l1_fix_dist: 6.0202, d3.loss_plan_l1_fix_time: 13.5826, d3.loss_plan_l1_fix_dist: 7.8174, d4.loss_plan_l1_fix_time: 14.0208, d4.loss_plan_l1_fix_dist: 10.4080, d5.loss_plan_l1_fix_time: 14.5268, d5.loss_plan_l1_fix_dist: 13.0474, d6.loss_plan_l1_fix_time: 15.0031, d6.loss_plan_l1_fix_dist: 15.5475, d0.loss_cls_all: 488.3752, d0.loss_bbox_all: 1.5981, d0.loss_cls: 488.3752, d0.loss_bbox: 1.5981, d1.loss_cls: 531.5793, d1.loss_bbox: 1.5536, d2.loss_cls: 532.9375, d2.loss_bbox: 1.6394, d3.loss_cls: 610.1539, d3.loss_bbox: 1.6350, d4.loss_cls: 572.4916, d4.loss_bbox: 1.5504, d5.loss_cls: 647.9461, d5.loss_bbox: 1.6412, d0.loss_traj_cls: 0.0733, d0.loss_traj: 6.4334, d1.loss_traj_cls: 0.0601, d1.loss_traj: 6.4887, d2.loss_traj_cls: 0.0626, d2.loss_traj: 6.5794, d3.loss_traj_cls: 0.1086, d3.loss_traj: 6.5279, d4.loss_traj_cls: 0.0539, d4.loss_traj: 6.4307, d5.loss_traj_cls: 0.0586, d5.loss_traj: 6.4686, d0.loss_map_cls_all: 7.9013, d0.loss_map_pts_all: 5.3131, d0.loss_map_dir_all: 0.0951, d0.loss_map_cls: 7.9013, d0.loss_map_pts: 5.3131, d0.loss_map_dir: 0.0951, d1.loss_map_cls: 7.3610, d1.loss_map_pts: 5.3355, d1.loss_map_dir: 0.0949, d2.loss_map_cls: 8.0100, d2.loss_map_pts: 5.3669, d2.loss_map_dir: 0.0948, d3.loss_map_cls: 10.8626, d3.loss_map_pts: 5.4042, d3.loss_map_dir: 0.0949, d4.loss_map_cls: 10.8120, d4.loss_map_pts: 5.4740, d4.loss_map_dir: 0.0949, d5.loss_map_cls: 10.8519, d5.loss_map_pts: 5.5382, d5.loss_map_dir: 0.0949, loss: 4918.8887, grad_norm: inf +2026-02-24 03:02:39,605 - DriveTransformer - INFO - Epoch [1][3550/39528] lr: 1.000e-04, eta: 8 days, 16:51:47, time: 0.787, data_time: 0.037, memory: 18742, loss_cls: 672.3205, loss_bbox: 1.6482, loss_traj: 6.4380, loss_traj_cls: 0.0914, loss_map_cls: 8.5896, loss_map_pts: 5.5430, loss_map_dir: 0.0948, d0.loss_plan_l1_fix_time: 13.6625, d0.loss_plan_l1_fix_dist: 3.3193, d1.loss_plan_l1_fix_time: 13.9218, d1.loss_plan_l1_fix_dist: 4.3452, d2.loss_plan_l1_fix_time: 14.2539, d2.loss_plan_l1_fix_dist: 6.1042, d3.loss_plan_l1_fix_time: 14.6852, d3.loss_plan_l1_fix_dist: 8.0134, d4.loss_plan_l1_fix_time: 15.0741, d4.loss_plan_l1_fix_dist: 10.5774, d5.loss_plan_l1_fix_time: 15.5277, d5.loss_plan_l1_fix_dist: 13.2432, d6.loss_plan_l1_fix_time: 15.9596, d6.loss_plan_l1_fix_dist: 15.8163, d0.loss_cls_all: 460.4830, d0.loss_bbox_all: 1.6303, d0.loss_cls: 460.4830, d0.loss_bbox: 1.6303, d1.loss_cls: 507.8054, d1.loss_bbox: 1.5879, d2.loss_cls: 510.6510, d2.loss_bbox: 1.6627, d3.loss_cls: 577.6787, d3.loss_bbox: 1.6478, d4.loss_cls: 545.7004, d4.loss_bbox: 1.5514, d5.loss_cls: 607.2300, d5.loss_bbox: 1.6578, d0.loss_traj_cls: 0.0735, d0.loss_traj: 6.4079, d1.loss_traj_cls: 0.0619, d1.loss_traj: 6.4622, d2.loss_traj_cls: 0.0634, d2.loss_traj: 6.5481, d3.loss_traj_cls: 0.1097, d3.loss_traj: 6.4835, d4.loss_traj_cls: 0.0528, d4.loss_traj: 6.3993, d5.loss_traj_cls: 0.0557, d5.loss_traj: 6.4305, d0.loss_map_cls_all: 6.4667, d0.loss_map_pts_all: 5.2312, d0.loss_map_dir_all: 0.0951, d0.loss_map_cls: 6.4667, d0.loss_map_pts: 5.2312, d0.loss_map_dir: 0.0951, d1.loss_map_cls: 6.0149, d1.loss_map_pts: 5.2611, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 6.6031, d2.loss_map_pts: 5.3030, d2.loss_map_dir: 0.0947, d3.loss_map_cls: 8.9446, d3.loss_map_pts: 5.3471, d3.loss_map_dir: 0.0947, d4.loss_map_cls: 8.8312, d4.loss_map_pts: 5.4176, d4.loss_map_dir: 0.0948, d5.loss_map_cls: 8.7518, d5.loss_map_pts: 5.4830, d5.loss_map_dir: 0.0948, loss: 4669.7947, grad_norm: inf +2026-02-24 03:03:19,214 - DriveTransformer - INFO - Epoch [1][3600/39528] lr: 1.000e-04, eta: 8 days, 16:50:22, time: 0.792, data_time: 0.038, memory: 18742, loss_cls: 583.7035, loss_bbox: 1.6584, loss_traj: 6.2098, loss_traj_cls: 0.0945, loss_map_cls: 11.3682, loss_map_pts: 5.4762, loss_map_dir: 0.0948, d0.loss_plan_l1_fix_time: 12.3326, d0.loss_plan_l1_fix_dist: 3.3473, d1.loss_plan_l1_fix_time: 12.6609, d1.loss_plan_l1_fix_dist: 4.3439, d2.loss_plan_l1_fix_time: 13.0568, d2.loss_plan_l1_fix_dist: 5.9798, d3.loss_plan_l1_fix_time: 13.5484, d3.loss_plan_l1_fix_dist: 7.7997, d4.loss_plan_l1_fix_time: 13.9839, d4.loss_plan_l1_fix_dist: 10.3875, d5.loss_plan_l1_fix_time: 14.4897, d5.loss_plan_l1_fix_dist: 13.0674, d6.loss_plan_l1_fix_time: 14.9728, d6.loss_plan_l1_fix_dist: 15.6017, d0.loss_cls_all: 396.5822, d0.loss_bbox_all: 1.6223, d0.loss_cls: 396.5822, d0.loss_bbox: 1.6223, d1.loss_cls: 440.4206, d1.loss_bbox: 1.5844, d2.loss_cls: 443.7160, d2.loss_bbox: 1.6687, d3.loss_cls: 503.3274, d3.loss_bbox: 1.6510, d4.loss_cls: 472.3447, d4.loss_bbox: 1.5664, d5.loss_cls: 529.0685, d5.loss_bbox: 1.6724, d0.loss_traj_cls: 0.0735, d0.loss_traj: 6.1857, d1.loss_traj_cls: 0.0622, d1.loss_traj: 6.2408, d2.loss_traj_cls: 0.0645, d2.loss_traj: 6.3198, d3.loss_traj_cls: 0.1103, d3.loss_traj: 6.2700, d4.loss_traj_cls: 0.0531, d4.loss_traj: 6.1664, d5.loss_traj_cls: 0.0577, d5.loss_traj: 6.2055, d0.loss_map_cls_all: 8.5425, d0.loss_map_pts_all: 5.2312, d0.loss_map_dir_all: 0.0954, d0.loss_map_cls: 8.5425, d0.loss_map_pts: 5.2312, d0.loss_map_dir: 0.0954, d1.loss_map_cls: 7.7959, d1.loss_map_pts: 5.2512, d1.loss_map_dir: 0.0952, d2.loss_map_cls: 8.4570, d2.loss_map_pts: 5.2755, d2.loss_map_dir: 0.0949, d3.loss_map_cls: 11.5312, d3.loss_map_pts: 5.3104, d3.loss_map_dir: 0.0949, d4.loss_map_cls: 11.5641, d4.loss_map_pts: 5.3755, d4.loss_map_dir: 0.0949, d5.loss_map_cls: 11.6080, d5.loss_map_pts: 5.4289, d5.loss_map_dir: 0.0949, loss: 4101.2270, grad_norm: inf +2026-02-24 03:03:59,715 - DriveTransformer - INFO - Epoch [1][3650/39528] lr: 1.000e-04, eta: 8 days, 16:52:50, time: 0.810, data_time: 0.041, memory: 18742, loss_cls: 629.4442, loss_bbox: 1.6778, loss_traj: 5.5575, loss_traj_cls: 0.0893, loss_map_cls: 11.8854, loss_map_pts: 5.5583, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 10.8816, d0.loss_plan_l1_fix_dist: 3.5073, d1.loss_plan_l1_fix_time: 11.2744, d1.loss_plan_l1_fix_dist: 4.5423, d2.loss_plan_l1_fix_time: 11.7262, d2.loss_plan_l1_fix_dist: 6.2206, d3.loss_plan_l1_fix_time: 12.2866, d3.loss_plan_l1_fix_dist: 8.1652, d4.loss_plan_l1_fix_time: 12.8015, d4.loss_plan_l1_fix_dist: 10.9269, d5.loss_plan_l1_fix_time: 13.3789, d5.loss_plan_l1_fix_dist: 13.7924, d6.loss_plan_l1_fix_time: 13.9169, d6.loss_plan_l1_fix_dist: 16.5288, d0.loss_cls_all: 436.3234, d0.loss_bbox_all: 1.6166, d0.loss_cls: 436.3234, d0.loss_bbox: 1.6166, d1.loss_cls: 477.8255, d1.loss_bbox: 1.5856, d2.loss_cls: 481.0066, d2.loss_bbox: 1.6586, d3.loss_cls: 542.9325, d3.loss_bbox: 1.6484, d4.loss_cls: 511.0698, d4.loss_bbox: 1.5882, d5.loss_cls: 570.1462, d5.loss_bbox: 1.6796, d0.loss_traj_cls: 0.0739, d0.loss_traj: 5.5252, d1.loss_traj_cls: 0.0610, d1.loss_traj: 5.5765, d2.loss_traj_cls: 0.0609, d2.loss_traj: 5.6582, d3.loss_traj_cls: 0.1030, d3.loss_traj: 5.6111, d4.loss_traj_cls: 0.0497, d4.loss_traj: 5.5029, d5.loss_traj_cls: 0.0535, d5.loss_traj: 5.5554, d0.loss_map_cls_all: 9.2653, d0.loss_map_pts_all: 5.2248, d0.loss_map_dir_all: 0.0950, d0.loss_map_cls: 9.2653, d0.loss_map_pts: 5.2248, d0.loss_map_dir: 0.0950, d1.loss_map_cls: 8.7672, d1.loss_map_pts: 5.2589, d1.loss_map_dir: 0.0949, d2.loss_map_cls: 9.4280, d2.loss_map_pts: 5.3046, d2.loss_map_dir: 0.0949, d3.loss_map_cls: 12.2384, d3.loss_map_pts: 5.3502, d3.loss_map_dir: 0.0948, d4.loss_map_cls: 12.2948, d4.loss_map_pts: 5.4275, d4.loss_map_dir: 0.0946, d5.loss_map_cls: 12.1677, d5.loss_map_pts: 5.4966, d5.loss_map_dir: 0.0947, loss: 4416.4872, grad_norm: inf +2026-02-24 03:04:40,764 - DriveTransformer - INFO - Epoch [1][3700/39528] lr: 1.000e-04, eta: 8 days, 16:57:33, time: 0.821, data_time: 0.041, memory: 18742, loss_cls: 631.6694, loss_bbox: 1.6685, loss_traj: 4.6035, loss_traj_cls: 0.0982, loss_map_cls: 9.7768, loss_map_pts: 5.5170, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 11.0472, d0.loss_plan_l1_fix_dist: 3.2960, d1.loss_plan_l1_fix_time: 11.4158, d1.loss_plan_l1_fix_dist: 4.2476, d2.loss_plan_l1_fix_time: 11.8436, d2.loss_plan_l1_fix_dist: 5.8233, d3.loss_plan_l1_fix_time: 12.3789, d3.loss_plan_l1_fix_dist: 7.5857, d4.loss_plan_l1_fix_time: 12.8537, d4.loss_plan_l1_fix_dist: 10.1059, d5.loss_plan_l1_fix_time: 13.3986, d5.loss_plan_l1_fix_dist: 12.7650, d6.loss_plan_l1_fix_time: 13.9192, d6.loss_plan_l1_fix_dist: 15.3043, d0.loss_cls_all: 428.9927, d0.loss_bbox_all: 1.6110, d0.loss_cls: 428.9927, d0.loss_bbox: 1.6110, d1.loss_cls: 472.4481, d1.loss_bbox: 1.5774, d2.loss_cls: 476.4967, d2.loss_bbox: 1.6562, d3.loss_cls: 540.0349, d3.loss_bbox: 1.6497, d4.loss_cls: 505.2546, d4.loss_bbox: 1.5849, d5.loss_cls: 571.7788, d5.loss_bbox: 1.6762, d0.loss_traj_cls: 0.0734, d0.loss_traj: 4.6025, d1.loss_traj_cls: 0.0617, d1.loss_traj: 4.6335, d2.loss_traj_cls: 0.0641, d2.loss_traj: 4.7019, d3.loss_traj_cls: 0.1133, d3.loss_traj: 4.6595, d4.loss_traj_cls: 0.0548, d4.loss_traj: 4.5597, d5.loss_traj_cls: 0.0602, d5.loss_traj: 4.5996, d0.loss_map_cls_all: 7.1650, d0.loss_map_pts_all: 5.1761, d0.loss_map_dir_all: 0.0949, d0.loss_map_cls: 7.1650, d0.loss_map_pts: 5.1761, d0.loss_map_dir: 0.0949, d1.loss_map_cls: 6.6572, d1.loss_map_pts: 5.2093, d1.loss_map_dir: 0.0948, d2.loss_map_cls: 7.2902, d2.loss_map_pts: 5.2535, d2.loss_map_dir: 0.0946, d3.loss_map_cls: 9.8920, d3.loss_map_pts: 5.2953, d3.loss_map_dir: 0.0945, d4.loss_map_cls: 9.8943, d4.loss_map_pts: 5.3745, d4.loss_map_dir: 0.0946, d5.loss_map_cls: 9.9342, d5.loss_map_pts: 5.4483, d5.loss_map_dir: 0.0946, loss: 4358.5561, grad_norm: inf +2026-02-24 03:05:21,069 - DriveTransformer - INFO - Epoch [1][3750/39528] lr: 1.000e-04, eta: 8 days, 16:58:59, time: 0.806, data_time: 0.040, memory: 18742, loss_cls: 663.2363, loss_bbox: 1.6533, loss_traj: 6.3923, loss_traj_cls: 0.0887, loss_map_cls: 13.1553, loss_map_pts: 5.7166, loss_map_dir: 0.0949, d0.loss_plan_l1_fix_time: 12.3603, d0.loss_plan_l1_fix_dist: 3.3168, d1.loss_plan_l1_fix_time: 12.6963, d1.loss_plan_l1_fix_dist: 4.4057, d2.loss_plan_l1_fix_time: 13.0878, d2.loss_plan_l1_fix_dist: 6.1828, d3.loss_plan_l1_fix_time: 13.5873, d3.loss_plan_l1_fix_dist: 8.0902, d4.loss_plan_l1_fix_time: 14.0274, d4.loss_plan_l1_fix_dist: 10.7593, d5.loss_plan_l1_fix_time: 14.5422, d5.loss_plan_l1_fix_dist: 13.5309, d6.loss_plan_l1_fix_time: 15.0345, d6.loss_plan_l1_fix_dist: 16.1258, d0.loss_cls_all: 456.6382, d0.loss_bbox_all: 1.6025, d0.loss_cls: 456.6382, d0.loss_bbox: 1.6025, d1.loss_cls: 502.3573, d1.loss_bbox: 1.5633, d2.loss_cls: 499.9461, d2.loss_bbox: 1.6629, d3.loss_cls: 567.4942, d3.loss_bbox: 1.6538, d4.loss_cls: 539.2154, d4.loss_bbox: 1.5673, d5.loss_cls: 598.7463, d5.loss_bbox: 1.6665, d0.loss_traj_cls: 0.0746, d0.loss_traj: 6.3699, d1.loss_traj_cls: 0.0609, d1.loss_traj: 6.4218, d2.loss_traj_cls: 0.0611, d2.loss_traj: 6.5020, d3.loss_traj_cls: 0.1035, d3.loss_traj: 6.4465, d4.loss_traj_cls: 0.0501, d4.loss_traj: 6.3506, d5.loss_traj_cls: 0.0540, d5.loss_traj: 6.3900, d0.loss_map_cls_all: 9.4327, d0.loss_map_pts_all: 5.4018, d0.loss_map_dir_all: 0.0956, d0.loss_map_cls: 9.4327, d0.loss_map_pts: 5.4018, d0.loss_map_dir: 0.0956, d1.loss_map_cls: 9.0263, d1.loss_map_pts: 5.4288, d1.loss_map_dir: 0.0955, d2.loss_map_cls: 9.8972, d2.loss_map_pts: 5.4681, d2.loss_map_dir: 0.0952, d3.loss_map_cls: 13.3250, d3.loss_map_pts: 5.5103, d3.loss_map_dir: 0.0951, d4.loss_map_cls: 13.2972, d4.loss_map_pts: 5.5809, d4.loss_map_dir: 0.0950, d5.loss_map_cls: 13.3332, d5.loss_map_pts: 5.6523, d5.loss_map_dir: 0.0948, loss: 4636.1791, grad_norm: inf +2026-02-24 03:06:02,073 - DriveTransformer - INFO - Epoch [1][3800/39528] lr: 1.000e-04, eta: 8 days, 17:03:18, time: 0.820, data_time: 0.040, memory: 18742, loss_cls: 641.1899, loss_bbox: 1.6514, loss_traj: 6.3037, loss_traj_cls: 0.0990, loss_map_cls: 8.5635, loss_map_pts: 5.4593, loss_map_dir: 0.0948, d0.loss_plan_l1_fix_time: 10.9625, d0.loss_plan_l1_fix_dist: 3.3412, d1.loss_plan_l1_fix_time: 11.3810, d1.loss_plan_l1_fix_dist: 4.3275, d2.loss_plan_l1_fix_time: 11.8523, d2.loss_plan_l1_fix_dist: 6.0671, d3.loss_plan_l1_fix_time: 12.4293, d3.loss_plan_l1_fix_dist: 7.9011, d4.loss_plan_l1_fix_time: 12.9478, d4.loss_plan_l1_fix_dist: 10.5316, d5.loss_plan_l1_fix_time: 13.5274, d5.loss_plan_l1_fix_dist: 13.2912, d6.loss_plan_l1_fix_time: 14.0785, d6.loss_plan_l1_fix_dist: 15.9026, d0.loss_cls_all: 435.9156, d0.loss_bbox_all: 1.6200, d0.loss_cls: 435.9156, d0.loss_bbox: 1.6200, d1.loss_cls: 480.2798, d1.loss_bbox: 1.5821, d2.loss_cls: 481.5307, d2.loss_bbox: 1.6560, d3.loss_cls: 548.7078, d3.loss_bbox: 1.6473, d4.loss_cls: 516.9502, d4.loss_bbox: 1.5670, d5.loss_cls: 580.0622, d5.loss_bbox: 1.6585, d0.loss_traj_cls: 0.0734, d0.loss_traj: 6.2729, d1.loss_traj_cls: 0.0632, d1.loss_traj: 6.3186, d2.loss_traj_cls: 0.0648, d2.loss_traj: 6.4080, d3.loss_traj_cls: 0.1123, d3.loss_traj: 6.3617, d4.loss_traj_cls: 0.0538, d4.loss_traj: 6.2509, d5.loss_traj_cls: 0.0587, d5.loss_traj: 6.3023, d0.loss_map_cls_all: 6.3797, d0.loss_map_pts_all: 5.1422, d0.loss_map_dir_all: 0.0949, d0.loss_map_cls: 6.3797, d0.loss_map_pts: 5.1422, d0.loss_map_dir: 0.0949, d1.loss_map_cls: 5.9482, d1.loss_map_pts: 5.1702, d1.loss_map_dir: 0.0948, d2.loss_map_cls: 6.3910, d2.loss_map_pts: 5.2100, d2.loss_map_dir: 0.0947, d3.loss_map_cls: 8.6393, d3.loss_map_pts: 5.2567, d3.loss_map_dir: 0.0948, d4.loss_map_cls: 8.5889, d4.loss_map_pts: 5.3320, d4.loss_map_dir: 0.0948, d5.loss_map_cls: 8.6486, d5.loss_map_pts: 5.3973, d5.loss_map_dir: 0.0948, loss: 4429.2455, grad_norm: inf +2026-02-24 03:06:41,513 - DriveTransformer - INFO - Epoch [1][3850/39528] lr: 1.000e-04, eta: 8 days, 17:01:02, time: 0.789, data_time: 0.046, memory: 18742, loss_cls: 699.3902, loss_bbox: 1.6593, loss_traj: 5.4349, loss_traj_cls: 0.0898, loss_map_cls: 12.4350, loss_map_pts: 5.4800, loss_map_dir: 0.0945, d0.loss_plan_l1_fix_time: 12.2733, d0.loss_plan_l1_fix_dist: 3.2867, d1.loss_plan_l1_fix_time: 12.6105, d1.loss_plan_l1_fix_dist: 4.3312, d2.loss_plan_l1_fix_time: 13.0058, d2.loss_plan_l1_fix_dist: 5.9065, d3.loss_plan_l1_fix_time: 13.4986, d3.loss_plan_l1_fix_dist: 7.6968, d4.loss_plan_l1_fix_time: 13.9395, d4.loss_plan_l1_fix_dist: 10.2889, d5.loss_plan_l1_fix_time: 14.4432, d5.loss_plan_l1_fix_dist: 12.9813, d6.loss_plan_l1_fix_time: 14.9232, d6.loss_plan_l1_fix_dist: 15.5391, d0.loss_cls_all: 475.0614, d0.loss_bbox_all: 1.6191, d0.loss_cls: 475.0614, d0.loss_bbox: 1.6191, d1.loss_cls: 528.1160, d1.loss_bbox: 1.5870, d2.loss_cls: 532.2455, d2.loss_bbox: 1.6803, d3.loss_cls: 601.1579, d3.loss_bbox: 1.6681, d4.loss_cls: 564.8619, d4.loss_bbox: 1.5934, d5.loss_cls: 636.4112, d5.loss_bbox: 1.6707, d0.loss_traj_cls: 0.0743, d0.loss_traj: 5.4082, d1.loss_traj_cls: 0.0596, d1.loss_traj: 5.4581, d2.loss_traj_cls: 0.0609, d2.loss_traj: 5.5476, d3.loss_traj_cls: 0.1046, d3.loss_traj: 5.4952, d4.loss_traj_cls: 0.0509, d4.loss_traj: 5.3822, d5.loss_traj_cls: 0.0546, d5.loss_traj: 5.4261, d0.loss_map_cls_all: 9.2588, d0.loss_map_pts_all: 5.2071, d0.loss_map_dir_all: 0.0949, d0.loss_map_cls: 9.2588, d0.loss_map_pts: 5.2071, d0.loss_map_dir: 0.0949, d1.loss_map_cls: 8.7421, d1.loss_map_pts: 5.2413, d1.loss_map_dir: 0.0948, d2.loss_map_cls: 9.4362, d2.loss_map_pts: 5.2795, d2.loss_map_dir: 0.0946, d3.loss_map_cls: 12.6683, d3.loss_map_pts: 5.3126, d3.loss_map_dir: 0.0946, d4.loss_map_cls: 12.6277, d4.loss_map_pts: 5.3755, d4.loss_map_dir: 0.0946, d5.loss_map_cls: 12.6920, d5.loss_map_pts: 5.4253, d5.loss_map_dir: 0.0945, loss: 4849.1790, grad_norm: inf +2026-02-24 03:07:22,134 - DriveTransformer - INFO - Epoch [1][3900/39528] lr: 1.000e-04, eta: 8 days, 17:03:36, time: 0.812, data_time: 0.042, memory: 18742, loss_cls: 645.7404, loss_bbox: 1.7172, loss_traj: 5.3478, loss_traj_cls: 0.0829, loss_map_cls: 9.6819, loss_map_pts: 5.6149, loss_map_dir: 0.0948, d0.loss_plan_l1_fix_time: 11.5141, d0.loss_plan_l1_fix_dist: 3.3658, d1.loss_plan_l1_fix_time: 11.8585, d1.loss_plan_l1_fix_dist: 4.3876, d2.loss_plan_l1_fix_time: 12.2679, d2.loss_plan_l1_fix_dist: 6.0042, d3.loss_plan_l1_fix_time: 12.7801, d3.loss_plan_l1_fix_dist: 7.7950, d4.loss_plan_l1_fix_time: 13.2477, d4.loss_plan_l1_fix_dist: 10.4178, d5.loss_plan_l1_fix_time: 13.7763, d5.loss_plan_l1_fix_dist: 13.1564, d6.loss_plan_l1_fix_time: 14.2744, d6.loss_plan_l1_fix_dist: 15.7302, d0.loss_cls_all: 444.7842, d0.loss_bbox_all: 1.6666, d0.loss_cls: 444.7842, d0.loss_bbox: 1.6666, d1.loss_cls: 489.9871, d1.loss_bbox: 1.6278, d2.loss_cls: 495.8369, d2.loss_bbox: 1.7080, d3.loss_cls: 556.4682, d3.loss_bbox: 1.6931, d4.loss_cls: 524.1419, d4.loss_bbox: 1.6288, d5.loss_cls: 586.4717, d5.loss_bbox: 1.7212, d0.loss_traj_cls: 0.0746, d0.loss_traj: 5.3315, d1.loss_traj_cls: 0.0613, d1.loss_traj: 5.3746, d2.loss_traj_cls: 0.0625, d2.loss_traj: 5.4527, d3.loss_traj_cls: 0.1039, d3.loss_traj: 5.4041, d4.loss_traj_cls: 0.0506, d4.loss_traj: 5.3112, d5.loss_traj_cls: 0.0518, d5.loss_traj: 5.3499, d0.loss_map_cls_all: 7.1278, d0.loss_map_pts_all: 5.2693, d0.loss_map_dir_all: 0.0950, d0.loss_map_cls: 7.1278, d0.loss_map_pts: 5.2693, d0.loss_map_dir: 0.0950, d1.loss_map_cls: 6.6581, d1.loss_map_pts: 5.2998, d1.loss_map_dir: 0.0948, d2.loss_map_cls: 7.2678, d2.loss_map_pts: 5.3407, d2.loss_map_dir: 0.0947, d3.loss_map_cls: 9.7671, d3.loss_map_pts: 5.3851, d3.loss_map_dir: 0.0948, d4.loss_map_cls: 9.7285, d4.loss_map_pts: 5.4628, d4.loss_map_dir: 0.0949, d5.loss_map_cls: 9.7798, d5.loss_map_pts: 5.5429, d5.loss_map_dir: 0.0949, loss: 4501.3618, grad_norm: inf +2026-02-24 03:08:01,674 - DriveTransformer - INFO - Epoch [1][3950/39528] lr: 1.000e-04, eta: 8 days, 17:01:46, time: 0.791, data_time: 0.040, memory: 18742, loss_cls: 660.4266, loss_bbox: 1.6816, loss_traj: 6.1433, loss_traj_cls: 0.0899, loss_map_cls: 10.9991, loss_map_pts: 5.5775, loss_map_dir: 0.0948, d0.loss_plan_l1_fix_time: 11.5783, d0.loss_plan_l1_fix_dist: 3.4003, d1.loss_plan_l1_fix_time: 11.9818, d1.loss_plan_l1_fix_dist: 4.4482, d2.loss_plan_l1_fix_time: 12.4343, d2.loss_plan_l1_fix_dist: 6.2073, d3.loss_plan_l1_fix_time: 12.9876, d3.loss_plan_l1_fix_dist: 8.1359, d4.loss_plan_l1_fix_time: 13.4982, d4.loss_plan_l1_fix_dist: 10.8957, d5.loss_plan_l1_fix_time: 14.0672, d5.loss_plan_l1_fix_dist: 13.7910, d6.loss_plan_l1_fix_time: 14.6018, d6.loss_plan_l1_fix_dist: 16.5025, d0.loss_cls_all: 452.6739, d0.loss_bbox_all: 1.6317, d0.loss_cls: 452.6739, d0.loss_bbox: 1.6317, d1.loss_cls: 501.7261, d1.loss_bbox: 1.5930, d2.loss_cls: 501.4663, d2.loss_bbox: 1.6760, d3.loss_cls: 571.6012, d3.loss_bbox: 1.6713, d4.loss_cls: 536.0438, d4.loss_bbox: 1.5993, d5.loss_cls: 600.0346, d5.loss_bbox: 1.6921, d0.loss_traj_cls: 0.0740, d0.loss_traj: 6.1107, d1.loss_traj_cls: 0.0602, d1.loss_traj: 6.1604, d2.loss_traj_cls: 0.0614, d2.loss_traj: 6.2509, d3.loss_traj_cls: 0.1029, d3.loss_traj: 6.1959, d4.loss_traj_cls: 0.0503, d4.loss_traj: 6.0928, d5.loss_traj_cls: 0.0540, d5.loss_traj: 6.1374, d0.loss_map_cls_all: 8.2426, d0.loss_map_pts_all: 5.2650, d0.loss_map_dir_all: 0.0951, d0.loss_map_cls: 8.2426, d0.loss_map_pts: 5.2650, d0.loss_map_dir: 0.0951, d1.loss_map_cls: 7.6661, d1.loss_map_pts: 5.3027, d1.loss_map_dir: 0.0949, d2.loss_map_cls: 8.2055, d2.loss_map_pts: 5.3481, d2.loss_map_dir: 0.0948, d3.loss_map_cls: 11.0554, d3.loss_map_pts: 5.3899, d3.loss_map_dir: 0.0950, d4.loss_map_cls: 11.1206, d4.loss_map_pts: 5.4573, d4.loss_map_dir: 0.0948, d5.loss_map_cls: 11.2204, d5.loss_map_pts: 5.5155, d5.loss_map_dir: 0.0947, loss: 4608.5700, grad_norm: inf +2026-02-24 03:08:40,730 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 03:08:40,730 - DriveTransformer - INFO - Epoch [1][4000/39528] lr: 1.000e-04, eta: 8 days, 16:58:20, time: 0.782, data_time: 0.036, memory: 18742, loss_cls: 716.0742, loss_bbox: 1.6692, loss_traj: 6.4178, loss_traj_cls: 0.0824, loss_map_cls: 13.0236, loss_map_pts: 5.6914, loss_map_dir: 0.0945, d0.loss_plan_l1_fix_time: 11.8772, d0.loss_plan_l1_fix_dist: 3.3573, d1.loss_plan_l1_fix_time: 12.2119, d1.loss_plan_l1_fix_dist: 4.4477, d2.loss_plan_l1_fix_time: 12.6170, d2.loss_plan_l1_fix_dist: 6.1893, d3.loss_plan_l1_fix_time: 13.1166, d3.loss_plan_l1_fix_dist: 8.0555, d4.loss_plan_l1_fix_time: 13.5613, d4.loss_plan_l1_fix_dist: 10.6543, d5.loss_plan_l1_fix_time: 14.0709, d5.loss_plan_l1_fix_dist: 13.3799, d6.loss_plan_l1_fix_time: 14.5547, d6.loss_plan_l1_fix_dist: 15.9505, d0.loss_cls_all: 496.7217, d0.loss_bbox_all: 1.6315, d0.loss_cls: 496.7217, d0.loss_bbox: 1.6315, d1.loss_cls: 548.3759, d1.loss_bbox: 1.5838, d2.loss_cls: 550.2194, d2.loss_bbox: 1.6696, d3.loss_cls: 620.2353, d3.loss_bbox: 1.6677, d4.loss_cls: 580.6246, d4.loss_bbox: 1.5699, d5.loss_cls: 649.4554, d5.loss_bbox: 1.6833, d0.loss_traj_cls: 0.0746, d0.loss_traj: 6.3815, d1.loss_traj_cls: 0.0597, d1.loss_traj: 6.4414, d2.loss_traj_cls: 0.0602, d2.loss_traj: 6.5280, d3.loss_traj_cls: 0.1026, d3.loss_traj: 6.4658, d4.loss_traj_cls: 0.0492, d4.loss_traj: 6.3726, d5.loss_traj_cls: 0.0508, d5.loss_traj: 6.4067, d0.loss_map_cls_all: 9.5736, d0.loss_map_pts_all: 5.3922, d0.loss_map_dir_all: 0.0953, d0.loss_map_cls: 9.5736, d0.loss_map_pts: 5.3922, d0.loss_map_dir: 0.0953, d1.loss_map_cls: 8.9645, d1.loss_map_pts: 5.4222, d1.loss_map_dir: 0.0952, d2.loss_map_cls: 9.6735, d2.loss_map_pts: 5.4596, d2.loss_map_dir: 0.0947, d3.loss_map_cls: 13.1443, d3.loss_map_pts: 5.5021, d3.loss_map_dir: 0.0948, d4.loss_map_cls: 13.1984, d4.loss_map_pts: 5.5715, d4.loss_map_dir: 0.0946, d5.loss_map_cls: 13.2285, d5.loss_map_pts: 5.6295, d5.loss_map_dir: 0.0946, loss: 5006.2718, grad_norm: inf +2026-02-24 03:09:20,175 - DriveTransformer - INFO - Epoch [1][4050/39528] lr: 1.000e-04, eta: 8 days, 16:55:57, time: 0.788, data_time: 0.042, memory: 18742, loss_cls: 636.8111, loss_bbox: 1.6797, loss_traj: 5.7271, loss_traj_cls: 0.0880, loss_map_cls: 9.2351, loss_map_pts: 5.4098, loss_map_dir: 0.0951, d0.loss_plan_l1_fix_time: 11.2405, d0.loss_plan_l1_fix_dist: 3.4068, d1.loss_plan_l1_fix_time: 11.6273, d1.loss_plan_l1_fix_dist: 4.4043, d2.loss_plan_l1_fix_time: 12.0606, d2.loss_plan_l1_fix_dist: 6.0826, d3.loss_plan_l1_fix_time: 12.5869, d3.loss_plan_l1_fix_dist: 7.9219, d4.loss_plan_l1_fix_time: 13.0612, d4.loss_plan_l1_fix_dist: 10.5610, d5.loss_plan_l1_fix_time: 13.5970, d5.loss_plan_l1_fix_dist: 13.3542, d6.loss_plan_l1_fix_time: 14.1099, d6.loss_plan_l1_fix_dist: 15.9790, d0.loss_cls_all: 434.0998, d0.loss_bbox_all: 1.6303, d0.loss_cls: 434.0998, d0.loss_bbox: 1.6303, d1.loss_cls: 479.7873, d1.loss_bbox: 1.5852, d2.loss_cls: 485.7523, d2.loss_bbox: 1.6568, d3.loss_cls: 545.1166, d3.loss_bbox: 1.6462, d4.loss_cls: 515.8265, d4.loss_bbox: 1.5802, d5.loss_cls: 578.7614, d5.loss_bbox: 1.6814, d0.loss_traj_cls: 0.0741, d0.loss_traj: 5.6936, d1.loss_traj_cls: 0.0606, d1.loss_traj: 5.7372, d2.loss_traj_cls: 0.0610, d2.loss_traj: 5.8318, d3.loss_traj_cls: 0.1060, d3.loss_traj: 5.7834, d4.loss_traj_cls: 0.0522, d4.loss_traj: 5.6657, d5.loss_traj_cls: 0.0541, d5.loss_traj: 5.7182, d0.loss_map_cls_all: 6.7737, d0.loss_map_pts_all: 5.0924, d0.loss_map_dir_all: 0.0955, d0.loss_map_cls: 6.7737, d0.loss_map_pts: 5.0924, d0.loss_map_dir: 0.0955, d1.loss_map_cls: 6.2874, d1.loss_map_pts: 5.1262, d1.loss_map_dir: 0.0953, d2.loss_map_cls: 6.8772, d2.loss_map_pts: 5.1665, d2.loss_map_dir: 0.0953, d3.loss_map_cls: 9.2414, d3.loss_map_pts: 5.2097, d3.loss_map_dir: 0.0953, d4.loss_map_cls: 9.2274, d4.loss_map_pts: 5.2807, d4.loss_map_dir: 0.0952, d5.loss_map_cls: 9.3792, d5.loss_map_pts: 5.3469, d5.loss_map_dir: 0.0951, loss: 4420.2735, grad_norm: inf +2026-02-24 03:10:01,255 - DriveTransformer - INFO - Epoch [1][4100/39528] lr: 1.000e-04, eta: 8 days, 17:00:09, time: 0.822, data_time: 0.038, memory: 18742, loss_cls: 642.1849, loss_bbox: 1.6513, loss_traj: 6.3238, loss_traj_cls: 0.0988, loss_map_cls: 10.2980, loss_map_pts: 5.9313, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 12.1237, d0.loss_plan_l1_fix_dist: 3.6071, d1.loss_plan_l1_fix_time: 12.4737, d1.loss_plan_l1_fix_dist: 4.6229, d2.loss_plan_l1_fix_time: 12.8780, d2.loss_plan_l1_fix_dist: 6.3728, d3.loss_plan_l1_fix_time: 13.3827, d3.loss_plan_l1_fix_dist: 8.3055, d4.loss_plan_l1_fix_time: 13.8480, d4.loss_plan_l1_fix_dist: 11.0712, d5.loss_plan_l1_fix_time: 14.3810, d5.loss_plan_l1_fix_dist: 13.9486, d6.loss_plan_l1_fix_time: 14.8838, d6.loss_plan_l1_fix_dist: 16.6888, d0.loss_cls_all: 437.1319, d0.loss_bbox_all: 1.6049, d0.loss_cls: 437.1319, d0.loss_bbox: 1.6049, d1.loss_cls: 478.6407, d1.loss_bbox: 1.5617, d2.loss_cls: 481.0633, d2.loss_bbox: 1.6318, d3.loss_cls: 547.8141, d3.loss_bbox: 1.6430, d4.loss_cls: 512.5630, d4.loss_bbox: 1.5579, d5.loss_cls: 577.6930, d5.loss_bbox: 1.6555, d0.loss_traj_cls: 0.0731, d0.loss_traj: 6.3110, d1.loss_traj_cls: 0.0621, d1.loss_traj: 6.3601, d2.loss_traj_cls: 0.0649, d2.loss_traj: 6.4369, d3.loss_traj_cls: 0.1118, d3.loss_traj: 6.3826, d4.loss_traj_cls: 0.0549, d4.loss_traj: 6.2875, d5.loss_traj_cls: 0.0599, d5.loss_traj: 6.3245, d0.loss_map_cls_all: 7.9616, d0.loss_map_pts_all: 5.5757, d0.loss_map_dir_all: 0.0949, d0.loss_map_cls: 7.9616, d0.loss_map_pts: 5.5757, d0.loss_map_dir: 0.0949, d1.loss_map_cls: 7.3253, d1.loss_map_pts: 5.6116, d1.loss_map_dir: 0.0949, d2.loss_map_cls: 7.8069, d2.loss_map_pts: 5.6562, d2.loss_map_dir: 0.0946, d3.loss_map_cls: 10.4932, d3.loss_map_pts: 5.7010, d3.loss_map_dir: 0.0947, d4.loss_map_cls: 10.3449, d4.loss_map_pts: 5.7788, d4.loss_map_dir: 0.0946, d5.loss_map_cls: 10.4383, d5.loss_map_pts: 5.8529, d5.loss_map_dir: 0.0947, loss: 4449.7446, grad_norm: inf +2026-02-24 03:10:41,680 - DriveTransformer - INFO - Epoch [1][4150/39528] lr: 1.000e-04, eta: 8 days, 17:01:46, time: 0.809, data_time: 0.042, memory: 18742, loss_cls: 754.0973, loss_bbox: 1.5933, loss_traj: 6.2786, loss_traj_cls: 0.0976, loss_map_cls: 11.7620, loss_map_pts: 5.6055, loss_map_dir: 0.0949, d0.loss_plan_l1_fix_time: 11.9890, d0.loss_plan_l1_fix_dist: 3.1843, d1.loss_plan_l1_fix_time: 12.3064, d1.loss_plan_l1_fix_dist: 4.1824, d2.loss_plan_l1_fix_time: 12.6934, d2.loss_plan_l1_fix_dist: 5.8347, d3.loss_plan_l1_fix_time: 13.1783, d3.loss_plan_l1_fix_dist: 7.6431, d4.loss_plan_l1_fix_time: 13.6210, d4.loss_plan_l1_fix_dist: 10.1747, d5.loss_plan_l1_fix_time: 14.1325, d5.loss_plan_l1_fix_dist: 12.7791, d6.loss_plan_l1_fix_time: 14.6187, d6.loss_plan_l1_fix_dist: 15.2458, d0.loss_cls_all: 518.8376, d0.loss_bbox_all: 1.5896, d0.loss_cls: 518.8376, d0.loss_bbox: 1.5896, d1.loss_cls: 565.4391, d1.loss_bbox: 1.5375, d2.loss_cls: 570.9097, d2.loss_bbox: 1.6277, d3.loss_cls: 648.8886, d3.loss_bbox: 1.6202, d4.loss_cls: 610.3770, d4.loss_bbox: 1.5098, d5.loss_cls: 686.1331, d5.loss_bbox: 1.6155, d0.loss_traj_cls: 0.0737, d0.loss_traj: 6.2564, d1.loss_traj_cls: 0.0631, d1.loss_traj: 6.3063, d2.loss_traj_cls: 0.0660, d2.loss_traj: 6.3835, d3.loss_traj_cls: 0.1169, d3.loss_traj: 6.3326, d4.loss_traj_cls: 0.0554, d4.loss_traj: 6.2342, d5.loss_traj_cls: 0.0586, d5.loss_traj: 6.2730, d0.loss_map_cls_all: 8.8780, d0.loss_map_pts_all: 5.3561, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 8.8780, d0.loss_map_pts: 5.3561, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 8.2189, d1.loss_map_pts: 5.3738, d1.loss_map_dir: 0.0951, d2.loss_map_cls: 8.8199, d2.loss_map_pts: 5.4037, d2.loss_map_dir: 0.0950, d3.loss_map_cls: 12.1275, d3.loss_map_pts: 5.4389, d3.loss_map_dir: 0.0950, d4.loss_map_cls: 12.0333, d4.loss_map_pts: 5.4995, d4.loss_map_dir: 0.0949, d5.loss_map_cls: 11.9509, d5.loss_map_pts: 5.5528, d5.loss_map_dir: 0.0948, loss: 5209.3976, grad_norm: inf +2026-02-24 03:11:21,710 - DriveTransformer - INFO - Epoch [1][4200/39528] lr: 1.000e-04, eta: 8 days, 17:01:48, time: 0.800, data_time: 0.034, memory: 18742, loss_cls: 667.4195, loss_bbox: 1.6381, loss_traj: 5.2656, loss_traj_cls: 0.0858, loss_map_cls: 10.0982, loss_map_pts: 5.6378, loss_map_dir: 0.0950, d0.loss_plan_l1_fix_time: 11.6594, d0.loss_plan_l1_fix_dist: 3.3507, d1.loss_plan_l1_fix_time: 12.0113, d1.loss_plan_l1_fix_dist: 4.4098, d2.loss_plan_l1_fix_time: 12.4196, d2.loss_plan_l1_fix_dist: 6.2001, d3.loss_plan_l1_fix_time: 12.9355, d3.loss_plan_l1_fix_dist: 8.1654, d4.loss_plan_l1_fix_time: 13.3958, d4.loss_plan_l1_fix_dist: 10.8962, d5.loss_plan_l1_fix_time: 13.9139, d5.loss_plan_l1_fix_dist: 13.7707, d6.loss_plan_l1_fix_time: 14.4118, d6.loss_plan_l1_fix_dist: 16.4310, d0.loss_cls_all: 465.4518, d0.loss_bbox_all: 1.5999, d0.loss_cls: 465.4518, d0.loss_bbox: 1.5999, d1.loss_cls: 505.6023, d1.loss_bbox: 1.5488, d2.loss_cls: 508.8980, d2.loss_bbox: 1.6314, d3.loss_cls: 575.5345, d3.loss_bbox: 1.6211, d4.loss_cls: 538.9446, d4.loss_bbox: 1.5429, d5.loss_cls: 605.4823, d5.loss_bbox: 1.6477, d0.loss_traj_cls: 0.0750, d0.loss_traj: 5.2437, d1.loss_traj_cls: 0.0619, d1.loss_traj: 5.2886, d2.loss_traj_cls: 0.0621, d2.loss_traj: 5.3657, d3.loss_traj_cls: 0.1064, d3.loss_traj: 5.3231, d4.loss_traj_cls: 0.0502, d4.loss_traj: 5.2242, d5.loss_traj_cls: 0.0521, d5.loss_traj: 5.2716, d0.loss_map_cls_all: 7.8380, d0.loss_map_pts_all: 5.2880, d0.loss_map_dir_all: 0.0953, d0.loss_map_cls: 7.8380, d0.loss_map_pts: 5.2880, d0.loss_map_dir: 0.0953, d1.loss_map_cls: 7.3388, d1.loss_map_pts: 5.3258, d1.loss_map_dir: 0.0952, d2.loss_map_cls: 7.9027, d2.loss_map_pts: 5.3731, d2.loss_map_dir: 0.0952, d3.loss_map_cls: 10.4399, d3.loss_map_pts: 5.4213, d3.loss_map_dir: 0.0951, d4.loss_map_cls: 10.3336, d4.loss_map_pts: 5.4989, d4.loss_map_dir: 0.0949, d5.loss_map_cls: 10.2604, d5.loss_map_pts: 5.5671, d5.loss_map_dir: 0.0950, loss: 4653.2729, grad_norm: inf +2026-02-24 03:12:02,617 - DriveTransformer - INFO - Epoch [1][4250/39528] lr: 1.000e-04, eta: 8 days, 17:05:07, time: 0.818, data_time: 0.040, memory: 18742, loss_cls: 721.1404, loss_bbox: 1.6879, loss_traj: 5.3028, loss_traj_cls: 0.0938, loss_map_cls: 11.7024, loss_map_pts: 5.6660, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 12.7011, d0.loss_plan_l1_fix_dist: 3.3908, d1.loss_plan_l1_fix_time: 13.0287, d1.loss_plan_l1_fix_dist: 4.5112, d2.loss_plan_l1_fix_time: 13.4117, d2.loss_plan_l1_fix_dist: 6.2161, d3.loss_plan_l1_fix_time: 13.8988, d3.loss_plan_l1_fix_dist: 8.1061, d4.loss_plan_l1_fix_time: 14.3345, d4.loss_plan_l1_fix_dist: 10.7412, d5.loss_plan_l1_fix_time: 14.8434, d5.loss_plan_l1_fix_dist: 13.4830, d6.loss_plan_l1_fix_time: 15.3293, d6.loss_plan_l1_fix_dist: 16.0993, d0.loss_cls_all: 497.7203, d0.loss_bbox_all: 1.6121, d0.loss_cls: 497.7203, d0.loss_bbox: 1.6121, d1.loss_cls: 542.0000, d1.loss_bbox: 1.5812, d2.loss_cls: 544.8940, d2.loss_bbox: 1.6497, d3.loss_cls: 616.4313, d3.loss_bbox: 1.6528, d4.loss_cls: 581.5660, d4.loss_bbox: 1.6239, d5.loss_cls: 650.3479, d5.loss_bbox: 1.6958, d0.loss_traj_cls: 0.0744, d0.loss_traj: 5.2998, d1.loss_traj_cls: 0.0636, d1.loss_traj: 5.3465, d2.loss_traj_cls: 0.0651, d2.loss_traj: 5.4192, d3.loss_traj_cls: 0.1084, d3.loss_traj: 5.3669, d4.loss_traj_cls: 0.0536, d4.loss_traj: 5.2723, d5.loss_traj_cls: 0.0573, d5.loss_traj: 5.3115, d0.loss_map_cls_all: 8.7045, d0.loss_map_pts_all: 5.2777, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 8.7045, d0.loss_map_pts: 5.2777, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 8.1825, d1.loss_map_pts: 5.3149, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 8.9934, d2.loss_map_pts: 5.3661, d2.loss_map_dir: 0.0949, d3.loss_map_cls: 12.0757, d3.loss_map_pts: 5.4152, d3.loss_map_dir: 0.0948, d4.loss_map_cls: 11.9959, d4.loss_map_pts: 5.4958, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 11.9025, d5.loss_map_pts: 5.5805, d5.loss_map_dir: 0.0947, loss: 4989.2800, grad_norm: inf +2026-02-24 03:12:43,946 - DriveTransformer - INFO - Epoch [1][4300/39528] lr: 1.000e-04, eta: 8 days, 17:09:52, time: 0.827, data_time: 0.039, memory: 18742, loss_cls: 669.5478, loss_bbox: 1.6775, loss_traj: 5.7263, loss_traj_cls: 0.0934, loss_map_cls: 9.3019, loss_map_pts: 5.3429, loss_map_dir: 0.0948, d0.loss_plan_l1_fix_time: 11.9308, d0.loss_plan_l1_fix_dist: 3.4645, d1.loss_plan_l1_fix_time: 12.2764, d1.loss_plan_l1_fix_dist: 4.5381, d2.loss_plan_l1_fix_time: 12.6810, d2.loss_plan_l1_fix_dist: 6.2746, d3.loss_plan_l1_fix_time: 13.1890, d3.loss_plan_l1_fix_dist: 8.1635, d4.loss_plan_l1_fix_time: 13.6505, d4.loss_plan_l1_fix_dist: 10.8502, d5.loss_plan_l1_fix_time: 14.1745, d5.loss_plan_l1_fix_dist: 13.6877, d6.loss_plan_l1_fix_time: 14.6721, d6.loss_plan_l1_fix_dist: 16.3657, d0.loss_cls_all: 461.2974, d0.loss_bbox_all: 1.6458, d0.loss_cls: 461.2974, d0.loss_bbox: 1.6458, d1.loss_cls: 502.5243, d1.loss_bbox: 1.6050, d2.loss_cls: 507.0894, d2.loss_bbox: 1.6806, d3.loss_cls: 574.8775, d3.loss_bbox: 1.6765, d4.loss_cls: 541.3872, d4.loss_bbox: 1.6007, d5.loss_cls: 608.1453, d5.loss_bbox: 1.6920, d0.loss_traj_cls: 0.0742, d0.loss_traj: 5.7179, d1.loss_traj_cls: 0.0631, d1.loss_traj: 5.7584, d2.loss_traj_cls: 0.0641, d2.loss_traj: 5.8400, d3.loss_traj_cls: 0.1096, d3.loss_traj: 5.7892, d4.loss_traj_cls: 0.0526, d4.loss_traj: 5.6806, d5.loss_traj_cls: 0.0561, d5.loss_traj: 5.7219, d0.loss_map_cls_all: 6.9930, d0.loss_map_pts_all: 5.0173, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 6.9930, d0.loss_map_pts: 5.0173, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 6.5082, d1.loss_map_pts: 5.0422, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 7.0708, d2.loss_map_pts: 5.0833, d2.loss_map_dir: 0.0949, d3.loss_map_cls: 9.4558, d3.loss_map_pts: 5.1300, d3.loss_map_dir: 0.0949, d4.loss_map_cls: 9.4099, d4.loss_map_pts: 5.2070, d4.loss_map_dir: 0.0948, d5.loss_map_cls: 9.4210, d5.loss_map_pts: 5.2755, d5.loss_map_dir: 0.0948, loss: 4643.0846, grad_norm: inf +2026-02-24 03:13:23,825 - DriveTransformer - INFO - Epoch [1][4350/39528] lr: 1.000e-04, eta: 8 days, 17:09:14, time: 0.798, data_time: 0.043, memory: 18742, loss_cls: 815.8711, loss_bbox: 1.6706, loss_traj: 6.4337, loss_traj_cls: 0.0920, loss_map_cls: 10.5934, loss_map_pts: 5.6285, loss_map_dir: 0.0948, d0.loss_plan_l1_fix_time: 10.7223, d0.loss_plan_l1_fix_dist: 3.2947, d1.loss_plan_l1_fix_time: 11.0849, d1.loss_plan_l1_fix_dist: 4.3625, d2.loss_plan_l1_fix_time: 11.5141, d2.loss_plan_l1_fix_dist: 6.0265, d3.loss_plan_l1_fix_time: 12.0514, d3.loss_plan_l1_fix_dist: 7.8894, d4.loss_plan_l1_fix_time: 12.5407, d4.loss_plan_l1_fix_dist: 10.5006, d5.loss_plan_l1_fix_time: 13.0910, d5.loss_plan_l1_fix_dist: 13.2324, d6.loss_plan_l1_fix_time: 13.6225, d6.loss_plan_l1_fix_dist: 15.8283, d0.loss_cls_all: 568.1579, d0.loss_bbox_all: 1.6214, d0.loss_cls: 568.1579, d0.loss_bbox: 1.6214, d1.loss_cls: 613.5454, d1.loss_bbox: 1.5816, d2.loss_cls: 616.2158, d2.loss_bbox: 1.6743, d3.loss_cls: 704.2773, d3.loss_bbox: 1.6578, d4.loss_cls: 663.9368, d4.loss_bbox: 1.5740, d5.loss_cls: 742.0484, d5.loss_bbox: 1.6803, d0.loss_traj_cls: 0.0741, d0.loss_traj: 6.4195, d1.loss_traj_cls: 0.0607, d1.loss_traj: 6.4695, d2.loss_traj_cls: 0.0624, d2.loss_traj: 6.5484, d3.loss_traj_cls: 0.1040, d3.loss_traj: 6.4933, d4.loss_traj_cls: 0.0513, d4.loss_traj: 6.3861, d5.loss_traj_cls: 0.0555, d5.loss_traj: 6.4309, d0.loss_map_cls_all: 7.8301, d0.loss_map_pts_all: 5.2545, d0.loss_map_dir_all: 0.0949, d0.loss_map_cls: 7.8301, d0.loss_map_pts: 5.2545, d0.loss_map_dir: 0.0949, d1.loss_map_cls: 7.2639, d1.loss_map_pts: 5.2933, d1.loss_map_dir: 0.0948, d2.loss_map_cls: 7.8985, d2.loss_map_pts: 5.3456, d2.loss_map_dir: 0.0947, d3.loss_map_cls: 10.6194, d3.loss_map_pts: 5.3977, d3.loss_map_dir: 0.0947, d4.loss_map_cls: 10.6841, d4.loss_map_pts: 5.4762, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 10.8024, d5.loss_map_pts: 5.5512, d5.loss_map_dir: 0.0948, loss: 5614.2165, grad_norm: inf +2026-02-24 03:14:04,300 - DriveTransformer - INFO - Epoch [1][4400/39528] lr: 1.000e-04, eta: 8 days, 17:10:45, time: 0.810, data_time: 0.042, memory: 18742, loss_cls: 632.7596, loss_bbox: 1.6264, loss_traj: 5.6806, loss_traj_cls: 0.0902, loss_map_cls: 12.1182, loss_map_pts: 5.6320, loss_map_dir: 0.0950, d0.loss_plan_l1_fix_time: 9.7448, d0.loss_plan_l1_fix_dist: 3.3193, d1.loss_plan_l1_fix_time: 10.1973, d1.loss_plan_l1_fix_dist: 4.2711, d2.loss_plan_l1_fix_time: 10.6970, d2.loss_plan_l1_fix_dist: 5.9087, d3.loss_plan_l1_fix_time: 11.2942, d3.loss_plan_l1_fix_dist: 7.7784, d4.loss_plan_l1_fix_time: 11.8373, d4.loss_plan_l1_fix_dist: 10.4752, d5.loss_plan_l1_fix_time: 12.4318, d5.loss_plan_l1_fix_dist: 13.2861, d6.loss_plan_l1_fix_time: 12.9892, d6.loss_plan_l1_fix_dist: 15.9075, d0.loss_cls_all: 437.2298, d0.loss_bbox_all: 1.6055, d0.loss_cls: 437.2298, d0.loss_bbox: 1.6055, d1.loss_cls: 477.3465, d1.loss_bbox: 1.5679, d2.loss_cls: 478.0789, d2.loss_bbox: 1.6579, d3.loss_cls: 541.3073, d3.loss_bbox: 1.6369, d4.loss_cls: 511.1518, d4.loss_bbox: 1.5490, d5.loss_cls: 571.7931, d5.loss_bbox: 1.6417, d0.loss_traj_cls: 0.0739, d0.loss_traj: 5.6493, d1.loss_traj_cls: 0.0624, d1.loss_traj: 5.7052, d2.loss_traj_cls: 0.0622, d2.loss_traj: 5.7861, d3.loss_traj_cls: 0.1081, d3.loss_traj: 5.7400, d4.loss_traj_cls: 0.0519, d4.loss_traj: 5.6333, d5.loss_traj_cls: 0.0542, d5.loss_traj: 5.6770, d0.loss_map_cls_all: 9.3228, d0.loss_map_pts_all: 5.3040, d0.loss_map_dir_all: 0.0953, d0.loss_map_cls: 9.3228, d0.loss_map_pts: 5.3040, d0.loss_map_dir: 0.0953, d1.loss_map_cls: 8.7873, d1.loss_map_pts: 5.3406, d1.loss_map_dir: 0.0952, d2.loss_map_cls: 9.4988, d2.loss_map_pts: 5.3875, d2.loss_map_dir: 0.0951, d3.loss_map_cls: 12.5631, d3.loss_map_pts: 5.4329, d3.loss_map_dir: 0.0950, d4.loss_map_cls: 12.3954, d4.loss_map_pts: 5.5102, d4.loss_map_dir: 0.0951, d5.loss_map_cls: 12.2611, d5.loss_map_pts: 5.5705, d5.loss_map_dir: 0.0949, loss: 4410.8122, grad_norm: inf +2026-02-24 03:14:43,058 - DriveTransformer - INFO - Epoch [1][4450/39528] lr: 1.000e-04, eta: 8 days, 17:06:08, time: 0.775, data_time: 0.041, memory: 18742, loss_cls: 680.0474, loss_bbox: 1.6104, loss_traj: 6.1892, loss_traj_cls: 0.0972, loss_map_cls: 12.6518, loss_map_pts: 5.1954, loss_map_dir: 0.0944, d0.loss_plan_l1_fix_time: 12.1261, d0.loss_plan_l1_fix_dist: 3.4576, d1.loss_plan_l1_fix_time: 12.4689, d1.loss_plan_l1_fix_dist: 4.4992, d2.loss_plan_l1_fix_time: 12.8735, d2.loss_plan_l1_fix_dist: 6.2962, d3.loss_plan_l1_fix_time: 13.3800, d3.loss_plan_l1_fix_dist: 8.2216, d4.loss_plan_l1_fix_time: 13.8319, d4.loss_plan_l1_fix_dist: 10.9266, d5.loss_plan_l1_fix_time: 14.3535, d5.loss_plan_l1_fix_dist: 13.7873, d6.loss_plan_l1_fix_time: 14.8505, d6.loss_plan_l1_fix_dist: 16.4834, d0.loss_cls_all: 459.4919, d0.loss_bbox_all: 1.6012, d0.loss_cls: 459.4919, d0.loss_bbox: 1.6012, d1.loss_cls: 512.2494, d1.loss_bbox: 1.5570, d2.loss_cls: 513.5952, d2.loss_bbox: 1.6440, d3.loss_cls: 586.6799, d3.loss_bbox: 1.6330, d4.loss_cls: 553.6706, d4.loss_bbox: 1.5355, d5.loss_cls: 617.0835, d5.loss_bbox: 1.6285, d0.loss_traj_cls: 0.0735, d0.loss_traj: 6.1541, d1.loss_traj_cls: 0.0616, d1.loss_traj: 6.2145, d2.loss_traj_cls: 0.0640, d2.loss_traj: 6.2972, d3.loss_traj_cls: 0.1096, d3.loss_traj: 6.2425, d4.loss_traj_cls: 0.0528, d4.loss_traj: 6.1387, d5.loss_traj_cls: 0.0583, d5.loss_traj: 6.1842, d0.loss_map_cls_all: 9.5534, d0.loss_map_pts_all: 5.0210, d0.loss_map_dir_all: 0.0950, d0.loss_map_cls: 9.5534, d0.loss_map_pts: 5.0210, d0.loss_map_dir: 0.0950, d1.loss_map_cls: 8.9444, d1.loss_map_pts: 5.0357, d1.loss_map_dir: 0.0948, d2.loss_map_cls: 9.6359, d2.loss_map_pts: 5.0545, d2.loss_map_dir: 0.0945, d3.loss_map_cls: 12.7856, d3.loss_map_pts: 5.0789, d3.loss_map_dir: 0.0946, d4.loss_map_cls: 12.8532, d4.loss_map_pts: 5.1295, d4.loss_map_dir: 0.0946, d5.loss_map_cls: 12.8679, d5.loss_map_pts: 5.1641, d5.loss_map_dir: 0.0945, loss: 4726.9178, grad_norm: inf +2026-02-24 03:15:20,541 - DriveTransformer - INFO - Epoch [1][4500/39528] lr: 1.000e-04, eta: 8 days, 16:57:09, time: 0.750, data_time: 0.035, memory: 18742, loss_cls: 648.8714, loss_bbox: 1.6206, loss_traj: 7.1572, loss_traj_cls: 0.0895, loss_map_cls: 10.7414, loss_map_pts: 5.3321, loss_map_dir: 0.0950, d0.loss_plan_l1_fix_time: 12.4415, d0.loss_plan_l1_fix_dist: 3.2483, d1.loss_plan_l1_fix_time: 12.7776, d1.loss_plan_l1_fix_dist: 4.2393, d2.loss_plan_l1_fix_time: 13.1673, d2.loss_plan_l1_fix_dist: 5.9376, d3.loss_plan_l1_fix_time: 13.6588, d3.loss_plan_l1_fix_dist: 7.8089, d4.loss_plan_l1_fix_time: 14.0857, d4.loss_plan_l1_fix_dist: 10.4637, d5.loss_plan_l1_fix_time: 14.5771, d5.loss_plan_l1_fix_dist: 13.2174, d6.loss_plan_l1_fix_time: 15.0472, d6.loss_plan_l1_fix_dist: 15.8096, d0.loss_cls_all: 446.6351, d0.loss_bbox_all: 1.6034, d0.loss_cls: 446.6351, d0.loss_bbox: 1.6034, d1.loss_cls: 493.3447, d1.loss_bbox: 1.5618, d2.loss_cls: 497.4964, d2.loss_bbox: 1.6562, d3.loss_cls: 560.6335, d3.loss_bbox: 1.6429, d4.loss_cls: 528.0025, d4.loss_bbox: 1.5414, d5.loss_cls: 589.5272, d5.loss_bbox: 1.6381, d0.loss_traj_cls: 0.0742, d0.loss_traj: 7.1175, d1.loss_traj_cls: 0.0601, d1.loss_traj: 7.1747, d2.loss_traj_cls: 0.0618, d2.loss_traj: 7.2614, d3.loss_traj_cls: 0.1085, d3.loss_traj: 7.2035, d4.loss_traj_cls: 0.0520, d4.loss_traj: 7.1130, d5.loss_traj_cls: 0.0548, d5.loss_traj: 7.1502, d0.loss_map_cls_all: 7.8784, d0.loss_map_pts_all: 5.0769, d0.loss_map_dir_all: 0.0953, d0.loss_map_cls: 7.8784, d0.loss_map_pts: 5.0769, d0.loss_map_dir: 0.0953, d1.loss_map_cls: 7.3051, d1.loss_map_pts: 5.1002, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 8.0308, d2.loss_map_pts: 5.1392, d2.loss_map_dir: 0.0949, d3.loss_map_cls: 10.7628, d3.loss_map_pts: 5.1812, d3.loss_map_dir: 0.0950, d4.loss_map_cls: 10.7680, d4.loss_map_pts: 5.2436, d4.loss_map_dir: 0.0949, d5.loss_map_cls: 10.8634, d5.loss_map_pts: 5.2928, d5.loss_map_dir: 0.0949, loss: 4547.6037, grad_norm: inf +2026-02-24 03:16:00,795 - DriveTransformer - INFO - Epoch [1][4550/39528] lr: 1.000e-04, eta: 8 days, 16:57:56, time: 0.805, data_time: 0.039, memory: 18742, loss_cls: 711.6164, loss_bbox: 1.6096, loss_traj: 6.4286, loss_traj_cls: 0.0852, loss_map_cls: 11.1748, loss_map_pts: 5.5187, loss_map_dir: 0.0948, d0.loss_plan_l1_fix_time: 13.1535, d0.loss_plan_l1_fix_dist: 3.5274, d1.loss_plan_l1_fix_time: 13.5110, d1.loss_plan_l1_fix_dist: 4.6411, d2.loss_plan_l1_fix_time: 13.9196, d2.loss_plan_l1_fix_dist: 6.4818, d3.loss_plan_l1_fix_time: 14.4198, d3.loss_plan_l1_fix_dist: 8.3881, d4.loss_plan_l1_fix_time: 14.8635, d4.loss_plan_l1_fix_dist: 11.0848, d5.loss_plan_l1_fix_time: 15.3744, d5.loss_plan_l1_fix_dist: 13.9492, d6.loss_plan_l1_fix_time: 15.8569, d6.loss_plan_l1_fix_dist: 16.6425, d0.loss_cls_all: 484.6296, d0.loss_bbox_all: 1.5926, d0.loss_cls: 484.6296, d0.loss_bbox: 1.5926, d1.loss_cls: 538.9037, d1.loss_bbox: 1.5368, d2.loss_cls: 540.9583, d2.loss_bbox: 1.6412, d3.loss_cls: 611.8198, d3.loss_bbox: 1.6292, d4.loss_cls: 572.4764, d4.loss_bbox: 1.5268, d5.loss_cls: 643.0707, d5.loss_bbox: 1.6332, d0.loss_traj_cls: 0.0753, d0.loss_traj: 6.4048, d1.loss_traj_cls: 0.0600, d1.loss_traj: 6.4621, d2.loss_traj_cls: 0.0614, d2.loss_traj: 6.5458, d3.loss_traj_cls: 0.1043, d3.loss_traj: 6.4844, d4.loss_traj_cls: 0.0503, d4.loss_traj: 6.3870, d5.loss_traj_cls: 0.0527, d5.loss_traj: 6.4247, d0.loss_map_cls_all: 8.0555, d0.loss_map_pts_all: 5.2634, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 8.0555, d0.loss_map_pts: 5.2634, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 7.5275, d1.loss_map_pts: 5.2856, d1.loss_map_dir: 0.0951, d2.loss_map_cls: 8.2527, d2.loss_map_pts: 5.3200, d2.loss_map_dir: 0.0951, d3.loss_map_cls: 11.1040, d3.loss_map_pts: 5.3546, d3.loss_map_dir: 0.0950, d4.loss_map_cls: 11.1279, d4.loss_map_pts: 5.4171, d4.loss_map_dir: 0.0949, d5.loss_map_cls: 11.2601, d5.loss_map_pts: 5.4706, d5.loss_map_dir: 0.0948, loss: 4932.5178, grad_norm: inf +2026-02-24 03:16:42,146 - DriveTransformer - INFO - Epoch [1][4600/39528] lr: 1.000e-04, eta: 8 days, 17:02:26, time: 0.827, data_time: 0.043, memory: 18742, loss_cls: 642.4206, loss_bbox: 1.7032, loss_traj: 5.5545, loss_traj_cls: 0.0915, loss_map_cls: 8.4778, loss_map_pts: 5.5555, loss_map_dir: 0.0946, d0.loss_plan_l1_fix_time: 12.3210, d0.loss_plan_l1_fix_dist: 3.4475, d1.loss_plan_l1_fix_time: 12.6884, d1.loss_plan_l1_fix_dist: 4.4886, d2.loss_plan_l1_fix_time: 13.1061, d2.loss_plan_l1_fix_dist: 6.2032, d3.loss_plan_l1_fix_time: 13.6275, d3.loss_plan_l1_fix_dist: 8.0886, d4.loss_plan_l1_fix_time: 14.0847, d4.loss_plan_l1_fix_dist: 10.8014, d5.loss_plan_l1_fix_time: 14.6017, d5.loss_plan_l1_fix_dist: 13.6321, d6.loss_plan_l1_fix_time: 15.0904, d6.loss_plan_l1_fix_dist: 16.3152, d0.loss_cls_all: 441.1575, d0.loss_bbox_all: 1.6193, d0.loss_cls: 441.1575, d0.loss_bbox: 1.6193, d1.loss_cls: 488.6367, d1.loss_bbox: 1.5879, d2.loss_cls: 490.5849, d2.loss_bbox: 1.6709, d3.loss_cls: 547.9562, d3.loss_bbox: 1.6672, d4.loss_cls: 518.7998, d4.loss_bbox: 1.6035, d5.loss_cls: 585.0565, d5.loss_bbox: 1.7022, d0.loss_traj_cls: 0.0741, d0.loss_traj: 5.5266, d1.loss_traj_cls: 0.0608, d1.loss_traj: 5.5709, d2.loss_traj_cls: 0.0630, d2.loss_traj: 5.6533, d3.loss_traj_cls: 0.1094, d3.loss_traj: 5.6093, d4.loss_traj_cls: 0.0518, d4.loss_traj: 5.5034, d5.loss_traj_cls: 0.0553, d5.loss_traj: 5.5468, d0.loss_map_cls_all: 6.3103, d0.loss_map_pts_all: 5.1985, d0.loss_map_dir_all: 0.0947, d0.loss_map_cls: 6.3103, d0.loss_map_pts: 5.1985, d0.loss_map_dir: 0.0947, d1.loss_map_cls: 5.9918, d1.loss_map_pts: 5.2317, d1.loss_map_dir: 0.0945, d2.loss_map_cls: 6.4969, d2.loss_map_pts: 5.2755, d2.loss_map_dir: 0.0944, d3.loss_map_cls: 8.6760, d3.loss_map_pts: 5.3192, d3.loss_map_dir: 0.0946, d4.loss_map_cls: 8.5955, d4.loss_map_pts: 5.3990, d4.loss_map_dir: 0.0946, d5.loss_map_cls: 8.6114, d5.loss_map_pts: 5.4792, d5.loss_map_dir: 0.0946, loss: 4469.7945, grad_norm: inf +2026-02-24 03:17:21,614 - DriveTransformer - INFO - Epoch [1][4650/39528] lr: 1.000e-04, eta: 8 days, 17:00:27, time: 0.789, data_time: 0.037, memory: 18742, loss_cls: 643.0699, loss_bbox: 1.6867, loss_traj: 6.6383, loss_traj_cls: 0.0918, loss_map_cls: 9.6831, loss_map_pts: 5.5049, loss_map_dir: 0.0945, d0.loss_plan_l1_fix_time: 13.2754, d0.loss_plan_l1_fix_dist: 3.5266, d1.loss_plan_l1_fix_time: 13.5958, d1.loss_plan_l1_fix_dist: 4.6348, d2.loss_plan_l1_fix_time: 13.9803, d2.loss_plan_l1_fix_dist: 6.4458, d3.loss_plan_l1_fix_time: 14.4669, d3.loss_plan_l1_fix_dist: 8.4272, d4.loss_plan_l1_fix_time: 14.9143, d4.loss_plan_l1_fix_dist: 11.2497, d5.loss_plan_l1_fix_time: 15.4282, d5.loss_plan_l1_fix_dist: 14.1936, d6.loss_plan_l1_fix_time: 15.9087, d6.loss_plan_l1_fix_dist: 16.9413, d0.loss_cls_all: 440.3149, d0.loss_bbox_all: 1.6496, d0.loss_cls: 440.3149, d0.loss_bbox: 1.6496, d1.loss_cls: 481.3763, d1.loss_bbox: 1.6068, d2.loss_cls: 494.5682, d2.loss_bbox: 1.6934, d3.loss_cls: 557.6078, d3.loss_bbox: 1.6763, d4.loss_cls: 517.3726, d4.loss_bbox: 1.5888, d5.loss_cls: 580.2360, d5.loss_bbox: 1.6988, d0.loss_traj_cls: 0.0748, d0.loss_traj: 6.6135, d1.loss_traj_cls: 0.0635, d1.loss_traj: 6.6727, d2.loss_traj_cls: 0.0635, d2.loss_traj: 6.7458, d3.loss_traj_cls: 0.1065, d3.loss_traj: 6.6918, d4.loss_traj_cls: 0.0533, d4.loss_traj: 6.6057, d5.loss_traj_cls: 0.0562, d5.loss_traj: 6.6457, d0.loss_map_cls_all: 7.4936, d0.loss_map_pts_all: 5.1729, d0.loss_map_dir_all: 0.0948, d0.loss_map_cls: 7.4936, d0.loss_map_pts: 5.1729, d0.loss_map_dir: 0.0948, d1.loss_map_cls: 6.9104, d1.loss_map_pts: 5.2025, d1.loss_map_dir: 0.0947, d2.loss_map_cls: 7.3591, d2.loss_map_pts: 5.2504, d2.loss_map_dir: 0.0948, d3.loss_map_cls: 9.8408, d3.loss_map_pts: 5.2986, d3.loss_map_dir: 0.0948, d4.loss_map_cls: 9.8005, d4.loss_map_pts: 5.3752, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 9.8015, d5.loss_map_pts: 5.4413, d5.loss_map_dir: 0.0946, loss: 4493.7817, grad_norm: inf +2026-02-24 03:18:02,101 - DriveTransformer - INFO - Epoch [1][4700/39528] lr: 1.000e-04, eta: 8 days, 17:01:55, time: 0.810, data_time: 0.042, memory: 18742, loss_cls: 616.8014, loss_bbox: 1.6891, loss_traj: 5.4172, loss_traj_cls: 0.0977, loss_map_cls: 9.3879, loss_map_pts: 5.4991, loss_map_dir: 0.0949, d0.loss_plan_l1_fix_time: 11.3577, d0.loss_plan_l1_fix_dist: 3.4473, d1.loss_plan_l1_fix_time: 11.7255, d1.loss_plan_l1_fix_dist: 4.4697, d2.loss_plan_l1_fix_time: 12.1496, d2.loss_plan_l1_fix_dist: 6.1839, d3.loss_plan_l1_fix_time: 12.6796, d3.loss_plan_l1_fix_dist: 8.0982, d4.loss_plan_l1_fix_time: 13.1548, d4.loss_plan_l1_fix_dist: 10.8610, d5.loss_plan_l1_fix_time: 13.6962, d5.loss_plan_l1_fix_dist: 13.7662, d6.loss_plan_l1_fix_time: 14.2107, d6.loss_plan_l1_fix_dist: 16.4776, d0.loss_cls_all: 421.0988, d0.loss_bbox_all: 1.6204, d0.loss_cls: 421.0988, d0.loss_bbox: 1.6204, d1.loss_cls: 466.1812, d1.loss_bbox: 1.5760, d2.loss_cls: 466.5669, d2.loss_bbox: 1.6461, d3.loss_cls: 528.3607, d3.loss_bbox: 1.6411, d4.loss_cls: 496.5787, d4.loss_bbox: 1.5850, d5.loss_cls: 558.6710, d5.loss_bbox: 1.6863, d0.loss_traj_cls: 0.0733, d0.loss_traj: 5.4027, d1.loss_traj_cls: 0.0612, d1.loss_traj: 5.4489, d2.loss_traj_cls: 0.0624, d2.loss_traj: 5.5186, d3.loss_traj_cls: 0.1123, d3.loss_traj: 5.4720, d4.loss_traj_cls: 0.0568, d4.loss_traj: 5.3748, d5.loss_traj_cls: 0.0612, d5.loss_traj: 5.4148, d0.loss_map_cls_all: 6.9340, d0.loss_map_pts_all: 5.1204, d0.loss_map_dir_all: 0.0951, d0.loss_map_cls: 6.9340, d0.loss_map_pts: 5.1204, d0.loss_map_dir: 0.0951, d1.loss_map_cls: 6.4287, d1.loss_map_pts: 5.1581, d1.loss_map_dir: 0.0949, d2.loss_map_cls: 6.9949, d2.loss_map_pts: 5.2123, d2.loss_map_dir: 0.0947, d3.loss_map_cls: 9.4144, d3.loss_map_pts: 5.2635, d3.loss_map_dir: 0.0948, d4.loss_map_cls: 9.3525, d4.loss_map_pts: 5.3502, d4.loss_map_dir: 0.0949, d5.loss_map_cls: 9.5107, d5.loss_map_pts: 5.4262, d5.loss_map_dir: 0.0948, loss: 4287.1405, grad_norm: inf +2026-02-24 03:18:41,031 - DriveTransformer - INFO - Epoch [1][4750/39528] lr: 1.000e-04, eta: 8 days, 16:58:10, time: 0.779, data_time: 0.038, memory: 18742, loss_cls: 724.2397, loss_bbox: 1.6762, loss_traj: 6.0554, loss_traj_cls: 0.0925, loss_map_cls: 11.9096, loss_map_pts: 5.4440, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 12.7656, d0.loss_plan_l1_fix_dist: 3.2701, d1.loss_plan_l1_fix_time: 13.0742, d1.loss_plan_l1_fix_dist: 4.3379, d2.loss_plan_l1_fix_time: 13.4375, d2.loss_plan_l1_fix_dist: 6.0637, d3.loss_plan_l1_fix_time: 13.9090, d3.loss_plan_l1_fix_dist: 7.9303, d4.loss_plan_l1_fix_time: 14.3188, d4.loss_plan_l1_fix_dist: 10.5811, d5.loss_plan_l1_fix_time: 14.7978, d5.loss_plan_l1_fix_dist: 13.3630, d6.loss_plan_l1_fix_time: 15.2595, d6.loss_plan_l1_fix_dist: 15.9598, d0.loss_cls_all: 504.4451, d0.loss_bbox_all: 1.6300, d0.loss_cls: 504.4451, d0.loss_bbox: 1.6300, d1.loss_cls: 547.2167, d1.loss_bbox: 1.5897, d2.loss_cls: 544.2823, d2.loss_bbox: 1.6814, d3.loss_cls: 619.0882, d3.loss_bbox: 1.6743, d4.loss_cls: 587.0870, d4.loss_bbox: 1.5908, d5.loss_cls: 657.2235, d5.loss_bbox: 1.6836, d0.loss_traj_cls: 0.0742, d0.loss_traj: 6.0187, d1.loss_traj_cls: 0.0614, d1.loss_traj: 6.0766, d2.loss_traj_cls: 0.0640, d2.loss_traj: 6.1488, d3.loss_traj_cls: 0.1075, d3.loss_traj: 6.1048, d4.loss_traj_cls: 0.0518, d4.loss_traj: 6.0180, d5.loss_traj_cls: 0.0558, d5.loss_traj: 6.0561, d0.loss_map_cls_all: 9.1740, d0.loss_map_pts_all: 5.1798, d0.loss_map_dir_all: 0.0950, d0.loss_map_cls: 9.1740, d0.loss_map_pts: 5.1798, d0.loss_map_dir: 0.0950, d1.loss_map_cls: 8.6580, d1.loss_map_pts: 5.2042, d1.loss_map_dir: 0.0948, d2.loss_map_cls: 9.2951, d2.loss_map_pts: 5.2443, d2.loss_map_dir: 0.0946, d3.loss_map_cls: 12.5035, d3.loss_map_pts: 5.2767, d3.loss_map_dir: 0.0947, d4.loss_map_cls: 12.2271, d4.loss_map_pts: 5.3369, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 12.1143, d5.loss_map_pts: 5.3885, d5.loss_map_dir: 0.0947, loss: 5031.3058, grad_norm: inf +2026-02-24 03:19:21,727 - DriveTransformer - INFO - Epoch [1][4800/39528] lr: 1.000e-04, eta: 8 days, 17:00:30, time: 0.815, data_time: 0.040, memory: 18742, loss_cls: 682.7436, loss_bbox: 1.5884, loss_traj: 5.4139, loss_traj_cls: 0.0886, loss_map_cls: 9.0583, loss_map_pts: 5.4491, loss_map_dir: 0.0949, d0.loss_plan_l1_fix_time: 10.2792, d0.loss_plan_l1_fix_dist: 3.3795, d1.loss_plan_l1_fix_time: 10.6874, d1.loss_plan_l1_fix_dist: 4.4165, d2.loss_plan_l1_fix_time: 11.1606, d2.loss_plan_l1_fix_dist: 5.9742, d3.loss_plan_l1_fix_time: 11.7264, d3.loss_plan_l1_fix_dist: 7.7907, d4.loss_plan_l1_fix_time: 12.2449, d4.loss_plan_l1_fix_dist: 10.4585, d5.loss_plan_l1_fix_time: 12.8194, d5.loss_plan_l1_fix_dist: 13.2808, d6.loss_plan_l1_fix_time: 13.3587, d6.loss_plan_l1_fix_dist: 15.9243, d0.loss_cls_all: 465.6996, d0.loss_bbox_all: 1.5744, d0.loss_cls: 465.6996, d0.loss_bbox: 1.5744, d1.loss_cls: 515.6189, d1.loss_bbox: 1.5350, d2.loss_cls: 520.8815, d2.loss_bbox: 1.6248, d3.loss_cls: 588.7035, d3.loss_bbox: 1.6136, d4.loss_cls: 554.0591, d4.loss_bbox: 1.5218, d5.loss_cls: 620.4414, d5.loss_bbox: 1.6101, d0.loss_traj_cls: 0.0747, d0.loss_traj: 5.3927, d1.loss_traj_cls: 0.0625, d1.loss_traj: 5.4358, d2.loss_traj_cls: 0.0634, d2.loss_traj: 5.5135, d3.loss_traj_cls: 0.1081, d3.loss_traj: 5.4646, d4.loss_traj_cls: 0.0521, d4.loss_traj: 5.3602, d5.loss_traj_cls: 0.0536, d5.loss_traj: 5.4081, d0.loss_map_cls_all: 6.7039, d0.loss_map_pts_all: 5.1144, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 6.7039, d0.loss_map_pts: 5.1144, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 6.2378, d1.loss_map_pts: 5.1422, d1.loss_map_dir: 0.0952, d2.loss_map_cls: 6.7348, d2.loss_map_pts: 5.1817, d2.loss_map_dir: 0.0950, d3.loss_map_cls: 9.1492, d3.loss_map_pts: 5.2278, d3.loss_map_dir: 0.0951, d4.loss_map_cls: 9.1384, d4.loss_map_pts: 5.3067, d4.loss_map_dir: 0.0949, d5.loss_map_cls: 9.1730, d5.loss_map_pts: 5.3790, d5.loss_map_dir: 0.0950, loss: 4714.0579, grad_norm: inf +2026-02-24 03:19:59,880 - DriveTransformer - INFO - Epoch [1][4850/39528] lr: 1.000e-04, eta: 8 days, 16:54:05, time: 0.762, data_time: 0.041, memory: 18742, loss_cls: 661.9643, loss_bbox: 1.6881, loss_traj: 6.1538, loss_traj_cls: 0.0840, loss_map_cls: 11.9229, loss_map_pts: 5.4882, loss_map_dir: 0.0948, d0.loss_plan_l1_fix_time: 11.6167, d0.loss_plan_l1_fix_dist: 3.3998, d1.loss_plan_l1_fix_time: 11.9857, d1.loss_plan_l1_fix_dist: 4.3780, d2.loss_plan_l1_fix_time: 12.4116, d2.loss_plan_l1_fix_dist: 5.9914, d3.loss_plan_l1_fix_time: 12.9433, d3.loss_plan_l1_fix_dist: 7.8433, d4.loss_plan_l1_fix_time: 13.4337, d4.loss_plan_l1_fix_dist: 10.5259, d5.loss_plan_l1_fix_time: 13.9807, d5.loss_plan_l1_fix_dist: 13.3054, d6.loss_plan_l1_fix_time: 14.5010, d6.loss_plan_l1_fix_dist: 15.8961, d0.loss_cls_all: 453.5779, d0.loss_bbox_all: 1.6493, d0.loss_cls: 453.5779, d0.loss_bbox: 1.6493, d1.loss_cls: 504.8330, d1.loss_bbox: 1.6187, d2.loss_cls: 505.4667, d2.loss_bbox: 1.7003, d3.loss_cls: 572.5656, d3.loss_bbox: 1.6849, d4.loss_cls: 538.4072, d4.loss_bbox: 1.6104, d5.loss_cls: 600.1107, d5.loss_bbox: 1.6980, d0.loss_traj_cls: 0.0741, d0.loss_traj: 6.1239, d1.loss_traj_cls: 0.0602, d1.loss_traj: 6.1805, d2.loss_traj_cls: 0.0610, d2.loss_traj: 6.2673, d3.loss_traj_cls: 0.1056, d3.loss_traj: 6.2088, d4.loss_traj_cls: 0.0492, d4.loss_traj: 6.1085, d5.loss_traj_cls: 0.0518, d5.loss_traj: 6.1443, d0.loss_map_cls_all: 8.8192, d0.loss_map_pts_all: 5.2516, d0.loss_map_dir_all: 0.0954, d0.loss_map_cls: 8.8192, d0.loss_map_pts: 5.2516, d0.loss_map_dir: 0.0954, d1.loss_map_cls: 8.2151, d1.loss_map_pts: 5.2717, d1.loss_map_dir: 0.0952, d2.loss_map_cls: 8.9608, d2.loss_map_pts: 5.2998, d2.loss_map_dir: 0.0948, d3.loss_map_cls: 12.1054, d3.loss_map_pts: 5.3345, d3.loss_map_dir: 0.0949, d4.loss_map_cls: 12.1016, d4.loss_map_pts: 5.3930, d4.loss_map_dir: 0.0948, d5.loss_map_cls: 12.1181, d5.loss_map_pts: 5.4447, d5.loss_map_dir: 0.0948, loss: 4626.2454, grad_norm: inf +2026-02-24 03:20:41,162 - DriveTransformer - INFO - Epoch [1][4900/39528] lr: 1.000e-04, eta: 8 days, 16:58:03, time: 0.826, data_time: 0.041, memory: 18742, loss_cls: 639.6395, loss_bbox: 1.6442, loss_traj: 5.5866, loss_traj_cls: 0.0980, loss_map_cls: 9.9241, loss_map_pts: 5.1960, loss_map_dir: 0.0945, d0.loss_plan_l1_fix_time: 11.8529, d0.loss_plan_l1_fix_dist: 3.3669, d1.loss_plan_l1_fix_time: 12.2014, d1.loss_plan_l1_fix_dist: 4.3643, d2.loss_plan_l1_fix_time: 12.5970, d2.loss_plan_l1_fix_dist: 6.1548, d3.loss_plan_l1_fix_time: 13.0936, d3.loss_plan_l1_fix_dist: 8.0562, d4.loss_plan_l1_fix_time: 13.5330, d4.loss_plan_l1_fix_dist: 10.8190, d5.loss_plan_l1_fix_time: 14.0311, d5.loss_plan_l1_fix_dist: 13.7069, d6.loss_plan_l1_fix_time: 14.5060, d6.loss_plan_l1_fix_dist: 16.4219, d0.loss_cls_all: 438.5259, d0.loss_bbox_all: 1.6099, d0.loss_cls: 438.5259, d0.loss_bbox: 1.6099, d1.loss_cls: 475.1724, d1.loss_bbox: 1.5641, d2.loss_cls: 479.9788, d2.loss_bbox: 1.6366, d3.loss_cls: 551.1921, d3.loss_bbox: 1.6296, d4.loss_cls: 516.3158, d4.loss_bbox: 1.5504, d5.loss_cls: 580.4122, d5.loss_bbox: 1.6540, d0.loss_traj_cls: 0.0731, d0.loss_traj: 5.5689, d1.loss_traj_cls: 0.0607, d1.loss_traj: 5.6198, d2.loss_traj_cls: 0.0621, d2.loss_traj: 5.6949, d3.loss_traj_cls: 0.1080, d3.loss_traj: 5.6455, d4.loss_traj_cls: 0.0521, d4.loss_traj: 5.5530, d5.loss_traj_cls: 0.0578, d5.loss_traj: 5.5931, d0.loss_map_cls_all: 7.5201, d0.loss_map_pts_all: 4.8923, d0.loss_map_dir_all: 0.0947, d0.loss_map_cls: 7.5201, d0.loss_map_pts: 4.8923, d0.loss_map_dir: 0.0947, d1.loss_map_cls: 7.0279, d1.loss_map_pts: 4.9180, d1.loss_map_dir: 0.0944, d2.loss_map_cls: 7.5326, d2.loss_map_pts: 4.9573, d2.loss_map_dir: 0.0943, d3.loss_map_cls: 10.1635, d3.loss_map_pts: 4.9986, d3.loss_map_dir: 0.0944, d4.loss_map_cls: 10.0267, d4.loss_map_pts: 5.0711, d4.loss_map_dir: 0.0942, d5.loss_map_cls: 10.0787, d5.loss_map_pts: 5.1392, d5.loss_map_dir: 0.0944, loss: 4437.7541, grad_norm: inf +2026-02-24 03:21:22,384 - DriveTransformer - INFO - Epoch [1][4950/39528] lr: 1.000e-04, eta: 8 days, 17:01:43, time: 0.824, data_time: 0.038, memory: 18742, loss_cls: 637.7769, loss_bbox: 1.7034, loss_traj: 5.6094, loss_traj_cls: 0.0890, loss_map_cls: 9.1844, loss_map_pts: 5.4285, loss_map_dir: 0.0944, d0.loss_plan_l1_fix_time: 10.9964, d0.loss_plan_l1_fix_dist: 3.4586, d1.loss_plan_l1_fix_time: 11.3948, d1.loss_plan_l1_fix_dist: 4.4818, d2.loss_plan_l1_fix_time: 11.8492, d2.loss_plan_l1_fix_dist: 6.2930, d3.loss_plan_l1_fix_time: 12.4125, d3.loss_plan_l1_fix_dist: 8.2889, d4.loss_plan_l1_fix_time: 12.9145, d4.loss_plan_l1_fix_dist: 11.0878, d5.loss_plan_l1_fix_time: 13.4829, d5.loss_plan_l1_fix_dist: 14.0172, d6.loss_plan_l1_fix_time: 14.0283, d6.loss_plan_l1_fix_dist: 16.7689, d0.loss_cls_all: 441.5500, d0.loss_bbox_all: 1.6329, d0.loss_cls: 441.5500, d0.loss_bbox: 1.6329, d1.loss_cls: 482.6352, d1.loss_bbox: 1.6038, d2.loss_cls: 482.5268, d2.loss_bbox: 1.6762, d3.loss_cls: 548.1351, d3.loss_bbox: 1.6621, d4.loss_cls: 515.1035, d4.loss_bbox: 1.5951, d5.loss_cls: 577.3548, d5.loss_bbox: 1.7068, d0.loss_traj_cls: 0.0729, d0.loss_traj: 5.5921, d1.loss_traj_cls: 0.0594, d1.loss_traj: 5.6352, d2.loss_traj_cls: 0.0596, d2.loss_traj: 5.7083, d3.loss_traj_cls: 0.1032, d3.loss_traj: 5.6585, d4.loss_traj_cls: 0.0497, d4.loss_traj: 5.5655, d5.loss_traj_cls: 0.0536, d5.loss_traj: 5.6048, d0.loss_map_cls_all: 6.8374, d0.loss_map_pts_all: 5.0288, d0.loss_map_dir_all: 0.0946, d0.loss_map_cls: 6.8374, d0.loss_map_pts: 5.0288, d0.loss_map_dir: 0.0946, d1.loss_map_cls: 6.5044, d1.loss_map_pts: 5.0683, d1.loss_map_dir: 0.0945, d2.loss_map_cls: 7.0221, d2.loss_map_pts: 5.1258, d2.loss_map_dir: 0.0945, d3.loss_map_cls: 9.3615, d3.loss_map_pts: 5.1782, d3.loss_map_dir: 0.0945, d4.loss_map_cls: 9.2427, d4.loss_map_pts: 5.2660, d4.loss_map_dir: 0.0945, d5.loss_map_cls: 9.2799, d5.loss_map_pts: 5.3474, d5.loss_map_dir: 0.0944, loss: 4437.6785, grad_norm: inf +2026-02-24 03:22:00,767 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 03:22:00,767 - DriveTransformer - INFO - Epoch [1][5000/39528] lr: 1.000e-04, eta: 8 days, 16:56:25, time: 0.768, data_time: 0.041, memory: 18742, loss_cls: 710.0032, loss_bbox: 1.6193, loss_traj: 7.2534, loss_traj_cls: 0.1006, loss_map_cls: 12.6521, loss_map_pts: 5.6455, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 12.9511, d0.loss_plan_l1_fix_dist: 3.3287, d1.loss_plan_l1_fix_time: 13.2814, d1.loss_plan_l1_fix_dist: 4.4052, d2.loss_plan_l1_fix_time: 13.6703, d2.loss_plan_l1_fix_dist: 6.2175, d3.loss_plan_l1_fix_time: 14.1631, d3.loss_plan_l1_fix_dist: 8.1804, d4.loss_plan_l1_fix_time: 14.6053, d4.loss_plan_l1_fix_dist: 10.9291, d5.loss_plan_l1_fix_time: 15.1055, d5.loss_plan_l1_fix_dist: 13.7340, d6.loss_plan_l1_fix_time: 15.5773, d6.loss_plan_l1_fix_dist: 16.3973, d0.loss_cls_all: 482.3457, d0.loss_bbox_all: 1.6018, d0.loss_cls: 482.3457, d0.loss_bbox: 1.6018, d1.loss_cls: 529.6367, d1.loss_bbox: 1.5587, d2.loss_cls: 532.9473, d2.loss_bbox: 1.6612, d3.loss_cls: 604.5420, d3.loss_bbox: 1.6422, d4.loss_cls: 575.3059, d4.loss_bbox: 1.5316, d5.loss_cls: 644.8938, d5.loss_bbox: 1.6353, d0.loss_traj_cls: 0.0736, d0.loss_traj: 7.2074, d1.loss_traj_cls: 0.0613, d1.loss_traj: 7.2698, d2.loss_traj_cls: 0.0630, d2.loss_traj: 7.3522, d3.loss_traj_cls: 0.1107, d3.loss_traj: 7.2939, d4.loss_traj_cls: 0.0556, d4.loss_traj: 7.2145, d5.loss_traj_cls: 0.0610, d5.loss_traj: 7.2514, d0.loss_map_cls_all: 9.6037, d0.loss_map_pts_all: 5.4234, d0.loss_map_dir_all: 0.0950, d0.loss_map_cls: 9.6037, d0.loss_map_pts: 5.4234, d0.loss_map_dir: 0.0950, d1.loss_map_cls: 8.9387, d1.loss_map_pts: 5.4450, d1.loss_map_dir: 0.0948, d2.loss_map_cls: 9.6668, d2.loss_map_pts: 5.4729, d2.loss_map_dir: 0.0948, d3.loss_map_cls: 13.0786, d3.loss_map_pts: 5.5085, d3.loss_map_dir: 0.0948, d4.loss_map_cls: 12.9042, d4.loss_map_pts: 5.5655, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 12.8073, d5.loss_map_pts: 5.6081, d5.loss_map_dir: 0.0948, loss: 4922.8928, grad_norm: inf +2026-02-24 03:22:40,238 - DriveTransformer - INFO - Epoch [1][5050/39528] lr: 1.000e-04, eta: 8 days, 16:54:31, time: 0.789, data_time: 0.042, memory: 18742, loss_cls: 686.3645, loss_bbox: 1.6467, loss_traj: 5.3361, loss_traj_cls: 0.1003, loss_map_cls: 10.5575, loss_map_pts: 5.4103, loss_map_dir: 0.0945, d0.loss_plan_l1_fix_time: 11.3295, d0.loss_plan_l1_fix_dist: 3.2996, d1.loss_plan_l1_fix_time: 11.6707, d1.loss_plan_l1_fix_dist: 4.3342, d2.loss_plan_l1_fix_time: 12.0739, d2.loss_plan_l1_fix_dist: 6.0581, d3.loss_plan_l1_fix_time: 12.5763, d3.loss_plan_l1_fix_dist: 7.8846, d4.loss_plan_l1_fix_time: 13.0351, d4.loss_plan_l1_fix_dist: 10.4659, d5.loss_plan_l1_fix_time: 13.5653, d5.loss_plan_l1_fix_dist: 13.1358, d6.loss_plan_l1_fix_time: 14.0740, d6.loss_plan_l1_fix_dist: 15.6837, d0.loss_cls_all: 468.2069, d0.loss_bbox_all: 1.6111, d0.loss_cls: 468.2069, d0.loss_bbox: 1.6111, d1.loss_cls: 510.9009, d1.loss_bbox: 1.5712, d2.loss_cls: 510.1597, d2.loss_bbox: 1.6492, d3.loss_cls: 577.8479, d3.loss_bbox: 1.6424, d4.loss_cls: 551.7164, d4.loss_bbox: 1.5714, d5.loss_cls: 617.5541, d5.loss_bbox: 1.6572, d0.loss_traj_cls: 0.0734, d0.loss_traj: 5.3262, d1.loss_traj_cls: 0.0624, d1.loss_traj: 5.3708, d2.loss_traj_cls: 0.0657, d2.loss_traj: 5.4484, d3.loss_traj_cls: 0.1146, d3.loss_traj: 5.4031, d4.loss_traj_cls: 0.0547, d4.loss_traj: 5.2938, d5.loss_traj_cls: 0.0593, d5.loss_traj: 5.3340, d0.loss_map_cls_all: 7.9955, d0.loss_map_pts_all: 5.0893, d0.loss_map_dir_all: 0.0948, d0.loss_map_cls: 7.9955, d0.loss_map_pts: 5.0893, d0.loss_map_dir: 0.0948, d1.loss_map_cls: 7.3527, d1.loss_map_pts: 5.1196, d1.loss_map_dir: 0.0947, d2.loss_map_cls: 8.0629, d2.loss_map_pts: 5.1568, d2.loss_map_dir: 0.0946, d3.loss_map_cls: 10.9126, d3.loss_map_pts: 5.1986, d3.loss_map_dir: 0.0945, d4.loss_map_cls: 10.8681, d4.loss_map_pts: 5.2737, d4.loss_map_dir: 0.0945, d5.loss_map_cls: 10.7811, d5.loss_map_pts: 5.3432, d5.loss_map_dir: 0.0945, loss: 4708.1107, grad_norm: inf +2026-02-24 03:23:20,181 - DriveTransformer - INFO - Epoch [1][5100/39528] lr: 1.000e-04, eta: 8 days, 16:54:08, time: 0.799, data_time: 0.045, memory: 18742, loss_cls: 634.7499, loss_bbox: 1.6548, loss_traj: 5.4131, loss_traj_cls: 0.0913, loss_map_cls: 11.1951, loss_map_pts: 5.7480, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 11.7791, d0.loss_plan_l1_fix_dist: 3.5024, d1.loss_plan_l1_fix_time: 12.1475, d1.loss_plan_l1_fix_dist: 4.5990, d2.loss_plan_l1_fix_time: 12.5730, d2.loss_plan_l1_fix_dist: 6.2858, d3.loss_plan_l1_fix_time: 13.0999, d3.loss_plan_l1_fix_dist: 8.1795, d4.loss_plan_l1_fix_time: 13.5748, d4.loss_plan_l1_fix_dist: 10.8846, d5.loss_plan_l1_fix_time: 14.1042, d5.loss_plan_l1_fix_dist: 13.7020, d6.loss_plan_l1_fix_time: 14.6042, d6.loss_plan_l1_fix_dist: 16.3987, d0.loss_cls_all: 437.1032, d0.loss_bbox_all: 1.6201, d0.loss_cls: 437.1032, d0.loss_bbox: 1.6201, d1.loss_cls: 475.7398, d1.loss_bbox: 1.5806, d2.loss_cls: 482.7874, d2.loss_bbox: 1.6668, d3.loss_cls: 547.1505, d3.loss_bbox: 1.6611, d4.loss_cls: 509.4765, d4.loss_bbox: 1.5929, d5.loss_cls: 575.2671, d5.loss_bbox: 1.6646, d0.loss_traj_cls: 0.0747, d0.loss_traj: 5.3822, d1.loss_traj_cls: 0.0607, d1.loss_traj: 5.4377, d2.loss_traj_cls: 0.0628, d2.loss_traj: 5.5172, d3.loss_traj_cls: 0.1048, d3.loss_traj: 5.4722, d4.loss_traj_cls: 0.0510, d4.loss_traj: 5.3683, d5.loss_traj_cls: 0.0548, d5.loss_traj: 5.4148, d0.loss_map_cls_all: 8.5241, d0.loss_map_pts_all: 5.4832, d0.loss_map_dir_all: 0.0951, d0.loss_map_cls: 8.5241, d0.loss_map_pts: 5.4832, d0.loss_map_dir: 0.0951, d1.loss_map_cls: 7.9217, d1.loss_map_pts: 5.5067, d1.loss_map_dir: 0.0949, d2.loss_map_cls: 8.4675, d2.loss_map_pts: 5.5430, d2.loss_map_dir: 0.0947, d3.loss_map_cls: 11.4988, d3.loss_map_pts: 5.5822, d3.loss_map_dir: 0.0947, d4.loss_map_cls: 11.4439, d4.loss_map_pts: 5.6464, d4.loss_map_dir: 0.0948, d5.loss_map_cls: 11.4563, d5.loss_map_pts: 5.6994, d5.loss_map_dir: 0.0948, loss: 4430.8612, grad_norm: inf +2026-02-24 03:23:59,646 - DriveTransformer - INFO - Epoch [1][5150/39528] lr: 1.000e-04, eta: 8 days, 16:52:22, time: 0.790, data_time: 0.036, memory: 18742, loss_cls: 724.5402, loss_bbox: 1.6174, loss_traj: 6.3219, loss_traj_cls: 0.0943, loss_map_cls: 10.9555, loss_map_pts: 5.6271, loss_map_dir: 0.0946, d0.loss_plan_l1_fix_time: 12.2706, d0.loss_plan_l1_fix_dist: 3.3793, d1.loss_plan_l1_fix_time: 12.6084, d1.loss_plan_l1_fix_dist: 4.4909, d2.loss_plan_l1_fix_time: 13.0080, d2.loss_plan_l1_fix_dist: 6.2341, d3.loss_plan_l1_fix_time: 13.5104, d3.loss_plan_l1_fix_dist: 8.1609, d4.loss_plan_l1_fix_time: 13.9625, d4.loss_plan_l1_fix_dist: 10.8352, d5.loss_plan_l1_fix_time: 14.4720, d5.loss_plan_l1_fix_dist: 13.6438, d6.loss_plan_l1_fix_time: 14.9521, d6.loss_plan_l1_fix_dist: 16.3037, d0.loss_cls_all: 506.6388, d0.loss_bbox_all: 1.5752, d0.loss_cls: 506.6388, d0.loss_bbox: 1.5752, d1.loss_cls: 547.3952, d1.loss_bbox: 1.5333, d2.loss_cls: 548.0868, d2.loss_bbox: 1.6292, d3.loss_cls: 624.1577, d3.loss_bbox: 1.6234, d4.loss_cls: 587.7930, d4.loss_bbox: 1.5444, d5.loss_cls: 654.7510, d5.loss_bbox: 1.6286, d0.loss_traj_cls: 0.0740, d0.loss_traj: 6.3041, d1.loss_traj_cls: 0.0615, d1.loss_traj: 6.3647, d2.loss_traj_cls: 0.0632, d2.loss_traj: 6.4332, d3.loss_traj_cls: 0.1102, d3.loss_traj: 6.3803, d4.loss_traj_cls: 0.0526, d4.loss_traj: 6.2932, d5.loss_traj_cls: 0.0565, d5.loss_traj: 6.3316, d0.loss_map_cls_all: 8.2100, d0.loss_map_pts_all: 5.3177, d0.loss_map_dir_all: 0.0950, d0.loss_map_cls: 8.2100, d0.loss_map_pts: 5.3177, d0.loss_map_dir: 0.0950, d1.loss_map_cls: 7.8476, d1.loss_map_pts: 5.3448, d1.loss_map_dir: 0.0949, d2.loss_map_cls: 8.4252, d2.loss_map_pts: 5.3879, d2.loss_map_dir: 0.0948, d3.loss_map_cls: 11.2617, d3.loss_map_pts: 5.4337, d3.loss_map_dir: 0.0948, d4.loss_map_cls: 11.2199, d4.loss_map_pts: 5.5077, d4.loss_map_dir: 0.0945, d5.loss_map_cls: 11.1598, d5.loss_map_pts: 5.5735, d5.loss_map_dir: 0.0945, loss: 5037.0593, grad_norm: inf +2026-02-24 03:24:40,068 - DriveTransformer - INFO - Epoch [1][5200/39528] lr: 1.000e-04, eta: 8 days, 16:53:22, time: 0.808, data_time: 0.042, memory: 18742, loss_cls: 690.7905, loss_bbox: 1.6577, loss_traj: 5.4111, loss_traj_cls: 0.0919, loss_map_cls: 10.3819, loss_map_pts: 5.5759, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 10.8939, d0.loss_plan_l1_fix_dist: 3.3207, d1.loss_plan_l1_fix_time: 11.2986, d1.loss_plan_l1_fix_dist: 4.2799, d2.loss_plan_l1_fix_time: 11.7552, d2.loss_plan_l1_fix_dist: 5.9527, d3.loss_plan_l1_fix_time: 12.2992, d3.loss_plan_l1_fix_dist: 7.7765, d4.loss_plan_l1_fix_time: 12.7834, d4.loss_plan_l1_fix_dist: 10.5020, d5.loss_plan_l1_fix_time: 13.3382, d5.loss_plan_l1_fix_dist: 13.3503, d6.loss_plan_l1_fix_time: 13.8703, d6.loss_plan_l1_fix_dist: 15.9672, d0.loss_cls_all: 468.9784, d0.loss_bbox_all: 1.6098, d0.loss_cls: 468.9784, d0.loss_bbox: 1.6098, d1.loss_cls: 523.8240, d1.loss_bbox: 1.5588, d2.loss_cls: 523.8705, d2.loss_bbox: 1.6263, d3.loss_cls: 596.4203, d3.loss_bbox: 1.6310, d4.loss_cls: 557.6845, d4.loss_bbox: 1.5577, d5.loss_cls: 625.7920, d5.loss_bbox: 1.6602, d0.loss_traj_cls: 0.0745, d0.loss_traj: 5.3843, d1.loss_traj_cls: 0.0610, d1.loss_traj: 5.4275, d2.loss_traj_cls: 0.0634, d2.loss_traj: 5.5286, d3.loss_traj_cls: 0.1063, d3.loss_traj: 5.4781, d4.loss_traj_cls: 0.0519, d4.loss_traj: 5.3471, d5.loss_traj_cls: 0.0549, d5.loss_traj: 5.3997, d0.loss_map_cls_all: 7.6688, d0.loss_map_pts_all: 5.2026, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 7.6688, d0.loss_map_pts: 5.2026, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 7.0417, d1.loss_map_pts: 5.2450, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 7.5716, d2.loss_map_pts: 5.2991, d2.loss_map_dir: 0.0948, d3.loss_map_cls: 10.2794, d3.loss_map_pts: 5.3513, d3.loss_map_dir: 0.0948, d4.loss_map_cls: 10.3190, d4.loss_map_pts: 5.4319, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 10.5172, d5.loss_map_pts: 5.5072, d5.loss_map_dir: 0.0947, loss: 4770.1415, grad_norm: inf +2026-02-24 03:25:21,196 - DriveTransformer - INFO - Epoch [1][5250/39528] lr: 1.000e-04, eta: 8 days, 16:56:32, time: 0.823, data_time: 0.038, memory: 18742, loss_cls: 626.4871, loss_bbox: 1.6911, loss_traj: 4.7615, loss_traj_cls: 0.0933, loss_map_cls: 9.6137, loss_map_pts: 5.5071, loss_map_dir: 0.0945, d0.loss_plan_l1_fix_time: 10.1637, d0.loss_plan_l1_fix_dist: 3.3670, d1.loss_plan_l1_fix_time: 10.5694, d1.loss_plan_l1_fix_dist: 4.3380, d2.loss_plan_l1_fix_time: 11.0347, d2.loss_plan_l1_fix_dist: 6.0226, d3.loss_plan_l1_fix_time: 11.5970, d3.loss_plan_l1_fix_dist: 7.8964, d4.loss_plan_l1_fix_time: 12.1047, d4.loss_plan_l1_fix_dist: 10.5983, d5.loss_plan_l1_fix_time: 12.6760, d5.loss_plan_l1_fix_dist: 13.4216, d6.loss_plan_l1_fix_time: 13.2143, d6.loss_plan_l1_fix_dist: 16.0390, d0.loss_cls_all: 428.4497, d0.loss_bbox_all: 1.6097, d0.loss_cls: 428.4497, d0.loss_bbox: 1.6097, d1.loss_cls: 472.9776, d1.loss_bbox: 1.5771, d2.loss_cls: 468.6274, d2.loss_bbox: 1.6653, d3.loss_cls: 538.5692, d3.loss_bbox: 1.6532, d4.loss_cls: 507.4728, d4.loss_bbox: 1.6037, d5.loss_cls: 570.5737, d5.loss_bbox: 1.6942, d0.loss_traj_cls: 0.0740, d0.loss_traj: 4.7474, d1.loss_traj_cls: 0.0596, d1.loss_traj: 4.7844, d2.loss_traj_cls: 0.0624, d2.loss_traj: 4.8581, d3.loss_traj_cls: 0.1074, d3.loss_traj: 4.8127, d4.loss_traj_cls: 0.0528, d4.loss_traj: 4.7121, d5.loss_traj_cls: 0.0575, d5.loss_traj: 4.7585, d0.loss_map_cls_all: 7.1561, d0.loss_map_pts_all: 5.0788, d0.loss_map_dir_all: 0.0948, d0.loss_map_cls: 7.1561, d0.loss_map_pts: 5.0788, d0.loss_map_dir: 0.0948, d1.loss_map_cls: 6.7518, d1.loss_map_pts: 5.1226, d1.loss_map_dir: 0.0946, d2.loss_map_cls: 7.2811, d2.loss_map_pts: 5.1823, d2.loss_map_dir: 0.0944, d3.loss_map_cls: 9.8484, d3.loss_map_pts: 5.2361, d3.loss_map_dir: 0.0945, d4.loss_map_cls: 9.7124, d4.loss_map_pts: 5.3287, d4.loss_map_dir: 0.0946, d5.loss_map_cls: 9.7433, d5.loss_map_pts: 5.4202, d5.loss_map_dir: 0.0945, loss: 4341.6699, grad_norm: inf +2026-02-24 03:25:59,236 - DriveTransformer - INFO - Epoch [1][5300/39528] lr: 1.000e-04, eta: 8 days, 16:50:27, time: 0.761, data_time: 0.041, memory: 18742, loss_cls: 702.6796, loss_bbox: 1.6434, loss_traj: 6.2074, loss_traj_cls: 0.0962, loss_map_cls: 12.9550, loss_map_pts: 5.5018, loss_map_dir: 0.0948, d0.loss_plan_l1_fix_time: 13.4403, d0.loss_plan_l1_fix_dist: 3.3155, d1.loss_plan_l1_fix_time: 13.7605, d1.loss_plan_l1_fix_dist: 4.3485, d2.loss_plan_l1_fix_time: 14.1394, d2.loss_plan_l1_fix_dist: 6.0713, d3.loss_plan_l1_fix_time: 14.6242, d3.loss_plan_l1_fix_dist: 7.9464, d4.loss_plan_l1_fix_time: 15.0609, d4.loss_plan_l1_fix_dist: 10.5512, d5.loss_plan_l1_fix_time: 15.5659, d5.loss_plan_l1_fix_dist: 13.2834, d6.loss_plan_l1_fix_time: 16.0471, d6.loss_plan_l1_fix_dist: 15.8716, d0.loss_cls_all: 489.0172, d0.loss_bbox_all: 1.6037, d0.loss_cls: 489.0172, d0.loss_bbox: 1.6037, d1.loss_cls: 533.3205, d1.loss_bbox: 1.5624, d2.loss_cls: 536.9098, d2.loss_bbox: 1.6553, d3.loss_cls: 607.9004, d3.loss_bbox: 1.6540, d4.loss_cls: 567.6765, d4.loss_bbox: 1.5650, d5.loss_cls: 635.8042, d5.loss_bbox: 1.6567, d0.loss_traj_cls: 0.0739, d0.loss_traj: 6.1860, d1.loss_traj_cls: 0.0629, d1.loss_traj: 6.2300, d2.loss_traj_cls: 0.0669, d2.loss_traj: 6.3141, d3.loss_traj_cls: 0.1155, d3.loss_traj: 6.2639, d4.loss_traj_cls: 0.0549, d4.loss_traj: 6.1636, d5.loss_traj_cls: 0.0584, d5.loss_traj: 6.2094, d0.loss_map_cls_all: 9.9845, d0.loss_map_pts_all: 5.2225, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 9.9845, d0.loss_map_pts: 5.2225, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 9.1944, d1.loss_map_pts: 5.2481, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 9.8656, d2.loss_map_pts: 5.2860, d2.loss_map_dir: 0.0949, d3.loss_map_cls: 13.4703, d3.loss_map_pts: 5.3291, d3.loss_map_dir: 0.0949, d4.loss_map_cls: 13.2134, d4.loss_map_pts: 5.3926, d4.loss_map_dir: 0.0948, d5.loss_map_cls: 13.2039, d5.loss_map_pts: 5.4492, d5.loss_map_dir: 0.0948, loss: 4918.6817, grad_norm: inf +2026-02-24 03:26:38,472 - DriveTransformer - INFO - Epoch [1][5350/39528] lr: 1.000e-04, eta: 8 days, 16:47:59, time: 0.785, data_time: 0.035, memory: 18742, loss_cls: 660.7227, loss_bbox: 1.6954, loss_traj: 5.2381, loss_traj_cls: 0.0930, loss_map_cls: 8.6776, loss_map_pts: 5.4045, loss_map_dir: 0.0944, d0.loss_plan_l1_fix_time: 11.2998, d0.loss_plan_l1_fix_dist: 3.3979, d1.loss_plan_l1_fix_time: 11.6750, d1.loss_plan_l1_fix_dist: 4.3415, d2.loss_plan_l1_fix_time: 12.1009, d2.loss_plan_l1_fix_dist: 6.1144, d3.loss_plan_l1_fix_time: 12.6273, d3.loss_plan_l1_fix_dist: 8.0114, d4.loss_plan_l1_fix_time: 13.0997, d4.loss_plan_l1_fix_dist: 10.6695, d5.loss_plan_l1_fix_time: 13.6333, d5.loss_plan_l1_fix_dist: 13.5069, d6.loss_plan_l1_fix_time: 14.1346, d6.loss_plan_l1_fix_dist: 16.2037, d0.loss_cls_all: 460.1592, d0.loss_bbox_all: 1.6360, d0.loss_cls: 460.1592, d0.loss_bbox: 1.6360, d1.loss_cls: 504.0221, d1.loss_bbox: 1.5994, d2.loss_cls: 505.1132, d2.loss_bbox: 1.6694, d3.loss_cls: 573.6490, d3.loss_bbox: 1.6642, d4.loss_cls: 537.8465, d4.loss_bbox: 1.5981, d5.loss_cls: 598.1811, d5.loss_bbox: 1.7012, d0.loss_traj_cls: 0.0726, d0.loss_traj: 5.2134, d1.loss_traj_cls: 0.0623, d1.loss_traj: 5.2586, d2.loss_traj_cls: 0.0628, d2.loss_traj: 5.3386, d3.loss_traj_cls: 0.1082, d3.loss_traj: 5.2910, d4.loss_traj_cls: 0.0505, d4.loss_traj: 5.1883, d5.loss_traj_cls: 0.0560, d5.loss_traj: 5.2284, d0.loss_map_cls_all: 6.7174, d0.loss_map_pts_all: 5.0599, d0.loss_map_dir_all: 0.0945, d0.loss_map_cls: 6.7174, d0.loss_map_pts: 5.0599, d0.loss_map_dir: 0.0945, d1.loss_map_cls: 6.3551, d1.loss_map_pts: 5.0966, d1.loss_map_dir: 0.0944, d2.loss_map_cls: 6.8404, d2.loss_map_pts: 5.1445, d2.loss_map_dir: 0.0943, d3.loss_map_cls: 9.1708, d3.loss_map_pts: 5.1887, d3.loss_map_dir: 0.0944, d4.loss_map_cls: 8.9578, d4.loss_map_pts: 5.2641, d4.loss_map_dir: 0.0943, d5.loss_map_cls: 8.8443, d5.loss_map_pts: 5.3335, d5.loss_map_dir: 0.0942, loss: 4605.7184, grad_norm: inf +2026-02-24 03:27:17,246 - DriveTransformer - INFO - Epoch [1][5400/39528] lr: 1.000e-04, eta: 8 days, 16:44:12, time: 0.775, data_time: 0.040, memory: 18742, loss_cls: 638.9705, loss_bbox: 1.6775, loss_traj: 6.6778, loss_traj_cls: 0.0931, loss_map_cls: 10.7734, loss_map_pts: 5.5211, loss_map_dir: 0.0950, d0.loss_plan_l1_fix_time: 13.1635, d0.loss_plan_l1_fix_dist: 3.3817, d1.loss_plan_l1_fix_time: 13.4668, d1.loss_plan_l1_fix_dist: 4.4176, d2.loss_plan_l1_fix_time: 13.8270, d2.loss_plan_l1_fix_dist: 6.1915, d3.loss_plan_l1_fix_time: 14.2892, d3.loss_plan_l1_fix_dist: 8.0653, d4.loss_plan_l1_fix_time: 14.6936, d4.loss_plan_l1_fix_dist: 10.6984, d5.loss_plan_l1_fix_time: 15.1592, d5.loss_plan_l1_fix_dist: 13.4971, d6.loss_plan_l1_fix_time: 15.6133, d6.loss_plan_l1_fix_dist: 16.1177, d0.loss_cls_all: 438.6396, d0.loss_bbox_all: 1.6379, d0.loss_cls: 438.6396, d0.loss_bbox: 1.6379, d1.loss_cls: 482.1260, d1.loss_bbox: 1.5957, d2.loss_cls: 484.1076, d2.loss_bbox: 1.6921, d3.loss_cls: 546.8448, d3.loss_bbox: 1.6729, d4.loss_cls: 517.8424, d4.loss_bbox: 1.5895, d5.loss_cls: 583.4841, d5.loss_bbox: 1.6930, d0.loss_traj_cls: 0.0756, d0.loss_traj: 6.6384, d1.loss_traj_cls: 0.0608, d1.loss_traj: 6.6935, d2.loss_traj_cls: 0.0619, d2.loss_traj: 6.7782, d3.loss_traj_cls: 0.1108, d3.loss_traj: 6.7215, d4.loss_traj_cls: 0.0548, d4.loss_traj: 6.6329, d5.loss_traj_cls: 0.0577, d5.loss_traj: 6.6728, d0.loss_map_cls_all: 7.9087, d0.loss_map_pts_all: 5.2278, d0.loss_map_dir_all: 0.0953, d0.loss_map_cls: 7.9087, d0.loss_map_pts: 5.2278, d0.loss_map_dir: 0.0953, d1.loss_map_cls: 7.3271, d1.loss_map_pts: 5.2478, d1.loss_map_dir: 0.0952, d2.loss_map_cls: 7.9865, d2.loss_map_pts: 5.2882, d2.loss_map_dir: 0.0951, d3.loss_map_cls: 10.7017, d3.loss_map_pts: 5.3328, d3.loss_map_dir: 0.0951, d4.loss_map_cls: 10.7710, d4.loss_map_pts: 5.4021, d4.loss_map_dir: 0.0951, d5.loss_map_cls: 10.8533, d5.loss_map_pts: 5.4659, d5.loss_map_dir: 0.0950, loss: 4471.4673, grad_norm: inf +2026-02-24 03:27:57,522 - DriveTransformer - INFO - Epoch [1][5450/39528] lr: 1.000e-04, eta: 8 days, 16:44:49, time: 0.806, data_time: 0.045, memory: 18742, loss_cls: 707.0334, loss_bbox: 1.6712, loss_traj: 6.5946, loss_traj_cls: 0.0896, loss_map_cls: 10.7551, loss_map_pts: 5.5189, loss_map_dir: 0.0948, d0.loss_plan_l1_fix_time: 12.9770, d0.loss_plan_l1_fix_dist: 3.2704, d1.loss_plan_l1_fix_time: 13.3053, d1.loss_plan_l1_fix_dist: 4.3597, d2.loss_plan_l1_fix_time: 13.6871, d2.loss_plan_l1_fix_dist: 6.2304, d3.loss_plan_l1_fix_time: 14.1662, d3.loss_plan_l1_fix_dist: 8.2339, d4.loss_plan_l1_fix_time: 14.5855, d4.loss_plan_l1_fix_dist: 10.8906, d5.loss_plan_l1_fix_time: 15.0696, d5.loss_plan_l1_fix_dist: 13.6780, d6.loss_plan_l1_fix_time: 15.5251, d6.loss_plan_l1_fix_dist: 16.3189, d0.loss_cls_all: 496.2404, d0.loss_bbox_all: 1.6089, d0.loss_cls: 496.2404, d0.loss_bbox: 1.6089, d1.loss_cls: 529.4504, d1.loss_bbox: 1.5716, d2.loss_cls: 535.0008, d2.loss_bbox: 1.6607, d3.loss_cls: 604.3255, d3.loss_bbox: 1.6569, d4.loss_cls: 569.9847, d4.loss_bbox: 1.5627, d5.loss_cls: 635.6215, d5.loss_bbox: 1.6825, d0.loss_traj_cls: 0.0749, d0.loss_traj: 6.5672, d1.loss_traj_cls: 0.0629, d1.loss_traj: 6.6210, d2.loss_traj_cls: 0.0610, d2.loss_traj: 6.6973, d3.loss_traj_cls: 0.1069, d3.loss_traj: 6.6395, d4.loss_traj_cls: 0.0515, d4.loss_traj: 6.5644, d5.loss_traj_cls: 0.0536, d5.loss_traj: 6.6079, d0.loss_map_cls_all: 8.1450, d0.loss_map_pts_all: 5.2207, d0.loss_map_dir_all: 0.0951, d0.loss_map_cls: 8.1450, d0.loss_map_pts: 5.2207, d0.loss_map_dir: 0.0951, d1.loss_map_cls: 7.7097, d1.loss_map_pts: 5.2528, d1.loss_map_dir: 0.0951, d2.loss_map_cls: 8.3086, d2.loss_map_pts: 5.2954, d2.loss_map_dir: 0.0950, d3.loss_map_cls: 10.9838, d3.loss_map_pts: 5.3374, d3.loss_map_dir: 0.0949, d4.loss_map_cls: 10.9289, d4.loss_map_pts: 5.4033, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 10.8507, d5.loss_map_pts: 5.4624, d5.loss_map_dir: 0.0948, loss: 4915.3087, grad_norm: inf +2026-02-24 03:28:38,534 - DriveTransformer - INFO - Epoch [1][5500/39528] lr: 1.000e-04, eta: 8 days, 16:47:31, time: 0.820, data_time: 0.038, memory: 18742, loss_cls: 668.3172, loss_bbox: 1.6947, loss_traj: 5.4803, loss_traj_cls: 0.0919, loss_map_cls: 10.9854, loss_map_pts: 5.4656, loss_map_dir: 0.0946, d0.loss_plan_l1_fix_time: 10.5115, d0.loss_plan_l1_fix_dist: 3.3113, d1.loss_plan_l1_fix_time: 10.9157, d1.loss_plan_l1_fix_dist: 4.3235, d2.loss_plan_l1_fix_time: 11.3727, d2.loss_plan_l1_fix_dist: 5.9797, d3.loss_plan_l1_fix_time: 11.9364, d3.loss_plan_l1_fix_dist: 7.7717, d4.loss_plan_l1_fix_time: 12.4409, d4.loss_plan_l1_fix_dist: 10.3814, d5.loss_plan_l1_fix_time: 13.0075, d5.loss_plan_l1_fix_dist: 13.1323, d6.loss_plan_l1_fix_time: 13.5463, d6.loss_plan_l1_fix_dist: 15.7165, d0.loss_cls_all: 457.4170, d0.loss_bbox_all: 1.6282, d0.loss_cls: 457.4170, d0.loss_bbox: 1.6282, d1.loss_cls: 505.7035, d1.loss_bbox: 1.5967, d2.loss_cls: 508.0867, d2.loss_bbox: 1.6805, d3.loss_cls: 580.4331, d3.loss_bbox: 1.6688, d4.loss_cls: 542.2352, d4.loss_bbox: 1.6124, d5.loss_cls: 606.5407, d5.loss_bbox: 1.7001, d0.loss_traj_cls: 0.0744, d0.loss_traj: 5.4537, d1.loss_traj_cls: 0.0596, d1.loss_traj: 5.4995, d2.loss_traj_cls: 0.0622, d2.loss_traj: 5.5855, d3.loss_traj_cls: 0.1061, d3.loss_traj: 5.5372, d4.loss_traj_cls: 0.0520, d4.loss_traj: 5.4277, d5.loss_traj_cls: 0.0572, d5.loss_traj: 5.4724, d0.loss_map_cls_all: 8.1186, d0.loss_map_pts_all: 5.1334, d0.loss_map_dir_all: 0.0949, d0.loss_map_cls: 8.1186, d0.loss_map_pts: 5.1334, d0.loss_map_dir: 0.0949, d1.loss_map_cls: 7.5416, d1.loss_map_pts: 5.1663, d1.loss_map_dir: 0.0948, d2.loss_map_cls: 8.1441, d2.loss_map_pts: 5.2109, d2.loss_map_dir: 0.0947, d3.loss_map_cls: 11.0173, d3.loss_map_pts: 5.2537, d3.loss_map_dir: 0.0947, d4.loss_map_cls: 11.0081, d4.loss_map_pts: 5.3294, d4.loss_map_dir: 0.0948, d5.loss_map_cls: 11.1899, d5.loss_map_pts: 5.3949, d5.loss_map_dir: 0.0947, loss: 4641.6370, grad_norm: inf +2026-02-24 03:29:19,449 - DriveTransformer - INFO - Epoch [1][5550/39528] lr: 1.000e-04, eta: 8 days, 16:49:52, time: 0.818, data_time: 0.043, memory: 18742, loss_cls: 696.2610, loss_bbox: 1.6891, loss_traj: 5.8466, loss_traj_cls: 0.0993, loss_map_cls: 9.2662, loss_map_pts: 5.7278, loss_map_dir: 0.0946, d0.loss_plan_l1_fix_time: 11.4683, d0.loss_plan_l1_fix_dist: 3.3146, d1.loss_plan_l1_fix_time: 11.8268, d1.loss_plan_l1_fix_dist: 4.2421, d2.loss_plan_l1_fix_time: 12.2427, d2.loss_plan_l1_fix_dist: 5.8786, d3.loss_plan_l1_fix_time: 12.7502, d3.loss_plan_l1_fix_dist: 7.6328, d4.loss_plan_l1_fix_time: 13.2010, d4.loss_plan_l1_fix_dist: 10.2681, d5.loss_plan_l1_fix_time: 13.7180, d5.loss_plan_l1_fix_dist: 12.9905, d6.loss_plan_l1_fix_time: 14.2107, d6.loss_plan_l1_fix_dist: 15.5307, d0.loss_cls_all: 474.8860, d0.loss_bbox_all: 1.6320, d0.loss_cls: 474.8860, d0.loss_bbox: 1.6320, d1.loss_cls: 522.1346, d1.loss_bbox: 1.6007, d2.loss_cls: 523.7478, d2.loss_bbox: 1.6713, d3.loss_cls: 595.6178, d3.loss_bbox: 1.6601, d4.loss_cls: 559.8560, d4.loss_bbox: 1.6030, d5.loss_cls: 634.4451, d5.loss_bbox: 1.6913, d0.loss_traj_cls: 0.0744, d0.loss_traj: 5.8188, d1.loss_traj_cls: 0.0584, d1.loss_traj: 5.8648, d2.loss_traj_cls: 0.0612, d2.loss_traj: 5.9507, d3.loss_traj_cls: 0.1072, d3.loss_traj: 5.9058, d4.loss_traj_cls: 0.0532, d4.loss_traj: 5.7975, d5.loss_traj_cls: 0.0591, d5.loss_traj: 5.8430, d0.loss_map_cls_all: 6.8638, d0.loss_map_pts_all: 5.3646, d0.loss_map_dir_all: 0.0949, d0.loss_map_cls: 6.8638, d0.loss_map_pts: 5.3646, d0.loss_map_dir: 0.0949, d1.loss_map_cls: 6.3534, d1.loss_map_pts: 5.4013, d1.loss_map_dir: 0.0946, d2.loss_map_cls: 6.9014, d2.loss_map_pts: 5.4427, d2.loss_map_dir: 0.0943, d3.loss_map_cls: 9.3994, d3.loss_map_pts: 5.4890, d3.loss_map_dir: 0.0944, d4.loss_map_cls: 9.2495, d4.loss_map_pts: 5.5715, d4.loss_map_dir: 0.0945, d5.loss_map_cls: 9.3646, d5.loss_map_pts: 5.6515, d5.loss_map_dir: 0.0945, loss: 4794.8607, grad_norm: inf +2026-02-24 03:29:58,145 - DriveTransformer - INFO - Epoch [1][5600/39528] lr: 1.000e-04, eta: 8 days, 16:46:09, time: 0.775, data_time: 0.039, memory: 18742, loss_cls: 701.3599, loss_bbox: 1.5859, loss_traj: 6.2777, loss_traj_cls: 0.1005, loss_map_cls: 12.1345, loss_map_pts: 5.8462, loss_map_dir: 0.0946, d0.loss_plan_l1_fix_time: 12.2291, d0.loss_plan_l1_fix_dist: 3.4666, d1.loss_plan_l1_fix_time: 12.5517, d1.loss_plan_l1_fix_dist: 4.5395, d2.loss_plan_l1_fix_time: 12.9393, d2.loss_plan_l1_fix_dist: 6.1919, d3.loss_plan_l1_fix_time: 13.4326, d3.loss_plan_l1_fix_dist: 8.0125, d4.loss_plan_l1_fix_time: 13.8768, d4.loss_plan_l1_fix_dist: 10.6367, d5.loss_plan_l1_fix_time: 14.3917, d5.loss_plan_l1_fix_dist: 13.3846, d6.loss_plan_l1_fix_time: 14.8812, d6.loss_plan_l1_fix_dist: 15.9836, d0.loss_cls_all: 478.8594, d0.loss_bbox_all: 1.5869, d0.loss_cls: 478.8594, d0.loss_bbox: 1.5869, d1.loss_cls: 519.2971, d1.loss_bbox: 1.5329, d2.loss_cls: 520.1340, d2.loss_bbox: 1.6182, d3.loss_cls: 594.9943, d3.loss_bbox: 1.6196, d4.loss_cls: 561.6442, d4.loss_bbox: 1.5086, d5.loss_cls: 634.1664, d5.loss_bbox: 1.6079, d0.loss_traj_cls: 0.0735, d0.loss_traj: 6.2598, d1.loss_traj_cls: 0.0589, d1.loss_traj: 6.3131, d2.loss_traj_cls: 0.0638, d2.loss_traj: 6.3909, d3.loss_traj_cls: 0.1093, d3.loss_traj: 6.3424, d4.loss_traj_cls: 0.0544, d4.loss_traj: 6.2418, d5.loss_traj_cls: 0.0602, d5.loss_traj: 6.2771, d0.loss_map_cls_all: 9.0583, d0.loss_map_pts_all: 5.6028, d0.loss_map_dir_all: 0.0953, d0.loss_map_cls: 9.0583, d0.loss_map_pts: 5.6028, d0.loss_map_dir: 0.0953, d1.loss_map_cls: 8.4758, d1.loss_map_pts: 5.6224, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 9.1676, d2.loss_map_pts: 5.6563, d2.loss_map_dir: 0.0947, d3.loss_map_cls: 12.5468, d3.loss_map_pts: 5.6953, d3.loss_map_dir: 0.0947, d4.loss_map_cls: 12.3923, d4.loss_map_pts: 5.7562, d4.loss_map_dir: 0.0946, d5.loss_map_cls: 12.4596, d5.loss_map_pts: 5.8069, d5.loss_map_dir: 0.0946, loss: 4834.7436, grad_norm: inf +2026-02-24 03:30:36,285 - DriveTransformer - INFO - Epoch [1][5650/39528] lr: 1.000e-04, eta: 8 days, 16:40:32, time: 0.761, data_time: 0.040, memory: 19859, loss_cls: 34.2623, loss_bbox: 2.1083, loss_traj: 5.0081, loss_traj_cls: 0.0390, loss_map_cls: 3.8566, loss_map_pts: 5.1714, loss_map_dir: 0.0967, d0.loss_plan_l1_fix_time: 10.5914, d0.loss_plan_l1_fix_dist: 3.2646, d1.loss_plan_l1_fix_time: 10.7421, d1.loss_plan_l1_fix_dist: 3.8376, d2.loss_plan_l1_fix_time: 10.9808, d2.loss_plan_l1_fix_dist: 5.0952, d3.loss_plan_l1_fix_time: 11.2538, d3.loss_plan_l1_fix_dist: 6.4475, d4.loss_plan_l1_fix_time: 11.5723, d4.loss_plan_l1_fix_dist: 7.7178, d5.loss_plan_l1_fix_time: 11.9401, d5.loss_plan_l1_fix_dist: 9.2524, d6.loss_plan_l1_fix_time: 12.3619, d6.loss_plan_l1_fix_dist: 10.6442, d0.loss_cls_all: 54.1197, d0.loss_bbox_all: 1.5363, d0.loss_cls: 54.1197, d0.loss_bbox: 1.5363, d1.loss_cls: 48.3245, d1.loss_bbox: 1.7904, d2.loss_cls: 38.0809, d2.loss_bbox: 1.8461, d3.loss_cls: 32.1374, d3.loss_bbox: 1.8342, d4.loss_cls: 33.6299, d4.loss_bbox: 1.9832, d5.loss_cls: 36.4921, d5.loss_bbox: 2.0834, d0.loss_traj_cls: 0.0242, d0.loss_traj: 4.8047, d1.loss_traj_cls: 0.0215, d1.loss_traj: 5.0434, d2.loss_traj_cls: 0.0215, d2.loss_traj: 4.9805, d3.loss_traj_cls: 0.0286, d3.loss_traj: 5.0153, d4.loss_traj_cls: 0.0279, d4.loss_traj: 5.0100, d5.loss_traj_cls: 0.0236, d5.loss_traj: 5.0647, d0.loss_map_cls_all: 4.1231, d0.loss_map_pts_all: 5.1443, d0.loss_map_dir_all: 0.0968, d0.loss_map_cls: 4.1231, d0.loss_map_pts: 5.1443, d0.loss_map_dir: 0.0968, d1.loss_map_cls: 4.2091, d1.loss_map_pts: 5.1605, d1.loss_map_dir: 0.0968, d2.loss_map_cls: 4.1702, d2.loss_map_pts: 5.1639, d2.loss_map_dir: 0.0968, d3.loss_map_cls: 5.2835, d3.loss_map_pts: 5.1616, d3.loss_map_dir: 0.0968, d4.loss_map_cls: 4.6179, d4.loss_map_pts: 5.1667, d4.loss_map_dir: 0.0968, d5.loss_map_cls: 4.2512, d5.loss_map_pts: 5.1654, d5.loss_map_dir: 0.0968, loss: 583.3868, grad_norm: inf +2026-02-24 03:31:16,643 - DriveTransformer - INFO - Epoch [1][5700/39528] lr: 1.000e-04, eta: 8 days, 16:41:20, time: 0.807, data_time: 0.038, memory: 19864, loss_cls: 3.8512, loss_bbox: 1.6265, loss_traj: 5.6193, loss_traj_cls: 0.0195, loss_map_cls: 1.1033, loss_map_pts: 5.2088, loss_map_dir: 0.0961, d0.loss_plan_l1_fix_time: 9.8930, d0.loss_plan_l1_fix_dist: 2.8775, d1.loss_plan_l1_fix_time: 9.9340, d1.loss_plan_l1_fix_dist: 3.3482, d2.loss_plan_l1_fix_time: 10.0920, d2.loss_plan_l1_fix_dist: 4.4659, d3.loss_plan_l1_fix_time: 10.2764, d3.loss_plan_l1_fix_dist: 6.0283, d4.loss_plan_l1_fix_time: 10.4949, d4.loss_plan_l1_fix_dist: 7.8918, d5.loss_plan_l1_fix_time: 10.7754, d5.loss_plan_l1_fix_dist: 10.0389, d6.loss_plan_l1_fix_time: 11.0569, d6.loss_plan_l1_fix_dist: 12.3550, d0.loss_cls_all: 9.3060, d0.loss_bbox_all: 1.5974, d0.loss_cls: 9.3060, d0.loss_bbox: 1.5974, d1.loss_cls: 7.5302, d1.loss_bbox: 1.6657, d2.loss_cls: 4.1894, d2.loss_bbox: 1.6068, d3.loss_cls: 4.0726, d3.loss_bbox: 1.5799, d4.loss_cls: 3.4625, d4.loss_bbox: 1.6166, d5.loss_cls: 3.7637, d5.loss_bbox: 1.6332, d0.loss_traj_cls: 0.0052, d0.loss_traj: 5.5473, d1.loss_traj_cls: 0.0089, d1.loss_traj: 5.6529, d2.loss_traj_cls: 0.0115, d2.loss_traj: 5.6225, d3.loss_traj_cls: 0.0188, d3.loss_traj: 5.6268, d4.loss_traj_cls: 0.0192, d4.loss_traj: 5.5847, d5.loss_traj_cls: 0.0186, d5.loss_traj: 5.6034, d0.loss_map_cls_all: 1.7547, d0.loss_map_pts_all: 5.2958, d0.loss_map_dir_all: 0.0966, d0.loss_map_cls: 1.7547, d0.loss_map_pts: 5.2958, d0.loss_map_dir: 0.0966, d1.loss_map_cls: 1.7169, d1.loss_map_pts: 5.2852, d1.loss_map_dir: 0.0966, d2.loss_map_cls: 1.5553, d2.loss_map_pts: 5.2684, d2.loss_map_dir: 0.0965, d3.loss_map_cls: 1.4040, d3.loss_map_pts: 5.2434, d3.loss_map_dir: 0.0965, d4.loss_map_cls: 1.5632, d4.loss_map_pts: 5.2250, d4.loss_map_dir: 0.0963, d5.loss_map_cls: 1.2764, d5.loss_map_pts: 5.2113, d5.loss_map_dir: 0.0962, loss: 272.2258, grad_norm: inf +2026-02-24 03:31:54,649 - DriveTransformer - INFO - Epoch [1][5750/39528] lr: 1.000e-04, eta: 8 days, 16:35:41, time: 0.760, data_time: 0.039, memory: 19864, loss_cls: 1.5552, loss_bbox: 1.5004, loss_traj: 5.0462, loss_traj_cls: 0.0125, loss_map_cls: 0.8716, loss_map_pts: 4.9341, loss_map_dir: 0.0934, d0.loss_plan_l1_fix_time: 12.2326, d0.loss_plan_l1_fix_dist: 2.5193, d1.loss_plan_l1_fix_time: 12.0750, d1.loss_plan_l1_fix_dist: 2.9729, d2.loss_plan_l1_fix_time: 12.0467, d2.loss_plan_l1_fix_dist: 4.7342, d3.loss_plan_l1_fix_time: 12.0715, d3.loss_plan_l1_fix_dist: 6.0235, d4.loss_plan_l1_fix_time: 12.0441, d4.loss_plan_l1_fix_dist: 7.3629, d5.loss_plan_l1_fix_time: 12.0860, d5.loss_plan_l1_fix_dist: 8.6327, d6.loss_plan_l1_fix_time: 12.2345, d6.loss_plan_l1_fix_dist: 9.8735, d0.loss_cls_all: 2.3381, d0.loss_bbox_all: 1.5231, d0.loss_cls: 2.3381, d0.loss_bbox: 1.5231, d1.loss_cls: 1.9652, d1.loss_bbox: 1.4738, d2.loss_cls: 1.6569, d2.loss_bbox: 1.4833, d3.loss_cls: 1.5956, d3.loss_bbox: 1.4900, d4.loss_cls: 1.5520, d4.loss_bbox: 1.5343, d5.loss_cls: 1.5544, d5.loss_bbox: 1.5184, d0.loss_traj_cls: 0.0009, d0.loss_traj: 4.9878, d1.loss_traj_cls: 0.0036, d1.loss_traj: 5.0858, d2.loss_traj_cls: 0.0068, d2.loss_traj: 5.0825, d3.loss_traj_cls: 0.0091, d3.loss_traj: 5.0754, d4.loss_traj_cls: 0.0111, d4.loss_traj: 5.0270, d5.loss_traj_cls: 0.0114, d5.loss_traj: 5.0513, d0.loss_map_cls_all: 0.8933, d0.loss_map_pts_all: 4.9122, d0.loss_map_dir_all: 0.0935, d0.loss_map_cls: 0.8933, d0.loss_map_pts: 4.9122, d0.loss_map_dir: 0.0935, d1.loss_map_cls: 0.8083, d1.loss_map_pts: 4.8984, d1.loss_map_dir: 0.0935, d2.loss_map_cls: 0.8100, d2.loss_map_pts: 4.8836, d2.loss_map_dir: 0.0935, d3.loss_map_cls: 0.8214, d3.loss_map_pts: 4.8843, d3.loss_map_dir: 0.0935, d4.loss_map_cls: 0.8455, d4.loss_map_pts: 4.8963, d4.loss_map_dir: 0.0935, d5.loss_map_cls: 0.8463, d5.loss_map_pts: 4.9158, d5.loss_map_dir: 0.0934, loss: 235.6971, grad_norm: inf +2026-02-24 03:32:35,858 - DriveTransformer - INFO - Epoch [1][5800/39528] lr: 1.000e-04, eta: 8 days, 16:38:46, time: 0.824, data_time: 0.040, memory: 19864, loss_cls: 1.4542, loss_bbox: 1.5120, loss_traj: 5.1287, loss_traj_cls: 0.0132, loss_map_cls: 0.7829, loss_map_pts: 4.9707, loss_map_dir: 0.0938, d0.loss_plan_l1_fix_time: 10.7332, d0.loss_plan_l1_fix_dist: 2.4198, d1.loss_plan_l1_fix_time: 10.5342, d1.loss_plan_l1_fix_dist: 2.7585, d2.loss_plan_l1_fix_time: 10.4352, d2.loss_plan_l1_fix_dist: 3.8672, d3.loss_plan_l1_fix_time: 10.4162, d3.loss_plan_l1_fix_dist: 5.2446, d4.loss_plan_l1_fix_time: 10.4093, d4.loss_plan_l1_fix_dist: 6.7933, d5.loss_plan_l1_fix_time: 10.4896, d5.loss_plan_l1_fix_dist: 8.4404, d6.loss_plan_l1_fix_time: 10.6221, d6.loss_plan_l1_fix_dist: 10.1130, d0.loss_cls_all: 1.6288, d0.loss_bbox_all: 1.4946, d0.loss_cls: 1.6288, d0.loss_bbox: 1.4946, d1.loss_cls: 1.5747, d1.loss_bbox: 1.4970, d2.loss_cls: 1.4928, d2.loss_bbox: 1.4938, d3.loss_cls: 1.4481, d3.loss_bbox: 1.4812, d4.loss_cls: 1.4396, d4.loss_bbox: 1.5082, d5.loss_cls: 1.4384, d5.loss_bbox: 1.5004, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.0560, d1.loss_traj_cls: 0.0018, d1.loss_traj: 5.1904, d2.loss_traj_cls: 0.0042, d2.loss_traj: 5.1363, d3.loss_traj_cls: 0.0066, d3.loss_traj: 5.1196, d4.loss_traj_cls: 0.0079, d4.loss_traj: 5.1168, d5.loss_traj_cls: 0.0088, d5.loss_traj: 5.1136, d0.loss_map_cls_all: 0.7805, d0.loss_map_pts_all: 4.9958, d0.loss_map_dir_all: 0.0939, d0.loss_map_cls: 0.7805, d0.loss_map_pts: 4.9958, d0.loss_map_dir: 0.0939, d1.loss_map_cls: 0.7526, d1.loss_map_pts: 4.9696, d1.loss_map_dir: 0.0938, d2.loss_map_cls: 0.7469, d2.loss_map_pts: 4.9495, d2.loss_map_dir: 0.0939, d3.loss_map_cls: 0.7698, d3.loss_map_pts: 4.9459, d3.loss_map_dir: 0.0939, d4.loss_map_cls: 0.7675, d4.loss_map_pts: 4.9477, d4.loss_map_dir: 0.0938, d5.loss_map_cls: 0.7647, d5.loss_map_pts: 4.9589, d5.loss_map_dir: 0.0938, loss: 219.8985, grad_norm: inf +2026-02-24 03:33:15,224 - DriveTransformer - INFO - Epoch [1][5850/39528] lr: 1.000e-04, eta: 8 days, 16:36:50, time: 0.787, data_time: 0.041, memory: 19864, loss_cls: 1.4321, loss_bbox: 1.3355, loss_traj: 5.3714, loss_traj_cls: 0.0097, loss_map_cls: 0.7949, loss_map_pts: 4.8792, loss_map_dir: 0.0933, d0.loss_plan_l1_fix_time: 9.9994, d0.loss_plan_l1_fix_dist: 1.8137, d1.loss_plan_l1_fix_time: 9.8103, d1.loss_plan_l1_fix_dist: 2.1201, d2.loss_plan_l1_fix_time: 9.7130, d2.loss_plan_l1_fix_dist: 3.0081, d3.loss_plan_l1_fix_time: 9.6889, d3.loss_plan_l1_fix_dist: 4.1996, d4.loss_plan_l1_fix_time: 9.7234, d4.loss_plan_l1_fix_dist: 5.6072, d5.loss_plan_l1_fix_time: 9.8333, d5.loss_plan_l1_fix_dist: 6.9889, d6.loss_plan_l1_fix_time: 9.9809, d6.loss_plan_l1_fix_dist: 8.5140, d0.loss_cls_all: 1.4826, d0.loss_bbox_all: 1.3494, d0.loss_cls: 1.4826, d0.loss_bbox: 1.3494, d1.loss_cls: 1.5099, d1.loss_bbox: 1.3608, d2.loss_cls: 1.4404, d2.loss_bbox: 1.3177, d3.loss_cls: 1.4227, d3.loss_bbox: 1.2895, d4.loss_cls: 1.4150, d4.loss_bbox: 1.2761, d5.loss_cls: 1.4208, d5.loss_bbox: 1.2908, d0.loss_traj_cls: 0.0006, d0.loss_traj: 5.2355, d1.loss_traj_cls: 0.0010, d1.loss_traj: 5.3773, d2.loss_traj_cls: 0.0025, d2.loss_traj: 5.3289, d3.loss_traj_cls: 0.0047, d3.loss_traj: 5.3374, d4.loss_traj_cls: 0.0063, d4.loss_traj: 5.3301, d5.loss_traj_cls: 0.0072, d5.loss_traj: 5.3396, d0.loss_map_cls_all: 0.7458, d0.loss_map_pts_all: 4.9298, d0.loss_map_dir_all: 0.0936, d0.loss_map_cls: 0.7458, d0.loss_map_pts: 4.9298, d0.loss_map_dir: 0.0936, d1.loss_map_cls: 0.7397, d1.loss_map_pts: 4.8988, d1.loss_map_dir: 0.0935, d2.loss_map_cls: 0.7471, d2.loss_map_pts: 4.8755, d2.loss_map_dir: 0.0935, d3.loss_map_cls: 0.7604, d3.loss_map_pts: 4.8750, d3.loss_map_dir: 0.0935, d4.loss_map_cls: 0.7596, d4.loss_map_pts: 4.8772, d4.loss_map_dir: 0.0934, d5.loss_map_cls: 0.7607, d5.loss_map_pts: 4.8792, d5.loss_map_dir: 0.0933, loss: 206.4747, grad_norm: inf +2026-02-24 03:33:53,838 - DriveTransformer - INFO - Epoch [1][5900/39528] lr: 1.000e-04, eta: 8 days, 16:32:56, time: 0.772, data_time: 0.038, memory: 19864, loss_cls: 1.4583, loss_bbox: 1.3298, loss_traj: 5.3237, loss_traj_cls: 0.0091, loss_map_cls: 0.8261, loss_map_pts: 5.1645, loss_map_dir: 0.0903, d0.loss_plan_l1_fix_time: 11.4653, d0.loss_plan_l1_fix_dist: 1.4800, d1.loss_plan_l1_fix_time: 11.1083, d1.loss_plan_l1_fix_dist: 1.9364, d2.loss_plan_l1_fix_time: 10.8481, d2.loss_plan_l1_fix_dist: 2.8686, d3.loss_plan_l1_fix_time: 10.6505, d3.loss_plan_l1_fix_dist: 3.7288, d4.loss_plan_l1_fix_time: 10.5463, d4.loss_plan_l1_fix_dist: 4.6205, d5.loss_plan_l1_fix_time: 10.4920, d5.loss_plan_l1_fix_dist: 5.4900, d6.loss_plan_l1_fix_time: 10.4754, d6.loss_plan_l1_fix_dist: 6.3992, d0.loss_cls_all: 1.4344, d0.loss_bbox_all: 1.2838, d0.loss_cls: 1.4344, d0.loss_bbox: 1.2838, d1.loss_cls: 1.4562, d1.loss_bbox: 1.2977, d2.loss_cls: 1.4459, d2.loss_bbox: 1.2802, d3.loss_cls: 1.4543, d3.loss_bbox: 1.2501, d4.loss_cls: 1.4502, d4.loss_bbox: 1.3000, d5.loss_cls: 1.4558, d5.loss_bbox: 1.3087, d0.loss_traj_cls: 0.0007, d0.loss_traj: 5.1851, d1.loss_traj_cls: 0.0009, d1.loss_traj: 5.2809, d2.loss_traj_cls: 0.0017, d2.loss_traj: 5.2832, d3.loss_traj_cls: 0.0031, d3.loss_traj: 5.2898, d4.loss_traj_cls: 0.0048, d4.loss_traj: 5.3262, d5.loss_traj_cls: 0.0054, d5.loss_traj: 5.3228, d0.loss_map_cls_all: 0.8103, d0.loss_map_pts_all: 5.2185, d0.loss_map_dir_all: 0.0907, d0.loss_map_cls: 0.8103, d0.loss_map_pts: 5.2185, d0.loss_map_dir: 0.0907, d1.loss_map_cls: 0.7892, d1.loss_map_pts: 5.1781, d1.loss_map_dir: 0.0907, d2.loss_map_cls: 0.8048, d2.loss_map_pts: 5.1586, d2.loss_map_dir: 0.0905, d3.loss_map_cls: 0.8023, d3.loss_map_pts: 5.1505, d3.loss_map_dir: 0.0904, d4.loss_map_cls: 0.8142, d4.loss_map_pts: 5.1476, d4.loss_map_dir: 0.0904, d5.loss_map_cls: 0.8334, d5.loss_map_pts: 5.1529, d5.loss_map_dir: 0.0903, loss: 209.6743, grad_norm: inf +2026-02-24 03:34:33,361 - DriveTransformer - INFO - Epoch [1][5950/39528] lr: 1.000e-04, eta: 8 days, 16:31:30, time: 0.791, data_time: 0.049, memory: 19864, loss_cls: 1.5101, loss_bbox: 1.4056, loss_traj: 5.8584, loss_traj_cls: 0.0068, loss_map_cls: 0.8019, loss_map_pts: 4.9070, loss_map_dir: 0.0911, d0.loss_plan_l1_fix_time: 11.6678, d0.loss_plan_l1_fix_dist: 1.5506, d1.loss_plan_l1_fix_time: 11.2620, d1.loss_plan_l1_fix_dist: 1.8814, d2.loss_plan_l1_fix_time: 10.9604, d2.loss_plan_l1_fix_dist: 2.4709, d3.loss_plan_l1_fix_time: 10.7414, d3.loss_plan_l1_fix_dist: 3.0540, d4.loss_plan_l1_fix_time: 10.6036, d4.loss_plan_l1_fix_dist: 3.7111, d5.loss_plan_l1_fix_time: 10.5169, d5.loss_plan_l1_fix_dist: 4.5882, d6.loss_plan_l1_fix_time: 10.4999, d6.loss_plan_l1_fix_dist: 5.3555, d0.loss_cls_all: 1.4619, d0.loss_bbox_all: 1.3851, d0.loss_cls: 1.4619, d0.loss_bbox: 1.3851, d1.loss_cls: 1.5007, d1.loss_bbox: 1.4184, d2.loss_cls: 1.5066, d2.loss_bbox: 1.4065, d3.loss_cls: 1.5078, d3.loss_bbox: 1.3991, d4.loss_cls: 1.4964, d4.loss_bbox: 1.3900, d5.loss_cls: 1.4986, d5.loss_bbox: 1.3963, d0.loss_traj_cls: 0.0007, d0.loss_traj: 5.7052, d1.loss_traj_cls: 0.0008, d1.loss_traj: 5.8368, d2.loss_traj_cls: 0.0012, d2.loss_traj: 5.8194, d3.loss_traj_cls: 0.0025, d3.loss_traj: 5.8303, d4.loss_traj_cls: 0.0039, d4.loss_traj: 5.8723, d5.loss_traj_cls: 0.0045, d5.loss_traj: 5.8686, d0.loss_map_cls_all: 0.7422, d0.loss_map_pts_all: 4.9653, d0.loss_map_dir_all: 0.0912, d0.loss_map_cls: 0.7422, d0.loss_map_pts: 4.9653, d0.loss_map_dir: 0.0912, d1.loss_map_cls: 0.7364, d1.loss_map_pts: 4.9257, d1.loss_map_dir: 0.0912, d2.loss_map_cls: 0.7461, d2.loss_map_pts: 4.9152, d2.loss_map_dir: 0.0912, d3.loss_map_cls: 0.7616, d3.loss_map_pts: 4.9071, d3.loss_map_dir: 0.0911, d4.loss_map_cls: 0.7717, d4.loss_map_pts: 4.9043, d4.loss_map_dir: 0.0911, d5.loss_map_cls: 0.7833, d5.loss_map_pts: 4.9052, d5.loss_map_dir: 0.0911, loss: 209.0155, grad_norm: inf +2026-02-24 03:35:12,133 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 03:35:12,134 - DriveTransformer - INFO - Epoch [1][6000/39528] lr: 1.000e-04, eta: 8 days, 16:28:09, time: 0.776, data_time: 0.040, memory: 19864, loss_cls: 1.4659, loss_bbox: 1.4415, loss_traj: 5.6693, loss_traj_cls: 0.0060, loss_map_cls: 0.7989, loss_map_pts: 5.1439, loss_map_dir: 0.0893, d0.loss_plan_l1_fix_time: 11.0532, d0.loss_plan_l1_fix_dist: 1.6114, d1.loss_plan_l1_fix_time: 10.6726, d1.loss_plan_l1_fix_dist: 1.7294, d2.loss_plan_l1_fix_time: 10.4415, d2.loss_plan_l1_fix_dist: 2.1064, d3.loss_plan_l1_fix_time: 10.3008, d3.loss_plan_l1_fix_dist: 2.5967, d4.loss_plan_l1_fix_time: 10.2065, d4.loss_plan_l1_fix_dist: 3.1153, d5.loss_plan_l1_fix_time: 10.1351, d5.loss_plan_l1_fix_dist: 3.6192, d6.loss_plan_l1_fix_time: 10.1497, d6.loss_plan_l1_fix_dist: 4.2093, d0.loss_cls_all: 1.4453, d0.loss_bbox_all: 1.3536, d0.loss_cls: 1.4453, d0.loss_bbox: 1.3536, d1.loss_cls: 1.4831, d1.loss_bbox: 1.3739, d2.loss_cls: 1.4478, d2.loss_bbox: 1.3577, d3.loss_cls: 1.4628, d3.loss_bbox: 1.3666, d4.loss_cls: 1.4621, d4.loss_bbox: 1.3881, d5.loss_cls: 1.4663, d5.loss_bbox: 1.4137, d0.loss_traj_cls: 0.0007, d0.loss_traj: 5.4354, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.5806, d2.loss_traj_cls: 0.0009, d2.loss_traj: 5.5773, d3.loss_traj_cls: 0.0019, d3.loss_traj: 5.6182, d4.loss_traj_cls: 0.0031, d4.loss_traj: 5.6285, d5.loss_traj_cls: 0.0043, d5.loss_traj: 5.6616, d0.loss_map_cls_all: 0.7333, d0.loss_map_pts_all: 5.1840, d0.loss_map_dir_all: 0.0897, d0.loss_map_cls: 0.7333, d0.loss_map_pts: 5.1840, d0.loss_map_dir: 0.0897, d1.loss_map_cls: 0.7355, d1.loss_map_pts: 5.1283, d1.loss_map_dir: 0.0895, d2.loss_map_cls: 0.7563, d2.loss_map_pts: 5.1009, d2.loss_map_dir: 0.0895, d3.loss_map_cls: 0.7701, d3.loss_map_pts: 5.1033, d3.loss_map_dir: 0.0894, d4.loss_map_cls: 0.7760, d4.loss_map_pts: 5.1130, d4.loss_map_dir: 0.0894, d5.loss_map_cls: 0.7816, d5.loss_map_pts: 5.1231, d5.loss_map_dir: 0.0894, loss: 201.7442, grad_norm: inf +2026-02-24 03:35:52,201 - DriveTransformer - INFO - Epoch [1][6050/39528] lr: 1.000e-04, eta: 8 days, 16:28:07, time: 0.801, data_time: 0.047, memory: 19864, loss_cls: 1.4490, loss_bbox: 1.3628, loss_traj: 6.2132, loss_traj_cls: 0.0051, loss_map_cls: 0.7734, loss_map_pts: 4.9824, loss_map_dir: 0.0869, d0.loss_plan_l1_fix_time: 10.6459, d0.loss_plan_l1_fix_dist: 1.3575, d1.loss_plan_l1_fix_time: 10.1420, d1.loss_plan_l1_fix_dist: 1.5639, d2.loss_plan_l1_fix_time: 9.8035, d2.loss_plan_l1_fix_dist: 1.9376, d3.loss_plan_l1_fix_time: 9.5959, d3.loss_plan_l1_fix_dist: 2.3610, d4.loss_plan_l1_fix_time: 9.4341, d4.loss_plan_l1_fix_dist: 2.9120, d5.loss_plan_l1_fix_time: 9.3306, d5.loss_plan_l1_fix_dist: 3.3963, d6.loss_plan_l1_fix_time: 9.2930, d6.loss_plan_l1_fix_dist: 3.9969, d0.loss_cls_all: 1.4209, d0.loss_bbox_all: 1.3061, d0.loss_cls: 1.4209, d0.loss_bbox: 1.3061, d1.loss_cls: 1.4404, d1.loss_bbox: 1.2920, d2.loss_cls: 1.4401, d2.loss_bbox: 1.2974, d3.loss_cls: 1.4598, d3.loss_bbox: 1.2846, d4.loss_cls: 1.4589, d4.loss_bbox: 1.3096, d5.loss_cls: 1.4568, d5.loss_bbox: 1.3287, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.9607, d1.loss_traj_cls: 0.0006, d1.loss_traj: 6.1136, d2.loss_traj_cls: 0.0008, d2.loss_traj: 6.1490, d3.loss_traj_cls: 0.0015, d3.loss_traj: 6.1932, d4.loss_traj_cls: 0.0025, d4.loss_traj: 6.2338, d5.loss_traj_cls: 0.0031, d5.loss_traj: 6.2383, d0.loss_map_cls_all: 0.7431, d0.loss_map_pts_all: 5.0127, d0.loss_map_dir_all: 0.0868, d0.loss_map_cls: 0.7431, d0.loss_map_pts: 5.0127, d0.loss_map_dir: 0.0868, d1.loss_map_cls: 0.7374, d1.loss_map_pts: 4.9502, d1.loss_map_dir: 0.0866, d2.loss_map_cls: 0.7465, d2.loss_map_pts: 4.9243, d2.loss_map_dir: 0.0866, d3.loss_map_cls: 0.7492, d3.loss_map_pts: 4.9320, d3.loss_map_dir: 0.0866, d4.loss_map_cls: 0.7614, d4.loss_map_pts: 4.9569, d4.loss_map_dir: 0.0867, d5.loss_map_cls: 0.7780, d5.loss_map_pts: 4.9722, d5.loss_map_dir: 0.0868, loss: 197.3900, grad_norm: inf +2026-02-24 03:36:33,124 - DriveTransformer - INFO - Epoch [1][6100/39528] lr: 1.000e-04, eta: 8 days, 16:30:19, time: 0.818, data_time: 0.038, memory: 19864, loss_cls: 1.4378, loss_bbox: 1.3527, loss_traj: 5.8744, loss_traj_cls: 0.0042, loss_map_cls: 0.7508, loss_map_pts: 5.0889, loss_map_dir: 0.0873, d0.loss_plan_l1_fix_time: 10.2912, d0.loss_plan_l1_fix_dist: 1.3634, d1.loss_plan_l1_fix_time: 9.7683, d1.loss_plan_l1_fix_dist: 1.6887, d2.loss_plan_l1_fix_time: 9.4225, d2.loss_plan_l1_fix_dist: 1.9420, d3.loss_plan_l1_fix_time: 9.2001, d3.loss_plan_l1_fix_dist: 2.2940, d4.loss_plan_l1_fix_time: 9.0368, d4.loss_plan_l1_fix_dist: 2.8024, d5.loss_plan_l1_fix_time: 8.9684, d5.loss_plan_l1_fix_dist: 3.4697, d6.loss_plan_l1_fix_time: 8.9733, d6.loss_plan_l1_fix_dist: 4.1913, d0.loss_cls_all: 1.4263, d0.loss_bbox_all: 1.2798, d0.loss_cls: 1.4263, d0.loss_bbox: 1.2798, d1.loss_cls: 1.4392, d1.loss_bbox: 1.2936, d2.loss_cls: 1.4419, d2.loss_bbox: 1.2938, d3.loss_cls: 1.4421, d3.loss_bbox: 1.3003, d4.loss_cls: 1.4389, d4.loss_bbox: 1.3082, d5.loss_cls: 1.4384, d5.loss_bbox: 1.3341, d0.loss_traj_cls: 0.0007, d0.loss_traj: 5.5532, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.7299, d2.loss_traj_cls: 0.0007, d2.loss_traj: 5.7451, d3.loss_traj_cls: 0.0011, d3.loss_traj: 5.7981, d4.loss_traj_cls: 0.0020, d4.loss_traj: 5.8483, d5.loss_traj_cls: 0.0031, d5.loss_traj: 5.8551, d0.loss_map_cls_all: 0.7153, d0.loss_map_pts_all: 5.1324, d0.loss_map_dir_all: 0.0868, d0.loss_map_cls: 0.7153, d0.loss_map_pts: 5.1324, d0.loss_map_dir: 0.0868, d1.loss_map_cls: 0.7104, d1.loss_map_pts: 5.0880, d1.loss_map_dir: 0.0869, d2.loss_map_cls: 0.7182, d2.loss_map_pts: 5.0820, d2.loss_map_dir: 0.0871, d3.loss_map_cls: 0.7256, d3.loss_map_pts: 5.0836, d3.loss_map_dir: 0.0873, d4.loss_map_cls: 0.7381, d4.loss_map_pts: 5.0920, d4.loss_map_dir: 0.0874, d5.loss_map_cls: 0.7534, d5.loss_map_pts: 5.0943, d5.loss_map_dir: 0.0873, loss: 193.0797, grad_norm: inf +2026-02-24 03:37:14,245 - DriveTransformer - INFO - Epoch [1][6150/39528] lr: 1.000e-04, eta: 8 days, 16:33:00, time: 0.822, data_time: 0.036, memory: 19864, loss_cls: 1.4348, loss_bbox: 1.4610, loss_traj: 5.0957, loss_traj_cls: 0.0039, loss_map_cls: 0.6734, loss_map_pts: 4.8207, loss_map_dir: 0.0863, d0.loss_plan_l1_fix_time: 9.6431, d0.loss_plan_l1_fix_dist: 1.3022, d1.loss_plan_l1_fix_time: 9.1093, d1.loss_plan_l1_fix_dist: 1.5404, d2.loss_plan_l1_fix_time: 8.7687, d2.loss_plan_l1_fix_dist: 1.7631, d3.loss_plan_l1_fix_time: 8.5571, d3.loss_plan_l1_fix_dist: 2.1029, d4.loss_plan_l1_fix_time: 8.4414, d4.loss_plan_l1_fix_dist: 2.4476, d5.loss_plan_l1_fix_time: 8.3920, d5.loss_plan_l1_fix_dist: 2.8857, d6.loss_plan_l1_fix_time: 8.4070, d6.loss_plan_l1_fix_dist: 3.3863, d0.loss_cls_all: 1.4309, d0.loss_bbox_all: 1.3923, d0.loss_cls: 1.4309, d0.loss_bbox: 1.3923, d1.loss_cls: 1.4422, d1.loss_bbox: 1.4048, d2.loss_cls: 1.4344, d2.loss_bbox: 1.4016, d3.loss_cls: 1.4489, d3.loss_bbox: 1.4175, d4.loss_cls: 1.4525, d4.loss_bbox: 1.4291, d5.loss_cls: 1.4402, d5.loss_bbox: 1.4378, d0.loss_traj_cls: 0.0008, d0.loss_traj: 4.7816, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.9420, d2.loss_traj_cls: 0.0007, d2.loss_traj: 4.9772, d3.loss_traj_cls: 0.0011, d3.loss_traj: 5.0159, d4.loss_traj_cls: 0.0015, d4.loss_traj: 5.0518, d5.loss_traj_cls: 0.0022, d5.loss_traj: 5.0601, d0.loss_map_cls_all: 0.6625, d0.loss_map_pts_all: 4.8997, d0.loss_map_dir_all: 0.0863, d0.loss_map_cls: 0.6625, d0.loss_map_pts: 4.8997, d0.loss_map_dir: 0.0863, d1.loss_map_cls: 0.6601, d1.loss_map_pts: 4.8391, d1.loss_map_dir: 0.0862, d2.loss_map_cls: 0.6607, d2.loss_map_pts: 4.8339, d2.loss_map_dir: 0.0863, d3.loss_map_cls: 0.6631, d3.loss_map_pts: 4.8355, d3.loss_map_dir: 0.0863, d4.loss_map_cls: 0.6683, d4.loss_map_pts: 4.8283, d4.loss_map_dir: 0.0864, d5.loss_map_cls: 0.6718, d5.loss_map_pts: 4.8192, d5.loss_map_dir: 0.0864, loss: 179.3219, grad_norm: inf +2026-02-24 03:37:52,558 - DriveTransformer - INFO - Epoch [1][6200/39528] lr: 1.000e-04, eta: 8 days, 16:28:29, time: 0.766, data_time: 0.038, memory: 19864, loss_cls: 1.4589, loss_bbox: 1.4164, loss_traj: 4.8257, loss_traj_cls: 0.0033, loss_map_cls: 0.7587, loss_map_pts: 4.8517, loss_map_dir: 0.0865, d0.loss_plan_l1_fix_time: 9.4935, d0.loss_plan_l1_fix_dist: 1.1296, d1.loss_plan_l1_fix_time: 8.9734, d1.loss_plan_l1_fix_dist: 1.3063, d2.loss_plan_l1_fix_time: 8.6815, d2.loss_plan_l1_fix_dist: 1.5835, d3.loss_plan_l1_fix_time: 8.5351, d3.loss_plan_l1_fix_dist: 1.9139, d4.loss_plan_l1_fix_time: 8.4812, d4.loss_plan_l1_fix_dist: 2.2231, d5.loss_plan_l1_fix_time: 8.4793, d5.loss_plan_l1_fix_dist: 2.5189, d6.loss_plan_l1_fix_time: 8.5527, d6.loss_plan_l1_fix_dist: 2.7772, d0.loss_cls_all: 1.4331, d0.loss_bbox_all: 1.3716, d0.loss_cls: 1.4331, d0.loss_bbox: 1.3716, d1.loss_cls: 1.4529, d1.loss_bbox: 1.3759, d2.loss_cls: 1.4611, d2.loss_bbox: 1.3855, d3.loss_cls: 1.4710, d3.loss_bbox: 1.3831, d4.loss_cls: 1.4673, d4.loss_bbox: 1.3916, d5.loss_cls: 1.4508, d5.loss_bbox: 1.4002, d0.loss_traj_cls: 0.0008, d0.loss_traj: 4.4776, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.6672, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.6979, d3.loss_traj_cls: 0.0009, d3.loss_traj: 4.7545, d4.loss_traj_cls: 0.0013, d4.loss_traj: 4.7925, d5.loss_traj_cls: 0.0020, d5.loss_traj: 4.8001, d0.loss_map_cls_all: 0.7605, d0.loss_map_pts_all: 4.9485, d0.loss_map_dir_all: 0.0867, d0.loss_map_cls: 0.7605, d0.loss_map_pts: 4.9485, d0.loss_map_dir: 0.0867, d1.loss_map_cls: 0.7625, d1.loss_map_pts: 4.8792, d1.loss_map_dir: 0.0865, d2.loss_map_cls: 0.7565, d2.loss_map_pts: 4.8483, d2.loss_map_dir: 0.0866, d3.loss_map_cls: 0.7519, d3.loss_map_pts: 4.8373, d3.loss_map_dir: 0.0866, d4.loss_map_cls: 0.7570, d4.loss_map_pts: 4.8412, d4.loss_map_dir: 0.0866, d5.loss_map_cls: 0.7525, d5.loss_map_pts: 4.8472, d5.loss_map_dir: 0.0866, loss: 176.1530, grad_norm: inf +2026-02-24 03:38:32,987 - DriveTransformer - INFO - Epoch [1][6250/39528] lr: 1.000e-04, eta: 8 days, 16:29:21, time: 0.809, data_time: 0.040, memory: 19864, loss_cls: 1.4704, loss_bbox: 1.3394, loss_traj: 6.5356, loss_traj_cls: 0.0030, loss_map_cls: 0.6997, loss_map_pts: 4.5816, loss_map_dir: 0.0864, d0.loss_plan_l1_fix_time: 10.0654, d0.loss_plan_l1_fix_dist: 1.1166, d1.loss_plan_l1_fix_time: 9.4723, d1.loss_plan_l1_fix_dist: 1.3226, d2.loss_plan_l1_fix_time: 9.1310, d2.loss_plan_l1_fix_dist: 1.7106, d3.loss_plan_l1_fix_time: 8.9136, d3.loss_plan_l1_fix_dist: 2.0387, d4.loss_plan_l1_fix_time: 8.7827, d4.loss_plan_l1_fix_dist: 2.3274, d5.loss_plan_l1_fix_time: 8.7254, d5.loss_plan_l1_fix_dist: 2.6466, d6.loss_plan_l1_fix_time: 8.7431, d6.loss_plan_l1_fix_dist: 3.0820, d0.loss_cls_all: 1.4415, d0.loss_bbox_all: 1.3149, d0.loss_cls: 1.4415, d0.loss_bbox: 1.3149, d1.loss_cls: 1.4613, d1.loss_bbox: 1.3049, d2.loss_cls: 1.4667, d2.loss_bbox: 1.3150, d3.loss_cls: 1.4739, d3.loss_bbox: 1.3225, d4.loss_cls: 1.4722, d4.loss_bbox: 1.3274, d5.loss_cls: 1.4632, d5.loss_bbox: 1.3327, d0.loss_traj_cls: 0.0007, d0.loss_traj: 6.0345, d1.loss_traj_cls: 0.0006, d1.loss_traj: 6.2886, d2.loss_traj_cls: 0.0005, d2.loss_traj: 6.3802, d3.loss_traj_cls: 0.0008, d3.loss_traj: 6.4487, d4.loss_traj_cls: 0.0011, d4.loss_traj: 6.5017, d5.loss_traj_cls: 0.0019, d5.loss_traj: 6.4978, d0.loss_map_cls_all: 0.6843, d0.loss_map_pts_all: 4.7156, d0.loss_map_dir_all: 0.0867, d0.loss_map_cls: 0.6843, d0.loss_map_pts: 4.7156, d0.loss_map_dir: 0.0867, d1.loss_map_cls: 0.6863, d1.loss_map_pts: 4.6416, d1.loss_map_dir: 0.0865, d2.loss_map_cls: 0.6876, d2.loss_map_pts: 4.6107, d2.loss_map_dir: 0.0865, d3.loss_map_cls: 0.6917, d3.loss_map_pts: 4.5978, d3.loss_map_dir: 0.0865, d4.loss_map_cls: 0.6916, d4.loss_map_pts: 4.5888, d4.loss_map_dir: 0.0865, d5.loss_map_cls: 0.6984, d5.loss_map_pts: 4.5814, d5.loss_map_dir: 0.0865, loss: 188.2852, grad_norm: inf +2026-02-24 03:39:14,132 - DriveTransformer - INFO - Epoch [1][6300/39528] lr: 1.000e-04, eta: 8 days, 16:32:00, time: 0.823, data_time: 0.039, memory: 19864, loss_cls: 1.4877, loss_bbox: 1.4468, loss_traj: 4.4621, loss_traj_cls: 0.0025, loss_map_cls: 0.7126, loss_map_pts: 4.8135, loss_map_dir: 0.0856, d0.loss_plan_l1_fix_time: 9.9881, d0.loss_plan_l1_fix_dist: 1.0866, d1.loss_plan_l1_fix_time: 9.3979, d1.loss_plan_l1_fix_dist: 1.2226, d2.loss_plan_l1_fix_time: 9.0571, d2.loss_plan_l1_fix_dist: 1.4350, d3.loss_plan_l1_fix_time: 8.8745, d3.loss_plan_l1_fix_dist: 1.6524, d4.loss_plan_l1_fix_time: 8.7788, d4.loss_plan_l1_fix_dist: 1.8550, d5.loss_plan_l1_fix_time: 8.7577, d5.loss_plan_l1_fix_dist: 2.1555, d6.loss_plan_l1_fix_time: 8.8042, d6.loss_plan_l1_fix_dist: 2.5312, d0.loss_cls_all: 1.4787, d0.loss_bbox_all: 1.3698, d0.loss_cls: 1.4787, d0.loss_bbox: 1.3698, d1.loss_cls: 1.4944, d1.loss_bbox: 1.3756, d2.loss_cls: 1.4861, d2.loss_bbox: 1.3830, d3.loss_cls: 1.5006, d3.loss_bbox: 1.4021, d4.loss_cls: 1.4987, d4.loss_bbox: 1.4094, d5.loss_cls: 1.4857, d5.loss_bbox: 1.4181, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.0323, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.2452, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.3070, d3.loss_traj_cls: 0.0008, d3.loss_traj: 4.3773, d4.loss_traj_cls: 0.0009, d4.loss_traj: 4.4014, d5.loss_traj_cls: 0.0013, d5.loss_traj: 4.4106, d0.loss_map_cls_all: 0.6854, d0.loss_map_pts_all: 4.9750, d0.loss_map_dir_all: 0.0858, d0.loss_map_cls: 0.6854, d0.loss_map_pts: 4.9750, d0.loss_map_dir: 0.0858, d1.loss_map_cls: 0.6942, d1.loss_map_pts: 4.8799, d1.loss_map_dir: 0.0856, d2.loss_map_cls: 0.7002, d2.loss_map_pts: 4.8420, d2.loss_map_dir: 0.0857, d3.loss_map_cls: 0.7089, d3.loss_map_pts: 4.8223, d3.loss_map_dir: 0.0857, d4.loss_map_cls: 0.7052, d4.loss_map_pts: 4.8076, d4.loss_map_dir: 0.0856, d5.loss_map_cls: 0.7108, d5.loss_map_pts: 4.8036, d5.loss_map_dir: 0.0856, loss: 174.1319, grad_norm: inf +2026-02-24 03:39:54,330 - DriveTransformer - INFO - Epoch [1][6350/39528] lr: 1.000e-04, eta: 8 days, 16:32:14, time: 0.804, data_time: 0.042, memory: 19864, loss_cls: 1.4590, loss_bbox: 1.4865, loss_traj: 5.0064, loss_traj_cls: 0.0023, loss_map_cls: 0.6975, loss_map_pts: 4.4691, loss_map_dir: 0.0848, d0.loss_plan_l1_fix_time: 9.9313, d0.loss_plan_l1_fix_dist: 1.2300, d1.loss_plan_l1_fix_time: 9.3007, d1.loss_plan_l1_fix_dist: 1.3639, d2.loss_plan_l1_fix_time: 8.9123, d2.loss_plan_l1_fix_dist: 1.5033, d3.loss_plan_l1_fix_time: 8.6711, d3.loss_plan_l1_fix_dist: 1.7328, d4.loss_plan_l1_fix_time: 8.5242, d4.loss_plan_l1_fix_dist: 2.0607, d5.loss_plan_l1_fix_time: 8.4670, d5.loss_plan_l1_fix_dist: 2.4110, d6.loss_plan_l1_fix_time: 8.4995, d6.loss_plan_l1_fix_dist: 2.7794, d0.loss_cls_all: 1.4537, d0.loss_bbox_all: 1.4156, d0.loss_cls: 1.4537, d0.loss_bbox: 1.4156, d1.loss_cls: 1.4702, d1.loss_bbox: 1.4292, d2.loss_cls: 1.4688, d2.loss_bbox: 1.4367, d3.loss_cls: 1.4732, d3.loss_bbox: 1.4438, d4.loss_cls: 1.4680, d4.loss_bbox: 1.4586, d5.loss_cls: 1.4536, d5.loss_bbox: 1.4707, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.5155, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.7778, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.8684, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.9170, d4.loss_traj_cls: 0.0008, d4.loss_traj: 4.9719, d5.loss_traj_cls: 0.0015, d5.loss_traj: 4.9969, d0.loss_map_cls_all: 0.6882, d0.loss_map_pts_all: 4.6689, d0.loss_map_dir_all: 0.0850, d0.loss_map_cls: 0.6882, d0.loss_map_pts: 4.6689, d0.loss_map_dir: 0.0850, d1.loss_map_cls: 0.6916, d1.loss_map_pts: 4.5674, d1.loss_map_dir: 0.0849, d2.loss_map_cls: 0.6916, d2.loss_map_pts: 4.5273, d2.loss_map_dir: 0.0849, d3.loss_map_cls: 0.6936, d3.loss_map_pts: 4.5067, d3.loss_map_dir: 0.0849, d4.loss_map_cls: 0.6955, d4.loss_map_pts: 4.4894, d4.loss_map_dir: 0.0849, d5.loss_map_cls: 0.6951, d5.loss_map_pts: 4.4762, d5.loss_map_dir: 0.0849, loss: 175.2993, grad_norm: inf +2026-02-24 03:40:34,759 - DriveTransformer - INFO - Epoch [1][6400/39528] lr: 1.000e-04, eta: 8 days, 16:33:12, time: 0.810, data_time: 0.040, memory: 19864, loss_cls: 1.4758, loss_bbox: 1.5271, loss_traj: 4.7046, loss_traj_cls: 0.0018, loss_map_cls: 0.7346, loss_map_pts: 4.4226, loss_map_dir: 0.0842, d0.loss_plan_l1_fix_time: 9.1237, d0.loss_plan_l1_fix_dist: 1.2730, d1.loss_plan_l1_fix_time: 8.5999, d1.loss_plan_l1_fix_dist: 1.3926, d2.loss_plan_l1_fix_time: 8.3375, d2.loss_plan_l1_fix_dist: 1.5808, d3.loss_plan_l1_fix_time: 8.2234, d3.loss_plan_l1_fix_dist: 1.7910, d4.loss_plan_l1_fix_time: 8.2325, d4.loss_plan_l1_fix_dist: 2.0509, d5.loss_plan_l1_fix_time: 8.3324, d5.loss_plan_l1_fix_dist: 2.3036, d6.loss_plan_l1_fix_time: 8.4972, d6.loss_plan_l1_fix_dist: 2.5533, d0.loss_cls_all: 1.4708, d0.loss_bbox_all: 1.4188, d0.loss_cls: 1.4708, d0.loss_bbox: 1.4188, d1.loss_cls: 1.4849, d1.loss_bbox: 1.4351, d2.loss_cls: 1.4870, d2.loss_bbox: 1.4475, d3.loss_cls: 1.4977, d3.loss_bbox: 1.4632, d4.loss_cls: 1.4934, d4.loss_bbox: 1.4784, d5.loss_cls: 1.4750, d5.loss_bbox: 1.5012, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.2008, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.4552, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.5495, d3.loss_traj_cls: 0.0007, d3.loss_traj: 4.5934, d4.loss_traj_cls: 0.0007, d4.loss_traj: 4.6421, d5.loss_traj_cls: 0.0011, d5.loss_traj: 4.6512, d0.loss_map_cls_all: 0.7062, d0.loss_map_pts_all: 4.6575, d0.loss_map_dir_all: 0.0843, d0.loss_map_cls: 0.7062, d0.loss_map_pts: 4.6575, d0.loss_map_dir: 0.0843, d1.loss_map_cls: 0.7127, d1.loss_map_pts: 4.5439, d1.loss_map_dir: 0.0843, d2.loss_map_cls: 0.7174, d2.loss_map_pts: 4.4926, d2.loss_map_dir: 0.0843, d3.loss_map_cls: 0.7248, d3.loss_map_pts: 4.4656, d3.loss_map_dir: 0.0843, d4.loss_map_cls: 0.7286, d4.loss_map_pts: 4.4454, d4.loss_map_dir: 0.0843, d5.loss_map_cls: 0.7348, d5.loss_map_pts: 4.4318, d5.loss_map_dir: 0.0842, loss: 170.1966, grad_norm: inf +2026-02-24 03:41:15,076 - DriveTransformer - INFO - Epoch [1][6450/39528] lr: 1.000e-04, eta: 8 days, 16:33:32, time: 0.805, data_time: 0.042, memory: 19864, loss_cls: 1.4658, loss_bbox: 1.4060, loss_traj: 5.5937, loss_traj_cls: 0.0017, loss_map_cls: 0.7163, loss_map_pts: 4.4920, loss_map_dir: 0.0817, d0.loss_plan_l1_fix_time: 9.3903, d0.loss_plan_l1_fix_dist: 1.0670, d1.loss_plan_l1_fix_time: 8.5146, d1.loss_plan_l1_fix_dist: 1.2013, d2.loss_plan_l1_fix_time: 8.0249, d2.loss_plan_l1_fix_dist: 1.3735, d3.loss_plan_l1_fix_time: 7.7537, d3.loss_plan_l1_fix_dist: 1.5554, d4.loss_plan_l1_fix_time: 7.6108, d4.loss_plan_l1_fix_dist: 1.7386, d5.loss_plan_l1_fix_time: 7.5556, d5.loss_plan_l1_fix_dist: 1.9593, d6.loss_plan_l1_fix_time: 7.5763, d6.loss_plan_l1_fix_dist: 2.1819, d0.loss_cls_all: 1.4668, d0.loss_bbox_all: 1.3464, d0.loss_cls: 1.4668, d0.loss_bbox: 1.3464, d1.loss_cls: 1.4796, d1.loss_bbox: 1.3523, d2.loss_cls: 1.4733, d2.loss_bbox: 1.3570, d3.loss_cls: 1.4886, d3.loss_bbox: 1.3700, d4.loss_cls: 1.4820, d4.loss_bbox: 1.3747, d5.loss_cls: 1.4669, d5.loss_bbox: 1.3867, d0.loss_traj_cls: 0.0005, d0.loss_traj: 4.9831, d1.loss_traj_cls: 0.0007, d1.loss_traj: 5.3153, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.4080, d3.loss_traj_cls: 0.0008, d3.loss_traj: 5.4782, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.5337, d5.loss_traj_cls: 0.0009, d5.loss_traj: 5.5660, d0.loss_map_cls_all: 0.6999, d0.loss_map_pts_all: 4.7538, d0.loss_map_dir_all: 0.0821, d0.loss_map_cls: 0.6999, d0.loss_map_pts: 4.7538, d0.loss_map_dir: 0.0821, d1.loss_map_cls: 0.7076, d1.loss_map_pts: 4.5763, d1.loss_map_dir: 0.0819, d2.loss_map_cls: 0.7077, d2.loss_map_pts: 4.5205, d2.loss_map_dir: 0.0819, d3.loss_map_cls: 0.7100, d3.loss_map_pts: 4.5025, d3.loss_map_dir: 0.0819, d4.loss_map_cls: 0.7108, d4.loss_map_pts: 4.4914, d4.loss_map_dir: 0.0818, d5.loss_map_cls: 0.7123, d5.loss_map_pts: 4.4886, d5.loss_map_dir: 0.0818, loss: 171.0147, grad_norm: inf +2026-02-24 03:41:54,837 - DriveTransformer - INFO - Epoch [1][6500/39528] lr: 1.000e-04, eta: 8 days, 16:32:40, time: 0.795, data_time: 0.043, memory: 19864, loss_cls: 1.4208, loss_bbox: 1.4397, loss_traj: 5.1808, loss_traj_cls: 0.0014, loss_map_cls: 0.7013, loss_map_pts: 4.6364, loss_map_dir: 0.0804, d0.loss_plan_l1_fix_time: 10.1021, d0.loss_plan_l1_fix_dist: 1.0551, d1.loss_plan_l1_fix_time: 9.0709, d1.loss_plan_l1_fix_dist: 1.1930, d2.loss_plan_l1_fix_time: 8.4414, d2.loss_plan_l1_fix_dist: 1.3721, d3.loss_plan_l1_fix_time: 8.0468, d3.loss_plan_l1_fix_dist: 1.5733, d4.loss_plan_l1_fix_time: 7.8072, d4.loss_plan_l1_fix_dist: 1.7975, d5.loss_plan_l1_fix_time: 7.6817, d5.loss_plan_l1_fix_dist: 2.0551, d6.loss_plan_l1_fix_time: 7.6507, d6.loss_plan_l1_fix_dist: 2.4032, d0.loss_cls_all: 1.4199, d0.loss_bbox_all: 1.3128, d0.loss_cls: 1.4199, d0.loss_bbox: 1.3128, d1.loss_cls: 1.4288, d1.loss_bbox: 1.3251, d2.loss_cls: 1.4191, d2.loss_bbox: 1.3397, d3.loss_cls: 1.4252, d3.loss_bbox: 1.3704, d4.loss_cls: 1.4253, d4.loss_bbox: 1.3941, d5.loss_cls: 1.4241, d5.loss_bbox: 1.4199, d0.loss_traj_cls: 0.0005, d0.loss_traj: 4.5633, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.9039, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.0373, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.0850, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.1393, d5.loss_traj_cls: 0.0010, d5.loss_traj: 5.1615, d0.loss_map_cls_all: 0.6891, d0.loss_map_pts_all: 4.7410, d0.loss_map_dir_all: 0.0810, d0.loss_map_cls: 0.6891, d0.loss_map_pts: 4.7410, d0.loss_map_dir: 0.0810, d1.loss_map_cls: 0.6936, d1.loss_map_pts: 4.5934, d1.loss_map_dir: 0.0808, d2.loss_map_cls: 0.6948, d2.loss_map_pts: 4.5562, d2.loss_map_dir: 0.0807, d3.loss_map_cls: 0.6955, d3.loss_map_pts: 4.5519, d3.loss_map_dir: 0.0806, d4.loss_map_cls: 0.7078, d4.loss_map_pts: 4.5617, d4.loss_map_dir: 0.0805, d5.loss_map_cls: 0.7028, d5.loss_map_pts: 4.5882, d5.loss_map_dir: 0.0804, loss: 170.8132, grad_norm: inf +2026-02-24 03:42:34,425 - DriveTransformer - INFO - Epoch [1][6550/39528] lr: 1.000e-04, eta: 8 days, 16:31:24, time: 0.792, data_time: 0.035, memory: 19864, loss_cls: 1.4425, loss_bbox: 1.3675, loss_traj: 5.3032, loss_traj_cls: 0.0013, loss_map_cls: 0.7479, loss_map_pts: 4.7065, loss_map_dir: 0.0798, d0.loss_plan_l1_fix_time: 8.4002, d0.loss_plan_l1_fix_dist: 1.1114, d1.loss_plan_l1_fix_time: 7.5898, d1.loss_plan_l1_fix_dist: 1.2308, d2.loss_plan_l1_fix_time: 7.1998, d2.loss_plan_l1_fix_dist: 1.4002, d3.loss_plan_l1_fix_time: 7.0403, d3.loss_plan_l1_fix_dist: 1.6505, d4.loss_plan_l1_fix_time: 7.0360, d4.loss_plan_l1_fix_dist: 1.9201, d5.loss_plan_l1_fix_time: 7.1238, d5.loss_plan_l1_fix_dist: 2.1631, d6.loss_plan_l1_fix_time: 7.2634, d6.loss_plan_l1_fix_dist: 2.3912, d0.loss_cls_all: 1.4330, d0.loss_bbox_all: 1.2467, d0.loss_cls: 1.4330, d0.loss_bbox: 1.2467, d1.loss_cls: 1.4394, d1.loss_bbox: 1.2617, d2.loss_cls: 1.4375, d2.loss_bbox: 1.2827, d3.loss_cls: 1.4450, d3.loss_bbox: 1.3029, d4.loss_cls: 1.4399, d4.loss_bbox: 1.3211, d5.loss_cls: 1.4404, d5.loss_bbox: 1.3487, d0.loss_traj_cls: 0.0005, d0.loss_traj: 4.5771, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.9708, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.1122, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.1838, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.2527, d5.loss_traj_cls: 0.0007, d5.loss_traj: 5.2749, d0.loss_map_cls_all: 0.7451, d0.loss_map_pts_all: 4.9696, d0.loss_map_dir_all: 0.0802, d0.loss_map_cls: 0.7451, d0.loss_map_pts: 4.9696, d0.loss_map_dir: 0.0802, d1.loss_map_cls: 0.7473, d1.loss_map_pts: 4.7830, d1.loss_map_dir: 0.0798, d2.loss_map_cls: 0.7467, d2.loss_map_pts: 4.7308, d2.loss_map_dir: 0.0798, d3.loss_map_cls: 0.7470, d3.loss_map_pts: 4.7104, d3.loss_map_dir: 0.0798, d4.loss_map_cls: 0.7480, d4.loss_map_pts: 4.6977, d4.loss_map_dir: 0.0797, d5.loss_map_cls: 0.7473, d5.loss_map_pts: 4.6972, d5.loss_map_dir: 0.0797, loss: 165.9665, grad_norm: inf +2026-02-24 03:43:14,725 - DriveTransformer - INFO - Epoch [1][6600/39528] lr: 1.000e-04, eta: 8 days, 16:31:49, time: 0.806, data_time: 0.041, memory: 19864, loss_cls: 1.4194, loss_bbox: 1.4397, loss_traj: 5.9298, loss_traj_cls: 0.0012, loss_map_cls: 0.7436, loss_map_pts: 4.5588, loss_map_dir: 0.0801, d0.loss_plan_l1_fix_time: 8.5882, d0.loss_plan_l1_fix_dist: 1.0857, d1.loss_plan_l1_fix_time: 7.7031, d1.loss_plan_l1_fix_dist: 1.2132, d2.loss_plan_l1_fix_time: 7.2894, d2.loss_plan_l1_fix_dist: 1.4064, d3.loss_plan_l1_fix_time: 7.1034, d3.loss_plan_l1_fix_dist: 1.5881, d4.loss_plan_l1_fix_time: 7.0708, d4.loss_plan_l1_fix_dist: 1.8013, d5.loss_plan_l1_fix_time: 7.1270, d5.loss_plan_l1_fix_dist: 2.0078, d6.loss_plan_l1_fix_time: 7.2310, d6.loss_plan_l1_fix_dist: 2.1810, d0.loss_cls_all: 1.4070, d0.loss_bbox_all: 1.2895, d0.loss_cls: 1.4070, d0.loss_bbox: 1.2895, d1.loss_cls: 1.4095, d1.loss_bbox: 1.3217, d2.loss_cls: 1.4171, d2.loss_bbox: 1.3489, d3.loss_cls: 1.4098, d3.loss_bbox: 1.3712, d4.loss_cls: 1.4119, d4.loss_bbox: 1.3896, d5.loss_cls: 1.4205, d5.loss_bbox: 1.4205, d0.loss_traj_cls: 0.0005, d0.loss_traj: 5.0431, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.5148, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.6933, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.7824, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.8735, d5.loss_traj_cls: 0.0008, d5.loss_traj: 5.8990, d0.loss_map_cls_all: 0.7363, d0.loss_map_pts_all: 4.8390, d0.loss_map_dir_all: 0.0805, d0.loss_map_cls: 0.7363, d0.loss_map_pts: 4.8390, d0.loss_map_dir: 0.0805, d1.loss_map_cls: 0.7377, d1.loss_map_pts: 4.6318, d1.loss_map_dir: 0.0802, d2.loss_map_cls: 0.7385, d2.loss_map_pts: 4.5732, d2.loss_map_dir: 0.0801, d3.loss_map_cls: 0.7396, d3.loss_map_pts: 4.5621, d3.loss_map_dir: 0.0800, d4.loss_map_cls: 0.7419, d4.loss_map_pts: 4.5624, d4.loss_map_dir: 0.0801, d5.loss_map_cls: 0.7419, d5.loss_map_pts: 4.5621, d5.loss_map_dir: 0.0800, loss: 168.9956, grad_norm: inf +2026-02-24 03:43:53,157 - DriveTransformer - INFO - Epoch [1][6650/39528] lr: 1.000e-04, eta: 8 days, 16:27:50, time: 0.769, data_time: 0.039, memory: 19864, loss_cls: 1.4222, loss_bbox: 1.5079, loss_traj: 5.0158, loss_traj_cls: 0.0009, loss_map_cls: 0.6998, loss_map_pts: 4.3578, loss_map_dir: 0.0790, d0.loss_plan_l1_fix_time: 8.8648, d0.loss_plan_l1_fix_dist: 0.9597, d1.loss_plan_l1_fix_time: 7.6400, d1.loss_plan_l1_fix_dist: 1.0587, d2.loss_plan_l1_fix_time: 6.9602, d2.loss_plan_l1_fix_dist: 1.2217, d3.loss_plan_l1_fix_time: 6.5637, d3.loss_plan_l1_fix_dist: 1.3965, d4.loss_plan_l1_fix_time: 6.3539, d4.loss_plan_l1_fix_dist: 1.5990, d5.loss_plan_l1_fix_time: 6.2598, d5.loss_plan_l1_fix_dist: 1.8563, d6.loss_plan_l1_fix_time: 6.2433, d6.loss_plan_l1_fix_dist: 2.1487, d0.loss_cls_all: 1.4081, d0.loss_bbox_all: 1.3192, d0.loss_cls: 1.4081, d0.loss_bbox: 1.3192, d1.loss_cls: 1.4131, d1.loss_bbox: 1.3481, d2.loss_cls: 1.4206, d2.loss_bbox: 1.3698, d3.loss_cls: 1.4146, d3.loss_bbox: 1.4097, d4.loss_cls: 1.4200, d4.loss_bbox: 1.4351, d5.loss_cls: 1.4266, d5.loss_bbox: 1.4671, d0.loss_traj_cls: 0.0005, d0.loss_traj: 4.1652, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.6169, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.7977, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.8816, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.9552, d5.loss_traj_cls: 0.0008, d5.loss_traj: 4.9822, d0.loss_map_cls_all: 0.7057, d0.loss_map_pts_all: 4.5440, d0.loss_map_dir_all: 0.0797, d0.loss_map_cls: 0.7057, d0.loss_map_pts: 4.5440, d0.loss_map_dir: 0.0797, d1.loss_map_cls: 0.7066, d1.loss_map_pts: 4.3902, d1.loss_map_dir: 0.0793, d2.loss_map_cls: 0.7051, d2.loss_map_pts: 4.3517, d2.loss_map_dir: 0.0791, d3.loss_map_cls: 0.7013, d3.loss_map_pts: 4.3519, d3.loss_map_dir: 0.0791, d4.loss_map_cls: 0.7090, d4.loss_map_pts: 4.3529, d4.loss_map_dir: 0.0790, d5.loss_map_cls: 0.7031, d5.loss_map_pts: 4.3557, d5.loss_map_dir: 0.0790, loss: 156.5733, grad_norm: inf +2026-02-24 03:44:32,922 - DriveTransformer - INFO - Epoch [1][6700/39528] lr: 1.000e-04, eta: 8 days, 16:27:01, time: 0.795, data_time: 0.046, memory: 19864, loss_cls: 1.4522, loss_bbox: 1.4028, loss_traj: 5.3225, loss_traj_cls: 0.0008, loss_map_cls: 0.7240, loss_map_pts: 4.1499, loss_map_dir: 0.0765, d0.loss_plan_l1_fix_time: 8.2013, d0.loss_plan_l1_fix_dist: 0.9453, d1.loss_plan_l1_fix_time: 7.0896, d1.loss_plan_l1_fix_dist: 1.0206, d2.loss_plan_l1_fix_time: 6.5861, d2.loss_plan_l1_fix_dist: 1.1625, d3.loss_plan_l1_fix_time: 6.3673, d3.loss_plan_l1_fix_dist: 1.3175, d4.loss_plan_l1_fix_time: 6.3087, d4.loss_plan_l1_fix_dist: 1.4645, d5.loss_plan_l1_fix_time: 6.3328, d5.loss_plan_l1_fix_dist: 1.6392, d6.loss_plan_l1_fix_time: 6.4131, d6.loss_plan_l1_fix_dist: 1.8353, d0.loss_cls_all: 1.4384, d0.loss_bbox_all: 1.2621, d0.loss_cls: 1.4384, d0.loss_bbox: 1.2621, d1.loss_cls: 1.4367, d1.loss_bbox: 1.2807, d2.loss_cls: 1.4505, d2.loss_bbox: 1.2996, d3.loss_cls: 1.4458, d3.loss_bbox: 1.3247, d4.loss_cls: 1.4560, d4.loss_bbox: 1.3561, d5.loss_cls: 1.4533, d5.loss_bbox: 1.3884, d0.loss_traj_cls: 0.0005, d0.loss_traj: 4.3078, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.8387, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.0534, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.1528, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.2502, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.2820, d0.loss_map_cls_all: 0.7171, d0.loss_map_pts_all: 4.3423, d0.loss_map_dir_all: 0.0771, d0.loss_map_cls: 0.7171, d0.loss_map_pts: 4.3423, d0.loss_map_dir: 0.0771, d1.loss_map_cls: 0.7217, d1.loss_map_pts: 4.1544, d1.loss_map_dir: 0.0765, d2.loss_map_cls: 0.7216, d2.loss_map_pts: 4.1277, d2.loss_map_dir: 0.0765, d3.loss_map_cls: 0.7214, d3.loss_map_pts: 4.1304, d3.loss_map_dir: 0.0765, d4.loss_map_cls: 0.7232, d4.loss_map_pts: 4.1294, d4.loss_map_dir: 0.0765, d5.loss_map_cls: 0.7256, d5.loss_map_pts: 4.1329, d5.loss_map_dir: 0.0765, loss: 153.9376, grad_norm: inf +2026-02-24 03:45:13,149 - DriveTransformer - INFO - Epoch [1][6750/39528] lr: 1.000e-04, eta: 8 days, 16:27:15, time: 0.804, data_time: 0.039, memory: 19864, loss_cls: 1.4306, loss_bbox: 1.5004, loss_traj: 5.8033, loss_traj_cls: 0.0007, loss_map_cls: 0.7103, loss_map_pts: 4.4654, loss_map_dir: 0.0722, d0.loss_plan_l1_fix_time: 8.0492, d0.loss_plan_l1_fix_dist: 1.0198, d1.loss_plan_l1_fix_time: 6.9426, d1.loss_plan_l1_fix_dist: 1.1073, d2.loss_plan_l1_fix_time: 6.5302, d2.loss_plan_l1_fix_dist: 1.2610, d3.loss_plan_l1_fix_time: 6.4095, d3.loss_plan_l1_fix_dist: 1.3903, d4.loss_plan_l1_fix_time: 6.3855, d4.loss_plan_l1_fix_dist: 1.5479, d5.loss_plan_l1_fix_time: 6.4099, d5.loss_plan_l1_fix_dist: 1.7275, d6.loss_plan_l1_fix_time: 6.4849, d6.loss_plan_l1_fix_dist: 1.9131, d0.loss_cls_all: 1.4218, d0.loss_bbox_all: 1.3137, d0.loss_cls: 1.4218, d0.loss_bbox: 1.3137, d1.loss_cls: 1.4267, d1.loss_bbox: 1.3509, d2.loss_cls: 1.4297, d2.loss_bbox: 1.3869, d3.loss_cls: 1.4334, d3.loss_bbox: 1.4091, d4.loss_cls: 1.4411, d4.loss_bbox: 1.4315, d5.loss_cls: 1.4357, d5.loss_bbox: 1.4618, d0.loss_traj_cls: 0.0005, d0.loss_traj: 4.6358, d1.loss_traj_cls: 0.0005, d1.loss_traj: 5.2510, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.4927, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.6255, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.7261, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.7548, d0.loss_map_cls_all: 0.7041, d0.loss_map_pts_all: 4.7252, d0.loss_map_dir_all: 0.0730, d0.loss_map_cls: 0.7041, d0.loss_map_pts: 4.7252, d0.loss_map_dir: 0.0730, d1.loss_map_cls: 0.7053, d1.loss_map_pts: 4.4763, d1.loss_map_dir: 0.0724, d2.loss_map_cls: 0.7071, d2.loss_map_pts: 4.4302, d2.loss_map_dir: 0.0723, d3.loss_map_cls: 0.7082, d3.loss_map_pts: 4.4207, d3.loss_map_dir: 0.0723, d4.loss_map_cls: 0.7110, d4.loss_map_pts: 4.4151, d4.loss_map_dir: 0.0722, d5.loss_map_cls: 0.7117, d5.loss_map_pts: 4.4310, d5.loss_map_dir: 0.0722, loss: 160.4111, grad_norm: inf +2026-02-24 03:45:54,111 - DriveTransformer - INFO - Epoch [1][6800/39528] lr: 1.000e-04, eta: 8 days, 16:29:11, time: 0.819, data_time: 0.040, memory: 19864, loss_cls: 1.3857, loss_bbox: 1.4180, loss_traj: 5.4404, loss_traj_cls: 0.0007, loss_map_cls: 0.7083, loss_map_pts: 4.3248, loss_map_dir: 0.0673, d0.loss_plan_l1_fix_time: 6.9492, d0.loss_plan_l1_fix_dist: 0.9264, d1.loss_plan_l1_fix_time: 5.9524, d1.loss_plan_l1_fix_dist: 1.0008, d2.loss_plan_l1_fix_time: 5.6805, d2.loss_plan_l1_fix_dist: 1.1338, d3.loss_plan_l1_fix_time: 5.6628, d3.loss_plan_l1_fix_dist: 1.2977, d4.loss_plan_l1_fix_time: 5.7314, d4.loss_plan_l1_fix_dist: 1.5114, d5.loss_plan_l1_fix_time: 5.8537, d5.loss_plan_l1_fix_dist: 1.7151, d6.loss_plan_l1_fix_time: 6.0365, d6.loss_plan_l1_fix_dist: 1.9508, d0.loss_cls_all: 1.3829, d0.loss_bbox_all: 1.2298, d0.loss_cls: 1.3829, d0.loss_bbox: 1.2298, d1.loss_cls: 1.3933, d1.loss_bbox: 1.2707, d2.loss_cls: 1.3873, d2.loss_bbox: 1.3018, d3.loss_cls: 1.3961, d3.loss_bbox: 1.3293, d4.loss_cls: 1.3954, d4.loss_bbox: 1.3404, d5.loss_cls: 1.3889, d5.loss_bbox: 1.3734, d0.loss_traj_cls: 0.0005, d0.loss_traj: 4.1999, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.8386, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.0923, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.2482, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.3612, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.3933, d0.loss_map_cls_all: 0.7014, d0.loss_map_pts_all: 4.6462, d0.loss_map_dir_all: 0.0682, d0.loss_map_cls: 0.7014, d0.loss_map_pts: 4.6462, d0.loss_map_dir: 0.0682, d1.loss_map_cls: 0.7033, d1.loss_map_pts: 4.3897, d1.loss_map_dir: 0.0676, d2.loss_map_cls: 0.7060, d2.loss_map_pts: 4.3498, d2.loss_map_dir: 0.0675, d3.loss_map_cls: 0.7055, d3.loss_map_pts: 4.3415, d3.loss_map_dir: 0.0674, d4.loss_map_cls: 0.7149, d4.loss_map_pts: 4.3314, d4.loss_map_dir: 0.0674, d5.loss_map_cls: 0.7096, d5.loss_map_pts: 4.3261, d5.loss_map_dir: 0.0673, loss: 150.1331, grad_norm: inf +2026-02-24 03:46:35,655 - DriveTransformer - INFO - Epoch [1][6850/39528] lr: 1.000e-04, eta: 8 days, 16:32:25, time: 0.831, data_time: 0.043, memory: 19864, loss_cls: 1.4156, loss_bbox: 1.5243, loss_traj: 4.6148, loss_traj_cls: 0.0007, loss_map_cls: 0.7037, loss_map_pts: 4.3109, loss_map_dir: 0.0650, d0.loss_plan_l1_fix_time: 7.4922, d0.loss_plan_l1_fix_dist: 0.9303, d1.loss_plan_l1_fix_time: 6.1427, d1.loss_plan_l1_fix_dist: 0.9911, d2.loss_plan_l1_fix_time: 5.7003, d2.loss_plan_l1_fix_dist: 1.1049, d3.loss_plan_l1_fix_time: 5.5787, d3.loss_plan_l1_fix_dist: 1.2889, d4.loss_plan_l1_fix_time: 5.6020, d4.loss_plan_l1_fix_dist: 1.4917, d5.loss_plan_l1_fix_time: 5.7280, d5.loss_plan_l1_fix_dist: 1.7067, d6.loss_plan_l1_fix_time: 5.9352, d6.loss_plan_l1_fix_dist: 1.9251, d0.loss_cls_all: 1.4063, d0.loss_bbox_all: 1.4183, d0.loss_cls: 1.4063, d0.loss_bbox: 1.4183, d1.loss_cls: 1.4098, d1.loss_bbox: 1.4316, d2.loss_cls: 1.4106, d2.loss_bbox: 1.4478, d3.loss_cls: 1.4109, d3.loss_bbox: 1.4701, d4.loss_cls: 1.4145, d4.loss_bbox: 1.4789, d5.loss_cls: 1.4138, d5.loss_bbox: 1.5038, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.5168, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.0708, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.2986, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.4464, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.5476, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.5610, d0.loss_map_cls_all: 0.6899, d0.loss_map_pts_all: 4.5690, d0.loss_map_dir_all: 0.0658, d0.loss_map_cls: 0.6899, d0.loss_map_pts: 4.5690, d0.loss_map_dir: 0.0658, d1.loss_map_cls: 0.6978, d1.loss_map_pts: 4.3223, d1.loss_map_dir: 0.0652, d2.loss_map_cls: 0.7002, d2.loss_map_pts: 4.2848, d2.loss_map_dir: 0.0650, d3.loss_map_cls: 0.7001, d3.loss_map_pts: 4.2828, d3.loss_map_dir: 0.0649, d4.loss_map_cls: 0.7080, d4.loss_map_pts: 4.2867, d4.loss_map_dir: 0.0650, d5.loss_map_cls: 0.7052, d5.loss_map_pts: 4.3015, d5.loss_map_dir: 0.0651, loss: 145.7020, grad_norm: inf +2026-02-24 03:47:18,183 - DriveTransformer - INFO - Epoch [1][6900/39528] lr: 1.000e-04, eta: 8 days, 16:37:51, time: 0.851, data_time: 0.040, memory: 19864, loss_cls: 1.4289, loss_bbox: 1.4577, loss_traj: 5.8436, loss_traj_cls: 0.0007, loss_map_cls: 0.6951, loss_map_pts: 4.1846, loss_map_dir: 0.0677, d0.loss_plan_l1_fix_time: 7.7760, d0.loss_plan_l1_fix_dist: 1.0411, d1.loss_plan_l1_fix_time: 6.4724, d1.loss_plan_l1_fix_dist: 1.1359, d2.loss_plan_l1_fix_time: 6.1034, d2.loss_plan_l1_fix_dist: 1.2886, d3.loss_plan_l1_fix_time: 6.0112, d3.loss_plan_l1_fix_dist: 1.4793, d4.loss_plan_l1_fix_time: 6.0372, d4.loss_plan_l1_fix_dist: 1.6522, d5.loss_plan_l1_fix_time: 6.1364, d5.loss_plan_l1_fix_dist: 1.8575, d6.loss_plan_l1_fix_time: 6.3104, d6.loss_plan_l1_fix_dist: 2.0730, d0.loss_cls_all: 1.4069, d0.loss_bbox_all: 1.3554, d0.loss_cls: 1.4069, d0.loss_bbox: 1.3554, d1.loss_cls: 1.4105, d1.loss_bbox: 1.3742, d2.loss_cls: 1.4154, d2.loss_bbox: 1.3956, d3.loss_cls: 1.4151, d3.loss_bbox: 1.4187, d4.loss_cls: 1.4186, d4.loss_bbox: 1.4326, d5.loss_cls: 1.4239, d5.loss_bbox: 1.4478, d0.loss_traj_cls: 0.0005, d0.loss_traj: 4.3240, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.0971, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.4129, d3.loss_traj_cls: 0.0007, d3.loss_traj: 5.6088, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.7390, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.7905, d0.loss_map_cls_all: 0.6876, d0.loss_map_pts_all: 4.5351, d0.loss_map_dir_all: 0.0697, d0.loss_map_cls: 0.6876, d0.loss_map_pts: 4.5351, d0.loss_map_dir: 0.0697, d1.loss_map_cls: 0.6900, d1.loss_map_pts: 4.2567, d1.loss_map_dir: 0.0683, d2.loss_map_cls: 0.6911, d2.loss_map_pts: 4.2026, d2.loss_map_dir: 0.0678, d3.loss_map_cls: 0.6922, d3.loss_map_pts: 4.1858, d3.loss_map_dir: 0.0678, d4.loss_map_cls: 0.6965, d4.loss_map_pts: 4.1794, d4.loss_map_dir: 0.0678, d5.loss_map_cls: 0.6961, d5.loss_map_pts: 4.1783, d5.loss_map_dir: 0.0678, loss: 156.0989, grad_norm: inf +2026-02-24 03:47:57,246 - DriveTransformer - INFO - Epoch [1][6950/39528] lr: 1.000e-04, eta: 8 days, 16:35:20, time: 0.781, data_time: 0.040, memory: 19864, loss_cls: 1.4577, loss_bbox: 1.4036, loss_traj: 4.8208, loss_traj_cls: 0.0006, loss_map_cls: 0.7189, loss_map_pts: 4.2314, loss_map_dir: 0.0749, d0.loss_plan_l1_fix_time: 7.2104, d0.loss_plan_l1_fix_dist: 0.9880, d1.loss_plan_l1_fix_time: 6.0885, d1.loss_plan_l1_fix_dist: 1.0701, d2.loss_plan_l1_fix_time: 5.7860, d2.loss_plan_l1_fix_dist: 1.2292, d3.loss_plan_l1_fix_time: 5.6749, d3.loss_plan_l1_fix_dist: 1.3664, d4.loss_plan_l1_fix_time: 5.6649, d4.loss_plan_l1_fix_dist: 1.5683, d5.loss_plan_l1_fix_time: 5.7474, d5.loss_plan_l1_fix_dist: 1.8111, d6.loss_plan_l1_fix_time: 5.8906, d6.loss_plan_l1_fix_dist: 2.0820, d0.loss_cls_all: 1.4367, d0.loss_bbox_all: 1.3272, d0.loss_cls: 1.4367, d0.loss_bbox: 1.3272, d1.loss_cls: 1.4505, d1.loss_bbox: 1.3366, d2.loss_cls: 1.4444, d2.loss_bbox: 1.3420, d3.loss_cls: 1.4458, d3.loss_bbox: 1.3496, d4.loss_cls: 1.4546, d4.loss_bbox: 1.3608, d5.loss_cls: 1.4569, d5.loss_bbox: 1.3764, d0.loss_traj_cls: 0.0004, d0.loss_traj: 3.6339, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.2124, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.4646, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.6237, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.7200, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.7477, d0.loss_map_cls_all: 0.7074, d0.loss_map_pts_all: 4.4545, d0.loss_map_dir_all: 0.0760, d0.loss_map_cls: 0.7074, d0.loss_map_pts: 4.4545, d0.loss_map_dir: 0.0760, d1.loss_map_cls: 0.7142, d1.loss_map_pts: 4.2543, d1.loss_map_dir: 0.0754, d2.loss_map_cls: 0.7157, d2.loss_map_pts: 4.2152, d2.loss_map_dir: 0.0751, d3.loss_map_cls: 0.7157, d3.loss_map_pts: 4.2038, d3.loss_map_dir: 0.0750, d4.loss_map_cls: 0.7252, d4.loss_map_pts: 4.2050, d4.loss_map_dir: 0.0750, d5.loss_map_cls: 0.7202, d5.loss_map_pts: 4.2133, d5.loss_map_dir: 0.0750, loss: 146.3702, grad_norm: inf +2026-02-24 03:48:38,131 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 03:48:38,131 - DriveTransformer - INFO - Epoch [1][7000/39528] lr: 1.000e-04, eta: 8 days, 16:36:57, time: 0.818, data_time: 0.042, memory: 19864, loss_cls: 1.4347, loss_bbox: 1.4515, loss_traj: 4.0262, loss_traj_cls: 0.0006, loss_map_cls: 0.6981, loss_map_pts: 4.4034, loss_map_dir: 0.0800, d0.loss_plan_l1_fix_time: 6.5787, d0.loss_plan_l1_fix_dist: 1.0515, d1.loss_plan_l1_fix_time: 5.6000, d1.loss_plan_l1_fix_dist: 1.1326, d2.loss_plan_l1_fix_time: 5.4581, d2.loss_plan_l1_fix_dist: 1.2696, d3.loss_plan_l1_fix_time: 5.4972, d3.loss_plan_l1_fix_dist: 1.4230, d4.loss_plan_l1_fix_time: 5.6087, d4.loss_plan_l1_fix_dist: 1.5791, d5.loss_plan_l1_fix_time: 5.7687, d5.loss_plan_l1_fix_dist: 1.7412, d6.loss_plan_l1_fix_time: 5.9388, d6.loss_plan_l1_fix_dist: 1.8871, d0.loss_cls_all: 1.4132, d0.loss_bbox_all: 1.3264, d0.loss_cls: 1.4132, d0.loss_bbox: 1.3264, d1.loss_cls: 1.4168, d1.loss_bbox: 1.3320, d2.loss_cls: 1.4336, d2.loss_bbox: 1.3363, d3.loss_cls: 1.4275, d3.loss_bbox: 1.3513, d4.loss_cls: 1.4333, d4.loss_bbox: 1.3719, d5.loss_cls: 1.4422, d5.loss_bbox: 1.4083, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.9453, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.4593, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.6996, d3.loss_traj_cls: 0.0006, d3.loss_traj: 3.8430, d4.loss_traj_cls: 0.0006, d4.loss_traj: 3.9335, d5.loss_traj_cls: 0.0006, d5.loss_traj: 3.9667, d0.loss_map_cls_all: 0.6909, d0.loss_map_pts_all: 4.6425, d0.loss_map_dir_all: 0.0809, d0.loss_map_cls: 0.6909, d0.loss_map_pts: 4.6425, d0.loss_map_dir: 0.0809, d1.loss_map_cls: 0.6931, d1.loss_map_pts: 4.4284, d1.loss_map_dir: 0.0805, d2.loss_map_cls: 0.6954, d2.loss_map_pts: 4.3936, d2.loss_map_dir: 0.0803, d3.loss_map_cls: 0.6964, d3.loss_map_pts: 4.3793, d3.loss_map_dir: 0.0802, d4.loss_map_cls: 0.7004, d4.loss_map_pts: 4.3701, d4.loss_map_dir: 0.0802, d5.loss_map_cls: 0.6989, d5.loss_map_pts: 4.3723, d5.loss_map_dir: 0.0802, loss: 140.5694, grad_norm: inf +2026-02-24 03:49:15,829 - DriveTransformer - INFO - Epoch [1][7050/39528] lr: 1.000e-04, eta: 8 days, 16:31:26, time: 0.754, data_time: 0.039, memory: 19864, loss_cls: 1.4314, loss_bbox: 1.3185, loss_traj: 5.4020, loss_traj_cls: 0.0005, loss_map_cls: 0.7475, loss_map_pts: 4.0512, loss_map_dir: 0.0761, d0.loss_plan_l1_fix_time: 6.6363, d0.loss_plan_l1_fix_dist: 0.8564, d1.loss_plan_l1_fix_time: 5.4807, d1.loss_plan_l1_fix_dist: 0.9610, d2.loss_plan_l1_fix_time: 5.1951, d2.loss_plan_l1_fix_dist: 1.0941, d3.loss_plan_l1_fix_time: 5.0922, d3.loss_plan_l1_fix_dist: 1.2619, d4.loss_plan_l1_fix_time: 5.0858, d4.loss_plan_l1_fix_dist: 1.4387, d5.loss_plan_l1_fix_time: 5.1432, d5.loss_plan_l1_fix_dist: 1.6416, d6.loss_plan_l1_fix_time: 5.2377, d6.loss_plan_l1_fix_dist: 1.8602, d0.loss_cls_all: 1.3989, d0.loss_bbox_all: 1.2174, d0.loss_cls: 1.3989, d0.loss_bbox: 1.2174, d1.loss_cls: 1.4088, d1.loss_bbox: 1.2156, d2.loss_cls: 1.4194, d2.loss_bbox: 1.2267, d3.loss_cls: 1.4128, d3.loss_bbox: 1.2465, d4.loss_cls: 1.4176, d4.loss_bbox: 1.2548, d5.loss_cls: 1.4250, d5.loss_bbox: 1.2870, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.5095, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.4131, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.8425, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.0969, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.2649, d5.loss_traj_cls: 0.0007, d5.loss_traj: 5.3295, d0.loss_map_cls_all: 0.7339, d0.loss_map_pts_all: 4.3182, d0.loss_map_dir_all: 0.0767, d0.loss_map_cls: 0.7339, d0.loss_map_pts: 4.3182, d0.loss_map_dir: 0.0767, d1.loss_map_cls: 0.7332, d1.loss_map_pts: 4.1085, d1.loss_map_dir: 0.0764, d2.loss_map_cls: 0.7393, d2.loss_map_pts: 4.0797, d2.loss_map_dir: 0.0763, d3.loss_map_cls: 0.7438, d3.loss_map_pts: 4.0642, d3.loss_map_dir: 0.0762, d4.loss_map_cls: 0.7479, d4.loss_map_pts: 4.0528, d4.loss_map_dir: 0.0763, d5.loss_map_cls: 0.7474, d5.loss_map_pts: 4.0498, d5.loss_map_dir: 0.0762, loss: 141.7242, grad_norm: inf +2026-02-24 03:49:56,151 - DriveTransformer - INFO - Epoch [1][7100/39528] lr: 1.000e-04, eta: 8 days, 16:31:47, time: 0.806, data_time: 0.037, memory: 19864, loss_cls: 1.4368, loss_bbox: 1.4083, loss_traj: 5.0355, loss_traj_cls: 0.0005, loss_map_cls: 0.7102, loss_map_pts: 4.4180, loss_map_dir: 0.0779, d0.loss_plan_l1_fix_time: 6.5024, d0.loss_plan_l1_fix_dist: 0.9408, d1.loss_plan_l1_fix_time: 5.4587, d1.loss_plan_l1_fix_dist: 1.0355, d2.loss_plan_l1_fix_time: 5.2291, d2.loss_plan_l1_fix_dist: 1.1715, d3.loss_plan_l1_fix_time: 5.2048, d3.loss_plan_l1_fix_dist: 1.3321, d4.loss_plan_l1_fix_time: 5.2792, d4.loss_plan_l1_fix_dist: 1.5103, d5.loss_plan_l1_fix_time: 5.4038, d5.loss_plan_l1_fix_dist: 1.6922, d6.loss_plan_l1_fix_time: 5.5534, d6.loss_plan_l1_fix_dist: 1.9047, d0.loss_cls_all: 1.4008, d0.loss_bbox_all: 1.3519, d0.loss_cls: 1.4008, d0.loss_bbox: 1.3519, d1.loss_cls: 1.4144, d1.loss_bbox: 1.3563, d2.loss_cls: 1.4279, d2.loss_bbox: 1.3587, d3.loss_cls: 1.4278, d3.loss_bbox: 1.3643, d4.loss_cls: 1.4338, d4.loss_bbox: 1.3682, d5.loss_cls: 1.4368, d5.loss_bbox: 1.3826, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.4985, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.1996, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.5405, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.7584, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.8943, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.9517, d0.loss_map_cls_all: 0.7000, d0.loss_map_pts_all: 4.7414, d0.loss_map_dir_all: 0.0787, d0.loss_map_cls: 0.7000, d0.loss_map_pts: 4.7414, d0.loss_map_dir: 0.0787, d1.loss_map_cls: 0.7024, d1.loss_map_pts: 4.5014, d1.loss_map_dir: 0.0782, d2.loss_map_cls: 0.7064, d2.loss_map_pts: 4.4458, d2.loss_map_dir: 0.0780, d3.loss_map_cls: 0.7082, d3.loss_map_pts: 4.4299, d3.loss_map_dir: 0.0780, d4.loss_map_cls: 0.7111, d4.loss_map_pts: 4.4323, d4.loss_map_dir: 0.0780, d5.loss_map_cls: 0.7092, d5.loss_map_pts: 4.4363, d5.loss_map_dir: 0.0780, loss: 144.8410, grad_norm: inf +2026-02-24 03:50:35,513 - DriveTransformer - INFO - Epoch [1][7150/39528] lr: 1.000e-04, eta: 8 days, 16:30:01, time: 0.787, data_time: 0.046, memory: 19864, loss_cls: 1.4248, loss_bbox: 1.2123, loss_traj: 6.0045, loss_traj_cls: 0.0005, loss_map_cls: 0.7138, loss_map_pts: 4.3635, loss_map_dir: 0.0758, d0.loss_plan_l1_fix_time: 6.5644, d0.loss_plan_l1_fix_dist: 0.9287, d1.loss_plan_l1_fix_time: 5.4558, d1.loss_plan_l1_fix_dist: 1.0183, d2.loss_plan_l1_fix_time: 5.1429, d2.loss_plan_l1_fix_dist: 1.1435, d3.loss_plan_l1_fix_time: 5.0358, d3.loss_plan_l1_fix_dist: 1.3010, d4.loss_plan_l1_fix_time: 5.0272, d4.loss_plan_l1_fix_dist: 1.4606, d5.loss_plan_l1_fix_time: 5.0889, d5.loss_plan_l1_fix_dist: 1.6442, d6.loss_plan_l1_fix_time: 5.1806, d6.loss_plan_l1_fix_dist: 1.8049, d0.loss_cls_all: 1.3690, d0.loss_bbox_all: 1.1858, d0.loss_cls: 1.3690, d0.loss_bbox: 1.1858, d1.loss_cls: 1.3804, d1.loss_bbox: 1.1922, d2.loss_cls: 1.3945, d2.loss_bbox: 1.2016, d3.loss_cls: 1.3918, d3.loss_bbox: 1.2025, d4.loss_cls: 1.3996, d4.loss_bbox: 1.2024, d5.loss_cls: 1.4052, d5.loss_bbox: 1.1994, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.8809, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.8274, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.3252, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.6241, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.8197, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.8964, d0.loss_map_cls_all: 0.7053, d0.loss_map_pts_all: 4.6024, d0.loss_map_dir_all: 0.0775, d0.loss_map_cls: 0.7053, d0.loss_map_pts: 4.6024, d0.loss_map_dir: 0.0775, d1.loss_map_cls: 0.7076, d1.loss_map_pts: 4.3808, d1.loss_map_dir: 0.0765, d2.loss_map_cls: 0.7099, d2.loss_map_pts: 4.3398, d2.loss_map_dir: 0.0762, d3.loss_map_cls: 0.7119, d3.loss_map_pts: 4.3322, d3.loss_map_dir: 0.0761, d4.loss_map_cls: 0.7124, d4.loss_map_pts: 4.3345, d4.loss_map_dir: 0.0761, d5.loss_map_cls: 0.7137, d5.loss_map_pts: 4.3435, d5.loss_map_dir: 0.0760, loss: 146.4855, grad_norm: inf +2026-02-24 03:51:14,829 - DriveTransformer - INFO - Epoch [1][7200/39528] lr: 1.000e-04, eta: 8 days, 16:28:19, time: 0.788, data_time: 0.037, memory: 19864, loss_cls: 1.4106, loss_bbox: 1.2433, loss_traj: 5.9165, loss_traj_cls: 0.0005, loss_map_cls: 0.7067, loss_map_pts: 3.9020, loss_map_dir: 0.0747, d0.loss_plan_l1_fix_time: 5.4290, d0.loss_plan_l1_fix_dist: 0.8177, d1.loss_plan_l1_fix_time: 4.5278, d1.loss_plan_l1_fix_dist: 0.9068, d2.loss_plan_l1_fix_time: 4.3146, d2.loss_plan_l1_fix_dist: 1.0161, d3.loss_plan_l1_fix_time: 4.3009, d3.loss_plan_l1_fix_dist: 1.1304, d4.loss_plan_l1_fix_time: 4.3678, d4.loss_plan_l1_fix_dist: 1.2778, d5.loss_plan_l1_fix_time: 4.4741, d5.loss_plan_l1_fix_dist: 1.4393, d6.loss_plan_l1_fix_time: 4.5907, d6.loss_plan_l1_fix_dist: 1.6249, d0.loss_cls_all: 1.3711, d0.loss_bbox_all: 1.2088, d0.loss_cls: 1.3711, d0.loss_bbox: 1.2088, d1.loss_cls: 1.3983, d1.loss_bbox: 1.2046, d2.loss_cls: 1.3971, d2.loss_bbox: 1.2098, d3.loss_cls: 1.3983, d3.loss_bbox: 1.2116, d4.loss_cls: 1.4003, d4.loss_bbox: 1.2172, d5.loss_cls: 1.4023, d5.loss_bbox: 1.2252, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.8663, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.7579, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.2437, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.5385, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.7328, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.8194, d0.loss_map_cls_all: 0.6980, d0.loss_map_pts_all: 4.1543, d0.loss_map_dir_all: 0.0760, d0.loss_map_cls: 0.6980, d0.loss_map_pts: 4.1543, d0.loss_map_dir: 0.0760, d1.loss_map_cls: 0.6991, d1.loss_map_pts: 3.9514, d1.loss_map_dir: 0.0751, d2.loss_map_cls: 0.7009, d2.loss_map_pts: 3.9073, d2.loss_map_dir: 0.0748, d3.loss_map_cls: 0.7028, d3.loss_map_pts: 3.8950, d3.loss_map_dir: 0.0748, d4.loss_map_cls: 0.7039, d4.loss_map_pts: 3.8927, d4.loss_map_dir: 0.0748, d5.loss_map_cls: 0.7048, d5.loss_map_pts: 3.8953, d5.loss_map_dir: 0.0748, loss: 135.9424, grad_norm: 530.7837 +2026-02-24 03:51:55,045 - DriveTransformer - INFO - Epoch [1][7250/39528] lr: 1.000e-04, eta: 8 days, 16:28:16, time: 0.803, data_time: 0.043, memory: 19864, loss_cls: 1.4007, loss_bbox: 1.2322, loss_traj: 5.4715, loss_traj_cls: 0.0006, loss_map_cls: 0.7388, loss_map_pts: 4.0645, loss_map_dir: 0.0704, d0.loss_plan_l1_fix_time: 6.0614, d0.loss_plan_l1_fix_dist: 0.7921, d1.loss_plan_l1_fix_time: 4.9769, d1.loss_plan_l1_fix_dist: 0.8805, d2.loss_plan_l1_fix_time: 4.6583, d2.loss_plan_l1_fix_dist: 0.9994, d3.loss_plan_l1_fix_time: 4.5503, d3.loss_plan_l1_fix_dist: 1.1335, d4.loss_plan_l1_fix_time: 4.5468, d4.loss_plan_l1_fix_dist: 1.2696, d5.loss_plan_l1_fix_time: 4.5933, d5.loss_plan_l1_fix_dist: 1.4194, d6.loss_plan_l1_fix_time: 4.6838, d6.loss_plan_l1_fix_dist: 1.5907, d0.loss_cls_all: 1.3546, d0.loss_bbox_all: 1.2099, d0.loss_cls: 1.3546, d0.loss_bbox: 1.2099, d1.loss_cls: 1.3757, d1.loss_bbox: 1.2105, d2.loss_cls: 1.3842, d2.loss_bbox: 1.2141, d3.loss_cls: 1.3880, d3.loss_bbox: 1.2145, d4.loss_cls: 1.3881, d4.loss_bbox: 1.2175, d5.loss_cls: 1.3908, d5.loss_bbox: 1.2227, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.4488, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.2998, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.7751, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.0778, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.2751, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.3529, d0.loss_map_cls_all: 0.7313, d0.loss_map_pts_all: 4.3346, d0.loss_map_dir_all: 0.0715, d0.loss_map_cls: 0.7313, d0.loss_map_pts: 4.3346, d0.loss_map_dir: 0.0715, d1.loss_map_cls: 0.7335, d1.loss_map_pts: 4.1248, d1.loss_map_dir: 0.0706, d2.loss_map_cls: 0.7356, d2.loss_map_pts: 4.0793, d2.loss_map_dir: 0.0705, d3.loss_map_cls: 0.7367, d3.loss_map_pts: 4.0641, d3.loss_map_dir: 0.0705, d4.loss_map_cls: 0.7386, d4.loss_map_pts: 4.0624, d4.loss_map_dir: 0.0705, d5.loss_map_cls: 0.7383, d5.loss_map_pts: 4.0642, d5.loss_map_dir: 0.0705, loss: 136.2076, grad_norm: 375.9629 +2026-02-24 03:52:34,799 - DriveTransformer - INFO - Epoch [1][7300/39528] lr: 1.000e-04, eta: 8 days, 16:27:23, time: 0.795, data_time: 0.041, memory: 19864, loss_cls: 1.4097, loss_bbox: 1.3220, loss_traj: 4.8735, loss_traj_cls: 0.0007, loss_map_cls: 0.7268, loss_map_pts: 4.1708, loss_map_dir: 0.0701, d0.loss_plan_l1_fix_time: 5.6682, d0.loss_plan_l1_fix_dist: 0.7763, d1.loss_plan_l1_fix_time: 4.7320, d1.loss_plan_l1_fix_dist: 0.8543, d2.loss_plan_l1_fix_time: 4.4893, d2.loss_plan_l1_fix_dist: 0.9820, d3.loss_plan_l1_fix_time: 4.4137, d3.loss_plan_l1_fix_dist: 1.1291, d4.loss_plan_l1_fix_time: 4.4325, d4.loss_plan_l1_fix_dist: 1.2785, d5.loss_plan_l1_fix_time: 4.4949, d5.loss_plan_l1_fix_dist: 1.4483, d6.loss_plan_l1_fix_time: 4.6077, d6.loss_plan_l1_fix_dist: 1.6084, d0.loss_cls_all: 1.3647, d0.loss_bbox_all: 1.2963, d0.loss_cls: 1.3647, d0.loss_bbox: 1.2963, d1.loss_cls: 1.3848, d1.loss_bbox: 1.3021, d2.loss_cls: 1.4001, d2.loss_bbox: 1.3032, d3.loss_cls: 1.4018, d3.loss_bbox: 1.3045, d4.loss_cls: 1.4034, d4.loss_bbox: 1.3143, d5.loss_cls: 1.4057, d5.loss_bbox: 1.3192, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.0462, d1.loss_traj_cls: 0.0006, d1.loss_traj: 3.7862, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.2207, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.5144, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.7042, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.7959, d0.loss_map_cls_all: 0.7136, d0.loss_map_pts_all: 4.5076, d0.loss_map_dir_all: 0.0710, d0.loss_map_cls: 0.7136, d0.loss_map_pts: 4.5076, d0.loss_map_dir: 0.0710, d1.loss_map_cls: 0.7186, d1.loss_map_pts: 4.2769, d1.loss_map_dir: 0.0704, d2.loss_map_cls: 0.7208, d2.loss_map_pts: 4.2323, d2.loss_map_dir: 0.0702, d3.loss_map_cls: 0.7242, d3.loss_map_pts: 4.2065, d3.loss_map_dir: 0.0701, d4.loss_map_cls: 0.7250, d4.loss_map_pts: 4.1864, d4.loss_map_dir: 0.0701, d5.loss_map_cls: 0.7265, d5.loss_map_pts: 4.1752, d5.loss_map_dir: 0.0701, loss: 133.0484, grad_norm: 331.8641 +2026-02-24 03:53:13,354 - DriveTransformer - INFO - Epoch [1][7350/39528] lr: 1.000e-04, eta: 8 days, 16:24:00, time: 0.772, data_time: 0.041, memory: 19864, loss_cls: 1.4008, loss_bbox: 1.2162, loss_traj: 5.3576, loss_traj_cls: 0.0006, loss_map_cls: 0.7112, loss_map_pts: 3.9479, loss_map_dir: 0.0668, d0.loss_plan_l1_fix_time: 5.4465, d0.loss_plan_l1_fix_dist: 0.9179, d1.loss_plan_l1_fix_time: 4.6005, d1.loss_plan_l1_fix_dist: 0.9829, d2.loss_plan_l1_fix_time: 4.4099, d2.loss_plan_l1_fix_dist: 1.0828, d3.loss_plan_l1_fix_time: 4.3715, d3.loss_plan_l1_fix_dist: 1.1969, d4.loss_plan_l1_fix_time: 4.3850, d4.loss_plan_l1_fix_dist: 1.3271, d5.loss_plan_l1_fix_time: 4.4323, d5.loss_plan_l1_fix_dist: 1.4673, d6.loss_plan_l1_fix_time: 4.5088, d6.loss_plan_l1_fix_dist: 1.6206, d0.loss_cls_all: 1.3471, d0.loss_bbox_all: 1.1877, d0.loss_cls: 1.3471, d0.loss_bbox: 1.1877, d1.loss_cls: 1.3748, d1.loss_bbox: 1.1948, d2.loss_cls: 1.3851, d2.loss_bbox: 1.2017, d3.loss_cls: 1.3902, d3.loss_bbox: 1.2064, d4.loss_cls: 1.3933, d4.loss_bbox: 1.2047, d5.loss_cls: 1.3949, d5.loss_bbox: 1.2158, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.0488, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.9715, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.5260, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.8973, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.1368, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.2446, d0.loss_map_cls_all: 0.6982, d0.loss_map_pts_all: 4.3205, d0.loss_map_dir_all: 0.0678, d0.loss_map_cls: 0.6982, d0.loss_map_pts: 4.3205, d0.loss_map_dir: 0.0678, d1.loss_map_cls: 0.6994, d1.loss_map_pts: 4.0582, d1.loss_map_dir: 0.0673, d2.loss_map_cls: 0.7050, d2.loss_map_pts: 4.0068, d2.loss_map_dir: 0.0671, d3.loss_map_cls: 0.7080, d3.loss_map_pts: 3.9791, d3.loss_map_dir: 0.0670, d4.loss_map_cls: 0.7080, d4.loss_map_pts: 3.9620, d4.loss_map_dir: 0.0670, d5.loss_map_cls: 0.7094, d5.loss_map_pts: 3.9527, d5.loss_map_dir: 0.0669, loss: 132.3075, grad_norm: 321.0718 +2026-02-24 03:53:53,219 - DriveTransformer - INFO - Epoch [1][7400/39528] lr: 1.000e-04, eta: 8 days, 16:23:18, time: 0.797, data_time: 0.043, memory: 19864, loss_cls: 1.3998, loss_bbox: 1.2306, loss_traj: 5.4868, loss_traj_cls: 0.0005, loss_map_cls: 0.7199, loss_map_pts: 4.1704, loss_map_dir: 0.0638, d0.loss_plan_l1_fix_time: 5.0437, d0.loss_plan_l1_fix_dist: 0.9214, d1.loss_plan_l1_fix_time: 4.2617, d1.loss_plan_l1_fix_dist: 0.9935, d2.loss_plan_l1_fix_time: 4.1063, d2.loss_plan_l1_fix_dist: 1.1058, d3.loss_plan_l1_fix_time: 4.0889, d3.loss_plan_l1_fix_dist: 1.2325, d4.loss_plan_l1_fix_time: 4.1114, d4.loss_plan_l1_fix_dist: 1.3718, d5.loss_plan_l1_fix_time: 4.1564, d5.loss_plan_l1_fix_dist: 1.5327, d6.loss_plan_l1_fix_time: 4.2318, d6.loss_plan_l1_fix_dist: 1.7218, d0.loss_cls_all: 1.3342, d0.loss_bbox_all: 1.2059, d0.loss_cls: 1.3342, d0.loss_bbox: 1.2059, d1.loss_cls: 1.3688, d1.loss_bbox: 1.2071, d2.loss_cls: 1.3813, d2.loss_bbox: 1.2124, d3.loss_cls: 1.3885, d3.loss_bbox: 1.2179, d4.loss_cls: 1.3910, d4.loss_bbox: 1.2213, d5.loss_cls: 1.3934, d5.loss_bbox: 1.2275, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.0448, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.9765, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.5777, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.9754, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.2446, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.3764, d0.loss_map_cls_all: 0.7064, d0.loss_map_pts_all: 4.4786, d0.loss_map_dir_all: 0.0648, d0.loss_map_cls: 0.7064, d0.loss_map_pts: 4.4786, d0.loss_map_dir: 0.0648, d1.loss_map_cls: 0.7113, d1.loss_map_pts: 4.2593, d1.loss_map_dir: 0.0643, d2.loss_map_cls: 0.7153, d2.loss_map_pts: 4.2176, d2.loss_map_dir: 0.0642, d3.loss_map_cls: 0.7172, d3.loss_map_pts: 4.1960, d3.loss_map_dir: 0.0641, d4.loss_map_cls: 0.7197, d4.loss_map_pts: 4.1809, d4.loss_map_dir: 0.0640, d5.loss_map_cls: 0.7194, d5.loss_map_pts: 4.1722, d5.loss_map_dir: 0.0638, loss: 132.6688, grad_norm: 303.5039 +2026-02-24 03:54:33,613 - DriveTransformer - INFO - Epoch [1][7450/39528] lr: 1.000e-04, eta: 8 days, 16:23:47, time: 0.808, data_time: 0.047, memory: 19864, loss_cls: 1.4095, loss_bbox: 1.2280, loss_traj: 5.3942, loss_traj_cls: 0.0004, loss_map_cls: 0.6802, loss_map_pts: 3.9394, loss_map_dir: 0.0594, d0.loss_plan_l1_fix_time: 6.2276, d0.loss_plan_l1_fix_dist: 0.7865, d1.loss_plan_l1_fix_time: 5.1204, d1.loss_plan_l1_fix_dist: 0.8765, d2.loss_plan_l1_fix_time: 4.8242, d2.loss_plan_l1_fix_dist: 1.0279, d3.loss_plan_l1_fix_time: 4.7467, d3.loss_plan_l1_fix_dist: 1.2053, d4.loss_plan_l1_fix_time: 4.7452, d4.loss_plan_l1_fix_dist: 1.3883, d5.loss_plan_l1_fix_time: 4.7733, d5.loss_plan_l1_fix_dist: 1.5673, d6.loss_plan_l1_fix_time: 4.8375, d6.loss_plan_l1_fix_dist: 1.7313, d0.loss_cls_all: 1.3431, d0.loss_bbox_all: 1.2059, d0.loss_cls: 1.3431, d0.loss_bbox: 1.2059, d1.loss_cls: 1.3755, d1.loss_bbox: 1.2089, d2.loss_cls: 1.3878, d2.loss_bbox: 1.2099, d3.loss_cls: 1.3964, d3.loss_bbox: 1.2158, d4.loss_cls: 1.4016, d4.loss_bbox: 1.2173, d5.loss_cls: 1.4045, d5.loss_bbox: 1.2258, d0.loss_traj_cls: 0.0004, d0.loss_traj: 3.1023, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.9254, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.5164, d3.loss_traj_cls: 0.0004, d3.loss_traj: 4.8711, d4.loss_traj_cls: 0.0004, d4.loss_traj: 5.1449, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.2646, d0.loss_map_cls_all: 0.6715, d0.loss_map_pts_all: 4.3004, d0.loss_map_dir_all: 0.0605, d0.loss_map_cls: 0.6715, d0.loss_map_pts: 4.3004, d0.loss_map_dir: 0.0605, d1.loss_map_cls: 0.6728, d1.loss_map_pts: 4.0356, d1.loss_map_dir: 0.0598, d2.loss_map_cls: 0.6760, d2.loss_map_pts: 3.9852, d2.loss_map_dir: 0.0596, d3.loss_map_cls: 0.6773, d3.loss_map_pts: 3.9623, d3.loss_map_dir: 0.0596, d4.loss_map_cls: 0.6788, d4.loss_map_pts: 3.9485, d4.loss_map_dir: 0.0596, d5.loss_map_cls: 0.6794, d5.loss_map_pts: 3.9428, d5.loss_map_dir: 0.0595, loss: 135.1595, grad_norm: 296.0828 +2026-02-24 03:55:12,642 - DriveTransformer - INFO - Epoch [1][7500/39528] lr: 1.000e-04, eta: 8 days, 16:21:23, time: 0.781, data_time: 0.038, memory: 19864, loss_cls: 1.4386, loss_bbox: 1.3272, loss_traj: 4.9232, loss_traj_cls: 0.0005, loss_map_cls: 0.7299, loss_map_pts: 3.8210, loss_map_dir: 0.0594, d0.loss_plan_l1_fix_time: 4.5738, d0.loss_plan_l1_fix_dist: 0.8253, d1.loss_plan_l1_fix_time: 3.8521, d1.loss_plan_l1_fix_dist: 0.9125, d2.loss_plan_l1_fix_time: 3.7054, d2.loss_plan_l1_fix_dist: 1.0641, d3.loss_plan_l1_fix_time: 3.6989, d3.loss_plan_l1_fix_dist: 1.2411, d4.loss_plan_l1_fix_time: 3.7354, d4.loss_plan_l1_fix_dist: 1.4272, d5.loss_plan_l1_fix_time: 3.7922, d5.loss_plan_l1_fix_dist: 1.6457, d6.loss_plan_l1_fix_time: 3.8824, d6.loss_plan_l1_fix_dist: 1.8716, d0.loss_cls_all: 1.3571, d0.loss_bbox_all: 1.3122, d0.loss_cls: 1.3571, d0.loss_bbox: 1.3122, d1.loss_cls: 1.3921, d1.loss_bbox: 1.3168, d2.loss_cls: 1.4151, d2.loss_bbox: 1.3211, d3.loss_cls: 1.4226, d3.loss_bbox: 1.3258, d4.loss_cls: 1.4274, d4.loss_bbox: 1.3227, d5.loss_cls: 1.4322, d5.loss_bbox: 1.3264, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.6621, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.4448, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.0090, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.3881, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.6556, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.7848, d0.loss_map_cls_all: 0.7089, d0.loss_map_pts_all: 4.1152, d0.loss_map_dir_all: 0.0610, d0.loss_map_cls: 0.7089, d0.loss_map_pts: 4.1152, d0.loss_map_dir: 0.0610, d1.loss_map_cls: 0.7143, d1.loss_map_pts: 3.8664, d1.loss_map_dir: 0.0598, d2.loss_map_cls: 0.7215, d2.loss_map_pts: 3.8281, d2.loss_map_dir: 0.0596, d3.loss_map_cls: 0.7255, d3.loss_map_pts: 3.8143, d3.loss_map_dir: 0.0596, d4.loss_map_cls: 0.7236, d4.loss_map_pts: 3.8115, d4.loss_map_dir: 0.0594, d5.loss_map_cls: 0.7276, d5.loss_map_pts: 3.8172, d5.loss_map_dir: 0.0594, loss: 124.3339, grad_norm: 282.9128 +2026-02-24 03:55:53,556 - DriveTransformer - INFO - Epoch [1][7550/39528] lr: 1.000e-04, eta: 8 days, 16:22:57, time: 0.818, data_time: 0.036, memory: 19864, loss_cls: 1.3958, loss_bbox: 1.3575, loss_traj: 4.7699, loss_traj_cls: 0.0006, loss_map_cls: 0.6911, loss_map_pts: 4.0572, loss_map_dir: 0.0589, d0.loss_plan_l1_fix_time: 4.6115, d0.loss_plan_l1_fix_dist: 0.8818, d1.loss_plan_l1_fix_time: 3.7917, d1.loss_plan_l1_fix_dist: 0.9782, d2.loss_plan_l1_fix_time: 3.6523, d2.loss_plan_l1_fix_dist: 1.1419, d3.loss_plan_l1_fix_time: 3.6649, d3.loss_plan_l1_fix_dist: 1.3219, d4.loss_plan_l1_fix_time: 3.7185, d4.loss_plan_l1_fix_dist: 1.5320, d5.loss_plan_l1_fix_time: 3.7932, d5.loss_plan_l1_fix_dist: 1.7363, d6.loss_plan_l1_fix_time: 3.9048, d6.loss_plan_l1_fix_dist: 1.9863, d0.loss_cls_all: 1.3068, d0.loss_bbox_all: 1.3377, d0.loss_cls: 1.3068, d0.loss_bbox: 1.3377, d1.loss_cls: 1.3450, d1.loss_bbox: 1.3444, d2.loss_cls: 1.3702, d2.loss_bbox: 1.3515, d3.loss_cls: 1.3799, d3.loss_bbox: 1.3608, d4.loss_cls: 1.3855, d4.loss_bbox: 1.3577, d5.loss_cls: 1.3893, d5.loss_bbox: 1.3581, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.4531, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.1918, d2.loss_traj_cls: 0.0006, d2.loss_traj: 3.7623, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.1816, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.4716, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.6278, d0.loss_map_cls_all: 0.6798, d0.loss_map_pts_all: 4.4188, d0.loss_map_dir_all: 0.0606, d0.loss_map_cls: 0.6798, d0.loss_map_pts: 4.4188, d0.loss_map_dir: 0.0606, d1.loss_map_cls: 0.6800, d1.loss_map_pts: 4.1163, d1.loss_map_dir: 0.0591, d2.loss_map_cls: 0.6838, d2.loss_map_pts: 4.0711, d2.loss_map_dir: 0.0590, d3.loss_map_cls: 0.6853, d3.loss_map_pts: 4.0558, d3.loss_map_dir: 0.0589, d4.loss_map_cls: 0.6885, d4.loss_map_pts: 4.0534, d4.loss_map_dir: 0.0589, d5.loss_map_cls: 0.6892, d5.loss_map_pts: 4.0536, d5.loss_map_dir: 0.0589, loss: 125.0595, grad_norm: 279.4913 +2026-02-24 03:56:32,503 - DriveTransformer - INFO - Epoch [1][7600/39528] lr: 1.000e-04, eta: 8 days, 16:20:24, time: 0.779, data_time: 0.044, memory: 19864, loss_cls: 1.3875, loss_bbox: 1.3132, loss_traj: 4.8560, loss_traj_cls: 0.0005, loss_map_cls: 0.7038, loss_map_pts: 4.1483, loss_map_dir: 0.0554, d0.loss_plan_l1_fix_time: 5.0882, d0.loss_plan_l1_fix_dist: 0.8422, d1.loss_plan_l1_fix_time: 4.5844, d1.loss_plan_l1_fix_dist: 0.9348, d2.loss_plan_l1_fix_time: 4.5775, d2.loss_plan_l1_fix_dist: 1.0627, d3.loss_plan_l1_fix_time: 4.6488, d3.loss_plan_l1_fix_dist: 1.2218, d4.loss_plan_l1_fix_time: 4.7136, d4.loss_plan_l1_fix_dist: 1.3994, d5.loss_plan_l1_fix_time: 4.7697, d5.loss_plan_l1_fix_dist: 1.5819, d6.loss_plan_l1_fix_time: 4.8435, d6.loss_plan_l1_fix_dist: 1.7698, d0.loss_cls_all: 1.2977, d0.loss_bbox_all: 1.3043, d0.loss_cls: 1.2977, d0.loss_bbox: 1.3043, d1.loss_cls: 1.3421, d1.loss_bbox: 1.2937, d2.loss_cls: 1.3652, d2.loss_bbox: 1.2981, d3.loss_cls: 1.3736, d3.loss_bbox: 1.3088, d4.loss_cls: 1.3800, d4.loss_bbox: 1.3049, d5.loss_cls: 1.3835, d5.loss_bbox: 1.3115, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.8685, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.4297, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.9136, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.2986, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.5841, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.7141, d0.loss_map_cls_all: 0.6949, d0.loss_map_pts_all: 4.3817, d0.loss_map_dir_all: 0.0576, d0.loss_map_cls: 0.6949, d0.loss_map_pts: 4.3817, d0.loss_map_dir: 0.0576, d1.loss_map_cls: 0.6966, d1.loss_map_pts: 4.1577, d1.loss_map_dir: 0.0559, d2.loss_map_cls: 0.6976, d2.loss_map_pts: 4.1247, d2.loss_map_dir: 0.0557, d3.loss_map_cls: 0.6991, d3.loss_map_pts: 4.1310, d3.loss_map_dir: 0.0555, d4.loss_map_cls: 0.7011, d4.loss_map_pts: 4.1488, d4.loss_map_dir: 0.0554, d5.loss_map_cls: 0.7021, d5.loss_map_pts: 4.1593, d5.loss_map_dir: 0.0555, loss: 131.6442, grad_norm: 273.6651 +2026-02-24 03:57:14,065 - DriveTransformer - INFO - Epoch [1][7650/39528] lr: 1.000e-04, eta: 8 days, 16:23:15, time: 0.831, data_time: 0.039, memory: 19864, loss_cls: 1.3950, loss_bbox: 1.4377, loss_traj: 4.5160, loss_traj_cls: 0.0005, loss_map_cls: 0.7189, loss_map_pts: 4.1650, loss_map_dir: 0.0540, d0.loss_plan_l1_fix_time: 4.3396, d0.loss_plan_l1_fix_dist: 0.7809, d1.loss_plan_l1_fix_time: 3.6997, d1.loss_plan_l1_fix_dist: 0.8973, d2.loss_plan_l1_fix_time: 3.6345, d2.loss_plan_l1_fix_dist: 1.0469, d3.loss_plan_l1_fix_time: 3.6829, d3.loss_plan_l1_fix_dist: 1.2163, d4.loss_plan_l1_fix_time: 3.7379, d4.loss_plan_l1_fix_dist: 1.4095, d5.loss_plan_l1_fix_time: 3.7864, d5.loss_plan_l1_fix_dist: 1.6286, d6.loss_plan_l1_fix_time: 3.8585, d6.loss_plan_l1_fix_dist: 1.8226, d0.loss_cls_all: 1.2929, d0.loss_bbox_all: 1.4112, d0.loss_cls: 1.2929, d0.loss_bbox: 1.4112, d1.loss_cls: 1.3438, d1.loss_bbox: 1.4089, d2.loss_cls: 1.3642, d2.loss_bbox: 1.4137, d3.loss_cls: 1.3757, d3.loss_bbox: 1.4192, d4.loss_cls: 1.3848, d4.loss_bbox: 1.4212, d5.loss_cls: 1.3891, d5.loss_bbox: 1.4240, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.5160, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.0206, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.5305, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.9386, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.2090, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.3671, d0.loss_map_cls_all: 0.7032, d0.loss_map_pts_all: 4.4377, d0.loss_map_dir_all: 0.0557, d0.loss_map_cls: 0.7032, d0.loss_map_pts: 4.4377, d0.loss_map_dir: 0.0557, d1.loss_map_cls: 0.7066, d1.loss_map_pts: 4.1808, d1.loss_map_dir: 0.0540, d2.loss_map_cls: 0.7103, d2.loss_map_pts: 4.1345, d2.loss_map_dir: 0.0539, d3.loss_map_cls: 0.7129, d3.loss_map_pts: 4.1174, d3.loss_map_dir: 0.0539, d4.loss_map_cls: 0.7148, d4.loss_map_pts: 4.1204, d4.loss_map_dir: 0.0538, d5.loss_map_cls: 0.7170, d5.loss_map_pts: 4.1330, d5.loss_map_dir: 0.0539, loss: 123.6767, grad_norm: 269.0307 +2026-02-24 03:57:53,678 - DriveTransformer - INFO - Epoch [1][7700/39528] lr: 1.000e-04, eta: 8 days, 16:22:07, time: 0.793, data_time: 0.042, memory: 19864, loss_cls: 1.3726, loss_bbox: 1.3112, loss_traj: 4.8599, loss_traj_cls: 0.0005, loss_map_cls: 0.6940, loss_map_pts: 3.9558, loss_map_dir: 0.0498, d0.loss_plan_l1_fix_time: 4.2584, d0.loss_plan_l1_fix_dist: 0.8104, d1.loss_plan_l1_fix_time: 3.5428, d1.loss_plan_l1_fix_dist: 0.9144, d2.loss_plan_l1_fix_time: 3.4517, d2.loss_plan_l1_fix_dist: 1.0412, d3.loss_plan_l1_fix_time: 3.4904, d3.loss_plan_l1_fix_dist: 1.1865, d4.loss_plan_l1_fix_time: 3.5437, d4.loss_plan_l1_fix_dist: 1.3285, d5.loss_plan_l1_fix_time: 3.5983, d5.loss_plan_l1_fix_dist: 1.4736, d6.loss_plan_l1_fix_time: 3.6709, d6.loss_plan_l1_fix_dist: 1.6453, d0.loss_cls_all: 1.2399, d0.loss_bbox_all: 1.3170, d0.loss_cls: 1.2399, d0.loss_bbox: 1.3170, d1.loss_cls: 1.3043, d1.loss_bbox: 1.3015, d2.loss_cls: 1.3376, d2.loss_bbox: 1.3038, d3.loss_cls: 1.3511, d3.loss_bbox: 1.3073, d4.loss_cls: 1.3609, d4.loss_bbox: 1.3088, d5.loss_cls: 1.3662, d5.loss_bbox: 1.3063, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.6359, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.1463, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.7163, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.1662, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.4945, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.6828, d0.loss_map_cls_all: 0.6710, d0.loss_map_pts_all: 4.2351, d0.loss_map_dir_all: 0.0509, d0.loss_map_cls: 0.6710, d0.loss_map_pts: 4.2351, d0.loss_map_dir: 0.0509, d1.loss_map_cls: 0.6758, d1.loss_map_pts: 3.9653, d1.loss_map_dir: 0.0495, d2.loss_map_cls: 0.6821, d2.loss_map_pts: 3.9209, d2.loss_map_dir: 0.0495, d3.loss_map_cls: 0.6861, d3.loss_map_pts: 3.9102, d3.loss_map_dir: 0.0495, d4.loss_map_cls: 0.6898, d4.loss_map_pts: 3.9140, d4.loss_map_dir: 0.0495, d5.loss_map_cls: 0.6925, d5.loss_map_pts: 3.9279, d5.loss_map_dir: 0.0496, loss: 120.6326, grad_norm: 265.7941 +2026-02-24 03:58:34,522 - DriveTransformer - INFO - Epoch [1][7750/39528] lr: 1.000e-04, eta: 8 days, 16:23:24, time: 0.816, data_time: 0.043, memory: 19864, loss_cls: 1.3914, loss_bbox: 1.3279, loss_traj: 4.8541, loss_traj_cls: 0.0006, loss_map_cls: 0.7048, loss_map_pts: 3.9840, loss_map_dir: 0.0521, d0.loss_plan_l1_fix_time: 5.2154, d0.loss_plan_l1_fix_dist: 0.8247, d1.loss_plan_l1_fix_time: 4.4275, d1.loss_plan_l1_fix_dist: 0.9134, d2.loss_plan_l1_fix_time: 4.2627, d2.loss_plan_l1_fix_dist: 1.0394, d3.loss_plan_l1_fix_time: 4.2438, d3.loss_plan_l1_fix_dist: 1.1854, d4.loss_plan_l1_fix_time: 4.2658, d4.loss_plan_l1_fix_dist: 1.3519, d5.loss_plan_l1_fix_time: 4.3133, d5.loss_plan_l1_fix_dist: 1.5303, d6.loss_plan_l1_fix_time: 4.3888, d6.loss_plan_l1_fix_dist: 1.7236, d0.loss_cls_all: 1.2615, d0.loss_bbox_all: 1.3368, d0.loss_cls: 1.2615, d0.loss_bbox: 1.3368, d1.loss_cls: 1.3230, d1.loss_bbox: 1.3154, d2.loss_cls: 1.3546, d2.loss_bbox: 1.3113, d3.loss_cls: 1.3684, d3.loss_bbox: 1.3154, d4.loss_cls: 1.3778, d4.loss_bbox: 1.3183, d5.loss_cls: 1.3842, d5.loss_bbox: 1.3207, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.4443, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.9694, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.5996, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.0733, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.4502, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.6399, d0.loss_map_cls_all: 0.6868, d0.loss_map_pts_all: 4.2505, d0.loss_map_dir_all: 0.0532, d0.loss_map_cls: 0.6868, d0.loss_map_pts: 4.2505, d0.loss_map_dir: 0.0532, d1.loss_map_cls: 0.6911, d1.loss_map_pts: 4.0264, d1.loss_map_dir: 0.0523, d2.loss_map_cls: 0.6934, d2.loss_map_pts: 3.9922, d2.loss_map_dir: 0.0522, d3.loss_map_cls: 0.6964, d3.loss_map_pts: 3.9851, d3.loss_map_dir: 0.0521, d4.loss_map_cls: 0.7023, d4.loss_map_pts: 3.9884, d4.loss_map_dir: 0.0521, d5.loss_map_cls: 0.7028, d5.loss_map_pts: 3.9883, d5.loss_map_dir: 0.0521, loss: 126.4748, grad_norm: 263.0182 +2026-02-24 03:59:13,783 - DriveTransformer - INFO - Epoch [1][7800/39528] lr: 1.000e-04, eta: 8 days, 16:21:31, time: 0.785, data_time: 0.044, memory: 19864, loss_cls: 1.3840, loss_bbox: 1.3621, loss_traj: 5.2547, loss_traj_cls: 0.0006, loss_map_cls: 0.7012, loss_map_pts: 3.8737, loss_map_dir: 0.0513, d0.loss_plan_l1_fix_time: 4.7446, d0.loss_plan_l1_fix_dist: 0.8673, d1.loss_plan_l1_fix_time: 4.1778, d1.loss_plan_l1_fix_dist: 0.9535, d2.loss_plan_l1_fix_time: 4.0858, d2.loss_plan_l1_fix_dist: 1.0797, d3.loss_plan_l1_fix_time: 4.1053, d3.loss_plan_l1_fix_dist: 1.2267, d4.loss_plan_l1_fix_time: 4.1407, d4.loss_plan_l1_fix_dist: 1.3981, d5.loss_plan_l1_fix_time: 4.1777, d5.loss_plan_l1_fix_dist: 1.5893, d6.loss_plan_l1_fix_time: 4.2409, d6.loss_plan_l1_fix_dist: 1.7776, d0.loss_cls_all: 1.2148, d0.loss_bbox_all: 1.3762, d0.loss_cls: 1.2148, d0.loss_bbox: 1.3762, d1.loss_cls: 1.2917, d1.loss_bbox: 1.3495, d2.loss_cls: 1.3188, d2.loss_bbox: 1.3428, d3.loss_cls: 1.3499, d3.loss_bbox: 1.3416, d4.loss_cls: 1.3614, d4.loss_bbox: 1.3471, d5.loss_cls: 1.3700, d5.loss_bbox: 1.3497, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.7398, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.2252, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.8563, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.3597, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.7995, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.0122, d0.loss_map_cls_all: 0.6779, d0.loss_map_pts_all: 4.2276, d0.loss_map_dir_all: 0.0515, d0.loss_map_cls: 0.6779, d0.loss_map_pts: 4.2276, d0.loss_map_dir: 0.0515, d1.loss_map_cls: 0.6845, d1.loss_map_pts: 3.9607, d1.loss_map_dir: 0.0511, d2.loss_map_cls: 0.6921, d2.loss_map_pts: 3.9056, d2.loss_map_dir: 0.0512, d3.loss_map_cls: 0.6966, d3.loss_map_pts: 3.8815, d3.loss_map_dir: 0.0512, d4.loss_map_cls: 0.6983, d4.loss_map_pts: 3.8744, d4.loss_map_dir: 0.0512, d5.loss_map_cls: 0.7002, d5.loss_map_pts: 3.8737, d5.loss_map_dir: 0.0513, loss: 126.9305, grad_norm: 262.2099 +2026-02-24 03:59:52,719 - DriveTransformer - INFO - Epoch [1][7850/39528] lr: 1.000e-04, eta: 8 days, 16:19:00, time: 0.779, data_time: 0.040, memory: 19864, loss_cls: 1.3527, loss_bbox: 1.3684, loss_traj: 4.4769, loss_traj_cls: 0.0006, loss_map_cls: 0.7237, loss_map_pts: 3.7932, loss_map_dir: 0.0547, d0.loss_plan_l1_fix_time: 4.7005, d0.loss_plan_l1_fix_dist: 0.8056, d1.loss_plan_l1_fix_time: 4.2048, d1.loss_plan_l1_fix_dist: 0.8739, d2.loss_plan_l1_fix_time: 4.1284, d2.loss_plan_l1_fix_dist: 0.9859, d3.loss_plan_l1_fix_time: 4.1348, d3.loss_plan_l1_fix_dist: 1.1176, d4.loss_plan_l1_fix_time: 4.1526, d4.loss_plan_l1_fix_dist: 1.2566, d5.loss_plan_l1_fix_time: 4.1697, d5.loss_plan_l1_fix_dist: 1.3984, d6.loss_plan_l1_fix_time: 4.2043, d6.loss_plan_l1_fix_dist: 1.5551, d0.loss_cls_all: 1.1742, d0.loss_bbox_all: 1.3582, d0.loss_cls: 1.1742, d0.loss_bbox: 1.3582, d1.loss_cls: 1.2350, d1.loss_bbox: 1.3587, d2.loss_cls: 1.2664, d2.loss_bbox: 1.3560, d3.loss_cls: 1.3067, d3.loss_bbox: 1.3539, d4.loss_cls: 1.3198, d4.loss_bbox: 1.3567, d5.loss_cls: 1.3333, d5.loss_bbox: 1.3624, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.4595, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.8760, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.3575, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.7636, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.1170, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.2794, d0.loss_map_cls_all: 0.7008, d0.loss_map_pts_all: 4.0668, d0.loss_map_dir_all: 0.0545, d0.loss_map_cls: 0.7008, d0.loss_map_pts: 4.0668, d0.loss_map_dir: 0.0545, d1.loss_map_cls: 0.7042, d1.loss_map_pts: 3.8385, d1.loss_map_dir: 0.0545, d2.loss_map_cls: 0.7119, d2.loss_map_pts: 3.7938, d2.loss_map_dir: 0.0546, d3.loss_map_cls: 0.7166, d3.loss_map_pts: 3.7815, d3.loss_map_dir: 0.0547, d4.loss_map_cls: 0.7213, d4.loss_map_pts: 3.7801, d4.loss_map_dir: 0.0547, d5.loss_map_cls: 0.7227, d5.loss_map_pts: 3.7879, d5.loss_map_dir: 0.0546, loss: 121.1042, grad_norm: 258.7786 +2026-02-24 04:00:35,023 - DriveTransformer - INFO - Epoch [1][7900/39528] lr: 1.000e-04, eta: 8 days, 16:23:12, time: 0.846, data_time: 0.051, memory: 19864, loss_cls: 1.3466, loss_bbox: 1.3640, loss_traj: 4.4332, loss_traj_cls: 0.0006, loss_map_cls: 0.7079, loss_map_pts: 4.0741, loss_map_dir: 0.0538, d0.loss_plan_l1_fix_time: 4.5926, d0.loss_plan_l1_fix_dist: 0.8027, d1.loss_plan_l1_fix_time: 3.8443, d1.loss_plan_l1_fix_dist: 0.8592, d2.loss_plan_l1_fix_time: 3.6999, d2.loss_plan_l1_fix_dist: 0.9739, d3.loss_plan_l1_fix_time: 3.6741, d3.loss_plan_l1_fix_dist: 1.1057, d4.loss_plan_l1_fix_time: 3.6698, d4.loss_plan_l1_fix_dist: 1.2533, d5.loss_plan_l1_fix_time: 3.6805, d5.loss_plan_l1_fix_dist: 1.4176, d6.loss_plan_l1_fix_time: 3.7168, d6.loss_plan_l1_fix_dist: 1.5882, d0.loss_cls_all: 1.1843, d0.loss_bbox_all: 1.3756, d0.loss_cls: 1.1843, d0.loss_bbox: 1.3756, d1.loss_cls: 1.2227, d1.loss_bbox: 1.3693, d2.loss_cls: 1.2567, d2.loss_bbox: 1.3641, d3.loss_cls: 1.2956, d3.loss_bbox: 1.3571, d4.loss_cls: 1.3150, d4.loss_bbox: 1.3588, d5.loss_cls: 1.3290, d5.loss_bbox: 1.3610, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.3291, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.7621, d2.loss_traj_cls: 0.0006, d2.loss_traj: 3.1728, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.6497, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.0090, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.2055, d0.loss_map_cls_all: 0.6941, d0.loss_map_pts_all: 4.2577, d0.loss_map_dir_all: 0.0538, d0.loss_map_cls: 0.6941, d0.loss_map_pts: 4.2577, d0.loss_map_dir: 0.0538, d1.loss_map_cls: 0.6974, d1.loss_map_pts: 4.0302, d1.loss_map_dir: 0.0537, d2.loss_map_cls: 0.7001, d2.loss_map_pts: 3.9950, d2.loss_map_dir: 0.0536, d3.loss_map_cls: 0.7026, d3.loss_map_pts: 3.9986, d3.loss_map_dir: 0.0537, d4.loss_map_cls: 0.7061, d4.loss_map_pts: 4.0148, d4.loss_map_dir: 0.0537, d5.loss_map_cls: 0.7065, d5.loss_map_pts: 4.0374, d5.loss_map_dir: 0.0537, loss: 119.2075, grad_norm: 256.9578 +2026-02-24 04:01:14,881 - DriveTransformer - INFO - Epoch [1][7950/39528] lr: 1.000e-04, eta: 8 days, 16:22:30, time: 0.797, data_time: 0.041, memory: 19864, loss_cls: 1.2464, loss_bbox: 1.2799, loss_traj: 4.5304, loss_traj_cls: 0.0006, loss_map_cls: 0.7055, loss_map_pts: 3.7670, loss_map_dir: 0.0506, d0.loss_plan_l1_fix_time: 4.4702, d0.loss_plan_l1_fix_dist: 0.7165, d1.loss_plan_l1_fix_time: 3.7132, d1.loss_plan_l1_fix_dist: 0.7905, d2.loss_plan_l1_fix_time: 3.5784, d2.loss_plan_l1_fix_dist: 0.9228, d3.loss_plan_l1_fix_time: 3.5666, d3.loss_plan_l1_fix_dist: 1.0789, d4.loss_plan_l1_fix_time: 3.5833, d4.loss_plan_l1_fix_dist: 1.2640, d5.loss_plan_l1_fix_time: 3.6073, d5.loss_plan_l1_fix_dist: 1.4438, d6.loss_plan_l1_fix_time: 3.6563, d6.loss_plan_l1_fix_dist: 1.6402, d0.loss_cls_all: 1.1208, d0.loss_bbox_all: 1.2765, d0.loss_cls: 1.1208, d0.loss_bbox: 1.2765, d1.loss_cls: 1.1495, d1.loss_bbox: 1.2678, d2.loss_cls: 1.1721, d2.loss_bbox: 1.2655, d3.loss_cls: 1.2020, d3.loss_bbox: 1.2643, d4.loss_cls: 1.2204, d4.loss_bbox: 1.2642, d5.loss_cls: 1.2331, d5.loss_bbox: 1.2708, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.3196, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.7138, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.1171, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.6579, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.0494, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.2968, d0.loss_map_cls_all: 0.6799, d0.loss_map_pts_all: 4.0641, d0.loss_map_dir_all: 0.0507, d0.loss_map_cls: 0.6799, d0.loss_map_pts: 4.0641, d0.loss_map_dir: 0.0507, d1.loss_map_cls: 0.6845, d1.loss_map_pts: 3.8095, d1.loss_map_dir: 0.0504, d2.loss_map_cls: 0.6930, d2.loss_map_pts: 3.7613, d2.loss_map_dir: 0.0504, d3.loss_map_cls: 0.6996, d3.loss_map_pts: 3.7455, d3.loss_map_dir: 0.0504, d4.loss_map_cls: 0.7019, d4.loss_map_pts: 3.7445, d4.loss_map_dir: 0.0505, d5.loss_map_cls: 0.7051, d5.loss_map_pts: 3.7532, d5.loss_map_dir: 0.0505, loss: 115.0143, grad_norm: 255.7086 +2026-02-24 04:01:52,674 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 04:01:52,675 - DriveTransformer - INFO - Epoch [1][8000/39528] lr: 1.000e-04, eta: 8 days, 16:17:54, time: 0.757, data_time: 0.039, memory: 19864, loss_cls: 1.2318, loss_bbox: 1.2884, loss_traj: 4.4880, loss_traj_cls: 0.0006, loss_map_cls: 0.7459, loss_map_pts: 3.8942, loss_map_dir: 0.0507, d0.loss_plan_l1_fix_time: 4.2207, d0.loss_plan_l1_fix_dist: 0.7629, d1.loss_plan_l1_fix_time: 3.5733, d1.loss_plan_l1_fix_dist: 0.8338, d2.loss_plan_l1_fix_time: 3.5022, d2.loss_plan_l1_fix_dist: 0.9270, d3.loss_plan_l1_fix_time: 3.5323, d3.loss_plan_l1_fix_dist: 1.0332, d4.loss_plan_l1_fix_time: 3.5747, d4.loss_plan_l1_fix_dist: 1.1433, d5.loss_plan_l1_fix_time: 3.6081, d5.loss_plan_l1_fix_dist: 1.2573, d6.loss_plan_l1_fix_time: 3.6547, d6.loss_plan_l1_fix_dist: 1.3837, d0.loss_cls_all: 1.1151, d0.loss_bbox_all: 1.2525, d0.loss_cls: 1.1151, d0.loss_bbox: 1.2525, d1.loss_cls: 1.1487, d1.loss_bbox: 1.2581, d2.loss_cls: 1.1555, d2.loss_bbox: 1.2683, d3.loss_cls: 1.1780, d3.loss_bbox: 1.2673, d4.loss_cls: 1.1930, d4.loss_bbox: 1.2694, d5.loss_cls: 1.2102, d5.loss_bbox: 1.2770, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3351, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.7150, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.0318, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.5817, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.9632, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.2132, d0.loss_map_cls_all: 0.7208, d0.loss_map_pts_all: 4.1270, d0.loss_map_dir_all: 0.0512, d0.loss_map_cls: 0.7208, d0.loss_map_pts: 4.1270, d0.loss_map_dir: 0.0512, d1.loss_map_cls: 0.7234, d1.loss_map_pts: 3.8522, d1.loss_map_dir: 0.0506, d2.loss_map_cls: 0.7328, d2.loss_map_pts: 3.8232, d2.loss_map_dir: 0.0505, d3.loss_map_cls: 0.7399, d3.loss_map_pts: 3.8293, d3.loss_map_dir: 0.0506, d4.loss_map_cls: 0.7435, d4.loss_map_pts: 3.8475, d4.loss_map_dir: 0.0506, d5.loss_map_cls: 0.7453, d5.loss_map_pts: 3.8759, d5.loss_map_dir: 0.0507, loss: 114.4744, grad_norm: 254.3580 +2026-02-24 04:02:33,057 - DriveTransformer - INFO - Epoch [1][8050/39528] lr: 1.000e-04, eta: 8 days, 16:18:07, time: 0.806, data_time: 0.041, memory: 19864, loss_cls: 1.1694, loss_bbox: 1.3220, loss_traj: 4.5660, loss_traj_cls: 0.0006, loss_map_cls: 0.6884, loss_map_pts: 3.7190, loss_map_dir: 0.0455, d0.loss_plan_l1_fix_time: 4.5002, d0.loss_plan_l1_fix_dist: 0.7686, d1.loss_plan_l1_fix_time: 3.8922, d1.loss_plan_l1_fix_dist: 0.8366, d2.loss_plan_l1_fix_time: 3.7971, d2.loss_plan_l1_fix_dist: 0.9351, d3.loss_plan_l1_fix_time: 3.7966, d3.loss_plan_l1_fix_dist: 1.0498, d4.loss_plan_l1_fix_time: 3.8177, d4.loss_plan_l1_fix_dist: 1.1823, d5.loss_plan_l1_fix_time: 3.8445, d5.loss_plan_l1_fix_dist: 1.3544, d6.loss_plan_l1_fix_time: 3.8876, d6.loss_plan_l1_fix_dist: 1.5079, d0.loss_cls_all: 1.0877, d0.loss_bbox_all: 1.2771, d0.loss_cls: 1.0877, d0.loss_bbox: 1.2771, d1.loss_cls: 1.1083, d1.loss_bbox: 1.2827, d2.loss_cls: 1.1156, d2.loss_bbox: 1.2942, d3.loss_cls: 1.1281, d3.loss_bbox: 1.3006, d4.loss_cls: 1.1407, d4.loss_bbox: 1.3091, d5.loss_cls: 1.1489, d5.loss_bbox: 1.3177, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3824, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.7822, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.1155, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.6137, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.0353, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.2428, d0.loss_map_cls_all: 0.6802, d0.loss_map_pts_all: 4.0341, d0.loss_map_dir_all: 0.0469, d0.loss_map_cls: 0.6802, d0.loss_map_pts: 4.0341, d0.loss_map_dir: 0.0469, d1.loss_map_cls: 0.6818, d1.loss_map_pts: 3.7497, d1.loss_map_dir: 0.0457, d2.loss_map_cls: 0.6861, d2.loss_map_pts: 3.6918, d2.loss_map_dir: 0.0456, d3.loss_map_cls: 0.6885, d3.loss_map_pts: 3.6772, d3.loss_map_dir: 0.0455, d4.loss_map_cls: 0.6883, d4.loss_map_pts: 3.6815, d4.loss_map_dir: 0.0455, d5.loss_map_cls: 0.6894, d5.loss_map_pts: 3.6963, d5.loss_map_dir: 0.0455, loss: 115.4125, grad_norm: 255.8482 +2026-02-24 04:03:13,344 - DriveTransformer - INFO - Epoch [1][8100/39528] lr: 1.000e-04, eta: 8 days, 16:18:17, time: 0.806, data_time: 0.039, memory: 19864, loss_cls: 1.1893, loss_bbox: 1.4383, loss_traj: 3.8557, loss_traj_cls: 0.0006, loss_map_cls: 0.6695, loss_map_pts: 3.8750, loss_map_dir: 0.0447, d0.loss_plan_l1_fix_time: 3.8572, d0.loss_plan_l1_fix_dist: 0.7274, d1.loss_plan_l1_fix_time: 3.6289, d1.loss_plan_l1_fix_dist: 0.7911, d2.loss_plan_l1_fix_time: 3.6211, d2.loss_plan_l1_fix_dist: 0.8865, d3.loss_plan_l1_fix_time: 3.6517, d3.loss_plan_l1_fix_dist: 0.9973, d4.loss_plan_l1_fix_time: 3.6861, d4.loss_plan_l1_fix_dist: 1.1242, d5.loss_plan_l1_fix_time: 3.7115, d5.loss_plan_l1_fix_dist: 1.2593, d6.loss_plan_l1_fix_time: 3.7441, d6.loss_plan_l1_fix_dist: 1.4181, d0.loss_cls_all: 1.1282, d0.loss_bbox_all: 1.3167, d0.loss_cls: 1.1282, d0.loss_bbox: 1.3167, d1.loss_cls: 1.1452, d1.loss_bbox: 1.3511, d2.loss_cls: 1.1494, d2.loss_bbox: 1.3753, d3.loss_cls: 1.1606, d3.loss_bbox: 1.3953, d4.loss_cls: 1.1705, d4.loss_bbox: 1.4098, d5.loss_cls: 1.1779, d5.loss_bbox: 1.4268, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1648, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4716, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.7295, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.1149, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.4288, d5.loss_traj_cls: 0.0006, d5.loss_traj: 3.5973, d0.loss_map_cls_all: 0.6606, d0.loss_map_pts_all: 4.1053, d0.loss_map_dir_all: 0.0462, d0.loss_map_cls: 0.6606, d0.loss_map_pts: 4.1053, d0.loss_map_dir: 0.0462, d1.loss_map_cls: 0.6641, d1.loss_map_pts: 3.8167, d1.loss_map_dir: 0.0451, d2.loss_map_cls: 0.6639, d2.loss_map_pts: 3.7694, d2.loss_map_dir: 0.0449, d3.loss_map_cls: 0.6653, d3.loss_map_pts: 3.7640, d3.loss_map_dir: 0.0448, d4.loss_map_cls: 0.6663, d4.loss_map_pts: 3.7864, d4.loss_map_dir: 0.0447, d5.loss_map_cls: 0.6680, d5.loss_map_pts: 3.8230, d5.loss_map_dir: 0.0447, loss: 111.4747, grad_norm: 254.7883 +2026-02-24 04:03:53,545 - DriveTransformer - INFO - Epoch [1][8150/39528] lr: 1.000e-04, eta: 8 days, 16:18:16, time: 0.804, data_time: 0.044, memory: 19864, loss_cls: 1.1618, loss_bbox: 1.3404, loss_traj: 4.1037, loss_traj_cls: 0.0006, loss_map_cls: 0.6917, loss_map_pts: 3.7060, loss_map_dir: 0.0469, d0.loss_plan_l1_fix_time: 4.3576, d0.loss_plan_l1_fix_dist: 0.8295, d1.loss_plan_l1_fix_time: 3.8754, d1.loss_plan_l1_fix_dist: 0.9232, d2.loss_plan_l1_fix_time: 3.8022, d2.loss_plan_l1_fix_dist: 1.0774, d3.loss_plan_l1_fix_time: 3.8045, d3.loss_plan_l1_fix_dist: 1.2499, d4.loss_plan_l1_fix_time: 3.8245, d4.loss_plan_l1_fix_dist: 1.4509, d5.loss_plan_l1_fix_time: 3.8538, d5.loss_plan_l1_fix_dist: 1.6273, d6.loss_plan_l1_fix_time: 3.9006, d6.loss_plan_l1_fix_dist: 1.8312, d0.loss_cls_all: 1.0589, d0.loss_bbox_all: 1.2851, d0.loss_cls: 1.0589, d0.loss_bbox: 1.2851, d1.loss_cls: 1.0876, d1.loss_bbox: 1.2969, d2.loss_cls: 1.1111, d2.loss_bbox: 1.3069, d3.loss_cls: 1.1339, d3.loss_bbox: 1.3106, d4.loss_cls: 1.1487, d4.loss_bbox: 1.3261, d5.loss_cls: 1.1587, d5.loss_bbox: 1.3316, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1151, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3806, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.7177, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.1549, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.5749, d5.loss_traj_cls: 0.0006, d5.loss_traj: 3.8448, d0.loss_map_cls_all: 0.6687, d0.loss_map_pts_all: 4.1230, d0.loss_map_dir_all: 0.0481, d0.loss_map_cls: 0.6687, d0.loss_map_pts: 4.1230, d0.loss_map_dir: 0.0481, d1.loss_map_cls: 0.6720, d1.loss_map_pts: 3.8028, d1.loss_map_dir: 0.0471, d2.loss_map_cls: 0.6742, d2.loss_map_pts: 3.7279, d2.loss_map_dir: 0.0470, d3.loss_map_cls: 0.6803, d3.loss_map_pts: 3.7047, d3.loss_map_dir: 0.0471, d4.loss_map_cls: 0.6840, d4.loss_map_pts: 3.6972, d4.loss_map_dir: 0.0471, d5.loss_map_cls: 0.6880, d5.loss_map_pts: 3.6999, d5.loss_map_dir: 0.0470, loss: 114.0964, grad_norm: 264.3601 +2026-02-24 04:04:31,448 - DriveTransformer - INFO - Epoch [1][8200/39528] lr: 1.000e-04, eta: 8 days, 16:13:51, time: 0.758, data_time: 0.038, memory: 19865, loss_cls: 1.2946, loss_bbox: 1.4257, loss_traj: 3.6349, loss_traj_cls: 0.0006, loss_map_cls: 0.7013, loss_map_pts: 3.6121, loss_map_dir: 0.0500, d0.loss_plan_l1_fix_time: 4.4940, d0.loss_plan_l1_fix_dist: 0.7490, d1.loss_plan_l1_fix_time: 4.1004, d1.loss_plan_l1_fix_dist: 0.8018, d2.loss_plan_l1_fix_time: 4.0531, d2.loss_plan_l1_fix_dist: 0.9116, d3.loss_plan_l1_fix_time: 4.0647, d3.loss_plan_l1_fix_dist: 1.0449, d4.loss_plan_l1_fix_time: 4.0923, d4.loss_plan_l1_fix_dist: 1.2018, d5.loss_plan_l1_fix_time: 4.1343, d5.loss_plan_l1_fix_dist: 1.3685, d6.loss_plan_l1_fix_time: 4.1920, d6.loss_plan_l1_fix_dist: 1.5532, d0.loss_cls_all: 1.1809, d0.loss_bbox_all: 1.2684, d0.loss_cls: 1.1809, d0.loss_bbox: 1.2684, d1.loss_cls: 1.2092, d1.loss_bbox: 1.2931, d2.loss_cls: 1.2390, d2.loss_bbox: 1.3133, d3.loss_cls: 1.2541, d3.loss_bbox: 1.3535, d4.loss_cls: 1.2731, d4.loss_bbox: 1.3817, d5.loss_cls: 1.2900, d5.loss_bbox: 1.4048, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3051, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4204, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.6201, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.8912, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.2209, d5.loss_traj_cls: 0.0006, d5.loss_traj: 3.4234, d0.loss_map_cls_all: 0.6772, d0.loss_map_pts_all: 3.8913, d0.loss_map_dir_all: 0.0504, d0.loss_map_cls: 0.6772, d0.loss_map_pts: 3.8913, d0.loss_map_dir: 0.0504, d1.loss_map_cls: 0.6844, d1.loss_map_pts: 3.6412, d1.loss_map_dir: 0.0498, d2.loss_map_cls: 0.6910, d2.loss_map_pts: 3.5969, d2.loss_map_dir: 0.0498, d3.loss_map_cls: 0.6965, d3.loss_map_pts: 3.6014, d3.loss_map_dir: 0.0499, d4.loss_map_cls: 0.6980, d4.loss_map_pts: 3.6062, d4.loss_map_dir: 0.0499, d5.loss_map_cls: 0.7008, d5.loss_map_pts: 3.6110, d5.loss_map_dir: 0.0500, loss: 113.2899, grad_norm: 263.0550 +2026-02-24 04:05:11,741 - DriveTransformer - INFO - Epoch [1][8250/39528] lr: 1.000e-04, eta: 8 days, 16:14:01, time: 0.806, data_time: 0.040, memory: 19865, loss_cls: 1.1646, loss_bbox: 1.4137, loss_traj: 3.7556, loss_traj_cls: 0.0006, loss_map_cls: 0.6983, loss_map_pts: 3.7583, loss_map_dir: 0.0555, d0.loss_plan_l1_fix_time: 4.0149, d0.loss_plan_l1_fix_dist: 0.7067, d1.loss_plan_l1_fix_time: 3.6427, d1.loss_plan_l1_fix_dist: 0.7994, d2.loss_plan_l1_fix_time: 3.6312, d2.loss_plan_l1_fix_dist: 0.9416, d3.loss_plan_l1_fix_time: 3.6743, d3.loss_plan_l1_fix_dist: 1.0957, d4.loss_plan_l1_fix_time: 3.7200, d4.loss_plan_l1_fix_dist: 1.2596, d5.loss_plan_l1_fix_time: 3.7635, d5.loss_plan_l1_fix_dist: 1.4576, d6.loss_plan_l1_fix_time: 3.8094, d6.loss_plan_l1_fix_dist: 1.6430, d0.loss_cls_all: 1.0542, d0.loss_bbox_all: 1.2986, d0.loss_cls: 1.0542, d0.loss_bbox: 1.2986, d1.loss_cls: 1.0941, d1.loss_bbox: 1.3325, d2.loss_cls: 1.1004, d2.loss_bbox: 1.3358, d3.loss_cls: 1.1070, d3.loss_bbox: 1.3631, d4.loss_cls: 1.1257, d4.loss_bbox: 1.3848, d5.loss_cls: 1.1371, d5.loss_bbox: 1.4003, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2218, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3844, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.6400, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.9051, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.2683, d5.loss_traj_cls: 0.0006, d5.loss_traj: 3.5195, d0.loss_map_cls_all: 0.6763, d0.loss_map_pts_all: 4.1198, d0.loss_map_dir_all: 0.0563, d0.loss_map_cls: 0.6763, d0.loss_map_pts: 4.1198, d0.loss_map_dir: 0.0563, d1.loss_map_cls: 0.6825, d1.loss_map_pts: 3.8163, d1.loss_map_dir: 0.0554, d2.loss_map_cls: 0.6882, d2.loss_map_pts: 3.7562, d2.loss_map_dir: 0.0554, d3.loss_map_cls: 0.6939, d3.loss_map_pts: 3.7408, d3.loss_map_dir: 0.0555, d4.loss_map_cls: 0.6960, d4.loss_map_pts: 3.7401, d4.loss_map_dir: 0.0555, d5.loss_map_cls: 0.6979, d5.loss_map_pts: 3.7463, d5.loss_map_dir: 0.0555, loss: 111.2749, grad_norm: 262.7158 +2026-02-24 04:05:52,095 - DriveTransformer - INFO - Epoch [1][8300/39528] lr: 1.000e-04, eta: 8 days, 16:14:17, time: 0.807, data_time: 0.040, memory: 19865, loss_cls: 1.2163, loss_bbox: 1.4017, loss_traj: 3.6850, loss_traj_cls: 0.0006, loss_map_cls: 0.6931, loss_map_pts: 3.7231, loss_map_dir: 0.0547, d0.loss_plan_l1_fix_time: 4.3438, d0.loss_plan_l1_fix_dist: 0.8455, d1.loss_plan_l1_fix_time: 3.9155, d1.loss_plan_l1_fix_dist: 0.9250, d2.loss_plan_l1_fix_time: 3.8224, d2.loss_plan_l1_fix_dist: 1.0382, d3.loss_plan_l1_fix_time: 3.8053, d3.loss_plan_l1_fix_dist: 1.1603, d4.loss_plan_l1_fix_time: 3.8100, d4.loss_plan_l1_fix_dist: 1.2927, d5.loss_plan_l1_fix_time: 3.8230, d5.loss_plan_l1_fix_dist: 1.4558, d6.loss_plan_l1_fix_time: 3.8527, d6.loss_plan_l1_fix_dist: 1.6326, d0.loss_cls_all: 1.1038, d0.loss_bbox_all: 1.2690, d0.loss_cls: 1.1038, d0.loss_bbox: 1.2690, d1.loss_cls: 1.1487, d1.loss_bbox: 1.2894, d2.loss_cls: 1.1608, d2.loss_bbox: 1.3028, d3.loss_cls: 1.1667, d3.loss_bbox: 1.3381, d4.loss_cls: 1.1754, d4.loss_bbox: 1.3643, d5.loss_cls: 1.1962, d5.loss_bbox: 1.3852, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3466, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4846, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.7063, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.9446, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.2744, d5.loss_traj_cls: 0.0006, d5.loss_traj: 3.4947, d0.loss_map_cls_all: 0.6531, d0.loss_map_pts_all: 4.1195, d0.loss_map_dir_all: 0.0555, d0.loss_map_cls: 0.6531, d0.loss_map_pts: 4.1195, d0.loss_map_dir: 0.0555, d1.loss_map_cls: 0.6580, d1.loss_map_pts: 3.7851, d1.loss_map_dir: 0.0544, d2.loss_map_cls: 0.6643, d2.loss_map_pts: 3.7218, d2.loss_map_dir: 0.0544, d3.loss_map_cls: 0.6722, d3.loss_map_pts: 3.6971, d3.loss_map_dir: 0.0545, d4.loss_map_cls: 0.6782, d4.loss_map_pts: 3.6971, d4.loss_map_dir: 0.0546, d5.loss_map_cls: 0.6844, d5.loss_map_pts: 3.7057, d5.loss_map_dir: 0.0547, loss: 112.9179, grad_norm: 263.8669 +2026-02-24 04:06:31,620 - DriveTransformer - INFO - Epoch [1][8350/39528] lr: 1.000e-04, eta: 8 days, 16:13:00, time: 0.791, data_time: 0.037, memory: 19865, loss_cls: 1.1777, loss_bbox: 1.3908, loss_traj: 3.4083, loss_traj_cls: 0.0006, loss_map_cls: 0.6902, loss_map_pts: 3.6302, loss_map_dir: 0.0526, d0.loss_plan_l1_fix_time: 4.8238, d0.loss_plan_l1_fix_dist: 1.0184, d1.loss_plan_l1_fix_time: 4.4763, d1.loss_plan_l1_fix_dist: 1.0606, d2.loss_plan_l1_fix_time: 4.4148, d2.loss_plan_l1_fix_dist: 1.1413, d3.loss_plan_l1_fix_time: 4.4134, d3.loss_plan_l1_fix_dist: 1.2431, d4.loss_plan_l1_fix_time: 4.4241, d4.loss_plan_l1_fix_dist: 1.3543, d5.loss_plan_l1_fix_time: 4.4358, d5.loss_plan_l1_fix_dist: 1.4873, d6.loss_plan_l1_fix_time: 4.4545, d6.loss_plan_l1_fix_dist: 1.6147, d0.loss_cls_all: 1.1077, d0.loss_bbox_all: 1.2992, d0.loss_cls: 1.1077, d0.loss_bbox: 1.2992, d1.loss_cls: 1.1381, d1.loss_bbox: 1.3075, d2.loss_cls: 1.1501, d2.loss_bbox: 1.3151, d3.loss_cls: 1.1546, d3.loss_bbox: 1.3387, d4.loss_cls: 1.1541, d4.loss_bbox: 1.3570, d5.loss_cls: 1.1656, d5.loss_bbox: 1.3705, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0340, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.1954, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.4139, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.6568, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.9436, d5.loss_traj_cls: 0.0006, d5.loss_traj: 3.1637, d0.loss_map_cls_all: 0.6497, d0.loss_map_pts_all: 4.0699, d0.loss_map_dir_all: 0.0540, d0.loss_map_cls: 0.6497, d0.loss_map_pts: 4.0699, d0.loss_map_dir: 0.0540, d1.loss_map_cls: 0.6548, d1.loss_map_pts: 3.7325, d1.loss_map_dir: 0.0527, d2.loss_map_cls: 0.6620, d2.loss_map_pts: 3.6645, d2.loss_map_dir: 0.0527, d3.loss_map_cls: 0.6731, d3.loss_map_pts: 3.6439, d3.loss_map_dir: 0.0526, d4.loss_map_cls: 0.6790, d4.loss_map_pts: 3.6341, d4.loss_map_dir: 0.0526, d5.loss_map_cls: 0.6854, d5.loss_map_pts: 3.6302, d5.loss_map_dir: 0.0525, loss: 114.8587, grad_norm: 263.5642 +2026-02-24 04:07:12,117 - DriveTransformer - INFO - Epoch [1][8400/39528] lr: 1.000e-04, eta: 8 days, 16:13:32, time: 0.810, data_time: 0.040, memory: 19865, loss_cls: 1.1519, loss_bbox: 1.3012, loss_traj: 3.7064, loss_traj_cls: 0.0006, loss_map_cls: 0.6945, loss_map_pts: 3.4657, loss_map_dir: 0.0483, d0.loss_plan_l1_fix_time: 4.0346, d0.loss_plan_l1_fix_dist: 0.7734, d1.loss_plan_l1_fix_time: 3.6024, d1.loss_plan_l1_fix_dist: 0.8596, d2.loss_plan_l1_fix_time: 3.5415, d2.loss_plan_l1_fix_dist: 1.0032, d3.loss_plan_l1_fix_time: 3.5487, d3.loss_plan_l1_fix_dist: 1.1710, d4.loss_plan_l1_fix_time: 3.5708, d4.loss_plan_l1_fix_dist: 1.3399, d5.loss_plan_l1_fix_time: 3.5947, d5.loss_plan_l1_fix_dist: 1.4981, d6.loss_plan_l1_fix_time: 3.6183, d6.loss_plan_l1_fix_dist: 1.6944, d0.loss_cls_all: 1.0738, d0.loss_bbox_all: 1.2064, d0.loss_cls: 1.0738, d0.loss_bbox: 1.2064, d1.loss_cls: 1.0917, d1.loss_bbox: 1.2259, d2.loss_cls: 1.0958, d2.loss_bbox: 1.2347, d3.loss_cls: 1.0999, d3.loss_bbox: 1.2516, d4.loss_cls: 1.1155, d4.loss_bbox: 1.2664, d5.loss_cls: 1.1317, d5.loss_bbox: 1.2869, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.4924, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.6065, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.7390, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.9536, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.2231, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.4528, d0.loss_map_cls_all: 0.6638, d0.loss_map_pts_all: 3.9810, d0.loss_map_dir_all: 0.0499, d0.loss_map_cls: 0.6638, d0.loss_map_pts: 3.9810, d0.loss_map_dir: 0.0499, d1.loss_map_cls: 0.6674, d1.loss_map_pts: 3.6052, d1.loss_map_dir: 0.0483, d2.loss_map_cls: 0.6716, d2.loss_map_pts: 3.5210, d2.loss_map_dir: 0.0483, d3.loss_map_cls: 0.6794, d3.loss_map_pts: 3.4931, d3.loss_map_dir: 0.0484, d4.loss_map_cls: 0.6843, d4.loss_map_pts: 3.4772, d4.loss_map_dir: 0.0484, d5.loss_map_cls: 0.6884, d5.loss_map_pts: 3.4685, d5.loss_map_dir: 0.0483, loss: 108.6375, grad_norm: 260.2670 +2026-02-24 04:07:54,285 - DriveTransformer - INFO - Epoch [1][8450/39528] lr: 1.000e-04, eta: 8 days, 16:17:09, time: 0.843, data_time: 0.037, memory: 19865, loss_cls: 1.1623, loss_bbox: 1.3366, loss_traj: 3.0517, loss_traj_cls: 0.0006, loss_map_cls: 0.6835, loss_map_pts: 3.7423, loss_map_dir: 0.0535, d0.loss_plan_l1_fix_time: 4.1336, d0.loss_plan_l1_fix_dist: 0.7450, d1.loss_plan_l1_fix_time: 3.6925, d1.loss_plan_l1_fix_dist: 0.8198, d2.loss_plan_l1_fix_time: 3.6431, d2.loss_plan_l1_fix_dist: 0.9536, d3.loss_plan_l1_fix_time: 3.6639, d3.loss_plan_l1_fix_dist: 1.0981, d4.loss_plan_l1_fix_time: 3.7000, d4.loss_plan_l1_fix_dist: 1.2601, d5.loss_plan_l1_fix_time: 3.7478, d5.loss_plan_l1_fix_dist: 1.4270, d6.loss_plan_l1_fix_time: 3.7942, d6.loss_plan_l1_fix_dist: 1.6128, d0.loss_cls_all: 1.0584, d0.loss_bbox_all: 1.3186, d0.loss_cls: 1.0584, d0.loss_bbox: 1.3186, d1.loss_cls: 1.0870, d1.loss_bbox: 1.2895, d2.loss_cls: 1.1005, d2.loss_bbox: 1.2946, d3.loss_cls: 1.1101, d3.loss_bbox: 1.3016, d4.loss_cls: 1.1207, d4.loss_bbox: 1.3154, d5.loss_cls: 1.1357, d5.loss_bbox: 1.3245, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2254, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2819, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3880, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.5703, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.7205, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.9110, d0.loss_map_cls_all: 0.6601, d0.loss_map_pts_all: 4.0899, d0.loss_map_dir_all: 0.0546, d0.loss_map_cls: 0.6601, d0.loss_map_pts: 4.0899, d0.loss_map_dir: 0.0546, d1.loss_map_cls: 0.6685, d1.loss_map_pts: 3.7988, d1.loss_map_dir: 0.0535, d2.loss_map_cls: 0.6729, d2.loss_map_pts: 3.7619, d2.loss_map_dir: 0.0534, d3.loss_map_cls: 0.6762, d3.loss_map_pts: 3.7490, d3.loss_map_dir: 0.0535, d4.loss_map_cls: 0.6783, d4.loss_map_pts: 3.7446, d4.loss_map_dir: 0.0535, d5.loss_map_cls: 0.6799, d5.loss_map_pts: 3.7423, d5.loss_map_dir: 0.0535, loss: 108.3045, grad_norm: 259.8240 +2026-02-24 04:08:33,829 - DriveTransformer - INFO - Epoch [1][8500/39528] lr: 1.000e-04, eta: 8 days, 16:15:52, time: 0.791, data_time: 0.040, memory: 19865, loss_cls: 1.1648, loss_bbox: 1.3591, loss_traj: 3.2470, loss_traj_cls: 0.0006, loss_map_cls: 0.6931, loss_map_pts: 3.4792, loss_map_dir: 0.0510, d0.loss_plan_l1_fix_time: 4.2696, d0.loss_plan_l1_fix_dist: 0.8664, d1.loss_plan_l1_fix_time: 3.8892, d1.loss_plan_l1_fix_dist: 0.9430, d2.loss_plan_l1_fix_time: 3.8634, d2.loss_plan_l1_fix_dist: 1.0314, d3.loss_plan_l1_fix_time: 3.8804, d3.loss_plan_l1_fix_dist: 1.1419, d4.loss_plan_l1_fix_time: 3.9071, d4.loss_plan_l1_fix_dist: 1.2877, d5.loss_plan_l1_fix_time: 3.9344, d5.loss_plan_l1_fix_dist: 1.4690, d6.loss_plan_l1_fix_time: 3.9733, d6.loss_plan_l1_fix_dist: 1.6643, d0.loss_cls_all: 1.0600, d0.loss_bbox_all: 1.3429, d0.loss_cls: 1.0600, d0.loss_bbox: 1.3429, d1.loss_cls: 1.1054, d1.loss_bbox: 1.2854, d2.loss_cls: 1.1169, d2.loss_bbox: 1.2933, d3.loss_cls: 1.1228, d3.loss_bbox: 1.3050, d4.loss_cls: 1.1326, d4.loss_bbox: 1.3222, d5.loss_cls: 1.1449, d5.loss_bbox: 1.3448, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2665, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.3757, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.4952, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7145, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.9001, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.0752, d0.loss_map_cls_all: 0.6557, d0.loss_map_pts_all: 3.9564, d0.loss_map_dir_all: 0.0523, d0.loss_map_cls: 0.6557, d0.loss_map_pts: 3.9564, d0.loss_map_dir: 0.0523, d1.loss_map_cls: 0.6635, d1.loss_map_pts: 3.6158, d1.loss_map_dir: 0.0509, d2.loss_map_cls: 0.6695, d2.loss_map_pts: 3.5495, d2.loss_map_dir: 0.0508, d3.loss_map_cls: 0.6766, d3.loss_map_pts: 3.5167, d3.loss_map_dir: 0.0509, d4.loss_map_cls: 0.6844, d4.loss_map_pts: 3.5008, d4.loss_map_dir: 0.0508, d5.loss_map_cls: 0.6886, d5.loss_map_pts: 3.4887, d5.loss_map_dir: 0.0509, loss: 109.5622, grad_norm: 259.4461 +2026-02-24 04:09:13,583 - DriveTransformer - INFO - Epoch [1][8550/39528] lr: 1.000e-04, eta: 8 days, 16:14:59, time: 0.795, data_time: 0.038, memory: 19865, loss_cls: 1.1202, loss_bbox: 1.3877, loss_traj: 3.1466, loss_traj_cls: 0.0006, loss_map_cls: 0.6862, loss_map_pts: 3.4886, loss_map_dir: 0.0508, d0.loss_plan_l1_fix_time: 3.9528, d0.loss_plan_l1_fix_dist: 0.8343, d1.loss_plan_l1_fix_time: 3.6267, d1.loss_plan_l1_fix_dist: 0.9160, d2.loss_plan_l1_fix_time: 3.6080, d2.loss_plan_l1_fix_dist: 1.0269, d3.loss_plan_l1_fix_time: 3.6347, d3.loss_plan_l1_fix_dist: 1.1817, d4.loss_plan_l1_fix_time: 3.6716, d4.loss_plan_l1_fix_dist: 1.3583, d5.loss_plan_l1_fix_time: 3.7050, d5.loss_plan_l1_fix_dist: 1.5390, d6.loss_plan_l1_fix_time: 3.7409, d6.loss_plan_l1_fix_dist: 1.7240, d0.loss_cls_all: 1.0570, d0.loss_bbox_all: 1.4045, d0.loss_cls: 1.0570, d0.loss_bbox: 1.4045, d1.loss_cls: 1.0849, d1.loss_bbox: 1.3489, d2.loss_cls: 1.0882, d2.loss_bbox: 1.3441, d3.loss_cls: 1.0958, d3.loss_bbox: 1.3422, d4.loss_cls: 1.0993, d4.loss_bbox: 1.3558, d5.loss_cls: 1.1060, d5.loss_bbox: 1.3641, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1267, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.2378, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.4054, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.5908, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.7419, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.8961, d0.loss_map_cls_all: 0.6573, d0.loss_map_pts_all: 3.9719, d0.loss_map_dir_all: 0.0514, d0.loss_map_cls: 0.6573, d0.loss_map_pts: 3.9719, d0.loss_map_dir: 0.0514, d1.loss_map_cls: 0.6662, d1.loss_map_pts: 3.6086, d1.loss_map_dir: 0.0502, d2.loss_map_cls: 0.6702, d2.loss_map_pts: 3.5403, d2.loss_map_dir: 0.0502, d3.loss_map_cls: 0.6746, d3.loss_map_pts: 3.5148, d3.loss_map_dir: 0.0504, d4.loss_map_cls: 0.6784, d4.loss_map_pts: 3.4998, d4.loss_map_dir: 0.0506, d5.loss_map_cls: 0.6820, d5.loss_map_pts: 3.4902, d5.loss_map_dir: 0.0506, loss: 107.1930, grad_norm: 257.8906 +2026-02-24 04:09:55,105 - DriveTransformer - INFO - Epoch [1][8600/39528] lr: 1.000e-04, eta: 8 days, 16:17:19, time: 0.830, data_time: 0.043, memory: 19865, loss_cls: 1.0980, loss_bbox: 1.3060, loss_traj: 2.9847, loss_traj_cls: 0.0006, loss_map_cls: 0.6753, loss_map_pts: 3.3477, loss_map_dir: 0.0531, d0.loss_plan_l1_fix_time: 3.4957, d0.loss_plan_l1_fix_dist: 0.7173, d1.loss_plan_l1_fix_time: 3.4221, d1.loss_plan_l1_fix_dist: 0.7842, d2.loss_plan_l1_fix_time: 3.4233, d2.loss_plan_l1_fix_dist: 0.8858, d3.loss_plan_l1_fix_time: 3.4428, d3.loss_plan_l1_fix_dist: 1.0166, d4.loss_plan_l1_fix_time: 3.4727, d4.loss_plan_l1_fix_dist: 1.1464, d5.loss_plan_l1_fix_time: 3.5044, d5.loss_plan_l1_fix_dist: 1.3070, d6.loss_plan_l1_fix_time: 3.5439, d6.loss_plan_l1_fix_dist: 1.4580, d0.loss_cls_all: 1.0583, d0.loss_bbox_all: 1.2501, d0.loss_cls: 1.0583, d0.loss_bbox: 1.2501, d1.loss_cls: 1.0749, d1.loss_bbox: 1.2162, d2.loss_cls: 1.0821, d2.loss_bbox: 1.2150, d3.loss_cls: 1.0819, d3.loss_bbox: 1.2318, d4.loss_cls: 1.0815, d4.loss_bbox: 1.2457, d5.loss_cls: 1.0851, d5.loss_bbox: 1.2730, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9794, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0844, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2038, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3712, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.6378, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.8009, d0.loss_map_cls_all: 0.6468, d0.loss_map_pts_all: 3.9395, d0.loss_map_dir_all: 0.0538, d0.loss_map_cls: 0.6468, d0.loss_map_pts: 3.9395, d0.loss_map_dir: 0.0538, d1.loss_map_cls: 0.6579, d1.loss_map_pts: 3.5034, d1.loss_map_dir: 0.0527, d2.loss_map_cls: 0.6627, d2.loss_map_pts: 3.4236, d2.loss_map_dir: 0.0527, d3.loss_map_cls: 0.6664, d3.loss_map_pts: 3.3879, d3.loss_map_dir: 0.0528, d4.loss_map_cls: 0.6694, d4.loss_map_pts: 3.3686, d4.loss_map_dir: 0.0529, d5.loss_map_cls: 0.6712, d5.loss_map_pts: 3.3559, d5.loss_map_dir: 0.0529, loss: 101.2818, grad_norm: 257.6891 +2026-02-24 04:10:36,024 - DriveTransformer - INFO - Epoch [1][8650/39528] lr: 1.000e-04, eta: 8 days, 16:18:32, time: 0.818, data_time: 0.039, memory: 19865, loss_cls: 1.0579, loss_bbox: 1.2979, loss_traj: 2.7765, loss_traj_cls: 0.0006, loss_map_cls: 0.6977, loss_map_pts: 3.3073, loss_map_dir: 0.0504, d0.loss_plan_l1_fix_time: 3.8263, d0.loss_plan_l1_fix_dist: 0.7303, d1.loss_plan_l1_fix_time: 3.6231, d1.loss_plan_l1_fix_dist: 0.7938, d2.loss_plan_l1_fix_time: 3.6197, d2.loss_plan_l1_fix_dist: 0.9069, d3.loss_plan_l1_fix_time: 3.6460, d3.loss_plan_l1_fix_dist: 1.0312, d4.loss_plan_l1_fix_time: 3.6778, d4.loss_plan_l1_fix_dist: 1.1671, d5.loss_plan_l1_fix_time: 3.7185, d5.loss_plan_l1_fix_dist: 1.2931, d6.loss_plan_l1_fix_time: 3.7669, d6.loss_plan_l1_fix_dist: 1.4487, d0.loss_cls_all: 1.0425, d0.loss_bbox_all: 1.1836, d0.loss_cls: 1.0425, d0.loss_bbox: 1.1836, d1.loss_cls: 1.0555, d1.loss_bbox: 1.1750, d2.loss_cls: 1.0597, d2.loss_bbox: 1.1841, d3.loss_cls: 1.0621, d3.loss_bbox: 1.1948, d4.loss_cls: 1.0585, d4.loss_bbox: 1.2205, d5.loss_cls: 1.0619, d5.loss_bbox: 1.2517, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0394, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1229, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2357, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3213, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.4635, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5729, d0.loss_map_cls_all: 0.6665, d0.loss_map_pts_all: 3.7829, d0.loss_map_dir_all: 0.0513, d0.loss_map_cls: 0.6665, d0.loss_map_pts: 3.7829, d0.loss_map_dir: 0.0513, d1.loss_map_cls: 0.6764, d1.loss_map_pts: 3.4159, d1.loss_map_dir: 0.0502, d2.loss_map_cls: 0.6825, d2.loss_map_pts: 3.3555, d2.loss_map_dir: 0.0502, d3.loss_map_cls: 0.6873, d3.loss_map_pts: 3.3319, d3.loss_map_dir: 0.0502, d4.loss_map_cls: 0.6926, d4.loss_map_pts: 3.3219, d4.loss_map_dir: 0.0503, d5.loss_map_cls: 0.6947, d5.loss_map_pts: 3.3139, d5.loss_map_dir: 0.0502, loss: 101.3979, grad_norm: 257.6232 +2026-02-24 04:11:16,645 - DriveTransformer - INFO - Epoch [1][8700/39528] lr: 1.000e-04, eta: 8 days, 16:19:11, time: 0.812, data_time: 0.040, memory: 19865, loss_cls: 1.1027, loss_bbox: 1.2255, loss_traj: 3.1079, loss_traj_cls: 0.0006, loss_map_cls: 0.6505, loss_map_pts: 3.3378, loss_map_dir: 0.0545, d0.loss_plan_l1_fix_time: 3.6275, d0.loss_plan_l1_fix_dist: 0.6762, d1.loss_plan_l1_fix_time: 3.3645, d1.loss_plan_l1_fix_dist: 0.7403, d2.loss_plan_l1_fix_time: 3.3291, d2.loss_plan_l1_fix_dist: 0.8284, d3.loss_plan_l1_fix_time: 3.3399, d3.loss_plan_l1_fix_dist: 0.9336, d4.loss_plan_l1_fix_time: 3.3637, d4.loss_plan_l1_fix_dist: 1.0485, d5.loss_plan_l1_fix_time: 3.3995, d5.loss_plan_l1_fix_dist: 1.1800, d6.loss_plan_l1_fix_time: 3.4420, d6.loss_plan_l1_fix_dist: 1.3030, d0.loss_cls_all: 1.0841, d0.loss_bbox_all: 1.1501, d0.loss_cls: 1.0841, d0.loss_bbox: 1.1501, d1.loss_cls: 1.0996, d1.loss_bbox: 1.1404, d2.loss_cls: 1.1002, d2.loss_bbox: 1.1501, d3.loss_cls: 1.1031, d3.loss_bbox: 1.1526, d4.loss_cls: 1.1005, d4.loss_bbox: 1.1706, d5.loss_cls: 1.1004, d5.loss_bbox: 1.1952, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9541, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0952, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3040, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.4532, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.6861, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.9245, d0.loss_map_cls_all: 0.6221, d0.loss_map_pts_all: 3.9039, d0.loss_map_dir_all: 0.0548, d0.loss_map_cls: 0.6221, d0.loss_map_pts: 3.9039, d0.loss_map_dir: 0.0548, d1.loss_map_cls: 0.6344, d1.loss_map_pts: 3.4783, d1.loss_map_dir: 0.0540, d2.loss_map_cls: 0.6413, d2.loss_map_pts: 3.4008, d2.loss_map_dir: 0.0541, d3.loss_map_cls: 0.6442, d3.loss_map_pts: 3.3684, d3.loss_map_dir: 0.0542, d4.loss_map_cls: 0.6472, d4.loss_map_pts: 3.3533, d4.loss_map_dir: 0.0543, d5.loss_map_cls: 0.6493, d5.loss_map_pts: 3.3438, d5.loss_map_dir: 0.0543, loss: 99.8500, grad_norm: 257.4423 +2026-02-24 04:11:56,796 - DriveTransformer - INFO - Epoch [1][8750/39528] lr: 1.000e-04, eta: 8 days, 16:18:59, time: 0.803, data_time: 0.037, memory: 19865, loss_cls: 1.1288, loss_bbox: 1.2905, loss_traj: 3.3013, loss_traj_cls: 0.0006, loss_map_cls: 0.6782, loss_map_pts: 3.2630, loss_map_dir: 0.0516, d0.loss_plan_l1_fix_time: 4.1090, d0.loss_plan_l1_fix_dist: 0.8282, d1.loss_plan_l1_fix_time: 3.7714, d1.loss_plan_l1_fix_dist: 0.8942, d2.loss_plan_l1_fix_time: 3.7285, d2.loss_plan_l1_fix_dist: 0.9741, d3.loss_plan_l1_fix_time: 3.7318, d3.loss_plan_l1_fix_dist: 1.0879, d4.loss_plan_l1_fix_time: 3.7520, d4.loss_plan_l1_fix_dist: 1.2109, d5.loss_plan_l1_fix_time: 3.7738, d5.loss_plan_l1_fix_dist: 1.3591, d6.loss_plan_l1_fix_time: 3.7994, d6.loss_plan_l1_fix_dist: 1.5111, d0.loss_cls_all: 1.0905, d0.loss_bbox_all: 1.2197, d0.loss_cls: 1.0905, d0.loss_bbox: 1.2197, d1.loss_cls: 1.1001, d1.loss_bbox: 1.2195, d2.loss_cls: 1.1113, d2.loss_bbox: 1.2265, d3.loss_cls: 1.1137, d3.loss_bbox: 1.2302, d4.loss_cls: 1.1166, d4.loss_bbox: 1.2504, d5.loss_cls: 1.1213, d5.loss_bbox: 1.2740, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2450, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3903, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.5476, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7307, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.9392, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.1358, d0.loss_map_cls_all: 0.6820, d0.loss_map_pts_all: 3.8059, d0.loss_map_dir_all: 0.0518, d0.loss_map_cls: 0.6820, d0.loss_map_pts: 3.8059, d0.loss_map_dir: 0.0518, d1.loss_map_cls: 0.6745, d1.loss_map_pts: 3.3873, d1.loss_map_dir: 0.0511, d2.loss_map_cls: 0.6743, d2.loss_map_pts: 3.3107, d2.loss_map_dir: 0.0512, d3.loss_map_cls: 0.6741, d3.loss_map_pts: 3.2799, d3.loss_map_dir: 0.0513, d4.loss_map_cls: 0.6745, d4.loss_map_pts: 3.2672, d4.loss_map_dir: 0.0514, d5.loss_map_cls: 0.6761, d5.loss_map_pts: 3.2621, d5.loss_map_dir: 0.0515, loss: 105.8380, grad_norm: 257.9971 +2026-02-24 04:12:37,348 - DriveTransformer - INFO - Epoch [1][8800/39528] lr: 1.000e-04, eta: 8 days, 16:19:37, time: 0.812, data_time: 0.041, memory: 19865, loss_cls: 1.0628, loss_bbox: 1.3054, loss_traj: 3.4141, loss_traj_cls: 0.0006, loss_map_cls: 0.6377, loss_map_pts: 3.1000, loss_map_dir: 0.0527, d0.loss_plan_l1_fix_time: 3.9357, d0.loss_plan_l1_fix_dist: 0.8543, d1.loss_plan_l1_fix_time: 3.6600, d1.loss_plan_l1_fix_dist: 0.9112, d2.loss_plan_l1_fix_time: 3.6078, d2.loss_plan_l1_fix_dist: 1.0069, d3.loss_plan_l1_fix_time: 3.6075, d3.loss_plan_l1_fix_dist: 1.1328, d4.loss_plan_l1_fix_time: 3.6275, d4.loss_plan_l1_fix_dist: 1.2892, d5.loss_plan_l1_fix_time: 3.6511, d5.loss_plan_l1_fix_dist: 1.4334, d6.loss_plan_l1_fix_time: 3.6760, d6.loss_plan_l1_fix_dist: 1.6081, d0.loss_cls_all: 1.0326, d0.loss_bbox_all: 1.2404, d0.loss_cls: 1.0326, d0.loss_bbox: 1.2404, d1.loss_cls: 1.0475, d1.loss_bbox: 1.2373, d2.loss_cls: 1.0628, d2.loss_bbox: 1.2326, d3.loss_cls: 1.0681, d3.loss_bbox: 1.2410, d4.loss_cls: 1.0676, d4.loss_bbox: 1.2532, d5.loss_cls: 1.0737, d5.loss_bbox: 1.2756, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1563, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.4041, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.5201, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.7670, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.9622, d5.loss_traj_cls: 0.0006, d5.loss_traj: 3.1883, d0.loss_map_cls_all: 0.6248, d0.loss_map_pts_all: 3.6543, d0.loss_map_dir_all: 0.0528, d0.loss_map_cls: 0.6248, d0.loss_map_pts: 3.6543, d0.loss_map_dir: 0.0528, d1.loss_map_cls: 0.6308, d1.loss_map_pts: 3.2286, d1.loss_map_dir: 0.0521, d2.loss_map_cls: 0.6343, d2.loss_map_pts: 3.1589, d2.loss_map_dir: 0.0522, d3.loss_map_cls: 0.6369, d3.loss_map_pts: 3.1274, d3.loss_map_dir: 0.0524, d4.loss_map_cls: 0.6368, d4.loss_map_pts: 3.1111, d4.loss_map_dir: 0.0525, d5.loss_map_cls: 0.6373, d5.loss_map_pts: 3.1020, d5.loss_map_dir: 0.0525, loss: 103.5115, grad_norm: 259.6862 +2026-02-24 04:13:15,985 - DriveTransformer - INFO - Epoch [1][8850/39528] lr: 1.000e-04, eta: 8 days, 16:16:35, time: 0.771, data_time: 0.038, memory: 19865, loss_cls: 1.1196, loss_bbox: 1.3051, loss_traj: 2.4810, loss_traj_cls: 0.0005, loss_map_cls: 0.6798, loss_map_pts: 3.1544, loss_map_dir: 0.0520, d0.loss_plan_l1_fix_time: 3.7890, d0.loss_plan_l1_fix_dist: 0.7805, d1.loss_plan_l1_fix_time: 3.5920, d1.loss_plan_l1_fix_dist: 0.8243, d2.loss_plan_l1_fix_time: 3.5749, d2.loss_plan_l1_fix_dist: 0.8912, d3.loss_plan_l1_fix_time: 3.5898, d3.loss_plan_l1_fix_dist: 0.9796, d4.loss_plan_l1_fix_time: 3.6176, d4.loss_plan_l1_fix_dist: 1.0739, d5.loss_plan_l1_fix_time: 3.6498, d5.loss_plan_l1_fix_dist: 1.1941, d6.loss_plan_l1_fix_time: 3.6890, d6.loss_plan_l1_fix_dist: 1.3086, d0.loss_cls_all: 1.0605, d0.loss_bbox_all: 1.2026, d0.loss_cls: 1.0605, d0.loss_bbox: 1.2026, d1.loss_cls: 1.0770, d1.loss_bbox: 1.2102, d2.loss_cls: 1.0803, d2.loss_bbox: 1.2191, d3.loss_cls: 1.0863, d3.loss_bbox: 1.2264, d4.loss_cls: 1.0907, d4.loss_bbox: 1.2441, d5.loss_cls: 1.0982, d5.loss_bbox: 1.2712, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8498, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9329, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1048, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1955, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.3034, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3672, d0.loss_map_cls_all: 0.6617, d0.loss_map_pts_all: 3.7564, d0.loss_map_dir_all: 0.0526, d0.loss_map_cls: 0.6617, d0.loss_map_pts: 3.7564, d0.loss_map_dir: 0.0526, d1.loss_map_cls: 0.6694, d1.loss_map_pts: 3.3067, d1.loss_map_dir: 0.0516, d2.loss_map_cls: 0.6728, d2.loss_map_pts: 3.2239, d2.loss_map_dir: 0.0517, d3.loss_map_cls: 0.6734, d3.loss_map_pts: 3.1852, d3.loss_map_dir: 0.0518, d4.loss_map_cls: 0.6758, d4.loss_map_pts: 3.1640, d4.loss_map_dir: 0.0518, d5.loss_map_cls: 0.6772, d5.loss_map_pts: 3.1536, d5.loss_map_dir: 0.0519, loss: 98.8356, grad_norm: 259.8850 +2026-02-24 04:13:55,069 - DriveTransformer - INFO - Epoch [1][8900/39528] lr: 1.000e-04, eta: 8 days, 16:14:30, time: 0.782, data_time: 0.043, memory: 19865, loss_cls: 1.1283, loss_bbox: 1.3360, loss_traj: 2.7374, loss_traj_cls: 0.0006, loss_map_cls: 0.6366, loss_map_pts: 3.0259, loss_map_dir: 0.0520, d0.loss_plan_l1_fix_time: 3.9743, d0.loss_plan_l1_fix_dist: 0.6233, d1.loss_plan_l1_fix_time: 3.5691, d1.loss_plan_l1_fix_dist: 0.6747, d2.loss_plan_l1_fix_time: 3.5445, d2.loss_plan_l1_fix_dist: 0.7660, d3.loss_plan_l1_fix_time: 3.5631, d3.loss_plan_l1_fix_dist: 0.8743, d4.loss_plan_l1_fix_time: 3.5849, d4.loss_plan_l1_fix_dist: 1.0000, d5.loss_plan_l1_fix_time: 3.6108, d5.loss_plan_l1_fix_dist: 1.1395, d6.loss_plan_l1_fix_time: 3.6447, d6.loss_plan_l1_fix_dist: 1.2726, d0.loss_cls_all: 1.0609, d0.loss_bbox_all: 1.2665, d0.loss_cls: 1.0609, d0.loss_bbox: 1.2665, d1.loss_cls: 1.0684, d1.loss_bbox: 1.2679, d2.loss_cls: 1.0838, d2.loss_bbox: 1.2768, d3.loss_cls: 1.0844, d3.loss_bbox: 1.2892, d4.loss_cls: 1.0981, d4.loss_bbox: 1.3044, d5.loss_cls: 1.1088, d5.loss_bbox: 1.3175, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2079, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.2744, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3332, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.4214, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.5150, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.6179, d0.loss_map_cls_all: 0.6271, d0.loss_map_pts_all: 3.5455, d0.loss_map_dir_all: 0.0524, d0.loss_map_cls: 0.6271, d0.loss_map_pts: 3.5455, d0.loss_map_dir: 0.0524, d1.loss_map_cls: 0.6313, d1.loss_map_pts: 3.1194, d1.loss_map_dir: 0.0516, d2.loss_map_cls: 0.6358, d2.loss_map_pts: 3.0535, d2.loss_map_dir: 0.0517, d3.loss_map_cls: 0.6367, d3.loss_map_pts: 3.0254, d3.loss_map_dir: 0.0518, d4.loss_map_cls: 0.6356, d4.loss_map_pts: 3.0128, d4.loss_map_dir: 0.0519, d5.loss_map_cls: 0.6360, d5.loss_map_pts: 3.0143, d5.loss_map_dir: 0.0519, loss: 98.7959, grad_norm: 260.4897 +2026-02-24 04:14:35,015 - DriveTransformer - INFO - Epoch [1][8950/39528] lr: 1.000e-04, eta: 8 days, 16:13:57, time: 0.799, data_time: 0.040, memory: 19865, loss_cls: 1.1206, loss_bbox: 1.2620, loss_traj: 2.5901, loss_traj_cls: 0.0006, loss_map_cls: 0.6630, loss_map_pts: 2.9962, loss_map_dir: 0.0546, d0.loss_plan_l1_fix_time: 3.3574, d0.loss_plan_l1_fix_dist: 0.7042, d1.loss_plan_l1_fix_time: 3.2461, d1.loss_plan_l1_fix_dist: 0.7454, d2.loss_plan_l1_fix_time: 3.2590, d2.loss_plan_l1_fix_dist: 0.8190, d3.loss_plan_l1_fix_time: 3.2856, d3.loss_plan_l1_fix_dist: 0.9154, d4.loss_plan_l1_fix_time: 3.3171, d4.loss_plan_l1_fix_dist: 1.0401, d5.loss_plan_l1_fix_time: 3.3478, d5.loss_plan_l1_fix_dist: 1.1703, d6.loss_plan_l1_fix_time: 3.3767, d6.loss_plan_l1_fix_dist: 1.3414, d0.loss_cls_all: 1.0724, d0.loss_bbox_all: 1.1748, d0.loss_cls: 1.0724, d0.loss_bbox: 1.1748, d1.loss_cls: 1.0748, d1.loss_bbox: 1.1792, d2.loss_cls: 1.0824, d2.loss_bbox: 1.1954, d3.loss_cls: 1.0875, d3.loss_bbox: 1.2064, d4.loss_cls: 1.0972, d4.loss_bbox: 1.2262, d5.loss_cls: 1.1030, d5.loss_bbox: 1.2450, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2018, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2735, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2942, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3429, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.4067, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5065, d0.loss_map_cls_all: 0.6467, d0.loss_map_pts_all: 3.6321, d0.loss_map_dir_all: 0.0550, d0.loss_map_cls: 0.6467, d0.loss_map_pts: 3.6321, d0.loss_map_dir: 0.0550, d1.loss_map_cls: 0.6558, d1.loss_map_pts: 3.1591, d1.loss_map_dir: 0.0543, d2.loss_map_cls: 0.6597, d2.loss_map_pts: 3.0620, d2.loss_map_dir: 0.0544, d3.loss_map_cls: 0.6617, d3.loss_map_pts: 3.0208, d3.loss_map_dir: 0.0545, d4.loss_map_cls: 0.6625, d4.loss_map_pts: 2.9985, d4.loss_map_dir: 0.0545, d5.loss_map_cls: 0.6624, d5.loss_map_pts: 2.9926, d5.loss_map_dir: 0.0546, loss: 96.1078, grad_norm: 260.8580 +2026-02-24 04:15:16,224 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 04:15:16,224 - DriveTransformer - INFO - Epoch [1][9000/39528] lr: 1.000e-04, eta: 8 days, 16:15:35, time: 0.824, data_time: 0.037, memory: 19865, loss_cls: 1.0828, loss_bbox: 1.3167, loss_traj: 2.5892, loss_traj_cls: 0.0006, loss_map_cls: 0.6800, loss_map_pts: 3.0370, loss_map_dir: 0.0511, d0.loss_plan_l1_fix_time: 3.2320, d0.loss_plan_l1_fix_dist: 0.7323, d1.loss_plan_l1_fix_time: 3.0599, d1.loss_plan_l1_fix_dist: 0.8025, d2.loss_plan_l1_fix_time: 3.0713, d2.loss_plan_l1_fix_dist: 0.9170, d3.loss_plan_l1_fix_time: 3.1006, d3.loss_plan_l1_fix_dist: 1.0506, d4.loss_plan_l1_fix_time: 3.1329, d4.loss_plan_l1_fix_dist: 1.1952, d5.loss_plan_l1_fix_time: 3.1662, d5.loss_plan_l1_fix_dist: 1.3620, d6.loss_plan_l1_fix_time: 3.1951, d6.loss_plan_l1_fix_dist: 1.5391, d0.loss_cls_all: 1.0599, d0.loss_bbox_all: 1.2278, d0.loss_cls: 1.0599, d0.loss_bbox: 1.2278, d1.loss_cls: 1.0664, d1.loss_bbox: 1.2291, d2.loss_cls: 1.0812, d2.loss_bbox: 1.2368, d3.loss_cls: 1.0766, d3.loss_bbox: 1.2504, d4.loss_cls: 1.0863, d4.loss_bbox: 1.2683, d5.loss_cls: 1.0853, d5.loss_bbox: 1.2961, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0831, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.1938, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2102, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.2824, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.3922, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.4916, d0.loss_map_cls_all: 0.6732, d0.loss_map_pts_all: 3.6932, d0.loss_map_dir_all: 0.0524, d0.loss_map_cls: 0.6732, d0.loss_map_pts: 3.6932, d0.loss_map_dir: 0.0524, d1.loss_map_cls: 0.6773, d1.loss_map_pts: 3.1911, d1.loss_map_dir: 0.0509, d2.loss_map_cls: 0.6792, d2.loss_map_pts: 3.0902, d2.loss_map_dir: 0.0510, d3.loss_map_cls: 0.6800, d3.loss_map_pts: 3.0433, d3.loss_map_dir: 0.0510, d4.loss_map_cls: 0.6792, d4.loss_map_pts: 3.0221, d4.loss_map_dir: 0.0511, d5.loss_map_cls: 0.6794, d5.loss_map_pts: 3.0214, d5.loss_map_dir: 0.0511, loss: 96.0791, grad_norm: 263.9889 +2026-02-24 04:15:55,261 - DriveTransformer - INFO - Epoch [1][9050/39528] lr: 1.000e-04, eta: 8 days, 16:13:26, time: 0.781, data_time: 0.046, memory: 19865, loss_cls: 1.0388, loss_bbox: 1.2743, loss_traj: 2.5922, loss_traj_cls: 0.0007, loss_map_cls: 0.6573, loss_map_pts: 2.6896, loss_map_dir: 0.0468, d0.loss_plan_l1_fix_time: 3.6380, d0.loss_plan_l1_fix_dist: 0.7117, d1.loss_plan_l1_fix_time: 3.5242, d1.loss_plan_l1_fix_dist: 0.7912, d2.loss_plan_l1_fix_time: 3.5246, d2.loss_plan_l1_fix_dist: 0.8991, d3.loss_plan_l1_fix_time: 3.5445, d3.loss_plan_l1_fix_dist: 1.0146, d4.loss_plan_l1_fix_time: 3.5702, d4.loss_plan_l1_fix_dist: 1.1459, d5.loss_plan_l1_fix_time: 3.5935, d5.loss_plan_l1_fix_dist: 1.2822, d6.loss_plan_l1_fix_time: 3.6220, d6.loss_plan_l1_fix_dist: 1.4171, d0.loss_cls_all: 1.0212, d0.loss_bbox_all: 1.1643, d0.loss_cls: 1.0212, d0.loss_bbox: 1.1643, d1.loss_cls: 1.0303, d1.loss_bbox: 1.1701, d2.loss_cls: 1.0310, d2.loss_bbox: 1.1804, d3.loss_cls: 1.0317, d3.loss_bbox: 1.1950, d4.loss_cls: 1.0248, d4.loss_bbox: 1.2204, d5.loss_cls: 1.0252, d5.loss_bbox: 1.2458, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1764, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.2315, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3110, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3654, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.4578, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.5055, d0.loss_map_cls_all: 0.6407, d0.loss_map_pts_all: 3.3473, d0.loss_map_dir_all: 0.0481, d0.loss_map_cls: 0.6407, d0.loss_map_pts: 3.3473, d0.loss_map_dir: 0.0481, d1.loss_map_cls: 0.6480, d1.loss_map_pts: 2.8489, d1.loss_map_dir: 0.0464, d2.loss_map_cls: 0.6499, d2.loss_map_pts: 2.7371, d2.loss_map_dir: 0.0465, d3.loss_map_cls: 0.6518, d3.loss_map_pts: 2.6853, d3.loss_map_dir: 0.0467, d4.loss_map_cls: 0.6544, d4.loss_map_pts: 2.6704, d4.loss_map_dir: 0.0467, d5.loss_map_cls: 0.6550, d5.loss_map_pts: 2.6749, d5.loss_map_dir: 0.0467, loss: 95.3361, grad_norm: 263.2056 +2026-02-24 04:16:38,413 - DriveTransformer - INFO - Epoch [1][9100/39528] lr: 1.000e-04, eta: 8 days, 16:18:23, time: 0.863, data_time: 0.041, memory: 19865, loss_cls: 1.1838, loss_bbox: 1.3331, loss_traj: 2.2491, loss_traj_cls: 0.0006, loss_map_cls: 0.6635, loss_map_pts: 3.2545, loss_map_dir: 0.0543, d0.loss_plan_l1_fix_time: 3.7090, d0.loss_plan_l1_fix_dist: 0.8137, d1.loss_plan_l1_fix_time: 3.5880, d1.loss_plan_l1_fix_dist: 0.8757, d2.loss_plan_l1_fix_time: 3.5833, d2.loss_plan_l1_fix_dist: 0.9758, d3.loss_plan_l1_fix_time: 3.5989, d3.loss_plan_l1_fix_dist: 1.0897, d4.loss_plan_l1_fix_time: 3.6211, d4.loss_plan_l1_fix_dist: 1.2213, d5.loss_plan_l1_fix_time: 3.6440, d5.loss_plan_l1_fix_dist: 1.3680, d6.loss_plan_l1_fix_time: 3.6719, d6.loss_plan_l1_fix_dist: 1.5330, d0.loss_cls_all: 1.1281, d0.loss_bbox_all: 1.2414, d0.loss_cls: 1.1281, d0.loss_bbox: 1.2414, d1.loss_cls: 1.1306, d1.loss_bbox: 1.2542, d2.loss_cls: 1.1323, d2.loss_bbox: 1.2663, d3.loss_cls: 1.1380, d3.loss_bbox: 1.2760, d4.loss_cls: 1.1461, d4.loss_bbox: 1.2884, d5.loss_cls: 1.1506, d5.loss_bbox: 1.3077, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9199, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9908, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0254, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0773, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1575, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2114, d0.loss_map_cls_all: 0.6429, d0.loss_map_pts_all: 3.8384, d0.loss_map_dir_all: 0.0548, d0.loss_map_cls: 0.6429, d0.loss_map_pts: 3.8384, d0.loss_map_dir: 0.0548, d1.loss_map_cls: 0.6574, d1.loss_map_pts: 3.3810, d1.loss_map_dir: 0.0537, d2.loss_map_cls: 0.6616, d2.loss_map_pts: 3.2976, d2.loss_map_dir: 0.0539, d3.loss_map_cls: 0.6625, d3.loss_map_pts: 3.2692, d3.loss_map_dir: 0.0541, d4.loss_map_cls: 0.6635, d4.loss_map_pts: 3.2575, d4.loss_map_dir: 0.0542, d5.loss_map_cls: 0.6632, d5.loss_map_pts: 3.2532, d5.loss_map_dir: 0.0543, loss: 100.3564, grad_norm: 262.9790 +2026-02-24 04:17:17,665 - DriveTransformer - INFO - Epoch [1][9150/39528] lr: 1.000e-04, eta: 8 days, 16:16:36, time: 0.785, data_time: 0.038, memory: 19865, loss_cls: 1.0670, loss_bbox: 1.3021, loss_traj: 2.9204, loss_traj_cls: 0.0006, loss_map_cls: 0.6761, loss_map_pts: 2.5291, loss_map_dir: 0.0405, d0.loss_plan_l1_fix_time: 3.9326, d0.loss_plan_l1_fix_dist: 0.7936, d1.loss_plan_l1_fix_time: 3.5856, d1.loss_plan_l1_fix_dist: 0.8583, d2.loss_plan_l1_fix_time: 3.5499, d2.loss_plan_l1_fix_dist: 0.9424, d3.loss_plan_l1_fix_time: 3.5533, d3.loss_plan_l1_fix_dist: 1.0530, d4.loss_plan_l1_fix_time: 3.5648, d4.loss_plan_l1_fix_dist: 1.1662, d5.loss_plan_l1_fix_time: 3.5823, d5.loss_plan_l1_fix_dist: 1.2965, d6.loss_plan_l1_fix_time: 3.6024, d6.loss_plan_l1_fix_dist: 1.4389, d0.loss_cls_all: 1.0480, d0.loss_bbox_all: 1.1811, d0.loss_cls: 1.0480, d0.loss_bbox: 1.1811, d1.loss_cls: 1.0453, d1.loss_bbox: 1.1949, d2.loss_cls: 1.0510, d2.loss_bbox: 1.2099, d3.loss_cls: 1.0495, d3.loss_bbox: 1.2226, d4.loss_cls: 1.0578, d4.loss_bbox: 1.2439, d5.loss_cls: 1.0614, d5.loss_bbox: 1.2718, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.4870, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5453, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.6089, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.6319, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.7228, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.7923, d0.loss_map_cls_all: 0.6517, d0.loss_map_pts_all: 3.2720, d0.loss_map_dir_all: 0.0421, d0.loss_map_cls: 0.6517, d0.loss_map_pts: 3.2720, d0.loss_map_dir: 0.0421, d1.loss_map_cls: 0.6572, d1.loss_map_pts: 2.7887, d1.loss_map_dir: 0.0402, d2.loss_map_cls: 0.6606, d2.loss_map_pts: 2.6458, d2.loss_map_dir: 0.0404, d3.loss_map_cls: 0.6642, d3.loss_map_pts: 2.5753, d3.loss_map_dir: 0.0406, d4.loss_map_cls: 0.6678, d4.loss_map_pts: 2.5442, d4.loss_map_dir: 0.0406, d5.loss_map_cls: 0.6709, d5.loss_map_pts: 2.5307, d5.loss_map_dir: 0.0406, loss: 97.6525, grad_norm: 261.7878 +2026-02-24 04:17:57,529 - DriveTransformer - INFO - Epoch [1][9200/39528] lr: 1.000e-04, eta: 8 days, 16:15:53, time: 0.798, data_time: 0.036, memory: 19865, loss_cls: 1.1499, loss_bbox: 1.3614, loss_traj: 2.5390, loss_traj_cls: 0.0006, loss_map_cls: 0.6725, loss_map_pts: 3.1700, loss_map_dir: 0.0522, d0.loss_plan_l1_fix_time: 4.3151, d0.loss_plan_l1_fix_dist: 0.6869, d1.loss_plan_l1_fix_time: 4.0607, d1.loss_plan_l1_fix_dist: 0.7432, d2.loss_plan_l1_fix_time: 4.0289, d2.loss_plan_l1_fix_dist: 0.8221, d3.loss_plan_l1_fix_time: 4.0282, d3.loss_plan_l1_fix_dist: 0.9063, d4.loss_plan_l1_fix_time: 4.0360, d4.loss_plan_l1_fix_dist: 0.9963, d5.loss_plan_l1_fix_time: 4.0461, d5.loss_plan_l1_fix_dist: 1.0935, d6.loss_plan_l1_fix_time: 4.0592, d6.loss_plan_l1_fix_dist: 1.1883, d0.loss_cls_all: 1.1264, d0.loss_bbox_all: 1.2952, d0.loss_cls: 1.1264, d0.loss_bbox: 1.2952, d1.loss_cls: 1.1367, d1.loss_bbox: 1.3001, d2.loss_cls: 1.1427, d2.loss_bbox: 1.3043, d3.loss_cls: 1.1482, d3.loss_bbox: 1.3143, d4.loss_cls: 1.1486, d4.loss_bbox: 1.3246, d5.loss_cls: 1.1450, d5.loss_bbox: 1.3409, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2589, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2736, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3581, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3777, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.4254, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4820, d0.loss_map_cls_all: 0.6639, d0.loss_map_pts_all: 3.5883, d0.loss_map_dir_all: 0.0530, d0.loss_map_cls: 0.6639, d0.loss_map_pts: 3.5883, d0.loss_map_dir: 0.0530, d1.loss_map_cls: 0.6718, d1.loss_map_pts: 3.2156, d1.loss_map_dir: 0.0518, d2.loss_map_cls: 0.6732, d2.loss_map_pts: 3.1625, d2.loss_map_dir: 0.0519, d3.loss_map_cls: 0.6729, d3.loss_map_pts: 3.1594, d3.loss_map_dir: 0.0522, d4.loss_map_cls: 0.6722, d4.loss_map_pts: 3.1644, d4.loss_map_dir: 0.0521, d5.loss_map_cls: 0.6719, d5.loss_map_pts: 3.1668, d5.loss_map_dir: 0.0521, loss: 103.3852, grad_norm: 260.8816 +2026-02-24 04:18:38,299 - DriveTransformer - INFO - Epoch [1][9250/39528] lr: 1.000e-04, eta: 8 days, 16:16:40, time: 0.815, data_time: 0.041, memory: 19865, loss_cls: 1.1316, loss_bbox: 1.2588, loss_traj: 2.3153, loss_traj_cls: 0.0005, loss_map_cls: 0.6923, loss_map_pts: 3.1562, loss_map_dir: 0.0531, d0.loss_plan_l1_fix_time: 3.8112, d0.loss_plan_l1_fix_dist: 0.7293, d1.loss_plan_l1_fix_time: 3.7123, d1.loss_plan_l1_fix_dist: 0.7810, d2.loss_plan_l1_fix_time: 3.6990, d2.loss_plan_l1_fix_dist: 0.8739, d3.loss_plan_l1_fix_time: 3.7125, d3.loss_plan_l1_fix_dist: 0.9740, d4.loss_plan_l1_fix_time: 3.7352, d4.loss_plan_l1_fix_dist: 1.0843, d5.loss_plan_l1_fix_time: 3.7600, d5.loss_plan_l1_fix_dist: 1.2043, d6.loss_plan_l1_fix_time: 3.7922, d6.loss_plan_l1_fix_dist: 1.3243, d0.loss_cls_all: 1.0954, d0.loss_bbox_all: 1.1628, d0.loss_cls: 1.0954, d0.loss_bbox: 1.1628, d1.loss_cls: 1.1151, d1.loss_bbox: 1.1718, d2.loss_cls: 1.1227, d2.loss_bbox: 1.1843, d3.loss_cls: 1.1272, d3.loss_bbox: 1.1976, d4.loss_cls: 1.1263, d4.loss_bbox: 1.2107, d5.loss_cls: 1.1291, d5.loss_bbox: 1.2303, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0280, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0754, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0966, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1499, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2276, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2808, d0.loss_map_cls_all: 0.6755, d0.loss_map_pts_all: 3.6535, d0.loss_map_dir_all: 0.0533, d0.loss_map_cls: 0.6755, d0.loss_map_pts: 3.6535, d0.loss_map_dir: 0.0533, d1.loss_map_cls: 0.6854, d1.loss_map_pts: 3.2208, d1.loss_map_dir: 0.0526, d2.loss_map_cls: 0.6880, d2.loss_map_pts: 3.1503, d2.loss_map_dir: 0.0528, d3.loss_map_cls: 0.6886, d3.loss_map_pts: 3.1445, d3.loss_map_dir: 0.0529, d4.loss_map_cls: 0.6899, d4.loss_map_pts: 3.1441, d4.loss_map_dir: 0.0530, d5.loss_map_cls: 0.6908, d5.loss_map_pts: 3.1452, d5.loss_map_dir: 0.0530, loss: 99.0708, grad_norm: 263.2869 +2026-02-24 04:19:16,849 - DriveTransformer - INFO - Epoch [1][9300/39528] lr: 1.000e-04, eta: 8 days, 16:13:43, time: 0.771, data_time: 0.037, memory: 19865, loss_cls: 1.1241, loss_bbox: 1.2616, loss_traj: 2.5329, loss_traj_cls: 0.0006, loss_map_cls: 0.7019, loss_map_pts: 2.9335, loss_map_dir: 0.0490, d0.loss_plan_l1_fix_time: 4.0027, d0.loss_plan_l1_fix_dist: 0.7770, d1.loss_plan_l1_fix_time: 3.7469, d1.loss_plan_l1_fix_dist: 0.8302, d2.loss_plan_l1_fix_time: 3.7236, d2.loss_plan_l1_fix_dist: 0.9085, d3.loss_plan_l1_fix_time: 3.7285, d3.loss_plan_l1_fix_dist: 1.0069, d4.loss_plan_l1_fix_time: 3.7400, d4.loss_plan_l1_fix_dist: 1.1099, d5.loss_plan_l1_fix_time: 3.7564, d5.loss_plan_l1_fix_dist: 1.2225, d6.loss_plan_l1_fix_time: 3.7772, d6.loss_plan_l1_fix_dist: 1.3532, d0.loss_cls_all: 1.0736, d0.loss_bbox_all: 1.2243, d0.loss_cls: 1.0736, d0.loss_bbox: 1.2243, d1.loss_cls: 1.0954, d1.loss_bbox: 1.2179, d2.loss_cls: 1.1000, d2.loss_bbox: 1.2179, d3.loss_cls: 1.1196, d3.loss_bbox: 1.2215, d4.loss_cls: 1.1164, d4.loss_bbox: 1.2320, d5.loss_cls: 1.1202, d5.loss_bbox: 1.2448, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3357, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3956, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.4014, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3981, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.4408, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4699, d0.loss_map_cls_all: 0.6849, d0.loss_map_pts_all: 3.3221, d0.loss_map_dir_all: 0.0500, d0.loss_map_cls: 0.6849, d0.loss_map_pts: 3.3221, d0.loss_map_dir: 0.0500, d1.loss_map_cls: 0.6954, d1.loss_map_pts: 2.8861, d1.loss_map_dir: 0.0490, d2.loss_map_cls: 0.6985, d2.loss_map_pts: 2.8258, d2.loss_map_dir: 0.0492, d3.loss_map_cls: 0.6994, d3.loss_map_pts: 2.8389, d3.loss_map_dir: 0.0491, d4.loss_map_cls: 0.7002, d4.loss_map_pts: 2.8634, d4.loss_map_dir: 0.0490, d5.loss_map_cls: 0.7013, d5.loss_map_pts: 2.8943, d5.loss_map_dir: 0.0490, loss: 99.1757, grad_norm: 263.0732 +2026-02-24 04:19:56,799 - DriveTransformer - INFO - Epoch [1][9350/39528] lr: 1.000e-04, eta: 8 days, 16:13:08, time: 0.799, data_time: 0.038, memory: 19865, loss_cls: 1.0843, loss_bbox: 1.2595, loss_traj: 2.4228, loss_traj_cls: 0.0006, loss_map_cls: 0.6654, loss_map_pts: 2.9795, loss_map_dir: 0.0519, d0.loss_plan_l1_fix_time: 3.8740, d0.loss_plan_l1_fix_dist: 0.8219, d1.loss_plan_l1_fix_time: 3.7174, d1.loss_plan_l1_fix_dist: 0.8648, d2.loss_plan_l1_fix_time: 3.7171, d2.loss_plan_l1_fix_dist: 0.9297, d3.loss_plan_l1_fix_time: 3.7318, d3.loss_plan_l1_fix_dist: 1.0114, d4.loss_plan_l1_fix_time: 3.7511, d4.loss_plan_l1_fix_dist: 1.1118, d5.loss_plan_l1_fix_time: 3.7721, d5.loss_plan_l1_fix_dist: 1.2166, d6.loss_plan_l1_fix_time: 3.7960, d6.loss_plan_l1_fix_dist: 1.3262, d0.loss_cls_all: 1.0316, d0.loss_bbox_all: 1.2029, d0.loss_cls: 1.0316, d0.loss_bbox: 1.2029, d1.loss_cls: 1.0326, d1.loss_bbox: 1.2036, d2.loss_cls: 1.0434, d2.loss_bbox: 1.2145, d3.loss_cls: 1.0497, d3.loss_bbox: 1.2235, d4.loss_cls: 1.0578, d4.loss_bbox: 1.2323, d5.loss_cls: 1.0663, d5.loss_bbox: 1.2427, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.1473, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1989, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2751, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.2757, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2998, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3325, d0.loss_map_cls_all: 0.6562, d0.loss_map_pts_all: 3.4802, d0.loss_map_dir_all: 0.0527, d0.loss_map_cls: 0.6562, d0.loss_map_pts: 3.4802, d0.loss_map_dir: 0.0527, d1.loss_map_cls: 0.6630, d1.loss_map_pts: 3.0301, d1.loss_map_dir: 0.0519, d2.loss_map_cls: 0.6651, d2.loss_map_pts: 2.9619, d2.loss_map_dir: 0.0521, d3.loss_map_cls: 0.6663, d3.loss_map_pts: 2.9615, d3.loss_map_dir: 0.0521, d4.loss_map_cls: 0.6654, d4.loss_map_pts: 2.9676, d4.loss_map_dir: 0.0520, d5.loss_map_cls: 0.6648, d5.loss_map_pts: 2.9727, d5.loss_map_dir: 0.0519, loss: 98.3303, grad_norm: 262.5224 +2026-02-24 04:20:37,566 - DriveTransformer - INFO - Epoch [1][9400/39528] lr: 1.000e-04, eta: 8 days, 16:13:55, time: 0.815, data_time: 0.042, memory: 19865, loss_cls: 1.0781, loss_bbox: 1.1726, loss_traj: 2.1414, loss_traj_cls: 0.0006, loss_map_cls: 0.6765, loss_map_pts: 3.0196, loss_map_dir: 0.0503, d0.loss_plan_l1_fix_time: 3.2749, d0.loss_plan_l1_fix_dist: 0.6729, d1.loss_plan_l1_fix_time: 3.1188, d1.loss_plan_l1_fix_dist: 0.7151, d2.loss_plan_l1_fix_time: 3.1008, d2.loss_plan_l1_fix_dist: 0.7934, d3.loss_plan_l1_fix_time: 3.1103, d3.loss_plan_l1_fix_dist: 0.9023, d4.loss_plan_l1_fix_time: 3.1291, d4.loss_plan_l1_fix_dist: 1.0225, d5.loss_plan_l1_fix_time: 3.1494, d5.loss_plan_l1_fix_dist: 1.1600, d6.loss_plan_l1_fix_time: 3.1763, d6.loss_plan_l1_fix_dist: 1.3107, d0.loss_cls_all: 1.0667, d0.loss_bbox_all: 1.1106, d0.loss_cls: 1.0667, d0.loss_bbox: 1.1106, d1.loss_cls: 1.0687, d1.loss_bbox: 1.1157, d2.loss_cls: 1.0703, d2.loss_bbox: 1.1236, d3.loss_cls: 1.0689, d3.loss_bbox: 1.1350, d4.loss_cls: 1.0697, d4.loss_bbox: 1.1418, d5.loss_cls: 1.0735, d5.loss_bbox: 1.1586, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7999, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8522, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8983, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9523, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0106, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0901, d0.loss_map_cls_all: 0.6561, d0.loss_map_pts_all: 3.5953, d0.loss_map_dir_all: 0.0516, d0.loss_map_cls: 0.6561, d0.loss_map_pts: 3.5953, d0.loss_map_dir: 0.0516, d1.loss_map_cls: 0.6712, d1.loss_map_pts: 3.0990, d1.loss_map_dir: 0.0504, d2.loss_map_cls: 0.6734, d2.loss_map_pts: 3.0138, d2.loss_map_dir: 0.0504, d3.loss_map_cls: 0.6737, d3.loss_map_pts: 2.9968, d3.loss_map_dir: 0.0504, d4.loss_map_cls: 0.6745, d4.loss_map_pts: 3.0013, d4.loss_map_dir: 0.0504, d5.loss_map_cls: 0.6749, d5.loss_map_pts: 3.0111, d5.loss_map_dir: 0.0503, loss: 91.1099, grad_norm: 261.8920 +2026-02-24 04:21:18,087 - DriveTransformer - INFO - Epoch [1][9450/39528] lr: 1.000e-04, eta: 8 days, 16:14:16, time: 0.810, data_time: 0.050, memory: 19865, loss_cls: 1.1089, loss_bbox: 1.2983, loss_traj: 2.3472, loss_traj_cls: 0.0005, loss_map_cls: 0.6551, loss_map_pts: 3.1164, loss_map_dir: 0.0486, d0.loss_plan_l1_fix_time: 4.3142, d0.loss_plan_l1_fix_dist: 0.8095, d1.loss_plan_l1_fix_time: 4.1264, d1.loss_plan_l1_fix_dist: 0.8653, d2.loss_plan_l1_fix_time: 4.1074, d2.loss_plan_l1_fix_dist: 0.9451, d3.loss_plan_l1_fix_time: 4.1172, d3.loss_plan_l1_fix_dist: 1.0358, d4.loss_plan_l1_fix_time: 4.1356, d4.loss_plan_l1_fix_dist: 1.1408, d5.loss_plan_l1_fix_time: 4.1566, d5.loss_plan_l1_fix_dist: 1.2573, d6.loss_plan_l1_fix_time: 4.1807, d6.loss_plan_l1_fix_dist: 1.3881, d0.loss_cls_all: 1.0734, d0.loss_bbox_all: 1.2097, d0.loss_cls: 1.0734, d0.loss_bbox: 1.2097, d1.loss_cls: 1.0725, d1.loss_bbox: 1.2155, d2.loss_cls: 1.0812, d2.loss_bbox: 1.2221, d3.loss_cls: 1.0852, d3.loss_bbox: 1.2338, d4.loss_cls: 1.0922, d4.loss_bbox: 1.2529, d5.loss_cls: 1.1028, d5.loss_bbox: 1.2780, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1055, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1148, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2227, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.2211, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2409, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2904, d0.loss_map_cls_all: 0.6338, d0.loss_map_pts_all: 3.6140, d0.loss_map_dir_all: 0.0494, d0.loss_map_cls: 0.6338, d0.loss_map_pts: 3.6140, d0.loss_map_dir: 0.0494, d1.loss_map_cls: 0.6493, d1.loss_map_pts: 3.1577, d1.loss_map_dir: 0.0482, d2.loss_map_cls: 0.6539, d2.loss_map_pts: 3.0825, d2.loss_map_dir: 0.0485, d3.loss_map_cls: 0.6538, d3.loss_map_pts: 3.0746, d3.loss_map_dir: 0.0485, d4.loss_map_cls: 0.6548, d4.loss_map_pts: 3.0788, d4.loss_map_dir: 0.0485, d5.loss_map_cls: 0.6543, d5.loss_map_pts: 3.0919, d5.loss_map_dir: 0.0486, loss: 102.1439, grad_norm: 261.8731 +2026-02-24 04:21:57,127 - DriveTransformer - INFO - Epoch [1][9500/39528] lr: 1.000e-04, eta: 8 days, 16:12:10, time: 0.781, data_time: 0.047, memory: 19865, loss_cls: 1.1103, loss_bbox: 1.2700, loss_traj: 2.4455, loss_traj_cls: 0.0005, loss_map_cls: 0.6942, loss_map_pts: 2.8261, loss_map_dir: 0.0439, d0.loss_plan_l1_fix_time: 3.5326, d0.loss_plan_l1_fix_dist: 0.7141, d1.loss_plan_l1_fix_time: 3.4744, d1.loss_plan_l1_fix_dist: 0.7689, d2.loss_plan_l1_fix_time: 3.5140, d2.loss_plan_l1_fix_dist: 0.8561, d3.loss_plan_l1_fix_time: 3.5500, d3.loss_plan_l1_fix_dist: 0.9534, d4.loss_plan_l1_fix_time: 3.5784, d4.loss_plan_l1_fix_dist: 1.0591, d5.loss_plan_l1_fix_time: 3.6058, d5.loss_plan_l1_fix_dist: 1.1707, d6.loss_plan_l1_fix_time: 3.6295, d6.loss_plan_l1_fix_dist: 1.2930, d0.loss_cls_all: 1.0796, d0.loss_bbox_all: 1.1949, d0.loss_cls: 1.0796, d0.loss_bbox: 1.1949, d1.loss_cls: 1.0872, d1.loss_bbox: 1.2063, d2.loss_cls: 1.0923, d2.loss_bbox: 1.2141, d3.loss_cls: 1.0979, d3.loss_bbox: 1.2255, d4.loss_cls: 1.1025, d4.loss_bbox: 1.2407, d5.loss_cls: 1.1087, d5.loss_bbox: 1.2579, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2348, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3032, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3318, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3816, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.4552, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4524, d0.loss_map_cls_all: 0.6768, d0.loss_map_pts_all: 3.4369, d0.loss_map_dir_all: 0.0450, d0.loss_map_cls: 0.6768, d0.loss_map_pts: 3.4369, d0.loss_map_dir: 0.0450, d1.loss_map_cls: 0.6848, d1.loss_map_pts: 2.9485, d1.loss_map_dir: 0.0443, d2.loss_map_cls: 0.6902, d2.loss_map_pts: 2.8416, d2.loss_map_dir: 0.0442, d3.loss_map_cls: 0.6931, d3.loss_map_pts: 2.8098, d3.loss_map_dir: 0.0441, d4.loss_map_cls: 0.6921, d4.loss_map_pts: 2.8060, d4.loss_map_dir: 0.0440, d5.loss_map_cls: 0.6926, d5.loss_map_pts: 2.8129, d5.loss_map_dir: 0.0439, loss: 96.6445, grad_norm: 261.7793 +2026-02-24 04:22:36,209 - DriveTransformer - INFO - Epoch [1][9550/39528] lr: 1.000e-04, eta: 8 days, 16:10:09, time: 0.782, data_time: 0.038, memory: 19865, loss_cls: 1.1354, loss_bbox: 1.3095, loss_traj: 2.2875, loss_traj_cls: 0.0005, loss_map_cls: 0.6928, loss_map_pts: 2.8562, loss_map_dir: 0.0420, d0.loss_plan_l1_fix_time: 4.0068, d0.loss_plan_l1_fix_dist: 0.6777, d1.loss_plan_l1_fix_time: 3.9041, d1.loss_plan_l1_fix_dist: 0.7393, d2.loss_plan_l1_fix_time: 3.9236, d2.loss_plan_l1_fix_dist: 0.8340, d3.loss_plan_l1_fix_time: 3.9508, d3.loss_plan_l1_fix_dist: 0.9420, d4.loss_plan_l1_fix_time: 3.9792, d4.loss_plan_l1_fix_dist: 1.0601, d5.loss_plan_l1_fix_time: 4.0073, d5.loss_plan_l1_fix_dist: 1.1878, d6.loss_plan_l1_fix_time: 4.0339, d6.loss_plan_l1_fix_dist: 1.3219, d0.loss_cls_all: 1.0974, d0.loss_bbox_all: 1.1842, d0.loss_cls: 1.0974, d0.loss_bbox: 1.1842, d1.loss_cls: 1.1033, d1.loss_bbox: 1.2071, d2.loss_cls: 1.1103, d2.loss_bbox: 1.2206, d3.loss_cls: 1.1178, d3.loss_bbox: 1.2344, d4.loss_cls: 1.1244, d4.loss_bbox: 1.2494, d5.loss_cls: 1.1317, d5.loss_bbox: 1.2757, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9075, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0208, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0287, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1200, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2084, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2394, d0.loss_map_cls_all: 0.6770, d0.loss_map_pts_all: 3.4285, d0.loss_map_dir_all: 0.0433, d0.loss_map_cls: 0.6770, d0.loss_map_pts: 3.4285, d0.loss_map_dir: 0.0433, d1.loss_map_cls: 0.6855, d1.loss_map_pts: 2.9516, d1.loss_map_dir: 0.0422, d2.loss_map_cls: 0.6899, d2.loss_map_pts: 2.8601, d2.loss_map_dir: 0.0422, d3.loss_map_cls: 0.6922, d3.loss_map_pts: 2.8372, d3.loss_map_dir: 0.0422, d4.loss_map_cls: 0.6901, d4.loss_map_pts: 2.8362, d4.loss_map_dir: 0.0420, d5.loss_map_cls: 0.6906, d5.loss_map_pts: 2.8418, d5.loss_map_dir: 0.0420, loss: 98.0416, grad_norm: 265.2958 +2026-02-24 04:23:15,527 - DriveTransformer - INFO - Epoch [1][9600/39528] lr: 1.000e-04, eta: 8 days, 16:08:39, time: 0.788, data_time: 0.040, memory: 19865, loss_cls: 1.0190, loss_bbox: 1.1696, loss_traj: 2.3234, loss_traj_cls: 0.0005, loss_map_cls: 0.6933, loss_map_pts: 2.8103, loss_map_dir: 0.0425, d0.loss_plan_l1_fix_time: 3.5589, d0.loss_plan_l1_fix_dist: 0.6252, d1.loss_plan_l1_fix_time: 3.4359, d1.loss_plan_l1_fix_dist: 0.6739, d2.loss_plan_l1_fix_time: 3.4294, d2.loss_plan_l1_fix_dist: 0.7560, d3.loss_plan_l1_fix_time: 3.4402, d3.loss_plan_l1_fix_dist: 0.8657, d4.loss_plan_l1_fix_time: 3.4588, d4.loss_plan_l1_fix_dist: 0.9912, d5.loss_plan_l1_fix_time: 3.4790, d5.loss_plan_l1_fix_dist: 1.1280, d6.loss_plan_l1_fix_time: 3.5010, d6.loss_plan_l1_fix_dist: 1.2745, d0.loss_cls_all: 1.0120, d0.loss_bbox_all: 1.1157, d0.loss_cls: 1.0120, d0.loss_bbox: 1.1157, d1.loss_cls: 1.0156, d1.loss_bbox: 1.1206, d2.loss_cls: 1.0138, d2.loss_bbox: 1.1234, d3.loss_cls: 1.0232, d3.loss_bbox: 1.1267, d4.loss_cls: 1.0243, d4.loss_bbox: 1.1357, d5.loss_cls: 1.0242, d5.loss_bbox: 1.1497, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0196, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0849, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1231, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1452, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1801, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2430, d0.loss_map_cls_all: 0.6752, d0.loss_map_pts_all: 3.3795, d0.loss_map_dir_all: 0.0436, d0.loss_map_cls: 0.6752, d0.loss_map_pts: 3.3795, d0.loss_map_dir: 0.0436, d1.loss_map_cls: 0.6847, d1.loss_map_pts: 2.9232, d1.loss_map_dir: 0.0425, d2.loss_map_cls: 0.6890, d2.loss_map_pts: 2.8328, d2.loss_map_dir: 0.0427, d3.loss_map_cls: 0.6931, d3.loss_map_pts: 2.8062, d3.loss_map_dir: 0.0428, d4.loss_map_cls: 0.6920, d4.loss_map_pts: 2.8036, d4.loss_map_dir: 0.0427, d5.loss_map_cls: 0.6933, d5.loss_map_pts: 2.8069, d5.loss_map_dir: 0.0426, loss: 92.5222, grad_norm: 264.8419 +2026-02-24 04:23:55,429 - DriveTransformer - INFO - Epoch [1][9650/39528] lr: 1.000e-04, eta: 8 days, 16:07:53, time: 0.797, data_time: 0.039, memory: 19865, loss_cls: 1.0368, loss_bbox: 1.2201, loss_traj: 2.7352, loss_traj_cls: 0.0006, loss_map_cls: 0.7079, loss_map_pts: 2.6508, loss_map_dir: 0.0392, d0.loss_plan_l1_fix_time: 3.5949, d0.loss_plan_l1_fix_dist: 0.7121, d1.loss_plan_l1_fix_time: 3.4808, d1.loss_plan_l1_fix_dist: 0.7615, d2.loss_plan_l1_fix_time: 3.4789, d2.loss_plan_l1_fix_dist: 0.8398, d3.loss_plan_l1_fix_time: 3.4941, d3.loss_plan_l1_fix_dist: 0.9272, d4.loss_plan_l1_fix_time: 3.5152, d4.loss_plan_l1_fix_dist: 1.0261, d5.loss_plan_l1_fix_time: 3.5354, d5.loss_plan_l1_fix_dist: 1.1334, d6.loss_plan_l1_fix_time: 3.5598, d6.loss_plan_l1_fix_dist: 1.2514, d0.loss_cls_all: 1.0348, d0.loss_bbox_all: 1.1450, d0.loss_cls: 1.0348, d0.loss_bbox: 1.1450, d1.loss_cls: 1.0362, d1.loss_bbox: 1.1593, d2.loss_cls: 1.0419, d2.loss_bbox: 1.1696, d3.loss_cls: 1.0452, d3.loss_bbox: 1.1719, d4.loss_cls: 1.0448, d4.loss_bbox: 1.1817, d5.loss_cls: 1.0439, d5.loss_bbox: 1.1964, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.2680, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3215, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3901, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.4615, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.5224, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.6258, d0.loss_map_cls_all: 0.6869, d0.loss_map_pts_all: 3.3332, d0.loss_map_dir_all: 0.0401, d0.loss_map_cls: 0.6869, d0.loss_map_pts: 3.3332, d0.loss_map_dir: 0.0401, d1.loss_map_cls: 0.6990, d1.loss_map_pts: 2.7867, d1.loss_map_dir: 0.0390, d2.loss_map_cls: 0.7024, d2.loss_map_pts: 2.6802, d2.loss_map_dir: 0.0392, d3.loss_map_cls: 0.7053, d3.loss_map_pts: 2.6488, d3.loss_map_dir: 0.0391, d4.loss_map_cls: 0.7058, d4.loss_map_pts: 2.6370, d4.loss_map_dir: 0.0391, d5.loss_map_cls: 0.7059, d5.loss_map_pts: 2.6402, d5.loss_map_dir: 0.0391, loss: 94.9713, grad_norm: 263.6195 +2026-02-24 04:24:37,206 - DriveTransformer - INFO - Epoch [1][9700/39528] lr: 1.000e-04, eta: 8 days, 16:10:15, time: 0.836, data_time: 0.042, memory: 19865, loss_cls: 1.0390, loss_bbox: 1.2948, loss_traj: 2.3478, loss_traj_cls: 0.0007, loss_map_cls: 0.6682, loss_map_pts: 2.9096, loss_map_dir: 0.0420, d0.loss_plan_l1_fix_time: 4.4402, d0.loss_plan_l1_fix_dist: 0.7594, d1.loss_plan_l1_fix_time: 4.1261, d1.loss_plan_l1_fix_dist: 0.8198, d2.loss_plan_l1_fix_time: 4.0910, d2.loss_plan_l1_fix_dist: 0.9082, d3.loss_plan_l1_fix_time: 4.0891, d3.loss_plan_l1_fix_dist: 0.9964, d4.loss_plan_l1_fix_time: 4.0934, d4.loss_plan_l1_fix_dist: 1.0910, d5.loss_plan_l1_fix_time: 4.1034, d5.loss_plan_l1_fix_dist: 1.1904, d6.loss_plan_l1_fix_time: 4.1147, d6.loss_plan_l1_fix_dist: 1.2970, d0.loss_cls_all: 1.0272, d0.loss_bbox_all: 1.2526, d0.loss_cls: 1.0272, d0.loss_bbox: 1.2526, d1.loss_cls: 1.0319, d1.loss_bbox: 1.2588, d2.loss_cls: 1.0355, d2.loss_bbox: 1.2609, d3.loss_cls: 1.0417, d3.loss_bbox: 1.2608, d4.loss_cls: 1.0418, d4.loss_bbox: 1.2692, d5.loss_cls: 1.0401, d5.loss_bbox: 1.2798, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1202, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1696, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2052, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.2248, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2656, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.2938, d0.loss_map_cls_all: 0.6495, d0.loss_map_pts_all: 3.4376, d0.loss_map_dir_all: 0.0433, d0.loss_map_cls: 0.6495, d0.loss_map_pts: 3.4376, d0.loss_map_dir: 0.0433, d1.loss_map_cls: 0.6613, d1.loss_map_pts: 2.9877, d1.loss_map_dir: 0.0421, d2.loss_map_cls: 0.6633, d2.loss_map_pts: 2.9213, d2.loss_map_dir: 0.0420, d3.loss_map_cls: 0.6647, d3.loss_map_pts: 2.9067, d3.loss_map_dir: 0.0420, d4.loss_map_cls: 0.6641, d4.loss_map_pts: 2.9060, d4.loss_map_dir: 0.0421, d5.loss_map_cls: 0.6656, d5.loss_map_pts: 2.9070, d5.loss_map_dir: 0.0421, loss: 100.2039, grad_norm: 263.4210 +2026-02-24 04:25:16,773 - DriveTransformer - INFO - Epoch [1][9750/39528] lr: 1.000e-04, eta: 8 days, 16:09:02, time: 0.791, data_time: 0.037, memory: 19865, loss_cls: 1.0691, loss_bbox: 1.2184, loss_traj: 2.2594, loss_traj_cls: 0.0005, loss_map_cls: 0.6732, loss_map_pts: 2.9437, loss_map_dir: 0.0451, d0.loss_plan_l1_fix_time: 3.6898, d0.loss_plan_l1_fix_dist: 0.6947, d1.loss_plan_l1_fix_time: 3.5811, d1.loss_plan_l1_fix_dist: 0.7584, d2.loss_plan_l1_fix_time: 3.5642, d2.loss_plan_l1_fix_dist: 0.8408, d3.loss_plan_l1_fix_time: 3.5742, d3.loss_plan_l1_fix_dist: 0.9364, d4.loss_plan_l1_fix_time: 3.5950, d4.loss_plan_l1_fix_dist: 1.0363, d5.loss_plan_l1_fix_time: 3.6183, d5.loss_plan_l1_fix_dist: 1.1407, d6.loss_plan_l1_fix_time: 3.6415, d6.loss_plan_l1_fix_dist: 1.2432, d0.loss_cls_all: 1.0452, d0.loss_bbox_all: 1.1680, d0.loss_cls: 1.0452, d0.loss_bbox: 1.1680, d1.loss_cls: 1.0494, d1.loss_bbox: 1.1709, d2.loss_cls: 1.0541, d2.loss_bbox: 1.1731, d3.loss_cls: 1.0571, d3.loss_bbox: 1.1805, d4.loss_cls: 1.0604, d4.loss_bbox: 1.1916, d5.loss_cls: 1.0651, d5.loss_bbox: 1.2037, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8612, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9223, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9772, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0256, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1613, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2165, d0.loss_map_cls_all: 0.6589, d0.loss_map_pts_all: 3.4161, d0.loss_map_dir_all: 0.0460, d0.loss_map_cls: 0.6589, d0.loss_map_pts: 3.4161, d0.loss_map_dir: 0.0460, d1.loss_map_cls: 0.6712, d1.loss_map_pts: 2.9950, d1.loss_map_dir: 0.0453, d2.loss_map_cls: 0.6738, d2.loss_map_pts: 2.9393, d2.loss_map_dir: 0.0452, d3.loss_map_cls: 0.6743, d3.loss_map_pts: 2.9305, d3.loss_map_dir: 0.0453, d4.loss_map_cls: 0.6740, d4.loss_map_pts: 2.9293, d4.loss_map_dir: 0.0452, d5.loss_map_cls: 0.6736, d5.loss_map_pts: 2.9341, d5.loss_map_dir: 0.0451, loss: 94.4871, grad_norm: 253.0303 +2026-02-24 04:25:57,398 - DriveTransformer - INFO - Epoch [1][9800/39528] lr: 1.000e-04, eta: 8 days, 16:09:32, time: 0.813, data_time: 0.043, memory: 19865, loss_cls: 1.0639, loss_bbox: 1.2186, loss_traj: 2.5582, loss_traj_cls: 0.0005, loss_map_cls: 0.7023, loss_map_pts: 2.7370, loss_map_dir: 0.0391, d0.loss_plan_l1_fix_time: 4.2384, d0.loss_plan_l1_fix_dist: 0.6355, d1.loss_plan_l1_fix_time: 3.9659, d1.loss_plan_l1_fix_dist: 0.6804, d2.loss_plan_l1_fix_time: 3.9347, d2.loss_plan_l1_fix_dist: 0.7610, d3.loss_plan_l1_fix_time: 3.9355, d3.loss_plan_l1_fix_dist: 0.8541, d4.loss_plan_l1_fix_time: 3.9453, d4.loss_plan_l1_fix_dist: 0.9619, d5.loss_plan_l1_fix_time: 3.9608, d5.loss_plan_l1_fix_dist: 1.0913, d6.loss_plan_l1_fix_time: 3.9788, d6.loss_plan_l1_fix_dist: 1.2314, d0.loss_cls_all: 1.0353, d0.loss_bbox_all: 1.1703, d0.loss_cls: 1.0353, d0.loss_bbox: 1.1703, d1.loss_cls: 1.0442, d1.loss_bbox: 1.1784, d2.loss_cls: 1.0543, d2.loss_bbox: 1.1826, d3.loss_cls: 1.0642, d3.loss_bbox: 1.1853, d4.loss_cls: 1.0629, d4.loss_bbox: 1.1935, d5.loss_cls: 1.0646, d5.loss_bbox: 1.2029, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2551, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3463, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4217, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.4806, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.5236, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5417, d0.loss_map_cls_all: 0.6787, d0.loss_map_pts_all: 3.2967, d0.loss_map_dir_all: 0.0407, d0.loss_map_cls: 0.6787, d0.loss_map_pts: 3.2967, d0.loss_map_dir: 0.0407, d1.loss_map_cls: 0.6898, d1.loss_map_pts: 2.8233, d1.loss_map_dir: 0.0393, d2.loss_map_cls: 0.6946, d2.loss_map_pts: 2.7215, d2.loss_map_dir: 0.0393, d3.loss_map_cls: 0.6992, d3.loss_map_pts: 2.7006, d3.loss_map_dir: 0.0393, d4.loss_map_cls: 0.6987, d4.loss_map_pts: 2.7069, d4.loss_map_dir: 0.0393, d5.loss_map_cls: 0.6995, d5.loss_map_pts: 2.7204, d5.loss_map_dir: 0.0392, loss: 98.0939, grad_norm: 252.6210 +2026-02-24 04:26:40,116 - DriveTransformer - INFO - Epoch [1][9850/39528] lr: 1.000e-04, eta: 8 days, 16:13:20, time: 0.854, data_time: 0.045, memory: 19865, loss_cls: 1.1278, loss_bbox: 1.2619, loss_traj: 2.4477, loss_traj_cls: 0.0006, loss_map_cls: 0.6387, loss_map_pts: 3.3106, loss_map_dir: 0.0507, d0.loss_plan_l1_fix_time: 3.5987, d0.loss_plan_l1_fix_dist: 0.9553, d1.loss_plan_l1_fix_time: 3.5145, d1.loss_plan_l1_fix_dist: 0.9933, d2.loss_plan_l1_fix_time: 3.5208, d2.loss_plan_l1_fix_dist: 1.0590, d3.loss_plan_l1_fix_time: 3.5423, d3.loss_plan_l1_fix_dist: 1.1319, d4.loss_plan_l1_fix_time: 3.5693, d4.loss_plan_l1_fix_dist: 1.2106, d5.loss_plan_l1_fix_time: 3.5970, d5.loss_plan_l1_fix_dist: 1.2901, d6.loss_plan_l1_fix_time: 3.6253, d6.loss_plan_l1_fix_dist: 1.3751, d0.loss_cls_all: 1.1087, d0.loss_bbox_all: 1.2146, d0.loss_cls: 1.1087, d0.loss_bbox: 1.2146, d1.loss_cls: 1.1140, d1.loss_bbox: 1.2191, d2.loss_cls: 1.1156, d2.loss_bbox: 1.2288, d3.loss_cls: 1.1265, d3.loss_bbox: 1.2311, d4.loss_cls: 1.1247, d4.loss_bbox: 1.2449, d5.loss_cls: 1.1256, d5.loss_bbox: 1.2523, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1038, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.1972, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2920, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3699, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.4129, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.4198, d0.loss_map_cls_all: 0.6184, d0.loss_map_pts_all: 3.7968, d0.loss_map_dir_all: 0.0515, d0.loss_map_cls: 0.6184, d0.loss_map_pts: 3.7968, d0.loss_map_dir: 0.0515, d1.loss_map_cls: 0.6332, d1.loss_map_pts: 3.3272, d1.loss_map_dir: 0.0508, d2.loss_map_cls: 0.6374, d2.loss_map_pts: 3.2710, d2.loss_map_dir: 0.0509, d3.loss_map_cls: 0.6400, d3.loss_map_pts: 3.2700, d3.loss_map_dir: 0.0509, d4.loss_map_cls: 0.6385, d4.loss_map_pts: 3.2802, d4.loss_map_dir: 0.0510, d5.loss_map_cls: 0.6385, d5.loss_map_pts: 3.2943, d5.loss_map_dir: 0.0508, loss: 100.8674, grad_norm: 252.4109 +2026-02-24 04:27:17,567 - DriveTransformer - INFO - Epoch [1][9900/39528] lr: 1.000e-04, eta: 8 days, 16:08:45, time: 0.749, data_time: 0.038, memory: 19865, loss_cls: 1.0725, loss_bbox: 1.2297, loss_traj: 2.5121, loss_traj_cls: 0.0005, loss_map_cls: 0.6490, loss_map_pts: 2.5392, loss_map_dir: 0.0367, d0.loss_plan_l1_fix_time: 3.1345, d0.loss_plan_l1_fix_dist: 0.6012, d1.loss_plan_l1_fix_time: 3.0217, d1.loss_plan_l1_fix_dist: 0.6399, d2.loss_plan_l1_fix_time: 3.0402, d2.loss_plan_l1_fix_dist: 0.6998, d3.loss_plan_l1_fix_time: 3.0666, d3.loss_plan_l1_fix_dist: 0.7708, d4.loss_plan_l1_fix_time: 3.0941, d4.loss_plan_l1_fix_dist: 0.8482, d5.loss_plan_l1_fix_time: 3.1194, d5.loss_plan_l1_fix_dist: 0.9396, d6.loss_plan_l1_fix_time: 3.1429, d6.loss_plan_l1_fix_dist: 1.0391, d0.loss_cls_all: 1.0473, d0.loss_bbox_all: 1.1808, d0.loss_cls: 1.0473, d0.loss_bbox: 1.1808, d1.loss_cls: 1.0523, d1.loss_bbox: 1.1878, d2.loss_cls: 1.0632, d2.loss_bbox: 1.1947, d3.loss_cls: 1.0667, d3.loss_bbox: 1.1987, d4.loss_cls: 1.0675, d4.loss_bbox: 1.2130, d5.loss_cls: 1.0671, d5.loss_bbox: 1.2245, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1594, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2288, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3807, d3.loss_traj_cls: 0.0007, d3.loss_traj: 2.4285, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.4067, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4372, d0.loss_map_cls_all: 0.6366, d0.loss_map_pts_all: 3.2284, d0.loss_map_dir_all: 0.0382, d0.loss_map_cls: 0.6366, d0.loss_map_pts: 3.2284, d0.loss_map_dir: 0.0382, d1.loss_map_cls: 0.6506, d1.loss_map_pts: 2.6485, d1.loss_map_dir: 0.0365, d2.loss_map_cls: 0.6465, d2.loss_map_pts: 2.5420, d2.loss_map_dir: 0.0364, d3.loss_map_cls: 0.6464, d3.loss_map_pts: 2.5216, d3.loss_map_dir: 0.0366, d4.loss_map_cls: 0.6468, d4.loss_map_pts: 2.5242, d4.loss_map_dir: 0.0366, d5.loss_map_cls: 0.6480, d5.loss_map_pts: 2.5306, d5.loss_map_dir: 0.0367, loss: 89.0284, grad_norm: 251.0973 +2026-02-24 04:27:55,147 - DriveTransformer - INFO - Epoch [1][9950/39528] lr: 1.000e-04, eta: 8 days, 16:04:25, time: 0.752, data_time: 0.045, memory: 19865, loss_cls: 0.9991, loss_bbox: 1.1921, loss_traj: 2.3045, loss_traj_cls: 0.0005, loss_map_cls: 0.6617, loss_map_pts: 2.5066, loss_map_dir: 0.0360, d0.loss_plan_l1_fix_time: 3.1956, d0.loss_plan_l1_fix_dist: 0.6421, d1.loss_plan_l1_fix_time: 3.0681, d1.loss_plan_l1_fix_dist: 0.6797, d2.loss_plan_l1_fix_time: 3.0533, d2.loss_plan_l1_fix_dist: 0.7313, d3.loss_plan_l1_fix_time: 3.0667, d3.loss_plan_l1_fix_dist: 0.8017, d4.loss_plan_l1_fix_time: 3.0892, d4.loss_plan_l1_fix_dist: 0.8859, d5.loss_plan_l1_fix_time: 3.1117, d5.loss_plan_l1_fix_dist: 0.9806, d6.loss_plan_l1_fix_time: 3.1337, d6.loss_plan_l1_fix_dist: 1.0876, d0.loss_cls_all: 0.9945, d0.loss_bbox_all: 1.1301, d0.loss_cls: 0.9945, d0.loss_bbox: 1.1301, d1.loss_cls: 0.9960, d1.loss_bbox: 1.1366, d2.loss_cls: 0.9997, d2.loss_bbox: 1.1480, d3.loss_cls: 0.9943, d3.loss_bbox: 1.1528, d4.loss_cls: 0.9949, d4.loss_bbox: 1.1608, d5.loss_cls: 0.9990, d5.loss_bbox: 1.1723, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8501, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9380, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0004, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0991, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2123, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.2515, d0.loss_map_cls_all: 0.6428, d0.loss_map_pts_all: 3.0747, d0.loss_map_dir_all: 0.0368, d0.loss_map_cls: 0.6428, d0.loss_map_pts: 3.0747, d0.loss_map_dir: 0.0368, d1.loss_map_cls: 0.6656, d1.loss_map_pts: 2.5791, d1.loss_map_dir: 0.0362, d2.loss_map_cls: 0.6659, d2.loss_map_pts: 2.5067, d2.loss_map_dir: 0.0362, d3.loss_map_cls: 0.6636, d3.loss_map_pts: 2.4909, d3.loss_map_dir: 0.0361, d4.loss_map_cls: 0.6630, d4.loss_map_pts: 2.4899, d4.loss_map_dir: 0.0360, d5.loss_map_cls: 0.6629, d5.loss_map_pts: 2.4967, d5.loss_map_dir: 0.0361, loss: 86.1593, grad_norm: 251.1386 +2026-02-24 04:28:35,054 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 04:28:35,054 - DriveTransformer - INFO - Epoch [1][10000/39528] lr: 1.000e-04, eta: 8 days, 16:03:46, time: 0.798, data_time: 0.039, memory: 19865, loss_cls: 1.0990, loss_bbox: 1.2532, loss_traj: 2.4191, loss_traj_cls: 0.0005, loss_map_cls: 0.6738, loss_map_pts: 2.9177, loss_map_dir: 0.0389, d0.loss_plan_l1_fix_time: 4.2656, d0.loss_plan_l1_fix_dist: 0.7696, d1.loss_plan_l1_fix_time: 4.1559, d1.loss_plan_l1_fix_dist: 0.8033, d2.loss_plan_l1_fix_time: 4.1569, d2.loss_plan_l1_fix_dist: 0.8611, d3.loss_plan_l1_fix_time: 4.1775, d3.loss_plan_l1_fix_dist: 0.9317, d4.loss_plan_l1_fix_time: 4.2044, d4.loss_plan_l1_fix_dist: 1.0105, d5.loss_plan_l1_fix_time: 4.2318, d5.loss_plan_l1_fix_dist: 1.0989, d6.loss_plan_l1_fix_time: 4.2591, d6.loss_plan_l1_fix_dist: 1.2034, d0.loss_cls_all: 1.0748, d0.loss_bbox_all: 1.2054, d0.loss_cls: 1.0748, d0.loss_bbox: 1.2054, d1.loss_cls: 1.0814, d1.loss_bbox: 1.2097, d2.loss_cls: 1.0837, d2.loss_bbox: 1.2166, d3.loss_cls: 1.0952, d3.loss_bbox: 1.2235, d4.loss_cls: 1.1009, d4.loss_bbox: 1.2388, d5.loss_cls: 1.0957, d5.loss_bbox: 1.2446, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0996, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1349, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1971, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2764, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3640, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4100, d0.loss_map_cls_all: 0.6558, d0.loss_map_pts_all: 3.4615, d0.loss_map_dir_all: 0.0395, d0.loss_map_cls: 0.6558, d0.loss_map_pts: 3.4615, d0.loss_map_dir: 0.0395, d1.loss_map_cls: 0.6687, d1.loss_map_pts: 3.0192, d1.loss_map_dir: 0.0388, d2.loss_map_cls: 0.6709, d2.loss_map_pts: 2.9406, d2.loss_map_dir: 0.0390, d3.loss_map_cls: 0.6709, d3.loss_map_pts: 2.9191, d3.loss_map_dir: 0.0389, d4.loss_map_cls: 0.6717, d4.loss_map_pts: 2.9123, d4.loss_map_dir: 0.0390, d5.loss_map_cls: 0.6723, d5.loss_map_pts: 2.9122, d5.loss_map_dir: 0.0389, loss: 100.7331, grad_norm: 251.1766 +2026-02-24 04:29:16,868 - DriveTransformer - INFO - Epoch [1][10050/39528] lr: 1.000e-04, eta: 8 days, 16:06:06, time: 0.836, data_time: 0.038, memory: 19865, loss_cls: 1.0884, loss_bbox: 1.2718, loss_traj: 2.5491, loss_traj_cls: 0.0006, loss_map_cls: 0.6864, loss_map_pts: 2.8925, loss_map_dir: 0.0381, d0.loss_plan_l1_fix_time: 3.6011, d0.loss_plan_l1_fix_dist: 0.6651, d1.loss_plan_l1_fix_time: 3.4948, d1.loss_plan_l1_fix_dist: 0.7070, d2.loss_plan_l1_fix_time: 3.4916, d2.loss_plan_l1_fix_dist: 0.7764, d3.loss_plan_l1_fix_time: 3.5114, d3.loss_plan_l1_fix_dist: 0.8487, d4.loss_plan_l1_fix_time: 3.5351, d4.loss_plan_l1_fix_dist: 0.9293, d5.loss_plan_l1_fix_time: 3.5618, d5.loss_plan_l1_fix_dist: 1.0125, d6.loss_plan_l1_fix_time: 3.5890, d6.loss_plan_l1_fix_dist: 1.0966, d0.loss_cls_all: 1.0454, d0.loss_bbox_all: 1.2213, d0.loss_cls: 1.0454, d0.loss_bbox: 1.2213, d1.loss_cls: 1.0559, d1.loss_bbox: 1.2231, d2.loss_cls: 1.0649, d2.loss_bbox: 1.2315, d3.loss_cls: 1.0747, d3.loss_bbox: 1.2407, d4.loss_cls: 1.0837, d4.loss_bbox: 1.2495, d5.loss_cls: 1.0830, d5.loss_bbox: 1.2617, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9936, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0559, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1182, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1952, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3908, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4872, d0.loss_map_cls_all: 0.6709, d0.loss_map_pts_all: 3.4316, d0.loss_map_dir_all: 0.0379, d0.loss_map_cls: 0.6709, d0.loss_map_pts: 3.4316, d0.loss_map_dir: 0.0379, d1.loss_map_cls: 0.6841, d1.loss_map_pts: 2.9945, d1.loss_map_dir: 0.0378, d2.loss_map_cls: 0.6841, d2.loss_map_pts: 2.9095, d2.loss_map_dir: 0.0381, d3.loss_map_cls: 0.6831, d3.loss_map_pts: 2.8868, d3.loss_map_dir: 0.0382, d4.loss_map_cls: 0.6846, d4.loss_map_pts: 2.8833, d4.loss_map_dir: 0.0382, d5.loss_map_cls: 0.6851, d5.loss_map_pts: 2.8869, d5.loss_map_dir: 0.0382, loss: 95.1471, grad_norm: 249.2933 +2026-02-24 04:29:58,492 - DriveTransformer - INFO - Epoch [1][10100/39528] lr: 1.000e-04, eta: 8 days, 16:08:05, time: 0.832, data_time: 0.046, memory: 19865, loss_cls: 1.0910, loss_bbox: 1.2877, loss_traj: 2.4407, loss_traj_cls: 0.0006, loss_map_cls: 0.6400, loss_map_pts: 3.2529, loss_map_dir: 0.0400, d0.loss_plan_l1_fix_time: 3.8539, d0.loss_plan_l1_fix_dist: 0.5676, d1.loss_plan_l1_fix_time: 3.7175, d1.loss_plan_l1_fix_dist: 0.6224, d2.loss_plan_l1_fix_time: 3.7243, d2.loss_plan_l1_fix_dist: 0.6846, d3.loss_plan_l1_fix_time: 3.7459, d3.loss_plan_l1_fix_dist: 0.7570, d4.loss_plan_l1_fix_time: 3.7677, d4.loss_plan_l1_fix_dist: 0.8350, d5.loss_plan_l1_fix_time: 3.7896, d5.loss_plan_l1_fix_dist: 0.9220, d6.loss_plan_l1_fix_time: 3.8111, d6.loss_plan_l1_fix_dist: 1.0095, d0.loss_cls_all: 1.0450, d0.loss_bbox_all: 1.2204, d0.loss_cls: 1.0450, d0.loss_bbox: 1.2204, d1.loss_cls: 1.0579, d1.loss_bbox: 1.2309, d2.loss_cls: 1.0602, d2.loss_bbox: 1.2332, d3.loss_cls: 1.0816, d3.loss_bbox: 1.2350, d4.loss_cls: 1.0849, d4.loss_bbox: 1.2436, d5.loss_cls: 1.0765, d5.loss_bbox: 1.2660, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1694, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2485, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3420, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3418, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.3051, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3267, d0.loss_map_cls_all: 0.6370, d0.loss_map_pts_all: 3.7323, d0.loss_map_dir_all: 0.0400, d0.loss_map_cls: 0.6370, d0.loss_map_pts: 3.7323, d0.loss_map_dir: 0.0400, d1.loss_map_cls: 0.6487, d1.loss_map_pts: 3.3116, d1.loss_map_dir: 0.0400, d2.loss_map_cls: 0.6439, d2.loss_map_pts: 3.2478, d2.loss_map_dir: 0.0401, d3.loss_map_cls: 0.6416, d3.loss_map_pts: 3.2381, d3.loss_map_dir: 0.0402, d4.loss_map_cls: 0.6412, d4.loss_map_pts: 3.2407, d4.loss_map_dir: 0.0401, d5.loss_map_cls: 0.6415, d5.loss_map_pts: 3.2461, d5.loss_map_dir: 0.0401, loss: 98.9188, grad_norm: 249.0026 +2026-02-24 04:30:39,409 - DriveTransformer - INFO - Epoch [1][10150/39528] lr: 1.000e-04, eta: 8 days, 16:08:58, time: 0.818, data_time: 0.041, memory: 19865, loss_cls: 1.1221, loss_bbox: 1.2020, loss_traj: 2.2311, loss_traj_cls: 0.0005, loss_map_cls: 0.6679, loss_map_pts: 2.9936, loss_map_dir: 0.0384, d0.loss_plan_l1_fix_time: 3.6905, d0.loss_plan_l1_fix_dist: 0.6420, d1.loss_plan_l1_fix_time: 3.5525, d1.loss_plan_l1_fix_dist: 0.6896, d2.loss_plan_l1_fix_time: 3.5494, d2.loss_plan_l1_fix_dist: 0.7536, d3.loss_plan_l1_fix_time: 3.5639, d3.loss_plan_l1_fix_dist: 0.8281, d4.loss_plan_l1_fix_time: 3.5800, d4.loss_plan_l1_fix_dist: 0.9144, d5.loss_plan_l1_fix_time: 3.5986, d5.loss_plan_l1_fix_dist: 1.0080, d6.loss_plan_l1_fix_time: 3.6173, d6.loss_plan_l1_fix_dist: 1.1176, d0.loss_cls_all: 1.0636, d0.loss_bbox_all: 1.1714, d0.loss_cls: 1.0636, d0.loss_bbox: 1.1714, d1.loss_cls: 1.0829, d1.loss_bbox: 1.1787, d2.loss_cls: 1.1102, d2.loss_bbox: 1.1767, d3.loss_cls: 1.0948, d3.loss_bbox: 1.1753, d4.loss_cls: 1.1013, d4.loss_bbox: 1.1777, d5.loss_cls: 1.1245, d5.loss_bbox: 1.1874, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0895, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1166, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1453, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1655, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2004, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2241, d0.loss_map_cls_all: 0.6473, d0.loss_map_pts_all: 3.5102, d0.loss_map_dir_all: 0.0384, d0.loss_map_cls: 0.6473, d0.loss_map_pts: 3.5102, d0.loss_map_dir: 0.0384, d1.loss_map_cls: 0.6612, d1.loss_map_pts: 3.0513, d1.loss_map_dir: 0.0383, d2.loss_map_cls: 0.6620, d2.loss_map_pts: 2.9944, d2.loss_map_dir: 0.0384, d3.loss_map_cls: 0.6620, d3.loss_map_pts: 2.9876, d3.loss_map_dir: 0.0385, d4.loss_map_cls: 0.6622, d4.loss_map_pts: 2.9896, d4.loss_map_dir: 0.0385, d5.loss_map_cls: 0.6625, d5.loss_map_pts: 2.9931, d5.loss_map_dir: 0.0385, loss: 95.0951, grad_norm: 247.2143 +2026-02-24 04:31:19,092 - DriveTransformer - INFO - Epoch [1][10200/39528] lr: 1.000e-04, eta: 8 days, 16:07:56, time: 0.794, data_time: 0.041, memory: 19865, loss_cls: 1.0757, loss_bbox: 1.2244, loss_traj: 1.9713, loss_traj_cls: 0.0005, loss_map_cls: 0.7270, loss_map_pts: 2.8012, loss_map_dir: 0.0346, d0.loss_plan_l1_fix_time: 3.7391, d0.loss_plan_l1_fix_dist: 0.6934, d1.loss_plan_l1_fix_time: 3.5884, d1.loss_plan_l1_fix_dist: 0.7377, d2.loss_plan_l1_fix_time: 3.5736, d2.loss_plan_l1_fix_dist: 0.8071, d3.loss_plan_l1_fix_time: 3.5800, d3.loss_plan_l1_fix_dist: 0.8829, d4.loss_plan_l1_fix_time: 3.5972, d4.loss_plan_l1_fix_dist: 0.9699, d5.loss_plan_l1_fix_time: 3.6170, d5.loss_plan_l1_fix_dist: 1.0701, d6.loss_plan_l1_fix_time: 3.6397, d6.loss_plan_l1_fix_dist: 1.1802, d0.loss_cls_all: 1.0414, d0.loss_bbox_all: 1.1893, d0.loss_cls: 1.0414, d0.loss_bbox: 1.1893, d1.loss_cls: 1.0450, d1.loss_bbox: 1.2004, d2.loss_cls: 1.0610, d2.loss_bbox: 1.2038, d3.loss_cls: 1.0618, d3.loss_bbox: 1.2035, d4.loss_cls: 1.0642, d4.loss_bbox: 1.2061, d5.loss_cls: 1.0784, d5.loss_bbox: 1.2127, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8034, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8738, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8961, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9243, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9537, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9638, d0.loss_map_cls_all: 0.7009, d0.loss_map_pts_all: 3.3332, d0.loss_map_dir_all: 0.0352, d0.loss_map_cls: 0.7009, d0.loss_map_pts: 3.3332, d0.loss_map_dir: 0.0352, d1.loss_map_cls: 0.7066, d1.loss_map_pts: 2.8139, d1.loss_map_dir: 0.0346, d2.loss_map_cls: 0.7103, d2.loss_map_pts: 2.7484, d2.loss_map_dir: 0.0347, d3.loss_map_cls: 0.7135, d3.loss_map_pts: 2.7494, d3.loss_map_dir: 0.0347, d4.loss_map_cls: 0.7182, d4.loss_map_pts: 2.7607, d4.loss_map_dir: 0.0347, d5.loss_map_cls: 0.7195, d5.loss_map_pts: 2.7768, d5.loss_map_dir: 0.0346, loss: 92.4564, grad_norm: 246.4158 +2026-02-24 04:31:58,492 - DriveTransformer - INFO - Epoch [1][10250/39528] lr: 1.000e-04, eta: 8 days, 16:06:28, time: 0.788, data_time: 0.046, memory: 19865, loss_cls: 1.0778, loss_bbox: 1.1645, loss_traj: 2.2298, loss_traj_cls: 0.0006, loss_map_cls: 0.6623, loss_map_pts: 2.6482, loss_map_dir: 0.0360, d0.loss_plan_l1_fix_time: 3.5715, d0.loss_plan_l1_fix_dist: 0.5802, d1.loss_plan_l1_fix_time: 3.4219, d1.loss_plan_l1_fix_dist: 0.6394, d2.loss_plan_l1_fix_time: 3.4049, d2.loss_plan_l1_fix_dist: 0.7141, d3.loss_plan_l1_fix_time: 3.4147, d3.loss_plan_l1_fix_dist: 0.7915, d4.loss_plan_l1_fix_time: 3.4351, d4.loss_plan_l1_fix_dist: 0.8723, d5.loss_plan_l1_fix_time: 3.4567, d5.loss_plan_l1_fix_dist: 0.9603, d6.loss_plan_l1_fix_time: 3.4827, d6.loss_plan_l1_fix_dist: 1.0592, d0.loss_cls_all: 1.0218, d0.loss_bbox_all: 1.1361, d0.loss_cls: 1.0218, d0.loss_bbox: 1.1361, d1.loss_cls: 1.0263, d1.loss_bbox: 1.1371, d2.loss_cls: 1.0609, d2.loss_bbox: 1.1367, d3.loss_cls: 1.0420, d3.loss_bbox: 1.1384, d4.loss_cls: 1.0558, d4.loss_bbox: 1.1432, d5.loss_cls: 1.0884, d5.loss_bbox: 1.1524, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0407, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0730, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0959, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1375, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2117, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2425, d0.loss_map_cls_all: 0.6406, d0.loss_map_pts_all: 3.1777, d0.loss_map_dir_all: 0.0368, d0.loss_map_cls: 0.6406, d0.loss_map_pts: 3.1777, d0.loss_map_dir: 0.0368, d1.loss_map_cls: 0.6503, d1.loss_map_pts: 2.6702, d1.loss_map_dir: 0.0363, d2.loss_map_cls: 0.6549, d2.loss_map_pts: 2.6177, d2.loss_map_dir: 0.0363, d3.loss_map_cls: 0.6583, d3.loss_map_pts: 2.6134, d3.loss_map_dir: 0.0363, d4.loss_map_cls: 0.6575, d4.loss_map_pts: 2.6226, d4.loss_map_dir: 0.0362, d5.loss_map_cls: 0.6584, d5.loss_map_pts: 2.6341, d5.loss_map_dir: 0.0362, loss: 90.0537, grad_norm: 246.5641 +2026-02-24 04:32:37,851 - DriveTransformer - INFO - Epoch [1][10300/39528] lr: 1.000e-04, eta: 8 days, 16:04:57, time: 0.787, data_time: 0.048, memory: 19865, loss_cls: 1.0351, loss_bbox: 1.2241, loss_traj: 2.0285, loss_traj_cls: 0.0005, loss_map_cls: 0.6685, loss_map_pts: 2.9231, loss_map_dir: 0.0368, d0.loss_plan_l1_fix_time: 3.5112, d0.loss_plan_l1_fix_dist: 0.7361, d1.loss_plan_l1_fix_time: 3.3469, d1.loss_plan_l1_fix_dist: 0.7802, d2.loss_plan_l1_fix_time: 3.3377, d2.loss_plan_l1_fix_dist: 0.8369, d3.loss_plan_l1_fix_time: 3.3509, d3.loss_plan_l1_fix_dist: 0.9001, d4.loss_plan_l1_fix_time: 3.3720, d4.loss_plan_l1_fix_dist: 0.9703, d5.loss_plan_l1_fix_time: 3.3945, d5.loss_plan_l1_fix_dist: 1.0515, d6.loss_plan_l1_fix_time: 3.4170, d6.loss_plan_l1_fix_dist: 1.1317, d0.loss_cls_all: 1.0090, d0.loss_bbox_all: 1.1814, d0.loss_cls: 1.0090, d0.loss_bbox: 1.1814, d1.loss_cls: 1.0126, d1.loss_bbox: 1.1894, d2.loss_cls: 1.0268, d2.loss_bbox: 1.1967, d3.loss_cls: 1.0377, d3.loss_bbox: 1.2009, d4.loss_cls: 1.0338, d4.loss_bbox: 1.2052, d5.loss_cls: 1.0354, d5.loss_bbox: 1.2114, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8615, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8855, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9085, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9351, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9413, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9623, d0.loss_map_cls_all: 0.6483, d0.loss_map_pts_all: 3.4309, d0.loss_map_dir_all: 0.0376, d0.loss_map_cls: 0.6483, d0.loss_map_pts: 3.4309, d0.loss_map_dir: 0.0376, d1.loss_map_cls: 0.6538, d1.loss_map_pts: 2.9136, d1.loss_map_dir: 0.0368, d2.loss_map_cls: 0.6562, d2.loss_map_pts: 2.8684, d2.loss_map_dir: 0.0369, d3.loss_map_cls: 0.6589, d3.loss_map_pts: 2.8794, d3.loss_map_dir: 0.0368, d4.loss_map_cls: 0.6603, d4.loss_map_pts: 2.8940, d4.loss_map_dir: 0.0368, d5.loss_map_cls: 0.6618, d5.loss_map_pts: 2.9083, d5.loss_map_dir: 0.0368, loss: 91.2536, grad_norm: 245.4633 +2026-02-24 04:33:15,535 - DriveTransformer - INFO - Epoch [1][10350/39528] lr: 1.000e-04, eta: 8 days, 16:00:55, time: 0.754, data_time: 0.042, memory: 19865, loss_cls: 1.0459, loss_bbox: 1.2496, loss_traj: 2.5953, loss_traj_cls: 0.0005, loss_map_cls: 0.6757, loss_map_pts: 2.3318, loss_map_dir: 0.0313, d0.loss_plan_l1_fix_time: 3.6385, d0.loss_plan_l1_fix_dist: 0.5874, d1.loss_plan_l1_fix_time: 3.4654, d1.loss_plan_l1_fix_dist: 0.6298, d2.loss_plan_l1_fix_time: 3.4687, d2.loss_plan_l1_fix_dist: 0.6933, d3.loss_plan_l1_fix_time: 3.4840, d3.loss_plan_l1_fix_dist: 0.7696, d4.loss_plan_l1_fix_time: 3.5018, d4.loss_plan_l1_fix_dist: 0.8572, d5.loss_plan_l1_fix_time: 3.5217, d5.loss_plan_l1_fix_dist: 0.9441, d6.loss_plan_l1_fix_time: 3.5418, d6.loss_plan_l1_fix_dist: 1.0370, d0.loss_cls_all: 1.0245, d0.loss_bbox_all: 1.1982, d0.loss_cls: 1.0245, d0.loss_bbox: 1.1982, d1.loss_cls: 1.0320, d1.loss_bbox: 1.2055, d2.loss_cls: 1.0424, d2.loss_bbox: 1.2136, d3.loss_cls: 1.0471, d3.loss_bbox: 1.2195, d4.loss_cls: 1.0485, d4.loss_bbox: 1.2260, d5.loss_cls: 1.0433, d5.loss_bbox: 1.2344, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.4792, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5046, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.5102, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.5108, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.5358, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5471, d0.loss_map_cls_all: 0.6599, d0.loss_map_pts_all: 3.0033, d0.loss_map_dir_all: 0.0321, d0.loss_map_cls: 0.6599, d0.loss_map_pts: 3.0033, d0.loss_map_dir: 0.0321, d1.loss_map_cls: 0.6669, d1.loss_map_pts: 2.4066, d1.loss_map_dir: 0.0314, d2.loss_map_cls: 0.6683, d2.loss_map_pts: 2.3133, d2.loss_map_dir: 0.0315, d3.loss_map_cls: 0.6726, d3.loss_map_pts: 2.3010, d3.loss_map_dir: 0.0314, d4.loss_map_cls: 0.6731, d4.loss_map_pts: 2.3080, d4.loss_map_dir: 0.0313, d5.loss_map_cls: 0.6738, d5.loss_map_pts: 2.3188, d5.loss_map_dir: 0.0313, loss: 91.4684, grad_norm: 242.8649 +2026-02-24 04:33:54,699 - DriveTransformer - INFO - Epoch [1][10400/39528] lr: 1.000e-04, eta: 8 days, 15:59:15, time: 0.785, data_time: 0.041, memory: 19865, loss_cls: 1.0125, loss_bbox: 1.1708, loss_traj: 2.1206, loss_traj_cls: 0.0005, loss_map_cls: 0.6637, loss_map_pts: 2.4831, loss_map_dir: 0.0321, d0.loss_plan_l1_fix_time: 3.4883, d0.loss_plan_l1_fix_dist: 0.6873, d1.loss_plan_l1_fix_time: 3.3477, d1.loss_plan_l1_fix_dist: 0.7266, d2.loss_plan_l1_fix_time: 3.3681, d2.loss_plan_l1_fix_dist: 0.7836, d3.loss_plan_l1_fix_time: 3.3941, d3.loss_plan_l1_fix_dist: 0.8572, d4.loss_plan_l1_fix_time: 3.4175, d4.loss_plan_l1_fix_dist: 0.9476, d5.loss_plan_l1_fix_time: 3.4417, d5.loss_plan_l1_fix_dist: 1.0564, d6.loss_plan_l1_fix_time: 3.4656, d6.loss_plan_l1_fix_dist: 1.1780, d0.loss_cls_all: 1.0106, d0.loss_bbox_all: 1.1151, d0.loss_cls: 1.0106, d0.loss_bbox: 1.1151, d1.loss_cls: 1.0123, d1.loss_bbox: 1.1243, d2.loss_cls: 1.0128, d2.loss_bbox: 1.1329, d3.loss_cls: 1.0418, d3.loss_bbox: 1.1400, d4.loss_cls: 1.0291, d4.loss_bbox: 1.1489, d5.loss_cls: 1.0145, d5.loss_bbox: 1.1583, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0616, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0727, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0709, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0618, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0771, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0879, d0.loss_map_cls_all: 0.6540, d0.loss_map_pts_all: 3.1972, d0.loss_map_dir_all: 0.0327, d0.loss_map_cls: 0.6540, d0.loss_map_pts: 3.1972, d0.loss_map_dir: 0.0327, d1.loss_map_cls: 0.6589, d1.loss_map_pts: 2.5726, d1.loss_map_dir: 0.0322, d2.loss_map_cls: 0.6585, d2.loss_map_pts: 2.4799, d2.loss_map_dir: 0.0322, d3.loss_map_cls: 0.6620, d3.loss_map_pts: 2.4695, d3.loss_map_dir: 0.0323, d4.loss_map_cls: 0.6620, d4.loss_map_pts: 2.4712, d4.loss_map_dir: 0.0322, d5.loss_map_cls: 0.6628, d5.loss_map_pts: 2.4759, d5.loss_map_dir: 0.0322, loss: 88.8463, grad_norm: 239.3743 +2026-02-24 04:34:34,176 - DriveTransformer - INFO - Epoch [1][10450/39528] lr: 1.000e-04, eta: 8 days, 15:57:51, time: 0.788, data_time: 0.043, memory: 19865, loss_cls: 1.0420, loss_bbox: 1.1837, loss_traj: 2.3629, loss_traj_cls: 0.0005, loss_map_cls: 0.6686, loss_map_pts: 2.6315, loss_map_dir: 0.0362, d0.loss_plan_l1_fix_time: 3.5324, d0.loss_plan_l1_fix_dist: 0.7863, d1.loss_plan_l1_fix_time: 3.4936, d1.loss_plan_l1_fix_dist: 0.8267, d2.loss_plan_l1_fix_time: 3.5083, d2.loss_plan_l1_fix_dist: 0.8850, d3.loss_plan_l1_fix_time: 3.5362, d3.loss_plan_l1_fix_dist: 0.9560, d4.loss_plan_l1_fix_time: 3.5675, d4.loss_plan_l1_fix_dist: 1.0402, d5.loss_plan_l1_fix_time: 3.5970, d5.loss_plan_l1_fix_dist: 1.1414, d6.loss_plan_l1_fix_time: 3.6251, d6.loss_plan_l1_fix_dist: 1.2536, d0.loss_cls_all: 1.0375, d0.loss_bbox_all: 1.1448, d0.loss_cls: 1.0375, d0.loss_bbox: 1.1448, d1.loss_cls: 1.0381, d1.loss_bbox: 1.1527, d2.loss_cls: 1.0392, d2.loss_bbox: 1.1615, d3.loss_cls: 1.0580, d3.loss_bbox: 1.1641, d4.loss_cls: 1.0515, d4.loss_bbox: 1.1719, d5.loss_cls: 1.0453, d5.loss_bbox: 1.1749, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.3003, d1.loss_traj_cls: 0.0004, d1.loss_traj: 2.3171, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3363, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3284, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.3439, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3538, d0.loss_map_cls_all: 0.6537, d0.loss_map_pts_all: 3.2833, d0.loss_map_dir_all: 0.0356, d0.loss_map_cls: 0.6537, d0.loss_map_pts: 3.2833, d0.loss_map_dir: 0.0356, d1.loss_map_cls: 0.6633, d1.loss_map_pts: 2.7171, d1.loss_map_dir: 0.0358, d2.loss_map_cls: 0.6649, d2.loss_map_pts: 2.6395, d2.loss_map_dir: 0.0362, d3.loss_map_cls: 0.6675, d3.loss_map_pts: 2.6262, d3.loss_map_dir: 0.0362, d4.loss_map_cls: 0.6696, d4.loss_map_pts: 2.6251, d4.loss_map_dir: 0.0362, d5.loss_map_cls: 0.6700, d5.loss_map_pts: 2.6275, d5.loss_map_dir: 0.0362, loss: 93.7758, grad_norm: 237.9735 +2026-02-24 04:35:15,793 - DriveTransformer - INFO - Epoch [1][10500/39528] lr: 1.000e-04, eta: 8 days, 15:59:44, time: 0.832, data_time: 0.041, memory: 19865, loss_cls: 1.0559, loss_bbox: 1.2309, loss_traj: 2.1010, loss_traj_cls: 0.0005, loss_map_cls: 0.6478, loss_map_pts: 3.2061, loss_map_dir: 0.0453, d0.loss_plan_l1_fix_time: 3.5106, d0.loss_plan_l1_fix_dist: 0.6308, d1.loss_plan_l1_fix_time: 3.3671, d1.loss_plan_l1_fix_dist: 0.6760, d2.loss_plan_l1_fix_time: 3.3455, d2.loss_plan_l1_fix_dist: 0.7571, d3.loss_plan_l1_fix_time: 3.3556, d3.loss_plan_l1_fix_dist: 0.8576, d4.loss_plan_l1_fix_time: 3.3745, d4.loss_plan_l1_fix_dist: 0.9738, d5.loss_plan_l1_fix_time: 3.3943, d5.loss_plan_l1_fix_dist: 1.0871, d6.loss_plan_l1_fix_time: 3.4165, d6.loss_plan_l1_fix_dist: 1.2108, d0.loss_cls_all: 1.0582, d0.loss_bbox_all: 1.2019, d0.loss_cls: 1.0582, d0.loss_bbox: 1.2019, d1.loss_cls: 1.0606, d1.loss_bbox: 1.2040, d2.loss_cls: 1.0616, d2.loss_bbox: 1.2079, d3.loss_cls: 1.0653, d3.loss_bbox: 1.2104, d4.loss_cls: 1.0604, d4.loss_bbox: 1.2165, d5.loss_cls: 1.0609, d5.loss_bbox: 1.2233, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9919, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0208, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0373, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0487, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0655, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0856, d0.loss_map_cls_all: 0.6459, d0.loss_map_pts_all: 3.7145, d0.loss_map_dir_all: 0.0451, d0.loss_map_cls: 0.6459, d0.loss_map_pts: 3.7145, d0.loss_map_dir: 0.0451, d1.loss_map_cls: 0.6524, d1.loss_map_pts: 3.2484, d1.loss_map_dir: 0.0451, d2.loss_map_cls: 0.6527, d2.loss_map_pts: 3.1904, d2.loss_map_dir: 0.0453, d3.loss_map_cls: 0.6513, d3.loss_map_pts: 3.1850, d3.loss_map_dir: 0.0453, d4.loss_map_cls: 0.6508, d4.loss_map_pts: 3.1899, d4.loss_map_dir: 0.0452, d5.loss_map_cls: 0.6517, d5.loss_map_pts: 3.1973, d5.loss_map_dir: 0.0453, loss: 94.6961, grad_norm: 235.7770 +2026-02-24 04:35:55,710 - DriveTransformer - INFO - Epoch [1][10550/39528] lr: 1.000e-04, eta: 8 days, 15:59:05, time: 0.798, data_time: 0.039, memory: 19865, loss_cls: 1.0354, loss_bbox: 1.2698, loss_traj: 2.2094, loss_traj_cls: 0.0005, loss_map_cls: 0.6357, loss_map_pts: 3.0311, loss_map_dir: 0.0389, d0.loss_plan_l1_fix_time: 3.5335, d0.loss_plan_l1_fix_dist: 0.6756, d1.loss_plan_l1_fix_time: 3.4125, d1.loss_plan_l1_fix_dist: 0.7273, d2.loss_plan_l1_fix_time: 3.4065, d2.loss_plan_l1_fix_dist: 0.7883, d3.loss_plan_l1_fix_time: 3.4165, d3.loss_plan_l1_fix_dist: 0.8697, d4.loss_plan_l1_fix_time: 3.4314, d4.loss_plan_l1_fix_dist: 0.9554, d5.loss_plan_l1_fix_time: 3.4510, d5.loss_plan_l1_fix_dist: 1.0517, d6.loss_plan_l1_fix_time: 3.4752, d6.loss_plan_l1_fix_dist: 1.1503, d0.loss_cls_all: 1.0180, d0.loss_bbox_all: 1.2492, d0.loss_cls: 1.0180, d0.loss_bbox: 1.2492, d1.loss_cls: 1.0206, d1.loss_bbox: 1.2516, d2.loss_cls: 1.0231, d2.loss_bbox: 1.2540, d3.loss_cls: 1.0222, d3.loss_bbox: 1.2598, d4.loss_cls: 1.0271, d4.loss_bbox: 1.2710, d5.loss_cls: 1.0305, d5.loss_bbox: 1.2705, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0879, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.1284, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1500, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1539, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.2030, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2111, d0.loss_map_cls_all: 0.6245, d0.loss_map_pts_all: 3.6390, d0.loss_map_dir_all: 0.0390, d0.loss_map_cls: 0.6245, d0.loss_map_pts: 3.6390, d0.loss_map_dir: 0.0390, d1.loss_map_cls: 0.6303, d1.loss_map_pts: 3.1076, d1.loss_map_dir: 0.0386, d2.loss_map_cls: 0.6319, d2.loss_map_pts: 3.0359, d2.loss_map_dir: 0.0389, d3.loss_map_cls: 0.6321, d3.loss_map_pts: 3.0219, d3.loss_map_dir: 0.0389, d4.loss_map_cls: 0.6336, d4.loss_map_pts: 3.0208, d4.loss_map_dir: 0.0389, d5.loss_map_cls: 0.6336, d5.loss_map_pts: 3.0252, d5.loss_map_dir: 0.0388, loss: 94.6403, grad_norm: 236.0310 +2026-02-24 04:36:35,888 - DriveTransformer - INFO - Epoch [1][10600/39528] lr: 1.000e-04, eta: 8 days, 15:58:49, time: 0.803, data_time: 0.037, memory: 19865, loss_cls: 1.0372, loss_bbox: 1.2217, loss_traj: 2.2172, loss_traj_cls: 0.0005, loss_map_cls: 0.6686, loss_map_pts: 2.6924, loss_map_dir: 0.0385, d0.loss_plan_l1_fix_time: 3.7171, d0.loss_plan_l1_fix_dist: 0.7228, d1.loss_plan_l1_fix_time: 3.5443, d1.loss_plan_l1_fix_dist: 0.7795, d2.loss_plan_l1_fix_time: 3.5279, d2.loss_plan_l1_fix_dist: 0.8596, d3.loss_plan_l1_fix_time: 3.5333, d3.loss_plan_l1_fix_dist: 0.9528, d4.loss_plan_l1_fix_time: 3.5452, d4.loss_plan_l1_fix_dist: 1.0523, d5.loss_plan_l1_fix_time: 3.5615, d5.loss_plan_l1_fix_dist: 1.1595, d6.loss_plan_l1_fix_time: 3.5796, d6.loss_plan_l1_fix_dist: 1.2898, d0.loss_cls_all: 1.0298, d0.loss_bbox_all: 1.1830, d0.loss_cls: 1.0298, d0.loss_bbox: 1.1830, d1.loss_cls: 1.0322, d1.loss_bbox: 1.1881, d2.loss_cls: 1.0360, d2.loss_bbox: 1.1909, d3.loss_cls: 1.0394, d3.loss_bbox: 1.1934, d4.loss_cls: 1.0377, d4.loss_bbox: 1.2006, d5.loss_cls: 1.0401, d5.loss_bbox: 1.2085, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0630, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1181, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1333, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1481, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1527, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1790, d0.loss_map_cls_all: 0.6507, d0.loss_map_pts_all: 3.3340, d0.loss_map_dir_all: 0.0384, d0.loss_map_cls: 0.6507, d0.loss_map_pts: 3.3340, d0.loss_map_dir: 0.0384, d1.loss_map_cls: 0.6622, d1.loss_map_pts: 2.7614, d1.loss_map_dir: 0.0383, d2.loss_map_cls: 0.6672, d2.loss_map_pts: 2.6848, d2.loss_map_dir: 0.0385, d3.loss_map_cls: 0.6695, d3.loss_map_pts: 2.6739, d3.loss_map_dir: 0.0385, d4.loss_map_cls: 0.6701, d4.loss_map_pts: 2.6782, d4.loss_map_dir: 0.0385, d5.loss_map_cls: 0.6692, d5.loss_map_pts: 2.6856, d5.loss_map_dir: 0.0385, loss: 93.1516, grad_norm: 232.7171 +2026-02-24 04:37:15,937 - DriveTransformer - INFO - Epoch [1][10650/39528] lr: 1.000e-04, eta: 8 days, 15:58:22, time: 0.801, data_time: 0.041, memory: 19865, loss_cls: 1.0274, loss_bbox: 1.1927, loss_traj: 2.3424, loss_traj_cls: 0.0005, loss_map_cls: 0.6564, loss_map_pts: 3.1139, loss_map_dir: 0.0428, d0.loss_plan_l1_fix_time: 3.5149, d0.loss_plan_l1_fix_dist: 0.6263, d1.loss_plan_l1_fix_time: 3.3483, d1.loss_plan_l1_fix_dist: 0.6795, d2.loss_plan_l1_fix_time: 3.3199, d2.loss_plan_l1_fix_dist: 0.7527, d3.loss_plan_l1_fix_time: 3.3189, d3.loss_plan_l1_fix_dist: 0.8381, d4.loss_plan_l1_fix_time: 3.3295, d4.loss_plan_l1_fix_dist: 0.9336, d5.loss_plan_l1_fix_time: 3.3443, d5.loss_plan_l1_fix_dist: 1.0363, d6.loss_plan_l1_fix_time: 3.3617, d6.loss_plan_l1_fix_dist: 1.1341, d0.loss_cls_all: 1.0214, d0.loss_bbox_all: 1.1546, d0.loss_cls: 1.0214, d0.loss_bbox: 1.1546, d1.loss_cls: 1.0200, d1.loss_bbox: 1.1540, d2.loss_cls: 1.0247, d2.loss_bbox: 1.1559, d3.loss_cls: 1.0247, d3.loss_bbox: 1.1626, d4.loss_cls: 1.0237, d4.loss_bbox: 1.1686, d5.loss_cls: 1.0263, d5.loss_bbox: 1.1798, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.1901, d1.loss_traj_cls: 0.0004, d1.loss_traj: 2.2298, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2780, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3127, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.3073, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3270, d0.loss_map_cls_all: 0.6367, d0.loss_map_pts_all: 3.6439, d0.loss_map_dir_all: 0.0430, d0.loss_map_cls: 0.6367, d0.loss_map_pts: 3.6439, d0.loss_map_dir: 0.0430, d1.loss_map_cls: 0.6458, d1.loss_map_pts: 3.1445, d1.loss_map_dir: 0.0428, d2.loss_map_cls: 0.6475, d2.loss_map_pts: 3.1041, d2.loss_map_dir: 0.0429, d3.loss_map_cls: 0.6494, d3.loss_map_pts: 3.1073, d3.loss_map_dir: 0.0429, d4.loss_map_cls: 0.6525, d4.loss_map_pts: 3.1103, d4.loss_map_dir: 0.0429, d5.loss_map_cls: 0.6529, d5.loss_map_pts: 3.1123, d5.loss_map_dir: 0.0428, loss: 94.5419, grad_norm: 232.4316 +2026-02-24 04:37:56,499 - DriveTransformer - INFO - Epoch [1][10700/39528] lr: 1.000e-04, eta: 8 days, 15:58:39, time: 0.811, data_time: 0.040, memory: 19865, loss_cls: 1.0650, loss_bbox: 1.2112, loss_traj: 1.8818, loss_traj_cls: 0.0005, loss_map_cls: 0.6550, loss_map_pts: 3.1742, loss_map_dir: 0.0472, d0.loss_plan_l1_fix_time: 3.8237, d0.loss_plan_l1_fix_dist: 0.6474, d1.loss_plan_l1_fix_time: 3.7540, d1.loss_plan_l1_fix_dist: 0.7137, d2.loss_plan_l1_fix_time: 3.7663, d2.loss_plan_l1_fix_dist: 0.7939, d3.loss_plan_l1_fix_time: 3.7878, d3.loss_plan_l1_fix_dist: 0.8816, d4.loss_plan_l1_fix_time: 3.8113, d4.loss_plan_l1_fix_dist: 0.9872, d5.loss_plan_l1_fix_time: 3.8362, d5.loss_plan_l1_fix_dist: 1.0992, d6.loss_plan_l1_fix_time: 3.8627, d6.loss_plan_l1_fix_dist: 1.2088, d0.loss_cls_all: 1.0401, d0.loss_bbox_all: 1.1666, d0.loss_cls: 1.0401, d0.loss_bbox: 1.1666, d1.loss_cls: 1.0418, d1.loss_bbox: 1.1686, d2.loss_cls: 1.0456, d2.loss_bbox: 1.1748, d3.loss_cls: 1.0464, d3.loss_bbox: 1.1846, d4.loss_cls: 1.0521, d4.loss_bbox: 1.1946, d5.loss_cls: 1.0525, d5.loss_bbox: 1.2029, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7890, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8179, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8315, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8494, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8513, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8533, d0.loss_map_cls_all: 0.6349, d0.loss_map_pts_all: 3.6278, d0.loss_map_dir_all: 0.0466, d0.loss_map_cls: 0.6349, d0.loss_map_pts: 3.6278, d0.loss_map_dir: 0.0466, d1.loss_map_cls: 0.6470, d1.loss_map_pts: 3.1884, d1.loss_map_dir: 0.0470, d2.loss_map_cls: 0.6495, d2.loss_map_pts: 3.1513, d2.loss_map_dir: 0.0473, d3.loss_map_cls: 0.6515, d3.loss_map_pts: 3.1529, d3.loss_map_dir: 0.0473, d4.loss_map_cls: 0.6515, d4.loss_map_pts: 3.1593, d4.loss_map_dir: 0.0472, d5.loss_map_cls: 0.6515, d5.loss_map_pts: 3.1652, d5.loss_map_dir: 0.0472, loss: 95.5037, grad_norm: 230.3260 +2026-02-24 04:38:37,896 - DriveTransformer - INFO - Epoch [1][10750/39528] lr: 1.000e-04, eta: 8 days, 16:00:09, time: 0.828, data_time: 0.039, memory: 19865, loss_cls: 1.0588, loss_bbox: 1.2139, loss_traj: 1.8444, loss_traj_cls: 0.0005, loss_map_cls: 0.6945, loss_map_pts: 3.1232, loss_map_dir: 0.0463, d0.loss_plan_l1_fix_time: 3.4713, d0.loss_plan_l1_fix_dist: 0.7599, d1.loss_plan_l1_fix_time: 3.4769, d1.loss_plan_l1_fix_dist: 0.8095, d2.loss_plan_l1_fix_time: 3.5063, d2.loss_plan_l1_fix_dist: 0.8869, d3.loss_plan_l1_fix_time: 3.5387, d3.loss_plan_l1_fix_dist: 0.9718, d4.loss_plan_l1_fix_time: 3.5691, d4.loss_plan_l1_fix_dist: 1.0533, d5.loss_plan_l1_fix_time: 3.5975, d5.loss_plan_l1_fix_dist: 1.1419, d6.loss_plan_l1_fix_time: 3.6263, d6.loss_plan_l1_fix_dist: 1.2437, d0.loss_cls_all: 1.0365, d0.loss_bbox_all: 1.1793, d0.loss_cls: 1.0365, d0.loss_bbox: 1.1793, d1.loss_cls: 1.0402, d1.loss_bbox: 1.1812, d2.loss_cls: 1.0419, d2.loss_bbox: 1.1848, d3.loss_cls: 1.0429, d3.loss_bbox: 1.1892, d4.loss_cls: 1.0457, d4.loss_bbox: 1.1942, d5.loss_cls: 1.0568, d5.loss_bbox: 1.2053, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7701, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.7933, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8121, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8209, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8462, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8421, d0.loss_map_cls_all: 0.6717, d0.loss_map_pts_all: 3.6815, d0.loss_map_dir_all: 0.0468, d0.loss_map_cls: 0.6717, d0.loss_map_pts: 3.6815, d0.loss_map_dir: 0.0468, d1.loss_map_cls: 0.6800, d1.loss_map_pts: 3.1567, d1.loss_map_dir: 0.0465, d2.loss_map_cls: 0.6812, d2.loss_map_pts: 3.1000, d2.loss_map_dir: 0.0465, d3.loss_map_cls: 0.6830, d3.loss_map_pts: 3.0943, d3.loss_map_dir: 0.0465, d4.loss_map_cls: 0.6868, d4.loss_map_pts: 3.1020, d4.loss_map_dir: 0.0465, d5.loss_map_cls: 0.6902, d5.loss_map_pts: 3.1114, d5.loss_map_dir: 0.0464, loss: 94.1537, grad_norm: 229.5538 +2026-02-24 04:39:18,393 - DriveTransformer - INFO - Epoch [1][10800/39528] lr: 1.000e-04, eta: 8 days, 16:00:21, time: 0.810, data_time: 0.043, memory: 19865, loss_cls: 1.0464, loss_bbox: 1.1303, loss_traj: 2.0929, loss_traj_cls: 0.0005, loss_map_cls: 0.6531, loss_map_pts: 2.6929, loss_map_dir: 0.0373, d0.loss_plan_l1_fix_time: 3.3077, d0.loss_plan_l1_fix_dist: 0.7407, d1.loss_plan_l1_fix_time: 3.1934, d1.loss_plan_l1_fix_dist: 0.7917, d2.loss_plan_l1_fix_time: 3.2047, d2.loss_plan_l1_fix_dist: 0.8696, d3.loss_plan_l1_fix_time: 3.2248, d3.loss_plan_l1_fix_dist: 0.9591, d4.loss_plan_l1_fix_time: 3.2490, d4.loss_plan_l1_fix_dist: 1.0638, d5.loss_plan_l1_fix_time: 3.2785, d5.loss_plan_l1_fix_dist: 1.1779, d6.loss_plan_l1_fix_time: 3.3096, d6.loss_plan_l1_fix_dist: 1.2957, d0.loss_cls_all: 1.0427, d0.loss_bbox_all: 1.0859, d0.loss_cls: 1.0427, d0.loss_bbox: 1.0859, d1.loss_cls: 1.0403, d1.loss_bbox: 1.0863, d2.loss_cls: 1.0425, d2.loss_bbox: 1.0940, d3.loss_cls: 1.0471, d3.loss_bbox: 1.1003, d4.loss_cls: 1.0457, d4.loss_bbox: 1.1074, d5.loss_cls: 1.0475, d5.loss_bbox: 1.1123, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9504, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9644, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9762, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9851, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9794, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9969, d0.loss_map_cls_all: 0.6343, d0.loss_map_pts_all: 3.4897, d0.loss_map_dir_all: 0.0378, d0.loss_map_cls: 0.6343, d0.loss_map_pts: 3.4897, d0.loss_map_dir: 0.0378, d1.loss_map_cls: 0.6483, d1.loss_map_pts: 2.7861, d1.loss_map_dir: 0.0376, d2.loss_map_cls: 0.6488, d2.loss_map_pts: 2.6846, d2.loss_map_dir: 0.0375, d3.loss_map_cls: 0.6481, d3.loss_map_pts: 2.6683, d3.loss_map_dir: 0.0375, d4.loss_map_cls: 0.6504, d4.loss_map_pts: 2.6694, d4.loss_map_dir: 0.0374, d5.loss_map_cls: 0.6511, d5.loss_map_pts: 2.6786, d5.loss_map_dir: 0.0374, loss: 89.4005, grad_norm: 227.1681 +2026-02-24 04:39:57,606 - DriveTransformer - INFO - Epoch [1][10850/39528] lr: 1.000e-04, eta: 8 days, 15:58:39, time: 0.784, data_time: 0.042, memory: 19865, loss_cls: 1.0661, loss_bbox: 1.2550, loss_traj: 1.8692, loss_traj_cls: 0.0005, loss_map_cls: 0.6765, loss_map_pts: 2.8588, loss_map_dir: 0.0398, d0.loss_plan_l1_fix_time: 3.5830, d0.loss_plan_l1_fix_dist: 0.6860, d1.loss_plan_l1_fix_time: 3.4724, d1.loss_plan_l1_fix_dist: 0.7406, d2.loss_plan_l1_fix_time: 3.4724, d2.loss_plan_l1_fix_dist: 0.8272, d3.loss_plan_l1_fix_time: 3.4914, d3.loss_plan_l1_fix_dist: 0.9193, d4.loss_plan_l1_fix_time: 3.5185, d4.loss_plan_l1_fix_dist: 1.0332, d5.loss_plan_l1_fix_time: 3.5477, d5.loss_plan_l1_fix_dist: 1.1598, d6.loss_plan_l1_fix_time: 3.5777, d6.loss_plan_l1_fix_dist: 1.3039, d0.loss_cls_all: 1.0635, d0.loss_bbox_all: 1.2061, d0.loss_cls: 1.0635, d0.loss_bbox: 1.2061, d1.loss_cls: 1.0602, d1.loss_bbox: 1.2171, d2.loss_cls: 1.0590, d2.loss_bbox: 1.2237, d3.loss_cls: 1.0621, d3.loss_bbox: 1.2266, d4.loss_cls: 1.0588, d4.loss_bbox: 1.2357, d5.loss_cls: 1.0680, d5.loss_bbox: 1.2403, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7046, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.7327, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.7315, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7388, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7705, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8165, d0.loss_map_cls_all: 0.6601, d0.loss_map_pts_all: 3.4168, d0.loss_map_dir_all: 0.0399, d0.loss_map_cls: 0.6601, d0.loss_map_pts: 3.4168, d0.loss_map_dir: 0.0399, d1.loss_map_cls: 0.6713, d1.loss_map_pts: 2.8831, d1.loss_map_dir: 0.0401, d2.loss_map_cls: 0.6743, d2.loss_map_pts: 2.8230, d2.loss_map_dir: 0.0402, d3.loss_map_cls: 0.6745, d3.loss_map_pts: 2.8238, d3.loss_map_dir: 0.0401, d4.loss_map_cls: 0.6760, d4.loss_map_pts: 2.8336, d4.loss_map_dir: 0.0400, d5.loss_map_cls: 0.6758, d5.loss_map_pts: 2.8461, d5.loss_map_dir: 0.0399, loss: 91.6026, grad_norm: 224.0493 +2026-02-24 04:40:36,884 - DriveTransformer - INFO - Epoch [1][10900/39528] lr: 1.000e-04, eta: 8 days, 15:57:03, time: 0.785, data_time: 0.044, memory: 19865, loss_cls: 1.0748, loss_bbox: 1.1801, loss_traj: 2.3001, loss_traj_cls: 0.0005, loss_map_cls: 0.6754, loss_map_pts: 2.7210, loss_map_dir: 0.0372, d0.loss_plan_l1_fix_time: 3.3344, d0.loss_plan_l1_fix_dist: 0.7241, d1.loss_plan_l1_fix_time: 3.2394, d1.loss_plan_l1_fix_dist: 0.7982, d2.loss_plan_l1_fix_time: 3.2318, d2.loss_plan_l1_fix_dist: 0.8781, d3.loss_plan_l1_fix_time: 3.2453, d3.loss_plan_l1_fix_dist: 0.9658, d4.loss_plan_l1_fix_time: 3.2635, d4.loss_plan_l1_fix_dist: 1.0496, d5.loss_plan_l1_fix_time: 3.2831, d5.loss_plan_l1_fix_dist: 1.1351, d6.loss_plan_l1_fix_time: 3.3039, d6.loss_plan_l1_fix_dist: 1.2189, d0.loss_cls_all: 1.0585, d0.loss_bbox_all: 1.1397, d0.loss_cls: 1.0585, d0.loss_bbox: 1.1397, d1.loss_cls: 1.0582, d1.loss_bbox: 1.1481, d2.loss_cls: 1.0600, d2.loss_bbox: 1.1507, d3.loss_cls: 1.0600, d3.loss_bbox: 1.1543, d4.loss_cls: 1.0617, d4.loss_bbox: 1.1585, d5.loss_cls: 1.0767, d5.loss_bbox: 1.1686, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0724, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0862, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1128, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1531, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.2326, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2636, d0.loss_map_cls_all: 0.6616, d0.loss_map_pts_all: 3.3572, d0.loss_map_dir_all: 0.0375, d0.loss_map_cls: 0.6616, d0.loss_map_pts: 3.3572, d0.loss_map_dir: 0.0375, d1.loss_map_cls: 0.6736, d1.loss_map_pts: 2.7880, d1.loss_map_dir: 0.0373, d2.loss_map_cls: 0.6735, d2.loss_map_pts: 2.7181, d2.loss_map_dir: 0.0373, d3.loss_map_cls: 0.6722, d3.loss_map_pts: 2.7093, d3.loss_map_dir: 0.0372, d4.loss_map_cls: 0.6736, d4.loss_map_pts: 2.7116, d4.loss_map_dir: 0.0373, d5.loss_map_cls: 0.6741, d5.loss_map_pts: 2.7165, d5.loss_map_dir: 0.0372, loss: 91.3860, grad_norm: 224.3571 +2026-02-24 04:41:15,551 - DriveTransformer - INFO - Epoch [1][10950/39528] lr: 1.000e-04, eta: 8 days, 15:54:36, time: 0.773, data_time: 0.042, memory: 19865, loss_cls: 1.0437, loss_bbox: 1.1910, loss_traj: 2.3865, loss_traj_cls: 0.0005, loss_map_cls: 0.6432, loss_map_pts: 2.5611, loss_map_dir: 0.0271, d0.loss_plan_l1_fix_time: 3.2050, d0.loss_plan_l1_fix_dist: 0.7212, d1.loss_plan_l1_fix_time: 3.0447, d1.loss_plan_l1_fix_dist: 0.7720, d2.loss_plan_l1_fix_time: 3.0367, d2.loss_plan_l1_fix_dist: 0.8465, d3.loss_plan_l1_fix_time: 3.0479, d3.loss_plan_l1_fix_dist: 0.9369, d4.loss_plan_l1_fix_time: 3.0641, d4.loss_plan_l1_fix_dist: 1.0361, d5.loss_plan_l1_fix_time: 3.0854, d5.loss_plan_l1_fix_dist: 1.1424, d6.loss_plan_l1_fix_time: 3.1097, d6.loss_plan_l1_fix_dist: 1.2459, d0.loss_cls_all: 1.0249, d0.loss_bbox_all: 1.1748, d0.loss_cls: 1.0249, d0.loss_bbox: 1.1748, d1.loss_cls: 1.0251, d1.loss_bbox: 1.1803, d2.loss_cls: 1.0293, d2.loss_bbox: 1.1783, d3.loss_cls: 1.0303, d3.loss_bbox: 1.1806, d4.loss_cls: 1.0411, d4.loss_bbox: 1.1852, d5.loss_cls: 1.0408, d5.loss_bbox: 1.1889, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1336, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1889, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2125, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2246, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.3535, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3932, d0.loss_map_cls_all: 0.6336, d0.loss_map_pts_all: 3.2965, d0.loss_map_dir_all: 0.0280, d0.loss_map_cls: 0.6336, d0.loss_map_pts: 3.2965, d0.loss_map_dir: 0.0280, d1.loss_map_cls: 0.6395, d1.loss_map_pts: 2.6244, d1.loss_map_dir: 0.0272, d2.loss_map_cls: 0.6415, d2.loss_map_pts: 2.5344, d2.loss_map_dir: 0.0271, d3.loss_map_cls: 0.6412, d3.loss_map_pts: 2.5236, d3.loss_map_dir: 0.0271, d4.loss_map_cls: 0.6406, d4.loss_map_pts: 2.5319, d4.loss_map_dir: 0.0270, d5.loss_map_cls: 0.6420, d5.loss_map_pts: 2.5469, d5.loss_map_dir: 0.0271, loss: 89.1537, grad_norm: 224.7349 +2026-02-24 04:41:55,135 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 04:41:55,136 - DriveTransformer - INFO - Epoch [1][11000/39528] lr: 1.000e-04, eta: 8 days, 15:53:28, time: 0.792, data_time: 0.039, memory: 19865, loss_cls: 1.0452, loss_bbox: 1.1763, loss_traj: 2.1753, loss_traj_cls: 0.0005, loss_map_cls: 0.6781, loss_map_pts: 2.8380, loss_map_dir: 0.0386, d0.loss_plan_l1_fix_time: 4.0098, d0.loss_plan_l1_fix_dist: 0.6509, d1.loss_plan_l1_fix_time: 3.8249, d1.loss_plan_l1_fix_dist: 0.6911, d2.loss_plan_l1_fix_time: 3.8081, d2.loss_plan_l1_fix_dist: 0.7540, d3.loss_plan_l1_fix_time: 3.8119, d3.loss_plan_l1_fix_dist: 0.8306, d4.loss_plan_l1_fix_time: 3.8228, d4.loss_plan_l1_fix_dist: 0.9174, d5.loss_plan_l1_fix_time: 3.8392, d5.loss_plan_l1_fix_dist: 1.0119, d6.loss_plan_l1_fix_time: 3.8594, d6.loss_plan_l1_fix_dist: 1.1302, d0.loss_cls_all: 1.0289, d0.loss_bbox_all: 1.1387, d0.loss_cls: 1.0289, d0.loss_bbox: 1.1387, d1.loss_cls: 1.0322, d1.loss_bbox: 1.1365, d2.loss_cls: 1.0368, d2.loss_bbox: 1.1370, d3.loss_cls: 1.0402, d3.loss_bbox: 1.1427, d4.loss_cls: 1.0460, d4.loss_bbox: 1.1476, d5.loss_cls: 1.0479, d5.loss_bbox: 1.1598, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0090, d1.loss_traj_cls: 0.0004, d1.loss_traj: 2.0499, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0739, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1449, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1298, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1497, d0.loss_map_cls_all: 0.6592, d0.loss_map_pts_all: 3.2132, d0.loss_map_dir_all: 0.0380, d0.loss_map_cls: 0.6592, d0.loss_map_pts: 3.2132, d0.loss_map_dir: 0.0380, d1.loss_map_cls: 0.6757, d1.loss_map_pts: 2.7728, d1.loss_map_dir: 0.0387, d2.loss_map_cls: 0.6765, d2.loss_map_pts: 2.7620, d2.loss_map_dir: 0.0386, d3.loss_map_cls: 0.6767, d3.loss_map_pts: 2.7891, d3.loss_map_dir: 0.0386, d4.loss_map_cls: 0.6787, d4.loss_map_pts: 2.8070, d4.loss_map_dir: 0.0385, d5.loss_map_cls: 0.6780, d5.loss_map_pts: 2.8198, d5.loss_map_dir: 0.0386, loss: 94.0864, grad_norm: 224.7525 +2026-02-24 04:42:33,873 - DriveTransformer - INFO - Epoch [1][11050/39528] lr: 1.000e-04, eta: 8 days, 15:51:09, time: 0.775, data_time: 0.048, memory: 19865, loss_cls: 1.0466, loss_bbox: 1.2326, loss_traj: 2.6157, loss_traj_cls: 0.0005, loss_map_cls: 0.6678, loss_map_pts: 2.6193, loss_map_dir: 0.0333, d0.loss_plan_l1_fix_time: 3.8151, d0.loss_plan_l1_fix_dist: 0.6635, d1.loss_plan_l1_fix_time: 3.7121, d1.loss_plan_l1_fix_dist: 0.7048, d2.loss_plan_l1_fix_time: 3.7231, d2.loss_plan_l1_fix_dist: 0.7681, d3.loss_plan_l1_fix_time: 3.7424, d3.loss_plan_l1_fix_dist: 0.8437, d4.loss_plan_l1_fix_time: 3.7627, d4.loss_plan_l1_fix_dist: 0.9307, d5.loss_plan_l1_fix_time: 3.7808, d5.loss_plan_l1_fix_dist: 1.0213, d6.loss_plan_l1_fix_time: 3.7989, d6.loss_plan_l1_fix_dist: 1.1195, d0.loss_cls_all: 1.0349, d0.loss_bbox_all: 1.2216, d0.loss_cls: 1.0349, d0.loss_bbox: 1.2216, d1.loss_cls: 1.0374, d1.loss_bbox: 1.2170, d2.loss_cls: 1.0414, d2.loss_bbox: 1.2207, d3.loss_cls: 1.0564, d3.loss_bbox: 1.2231, d4.loss_cls: 1.0597, d4.loss_bbox: 1.2284, d5.loss_cls: 1.0466, d5.loss_bbox: 1.2307, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.3972, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4889, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.5487, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.5527, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.5644, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5840, d0.loss_map_cls_all: 0.6511, d0.loss_map_pts_all: 3.1522, d0.loss_map_dir_all: 0.0330, d0.loss_map_cls: 0.6511, d0.loss_map_pts: 3.1522, d0.loss_map_dir: 0.0330, d1.loss_map_cls: 0.6606, d1.loss_map_pts: 2.6096, d1.loss_map_dir: 0.0331, d2.loss_map_cls: 0.6615, d2.loss_map_pts: 2.5875, d2.loss_map_dir: 0.0332, d3.loss_map_cls: 0.6635, d3.loss_map_pts: 2.5975, d3.loss_map_dir: 0.0332, d4.loss_map_cls: 0.6651, d4.loss_map_pts: 2.6052, d4.loss_map_dir: 0.0333, d5.loss_map_cls: 0.6656, d5.loss_map_pts: 2.6120, d5.loss_map_dir: 0.0333, loss: 95.7823, grad_norm: 225.1981 +2026-02-24 04:43:13,327 - DriveTransformer - INFO - Epoch [1][11100/39528] lr: 1.000e-04, eta: 8 days, 15:49:51, time: 0.789, data_time: 0.043, memory: 19865, loss_cls: 1.0347, loss_bbox: 1.1842, loss_traj: 2.4758, loss_traj_cls: 0.0005, loss_map_cls: 0.6685, loss_map_pts: 2.8909, loss_map_dir: 0.0338, d0.loss_plan_l1_fix_time: 3.8006, d0.loss_plan_l1_fix_dist: 0.6405, d1.loss_plan_l1_fix_time: 3.7231, d1.loss_plan_l1_fix_dist: 0.6726, d2.loss_plan_l1_fix_time: 3.7342, d2.loss_plan_l1_fix_dist: 0.7355, d3.loss_plan_l1_fix_time: 3.7568, d3.loss_plan_l1_fix_dist: 0.8001, d4.loss_plan_l1_fix_time: 3.7811, d4.loss_plan_l1_fix_dist: 0.8664, d5.loss_plan_l1_fix_time: 3.8022, d5.loss_plan_l1_fix_dist: 0.9424, d6.loss_plan_l1_fix_time: 3.8225, d6.loss_plan_l1_fix_dist: 1.0117, d0.loss_cls_all: 1.0186, d0.loss_bbox_all: 1.1399, d0.loss_cls: 1.0186, d0.loss_bbox: 1.1399, d1.loss_cls: 1.0225, d1.loss_bbox: 1.1494, d2.loss_cls: 1.0260, d2.loss_bbox: 1.1578, d3.loss_cls: 1.0327, d3.loss_bbox: 1.1676, d4.loss_cls: 1.0469, d4.loss_bbox: 1.1711, d5.loss_cls: 1.0319, d5.loss_bbox: 1.1765, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.1540, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2991, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3912, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.4262, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.4114, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4311, d0.loss_map_cls_all: 0.6636, d0.loss_map_pts_all: 3.4578, d0.loss_map_dir_all: 0.0343, d0.loss_map_cls: 0.6636, d0.loss_map_pts: 3.4578, d0.loss_map_dir: 0.0343, d1.loss_map_cls: 0.6723, d1.loss_map_pts: 2.8466, d1.loss_map_dir: 0.0338, d2.loss_map_cls: 0.6710, d2.loss_map_pts: 2.8147, d2.loss_map_dir: 0.0339, d3.loss_map_cls: 0.6686, d3.loss_map_pts: 2.8273, d3.loss_map_dir: 0.0339, d4.loss_map_cls: 0.6684, d4.loss_map_pts: 2.8491, d4.loss_map_dir: 0.0339, d5.loss_map_cls: 0.6681, d5.loss_map_pts: 2.8723, d5.loss_map_dir: 0.0339, loss: 95.8328, grad_norm: 226.6242 +2026-02-24 04:43:54,300 - DriveTransformer - INFO - Epoch [1][11150/39528] lr: 1.000e-04, eta: 8 days, 15:50:42, time: 0.820, data_time: 0.040, memory: 19865, loss_cls: 1.0502, loss_bbox: 1.2038, loss_traj: 2.0779, loss_traj_cls: 0.0005, loss_map_cls: 0.6551, loss_map_pts: 3.0196, loss_map_dir: 0.0416, d0.loss_plan_l1_fix_time: 3.7009, d0.loss_plan_l1_fix_dist: 0.6804, d1.loss_plan_l1_fix_time: 3.5352, d1.loss_plan_l1_fix_dist: 0.7052, d2.loss_plan_l1_fix_time: 3.5182, d2.loss_plan_l1_fix_dist: 0.7501, d3.loss_plan_l1_fix_time: 3.5267, d3.loss_plan_l1_fix_dist: 0.8100, d4.loss_plan_l1_fix_time: 3.5430, d4.loss_plan_l1_fix_dist: 0.8837, d5.loss_plan_l1_fix_time: 3.5620, d5.loss_plan_l1_fix_dist: 0.9683, d6.loss_plan_l1_fix_time: 3.5823, d6.loss_plan_l1_fix_dist: 1.0699, d0.loss_cls_all: 1.0433, d0.loss_bbox_all: 1.1867, d0.loss_cls: 1.0433, d0.loss_bbox: 1.1867, d1.loss_cls: 1.0464, d1.loss_bbox: 1.1925, d2.loss_cls: 1.0460, d2.loss_bbox: 1.1936, d3.loss_cls: 1.0480, d3.loss_bbox: 1.1940, d4.loss_cls: 1.0427, d4.loss_bbox: 1.1964, d5.loss_cls: 1.0523, d5.loss_bbox: 1.1966, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9583, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9757, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9978, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0202, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0840, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.0871, d0.loss_map_cls_all: 0.6318, d0.loss_map_pts_all: 3.4695, d0.loss_map_dir_all: 0.0409, d0.loss_map_cls: 0.6318, d0.loss_map_pts: 3.4695, d0.loss_map_dir: 0.0409, d1.loss_map_cls: 0.6481, d1.loss_map_pts: 3.0178, d1.loss_map_dir: 0.0413, d2.loss_map_cls: 0.6512, d2.loss_map_pts: 2.9772, d2.loss_map_dir: 0.0414, d3.loss_map_cls: 0.6522, d3.loss_map_pts: 2.9794, d3.loss_map_dir: 0.0415, d4.loss_map_cls: 0.6534, d4.loss_map_pts: 2.9899, d4.loss_map_dir: 0.0415, d5.loss_map_cls: 0.6536, d5.loss_map_pts: 3.0040, d5.loss_map_dir: 0.0415, loss: 93.3979, grad_norm: 222.0681 +2026-02-24 04:44:34,760 - DriveTransformer - INFO - Epoch [1][11200/39528] lr: 1.000e-04, eta: 8 days, 15:50:54, time: 0.810, data_time: 0.043, memory: 19865, loss_cls: 1.0584, loss_bbox: 1.2115, loss_traj: 2.1586, loss_traj_cls: 0.0005, loss_map_cls: 0.6502, loss_map_pts: 2.8467, loss_map_dir: 0.0331, d0.loss_plan_l1_fix_time: 3.2496, d0.loss_plan_l1_fix_dist: 0.6386, d1.loss_plan_l1_fix_time: 3.1471, d1.loss_plan_l1_fix_dist: 0.6713, d2.loss_plan_l1_fix_time: 3.1566, d2.loss_plan_l1_fix_dist: 0.7251, d3.loss_plan_l1_fix_time: 3.1764, d3.loss_plan_l1_fix_dist: 0.7947, d4.loss_plan_l1_fix_time: 3.1992, d4.loss_plan_l1_fix_dist: 0.8702, d5.loss_plan_l1_fix_time: 3.2237, d5.loss_plan_l1_fix_dist: 0.9480, d6.loss_plan_l1_fix_time: 3.2476, d6.loss_plan_l1_fix_dist: 1.0363, d0.loss_cls_all: 1.0509, d0.loss_bbox_all: 1.1916, d0.loss_cls: 1.0509, d0.loss_bbox: 1.1916, d1.loss_cls: 1.0561, d1.loss_bbox: 1.1920, d2.loss_cls: 1.0596, d2.loss_bbox: 1.1984, d3.loss_cls: 1.0639, d3.loss_bbox: 1.1988, d4.loss_cls: 1.0666, d4.loss_bbox: 1.2060, d5.loss_cls: 1.0595, d5.loss_bbox: 1.2106, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0337, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0605, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0741, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0725, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1191, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1510, d0.loss_map_cls_all: 0.6494, d0.loss_map_pts_all: 3.3948, d0.loss_map_dir_all: 0.0341, d0.loss_map_cls: 0.6494, d0.loss_map_pts: 3.3948, d0.loss_map_dir: 0.0341, d1.loss_map_cls: 0.6509, d1.loss_map_pts: 2.8345, d1.loss_map_dir: 0.0335, d2.loss_map_cls: 0.6488, d2.loss_map_pts: 2.7923, d2.loss_map_dir: 0.0334, d3.loss_map_cls: 0.6483, d3.loss_map_pts: 2.7980, d3.loss_map_dir: 0.0334, d4.loss_map_cls: 0.6480, d4.loss_map_pts: 2.8095, d4.loss_map_dir: 0.0333, d5.loss_map_cls: 0.6477, d5.loss_map_pts: 2.8236, d5.loss_map_dir: 0.0332, loss: 89.9788, grad_norm: 220.8568 +2026-02-24 04:45:15,882 - DriveTransformer - INFO - Epoch [1][11250/39528] lr: 1.000e-04, eta: 8 days, 15:51:49, time: 0.821, data_time: 0.040, memory: 19865, loss_cls: 1.0011, loss_bbox: 1.1564, loss_traj: 2.4313, loss_traj_cls: 0.0005, loss_map_cls: 0.6572, loss_map_pts: 2.8193, loss_map_dir: 0.0402, d0.loss_plan_l1_fix_time: 3.9522, d0.loss_plan_l1_fix_dist: 0.6966, d1.loss_plan_l1_fix_time: 3.8158, d1.loss_plan_l1_fix_dist: 0.7508, d2.loss_plan_l1_fix_time: 3.8085, d2.loss_plan_l1_fix_dist: 0.8225, d3.loss_plan_l1_fix_time: 3.8172, d3.loss_plan_l1_fix_dist: 0.8979, d4.loss_plan_l1_fix_time: 3.8298, d4.loss_plan_l1_fix_dist: 0.9792, d5.loss_plan_l1_fix_time: 3.8464, d5.loss_plan_l1_fix_dist: 1.0634, d6.loss_plan_l1_fix_time: 3.8663, d6.loss_plan_l1_fix_dist: 1.1425, d0.loss_cls_all: 0.9954, d0.loss_bbox_all: 1.1876, d0.loss_cls: 0.9954, d0.loss_bbox: 1.1876, d1.loss_cls: 0.9986, d1.loss_bbox: 1.1827, d2.loss_cls: 0.9970, d2.loss_bbox: 1.1756, d3.loss_cls: 0.9954, d3.loss_bbox: 1.1654, d4.loss_cls: 0.9975, d4.loss_bbox: 1.1598, d5.loss_cls: 1.0042, d5.loss_bbox: 1.1570, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3024, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3169, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3134, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3442, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3751, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4073, d0.loss_map_cls_all: 0.6381, d0.loss_map_pts_all: 3.2793, d0.loss_map_dir_all: 0.0398, d0.loss_map_cls: 0.6381, d0.loss_map_pts: 3.2793, d0.loss_map_dir: 0.0398, d1.loss_map_cls: 0.6511, d1.loss_map_pts: 2.7935, d1.loss_map_dir: 0.0399, d2.loss_map_cls: 0.6529, d2.loss_map_pts: 2.7661, d2.loss_map_dir: 0.0401, d3.loss_map_cls: 0.6531, d3.loss_map_pts: 2.7762, d3.loss_map_dir: 0.0402, d4.loss_map_cls: 0.6542, d4.loss_map_pts: 2.7884, d4.loss_map_dir: 0.0402, d5.loss_map_cls: 0.6557, d5.loss_map_pts: 2.8022, d5.loss_map_dir: 0.0402, loss: 95.9652, grad_norm: 220.0653 +2026-02-24 04:45:56,088 - DriveTransformer - INFO - Epoch [1][11300/39528] lr: 1.000e-04, eta: 8 days, 15:51:33, time: 0.804, data_time: 0.044, memory: 19865, loss_cls: 1.0790, loss_bbox: 1.2038, loss_traj: 1.9768, loss_traj_cls: 0.0005, loss_map_cls: 0.7022, loss_map_pts: 2.9179, loss_map_dir: 0.0478, d0.loss_plan_l1_fix_time: 3.3293, d0.loss_plan_l1_fix_dist: 0.6989, d1.loss_plan_l1_fix_time: 3.1938, d1.loss_plan_l1_fix_dist: 0.7251, d2.loss_plan_l1_fix_time: 3.1846, d2.loss_plan_l1_fix_dist: 0.7731, d3.loss_plan_l1_fix_time: 3.1938, d3.loss_plan_l1_fix_dist: 0.8336, d4.loss_plan_l1_fix_time: 3.2081, d4.loss_plan_l1_fix_dist: 0.8975, d5.loss_plan_l1_fix_time: 3.2244, d5.loss_plan_l1_fix_dist: 0.9694, d6.loss_plan_l1_fix_time: 3.2427, d6.loss_plan_l1_fix_dist: 1.0339, d0.loss_cls_all: 1.0648, d0.loss_bbox_all: 1.1703, d0.loss_cls: 1.0648, d0.loss_bbox: 1.1703, d1.loss_cls: 1.0812, d1.loss_bbox: 1.1668, d2.loss_cls: 1.0831, d2.loss_bbox: 1.1734, d3.loss_cls: 1.0806, d3.loss_bbox: 1.1783, d4.loss_cls: 1.0824, d4.loss_bbox: 1.1870, d5.loss_cls: 1.0772, d5.loss_bbox: 1.1931, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7420, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.7726, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8165, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8711, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8897, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9354, d0.loss_map_cls_all: 0.6819, d0.loss_map_pts_all: 3.3789, d0.loss_map_dir_all: 0.0466, d0.loss_map_cls: 0.6819, d0.loss_map_pts: 3.3789, d0.loss_map_dir: 0.0466, d1.loss_map_cls: 0.6935, d1.loss_map_pts: 2.9242, d1.loss_map_dir: 0.0474, d2.loss_map_cls: 0.6981, d2.loss_map_pts: 2.8903, d2.loss_map_dir: 0.0475, d3.loss_map_cls: 0.6980, d3.loss_map_pts: 2.8916, d3.loss_map_dir: 0.0476, d4.loss_map_cls: 0.6991, d4.loss_map_pts: 2.9000, d4.loss_map_dir: 0.0478, d5.loss_map_cls: 0.7014, d5.loss_map_pts: 2.9102, d5.loss_map_dir: 0.0478, loss: 89.6991, grad_norm: 219.6149 +2026-02-24 04:46:36,374 - DriveTransformer - INFO - Epoch [1][11350/39528] lr: 1.000e-04, eta: 8 days, 15:51:24, time: 0.806, data_time: 0.040, memory: 19865, loss_cls: 1.0385, loss_bbox: 1.1802, loss_traj: 2.3109, loss_traj_cls: 0.0005, loss_map_cls: 0.6383, loss_map_pts: 3.3033, loss_map_dir: 0.0480, d0.loss_plan_l1_fix_time: 3.7506, d0.loss_plan_l1_fix_dist: 0.6656, d1.loss_plan_l1_fix_time: 3.6389, d1.loss_plan_l1_fix_dist: 0.7090, d2.loss_plan_l1_fix_time: 3.6327, d2.loss_plan_l1_fix_dist: 0.7720, d3.loss_plan_l1_fix_time: 3.6397, d3.loss_plan_l1_fix_dist: 0.8458, d4.loss_plan_l1_fix_time: 3.6529, d4.loss_plan_l1_fix_dist: 0.9393, d5.loss_plan_l1_fix_time: 3.6680, d5.loss_plan_l1_fix_dist: 1.0411, d6.loss_plan_l1_fix_time: 3.6854, d6.loss_plan_l1_fix_dist: 1.1642, d0.loss_cls_all: 1.0241, d0.loss_bbox_all: 1.2140, d0.loss_cls: 1.0241, d0.loss_bbox: 1.2140, d1.loss_cls: 1.0374, d1.loss_bbox: 1.2005, d2.loss_cls: 1.0404, d2.loss_bbox: 1.1932, d3.loss_cls: 1.0430, d3.loss_bbox: 1.1873, d4.loss_cls: 1.0445, d4.loss_bbox: 1.1820, d5.loss_cls: 1.0393, d5.loss_bbox: 1.1810, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1632, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2108, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2294, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.2484, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2735, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2776, d0.loss_map_cls_all: 0.6338, d0.loss_map_pts_all: 3.6988, d0.loss_map_dir_all: 0.0480, d0.loss_map_cls: 0.6338, d0.loss_map_pts: 3.6988, d0.loss_map_dir: 0.0480, d1.loss_map_cls: 0.6419, d1.loss_map_pts: 3.2838, d1.loss_map_dir: 0.0481, d2.loss_map_cls: 0.6408, d2.loss_map_pts: 3.2703, d2.loss_map_dir: 0.0481, d3.loss_map_cls: 0.6386, d3.loss_map_pts: 3.2817, d3.loss_map_dir: 0.0481, d4.loss_map_cls: 0.6387, d4.loss_map_pts: 3.2901, d4.loss_map_dir: 0.0481, d5.loss_map_cls: 0.6382, d5.loss_map_pts: 3.2972, d5.loss_map_dir: 0.0481, loss: 97.9788, grad_norm: 219.2205 +2026-02-24 04:47:15,063 - DriveTransformer - INFO - Epoch [1][11400/39528] lr: 1.000e-04, eta: 8 days, 15:49:03, time: 0.774, data_time: 0.042, memory: 19865, loss_cls: 1.0562, loss_bbox: 1.1221, loss_traj: 2.1569, loss_traj_cls: 0.0005, loss_map_cls: 0.6874, loss_map_pts: 2.5321, loss_map_dir: 0.0401, d0.loss_plan_l1_fix_time: 3.5618, d0.loss_plan_l1_fix_dist: 0.7139, d1.loss_plan_l1_fix_time: 3.5065, d1.loss_plan_l1_fix_dist: 0.7552, d2.loss_plan_l1_fix_time: 3.5107, d2.loss_plan_l1_fix_dist: 0.8137, d3.loss_plan_l1_fix_time: 3.5276, d3.loss_plan_l1_fix_dist: 0.8827, d4.loss_plan_l1_fix_time: 3.5467, d4.loss_plan_l1_fix_dist: 0.9582, d5.loss_plan_l1_fix_time: 3.5671, d5.loss_plan_l1_fix_dist: 1.0363, d6.loss_plan_l1_fix_time: 3.5878, d6.loss_plan_l1_fix_dist: 1.1166, d0.loss_cls_all: 1.0348, d0.loss_bbox_all: 1.1251, d0.loss_cls: 1.0348, d0.loss_bbox: 1.1251, d1.loss_cls: 1.0450, d1.loss_bbox: 1.1186, d2.loss_cls: 1.0503, d2.loss_bbox: 1.1155, d3.loss_cls: 1.0513, d3.loss_bbox: 1.1148, d4.loss_cls: 1.0504, d4.loss_bbox: 1.1179, d5.loss_cls: 1.0520, d5.loss_bbox: 1.1172, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1135, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1108, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1166, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1225, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1328, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1419, d0.loss_map_cls_all: 0.6576, d0.loss_map_pts_all: 3.1322, d0.loss_map_dir_all: 0.0399, d0.loss_map_cls: 0.6576, d0.loss_map_pts: 3.1322, d0.loss_map_dir: 0.0399, d1.loss_map_cls: 0.6806, d1.loss_map_pts: 2.5562, d1.loss_map_dir: 0.0403, d2.loss_map_cls: 0.6837, d2.loss_map_pts: 2.5200, d2.loss_map_dir: 0.0402, d3.loss_map_cls: 0.6871, d3.loss_map_pts: 2.5207, d3.loss_map_dir: 0.0401, d4.loss_map_cls: 0.6868, d4.loss_map_pts: 2.5226, d4.loss_map_dir: 0.0402, d5.loss_map_cls: 0.6861, d5.loss_map_pts: 2.5274, d5.loss_map_dir: 0.0401, loss: 90.5052, grad_norm: 216.9428 +2026-02-24 04:47:55,817 - DriveTransformer - INFO - Epoch [1][11450/39528] lr: 1.000e-04, eta: 8 days, 15:49:32, time: 0.815, data_time: 0.039, memory: 19865, loss_cls: 1.0911, loss_bbox: 1.1512, loss_traj: 2.0852, loss_traj_cls: 0.0005, loss_map_cls: 0.6524, loss_map_pts: 3.0299, loss_map_dir: 0.0487, d0.loss_plan_l1_fix_time: 3.2208, d0.loss_plan_l1_fix_dist: 0.6989, d1.loss_plan_l1_fix_time: 3.1334, d1.loss_plan_l1_fix_dist: 0.7605, d2.loss_plan_l1_fix_time: 3.1306, d2.loss_plan_l1_fix_dist: 0.8378, d3.loss_plan_l1_fix_time: 3.1462, d3.loss_plan_l1_fix_dist: 0.9145, d4.loss_plan_l1_fix_time: 3.1654, d4.loss_plan_l1_fix_dist: 0.9905, d5.loss_plan_l1_fix_time: 3.1835, d5.loss_plan_l1_fix_dist: 1.0766, d6.loss_plan_l1_fix_time: 3.2036, d6.loss_plan_l1_fix_dist: 1.1730, d0.loss_cls_all: 1.0664, d0.loss_bbox_all: 1.1734, d0.loss_cls: 1.0664, d0.loss_bbox: 1.1734, d1.loss_cls: 1.0753, d1.loss_bbox: 1.1661, d2.loss_cls: 1.0837, d2.loss_bbox: 1.1602, d3.loss_cls: 1.0895, d3.loss_bbox: 1.1538, d4.loss_cls: 1.0837, d4.loss_bbox: 1.1505, d5.loss_cls: 1.0919, d5.loss_bbox: 1.1459, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9695, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0073, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0238, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0464, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0542, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0583, d0.loss_map_cls_all: 0.6378, d0.loss_map_pts_all: 3.5340, d0.loss_map_dir_all: 0.0479, d0.loss_map_cls: 0.6378, d0.loss_map_pts: 3.5340, d0.loss_map_dir: 0.0479, d1.loss_map_cls: 0.6482, d1.loss_map_pts: 3.0354, d1.loss_map_dir: 0.0485, d2.loss_map_cls: 0.6516, d2.loss_map_pts: 3.0115, d2.loss_map_dir: 0.0487, d3.loss_map_cls: 0.6525, d3.loss_map_pts: 3.0113, d3.loss_map_dir: 0.0487, d4.loss_map_cls: 0.6530, d4.loss_map_pts: 3.0171, d4.loss_map_dir: 0.0487, d5.loss_map_cls: 0.6513, d5.loss_map_pts: 3.0240, d5.loss_map_dir: 0.0487, loss: 91.5752, grad_norm: 216.1766 +2026-02-24 04:48:37,344 - DriveTransformer - INFO - Epoch [1][11500/39528] lr: 1.000e-04, eta: 8 days, 15:51:04, time: 0.831, data_time: 0.040, memory: 19865, loss_cls: 1.0437, loss_bbox: 1.1446, loss_traj: 2.1303, loss_traj_cls: 0.0005, loss_map_cls: 0.6525, loss_map_pts: 3.4248, loss_map_dir: 0.0492, d0.loss_plan_l1_fix_time: 3.3711, d0.loss_plan_l1_fix_dist: 0.6344, d1.loss_plan_l1_fix_time: 3.2606, d1.loss_plan_l1_fix_dist: 0.6807, d2.loss_plan_l1_fix_time: 3.2696, d2.loss_plan_l1_fix_dist: 0.7478, d3.loss_plan_l1_fix_time: 3.2812, d3.loss_plan_l1_fix_dist: 0.8123, d4.loss_plan_l1_fix_time: 3.2952, d4.loss_plan_l1_fix_dist: 0.8805, d5.loss_plan_l1_fix_time: 3.3120, d5.loss_plan_l1_fix_dist: 0.9527, d6.loss_plan_l1_fix_time: 3.3298, d6.loss_plan_l1_fix_dist: 1.0303, d0.loss_cls_all: 1.0275, d0.loss_bbox_all: 1.1549, d0.loss_cls: 1.0275, d0.loss_bbox: 1.1549, d1.loss_cls: 1.0307, d1.loss_bbox: 1.1469, d2.loss_cls: 1.0334, d2.loss_bbox: 1.1407, d3.loss_cls: 1.0351, d3.loss_bbox: 1.1387, d4.loss_cls: 1.0327, d4.loss_bbox: 1.1393, d5.loss_cls: 1.0405, d5.loss_bbox: 1.1442, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0577, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0603, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0644, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0827, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0851, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1076, d0.loss_map_cls_all: 0.6304, d0.loss_map_pts_all: 3.8034, d0.loss_map_dir_all: 0.0483, d0.loss_map_cls: 0.6304, d0.loss_map_pts: 3.8034, d0.loss_map_dir: 0.0483, d1.loss_map_cls: 0.6409, d1.loss_map_pts: 3.4058, d1.loss_map_dir: 0.0489, d2.loss_map_cls: 0.6448, d2.loss_map_pts: 3.3962, d2.loss_map_dir: 0.0491, d3.loss_map_cls: 0.6501, d3.loss_map_pts: 3.4009, d3.loss_map_dir: 0.0492, d4.loss_map_cls: 0.6512, d4.loss_map_pts: 3.4093, d4.loss_map_dir: 0.0492, d5.loss_map_cls: 0.6504, d5.loss_map_pts: 3.4181, d5.loss_map_dir: 0.0492, loss: 94.4892, grad_norm: 215.0046 +2026-02-24 04:49:15,621 - DriveTransformer - INFO - Epoch [1][11550/39528] lr: 1.000e-04, eta: 8 days, 15:48:10, time: 0.766, data_time: 0.043, memory: 19865, loss_cls: 1.0411, loss_bbox: 1.0996, loss_traj: 2.3175, loss_traj_cls: 0.0005, loss_map_cls: 0.6747, loss_map_pts: 2.4551, loss_map_dir: 0.0378, d0.loss_plan_l1_fix_time: 3.3040, d0.loss_plan_l1_fix_dist: 0.7485, d1.loss_plan_l1_fix_time: 3.2053, d1.loss_plan_l1_fix_dist: 0.7813, d2.loss_plan_l1_fix_time: 3.2057, d2.loss_plan_l1_fix_dist: 0.8293, d3.loss_plan_l1_fix_time: 3.2203, d3.loss_plan_l1_fix_dist: 0.8810, d4.loss_plan_l1_fix_time: 3.2391, d4.loss_plan_l1_fix_dist: 0.9466, d5.loss_plan_l1_fix_time: 3.2618, d5.loss_plan_l1_fix_dist: 1.0124, d6.loss_plan_l1_fix_time: 3.2855, d6.loss_plan_l1_fix_dist: 1.0815, d0.loss_cls_all: 1.0211, d0.loss_bbox_all: 1.1148, d0.loss_cls: 1.0211, d0.loss_bbox: 1.1148, d1.loss_cls: 1.0261, d1.loss_bbox: 1.1117, d2.loss_cls: 1.0323, d2.loss_bbox: 1.1016, d3.loss_cls: 1.0374, d3.loss_bbox: 1.1003, d4.loss_cls: 1.0325, d4.loss_bbox: 1.0992, d5.loss_cls: 1.0380, d5.loss_bbox: 1.0997, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2299, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2426, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2553, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2643, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.2889, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3185, d0.loss_map_cls_all: 0.6554, d0.loss_map_pts_all: 3.0737, d0.loss_map_dir_all: 0.0372, d0.loss_map_cls: 0.6554, d0.loss_map_pts: 3.0737, d0.loss_map_dir: 0.0372, d1.loss_map_cls: 0.6692, d1.loss_map_pts: 2.5005, d1.loss_map_dir: 0.0378, d2.loss_map_cls: 0.6722, d2.loss_map_pts: 2.4487, d2.loss_map_dir: 0.0379, d3.loss_map_cls: 0.6716, d3.loss_map_pts: 2.4416, d3.loss_map_dir: 0.0378, d4.loss_map_cls: 0.6724, d4.loss_map_pts: 2.4440, d4.loss_map_dir: 0.0377, d5.loss_map_cls: 0.6733, d5.loss_map_pts: 2.4480, d5.loss_map_dir: 0.0377, loss: 88.5449, grad_norm: 214.4685 +2026-02-24 04:49:56,414 - DriveTransformer - INFO - Epoch [1][11600/39528] lr: 1.000e-04, eta: 8 days, 15:48:41, time: 0.816, data_time: 0.046, memory: 19865, loss_cls: 1.0695, loss_bbox: 1.1399, loss_traj: 2.0015, loss_traj_cls: 0.0005, loss_map_cls: 0.6628, loss_map_pts: 2.8158, loss_map_dir: 0.0393, d0.loss_plan_l1_fix_time: 3.5987, d0.loss_plan_l1_fix_dist: 0.7342, d1.loss_plan_l1_fix_time: 3.4845, d1.loss_plan_l1_fix_dist: 0.7629, d2.loss_plan_l1_fix_time: 3.4835, d2.loss_plan_l1_fix_dist: 0.8112, d3.loss_plan_l1_fix_time: 3.5024, d3.loss_plan_l1_fix_dist: 0.8762, d4.loss_plan_l1_fix_time: 3.5257, d4.loss_plan_l1_fix_dist: 0.9523, d5.loss_plan_l1_fix_time: 3.5482, d5.loss_plan_l1_fix_dist: 1.0414, d6.loss_plan_l1_fix_time: 3.5711, d6.loss_plan_l1_fix_dist: 1.1397, d0.loss_cls_all: 1.0455, d0.loss_bbox_all: 1.1274, d0.loss_cls: 1.0455, d0.loss_bbox: 1.1274, d1.loss_cls: 1.0568, d1.loss_bbox: 1.1219, d2.loss_cls: 1.0631, d2.loss_bbox: 1.1201, d3.loss_cls: 1.0681, d3.loss_bbox: 1.1183, d4.loss_cls: 1.0671, d4.loss_bbox: 1.1203, d5.loss_cls: 1.0689, d5.loss_bbox: 1.1292, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9277, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9439, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9530, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9704, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9825, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9874, d0.loss_map_cls_all: 0.6474, d0.loss_map_pts_all: 3.4810, d0.loss_map_dir_all: 0.0391, d0.loss_map_cls: 0.6474, d0.loss_map_pts: 3.4810, d0.loss_map_dir: 0.0391, d1.loss_map_cls: 0.6605, d1.loss_map_pts: 2.8914, d1.loss_map_dir: 0.0394, d2.loss_map_cls: 0.6614, d2.loss_map_pts: 2.8282, d2.loss_map_dir: 0.0395, d3.loss_map_cls: 0.6598, d3.loss_map_pts: 2.8114, d3.loss_map_dir: 0.0394, d4.loss_map_cls: 0.6610, d4.loss_map_pts: 2.8084, d4.loss_map_dir: 0.0393, d5.loss_map_cls: 0.6613, d5.loss_map_pts: 2.8081, d5.loss_map_dir: 0.0393, loss: 91.7923, grad_norm: 213.8787 +2026-02-24 04:50:34,952 - DriveTransformer - INFO - Epoch [1][11650/39528] lr: 1.000e-04, eta: 8 days, 15:46:11, time: 0.771, data_time: 0.036, memory: 19865, loss_cls: 0.9958, loss_bbox: 1.0661, loss_traj: 2.3553, loss_traj_cls: 0.0005, loss_map_cls: 0.6977, loss_map_pts: 2.6399, loss_map_dir: 0.0379, d0.loss_plan_l1_fix_time: 3.4246, d0.loss_plan_l1_fix_dist: 0.6320, d1.loss_plan_l1_fix_time: 3.2802, d1.loss_plan_l1_fix_dist: 0.6652, d2.loss_plan_l1_fix_time: 3.2714, d2.loss_plan_l1_fix_dist: 0.7127, d3.loss_plan_l1_fix_time: 3.2855, d3.loss_plan_l1_fix_dist: 0.7650, d4.loss_plan_l1_fix_time: 3.3055, d4.loss_plan_l1_fix_dist: 0.8181, d5.loss_plan_l1_fix_time: 3.3268, d5.loss_plan_l1_fix_dist: 0.8815, d6.loss_plan_l1_fix_time: 3.3511, d6.loss_plan_l1_fix_dist: 0.9495, d0.loss_cls_all: 0.9836, d0.loss_bbox_all: 1.0708, d0.loss_cls: 0.9836, d0.loss_bbox: 1.0708, d1.loss_cls: 0.9871, d1.loss_bbox: 1.0615, d2.loss_cls: 0.9898, d2.loss_bbox: 1.0517, d3.loss_cls: 0.9916, d3.loss_bbox: 1.0484, d4.loss_cls: 0.9942, d4.loss_bbox: 1.0487, d5.loss_cls: 0.9955, d5.loss_bbox: 1.0618, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2711, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2997, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3142, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3545, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.3415, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3374, d0.loss_map_cls_all: 0.6652, d0.loss_map_pts_all: 3.2028, d0.loss_map_dir_all: 0.0372, d0.loss_map_cls: 0.6652, d0.loss_map_pts: 3.2028, d0.loss_map_dir: 0.0372, d1.loss_map_cls: 0.6842, d1.loss_map_pts: 2.7076, d1.loss_map_dir: 0.0378, d2.loss_map_cls: 0.6892, d2.loss_map_pts: 2.6532, d2.loss_map_dir: 0.0379, d3.loss_map_cls: 0.6938, d3.loss_map_pts: 2.6419, d3.loss_map_dir: 0.0379, d4.loss_map_cls: 0.6941, d4.loss_map_pts: 2.6380, d4.loss_map_dir: 0.0379, d5.loss_map_cls: 0.6953, d5.loss_map_pts: 2.6374, d5.loss_map_dir: 0.0379, loss: 89.4572, grad_norm: 213.0131 +2026-02-24 04:51:15,729 - DriveTransformer - INFO - Epoch [1][11700/39528] lr: 1.000e-04, eta: 8 days, 15:46:40, time: 0.815, data_time: 0.046, memory: 19865, loss_cls: 1.0813, loss_bbox: 1.1505, loss_traj: 2.3148, loss_traj_cls: 0.0006, loss_map_cls: 0.6864, loss_map_pts: 2.9519, loss_map_dir: 0.0431, d0.loss_plan_l1_fix_time: 3.8788, d0.loss_plan_l1_fix_dist: 0.7158, d1.loss_plan_l1_fix_time: 3.8608, d1.loss_plan_l1_fix_dist: 0.7323, d2.loss_plan_l1_fix_time: 3.8900, d2.loss_plan_l1_fix_dist: 0.7734, d3.loss_plan_l1_fix_time: 3.9157, d3.loss_plan_l1_fix_dist: 0.8339, d4.loss_plan_l1_fix_time: 3.9406, d4.loss_plan_l1_fix_dist: 0.9071, d5.loss_plan_l1_fix_time: 3.9660, d5.loss_plan_l1_fix_dist: 0.9782, d6.loss_plan_l1_fix_time: 3.9920, d6.loss_plan_l1_fix_dist: 1.0496, d0.loss_cls_all: 1.0718, d0.loss_bbox_all: 1.1599, d0.loss_cls: 1.0718, d0.loss_bbox: 1.1599, d1.loss_cls: 1.0737, d1.loss_bbox: 1.1468, d2.loss_cls: 1.0779, d2.loss_bbox: 1.1378, d3.loss_cls: 1.0819, d3.loss_bbox: 1.1310, d4.loss_cls: 1.0789, d4.loss_bbox: 1.1339, d5.loss_cls: 1.0787, d5.loss_bbox: 1.1395, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1885, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2082, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2455, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.2448, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2805, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.3026, d0.loss_map_cls_all: 0.6702, d0.loss_map_pts_all: 3.5392, d0.loss_map_dir_all: 0.0427, d0.loss_map_cls: 0.6702, d0.loss_map_pts: 3.5392, d0.loss_map_dir: 0.0427, d1.loss_map_cls: 0.6861, d1.loss_map_pts: 3.0213, d1.loss_map_dir: 0.0431, d2.loss_map_cls: 0.6862, d2.loss_map_pts: 2.9665, d2.loss_map_dir: 0.0431, d3.loss_map_cls: 0.6847, d3.loss_map_pts: 2.9581, d3.loss_map_dir: 0.0431, d4.loss_map_cls: 0.6840, d4.loss_map_pts: 2.9529, d4.loss_map_dir: 0.0431, d5.loss_map_cls: 0.6843, d5.loss_map_pts: 2.9508, d5.loss_map_dir: 0.0431, loss: 97.6740, grad_norm: 212.3305 +2026-02-24 04:51:55,729 - DriveTransformer - INFO - Epoch [1][11750/39528] lr: 1.000e-04, eta: 8 days, 15:46:07, time: 0.800, data_time: 0.041, memory: 19865, loss_cls: 1.0502, loss_bbox: 1.0545, loss_traj: 2.2132, loss_traj_cls: 0.0005, loss_map_cls: 0.6651, loss_map_pts: 2.9910, loss_map_dir: 0.0433, d0.loss_plan_l1_fix_time: 3.2700, d0.loss_plan_l1_fix_dist: 0.6345, d1.loss_plan_l1_fix_time: 3.2199, d1.loss_plan_l1_fix_dist: 0.6710, d2.loss_plan_l1_fix_time: 3.2518, d2.loss_plan_l1_fix_dist: 0.7209, d3.loss_plan_l1_fix_time: 3.2798, d3.loss_plan_l1_fix_dist: 0.7851, d4.loss_plan_l1_fix_time: 3.3076, d4.loss_plan_l1_fix_dist: 0.8548, d5.loss_plan_l1_fix_time: 3.3365, d5.loss_plan_l1_fix_dist: 0.9340, d6.loss_plan_l1_fix_time: 3.3658, d6.loss_plan_l1_fix_dist: 1.0154, d0.loss_cls_all: 1.0300, d0.loss_bbox_all: 1.0817, d0.loss_cls: 1.0300, d0.loss_bbox: 1.0817, d1.loss_cls: 1.0334, d1.loss_bbox: 1.0654, d2.loss_cls: 1.0393, d2.loss_bbox: 1.0495, d3.loss_cls: 1.0419, d3.loss_bbox: 1.0421, d4.loss_cls: 1.0411, d4.loss_bbox: 1.0442, d5.loss_cls: 1.0453, d5.loss_bbox: 1.0449, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1348, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1377, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1359, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1409, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1720, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1834, d0.loss_map_cls_all: 0.6450, d0.loss_map_pts_all: 3.6046, d0.loss_map_dir_all: 0.0432, d0.loss_map_cls: 0.6450, d0.loss_map_pts: 3.6046, d0.loss_map_dir: 0.0432, d1.loss_map_cls: 0.6630, d1.loss_map_pts: 3.0592, d1.loss_map_dir: 0.0434, d2.loss_map_cls: 0.6648, d2.loss_map_pts: 3.0033, d2.loss_map_dir: 0.0434, d3.loss_map_cls: 0.6627, d3.loss_map_pts: 2.9949, d3.loss_map_dir: 0.0434, d4.loss_map_cls: 0.6631, d4.loss_map_pts: 2.9894, d4.loss_map_dir: 0.0433, d5.loss_map_cls: 0.6629, d5.loss_map_pts: 2.9874, d5.loss_map_dir: 0.0433, loss: 91.3956, grad_norm: 213.6624 +2026-02-24 04:52:35,834 - DriveTransformer - INFO - Epoch [1][11800/39528] lr: 1.000e-04, eta: 8 days, 15:45:42, time: 0.802, data_time: 0.040, memory: 19865, loss_cls: 1.0909, loss_bbox: 1.1210, loss_traj: 2.1827, loss_traj_cls: 0.0005, loss_map_cls: 0.6511, loss_map_pts: 2.9259, loss_map_dir: 0.0405, d0.loss_plan_l1_fix_time: 3.5223, d0.loss_plan_l1_fix_dist: 0.7239, d1.loss_plan_l1_fix_time: 3.3911, d1.loss_plan_l1_fix_dist: 0.7560, d2.loss_plan_l1_fix_time: 3.3873, d2.loss_plan_l1_fix_dist: 0.8029, d3.loss_plan_l1_fix_time: 3.3976, d3.loss_plan_l1_fix_dist: 0.8588, d4.loss_plan_l1_fix_time: 3.4125, d4.loss_plan_l1_fix_dist: 0.9194, d5.loss_plan_l1_fix_time: 3.4286, d5.loss_plan_l1_fix_dist: 0.9817, d6.loss_plan_l1_fix_time: 3.4457, d6.loss_plan_l1_fix_dist: 1.0501, d0.loss_cls_all: 1.0683, d0.loss_bbox_all: 1.1370, d0.loss_cls: 1.0683, d0.loss_bbox: 1.1370, d1.loss_cls: 1.0802, d1.loss_bbox: 1.1135, d2.loss_cls: 1.0826, d2.loss_bbox: 1.1046, d3.loss_cls: 1.0846, d3.loss_bbox: 1.0966, d4.loss_cls: 1.0911, d4.loss_bbox: 1.1004, d5.loss_cls: 1.0863, d5.loss_bbox: 1.1115, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0812, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0931, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0930, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1038, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1316, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1481, d0.loss_map_cls_all: 0.6294, d0.loss_map_pts_all: 3.4658, d0.loss_map_dir_all: 0.0398, d0.loss_map_cls: 0.6294, d0.loss_map_pts: 3.4658, d0.loss_map_dir: 0.0398, d1.loss_map_cls: 0.6487, d1.loss_map_pts: 2.9510, d1.loss_map_dir: 0.0403, d2.loss_map_cls: 0.6510, d2.loss_map_pts: 2.9092, d2.loss_map_dir: 0.0404, d3.loss_map_cls: 0.6514, d3.loss_map_pts: 2.9046, d3.loss_map_dir: 0.0405, d4.loss_map_cls: 0.6523, d4.loss_map_pts: 2.9068, d4.loss_map_dir: 0.0405, d5.loss_map_cls: 0.6513, d5.loss_map_pts: 2.9134, d5.loss_map_dir: 0.0405, loss: 92.4176, grad_norm: 213.2139 +2026-02-24 04:53:15,699 - DriveTransformer - INFO - Epoch [1][11850/39528] lr: 1.000e-04, eta: 8 days, 15:44:58, time: 0.797, data_time: 0.046, memory: 19865, loss_cls: 1.0508, loss_bbox: 1.0270, loss_traj: 2.0794, loss_traj_cls: 0.0005, loss_map_cls: 0.6913, loss_map_pts: 2.5819, loss_map_dir: 0.0401, d0.loss_plan_l1_fix_time: 3.5384, d0.loss_plan_l1_fix_dist: 0.6901, d1.loss_plan_l1_fix_time: 3.3898, d1.loss_plan_l1_fix_dist: 0.7267, d2.loss_plan_l1_fix_time: 3.3837, d2.loss_plan_l1_fix_dist: 0.7818, d3.loss_plan_l1_fix_time: 3.3971, d3.loss_plan_l1_fix_dist: 0.8450, d4.loss_plan_l1_fix_time: 3.4141, d4.loss_plan_l1_fix_dist: 0.9176, d5.loss_plan_l1_fix_time: 3.4345, d5.loss_plan_l1_fix_dist: 1.0002, d6.loss_plan_l1_fix_time: 3.4577, d6.loss_plan_l1_fix_dist: 1.0897, d0.loss_cls_all: 1.0083, d0.loss_bbox_all: 1.0353, d0.loss_cls: 1.0083, d0.loss_bbox: 1.0353, d1.loss_cls: 1.0166, d1.loss_bbox: 1.0188, d2.loss_cls: 1.0288, d2.loss_bbox: 1.0096, d3.loss_cls: 1.0358, d3.loss_bbox: 1.0115, d4.loss_cls: 1.0411, d4.loss_bbox: 1.0178, d5.loss_cls: 1.0496, d5.loss_bbox: 1.0200, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0208, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0647, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0427, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0335, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0542, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0657, d0.loss_map_cls_all: 0.6713, d0.loss_map_pts_all: 3.1538, d0.loss_map_dir_all: 0.0391, d0.loss_map_cls: 0.6713, d0.loss_map_pts: 3.1538, d0.loss_map_dir: 0.0391, d1.loss_map_cls: 0.6835, d1.loss_map_pts: 2.6382, d1.loss_map_dir: 0.0399, d2.loss_map_cls: 0.6873, d2.loss_map_pts: 2.6004, d2.loss_map_dir: 0.0401, d3.loss_map_cls: 0.6879, d3.loss_map_pts: 2.5951, d3.loss_map_dir: 0.0402, d4.loss_map_cls: 0.6861, d4.loss_map_pts: 2.5878, d4.loss_map_dir: 0.0402, d5.loss_map_cls: 0.6892, d5.loss_map_pts: 2.5840, d5.loss_map_dir: 0.0402, loss: 88.5269, grad_norm: 209.9276 +2026-02-24 04:53:55,766 - DriveTransformer - INFO - Epoch [1][11900/39528] lr: 1.000e-04, eta: 8 days, 15:44:30, time: 0.801, data_time: 0.045, memory: 19865, loss_cls: 1.0570, loss_bbox: 1.0396, loss_traj: 2.3273, loss_traj_cls: 0.0005, loss_map_cls: 0.6844, loss_map_pts: 2.8672, loss_map_dir: 0.0439, d0.loss_plan_l1_fix_time: 3.5052, d0.loss_plan_l1_fix_dist: 0.6491, d1.loss_plan_l1_fix_time: 3.4475, d1.loss_plan_l1_fix_dist: 0.7014, d2.loss_plan_l1_fix_time: 3.4597, d2.loss_plan_l1_fix_dist: 0.7605, d3.loss_plan_l1_fix_time: 3.4844, d3.loss_plan_l1_fix_dist: 0.8361, d4.loss_plan_l1_fix_time: 3.5086, d4.loss_plan_l1_fix_dist: 0.9236, d5.loss_plan_l1_fix_time: 3.5329, d5.loss_plan_l1_fix_dist: 1.0147, d6.loss_plan_l1_fix_time: 3.5592, d6.loss_plan_l1_fix_dist: 1.1079, d0.loss_cls_all: 1.0204, d0.loss_bbox_all: 1.0822, d0.loss_cls: 1.0204, d0.loss_bbox: 1.0822, d1.loss_cls: 1.0339, d1.loss_bbox: 1.0644, d2.loss_cls: 1.0407, d2.loss_bbox: 1.0478, d3.loss_cls: 1.0451, d3.loss_bbox: 1.0449, d4.loss_cls: 1.0482, d4.loss_bbox: 1.0446, d5.loss_cls: 1.0533, d5.loss_bbox: 1.0392, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2863, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3032, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2985, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3067, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3095, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3206, d0.loss_map_cls_all: 0.6654, d0.loss_map_pts_all: 3.4016, d0.loss_map_dir_all: 0.0432, d0.loss_map_cls: 0.6654, d0.loss_map_pts: 3.4016, d0.loss_map_dir: 0.0432, d1.loss_map_cls: 0.6781, d1.loss_map_pts: 2.9266, d1.loss_map_dir: 0.0438, d2.loss_map_cls: 0.6780, d2.loss_map_pts: 2.8864, d2.loss_map_dir: 0.0439, d3.loss_map_cls: 0.6778, d3.loss_map_pts: 2.8747, d3.loss_map_dir: 0.0440, d4.loss_map_cls: 0.6770, d4.loss_map_pts: 2.8666, d4.loss_map_dir: 0.0439, d5.loss_map_cls: 0.6809, d5.loss_map_pts: 2.8643, d5.loss_map_dir: 0.0440, loss: 93.2563, grad_norm: 211.6426 +2026-02-24 04:54:35,933 - DriveTransformer - INFO - Epoch [1][11950/39528] lr: 1.000e-04, eta: 8 days, 15:44:09, time: 0.803, data_time: 0.050, memory: 19865, loss_cls: 1.1032, loss_bbox: 1.0512, loss_traj: 1.9935, loss_traj_cls: 0.0005, loss_map_cls: 0.6835, loss_map_pts: 2.8667, loss_map_dir: 0.0475, d0.loss_plan_l1_fix_time: 3.7978, d0.loss_plan_l1_fix_dist: 0.6307, d1.loss_plan_l1_fix_time: 3.7054, d1.loss_plan_l1_fix_dist: 0.6691, d2.loss_plan_l1_fix_time: 3.7071, d2.loss_plan_l1_fix_dist: 0.7255, d3.loss_plan_l1_fix_time: 3.7213, d3.loss_plan_l1_fix_dist: 0.7837, d4.loss_plan_l1_fix_time: 3.7396, d4.loss_plan_l1_fix_dist: 0.8468, d5.loss_plan_l1_fix_time: 3.7585, d5.loss_plan_l1_fix_dist: 0.9193, d6.loss_plan_l1_fix_time: 3.7775, d6.loss_plan_l1_fix_dist: 0.9985, d0.loss_cls_all: 1.0563, d0.loss_bbox_all: 1.0632, d0.loss_cls: 1.0563, d0.loss_bbox: 1.0632, d1.loss_cls: 1.0745, d1.loss_bbox: 1.0537, d2.loss_cls: 1.0819, d2.loss_bbox: 1.0399, d3.loss_cls: 1.0863, d3.loss_bbox: 1.0415, d4.loss_cls: 1.0891, d4.loss_bbox: 1.0411, d5.loss_cls: 1.0981, d5.loss_bbox: 1.0446, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9745, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0028, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9726, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9818, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9862, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9963, d0.loss_map_cls_all: 0.6762, d0.loss_map_pts_all: 3.3724, d0.loss_map_dir_all: 0.0468, d0.loss_map_cls: 0.6762, d0.loss_map_pts: 3.3724, d0.loss_map_dir: 0.0468, d1.loss_map_cls: 0.6858, d1.loss_map_pts: 2.9312, d1.loss_map_dir: 0.0476, d2.loss_map_cls: 0.6866, d2.loss_map_pts: 2.8980, d2.loss_map_dir: 0.0478, d3.loss_map_cls: 0.6864, d3.loss_map_pts: 2.8842, d3.loss_map_dir: 0.0477, d4.loss_map_cls: 0.6828, d4.loss_map_pts: 2.8730, d4.loss_map_dir: 0.0476, d5.loss_map_cls: 0.6832, d5.loss_map_pts: 2.8682, d5.loss_map_dir: 0.0475, loss: 92.6423, grad_norm: 210.9316 +2026-02-24 04:55:17,557 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 04:55:17,557 - DriveTransformer - INFO - Epoch [1][12000/39528] lr: 1.000e-04, eta: 8 days, 15:45:48, time: 0.834, data_time: 0.041, memory: 19865, loss_cls: 1.0491, loss_bbox: 0.9945, loss_traj: 2.1124, loss_traj_cls: 0.0006, loss_map_cls: 0.6559, loss_map_pts: 3.1146, loss_map_dir: 0.0483, d0.loss_plan_l1_fix_time: 3.0058, d0.loss_plan_l1_fix_dist: 0.6839, d1.loss_plan_l1_fix_time: 2.9157, d1.loss_plan_l1_fix_dist: 0.7284, d2.loss_plan_l1_fix_time: 2.9348, d2.loss_plan_l1_fix_dist: 0.7984, d3.loss_plan_l1_fix_time: 2.9599, d3.loss_plan_l1_fix_dist: 0.8663, d4.loss_plan_l1_fix_time: 2.9871, d4.loss_plan_l1_fix_dist: 0.9391, d5.loss_plan_l1_fix_time: 3.0155, d5.loss_plan_l1_fix_dist: 1.0261, d6.loss_plan_l1_fix_time: 3.0402, d6.loss_plan_l1_fix_dist: 1.1237, d0.loss_cls_all: 1.0330, d0.loss_bbox_all: 1.0364, d0.loss_cls: 1.0330, d0.loss_bbox: 1.0364, d1.loss_cls: 1.0452, d1.loss_bbox: 1.0107, d2.loss_cls: 1.0507, d2.loss_bbox: 0.9979, d3.loss_cls: 1.0480, d3.loss_bbox: 0.9892, d4.loss_cls: 1.0517, d4.loss_bbox: 0.9876, d5.loss_cls: 1.0503, d5.loss_bbox: 0.9876, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9981, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0239, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0379, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0549, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0742, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0803, d0.loss_map_cls_all: 0.6376, d0.loss_map_pts_all: 3.5910, d0.loss_map_dir_all: 0.0482, d0.loss_map_cls: 0.6376, d0.loss_map_pts: 3.5910, d0.loss_map_dir: 0.0482, d1.loss_map_cls: 0.6494, d1.loss_map_pts: 3.1316, d1.loss_map_dir: 0.0485, d2.loss_map_cls: 0.6491, d2.loss_map_pts: 3.1017, d2.loss_map_dir: 0.0485, d3.loss_map_cls: 0.6492, d3.loss_map_pts: 3.0980, d3.loss_map_dir: 0.0484, d4.loss_map_cls: 0.6482, d4.loss_map_pts: 3.1002, d4.loss_map_dir: 0.0483, d5.loss_map_cls: 0.6521, d5.loss_map_pts: 3.1061, d5.loss_map_dir: 0.0483, loss: 89.2112, grad_norm: 210.8329 +2026-02-24 04:55:56,927 - DriveTransformer - INFO - Epoch [1][12050/39528] lr: 1.000e-04, eta: 8 days, 15:44:19, time: 0.786, data_time: 0.038, memory: 19865, loss_cls: 1.0237, loss_bbox: 1.0236, loss_traj: 2.1447, loss_traj_cls: 0.0005, loss_map_cls: 0.6922, loss_map_pts: 2.8397, loss_map_dir: 0.0457, d0.loss_plan_l1_fix_time: 3.4873, d0.loss_plan_l1_fix_dist: 0.6166, d1.loss_plan_l1_fix_time: 3.4056, d1.loss_plan_l1_fix_dist: 0.6437, d2.loss_plan_l1_fix_time: 3.4148, d2.loss_plan_l1_fix_dist: 0.6882, d3.loss_plan_l1_fix_time: 3.4367, d3.loss_plan_l1_fix_dist: 0.7494, d4.loss_plan_l1_fix_time: 3.4596, d4.loss_plan_l1_fix_dist: 0.8151, d5.loss_plan_l1_fix_time: 3.4840, d5.loss_plan_l1_fix_dist: 0.8812, d6.loss_plan_l1_fix_time: 3.5104, d6.loss_plan_l1_fix_dist: 0.9533, d0.loss_cls_all: 0.9964, d0.loss_bbox_all: 1.0318, d0.loss_cls: 0.9964, d0.loss_bbox: 1.0318, d1.loss_cls: 1.0051, d1.loss_bbox: 1.0139, d2.loss_cls: 1.0105, d2.loss_bbox: 1.0010, d3.loss_cls: 1.0141, d3.loss_bbox: 0.9944, d4.loss_cls: 1.0162, d4.loss_bbox: 1.0001, d5.loss_cls: 1.0200, d5.loss_bbox: 1.0084, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0939, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1060, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1081, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1077, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1209, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1265, d0.loss_map_cls_all: 0.6741, d0.loss_map_pts_all: 3.3564, d0.loss_map_dir_all: 0.0457, d0.loss_map_cls: 0.6741, d0.loss_map_pts: 3.3564, d0.loss_map_dir: 0.0457, d1.loss_map_cls: 0.6856, d1.loss_map_pts: 2.8945, d1.loss_map_dir: 0.0458, d2.loss_map_cls: 0.6850, d2.loss_map_pts: 2.8558, d2.loss_map_dir: 0.0460, d3.loss_map_cls: 0.6893, d3.loss_map_pts: 2.8424, d3.loss_map_dir: 0.0459, d4.loss_map_cls: 0.6892, d4.loss_map_pts: 2.8372, d4.loss_map_dir: 0.0458, d5.loss_map_cls: 0.6919, d5.loss_map_pts: 2.8377, d5.loss_map_dir: 0.0457, loss: 90.2123, grad_norm: 211.3530 +2026-02-24 04:56:35,437 - DriveTransformer - INFO - Epoch [1][12100/39528] lr: 1.000e-04, eta: 8 days, 15:41:50, time: 0.770, data_time: 0.049, memory: 19865, loss_cls: 1.0149, loss_bbox: 1.0290, loss_traj: 2.2296, loss_traj_cls: 0.0005, loss_map_cls: 0.6732, loss_map_pts: 2.8268, loss_map_dir: 0.0449, d0.loss_plan_l1_fix_time: 3.4163, d0.loss_plan_l1_fix_dist: 0.5949, d1.loss_plan_l1_fix_time: 3.3107, d1.loss_plan_l1_fix_dist: 0.6404, d2.loss_plan_l1_fix_time: 3.3162, d2.loss_plan_l1_fix_dist: 0.7083, d3.loss_plan_l1_fix_time: 3.3348, d3.loss_plan_l1_fix_dist: 0.7833, d4.loss_plan_l1_fix_time: 3.3556, d4.loss_plan_l1_fix_dist: 0.8677, d5.loss_plan_l1_fix_time: 3.3792, d5.loss_plan_l1_fix_dist: 0.9572, d6.loss_plan_l1_fix_time: 3.4067, d6.loss_plan_l1_fix_dist: 1.0431, d0.loss_cls_all: 0.9783, d0.loss_bbox_all: 1.0592, d0.loss_cls: 0.9783, d0.loss_bbox: 1.0592, d1.loss_cls: 0.9906, d1.loss_bbox: 1.0351, d2.loss_cls: 0.9984, d2.loss_bbox: 1.0280, d3.loss_cls: 1.0000, d3.loss_bbox: 1.0216, d4.loss_cls: 1.0053, d4.loss_bbox: 1.0219, d5.loss_cls: 1.0093, d5.loss_bbox: 1.0209, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1507, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1734, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1789, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1778, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1989, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2005, d0.loss_map_cls_all: 0.6586, d0.loss_map_pts_all: 3.2824, d0.loss_map_dir_all: 0.0444, d0.loss_map_cls: 0.6586, d0.loss_map_pts: 3.2824, d0.loss_map_dir: 0.0444, d1.loss_map_cls: 0.6722, d1.loss_map_pts: 2.8234, d1.loss_map_dir: 0.0448, d2.loss_map_cls: 0.6731, d2.loss_map_pts: 2.7975, d2.loss_map_dir: 0.0450, d3.loss_map_cls: 0.6737, d3.loss_map_pts: 2.7977, d3.loss_map_dir: 0.0449, d4.loss_map_cls: 0.6712, d4.loss_map_pts: 2.8067, d4.loss_map_dir: 0.0448, d5.loss_map_cls: 0.6735, d5.loss_map_pts: 2.8175, d5.loss_map_dir: 0.0448, loss: 89.8240, grad_norm: 213.7444 +2026-02-24 04:57:15,470 - DriveTransformer - INFO - Epoch [1][12150/39528] lr: 1.000e-04, eta: 8 days, 15:41:19, time: 0.801, data_time: 0.046, memory: 19865, loss_cls: 1.0269, loss_bbox: 0.9942, loss_traj: 2.0932, loss_traj_cls: 0.0005, loss_map_cls: 0.6562, loss_map_pts: 2.6890, loss_map_dir: 0.0425, d0.loss_plan_l1_fix_time: 3.4930, d0.loss_plan_l1_fix_dist: 0.7237, d1.loss_plan_l1_fix_time: 3.3624, d1.loss_plan_l1_fix_dist: 0.7543, d2.loss_plan_l1_fix_time: 3.3568, d2.loss_plan_l1_fix_dist: 0.8002, d3.loss_plan_l1_fix_time: 3.3730, d3.loss_plan_l1_fix_dist: 0.8473, d4.loss_plan_l1_fix_time: 3.3930, d4.loss_plan_l1_fix_dist: 0.9038, d5.loss_plan_l1_fix_time: 3.4152, d5.loss_plan_l1_fix_dist: 0.9642, d6.loss_plan_l1_fix_time: 3.4377, d6.loss_plan_l1_fix_dist: 1.0348, d0.loss_cls_all: 0.9828, d0.loss_bbox_all: 1.0301, d0.loss_cls: 0.9828, d0.loss_bbox: 1.0301, d1.loss_cls: 0.9929, d1.loss_bbox: 1.0047, d2.loss_cls: 1.0088, d2.loss_bbox: 0.9905, d3.loss_cls: 1.0142, d3.loss_bbox: 0.9849, d4.loss_cls: 1.0168, d4.loss_bbox: 0.9858, d5.loss_cls: 1.0187, d5.loss_bbox: 0.9889, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0371, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0489, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0515, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0698, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0662, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0881, d0.loss_map_cls_all: 0.6435, d0.loss_map_pts_all: 3.2914, d0.loss_map_dir_all: 0.0426, d0.loss_map_cls: 0.6435, d0.loss_map_pts: 3.2914, d0.loss_map_dir: 0.0426, d1.loss_map_cls: 0.6570, d1.loss_map_pts: 2.7660, d1.loss_map_dir: 0.0427, d2.loss_map_cls: 0.6600, d2.loss_map_pts: 2.7006, d2.loss_map_dir: 0.0427, d3.loss_map_cls: 0.6573, d3.loss_map_pts: 2.6834, d3.loss_map_dir: 0.0427, d4.loss_map_cls: 0.6556, d4.loss_map_pts: 2.6775, d4.loss_map_dir: 0.0426, d5.loss_map_cls: 0.6556, d5.loss_map_pts: 2.6809, d5.loss_map_dir: 0.0425, loss: 88.7203, grad_norm: 213.0757 +2026-02-24 04:57:56,490 - DriveTransformer - INFO - Epoch [1][12200/39528] lr: 1.000e-04, eta: 8 days, 15:42:03, time: 0.820, data_time: 0.039, memory: 19865, loss_cls: 1.0353, loss_bbox: 1.0003, loss_traj: 2.2332, loss_traj_cls: 0.0005, loss_map_cls: 0.6550, loss_map_pts: 3.0104, loss_map_dir: 0.0465, d0.loss_plan_l1_fix_time: 3.2884, d0.loss_plan_l1_fix_dist: 0.7628, d1.loss_plan_l1_fix_time: 3.1648, d1.loss_plan_l1_fix_dist: 0.7874, d2.loss_plan_l1_fix_time: 3.1605, d2.loss_plan_l1_fix_dist: 0.8282, d3.loss_plan_l1_fix_time: 3.1758, d3.loss_plan_l1_fix_dist: 0.8829, d4.loss_plan_l1_fix_time: 3.1952, d4.loss_plan_l1_fix_dist: 0.9435, d5.loss_plan_l1_fix_time: 3.2151, d5.loss_plan_l1_fix_dist: 1.0163, d6.loss_plan_l1_fix_time: 3.2374, d6.loss_plan_l1_fix_dist: 1.0943, d0.loss_cls_all: 0.9949, d0.loss_bbox_all: 1.0255, d0.loss_cls: 0.9949, d0.loss_bbox: 1.0255, d1.loss_cls: 1.0090, d1.loss_bbox: 1.0001, d2.loss_cls: 1.0183, d2.loss_bbox: 0.9926, d3.loss_cls: 1.0238, d3.loss_bbox: 0.9909, d4.loss_cls: 1.0260, d4.loss_bbox: 0.9952, d5.loss_cls: 1.0301, d5.loss_bbox: 0.9954, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1808, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1929, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2006, d3.loss_traj_cls: 0.0007, d3.loss_traj: 2.2133, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2310, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2355, d0.loss_map_cls_all: 0.6405, d0.loss_map_pts_all: 3.5568, d0.loss_map_dir_all: 0.0461, d0.loss_map_cls: 0.6405, d0.loss_map_pts: 3.5568, d0.loss_map_dir: 0.0461, d1.loss_map_cls: 0.6487, d1.loss_map_pts: 3.0058, d1.loss_map_dir: 0.0464, d2.loss_map_cls: 0.6520, d2.loss_map_pts: 2.9473, d2.loss_map_dir: 0.0463, d3.loss_map_cls: 0.6516, d3.loss_map_pts: 2.9470, d3.loss_map_dir: 0.0463, d4.loss_map_cls: 0.6526, d4.loss_map_pts: 2.9670, d4.loss_map_dir: 0.0464, d5.loss_map_cls: 0.6538, d5.loss_map_pts: 2.9875, d5.loss_map_dir: 0.0465, loss: 90.9461, grad_norm: 211.3285 +2026-02-24 04:58:37,684 - DriveTransformer - INFO - Epoch [1][12250/39528] lr: 1.000e-04, eta: 8 days, 15:43:00, time: 0.824, data_time: 0.053, memory: 19865, loss_cls: 0.9888, loss_bbox: 0.9274, loss_traj: 1.9541, loss_traj_cls: 0.0004, loss_map_cls: 0.6175, loss_map_pts: 2.7514, loss_map_dir: 0.0444, d0.loss_plan_l1_fix_time: 2.8429, d0.loss_plan_l1_fix_dist: 0.6398, d1.loss_plan_l1_fix_time: 2.7769, d1.loss_plan_l1_fix_dist: 0.6778, d2.loss_plan_l1_fix_time: 2.7840, d2.loss_plan_l1_fix_dist: 0.7257, d3.loss_plan_l1_fix_time: 2.7977, d3.loss_plan_l1_fix_dist: 0.7778, d4.loss_plan_l1_fix_time: 2.8165, d4.loss_plan_l1_fix_dist: 0.8400, d5.loss_plan_l1_fix_time: 2.8386, d5.loss_plan_l1_fix_dist: 0.9132, d6.loss_plan_l1_fix_time: 2.8618, d6.loss_plan_l1_fix_dist: 0.9889, d0.loss_cls_all: 0.9551, d0.loss_bbox_all: 0.9447, d0.loss_cls: 0.9551, d0.loss_bbox: 0.9447, d1.loss_cls: 0.9667, d1.loss_bbox: 0.9337, d2.loss_cls: 0.9711, d2.loss_bbox: 0.9205, d3.loss_cls: 0.9782, d3.loss_bbox: 0.9209, d4.loss_cls: 0.9844, d4.loss_bbox: 0.9215, d5.loss_cls: 0.9886, d5.loss_bbox: 0.9219, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9216, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9368, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9328, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9391, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9568, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9534, d0.loss_map_cls_all: 0.6023, d0.loss_map_pts_all: 3.3353, d0.loss_map_dir_all: 0.0443, d0.loss_map_cls: 0.6023, d0.loss_map_pts: 3.3353, d0.loss_map_dir: 0.0443, d1.loss_map_cls: 0.6126, d1.loss_map_pts: 2.7625, d1.loss_map_dir: 0.0445, d2.loss_map_cls: 0.6157, d2.loss_map_pts: 2.7050, d2.loss_map_dir: 0.0444, d3.loss_map_cls: 0.6155, d3.loss_map_pts: 2.7056, d3.loss_map_dir: 0.0444, d4.loss_map_cls: 0.6157, d4.loss_map_pts: 2.7219, d4.loss_map_dir: 0.0444, d5.loss_map_cls: 0.6171, d5.loss_map_pts: 2.7362, d5.loss_map_dir: 0.0444, loss: 82.4096, grad_norm: 210.1904 +2026-02-24 04:59:17,367 - DriveTransformer - INFO - Epoch [1][12300/39528] lr: 1.000e-04, eta: 8 days, 15:42:02, time: 0.794, data_time: 0.043, memory: 19865, loss_cls: 1.0241, loss_bbox: 1.0417, loss_traj: 2.1841, loss_traj_cls: 0.0005, loss_map_cls: 0.6485, loss_map_pts: 2.9967, loss_map_dir: 0.0456, d0.loss_plan_l1_fix_time: 3.7199, d0.loss_plan_l1_fix_dist: 0.6473, d1.loss_plan_l1_fix_time: 3.5904, d1.loss_plan_l1_fix_dist: 0.6905, d2.loss_plan_l1_fix_time: 3.5829, d2.loss_plan_l1_fix_dist: 0.7557, d3.loss_plan_l1_fix_time: 3.5869, d3.loss_plan_l1_fix_dist: 0.8291, d4.loss_plan_l1_fix_time: 3.5973, d4.loss_plan_l1_fix_dist: 0.9194, d5.loss_plan_l1_fix_time: 3.6125, d5.loss_plan_l1_fix_dist: 1.0231, d6.loss_plan_l1_fix_time: 3.6287, d6.loss_plan_l1_fix_dist: 1.1383, d0.loss_cls_all: 0.9910, d0.loss_bbox_all: 1.0553, d0.loss_cls: 0.9910, d0.loss_bbox: 1.0553, d1.loss_cls: 1.0051, d1.loss_bbox: 1.0442, d2.loss_cls: 1.0076, d2.loss_bbox: 1.0321, d3.loss_cls: 1.0126, d3.loss_bbox: 1.0317, d4.loss_cls: 1.0159, d4.loss_bbox: 1.0343, d5.loss_cls: 1.0212, d5.loss_bbox: 1.0368, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1318, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1539, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1523, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1510, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1665, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1709, d0.loss_map_cls_all: 0.6506, d0.loss_map_pts_all: 3.4146, d0.loss_map_dir_all: 0.0453, d0.loss_map_cls: 0.6506, d0.loss_map_pts: 3.4146, d0.loss_map_dir: 0.0453, d1.loss_map_cls: 0.6528, d1.loss_map_pts: 3.0028, d1.loss_map_dir: 0.0458, d2.loss_map_cls: 0.6496, d2.loss_map_pts: 2.9739, d2.loss_map_dir: 0.0458, d3.loss_map_cls: 0.6487, d3.loss_map_pts: 2.9704, d3.loss_map_dir: 0.0458, d4.loss_map_cls: 0.6478, d4.loss_map_pts: 2.9723, d4.loss_map_dir: 0.0456, d5.loss_map_cls: 0.6487, d5.loss_map_pts: 2.9840, d5.loss_map_dir: 0.0457, loss: 93.1272, grad_norm: 211.4752 +2026-02-24 04:59:56,072 - DriveTransformer - INFO - Epoch [1][12350/39528] lr: 1.000e-04, eta: 8 days, 15:39:49, time: 0.774, data_time: 0.040, memory: 19865, loss_cls: 1.0366, loss_bbox: 1.0404, loss_traj: 2.2001, loss_traj_cls: 0.0006, loss_map_cls: 0.6598, loss_map_pts: 2.8748, loss_map_dir: 0.0444, d0.loss_plan_l1_fix_time: 3.4550, d0.loss_plan_l1_fix_dist: 0.7141, d1.loss_plan_l1_fix_time: 3.4087, d1.loss_plan_l1_fix_dist: 0.7635, d2.loss_plan_l1_fix_time: 3.4307, d2.loss_plan_l1_fix_dist: 0.8252, d3.loss_plan_l1_fix_time: 3.4594, d3.loss_plan_l1_fix_dist: 0.8919, d4.loss_plan_l1_fix_time: 3.4885, d4.loss_plan_l1_fix_dist: 0.9670, d5.loss_plan_l1_fix_time: 3.5165, d5.loss_plan_l1_fix_dist: 1.0550, d6.loss_plan_l1_fix_time: 3.5452, d6.loss_plan_l1_fix_dist: 1.1523, d0.loss_cls_all: 1.0076, d0.loss_bbox_all: 1.0799, d0.loss_cls: 1.0076, d0.loss_bbox: 1.0799, d1.loss_cls: 1.0229, d1.loss_bbox: 1.0488, d2.loss_cls: 1.0271, d2.loss_bbox: 1.0368, d3.loss_cls: 1.0307, d3.loss_bbox: 1.0330, d4.loss_cls: 1.0330, d4.loss_bbox: 1.0328, d5.loss_cls: 1.0344, d5.loss_bbox: 1.0361, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1179, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1350, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1355, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1523, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1747, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1752, d0.loss_map_cls_all: 0.6563, d0.loss_map_pts_all: 3.3515, d0.loss_map_dir_all: 0.0443, d0.loss_map_cls: 0.6563, d0.loss_map_pts: 3.3515, d0.loss_map_dir: 0.0443, d1.loss_map_cls: 0.6611, d1.loss_map_pts: 2.8905, d1.loss_map_dir: 0.0447, d2.loss_map_cls: 0.6602, d2.loss_map_pts: 2.8531, d2.loss_map_dir: 0.0446, d3.loss_map_cls: 0.6600, d3.loss_map_pts: 2.8495, d3.loss_map_dir: 0.0445, d4.loss_map_cls: 0.6602, d4.loss_map_pts: 2.8549, d4.loss_map_dir: 0.0445, d5.loss_map_cls: 0.6598, d5.loss_map_pts: 2.8644, d5.loss_map_dir: 0.0444, loss: 91.8746, grad_norm: 209.8092 +2026-02-24 05:00:34,832 - DriveTransformer - INFO - Epoch [1][12400/39528] lr: 1.000e-04, eta: 8 days, 15:37:42, time: 0.775, data_time: 0.038, memory: 19865, loss_cls: 1.0674, loss_bbox: 1.0597, loss_traj: 2.2458, loss_traj_cls: 0.0005, loss_map_cls: 0.6571, loss_map_pts: 2.7711, loss_map_dir: 0.0434, d0.loss_plan_l1_fix_time: 3.5577, d0.loss_plan_l1_fix_dist: 0.8634, d1.loss_plan_l1_fix_time: 3.4907, d1.loss_plan_l1_fix_dist: 0.9468, d2.loss_plan_l1_fix_time: 3.5046, d2.loss_plan_l1_fix_dist: 1.0475, d3.loss_plan_l1_fix_time: 3.5277, d3.loss_plan_l1_fix_dist: 1.1615, d4.loss_plan_l1_fix_time: 3.5541, d4.loss_plan_l1_fix_dist: 1.2852, d5.loss_plan_l1_fix_time: 3.5811, d5.loss_plan_l1_fix_dist: 1.4149, d6.loss_plan_l1_fix_time: 3.6114, d6.loss_plan_l1_fix_dist: 1.5525, d0.loss_cls_all: 1.0256, d0.loss_bbox_all: 1.0835, d0.loss_cls: 1.0256, d0.loss_bbox: 1.0835, d1.loss_cls: 1.0461, d1.loss_bbox: 1.0608, d2.loss_cls: 1.0562, d2.loss_bbox: 1.0488, d3.loss_cls: 1.0608, d3.loss_bbox: 1.0470, d4.loss_cls: 1.0602, d4.loss_bbox: 1.0486, d5.loss_cls: 1.0589, d5.loss_bbox: 1.0518, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1932, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1993, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1740, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1808, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2278, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2190, d0.loss_map_cls_all: 0.6469, d0.loss_map_pts_all: 3.1701, d0.loss_map_dir_all: 0.0431, d0.loss_map_cls: 0.6469, d0.loss_map_pts: 3.1701, d0.loss_map_dir: 0.0431, d1.loss_map_cls: 0.6544, d1.loss_map_pts: 2.6946, d1.loss_map_dir: 0.0432, d2.loss_map_cls: 0.6555, d2.loss_map_pts: 2.6987, d2.loss_map_dir: 0.0433, d3.loss_map_cls: 0.6553, d3.loss_map_pts: 2.7240, d3.loss_map_dir: 0.0433, d4.loss_map_cls: 0.6550, d4.loss_map_pts: 2.7471, d4.loss_map_dir: 0.0434, d5.loss_map_cls: 0.6556, d5.loss_map_pts: 2.7586, d5.loss_map_dir: 0.0434, loss: 93.7343, grad_norm: 210.5304 +2026-02-24 05:01:14,259 - DriveTransformer - INFO - Epoch [1][12450/39528] lr: 1.000e-04, eta: 8 days, 15:36:25, time: 0.789, data_time: 0.039, memory: 19865, loss_cls: 1.0409, loss_bbox: 1.0489, loss_traj: 1.9014, loss_traj_cls: 0.0005, loss_map_cls: 0.6587, loss_map_pts: 2.9199, loss_map_dir: 0.0451, d0.loss_plan_l1_fix_time: 3.5981, d0.loss_plan_l1_fix_dist: 0.6739, d1.loss_plan_l1_fix_time: 3.5746, d1.loss_plan_l1_fix_dist: 0.7215, d2.loss_plan_l1_fix_time: 3.5993, d2.loss_plan_l1_fix_dist: 0.7896, d3.loss_plan_l1_fix_time: 3.6266, d3.loss_plan_l1_fix_dist: 0.8612, d4.loss_plan_l1_fix_time: 3.6554, d4.loss_plan_l1_fix_dist: 0.9328, d5.loss_plan_l1_fix_time: 3.6860, d5.loss_plan_l1_fix_dist: 1.0017, d6.loss_plan_l1_fix_time: 3.7180, d6.loss_plan_l1_fix_dist: 1.0719, d0.loss_cls_all: 1.0155, d0.loss_bbox_all: 1.0453, d0.loss_cls: 1.0155, d0.loss_bbox: 1.0453, d1.loss_cls: 1.0220, d1.loss_bbox: 1.0250, d2.loss_cls: 1.0324, d2.loss_bbox: 1.0227, d3.loss_cls: 1.0368, d3.loss_bbox: 1.0236, d4.loss_cls: 1.0376, d4.loss_bbox: 1.0285, d5.loss_cls: 1.0396, d5.loss_bbox: 1.0395, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8746, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8799, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8606, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8786, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8745, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8788, d0.loss_map_cls_all: 0.6570, d0.loss_map_pts_all: 3.4066, d0.loss_map_dir_all: 0.0450, d0.loss_map_cls: 0.6570, d0.loss_map_pts: 3.4066, d0.loss_map_dir: 0.0450, d1.loss_map_cls: 0.6590, d1.loss_map_pts: 2.9285, d1.loss_map_dir: 0.0455, d2.loss_map_cls: 0.6592, d2.loss_map_pts: 2.9036, d2.loss_map_dir: 0.0454, d3.loss_map_cls: 0.6583, d3.loss_map_pts: 2.9055, d3.loss_map_dir: 0.0453, d4.loss_map_cls: 0.6571, d4.loss_map_pts: 2.9133, d4.loss_map_dir: 0.0452, d5.loss_map_cls: 0.6573, d5.loss_map_pts: 2.9142, d5.loss_map_dir: 0.0452, loss: 91.1054, grad_norm: 207.6594 +2026-02-24 05:01:54,522 - DriveTransformer - INFO - Epoch [1][12500/39528] lr: 1.000e-04, eta: 8 days, 15:36:12, time: 0.805, data_time: 0.039, memory: 19865, loss_cls: 0.9849, loss_bbox: 1.0036, loss_traj: 1.7062, loss_traj_cls: 0.0004, loss_map_cls: 0.6562, loss_map_pts: 3.1328, loss_map_dir: 0.0454, d0.loss_plan_l1_fix_time: 3.2064, d0.loss_plan_l1_fix_dist: 0.6208, d1.loss_plan_l1_fix_time: 3.1487, d1.loss_plan_l1_fix_dist: 0.6858, d2.loss_plan_l1_fix_time: 3.1665, d2.loss_plan_l1_fix_dist: 0.7705, d3.loss_plan_l1_fix_time: 3.1906, d3.loss_plan_l1_fix_dist: 0.8662, d4.loss_plan_l1_fix_time: 3.2155, d4.loss_plan_l1_fix_dist: 0.9763, d5.loss_plan_l1_fix_time: 3.2422, d5.loss_plan_l1_fix_dist: 1.0942, d6.loss_plan_l1_fix_time: 3.2697, d6.loss_plan_l1_fix_dist: 1.2192, d0.loss_cls_all: 0.9578, d0.loss_bbox_all: 1.0108, d0.loss_cls: 0.9578, d0.loss_bbox: 1.0108, d1.loss_cls: 0.9644, d1.loss_bbox: 0.9817, d2.loss_cls: 0.9737, d2.loss_bbox: 0.9753, d3.loss_cls: 0.9763, d3.loss_bbox: 0.9791, d4.loss_cls: 0.9795, d4.loss_bbox: 0.9869, d5.loss_cls: 0.9824, d5.loss_bbox: 0.9962, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6945, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.7059, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.7021, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7092, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7011, d5.loss_traj_cls: 0.0004, d5.loss_traj: 1.6987, d0.loss_map_cls_all: 0.6581, d0.loss_map_pts_all: 3.5605, d0.loss_map_dir_all: 0.0457, d0.loss_map_cls: 0.6581, d0.loss_map_pts: 3.5605, d0.loss_map_dir: 0.0457, d1.loss_map_cls: 0.6556, d1.loss_map_pts: 3.1042, d1.loss_map_dir: 0.0458, d2.loss_map_cls: 0.6564, d2.loss_map_pts: 3.0652, d2.loss_map_dir: 0.0458, d3.loss_map_cls: 0.6560, d3.loss_map_pts: 3.0702, d3.loss_map_dir: 0.0456, d4.loss_map_cls: 0.6556, d4.loss_map_pts: 3.0871, d4.loss_map_dir: 0.0456, d5.loss_map_cls: 0.6550, d5.loss_map_pts: 3.1126, d5.loss_map_dir: 0.0454, loss: 87.6239, grad_norm: 206.4290 +2026-02-24 05:02:34,195 - DriveTransformer - INFO - Epoch [1][12550/39528] lr: 1.000e-04, eta: 8 days, 15:35:13, time: 0.793, data_time: 0.048, memory: 19865, loss_cls: 0.9944, loss_bbox: 0.9815, loss_traj: 1.8598, loss_traj_cls: 0.0004, loss_map_cls: 0.6300, loss_map_pts: 3.0533, loss_map_dir: 0.0478, d0.loss_plan_l1_fix_time: 3.0702, d0.loss_plan_l1_fix_dist: 0.5566, d1.loss_plan_l1_fix_time: 2.9717, d1.loss_plan_l1_fix_dist: 0.6109, d2.loss_plan_l1_fix_time: 2.9873, d2.loss_plan_l1_fix_dist: 0.6870, d3.loss_plan_l1_fix_time: 3.0100, d3.loss_plan_l1_fix_dist: 0.7796, d4.loss_plan_l1_fix_time: 3.0354, d4.loss_plan_l1_fix_dist: 0.8959, d5.loss_plan_l1_fix_time: 3.0643, d5.loss_plan_l1_fix_dist: 1.0254, d6.loss_plan_l1_fix_time: 3.0938, d6.loss_plan_l1_fix_dist: 1.1651, d0.loss_cls_all: 0.9580, d0.loss_bbox_all: 0.9727, d0.loss_cls: 0.9580, d0.loss_bbox: 0.9727, d1.loss_cls: 0.9692, d1.loss_bbox: 0.9676, d2.loss_cls: 0.9821, d2.loss_bbox: 0.9607, d3.loss_cls: 0.9872, d3.loss_bbox: 0.9632, d4.loss_cls: 0.9876, d4.loss_bbox: 0.9706, d5.loss_cls: 0.9893, d5.loss_bbox: 0.9763, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8195, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8769, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8831, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8816, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8504, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8584, d0.loss_map_cls_all: 0.6366, d0.loss_map_pts_all: 3.4911, d0.loss_map_dir_all: 0.0478, d0.loss_map_cls: 0.6366, d0.loss_map_pts: 3.4911, d0.loss_map_dir: 0.0478, d1.loss_map_cls: 0.6323, d1.loss_map_pts: 3.0406, d1.loss_map_dir: 0.0479, d2.loss_map_cls: 0.6309, d2.loss_map_pts: 2.9976, d2.loss_map_dir: 0.0478, d3.loss_map_cls: 0.6300, d3.loss_map_pts: 3.0012, d3.loss_map_dir: 0.0477, d4.loss_map_cls: 0.6296, d4.loss_map_pts: 3.0154, d4.loss_map_dir: 0.0476, d5.loss_map_cls: 0.6298, d5.loss_map_pts: 3.0380, d5.loss_map_dir: 0.0478, loss: 86.1438, grad_norm: 206.3792 +2026-02-24 05:03:14,120 - DriveTransformer - INFO - Epoch [1][12600/39528] lr: 1.000e-04, eta: 8 days, 15:34:34, time: 0.798, data_time: 0.041, memory: 19865, loss_cls: 1.0357, loss_bbox: 1.0357, loss_traj: 2.2893, loss_traj_cls: 0.0005, loss_map_cls: 0.6595, loss_map_pts: 3.0225, loss_map_dir: 0.0497, d0.loss_plan_l1_fix_time: 3.8428, d0.loss_plan_l1_fix_dist: 0.7418, d1.loss_plan_l1_fix_time: 3.7436, d1.loss_plan_l1_fix_dist: 0.7839, d2.loss_plan_l1_fix_time: 3.7588, d2.loss_plan_l1_fix_dist: 0.8327, d3.loss_plan_l1_fix_time: 3.7788, d3.loss_plan_l1_fix_dist: 0.8951, d4.loss_plan_l1_fix_time: 3.8031, d4.loss_plan_l1_fix_dist: 0.9653, d5.loss_plan_l1_fix_time: 3.8302, d5.loss_plan_l1_fix_dist: 1.0481, d6.loss_plan_l1_fix_time: 3.8582, d6.loss_plan_l1_fix_dist: 1.1464, d0.loss_cls_all: 0.9951, d0.loss_bbox_all: 1.0279, d0.loss_cls: 0.9951, d0.loss_bbox: 1.0279, d1.loss_cls: 1.0133, d1.loss_bbox: 1.0214, d2.loss_cls: 1.0225, d2.loss_bbox: 1.0175, d3.loss_cls: 1.0248, d3.loss_bbox: 1.0238, d4.loss_cls: 1.0297, d4.loss_bbox: 1.0307, d5.loss_cls: 1.0308, d5.loss_bbox: 1.0337, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2145, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2928, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2936, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3017, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3355, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.2834, d0.loss_map_cls_all: 0.6562, d0.loss_map_pts_all: 3.4725, d0.loss_map_dir_all: 0.0502, d0.loss_map_cls: 0.6562, d0.loss_map_pts: 3.4725, d0.loss_map_dir: 0.0502, d1.loss_map_cls: 0.6602, d1.loss_map_pts: 3.0517, d1.loss_map_dir: 0.0503, d2.loss_map_cls: 0.6614, d2.loss_map_pts: 3.0087, d2.loss_map_dir: 0.0502, d3.loss_map_cls: 0.6602, d3.loss_map_pts: 3.0031, d3.loss_map_dir: 0.0500, d4.loss_map_cls: 0.6596, d4.loss_map_pts: 3.0047, d4.loss_map_dir: 0.0499, d5.loss_map_cls: 0.6588, d5.loss_map_pts: 3.0107, d5.loss_map_dir: 0.0498, loss: 96.1270, grad_norm: 205.2014 +2026-02-24 05:03:54,711 - DriveTransformer - INFO - Epoch [1][12650/39528] lr: 1.000e-04, eta: 8 days, 15:34:44, time: 0.812, data_time: 0.040, memory: 19865, loss_cls: 1.0566, loss_bbox: 1.0143, loss_traj: 2.1493, loss_traj_cls: 0.0006, loss_map_cls: 0.6392, loss_map_pts: 3.1071, loss_map_dir: 0.0472, d0.loss_plan_l1_fix_time: 3.7734, d0.loss_plan_l1_fix_dist: 0.7177, d1.loss_plan_l1_fix_time: 3.6993, d1.loss_plan_l1_fix_dist: 0.7727, d2.loss_plan_l1_fix_time: 3.7069, d2.loss_plan_l1_fix_dist: 0.8537, d3.loss_plan_l1_fix_time: 3.7235, d3.loss_plan_l1_fix_dist: 0.9496, d4.loss_plan_l1_fix_time: 3.7427, d4.loss_plan_l1_fix_dist: 1.0514, d5.loss_plan_l1_fix_time: 3.7625, d5.loss_plan_l1_fix_dist: 1.1571, d6.loss_plan_l1_fix_time: 3.7838, d6.loss_plan_l1_fix_dist: 1.2621, d0.loss_cls_all: 1.0295, d0.loss_bbox_all: 1.0212, d0.loss_cls: 1.0295, d0.loss_bbox: 1.0212, d1.loss_cls: 1.0479, d1.loss_bbox: 1.0039, d2.loss_cls: 1.0512, d2.loss_bbox: 1.0009, d3.loss_cls: 1.0548, d3.loss_bbox: 1.0020, d4.loss_cls: 1.0547, d4.loss_bbox: 1.0070, d5.loss_cls: 1.0550, d5.loss_bbox: 1.0104, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9542, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9840, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9677, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9633, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0015, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0920, d0.loss_map_cls_all: 0.6360, d0.loss_map_pts_all: 3.5654, d0.loss_map_dir_all: 0.0481, d0.loss_map_cls: 0.6360, d0.loss_map_pts: 3.5654, d0.loss_map_dir: 0.0481, d1.loss_map_cls: 0.6409, d1.loss_map_pts: 3.1253, d1.loss_map_dir: 0.0479, d2.loss_map_cls: 0.6411, d2.loss_map_pts: 3.0779, d2.loss_map_dir: 0.0478, d3.loss_map_cls: 0.6398, d3.loss_map_pts: 3.0720, d3.loss_map_dir: 0.0476, d4.loss_map_cls: 0.6385, d4.loss_map_pts: 3.0750, d4.loss_map_dir: 0.0475, d5.loss_map_cls: 0.6388, d5.loss_map_pts: 3.0841, d5.loss_map_dir: 0.0473, loss: 94.6967, grad_norm: 203.0283 +2026-02-24 05:04:34,878 - DriveTransformer - INFO - Epoch [1][12700/39528] lr: 1.000e-04, eta: 8 days, 15:34:22, time: 0.803, data_time: 0.040, memory: 19865, loss_cls: 0.9723, loss_bbox: 0.9790, loss_traj: 2.1607, loss_traj_cls: 0.0005, loss_map_cls: 0.6118, loss_map_pts: 2.8534, loss_map_dir: 0.0411, d0.loss_plan_l1_fix_time: 2.6675, d0.loss_plan_l1_fix_dist: 0.6830, d1.loss_plan_l1_fix_time: 2.5113, d1.loss_plan_l1_fix_dist: 0.7229, d2.loss_plan_l1_fix_time: 2.5067, d2.loss_plan_l1_fix_dist: 0.7801, d3.loss_plan_l1_fix_time: 2.5241, d3.loss_plan_l1_fix_dist: 0.8402, d4.loss_plan_l1_fix_time: 2.5473, d4.loss_plan_l1_fix_dist: 0.9044, d5.loss_plan_l1_fix_time: 2.5717, d5.loss_plan_l1_fix_dist: 0.9806, d6.loss_plan_l1_fix_time: 2.5972, d6.loss_plan_l1_fix_dist: 1.0614, d0.loss_cls_all: 0.9498, d0.loss_bbox_all: 0.9945, d0.loss_cls: 0.9498, d0.loss_bbox: 0.9945, d1.loss_cls: 0.9561, d1.loss_bbox: 0.9744, d2.loss_cls: 0.9634, d2.loss_bbox: 0.9696, d3.loss_cls: 0.9693, d3.loss_bbox: 0.9687, d4.loss_cls: 0.9683, d4.loss_bbox: 0.9709, d5.loss_cls: 0.9727, d5.loss_bbox: 0.9762, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9871, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0093, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0243, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0384, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0733, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1207, d0.loss_map_cls_all: 0.6160, d0.loss_map_pts_all: 3.5931, d0.loss_map_dir_all: 0.0426, d0.loss_map_cls: 0.6160, d0.loss_map_pts: 3.5931, d0.loss_map_dir: 0.0426, d1.loss_map_cls: 0.6219, d1.loss_map_pts: 2.9555, d1.loss_map_dir: 0.0416, d2.loss_map_cls: 0.6194, d2.loss_map_pts: 2.8781, d2.loss_map_dir: 0.0414, d3.loss_map_cls: 0.6148, d3.loss_map_pts: 2.8567, d3.loss_map_dir: 0.0413, d4.loss_map_cls: 0.6131, d4.loss_map_pts: 2.8514, d4.loss_map_dir: 0.0412, d5.loss_map_cls: 0.6121, d5.loss_map_pts: 2.8492, d5.loss_map_dir: 0.0412, loss: 83.5339, grad_norm: 201.0462 +2026-02-24 05:05:14,964 - DriveTransformer - INFO - Epoch [1][12750/39528] lr: 1.000e-04, eta: 8 days, 15:33:56, time: 0.802, data_time: 0.042, memory: 19865, loss_cls: 0.9623, loss_bbox: 0.9857, loss_traj: 2.0620, loss_traj_cls: 0.0004, loss_map_cls: 0.6867, loss_map_pts: 2.7094, loss_map_dir: 0.0424, d0.loss_plan_l1_fix_time: 3.0760, d0.loss_plan_l1_fix_dist: 0.5650, d1.loss_plan_l1_fix_time: 2.9695, d1.loss_plan_l1_fix_dist: 0.6181, d2.loss_plan_l1_fix_time: 2.9641, d2.loss_plan_l1_fix_dist: 0.6970, d3.loss_plan_l1_fix_time: 2.9773, d3.loss_plan_l1_fix_dist: 0.7887, d4.loss_plan_l1_fix_time: 2.9980, d4.loss_plan_l1_fix_dist: 0.8931, d5.loss_plan_l1_fix_time: 3.0223, d5.loss_plan_l1_fix_dist: 1.0060, d6.loss_plan_l1_fix_time: 3.0475, d6.loss_plan_l1_fix_dist: 1.1387, d0.loss_cls_all: 0.9476, d0.loss_bbox_all: 0.9751, d0.loss_cls: 0.9476, d0.loss_bbox: 0.9751, d1.loss_cls: 0.9560, d1.loss_bbox: 0.9709, d2.loss_cls: 0.9561, d2.loss_bbox: 0.9692, d3.loss_cls: 0.9618, d3.loss_bbox: 0.9737, d4.loss_cls: 0.9665, d4.loss_bbox: 0.9765, d5.loss_cls: 0.9634, d5.loss_bbox: 0.9834, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8765, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9145, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9211, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9364, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9499, d5.loss_traj_cls: 0.0004, d5.loss_traj: 2.0157, d0.loss_map_cls_all: 0.6867, d0.loss_map_pts_all: 3.2872, d0.loss_map_dir_all: 0.0424, d0.loss_map_cls: 0.6867, d0.loss_map_pts: 3.2872, d0.loss_map_dir: 0.0424, d1.loss_map_cls: 0.6941, d1.loss_map_pts: 2.7804, d1.loss_map_dir: 0.0426, d2.loss_map_cls: 0.6948, d2.loss_map_pts: 2.7197, d2.loss_map_dir: 0.0426, d3.loss_map_cls: 0.6906, d3.loss_map_pts: 2.7100, d3.loss_map_dir: 0.0424, d4.loss_map_cls: 0.6879, d4.loss_map_pts: 2.7048, d4.loss_map_dir: 0.0423, d5.loss_map_cls: 0.6872, d5.loss_map_pts: 2.7067, d5.loss_map_dir: 0.0423, loss: 84.6713, grad_norm: 200.4112 +2026-02-24 05:05:53,474 - DriveTransformer - INFO - Epoch [1][12800/39528] lr: 1.000e-04, eta: 8 days, 15:31:36, time: 0.771, data_time: 0.038, memory: 19865, loss_cls: 1.0165, loss_bbox: 1.0266, loss_traj: 2.0355, loss_traj_cls: 0.0005, loss_map_cls: 0.6603, loss_map_pts: 2.7781, loss_map_dir: 0.0450, d0.loss_plan_l1_fix_time: 3.2437, d0.loss_plan_l1_fix_dist: 0.6801, d1.loss_plan_l1_fix_time: 3.1541, d1.loss_plan_l1_fix_dist: 0.7262, d2.loss_plan_l1_fix_time: 3.1658, d2.loss_plan_l1_fix_dist: 0.7915, d3.loss_plan_l1_fix_time: 3.1852, d3.loss_plan_l1_fix_dist: 0.8670, d4.loss_plan_l1_fix_time: 3.2094, d4.loss_plan_l1_fix_dist: 0.9552, d5.loss_plan_l1_fix_time: 3.2392, d5.loss_plan_l1_fix_dist: 1.0453, d6.loss_plan_l1_fix_time: 3.2693, d6.loss_plan_l1_fix_dist: 1.1517, d0.loss_cls_all: 0.9873, d0.loss_bbox_all: 1.0339, d0.loss_cls: 0.9873, d0.loss_bbox: 1.0339, d1.loss_cls: 1.0012, d1.loss_bbox: 1.0195, d2.loss_cls: 1.0077, d2.loss_bbox: 1.0092, d3.loss_cls: 1.0157, d3.loss_bbox: 1.0079, d4.loss_cls: 1.0184, d4.loss_bbox: 1.0112, d5.loss_cls: 1.0179, d5.loss_bbox: 1.0187, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9470, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9363, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9670, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9755, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9675, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9973, d0.loss_map_cls_all: 0.6503, d0.loss_map_pts_all: 3.3275, d0.loss_map_dir_all: 0.0453, d0.loss_map_cls: 0.6503, d0.loss_map_pts: 3.3275, d0.loss_map_dir: 0.0453, d1.loss_map_cls: 0.6545, d1.loss_map_pts: 2.8245, d1.loss_map_dir: 0.0453, d2.loss_map_cls: 0.6573, d2.loss_map_pts: 2.7757, d2.loss_map_dir: 0.0452, d3.loss_map_cls: 0.6602, d3.loss_map_pts: 2.7682, d3.loss_map_dir: 0.0451, d4.loss_map_cls: 0.6615, d4.loss_map_pts: 2.7665, d4.loss_map_dir: 0.0451, d5.loss_map_cls: 0.6613, d5.loss_map_pts: 2.7708, d5.loss_map_dir: 0.0450, loss: 87.6816, grad_norm: 200.2290 +2026-02-24 05:06:35,434 - DriveTransformer - INFO - Epoch [1][12850/39528] lr: 1.000e-04, eta: 8 days, 15:33:20, time: 0.838, data_time: 0.045, memory: 19865, loss_cls: 1.0205, loss_bbox: 0.9929, loss_traj: 2.1244, loss_traj_cls: 0.0004, loss_map_cls: 0.6505, loss_map_pts: 3.0663, loss_map_dir: 0.0432, d0.loss_plan_l1_fix_time: 3.8632, d0.loss_plan_l1_fix_dist: 0.6289, d1.loss_plan_l1_fix_time: 3.8252, d1.loss_plan_l1_fix_dist: 0.6819, d2.loss_plan_l1_fix_time: 3.8389, d2.loss_plan_l1_fix_dist: 0.7581, d3.loss_plan_l1_fix_time: 3.8584, d3.loss_plan_l1_fix_dist: 0.8416, d4.loss_plan_l1_fix_time: 3.8816, d4.loss_plan_l1_fix_dist: 0.9279, d5.loss_plan_l1_fix_time: 3.9068, d5.loss_plan_l1_fix_dist: 1.0200, d6.loss_plan_l1_fix_time: 3.9357, d6.loss_plan_l1_fix_dist: 1.1158, d0.loss_cls_all: 0.9942, d0.loss_bbox_all: 0.9622, d0.loss_cls: 0.9942, d0.loss_bbox: 0.9622, d1.loss_cls: 1.0068, d1.loss_bbox: 0.9716, d2.loss_cls: 1.0096, d2.loss_bbox: 0.9760, d3.loss_cls: 1.0137, d3.loss_bbox: 0.9761, d4.loss_cls: 1.0157, d4.loss_bbox: 0.9804, d5.loss_cls: 1.0188, d5.loss_bbox: 0.9878, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.1137, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1383, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1348, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1231, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1340, d5.loss_traj_cls: 0.0004, d5.loss_traj: 2.1167, d0.loss_map_cls_all: 0.6464, d0.loss_map_pts_all: 3.6040, d0.loss_map_dir_all: 0.0444, d0.loss_map_cls: 0.6464, d0.loss_map_pts: 3.6040, d0.loss_map_dir: 0.0444, d1.loss_map_cls: 0.6559, d1.loss_map_pts: 3.0746, d1.loss_map_dir: 0.0436, d2.loss_map_cls: 0.6554, d2.loss_map_pts: 3.0419, d2.loss_map_dir: 0.0434, d3.loss_map_cls: 0.6526, d3.loss_map_pts: 3.0496, d3.loss_map_dir: 0.0433, d4.loss_map_cls: 0.6524, d4.loss_map_pts: 3.0593, d4.loss_map_dir: 0.0433, d5.loss_map_cls: 0.6513, d5.loss_map_pts: 3.0640, d5.loss_map_dir: 0.0432, loss: 94.9783, grad_norm: 199.8865 +2026-02-24 05:07:15,900 - DriveTransformer - INFO - Epoch [1][12900/39528] lr: 1.000e-04, eta: 8 days, 15:33:20, time: 0.809, data_time: 0.037, memory: 19865, loss_cls: 0.9764, loss_bbox: 0.9932, loss_traj: 2.1428, loss_traj_cls: 0.0004, loss_map_cls: 0.6452, loss_map_pts: 3.0172, loss_map_dir: 0.0474, d0.loss_plan_l1_fix_time: 3.7351, d0.loss_plan_l1_fix_dist: 0.6661, d1.loss_plan_l1_fix_time: 3.6895, d1.loss_plan_l1_fix_dist: 0.7204, d2.loss_plan_l1_fix_time: 3.7047, d2.loss_plan_l1_fix_dist: 0.7970, d3.loss_plan_l1_fix_time: 3.7247, d3.loss_plan_l1_fix_dist: 0.8888, d4.loss_plan_l1_fix_time: 3.7495, d4.loss_plan_l1_fix_dist: 0.9988, d5.loss_plan_l1_fix_time: 3.7769, d5.loss_plan_l1_fix_dist: 1.1142, d6.loss_plan_l1_fix_time: 3.8077, d6.loss_plan_l1_fix_dist: 1.2283, d0.loss_cls_all: 0.9520, d0.loss_bbox_all: 0.9800, d0.loss_cls: 0.9520, d0.loss_bbox: 0.9800, d1.loss_cls: 0.9663, d1.loss_bbox: 0.9835, d2.loss_cls: 0.9739, d2.loss_bbox: 0.9788, d3.loss_cls: 0.9750, d3.loss_bbox: 0.9852, d4.loss_cls: 0.9737, d4.loss_bbox: 0.9880, d5.loss_cls: 0.9751, d5.loss_bbox: 0.9905, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1532, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1912, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1634, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1599, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1492, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1630, d0.loss_map_cls_all: 0.6459, d0.loss_map_pts_all: 3.5627, d0.loss_map_dir_all: 0.0476, d0.loss_map_cls: 0.6459, d0.loss_map_pts: 3.5627, d0.loss_map_dir: 0.0476, d1.loss_map_cls: 0.6633, d1.loss_map_pts: 3.0514, d1.loss_map_dir: 0.0478, d2.loss_map_cls: 0.6578, d2.loss_map_pts: 3.0190, d2.loss_map_dir: 0.0477, d3.loss_map_cls: 0.6504, d3.loss_map_pts: 3.0135, d3.loss_map_dir: 0.0475, d4.loss_map_cls: 0.6489, d4.loss_map_pts: 3.0153, d4.loss_map_dir: 0.0473, d5.loss_map_cls: 0.6472, d5.loss_map_pts: 3.0141, d5.loss_map_dir: 0.0474, loss: 94.1924, grad_norm: 199.1176 +2026-02-24 05:07:53,325 - DriveTransformer - INFO - Epoch [1][12950/39528] lr: 1.000e-04, eta: 8 days, 15:29:39, time: 0.749, data_time: 0.039, memory: 19865, loss_cls: 1.0367, loss_bbox: 0.9805, loss_traj: 2.2180, loss_traj_cls: 0.0005, loss_map_cls: 0.7211, loss_map_pts: 2.3998, loss_map_dir: 0.0391, d0.loss_plan_l1_fix_time: 3.1747, d0.loss_plan_l1_fix_dist: 0.7729, d1.loss_plan_l1_fix_time: 3.1169, d1.loss_plan_l1_fix_dist: 0.8285, d2.loss_plan_l1_fix_time: 3.1289, d2.loss_plan_l1_fix_dist: 0.8875, d3.loss_plan_l1_fix_time: 3.1502, d3.loss_plan_l1_fix_dist: 0.9509, d4.loss_plan_l1_fix_time: 3.1730, d4.loss_plan_l1_fix_dist: 1.0268, d5.loss_plan_l1_fix_time: 3.1967, d5.loss_plan_l1_fix_dist: 1.1211, d6.loss_plan_l1_fix_time: 3.2237, d6.loss_plan_l1_fix_dist: 1.2258, d0.loss_cls_all: 0.9991, d0.loss_bbox_all: 0.9557, d0.loss_cls: 0.9991, d0.loss_bbox: 0.9557, d1.loss_cls: 1.0208, d1.loss_bbox: 0.9571, d2.loss_cls: 1.0280, d2.loss_bbox: 0.9566, d3.loss_cls: 1.0298, d3.loss_bbox: 0.9616, d4.loss_cls: 1.0327, d4.loss_bbox: 0.9670, d5.loss_cls: 1.0361, d5.loss_bbox: 0.9705, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1180, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1523, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1268, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1328, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1552, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1563, d0.loss_map_cls_all: 0.6969, d0.loss_map_pts_all: 3.0412, d0.loss_map_dir_all: 0.0396, d0.loss_map_cls: 0.6969, d0.loss_map_pts: 3.0412, d0.loss_map_dir: 0.0396, d1.loss_map_cls: 0.6962, d1.loss_map_pts: 2.4424, d1.loss_map_dir: 0.0395, d2.loss_map_cls: 0.7035, d2.loss_map_pts: 2.3993, d2.loss_map_dir: 0.0393, d3.loss_map_cls: 0.7105, d3.loss_map_pts: 2.3932, d3.loss_map_dir: 0.0393, d4.loss_map_cls: 0.7167, d4.loss_map_pts: 2.3953, d4.loss_map_dir: 0.0392, d5.loss_map_cls: 0.7185, d5.loss_map_pts: 2.3966, d5.loss_map_dir: 0.0391, loss: 86.4121, grad_norm: 198.1832 +2026-02-24 05:08:34,322 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 05:08:34,323 - DriveTransformer - INFO - Epoch [1][13000/39528] lr: 1.000e-04, eta: 8 days, 15:30:18, time: 0.820, data_time: 0.039, memory: 19865, loss_cls: 1.0452, loss_bbox: 0.9980, loss_traj: 2.0126, loss_traj_cls: 0.0005, loss_map_cls: 0.6397, loss_map_pts: 3.0407, loss_map_dir: 0.0457, d0.loss_plan_l1_fix_time: 2.8928, d0.loss_plan_l1_fix_dist: 0.7348, d1.loss_plan_l1_fix_time: 2.8080, d1.loss_plan_l1_fix_dist: 0.7762, d2.loss_plan_l1_fix_time: 2.8237, d2.loss_plan_l1_fix_dist: 0.8306, d3.loss_plan_l1_fix_time: 2.8449, d3.loss_plan_l1_fix_dist: 0.8904, d4.loss_plan_l1_fix_time: 2.8672, d4.loss_plan_l1_fix_dist: 0.9623, d5.loss_plan_l1_fix_time: 2.8902, d5.loss_plan_l1_fix_dist: 1.0325, d6.loss_plan_l1_fix_time: 2.9143, d6.loss_plan_l1_fix_dist: 1.1082, d0.loss_cls_all: 1.0011, d0.loss_bbox_all: 0.9931, d0.loss_cls: 1.0011, d0.loss_bbox: 0.9931, d1.loss_cls: 1.0236, d1.loss_bbox: 0.9854, d2.loss_cls: 1.0346, d2.loss_bbox: 0.9884, d3.loss_cls: 1.0361, d3.loss_bbox: 0.9888, d4.loss_cls: 1.0373, d4.loss_bbox: 0.9898, d5.loss_cls: 1.0433, d5.loss_bbox: 0.9927, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8472, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9033, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9254, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9465, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9799, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9909, d0.loss_map_cls_all: 0.6203, d0.loss_map_pts_all: 3.7039, d0.loss_map_dir_all: 0.0462, d0.loss_map_cls: 0.6203, d0.loss_map_pts: 3.7039, d0.loss_map_dir: 0.0462, d1.loss_map_cls: 0.6274, d1.loss_map_pts: 3.0747, d1.loss_map_dir: 0.0459, d2.loss_map_cls: 0.6302, d2.loss_map_pts: 3.0321, d2.loss_map_dir: 0.0458, d3.loss_map_cls: 0.6337, d3.loss_map_pts: 3.0283, d3.loss_map_dir: 0.0457, d4.loss_map_cls: 0.6391, d4.loss_map_pts: 3.0293, d4.loss_map_dir: 0.0457, d5.loss_map_cls: 0.6388, d5.loss_map_pts: 3.0335, d5.loss_map_dir: 0.0457, loss: 87.1999, grad_norm: 198.2636 +2026-02-24 05:09:15,716 - DriveTransformer - INFO - Epoch [1][13050/39528] lr: 1.000e-04, eta: 8 days, 15:31:23, time: 0.828, data_time: 0.048, memory: 19865, loss_cls: 1.0289, loss_bbox: 1.0026, loss_traj: 2.2074, loss_traj_cls: 0.0004, loss_map_cls: 0.6484, loss_map_pts: 2.8050, loss_map_dir: 0.0449, d0.loss_plan_l1_fix_time: 3.2943, d0.loss_plan_l1_fix_dist: 0.6100, d1.loss_plan_l1_fix_time: 3.1767, d1.loss_plan_l1_fix_dist: 0.6510, d2.loss_plan_l1_fix_time: 3.1732, d2.loss_plan_l1_fix_dist: 0.7187, d3.loss_plan_l1_fix_time: 3.1822, d3.loss_plan_l1_fix_dist: 0.7940, d4.loss_plan_l1_fix_time: 3.1975, d4.loss_plan_l1_fix_dist: 0.8771, d5.loss_plan_l1_fix_time: 3.2144, d5.loss_plan_l1_fix_dist: 0.9643, d6.loss_plan_l1_fix_time: 3.2330, d6.loss_plan_l1_fix_dist: 1.0612, d0.loss_cls_all: 0.9855, d0.loss_bbox_all: 0.9664, d0.loss_cls: 0.9855, d0.loss_bbox: 0.9664, d1.loss_cls: 1.0105, d1.loss_bbox: 0.9837, d2.loss_cls: 1.0063, d2.loss_bbox: 0.9955, d3.loss_cls: 1.0193, d3.loss_bbox: 0.9985, d4.loss_cls: 1.0205, d4.loss_bbox: 0.9961, d5.loss_cls: 1.0250, d5.loss_bbox: 0.9966, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.1468, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1535, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1375, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1548, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2195, d5.loss_traj_cls: 0.0004, d5.loss_traj: 2.1834, d0.loss_map_cls_all: 0.6160, d0.loss_map_pts_all: 3.4364, d0.loss_map_dir_all: 0.0447, d0.loss_map_cls: 0.6160, d0.loss_map_pts: 3.4364, d0.loss_map_dir: 0.0447, d1.loss_map_cls: 0.6232, d1.loss_map_pts: 2.8448, d1.loss_map_dir: 0.0452, d2.loss_map_cls: 0.6259, d2.loss_map_pts: 2.8013, d2.loss_map_dir: 0.0452, d3.loss_map_cls: 0.6313, d3.loss_map_pts: 2.7974, d3.loss_map_dir: 0.0451, d4.loss_map_cls: 0.6409, d4.loss_map_pts: 2.7980, d4.loss_map_dir: 0.0450, d5.loss_map_cls: 0.6435, d5.loss_map_pts: 2.8010, d5.loss_map_dir: 0.0450, loss: 88.4663, grad_norm: 198.0650 +2026-02-24 05:09:55,019 - DriveTransformer - INFO - Epoch [1][13100/39528] lr: 1.000e-04, eta: 8 days, 15:29:59, time: 0.786, data_time: 0.038, memory: 19865, loss_cls: 1.0070, loss_bbox: 1.0215, loss_traj: 2.1881, loss_traj_cls: 0.0005, loss_map_cls: 0.6547, loss_map_pts: 2.8106, loss_map_dir: 0.0426, d0.loss_plan_l1_fix_time: 3.8177, d0.loss_plan_l1_fix_dist: 0.6855, d1.loss_plan_l1_fix_time: 3.7036, d1.loss_plan_l1_fix_dist: 0.7359, d2.loss_plan_l1_fix_time: 3.7005, d2.loss_plan_l1_fix_dist: 0.8093, d3.loss_plan_l1_fix_time: 3.7114, d3.loss_plan_l1_fix_dist: 0.8968, d4.loss_plan_l1_fix_time: 3.7273, d4.loss_plan_l1_fix_dist: 0.9861, d5.loss_plan_l1_fix_time: 3.7446, d5.loss_plan_l1_fix_dist: 1.0904, d6.loss_plan_l1_fix_time: 3.7629, d6.loss_plan_l1_fix_dist: 1.2079, d0.loss_cls_all: 0.9781, d0.loss_bbox_all: 1.0080, d0.loss_cls: 0.9781, d0.loss_bbox: 1.0080, d1.loss_cls: 0.9882, d1.loss_bbox: 1.0150, d2.loss_cls: 0.9898, d2.loss_bbox: 1.0192, d3.loss_cls: 0.9990, d3.loss_bbox: 1.0197, d4.loss_cls: 1.0049, d4.loss_bbox: 1.0194, d5.loss_cls: 1.0051, d5.loss_bbox: 1.0168, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1642, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1594, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1273, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1401, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1600, d5.loss_traj_cls: 0.0004, d5.loss_traj: 2.2008, d0.loss_map_cls_all: 0.6395, d0.loss_map_pts_all: 3.2940, d0.loss_map_dir_all: 0.0420, d0.loss_map_cls: 0.6395, d0.loss_map_pts: 3.2940, d0.loss_map_dir: 0.0420, d1.loss_map_cls: 0.6451, d1.loss_map_pts: 2.8294, d1.loss_map_dir: 0.0426, d2.loss_map_cls: 0.6431, d2.loss_map_pts: 2.8005, d2.loss_map_dir: 0.0425, d3.loss_map_cls: 0.6450, d3.loss_map_pts: 2.8002, d3.loss_map_dir: 0.0426, d4.loss_map_cls: 0.6485, d4.loss_map_pts: 2.8028, d4.loss_map_dir: 0.0426, d5.loss_map_cls: 0.6515, d5.loss_map_pts: 2.8069, d5.loss_map_dir: 0.0427, loss: 92.7464, grad_norm: 197.6609 +2026-02-24 05:10:36,439 - DriveTransformer - INFO - Epoch [1][13150/39528] lr: 1.000e-04, eta: 8 days, 15:31:05, time: 0.828, data_time: 0.039, memory: 19865, loss_cls: 1.0162, loss_bbox: 0.9873, loss_traj: 2.0222, loss_traj_cls: 0.0005, loss_map_cls: 0.6332, loss_map_pts: 3.1526, loss_map_dir: 0.0468, d0.loss_plan_l1_fix_time: 3.5333, d0.loss_plan_l1_fix_dist: 0.7563, d1.loss_plan_l1_fix_time: 3.4237, d1.loss_plan_l1_fix_dist: 0.7971, d2.loss_plan_l1_fix_time: 3.4240, d2.loss_plan_l1_fix_dist: 0.8592, d3.loss_plan_l1_fix_time: 3.4411, d3.loss_plan_l1_fix_dist: 0.9229, d4.loss_plan_l1_fix_time: 3.4634, d4.loss_plan_l1_fix_dist: 0.9946, d5.loss_plan_l1_fix_time: 3.4871, d5.loss_plan_l1_fix_dist: 1.0721, d6.loss_plan_l1_fix_time: 3.5106, d6.loss_plan_l1_fix_dist: 1.1480, d0.loss_cls_all: 0.9879, d0.loss_bbox_all: 0.9604, d0.loss_cls: 0.9879, d0.loss_bbox: 0.9604, d1.loss_cls: 1.0101, d1.loss_bbox: 0.9567, d2.loss_cls: 1.0085, d2.loss_bbox: 0.9640, d3.loss_cls: 1.0180, d3.loss_bbox: 0.9674, d4.loss_cls: 1.0177, d4.loss_bbox: 0.9677, d5.loss_cls: 1.0134, d5.loss_bbox: 0.9791, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9546, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9925, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0346, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9813, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9761, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0139, d0.loss_map_cls_all: 0.6178, d0.loss_map_pts_all: 3.7422, d0.loss_map_dir_all: 0.0467, d0.loss_map_cls: 0.6178, d0.loss_map_pts: 3.7422, d0.loss_map_dir: 0.0467, d1.loss_map_cls: 0.6285, d1.loss_map_pts: 3.2027, d1.loss_map_dir: 0.0470, d2.loss_map_cls: 0.6276, d2.loss_map_pts: 3.1617, d2.loss_map_dir: 0.0470, d3.loss_map_cls: 0.6296, d3.loss_map_pts: 3.1535, d3.loss_map_dir: 0.0469, d4.loss_map_cls: 0.6311, d4.loss_map_pts: 3.1501, d4.loss_map_dir: 0.0469, d5.loss_map_cls: 0.6324, d5.loss_map_pts: 3.1503, d5.loss_map_dir: 0.0468, loss: 92.4630, grad_norm: 197.5866 +2026-02-24 05:11:16,666 - DriveTransformer - INFO - Epoch [1][13200/39528] lr: 1.000e-04, eta: 8 days, 15:30:47, time: 0.805, data_time: 0.038, memory: 19865, loss_cls: 1.0653, loss_bbox: 1.0267, loss_traj: 1.9000, loss_traj_cls: 0.0005, loss_map_cls: 0.6805, loss_map_pts: 3.1105, loss_map_dir: 0.0451, d0.loss_plan_l1_fix_time: 3.7936, d0.loss_plan_l1_fix_dist: 0.5959, d1.loss_plan_l1_fix_time: 3.6479, d1.loss_plan_l1_fix_dist: 0.6502, d2.loss_plan_l1_fix_time: 3.6311, d2.loss_plan_l1_fix_dist: 0.7233, d3.loss_plan_l1_fix_time: 3.6337, d3.loss_plan_l1_fix_dist: 0.8028, d4.loss_plan_l1_fix_time: 3.6430, d4.loss_plan_l1_fix_dist: 0.8938, d5.loss_plan_l1_fix_time: 3.6556, d5.loss_plan_l1_fix_dist: 0.9857, d6.loss_plan_l1_fix_time: 3.6725, d6.loss_plan_l1_fix_dist: 1.0643, d0.loss_cls_all: 1.0498, d0.loss_bbox_all: 1.0134, d0.loss_cls: 1.0498, d0.loss_bbox: 1.0134, d1.loss_cls: 1.0427, d1.loss_bbox: 1.0047, d2.loss_cls: 1.0563, d2.loss_bbox: 1.0113, d3.loss_cls: 1.0581, d3.loss_bbox: 1.0166, d4.loss_cls: 1.0587, d4.loss_bbox: 1.0130, d5.loss_cls: 1.0630, d5.loss_bbox: 1.0161, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8693, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8875, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8961, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8814, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8867, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9034, d0.loss_map_cls_all: 0.6530, d0.loss_map_pts_all: 3.5716, d0.loss_map_dir_all: 0.0444, d0.loss_map_cls: 0.6530, d0.loss_map_pts: 3.5716, d0.loss_map_dir: 0.0444, d1.loss_map_cls: 0.6661, d1.loss_map_pts: 3.1374, d1.loss_map_dir: 0.0451, d2.loss_map_cls: 0.6700, d2.loss_map_pts: 3.1131, d2.loss_map_dir: 0.0451, d3.loss_map_cls: 0.6740, d3.loss_map_pts: 3.1118, d3.loss_map_dir: 0.0452, d4.loss_map_cls: 0.6772, d4.loss_map_pts: 3.1112, d4.loss_map_dir: 0.0451, d5.loss_map_cls: 0.6793, d5.loss_map_pts: 3.1108, d5.loss_map_dir: 0.0451, loss: 92.7307, grad_norm: 196.8589 +2026-02-24 05:11:56,012 - DriveTransformer - INFO - Epoch [1][13250/39528] lr: 1.000e-04, eta: 8 days, 15:29:26, time: 0.787, data_time: 0.039, memory: 19865, loss_cls: 0.9896, loss_bbox: 0.9326, loss_traj: 2.0080, loss_traj_cls: 0.0004, loss_map_cls: 0.7110, loss_map_pts: 2.7190, loss_map_dir: 0.0398, d0.loss_plan_l1_fix_time: 3.6090, d0.loss_plan_l1_fix_dist: 0.5357, d1.loss_plan_l1_fix_time: 3.5109, d1.loss_plan_l1_fix_dist: 0.5742, d2.loss_plan_l1_fix_time: 3.5087, d2.loss_plan_l1_fix_dist: 0.6311, d3.loss_plan_l1_fix_time: 3.5175, d3.loss_plan_l1_fix_dist: 0.7109, d4.loss_plan_l1_fix_time: 3.5300, d4.loss_plan_l1_fix_dist: 0.7986, d5.loss_plan_l1_fix_time: 3.5456, d5.loss_plan_l1_fix_dist: 0.8960, d6.loss_plan_l1_fix_time: 3.5649, d6.loss_plan_l1_fix_dist: 1.0124, d0.loss_cls_all: 0.9744, d0.loss_bbox_all: 0.9047, d0.loss_cls: 0.9744, d0.loss_bbox: 0.9047, d1.loss_cls: 0.9743, d1.loss_bbox: 0.9136, d2.loss_cls: 0.9840, d2.loss_bbox: 0.9302, d3.loss_cls: 0.9852, d3.loss_bbox: 0.9312, d4.loss_cls: 0.9846, d4.loss_bbox: 0.9290, d5.loss_cls: 0.9875, d5.loss_bbox: 0.9296, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9284, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9240, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9417, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9169, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9385, d5.loss_traj_cls: 0.0004, d5.loss_traj: 1.9913, d0.loss_map_cls_all: 0.6873, d0.loss_map_pts_all: 3.2747, d0.loss_map_dir_all: 0.0394, d0.loss_map_cls: 0.6873, d0.loss_map_pts: 3.2747, d0.loss_map_dir: 0.0394, d1.loss_map_cls: 0.7012, d1.loss_map_pts: 2.7445, d1.loss_map_dir: 0.0398, d2.loss_map_cls: 0.7035, d2.loss_map_pts: 2.7168, d2.loss_map_dir: 0.0398, d3.loss_map_cls: 0.7053, d3.loss_map_pts: 2.7168, d3.loss_map_dir: 0.0398, d4.loss_map_cls: 0.7068, d4.loss_map_pts: 2.7178, d4.loss_map_dir: 0.0399, d5.loss_map_cls: 0.7086, d5.loss_map_pts: 2.7176, d5.loss_map_dir: 0.0398, loss: 87.6378, grad_norm: 196.4078 +2026-02-24 05:12:35,941 - DriveTransformer - INFO - Epoch [1][13300/39528] lr: 1.000e-04, eta: 8 days, 15:28:46, time: 0.799, data_time: 0.041, memory: 19865, loss_cls: 1.0184, loss_bbox: 0.9679, loss_traj: 2.2634, loss_traj_cls: 0.0004, loss_map_cls: 0.6860, loss_map_pts: 2.7812, loss_map_dir: 0.0354, d0.loss_plan_l1_fix_time: 3.3183, d0.loss_plan_l1_fix_dist: 0.6523, d1.loss_plan_l1_fix_time: 3.2774, d1.loss_plan_l1_fix_dist: 0.6857, d2.loss_plan_l1_fix_time: 3.2895, d2.loss_plan_l1_fix_dist: 0.7385, d3.loss_plan_l1_fix_time: 3.3049, d3.loss_plan_l1_fix_dist: 0.7966, d4.loss_plan_l1_fix_time: 3.3226, d4.loss_plan_l1_fix_dist: 0.8618, d5.loss_plan_l1_fix_time: 3.3418, d5.loss_plan_l1_fix_dist: 0.9344, d6.loss_plan_l1_fix_time: 3.3634, d6.loss_plan_l1_fix_dist: 1.0204, d0.loss_cls_all: 0.9807, d0.loss_bbox_all: 0.9411, d0.loss_cls: 0.9807, d0.loss_bbox: 0.9411, d1.loss_cls: 0.9889, d1.loss_bbox: 0.9448, d2.loss_cls: 0.9996, d2.loss_bbox: 0.9592, d3.loss_cls: 1.0086, d3.loss_bbox: 0.9617, d4.loss_cls: 1.0090, d4.loss_bbox: 0.9635, d5.loss_cls: 1.0126, d5.loss_bbox: 0.9616, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.1877, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2062, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1968, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1918, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.2335, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2394, d0.loss_map_cls_all: 0.6760, d0.loss_map_pts_all: 3.3845, d0.loss_map_dir_all: 0.0356, d0.loss_map_cls: 0.6760, d0.loss_map_pts: 3.3845, d0.loss_map_dir: 0.0356, d1.loss_map_cls: 0.6834, d1.loss_map_pts: 2.8203, d1.loss_map_dir: 0.0356, d2.loss_map_cls: 0.6807, d2.loss_map_pts: 2.7838, d2.loss_map_dir: 0.0356, d3.loss_map_cls: 0.6829, d3.loss_map_pts: 2.7761, d3.loss_map_dir: 0.0356, d4.loss_map_cls: 0.6818, d4.loss_map_pts: 2.7767, d4.loss_map_dir: 0.0355, d5.loss_map_cls: 0.6834, d5.loss_map_pts: 2.7778, d5.loss_map_dir: 0.0355, loss: 89.2887, grad_norm: 196.3813 +2026-02-24 05:13:16,232 - DriveTransformer - INFO - Epoch [1][13350/39528] lr: 1.000e-04, eta: 8 days, 15:28:31, time: 0.806, data_time: 0.038, memory: 19865, loss_cls: 0.9903, loss_bbox: 0.9533, loss_traj: 2.1239, loss_traj_cls: 0.0005, loss_map_cls: 0.6685, loss_map_pts: 2.7407, loss_map_dir: 0.0386, d0.loss_plan_l1_fix_time: 3.1643, d0.loss_plan_l1_fix_dist: 0.6254, d1.loss_plan_l1_fix_time: 3.1112, d1.loss_plan_l1_fix_dist: 0.6510, d2.loss_plan_l1_fix_time: 3.1244, d2.loss_plan_l1_fix_dist: 0.6911, d3.loss_plan_l1_fix_time: 3.1403, d3.loss_plan_l1_fix_dist: 0.7411, d4.loss_plan_l1_fix_time: 3.1584, d4.loss_plan_l1_fix_dist: 0.8025, d5.loss_plan_l1_fix_time: 3.1773, d5.loss_plan_l1_fix_dist: 0.8688, d6.loss_plan_l1_fix_time: 3.1984, d6.loss_plan_l1_fix_dist: 0.9338, d0.loss_cls_all: 0.9623, d0.loss_bbox_all: 0.9515, d0.loss_cls: 0.9623, d0.loss_bbox: 0.9515, d1.loss_cls: 0.9661, d1.loss_bbox: 0.9431, d2.loss_cls: 0.9772, d2.loss_bbox: 0.9416, d3.loss_cls: 0.9828, d3.loss_bbox: 0.9445, d4.loss_cls: 0.9844, d4.loss_bbox: 0.9462, d5.loss_cls: 0.9855, d5.loss_bbox: 0.9491, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0271, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0301, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0089, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0007, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.0192, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0368, d0.loss_map_cls_all: 0.6489, d0.loss_map_pts_all: 3.3699, d0.loss_map_dir_all: 0.0385, d0.loss_map_cls: 0.6489, d0.loss_map_pts: 3.3699, d0.loss_map_dir: 0.0385, d1.loss_map_cls: 0.6585, d1.loss_map_pts: 2.8120, d1.loss_map_dir: 0.0390, d2.loss_map_cls: 0.6626, d2.loss_map_pts: 2.7713, d2.loss_map_dir: 0.0389, d3.loss_map_cls: 0.6668, d3.loss_map_pts: 2.7599, d3.loss_map_dir: 0.0388, d4.loss_map_cls: 0.6661, d4.loss_map_pts: 2.7511, d4.loss_map_dir: 0.0388, d5.loss_map_cls: 0.6673, d5.loss_map_pts: 2.7439, d5.loss_map_dir: 0.0387, loss: 85.9460, grad_norm: 193.3007 +2026-02-24 05:13:57,286 - DriveTransformer - INFO - Epoch [1][13400/39528] lr: 1.000e-04, eta: 8 days, 15:29:10, time: 0.821, data_time: 0.038, memory: 19865, loss_cls: 1.0036, loss_bbox: 0.9612, loss_traj: 2.0827, loss_traj_cls: 0.0005, loss_map_cls: 0.6585, loss_map_pts: 2.6661, loss_map_dir: 0.0403, d0.loss_plan_l1_fix_time: 3.4687, d0.loss_plan_l1_fix_dist: 0.6661, d1.loss_plan_l1_fix_time: 3.3391, d1.loss_plan_l1_fix_dist: 0.7038, d2.loss_plan_l1_fix_time: 3.3340, d2.loss_plan_l1_fix_dist: 0.7496, d3.loss_plan_l1_fix_time: 3.3427, d3.loss_plan_l1_fix_dist: 0.8042, d4.loss_plan_l1_fix_time: 3.3583, d4.loss_plan_l1_fix_dist: 0.8683, d5.loss_plan_l1_fix_time: 3.3779, d5.loss_plan_l1_fix_dist: 0.9467, d6.loss_plan_l1_fix_time: 3.4004, d6.loss_plan_l1_fix_dist: 1.0274, d0.loss_cls_all: 0.9905, d0.loss_bbox_all: 0.9377, d0.loss_cls: 0.9905, d0.loss_bbox: 0.9377, d1.loss_cls: 0.9941, d1.loss_bbox: 0.9411, d2.loss_cls: 0.9989, d2.loss_bbox: 0.9566, d3.loss_cls: 1.0008, d3.loss_bbox: 0.9570, d4.loss_cls: 1.0039, d4.loss_bbox: 0.9606, d5.loss_cls: 1.0030, d5.loss_bbox: 0.9557, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9357, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9171, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9235, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9553, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0015, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0285, d0.loss_map_cls_all: 0.6487, d0.loss_map_pts_all: 3.2625, d0.loss_map_dir_all: 0.0403, d0.loss_map_cls: 0.6487, d0.loss_map_pts: 3.2625, d0.loss_map_dir: 0.0403, d1.loss_map_cls: 0.6531, d1.loss_map_pts: 2.7160, d1.loss_map_dir: 0.0404, d2.loss_map_cls: 0.6564, d2.loss_map_pts: 2.6813, d2.loss_map_dir: 0.0404, d3.loss_map_cls: 0.6557, d3.loss_map_pts: 2.6727, d3.loss_map_dir: 0.0404, d4.loss_map_cls: 0.6559, d4.loss_map_pts: 2.6677, d4.loss_map_dir: 0.0404, d5.loss_map_cls: 0.6563, d5.loss_map_pts: 2.6657, d5.loss_map_dir: 0.0403, loss: 86.9792, grad_norm: 192.7532 +2026-02-24 05:14:36,936 - DriveTransformer - INFO - Epoch [1][13450/39528] lr: 1.000e-04, eta: 8 days, 15:28:10, time: 0.793, data_time: 0.040, memory: 19865, loss_cls: 0.9765, loss_bbox: 0.9874, loss_traj: 2.1614, loss_traj_cls: 0.0004, loss_map_cls: 0.6603, loss_map_pts: 2.7657, loss_map_dir: 0.0380, d0.loss_plan_l1_fix_time: 3.8383, d0.loss_plan_l1_fix_dist: 0.6266, d1.loss_plan_l1_fix_time: 3.7142, d1.loss_plan_l1_fix_dist: 0.6519, d2.loss_plan_l1_fix_time: 3.7039, d2.loss_plan_l1_fix_dist: 0.6911, d3.loss_plan_l1_fix_time: 3.7077, d3.loss_plan_l1_fix_dist: 0.7410, d4.loss_plan_l1_fix_time: 3.7188, d4.loss_plan_l1_fix_dist: 0.7955, d5.loss_plan_l1_fix_time: 3.7338, d5.loss_plan_l1_fix_dist: 0.8550, d6.loss_plan_l1_fix_time: 3.7509, d6.loss_plan_l1_fix_dist: 0.9204, d0.loss_cls_all: 0.9505, d0.loss_bbox_all: 0.9628, d0.loss_cls: 0.9505, d0.loss_bbox: 0.9628, d1.loss_cls: 0.9594, d1.loss_bbox: 0.9590, d2.loss_cls: 0.9673, d2.loss_bbox: 0.9612, d3.loss_cls: 0.9718, d3.loss_bbox: 0.9619, d4.loss_cls: 0.9745, d4.loss_bbox: 0.9635, d5.loss_cls: 0.9773, d5.loss_bbox: 0.9726, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0274, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0309, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0263, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0343, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.0467, d5.loss_traj_cls: 0.0004, d5.loss_traj: 2.0838, d0.loss_map_cls_all: 0.6464, d0.loss_map_pts_all: 3.2907, d0.loss_map_dir_all: 0.0380, d0.loss_map_cls: 0.6464, d0.loss_map_pts: 3.2907, d0.loss_map_dir: 0.0380, d1.loss_map_cls: 0.6545, d1.loss_map_pts: 2.8082, d1.loss_map_dir: 0.0383, d2.loss_map_cls: 0.6575, d2.loss_map_pts: 2.7712, d2.loss_map_dir: 0.0383, d3.loss_map_cls: 0.6601, d3.loss_map_pts: 2.7621, d3.loss_map_dir: 0.0381, d4.loss_map_cls: 0.6582, d4.loss_map_pts: 2.7610, d4.loss_map_dir: 0.0381, d5.loss_map_cls: 0.6594, d5.loss_map_pts: 2.7628, d5.loss_map_dir: 0.0380, loss: 90.0819, grad_norm: 192.6372 +2026-02-24 05:15:20,421 - DriveTransformer - INFO - Epoch [1][13500/39528] lr: 1.000e-04, eta: 8 days, 15:31:36, time: 0.870, data_time: 0.037, memory: 19865, loss_cls: 1.0336, loss_bbox: 0.9384, loss_traj: 2.1581, loss_traj_cls: 0.0004, loss_map_cls: 0.6696, loss_map_pts: 2.8350, loss_map_dir: 0.0414, d0.loss_plan_l1_fix_time: 4.0568, d0.loss_plan_l1_fix_dist: 0.6877, d1.loss_plan_l1_fix_time: 4.0016, d1.loss_plan_l1_fix_dist: 0.7269, d2.loss_plan_l1_fix_time: 4.0086, d2.loss_plan_l1_fix_dist: 0.7824, d3.loss_plan_l1_fix_time: 4.0234, d3.loss_plan_l1_fix_dist: 0.8502, d4.loss_plan_l1_fix_time: 4.0415, d4.loss_plan_l1_fix_dist: 0.9309, d5.loss_plan_l1_fix_time: 4.0609, d5.loss_plan_l1_fix_dist: 1.0154, d6.loss_plan_l1_fix_time: 4.0845, d6.loss_plan_l1_fix_dist: 1.1035, d0.loss_cls_all: 1.0225, d0.loss_bbox_all: 0.9145, d0.loss_cls: 1.0225, d0.loss_bbox: 0.9145, d1.loss_cls: 1.0227, d1.loss_bbox: 0.9144, d2.loss_cls: 1.0272, d2.loss_bbox: 0.9207, d3.loss_cls: 1.0288, d3.loss_bbox: 0.9283, d4.loss_cls: 1.0319, d4.loss_bbox: 0.9330, d5.loss_cls: 1.0348, d5.loss_bbox: 0.9339, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1934, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2070, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2231, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.2131, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1764, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1664, d0.loss_map_cls_all: 0.6664, d0.loss_map_pts_all: 3.3966, d0.loss_map_dir_all: 0.0413, d0.loss_map_cls: 0.6664, d0.loss_map_pts: 3.3966, d0.loss_map_dir: 0.0413, d1.loss_map_cls: 0.6695, d1.loss_map_pts: 2.8878, d1.loss_map_dir: 0.0414, d2.loss_map_cls: 0.6686, d2.loss_map_pts: 2.8428, d2.loss_map_dir: 0.0414, d3.loss_map_cls: 0.6697, d3.loss_map_pts: 2.8342, d3.loss_map_dir: 0.0414, d4.loss_map_cls: 0.6681, d4.loss_map_pts: 2.8326, d4.loss_map_dir: 0.0414, d5.loss_map_cls: 0.6689, d5.loss_map_pts: 2.8329, d5.loss_map_dir: 0.0414, loss: 94.8738, grad_norm: 190.7319 +2026-02-24 05:16:02,022 - DriveTransformer - INFO - Epoch [1][13550/39528] lr: 1.000e-04, eta: 8 days, 15:32:51, time: 0.832, data_time: 0.039, memory: 19865, loss_cls: 0.9782, loss_bbox: 0.9673, loss_traj: 2.3203, loss_traj_cls: 0.0004, loss_map_cls: 0.6633, loss_map_pts: 2.5125, loss_map_dir: 0.0353, d0.loss_plan_l1_fix_time: 3.4589, d0.loss_plan_l1_fix_dist: 0.5803, d1.loss_plan_l1_fix_time: 3.3582, d1.loss_plan_l1_fix_dist: 0.6145, d2.loss_plan_l1_fix_time: 3.3625, d2.loss_plan_l1_fix_dist: 0.6669, d3.loss_plan_l1_fix_time: 3.3802, d3.loss_plan_l1_fix_dist: 0.7278, d4.loss_plan_l1_fix_time: 3.4006, d4.loss_plan_l1_fix_dist: 0.7956, d5.loss_plan_l1_fix_time: 3.4222, d5.loss_plan_l1_fix_dist: 0.8708, d6.loss_plan_l1_fix_time: 3.4483, d6.loss_plan_l1_fix_dist: 0.9473, d0.loss_cls_all: 0.9580, d0.loss_bbox_all: 0.9373, d0.loss_cls: 0.9580, d0.loss_bbox: 0.9373, d1.loss_cls: 0.9589, d1.loss_bbox: 0.9337, d2.loss_cls: 0.9669, d2.loss_bbox: 0.9409, d3.loss_cls: 0.9694, d3.loss_bbox: 0.9474, d4.loss_cls: 0.9710, d4.loss_bbox: 0.9481, d5.loss_cls: 0.9761, d5.loss_bbox: 0.9558, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.2540, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3250, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3445, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3538, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.3386, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2990, d0.loss_map_cls_all: 0.6419, d0.loss_map_pts_all: 3.1738, d0.loss_map_dir_all: 0.0354, d0.loss_map_cls: 0.6419, d0.loss_map_pts: 3.1738, d0.loss_map_dir: 0.0354, d1.loss_map_cls: 0.6470, d1.loss_map_pts: 2.5741, d1.loss_map_dir: 0.0354, d2.loss_map_cls: 0.6495, d2.loss_map_pts: 2.5201, d2.loss_map_dir: 0.0354, d3.loss_map_cls: 0.6548, d3.loss_map_pts: 2.5084, d3.loss_map_dir: 0.0354, d4.loss_map_cls: 0.6554, d4.loss_map_pts: 2.5067, d4.loss_map_dir: 0.0354, d5.loss_map_cls: 0.6589, d5.loss_map_pts: 2.5080, d5.loss_map_dir: 0.0353, loss: 87.5497, grad_norm: 191.8074 +2026-02-24 05:16:41,390 - DriveTransformer - INFO - Epoch [1][13600/39528] lr: 1.000e-04, eta: 8 days, 15:31:36, time: 0.789, data_time: 0.045, memory: 19865, loss_cls: 1.0109, loss_bbox: 0.9884, loss_traj: 1.9891, loss_traj_cls: 0.0005, loss_map_cls: 0.6935, loss_map_pts: 2.7124, loss_map_dir: 0.0394, d0.loss_plan_l1_fix_time: 3.3770, d0.loss_plan_l1_fix_dist: 0.6159, d1.loss_plan_l1_fix_time: 3.2509, d1.loss_plan_l1_fix_dist: 0.6683, d2.loss_plan_l1_fix_time: 3.2482, d2.loss_plan_l1_fix_dist: 0.7320, d3.loss_plan_l1_fix_time: 3.2620, d3.loss_plan_l1_fix_dist: 0.8067, d4.loss_plan_l1_fix_time: 3.2796, d4.loss_plan_l1_fix_dist: 0.8839, d5.loss_plan_l1_fix_time: 3.2993, d5.loss_plan_l1_fix_dist: 0.9671, d6.loss_plan_l1_fix_time: 3.3197, d6.loss_plan_l1_fix_dist: 1.0566, d0.loss_cls_all: 0.9849, d0.loss_bbox_all: 0.9881, d0.loss_cls: 0.9849, d0.loss_bbox: 0.9881, d1.loss_cls: 0.9912, d1.loss_bbox: 0.9797, d2.loss_cls: 0.9967, d2.loss_bbox: 0.9829, d3.loss_cls: 1.0031, d3.loss_bbox: 0.9844, d4.loss_cls: 1.0036, d4.loss_bbox: 0.9809, d5.loss_cls: 1.0097, d5.loss_bbox: 0.9814, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9248, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9270, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9307, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.9188, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.9286, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9241, d0.loss_map_cls_all: 0.6713, d0.loss_map_pts_all: 3.1745, d0.loss_map_dir_all: 0.0393, d0.loss_map_cls: 0.6713, d0.loss_map_pts: 3.1745, d0.loss_map_dir: 0.0393, d1.loss_map_cls: 0.6864, d1.loss_map_pts: 2.7412, d1.loss_map_dir: 0.0396, d2.loss_map_cls: 0.6912, d2.loss_map_pts: 2.7271, d2.loss_map_dir: 0.0395, d3.loss_map_cls: 0.6959, d3.loss_map_pts: 2.7312, d3.loss_map_dir: 0.0394, d4.loss_map_cls: 0.6933, d4.loss_map_pts: 2.7293, d4.loss_map_dir: 0.0394, d5.loss_map_cls: 0.6941, d5.loss_map_pts: 2.7228, d5.loss_map_dir: 0.0394, loss: 86.6985, grad_norm: 191.3604 +2026-02-24 05:17:23,028 - DriveTransformer - INFO - Epoch [1][13650/39528] lr: 1.000e-04, eta: 8 days, 15:32:47, time: 0.831, data_time: 0.037, memory: 19865, loss_cls: 1.0145, loss_bbox: 0.9820, loss_traj: 1.8455, loss_traj_cls: 0.0005, loss_map_cls: 0.6318, loss_map_pts: 2.8380, loss_map_dir: 0.0430, d0.loss_plan_l1_fix_time: 3.0272, d0.loss_plan_l1_fix_dist: 0.6335, d1.loss_plan_l1_fix_time: 2.9468, d1.loss_plan_l1_fix_dist: 0.6780, d2.loss_plan_l1_fix_time: 2.9542, d2.loss_plan_l1_fix_dist: 0.7424, d3.loss_plan_l1_fix_time: 2.9710, d3.loss_plan_l1_fix_dist: 0.8093, d4.loss_plan_l1_fix_time: 2.9919, d4.loss_plan_l1_fix_dist: 0.8822, d5.loss_plan_l1_fix_time: 3.0129, d5.loss_plan_l1_fix_dist: 0.9547, d6.loss_plan_l1_fix_time: 3.0342, d6.loss_plan_l1_fix_dist: 1.0322, d0.loss_cls_all: 0.9971, d0.loss_bbox_all: 0.9563, d0.loss_cls: 0.9971, d0.loss_bbox: 0.9563, d1.loss_cls: 0.9934, d1.loss_bbox: 0.9538, d2.loss_cls: 0.9982, d2.loss_bbox: 0.9592, d3.loss_cls: 1.0046, d3.loss_bbox: 0.9660, d4.loss_cls: 1.0073, d4.loss_bbox: 0.9694, d5.loss_cls: 1.0123, d5.loss_bbox: 0.9735, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8421, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8006, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.7967, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7926, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8098, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8217, d0.loss_map_cls_all: 0.6133, d0.loss_map_pts_all: 3.3585, d0.loss_map_dir_all: 0.0426, d0.loss_map_cls: 0.6133, d0.loss_map_pts: 3.3585, d0.loss_map_dir: 0.0426, d1.loss_map_cls: 0.6216, d1.loss_map_pts: 2.7923, d1.loss_map_dir: 0.0429, d2.loss_map_cls: 0.6214, d2.loss_map_pts: 2.7707, d2.loss_map_dir: 0.0429, d3.loss_map_cls: 0.6235, d3.loss_map_pts: 2.7752, d3.loss_map_dir: 0.0429, d4.loss_map_cls: 0.6252, d4.loss_map_pts: 2.7899, d4.loss_map_dir: 0.0429, d5.loss_map_cls: 0.6276, d5.loss_map_pts: 2.8109, d5.loss_map_dir: 0.0429, loss: 83.9385, grad_norm: 191.8765 +2026-02-24 05:18:04,294 - DriveTransformer - INFO - Epoch [1][13700/39528] lr: 1.000e-04, eta: 8 days, 15:33:36, time: 0.825, data_time: 0.040, memory: 19865, loss_cls: 0.9562, loss_bbox: 0.9969, loss_traj: 2.3452, loss_traj_cls: 0.0005, loss_map_cls: 0.6765, loss_map_pts: 2.4190, loss_map_dir: 0.0333, d0.loss_plan_l1_fix_time: 3.8243, d0.loss_plan_l1_fix_dist: 0.5921, d1.loss_plan_l1_fix_time: 3.7209, d1.loss_plan_l1_fix_dist: 0.6349, d2.loss_plan_l1_fix_time: 3.7144, d2.loss_plan_l1_fix_dist: 0.6943, d3.loss_plan_l1_fix_time: 3.7222, d3.loss_plan_l1_fix_dist: 0.7570, d4.loss_plan_l1_fix_time: 3.7357, d4.loss_plan_l1_fix_dist: 0.8243, d5.loss_plan_l1_fix_time: 3.7527, d5.loss_plan_l1_fix_dist: 0.8987, d6.loss_plan_l1_fix_time: 3.7711, d6.loss_plan_l1_fix_dist: 0.9777, d0.loss_cls_all: 0.9411, d0.loss_bbox_all: 0.9969, d0.loss_cls: 0.9411, d0.loss_bbox: 0.9969, d1.loss_cls: 0.9456, d1.loss_bbox: 0.9855, d2.loss_cls: 0.9492, d2.loss_bbox: 0.9814, d3.loss_cls: 0.9518, d3.loss_bbox: 0.9823, d4.loss_cls: 0.9528, d4.loss_bbox: 0.9867, d5.loss_cls: 0.9550, d5.loss_bbox: 0.9904, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.3009, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2817, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2548, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2487, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.2700, d5.loss_traj_cls: 0.0004, d5.loss_traj: 2.3052, d0.loss_map_cls_all: 0.6523, d0.loss_map_pts_all: 2.9771, d0.loss_map_dir_all: 0.0333, d0.loss_map_cls: 0.6523, d0.loss_map_pts: 2.9771, d0.loss_map_dir: 0.0333, d1.loss_map_cls: 0.6606, d1.loss_map_pts: 2.3997, d1.loss_map_dir: 0.0335, d2.loss_map_cls: 0.6638, d2.loss_map_pts: 2.3863, d2.loss_map_dir: 0.0333, d3.loss_map_cls: 0.6678, d3.loss_map_pts: 2.3913, d3.loss_map_dir: 0.0332, d4.loss_map_cls: 0.6684, d4.loss_map_pts: 2.3930, d4.loss_map_dir: 0.0332, d5.loss_map_cls: 0.6726, d5.loss_map_pts: 2.4009, d5.loss_map_dir: 0.0332, loss: 89.0646, grad_norm: 189.3617 +2026-02-24 05:18:44,223 - DriveTransformer - INFO - Epoch [1][13750/39528] lr: 1.000e-04, eta: 8 days, 15:32:54, time: 0.799, data_time: 0.037, memory: 19865, loss_cls: 0.9800, loss_bbox: 1.0433, loss_traj: 2.3371, loss_traj_cls: 0.0005, loss_map_cls: 0.6860, loss_map_pts: 2.6585, loss_map_dir: 0.0366, d0.loss_plan_l1_fix_time: 3.4501, d0.loss_plan_l1_fix_dist: 0.7086, d1.loss_plan_l1_fix_time: 3.4023, d1.loss_plan_l1_fix_dist: 0.7369, d2.loss_plan_l1_fix_time: 3.4125, d2.loss_plan_l1_fix_dist: 0.7823, d3.loss_plan_l1_fix_time: 3.4278, d3.loss_plan_l1_fix_dist: 0.8343, d4.loss_plan_l1_fix_time: 3.4466, d4.loss_plan_l1_fix_dist: 0.8849, d5.loss_plan_l1_fix_time: 3.4686, d5.loss_plan_l1_fix_dist: 0.9422, d6.loss_plan_l1_fix_time: 3.4923, d6.loss_plan_l1_fix_dist: 1.0034, d0.loss_cls_all: 0.9670, d0.loss_bbox_all: 1.0497, d0.loss_cls: 0.9670, d0.loss_bbox: 1.0497, d1.loss_cls: 0.9691, d1.loss_bbox: 1.0329, d2.loss_cls: 0.9765, d2.loss_bbox: 1.0304, d3.loss_cls: 0.9793, d3.loss_bbox: 1.0327, d4.loss_cls: 0.9787, d4.loss_bbox: 1.0343, d5.loss_cls: 0.9766, d5.loss_bbox: 1.0366, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3406, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2995, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2985, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3044, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3143, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3446, d0.loss_map_cls_all: 0.6674, d0.loss_map_pts_all: 3.2281, d0.loss_map_dir_all: 0.0368, d0.loss_map_cls: 0.6674, d0.loss_map_pts: 3.2281, d0.loss_map_dir: 0.0368, d1.loss_map_cls: 0.6784, d1.loss_map_pts: 2.6750, d1.loss_map_dir: 0.0370, d2.loss_map_cls: 0.6813, d2.loss_map_pts: 2.6610, d2.loss_map_dir: 0.0369, d3.loss_map_cls: 0.6837, d3.loss_map_pts: 2.6634, d3.loss_map_dir: 0.0368, d4.loss_map_cls: 0.6830, d4.loss_map_pts: 2.6618, d4.loss_map_dir: 0.0367, d5.loss_map_cls: 0.6843, d5.loss_map_pts: 2.6597, d5.loss_map_dir: 0.0367, loss: 90.5006, grad_norm: 190.4473 +2026-02-24 05:19:24,885 - DriveTransformer - INFO - Epoch [1][13800/39528] lr: 1.000e-04, eta: 8 days, 15:33:02, time: 0.813, data_time: 0.036, memory: 19865, loss_cls: 0.9567, loss_bbox: 0.9534, loss_traj: 1.9932, loss_traj_cls: 0.0005, loss_map_cls: 0.6765, loss_map_pts: 2.9017, loss_map_dir: 0.0412, d0.loss_plan_l1_fix_time: 3.1520, d0.loss_plan_l1_fix_dist: 0.6063, d1.loss_plan_l1_fix_time: 3.1075, d1.loss_plan_l1_fix_dist: 0.6383, d2.loss_plan_l1_fix_time: 3.1291, d2.loss_plan_l1_fix_dist: 0.6887, d3.loss_plan_l1_fix_time: 3.1507, d3.loss_plan_l1_fix_dist: 0.7472, d4.loss_plan_l1_fix_time: 3.1742, d4.loss_plan_l1_fix_dist: 0.8220, d5.loss_plan_l1_fix_time: 3.1995, d5.loss_plan_l1_fix_dist: 0.8991, d6.loss_plan_l1_fix_time: 3.2272, d6.loss_plan_l1_fix_dist: 0.9864, d0.loss_cls_all: 0.9327, d0.loss_bbox_all: 0.9120, d0.loss_cls: 0.9327, d0.loss_bbox: 0.9120, d1.loss_cls: 0.9501, d1.loss_bbox: 0.9126, d2.loss_cls: 0.9596, d2.loss_bbox: 0.9187, d3.loss_cls: 0.9632, d3.loss_bbox: 0.9264, d4.loss_cls: 0.9558, d4.loss_bbox: 0.9335, d5.loss_cls: 0.9547, d5.loss_bbox: 0.9406, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0439, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0082, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9892, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0050, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0027, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0028, d0.loss_map_cls_all: 0.6477, d0.loss_map_pts_all: 3.4029, d0.loss_map_dir_all: 0.0414, d0.loss_map_cls: 0.6477, d0.loss_map_pts: 3.4029, d0.loss_map_dir: 0.0414, d1.loss_map_cls: 0.6610, d1.loss_map_pts: 2.8930, d1.loss_map_dir: 0.0417, d2.loss_map_cls: 0.6663, d2.loss_map_pts: 2.8616, d2.loss_map_dir: 0.0416, d3.loss_map_cls: 0.6695, d3.loss_map_pts: 2.8663, d3.loss_map_dir: 0.0414, d4.loss_map_cls: 0.6712, d4.loss_map_pts: 2.8805, d4.loss_map_dir: 0.0413, d5.loss_map_cls: 0.6734, d5.loss_map_pts: 2.8930, d5.loss_map_dir: 0.0413, loss: 86.3376, grad_norm: 190.0137 +2026-02-24 05:20:05,833 - DriveTransformer - INFO - Epoch [1][13850/39528] lr: 1.000e-04, eta: 8 days, 15:33:28, time: 0.819, data_time: 0.041, memory: 19865, loss_cls: 1.0496, loss_bbox: 0.9816, loss_traj: 1.8697, loss_traj_cls: 0.0004, loss_map_cls: 0.6662, loss_map_pts: 2.8763, loss_map_dir: 0.0376, d0.loss_plan_l1_fix_time: 3.6115, d0.loss_plan_l1_fix_dist: 0.5932, d1.loss_plan_l1_fix_time: 3.5556, d1.loss_plan_l1_fix_dist: 0.6250, d2.loss_plan_l1_fix_time: 3.5634, d2.loss_plan_l1_fix_dist: 0.6754, d3.loss_plan_l1_fix_time: 3.5756, d3.loss_plan_l1_fix_dist: 0.7303, d4.loss_plan_l1_fix_time: 3.5903, d4.loss_plan_l1_fix_dist: 0.7981, d5.loss_plan_l1_fix_time: 3.6059, d5.loss_plan_l1_fix_dist: 0.8721, d6.loss_plan_l1_fix_time: 3.6249, d6.loss_plan_l1_fix_dist: 0.9505, d0.loss_cls_all: 1.0240, d0.loss_bbox_all: 0.9510, d0.loss_cls: 1.0240, d0.loss_bbox: 0.9510, d1.loss_cls: 1.0416, d1.loss_bbox: 0.9566, d2.loss_cls: 1.0488, d2.loss_bbox: 0.9612, d3.loss_cls: 1.0493, d3.loss_bbox: 0.9685, d4.loss_cls: 1.0562, d4.loss_bbox: 0.9692, d5.loss_cls: 1.0544, d5.loss_bbox: 0.9781, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8762, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8732, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8494, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8758, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8654, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8562, d0.loss_map_cls_all: 0.6438, d0.loss_map_pts_all: 3.4860, d0.loss_map_dir_all: 0.0382, d0.loss_map_cls: 0.6438, d0.loss_map_pts: 3.4860, d0.loss_map_dir: 0.0382, d1.loss_map_cls: 0.6507, d1.loss_map_pts: 2.8778, d1.loss_map_dir: 0.0380, d2.loss_map_cls: 0.6561, d2.loss_map_pts: 2.8462, d2.loss_map_dir: 0.0378, d3.loss_map_cls: 0.6571, d3.loss_map_pts: 2.8518, d3.loss_map_dir: 0.0377, d4.loss_map_cls: 0.6604, d4.loss_map_pts: 2.8629, d4.loss_map_dir: 0.0376, d5.loss_map_cls: 0.6626, d5.loss_map_pts: 2.8715, d5.loss_map_dir: 0.0375, loss: 89.2082, grad_norm: 190.3094 +2026-02-24 05:20:45,624 - DriveTransformer - INFO - Epoch [1][13900/39528] lr: 1.000e-04, eta: 8 days, 15:32:37, time: 0.796, data_time: 0.036, memory: 19865, loss_cls: 1.0371, loss_bbox: 1.0198, loss_traj: 1.9682, loss_traj_cls: 0.0004, loss_map_cls: 0.7148, loss_map_pts: 2.9230, loss_map_dir: 0.0412, d0.loss_plan_l1_fix_time: 3.3079, d0.loss_plan_l1_fix_dist: 0.6040, d1.loss_plan_l1_fix_time: 3.2306, d1.loss_plan_l1_fix_dist: 0.6454, d2.loss_plan_l1_fix_time: 3.2381, d2.loss_plan_l1_fix_dist: 0.6946, d3.loss_plan_l1_fix_time: 3.2537, d3.loss_plan_l1_fix_dist: 0.7613, d4.loss_plan_l1_fix_time: 3.2733, d4.loss_plan_l1_fix_dist: 0.8285, d5.loss_plan_l1_fix_time: 3.2932, d5.loss_plan_l1_fix_dist: 0.9007, d6.loss_plan_l1_fix_time: 3.3152, d6.loss_plan_l1_fix_dist: 0.9754, d0.loss_cls_all: 1.0099, d0.loss_bbox_all: 0.9887, d0.loss_cls: 1.0099, d0.loss_bbox: 0.9887, d1.loss_cls: 1.0196, d1.loss_bbox: 0.9809, d2.loss_cls: 1.0360, d2.loss_bbox: 0.9808, d3.loss_cls: 1.0370, d3.loss_bbox: 0.9854, d4.loss_cls: 1.0396, d4.loss_bbox: 0.9934, d5.loss_cls: 1.0368, d5.loss_bbox: 1.0054, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9575, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9704, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9762, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0003, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9827, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9646, d0.loss_map_cls_all: 0.6727, d0.loss_map_pts_all: 3.3362, d0.loss_map_dir_all: 0.0410, d0.loss_map_cls: 0.6727, d0.loss_map_pts: 3.3362, d0.loss_map_dir: 0.0410, d1.loss_map_cls: 0.6964, d1.loss_map_pts: 2.8561, d1.loss_map_dir: 0.0413, d2.loss_map_cls: 0.7052, d2.loss_map_pts: 2.8532, d2.loss_map_dir: 0.0412, d3.loss_map_cls: 0.7097, d3.loss_map_pts: 2.8663, d3.loss_map_dir: 0.0412, d4.loss_map_cls: 0.7107, d4.loss_map_pts: 2.8751, d4.loss_map_dir: 0.0412, d5.loss_map_cls: 0.7118, d5.loss_map_pts: 2.8916, d5.loss_map_dir: 0.0411, loss: 88.1752, grad_norm: 188.7238 +2026-02-24 05:21:25,580 - DriveTransformer - INFO - Epoch [1][13950/39528] lr: 1.000e-04, eta: 8 days, 15:31:56, time: 0.799, data_time: 0.037, memory: 19865, loss_cls: 1.0025, loss_bbox: 1.0150, loss_traj: 2.0786, loss_traj_cls: 0.0005, loss_map_cls: 0.6659, loss_map_pts: 2.5460, loss_map_dir: 0.0360, d0.loss_plan_l1_fix_time: 2.9099, d0.loss_plan_l1_fix_dist: 0.5678, d1.loss_plan_l1_fix_time: 2.8229, d1.loss_plan_l1_fix_dist: 0.6033, d2.loss_plan_l1_fix_time: 2.8276, d2.loss_plan_l1_fix_dist: 0.6565, d3.loss_plan_l1_fix_time: 2.8385, d3.loss_plan_l1_fix_dist: 0.7170, d4.loss_plan_l1_fix_time: 2.8511, d4.loss_plan_l1_fix_dist: 0.7839, d5.loss_plan_l1_fix_time: 2.8652, d5.loss_plan_l1_fix_dist: 0.8603, d6.loss_plan_l1_fix_time: 2.8809, d6.loss_plan_l1_fix_dist: 0.9439, d0.loss_cls_all: 0.9679, d0.loss_bbox_all: 1.0199, d0.loss_cls: 0.9679, d0.loss_bbox: 1.0199, d1.loss_cls: 0.9779, d1.loss_bbox: 1.0062, d2.loss_cls: 0.9895, d2.loss_bbox: 1.0019, d3.loss_cls: 0.9873, d3.loss_bbox: 0.9922, d4.loss_cls: 0.9980, d4.loss_bbox: 0.9954, d5.loss_cls: 1.0065, d5.loss_bbox: 0.9998, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9711, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0313, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0436, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0308, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0454, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0733, d0.loss_map_cls_all: 0.6448, d0.loss_map_pts_all: 3.0498, d0.loss_map_dir_all: 0.0357, d0.loss_map_cls: 0.6448, d0.loss_map_pts: 3.0498, d0.loss_map_dir: 0.0357, d1.loss_map_cls: 0.6580, d1.loss_map_pts: 2.5448, d1.loss_map_dir: 0.0362, d2.loss_map_cls: 0.6593, d2.loss_map_pts: 2.5236, d2.loss_map_dir: 0.0360, d3.loss_map_cls: 0.6604, d3.loss_map_pts: 2.5258, d3.loss_map_dir: 0.0360, d4.loss_map_cls: 0.6620, d4.loss_map_pts: 2.5289, d4.loss_map_dir: 0.0359, d5.loss_map_cls: 0.6633, d5.loss_map_pts: 2.5347, d5.loss_map_dir: 0.0359, loss: 82.2032, grad_norm: 189.5976 +2026-02-24 05:22:05,875 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 05:22:05,875 - DriveTransformer - INFO - Epoch [1][14000/39528] lr: 1.000e-04, eta: 8 days, 15:31:38, time: 0.806, data_time: 0.041, memory: 19865, loss_cls: 1.0047, loss_bbox: 0.9678, loss_traj: 1.9744, loss_traj_cls: 0.0005, loss_map_cls: 0.6569, loss_map_pts: 2.7500, loss_map_dir: 0.0396, d0.loss_plan_l1_fix_time: 3.6981, d0.loss_plan_l1_fix_dist: 0.6782, d1.loss_plan_l1_fix_time: 3.5906, d1.loss_plan_l1_fix_dist: 0.6997, d2.loss_plan_l1_fix_time: 3.5892, d2.loss_plan_l1_fix_dist: 0.7389, d3.loss_plan_l1_fix_time: 3.5989, d3.loss_plan_l1_fix_dist: 0.7882, d4.loss_plan_l1_fix_time: 3.6137, d4.loss_plan_l1_fix_dist: 0.8429, d5.loss_plan_l1_fix_time: 3.6311, d5.loss_plan_l1_fix_dist: 0.9043, d6.loss_plan_l1_fix_time: 3.6503, d6.loss_plan_l1_fix_dist: 0.9742, d0.loss_cls_all: 0.9717, d0.loss_bbox_all: 0.9550, d0.loss_cls: 0.9717, d0.loss_bbox: 0.9550, d1.loss_cls: 0.9850, d1.loss_bbox: 0.9493, d2.loss_cls: 0.9959, d2.loss_bbox: 0.9510, d3.loss_cls: 0.9983, d3.loss_bbox: 0.9535, d4.loss_cls: 1.0046, d4.loss_bbox: 0.9561, d5.loss_cls: 1.0108, d5.loss_bbox: 0.9582, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9026, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9504, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9516, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9508, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9745, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9749, d0.loss_map_cls_all: 0.6222, d0.loss_map_pts_all: 3.3134, d0.loss_map_dir_all: 0.0397, d0.loss_map_cls: 0.6222, d0.loss_map_pts: 3.3134, d0.loss_map_dir: 0.0397, d1.loss_map_cls: 0.6392, d1.loss_map_pts: 2.7517, d1.loss_map_dir: 0.0402, d2.loss_map_cls: 0.6494, d2.loss_map_pts: 2.7378, d2.loss_map_dir: 0.0399, d3.loss_map_cls: 0.6519, d3.loss_map_pts: 2.7444, d3.loss_map_dir: 0.0399, d4.loss_map_cls: 0.6548, d4.loss_map_pts: 2.7523, d4.loss_map_dir: 0.0398, d5.loss_map_cls: 0.6545, d5.loss_map_pts: 2.7534, d5.loss_map_dir: 0.0397, loss: 88.8555, grad_norm: 187.7298 +2026-02-24 05:22:47,125 - DriveTransformer - INFO - Epoch [1][14050/39528] lr: 1.000e-04, eta: 8 days, 15:32:23, time: 0.825, data_time: 0.040, memory: 19865, loss_cls: 0.9996, loss_bbox: 0.9579, loss_traj: 2.2083, loss_traj_cls: 0.0005, loss_map_cls: 0.6611, loss_map_pts: 2.8827, loss_map_dir: 0.0414, d0.loss_plan_l1_fix_time: 3.5126, d0.loss_plan_l1_fix_dist: 0.5843, d1.loss_plan_l1_fix_time: 3.3892, d1.loss_plan_l1_fix_dist: 0.6080, d2.loss_plan_l1_fix_time: 3.3800, d2.loss_plan_l1_fix_dist: 0.6563, d3.loss_plan_l1_fix_time: 3.3872, d3.loss_plan_l1_fix_dist: 0.7144, d4.loss_plan_l1_fix_time: 3.3989, d4.loss_plan_l1_fix_dist: 0.7725, d5.loss_plan_l1_fix_time: 3.4116, d5.loss_plan_l1_fix_dist: 0.8355, d6.loss_plan_l1_fix_time: 3.4238, d6.loss_plan_l1_fix_dist: 0.8982, d0.loss_cls_all: 0.9722, d0.loss_bbox_all: 0.9398, d0.loss_cls: 0.9722, d0.loss_bbox: 0.9398, d1.loss_cls: 0.9771, d1.loss_bbox: 0.9349, d2.loss_cls: 0.9850, d2.loss_bbox: 0.9311, d3.loss_cls: 0.9876, d3.loss_bbox: 0.9371, d4.loss_cls: 0.9885, d4.loss_bbox: 0.9424, d5.loss_cls: 0.9998, d5.loss_bbox: 0.9464, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1550, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1769, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1907, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1831, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.2061, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2120, d0.loss_map_cls_all: 0.6359, d0.loss_map_pts_all: 3.3505, d0.loss_map_dir_all: 0.0413, d0.loss_map_cls: 0.6359, d0.loss_map_pts: 3.3505, d0.loss_map_dir: 0.0413, d1.loss_map_cls: 0.6493, d1.loss_map_pts: 2.9042, d1.loss_map_dir: 0.0417, d2.loss_map_cls: 0.6551, d2.loss_map_pts: 2.8773, d2.loss_map_dir: 0.0415, d3.loss_map_cls: 0.6568, d3.loss_map_pts: 2.8725, d3.loss_map_dir: 0.0414, d4.loss_map_cls: 0.6580, d4.loss_map_pts: 2.8718, d4.loss_map_dir: 0.0413, d5.loss_map_cls: 0.6592, d5.loss_map_pts: 2.8749, d5.loss_map_dir: 0.0414, loss: 89.2463, grad_norm: 187.1994 +2026-02-24 05:23:29,388 - DriveTransformer - INFO - Epoch [1][14100/39528] lr: 1.000e-04, eta: 8 days, 15:34:15, time: 0.845, data_time: 0.041, memory: 19865, loss_cls: 1.0052, loss_bbox: 0.9531, loss_traj: 2.1860, loss_traj_cls: 0.0005, loss_map_cls: 0.6643, loss_map_pts: 2.8376, loss_map_dir: 0.0452, d0.loss_plan_l1_fix_time: 3.0932, d0.loss_plan_l1_fix_dist: 0.5738, d1.loss_plan_l1_fix_time: 2.9934, d1.loss_plan_l1_fix_dist: 0.6072, d2.loss_plan_l1_fix_time: 2.9995, d2.loss_plan_l1_fix_dist: 0.6566, d3.loss_plan_l1_fix_time: 3.0142, d3.loss_plan_l1_fix_dist: 0.7175, d4.loss_plan_l1_fix_time: 3.0328, d4.loss_plan_l1_fix_dist: 0.7934, d5.loss_plan_l1_fix_time: 3.0538, d5.loss_plan_l1_fix_dist: 0.8726, d6.loss_plan_l1_fix_time: 3.0757, d6.loss_plan_l1_fix_dist: 0.9611, d0.loss_cls_all: 0.9888, d0.loss_bbox_all: 0.9080, d0.loss_cls: 0.9888, d0.loss_bbox: 0.9080, d1.loss_cls: 0.9955, d1.loss_bbox: 0.9154, d2.loss_cls: 0.9987, d2.loss_bbox: 0.9163, d3.loss_cls: 1.0041, d3.loss_bbox: 0.9198, d4.loss_cls: 1.0030, d4.loss_bbox: 0.9276, d5.loss_cls: 1.0064, d5.loss_bbox: 0.9363, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1266, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1149, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1127, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1632, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1948, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1639, d0.loss_map_cls_all: 0.6438, d0.loss_map_pts_all: 3.3608, d0.loss_map_dir_all: 0.0450, d0.loss_map_cls: 0.6438, d0.loss_map_pts: 3.3608, d0.loss_map_dir: 0.0450, d1.loss_map_cls: 0.6570, d1.loss_map_pts: 2.8434, d1.loss_map_dir: 0.0454, d2.loss_map_cls: 0.6598, d2.loss_map_pts: 2.8210, d2.loss_map_dir: 0.0453, d3.loss_map_cls: 0.6625, d3.loss_map_pts: 2.8198, d3.loss_map_dir: 0.0453, d4.loss_map_cls: 0.6618, d4.loss_map_pts: 2.8241, d4.loss_map_dir: 0.0452, d5.loss_map_cls: 0.6630, d5.loss_map_pts: 2.8322, d5.loss_map_dir: 0.0452, loss: 86.2026, grad_norm: 188.3236 +2026-02-24 05:24:10,777 - DriveTransformer - INFO - Epoch [1][14150/39528] lr: 1.000e-04, eta: 8 days, 15:35:09, time: 0.828, data_time: 0.041, memory: 19865, loss_cls: 1.0508, loss_bbox: 1.0022, loss_traj: 1.9844, loss_traj_cls: 0.0005, loss_map_cls: 0.6571, loss_map_pts: 2.9382, loss_map_dir: 0.0396, d0.loss_plan_l1_fix_time: 3.5730, d0.loss_plan_l1_fix_dist: 0.6126, d1.loss_plan_l1_fix_time: 3.4388, d1.loss_plan_l1_fix_dist: 0.6512, d2.loss_plan_l1_fix_time: 3.4264, d2.loss_plan_l1_fix_dist: 0.7103, d3.loss_plan_l1_fix_time: 3.4317, d3.loss_plan_l1_fix_dist: 0.7760, d4.loss_plan_l1_fix_time: 3.4426, d4.loss_plan_l1_fix_dist: 0.8542, d5.loss_plan_l1_fix_time: 3.4573, d5.loss_plan_l1_fix_dist: 0.9384, d6.loss_plan_l1_fix_time: 3.4771, d6.loss_plan_l1_fix_dist: 1.0286, d0.loss_cls_all: 1.0388, d0.loss_bbox_all: 0.9705, d0.loss_cls: 1.0388, d0.loss_bbox: 0.9705, d1.loss_cls: 1.0442, d1.loss_bbox: 0.9667, d2.loss_cls: 1.0500, d2.loss_bbox: 0.9683, d3.loss_cls: 1.0502, d3.loss_bbox: 0.9786, d4.loss_cls: 1.0477, d4.loss_bbox: 0.9881, d5.loss_cls: 1.0476, d5.loss_bbox: 0.9985, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9290, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9443, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9638, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9722, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9987, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9806, d0.loss_map_cls_all: 0.6370, d0.loss_map_pts_all: 3.4251, d0.loss_map_dir_all: 0.0399, d0.loss_map_cls: 0.6370, d0.loss_map_pts: 3.4251, d0.loss_map_dir: 0.0399, d1.loss_map_cls: 0.6471, d1.loss_map_pts: 2.9600, d1.loss_map_dir: 0.0399, d2.loss_map_cls: 0.6511, d2.loss_map_pts: 2.9415, d2.loss_map_dir: 0.0398, d3.loss_map_cls: 0.6538, d3.loss_map_pts: 2.9381, d3.loss_map_dir: 0.0397, d4.loss_map_cls: 0.6549, d4.loss_map_pts: 2.9379, d4.loss_map_dir: 0.0397, d5.loss_map_cls: 0.6552, d5.loss_map_pts: 2.9392, d5.loss_map_dir: 0.0396, loss: 89.8221, grad_norm: 187.1605 +2026-02-24 05:24:51,516 - DriveTransformer - INFO - Epoch [1][14200/39528] lr: 1.000e-04, eta: 8 days, 15:35:18, time: 0.815, data_time: 0.045, memory: 19865, loss_cls: 0.9826, loss_bbox: 0.9910, loss_traj: 1.9060, loss_traj_cls: 0.0004, loss_map_cls: 0.6530, loss_map_pts: 2.7334, loss_map_dir: 0.0368, d0.loss_plan_l1_fix_time: 3.1941, d0.loss_plan_l1_fix_dist: 0.6539, d1.loss_plan_l1_fix_time: 3.1145, d1.loss_plan_l1_fix_dist: 0.6910, d2.loss_plan_l1_fix_time: 3.1125, d2.loss_plan_l1_fix_dist: 0.7421, d3.loss_plan_l1_fix_time: 3.1215, d3.loss_plan_l1_fix_dist: 0.8006, d4.loss_plan_l1_fix_time: 3.1337, d4.loss_plan_l1_fix_dist: 0.8647, d5.loss_plan_l1_fix_time: 3.1486, d5.loss_plan_l1_fix_dist: 0.9336, d6.loss_plan_l1_fix_time: 3.1670, d6.loss_plan_l1_fix_dist: 1.0098, d0.loss_cls_all: 0.9662, d0.loss_bbox_all: 0.9618, d0.loss_cls: 0.9662, d0.loss_bbox: 0.9618, d1.loss_cls: 0.9715, d1.loss_bbox: 0.9557, d2.loss_cls: 0.9866, d2.loss_bbox: 0.9632, d3.loss_cls: 0.9870, d3.loss_bbox: 0.9773, d4.loss_cls: 0.9817, d4.loss_bbox: 0.9821, d5.loss_cls: 0.9834, d5.loss_bbox: 0.9856, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8494, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8613, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8841, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8826, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8827, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8920, d0.loss_map_cls_all: 0.6253, d0.loss_map_pts_all: 3.3877, d0.loss_map_dir_all: 0.0372, d0.loss_map_cls: 0.6253, d0.loss_map_pts: 3.3877, d0.loss_map_dir: 0.0372, d1.loss_map_cls: 0.6376, d1.loss_map_pts: 2.7606, d1.loss_map_dir: 0.0372, d2.loss_map_cls: 0.6447, d2.loss_map_pts: 2.7174, d2.loss_map_dir: 0.0371, d3.loss_map_cls: 0.6474, d3.loss_map_pts: 2.7166, d3.loss_map_dir: 0.0370, d4.loss_map_cls: 0.6500, d4.loss_map_pts: 2.7216, d4.loss_map_dir: 0.0368, d5.loss_map_cls: 0.6511, d5.loss_map_pts: 2.7256, d5.loss_map_dir: 0.0368, loss: 85.0334, grad_norm: 187.5296 +2026-02-24 05:25:32,359 - DriveTransformer - INFO - Epoch [1][14250/39528] lr: 1.000e-04, eta: 8 days, 15:35:34, time: 0.817, data_time: 0.037, memory: 19865, loss_cls: 0.9513, loss_bbox: 0.9577, loss_traj: 2.0022, loss_traj_cls: 0.0005, loss_map_cls: 0.6269, loss_map_pts: 2.8595, loss_map_dir: 0.0410, d0.loss_plan_l1_fix_time: 3.4446, d0.loss_plan_l1_fix_dist: 0.5973, d1.loss_plan_l1_fix_time: 3.3740, d1.loss_plan_l1_fix_dist: 0.6419, d2.loss_plan_l1_fix_time: 3.3750, d2.loss_plan_l1_fix_dist: 0.6864, d3.loss_plan_l1_fix_time: 3.3850, d3.loss_plan_l1_fix_dist: 0.7349, d4.loss_plan_l1_fix_time: 3.3969, d4.loss_plan_l1_fix_dist: 0.7891, d5.loss_plan_l1_fix_time: 3.4089, d5.loss_plan_l1_fix_dist: 0.8481, d6.loss_plan_l1_fix_time: 3.4207, d6.loss_plan_l1_fix_dist: 0.9068, d0.loss_cls_all: 0.9364, d0.loss_bbox_all: 0.9377, d0.loss_cls: 0.9364, d0.loss_bbox: 0.9377, d1.loss_cls: 0.9397, d1.loss_bbox: 0.9337, d2.loss_cls: 0.9477, d2.loss_bbox: 0.9385, d3.loss_cls: 0.9490, d3.loss_bbox: 0.9462, d4.loss_cls: 0.9523, d4.loss_bbox: 0.9492, d5.loss_cls: 0.9553, d5.loss_bbox: 0.9502, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9048, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9330, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9676, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9792, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9861, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9880, d0.loss_map_cls_all: 0.6126, d0.loss_map_pts_all: 3.3979, d0.loss_map_dir_all: 0.0411, d0.loss_map_cls: 0.6126, d0.loss_map_pts: 3.3979, d0.loss_map_dir: 0.0411, d1.loss_map_cls: 0.6245, d1.loss_map_pts: 2.8795, d1.loss_map_dir: 0.0415, d2.loss_map_cls: 0.6260, d2.loss_map_pts: 2.8484, d2.loss_map_dir: 0.0413, d3.loss_map_cls: 0.6262, d3.loss_map_pts: 2.8482, d3.loss_map_dir: 0.0411, d4.loss_map_cls: 0.6271, d4.loss_map_pts: 2.8497, d4.loss_map_dir: 0.0410, d5.loss_map_cls: 0.6267, d5.loss_map_pts: 2.8531, d5.loss_map_dir: 0.0410, loss: 87.1384, grad_norm: 187.3091 +2026-02-24 05:26:12,561 - DriveTransformer - INFO - Epoch [1][14300/39528] lr: 1.000e-04, eta: 8 days, 15:35:08, time: 0.804, data_time: 0.039, memory: 19865, loss_cls: 1.0007, loss_bbox: 0.9488, loss_traj: 2.2286, loss_traj_cls: 0.0005, loss_map_cls: 0.6675, loss_map_pts: 2.5257, loss_map_dir: 0.0365, d0.loss_plan_l1_fix_time: 2.8723, d0.loss_plan_l1_fix_dist: 0.6080, d1.loss_plan_l1_fix_time: 2.8459, d1.loss_plan_l1_fix_dist: 0.6540, d2.loss_plan_l1_fix_time: 2.8632, d2.loss_plan_l1_fix_dist: 0.7097, d3.loss_plan_l1_fix_time: 2.8792, d3.loss_plan_l1_fix_dist: 0.7806, d4.loss_plan_l1_fix_time: 2.8964, d4.loss_plan_l1_fix_dist: 0.8597, d5.loss_plan_l1_fix_time: 2.9146, d5.loss_plan_l1_fix_dist: 0.9488, d6.loss_plan_l1_fix_time: 2.9340, d6.loss_plan_l1_fix_dist: 1.0472, d0.loss_cls_all: 0.9813, d0.loss_bbox_all: 0.8970, d0.loss_cls: 0.9813, d0.loss_bbox: 0.8970, d1.loss_cls: 0.9885, d1.loss_bbox: 0.9037, d2.loss_cls: 1.0022, d2.loss_bbox: 0.9080, d3.loss_cls: 1.0011, d3.loss_bbox: 0.9220, d4.loss_cls: 0.9990, d4.loss_bbox: 0.9365, d5.loss_cls: 0.9999, d5.loss_bbox: 0.9438, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1760, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.2085, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2129, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.2250, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2035, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2232, d0.loss_map_cls_all: 0.6477, d0.loss_map_pts_all: 3.1408, d0.loss_map_dir_all: 0.0367, d0.loss_map_cls: 0.6477, d0.loss_map_pts: 3.1408, d0.loss_map_dir: 0.0367, d1.loss_map_cls: 0.6575, d1.loss_map_pts: 2.5505, d1.loss_map_dir: 0.0368, d2.loss_map_cls: 0.6610, d2.loss_map_pts: 2.5172, d2.loss_map_dir: 0.0367, d3.loss_map_cls: 0.6627, d3.loss_map_pts: 2.5130, d3.loss_map_dir: 0.0365, d4.loss_map_cls: 0.6647, d4.loss_map_pts: 2.5133, d4.loss_map_dir: 0.0365, d5.loss_map_cls: 0.6666, d5.loss_map_pts: 2.5190, d5.loss_map_dir: 0.0365, loss: 83.5943, grad_norm: 187.2396 +2026-02-24 05:26:52,326 - DriveTransformer - INFO - Epoch [1][14350/39528] lr: 1.000e-04, eta: 8 days, 15:34:14, time: 0.795, data_time: 0.036, memory: 19865, loss_cls: 0.9956, loss_bbox: 0.9656, loss_traj: 2.2139, loss_traj_cls: 0.0005, loss_map_cls: 0.6494, loss_map_pts: 2.5769, loss_map_dir: 0.0359, d0.loss_plan_l1_fix_time: 3.6836, d0.loss_plan_l1_fix_dist: 0.5590, d1.loss_plan_l1_fix_time: 3.5967, d1.loss_plan_l1_fix_dist: 0.5895, d2.loss_plan_l1_fix_time: 3.5912, d2.loss_plan_l1_fix_dist: 0.6315, d3.loss_plan_l1_fix_time: 3.5952, d3.loss_plan_l1_fix_dist: 0.6798, d4.loss_plan_l1_fix_time: 3.6040, d4.loss_plan_l1_fix_dist: 0.7357, d5.loss_plan_l1_fix_time: 3.6165, d5.loss_plan_l1_fix_dist: 0.7942, d6.loss_plan_l1_fix_time: 3.6323, d6.loss_plan_l1_fix_dist: 0.8594, d0.loss_cls_all: 0.9686, d0.loss_bbox_all: 0.9413, d0.loss_cls: 0.9686, d0.loss_bbox: 0.9413, d1.loss_cls: 0.9758, d1.loss_bbox: 0.9408, d2.loss_cls: 0.9799, d2.loss_bbox: 0.9350, d3.loss_cls: 0.9810, d3.loss_bbox: 0.9473, d4.loss_cls: 0.9912, d4.loss_bbox: 0.9524, d5.loss_cls: 1.0000, d5.loss_bbox: 0.9620, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.1542, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1689, d2.loss_traj_cls: 0.0004, d2.loss_traj: 2.1721, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1924, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1855, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1964, d0.loss_map_cls_all: 0.6270, d0.loss_map_pts_all: 3.1287, d0.loss_map_dir_all: 0.0362, d0.loss_map_cls: 0.6270, d0.loss_map_pts: 3.1287, d0.loss_map_dir: 0.0362, d1.loss_map_cls: 0.6389, d1.loss_map_pts: 2.6056, d1.loss_map_dir: 0.0365, d2.loss_map_cls: 0.6437, d2.loss_map_pts: 2.5737, d2.loss_map_dir: 0.0363, d3.loss_map_cls: 0.6474, d3.loss_map_pts: 2.5677, d3.loss_map_dir: 0.0362, d4.loss_map_cls: 0.6493, d4.loss_map_pts: 2.5679, d4.loss_map_dir: 0.0361, d5.loss_map_cls: 0.6489, d5.loss_map_pts: 2.5706, d5.loss_map_dir: 0.0360, loss: 88.0421, grad_norm: 187.6036 +2026-02-24 05:27:31,522 - DriveTransformer - INFO - Epoch [1][14400/39528] lr: 1.000e-04, eta: 8 days, 15:32:47, time: 0.785, data_time: 0.045, memory: 19865, loss_cls: 1.0310, loss_bbox: 1.0030, loss_traj: 1.7656, loss_traj_cls: 0.0005, loss_map_cls: 0.6850, loss_map_pts: 2.7994, loss_map_dir: 0.0386, d0.loss_plan_l1_fix_time: 3.4220, d0.loss_plan_l1_fix_dist: 0.6192, d1.loss_plan_l1_fix_time: 3.3574, d1.loss_plan_l1_fix_dist: 0.6398, d2.loss_plan_l1_fix_time: 3.3693, d2.loss_plan_l1_fix_dist: 0.6831, d3.loss_plan_l1_fix_time: 3.3824, d3.loss_plan_l1_fix_dist: 0.7314, d4.loss_plan_l1_fix_time: 3.3956, d4.loss_plan_l1_fix_dist: 0.7902, d5.loss_plan_l1_fix_time: 3.4097, d5.loss_plan_l1_fix_dist: 0.8506, d6.loss_plan_l1_fix_time: 3.4259, d6.loss_plan_l1_fix_dist: 0.9156, d0.loss_cls_all: 1.0086, d0.loss_bbox_all: 0.9745, d0.loss_cls: 1.0086, d0.loss_bbox: 0.9745, d1.loss_cls: 1.0113, d1.loss_bbox: 0.9750, d2.loss_cls: 1.0168, d2.loss_bbox: 0.9760, d3.loss_cls: 1.0153, d3.loss_bbox: 0.9858, d4.loss_cls: 1.0236, d4.loss_bbox: 0.9900, d5.loss_cls: 1.0285, d5.loss_bbox: 0.9923, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.6971, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.7184, d2.loss_traj_cls: 0.0004, d2.loss_traj: 1.7234, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7306, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7383, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7465, d0.loss_map_cls_all: 0.6598, d0.loss_map_pts_all: 3.3703, d0.loss_map_dir_all: 0.0390, d0.loss_map_cls: 0.6598, d0.loss_map_pts: 3.3703, d0.loss_map_dir: 0.0390, d1.loss_map_cls: 0.6759, d1.loss_map_pts: 2.8570, d1.loss_map_dir: 0.0392, d2.loss_map_cls: 0.6810, d2.loss_map_pts: 2.8191, d2.loss_map_dir: 0.0390, d3.loss_map_cls: 0.6832, d3.loss_map_pts: 2.8081, d3.loss_map_dir: 0.0389, d4.loss_map_cls: 0.6848, d4.loss_map_pts: 2.8037, d4.loss_map_dir: 0.0388, d5.loss_map_cls: 0.6844, d5.loss_map_pts: 2.8000, d5.loss_map_dir: 0.0387, loss: 86.4831, grad_norm: 187.6815 +2026-02-24 05:28:11,857 - DriveTransformer - INFO - Epoch [1][14450/39528] lr: 1.000e-04, eta: 8 days, 15:32:25, time: 0.805, data_time: 0.042, memory: 19865, loss_cls: 1.0168, loss_bbox: 1.0050, loss_traj: 1.9804, loss_traj_cls: 0.0005, loss_map_cls: 0.6533, loss_map_pts: 2.5728, loss_map_dir: 0.0356, d0.loss_plan_l1_fix_time: 3.1391, d0.loss_plan_l1_fix_dist: 0.5938, d1.loss_plan_l1_fix_time: 3.0706, d1.loss_plan_l1_fix_dist: 0.6251, d2.loss_plan_l1_fix_time: 3.0718, d2.loss_plan_l1_fix_dist: 0.6761, d3.loss_plan_l1_fix_time: 3.0815, d3.loss_plan_l1_fix_dist: 0.7340, d4.loss_plan_l1_fix_time: 3.0949, d4.loss_plan_l1_fix_dist: 0.7939, d5.loss_plan_l1_fix_time: 3.1112, d5.loss_plan_l1_fix_dist: 0.8577, d6.loss_plan_l1_fix_time: 3.1305, d6.loss_plan_l1_fix_dist: 0.9272, d0.loss_cls_all: 0.9891, d0.loss_bbox_all: 0.9940, d0.loss_cls: 0.9891, d0.loss_bbox: 0.9940, d1.loss_cls: 0.9973, d1.loss_bbox: 0.9926, d2.loss_cls: 0.9954, d2.loss_bbox: 0.9950, d3.loss_cls: 1.0038, d3.loss_bbox: 0.9898, d4.loss_cls: 1.0085, d4.loss_bbox: 0.9953, d5.loss_cls: 1.0112, d5.loss_bbox: 1.0032, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9142, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9742, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9624, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9626, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9623, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9620, d0.loss_map_cls_all: 0.6421, d0.loss_map_pts_all: 3.1929, d0.loss_map_dir_all: 0.0359, d0.loss_map_cls: 0.6421, d0.loss_map_pts: 3.1929, d0.loss_map_dir: 0.0359, d1.loss_map_cls: 0.6492, d1.loss_map_pts: 2.6154, d1.loss_map_dir: 0.0359, d2.loss_map_cls: 0.6520, d2.loss_map_pts: 2.5802, d2.loss_map_dir: 0.0358, d3.loss_map_cls: 0.6526, d3.loss_map_pts: 2.5738, d3.loss_map_dir: 0.0357, d4.loss_map_cls: 0.6532, d4.loss_map_pts: 2.5711, d4.loss_map_dir: 0.0356, d5.loss_map_cls: 0.6524, d5.loss_map_pts: 2.5708, d5.loss_map_dir: 0.0356, loss: 83.9621, grad_norm: 187.2395 +2026-02-24 05:28:52,271 - DriveTransformer - INFO - Epoch [1][14500/39528] lr: 1.000e-04, eta: 8 days, 15:32:12, time: 0.808, data_time: 0.043, memory: 19865, loss_cls: 0.9618, loss_bbox: 0.9336, loss_traj: 1.6891, loss_traj_cls: 0.0005, loss_map_cls: 0.6802, loss_map_pts: 2.5869, loss_map_dir: 0.0387, d0.loss_plan_l1_fix_time: 2.5909, d0.loss_plan_l1_fix_dist: 0.5310, d1.loss_plan_l1_fix_time: 2.4928, d1.loss_plan_l1_fix_dist: 0.5452, d2.loss_plan_l1_fix_time: 2.4919, d2.loss_plan_l1_fix_dist: 0.5782, d3.loss_plan_l1_fix_time: 2.4996, d3.loss_plan_l1_fix_dist: 0.6213, d4.loss_plan_l1_fix_time: 2.5118, d4.loss_plan_l1_fix_dist: 0.6704, d5.loss_plan_l1_fix_time: 2.5258, d5.loss_plan_l1_fix_dist: 0.7254, d6.loss_plan_l1_fix_time: 2.5431, d6.loss_plan_l1_fix_dist: 0.7908, d0.loss_cls_all: 0.9442, d0.loss_bbox_all: 0.9204, d0.loss_cls: 0.9442, d0.loss_bbox: 0.9204, d1.loss_cls: 0.9480, d1.loss_bbox: 0.9161, d2.loss_cls: 0.9464, d2.loss_bbox: 0.9247, d3.loss_cls: 0.9511, d3.loss_bbox: 0.9120, d4.loss_cls: 0.9501, d4.loss_bbox: 0.9180, d5.loss_cls: 0.9533, d5.loss_bbox: 0.9273, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.6466, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.6752, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.6831, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7073, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7217, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7034, d0.loss_map_cls_all: 0.6577, d0.loss_map_pts_all: 3.2251, d0.loss_map_dir_all: 0.0387, d0.loss_map_cls: 0.6577, d0.loss_map_pts: 3.2251, d0.loss_map_dir: 0.0387, d1.loss_map_cls: 0.6692, d1.loss_map_pts: 2.6359, d1.loss_map_dir: 0.0390, d2.loss_map_cls: 0.6758, d2.loss_map_pts: 2.5974, d2.loss_map_dir: 0.0389, d3.loss_map_cls: 0.6803, d3.loss_map_pts: 2.5901, d3.loss_map_dir: 0.0388, d4.loss_map_cls: 0.6806, d4.loss_map_pts: 2.5894, d4.loss_map_dir: 0.0387, d5.loss_map_cls: 0.6794, d5.loss_map_pts: 2.5893, d5.loss_map_dir: 0.0387, loss: 76.6500, grad_norm: 186.1791 +2026-02-24 05:29:32,886 - DriveTransformer - INFO - Epoch [1][14550/39528] lr: 1.000e-04, eta: 8 days, 15:32:12, time: 0.812, data_time: 0.035, memory: 19865, loss_cls: 0.9882, loss_bbox: 0.9340, loss_traj: 2.1323, loss_traj_cls: 0.0004, loss_map_cls: 0.6622, loss_map_pts: 2.7260, loss_map_dir: 0.0391, d0.loss_plan_l1_fix_time: 3.2403, d0.loss_plan_l1_fix_dist: 0.6632, d1.loss_plan_l1_fix_time: 3.1302, d1.loss_plan_l1_fix_dist: 0.6845, d2.loss_plan_l1_fix_time: 3.1241, d2.loss_plan_l1_fix_dist: 0.7176, d3.loss_plan_l1_fix_time: 3.1323, d3.loss_plan_l1_fix_dist: 0.7585, d4.loss_plan_l1_fix_time: 3.1443, d4.loss_plan_l1_fix_dist: 0.8103, d5.loss_plan_l1_fix_time: 3.1569, d5.loss_plan_l1_fix_dist: 0.8718, d6.loss_plan_l1_fix_time: 3.1713, d6.loss_plan_l1_fix_dist: 0.9350, d0.loss_cls_all: 0.9674, d0.loss_bbox_all: 0.9191, d0.loss_cls: 0.9674, d0.loss_bbox: 0.9191, d1.loss_cls: 0.9745, d1.loss_bbox: 0.9158, d2.loss_cls: 0.9770, d2.loss_bbox: 0.9197, d3.loss_cls: 0.9784, d3.loss_bbox: 0.9212, d4.loss_cls: 0.9788, d4.loss_bbox: 0.9247, d5.loss_cls: 0.9808, d5.loss_bbox: 0.9244, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0805, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0979, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1103, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1255, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1345, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1339, d0.loss_map_cls_all: 0.6497, d0.loss_map_pts_all: 3.2844, d0.loss_map_dir_all: 0.0392, d0.loss_map_cls: 0.6497, d0.loss_map_pts: 3.2844, d0.loss_map_dir: 0.0392, d1.loss_map_cls: 0.6574, d1.loss_map_pts: 2.7685, d1.loss_map_dir: 0.0396, d2.loss_map_cls: 0.6609, d2.loss_map_pts: 2.7383, d2.loss_map_dir: 0.0394, d3.loss_map_cls: 0.6627, d3.loss_map_pts: 2.7316, d3.loss_map_dir: 0.0393, d4.loss_map_cls: 0.6643, d4.loss_map_pts: 2.7292, d4.loss_map_dir: 0.0392, d5.loss_map_cls: 0.6621, d5.loss_map_pts: 2.7267, d5.loss_map_dir: 0.0391, loss: 86.1212, grad_norm: 186.0959 +2026-02-24 05:30:12,455 - DriveTransformer - INFO - Epoch [1][14600/39528] lr: 1.000e-04, eta: 8 days, 15:31:06, time: 0.792, data_time: 0.042, memory: 19865, loss_cls: 1.0196, loss_bbox: 0.9754, loss_traj: 1.7532, loss_traj_cls: 0.0005, loss_map_cls: 0.6528, loss_map_pts: 2.4768, loss_map_dir: 0.0339, d0.loss_plan_l1_fix_time: 2.8510, d0.loss_plan_l1_fix_dist: 0.7383, d1.loss_plan_l1_fix_time: 2.7599, d1.loss_plan_l1_fix_dist: 0.7592, d2.loss_plan_l1_fix_time: 2.7604, d2.loss_plan_l1_fix_dist: 0.7947, d3.loss_plan_l1_fix_time: 2.7712, d3.loss_plan_l1_fix_dist: 0.8351, d4.loss_plan_l1_fix_time: 2.7842, d4.loss_plan_l1_fix_dist: 0.8809, d5.loss_plan_l1_fix_time: 2.8002, d5.loss_plan_l1_fix_dist: 0.9345, d6.loss_plan_l1_fix_time: 2.8177, d6.loss_plan_l1_fix_dist: 0.9960, d0.loss_cls_all: 1.0060, d0.loss_bbox_all: 0.9444, d0.loss_cls: 1.0060, d0.loss_bbox: 0.9444, d1.loss_cls: 1.0083, d1.loss_bbox: 0.9418, d2.loss_cls: 1.0048, d2.loss_bbox: 0.9490, d3.loss_cls: 1.0122, d3.loss_bbox: 0.9490, d4.loss_cls: 1.0111, d4.loss_bbox: 0.9591, d5.loss_cls: 1.0126, d5.loss_bbox: 0.9670, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.6934, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.6962, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.7214, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7298, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7445, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7304, d0.loss_map_cls_all: 0.6386, d0.loss_map_pts_all: 3.1513, d0.loss_map_dir_all: 0.0343, d0.loss_map_cls: 0.6386, d0.loss_map_pts: 3.1513, d0.loss_map_dir: 0.0343, d1.loss_map_cls: 0.6443, d1.loss_map_pts: 2.5138, d1.loss_map_dir: 0.0343, d2.loss_map_cls: 0.6484, d2.loss_map_pts: 2.4811, d2.loss_map_dir: 0.0341, d3.loss_map_cls: 0.6498, d3.loss_map_pts: 2.4760, d3.loss_map_dir: 0.0340, d4.loss_map_cls: 0.6504, d4.loss_map_pts: 2.4723, d4.loss_map_dir: 0.0339, d5.loss_map_cls: 0.6511, d5.loss_map_pts: 2.4717, d5.loss_map_dir: 0.0339, loss: 79.9070, grad_norm: 185.1546 +2026-02-24 05:30:51,983 - DriveTransformer - INFO - Epoch [1][14650/39528] lr: 1.000e-04, eta: 8 days, 15:29:56, time: 0.790, data_time: 0.041, memory: 19865, loss_cls: 1.0009, loss_bbox: 0.9952, loss_traj: 2.1385, loss_traj_cls: 0.0004, loss_map_cls: 0.6446, loss_map_pts: 2.4384, loss_map_dir: 0.0305, d0.loss_plan_l1_fix_time: 3.2199, d0.loss_plan_l1_fix_dist: 0.6778, d1.loss_plan_l1_fix_time: 3.1840, d1.loss_plan_l1_fix_dist: 0.6955, d2.loss_plan_l1_fix_time: 3.1943, d2.loss_plan_l1_fix_dist: 0.7236, d3.loss_plan_l1_fix_time: 3.2044, d3.loss_plan_l1_fix_dist: 0.7625, d4.loss_plan_l1_fix_time: 3.2183, d4.loss_plan_l1_fix_dist: 0.8092, d5.loss_plan_l1_fix_time: 3.2362, d5.loss_plan_l1_fix_dist: 0.8605, d6.loss_plan_l1_fix_time: 3.2573, d6.loss_plan_l1_fix_dist: 0.9232, d0.loss_cls_all: 0.9669, d0.loss_bbox_all: 0.9610, d0.loss_cls: 0.9669, d0.loss_bbox: 0.9610, d1.loss_cls: 0.9725, d1.loss_bbox: 0.9601, d2.loss_cls: 0.9850, d2.loss_bbox: 0.9566, d3.loss_cls: 0.9859, d3.loss_bbox: 0.9697, d4.loss_cls: 0.9894, d4.loss_bbox: 0.9820, d5.loss_cls: 0.9908, d5.loss_bbox: 0.9849, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0910, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1070, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0984, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1281, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1388, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1307, d0.loss_map_cls_all: 0.6291, d0.loss_map_pts_all: 3.0832, d0.loss_map_dir_all: 0.0313, d0.loss_map_cls: 0.6291, d0.loss_map_pts: 3.0832, d0.loss_map_dir: 0.0313, d1.loss_map_cls: 0.6384, d1.loss_map_pts: 2.4685, d1.loss_map_dir: 0.0310, d2.loss_map_cls: 0.6408, d2.loss_map_pts: 2.4393, d2.loss_map_dir: 0.0308, d3.loss_map_cls: 0.6428, d3.loss_map_pts: 2.4361, d3.loss_map_dir: 0.0306, d4.loss_map_cls: 0.6435, d4.loss_map_pts: 2.4351, d4.loss_map_dir: 0.0305, d5.loss_map_cls: 0.6438, d5.loss_map_pts: 2.4367, d5.loss_map_dir: 0.0305, loss: 84.6100, grad_norm: 185.3786 +2026-02-24 05:31:30,566 - DriveTransformer - INFO - Epoch [1][14700/39528] lr: 1.000e-04, eta: 8 days, 15:27:47, time: 0.772, data_time: 0.041, memory: 19865, loss_cls: 1.0010, loss_bbox: 0.9587, loss_traj: 1.7591, loss_traj_cls: 0.0005, loss_map_cls: 0.6979, loss_map_pts: 2.5453, loss_map_dir: 0.0344, d0.loss_plan_l1_fix_time: 2.7246, d0.loss_plan_l1_fix_dist: 0.5744, d1.loss_plan_l1_fix_time: 2.6787, d1.loss_plan_l1_fix_dist: 0.6002, d2.loss_plan_l1_fix_time: 2.6881, d2.loss_plan_l1_fix_dist: 0.6414, d3.loss_plan_l1_fix_time: 2.7009, d3.loss_plan_l1_fix_dist: 0.6856, d4.loss_plan_l1_fix_time: 2.7153, d4.loss_plan_l1_fix_dist: 0.7288, d5.loss_plan_l1_fix_time: 2.7305, d5.loss_plan_l1_fix_dist: 0.7743, d6.loss_plan_l1_fix_time: 2.7474, d6.loss_plan_l1_fix_dist: 0.8275, d0.loss_cls_all: 0.9782, d0.loss_bbox_all: 0.9570, d0.loss_cls: 0.9782, d0.loss_bbox: 0.9570, d1.loss_cls: 0.9875, d1.loss_bbox: 0.9463, d2.loss_cls: 0.9921, d2.loss_bbox: 0.9381, d3.loss_cls: 0.9984, d3.loss_bbox: 0.9396, d4.loss_cls: 0.9974, d4.loss_bbox: 0.9448, d5.loss_cls: 0.9970, d5.loss_bbox: 0.9486, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7229, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.7462, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.7398, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7595, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7645, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7588, d0.loss_map_cls_all: 0.6817, d0.loss_map_pts_all: 3.0866, d0.loss_map_dir_all: 0.0348, d0.loss_map_cls: 0.6817, d0.loss_map_pts: 3.0866, d0.loss_map_dir: 0.0348, d1.loss_map_cls: 0.6972, d1.loss_map_pts: 2.5610, d1.loss_map_dir: 0.0348, d2.loss_map_cls: 0.6977, d2.loss_map_pts: 2.5340, d2.loss_map_dir: 0.0346, d3.loss_map_cls: 0.6974, d3.loss_map_pts: 2.5341, d3.loss_map_dir: 0.0346, d4.loss_map_cls: 0.6986, d4.loss_map_pts: 2.5369, d4.loss_map_dir: 0.0345, d5.loss_map_cls: 0.6986, d5.loss_map_pts: 2.5400, d5.loss_map_dir: 0.0345, loss: 78.8444, grad_norm: 183.7809 +2026-02-24 05:32:13,637 - DriveTransformer - INFO - Epoch [1][14750/39528] lr: 1.000e-04, eta: 8 days, 15:30:22, time: 0.861, data_time: 0.038, memory: 19865, loss_cls: 1.0357, loss_bbox: 0.9731, loss_traj: 1.8950, loss_traj_cls: 0.0006, loss_map_cls: 0.6576, loss_map_pts: 3.2085, loss_map_dir: 0.0445, d0.loss_plan_l1_fix_time: 2.8222, d0.loss_plan_l1_fix_dist: 0.6091, d1.loss_plan_l1_fix_time: 2.7282, d1.loss_plan_l1_fix_dist: 0.6390, d2.loss_plan_l1_fix_time: 2.7347, d2.loss_plan_l1_fix_dist: 0.6789, d3.loss_plan_l1_fix_time: 2.7494, d3.loss_plan_l1_fix_dist: 0.7265, d4.loss_plan_l1_fix_time: 2.7663, d4.loss_plan_l1_fix_dist: 0.7858, d5.loss_plan_l1_fix_time: 2.7820, d5.loss_plan_l1_fix_dist: 0.8514, d6.loss_plan_l1_fix_time: 2.7979, d6.loss_plan_l1_fix_dist: 0.9259, d0.loss_cls_all: 1.0012, d0.loss_bbox_all: 0.9367, d0.loss_cls: 1.0012, d0.loss_bbox: 0.9367, d1.loss_cls: 1.0090, d1.loss_bbox: 0.9344, d2.loss_cls: 1.0163, d2.loss_bbox: 0.9375, d3.loss_cls: 1.0180, d3.loss_bbox: 0.9502, d4.loss_cls: 1.0195, d4.loss_bbox: 0.9536, d5.loss_cls: 1.0243, d5.loss_bbox: 0.9636, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8115, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8300, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8484, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8600, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8765, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8819, d0.loss_map_cls_all: 0.6317, d0.loss_map_pts_all: 3.6611, d0.loss_map_dir_all: 0.0449, d0.loss_map_cls: 0.6317, d0.loss_map_pts: 3.6611, d0.loss_map_dir: 0.0449, d1.loss_map_cls: 0.6398, d1.loss_map_pts: 3.2029, d1.loss_map_dir: 0.0447, d2.loss_map_cls: 0.6500, d2.loss_map_pts: 3.1879, d2.loss_map_dir: 0.0446, d3.loss_map_cls: 0.6532, d3.loss_map_pts: 3.1904, d3.loss_map_dir: 0.0445, d4.loss_map_cls: 0.6501, d4.loss_map_pts: 3.1960, d4.loss_map_dir: 0.0445, d5.loss_map_cls: 0.6544, d5.loss_map_pts: 3.2033, d5.loss_map_dir: 0.0445, loss: 85.3519, grad_norm: 183.0927 +2026-02-24 05:32:52,924 - DriveTransformer - INFO - Epoch [1][14800/39528] lr: 1.000e-04, eta: 8 days, 15:28:57, time: 0.786, data_time: 0.041, memory: 19865, loss_cls: 1.0667, loss_bbox: 1.0134, loss_traj: 1.8995, loss_traj_cls: 0.0005, loss_map_cls: 0.6844, loss_map_pts: 2.7766, loss_map_dir: 0.0383, d0.loss_plan_l1_fix_time: 3.4881, d0.loss_plan_l1_fix_dist: 0.6952, d1.loss_plan_l1_fix_time: 3.3994, d1.loss_plan_l1_fix_dist: 0.7187, d2.loss_plan_l1_fix_time: 3.3938, d2.loss_plan_l1_fix_dist: 0.7501, d3.loss_plan_l1_fix_time: 3.3980, d3.loss_plan_l1_fix_dist: 0.7952, d4.loss_plan_l1_fix_time: 3.4071, d4.loss_plan_l1_fix_dist: 0.8431, d5.loss_plan_l1_fix_time: 3.4177, d5.loss_plan_l1_fix_dist: 0.8967, d6.loss_plan_l1_fix_time: 3.4305, d6.loss_plan_l1_fix_dist: 0.9553, d0.loss_cls_all: 1.0380, d0.loss_bbox_all: 0.9847, d0.loss_cls: 1.0380, d0.loss_bbox: 0.9847, d1.loss_cls: 1.0532, d1.loss_bbox: 0.9772, d2.loss_cls: 1.0578, d2.loss_bbox: 0.9766, d3.loss_cls: 1.0616, d3.loss_bbox: 0.9889, d4.loss_cls: 1.0647, d4.loss_bbox: 0.9973, d5.loss_cls: 1.0646, d5.loss_bbox: 1.0048, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8695, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8725, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8546, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8629, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8744, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8782, d0.loss_map_cls_all: 0.6640, d0.loss_map_pts_all: 3.2438, d0.loss_map_dir_all: 0.0387, d0.loss_map_cls: 0.6640, d0.loss_map_pts: 3.2438, d0.loss_map_dir: 0.0387, d1.loss_map_cls: 0.6738, d1.loss_map_pts: 2.7588, d1.loss_map_dir: 0.0387, d2.loss_map_cls: 0.6796, d2.loss_map_pts: 2.7518, d2.loss_map_dir: 0.0384, d3.loss_map_cls: 0.6808, d3.loss_map_pts: 2.7562, d3.loss_map_dir: 0.0383, d4.loss_map_cls: 0.6803, d4.loss_map_pts: 2.7624, d4.loss_map_dir: 0.0383, d5.loss_map_cls: 0.6817, d5.loss_map_pts: 2.7700, d5.loss_map_dir: 0.0383, loss: 87.8560, grad_norm: 182.6145 +2026-02-24 05:33:33,813 - DriveTransformer - INFO - Epoch [1][14850/39528] lr: 1.000e-04, eta: 8 days, 15:29:14, time: 0.818, data_time: 0.040, memory: 19865, loss_cls: 1.0101, loss_bbox: 0.9608, loss_traj: 2.0926, loss_traj_cls: 0.0005, loss_map_cls: 0.6748, loss_map_pts: 2.9710, loss_map_dir: 0.0412, d0.loss_plan_l1_fix_time: 3.6573, d0.loss_plan_l1_fix_dist: 0.5483, d1.loss_plan_l1_fix_time: 3.5733, d1.loss_plan_l1_fix_dist: 0.5823, d2.loss_plan_l1_fix_time: 3.5698, d2.loss_plan_l1_fix_dist: 0.6395, d3.loss_plan_l1_fix_time: 3.5752, d3.loss_plan_l1_fix_dist: 0.7043, d4.loss_plan_l1_fix_time: 3.5861, d4.loss_plan_l1_fix_dist: 0.7745, d5.loss_plan_l1_fix_time: 3.6000, d5.loss_plan_l1_fix_dist: 0.8469, d6.loss_plan_l1_fix_time: 3.6152, d6.loss_plan_l1_fix_dist: 0.9121, d0.loss_cls_all: 0.9827, d0.loss_bbox_all: 0.9363, d0.loss_cls: 0.9827, d0.loss_bbox: 0.9363, d1.loss_cls: 0.9924, d1.loss_bbox: 0.9366, d2.loss_cls: 1.0002, d2.loss_bbox: 0.9362, d3.loss_cls: 1.0053, d3.loss_bbox: 0.9353, d4.loss_cls: 1.0067, d4.loss_bbox: 0.9435, d5.loss_cls: 1.0054, d5.loss_bbox: 0.9525, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0698, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0732, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0649, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0794, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0883, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1063, d0.loss_map_cls_all: 0.6534, d0.loss_map_pts_all: 3.4051, d0.loss_map_dir_all: 0.0415, d0.loss_map_cls: 0.6534, d0.loss_map_pts: 3.4051, d0.loss_map_dir: 0.0415, d1.loss_map_cls: 0.6634, d1.loss_map_pts: 2.9461, d1.loss_map_dir: 0.0416, d2.loss_map_cls: 0.6703, d2.loss_map_pts: 2.9358, d2.loss_map_dir: 0.0415, d3.loss_map_cls: 0.6716, d3.loss_map_pts: 2.9458, d3.loss_map_dir: 0.0413, d4.loss_map_cls: 0.6707, d4.loss_map_pts: 2.9555, d4.loss_map_dir: 0.0413, d5.loss_map_cls: 0.6721, d5.loss_map_pts: 2.9625, d5.loss_map_dir: 0.0412, loss: 90.4734, grad_norm: 182.8642 +2026-02-24 05:34:13,042 - DriveTransformer - INFO - Epoch [1][14900/39528] lr: 1.000e-04, eta: 8 days, 15:27:46, time: 0.784, data_time: 0.042, memory: 19865, loss_cls: 0.9773, loss_bbox: 0.9448, loss_traj: 2.1082, loss_traj_cls: 0.0005, loss_map_cls: 0.6454, loss_map_pts: 2.5703, loss_map_dir: 0.0340, d0.loss_plan_l1_fix_time: 3.2790, d0.loss_plan_l1_fix_dist: 0.6169, d1.loss_plan_l1_fix_time: 3.2197, d1.loss_plan_l1_fix_dist: 0.6549, d2.loss_plan_l1_fix_time: 3.2249, d2.loss_plan_l1_fix_dist: 0.7103, d3.loss_plan_l1_fix_time: 3.2398, d3.loss_plan_l1_fix_dist: 0.7792, d4.loss_plan_l1_fix_time: 3.2571, d4.loss_plan_l1_fix_dist: 0.8515, d5.loss_plan_l1_fix_time: 3.2759, d5.loss_plan_l1_fix_dist: 0.9379, d6.loss_plan_l1_fix_time: 3.2945, d6.loss_plan_l1_fix_dist: 1.0374, d0.loss_cls_all: 0.9601, d0.loss_bbox_all: 0.9059, d0.loss_cls: 0.9601, d0.loss_bbox: 0.9059, d1.loss_cls: 0.9665, d1.loss_bbox: 0.9011, d2.loss_cls: 0.9757, d2.loss_bbox: 0.9089, d3.loss_cls: 0.9725, d3.loss_bbox: 0.9169, d4.loss_cls: 0.9753, d4.loss_bbox: 0.9259, d5.loss_cls: 0.9753, d5.loss_bbox: 0.9353, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0863, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1115, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1129, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1375, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1478, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1117, d0.loss_map_cls_all: 0.6316, d0.loss_map_pts_all: 3.1328, d0.loss_map_dir_all: 0.0348, d0.loss_map_cls: 0.6316, d0.loss_map_pts: 3.1328, d0.loss_map_dir: 0.0348, d1.loss_map_cls: 0.6401, d1.loss_map_pts: 2.5836, d1.loss_map_dir: 0.0344, d2.loss_map_cls: 0.6454, d2.loss_map_pts: 2.5601, d2.loss_map_dir: 0.0342, d3.loss_map_cls: 0.6462, d3.loss_map_pts: 2.5612, d3.loss_map_dir: 0.0341, d4.loss_map_cls: 0.6449, d4.loss_map_pts: 2.5641, d4.loss_map_dir: 0.0342, d5.loss_map_cls: 0.6454, d5.loss_map_pts: 2.5670, d5.loss_map_dir: 0.0340, loss: 85.3830, grad_norm: 185.7244 +2026-02-24 05:34:53,091 - DriveTransformer - INFO - Epoch [1][14950/39528] lr: 1.000e-04, eta: 8 days, 15:27:10, time: 0.801, data_time: 0.042, memory: 19865, loss_cls: 1.0303, loss_bbox: 0.9673, loss_traj: 1.8141, loss_traj_cls: 0.0005, loss_map_cls: 0.6655, loss_map_pts: 2.9254, loss_map_dir: 0.0440, d0.loss_plan_l1_fix_time: 3.4786, d0.loss_plan_l1_fix_dist: 0.8066, d1.loss_plan_l1_fix_time: 3.3417, d1.loss_plan_l1_fix_dist: 0.8402, d2.loss_plan_l1_fix_time: 3.3260, d2.loss_plan_l1_fix_dist: 0.8881, d3.loss_plan_l1_fix_time: 3.3314, d3.loss_plan_l1_fix_dist: 0.9437, d4.loss_plan_l1_fix_time: 3.3437, d4.loss_plan_l1_fix_dist: 1.0053, d5.loss_plan_l1_fix_time: 3.3590, d5.loss_plan_l1_fix_dist: 1.0802, d6.loss_plan_l1_fix_time: 3.3780, d6.loss_plan_l1_fix_dist: 1.1699, d0.loss_cls_all: 0.9955, d0.loss_bbox_all: 0.9223, d0.loss_cls: 0.9955, d0.loss_bbox: 0.9223, d1.loss_cls: 1.0015, d1.loss_bbox: 0.9175, d2.loss_cls: 1.0101, d2.loss_bbox: 0.9265, d3.loss_cls: 1.0179, d3.loss_bbox: 0.9289, d4.loss_cls: 1.0244, d4.loss_bbox: 0.9402, d5.loss_cls: 1.0240, d5.loss_bbox: 0.9541, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8155, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8229, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8321, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8561, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8482, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8227, d0.loss_map_cls_all: 0.6507, d0.loss_map_pts_all: 3.3842, d0.loss_map_dir_all: 0.0445, d0.loss_map_cls: 0.6507, d0.loss_map_pts: 3.3842, d0.loss_map_dir: 0.0445, d1.loss_map_cls: 0.6593, d1.loss_map_pts: 2.9528, d1.loss_map_dir: 0.0444, d2.loss_map_cls: 0.6638, d2.loss_map_pts: 2.9258, d2.loss_map_dir: 0.0442, d3.loss_map_cls: 0.6637, d3.loss_map_pts: 2.9218, d3.loss_map_dir: 0.0441, d4.loss_map_cls: 0.6651, d4.loss_map_pts: 2.9221, d4.loss_map_dir: 0.0440, d5.loss_map_cls: 0.6638, d5.loss_map_pts: 2.9243, d5.loss_map_dir: 0.0440, loss: 88.6628, grad_norm: 186.2156 +2026-02-24 05:35:32,560 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 05:35:32,561 - DriveTransformer - INFO - Epoch [1][15000/39528] lr: 1.000e-04, eta: 8 days, 15:25:57, time: 0.790, data_time: 0.039, memory: 19865, loss_cls: 0.9787, loss_bbox: 1.0041, loss_traj: 1.9119, loss_traj_cls: 0.0005, loss_map_cls: 0.6896, loss_map_pts: 2.6157, loss_map_dir: 0.0364, d0.loss_plan_l1_fix_time: 3.0362, d0.loss_plan_l1_fix_dist: 0.5914, d1.loss_plan_l1_fix_time: 2.9253, d1.loss_plan_l1_fix_dist: 0.6473, d2.loss_plan_l1_fix_time: 2.9199, d2.loss_plan_l1_fix_dist: 0.7220, d3.loss_plan_l1_fix_time: 2.9258, d3.loss_plan_l1_fix_dist: 0.8082, d4.loss_plan_l1_fix_time: 2.9355, d4.loss_plan_l1_fix_dist: 0.9050, d5.loss_plan_l1_fix_time: 2.9469, d5.loss_plan_l1_fix_dist: 1.0031, d6.loss_plan_l1_fix_time: 2.9612, d6.loss_plan_l1_fix_dist: 1.0976, d0.loss_cls_all: 0.9444, d0.loss_bbox_all: 0.9694, d0.loss_cls: 0.9444, d0.loss_bbox: 0.9694, d1.loss_cls: 0.9551, d1.loss_bbox: 0.9800, d2.loss_cls: 0.9658, d2.loss_bbox: 0.9848, d3.loss_cls: 0.9716, d3.loss_bbox: 0.9869, d4.loss_cls: 0.9765, d4.loss_bbox: 0.9900, d5.loss_cls: 0.9785, d5.loss_bbox: 0.9973, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8315, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8741, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8759, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8672, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8759, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8838, d0.loss_map_cls_all: 0.6814, d0.loss_map_pts_all: 3.1920, d0.loss_map_dir_all: 0.0375, d0.loss_map_cls: 0.6814, d0.loss_map_pts: 3.1920, d0.loss_map_dir: 0.0375, d1.loss_map_cls: 0.6822, d1.loss_map_pts: 2.6505, d1.loss_map_dir: 0.0368, d2.loss_map_cls: 0.6841, d2.loss_map_pts: 2.6211, d2.loss_map_dir: 0.0366, d3.loss_map_cls: 0.6856, d3.loss_map_pts: 2.6164, d3.loss_map_dir: 0.0365, d4.loss_map_cls: 0.6852, d4.loss_map_pts: 2.6144, d4.loss_map_dir: 0.0364, d5.loss_map_cls: 0.6848, d5.loss_map_pts: 2.6133, d5.loss_map_dir: 0.0364, loss: 83.0297, grad_norm: 186.1306 +2026-02-24 05:36:13,037 - DriveTransformer - INFO - Epoch [1][15050/39528] lr: 1.000e-04, eta: 8 days, 15:25:47, time: 0.809, data_time: 0.044, memory: 19865, loss_cls: 0.9973, loss_bbox: 0.9527, loss_traj: 2.1044, loss_traj_cls: 0.0005, loss_map_cls: 0.6306, loss_map_pts: 2.5981, loss_map_dir: 0.0338, d0.loss_plan_l1_fix_time: 3.5047, d0.loss_plan_l1_fix_dist: 0.6887, d1.loss_plan_l1_fix_time: 3.3377, d1.loss_plan_l1_fix_dist: 0.7315, d2.loss_plan_l1_fix_time: 3.3200, d2.loss_plan_l1_fix_dist: 0.7863, d3.loss_plan_l1_fix_time: 3.3190, d3.loss_plan_l1_fix_dist: 0.8544, d4.loss_plan_l1_fix_time: 3.3248, d4.loss_plan_l1_fix_dist: 0.9359, d5.loss_plan_l1_fix_time: 3.3328, d5.loss_plan_l1_fix_dist: 1.0230, d6.loss_plan_l1_fix_time: 3.3410, d6.loss_plan_l1_fix_dist: 1.1106, d0.loss_cls_all: 0.9674, d0.loss_bbox_all: 0.9367, d0.loss_cls: 0.9674, d0.loss_bbox: 0.9367, d1.loss_cls: 0.9763, d1.loss_bbox: 0.9334, d2.loss_cls: 0.9869, d2.loss_bbox: 0.9418, d3.loss_cls: 0.9888, d3.loss_bbox: 0.9372, d4.loss_cls: 0.9919, d4.loss_bbox: 0.9363, d5.loss_cls: 0.9929, d5.loss_bbox: 0.9453, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0400, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0442, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0401, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0404, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0485, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0712, d0.loss_map_cls_all: 0.6212, d0.loss_map_pts_all: 3.1547, d0.loss_map_dir_all: 0.0351, d0.loss_map_cls: 0.6212, d0.loss_map_pts: 3.1547, d0.loss_map_dir: 0.0351, d1.loss_map_cls: 0.6284, d1.loss_map_pts: 2.6166, d1.loss_map_dir: 0.0343, d2.loss_map_cls: 0.6308, d2.loss_map_pts: 2.5947, d2.loss_map_dir: 0.0341, d3.loss_map_cls: 0.6291, d3.loss_map_pts: 2.5926, d3.loss_map_dir: 0.0339, d4.loss_map_cls: 0.6300, d4.loss_map_pts: 2.5913, d4.loss_map_dir: 0.0338, d5.loss_map_cls: 0.6299, d5.loss_map_pts: 2.5920, d5.loss_map_dir: 0.0338, loss: 86.5811, grad_norm: 188.0101 +2026-02-24 05:36:53,011 - DriveTransformer - INFO - Epoch [1][15100/39528] lr: 1.000e-04, eta: 8 days, 15:25:06, time: 0.799, data_time: 0.037, memory: 19865, loss_cls: 1.0058, loss_bbox: 0.9522, loss_traj: 1.7935, loss_traj_cls: 0.0005, loss_map_cls: 0.6532, loss_map_pts: 2.7913, loss_map_dir: 0.0428, d0.loss_plan_l1_fix_time: 3.7280, d0.loss_plan_l1_fix_dist: 0.6099, d1.loss_plan_l1_fix_time: 3.6133, d1.loss_plan_l1_fix_dist: 0.6369, d2.loss_plan_l1_fix_time: 3.6095, d2.loss_plan_l1_fix_dist: 0.6809, d3.loss_plan_l1_fix_time: 3.6181, d3.loss_plan_l1_fix_dist: 0.7384, d4.loss_plan_l1_fix_time: 3.6317, d4.loss_plan_l1_fix_dist: 0.7980, d5.loss_plan_l1_fix_time: 3.6480, d5.loss_plan_l1_fix_dist: 0.8594, d6.loss_plan_l1_fix_time: 3.6657, d6.loss_plan_l1_fix_dist: 0.9180, d0.loss_cls_all: 0.9760, d0.loss_bbox_all: 0.9542, d0.loss_cls: 0.9760, d0.loss_bbox: 0.9542, d1.loss_cls: 0.9854, d1.loss_bbox: 0.9369, d2.loss_cls: 0.9926, d2.loss_bbox: 0.9371, d3.loss_cls: 0.9949, d3.loss_bbox: 0.9363, d4.loss_cls: 0.9971, d4.loss_bbox: 0.9392, d5.loss_cls: 0.9989, d5.loss_bbox: 0.9429, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7563, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.7841, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.7679, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7569, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7743, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7717, d0.loss_map_cls_all: 0.6358, d0.loss_map_pts_all: 3.2486, d0.loss_map_dir_all: 0.0434, d0.loss_map_cls: 0.6358, d0.loss_map_pts: 3.2486, d0.loss_map_dir: 0.0434, d1.loss_map_cls: 0.6480, d1.loss_map_pts: 2.8201, d1.loss_map_dir: 0.0432, d2.loss_map_cls: 0.6501, d2.loss_map_pts: 2.7944, d2.loss_map_dir: 0.0431, d3.loss_map_cls: 0.6529, d3.loss_map_pts: 2.7900, d3.loss_map_dir: 0.0431, d4.loss_map_cls: 0.6519, d4.loss_map_pts: 2.7889, d4.loss_map_dir: 0.0430, d5.loss_map_cls: 0.6529, d5.loss_map_pts: 2.7897, d5.loss_map_dir: 0.0429, loss: 87.4410, grad_norm: 188.3361 +2026-02-24 05:37:33,909 - DriveTransformer - INFO - Epoch [1][15150/39528] lr: 1.000e-04, eta: 8 days, 15:25:22, time: 0.818, data_time: 0.041, memory: 19865, loss_cls: 1.0215, loss_bbox: 1.0115, loss_traj: 1.9337, loss_traj_cls: 0.0005, loss_map_cls: 0.6597, loss_map_pts: 2.9034, loss_map_dir: 0.0435, d0.loss_plan_l1_fix_time: 3.4900, d0.loss_plan_l1_fix_dist: 0.7002, d1.loss_plan_l1_fix_time: 3.3748, d1.loss_plan_l1_fix_dist: 0.7402, d2.loss_plan_l1_fix_time: 3.3717, d2.loss_plan_l1_fix_dist: 0.7908, d3.loss_plan_l1_fix_time: 3.3800, d3.loss_plan_l1_fix_dist: 0.8494, d4.loss_plan_l1_fix_time: 3.3922, d4.loss_plan_l1_fix_dist: 0.9213, d5.loss_plan_l1_fix_time: 3.4064, d5.loss_plan_l1_fix_dist: 1.0016, d6.loss_plan_l1_fix_time: 3.4228, d6.loss_plan_l1_fix_dist: 1.0960, d0.loss_cls_all: 0.9933, d0.loss_bbox_all: 1.0213, d0.loss_cls: 0.9933, d0.loss_bbox: 1.0213, d1.loss_cls: 1.0043, d1.loss_bbox: 1.0067, d2.loss_cls: 1.0159, d2.loss_bbox: 0.9958, d3.loss_cls: 1.0149, d3.loss_bbox: 1.0005, d4.loss_cls: 1.0164, d4.loss_bbox: 1.0031, d5.loss_cls: 1.0189, d5.loss_bbox: 1.0052, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9327, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9561, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9236, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9208, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9303, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9306, d0.loss_map_cls_all: 0.6472, d0.loss_map_pts_all: 3.3082, d0.loss_map_dir_all: 0.0442, d0.loss_map_cls: 0.6472, d0.loss_map_pts: 3.3082, d0.loss_map_dir: 0.0442, d1.loss_map_cls: 0.6542, d1.loss_map_pts: 2.9266, d1.loss_map_dir: 0.0437, d2.loss_map_cls: 0.6555, d2.loss_map_pts: 2.9034, d2.loss_map_dir: 0.0436, d3.loss_map_cls: 0.6574, d3.loss_map_pts: 2.8991, d3.loss_map_dir: 0.0436, d4.loss_map_cls: 0.6584, d4.loss_map_pts: 2.8978, d4.loss_map_dir: 0.0435, d5.loss_map_cls: 0.6581, d5.loss_map_pts: 2.8999, d5.loss_map_dir: 0.0435, loss: 89.2472, grad_norm: 189.1518 +2026-02-24 05:38:12,438 - DriveTransformer - INFO - Epoch [1][15200/39528] lr: 1.000e-04, eta: 8 days, 15:23:16, time: 0.772, data_time: 0.043, memory: 19865, loss_cls: 1.0244, loss_bbox: 0.9738, loss_traj: 2.1743, loss_traj_cls: 0.0005, loss_map_cls: 0.6580, loss_map_pts: 2.5647, loss_map_dir: 0.0370, d0.loss_plan_l1_fix_time: 3.2500, d0.loss_plan_l1_fix_dist: 0.6840, d1.loss_plan_l1_fix_time: 3.1829, d1.loss_plan_l1_fix_dist: 0.7161, d2.loss_plan_l1_fix_time: 3.1909, d2.loss_plan_l1_fix_dist: 0.7599, d3.loss_plan_l1_fix_time: 3.2027, d3.loss_plan_l1_fix_dist: 0.8091, d4.loss_plan_l1_fix_time: 3.2169, d4.loss_plan_l1_fix_dist: 0.8623, d5.loss_plan_l1_fix_time: 3.2322, d5.loss_plan_l1_fix_dist: 0.9239, d6.loss_plan_l1_fix_time: 3.2478, d6.loss_plan_l1_fix_dist: 0.9915, d0.loss_cls_all: 0.9829, d0.loss_bbox_all: 0.9716, d0.loss_cls: 0.9829, d0.loss_bbox: 0.9716, d1.loss_cls: 0.9912, d1.loss_bbox: 0.9667, d2.loss_cls: 1.0021, d2.loss_bbox: 0.9552, d3.loss_cls: 1.0070, d3.loss_bbox: 0.9581, d4.loss_cls: 1.0181, d4.loss_bbox: 0.9620, d5.loss_cls: 1.0149, d5.loss_bbox: 0.9647, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1537, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.1957, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2036, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1962, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1788, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1796, d0.loss_map_cls_all: 0.6380, d0.loss_map_pts_all: 2.9867, d0.loss_map_dir_all: 0.0383, d0.loss_map_cls: 0.6380, d0.loss_map_pts: 2.9867, d0.loss_map_dir: 0.0383, d1.loss_map_cls: 0.6473, d1.loss_map_pts: 2.5972, d1.loss_map_dir: 0.0376, d2.loss_map_cls: 0.6525, d2.loss_map_pts: 2.5798, d2.loss_map_dir: 0.0374, d3.loss_map_cls: 0.6539, d3.loss_map_pts: 2.5715, d3.loss_map_dir: 0.0373, d4.loss_map_cls: 0.6558, d4.loss_map_pts: 2.5652, d4.loss_map_dir: 0.0371, d5.loss_map_cls: 0.6571, d5.loss_map_pts: 2.5633, d5.loss_map_dir: 0.0370, loss: 86.2188, grad_norm: 189.9903 +2026-02-24 05:38:53,328 - DriveTransformer - INFO - Epoch [1][15250/39528] lr: 1.000e-04, eta: 8 days, 15:23:27, time: 0.816, data_time: 0.035, memory: 19865, loss_cls: 1.0063, loss_bbox: 0.9531, loss_traj: 2.0258, loss_traj_cls: 0.0005, loss_map_cls: 0.6656, loss_map_pts: 2.8083, loss_map_dir: 0.0423, d0.loss_plan_l1_fix_time: 3.4230, d0.loss_plan_l1_fix_dist: 0.7401, d1.loss_plan_l1_fix_time: 3.3267, d1.loss_plan_l1_fix_dist: 0.7937, d2.loss_plan_l1_fix_time: 3.3312, d2.loss_plan_l1_fix_dist: 0.8545, d3.loss_plan_l1_fix_time: 3.3457, d3.loss_plan_l1_fix_dist: 0.9229, d4.loss_plan_l1_fix_time: 3.3660, d4.loss_plan_l1_fix_dist: 0.9989, d5.loss_plan_l1_fix_time: 3.3879, d5.loss_plan_l1_fix_dist: 1.0798, d6.loss_plan_l1_fix_time: 3.4111, d6.loss_plan_l1_fix_dist: 1.1592, d0.loss_cls_all: 0.9957, d0.loss_bbox_all: 0.9419, d0.loss_cls: 0.9957, d0.loss_bbox: 0.9419, d1.loss_cls: 0.9953, d1.loss_bbox: 0.9426, d2.loss_cls: 1.0000, d2.loss_bbox: 0.9355, d3.loss_cls: 1.0000, d3.loss_bbox: 0.9370, d4.loss_cls: 1.0052, d4.loss_bbox: 0.9443, d5.loss_cls: 1.0060, d5.loss_bbox: 0.9475, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9903, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0455, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0116, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9882, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0056, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.0114, d0.loss_map_cls_all: 0.6567, d0.loss_map_pts_all: 3.3658, d0.loss_map_dir_all: 0.0436, d0.loss_map_cls: 0.6567, d0.loss_map_pts: 3.3658, d0.loss_map_dir: 0.0436, d1.loss_map_cls: 0.6623, d1.loss_map_pts: 2.8573, d1.loss_map_dir: 0.0428, d2.loss_map_cls: 0.6650, d2.loss_map_pts: 2.8216, d2.loss_map_dir: 0.0425, d3.loss_map_cls: 0.6685, d3.loss_map_pts: 2.8133, d3.loss_map_dir: 0.0424, d4.loss_map_cls: 0.6654, d4.loss_map_pts: 2.8110, d4.loss_map_dir: 0.0423, d5.loss_map_cls: 0.6659, d5.loss_map_pts: 2.8102, d5.loss_map_dir: 0.0423, loss: 89.0721, grad_norm: 188.9310 +2026-02-24 05:39:35,172 - DriveTransformer - INFO - Epoch [1][15300/39528] lr: 1.000e-04, eta: 8 days, 15:24:40, time: 0.837, data_time: 0.042, memory: 19865, loss_cls: 1.0165, loss_bbox: 0.9622, loss_traj: 2.1261, loss_traj_cls: 0.0005, loss_map_cls: 0.6640, loss_map_pts: 2.9985, loss_map_dir: 0.0458, d0.loss_plan_l1_fix_time: 4.1082, d0.loss_plan_l1_fix_dist: 0.6332, d1.loss_plan_l1_fix_time: 4.0273, d1.loss_plan_l1_fix_dist: 0.6689, d2.loss_plan_l1_fix_time: 4.0216, d2.loss_plan_l1_fix_dist: 0.7139, d3.loss_plan_l1_fix_time: 4.0266, d3.loss_plan_l1_fix_dist: 0.7670, d4.loss_plan_l1_fix_time: 4.0355, d4.loss_plan_l1_fix_dist: 0.8271, d5.loss_plan_l1_fix_time: 4.0469, d5.loss_plan_l1_fix_dist: 0.8877, d6.loss_plan_l1_fix_time: 4.0589, d6.loss_plan_l1_fix_dist: 0.9548, d0.loss_cls_all: 0.9814, d0.loss_bbox_all: 0.9448, d0.loss_cls: 0.9814, d0.loss_bbox: 0.9448, d1.loss_cls: 0.9929, d1.loss_bbox: 0.9452, d2.loss_cls: 0.9978, d2.loss_bbox: 0.9408, d3.loss_cls: 1.0052, d3.loss_bbox: 0.9486, d4.loss_cls: 1.0105, d4.loss_bbox: 0.9517, d5.loss_cls: 1.0135, d5.loss_bbox: 0.9522, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0712, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1329, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1114, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1185, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1225, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1210, d0.loss_map_cls_all: 0.6513, d0.loss_map_pts_all: 3.3982, d0.loss_map_dir_all: 0.0467, d0.loss_map_cls: 0.6513, d0.loss_map_pts: 3.3982, d0.loss_map_dir: 0.0467, d1.loss_map_cls: 0.6590, d1.loss_map_pts: 2.9911, d1.loss_map_dir: 0.0463, d2.loss_map_cls: 0.6600, d2.loss_map_pts: 2.9767, d2.loss_map_dir: 0.0459, d3.loss_map_cls: 0.6604, d3.loss_map_pts: 2.9782, d3.loss_map_dir: 0.0458, d4.loss_map_cls: 0.6611, d4.loss_map_pts: 2.9860, d4.loss_map_dir: 0.0458, d5.loss_map_cls: 0.6608, d5.loss_map_pts: 2.9904, d5.loss_map_dir: 0.0458, loss: 94.5282, grad_norm: 187.3336 +2026-02-24 05:40:14,144 - DriveTransformer - INFO - Epoch [1][15350/39528] lr: 1.000e-04, eta: 8 days, 15:22:57, time: 0.779, data_time: 0.042, memory: 19865, loss_cls: 0.9685, loss_bbox: 0.8800, loss_traj: 2.1432, loss_traj_cls: 0.0005, loss_map_cls: 0.6703, loss_map_pts: 2.4953, loss_map_dir: 0.0386, d0.loss_plan_l1_fix_time: 3.6665, d0.loss_plan_l1_fix_dist: 0.6026, d1.loss_plan_l1_fix_time: 3.6056, d1.loss_plan_l1_fix_dist: 0.6442, d2.loss_plan_l1_fix_time: 3.6145, d2.loss_plan_l1_fix_dist: 0.7102, d3.loss_plan_l1_fix_time: 3.6283, d3.loss_plan_l1_fix_dist: 0.7850, d4.loss_plan_l1_fix_time: 3.6435, d4.loss_plan_l1_fix_dist: 0.8643, d5.loss_plan_l1_fix_time: 3.6599, d5.loss_plan_l1_fix_dist: 0.9553, d6.loss_plan_l1_fix_time: 3.6781, d6.loss_plan_l1_fix_dist: 1.0506, d0.loss_cls_all: 0.9443, d0.loss_bbox_all: 0.8988, d0.loss_cls: 0.9443, d0.loss_bbox: 0.8988, d1.loss_cls: 0.9541, d1.loss_bbox: 0.8846, d2.loss_cls: 0.9546, d2.loss_bbox: 0.8761, d3.loss_cls: 0.9613, d3.loss_bbox: 0.8777, d4.loss_cls: 0.9667, d4.loss_bbox: 0.8753, d5.loss_cls: 0.9633, d5.loss_bbox: 0.8763, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1496, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.1402, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1711, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1420, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1324, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1421, d0.loss_map_cls_all: 0.6556, d0.loss_map_pts_all: 2.9648, d0.loss_map_dir_all: 0.0398, d0.loss_map_cls: 0.6556, d0.loss_map_pts: 2.9648, d0.loss_map_dir: 0.0398, d1.loss_map_cls: 0.6686, d1.loss_map_pts: 2.5218, d1.loss_map_dir: 0.0393, d2.loss_map_cls: 0.6696, d2.loss_map_pts: 2.4993, d2.loss_map_dir: 0.0390, d3.loss_map_cls: 0.6701, d3.loss_map_pts: 2.4956, d3.loss_map_dir: 0.0388, d4.loss_map_cls: 0.6706, d4.loss_map_pts: 2.4955, d4.loss_map_dir: 0.0387, d5.loss_map_cls: 0.6690, d5.loss_map_pts: 2.4956, d5.loss_map_dir: 0.0387, loss: 87.4317, grad_norm: 186.1379 +2026-02-24 05:40:55,547 - DriveTransformer - INFO - Epoch [1][15400/39528] lr: 1.000e-04, eta: 8 days, 15:23:42, time: 0.828, data_time: 0.039, memory: 19865, loss_cls: 1.0062, loss_bbox: 0.8665, loss_traj: 1.5720, loss_traj_cls: 0.0005, loss_map_cls: 0.6298, loss_map_pts: 2.7507, loss_map_dir: 0.0422, d0.loss_plan_l1_fix_time: 3.0464, d0.loss_plan_l1_fix_dist: 0.5819, d1.loss_plan_l1_fix_time: 2.8848, d1.loss_plan_l1_fix_dist: 0.6191, d2.loss_plan_l1_fix_time: 2.8699, d2.loss_plan_l1_fix_dist: 0.6817, d3.loss_plan_l1_fix_time: 2.8719, d3.loss_plan_l1_fix_dist: 0.7563, d4.loss_plan_l1_fix_time: 2.8793, d4.loss_plan_l1_fix_dist: 0.8388, d5.loss_plan_l1_fix_time: 2.8891, d5.loss_plan_l1_fix_dist: 0.9244, d6.loss_plan_l1_fix_time: 2.9017, d6.loss_plan_l1_fix_dist: 1.0134, d0.loss_cls_all: 0.9643, d0.loss_bbox_all: 0.8828, d0.loss_cls: 0.9643, d0.loss_bbox: 0.8828, d1.loss_cls: 0.9829, d1.loss_bbox: 0.8696, d2.loss_cls: 0.9762, d2.loss_bbox: 0.8627, d3.loss_cls: 0.9979, d3.loss_bbox: 0.8637, d4.loss_cls: 0.9984, d4.loss_bbox: 0.8657, d5.loss_cls: 1.0111, d5.loss_bbox: 0.8651, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.5678, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.5741, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.5831, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.5805, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.5641, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5740, d0.loss_map_cls_all: 0.6214, d0.loss_map_pts_all: 3.2863, d0.loss_map_dir_all: 0.0431, d0.loss_map_cls: 0.6214, d0.loss_map_pts: 3.2863, d0.loss_map_dir: 0.0431, d1.loss_map_cls: 0.6278, d1.loss_map_pts: 2.8011, d1.loss_map_dir: 0.0427, d2.loss_map_cls: 0.6295, d2.loss_map_pts: 2.7638, d2.loss_map_dir: 0.0425, d3.loss_map_cls: 0.6302, d3.loss_map_pts: 2.7521, d3.loss_map_dir: 0.0423, d4.loss_map_cls: 0.6299, d4.loss_map_pts: 2.7477, d4.loss_map_dir: 0.0422, d5.loss_map_cls: 0.6299, d5.loss_map_pts: 2.7469, d5.loss_map_dir: 0.0421, loss: 80.1331, grad_norm: 186.9504 +2026-02-24 05:41:36,973 - DriveTransformer - INFO - Epoch [1][15450/39528] lr: 1.000e-04, eta: 8 days, 15:24:29, time: 0.829, data_time: 0.042, memory: 19865, loss_cls: 0.9848, loss_bbox: 0.9237, loss_traj: 1.7820, loss_traj_cls: 0.0005, loss_map_cls: 0.6493, loss_map_pts: 2.7949, loss_map_dir: 0.0409, d0.loss_plan_l1_fix_time: 3.1625, d0.loss_plan_l1_fix_dist: 0.7024, d1.loss_plan_l1_fix_time: 3.0108, d1.loss_plan_l1_fix_dist: 0.7399, d2.loss_plan_l1_fix_time: 2.9988, d2.loss_plan_l1_fix_dist: 0.7947, d3.loss_plan_l1_fix_time: 3.0018, d3.loss_plan_l1_fix_dist: 0.8653, d4.loss_plan_l1_fix_time: 3.0107, d4.loss_plan_l1_fix_dist: 0.9391, d5.loss_plan_l1_fix_time: 3.0220, d5.loss_plan_l1_fix_dist: 1.0163, d6.loss_plan_l1_fix_time: 3.0345, d6.loss_plan_l1_fix_dist: 1.0931, d0.loss_cls_all: 0.9679, d0.loss_bbox_all: 0.9293, d0.loss_cls: 0.9679, d0.loss_bbox: 0.9293, d1.loss_cls: 0.9697, d1.loss_bbox: 0.9206, d2.loss_cls: 0.9773, d2.loss_bbox: 0.9217, d3.loss_cls: 0.9764, d3.loss_bbox: 0.9257, d4.loss_cls: 0.9776, d4.loss_bbox: 0.9242, d5.loss_cls: 0.9818, d5.loss_bbox: 0.9246, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6772, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.7109, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.7601, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7793, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7556, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7693, d0.loss_map_cls_all: 0.6327, d0.loss_map_pts_all: 3.3076, d0.loss_map_dir_all: 0.0416, d0.loss_map_cls: 0.6327, d0.loss_map_pts: 3.3076, d0.loss_map_dir: 0.0416, d1.loss_map_cls: 0.6407, d1.loss_map_pts: 2.8015, d1.loss_map_dir: 0.0413, d2.loss_map_cls: 0.6424, d2.loss_map_pts: 2.7772, d2.loss_map_dir: 0.0410, d3.loss_map_cls: 0.6424, d3.loss_map_pts: 2.7733, d3.loss_map_dir: 0.0409, d4.loss_map_cls: 0.6444, d4.loss_map_pts: 2.7761, d4.loss_map_dir: 0.0408, d5.loss_map_cls: 0.6462, d5.loss_map_pts: 2.7826, d5.loss_map_dir: 0.0409, loss: 83.6130, grad_norm: 187.1439 +2026-02-24 05:42:16,531 - DriveTransformer - INFO - Epoch [1][15500/39528] lr: 1.000e-04, eta: 8 days, 15:23:22, time: 0.791, data_time: 0.036, memory: 19865, loss_cls: 0.9517, loss_bbox: 0.9063, loss_traj: 2.0173, loss_traj_cls: 0.0005, loss_map_cls: 0.6310, loss_map_pts: 2.6087, loss_map_dir: 0.0354, d0.loss_plan_l1_fix_time: 3.3668, d0.loss_plan_l1_fix_dist: 0.5595, d1.loss_plan_l1_fix_time: 3.2438, d1.loss_plan_l1_fix_dist: 0.5945, d2.loss_plan_l1_fix_time: 3.2410, d2.loss_plan_l1_fix_dist: 0.6464, d3.loss_plan_l1_fix_time: 3.2485, d3.loss_plan_l1_fix_dist: 0.7087, d4.loss_plan_l1_fix_time: 3.2606, d4.loss_plan_l1_fix_dist: 0.7782, d5.loss_plan_l1_fix_time: 3.2759, d5.loss_plan_l1_fix_dist: 0.8534, d6.loss_plan_l1_fix_time: 3.2935, d6.loss_plan_l1_fix_dist: 0.9297, d0.loss_cls_all: 0.9332, d0.loss_bbox_all: 0.8884, d0.loss_cls: 0.9332, d0.loss_bbox: 0.8884, d1.loss_cls: 0.9379, d1.loss_bbox: 0.8906, d2.loss_cls: 0.9436, d2.loss_bbox: 0.8837, d3.loss_cls: 0.9466, d3.loss_bbox: 0.8875, d4.loss_cls: 0.9483, d4.loss_bbox: 0.8925, d5.loss_cls: 0.9548, d5.loss_bbox: 0.9009, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9707, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9898, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0098, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0142, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0029, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0039, d0.loss_map_cls_all: 0.6145, d0.loss_map_pts_all: 3.1830, d0.loss_map_dir_all: 0.0363, d0.loss_map_cls: 0.6145, d0.loss_map_pts: 3.1830, d0.loss_map_dir: 0.0363, d1.loss_map_cls: 0.6248, d1.loss_map_pts: 2.6489, d1.loss_map_dir: 0.0360, d2.loss_map_cls: 0.6288, d2.loss_map_pts: 2.6138, d2.loss_map_dir: 0.0358, d3.loss_map_cls: 0.6291, d3.loss_map_pts: 2.6030, d3.loss_map_dir: 0.0356, d4.loss_map_cls: 0.6303, d4.loss_map_pts: 2.5981, d4.loss_map_dir: 0.0354, d5.loss_map_cls: 0.6299, d5.loss_map_pts: 2.6002, d5.loss_map_dir: 0.0354, loss: 84.0278, grad_norm: 187.7176 +2026-02-24 05:42:57,619 - DriveTransformer - INFO - Epoch [1][15550/39528] lr: 1.000e-04, eta: 8 days, 15:23:47, time: 0.822, data_time: 0.039, memory: 19865, loss_cls: 0.9702, loss_bbox: 0.9195, loss_traj: 1.6830, loss_traj_cls: 0.0005, loss_map_cls: 0.6276, loss_map_pts: 2.9337, loss_map_dir: 0.0448, d0.loss_plan_l1_fix_time: 3.0955, d0.loss_plan_l1_fix_dist: 0.5494, d1.loss_plan_l1_fix_time: 2.9761, d1.loss_plan_l1_fix_dist: 0.5936, d2.loss_plan_l1_fix_time: 2.9747, d2.loss_plan_l1_fix_dist: 0.6545, d3.loss_plan_l1_fix_time: 2.9825, d3.loss_plan_l1_fix_dist: 0.7164, d4.loss_plan_l1_fix_time: 2.9937, d4.loss_plan_l1_fix_dist: 0.7854, d5.loss_plan_l1_fix_time: 3.0067, d5.loss_plan_l1_fix_dist: 0.8593, d6.loss_plan_l1_fix_time: 3.0208, d6.loss_plan_l1_fix_dist: 0.9435, d0.loss_cls_all: 0.9576, d0.loss_bbox_all: 0.9177, d0.loss_cls: 0.9576, d0.loss_bbox: 0.9177, d1.loss_cls: 0.9649, d1.loss_bbox: 0.9107, d2.loss_cls: 0.9638, d2.loss_bbox: 0.9040, d3.loss_cls: 0.9687, d3.loss_bbox: 0.9067, d4.loss_cls: 0.9664, d4.loss_bbox: 0.9088, d5.loss_cls: 0.9678, d5.loss_bbox: 0.9125, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.6278, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.6396, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.6366, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.6889, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.6725, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6674, d0.loss_map_cls_all: 0.6104, d0.loss_map_pts_all: 3.4025, d0.loss_map_dir_all: 0.0447, d0.loss_map_cls: 0.6104, d0.loss_map_pts: 3.4025, d0.loss_map_dir: 0.0447, d1.loss_map_cls: 0.6206, d1.loss_map_pts: 2.9566, d1.loss_map_dir: 0.0451, d2.loss_map_cls: 0.6225, d2.loss_map_pts: 2.9247, d2.loss_map_dir: 0.0450, d3.loss_map_cls: 0.6242, d3.loss_map_pts: 2.9208, d3.loss_map_dir: 0.0449, d4.loss_map_cls: 0.6249, d4.loss_map_pts: 2.9215, d4.loss_map_dir: 0.0449, d5.loss_map_cls: 0.6257, d5.loss_map_pts: 2.9260, d5.loss_map_dir: 0.0447, loss: 82.4993, grad_norm: 188.1407 +2026-02-24 05:43:36,758 - DriveTransformer - INFO - Epoch [1][15600/39528] lr: 1.000e-04, eta: 8 days, 15:22:15, time: 0.783, data_time: 0.042, memory: 19865, loss_cls: 0.9520, loss_bbox: 0.9165, loss_traj: 2.0725, loss_traj_cls: 0.0005, loss_map_cls: 0.6640, loss_map_pts: 2.4912, loss_map_dir: 0.0322, d0.loss_plan_l1_fix_time: 3.3153, d0.loss_plan_l1_fix_dist: 0.6197, d1.loss_plan_l1_fix_time: 3.2730, d1.loss_plan_l1_fix_dist: 0.6389, d2.loss_plan_l1_fix_time: 3.2860, d2.loss_plan_l1_fix_dist: 0.6709, d3.loss_plan_l1_fix_time: 3.2961, d3.loss_plan_l1_fix_dist: 0.7136, d4.loss_plan_l1_fix_time: 3.3061, d4.loss_plan_l1_fix_dist: 0.7674, d5.loss_plan_l1_fix_time: 3.3174, d5.loss_plan_l1_fix_dist: 0.8309, d6.loss_plan_l1_fix_time: 3.3303, d6.loss_plan_l1_fix_dist: 0.8998, d0.loss_cls_all: 0.9290, d0.loss_bbox_all: 0.9268, d0.loss_cls: 0.9290, d0.loss_bbox: 0.9268, d1.loss_cls: 0.9357, d1.loss_bbox: 0.9158, d2.loss_cls: 0.9442, d2.loss_bbox: 0.9105, d3.loss_cls: 0.9461, d3.loss_bbox: 0.9141, d4.loss_cls: 0.9491, d4.loss_bbox: 0.9142, d5.loss_cls: 0.9519, d5.loss_bbox: 0.9141, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0224, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0531, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0672, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1199, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1027, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0836, d0.loss_map_cls_all: 0.6498, d0.loss_map_pts_all: 3.0475, d0.loss_map_dir_all: 0.0327, d0.loss_map_cls: 0.6498, d0.loss_map_pts: 3.0475, d0.loss_map_dir: 0.0327, d1.loss_map_cls: 0.6581, d1.loss_map_pts: 2.5052, d1.loss_map_dir: 0.0325, d2.loss_map_cls: 0.6612, d2.loss_map_pts: 2.4862, d2.loss_map_dir: 0.0324, d3.loss_map_cls: 0.6615, d3.loss_map_pts: 2.4874, d3.loss_map_dir: 0.0323, d4.loss_map_cls: 0.6627, d4.loss_map_pts: 2.4884, d4.loss_map_dir: 0.0323, d5.loss_map_cls: 0.6628, d5.loss_map_pts: 2.4888, d5.loss_map_dir: 0.0322, loss: 84.2374, grad_norm: 188.6165 +2026-02-24 05:44:15,446 - DriveTransformer - INFO - Epoch [1][15650/39528] lr: 1.000e-04, eta: 8 days, 15:20:16, time: 0.774, data_time: 0.040, memory: 19865, loss_cls: 0.9363, loss_bbox: 0.8847, loss_traj: 2.0322, loss_traj_cls: 0.0005, loss_map_cls: 0.6456, loss_map_pts: 2.3856, loss_map_dir: 0.0297, d0.loss_plan_l1_fix_time: 2.7863, d0.loss_plan_l1_fix_dist: 0.5819, d1.loss_plan_l1_fix_time: 2.7174, d1.loss_plan_l1_fix_dist: 0.6164, d2.loss_plan_l1_fix_time: 2.7293, d2.loss_plan_l1_fix_dist: 0.6599, d3.loss_plan_l1_fix_time: 2.7429, d3.loss_plan_l1_fix_dist: 0.7140, d4.loss_plan_l1_fix_time: 2.7588, d4.loss_plan_l1_fix_dist: 0.7783, d5.loss_plan_l1_fix_time: 2.7755, d5.loss_plan_l1_fix_dist: 0.8440, d6.loss_plan_l1_fix_time: 2.7933, d6.loss_plan_l1_fix_dist: 0.9110, d0.loss_cls_all: 0.9272, d0.loss_bbox_all: 0.9003, d0.loss_cls: 0.9272, d0.loss_bbox: 0.9003, d1.loss_cls: 0.9285, d1.loss_bbox: 0.8859, d2.loss_cls: 0.9324, d2.loss_bbox: 0.8779, d3.loss_cls: 0.9323, d3.loss_bbox: 0.8767, d4.loss_cls: 0.9343, d4.loss_bbox: 0.8801, d5.loss_cls: 0.9334, d5.loss_bbox: 0.8817, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9639, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9911, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0065, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0501, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1012, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.0585, d0.loss_map_cls_all: 0.6344, d0.loss_map_pts_all: 3.0235, d0.loss_map_dir_all: 0.0300, d0.loss_map_cls: 0.6344, d0.loss_map_pts: 3.0235, d0.loss_map_dir: 0.0300, d1.loss_map_cls: 0.6396, d1.loss_map_pts: 2.3951, d1.loss_map_dir: 0.0298, d2.loss_map_cls: 0.6438, d2.loss_map_pts: 2.3644, d2.loss_map_dir: 0.0297, d3.loss_map_cls: 0.6451, d3.loss_map_pts: 2.3579, d3.loss_map_dir: 0.0296, d4.loss_map_cls: 0.6466, d4.loss_map_pts: 2.3591, d4.loss_map_dir: 0.0297, d5.loss_map_cls: 0.6456, d5.loss_map_pts: 2.3661, d5.loss_map_dir: 0.0297, loss: 78.8038, grad_norm: 189.3971 +2026-02-24 05:44:55,335 - DriveTransformer - INFO - Epoch [1][15700/39528] lr: 1.000e-04, eta: 8 days, 15:19:29, time: 0.798, data_time: 0.040, memory: 19865, loss_cls: 0.9468, loss_bbox: 0.9418, loss_traj: 2.1553, loss_traj_cls: 0.0006, loss_map_cls: 0.6733, loss_map_pts: 2.7171, loss_map_dir: 0.0356, d0.loss_plan_l1_fix_time: 3.3517, d0.loss_plan_l1_fix_dist: 0.6211, d1.loss_plan_l1_fix_time: 3.2782, d1.loss_plan_l1_fix_dist: 0.6455, d2.loss_plan_l1_fix_time: 3.2822, d2.loss_plan_l1_fix_dist: 0.6767, d3.loss_plan_l1_fix_time: 3.2918, d3.loss_plan_l1_fix_dist: 0.7177, d4.loss_plan_l1_fix_time: 3.3038, d4.loss_plan_l1_fix_dist: 0.7675, d5.loss_plan_l1_fix_time: 3.3177, d5.loss_plan_l1_fix_dist: 0.8244, d6.loss_plan_l1_fix_time: 3.3338, d6.loss_plan_l1_fix_dist: 0.8859, d0.loss_cls_all: 0.9279, d0.loss_bbox_all: 0.9341, d0.loss_cls: 0.9279, d0.loss_bbox: 0.9341, d1.loss_cls: 0.9342, d1.loss_bbox: 0.9257, d2.loss_cls: 0.9374, d2.loss_bbox: 0.9226, d3.loss_cls: 0.9421, d3.loss_bbox: 0.9255, d4.loss_cls: 0.9454, d4.loss_bbox: 0.9325, d5.loss_cls: 0.9461, d5.loss_bbox: 0.9349, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0694, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0780, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0887, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0766, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0907, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.1496, d0.loss_map_cls_all: 0.6598, d0.loss_map_pts_all: 3.1471, d0.loss_map_dir_all: 0.0361, d0.loss_map_cls: 0.6598, d0.loss_map_pts: 3.1471, d0.loss_map_dir: 0.0361, d1.loss_map_cls: 0.6673, d1.loss_map_pts: 2.7387, d1.loss_map_dir: 0.0360, d2.loss_map_cls: 0.6689, d2.loss_map_pts: 2.7194, d2.loss_map_dir: 0.0359, d3.loss_map_cls: 0.6701, d3.loss_map_pts: 2.7177, d3.loss_map_dir: 0.0358, d4.loss_map_cls: 0.6713, d4.loss_map_pts: 2.7197, d4.loss_map_dir: 0.0357, d5.loss_map_cls: 0.6718, d5.loss_map_pts: 2.7196, d5.loss_map_dir: 0.0356, loss: 86.2247, grad_norm: 188.0517 +2026-02-24 05:45:36,079 - DriveTransformer - INFO - Epoch [1][15750/39528] lr: 1.000e-04, eta: 8 days, 15:19:34, time: 0.815, data_time: 0.044, memory: 19865, loss_cls: 0.9606, loss_bbox: 0.8770, loss_traj: 1.7060, loss_traj_cls: 0.0005, loss_map_cls: 0.6575, loss_map_pts: 2.7338, loss_map_dir: 0.0349, d0.loss_plan_l1_fix_time: 3.1268, d0.loss_plan_l1_fix_dist: 0.6391, d1.loss_plan_l1_fix_time: 3.0610, d1.loss_plan_l1_fix_dist: 0.6742, d2.loss_plan_l1_fix_time: 3.0642, d2.loss_plan_l1_fix_dist: 0.7166, d3.loss_plan_l1_fix_time: 3.0755, d3.loss_plan_l1_fix_dist: 0.7648, d4.loss_plan_l1_fix_time: 3.0901, d4.loss_plan_l1_fix_dist: 0.8134, d5.loss_plan_l1_fix_time: 3.1075, d5.loss_plan_l1_fix_dist: 0.8691, d6.loss_plan_l1_fix_time: 3.1291, d6.loss_plan_l1_fix_dist: 0.9301, d0.loss_cls_all: 0.9306, d0.loss_bbox_all: 0.8864, d0.loss_cls: 0.9306, d0.loss_bbox: 0.8864, d1.loss_cls: 0.9309, d1.loss_bbox: 0.8847, d2.loss_cls: 0.9338, d2.loss_bbox: 0.8748, d3.loss_cls: 0.9412, d3.loss_bbox: 0.8729, d4.loss_cls: 0.9512, d4.loss_bbox: 0.8756, d5.loss_cls: 0.9545, d5.loss_bbox: 0.8742, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6494, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.6664, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.6784, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.6964, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7011, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6936, d0.loss_map_cls_all: 0.6381, d0.loss_map_pts_all: 3.3361, d0.loss_map_dir_all: 0.0354, d0.loss_map_cls: 0.6381, d0.loss_map_pts: 3.3361, d0.loss_map_dir: 0.0354, d1.loss_map_cls: 0.6468, d1.loss_map_pts: 2.7700, d1.loss_map_dir: 0.0352, d2.loss_map_cls: 0.6513, d2.loss_map_pts: 2.7326, d2.loss_map_dir: 0.0350, d3.loss_map_cls: 0.6535, d3.loss_map_pts: 2.7261, d3.loss_map_dir: 0.0350, d4.loss_map_cls: 0.6552, d4.loss_map_pts: 2.7268, d4.loss_map_dir: 0.0350, d5.loss_map_cls: 0.6557, d5.loss_map_pts: 2.7298, d5.loss_map_dir: 0.0349, loss: 81.9902, grad_norm: 186.2067 +2026-02-24 05:46:16,769 - DriveTransformer - INFO - Epoch [1][15800/39528] lr: 1.000e-04, eta: 8 days, 15:19:34, time: 0.814, data_time: 0.045, memory: 19865, loss_cls: 0.9983, loss_bbox: 0.9237, loss_traj: 2.0491, loss_traj_cls: 0.0005, loss_map_cls: 0.6411, loss_map_pts: 2.7612, loss_map_dir: 0.0396, d0.loss_plan_l1_fix_time: 3.4445, d0.loss_plan_l1_fix_dist: 0.6635, d1.loss_plan_l1_fix_time: 3.2872, d1.loss_plan_l1_fix_dist: 0.6953, d2.loss_plan_l1_fix_time: 3.2701, d2.loss_plan_l1_fix_dist: 0.7301, d3.loss_plan_l1_fix_time: 3.2715, d3.loss_plan_l1_fix_dist: 0.7711, d4.loss_plan_l1_fix_time: 3.2799, d4.loss_plan_l1_fix_dist: 0.8209, d5.loss_plan_l1_fix_time: 3.2913, d5.loss_plan_l1_fix_dist: 0.8791, d6.loss_plan_l1_fix_time: 3.3063, d6.loss_plan_l1_fix_dist: 0.9448, d0.loss_cls_all: 0.9755, d0.loss_bbox_all: 0.9079, d0.loss_cls: 0.9755, d0.loss_bbox: 0.9079, d1.loss_cls: 0.9830, d1.loss_bbox: 0.9077, d2.loss_cls: 0.9846, d2.loss_bbox: 0.9007, d3.loss_cls: 0.9938, d3.loss_bbox: 0.9080, d4.loss_cls: 0.9992, d4.loss_bbox: 0.9108, d5.loss_cls: 1.0023, d5.loss_bbox: 0.9147, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0309, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0434, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0419, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0692, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0654, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.0307, d0.loss_map_cls_all: 0.6239, d0.loss_map_pts_all: 3.2330, d0.loss_map_dir_all: 0.0399, d0.loss_map_cls: 0.6239, d0.loss_map_pts: 3.2330, d0.loss_map_dir: 0.0399, d1.loss_map_cls: 0.6320, d1.loss_map_pts: 2.7616, d1.loss_map_dir: 0.0400, d2.loss_map_cls: 0.6369, d2.loss_map_pts: 2.7541, d2.loss_map_dir: 0.0399, d3.loss_map_cls: 0.6376, d3.loss_map_pts: 2.7570, d3.loss_map_dir: 0.0397, d4.loss_map_cls: 0.6396, d4.loss_map_pts: 2.7583, d4.loss_map_dir: 0.0396, d5.loss_map_cls: 0.6399, d5.loss_map_pts: 2.7580, d5.loss_map_dir: 0.0396, loss: 86.5926, grad_norm: 186.9896 +2026-02-24 05:46:56,172 - DriveTransformer - INFO - Epoch [1][15850/39528] lr: 1.000e-04, eta: 8 days, 15:18:19, time: 0.788, data_time: 0.042, memory: 19865, loss_cls: 0.9840, loss_bbox: 0.9248, loss_traj: 1.7315, loss_traj_cls: 0.0005, loss_map_cls: 0.6389, loss_map_pts: 2.3761, loss_map_dir: 0.0318, d0.loss_plan_l1_fix_time: 3.2773, d0.loss_plan_l1_fix_dist: 0.6579, d1.loss_plan_l1_fix_time: 3.1649, d1.loss_plan_l1_fix_dist: 0.6876, d2.loss_plan_l1_fix_time: 3.1602, d2.loss_plan_l1_fix_dist: 0.7386, d3.loss_plan_l1_fix_time: 3.1648, d3.loss_plan_l1_fix_dist: 0.7984, d4.loss_plan_l1_fix_time: 3.1737, d4.loss_plan_l1_fix_dist: 0.8608, d5.loss_plan_l1_fix_time: 3.1845, d5.loss_plan_l1_fix_dist: 0.9240, d6.loss_plan_l1_fix_time: 3.1980, d6.loss_plan_l1_fix_dist: 0.9821, d0.loss_cls_all: 0.9544, d0.loss_bbox_all: 0.9173, d0.loss_cls: 0.9544, d0.loss_bbox: 0.9173, d1.loss_cls: 0.9645, d1.loss_bbox: 0.9173, d2.loss_cls: 0.9668, d2.loss_bbox: 0.9081, d3.loss_cls: 0.9743, d3.loss_bbox: 0.9109, d4.loss_cls: 0.9800, d4.loss_bbox: 0.9140, d5.loss_cls: 0.9835, d5.loss_bbox: 0.9148, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.6850, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.7336, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.7553, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7616, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7676, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7428, d0.loss_map_cls_all: 0.6211, d0.loss_map_pts_all: 2.9871, d0.loss_map_dir_all: 0.0323, d0.loss_map_cls: 0.6211, d0.loss_map_pts: 2.9871, d0.loss_map_dir: 0.0323, d1.loss_map_cls: 0.6327, d1.loss_map_pts: 2.4060, d1.loss_map_dir: 0.0323, d2.loss_map_cls: 0.6359, d2.loss_map_pts: 2.3740, d2.loss_map_dir: 0.0321, d3.loss_map_cls: 0.6360, d3.loss_map_pts: 2.3725, d3.loss_map_dir: 0.0319, d4.loss_map_cls: 0.6372, d4.loss_map_pts: 2.3707, d4.loss_map_dir: 0.0319, d5.loss_map_cls: 0.6378, d5.loss_map_pts: 2.3718, d5.loss_map_dir: 0.0319, loss: 80.8024, grad_norm: 187.0007 +2026-02-24 05:47:35,592 - DriveTransformer - INFO - Epoch [1][15900/39528] lr: 1.000e-04, eta: 8 days, 15:17:05, time: 0.788, data_time: 0.040, memory: 19865, loss_cls: 0.9626, loss_bbox: 0.9071, loss_traj: 1.8181, loss_traj_cls: 0.0005, loss_map_cls: 0.6368, loss_map_pts: 2.5015, loss_map_dir: 0.0319, d0.loss_plan_l1_fix_time: 3.0053, d0.loss_plan_l1_fix_dist: 0.5460, d1.loss_plan_l1_fix_time: 2.9020, d1.loss_plan_l1_fix_dist: 0.5704, d2.loss_plan_l1_fix_time: 2.9048, d2.loss_plan_l1_fix_dist: 0.6194, d3.loss_plan_l1_fix_time: 2.9167, d3.loss_plan_l1_fix_dist: 0.6813, d4.loss_plan_l1_fix_time: 2.9305, d4.loss_plan_l1_fix_dist: 0.7464, d5.loss_plan_l1_fix_time: 2.9437, d5.loss_plan_l1_fix_dist: 0.8215, d6.loss_plan_l1_fix_time: 2.9577, d6.loss_plan_l1_fix_dist: 0.9114, d0.loss_cls_all: 0.9547, d0.loss_bbox_all: 0.9102, d0.loss_cls: 0.9547, d0.loss_bbox: 0.9102, d1.loss_cls: 0.9589, d1.loss_bbox: 0.9116, d2.loss_cls: 0.9621, d2.loss_bbox: 0.8973, d3.loss_cls: 0.9622, d3.loss_bbox: 0.8972, d4.loss_cls: 0.9638, d4.loss_bbox: 0.8985, d5.loss_cls: 0.9640, d5.loss_bbox: 0.9008, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8022, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.7987, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8124, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8031, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8081, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8397, d0.loss_map_cls_all: 0.6095, d0.loss_map_pts_all: 3.1235, d0.loss_map_dir_all: 0.0323, d0.loss_map_cls: 0.6095, d0.loss_map_pts: 3.1235, d0.loss_map_dir: 0.0323, d1.loss_map_cls: 0.6198, d1.loss_map_pts: 2.5135, d1.loss_map_dir: 0.0321, d2.loss_map_cls: 0.6251, d2.loss_map_pts: 2.4878, d2.loss_map_dir: 0.0321, d3.loss_map_cls: 0.6303, d3.loss_map_pts: 2.4873, d3.loss_map_dir: 0.0320, d4.loss_map_cls: 0.6307, d4.loss_map_pts: 2.4883, d4.loss_map_dir: 0.0320, d5.loss_map_cls: 0.6338, d5.loss_map_pts: 2.4911, d5.loss_map_dir: 0.0319, loss: 79.5276, grad_norm: 186.5198 +2026-02-24 05:48:16,362 - DriveTransformer - INFO - Epoch [1][15950/39528] lr: 1.000e-04, eta: 8 days, 15:17:10, time: 0.815, data_time: 0.044, memory: 19865, loss_cls: 0.9579, loss_bbox: 0.9100, loss_traj: 1.8470, loss_traj_cls: 0.0005, loss_map_cls: 0.6665, loss_map_pts: 2.5575, loss_map_dir: 0.0358, d0.loss_plan_l1_fix_time: 3.3310, d0.loss_plan_l1_fix_dist: 0.5676, d1.loss_plan_l1_fix_time: 3.2607, d1.loss_plan_l1_fix_dist: 0.5976, d2.loss_plan_l1_fix_time: 3.2620, d2.loss_plan_l1_fix_dist: 0.6423, d3.loss_plan_l1_fix_time: 3.2697, d3.loss_plan_l1_fix_dist: 0.6900, d4.loss_plan_l1_fix_time: 3.2805, d4.loss_plan_l1_fix_dist: 0.7478, d5.loss_plan_l1_fix_time: 3.2916, d5.loss_plan_l1_fix_dist: 0.8102, d6.loss_plan_l1_fix_time: 3.3032, d6.loss_plan_l1_fix_dist: 0.8760, d0.loss_cls_all: 0.9373, d0.loss_bbox_all: 0.9024, d0.loss_cls: 0.9373, d0.loss_bbox: 0.9024, d1.loss_cls: 0.9447, d1.loss_bbox: 0.9145, d2.loss_cls: 0.9485, d2.loss_bbox: 0.9065, d3.loss_cls: 0.9515, d3.loss_bbox: 0.9040, d4.loss_cls: 0.9529, d4.loss_bbox: 0.9071, d5.loss_cls: 0.9583, d5.loss_bbox: 0.9105, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7658, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.7658, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.7594, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7873, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8004, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8077, d0.loss_map_cls_all: 0.6508, d0.loss_map_pts_all: 3.1477, d0.loss_map_dir_all: 0.0360, d0.loss_map_cls: 0.6508, d0.loss_map_pts: 3.1477, d0.loss_map_dir: 0.0360, d1.loss_map_cls: 0.6560, d1.loss_map_pts: 2.6001, d1.loss_map_dir: 0.0360, d2.loss_map_cls: 0.6618, d2.loss_map_pts: 2.5598, d2.loss_map_dir: 0.0359, d3.loss_map_cls: 0.6647, d3.loss_map_pts: 2.5515, d3.loss_map_dir: 0.0359, d4.loss_map_cls: 0.6649, d4.loss_map_pts: 2.5516, d4.loss_map_dir: 0.0359, d5.loss_map_cls: 0.6651, d5.loss_map_pts: 2.5538, d5.loss_map_dir: 0.0359, loss: 82.5507, grad_norm: 185.6937 +2026-02-24 05:48:54,893 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 05:48:54,893 - DriveTransformer - INFO - Epoch [1][16000/39528] lr: 1.000e-04, eta: 8 days, 15:15:08, time: 0.772, data_time: 0.045, memory: 19865, loss_cls: 0.9803, loss_bbox: 0.9458, loss_traj: 2.3153, loss_traj_cls: 0.0005, loss_map_cls: 0.6705, loss_map_pts: 2.4182, loss_map_dir: 0.0328, d0.loss_plan_l1_fix_time: 3.6981, d0.loss_plan_l1_fix_dist: 0.6498, d1.loss_plan_l1_fix_time: 3.5235, d1.loss_plan_l1_fix_dist: 0.6815, d2.loss_plan_l1_fix_time: 3.4987, d2.loss_plan_l1_fix_dist: 0.7280, d3.loss_plan_l1_fix_time: 3.4929, d3.loss_plan_l1_fix_dist: 0.7711, d4.loss_plan_l1_fix_time: 3.4943, d4.loss_plan_l1_fix_dist: 0.8159, d5.loss_plan_l1_fix_time: 3.4998, d5.loss_plan_l1_fix_dist: 0.8667, d6.loss_plan_l1_fix_time: 3.5087, d6.loss_plan_l1_fix_dist: 0.9209, d0.loss_cls_all: 0.9646, d0.loss_bbox_all: 0.9443, d0.loss_cls: 0.9646, d0.loss_bbox: 0.9443, d1.loss_cls: 0.9673, d1.loss_bbox: 0.9289, d2.loss_cls: 0.9784, d2.loss_bbox: 0.9300, d3.loss_cls: 0.9767, d3.loss_bbox: 0.9328, d4.loss_cls: 0.9770, d4.loss_bbox: 0.9347, d5.loss_cls: 0.9785, d5.loss_bbox: 0.9395, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2512, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2614, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2556, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2756, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.3032, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.2843, d0.loss_map_cls_all: 0.6589, d0.loss_map_pts_all: 2.9411, d0.loss_map_dir_all: 0.0329, d0.loss_map_cls: 0.6589, d0.loss_map_pts: 2.9411, d0.loss_map_dir: 0.0329, d1.loss_map_cls: 0.6629, d1.loss_map_pts: 2.4370, d1.loss_map_dir: 0.0331, d2.loss_map_cls: 0.6661, d2.loss_map_pts: 2.4106, d2.loss_map_dir: 0.0328, d3.loss_map_cls: 0.6685, d3.loss_map_pts: 2.4075, d3.loss_map_dir: 0.0328, d4.loss_map_cls: 0.6690, d4.loss_map_pts: 2.4103, d4.loss_map_dir: 0.0328, d5.loss_map_cls: 0.6688, d5.loss_map_pts: 2.4131, d5.loss_map_dir: 0.0328, loss: 87.3529, grad_norm: 184.9998 +2026-02-24 05:49:36,796 - DriveTransformer - INFO - Epoch [1][16050/39528] lr: 1.000e-04, eta: 8 days, 15:16:14, time: 0.837, data_time: 0.044, memory: 19865, loss_cls: 0.9909, loss_bbox: 0.9013, loss_traj: 1.7108, loss_traj_cls: 0.0006, loss_map_cls: 0.6545, loss_map_pts: 2.9177, loss_map_dir: 0.0396, d0.loss_plan_l1_fix_time: 2.9970, d0.loss_plan_l1_fix_dist: 0.5574, d1.loss_plan_l1_fix_time: 2.9732, d1.loss_plan_l1_fix_dist: 0.5689, d2.loss_plan_l1_fix_time: 3.0018, d2.loss_plan_l1_fix_dist: 0.5919, d3.loss_plan_l1_fix_time: 3.0239, d3.loss_plan_l1_fix_dist: 0.6273, d4.loss_plan_l1_fix_time: 3.0445, d4.loss_plan_l1_fix_dist: 0.6742, d5.loss_plan_l1_fix_time: 3.0653, d5.loss_plan_l1_fix_dist: 0.7255, d6.loss_plan_l1_fix_time: 3.0868, d6.loss_plan_l1_fix_dist: 0.7870, d0.loss_cls_all: 0.9769, d0.loss_bbox_all: 0.8821, d0.loss_cls: 0.9769, d0.loss_bbox: 0.8821, d1.loss_cls: 0.9792, d1.loss_bbox: 0.8743, d2.loss_cls: 0.9779, d2.loss_bbox: 0.8693, d3.loss_cls: 0.9854, d3.loss_bbox: 0.8771, d4.loss_cls: 0.9861, d4.loss_bbox: 0.8809, d5.loss_cls: 0.9886, d5.loss_bbox: 0.8901, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7077, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.7228, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.7218, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7236, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7396, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7206, d0.loss_map_cls_all: 0.6331, d0.loss_map_pts_all: 3.4698, d0.loss_map_dir_all: 0.0398, d0.loss_map_cls: 0.6331, d0.loss_map_pts: 3.4698, d0.loss_map_dir: 0.0398, d1.loss_map_cls: 0.6398, d1.loss_map_pts: 2.9298, d1.loss_map_dir: 0.0398, d2.loss_map_cls: 0.6438, d2.loss_map_pts: 2.9073, d2.loss_map_dir: 0.0397, d3.loss_map_cls: 0.6496, d3.loss_map_pts: 2.9087, d3.loss_map_dir: 0.0396, d4.loss_map_cls: 0.6501, d4.loss_map_pts: 2.9108, d4.loss_map_dir: 0.0396, d5.loss_map_cls: 0.6518, d5.loss_map_pts: 2.9142, d5.loss_map_dir: 0.0396, loss: 82.5954, grad_norm: 184.8863 +2026-02-24 05:50:14,713 - DriveTransformer - INFO - Epoch [1][16100/39528] lr: 1.000e-04, eta: 8 days, 15:13:35, time: 0.759, data_time: 0.043, memory: 19865, loss_cls: 0.9246, loss_bbox: 0.8571, loss_traj: 2.0695, loss_traj_cls: 0.0005, loss_map_cls: 0.6856, loss_map_pts: 2.2948, loss_map_dir: 0.0331, d0.loss_plan_l1_fix_time: 3.4258, d0.loss_plan_l1_fix_dist: 0.4988, d1.loss_plan_l1_fix_time: 3.3044, d1.loss_plan_l1_fix_dist: 0.5168, d2.loss_plan_l1_fix_time: 3.3003, d2.loss_plan_l1_fix_dist: 0.5491, d3.loss_plan_l1_fix_time: 3.3070, d3.loss_plan_l1_fix_dist: 0.5910, d4.loss_plan_l1_fix_time: 3.3190, d4.loss_plan_l1_fix_dist: 0.6402, d5.loss_plan_l1_fix_time: 3.3309, d5.loss_plan_l1_fix_dist: 0.6949, d6.loss_plan_l1_fix_time: 3.3445, d6.loss_plan_l1_fix_dist: 0.7554, d0.loss_cls_all: 0.9091, d0.loss_bbox_all: 0.8597, d0.loss_cls: 0.9091, d0.loss_bbox: 0.8597, d1.loss_cls: 0.9133, d1.loss_bbox: 0.8550, d2.loss_cls: 0.9176, d2.loss_bbox: 0.8470, d3.loss_cls: 0.9191, d3.loss_bbox: 0.8480, d4.loss_cls: 0.9198, d4.loss_bbox: 0.8485, d5.loss_cls: 0.9237, d5.loss_bbox: 0.8521, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0443, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0678, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1058, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1040, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0816, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.0919, d0.loss_map_cls_all: 0.6630, d0.loss_map_pts_all: 2.7554, d0.loss_map_dir_all: 0.0332, d0.loss_map_cls: 0.6630, d0.loss_map_pts: 2.7554, d0.loss_map_dir: 0.0332, d1.loss_map_cls: 0.6701, d1.loss_map_pts: 2.3049, d1.loss_map_dir: 0.0332, d2.loss_map_cls: 0.6752, d2.loss_map_pts: 2.2892, d2.loss_map_dir: 0.0331, d3.loss_map_cls: 0.6784, d3.loss_map_pts: 2.2870, d3.loss_map_dir: 0.0330, d4.loss_map_cls: 0.6784, d4.loss_map_pts: 2.2873, d4.loss_map_dir: 0.0330, d5.loss_map_cls: 0.6809, d5.loss_map_pts: 2.2907, d5.loss_map_dir: 0.0330, loss: 81.2336, grad_norm: 184.9372 +2026-02-24 05:50:56,165 - DriveTransformer - INFO - Epoch [1][16150/39528] lr: 1.000e-04, eta: 8 days, 15:14:17, time: 0.829, data_time: 0.044, memory: 19865, loss_cls: 0.9532, loss_bbox: 0.9396, loss_traj: 1.8640, loss_traj_cls: 0.0006, loss_map_cls: 0.6393, loss_map_pts: 2.7729, loss_map_dir: 0.0418, d0.loss_plan_l1_fix_time: 2.6981, d0.loss_plan_l1_fix_dist: 0.5554, d1.loss_plan_l1_fix_time: 2.5413, d1.loss_plan_l1_fix_dist: 0.5714, d2.loss_plan_l1_fix_time: 2.5315, d2.loss_plan_l1_fix_dist: 0.5973, d3.loss_plan_l1_fix_time: 2.5372, d3.loss_plan_l1_fix_dist: 0.6231, d4.loss_plan_l1_fix_time: 2.5501, d4.loss_plan_l1_fix_dist: 0.6513, d5.loss_plan_l1_fix_time: 2.5653, d5.loss_plan_l1_fix_dist: 0.6889, d6.loss_plan_l1_fix_time: 2.5849, d6.loss_plan_l1_fix_dist: 0.7368, d0.loss_cls_all: 0.9305, d0.loss_bbox_all: 0.9258, d0.loss_cls: 0.9305, d0.loss_bbox: 0.9258, d1.loss_cls: 0.9366, d1.loss_bbox: 0.9277, d2.loss_cls: 0.9404, d2.loss_bbox: 0.9182, d3.loss_cls: 0.9452, d3.loss_bbox: 0.9222, d4.loss_cls: 0.9474, d4.loss_bbox: 0.9282, d5.loss_cls: 0.9479, d5.loss_bbox: 0.9319, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7836, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.7868, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7794, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8169, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8444, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8411, d0.loss_map_cls_all: 0.6245, d0.loss_map_pts_all: 3.3740, d0.loss_map_dir_all: 0.0418, d0.loss_map_cls: 0.6245, d0.loss_map_pts: 3.3740, d0.loss_map_dir: 0.0418, d1.loss_map_cls: 0.6357, d1.loss_map_pts: 2.8168, d1.loss_map_dir: 0.0420, d2.loss_map_cls: 0.6379, d2.loss_map_pts: 2.7741, d2.loss_map_dir: 0.0419, d3.loss_map_cls: 0.6393, d3.loss_map_pts: 2.7678, d3.loss_map_dir: 0.0418, d4.loss_map_cls: 0.6389, d4.loss_map_pts: 2.7670, d4.loss_map_dir: 0.0418, d5.loss_map_cls: 0.6396, d5.loss_map_pts: 2.7689, d5.loss_map_dir: 0.0418, loss: 78.9334, grad_norm: 184.4102 +2026-02-24 05:51:35,559 - DriveTransformer - INFO - Epoch [1][16200/39528] lr: 1.000e-04, eta: 8 days, 15:13:02, time: 0.788, data_time: 0.044, memory: 19865, loss_cls: 0.9742, loss_bbox: 0.8982, loss_traj: 1.9019, loss_traj_cls: 0.0005, loss_map_cls: 0.6390, loss_map_pts: 2.6667, loss_map_dir: 0.0390, d0.loss_plan_l1_fix_time: 3.0726, d0.loss_plan_l1_fix_dist: 0.6232, d1.loss_plan_l1_fix_time: 2.9800, d1.loss_plan_l1_fix_dist: 0.6462, d2.loss_plan_l1_fix_time: 2.9834, d2.loss_plan_l1_fix_dist: 0.6761, d3.loss_plan_l1_fix_time: 2.9964, d3.loss_plan_l1_fix_dist: 0.7098, d4.loss_plan_l1_fix_time: 3.0127, d4.loss_plan_l1_fix_dist: 0.7478, d5.loss_plan_l1_fix_time: 3.0299, d5.loss_plan_l1_fix_dist: 0.7889, d6.loss_plan_l1_fix_time: 3.0475, d6.loss_plan_l1_fix_dist: 0.8320, d0.loss_cls_all: 0.9548, d0.loss_bbox_all: 0.8873, d0.loss_cls: 0.9548, d0.loss_bbox: 0.8873, d1.loss_cls: 0.9579, d1.loss_bbox: 0.8919, d2.loss_cls: 0.9593, d2.loss_bbox: 0.8801, d3.loss_cls: 0.9648, d3.loss_bbox: 0.8820, d4.loss_cls: 0.9674, d4.loss_bbox: 0.8874, d5.loss_cls: 0.9767, d5.loss_bbox: 0.8912, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7488, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.7817, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.7886, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8016, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8380, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8701, d0.loss_map_cls_all: 0.6267, d0.loss_map_pts_all: 3.0976, d0.loss_map_dir_all: 0.0388, d0.loss_map_cls: 0.6267, d0.loss_map_pts: 3.0976, d0.loss_map_dir: 0.0388, d1.loss_map_cls: 0.6360, d1.loss_map_pts: 2.6579, d1.loss_map_dir: 0.0390, d2.loss_map_cls: 0.6367, d2.loss_map_pts: 2.6539, d2.loss_map_dir: 0.0390, d3.loss_map_cls: 0.6372, d3.loss_map_pts: 2.6588, d3.loss_map_dir: 0.0390, d4.loss_map_cls: 0.6373, d4.loss_map_pts: 2.6573, d4.loss_map_dir: 0.0389, d5.loss_map_cls: 0.6373, d5.loss_map_pts: 2.6612, d5.loss_map_dir: 0.0389, loss: 81.2354, grad_norm: 184.7831 +2026-02-24 05:52:16,991 - DriveTransformer - INFO - Epoch [1][16250/39528] lr: 1.000e-04, eta: 8 days, 15:13:44, time: 0.829, data_time: 0.039, memory: 19865, loss_cls: 1.0103, loss_bbox: 0.8945, loss_traj: 1.6046, loss_traj_cls: 0.0005, loss_map_cls: 0.6605, loss_map_pts: 2.8148, loss_map_dir: 0.0394, d0.loss_plan_l1_fix_time: 3.6880, d0.loss_plan_l1_fix_dist: 0.6433, d1.loss_plan_l1_fix_time: 3.6313, d1.loss_plan_l1_fix_dist: 0.6634, d2.loss_plan_l1_fix_time: 3.6399, d2.loss_plan_l1_fix_dist: 0.6924, d3.loss_plan_l1_fix_time: 3.6547, d3.loss_plan_l1_fix_dist: 0.7257, d4.loss_plan_l1_fix_time: 3.6718, d4.loss_plan_l1_fix_dist: 0.7653, d5.loss_plan_l1_fix_time: 3.6907, d5.loss_plan_l1_fix_dist: 0.8140, d6.loss_plan_l1_fix_time: 3.7119, d6.loss_plan_l1_fix_dist: 0.8710, d0.loss_cls_all: 0.9990, d0.loss_bbox_all: 0.8944, d0.loss_cls: 0.9990, d0.loss_bbox: 0.8944, d1.loss_cls: 0.9981, d1.loss_bbox: 0.8784, d2.loss_cls: 0.9998, d2.loss_bbox: 0.8715, d3.loss_cls: 1.0040, d3.loss_bbox: 0.8760, d4.loss_cls: 1.0069, d4.loss_bbox: 0.8803, d5.loss_cls: 1.0117, d5.loss_bbox: 0.8860, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.5551, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.5718, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.6098, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.5957, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.5729, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5917, d0.loss_map_cls_all: 0.6419, d0.loss_map_pts_all: 3.2728, d0.loss_map_dir_all: 0.0395, d0.loss_map_cls: 0.6419, d0.loss_map_pts: 3.2728, d0.loss_map_dir: 0.0395, d1.loss_map_cls: 0.6486, d1.loss_map_pts: 2.8081, d1.loss_map_dir: 0.0396, d2.loss_map_cls: 0.6526, d2.loss_map_pts: 2.8041, d2.loss_map_dir: 0.0395, d3.loss_map_cls: 0.6564, d3.loss_map_pts: 2.8088, d3.loss_map_dir: 0.0395, d4.loss_map_cls: 0.6561, d4.loss_map_pts: 2.8100, d4.loss_map_dir: 0.0394, d5.loss_map_cls: 0.6576, d5.loss_map_pts: 2.8120, d5.loss_map_dir: 0.0394, loss: 86.0073, grad_norm: 184.7300 +2026-02-24 05:52:54,670 - DriveTransformer - INFO - Epoch [1][16300/39528] lr: 1.000e-04, eta: 8 days, 15:10:51, time: 0.754, data_time: 0.044, memory: 19865, loss_cls: 0.9597, loss_bbox: 0.8632, loss_traj: 1.9352, loss_traj_cls: 0.0005, loss_map_cls: 0.6462, loss_map_pts: 2.3080, loss_map_dir: 0.0309, d0.loss_plan_l1_fix_time: 2.8135, d0.loss_plan_l1_fix_dist: 0.5683, d1.loss_plan_l1_fix_time: 2.7103, d1.loss_plan_l1_fix_dist: 0.5896, d2.loss_plan_l1_fix_time: 2.7155, d2.loss_plan_l1_fix_dist: 0.6176, d3.loss_plan_l1_fix_time: 2.7283, d3.loss_plan_l1_fix_dist: 0.6473, d4.loss_plan_l1_fix_time: 2.7441, d4.loss_plan_l1_fix_dist: 0.6826, d5.loss_plan_l1_fix_time: 2.7622, d5.loss_plan_l1_fix_dist: 0.7188, d6.loss_plan_l1_fix_time: 2.7830, d6.loss_plan_l1_fix_dist: 0.7600, d0.loss_cls_all: 0.9541, d0.loss_bbox_all: 0.8891, d0.loss_cls: 0.9541, d0.loss_bbox: 0.8891, d1.loss_cls: 0.9507, d1.loss_bbox: 0.8624, d2.loss_cls: 0.9582, d2.loss_bbox: 0.8517, d3.loss_cls: 0.9591, d3.loss_bbox: 0.8551, d4.loss_cls: 0.9596, d4.loss_bbox: 0.8559, d5.loss_cls: 0.9657, d5.loss_bbox: 0.8595, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8552, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8830, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9048, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9051, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9022, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9302, d0.loss_map_cls_all: 0.6253, d0.loss_map_pts_all: 2.9029, d0.loss_map_dir_all: 0.0310, d0.loss_map_cls: 0.6253, d0.loss_map_pts: 2.9029, d0.loss_map_dir: 0.0310, d1.loss_map_cls: 0.6366, d1.loss_map_pts: 2.3535, d1.loss_map_dir: 0.0310, d2.loss_map_cls: 0.6418, d2.loss_map_pts: 2.3191, d2.loss_map_dir: 0.0309, d3.loss_map_cls: 0.6457, d3.loss_map_pts: 2.3088, d3.loss_map_dir: 0.0308, d4.loss_map_cls: 0.6444, d4.loss_map_pts: 2.3052, d4.loss_map_dir: 0.0308, d5.loss_map_cls: 0.6466, d5.loss_map_pts: 2.3050, d5.loss_map_dir: 0.0309, loss: 76.8125, grad_norm: 185.6830 +2026-02-24 05:53:34,468 - DriveTransformer - INFO - Epoch [1][16350/39528] lr: 1.000e-04, eta: 8 days, 15:10:00, time: 0.796, data_time: 0.041, memory: 19865, loss_cls: 0.9614, loss_bbox: 0.8901, loss_traj: 1.9021, loss_traj_cls: 0.0006, loss_map_cls: 0.6279, loss_map_pts: 2.6008, loss_map_dir: 0.0377, d0.loss_plan_l1_fix_time: 3.6395, d0.loss_plan_l1_fix_dist: 0.5751, d1.loss_plan_l1_fix_time: 3.5498, d1.loss_plan_l1_fix_dist: 0.5894, d2.loss_plan_l1_fix_time: 3.5496, d2.loss_plan_l1_fix_dist: 0.6131, d3.loss_plan_l1_fix_time: 3.5566, d3.loss_plan_l1_fix_dist: 0.6478, d4.loss_plan_l1_fix_time: 3.5658, d4.loss_plan_l1_fix_dist: 0.6878, d5.loss_plan_l1_fix_time: 3.5766, d5.loss_plan_l1_fix_dist: 0.7298, d6.loss_plan_l1_fix_time: 3.5877, d6.loss_plan_l1_fix_dist: 0.7731, d0.loss_cls_all: 0.9490, d0.loss_bbox_all: 0.8867, d0.loss_cls: 0.9490, d0.loss_bbox: 0.8867, d1.loss_cls: 0.9511, d1.loss_bbox: 0.8726, d2.loss_cls: 0.9583, d2.loss_bbox: 0.8714, d3.loss_cls: 0.9578, d3.loss_bbox: 0.8779, d4.loss_cls: 0.9578, d4.loss_bbox: 0.8817, d5.loss_cls: 0.9572, d5.loss_bbox: 0.8827, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8444, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8679, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8708, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8740, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8844, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9021, d0.loss_map_cls_all: 0.6134, d0.loss_map_pts_all: 3.1096, d0.loss_map_dir_all: 0.0380, d0.loss_map_cls: 0.6134, d0.loss_map_pts: 3.1096, d0.loss_map_dir: 0.0380, d1.loss_map_cls: 0.6206, d1.loss_map_pts: 2.6134, d1.loss_map_dir: 0.0378, d2.loss_map_cls: 0.6231, d2.loss_map_pts: 2.5942, d2.loss_map_dir: 0.0377, d3.loss_map_cls: 0.6252, d3.loss_map_pts: 2.5920, d3.loss_map_dir: 0.0376, d4.loss_map_cls: 0.6253, d4.loss_map_pts: 2.5946, d4.loss_map_dir: 0.0376, d5.loss_map_cls: 0.6258, d5.loss_map_pts: 2.5973, d5.loss_map_dir: 0.0376, loss: 84.5714, grad_norm: 186.4904 +2026-02-24 05:54:15,926 - DriveTransformer - INFO - Epoch [1][16400/39528] lr: 1.000e-04, eta: 8 days, 15:10:43, time: 0.829, data_time: 0.042, memory: 19865, loss_cls: 0.9661, loss_bbox: 0.8935, loss_traj: 1.6268, loss_traj_cls: 0.0006, loss_map_cls: 0.6235, loss_map_pts: 2.7339, loss_map_dir: 0.0371, d0.loss_plan_l1_fix_time: 3.3460, d0.loss_plan_l1_fix_dist: 0.6932, d1.loss_plan_l1_fix_time: 3.1923, d1.loss_plan_l1_fix_dist: 0.7236, d2.loss_plan_l1_fix_time: 3.1759, d2.loss_plan_l1_fix_dist: 0.7666, d3.loss_plan_l1_fix_time: 3.1771, d3.loss_plan_l1_fix_dist: 0.8167, d4.loss_plan_l1_fix_time: 3.1841, d4.loss_plan_l1_fix_dist: 0.8751, d5.loss_plan_l1_fix_time: 3.1928, d5.loss_plan_l1_fix_dist: 0.9410, d6.loss_plan_l1_fix_time: 3.2040, d6.loss_plan_l1_fix_dist: 1.0158, d0.loss_cls_all: 0.9561, d0.loss_bbox_all: 0.8879, d0.loss_cls: 0.9561, d0.loss_bbox: 0.8879, d1.loss_cls: 0.9612, d1.loss_bbox: 0.8807, d2.loss_cls: 0.9652, d2.loss_bbox: 0.8777, d3.loss_cls: 0.9664, d3.loss_bbox: 0.8858, d4.loss_cls: 0.9648, d4.loss_bbox: 0.8879, d5.loss_cls: 0.9645, d5.loss_bbox: 0.8884, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.5817, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.5996, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.5981, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6100, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6235, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6105, d0.loss_map_cls_all: 0.6029, d0.loss_map_pts_all: 3.2965, d0.loss_map_dir_all: 0.0370, d0.loss_map_cls: 0.6029, d0.loss_map_pts: 3.2965, d0.loss_map_dir: 0.0370, d1.loss_map_cls: 0.6062, d1.loss_map_pts: 2.7583, d1.loss_map_dir: 0.0373, d2.loss_map_cls: 0.6115, d2.loss_map_pts: 2.7254, d2.loss_map_dir: 0.0373, d3.loss_map_cls: 0.6164, d3.loss_map_pts: 2.7211, d3.loss_map_dir: 0.0372, d4.loss_map_cls: 0.6174, d4.loss_map_pts: 2.7258, d4.loss_map_dir: 0.0372, d5.loss_map_cls: 0.6195, d5.loss_map_pts: 2.7287, d5.loss_map_dir: 0.0371, loss: 82.5323, grad_norm: 185.8193 +2026-02-24 05:54:56,168 - DriveTransformer - INFO - Epoch [1][16450/39528] lr: 1.000e-04, eta: 8 days, 15:10:17, time: 0.805, data_time: 0.039, memory: 19865, loss_cls: 0.9651, loss_bbox: 0.8556, loss_traj: 1.9091, loss_traj_cls: 0.0005, loss_map_cls: 0.6260, loss_map_pts: 2.5596, loss_map_dir: 0.0348, d0.loss_plan_l1_fix_time: 2.8892, d0.loss_plan_l1_fix_dist: 0.6167, d1.loss_plan_l1_fix_time: 2.8216, d1.loss_plan_l1_fix_dist: 0.6432, d2.loss_plan_l1_fix_time: 2.8293, d2.loss_plan_l1_fix_dist: 0.6852, d3.loss_plan_l1_fix_time: 2.8414, d3.loss_plan_l1_fix_dist: 0.7384, d4.loss_plan_l1_fix_time: 2.8556, d4.loss_plan_l1_fix_dist: 0.7974, d5.loss_plan_l1_fix_time: 2.8701, d5.loss_plan_l1_fix_dist: 0.8596, d6.loss_plan_l1_fix_time: 2.8855, d6.loss_plan_l1_fix_dist: 0.9264, d0.loss_cls_all: 0.9544, d0.loss_bbox_all: 0.8446, d0.loss_cls: 0.9544, d0.loss_bbox: 0.8446, d1.loss_cls: 0.9627, d1.loss_bbox: 0.8491, d2.loss_cls: 0.9686, d2.loss_bbox: 0.8433, d3.loss_cls: 0.9635, d3.loss_bbox: 0.8493, d4.loss_cls: 0.9669, d4.loss_bbox: 0.8506, d5.loss_cls: 0.9607, d5.loss_bbox: 0.8497, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8861, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9015, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8941, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9139, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9405, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9086, d0.loss_map_cls_all: 0.6106, d0.loss_map_pts_all: 3.0745, d0.loss_map_dir_all: 0.0351, d0.loss_map_cls: 0.6106, d0.loss_map_pts: 3.0745, d0.loss_map_dir: 0.0351, d1.loss_map_cls: 0.6136, d1.loss_map_pts: 2.5712, d1.loss_map_dir: 0.0350, d2.loss_map_cls: 0.6157, d2.loss_map_pts: 2.5401, d2.loss_map_dir: 0.0349, d3.loss_map_cls: 0.6203, d3.loss_map_pts: 2.5366, d3.loss_map_dir: 0.0348, d4.loss_map_cls: 0.6219, d4.loss_map_pts: 2.5412, d4.loss_map_dir: 0.0348, d5.loss_map_cls: 0.6234, d5.loss_map_pts: 2.5488, d5.loss_map_dir: 0.0347, loss: 79.7686, grad_norm: 186.7001 +2026-02-24 05:55:37,655 - DriveTransformer - INFO - Epoch [1][16500/39528] lr: 1.000e-04, eta: 8 days, 15:11:01, time: 0.830, data_time: 0.044, memory: 19865, loss_cls: 0.9704, loss_bbox: 0.8952, loss_traj: 1.7544, loss_traj_cls: 0.0006, loss_map_cls: 0.6153, loss_map_pts: 2.7420, loss_map_dir: 0.0389, d0.loss_plan_l1_fix_time: 2.7917, d0.loss_plan_l1_fix_dist: 0.5865, d1.loss_plan_l1_fix_time: 2.6886, d1.loss_plan_l1_fix_dist: 0.6025, d2.loss_plan_l1_fix_time: 2.7014, d2.loss_plan_l1_fix_dist: 0.6344, d3.loss_plan_l1_fix_time: 2.7185, d3.loss_plan_l1_fix_dist: 0.6729, d4.loss_plan_l1_fix_time: 2.7375, d4.loss_plan_l1_fix_dist: 0.7178, d5.loss_plan_l1_fix_time: 2.7576, d5.loss_plan_l1_fix_dist: 0.7698, d6.loss_plan_l1_fix_time: 2.7791, d6.loss_plan_l1_fix_dist: 0.8305, d0.loss_cls_all: 0.9523, d0.loss_bbox_all: 0.8736, d0.loss_cls: 0.9523, d0.loss_bbox: 0.8736, d1.loss_cls: 0.9583, d1.loss_bbox: 0.8800, d2.loss_cls: 0.9627, d2.loss_bbox: 0.8736, d3.loss_cls: 0.9657, d3.loss_bbox: 0.8769, d4.loss_cls: 0.9681, d4.loss_bbox: 0.8792, d5.loss_cls: 0.9689, d5.loss_bbox: 0.8842, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7193, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.7429, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7560, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7565, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7585, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7663, d0.loss_map_cls_all: 0.5994, d0.loss_map_pts_all: 3.2725, d0.loss_map_dir_all: 0.0387, d0.loss_map_cls: 0.5994, d0.loss_map_pts: 3.2725, d0.loss_map_dir: 0.0387, d1.loss_map_cls: 0.6072, d1.loss_map_pts: 2.7926, d1.loss_map_dir: 0.0389, d2.loss_map_cls: 0.6097, d2.loss_map_pts: 2.7505, d2.loss_map_dir: 0.0388, d3.loss_map_cls: 0.6127, d3.loss_map_pts: 2.7435, d3.loss_map_dir: 0.0389, d4.loss_map_cls: 0.6138, d4.loss_map_pts: 2.7417, d4.loss_map_dir: 0.0389, d5.loss_map_cls: 0.6151, d5.loss_map_pts: 2.7423, d5.loss_map_dir: 0.0389, loss: 79.2224, grad_norm: 183.3094 +2026-02-24 05:56:17,698 - DriveTransformer - INFO - Epoch [1][16550/39528] lr: 1.000e-04, eta: 8 days, 15:10:23, time: 0.801, data_time: 0.045, memory: 19865, loss_cls: 1.0077, loss_bbox: 0.8905, loss_traj: 1.9176, loss_traj_cls: 0.0005, loss_map_cls: 0.6279, loss_map_pts: 2.4654, loss_map_dir: 0.0350, d0.loss_plan_l1_fix_time: 3.5158, d0.loss_plan_l1_fix_dist: 0.6480, d1.loss_plan_l1_fix_time: 3.4164, d1.loss_plan_l1_fix_dist: 0.6748, d2.loss_plan_l1_fix_time: 3.4165, d2.loss_plan_l1_fix_dist: 0.7182, d3.loss_plan_l1_fix_time: 3.4281, d3.loss_plan_l1_fix_dist: 0.7676, d4.loss_plan_l1_fix_time: 3.4444, d4.loss_plan_l1_fix_dist: 0.8224, d5.loss_plan_l1_fix_time: 3.4647, d5.loss_plan_l1_fix_dist: 0.8797, d6.loss_plan_l1_fix_time: 3.4883, d6.loss_plan_l1_fix_dist: 0.9377, d0.loss_cls_all: 0.9870, d0.loss_bbox_all: 0.8891, d0.loss_cls: 0.9870, d0.loss_bbox: 0.8891, d1.loss_cls: 0.9918, d1.loss_bbox: 0.8939, d2.loss_cls: 0.9971, d2.loss_bbox: 0.8887, d3.loss_cls: 0.9998, d3.loss_bbox: 0.8900, d4.loss_cls: 1.0019, d4.loss_bbox: 0.8885, d5.loss_cls: 1.0113, d5.loss_bbox: 0.8891, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9026, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9198, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9240, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9267, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9286, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9173, d0.loss_map_cls_all: 0.6188, d0.loss_map_pts_all: 3.0268, d0.loss_map_dir_all: 0.0352, d0.loss_map_cls: 0.6188, d0.loss_map_pts: 3.0268, d0.loss_map_dir: 0.0352, d1.loss_map_cls: 0.6199, d1.loss_map_pts: 2.5030, d1.loss_map_dir: 0.0352, d2.loss_map_cls: 0.6242, d2.loss_map_pts: 2.4755, d2.loss_map_dir: 0.0352, d3.loss_map_cls: 0.6256, d3.loss_map_pts: 2.4707, d3.loss_map_dir: 0.0351, d4.loss_map_cls: 0.6267, d4.loss_map_pts: 2.4663, d4.loss_map_dir: 0.0351, d5.loss_map_cls: 0.6269, d5.loss_map_pts: 2.4655, d5.loss_map_dir: 0.0350, loss: 84.3354, grad_norm: 183.7622 +2026-02-24 05:57:00,250 - DriveTransformer - INFO - Epoch [1][16600/39528] lr: 1.000e-04, eta: 8 days, 15:12:06, time: 0.851, data_time: 0.041, memory: 19865, loss_cls: 0.9706, loss_bbox: 0.8972, loss_traj: 1.8489, loss_traj_cls: 0.0005, loss_map_cls: 0.6264, loss_map_pts: 2.9961, loss_map_dir: 0.0466, d0.loss_plan_l1_fix_time: 3.3836, d0.loss_plan_l1_fix_dist: 0.6607, d1.loss_plan_l1_fix_time: 3.2345, d1.loss_plan_l1_fix_dist: 0.6774, d2.loss_plan_l1_fix_time: 3.2210, d2.loss_plan_l1_fix_dist: 0.7083, d3.loss_plan_l1_fix_time: 3.2226, d3.loss_plan_l1_fix_dist: 0.7440, d4.loss_plan_l1_fix_time: 3.2311, d4.loss_plan_l1_fix_dist: 0.7841, d5.loss_plan_l1_fix_time: 3.2442, d5.loss_plan_l1_fix_dist: 0.8286, d6.loss_plan_l1_fix_time: 3.2608, d6.loss_plan_l1_fix_dist: 0.8774, d0.loss_cls_all: 0.9632, d0.loss_bbox_all: 0.8846, d0.loss_cls: 0.9632, d0.loss_bbox: 0.8846, d1.loss_cls: 0.9636, d1.loss_bbox: 0.8860, d2.loss_cls: 0.9658, d2.loss_bbox: 0.8786, d3.loss_cls: 0.9682, d3.loss_bbox: 0.8841, d4.loss_cls: 0.9673, d4.loss_bbox: 0.8859, d5.loss_cls: 0.9733, d5.loss_bbox: 0.8893, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8362, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8528, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8566, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8686, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8646, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8503, d0.loss_map_cls_all: 0.6169, d0.loss_map_pts_all: 3.5189, d0.loss_map_dir_all: 0.0461, d0.loss_map_cls: 0.6169, d0.loss_map_pts: 3.5189, d0.loss_map_dir: 0.0461, d1.loss_map_cls: 0.6217, d1.loss_map_pts: 3.0531, d1.loss_map_dir: 0.0467, d2.loss_map_cls: 0.6266, d2.loss_map_pts: 3.0105, d2.loss_map_dir: 0.0466, d3.loss_map_cls: 0.6272, d3.loss_map_pts: 3.0016, d3.loss_map_dir: 0.0465, d4.loss_map_cls: 0.6263, d4.loss_map_pts: 2.9981, d4.loss_map_dir: 0.0465, d5.loss_map_cls: 0.6257, d5.loss_map_pts: 2.9959, d5.loss_map_dir: 0.0465, loss: 86.3380, grad_norm: 183.3125 +2026-02-24 05:57:41,292 - DriveTransformer - INFO - Epoch [1][16650/39528] lr: 1.000e-04, eta: 8 days, 15:12:24, time: 0.821, data_time: 0.037, memory: 19865, loss_cls: 0.9804, loss_bbox: 0.8903, loss_traj: 1.8847, loss_traj_cls: 0.0006, loss_map_cls: 0.6685, loss_map_pts: 2.6867, loss_map_dir: 0.0418, d0.loss_plan_l1_fix_time: 3.0449, d0.loss_plan_l1_fix_dist: 0.5938, d1.loss_plan_l1_fix_time: 2.9441, d1.loss_plan_l1_fix_dist: 0.6189, d2.loss_plan_l1_fix_time: 2.9511, d2.loss_plan_l1_fix_dist: 0.6489, d3.loss_plan_l1_fix_time: 2.9652, d3.loss_plan_l1_fix_dist: 0.6827, d4.loss_plan_l1_fix_time: 2.9803, d4.loss_plan_l1_fix_dist: 0.7233, d5.loss_plan_l1_fix_time: 2.9944, d5.loss_plan_l1_fix_dist: 0.7687, d6.loss_plan_l1_fix_time: 3.0075, d6.loss_plan_l1_fix_dist: 0.8190, d0.loss_cls_all: 0.9720, d0.loss_bbox_all: 0.8847, d0.loss_cls: 0.9720, d0.loss_bbox: 0.8847, d1.loss_cls: 0.9761, d1.loss_bbox: 0.8961, d2.loss_cls: 0.9755, d2.loss_bbox: 0.8868, d3.loss_cls: 0.9805, d3.loss_bbox: 0.8871, d4.loss_cls: 0.9800, d4.loss_bbox: 0.8882, d5.loss_cls: 0.9876, d5.loss_bbox: 0.8891, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8532, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8893, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8887, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8861, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8900, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8888, d0.loss_map_cls_all: 0.6386, d0.loss_map_pts_all: 3.1663, d0.loss_map_dir_all: 0.0413, d0.loss_map_cls: 0.6386, d0.loss_map_pts: 3.1663, d0.loss_map_dir: 0.0413, d1.loss_map_cls: 0.6439, d1.loss_map_pts: 2.7383, d1.loss_map_dir: 0.0419, d2.loss_map_cls: 0.6544, d2.loss_map_pts: 2.7026, d2.loss_map_dir: 0.0418, d3.loss_map_cls: 0.6624, d3.loss_map_pts: 2.6934, d3.loss_map_dir: 0.0417, d4.loss_map_cls: 0.6624, d4.loss_map_pts: 2.6878, d4.loss_map_dir: 0.0417, d5.loss_map_cls: 0.6646, d5.loss_map_pts: 2.6851, d5.loss_map_dir: 0.0417, loss: 81.9522, grad_norm: 182.5732 +2026-02-24 05:58:21,646 - DriveTransformer - INFO - Epoch [1][16700/39528] lr: 1.000e-04, eta: 8 days, 15:12:02, time: 0.806, data_time: 0.041, memory: 19865, loss_cls: 0.9285, loss_bbox: 0.8604, loss_traj: 1.7887, loss_traj_cls: 0.0005, loss_map_cls: 0.6164, loss_map_pts: 2.4358, loss_map_dir: 0.0380, d0.loss_plan_l1_fix_time: 2.7668, d0.loss_plan_l1_fix_dist: 0.5323, d1.loss_plan_l1_fix_time: 2.6052, d1.loss_plan_l1_fix_dist: 0.5602, d2.loss_plan_l1_fix_time: 2.5987, d2.loss_plan_l1_fix_dist: 0.5995, d3.loss_plan_l1_fix_time: 2.6076, d3.loss_plan_l1_fix_dist: 0.6467, d4.loss_plan_l1_fix_time: 2.6191, d4.loss_plan_l1_fix_dist: 0.6987, d5.loss_plan_l1_fix_time: 2.6332, d5.loss_plan_l1_fix_dist: 0.7577, d6.loss_plan_l1_fix_time: 2.6485, d6.loss_plan_l1_fix_dist: 0.8159, d0.loss_cls_all: 0.9190, d0.loss_bbox_all: 0.8449, d0.loss_cls: 0.9190, d0.loss_bbox: 0.8449, d1.loss_cls: 0.9225, d1.loss_bbox: 0.8475, d2.loss_cls: 0.9228, d2.loss_bbox: 0.8475, d3.loss_cls: 0.9271, d3.loss_bbox: 0.8429, d4.loss_cls: 0.9277, d4.loss_bbox: 0.8494, d5.loss_cls: 0.9275, d5.loss_bbox: 0.8562, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7731, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.7824, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.7653, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7826, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7814, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7863, d0.loss_map_cls_all: 0.6061, d0.loss_map_pts_all: 2.9293, d0.loss_map_dir_all: 0.0379, d0.loss_map_cls: 0.6061, d0.loss_map_pts: 2.9293, d0.loss_map_dir: 0.0379, d1.loss_map_cls: 0.6057, d1.loss_map_pts: 2.4772, d1.loss_map_dir: 0.0383, d2.loss_map_cls: 0.6105, d2.loss_map_pts: 2.4521, d2.loss_map_dir: 0.0381, d3.loss_map_cls: 0.6147, d3.loss_map_pts: 2.4418, d3.loss_map_dir: 0.0380, d4.loss_map_cls: 0.6147, d4.loss_map_pts: 2.4344, d4.loss_map_dir: 0.0380, d5.loss_map_cls: 0.6154, d5.loss_map_pts: 2.4322, d5.loss_map_dir: 0.0379, loss: 75.4671, grad_norm: 182.9842 +2026-02-24 05:59:02,589 - DriveTransformer - INFO - Epoch [1][16750/39528] lr: 1.000e-04, eta: 8 days, 15:12:13, time: 0.819, data_time: 0.040, memory: 19865, loss_cls: 0.9752, loss_bbox: 0.8762, loss_traj: 1.7624, loss_traj_cls: 0.0005, loss_map_cls: 0.6298, loss_map_pts: 2.7245, loss_map_dir: 0.0405, d0.loss_plan_l1_fix_time: 3.3810, d0.loss_plan_l1_fix_dist: 0.7548, d1.loss_plan_l1_fix_time: 3.2614, d1.loss_plan_l1_fix_dist: 0.7857, d2.loss_plan_l1_fix_time: 3.2613, d2.loss_plan_l1_fix_dist: 0.8277, d3.loss_plan_l1_fix_time: 3.2718, d3.loss_plan_l1_fix_dist: 0.8797, d4.loss_plan_l1_fix_time: 3.2869, d4.loss_plan_l1_fix_dist: 0.9344, d5.loss_plan_l1_fix_time: 3.3061, d5.loss_plan_l1_fix_dist: 0.9838, d6.loss_plan_l1_fix_time: 3.3299, d6.loss_plan_l1_fix_dist: 1.0388, d0.loss_cls_all: 0.9575, d0.loss_bbox_all: 0.8754, d0.loss_cls: 0.9575, d0.loss_bbox: 0.8754, d1.loss_cls: 0.9650, d1.loss_bbox: 0.8708, d2.loss_cls: 0.9657, d2.loss_bbox: 0.8739, d3.loss_cls: 0.9689, d3.loss_bbox: 0.8657, d4.loss_cls: 0.9678, d4.loss_bbox: 0.8665, d5.loss_cls: 0.9741, d5.loss_bbox: 0.8690, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7229, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.7373, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.7477, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7554, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7649, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7605, d0.loss_map_cls_all: 0.6149, d0.loss_map_pts_all: 3.2526, d0.loss_map_dir_all: 0.0395, d0.loss_map_cls: 0.6149, d0.loss_map_pts: 3.2526, d0.loss_map_dir: 0.0395, d1.loss_map_cls: 0.6243, d1.loss_map_pts: 2.7301, d1.loss_map_dir: 0.0404, d2.loss_map_cls: 0.6263, d2.loss_map_pts: 2.6990, d2.loss_map_dir: 0.0404, d3.loss_map_cls: 0.6286, d3.loss_map_pts: 2.6995, d3.loss_map_dir: 0.0404, d4.loss_map_cls: 0.6289, d4.loss_map_pts: 2.7052, d4.loss_map_dir: 0.0404, d5.loss_map_cls: 0.6289, d5.loss_map_pts: 2.7119, d5.loss_map_dir: 0.0404, loss: 84.3564, grad_norm: 182.1153 +2026-02-24 05:59:42,465 - DriveTransformer - INFO - Epoch [1][16800/39528] lr: 1.000e-04, eta: 8 days, 15:11:29, time: 0.799, data_time: 0.042, memory: 19865, loss_cls: 0.9726, loss_bbox: 0.9244, loss_traj: 1.6309, loss_traj_cls: 0.0005, loss_map_cls: 0.6420, loss_map_pts: 2.6462, loss_map_dir: 0.0376, d0.loss_plan_l1_fix_time: 3.1946, d0.loss_plan_l1_fix_dist: 0.6490, d1.loss_plan_l1_fix_time: 3.1105, d1.loss_plan_l1_fix_dist: 0.6746, d2.loss_plan_l1_fix_time: 3.1215, d2.loss_plan_l1_fix_dist: 0.7114, d3.loss_plan_l1_fix_time: 3.1367, d3.loss_plan_l1_fix_dist: 0.7539, d4.loss_plan_l1_fix_time: 3.1526, d4.loss_plan_l1_fix_dist: 0.8063, d5.loss_plan_l1_fix_time: 3.1694, d5.loss_plan_l1_fix_dist: 0.8669, d6.loss_plan_l1_fix_time: 3.1894, d6.loss_plan_l1_fix_dist: 0.9294, d0.loss_cls_all: 0.9687, d0.loss_bbox_all: 0.9022, d0.loss_cls: 0.9687, d0.loss_bbox: 0.9022, d1.loss_cls: 0.9671, d1.loss_bbox: 0.9028, d2.loss_cls: 0.9684, d2.loss_bbox: 0.9183, d3.loss_cls: 0.9682, d3.loss_bbox: 0.9164, d4.loss_cls: 0.9675, d4.loss_bbox: 0.9202, d5.loss_cls: 0.9729, d5.loss_bbox: 0.9191, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.5881, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.6022, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.6179, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.6376, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.6405, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6296, d0.loss_map_cls_all: 0.6309, d0.loss_map_pts_all: 3.2028, d0.loss_map_dir_all: 0.0372, d0.loss_map_cls: 0.6309, d0.loss_map_pts: 3.2028, d0.loss_map_dir: 0.0372, d1.loss_map_cls: 0.6370, d1.loss_map_pts: 2.6882, d1.loss_map_dir: 0.0375, d2.loss_map_cls: 0.6382, d2.loss_map_pts: 2.6489, d2.loss_map_dir: 0.0375, d3.loss_map_cls: 0.6387, d3.loss_map_pts: 2.6419, d3.loss_map_dir: 0.0375, d4.loss_map_cls: 0.6393, d4.loss_map_pts: 2.6424, d4.loss_map_dir: 0.0375, d5.loss_map_cls: 0.6400, d5.loss_map_pts: 2.6432, d5.loss_map_dir: 0.0375, loss: 81.5890, grad_norm: 180.2407 +2026-02-24 06:00:24,051 - DriveTransformer - INFO - Epoch [1][16850/39528] lr: 1.000e-04, eta: 8 days, 15:12:11, time: 0.830, data_time: 0.040, memory: 19865, loss_cls: 0.9561, loss_bbox: 0.9015, loss_traj: 1.8321, loss_traj_cls: 0.0006, loss_map_cls: 0.6275, loss_map_pts: 2.7577, loss_map_dir: 0.0405, d0.loss_plan_l1_fix_time: 3.1305, d0.loss_plan_l1_fix_dist: 0.5252, d1.loss_plan_l1_fix_time: 3.1194, d1.loss_plan_l1_fix_dist: 0.5663, d2.loss_plan_l1_fix_time: 3.1402, d2.loss_plan_l1_fix_dist: 0.6185, d3.loss_plan_l1_fix_time: 3.1570, d3.loss_plan_l1_fix_dist: 0.6816, d4.loss_plan_l1_fix_time: 3.1734, d4.loss_plan_l1_fix_dist: 0.7453, d5.loss_plan_l1_fix_time: 3.1912, d5.loss_plan_l1_fix_dist: 0.8084, d6.loss_plan_l1_fix_time: 3.2100, d6.loss_plan_l1_fix_dist: 0.8683, d0.loss_cls_all: 0.9497, d0.loss_bbox_all: 0.8886, d0.loss_cls: 0.9497, d0.loss_bbox: 0.8886, d1.loss_cls: 0.9475, d1.loss_bbox: 0.8956, d2.loss_cls: 0.9501, d2.loss_bbox: 0.8917, d3.loss_cls: 0.9520, d3.loss_bbox: 0.8924, d4.loss_cls: 0.9496, d4.loss_bbox: 0.8950, d5.loss_cls: 0.9548, d5.loss_bbox: 0.8974, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7968, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8274, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8140, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8198, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8215, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8236, d0.loss_map_cls_all: 0.6101, d0.loss_map_pts_all: 3.2913, d0.loss_map_dir_all: 0.0400, d0.loss_map_cls: 0.6101, d0.loss_map_pts: 3.2913, d0.loss_map_dir: 0.0400, d1.loss_map_cls: 0.6165, d1.loss_map_pts: 2.7500, d1.loss_map_dir: 0.0404, d2.loss_map_cls: 0.6211, d2.loss_map_pts: 2.7294, d2.loss_map_dir: 0.0405, d3.loss_map_cls: 0.6239, d3.loss_map_pts: 2.7304, d3.loss_map_dir: 0.0404, d4.loss_map_cls: 0.6245, d4.loss_map_pts: 2.7345, d4.loss_map_dir: 0.0404, d5.loss_map_cls: 0.6251, d5.loss_map_pts: 2.7423, d5.loss_map_dir: 0.0403, loss: 82.7425, grad_norm: 181.2973 +2026-02-24 06:01:03,769 - DriveTransformer - INFO - Epoch [1][16900/39528] lr: 1.000e-04, eta: 8 days, 15:11:15, time: 0.794, data_time: 0.044, memory: 19865, loss_cls: 0.9489, loss_bbox: 0.9267, loss_traj: 2.3036, loss_traj_cls: 0.0006, loss_map_cls: 0.6536, loss_map_pts: 2.7378, loss_map_dir: 0.0350, d0.loss_plan_l1_fix_time: 3.4638, d0.loss_plan_l1_fix_dist: 0.7641, d1.loss_plan_l1_fix_time: 3.3534, d1.loss_plan_l1_fix_dist: 0.7864, d2.loss_plan_l1_fix_time: 3.3524, d2.loss_plan_l1_fix_dist: 0.8227, d3.loss_plan_l1_fix_time: 3.3619, d3.loss_plan_l1_fix_dist: 0.8672, d4.loss_plan_l1_fix_time: 3.3749, d4.loss_plan_l1_fix_dist: 0.9163, d5.loss_plan_l1_fix_time: 3.3908, d5.loss_plan_l1_fix_dist: 0.9732, d6.loss_plan_l1_fix_time: 3.4082, d6.loss_plan_l1_fix_dist: 1.0434, d0.loss_cls_all: 0.9402, d0.loss_bbox_all: 0.9183, d0.loss_cls: 0.9402, d0.loss_bbox: 0.9183, d1.loss_cls: 0.9396, d1.loss_bbox: 0.9351, d2.loss_cls: 0.9413, d2.loss_bbox: 0.9197, d3.loss_cls: 0.9455, d3.loss_bbox: 0.9178, d4.loss_cls: 0.9447, d4.loss_bbox: 0.9179, d5.loss_cls: 0.9504, d5.loss_bbox: 0.9209, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2181, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2472, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2780, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.2821, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.2861, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.2964, d0.loss_map_cls_all: 0.6412, d0.loss_map_pts_all: 3.2419, d0.loss_map_dir_all: 0.0348, d0.loss_map_cls: 0.6412, d0.loss_map_pts: 3.2419, d0.loss_map_dir: 0.0348, d1.loss_map_cls: 0.6483, d1.loss_map_pts: 2.7486, d1.loss_map_dir: 0.0351, d2.loss_map_cls: 0.6512, d2.loss_map_pts: 2.7234, d2.loss_map_dir: 0.0351, d3.loss_map_cls: 0.6516, d3.loss_map_pts: 2.7253, d3.loss_map_dir: 0.0350, d4.loss_map_cls: 0.6519, d4.loss_map_pts: 2.7279, d4.loss_map_dir: 0.0350, d5.loss_map_cls: 0.6532, d5.loss_map_pts: 2.7315, d5.loss_map_dir: 0.0350, loss: 89.0693, grad_norm: 182.0692 +2026-02-24 06:01:43,641 - DriveTransformer - INFO - Epoch [1][16950/39528] lr: 1.000e-04, eta: 8 days, 15:10:26, time: 0.797, data_time: 0.041, memory: 19865, loss_cls: 0.9399, loss_bbox: 0.8587, loss_traj: 1.6372, loss_traj_cls: 0.0006, loss_map_cls: 0.6445, loss_map_pts: 2.6043, loss_map_dir: 0.0368, d0.loss_plan_l1_fix_time: 2.8598, d0.loss_plan_l1_fix_dist: 0.6511, d1.loss_plan_l1_fix_time: 2.7231, d1.loss_plan_l1_fix_dist: 0.6783, d2.loss_plan_l1_fix_time: 2.7248, d2.loss_plan_l1_fix_dist: 0.7182, d3.loss_plan_l1_fix_time: 2.7390, d3.loss_plan_l1_fix_dist: 0.7630, d4.loss_plan_l1_fix_time: 2.7575, d4.loss_plan_l1_fix_dist: 0.8125, d5.loss_plan_l1_fix_time: 2.7749, d5.loss_plan_l1_fix_dist: 0.8615, d6.loss_plan_l1_fix_time: 2.7927, d6.loss_plan_l1_fix_dist: 0.9009, d0.loss_cls_all: 0.9297, d0.loss_bbox_all: 0.8082, d0.loss_cls: 0.9297, d0.loss_bbox: 0.8082, d1.loss_cls: 0.9297, d1.loss_bbox: 0.8380, d2.loss_cls: 0.9328, d2.loss_bbox: 0.8281, d3.loss_cls: 0.9360, d3.loss_bbox: 0.8316, d4.loss_cls: 0.9375, d4.loss_bbox: 0.8362, d5.loss_cls: 0.9390, d5.loss_bbox: 0.8463, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.6029, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.6192, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.6078, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6167, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6223, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6271, d0.loss_map_cls_all: 0.6368, d0.loss_map_pts_all: 3.1603, d0.loss_map_dir_all: 0.0369, d0.loss_map_cls: 0.6368, d0.loss_map_pts: 3.1603, d0.loss_map_dir: 0.0369, d1.loss_map_cls: 0.6344, d1.loss_map_pts: 2.6054, d1.loss_map_dir: 0.0369, d2.loss_map_cls: 0.6422, d2.loss_map_pts: 2.5946, d2.loss_map_dir: 0.0369, d3.loss_map_cls: 0.6440, d3.loss_map_pts: 2.6013, d3.loss_map_dir: 0.0368, d4.loss_map_cls: 0.6454, d4.loss_map_pts: 2.6033, d4.loss_map_dir: 0.0367, d5.loss_map_cls: 0.6453, d5.loss_map_pts: 2.6033, d5.loss_map_dir: 0.0367, loss: 77.5806, grad_norm: 182.3278 +2026-02-24 06:02:23,711 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 06:02:23,711 - DriveTransformer - INFO - Epoch [1][17000/39528] lr: 1.000e-04, eta: 8 days, 15:09:48, time: 0.801, data_time: 0.041, memory: 19865, loss_cls: 0.9184, loss_bbox: 0.8780, loss_traj: 1.9125, loss_traj_cls: 0.0006, loss_map_cls: 0.6372, loss_map_pts: 2.6024, loss_map_dir: 0.0340, d0.loss_plan_l1_fix_time: 2.9442, d0.loss_plan_l1_fix_dist: 0.6006, d1.loss_plan_l1_fix_time: 2.8560, d1.loss_plan_l1_fix_dist: 0.6209, d2.loss_plan_l1_fix_time: 2.8608, d2.loss_plan_l1_fix_dist: 0.6575, d3.loss_plan_l1_fix_time: 2.8729, d3.loss_plan_l1_fix_dist: 0.7031, d4.loss_plan_l1_fix_time: 2.8878, d4.loss_plan_l1_fix_dist: 0.7527, d5.loss_plan_l1_fix_time: 2.9013, d5.loss_plan_l1_fix_dist: 0.8122, d6.loss_plan_l1_fix_time: 2.9148, d6.loss_plan_l1_fix_dist: 0.8789, d0.loss_cls_all: 0.9118, d0.loss_bbox_all: 0.8789, d0.loss_cls: 0.9118, d0.loss_bbox: 0.8789, d1.loss_cls: 0.9107, d1.loss_bbox: 0.8848, d2.loss_cls: 0.9116, d2.loss_bbox: 0.8703, d3.loss_cls: 0.9137, d3.loss_bbox: 0.8656, d4.loss_cls: 0.9161, d4.loss_bbox: 0.8685, d5.loss_cls: 0.9179, d5.loss_bbox: 0.8724, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8721, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8812, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8851, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8984, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9031, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8953, d0.loss_map_cls_all: 0.6217, d0.loss_map_pts_all: 3.1276, d0.loss_map_dir_all: 0.0340, d0.loss_map_cls: 0.6217, d0.loss_map_pts: 3.1276, d0.loss_map_dir: 0.0340, d1.loss_map_cls: 0.6272, d1.loss_map_pts: 2.6356, d1.loss_map_dir: 0.0342, d2.loss_map_cls: 0.6316, d2.loss_map_pts: 2.6075, d2.loss_map_dir: 0.0341, d3.loss_map_cls: 0.6343, d3.loss_map_pts: 2.6010, d3.loss_map_dir: 0.0340, d4.loss_map_cls: 0.6352, d4.loss_map_pts: 2.5970, d4.loss_map_dir: 0.0340, d5.loss_map_cls: 0.6353, d5.loss_map_pts: 2.5967, d5.loss_map_dir: 0.0339, loss: 80.0361, grad_norm: 182.4998 +2026-02-24 06:03:03,049 - DriveTransformer - INFO - Epoch [1][17050/39528] lr: 1.000e-04, eta: 8 days, 15:08:32, time: 0.787, data_time: 0.040, memory: 19865, loss_cls: 0.9749, loss_bbox: 0.8809, loss_traj: 2.2680, loss_traj_cls: 0.0005, loss_map_cls: 0.7032, loss_map_pts: 2.4472, loss_map_dir: 0.0359, d0.loss_plan_l1_fix_time: 3.7703, d0.loss_plan_l1_fix_dist: 0.4929, d1.loss_plan_l1_fix_time: 3.6409, d1.loss_plan_l1_fix_dist: 0.5047, d2.loss_plan_l1_fix_time: 3.6296, d2.loss_plan_l1_fix_dist: 0.5337, d3.loss_plan_l1_fix_time: 3.6324, d3.loss_plan_l1_fix_dist: 0.5726, d4.loss_plan_l1_fix_time: 3.6403, d4.loss_plan_l1_fix_dist: 0.6199, d5.loss_plan_l1_fix_time: 3.6527, d5.loss_plan_l1_fix_dist: 0.6715, d6.loss_plan_l1_fix_time: 3.6685, d6.loss_plan_l1_fix_dist: 0.7247, d0.loss_cls_all: 0.9695, d0.loss_bbox_all: 0.8701, d0.loss_cls: 0.9695, d0.loss_bbox: 0.8701, d1.loss_cls: 0.9677, d1.loss_bbox: 0.8636, d2.loss_cls: 0.9713, d2.loss_bbox: 0.8596, d3.loss_cls: 0.9721, d3.loss_bbox: 0.8620, d4.loss_cls: 0.9727, d4.loss_bbox: 0.8671, d5.loss_cls: 0.9754, d5.loss_bbox: 0.8743, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.2553, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2673, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2626, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2716, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.2701, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2626, d0.loss_map_cls_all: 0.6826, d0.loss_map_pts_all: 2.9170, d0.loss_map_dir_all: 0.0358, d0.loss_map_cls: 0.6826, d0.loss_map_pts: 2.9170, d0.loss_map_dir: 0.0358, d1.loss_map_cls: 0.6803, d1.loss_map_pts: 2.4728, d1.loss_map_dir: 0.0361, d2.loss_map_cls: 0.6887, d2.loss_map_pts: 2.4518, d2.loss_map_dir: 0.0360, d3.loss_map_cls: 0.6957, d3.loss_map_pts: 2.4444, d3.loss_map_dir: 0.0359, d4.loss_map_cls: 0.6972, d4.loss_map_pts: 2.4438, d4.loss_map_dir: 0.0358, d5.loss_map_cls: 0.6994, d5.loss_map_pts: 2.4439, d5.loss_map_dir: 0.0358, loss: 86.6909, grad_norm: 182.7017 +2026-02-24 06:03:41,881 - DriveTransformer - INFO - Epoch [1][17100/39528] lr: 1.000e-04, eta: 8 days, 15:06:46, time: 0.776, data_time: 0.038, memory: 19865, loss_cls: 0.9526, loss_bbox: 0.8824, loss_traj: 1.8534, loss_traj_cls: 0.0006, loss_map_cls: 0.6525, loss_map_pts: 2.6268, loss_map_dir: 0.0339, d0.loss_plan_l1_fix_time: 3.3852, d0.loss_plan_l1_fix_dist: 0.5289, d1.loss_plan_l1_fix_time: 3.2515, d1.loss_plan_l1_fix_dist: 0.5453, d2.loss_plan_l1_fix_time: 3.2435, d2.loss_plan_l1_fix_dist: 0.5751, d3.loss_plan_l1_fix_time: 3.2479, d3.loss_plan_l1_fix_dist: 0.6136, d4.loss_plan_l1_fix_time: 3.2554, d4.loss_plan_l1_fix_dist: 0.6563, d5.loss_plan_l1_fix_time: 3.2674, d5.loss_plan_l1_fix_dist: 0.7075, d6.loss_plan_l1_fix_time: 3.2825, d6.loss_plan_l1_fix_dist: 0.7652, d0.loss_cls_all: 0.9470, d0.loss_bbox_all: 0.8731, d0.loss_cls: 0.9470, d0.loss_bbox: 0.8731, d1.loss_cls: 0.9441, d1.loss_bbox: 0.8602, d2.loss_cls: 0.9453, d2.loss_bbox: 0.8624, d3.loss_cls: 0.9486, d3.loss_bbox: 0.8656, d4.loss_cls: 0.9498, d4.loss_bbox: 0.8690, d5.loss_cls: 0.9523, d5.loss_bbox: 0.8722, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7904, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8061, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8232, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8469, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8551, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8551, d0.loss_map_cls_all: 0.6445, d0.loss_map_pts_all: 3.0919, d0.loss_map_dir_all: 0.0341, d0.loss_map_cls: 0.6445, d0.loss_map_pts: 3.0919, d0.loss_map_dir: 0.0341, d1.loss_map_cls: 0.6402, d1.loss_map_pts: 2.6388, d1.loss_map_dir: 0.0340, d2.loss_map_cls: 0.6449, d2.loss_map_pts: 2.6174, d2.loss_map_dir: 0.0339, d3.loss_map_cls: 0.6509, d3.loss_map_pts: 2.6117, d3.loss_map_dir: 0.0339, d4.loss_map_cls: 0.6510, d4.loss_map_pts: 2.6137, d4.loss_map_dir: 0.0338, d5.loss_map_cls: 0.6510, d5.loss_map_pts: 2.6161, d5.loss_map_dir: 0.0338, loss: 82.0634, grad_norm: 181.7194 +2026-02-24 06:04:22,733 - DriveTransformer - INFO - Epoch [1][17150/39528] lr: 1.000e-04, eta: 8 days, 15:06:53, time: 0.818, data_time: 0.040, memory: 19865, loss_cls: 0.9743, loss_bbox: 0.8769, loss_traj: 1.8155, loss_traj_cls: 0.0006, loss_map_cls: 0.6395, loss_map_pts: 2.7629, loss_map_dir: 0.0418, d0.loss_plan_l1_fix_time: 3.4226, d0.loss_plan_l1_fix_dist: 0.6059, d1.loss_plan_l1_fix_time: 3.3113, d1.loss_plan_l1_fix_dist: 0.6249, d2.loss_plan_l1_fix_time: 3.3232, d2.loss_plan_l1_fix_dist: 0.6515, d3.loss_plan_l1_fix_time: 3.3371, d3.loss_plan_l1_fix_dist: 0.6892, d4.loss_plan_l1_fix_time: 3.3519, d4.loss_plan_l1_fix_dist: 0.7370, d5.loss_plan_l1_fix_time: 3.3664, d5.loss_plan_l1_fix_dist: 0.7914, d6.loss_plan_l1_fix_time: 3.3807, d6.loss_plan_l1_fix_dist: 0.8428, d0.loss_cls_all: 0.9575, d0.loss_bbox_all: 0.8745, d0.loss_cls: 0.9575, d0.loss_bbox: 0.8745, d1.loss_cls: 0.9597, d1.loss_bbox: 0.8608, d2.loss_cls: 0.9639, d2.loss_bbox: 0.8575, d3.loss_cls: 0.9694, d3.loss_bbox: 0.8612, d4.loss_cls: 0.9721, d4.loss_bbox: 0.8653, d5.loss_cls: 0.9740, d5.loss_bbox: 0.8684, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7804, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8057, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8148, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8120, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8391, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8513, d0.loss_map_cls_all: 0.6224, d0.loss_map_pts_all: 3.2616, d0.loss_map_dir_all: 0.0420, d0.loss_map_cls: 0.6224, d0.loss_map_pts: 3.2616, d0.loss_map_dir: 0.0420, d1.loss_map_cls: 0.6289, d1.loss_map_pts: 2.7839, d1.loss_map_dir: 0.0420, d2.loss_map_cls: 0.6328, d2.loss_map_pts: 2.7553, d2.loss_map_dir: 0.0418, d3.loss_map_cls: 0.6339, d3.loss_map_pts: 2.7482, d3.loss_map_dir: 0.0418, d4.loss_map_cls: 0.6364, d4.loss_map_pts: 2.7511, d4.loss_map_dir: 0.0418, d5.loss_map_cls: 0.6372, d5.loss_map_pts: 2.7539, d5.loss_map_dir: 0.0417, loss: 84.2930, grad_norm: 181.1173 +2026-02-24 06:05:02,038 - DriveTransformer - INFO - Epoch [1][17200/39528] lr: 1.000e-04, eta: 8 days, 15:05:32, time: 0.786, data_time: 0.038, memory: 19865, loss_cls: 0.9217, loss_bbox: 0.8870, loss_traj: 1.9946, loss_traj_cls: 0.0006, loss_map_cls: 0.6555, loss_map_pts: 2.6456, loss_map_dir: 0.0391, d0.loss_plan_l1_fix_time: 2.9572, d0.loss_plan_l1_fix_dist: 0.6270, d1.loss_plan_l1_fix_time: 2.9322, d1.loss_plan_l1_fix_dist: 0.6655, d2.loss_plan_l1_fix_time: 2.9524, d2.loss_plan_l1_fix_dist: 0.7243, d3.loss_plan_l1_fix_time: 2.9687, d3.loss_plan_l1_fix_dist: 0.7925, d4.loss_plan_l1_fix_time: 2.9847, d4.loss_plan_l1_fix_dist: 0.8659, d5.loss_plan_l1_fix_time: 3.0002, d5.loss_plan_l1_fix_dist: 0.9470, d6.loss_plan_l1_fix_time: 3.0165, d6.loss_plan_l1_fix_dist: 1.0332, d0.loss_cls_all: 0.9113, d0.loss_bbox_all: 0.8918, d0.loss_cls: 0.9113, d0.loss_bbox: 0.8918, d1.loss_cls: 0.9145, d1.loss_bbox: 0.8943, d2.loss_cls: 0.9169, d2.loss_bbox: 0.8831, d3.loss_cls: 0.9195, d3.loss_bbox: 0.8819, d4.loss_cls: 0.9206, d4.loss_bbox: 0.8853, d5.loss_cls: 0.9230, d5.loss_bbox: 0.8826, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9437, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9751, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9848, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9981, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9864, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9853, d0.loss_map_cls_all: 0.6370, d0.loss_map_pts_all: 3.0688, d0.loss_map_dir_all: 0.0387, d0.loss_map_cls: 0.6370, d0.loss_map_pts: 3.0688, d0.loss_map_dir: 0.0387, d1.loss_map_cls: 0.6418, d1.loss_map_pts: 2.6426, d1.loss_map_dir: 0.0393, d2.loss_map_cls: 0.6460, d2.loss_map_pts: 2.6268, d2.loss_map_dir: 0.0392, d3.loss_map_cls: 0.6505, d3.loss_map_pts: 2.6246, d3.loss_map_dir: 0.0391, d4.loss_map_cls: 0.6525, d4.loss_map_pts: 2.6254, d4.loss_map_dir: 0.0391, d5.loss_map_cls: 0.6536, d5.loss_map_pts: 2.6308, d5.loss_map_dir: 0.0390, loss: 82.1950, grad_norm: 180.9782 +2026-02-24 06:05:43,165 - DriveTransformer - INFO - Epoch [1][17250/39528] lr: 1.000e-04, eta: 8 days, 15:05:52, time: 0.823, data_time: 0.039, memory: 19865, loss_cls: 0.9599, loss_bbox: 0.8733, loss_traj: 1.9961, loss_traj_cls: 0.0005, loss_map_cls: 0.6872, loss_map_pts: 2.6029, loss_map_dir: 0.0391, d0.loss_plan_l1_fix_time: 3.6934, d0.loss_plan_l1_fix_dist: 0.6107, d1.loss_plan_l1_fix_time: 3.5917, d1.loss_plan_l1_fix_dist: 0.6578, d2.loss_plan_l1_fix_time: 3.5880, d2.loss_plan_l1_fix_dist: 0.7140, d3.loss_plan_l1_fix_time: 3.5948, d3.loss_plan_l1_fix_dist: 0.7735, d4.loss_plan_l1_fix_time: 3.6053, d4.loss_plan_l1_fix_dist: 0.8363, d5.loss_plan_l1_fix_time: 3.6177, d5.loss_plan_l1_fix_dist: 0.9113, d6.loss_plan_l1_fix_time: 3.6326, d6.loss_plan_l1_fix_dist: 0.9990, d0.loss_cls_all: 0.9549, d0.loss_bbox_all: 0.8533, d0.loss_cls: 0.9549, d0.loss_bbox: 0.8533, d1.loss_cls: 0.9581, d1.loss_bbox: 0.8572, d2.loss_cls: 0.9587, d2.loss_bbox: 0.8481, d3.loss_cls: 0.9603, d3.loss_bbox: 0.8567, d4.loss_cls: 0.9575, d4.loss_bbox: 0.8641, d5.loss_cls: 0.9575, d5.loss_bbox: 0.8650, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9914, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0205, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0093, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0143, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0087, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9839, d0.loss_map_cls_all: 0.6739, d0.loss_map_pts_all: 3.0674, d0.loss_map_dir_all: 0.0391, d0.loss_map_cls: 0.6739, d0.loss_map_pts: 3.0674, d0.loss_map_dir: 0.0391, d1.loss_map_cls: 0.6823, d1.loss_map_pts: 2.6336, d1.loss_map_dir: 0.0392, d2.loss_map_cls: 0.6849, d2.loss_map_pts: 2.6066, d2.loss_map_dir: 0.0391, d3.loss_map_cls: 0.6873, d3.loss_map_pts: 2.5996, d3.loss_map_dir: 0.0391, d4.loss_map_cls: 0.6870, d4.loss_map_pts: 2.5974, d4.loss_map_dir: 0.0391, d5.loss_map_cls: 0.6867, d5.loss_map_pts: 2.5968, d5.loss_map_dir: 0.0390, loss: 86.9341, grad_norm: 182.6855 +2026-02-24 06:06:23,048 - DriveTransformer - INFO - Epoch [1][17300/39528] lr: 1.000e-04, eta: 8 days, 15:05:05, time: 0.798, data_time: 0.042, memory: 19865, loss_cls: 0.9254, loss_bbox: 0.8845, loss_traj: 2.2460, loss_traj_cls: 0.0005, loss_map_cls: 0.6566, loss_map_pts: 2.3993, loss_map_dir: 0.0356, d0.loss_plan_l1_fix_time: 3.0117, d0.loss_plan_l1_fix_dist: 0.5542, d1.loss_plan_l1_fix_time: 2.9518, d1.loss_plan_l1_fix_dist: 0.6105, d2.loss_plan_l1_fix_time: 2.9554, d2.loss_plan_l1_fix_dist: 0.6765, d3.loss_plan_l1_fix_time: 2.9640, d3.loss_plan_l1_fix_dist: 0.7467, d4.loss_plan_l1_fix_time: 2.9747, d4.loss_plan_l1_fix_dist: 0.8203, d5.loss_plan_l1_fix_time: 2.9866, d5.loss_plan_l1_fix_dist: 0.8953, d6.loss_plan_l1_fix_time: 2.9992, d6.loss_plan_l1_fix_dist: 0.9636, d0.loss_cls_all: 0.9100, d0.loss_bbox_all: 0.8789, d0.loss_cls: 0.9100, d0.loss_bbox: 0.8789, d1.loss_cls: 0.9154, d1.loss_bbox: 0.8677, d2.loss_cls: 0.9166, d2.loss_bbox: 0.8578, d3.loss_cls: 0.9197, d3.loss_bbox: 0.8632, d4.loss_cls: 0.9229, d4.loss_bbox: 0.8680, d5.loss_cls: 0.9238, d5.loss_bbox: 0.8727, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.1941, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2069, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2111, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2257, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.2212, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.2290, d0.loss_map_cls_all: 0.6402, d0.loss_map_pts_all: 2.9880, d0.loss_map_dir_all: 0.0355, d0.loss_map_cls: 0.6402, d0.loss_map_pts: 2.9880, d0.loss_map_dir: 0.0355, d1.loss_map_cls: 0.6470, d1.loss_map_pts: 2.4189, d1.loss_map_dir: 0.0358, d2.loss_map_cls: 0.6483, d2.loss_map_pts: 2.3949, d2.loss_map_dir: 0.0357, d3.loss_map_cls: 0.6526, d3.loss_map_pts: 2.3942, d3.loss_map_dir: 0.0357, d4.loss_map_cls: 0.6538, d4.loss_map_pts: 2.3971, d4.loss_map_dir: 0.0357, d5.loss_map_cls: 0.6557, d5.loss_map_pts: 2.3972, d5.loss_map_dir: 0.0357, loss: 81.8208, grad_norm: 184.3819 +2026-02-24 06:07:04,072 - DriveTransformer - INFO - Epoch [1][17350/39528] lr: 1.000e-04, eta: 8 days, 15:05:18, time: 0.820, data_time: 0.038, memory: 19865, loss_cls: 0.9838, loss_bbox: 0.8833, loss_traj: 2.0552, loss_traj_cls: 0.0006, loss_map_cls: 0.6609, loss_map_pts: 2.7916, loss_map_dir: 0.0427, d0.loss_plan_l1_fix_time: 2.8281, d0.loss_plan_l1_fix_dist: 0.6173, d1.loss_plan_l1_fix_time: 2.7391, d1.loss_plan_l1_fix_dist: 0.6527, d2.loss_plan_l1_fix_time: 2.7401, d2.loss_plan_l1_fix_dist: 0.7045, d3.loss_plan_l1_fix_time: 2.7461, d3.loss_plan_l1_fix_dist: 0.7680, d4.loss_plan_l1_fix_time: 2.7544, d4.loss_plan_l1_fix_dist: 0.8334, d5.loss_plan_l1_fix_time: 2.7645, d5.loss_plan_l1_fix_dist: 0.8969, d6.loss_plan_l1_fix_time: 2.7762, d6.loss_plan_l1_fix_dist: 0.9519, d0.loss_cls_all: 0.9731, d0.loss_bbox_all: 0.8932, d0.loss_cls: 0.9731, d0.loss_bbox: 0.8932, d1.loss_cls: 0.9764, d1.loss_bbox: 0.8768, d2.loss_cls: 0.9765, d2.loss_bbox: 0.8718, d3.loss_cls: 0.9797, d3.loss_bbox: 0.8782, d4.loss_cls: 0.9827, d4.loss_bbox: 0.8802, d5.loss_cls: 0.9828, d5.loss_bbox: 0.8788, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0438, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0457, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0480, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0615, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0549, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.0572, d0.loss_map_cls_all: 0.6372, d0.loss_map_pts_all: 3.3034, d0.loss_map_dir_all: 0.0426, d0.loss_map_cls: 0.6372, d0.loss_map_pts: 3.3034, d0.loss_map_dir: 0.0426, d1.loss_map_cls: 0.6416, d1.loss_map_pts: 2.8189, d1.loss_map_dir: 0.0427, d2.loss_map_cls: 0.6502, d2.loss_map_pts: 2.7903, d2.loss_map_dir: 0.0428, d3.loss_map_cls: 0.6567, d3.loss_map_pts: 2.7879, d3.loss_map_dir: 0.0428, d4.loss_map_cls: 0.6582, d4.loss_map_pts: 2.7877, d4.loss_map_dir: 0.0427, d5.loss_map_cls: 0.6589, d5.loss_map_pts: 2.7899, d5.loss_map_dir: 0.0428, loss: 82.9425, grad_norm: 184.8226 +2026-02-24 06:07:44,357 - DriveTransformer - INFO - Epoch [1][17400/39528] lr: 1.000e-04, eta: 8 days, 15:04:52, time: 0.806, data_time: 0.039, memory: 19865, loss_cls: 0.9621, loss_bbox: 0.8425, loss_traj: 1.9236, loss_traj_cls: 0.0005, loss_map_cls: 0.6357, loss_map_pts: 2.5934, loss_map_dir: 0.0462, d0.loss_plan_l1_fix_time: 3.2655, d0.loss_plan_l1_fix_dist: 0.5423, d1.loss_plan_l1_fix_time: 3.2046, d1.loss_plan_l1_fix_dist: 0.5840, d2.loss_plan_l1_fix_time: 3.2187, d2.loss_plan_l1_fix_dist: 0.6419, d3.loss_plan_l1_fix_time: 3.2353, d3.loss_plan_l1_fix_dist: 0.7049, d4.loss_plan_l1_fix_time: 3.2539, d4.loss_plan_l1_fix_dist: 0.7721, d5.loss_plan_l1_fix_time: 3.2729, d5.loss_plan_l1_fix_dist: 0.8519, d6.loss_plan_l1_fix_time: 3.2930, d6.loss_plan_l1_fix_dist: 0.9462, d0.loss_cls_all: 0.9475, d0.loss_bbox_all: 0.8432, d0.loss_cls: 0.9475, d0.loss_bbox: 0.8432, d1.loss_cls: 0.9505, d1.loss_bbox: 0.8356, d2.loss_cls: 0.9520, d2.loss_bbox: 0.8249, d3.loss_cls: 0.9552, d3.loss_bbox: 0.8295, d4.loss_cls: 0.9574, d4.loss_bbox: 0.8334, d5.loss_cls: 0.9590, d5.loss_bbox: 0.8370, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8340, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8636, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8817, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8863, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9017, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9168, d0.loss_map_cls_all: 0.6197, d0.loss_map_pts_all: 3.0928, d0.loss_map_dir_all: 0.0458, d0.loss_map_cls: 0.6197, d0.loss_map_pts: 3.0928, d0.loss_map_dir: 0.0458, d1.loss_map_cls: 0.6237, d1.loss_map_pts: 2.6283, d1.loss_map_dir: 0.0467, d2.loss_map_cls: 0.6283, d2.loss_map_pts: 2.5982, d2.loss_map_dir: 0.0464, d3.loss_map_cls: 0.6335, d3.loss_map_pts: 2.5920, d3.loss_map_dir: 0.0463, d4.loss_map_cls: 0.6359, d4.loss_map_pts: 2.5908, d4.loss_map_dir: 0.0462, d5.loss_map_cls: 0.6359, d5.loss_map_pts: 2.5926, d5.loss_map_dir: 0.0462, loss: 82.5017, grad_norm: 184.5316 +2026-02-24 06:08:25,365 - DriveTransformer - INFO - Epoch [1][17450/39528] lr: 1.000e-04, eta: 8 days, 15:05:05, time: 0.820, data_time: 0.050, memory: 19865, loss_cls: 0.9693, loss_bbox: 0.8544, loss_traj: 1.8989, loss_traj_cls: 0.0005, loss_map_cls: 0.6462, loss_map_pts: 2.6648, loss_map_dir: 0.0402, d0.loss_plan_l1_fix_time: 3.3851, d0.loss_plan_l1_fix_dist: 0.6194, d1.loss_plan_l1_fix_time: 3.2689, d1.loss_plan_l1_fix_dist: 0.6517, d2.loss_plan_l1_fix_time: 3.2604, d2.loss_plan_l1_fix_dist: 0.6941, d3.loss_plan_l1_fix_time: 3.2664, d3.loss_plan_l1_fix_dist: 0.7431, d4.loss_plan_l1_fix_time: 3.2780, d4.loss_plan_l1_fix_dist: 0.7993, d5.loss_plan_l1_fix_time: 3.2910, d5.loss_plan_l1_fix_dist: 0.8667, d6.loss_plan_l1_fix_time: 3.3058, d6.loss_plan_l1_fix_dist: 0.9502, d0.loss_cls_all: 0.9470, d0.loss_bbox_all: 0.8420, d0.loss_cls: 0.9470, d0.loss_bbox: 0.8420, d1.loss_cls: 0.9493, d1.loss_bbox: 0.8398, d2.loss_cls: 0.9527, d2.loss_bbox: 0.8354, d3.loss_cls: 0.9548, d3.loss_bbox: 0.8344, d4.loss_cls: 0.9611, d4.loss_bbox: 0.8374, d5.loss_cls: 0.9680, d5.loss_bbox: 0.8438, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8679, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8707, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8701, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8772, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8875, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8948, d0.loss_map_cls_all: 0.6274, d0.loss_map_pts_all: 3.1302, d0.loss_map_dir_all: 0.0402, d0.loss_map_cls: 0.6274, d0.loss_map_pts: 3.1302, d0.loss_map_dir: 0.0402, d1.loss_map_cls: 0.6361, d1.loss_map_pts: 2.6770, d1.loss_map_dir: 0.0404, d2.loss_map_cls: 0.6391, d2.loss_map_pts: 2.6567, d2.loss_map_dir: 0.0403, d3.loss_map_cls: 0.6406, d3.loss_map_pts: 2.6519, d3.loss_map_dir: 0.0403, d4.loss_map_cls: 0.6402, d4.loss_map_pts: 2.6506, d4.loss_map_dir: 0.0402, d5.loss_map_cls: 0.6434, d5.loss_map_pts: 2.6520, d5.loss_map_dir: 0.0401, loss: 83.5647, grad_norm: 185.5630 +2026-02-24 06:09:05,113 - DriveTransformer - INFO - Epoch [1][17500/39528] lr: 1.000e-04, eta: 8 days, 15:04:10, time: 0.795, data_time: 0.040, memory: 19865, loss_cls: 0.9360, loss_bbox: 0.8517, loss_traj: 1.8775, loss_traj_cls: 0.0005, loss_map_cls: 0.6868, loss_map_pts: 2.4702, loss_map_dir: 0.0381, d0.loss_plan_l1_fix_time: 2.9247, d0.loss_plan_l1_fix_dist: 0.5505, d1.loss_plan_l1_fix_time: 2.8571, d1.loss_plan_l1_fix_dist: 0.5847, d2.loss_plan_l1_fix_time: 2.8659, d2.loss_plan_l1_fix_dist: 0.6286, d3.loss_plan_l1_fix_time: 2.8821, d3.loss_plan_l1_fix_dist: 0.6804, d4.loss_plan_l1_fix_time: 2.9006, d4.loss_plan_l1_fix_dist: 0.7346, d5.loss_plan_l1_fix_time: 2.9209, d5.loss_plan_l1_fix_dist: 0.7863, d6.loss_plan_l1_fix_time: 2.9429, d6.loss_plan_l1_fix_dist: 0.8360, d0.loss_cls_all: 0.9263, d0.loss_bbox_all: 0.8501, d0.loss_cls: 0.9263, d0.loss_bbox: 0.8501, d1.loss_cls: 0.9250, d1.loss_bbox: 0.8531, d2.loss_cls: 0.9253, d2.loss_bbox: 0.8521, d3.loss_cls: 0.9274, d3.loss_bbox: 0.8465, d4.loss_cls: 0.9323, d4.loss_bbox: 0.8471, d5.loss_cls: 0.9407, d5.loss_bbox: 0.8493, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8443, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8469, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8613, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8706, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8673, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8759, d0.loss_map_cls_all: 0.6642, d0.loss_map_pts_all: 2.9557, d0.loss_map_dir_all: 0.0382, d0.loss_map_cls: 0.6642, d0.loss_map_pts: 2.9557, d0.loss_map_dir: 0.0382, d1.loss_map_cls: 0.6594, d1.loss_map_pts: 2.4875, d1.loss_map_dir: 0.0384, d2.loss_map_cls: 0.6676, d2.loss_map_pts: 2.4552, d2.loss_map_dir: 0.0382, d3.loss_map_cls: 0.6762, d3.loss_map_pts: 2.4468, d3.loss_map_dir: 0.0381, d4.loss_map_cls: 0.6777, d4.loss_map_pts: 2.4472, d4.loss_map_dir: 0.0381, d5.loss_map_cls: 0.6816, d5.loss_map_pts: 2.4504, d5.loss_map_dir: 0.0381, loss: 78.7339, grad_norm: 186.7990 +2026-02-24 06:09:44,654 - DriveTransformer - INFO - Epoch [1][17550/39528] lr: 1.000e-04, eta: 8 days, 15:03:04, time: 0.791, data_time: 0.035, memory: 19865, loss_cls: 0.9351, loss_bbox: 0.8688, loss_traj: 2.1092, loss_traj_cls: 0.0005, loss_map_cls: 0.6247, loss_map_pts: 2.4853, loss_map_dir: 0.0346, d0.loss_plan_l1_fix_time: 3.4466, d0.loss_plan_l1_fix_dist: 0.5832, d1.loss_plan_l1_fix_time: 3.3932, d1.loss_plan_l1_fix_dist: 0.6036, d2.loss_plan_l1_fix_time: 3.4038, d2.loss_plan_l1_fix_dist: 0.6336, d3.loss_plan_l1_fix_time: 3.4181, d3.loss_plan_l1_fix_dist: 0.6727, d4.loss_plan_l1_fix_time: 3.4342, d4.loss_plan_l1_fix_dist: 0.7134, d5.loss_plan_l1_fix_time: 3.4517, d5.loss_plan_l1_fix_dist: 0.7593, d6.loss_plan_l1_fix_time: 3.4699, d6.loss_plan_l1_fix_dist: 0.8015, d0.loss_cls_all: 0.9163, d0.loss_bbox_all: 0.8606, d0.loss_cls: 0.9163, d0.loss_bbox: 0.8606, d1.loss_cls: 0.9205, d1.loss_bbox: 0.8617, d2.loss_cls: 0.9199, d2.loss_bbox: 0.8611, d3.loss_cls: 0.9262, d3.loss_bbox: 0.8566, d4.loss_cls: 0.9316, d4.loss_bbox: 0.8581, d5.loss_cls: 0.9327, d5.loss_bbox: 0.8628, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0120, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0315, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0486, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0656, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0908, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0921, d0.loss_map_cls_all: 0.6098, d0.loss_map_pts_all: 3.0535, d0.loss_map_dir_all: 0.0353, d0.loss_map_cls: 0.6098, d0.loss_map_pts: 3.0535, d0.loss_map_dir: 0.0353, d1.loss_map_cls: 0.6094, d1.loss_map_pts: 2.5163, d1.loss_map_dir: 0.0348, d2.loss_map_cls: 0.6139, d2.loss_map_pts: 2.4833, d2.loss_map_dir: 0.0347, d3.loss_map_cls: 0.6178, d3.loss_map_pts: 2.4785, d3.loss_map_dir: 0.0346, d4.loss_map_cls: 0.6193, d4.loss_map_pts: 2.4800, d4.loss_map_dir: 0.0345, d5.loss_map_cls: 0.6217, d5.loss_map_pts: 2.4811, d5.loss_map_dir: 0.0346, loss: 83.7629, grad_norm: 186.6706 +2026-02-24 06:10:23,556 - DriveTransformer - INFO - Epoch [1][17600/39528] lr: 1.000e-04, eta: 8 days, 15:01:28, time: 0.779, data_time: 0.041, memory: 19865, loss_cls: 0.9657, loss_bbox: 0.8699, loss_traj: 2.0086, loss_traj_cls: 0.0006, loss_map_cls: 0.6518, loss_map_pts: 2.5646, loss_map_dir: 0.0415, d0.loss_plan_l1_fix_time: 3.3109, d0.loss_plan_l1_fix_dist: 0.7671, d1.loss_plan_l1_fix_time: 3.2011, d1.loss_plan_l1_fix_dist: 0.7804, d2.loss_plan_l1_fix_time: 3.1997, d2.loss_plan_l1_fix_dist: 0.8065, d3.loss_plan_l1_fix_time: 3.2071, d3.loss_plan_l1_fix_dist: 0.8414, d4.loss_plan_l1_fix_time: 3.2172, d4.loss_plan_l1_fix_dist: 0.8809, d5.loss_plan_l1_fix_time: 3.2299, d5.loss_plan_l1_fix_dist: 0.9265, d6.loss_plan_l1_fix_time: 3.2460, d6.loss_plan_l1_fix_dist: 0.9815, d0.loss_cls_all: 0.9555, d0.loss_bbox_all: 0.8677, d0.loss_cls: 0.9555, d0.loss_bbox: 0.8677, d1.loss_cls: 0.9577, d1.loss_bbox: 0.8665, d2.loss_cls: 0.9592, d2.loss_bbox: 0.8632, d3.loss_cls: 0.9608, d3.loss_bbox: 0.8638, d4.loss_cls: 0.9612, d4.loss_bbox: 0.8607, d5.loss_cls: 0.9635, d5.loss_bbox: 0.8628, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9710, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9828, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0014, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0145, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0121, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.0100, d0.loss_map_cls_all: 0.6361, d0.loss_map_pts_all: 2.9560, d0.loss_map_dir_all: 0.0417, d0.loss_map_cls: 0.6361, d0.loss_map_pts: 2.9560, d0.loss_map_dir: 0.0417, d1.loss_map_cls: 0.6385, d1.loss_map_pts: 2.5743, d1.loss_map_dir: 0.0418, d2.loss_map_cls: 0.6408, d2.loss_map_pts: 2.5646, d2.loss_map_dir: 0.0417, d3.loss_map_cls: 0.6453, d3.loss_map_pts: 2.5635, d3.loss_map_dir: 0.0416, d4.loss_map_cls: 0.6442, d4.loss_map_pts: 2.5624, d4.loss_map_dir: 0.0415, d5.loss_map_cls: 0.6472, d5.loss_map_pts: 2.5640, d5.loss_map_dir: 0.0414, loss: 83.9801, grad_norm: 185.8856 +2026-02-24 06:11:05,887 - DriveTransformer - INFO - Epoch [1][17650/39528] lr: 1.000e-04, eta: 8 days, 15:02:46, time: 0.845, data_time: 0.038, memory: 19865, loss_cls: 0.9813, loss_bbox: 0.8554, loss_traj: 1.9072, loss_traj_cls: 0.0006, loss_map_cls: 0.6540, loss_map_pts: 2.9929, loss_map_dir: 0.0448, d0.loss_plan_l1_fix_time: 3.5009, d0.loss_plan_l1_fix_dist: 0.5911, d1.loss_plan_l1_fix_time: 3.4443, d1.loss_plan_l1_fix_dist: 0.6063, d2.loss_plan_l1_fix_time: 3.4639, d2.loss_plan_l1_fix_dist: 0.6313, d3.loss_plan_l1_fix_time: 3.4826, d3.loss_plan_l1_fix_dist: 0.6641, d4.loss_plan_l1_fix_time: 3.5035, d4.loss_plan_l1_fix_dist: 0.7085, d5.loss_plan_l1_fix_time: 3.5258, d5.loss_plan_l1_fix_dist: 0.7582, d6.loss_plan_l1_fix_time: 3.5491, d6.loss_plan_l1_fix_dist: 0.8145, d0.loss_cls_all: 0.9540, d0.loss_bbox_all: 0.8510, d0.loss_cls: 0.9540, d0.loss_bbox: 0.8510, d1.loss_cls: 0.9682, d1.loss_bbox: 0.8591, d2.loss_cls: 0.9672, d2.loss_bbox: 0.8558, d3.loss_cls: 0.9796, d3.loss_bbox: 0.8575, d4.loss_cls: 0.9744, d4.loss_bbox: 0.8610, d5.loss_cls: 0.9736, d5.loss_bbox: 0.8547, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8670, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8955, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9128, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9223, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9148, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9134, d0.loss_map_cls_all: 0.6467, d0.loss_map_pts_all: 3.4167, d0.loss_map_dir_all: 0.0449, d0.loss_map_cls: 0.6467, d0.loss_map_pts: 3.4167, d0.loss_map_dir: 0.0449, d1.loss_map_cls: 0.6466, d1.loss_map_pts: 3.0015, d1.loss_map_dir: 0.0452, d2.loss_map_cls: 0.6466, d2.loss_map_pts: 2.9786, d2.loss_map_dir: 0.0450, d3.loss_map_cls: 0.6490, d3.loss_map_pts: 2.9781, d3.loss_map_dir: 0.0449, d4.loss_map_cls: 0.6504, d4.loss_map_pts: 2.9810, d4.loss_map_dir: 0.0449, d5.loss_map_cls: 0.6524, d5.loss_map_pts: 2.9869, d5.loss_map_dir: 0.0449, loss: 87.4831, grad_norm: 187.1441 +2026-02-24 06:11:45,557 - DriveTransformer - INFO - Epoch [1][17700/39528] lr: 1.000e-04, eta: 8 days, 15:01:47, time: 0.793, data_time: 0.040, memory: 19865, loss_cls: 0.9417, loss_bbox: 0.8330, loss_traj: 1.9537, loss_traj_cls: 0.0006, loss_map_cls: 0.6449, loss_map_pts: 2.5577, loss_map_dir: 0.0391, d0.loss_plan_l1_fix_time: 3.0874, d0.loss_plan_l1_fix_dist: 0.5875, d1.loss_plan_l1_fix_time: 2.9628, d1.loss_plan_l1_fix_dist: 0.6040, d2.loss_plan_l1_fix_time: 2.9642, d2.loss_plan_l1_fix_dist: 0.6251, d3.loss_plan_l1_fix_time: 2.9747, d3.loss_plan_l1_fix_dist: 0.6510, d4.loss_plan_l1_fix_time: 2.9891, d4.loss_plan_l1_fix_dist: 0.6803, d5.loss_plan_l1_fix_time: 3.0049, d5.loss_plan_l1_fix_dist: 0.7147, d6.loss_plan_l1_fix_time: 3.0222, d6.loss_plan_l1_fix_dist: 0.7512, d0.loss_cls_all: 0.9155, d0.loss_bbox_all: 0.8347, d0.loss_cls: 0.9155, d0.loss_bbox: 0.8347, d1.loss_cls: 0.9232, d1.loss_bbox: 0.8513, d2.loss_cls: 0.9274, d2.loss_bbox: 0.8391, d3.loss_cls: 0.9367, d3.loss_bbox: 0.8392, d4.loss_cls: 0.9355, d4.loss_bbox: 0.8374, d5.loss_cls: 0.9374, d5.loss_bbox: 0.8325, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9304, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9622, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9662, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9789, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9619, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.9618, d0.loss_map_cls_all: 0.6307, d0.loss_map_pts_all: 3.0280, d0.loss_map_dir_all: 0.0393, d0.loss_map_cls: 0.6307, d0.loss_map_pts: 3.0280, d0.loss_map_dir: 0.0393, d1.loss_map_cls: 0.6332, d1.loss_map_pts: 2.5717, d1.loss_map_dir: 0.0395, d2.loss_map_cls: 0.6382, d2.loss_map_pts: 2.5487, d2.loss_map_dir: 0.0393, d3.loss_map_cls: 0.6405, d3.loss_map_pts: 2.5441, d3.loss_map_dir: 0.0393, d4.loss_map_cls: 0.6428, d4.loss_map_pts: 2.5456, d4.loss_map_dir: 0.0392, d5.loss_map_cls: 0.6430, d5.loss_map_pts: 2.5500, d5.loss_map_dir: 0.0392, loss: 80.2649, grad_norm: 186.5439 +2026-02-24 06:12:24,951 - DriveTransformer - INFO - Epoch [1][17750/39528] lr: 1.000e-04, eta: 8 days, 15:00:34, time: 0.788, data_time: 0.050, memory: 19865, loss_cls: 0.9632, loss_bbox: 0.8213, loss_traj: 2.0102, loss_traj_cls: 0.0006, loss_map_cls: 0.6459, loss_map_pts: 2.3241, loss_map_dir: 0.0346, d0.loss_plan_l1_fix_time: 2.9064, d0.loss_plan_l1_fix_dist: 0.5036, d1.loss_plan_l1_fix_time: 2.7394, d1.loss_plan_l1_fix_dist: 0.5195, d2.loss_plan_l1_fix_time: 2.7299, d2.loss_plan_l1_fix_dist: 0.5425, d3.loss_plan_l1_fix_time: 2.7377, d3.loss_plan_l1_fix_dist: 0.5695, d4.loss_plan_l1_fix_time: 2.7499, d4.loss_plan_l1_fix_dist: 0.5976, d5.loss_plan_l1_fix_time: 2.7630, d5.loss_plan_l1_fix_dist: 0.6260, d6.loss_plan_l1_fix_time: 2.7787, d6.loss_plan_l1_fix_dist: 0.6584, d0.loss_cls_all: 0.9242, d0.loss_bbox_all: 0.8156, d0.loss_cls: 0.9242, d0.loss_bbox: 0.8156, d1.loss_cls: 0.9258, d1.loss_bbox: 0.8285, d2.loss_cls: 0.9402, d2.loss_bbox: 0.8218, d3.loss_cls: 0.9515, d3.loss_bbox: 0.8181, d4.loss_cls: 0.9577, d4.loss_bbox: 0.8253, d5.loss_cls: 0.9639, d5.loss_bbox: 0.8221, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9757, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0034, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0283, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0199, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0153, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.0182, d0.loss_map_cls_all: 0.6227, d0.loss_map_pts_all: 2.8845, d0.loss_map_dir_all: 0.0350, d0.loss_map_cls: 0.6227, d0.loss_map_pts: 2.8845, d0.loss_map_dir: 0.0350, d1.loss_map_cls: 0.6229, d1.loss_map_pts: 2.3318, d1.loss_map_dir: 0.0349, d2.loss_map_cls: 0.6323, d2.loss_map_pts: 2.3127, d2.loss_map_dir: 0.0347, d3.loss_map_cls: 0.6382, d3.loss_map_pts: 2.3095, d3.loss_map_dir: 0.0346, d4.loss_map_cls: 0.6394, d4.loss_map_pts: 2.3142, d4.loss_map_dir: 0.0346, d5.loss_map_cls: 0.6422, d5.loss_map_pts: 2.3146, d5.loss_map_dir: 0.0346, loss: 76.6357, grad_norm: 187.3635 +2026-02-24 06:13:06,931 - DriveTransformer - INFO - Epoch [1][17800/39528] lr: 1.000e-04, eta: 8 days, 15:01:36, time: 0.840, data_time: 0.040, memory: 19865, loss_cls: 0.9991, loss_bbox: 0.8492, loss_traj: 1.8498, loss_traj_cls: 0.0006, loss_map_cls: 0.6293, loss_map_pts: 2.8929, loss_map_dir: 0.0468, d0.loss_plan_l1_fix_time: 3.0444, d0.loss_plan_l1_fix_dist: 0.5673, d1.loss_plan_l1_fix_time: 2.9429, d1.loss_plan_l1_fix_dist: 0.5802, d2.loss_plan_l1_fix_time: 2.9493, d2.loss_plan_l1_fix_dist: 0.6036, d3.loss_plan_l1_fix_time: 2.9637, d3.loss_plan_l1_fix_dist: 0.6330, d4.loss_plan_l1_fix_time: 2.9818, d4.loss_plan_l1_fix_dist: 0.6731, d5.loss_plan_l1_fix_time: 3.0019, d5.loss_plan_l1_fix_dist: 0.7218, d6.loss_plan_l1_fix_time: 3.0238, d6.loss_plan_l1_fix_dist: 0.7772, d0.loss_cls_all: 0.9709, d0.loss_bbox_all: 0.8519, d0.loss_cls: 0.9709, d0.loss_bbox: 0.8519, d1.loss_cls: 0.9722, d1.loss_bbox: 0.8480, d2.loss_cls: 0.9870, d2.loss_bbox: 0.8458, d3.loss_cls: 0.9900, d3.loss_bbox: 0.8461, d4.loss_cls: 0.9939, d4.loss_bbox: 0.8501, d5.loss_cls: 0.9976, d5.loss_bbox: 0.8486, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8133, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8227, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8362, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8470, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8598, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8615, d0.loss_map_cls_all: 0.6148, d0.loss_map_pts_all: 3.3922, d0.loss_map_dir_all: 0.0470, d0.loss_map_cls: 0.6148, d0.loss_map_pts: 3.3922, d0.loss_map_dir: 0.0470, d1.loss_map_cls: 0.6134, d1.loss_map_pts: 2.9183, d1.loss_map_dir: 0.0472, d2.loss_map_cls: 0.6204, d2.loss_map_pts: 2.8972, d2.loss_map_dir: 0.0470, d3.loss_map_cls: 0.6239, d3.loss_map_pts: 2.8936, d3.loss_map_dir: 0.0470, d4.loss_map_cls: 0.6267, d4.loss_map_pts: 2.8929, d4.loss_map_dir: 0.0468, d5.loss_map_cls: 0.6270, d5.loss_map_pts: 2.8918, d5.loss_map_dir: 0.0467, loss: 82.5478, grad_norm: 188.2230 +2026-02-24 06:13:46,902 - DriveTransformer - INFO - Epoch [1][17850/39528] lr: 1.000e-04, eta: 8 days, 15:00:53, time: 0.799, data_time: 0.040, memory: 19865, loss_cls: 1.0069, loss_bbox: 0.8663, loss_traj: 1.5210, loss_traj_cls: 0.0006, loss_map_cls: 0.6525, loss_map_pts: 2.8658, loss_map_dir: 0.0459, d0.loss_plan_l1_fix_time: 2.9641, d0.loss_plan_l1_fix_dist: 0.6009, d1.loss_plan_l1_fix_time: 2.8405, d1.loss_plan_l1_fix_dist: 0.6116, d2.loss_plan_l1_fix_time: 2.8398, d2.loss_plan_l1_fix_dist: 0.6347, d3.loss_plan_l1_fix_time: 2.8529, d3.loss_plan_l1_fix_dist: 0.6644, d4.loss_plan_l1_fix_time: 2.8711, d4.loss_plan_l1_fix_dist: 0.6992, d5.loss_plan_l1_fix_time: 2.8914, d5.loss_plan_l1_fix_dist: 0.7416, d6.loss_plan_l1_fix_time: 2.9121, d6.loss_plan_l1_fix_dist: 0.7903, d0.loss_cls_all: 0.9769, d0.loss_bbox_all: 0.8713, d0.loss_cls: 0.9769, d0.loss_bbox: 0.8713, d1.loss_cls: 0.9813, d1.loss_bbox: 0.8619, d2.loss_cls: 0.9911, d2.loss_bbox: 0.8560, d3.loss_cls: 0.9973, d3.loss_bbox: 0.8556, d4.loss_cls: 1.0018, d4.loss_bbox: 0.8563, d5.loss_cls: 1.0080, d5.loss_bbox: 0.8615, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.4904, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.4832, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.4937, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.5030, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.5064, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5017, d0.loss_map_cls_all: 0.6227, d0.loss_map_pts_all: 3.2791, d0.loss_map_dir_all: 0.0459, d0.loss_map_cls: 0.6227, d0.loss_map_pts: 3.2791, d0.loss_map_dir: 0.0459, d1.loss_map_cls: 0.6305, d1.loss_map_pts: 2.8860, d1.loss_map_dir: 0.0464, d2.loss_map_cls: 0.6421, d2.loss_map_pts: 2.8737, d2.loss_map_dir: 0.0461, d3.loss_map_cls: 0.6448, d3.loss_map_pts: 2.8690, d3.loss_map_dir: 0.0459, d4.loss_map_cls: 0.6495, d4.loss_map_pts: 2.8648, d4.loss_map_dir: 0.0460, d5.loss_map_cls: 0.6492, d5.loss_map_pts: 2.8660, d5.loss_map_dir: 0.0459, loss: 79.5233, grad_norm: 189.4925 +2026-02-24 06:14:27,310 - DriveTransformer - INFO - Epoch [1][17900/39528] lr: 1.000e-04, eta: 8 days, 15:00:32, time: 0.808, data_time: 0.047, memory: 19865, loss_cls: 0.9453, loss_bbox: 0.8753, loss_traj: 1.9040, loss_traj_cls: 0.0006, loss_map_cls: 0.6458, loss_map_pts: 2.6788, loss_map_dir: 0.0431, d0.loss_plan_l1_fix_time: 3.3178, d0.loss_plan_l1_fix_dist: 0.6592, d1.loss_plan_l1_fix_time: 3.2621, d1.loss_plan_l1_fix_dist: 0.6747, d2.loss_plan_l1_fix_time: 3.2694, d2.loss_plan_l1_fix_dist: 0.7016, d3.loss_plan_l1_fix_time: 3.2802, d3.loss_plan_l1_fix_dist: 0.7384, d4.loss_plan_l1_fix_time: 3.2941, d4.loss_plan_l1_fix_dist: 0.7788, d5.loss_plan_l1_fix_time: 3.3084, d5.loss_plan_l1_fix_dist: 0.8235, d6.loss_plan_l1_fix_time: 3.3241, d6.loss_plan_l1_fix_dist: 0.8726, d0.loss_cls_all: 0.9321, d0.loss_bbox_all: 0.8670, d0.loss_cls: 0.9321, d0.loss_bbox: 0.8670, d1.loss_cls: 0.9348, d1.loss_bbox: 0.8676, d2.loss_cls: 0.9385, d2.loss_bbox: 0.8603, d3.loss_cls: 0.9404, d3.loss_bbox: 0.8620, d4.loss_cls: 0.9416, d4.loss_bbox: 0.8664, d5.loss_cls: 0.9421, d5.loss_bbox: 0.8736, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8492, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8608, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8609, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8729, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8716, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8796, d0.loss_map_cls_all: 0.6234, d0.loss_map_pts_all: 3.1245, d0.loss_map_dir_all: 0.0435, d0.loss_map_cls: 0.6234, d0.loss_map_pts: 3.1245, d0.loss_map_dir: 0.0435, d1.loss_map_cls: 0.6266, d1.loss_map_pts: 2.6916, d1.loss_map_dir: 0.0435, d2.loss_map_cls: 0.6360, d2.loss_map_pts: 2.6682, d2.loss_map_dir: 0.0432, d3.loss_map_cls: 0.6386, d3.loss_map_pts: 2.6615, d3.loss_map_dir: 0.0430, d4.loss_map_cls: 0.6413, d4.loss_map_pts: 2.6621, d4.loss_map_dir: 0.0430, d5.loss_map_cls: 0.6424, d5.loss_map_pts: 2.6685, d5.loss_map_dir: 0.0430, loss: 83.5563, grad_norm: 187.9706 +2026-02-24 06:15:07,016 - DriveTransformer - INFO - Epoch [1][17950/39528] lr: 1.000e-04, eta: 8 days, 14:59:35, time: 0.794, data_time: 0.041, memory: 19865, loss_cls: 0.9590, loss_bbox: 0.8758, loss_traj: 2.1170, loss_traj_cls: 0.0006, loss_map_cls: 0.6246, loss_map_pts: 2.4897, loss_map_dir: 0.0371, d0.loss_plan_l1_fix_time: 2.9968, d0.loss_plan_l1_fix_dist: 0.6078, d1.loss_plan_l1_fix_time: 2.8848, d1.loss_plan_l1_fix_dist: 0.6215, d2.loss_plan_l1_fix_time: 2.8866, d2.loss_plan_l1_fix_dist: 0.6412, d3.loss_plan_l1_fix_time: 2.8982, d3.loss_plan_l1_fix_dist: 0.6658, d4.loss_plan_l1_fix_time: 2.9150, d4.loss_plan_l1_fix_dist: 0.6963, d5.loss_plan_l1_fix_time: 2.9336, d5.loss_plan_l1_fix_dist: 0.7308, d6.loss_plan_l1_fix_time: 2.9566, d6.loss_plan_l1_fix_dist: 0.7704, d0.loss_cls_all: 0.9483, d0.loss_bbox_all: 0.8787, d0.loss_cls: 0.9483, d0.loss_bbox: 0.8787, d1.loss_cls: 0.9475, d1.loss_bbox: 0.8908, d2.loss_cls: 0.9492, d2.loss_bbox: 0.8705, d3.loss_cls: 0.9527, d3.loss_bbox: 0.8689, d4.loss_cls: 0.9528, d4.loss_bbox: 0.8717, d5.loss_cls: 0.9569, d5.loss_bbox: 0.8735, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0064, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0417, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0539, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0580, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0724, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.0896, d0.loss_map_cls_all: 0.6126, d0.loss_map_pts_all: 2.9798, d0.loss_map_dir_all: 0.0378, d0.loss_map_cls: 0.6126, d0.loss_map_pts: 2.9798, d0.loss_map_dir: 0.0378, d1.loss_map_cls: 0.6079, d1.loss_map_pts: 2.5145, d1.loss_map_dir: 0.0376, d2.loss_map_cls: 0.6121, d2.loss_map_pts: 2.4892, d2.loss_map_dir: 0.0373, d3.loss_map_cls: 0.6167, d3.loss_map_pts: 2.4821, d3.loss_map_dir: 0.0373, d4.loss_map_cls: 0.6196, d4.loss_map_pts: 2.4809, d4.loss_map_dir: 0.0371, d5.loss_map_cls: 0.6214, d5.loss_map_pts: 2.4832, d5.loss_map_dir: 0.0371, loss: 80.3973, grad_norm: 187.5768 +2026-02-24 06:15:47,827 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 06:15:47,828 - DriveTransformer - INFO - Epoch [1][18000/39528] lr: 1.000e-04, eta: 8 days, 14:59:35, time: 0.816, data_time: 0.044, memory: 19865, loss_cls: 0.9329, loss_bbox: 0.8453, loss_traj: 1.8126, loss_traj_cls: 0.0005, loss_map_cls: 0.6133, loss_map_pts: 2.4646, loss_map_dir: 0.0403, d0.loss_plan_l1_fix_time: 3.3139, d0.loss_plan_l1_fix_dist: 0.5332, d1.loss_plan_l1_fix_time: 3.2117, d1.loss_plan_l1_fix_dist: 0.5475, d2.loss_plan_l1_fix_time: 3.2080, d2.loss_plan_l1_fix_dist: 0.5744, d3.loss_plan_l1_fix_time: 3.2170, d3.loss_plan_l1_fix_dist: 0.6044, d4.loss_plan_l1_fix_time: 3.2312, d4.loss_plan_l1_fix_dist: 0.6363, d5.loss_plan_l1_fix_time: 3.2495, d5.loss_plan_l1_fix_dist: 0.6682, d6.loss_plan_l1_fix_time: 3.2699, d6.loss_plan_l1_fix_dist: 0.6990, d0.loss_cls_all: 0.9213, d0.loss_bbox_all: 0.8259, d0.loss_cls: 0.9213, d0.loss_bbox: 0.8259, d1.loss_cls: 0.9240, d1.loss_bbox: 0.8477, d2.loss_cls: 0.9251, d2.loss_bbox: 0.8313, d3.loss_cls: 0.9254, d3.loss_bbox: 0.8328, d4.loss_cls: 0.9274, d4.loss_bbox: 0.8356, d5.loss_cls: 0.9271, d5.loss_bbox: 0.8415, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7417, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.7479, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.7747, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7885, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7986, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7973, d0.loss_map_cls_all: 0.5985, d0.loss_map_pts_all: 3.0961, d0.loss_map_dir_all: 0.0410, d0.loss_map_cls: 0.5985, d0.loss_map_pts: 3.0961, d0.loss_map_dir: 0.0410, d1.loss_map_cls: 0.5998, d1.loss_map_pts: 2.5168, d1.loss_map_dir: 0.0408, d2.loss_map_cls: 0.6038, d2.loss_map_pts: 2.4698, d2.loss_map_dir: 0.0405, d3.loss_map_cls: 0.6067, d3.loss_map_pts: 2.4566, d3.loss_map_dir: 0.0404, d4.loss_map_cls: 0.6096, d4.loss_map_pts: 2.4559, d4.loss_map_dir: 0.0403, d5.loss_map_cls: 0.6107, d5.loss_map_pts: 2.4538, d5.loss_map_dir: 0.0403, loss: 79.6945, grad_norm: 187.5372 +2026-02-24 06:16:28,572 - DriveTransformer - INFO - Epoch [1][18050/39528] lr: 1.000e-04, eta: 8 days, 14:59:32, time: 0.815, data_time: 0.041, memory: 19865, loss_cls: 0.9567, loss_bbox: 0.8479, loss_traj: 1.8756, loss_traj_cls: 0.0005, loss_map_cls: 0.6589, loss_map_pts: 2.8175, loss_map_dir: 0.0424, d0.loss_plan_l1_fix_time: 3.1907, d0.loss_plan_l1_fix_dist: 0.5981, d1.loss_plan_l1_fix_time: 3.0113, d1.loss_plan_l1_fix_dist: 0.6068, d2.loss_plan_l1_fix_time: 2.9993, d2.loss_plan_l1_fix_dist: 0.6282, d3.loss_plan_l1_fix_time: 3.0095, d3.loss_plan_l1_fix_dist: 0.6591, d4.loss_plan_l1_fix_time: 3.0262, d4.loss_plan_l1_fix_dist: 0.6973, d5.loss_plan_l1_fix_time: 3.0472, d5.loss_plan_l1_fix_dist: 0.7420, d6.loss_plan_l1_fix_time: 3.0712, d6.loss_plan_l1_fix_dist: 0.7910, d0.loss_cls_all: 0.9616, d0.loss_bbox_all: 0.8503, d0.loss_cls: 0.9616, d0.loss_bbox: 0.8503, d1.loss_cls: 0.9519, d1.loss_bbox: 0.8552, d2.loss_cls: 0.9496, d2.loss_bbox: 0.8434, d3.loss_cls: 0.9526, d3.loss_bbox: 0.8455, d4.loss_cls: 0.9527, d4.loss_bbox: 0.8456, d5.loss_cls: 0.9561, d5.loss_bbox: 0.8441, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8703, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8854, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8707, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8806, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8911, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8833, d0.loss_map_cls_all: 0.6397, d0.loss_map_pts_all: 3.2543, d0.loss_map_dir_all: 0.0430, d0.loss_map_cls: 0.6397, d0.loss_map_pts: 3.2543, d0.loss_map_dir: 0.0430, d1.loss_map_cls: 0.6439, d1.loss_map_pts: 2.8442, d1.loss_map_dir: 0.0428, d2.loss_map_cls: 0.6478, d2.loss_map_pts: 2.8223, d2.loss_map_dir: 0.0426, d3.loss_map_cls: 0.6511, d3.loss_map_pts: 2.8182, d3.loss_map_dir: 0.0425, d4.loss_map_cls: 0.6549, d4.loss_map_pts: 2.8176, d4.loss_map_dir: 0.0424, d5.loss_map_cls: 0.6563, d5.loss_map_pts: 2.8194, d5.loss_map_dir: 0.0424, loss: 82.6445, grad_norm: 186.5270 +2026-02-24 06:17:08,765 - DriveTransformer - INFO - Epoch [1][18100/39528] lr: 1.000e-04, eta: 8 days, 14:59:00, time: 0.804, data_time: 0.044, memory: 19865, loss_cls: 0.9330, loss_bbox: 0.8457, loss_traj: 2.0203, loss_traj_cls: 0.0005, loss_map_cls: 0.6189, loss_map_pts: 2.6871, loss_map_dir: 0.0401, d0.loss_plan_l1_fix_time: 3.4681, d0.loss_plan_l1_fix_dist: 0.6403, d1.loss_plan_l1_fix_time: 3.3672, d1.loss_plan_l1_fix_dist: 0.6588, d2.loss_plan_l1_fix_time: 3.3719, d2.loss_plan_l1_fix_dist: 0.6910, d3.loss_plan_l1_fix_time: 3.3910, d3.loss_plan_l1_fix_dist: 0.7285, d4.loss_plan_l1_fix_time: 3.4159, d4.loss_plan_l1_fix_dist: 0.7720, d5.loss_plan_l1_fix_time: 3.4433, d5.loss_plan_l1_fix_dist: 0.8225, d6.loss_plan_l1_fix_time: 3.4744, d6.loss_plan_l1_fix_dist: 0.8803, d0.loss_cls_all: 0.9150, d0.loss_bbox_all: 0.8722, d0.loss_cls: 0.9150, d0.loss_bbox: 0.8722, d1.loss_cls: 0.9166, d1.loss_bbox: 0.8565, d2.loss_cls: 0.9159, d2.loss_bbox: 0.8480, d3.loss_cls: 0.9194, d3.loss_bbox: 0.8464, d4.loss_cls: 0.9276, d4.loss_bbox: 0.8445, d5.loss_cls: 0.9304, d5.loss_bbox: 0.8425, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0013, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0127, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0057, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0287, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0388, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0242, d0.loss_map_cls_all: 0.6058, d0.loss_map_pts_all: 3.1910, d0.loss_map_dir_all: 0.0406, d0.loss_map_cls: 0.6058, d0.loss_map_pts: 3.1910, d0.loss_map_dir: 0.0406, d1.loss_map_cls: 0.6061, d1.loss_map_pts: 2.6965, d1.loss_map_dir: 0.0404, d2.loss_map_cls: 0.6099, d2.loss_map_pts: 2.6787, d2.loss_map_dir: 0.0403, d3.loss_map_cls: 0.6112, d3.loss_map_pts: 2.6776, d3.loss_map_dir: 0.0402, d4.loss_map_cls: 0.6144, d4.loss_map_pts: 2.6788, d4.loss_map_dir: 0.0401, d5.loss_map_cls: 0.6167, d5.loss_map_pts: 2.6852, d5.loss_map_dir: 0.0401, loss: 85.1582, grad_norm: 187.5981 +2026-02-24 06:17:46,947 - DriveTransformer - INFO - Epoch [1][18150/39528] lr: 1.000e-04, eta: 8 days, 14:56:45, time: 0.764, data_time: 0.042, memory: 19865, loss_cls: 0.9293, loss_bbox: 0.8663, loss_traj: 1.8442, loss_traj_cls: 0.0006, loss_map_cls: 0.6482, loss_map_pts: 2.2741, loss_map_dir: 0.0367, d0.loss_plan_l1_fix_time: 2.9176, d0.loss_plan_l1_fix_dist: 0.5010, d1.loss_plan_l1_fix_time: 2.7580, d1.loss_plan_l1_fix_dist: 0.5172, d2.loss_plan_l1_fix_time: 2.7560, d2.loss_plan_l1_fix_dist: 0.5454, d3.loss_plan_l1_fix_time: 2.7713, d3.loss_plan_l1_fix_dist: 0.5787, d4.loss_plan_l1_fix_time: 2.7925, d4.loss_plan_l1_fix_dist: 0.6191, d5.loss_plan_l1_fix_time: 2.8153, d5.loss_plan_l1_fix_dist: 0.6640, d6.loss_plan_l1_fix_time: 2.8402, d6.loss_plan_l1_fix_dist: 0.7092, d0.loss_cls_all: 0.9202, d0.loss_bbox_all: 0.8773, d0.loss_cls: 0.9202, d0.loss_bbox: 0.8773, d1.loss_cls: 0.9193, d1.loss_bbox: 0.8753, d2.loss_cls: 0.9223, d2.loss_bbox: 0.8717, d3.loss_cls: 0.9275, d3.loss_bbox: 0.8669, d4.loss_cls: 0.9307, d4.loss_bbox: 0.8656, d5.loss_cls: 0.9305, d5.loss_bbox: 0.8665, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8049, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8193, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8412, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8490, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8463, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8475, d0.loss_map_cls_all: 0.6296, d0.loss_map_pts_all: 2.7596, d0.loss_map_dir_all: 0.0367, d0.loss_map_cls: 0.6296, d0.loss_map_pts: 2.7596, d0.loss_map_dir: 0.0367, d1.loss_map_cls: 0.6340, d1.loss_map_pts: 2.3125, d1.loss_map_dir: 0.0371, d2.loss_map_cls: 0.6368, d2.loss_map_pts: 2.2867, d2.loss_map_dir: 0.0368, d3.loss_map_cls: 0.6399, d3.loss_map_pts: 2.2743, d3.loss_map_dir: 0.0367, d4.loss_map_cls: 0.6428, d4.loss_map_pts: 2.2715, d4.loss_map_dir: 0.0366, d5.loss_map_cls: 0.6456, d5.loss_map_pts: 2.2682, d5.loss_map_dir: 0.0366, loss: 75.6153, grad_norm: 186.8983 +2026-02-24 06:18:27,736 - DriveTransformer - INFO - Epoch [1][18200/39528] lr: 1.000e-04, eta: 8 days, 14:56:43, time: 0.816, data_time: 0.042, memory: 19865, loss_cls: 0.9561, loss_bbox: 0.8811, loss_traj: 2.2226, loss_traj_cls: 0.0006, loss_map_cls: 0.6433, loss_map_pts: 2.6665, loss_map_dir: 0.0387, d0.loss_plan_l1_fix_time: 3.5677, d0.loss_plan_l1_fix_dist: 0.6204, d1.loss_plan_l1_fix_time: 3.4647, d1.loss_plan_l1_fix_dist: 0.6405, d2.loss_plan_l1_fix_time: 3.4692, d2.loss_plan_l1_fix_dist: 0.6704, d3.loss_plan_l1_fix_time: 3.4802, d3.loss_plan_l1_fix_dist: 0.7112, d4.loss_plan_l1_fix_time: 3.4957, d4.loss_plan_l1_fix_dist: 0.7578, d5.loss_plan_l1_fix_time: 3.5127, d5.loss_plan_l1_fix_dist: 0.8059, d6.loss_plan_l1_fix_time: 3.5307, d6.loss_plan_l1_fix_dist: 0.8538, d0.loss_cls_all: 0.9371, d0.loss_bbox_all: 0.8960, d0.loss_cls: 0.9371, d0.loss_bbox: 0.8960, d1.loss_cls: 0.9393, d1.loss_bbox: 0.8820, d2.loss_cls: 0.9432, d2.loss_bbox: 0.8794, d3.loss_cls: 0.9501, d3.loss_bbox: 0.8743, d4.loss_cls: 0.9511, d4.loss_bbox: 0.8757, d5.loss_cls: 0.9541, d5.loss_bbox: 0.8757, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1394, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1632, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1793, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1906, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1937, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1968, d0.loss_map_cls_all: 0.6207, d0.loss_map_pts_all: 3.1168, d0.loss_map_dir_all: 0.0390, d0.loss_map_cls: 0.6207, d0.loss_map_pts: 3.1168, d0.loss_map_dir: 0.0390, d1.loss_map_cls: 0.6251, d1.loss_map_pts: 2.6883, d1.loss_map_dir: 0.0391, d2.loss_map_cls: 0.6325, d2.loss_map_pts: 2.6657, d2.loss_map_dir: 0.0388, d3.loss_map_cls: 0.6347, d3.loss_map_pts: 2.6599, d3.loss_map_dir: 0.0388, d4.loss_map_cls: 0.6385, d4.loss_map_pts: 2.6601, d4.loss_map_dir: 0.0387, d5.loss_map_cls: 0.6409, d5.loss_map_pts: 2.6602, d5.loss_map_dir: 0.0387, loss: 87.0999, grad_norm: 186.5481 +2026-02-24 06:19:09,235 - DriveTransformer - INFO - Epoch [1][18250/39528] lr: 1.000e-04, eta: 8 days, 14:57:19, time: 0.830, data_time: 0.038, memory: 19865, loss_cls: 0.9769, loss_bbox: 0.8823, loss_traj: 1.8894, loss_traj_cls: 0.0006, loss_map_cls: 0.6410, loss_map_pts: 2.7722, loss_map_dir: 0.0409, d0.loss_plan_l1_fix_time: 3.0313, d0.loss_plan_l1_fix_dist: 0.5786, d1.loss_plan_l1_fix_time: 2.9451, d1.loss_plan_l1_fix_dist: 0.5915, d2.loss_plan_l1_fix_time: 2.9612, d2.loss_plan_l1_fix_dist: 0.6196, d3.loss_plan_l1_fix_time: 2.9821, d3.loss_plan_l1_fix_dist: 0.6517, d4.loss_plan_l1_fix_time: 3.0049, d4.loss_plan_l1_fix_dist: 0.6914, d5.loss_plan_l1_fix_time: 3.0278, d5.loss_plan_l1_fix_dist: 0.7398, d6.loss_plan_l1_fix_time: 3.0513, d6.loss_plan_l1_fix_dist: 0.7946, d0.loss_cls_all: 0.9709, d0.loss_bbox_all: 0.8755, d0.loss_cls: 0.9709, d0.loss_bbox: 0.8755, d1.loss_cls: 0.9665, d1.loss_bbox: 0.8783, d2.loss_cls: 0.9746, d2.loss_bbox: 0.8747, d3.loss_cls: 0.9771, d3.loss_bbox: 0.8737, d4.loss_cls: 0.9743, d4.loss_bbox: 0.8772, d5.loss_cls: 0.9759, d5.loss_bbox: 0.8778, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8503, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8643, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8728, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8811, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8914, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8931, d0.loss_map_cls_all: 0.6171, d0.loss_map_pts_all: 3.2306, d0.loss_map_dir_all: 0.0407, d0.loss_map_cls: 0.6171, d0.loss_map_pts: 3.2306, d0.loss_map_dir: 0.0407, d1.loss_map_cls: 0.6225, d1.loss_map_pts: 2.7754, d1.loss_map_dir: 0.0410, d2.loss_map_cls: 0.6259, d2.loss_map_pts: 2.7528, d2.loss_map_dir: 0.0408, d3.loss_map_cls: 0.6300, d3.loss_map_pts: 2.7515, d3.loss_map_dir: 0.0408, d4.loss_map_cls: 0.6348, d4.loss_map_pts: 2.7550, d4.loss_map_dir: 0.0408, d5.loss_map_cls: 0.6374, d5.loss_map_pts: 2.7656, d5.loss_map_dir: 0.0407, loss: 82.0052, grad_norm: 185.5549 +2026-02-24 06:19:50,162 - DriveTransformer - INFO - Epoch [1][18300/39528] lr: 1.000e-04, eta: 8 days, 14:57:23, time: 0.818, data_time: 0.043, memory: 19865, loss_cls: 0.9057, loss_bbox: 0.8555, loss_traj: 1.9050, loss_traj_cls: 0.0006, loss_map_cls: 0.6550, loss_map_pts: 2.4644, loss_map_dir: 0.0353, d0.loss_plan_l1_fix_time: 2.6133, d0.loss_plan_l1_fix_dist: 0.5533, d1.loss_plan_l1_fix_time: 2.4926, d1.loss_plan_l1_fix_dist: 0.5691, d2.loss_plan_l1_fix_time: 2.4955, d2.loss_plan_l1_fix_dist: 0.5946, d3.loss_plan_l1_fix_time: 2.5095, d3.loss_plan_l1_fix_dist: 0.6298, d4.loss_plan_l1_fix_time: 2.5269, d4.loss_plan_l1_fix_dist: 0.6682, d5.loss_plan_l1_fix_time: 2.5453, d5.loss_plan_l1_fix_dist: 0.7095, d6.loss_plan_l1_fix_time: 2.5652, d6.loss_plan_l1_fix_dist: 0.7556, d0.loss_cls_all: 0.9012, d0.loss_bbox_all: 0.8404, d0.loss_cls: 0.9012, d0.loss_bbox: 0.8404, d1.loss_cls: 0.8973, d1.loss_bbox: 0.8603, d2.loss_cls: 0.8964, d2.loss_bbox: 0.8401, d3.loss_cls: 0.9009, d3.loss_bbox: 0.8384, d4.loss_cls: 0.8994, d4.loss_bbox: 0.8445, d5.loss_cls: 0.9012, d5.loss_bbox: 0.8511, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8629, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8887, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8802, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8870, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9042, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9185, d0.loss_map_cls_all: 0.6356, d0.loss_map_pts_all: 2.9989, d0.loss_map_dir_all: 0.0356, d0.loss_map_cls: 0.6356, d0.loss_map_pts: 2.9989, d0.loss_map_dir: 0.0356, d1.loss_map_cls: 0.6324, d1.loss_map_pts: 2.4823, d1.loss_map_dir: 0.0356, d2.loss_map_cls: 0.6374, d2.loss_map_pts: 2.4582, d2.loss_map_dir: 0.0355, d3.loss_map_cls: 0.6426, d3.loss_map_pts: 2.4534, d3.loss_map_dir: 0.0354, d4.loss_map_cls: 0.6454, d4.loss_map_pts: 2.4546, d4.loss_map_dir: 0.0354, d5.loss_map_cls: 0.6483, d5.loss_map_pts: 2.4598, d5.loss_map_dir: 0.0353, loss: 75.6394, grad_norm: 184.5193 +2026-02-24 06:20:31,303 - DriveTransformer - INFO - Epoch [1][18350/39528] lr: 1.000e-04, eta: 8 days, 14:57:39, time: 0.823, data_time: 0.047, memory: 19865, loss_cls: 0.8949, loss_bbox: 0.8084, loss_traj: 1.7965, loss_traj_cls: 0.0006, loss_map_cls: 0.6143, loss_map_pts: 2.4095, loss_map_dir: 0.0381, d0.loss_plan_l1_fix_time: 2.6572, d0.loss_plan_l1_fix_dist: 0.4842, d1.loss_plan_l1_fix_time: 2.5637, d1.loss_plan_l1_fix_dist: 0.5067, d2.loss_plan_l1_fix_time: 2.5751, d2.loss_plan_l1_fix_dist: 0.5422, d3.loss_plan_l1_fix_time: 2.5929, d3.loss_plan_l1_fix_dist: 0.5882, d4.loss_plan_l1_fix_time: 2.6125, d4.loss_plan_l1_fix_dist: 0.6440, d5.loss_plan_l1_fix_time: 2.6339, d5.loss_plan_l1_fix_dist: 0.7012, d6.loss_plan_l1_fix_time: 2.6546, d6.loss_plan_l1_fix_dist: 0.7648, d0.loss_cls_all: 0.8853, d0.loss_bbox_all: 0.7999, d0.loss_cls: 0.8853, d0.loss_bbox: 0.7999, d1.loss_cls: 0.8846, d1.loss_bbox: 0.8184, d2.loss_cls: 0.8876, d2.loss_bbox: 0.7954, d3.loss_cls: 0.8893, d3.loss_bbox: 0.7966, d4.loss_cls: 0.8913, d4.loss_bbox: 0.7982, d5.loss_cls: 0.8924, d5.loss_bbox: 0.8032, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7623, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.7678, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.7824, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7858, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7976, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8127, d0.loss_map_cls_all: 0.5993, d0.loss_map_pts_all: 3.0077, d0.loss_map_dir_all: 0.0383, d0.loss_map_cls: 0.5993, d0.loss_map_pts: 3.0077, d0.loss_map_dir: 0.0383, d1.loss_map_cls: 0.5984, d1.loss_map_pts: 2.4273, d1.loss_map_dir: 0.0384, d2.loss_map_cls: 0.6028, d2.loss_map_pts: 2.4012, d2.loss_map_dir: 0.0382, d3.loss_map_cls: 0.6073, d3.loss_map_pts: 2.3972, d3.loss_map_dir: 0.0382, d4.loss_map_cls: 0.6087, d4.loss_map_pts: 2.3997, d4.loss_map_dir: 0.0381, d5.loss_map_cls: 0.6113, d5.loss_map_pts: 2.4008, d5.loss_map_dir: 0.0381, loss: 74.1591, grad_norm: 182.2818 +2026-02-24 06:21:11,035 - DriveTransformer - INFO - Epoch [1][18400/39528] lr: 1.000e-04, eta: 8 days, 14:56:47, time: 0.796, data_time: 0.037, memory: 19865, loss_cls: 0.9699, loss_bbox: 0.8845, loss_traj: 2.0069, loss_traj_cls: 0.0005, loss_map_cls: 0.6508, loss_map_pts: 2.5046, loss_map_dir: 0.0382, d0.loss_plan_l1_fix_time: 3.2577, d0.loss_plan_l1_fix_dist: 0.5131, d1.loss_plan_l1_fix_time: 3.1193, d1.loss_plan_l1_fix_dist: 0.5373, d2.loss_plan_l1_fix_time: 3.1141, d2.loss_plan_l1_fix_dist: 0.5715, d3.loss_plan_l1_fix_time: 3.1239, d3.loss_plan_l1_fix_dist: 0.6074, d4.loss_plan_l1_fix_time: 3.1377, d4.loss_plan_l1_fix_dist: 0.6489, d5.loss_plan_l1_fix_time: 3.1528, d5.loss_plan_l1_fix_dist: 0.6955, d6.loss_plan_l1_fix_time: 3.1698, d6.loss_plan_l1_fix_dist: 0.7360, d0.loss_cls_all: 0.9765, d0.loss_bbox_all: 0.8783, d0.loss_cls: 0.9765, d0.loss_bbox: 0.8783, d1.loss_cls: 0.9717, d1.loss_bbox: 0.8812, d2.loss_cls: 0.9703, d2.loss_bbox: 0.8717, d3.loss_cls: 0.9665, d3.loss_bbox: 0.8708, d4.loss_cls: 0.9649, d4.loss_bbox: 0.8735, d5.loss_cls: 0.9661, d5.loss_bbox: 0.8775, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9566, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9663, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9763, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9846, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9896, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9914, d0.loss_map_cls_all: 0.6334, d0.loss_map_pts_all: 3.0572, d0.loss_map_dir_all: 0.0380, d0.loss_map_cls: 0.6334, d0.loss_map_pts: 3.0572, d0.loss_map_dir: 0.0380, d1.loss_map_cls: 0.6336, d1.loss_map_pts: 2.5231, d1.loss_map_dir: 0.0384, d2.loss_map_cls: 0.6377, d2.loss_map_pts: 2.5055, d2.loss_map_dir: 0.0383, d3.loss_map_cls: 0.6413, d3.loss_map_pts: 2.5030, d3.loss_map_dir: 0.0383, d4.loss_map_cls: 0.6432, d4.loss_map_pts: 2.5017, d4.loss_map_dir: 0.0382, d5.loss_map_cls: 0.6458, d5.loss_map_pts: 2.5025, d5.loss_map_dir: 0.0382, loss: 81.6181, grad_norm: 181.3532 +2026-02-24 06:21:51,564 - DriveTransformer - INFO - Epoch [1][18450/39528] lr: 1.000e-04, eta: 8 days, 14:56:28, time: 0.809, data_time: 0.039, memory: 19865, loss_cls: 0.9042, loss_bbox: 0.8156, loss_traj: 1.8805, loss_traj_cls: 0.0005, loss_map_cls: 0.6440, loss_map_pts: 2.4782, loss_map_dir: 0.0429, d0.loss_plan_l1_fix_time: 3.0194, d0.loss_plan_l1_fix_dist: 0.5014, d1.loss_plan_l1_fix_time: 2.8501, d1.loss_plan_l1_fix_dist: 0.5257, d2.loss_plan_l1_fix_time: 2.8471, d2.loss_plan_l1_fix_dist: 0.5621, d3.loss_plan_l1_fix_time: 2.8567, d3.loss_plan_l1_fix_dist: 0.6065, d4.loss_plan_l1_fix_time: 2.8703, d4.loss_plan_l1_fix_dist: 0.6529, d5.loss_plan_l1_fix_time: 2.8849, d5.loss_plan_l1_fix_dist: 0.7056, d6.loss_plan_l1_fix_time: 2.9022, d6.loss_plan_l1_fix_dist: 0.7687, d0.loss_cls_all: 0.9025, d0.loss_bbox_all: 0.8283, d0.loss_cls: 0.9025, d0.loss_bbox: 0.8283, d1.loss_cls: 0.9064, d1.loss_bbox: 0.8080, d2.loss_cls: 0.9037, d2.loss_bbox: 0.8085, d3.loss_cls: 0.9000, d3.loss_bbox: 0.8014, d4.loss_cls: 0.8994, d4.loss_bbox: 0.8048, d5.loss_cls: 0.9018, d5.loss_bbox: 0.8103, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8258, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8860, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8546, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8657, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8684, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8614, d0.loss_map_cls_all: 0.6154, d0.loss_map_pts_all: 3.0877, d0.loss_map_dir_all: 0.0427, d0.loss_map_cls: 0.6154, d0.loss_map_pts: 3.0877, d0.loss_map_dir: 0.0427, d1.loss_map_cls: 0.6259, d1.loss_map_pts: 2.5480, d1.loss_map_dir: 0.0433, d2.loss_map_cls: 0.6282, d2.loss_map_pts: 2.4981, d2.loss_map_dir: 0.0431, d3.loss_map_cls: 0.6319, d3.loss_map_pts: 2.4858, d3.loss_map_dir: 0.0430, d4.loss_map_cls: 0.6335, d4.loss_map_pts: 2.4819, d4.loss_map_dir: 0.0429, d5.loss_map_cls: 0.6367, d5.loss_map_pts: 2.4776, d5.loss_map_dir: 0.0429, loss: 77.8448, grad_norm: 180.2009 +2026-02-24 06:22:31,049 - DriveTransformer - INFO - Epoch [1][18500/39528] lr: 1.000e-04, eta: 8 days, 14:55:19, time: 0.790, data_time: 0.048, memory: 19865, loss_cls: 0.9479, loss_bbox: 0.8589, loss_traj: 1.9788, loss_traj_cls: 0.0005, loss_map_cls: 0.6495, loss_map_pts: 2.4152, loss_map_dir: 0.0385, d0.loss_plan_l1_fix_time: 3.3613, d0.loss_plan_l1_fix_dist: 0.5577, d1.loss_plan_l1_fix_time: 3.1860, d1.loss_plan_l1_fix_dist: 0.5804, d2.loss_plan_l1_fix_time: 3.1734, d2.loss_plan_l1_fix_dist: 0.6143, d3.loss_plan_l1_fix_time: 3.1804, d3.loss_plan_l1_fix_dist: 0.6583, d4.loss_plan_l1_fix_time: 3.1936, d4.loss_plan_l1_fix_dist: 0.7062, d5.loss_plan_l1_fix_time: 3.2083, d5.loss_plan_l1_fix_dist: 0.7558, d6.loss_plan_l1_fix_time: 3.2247, d6.loss_plan_l1_fix_dist: 0.8133, d0.loss_cls_all: 0.9582, d0.loss_bbox_all: 0.8670, d0.loss_cls: 0.9582, d0.loss_bbox: 0.8670, d1.loss_cls: 0.9496, d1.loss_bbox: 0.8537, d2.loss_cls: 0.9491, d2.loss_bbox: 0.8576, d3.loss_cls: 0.9487, d3.loss_bbox: 0.8548, d4.loss_cls: 0.9489, d4.loss_bbox: 0.8546, d5.loss_cls: 0.9506, d5.loss_bbox: 0.8564, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9469, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9620, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9612, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9657, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9721, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9726, d0.loss_map_cls_all: 0.6355, d0.loss_map_pts_all: 2.8882, d0.loss_map_dir_all: 0.0383, d0.loss_map_cls: 0.6355, d0.loss_map_pts: 2.8882, d0.loss_map_dir: 0.0383, d1.loss_map_cls: 0.6331, d1.loss_map_pts: 2.4542, d1.loss_map_dir: 0.0389, d2.loss_map_cls: 0.6366, d2.loss_map_pts: 2.4269, d2.loss_map_dir: 0.0387, d3.loss_map_cls: 0.6407, d3.loss_map_pts: 2.4174, d3.loss_map_dir: 0.0386, d4.loss_map_cls: 0.6433, d4.loss_map_pts: 2.4126, d4.loss_map_dir: 0.0385, d5.loss_map_cls: 0.6459, d5.loss_map_pts: 2.4106, d5.loss_map_dir: 0.0385, loss: 81.1993, grad_norm: 180.7041 +2026-02-24 06:23:09,320 - DriveTransformer - INFO - Epoch [1][18550/39528] lr: 1.000e-04, eta: 8 days, 14:53:11, time: 0.765, data_time: 0.040, memory: 19865, loss_cls: 0.9219, loss_bbox: 0.8960, loss_traj: 2.1321, loss_traj_cls: 0.0005, loss_map_cls: 0.6536, loss_map_pts: 2.7501, loss_map_dir: 0.0382, d0.loss_plan_l1_fix_time: 2.9621, d0.loss_plan_l1_fix_dist: 0.6793, d1.loss_plan_l1_fix_time: 2.8544, d1.loss_plan_l1_fix_dist: 0.6956, d2.loss_plan_l1_fix_time: 2.8621, d2.loss_plan_l1_fix_dist: 0.7236, d3.loss_plan_l1_fix_time: 2.8765, d3.loss_plan_l1_fix_dist: 0.7532, d4.loss_plan_l1_fix_time: 2.8938, d4.loss_plan_l1_fix_dist: 0.7892, d5.loss_plan_l1_fix_time: 2.9131, d5.loss_plan_l1_fix_dist: 0.8268, d6.loss_plan_l1_fix_time: 2.9336, d6.loss_plan_l1_fix_dist: 0.8622, d0.loss_cls_all: 0.9267, d0.loss_bbox_all: 0.9172, d0.loss_cls: 0.9267, d0.loss_bbox: 0.9172, d1.loss_cls: 0.9218, d1.loss_bbox: 0.8974, d2.loss_cls: 0.9266, d2.loss_bbox: 0.8946, d3.loss_cls: 0.9250, d3.loss_bbox: 0.8860, d4.loss_cls: 0.9250, d4.loss_bbox: 0.8884, d5.loss_cls: 0.9226, d5.loss_bbox: 0.8893, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0304, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0750, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0932, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1251, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1194, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1281, d0.loss_map_cls_all: 0.6415, d0.loss_map_pts_all: 3.1343, d0.loss_map_dir_all: 0.0381, d0.loss_map_cls: 0.6415, d0.loss_map_pts: 3.1343, d0.loss_map_dir: 0.0381, d1.loss_map_cls: 0.6390, d1.loss_map_pts: 2.7703, d1.loss_map_dir: 0.0385, d2.loss_map_cls: 0.6418, d2.loss_map_pts: 2.7547, d2.loss_map_dir: 0.0384, d3.loss_map_cls: 0.6426, d3.loss_map_pts: 2.7485, d3.loss_map_dir: 0.0382, d4.loss_map_cls: 0.6465, d4.loss_map_pts: 2.7427, d4.loss_map_dir: 0.0382, d5.loss_map_cls: 0.6491, d5.loss_map_pts: 2.7454, d5.loss_map_dir: 0.0383, loss: 83.1567, grad_norm: 180.8765 +2026-02-24 06:23:49,096 - DriveTransformer - INFO - Epoch [1][18600/39528] lr: 1.000e-04, eta: 8 days, 14:52:18, time: 0.796, data_time: 0.040, memory: 19865, loss_cls: 0.9688, loss_bbox: 0.8683, loss_traj: 1.9436, loss_traj_cls: 0.0005, loss_map_cls: 0.6396, loss_map_pts: 2.7663, loss_map_dir: 0.0413, d0.loss_plan_l1_fix_time: 3.4968, d0.loss_plan_l1_fix_dist: 0.7076, d1.loss_plan_l1_fix_time: 3.4488, d1.loss_plan_l1_fix_dist: 0.7323, d2.loss_plan_l1_fix_time: 3.4651, d2.loss_plan_l1_fix_dist: 0.7669, d3.loss_plan_l1_fix_time: 3.4810, d3.loss_plan_l1_fix_dist: 0.8053, d4.loss_plan_l1_fix_time: 3.4959, d4.loss_plan_l1_fix_dist: 0.8459, d5.loss_plan_l1_fix_time: 3.5105, d5.loss_plan_l1_fix_dist: 0.8923, d6.loss_plan_l1_fix_time: 3.5244, d6.loss_plan_l1_fix_dist: 0.9445, d0.loss_cls_all: 0.9659, d0.loss_bbox_all: 0.8633, d0.loss_cls: 0.9659, d0.loss_bbox: 0.8633, d1.loss_cls: 0.9660, d1.loss_bbox: 0.8621, d2.loss_cls: 0.9662, d2.loss_bbox: 0.8521, d3.loss_cls: 0.9656, d3.loss_bbox: 0.8545, d4.loss_cls: 0.9666, d4.loss_bbox: 0.8584, d5.loss_cls: 0.9680, d5.loss_bbox: 0.8626, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8970, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9161, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9235, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9359, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9638, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9624, d0.loss_map_cls_all: 0.6309, d0.loss_map_pts_all: 3.1572, d0.loss_map_dir_all: 0.0413, d0.loss_map_cls: 0.6309, d0.loss_map_pts: 3.1572, d0.loss_map_dir: 0.0413, d1.loss_map_cls: 0.6271, d1.loss_map_pts: 2.7794, d1.loss_map_dir: 0.0418, d2.loss_map_cls: 0.6289, d2.loss_map_pts: 2.7601, d2.loss_map_dir: 0.0415, d3.loss_map_cls: 0.6320, d3.loss_map_pts: 2.7571, d3.loss_map_dir: 0.0413, d4.loss_map_cls: 0.6345, d4.loss_map_pts: 2.7586, d4.loss_map_dir: 0.0414, d5.loss_map_cls: 0.6365, d5.loss_map_pts: 2.7634, d5.loss_map_dir: 0.0413, loss: 86.5719, grad_norm: 179.1764 +2026-02-24 06:24:29,662 - DriveTransformer - INFO - Epoch [1][18650/39528] lr: 1.000e-04, eta: 8 days, 14:52:04, time: 0.811, data_time: 0.042, memory: 19865, loss_cls: 0.9199, loss_bbox: 0.8189, loss_traj: 1.7492, loss_traj_cls: 0.0006, loss_map_cls: 0.6240, loss_map_pts: 2.5206, loss_map_dir: 0.0412, d0.loss_plan_l1_fix_time: 2.7373, d0.loss_plan_l1_fix_dist: 0.5270, d1.loss_plan_l1_fix_time: 2.6268, d1.loss_plan_l1_fix_dist: 0.5480, d2.loss_plan_l1_fix_time: 2.6371, d2.loss_plan_l1_fix_dist: 0.5812, d3.loss_plan_l1_fix_time: 2.6563, d3.loss_plan_l1_fix_dist: 0.6241, d4.loss_plan_l1_fix_time: 2.6772, d4.loss_plan_l1_fix_dist: 0.6640, d5.loss_plan_l1_fix_time: 2.6986, d5.loss_plan_l1_fix_dist: 0.7073, d6.loss_plan_l1_fix_time: 2.7209, d6.loss_plan_l1_fix_dist: 0.7564, d0.loss_cls_all: 0.9046, d0.loss_bbox_all: 0.8148, d0.loss_cls: 0.9046, d0.loss_bbox: 0.8148, d1.loss_cls: 0.9057, d1.loss_bbox: 0.8228, d2.loss_cls: 0.9134, d2.loss_bbox: 0.8148, d3.loss_cls: 0.9153, d3.loss_bbox: 0.8226, d4.loss_cls: 0.9212, d4.loss_bbox: 0.8131, d5.loss_cls: 0.9221, d5.loss_bbox: 0.8156, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7058, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.7085, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7246, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7303, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7422, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7480, d0.loss_map_cls_all: 0.6109, d0.loss_map_pts_all: 3.1280, d0.loss_map_dir_all: 0.0410, d0.loss_map_cls: 0.6109, d0.loss_map_pts: 3.1280, d0.loss_map_dir: 0.0410, d1.loss_map_cls: 0.6103, d1.loss_map_pts: 2.5794, d1.loss_map_dir: 0.0415, d2.loss_map_cls: 0.6110, d2.loss_map_pts: 2.5311, d2.loss_map_dir: 0.0414, d3.loss_map_cls: 0.6145, d3.loss_map_pts: 2.5199, d3.loss_map_dir: 0.0412, d4.loss_map_cls: 0.6172, d4.loss_map_pts: 2.5207, d4.loss_map_dir: 0.0411, d5.loss_map_cls: 0.6200, d5.loss_map_pts: 2.5170, d5.loss_map_dir: 0.0411, loss: 75.8117, grad_norm: 181.7019 +2026-02-24 06:25:10,423 - DriveTransformer - INFO - Epoch [1][18700/39528] lr: 1.000e-04, eta: 8 days, 14:52:00, time: 0.815, data_time: 0.047, memory: 19865, loss_cls: 0.9763, loss_bbox: 0.8886, loss_traj: 2.0198, loss_traj_cls: 0.0006, loss_map_cls: 0.6534, loss_map_pts: 2.8322, loss_map_dir: 0.0424, d0.loss_plan_l1_fix_time: 3.1503, d0.loss_plan_l1_fix_dist: 0.5999, d1.loss_plan_l1_fix_time: 2.9769, d1.loss_plan_l1_fix_dist: 0.6239, d2.loss_plan_l1_fix_time: 2.9650, d2.loss_plan_l1_fix_dist: 0.6612, d3.loss_plan_l1_fix_time: 2.9725, d3.loss_plan_l1_fix_dist: 0.7031, d4.loss_plan_l1_fix_time: 2.9856, d4.loss_plan_l1_fix_dist: 0.7490, d5.loss_plan_l1_fix_time: 3.0017, d5.loss_plan_l1_fix_dist: 0.8014, d6.loss_plan_l1_fix_time: 3.0222, d6.loss_plan_l1_fix_dist: 0.8545, d0.loss_cls_all: 0.9674, d0.loss_bbox_all: 0.8751, d0.loss_cls: 0.9674, d0.loss_bbox: 0.8751, d1.loss_cls: 0.9655, d1.loss_bbox: 0.8883, d2.loss_cls: 0.9699, d2.loss_bbox: 0.8774, d3.loss_cls: 0.9693, d3.loss_bbox: 0.8793, d4.loss_cls: 0.9761, d4.loss_bbox: 0.8804, d5.loss_cls: 0.9756, d5.loss_bbox: 0.8847, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9649, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9863, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9817, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9843, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0121, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9993, d0.loss_map_cls_all: 0.6374, d0.loss_map_pts_all: 3.2367, d0.loss_map_dir_all: 0.0419, d0.loss_map_cls: 0.6374, d0.loss_map_pts: 3.2367, d0.loss_map_dir: 0.0419, d1.loss_map_cls: 0.6430, d1.loss_map_pts: 2.8453, d1.loss_map_dir: 0.0426, d2.loss_map_cls: 0.6423, d2.loss_map_pts: 2.8160, d2.loss_map_dir: 0.0424, d3.loss_map_cls: 0.6455, d3.loss_map_pts: 2.8121, d3.loss_map_dir: 0.0421, d4.loss_map_cls: 0.6479, d4.loss_map_pts: 2.8183, d4.loss_map_dir: 0.0422, d5.loss_map_cls: 0.6495, d5.loss_map_pts: 2.8226, d5.loss_map_dir: 0.0422, loss: 83.7494, grad_norm: 181.5993 +2026-02-24 06:25:50,484 - DriveTransformer - INFO - Epoch [1][18750/39528] lr: 1.000e-04, eta: 8 days, 14:51:21, time: 0.801, data_time: 0.036, memory: 19865, loss_cls: 0.9312, loss_bbox: 0.8515, loss_traj: 1.6233, loss_traj_cls: 0.0006, loss_map_cls: 0.6638, loss_map_pts: 2.5561, loss_map_dir: 0.0433, d0.loss_plan_l1_fix_time: 2.8204, d0.loss_plan_l1_fix_dist: 0.7175, d1.loss_plan_l1_fix_time: 2.6726, d1.loss_plan_l1_fix_dist: 0.7398, d2.loss_plan_l1_fix_time: 2.6680, d2.loss_plan_l1_fix_dist: 0.7706, d3.loss_plan_l1_fix_time: 2.6751, d3.loss_plan_l1_fix_dist: 0.8106, d4.loss_plan_l1_fix_time: 2.6867, d4.loss_plan_l1_fix_dist: 0.8554, d5.loss_plan_l1_fix_time: 2.7002, d5.loss_plan_l1_fix_dist: 0.9047, d6.loss_plan_l1_fix_time: 2.7149, d6.loss_plan_l1_fix_dist: 0.9564, d0.loss_cls_all: 0.9186, d0.loss_bbox_all: 0.8423, d0.loss_cls: 0.9186, d0.loss_bbox: 0.8423, d1.loss_cls: 0.9156, d1.loss_bbox: 0.8570, d2.loss_cls: 0.9169, d2.loss_bbox: 0.8432, d3.loss_cls: 0.9231, d3.loss_bbox: 0.8406, d4.loss_cls: 0.9250, d4.loss_bbox: 0.8434, d5.loss_cls: 0.9279, d5.loss_bbox: 0.8456, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.6043, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.6072, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6064, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6189, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.6128, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6172, d0.loss_map_cls_all: 0.6517, d0.loss_map_pts_all: 3.0775, d0.loss_map_dir_all: 0.0434, d0.loss_map_cls: 0.6517, d0.loss_map_pts: 3.0775, d0.loss_map_dir: 0.0434, d1.loss_map_cls: 0.6576, d1.loss_map_pts: 2.5846, d1.loss_map_dir: 0.0438, d2.loss_map_cls: 0.6549, d2.loss_map_pts: 2.5550, d2.loss_map_dir: 0.0436, d3.loss_map_cls: 0.6574, d3.loss_map_pts: 2.5495, d3.loss_map_dir: 0.0434, d4.loss_map_cls: 0.6595, d4.loss_map_pts: 2.5526, d4.loss_map_dir: 0.0433, d5.loss_map_cls: 0.6608, d5.loss_map_pts: 2.5527, d5.loss_map_dir: 0.0433, loss: 77.2402, grad_norm: 181.2237 +2026-02-24 06:26:29,055 - DriveTransformer - INFO - Epoch [1][18800/39528] lr: 1.000e-04, eta: 8 days, 14:49:28, time: 0.771, data_time: 0.038, memory: 19865, loss_cls: 0.9285, loss_bbox: 0.8459, loss_traj: 1.7431, loss_traj_cls: 0.0005, loss_map_cls: 0.6396, loss_map_pts: 2.3806, loss_map_dir: 0.0367, d0.loss_plan_l1_fix_time: 3.0659, d0.loss_plan_l1_fix_dist: 0.4885, d1.loss_plan_l1_fix_time: 2.9563, d1.loss_plan_l1_fix_dist: 0.5294, d2.loss_plan_l1_fix_time: 2.9676, d2.loss_plan_l1_fix_dist: 0.5828, d3.loss_plan_l1_fix_time: 2.9839, d3.loss_plan_l1_fix_dist: 0.6459, d4.loss_plan_l1_fix_time: 3.0043, d4.loss_plan_l1_fix_dist: 0.7165, d5.loss_plan_l1_fix_time: 3.0252, d5.loss_plan_l1_fix_dist: 0.7867, d6.loss_plan_l1_fix_time: 3.0435, d6.loss_plan_l1_fix_dist: 0.8542, d0.loss_cls_all: 0.9041, d0.loss_bbox_all: 0.8507, d0.loss_cls: 0.9041, d0.loss_bbox: 0.8507, d1.loss_cls: 0.9092, d1.loss_bbox: 0.8428, d2.loss_cls: 0.9157, d2.loss_bbox: 0.8378, d3.loss_cls: 0.9203, d3.loss_bbox: 0.8346, d4.loss_cls: 0.9270, d4.loss_bbox: 0.8436, d5.loss_cls: 0.9274, d5.loss_bbox: 0.8453, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7326, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.7325, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.7202, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7384, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7474, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7464, d0.loss_map_cls_all: 0.6264, d0.loss_map_pts_all: 2.8867, d0.loss_map_dir_all: 0.0374, d0.loss_map_cls: 0.6264, d0.loss_map_pts: 2.8867, d0.loss_map_dir: 0.0374, d1.loss_map_cls: 0.6256, d1.loss_map_pts: 2.4390, d1.loss_map_dir: 0.0372, d2.loss_map_cls: 0.6256, d2.loss_map_pts: 2.4059, d2.loss_map_dir: 0.0370, d3.loss_map_cls: 0.6311, d3.loss_map_pts: 2.3953, d3.loss_map_dir: 0.0369, d4.loss_map_cls: 0.6336, d4.loss_map_pts: 2.3892, d4.loss_map_dir: 0.0367, d5.loss_map_cls: 0.6366, d5.loss_map_pts: 2.3861, d5.loss_map_dir: 0.0368, loss: 77.4134, grad_norm: 181.4856 +2026-02-24 06:27:09,879 - DriveTransformer - INFO - Epoch [1][18850/39528] lr: 1.000e-04, eta: 8 days, 14:49:27, time: 0.816, data_time: 0.039, memory: 19865, loss_cls: 0.9174, loss_bbox: 0.8554, loss_traj: 1.8129, loss_traj_cls: 0.0005, loss_map_cls: 0.6402, loss_map_pts: 2.4987, loss_map_dir: 0.0402, d0.loss_plan_l1_fix_time: 3.2584, d0.loss_plan_l1_fix_dist: 0.6194, d1.loss_plan_l1_fix_time: 3.1664, d1.loss_plan_l1_fix_dist: 0.6579, d2.loss_plan_l1_fix_time: 3.1621, d2.loss_plan_l1_fix_dist: 0.7087, d3.loss_plan_l1_fix_time: 3.1688, d3.loss_plan_l1_fix_dist: 0.7703, d4.loss_plan_l1_fix_time: 3.1796, d4.loss_plan_l1_fix_dist: 0.8377, d5.loss_plan_l1_fix_time: 3.1928, d5.loss_plan_l1_fix_dist: 0.9160, d6.loss_plan_l1_fix_time: 3.2077, d6.loss_plan_l1_fix_dist: 0.9993, d0.loss_cls_all: 0.8968, d0.loss_bbox_all: 0.8697, d0.loss_cls: 0.8968, d0.loss_bbox: 0.8697, d1.loss_cls: 0.8993, d1.loss_bbox: 0.8522, d2.loss_cls: 0.9058, d2.loss_bbox: 0.8518, d3.loss_cls: 0.9094, d3.loss_bbox: 0.8430, d4.loss_cls: 0.9149, d4.loss_bbox: 0.8448, d5.loss_cls: 0.9148, d5.loss_bbox: 0.8502, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7876, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.7921, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7798, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7911, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7909, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8040, d0.loss_map_cls_all: 0.6177, d0.loss_map_pts_all: 3.0613, d0.loss_map_dir_all: 0.0408, d0.loss_map_cls: 0.6177, d0.loss_map_pts: 3.0613, d0.loss_map_dir: 0.0408, d1.loss_map_cls: 0.6141, d1.loss_map_pts: 2.5360, d1.loss_map_dir: 0.0407, d2.loss_map_cls: 0.6197, d2.loss_map_pts: 2.4986, d2.loss_map_dir: 0.0406, d3.loss_map_cls: 0.6288, d3.loss_map_pts: 2.4890, d3.loss_map_dir: 0.0404, d4.loss_map_cls: 0.6322, d4.loss_map_pts: 2.4866, d4.loss_map_dir: 0.0403, d5.loss_map_cls: 0.6370, d5.loss_map_pts: 2.4885, d5.loss_map_dir: 0.0402, loss: 80.9506, grad_norm: 179.5451 +2026-02-24 06:27:49,730 - DriveTransformer - INFO - Epoch [1][18900/39528] lr: 1.000e-04, eta: 8 days, 14:48:38, time: 0.797, data_time: 0.039, memory: 19865, loss_cls: 0.9411, loss_bbox: 0.8451, loss_traj: 1.8421, loss_traj_cls: 0.0005, loss_map_cls: 0.6319, loss_map_pts: 2.6459, loss_map_dir: 0.0390, d0.loss_plan_l1_fix_time: 3.0937, d0.loss_plan_l1_fix_dist: 0.6338, d1.loss_plan_l1_fix_time: 2.9641, d1.loss_plan_l1_fix_dist: 0.6702, d2.loss_plan_l1_fix_time: 2.9621, d2.loss_plan_l1_fix_dist: 0.7207, d3.loss_plan_l1_fix_time: 2.9697, d3.loss_plan_l1_fix_dist: 0.7782, d4.loss_plan_l1_fix_time: 2.9796, d4.loss_plan_l1_fix_dist: 0.8424, d5.loss_plan_l1_fix_time: 2.9913, d5.loss_plan_l1_fix_dist: 0.9096, d6.loss_plan_l1_fix_time: 3.0065, d6.loss_plan_l1_fix_dist: 0.9870, d0.loss_cls_all: 0.9222, d0.loss_bbox_all: 0.8679, d0.loss_cls: 0.9222, d0.loss_bbox: 0.8679, d1.loss_cls: 0.9147, d1.loss_bbox: 0.8555, d2.loss_cls: 0.9140, d2.loss_bbox: 0.8535, d3.loss_cls: 0.9212, d3.loss_bbox: 0.8471, d4.loss_cls: 0.9257, d4.loss_bbox: 0.8396, d5.loss_cls: 0.9361, d5.loss_bbox: 0.8409, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8382, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8372, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8247, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8283, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8329, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8314, d0.loss_map_cls_all: 0.6214, d0.loss_map_pts_all: 3.0608, d0.loss_map_dir_all: 0.0396, d0.loss_map_cls: 0.6214, d0.loss_map_pts: 3.0608, d0.loss_map_dir: 0.0396, d1.loss_map_cls: 0.6166, d1.loss_map_pts: 2.6657, d1.loss_map_dir: 0.0393, d2.loss_map_cls: 0.6189, d2.loss_map_pts: 2.6429, d2.loss_map_dir: 0.0392, d3.loss_map_cls: 0.6231, d3.loss_map_pts: 2.6350, d3.loss_map_dir: 0.0390, d4.loss_map_cls: 0.6251, d4.loss_map_pts: 2.6332, d4.loss_map_dir: 0.0390, d5.loss_map_cls: 0.6281, d5.loss_map_pts: 2.6376, d5.loss_map_dir: 0.0390, loss: 80.8438, grad_norm: 179.1242 +2026-02-24 06:28:30,661 - DriveTransformer - INFO - Epoch [1][18950/39528] lr: 1.000e-04, eta: 8 days, 14:48:41, time: 0.819, data_time: 0.041, memory: 19865, loss_cls: 0.9419, loss_bbox: 0.8122, loss_traj: 1.7599, loss_traj_cls: 0.0005, loss_map_cls: 0.6339, loss_map_pts: 2.5278, loss_map_dir: 0.0386, d0.loss_plan_l1_fix_time: 2.7660, d0.loss_plan_l1_fix_dist: 0.5436, d1.loss_plan_l1_fix_time: 2.7622, d1.loss_plan_l1_fix_dist: 0.5829, d2.loss_plan_l1_fix_time: 2.7855, d2.loss_plan_l1_fix_dist: 0.6332, d3.loss_plan_l1_fix_time: 2.8018, d3.loss_plan_l1_fix_dist: 0.6876, d4.loss_plan_l1_fix_time: 2.8170, d4.loss_plan_l1_fix_dist: 0.7445, d5.loss_plan_l1_fix_time: 2.8322, d5.loss_plan_l1_fix_dist: 0.7972, d6.loss_plan_l1_fix_time: 2.8479, d6.loss_plan_l1_fix_dist: 0.8469, d0.loss_cls_all: 0.9287, d0.loss_bbox_all: 0.8283, d0.loss_cls: 0.9287, d0.loss_bbox: 0.8283, d1.loss_cls: 0.9262, d1.loss_bbox: 0.8358, d2.loss_cls: 0.9227, d2.loss_bbox: 0.8150, d3.loss_cls: 0.9304, d3.loss_bbox: 0.8152, d4.loss_cls: 0.9322, d4.loss_bbox: 0.8079, d5.loss_cls: 0.9352, d5.loss_bbox: 0.8041, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7499, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.7546, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.7518, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7639, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7727, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7657, d0.loss_map_cls_all: 0.6217, d0.loss_map_pts_all: 3.1299, d0.loss_map_dir_all: 0.0388, d0.loss_map_cls: 0.6217, d0.loss_map_pts: 3.1299, d0.loss_map_dir: 0.0388, d1.loss_map_cls: 0.6208, d1.loss_map_pts: 2.5798, d1.loss_map_dir: 0.0389, d2.loss_map_cls: 0.6215, d2.loss_map_pts: 2.5380, d2.loss_map_dir: 0.0387, d3.loss_map_cls: 0.6241, d3.loss_map_pts: 2.5239, d3.loss_map_dir: 0.0387, d4.loss_map_cls: 0.6273, d4.loss_map_pts: 2.5198, d4.loss_map_dir: 0.0387, d5.loss_map_cls: 0.6286, d5.loss_map_pts: 2.5205, d5.loss_map_dir: 0.0386, loss: 77.5418, grad_norm: 180.4756 +2026-02-24 06:29:11,871 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 06:29:11,871 - DriveTransformer - INFO - Epoch [1][19000/39528] lr: 1.000e-04, eta: 8 days, 14:48:59, time: 0.824, data_time: 0.038, memory: 19865, loss_cls: 0.9404, loss_bbox: 0.8120, loss_traj: 1.6229, loss_traj_cls: 0.0005, loss_map_cls: 0.6278, loss_map_pts: 2.6235, loss_map_dir: 0.0397, d0.loss_plan_l1_fix_time: 2.5364, d0.loss_plan_l1_fix_dist: 0.5510, d1.loss_plan_l1_fix_time: 2.4658, d1.loss_plan_l1_fix_dist: 0.5757, d2.loss_plan_l1_fix_time: 2.4775, d2.loss_plan_l1_fix_dist: 0.6194, d3.loss_plan_l1_fix_time: 2.4932, d3.loss_plan_l1_fix_dist: 0.6704, d4.loss_plan_l1_fix_time: 2.5090, d4.loss_plan_l1_fix_dist: 0.7244, d5.loss_plan_l1_fix_time: 2.5240, d5.loss_plan_l1_fix_dist: 0.7866, d6.loss_plan_l1_fix_time: 2.5397, d6.loss_plan_l1_fix_dist: 0.8493, d0.loss_cls_all: 0.9462, d0.loss_bbox_all: 0.8120, d0.loss_cls: 0.9462, d0.loss_bbox: 0.8120, d1.loss_cls: 0.9322, d1.loss_bbox: 0.8366, d2.loss_cls: 0.9339, d2.loss_bbox: 0.8134, d3.loss_cls: 0.9360, d3.loss_bbox: 0.8102, d4.loss_cls: 0.9353, d4.loss_bbox: 0.8085, d5.loss_cls: 0.9405, d5.loss_bbox: 0.8060, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5874, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.6139, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.6257, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.6270, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.6257, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6183, d0.loss_map_cls_all: 0.6193, d0.loss_map_pts_all: 3.1986, d0.loss_map_dir_all: 0.0402, d0.loss_map_cls: 0.6193, d0.loss_map_pts: 3.1986, d0.loss_map_dir: 0.0402, d1.loss_map_cls: 0.6130, d1.loss_map_pts: 2.6400, d1.loss_map_dir: 0.0400, d2.loss_map_cls: 0.6108, d2.loss_map_pts: 2.6004, d2.loss_map_dir: 0.0398, d3.loss_map_cls: 0.6171, d3.loss_map_pts: 2.5983, d3.loss_map_dir: 0.0397, d4.loss_map_cls: 0.6217, d4.loss_map_pts: 2.6035, d4.loss_map_dir: 0.0397, d5.loss_map_cls: 0.6234, d5.loss_map_pts: 2.6082, d5.loss_map_dir: 0.0397, loss: 75.0110, grad_norm: 180.7249 +2026-02-24 06:29:52,838 - DriveTransformer - INFO - Epoch [1][19050/39528] lr: 1.000e-04, eta: 8 days, 14:49:04, time: 0.819, data_time: 0.045, memory: 19865, loss_cls: 0.9681, loss_bbox: 0.8610, loss_traj: 1.7769, loss_traj_cls: 0.0006, loss_map_cls: 0.6383, loss_map_pts: 2.7746, loss_map_dir: 0.0444, d0.loss_plan_l1_fix_time: 3.4877, d0.loss_plan_l1_fix_dist: 0.5753, d1.loss_plan_l1_fix_time: 3.3284, d1.loss_plan_l1_fix_dist: 0.6013, d2.loss_plan_l1_fix_time: 3.3108, d2.loss_plan_l1_fix_dist: 0.6392, d3.loss_plan_l1_fix_time: 3.3114, d3.loss_plan_l1_fix_dist: 0.6852, d4.loss_plan_l1_fix_time: 3.3188, d4.loss_plan_l1_fix_dist: 0.7378, d5.loss_plan_l1_fix_time: 3.3300, d5.loss_plan_l1_fix_dist: 0.7875, d6.loss_plan_l1_fix_time: 3.3445, d6.loss_plan_l1_fix_dist: 0.8380, d0.loss_cls_all: 0.9566, d0.loss_bbox_all: 0.8576, d0.loss_cls: 0.9566, d0.loss_bbox: 0.8576, d1.loss_cls: 0.9579, d1.loss_bbox: 0.8771, d2.loss_cls: 0.9599, d2.loss_bbox: 0.8533, d3.loss_cls: 0.9629, d3.loss_bbox: 0.8524, d4.loss_cls: 0.9648, d4.loss_bbox: 0.8516, d5.loss_cls: 0.9671, d5.loss_bbox: 0.8545, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7813, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.7976, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7831, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7861, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7723, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7653, d0.loss_map_cls_all: 0.6324, d0.loss_map_pts_all: 3.3419, d0.loss_map_dir_all: 0.0445, d0.loss_map_cls: 0.6324, d0.loss_map_pts: 3.3419, d0.loss_map_dir: 0.0445, d1.loss_map_cls: 0.6266, d1.loss_map_pts: 2.8099, d1.loss_map_dir: 0.0446, d2.loss_map_cls: 0.6260, d2.loss_map_pts: 2.7743, d2.loss_map_dir: 0.0444, d3.loss_map_cls: 0.6281, d3.loss_map_pts: 2.7746, d3.loss_map_dir: 0.0444, d4.loss_map_cls: 0.6325, d4.loss_map_pts: 2.7783, d4.loss_map_dir: 0.0443, d5.loss_map_cls: 0.6347, d5.loss_map_pts: 2.7788, d5.loss_map_dir: 0.0443, loss: 84.1018, grad_norm: 178.5865 +2026-02-24 06:30:31,239 - DriveTransformer - INFO - Epoch [1][19100/39528] lr: 1.000e-04, eta: 8 days, 14:47:03, time: 0.768, data_time: 0.039, memory: 19865, loss_cls: 1.0067, loss_bbox: 0.8976, loss_traj: 2.0114, loss_traj_cls: 0.0006, loss_map_cls: 0.6503, loss_map_pts: 2.4566, loss_map_dir: 0.0365, d0.loss_plan_l1_fix_time: 2.9979, d0.loss_plan_l1_fix_dist: 0.5689, d1.loss_plan_l1_fix_time: 2.9041, d1.loss_plan_l1_fix_dist: 0.5828, d2.loss_plan_l1_fix_time: 2.8996, d2.loss_plan_l1_fix_dist: 0.6144, d3.loss_plan_l1_fix_time: 2.9024, d3.loss_plan_l1_fix_dist: 0.6513, d4.loss_plan_l1_fix_time: 2.9098, d4.loss_plan_l1_fix_dist: 0.6989, d5.loss_plan_l1_fix_time: 2.9203, d5.loss_plan_l1_fix_dist: 0.7496, d6.loss_plan_l1_fix_time: 2.9335, d6.loss_plan_l1_fix_dist: 0.8056, d0.loss_cls_all: 0.9793, d0.loss_bbox_all: 0.8938, d0.loss_cls: 0.9793, d0.loss_bbox: 0.8938, d1.loss_cls: 0.9963, d1.loss_bbox: 0.8950, d2.loss_cls: 1.0039, d2.loss_bbox: 0.8788, d3.loss_cls: 1.0162, d3.loss_bbox: 0.8785, d4.loss_cls: 1.0131, d4.loss_bbox: 0.8833, d5.loss_cls: 1.0051, d5.loss_bbox: 0.8878, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0589, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0649, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0445, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0382, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0265, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0068, d0.loss_map_cls_all: 0.6435, d0.loss_map_pts_all: 2.8921, d0.loss_map_dir_all: 0.0376, d0.loss_map_cls: 0.6435, d0.loss_map_pts: 2.8921, d0.loss_map_dir: 0.0376, d1.loss_map_cls: 0.6266, d1.loss_map_pts: 2.4746, d1.loss_map_dir: 0.0371, d2.loss_map_cls: 0.6332, d2.loss_map_pts: 2.4551, d2.loss_map_dir: 0.0368, d3.loss_map_cls: 0.6387, d3.loss_map_pts: 2.4541, d3.loss_map_dir: 0.0366, d4.loss_map_cls: 0.6400, d4.loss_map_pts: 2.4563, d4.loss_map_dir: 0.0365, d5.loss_map_cls: 0.6447, d5.loss_map_pts: 2.4587, d5.loss_map_dir: 0.0365, loss: 80.4579, grad_norm: 177.1900 +2026-02-24 06:31:11,745 - DriveTransformer - INFO - Epoch [1][19150/39528] lr: 1.000e-04, eta: 8 days, 14:46:46, time: 0.810, data_time: 0.042, memory: 19865, loss_cls: 0.9593, loss_bbox: 0.8678, loss_traj: 2.0588, loss_traj_cls: 0.0005, loss_map_cls: 0.6179, loss_map_pts: 2.5033, loss_map_dir: 0.0411, d0.loss_plan_l1_fix_time: 3.1183, d0.loss_plan_l1_fix_dist: 0.6426, d1.loss_plan_l1_fix_time: 2.9482, d1.loss_plan_l1_fix_dist: 0.6631, d2.loss_plan_l1_fix_time: 2.9288, d2.loss_plan_l1_fix_dist: 0.6928, d3.loss_plan_l1_fix_time: 2.9300, d3.loss_plan_l1_fix_dist: 0.7326, d4.loss_plan_l1_fix_time: 2.9363, d4.loss_plan_l1_fix_dist: 0.7805, d5.loss_plan_l1_fix_time: 2.9449, d5.loss_plan_l1_fix_dist: 0.8352, d6.loss_plan_l1_fix_time: 2.9554, d6.loss_plan_l1_fix_dist: 0.8929, d0.loss_cls_all: 0.9255, d0.loss_bbox_all: 0.8378, d0.loss_cls: 0.9255, d0.loss_bbox: 0.8378, d1.loss_cls: 0.9450, d1.loss_bbox: 0.8395, d2.loss_cls: 0.9501, d2.loss_bbox: 0.8376, d3.loss_cls: 0.9593, d3.loss_bbox: 0.8429, d4.loss_cls: 0.9600, d4.loss_bbox: 0.8445, d5.loss_cls: 0.9579, d5.loss_bbox: 0.8526, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0131, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0356, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0354, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0407, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0374, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0556, d0.loss_map_cls_all: 0.6060, d0.loss_map_pts_all: 3.0275, d0.loss_map_dir_all: 0.0413, d0.loss_map_cls: 0.6060, d0.loss_map_pts: 3.0275, d0.loss_map_dir: 0.0413, d1.loss_map_cls: 0.5984, d1.loss_map_pts: 2.4996, d1.loss_map_dir: 0.0413, d2.loss_map_cls: 0.6009, d2.loss_map_pts: 2.4693, d2.loss_map_dir: 0.0411, d3.loss_map_cls: 0.6057, d3.loss_map_pts: 2.4632, d3.loss_map_dir: 0.0409, d4.loss_map_cls: 0.6085, d4.loss_map_pts: 2.4682, d4.loss_map_dir: 0.0409, d5.loss_map_cls: 0.6109, d5.loss_map_pts: 2.4768, d5.loss_map_dir: 0.0409, loss: 80.7430, grad_norm: 177.1331 +2026-02-24 06:31:50,966 - DriveTransformer - INFO - Epoch [1][19200/39528] lr: 1.000e-04, eta: 8 days, 14:45:30, time: 0.786, data_time: 0.036, memory: 19865, loss_cls: 0.9755, loss_bbox: 0.8692, loss_traj: 2.0890, loss_traj_cls: 0.0005, loss_map_cls: 0.6827, loss_map_pts: 2.3600, loss_map_dir: 0.0371, d0.loss_plan_l1_fix_time: 3.3565, d0.loss_plan_l1_fix_dist: 0.5747, d1.loss_plan_l1_fix_time: 3.1799, d1.loss_plan_l1_fix_dist: 0.6123, d2.loss_plan_l1_fix_time: 3.1630, d2.loss_plan_l1_fix_dist: 0.6625, d3.loss_plan_l1_fix_time: 3.1671, d3.loss_plan_l1_fix_dist: 0.7254, d4.loss_plan_l1_fix_time: 3.1757, d4.loss_plan_l1_fix_dist: 0.7944, d5.loss_plan_l1_fix_time: 3.1855, d5.loss_plan_l1_fix_dist: 0.8710, d6.loss_plan_l1_fix_time: 3.1974, d6.loss_plan_l1_fix_dist: 0.9504, d0.loss_cls_all: 0.9189, d0.loss_bbox_all: 0.8816, d0.loss_cls: 0.9189, d0.loss_bbox: 0.8816, d1.loss_cls: 0.9281, d1.loss_bbox: 0.8669, d2.loss_cls: 0.9443, d2.loss_bbox: 0.8522, d3.loss_cls: 0.9646, d3.loss_bbox: 0.8582, d4.loss_cls: 0.9643, d4.loss_bbox: 0.8616, d5.loss_cls: 0.9774, d5.loss_bbox: 0.8651, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0687, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.1033, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0908, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0976, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0808, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0922, d0.loss_map_cls_all: 0.6789, d0.loss_map_pts_all: 2.7318, d0.loss_map_dir_all: 0.0372, d0.loss_map_cls: 0.6789, d0.loss_map_pts: 2.7318, d0.loss_map_dir: 0.0372, d1.loss_map_cls: 0.6647, d1.loss_map_pts: 2.3974, d1.loss_map_dir: 0.0374, d2.loss_map_cls: 0.6679, d2.loss_map_pts: 2.3776, d2.loss_map_dir: 0.0371, d3.loss_map_cls: 0.6698, d3.loss_map_pts: 2.3725, d3.loss_map_dir: 0.0370, d4.loss_map_cls: 0.6725, d4.loss_map_pts: 2.3667, d4.loss_map_dir: 0.0370, d5.loss_map_cls: 0.6764, d5.loss_map_pts: 2.3610, d5.loss_map_dir: 0.0370, loss: 82.1580, grad_norm: 178.8383 +2026-02-24 06:32:32,009 - DriveTransformer - INFO - Epoch [1][19250/39528] lr: 1.000e-04, eta: 8 days, 14:45:34, time: 0.819, data_time: 0.038, memory: 19865, loss_cls: 0.9601, loss_bbox: 0.9054, loss_traj: 1.9987, loss_traj_cls: 0.0005, loss_map_cls: 0.6475, loss_map_pts: 2.8259, loss_map_dir: 0.0430, d0.loss_plan_l1_fix_time: 3.4668, d0.loss_plan_l1_fix_dist: 0.6735, d1.loss_plan_l1_fix_time: 3.3809, d1.loss_plan_l1_fix_dist: 0.6971, d2.loss_plan_l1_fix_time: 3.3818, d2.loss_plan_l1_fix_dist: 0.7422, d3.loss_plan_l1_fix_time: 3.3913, d3.loss_plan_l1_fix_dist: 0.7855, d4.loss_plan_l1_fix_time: 3.4045, d4.loss_plan_l1_fix_dist: 0.8287, d5.loss_plan_l1_fix_time: 3.4209, d5.loss_plan_l1_fix_dist: 0.8717, d6.loss_plan_l1_fix_time: 3.4397, d6.loss_plan_l1_fix_dist: 0.9156, d0.loss_cls_all: 0.9537, d0.loss_bbox_all: 0.8926, d0.loss_cls: 0.9537, d0.loss_bbox: 0.8926, d1.loss_cls: 0.9483, d1.loss_bbox: 0.8922, d2.loss_cls: 0.9495, d2.loss_bbox: 0.8804, d3.loss_cls: 0.9509, d3.loss_bbox: 0.8888, d4.loss_cls: 0.9549, d4.loss_bbox: 0.8973, d5.loss_cls: 0.9615, d5.loss_bbox: 0.9027, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9382, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9529, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9477, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9735, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0067, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0130, d0.loss_map_cls_all: 0.6410, d0.loss_map_pts_all: 3.2201, d0.loss_map_dir_all: 0.0436, d0.loss_map_cls: 0.6410, d0.loss_map_pts: 3.2201, d0.loss_map_dir: 0.0436, d1.loss_map_cls: 0.6298, d1.loss_map_pts: 2.8428, d1.loss_map_dir: 0.0434, d2.loss_map_cls: 0.6332, d2.loss_map_pts: 2.8356, d2.loss_map_dir: 0.0432, d3.loss_map_cls: 0.6355, d3.loss_map_pts: 2.8366, d3.loss_map_dir: 0.0431, d4.loss_map_cls: 0.6393, d4.loss_map_pts: 2.8321, d4.loss_map_dir: 0.0431, d5.loss_map_cls: 0.6442, d5.loss_map_pts: 2.8302, d5.loss_map_dir: 0.0431, loss: 86.9201, grad_norm: 178.2082 +2026-02-24 06:33:11,385 - DriveTransformer - INFO - Epoch [1][19300/39528] lr: 1.000e-04, eta: 8 days, 14:44:22, time: 0.788, data_time: 0.039, memory: 19865, loss_cls: 0.9344, loss_bbox: 0.8576, loss_traj: 1.8015, loss_traj_cls: 0.0005, loss_map_cls: 0.6327, loss_map_pts: 2.3977, loss_map_dir: 0.0356, d0.loss_plan_l1_fix_time: 3.2544, d0.loss_plan_l1_fix_dist: 0.5713, d1.loss_plan_l1_fix_time: 3.0786, d1.loss_plan_l1_fix_dist: 0.5949, d2.loss_plan_l1_fix_time: 3.0667, d2.loss_plan_l1_fix_dist: 0.6402, d3.loss_plan_l1_fix_time: 3.0711, d3.loss_plan_l1_fix_dist: 0.6863, d4.loss_plan_l1_fix_time: 3.0792, d4.loss_plan_l1_fix_dist: 0.7383, d5.loss_plan_l1_fix_time: 3.0903, d5.loss_plan_l1_fix_dist: 0.7937, d6.loss_plan_l1_fix_time: 3.1039, d6.loss_plan_l1_fix_dist: 0.8451, d0.loss_cls_all: 0.9367, d0.loss_bbox_all: 0.8528, d0.loss_cls: 0.9367, d0.loss_bbox: 0.8528, d1.loss_cls: 0.9215, d1.loss_bbox: 0.8564, d2.loss_cls: 0.9240, d2.loss_bbox: 0.8404, d3.loss_cls: 0.9347, d3.loss_bbox: 0.8367, d4.loss_cls: 0.9330, d4.loss_bbox: 0.8350, d5.loss_cls: 0.9404, d5.loss_bbox: 0.8440, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7372, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.7574, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7477, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7668, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7848, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7981, d0.loss_map_cls_all: 0.6327, d0.loss_map_pts_all: 2.8805, d0.loss_map_dir_all: 0.0363, d0.loss_map_cls: 0.6327, d0.loss_map_pts: 2.8805, d0.loss_map_dir: 0.0363, d1.loss_map_cls: 0.6173, d1.loss_map_pts: 2.3828, d1.loss_map_dir: 0.0361, d2.loss_map_cls: 0.6196, d2.loss_map_pts: 2.3568, d2.loss_map_dir: 0.0358, d3.loss_map_cls: 0.6261, d3.loss_map_pts: 2.3588, d3.loss_map_dir: 0.0357, d4.loss_map_cls: 0.6273, d4.loss_map_pts: 2.3712, d4.loss_map_dir: 0.0356, d5.loss_map_cls: 0.6293, d5.loss_map_pts: 2.3832, d5.loss_map_dir: 0.0355, loss: 78.5645, grad_norm: 181.8386 +2026-02-24 06:33:51,147 - DriveTransformer - INFO - Epoch [1][19350/39528] lr: 1.000e-04, eta: 8 days, 14:43:29, time: 0.795, data_time: 0.046, memory: 19865, loss_cls: 0.9141, loss_bbox: 0.9104, loss_traj: 1.8373, loss_traj_cls: 0.0006, loss_map_cls: 0.6461, loss_map_pts: 2.6948, loss_map_dir: 0.0402, d0.loss_plan_l1_fix_time: 3.1454, d0.loss_plan_l1_fix_dist: 0.5796, d1.loss_plan_l1_fix_time: 3.1170, d1.loss_plan_l1_fix_dist: 0.6067, d2.loss_plan_l1_fix_time: 3.1387, d2.loss_plan_l1_fix_dist: 0.6405, d3.loss_plan_l1_fix_time: 3.1565, d3.loss_plan_l1_fix_dist: 0.6899, d4.loss_plan_l1_fix_time: 3.1732, d4.loss_plan_l1_fix_dist: 0.7462, d5.loss_plan_l1_fix_time: 3.1889, d5.loss_plan_l1_fix_dist: 0.8102, d6.loss_plan_l1_fix_time: 3.2050, d6.loss_plan_l1_fix_dist: 0.8777, d0.loss_cls_all: 0.9056, d0.loss_bbox_all: 0.8931, d0.loss_cls: 0.9056, d0.loss_bbox: 0.8931, d1.loss_cls: 0.8983, d1.loss_bbox: 0.8974, d2.loss_cls: 0.9010, d2.loss_bbox: 0.8885, d3.loss_cls: 0.9059, d3.loss_bbox: 0.8809, d4.loss_cls: 0.9076, d4.loss_bbox: 0.8863, d5.loss_cls: 0.9131, d5.loss_bbox: 0.8963, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7682, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.7843, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7794, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8064, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8289, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8244, d0.loss_map_cls_all: 0.6304, d0.loss_map_pts_all: 3.1282, d0.loss_map_dir_all: 0.0404, d0.loss_map_cls: 0.6304, d0.loss_map_pts: 3.1282, d0.loss_map_dir: 0.0404, d1.loss_map_cls: 0.6304, d1.loss_map_pts: 2.7192, d1.loss_map_dir: 0.0408, d2.loss_map_cls: 0.6339, d2.loss_map_pts: 2.6948, d2.loss_map_dir: 0.0405, d3.loss_map_cls: 0.6421, d3.loss_map_pts: 2.6894, d3.loss_map_dir: 0.0404, d4.loss_map_cls: 0.6407, d4.loss_map_pts: 2.6905, d4.loss_map_dir: 0.0403, d5.loss_map_cls: 0.6432, d5.loss_map_pts: 2.6905, d5.loss_map_dir: 0.0403, loss: 81.9616, grad_norm: 182.9143 +2026-02-24 06:34:31,373 - DriveTransformer - INFO - Epoch [1][19400/39528] lr: 1.000e-04, eta: 8 days, 14:42:58, time: 0.804, data_time: 0.038, memory: 19865, loss_cls: 0.9266, loss_bbox: 0.9004, loss_traj: 2.0381, loss_traj_cls: 0.0006, loss_map_cls: 0.6201, loss_map_pts: 2.6129, loss_map_dir: 0.0397, d0.loss_plan_l1_fix_time: 3.0428, d0.loss_plan_l1_fix_dist: 0.5688, d1.loss_plan_l1_fix_time: 2.9494, d1.loss_plan_l1_fix_dist: 0.5891, d2.loss_plan_l1_fix_time: 2.9544, d2.loss_plan_l1_fix_dist: 0.6192, d3.loss_plan_l1_fix_time: 2.9650, d3.loss_plan_l1_fix_dist: 0.6581, d4.loss_plan_l1_fix_time: 2.9774, d4.loss_plan_l1_fix_dist: 0.7049, d5.loss_plan_l1_fix_time: 2.9892, d5.loss_plan_l1_fix_dist: 0.7566, d6.loss_plan_l1_fix_time: 3.0018, d6.loss_plan_l1_fix_dist: 0.8129, d0.loss_cls_all: 0.9166, d0.loss_bbox_all: 0.8785, d0.loss_cls: 0.9166, d0.loss_bbox: 0.8785, d1.loss_cls: 0.9193, d1.loss_bbox: 0.8830, d2.loss_cls: 0.9226, d2.loss_bbox: 0.8803, d3.loss_cls: 0.9207, d3.loss_bbox: 0.8805, d4.loss_cls: 0.9232, d4.loss_bbox: 0.8854, d5.loss_cls: 0.9232, d5.loss_bbox: 0.8947, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0029, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0223, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0253, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0372, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0415, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.0311, d0.loss_map_cls_all: 0.6092, d0.loss_map_pts_all: 3.1516, d0.loss_map_dir_all: 0.0401, d0.loss_map_cls: 0.6092, d0.loss_map_pts: 3.1516, d0.loss_map_dir: 0.0401, d1.loss_map_cls: 0.6095, d1.loss_map_pts: 2.6499, d1.loss_map_dir: 0.0402, d2.loss_map_cls: 0.6119, d2.loss_map_pts: 2.6206, d2.loss_map_dir: 0.0400, d3.loss_map_cls: 0.6167, d3.loss_map_pts: 2.6110, d3.loss_map_dir: 0.0398, d4.loss_map_cls: 0.6149, d4.loss_map_pts: 2.6083, d4.loss_map_dir: 0.0397, d5.loss_map_cls: 0.6165, d5.loss_map_pts: 2.6096, d5.loss_map_dir: 0.0397, loss: 81.4842, grad_norm: 182.6386 +2026-02-24 06:35:12,018 - DriveTransformer - INFO - Epoch [1][19450/39528] lr: 1.000e-04, eta: 8 days, 14:42:47, time: 0.813, data_time: 0.037, memory: 19865, loss_cls: 0.9773, loss_bbox: 0.8919, loss_traj: 1.8583, loss_traj_cls: 0.0005, loss_map_cls: 0.6273, loss_map_pts: 2.7802, loss_map_dir: 0.0410, d0.loss_plan_l1_fix_time: 3.0473, d0.loss_plan_l1_fix_dist: 0.6108, d1.loss_plan_l1_fix_time: 2.9251, d1.loss_plan_l1_fix_dist: 0.6347, d2.loss_plan_l1_fix_time: 2.9210, d2.loss_plan_l1_fix_dist: 0.6664, d3.loss_plan_l1_fix_time: 2.9266, d3.loss_plan_l1_fix_dist: 0.7043, d4.loss_plan_l1_fix_time: 2.9353, d4.loss_plan_l1_fix_dist: 0.7519, d5.loss_plan_l1_fix_time: 2.9455, d5.loss_plan_l1_fix_dist: 0.8020, d6.loss_plan_l1_fix_time: 2.9576, d6.loss_plan_l1_fix_dist: 0.8543, d0.loss_cls_all: 0.9598, d0.loss_bbox_all: 0.8794, d0.loss_cls: 0.9598, d0.loss_bbox: 0.8794, d1.loss_cls: 0.9700, d1.loss_bbox: 0.8832, d2.loss_cls: 0.9682, d2.loss_bbox: 0.8765, d3.loss_cls: 0.9670, d3.loss_bbox: 0.8829, d4.loss_cls: 0.9745, d4.loss_bbox: 0.8844, d5.loss_cls: 0.9699, d5.loss_bbox: 0.8900, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8047, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.8162, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8290, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8396, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8403, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8478, d0.loss_map_cls_all: 0.6173, d0.loss_map_pts_all: 3.2197, d0.loss_map_dir_all: 0.0414, d0.loss_map_cls: 0.6173, d0.loss_map_pts: 3.2197, d0.loss_map_dir: 0.0414, d1.loss_map_cls: 0.6059, d1.loss_map_pts: 2.8087, d1.loss_map_dir: 0.0413, d2.loss_map_cls: 0.6095, d2.loss_map_pts: 2.7910, d2.loss_map_dir: 0.0412, d3.loss_map_cls: 0.6149, d3.loss_map_pts: 2.7852, d3.loss_map_dir: 0.0412, d4.loss_map_cls: 0.6193, d4.loss_map_pts: 2.7836, d4.loss_map_dir: 0.0411, d5.loss_map_cls: 0.6207, d5.loss_map_pts: 2.7843, d5.loss_map_dir: 0.0410, loss: 81.7704, grad_norm: 180.4219 +2026-02-24 06:35:52,773 - DriveTransformer - INFO - Epoch [1][19500/39528] lr: 1.000e-04, eta: 8 days, 14:42:41, time: 0.815, data_time: 0.039, memory: 19865, loss_cls: 0.9475, loss_bbox: 0.8600, loss_traj: 1.9481, loss_traj_cls: 0.0005, loss_map_cls: 0.6439, loss_map_pts: 2.5072, loss_map_dir: 0.0426, d0.loss_plan_l1_fix_time: 2.8689, d0.loss_plan_l1_fix_dist: 0.6708, d1.loss_plan_l1_fix_time: 2.7591, d1.loss_plan_l1_fix_dist: 0.6958, d2.loss_plan_l1_fix_time: 2.7632, d2.loss_plan_l1_fix_dist: 0.7328, d3.loss_plan_l1_fix_time: 2.7739, d3.loss_plan_l1_fix_dist: 0.7797, d4.loss_plan_l1_fix_time: 2.7894, d4.loss_plan_l1_fix_dist: 0.8261, d5.loss_plan_l1_fix_time: 2.8088, d5.loss_plan_l1_fix_dist: 0.8735, d6.loss_plan_l1_fix_time: 2.8302, d6.loss_plan_l1_fix_dist: 0.9251, d0.loss_cls_all: 0.9312, d0.loss_bbox_all: 0.8623, d0.loss_cls: 0.9312, d0.loss_bbox: 0.8623, d1.loss_cls: 0.9320, d1.loss_bbox: 0.8603, d2.loss_cls: 0.9331, d2.loss_bbox: 0.8396, d3.loss_cls: 0.9396, d3.loss_bbox: 0.8451, d4.loss_cls: 0.9383, d4.loss_bbox: 0.8541, d5.loss_cls: 0.9488, d5.loss_bbox: 0.8553, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8911, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9289, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9393, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9551, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9636, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9651, d0.loss_map_cls_all: 0.6306, d0.loss_map_pts_all: 3.0463, d0.loss_map_dir_all: 0.0432, d0.loss_map_cls: 0.6306, d0.loss_map_pts: 3.0463, d0.loss_map_dir: 0.0432, d1.loss_map_cls: 0.6181, d1.loss_map_pts: 2.5549, d1.loss_map_dir: 0.0427, d2.loss_map_cls: 0.6167, d2.loss_map_pts: 2.5203, d2.loss_map_dir: 0.0425, d3.loss_map_cls: 0.6294, d3.loss_map_pts: 2.5085, d3.loss_map_dir: 0.0425, d4.loss_map_cls: 0.6331, d4.loss_map_pts: 2.5074, d4.loss_map_dir: 0.0425, d5.loss_map_cls: 0.6374, d5.loss_map_pts: 2.5061, d5.loss_map_dir: 0.0425, loss: 79.6112, grad_norm: 180.8726 +2026-02-24 06:36:35,071 - DriveTransformer - INFO - Epoch [1][19550/39528] lr: 1.000e-04, eta: 8 days, 14:43:48, time: 0.846, data_time: 0.037, memory: 19865, loss_cls: 0.9486, loss_bbox: 0.8552, loss_traj: 1.8819, loss_traj_cls: 0.0005, loss_map_cls: 0.6152, loss_map_pts: 2.6798, loss_map_dir: 0.0462, d0.loss_plan_l1_fix_time: 3.2637, d0.loss_plan_l1_fix_dist: 0.5590, d1.loss_plan_l1_fix_time: 3.2176, d1.loss_plan_l1_fix_dist: 0.5781, d2.loss_plan_l1_fix_time: 3.2284, d2.loss_plan_l1_fix_dist: 0.6060, d3.loss_plan_l1_fix_time: 3.2392, d3.loss_plan_l1_fix_dist: 0.6408, d4.loss_plan_l1_fix_time: 3.2515, d4.loss_plan_l1_fix_dist: 0.6783, d5.loss_plan_l1_fix_time: 3.2649, d5.loss_plan_l1_fix_dist: 0.7157, d6.loss_plan_l1_fix_time: 3.2797, d6.loss_plan_l1_fix_dist: 0.7566, d0.loss_cls_all: 0.9286, d0.loss_bbox_all: 0.8512, d0.loss_cls: 0.9286, d0.loss_bbox: 0.8512, d1.loss_cls: 0.9392, d1.loss_bbox: 0.8393, d2.loss_cls: 0.9399, d2.loss_bbox: 0.8376, d3.loss_cls: 0.9488, d3.loss_bbox: 0.8469, d4.loss_cls: 0.9474, d4.loss_bbox: 0.8514, d5.loss_cls: 0.9539, d5.loss_bbox: 0.8534, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8759, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8810, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8888, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8903, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8938, d5.loss_traj_cls: 0.0004, d5.loss_traj: 1.8878, d0.loss_map_cls_all: 0.5964, d0.loss_map_pts_all: 3.2223, d0.loss_map_dir_all: 0.0462, d0.loss_map_cls: 0.5964, d0.loss_map_pts: 3.2223, d0.loss_map_dir: 0.0462, d1.loss_map_cls: 0.5843, d1.loss_map_pts: 2.6976, d1.loss_map_dir: 0.0463, d2.loss_map_cls: 0.5890, d2.loss_map_pts: 2.6674, d2.loss_map_dir: 0.0462, d3.loss_map_cls: 0.5950, d3.loss_map_pts: 2.6589, d3.loss_map_dir: 0.0461, d4.loss_map_cls: 0.6000, d4.loss_map_pts: 2.6638, d4.loss_map_dir: 0.0461, d5.loss_map_cls: 0.6051, d5.loss_map_pts: 2.6700, d5.loss_map_dir: 0.0461, loss: 82.4366, grad_norm: 180.8983 +2026-02-24 06:37:17,326 - DriveTransformer - INFO - Epoch [1][19600/39528] lr: 1.000e-04, eta: 8 days, 14:44:52, time: 0.845, data_time: 0.040, memory: 19865, loss_cls: 0.9422, loss_bbox: 0.8628, loss_traj: 1.7518, loss_traj_cls: 0.0006, loss_map_cls: 0.6227, loss_map_pts: 2.5225, loss_map_dir: 0.0422, d0.loss_plan_l1_fix_time: 3.1299, d0.loss_plan_l1_fix_dist: 0.6465, d1.loss_plan_l1_fix_time: 3.0504, d1.loss_plan_l1_fix_dist: 0.6664, d2.loss_plan_l1_fix_time: 3.0582, d2.loss_plan_l1_fix_dist: 0.6930, d3.loss_plan_l1_fix_time: 3.0701, d3.loss_plan_l1_fix_dist: 0.7273, d4.loss_plan_l1_fix_time: 3.0835, d4.loss_plan_l1_fix_dist: 0.7691, d5.loss_plan_l1_fix_time: 3.0972, d5.loss_plan_l1_fix_dist: 0.8147, d6.loss_plan_l1_fix_time: 3.1139, d6.loss_plan_l1_fix_dist: 0.8673, d0.loss_cls_all: 0.9462, d0.loss_bbox_all: 0.8494, d0.loss_cls: 0.9462, d0.loss_bbox: 0.8494, d1.loss_cls: 0.9322, d1.loss_bbox: 0.8481, d2.loss_cls: 0.9342, d2.loss_bbox: 0.8496, d3.loss_cls: 0.9388, d3.loss_bbox: 0.8582, d4.loss_cls: 0.9416, d4.loss_bbox: 0.8559, d5.loss_cls: 0.9460, d5.loss_bbox: 0.8560, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.6651, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.6751, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7101, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7413, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7669, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7574, d0.loss_map_cls_all: 0.6029, d0.loss_map_pts_all: 3.1035, d0.loss_map_dir_all: 0.0426, d0.loss_map_cls: 0.6029, d0.loss_map_pts: 3.1035, d0.loss_map_dir: 0.0426, d1.loss_map_cls: 0.5948, d1.loss_map_pts: 2.5559, d1.loss_map_dir: 0.0425, d2.loss_map_cls: 0.6000, d2.loss_map_pts: 2.5238, d2.loss_map_dir: 0.0423, d3.loss_map_cls: 0.5996, d3.loss_map_pts: 2.5189, d3.loss_map_dir: 0.0422, d4.loss_map_cls: 0.6075, d4.loss_map_pts: 2.5168, d4.loss_map_dir: 0.0422, d5.loss_map_cls: 0.6109, d5.loss_map_pts: 2.5147, d5.loss_map_dir: 0.0422, loss: 79.7559, grad_norm: 181.6971 +2026-02-24 06:37:56,034 - DriveTransformer - INFO - Epoch [1][19650/39528] lr: 1.000e-04, eta: 8 days, 14:43:08, time: 0.774, data_time: 0.045, memory: 19865, loss_cls: 0.9320, loss_bbox: 0.8689, loss_traj: 1.9670, loss_traj_cls: 0.0006, loss_map_cls: 0.6128, loss_map_pts: 2.4706, loss_map_dir: 0.0404, d0.loss_plan_l1_fix_time: 3.4528, d0.loss_plan_l1_fix_dist: 0.6197, d1.loss_plan_l1_fix_time: 3.3438, d1.loss_plan_l1_fix_dist: 0.6356, d2.loss_plan_l1_fix_time: 3.3350, d2.loss_plan_l1_fix_dist: 0.6601, d3.loss_plan_l1_fix_time: 3.3382, d3.loss_plan_l1_fix_dist: 0.6917, d4.loss_plan_l1_fix_time: 3.3456, d4.loss_plan_l1_fix_dist: 0.7308, d5.loss_plan_l1_fix_time: 3.3556, d5.loss_plan_l1_fix_dist: 0.7788, d6.loss_plan_l1_fix_time: 3.3687, d6.loss_plan_l1_fix_dist: 0.8300, d0.loss_cls_all: 0.9173, d0.loss_bbox_all: 0.8368, d0.loss_cls: 0.9173, d0.loss_bbox: 0.8368, d1.loss_cls: 0.9128, d1.loss_bbox: 0.8339, d2.loss_cls: 0.9182, d2.loss_bbox: 0.8437, d3.loss_cls: 0.9267, d3.loss_bbox: 0.8496, d4.loss_cls: 0.9271, d4.loss_bbox: 0.8578, d5.loss_cls: 0.9379, d5.loss_bbox: 0.8628, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7737, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.8087, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8542, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8901, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9457, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9632, d0.loss_map_cls_all: 0.6061, d0.loss_map_pts_all: 3.0198, d0.loss_map_dir_all: 0.0407, d0.loss_map_cls: 0.6061, d0.loss_map_pts: 3.0198, d0.loss_map_dir: 0.0407, d1.loss_map_cls: 0.5925, d1.loss_map_pts: 2.5148, d1.loss_map_dir: 0.0407, d2.loss_map_cls: 0.5946, d2.loss_map_pts: 2.4885, d2.loss_map_dir: 0.0405, d3.loss_map_cls: 0.5957, d3.loss_map_pts: 2.4832, d3.loss_map_dir: 0.0404, d4.loss_map_cls: 0.6016, d4.loss_map_pts: 2.4785, d4.loss_map_dir: 0.0404, d5.loss_map_cls: 0.6039, d5.loss_map_pts: 2.4739, d5.loss_map_dir: 0.0404, loss: 81.9588, grad_norm: 182.7830 +2026-02-24 06:38:35,986 - DriveTransformer - INFO - Epoch [1][19700/39528] lr: 1.000e-04, eta: 8 days, 14:42:23, time: 0.799, data_time: 0.038, memory: 19865, loss_cls: 0.9846, loss_bbox: 0.8730, loss_traj: 1.9096, loss_traj_cls: 0.0006, loss_map_cls: 0.6262, loss_map_pts: 2.7102, loss_map_dir: 0.0402, d0.loss_plan_l1_fix_time: 3.2993, d0.loss_plan_l1_fix_dist: 0.6597, d1.loss_plan_l1_fix_time: 3.1913, d1.loss_plan_l1_fix_dist: 0.6705, d2.loss_plan_l1_fix_time: 3.1925, d2.loss_plan_l1_fix_dist: 0.6938, d3.loss_plan_l1_fix_time: 3.2004, d3.loss_plan_l1_fix_dist: 0.7192, d4.loss_plan_l1_fix_time: 3.2096, d4.loss_plan_l1_fix_dist: 0.7461, d5.loss_plan_l1_fix_time: 3.2188, d5.loss_plan_l1_fix_dist: 0.7751, d6.loss_plan_l1_fix_time: 3.2296, d6.loss_plan_l1_fix_dist: 0.8080, d0.loss_cls_all: 0.9964, d0.loss_bbox_all: 0.8514, d0.loss_cls: 0.9964, d0.loss_bbox: 0.8514, d1.loss_cls: 0.9756, d1.loss_bbox: 0.8570, d2.loss_cls: 0.9817, d2.loss_bbox: 0.8544, d3.loss_cls: 0.9851, d3.loss_bbox: 0.8553, d4.loss_cls: 0.9834, d4.loss_bbox: 0.8582, d5.loss_cls: 0.9865, d5.loss_bbox: 0.8643, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7688, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.8237, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8474, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8780, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9076, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9053, d0.loss_map_cls_all: 0.6208, d0.loss_map_pts_all: 3.1373, d0.loss_map_dir_all: 0.0407, d0.loss_map_cls: 0.6208, d0.loss_map_pts: 3.1373, d0.loss_map_dir: 0.0407, d1.loss_map_cls: 0.6073, d1.loss_map_pts: 2.7457, d1.loss_map_dir: 0.0405, d2.loss_map_cls: 0.6120, d2.loss_map_pts: 2.7188, d2.loss_map_dir: 0.0403, d3.loss_map_cls: 0.6139, d3.loss_map_pts: 2.7094, d3.loss_map_dir: 0.0402, d4.loss_map_cls: 0.6161, d4.loss_map_pts: 2.7084, d4.loss_map_dir: 0.0402, d5.loss_map_cls: 0.6192, d5.loss_map_pts: 2.7083, d5.loss_map_dir: 0.0402, loss: 83.2479, grad_norm: 182.0984 +2026-02-24 06:39:18,132 - DriveTransformer - INFO - Epoch [1][19750/39528] lr: 1.000e-04, eta: 8 days, 14:43:22, time: 0.843, data_time: 0.050, memory: 19865, loss_cls: 0.9499, loss_bbox: 0.8440, loss_traj: 2.0178, loss_traj_cls: 0.0005, loss_map_cls: 0.6206, loss_map_pts: 2.6798, loss_map_dir: 0.0443, d0.loss_plan_l1_fix_time: 3.3014, d0.loss_plan_l1_fix_dist: 0.6551, d1.loss_plan_l1_fix_time: 3.2411, d1.loss_plan_l1_fix_dist: 0.6700, d2.loss_plan_l1_fix_time: 3.2557, d2.loss_plan_l1_fix_dist: 0.6903, d3.loss_plan_l1_fix_time: 3.2696, d3.loss_plan_l1_fix_dist: 0.7186, d4.loss_plan_l1_fix_time: 3.2858, d4.loss_plan_l1_fix_dist: 0.7519, d5.loss_plan_l1_fix_time: 3.3032, d5.loss_plan_l1_fix_dist: 0.7844, d6.loss_plan_l1_fix_time: 3.3207, d6.loss_plan_l1_fix_dist: 0.8201, d0.loss_cls_all: 0.9513, d0.loss_bbox_all: 0.8116, d0.loss_cls: 0.9513, d0.loss_bbox: 0.8116, d1.loss_cls: 0.9364, d1.loss_bbox: 0.8201, d2.loss_cls: 0.9378, d2.loss_bbox: 0.8201, d3.loss_cls: 0.9437, d3.loss_bbox: 0.8171, d4.loss_cls: 0.9446, d4.loss_bbox: 0.8224, d5.loss_cls: 0.9466, d5.loss_bbox: 0.8300, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9173, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9776, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9696, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9870, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9860, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9908, d0.loss_map_cls_all: 0.6200, d0.loss_map_pts_all: 3.1851, d0.loss_map_dir_all: 0.0448, d0.loss_map_cls: 0.6200, d0.loss_map_pts: 3.1851, d0.loss_map_dir: 0.0448, d1.loss_map_cls: 0.6074, d1.loss_map_pts: 2.7248, d1.loss_map_dir: 0.0448, d2.loss_map_cls: 0.6082, d2.loss_map_pts: 2.6940, d2.loss_map_dir: 0.0446, d3.loss_map_cls: 0.6072, d3.loss_map_pts: 2.6875, d3.loss_map_dir: 0.0444, d4.loss_map_cls: 0.6133, d4.loss_map_pts: 2.6846, d4.loss_map_dir: 0.0443, d5.loss_map_cls: 0.6141, d5.loss_map_pts: 2.6805, d5.loss_map_dir: 0.0443, loss: 83.8446, grad_norm: 181.4387 +2026-02-24 06:39:58,388 - DriveTransformer - INFO - Epoch [1][19800/39528] lr: 1.000e-04, eta: 8 days, 14:42:51, time: 0.805, data_time: 0.039, memory: 19865, loss_cls: 0.9398, loss_bbox: 0.8424, loss_traj: 1.8673, loss_traj_cls: 0.0005, loss_map_cls: 0.6148, loss_map_pts: 2.6894, loss_map_dir: 0.0435, d0.loss_plan_l1_fix_time: 3.3996, d0.loss_plan_l1_fix_dist: 0.6160, d1.loss_plan_l1_fix_time: 3.2745, d1.loss_plan_l1_fix_dist: 0.6347, d2.loss_plan_l1_fix_time: 3.2666, d2.loss_plan_l1_fix_dist: 0.6637, d3.loss_plan_l1_fix_time: 3.2725, d3.loss_plan_l1_fix_dist: 0.6956, d4.loss_plan_l1_fix_time: 3.2844, d4.loss_plan_l1_fix_dist: 0.7326, d5.loss_plan_l1_fix_time: 3.2992, d5.loss_plan_l1_fix_dist: 0.7737, d6.loss_plan_l1_fix_time: 3.3146, d6.loss_plan_l1_fix_dist: 0.8188, d0.loss_cls_all: 0.9401, d0.loss_bbox_all: 0.8353, d0.loss_cls: 0.9401, d0.loss_bbox: 0.8353, d1.loss_cls: 0.9199, d1.loss_bbox: 0.8423, d2.loss_cls: 0.9230, d2.loss_bbox: 0.8411, d3.loss_cls: 0.9245, d3.loss_bbox: 0.8362, d4.loss_cls: 0.9311, d4.loss_bbox: 0.8344, d5.loss_cls: 0.9310, d5.loss_bbox: 0.8368, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8546, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8769, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8707, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8875, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8749, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8693, d0.loss_map_cls_all: 0.6097, d0.loss_map_pts_all: 3.0264, d0.loss_map_dir_all: 0.0435, d0.loss_map_cls: 0.6097, d0.loss_map_pts: 3.0264, d0.loss_map_dir: 0.0435, d1.loss_map_cls: 0.5913, d1.loss_map_pts: 2.7080, d1.loss_map_dir: 0.0439, d2.loss_map_cls: 0.5953, d2.loss_map_pts: 2.6985, d2.loss_map_dir: 0.0436, d3.loss_map_cls: 0.6003, d3.loss_map_pts: 2.6961, d3.loss_map_dir: 0.0436, d4.loss_map_cls: 0.6050, d4.loss_map_pts: 2.6918, d4.loss_map_dir: 0.0434, d5.loss_map_cls: 0.6074, d5.loss_map_pts: 2.6905, d5.loss_map_dir: 0.0434, loss: 82.7137, grad_norm: 182.0930 +2026-02-24 06:40:37,699 - DriveTransformer - INFO - Epoch [1][19850/39528] lr: 1.000e-04, eta: 8 days, 14:41:36, time: 0.786, data_time: 0.044, memory: 19865, loss_cls: 0.9024, loss_bbox: 0.8126, loss_traj: 1.8637, loss_traj_cls: 0.0005, loss_map_cls: 0.6388, loss_map_pts: 2.4413, loss_map_dir: 0.0386, d0.loss_plan_l1_fix_time: 2.9849, d0.loss_plan_l1_fix_dist: 0.5432, d1.loss_plan_l1_fix_time: 2.8593, d1.loss_plan_l1_fix_dist: 0.5797, d2.loss_plan_l1_fix_time: 2.8497, d2.loss_plan_l1_fix_dist: 0.6309, d3.loss_plan_l1_fix_time: 2.8532, d3.loss_plan_l1_fix_dist: 0.6880, d4.loss_plan_l1_fix_time: 2.8604, d4.loss_plan_l1_fix_dist: 0.7524, d5.loss_plan_l1_fix_time: 2.8712, d5.loss_plan_l1_fix_dist: 0.8204, d6.loss_plan_l1_fix_time: 2.8864, d6.loss_plan_l1_fix_dist: 0.8917, d0.loss_cls_all: 0.9152, d0.loss_bbox_all: 0.7950, d0.loss_cls: 0.9152, d0.loss_bbox: 0.7950, d1.loss_cls: 0.8938, d1.loss_bbox: 0.7924, d2.loss_cls: 0.8960, d2.loss_bbox: 0.7923, d3.loss_cls: 0.8971, d3.loss_bbox: 0.7916, d4.loss_cls: 0.8983, d4.loss_bbox: 0.7943, d5.loss_cls: 0.9010, d5.loss_bbox: 0.8035, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8270, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8410, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8520, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8646, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8741, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8744, d0.loss_map_cls_all: 0.6413, d0.loss_map_pts_all: 2.8194, d0.loss_map_dir_all: 0.0386, d0.loss_map_cls: 0.6413, d0.loss_map_pts: 2.8194, d0.loss_map_dir: 0.0386, d1.loss_map_cls: 0.6195, d1.loss_map_pts: 2.4322, d1.loss_map_dir: 0.0389, d2.loss_map_cls: 0.6180, d2.loss_map_pts: 2.4184, d2.loss_map_dir: 0.0386, d3.loss_map_cls: 0.6190, d3.loss_map_pts: 2.4166, d3.loss_map_dir: 0.0385, d4.loss_map_cls: 0.6261, d4.loss_map_pts: 2.4194, d4.loss_map_dir: 0.0385, d5.loss_map_cls: 0.6294, d5.loss_map_pts: 2.4303, d5.loss_map_dir: 0.0386, loss: 77.2064, grad_norm: 182.7007 +2026-02-24 06:41:19,803 - DriveTransformer - INFO - Epoch [1][19900/39528] lr: 1.000e-04, eta: 8 days, 14:42:32, time: 0.842, data_time: 0.043, memory: 19865, loss_cls: 0.9163, loss_bbox: 0.8393, loss_traj: 2.1013, loss_traj_cls: 0.0005, loss_map_cls: 0.6144, loss_map_pts: 2.7364, loss_map_dir: 0.0392, d0.loss_plan_l1_fix_time: 2.9636, d0.loss_plan_l1_fix_dist: 0.6570, d1.loss_plan_l1_fix_time: 2.8454, d1.loss_plan_l1_fix_dist: 0.6972, d2.loss_plan_l1_fix_time: 2.8329, d2.loss_plan_l1_fix_dist: 0.7504, d3.loss_plan_l1_fix_time: 2.8350, d3.loss_plan_l1_fix_dist: 0.8078, d4.loss_plan_l1_fix_time: 2.8413, d4.loss_plan_l1_fix_dist: 0.8676, d5.loss_plan_l1_fix_time: 2.8511, d5.loss_plan_l1_fix_dist: 0.9302, d6.loss_plan_l1_fix_time: 2.8659, d6.loss_plan_l1_fix_dist: 0.9944, d0.loss_cls_all: 0.9111, d0.loss_bbox_all: 0.8448, d0.loss_cls: 0.9111, d0.loss_bbox: 0.8448, d1.loss_cls: 0.9159, d1.loss_bbox: 0.8388, d2.loss_cls: 0.9134, d2.loss_bbox: 0.8365, d3.loss_cls: 0.9141, d3.loss_bbox: 0.8307, d4.loss_cls: 0.9130, d4.loss_bbox: 0.8292, d5.loss_cls: 0.9147, d5.loss_bbox: 0.8338, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0250, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0735, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0996, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1328, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1397, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1246, d0.loss_map_cls_all: 0.6137, d0.loss_map_pts_all: 3.1137, d0.loss_map_dir_all: 0.0393, d0.loss_map_cls: 0.6137, d0.loss_map_pts: 3.1137, d0.loss_map_dir: 0.0393, d1.loss_map_cls: 0.5905, d1.loss_map_pts: 2.7486, d1.loss_map_dir: 0.0396, d2.loss_map_cls: 0.5939, d2.loss_map_pts: 2.7332, d2.loss_map_dir: 0.0394, d3.loss_map_cls: 0.6011, d3.loss_map_pts: 2.7285, d3.loss_map_dir: 0.0393, d4.loss_map_cls: 0.6037, d4.loss_map_pts: 2.7321, d4.loss_map_dir: 0.0392, d5.loss_map_cls: 0.6082, d5.loss_map_pts: 2.7346, d5.loss_map_dir: 0.0392, loss: 82.2422, grad_norm: 183.3379 +2026-02-24 06:41:59,570 - DriveTransformer - INFO - Epoch [1][19950/39528] lr: 1.000e-04, eta: 8 days, 14:41:38, time: 0.795, data_time: 0.043, memory: 19865, loss_cls: 0.9197, loss_bbox: 0.8479, loss_traj: 1.8522, loss_traj_cls: 0.0005, loss_map_cls: 0.6190, loss_map_pts: 2.5625, loss_map_dir: 0.0324, d0.loss_plan_l1_fix_time: 3.1250, d0.loss_plan_l1_fix_dist: 0.5841, d1.loss_plan_l1_fix_time: 3.0670, d1.loss_plan_l1_fix_dist: 0.6139, d2.loss_plan_l1_fix_time: 3.0766, d2.loss_plan_l1_fix_dist: 0.6528, d3.loss_plan_l1_fix_time: 3.0877, d3.loss_plan_l1_fix_dist: 0.7048, d4.loss_plan_l1_fix_time: 3.0990, d4.loss_plan_l1_fix_dist: 0.7593, d5.loss_plan_l1_fix_time: 3.1110, d5.loss_plan_l1_fix_dist: 0.8176, d6.loss_plan_l1_fix_time: 3.1256, d6.loss_plan_l1_fix_dist: 0.8794, d0.loss_cls_all: 0.9141, d0.loss_bbox_all: 0.8486, d0.loss_cls: 0.9141, d0.loss_bbox: 0.8486, d1.loss_cls: 0.9055, d1.loss_bbox: 0.8400, d2.loss_cls: 0.9054, d2.loss_bbox: 0.8195, d3.loss_cls: 0.9113, d3.loss_bbox: 0.8194, d4.loss_cls: 0.9160, d4.loss_bbox: 0.8226, d5.loss_cls: 0.9142, d5.loss_bbox: 0.8347, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7851, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8089, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8099, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8296, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8312, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8255, d0.loss_map_cls_all: 0.6195, d0.loss_map_pts_all: 2.9279, d0.loss_map_dir_all: 0.0332, d0.loss_map_cls: 0.6195, d0.loss_map_pts: 2.9279, d0.loss_map_dir: 0.0332, d1.loss_map_cls: 0.6052, d1.loss_map_pts: 2.5473, d1.loss_map_dir: 0.0327, d2.loss_map_cls: 0.6062, d2.loss_map_pts: 2.5362, d2.loss_map_dir: 0.0326, d3.loss_map_cls: 0.6074, d3.loss_map_pts: 2.5394, d3.loss_map_dir: 0.0325, d4.loss_map_cls: 0.6085, d4.loss_map_pts: 2.5476, d4.loss_map_dir: 0.0324, d5.loss_map_cls: 0.6116, d5.loss_map_pts: 2.5530, d5.loss_map_dir: 0.0324, loss: 79.7312, grad_norm: 185.5488 +2026-02-24 06:42:38,792 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 06:42:38,793 - DriveTransformer - INFO - Epoch [1][20000/39528] lr: 1.000e-04, eta: 8 days, 14:40:22, time: 0.786, data_time: 0.042, memory: 19865, loss_cls: 0.9965, loss_bbox: 0.8691, loss_traj: 1.9310, loss_traj_cls: 0.0005, loss_map_cls: 0.6264, loss_map_pts: 2.4968, loss_map_dir: 0.0373, d0.loss_plan_l1_fix_time: 3.2140, d0.loss_plan_l1_fix_dist: 0.6250, d1.loss_plan_l1_fix_time: 3.1152, d1.loss_plan_l1_fix_dist: 0.6461, d2.loss_plan_l1_fix_time: 3.1153, d2.loss_plan_l1_fix_dist: 0.6781, d3.loss_plan_l1_fix_time: 3.1220, d3.loss_plan_l1_fix_dist: 0.7203, d4.loss_plan_l1_fix_time: 3.1311, d4.loss_plan_l1_fix_dist: 0.7658, d5.loss_plan_l1_fix_time: 3.1420, d5.loss_plan_l1_fix_dist: 0.8189, d6.loss_plan_l1_fix_time: 3.1546, d6.loss_plan_l1_fix_dist: 0.8724, d0.loss_cls_all: 0.9735, d0.loss_bbox_all: 0.8697, d0.loss_cls: 0.9735, d0.loss_bbox: 0.8697, d1.loss_cls: 0.9623, d1.loss_bbox: 0.8705, d2.loss_cls: 0.9656, d2.loss_bbox: 0.8565, d3.loss_cls: 0.9726, d3.loss_bbox: 0.8566, d4.loss_cls: 0.9805, d4.loss_bbox: 0.8551, d5.loss_cls: 0.9832, d5.loss_bbox: 0.8616, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8472, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8796, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8881, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9203, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9300, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9309, d0.loss_map_cls_all: 0.6241, d0.loss_map_pts_all: 2.9490, d0.loss_map_dir_all: 0.0382, d0.loss_map_cls: 0.6241, d0.loss_map_pts: 2.9490, d0.loss_map_dir: 0.0382, d1.loss_map_cls: 0.6094, d1.loss_map_pts: 2.5118, d1.loss_map_dir: 0.0377, d2.loss_map_cls: 0.6130, d2.loss_map_pts: 2.4859, d2.loss_map_dir: 0.0375, d3.loss_map_cls: 0.6159, d3.loss_map_pts: 2.4842, d3.loss_map_dir: 0.0374, d4.loss_map_cls: 0.6173, d4.loss_map_pts: 2.4843, d4.loss_map_dir: 0.0373, d5.loss_map_cls: 0.6199, d5.loss_map_pts: 2.4871, d5.loss_map_dir: 0.0373, loss: 81.2667, grad_norm: 186.1539 +2026-02-24 06:43:19,364 - DriveTransformer - INFO - Epoch [1][20050/39528] lr: 1.000e-04, eta: 8 days, 14:40:02, time: 0.810, data_time: 0.038, memory: 19865, loss_cls: 0.9130, loss_bbox: 0.8456, loss_traj: 1.7662, loss_traj_cls: 0.0006, loss_map_cls: 0.6177, loss_map_pts: 2.7747, loss_map_dir: 0.0430, d0.loss_plan_l1_fix_time: 2.4833, d0.loss_plan_l1_fix_dist: 0.6289, d1.loss_plan_l1_fix_time: 2.3430, d1.loss_plan_l1_fix_dist: 0.6674, d2.loss_plan_l1_fix_time: 2.3416, d2.loss_plan_l1_fix_dist: 0.7189, d3.loss_plan_l1_fix_time: 2.3525, d3.loss_plan_l1_fix_dist: 0.7745, d4.loss_plan_l1_fix_time: 2.3659, d4.loss_plan_l1_fix_dist: 0.8379, d5.loss_plan_l1_fix_time: 2.3801, d5.loss_plan_l1_fix_dist: 0.9011, d6.loss_plan_l1_fix_time: 2.3936, d6.loss_plan_l1_fix_dist: 0.9636, d0.loss_cls_all: 0.9276, d0.loss_bbox_all: 0.8508, d0.loss_cls: 0.9276, d0.loss_bbox: 0.8508, d1.loss_cls: 0.9109, d1.loss_bbox: 0.8578, d2.loss_cls: 0.9115, d2.loss_bbox: 0.8496, d3.loss_cls: 0.9114, d3.loss_bbox: 0.8497, d4.loss_cls: 0.9093, d4.loss_bbox: 0.8475, d5.loss_cls: 0.9111, d5.loss_bbox: 0.8419, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7074, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.7081, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7217, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7348, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7330, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7469, d0.loss_map_cls_all: 0.6151, d0.loss_map_pts_all: 3.1772, d0.loss_map_dir_all: 0.0433, d0.loss_map_cls: 0.6151, d0.loss_map_pts: 3.1772, d0.loss_map_dir: 0.0433, d1.loss_map_cls: 0.5959, d1.loss_map_pts: 2.7891, d1.loss_map_dir: 0.0435, d2.loss_map_cls: 0.5986, d2.loss_map_pts: 2.7630, d2.loss_map_dir: 0.0433, d3.loss_map_cls: 0.6039, d3.loss_map_pts: 2.7591, d3.loss_map_dir: 0.0432, d4.loss_map_cls: 0.6093, d4.loss_map_pts: 2.7639, d4.loss_map_dir: 0.0431, d5.loss_map_cls: 0.6118, d5.loss_map_pts: 2.7683, d5.loss_map_dir: 0.0431, loss: 76.5757, grad_norm: 187.1185 +2026-02-24 06:43:59,624 - DriveTransformer - INFO - Epoch [1][20100/39528] lr: 1.000e-04, eta: 8 days, 14:39:32, time: 0.805, data_time: 0.046, memory: 19865, loss_cls: 0.9096, loss_bbox: 0.8573, loss_traj: 1.8671, loss_traj_cls: 0.0005, loss_map_cls: 0.6460, loss_map_pts: 2.8108, loss_map_dir: 0.0452, d0.loss_plan_l1_fix_time: 3.3916, d0.loss_plan_l1_fix_dist: 0.6143, d1.loss_plan_l1_fix_time: 3.2739, d1.loss_plan_l1_fix_dist: 0.6480, d2.loss_plan_l1_fix_time: 3.2641, d2.loss_plan_l1_fix_dist: 0.6911, d3.loss_plan_l1_fix_time: 3.2671, d3.loss_plan_l1_fix_dist: 0.7387, d4.loss_plan_l1_fix_time: 3.2744, d4.loss_plan_l1_fix_dist: 0.7933, d5.loss_plan_l1_fix_time: 3.2850, d5.loss_plan_l1_fix_dist: 0.8486, d6.loss_plan_l1_fix_time: 3.2969, d6.loss_plan_l1_fix_dist: 0.9096, d0.loss_cls_all: 0.9298, d0.loss_bbox_all: 0.8528, d0.loss_cls: 0.9298, d0.loss_bbox: 0.8528, d1.loss_cls: 0.9079, d1.loss_bbox: 0.8589, d2.loss_cls: 0.9091, d2.loss_bbox: 0.8566, d3.loss_cls: 0.9114, d3.loss_bbox: 0.8541, d4.loss_cls: 0.9109, d4.loss_bbox: 0.8517, d5.loss_cls: 0.9109, d5.loss_bbox: 0.8526, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8243, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8310, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8281, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8398, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8455, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8482, d0.loss_map_cls_all: 0.6435, d0.loss_map_pts_all: 3.2458, d0.loss_map_dir_all: 0.0451, d0.loss_map_cls: 0.6435, d0.loss_map_pts: 3.2458, d0.loss_map_dir: 0.0451, d1.loss_map_cls: 0.6269, d1.loss_map_pts: 2.8373, d1.loss_map_dir: 0.0454, d2.loss_map_cls: 0.6280, d2.loss_map_pts: 2.8030, d2.loss_map_dir: 0.0453, d3.loss_map_cls: 0.6340, d3.loss_map_pts: 2.8007, d3.loss_map_dir: 0.0452, d4.loss_map_cls: 0.6371, d4.loss_map_pts: 2.8059, d4.loss_map_dir: 0.0451, d5.loss_map_cls: 0.6411, d5.loss_map_pts: 2.8062, d5.loss_map_dir: 0.0452, loss: 84.1577, grad_norm: 187.1881 +2026-02-24 06:44:40,756 - DriveTransformer - INFO - Epoch [1][20150/39528] lr: 1.000e-04, eta: 8 days, 14:39:41, time: 0.823, data_time: 0.040, memory: 19865, loss_cls: 0.9585, loss_bbox: 0.8510, loss_traj: 2.0688, loss_traj_cls: 0.0005, loss_map_cls: 0.6246, loss_map_pts: 2.9088, loss_map_dir: 0.0465, d0.loss_plan_l1_fix_time: 3.2969, d0.loss_plan_l1_fix_dist: 0.6140, d1.loss_plan_l1_fix_time: 3.1552, d1.loss_plan_l1_fix_dist: 0.6479, d2.loss_plan_l1_fix_time: 3.1404, d2.loss_plan_l1_fix_dist: 0.6927, d3.loss_plan_l1_fix_time: 3.1426, d3.loss_plan_l1_fix_dist: 0.7518, d4.loss_plan_l1_fix_time: 3.1513, d4.loss_plan_l1_fix_dist: 0.8116, d5.loss_plan_l1_fix_time: 3.1637, d5.loss_plan_l1_fix_dist: 0.8788, d6.loss_plan_l1_fix_time: 3.1786, d6.loss_plan_l1_fix_dist: 0.9506, d0.loss_cls_all: 0.9416, d0.loss_bbox_all: 0.8555, d0.loss_cls: 0.9416, d0.loss_bbox: 0.8555, d1.loss_cls: 0.9531, d1.loss_bbox: 0.8404, d2.loss_cls: 0.9563, d2.loss_bbox: 0.8426, d3.loss_cls: 0.9510, d3.loss_bbox: 0.8437, d4.loss_cls: 0.9450, d4.loss_bbox: 0.8488, d5.loss_cls: 0.9509, d5.loss_bbox: 0.8473, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0476, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0693, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0501, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0698, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0658, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0630, d0.loss_map_cls_all: 0.6253, d0.loss_map_pts_all: 3.2330, d0.loss_map_dir_all: 0.0459, d0.loss_map_cls: 0.6253, d0.loss_map_pts: 3.2330, d0.loss_map_dir: 0.0459, d1.loss_map_cls: 0.6067, d1.loss_map_pts: 2.9210, d1.loss_map_dir: 0.0465, d2.loss_map_cls: 0.6077, d2.loss_map_pts: 2.9005, d2.loss_map_dir: 0.0464, d3.loss_map_cls: 0.6160, d3.loss_map_pts: 2.9007, d3.loss_map_dir: 0.0464, d4.loss_map_cls: 0.6171, d4.loss_map_pts: 2.9044, d4.loss_map_dir: 0.0464, d5.loss_map_cls: 0.6197, d5.loss_map_pts: 2.9083, d5.loss_map_dir: 0.0464, loss: 85.6193, grad_norm: 186.9663 +2026-02-24 06:45:22,275 - DriveTransformer - INFO - Epoch [1][20200/39528] lr: 1.000e-04, eta: 8 days, 14:40:08, time: 0.830, data_time: 0.041, memory: 19865, loss_cls: 0.9133, loss_bbox: 0.8388, loss_traj: 1.7978, loss_traj_cls: 0.0005, loss_map_cls: 0.5987, loss_map_pts: 2.7893, loss_map_dir: 0.0421, d0.loss_plan_l1_fix_time: 3.1676, d0.loss_plan_l1_fix_dist: 0.6365, d1.loss_plan_l1_fix_time: 2.9859, d1.loss_plan_l1_fix_dist: 0.6492, d2.loss_plan_l1_fix_time: 2.9639, d2.loss_plan_l1_fix_dist: 0.6756, d3.loss_plan_l1_fix_time: 2.9638, d3.loss_plan_l1_fix_dist: 0.7100, d4.loss_plan_l1_fix_time: 2.9709, d4.loss_plan_l1_fix_dist: 0.7500, d5.loss_plan_l1_fix_time: 2.9804, d5.loss_plan_l1_fix_dist: 0.7987, d6.loss_plan_l1_fix_time: 2.9919, d6.loss_plan_l1_fix_dist: 0.8478, d0.loss_cls_all: 0.9150, d0.loss_bbox_all: 0.8454, d0.loss_cls: 0.9150, d0.loss_bbox: 0.8454, d1.loss_cls: 0.9136, d1.loss_bbox: 0.8341, d2.loss_cls: 0.9101, d2.loss_bbox: 0.8324, d3.loss_cls: 0.9131, d3.loss_bbox: 0.8350, d4.loss_cls: 0.9138, d4.loss_bbox: 0.8318, d5.loss_cls: 0.9151, d5.loss_bbox: 0.8277, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7785, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.7986, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7808, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7950, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7972, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7969, d0.loss_map_cls_all: 0.6012, d0.loss_map_pts_all: 3.2642, d0.loss_map_dir_all: 0.0422, d0.loss_map_cls: 0.6012, d0.loss_map_pts: 3.2642, d0.loss_map_dir: 0.0422, d1.loss_map_cls: 0.5854, d1.loss_map_pts: 2.8186, d1.loss_map_dir: 0.0423, d2.loss_map_cls: 0.5878, d2.loss_map_pts: 2.7935, d2.loss_map_dir: 0.0422, d3.loss_map_cls: 0.5921, d3.loss_map_pts: 2.7832, d3.loss_map_dir: 0.0421, d4.loss_map_cls: 0.5938, d4.loss_map_pts: 2.7806, d4.loss_map_dir: 0.0421, d5.loss_map_cls: 0.5946, d5.loss_map_pts: 2.7857, d5.loss_map_dir: 0.0420, loss: 81.0114, grad_norm: 187.7460 +2026-02-24 06:46:03,709 - DriveTransformer - INFO - Epoch [1][20250/39528] lr: 1.000e-04, eta: 8 days, 14:40:30, time: 0.829, data_time: 0.037, memory: 19865, loss_cls: 0.9014, loss_bbox: 0.8357, loss_traj: 1.7046, loss_traj_cls: 0.0005, loss_map_cls: 0.6184, loss_map_pts: 2.5988, loss_map_dir: 0.0441, d0.loss_plan_l1_fix_time: 2.8261, d0.loss_plan_l1_fix_dist: 0.5796, d1.loss_plan_l1_fix_time: 2.7177, d1.loss_plan_l1_fix_dist: 0.6080, d2.loss_plan_l1_fix_time: 2.7215, d2.loss_plan_l1_fix_dist: 0.6545, d3.loss_plan_l1_fix_time: 2.7327, d3.loss_plan_l1_fix_dist: 0.7085, d4.loss_plan_l1_fix_time: 2.7441, d4.loss_plan_l1_fix_dist: 0.7675, d5.loss_plan_l1_fix_time: 2.7563, d5.loss_plan_l1_fix_dist: 0.8279, d6.loss_plan_l1_fix_time: 2.7694, d6.loss_plan_l1_fix_dist: 0.8946, d0.loss_cls_all: 0.8952, d0.loss_bbox_all: 0.8372, d0.loss_cls: 0.8952, d0.loss_bbox: 0.8372, d1.loss_cls: 0.8971, d1.loss_bbox: 0.8392, d2.loss_cls: 0.9029, d2.loss_bbox: 0.8235, d3.loss_cls: 0.9017, d3.loss_bbox: 0.8242, d4.loss_cls: 0.9006, d4.loss_bbox: 0.8200, d5.loss_cls: 0.9027, d5.loss_bbox: 0.8268, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7243, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7399, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7085, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7145, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7122, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7028, d0.loss_map_cls_all: 0.6153, d0.loss_map_pts_all: 3.1375, d0.loss_map_dir_all: 0.0442, d0.loss_map_cls: 0.6153, d0.loss_map_pts: 3.1375, d0.loss_map_dir: 0.0442, d1.loss_map_cls: 0.6010, d1.loss_map_pts: 2.6667, d1.loss_map_dir: 0.0442, d2.loss_map_cls: 0.5996, d2.loss_map_pts: 2.6230, d2.loss_map_dir: 0.0442, d3.loss_map_cls: 0.6067, d3.loss_map_pts: 2.6072, d3.loss_map_dir: 0.0441, d4.loss_map_cls: 0.6100, d4.loss_map_pts: 2.5994, d4.loss_map_dir: 0.0440, d5.loss_map_cls: 0.6138, d5.loss_map_pts: 2.5966, d5.loss_map_dir: 0.0440, loss: 77.3591, grad_norm: 185.9271 +2026-02-24 06:46:46,378 - DriveTransformer - INFO - Epoch [1][20300/39528] lr: 1.000e-04, eta: 8 days, 14:41:49, time: 0.853, data_time: 0.037, memory: 19865, loss_cls: 0.9506, loss_bbox: 0.8386, loss_traj: 1.9536, loss_traj_cls: 0.0006, loss_map_cls: 0.5831, loss_map_pts: 2.9129, loss_map_dir: 0.0459, d0.loss_plan_l1_fix_time: 3.1531, d0.loss_plan_l1_fix_dist: 0.5970, d1.loss_plan_l1_fix_time: 3.0390, d1.loss_plan_l1_fix_dist: 0.6065, d2.loss_plan_l1_fix_time: 3.0449, d2.loss_plan_l1_fix_dist: 0.6301, d3.loss_plan_l1_fix_time: 3.0557, d3.loss_plan_l1_fix_dist: 0.6625, d4.loss_plan_l1_fix_time: 3.0676, d4.loss_plan_l1_fix_dist: 0.6985, d5.loss_plan_l1_fix_time: 3.0806, d5.loss_plan_l1_fix_dist: 0.7411, d6.loss_plan_l1_fix_time: 3.0950, d6.loss_plan_l1_fix_dist: 0.7869, d0.loss_cls_all: 0.9447, d0.loss_bbox_all: 0.8430, d0.loss_cls: 0.9447, d0.loss_bbox: 0.8430, d1.loss_cls: 0.9336, d1.loss_bbox: 0.8500, d2.loss_cls: 0.9341, d2.loss_bbox: 0.8350, d3.loss_cls: 0.9377, d3.loss_bbox: 0.8355, d4.loss_cls: 0.9410, d4.loss_bbox: 0.8360, d5.loss_cls: 0.9467, d5.loss_bbox: 0.8365, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9296, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.9320, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9289, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9364, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9403, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9447, d0.loss_map_cls_all: 0.5918, d0.loss_map_pts_all: 3.4055, d0.loss_map_dir_all: 0.0464, d0.loss_map_cls: 0.5918, d0.loss_map_pts: 3.4055, d0.loss_map_dir: 0.0464, d1.loss_map_cls: 0.5690, d1.loss_map_pts: 2.9328, d1.loss_map_dir: 0.0463, d2.loss_map_cls: 0.5699, d2.loss_map_pts: 2.9157, d2.loss_map_dir: 0.0461, d3.loss_map_cls: 0.5771, d3.loss_map_pts: 2.9128, d3.loss_map_dir: 0.0461, d4.loss_map_cls: 0.5777, d4.loss_map_pts: 2.9118, d4.loss_map_dir: 0.0460, d5.loss_map_cls: 0.5790, d5.loss_map_pts: 2.9113, d5.loss_map_dir: 0.0460, loss: 83.3953, grad_norm: 184.7207 +2026-02-24 06:47:25,051 - DriveTransformer - INFO - Epoch [1][20350/39528] lr: 1.000e-04, eta: 8 days, 14:40:05, time: 0.773, data_time: 0.037, memory: 19865, loss_cls: 0.9125, loss_bbox: 0.8541, loss_traj: 1.7080, loss_traj_cls: 0.0005, loss_map_cls: 0.6258, loss_map_pts: 2.3085, loss_map_dir: 0.0376, d0.loss_plan_l1_fix_time: 3.2711, d0.loss_plan_l1_fix_dist: 0.5909, d1.loss_plan_l1_fix_time: 3.1385, d1.loss_plan_l1_fix_dist: 0.6114, d2.loss_plan_l1_fix_time: 3.1345, d2.loss_plan_l1_fix_dist: 0.6494, d3.loss_plan_l1_fix_time: 3.1421, d3.loss_plan_l1_fix_dist: 0.6998, d4.loss_plan_l1_fix_time: 3.1527, d4.loss_plan_l1_fix_dist: 0.7577, d5.loss_plan_l1_fix_time: 3.1652, d5.loss_plan_l1_fix_dist: 0.8210, d6.loss_plan_l1_fix_time: 3.1772, d6.loss_plan_l1_fix_dist: 0.8869, d0.loss_cls_all: 0.9102, d0.loss_bbox_all: 0.8478, d0.loss_cls: 0.9102, d0.loss_bbox: 0.8478, d1.loss_cls: 0.9034, d1.loss_bbox: 0.8591, d2.loss_cls: 0.9034, d2.loss_bbox: 0.8437, d3.loss_cls: 0.9072, d3.loss_bbox: 0.8415, d4.loss_cls: 0.9081, d4.loss_bbox: 0.8455, d5.loss_cls: 0.9109, d5.loss_bbox: 0.8505, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6861, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.6935, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6890, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.6937, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7006, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7054, d0.loss_map_cls_all: 0.6476, d0.loss_map_pts_all: 2.8308, d0.loss_map_dir_all: 0.0383, d0.loss_map_cls: 0.6476, d0.loss_map_pts: 2.8308, d0.loss_map_dir: 0.0383, d1.loss_map_cls: 0.6131, d1.loss_map_pts: 2.3505, d1.loss_map_dir: 0.0380, d2.loss_map_cls: 0.6133, d2.loss_map_pts: 2.3253, d2.loss_map_dir: 0.0379, d3.loss_map_cls: 0.6158, d3.loss_map_pts: 2.3186, d3.loss_map_dir: 0.0378, d4.loss_map_cls: 0.6190, d4.loss_map_pts: 2.3158, d4.loss_map_dir: 0.0378, d5.loss_map_cls: 0.6213, d5.loss_map_pts: 2.3115, d5.loss_map_dir: 0.0377, loss: 78.0330, grad_norm: 184.9210 +2026-02-24 06:48:06,064 - DriveTransformer - INFO - Epoch [1][20400/39528] lr: 1.000e-04, eta: 8 days, 14:40:08, time: 0.821, data_time: 0.042, memory: 19865, loss_cls: 0.9205, loss_bbox: 0.8274, loss_traj: 1.8541, loss_traj_cls: 0.0005, loss_map_cls: 0.5798, loss_map_pts: 2.5798, loss_map_dir: 0.0455, d0.loss_plan_l1_fix_time: 3.1487, d0.loss_plan_l1_fix_dist: 0.6334, d1.loss_plan_l1_fix_time: 3.0407, d1.loss_plan_l1_fix_dist: 0.6628, d2.loss_plan_l1_fix_time: 3.0434, d2.loss_plan_l1_fix_dist: 0.7008, d3.loss_plan_l1_fix_time: 3.0547, d3.loss_plan_l1_fix_dist: 0.7465, d4.loss_plan_l1_fix_time: 3.0687, d4.loss_plan_l1_fix_dist: 0.7992, d5.loss_plan_l1_fix_time: 3.0833, d5.loss_plan_l1_fix_dist: 0.8555, d6.loss_plan_l1_fix_time: 3.1003, d6.loss_plan_l1_fix_dist: 0.9141, d0.loss_cls_all: 0.9064, d0.loss_bbox_all: 0.8046, d0.loss_cls: 0.9064, d0.loss_bbox: 0.8046, d1.loss_cls: 0.9159, d1.loss_bbox: 0.8128, d2.loss_cls: 0.9175, d2.loss_bbox: 0.8079, d3.loss_cls: 0.9149, d3.loss_bbox: 0.8071, d4.loss_cls: 0.9153, d4.loss_bbox: 0.8140, d5.loss_cls: 0.9183, d5.loss_bbox: 0.8211, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8158, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8419, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8419, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8659, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8583, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8504, d0.loss_map_cls_all: 0.5847, d0.loss_map_pts_all: 3.0870, d0.loss_map_dir_all: 0.0458, d0.loss_map_cls: 0.5847, d0.loss_map_pts: 3.0870, d0.loss_map_dir: 0.0458, d1.loss_map_cls: 0.5635, d1.loss_map_pts: 2.6292, d1.loss_map_dir: 0.0458, d2.loss_map_cls: 0.5649, d2.loss_map_pts: 2.5933, d2.loss_map_dir: 0.0456, d3.loss_map_cls: 0.5692, d3.loss_map_pts: 2.5823, d3.loss_map_dir: 0.0455, d4.loss_map_cls: 0.5722, d4.loss_map_pts: 2.5810, d4.loss_map_dir: 0.0455, d5.loss_map_cls: 0.5754, d5.loss_map_pts: 2.5797, d5.loss_map_dir: 0.0455, loss: 80.2773, grad_norm: 185.2764 +2026-02-24 06:48:46,943 - DriveTransformer - INFO - Epoch [1][20450/39528] lr: 1.000e-04, eta: 8 days, 14:40:04, time: 0.817, data_time: 0.043, memory: 19865, loss_cls: 0.9287, loss_bbox: 0.8434, loss_traj: 1.5847, loss_traj_cls: 0.0005, loss_map_cls: 0.5874, loss_map_pts: 2.6278, loss_map_dir: 0.0424, d0.loss_plan_l1_fix_time: 3.0680, d0.loss_plan_l1_fix_dist: 0.7288, d1.loss_plan_l1_fix_time: 3.0066, d1.loss_plan_l1_fix_dist: 0.7643, d2.loss_plan_l1_fix_time: 3.0148, d2.loss_plan_l1_fix_dist: 0.8107, d3.loss_plan_l1_fix_time: 3.0265, d3.loss_plan_l1_fix_dist: 0.8647, d4.loss_plan_l1_fix_time: 3.0411, d4.loss_plan_l1_fix_dist: 0.9160, d5.loss_plan_l1_fix_time: 3.0569, d5.loss_plan_l1_fix_dist: 0.9744, d6.loss_plan_l1_fix_time: 3.0748, d6.loss_plan_l1_fix_dist: 1.0354, d0.loss_cls_all: 0.9256, d0.loss_bbox_all: 0.8398, d0.loss_cls: 0.9256, d0.loss_bbox: 0.8398, d1.loss_cls: 0.9201, d1.loss_bbox: 0.8370, d2.loss_cls: 0.9177, d2.loss_bbox: 0.8342, d3.loss_cls: 0.9198, d3.loss_bbox: 0.8296, d4.loss_cls: 0.9230, d4.loss_bbox: 0.8302, d5.loss_cls: 0.9256, d5.loss_bbox: 0.8362, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.5428, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.5620, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.5674, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.5975, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.5817, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5683, d0.loss_map_cls_all: 0.6017, d0.loss_map_pts_all: 3.1516, d0.loss_map_dir_all: 0.0424, d0.loss_map_cls: 0.6017, d0.loss_map_pts: 3.1516, d0.loss_map_dir: 0.0424, d1.loss_map_cls: 0.5760, d1.loss_map_pts: 2.6309, d1.loss_map_dir: 0.0426, d2.loss_map_cls: 0.5760, d2.loss_map_pts: 2.6093, d2.loss_map_dir: 0.0425, d3.loss_map_cls: 0.5829, d3.loss_map_pts: 2.6068, d3.loss_map_dir: 0.0424, d4.loss_map_cls: 0.5822, d4.loss_map_pts: 2.6107, d4.loss_map_dir: 0.0424, d5.loss_map_cls: 0.5828, d5.loss_map_pts: 2.6170, d5.loss_map_dir: 0.0424, loss: 79.5030, grad_norm: 186.3636 +2026-02-24 06:49:26,530 - DriveTransformer - INFO - Epoch [1][20500/39528] lr: 1.000e-04, eta: 8 days, 14:39:02, time: 0.792, data_time: 0.042, memory: 19865, loss_cls: 0.9456, loss_bbox: 0.8447, loss_traj: 1.7631, loss_traj_cls: 0.0005, loss_map_cls: 0.5971, loss_map_pts: 2.3506, loss_map_dir: 0.0409, d0.loss_plan_l1_fix_time: 2.9726, d0.loss_plan_l1_fix_dist: 0.5392, d1.loss_plan_l1_fix_time: 2.9376, d1.loss_plan_l1_fix_dist: 0.5659, d2.loss_plan_l1_fix_time: 2.9595, d2.loss_plan_l1_fix_dist: 0.6143, d3.loss_plan_l1_fix_time: 2.9761, d3.loss_plan_l1_fix_dist: 0.6703, d4.loss_plan_l1_fix_time: 2.9927, d4.loss_plan_l1_fix_dist: 0.7334, d5.loss_plan_l1_fix_time: 3.0084, d5.loss_plan_l1_fix_dist: 0.7988, d6.loss_plan_l1_fix_time: 3.0247, d6.loss_plan_l1_fix_dist: 0.8677, d0.loss_cls_all: 0.9459, d0.loss_bbox_all: 0.8378, d0.loss_cls: 0.9459, d0.loss_bbox: 0.8378, d1.loss_cls: 0.9401, d1.loss_bbox: 0.8293, d2.loss_cls: 0.9400, d2.loss_bbox: 0.8248, d3.loss_cls: 0.9411, d3.loss_bbox: 0.8220, d4.loss_cls: 0.9405, d4.loss_bbox: 0.8273, d5.loss_cls: 0.9425, d5.loss_bbox: 0.8359, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.6889, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.7087, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6991, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7020, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7335, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7415, d0.loss_map_cls_all: 0.6121, d0.loss_map_pts_all: 2.8236, d0.loss_map_dir_all: 0.0410, d0.loss_map_cls: 0.6121, d0.loss_map_pts: 2.8236, d0.loss_map_dir: 0.0410, d1.loss_map_cls: 0.5902, d1.loss_map_pts: 2.3776, d1.loss_map_dir: 0.0411, d2.loss_map_cls: 0.5887, d2.loss_map_pts: 2.3556, d2.loss_map_dir: 0.0410, d3.loss_map_cls: 0.5902, d3.loss_map_pts: 2.3513, d3.loss_map_dir: 0.0409, d4.loss_map_cls: 0.5902, d4.loss_map_pts: 2.3477, d4.loss_map_dir: 0.0409, d5.loss_map_cls: 0.5934, d5.loss_map_pts: 2.3471, d5.loss_map_dir: 0.0409, loss: 76.7814, grad_norm: 186.0401 +2026-02-24 06:50:06,421 - DriveTransformer - INFO - Epoch [1][20550/39528] lr: 1.000e-04, eta: 8 days, 14:38:14, time: 0.798, data_time: 0.043, memory: 19865, loss_cls: 0.9189, loss_bbox: 0.8500, loss_traj: 1.8372, loss_traj_cls: 0.0005, loss_map_cls: 0.6123, loss_map_pts: 2.6585, loss_map_dir: 0.0450, d0.loss_plan_l1_fix_time: 3.3188, d0.loss_plan_l1_fix_dist: 0.5090, d1.loss_plan_l1_fix_time: 3.1107, d1.loss_plan_l1_fix_dist: 0.5304, d2.loss_plan_l1_fix_time: 3.1031, d2.loss_plan_l1_fix_dist: 0.5651, d3.loss_plan_l1_fix_time: 3.1132, d3.loss_plan_l1_fix_dist: 0.6106, d4.loss_plan_l1_fix_time: 3.1284, d4.loss_plan_l1_fix_dist: 0.6651, d5.loss_plan_l1_fix_time: 3.1458, d5.loss_plan_l1_fix_dist: 0.7288, d6.loss_plan_l1_fix_time: 3.1642, d6.loss_plan_l1_fix_dist: 0.7975, d0.loss_cls_all: 0.9083, d0.loss_bbox_all: 0.8414, d0.loss_cls: 0.9083, d0.loss_bbox: 0.8414, d1.loss_cls: 0.9091, d1.loss_bbox: 0.8514, d2.loss_cls: 0.9084, d2.loss_bbox: 0.8365, d3.loss_cls: 0.9083, d3.loss_bbox: 0.8367, d4.loss_cls: 0.9087, d4.loss_bbox: 0.8357, d5.loss_cls: 0.9100, d5.loss_bbox: 0.8416, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8184, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.8361, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8070, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8169, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8265, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8347, d0.loss_map_cls_all: 0.6253, d0.loss_map_pts_all: 3.1083, d0.loss_map_dir_all: 0.0446, d0.loss_map_cls: 0.6253, d0.loss_map_pts: 3.1083, d0.loss_map_dir: 0.0446, d1.loss_map_cls: 0.5981, d1.loss_map_pts: 2.6918, d1.loss_map_dir: 0.0452, d2.loss_map_cls: 0.5972, d2.loss_map_pts: 2.6641, d2.loss_map_dir: 0.0451, d3.loss_map_cls: 0.6013, d3.loss_map_pts: 2.6563, d3.loss_map_dir: 0.0450, d4.loss_map_cls: 0.6043, d4.loss_map_pts: 2.6526, d4.loss_map_dir: 0.0450, d5.loss_map_cls: 0.6077, d5.loss_map_pts: 2.6536, d5.loss_map_dir: 0.0450, loss: 80.7101, grad_norm: 187.8664 +2026-02-24 06:50:49,036 - DriveTransformer - INFO - Epoch [1][20600/39528] lr: 1.000e-04, eta: 8 days, 14:39:28, time: 0.852, data_time: 0.041, memory: 19865, loss_cls: 0.9612, loss_bbox: 0.8949, loss_traj: 1.6740, loss_traj_cls: 0.0006, loss_map_cls: 0.5937, loss_map_pts: 3.0546, loss_map_dir: 0.0484, d0.loss_plan_l1_fix_time: 3.0473, d0.loss_plan_l1_fix_dist: 0.6382, d1.loss_plan_l1_fix_time: 2.8698, d1.loss_plan_l1_fix_dist: 0.6766, d2.loss_plan_l1_fix_time: 2.8609, d2.loss_plan_l1_fix_dist: 0.7185, d3.loss_plan_l1_fix_time: 2.8658, d3.loss_plan_l1_fix_dist: 0.7676, d4.loss_plan_l1_fix_time: 2.8746, d4.loss_plan_l1_fix_dist: 0.8204, d5.loss_plan_l1_fix_time: 2.8847, d5.loss_plan_l1_fix_dist: 0.8721, d6.loss_plan_l1_fix_time: 2.8956, d6.loss_plan_l1_fix_dist: 0.9256, d0.loss_cls_all: 0.9582, d0.loss_bbox_all: 0.8995, d0.loss_cls: 0.9582, d0.loss_bbox: 0.8995, d1.loss_cls: 0.9586, d1.loss_bbox: 0.9114, d2.loss_cls: 0.9514, d2.loss_bbox: 0.8856, d3.loss_cls: 0.9616, d3.loss_bbox: 0.8841, d4.loss_cls: 0.9628, d4.loss_bbox: 0.8846, d5.loss_cls: 0.9637, d5.loss_bbox: 0.8849, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6199, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6218, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6137, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.6329, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.6376, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6658, d0.loss_map_cls_all: 0.6072, d0.loss_map_pts_all: 3.5925, d0.loss_map_dir_all: 0.0484, d0.loss_map_cls: 0.6072, d0.loss_map_pts: 3.5925, d0.loss_map_dir: 0.0484, d1.loss_map_cls: 0.5848, d1.loss_map_pts: 3.0924, d1.loss_map_dir: 0.0486, d2.loss_map_cls: 0.5847, d2.loss_map_pts: 3.0608, d2.loss_map_dir: 0.0486, d3.loss_map_cls: 0.5896, d3.loss_map_pts: 3.0553, d3.loss_map_dir: 0.0484, d4.loss_map_cls: 0.5889, d4.loss_map_pts: 3.0558, d4.loss_map_dir: 0.0484, d5.loss_map_cls: 0.5888, d5.loss_map_pts: 3.0556, d5.loss_map_dir: 0.0484, loss: 82.6997, grad_norm: 193.5684 +2026-02-24 06:51:30,183 - DriveTransformer - INFO - Epoch [1][20650/39528] lr: 1.000e-04, eta: 8 days, 14:39:35, time: 0.823, data_time: 0.046, memory: 19865, loss_cls: 0.9443, loss_bbox: 0.8782, loss_traj: 1.7788, loss_traj_cls: 0.0005, loss_map_cls: 0.6147, loss_map_pts: 2.6817, loss_map_dir: 0.0480, d0.loss_plan_l1_fix_time: 3.5102, d0.loss_plan_l1_fix_dist: 0.6517, d1.loss_plan_l1_fix_time: 3.3850, d1.loss_plan_l1_fix_dist: 0.6801, d2.loss_plan_l1_fix_time: 3.3820, d2.loss_plan_l1_fix_dist: 0.7206, d3.loss_plan_l1_fix_time: 3.3893, d3.loss_plan_l1_fix_dist: 0.7696, d4.loss_plan_l1_fix_time: 3.4006, d4.loss_plan_l1_fix_dist: 0.8292, d5.loss_plan_l1_fix_time: 3.4132, d5.loss_plan_l1_fix_dist: 0.8848, d6.loss_plan_l1_fix_time: 3.4264, d6.loss_plan_l1_fix_dist: 0.9396, d0.loss_cls_all: 0.9395, d0.loss_bbox_all: 0.8709, d0.loss_cls: 0.9395, d0.loss_bbox: 0.8709, d1.loss_cls: 0.9413, d1.loss_bbox: 0.8929, d2.loss_cls: 0.9352, d2.loss_bbox: 0.8695, d3.loss_cls: 0.9404, d3.loss_bbox: 0.8633, d4.loss_cls: 0.9430, d4.loss_bbox: 0.8654, d5.loss_cls: 0.9444, d5.loss_bbox: 0.8687, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7003, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7340, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7462, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7582, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7769, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7747, d0.loss_map_cls_all: 0.6312, d0.loss_map_pts_all: 3.0764, d0.loss_map_dir_all: 0.0476, d0.loss_map_cls: 0.6312, d0.loss_map_pts: 3.0764, d0.loss_map_dir: 0.0476, d1.loss_map_cls: 0.6080, d1.loss_map_pts: 2.6916, d1.loss_map_dir: 0.0481, d2.loss_map_cls: 0.6074, d2.loss_map_pts: 2.6750, d2.loss_map_dir: 0.0480, d3.loss_map_cls: 0.6148, d3.loss_map_pts: 2.6750, d3.loss_map_dir: 0.0480, d4.loss_map_cls: 0.6116, d4.loss_map_pts: 2.6806, d4.loss_map_dir: 0.0479, d5.loss_map_cls: 0.6123, d5.loss_map_pts: 2.6812, d5.loss_map_dir: 0.0479, loss: 83.7147, grad_norm: 194.3995 +2026-02-24 06:52:10,689 - DriveTransformer - INFO - Epoch [1][20700/39528] lr: 1.000e-04, eta: 8 days, 14:39:14, time: 0.810, data_time: 0.040, memory: 19865, loss_cls: 0.9109, loss_bbox: 0.8192, loss_traj: 1.8727, loss_traj_cls: 0.0005, loss_map_cls: 0.5915, loss_map_pts: 2.4578, loss_map_dir: 0.0440, d0.loss_plan_l1_fix_time: 2.8958, d0.loss_plan_l1_fix_dist: 0.5651, d1.loss_plan_l1_fix_time: 2.8263, d1.loss_plan_l1_fix_dist: 0.6054, d2.loss_plan_l1_fix_time: 2.8372, d2.loss_plan_l1_fix_dist: 0.6615, d3.loss_plan_l1_fix_time: 2.8500, d3.loss_plan_l1_fix_dist: 0.7208, d4.loss_plan_l1_fix_time: 2.8641, d4.loss_plan_l1_fix_dist: 0.7812, d5.loss_plan_l1_fix_time: 2.8800, d5.loss_plan_l1_fix_dist: 0.8518, d6.loss_plan_l1_fix_time: 2.8961, d6.loss_plan_l1_fix_dist: 0.9285, d0.loss_cls_all: 0.9013, d0.loss_bbox_all: 0.7966, d0.loss_cls: 0.9013, d0.loss_bbox: 0.7966, d1.loss_cls: 0.8981, d1.loss_bbox: 0.8118, d2.loss_cls: 0.9008, d2.loss_bbox: 0.7961, d3.loss_cls: 0.9048, d3.loss_bbox: 0.8020, d4.loss_cls: 0.9084, d4.loss_bbox: 0.8047, d5.loss_cls: 0.9118, d5.loss_bbox: 0.8132, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8524, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8706, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8475, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8610, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8736, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8737, d0.loss_map_cls_all: 0.6117, d0.loss_map_pts_all: 2.9414, d0.loss_map_dir_all: 0.0436, d0.loss_map_cls: 0.6117, d0.loss_map_pts: 2.9414, d0.loss_map_dir: 0.0436, d1.loss_map_cls: 0.5856, d1.loss_map_pts: 2.4812, d1.loss_map_dir: 0.0441, d2.loss_map_cls: 0.5843, d2.loss_map_pts: 2.4566, d2.loss_map_dir: 0.0440, d3.loss_map_cls: 0.5850, d3.loss_map_pts: 2.4538, d3.loss_map_dir: 0.0440, d4.loss_map_cls: 0.5847, d4.loss_map_pts: 2.4549, d4.loss_map_dir: 0.0439, d5.loss_map_cls: 0.5865, d5.loss_map_pts: 2.4552, d5.loss_map_dir: 0.0439, loss: 77.6305, grad_norm: 195.0100 +2026-02-24 06:52:50,677 - DriveTransformer - INFO - Epoch [1][20750/39528] lr: 1.000e-04, eta: 8 days, 14:38:30, time: 0.800, data_time: 0.038, memory: 19865, loss_cls: 0.9139, loss_bbox: 0.8590, loss_traj: 2.0091, loss_traj_cls: 0.0005, loss_map_cls: 0.6570, loss_map_pts: 2.6524, loss_map_dir: 0.0422, d0.loss_plan_l1_fix_time: 3.0222, d0.loss_plan_l1_fix_dist: 0.5594, d1.loss_plan_l1_fix_time: 2.9162, d1.loss_plan_l1_fix_dist: 0.5869, d2.loss_plan_l1_fix_time: 2.9204, d2.loss_plan_l1_fix_dist: 0.6313, d3.loss_plan_l1_fix_time: 2.9314, d3.loss_plan_l1_fix_dist: 0.6839, d4.loss_plan_l1_fix_time: 2.9451, d4.loss_plan_l1_fix_dist: 0.7400, d5.loss_plan_l1_fix_time: 2.9607, d5.loss_plan_l1_fix_dist: 0.8044, d6.loss_plan_l1_fix_time: 2.9779, d6.loss_plan_l1_fix_dist: 0.8720, d0.loss_cls_all: 0.9120, d0.loss_bbox_all: 0.8426, d0.loss_cls: 0.9120, d0.loss_bbox: 0.8426, d1.loss_cls: 0.9030, d1.loss_bbox: 0.8633, d2.loss_cls: 0.9022, d2.loss_bbox: 0.8529, d3.loss_cls: 0.9094, d3.loss_bbox: 0.8560, d4.loss_cls: 0.9105, d4.loss_bbox: 0.8559, d5.loss_cls: 0.9123, d5.loss_bbox: 0.8564, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0206, d1.loss_traj_cls: 0.0007, d1.loss_traj: 2.0153, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9879, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9992, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9990, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0076, d0.loss_map_cls_all: 0.6635, d0.loss_map_pts_all: 3.0598, d0.loss_map_dir_all: 0.0422, d0.loss_map_cls: 0.6635, d0.loss_map_pts: 3.0598, d0.loss_map_dir: 0.0422, d1.loss_map_cls: 0.6367, d1.loss_map_pts: 2.6682, d1.loss_map_dir: 0.0424, d2.loss_map_cls: 0.6324, d2.loss_map_pts: 2.6503, d2.loss_map_dir: 0.0423, d3.loss_map_cls: 0.6403, d3.loss_map_pts: 2.6467, d3.loss_map_dir: 0.0422, d4.loss_map_cls: 0.6452, d4.loss_map_pts: 2.6477, d4.loss_map_dir: 0.0422, d5.loss_map_cls: 0.6468, d5.loss_map_pts: 2.6480, d5.loss_map_dir: 0.0422, loss: 81.2544, grad_norm: 197.6749 +2026-02-24 06:53:30,967 - DriveTransformer - INFO - Epoch [1][20800/39528] lr: 1.000e-04, eta: 8 days, 14:38:02, time: 0.807, data_time: 0.040, memory: 19865, loss_cls: 0.9032, loss_bbox: 0.8471, loss_traj: 2.0768, loss_traj_cls: 0.0005, loss_map_cls: 0.5876, loss_map_pts: 2.4547, loss_map_dir: 0.0391, d0.loss_plan_l1_fix_time: 3.3012, d0.loss_plan_l1_fix_dist: 0.4834, d1.loss_plan_l1_fix_time: 3.1378, d1.loss_plan_l1_fix_dist: 0.5096, d2.loss_plan_l1_fix_time: 3.1265, d2.loss_plan_l1_fix_dist: 0.5522, d3.loss_plan_l1_fix_time: 3.1327, d3.loss_plan_l1_fix_dist: 0.6034, d4.loss_plan_l1_fix_time: 3.1448, d4.loss_plan_l1_fix_dist: 0.6625, d5.loss_plan_l1_fix_time: 3.1580, d5.loss_plan_l1_fix_dist: 0.7228, d6.loss_plan_l1_fix_time: 3.1718, d6.loss_plan_l1_fix_dist: 0.7878, d0.loss_cls_all: 0.9055, d0.loss_bbox_all: 0.8409, d0.loss_cls: 0.9055, d0.loss_bbox: 0.8409, d1.loss_cls: 0.9029, d1.loss_bbox: 0.8438, d2.loss_cls: 0.8971, d2.loss_bbox: 0.8445, d3.loss_cls: 0.8995, d3.loss_bbox: 0.8431, d4.loss_cls: 0.9004, d4.loss_bbox: 0.8422, d5.loss_cls: 0.9014, d5.loss_bbox: 0.8439, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0381, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0612, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0532, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0664, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0769, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0667, d0.loss_map_cls_all: 0.6180, d0.loss_map_pts_all: 2.8842, d0.loss_map_dir_all: 0.0394, d0.loss_map_cls: 0.6180, d0.loss_map_pts: 2.8842, d0.loss_map_dir: 0.0394, d1.loss_map_cls: 0.5875, d1.loss_map_pts: 2.4782, d1.loss_map_dir: 0.0394, d2.loss_map_cls: 0.5827, d2.loss_map_pts: 2.4525, d2.loss_map_dir: 0.0393, d3.loss_map_cls: 0.5849, d3.loss_map_pts: 2.4494, d3.loss_map_dir: 0.0392, d4.loss_map_cls: 0.5832, d4.loss_map_pts: 2.4493, d4.loss_map_dir: 0.0391, d5.loss_map_cls: 0.5844, d5.loss_map_pts: 2.4504, d5.loss_map_dir: 0.0391, loss: 80.4624, grad_norm: 196.0776 +2026-02-24 06:54:12,228 - DriveTransformer - INFO - Epoch [1][20850/39528] lr: 1.000e-04, eta: 8 days, 14:38:11, time: 0.824, data_time: 0.040, memory: 19865, loss_cls: 0.9241, loss_bbox: 0.8098, loss_traj: 1.8157, loss_traj_cls: 0.0005, loss_map_cls: 0.6032, loss_map_pts: 2.5936, loss_map_dir: 0.0446, d0.loss_plan_l1_fix_time: 2.9354, d0.loss_plan_l1_fix_dist: 0.6210, d1.loss_plan_l1_fix_time: 2.7140, d1.loss_plan_l1_fix_dist: 0.6469, d2.loss_plan_l1_fix_time: 2.6941, d2.loss_plan_l1_fix_dist: 0.6845, d3.loss_plan_l1_fix_time: 2.6987, d3.loss_plan_l1_fix_dist: 0.7264, d4.loss_plan_l1_fix_time: 2.7118, d4.loss_plan_l1_fix_dist: 0.7793, d5.loss_plan_l1_fix_time: 2.7274, d5.loss_plan_l1_fix_dist: 0.8402, d6.loss_plan_l1_fix_time: 2.7454, d6.loss_plan_l1_fix_dist: 0.8960, d0.loss_cls_all: 0.9105, d0.loss_bbox_all: 0.8070, d0.loss_cls: 0.9105, d0.loss_bbox: 0.8070, d1.loss_cls: 0.9091, d1.loss_bbox: 0.8033, d2.loss_cls: 0.9112, d2.loss_bbox: 0.8016, d3.loss_cls: 0.9159, d3.loss_bbox: 0.7982, d4.loss_cls: 0.9189, d4.loss_bbox: 0.8008, d5.loss_cls: 0.9201, d5.loss_bbox: 0.8044, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7969, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.8141, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7992, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8090, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8131, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8189, d0.loss_map_cls_all: 0.6067, d0.loss_map_pts_all: 3.0357, d0.loss_map_dir_all: 0.0447, d0.loss_map_cls: 0.6067, d0.loss_map_pts: 3.0357, d0.loss_map_dir: 0.0447, d1.loss_map_cls: 0.5876, d1.loss_map_pts: 2.6131, d1.loss_map_dir: 0.0449, d2.loss_map_cls: 0.5861, d2.loss_map_pts: 2.5983, d2.loss_map_dir: 0.0447, d3.loss_map_cls: 0.5892, d3.loss_map_pts: 2.5974, d3.loss_map_dir: 0.0446, d4.loss_map_cls: 0.5944, d4.loss_map_pts: 2.5981, d4.loss_map_dir: 0.0446, d5.loss_map_cls: 0.5971, d5.loss_map_pts: 2.5974, d5.loss_map_dir: 0.0446, loss: 77.6421, grad_norm: 196.2091 +2026-02-24 06:54:52,281 - DriveTransformer - INFO - Epoch [1][20900/39528] lr: 1.000e-04, eta: 8 days, 14:37:29, time: 0.801, data_time: 0.044, memory: 19865, loss_cls: 0.8931, loss_bbox: 0.8143, loss_traj: 1.9573, loss_traj_cls: 0.0005, loss_map_cls: 0.6195, loss_map_pts: 2.3673, loss_map_dir: 0.0402, d0.loss_plan_l1_fix_time: 2.6879, d0.loss_plan_l1_fix_dist: 0.4898, d1.loss_plan_l1_fix_time: 2.4440, d1.loss_plan_l1_fix_dist: 0.5120, d2.loss_plan_l1_fix_time: 2.4216, d2.loss_plan_l1_fix_dist: 0.5538, d3.loss_plan_l1_fix_time: 2.4248, d3.loss_plan_l1_fix_dist: 0.5997, d4.loss_plan_l1_fix_time: 2.4350, d4.loss_plan_l1_fix_dist: 0.6490, d5.loss_plan_l1_fix_time: 2.4488, d5.loss_plan_l1_fix_dist: 0.7025, d6.loss_plan_l1_fix_time: 2.4658, d6.loss_plan_l1_fix_dist: 0.7589, d0.loss_cls_all: 0.8890, d0.loss_bbox_all: 0.8378, d0.loss_cls: 0.8890, d0.loss_bbox: 0.8378, d1.loss_cls: 0.8854, d1.loss_bbox: 0.8350, d2.loss_cls: 0.8820, d2.loss_bbox: 0.8141, d3.loss_cls: 0.8822, d3.loss_bbox: 0.8102, d4.loss_cls: 0.8869, d4.loss_bbox: 0.8079, d5.loss_cls: 0.8906, d5.loss_bbox: 0.8122, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9027, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9073, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9046, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9211, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9329, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9474, d0.loss_map_cls_all: 0.6193, d0.loss_map_pts_all: 2.7519, d0.loss_map_dir_all: 0.0403, d0.loss_map_cls: 0.6193, d0.loss_map_pts: 2.7519, d0.loss_map_dir: 0.0403, d1.loss_map_cls: 0.5969, d1.loss_map_pts: 2.3842, d1.loss_map_dir: 0.0405, d2.loss_map_cls: 0.6001, d2.loss_map_pts: 2.3678, d2.loss_map_dir: 0.0403, d3.loss_map_cls: 0.6066, d3.loss_map_pts: 2.3644, d3.loss_map_dir: 0.0403, d4.loss_map_cls: 0.6118, d4.loss_map_pts: 2.3665, d4.loss_map_dir: 0.0402, d5.loss_map_cls: 0.6134, d5.loss_map_pts: 2.3691, d5.loss_map_dir: 0.0403, loss: 73.6703, grad_norm: 196.1106 +2026-02-24 06:55:32,371 - DriveTransformer - INFO - Epoch [1][20950/39528] lr: 1.000e-04, eta: 8 days, 14:36:49, time: 0.802, data_time: 0.046, memory: 19865, loss_cls: 0.8887, loss_bbox: 0.8485, loss_traj: 2.0985, loss_traj_cls: 0.0005, loss_map_cls: 0.6161, loss_map_pts: 2.5476, loss_map_dir: 0.0397, d0.loss_plan_l1_fix_time: 3.4334, d0.loss_plan_l1_fix_dist: 0.5935, d1.loss_plan_l1_fix_time: 3.3014, d1.loss_plan_l1_fix_dist: 0.6070, d2.loss_plan_l1_fix_time: 3.2923, d2.loss_plan_l1_fix_dist: 0.6372, d3.loss_plan_l1_fix_time: 3.2954, d3.loss_plan_l1_fix_dist: 0.6736, d4.loss_plan_l1_fix_time: 3.3008, d4.loss_plan_l1_fix_dist: 0.7150, d5.loss_plan_l1_fix_time: 3.3080, d5.loss_plan_l1_fix_dist: 0.7616, d6.loss_plan_l1_fix_time: 3.3167, d6.loss_plan_l1_fix_dist: 0.8155, d0.loss_cls_all: 0.8816, d0.loss_bbox_all: 0.8715, d0.loss_cls: 0.8816, d0.loss_bbox: 0.8715, d1.loss_cls: 0.8817, d1.loss_bbox: 0.8772, d2.loss_cls: 0.8811, d2.loss_bbox: 0.8482, d3.loss_cls: 0.8832, d3.loss_bbox: 0.8437, d4.loss_cls: 0.8863, d4.loss_bbox: 0.8454, d5.loss_cls: 0.8889, d5.loss_bbox: 0.8470, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0306, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0563, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0661, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0830, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0878, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0897, d0.loss_map_cls_all: 0.6227, d0.loss_map_pts_all: 2.9277, d0.loss_map_dir_all: 0.0396, d0.loss_map_cls: 0.6227, d0.loss_map_pts: 2.9277, d0.loss_map_dir: 0.0396, d1.loss_map_cls: 0.6004, d1.loss_map_pts: 2.5837, d1.loss_map_dir: 0.0400, d2.loss_map_cls: 0.6006, d2.loss_map_pts: 2.5607, d2.loss_map_dir: 0.0397, d3.loss_map_cls: 0.6056, d3.loss_map_pts: 2.5513, d3.loss_map_dir: 0.0397, d4.loss_map_cls: 0.6101, d4.loss_map_pts: 2.5479, d4.loss_map_dir: 0.0397, d5.loss_map_cls: 0.6130, d5.loss_map_pts: 2.5464, d5.loss_map_dir: 0.0397, loss: 82.8950, grad_norm: 194.2529 +2026-02-24 06:56:13,380 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 06:56:13,380 - DriveTransformer - INFO - Epoch [1][21000/39528] lr: 1.000e-04, eta: 8 days, 14:36:50, time: 0.820, data_time: 0.036, memory: 19865, loss_cls: 0.8991, loss_bbox: 0.8254, loss_traj: 1.7339, loss_traj_cls: 0.0005, loss_map_cls: 0.6222, loss_map_pts: 2.5585, loss_map_dir: 0.0427, d0.loss_plan_l1_fix_time: 3.3392, d0.loss_plan_l1_fix_dist: 0.5156, d1.loss_plan_l1_fix_time: 3.1921, d1.loss_plan_l1_fix_dist: 0.5450, d2.loss_plan_l1_fix_time: 3.1833, d2.loss_plan_l1_fix_dist: 0.5886, d3.loss_plan_l1_fix_time: 3.1887, d3.loss_plan_l1_fix_dist: 0.6420, d4.loss_plan_l1_fix_time: 3.1981, d4.loss_plan_l1_fix_dist: 0.7015, d5.loss_plan_l1_fix_time: 3.2095, d5.loss_plan_l1_fix_dist: 0.7681, d6.loss_plan_l1_fix_time: 3.2230, d6.loss_plan_l1_fix_dist: 0.8362, d0.loss_cls_all: 0.8871, d0.loss_bbox_all: 0.8175, d0.loss_cls: 0.8871, d0.loss_bbox: 0.8175, d1.loss_cls: 0.8890, d1.loss_bbox: 0.8336, d2.loss_cls: 0.8883, d2.loss_bbox: 0.8176, d3.loss_cls: 0.8900, d3.loss_bbox: 0.8178, d4.loss_cls: 0.8942, d4.loss_bbox: 0.8182, d5.loss_cls: 0.8969, d5.loss_bbox: 0.8220, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6844, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.6994, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6989, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7129, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7193, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7175, d0.loss_map_cls_all: 0.6345, d0.loss_map_pts_all: 3.0725, d0.loss_map_dir_all: 0.0428, d0.loss_map_cls: 0.6345, d0.loss_map_pts: 3.0725, d0.loss_map_dir: 0.0428, d1.loss_map_cls: 0.6078, d1.loss_map_pts: 2.5770, d1.loss_map_dir: 0.0429, d2.loss_map_cls: 0.6045, d2.loss_map_pts: 2.5495, d2.loss_map_dir: 0.0428, d3.loss_map_cls: 0.6064, d3.loss_map_pts: 2.5446, d3.loss_map_dir: 0.0427, d4.loss_map_cls: 0.6145, d4.loss_map_pts: 2.5480, d4.loss_map_dir: 0.0427, d5.loss_map_cls: 0.6180, d5.loss_map_pts: 2.5535, d5.loss_map_dir: 0.0427, loss: 79.5628, grad_norm: 196.0673 +2026-02-24 06:56:53,333 - DriveTransformer - INFO - Epoch [1][21050/39528] lr: 1.000e-04, eta: 8 days, 14:36:04, time: 0.799, data_time: 0.045, memory: 19865, loss_cls: 0.8861, loss_bbox: 0.8078, loss_traj: 1.7240, loss_traj_cls: 0.0005, loss_map_cls: 0.6363, loss_map_pts: 2.3989, loss_map_dir: 0.0400, d0.loss_plan_l1_fix_time: 3.2301, d0.loss_plan_l1_fix_dist: 0.6093, d1.loss_plan_l1_fix_time: 3.1007, d1.loss_plan_l1_fix_dist: 0.6279, d2.loss_plan_l1_fix_time: 3.1041, d2.loss_plan_l1_fix_dist: 0.6548, d3.loss_plan_l1_fix_time: 3.1146, d3.loss_plan_l1_fix_dist: 0.6877, d4.loss_plan_l1_fix_time: 3.1268, d4.loss_plan_l1_fix_dist: 0.7241, d5.loss_plan_l1_fix_time: 3.1407, d5.loss_plan_l1_fix_dist: 0.7624, d6.loss_plan_l1_fix_time: 3.1554, d6.loss_plan_l1_fix_dist: 0.8072, d0.loss_cls_all: 0.8751, d0.loss_bbox_all: 0.7989, d0.loss_cls: 0.8751, d0.loss_bbox: 0.7989, d1.loss_cls: 0.8744, d1.loss_bbox: 0.8181, d2.loss_cls: 0.8768, d2.loss_bbox: 0.8052, d3.loss_cls: 0.8802, d3.loss_bbox: 0.8031, d4.loss_cls: 0.8829, d4.loss_bbox: 0.8028, d5.loss_cls: 0.8844, d5.loss_bbox: 0.8047, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6849, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.7093, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7146, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7160, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7227, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7275, d0.loss_map_cls_all: 0.6438, d0.loss_map_pts_all: 2.8389, d0.loss_map_dir_all: 0.0405, d0.loss_map_cls: 0.6438, d0.loss_map_pts: 2.8389, d0.loss_map_dir: 0.0405, d1.loss_map_cls: 0.6165, d1.loss_map_pts: 2.4501, d1.loss_map_dir: 0.0402, d2.loss_map_cls: 0.6203, d2.loss_map_pts: 2.4149, d2.loss_map_dir: 0.0401, d3.loss_map_cls: 0.6246, d3.loss_map_pts: 2.4039, d3.loss_map_dir: 0.0400, d4.loss_map_cls: 0.6302, d4.loss_map_pts: 2.4020, d4.loss_map_dir: 0.0400, d5.loss_map_cls: 0.6328, d5.loss_map_pts: 2.4001, d5.loss_map_dir: 0.0400, loss: 77.8402, grad_norm: 197.2986 +2026-02-24 06:57:31,641 - DriveTransformer - INFO - Epoch [1][21100/39528] lr: 1.000e-04, eta: 8 days, 14:34:05, time: 0.766, data_time: 0.037, memory: 19865, loss_cls: 0.9240, loss_bbox: 0.8149, loss_traj: 2.1021, loss_traj_cls: 0.0005, loss_map_cls: 0.6061, loss_map_pts: 2.2267, loss_map_dir: 0.0335, d0.loss_plan_l1_fix_time: 2.8251, d0.loss_plan_l1_fix_dist: 0.4564, d1.loss_plan_l1_fix_time: 2.7002, d1.loss_plan_l1_fix_dist: 0.4779, d2.loss_plan_l1_fix_time: 2.6999, d2.loss_plan_l1_fix_dist: 0.5071, d3.loss_plan_l1_fix_time: 2.7082, d3.loss_plan_l1_fix_dist: 0.5465, d4.loss_plan_l1_fix_time: 2.7188, d4.loss_plan_l1_fix_dist: 0.5916, d5.loss_plan_l1_fix_time: 2.7299, d5.loss_plan_l1_fix_dist: 0.6408, d6.loss_plan_l1_fix_time: 2.7413, d6.loss_plan_l1_fix_dist: 0.6927, d0.loss_cls_all: 0.9060, d0.loss_bbox_all: 0.8035, d0.loss_cls: 0.9060, d0.loss_bbox: 0.8035, d1.loss_cls: 0.9131, d1.loss_bbox: 0.8142, d2.loss_cls: 0.9159, d2.loss_bbox: 0.8020, d3.loss_cls: 0.9230, d3.loss_bbox: 0.8056, d4.loss_cls: 0.9268, d4.loss_bbox: 0.8089, d5.loss_cls: 0.9219, d5.loss_bbox: 0.8129, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0621, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0929, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1035, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0868, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0965, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0974, d0.loss_map_cls_all: 0.6345, d0.loss_map_pts_all: 2.7330, d0.loss_map_dir_all: 0.0343, d0.loss_map_cls: 0.6345, d0.loss_map_pts: 2.7330, d0.loss_map_dir: 0.0343, d1.loss_map_cls: 0.6028, d1.loss_map_pts: 2.2732, d1.loss_map_dir: 0.0335, d2.loss_map_cls: 0.5981, d2.loss_map_pts: 2.2426, d2.loss_map_dir: 0.0335, d3.loss_map_cls: 0.5976, d3.loss_map_pts: 2.2321, d3.loss_map_dir: 0.0334, d4.loss_map_cls: 0.6003, d4.loss_map_pts: 2.2290, d4.loss_map_dir: 0.0334, d5.loss_map_cls: 0.6012, d5.loss_map_pts: 2.2261, d5.loss_map_dir: 0.0334, loss: 75.5231, grad_norm: 199.4767 +2026-02-24 06:58:11,646 - DriveTransformer - INFO - Epoch [1][21150/39528] lr: 1.000e-04, eta: 8 days, 14:33:22, time: 0.800, data_time: 0.042, memory: 19865, loss_cls: 0.8977, loss_bbox: 0.7651, loss_traj: 1.8679, loss_traj_cls: 0.0005, loss_map_cls: 0.6130, loss_map_pts: 2.4818, loss_map_dir: 0.0434, d0.loss_plan_l1_fix_time: 2.6629, d0.loss_plan_l1_fix_dist: 0.5264, d1.loss_plan_l1_fix_time: 2.3857, d1.loss_plan_l1_fix_dist: 0.5396, d2.loss_plan_l1_fix_time: 2.3535, d2.loss_plan_l1_fix_dist: 0.5701, d3.loss_plan_l1_fix_time: 2.3533, d3.loss_plan_l1_fix_dist: 0.6024, d4.loss_plan_l1_fix_time: 2.3629, d4.loss_plan_l1_fix_dist: 0.6372, d5.loss_plan_l1_fix_time: 2.3775, d5.loss_plan_l1_fix_dist: 0.6781, d6.loss_plan_l1_fix_time: 2.3960, d6.loss_plan_l1_fix_dist: 0.7206, d0.loss_cls_all: 0.8863, d0.loss_bbox_all: 0.7779, d0.loss_cls: 0.8863, d0.loss_bbox: 0.7779, d1.loss_cls: 0.8907, d1.loss_bbox: 0.7698, d2.loss_cls: 0.8914, d2.loss_bbox: 0.7603, d3.loss_cls: 0.8911, d3.loss_bbox: 0.7673, d4.loss_cls: 0.8961, d4.loss_bbox: 0.7655, d5.loss_cls: 0.8974, d5.loss_bbox: 0.7635, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8514, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8549, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8459, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8527, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8627, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8670, d0.loss_map_cls_all: 0.6244, d0.loss_map_pts_all: 2.9812, d0.loss_map_dir_all: 0.0434, d0.loss_map_cls: 0.6244, d0.loss_map_pts: 2.9812, d0.loss_map_dir: 0.0434, d1.loss_map_cls: 0.6025, d1.loss_map_pts: 2.5136, d1.loss_map_dir: 0.0438, d2.loss_map_cls: 0.6008, d2.loss_map_pts: 2.4917, d2.loss_map_dir: 0.0437, d3.loss_map_cls: 0.6040, d3.loss_map_pts: 2.4839, d3.loss_map_dir: 0.0435, d4.loss_map_cls: 0.6057, d4.loss_map_pts: 2.4830, d4.loss_map_dir: 0.0435, d5.loss_map_cls: 0.6089, d5.loss_map_pts: 2.4827, d5.loss_map_dir: 0.0434, loss: 73.5877, grad_norm: 199.9081 +2026-02-24 06:58:50,650 - DriveTransformer - INFO - Epoch [1][21200/39528] lr: 1.000e-04, eta: 8 days, 14:31:54, time: 0.780, data_time: 0.044, memory: 19865, loss_cls: 0.8928, loss_bbox: 0.7930, loss_traj: 1.9169, loss_traj_cls: 0.0005, loss_map_cls: 0.5859, loss_map_pts: 2.1947, loss_map_dir: 0.0335, d0.loss_plan_l1_fix_time: 3.0703, d0.loss_plan_l1_fix_dist: 0.5572, d1.loss_plan_l1_fix_time: 2.9340, d1.loss_plan_l1_fix_dist: 0.5634, d2.loss_plan_l1_fix_time: 2.9355, d2.loss_plan_l1_fix_dist: 0.5833, d3.loss_plan_l1_fix_time: 2.9488, d3.loss_plan_l1_fix_dist: 0.6112, d4.loss_plan_l1_fix_time: 2.9662, d4.loss_plan_l1_fix_dist: 0.6466, d5.loss_plan_l1_fix_time: 2.9850, d5.loss_plan_l1_fix_dist: 0.6850, d6.loss_plan_l1_fix_time: 3.0061, d6.loss_plan_l1_fix_dist: 0.7309, d0.loss_cls_all: 0.8690, d0.loss_bbox_all: 0.7998, d0.loss_cls: 0.8690, d0.loss_bbox: 0.7998, d1.loss_cls: 0.8783, d1.loss_bbox: 0.7932, d2.loss_cls: 0.8829, d2.loss_bbox: 0.7895, d3.loss_cls: 0.8892, d3.loss_bbox: 0.7910, d4.loss_cls: 0.8918, d4.loss_bbox: 0.7937, d5.loss_cls: 0.8888, d5.loss_bbox: 0.7918, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8818, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9115, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9211, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9227, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9284, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9275, d0.loss_map_cls_all: 0.6118, d0.loss_map_pts_all: 2.7777, d0.loss_map_dir_all: 0.0337, d0.loss_map_cls: 0.6118, d0.loss_map_pts: 2.7777, d0.loss_map_dir: 0.0337, d1.loss_map_cls: 0.5823, d1.loss_map_pts: 2.2401, d1.loss_map_dir: 0.0337, d2.loss_map_cls: 0.5800, d2.loss_map_pts: 2.2078, d2.loss_map_dir: 0.0335, d3.loss_map_cls: 0.5825, d3.loss_map_pts: 2.1970, d3.loss_map_dir: 0.0335, d4.loss_map_cls: 0.5849, d4.loss_map_pts: 2.1940, d4.loss_map_dir: 0.0335, d5.loss_map_cls: 0.5847, d5.loss_map_pts: 2.1941, d5.loss_map_dir: 0.0335, loss: 75.8257, grad_norm: 200.2182 +2026-02-24 06:59:28,997 - DriveTransformer - INFO - Epoch [1][21250/39528] lr: 1.000e-04, eta: 8 days, 14:29:59, time: 0.767, data_time: 0.037, memory: 19865, loss_cls: 0.9545, loss_bbox: 0.8586, loss_traj: 2.1237, loss_traj_cls: 0.0005, loss_map_cls: 0.6298, loss_map_pts: 2.4944, loss_map_dir: 0.0389, d0.loss_plan_l1_fix_time: 2.7982, d0.loss_plan_l1_fix_dist: 0.4877, d1.loss_plan_l1_fix_time: 2.8163, d1.loss_plan_l1_fix_dist: 0.5012, d2.loss_plan_l1_fix_time: 2.8563, d2.loss_plan_l1_fix_dist: 0.5239, d3.loss_plan_l1_fix_time: 2.8823, d3.loss_plan_l1_fix_dist: 0.5554, d4.loss_plan_l1_fix_time: 2.9056, d4.loss_plan_l1_fix_dist: 0.5912, d5.loss_plan_l1_fix_time: 2.9287, d5.loss_plan_l1_fix_dist: 0.6313, d6.loss_plan_l1_fix_time: 2.9512, d6.loss_plan_l1_fix_dist: 0.6750, d0.loss_cls_all: 0.9424, d0.loss_bbox_all: 0.8740, d0.loss_cls: 0.9424, d0.loss_bbox: 0.8740, d1.loss_cls: 0.9436, d1.loss_bbox: 0.8754, d2.loss_cls: 0.9451, d2.loss_bbox: 0.8627, d3.loss_cls: 0.9493, d3.loss_bbox: 0.8635, d4.loss_cls: 0.9513, d4.loss_bbox: 0.8589, d5.loss_cls: 0.9535, d5.loss_bbox: 0.8558, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0300, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0747, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1041, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1267, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1303, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1262, d0.loss_map_cls_all: 0.6439, d0.loss_map_pts_all: 2.9037, d0.loss_map_dir_all: 0.0391, d0.loss_map_cls: 0.6439, d0.loss_map_pts: 2.9037, d0.loss_map_dir: 0.0391, d1.loss_map_cls: 0.6178, d1.loss_map_pts: 2.5278, d1.loss_map_dir: 0.0391, d2.loss_map_cls: 0.6186, d2.loss_map_pts: 2.5017, d2.loss_map_dir: 0.0390, d3.loss_map_cls: 0.6205, d3.loss_map_pts: 2.4964, d3.loss_map_dir: 0.0389, d4.loss_map_cls: 0.6251, d4.loss_map_pts: 2.4946, d4.loss_map_dir: 0.0389, d5.loss_map_cls: 0.6270, d5.loss_map_pts: 2.4930, d5.loss_map_dir: 0.0389, loss: 79.4829, grad_norm: 199.6228 +2026-02-24 07:00:09,784 - DriveTransformer - INFO - Epoch [1][21300/39528] lr: 1.000e-04, eta: 8 days, 14:29:49, time: 0.816, data_time: 0.046, memory: 19865, loss_cls: 0.8988, loss_bbox: 0.7775, loss_traj: 1.7253, loss_traj_cls: 0.0005, loss_map_cls: 0.5946, loss_map_pts: 2.3471, loss_map_dir: 0.0386, d0.loss_plan_l1_fix_time: 2.7948, d0.loss_plan_l1_fix_dist: 0.4856, d1.loss_plan_l1_fix_time: 2.6504, d1.loss_plan_l1_fix_dist: 0.4933, d2.loss_plan_l1_fix_time: 2.6589, d2.loss_plan_l1_fix_dist: 0.5141, d3.loss_plan_l1_fix_time: 2.6723, d3.loss_plan_l1_fix_dist: 0.5413, d4.loss_plan_l1_fix_time: 2.6859, d4.loss_plan_l1_fix_dist: 0.5727, d5.loss_plan_l1_fix_time: 2.7000, d5.loss_plan_l1_fix_dist: 0.6072, d6.loss_plan_l1_fix_time: 2.7170, d6.loss_plan_l1_fix_dist: 0.6429, d0.loss_cls_all: 0.8907, d0.loss_bbox_all: 0.7803, d0.loss_cls: 0.8907, d0.loss_bbox: 0.7803, d1.loss_cls: 0.8854, d1.loss_bbox: 0.7961, d2.loss_cls: 0.8864, d2.loss_bbox: 0.7799, d3.loss_cls: 0.8931, d3.loss_bbox: 0.7804, d4.loss_cls: 0.8931, d4.loss_bbox: 0.7785, d5.loss_cls: 0.8954, d5.loss_bbox: 0.7777, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7027, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.7159, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.7136, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7373, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7220, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7117, d0.loss_map_cls_all: 0.6095, d0.loss_map_pts_all: 2.8337, d0.loss_map_dir_all: 0.0388, d0.loss_map_cls: 0.6095, d0.loss_map_pts: 2.8337, d0.loss_map_dir: 0.0388, d1.loss_map_cls: 0.5849, d1.loss_map_pts: 2.4008, d1.loss_map_dir: 0.0389, d2.loss_map_cls: 0.5836, d2.loss_map_pts: 2.3629, d2.loss_map_dir: 0.0389, d3.loss_map_cls: 0.5863, d3.loss_map_pts: 2.3522, d3.loss_map_dir: 0.0388, d4.loss_map_cls: 0.5885, d4.loss_map_pts: 2.3475, d4.loss_map_dir: 0.0387, d5.loss_map_cls: 0.5921, d5.loss_map_pts: 2.3445, d5.loss_map_dir: 0.0386, loss: 73.0348, grad_norm: 199.3761 +2026-02-24 07:00:49,325 - DriveTransformer - INFO - Epoch [1][21350/39528] lr: 1.000e-04, eta: 8 days, 14:28:46, time: 0.791, data_time: 0.040, memory: 19865, loss_cls: 0.8772, loss_bbox: 0.7995, loss_traj: 1.7225, loss_traj_cls: 0.0005, loss_map_cls: 0.5718, loss_map_pts: 2.4248, loss_map_dir: 0.0380, d0.loss_plan_l1_fix_time: 3.1327, d0.loss_plan_l1_fix_dist: 0.5518, d1.loss_plan_l1_fix_time: 3.0409, d1.loss_plan_l1_fix_dist: 0.5647, d2.loss_plan_l1_fix_time: 3.0494, d2.loss_plan_l1_fix_dist: 0.5972, d3.loss_plan_l1_fix_time: 3.0636, d3.loss_plan_l1_fix_dist: 0.6381, d4.loss_plan_l1_fix_time: 3.0793, d4.loss_plan_l1_fix_dist: 0.6853, d5.loss_plan_l1_fix_time: 3.0945, d5.loss_plan_l1_fix_dist: 0.7423, d6.loss_plan_l1_fix_time: 3.1108, d6.loss_plan_l1_fix_dist: 0.8019, d0.loss_cls_all: 0.8731, d0.loss_bbox_all: 0.7971, d0.loss_cls: 0.8731, d0.loss_bbox: 0.7971, d1.loss_cls: 0.8752, d1.loss_bbox: 0.8118, d2.loss_cls: 0.8712, d2.loss_bbox: 0.7969, d3.loss_cls: 0.8726, d3.loss_bbox: 0.8005, d4.loss_cls: 0.8716, d4.loss_bbox: 0.7999, d5.loss_cls: 0.8732, d5.loss_bbox: 0.7999, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6522, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.6777, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7007, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7210, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7291, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7291, d0.loss_map_cls_all: 0.5950, d0.loss_map_pts_all: 2.8161, d0.loss_map_dir_all: 0.0385, d0.loss_map_cls: 0.5950, d0.loss_map_pts: 2.8161, d0.loss_map_dir: 0.0385, d1.loss_map_cls: 0.5658, d1.loss_map_pts: 2.4465, d1.loss_map_dir: 0.0384, d2.loss_map_cls: 0.5658, d2.loss_map_pts: 2.4298, d2.loss_map_dir: 0.0382, d3.loss_map_cls: 0.5663, d3.loss_map_pts: 2.4278, d3.loss_map_dir: 0.0381, d4.loss_map_cls: 0.5674, d4.loss_map_pts: 2.4279, d4.loss_map_dir: 0.0381, d5.loss_map_cls: 0.5671, d5.loss_map_pts: 2.4283, d5.loss_map_dir: 0.0380, loss: 76.5959, grad_norm: 201.3024 +2026-02-24 07:01:29,033 - DriveTransformer - INFO - Epoch [1][21400/39528] lr: 1.000e-04, eta: 8 days, 14:27:50, time: 0.794, data_time: 0.039, memory: 19865, loss_cls: 0.9245, loss_bbox: 0.8763, loss_traj: 2.1889, loss_traj_cls: 0.0005, loss_map_cls: 0.6006, loss_map_pts: 2.5900, loss_map_dir: 0.0396, d0.loss_plan_l1_fix_time: 3.5217, d0.loss_plan_l1_fix_dist: 0.6279, d1.loss_plan_l1_fix_time: 3.4211, d1.loss_plan_l1_fix_dist: 0.6376, d2.loss_plan_l1_fix_time: 3.4247, d2.loss_plan_l1_fix_dist: 0.6608, d3.loss_plan_l1_fix_time: 3.4347, d3.loss_plan_l1_fix_dist: 0.6932, d4.loss_plan_l1_fix_time: 3.4477, d4.loss_plan_l1_fix_dist: 0.7318, d5.loss_plan_l1_fix_time: 3.4619, d5.loss_plan_l1_fix_dist: 0.7717, d6.loss_plan_l1_fix_time: 3.4756, d6.loss_plan_l1_fix_dist: 0.8117, d0.loss_cls_all: 0.9211, d0.loss_bbox_all: 0.8718, d0.loss_cls: 0.9211, d0.loss_bbox: 0.8718, d1.loss_cls: 0.9172, d1.loss_bbox: 0.8789, d2.loss_cls: 0.9205, d2.loss_bbox: 0.8727, d3.loss_cls: 0.9229, d3.loss_bbox: 0.8712, d4.loss_cls: 0.9217, d4.loss_bbox: 0.8704, d5.loss_cls: 0.9235, d5.loss_bbox: 0.8738, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.1200, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.1439, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1585, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1757, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1968, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1911, d0.loss_map_cls_all: 0.6200, d0.loss_map_pts_all: 2.9959, d0.loss_map_dir_all: 0.0397, d0.loss_map_cls: 0.6200, d0.loss_map_pts: 2.9959, d0.loss_map_dir: 0.0397, d1.loss_map_cls: 0.5904, d1.loss_map_pts: 2.6402, d1.loss_map_dir: 0.0399, d2.loss_map_cls: 0.5913, d2.loss_map_pts: 2.6098, d2.loss_map_dir: 0.0397, d3.loss_map_cls: 0.5944, d3.loss_map_pts: 2.5991, d3.loss_map_dir: 0.0396, d4.loss_map_cls: 0.5953, d4.loss_map_pts: 2.5961, d4.loss_map_dir: 0.0397, d5.loss_map_cls: 0.5964, d5.loss_map_pts: 2.5947, d5.loss_map_dir: 0.0397, loss: 85.4080, grad_norm: 200.8372 +2026-02-24 07:02:09,602 - DriveTransformer - INFO - Epoch [1][21450/39528] lr: 1.000e-04, eta: 8 days, 14:27:31, time: 0.811, data_time: 0.049, memory: 19865, loss_cls: 0.9216, loss_bbox: 0.8348, loss_traj: 1.8328, loss_traj_cls: 0.0005, loss_map_cls: 0.6103, loss_map_pts: 2.4413, loss_map_dir: 0.0426, d0.loss_plan_l1_fix_time: 2.9997, d0.loss_plan_l1_fix_dist: 0.5993, d1.loss_plan_l1_fix_time: 2.8133, d1.loss_plan_l1_fix_dist: 0.6162, d2.loss_plan_l1_fix_time: 2.8017, d2.loss_plan_l1_fix_dist: 0.6445, d3.loss_plan_l1_fix_time: 2.8064, d3.loss_plan_l1_fix_dist: 0.6792, d4.loss_plan_l1_fix_time: 2.8166, d4.loss_plan_l1_fix_dist: 0.7174, d5.loss_plan_l1_fix_time: 2.8289, d5.loss_plan_l1_fix_dist: 0.7600, d6.loss_plan_l1_fix_time: 2.8429, d6.loss_plan_l1_fix_dist: 0.8080, d0.loss_cls_all: 0.9225, d0.loss_bbox_all: 0.8233, d0.loss_cls: 0.9225, d0.loss_bbox: 0.8233, d1.loss_cls: 0.9164, d1.loss_bbox: 0.8389, d2.loss_cls: 0.9146, d2.loss_bbox: 0.8230, d3.loss_cls: 0.9167, d3.loss_bbox: 0.8241, d4.loss_cls: 0.9183, d4.loss_bbox: 0.8262, d5.loss_cls: 0.9198, d5.loss_bbox: 0.8309, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7840, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.8101, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8011, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8190, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8328, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8485, d0.loss_map_cls_all: 0.6305, d0.loss_map_pts_all: 2.9250, d0.loss_map_dir_all: 0.0423, d0.loss_map_cls: 0.6305, d0.loss_map_pts: 2.9250, d0.loss_map_dir: 0.0423, d1.loss_map_cls: 0.6071, d1.loss_map_pts: 2.4861, d1.loss_map_dir: 0.0427, d2.loss_map_cls: 0.6053, d2.loss_map_pts: 2.4558, d2.loss_map_dir: 0.0427, d3.loss_map_cls: 0.6043, d3.loss_map_pts: 2.4473, d3.loss_map_dir: 0.0427, d4.loss_map_cls: 0.6067, d4.loss_map_pts: 2.4445, d4.loss_map_dir: 0.0427, d5.loss_map_cls: 0.6072, d5.loss_map_pts: 2.4423, d5.loss_map_dir: 0.0427, loss: 77.2532, grad_norm: 198.1117 +2026-02-24 07:02:50,189 - DriveTransformer - INFO - Epoch [1][21500/39528] lr: 1.000e-04, eta: 8 days, 14:27:12, time: 0.812, data_time: 0.042, memory: 19865, loss_cls: 0.8854, loss_bbox: 0.7982, loss_traj: 1.6350, loss_traj_cls: 0.0005, loss_map_cls: 0.5722, loss_map_pts: 2.5115, loss_map_dir: 0.0396, d0.loss_plan_l1_fix_time: 3.2340, d0.loss_plan_l1_fix_dist: 0.4765, d1.loss_plan_l1_fix_time: 3.1407, d1.loss_plan_l1_fix_dist: 0.4920, d2.loss_plan_l1_fix_time: 3.1454, d2.loss_plan_l1_fix_dist: 0.5201, d3.loss_plan_l1_fix_time: 3.1580, d3.loss_plan_l1_fix_dist: 0.5526, d4.loss_plan_l1_fix_time: 3.1735, d4.loss_plan_l1_fix_dist: 0.5910, d5.loss_plan_l1_fix_time: 3.1913, d5.loss_plan_l1_fix_dist: 0.6332, d6.loss_plan_l1_fix_time: 3.2112, d6.loss_plan_l1_fix_dist: 0.6795, d0.loss_cls_all: 0.8915, d0.loss_bbox_all: 0.7863, d0.loss_cls: 0.8915, d0.loss_bbox: 0.7863, d1.loss_cls: 0.8818, d1.loss_bbox: 0.8123, d2.loss_cls: 0.8795, d2.loss_bbox: 0.7929, d3.loss_cls: 0.8810, d3.loss_bbox: 0.7924, d4.loss_cls: 0.8827, d4.loss_bbox: 0.7929, d5.loss_cls: 0.8843, d5.loss_bbox: 0.7955, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.6083, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6203, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6172, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6323, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6319, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6234, d0.loss_map_cls_all: 0.6007, d0.loss_map_pts_all: 2.9202, d0.loss_map_dir_all: 0.0395, d0.loss_map_cls: 0.6007, d0.loss_map_pts: 2.9202, d0.loss_map_dir: 0.0395, d1.loss_map_cls: 0.5733, d1.loss_map_pts: 2.5472, d1.loss_map_dir: 0.0399, d2.loss_map_cls: 0.5690, d2.loss_map_pts: 2.5221, d2.loss_map_dir: 0.0398, d3.loss_map_cls: 0.5676, d3.loss_map_pts: 2.5126, d3.loss_map_dir: 0.0396, d4.loss_map_cls: 0.5701, d4.loss_map_pts: 2.5100, d4.loss_map_dir: 0.0397, d5.loss_map_cls: 0.5679, d5.loss_map_pts: 2.5106, d5.loss_map_dir: 0.0397, loss: 76.8995, grad_norm: 197.2242 +2026-02-24 07:03:29,642 - DriveTransformer - INFO - Epoch [1][21550/39528] lr: 1.000e-04, eta: 8 days, 14:26:05, time: 0.789, data_time: 0.039, memory: 19865, loss_cls: 0.9091, loss_bbox: 0.8588, loss_traj: 1.9286, loss_traj_cls: 0.0005, loss_map_cls: 0.5528, loss_map_pts: 2.2362, loss_map_dir: 0.0341, d0.loss_plan_l1_fix_time: 3.0900, d0.loss_plan_l1_fix_dist: 0.5516, d1.loss_plan_l1_fix_time: 2.9107, d1.loss_plan_l1_fix_dist: 0.5747, d2.loss_plan_l1_fix_time: 2.8964, d2.loss_plan_l1_fix_dist: 0.6156, d3.loss_plan_l1_fix_time: 2.9007, d3.loss_plan_l1_fix_dist: 0.6642, d4.loss_plan_l1_fix_time: 2.9104, d4.loss_plan_l1_fix_dist: 0.7187, d5.loss_plan_l1_fix_time: 2.9238, d5.loss_plan_l1_fix_dist: 0.7807, d6.loss_plan_l1_fix_time: 2.9398, d6.loss_plan_l1_fix_dist: 0.8485, d0.loss_cls_all: 0.9113, d0.loss_bbox_all: 0.8093, d0.loss_cls: 0.9113, d0.loss_bbox: 0.8093, d1.loss_cls: 0.9070, d1.loss_bbox: 0.8372, d2.loss_cls: 0.9040, d2.loss_bbox: 0.8263, d3.loss_cls: 0.9070, d3.loss_bbox: 0.8253, d4.loss_cls: 0.9040, d4.loss_bbox: 0.8368, d5.loss_cls: 0.9076, d5.loss_bbox: 0.8443, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8807, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.9030, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9118, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9174, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9203, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9188, d0.loss_map_cls_all: 0.5905, d0.loss_map_pts_all: 2.6728, d0.loss_map_dir_all: 0.0339, d0.loss_map_cls: 0.5905, d0.loss_map_pts: 2.6728, d0.loss_map_dir: 0.0339, d1.loss_map_cls: 0.5499, d1.loss_map_pts: 2.2690, d1.loss_map_dir: 0.0344, d2.loss_map_cls: 0.5508, d2.loss_map_pts: 2.2502, d2.loss_map_dir: 0.0343, d3.loss_map_cls: 0.5533, d3.loss_map_pts: 2.2413, d3.loss_map_dir: 0.0343, d4.loss_map_cls: 0.5512, d4.loss_map_pts: 2.2382, d4.loss_map_dir: 0.0342, d5.loss_map_cls: 0.5505, d5.loss_map_pts: 2.2380, d5.loss_map_dir: 0.0341, loss: 76.2000, grad_norm: 195.4243 +2026-02-24 07:04:10,876 - DriveTransformer - INFO - Epoch [1][21600/39528] lr: 1.000e-04, eta: 8 days, 14:26:18, time: 0.826, data_time: 0.042, memory: 19865, loss_cls: 0.9494, loss_bbox: 0.8239, loss_traj: 2.0447, loss_traj_cls: 0.0005, loss_map_cls: 0.5965, loss_map_pts: 2.6042, loss_map_dir: 0.0410, d0.loss_plan_l1_fix_time: 3.0555, d0.loss_plan_l1_fix_dist: 0.5247, d1.loss_plan_l1_fix_time: 2.8728, d1.loss_plan_l1_fix_dist: 0.5405, d2.loss_plan_l1_fix_time: 2.8531, d2.loss_plan_l1_fix_dist: 0.5679, d3.loss_plan_l1_fix_time: 2.8546, d3.loss_plan_l1_fix_dist: 0.6031, d4.loss_plan_l1_fix_time: 2.8622, d4.loss_plan_l1_fix_dist: 0.6403, d5.loss_plan_l1_fix_time: 2.8727, d5.loss_plan_l1_fix_dist: 0.6815, d6.loss_plan_l1_fix_time: 2.8859, d6.loss_plan_l1_fix_dist: 0.7224, d0.loss_cls_all: 0.9518, d0.loss_bbox_all: 0.7886, d0.loss_cls: 0.9518, d0.loss_bbox: 0.7886, d1.loss_cls: 0.9341, d1.loss_bbox: 0.8158, d2.loss_cls: 0.9403, d2.loss_bbox: 0.8082, d3.loss_cls: 0.9400, d3.loss_bbox: 0.8075, d4.loss_cls: 0.9388, d4.loss_bbox: 0.8152, d5.loss_cls: 0.9447, d5.loss_bbox: 0.8206, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0379, d1.loss_traj_cls: 0.0007, d1.loss_traj: 2.0441, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0419, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0504, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0439, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0430, d0.loss_map_cls_all: 0.6158, d0.loss_map_pts_all: 3.0353, d0.loss_map_dir_all: 0.0406, d0.loss_map_cls: 0.6158, d0.loss_map_pts: 3.0353, d0.loss_map_dir: 0.0406, d1.loss_map_cls: 0.5896, d1.loss_map_pts: 2.6351, d1.loss_map_dir: 0.0410, d2.loss_map_cls: 0.5895, d2.loss_map_pts: 2.6094, d2.loss_map_dir: 0.0410, d3.loss_map_cls: 0.5919, d3.loss_map_pts: 2.6049, d3.loss_map_dir: 0.0410, d4.loss_map_cls: 0.5937, d4.loss_map_pts: 2.6029, d4.loss_map_dir: 0.0409, d5.loss_map_cls: 0.5921, d5.loss_map_pts: 2.6016, d5.loss_map_dir: 0.0409, loss: 79.7066, grad_norm: 194.9400 +2026-02-24 07:04:51,548 - DriveTransformer - INFO - Epoch [1][21650/39528] lr: 1.000e-04, eta: 8 days, 14:26:00, time: 0.812, data_time: 0.038, memory: 19865, loss_cls: 0.8764, loss_bbox: 0.8288, loss_traj: 1.6703, loss_traj_cls: 0.0005, loss_map_cls: 0.5868, loss_map_pts: 2.8506, loss_map_dir: 0.0439, d0.loss_plan_l1_fix_time: 3.1774, d0.loss_plan_l1_fix_dist: 0.5378, d1.loss_plan_l1_fix_time: 3.1390, d1.loss_plan_l1_fix_dist: 0.5669, d2.loss_plan_l1_fix_time: 3.1573, d2.loss_plan_l1_fix_dist: 0.6043, d3.loss_plan_l1_fix_time: 3.1763, d3.loss_plan_l1_fix_dist: 0.6531, d4.loss_plan_l1_fix_time: 3.1948, d4.loss_plan_l1_fix_dist: 0.7045, d5.loss_plan_l1_fix_time: 3.2138, d5.loss_plan_l1_fix_dist: 0.7543, d6.loss_plan_l1_fix_time: 3.2333, d6.loss_plan_l1_fix_dist: 0.8037, d0.loss_cls_all: 0.8687, d0.loss_bbox_all: 0.8041, d0.loss_cls: 0.8687, d0.loss_bbox: 0.8041, d1.loss_cls: 0.8736, d1.loss_bbox: 0.8227, d2.loss_cls: 0.8762, d2.loss_bbox: 0.8168, d3.loss_cls: 0.8750, d3.loss_bbox: 0.8193, d4.loss_cls: 0.8711, d4.loss_bbox: 0.8248, d5.loss_cls: 0.8741, d5.loss_bbox: 0.8267, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6226, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6800, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6921, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.6963, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.6952, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6912, d0.loss_map_cls_all: 0.6125, d0.loss_map_pts_all: 3.2949, d0.loss_map_dir_all: 0.0436, d0.loss_map_cls: 0.6125, d0.loss_map_pts: 3.2949, d0.loss_map_dir: 0.0436, d1.loss_map_cls: 0.5881, d1.loss_map_pts: 2.8856, d1.loss_map_dir: 0.0440, d2.loss_map_cls: 0.5865, d2.loss_map_pts: 2.8522, d2.loss_map_dir: 0.0439, d3.loss_map_cls: 0.5838, d3.loss_map_pts: 2.8483, d3.loss_map_dir: 0.0438, d4.loss_map_cls: 0.5843, d4.loss_map_pts: 2.8494, d4.loss_map_dir: 0.0439, d5.loss_map_cls: 0.5842, d5.loss_map_pts: 2.8479, d5.loss_map_dir: 0.0438, loss: 81.0118, grad_norm: 194.3298 +2026-02-24 07:05:32,330 - DriveTransformer - INFO - Epoch [1][21700/39528] lr: 1.000e-04, eta: 8 days, 14:25:50, time: 0.816, data_time: 0.038, memory: 19865, loss_cls: 0.8883, loss_bbox: 0.8209, loss_traj: 1.6568, loss_traj_cls: 0.0005, loss_map_cls: 0.5786, loss_map_pts: 2.4385, loss_map_dir: 0.0390, d0.loss_plan_l1_fix_time: 2.9394, d0.loss_plan_l1_fix_dist: 0.7312, d1.loss_plan_l1_fix_time: 2.8128, d1.loss_plan_l1_fix_dist: 0.7465, d2.loss_plan_l1_fix_time: 2.8078, d2.loss_plan_l1_fix_dist: 0.7695, d3.loss_plan_l1_fix_time: 2.8143, d3.loss_plan_l1_fix_dist: 0.7997, d4.loss_plan_l1_fix_time: 2.8243, d4.loss_plan_l1_fix_dist: 0.8354, d5.loss_plan_l1_fix_time: 2.8355, d5.loss_plan_l1_fix_dist: 0.8741, d6.loss_plan_l1_fix_time: 2.8484, d6.loss_plan_l1_fix_dist: 0.9187, d0.loss_cls_all: 0.8843, d0.loss_bbox_all: 0.7869, d0.loss_cls: 0.8843, d0.loss_bbox: 0.7869, d1.loss_cls: 0.8823, d1.loss_bbox: 0.8048, d2.loss_cls: 0.8815, d2.loss_bbox: 0.8015, d3.loss_cls: 0.8850, d3.loss_bbox: 0.8065, d4.loss_cls: 0.8831, d4.loss_bbox: 0.8116, d5.loss_cls: 0.8870, d5.loss_bbox: 0.8138, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6584, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6693, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6515, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.6631, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.6624, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6586, d0.loss_map_cls_all: 0.6101, d0.loss_map_pts_all: 2.9787, d0.loss_map_dir_all: 0.0389, d0.loss_map_cls: 0.6101, d0.loss_map_pts: 2.9787, d0.loss_map_dir: 0.0389, d1.loss_map_cls: 0.5775, d1.loss_map_pts: 2.4678, d1.loss_map_dir: 0.0393, d2.loss_map_cls: 0.5752, d2.loss_map_pts: 2.4417, d2.loss_map_dir: 0.0392, d3.loss_map_cls: 0.5753, d3.loss_map_pts: 2.4377, d3.loss_map_dir: 0.0391, d4.loss_map_cls: 0.5746, d4.loss_map_pts: 2.4388, d4.loss_map_dir: 0.0390, d5.loss_map_cls: 0.5775, d5.loss_map_pts: 2.4387, d5.loss_map_dir: 0.0390, loss: 76.3021, grad_norm: 191.8372 +2026-02-24 07:06:13,333 - DriveTransformer - INFO - Epoch [1][21750/39528] lr: 1.000e-04, eta: 8 days, 14:25:49, time: 0.820, data_time: 0.052, memory: 19865, loss_cls: 0.8568, loss_bbox: 0.8426, loss_traj: 1.8419, loss_traj_cls: 0.0005, loss_map_cls: 0.5691, loss_map_pts: 2.2494, loss_map_dir: 0.0336, d0.loss_plan_l1_fix_time: 3.0672, d0.loss_plan_l1_fix_dist: 0.5040, d1.loss_plan_l1_fix_time: 2.9696, d1.loss_plan_l1_fix_dist: 0.5208, d2.loss_plan_l1_fix_time: 2.9741, d2.loss_plan_l1_fix_dist: 0.5504, d3.loss_plan_l1_fix_time: 2.9890, d3.loss_plan_l1_fix_dist: 0.5868, d4.loss_plan_l1_fix_time: 3.0043, d4.loss_plan_l1_fix_dist: 0.6297, d5.loss_plan_l1_fix_time: 3.0204, d5.loss_plan_l1_fix_dist: 0.6775, d6.loss_plan_l1_fix_time: 3.0360, d6.loss_plan_l1_fix_dist: 0.7344, d0.loss_cls_all: 0.8502, d0.loss_bbox_all: 0.8216, d0.loss_cls: 0.8502, d0.loss_bbox: 0.8216, d1.loss_cls: 0.8526, d1.loss_bbox: 0.8320, d2.loss_cls: 0.8495, d2.loss_bbox: 0.8363, d3.loss_cls: 0.8537, d3.loss_bbox: 0.8394, d4.loss_cls: 0.8534, d4.loss_bbox: 0.8401, d5.loss_cls: 0.8563, d5.loss_bbox: 0.8397, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8702, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.8774, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8501, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8599, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8540, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8468, d0.loss_map_cls_all: 0.6078, d0.loss_map_pts_all: 2.7113, d0.loss_map_dir_all: 0.0336, d0.loss_map_cls: 0.6078, d0.loss_map_pts: 2.7113, d0.loss_map_dir: 0.0336, d1.loss_map_cls: 0.5706, d1.loss_map_pts: 2.2940, d1.loss_map_dir: 0.0339, d2.loss_map_cls: 0.5677, d2.loss_map_pts: 2.2608, d2.loss_map_dir: 0.0337, d3.loss_map_cls: 0.5666, d3.loss_map_pts: 2.2527, d3.loss_map_dir: 0.0336, d4.loss_map_cls: 0.5677, d4.loss_map_pts: 2.2508, d4.loss_map_dir: 0.0336, d5.loss_map_cls: 0.5678, d5.loss_map_pts: 2.2485, d5.loss_map_dir: 0.0336, loss: 75.6369, grad_norm: 192.7023 +2026-02-24 07:06:51,991 - DriveTransformer - INFO - Epoch [1][21800/39528] lr: 1.000e-04, eta: 8 days, 14:24:08, time: 0.773, data_time: 0.047, memory: 19865, loss_cls: 0.8776, loss_bbox: 0.8367, loss_traj: 2.0496, loss_traj_cls: 0.0005, loss_map_cls: 0.6123, loss_map_pts: 2.4119, loss_map_dir: 0.0382, d0.loss_plan_l1_fix_time: 3.4740, d0.loss_plan_l1_fix_dist: 0.5128, d1.loss_plan_l1_fix_time: 3.3144, d1.loss_plan_l1_fix_dist: 0.5287, d2.loss_plan_l1_fix_time: 3.3052, d2.loss_plan_l1_fix_dist: 0.5556, d3.loss_plan_l1_fix_time: 3.3120, d3.loss_plan_l1_fix_dist: 0.5924, d4.loss_plan_l1_fix_time: 3.3227, d4.loss_plan_l1_fix_dist: 0.6318, d5.loss_plan_l1_fix_time: 3.3351, d5.loss_plan_l1_fix_dist: 0.6757, d6.loss_plan_l1_fix_time: 3.3473, d6.loss_plan_l1_fix_dist: 0.7215, d0.loss_cls_all: 0.8860, d0.loss_bbox_all: 0.8193, d0.loss_cls: 0.8860, d0.loss_bbox: 0.8193, d1.loss_cls: 0.8787, d1.loss_bbox: 0.8286, d2.loss_cls: 0.8789, d2.loss_bbox: 0.8279, d3.loss_cls: 0.8802, d3.loss_bbox: 0.8314, d4.loss_cls: 0.8771, d4.loss_bbox: 0.8347, d5.loss_cls: 0.8764, d5.loss_bbox: 0.8370, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0195, d1.loss_traj_cls: 0.0007, d1.loss_traj: 2.0268, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0266, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0403, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0510, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0422, d0.loss_map_cls_all: 0.6312, d0.loss_map_pts_all: 2.8136, d0.loss_map_dir_all: 0.0375, d0.loss_map_cls: 0.6312, d0.loss_map_pts: 2.8136, d0.loss_map_dir: 0.0375, d1.loss_map_cls: 0.6055, d1.loss_map_pts: 2.4393, d1.loss_map_dir: 0.0385, d2.loss_map_cls: 0.6103, d2.loss_map_pts: 2.4160, d2.loss_map_dir: 0.0383, d3.loss_map_cls: 0.6190, d3.loss_map_pts: 2.4126, d3.loss_map_dir: 0.0381, d4.loss_map_cls: 0.6157, d4.loss_map_pts: 2.4106, d4.loss_map_dir: 0.0382, d5.loss_map_cls: 0.6134, d5.loss_map_pts: 2.4096, d5.loss_map_dir: 0.0382, loss: 80.9346, grad_norm: 192.1754 +2026-02-24 07:07:33,195 - DriveTransformer - INFO - Epoch [1][21850/39528] lr: 1.000e-04, eta: 8 days, 14:24:15, time: 0.824, data_time: 0.043, memory: 19865, loss_cls: 0.8663, loss_bbox: 0.7706, loss_traj: 1.9116, loss_traj_cls: 0.0004, loss_map_cls: 0.5566, loss_map_pts: 2.3861, loss_map_dir: 0.0363, d0.loss_plan_l1_fix_time: 3.3599, d0.loss_plan_l1_fix_dist: 0.5009, d1.loss_plan_l1_fix_time: 3.2399, d1.loss_plan_l1_fix_dist: 0.5174, d2.loss_plan_l1_fix_time: 3.2470, d2.loss_plan_l1_fix_dist: 0.5407, d3.loss_plan_l1_fix_time: 3.2637, d3.loss_plan_l1_fix_dist: 0.5709, d4.loss_plan_l1_fix_time: 3.2827, d4.loss_plan_l1_fix_dist: 0.6078, d5.loss_plan_l1_fix_time: 3.3028, d5.loss_plan_l1_fix_dist: 0.6521, d6.loss_plan_l1_fix_time: 3.3244, d6.loss_plan_l1_fix_dist: 0.7027, d0.loss_cls_all: 0.8728, d0.loss_bbox_all: 0.7457, d0.loss_cls: 0.8728, d0.loss_bbox: 0.7457, d1.loss_cls: 0.8742, d1.loss_bbox: 0.7644, d2.loss_cls: 0.8806, d2.loss_bbox: 0.7575, d3.loss_cls: 0.8794, d3.loss_bbox: 0.7553, d4.loss_cls: 0.8688, d4.loss_bbox: 0.7552, d5.loss_cls: 0.8654, d5.loss_bbox: 0.7598, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8908, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8982, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8920, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9029, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9125, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9131, d0.loss_map_cls_all: 0.5942, d0.loss_map_pts_all: 2.9223, d0.loss_map_dir_all: 0.0361, d0.loss_map_cls: 0.5942, d0.loss_map_pts: 2.9223, d0.loss_map_dir: 0.0361, d1.loss_map_cls: 0.5569, d1.loss_map_pts: 2.4196, d1.loss_map_dir: 0.0366, d2.loss_map_cls: 0.5544, d2.loss_map_pts: 2.3837, d2.loss_map_dir: 0.0364, d3.loss_map_cls: 0.5550, d3.loss_map_pts: 2.3782, d3.loss_map_dir: 0.0364, d4.loss_map_cls: 0.5542, d4.loss_map_pts: 2.3828, d4.loss_map_dir: 0.0363, d5.loss_map_cls: 0.5518, d5.loss_map_pts: 2.3854, d5.loss_map_dir: 0.0363, loss: 78.4598, grad_norm: 191.2833 +2026-02-24 07:08:12,941 - DriveTransformer - INFO - Epoch [1][21900/39528] lr: 1.000e-04, eta: 8 days, 14:23:21, time: 0.795, data_time: 0.043, memory: 19865, loss_cls: 0.8689, loss_bbox: 0.7918, loss_traj: 2.0111, loss_traj_cls: 0.0005, loss_map_cls: 0.5591, loss_map_pts: 2.2781, loss_map_dir: 0.0324, d0.loss_plan_l1_fix_time: 2.8778, d0.loss_plan_l1_fix_dist: 0.5844, d1.loss_plan_l1_fix_time: 2.6923, d1.loss_plan_l1_fix_dist: 0.5935, d2.loss_plan_l1_fix_time: 2.6748, d2.loss_plan_l1_fix_dist: 0.6170, d3.loss_plan_l1_fix_time: 2.6805, d3.loss_plan_l1_fix_dist: 0.6460, d4.loss_plan_l1_fix_time: 2.6934, d4.loss_plan_l1_fix_dist: 0.6824, d5.loss_plan_l1_fix_time: 2.7098, d5.loss_plan_l1_fix_dist: 0.7229, d6.loss_plan_l1_fix_time: 2.7308, d6.loss_plan_l1_fix_dist: 0.7751, d0.loss_cls_all: 0.8612, d0.loss_bbox_all: 0.7613, d0.loss_cls: 0.8612, d0.loss_bbox: 0.7613, d1.loss_cls: 0.8693, d1.loss_bbox: 0.7929, d2.loss_cls: 0.8710, d2.loss_bbox: 0.7814, d3.loss_cls: 0.8718, d3.loss_bbox: 0.7777, d4.loss_cls: 0.8684, d4.loss_bbox: 0.7813, d5.loss_cls: 0.8662, d5.loss_bbox: 0.7870, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9512, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.9803, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9785, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9880, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0000, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0042, d0.loss_map_cls_all: 0.5832, d0.loss_map_pts_all: 2.8023, d0.loss_map_dir_all: 0.0322, d0.loss_map_cls: 0.5832, d0.loss_map_pts: 2.8023, d0.loss_map_dir: 0.0322, d1.loss_map_cls: 0.5530, d1.loss_map_pts: 2.3078, d1.loss_map_dir: 0.0325, d2.loss_map_cls: 0.5509, d2.loss_map_pts: 2.2841, d2.loss_map_dir: 0.0325, d3.loss_map_cls: 0.5545, d3.loss_map_pts: 2.2776, d3.loss_map_dir: 0.0324, d4.loss_map_cls: 0.5584, d4.loss_map_pts: 2.2789, d4.loss_map_dir: 0.0324, d5.loss_map_cls: 0.5550, d5.loss_map_pts: 2.2774, d5.loss_map_dir: 0.0324, loss: 74.8355, grad_norm: 191.5735 +2026-02-24 07:08:52,923 - DriveTransformer - INFO - Epoch [1][21950/39528] lr: 1.000e-04, eta: 8 days, 14:22:36, time: 0.800, data_time: 0.038, memory: 19865, loss_cls: 1.0185, loss_bbox: 0.8597, loss_traj: 1.9958, loss_traj_cls: 0.0005, loss_map_cls: 0.5645, loss_map_pts: 2.5481, loss_map_dir: 0.0367, d0.loss_plan_l1_fix_time: 3.3247, d0.loss_plan_l1_fix_dist: 0.5258, d1.loss_plan_l1_fix_time: 3.2174, d1.loss_plan_l1_fix_dist: 0.5499, d2.loss_plan_l1_fix_time: 3.2260, d2.loss_plan_l1_fix_dist: 0.5880, d3.loss_plan_l1_fix_time: 3.2423, d3.loss_plan_l1_fix_dist: 0.6312, d4.loss_plan_l1_fix_time: 3.2587, d4.loss_plan_l1_fix_dist: 0.6710, d5.loss_plan_l1_fix_time: 3.2761, d5.loss_plan_l1_fix_dist: 0.7110, d6.loss_plan_l1_fix_time: 3.2935, d6.loss_plan_l1_fix_dist: 0.7448, d0.loss_cls_all: 0.9789, d0.loss_bbox_all: 0.8337, d0.loss_cls: 0.9789, d0.loss_bbox: 0.8337, d1.loss_cls: 0.9965, d1.loss_bbox: 0.8498, d2.loss_cls: 1.0198, d2.loss_bbox: 0.8408, d3.loss_cls: 1.0222, d3.loss_bbox: 0.8451, d4.loss_cls: 1.0232, d4.loss_bbox: 0.8476, d5.loss_cls: 1.0163, d5.loss_bbox: 0.8548, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9313, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.9712, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9762, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9862, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9885, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9970, d0.loss_map_cls_all: 0.6000, d0.loss_map_pts_all: 2.9415, d0.loss_map_dir_all: 0.0365, d0.loss_map_cls: 0.6000, d0.loss_map_pts: 2.9415, d0.loss_map_dir: 0.0365, d1.loss_map_cls: 0.5661, d1.loss_map_pts: 2.5697, d1.loss_map_dir: 0.0369, d2.loss_map_cls: 0.5654, d2.loss_map_pts: 2.5514, d2.loss_map_dir: 0.0367, d3.loss_map_cls: 0.5736, d3.loss_map_pts: 2.5460, d3.loss_map_dir: 0.0367, d4.loss_map_cls: 0.5675, d4.loss_map_pts: 2.5431, d4.loss_map_dir: 0.0367, d5.loss_map_cls: 0.5646, d5.loss_map_pts: 2.5412, d5.loss_map_dir: 0.0367, loss: 82.0077, grad_norm: 192.6526 +2026-02-24 07:09:31,825 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 07:09:31,825 - DriveTransformer - INFO - Epoch [1][22000/39528] lr: 1.000e-04, eta: 8 days, 14:21:06, time: 0.778, data_time: 0.043, memory: 19865, loss_cls: 0.9109, loss_bbox: 0.7755, loss_traj: 2.1275, loss_traj_cls: 0.0005, loss_map_cls: 0.5685, loss_map_pts: 2.0740, loss_map_dir: 0.0291, d0.loss_plan_l1_fix_time: 3.0013, d0.loss_plan_l1_fix_dist: 0.4441, d1.loss_plan_l1_fix_time: 2.8585, d1.loss_plan_l1_fix_dist: 0.4617, d2.loss_plan_l1_fix_time: 2.8570, d2.loss_plan_l1_fix_dist: 0.4928, d3.loss_plan_l1_fix_time: 2.8681, d3.loss_plan_l1_fix_dist: 0.5306, d4.loss_plan_l1_fix_time: 2.8811, d4.loss_plan_l1_fix_dist: 0.5723, d5.loss_plan_l1_fix_time: 2.8939, d5.loss_plan_l1_fix_dist: 0.6240, d6.loss_plan_l1_fix_time: 2.9064, d6.loss_plan_l1_fix_dist: 0.6842, d0.loss_cls_all: 0.9037, d0.loss_bbox_all: 0.7650, d0.loss_cls: 0.9037, d0.loss_bbox: 0.7650, d1.loss_cls: 0.9099, d1.loss_bbox: 0.7661, d2.loss_cls: 0.9154, d2.loss_bbox: 0.7641, d3.loss_cls: 0.9123, d3.loss_bbox: 0.7610, d4.loss_cls: 0.9117, d4.loss_bbox: 0.7666, d5.loss_cls: 0.9101, d5.loss_bbox: 0.7719, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0496, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0768, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0956, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1191, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1104, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1263, d0.loss_map_cls_all: 0.6394, d0.loss_map_pts_all: 2.5289, d0.loss_map_dir_all: 0.0290, d0.loss_map_cls: 0.6394, d0.loss_map_pts: 2.5289, d0.loss_map_dir: 0.0290, d1.loss_map_cls: 0.5808, d1.loss_map_pts: 2.0907, d1.loss_map_dir: 0.0292, d2.loss_map_cls: 0.5735, d2.loss_map_pts: 2.0684, d2.loss_map_dir: 0.0291, d3.loss_map_cls: 0.5748, d3.loss_map_pts: 2.0623, d3.loss_map_dir: 0.0291, d4.loss_map_cls: 0.5739, d4.loss_map_pts: 2.0588, d4.loss_map_dir: 0.0291, d5.loss_map_cls: 0.5652, d5.loss_map_pts: 2.0616, d5.loss_map_dir: 0.0291, loss: 74.6194, grad_norm: 193.4480 +2026-02-24 07:10:11,762 - DriveTransformer - INFO - Epoch [1][22050/39528] lr: 1.000e-04, eta: 8 days, 14:20:20, time: 0.799, data_time: 0.038, memory: 19865, loss_cls: 0.8939, loss_bbox: 0.8032, loss_traj: 1.7995, loss_traj_cls: 0.0005, loss_map_cls: 0.5890, loss_map_pts: 2.3769, loss_map_dir: 0.0362, d0.loss_plan_l1_fix_time: 3.4697, d0.loss_plan_l1_fix_dist: 0.5550, d1.loss_plan_l1_fix_time: 3.2323, d1.loss_plan_l1_fix_dist: 0.5668, d2.loss_plan_l1_fix_time: 3.2085, d2.loss_plan_l1_fix_dist: 0.5873, d3.loss_plan_l1_fix_time: 3.2112, d3.loss_plan_l1_fix_dist: 0.6198, d4.loss_plan_l1_fix_time: 3.2206, d4.loss_plan_l1_fix_dist: 0.6578, d5.loss_plan_l1_fix_time: 3.2317, d5.loss_plan_l1_fix_dist: 0.7014, d6.loss_plan_l1_fix_time: 3.2433, d6.loss_plan_l1_fix_dist: 0.7494, d0.loss_cls_all: 0.8857, d0.loss_bbox_all: 0.7975, d0.loss_cls: 0.8857, d0.loss_bbox: 0.7975, d1.loss_cls: 0.8801, d1.loss_bbox: 0.8028, d2.loss_cls: 0.8846, d2.loss_bbox: 0.7958, d3.loss_cls: 0.8863, d3.loss_bbox: 0.7949, d4.loss_cls: 0.8909, d4.loss_bbox: 0.7960, d5.loss_cls: 0.8933, d5.loss_bbox: 0.7975, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7685, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7776, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7782, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8009, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8044, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7962, d0.loss_map_cls_all: 0.6059, d0.loss_map_pts_all: 2.9139, d0.loss_map_dir_all: 0.0359, d0.loss_map_cls: 0.6059, d0.loss_map_pts: 2.9139, d0.loss_map_dir: 0.0359, d1.loss_map_cls: 0.5743, d1.loss_map_pts: 2.4160, d1.loss_map_dir: 0.0363, d2.loss_map_cls: 0.5741, d2.loss_map_pts: 2.3827, d2.loss_map_dir: 0.0362, d3.loss_map_cls: 0.5808, d3.loss_map_pts: 2.3752, d3.loss_map_dir: 0.0362, d4.loss_map_cls: 0.5837, d4.loss_map_pts: 2.3724, d4.loss_map_dir: 0.0362, d5.loss_map_cls: 0.5837, d5.loss_map_pts: 2.3712, d5.loss_map_dir: 0.0362, loss: 78.3783, grad_norm: 193.7350 +2026-02-24 07:10:52,489 - DriveTransformer - INFO - Epoch [1][22100/39528] lr: 1.000e-04, eta: 8 days, 14:20:07, time: 0.814, data_time: 0.042, memory: 19865, loss_cls: 0.9427, loss_bbox: 0.8200, loss_traj: 1.7215, loss_traj_cls: 0.0005, loss_map_cls: 0.5673, loss_map_pts: 2.2719, loss_map_dir: 0.0328, d0.loss_plan_l1_fix_time: 2.5939, d0.loss_plan_l1_fix_dist: 0.6323, d1.loss_plan_l1_fix_time: 2.4528, d1.loss_plan_l1_fix_dist: 0.6637, d2.loss_plan_l1_fix_time: 2.4450, d2.loss_plan_l1_fix_dist: 0.7095, d3.loss_plan_l1_fix_time: 2.4551, d3.loss_plan_l1_fix_dist: 0.7676, d4.loss_plan_l1_fix_time: 2.4700, d4.loss_plan_l1_fix_dist: 0.8302, d5.loss_plan_l1_fix_time: 2.4857, d5.loss_plan_l1_fix_dist: 0.8952, d6.loss_plan_l1_fix_time: 2.5040, d6.loss_plan_l1_fix_dist: 0.9682, d0.loss_cls_all: 0.9309, d0.loss_bbox_all: 0.8105, d0.loss_cls: 0.9309, d0.loss_bbox: 0.8105, d1.loss_cls: 0.9249, d1.loss_bbox: 0.8242, d2.loss_cls: 0.9216, d2.loss_bbox: 0.8200, d3.loss_cls: 0.9268, d3.loss_bbox: 0.8195, d4.loss_cls: 0.9302, d4.loss_bbox: 0.8185, d5.loss_cls: 0.9369, d5.loss_bbox: 0.8171, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.6976, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7040, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6902, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7038, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7076, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7048, d0.loss_map_cls_all: 0.5993, d0.loss_map_pts_all: 2.7197, d0.loss_map_dir_all: 0.0325, d0.loss_map_cls: 0.5993, d0.loss_map_pts: 2.7197, d0.loss_map_dir: 0.0325, d1.loss_map_cls: 0.5652, d1.loss_map_pts: 2.2860, d1.loss_map_dir: 0.0330, d2.loss_map_cls: 0.5648, d2.loss_map_pts: 2.2682, d2.loss_map_dir: 0.0328, d3.loss_map_cls: 0.5751, d3.loss_map_pts: 2.2671, d3.loss_map_dir: 0.0327, d4.loss_map_cls: 0.5695, d4.loss_map_pts: 2.2685, d4.loss_map_dir: 0.0328, d5.loss_map_cls: 0.5686, d5.loss_map_pts: 2.2703, d5.loss_map_dir: 0.0327, loss: 72.7338, grad_norm: 193.7933 +2026-02-24 07:11:33,035 - DriveTransformer - INFO - Epoch [1][22150/39528] lr: 1.000e-04, eta: 8 days, 14:19:46, time: 0.811, data_time: 0.049, memory: 19865, loss_cls: 0.9027, loss_bbox: 0.8133, loss_traj: 2.1108, loss_traj_cls: 0.0004, loss_map_cls: 0.5884, loss_map_pts: 2.5029, loss_map_dir: 0.0365, d0.loss_plan_l1_fix_time: 2.7802, d0.loss_plan_l1_fix_dist: 0.6402, d1.loss_plan_l1_fix_time: 2.5691, d1.loss_plan_l1_fix_dist: 0.6532, d2.loss_plan_l1_fix_time: 2.5593, d2.loss_plan_l1_fix_dist: 0.6805, d3.loss_plan_l1_fix_time: 2.5702, d3.loss_plan_l1_fix_dist: 0.7092, d4.loss_plan_l1_fix_time: 2.5860, d4.loss_plan_l1_fix_dist: 0.7404, d5.loss_plan_l1_fix_time: 2.6046, d5.loss_plan_l1_fix_dist: 0.7747, d6.loss_plan_l1_fix_time: 2.6252, d6.loss_plan_l1_fix_dist: 0.8179, d0.loss_cls_all: 0.8881, d0.loss_bbox_all: 0.8029, d0.loss_cls: 0.8881, d0.loss_bbox: 0.8029, d1.loss_cls: 0.8901, d1.loss_bbox: 0.8154, d2.loss_cls: 0.8932, d2.loss_bbox: 0.8114, d3.loss_cls: 0.8969, d3.loss_bbox: 0.8103, d4.loss_cls: 0.8900, d4.loss_bbox: 0.8121, d5.loss_cls: 0.8936, d5.loss_bbox: 0.8143, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.1039, d1.loss_traj_cls: 0.0007, d1.loss_traj: 2.1084, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0924, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0972, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0914, d5.loss_traj_cls: 0.0004, d5.loss_traj: 2.1003, d0.loss_map_cls_all: 0.6126, d0.loss_map_pts_all: 2.9294, d0.loss_map_dir_all: 0.0358, d0.loss_map_cls: 0.6126, d0.loss_map_pts: 2.9294, d0.loss_map_dir: 0.0358, d1.loss_map_cls: 0.5750, d1.loss_map_pts: 2.5276, d1.loss_map_dir: 0.0365, d2.loss_map_cls: 0.5729, d2.loss_map_pts: 2.4920, d2.loss_map_dir: 0.0364, d3.loss_map_cls: 0.5753, d3.loss_map_pts: 2.4860, d3.loss_map_dir: 0.0364, d4.loss_map_cls: 0.5748, d4.loss_map_pts: 2.4867, d4.loss_map_dir: 0.0364, d5.loss_map_cls: 0.5779, d5.loss_map_pts: 2.4920, d5.loss_map_dir: 0.0364, loss: 77.4692, grad_norm: 191.6422 +2026-02-24 07:12:11,230 - DriveTransformer - INFO - Epoch [1][22200/39528] lr: 1.000e-04, eta: 8 days, 14:17:47, time: 0.764, data_time: 0.040, memory: 19865, loss_cls: 0.9259, loss_bbox: 0.8295, loss_traj: 2.3144, loss_traj_cls: 0.0004, loss_map_cls: 0.6041, loss_map_pts: 2.3067, loss_map_dir: 0.0307, d0.loss_plan_l1_fix_time: 3.1660, d0.loss_plan_l1_fix_dist: 0.6322, d1.loss_plan_l1_fix_time: 3.1002, d1.loss_plan_l1_fix_dist: 0.6563, d2.loss_plan_l1_fix_time: 3.1224, d2.loss_plan_l1_fix_dist: 0.6971, d3.loss_plan_l1_fix_time: 3.1442, d3.loss_plan_l1_fix_dist: 0.7464, d4.loss_plan_l1_fix_time: 3.1660, d4.loss_plan_l1_fix_dist: 0.7995, d5.loss_plan_l1_fix_time: 3.1875, d5.loss_plan_l1_fix_dist: 0.8636, d6.loss_plan_l1_fix_time: 3.2098, d6.loss_plan_l1_fix_dist: 0.9277, d0.loss_cls_all: 0.8894, d0.loss_bbox_all: 0.8177, d0.loss_cls: 0.8894, d0.loss_bbox: 0.8177, d1.loss_cls: 0.8992, d1.loss_bbox: 0.8335, d2.loss_cls: 0.8974, d2.loss_bbox: 0.8254, d3.loss_cls: 0.9007, d3.loss_bbox: 0.8223, d4.loss_cls: 0.9048, d4.loss_bbox: 0.8236, d5.loss_cls: 0.9119, d5.loss_bbox: 0.8289, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.2293, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.2639, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2817, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3035, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.3089, d5.loss_traj_cls: 0.0004, d5.loss_traj: 2.3106, d0.loss_map_cls_all: 0.6416, d0.loss_map_pts_all: 2.6645, d0.loss_map_dir_all: 0.0303, d0.loss_map_cls: 0.6416, d0.loss_map_pts: 2.6645, d0.loss_map_dir: 0.0303, d1.loss_map_cls: 0.5966, d1.loss_map_pts: 2.3181, d1.loss_map_dir: 0.0309, d2.loss_map_cls: 0.5873, d2.loss_map_pts: 2.2971, d2.loss_map_dir: 0.0307, d3.loss_map_cls: 0.5876, d3.loss_map_pts: 2.2923, d3.loss_map_dir: 0.0307, d4.loss_map_cls: 0.5905, d4.loss_map_pts: 2.2933, d4.loss_map_dir: 0.0306, d5.loss_map_cls: 0.5956, d5.loss_map_pts: 2.2962, d5.loss_map_dir: 0.0307, loss: 81.4743, grad_norm: 185.4690 +2026-02-24 07:12:50,997 - DriveTransformer - INFO - Epoch [1][22250/39528] lr: 1.000e-04, eta: 8 days, 14:16:54, time: 0.795, data_time: 0.039, memory: 19865, loss_cls: 0.9102, loss_bbox: 0.8189, loss_traj: 1.7801, loss_traj_cls: 0.0004, loss_map_cls: 0.5891, loss_map_pts: 2.5667, loss_map_dir: 0.0338, d0.loss_plan_l1_fix_time: 2.7407, d0.loss_plan_l1_fix_dist: 0.4944, d1.loss_plan_l1_fix_time: 2.5874, d1.loss_plan_l1_fix_dist: 0.5103, d2.loss_plan_l1_fix_time: 2.5833, d2.loss_plan_l1_fix_dist: 0.5412, d3.loss_plan_l1_fix_time: 2.5923, d3.loss_plan_l1_fix_dist: 0.5845, d4.loss_plan_l1_fix_time: 2.6044, d4.loss_plan_l1_fix_dist: 0.6373, d5.loss_plan_l1_fix_time: 2.6191, d5.loss_plan_l1_fix_dist: 0.6971, d6.loss_plan_l1_fix_time: 2.6342, d6.loss_plan_l1_fix_dist: 0.7642, d0.loss_cls_all: 0.8915, d0.loss_bbox_all: 0.8174, d0.loss_cls: 0.8915, d0.loss_bbox: 0.8174, d1.loss_cls: 0.8884, d1.loss_bbox: 0.8308, d2.loss_cls: 0.8920, d2.loss_bbox: 0.8231, d3.loss_cls: 0.8966, d3.loss_bbox: 0.8154, d4.loss_cls: 0.8982, d4.loss_bbox: 0.8182, d5.loss_cls: 0.9049, d5.loss_bbox: 0.8162, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7581, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7495, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7518, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7675, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7670, d5.loss_traj_cls: 0.0004, d5.loss_traj: 1.7696, d0.loss_map_cls_all: 0.6326, d0.loss_map_pts_all: 2.9401, d0.loss_map_dir_all: 0.0333, d0.loss_map_cls: 0.6326, d0.loss_map_pts: 2.9401, d0.loss_map_dir: 0.0333, d1.loss_map_cls: 0.5929, d1.loss_map_pts: 2.5780, d1.loss_map_dir: 0.0337, d2.loss_map_cls: 0.5912, d2.loss_map_pts: 2.5529, d2.loss_map_dir: 0.0336, d3.loss_map_cls: 0.5918, d3.loss_map_pts: 2.5549, d3.loss_map_dir: 0.0336, d4.loss_map_cls: 0.5903, d4.loss_map_pts: 2.5632, d4.loss_map_dir: 0.0336, d5.loss_map_cls: 0.5881, d5.loss_map_pts: 2.5658, d5.loss_map_dir: 0.0337, loss: 75.0069, grad_norm: 187.9202 +2026-02-24 07:13:31,674 - DriveTransformer - INFO - Epoch [1][22300/39528] lr: 1.000e-04, eta: 8 days, 14:16:39, time: 0.814, data_time: 0.042, memory: 19865, loss_cls: 0.9273, loss_bbox: 0.8095, loss_traj: 1.9376, loss_traj_cls: 0.0005, loss_map_cls: 0.6387, loss_map_pts: 2.7243, loss_map_dir: 0.0325, d0.loss_plan_l1_fix_time: 3.0257, d0.loss_plan_l1_fix_dist: 0.5600, d1.loss_plan_l1_fix_time: 2.9306, d1.loss_plan_l1_fix_dist: 0.5905, d2.loss_plan_l1_fix_time: 2.9346, d2.loss_plan_l1_fix_dist: 0.6400, d3.loss_plan_l1_fix_time: 2.9470, d3.loss_plan_l1_fix_dist: 0.6937, d4.loss_plan_l1_fix_time: 2.9606, d4.loss_plan_l1_fix_dist: 0.7524, d5.loss_plan_l1_fix_time: 2.9766, d5.loss_plan_l1_fix_dist: 0.8129, d6.loss_plan_l1_fix_time: 2.9930, d6.loss_plan_l1_fix_dist: 0.8819, d0.loss_cls_all: 0.9117, d0.loss_bbox_all: 0.8075, d0.loss_cls: 0.9117, d0.loss_bbox: 0.8075, d1.loss_cls: 0.9193, d1.loss_bbox: 0.8115, d2.loss_cls: 0.9195, d2.loss_bbox: 0.8113, d3.loss_cls: 0.9235, d3.loss_bbox: 0.8054, d4.loss_cls: 0.9215, d4.loss_bbox: 0.8087, d5.loss_cls: 0.9226, d5.loss_bbox: 0.8108, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8982, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.9105, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9187, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9262, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9406, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9407, d0.loss_map_cls_all: 0.6647, d0.loss_map_pts_all: 3.1455, d0.loss_map_dir_all: 0.0322, d0.loss_map_cls: 0.6647, d0.loss_map_pts: 3.1455, d0.loss_map_dir: 0.0322, d1.loss_map_cls: 0.6255, d1.loss_map_pts: 2.7382, d1.loss_map_dir: 0.0326, d2.loss_map_cls: 0.6198, d2.loss_map_pts: 2.7043, d2.loss_map_dir: 0.0324, d3.loss_map_cls: 0.6195, d3.loss_map_pts: 2.7020, d3.loss_map_dir: 0.0325, d4.loss_map_cls: 0.6232, d4.loss_map_pts: 2.7082, d4.loss_map_dir: 0.0325, d5.loss_map_cls: 0.6269, d5.loss_map_pts: 2.7141, d5.loss_map_dir: 0.0325, loss: 80.9296, grad_norm: 187.5261 +2026-02-24 07:14:11,196 - DriveTransformer - INFO - Epoch [1][22350/39528] lr: 1.000e-04, eta: 8 days, 14:15:36, time: 0.790, data_time: 0.041, memory: 19865, loss_cls: 0.8914, loss_bbox: 0.7878, loss_traj: 1.6817, loss_traj_cls: 0.0005, loss_map_cls: 0.5623, loss_map_pts: 2.5435, loss_map_dir: 0.0347, d0.loss_plan_l1_fix_time: 3.1108, d0.loss_plan_l1_fix_dist: 0.4841, d1.loss_plan_l1_fix_time: 2.9306, d1.loss_plan_l1_fix_dist: 0.5144, d2.loss_plan_l1_fix_time: 2.9093, d2.loss_plan_l1_fix_dist: 0.5537, d3.loss_plan_l1_fix_time: 2.9098, d3.loss_plan_l1_fix_dist: 0.6006, d4.loss_plan_l1_fix_time: 2.9169, d4.loss_plan_l1_fix_dist: 0.6527, d5.loss_plan_l1_fix_time: 2.9277, d5.loss_plan_l1_fix_dist: 0.7082, d6.loss_plan_l1_fix_time: 2.9404, d6.loss_plan_l1_fix_dist: 0.7628, d0.loss_cls_all: 0.8890, d0.loss_bbox_all: 0.7741, d0.loss_cls: 0.8890, d0.loss_bbox: 0.7741, d1.loss_cls: 0.8870, d1.loss_bbox: 0.7848, d2.loss_cls: 0.8892, d2.loss_bbox: 0.7762, d3.loss_cls: 0.8928, d3.loss_bbox: 0.7771, d4.loss_cls: 0.8894, d4.loss_bbox: 0.7788, d5.loss_cls: 0.8904, d5.loss_bbox: 0.7822, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6974, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7084, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6766, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.6721, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.6797, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6904, d0.loss_map_cls_all: 0.6052, d0.loss_map_pts_all: 2.9349, d0.loss_map_dir_all: 0.0343, d0.loss_map_cls: 0.6052, d0.loss_map_pts: 2.9349, d0.loss_map_dir: 0.0343, d1.loss_map_cls: 0.5702, d1.loss_map_pts: 2.5576, d1.loss_map_dir: 0.0348, d2.loss_map_cls: 0.5663, d2.loss_map_pts: 2.5323, d2.loss_map_dir: 0.0346, d3.loss_map_cls: 0.5681, d3.loss_map_pts: 2.5310, d3.loss_map_dir: 0.0345, d4.loss_map_cls: 0.5638, d4.loss_map_pts: 2.5330, d4.loss_map_dir: 0.0345, d5.loss_map_cls: 0.5621, d5.loss_map_pts: 2.5397, d5.loss_map_dir: 0.0346, loss: 76.0721, grad_norm: 183.6393 +2026-02-24 07:14:54,224 - DriveTransformer - INFO - Epoch [1][22400/39528] lr: 1.000e-04, eta: 8 days, 14:17:00, time: 0.862, data_time: 0.048, memory: 19865, loss_cls: 0.9201, loss_bbox: 0.8536, loss_traj: 1.7234, loss_traj_cls: 0.0006, loss_map_cls: 0.5378, loss_map_pts: 3.0291, loss_map_dir: 0.0429, d0.loss_plan_l1_fix_time: 3.3011, d0.loss_plan_l1_fix_dist: 0.5945, d1.loss_plan_l1_fix_time: 3.1869, d1.loss_plan_l1_fix_dist: 0.6367, d2.loss_plan_l1_fix_time: 3.1868, d2.loss_plan_l1_fix_dist: 0.6808, d3.loss_plan_l1_fix_time: 3.1969, d3.loss_plan_l1_fix_dist: 0.7403, d4.loss_plan_l1_fix_time: 3.2115, d4.loss_plan_l1_fix_dist: 0.7981, d5.loss_plan_l1_fix_time: 3.2283, d5.loss_plan_l1_fix_dist: 0.8643, d6.loss_plan_l1_fix_time: 3.2461, d6.loss_plan_l1_fix_dist: 0.9298, d0.loss_cls_all: 0.9035, d0.loss_bbox_all: 0.8289, d0.loss_cls: 0.9035, d0.loss_bbox: 0.8289, d1.loss_cls: 0.9083, d1.loss_bbox: 0.8420, d2.loss_cls: 0.9127, d2.loss_bbox: 0.8308, d3.loss_cls: 0.9226, d3.loss_bbox: 0.8350, d4.loss_cls: 0.9181, d4.loss_bbox: 0.8380, d5.loss_cls: 0.9189, d5.loss_bbox: 0.8448, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7495, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7490, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7165, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7184, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7145, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7180, d0.loss_map_cls_all: 0.5731, d0.loss_map_pts_all: 3.5537, d0.loss_map_dir_all: 0.0423, d0.loss_map_cls: 0.5731, d0.loss_map_pts: 3.5537, d0.loss_map_dir: 0.0423, d1.loss_map_cls: 0.5473, d1.loss_map_pts: 3.0664, d1.loss_map_dir: 0.0430, d2.loss_map_cls: 0.5439, d2.loss_map_pts: 3.0293, d2.loss_map_dir: 0.0429, d3.loss_map_cls: 0.5434, d3.loss_map_pts: 3.0235, d3.loss_map_dir: 0.0428, d4.loss_map_cls: 0.5397, d4.loss_map_pts: 3.0246, d4.loss_map_dir: 0.0428, d5.loss_map_cls: 0.5373, d5.loss_map_pts: 3.0254, d5.loss_map_dir: 0.0428, loss: 83.9481, grad_norm: 187.2094 +2026-02-24 07:15:35,951 - DriveTransformer - INFO - Epoch [1][22450/39528] lr: 1.000e-04, eta: 8 days, 14:17:25, time: 0.833, data_time: 0.040, memory: 19865, loss_cls: 0.9181, loss_bbox: 0.7666, loss_traj: 1.9270, loss_traj_cls: 0.0006, loss_map_cls: 0.5261, loss_map_pts: 2.6618, loss_map_dir: 0.0400, d0.loss_plan_l1_fix_time: 2.8808, d0.loss_plan_l1_fix_dist: 0.5632, d1.loss_plan_l1_fix_time: 2.6822, d1.loss_plan_l1_fix_dist: 0.5879, d2.loss_plan_l1_fix_time: 2.6700, d2.loss_plan_l1_fix_dist: 0.6283, d3.loss_plan_l1_fix_time: 2.6782, d3.loss_plan_l1_fix_dist: 0.6767, d4.loss_plan_l1_fix_time: 2.6927, d4.loss_plan_l1_fix_dist: 0.7337, d5.loss_plan_l1_fix_time: 2.7085, d5.loss_plan_l1_fix_dist: 0.7908, d6.loss_plan_l1_fix_time: 2.7249, d6.loss_plan_l1_fix_dist: 0.8508, d0.loss_cls_all: 0.8993, d0.loss_bbox_all: 0.7564, d0.loss_cls: 0.8993, d0.loss_bbox: 0.7564, d1.loss_cls: 0.9060, d1.loss_bbox: 0.7771, d2.loss_cls: 0.9051, d2.loss_bbox: 0.7539, d3.loss_cls: 0.9198, d3.loss_bbox: 0.7558, d4.loss_cls: 0.9112, d4.loss_bbox: 0.7590, d5.loss_cls: 0.9132, d5.loss_bbox: 0.7641, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8781, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.9012, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8995, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8990, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9074, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9095, d0.loss_map_cls_all: 0.5631, d0.loss_map_pts_all: 3.1575, d0.loss_map_dir_all: 0.0402, d0.loss_map_cls: 0.5631, d0.loss_map_pts: 3.1575, d0.loss_map_dir: 0.0402, d1.loss_map_cls: 0.5293, d1.loss_map_pts: 2.7001, d1.loss_map_dir: 0.0403, d2.loss_map_cls: 0.5279, d2.loss_map_pts: 2.6617, d2.loss_map_dir: 0.0400, d3.loss_map_cls: 0.5261, d3.loss_map_pts: 2.6559, d3.loss_map_dir: 0.0400, d4.loss_map_cls: 0.5240, d4.loss_map_pts: 2.6557, d4.loss_map_dir: 0.0399, d5.loss_map_cls: 0.5228, d5.loss_map_pts: 2.6577, d5.loss_map_dir: 0.0399, loss: 77.4662, grad_norm: 186.0529 +2026-02-24 07:16:17,757 - DriveTransformer - INFO - Epoch [1][22500/39528] lr: 1.000e-04, eta: 8 days, 14:17:56, time: 0.836, data_time: 0.045, memory: 19865, loss_cls: 0.8982, loss_bbox: 0.7942, loss_traj: 1.6837, loss_traj_cls: 0.0005, loss_map_cls: 0.5658, loss_map_pts: 2.3627, loss_map_dir: 0.0404, d0.loss_plan_l1_fix_time: 3.4771, d0.loss_plan_l1_fix_dist: 0.5390, d1.loss_plan_l1_fix_time: 3.2471, d1.loss_plan_l1_fix_dist: 0.5678, d2.loss_plan_l1_fix_time: 3.2352, d2.loss_plan_l1_fix_dist: 0.6074, d3.loss_plan_l1_fix_time: 3.2453, d3.loss_plan_l1_fix_dist: 0.6553, d4.loss_plan_l1_fix_time: 3.2619, d4.loss_plan_l1_fix_dist: 0.7103, d5.loss_plan_l1_fix_time: 3.2798, d5.loss_plan_l1_fix_dist: 0.7739, d6.loss_plan_l1_fix_time: 3.3008, d6.loss_plan_l1_fix_dist: 0.8355, d0.loss_cls_all: 0.8914, d0.loss_bbox_all: 0.7848, d0.loss_cls: 0.8914, d0.loss_bbox: 0.7848, d1.loss_cls: 0.8847, d1.loss_bbox: 0.8048, d2.loss_cls: 0.8843, d2.loss_bbox: 0.7848, d3.loss_cls: 0.8873, d3.loss_bbox: 0.7883, d4.loss_cls: 0.8906, d4.loss_bbox: 0.7895, d5.loss_cls: 0.8946, d5.loss_bbox: 0.7935, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7052, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6967, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6686, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6675, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6724, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6746, d0.loss_map_cls_all: 0.6028, d0.loss_map_pts_all: 2.8111, d0.loss_map_dir_all: 0.0402, d0.loss_map_cls: 0.6028, d0.loss_map_pts: 2.8111, d0.loss_map_dir: 0.0402, d1.loss_map_cls: 0.5703, d1.loss_map_pts: 2.4108, d1.loss_map_dir: 0.0408, d2.loss_map_cls: 0.5654, d2.loss_map_pts: 2.3779, d2.loss_map_dir: 0.0406, d3.loss_map_cls: 0.5664, d3.loss_map_pts: 2.3668, d3.loss_map_dir: 0.0405, d4.loss_map_cls: 0.5647, d4.loss_map_pts: 2.3629, d4.loss_map_dir: 0.0405, d5.loss_map_cls: 0.5626, d5.loss_map_pts: 2.3634, d5.loss_map_dir: 0.0404, loss: 77.7471, grad_norm: 181.7597 +2026-02-24 07:16:58,326 - DriveTransformer - INFO - Epoch [1][22550/39528] lr: 1.000e-04, eta: 8 days, 14:17:35, time: 0.811, data_time: 0.036, memory: 19865, loss_cls: 0.9080, loss_bbox: 0.8280, loss_traj: 2.0219, loss_traj_cls: 0.0005, loss_map_cls: 0.5803, loss_map_pts: 2.5647, loss_map_dir: 0.0410, d0.loss_plan_l1_fix_time: 3.5127, d0.loss_plan_l1_fix_dist: 0.4891, d1.loss_plan_l1_fix_time: 3.3617, d1.loss_plan_l1_fix_dist: 0.5188, d2.loss_plan_l1_fix_time: 3.3621, d2.loss_plan_l1_fix_dist: 0.5651, d3.loss_plan_l1_fix_time: 3.3742, d3.loss_plan_l1_fix_dist: 0.6146, d4.loss_plan_l1_fix_time: 3.3875, d4.loss_plan_l1_fix_dist: 0.6674, d5.loss_plan_l1_fix_time: 3.4028, d5.loss_plan_l1_fix_dist: 0.7218, d6.loss_plan_l1_fix_time: 3.4204, d6.loss_plan_l1_fix_dist: 0.7802, d0.loss_cls_all: 0.9072, d0.loss_bbox_all: 0.8241, d0.loss_cls: 0.9072, d0.loss_bbox: 0.8241, d1.loss_cls: 0.9026, d1.loss_bbox: 0.8338, d2.loss_cls: 0.9017, d2.loss_bbox: 0.8236, d3.loss_cls: 0.9072, d3.loss_bbox: 0.8231, d4.loss_cls: 0.9060, d4.loss_bbox: 0.8224, d5.loss_cls: 0.9073, d5.loss_bbox: 0.8235, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0041, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0034, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0115, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0191, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0253, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0214, d0.loss_map_cls_all: 0.6128, d0.loss_map_pts_all: 2.9937, d0.loss_map_dir_all: 0.0409, d0.loss_map_cls: 0.6128, d0.loss_map_pts: 2.9937, d0.loss_map_dir: 0.0409, d1.loss_map_cls: 0.5828, d1.loss_map_pts: 2.5830, d1.loss_map_dir: 0.0413, d2.loss_map_cls: 0.5816, d2.loss_map_pts: 2.5594, d2.loss_map_dir: 0.0411, d3.loss_map_cls: 0.5783, d3.loss_map_pts: 2.5583, d3.loss_map_dir: 0.0411, d4.loss_map_cls: 0.5801, d4.loss_map_pts: 2.5623, d4.loss_map_dir: 0.0410, d5.loss_map_cls: 0.5773, d5.loss_map_pts: 2.5661, d5.loss_map_dir: 0.0410, loss: 82.5544, grad_norm: 181.4824 +2026-02-24 07:17:39,313 - DriveTransformer - INFO - Epoch [1][22600/39528] lr: 1.000e-04, eta: 8 days, 14:17:31, time: 0.820, data_time: 0.042, memory: 19865, loss_cls: 0.9127, loss_bbox: 0.8188, loss_traj: 1.8315, loss_traj_cls: 0.0005, loss_map_cls: 0.5462, loss_map_pts: 2.6829, loss_map_dir: 0.0442, d0.loss_plan_l1_fix_time: 2.6843, d0.loss_plan_l1_fix_dist: 0.5950, d1.loss_plan_l1_fix_time: 2.6130, d1.loss_plan_l1_fix_dist: 0.6351, d2.loss_plan_l1_fix_time: 2.6297, d2.loss_plan_l1_fix_dist: 0.6937, d3.loss_plan_l1_fix_time: 2.6484, d3.loss_plan_l1_fix_dist: 0.7622, d4.loss_plan_l1_fix_time: 2.6676, d4.loss_plan_l1_fix_dist: 0.8358, d5.loss_plan_l1_fix_time: 2.6883, d5.loss_plan_l1_fix_dist: 0.9130, d6.loss_plan_l1_fix_time: 2.7104, d6.loss_plan_l1_fix_dist: 0.9916, d0.loss_cls_all: 0.8988, d0.loss_bbox_all: 0.7999, d0.loss_cls: 0.8988, d0.loss_bbox: 0.7999, d1.loss_cls: 0.8828, d1.loss_bbox: 0.7987, d2.loss_cls: 0.8830, d2.loss_bbox: 0.7999, d3.loss_cls: 0.8853, d3.loss_bbox: 0.8042, d4.loss_cls: 0.8953, d4.loss_bbox: 0.8064, d5.loss_cls: 0.9023, d5.loss_bbox: 0.8139, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8315, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.8419, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8287, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8344, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8305, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8283, d0.loss_map_cls_all: 0.5832, d0.loss_map_pts_all: 3.0707, d0.loss_map_dir_all: 0.0440, d0.loss_map_cls: 0.5832, d0.loss_map_pts: 3.0707, d0.loss_map_dir: 0.0440, d1.loss_map_cls: 0.5520, d1.loss_map_pts: 2.6868, d1.loss_map_dir: 0.0442, d2.loss_map_cls: 0.5455, d2.loss_map_pts: 2.6644, d2.loss_map_dir: 0.0441, d3.loss_map_cls: 0.5445, d3.loss_map_pts: 2.6668, d3.loss_map_dir: 0.0441, d4.loss_map_cls: 0.5438, d4.loss_map_pts: 2.6742, d4.loss_map_dir: 0.0441, d5.loss_map_cls: 0.5433, d5.loss_map_pts: 2.6770, d5.loss_map_dir: 0.0441, loss: 77.4872, grad_norm: 182.1213 +2026-02-24 07:18:18,386 - DriveTransformer - INFO - Epoch [1][22650/39528] lr: 1.000e-04, eta: 8 days, 14:16:09, time: 0.781, data_time: 0.040, memory: 19865, loss_cls: 0.9650, loss_bbox: 0.8495, loss_traj: 1.5023, loss_traj_cls: 0.0005, loss_map_cls: 0.5762, loss_map_pts: 2.7739, loss_map_dir: 0.0396, d0.loss_plan_l1_fix_time: 3.0786, d0.loss_plan_l1_fix_dist: 0.5793, d1.loss_plan_l1_fix_time: 2.9049, d1.loss_plan_l1_fix_dist: 0.5983, d2.loss_plan_l1_fix_time: 2.8921, d2.loss_plan_l1_fix_dist: 0.6327, d3.loss_plan_l1_fix_time: 2.8951, d3.loss_plan_l1_fix_dist: 0.6783, d4.loss_plan_l1_fix_time: 2.9028, d4.loss_plan_l1_fix_dist: 0.7348, d5.loss_plan_l1_fix_time: 2.9131, d5.loss_plan_l1_fix_dist: 0.8026, d6.loss_plan_l1_fix_time: 2.9261, d6.loss_plan_l1_fix_dist: 0.8709, d0.loss_cls_all: 0.9542, d0.loss_bbox_all: 0.8368, d0.loss_cls: 0.9542, d0.loss_bbox: 0.8368, d1.loss_cls: 0.9465, d1.loss_bbox: 0.8397, d2.loss_cls: 0.9454, d2.loss_bbox: 0.8386, d3.loss_cls: 0.9464, d3.loss_bbox: 0.8459, d4.loss_cls: 0.9589, d4.loss_bbox: 0.8440, d5.loss_cls: 0.9616, d5.loss_bbox: 0.8475, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.4521, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.4664, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.4689, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4829, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.4977, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4957, d0.loss_map_cls_all: 0.6131, d0.loss_map_pts_all: 3.0109, d0.loss_map_dir_all: 0.0396, d0.loss_map_cls: 0.6131, d0.loss_map_pts: 3.0109, d0.loss_map_dir: 0.0396, d1.loss_map_cls: 0.5760, d1.loss_map_pts: 2.7574, d1.loss_map_dir: 0.0397, d2.loss_map_cls: 0.5731, d2.loss_map_pts: 2.7490, d2.loss_map_dir: 0.0395, d3.loss_map_cls: 0.5766, d3.loss_map_pts: 2.7543, d3.loss_map_dir: 0.0394, d4.loss_map_cls: 0.5774, d4.loss_map_pts: 2.7621, d4.loss_map_dir: 0.0395, d5.loss_map_cls: 0.5731, d5.loss_map_pts: 2.7650, d5.loss_map_dir: 0.0395, loss: 77.7289, grad_norm: 180.4908 +2026-02-24 07:18:59,854 - DriveTransformer - INFO - Epoch [1][22700/39528] lr: 1.000e-04, eta: 8 days, 14:16:25, time: 0.829, data_time: 0.050, memory: 19865, loss_cls: 0.9154, loss_bbox: 0.8516, loss_traj: 1.7916, loss_traj_cls: 0.0005, loss_map_cls: 0.5509, loss_map_pts: 2.5174, loss_map_dir: 0.0383, d0.loss_plan_l1_fix_time: 3.3496, d0.loss_plan_l1_fix_dist: 0.5511, d1.loss_plan_l1_fix_time: 3.1699, d1.loss_plan_l1_fix_dist: 0.5702, d2.loss_plan_l1_fix_time: 3.1598, d2.loss_plan_l1_fix_dist: 0.6009, d3.loss_plan_l1_fix_time: 3.1673, d3.loss_plan_l1_fix_dist: 0.6405, d4.loss_plan_l1_fix_time: 3.1808, d4.loss_plan_l1_fix_dist: 0.6783, d5.loss_plan_l1_fix_time: 3.1961, d5.loss_plan_l1_fix_dist: 0.7224, d6.loss_plan_l1_fix_time: 3.2124, d6.loss_plan_l1_fix_dist: 0.7734, d0.loss_cls_all: 0.9219, d0.loss_bbox_all: 0.8415, d0.loss_cls: 0.9219, d0.loss_bbox: 0.8415, d1.loss_cls: 0.9133, d1.loss_bbox: 0.8523, d2.loss_cls: 0.9011, d2.loss_bbox: 0.8465, d3.loss_cls: 0.9027, d3.loss_bbox: 0.8457, d4.loss_cls: 0.9057, d4.loss_bbox: 0.8480, d5.loss_cls: 0.9095, d5.loss_bbox: 0.8512, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7749, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7788, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7538, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7648, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7697, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7826, d0.loss_map_cls_all: 0.5905, d0.loss_map_pts_all: 2.8825, d0.loss_map_dir_all: 0.0380, d0.loss_map_cls: 0.5905, d0.loss_map_pts: 2.8825, d0.loss_map_dir: 0.0380, d1.loss_map_cls: 0.5568, d1.loss_map_pts: 2.4767, d1.loss_map_dir: 0.0382, d2.loss_map_cls: 0.5541, d2.loss_map_pts: 2.4682, d2.loss_map_dir: 0.0381, d3.loss_map_cls: 0.5505, d3.loss_map_pts: 2.4803, d3.loss_map_dir: 0.0381, d4.loss_map_cls: 0.5515, d4.loss_map_pts: 2.4892, d4.loss_map_dir: 0.0382, d5.loss_map_cls: 0.5487, d5.loss_map_pts: 2.5033, d5.loss_map_dir: 0.0382, loss: 78.9610, grad_norm: 178.4957 +2026-02-24 07:19:40,188 - DriveTransformer - INFO - Epoch [1][22750/39528] lr: 1.000e-04, eta: 8 days, 14:15:55, time: 0.807, data_time: 0.040, memory: 19865, loss_cls: 0.9224, loss_bbox: 0.8274, loss_traj: 1.7953, loss_traj_cls: 0.0005, loss_map_cls: 0.5618, loss_map_pts: 2.5026, loss_map_dir: 0.0388, d0.loss_plan_l1_fix_time: 3.2480, d0.loss_plan_l1_fix_dist: 0.5468, d1.loss_plan_l1_fix_time: 3.0701, d1.loss_plan_l1_fix_dist: 0.5740, d2.loss_plan_l1_fix_time: 3.0739, d2.loss_plan_l1_fix_dist: 0.6153, d3.loss_plan_l1_fix_time: 3.0884, d3.loss_plan_l1_fix_dist: 0.6706, d4.loss_plan_l1_fix_time: 3.1073, d4.loss_plan_l1_fix_dist: 0.7277, d5.loss_plan_l1_fix_time: 3.1272, d5.loss_plan_l1_fix_dist: 0.7912, d6.loss_plan_l1_fix_time: 3.1485, d6.loss_plan_l1_fix_dist: 0.8561, d0.loss_cls_all: 0.9190, d0.loss_bbox_all: 0.8085, d0.loss_cls: 0.9190, d0.loss_bbox: 0.8085, d1.loss_cls: 0.9251, d1.loss_bbox: 0.8269, d2.loss_cls: 0.9200, d2.loss_bbox: 0.8159, d3.loss_cls: 0.9171, d3.loss_bbox: 0.8226, d4.loss_cls: 0.9183, d4.loss_bbox: 0.8203, d5.loss_cls: 0.9204, d5.loss_bbox: 0.8208, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8132, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7996, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7566, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7705, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7773, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7908, d0.loss_map_cls_all: 0.5873, d0.loss_map_pts_all: 2.9178, d0.loss_map_dir_all: 0.0385, d0.loss_map_cls: 0.5873, d0.loss_map_pts: 2.9178, d0.loss_map_dir: 0.0385, d1.loss_map_cls: 0.5556, d1.loss_map_pts: 2.4906, d1.loss_map_dir: 0.0388, d2.loss_map_cls: 0.5556, d2.loss_map_pts: 2.4735, d2.loss_map_dir: 0.0387, d3.loss_map_cls: 0.5560, d3.loss_map_pts: 2.4763, d3.loss_map_dir: 0.0387, d4.loss_map_cls: 0.5576, d4.loss_map_pts: 2.4841, d4.loss_map_dir: 0.0387, d5.loss_map_cls: 0.5581, d5.loss_map_pts: 2.4929, d5.loss_map_dir: 0.0387, loss: 78.6493, grad_norm: 177.5210 +2026-02-24 07:20:21,872 - DriveTransformer - INFO - Epoch [1][22800/39528] lr: 1.000e-04, eta: 8 days, 14:16:19, time: 0.834, data_time: 0.045, memory: 19865, loss_cls: 0.8848, loss_bbox: 0.8183, loss_traj: 1.9378, loss_traj_cls: 0.0006, loss_map_cls: 0.5180, loss_map_pts: 2.5848, loss_map_dir: 0.0364, d0.loss_plan_l1_fix_time: 2.8845, d0.loss_plan_l1_fix_dist: 0.5898, d1.loss_plan_l1_fix_time: 2.7673, d1.loss_plan_l1_fix_dist: 0.6045, d2.loss_plan_l1_fix_time: 2.7778, d2.loss_plan_l1_fix_dist: 0.6298, d3.loss_plan_l1_fix_time: 2.7888, d3.loss_plan_l1_fix_dist: 0.6682, d4.loss_plan_l1_fix_time: 2.8008, d4.loss_plan_l1_fix_dist: 0.7152, d5.loss_plan_l1_fix_time: 2.8165, d5.loss_plan_l1_fix_dist: 0.7645, d6.loss_plan_l1_fix_time: 2.8352, d6.loss_plan_l1_fix_dist: 0.8172, d0.loss_cls_all: 0.8770, d0.loss_bbox_all: 0.7864, d0.loss_cls: 0.8770, d0.loss_bbox: 0.7864, d1.loss_cls: 0.8863, d1.loss_bbox: 0.8074, d2.loss_cls: 0.8836, d2.loss_bbox: 0.7945, d3.loss_cls: 0.8793, d3.loss_bbox: 0.7990, d4.loss_cls: 0.8780, d4.loss_bbox: 0.8056, d5.loss_cls: 0.8750, d5.loss_bbox: 0.8105, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9115, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.9119, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8762, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8839, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9138, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9149, d0.loss_map_cls_all: 0.5600, d0.loss_map_pts_all: 3.0547, d0.loss_map_dir_all: 0.0366, d0.loss_map_cls: 0.5600, d0.loss_map_pts: 3.0547, d0.loss_map_dir: 0.0366, d1.loss_map_cls: 0.5197, d1.loss_map_pts: 2.5877, d1.loss_map_dir: 0.0367, d2.loss_map_cls: 0.5198, d2.loss_map_pts: 2.5558, d2.loss_map_dir: 0.0365, d3.loss_map_cls: 0.5163, d3.loss_map_pts: 2.5560, d3.loss_map_dir: 0.0364, d4.loss_map_cls: 0.5174, d4.loss_map_pts: 2.5658, d4.loss_map_dir: 0.0364, d5.loss_map_cls: 0.5146, d5.loss_map_pts: 2.5722, d5.loss_map_dir: 0.0364, loss: 77.3131, grad_norm: 176.2885 +2026-02-24 07:21:00,421 - DriveTransformer - INFO - Epoch [1][22850/39528] lr: 1.000e-04, eta: 8 days, 14:14:36, time: 0.771, data_time: 0.042, memory: 19865, loss_cls: 0.9124, loss_bbox: 0.8242, loss_traj: 2.0513, loss_traj_cls: 0.0006, loss_map_cls: 0.5658, loss_map_pts: 2.3326, loss_map_dir: 0.0354, d0.loss_plan_l1_fix_time: 3.4392, d0.loss_plan_l1_fix_dist: 0.6406, d1.loss_plan_l1_fix_time: 3.2975, d1.loss_plan_l1_fix_dist: 0.6679, d2.loss_plan_l1_fix_time: 3.3003, d2.loss_plan_l1_fix_dist: 0.7160, d3.loss_plan_l1_fix_time: 3.3126, d3.loss_plan_l1_fix_dist: 0.7660, d4.loss_plan_l1_fix_time: 3.3283, d4.loss_plan_l1_fix_dist: 0.8118, d5.loss_plan_l1_fix_time: 3.3480, d5.loss_plan_l1_fix_dist: 0.8556, d6.loss_plan_l1_fix_time: 3.3691, d6.loss_plan_l1_fix_dist: 0.9001, d0.loss_cls_all: 0.8960, d0.loss_bbox_all: 0.8028, d0.loss_cls: 0.8960, d0.loss_bbox: 0.8028, d1.loss_cls: 0.8955, d1.loss_bbox: 0.8163, d2.loss_cls: 0.8978, d2.loss_bbox: 0.8047, d3.loss_cls: 0.9010, d3.loss_bbox: 0.8129, d4.loss_cls: 0.9112, d4.loss_bbox: 0.8148, d5.loss_cls: 0.9103, d5.loss_bbox: 0.8189, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0147, d1.loss_traj_cls: 0.0007, d1.loss_traj: 2.0395, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0183, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0367, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0436, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0440, d0.loss_map_cls_all: 0.6077, d0.loss_map_pts_all: 2.7084, d0.loss_map_dir_all: 0.0353, d0.loss_map_cls: 0.6077, d0.loss_map_pts: 2.7084, d0.loss_map_dir: 0.0353, d1.loss_map_cls: 0.5747, d1.loss_map_pts: 2.3523, d1.loss_map_dir: 0.0354, d2.loss_map_cls: 0.5703, d2.loss_map_pts: 2.3196, d2.loss_map_dir: 0.0354, d3.loss_map_cls: 0.5662, d3.loss_map_pts: 2.3157, d3.loss_map_dir: 0.0354, d4.loss_map_cls: 0.5675, d4.loss_map_pts: 2.3173, d4.loss_map_dir: 0.0354, d5.loss_map_cls: 0.5633, d5.loss_map_pts: 2.3220, d5.loss_map_dir: 0.0354, loss: 81.0049, grad_norm: 175.6095 +2026-02-24 07:21:41,686 - DriveTransformer - INFO - Epoch [1][22900/39528] lr: 1.000e-04, eta: 8 days, 14:14:43, time: 0.825, data_time: 0.043, memory: 19865, loss_cls: 0.8927, loss_bbox: 0.8376, loss_traj: 1.6994, loss_traj_cls: 0.0004, loss_map_cls: 0.5827, loss_map_pts: 2.4975, loss_map_dir: 0.0366, d0.loss_plan_l1_fix_time: 2.7813, d0.loss_plan_l1_fix_dist: 0.5103, d1.loss_plan_l1_fix_time: 2.6352, d1.loss_plan_l1_fix_dist: 0.5338, d2.loss_plan_l1_fix_time: 2.6270, d2.loss_plan_l1_fix_dist: 0.5734, d3.loss_plan_l1_fix_time: 2.6363, d3.loss_plan_l1_fix_dist: 0.6152, d4.loss_plan_l1_fix_time: 2.6485, d4.loss_plan_l1_fix_dist: 0.6600, d5.loss_plan_l1_fix_time: 2.6613, d5.loss_plan_l1_fix_dist: 0.7102, d6.loss_plan_l1_fix_time: 2.6752, d6.loss_plan_l1_fix_dist: 0.7660, d0.loss_cls_all: 0.8908, d0.loss_bbox_all: 0.8284, d0.loss_cls: 0.8908, d0.loss_bbox: 0.8284, d1.loss_cls: 0.8890, d1.loss_bbox: 0.8397, d2.loss_cls: 0.8883, d2.loss_bbox: 0.8258, d3.loss_cls: 0.8906, d3.loss_bbox: 0.8311, d4.loss_cls: 0.8888, d4.loss_bbox: 0.8340, d5.loss_cls: 0.8904, d5.loss_bbox: 0.8383, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6996, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6892, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6631, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.6732, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.6890, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6897, d0.loss_map_cls_all: 0.6072, d0.loss_map_pts_all: 2.8395, d0.loss_map_dir_all: 0.0365, d0.loss_map_cls: 0.6072, d0.loss_map_pts: 2.8395, d0.loss_map_dir: 0.0365, d1.loss_map_cls: 0.5760, d1.loss_map_pts: 2.5126, d1.loss_map_dir: 0.0370, d2.loss_map_cls: 0.5733, d2.loss_map_pts: 2.4852, d2.loss_map_dir: 0.0367, d3.loss_map_cls: 0.5753, d3.loss_map_pts: 2.4808, d3.loss_map_dir: 0.0368, d4.loss_map_cls: 0.5789, d4.loss_map_pts: 2.4828, d4.loss_map_dir: 0.0367, d5.loss_map_cls: 0.5830, d5.loss_map_pts: 2.4877, d5.loss_map_dir: 0.0367, loss: 74.2281, grad_norm: 174.8154 +2026-02-24 07:22:22,333 - DriveTransformer - INFO - Epoch [1][22950/39528] lr: 1.000e-04, eta: 8 days, 14:14:25, time: 0.813, data_time: 0.037, memory: 19865, loss_cls: 0.9071, loss_bbox: 0.8130, loss_traj: 1.5877, loss_traj_cls: 0.0004, loss_map_cls: 0.5575, loss_map_pts: 2.6693, loss_map_dir: 0.0374, d0.loss_plan_l1_fix_time: 3.6001, d0.loss_plan_l1_fix_dist: 0.5683, d1.loss_plan_l1_fix_time: 3.4066, d1.loss_plan_l1_fix_dist: 0.6141, d2.loss_plan_l1_fix_time: 3.3847, d2.loss_plan_l1_fix_dist: 0.6686, d3.loss_plan_l1_fix_time: 3.3862, d3.loss_plan_l1_fix_dist: 0.7339, d4.loss_plan_l1_fix_time: 3.3942, d4.loss_plan_l1_fix_dist: 0.8082, d5.loss_plan_l1_fix_time: 3.4052, d5.loss_plan_l1_fix_dist: 0.8829, d6.loss_plan_l1_fix_time: 3.4185, d6.loss_plan_l1_fix_dist: 0.9543, d0.loss_cls_all: 0.9192, d0.loss_bbox_all: 0.7864, d0.loss_cls: 0.9192, d0.loss_bbox: 0.7864, d1.loss_cls: 0.9075, d1.loss_bbox: 0.7993, d2.loss_cls: 0.9029, d2.loss_bbox: 0.7908, d3.loss_cls: 0.9061, d3.loss_bbox: 0.7979, d4.loss_cls: 0.9050, d4.loss_bbox: 0.7975, d5.loss_cls: 0.9050, d5.loss_bbox: 0.8087, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5779, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.5809, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.5695, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.5937, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.5797, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5857, d0.loss_map_cls_all: 0.5959, d0.loss_map_pts_all: 3.1633, d0.loss_map_dir_all: 0.0379, d0.loss_map_cls: 0.5959, d0.loss_map_pts: 3.1633, d0.loss_map_dir: 0.0379, d1.loss_map_cls: 0.5551, d1.loss_map_pts: 2.7114, d1.loss_map_dir: 0.0378, d2.loss_map_cls: 0.5593, d2.loss_map_pts: 2.6779, d2.loss_map_dir: 0.0375, d3.loss_map_cls: 0.5553, d3.loss_map_pts: 2.6710, d3.loss_map_dir: 0.0374, d4.loss_map_cls: 0.5547, d4.loss_map_pts: 2.6688, d4.loss_map_dir: 0.0374, d5.loss_map_cls: 0.5580, d5.loss_map_pts: 2.6691, d5.loss_map_dir: 0.0374, loss: 81.1828, grad_norm: 173.8206 +2026-02-24 07:23:02,736 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 07:23:02,736 - DriveTransformer - INFO - Epoch [1][23000/39528] lr: 1.000e-04, eta: 8 days, 14:13:57, time: 0.808, data_time: 0.040, memory: 19865, loss_cls: 0.9139, loss_bbox: 0.8410, loss_traj: 1.6250, loss_traj_cls: 0.0005, loss_map_cls: 0.5301, loss_map_pts: 2.5156, loss_map_dir: 0.0388, d0.loss_plan_l1_fix_time: 2.8582, d0.loss_plan_l1_fix_dist: 0.5811, d1.loss_plan_l1_fix_time: 2.7594, d1.loss_plan_l1_fix_dist: 0.6018, d2.loss_plan_l1_fix_time: 2.7676, d2.loss_plan_l1_fix_dist: 0.6407, d3.loss_plan_l1_fix_time: 2.7852, d3.loss_plan_l1_fix_dist: 0.6847, d4.loss_plan_l1_fix_time: 2.8054, d4.loss_plan_l1_fix_dist: 0.7342, d5.loss_plan_l1_fix_time: 2.8266, d5.loss_plan_l1_fix_dist: 0.7910, d6.loss_plan_l1_fix_time: 2.8492, d6.loss_plan_l1_fix_dist: 0.8590, d0.loss_cls_all: 0.9170, d0.loss_bbox_all: 0.8153, d0.loss_cls: 0.9170, d0.loss_bbox: 0.8153, d1.loss_cls: 0.9124, d1.loss_bbox: 0.8231, d2.loss_cls: 0.9095, d2.loss_bbox: 0.8163, d3.loss_cls: 0.9119, d3.loss_bbox: 0.8356, d4.loss_cls: 0.9133, d4.loss_bbox: 0.8291, d5.loss_cls: 0.9121, d5.loss_bbox: 0.8330, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.5802, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6132, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6149, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6247, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.6305, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6193, d0.loss_map_cls_all: 0.5711, d0.loss_map_pts_all: 2.9750, d0.loss_map_dir_all: 0.0385, d0.loss_map_cls: 0.5711, d0.loss_map_pts: 2.9750, d0.loss_map_dir: 0.0385, d1.loss_map_cls: 0.5405, d1.loss_map_pts: 2.5414, d1.loss_map_dir: 0.0391, d2.loss_map_cls: 0.5392, d2.loss_map_pts: 2.5075, d2.loss_map_dir: 0.0388, d3.loss_map_cls: 0.5336, d3.loss_map_pts: 2.5004, d3.loss_map_dir: 0.0388, d4.loss_map_cls: 0.5314, d4.loss_map_pts: 2.5030, d4.loss_map_dir: 0.0388, d5.loss_map_cls: 0.5299, d5.loss_map_pts: 2.5091, d5.loss_map_dir: 0.0387, loss: 75.4556, grad_norm: 174.3366 +2026-02-24 07:23:45,100 - DriveTransformer - INFO - Epoch [1][23050/39528] lr: 1.000e-04, eta: 8 days, 14:14:48, time: 0.848, data_time: 0.038, memory: 19865, loss_cls: 0.9276, loss_bbox: 0.8161, loss_traj: 1.9111, loss_traj_cls: 0.0005, loss_map_cls: 0.5163, loss_map_pts: 2.5102, loss_map_dir: 0.0408, d0.loss_plan_l1_fix_time: 2.9892, d0.loss_plan_l1_fix_dist: 0.5920, d1.loss_plan_l1_fix_time: 2.8959, d1.loss_plan_l1_fix_dist: 0.6208, d2.loss_plan_l1_fix_time: 2.9176, d2.loss_plan_l1_fix_dist: 0.6668, d3.loss_plan_l1_fix_time: 2.9394, d3.loss_plan_l1_fix_dist: 0.7176, d4.loss_plan_l1_fix_time: 2.9632, d4.loss_plan_l1_fix_dist: 0.7702, d5.loss_plan_l1_fix_time: 2.9884, d5.loss_plan_l1_fix_dist: 0.8262, d6.loss_plan_l1_fix_time: 3.0140, d6.loss_plan_l1_fix_dist: 0.8898, d0.loss_cls_all: 0.9169, d0.loss_bbox_all: 0.7890, d0.loss_cls: 0.9169, d0.loss_bbox: 0.7890, d1.loss_cls: 0.9176, d1.loss_bbox: 0.8005, d2.loss_cls: 0.9182, d2.loss_bbox: 0.7938, d3.loss_cls: 0.9202, d3.loss_bbox: 0.8053, d4.loss_cls: 0.9228, d4.loss_bbox: 0.8051, d5.loss_cls: 0.9231, d5.loss_bbox: 0.8088, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8792, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.9035, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8882, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8948, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9069, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9095, d0.loss_map_cls_all: 0.5485, d0.loss_map_pts_all: 3.0959, d0.loss_map_dir_all: 0.0405, d0.loss_map_cls: 0.5485, d0.loss_map_pts: 3.0959, d0.loss_map_dir: 0.0405, d1.loss_map_cls: 0.5066, d1.loss_map_pts: 2.5681, d1.loss_map_dir: 0.0410, d2.loss_map_cls: 0.5025, d2.loss_map_pts: 2.5222, d2.loss_map_dir: 0.0408, d3.loss_map_cls: 0.4973, d3.loss_map_pts: 2.5108, d3.loss_map_dir: 0.0407, d4.loss_map_cls: 0.5049, d4.loss_map_pts: 2.5081, d4.loss_map_dir: 0.0407, d5.loss_map_cls: 0.5097, d5.loss_map_pts: 2.5093, d5.loss_map_dir: 0.0408, loss: 78.6395, grad_norm: 178.5121 +2026-02-24 07:24:25,550 - DriveTransformer - INFO - Epoch [1][23100/39528] lr: 1.000e-04, eta: 8 days, 14:14:21, time: 0.809, data_time: 0.046, memory: 19865, loss_cls: 0.8788, loss_bbox: 0.8246, loss_traj: 1.8809, loss_traj_cls: 0.0004, loss_map_cls: 0.5559, loss_map_pts: 2.3256, loss_map_dir: 0.0337, d0.loss_plan_l1_fix_time: 3.4322, d0.loss_plan_l1_fix_dist: 0.6470, d1.loss_plan_l1_fix_time: 3.2966, d1.loss_plan_l1_fix_dist: 0.6652, d2.loss_plan_l1_fix_time: 3.2994, d2.loss_plan_l1_fix_dist: 0.6986, d3.loss_plan_l1_fix_time: 3.3115, d3.loss_plan_l1_fix_dist: 0.7376, d4.loss_plan_l1_fix_time: 3.3251, d4.loss_plan_l1_fix_dist: 0.7808, d5.loss_plan_l1_fix_time: 3.3402, d5.loss_plan_l1_fix_dist: 0.8238, d6.loss_plan_l1_fix_time: 3.3572, d6.loss_plan_l1_fix_dist: 0.8726, d0.loss_cls_all: 0.8767, d0.loss_bbox_all: 0.8144, d0.loss_cls: 0.8767, d0.loss_bbox: 0.8144, d1.loss_cls: 0.8755, d1.loss_bbox: 0.8322, d2.loss_cls: 0.8761, d2.loss_bbox: 0.8316, d3.loss_cls: 0.8751, d3.loss_bbox: 0.8200, d4.loss_cls: 0.8769, d4.loss_bbox: 0.8193, d5.loss_cls: 0.8777, d5.loss_bbox: 0.8195, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8577, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.8852, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8759, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8863, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8927, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8803, d0.loss_map_cls_all: 0.5798, d0.loss_map_pts_all: 2.7372, d0.loss_map_dir_all: 0.0333, d0.loss_map_cls: 0.5798, d0.loss_map_pts: 2.7372, d0.loss_map_dir: 0.0333, d1.loss_map_cls: 0.5387, d1.loss_map_pts: 2.3557, d1.loss_map_dir: 0.0337, d2.loss_map_cls: 0.5476, d2.loss_map_pts: 2.3330, d2.loss_map_dir: 0.0337, d3.loss_map_cls: 0.5488, d3.loss_map_pts: 2.3279, d3.loss_map_dir: 0.0337, d4.loss_map_cls: 0.5531, d4.loss_map_pts: 2.3241, d4.loss_map_dir: 0.0337, d5.loss_map_cls: 0.5545, d5.loss_map_pts: 2.3231, d5.loss_map_dir: 0.0337, loss: 79.5304, grad_norm: 178.9855 +2026-02-24 07:25:04,489 - DriveTransformer - INFO - Epoch [1][23150/39528] lr: 1.000e-04, eta: 8 days, 14:12:54, time: 0.779, data_time: 0.042, memory: 19865, loss_cls: 0.8662, loss_bbox: 0.7665, loss_traj: 1.8832, loss_traj_cls: 0.0005, loss_map_cls: 0.5656, loss_map_pts: 2.1919, loss_map_dir: 0.0322, d0.loss_plan_l1_fix_time: 2.9621, d0.loss_plan_l1_fix_dist: 0.4194, d1.loss_plan_l1_fix_time: 2.8078, d1.loss_plan_l1_fix_dist: 0.4434, d2.loss_plan_l1_fix_time: 2.7947, d2.loss_plan_l1_fix_dist: 0.4876, d3.loss_plan_l1_fix_time: 2.8026, d3.loss_plan_l1_fix_dist: 0.5391, d4.loss_plan_l1_fix_time: 2.8142, d4.loss_plan_l1_fix_dist: 0.5999, d5.loss_plan_l1_fix_time: 2.8274, d5.loss_plan_l1_fix_dist: 0.6656, d6.loss_plan_l1_fix_time: 2.8421, d6.loss_plan_l1_fix_dist: 0.7279, d0.loss_cls_all: 0.8471, d0.loss_bbox_all: 0.7680, d0.loss_cls: 0.8471, d0.loss_bbox: 0.7680, d1.loss_cls: 0.8500, d1.loss_bbox: 0.7793, d2.loss_cls: 0.8516, d2.loss_bbox: 0.7938, d3.loss_cls: 0.8503, d3.loss_bbox: 0.7775, d4.loss_cls: 0.8568, d4.loss_bbox: 0.7701, d5.loss_cls: 0.8585, d5.loss_bbox: 0.7691, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9140, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8962, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8722, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8889, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8838, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8923, d0.loss_map_cls_all: 0.5898, d0.loss_map_pts_all: 2.6186, d0.loss_map_dir_all: 0.0321, d0.loss_map_cls: 0.5898, d0.loss_map_pts: 2.6186, d0.loss_map_dir: 0.0321, d1.loss_map_cls: 0.5394, d1.loss_map_pts: 2.2111, d1.loss_map_dir: 0.0321, d2.loss_map_cls: 0.5398, d2.loss_map_pts: 2.1770, d2.loss_map_dir: 0.0320, d3.loss_map_cls: 0.5453, d3.loss_map_pts: 2.1724, d3.loss_map_dir: 0.0320, d4.loss_map_cls: 0.5527, d4.loss_map_pts: 2.1770, d4.loss_map_dir: 0.0320, d5.loss_map_cls: 0.5566, d5.loss_map_pts: 2.1870, d5.loss_map_dir: 0.0321, loss: 73.0776, grad_norm: 178.1066 +2026-02-24 07:25:45,257 - DriveTransformer - INFO - Epoch [1][23200/39528] lr: 1.000e-04, eta: 8 days, 14:12:44, time: 0.817, data_time: 0.040, memory: 19865, loss_cls: 0.9501, loss_bbox: 0.8052, loss_traj: 1.9696, loss_traj_cls: 0.0006, loss_map_cls: 0.5697, loss_map_pts: 2.5128, loss_map_dir: 0.0386, d0.loss_plan_l1_fix_time: 3.1694, d0.loss_plan_l1_fix_dist: 0.5674, d1.loss_plan_l1_fix_time: 3.0586, d1.loss_plan_l1_fix_dist: 0.5852, d2.loss_plan_l1_fix_time: 3.0651, d2.loss_plan_l1_fix_dist: 0.6148, d3.loss_plan_l1_fix_time: 3.0802, d3.loss_plan_l1_fix_dist: 0.6538, d4.loss_plan_l1_fix_time: 3.0967, d4.loss_plan_l1_fix_dist: 0.7029, d5.loss_plan_l1_fix_time: 3.1138, d5.loss_plan_l1_fix_dist: 0.7565, d6.loss_plan_l1_fix_time: 3.1308, d6.loss_plan_l1_fix_dist: 0.8096, d0.loss_cls_all: 0.9249, d0.loss_bbox_all: 0.7975, d0.loss_cls: 0.9249, d0.loss_bbox: 0.7975, d1.loss_cls: 0.9281, d1.loss_bbox: 0.8140, d2.loss_cls: 0.9278, d2.loss_bbox: 0.8229, d3.loss_cls: 0.9305, d3.loss_bbox: 0.8103, d4.loss_cls: 0.9382, d4.loss_bbox: 0.8018, d5.loss_cls: 0.9397, d5.loss_bbox: 0.8041, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9526, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9585, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9382, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9569, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9570, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9653, d0.loss_map_cls_all: 0.5683, d0.loss_map_pts_all: 3.0635, d0.loss_map_dir_all: 0.0382, d0.loss_map_cls: 0.5683, d0.loss_map_pts: 3.0635, d0.loss_map_dir: 0.0382, d1.loss_map_cls: 0.5346, d1.loss_map_pts: 2.5609, d1.loss_map_dir: 0.0385, d2.loss_map_cls: 0.5417, d2.loss_map_pts: 2.5217, d2.loss_map_dir: 0.0386, d3.loss_map_cls: 0.5440, d3.loss_map_pts: 2.5146, d3.loss_map_dir: 0.0386, d4.loss_map_cls: 0.5565, d4.loss_map_pts: 2.5139, d4.loss_map_dir: 0.0386, d5.loss_map_cls: 0.5613, d5.loss_map_pts: 2.5130, d5.loss_map_dir: 0.0386, loss: 80.0408, grad_norm: 179.1663 +2026-02-24 07:26:26,287 - DriveTransformer - INFO - Epoch [1][23250/39528] lr: 1.000e-04, eta: 8 days, 14:12:37, time: 0.819, data_time: 0.037, memory: 19865, loss_cls: 0.8969, loss_bbox: 0.8669, loss_traj: 2.0651, loss_traj_cls: 0.0006, loss_map_cls: 0.5365, loss_map_pts: 2.4730, loss_map_dir: 0.0324, d0.loss_plan_l1_fix_time: 2.9973, d0.loss_plan_l1_fix_dist: 0.6502, d1.loss_plan_l1_fix_time: 2.8431, d1.loss_plan_l1_fix_dist: 0.6655, d2.loss_plan_l1_fix_time: 2.8353, d2.loss_plan_l1_fix_dist: 0.6975, d3.loss_plan_l1_fix_time: 2.8431, d3.loss_plan_l1_fix_dist: 0.7382, d4.loss_plan_l1_fix_time: 2.8565, d4.loss_plan_l1_fix_dist: 0.7787, d5.loss_plan_l1_fix_time: 2.8729, d5.loss_plan_l1_fix_dist: 0.8215, d6.loss_plan_l1_fix_time: 2.8917, d6.loss_plan_l1_fix_dist: 0.8738, d0.loss_cls_all: 0.8896, d0.loss_bbox_all: 0.8510, d0.loss_cls: 0.8896, d0.loss_bbox: 0.8510, d1.loss_cls: 0.8847, d1.loss_bbox: 0.8758, d2.loss_cls: 0.8895, d2.loss_bbox: 0.8704, d3.loss_cls: 0.8926, d3.loss_bbox: 0.8705, d4.loss_cls: 0.8952, d4.loss_bbox: 0.8608, d5.loss_cls: 0.8953, d5.loss_bbox: 0.8637, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0438, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0486, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0440, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0523, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0625, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.0710, d0.loss_map_cls_all: 0.5739, d0.loss_map_pts_all: 2.9352, d0.loss_map_dir_all: 0.0321, d0.loss_map_cls: 0.5739, d0.loss_map_pts: 2.9352, d0.loss_map_dir: 0.0321, d1.loss_map_cls: 0.5323, d1.loss_map_pts: 2.4897, d1.loss_map_dir: 0.0324, d2.loss_map_cls: 0.5350, d2.loss_map_pts: 2.4606, d2.loss_map_dir: 0.0323, d3.loss_map_cls: 0.5348, d3.loss_map_pts: 2.4583, d3.loss_map_dir: 0.0323, d4.loss_map_cls: 0.5349, d4.loss_map_pts: 2.4590, d4.loss_map_dir: 0.0323, d5.loss_map_cls: 0.5340, d5.loss_map_pts: 2.4643, d5.loss_map_dir: 0.0323, loss: 79.0886, grad_norm: 178.1445 +2026-02-24 07:27:06,637 - DriveTransformer - INFO - Epoch [1][23300/39528] lr: 1.000e-04, eta: 8 days, 14:12:07, time: 0.807, data_time: 0.044, memory: 19865, loss_cls: 0.9206, loss_bbox: 0.8360, loss_traj: 1.7938, loss_traj_cls: 0.0004, loss_map_cls: 0.5522, loss_map_pts: 2.4909, loss_map_dir: 0.0368, d0.loss_plan_l1_fix_time: 3.1696, d0.loss_plan_l1_fix_dist: 0.5003, d1.loss_plan_l1_fix_time: 2.9532, d1.loss_plan_l1_fix_dist: 0.5149, d2.loss_plan_l1_fix_time: 2.9301, d2.loss_plan_l1_fix_dist: 0.5434, d3.loss_plan_l1_fix_time: 2.9309, d3.loss_plan_l1_fix_dist: 0.5769, d4.loss_plan_l1_fix_time: 2.9380, d4.loss_plan_l1_fix_dist: 0.6141, d5.loss_plan_l1_fix_time: 2.9480, d5.loss_plan_l1_fix_dist: 0.6570, d6.loss_plan_l1_fix_time: 2.9597, d6.loss_plan_l1_fix_dist: 0.7035, d0.loss_cls_all: 0.9159, d0.loss_bbox_all: 0.8284, d0.loss_cls: 0.9159, d0.loss_bbox: 0.8284, d1.loss_cls: 0.9107, d1.loss_bbox: 0.8592, d2.loss_cls: 0.9090, d2.loss_bbox: 0.8352, d3.loss_cls: 0.9182, d3.loss_bbox: 0.8369, d4.loss_cls: 0.9211, d4.loss_bbox: 0.8294, d5.loss_cls: 0.9221, d5.loss_bbox: 0.8299, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7883, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.7911, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7747, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7737, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7773, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7823, d0.loss_map_cls_all: 0.5796, d0.loss_map_pts_all: 2.8662, d0.loss_map_dir_all: 0.0364, d0.loss_map_cls: 0.5796, d0.loss_map_pts: 2.8662, d0.loss_map_dir: 0.0364, d1.loss_map_cls: 0.5432, d1.loss_map_pts: 2.4906, d1.loss_map_dir: 0.0368, d2.loss_map_cls: 0.5463, d2.loss_map_pts: 2.4766, d2.loss_map_dir: 0.0369, d3.loss_map_cls: 0.5503, d3.loss_map_pts: 2.4821, d3.loss_map_dir: 0.0368, d4.loss_map_cls: 0.5527, d4.loss_map_pts: 2.4857, d4.loss_map_dir: 0.0369, d5.loss_map_cls: 0.5493, d5.loss_map_pts: 2.4907, d5.loss_map_dir: 0.0368, loss: 76.8373, grad_norm: 178.7317 +2026-02-24 07:27:47,718 - DriveTransformer - INFO - Epoch [1][23350/39528] lr: 1.000e-04, eta: 8 days, 14:12:05, time: 0.822, data_time: 0.050, memory: 19865, loss_cls: 0.8725, loss_bbox: 0.7960, loss_traj: 1.8445, loss_traj_cls: 0.0005, loss_map_cls: 0.5103, loss_map_pts: 2.3461, loss_map_dir: 0.0306, d0.loss_plan_l1_fix_time: 2.9573, d0.loss_plan_l1_fix_dist: 0.5421, d1.loss_plan_l1_fix_time: 2.8772, d1.loss_plan_l1_fix_dist: 0.5606, d2.loss_plan_l1_fix_time: 2.8927, d2.loss_plan_l1_fix_dist: 0.5890, d3.loss_plan_l1_fix_time: 2.9077, d3.loss_plan_l1_fix_dist: 0.6268, d4.loss_plan_l1_fix_time: 2.9234, d4.loss_plan_l1_fix_dist: 0.6694, d5.loss_plan_l1_fix_time: 2.9405, d5.loss_plan_l1_fix_dist: 0.7186, d6.loss_plan_l1_fix_time: 2.9590, d6.loss_plan_l1_fix_dist: 0.7692, d0.loss_cls_all: 0.8578, d0.loss_bbox_all: 0.7805, d0.loss_cls: 0.8578, d0.loss_bbox: 0.7805, d1.loss_cls: 0.8524, d1.loss_bbox: 0.8411, d2.loss_cls: 0.8540, d2.loss_bbox: 0.8370, d3.loss_cls: 0.8615, d3.loss_bbox: 0.8055, d4.loss_cls: 0.8712, d4.loss_bbox: 0.7952, d5.loss_cls: 0.8721, d5.loss_bbox: 0.7927, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8277, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8163, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8112, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8129, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8337, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8313, d0.loss_map_cls_all: 0.5595, d0.loss_map_pts_all: 2.8110, d0.loss_map_dir_all: 0.0307, d0.loss_map_cls: 0.5595, d0.loss_map_pts: 2.8110, d0.loss_map_dir: 0.0307, d1.loss_map_cls: 0.5079, d1.loss_map_pts: 2.3470, d1.loss_map_dir: 0.0307, d2.loss_map_cls: 0.5111, d2.loss_map_pts: 2.3178, d2.loss_map_dir: 0.0306, d3.loss_map_cls: 0.5135, d3.loss_map_pts: 2.3158, d3.loss_map_dir: 0.0307, d4.loss_map_cls: 0.5117, d4.loss_map_pts: 2.3206, d4.loss_map_dir: 0.0306, d5.loss_map_cls: 0.5096, d5.loss_map_pts: 2.3284, d5.loss_map_dir: 0.0306, loss: 75.0682, grad_norm: 176.8380 +2026-02-24 07:28:28,032 - DriveTransformer - INFO - Epoch [1][23400/39528] lr: 1.000e-04, eta: 8 days, 14:11:33, time: 0.806, data_time: 0.040, memory: 19865, loss_cls: 0.8826, loss_bbox: 0.8295, loss_traj: 1.7455, loss_traj_cls: 0.0005, loss_map_cls: 0.5324, loss_map_pts: 2.4762, loss_map_dir: 0.0353, d0.loss_plan_l1_fix_time: 3.3119, d0.loss_plan_l1_fix_dist: 0.5967, d1.loss_plan_l1_fix_time: 3.1961, d1.loss_plan_l1_fix_dist: 0.6187, d2.loss_plan_l1_fix_time: 3.1880, d2.loss_plan_l1_fix_dist: 0.6580, d3.loss_plan_l1_fix_time: 3.1930, d3.loss_plan_l1_fix_dist: 0.6991, d4.loss_plan_l1_fix_time: 3.2025, d4.loss_plan_l1_fix_dist: 0.7389, d5.loss_plan_l1_fix_time: 3.2150, d5.loss_plan_l1_fix_dist: 0.7814, d6.loss_plan_l1_fix_time: 3.2295, d6.loss_plan_l1_fix_dist: 0.8299, d0.loss_cls_all: 0.8827, d0.loss_bbox_all: 0.8158, d0.loss_cls: 0.8827, d0.loss_bbox: 0.8158, d1.loss_cls: 0.8754, d1.loss_bbox: 0.8936, d2.loss_cls: 0.8813, d2.loss_bbox: 0.8824, d3.loss_cls: 0.8896, d3.loss_bbox: 0.8470, d4.loss_cls: 0.8853, d4.loss_bbox: 0.8327, d5.loss_cls: 0.8824, d5.loss_bbox: 0.8267, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7710, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.7806, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7411, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7502, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7393, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7462, d0.loss_map_cls_all: 0.5696, d0.loss_map_pts_all: 2.9103, d0.loss_map_dir_all: 0.0347, d0.loss_map_cls: 0.5696, d0.loss_map_pts: 2.9103, d0.loss_map_dir: 0.0347, d1.loss_map_cls: 0.5295, d1.loss_map_pts: 2.4814, d1.loss_map_dir: 0.0352, d2.loss_map_cls: 0.5272, d2.loss_map_pts: 2.4465, d2.loss_map_dir: 0.0352, d3.loss_map_cls: 0.5256, d3.loss_map_pts: 2.4424, d3.loss_map_dir: 0.0351, d4.loss_map_cls: 0.5270, d4.loss_map_pts: 2.4522, d4.loss_map_dir: 0.0352, d5.loss_map_cls: 0.5290, d5.loss_map_pts: 2.4592, d5.loss_map_dir: 0.0352, loss: 78.7107, grad_norm: 177.5628 +2026-02-24 07:29:10,634 - DriveTransformer - INFO - Epoch [1][23450/39528] lr: 1.000e-04, eta: 8 days, 14:12:31, time: 0.852, data_time: 0.044, memory: 19865, loss_cls: 0.8964, loss_bbox: 0.8176, loss_traj: 1.9955, loss_traj_cls: 0.0005, loss_map_cls: 0.5323, loss_map_pts: 2.6978, loss_map_dir: 0.0372, d0.loss_plan_l1_fix_time: 3.0746, d0.loss_plan_l1_fix_dist: 0.5576, d1.loss_plan_l1_fix_time: 2.9041, d1.loss_plan_l1_fix_dist: 0.5814, d2.loss_plan_l1_fix_time: 2.8867, d2.loss_plan_l1_fix_dist: 0.6194, d3.loss_plan_l1_fix_time: 2.8883, d3.loss_plan_l1_fix_dist: 0.6594, d4.loss_plan_l1_fix_time: 2.8954, d4.loss_plan_l1_fix_dist: 0.6998, d5.loss_plan_l1_fix_time: 2.9056, d5.loss_plan_l1_fix_dist: 0.7367, d6.loss_plan_l1_fix_time: 2.9201, d6.loss_plan_l1_fix_dist: 0.7783, d0.loss_cls_all: 0.9197, d0.loss_bbox_all: 0.8182, d0.loss_cls: 0.9197, d0.loss_bbox: 0.8182, d1.loss_cls: 0.9029, d1.loss_bbox: 0.8688, d2.loss_cls: 0.8978, d2.loss_bbox: 0.8572, d3.loss_cls: 0.9021, d3.loss_bbox: 0.8189, d4.loss_cls: 0.8983, d4.loss_bbox: 0.8158, d5.loss_cls: 0.8967, d5.loss_bbox: 0.8172, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9476, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9657, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9791, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9958, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0007, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0017, d0.loss_map_cls_all: 0.5699, d0.loss_map_pts_all: 3.1838, d0.loss_map_dir_all: 0.0368, d0.loss_map_cls: 0.5699, d0.loss_map_pts: 3.1838, d0.loss_map_dir: 0.0368, d1.loss_map_cls: 0.5328, d1.loss_map_pts: 2.7234, d1.loss_map_dir: 0.0372, d2.loss_map_cls: 0.5314, d2.loss_map_pts: 2.6896, d2.loss_map_dir: 0.0371, d3.loss_map_cls: 0.5320, d3.loss_map_pts: 2.6841, d3.loss_map_dir: 0.0372, d4.loss_map_cls: 0.5342, d4.loss_map_pts: 2.6880, d4.loss_map_dir: 0.0371, d5.loss_map_cls: 0.5323, d5.loss_map_pts: 2.6949, d5.loss_map_dir: 0.0371, loss: 80.0395, grad_norm: 177.4192 +2026-02-24 07:29:49,782 - DriveTransformer - INFO - Epoch [1][23500/39528] lr: 1.000e-04, eta: 8 days, 14:11:13, time: 0.783, data_time: 0.042, memory: 19865, loss_cls: 0.8921, loss_bbox: 0.8338, loss_traj: 2.0192, loss_traj_cls: 0.0005, loss_map_cls: 0.5767, loss_map_pts: 2.3079, loss_map_dir: 0.0356, d0.loss_plan_l1_fix_time: 2.8780, d0.loss_plan_l1_fix_dist: 0.4763, d1.loss_plan_l1_fix_time: 2.6421, d1.loss_plan_l1_fix_dist: 0.4915, d2.loss_plan_l1_fix_time: 2.6238, d2.loss_plan_l1_fix_dist: 0.5139, d3.loss_plan_l1_fix_time: 2.6281, d3.loss_plan_l1_fix_dist: 0.5450, d4.loss_plan_l1_fix_time: 2.6366, d4.loss_plan_l1_fix_dist: 0.5801, d5.loss_plan_l1_fix_time: 2.6465, d5.loss_plan_l1_fix_dist: 0.6215, d6.loss_plan_l1_fix_time: 2.6590, d6.loss_plan_l1_fix_dist: 0.6618, d0.loss_cls_all: 0.8852, d0.loss_bbox_all: 0.8388, d0.loss_cls: 0.8852, d0.loss_bbox: 0.8388, d1.loss_cls: 0.8825, d1.loss_bbox: 0.8381, d2.loss_cls: 0.8969, d2.loss_bbox: 0.8506, d3.loss_cls: 0.9025, d3.loss_bbox: 0.8248, d4.loss_cls: 0.8986, d4.loss_bbox: 0.8258, d5.loss_cls: 0.8965, d5.loss_bbox: 0.8276, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9428, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9573, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9537, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9637, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9788, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0008, d0.loss_map_cls_all: 0.6055, d0.loss_map_pts_all: 2.6923, d0.loss_map_dir_all: 0.0354, d0.loss_map_cls: 0.6055, d0.loss_map_pts: 2.6923, d0.loss_map_dir: 0.0354, d1.loss_map_cls: 0.5648, d1.loss_map_pts: 2.3335, d1.loss_map_dir: 0.0356, d2.loss_map_cls: 0.5658, d2.loss_map_pts: 2.3014, d2.loss_map_dir: 0.0356, d3.loss_map_cls: 0.5667, d3.loss_map_pts: 2.2953, d3.loss_map_dir: 0.0355, d4.loss_map_cls: 0.5686, d4.loss_map_pts: 2.2964, d4.loss_map_dir: 0.0356, d5.loss_map_cls: 0.5697, d5.loss_map_pts: 2.3025, d5.loss_map_dir: 0.0355, loss: 74.3711, grad_norm: 179.0754 +2026-02-24 07:30:29,796 - DriveTransformer - INFO - Epoch [1][23550/39528] lr: 1.000e-04, eta: 8 days, 14:10:29, time: 0.800, data_time: 0.036, memory: 19865, loss_cls: 0.9220, loss_bbox: 0.8150, loss_traj: 1.9245, loss_traj_cls: 0.0006, loss_map_cls: 0.5570, loss_map_pts: 2.5611, loss_map_dir: 0.0352, d0.loss_plan_l1_fix_time: 3.3232, d0.loss_plan_l1_fix_dist: 0.5630, d1.loss_plan_l1_fix_time: 3.1363, d1.loss_plan_l1_fix_dist: 0.5801, d2.loss_plan_l1_fix_time: 3.1135, d2.loss_plan_l1_fix_dist: 0.6091, d3.loss_plan_l1_fix_time: 3.1130, d3.loss_plan_l1_fix_dist: 0.6457, d4.loss_plan_l1_fix_time: 3.1192, d4.loss_plan_l1_fix_dist: 0.6911, d5.loss_plan_l1_fix_time: 3.1294, d5.loss_plan_l1_fix_dist: 0.7484, d6.loss_plan_l1_fix_time: 3.1423, d6.loss_plan_l1_fix_dist: 0.8069, d0.loss_cls_all: 0.9303, d0.loss_bbox_all: 0.8312, d0.loss_cls: 0.9303, d0.loss_bbox: 0.8312, d1.loss_cls: 0.9182, d1.loss_bbox: 0.8092, d2.loss_cls: 0.9254, d2.loss_bbox: 0.8338, d3.loss_cls: 0.9356, d3.loss_bbox: 0.8054, d4.loss_cls: 0.9237, d4.loss_bbox: 0.8067, d5.loss_cls: 0.9237, d5.loss_bbox: 0.8069, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8789, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9089, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.8913, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9062, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9136, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9101, d0.loss_map_cls_all: 0.5678, d0.loss_map_pts_all: 2.9260, d0.loss_map_dir_all: 0.0348, d0.loss_map_cls: 0.5678, d0.loss_map_pts: 2.9260, d0.loss_map_dir: 0.0348, d1.loss_map_cls: 0.5334, d1.loss_map_pts: 2.5935, d1.loss_map_dir: 0.0353, d2.loss_map_cls: 0.5322, d2.loss_map_pts: 2.5699, d2.loss_map_dir: 0.0351, d3.loss_map_cls: 0.5328, d3.loss_map_pts: 2.5672, d3.loss_map_dir: 0.0351, d4.loss_map_cls: 0.5408, d4.loss_map_pts: 2.5619, d4.loss_map_dir: 0.0350, d5.loss_map_cls: 0.5481, d5.loss_map_pts: 2.5598, d5.loss_map_dir: 0.0351, loss: 79.9326, grad_norm: 180.0745 +2026-02-24 07:31:11,617 - DriveTransformer - INFO - Epoch [1][23600/39528] lr: 1.000e-04, eta: 8 days, 14:10:55, time: 0.836, data_time: 0.046, memory: 19865, loss_cls: 0.9392, loss_bbox: 0.8300, loss_traj: 1.6671, loss_traj_cls: 0.0006, loss_map_cls: 0.5583, loss_map_pts: 2.7560, loss_map_dir: 0.0424, d0.loss_plan_l1_fix_time: 2.8797, d0.loss_plan_l1_fix_dist: 0.5850, d1.loss_plan_l1_fix_time: 2.7027, d1.loss_plan_l1_fix_dist: 0.5956, d2.loss_plan_l1_fix_time: 2.6929, d2.loss_plan_l1_fix_dist: 0.6133, d3.loss_plan_l1_fix_time: 2.6972, d3.loss_plan_l1_fix_dist: 0.6372, d4.loss_plan_l1_fix_time: 2.7063, d4.loss_plan_l1_fix_dist: 0.6639, d5.loss_plan_l1_fix_time: 2.7181, d5.loss_plan_l1_fix_dist: 0.6978, d6.loss_plan_l1_fix_time: 2.7320, d6.loss_plan_l1_fix_dist: 0.7370, d0.loss_cls_all: 0.9350, d0.loss_bbox_all: 0.8551, d0.loss_cls: 0.9350, d0.loss_bbox: 0.8551, d1.loss_cls: 0.9056, d1.loss_bbox: 0.8777, d2.loss_cls: 0.9047, d2.loss_bbox: 0.8517, d3.loss_cls: 0.9021, d3.loss_bbox: 0.8344, d4.loss_cls: 0.9152, d4.loss_bbox: 0.8293, d5.loss_cls: 0.9234, d5.loss_bbox: 0.8253, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6552, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.6557, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6259, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6371, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.6429, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6449, d0.loss_map_cls_all: 0.5776, d0.loss_map_pts_all: 3.1565, d0.loss_map_dir_all: 0.0423, d0.loss_map_cls: 0.5776, d0.loss_map_pts: 3.1565, d0.loss_map_dir: 0.0423, d1.loss_map_cls: 0.5499, d1.loss_map_pts: 2.8066, d1.loss_map_dir: 0.0426, d2.loss_map_cls: 0.5486, d2.loss_map_pts: 2.7754, d2.loss_map_dir: 0.0425, d3.loss_map_cls: 0.5502, d3.loss_map_pts: 2.7671, d3.loss_map_dir: 0.0424, d4.loss_map_cls: 0.5527, d4.loss_map_pts: 2.7635, d4.loss_map_dir: 0.0424, d5.loss_map_cls: 0.5539, d5.loss_map_pts: 2.7590, d5.loss_map_dir: 0.0424, loss: 77.0592, grad_norm: 177.6318 +2026-02-24 07:31:52,471 - DriveTransformer - INFO - Epoch [1][23650/39528] lr: 1.000e-04, eta: 8 days, 14:10:45, time: 0.817, data_time: 0.048, memory: 19865, loss_cls: 0.9239, loss_bbox: 0.8312, loss_traj: 1.8464, loss_traj_cls: 0.0005, loss_map_cls: 0.5396, loss_map_pts: 2.5491, loss_map_dir: 0.0371, d0.loss_plan_l1_fix_time: 3.0331, d0.loss_plan_l1_fix_dist: 0.5464, d1.loss_plan_l1_fix_time: 2.8719, d1.loss_plan_l1_fix_dist: 0.5563, d2.loss_plan_l1_fix_time: 2.8716, d2.loss_plan_l1_fix_dist: 0.5845, d3.loss_plan_l1_fix_time: 2.8787, d3.loss_plan_l1_fix_dist: 0.6212, d4.loss_plan_l1_fix_time: 2.8887, d4.loss_plan_l1_fix_dist: 0.6572, d5.loss_plan_l1_fix_time: 2.9000, d5.loss_plan_l1_fix_dist: 0.6906, d6.loss_plan_l1_fix_time: 2.9139, d6.loss_plan_l1_fix_dist: 0.7231, d0.loss_cls_all: 0.9284, d0.loss_bbox_all: 0.8443, d0.loss_cls: 0.9284, d0.loss_bbox: 0.8443, d1.loss_cls: 0.9121, d1.loss_bbox: 0.8912, d2.loss_cls: 0.9104, d2.loss_bbox: 0.8464, d3.loss_cls: 0.9092, d3.loss_bbox: 0.8452, d4.loss_cls: 0.9134, d4.loss_bbox: 0.8337, d5.loss_cls: 0.9139, d5.loss_bbox: 0.8304, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8162, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8293, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8373, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8410, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8425, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8373, d0.loss_map_cls_all: 0.5804, d0.loss_map_pts_all: 2.9437, d0.loss_map_dir_all: 0.0371, d0.loss_map_cls: 0.5804, d0.loss_map_pts: 2.9437, d0.loss_map_dir: 0.0371, d1.loss_map_cls: 0.5468, d1.loss_map_pts: 2.6055, d1.loss_map_dir: 0.0374, d2.loss_map_cls: 0.5499, d2.loss_map_pts: 2.5662, d2.loss_map_dir: 0.0372, d3.loss_map_cls: 0.5426, d3.loss_map_pts: 2.5556, d3.loss_map_dir: 0.0371, d4.loss_map_cls: 0.5419, d4.loss_map_pts: 2.5492, d4.loss_map_dir: 0.0371, d5.loss_map_cls: 0.5386, d5.loss_map_pts: 2.5465, d5.loss_map_dir: 0.0371, loss: 77.6744, grad_norm: 175.1157 +2026-02-24 07:32:33,346 - DriveTransformer - INFO - Epoch [1][23700/39528] lr: 1.000e-04, eta: 8 days, 14:10:33, time: 0.817, data_time: 0.037, memory: 19865, loss_cls: 0.9515, loss_bbox: 0.8551, loss_traj: 1.8608, loss_traj_cls: 0.0005, loss_map_cls: 0.5595, loss_map_pts: 2.6867, loss_map_dir: 0.0381, d0.loss_plan_l1_fix_time: 3.1228, d0.loss_plan_l1_fix_dist: 0.5631, d1.loss_plan_l1_fix_time: 2.9725, d1.loss_plan_l1_fix_dist: 0.5677, d2.loss_plan_l1_fix_time: 2.9517, d2.loss_plan_l1_fix_dist: 0.5847, d3.loss_plan_l1_fix_time: 2.9495, d3.loss_plan_l1_fix_dist: 0.6091, d4.loss_plan_l1_fix_time: 2.9531, d4.loss_plan_l1_fix_dist: 0.6395, d5.loss_plan_l1_fix_time: 2.9604, d5.loss_plan_l1_fix_dist: 0.6755, d6.loss_plan_l1_fix_time: 2.9713, d6.loss_plan_l1_fix_dist: 0.7202, d0.loss_cls_all: 0.9356, d0.loss_bbox_all: 0.8655, d0.loss_cls: 0.9356, d0.loss_bbox: 0.8655, d1.loss_cls: 0.9144, d1.loss_bbox: 0.8769, d2.loss_cls: 0.9162, d2.loss_bbox: 0.8505, d3.loss_cls: 0.9225, d3.loss_bbox: 0.8465, d4.loss_cls: 0.9336, d4.loss_bbox: 0.8487, d5.loss_cls: 0.9331, d5.loss_bbox: 0.8523, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8443, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8569, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8487, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8578, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8609, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8552, d0.loss_map_cls_all: 0.5762, d0.loss_map_pts_all: 3.0553, d0.loss_map_dir_all: 0.0380, d0.loss_map_cls: 0.5762, d0.loss_map_pts: 3.0553, d0.loss_map_dir: 0.0380, d1.loss_map_cls: 0.5485, d1.loss_map_pts: 2.6628, d1.loss_map_dir: 0.0385, d2.loss_map_cls: 0.5571, d2.loss_map_pts: 2.6338, d2.loss_map_dir: 0.0382, d3.loss_map_cls: 0.5554, d3.loss_map_pts: 2.6311, d3.loss_map_dir: 0.0382, d4.loss_map_cls: 0.5541, d4.loss_map_pts: 2.6528, d4.loss_map_dir: 0.0382, d5.loss_map_cls: 0.5536, d5.loss_map_pts: 2.6667, d5.loss_map_dir: 0.0382, loss: 79.3635, grad_norm: 173.3620 +2026-02-24 07:33:14,828 - DriveTransformer - INFO - Epoch [1][23750/39528] lr: 1.000e-04, eta: 8 days, 14:10:46, time: 0.830, data_time: 0.043, memory: 19865, loss_cls: 0.9250, loss_bbox: 0.8824, loss_traj: 1.9154, loss_traj_cls: 0.0005, loss_map_cls: 0.5681, loss_map_pts: 2.7417, loss_map_dir: 0.0398, d0.loss_plan_l1_fix_time: 3.3055, d0.loss_plan_l1_fix_dist: 0.6306, d1.loss_plan_l1_fix_time: 3.1285, d1.loss_plan_l1_fix_dist: 0.6631, d2.loss_plan_l1_fix_time: 3.1138, d2.loss_plan_l1_fix_dist: 0.7064, d3.loss_plan_l1_fix_time: 3.1167, d3.loss_plan_l1_fix_dist: 0.7537, d4.loss_plan_l1_fix_time: 3.1240, d4.loss_plan_l1_fix_dist: 0.8052, d5.loss_plan_l1_fix_time: 3.1343, d5.loss_plan_l1_fix_dist: 0.8673, d6.loss_plan_l1_fix_time: 3.1480, d6.loss_plan_l1_fix_dist: 0.9266, d0.loss_cls_all: 0.9141, d0.loss_bbox_all: 0.8526, d0.loss_cls: 0.9141, d0.loss_bbox: 0.8526, d1.loss_cls: 0.9029, d1.loss_bbox: 0.8787, d2.loss_cls: 0.8986, d2.loss_bbox: 0.8563, d3.loss_cls: 0.9032, d3.loss_bbox: 0.8639, d4.loss_cls: 0.9090, d4.loss_bbox: 0.8678, d5.loss_cls: 0.9141, d5.loss_bbox: 0.8727, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9461, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9587, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9623, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9511, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9303, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9172, d0.loss_map_cls_all: 0.5839, d0.loss_map_pts_all: 3.0998, d0.loss_map_dir_all: 0.0403, d0.loss_map_cls: 0.5839, d0.loss_map_pts: 3.0998, d0.loss_map_dir: 0.0403, d1.loss_map_cls: 0.5535, d1.loss_map_pts: 2.7465, d1.loss_map_dir: 0.0402, d2.loss_map_cls: 0.5564, d2.loss_map_pts: 2.7176, d2.loss_map_dir: 0.0399, d3.loss_map_cls: 0.5567, d3.loss_map_pts: 2.7170, d3.loss_map_dir: 0.0399, d4.loss_map_cls: 0.5596, d4.loss_map_pts: 2.7250, d4.loss_map_dir: 0.0399, d5.loss_map_cls: 0.5636, d5.loss_map_pts: 2.7294, d5.loss_map_dir: 0.0398, loss: 82.6389, grad_norm: 174.8241 +2026-02-24 07:33:55,925 - DriveTransformer - INFO - Epoch [1][23800/39528] lr: 1.000e-04, eta: 8 days, 14:10:44, time: 0.822, data_time: 0.037, memory: 19865, loss_cls: 0.9228, loss_bbox: 0.8463, loss_traj: 2.0029, loss_traj_cls: 0.0005, loss_map_cls: 0.5434, loss_map_pts: 2.4654, loss_map_dir: 0.0448, d0.loss_plan_l1_fix_time: 2.8352, d0.loss_plan_l1_fix_dist: 0.5384, d1.loss_plan_l1_fix_time: 2.7057, d1.loss_plan_l1_fix_dist: 0.5694, d2.loss_plan_l1_fix_time: 2.6940, d2.loss_plan_l1_fix_dist: 0.6097, d3.loss_plan_l1_fix_time: 2.6990, d3.loss_plan_l1_fix_dist: 0.6559, d4.loss_plan_l1_fix_time: 2.7078, d4.loss_plan_l1_fix_dist: 0.7051, d5.loss_plan_l1_fix_time: 2.7192, d5.loss_plan_l1_fix_dist: 0.7593, d6.loss_plan_l1_fix_time: 2.7344, d6.loss_plan_l1_fix_dist: 0.8138, d0.loss_cls_all: 0.9014, d0.loss_bbox_all: 0.8166, d0.loss_cls: 0.9014, d0.loss_bbox: 0.8166, d1.loss_cls: 0.8982, d1.loss_bbox: 0.8331, d2.loss_cls: 0.8930, d2.loss_bbox: 0.8147, d3.loss_cls: 0.8992, d3.loss_bbox: 0.8215, d4.loss_cls: 0.9074, d4.loss_bbox: 0.8238, d5.loss_cls: 0.9091, d5.loss_bbox: 0.8339, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9719, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9980, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0045, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0036, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0078, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0086, d0.loss_map_cls_all: 0.5755, d0.loss_map_pts_all: 2.9714, d0.loss_map_dir_all: 0.0448, d0.loss_map_cls: 0.5755, d0.loss_map_pts: 2.9714, d0.loss_map_dir: 0.0448, d1.loss_map_cls: 0.5549, d1.loss_map_pts: 2.5165, d1.loss_map_dir: 0.0452, d2.loss_map_cls: 0.5523, d2.loss_map_pts: 2.4734, d2.loss_map_dir: 0.0450, d3.loss_map_cls: 0.5456, d3.loss_map_pts: 2.4674, d3.loss_map_dir: 0.0449, d4.loss_map_cls: 0.5449, d4.loss_map_pts: 2.4590, d4.loss_map_dir: 0.0449, d5.loss_map_cls: 0.5425, d5.loss_map_pts: 2.4611, d5.loss_map_dir: 0.0449, loss: 77.1664, grad_norm: 174.1530 +2026-02-24 07:34:33,625 - DriveTransformer - INFO - Epoch [1][23850/39528] lr: 1.000e-04, eta: 8 days, 14:08:30, time: 0.754, data_time: 0.036, memory: 19865, loss_cls: 0.9109, loss_bbox: 0.8321, loss_traj: 1.9270, loss_traj_cls: 0.0005, loss_map_cls: 0.5334, loss_map_pts: 2.2373, loss_map_dir: 0.0334, d0.loss_plan_l1_fix_time: 3.1831, d0.loss_plan_l1_fix_dist: 0.6219, d1.loss_plan_l1_fix_time: 3.0920, d1.loss_plan_l1_fix_dist: 0.6377, d2.loss_plan_l1_fix_time: 3.0949, d2.loss_plan_l1_fix_dist: 0.6621, d3.loss_plan_l1_fix_time: 3.1072, d3.loss_plan_l1_fix_dist: 0.6927, d4.loss_plan_l1_fix_time: 3.1229, d4.loss_plan_l1_fix_dist: 0.7268, d5.loss_plan_l1_fix_time: 3.1388, d5.loss_plan_l1_fix_dist: 0.7598, d6.loss_plan_l1_fix_time: 3.1580, d6.loss_plan_l1_fix_dist: 0.7982, d0.loss_cls_all: 0.9029, d0.loss_bbox_all: 0.8173, d0.loss_cls: 0.9029, d0.loss_bbox: 0.8173, d1.loss_cls: 0.9020, d1.loss_bbox: 0.8243, d2.loss_cls: 0.9040, d2.loss_bbox: 0.8138, d3.loss_cls: 0.9083, d3.loss_bbox: 0.8170, d4.loss_cls: 0.9087, d4.loss_bbox: 0.8216, d5.loss_cls: 0.9085, d5.loss_bbox: 0.8269, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8916, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9168, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9110, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9356, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9282, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9166, d0.loss_map_cls_all: 0.5889, d0.loss_map_pts_all: 2.6683, d0.loss_map_dir_all: 0.0343, d0.loss_map_cls: 0.5889, d0.loss_map_pts: 2.6683, d0.loss_map_dir: 0.0343, d1.loss_map_cls: 0.5415, d1.loss_map_pts: 2.2793, d1.loss_map_dir: 0.0341, d2.loss_map_cls: 0.5330, d2.loss_map_pts: 2.2468, d2.loss_map_dir: 0.0336, d3.loss_map_cls: 0.5317, d3.loss_map_pts: 2.2396, d3.loss_map_dir: 0.0335, d4.loss_map_cls: 0.5307, d4.loss_map_pts: 2.2363, d4.loss_map_dir: 0.0335, d5.loss_map_cls: 0.5298, d5.loss_map_pts: 2.2377, d5.loss_map_dir: 0.0334, loss: 77.5070, grad_norm: 171.6707 +2026-02-24 07:35:15,593 - DriveTransformer - INFO - Epoch [1][23900/39528] lr: 1.000e-04, eta: 8 days, 14:09:01, time: 0.839, data_time: 0.037, memory: 19865, loss_cls: 0.8539, loss_bbox: 0.7602, loss_traj: 1.8943, loss_traj_cls: 0.0005, loss_map_cls: 0.5329, loss_map_pts: 2.3405, loss_map_dir: 0.0369, d0.loss_plan_l1_fix_time: 2.8649, d0.loss_plan_l1_fix_dist: 0.6148, d1.loss_plan_l1_fix_time: 2.7819, d1.loss_plan_l1_fix_dist: 0.6368, d2.loss_plan_l1_fix_time: 2.7930, d2.loss_plan_l1_fix_dist: 0.6722, d3.loss_plan_l1_fix_time: 2.8089, d3.loss_plan_l1_fix_dist: 0.7109, d4.loss_plan_l1_fix_time: 2.8272, d4.loss_plan_l1_fix_dist: 0.7534, d5.loss_plan_l1_fix_time: 2.8475, d5.loss_plan_l1_fix_dist: 0.7991, d6.loss_plan_l1_fix_time: 2.8701, d6.loss_plan_l1_fix_dist: 0.8465, d0.loss_cls_all: 0.8485, d0.loss_bbox_all: 0.7758, d0.loss_cls: 0.8485, d0.loss_bbox: 0.7758, d1.loss_cls: 0.8542, d1.loss_bbox: 0.7545, d2.loss_cls: 0.8509, d2.loss_bbox: 0.7477, d3.loss_cls: 0.8574, d3.loss_bbox: 0.7485, d4.loss_cls: 0.8507, d4.loss_bbox: 0.7521, d5.loss_cls: 0.8519, d5.loss_bbox: 0.7556, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8219, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8467, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8212, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8342, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8480, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8775, d0.loss_map_cls_all: 0.5570, d0.loss_map_pts_all: 2.8882, d0.loss_map_dir_all: 0.0373, d0.loss_map_cls: 0.5570, d0.loss_map_pts: 2.8882, d0.loss_map_dir: 0.0373, d1.loss_map_cls: 0.5119, d1.loss_map_pts: 2.4205, d1.loss_map_dir: 0.0374, d2.loss_map_cls: 0.5168, d2.loss_map_pts: 2.3607, d2.loss_map_dir: 0.0371, d3.loss_map_cls: 0.5217, d3.loss_map_pts: 2.3433, d3.loss_map_dir: 0.0370, d4.loss_map_cls: 0.5247, d4.loss_map_pts: 2.3397, d4.loss_map_dir: 0.0369, d5.loss_map_cls: 0.5281, d5.loss_map_pts: 2.3376, d5.loss_map_dir: 0.0369, loss: 75.1261, grad_norm: 171.2097 +2026-02-24 07:35:54,345 - DriveTransformer - INFO - Epoch [1][23950/39528] lr: 1.000e-04, eta: 8 days, 14:07:28, time: 0.775, data_time: 0.037, memory: 19865, loss_cls: 0.8788, loss_bbox: 0.8011, loss_traj: 1.8564, loss_traj_cls: 0.0006, loss_map_cls: 0.5419, loss_map_pts: 2.3155, loss_map_dir: 0.0366, d0.loss_plan_l1_fix_time: 2.8216, d0.loss_plan_l1_fix_dist: 0.5659, d1.loss_plan_l1_fix_time: 2.6764, d1.loss_plan_l1_fix_dist: 0.5736, d2.loss_plan_l1_fix_time: 2.6594, d2.loss_plan_l1_fix_dist: 0.5905, d3.loss_plan_l1_fix_time: 2.6588, d3.loss_plan_l1_fix_dist: 0.6122, d4.loss_plan_l1_fix_time: 2.6648, d4.loss_plan_l1_fix_dist: 0.6390, d5.loss_plan_l1_fix_time: 2.6756, d5.loss_plan_l1_fix_dist: 0.6712, d6.loss_plan_l1_fix_time: 2.6894, d6.loss_plan_l1_fix_dist: 0.7106, d0.loss_cls_all: 0.8738, d0.loss_bbox_all: 0.8135, d0.loss_cls: 0.8738, d0.loss_bbox: 0.8135, d1.loss_cls: 0.8662, d1.loss_bbox: 0.8056, d2.loss_cls: 0.8677, d2.loss_bbox: 0.7847, d3.loss_cls: 0.8687, d3.loss_bbox: 0.7888, d4.loss_cls: 0.8716, d4.loss_bbox: 0.7934, d5.loss_cls: 0.8741, d5.loss_bbox: 0.7960, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8642, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8408, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8143, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8164, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8229, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8451, d0.loss_map_cls_all: 0.5801, d0.loss_map_pts_all: 2.7495, d0.loss_map_dir_all: 0.0369, d0.loss_map_cls: 0.5801, d0.loss_map_pts: 2.7495, d0.loss_map_dir: 0.0369, d1.loss_map_cls: 0.5397, d1.loss_map_pts: 2.3750, d1.loss_map_dir: 0.0370, d2.loss_map_cls: 0.5401, d2.loss_map_pts: 2.3316, d2.loss_map_dir: 0.0367, d3.loss_map_cls: 0.5394, d3.loss_map_pts: 2.3213, d3.loss_map_dir: 0.0366, d4.loss_map_cls: 0.5408, d4.loss_map_pts: 2.3195, d4.loss_map_dir: 0.0366, d5.loss_map_cls: 0.5392, d5.loss_map_pts: 2.3185, d5.loss_map_dir: 0.0365, loss: 73.6198, grad_norm: 171.2962 +2026-02-24 07:36:33,289 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 07:36:33,289 - DriveTransformer - INFO - Epoch [1][24000/39528] lr: 1.000e-04, eta: 8 days, 14:06:05, time: 0.780, data_time: 0.041, memory: 19865, loss_cls: 0.8592, loss_bbox: 0.8168, loss_traj: 1.9610, loss_traj_cls: 0.0006, loss_map_cls: 0.5425, loss_map_pts: 2.2521, loss_map_dir: 0.0387, d0.loss_plan_l1_fix_time: 2.7827, d0.loss_plan_l1_fix_dist: 0.5080, d1.loss_plan_l1_fix_time: 2.6656, d1.loss_plan_l1_fix_dist: 0.5257, d2.loss_plan_l1_fix_time: 2.6570, d2.loss_plan_l1_fix_dist: 0.5505, d3.loss_plan_l1_fix_time: 2.6620, d3.loss_plan_l1_fix_dist: 0.5845, d4.loss_plan_l1_fix_time: 2.6718, d4.loss_plan_l1_fix_dist: 0.6237, d5.loss_plan_l1_fix_time: 2.6845, d5.loss_plan_l1_fix_dist: 0.6705, d6.loss_plan_l1_fix_time: 2.7001, d6.loss_plan_l1_fix_dist: 0.7297, d0.loss_cls_all: 0.8545, d0.loss_bbox_all: 0.8296, d0.loss_cls: 0.8545, d0.loss_bbox: 0.8296, d1.loss_cls: 0.8530, d1.loss_bbox: 0.8279, d2.loss_cls: 0.8532, d2.loss_bbox: 0.8084, d3.loss_cls: 0.8554, d3.loss_bbox: 0.8084, d4.loss_cls: 0.8573, d4.loss_bbox: 0.8082, d5.loss_cls: 0.8566, d5.loss_bbox: 0.8098, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8646, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8525, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8391, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8560, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8771, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9348, d0.loss_map_cls_all: 0.5809, d0.loss_map_pts_all: 2.7025, d0.loss_map_dir_all: 0.0389, d0.loss_map_cls: 0.5809, d0.loss_map_pts: 2.7025, d0.loss_map_dir: 0.0389, d1.loss_map_cls: 0.5354, d1.loss_map_pts: 2.3142, d1.loss_map_dir: 0.0393, d2.loss_map_cls: 0.5338, d2.loss_map_pts: 2.2768, d2.loss_map_dir: 0.0390, d3.loss_map_cls: 0.5362, d3.loss_map_pts: 2.2681, d3.loss_map_dir: 0.0389, d4.loss_map_cls: 0.5398, d4.loss_map_pts: 2.2664, d4.loss_map_dir: 0.0388, d5.loss_map_cls: 0.5393, d5.loss_map_pts: 2.2585, d5.loss_map_dir: 0.0388, loss: 73.3292, grad_norm: 168.4170 +2026-02-24 07:37:12,928 - DriveTransformer - INFO - Epoch [1][24050/39528] lr: 1.000e-04, eta: 8 days, 14:05:04, time: 0.791, data_time: 0.045, memory: 19865, loss_cls: 0.8938, loss_bbox: 0.8017, loss_traj: 2.0300, loss_traj_cls: 0.0006, loss_map_cls: 0.5771, loss_map_pts: 2.1582, loss_map_dir: 0.0332, d0.loss_plan_l1_fix_time: 2.6780, d0.loss_plan_l1_fix_dist: 0.4805, d1.loss_plan_l1_fix_time: 2.5328, d1.loss_plan_l1_fix_dist: 0.4910, d2.loss_plan_l1_fix_time: 2.5280, d2.loss_plan_l1_fix_dist: 0.5187, d3.loss_plan_l1_fix_time: 2.5357, d3.loss_plan_l1_fix_dist: 0.5543, d4.loss_plan_l1_fix_time: 2.5458, d4.loss_plan_l1_fix_dist: 0.5894, d5.loss_plan_l1_fix_time: 2.5582, d5.loss_plan_l1_fix_dist: 0.6286, d6.loss_plan_l1_fix_time: 2.5746, d6.loss_plan_l1_fix_dist: 0.6694, d0.loss_cls_all: 0.8859, d0.loss_bbox_all: 0.7936, d0.loss_cls: 0.8859, d0.loss_bbox: 0.7936, d1.loss_cls: 0.8819, d1.loss_bbox: 0.7891, d2.loss_cls: 0.8806, d2.loss_bbox: 0.7788, d3.loss_cls: 0.8874, d3.loss_bbox: 0.7787, d4.loss_cls: 0.8907, d4.loss_bbox: 0.7820, d5.loss_cls: 0.8924, d5.loss_bbox: 0.7881, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9670, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9857, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9805, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9906, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0083, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.0244, d0.loss_map_cls_all: 0.5800, d0.loss_map_pts_all: 2.6734, d0.loss_map_dir_all: 0.0333, d0.loss_map_cls: 0.5800, d0.loss_map_pts: 2.6734, d0.loss_map_dir: 0.0333, d1.loss_map_cls: 0.5457, d1.loss_map_pts: 2.2169, d1.loss_map_dir: 0.0335, d2.loss_map_cls: 0.5582, d2.loss_map_pts: 2.1654, d2.loss_map_dir: 0.0334, d3.loss_map_cls: 0.5670, d3.loss_map_pts: 2.1547, d3.loss_map_dir: 0.0333, d4.loss_map_cls: 0.5728, d4.loss_map_pts: 2.1510, d4.loss_map_dir: 0.0333, d5.loss_map_cls: 0.5727, d5.loss_map_pts: 2.1541, d5.loss_map_dir: 0.0333, loss: 72.4468, grad_norm: 171.4372 +2026-02-24 07:37:52,886 - DriveTransformer - INFO - Epoch [1][24100/39528] lr: 1.000e-04, eta: 8 days, 14:04:17, time: 0.799, data_time: 0.042, memory: 19865, loss_cls: 0.9062, loss_bbox: 0.8515, loss_traj: 1.9055, loss_traj_cls: 0.0006, loss_map_cls: 0.5477, loss_map_pts: 2.4049, loss_map_dir: 0.0345, d0.loss_plan_l1_fix_time: 2.8127, d0.loss_plan_l1_fix_dist: 0.6037, d1.loss_plan_l1_fix_time: 2.8300, d1.loss_plan_l1_fix_dist: 0.6132, d2.loss_plan_l1_fix_time: 2.8644, d2.loss_plan_l1_fix_dist: 0.6354, d3.loss_plan_l1_fix_time: 2.8886, d3.loss_plan_l1_fix_dist: 0.6610, d4.loss_plan_l1_fix_time: 2.9075, d4.loss_plan_l1_fix_dist: 0.6893, d5.loss_plan_l1_fix_time: 2.9247, d5.loss_plan_l1_fix_dist: 0.7230, d6.loss_plan_l1_fix_time: 2.9418, d6.loss_plan_l1_fix_dist: 0.7599, d0.loss_cls_all: 0.9038, d0.loss_bbox_all: 0.8049, d0.loss_cls: 0.9038, d0.loss_bbox: 0.8049, d1.loss_cls: 0.8965, d1.loss_bbox: 0.8131, d2.loss_cls: 0.8966, d2.loss_bbox: 0.8125, d3.loss_cls: 0.8973, d3.loss_bbox: 0.8226, d4.loss_cls: 0.9020, d4.loss_bbox: 0.8265, d5.loss_cls: 0.8986, d5.loss_bbox: 0.8363, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8268, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8499, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8529, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8720, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8738, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8924, d0.loss_map_cls_all: 0.5881, d0.loss_map_pts_all: 2.7944, d0.loss_map_dir_all: 0.0349, d0.loss_map_cls: 0.5881, d0.loss_map_pts: 2.7944, d0.loss_map_dir: 0.0349, d1.loss_map_cls: 0.5453, d1.loss_map_pts: 2.4108, d1.loss_map_dir: 0.0349, d2.loss_map_cls: 0.5439, d2.loss_map_pts: 2.3765, d2.loss_map_dir: 0.0347, d3.loss_map_cls: 0.5466, d3.loss_map_pts: 2.3766, d3.loss_map_dir: 0.0346, d4.loss_map_cls: 0.5469, d4.loss_map_pts: 2.3837, d4.loss_map_dir: 0.0346, d5.loss_map_cls: 0.5457, d5.loss_map_pts: 2.3924, d5.loss_map_dir: 0.0345, loss: 76.3733, grad_norm: 173.9985 +2026-02-24 07:38:33,496 - DriveTransformer - INFO - Epoch [1][24150/39528] lr: 1.000e-04, eta: 8 days, 14:03:56, time: 0.812, data_time: 0.040, memory: 19865, loss_cls: 0.8908, loss_bbox: 0.8411, loss_traj: 2.0269, loss_traj_cls: 0.0005, loss_map_cls: 0.5375, loss_map_pts: 2.1666, loss_map_dir: 0.0305, d0.loss_plan_l1_fix_time: 2.8214, d0.loss_plan_l1_fix_dist: 0.5670, d1.loss_plan_l1_fix_time: 2.6525, d1.loss_plan_l1_fix_dist: 0.5749, d2.loss_plan_l1_fix_time: 2.6498, d2.loss_plan_l1_fix_dist: 0.5930, d3.loss_plan_l1_fix_time: 2.6617, d3.loss_plan_l1_fix_dist: 0.6127, d4.loss_plan_l1_fix_time: 2.6746, d4.loss_plan_l1_fix_dist: 0.6316, d5.loss_plan_l1_fix_time: 2.6867, d5.loss_plan_l1_fix_dist: 0.6524, d6.loss_plan_l1_fix_time: 2.6995, d6.loss_plan_l1_fix_dist: 0.6819, d0.loss_cls_all: 0.8712, d0.loss_bbox_all: 0.7912, d0.loss_cls: 0.8712, d0.loss_bbox: 0.7912, d1.loss_cls: 0.8601, d1.loss_bbox: 0.8048, d2.loss_cls: 0.8609, d2.loss_bbox: 0.8002, d3.loss_cls: 0.8601, d3.loss_bbox: 0.8087, d4.loss_cls: 0.8713, d4.loss_bbox: 0.8182, d5.loss_cls: 0.8751, d5.loss_bbox: 0.8276, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9427, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9761, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9708, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9865, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0052, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.0174, d0.loss_map_cls_all: 0.5663, d0.loss_map_pts_all: 2.6813, d0.loss_map_dir_all: 0.0305, d0.loss_map_cls: 0.5663, d0.loss_map_pts: 2.6813, d0.loss_map_dir: 0.0305, d1.loss_map_cls: 0.5226, d1.loss_map_pts: 2.1852, d1.loss_map_dir: 0.0308, d2.loss_map_cls: 0.5223, d2.loss_map_pts: 2.1450, d2.loss_map_dir: 0.0307, d3.loss_map_cls: 0.5288, d3.loss_map_pts: 2.1434, d3.loss_map_dir: 0.0306, d4.loss_map_cls: 0.5375, d4.loss_map_pts: 2.1454, d4.loss_map_dir: 0.0305, d5.loss_map_cls: 0.5348, d5.loss_map_pts: 2.1513, d5.loss_map_dir: 0.0305, loss: 73.3935, grad_norm: 176.6050 +2026-02-24 07:39:11,894 - DriveTransformer - INFO - Epoch [1][24200/39528] lr: 1.000e-04, eta: 8 days, 14:02:10, time: 0.768, data_time: 0.038, memory: 19865, loss_cls: 0.9277, loss_bbox: 0.8130, loss_traj: 1.9327, loss_traj_cls: 0.0005, loss_map_cls: 0.5814, loss_map_pts: 2.2480, loss_map_dir: 0.0324, d0.loss_plan_l1_fix_time: 3.4460, d0.loss_plan_l1_fix_dist: 0.5686, d1.loss_plan_l1_fix_time: 3.2115, d1.loss_plan_l1_fix_dist: 0.5754, d2.loss_plan_l1_fix_time: 3.1916, d2.loss_plan_l1_fix_dist: 0.5980, d3.loss_plan_l1_fix_time: 3.1943, d3.loss_plan_l1_fix_dist: 0.6269, d4.loss_plan_l1_fix_time: 3.2013, d4.loss_plan_l1_fix_dist: 0.6597, d5.loss_plan_l1_fix_time: 3.2091, d5.loss_plan_l1_fix_dist: 0.6954, d6.loss_plan_l1_fix_time: 3.2182, d6.loss_plan_l1_fix_dist: 0.7375, d0.loss_cls_all: 0.9259, d0.loss_bbox_all: 0.8092, d0.loss_cls: 0.9259, d0.loss_bbox: 0.8092, d1.loss_cls: 0.9151, d1.loss_bbox: 0.8172, d2.loss_cls: 0.9121, d2.loss_bbox: 0.8101, d3.loss_cls: 0.9171, d3.loss_bbox: 0.8091, d4.loss_cls: 0.9183, d4.loss_bbox: 0.8122, d5.loss_cls: 0.9208, d5.loss_bbox: 0.8126, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9040, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9153, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9110, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9275, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9216, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9274, d0.loss_map_cls_all: 0.6094, d0.loss_map_pts_all: 2.5824, d0.loss_map_dir_all: 0.0329, d0.loss_map_cls: 0.6094, d0.loss_map_pts: 2.5824, d0.loss_map_dir: 0.0329, d1.loss_map_cls: 0.5674, d1.loss_map_pts: 2.2743, d1.loss_map_dir: 0.0329, d2.loss_map_cls: 0.5692, d2.loss_map_pts: 2.2470, d2.loss_map_dir: 0.0327, d3.loss_map_cls: 0.5770, d3.loss_map_pts: 2.2422, d3.loss_map_dir: 0.0325, d4.loss_map_cls: 0.5815, d4.loss_map_pts: 2.2404, d4.loss_map_dir: 0.0325, d5.loss_map_cls: 0.5804, d5.loss_map_pts: 2.2413, d5.loss_map_dir: 0.0325, loss: 78.0267, grad_norm: 173.2703 +2026-02-24 07:39:51,699 - DriveTransformer - INFO - Epoch [1][24250/39528] lr: 1.000e-04, eta: 8 days, 14:01:18, time: 0.796, data_time: 0.045, memory: 19865, loss_cls: 0.9022, loss_bbox: 0.8265, loss_traj: 2.1766, loss_traj_cls: 0.0005, loss_map_cls: 0.5171, loss_map_pts: 2.4753, loss_map_dir: 0.0395, d0.loss_plan_l1_fix_time: 2.6825, d0.loss_plan_l1_fix_dist: 0.5643, d1.loss_plan_l1_fix_time: 2.6000, d1.loss_plan_l1_fix_dist: 0.5748, d2.loss_plan_l1_fix_time: 2.6188, d2.loss_plan_l1_fix_dist: 0.5907, d3.loss_plan_l1_fix_time: 2.6337, d3.loss_plan_l1_fix_dist: 0.6144, d4.loss_plan_l1_fix_time: 2.6509, d4.loss_plan_l1_fix_dist: 0.6397, d5.loss_plan_l1_fix_time: 2.6702, d5.loss_plan_l1_fix_dist: 0.6718, d6.loss_plan_l1_fix_time: 2.6912, d6.loss_plan_l1_fix_dist: 0.7117, d0.loss_cls_all: 0.8961, d0.loss_bbox_all: 0.8173, d0.loss_cls: 0.8961, d0.loss_bbox: 0.8173, d1.loss_cls: 0.8739, d1.loss_bbox: 0.8168, d2.loss_cls: 0.8743, d2.loss_bbox: 0.8261, d3.loss_cls: 0.8798, d3.loss_bbox: 0.8347, d4.loss_cls: 0.8829, d4.loss_bbox: 0.8276, d5.loss_cls: 0.8942, d5.loss_bbox: 0.8257, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0903, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.1391, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1343, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1543, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1520, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1674, d0.loss_map_cls_all: 0.5568, d0.loss_map_pts_all: 2.9345, d0.loss_map_dir_all: 0.0394, d0.loss_map_cls: 0.5568, d0.loss_map_pts: 2.9345, d0.loss_map_dir: 0.0394, d1.loss_map_cls: 0.5154, d1.loss_map_pts: 2.5389, d1.loss_map_dir: 0.0398, d2.loss_map_cls: 0.5180, d2.loss_map_pts: 2.4972, d2.loss_map_dir: 0.0397, d3.loss_map_cls: 0.5177, d3.loss_map_pts: 2.4847, d3.loss_map_dir: 0.0396, d4.loss_map_cls: 0.5187, d4.loss_map_pts: 2.4779, d4.loss_map_dir: 0.0395, d5.loss_map_cls: 0.5151, d5.loss_map_pts: 2.4767, d5.loss_map_dir: 0.0395, loss: 76.9758, grad_norm: 174.8947 +2026-02-24 07:40:32,358 - DriveTransformer - INFO - Epoch [1][24300/39528] lr: 1.000e-04, eta: 8 days, 14:00:58, time: 0.813, data_time: 0.037, memory: 19865, loss_cls: 0.8913, loss_bbox: 0.8400, loss_traj: 2.1467, loss_traj_cls: 0.0005, loss_map_cls: 0.5806, loss_map_pts: 2.8056, loss_map_dir: 0.0405, d0.loss_plan_l1_fix_time: 2.8036, d0.loss_plan_l1_fix_dist: 0.5184, d1.loss_plan_l1_fix_time: 2.6718, d1.loss_plan_l1_fix_dist: 0.5254, d2.loss_plan_l1_fix_time: 2.6752, d2.loss_plan_l1_fix_dist: 0.5415, d3.loss_plan_l1_fix_time: 2.6842, d3.loss_plan_l1_fix_dist: 0.5607, d4.loss_plan_l1_fix_time: 2.6960, d4.loss_plan_l1_fix_dist: 0.5873, d5.loss_plan_l1_fix_time: 2.7089, d5.loss_plan_l1_fix_dist: 0.6200, d6.loss_plan_l1_fix_time: 2.7235, d6.loss_plan_l1_fix_dist: 0.6573, d0.loss_cls_all: 0.8959, d0.loss_bbox_all: 0.8296, d0.loss_cls: 0.8959, d0.loss_bbox: 0.8296, d1.loss_cls: 0.8950, d1.loss_bbox: 0.8375, d2.loss_cls: 0.8862, d2.loss_bbox: 0.8386, d3.loss_cls: 0.8847, d3.loss_bbox: 0.8417, d4.loss_cls: 0.8837, d4.loss_bbox: 0.8368, d5.loss_cls: 0.8868, d5.loss_bbox: 0.8345, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0999, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.1185, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0962, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1119, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1282, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1389, d0.loss_map_cls_all: 0.6003, d0.loss_map_pts_all: 3.1896, d0.loss_map_dir_all: 0.0408, d0.loss_map_cls: 0.6003, d0.loss_map_pts: 3.1896, d0.loss_map_dir: 0.0408, d1.loss_map_cls: 0.5644, d1.loss_map_pts: 2.8536, d1.loss_map_dir: 0.0408, d2.loss_map_cls: 0.5636, d2.loss_map_pts: 2.8189, d2.loss_map_dir: 0.0405, d3.loss_map_cls: 0.5717, d3.loss_map_pts: 2.8073, d3.loss_map_dir: 0.0405, d4.loss_map_cls: 0.5787, d4.loss_map_pts: 2.8055, d4.loss_map_dir: 0.0405, d5.loss_map_cls: 0.5803, d5.loss_map_pts: 2.8064, d5.loss_map_dir: 0.0405, loss: 79.8670, grad_norm: 174.4284 +2026-02-24 07:41:12,314 - DriveTransformer - INFO - Epoch [1][24350/39528] lr: 1.000e-04, eta: 8 days, 14:00:12, time: 0.799, data_time: 0.045, memory: 19865, loss_cls: 0.8806, loss_bbox: 0.8046, loss_traj: 2.0326, loss_traj_cls: 0.0005, loss_map_cls: 0.5285, loss_map_pts: 2.3642, loss_map_dir: 0.0344, d0.loss_plan_l1_fix_time: 3.1148, d0.loss_plan_l1_fix_dist: 0.5223, d1.loss_plan_l1_fix_time: 2.9348, d1.loss_plan_l1_fix_dist: 0.5282, d2.loss_plan_l1_fix_time: 2.9251, d2.loss_plan_l1_fix_dist: 0.5450, d3.loss_plan_l1_fix_time: 2.9323, d3.loss_plan_l1_fix_dist: 0.5688, d4.loss_plan_l1_fix_time: 2.9416, d4.loss_plan_l1_fix_dist: 0.5948, d5.loss_plan_l1_fix_time: 2.9520, d5.loss_plan_l1_fix_dist: 0.6214, d6.loss_plan_l1_fix_time: 2.9632, d6.loss_plan_l1_fix_dist: 0.6526, d0.loss_cls_all: 0.8759, d0.loss_bbox_all: 0.7896, d0.loss_cls: 0.8759, d0.loss_bbox: 0.7896, d1.loss_cls: 0.8822, d1.loss_bbox: 0.8034, d2.loss_cls: 0.8849, d2.loss_bbox: 0.7944, d3.loss_cls: 0.8819, d3.loss_bbox: 0.8014, d4.loss_cls: 0.8826, d4.loss_bbox: 0.8016, d5.loss_cls: 0.8801, d5.loss_bbox: 0.8022, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0382, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0145, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9846, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9909, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0036, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0216, d0.loss_map_cls_all: 0.5825, d0.loss_map_pts_all: 2.7182, d0.loss_map_dir_all: 0.0349, d0.loss_map_cls: 0.5825, d0.loss_map_pts: 2.7182, d0.loss_map_dir: 0.0349, d1.loss_map_cls: 0.5311, d1.loss_map_pts: 2.4127, d1.loss_map_dir: 0.0348, d2.loss_map_cls: 0.5248, d2.loss_map_pts: 2.3730, d2.loss_map_dir: 0.0346, d3.loss_map_cls: 0.5265, d3.loss_map_pts: 2.3622, d3.loss_map_dir: 0.0345, d4.loss_map_cls: 0.5274, d4.loss_map_pts: 2.3595, d4.loss_map_dir: 0.0345, d5.loss_map_cls: 0.5269, d5.loss_map_pts: 2.3608, d5.loss_map_dir: 0.0345, loss: 76.5935, grad_norm: 173.7011 +2026-02-24 07:41:53,541 - DriveTransformer - INFO - Epoch [1][24400/39528] lr: 1.000e-04, eta: 8 days, 14:00:14, time: 0.825, data_time: 0.046, memory: 19865, loss_cls: 0.8925, loss_bbox: 0.8159, loss_traj: 1.9437, loss_traj_cls: 0.0005, loss_map_cls: 0.5249, loss_map_pts: 2.4247, loss_map_dir: 0.0368, d0.loss_plan_l1_fix_time: 3.2914, d0.loss_plan_l1_fix_dist: 0.6117, d1.loss_plan_l1_fix_time: 3.1162, d1.loss_plan_l1_fix_dist: 0.6102, d2.loss_plan_l1_fix_time: 3.0944, d2.loss_plan_l1_fix_dist: 0.6207, d3.loss_plan_l1_fix_time: 3.0951, d3.loss_plan_l1_fix_dist: 0.6354, d4.loss_plan_l1_fix_time: 3.1008, d4.loss_plan_l1_fix_dist: 0.6544, d5.loss_plan_l1_fix_time: 3.1088, d5.loss_plan_l1_fix_dist: 0.6787, d6.loss_plan_l1_fix_time: 3.1182, d6.loss_plan_l1_fix_dist: 0.7102, d0.loss_cls_all: 0.8771, d0.loss_bbox_all: 0.7974, d0.loss_cls: 0.8771, d0.loss_bbox: 0.7974, d1.loss_cls: 0.8751, d1.loss_bbox: 0.8177, d2.loss_cls: 0.8772, d2.loss_bbox: 0.8082, d3.loss_cls: 0.8761, d3.loss_bbox: 0.8089, d4.loss_cls: 0.8769, d4.loss_bbox: 0.8082, d5.loss_cls: 0.8848, d5.loss_bbox: 0.8084, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9462, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9411, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9260, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9408, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9315, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9369, d0.loss_map_cls_all: 0.5601, d0.loss_map_pts_all: 2.9563, d0.loss_map_dir_all: 0.0373, d0.loss_map_cls: 0.5601, d0.loss_map_pts: 2.9563, d0.loss_map_dir: 0.0373, d1.loss_map_cls: 0.5223, d1.loss_map_pts: 2.4843, d1.loss_map_dir: 0.0371, d2.loss_map_cls: 0.5195, d2.loss_map_pts: 2.4363, d2.loss_map_dir: 0.0369, d3.loss_map_cls: 0.5215, d3.loss_map_pts: 2.4230, d3.loss_map_dir: 0.0369, d4.loss_map_cls: 0.5256, d4.loss_map_pts: 2.4192, d4.loss_map_dir: 0.0368, d5.loss_map_cls: 0.5237, d5.loss_map_pts: 2.4210, d5.loss_map_dir: 0.0368, loss: 78.5895, grad_norm: 172.7349 +2026-02-24 07:42:34,640 - DriveTransformer - INFO - Epoch [1][24450/39528] lr: 1.000e-04, eta: 8 days, 14:00:11, time: 0.822, data_time: 0.039, memory: 19865, loss_cls: 0.8955, loss_bbox: 0.8051, loss_traj: 1.7399, loss_traj_cls: 0.0005, loss_map_cls: 0.5826, loss_map_pts: 2.7151, loss_map_dir: 0.0418, d0.loss_plan_l1_fix_time: 3.2141, d0.loss_plan_l1_fix_dist: 0.5987, d1.loss_plan_l1_fix_time: 3.0553, d1.loss_plan_l1_fix_dist: 0.5974, d2.loss_plan_l1_fix_time: 3.0486, d2.loss_plan_l1_fix_dist: 0.6128, d3.loss_plan_l1_fix_time: 3.0559, d3.loss_plan_l1_fix_dist: 0.6307, d4.loss_plan_l1_fix_time: 3.0662, d4.loss_plan_l1_fix_dist: 0.6507, d5.loss_plan_l1_fix_time: 3.0786, d5.loss_plan_l1_fix_dist: 0.6721, d6.loss_plan_l1_fix_time: 3.0935, d6.loss_plan_l1_fix_dist: 0.6944, d0.loss_cls_all: 0.8828, d0.loss_bbox_all: 0.7797, d0.loss_cls: 0.8828, d0.loss_bbox: 0.7797, d1.loss_cls: 0.8757, d1.loss_bbox: 0.7981, d2.loss_cls: 0.8807, d2.loss_bbox: 0.7903, d3.loss_cls: 0.8920, d3.loss_bbox: 0.7915, d4.loss_cls: 0.8969, d4.loss_bbox: 0.7978, d5.loss_cls: 0.8973, d5.loss_bbox: 0.8000, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6949, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.7047, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7182, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7257, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7331, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7308, d0.loss_map_cls_all: 0.6157, d0.loss_map_pts_all: 3.1359, d0.loss_map_dir_all: 0.0414, d0.loss_map_cls: 0.6157, d0.loss_map_pts: 3.1359, d0.loss_map_dir: 0.0414, d1.loss_map_cls: 0.5866, d1.loss_map_pts: 2.7775, d1.loss_map_dir: 0.0417, d2.loss_map_cls: 0.5806, d2.loss_map_pts: 2.7322, d2.loss_map_dir: 0.0417, d3.loss_map_cls: 0.5821, d3.loss_map_pts: 2.7234, d3.loss_map_dir: 0.0416, d4.loss_map_cls: 0.5854, d4.loss_map_pts: 2.7197, d4.loss_map_dir: 0.0417, d5.loss_map_cls: 0.5814, d5.loss_map_pts: 2.7187, d5.loss_map_dir: 0.0417, loss: 79.2871, grad_norm: 171.3389 +2026-02-24 07:43:15,393 - DriveTransformer - INFO - Epoch [1][24500/39528] lr: 1.000e-04, eta: 8 days, 13:59:55, time: 0.815, data_time: 0.050, memory: 19865, loss_cls: 0.9011, loss_bbox: 0.7608, loss_traj: 1.6577, loss_traj_cls: 0.0005, loss_map_cls: 0.5203, loss_map_pts: 2.2940, loss_map_dir: 0.0373, d0.loss_plan_l1_fix_time: 2.5588, d0.loss_plan_l1_fix_dist: 0.6228, d1.loss_plan_l1_fix_time: 2.5660, d1.loss_plan_l1_fix_dist: 0.6271, d2.loss_plan_l1_fix_time: 2.6017, d2.loss_plan_l1_fix_dist: 0.6389, d3.loss_plan_l1_fix_time: 2.6264, d3.loss_plan_l1_fix_dist: 0.6588, d4.loss_plan_l1_fix_time: 2.6479, d4.loss_plan_l1_fix_dist: 0.6852, d5.loss_plan_l1_fix_time: 2.6677, d5.loss_plan_l1_fix_dist: 0.7195, d6.loss_plan_l1_fix_time: 2.6856, d6.loss_plan_l1_fix_dist: 0.7603, d0.loss_cls_all: 0.8759, d0.loss_bbox_all: 0.7481, d0.loss_cls: 0.8759, d0.loss_bbox: 0.7481, d1.loss_cls: 0.8728, d1.loss_bbox: 0.7618, d2.loss_cls: 0.8710, d2.loss_bbox: 0.7554, d3.loss_cls: 0.8735, d3.loss_bbox: 0.7544, d4.loss_cls: 0.8775, d4.loss_bbox: 0.7561, d5.loss_cls: 0.8890, d5.loss_bbox: 0.7572, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5981, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.6019, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6172, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6319, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.6405, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6455, d0.loss_map_cls_all: 0.5467, d0.loss_map_pts_all: 2.7840, d0.loss_map_dir_all: 0.0373, d0.loss_map_cls: 0.5467, d0.loss_map_pts: 2.7840, d0.loss_map_dir: 0.0373, d1.loss_map_cls: 0.5103, d1.loss_map_pts: 2.3126, d1.loss_map_dir: 0.0373, d2.loss_map_cls: 0.5182, d2.loss_map_pts: 2.2829, d2.loss_map_dir: 0.0372, d3.loss_map_cls: 0.5142, d3.loss_map_pts: 2.2870, d3.loss_map_dir: 0.0372, d4.loss_map_cls: 0.5151, d4.loss_map_pts: 2.2897, d4.loss_map_dir: 0.0372, d5.loss_map_cls: 0.5150, d5.loss_map_pts: 2.2891, d5.loss_map_dir: 0.0372, loss: 71.3498, grad_norm: 171.5255 +2026-02-24 07:43:55,117 - DriveTransformer - INFO - Epoch [1][24550/39528] lr: 1.000e-04, eta: 8 days, 13:59:00, time: 0.794, data_time: 0.042, memory: 19865, loss_cls: 0.9070, loss_bbox: 0.7782, loss_traj: 1.6442, loss_traj_cls: 0.0005, loss_map_cls: 0.5193, loss_map_pts: 2.3908, loss_map_dir: 0.0369, d0.loss_plan_l1_fix_time: 2.8465, d0.loss_plan_l1_fix_dist: 0.5674, d1.loss_plan_l1_fix_time: 2.7037, d1.loss_plan_l1_fix_dist: 0.5685, d2.loss_plan_l1_fix_time: 2.6998, d2.loss_plan_l1_fix_dist: 0.5825, d3.loss_plan_l1_fix_time: 2.7070, d3.loss_plan_l1_fix_dist: 0.6050, d4.loss_plan_l1_fix_time: 2.7178, d4.loss_plan_l1_fix_dist: 0.6325, d5.loss_plan_l1_fix_time: 2.7293, d5.loss_plan_l1_fix_dist: 0.6647, d6.loss_plan_l1_fix_time: 2.7410, d6.loss_plan_l1_fix_dist: 0.7003, d0.loss_cls_all: 0.8892, d0.loss_bbox_all: 0.7680, d0.loss_cls: 0.8892, d0.loss_bbox: 0.7680, d1.loss_cls: 0.8950, d1.loss_bbox: 0.7854, d2.loss_cls: 0.8901, d2.loss_bbox: 0.7754, d3.loss_cls: 0.8921, d3.loss_bbox: 0.7751, d4.loss_cls: 0.8987, d4.loss_bbox: 0.7753, d5.loss_cls: 0.9009, d5.loss_bbox: 0.7758, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6449, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.6543, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6538, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6401, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.6377, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6395, d0.loss_map_cls_all: 0.5558, d0.loss_map_pts_all: 2.8782, d0.loss_map_dir_all: 0.0370, d0.loss_map_cls: 0.5558, d0.loss_map_pts: 2.8782, d0.loss_map_dir: 0.0370, d1.loss_map_cls: 0.5152, d1.loss_map_pts: 2.4456, d1.loss_map_dir: 0.0371, d2.loss_map_cls: 0.5150, d2.loss_map_pts: 2.4000, d2.loss_map_dir: 0.0370, d3.loss_map_cls: 0.5131, d3.loss_map_pts: 2.3955, d3.loss_map_dir: 0.0369, d4.loss_map_cls: 0.5135, d4.loss_map_pts: 2.3932, d4.loss_map_dir: 0.0369, d5.loss_map_cls: 0.5159, d5.loss_map_pts: 2.3910, d5.loss_map_dir: 0.0369, loss: 73.0195, grad_norm: 172.6729 +2026-02-24 07:44:32,470 - DriveTransformer - INFO - Epoch [1][24600/39528] lr: 1.000e-04, eta: 8 days, 13:56:35, time: 0.747, data_time: 0.043, memory: 19865, loss_cls: 0.9030, loss_bbox: 0.8031, loss_traj: 2.3986, loss_traj_cls: 0.0005, loss_map_cls: 0.5680, loss_map_pts: 2.2623, loss_map_dir: 0.0330, d0.loss_plan_l1_fix_time: 3.3896, d0.loss_plan_l1_fix_dist: 0.5487, d1.loss_plan_l1_fix_time: 3.1933, d1.loss_plan_l1_fix_dist: 0.5565, d2.loss_plan_l1_fix_time: 3.1709, d2.loss_plan_l1_fix_dist: 0.5783, d3.loss_plan_l1_fix_time: 3.1721, d3.loss_plan_l1_fix_dist: 0.6023, d4.loss_plan_l1_fix_time: 3.1803, d4.loss_plan_l1_fix_dist: 0.6279, d5.loss_plan_l1_fix_time: 3.1902, d5.loss_plan_l1_fix_dist: 0.6538, d6.loss_plan_l1_fix_time: 3.2020, d6.loss_plan_l1_fix_dist: 0.6810, d0.loss_cls_all: 0.8930, d0.loss_bbox_all: 0.7930, d0.loss_cls: 0.8930, d0.loss_bbox: 0.7930, d1.loss_cls: 0.8906, d1.loss_bbox: 0.8172, d2.loss_cls: 0.8936, d2.loss_bbox: 0.8085, d3.loss_cls: 0.8937, d3.loss_bbox: 0.8033, d4.loss_cls: 0.8927, d4.loss_bbox: 0.8077, d5.loss_cls: 0.8931, d5.loss_bbox: 0.8036, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.3234, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.3340, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3601, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3753, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3817, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.3801, d0.loss_map_cls_all: 0.6101, d0.loss_map_pts_all: 2.5781, d0.loss_map_dir_all: 0.0336, d0.loss_map_cls: 0.6101, d0.loss_map_pts: 2.5781, d0.loss_map_dir: 0.0336, d1.loss_map_cls: 0.5669, d1.loss_map_pts: 2.2807, d1.loss_map_dir: 0.0332, d2.loss_map_cls: 0.5659, d2.loss_map_pts: 2.2617, d2.loss_map_dir: 0.0330, d3.loss_map_cls: 0.5680, d3.loss_map_pts: 2.2571, d3.loss_map_dir: 0.0329, d4.loss_map_cls: 0.5659, d4.loss_map_pts: 2.2585, d4.loss_map_dir: 0.0329, d5.loss_map_cls: 0.5672, d5.loss_map_pts: 2.2614, d5.loss_map_dir: 0.0329, loss: 80.5110, grad_norm: 171.6251 +2026-02-24 07:45:12,207 - DriveTransformer - INFO - Epoch [1][24650/39528] lr: 1.000e-04, eta: 8 days, 13:55:41, time: 0.795, data_time: 0.036, memory: 19865, loss_cls: 0.9241, loss_bbox: 0.7845, loss_traj: 2.0022, loss_traj_cls: 0.0005, loss_map_cls: 0.5602, loss_map_pts: 2.5273, loss_map_dir: 0.0387, d0.loss_plan_l1_fix_time: 3.3415, d0.loss_plan_l1_fix_dist: 0.4532, d1.loss_plan_l1_fix_time: 3.1920, d1.loss_plan_l1_fix_dist: 0.4630, d2.loss_plan_l1_fix_time: 3.1663, d2.loss_plan_l1_fix_dist: 0.4882, d3.loss_plan_l1_fix_time: 3.1667, d3.loss_plan_l1_fix_dist: 0.5224, d4.loss_plan_l1_fix_time: 3.1726, d4.loss_plan_l1_fix_dist: 0.5564, d5.loss_plan_l1_fix_time: 3.1799, d5.loss_plan_l1_fix_dist: 0.5942, d6.loss_plan_l1_fix_time: 3.1913, d6.loss_plan_l1_fix_dist: 0.6324, d0.loss_cls_all: 0.9145, d0.loss_bbox_all: 0.7740, d0.loss_cls: 0.9145, d0.loss_bbox: 0.7740, d1.loss_cls: 0.9201, d1.loss_bbox: 0.7971, d2.loss_cls: 0.9165, d2.loss_bbox: 0.7907, d3.loss_cls: 0.9113, d3.loss_bbox: 0.7828, d4.loss_cls: 0.9012, d4.loss_bbox: 0.7857, d5.loss_cls: 0.9091, d5.loss_bbox: 0.7824, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9370, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9547, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9604, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9802, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9713, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9770, d0.loss_map_cls_all: 0.5993, d0.loss_map_pts_all: 2.9406, d0.loss_map_dir_all: 0.0387, d0.loss_map_cls: 0.5993, d0.loss_map_pts: 2.9406, d0.loss_map_dir: 0.0387, d1.loss_map_cls: 0.5600, d1.loss_map_pts: 2.5725, d1.loss_map_dir: 0.0386, d2.loss_map_cls: 0.5591, d2.loss_map_pts: 2.5315, d2.loss_map_dir: 0.0387, d3.loss_map_cls: 0.5567, d3.loss_map_pts: 2.5220, d3.loss_map_dir: 0.0386, d4.loss_map_cls: 0.5572, d4.loss_map_pts: 2.5215, d4.loss_map_dir: 0.0386, d5.loss_map_cls: 0.5573, d5.loss_map_pts: 2.5253, d5.loss_map_dir: 0.0386, loss: 79.4289, grad_norm: 169.1893 +2026-02-24 07:45:50,966 - DriveTransformer - INFO - Epoch [1][24700/39528] lr: 1.000e-04, eta: 8 days, 13:54:11, time: 0.776, data_time: 0.038, memory: 19865, loss_cls: 0.8563, loss_bbox: 0.7878, loss_traj: 1.9400, loss_traj_cls: 0.0005, loss_map_cls: 0.5216, loss_map_pts: 2.3707, loss_map_dir: 0.0357, d0.loss_plan_l1_fix_time: 2.8626, d0.loss_plan_l1_fix_dist: 0.5882, d1.loss_plan_l1_fix_time: 2.7359, d1.loss_plan_l1_fix_dist: 0.5849, d2.loss_plan_l1_fix_time: 2.7320, d2.loss_plan_l1_fix_dist: 0.5968, d3.loss_plan_l1_fix_time: 2.7455, d3.loss_plan_l1_fix_dist: 0.6145, d4.loss_plan_l1_fix_time: 2.7625, d4.loss_plan_l1_fix_dist: 0.6430, d5.loss_plan_l1_fix_time: 2.7821, d5.loss_plan_l1_fix_dist: 0.6838, d6.loss_plan_l1_fix_time: 2.8041, d6.loss_plan_l1_fix_dist: 0.7312, d0.loss_cls_all: 0.8533, d0.loss_bbox_all: 0.7817, d0.loss_cls: 0.8533, d0.loss_bbox: 0.7817, d1.loss_cls: 0.8521, d1.loss_bbox: 0.8097, d2.loss_cls: 0.8449, d2.loss_bbox: 0.7887, d3.loss_cls: 0.8430, d3.loss_bbox: 0.7816, d4.loss_cls: 0.8397, d4.loss_bbox: 0.7831, d5.loss_cls: 0.8447, d5.loss_bbox: 0.7854, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9157, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9308, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9264, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9269, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9412, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9378, d0.loss_map_cls_all: 0.5599, d0.loss_map_pts_all: 2.6929, d0.loss_map_dir_all: 0.0357, d0.loss_map_cls: 0.5599, d0.loss_map_pts: 2.6929, d0.loss_map_dir: 0.0357, d1.loss_map_cls: 0.5185, d1.loss_map_pts: 2.3943, d1.loss_map_dir: 0.0357, d2.loss_map_cls: 0.5184, d2.loss_map_pts: 2.3643, d2.loss_map_dir: 0.0356, d3.loss_map_cls: 0.5156, d3.loss_map_pts: 2.3576, d3.loss_map_dir: 0.0355, d4.loss_map_cls: 0.5166, d4.loss_map_pts: 2.3598, d4.loss_map_dir: 0.0356, d5.loss_map_cls: 0.5177, d5.loss_map_pts: 2.3621, d5.loss_map_dir: 0.0356, loss: 74.5841, grad_norm: 169.0104 +2026-02-24 07:46:30,226 - DriveTransformer - INFO - Epoch [1][24750/39528] lr: 1.000e-04, eta: 8 days, 13:52:58, time: 0.785, data_time: 0.049, memory: 19865, loss_cls: 0.8775, loss_bbox: 0.7830, loss_traj: 1.8903, loss_traj_cls: 0.0005, loss_map_cls: 0.5390, loss_map_pts: 2.3451, loss_map_dir: 0.0374, d0.loss_plan_l1_fix_time: 2.9535, d0.loss_plan_l1_fix_dist: 0.5515, d1.loss_plan_l1_fix_time: 2.8041, d1.loss_plan_l1_fix_dist: 0.5637, d2.loss_plan_l1_fix_time: 2.7904, d2.loss_plan_l1_fix_dist: 0.5907, d3.loss_plan_l1_fix_time: 2.7938, d3.loss_plan_l1_fix_dist: 0.6211, d4.loss_plan_l1_fix_time: 2.8020, d4.loss_plan_l1_fix_dist: 0.6517, d5.loss_plan_l1_fix_time: 2.8131, d5.loss_plan_l1_fix_dist: 0.6818, d6.loss_plan_l1_fix_time: 2.8255, d6.loss_plan_l1_fix_dist: 0.7151, d0.loss_cls_all: 0.8720, d0.loss_bbox_all: 0.7874, d0.loss_cls: 0.8720, d0.loss_bbox: 0.7874, d1.loss_cls: 0.8804, d1.loss_bbox: 0.8020, d2.loss_cls: 0.8833, d2.loss_bbox: 0.7807, d3.loss_cls: 0.8797, d3.loss_bbox: 0.7748, d4.loss_cls: 0.8779, d4.loss_bbox: 0.7804, d5.loss_cls: 0.8776, d5.loss_bbox: 0.7795, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7373, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.7792, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7964, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8449, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8820, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8857, d0.loss_map_cls_all: 0.6010, d0.loss_map_pts_all: 2.7932, d0.loss_map_dir_all: 0.0375, d0.loss_map_cls: 0.6010, d0.loss_map_pts: 2.7932, d0.loss_map_dir: 0.0375, d1.loss_map_cls: 0.5490, d1.loss_map_pts: 2.3899, d1.loss_map_dir: 0.0375, d2.loss_map_cls: 0.5448, d2.loss_map_pts: 2.3528, d2.loss_map_dir: 0.0373, d3.loss_map_cls: 0.5488, d3.loss_map_pts: 2.3451, d3.loss_map_dir: 0.0374, d4.loss_map_cls: 0.5510, d4.loss_map_pts: 2.3438, d4.loss_map_dir: 0.0374, d5.loss_map_cls: 0.5392, d5.loss_map_pts: 2.3463, d5.loss_map_dir: 0.0374, loss: 74.7557, grad_norm: 169.2531 +2026-02-24 07:47:09,695 - DriveTransformer - INFO - Epoch [1][24800/39528] lr: 1.000e-04, eta: 8 days, 13:51:57, time: 0.791, data_time: 0.041, memory: 19865, loss_cls: 0.9518, loss_bbox: 0.8218, loss_traj: 1.8995, loss_traj_cls: 0.0005, loss_map_cls: 0.5272, loss_map_pts: 2.3026, loss_map_dir: 0.0333, d0.loss_plan_l1_fix_time: 3.0947, d0.loss_plan_l1_fix_dist: 0.6216, d1.loss_plan_l1_fix_time: 3.0482, d1.loss_plan_l1_fix_dist: 0.6286, d2.loss_plan_l1_fix_time: 3.0587, d2.loss_plan_l1_fix_dist: 0.6492, d3.loss_plan_l1_fix_time: 3.0705, d3.loss_plan_l1_fix_dist: 0.6706, d4.loss_plan_l1_fix_time: 3.0830, d4.loss_plan_l1_fix_dist: 0.6933, d5.loss_plan_l1_fix_time: 3.0945, d5.loss_plan_l1_fix_dist: 0.7145, d6.loss_plan_l1_fix_time: 3.1063, d6.loss_plan_l1_fix_dist: 0.7396, d0.loss_cls_all: 0.9252, d0.loss_bbox_all: 0.8185, d0.loss_cls: 0.9252, d0.loss_bbox: 0.8185, d1.loss_cls: 0.9360, d1.loss_bbox: 0.8281, d2.loss_cls: 0.9381, d2.loss_bbox: 0.8094, d3.loss_cls: 0.9340, d3.loss_bbox: 0.8132, d4.loss_cls: 0.9380, d4.loss_bbox: 0.8193, d5.loss_cls: 0.9444, d5.loss_bbox: 0.8174, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9224, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9134, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8671, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8890, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9164, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9141, d0.loss_map_cls_all: 0.5830, d0.loss_map_pts_all: 2.7368, d0.loss_map_dir_all: 0.0337, d0.loss_map_cls: 0.5830, d0.loss_map_pts: 2.7368, d0.loss_map_dir: 0.0337, d1.loss_map_cls: 0.5253, d1.loss_map_pts: 2.3395, d1.loss_map_dir: 0.0335, d2.loss_map_cls: 0.5228, d2.loss_map_pts: 2.3134, d2.loss_map_dir: 0.0333, d3.loss_map_cls: 0.5259, d3.loss_map_pts: 2.3075, d3.loss_map_dir: 0.0333, d4.loss_map_cls: 0.5303, d4.loss_map_pts: 2.3048, d4.loss_map_dir: 0.0333, d5.loss_map_cls: 0.5258, d5.loss_map_pts: 2.3045, d5.loss_map_dir: 0.0333, loss: 77.5745, grad_norm: 168.8137 +2026-02-24 07:47:48,824 - DriveTransformer - INFO - Epoch [1][24850/39528] lr: 1.000e-04, eta: 8 days, 13:50:38, time: 0.781, data_time: 0.037, memory: 19865, loss_cls: 0.8991, loss_bbox: 0.8118, loss_traj: 1.8186, loss_traj_cls: 0.0005, loss_map_cls: 0.5452, loss_map_pts: 2.5727, loss_map_dir: 0.0386, d0.loss_plan_l1_fix_time: 2.4950, d0.loss_plan_l1_fix_dist: 0.5319, d1.loss_plan_l1_fix_time: 2.3512, d1.loss_plan_l1_fix_dist: 0.5436, d2.loss_plan_l1_fix_time: 2.3419, d2.loss_plan_l1_fix_dist: 0.5640, d3.loss_plan_l1_fix_time: 2.3493, d3.loss_plan_l1_fix_dist: 0.5940, d4.loss_plan_l1_fix_time: 2.3621, d4.loss_plan_l1_fix_dist: 0.6304, d5.loss_plan_l1_fix_time: 2.3782, d5.loss_plan_l1_fix_dist: 0.6733, d6.loss_plan_l1_fix_time: 2.3961, d6.loss_plan_l1_fix_dist: 0.7236, d0.loss_cls_all: 0.8773, d0.loss_bbox_all: 0.8019, d0.loss_cls: 0.8773, d0.loss_bbox: 0.8019, d1.loss_cls: 0.8755, d1.loss_bbox: 0.7935, d2.loss_cls: 0.8851, d2.loss_bbox: 0.7821, d3.loss_cls: 0.8935, d3.loss_bbox: 0.7817, d4.loss_cls: 0.8951, d4.loss_bbox: 0.7888, d5.loss_cls: 0.9008, d5.loss_bbox: 0.7981, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6930, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.7047, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7270, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7523, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8239, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8340, d0.loss_map_cls_all: 0.5678, d0.loss_map_pts_all: 3.0637, d0.loss_map_dir_all: 0.0383, d0.loss_map_cls: 0.5678, d0.loss_map_pts: 3.0637, d0.loss_map_dir: 0.0383, d1.loss_map_cls: 0.5334, d1.loss_map_pts: 2.6389, d1.loss_map_dir: 0.0386, d2.loss_map_cls: 0.5340, d2.loss_map_pts: 2.6029, d2.loss_map_dir: 0.0385, d3.loss_map_cls: 0.5472, d3.loss_map_pts: 2.5934, d3.loss_map_dir: 0.0385, d4.loss_map_cls: 0.5462, d4.loss_map_pts: 2.5833, d4.loss_map_dir: 0.0386, d5.loss_map_cls: 0.5447, d5.loss_map_pts: 2.5752, d5.loss_map_dir: 0.0386, loss: 73.1436, grad_norm: 171.8066 +2026-02-24 07:48:27,354 - DriveTransformer - INFO - Epoch [1][24900/39528] lr: 1.000e-04, eta: 8 days, 13:48:59, time: 0.771, data_time: 0.044, memory: 19865, loss_cls: 0.8938, loss_bbox: 0.7830, loss_traj: 1.7843, loss_traj_cls: 0.0006, loss_map_cls: 0.5414, loss_map_pts: 2.2045, loss_map_dir: 0.0316, d0.loss_plan_l1_fix_time: 3.1397, d0.loss_plan_l1_fix_dist: 0.5205, d1.loss_plan_l1_fix_time: 3.0244, d1.loss_plan_l1_fix_dist: 0.5311, d2.loss_plan_l1_fix_time: 3.0173, d2.loss_plan_l1_fix_dist: 0.5569, d3.loss_plan_l1_fix_time: 3.0252, d3.loss_plan_l1_fix_dist: 0.5866, d4.loss_plan_l1_fix_time: 3.0378, d4.loss_plan_l1_fix_dist: 0.6237, d5.loss_plan_l1_fix_time: 3.0537, d5.loss_plan_l1_fix_dist: 0.6663, d6.loss_plan_l1_fix_time: 3.0709, d6.loss_plan_l1_fix_dist: 0.7164, d0.loss_cls_all: 0.8811, d0.loss_bbox_all: 0.7606, d0.loss_cls: 0.8811, d0.loss_bbox: 0.7606, d1.loss_cls: 0.8695, d1.loss_bbox: 0.7575, d2.loss_cls: 0.8758, d2.loss_bbox: 0.7511, d3.loss_cls: 0.8765, d3.loss_bbox: 0.7522, d4.loss_cls: 0.8846, d4.loss_bbox: 0.7617, d5.loss_cls: 0.8889, d5.loss_bbox: 0.7715, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7273, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.7457, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7634, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7631, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7710, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7830, d0.loss_map_cls_all: 0.6060, d0.loss_map_pts_all: 2.6171, d0.loss_map_dir_all: 0.0316, d0.loss_map_cls: 0.6060, d0.loss_map_pts: 2.6171, d0.loss_map_dir: 0.0316, d1.loss_map_cls: 0.5420, d1.loss_map_pts: 2.2325, d1.loss_map_dir: 0.0316, d2.loss_map_cls: 0.5390, d2.loss_map_pts: 2.2066, d2.loss_map_dir: 0.0315, d3.loss_map_cls: 0.5546, d3.loss_map_pts: 2.2060, d3.loss_map_dir: 0.0314, d4.loss_map_cls: 0.5487, d4.loss_map_pts: 2.2024, d4.loss_map_dir: 0.0315, d5.loss_map_cls: 0.5427, d5.loss_map_pts: 2.1996, d5.loss_map_dir: 0.0316, loss: 74.2807, grad_norm: 173.2274 +2026-02-24 07:49:04,783 - DriveTransformer - INFO - Epoch [1][24950/39528] lr: 1.000e-04, eta: 8 days, 13:46:40, time: 0.749, data_time: 0.036, memory: 19865, loss_cls: 0.9029, loss_bbox: 0.8011, loss_traj: 1.6229, loss_traj_cls: 0.0005, loss_map_cls: 0.5284, loss_map_pts: 2.1043, loss_map_dir: 0.0316, d0.loss_plan_l1_fix_time: 2.9560, d0.loss_plan_l1_fix_dist: 0.5821, d1.loss_plan_l1_fix_time: 2.7934, d1.loss_plan_l1_fix_dist: 0.5988, d2.loss_plan_l1_fix_time: 2.7822, d2.loss_plan_l1_fix_dist: 0.6350, d3.loss_plan_l1_fix_time: 2.7894, d3.loss_plan_l1_fix_dist: 0.6782, d4.loss_plan_l1_fix_time: 2.7996, d4.loss_plan_l1_fix_dist: 0.7255, d5.loss_plan_l1_fix_time: 2.8114, d5.loss_plan_l1_fix_dist: 0.7762, d6.loss_plan_l1_fix_time: 2.8256, d6.loss_plan_l1_fix_dist: 0.8307, d0.loss_cls_all: 0.8814, d0.loss_bbox_all: 0.7930, d0.loss_cls: 0.8814, d0.loss_bbox: 0.7930, d1.loss_cls: 0.8760, d1.loss_bbox: 0.8048, d2.loss_cls: 0.8726, d2.loss_bbox: 0.7993, d3.loss_cls: 0.8747, d3.loss_bbox: 0.7970, d4.loss_cls: 0.8782, d4.loss_bbox: 0.7996, d5.loss_cls: 0.8912, d5.loss_bbox: 0.7985, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6296, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.6298, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6211, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6378, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6158, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6225, d0.loss_map_cls_all: 0.5897, d0.loss_map_pts_all: 2.5251, d0.loss_map_dir_all: 0.0314, d0.loss_map_cls: 0.5897, d0.loss_map_pts: 2.5251, d0.loss_map_dir: 0.0314, d1.loss_map_cls: 0.5316, d1.loss_map_pts: 2.1149, d1.loss_map_dir: 0.0317, d2.loss_map_cls: 0.5289, d2.loss_map_pts: 2.0832, d2.loss_map_dir: 0.0316, d3.loss_map_cls: 0.5310, d3.loss_map_pts: 2.0871, d3.loss_map_dir: 0.0316, d4.loss_map_cls: 0.5316, d4.loss_map_pts: 2.0891, d4.loss_map_dir: 0.0316, d5.loss_map_cls: 0.5275, d5.loss_map_pts: 2.0962, d5.loss_map_dir: 0.0316, loss: 71.6479, grad_norm: 175.3728 +2026-02-24 07:49:42,775 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 07:49:42,775 - DriveTransformer - INFO - Epoch [1][25000/39528] lr: 1.000e-04, eta: 8 days, 13:44:42, time: 0.760, data_time: 0.036, memory: 19865, loss_cls: 0.8978, loss_bbox: 0.8119, loss_traj: 1.6793, loss_traj_cls: 0.0005, loss_map_cls: 0.5912, loss_map_pts: 2.4736, loss_map_dir: 0.0367, d0.loss_plan_l1_fix_time: 3.0595, d0.loss_plan_l1_fix_dist: 0.5444, d1.loss_plan_l1_fix_time: 2.8926, d1.loss_plan_l1_fix_dist: 0.5540, d2.loss_plan_l1_fix_time: 2.8857, d2.loss_plan_l1_fix_dist: 0.5792, d3.loss_plan_l1_fix_time: 2.8922, d3.loss_plan_l1_fix_dist: 0.6082, d4.loss_plan_l1_fix_time: 2.9022, d4.loss_plan_l1_fix_dist: 0.6426, d5.loss_plan_l1_fix_time: 2.9135, d5.loss_plan_l1_fix_dist: 0.6827, d6.loss_plan_l1_fix_time: 2.9280, d6.loss_plan_l1_fix_dist: 0.7326, d0.loss_cls_all: 0.8752, d0.loss_bbox_all: 0.8101, d0.loss_cls: 0.8752, d0.loss_bbox: 0.8101, d1.loss_cls: 0.8822, d1.loss_bbox: 0.8274, d2.loss_cls: 0.8809, d2.loss_bbox: 0.8119, d3.loss_cls: 0.8826, d3.loss_bbox: 0.8079, d4.loss_cls: 0.8867, d4.loss_bbox: 0.8058, d5.loss_cls: 0.8933, d5.loss_bbox: 0.8054, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6740, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.6542, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6405, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6459, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.6520, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6667, d0.loss_map_cls_all: 0.6179, d0.loss_map_pts_all: 2.8407, d0.loss_map_dir_all: 0.0364, d0.loss_map_cls: 0.6179, d0.loss_map_pts: 2.8407, d0.loss_map_dir: 0.0364, d1.loss_map_cls: 0.5764, d1.loss_map_pts: 2.4911, d1.loss_map_dir: 0.0368, d2.loss_map_cls: 0.5759, d2.loss_map_pts: 2.4638, d2.loss_map_dir: 0.0367, d3.loss_map_cls: 0.5773, d3.loss_map_pts: 2.4624, d3.loss_map_dir: 0.0366, d4.loss_map_cls: 0.5832, d4.loss_map_pts: 2.4676, d4.loss_map_dir: 0.0366, d5.loss_map_cls: 0.5911, d5.loss_map_pts: 2.4700, d5.loss_map_dir: 0.0366, loss: 75.5318, grad_norm: 174.0564 +2026-02-24 07:50:22,834 - DriveTransformer - INFO - Epoch [1][25050/39528] lr: 1.000e-04, eta: 8 days, 13:44:01, time: 0.801, data_time: 0.038, memory: 19865, loss_cls: 0.8899, loss_bbox: 0.8045, loss_traj: 1.7556, loss_traj_cls: 0.0006, loss_map_cls: 0.5290, loss_map_pts: 2.6700, loss_map_dir: 0.0400, d0.loss_plan_l1_fix_time: 3.3271, d0.loss_plan_l1_fix_dist: 0.5726, d1.loss_plan_l1_fix_time: 3.0910, d1.loss_plan_l1_fix_dist: 0.5926, d2.loss_plan_l1_fix_time: 3.0533, d2.loss_plan_l1_fix_dist: 0.6261, d3.loss_plan_l1_fix_time: 3.0488, d3.loss_plan_l1_fix_dist: 0.6669, d4.loss_plan_l1_fix_time: 3.0527, d4.loss_plan_l1_fix_dist: 0.7135, d5.loss_plan_l1_fix_time: 3.0598, d5.loss_plan_l1_fix_dist: 0.7612, d6.loss_plan_l1_fix_time: 3.0691, d6.loss_plan_l1_fix_dist: 0.8146, d0.loss_cls_all: 0.8831, d0.loss_bbox_all: 0.8086, d0.loss_cls: 0.8831, d0.loss_bbox: 0.8086, d1.loss_cls: 0.8756, d1.loss_bbox: 0.8340, d2.loss_cls: 0.8698, d2.loss_bbox: 0.8086, d3.loss_cls: 0.8705, d3.loss_bbox: 0.8026, d4.loss_cls: 0.8701, d4.loss_bbox: 0.8006, d5.loss_cls: 0.8795, d5.loss_bbox: 0.8005, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7889, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7879, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7609, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7802, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7673, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7570, d0.loss_map_cls_all: 0.5809, d0.loss_map_pts_all: 3.1214, d0.loss_map_dir_all: 0.0398, d0.loss_map_cls: 0.5809, d0.loss_map_pts: 3.1214, d0.loss_map_dir: 0.0398, d1.loss_map_cls: 0.5338, d1.loss_map_pts: 2.7175, d1.loss_map_dir: 0.0399, d2.loss_map_cls: 0.5313, d2.loss_map_pts: 2.6783, d2.loss_map_dir: 0.0400, d3.loss_map_cls: 0.5286, d3.loss_map_pts: 2.6694, d3.loss_map_dir: 0.0399, d4.loss_map_cls: 0.5298, d4.loss_map_pts: 2.6669, d4.loss_map_dir: 0.0399, d5.loss_map_cls: 0.5280, d5.loss_map_pts: 2.6676, d5.loss_map_dir: 0.0400, loss: 79.3156, grad_norm: 174.0206 +2026-02-24 07:51:00,867 - DriveTransformer - INFO - Epoch [1][25100/39528] lr: 1.000e-04, eta: 8 days, 13:42:05, time: 0.761, data_time: 0.039, memory: 19865, loss_cls: 0.8628, loss_bbox: 0.7927, loss_traj: 1.8986, loss_traj_cls: 0.0005, loss_map_cls: 0.5241, loss_map_pts: 2.1733, loss_map_dir: 0.0333, d0.loss_plan_l1_fix_time: 2.9262, d0.loss_plan_l1_fix_dist: 0.5433, d1.loss_plan_l1_fix_time: 2.7679, d1.loss_plan_l1_fix_dist: 0.5571, d2.loss_plan_l1_fix_time: 2.7576, d2.loss_plan_l1_fix_dist: 0.5907, d3.loss_plan_l1_fix_time: 2.7646, d3.loss_plan_l1_fix_dist: 0.6289, d4.loss_plan_l1_fix_time: 2.7762, d4.loss_plan_l1_fix_dist: 0.6662, d5.loss_plan_l1_fix_time: 2.7898, d5.loss_plan_l1_fix_dist: 0.7045, d6.loss_plan_l1_fix_time: 2.8035, d6.loss_plan_l1_fix_dist: 0.7453, d0.loss_cls_all: 0.8731, d0.loss_bbox_all: 0.7894, d0.loss_cls: 0.8731, d0.loss_bbox: 0.7894, d1.loss_cls: 0.8628, d1.loss_bbox: 0.8091, d2.loss_cls: 0.8648, d2.loss_bbox: 0.7948, d3.loss_cls: 0.8670, d3.loss_bbox: 0.7921, d4.loss_cls: 0.8658, d4.loss_bbox: 0.7895, d5.loss_cls: 0.8626, d5.loss_bbox: 0.7924, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8831, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.8911, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.8810, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8938, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8824, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8823, d0.loss_map_cls_all: 0.5881, d0.loss_map_pts_all: 2.5566, d0.loss_map_dir_all: 0.0334, d0.loss_map_cls: 0.5881, d0.loss_map_pts: 2.5566, d0.loss_map_dir: 0.0334, d1.loss_map_cls: 0.5355, d1.loss_map_pts: 2.2206, d1.loss_map_dir: 0.0333, d2.loss_map_cls: 0.5321, d2.loss_map_pts: 2.1875, d2.loss_map_dir: 0.0332, d3.loss_map_cls: 0.5242, d3.loss_map_pts: 2.1801, d3.loss_map_dir: 0.0331, d4.loss_map_cls: 0.5239, d4.loss_map_pts: 2.1758, d4.loss_map_dir: 0.0331, d5.loss_map_cls: 0.5204, d5.loss_map_pts: 2.1710, d5.loss_map_dir: 0.0332, loss: 73.3433, grad_norm: 172.1323 +2026-02-24 07:51:39,425 - DriveTransformer - INFO - Epoch [1][25150/39528] lr: 1.000e-04, eta: 8 days, 13:40:28, time: 0.771, data_time: 0.036, memory: 19865, loss_cls: 0.8789, loss_bbox: 0.7635, loss_traj: 1.8708, loss_traj_cls: 0.0005, loss_map_cls: 0.5135, loss_map_pts: 2.2745, loss_map_dir: 0.0364, d0.loss_plan_l1_fix_time: 2.9572, d0.loss_plan_l1_fix_dist: 0.5362, d1.loss_plan_l1_fix_time: 2.9195, d1.loss_plan_l1_fix_dist: 0.5521, d2.loss_plan_l1_fix_time: 2.9344, d2.loss_plan_l1_fix_dist: 0.5860, d3.loss_plan_l1_fix_time: 2.9487, d3.loss_plan_l1_fix_dist: 0.6241, d4.loss_plan_l1_fix_time: 2.9635, d4.loss_plan_l1_fix_dist: 0.6684, d5.loss_plan_l1_fix_time: 2.9805, d5.loss_plan_l1_fix_dist: 0.7202, d6.loss_plan_l1_fix_time: 2.9972, d6.loss_plan_l1_fix_dist: 0.7775, d0.loss_cls_all: 0.8864, d0.loss_bbox_all: 0.7823, d0.loss_cls: 0.8864, d0.loss_bbox: 0.7823, d1.loss_cls: 0.8789, d1.loss_bbox: 0.7823, d2.loss_cls: 0.8789, d2.loss_bbox: 0.7674, d3.loss_cls: 0.8801, d3.loss_bbox: 0.7674, d4.loss_cls: 0.8789, d4.loss_bbox: 0.7640, d5.loss_cls: 0.8789, d5.loss_bbox: 0.7638, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8905, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8920, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8740, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8785, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8925, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8722, d0.loss_map_cls_all: 0.5635, d0.loss_map_pts_all: 2.6870, d0.loss_map_dir_all: 0.0364, d0.loss_map_cls: 0.5635, d0.loss_map_pts: 2.6870, d0.loss_map_dir: 0.0364, d1.loss_map_cls: 0.5310, d1.loss_map_pts: 2.3443, d1.loss_map_dir: 0.0364, d2.loss_map_cls: 0.5182, d2.loss_map_pts: 2.3027, d2.loss_map_dir: 0.0364, d3.loss_map_cls: 0.5128, d3.loss_map_pts: 2.2881, d3.loss_map_dir: 0.0363, d4.loss_map_cls: 0.5131, d4.loss_map_pts: 2.2799, d4.loss_map_dir: 0.0364, d5.loss_map_cls: 0.5096, d5.loss_map_pts: 2.2763, d5.loss_map_dir: 0.0364, loss: 75.2163, grad_norm: 169.7645 +2026-02-24 07:52:18,831 - DriveTransformer - INFO - Epoch [1][25200/39528] lr: 1.000e-04, eta: 8 days, 13:39:23, time: 0.788, data_time: 0.042, memory: 19865, loss_cls: 0.8674, loss_bbox: 0.7785, loss_traj: 1.8228, loss_traj_cls: 0.0005, loss_map_cls: 0.5484, loss_map_pts: 2.2305, loss_map_dir: 0.0352, d0.loss_plan_l1_fix_time: 3.1182, d0.loss_plan_l1_fix_dist: 0.5057, d1.loss_plan_l1_fix_time: 2.8759, d1.loss_plan_l1_fix_dist: 0.5308, d2.loss_plan_l1_fix_time: 2.8535, d2.loss_plan_l1_fix_dist: 0.5676, d3.loss_plan_l1_fix_time: 2.8588, d3.loss_plan_l1_fix_dist: 0.6097, d4.loss_plan_l1_fix_time: 2.8693, d4.loss_plan_l1_fix_dist: 0.6514, d5.loss_plan_l1_fix_time: 2.8824, d5.loss_plan_l1_fix_dist: 0.6964, d6.loss_plan_l1_fix_time: 2.8964, d6.loss_plan_l1_fix_dist: 0.7422, d0.loss_cls_all: 0.8660, d0.loss_bbox_all: 0.7920, d0.loss_cls: 0.8660, d0.loss_bbox: 0.7920, d1.loss_cls: 0.8652, d1.loss_bbox: 0.7948, d2.loss_cls: 0.8714, d2.loss_bbox: 0.7931, d3.loss_cls: 0.8686, d3.loss_bbox: 0.7848, d4.loss_cls: 0.8696, d4.loss_bbox: 0.7834, d5.loss_cls: 0.8687, d5.loss_bbox: 0.7794, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8439, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8182, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8144, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8237, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8254, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8210, d0.loss_map_cls_all: 0.5841, d0.loss_map_pts_all: 2.6400, d0.loss_map_dir_all: 0.0353, d0.loss_map_cls: 0.5841, d0.loss_map_pts: 2.6400, d0.loss_map_dir: 0.0353, d1.loss_map_cls: 0.5456, d1.loss_map_pts: 2.2831, d1.loss_map_dir: 0.0354, d2.loss_map_cls: 0.5431, d2.loss_map_pts: 2.2451, d2.loss_map_dir: 0.0352, d3.loss_map_cls: 0.5388, d3.loss_map_pts: 2.2354, d3.loss_map_dir: 0.0351, d4.loss_map_cls: 0.5421, d4.loss_map_pts: 2.2319, d4.loss_map_dir: 0.0352, d5.loss_map_cls: 0.5456, d5.loss_map_pts: 2.2299, d5.loss_map_dir: 0.0352, loss: 74.1217, grad_norm: 171.7223 +2026-02-24 07:52:59,332 - DriveTransformer - INFO - Epoch [1][25250/39528] lr: 1.000e-04, eta: 8 days, 13:38:58, time: 0.810, data_time: 0.042, memory: 19865, loss_cls: 0.8958, loss_bbox: 0.7713, loss_traj: 1.8796, loss_traj_cls: 0.0005, loss_map_cls: 0.4993, loss_map_pts: 2.5405, loss_map_dir: 0.0397, d0.loss_plan_l1_fix_time: 2.8548, d0.loss_plan_l1_fix_dist: 0.6146, d1.loss_plan_l1_fix_time: 2.6154, d1.loss_plan_l1_fix_dist: 0.6301, d2.loss_plan_l1_fix_time: 2.5952, d2.loss_plan_l1_fix_dist: 0.6586, d3.loss_plan_l1_fix_time: 2.5997, d3.loss_plan_l1_fix_dist: 0.6955, d4.loss_plan_l1_fix_time: 2.6087, d4.loss_plan_l1_fix_dist: 0.7361, d5.loss_plan_l1_fix_time: 2.6190, d5.loss_plan_l1_fix_dist: 0.7782, d6.loss_plan_l1_fix_time: 2.6300, d6.loss_plan_l1_fix_dist: 0.8267, d0.loss_cls_all: 0.8893, d0.loss_bbox_all: 0.7848, d0.loss_cls: 0.8893, d0.loss_bbox: 0.7848, d1.loss_cls: 0.8864, d1.loss_bbox: 0.7907, d2.loss_cls: 0.8842, d2.loss_bbox: 0.7889, d3.loss_cls: 0.8851, d3.loss_bbox: 0.7756, d4.loss_cls: 0.8893, d4.loss_bbox: 0.7697, d5.loss_cls: 0.8890, d5.loss_bbox: 0.7693, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8414, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8441, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8335, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8410, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8529, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8552, d0.loss_map_cls_all: 0.5444, d0.loss_map_pts_all: 3.0165, d0.loss_map_dir_all: 0.0397, d0.loss_map_cls: 0.5444, d0.loss_map_pts: 3.0165, d0.loss_map_dir: 0.0397, d1.loss_map_cls: 0.4989, d1.loss_map_pts: 2.6048, d1.loss_map_dir: 0.0398, d2.loss_map_cls: 0.4973, d2.loss_map_pts: 2.5537, d2.loss_map_dir: 0.0397, d3.loss_map_cls: 0.4955, d3.loss_map_pts: 2.5426, d3.loss_map_dir: 0.0396, d4.loss_map_cls: 0.4942, d4.loss_map_pts: 2.5404, d4.loss_map_dir: 0.0397, d5.loss_map_cls: 0.4968, d5.loss_map_pts: 2.5412, d5.loss_map_dir: 0.0397, loss: 75.5019, grad_norm: 171.1274 +2026-02-24 07:53:37,539 - DriveTransformer - INFO - Epoch [1][25300/39528] lr: 1.000e-04, eta: 8 days, 13:37:10, time: 0.764, data_time: 0.038, memory: 19865, loss_cls: 0.8775, loss_bbox: 0.7703, loss_traj: 1.8065, loss_traj_cls: 0.0005, loss_map_cls: 0.5082, loss_map_pts: 2.3216, loss_map_dir: 0.0357, d0.loss_plan_l1_fix_time: 2.9250, d0.loss_plan_l1_fix_dist: 0.4787, d1.loss_plan_l1_fix_time: 2.8112, d1.loss_plan_l1_fix_dist: 0.4912, d2.loss_plan_l1_fix_time: 2.8147, d2.loss_plan_l1_fix_dist: 0.5170, d3.loss_plan_l1_fix_time: 2.8248, d3.loss_plan_l1_fix_dist: 0.5476, d4.loss_plan_l1_fix_time: 2.8368, d4.loss_plan_l1_fix_dist: 0.5843, d5.loss_plan_l1_fix_time: 2.8510, d5.loss_plan_l1_fix_dist: 0.6286, d6.loss_plan_l1_fix_time: 2.8661, d6.loss_plan_l1_fix_dist: 0.6814, d0.loss_cls_all: 0.8829, d0.loss_bbox_all: 0.7727, d0.loss_cls: 0.8829, d0.loss_bbox: 0.7727, d1.loss_cls: 0.8812, d1.loss_bbox: 0.7730, d2.loss_cls: 0.8764, d2.loss_bbox: 0.7772, d3.loss_cls: 0.8769, d3.loss_bbox: 0.7706, d4.loss_cls: 0.8755, d4.loss_bbox: 0.7655, d5.loss_cls: 0.8761, d5.loss_bbox: 0.7667, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7907, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.7986, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7760, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7915, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8080, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8043, d0.loss_map_cls_all: 0.5652, d0.loss_map_pts_all: 2.8271, d0.loss_map_dir_all: 0.0359, d0.loss_map_cls: 0.5652, d0.loss_map_pts: 2.8271, d0.loss_map_dir: 0.0359, d1.loss_map_cls: 0.5073, d1.loss_map_pts: 2.4056, d1.loss_map_dir: 0.0359, d2.loss_map_cls: 0.5050, d2.loss_map_pts: 2.3487, d2.loss_map_dir: 0.0358, d3.loss_map_cls: 0.5042, d3.loss_map_pts: 2.3318, d3.loss_map_dir: 0.0357, d4.loss_map_cls: 0.5036, d4.loss_map_pts: 2.3254, d4.loss_map_dir: 0.0357, d5.loss_map_cls: 0.5068, d5.loss_map_pts: 2.3227, d5.loss_map_dir: 0.0356, loss: 73.7974, grad_norm: 171.2699 +2026-02-24 07:54:16,791 - DriveTransformer - INFO - Epoch [1][25350/39528] lr: 1.000e-04, eta: 8 days, 13:35:59, time: 0.785, data_time: 0.048, memory: 19865, loss_cls: 0.9042, loss_bbox: 0.8336, loss_traj: 1.9293, loss_traj_cls: 0.0005, loss_map_cls: 0.5246, loss_map_pts: 2.3714, loss_map_dir: 0.0374, d0.loss_plan_l1_fix_time: 3.0627, d0.loss_plan_l1_fix_dist: 0.5507, d1.loss_plan_l1_fix_time: 2.9585, d1.loss_plan_l1_fix_dist: 0.5612, d2.loss_plan_l1_fix_time: 2.9704, d2.loss_plan_l1_fix_dist: 0.5839, d3.loss_plan_l1_fix_time: 2.9845, d3.loss_plan_l1_fix_dist: 0.6137, d4.loss_plan_l1_fix_time: 2.9990, d4.loss_plan_l1_fix_dist: 0.6469, d5.loss_plan_l1_fix_time: 3.0139, d5.loss_plan_l1_fix_dist: 0.6872, d6.loss_plan_l1_fix_time: 3.0309, d6.loss_plan_l1_fix_dist: 0.7277, d0.loss_cls_all: 0.8887, d0.loss_bbox_all: 0.8340, d0.loss_cls: 0.8887, d0.loss_bbox: 0.8340, d1.loss_cls: 0.8881, d1.loss_bbox: 0.8372, d2.loss_cls: 0.8869, d2.loss_bbox: 0.8265, d3.loss_cls: 0.8915, d3.loss_bbox: 0.8256, d4.loss_cls: 0.8915, d4.loss_bbox: 0.8267, d5.loss_cls: 0.8947, d5.loss_bbox: 0.8261, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9354, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.9375, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9285, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9441, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9469, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9412, d0.loss_map_cls_all: 0.5646, d0.loss_map_pts_all: 2.8258, d0.loss_map_dir_all: 0.0373, d0.loss_map_cls: 0.5646, d0.loss_map_pts: 2.8258, d0.loss_map_dir: 0.0373, d1.loss_map_cls: 0.5208, d1.loss_map_pts: 2.4371, d1.loss_map_dir: 0.0375, d2.loss_map_cls: 0.5189, d2.loss_map_pts: 2.3892, d2.loss_map_dir: 0.0373, d3.loss_map_cls: 0.5168, d3.loss_map_pts: 2.3743, d3.loss_map_dir: 0.0373, d4.loss_map_cls: 0.5199, d4.loss_map_pts: 2.3698, d4.loss_map_dir: 0.0372, d5.loss_map_cls: 0.5226, d5.loss_map_pts: 2.3707, d5.loss_map_dir: 0.0374, loss: 77.2509, grad_norm: 167.6008 +2026-02-24 07:54:54,629 - DriveTransformer - INFO - Epoch [1][25400/39528] lr: 1.000e-04, eta: 8 days, 13:33:58, time: 0.757, data_time: 0.038, memory: 19865, loss_cls: 0.8871, loss_bbox: 0.8464, loss_traj: 2.1625, loss_traj_cls: 0.0006, loss_map_cls: 0.5351, loss_map_pts: 2.2016, loss_map_dir: 0.0350, d0.loss_plan_l1_fix_time: 3.2551, d0.loss_plan_l1_fix_dist: 0.6548, d1.loss_plan_l1_fix_time: 3.1603, d1.loss_plan_l1_fix_dist: 0.6672, d2.loss_plan_l1_fix_time: 3.1673, d2.loss_plan_l1_fix_dist: 0.6902, d3.loss_plan_l1_fix_time: 3.1788, d3.loss_plan_l1_fix_dist: 0.7167, d4.loss_plan_l1_fix_time: 3.1939, d4.loss_plan_l1_fix_dist: 0.7466, d5.loss_plan_l1_fix_time: 3.2109, d5.loss_plan_l1_fix_dist: 0.7767, d6.loss_plan_l1_fix_time: 3.2303, d6.loss_plan_l1_fix_dist: 0.8110, d0.loss_cls_all: 0.8859, d0.loss_bbox_all: 0.8485, d0.loss_cls: 0.8859, d0.loss_bbox: 0.8485, d1.loss_cls: 0.8809, d1.loss_bbox: 0.8732, d2.loss_cls: 0.8751, d2.loss_bbox: 0.8498, d3.loss_cls: 0.8769, d3.loss_bbox: 0.8406, d4.loss_cls: 0.8801, d4.loss_bbox: 0.8404, d5.loss_cls: 0.8795, d5.loss_bbox: 0.8415, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.1210, d1.loss_traj_cls: 0.0007, d1.loss_traj: 2.1236, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1204, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1350, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1427, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1471, d0.loss_map_cls_all: 0.5681, d0.loss_map_pts_all: 2.6545, d0.loss_map_dir_all: 0.0352, d0.loss_map_cls: 0.5681, d0.loss_map_pts: 2.6545, d0.loss_map_dir: 0.0352, d1.loss_map_cls: 0.5292, d1.loss_map_pts: 2.2575, d1.loss_map_dir: 0.0353, d2.loss_map_cls: 0.5272, d2.loss_map_pts: 2.2155, d2.loss_map_dir: 0.0351, d3.loss_map_cls: 0.5268, d3.loss_map_pts: 2.2081, d3.loss_map_dir: 0.0350, d4.loss_map_cls: 0.5301, d4.loss_map_pts: 2.2053, d4.loss_map_dir: 0.0350, d5.loss_map_cls: 0.5325, d5.loss_map_pts: 2.2035, d5.loss_map_dir: 0.0350, loss: 79.4549, grad_norm: 167.9969 +2026-02-24 07:55:33,418 - DriveTransformer - INFO - Epoch [1][25450/39528] lr: 1.000e-04, eta: 8 days, 13:32:31, time: 0.776, data_time: 0.042, memory: 19865, loss_cls: 0.9015, loss_bbox: 0.8269, loss_traj: 1.7119, loss_traj_cls: 0.0006, loss_map_cls: 0.4896, loss_map_pts: 2.2234, loss_map_dir: 0.0309, d0.loss_plan_l1_fix_time: 2.9642, d0.loss_plan_l1_fix_dist: 0.5174, d1.loss_plan_l1_fix_time: 2.7983, d1.loss_plan_l1_fix_dist: 0.5287, d2.loss_plan_l1_fix_time: 2.7961, d2.loss_plan_l1_fix_dist: 0.5550, d3.loss_plan_l1_fix_time: 2.8048, d3.loss_plan_l1_fix_dist: 0.5851, d4.loss_plan_l1_fix_time: 2.8153, d4.loss_plan_l1_fix_dist: 0.6208, d5.loss_plan_l1_fix_time: 2.8267, d5.loss_plan_l1_fix_dist: 0.6633, d6.loss_plan_l1_fix_time: 2.8402, d6.loss_plan_l1_fix_dist: 0.7138, d0.loss_cls_all: 0.8938, d0.loss_bbox_all: 0.7878, d0.loss_cls: 0.8938, d0.loss_bbox: 0.7878, d1.loss_cls: 0.8943, d1.loss_bbox: 0.8410, d2.loss_cls: 0.8942, d2.loss_bbox: 0.8216, d3.loss_cls: 0.8938, d3.loss_bbox: 0.8070, d4.loss_cls: 0.8944, d4.loss_bbox: 0.8140, d5.loss_cls: 0.8992, d5.loss_bbox: 0.8205, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6524, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6699, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6763, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6892, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.6923, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7050, d0.loss_map_cls_all: 0.5440, d0.loss_map_pts_all: 2.8055, d0.loss_map_dir_all: 0.0312, d0.loss_map_cls: 0.5440, d0.loss_map_pts: 2.8055, d0.loss_map_dir: 0.0312, d1.loss_map_cls: 0.4878, d1.loss_map_pts: 2.2686, d1.loss_map_dir: 0.0311, d2.loss_map_cls: 0.4839, d2.loss_map_pts: 2.2228, d2.loss_map_dir: 0.0310, d3.loss_map_cls: 0.4900, d3.loss_map_pts: 2.2200, d3.loss_map_dir: 0.0309, d4.loss_map_cls: 0.4904, d4.loss_map_pts: 2.2168, d4.loss_map_dir: 0.0309, d5.loss_map_cls: 0.4882, d5.loss_map_pts: 2.2187, d5.loss_map_dir: 0.0309, loss: 72.7492, grad_norm: 167.9355 +2026-02-24 07:56:11,264 - DriveTransformer - INFO - Epoch [1][25500/39528] lr: 1.000e-04, eta: 8 days, 13:30:30, time: 0.757, data_time: 0.043, memory: 19865, loss_cls: 0.8524, loss_bbox: 0.8169, loss_traj: 2.0711, loss_traj_cls: 0.0005, loss_map_cls: 0.4903, loss_map_pts: 2.2869, loss_map_dir: 0.0284, d0.loss_plan_l1_fix_time: 3.1352, d0.loss_plan_l1_fix_dist: 0.4945, d1.loss_plan_l1_fix_time: 2.9274, d1.loss_plan_l1_fix_dist: 0.5021, d2.loss_plan_l1_fix_time: 2.9107, d2.loss_plan_l1_fix_dist: 0.5270, d3.loss_plan_l1_fix_time: 2.9128, d3.loss_plan_l1_fix_dist: 0.5618, d4.loss_plan_l1_fix_time: 2.9183, d4.loss_plan_l1_fix_dist: 0.5990, d5.loss_plan_l1_fix_time: 2.9258, d5.loss_plan_l1_fix_dist: 0.6448, d6.loss_plan_l1_fix_time: 2.9354, d6.loss_plan_l1_fix_dist: 0.6928, d0.loss_cls_all: 0.8547, d0.loss_bbox_all: 0.7815, d0.loss_cls: 0.8547, d0.loss_bbox: 0.7815, d1.loss_cls: 0.8557, d1.loss_bbox: 0.8530, d2.loss_cls: 0.8520, d2.loss_bbox: 0.8394, d3.loss_cls: 0.8516, d3.loss_bbox: 0.8124, d4.loss_cls: 0.8493, d4.loss_bbox: 0.8073, d5.loss_cls: 0.8519, d5.loss_bbox: 0.8082, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0157, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0195, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0116, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0371, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0462, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0592, d0.loss_map_cls_all: 0.5338, d0.loss_map_pts_all: 2.6984, d0.loss_map_dir_all: 0.0288, d0.loss_map_cls: 0.5338, d0.loss_map_pts: 2.6984, d0.loss_map_dir: 0.0288, d1.loss_map_cls: 0.4830, d1.loss_map_pts: 2.3432, d1.loss_map_dir: 0.0286, d2.loss_map_cls: 0.4800, d2.loss_map_pts: 2.3023, d2.loss_map_dir: 0.0284, d3.loss_map_cls: 0.4848, d3.loss_map_pts: 2.2956, d3.loss_map_dir: 0.0284, d4.loss_map_cls: 0.4851, d4.loss_map_pts: 2.2891, d4.loss_map_dir: 0.0284, d5.loss_map_cls: 0.4874, d5.loss_map_pts: 2.2850, d5.loss_map_dir: 0.0284, loss: 75.6795, grad_norm: 168.7652 +2026-02-24 07:56:51,915 - DriveTransformer - INFO - Epoch [1][25550/39528] lr: 1.000e-04, eta: 8 days, 13:30:11, time: 0.813, data_time: 0.040, memory: 19865, loss_cls: 0.8867, loss_bbox: 0.8189, loss_traj: 1.9058, loss_traj_cls: 0.0005, loss_map_cls: 0.4920, loss_map_pts: 2.4006, loss_map_dir: 0.0372, d0.loss_plan_l1_fix_time: 3.0375, d0.loss_plan_l1_fix_dist: 0.4959, d1.loss_plan_l1_fix_time: 2.8557, d1.loss_plan_l1_fix_dist: 0.5042, d2.loss_plan_l1_fix_time: 2.8352, d2.loss_plan_l1_fix_dist: 0.5235, d3.loss_plan_l1_fix_time: 2.8379, d3.loss_plan_l1_fix_dist: 0.5499, d4.loss_plan_l1_fix_time: 2.8447, d4.loss_plan_l1_fix_dist: 0.5815, d5.loss_plan_l1_fix_time: 2.8530, d5.loss_plan_l1_fix_dist: 0.6141, d6.loss_plan_l1_fix_time: 2.8621, d6.loss_plan_l1_fix_dist: 0.6531, d0.loss_cls_all: 0.8843, d0.loss_bbox_all: 0.8044, d0.loss_cls: 0.8843, d0.loss_bbox: 0.8044, d1.loss_cls: 0.8870, d1.loss_bbox: 0.8494, d2.loss_cls: 0.8877, d2.loss_bbox: 0.8261, d3.loss_cls: 0.8908, d3.loss_bbox: 0.8106, d4.loss_cls: 0.8907, d4.loss_bbox: 0.8104, d5.loss_cls: 0.8910, d5.loss_bbox: 0.8140, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8898, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8863, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8773, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8868, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8974, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8931, d0.loss_map_cls_all: 0.5300, d0.loss_map_pts_all: 3.0428, d0.loss_map_dir_all: 0.0370, d0.loss_map_cls: 0.5300, d0.loss_map_pts: 3.0428, d0.loss_map_dir: 0.0370, d1.loss_map_cls: 0.4909, d1.loss_map_pts: 2.4916, d1.loss_map_dir: 0.0374, d2.loss_map_cls: 0.4878, d2.loss_map_pts: 2.4282, d2.loss_map_dir: 0.0372, d3.loss_map_cls: 0.4885, d3.loss_map_pts: 2.4153, d3.loss_map_dir: 0.0372, d4.loss_map_cls: 0.4879, d4.loss_map_pts: 2.4077, d4.loss_map_dir: 0.0372, d5.loss_map_cls: 0.4912, d5.loss_map_pts: 2.4029, d5.loss_map_dir: 0.0372, loss: 75.8571, grad_norm: 168.8918 +2026-02-24 07:57:30,523 - DriveTransformer - INFO - Epoch [1][25600/39528] lr: 1.000e-04, eta: 8 days, 13:28:41, time: 0.774, data_time: 0.039, memory: 19865, loss_cls: 0.8701, loss_bbox: 0.8392, loss_traj: 1.8075, loss_traj_cls: 0.0005, loss_map_cls: 0.5385, loss_map_pts: 2.2798, loss_map_dir: 0.0339, d0.loss_plan_l1_fix_time: 2.8718, d0.loss_plan_l1_fix_dist: 0.5224, d1.loss_plan_l1_fix_time: 2.7285, d1.loss_plan_l1_fix_dist: 0.5317, d2.loss_plan_l1_fix_time: 2.7270, d2.loss_plan_l1_fix_dist: 0.5601, d3.loss_plan_l1_fix_time: 2.7369, d3.loss_plan_l1_fix_dist: 0.5928, d4.loss_plan_l1_fix_time: 2.7502, d4.loss_plan_l1_fix_dist: 0.6311, d5.loss_plan_l1_fix_time: 2.7645, d5.loss_plan_l1_fix_dist: 0.6686, d6.loss_plan_l1_fix_time: 2.7789, d6.loss_plan_l1_fix_dist: 0.7002, d0.loss_cls_all: 0.8666, d0.loss_bbox_all: 0.8172, d0.loss_cls: 0.8666, d0.loss_bbox: 0.8172, d1.loss_cls: 0.8644, d1.loss_bbox: 0.8357, d2.loss_cls: 0.8623, d2.loss_bbox: 0.8234, d3.loss_cls: 0.8632, d3.loss_bbox: 0.8209, d4.loss_cls: 0.8640, d4.loss_bbox: 0.8313, d5.loss_cls: 0.8653, d5.loss_bbox: 0.8379, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7872, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.7782, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7841, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7963, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8010, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8093, d0.loss_map_cls_all: 0.5752, d0.loss_map_pts_all: 2.7923, d0.loss_map_dir_all: 0.0338, d0.loss_map_cls: 0.5752, d0.loss_map_pts: 2.7923, d0.loss_map_dir: 0.0338, d1.loss_map_cls: 0.5415, d1.loss_map_pts: 2.3353, d1.loss_map_dir: 0.0341, d2.loss_map_cls: 0.5418, d2.loss_map_pts: 2.2899, d2.loss_map_dir: 0.0340, d3.loss_map_cls: 0.5406, d3.loss_map_pts: 2.2809, d3.loss_map_dir: 0.0338, d4.loss_map_cls: 0.5405, d4.loss_map_pts: 2.2816, d4.loss_map_dir: 0.0339, d5.loss_map_cls: 0.5396, d5.loss_map_pts: 2.2818, d5.loss_map_dir: 0.0339, loss: 73.6755, grad_norm: 167.8078 +2026-02-24 07:58:10,376 - DriveTransformer - INFO - Epoch [1][25650/39528] lr: 1.000e-04, eta: 8 days, 13:27:50, time: 0.796, data_time: 0.039, memory: 19865, loss_cls: 0.8688, loss_bbox: 0.8456, loss_traj: 1.9989, loss_traj_cls: 0.0005, loss_map_cls: 0.5229, loss_map_pts: 2.6048, loss_map_dir: 0.0347, d0.loss_plan_l1_fix_time: 3.0627, d0.loss_plan_l1_fix_dist: 0.6044, d1.loss_plan_l1_fix_time: 2.8924, d1.loss_plan_l1_fix_dist: 0.6205, d2.loss_plan_l1_fix_time: 2.8851, d2.loss_plan_l1_fix_dist: 0.6450, d3.loss_plan_l1_fix_time: 2.8901, d3.loss_plan_l1_fix_dist: 0.6778, d4.loss_plan_l1_fix_time: 2.9001, d4.loss_plan_l1_fix_dist: 0.7155, d5.loss_plan_l1_fix_time: 2.9120, d5.loss_plan_l1_fix_dist: 0.7584, d6.loss_plan_l1_fix_time: 2.9265, d6.loss_plan_l1_fix_dist: 0.8098, d0.loss_cls_all: 0.8599, d0.loss_bbox_all: 0.8513, d0.loss_cls: 0.8599, d0.loss_bbox: 0.8513, d1.loss_cls: 0.8620, d1.loss_bbox: 0.8274, d2.loss_cls: 0.8629, d2.loss_bbox: 0.8263, d3.loss_cls: 0.8628, d3.loss_bbox: 0.8216, d4.loss_cls: 0.8645, d4.loss_bbox: 0.8290, d5.loss_cls: 0.8627, d5.loss_bbox: 0.8375, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9783, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9954, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.9764, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9963, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9980, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.0045, d0.loss_map_cls_all: 0.5628, d0.loss_map_pts_all: 3.1051, d0.loss_map_dir_all: 0.0348, d0.loss_map_cls: 0.5628, d0.loss_map_pts: 3.1051, d0.loss_map_dir: 0.0348, d1.loss_map_cls: 0.5218, d1.loss_map_pts: 2.6714, d1.loss_map_dir: 0.0350, d2.loss_map_cls: 0.5220, d2.loss_map_pts: 2.6174, d2.loss_map_dir: 0.0348, d3.loss_map_cls: 0.5250, d3.loss_map_pts: 2.6058, d3.loss_map_dir: 0.0346, d4.loss_map_cls: 0.5231, d4.loss_map_pts: 2.6039, d4.loss_map_dir: 0.0346, d5.loss_map_cls: 0.5213, d5.loss_map_pts: 2.6051, d5.loss_map_dir: 0.0346, loss: 79.3038, grad_norm: 166.5426 +2026-02-24 07:58:48,927 - DriveTransformer - INFO - Epoch [1][25700/39528] lr: 1.000e-04, eta: 8 days, 13:26:16, time: 0.771, data_time: 0.038, memory: 19865, loss_cls: 0.8850, loss_bbox: 0.7591, loss_traj: 1.9488, loss_traj_cls: 0.0005, loss_map_cls: 0.5470, loss_map_pts: 2.3047, loss_map_dir: 0.0324, d0.loss_plan_l1_fix_time: 3.2275, d0.loss_plan_l1_fix_dist: 0.5134, d1.loss_plan_l1_fix_time: 3.1153, d1.loss_plan_l1_fix_dist: 0.5275, d2.loss_plan_l1_fix_time: 3.1082, d2.loss_plan_l1_fix_dist: 0.5550, d3.loss_plan_l1_fix_time: 3.1129, d3.loss_plan_l1_fix_dist: 0.5898, d4.loss_plan_l1_fix_time: 3.1216, d4.loss_plan_l1_fix_dist: 0.6284, d5.loss_plan_l1_fix_time: 3.1335, d5.loss_plan_l1_fix_dist: 0.6710, d6.loss_plan_l1_fix_time: 3.1474, d6.loss_plan_l1_fix_dist: 0.7150, d0.loss_cls_all: 0.8695, d0.loss_bbox_all: 0.7931, d0.loss_cls: 0.8695, d0.loss_bbox: 0.7931, d1.loss_cls: 0.8690, d1.loss_bbox: 0.7804, d2.loss_cls: 0.8677, d2.loss_bbox: 0.7568, d3.loss_cls: 0.8714, d3.loss_bbox: 0.7475, d4.loss_cls: 0.8723, d4.loss_bbox: 0.7474, d5.loss_cls: 0.8767, d5.loss_bbox: 0.7576, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9461, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.9496, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9203, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9380, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9469, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9459, d0.loss_map_cls_all: 0.5818, d0.loss_map_pts_all: 2.7565, d0.loss_map_dir_all: 0.0323, d0.loss_map_cls: 0.5818, d0.loss_map_pts: 2.7565, d0.loss_map_dir: 0.0323, d1.loss_map_cls: 0.5475, d1.loss_map_pts: 2.3671, d1.loss_map_dir: 0.0326, d2.loss_map_cls: 0.5432, d2.loss_map_pts: 2.3212, d2.loss_map_dir: 0.0325, d3.loss_map_cls: 0.5463, d3.loss_map_pts: 2.3083, d3.loss_map_dir: 0.0324, d4.loss_map_cls: 0.5483, d4.loss_map_pts: 2.3026, d4.loss_map_dir: 0.0324, d5.loss_map_cls: 0.5472, d5.loss_map_pts: 2.3023, d5.loss_map_dir: 0.0324, loss: 77.0037, grad_norm: 163.9040 +2026-02-24 07:59:29,958 - DriveTransformer - INFO - Epoch [1][25750/39528] lr: 1.000e-04, eta: 8 days, 13:26:11, time: 0.821, data_time: 0.041, memory: 19865, loss_cls: 0.8852, loss_bbox: 0.8171, loss_traj: 1.6825, loss_traj_cls: 0.0005, loss_map_cls: 0.5211, loss_map_pts: 2.6720, loss_map_dir: 0.0396, d0.loss_plan_l1_fix_time: 3.1026, d0.loss_plan_l1_fix_dist: 0.5588, d1.loss_plan_l1_fix_time: 2.9103, d1.loss_plan_l1_fix_dist: 0.5719, d2.loss_plan_l1_fix_time: 2.8959, d2.loss_plan_l1_fix_dist: 0.6007, d3.loss_plan_l1_fix_time: 2.8977, d3.loss_plan_l1_fix_dist: 0.6380, d4.loss_plan_l1_fix_time: 2.9033, d4.loss_plan_l1_fix_dist: 0.6832, d5.loss_plan_l1_fix_time: 2.9121, d5.loss_plan_l1_fix_dist: 0.7304, d6.loss_plan_l1_fix_time: 2.9221, d6.loss_plan_l1_fix_dist: 0.7824, d0.loss_cls_all: 0.8721, d0.loss_bbox_all: 0.8529, d0.loss_cls: 0.8721, d0.loss_bbox: 0.8529, d1.loss_cls: 0.8760, d1.loss_bbox: 0.8608, d2.loss_cls: 0.8732, d2.loss_bbox: 0.8328, d3.loss_cls: 0.8747, d3.loss_bbox: 0.8221, d4.loss_cls: 0.8781, d4.loss_bbox: 0.8162, d5.loss_cls: 0.8794, d5.loss_bbox: 0.8159, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6415, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6658, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6417, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6438, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.6575, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6601, d0.loss_map_cls_all: 0.5553, d0.loss_map_pts_all: 3.2117, d0.loss_map_dir_all: 0.0395, d0.loss_map_cls: 0.5553, d0.loss_map_pts: 3.2117, d0.loss_map_dir: 0.0395, d1.loss_map_cls: 0.5254, d1.loss_map_pts: 2.7411, d1.loss_map_dir: 0.0397, d2.loss_map_cls: 0.5201, d2.loss_map_pts: 2.6875, d2.loss_map_dir: 0.0396, d3.loss_map_cls: 0.5242, d3.loss_map_pts: 2.6786, d3.loss_map_dir: 0.0395, d4.loss_map_cls: 0.5209, d4.loss_map_pts: 2.6742, d4.loss_map_dir: 0.0395, d5.loss_map_cls: 0.5193, d5.loss_map_pts: 2.6719, d5.loss_map_dir: 0.0396, loss: 77.4938, grad_norm: 161.7830 +2026-02-24 08:00:09,372 - DriveTransformer - INFO - Epoch [1][25800/39528] lr: 1.000e-04, eta: 8 days, 13:25:07, time: 0.788, data_time: 0.039, memory: 19865, loss_cls: 0.8659, loss_bbox: 0.7683, loss_traj: 1.8089, loss_traj_cls: 0.0005, loss_map_cls: 0.5256, loss_map_pts: 2.4026, loss_map_dir: 0.0376, d0.loss_plan_l1_fix_time: 3.0611, d0.loss_plan_l1_fix_dist: 0.4903, d1.loss_plan_l1_fix_time: 2.7955, d1.loss_plan_l1_fix_dist: 0.5058, d2.loss_plan_l1_fix_time: 2.7592, d2.loss_plan_l1_fix_dist: 0.5354, d3.loss_plan_l1_fix_time: 2.7576, d3.loss_plan_l1_fix_dist: 0.5689, d4.loss_plan_l1_fix_time: 2.7631, d4.loss_plan_l1_fix_dist: 0.6046, d5.loss_plan_l1_fix_time: 2.7718, d5.loss_plan_l1_fix_dist: 0.6446, d6.loss_plan_l1_fix_time: 2.7835, d6.loss_plan_l1_fix_dist: 0.6846, d0.loss_cls_all: 0.8637, d0.loss_bbox_all: 0.7958, d0.loss_cls: 0.8637, d0.loss_bbox: 0.7958, d1.loss_cls: 0.8585, d1.loss_bbox: 0.8036, d2.loss_cls: 0.8582, d2.loss_bbox: 0.7794, d3.loss_cls: 0.8617, d3.loss_bbox: 0.7644, d4.loss_cls: 0.8619, d4.loss_bbox: 0.7618, d5.loss_cls: 0.8642, d5.loss_bbox: 0.7659, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7966, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7949, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7856, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7897, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7914, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8120, d0.loss_map_cls_all: 0.5630, d0.loss_map_pts_all: 2.8759, d0.loss_map_dir_all: 0.0377, d0.loss_map_cls: 0.5630, d0.loss_map_pts: 2.8759, d0.loss_map_dir: 0.0377, d1.loss_map_cls: 0.5245, d1.loss_map_pts: 2.4560, d1.loss_map_dir: 0.0379, d2.loss_map_cls: 0.5216, d2.loss_map_pts: 2.4048, d2.loss_map_dir: 0.0376, d3.loss_map_cls: 0.5263, d3.loss_map_pts: 2.3977, d3.loss_map_dir: 0.0376, d4.loss_map_cls: 0.5263, d4.loss_map_pts: 2.3981, d4.loss_map_dir: 0.0376, d5.loss_map_cls: 0.5224, d5.loss_map_pts: 2.3982, d5.loss_map_dir: 0.0375, loss: 74.2247, grad_norm: 161.9288 +2026-02-24 08:00:49,648 - DriveTransformer - INFO - Epoch [1][25850/39528] lr: 1.000e-04, eta: 8 days, 13:24:34, time: 0.805, data_time: 0.041, memory: 19865, loss_cls: 0.8862, loss_bbox: 0.8104, loss_traj: 1.6940, loss_traj_cls: 0.0005, loss_map_cls: 0.5169, loss_map_pts: 2.4802, loss_map_dir: 0.0414, d0.loss_plan_l1_fix_time: 3.5842, d0.loss_plan_l1_fix_dist: 0.5671, d1.loss_plan_l1_fix_time: 3.3567, d1.loss_plan_l1_fix_dist: 0.5857, d2.loss_plan_l1_fix_time: 3.3364, d2.loss_plan_l1_fix_dist: 0.6157, d3.loss_plan_l1_fix_time: 3.3392, d3.loss_plan_l1_fix_dist: 0.6493, d4.loss_plan_l1_fix_time: 3.3455, d4.loss_plan_l1_fix_dist: 0.6832, d5.loss_plan_l1_fix_time: 3.3544, d5.loss_plan_l1_fix_dist: 0.7202, d6.loss_plan_l1_fix_time: 3.3653, d6.loss_plan_l1_fix_dist: 0.7554, d0.loss_cls_all: 0.8845, d0.loss_bbox_all: 0.8119, d0.loss_cls: 0.8845, d0.loss_bbox: 0.8119, d1.loss_cls: 0.8847, d1.loss_bbox: 0.8310, d2.loss_cls: 0.8846, d2.loss_bbox: 0.8051, d3.loss_cls: 0.8865, d3.loss_bbox: 0.8028, d4.loss_cls: 0.8890, d4.loss_bbox: 0.8033, d5.loss_cls: 0.8893, d5.loss_bbox: 0.8081, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6337, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6608, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6875, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6959, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7093, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7017, d0.loss_map_cls_all: 0.5373, d0.loss_map_pts_all: 3.0332, d0.loss_map_dir_all: 0.0410, d0.loss_map_cls: 0.5373, d0.loss_map_pts: 3.0332, d0.loss_map_dir: 0.0410, d1.loss_map_cls: 0.5099, d1.loss_map_pts: 2.5582, d1.loss_map_dir: 0.0415, d2.loss_map_cls: 0.5102, d2.loss_map_pts: 2.4984, d2.loss_map_dir: 0.0414, d3.loss_map_cls: 0.5144, d3.loss_map_pts: 2.4850, d3.loss_map_dir: 0.0413, d4.loss_map_cls: 0.5139, d4.loss_map_pts: 2.4827, d4.loss_map_dir: 0.0413, d5.loss_map_cls: 0.5160, d5.loss_map_pts: 2.4789, d5.loss_map_dir: 0.0414, loss: 79.1546, grad_norm: 160.4270 +2026-02-24 08:01:27,647 - DriveTransformer - INFO - Epoch [1][25900/39528] lr: 1.000e-04, eta: 8 days, 13:22:40, time: 0.760, data_time: 0.041, memory: 19865, loss_cls: 0.8694, loss_bbox: 0.7907, loss_traj: 1.7435, loss_traj_cls: 0.0006, loss_map_cls: 0.5340, loss_map_pts: 2.3648, loss_map_dir: 0.0364, d0.loss_plan_l1_fix_time: 3.0950, d0.loss_plan_l1_fix_dist: 0.5449, d1.loss_plan_l1_fix_time: 2.9768, d1.loss_plan_l1_fix_dist: 0.5638, d2.loss_plan_l1_fix_time: 2.9795, d2.loss_plan_l1_fix_dist: 0.5986, d3.loss_plan_l1_fix_time: 2.9866, d3.loss_plan_l1_fix_dist: 0.6391, d4.loss_plan_l1_fix_time: 2.9949, d4.loss_plan_l1_fix_dist: 0.6900, d5.loss_plan_l1_fix_time: 3.0039, d5.loss_plan_l1_fix_dist: 0.7442, d6.loss_plan_l1_fix_time: 3.0145, d6.loss_plan_l1_fix_dist: 0.7967, d0.loss_cls_all: 0.8617, d0.loss_bbox_all: 0.7899, d0.loss_cls: 0.8617, d0.loss_bbox: 0.7899, d1.loss_cls: 0.8648, d1.loss_bbox: 0.8069, d2.loss_cls: 0.8634, d2.loss_bbox: 0.7901, d3.loss_cls: 0.8650, d3.loss_bbox: 0.7864, d4.loss_cls: 0.8674, d4.loss_bbox: 0.7876, d5.loss_cls: 0.8705, d5.loss_bbox: 0.7864, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7003, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7241, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7096, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7295, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7470, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7528, d0.loss_map_cls_all: 0.5781, d0.loss_map_pts_all: 2.7993, d0.loss_map_dir_all: 0.0359, d0.loss_map_cls: 0.5781, d0.loss_map_pts: 2.7993, d0.loss_map_dir: 0.0359, d1.loss_map_cls: 0.5345, d1.loss_map_pts: 2.4252, d1.loss_map_dir: 0.0363, d2.loss_map_cls: 0.5272, d2.loss_map_pts: 2.3803, d2.loss_map_dir: 0.0363, d3.loss_map_cls: 0.5324, d3.loss_map_pts: 2.3677, d3.loss_map_dir: 0.0363, d4.loss_map_cls: 0.5335, d4.loss_map_pts: 2.3644, d4.loss_map_dir: 0.0363, d5.loss_map_cls: 0.5314, d5.loss_map_pts: 2.3610, d5.loss_map_dir: 0.0364, loss: 75.4920, grad_norm: 160.8636 +2026-02-24 08:02:09,642 - DriveTransformer - INFO - Epoch [1][25950/39528] lr: 1.000e-04, eta: 8 days, 13:23:09, time: 0.840, data_time: 0.041, memory: 19865, loss_cls: 0.9076, loss_bbox: 0.8233, loss_traj: 1.7685, loss_traj_cls: 0.0006, loss_map_cls: 0.5399, loss_map_pts: 2.6935, loss_map_dir: 0.0462, d0.loss_plan_l1_fix_time: 2.9265, d0.loss_plan_l1_fix_dist: 0.5792, d1.loss_plan_l1_fix_time: 2.7656, d1.loss_plan_l1_fix_dist: 0.5926, d2.loss_plan_l1_fix_time: 2.7542, d2.loss_plan_l1_fix_dist: 0.6159, d3.loss_plan_l1_fix_time: 2.7570, d3.loss_plan_l1_fix_dist: 0.6476, d4.loss_plan_l1_fix_time: 2.7650, d4.loss_plan_l1_fix_dist: 0.6818, d5.loss_plan_l1_fix_time: 2.7753, d5.loss_plan_l1_fix_dist: 0.7166, d6.loss_plan_l1_fix_time: 2.7870, d6.loss_plan_l1_fix_dist: 0.7578, d0.loss_cls_all: 0.8978, d0.loss_bbox_all: 0.8133, d0.loss_cls: 0.8978, d0.loss_bbox: 0.8133, d1.loss_cls: 0.9023, d1.loss_bbox: 0.8115, d2.loss_cls: 0.9028, d2.loss_bbox: 0.8074, d3.loss_cls: 0.9053, d3.loss_bbox: 0.8066, d4.loss_cls: 0.9022, d4.loss_bbox: 0.8139, d5.loss_cls: 0.9074, d5.loss_bbox: 0.8156, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7613, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7598, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7435, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7632, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7589, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7594, d0.loss_map_cls_all: 0.5547, d0.loss_map_pts_all: 3.2501, d0.loss_map_dir_all: 0.0456, d0.loss_map_cls: 0.5547, d0.loss_map_pts: 3.2501, d0.loss_map_dir: 0.0456, d1.loss_map_cls: 0.5247, d1.loss_map_pts: 2.7728, d1.loss_map_dir: 0.0462, d2.loss_map_cls: 0.5250, d2.loss_map_pts: 2.7158, d2.loss_map_dir: 0.0461, d3.loss_map_cls: 0.5358, d3.loss_map_pts: 2.6999, d3.loss_map_dir: 0.0461, d4.loss_map_cls: 0.5371, d4.loss_map_pts: 2.6943, d4.loss_map_dir: 0.0461, d5.loss_map_cls: 0.5374, d5.loss_map_pts: 2.6934, d5.loss_map_dir: 0.0461, loss: 77.6160, grad_norm: 161.8673 +2026-02-24 08:02:48,383 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 08:02:48,384 - DriveTransformer - INFO - Epoch [1][26000/39528] lr: 1.000e-04, eta: 8 days, 13:21:42, time: 0.775, data_time: 0.041, memory: 19865, loss_cls: 0.9066, loss_bbox: 0.8263, loss_traj: 1.5903, loss_traj_cls: 0.0006, loss_map_cls: 0.5114, loss_map_pts: 2.3516, loss_map_dir: 0.0349, d0.loss_plan_l1_fix_time: 3.0013, d0.loss_plan_l1_fix_dist: 0.6268, d1.loss_plan_l1_fix_time: 2.8155, d1.loss_plan_l1_fix_dist: 0.6444, d2.loss_plan_l1_fix_time: 2.7961, d2.loss_plan_l1_fix_dist: 0.6703, d3.loss_plan_l1_fix_time: 2.7982, d3.loss_plan_l1_fix_dist: 0.7019, d4.loss_plan_l1_fix_time: 2.8038, d4.loss_plan_l1_fix_dist: 0.7381, d5.loss_plan_l1_fix_time: 2.8116, d5.loss_plan_l1_fix_dist: 0.7798, d6.loss_plan_l1_fix_time: 2.8221, d6.loss_plan_l1_fix_dist: 0.8249, d0.loss_cls_all: 0.8946, d0.loss_bbox_all: 0.8318, d0.loss_cls: 0.8946, d0.loss_bbox: 0.8318, d1.loss_cls: 0.8929, d1.loss_bbox: 0.8263, d2.loss_cls: 0.8923, d2.loss_bbox: 0.8108, d3.loss_cls: 0.9001, d3.loss_bbox: 0.8186, d4.loss_cls: 0.9073, d4.loss_bbox: 0.8201, d5.loss_cls: 0.9057, d5.loss_bbox: 0.8215, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5510, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.5841, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.5846, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5895, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.5905, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5864, d0.loss_map_cls_all: 0.5524, d0.loss_map_pts_all: 2.7355, d0.loss_map_dir_all: 0.0347, d0.loss_map_cls: 0.5524, d0.loss_map_pts: 2.7355, d0.loss_map_dir: 0.0347, d1.loss_map_cls: 0.5060, d1.loss_map_pts: 2.3765, d1.loss_map_dir: 0.0351, d2.loss_map_cls: 0.5042, d2.loss_map_pts: 2.3432, d2.loss_map_dir: 0.0351, d3.loss_map_cls: 0.5121, d3.loss_map_pts: 2.3414, d3.loss_map_dir: 0.0349, d4.loss_map_cls: 0.5105, d4.loss_map_pts: 2.3478, d4.loss_map_dir: 0.0349, d5.loss_map_cls: 0.5108, d5.loss_map_pts: 2.3502, d5.loss_map_dir: 0.0349, loss: 73.7170, grad_norm: 164.4503 +2026-02-24 08:03:27,119 - DriveTransformer - INFO - Epoch [1][26050/39528] lr: 1.000e-04, eta: 8 days, 13:20:15, time: 0.775, data_time: 0.041, memory: 19865, loss_cls: 0.9546, loss_bbox: 0.8159, loss_traj: 1.8279, loss_traj_cls: 0.0006, loss_map_cls: 0.5534, loss_map_pts: 2.3857, loss_map_dir: 0.0337, d0.loss_plan_l1_fix_time: 3.0681, d0.loss_plan_l1_fix_dist: 0.5270, d1.loss_plan_l1_fix_time: 2.9533, d1.loss_plan_l1_fix_dist: 0.5408, d2.loss_plan_l1_fix_time: 2.9491, d2.loss_plan_l1_fix_dist: 0.5665, d3.loss_plan_l1_fix_time: 2.9546, d3.loss_plan_l1_fix_dist: 0.5961, d4.loss_plan_l1_fix_time: 2.9603, d4.loss_plan_l1_fix_dist: 0.6326, d5.loss_plan_l1_fix_time: 2.9666, d5.loss_plan_l1_fix_dist: 0.6739, d6.loss_plan_l1_fix_time: 2.9753, d6.loss_plan_l1_fix_dist: 0.7217, d0.loss_cls_all: 0.9110, d0.loss_bbox_all: 0.8422, d0.loss_cls: 0.9110, d0.loss_bbox: 0.8422, d1.loss_cls: 0.9170, d1.loss_bbox: 0.8431, d2.loss_cls: 0.9240, d2.loss_bbox: 0.8223, d3.loss_cls: 0.9373, d3.loss_bbox: 0.8229, d4.loss_cls: 0.9441, d4.loss_bbox: 0.8173, d5.loss_cls: 0.9469, d5.loss_bbox: 0.8161, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8048, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.8043, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.8149, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.8219, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8188, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8192, d0.loss_map_cls_all: 0.5986, d0.loss_map_pts_all: 2.7554, d0.loss_map_dir_all: 0.0334, d0.loss_map_cls: 0.5986, d0.loss_map_pts: 2.7554, d0.loss_map_dir: 0.0334, d1.loss_map_cls: 0.5559, d1.loss_map_pts: 2.4031, d1.loss_map_dir: 0.0337, d2.loss_map_cls: 0.5502, d2.loss_map_pts: 2.3715, d2.loss_map_dir: 0.0337, d3.loss_map_cls: 0.5524, d3.loss_map_pts: 2.3732, d3.loss_map_dir: 0.0336, d4.loss_map_cls: 0.5535, d4.loss_map_pts: 2.3791, d4.loss_map_dir: 0.0336, d5.loss_map_cls: 0.5523, d5.loss_map_pts: 2.3827, d5.loss_map_dir: 0.0336, loss: 76.4595, grad_norm: 165.5169 +2026-02-24 08:04:05,863 - DriveTransformer - INFO - Epoch [1][26100/39528] lr: 1.000e-04, eta: 8 days, 13:18:48, time: 0.775, data_time: 0.044, memory: 19865, loss_cls: 0.8579, loss_bbox: 0.7810, loss_traj: 1.4974, loss_traj_cls: 0.0005, loss_map_cls: 0.5089, loss_map_pts: 2.1812, loss_map_dir: 0.0339, d0.loss_plan_l1_fix_time: 3.0981, d0.loss_plan_l1_fix_dist: 0.5169, d1.loss_plan_l1_fix_time: 2.8948, d1.loss_plan_l1_fix_dist: 0.5373, d2.loss_plan_l1_fix_time: 2.8683, d2.loss_plan_l1_fix_dist: 0.5778, d3.loss_plan_l1_fix_time: 2.8652, d3.loss_plan_l1_fix_dist: 0.6256, d4.loss_plan_l1_fix_time: 2.8708, d4.loss_plan_l1_fix_dist: 0.6800, d5.loss_plan_l1_fix_time: 2.8798, d5.loss_plan_l1_fix_dist: 0.7357, d6.loss_plan_l1_fix_time: 2.8908, d6.loss_plan_l1_fix_dist: 0.7909, d0.loss_cls_all: 0.8518, d0.loss_bbox_all: 0.8101, d0.loss_cls: 0.8518, d0.loss_bbox: 0.8101, d1.loss_cls: 0.8514, d1.loss_bbox: 0.8067, d2.loss_cls: 0.8508, d2.loss_bbox: 0.7796, d3.loss_cls: 0.8561, d3.loss_bbox: 0.7758, d4.loss_cls: 0.8656, d4.loss_bbox: 0.7716, d5.loss_cls: 0.8611, d5.loss_bbox: 0.7766, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4498, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.4506, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.4650, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4724, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.4826, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4910, d0.loss_map_cls_all: 0.5666, d0.loss_map_pts_all: 2.6212, d0.loss_map_dir_all: 0.0339, d0.loss_map_cls: 0.5666, d0.loss_map_pts: 2.6212, d0.loss_map_dir: 0.0339, d1.loss_map_cls: 0.5187, d1.loss_map_pts: 2.2119, d1.loss_map_dir: 0.0340, d2.loss_map_cls: 0.5101, d2.loss_map_pts: 2.1892, d2.loss_map_dir: 0.0340, d3.loss_map_cls: 0.5094, d3.loss_map_pts: 2.1810, d3.loss_map_dir: 0.0339, d4.loss_map_cls: 0.5098, d4.loss_map_pts: 2.1776, d4.loss_map_dir: 0.0339, d5.loss_map_cls: 0.5077, d5.loss_map_pts: 2.1766, d5.loss_map_dir: 0.0339, loss: 71.1316, grad_norm: 165.4725 +2026-02-24 08:04:44,194 - DriveTransformer - INFO - Epoch [1][26150/39528] lr: 1.000e-04, eta: 8 days, 13:17:07, time: 0.767, data_time: 0.042, memory: 19865, loss_cls: 0.8863, loss_bbox: 0.7949, loss_traj: 2.0720, loss_traj_cls: 0.0005, loss_map_cls: 0.5474, loss_map_pts: 2.3652, loss_map_dir: 0.0339, d0.loss_plan_l1_fix_time: 2.8867, d0.loss_plan_l1_fix_dist: 0.4447, d1.loss_plan_l1_fix_time: 2.6914, d1.loss_plan_l1_fix_dist: 0.4686, d2.loss_plan_l1_fix_time: 2.6846, d2.loss_plan_l1_fix_dist: 0.5065, d3.loss_plan_l1_fix_time: 2.6902, d3.loss_plan_l1_fix_dist: 0.5538, d4.loss_plan_l1_fix_time: 2.6990, d4.loss_plan_l1_fix_dist: 0.6058, d5.loss_plan_l1_fix_time: 2.7097, d5.loss_plan_l1_fix_dist: 0.6579, d6.loss_plan_l1_fix_time: 2.7229, d6.loss_plan_l1_fix_dist: 0.7062, d0.loss_cls_all: 0.8664, d0.loss_bbox_all: 0.7976, d0.loss_cls: 0.8664, d0.loss_bbox: 0.7976, d1.loss_cls: 0.8674, d1.loss_bbox: 0.7985, d2.loss_cls: 0.8785, d2.loss_bbox: 0.7866, d3.loss_cls: 0.8857, d3.loss_bbox: 0.7903, d4.loss_cls: 0.9028, d4.loss_bbox: 0.7916, d5.loss_cls: 0.8991, d5.loss_bbox: 0.7923, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0416, d1.loss_traj_cls: 0.0007, d1.loss_traj: 2.0610, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0413, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0525, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0665, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0739, d0.loss_map_cls_all: 0.5832, d0.loss_map_pts_all: 2.6511, d0.loss_map_dir_all: 0.0336, d0.loss_map_cls: 0.5832, d0.loss_map_pts: 2.6511, d0.loss_map_dir: 0.0336, d1.loss_map_cls: 0.5422, d1.loss_map_pts: 2.4007, d1.loss_map_dir: 0.0339, d2.loss_map_cls: 0.5398, d2.loss_map_pts: 2.3760, d2.loss_map_dir: 0.0339, d3.loss_map_cls: 0.5467, d3.loss_map_pts: 2.3658, d3.loss_map_dir: 0.0338, d4.loss_map_cls: 0.5495, d4.loss_map_pts: 2.3611, d4.loss_map_dir: 0.0338, d5.loss_map_cls: 0.5463, d5.loss_map_pts: 2.3623, d5.loss_map_dir: 0.0339, loss: 75.0849, grad_norm: 165.0139 +2026-02-24 08:05:21,104 - DriveTransformer - INFO - Epoch [1][26200/39528] lr: 1.000e-04, eta: 8 days, 13:14:37, time: 0.738, data_time: 0.043, memory: 19865, loss_cls: 0.8697, loss_bbox: 0.7808, loss_traj: 1.8078, loss_traj_cls: 0.0005, loss_map_cls: 0.5100, loss_map_pts: 2.1225, loss_map_dir: 0.0342, d0.loss_plan_l1_fix_time: 3.0777, d0.loss_plan_l1_fix_dist: 0.5908, d1.loss_plan_l1_fix_time: 2.9819, d1.loss_plan_l1_fix_dist: 0.6143, d2.loss_plan_l1_fix_time: 2.9804, d2.loss_plan_l1_fix_dist: 0.6504, d3.loss_plan_l1_fix_time: 2.9882, d3.loss_plan_l1_fix_dist: 0.6947, d4.loss_plan_l1_fix_time: 2.9969, d4.loss_plan_l1_fix_dist: 0.7400, d5.loss_plan_l1_fix_time: 3.0063, d5.loss_plan_l1_fix_dist: 0.7912, d6.loss_plan_l1_fix_time: 3.0177, d6.loss_plan_l1_fix_dist: 0.8522, d0.loss_cls_all: 0.8623, d0.loss_bbox_all: 0.7757, d0.loss_cls: 0.8623, d0.loss_bbox: 0.7757, d1.loss_cls: 0.8655, d1.loss_bbox: 0.7895, d2.loss_cls: 0.8673, d2.loss_bbox: 0.7799, d3.loss_cls: 0.8753, d3.loss_bbox: 0.7810, d4.loss_cls: 0.8832, d4.loss_bbox: 0.7831, d5.loss_cls: 0.8784, d5.loss_bbox: 0.7824, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8028, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.8036, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7879, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7912, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7984, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7943, d0.loss_map_cls_all: 0.5648, d0.loss_map_pts_all: 2.5134, d0.loss_map_dir_all: 0.0338, d0.loss_map_cls: 0.5648, d0.loss_map_pts: 2.5134, d0.loss_map_dir: 0.0338, d1.loss_map_cls: 0.5209, d1.loss_map_pts: 2.1618, d1.loss_map_dir: 0.0343, d2.loss_map_cls: 0.5118, d2.loss_map_pts: 2.1258, d2.loss_map_dir: 0.0342, d3.loss_map_cls: 0.5129, d3.loss_map_pts: 2.1181, d3.loss_map_dir: 0.0341, d4.loss_map_cls: 0.5134, d4.loss_map_pts: 2.1167, d4.loss_map_dir: 0.0342, d5.loss_map_cls: 0.5101, d5.loss_map_pts: 2.1192, d5.loss_map_dir: 0.0342, loss: 74.0567, grad_norm: 166.7607 +2026-02-24 08:06:00,738 - DriveTransformer - INFO - Epoch [1][26250/39528] lr: 1.000e-04, eta: 8 days, 13:13:42, time: 0.793, data_time: 0.040, memory: 19865, loss_cls: 0.8959, loss_bbox: 0.7850, loss_traj: 1.7116, loss_traj_cls: 0.0006, loss_map_cls: 0.5306, loss_map_pts: 2.4167, loss_map_dir: 0.0375, d0.loss_plan_l1_fix_time: 2.9043, d0.loss_plan_l1_fix_dist: 0.4892, d1.loss_plan_l1_fix_time: 2.7943, d1.loss_plan_l1_fix_dist: 0.5110, d2.loss_plan_l1_fix_time: 2.7866, d2.loss_plan_l1_fix_dist: 0.5532, d3.loss_plan_l1_fix_time: 2.7904, d3.loss_plan_l1_fix_dist: 0.5970, d4.loss_plan_l1_fix_time: 2.7969, d4.loss_plan_l1_fix_dist: 0.6462, d5.loss_plan_l1_fix_time: 2.8053, d5.loss_plan_l1_fix_dist: 0.7000, d6.loss_plan_l1_fix_time: 2.8180, d6.loss_plan_l1_fix_dist: 0.7555, d0.loss_cls_all: 0.9014, d0.loss_bbox_all: 0.7665, d0.loss_cls: 0.9014, d0.loss_bbox: 0.7665, d1.loss_cls: 0.9083, d1.loss_bbox: 0.7858, d2.loss_cls: 0.9103, d2.loss_bbox: 0.7698, d3.loss_cls: 0.9178, d3.loss_bbox: 0.7735, d4.loss_cls: 0.9312, d4.loss_bbox: 0.7767, d5.loss_cls: 0.9206, d5.loss_bbox: 0.7793, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.6890, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6972, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6967, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7045, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7017, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7027, d0.loss_map_cls_all: 0.5541, d0.loss_map_pts_all: 2.8650, d0.loss_map_dir_all: 0.0371, d0.loss_map_cls: 0.5541, d0.loss_map_pts: 2.8650, d0.loss_map_dir: 0.0371, d1.loss_map_cls: 0.5152, d1.loss_map_pts: 2.4742, d1.loss_map_dir: 0.0375, d2.loss_map_cls: 0.5164, d2.loss_map_pts: 2.4301, d2.loss_map_dir: 0.0374, d3.loss_map_cls: 0.5243, d3.loss_map_pts: 2.4258, d3.loss_map_dir: 0.0374, d4.loss_map_cls: 0.5265, d4.loss_map_pts: 2.4214, d4.loss_map_dir: 0.0375, d5.loss_map_cls: 0.5286, d5.loss_map_pts: 2.4180, d5.loss_map_dir: 0.0375, loss: 74.2103, grad_norm: 167.2026 +2026-02-24 08:06:40,403 - DriveTransformer - INFO - Epoch [1][26300/39528] lr: 1.000e-04, eta: 8 days, 13:12:48, time: 0.793, data_time: 0.039, memory: 19865, loss_cls: 0.8713, loss_bbox: 0.7842, loss_traj: 1.6775, loss_traj_cls: 0.0006, loss_map_cls: 0.5027, loss_map_pts: 2.3829, loss_map_dir: 0.0390, d0.loss_plan_l1_fix_time: 2.9460, d0.loss_plan_l1_fix_dist: 0.6023, d1.loss_plan_l1_fix_time: 2.7425, d1.loss_plan_l1_fix_dist: 0.6187, d2.loss_plan_l1_fix_time: 2.7233, d2.loss_plan_l1_fix_dist: 0.6541, d3.loss_plan_l1_fix_time: 2.7259, d3.loss_plan_l1_fix_dist: 0.6983, d4.loss_plan_l1_fix_time: 2.7357, d4.loss_plan_l1_fix_dist: 0.7481, d5.loss_plan_l1_fix_time: 2.7479, d5.loss_plan_l1_fix_dist: 0.7991, d6.loss_plan_l1_fix_time: 2.7622, d6.loss_plan_l1_fix_dist: 0.8489, d0.loss_cls_all: 0.8601, d0.loss_bbox_all: 0.7663, d0.loss_cls: 0.8601, d0.loss_bbox: 0.7663, d1.loss_cls: 0.8562, d1.loss_bbox: 0.7874, d2.loss_cls: 0.8558, d2.loss_bbox: 0.7688, d3.loss_cls: 0.8608, d3.loss_bbox: 0.7747, d4.loss_cls: 0.8614, d4.loss_bbox: 0.7734, d5.loss_cls: 0.8574, d5.loss_bbox: 0.7797, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7458, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7186, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6894, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6881, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6772, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6713, d0.loss_map_cls_all: 0.5316, d0.loss_map_pts_all: 2.7820, d0.loss_map_dir_all: 0.0384, d0.loss_map_cls: 0.5316, d0.loss_map_pts: 2.7820, d0.loss_map_dir: 0.0384, d1.loss_map_cls: 0.5048, d1.loss_map_pts: 2.4215, d1.loss_map_dir: 0.0391, d2.loss_map_cls: 0.5020, d2.loss_map_pts: 2.3920, d2.loss_map_dir: 0.0390, d3.loss_map_cls: 0.5045, d3.loss_map_pts: 2.3885, d3.loss_map_dir: 0.0389, d4.loss_map_cls: 0.5025, d4.loss_map_pts: 2.3862, d4.loss_map_dir: 0.0389, d5.loss_map_cls: 0.5017, d5.loss_map_pts: 2.3814, d5.loss_map_dir: 0.0390, loss: 73.6177, grad_norm: 167.1832 +2026-02-24 08:07:18,526 - DriveTransformer - INFO - Epoch [1][26350/39528] lr: 1.000e-04, eta: 8 days, 13:11:01, time: 0.762, data_time: 0.037, memory: 19865, loss_cls: 0.8714, loss_bbox: 0.7438, loss_traj: 1.6585, loss_traj_cls: 0.0006, loss_map_cls: 0.4860, loss_map_pts: 2.1121, loss_map_dir: 0.0314, d0.loss_plan_l1_fix_time: 2.8355, d0.loss_plan_l1_fix_dist: 0.5145, d1.loss_plan_l1_fix_time: 2.7048, d1.loss_plan_l1_fix_dist: 0.5355, d2.loss_plan_l1_fix_time: 2.7113, d2.loss_plan_l1_fix_dist: 0.5760, d3.loss_plan_l1_fix_time: 2.7231, d3.loss_plan_l1_fix_dist: 0.6206, d4.loss_plan_l1_fix_time: 2.7351, d4.loss_plan_l1_fix_dist: 0.6703, d5.loss_plan_l1_fix_time: 2.7486, d5.loss_plan_l1_fix_dist: 0.7278, d6.loss_plan_l1_fix_time: 2.7626, d6.loss_plan_l1_fix_dist: 0.7912, d0.loss_cls_all: 0.8498, d0.loss_bbox_all: 0.7418, d0.loss_cls: 0.8498, d0.loss_bbox: 0.7418, d1.loss_cls: 0.8452, d1.loss_bbox: 0.7533, d2.loss_cls: 0.8546, d2.loss_bbox: 0.7490, d3.loss_cls: 0.8645, d3.loss_bbox: 0.7475, d4.loss_cls: 0.8584, d4.loss_bbox: 0.7393, d5.loss_cls: 0.8604, d5.loss_bbox: 0.7430, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.6065, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6409, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6321, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6437, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6368, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6451, d0.loss_map_cls_all: 0.5233, d0.loss_map_pts_all: 2.5442, d0.loss_map_dir_all: 0.0311, d0.loss_map_cls: 0.5233, d0.loss_map_pts: 2.5442, d0.loss_map_dir: 0.0311, d1.loss_map_cls: 0.4873, d1.loss_map_pts: 2.1632, d1.loss_map_dir: 0.0314, d2.loss_map_cls: 0.4842, d2.loss_map_pts: 2.1194, d2.loss_map_dir: 0.0313, d3.loss_map_cls: 0.4825, d3.loss_map_pts: 2.1099, d3.loss_map_dir: 0.0313, d4.loss_map_cls: 0.4841, d4.loss_map_pts: 2.1084, d4.loss_map_dir: 0.0313, d5.loss_map_cls: 0.4845, d5.loss_map_pts: 2.1076, d5.loss_map_dir: 0.0314, loss: 69.9526, grad_norm: 168.0358 +2026-02-24 08:07:57,705 - DriveTransformer - INFO - Epoch [1][26400/39528] lr: 1.000e-04, eta: 8 days, 13:09:53, time: 0.785, data_time: 0.037, memory: 19865, loss_cls: 0.8749, loss_bbox: 0.8350, loss_traj: 1.9087, loss_traj_cls: 0.0005, loss_map_cls: 0.5586, loss_map_pts: 2.4975, loss_map_dir: 0.0353, d0.loss_plan_l1_fix_time: 3.1796, d0.loss_plan_l1_fix_dist: 0.5747, d1.loss_plan_l1_fix_time: 3.0676, d1.loss_plan_l1_fix_dist: 0.5942, d2.loss_plan_l1_fix_time: 3.0787, d2.loss_plan_l1_fix_dist: 0.6348, d3.loss_plan_l1_fix_time: 3.0918, d3.loss_plan_l1_fix_dist: 0.6808, d4.loss_plan_l1_fix_time: 3.1045, d4.loss_plan_l1_fix_dist: 0.7292, d5.loss_plan_l1_fix_time: 3.1197, d5.loss_plan_l1_fix_dist: 0.7848, d6.loss_plan_l1_fix_time: 3.1359, d6.loss_plan_l1_fix_dist: 0.8474, d0.loss_cls_all: 0.8686, d0.loss_bbox_all: 0.8303, d0.loss_cls: 0.8686, d0.loss_bbox: 0.8303, d1.loss_cls: 0.8722, d1.loss_bbox: 0.8400, d2.loss_cls: 0.8813, d2.loss_bbox: 0.8330, d3.loss_cls: 0.8871, d3.loss_bbox: 0.8361, d4.loss_cls: 0.8736, d4.loss_bbox: 0.8295, d5.loss_cls: 0.8755, d5.loss_bbox: 0.8297, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9145, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.8983, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8948, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9111, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9169, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9133, d0.loss_map_cls_all: 0.5768, d0.loss_map_pts_all: 2.9607, d0.loss_map_dir_all: 0.0346, d0.loss_map_cls: 0.5768, d0.loss_map_pts: 2.9607, d0.loss_map_dir: 0.0346, d1.loss_map_cls: 0.5395, d1.loss_map_pts: 2.5514, d1.loss_map_dir: 0.0350, d2.loss_map_cls: 0.5410, d2.loss_map_pts: 2.5109, d2.loss_map_dir: 0.0350, d3.loss_map_cls: 0.5448, d3.loss_map_pts: 2.5045, d3.loss_map_dir: 0.0351, d4.loss_map_cls: 0.5548, d4.loss_map_pts: 2.4999, d4.loss_map_dir: 0.0351, d5.loss_map_cls: 0.5567, d5.loss_map_pts: 2.4967, d5.loss_map_dir: 0.0352, loss: 79.3621, grad_norm: 168.2794 +2026-02-24 08:08:36,637 - DriveTransformer - INFO - Epoch [1][26450/39528] lr: 1.000e-04, eta: 8 days, 13:08:32, time: 0.777, data_time: 0.035, memory: 19865, loss_cls: 0.9000, loss_bbox: 0.7785, loss_traj: 1.6647, loss_traj_cls: 0.0005, loss_map_cls: 0.4962, loss_map_pts: 2.1955, loss_map_dir: 0.0324, d0.loss_plan_l1_fix_time: 2.8819, d0.loss_plan_l1_fix_dist: 0.5314, d1.loss_plan_l1_fix_time: 2.7834, d1.loss_plan_l1_fix_dist: 0.5426, d2.loss_plan_l1_fix_time: 2.7972, d2.loss_plan_l1_fix_dist: 0.5691, d3.loss_plan_l1_fix_time: 2.8108, d3.loss_plan_l1_fix_dist: 0.6029, d4.loss_plan_l1_fix_time: 2.8238, d4.loss_plan_l1_fix_dist: 0.6364, d5.loss_plan_l1_fix_time: 2.8356, d5.loss_plan_l1_fix_dist: 0.6656, d6.loss_plan_l1_fix_time: 2.8473, d6.loss_plan_l1_fix_dist: 0.6950, d0.loss_cls_all: 0.8728, d0.loss_bbox_all: 0.7668, d0.loss_cls: 0.8728, d0.loss_bbox: 0.7668, d1.loss_cls: 0.8577, d1.loss_bbox: 0.7832, d2.loss_cls: 0.8543, d2.loss_bbox: 0.7668, d3.loss_cls: 0.8575, d3.loss_bbox: 0.7695, d4.loss_cls: 0.8568, d4.loss_bbox: 0.7732, d5.loss_cls: 0.8670, d5.loss_bbox: 0.7746, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6218, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6224, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6425, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6548, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.6591, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6517, d0.loss_map_cls_all: 0.5277, d0.loss_map_pts_all: 2.5988, d0.loss_map_dir_all: 0.0318, d0.loss_map_cls: 0.5277, d0.loss_map_pts: 2.5988, d0.loss_map_dir: 0.0318, d1.loss_map_cls: 0.5002, d1.loss_map_pts: 2.2052, d1.loss_map_dir: 0.0322, d2.loss_map_cls: 0.4985, d2.loss_map_pts: 2.1799, d2.loss_map_dir: 0.0323, d3.loss_map_cls: 0.4927, d3.loss_map_pts: 2.1771, d3.loss_map_dir: 0.0324, d4.loss_map_cls: 0.4946, d4.loss_map_pts: 2.1820, d4.loss_map_dir: 0.0323, d5.loss_map_cls: 0.4924, d5.loss_map_pts: 2.1858, d5.loss_map_dir: 0.0324, loss: 71.2728, grad_norm: 165.8683 +2026-02-24 08:09:16,307 - DriveTransformer - INFO - Epoch [1][26500/39528] lr: 1.000e-04, eta: 8 days, 13:07:39, time: 0.793, data_time: 0.039, memory: 19865, loss_cls: 0.9015, loss_bbox: 0.7742, loss_traj: 1.8871, loss_traj_cls: 0.0005, loss_map_cls: 0.5037, loss_map_pts: 2.2990, loss_map_dir: 0.0324, d0.loss_plan_l1_fix_time: 2.6501, d0.loss_plan_l1_fix_dist: 0.5688, d1.loss_plan_l1_fix_time: 2.4710, d1.loss_plan_l1_fix_dist: 0.5791, d2.loss_plan_l1_fix_time: 2.4704, d2.loss_plan_l1_fix_dist: 0.6094, d3.loss_plan_l1_fix_time: 2.4806, d3.loss_plan_l1_fix_dist: 0.6456, d4.loss_plan_l1_fix_time: 2.4948, d4.loss_plan_l1_fix_dist: 0.6900, d5.loss_plan_l1_fix_time: 2.5083, d5.loss_plan_l1_fix_dist: 0.7367, d6.loss_plan_l1_fix_time: 2.5234, d6.loss_plan_l1_fix_dist: 0.7871, d0.loss_cls_all: 0.8616, d0.loss_bbox_all: 0.7793, d0.loss_cls: 0.8616, d0.loss_bbox: 0.7793, d1.loss_cls: 0.8583, d1.loss_bbox: 0.7986, d2.loss_cls: 0.8643, d2.loss_bbox: 0.7822, d3.loss_cls: 0.8689, d3.loss_bbox: 0.7685, d4.loss_cls: 0.8624, d4.loss_bbox: 0.7708, d5.loss_cls: 0.8686, d5.loss_bbox: 0.7729, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8491, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.8606, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.8667, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8769, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8875, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8854, d0.loss_map_cls_all: 0.5411, d0.loss_map_pts_all: 2.7236, d0.loss_map_dir_all: 0.0317, d0.loss_map_cls: 0.5411, d0.loss_map_pts: 2.7236, d0.loss_map_dir: 0.0317, d1.loss_map_cls: 0.5022, d1.loss_map_pts: 2.3483, d1.loss_map_dir: 0.0320, d2.loss_map_cls: 0.5021, d2.loss_map_pts: 2.3082, d2.loss_map_dir: 0.0322, d3.loss_map_cls: 0.5006, d3.loss_map_pts: 2.3003, d3.loss_map_dir: 0.0322, d4.loss_map_cls: 0.5022, d4.loss_map_pts: 2.2944, d4.loss_map_dir: 0.0322, d5.loss_map_cls: 0.5003, d5.loss_map_pts: 2.2942, d5.loss_map_dir: 0.0324, loss: 72.1474, grad_norm: 165.5431 +2026-02-24 08:09:57,257 - DriveTransformer - INFO - Epoch [1][26550/39528] lr: 1.000e-04, eta: 8 days, 13:07:31, time: 0.819, data_time: 0.040, memory: 19865, loss_cls: 0.8823, loss_bbox: 0.7883, loss_traj: 2.0476, loss_traj_cls: 0.0005, loss_map_cls: 0.4985, loss_map_pts: 2.3773, loss_map_dir: 0.0360, d0.loss_plan_l1_fix_time: 2.6996, d0.loss_plan_l1_fix_dist: 0.4264, d1.loss_plan_l1_fix_time: 2.4885, d1.loss_plan_l1_fix_dist: 0.4298, d2.loss_plan_l1_fix_time: 2.4690, d2.loss_plan_l1_fix_dist: 0.4487, d3.loss_plan_l1_fix_time: 2.4721, d3.loss_plan_l1_fix_dist: 0.4766, d4.loss_plan_l1_fix_time: 2.4803, d4.loss_plan_l1_fix_dist: 0.5123, d5.loss_plan_l1_fix_time: 2.4918, d5.loss_plan_l1_fix_dist: 0.5551, d6.loss_plan_l1_fix_time: 2.5059, d6.loss_plan_l1_fix_dist: 0.6000, d0.loss_cls_all: 0.8707, d0.loss_bbox_all: 0.7986, d0.loss_cls: 0.8707, d0.loss_bbox: 0.7986, d1.loss_cls: 0.8717, d1.loss_bbox: 0.8125, d2.loss_cls: 0.8628, d2.loss_bbox: 0.8129, d3.loss_cls: 0.8663, d3.loss_bbox: 0.8039, d4.loss_cls: 0.8726, d4.loss_bbox: 0.7895, d5.loss_cls: 0.8697, d5.loss_bbox: 0.7890, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0111, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.9945, d2.loss_traj_cls: 0.0007, d2.loss_traj: 2.0057, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0309, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0441, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0500, d0.loss_map_cls_all: 0.5376, d0.loss_map_pts_all: 2.9896, d0.loss_map_dir_all: 0.0353, d0.loss_map_cls: 0.5376, d0.loss_map_pts: 2.9896, d0.loss_map_dir: 0.0353, d1.loss_map_cls: 0.5148, d1.loss_map_pts: 2.4325, d1.loss_map_dir: 0.0358, d2.loss_map_cls: 0.5039, d2.loss_map_pts: 2.3787, d2.loss_map_dir: 0.0359, d3.loss_map_cls: 0.5051, d3.loss_map_pts: 2.3712, d3.loss_map_dir: 0.0359, d4.loss_map_cls: 0.5023, d4.loss_map_pts: 2.3702, d4.loss_map_dir: 0.0359, d5.loss_map_cls: 0.4992, d5.loss_map_pts: 2.3755, d5.loss_map_dir: 0.0360, loss: 73.2735, grad_norm: 163.5264 +2026-02-24 08:10:36,756 - DriveTransformer - INFO - Epoch [1][26600/39528] lr: 1.000e-04, eta: 8 days, 13:06:32, time: 0.790, data_time: 0.039, memory: 19865, loss_cls: 0.8521, loss_bbox: 0.7547, loss_traj: 1.4647, loss_traj_cls: 0.0005, loss_map_cls: 0.4902, loss_map_pts: 2.3781, loss_map_dir: 0.0355, d0.loss_plan_l1_fix_time: 2.9228, d0.loss_plan_l1_fix_dist: 0.5801, d1.loss_plan_l1_fix_time: 2.7898, d1.loss_plan_l1_fix_dist: 0.5897, d2.loss_plan_l1_fix_time: 2.7920, d2.loss_plan_l1_fix_dist: 0.6102, d3.loss_plan_l1_fix_time: 2.8015, d3.loss_plan_l1_fix_dist: 0.6364, d4.loss_plan_l1_fix_time: 2.8120, d4.loss_plan_l1_fix_dist: 0.6625, d5.loss_plan_l1_fix_time: 2.8238, d5.loss_plan_l1_fix_dist: 0.6913, d6.loss_plan_l1_fix_time: 2.8365, d6.loss_plan_l1_fix_dist: 0.7217, d0.loss_cls_all: 0.8533, d0.loss_bbox_all: 0.7493, d0.loss_cls: 0.8533, d0.loss_bbox: 0.7493, d1.loss_cls: 0.8475, d1.loss_bbox: 0.7639, d2.loss_cls: 0.8455, d2.loss_bbox: 0.7680, d3.loss_cls: 0.8491, d3.loss_bbox: 0.7667, d4.loss_cls: 0.8540, d4.loss_bbox: 0.7529, d5.loss_cls: 0.8526, d5.loss_bbox: 0.7518, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4567, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.4571, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.4302, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.4434, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.4489, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4548, d0.loss_map_cls_all: 0.5209, d0.loss_map_pts_all: 3.0061, d0.loss_map_dir_all: 0.0351, d0.loss_map_cls: 0.5209, d0.loss_map_pts: 3.0061, d0.loss_map_dir: 0.0351, d1.loss_map_cls: 0.4920, d1.loss_map_pts: 2.4429, d1.loss_map_dir: 0.0354, d2.loss_map_cls: 0.4871, d2.loss_map_pts: 2.3829, d2.loss_map_dir: 0.0354, d3.loss_map_cls: 0.4880, d3.loss_map_pts: 2.3735, d3.loss_map_dir: 0.0353, d4.loss_map_cls: 0.4858, d4.loss_map_pts: 2.3726, d4.loss_map_dir: 0.0354, d5.loss_map_cls: 0.4872, d5.loss_map_pts: 2.3744, d5.loss_map_dir: 0.0354, loss: 71.8849, grad_norm: 162.7880 +2026-02-24 08:11:14,302 - DriveTransformer - INFO - Epoch [1][26650/39528] lr: 1.000e-04, eta: 8 days, 13:04:25, time: 0.751, data_time: 0.037, memory: 19865, loss_cls: 0.8981, loss_bbox: 0.8021, loss_traj: 1.6791, loss_traj_cls: 0.0006, loss_map_cls: 0.5055, loss_map_pts: 2.1943, loss_map_dir: 0.0321, d0.loss_plan_l1_fix_time: 3.3295, d0.loss_plan_l1_fix_dist: 0.5685, d1.loss_plan_l1_fix_time: 3.1921, d1.loss_plan_l1_fix_dist: 0.5799, d2.loss_plan_l1_fix_time: 3.1839, d2.loss_plan_l1_fix_dist: 0.6031, d3.loss_plan_l1_fix_time: 3.1879, d3.loss_plan_l1_fix_dist: 0.6316, d4.loss_plan_l1_fix_time: 3.1949, d4.loss_plan_l1_fix_dist: 0.6623, d5.loss_plan_l1_fix_time: 3.2041, d5.loss_plan_l1_fix_dist: 0.6958, d6.loss_plan_l1_fix_time: 3.2153, d6.loss_plan_l1_fix_dist: 0.7312, d0.loss_cls_all: 0.8925, d0.loss_bbox_all: 0.8011, d0.loss_cls: 0.8925, d0.loss_bbox: 0.8011, d1.loss_cls: 0.8923, d1.loss_bbox: 0.8110, d2.loss_cls: 0.8926, d2.loss_bbox: 0.8049, d3.loss_cls: 0.8987, d3.loss_bbox: 0.8060, d4.loss_cls: 0.8994, d4.loss_bbox: 0.7983, d5.loss_cls: 0.8940, d5.loss_bbox: 0.7996, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.6555, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6529, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6412, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6587, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6641, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6711, d0.loss_map_cls_all: 0.5400, d0.loss_map_pts_all: 2.6403, d0.loss_map_dir_all: 0.0315, d0.loss_map_cls: 0.5400, d0.loss_map_pts: 2.6403, d0.loss_map_dir: 0.0315, d1.loss_map_cls: 0.5090, d1.loss_map_pts: 2.2313, d1.loss_map_dir: 0.0321, d2.loss_map_cls: 0.5041, d2.loss_map_pts: 2.1909, d2.loss_map_dir: 0.0321, d3.loss_map_cls: 0.5061, d3.loss_map_pts: 2.1870, d3.loss_map_dir: 0.0320, d4.loss_map_cls: 0.5052, d4.loss_map_pts: 2.1877, d4.loss_map_dir: 0.0320, d5.loss_map_cls: 0.5059, d5.loss_map_pts: 2.1901, d5.loss_map_dir: 0.0320, loss: 75.0239, grad_norm: 161.6291 +2026-02-24 08:11:53,182 - DriveTransformer - INFO - Epoch [1][26700/39528] lr: 1.000e-04, eta: 8 days, 13:03:05, time: 0.778, data_time: 0.040, memory: 19865, loss_cls: 0.9214, loss_bbox: 0.8057, loss_traj: 1.8477, loss_traj_cls: 0.0006, loss_map_cls: 0.5224, loss_map_pts: 2.5324, loss_map_dir: 0.0351, d0.loss_plan_l1_fix_time: 3.1153, d0.loss_plan_l1_fix_dist: 0.5552, d1.loss_plan_l1_fix_time: 2.9806, d1.loss_plan_l1_fix_dist: 0.5789, d2.loss_plan_l1_fix_time: 2.9893, d2.loss_plan_l1_fix_dist: 0.6216, d3.loss_plan_l1_fix_time: 3.0003, d3.loss_plan_l1_fix_dist: 0.6695, d4.loss_plan_l1_fix_time: 3.0120, d4.loss_plan_l1_fix_dist: 0.7193, d5.loss_plan_l1_fix_time: 3.0246, d5.loss_plan_l1_fix_dist: 0.7709, d6.loss_plan_l1_fix_time: 3.0358, d6.loss_plan_l1_fix_dist: 0.8285, d0.loss_cls_all: 0.8952, d0.loss_bbox_all: 0.8104, d0.loss_cls: 0.8952, d0.loss_bbox: 0.8104, d1.loss_cls: 0.8873, d1.loss_bbox: 0.8226, d2.loss_cls: 0.8792, d2.loss_bbox: 0.7982, d3.loss_cls: 0.8803, d3.loss_bbox: 0.7975, d4.loss_cls: 0.8825, d4.loss_bbox: 0.7964, d5.loss_cls: 0.8895, d5.loss_bbox: 0.8020, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7661, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7781, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7862, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8150, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8354, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8429, d0.loss_map_cls_all: 0.5495, d0.loss_map_pts_all: 2.9244, d0.loss_map_dir_all: 0.0346, d0.loss_map_cls: 0.5495, d0.loss_map_pts: 2.9244, d0.loss_map_dir: 0.0346, d1.loss_map_cls: 0.5153, d1.loss_map_pts: 2.5619, d1.loss_map_dir: 0.0350, d2.loss_map_cls: 0.5114, d2.loss_map_pts: 2.5223, d2.loss_map_dir: 0.0349, d3.loss_map_cls: 0.5110, d3.loss_map_pts: 2.5192, d3.loss_map_dir: 0.0349, d4.loss_map_cls: 0.5136, d4.loss_map_pts: 2.5242, d4.loss_map_dir: 0.0348, d5.loss_map_cls: 0.5167, d5.loss_map_pts: 2.5309, d5.loss_map_dir: 0.0350, loss: 77.6590, grad_norm: 162.3151 +2026-02-24 08:12:30,471 - DriveTransformer - INFO - Epoch [1][26750/39528] lr: 1.000e-04, eta: 8 days, 13:00:51, time: 0.746, data_time: 0.042, memory: 19865, loss_cls: 0.8685, loss_bbox: 0.7720, loss_traj: 1.8929, loss_traj_cls: 0.0005, loss_map_cls: 0.4986, loss_map_pts: 2.2989, loss_map_dir: 0.0335, d0.loss_plan_l1_fix_time: 2.6477, d0.loss_plan_l1_fix_dist: 0.5642, d1.loss_plan_l1_fix_time: 2.4376, d1.loss_plan_l1_fix_dist: 0.5736, d2.loss_plan_l1_fix_time: 2.4272, d2.loss_plan_l1_fix_dist: 0.5970, d3.loss_plan_l1_fix_time: 2.4325, d3.loss_plan_l1_fix_dist: 0.6283, d4.loss_plan_l1_fix_time: 2.4423, d4.loss_plan_l1_fix_dist: 0.6630, d5.loss_plan_l1_fix_time: 2.4540, d5.loss_plan_l1_fix_dist: 0.7010, d6.loss_plan_l1_fix_time: 2.4665, d6.loss_plan_l1_fix_dist: 0.7430, d0.loss_cls_all: 0.8536, d0.loss_bbox_all: 0.7723, d0.loss_cls: 0.8536, d0.loss_bbox: 0.7723, d1.loss_cls: 0.8507, d1.loss_bbox: 0.7945, d2.loss_cls: 0.8473, d2.loss_bbox: 0.7620, d3.loss_cls: 0.8490, d3.loss_bbox: 0.7557, d4.loss_cls: 0.8593, d4.loss_bbox: 0.7581, d5.loss_cls: 0.8605, d5.loss_bbox: 0.7666, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8598, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.8663, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8678, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8770, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8748, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8815, d0.loss_map_cls_all: 0.5343, d0.loss_map_pts_all: 2.7330, d0.loss_map_dir_all: 0.0333, d0.loss_map_cls: 0.5343, d0.loss_map_pts: 2.7330, d0.loss_map_dir: 0.0333, d1.loss_map_cls: 0.5032, d1.loss_map_pts: 2.3561, d1.loss_map_dir: 0.0334, d2.loss_map_cls: 0.4953, d2.loss_map_pts: 2.3115, d2.loss_map_dir: 0.0334, d3.loss_map_cls: 0.4958, d3.loss_map_pts: 2.3004, d3.loss_map_dir: 0.0333, d4.loss_map_cls: 0.4951, d4.loss_map_pts: 2.2965, d4.loss_map_dir: 0.0334, d5.loss_map_cls: 0.4961, d5.loss_map_pts: 2.2952, d5.loss_map_dir: 0.0333, loss: 71.5424, grad_norm: 162.3410 +2026-02-24 08:13:08,868 - DriveTransformer - INFO - Epoch [1][26800/39528] lr: 1.000e-04, eta: 8 days, 12:59:15, time: 0.768, data_time: 0.040, memory: 19865, loss_cls: 0.8852, loss_bbox: 0.7805, loss_traj: 1.7320, loss_traj_cls: 0.0005, loss_map_cls: 0.4966, loss_map_pts: 2.1643, loss_map_dir: 0.0307, d0.loss_plan_l1_fix_time: 2.7446, d0.loss_plan_l1_fix_dist: 0.5355, d1.loss_plan_l1_fix_time: 2.6598, d1.loss_plan_l1_fix_dist: 0.5598, d2.loss_plan_l1_fix_time: 2.6822, d2.loss_plan_l1_fix_dist: 0.6000, d3.loss_plan_l1_fix_time: 2.7009, d3.loss_plan_l1_fix_dist: 0.6479, d4.loss_plan_l1_fix_time: 2.7173, d4.loss_plan_l1_fix_dist: 0.7045, d5.loss_plan_l1_fix_time: 2.7332, d5.loss_plan_l1_fix_dist: 0.7708, d6.loss_plan_l1_fix_time: 2.7497, d6.loss_plan_l1_fix_dist: 0.8404, d0.loss_cls_all: 0.8850, d0.loss_bbox_all: 0.7946, d0.loss_cls: 0.8850, d0.loss_bbox: 0.7946, d1.loss_cls: 0.8881, d1.loss_bbox: 0.8212, d2.loss_cls: 0.8716, d2.loss_bbox: 0.8220, d3.loss_cls: 0.8626, d3.loss_bbox: 0.8031, d4.loss_cls: 0.8728, d4.loss_bbox: 0.7888, d5.loss_cls: 0.8760, d5.loss_bbox: 0.7846, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6801, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6921, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6956, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7157, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7193, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7259, d0.loss_map_cls_all: 0.5317, d0.loss_map_pts_all: 2.5384, d0.loss_map_dir_all: 0.0308, d0.loss_map_cls: 0.5317, d0.loss_map_pts: 2.5384, d0.loss_map_dir: 0.0308, d1.loss_map_cls: 0.4993, d1.loss_map_pts: 2.1815, d1.loss_map_dir: 0.0307, d2.loss_map_cls: 0.4943, d2.loss_map_pts: 2.1482, d2.loss_map_dir: 0.0305, d3.loss_map_cls: 0.4929, d3.loss_map_pts: 2.1404, d3.loss_map_dir: 0.0305, d4.loss_map_cls: 0.4945, d4.loss_map_pts: 2.1432, d4.loss_map_dir: 0.0305, d5.loss_map_cls: 0.4958, d5.loss_map_pts: 2.1479, d5.loss_map_dir: 0.0306, loss: 71.3107, grad_norm: 162.0013 +2026-02-24 08:13:47,736 - DriveTransformer - INFO - Epoch [1][26850/39528] lr: 1.000e-04, eta: 8 days, 12:57:55, time: 0.777, data_time: 0.040, memory: 19865, loss_cls: 0.8737, loss_bbox: 0.8148, loss_traj: 2.0192, loss_traj_cls: 0.0006, loss_map_cls: 0.4848, loss_map_pts: 2.2397, loss_map_dir: 0.0295, d0.loss_plan_l1_fix_time: 3.2710, d0.loss_plan_l1_fix_dist: 0.5268, d1.loss_plan_l1_fix_time: 3.1335, d1.loss_plan_l1_fix_dist: 0.5422, d2.loss_plan_l1_fix_time: 3.1236, d2.loss_plan_l1_fix_dist: 0.5727, d3.loss_plan_l1_fix_time: 3.1242, d3.loss_plan_l1_fix_dist: 0.6151, d4.loss_plan_l1_fix_time: 3.1282, d4.loss_plan_l1_fix_dist: 0.6611, d5.loss_plan_l1_fix_time: 3.1340, d5.loss_plan_l1_fix_dist: 0.7107, d6.loss_plan_l1_fix_time: 3.1412, d6.loss_plan_l1_fix_dist: 0.7660, d0.loss_cls_all: 0.8750, d0.loss_bbox_all: 0.8110, d0.loss_cls: 0.8750, d0.loss_bbox: 0.8110, d1.loss_cls: 0.8755, d1.loss_bbox: 0.8541, d2.loss_cls: 0.8684, d2.loss_bbox: 0.8592, d3.loss_cls: 0.8624, d3.loss_bbox: 0.8466, d4.loss_cls: 0.8725, d4.loss_bbox: 0.8245, d5.loss_cls: 0.8714, d5.loss_bbox: 0.8218, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9422, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.9676, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9829, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0186, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0296, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0260, d0.loss_map_cls_all: 0.5214, d0.loss_map_pts_all: 2.5748, d0.loss_map_dir_all: 0.0297, d0.loss_map_cls: 0.5214, d0.loss_map_pts: 2.5748, d0.loss_map_dir: 0.0297, d1.loss_map_cls: 0.4872, d1.loss_map_pts: 2.2675, d1.loss_map_dir: 0.0296, d2.loss_map_cls: 0.4816, d2.loss_map_pts: 2.2427, d2.loss_map_dir: 0.0295, d3.loss_map_cls: 0.4822, d3.loss_map_pts: 2.2362, d3.loss_map_dir: 0.0295, d4.loss_map_cls: 0.4820, d4.loss_map_pts: 2.2358, d4.loss_map_dir: 0.0294, d5.loss_map_cls: 0.4836, d5.loss_map_pts: 2.2359, d5.loss_map_dir: 0.0295, loss: 76.8456, grad_norm: 163.2680 +2026-02-24 08:14:27,085 - DriveTransformer - INFO - Epoch [1][26900/39528] lr: 1.000e-04, eta: 8 days, 12:56:52, time: 0.787, data_time: 0.036, memory: 19865, loss_cls: 0.9218, loss_bbox: 0.7575, loss_traj: 1.4865, loss_traj_cls: 0.0006, loss_map_cls: 0.4899, loss_map_pts: 2.5311, loss_map_dir: 0.0405, d0.loss_plan_l1_fix_time: 2.9155, d0.loss_plan_l1_fix_dist: 0.5759, d1.loss_plan_l1_fix_time: 2.7864, d1.loss_plan_l1_fix_dist: 0.5941, d2.loss_plan_l1_fix_time: 2.7863, d2.loss_plan_l1_fix_dist: 0.6261, d3.loss_plan_l1_fix_time: 2.7936, d3.loss_plan_l1_fix_dist: 0.6637, d4.loss_plan_l1_fix_time: 2.8016, d4.loss_plan_l1_fix_dist: 0.7047, d5.loss_plan_l1_fix_time: 2.8113, d5.loss_plan_l1_fix_dist: 0.7472, d6.loss_plan_l1_fix_time: 2.8224, d6.loss_plan_l1_fix_dist: 0.7929, d0.loss_cls_all: 0.9032, d0.loss_bbox_all: 0.7568, d0.loss_cls: 0.9032, d0.loss_bbox: 0.7568, d1.loss_cls: 0.9149, d1.loss_bbox: 0.7900, d2.loss_cls: 0.8982, d2.loss_bbox: 0.7709, d3.loss_cls: 0.8972, d3.loss_bbox: 0.7616, d4.loss_cls: 0.8987, d4.loss_bbox: 0.7518, d5.loss_cls: 0.8975, d5.loss_bbox: 0.7528, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.4467, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.4692, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4697, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4877, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.4873, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4801, d0.loss_map_cls_all: 0.5222, d0.loss_map_pts_all: 3.0331, d0.loss_map_dir_all: 0.0401, d0.loss_map_cls: 0.5222, d0.loss_map_pts: 3.0331, d0.loss_map_dir: 0.0401, d1.loss_map_cls: 0.4945, d1.loss_map_pts: 2.5758, d1.loss_map_dir: 0.0403, d2.loss_map_cls: 0.4930, d2.loss_map_pts: 2.5350, d2.loss_map_dir: 0.0403, d3.loss_map_cls: 0.4921, d3.loss_map_pts: 2.5286, d3.loss_map_dir: 0.0404, d4.loss_map_cls: 0.4903, d4.loss_map_pts: 2.5313, d4.loss_map_dir: 0.0404, d5.loss_map_cls: 0.4873, d5.loss_map_pts: 2.5310, d5.loss_map_dir: 0.0405, loss: 73.6987, grad_norm: 164.3625 +2026-02-24 08:15:06,941 - DriveTransformer - INFO - Epoch [1][26950/39528] lr: 1.000e-04, eta: 8 days, 12:56:07, time: 0.797, data_time: 0.049, memory: 19865, loss_cls: 0.9076, loss_bbox: 0.7915, loss_traj: 1.6601, loss_traj_cls: 0.0005, loss_map_cls: 0.5221, loss_map_pts: 2.3067, loss_map_dir: 0.0344, d0.loss_plan_l1_fix_time: 2.9578, d0.loss_plan_l1_fix_dist: 0.5232, d1.loss_plan_l1_fix_time: 2.8348, d1.loss_plan_l1_fix_dist: 0.5397, d2.loss_plan_l1_fix_time: 2.8275, d2.loss_plan_l1_fix_dist: 0.5681, d3.loss_plan_l1_fix_time: 2.8332, d3.loss_plan_l1_fix_dist: 0.5987, d4.loss_plan_l1_fix_time: 2.8414, d4.loss_plan_l1_fix_dist: 0.6351, d5.loss_plan_l1_fix_time: 2.8527, d5.loss_plan_l1_fix_dist: 0.6790, d6.loss_plan_l1_fix_time: 2.8648, d6.loss_plan_l1_fix_dist: 0.7285, d0.loss_cls_all: 0.8912, d0.loss_bbox_all: 0.7947, d0.loss_cls: 0.8912, d0.loss_bbox: 0.7947, d1.loss_cls: 0.9043, d1.loss_bbox: 0.8104, d2.loss_cls: 0.9058, d2.loss_bbox: 0.7894, d3.loss_cls: 0.9081, d3.loss_bbox: 0.7907, d4.loss_cls: 0.9072, d4.loss_bbox: 0.7858, d5.loss_cls: 0.9043, d5.loss_bbox: 0.7861, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5914, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6238, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6305, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6424, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.6467, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6512, d0.loss_map_cls_all: 0.5583, d0.loss_map_pts_all: 2.7394, d0.loss_map_dir_all: 0.0347, d0.loss_map_cls: 0.5583, d0.loss_map_pts: 2.7394, d0.loss_map_dir: 0.0347, d1.loss_map_cls: 0.5296, d1.loss_map_pts: 2.3595, d1.loss_map_dir: 0.0347, d2.loss_map_cls: 0.5252, d2.loss_map_pts: 2.3176, d2.loss_map_dir: 0.0345, d3.loss_map_cls: 0.5275, d3.loss_map_pts: 2.3086, d3.loss_map_dir: 0.0344, d4.loss_map_cls: 0.5231, d4.loss_map_pts: 2.3066, d4.loss_map_dir: 0.0344, d5.loss_map_cls: 0.5235, d5.loss_map_pts: 2.3038, d5.loss_map_dir: 0.0344, loss: 73.2227, grad_norm: 163.9316 +2026-02-24 08:15:45,330 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 08:15:45,330 - DriveTransformer - INFO - Epoch [1][27000/39528] lr: 1.000e-04, eta: 8 days, 12:54:30, time: 0.767, data_time: 0.039, memory: 19865, loss_cls: 0.9148, loss_bbox: 0.8228, loss_traj: 1.6622, loss_traj_cls: 0.0005, loss_map_cls: 0.4930, loss_map_pts: 2.2526, loss_map_dir: 0.0325, d0.loss_plan_l1_fix_time: 3.2845, d0.loss_plan_l1_fix_dist: 0.4887, d1.loss_plan_l1_fix_time: 3.1341, d1.loss_plan_l1_fix_dist: 0.5065, d2.loss_plan_l1_fix_time: 3.1468, d2.loss_plan_l1_fix_dist: 0.5350, d3.loss_plan_l1_fix_time: 3.1645, d3.loss_plan_l1_fix_dist: 0.5612, d4.loss_plan_l1_fix_time: 3.1821, d4.loss_plan_l1_fix_dist: 0.5957, d5.loss_plan_l1_fix_time: 3.1992, d5.loss_plan_l1_fix_dist: 0.6271, d6.loss_plan_l1_fix_time: 3.2149, d6.loss_plan_l1_fix_dist: 0.6608, d0.loss_cls_all: 0.8799, d0.loss_bbox_all: 0.8521, d0.loss_cls: 0.8799, d0.loss_bbox: 0.8521, d1.loss_cls: 0.9031, d1.loss_bbox: 0.8531, d2.loss_cls: 0.9026, d2.loss_bbox: 0.8236, d3.loss_cls: 0.9209, d3.loss_bbox: 0.8173, d4.loss_cls: 0.9080, d4.loss_bbox: 0.8149, d5.loss_cls: 0.9095, d5.loss_bbox: 0.8179, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6443, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6549, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6619, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.6680, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.6650, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6620, d0.loss_map_cls_all: 0.5341, d0.loss_map_pts_all: 2.6549, d0.loss_map_dir_all: 0.0324, d0.loss_map_cls: 0.5341, d0.loss_map_pts: 2.6549, d0.loss_map_dir: 0.0324, d1.loss_map_cls: 0.4985, d1.loss_map_pts: 2.3209, d1.loss_map_dir: 0.0326, d2.loss_map_cls: 0.4984, d2.loss_map_pts: 2.2691, d2.loss_map_dir: 0.0325, d3.loss_map_cls: 0.4962, d3.loss_map_pts: 2.2573, d3.loss_map_dir: 0.0324, d4.loss_map_cls: 0.4940, d4.loss_map_pts: 2.2542, d4.loss_map_dir: 0.0324, d5.loss_map_cls: 0.4932, d5.loss_map_pts: 2.2546, d5.loss_map_dir: 0.0325, loss: 75.0153, grad_norm: 163.6616 +2026-02-24 08:16:24,449 - DriveTransformer - INFO - Epoch [1][27050/39528] lr: 1.000e-04, eta: 8 days, 12:53:20, time: 0.782, data_time: 0.037, memory: 19865, loss_cls: 0.8745, loss_bbox: 0.7605, loss_traj: 1.6678, loss_traj_cls: 0.0005, loss_map_cls: 0.4958, loss_map_pts: 2.3562, loss_map_dir: 0.0351, d0.loss_plan_l1_fix_time: 3.2030, d0.loss_plan_l1_fix_dist: 0.5621, d1.loss_plan_l1_fix_time: 3.0540, d1.loss_plan_l1_fix_dist: 0.5629, d2.loss_plan_l1_fix_time: 3.0490, d2.loss_plan_l1_fix_dist: 0.5761, d3.loss_plan_l1_fix_time: 3.0575, d3.loss_plan_l1_fix_dist: 0.5991, d4.loss_plan_l1_fix_time: 3.0694, d4.loss_plan_l1_fix_dist: 0.6271, d5.loss_plan_l1_fix_time: 3.0820, d5.loss_plan_l1_fix_dist: 0.6583, d6.loss_plan_l1_fix_time: 3.0972, d6.loss_plan_l1_fix_dist: 0.6905, d0.loss_cls_all: 0.8418, d0.loss_bbox_all: 0.8034, d0.loss_cls: 0.8418, d0.loss_bbox: 0.8034, d1.loss_cls: 0.8591, d1.loss_bbox: 0.8095, d2.loss_cls: 0.8566, d2.loss_bbox: 0.7846, d3.loss_cls: 0.8630, d3.loss_bbox: 0.7740, d4.loss_cls: 0.8623, d4.loss_bbox: 0.7684, d5.loss_cls: 0.8625, d5.loss_bbox: 0.7620, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6734, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6699, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6578, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6632, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6636, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6651, d0.loss_map_cls_all: 0.5447, d0.loss_map_pts_all: 2.8137, d0.loss_map_dir_all: 0.0348, d0.loss_map_cls: 0.5447, d0.loss_map_pts: 2.8137, d0.loss_map_dir: 0.0348, d1.loss_map_cls: 0.5084, d1.loss_map_pts: 2.4411, d1.loss_map_dir: 0.0351, d2.loss_map_cls: 0.5031, d2.loss_map_pts: 2.3813, d2.loss_map_dir: 0.0352, d3.loss_map_cls: 0.5035, d3.loss_map_pts: 2.3649, d3.loss_map_dir: 0.0351, d4.loss_map_cls: 0.4988, d4.loss_map_pts: 2.3575, d4.loss_map_dir: 0.0350, d5.loss_map_cls: 0.4979, d5.loss_map_pts: 2.3571, d5.loss_map_dir: 0.0350, loss: 74.9424, grad_norm: 162.7485 +2026-02-24 08:17:02,600 - DriveTransformer - INFO - Epoch [1][27100/39528] lr: 1.000e-04, eta: 8 days, 12:51:36, time: 0.763, data_time: 0.044, memory: 19865, loss_cls: 0.8974, loss_bbox: 0.7855, loss_traj: 2.0473, loss_traj_cls: 0.0005, loss_map_cls: 0.5088, loss_map_pts: 2.2399, loss_map_dir: 0.0347, d0.loss_plan_l1_fix_time: 2.9128, d0.loss_plan_l1_fix_dist: 0.5113, d1.loss_plan_l1_fix_time: 2.7402, d1.loss_plan_l1_fix_dist: 0.5163, d2.loss_plan_l1_fix_time: 2.7287, d2.loss_plan_l1_fix_dist: 0.5376, d3.loss_plan_l1_fix_time: 2.7371, d3.loss_plan_l1_fix_dist: 0.5705, d4.loss_plan_l1_fix_time: 2.7491, d4.loss_plan_l1_fix_dist: 0.6094, d5.loss_plan_l1_fix_time: 2.7617, d5.loss_plan_l1_fix_dist: 0.6623, d6.loss_plan_l1_fix_time: 2.7763, d6.loss_plan_l1_fix_dist: 0.7206, d0.loss_cls_all: 0.8405, d0.loss_bbox_all: 0.8080, d0.loss_cls: 0.8405, d0.loss_bbox: 0.8080, d1.loss_cls: 0.8397, d1.loss_bbox: 0.8260, d2.loss_cls: 0.8580, d2.loss_bbox: 0.8130, d3.loss_cls: 0.8767, d3.loss_bbox: 0.7993, d4.loss_cls: 0.8667, d4.loss_bbox: 0.7908, d5.loss_cls: 0.8731, d5.loss_bbox: 0.7897, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9937, d1.loss_traj_cls: 0.0007, d1.loss_traj: 2.0081, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0115, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0240, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0303, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0371, d0.loss_map_cls_all: 0.5606, d0.loss_map_pts_all: 2.6620, d0.loss_map_dir_all: 0.0344, d0.loss_map_cls: 0.5606, d0.loss_map_pts: 2.6620, d0.loss_map_dir: 0.0344, d1.loss_map_cls: 0.5231, d1.loss_map_pts: 2.2981, d1.loss_map_dir: 0.0347, d2.loss_map_cls: 0.5180, d2.loss_map_pts: 2.2399, d2.loss_map_dir: 0.0346, d3.loss_map_cls: 0.5191, d3.loss_map_pts: 2.2296, d3.loss_map_dir: 0.0346, d4.loss_map_cls: 0.5146, d4.loss_map_pts: 2.2247, d4.loss_map_dir: 0.0347, d5.loss_map_cls: 0.5124, d5.loss_map_pts: 2.2258, d5.loss_map_dir: 0.0347, loss: 74.2783, grad_norm: 164.0226 +2026-02-24 08:17:41,777 - DriveTransformer - INFO - Epoch [1][27150/39528] lr: 1.000e-04, eta: 8 days, 12:50:28, time: 0.784, data_time: 0.041, memory: 19865, loss_cls: 0.8447, loss_bbox: 0.7582, loss_traj: 1.5800, loss_traj_cls: 0.0005, loss_map_cls: 0.4764, loss_map_pts: 2.1507, loss_map_dir: 0.0366, d0.loss_plan_l1_fix_time: 2.8432, d0.loss_plan_l1_fix_dist: 0.4321, d1.loss_plan_l1_fix_time: 2.6472, d1.loss_plan_l1_fix_dist: 0.4388, d2.loss_plan_l1_fix_time: 2.6233, d2.loss_plan_l1_fix_dist: 0.4668, d3.loss_plan_l1_fix_time: 2.6242, d3.loss_plan_l1_fix_dist: 0.5013, d4.loss_plan_l1_fix_time: 2.6327, d4.loss_plan_l1_fix_dist: 0.5348, d5.loss_plan_l1_fix_time: 2.6446, d5.loss_plan_l1_fix_dist: 0.5701, d6.loss_plan_l1_fix_time: 2.6588, d6.loss_plan_l1_fix_dist: 0.6116, d0.loss_cls_all: 0.8386, d0.loss_bbox_all: 0.7745, d0.loss_cls: 0.8386, d0.loss_bbox: 0.7745, d1.loss_cls: 0.8361, d1.loss_bbox: 0.7951, d2.loss_cls: 0.8321, d2.loss_bbox: 0.7751, d3.loss_cls: 0.8371, d3.loss_bbox: 0.7661, d4.loss_cls: 0.8383, d4.loss_bbox: 0.7603, d5.loss_cls: 0.8409, d5.loss_bbox: 0.7614, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5453, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.5539, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5553, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5623, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5667, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5704, d0.loss_map_cls_all: 0.5283, d0.loss_map_pts_all: 2.6986, d0.loss_map_dir_all: 0.0364, d0.loss_map_cls: 0.5283, d0.loss_map_pts: 2.6986, d0.loss_map_dir: 0.0364, d1.loss_map_cls: 0.4938, d1.loss_map_pts: 2.2270, d1.loss_map_dir: 0.0365, d2.loss_map_cls: 0.4864, d2.loss_map_pts: 2.1675, d2.loss_map_dir: 0.0364, d3.loss_map_cls: 0.4868, d3.loss_map_pts: 2.1565, d3.loss_map_dir: 0.0364, d4.loss_map_cls: 0.4810, d4.loss_map_pts: 2.1536, d4.loss_map_dir: 0.0365, d5.loss_map_cls: 0.4794, d5.loss_map_pts: 2.1509, d5.loss_map_dir: 0.0364, loss: 68.6943, grad_norm: 164.8418 +2026-02-24 08:18:21,603 - DriveTransformer - INFO - Epoch [1][27200/39528] lr: 1.000e-04, eta: 8 days, 12:49:44, time: 0.798, data_time: 0.037, memory: 19865, loss_cls: 0.8910, loss_bbox: 0.8005, loss_traj: 1.6802, loss_traj_cls: 0.0005, loss_map_cls: 0.4806, loss_map_pts: 2.2623, loss_map_dir: 0.0322, d0.loss_plan_l1_fix_time: 2.9759, d0.loss_plan_l1_fix_dist: 0.4683, d1.loss_plan_l1_fix_time: 2.8148, d1.loss_plan_l1_fix_dist: 0.4924, d2.loss_plan_l1_fix_time: 2.7926, d2.loss_plan_l1_fix_dist: 0.5227, d3.loss_plan_l1_fix_time: 2.7929, d3.loss_plan_l1_fix_dist: 0.5599, d4.loss_plan_l1_fix_time: 2.8001, d4.loss_plan_l1_fix_dist: 0.6012, d5.loss_plan_l1_fix_time: 2.8113, d5.loss_plan_l1_fix_dist: 0.6446, d6.loss_plan_l1_fix_time: 2.8246, d6.loss_plan_l1_fix_dist: 0.6909, d0.loss_cls_all: 0.8694, d0.loss_bbox_all: 0.8224, d0.loss_cls: 0.8694, d0.loss_bbox: 0.8224, d1.loss_cls: 0.8561, d1.loss_bbox: 0.8416, d2.loss_cls: 0.8644, d2.loss_bbox: 0.8067, d3.loss_cls: 0.8723, d3.loss_bbox: 0.7994, d4.loss_cls: 0.8699, d4.loss_bbox: 0.7980, d5.loss_cls: 0.8771, d5.loss_bbox: 0.7996, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6518, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6355, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6448, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6522, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6587, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6692, d0.loss_map_cls_all: 0.5239, d0.loss_map_pts_all: 2.7384, d0.loss_map_dir_all: 0.0318, d0.loss_map_cls: 0.5239, d0.loss_map_pts: 2.7384, d0.loss_map_dir: 0.0318, d1.loss_map_cls: 0.4897, d1.loss_map_pts: 2.3456, d1.loss_map_dir: 0.0320, d2.loss_map_cls: 0.4882, d2.loss_map_pts: 2.2926, d2.loss_map_dir: 0.0319, d3.loss_map_cls: 0.4825, d3.loss_map_pts: 2.2791, d3.loss_map_dir: 0.0319, d4.loss_map_cls: 0.4826, d4.loss_map_pts: 2.2698, d4.loss_map_dir: 0.0320, d5.loss_map_cls: 0.4792, d5.loss_map_pts: 2.2689, d5.loss_map_dir: 0.0321, loss: 72.2496, grad_norm: 166.9971 +2026-02-24 08:19:00,349 - DriveTransformer - INFO - Epoch [1][27250/39528] lr: 1.000e-04, eta: 8 days, 12:48:19, time: 0.774, data_time: 0.042, memory: 19865, loss_cls: 0.8778, loss_bbox: 0.7810, loss_traj: 1.8156, loss_traj_cls: 0.0005, loss_map_cls: 0.5470, loss_map_pts: 2.3268, loss_map_dir: 0.0329, d0.loss_plan_l1_fix_time: 3.0582, d0.loss_plan_l1_fix_dist: 0.3942, d1.loss_plan_l1_fix_time: 2.9378, d1.loss_plan_l1_fix_dist: 0.4036, d2.loss_plan_l1_fix_time: 2.9506, d2.loss_plan_l1_fix_dist: 0.4320, d3.loss_plan_l1_fix_time: 2.9651, d3.loss_plan_l1_fix_dist: 0.4614, d4.loss_plan_l1_fix_time: 2.9789, d4.loss_plan_l1_fix_dist: 0.4918, d5.loss_plan_l1_fix_time: 2.9933, d5.loss_plan_l1_fix_dist: 0.5282, d6.loss_plan_l1_fix_time: 3.0068, d6.loss_plan_l1_fix_dist: 0.5710, d0.loss_cls_all: 0.8518, d0.loss_bbox_all: 0.7866, d0.loss_cls: 0.8518, d0.loss_bbox: 0.7866, d1.loss_cls: 0.8473, d1.loss_bbox: 0.8172, d2.loss_cls: 0.8510, d2.loss_bbox: 0.7871, d3.loss_cls: 0.8560, d3.loss_bbox: 0.7869, d4.loss_cls: 0.8601, d4.loss_bbox: 0.7868, d5.loss_cls: 0.8618, d5.loss_bbox: 0.7791, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7898, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7710, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7883, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7983, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8051, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8141, d0.loss_map_cls_all: 0.5887, d0.loss_map_pts_all: 2.6940, d0.loss_map_dir_all: 0.0326, d0.loss_map_cls: 0.5887, d0.loss_map_pts: 2.6940, d0.loss_map_dir: 0.0326, d1.loss_map_cls: 0.5598, d1.loss_map_pts: 2.3782, d1.loss_map_dir: 0.0328, d2.loss_map_cls: 0.5560, d2.loss_map_pts: 2.3400, d2.loss_map_dir: 0.0328, d3.loss_map_cls: 0.5498, d3.loss_map_pts: 2.3347, d3.loss_map_dir: 0.0328, d4.loss_map_cls: 0.5507, d4.loss_map_pts: 2.3293, d4.loss_map_dir: 0.0328, d5.loss_map_cls: 0.5482, d5.loss_map_pts: 2.3270, d5.loss_map_dir: 0.0329, loss: 74.1031, grad_norm: 165.3135 +2026-02-24 08:19:39,274 - DriveTransformer - INFO - Epoch [1][27300/39528] lr: 1.000e-04, eta: 8 days, 12:47:02, time: 0.778, data_time: 0.036, memory: 19865, loss_cls: 0.8811, loss_bbox: 0.7475, loss_traj: 1.5892, loss_traj_cls: 0.0006, loss_map_cls: 0.5241, loss_map_pts: 2.3566, loss_map_dir: 0.0384, d0.loss_plan_l1_fix_time: 2.9728, d0.loss_plan_l1_fix_dist: 0.5217, d1.loss_plan_l1_fix_time: 2.8498, d1.loss_plan_l1_fix_dist: 0.5222, d2.loss_plan_l1_fix_time: 2.8436, d2.loss_plan_l1_fix_dist: 0.5382, d3.loss_plan_l1_fix_time: 2.8475, d3.loss_plan_l1_fix_dist: 0.5611, d4.loss_plan_l1_fix_time: 2.8556, d4.loss_plan_l1_fix_dist: 0.5904, d5.loss_plan_l1_fix_time: 2.8645, d5.loss_plan_l1_fix_dist: 0.6249, d6.loss_plan_l1_fix_time: 2.8742, d6.loss_plan_l1_fix_dist: 0.6579, d0.loss_cls_all: 0.8738, d0.loss_bbox_all: 0.7363, d0.loss_cls: 0.8738, d0.loss_bbox: 0.7363, d1.loss_cls: 0.8740, d1.loss_bbox: 0.7526, d2.loss_cls: 0.8763, d2.loss_bbox: 0.7302, d3.loss_cls: 0.8790, d3.loss_bbox: 0.7325, d4.loss_cls: 0.8812, d4.loss_bbox: 0.7348, d5.loss_cls: 0.8787, d5.loss_bbox: 0.7387, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5620, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.5639, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5835, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5931, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5896, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5926, d0.loss_map_cls_all: 0.5527, d0.loss_map_pts_all: 2.7928, d0.loss_map_dir_all: 0.0375, d0.loss_map_cls: 0.5527, d0.loss_map_pts: 2.7928, d0.loss_map_dir: 0.0375, d1.loss_map_cls: 0.5320, d1.loss_map_pts: 2.4152, d1.loss_map_dir: 0.0381, d2.loss_map_cls: 0.5258, d2.loss_map_pts: 2.3629, d2.loss_map_dir: 0.0382, d3.loss_map_cls: 0.5245, d3.loss_map_pts: 2.3485, d3.loss_map_dir: 0.0383, d4.loss_map_cls: 0.5252, d4.loss_map_pts: 2.3487, d4.loss_map_dir: 0.0383, d5.loss_map_cls: 0.5221, d5.loss_map_pts: 2.3487, d5.loss_map_dir: 0.0383, loss: 72.4589, grad_norm: 165.0887 +2026-02-24 08:20:17,933 - DriveTransformer - INFO - Epoch [1][27350/39528] lr: 1.000e-04, eta: 8 days, 12:45:37, time: 0.773, data_time: 0.041, memory: 19865, loss_cls: 0.9215, loss_bbox: 0.8299, loss_traj: 1.7416, loss_traj_cls: 0.0006, loss_map_cls: 0.5341, loss_map_pts: 2.4384, loss_map_dir: 0.0350, d0.loss_plan_l1_fix_time: 2.9716, d0.loss_plan_l1_fix_dist: 0.5726, d1.loss_plan_l1_fix_time: 2.8578, d1.loss_plan_l1_fix_dist: 0.5741, d2.loss_plan_l1_fix_time: 2.8512, d2.loss_plan_l1_fix_dist: 0.5857, d3.loss_plan_l1_fix_time: 2.8561, d3.loss_plan_l1_fix_dist: 0.6049, d4.loss_plan_l1_fix_time: 2.8635, d4.loss_plan_l1_fix_dist: 0.6308, d5.loss_plan_l1_fix_time: 2.8719, d5.loss_plan_l1_fix_dist: 0.6577, d6.loss_plan_l1_fix_time: 2.8823, d6.loss_plan_l1_fix_dist: 0.6871, d0.loss_cls_all: 0.9058, d0.loss_bbox_all: 0.8296, d0.loss_cls: 0.9058, d0.loss_bbox: 0.8296, d1.loss_cls: 0.9011, d1.loss_bbox: 0.8359, d2.loss_cls: 0.9105, d2.loss_bbox: 0.8204, d3.loss_cls: 0.9185, d3.loss_bbox: 0.8222, d4.loss_cls: 0.9202, d4.loss_bbox: 0.8225, d5.loss_cls: 0.9207, d5.loss_bbox: 0.8265, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7119, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7314, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7448, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7457, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7472, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7491, d0.loss_map_cls_all: 0.5498, d0.loss_map_pts_all: 2.8131, d0.loss_map_dir_all: 0.0340, d0.loss_map_cls: 0.5498, d0.loss_map_pts: 2.8131, d0.loss_map_dir: 0.0340, d1.loss_map_cls: 0.5307, d1.loss_map_pts: 2.4981, d1.loss_map_dir: 0.0348, d2.loss_map_cls: 0.5339, d2.loss_map_pts: 2.4510, d2.loss_map_dir: 0.0348, d3.loss_map_cls: 0.5308, d3.loss_map_pts: 2.4405, d3.loss_map_dir: 0.0348, d4.loss_map_cls: 0.5332, d4.loss_map_pts: 2.4373, d4.loss_map_dir: 0.0348, d5.loss_map_cls: 0.5307, d5.loss_map_pts: 2.4385, d5.loss_map_dir: 0.0349, loss: 75.4638, grad_norm: 165.0600 +2026-02-24 08:20:58,945 - DriveTransformer - INFO - Epoch [1][27400/39528] lr: 1.000e-04, eta: 8 days, 12:45:31, time: 0.821, data_time: 0.049, memory: 19865, loss_cls: 0.8504, loss_bbox: 0.7622, loss_traj: 1.7338, loss_traj_cls: 0.0005, loss_map_cls: 0.5043, loss_map_pts: 2.4136, loss_map_dir: 0.0362, d0.loss_plan_l1_fix_time: 2.9326, d0.loss_plan_l1_fix_dist: 0.5200, d1.loss_plan_l1_fix_time: 2.8194, d1.loss_plan_l1_fix_dist: 0.5298, d2.loss_plan_l1_fix_time: 2.8176, d2.loss_plan_l1_fix_dist: 0.5519, d3.loss_plan_l1_fix_time: 2.8249, d3.loss_plan_l1_fix_dist: 0.5782, d4.loss_plan_l1_fix_time: 2.8342, d4.loss_plan_l1_fix_dist: 0.6073, d5.loss_plan_l1_fix_time: 2.8449, d5.loss_plan_l1_fix_dist: 0.6422, d6.loss_plan_l1_fix_time: 2.8578, d6.loss_plan_l1_fix_dist: 0.6835, d0.loss_cls_all: 0.8379, d0.loss_bbox_all: 0.7847, d0.loss_cls: 0.8379, d0.loss_bbox: 0.7847, d1.loss_cls: 0.8417, d1.loss_bbox: 0.7833, d2.loss_cls: 0.8454, d2.loss_bbox: 0.7703, d3.loss_cls: 0.8498, d3.loss_bbox: 0.7687, d4.loss_cls: 0.8555, d4.loss_bbox: 0.7606, d5.loss_cls: 0.8515, d5.loss_bbox: 0.7594, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7025, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7087, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6971, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7132, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7221, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7236, d0.loss_map_cls_all: 0.5330, d0.loss_map_pts_all: 2.8062, d0.loss_map_dir_all: 0.0349, d0.loss_map_cls: 0.5330, d0.loss_map_pts: 2.8062, d0.loss_map_dir: 0.0349, d1.loss_map_cls: 0.5009, d1.loss_map_pts: 2.4915, d1.loss_map_dir: 0.0360, d2.loss_map_cls: 0.5017, d2.loss_map_pts: 2.4356, d2.loss_map_dir: 0.0360, d3.loss_map_cls: 0.5011, d3.loss_map_pts: 2.4194, d3.loss_map_dir: 0.0359, d4.loss_map_cls: 0.5011, d4.loss_map_pts: 2.4123, d4.loss_map_dir: 0.0360, d5.loss_map_cls: 0.5025, d5.loss_map_pts: 2.4111, d5.loss_map_dir: 0.0361, loss: 73.5527, grad_norm: 164.3619 +2026-02-24 08:21:37,799 - DriveTransformer - INFO - Epoch [1][27450/39528] lr: 1.000e-04, eta: 8 days, 12:44:12, time: 0.777, data_time: 0.043, memory: 19865, loss_cls: 0.8579, loss_bbox: 0.7778, loss_traj: 1.6373, loss_traj_cls: 0.0005, loss_map_cls: 0.5330, loss_map_pts: 2.3202, loss_map_dir: 0.0362, d0.loss_plan_l1_fix_time: 2.8043, d0.loss_plan_l1_fix_dist: 0.5826, d1.loss_plan_l1_fix_time: 2.6291, d1.loss_plan_l1_fix_dist: 0.5904, d2.loss_plan_l1_fix_time: 2.6183, d2.loss_plan_l1_fix_dist: 0.6068, d3.loss_plan_l1_fix_time: 2.6293, d3.loss_plan_l1_fix_dist: 0.6279, d4.loss_plan_l1_fix_time: 2.6444, d4.loss_plan_l1_fix_dist: 0.6534, d5.loss_plan_l1_fix_time: 2.6611, d5.loss_plan_l1_fix_dist: 0.6832, d6.loss_plan_l1_fix_time: 2.6794, d6.loss_plan_l1_fix_dist: 0.7149, d0.loss_cls_all: 0.8455, d0.loss_bbox_all: 0.7919, d0.loss_cls: 0.8455, d0.loss_bbox: 0.7919, d1.loss_cls: 0.8465, d1.loss_bbox: 0.7860, d2.loss_cls: 0.8418, d2.loss_bbox: 0.7763, d3.loss_cls: 0.8434, d3.loss_bbox: 0.7800, d4.loss_cls: 0.8476, d4.loss_bbox: 0.7686, d5.loss_cls: 0.8464, d5.loss_bbox: 0.7687, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6598, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6568, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6514, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6588, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.6470, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6382, d0.loss_map_cls_all: 0.5214, d0.loss_map_pts_all: 2.8686, d0.loss_map_dir_all: 0.0349, d0.loss_map_cls: 0.5214, d0.loss_map_pts: 2.8686, d0.loss_map_dir: 0.0349, d1.loss_map_cls: 0.4980, d1.loss_map_pts: 2.4176, d1.loss_map_dir: 0.0358, d2.loss_map_cls: 0.4985, d2.loss_map_pts: 2.3434, d2.loss_map_dir: 0.0359, d3.loss_map_cls: 0.5066, d3.loss_map_pts: 2.3239, d3.loss_map_dir: 0.0360, d4.loss_map_cls: 0.5114, d4.loss_map_pts: 2.3198, d4.loss_map_dir: 0.0360, d5.loss_map_cls: 0.5192, d5.loss_map_pts: 2.3179, d5.loss_map_dir: 0.0361, loss: 71.8693, grad_norm: 165.2066 +2026-02-24 08:22:16,094 - DriveTransformer - INFO - Epoch [1][27500/39528] lr: 1.000e-04, eta: 8 days, 12:42:35, time: 0.766, data_time: 0.037, memory: 19865, loss_cls: 0.8614, loss_bbox: 0.8062, loss_traj: 1.9218, loss_traj_cls: 0.0005, loss_map_cls: 0.5622, loss_map_pts: 2.4101, loss_map_dir: 0.0353, d0.loss_plan_l1_fix_time: 3.0177, d0.loss_plan_l1_fix_dist: 0.5574, d1.loss_plan_l1_fix_time: 2.8749, d1.loss_plan_l1_fix_dist: 0.5666, d2.loss_plan_l1_fix_time: 2.8633, d2.loss_plan_l1_fix_dist: 0.5878, d3.loss_plan_l1_fix_time: 2.8692, d3.loss_plan_l1_fix_dist: 0.6143, d4.loss_plan_l1_fix_time: 2.8796, d4.loss_plan_l1_fix_dist: 0.6460, d5.loss_plan_l1_fix_time: 2.8926, d5.loss_plan_l1_fix_dist: 0.6811, d6.loss_plan_l1_fix_time: 2.9074, d6.loss_plan_l1_fix_dist: 0.7206, d0.loss_cls_all: 0.8403, d0.loss_bbox_all: 0.8054, d0.loss_cls: 0.8403, d0.loss_bbox: 0.8054, d1.loss_cls: 0.8439, d1.loss_bbox: 0.8082, d2.loss_cls: 0.8456, d2.loss_bbox: 0.7900, d3.loss_cls: 0.8473, d3.loss_bbox: 0.8003, d4.loss_cls: 0.8500, d4.loss_bbox: 0.7979, d5.loss_cls: 0.8483, d5.loss_bbox: 0.7974, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8862, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.8863, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8660, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8872, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9026, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9129, d0.loss_map_cls_all: 0.5616, d0.loss_map_pts_all: 2.8049, d0.loss_map_dir_all: 0.0340, d0.loss_map_cls: 0.5616, d0.loss_map_pts: 2.8049, d0.loss_map_dir: 0.0340, d1.loss_map_cls: 0.5374, d1.loss_map_pts: 2.4512, d1.loss_map_dir: 0.0348, d2.loss_map_cls: 0.5420, d2.loss_map_pts: 2.4070, d2.loss_map_dir: 0.0349, d3.loss_map_cls: 0.5484, d3.loss_map_pts: 2.4013, d3.loss_map_dir: 0.0349, d4.loss_map_cls: 0.5510, d4.loss_map_pts: 2.4027, d4.loss_map_dir: 0.0350, d5.loss_map_cls: 0.5548, d5.loss_map_pts: 2.4041, d5.loss_map_dir: 0.0350, loss: 75.9161, grad_norm: 164.4025 +2026-02-24 08:22:56,966 - DriveTransformer - INFO - Epoch [1][27550/39528] lr: 1.000e-04, eta: 8 days, 12:42:24, time: 0.817, data_time: 0.039, memory: 19865, loss_cls: 0.8284, loss_bbox: 0.7691, loss_traj: 1.4415, loss_traj_cls: 0.0006, loss_map_cls: 0.4993, loss_map_pts: 2.5299, loss_map_dir: 0.0451, d0.loss_plan_l1_fix_time: 2.4807, d0.loss_plan_l1_fix_dist: 0.5095, d1.loss_plan_l1_fix_time: 2.3672, d1.loss_plan_l1_fix_dist: 0.5185, d2.loss_plan_l1_fix_time: 2.3585, d2.loss_plan_l1_fix_dist: 0.5389, d3.loss_plan_l1_fix_time: 2.3658, d3.loss_plan_l1_fix_dist: 0.5677, d4.loss_plan_l1_fix_time: 2.3779, d4.loss_plan_l1_fix_dist: 0.6053, d5.loss_plan_l1_fix_time: 2.3929, d5.loss_plan_l1_fix_dist: 0.6474, d6.loss_plan_l1_fix_time: 2.4102, d6.loss_plan_l1_fix_dist: 0.6942, d0.loss_cls_all: 0.8285, d0.loss_bbox_all: 0.7652, d0.loss_cls: 0.8285, d0.loss_bbox: 0.7652, d1.loss_cls: 0.8235, d1.loss_bbox: 0.7809, d2.loss_cls: 0.8197, d2.loss_bbox: 0.7642, d3.loss_cls: 0.8202, d3.loss_bbox: 0.7612, d4.loss_cls: 0.8231, d4.loss_bbox: 0.7613, d5.loss_cls: 0.8253, d5.loss_bbox: 0.7662, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.3907, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.4032, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4024, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4070, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.4232, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4227, d0.loss_map_cls_all: 0.4967, d0.loss_map_pts_all: 3.2304, d0.loss_map_dir_all: 0.0436, d0.loss_map_cls: 0.4967, d0.loss_map_pts: 3.2304, d0.loss_map_dir: 0.0436, d1.loss_map_cls: 0.4894, d1.loss_map_pts: 2.6323, d1.loss_map_dir: 0.0448, d2.loss_map_cls: 0.4888, d2.loss_map_pts: 2.5380, d2.loss_map_dir: 0.0449, d3.loss_map_cls: 0.4907, d3.loss_map_pts: 2.5205, d3.loss_map_dir: 0.0449, d4.loss_map_cls: 0.4931, d4.loss_map_pts: 2.5164, d4.loss_map_dir: 0.0450, d5.loss_map_cls: 0.4951, d5.loss_map_pts: 2.5189, d5.loss_map_dir: 0.0450, loss: 69.4834, grad_norm: 164.1325 +2026-02-24 08:23:38,852 - DriveTransformer - INFO - Epoch [1][27600/39528] lr: 1.000e-04, eta: 8 days, 12:42:47, time: 0.838, data_time: 0.045, memory: 19865, loss_cls: 0.8563, loss_bbox: 0.7850, loss_traj: 1.5405, loss_traj_cls: 0.0006, loss_map_cls: 0.5319, loss_map_pts: 2.5028, loss_map_dir: 0.0423, d0.loss_plan_l1_fix_time: 2.8883, d0.loss_plan_l1_fix_dist: 0.4952, d1.loss_plan_l1_fix_time: 2.7535, d1.loss_plan_l1_fix_dist: 0.5009, d2.loss_plan_l1_fix_time: 2.7443, d2.loss_plan_l1_fix_dist: 0.5238, d3.loss_plan_l1_fix_time: 2.7520, d3.loss_plan_l1_fix_dist: 0.5521, d4.loss_plan_l1_fix_time: 2.7644, d4.loss_plan_l1_fix_dist: 0.5825, d5.loss_plan_l1_fix_time: 2.7793, d5.loss_plan_l1_fix_dist: 0.6196, d6.loss_plan_l1_fix_time: 2.7972, d6.loss_plan_l1_fix_dist: 0.6619, d0.loss_cls_all: 0.8434, d0.loss_bbox_all: 0.7694, d0.loss_cls: 0.8434, d0.loss_bbox: 0.7694, d1.loss_cls: 0.8432, d1.loss_bbox: 0.7856, d2.loss_cls: 0.8424, d2.loss_bbox: 0.7839, d3.loss_cls: 0.8383, d3.loss_bbox: 0.7706, d4.loss_cls: 0.8419, d4.loss_bbox: 0.7696, d5.loss_cls: 0.8425, d5.loss_bbox: 0.7799, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.5062, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.5128, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5021, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5105, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5334, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5323, d0.loss_map_cls_all: 0.5201, d0.loss_map_pts_all: 3.1714, d0.loss_map_dir_all: 0.0411, d0.loss_map_cls: 0.5201, d0.loss_map_pts: 3.1714, d0.loss_map_dir: 0.0411, d1.loss_map_cls: 0.5022, d1.loss_map_pts: 2.6234, d1.loss_map_dir: 0.0420, d2.loss_map_cls: 0.5084, d2.loss_map_pts: 2.5301, d2.loss_map_dir: 0.0422, d3.loss_map_cls: 0.5108, d3.loss_map_pts: 2.5100, d3.loss_map_dir: 0.0421, d4.loss_map_cls: 0.5144, d4.loss_map_pts: 2.5032, d4.loss_map_dir: 0.0421, d5.loss_map_cls: 0.5172, d5.loss_map_pts: 2.5012, d5.loss_map_dir: 0.0423, loss: 72.9953, grad_norm: 163.4054 +2026-02-24 08:24:17,015 - DriveTransformer - INFO - Epoch [1][27650/39528] lr: 1.000e-04, eta: 8 days, 12:41:05, time: 0.763, data_time: 0.040, memory: 19865, loss_cls: 0.8516, loss_bbox: 0.8086, loss_traj: 2.1128, loss_traj_cls: 0.0006, loss_map_cls: 0.5144, loss_map_pts: 2.0379, loss_map_dir: 0.0330, d0.loss_plan_l1_fix_time: 3.1411, d0.loss_plan_l1_fix_dist: 0.5809, d1.loss_plan_l1_fix_time: 2.9400, d1.loss_plan_l1_fix_dist: 0.5752, d2.loss_plan_l1_fix_time: 2.9288, d2.loss_plan_l1_fix_dist: 0.5917, d3.loss_plan_l1_fix_time: 2.9328, d3.loss_plan_l1_fix_dist: 0.6155, d4.loss_plan_l1_fix_time: 2.9407, d4.loss_plan_l1_fix_dist: 0.6467, d5.loss_plan_l1_fix_time: 2.9501, d5.loss_plan_l1_fix_dist: 0.6845, d6.loss_plan_l1_fix_time: 2.9605, d6.loss_plan_l1_fix_dist: 0.7279, d0.loss_cls_all: 0.8445, d0.loss_bbox_all: 0.8103, d0.loss_cls: 0.8445, d0.loss_bbox: 0.8103, d1.loss_cls: 0.8514, d1.loss_bbox: 0.8311, d2.loss_cls: 0.8498, d2.loss_bbox: 0.8346, d3.loss_cls: 0.8485, d3.loss_bbox: 0.8188, d4.loss_cls: 0.8511, d4.loss_bbox: 0.8067, d5.loss_cls: 0.8485, d5.loss_bbox: 0.8060, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.1344, d1.loss_traj_cls: 0.0008, d1.loss_traj: 2.1131, d2.loss_traj_cls: 0.0007, d2.loss_traj: 2.0941, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1042, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1082, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.0986, d0.loss_map_cls_all: 0.5364, d0.loss_map_pts_all: 2.5246, d0.loss_map_dir_all: 0.0323, d0.loss_map_cls: 0.5364, d0.loss_map_pts: 2.5246, d0.loss_map_dir: 0.0323, d1.loss_map_cls: 0.5073, d1.loss_map_pts: 2.1086, d1.loss_map_dir: 0.0329, d2.loss_map_cls: 0.5110, d2.loss_map_pts: 2.0513, d2.loss_map_dir: 0.0329, d3.loss_map_cls: 0.5065, d3.loss_map_pts: 2.0398, d3.loss_map_dir: 0.0329, d4.loss_map_cls: 0.5086, d4.loss_map_pts: 2.0414, d4.loss_map_dir: 0.0329, d5.loss_map_cls: 0.5110, d5.loss_map_pts: 2.0393, d5.loss_map_dir: 0.0329, loss: 75.0629, grad_norm: 163.1203 +2026-02-24 08:24:55,669 - DriveTransformer - INFO - Epoch [1][27700/39528] lr: 1.000e-04, eta: 8 days, 12:39:40, time: 0.773, data_time: 0.042, memory: 19865, loss_cls: 0.8603, loss_bbox: 0.7887, loss_traj: 1.7958, loss_traj_cls: 0.0006, loss_map_cls: 0.5029, loss_map_pts: 2.3041, loss_map_dir: 0.0344, d0.loss_plan_l1_fix_time: 2.8892, d0.loss_plan_l1_fix_dist: 0.4865, d1.loss_plan_l1_fix_time: 2.7475, d1.loss_plan_l1_fix_dist: 0.4927, d2.loss_plan_l1_fix_time: 2.7357, d2.loss_plan_l1_fix_dist: 0.5085, d3.loss_plan_l1_fix_time: 2.7424, d3.loss_plan_l1_fix_dist: 0.5303, d4.loss_plan_l1_fix_time: 2.7535, d4.loss_plan_l1_fix_dist: 0.5531, d5.loss_plan_l1_fix_time: 2.7656, d5.loss_plan_l1_fix_dist: 0.5774, d6.loss_plan_l1_fix_time: 2.7772, d6.loss_plan_l1_fix_dist: 0.6058, d0.loss_cls_all: 0.8639, d0.loss_bbox_all: 0.7965, d0.loss_cls: 0.8639, d0.loss_bbox: 0.7965, d1.loss_cls: 0.8641, d1.loss_bbox: 0.7980, d2.loss_cls: 0.8635, d2.loss_bbox: 0.8159, d3.loss_cls: 0.8590, d3.loss_bbox: 0.8030, d4.loss_cls: 0.8600, d4.loss_bbox: 0.7879, d5.loss_cls: 0.8561, d5.loss_bbox: 0.7882, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7763, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.8048, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7848, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7922, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7928, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7874, d0.loss_map_cls_all: 0.5264, d0.loss_map_pts_all: 2.7900, d0.loss_map_dir_all: 0.0339, d0.loss_map_cls: 0.5264, d0.loss_map_pts: 2.7900, d0.loss_map_dir: 0.0339, d1.loss_map_cls: 0.5067, d1.loss_map_pts: 2.3646, d1.loss_map_dir: 0.0344, d2.loss_map_cls: 0.5045, d2.loss_map_pts: 2.3057, d2.loss_map_dir: 0.0345, d3.loss_map_cls: 0.5068, d3.loss_map_pts: 2.2936, d3.loss_map_dir: 0.0343, d4.loss_map_cls: 0.5055, d4.loss_map_pts: 2.2981, d4.loss_map_dir: 0.0344, d5.loss_map_cls: 0.5044, d5.loss_map_pts: 2.2987, d5.loss_map_dir: 0.0344, loss: 72.7721, grad_norm: 164.2709 +2026-02-24 08:25:34,651 - DriveTransformer - INFO - Epoch [1][27750/39528] lr: 1.000e-04, eta: 8 days, 12:38:27, time: 0.780, data_time: 0.035, memory: 19865, loss_cls: 0.8593, loss_bbox: 0.7938, loss_traj: 1.6829, loss_traj_cls: 0.0005, loss_map_cls: 0.5485, loss_map_pts: 2.2878, loss_map_dir: 0.0358, d0.loss_plan_l1_fix_time: 2.7860, d0.loss_plan_l1_fix_dist: 0.5362, d1.loss_plan_l1_fix_time: 2.6242, d1.loss_plan_l1_fix_dist: 0.5388, d2.loss_plan_l1_fix_time: 2.6074, d2.loss_plan_l1_fix_dist: 0.5531, d3.loss_plan_l1_fix_time: 2.6111, d3.loss_plan_l1_fix_dist: 0.5745, d4.loss_plan_l1_fix_time: 2.6196, d4.loss_plan_l1_fix_dist: 0.5998, d5.loss_plan_l1_fix_time: 2.6299, d5.loss_plan_l1_fix_dist: 0.6283, d6.loss_plan_l1_fix_time: 2.6419, d6.loss_plan_l1_fix_dist: 0.6632, d0.loss_cls_all: 0.8516, d0.loss_bbox_all: 0.7833, d0.loss_cls: 0.8516, d0.loss_bbox: 0.7833, d1.loss_cls: 0.8635, d1.loss_bbox: 0.7860, d2.loss_cls: 0.8692, d2.loss_bbox: 0.8121, d3.loss_cls: 0.8664, d3.loss_bbox: 0.7999, d4.loss_cls: 0.8597, d4.loss_bbox: 0.7891, d5.loss_cls: 0.8557, d5.loss_bbox: 0.7893, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6716, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6626, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6699, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.6960, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.6970, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7024, d0.loss_map_cls_all: 0.5714, d0.loss_map_pts_all: 2.8546, d0.loss_map_dir_all: 0.0348, d0.loss_map_cls: 0.5714, d0.loss_map_pts: 2.8546, d0.loss_map_dir: 0.0348, d1.loss_map_cls: 0.5460, d1.loss_map_pts: 2.3886, d1.loss_map_dir: 0.0353, d2.loss_map_cls: 0.5442, d2.loss_map_pts: 2.3148, d2.loss_map_dir: 0.0355, d3.loss_map_cls: 0.5454, d3.loss_map_pts: 2.2982, d3.loss_map_dir: 0.0356, d4.loss_map_cls: 0.5468, d4.loss_map_pts: 2.2910, d4.loss_map_dir: 0.0357, d5.loss_map_cls: 0.5473, d5.loss_map_pts: 2.2879, d5.loss_map_dir: 0.0358, loss: 71.8955, grad_norm: 161.4027 +2026-02-24 08:26:14,418 - DriveTransformer - INFO - Epoch [1][27800/39528] lr: 1.000e-04, eta: 8 days, 12:37:39, time: 0.795, data_time: 0.048, memory: 19865, loss_cls: 0.8952, loss_bbox: 0.8237, loss_traj: 2.0258, loss_traj_cls: 0.0005, loss_map_cls: 0.5499, loss_map_pts: 2.2447, loss_map_dir: 0.0356, d0.loss_plan_l1_fix_time: 3.3146, d0.loss_plan_l1_fix_dist: 0.5797, d1.loss_plan_l1_fix_time: 3.1411, d1.loss_plan_l1_fix_dist: 0.5832, d2.loss_plan_l1_fix_time: 3.1361, d2.loss_plan_l1_fix_dist: 0.6049, d3.loss_plan_l1_fix_time: 3.1445, d3.loss_plan_l1_fix_dist: 0.6342, d4.loss_plan_l1_fix_time: 3.1541, d4.loss_plan_l1_fix_dist: 0.6687, d5.loss_plan_l1_fix_time: 3.1652, d5.loss_plan_l1_fix_dist: 0.7075, d6.loss_plan_l1_fix_time: 3.1777, d6.loss_plan_l1_fix_dist: 0.7525, d0.loss_cls_all: 0.8949, d0.loss_bbox_all: 0.8182, d0.loss_cls: 0.8949, d0.loss_bbox: 0.8182, d1.loss_cls: 0.8903, d1.loss_bbox: 0.8261, d2.loss_cls: 0.8888, d2.loss_bbox: 0.8230, d3.loss_cls: 0.8884, d3.loss_bbox: 0.8215, d4.loss_cls: 0.8819, d4.loss_bbox: 0.8203, d5.loss_cls: 0.8833, d5.loss_bbox: 0.8208, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9780, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.9979, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9941, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9995, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0128, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0082, d0.loss_map_cls_all: 0.5756, d0.loss_map_pts_all: 2.6846, d0.loss_map_dir_all: 0.0352, d0.loss_map_cls: 0.5756, d0.loss_map_pts: 2.6846, d0.loss_map_dir: 0.0352, d1.loss_map_cls: 0.5408, d1.loss_map_pts: 2.3487, d1.loss_map_dir: 0.0355, d2.loss_map_cls: 0.5364, d2.loss_map_pts: 2.2793, d2.loss_map_dir: 0.0354, d3.loss_map_cls: 0.5385, d3.loss_map_pts: 2.2587, d3.loss_map_dir: 0.0354, d4.loss_map_cls: 0.5422, d4.loss_map_pts: 2.2482, d4.loss_map_dir: 0.0355, d5.loss_map_cls: 0.5447, d5.loss_map_pts: 2.2448, d5.loss_map_dir: 0.0355, loss: 78.1541, grad_norm: 159.2090 +2026-02-24 08:26:55,214 - DriveTransformer - INFO - Epoch [1][27850/39528] lr: 1.000e-04, eta: 8 days, 12:37:25, time: 0.816, data_time: 0.042, memory: 19865, loss_cls: 0.8469, loss_bbox: 0.7272, loss_traj: 1.5702, loss_traj_cls: 0.0005, loss_map_cls: 0.4727, loss_map_pts: 2.2353, loss_map_dir: 0.0366, d0.loss_plan_l1_fix_time: 3.0485, d0.loss_plan_l1_fix_dist: 0.4936, d1.loss_plan_l1_fix_time: 2.8786, d1.loss_plan_l1_fix_dist: 0.5019, d2.loss_plan_l1_fix_time: 2.8593, d2.loss_plan_l1_fix_dist: 0.5203, d3.loss_plan_l1_fix_time: 2.8611, d3.loss_plan_l1_fix_dist: 0.5440, d4.loss_plan_l1_fix_time: 2.8690, d4.loss_plan_l1_fix_dist: 0.5725, d5.loss_plan_l1_fix_time: 2.8790, d5.loss_plan_l1_fix_dist: 0.6119, d6.loss_plan_l1_fix_time: 2.8906, d6.loss_plan_l1_fix_dist: 0.6606, d0.loss_cls_all: 0.8318, d0.loss_bbox_all: 0.7412, d0.loss_cls: 0.8318, d0.loss_bbox: 0.7412, d1.loss_cls: 0.8371, d1.loss_bbox: 0.7564, d2.loss_cls: 0.8436, d2.loss_bbox: 0.7330, d3.loss_cls: 0.8489, d3.loss_bbox: 0.7272, d4.loss_cls: 0.8366, d4.loss_bbox: 0.7277, d5.loss_cls: 0.8339, d5.loss_bbox: 0.7295, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5873, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.5490, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.5538, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5642, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5789, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5775, d0.loss_map_cls_all: 0.4958, d0.loss_map_pts_all: 2.8296, d0.loss_map_dir_all: 0.0360, d0.loss_map_cls: 0.4958, d0.loss_map_pts: 2.8296, d0.loss_map_dir: 0.0360, d1.loss_map_cls: 0.4761, d1.loss_map_pts: 2.3058, d1.loss_map_dir: 0.0364, d2.loss_map_cls: 0.4701, d2.loss_map_pts: 2.2414, d2.loss_map_dir: 0.0365, d3.loss_map_cls: 0.4745, d3.loss_map_pts: 2.2283, d3.loss_map_dir: 0.0365, d4.loss_map_cls: 0.4735, d4.loss_map_pts: 2.2278, d4.loss_map_dir: 0.0365, d5.loss_map_cls: 0.4723, d5.loss_map_pts: 2.2257, d5.loss_map_dir: 0.0365, loss: 71.0147, grad_norm: 157.9546 +2026-02-24 08:27:35,814 - DriveTransformer - INFO - Epoch [1][27900/39528] lr: 1.000e-04, eta: 8 days, 12:37:05, time: 0.812, data_time: 0.037, memory: 19865, loss_cls: 0.8789, loss_bbox: 0.7969, loss_traj: 1.8300, loss_traj_cls: 0.0005, loss_map_cls: 0.4947, loss_map_pts: 2.4621, loss_map_dir: 0.0391, d0.loss_plan_l1_fix_time: 3.0695, d0.loss_plan_l1_fix_dist: 0.5652, d1.loss_plan_l1_fix_time: 2.8366, d1.loss_plan_l1_fix_dist: 0.5722, d2.loss_plan_l1_fix_time: 2.8131, d2.loss_plan_l1_fix_dist: 0.5909, d3.loss_plan_l1_fix_time: 2.8140, d3.loss_plan_l1_fix_dist: 0.6150, d4.loss_plan_l1_fix_time: 2.8217, d4.loss_plan_l1_fix_dist: 0.6416, d5.loss_plan_l1_fix_time: 2.8310, d5.loss_plan_l1_fix_dist: 0.6621, d6.loss_plan_l1_fix_time: 2.8424, d6.loss_plan_l1_fix_dist: 0.6797, d0.loss_cls_all: 0.8750, d0.loss_bbox_all: 0.7932, d0.loss_cls: 0.8750, d0.loss_bbox: 0.7932, d1.loss_cls: 0.8582, d1.loss_bbox: 0.8118, d2.loss_cls: 0.8555, d2.loss_bbox: 0.7979, d3.loss_cls: 0.8610, d3.loss_bbox: 0.7942, d4.loss_cls: 0.8640, d4.loss_bbox: 0.7954, d5.loss_cls: 0.8688, d5.loss_bbox: 0.7920, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7991, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7881, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7981, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8133, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8258, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8241, d0.loss_map_cls_all: 0.5099, d0.loss_map_pts_all: 3.1553, d0.loss_map_dir_all: 0.0388, d0.loss_map_cls: 0.5099, d0.loss_map_pts: 3.1553, d0.loss_map_dir: 0.0388, d1.loss_map_cls: 0.4984, d1.loss_map_pts: 2.5672, d1.loss_map_dir: 0.0392, d2.loss_map_cls: 0.4914, d2.loss_map_pts: 2.4934, d2.loss_map_dir: 0.0391, d3.loss_map_cls: 0.4986, d3.loss_map_pts: 2.4762, d3.loss_map_dir: 0.0390, d4.loss_map_cls: 0.4970, d4.loss_map_pts: 2.4690, d4.loss_map_dir: 0.0390, d5.loss_map_cls: 0.4960, d5.loss_map_pts: 2.4692, d5.loss_map_dir: 0.0390, loss: 75.9040, grad_norm: 157.8052 +2026-02-24 08:28:15,180 - DriveTransformer - INFO - Epoch [1][27950/39528] lr: 1.000e-04, eta: 8 days, 12:36:04, time: 0.787, data_time: 0.048, memory: 19865, loss_cls: 0.8878, loss_bbox: 0.7697, loss_traj: 1.5078, loss_traj_cls: 0.0005, loss_map_cls: 0.5123, loss_map_pts: 2.3088, loss_map_dir: 0.0346, d0.loss_plan_l1_fix_time: 3.3107, d0.loss_plan_l1_fix_dist: 0.6048, d1.loss_plan_l1_fix_time: 3.1554, d1.loss_plan_l1_fix_dist: 0.6078, d2.loss_plan_l1_fix_time: 3.1385, d2.loss_plan_l1_fix_dist: 0.6214, d3.loss_plan_l1_fix_time: 3.1405, d3.loss_plan_l1_fix_dist: 0.6455, d4.loss_plan_l1_fix_time: 3.1477, d4.loss_plan_l1_fix_dist: 0.6805, d5.loss_plan_l1_fix_time: 3.1575, d5.loss_plan_l1_fix_dist: 0.7280, d6.loss_plan_l1_fix_time: 3.1701, d6.loss_plan_l1_fix_dist: 0.7842, d0.loss_cls_all: 0.8991, d0.loss_bbox_all: 0.7689, d0.loss_cls: 0.8991, d0.loss_bbox: 0.7689, d1.loss_cls: 0.8800, d1.loss_bbox: 0.7898, d2.loss_cls: 0.8711, d2.loss_bbox: 0.7806, d3.loss_cls: 0.8732, d3.loss_bbox: 0.7673, d4.loss_cls: 0.8704, d4.loss_bbox: 0.7652, d5.loss_cls: 0.8754, d5.loss_bbox: 0.7618, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.4826, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.4833, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4984, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5074, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5205, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5180, d0.loss_map_cls_all: 0.5401, d0.loss_map_pts_all: 2.8402, d0.loss_map_dir_all: 0.0343, d0.loss_map_cls: 0.5401, d0.loss_map_pts: 2.8402, d0.loss_map_dir: 0.0343, d1.loss_map_cls: 0.5162, d1.loss_map_pts: 2.3865, d1.loss_map_dir: 0.0348, d2.loss_map_cls: 0.5103, d2.loss_map_pts: 2.3131, d2.loss_map_dir: 0.0347, d3.loss_map_cls: 0.5139, d3.loss_map_pts: 2.3004, d3.loss_map_dir: 0.0347, d4.loss_map_cls: 0.5143, d4.loss_map_pts: 2.2989, d4.loss_map_dir: 0.0346, d5.loss_map_cls: 0.5139, d5.loss_map_pts: 2.2959, d5.loss_map_dir: 0.0347, loss: 74.6646, grad_norm: 156.6094 +2026-02-24 08:28:56,730 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 08:28:56,730 - DriveTransformer - INFO - Epoch [1][28000/39528] lr: 1.000e-04, eta: 8 days, 12:36:17, time: 0.832, data_time: 0.042, memory: 19865, loss_cls: 0.8638, loss_bbox: 0.7635, loss_traj: 1.5974, loss_traj_cls: 0.0005, loss_map_cls: 0.4948, loss_map_pts: 2.4165, loss_map_dir: 0.0362, d0.loss_plan_l1_fix_time: 2.6456, d0.loss_plan_l1_fix_dist: 0.4622, d1.loss_plan_l1_fix_time: 2.4814, d1.loss_plan_l1_fix_dist: 0.4726, d2.loss_plan_l1_fix_time: 2.4787, d2.loss_plan_l1_fix_dist: 0.4912, d3.loss_plan_l1_fix_time: 2.4895, d3.loss_plan_l1_fix_dist: 0.5177, d4.loss_plan_l1_fix_time: 2.5012, d4.loss_plan_l1_fix_dist: 0.5456, d5.loss_plan_l1_fix_time: 2.5128, d5.loss_plan_l1_fix_dist: 0.5810, d6.loss_plan_l1_fix_time: 2.5252, d6.loss_plan_l1_fix_dist: 0.6209, d0.loss_cls_all: 0.8636, d0.loss_bbox_all: 0.7663, d0.loss_cls: 0.8636, d0.loss_bbox: 0.7663, d1.loss_cls: 0.8621, d1.loss_bbox: 0.8005, d2.loss_cls: 0.8644, d2.loss_bbox: 0.7858, d3.loss_cls: 0.8566, d3.loss_bbox: 0.7711, d4.loss_cls: 0.8620, d4.loss_bbox: 0.7666, d5.loss_cls: 0.8606, d5.loss_bbox: 0.7601, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5623, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.5714, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.5802, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5840, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.5865, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5926, d0.loss_map_cls_all: 0.5329, d0.loss_map_pts_all: 3.0123, d0.loss_map_dir_all: 0.0358, d0.loss_map_cls: 0.5329, d0.loss_map_pts: 3.0123, d0.loss_map_dir: 0.0358, d1.loss_map_cls: 0.5102, d1.loss_map_pts: 2.4884, d1.loss_map_dir: 0.0363, d2.loss_map_cls: 0.5078, d2.loss_map_pts: 2.4180, d2.loss_map_dir: 0.0362, d3.loss_map_cls: 0.5020, d3.loss_map_pts: 2.4057, d3.loss_map_dir: 0.0362, d4.loss_map_cls: 0.5009, d4.loss_map_pts: 2.4096, d4.loss_map_dir: 0.0362, d5.loss_map_cls: 0.4981, d5.loss_map_pts: 2.4090, d5.loss_map_dir: 0.0361, loss: 70.4212, grad_norm: 155.9411 +2026-02-24 08:29:35,719 - DriveTransformer - INFO - Epoch [1][28050/39528] lr: 1.000e-04, eta: 8 days, 12:35:02, time: 0.778, data_time: 0.043, memory: 19865, loss_cls: 0.8410, loss_bbox: 0.8033, loss_traj: 1.8070, loss_traj_cls: 0.0005, loss_map_cls: 0.5021, loss_map_pts: 2.2457, loss_map_dir: 0.0315, d0.loss_plan_l1_fix_time: 3.3812, d0.loss_plan_l1_fix_dist: 0.5406, d1.loss_plan_l1_fix_time: 3.2819, d1.loss_plan_l1_fix_dist: 0.5484, d2.loss_plan_l1_fix_time: 3.2723, d2.loss_plan_l1_fix_dist: 0.5728, d3.loss_plan_l1_fix_time: 3.2743, d3.loss_plan_l1_fix_dist: 0.5997, d4.loss_plan_l1_fix_time: 3.2794, d4.loss_plan_l1_fix_dist: 0.6316, d5.loss_plan_l1_fix_time: 3.2876, d5.loss_plan_l1_fix_dist: 0.6665, d6.loss_plan_l1_fix_time: 3.2971, d6.loss_plan_l1_fix_dist: 0.7072, d0.loss_cls_all: 0.8517, d0.loss_bbox_all: 0.8068, d0.loss_cls: 0.8517, d0.loss_bbox: 0.8068, d1.loss_cls: 0.8474, d1.loss_bbox: 0.8406, d2.loss_cls: 0.8438, d2.loss_bbox: 0.8081, d3.loss_cls: 0.8397, d3.loss_bbox: 0.8019, d4.loss_cls: 0.8438, d4.loss_bbox: 0.8005, d5.loss_cls: 0.8440, d5.loss_bbox: 0.7948, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8078, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.7944, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7843, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7945, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8012, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7896, d0.loss_map_cls_all: 0.5307, d0.loss_map_pts_all: 2.6944, d0.loss_map_dir_all: 0.0310, d0.loss_map_cls: 0.5307, d0.loss_map_pts: 2.6944, d0.loss_map_dir: 0.0310, d1.loss_map_cls: 0.5044, d1.loss_map_pts: 2.2887, d1.loss_map_dir: 0.0315, d2.loss_map_cls: 0.4994, d2.loss_map_pts: 2.2460, d2.loss_map_dir: 0.0315, d3.loss_map_cls: 0.4979, d3.loss_map_pts: 2.2420, d3.loss_map_dir: 0.0314, d4.loss_map_cls: 0.4952, d4.loss_map_pts: 2.2428, d4.loss_map_dir: 0.0314, d5.loss_map_cls: 0.5004, d5.loss_map_pts: 2.2451, d5.loss_map_dir: 0.0314, loss: 76.3598, grad_norm: 154.8427 +2026-02-24 08:30:15,883 - DriveTransformer - INFO - Epoch [1][28100/39528] lr: 1.000e-04, eta: 8 days, 12:34:27, time: 0.803, data_time: 0.048, memory: 19865, loss_cls: 0.8714, loss_bbox: 0.7981, loss_traj: 1.8978, loss_traj_cls: 0.0005, loss_map_cls: 0.5117, loss_map_pts: 2.2603, loss_map_dir: 0.0332, d0.loss_plan_l1_fix_time: 2.9955, d0.loss_plan_l1_fix_dist: 0.5439, d1.loss_plan_l1_fix_time: 2.8535, d1.loss_plan_l1_fix_dist: 0.5747, d2.loss_plan_l1_fix_time: 2.8485, d2.loss_plan_l1_fix_dist: 0.6137, d3.loss_plan_l1_fix_time: 2.8560, d3.loss_plan_l1_fix_dist: 0.6532, d4.loss_plan_l1_fix_time: 2.8659, d4.loss_plan_l1_fix_dist: 0.6940, d5.loss_plan_l1_fix_time: 2.8775, d5.loss_plan_l1_fix_dist: 0.7425, d6.loss_plan_l1_fix_time: 2.8901, d6.loss_plan_l1_fix_dist: 0.7888, d0.loss_cls_all: 0.8867, d0.loss_bbox_all: 0.8027, d0.loss_cls: 0.8867, d0.loss_bbox: 0.8027, d1.loss_cls: 0.8780, d1.loss_bbox: 0.8190, d2.loss_cls: 0.8717, d2.loss_bbox: 0.8055, d3.loss_cls: 0.8715, d3.loss_bbox: 0.8026, d4.loss_cls: 0.8672, d4.loss_bbox: 0.8004, d5.loss_cls: 0.8659, d5.loss_bbox: 0.8024, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9108, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.9001, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8878, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8820, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8951, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8879, d0.loss_map_cls_all: 0.5312, d0.loss_map_pts_all: 2.7266, d0.loss_map_dir_all: 0.0328, d0.loss_map_cls: 0.5312, d0.loss_map_pts: 2.7266, d0.loss_map_dir: 0.0328, d1.loss_map_cls: 0.5116, d1.loss_map_pts: 2.2830, d1.loss_map_dir: 0.0331, d2.loss_map_cls: 0.5048, d2.loss_map_pts: 2.2389, d2.loss_map_dir: 0.0331, d3.loss_map_cls: 0.5084, d3.loss_map_pts: 2.2393, d3.loss_map_dir: 0.0330, d4.loss_map_cls: 0.5079, d4.loss_map_pts: 2.2420, d4.loss_map_dir: 0.0330, d5.loss_map_cls: 0.5134, d5.loss_map_pts: 2.2532, d5.loss_map_dir: 0.0331, loss: 74.8497, grad_norm: 154.9636 +2026-02-24 08:30:55,050 - DriveTransformer - INFO - Epoch [1][28150/39528] lr: 1.000e-04, eta: 8 days, 12:33:20, time: 0.783, data_time: 0.040, memory: 19865, loss_cls: 0.8412, loss_bbox: 0.7835, loss_traj: 1.7739, loss_traj_cls: 0.0005, loss_map_cls: 0.4816, loss_map_pts: 2.1048, loss_map_dir: 0.0314, d0.loss_plan_l1_fix_time: 2.6613, d0.loss_plan_l1_fix_dist: 0.4671, d1.loss_plan_l1_fix_time: 2.4837, d1.loss_plan_l1_fix_dist: 0.4795, d2.loss_plan_l1_fix_time: 2.4639, d2.loss_plan_l1_fix_dist: 0.5058, d3.loss_plan_l1_fix_time: 2.4663, d3.loss_plan_l1_fix_dist: 0.5418, d4.loss_plan_l1_fix_time: 2.4736, d4.loss_plan_l1_fix_dist: 0.5852, d5.loss_plan_l1_fix_time: 2.4823, d5.loss_plan_l1_fix_dist: 0.6302, d6.loss_plan_l1_fix_time: 2.4934, d6.loss_plan_l1_fix_dist: 0.6842, d0.loss_cls_all: 0.8309, d0.loss_bbox_all: 0.8103, d0.loss_cls: 0.8309, d0.loss_bbox: 0.8103, d1.loss_cls: 0.8258, d1.loss_bbox: 0.8010, d2.loss_cls: 0.8290, d2.loss_bbox: 0.7916, d3.loss_cls: 0.8304, d3.loss_bbox: 0.7947, d4.loss_cls: 0.8326, d4.loss_bbox: 0.7864, d5.loss_cls: 0.8386, d5.loss_bbox: 0.7888, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7643, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7628, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7548, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7639, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7662, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7642, d0.loss_map_cls_all: 0.5196, d0.loss_map_pts_all: 2.6340, d0.loss_map_dir_all: 0.0310, d0.loss_map_cls: 0.5196, d0.loss_map_pts: 2.6340, d0.loss_map_dir: 0.0310, d1.loss_map_cls: 0.4912, d1.loss_map_pts: 2.1685, d1.loss_map_dir: 0.0314, d2.loss_map_cls: 0.4831, d2.loss_map_pts: 2.1144, d2.loss_map_dir: 0.0313, d3.loss_map_cls: 0.4843, d3.loss_map_pts: 2.1040, d3.loss_map_dir: 0.0312, d4.loss_map_cls: 0.4846, d4.loss_map_pts: 2.1050, d4.loss_map_dir: 0.0313, d5.loss_map_cls: 0.4851, d5.loss_map_pts: 2.1054, d5.loss_map_dir: 0.0313, loss: 68.9673, grad_norm: 154.5640 +2026-02-24 08:31:32,928 - DriveTransformer - INFO - Epoch [1][28200/39528] lr: 1.000e-04, eta: 8 days, 12:31:31, time: 0.758, data_time: 0.041, memory: 19865, loss_cls: 0.8714, loss_bbox: 0.7860, loss_traj: 2.1258, loss_traj_cls: 0.0005, loss_map_cls: 0.4650, loss_map_pts: 2.0622, loss_map_dir: 0.0282, d0.loss_plan_l1_fix_time: 3.3472, d0.loss_plan_l1_fix_dist: 0.5543, d1.loss_plan_l1_fix_time: 3.1925, d1.loss_plan_l1_fix_dist: 0.5685, d2.loss_plan_l1_fix_time: 3.1888, d2.loss_plan_l1_fix_dist: 0.5998, d3.loss_plan_l1_fix_time: 3.1948, d3.loss_plan_l1_fix_dist: 0.6417, d4.loss_plan_l1_fix_time: 3.2036, d4.loss_plan_l1_fix_dist: 0.6923, d5.loss_plan_l1_fix_time: 3.2140, d5.loss_plan_l1_fix_dist: 0.7463, d6.loss_plan_l1_fix_time: 3.2252, d6.loss_plan_l1_fix_dist: 0.8028, d0.loss_cls_all: 0.8723, d0.loss_bbox_all: 0.8050, d0.loss_cls: 0.8723, d0.loss_bbox: 0.8050, d1.loss_cls: 0.8718, d1.loss_bbox: 0.7938, d2.loss_cls: 0.8742, d2.loss_bbox: 0.7724, d3.loss_cls: 0.8735, d3.loss_bbox: 0.7844, d4.loss_cls: 0.8761, d4.loss_bbox: 0.7751, d5.loss_cls: 0.8730, d5.loss_bbox: 0.7817, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0966, d1.loss_traj_cls: 0.0007, d1.loss_traj: 2.0992, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1094, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1185, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1222, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.1223, d0.loss_map_cls_all: 0.5076, d0.loss_map_pts_all: 2.5297, d0.loss_map_dir_all: 0.0277, d0.loss_map_cls: 0.5076, d0.loss_map_pts: 2.5297, d0.loss_map_dir: 0.0277, d1.loss_map_cls: 0.4753, d1.loss_map_pts: 2.1098, d1.loss_map_dir: 0.0282, d2.loss_map_cls: 0.4669, d2.loss_map_pts: 2.0635, d2.loss_map_dir: 0.0282, d3.loss_map_cls: 0.4647, d3.loss_map_pts: 2.0606, d3.loss_map_dir: 0.0282, d4.loss_map_cls: 0.4633, d4.loss_map_pts: 2.0596, d4.loss_map_dir: 0.0282, d5.loss_map_cls: 0.4611, d5.loss_map_pts: 2.0585, d5.loss_map_dir: 0.0282, loss: 76.7671, grad_norm: 155.9497 +2026-02-24 08:32:10,527 - DriveTransformer - INFO - Epoch [1][28250/39528] lr: 1.000e-04, eta: 8 days, 12:29:33, time: 0.752, data_time: 0.037, memory: 19865, loss_cls: 0.8471, loss_bbox: 0.7522, loss_traj: 1.7004, loss_traj_cls: 0.0005, loss_map_cls: 0.4841, loss_map_pts: 2.1309, loss_map_dir: 0.0291, d0.loss_plan_l1_fix_time: 2.8896, d0.loss_plan_l1_fix_dist: 0.5561, d1.loss_plan_l1_fix_time: 2.8373, d1.loss_plan_l1_fix_dist: 0.5587, d2.loss_plan_l1_fix_time: 2.8580, d2.loss_plan_l1_fix_dist: 0.5834, d3.loss_plan_l1_fix_time: 2.8731, d3.loss_plan_l1_fix_dist: 0.6120, d4.loss_plan_l1_fix_time: 2.8871, d4.loss_plan_l1_fix_dist: 0.6453, d5.loss_plan_l1_fix_time: 2.9013, d5.loss_plan_l1_fix_dist: 0.6864, d6.loss_plan_l1_fix_time: 2.9157, d6.loss_plan_l1_fix_dist: 0.7320, d0.loss_cls_all: 0.8560, d0.loss_bbox_all: 0.7724, d0.loss_cls: 0.8560, d0.loss_bbox: 0.7724, d1.loss_cls: 0.8471, d1.loss_bbox: 0.7802, d2.loss_cls: 0.8435, d2.loss_bbox: 0.7501, d3.loss_cls: 0.8443, d3.loss_bbox: 0.7738, d4.loss_cls: 0.8443, d4.loss_bbox: 0.7655, d5.loss_cls: 0.8471, d5.loss_bbox: 0.7539, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6993, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7028, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6897, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7021, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6991, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6969, d0.loss_map_cls_all: 0.5208, d0.loss_map_pts_all: 2.5619, d0.loss_map_dir_all: 0.0285, d0.loss_map_cls: 0.5208, d0.loss_map_pts: 2.5619, d0.loss_map_dir: 0.0285, d1.loss_map_cls: 0.4996, d1.loss_map_pts: 2.1876, d1.loss_map_dir: 0.0291, d2.loss_map_cls: 0.4933, d2.loss_map_pts: 2.1342, d2.loss_map_dir: 0.0291, d3.loss_map_cls: 0.4858, d3.loss_map_pts: 2.1262, d3.loss_map_dir: 0.0290, d4.loss_map_cls: 0.4870, d4.loss_map_pts: 2.1216, d4.loss_map_dir: 0.0291, d5.loss_map_cls: 0.4836, d5.loss_map_pts: 2.1237, d5.loss_map_dir: 0.0291, loss: 71.4908, grad_norm: 156.6917 +2026-02-24 08:32:49,030 - DriveTransformer - INFO - Epoch [1][28300/39528] lr: 1.000e-04, eta: 8 days, 12:28:04, time: 0.770, data_time: 0.039, memory: 19865, loss_cls: 0.8654, loss_bbox: 0.7533, loss_traj: 1.9114, loss_traj_cls: 0.0005, loss_map_cls: 0.5074, loss_map_pts: 2.2474, loss_map_dir: 0.0290, d0.loss_plan_l1_fix_time: 3.1132, d0.loss_plan_l1_fix_dist: 0.4452, d1.loss_plan_l1_fix_time: 3.0154, d1.loss_plan_l1_fix_dist: 0.4606, d2.loss_plan_l1_fix_time: 3.0271, d2.loss_plan_l1_fix_dist: 0.4950, d3.loss_plan_l1_fix_time: 3.0409, d3.loss_plan_l1_fix_dist: 0.5334, d4.loss_plan_l1_fix_time: 3.0537, d4.loss_plan_l1_fix_dist: 0.5696, d5.loss_plan_l1_fix_time: 3.0657, d5.loss_plan_l1_fix_dist: 0.6042, d6.loss_plan_l1_fix_time: 3.0778, d6.loss_plan_l1_fix_dist: 0.6387, d0.loss_cls_all: 0.8638, d0.loss_bbox_all: 0.7919, d0.loss_cls: 0.8638, d0.loss_bbox: 0.7919, d1.loss_cls: 0.8561, d1.loss_bbox: 0.7934, d2.loss_cls: 0.8565, d2.loss_bbox: 0.7663, d3.loss_cls: 0.8556, d3.loss_bbox: 0.7849, d4.loss_cls: 0.8645, d4.loss_bbox: 0.7631, d5.loss_cls: 0.8657, d5.loss_bbox: 0.7576, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9096, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.8966, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8959, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9003, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9031, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9041, d0.loss_map_cls_all: 0.5315, d0.loss_map_pts_all: 2.6635, d0.loss_map_dir_all: 0.0284, d0.loss_map_cls: 0.5315, d0.loss_map_pts: 2.6635, d0.loss_map_dir: 0.0284, d1.loss_map_cls: 0.5099, d1.loss_map_pts: 2.2551, d1.loss_map_dir: 0.0288, d2.loss_map_cls: 0.5052, d2.loss_map_pts: 2.2038, d2.loss_map_dir: 0.0288, d3.loss_map_cls: 0.5049, d3.loss_map_pts: 2.2081, d3.loss_map_dir: 0.0288, d4.loss_map_cls: 0.5081, d4.loss_map_pts: 2.2214, d4.loss_map_dir: 0.0289, d5.loss_map_cls: 0.5069, d5.loss_map_pts: 2.2328, d5.loss_map_dir: 0.0289, loss: 74.5903, grad_norm: 155.4993 +2026-02-24 08:33:27,639 - DriveTransformer - INFO - Epoch [1][28350/39528] lr: 1.000e-04, eta: 8 days, 12:26:39, time: 0.772, data_time: 0.039, memory: 19865, loss_cls: 0.8924, loss_bbox: 0.7857, loss_traj: 2.0011, loss_traj_cls: 0.0005, loss_map_cls: 0.5028, loss_map_pts: 2.2028, loss_map_dir: 0.0357, d0.loss_plan_l1_fix_time: 3.0484, d0.loss_plan_l1_fix_dist: 0.4877, d1.loss_plan_l1_fix_time: 2.8704, d1.loss_plan_l1_fix_dist: 0.4981, d2.loss_plan_l1_fix_time: 2.8528, d2.loss_plan_l1_fix_dist: 0.5217, d3.loss_plan_l1_fix_time: 2.8574, d3.loss_plan_l1_fix_dist: 0.5557, d4.loss_plan_l1_fix_time: 2.8665, d4.loss_plan_l1_fix_dist: 0.5978, d5.loss_plan_l1_fix_time: 2.8775, d5.loss_plan_l1_fix_dist: 0.6471, d6.loss_plan_l1_fix_time: 2.8910, d6.loss_plan_l1_fix_dist: 0.6959, d0.loss_cls_all: 0.8812, d0.loss_bbox_all: 0.7744, d0.loss_cls: 0.8812, d0.loss_bbox: 0.7744, d1.loss_cls: 0.8707, d1.loss_bbox: 0.7860, d2.loss_cls: 0.8726, d2.loss_bbox: 0.7933, d3.loss_cls: 0.8764, d3.loss_bbox: 0.7873, d4.loss_cls: 0.8811, d4.loss_bbox: 0.7815, d5.loss_cls: 0.8896, d5.loss_bbox: 0.7842, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9555, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.9562, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9660, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9753, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9795, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9945, d0.loss_map_cls_all: 0.5338, d0.loss_map_pts_all: 2.6996, d0.loss_map_dir_all: 0.0344, d0.loss_map_cls: 0.5338, d0.loss_map_pts: 2.6996, d0.loss_map_dir: 0.0344, d1.loss_map_cls: 0.5149, d1.loss_map_pts: 2.2891, d1.loss_map_dir: 0.0354, d2.loss_map_cls: 0.5085, d2.loss_map_pts: 2.2163, d2.loss_map_dir: 0.0354, d3.loss_map_cls: 0.5090, d3.loss_map_pts: 2.1983, d3.loss_map_dir: 0.0354, d4.loss_map_cls: 0.5077, d4.loss_map_pts: 2.1959, d4.loss_map_dir: 0.0356, d5.loss_map_cls: 0.5080, d5.loss_map_pts: 2.1963, d5.loss_map_dir: 0.0356, loss: 74.5103, grad_norm: 156.0684 +2026-02-24 08:34:08,178 - DriveTransformer - INFO - Epoch [1][28400/39528] lr: 1.000e-04, eta: 8 days, 12:26:17, time: 0.811, data_time: 0.041, memory: 19865, loss_cls: 0.8592, loss_bbox: 0.7577, loss_traj: 1.5584, loss_traj_cls: 0.0005, loss_map_cls: 0.4757, loss_map_pts: 2.3080, loss_map_dir: 0.0374, d0.loss_plan_l1_fix_time: 3.1680, d0.loss_plan_l1_fix_dist: 0.5891, d1.loss_plan_l1_fix_time: 2.9805, d1.loss_plan_l1_fix_dist: 0.5930, d2.loss_plan_l1_fix_time: 2.9721, d2.loss_plan_l1_fix_dist: 0.6086, d3.loss_plan_l1_fix_time: 2.9788, d3.loss_plan_l1_fix_dist: 0.6314, d4.loss_plan_l1_fix_time: 2.9890, d4.loss_plan_l1_fix_dist: 0.6641, d5.loss_plan_l1_fix_time: 3.0008, d5.loss_plan_l1_fix_dist: 0.7062, d6.loss_plan_l1_fix_time: 3.0152, d6.loss_plan_l1_fix_dist: 0.7635, d0.loss_cls_all: 0.8206, d0.loss_bbox_all: 0.7492, d0.loss_cls: 0.8206, d0.loss_bbox: 0.7492, d1.loss_cls: 0.8243, d1.loss_bbox: 0.7580, d2.loss_cls: 0.8302, d2.loss_bbox: 0.7902, d3.loss_cls: 0.8373, d3.loss_bbox: 0.7754, d4.loss_cls: 0.8421, d4.loss_bbox: 0.7607, d5.loss_cls: 0.8477, d5.loss_bbox: 0.7570, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5495, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.5369, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.5209, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.5290, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5370, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5422, d0.loss_map_cls_all: 0.5025, d0.loss_map_pts_all: 2.8459, d0.loss_map_dir_all: 0.0362, d0.loss_map_cls: 0.5025, d0.loss_map_pts: 2.8459, d0.loss_map_dir: 0.0362, d1.loss_map_cls: 0.4799, d1.loss_map_pts: 2.3614, d1.loss_map_dir: 0.0372, d2.loss_map_cls: 0.4781, d2.loss_map_pts: 2.2913, d2.loss_map_dir: 0.0372, d3.loss_map_cls: 0.4730, d3.loss_map_pts: 2.2805, d3.loss_map_dir: 0.0374, d4.loss_map_cls: 0.4753, d4.loss_map_pts: 2.2848, d4.loss_map_dir: 0.0374, d5.loss_map_cls: 0.4733, d5.loss_map_pts: 2.2945, d5.loss_map_dir: 0.0374, loss: 72.8864, grad_norm: 154.9804 +2026-02-24 08:34:45,805 - DriveTransformer - INFO - Epoch [1][28450/39528] lr: 1.000e-04, eta: 8 days, 12:24:21, time: 0.752, data_time: 0.041, memory: 19865, loss_cls: 0.8649, loss_bbox: 0.7615, loss_traj: 1.6488, loss_traj_cls: 0.0005, loss_map_cls: 0.4858, loss_map_pts: 2.2787, loss_map_dir: 0.0350, d0.loss_plan_l1_fix_time: 3.0689, d0.loss_plan_l1_fix_dist: 0.4378, d1.loss_plan_l1_fix_time: 2.9740, d1.loss_plan_l1_fix_dist: 0.4516, d2.loss_plan_l1_fix_time: 2.9794, d2.loss_plan_l1_fix_dist: 0.4845, d3.loss_plan_l1_fix_time: 2.9905, d3.loss_plan_l1_fix_dist: 0.5266, d4.loss_plan_l1_fix_time: 3.0037, d4.loss_plan_l1_fix_dist: 0.5691, d5.loss_plan_l1_fix_time: 3.0185, d5.loss_plan_l1_fix_dist: 0.6151, d6.loss_plan_l1_fix_time: 3.0351, d6.loss_plan_l1_fix_dist: 0.6562, d0.loss_cls_all: 0.8679, d0.loss_bbox_all: 0.7720, d0.loss_cls: 0.8679, d0.loss_bbox: 0.7720, d1.loss_cls: 0.8617, d1.loss_bbox: 0.7730, d2.loss_cls: 0.8588, d2.loss_bbox: 0.8047, d3.loss_cls: 0.8603, d3.loss_bbox: 0.7897, d4.loss_cls: 0.8585, d4.loss_bbox: 0.7676, d5.loss_cls: 0.8598, d5.loss_bbox: 0.7573, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6761, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6345, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6198, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.6262, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6288, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6368, d0.loss_map_cls_all: 0.4989, d0.loss_map_pts_all: 2.8861, d0.loss_map_dir_all: 0.0339, d0.loss_map_cls: 0.4989, d0.loss_map_pts: 2.8861, d0.loss_map_dir: 0.0339, d1.loss_map_cls: 0.4808, d1.loss_map_pts: 2.3406, d1.loss_map_dir: 0.0347, d2.loss_map_cls: 0.4755, d2.loss_map_pts: 2.2765, d2.loss_map_dir: 0.0347, d3.loss_map_cls: 0.4775, d3.loss_map_pts: 2.2666, d3.loss_map_dir: 0.0348, d4.loss_map_cls: 0.4791, d4.loss_map_pts: 2.2651, d4.loss_map_dir: 0.0349, d5.loss_map_cls: 0.4785, d5.loss_map_pts: 2.2699, d5.loss_map_dir: 0.0350, loss: 73.0046, grad_norm: 154.3133 +2026-02-24 08:35:25,111 - DriveTransformer - INFO - Epoch [1][28500/39528] lr: 1.000e-04, eta: 8 days, 12:23:19, time: 0.786, data_time: 0.041, memory: 19865, loss_cls: 0.8773, loss_bbox: 0.7742, loss_traj: 2.1719, loss_traj_cls: 0.0005, loss_map_cls: 0.5018, loss_map_pts: 2.3176, loss_map_dir: 0.0304, d0.loss_plan_l1_fix_time: 3.2467, d0.loss_plan_l1_fix_dist: 0.4993, d1.loss_plan_l1_fix_time: 3.0615, d1.loss_plan_l1_fix_dist: 0.5220, d2.loss_plan_l1_fix_time: 3.0447, d2.loss_plan_l1_fix_dist: 0.5548, d3.loss_plan_l1_fix_time: 3.0496, d3.loss_plan_l1_fix_dist: 0.5930, d4.loss_plan_l1_fix_time: 3.0592, d4.loss_plan_l1_fix_dist: 0.6296, d5.loss_plan_l1_fix_time: 3.0722, d5.loss_plan_l1_fix_dist: 0.6676, d6.loss_plan_l1_fix_time: 3.0854, d6.loss_plan_l1_fix_dist: 0.7119, d0.loss_cls_all: 0.8551, d0.loss_bbox_all: 0.7991, d0.loss_cls: 0.8551, d0.loss_bbox: 0.7991, d1.loss_cls: 0.8549, d1.loss_bbox: 0.7960, d2.loss_cls: 0.8562, d2.loss_bbox: 0.8270, d3.loss_cls: 0.8576, d3.loss_bbox: 0.8024, d4.loss_cls: 0.8561, d4.loss_bbox: 0.7896, d5.loss_cls: 0.8611, d5.loss_bbox: 0.7779, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.1400, d1.loss_traj_cls: 0.0007, d1.loss_traj: 2.1410, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1526, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1695, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1796, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1757, d0.loss_map_cls_all: 0.5305, d0.loss_map_pts_all: 2.6949, d0.loss_map_dir_all: 0.0296, d0.loss_map_cls: 0.5305, d0.loss_map_pts: 2.6949, d0.loss_map_dir: 0.0296, d1.loss_map_cls: 0.5070, d1.loss_map_pts: 2.3148, d1.loss_map_dir: 0.0302, d2.loss_map_cls: 0.4984, d2.loss_map_pts: 2.2939, d2.loss_map_dir: 0.0303, d3.loss_map_cls: 0.5028, d3.loss_map_pts: 2.3049, d3.loss_map_dir: 0.0303, d4.loss_map_cls: 0.5024, d4.loss_map_pts: 2.3064, d4.loss_map_dir: 0.0304, d5.loss_map_cls: 0.5010, d5.loss_map_pts: 2.3114, d5.loss_map_dir: 0.0304, loss: 77.7243, grad_norm: 154.6796 +2026-02-24 08:36:04,749 - DriveTransformer - INFO - Epoch [1][28550/39528] lr: 1.000e-04, eta: 8 days, 12:22:28, time: 0.793, data_time: 0.047, memory: 19865, loss_cls: 0.8231, loss_bbox: 0.7703, loss_traj: 1.6611, loss_traj_cls: 0.0005, loss_map_cls: 0.4786, loss_map_pts: 2.4995, loss_map_dir: 0.0379, d0.loss_plan_l1_fix_time: 2.7498, d0.loss_plan_l1_fix_dist: 0.4636, d1.loss_plan_l1_fix_time: 2.4598, d1.loss_plan_l1_fix_dist: 0.4857, d2.loss_plan_l1_fix_time: 2.4156, d2.loss_plan_l1_fix_dist: 0.5207, d3.loss_plan_l1_fix_time: 2.4125, d3.loss_plan_l1_fix_dist: 0.5599, d4.loss_plan_l1_fix_time: 2.4182, d4.loss_plan_l1_fix_dist: 0.5965, d5.loss_plan_l1_fix_time: 2.4268, d5.loss_plan_l1_fix_dist: 0.6359, d6.loss_plan_l1_fix_time: 2.4377, d6.loss_plan_l1_fix_dist: 0.6751, d0.loss_cls_all: 0.8413, d0.loss_bbox_all: 0.7693, d0.loss_cls: 0.8413, d0.loss_bbox: 0.7693, d1.loss_cls: 0.8283, d1.loss_bbox: 0.7780, d2.loss_cls: 0.8250, d2.loss_bbox: 0.7934, d3.loss_cls: 0.8211, d3.loss_bbox: 0.7798, d4.loss_cls: 0.8231, d4.loss_bbox: 0.7754, d5.loss_cls: 0.8249, d5.loss_bbox: 0.7692, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6450, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6557, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6331, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6427, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6579, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6556, d0.loss_map_cls_all: 0.5097, d0.loss_map_pts_all: 3.0476, d0.loss_map_dir_all: 0.0368, d0.loss_map_cls: 0.5097, d0.loss_map_pts: 3.0476, d0.loss_map_dir: 0.0368, d1.loss_map_cls: 0.4814, d1.loss_map_pts: 2.5625, d1.loss_map_dir: 0.0376, d2.loss_map_cls: 0.4770, d2.loss_map_pts: 2.5067, d2.loss_map_dir: 0.0377, d3.loss_map_cls: 0.4799, d3.loss_map_pts: 2.4961, d3.loss_map_dir: 0.0378, d4.loss_map_cls: 0.4786, d4.loss_map_pts: 2.4975, d4.loss_map_dir: 0.0377, d5.loss_map_cls: 0.4766, d5.loss_map_pts: 2.4973, d5.loss_map_dir: 0.0379, loss: 70.9917, grad_norm: 155.3518 +2026-02-24 08:36:44,915 - DriveTransformer - INFO - Epoch [1][28600/39528] lr: 1.000e-04, eta: 8 days, 12:21:54, time: 0.803, data_time: 0.037, memory: 19865, loss_cls: 0.8760, loss_bbox: 0.7922, loss_traj: 1.3595, loss_traj_cls: 0.0005, loss_map_cls: 0.4862, loss_map_pts: 2.3609, loss_map_dir: 0.0396, d0.loss_plan_l1_fix_time: 2.6631, d0.loss_plan_l1_fix_dist: 0.5364, d1.loss_plan_l1_fix_time: 2.5104, d1.loss_plan_l1_fix_dist: 0.5452, d2.loss_plan_l1_fix_time: 2.4985, d2.loss_plan_l1_fix_dist: 0.5673, d3.loss_plan_l1_fix_time: 2.5028, d3.loss_plan_l1_fix_dist: 0.5976, d4.loss_plan_l1_fix_time: 2.5114, d4.loss_plan_l1_fix_dist: 0.6333, d5.loss_plan_l1_fix_time: 2.5205, d5.loss_plan_l1_fix_dist: 0.6747, d6.loss_plan_l1_fix_time: 2.5314, d6.loss_plan_l1_fix_dist: 0.7222, d0.loss_cls_all: 0.8476, d0.loss_bbox_all: 0.7819, d0.loss_cls: 0.8476, d0.loss_bbox: 0.7819, d1.loss_cls: 0.8438, d1.loss_bbox: 0.8045, d2.loss_cls: 0.8416, d2.loss_bbox: 0.7911, d3.loss_cls: 0.8463, d3.loss_bbox: 0.7932, d4.loss_cls: 0.8490, d4.loss_bbox: 0.7912, d5.loss_cls: 0.8610, d5.loss_bbox: 0.7849, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3349, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.3343, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.3416, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.3572, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3709, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3639, d0.loss_map_cls_all: 0.4943, d0.loss_map_pts_all: 2.9194, d0.loss_map_dir_all: 0.0379, d0.loss_map_cls: 0.4943, d0.loss_map_pts: 2.9194, d0.loss_map_dir: 0.0379, d1.loss_map_cls: 0.4801, d1.loss_map_pts: 2.3827, d1.loss_map_dir: 0.0392, d2.loss_map_cls: 0.4783, d2.loss_map_pts: 2.3212, d2.loss_map_dir: 0.0391, d3.loss_map_cls: 0.4773, d3.loss_map_pts: 2.3162, d3.loss_map_dir: 0.0393, d4.loss_map_cls: 0.4780, d4.loss_map_pts: 2.3309, d4.loss_map_dir: 0.0394, d5.loss_map_cls: 0.4755, d5.loss_map_pts: 2.3417, d5.loss_map_dir: 0.0394, loss: 68.6832, grad_norm: 154.6675 +2026-02-24 08:37:25,351 - DriveTransformer - INFO - Epoch [1][28650/39528] lr: 1.000e-04, eta: 8 days, 12:21:29, time: 0.809, data_time: 0.039, memory: 19865, loss_cls: 0.8405, loss_bbox: 0.7977, loss_traj: 1.7490, loss_traj_cls: 0.0006, loss_map_cls: 0.5358, loss_map_pts: 2.2612, loss_map_dir: 0.0384, d0.loss_plan_l1_fix_time: 2.5732, d0.loss_plan_l1_fix_dist: 0.4775, d1.loss_plan_l1_fix_time: 2.4662, d1.loss_plan_l1_fix_dist: 0.4866, d2.loss_plan_l1_fix_time: 2.4714, d2.loss_plan_l1_fix_dist: 0.5139, d3.loss_plan_l1_fix_time: 2.4816, d3.loss_plan_l1_fix_dist: 0.5580, d4.loss_plan_l1_fix_time: 2.4923, d4.loss_plan_l1_fix_dist: 0.6080, d5.loss_plan_l1_fix_time: 2.5029, d5.loss_plan_l1_fix_dist: 0.6646, d6.loss_plan_l1_fix_time: 2.5157, d6.loss_plan_l1_fix_dist: 0.7305, d0.loss_cls_all: 0.8244, d0.loss_bbox_all: 0.7915, d0.loss_cls: 0.8244, d0.loss_bbox: 0.7915, d1.loss_cls: 0.8142, d1.loss_bbox: 0.8152, d2.loss_cls: 0.8144, d2.loss_bbox: 0.7987, d3.loss_cls: 0.8175, d3.loss_bbox: 0.7933, d4.loss_cls: 0.8197, d4.loss_bbox: 0.7944, d5.loss_cls: 0.8286, d5.loss_bbox: 0.8003, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7591, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7284, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7313, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7476, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7572, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7484, d0.loss_map_cls_all: 0.5664, d0.loss_map_pts_all: 2.8324, d0.loss_map_dir_all: 0.0369, d0.loss_map_cls: 0.5664, d0.loss_map_pts: 2.8324, d0.loss_map_dir: 0.0369, d1.loss_map_cls: 0.5431, d1.loss_map_pts: 2.2920, d1.loss_map_dir: 0.0380, d2.loss_map_cls: 0.5284, d2.loss_map_pts: 2.2406, d2.loss_map_dir: 0.0381, d3.loss_map_cls: 0.5226, d3.loss_map_pts: 2.2429, d3.loss_map_dir: 0.0382, d4.loss_map_cls: 0.5257, d4.loss_map_pts: 2.2525, d4.loss_map_dir: 0.0382, d5.loss_map_cls: 0.5281, d5.loss_map_pts: 2.2594, d5.loss_map_dir: 0.0384, loss: 70.5673, grad_norm: 155.3916 +2026-02-24 08:38:04,363 - DriveTransformer - INFO - Epoch [1][28700/39528] lr: 1.000e-04, eta: 8 days, 12:20:17, time: 0.780, data_time: 0.040, memory: 19865, loss_cls: 0.8734, loss_bbox: 0.7904, loss_traj: 1.7152, loss_traj_cls: 0.0005, loss_map_cls: 0.5078, loss_map_pts: 2.1964, loss_map_dir: 0.0310, d0.loss_plan_l1_fix_time: 3.2762, d0.loss_plan_l1_fix_dist: 0.5509, d1.loss_plan_l1_fix_time: 3.1223, d1.loss_plan_l1_fix_dist: 0.5658, d2.loss_plan_l1_fix_time: 3.1103, d2.loss_plan_l1_fix_dist: 0.6035, d3.loss_plan_l1_fix_time: 3.1158, d3.loss_plan_l1_fix_dist: 0.6521, d4.loss_plan_l1_fix_time: 3.1247, d4.loss_plan_l1_fix_dist: 0.7100, d5.loss_plan_l1_fix_time: 3.1351, d5.loss_plan_l1_fix_dist: 0.7756, d6.loss_plan_l1_fix_time: 3.1471, d6.loss_plan_l1_fix_dist: 0.8532, d0.loss_cls_all: 0.8695, d0.loss_bbox_all: 0.7761, d0.loss_cls: 0.8695, d0.loss_bbox: 0.7761, d1.loss_cls: 0.8596, d1.loss_bbox: 0.7996, d2.loss_cls: 0.8552, d2.loss_bbox: 0.8104, d3.loss_cls: 0.8628, d3.loss_bbox: 0.7902, d4.loss_cls: 0.8639, d4.loss_bbox: 0.7854, d5.loss_cls: 0.8707, d5.loss_bbox: 0.7922, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6945, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6765, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6876, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6965, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7117, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7125, d0.loss_map_cls_all: 0.5345, d0.loss_map_pts_all: 2.6382, d0.loss_map_dir_all: 0.0307, d0.loss_map_cls: 0.5345, d0.loss_map_pts: 2.6382, d0.loss_map_dir: 0.0307, d1.loss_map_cls: 0.5150, d1.loss_map_pts: 2.2284, d1.loss_map_dir: 0.0310, d2.loss_map_cls: 0.5089, d2.loss_map_pts: 2.1821, d2.loss_map_dir: 0.0310, d3.loss_map_cls: 0.5069, d3.loss_map_pts: 2.1717, d3.loss_map_dir: 0.0310, d4.loss_map_cls: 0.5102, d4.loss_map_pts: 2.1747, d4.loss_map_dir: 0.0310, d5.loss_map_cls: 0.5039, d5.loss_map_pts: 2.1804, d5.loss_map_dir: 0.0310, loss: 74.6655, grad_norm: 154.4693 +2026-02-24 08:38:43,363 - DriveTransformer - INFO - Epoch [1][28750/39528] lr: 1.000e-04, eta: 8 days, 12:19:06, time: 0.780, data_time: 0.045, memory: 19865, loss_cls: 0.8289, loss_bbox: 0.8040, loss_traj: 1.6697, loss_traj_cls: 0.0005, loss_map_cls: 0.4967, loss_map_pts: 2.0973, loss_map_dir: 0.0325, d0.loss_plan_l1_fix_time: 2.5649, d0.loss_plan_l1_fix_dist: 0.5598, d1.loss_plan_l1_fix_time: 2.4027, d1.loss_plan_l1_fix_dist: 0.5817, d2.loss_plan_l1_fix_time: 2.3929, d2.loss_plan_l1_fix_dist: 0.6180, d3.loss_plan_l1_fix_time: 2.3982, d3.loss_plan_l1_fix_dist: 0.6576, d4.loss_plan_l1_fix_time: 2.4061, d4.loss_plan_l1_fix_dist: 0.6976, d5.loss_plan_l1_fix_time: 2.4156, d5.loss_plan_l1_fix_dist: 0.7382, d6.loss_plan_l1_fix_time: 2.4269, d6.loss_plan_l1_fix_dist: 0.7793, d0.loss_cls_all: 0.8254, d0.loss_bbox_all: 0.7769, d0.loss_cls: 0.8254, d0.loss_bbox: 0.7769, d1.loss_cls: 0.8152, d1.loss_bbox: 0.8019, d2.loss_cls: 0.8117, d2.loss_bbox: 0.8237, d3.loss_cls: 0.8159, d3.loss_bbox: 0.8167, d4.loss_cls: 0.8160, d4.loss_bbox: 0.8058, d5.loss_cls: 0.8201, d5.loss_bbox: 0.8032, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6452, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6429, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6557, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6588, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6679, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6670, d0.loss_map_cls_all: 0.4904, d0.loss_map_pts_all: 2.6164, d0.loss_map_dir_all: 0.0317, d0.loss_map_cls: 0.4904, d0.loss_map_pts: 2.6164, d0.loss_map_dir: 0.0317, d1.loss_map_cls: 0.4760, d1.loss_map_pts: 2.0805, d1.loss_map_dir: 0.0323, d2.loss_map_cls: 0.4779, d2.loss_map_pts: 2.0550, d2.loss_map_dir: 0.0324, d3.loss_map_cls: 0.4828, d3.loss_map_pts: 2.0629, d3.loss_map_dir: 0.0323, d4.loss_map_cls: 0.4926, d4.loss_map_pts: 2.0648, d4.loss_map_dir: 0.0323, d5.loss_map_cls: 0.4861, d5.loss_map_pts: 2.0742, d5.loss_map_dir: 0.0324, loss: 68.0362, grad_norm: 153.5207 +2026-02-24 08:39:22,274 - DriveTransformer - INFO - Epoch [1][28800/39528] lr: 1.000e-04, eta: 8 days, 12:17:54, time: 0.780, data_time: 0.040, memory: 19865, loss_cls: 0.9058, loss_bbox: 0.8295, loss_traj: 1.5111, loss_traj_cls: 0.0005, loss_map_cls: 0.4585, loss_map_pts: 2.1198, loss_map_dir: 0.0285, d0.loss_plan_l1_fix_time: 3.5259, d0.loss_plan_l1_fix_dist: 0.6134, d1.loss_plan_l1_fix_time: 3.3880, d1.loss_plan_l1_fix_dist: 0.6341, d2.loss_plan_l1_fix_time: 3.3783, d2.loss_plan_l1_fix_dist: 0.6783, d3.loss_plan_l1_fix_time: 3.3809, d3.loss_plan_l1_fix_dist: 0.7345, d4.loss_plan_l1_fix_time: 3.3881, d4.loss_plan_l1_fix_dist: 0.7847, d5.loss_plan_l1_fix_time: 3.3987, d5.loss_plan_l1_fix_dist: 0.8344, d6.loss_plan_l1_fix_time: 3.4108, d6.loss_plan_l1_fix_dist: 0.8682, d0.loss_cls_all: 0.9140, d0.loss_bbox_all: 0.7835, d0.loss_cls: 0.9140, d0.loss_bbox: 0.7835, d1.loss_cls: 0.9106, d1.loss_bbox: 0.8190, d2.loss_cls: 0.9114, d2.loss_bbox: 0.8470, d3.loss_cls: 0.9084, d3.loss_bbox: 0.8542, d4.loss_cls: 0.9214, d4.loss_bbox: 0.8512, d5.loss_cls: 0.9097, d5.loss_bbox: 0.8354, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4853, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.4813, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.4891, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5039, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5110, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5138, d0.loss_map_cls_all: 0.5037, d0.loss_map_pts_all: 2.5100, d0.loss_map_dir_all: 0.0281, d0.loss_map_cls: 0.5037, d0.loss_map_pts: 2.5100, d0.loss_map_dir: 0.0281, d1.loss_map_cls: 0.4696, d1.loss_map_pts: 2.1140, d1.loss_map_dir: 0.0283, d2.loss_map_cls: 0.4617, d2.loss_map_pts: 2.0724, d2.loss_map_dir: 0.0284, d3.loss_map_cls: 0.4585, d3.loss_map_pts: 2.0790, d3.loss_map_dir: 0.0284, d4.loss_map_cls: 0.4607, d4.loss_map_pts: 2.0849, d4.loss_map_dir: 0.0285, d5.loss_map_cls: 0.4554, d5.loss_map_pts: 2.0980, d5.loss_map_dir: 0.0285, loss: 75.0030, grad_norm: 154.3118 +2026-02-24 08:40:01,090 - DriveTransformer - INFO - Epoch [1][28850/39528] lr: 1.000e-04, eta: 8 days, 12:16:35, time: 0.775, data_time: 0.036, memory: 19865, loss_cls: 0.8543, loss_bbox: 0.8159, loss_traj: 1.9320, loss_traj_cls: 0.0005, loss_map_cls: 0.4866, loss_map_pts: 2.1320, loss_map_dir: 0.0275, d0.loss_plan_l1_fix_time: 3.3792, d0.loss_plan_l1_fix_dist: 0.5576, d1.loss_plan_l1_fix_time: 3.2419, d1.loss_plan_l1_fix_dist: 0.5805, d2.loss_plan_l1_fix_time: 3.2404, d2.loss_plan_l1_fix_dist: 0.6103, d3.loss_plan_l1_fix_time: 3.2532, d3.loss_plan_l1_fix_dist: 0.6472, d4.loss_plan_l1_fix_time: 3.2680, d4.loss_plan_l1_fix_dist: 0.6849, d5.loss_plan_l1_fix_time: 3.2842, d5.loss_plan_l1_fix_dist: 0.7287, d6.loss_plan_l1_fix_time: 3.3018, d6.loss_plan_l1_fix_dist: 0.7794, d0.loss_cls_all: 0.8519, d0.loss_bbox_all: 0.7923, d0.loss_cls: 0.8519, d0.loss_bbox: 0.7923, d1.loss_cls: 0.8524, d1.loss_bbox: 0.8163, d2.loss_cls: 0.8553, d2.loss_bbox: 0.8440, d3.loss_cls: 0.8571, d3.loss_bbox: 0.8327, d4.loss_cls: 0.8612, d4.loss_bbox: 0.8205, d5.loss_cls: 0.8577, d5.loss_bbox: 0.8089, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9198, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.9082, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9078, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9194, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9281, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9279, d0.loss_map_cls_all: 0.5231, d0.loss_map_pts_all: 2.5209, d0.loss_map_dir_all: 0.0271, d0.loss_map_cls: 0.5231, d0.loss_map_pts: 2.5209, d0.loss_map_dir: 0.0271, d1.loss_map_cls: 0.5029, d1.loss_map_pts: 2.1587, d1.loss_map_dir: 0.0273, d2.loss_map_cls: 0.4955, d2.loss_map_pts: 2.1177, d2.loss_map_dir: 0.0273, d3.loss_map_cls: 0.4878, d3.loss_map_pts: 2.1130, d3.loss_map_dir: 0.0273, d4.loss_map_cls: 0.4870, d4.loss_map_pts: 2.1243, d4.loss_map_dir: 0.0274, d5.loss_map_cls: 0.4871, d5.loss_map_pts: 2.1302, d5.loss_map_dir: 0.0274, loss: 76.3982, grad_norm: 154.2002 +2026-02-24 08:40:39,110 - DriveTransformer - INFO - Epoch [1][28900/39528] lr: 1.000e-04, eta: 8 days, 12:14:53, time: 0.760, data_time: 0.040, memory: 19865, loss_cls: 0.8551, loss_bbox: 0.8341, loss_traj: 1.7720, loss_traj_cls: 0.0005, loss_map_cls: 0.5088, loss_map_pts: 2.2387, loss_map_dir: 0.0336, d0.loss_plan_l1_fix_time: 3.1088, d0.loss_plan_l1_fix_dist: 0.6226, d1.loss_plan_l1_fix_time: 2.9442, d1.loss_plan_l1_fix_dist: 0.6419, d2.loss_plan_l1_fix_time: 2.9248, d2.loss_plan_l1_fix_dist: 0.6743, d3.loss_plan_l1_fix_time: 2.9276, d3.loss_plan_l1_fix_dist: 0.7143, d4.loss_plan_l1_fix_time: 2.9342, d4.loss_plan_l1_fix_dist: 0.7695, d5.loss_plan_l1_fix_time: 2.9428, d5.loss_plan_l1_fix_dist: 0.8309, d6.loss_plan_l1_fix_time: 2.9531, d6.loss_plan_l1_fix_dist: 0.9078, d0.loss_cls_all: 0.8586, d0.loss_bbox_all: 0.8240, d0.loss_cls: 0.8586, d0.loss_bbox: 0.8240, d1.loss_cls: 0.8617, d1.loss_bbox: 0.8246, d2.loss_cls: 0.8631, d2.loss_bbox: 0.8458, d3.loss_cls: 0.8639, d3.loss_bbox: 0.8234, d4.loss_cls: 0.8634, d4.loss_bbox: 0.8251, d5.loss_cls: 0.8559, d5.loss_bbox: 0.8233, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7746, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7544, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7534, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7685, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7690, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7742, d0.loss_map_cls_all: 0.5360, d0.loss_map_pts_all: 2.6889, d0.loss_map_dir_all: 0.0328, d0.loss_map_cls: 0.5360, d0.loss_map_pts: 2.6889, d0.loss_map_dir: 0.0328, d1.loss_map_cls: 0.5179, d1.loss_map_pts: 2.2918, d1.loss_map_dir: 0.0333, d2.loss_map_cls: 0.5143, d2.loss_map_pts: 2.2521, d2.loss_map_dir: 0.0335, d3.loss_map_cls: 0.5077, d3.loss_map_pts: 2.2434, d3.loss_map_dir: 0.0335, d4.loss_map_cls: 0.5098, d4.loss_map_pts: 2.2419, d4.loss_map_dir: 0.0336, d5.loss_map_cls: 0.5081, d5.loss_map_pts: 2.2416, d5.loss_map_dir: 0.0336, loss: 75.0638, grad_norm: 155.8994 +2026-02-24 08:41:16,158 - DriveTransformer - INFO - Epoch [1][28950/39528] lr: 1.000e-04, eta: 8 days, 12:12:40, time: 0.741, data_time: 0.039, memory: 19865, loss_cls: 0.8365, loss_bbox: 0.7740, loss_traj: 1.7101, loss_traj_cls: 0.0005, loss_map_cls: 0.5039, loss_map_pts: 2.1148, loss_map_dir: 0.0288, d0.loss_plan_l1_fix_time: 3.1039, d0.loss_plan_l1_fix_dist: 0.5138, d1.loss_plan_l1_fix_time: 2.9711, d1.loss_plan_l1_fix_dist: 0.5156, d2.loss_plan_l1_fix_time: 2.9677, d2.loss_plan_l1_fix_dist: 0.5413, d3.loss_plan_l1_fix_time: 2.9750, d3.loss_plan_l1_fix_dist: 0.5734, d4.loss_plan_l1_fix_time: 2.9851, d4.loss_plan_l1_fix_dist: 0.6156, d5.loss_plan_l1_fix_time: 2.9953, d5.loss_plan_l1_fix_dist: 0.6632, d6.loss_plan_l1_fix_time: 3.0075, d6.loss_plan_l1_fix_dist: 0.7157, d0.loss_cls_all: 0.8205, d0.loss_bbox_all: 0.7825, d0.loss_cls: 0.8205, d0.loss_bbox: 0.7825, d1.loss_cls: 0.8253, d1.loss_bbox: 0.7801, d2.loss_cls: 0.8316, d2.loss_bbox: 0.7856, d3.loss_cls: 0.8337, d3.loss_bbox: 0.7764, d4.loss_cls: 0.8369, d4.loss_bbox: 0.7734, d5.loss_cls: 0.8351, d5.loss_bbox: 0.7672, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6877, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.6855, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6840, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6940, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7119, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7095, d0.loss_map_cls_all: 0.5277, d0.loss_map_pts_all: 2.4694, d0.loss_map_dir_all: 0.0283, d0.loss_map_cls: 0.5277, d0.loss_map_pts: 2.4694, d0.loss_map_dir: 0.0283, d1.loss_map_cls: 0.5080, d1.loss_map_pts: 2.1893, d1.loss_map_dir: 0.0286, d2.loss_map_cls: 0.5013, d2.loss_map_pts: 2.1331, d2.loss_map_dir: 0.0286, d3.loss_map_cls: 0.4994, d3.loss_map_pts: 2.1156, d3.loss_map_dir: 0.0288, d4.loss_map_cls: 0.5023, d4.loss_map_pts: 2.1060, d4.loss_map_dir: 0.0288, d5.loss_map_cls: 0.5020, d5.loss_map_pts: 2.1071, d5.loss_map_dir: 0.0288, loss: 71.8989, grad_norm: 156.1486 +2026-02-24 08:41:55,341 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 08:41:55,341 - DriveTransformer - INFO - Epoch [1][29000/39528] lr: 1.000e-04, eta: 8 days, 12:11:35, time: 0.784, data_time: 0.039, memory: 19865, loss_cls: 0.8617, loss_bbox: 0.7901, loss_traj: 1.7694, loss_traj_cls: 0.0005, loss_map_cls: 0.4584, loss_map_pts: 2.0376, loss_map_dir: 0.0337, d0.loss_plan_l1_fix_time: 3.2129, d0.loss_plan_l1_fix_dist: 0.5493, d1.loss_plan_l1_fix_time: 3.0427, d1.loss_plan_l1_fix_dist: 0.5618, d2.loss_plan_l1_fix_time: 3.0133, d2.loss_plan_l1_fix_dist: 0.6115, d3.loss_plan_l1_fix_time: 3.0110, d3.loss_plan_l1_fix_dist: 0.6740, d4.loss_plan_l1_fix_time: 3.0171, d4.loss_plan_l1_fix_dist: 0.7392, d5.loss_plan_l1_fix_time: 3.0275, d5.loss_plan_l1_fix_dist: 0.8145, d6.loss_plan_l1_fix_time: 3.0418, d6.loss_plan_l1_fix_dist: 0.8819, d0.loss_cls_all: 0.8470, d0.loss_bbox_all: 0.8220, d0.loss_cls: 0.8470, d0.loss_bbox: 0.8220, d1.loss_cls: 0.8563, d1.loss_bbox: 0.8406, d2.loss_cls: 0.8631, d2.loss_bbox: 0.8033, d3.loss_cls: 0.8601, d3.loss_bbox: 0.8062, d4.loss_cls: 0.8729, d4.loss_bbox: 0.7983, d5.loss_cls: 0.8636, d5.loss_bbox: 0.7937, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7345, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.7477, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7499, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7660, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7681, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7699, d0.loss_map_cls_all: 0.4859, d0.loss_map_pts_all: 2.5978, d0.loss_map_dir_all: 0.0328, d0.loss_map_cls: 0.4859, d0.loss_map_pts: 2.5978, d0.loss_map_dir: 0.0328, d1.loss_map_cls: 0.4713, d1.loss_map_pts: 2.0966, d1.loss_map_dir: 0.0333, d2.loss_map_cls: 0.4631, d2.loss_map_pts: 2.0362, d2.loss_map_dir: 0.0333, d3.loss_map_cls: 0.4597, d3.loss_map_pts: 2.0275, d3.loss_map_dir: 0.0335, d4.loss_map_cls: 0.4581, d4.loss_map_pts: 2.0244, d4.loss_map_dir: 0.0336, d5.loss_map_cls: 0.4574, d5.loss_map_pts: 2.0238, d5.loss_map_dir: 0.0336, loss: 73.3039, grad_norm: 159.8315 +2026-02-24 08:42:35,849 - DriveTransformer - INFO - Epoch [1][29050/39528] lr: 1.000e-04, eta: 8 days, 12:11:12, time: 0.810, data_time: 0.038, memory: 19865, loss_cls: 0.8551, loss_bbox: 0.7922, loss_traj: 1.7133, loss_traj_cls: 0.0005, loss_map_cls: 0.4542, loss_map_pts: 2.2928, loss_map_dir: 0.0373, d0.loss_plan_l1_fix_time: 2.8829, d0.loss_plan_l1_fix_dist: 0.5469, d1.loss_plan_l1_fix_time: 2.8493, d1.loss_plan_l1_fix_dist: 0.5566, d2.loss_plan_l1_fix_time: 2.8712, d2.loss_plan_l1_fix_dist: 0.5842, d3.loss_plan_l1_fix_time: 2.8897, d3.loss_plan_l1_fix_dist: 0.6215, d4.loss_plan_l1_fix_time: 2.9069, d4.loss_plan_l1_fix_dist: 0.6625, d5.loss_plan_l1_fix_time: 2.9236, d5.loss_plan_l1_fix_dist: 0.7102, d6.loss_plan_l1_fix_time: 2.9410, d6.loss_plan_l1_fix_dist: 0.7597, d0.loss_cls_all: 0.8427, d0.loss_bbox_all: 0.7943, d0.loss_cls: 0.8427, d0.loss_bbox: 0.7943, d1.loss_cls: 0.8486, d1.loss_bbox: 0.8236, d2.loss_cls: 0.8558, d2.loss_bbox: 0.7857, d3.loss_cls: 0.8475, d3.loss_bbox: 0.7846, d4.loss_cls: 0.8583, d4.loss_bbox: 0.7874, d5.loss_cls: 0.8510, d5.loss_bbox: 0.7924, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6980, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.7035, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6903, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7045, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7036, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7096, d0.loss_map_cls_all: 0.4813, d0.loss_map_pts_all: 2.9084, d0.loss_map_dir_all: 0.0366, d0.loss_map_cls: 0.4813, d0.loss_map_pts: 2.9084, d0.loss_map_dir: 0.0366, d1.loss_map_cls: 0.4714, d1.loss_map_pts: 2.4005, d1.loss_map_dir: 0.0371, d2.loss_map_cls: 0.4629, d2.loss_map_pts: 2.3273, d2.loss_map_dir: 0.0371, d3.loss_map_cls: 0.4575, d3.loss_map_pts: 2.3102, d3.loss_map_dir: 0.0372, d4.loss_map_cls: 0.4546, d4.loss_map_pts: 2.3009, d4.loss_map_dir: 0.0372, d5.loss_map_cls: 0.4539, d5.loss_map_pts: 2.2933, d5.loss_map_dir: 0.0372, loss: 73.5440, grad_norm: 160.0393 +2026-02-24 08:43:14,338 - DriveTransformer - INFO - Epoch [1][29100/39528] lr: 1.000e-04, eta: 8 days, 12:09:46, time: 0.770, data_time: 0.042, memory: 19865, loss_cls: 0.8769, loss_bbox: 0.8163, loss_traj: 1.9298, loss_traj_cls: 0.0005, loss_map_cls: 0.5027, loss_map_pts: 2.2113, loss_map_dir: 0.0335, d0.loss_plan_l1_fix_time: 3.1030, d0.loss_plan_l1_fix_dist: 0.5087, d1.loss_plan_l1_fix_time: 2.9440, d1.loss_plan_l1_fix_dist: 0.5420, d2.loss_plan_l1_fix_time: 2.9397, d2.loss_plan_l1_fix_dist: 0.5880, d3.loss_plan_l1_fix_time: 2.9470, d3.loss_plan_l1_fix_dist: 0.6357, d4.loss_plan_l1_fix_time: 2.9573, d4.loss_plan_l1_fix_dist: 0.6868, d5.loss_plan_l1_fix_time: 2.9694, d5.loss_plan_l1_fix_dist: 0.7336, d6.loss_plan_l1_fix_time: 2.9818, d6.loss_plan_l1_fix_dist: 0.7903, d0.loss_cls_all: 0.8562, d0.loss_bbox_all: 0.8303, d0.loss_cls: 0.8562, d0.loss_bbox: 0.8303, d1.loss_cls: 0.8514, d1.loss_bbox: 0.8841, d2.loss_cls: 0.8554, d2.loss_bbox: 0.8427, d3.loss_cls: 0.8610, d3.loss_bbox: 0.8220, d4.loss_cls: 0.8558, d4.loss_bbox: 0.8225, d5.loss_cls: 0.8672, d5.loss_bbox: 0.8186, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9666, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.9405, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9108, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9228, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9341, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9352, d0.loss_map_cls_all: 0.5278, d0.loss_map_pts_all: 2.6941, d0.loss_map_dir_all: 0.0326, d0.loss_map_cls: 0.5278, d0.loss_map_pts: 2.6941, d0.loss_map_dir: 0.0326, d1.loss_map_cls: 0.5084, d1.loss_map_pts: 2.2646, d1.loss_map_dir: 0.0333, d2.loss_map_cls: 0.5040, d2.loss_map_pts: 2.2185, d2.loss_map_dir: 0.0332, d3.loss_map_cls: 0.5012, d3.loss_map_pts: 2.2073, d3.loss_map_dir: 0.0333, d4.loss_map_cls: 0.5010, d4.loss_map_pts: 2.2071, d4.loss_map_dir: 0.0335, d5.loss_map_cls: 0.5013, d5.loss_map_pts: 2.2056, d5.loss_map_dir: 0.0335, loss: 75.4605, grad_norm: 162.0051 +2026-02-24 08:43:55,236 - DriveTransformer - INFO - Epoch [1][29150/39528] lr: 1.000e-04, eta: 8 days, 12:09:35, time: 0.818, data_time: 0.041, memory: 19865, loss_cls: 0.8427, loss_bbox: 0.8071, loss_traj: 1.7685, loss_traj_cls: 0.0006, loss_map_cls: 0.4777, loss_map_pts: 2.4572, loss_map_dir: 0.0395, d0.loss_plan_l1_fix_time: 3.1438, d0.loss_plan_l1_fix_dist: 0.4774, d1.loss_plan_l1_fix_time: 2.9495, d1.loss_plan_l1_fix_dist: 0.4922, d2.loss_plan_l1_fix_time: 2.9334, d2.loss_plan_l1_fix_dist: 0.5288, d3.loss_plan_l1_fix_time: 2.9371, d3.loss_plan_l1_fix_dist: 0.5750, d4.loss_plan_l1_fix_time: 2.9461, d4.loss_plan_l1_fix_dist: 0.6302, d5.loss_plan_l1_fix_time: 2.9588, d5.loss_plan_l1_fix_dist: 0.6832, d6.loss_plan_l1_fix_time: 2.9738, d6.loss_plan_l1_fix_dist: 0.7355, d0.loss_cls_all: 0.8217, d0.loss_bbox_all: 0.8045, d0.loss_cls: 0.8217, d0.loss_bbox: 0.8045, d1.loss_cls: 0.8239, d1.loss_bbox: 0.8718, d2.loss_cls: 0.8242, d2.loss_bbox: 0.8372, d3.loss_cls: 0.8356, d3.loss_bbox: 0.8126, d4.loss_cls: 0.8314, d4.loss_bbox: 0.8200, d5.loss_cls: 0.8427, d5.loss_bbox: 0.8044, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7175, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6865, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6940, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7223, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7327, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7629, d0.loss_map_cls_all: 0.5088, d0.loss_map_pts_all: 3.0746, d0.loss_map_dir_all: 0.0385, d0.loss_map_cls: 0.5088, d0.loss_map_pts: 3.0746, d0.loss_map_dir: 0.0385, d1.loss_map_cls: 0.4885, d1.loss_map_pts: 2.5199, d1.loss_map_dir: 0.0391, d2.loss_map_cls: 0.4812, d2.loss_map_pts: 2.4511, d2.loss_map_dir: 0.0392, d3.loss_map_cls: 0.4790, d3.loss_map_pts: 2.4366, d3.loss_map_dir: 0.0392, d4.loss_map_cls: 0.4791, d4.loss_map_pts: 2.4430, d4.loss_map_dir: 0.0393, d5.loss_map_cls: 0.4765, d5.loss_map_pts: 2.4476, d5.loss_map_dir: 0.0393, loss: 75.3762, grad_norm: 161.9443 +2026-02-24 08:44:34,100 - DriveTransformer - INFO - Epoch [1][29200/39528] lr: 1.000e-04, eta: 8 days, 12:08:20, time: 0.777, data_time: 0.041, memory: 19865, loss_cls: 0.8344, loss_bbox: 0.7909, loss_traj: 1.9049, loss_traj_cls: 0.0006, loss_map_cls: 0.4516, loss_map_pts: 2.2788, loss_map_dir: 0.0329, d0.loss_plan_l1_fix_time: 3.0445, d0.loss_plan_l1_fix_dist: 0.5189, d1.loss_plan_l1_fix_time: 2.9606, d1.loss_plan_l1_fix_dist: 0.5485, d2.loss_plan_l1_fix_time: 2.9747, d2.loss_plan_l1_fix_dist: 0.5936, d3.loss_plan_l1_fix_time: 2.9897, d3.loss_plan_l1_fix_dist: 0.6449, d4.loss_plan_l1_fix_time: 3.0038, d4.loss_plan_l1_fix_dist: 0.6987, d5.loss_plan_l1_fix_time: 3.0179, d5.loss_plan_l1_fix_dist: 0.7621, d6.loss_plan_l1_fix_time: 3.0330, d6.loss_plan_l1_fix_dist: 0.8197, d0.loss_cls_all: 0.8206, d0.loss_bbox_all: 0.7852, d0.loss_cls: 0.8206, d0.loss_bbox: 0.7852, d1.loss_cls: 0.8390, d1.loss_bbox: 0.8731, d2.loss_cls: 0.8391, d2.loss_bbox: 0.8226, d3.loss_cls: 0.8486, d3.loss_bbox: 0.7952, d4.loss_cls: 0.8311, d4.loss_bbox: 0.8098, d5.loss_cls: 0.8292, d5.loss_bbox: 0.7891, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9090, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.8928, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8870, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8966, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9017, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8968, d0.loss_map_cls_all: 0.4847, d0.loss_map_pts_all: 2.8032, d0.loss_map_dir_all: 0.0321, d0.loss_map_cls: 0.4847, d0.loss_map_pts: 2.8032, d0.loss_map_dir: 0.0321, d1.loss_map_cls: 0.4650, d1.loss_map_pts: 2.3489, d1.loss_map_dir: 0.0326, d2.loss_map_cls: 0.4588, d2.loss_map_pts: 2.2926, d2.loss_map_dir: 0.0325, d3.loss_map_cls: 0.4527, d3.loss_map_pts: 2.2779, d3.loss_map_dir: 0.0326, d4.loss_map_cls: 0.4531, d4.loss_map_pts: 2.2679, d4.loss_map_dir: 0.0327, d5.loss_map_cls: 0.4516, d5.loss_map_pts: 2.2699, d5.loss_map_dir: 0.0327, loss: 75.3223, grad_norm: 163.2144 +2026-02-24 08:45:15,154 - DriveTransformer - INFO - Epoch [1][29250/39528] lr: 1.000e-04, eta: 8 days, 12:08:15, time: 0.821, data_time: 0.045, memory: 19865, loss_cls: 0.9063, loss_bbox: 0.8179, loss_traj: 2.0793, loss_traj_cls: 0.0005, loss_map_cls: 0.4873, loss_map_pts: 2.3443, loss_map_dir: 0.0371, d0.loss_plan_l1_fix_time: 3.3944, d0.loss_plan_l1_fix_dist: 0.5545, d1.loss_plan_l1_fix_time: 3.2966, d1.loss_plan_l1_fix_dist: 0.5798, d2.loss_plan_l1_fix_time: 3.2982, d2.loss_plan_l1_fix_dist: 0.6290, d3.loss_plan_l1_fix_time: 3.3083, d3.loss_plan_l1_fix_dist: 0.6868, d4.loss_plan_l1_fix_time: 3.3206, d4.loss_plan_l1_fix_dist: 0.7480, d5.loss_plan_l1_fix_time: 3.3332, d5.loss_plan_l1_fix_dist: 0.8152, d6.loss_plan_l1_fix_time: 3.3472, d6.loss_plan_l1_fix_dist: 0.8866, d0.loss_cls_all: 0.8694, d0.loss_bbox_all: 0.8183, d0.loss_cls: 0.8694, d0.loss_bbox: 0.8183, d1.loss_cls: 0.8681, d1.loss_bbox: 0.8726, d2.loss_cls: 0.8593, d2.loss_bbox: 0.8194, d3.loss_cls: 0.8843, d3.loss_bbox: 0.8146, d4.loss_cls: 0.8686, d4.loss_bbox: 0.8189, d5.loss_cls: 0.8949, d5.loss_bbox: 0.8092, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0370, d1.loss_traj_cls: 0.0007, d1.loss_traj: 2.0417, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0512, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0649, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0840, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.0730, d0.loss_map_cls_all: 0.5116, d0.loss_map_pts_all: 3.0262, d0.loss_map_dir_all: 0.0365, d0.loss_map_cls: 0.5116, d0.loss_map_pts: 3.0262, d0.loss_map_dir: 0.0365, d1.loss_map_cls: 0.4904, d1.loss_map_pts: 2.4117, d1.loss_map_dir: 0.0368, d2.loss_map_cls: 0.4862, d2.loss_map_pts: 2.3576, d2.loss_map_dir: 0.0369, d3.loss_map_cls: 0.4846, d3.loss_map_pts: 2.3533, d3.loss_map_dir: 0.0369, d4.loss_map_cls: 0.4857, d4.loss_map_pts: 2.3508, d4.loss_map_dir: 0.0370, d5.loss_map_cls: 0.4841, d5.loss_map_pts: 2.3471, d5.loss_map_dir: 0.0370, loss: 80.6965, grad_norm: 162.9183 +2026-02-24 08:45:54,287 - DriveTransformer - INFO - Epoch [1][29300/39528] lr: 1.000e-04, eta: 8 days, 12:07:09, time: 0.783, data_time: 0.038, memory: 19865, loss_cls: 0.9019, loss_bbox: 0.8075, loss_traj: 1.7606, loss_traj_cls: 0.0006, loss_map_cls: 0.5094, loss_map_pts: 2.2862, loss_map_dir: 0.0414, d0.loss_plan_l1_fix_time: 3.0387, d0.loss_plan_l1_fix_dist: 0.5644, d1.loss_plan_l1_fix_time: 2.9253, d1.loss_plan_l1_fix_dist: 0.5770, d2.loss_plan_l1_fix_time: 2.9281, d2.loss_plan_l1_fix_dist: 0.6098, d3.loss_plan_l1_fix_time: 2.9380, d3.loss_plan_l1_fix_dist: 0.6519, d4.loss_plan_l1_fix_time: 2.9481, d4.loss_plan_l1_fix_dist: 0.6975, d5.loss_plan_l1_fix_time: 2.9587, d5.loss_plan_l1_fix_dist: 0.7491, d6.loss_plan_l1_fix_time: 2.9697, d6.loss_plan_l1_fix_dist: 0.8079, d0.loss_cls_all: 0.8729, d0.loss_bbox_all: 0.8415, d0.loss_cls: 0.8729, d0.loss_bbox: 0.8415, d1.loss_cls: 0.8702, d1.loss_bbox: 0.8501, d2.loss_cls: 0.8716, d2.loss_bbox: 0.8533, d3.loss_cls: 0.8886, d3.loss_bbox: 0.8344, d4.loss_cls: 0.8737, d4.loss_bbox: 0.8217, d5.loss_cls: 0.8943, d5.loss_bbox: 0.8136, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7433, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7436, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7432, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7596, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7679, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7643, d0.loss_map_cls_all: 0.5191, d0.loss_map_pts_all: 2.8743, d0.loss_map_dir_all: 0.0404, d0.loss_map_cls: 0.5191, d0.loss_map_pts: 2.8743, d0.loss_map_dir: 0.0404, d1.loss_map_cls: 0.5118, d1.loss_map_pts: 2.3616, d1.loss_map_dir: 0.0409, d2.loss_map_cls: 0.5084, d2.loss_map_pts: 2.2975, d2.loss_map_dir: 0.0411, d3.loss_map_cls: 0.5057, d3.loss_map_pts: 2.2854, d3.loss_map_dir: 0.0411, d4.loss_map_cls: 0.5064, d4.loss_map_pts: 2.2812, d4.loss_map_dir: 0.0412, d5.loss_map_cls: 0.5082, d5.loss_map_pts: 2.2817, d5.loss_map_dir: 0.0413, loss: 75.3180, grad_norm: 161.9238 +2026-02-24 08:46:33,597 - DriveTransformer - INFO - Epoch [1][29350/39528] lr: 1.000e-04, eta: 8 days, 12:06:08, time: 0.786, data_time: 0.035, memory: 19865, loss_cls: 0.8380, loss_bbox: 0.7160, loss_traj: 1.8699, loss_traj_cls: 0.0005, loss_map_cls: 0.4526, loss_map_pts: 2.0472, loss_map_dir: 0.0342, d0.loss_plan_l1_fix_time: 3.1040, d0.loss_plan_l1_fix_dist: 0.4799, d1.loss_plan_l1_fix_time: 2.9260, d1.loss_plan_l1_fix_dist: 0.5114, d2.loss_plan_l1_fix_time: 2.9015, d2.loss_plan_l1_fix_dist: 0.5680, d3.loss_plan_l1_fix_time: 2.9011, d3.loss_plan_l1_fix_dist: 0.6261, d4.loss_plan_l1_fix_time: 2.9070, d4.loss_plan_l1_fix_dist: 0.6864, d5.loss_plan_l1_fix_time: 2.9155, d5.loss_plan_l1_fix_dist: 0.7484, d6.loss_plan_l1_fix_time: 2.9254, d6.loss_plan_l1_fix_dist: 0.8097, d0.loss_cls_all: 0.8313, d0.loss_bbox_all: 0.7502, d0.loss_cls: 0.8313, d0.loss_bbox: 0.7502, d1.loss_cls: 0.8392, d1.loss_bbox: 0.7394, d2.loss_cls: 0.8443, d2.loss_bbox: 0.7654, d3.loss_cls: 0.8376, d3.loss_bbox: 0.7454, d4.loss_cls: 0.8465, d4.loss_bbox: 0.7258, d5.loss_cls: 0.8351, d5.loss_bbox: 0.7195, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8507, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.8606, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8624, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8680, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8677, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8614, d0.loss_map_cls_all: 0.4800, d0.loss_map_pts_all: 2.5955, d0.loss_map_dir_all: 0.0337, d0.loss_map_cls: 0.4800, d0.loss_map_pts: 2.5955, d0.loss_map_dir: 0.0337, d1.loss_map_cls: 0.4717, d1.loss_map_pts: 2.0962, d1.loss_map_dir: 0.0340, d2.loss_map_cls: 0.4642, d2.loss_map_pts: 2.0412, d2.loss_map_dir: 0.0340, d3.loss_map_cls: 0.4547, d3.loss_map_pts: 2.0395, d3.loss_map_dir: 0.0341, d4.loss_map_cls: 0.4522, d4.loss_map_pts: 2.0383, d4.loss_map_dir: 0.0340, d5.loss_map_cls: 0.4526, d5.loss_map_pts: 2.0422, d5.loss_map_dir: 0.0340, loss: 72.1454, grad_norm: 163.1900 +2026-02-24 08:47:13,413 - DriveTransformer - INFO - Epoch [1][29400/39528] lr: 1.000e-04, eta: 8 days, 12:05:24, time: 0.796, data_time: 0.050, memory: 19865, loss_cls: 0.8854, loss_bbox: 0.8142, loss_traj: 1.6091, loss_traj_cls: 0.0005, loss_map_cls: 0.4971, loss_map_pts: 2.4018, loss_map_dir: 0.0398, d0.loss_plan_l1_fix_time: 3.3585, d0.loss_plan_l1_fix_dist: 0.5037, d1.loss_plan_l1_fix_time: 3.1386, d1.loss_plan_l1_fix_dist: 0.5215, d2.loss_plan_l1_fix_time: 3.1038, d2.loss_plan_l1_fix_dist: 0.5513, d3.loss_plan_l1_fix_time: 3.0989, d3.loss_plan_l1_fix_dist: 0.5893, d4.loss_plan_l1_fix_time: 3.1017, d4.loss_plan_l1_fix_dist: 0.6353, d5.loss_plan_l1_fix_time: 3.1068, d5.loss_plan_l1_fix_dist: 0.6816, d6.loss_plan_l1_fix_time: 3.1135, d6.loss_plan_l1_fix_dist: 0.7301, d0.loss_cls_all: 0.8644, d0.loss_bbox_all: 0.8707, d0.loss_cls: 0.8644, d0.loss_bbox: 0.8707, d1.loss_cls: 0.8581, d1.loss_bbox: 0.8438, d2.loss_cls: 0.8597, d2.loss_bbox: 0.8535, d3.loss_cls: 0.8623, d3.loss_bbox: 0.8467, d4.loss_cls: 0.8712, d4.loss_bbox: 0.8235, d5.loss_cls: 0.8796, d5.loss_bbox: 0.8174, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5961, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.5973, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.5929, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6034, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5977, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6011, d0.loss_map_cls_all: 0.5169, d0.loss_map_pts_all: 2.8885, d0.loss_map_dir_all: 0.0391, d0.loss_map_cls: 0.5169, d0.loss_map_pts: 2.8885, d0.loss_map_dir: 0.0391, d1.loss_map_cls: 0.5045, d1.loss_map_pts: 2.4680, d1.loss_map_dir: 0.0395, d2.loss_map_cls: 0.5002, d2.loss_map_pts: 2.4120, d2.loss_map_dir: 0.0396, d3.loss_map_cls: 0.4964, d3.loss_map_pts: 2.4006, d3.loss_map_dir: 0.0396, d4.loss_map_cls: 0.4961, d4.loss_map_pts: 2.3978, d4.loss_map_dir: 0.0396, d5.loss_map_cls: 0.4963, d5.loss_map_pts: 2.3999, d5.loss_map_dir: 0.0397, loss: 75.7195, grad_norm: 163.9077 +2026-02-24 08:47:52,695 - DriveTransformer - INFO - Epoch [1][29450/39528] lr: 1.000e-04, eta: 8 days, 12:04:22, time: 0.786, data_time: 0.052, memory: 19865, loss_cls: 0.8829, loss_bbox: 0.8088, loss_traj: 1.6862, loss_traj_cls: 0.0005, loss_map_cls: 0.5125, loss_map_pts: 2.3815, loss_map_dir: 0.0362, d0.loss_plan_l1_fix_time: 3.0167, d0.loss_plan_l1_fix_dist: 0.5298, d1.loss_plan_l1_fix_time: 2.8418, d1.loss_plan_l1_fix_dist: 0.5536, d2.loss_plan_l1_fix_time: 2.8353, d2.loss_plan_l1_fix_dist: 0.5902, d3.loss_plan_l1_fix_time: 2.8435, d3.loss_plan_l1_fix_dist: 0.6320, d4.loss_plan_l1_fix_time: 2.8546, d4.loss_plan_l1_fix_dist: 0.6801, d5.loss_plan_l1_fix_time: 2.8663, d5.loss_plan_l1_fix_dist: 0.7311, d6.loss_plan_l1_fix_time: 2.8795, d6.loss_plan_l1_fix_dist: 0.7808, d0.loss_cls_all: 0.8719, d0.loss_bbox_all: 0.8591, d0.loss_cls: 0.8719, d0.loss_bbox: 0.8591, d1.loss_cls: 0.8713, d1.loss_bbox: 0.8273, d2.loss_cls: 0.8723, d2.loss_bbox: 0.8411, d3.loss_cls: 0.8753, d3.loss_bbox: 0.8319, d4.loss_cls: 0.8777, d4.loss_bbox: 0.8160, d5.loss_cls: 0.8772, d5.loss_bbox: 0.8103, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6860, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6802, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6816, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6965, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6875, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6857, d0.loss_map_cls_all: 0.5362, d0.loss_map_pts_all: 2.8047, d0.loss_map_dir_all: 0.0359, d0.loss_map_cls: 0.5362, d0.loss_map_pts: 2.8047, d0.loss_map_dir: 0.0359, d1.loss_map_cls: 0.5245, d1.loss_map_pts: 2.4161, d1.loss_map_dir: 0.0361, d2.loss_map_cls: 0.5197, d2.loss_map_pts: 2.3783, d2.loss_map_dir: 0.0360, d3.loss_map_cls: 0.5204, d3.loss_map_pts: 2.3729, d3.loss_map_dir: 0.0360, d4.loss_map_cls: 0.5141, d4.loss_map_pts: 2.3768, d4.loss_map_dir: 0.0361, d5.loss_map_cls: 0.5131, d5.loss_map_pts: 2.3756, d5.loss_map_dir: 0.0361, loss: 74.4729, grad_norm: 164.6561 +2026-02-24 08:48:34,726 - DriveTransformer - INFO - Epoch [1][29500/39528] lr: 1.000e-04, eta: 8 days, 12:04:47, time: 0.841, data_time: 0.036, memory: 19865, loss_cls: 0.8739, loss_bbox: 0.8031, loss_traj: 1.5751, loss_traj_cls: 0.0005, loss_map_cls: 0.5126, loss_map_pts: 2.6929, loss_map_dir: 0.0440, d0.loss_plan_l1_fix_time: 3.0262, d0.loss_plan_l1_fix_dist: 0.5069, d1.loss_plan_l1_fix_time: 2.9486, d1.loss_plan_l1_fix_dist: 0.5245, d2.loss_plan_l1_fix_time: 2.9746, d2.loss_plan_l1_fix_dist: 0.5510, d3.loss_plan_l1_fix_time: 2.9923, d3.loss_plan_l1_fix_dist: 0.5861, d4.loss_plan_l1_fix_time: 3.0087, d4.loss_plan_l1_fix_dist: 0.6244, d5.loss_plan_l1_fix_time: 3.0250, d5.loss_plan_l1_fix_dist: 0.6723, d6.loss_plan_l1_fix_time: 3.0414, d6.loss_plan_l1_fix_dist: 0.7251, d0.loss_cls_all: 0.8670, d0.loss_bbox_all: 0.8363, d0.loss_cls: 0.8670, d0.loss_bbox: 0.8363, d1.loss_cls: 0.8617, d1.loss_bbox: 0.8086, d2.loss_cls: 0.8706, d2.loss_bbox: 0.8188, d3.loss_cls: 0.8691, d3.loss_bbox: 0.8073, d4.loss_cls: 0.8914, d4.loss_bbox: 0.8109, d5.loss_cls: 0.8845, d5.loss_bbox: 0.7994, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5748, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.5754, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.5672, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5828, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5810, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5735, d0.loss_map_cls_all: 0.5475, d0.loss_map_pts_all: 3.2656, d0.loss_map_dir_all: 0.0430, d0.loss_map_cls: 0.5475, d0.loss_map_pts: 3.2656, d0.loss_map_dir: 0.0430, d1.loss_map_cls: 0.5329, d1.loss_map_pts: 2.7784, d1.loss_map_dir: 0.0433, d2.loss_map_cls: 0.5247, d2.loss_map_pts: 2.7112, d2.loss_map_dir: 0.0435, d3.loss_map_cls: 0.5182, d3.loss_map_pts: 2.6968, d3.loss_map_dir: 0.0436, d4.loss_map_cls: 0.5134, d4.loss_map_pts: 2.6964, d4.loss_map_dir: 0.0437, d5.loss_map_cls: 0.5134, d5.loss_map_pts: 2.6924, d5.loss_map_dir: 0.0439, loss: 77.1041, grad_norm: 165.7843 +2026-02-24 08:49:14,192 - DriveTransformer - INFO - Epoch [1][29550/39528] lr: 1.000e-04, eta: 8 days, 12:03:52, time: 0.789, data_time: 0.042, memory: 19865, loss_cls: 0.8278, loss_bbox: 0.7384, loss_traj: 1.6810, loss_traj_cls: 0.0005, loss_map_cls: 0.4740, loss_map_pts: 1.8480, loss_map_dir: 0.0297, d0.loss_plan_l1_fix_time: 2.8084, d0.loss_plan_l1_fix_dist: 0.5158, d1.loss_plan_l1_fix_time: 2.6340, d1.loss_plan_l1_fix_dist: 0.5222, d2.loss_plan_l1_fix_time: 2.6176, d2.loss_plan_l1_fix_dist: 0.5524, d3.loss_plan_l1_fix_time: 2.6237, d3.loss_plan_l1_fix_dist: 0.5914, d4.loss_plan_l1_fix_time: 2.6346, d4.loss_plan_l1_fix_dist: 0.6383, d5.loss_plan_l1_fix_time: 2.6464, d5.loss_plan_l1_fix_dist: 0.6885, d6.loss_plan_l1_fix_time: 2.6593, d6.loss_plan_l1_fix_dist: 0.7439, d0.loss_cls_all: 0.8383, d0.loss_bbox_all: 0.7453, d0.loss_cls: 0.8383, d0.loss_bbox: 0.7453, d1.loss_cls: 0.8135, d1.loss_bbox: 0.7469, d2.loss_cls: 0.8111, d2.loss_bbox: 0.7455, d3.loss_cls: 0.8281, d3.loss_bbox: 0.7558, d4.loss_cls: 0.8209, d4.loss_bbox: 0.7635, d5.loss_cls: 0.8322, d5.loss_bbox: 0.7461, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7128, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6868, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6682, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.6707, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6675, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6719, d0.loss_map_cls_all: 0.4887, d0.loss_map_pts_all: 2.4407, d0.loss_map_dir_all: 0.0292, d0.loss_map_cls: 0.4887, d0.loss_map_pts: 2.4407, d0.loss_map_dir: 0.0292, d1.loss_map_cls: 0.4711, d1.loss_map_pts: 1.9398, d1.loss_map_dir: 0.0294, d2.loss_map_cls: 0.4652, d2.loss_map_pts: 1.8746, d2.loss_map_dir: 0.0295, d3.loss_map_cls: 0.4678, d3.loss_map_pts: 1.8596, d3.loss_map_dir: 0.0296, d4.loss_map_cls: 0.4755, d4.loss_map_pts: 1.8475, d4.loss_map_dir: 0.0296, d5.loss_map_cls: 0.4719, d5.loss_map_pts: 1.8458, d5.loss_map_dir: 0.0297, loss: 67.3712, grad_norm: 166.0126 +2026-02-24 08:49:53,166 - DriveTransformer - INFO - Epoch [1][29600/39528] lr: 1.000e-04, eta: 8 days, 12:02:43, time: 0.781, data_time: 0.036, memory: 19865, loss_cls: 0.8525, loss_bbox: 0.7820, loss_traj: 1.7486, loss_traj_cls: 0.0005, loss_map_cls: 0.4976, loss_map_pts: 2.2960, loss_map_dir: 0.0329, d0.loss_plan_l1_fix_time: 2.8638, d0.loss_plan_l1_fix_dist: 0.6011, d1.loss_plan_l1_fix_time: 2.7382, d1.loss_plan_l1_fix_dist: 0.6098, d2.loss_plan_l1_fix_time: 2.7273, d2.loss_plan_l1_fix_dist: 0.6417, d3.loss_plan_l1_fix_time: 2.7355, d3.loss_plan_l1_fix_dist: 0.6830, d4.loss_plan_l1_fix_time: 2.7468, d4.loss_plan_l1_fix_dist: 0.7330, d5.loss_plan_l1_fix_time: 2.7598, d5.loss_plan_l1_fix_dist: 0.7841, d6.loss_plan_l1_fix_time: 2.7742, d6.loss_plan_l1_fix_dist: 0.8314, d0.loss_cls_all: 0.8432, d0.loss_bbox_all: 0.7763, d0.loss_cls: 0.8432, d0.loss_bbox: 0.7763, d1.loss_cls: 0.8362, d1.loss_bbox: 0.7896, d2.loss_cls: 0.8361, d2.loss_bbox: 0.7922, d3.loss_cls: 0.8458, d3.loss_bbox: 0.7961, d4.loss_cls: 0.8569, d4.loss_bbox: 0.7916, d5.loss_cls: 0.8610, d5.loss_bbox: 0.7898, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7255, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7092, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7067, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7175, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7388, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7430, d0.loss_map_cls_all: 0.5174, d0.loss_map_pts_all: 2.7283, d0.loss_map_dir_all: 0.0325, d0.loss_map_cls: 0.5174, d0.loss_map_pts: 2.7283, d0.loss_map_dir: 0.0325, d1.loss_map_cls: 0.5012, d1.loss_map_pts: 2.3445, d1.loss_map_dir: 0.0326, d2.loss_map_cls: 0.4947, d2.loss_map_pts: 2.2841, d2.loss_map_dir: 0.0327, d3.loss_map_cls: 0.4982, d3.loss_map_pts: 2.2754, d3.loss_map_dir: 0.0328, d4.loss_map_cls: 0.4998, d4.loss_map_pts: 2.2810, d4.loss_map_dir: 0.0327, d5.loss_map_cls: 0.5005, d5.loss_map_pts: 2.2859, d5.loss_map_dir: 0.0328, loss: 72.9028, grad_norm: 168.2329 +2026-02-24 08:50:33,959 - DriveTransformer - INFO - Epoch [1][29650/39528] lr: 1.000e-04, eta: 8 days, 12:02:27, time: 0.814, data_time: 0.045, memory: 19865, loss_cls: 0.8715, loss_bbox: 0.7819, loss_traj: 1.6490, loss_traj_cls: 0.0005, loss_map_cls: 0.4977, loss_map_pts: 2.3332, loss_map_dir: 0.0329, d0.loss_plan_l1_fix_time: 2.8881, d0.loss_plan_l1_fix_dist: 0.4252, d1.loss_plan_l1_fix_time: 2.7954, d1.loss_plan_l1_fix_dist: 0.4399, d2.loss_plan_l1_fix_time: 2.7932, d2.loss_plan_l1_fix_dist: 0.4657, d3.loss_plan_l1_fix_time: 2.8043, d3.loss_plan_l1_fix_dist: 0.4959, d4.loss_plan_l1_fix_time: 2.8195, d4.loss_plan_l1_fix_dist: 0.5297, d5.loss_plan_l1_fix_time: 2.8375, d5.loss_plan_l1_fix_dist: 0.5669, d6.loss_plan_l1_fix_time: 2.8584, d6.loss_plan_l1_fix_dist: 0.6047, d0.loss_cls_all: 0.8664, d0.loss_bbox_all: 0.7653, d0.loss_cls: 0.8664, d0.loss_bbox: 0.7653, d1.loss_cls: 0.8458, d1.loss_bbox: 0.7770, d2.loss_cls: 0.8454, d2.loss_bbox: 0.8188, d3.loss_cls: 0.8630, d3.loss_bbox: 0.7831, d4.loss_cls: 0.8742, d4.loss_bbox: 0.7786, d5.loss_cls: 0.8915, d5.loss_bbox: 0.7812, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6528, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6498, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6303, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6412, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6524, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6505, d0.loss_map_cls_all: 0.5063, d0.loss_map_pts_all: 2.8210, d0.loss_map_dir_all: 0.0320, d0.loss_map_cls: 0.5063, d0.loss_map_pts: 2.8210, d0.loss_map_dir: 0.0320, d1.loss_map_cls: 0.4882, d1.loss_map_pts: 2.4291, d1.loss_map_dir: 0.0327, d2.loss_map_cls: 0.4841, d2.loss_map_pts: 2.3679, d2.loss_map_dir: 0.0327, d3.loss_map_cls: 0.4855, d3.loss_map_pts: 2.3471, d3.loss_map_dir: 0.0327, d4.loss_map_cls: 0.4925, d4.loss_map_pts: 2.3348, d4.loss_map_dir: 0.0327, d5.loss_map_cls: 0.4977, d5.loss_map_pts: 2.3331, d5.loss_map_dir: 0.0327, loss: 72.0356, grad_norm: 169.7890 +2026-02-24 08:51:13,602 - DriveTransformer - INFO - Epoch [1][29700/39528] lr: 1.000e-04, eta: 8 days, 12:01:37, time: 0.793, data_time: 0.037, memory: 19865, loss_cls: 0.8669, loss_bbox: 0.7625, loss_traj: 1.8109, loss_traj_cls: 0.0005, loss_map_cls: 0.4623, loss_map_pts: 2.3833, loss_map_dir: 0.0364, d0.loss_plan_l1_fix_time: 2.7173, d0.loss_plan_l1_fix_dist: 0.5282, d1.loss_plan_l1_fix_time: 2.6709, d1.loss_plan_l1_fix_dist: 0.5421, d2.loss_plan_l1_fix_time: 2.6932, d2.loss_plan_l1_fix_dist: 0.5662, d3.loss_plan_l1_fix_time: 2.7115, d3.loss_plan_l1_fix_dist: 0.5988, d4.loss_plan_l1_fix_time: 2.7301, d4.loss_plan_l1_fix_dist: 0.6356, d5.loss_plan_l1_fix_time: 2.7484, d5.loss_plan_l1_fix_dist: 0.6778, d6.loss_plan_l1_fix_time: 2.7695, d6.loss_plan_l1_fix_dist: 0.7308, d0.loss_cls_all: 0.8594, d0.loss_bbox_all: 0.7600, d0.loss_cls: 0.8594, d0.loss_bbox: 0.7600, d1.loss_cls: 0.8421, d1.loss_bbox: 0.7711, d2.loss_cls: 0.8554, d2.loss_bbox: 0.8258, d3.loss_cls: 0.8663, d3.loss_bbox: 0.8065, d4.loss_cls: 0.8787, d4.loss_bbox: 0.7792, d5.loss_cls: 0.8823, d5.loss_bbox: 0.7699, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8120, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7942, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7971, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8141, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8150, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8117, d0.loss_map_cls_all: 0.4916, d0.loss_map_pts_all: 2.8405, d0.loss_map_dir_all: 0.0355, d0.loss_map_cls: 0.4916, d0.loss_map_pts: 2.8405, d0.loss_map_dir: 0.0355, d1.loss_map_cls: 0.4687, d1.loss_map_pts: 2.4616, d1.loss_map_dir: 0.0362, d2.loss_map_cls: 0.4607, d2.loss_map_pts: 2.4085, d2.loss_map_dir: 0.0362, d3.loss_map_cls: 0.4597, d3.loss_map_pts: 2.3936, d3.loss_map_dir: 0.0363, d4.loss_map_cls: 0.4626, d4.loss_map_pts: 2.3818, d4.loss_map_dir: 0.0363, d5.loss_map_cls: 0.4628, d5.loss_map_pts: 2.3784, d5.loss_map_dir: 0.0362, loss: 73.2614, grad_norm: 169.3634 +2026-02-24 08:51:52,493 - DriveTransformer - INFO - Epoch [1][29750/39528] lr: 1.000e-04, eta: 8 days, 12:00:24, time: 0.778, data_time: 0.039, memory: 19865, loss_cls: 0.8872, loss_bbox: 0.7829, loss_traj: 1.9540, loss_traj_cls: 0.0006, loss_map_cls: 0.4854, loss_map_pts: 2.3087, loss_map_dir: 0.0342, d0.loss_plan_l1_fix_time: 2.8991, d0.loss_plan_l1_fix_dist: 0.5517, d1.loss_plan_l1_fix_time: 2.7537, d1.loss_plan_l1_fix_dist: 0.5566, d2.loss_plan_l1_fix_time: 2.7451, d2.loss_plan_l1_fix_dist: 0.5776, d3.loss_plan_l1_fix_time: 2.7506, d3.loss_plan_l1_fix_dist: 0.6018, d4.loss_plan_l1_fix_time: 2.7606, d4.loss_plan_l1_fix_dist: 0.6311, d5.loss_plan_l1_fix_time: 2.7723, d5.loss_plan_l1_fix_dist: 0.6628, d6.loss_plan_l1_fix_time: 2.7854, d6.loss_plan_l1_fix_dist: 0.6936, d0.loss_cls_all: 0.8520, d0.loss_bbox_all: 0.7813, d0.loss_cls: 0.8520, d0.loss_bbox: 0.7813, d1.loss_cls: 0.8640, d1.loss_bbox: 0.7935, d2.loss_cls: 0.8695, d2.loss_bbox: 0.8508, d3.loss_cls: 0.8642, d3.loss_bbox: 0.8410, d4.loss_cls: 0.8865, d4.loss_bbox: 0.8096, d5.loss_cls: 0.8699, d5.loss_bbox: 0.7836, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8946, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.9069, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9137, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9383, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.9447, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9416, d0.loss_map_cls_all: 0.5200, d0.loss_map_pts_all: 2.7277, d0.loss_map_dir_all: 0.0338, d0.loss_map_cls: 0.5200, d0.loss_map_pts: 2.7277, d0.loss_map_dir: 0.0338, d1.loss_map_cls: 0.5018, d1.loss_map_pts: 2.3648, d1.loss_map_dir: 0.0340, d2.loss_map_cls: 0.4940, d2.loss_map_pts: 2.3077, d2.loss_map_dir: 0.0341, d3.loss_map_cls: 0.4927, d3.loss_map_pts: 2.2994, d3.loss_map_dir: 0.0341, d4.loss_map_cls: 0.4890, d4.loss_map_pts: 2.2991, d4.loss_map_dir: 0.0341, d5.loss_map_cls: 0.4882, d5.loss_map_pts: 2.3003, d5.loss_map_dir: 0.0341, loss: 74.2077, grad_norm: 169.9694 +2026-02-24 08:52:32,719 - DriveTransformer - INFO - Epoch [1][29800/39528] lr: 1.000e-04, eta: 8 days, 11:59:52, time: 0.805, data_time: 0.043, memory: 19865, loss_cls: 0.8566, loss_bbox: 0.7715, loss_traj: 2.0685, loss_traj_cls: 0.0005, loss_map_cls: 0.4871, loss_map_pts: 2.2979, loss_map_dir: 0.0362, d0.loss_plan_l1_fix_time: 2.7881, d0.loss_plan_l1_fix_dist: 0.4804, d1.loss_plan_l1_fix_time: 2.5918, d1.loss_plan_l1_fix_dist: 0.4875, d2.loss_plan_l1_fix_time: 2.5758, d2.loss_plan_l1_fix_dist: 0.5089, d3.loss_plan_l1_fix_time: 2.5824, d3.loss_plan_l1_fix_dist: 0.5351, d4.loss_plan_l1_fix_time: 2.5921, d4.loss_plan_l1_fix_dist: 0.5653, d5.loss_plan_l1_fix_time: 2.6037, d5.loss_plan_l1_fix_dist: 0.5981, d6.loss_plan_l1_fix_time: 2.6159, d6.loss_plan_l1_fix_dist: 0.6393, d0.loss_cls_all: 0.8439, d0.loss_bbox_all: 0.7566, d0.loss_cls: 0.8439, d0.loss_bbox: 0.7566, d1.loss_cls: 0.8497, d1.loss_bbox: 0.7702, d2.loss_cls: 0.8511, d2.loss_bbox: 0.8247, d3.loss_cls: 0.8507, d3.loss_bbox: 0.8006, d4.loss_cls: 0.8518, d4.loss_bbox: 0.7781, d5.loss_cls: 0.8476, d5.loss_bbox: 0.7702, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0456, d1.loss_traj_cls: 0.0007, d1.loss_traj: 2.0550, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0579, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0703, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0781, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.0726, d0.loss_map_cls_all: 0.5195, d0.loss_map_pts_all: 2.8223, d0.loss_map_dir_all: 0.0351, d0.loss_map_cls: 0.5195, d0.loss_map_pts: 2.8223, d0.loss_map_dir: 0.0351, d1.loss_map_cls: 0.5008, d1.loss_map_pts: 2.3791, d1.loss_map_dir: 0.0358, d2.loss_map_cls: 0.4925, d2.loss_map_pts: 2.3142, d2.loss_map_dir: 0.0359, d3.loss_map_cls: 0.4908, d3.loss_map_pts: 2.2978, d3.loss_map_dir: 0.0360, d4.loss_map_cls: 0.4875, d4.loss_map_pts: 2.2996, d4.loss_map_dir: 0.0360, d5.loss_map_cls: 0.4852, d5.loss_map_pts: 2.2981, d5.loss_map_dir: 0.0360, loss: 73.4403, grad_norm: 169.0132 +2026-02-24 08:53:10,710 - DriveTransformer - INFO - Epoch [1][29850/39528] lr: 1.000e-04, eta: 8 days, 11:58:11, time: 0.760, data_time: 0.042, memory: 19865, loss_cls: 0.8729, loss_bbox: 0.7561, loss_traj: 2.1393, loss_traj_cls: 0.0005, loss_map_cls: 0.5194, loss_map_pts: 2.1214, loss_map_dir: 0.0291, d0.loss_plan_l1_fix_time: 2.8350, d0.loss_plan_l1_fix_dist: 0.4179, d1.loss_plan_l1_fix_time: 2.6429, d1.loss_plan_l1_fix_dist: 0.4338, d2.loss_plan_l1_fix_time: 2.6191, d2.loss_plan_l1_fix_dist: 0.4624, d3.loss_plan_l1_fix_time: 2.6228, d3.loss_plan_l1_fix_dist: 0.4955, d4.loss_plan_l1_fix_time: 2.6318, d4.loss_plan_l1_fix_dist: 0.5339, d5.loss_plan_l1_fix_time: 2.6433, d5.loss_plan_l1_fix_dist: 0.5742, d6.loss_plan_l1_fix_time: 2.6571, d6.loss_plan_l1_fix_dist: 0.6210, d0.loss_cls_all: 0.8441, d0.loss_bbox_all: 0.7505, d0.loss_cls: 0.8441, d0.loss_bbox: 0.7505, d1.loss_cls: 0.8526, d1.loss_bbox: 0.7619, d2.loss_cls: 0.8730, d2.loss_bbox: 0.7951, d3.loss_cls: 0.8808, d3.loss_bbox: 0.7589, d4.loss_cls: 0.8781, d4.loss_bbox: 0.7530, d5.loss_cls: 0.8718, d5.loss_bbox: 0.7507, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.1203, d1.loss_traj_cls: 0.0007, d1.loss_traj: 2.1006, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0991, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1206, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1339, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1434, d0.loss_map_cls_all: 0.5551, d0.loss_map_pts_all: 2.5086, d0.loss_map_dir_all: 0.0292, d0.loss_map_cls: 0.5551, d0.loss_map_pts: 2.5086, d0.loss_map_dir: 0.0292, d1.loss_map_cls: 0.5342, d1.loss_map_pts: 2.1492, d1.loss_map_dir: 0.0292, d2.loss_map_cls: 0.5253, d2.loss_map_pts: 2.1048, d2.loss_map_dir: 0.0291, d3.loss_map_cls: 0.5271, d3.loss_map_pts: 2.1013, d3.loss_map_dir: 0.0290, d4.loss_map_cls: 0.5244, d4.loss_map_pts: 2.1099, d4.loss_map_dir: 0.0290, d5.loss_map_cls: 0.5185, d5.loss_map_pts: 2.1149, d5.loss_map_dir: 0.0291, loss: 72.2561, grad_norm: 168.9208 +2026-02-24 08:53:51,983 - DriveTransformer - INFO - Epoch [1][29900/39528] lr: 1.000e-04, eta: 8 days, 11:58:12, time: 0.826, data_time: 0.040, memory: 19865, loss_cls: 0.8422, loss_bbox: 0.7662, loss_traj: 1.7706, loss_traj_cls: 0.0005, loss_map_cls: 0.4614, loss_map_pts: 2.5488, loss_map_dir: 0.0371, d0.loss_plan_l1_fix_time: 3.0332, d0.loss_plan_l1_fix_dist: 0.4923, d1.loss_plan_l1_fix_time: 2.8636, d1.loss_plan_l1_fix_dist: 0.4957, d2.loss_plan_l1_fix_time: 2.8635, d2.loss_plan_l1_fix_dist: 0.5158, d3.loss_plan_l1_fix_time: 2.8733, d3.loss_plan_l1_fix_dist: 0.5407, d4.loss_plan_l1_fix_time: 2.8858, d4.loss_plan_l1_fix_dist: 0.5662, d5.loss_plan_l1_fix_time: 2.8981, d5.loss_plan_l1_fix_dist: 0.5957, d6.loss_plan_l1_fix_time: 2.9109, d6.loss_plan_l1_fix_dist: 0.6311, d0.loss_cls_all: 0.8193, d0.loss_bbox_all: 0.7666, d0.loss_cls: 0.8193, d0.loss_bbox: 0.7666, d1.loss_cls: 0.8279, d1.loss_bbox: 0.7890, d2.loss_cls: 0.8391, d2.loss_bbox: 0.7816, d3.loss_cls: 0.8284, d3.loss_bbox: 0.7710, d4.loss_cls: 0.8524, d4.loss_bbox: 0.7781, d5.loss_cls: 0.8438, d5.loss_bbox: 0.7634, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6878, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6942, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6844, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7176, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7309, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7426, d0.loss_map_cls_all: 0.4994, d0.loss_map_pts_all: 3.0723, d0.loss_map_dir_all: 0.0364, d0.loss_map_cls: 0.4994, d0.loss_map_pts: 3.0723, d0.loss_map_dir: 0.0364, d1.loss_map_cls: 0.4796, d1.loss_map_pts: 2.6310, d1.loss_map_dir: 0.0368, d2.loss_map_cls: 0.4710, d2.loss_map_pts: 2.5666, d2.loss_map_dir: 0.0369, d3.loss_map_cls: 0.4688, d3.loss_map_pts: 2.5565, d3.loss_map_dir: 0.0370, d4.loss_map_cls: 0.4655, d4.loss_map_pts: 2.5510, d4.loss_map_dir: 0.0370, d5.loss_map_cls: 0.4618, d5.loss_map_pts: 2.5479, d5.loss_map_dir: 0.0369, loss: 74.7006, grad_norm: 169.7090 +2026-02-24 08:54:32,587 - DriveTransformer - INFO - Epoch [1][29950/39528] lr: 1.000e-04, eta: 8 days, 11:57:51, time: 0.812, data_time: 0.036, memory: 19865, loss_cls: 0.8581, loss_bbox: 0.7619, loss_traj: 1.7732, loss_traj_cls: 0.0005, loss_map_cls: 0.4437, loss_map_pts: 2.2428, loss_map_dir: 0.0354, d0.loss_plan_l1_fix_time: 2.6162, d0.loss_plan_l1_fix_dist: 0.5754, d1.loss_plan_l1_fix_time: 2.5318, d1.loss_plan_l1_fix_dist: 0.5764, d2.loss_plan_l1_fix_time: 2.5331, d2.loss_plan_l1_fix_dist: 0.5902, d3.loss_plan_l1_fix_time: 2.5410, d3.loss_plan_l1_fix_dist: 0.6099, d4.loss_plan_l1_fix_time: 2.5520, d4.loss_plan_l1_fix_dist: 0.6325, d5.loss_plan_l1_fix_time: 2.5648, d5.loss_plan_l1_fix_dist: 0.6577, d6.loss_plan_l1_fix_time: 2.5779, d6.loss_plan_l1_fix_dist: 0.6842, d0.loss_cls_all: 0.8271, d0.loss_bbox_all: 0.7867, d0.loss_cls: 0.8271, d0.loss_bbox: 0.7867, d1.loss_cls: 0.8293, d1.loss_bbox: 0.8110, d2.loss_cls: 0.8445, d2.loss_bbox: 0.7841, d3.loss_cls: 0.8321, d3.loss_bbox: 0.7781, d4.loss_cls: 0.8591, d4.loss_bbox: 0.7750, d5.loss_cls: 0.8486, d5.loss_bbox: 0.7733, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8044, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7722, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7558, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7596, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7667, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7663, d0.loss_map_cls_all: 0.4815, d0.loss_map_pts_all: 2.7608, d0.loss_map_dir_all: 0.0350, d0.loss_map_cls: 0.4815, d0.loss_map_pts: 2.7608, d0.loss_map_dir: 0.0350, d1.loss_map_cls: 0.4571, d1.loss_map_pts: 2.3168, d1.loss_map_dir: 0.0352, d2.loss_map_cls: 0.4516, d2.loss_map_pts: 2.2637, d2.loss_map_dir: 0.0352, d3.loss_map_cls: 0.4473, d3.loss_map_pts: 2.2522, d3.loss_map_dir: 0.0351, d4.loss_map_cls: 0.4455, d4.loss_map_pts: 2.2438, d4.loss_map_dir: 0.0352, d5.loss_map_cls: 0.4433, d5.loss_map_pts: 2.2386, d5.loss_map_dir: 0.0353, loss: 70.6406, grad_norm: 169.4106 +2026-02-24 08:55:11,476 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 08:55:11,476 - DriveTransformer - INFO - Epoch [1][30000/39528] lr: 1.000e-04, eta: 8 days, 11:56:39, time: 0.778, data_time: 0.042, memory: 19865, loss_cls: 0.8996, loss_bbox: 0.8501, loss_traj: 1.8548, loss_traj_cls: 0.0005, loss_map_cls: 0.5205, loss_map_pts: 2.3534, loss_map_dir: 0.0373, d0.loss_plan_l1_fix_time: 3.4423, d0.loss_plan_l1_fix_dist: 0.6375, d1.loss_plan_l1_fix_time: 3.2794, d1.loss_plan_l1_fix_dist: 0.6426, d2.loss_plan_l1_fix_time: 3.2638, d2.loss_plan_l1_fix_dist: 0.6692, d3.loss_plan_l1_fix_time: 3.2655, d3.loss_plan_l1_fix_dist: 0.7014, d4.loss_plan_l1_fix_time: 3.2717, d4.loss_plan_l1_fix_dist: 0.7372, d5.loss_plan_l1_fix_time: 3.2812, d5.loss_plan_l1_fix_dist: 0.7786, d6.loss_plan_l1_fix_time: 3.2918, d6.loss_plan_l1_fix_dist: 0.8312, d0.loss_cls_all: 0.8904, d0.loss_bbox_all: 0.8390, d0.loss_cls: 0.8904, d0.loss_bbox: 0.8390, d1.loss_cls: 0.8691, d1.loss_bbox: 0.8787, d2.loss_cls: 0.8732, d2.loss_bbox: 0.8694, d3.loss_cls: 0.8823, d3.loss_bbox: 0.8653, d4.loss_cls: 0.8860, d4.loss_bbox: 0.8608, d5.loss_cls: 0.8964, d5.loss_bbox: 0.8558, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8447, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7977, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8114, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8354, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8399, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8525, d0.loss_map_cls_all: 0.5476, d0.loss_map_pts_all: 2.8971, d0.loss_map_dir_all: 0.0367, d0.loss_map_cls: 0.5476, d0.loss_map_pts: 2.8971, d0.loss_map_dir: 0.0367, d1.loss_map_cls: 0.5336, d1.loss_map_pts: 2.4531, d1.loss_map_dir: 0.0369, d2.loss_map_cls: 0.5291, d2.loss_map_pts: 2.3813, d2.loss_map_dir: 0.0370, d3.loss_map_cls: 0.5193, d3.loss_map_pts: 2.3619, d3.loss_map_dir: 0.0371, d4.loss_map_cls: 0.5240, d4.loss_map_pts: 2.3547, d4.loss_map_dir: 0.0371, d5.loss_map_cls: 0.5210, d5.loss_map_pts: 2.3513, d5.loss_map_dir: 0.0371, loss: 79.4677, grad_norm: 169.8474 +2026-02-24 08:55:51,547 - DriveTransformer - INFO - Epoch [1][30050/39528] lr: 1.000e-04, eta: 8 days, 11:56:03, time: 0.802, data_time: 0.041, memory: 19865, loss_cls: 0.9262, loss_bbox: 0.8556, loss_traj: 1.6768, loss_traj_cls: 0.0005, loss_map_cls: 0.5384, loss_map_pts: 2.4011, loss_map_dir: 0.0366, d0.loss_plan_l1_fix_time: 2.9857, d0.loss_plan_l1_fix_dist: 0.5504, d1.loss_plan_l1_fix_time: 2.8828, d1.loss_plan_l1_fix_dist: 0.5594, d2.loss_plan_l1_fix_time: 2.9036, d2.loss_plan_l1_fix_dist: 0.5832, d3.loss_plan_l1_fix_time: 2.9232, d3.loss_plan_l1_fix_dist: 0.6157, d4.loss_plan_l1_fix_time: 2.9419, d4.loss_plan_l1_fix_dist: 0.6500, d5.loss_plan_l1_fix_time: 2.9603, d5.loss_plan_l1_fix_dist: 0.6918, d6.loss_plan_l1_fix_time: 2.9783, d6.loss_plan_l1_fix_dist: 0.7431, d0.loss_cls_all: 0.8881, d0.loss_bbox_all: 0.8371, d0.loss_cls: 0.8881, d0.loss_bbox: 0.8371, d1.loss_cls: 0.8707, d1.loss_bbox: 0.8890, d2.loss_cls: 0.8784, d2.loss_bbox: 0.8899, d3.loss_cls: 0.8905, d3.loss_bbox: 0.8864, d4.loss_cls: 0.9041, d4.loss_bbox: 0.8792, d5.loss_cls: 0.9268, d5.loss_bbox: 0.8628, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6981, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6617, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6389, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6577, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6652, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6669, d0.loss_map_cls_all: 0.5589, d0.loss_map_pts_all: 2.8225, d0.loss_map_dir_all: 0.0359, d0.loss_map_cls: 0.5589, d0.loss_map_pts: 2.8225, d0.loss_map_dir: 0.0359, d1.loss_map_cls: 0.5388, d1.loss_map_pts: 2.4510, d1.loss_map_dir: 0.0365, d2.loss_map_cls: 0.5330, d2.loss_map_pts: 2.4050, d2.loss_map_dir: 0.0364, d3.loss_map_cls: 0.5325, d3.loss_map_pts: 2.3979, d3.loss_map_dir: 0.0365, d4.loss_map_cls: 0.5330, d4.loss_map_pts: 2.4029, d4.loss_map_dir: 0.0364, d5.loss_map_cls: 0.5364, d5.loss_map_pts: 2.4002, d5.loss_map_dir: 0.0364, loss: 75.4722, grad_norm: 170.3713 +2026-02-24 08:56:29,049 - DriveTransformer - INFO - Epoch [1][30100/39528] lr: 1.000e-04, eta: 8 days, 11:54:07, time: 0.750, data_time: 0.037, memory: 19865, loss_cls: 0.8821, loss_bbox: 0.7808, loss_traj: 2.3082, loss_traj_cls: 0.0005, loss_map_cls: 0.5324, loss_map_pts: 2.0954, loss_map_dir: 0.0309, d0.loss_plan_l1_fix_time: 2.8379, d0.loss_plan_l1_fix_dist: 0.5352, d1.loss_plan_l1_fix_time: 2.7208, d1.loss_plan_l1_fix_dist: 0.5438, d2.loss_plan_l1_fix_time: 2.7205, d2.loss_plan_l1_fix_dist: 0.5659, d3.loss_plan_l1_fix_time: 2.7292, d3.loss_plan_l1_fix_dist: 0.5941, d4.loss_plan_l1_fix_time: 2.7395, d4.loss_plan_l1_fix_dist: 0.6255, d5.loss_plan_l1_fix_time: 2.7519, d5.loss_plan_l1_fix_dist: 0.6558, d6.loss_plan_l1_fix_time: 2.7669, d6.loss_plan_l1_fix_dist: 0.6843, d0.loss_cls_all: 0.8934, d0.loss_bbox_all: 0.7716, d0.loss_cls: 0.8934, d0.loss_bbox: 0.7716, d1.loss_cls: 0.8752, d1.loss_bbox: 0.8243, d2.loss_cls: 0.8693, d2.loss_bbox: 0.8202, d3.loss_cls: 0.8732, d3.loss_bbox: 0.7952, d4.loss_cls: 0.8695, d4.loss_bbox: 0.7922, d5.loss_cls: 0.8768, d5.loss_bbox: 0.7861, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.2191, d1.loss_traj_cls: 0.0008, d1.loss_traj: 2.2472, d2.loss_traj_cls: 0.0007, d2.loss_traj: 2.2550, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.2733, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2834, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.3007, d0.loss_map_cls_all: 0.5565, d0.loss_map_pts_all: 2.4053, d0.loss_map_dir_all: 0.0310, d0.loss_map_cls: 0.5565, d0.loss_map_pts: 2.4053, d0.loss_map_dir: 0.0310, d1.loss_map_cls: 0.5260, d1.loss_map_pts: 2.1353, d1.loss_map_dir: 0.0309, d2.loss_map_cls: 0.5219, d2.loss_map_pts: 2.0938, d2.loss_map_dir: 0.0308, d3.loss_map_cls: 0.5248, d3.loss_map_pts: 2.0884, d3.loss_map_dir: 0.0309, d4.loss_map_cls: 0.5312, d4.loss_map_pts: 2.0902, d4.loss_map_dir: 0.0309, d5.loss_map_cls: 0.5312, d5.loss_map_pts: 2.0906, d5.loss_map_dir: 0.0308, loss: 74.6687, grad_norm: 169.2983 +2026-02-24 08:57:10,477 - DriveTransformer - INFO - Epoch [1][30150/39528] lr: 1.000e-04, eta: 8 days, 11:54:12, time: 0.829, data_time: 0.039, memory: 19865, loss_cls: 0.9443, loss_bbox: 0.7987, loss_traj: 1.6610, loss_traj_cls: 0.0005, loss_map_cls: 0.6260, loss_map_pts: 2.8169, loss_map_dir: 0.0432, d0.loss_plan_l1_fix_time: 3.1301, d0.loss_plan_l1_fix_dist: 0.4755, d1.loss_plan_l1_fix_time: 2.9359, d1.loss_plan_l1_fix_dist: 0.4876, d2.loss_plan_l1_fix_time: 2.9165, d2.loss_plan_l1_fix_dist: 0.5125, d3.loss_plan_l1_fix_time: 2.9208, d3.loss_plan_l1_fix_dist: 0.5423, d4.loss_plan_l1_fix_time: 2.9302, d4.loss_plan_l1_fix_dist: 0.5739, d5.loss_plan_l1_fix_time: 2.9424, d5.loss_plan_l1_fix_dist: 0.6074, d6.loss_plan_l1_fix_time: 2.9572, d6.loss_plan_l1_fix_dist: 0.6376, d0.loss_cls_all: 0.9618, d0.loss_bbox_all: 0.7949, d0.loss_cls: 0.9618, d0.loss_bbox: 0.7949, d1.loss_cls: 0.9233, d1.loss_bbox: 0.8255, d2.loss_cls: 0.9199, d2.loss_bbox: 0.8073, d3.loss_cls: 0.9282, d3.loss_bbox: 0.7974, d4.loss_cls: 0.9242, d4.loss_bbox: 0.8055, d5.loss_cls: 0.9428, d5.loss_bbox: 0.7990, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6826, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6684, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6316, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.6375, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.6417, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6499, d0.loss_map_cls_all: 0.6095, d0.loss_map_pts_all: 3.2742, d0.loss_map_dir_all: 0.0430, d0.loss_map_cls: 0.6095, d0.loss_map_pts: 3.2742, d0.loss_map_dir: 0.0430, d1.loss_map_cls: 0.5952, d1.loss_map_pts: 2.8626, d1.loss_map_dir: 0.0431, d2.loss_map_cls: 0.6054, d2.loss_map_pts: 2.8151, d2.loss_map_dir: 0.0431, d3.loss_map_cls: 0.6058, d3.loss_map_pts: 2.8092, d3.loss_map_dir: 0.0430, d4.loss_map_cls: 0.6197, d4.loss_map_pts: 2.8083, d4.loss_map_dir: 0.0430, d5.loss_map_cls: 0.6201, d5.loss_map_pts: 2.8097, d5.loss_map_dir: 0.0431, loss: 78.7821, grad_norm: 170.4770 +2026-02-24 08:57:49,813 - DriveTransformer - INFO - Epoch [1][30200/39528] lr: 1.000e-04, eta: 8 days, 11:53:13, time: 0.786, data_time: 0.045, memory: 19865, loss_cls: 0.8792, loss_bbox: 0.7990, loss_traj: 1.9618, loss_traj_cls: 0.0005, loss_map_cls: 0.5313, loss_map_pts: 2.3236, loss_map_dir: 0.0368, d0.loss_plan_l1_fix_time: 3.0531, d0.loss_plan_l1_fix_dist: 0.4898, d1.loss_plan_l1_fix_time: 2.8943, d1.loss_plan_l1_fix_dist: 0.5049, d2.loss_plan_l1_fix_time: 2.8706, d2.loss_plan_l1_fix_dist: 0.5266, d3.loss_plan_l1_fix_time: 2.8727, d3.loss_plan_l1_fix_dist: 0.5478, d4.loss_plan_l1_fix_time: 2.8819, d4.loss_plan_l1_fix_dist: 0.5679, d5.loss_plan_l1_fix_time: 2.8933, d5.loss_plan_l1_fix_dist: 0.5902, d6.loss_plan_l1_fix_time: 2.9062, d6.loss_plan_l1_fix_dist: 0.6184, d0.loss_cls_all: 0.9019, d0.loss_bbox_all: 0.8113, d0.loss_cls: 0.9019, d0.loss_bbox: 0.8113, d1.loss_cls: 0.8874, d1.loss_bbox: 0.8289, d2.loss_cls: 0.8777, d2.loss_bbox: 0.8082, d3.loss_cls: 0.8756, d3.loss_bbox: 0.8083, d4.loss_cls: 0.8708, d4.loss_bbox: 0.8064, d5.loss_cls: 0.8755, d5.loss_bbox: 0.7941, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9553, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.9470, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.9182, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9336, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9378, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9457, d0.loss_map_cls_all: 0.5500, d0.loss_map_pts_all: 2.8292, d0.loss_map_dir_all: 0.0363, d0.loss_map_cls: 0.5500, d0.loss_map_pts: 2.8292, d0.loss_map_dir: 0.0363, d1.loss_map_cls: 0.5414, d1.loss_map_pts: 2.3816, d1.loss_map_dir: 0.0369, d2.loss_map_cls: 0.5371, d2.loss_map_pts: 2.3283, d2.loss_map_dir: 0.0367, d3.loss_map_cls: 0.5323, d3.loss_map_pts: 2.3163, d3.loss_map_dir: 0.0368, d4.loss_map_cls: 0.5371, d4.loss_map_pts: 2.3102, d4.loss_map_dir: 0.0368, d5.loss_map_cls: 0.5297, d5.loss_map_pts: 2.3169, d5.loss_map_dir: 0.0368, loss: 75.5961, grad_norm: 170.6203 +2026-02-24 08:58:29,750 - DriveTransformer - INFO - Epoch [1][30250/39528] lr: 1.000e-04, eta: 8 days, 11:52:33, time: 0.799, data_time: 0.044, memory: 19865, loss_cls: 0.8771, loss_bbox: 0.7498, loss_traj: 1.7898, loss_traj_cls: 0.0005, loss_map_cls: 0.5239, loss_map_pts: 2.1721, loss_map_dir: 0.0336, d0.loss_plan_l1_fix_time: 2.9720, d0.loss_plan_l1_fix_dist: 0.4992, d1.loss_plan_l1_fix_time: 2.8101, d1.loss_plan_l1_fix_dist: 0.4980, d2.loss_plan_l1_fix_time: 2.8014, d2.loss_plan_l1_fix_dist: 0.5120, d3.loss_plan_l1_fix_time: 2.8095, d3.loss_plan_l1_fix_dist: 0.5331, d4.loss_plan_l1_fix_time: 2.8226, d4.loss_plan_l1_fix_dist: 0.5607, d5.loss_plan_l1_fix_time: 2.8379, d5.loss_plan_l1_fix_dist: 0.5936, d6.loss_plan_l1_fix_time: 2.8545, d6.loss_plan_l1_fix_dist: 0.6330, d0.loss_cls_all: 0.8595, d0.loss_bbox_all: 0.7813, d0.loss_cls: 0.8595, d0.loss_bbox: 0.7813, d1.loss_cls: 0.8534, d1.loss_bbox: 0.7646, d2.loss_cls: 0.8570, d2.loss_bbox: 0.7547, d3.loss_cls: 0.8659, d3.loss_bbox: 0.7560, d4.loss_cls: 0.8713, d4.loss_bbox: 0.7596, d5.loss_cls: 0.8735, d5.loss_bbox: 0.7554, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8164, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.7876, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7804, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7867, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7868, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7922, d0.loss_map_cls_all: 0.5304, d0.loss_map_pts_all: 2.6866, d0.loss_map_dir_all: 0.0332, d0.loss_map_cls: 0.5304, d0.loss_map_pts: 2.6866, d0.loss_map_dir: 0.0332, d1.loss_map_cls: 0.5173, d1.loss_map_pts: 2.2007, d1.loss_map_dir: 0.0335, d2.loss_map_cls: 0.5185, d2.loss_map_pts: 2.1662, d2.loss_map_dir: 0.0335, d3.loss_map_cls: 0.5228, d3.loss_map_pts: 2.1643, d3.loss_map_dir: 0.0335, d4.loss_map_cls: 0.5208, d4.loss_map_pts: 2.1669, d4.loss_map_dir: 0.0335, d5.loss_map_cls: 0.5251, d5.loss_map_pts: 2.1638, d5.loss_map_dir: 0.0335, loss: 72.1653, grad_norm: 169.0975 +2026-02-24 08:59:07,894 - DriveTransformer - INFO - Epoch [1][30300/39528] lr: 1.000e-04, eta: 8 days, 11:50:57, time: 0.763, data_time: 0.042, memory: 19865, loss_cls: 0.8492, loss_bbox: 0.8009, loss_traj: 1.8645, loss_traj_cls: 0.0005, loss_map_cls: 0.5439, loss_map_pts: 2.1265, loss_map_dir: 0.0330, d0.loss_plan_l1_fix_time: 3.2202, d0.loss_plan_l1_fix_dist: 0.4847, d1.loss_plan_l1_fix_time: 2.9976, d1.loss_plan_l1_fix_dist: 0.4828, d2.loss_plan_l1_fix_time: 2.9775, d2.loss_plan_l1_fix_dist: 0.4937, d3.loss_plan_l1_fix_time: 2.9840, d3.loss_plan_l1_fix_dist: 0.5093, d4.loss_plan_l1_fix_time: 2.9960, d4.loss_plan_l1_fix_dist: 0.5327, d5.loss_plan_l1_fix_time: 3.0098, d5.loss_plan_l1_fix_dist: 0.5602, d6.loss_plan_l1_fix_time: 3.0247, d6.loss_plan_l1_fix_dist: 0.5852, d0.loss_cls_all: 0.8327, d0.loss_bbox_all: 0.8185, d0.loss_cls: 0.8327, d0.loss_bbox: 0.8185, d1.loss_cls: 0.8293, d1.loss_bbox: 0.7882, d2.loss_cls: 0.8320, d2.loss_bbox: 0.7835, d3.loss_cls: 0.8348, d3.loss_bbox: 0.7988, d4.loss_cls: 0.8393, d4.loss_bbox: 0.8125, d5.loss_cls: 0.8469, d5.loss_bbox: 0.8176, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8010, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.7818, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7966, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8310, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8535, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8670, d0.loss_map_cls_all: 0.5413, d0.loss_map_pts_all: 2.4890, d0.loss_map_dir_all: 0.0325, d0.loss_map_cls: 0.5413, d0.loss_map_pts: 2.4890, d0.loss_map_dir: 0.0325, d1.loss_map_cls: 0.5183, d1.loss_map_pts: 2.1896, d1.loss_map_dir: 0.0329, d2.loss_map_cls: 0.5219, d2.loss_map_pts: 2.1442, d2.loss_map_dir: 0.0329, d3.loss_map_cls: 0.5281, d3.loss_map_pts: 2.1335, d3.loss_map_dir: 0.0329, d4.loss_map_cls: 0.5274, d4.loss_map_pts: 2.1314, d4.loss_map_dir: 0.0329, d5.loss_map_cls: 0.5347, d5.loss_map_pts: 2.1248, d5.loss_map_dir: 0.0329, loss: 73.1406, grad_norm: 167.8360 +2026-02-24 08:59:47,805 - DriveTransformer - INFO - Epoch [1][30350/39528] lr: 1.000e-04, eta: 8 days, 11:50:16, time: 0.798, data_time: 0.042, memory: 19865, loss_cls: 0.9064, loss_bbox: 0.8148, loss_traj: 2.0773, loss_traj_cls: 0.0005, loss_map_cls: 0.5413, loss_map_pts: 2.5000, loss_map_dir: 0.0389, d0.loss_plan_l1_fix_time: 3.0913, d0.loss_plan_l1_fix_dist: 0.4714, d1.loss_plan_l1_fix_time: 3.0095, d1.loss_plan_l1_fix_dist: 0.4786, d2.loss_plan_l1_fix_time: 3.0115, d2.loss_plan_l1_fix_dist: 0.4958, d3.loss_plan_l1_fix_time: 3.0225, d3.loss_plan_l1_fix_dist: 0.5167, d4.loss_plan_l1_fix_time: 3.0343, d4.loss_plan_l1_fix_dist: 0.5393, d5.loss_plan_l1_fix_time: 3.0470, d5.loss_plan_l1_fix_dist: 0.5655, d6.loss_plan_l1_fix_time: 3.0618, d6.loss_plan_l1_fix_dist: 0.6011, d0.loss_cls_all: 0.8935, d0.loss_bbox_all: 0.8455, d0.loss_cls: 0.8935, d0.loss_bbox: 0.8455, d1.loss_cls: 0.8897, d1.loss_bbox: 0.8238, d2.loss_cls: 0.8841, d2.loss_bbox: 0.8070, d3.loss_cls: 0.8885, d3.loss_bbox: 0.8263, d4.loss_cls: 0.8854, d4.loss_bbox: 0.8191, d5.loss_cls: 0.8875, d5.loss_bbox: 0.8233, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9787, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.9851, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.9921, d3.loss_traj_cls: 0.0007, d3.loss_traj: 2.0182, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0422, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.0624, d0.loss_map_cls_all: 0.5332, d0.loss_map_pts_all: 3.0093, d0.loss_map_dir_all: 0.0385, d0.loss_map_cls: 0.5332, d0.loss_map_pts: 3.0093, d0.loss_map_dir: 0.0385, d1.loss_map_cls: 0.5239, d1.loss_map_pts: 2.5709, d1.loss_map_dir: 0.0387, d2.loss_map_cls: 0.5267, d2.loss_map_pts: 2.5144, d2.loss_map_dir: 0.0388, d3.loss_map_cls: 0.5305, d3.loss_map_pts: 2.4998, d3.loss_map_dir: 0.0388, d4.loss_map_cls: 0.5319, d4.loss_map_pts: 2.4976, d4.loss_map_dir: 0.0389, d5.loss_map_cls: 0.5356, d5.loss_map_pts: 2.4960, d5.loss_map_dir: 0.0389, loss: 78.5037, grad_norm: 167.7329 +2026-02-24 09:00:28,231 - DriveTransformer - INFO - Epoch [1][30400/39528] lr: 1.000e-04, eta: 8 days, 11:49:53, time: 0.810, data_time: 0.057, memory: 19865, loss_cls: 0.9792, loss_bbox: 0.8433, loss_traj: 1.5138, loss_traj_cls: 0.0005, loss_map_cls: 0.4937, loss_map_pts: 2.2005, loss_map_dir: 0.0366, d0.loss_plan_l1_fix_time: 2.8239, d0.loss_plan_l1_fix_dist: 0.4574, d1.loss_plan_l1_fix_time: 2.6939, d1.loss_plan_l1_fix_dist: 0.4630, d2.loss_plan_l1_fix_time: 2.6896, d2.loss_plan_l1_fix_dist: 0.4761, d3.loss_plan_l1_fix_time: 2.6975, d3.loss_plan_l1_fix_dist: 0.4960, d4.loss_plan_l1_fix_time: 2.7088, d4.loss_plan_l1_fix_dist: 0.5204, d5.loss_plan_l1_fix_time: 2.7219, d5.loss_plan_l1_fix_dist: 0.5477, d6.loss_plan_l1_fix_time: 2.7351, d6.loss_plan_l1_fix_dist: 0.5833, d0.loss_cls_all: 0.9150, d0.loss_bbox_all: 0.8335, d0.loss_cls: 0.9150, d0.loss_bbox: 0.8335, d1.loss_cls: 0.9279, d1.loss_bbox: 0.8406, d2.loss_cls: 0.9406, d2.loss_bbox: 0.8132, d3.loss_cls: 0.9502, d3.loss_bbox: 0.8296, d4.loss_cls: 0.9689, d4.loss_bbox: 0.8313, d5.loss_cls: 0.9652, d5.loss_bbox: 0.8386, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4565, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.4878, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5080, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5190, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5184, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5167, d0.loss_map_cls_all: 0.5007, d0.loss_map_pts_all: 2.7692, d0.loss_map_dir_all: 0.0361, d0.loss_map_cls: 0.5007, d0.loss_map_pts: 2.7692, d0.loss_map_dir: 0.0361, d1.loss_map_cls: 0.4794, d1.loss_map_pts: 2.2946, d1.loss_map_dir: 0.0365, d2.loss_map_cls: 0.4819, d2.loss_map_pts: 2.2214, d2.loss_map_dir: 0.0364, d3.loss_map_cls: 0.4878, d3.loss_map_pts: 2.2044, d3.loss_map_dir: 0.0364, d4.loss_map_cls: 0.4888, d4.loss_map_pts: 2.2018, d4.loss_map_dir: 0.0365, d5.loss_map_cls: 0.4935, d5.loss_map_pts: 2.2014, d5.loss_map_dir: 0.0365, loss: 70.4446, grad_norm: 164.9771 +2026-02-24 09:01:08,380 - DriveTransformer - INFO - Epoch [1][30450/39528] lr: 1.000e-04, eta: 8 days, 11:49:16, time: 0.802, data_time: 0.037, memory: 19865, loss_cls: 0.8759, loss_bbox: 0.8254, loss_traj: 1.9524, loss_traj_cls: 0.0005, loss_map_cls: 0.4870, loss_map_pts: 2.3681, loss_map_dir: 0.0345, d0.loss_plan_l1_fix_time: 3.0648, d0.loss_plan_l1_fix_dist: 0.5177, d1.loss_plan_l1_fix_time: 2.9747, d1.loss_plan_l1_fix_dist: 0.5192, d2.loss_plan_l1_fix_time: 2.9699, d2.loss_plan_l1_fix_dist: 0.5407, d3.loss_plan_l1_fix_time: 2.9775, d3.loss_plan_l1_fix_dist: 0.5665, d4.loss_plan_l1_fix_time: 2.9899, d4.loss_plan_l1_fix_dist: 0.5933, d5.loss_plan_l1_fix_time: 3.0046, d5.loss_plan_l1_fix_dist: 0.6244, d6.loss_plan_l1_fix_time: 3.0205, d6.loss_plan_l1_fix_dist: 0.6550, d0.loss_cls_all: 0.8429, d0.loss_bbox_all: 0.8208, d0.loss_cls: 0.8429, d0.loss_bbox: 0.8208, d1.loss_cls: 0.8585, d1.loss_bbox: 0.8509, d2.loss_cls: 0.8501, d2.loss_bbox: 0.8176, d3.loss_cls: 0.8491, d3.loss_bbox: 0.8233, d4.loss_cls: 0.8555, d4.loss_bbox: 0.8500, d5.loss_cls: 0.8652, d5.loss_bbox: 0.8326, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8980, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.8895, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.9072, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9295, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9333, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9460, d0.loss_map_cls_all: 0.5105, d0.loss_map_pts_all: 2.7674, d0.loss_map_dir_all: 0.0338, d0.loss_map_cls: 0.5105, d0.loss_map_pts: 2.7674, d0.loss_map_dir: 0.0338, d1.loss_map_cls: 0.4835, d1.loss_map_pts: 2.3860, d1.loss_map_dir: 0.0343, d2.loss_map_cls: 0.4814, d2.loss_map_pts: 2.3599, d2.loss_map_dir: 0.0342, d3.loss_map_cls: 0.4806, d3.loss_map_pts: 2.3581, d3.loss_map_dir: 0.0343, d4.loss_map_cls: 0.4809, d4.loss_map_pts: 2.3613, d4.loss_map_dir: 0.0343, d5.loss_map_cls: 0.4873, d5.loss_map_pts: 2.3636, d5.loss_map_dir: 0.0344, loss: 75.8871, grad_norm: 164.9083 +2026-02-24 09:01:46,669 - DriveTransformer - INFO - Epoch [1][30500/39528] lr: 1.000e-04, eta: 8 days, 11:47:46, time: 0.766, data_time: 0.039, memory: 19865, loss_cls: 0.8646, loss_bbox: 0.7659, loss_traj: 1.5390, loss_traj_cls: 0.0005, loss_map_cls: 0.4923, loss_map_pts: 2.1554, loss_map_dir: 0.0371, d0.loss_plan_l1_fix_time: 3.1232, d0.loss_plan_l1_fix_dist: 0.4030, d1.loss_plan_l1_fix_time: 2.9237, d1.loss_plan_l1_fix_dist: 0.4117, d2.loss_plan_l1_fix_time: 2.9024, d2.loss_plan_l1_fix_dist: 0.4337, d3.loss_plan_l1_fix_time: 2.9045, d3.loss_plan_l1_fix_dist: 0.4597, d4.loss_plan_l1_fix_time: 2.9134, d4.loss_plan_l1_fix_dist: 0.4919, d5.loss_plan_l1_fix_time: 2.9257, d5.loss_plan_l1_fix_dist: 0.5305, d6.loss_plan_l1_fix_time: 2.9399, d6.loss_plan_l1_fix_dist: 0.5741, d0.loss_cls_all: 0.8348, d0.loss_bbox_all: 0.7639, d0.loss_cls: 0.8348, d0.loss_bbox: 0.7639, d1.loss_cls: 0.8370, d1.loss_bbox: 0.8014, d2.loss_cls: 0.8397, d2.loss_bbox: 0.7591, d3.loss_cls: 0.8434, d3.loss_bbox: 0.7591, d4.loss_cls: 0.8535, d4.loss_bbox: 0.7869, d5.loss_cls: 0.8623, d5.loss_bbox: 0.7709, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5241, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.5134, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5120, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.5166, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5101, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5247, d0.loss_map_cls_all: 0.5052, d0.loss_map_pts_all: 2.6256, d0.loss_map_dir_all: 0.0366, d0.loss_map_cls: 0.5052, d0.loss_map_pts: 2.6256, d0.loss_map_dir: 0.0366, d1.loss_map_cls: 0.4974, d1.loss_map_pts: 2.2001, d1.loss_map_dir: 0.0370, d2.loss_map_cls: 0.4921, d2.loss_map_pts: 2.1554, d2.loss_map_dir: 0.0369, d3.loss_map_cls: 0.4925, d3.loss_map_pts: 2.1504, d3.loss_map_dir: 0.0369, d4.loss_map_cls: 0.4904, d4.loss_map_pts: 2.1490, d4.loss_map_dir: 0.0369, d5.loss_map_cls: 0.4940, d5.loss_map_pts: 2.1524, d5.loss_map_dir: 0.0370, loss: 70.0003, grad_norm: 164.4228 +2026-02-24 09:02:27,082 - DriveTransformer - INFO - Epoch [1][30550/39528] lr: 1.000e-04, eta: 8 days, 11:47:20, time: 0.808, data_time: 0.040, memory: 19865, loss_cls: 0.8455, loss_bbox: 0.8127, loss_traj: 1.7985, loss_traj_cls: 0.0005, loss_map_cls: 0.4982, loss_map_pts: 2.3960, loss_map_dir: 0.0392, d0.loss_plan_l1_fix_time: 2.9131, d0.loss_plan_l1_fix_dist: 0.5334, d1.loss_plan_l1_fix_time: 2.7513, d1.loss_plan_l1_fix_dist: 0.5383, d2.loss_plan_l1_fix_time: 2.7250, d2.loss_plan_l1_fix_dist: 0.5562, d3.loss_plan_l1_fix_time: 2.7247, d3.loss_plan_l1_fix_dist: 0.5789, d4.loss_plan_l1_fix_time: 2.7307, d4.loss_plan_l1_fix_dist: 0.6013, d5.loss_plan_l1_fix_time: 2.7405, d5.loss_plan_l1_fix_dist: 0.6250, d6.loss_plan_l1_fix_time: 2.7525, d6.loss_plan_l1_fix_dist: 0.6557, d0.loss_cls_all: 0.8482, d0.loss_bbox_all: 0.7921, d0.loss_cls: 0.8482, d0.loss_bbox: 0.7921, d1.loss_cls: 0.8392, d1.loss_bbox: 0.8243, d2.loss_cls: 0.8391, d2.loss_bbox: 0.7868, d3.loss_cls: 0.8383, d3.loss_bbox: 0.7893, d4.loss_cls: 0.8395, d4.loss_bbox: 0.8101, d5.loss_cls: 0.8463, d5.loss_bbox: 0.8012, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7773, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7492, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7707, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7809, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7874, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7956, d0.loss_map_cls_all: 0.5081, d0.loss_map_pts_all: 3.0409, d0.loss_map_dir_all: 0.0381, d0.loss_map_cls: 0.5081, d0.loss_map_pts: 3.0409, d0.loss_map_dir: 0.0381, d1.loss_map_cls: 0.5061, d1.loss_map_pts: 2.4475, d1.loss_map_dir: 0.0387, d2.loss_map_cls: 0.4968, d2.loss_map_pts: 2.3848, d2.loss_map_dir: 0.0388, d3.loss_map_cls: 0.4991, d3.loss_map_pts: 2.3821, d3.loss_map_dir: 0.0388, d4.loss_map_cls: 0.4996, d4.loss_map_pts: 2.3863, d4.loss_map_dir: 0.0390, d5.loss_map_cls: 0.4958, d5.loss_map_pts: 2.3960, d5.loss_map_dir: 0.0390, loss: 73.8395, grad_norm: 164.5852 +2026-02-24 09:03:07,012 - DriveTransformer - INFO - Epoch [1][30600/39528] lr: 1.000e-04, eta: 8 days, 11:46:40, time: 0.799, data_time: 0.037, memory: 19865, loss_cls: 0.8622, loss_bbox: 0.8177, loss_traj: 1.9103, loss_traj_cls: 0.0005, loss_map_cls: 0.4694, loss_map_pts: 2.2908, loss_map_dir: 0.0372, d0.loss_plan_l1_fix_time: 3.1031, d0.loss_plan_l1_fix_dist: 0.4936, d1.loss_plan_l1_fix_time: 2.9442, d1.loss_plan_l1_fix_dist: 0.4949, d2.loss_plan_l1_fix_time: 2.9314, d2.loss_plan_l1_fix_dist: 0.5108, d3.loss_plan_l1_fix_time: 2.9349, d3.loss_plan_l1_fix_dist: 0.5321, d4.loss_plan_l1_fix_time: 2.9415, d4.loss_plan_l1_fix_dist: 0.5564, d5.loss_plan_l1_fix_time: 2.9493, d5.loss_plan_l1_fix_dist: 0.5813, d6.loss_plan_l1_fix_time: 2.9595, d6.loss_plan_l1_fix_dist: 0.6047, d0.loss_cls_all: 0.8590, d0.loss_bbox_all: 0.8244, d0.loss_cls: 0.8590, d0.loss_bbox: 0.8244, d1.loss_cls: 0.8507, d1.loss_bbox: 0.8440, d2.loss_cls: 0.8482, d2.loss_bbox: 0.8272, d3.loss_cls: 0.8458, d3.loss_bbox: 0.8247, d4.loss_cls: 0.8472, d4.loss_bbox: 0.8150, d5.loss_cls: 0.8511, d5.loss_bbox: 0.8117, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8774, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.8743, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.8824, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9014, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8955, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9037, d0.loss_map_cls_all: 0.4894, d0.loss_map_pts_all: 2.9028, d0.loss_map_dir_all: 0.0370, d0.loss_map_cls: 0.4894, d0.loss_map_pts: 2.9028, d0.loss_map_dir: 0.0370, d1.loss_map_cls: 0.4749, d1.loss_map_pts: 2.3485, d1.loss_map_dir: 0.0372, d2.loss_map_cls: 0.4687, d2.loss_map_pts: 2.2937, d2.loss_map_dir: 0.0371, d3.loss_map_cls: 0.4703, d3.loss_map_pts: 2.2831, d3.loss_map_dir: 0.0370, d4.loss_map_cls: 0.4676, d4.loss_map_pts: 2.2814, d4.loss_map_dir: 0.0371, d5.loss_map_cls: 0.4688, d5.loss_map_pts: 2.2819, d5.loss_map_dir: 0.0371, loss: 74.8790, grad_norm: 161.0027 +2026-02-24 09:03:46,619 - DriveTransformer - INFO - Epoch [1][30650/39528] lr: 1.000e-04, eta: 8 days, 11:45:49, time: 0.792, data_time: 0.041, memory: 19865, loss_cls: 0.8441, loss_bbox: 0.7789, loss_traj: 1.6554, loss_traj_cls: 0.0005, loss_map_cls: 0.4799, loss_map_pts: 2.3724, loss_map_dir: 0.0368, d0.loss_plan_l1_fix_time: 2.6612, d0.loss_plan_l1_fix_dist: 0.4921, d1.loss_plan_l1_fix_time: 2.6221, d1.loss_plan_l1_fix_dist: 0.4965, d2.loss_plan_l1_fix_time: 2.6355, d2.loss_plan_l1_fix_dist: 0.5112, d3.loss_plan_l1_fix_time: 2.6501, d3.loss_plan_l1_fix_dist: 0.5292, d4.loss_plan_l1_fix_time: 2.6637, d4.loss_plan_l1_fix_dist: 0.5526, d5.loss_plan_l1_fix_time: 2.6773, d5.loss_plan_l1_fix_dist: 0.5781, d6.loss_plan_l1_fix_time: 2.6916, d6.loss_plan_l1_fix_dist: 0.6088, d0.loss_cls_all: 0.8151, d0.loss_bbox_all: 0.8021, d0.loss_cls: 0.8151, d0.loss_bbox: 0.8021, d1.loss_cls: 0.8132, d1.loss_bbox: 0.7925, d2.loss_cls: 0.8229, d2.loss_bbox: 0.8019, d3.loss_cls: 0.8275, d3.loss_bbox: 0.8064, d4.loss_cls: 0.8322, d4.loss_bbox: 0.7864, d5.loss_cls: 0.8347, d5.loss_bbox: 0.7782, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6944, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6610, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6375, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6484, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6461, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6375, d0.loss_map_cls_all: 0.4958, d0.loss_map_pts_all: 2.8733, d0.loss_map_dir_all: 0.0365, d0.loss_map_cls: 0.4958, d0.loss_map_pts: 2.8733, d0.loss_map_dir: 0.0365, d1.loss_map_cls: 0.4867, d1.loss_map_pts: 2.4073, d1.loss_map_dir: 0.0369, d2.loss_map_cls: 0.4834, d2.loss_map_pts: 2.3651, d2.loss_map_dir: 0.0367, d3.loss_map_cls: 0.4796, d3.loss_map_pts: 2.3598, d3.loss_map_dir: 0.0367, d4.loss_map_cls: 0.4783, d4.loss_map_pts: 2.3565, d4.loss_map_dir: 0.0368, d5.loss_map_cls: 0.4789, d5.loss_map_pts: 2.3601, d5.loss_map_dir: 0.0369, loss: 71.0478, grad_norm: 160.0859 +2026-02-24 09:04:25,027 - DriveTransformer - INFO - Epoch [1][30700/39528] lr: 1.000e-04, eta: 8 days, 11:44:23, time: 0.768, data_time: 0.037, memory: 19865, loss_cls: 0.8776, loss_bbox: 0.7809, loss_traj: 1.8356, loss_traj_cls: 0.0005, loss_map_cls: 0.4878, loss_map_pts: 1.9801, loss_map_dir: 0.0313, d0.loss_plan_l1_fix_time: 2.8013, d0.loss_plan_l1_fix_dist: 0.4225, d1.loss_plan_l1_fix_time: 2.6291, d1.loss_plan_l1_fix_dist: 0.4302, d2.loss_plan_l1_fix_time: 2.6114, d2.loss_plan_l1_fix_dist: 0.4577, d3.loss_plan_l1_fix_time: 2.6153, d3.loss_plan_l1_fix_dist: 0.4944, d4.loss_plan_l1_fix_time: 2.6240, d4.loss_plan_l1_fix_dist: 0.5363, d5.loss_plan_l1_fix_time: 2.6342, d5.loss_plan_l1_fix_dist: 0.5828, d6.loss_plan_l1_fix_time: 2.6461, d6.loss_plan_l1_fix_dist: 0.6322, d0.loss_cls_all: 0.8730, d0.loss_bbox_all: 0.7941, d0.loss_cls: 0.8730, d0.loss_bbox: 0.7941, d1.loss_cls: 0.8605, d1.loss_bbox: 0.7874, d2.loss_cls: 0.8640, d2.loss_bbox: 0.7909, d3.loss_cls: 0.8680, d3.loss_bbox: 0.7960, d4.loss_cls: 0.8696, d4.loss_bbox: 0.7791, d5.loss_cls: 0.8700, d5.loss_bbox: 0.7757, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8303, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.8239, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.8310, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8308, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8281, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8285, d0.loss_map_cls_all: 0.5102, d0.loss_map_pts_all: 2.4089, d0.loss_map_dir_all: 0.0306, d0.loss_map_cls: 0.5102, d0.loss_map_pts: 2.4089, d0.loss_map_dir: 0.0306, d1.loss_map_cls: 0.4976, d1.loss_map_pts: 1.9918, d1.loss_map_dir: 0.0312, d2.loss_map_cls: 0.4933, d2.loss_map_pts: 1.9508, d2.loss_map_dir: 0.0311, d3.loss_map_cls: 0.4933, d3.loss_map_pts: 1.9548, d3.loss_map_dir: 0.0311, d4.loss_map_cls: 0.4910, d4.loss_map_pts: 1.9665, d4.loss_map_dir: 0.0312, d5.loss_map_cls: 0.4876, d5.loss_map_pts: 1.9701, d5.loss_map_dir: 0.0312, loss: 69.0345, grad_norm: 158.3249 +2026-02-24 09:05:03,125 - DriveTransformer - INFO - Epoch [1][30750/39528] lr: 1.000e-04, eta: 8 days, 11:42:48, time: 0.762, data_time: 0.042, memory: 19865, loss_cls: 0.8648, loss_bbox: 0.7656, loss_traj: 1.5560, loss_traj_cls: 0.0005, loss_map_cls: 0.4733, loss_map_pts: 2.0820, loss_map_dir: 0.0319, d0.loss_plan_l1_fix_time: 2.7706, d0.loss_plan_l1_fix_dist: 0.4261, d1.loss_plan_l1_fix_time: 2.5841, d1.loss_plan_l1_fix_dist: 0.4402, d2.loss_plan_l1_fix_time: 2.5642, d2.loss_plan_l1_fix_dist: 0.4679, d3.loss_plan_l1_fix_time: 2.5686, d3.loss_plan_l1_fix_dist: 0.5050, d4.loss_plan_l1_fix_time: 2.5775, d4.loss_plan_l1_fix_dist: 0.5444, d5.loss_plan_l1_fix_time: 2.5885, d5.loss_plan_l1_fix_dist: 0.5899, d6.loss_plan_l1_fix_time: 2.6006, d6.loss_plan_l1_fix_dist: 0.6323, d0.loss_cls_all: 0.8458, d0.loss_bbox_all: 0.7936, d0.loss_cls: 0.8458, d0.loss_bbox: 0.7936, d1.loss_cls: 0.8419, d1.loss_bbox: 0.7880, d2.loss_cls: 0.8469, d2.loss_bbox: 0.7730, d3.loss_cls: 0.8496, d3.loss_bbox: 0.7743, d4.loss_cls: 0.8555, d4.loss_bbox: 0.7534, d5.loss_cls: 0.8562, d5.loss_bbox: 0.7561, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5091, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.5180, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5264, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5409, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.5472, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5568, d0.loss_map_cls_all: 0.4999, d0.loss_map_pts_all: 2.4997, d0.loss_map_dir_all: 0.0314, d0.loss_map_cls: 0.4999, d0.loss_map_pts: 2.4997, d0.loss_map_dir: 0.0314, d1.loss_map_cls: 0.4837, d1.loss_map_pts: 2.1139, d1.loss_map_dir: 0.0318, d2.loss_map_cls: 0.4753, d2.loss_map_pts: 2.0684, d2.loss_map_dir: 0.0317, d3.loss_map_cls: 0.4762, d3.loss_map_pts: 2.0620, d3.loss_map_dir: 0.0317, d4.loss_map_cls: 0.4758, d4.loss_map_pts: 2.0665, d4.loss_map_dir: 0.0319, d5.loss_map_cls: 0.4739, d5.loss_map_pts: 2.0708, d5.loss_map_dir: 0.0319, loss: 67.1969, grad_norm: 158.0999 +2026-02-24 09:05:42,544 - DriveTransformer - INFO - Epoch [1][30800/39528] lr: 1.000e-04, eta: 8 days, 11:41:52, time: 0.788, data_time: 0.042, memory: 19865, loss_cls: 0.8622, loss_bbox: 0.7778, loss_traj: 1.8364, loss_traj_cls: 0.0005, loss_map_cls: 0.4837, loss_map_pts: 2.1437, loss_map_dir: 0.0298, d0.loss_plan_l1_fix_time: 3.1481, d0.loss_plan_l1_fix_dist: 0.4240, d1.loss_plan_l1_fix_time: 3.0450, d1.loss_plan_l1_fix_dist: 0.4427, d2.loss_plan_l1_fix_time: 3.0528, d2.loss_plan_l1_fix_dist: 0.4786, d3.loss_plan_l1_fix_time: 3.0645, d3.loss_plan_l1_fix_dist: 0.5191, d4.loss_plan_l1_fix_time: 3.0775, d4.loss_plan_l1_fix_dist: 0.5661, d5.loss_plan_l1_fix_time: 3.0908, d5.loss_plan_l1_fix_dist: 0.6174, d6.loss_plan_l1_fix_time: 3.1045, d6.loss_plan_l1_fix_dist: 0.6656, d0.loss_cls_all: 0.8399, d0.loss_bbox_all: 0.8097, d0.loss_cls: 0.8399, d0.loss_bbox: 0.8097, d1.loss_cls: 0.8409, d1.loss_bbox: 0.8004, d2.loss_cls: 0.8432, d2.loss_bbox: 0.7862, d3.loss_cls: 0.8499, d3.loss_bbox: 0.7954, d4.loss_cls: 0.8529, d4.loss_bbox: 0.7735, d5.loss_cls: 0.8574, d5.loss_bbox: 0.7715, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8248, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.8123, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.8009, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8128, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8236, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8356, d0.loss_map_cls_all: 0.5173, d0.loss_map_pts_all: 2.5247, d0.loss_map_dir_all: 0.0293, d0.loss_map_cls: 0.5173, d0.loss_map_pts: 2.5247, d0.loss_map_dir: 0.0293, d1.loss_map_cls: 0.4946, d1.loss_map_pts: 2.1651, d1.loss_map_dir: 0.0297, d2.loss_map_cls: 0.4883, d2.loss_map_pts: 2.1239, d2.loss_map_dir: 0.0297, d3.loss_map_cls: 0.4850, d3.loss_map_pts: 2.1183, d3.loss_map_dir: 0.0297, d4.loss_map_cls: 0.4836, d4.loss_map_pts: 2.1234, d4.loss_map_dir: 0.0296, d5.loss_map_cls: 0.4833, d5.loss_map_pts: 2.1325, d5.loss_map_dir: 0.0297, loss: 73.2037, grad_norm: 155.9685 +2026-02-24 09:06:20,430 - DriveTransformer - INFO - Epoch [1][30850/39528] lr: 1.000e-04, eta: 8 days, 11:40:11, time: 0.758, data_time: 0.039, memory: 19865, loss_cls: 0.8606, loss_bbox: 0.7792, loss_traj: 1.8875, loss_traj_cls: 0.0005, loss_map_cls: 0.4786, loss_map_pts: 2.1206, loss_map_dir: 0.0292, d0.loss_plan_l1_fix_time: 2.9108, d0.loss_plan_l1_fix_dist: 0.4485, d1.loss_plan_l1_fix_time: 2.8173, d1.loss_plan_l1_fix_dist: 0.4559, d2.loss_plan_l1_fix_time: 2.8238, d2.loss_plan_l1_fix_dist: 0.4802, d3.loss_plan_l1_fix_time: 2.8327, d3.loss_plan_l1_fix_dist: 0.5147, d4.loss_plan_l1_fix_time: 2.8417, d4.loss_plan_l1_fix_dist: 0.5554, d5.loss_plan_l1_fix_time: 2.8511, d5.loss_plan_l1_fix_dist: 0.5998, d6.loss_plan_l1_fix_time: 2.8615, d6.loss_plan_l1_fix_dist: 0.6507, d0.loss_cls_all: 0.8681, d0.loss_bbox_all: 0.7885, d0.loss_cls: 0.8681, d0.loss_bbox: 0.7885, d1.loss_cls: 0.8589, d1.loss_bbox: 0.7839, d2.loss_cls: 0.8625, d2.loss_bbox: 0.7693, d3.loss_cls: 0.8533, d3.loss_bbox: 0.7925, d4.loss_cls: 0.8644, d4.loss_bbox: 0.7742, d5.loss_cls: 0.8632, d5.loss_bbox: 0.7740, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8010, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.8324, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.8445, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8583, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.8686, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8710, d0.loss_map_cls_all: 0.5157, d0.loss_map_pts_all: 2.5198, d0.loss_map_dir_all: 0.0288, d0.loss_map_cls: 0.5157, d0.loss_map_pts: 2.5198, d0.loss_map_dir: 0.0288, d1.loss_map_cls: 0.4936, d1.loss_map_pts: 2.1629, d1.loss_map_dir: 0.0292, d2.loss_map_cls: 0.4862, d2.loss_map_pts: 2.1239, d2.loss_map_dir: 0.0291, d3.loss_map_cls: 0.4852, d3.loss_map_pts: 2.1166, d3.loss_map_dir: 0.0292, d4.loss_map_cls: 0.4801, d4.loss_map_pts: 2.1108, d4.loss_map_dir: 0.0292, d5.loss_map_cls: 0.4781, d5.loss_map_pts: 2.1129, d5.loss_map_dir: 0.0292, loss: 71.7133, grad_norm: 156.4573 +2026-02-24 09:06:59,411 - DriveTransformer - INFO - Epoch [1][30900/39528] lr: 1.000e-04, eta: 8 days, 11:39:02, time: 0.780, data_time: 0.038, memory: 19865, loss_cls: 0.8650, loss_bbox: 0.7753, loss_traj: 2.0013, loss_traj_cls: 0.0005, loss_map_cls: 0.5254, loss_map_pts: 2.3772, loss_map_dir: 0.0388, d0.loss_plan_l1_fix_time: 3.6128, d0.loss_plan_l1_fix_dist: 0.4323, d1.loss_plan_l1_fix_time: 3.4155, d1.loss_plan_l1_fix_dist: 0.4421, d2.loss_plan_l1_fix_time: 3.3811, d2.loss_plan_l1_fix_dist: 0.4640, d3.loss_plan_l1_fix_time: 3.3778, d3.loss_plan_l1_fix_dist: 0.4947, d4.loss_plan_l1_fix_time: 3.3800, d4.loss_plan_l1_fix_dist: 0.5294, d5.loss_plan_l1_fix_time: 3.3855, d5.loss_plan_l1_fix_dist: 0.5674, d6.loss_plan_l1_fix_time: 3.3943, d6.loss_plan_l1_fix_dist: 0.6137, d0.loss_cls_all: 0.8490, d0.loss_bbox_all: 0.7875, d0.loss_cls: 0.8490, d0.loss_bbox: 0.7875, d1.loss_cls: 0.8556, d1.loss_bbox: 0.7946, d2.loss_cls: 0.8531, d2.loss_bbox: 0.7855, d3.loss_cls: 0.8559, d3.loss_bbox: 0.8024, d4.loss_cls: 0.8541, d4.loss_bbox: 0.7863, d5.loss_cls: 0.8584, d5.loss_bbox: 0.7736, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9644, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.9776, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9770, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9849, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9874, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9962, d0.loss_map_cls_all: 0.5601, d0.loss_map_pts_all: 2.8348, d0.loss_map_dir_all: 0.0382, d0.loss_map_cls: 0.5601, d0.loss_map_pts: 2.8348, d0.loss_map_dir: 0.0382, d1.loss_map_cls: 0.5361, d1.loss_map_pts: 2.4321, d1.loss_map_dir: 0.0387, d2.loss_map_cls: 0.5291, d2.loss_map_pts: 2.3863, d2.loss_map_dir: 0.0388, d3.loss_map_cls: 0.5256, d3.loss_map_pts: 2.3823, d3.loss_map_dir: 0.0387, d4.loss_map_cls: 0.5251, d4.loss_map_pts: 2.3765, d4.loss_map_dir: 0.0388, d5.loss_map_cls: 0.5219, d5.loss_map_pts: 2.3745, d5.loss_map_dir: 0.0388, loss: 79.1065, grad_norm: 157.2946 +2026-02-24 09:07:39,515 - DriveTransformer - INFO - Epoch [1][30950/39528] lr: 1.000e-04, eta: 8 days, 11:38:27, time: 0.802, data_time: 0.039, memory: 19865, loss_cls: 0.8754, loss_bbox: 0.7851, loss_traj: 1.5199, loss_traj_cls: 0.0005, loss_map_cls: 0.4809, loss_map_pts: 2.4271, loss_map_dir: 0.0359, d0.loss_plan_l1_fix_time: 2.7566, d0.loss_plan_l1_fix_dist: 0.5685, d1.loss_plan_l1_fix_time: 2.6389, d1.loss_plan_l1_fix_dist: 0.5729, d2.loss_plan_l1_fix_time: 2.6393, d2.loss_plan_l1_fix_dist: 0.5959, d3.loss_plan_l1_fix_time: 2.6462, d3.loss_plan_l1_fix_dist: 0.6210, d4.loss_plan_l1_fix_time: 2.6555, d4.loss_plan_l1_fix_dist: 0.6456, d5.loss_plan_l1_fix_time: 2.6654, d5.loss_plan_l1_fix_dist: 0.6740, d6.loss_plan_l1_fix_time: 2.6765, d6.loss_plan_l1_fix_dist: 0.6992, d0.loss_cls_all: 0.8699, d0.loss_bbox_all: 0.7858, d0.loss_cls: 0.8699, d0.loss_bbox: 0.7858, d1.loss_cls: 0.8615, d1.loss_bbox: 0.7928, d2.loss_cls: 0.8594, d2.loss_bbox: 0.8075, d3.loss_cls: 0.8630, d3.loss_bbox: 0.8084, d4.loss_cls: 0.8626, d4.loss_bbox: 0.7931, d5.loss_cls: 0.8686, d5.loss_bbox: 0.7859, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4877, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.4855, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.4922, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5032, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5114, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5179, d0.loss_map_cls_all: 0.5097, d0.loss_map_pts_all: 2.9673, d0.loss_map_dir_all: 0.0355, d0.loss_map_cls: 0.5097, d0.loss_map_pts: 2.9673, d0.loss_map_dir: 0.0355, d1.loss_map_cls: 0.4961, d1.loss_map_pts: 2.4971, d1.loss_map_dir: 0.0357, d2.loss_map_cls: 0.4876, d2.loss_map_pts: 2.4466, d2.loss_map_dir: 0.0358, d3.loss_map_cls: 0.4870, d3.loss_map_pts: 2.4352, d3.loss_map_dir: 0.0358, d4.loss_map_cls: 0.4850, d4.loss_map_pts: 2.4298, d4.loss_map_dir: 0.0359, d5.loss_map_cls: 0.4803, d5.loss_map_pts: 2.4256, d5.loss_map_dir: 0.0359, loss: 71.6701, grad_norm: 157.3428 +2026-02-24 09:08:20,023 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 09:08:20,023 - DriveTransformer - INFO - Epoch [1][31000/39528] lr: 1.000e-04, eta: 8 days, 11:38:04, time: 0.810, data_time: 0.036, memory: 19865, loss_cls: 0.7902, loss_bbox: 0.7478, loss_traj: 1.4887, loss_traj_cls: 0.0005, loss_map_cls: 0.4848, loss_map_pts: 2.3094, loss_map_dir: 0.0410, d0.loss_plan_l1_fix_time: 2.8092, d0.loss_plan_l1_fix_dist: 0.4416, d1.loss_plan_l1_fix_time: 2.6597, d1.loss_plan_l1_fix_dist: 0.4376, d2.loss_plan_l1_fix_time: 2.6469, d2.loss_plan_l1_fix_dist: 0.4488, d3.loss_plan_l1_fix_time: 2.6476, d3.loss_plan_l1_fix_dist: 0.4692, d4.loss_plan_l1_fix_time: 2.6536, d4.loss_plan_l1_fix_dist: 0.4935, d5.loss_plan_l1_fix_time: 2.6616, d5.loss_plan_l1_fix_dist: 0.5232, d6.loss_plan_l1_fix_time: 2.6704, d6.loss_plan_l1_fix_dist: 0.5586, d0.loss_cls_all: 0.7884, d0.loss_bbox_all: 0.7478, d0.loss_cls: 0.7884, d0.loss_bbox: 0.7478, d1.loss_cls: 0.7796, d1.loss_bbox: 0.7530, d2.loss_cls: 0.7800, d2.loss_bbox: 0.7868, d3.loss_cls: 0.7818, d3.loss_bbox: 0.7708, d4.loss_cls: 0.7815, d4.loss_bbox: 0.7571, d5.loss_cls: 0.7854, d5.loss_bbox: 0.7511, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5207, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.4670, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4706, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4743, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.4804, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4818, d0.loss_map_cls_all: 0.5114, d0.loss_map_pts_all: 2.9845, d0.loss_map_dir_all: 0.0400, d0.loss_map_cls: 0.5114, d0.loss_map_pts: 2.9845, d0.loss_map_dir: 0.0400, d1.loss_map_cls: 0.5022, d1.loss_map_pts: 2.4004, d1.loss_map_dir: 0.0408, d2.loss_map_cls: 0.4932, d2.loss_map_pts: 2.3358, d2.loss_map_dir: 0.0408, d3.loss_map_cls: 0.4929, d3.loss_map_pts: 2.3205, d3.loss_map_dir: 0.0409, d4.loss_map_cls: 0.4934, d4.loss_map_pts: 2.3145, d4.loss_map_dir: 0.0410, d5.loss_map_cls: 0.4855, d5.loss_map_pts: 2.3140, d5.loss_map_dir: 0.0410, loss: 69.1104, grad_norm: 157.2977 +2026-02-24 09:08:57,058 - DriveTransformer - INFO - Epoch [1][31050/39528] lr: 1.000e-04, eta: 8 days, 11:35:58, time: 0.741, data_time: 0.044, memory: 19865, loss_cls: 0.8445, loss_bbox: 0.7843, loss_traj: 1.9225, loss_traj_cls: 0.0005, loss_map_cls: 0.4832, loss_map_pts: 2.0770, loss_map_dir: 0.0337, d0.loss_plan_l1_fix_time: 2.9096, d0.loss_plan_l1_fix_dist: 0.5682, d1.loss_plan_l1_fix_time: 2.7866, d1.loss_plan_l1_fix_dist: 0.5739, d2.loss_plan_l1_fix_time: 2.7759, d2.loss_plan_l1_fix_dist: 0.5924, d3.loss_plan_l1_fix_time: 2.7788, d3.loss_plan_l1_fix_dist: 0.6176, d4.loss_plan_l1_fix_time: 2.7843, d4.loss_plan_l1_fix_dist: 0.6522, d5.loss_plan_l1_fix_time: 2.7916, d5.loss_plan_l1_fix_dist: 0.6922, d6.loss_plan_l1_fix_time: 2.8013, d6.loss_plan_l1_fix_dist: 0.7376, d0.loss_cls_all: 0.8314, d0.loss_bbox_all: 0.7740, d0.loss_cls: 0.8314, d0.loss_bbox: 0.7740, d1.loss_cls: 0.8381, d1.loss_bbox: 0.7825, d2.loss_cls: 0.8381, d2.loss_bbox: 0.8369, d3.loss_cls: 0.8405, d3.loss_bbox: 0.8251, d4.loss_cls: 0.8409, d4.loss_bbox: 0.8003, d5.loss_cls: 0.8434, d5.loss_bbox: 0.7871, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8909, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.8647, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.8872, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9134, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9112, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9155, d0.loss_map_cls_all: 0.5012, d0.loss_map_pts_all: 2.5273, d0.loss_map_dir_all: 0.0335, d0.loss_map_cls: 0.5012, d0.loss_map_pts: 2.5273, d0.loss_map_dir: 0.0335, d1.loss_map_cls: 0.4949, d1.loss_map_pts: 2.1558, d1.loss_map_dir: 0.0338, d2.loss_map_cls: 0.4917, d2.loss_map_pts: 2.0972, d2.loss_map_dir: 0.0336, d3.loss_map_cls: 0.4886, d3.loss_map_pts: 2.0829, d3.loss_map_dir: 0.0335, d4.loss_map_cls: 0.4867, d4.loss_map_pts: 2.0802, d4.loss_map_dir: 0.0336, d5.loss_map_cls: 0.4850, d5.loss_map_pts: 2.0817, d5.loss_map_dir: 0.0337, loss: 72.2747, grad_norm: 160.9006 +2026-02-24 09:09:37,742 - DriveTransformer - INFO - Epoch [1][31100/39528] lr: 1.000e-04, eta: 8 days, 11:35:40, time: 0.814, data_time: 0.047, memory: 19865, loss_cls: 0.8645, loss_bbox: 0.8247, loss_traj: 1.7145, loss_traj_cls: 0.0005, loss_map_cls: 0.4715, loss_map_pts: 2.2618, loss_map_dir: 0.0342, d0.loss_plan_l1_fix_time: 2.9794, d0.loss_plan_l1_fix_dist: 0.5646, d1.loss_plan_l1_fix_time: 2.7690, d1.loss_plan_l1_fix_dist: 0.5573, d2.loss_plan_l1_fix_time: 2.7501, d2.loss_plan_l1_fix_dist: 0.5682, d3.loss_plan_l1_fix_time: 2.7519, d3.loss_plan_l1_fix_dist: 0.5887, d4.loss_plan_l1_fix_time: 2.7585, d4.loss_plan_l1_fix_dist: 0.6153, d5.loss_plan_l1_fix_time: 2.7666, d5.loss_plan_l1_fix_dist: 0.6452, d6.loss_plan_l1_fix_time: 2.7771, d6.loss_plan_l1_fix_dist: 0.6790, d0.loss_cls_all: 0.8562, d0.loss_bbox_all: 0.7829, d0.loss_cls: 0.8562, d0.loss_bbox: 0.7829, d1.loss_cls: 0.8610, d1.loss_bbox: 0.7982, d2.loss_cls: 0.8539, d2.loss_bbox: 0.8674, d3.loss_cls: 0.8578, d3.loss_bbox: 0.8717, d4.loss_cls: 0.8569, d4.loss_bbox: 0.8472, d5.loss_cls: 0.8627, d5.loss_bbox: 0.8318, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7345, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.6970, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7053, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7090, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7114, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7199, d0.loss_map_cls_all: 0.4915, d0.loss_map_pts_all: 2.6943, d0.loss_map_dir_all: 0.0343, d0.loss_map_cls: 0.4915, d0.loss_map_pts: 2.6943, d0.loss_map_dir: 0.0343, d1.loss_map_cls: 0.4826, d1.loss_map_pts: 2.3166, d1.loss_map_dir: 0.0341, d2.loss_map_cls: 0.4770, d2.loss_map_pts: 2.2671, d2.loss_map_dir: 0.0340, d3.loss_map_cls: 0.4759, d3.loss_map_pts: 2.2567, d3.loss_map_dir: 0.0341, d4.loss_map_cls: 0.4742, d4.loss_map_pts: 2.2543, d4.loss_map_dir: 0.0341, d5.loss_map_cls: 0.4717, d5.loss_map_pts: 2.2524, d5.loss_map_dir: 0.0341, loss: 72.3489, grad_norm: 160.8568 +2026-02-24 09:10:17,028 - DriveTransformer - INFO - Epoch [1][31150/39528] lr: 1.000e-04, eta: 8 days, 11:34:41, time: 0.786, data_time: 0.042, memory: 19865, loss_cls: 0.8335, loss_bbox: 0.7451, loss_traj: 1.9579, loss_traj_cls: 0.0005, loss_map_cls: 0.4846, loss_map_pts: 2.2093, loss_map_dir: 0.0341, d0.loss_plan_l1_fix_time: 2.9117, d0.loss_plan_l1_fix_dist: 0.4763, d1.loss_plan_l1_fix_time: 2.7156, d1.loss_plan_l1_fix_dist: 0.4926, d2.loss_plan_l1_fix_time: 2.6874, d2.loss_plan_l1_fix_dist: 0.5234, d3.loss_plan_l1_fix_time: 2.6852, d3.loss_plan_l1_fix_dist: 0.5569, d4.loss_plan_l1_fix_time: 2.6901, d4.loss_plan_l1_fix_dist: 0.5911, d5.loss_plan_l1_fix_time: 2.6987, d5.loss_plan_l1_fix_dist: 0.6314, d6.loss_plan_l1_fix_time: 2.7088, d6.loss_plan_l1_fix_dist: 0.6776, d0.loss_cls_all: 0.8290, d0.loss_bbox_all: 0.7412, d0.loss_cls: 0.8290, d0.loss_bbox: 0.7412, d1.loss_cls: 0.8225, d1.loss_bbox: 0.7604, d2.loss_cls: 0.8276, d2.loss_bbox: 0.8149, d3.loss_cls: 0.8322, d3.loss_bbox: 0.7923, d4.loss_cls: 0.8327, d4.loss_bbox: 0.7563, d5.loss_cls: 0.8281, d5.loss_bbox: 0.7472, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9498, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.9313, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.9589, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9663, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9566, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9621, d0.loss_map_cls_all: 0.5080, d0.loss_map_pts_all: 2.7213, d0.loss_map_dir_all: 0.0340, d0.loss_map_cls: 0.5080, d0.loss_map_pts: 2.7213, d0.loss_map_dir: 0.0340, d1.loss_map_cls: 0.4972, d1.loss_map_pts: 2.2964, d1.loss_map_dir: 0.0342, d2.loss_map_cls: 0.4918, d2.loss_map_pts: 2.2350, d2.loss_map_dir: 0.0341, d3.loss_map_cls: 0.4887, d3.loss_map_pts: 2.2147, d3.loss_map_dir: 0.0340, d4.loss_map_cls: 0.4865, d4.loss_map_pts: 2.2096, d4.loss_map_dir: 0.0340, d5.loss_map_cls: 0.4856, d5.loss_map_pts: 2.2072, d5.loss_map_dir: 0.0340, loss: 72.5048, grad_norm: 160.6012 +2026-02-24 09:10:56,844 - DriveTransformer - INFO - Epoch [1][31200/39528] lr: 1.000e-04, eta: 8 days, 11:33:59, time: 0.798, data_time: 0.037, memory: 19865, loss_cls: 0.8664, loss_bbox: 0.8047, loss_traj: 1.6620, loss_traj_cls: 0.0005, loss_map_cls: 0.4987, loss_map_pts: 2.3767, loss_map_dir: 0.0422, d0.loss_plan_l1_fix_time: 3.2024, d0.loss_plan_l1_fix_dist: 0.4967, d1.loss_plan_l1_fix_time: 3.0635, d1.loss_plan_l1_fix_dist: 0.5152, d2.loss_plan_l1_fix_time: 3.0503, d2.loss_plan_l1_fix_dist: 0.5467, d3.loss_plan_l1_fix_time: 3.0506, d3.loss_plan_l1_fix_dist: 0.5804, d4.loss_plan_l1_fix_time: 3.0566, d4.loss_plan_l1_fix_dist: 0.6122, d5.loss_plan_l1_fix_time: 3.0660, d5.loss_plan_l1_fix_dist: 0.6462, d6.loss_plan_l1_fix_time: 3.0770, d6.loss_plan_l1_fix_dist: 0.6803, d0.loss_cls_all: 0.8606, d0.loss_bbox_all: 0.8049, d0.loss_cls: 0.8606, d0.loss_bbox: 0.8049, d1.loss_cls: 0.8662, d1.loss_bbox: 0.8161, d2.loss_cls: 0.8623, d2.loss_bbox: 0.8411, d3.loss_cls: 0.8651, d3.loss_bbox: 0.8145, d4.loss_cls: 0.8572, d4.loss_bbox: 0.8010, d5.loss_cls: 0.8616, d5.loss_bbox: 0.8031, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6506, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.6398, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6382, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6555, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6604, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6720, d0.loss_map_cls_all: 0.5135, d0.loss_map_pts_all: 2.9206, d0.loss_map_dir_all: 0.0419, d0.loss_map_cls: 0.5135, d0.loss_map_pts: 2.9206, d0.loss_map_dir: 0.0419, d1.loss_map_cls: 0.4994, d1.loss_map_pts: 2.4621, d1.loss_map_dir: 0.0421, d2.loss_map_cls: 0.4975, d2.loss_map_pts: 2.4016, d2.loss_map_dir: 0.0421, d3.loss_map_cls: 0.4961, d3.loss_map_pts: 2.3841, d3.loss_map_dir: 0.0421, d4.loss_map_cls: 0.4981, d4.loss_map_pts: 2.3797, d4.loss_map_dir: 0.0421, d5.loss_map_cls: 0.4986, d5.loss_map_pts: 2.3788, d5.loss_map_dir: 0.0421, loss: 75.1924, grad_norm: 156.6749 +2026-02-24 09:11:35,743 - DriveTransformer - INFO - Epoch [1][31250/39528] lr: 1.000e-04, eta: 8 days, 11:32:47, time: 0.777, data_time: 0.039, memory: 19865, loss_cls: 0.8589, loss_bbox: 0.7703, loss_traj: 1.9072, loss_traj_cls: 0.0005, loss_map_cls: 0.4670, loss_map_pts: 2.1397, loss_map_dir: 0.0331, d0.loss_plan_l1_fix_time: 3.3139, d0.loss_plan_l1_fix_dist: 0.5058, d1.loss_plan_l1_fix_time: 3.1217, d1.loss_plan_l1_fix_dist: 0.5047, d2.loss_plan_l1_fix_time: 3.0986, d2.loss_plan_l1_fix_dist: 0.5313, d3.loss_plan_l1_fix_time: 3.0990, d3.loss_plan_l1_fix_dist: 0.5678, d4.loss_plan_l1_fix_time: 3.1039, d4.loss_plan_l1_fix_dist: 0.6132, d5.loss_plan_l1_fix_time: 3.1113, d5.loss_plan_l1_fix_dist: 0.6605, d6.loss_plan_l1_fix_time: 3.1218, d6.loss_plan_l1_fix_dist: 0.7114, d0.loss_cls_all: 0.8541, d0.loss_bbox_all: 0.7880, d0.loss_cls: 0.8541, d0.loss_bbox: 0.7880, d1.loss_cls: 0.8475, d1.loss_bbox: 0.8217, d2.loss_cls: 0.8597, d2.loss_bbox: 0.7962, d3.loss_cls: 0.8629, d3.loss_bbox: 0.7816, d4.loss_cls: 0.8622, d4.loss_bbox: 0.7693, d5.loss_cls: 0.8587, d5.loss_bbox: 0.7715, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8685, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.8634, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8724, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8777, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8881, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8959, d0.loss_map_cls_all: 0.4929, d0.loss_map_pts_all: 2.5664, d0.loss_map_dir_all: 0.0327, d0.loss_map_cls: 0.4929, d0.loss_map_pts: 2.5664, d0.loss_map_dir: 0.0327, d1.loss_map_cls: 0.4800, d1.loss_map_pts: 2.1972, d1.loss_map_dir: 0.0330, d2.loss_map_cls: 0.4692, d2.loss_map_pts: 2.1519, d2.loss_map_dir: 0.0330, d3.loss_map_cls: 0.4677, d3.loss_map_pts: 2.1405, d3.loss_map_dir: 0.0331, d4.loss_map_cls: 0.4674, d4.loss_map_pts: 2.1384, d4.loss_map_dir: 0.0331, d5.loss_map_cls: 0.4636, d5.loss_map_pts: 2.1384, d5.loss_map_dir: 0.0330, loss: 74.4901, grad_norm: 156.9369 +2026-02-24 09:12:15,653 - DriveTransformer - INFO - Epoch [1][31300/39528] lr: 1.000e-04, eta: 8 days, 11:32:06, time: 0.798, data_time: 0.037, memory: 19865, loss_cls: 0.8508, loss_bbox: 0.7504, loss_traj: 1.8516, loss_traj_cls: 0.0005, loss_map_cls: 0.4557, loss_map_pts: 2.1565, loss_map_dir: 0.0350, d0.loss_plan_l1_fix_time: 2.9167, d0.loss_plan_l1_fix_dist: 0.5244, d1.loss_plan_l1_fix_time: 2.7958, d1.loss_plan_l1_fix_dist: 0.5447, d2.loss_plan_l1_fix_time: 2.7908, d2.loss_plan_l1_fix_dist: 0.5761, d3.loss_plan_l1_fix_time: 2.7960, d3.loss_plan_l1_fix_dist: 0.6138, d4.loss_plan_l1_fix_time: 2.8038, d4.loss_plan_l1_fix_dist: 0.6564, d5.loss_plan_l1_fix_time: 2.8134, d5.loss_plan_l1_fix_dist: 0.7005, d6.loss_plan_l1_fix_time: 2.8243, d6.loss_plan_l1_fix_dist: 0.7448, d0.loss_cls_all: 0.8492, d0.loss_bbox_all: 0.7528, d0.loss_cls: 0.8492, d0.loss_bbox: 0.7528, d1.loss_cls: 0.8449, d1.loss_bbox: 0.7952, d2.loss_cls: 0.8476, d2.loss_bbox: 0.7637, d3.loss_cls: 0.8511, d3.loss_bbox: 0.7640, d4.loss_cls: 0.8490, d4.loss_bbox: 0.7473, d5.loss_cls: 0.8480, d5.loss_bbox: 0.7495, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7493, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.7902, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8019, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8109, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8283, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8334, d0.loss_map_cls_all: 0.4847, d0.loss_map_pts_all: 2.5828, d0.loss_map_dir_all: 0.0351, d0.loss_map_cls: 0.4847, d0.loss_map_pts: 2.5828, d0.loss_map_dir: 0.0351, d1.loss_map_cls: 0.4678, d1.loss_map_pts: 2.2184, d1.loss_map_dir: 0.0349, d2.loss_map_cls: 0.4619, d2.loss_map_pts: 2.1712, d2.loss_map_dir: 0.0349, d3.loss_map_cls: 0.4583, d3.loss_map_pts: 2.1580, d3.loss_map_dir: 0.0349, d4.loss_map_cls: 0.4585, d4.loss_map_pts: 2.1558, d4.loss_map_dir: 0.0350, d5.loss_map_cls: 0.4557, d5.loss_map_pts: 2.1529, d5.loss_map_dir: 0.0349, loss: 71.8222, grad_norm: 155.8106 +2026-02-24 09:12:55,961 - DriveTransformer - INFO - Epoch [1][31350/39528] lr: 1.000e-04, eta: 8 days, 11:31:37, time: 0.806, data_time: 0.035, memory: 19865, loss_cls: 0.8369, loss_bbox: 0.7416, loss_traj: 1.6722, loss_traj_cls: 0.0005, loss_map_cls: 0.4680, loss_map_pts: 2.2497, loss_map_dir: 0.0377, d0.loss_plan_l1_fix_time: 2.9440, d0.loss_plan_l1_fix_dist: 0.5003, d1.loss_plan_l1_fix_time: 2.7482, d1.loss_plan_l1_fix_dist: 0.5051, d2.loss_plan_l1_fix_time: 2.7225, d2.loss_plan_l1_fix_dist: 0.5324, d3.loss_plan_l1_fix_time: 2.7195, d3.loss_plan_l1_fix_dist: 0.5653, d4.loss_plan_l1_fix_time: 2.7230, d4.loss_plan_l1_fix_dist: 0.6027, d5.loss_plan_l1_fix_time: 2.7297, d5.loss_plan_l1_fix_dist: 0.6434, d6.loss_plan_l1_fix_time: 2.7382, d6.loss_plan_l1_fix_dist: 0.6887, d0.loss_cls_all: 0.8453, d0.loss_bbox_all: 0.7640, d0.loss_cls: 0.8453, d0.loss_bbox: 0.7640, d1.loss_cls: 0.8333, d1.loss_bbox: 0.8063, d2.loss_cls: 0.8336, d2.loss_bbox: 0.7715, d3.loss_cls: 0.8331, d3.loss_bbox: 0.7717, d4.loss_cls: 0.8400, d4.loss_bbox: 0.7465, d5.loss_cls: 0.8392, d5.loss_bbox: 0.7377, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6721, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.6585, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6460, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6616, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6814, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6606, d0.loss_map_cls_all: 0.4926, d0.loss_map_pts_all: 2.8918, d0.loss_map_dir_all: 0.0376, d0.loss_map_cls: 0.4926, d0.loss_map_pts: 2.8918, d0.loss_map_dir: 0.0376, d1.loss_map_cls: 0.4741, d1.loss_map_pts: 2.3322, d1.loss_map_dir: 0.0378, d2.loss_map_cls: 0.4702, d2.loss_map_pts: 2.2724, d2.loss_map_dir: 0.0377, d3.loss_map_cls: 0.4671, d3.loss_map_pts: 2.2588, d3.loss_map_dir: 0.0377, d4.loss_map_cls: 0.4660, d4.loss_map_pts: 2.2531, d4.loss_map_dir: 0.0377, d5.loss_map_cls: 0.4681, d5.loss_map_pts: 2.2504, d5.loss_map_dir: 0.0377, loss: 71.3297, grad_norm: 155.2560 +2026-02-24 09:13:34,497 - DriveTransformer - INFO - Epoch [1][31400/39528] lr: 1.000e-04, eta: 8 days, 11:30:17, time: 0.771, data_time: 0.042, memory: 19865, loss_cls: 0.8484, loss_bbox: 0.7904, loss_traj: 1.8695, loss_traj_cls: 0.0005, loss_map_cls: 0.4704, loss_map_pts: 2.2104, loss_map_dir: 0.0314, d0.loss_plan_l1_fix_time: 3.2316, d0.loss_plan_l1_fix_dist: 0.5503, d1.loss_plan_l1_fix_time: 3.0080, d1.loss_plan_l1_fix_dist: 0.5706, d2.loss_plan_l1_fix_time: 2.9761, d2.loss_plan_l1_fix_dist: 0.6167, d3.loss_plan_l1_fix_time: 2.9722, d3.loss_plan_l1_fix_dist: 0.6649, d4.loss_plan_l1_fix_time: 2.9753, d4.loss_plan_l1_fix_dist: 0.7170, d5.loss_plan_l1_fix_time: 2.9825, d5.loss_plan_l1_fix_dist: 0.7692, d6.loss_plan_l1_fix_time: 2.9922, d6.loss_plan_l1_fix_dist: 0.8217, d0.loss_cls_all: 0.8681, d0.loss_bbox_all: 0.7939, d0.loss_cls: 0.8681, d0.loss_bbox: 0.7939, d1.loss_cls: 0.8502, d1.loss_bbox: 0.8613, d2.loss_cls: 0.8462, d2.loss_bbox: 0.8475, d3.loss_cls: 0.8457, d3.loss_bbox: 0.8257, d4.loss_cls: 0.8543, d4.loss_bbox: 0.8010, d5.loss_cls: 0.8528, d5.loss_bbox: 0.7909, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8359, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.8305, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.8261, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8420, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8568, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8573, d0.loss_map_cls_all: 0.4968, d0.loss_map_pts_all: 2.5371, d0.loss_map_dir_all: 0.0312, d0.loss_map_cls: 0.4968, d0.loss_map_pts: 2.5371, d0.loss_map_dir: 0.0312, d1.loss_map_cls: 0.4747, d1.loss_map_pts: 2.2338, d1.loss_map_dir: 0.0313, d2.loss_map_cls: 0.4702, d2.loss_map_pts: 2.2116, d2.loss_map_dir: 0.0312, d3.loss_map_cls: 0.4702, d3.loss_map_pts: 2.2042, d3.loss_map_dir: 0.0313, d4.loss_map_cls: 0.4681, d4.loss_map_pts: 2.2018, d4.loss_map_dir: 0.0313, d5.loss_map_cls: 0.4695, d5.loss_map_pts: 2.2054, d5.loss_map_dir: 0.0313, loss: 74.5172, grad_norm: 158.1485 +2026-02-24 09:14:13,740 - DriveTransformer - INFO - Epoch [1][31450/39528] lr: 1.000e-04, eta: 8 days, 11:29:16, time: 0.784, data_time: 0.038, memory: 19865, loss_cls: 0.8178, loss_bbox: 0.7862, loss_traj: 2.1609, loss_traj_cls: 0.0005, loss_map_cls: 0.4560, loss_map_pts: 2.1272, loss_map_dir: 0.0313, d0.loss_plan_l1_fix_time: 2.8727, d0.loss_plan_l1_fix_dist: 0.4610, d1.loss_plan_l1_fix_time: 2.7218, d1.loss_plan_l1_fix_dist: 0.4819, d2.loss_plan_l1_fix_time: 2.7150, d2.loss_plan_l1_fix_dist: 0.5193, d3.loss_plan_l1_fix_time: 2.7190, d3.loss_plan_l1_fix_dist: 0.5607, d4.loss_plan_l1_fix_time: 2.7252, d4.loss_plan_l1_fix_dist: 0.6070, d5.loss_plan_l1_fix_time: 2.7325, d5.loss_plan_l1_fix_dist: 0.6553, d6.loss_plan_l1_fix_time: 2.7422, d6.loss_plan_l1_fix_dist: 0.7093, d0.loss_cls_all: 0.8216, d0.loss_bbox_all: 0.7654, d0.loss_cls: 0.8216, d0.loss_bbox: 0.7654, d1.loss_cls: 0.8125, d1.loss_bbox: 0.8476, d2.loss_cls: 0.8078, d2.loss_bbox: 0.8477, d3.loss_cls: 0.8085, d3.loss_bbox: 0.8095, d4.loss_cls: 0.8123, d4.loss_bbox: 0.7938, d5.loss_cls: 0.8169, d5.loss_bbox: 0.7866, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.1212, d1.loss_traj_cls: 0.0007, d1.loss_traj: 2.1024, d2.loss_traj_cls: 0.0007, d2.loss_traj: 2.1256, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1417, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1481, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1609, d0.loss_map_cls_all: 0.4763, d0.loss_map_pts_all: 2.6367, d0.loss_map_dir_all: 0.0310, d0.loss_map_cls: 0.4763, d0.loss_map_pts: 2.6367, d0.loss_map_dir: 0.0310, d1.loss_map_cls: 0.4599, d1.loss_map_pts: 2.2091, d1.loss_map_dir: 0.0313, d2.loss_map_cls: 0.4531, d2.loss_map_pts: 2.1497, d2.loss_map_dir: 0.0312, d3.loss_map_cls: 0.4526, d3.loss_map_pts: 2.1366, d3.loss_map_dir: 0.0312, d4.loss_map_cls: 0.4546, d4.loss_map_pts: 2.1320, d4.loss_map_dir: 0.0312, d5.loss_map_cls: 0.4544, d5.loss_map_pts: 2.1290, d5.loss_map_dir: 0.0312, loss: 73.1983, grad_norm: 157.5851 +2026-02-24 09:14:52,668 - DriveTransformer - INFO - Epoch [1][31500/39528] lr: 1.000e-04, eta: 8 days, 11:28:07, time: 0.778, data_time: 0.040, memory: 19865, loss_cls: 0.8064, loss_bbox: 0.7497, loss_traj: 1.7468, loss_traj_cls: 0.0005, loss_map_cls: 0.4428, loss_map_pts: 1.8446, loss_map_dir: 0.0304, d0.loss_plan_l1_fix_time: 2.7507, d0.loss_plan_l1_fix_dist: 0.4756, d1.loss_plan_l1_fix_time: 2.6456, d1.loss_plan_l1_fix_dist: 0.4914, d2.loss_plan_l1_fix_time: 2.6561, d2.loss_plan_l1_fix_dist: 0.5171, d3.loss_plan_l1_fix_time: 2.6674, d3.loss_plan_l1_fix_dist: 0.5540, d4.loss_plan_l1_fix_time: 2.6781, d4.loss_plan_l1_fix_dist: 0.5983, d5.loss_plan_l1_fix_time: 2.6887, d5.loss_plan_l1_fix_dist: 0.6468, d6.loss_plan_l1_fix_time: 2.6992, d6.loss_plan_l1_fix_dist: 0.7014, d0.loss_cls_all: 0.8173, d0.loss_bbox_all: 0.7426, d0.loss_cls: 0.8173, d0.loss_bbox: 0.7426, d1.loss_cls: 0.8072, d1.loss_bbox: 0.8171, d2.loss_cls: 0.8074, d2.loss_bbox: 0.8051, d3.loss_cls: 0.8060, d3.loss_bbox: 0.7728, d4.loss_cls: 0.8071, d4.loss_bbox: 0.7533, d5.loss_cls: 0.8083, d5.loss_bbox: 0.7486, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7238, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.7193, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7259, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7382, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7419, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7502, d0.loss_map_cls_all: 0.4692, d0.loss_map_pts_all: 2.4250, d0.loss_map_dir_all: 0.0304, d0.loss_map_cls: 0.4692, d0.loss_map_pts: 2.4250, d0.loss_map_dir: 0.0304, d1.loss_map_cls: 0.4554, d1.loss_map_pts: 1.9236, d1.loss_map_dir: 0.0304, d2.loss_map_cls: 0.4491, d2.loss_map_pts: 1.8580, d2.loss_map_dir: 0.0304, d3.loss_map_cls: 0.4451, d3.loss_map_pts: 1.8486, d3.loss_map_dir: 0.0303, d4.loss_map_cls: 0.4446, d4.loss_map_pts: 1.8488, d4.loss_map_dir: 0.0303, d5.loss_map_cls: 0.4429, d5.loss_map_pts: 1.8445, d5.loss_map_dir: 0.0303, loss: 67.4086, grad_norm: 156.2676 +2026-02-24 09:15:33,700 - DriveTransformer - INFO - Epoch [1][31550/39528] lr: 1.000e-04, eta: 8 days, 11:27:59, time: 0.821, data_time: 0.035, memory: 19865, loss_cls: 0.8198, loss_bbox: 0.7622, loss_traj: 1.5881, loss_traj_cls: 0.0005, loss_map_cls: 0.4214, loss_map_pts: 2.3435, loss_map_dir: 0.0363, d0.loss_plan_l1_fix_time: 2.9342, d0.loss_plan_l1_fix_dist: 0.5269, d1.loss_plan_l1_fix_time: 2.7358, d1.loss_plan_l1_fix_dist: 0.5539, d2.loss_plan_l1_fix_time: 2.7130, d2.loss_plan_l1_fix_dist: 0.5959, d3.loss_plan_l1_fix_time: 2.7154, d3.loss_plan_l1_fix_dist: 0.6417, d4.loss_plan_l1_fix_time: 2.7228, d4.loss_plan_l1_fix_dist: 0.6931, d5.loss_plan_l1_fix_time: 2.7318, d5.loss_plan_l1_fix_dist: 0.7485, d6.loss_plan_l1_fix_time: 2.7407, d6.loss_plan_l1_fix_dist: 0.8032, d0.loss_cls_all: 0.8174, d0.loss_bbox_all: 0.7771, d0.loss_cls: 0.8174, d0.loss_bbox: 0.7771, d1.loss_cls: 0.8122, d1.loss_bbox: 0.8124, d2.loss_cls: 0.8126, d2.loss_bbox: 0.7887, d3.loss_cls: 0.8124, d3.loss_bbox: 0.7661, d4.loss_cls: 0.8139, d4.loss_bbox: 0.7554, d5.loss_cls: 0.8155, d5.loss_bbox: 0.7554, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6014, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.5831, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5742, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5821, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5839, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5965, d0.loss_map_cls_all: 0.4544, d0.loss_map_pts_all: 2.9119, d0.loss_map_dir_all: 0.0359, d0.loss_map_cls: 0.4544, d0.loss_map_pts: 2.9119, d0.loss_map_dir: 0.0359, d1.loss_map_cls: 0.4337, d1.loss_map_pts: 2.4169, d1.loss_map_dir: 0.0364, d2.loss_map_cls: 0.4272, d2.loss_map_pts: 2.3459, d2.loss_map_dir: 0.0364, d3.loss_map_cls: 0.4259, d3.loss_map_pts: 2.3334, d3.loss_map_dir: 0.0364, d4.loss_map_cls: 0.4236, d4.loss_map_pts: 2.3323, d4.loss_map_dir: 0.0363, d5.loss_map_cls: 0.4199, d5.loss_map_pts: 2.3354, d5.loss_map_dir: 0.0363, loss: 71.3671, grad_norm: 156.4888 +2026-02-24 09:16:13,122 - DriveTransformer - INFO - Epoch [1][31600/39528] lr: 1.000e-04, eta: 8 days, 11:27:04, time: 0.788, data_time: 0.046, memory: 19865, loss_cls: 0.8261, loss_bbox: 0.8024, loss_traj: 2.2333, loss_traj_cls: 0.0005, loss_map_cls: 0.4467, loss_map_pts: 2.1365, loss_map_dir: 0.0305, d0.loss_plan_l1_fix_time: 3.1398, d0.loss_plan_l1_fix_dist: 0.5045, d1.loss_plan_l1_fix_time: 2.9502, d1.loss_plan_l1_fix_dist: 0.5118, d2.loss_plan_l1_fix_time: 2.9225, d2.loss_plan_l1_fix_dist: 0.5407, d3.loss_plan_l1_fix_time: 2.9211, d3.loss_plan_l1_fix_dist: 0.5800, d4.loss_plan_l1_fix_time: 2.9258, d4.loss_plan_l1_fix_dist: 0.6199, d5.loss_plan_l1_fix_time: 2.9325, d5.loss_plan_l1_fix_dist: 0.6611, d6.loss_plan_l1_fix_time: 2.9417, d6.loss_plan_l1_fix_dist: 0.7064, d0.loss_cls_all: 0.8286, d0.loss_bbox_all: 0.8223, d0.loss_cls: 0.8286, d0.loss_bbox: 0.8223, d1.loss_cls: 0.8222, d1.loss_bbox: 0.8289, d2.loss_cls: 0.8191, d2.loss_bbox: 0.8084, d3.loss_cls: 0.8213, d3.loss_bbox: 0.7986, d4.loss_cls: 0.8232, d4.loss_bbox: 0.7980, d5.loss_cls: 0.8256, d5.loss_bbox: 0.7948, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.2052, d1.loss_traj_cls: 0.0008, d1.loss_traj: 2.1968, d2.loss_traj_cls: 0.0007, d2.loss_traj: 2.2075, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.2179, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2315, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.2280, d0.loss_map_cls_all: 0.4687, d0.loss_map_pts_all: 2.6650, d0.loss_map_dir_all: 0.0302, d0.loss_map_cls: 0.4687, d0.loss_map_pts: 2.6650, d0.loss_map_dir: 0.0302, d1.loss_map_cls: 0.4556, d1.loss_map_pts: 2.2214, d1.loss_map_dir: 0.0307, d2.loss_map_cls: 0.4518, d2.loss_map_pts: 2.1533, d2.loss_map_dir: 0.0305, d3.loss_map_cls: 0.4491, d3.loss_map_pts: 2.1414, d3.loss_map_dir: 0.0305, d4.loss_map_cls: 0.4455, d4.loss_map_pts: 2.1389, d4.loss_map_dir: 0.0305, d5.loss_map_cls: 0.4466, d5.loss_map_pts: 2.1360, d5.loss_map_dir: 0.0305, loss: 75.5862, grad_norm: 154.9940 +2026-02-24 09:16:53,645 - DriveTransformer - INFO - Epoch [1][31650/39528] lr: 1.000e-04, eta: 8 days, 11:26:41, time: 0.810, data_time: 0.038, memory: 19865, loss_cls: 0.8168, loss_bbox: 0.7785, loss_traj: 1.5671, loss_traj_cls: 0.0005, loss_map_cls: 0.4928, loss_map_pts: 2.4097, loss_map_dir: 0.0422, d0.loss_plan_l1_fix_time: 2.8442, d0.loss_plan_l1_fix_dist: 0.5178, d1.loss_plan_l1_fix_time: 2.6103, d1.loss_plan_l1_fix_dist: 0.5536, d2.loss_plan_l1_fix_time: 2.5832, d2.loss_plan_l1_fix_dist: 0.6162, d3.loss_plan_l1_fix_time: 2.5833, d3.loss_plan_l1_fix_dist: 0.6796, d4.loss_plan_l1_fix_time: 2.5903, d4.loss_plan_l1_fix_dist: 0.7462, d5.loss_plan_l1_fix_time: 2.5999, d5.loss_plan_l1_fix_dist: 0.8118, d6.loss_plan_l1_fix_time: 2.6130, d6.loss_plan_l1_fix_dist: 0.8770, d0.loss_cls_all: 0.8244, d0.loss_bbox_all: 0.8071, d0.loss_cls: 0.8244, d0.loss_bbox: 0.8071, d1.loss_cls: 0.8166, d1.loss_bbox: 0.7992, d2.loss_cls: 0.8128, d2.loss_bbox: 0.7908, d3.loss_cls: 0.8200, d3.loss_bbox: 0.7821, d4.loss_cls: 0.8189, d4.loss_bbox: 0.7794, d5.loss_cls: 0.8189, d5.loss_bbox: 0.7761, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5365, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.5249, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5112, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5317, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5469, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5554, d0.loss_map_cls_all: 0.5099, d0.loss_map_pts_all: 3.1883, d0.loss_map_dir_all: 0.0410, d0.loss_map_cls: 0.5099, d0.loss_map_pts: 3.1883, d0.loss_map_dir: 0.0410, d1.loss_map_cls: 0.4947, d1.loss_map_pts: 2.5246, d1.loss_map_dir: 0.0418, d2.loss_map_cls: 0.4864, d2.loss_map_pts: 2.4286, d2.loss_map_dir: 0.0420, d3.loss_map_cls: 0.4853, d3.loss_map_pts: 2.4134, d3.loss_map_dir: 0.0421, d4.loss_map_cls: 0.4875, d4.loss_map_pts: 2.4196, d4.loss_map_dir: 0.0422, d5.loss_map_cls: 0.4903, d5.loss_map_pts: 2.4123, d5.loss_map_dir: 0.0421, loss: 72.1531, grad_norm: 157.6543 +2026-02-24 09:17:34,049 - DriveTransformer - INFO - Epoch [1][31700/39528] lr: 1.000e-04, eta: 8 days, 11:26:15, time: 0.808, data_time: 0.043, memory: 19865, loss_cls: 0.8889, loss_bbox: 0.7444, loss_traj: 1.7284, loss_traj_cls: 0.0005, loss_map_cls: 0.4735, loss_map_pts: 2.1049, loss_map_dir: 0.0395, d0.loss_plan_l1_fix_time: 2.9912, d0.loss_plan_l1_fix_dist: 0.4025, d1.loss_plan_l1_fix_time: 2.8369, d1.loss_plan_l1_fix_dist: 0.4266, d2.loss_plan_l1_fix_time: 2.8243, d2.loss_plan_l1_fix_dist: 0.4752, d3.loss_plan_l1_fix_time: 2.8278, d3.loss_plan_l1_fix_dist: 0.5316, d4.loss_plan_l1_fix_time: 2.8371, d4.loss_plan_l1_fix_dist: 0.5931, d5.loss_plan_l1_fix_time: 2.8491, d5.loss_plan_l1_fix_dist: 0.6576, d6.loss_plan_l1_fix_time: 2.8645, d6.loss_plan_l1_fix_dist: 0.7304, d0.loss_cls_all: 0.8968, d0.loss_bbox_all: 0.7799, d0.loss_cls: 0.8968, d0.loss_bbox: 0.7799, d1.loss_cls: 0.8946, d1.loss_bbox: 0.7576, d2.loss_cls: 0.8891, d2.loss_bbox: 0.7510, d3.loss_cls: 0.8935, d3.loss_bbox: 0.7535, d4.loss_cls: 0.8933, d4.loss_bbox: 0.7448, d5.loss_cls: 0.8888, d5.loss_bbox: 0.7431, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7285, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.7020, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7086, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7174, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7195, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7198, d0.loss_map_cls_all: 0.4943, d0.loss_map_pts_all: 2.9134, d0.loss_map_dir_all: 0.0386, d0.loss_map_cls: 0.4943, d0.loss_map_pts: 2.9134, d0.loss_map_dir: 0.0386, d1.loss_map_cls: 0.4840, d1.loss_map_pts: 2.2011, d1.loss_map_dir: 0.0393, d2.loss_map_cls: 0.4802, d2.loss_map_pts: 2.1143, d2.loss_map_dir: 0.0392, d3.loss_map_cls: 0.4745, d3.loss_map_pts: 2.1000, d3.loss_map_dir: 0.0393, d4.loss_map_cls: 0.4749, d4.loss_map_pts: 2.0959, d4.loss_map_dir: 0.0393, d5.loss_map_cls: 0.4737, d5.loss_map_pts: 2.0983, d5.loss_map_dir: 0.0393, loss: 71.7760, grad_norm: 157.7486 +2026-02-24 09:18:13,737 - DriveTransformer - INFO - Epoch [1][31750/39528] lr: 1.000e-04, eta: 8 days, 11:25:28, time: 0.794, data_time: 0.037, memory: 19865, loss_cls: 0.8455, loss_bbox: 0.7755, loss_traj: 1.6101, loss_traj_cls: 0.0005, loss_map_cls: 0.4503, loss_map_pts: 2.1930, loss_map_dir: 0.0354, d0.loss_plan_l1_fix_time: 2.8820, d0.loss_plan_l1_fix_dist: 0.4468, d1.loss_plan_l1_fix_time: 2.7599, d1.loss_plan_l1_fix_dist: 0.4685, d2.loss_plan_l1_fix_time: 2.7506, d2.loss_plan_l1_fix_dist: 0.4999, d3.loss_plan_l1_fix_time: 2.7553, d3.loss_plan_l1_fix_dist: 0.5381, d4.loss_plan_l1_fix_time: 2.7633, d4.loss_plan_l1_fix_dist: 0.5798, d5.loss_plan_l1_fix_time: 2.7728, d5.loss_plan_l1_fix_dist: 0.6348, d6.loss_plan_l1_fix_time: 2.7842, d6.loss_plan_l1_fix_dist: 0.6977, d0.loss_cls_all: 0.8483, d0.loss_bbox_all: 0.8121, d0.loss_cls: 0.8483, d0.loss_bbox: 0.8121, d1.loss_cls: 0.8413, d1.loss_bbox: 0.7878, d2.loss_cls: 0.8399, d2.loss_bbox: 0.7726, d3.loss_cls: 0.8381, d3.loss_bbox: 0.7814, d4.loss_cls: 0.8402, d4.loss_bbox: 0.7715, d5.loss_cls: 0.8432, d5.loss_bbox: 0.7729, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5883, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.5686, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.5541, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5697, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5791, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5816, d0.loss_map_cls_all: 0.4889, d0.loss_map_pts_all: 2.7194, d0.loss_map_dir_all: 0.0345, d0.loss_map_cls: 0.4889, d0.loss_map_pts: 2.7194, d0.loss_map_dir: 0.0345, d1.loss_map_cls: 0.4704, d1.loss_map_pts: 2.2274, d1.loss_map_dir: 0.0352, d2.loss_map_cls: 0.4581, d2.loss_map_pts: 2.1809, d2.loss_map_dir: 0.0352, d3.loss_map_cls: 0.4542, d3.loss_map_pts: 2.1848, d3.loss_map_dir: 0.0352, d4.loss_map_cls: 0.4514, d4.loss_map_pts: 2.1846, d4.loss_map_dir: 0.0353, d5.loss_map_cls: 0.4505, d5.loss_map_pts: 2.1860, d5.loss_map_dir: 0.0352, loss: 70.0085, grad_norm: 156.3026 +2026-02-24 09:18:53,422 - DriveTransformer - INFO - Epoch [1][31800/39528] lr: 1.000e-04, eta: 8 days, 11:24:41, time: 0.794, data_time: 0.037, memory: 19865, loss_cls: 0.8343, loss_bbox: 0.7627, loss_traj: 1.8065, loss_traj_cls: 0.0005, loss_map_cls: 0.4763, loss_map_pts: 2.4314, loss_map_dir: 0.0349, d0.loss_plan_l1_fix_time: 3.0113, d0.loss_plan_l1_fix_dist: 0.5276, d1.loss_plan_l1_fix_time: 2.8535, d1.loss_plan_l1_fix_dist: 0.5372, d2.loss_plan_l1_fix_time: 2.8355, d2.loss_plan_l1_fix_dist: 0.5622, d3.loss_plan_l1_fix_time: 2.8371, d3.loss_plan_l1_fix_dist: 0.5986, d4.loss_plan_l1_fix_time: 2.8425, d4.loss_plan_l1_fix_dist: 0.6402, d5.loss_plan_l1_fix_time: 2.8507, d5.loss_plan_l1_fix_dist: 0.6779, d6.loss_plan_l1_fix_time: 2.8613, d6.loss_plan_l1_fix_dist: 0.7132, d0.loss_cls_all: 0.8538, d0.loss_bbox_all: 0.8119, d0.loss_cls: 0.8538, d0.loss_bbox: 0.8119, d1.loss_cls: 0.8380, d1.loss_bbox: 0.7973, d2.loss_cls: 0.8364, d2.loss_bbox: 0.7679, d3.loss_cls: 0.8348, d3.loss_bbox: 0.7656, d4.loss_cls: 0.8363, d4.loss_bbox: 0.7584, d5.loss_cls: 0.8382, d5.loss_bbox: 0.7604, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8416, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.8138, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7893, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8112, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8004, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8006, d0.loss_map_cls_all: 0.5206, d0.loss_map_pts_all: 2.8486, d0.loss_map_dir_all: 0.0340, d0.loss_map_cls: 0.5206, d0.loss_map_pts: 2.8486, d0.loss_map_dir: 0.0340, d1.loss_map_cls: 0.4878, d1.loss_map_pts: 2.4191, d1.loss_map_dir: 0.0346, d2.loss_map_cls: 0.4788, d2.loss_map_pts: 2.3833, d2.loss_map_dir: 0.0345, d3.loss_map_cls: 0.4765, d3.loss_map_pts: 2.3861, d3.loss_map_dir: 0.0346, d4.loss_map_cls: 0.4748, d4.loss_map_pts: 2.4056, d4.loss_map_dir: 0.0348, d5.loss_map_cls: 0.4752, d5.loss_map_pts: 2.4201, d5.loss_map_dir: 0.0348, loss: 74.3072, grad_norm: 155.9900 +2026-02-24 09:19:34,260 - DriveTransformer - INFO - Epoch [1][31850/39528] lr: 1.000e-04, eta: 8 days, 11:24:27, time: 0.817, data_time: 0.038, memory: 19865, loss_cls: 0.8547, loss_bbox: 0.7846, loss_traj: 1.4058, loss_traj_cls: 0.0005, loss_map_cls: 0.4830, loss_map_pts: 2.3353, loss_map_dir: 0.0380, d0.loss_plan_l1_fix_time: 3.0754, d0.loss_plan_l1_fix_dist: 0.5630, d1.loss_plan_l1_fix_time: 2.9450, d1.loss_plan_l1_fix_dist: 0.5743, d2.loss_plan_l1_fix_time: 2.9560, d2.loss_plan_l1_fix_dist: 0.5959, d3.loss_plan_l1_fix_time: 2.9683, d3.loss_plan_l1_fix_dist: 0.6286, d4.loss_plan_l1_fix_time: 2.9809, d4.loss_plan_l1_fix_dist: 0.6653, d5.loss_plan_l1_fix_time: 2.9940, d5.loss_plan_l1_fix_dist: 0.7039, d6.loss_plan_l1_fix_time: 3.0071, d6.loss_plan_l1_fix_dist: 0.7474, d0.loss_cls_all: 0.8507, d0.loss_bbox_all: 0.7977, d0.loss_cls: 0.8507, d0.loss_bbox: 0.7977, d1.loss_cls: 0.8469, d1.loss_bbox: 0.7981, d2.loss_cls: 0.8456, d2.loss_bbox: 0.7763, d3.loss_cls: 0.8493, d3.loss_bbox: 0.7708, d4.loss_cls: 0.8440, d4.loss_bbox: 0.7708, d5.loss_cls: 0.8497, d5.loss_bbox: 0.7783, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4098, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.3818, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.3718, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.3838, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3956, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3961, d0.loss_map_cls_all: 0.5119, d0.loss_map_pts_all: 2.9252, d0.loss_map_dir_all: 0.0366, d0.loss_map_cls: 0.5119, d0.loss_map_pts: 2.9252, d0.loss_map_dir: 0.0366, d1.loss_map_cls: 0.4978, d1.loss_map_pts: 2.3888, d1.loss_map_dir: 0.0376, d2.loss_map_cls: 0.4873, d2.loss_map_pts: 2.3426, d2.loss_map_dir: 0.0377, d3.loss_map_cls: 0.4850, d3.loss_map_pts: 2.3377, d3.loss_map_dir: 0.0379, d4.loss_map_cls: 0.4827, d4.loss_map_pts: 2.3347, d4.loss_map_dir: 0.0379, d5.loss_map_cls: 0.4819, d5.loss_map_pts: 2.3350, d5.loss_map_dir: 0.0379, loss: 72.3858, grad_norm: 156.6857 +2026-02-24 09:20:13,775 - DriveTransformer - INFO - Epoch [1][31900/39528] lr: 1.000e-04, eta: 8 days, 11:23:35, time: 0.790, data_time: 0.038, memory: 19865, loss_cls: 0.8111, loss_bbox: 0.7215, loss_traj: 1.6173, loss_traj_cls: 0.0005, loss_map_cls: 0.5300, loss_map_pts: 2.2580, loss_map_dir: 0.0379, d0.loss_plan_l1_fix_time: 3.0949, d0.loss_plan_l1_fix_dist: 0.5030, d1.loss_plan_l1_fix_time: 2.8528, d1.loss_plan_l1_fix_dist: 0.5142, d2.loss_plan_l1_fix_time: 2.8354, d2.loss_plan_l1_fix_dist: 0.5420, d3.loss_plan_l1_fix_time: 2.8396, d3.loss_plan_l1_fix_dist: 0.5770, d4.loss_plan_l1_fix_time: 2.8473, d4.loss_plan_l1_fix_dist: 0.6141, d5.loss_plan_l1_fix_time: 2.8561, d5.loss_plan_l1_fix_dist: 0.6559, d6.loss_plan_l1_fix_time: 2.8668, d6.loss_plan_l1_fix_dist: 0.7000, d0.loss_cls_all: 0.8232, d0.loss_bbox_all: 0.7405, d0.loss_cls: 0.8232, d0.loss_bbox: 0.7405, d1.loss_cls: 0.8107, d1.loss_bbox: 0.7540, d2.loss_cls: 0.8069, d2.loss_bbox: 0.7314, d3.loss_cls: 0.8021, d3.loss_bbox: 0.7319, d4.loss_cls: 0.8018, d4.loss_bbox: 0.7319, d5.loss_cls: 0.8094, d5.loss_bbox: 0.7219, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6514, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.6161, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6123, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6187, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6219, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6193, d0.loss_map_cls_all: 0.5485, d0.loss_map_pts_all: 2.8095, d0.loss_map_dir_all: 0.0367, d0.loss_map_cls: 0.5485, d0.loss_map_pts: 2.8095, d0.loss_map_dir: 0.0367, d1.loss_map_cls: 0.5406, d1.loss_map_pts: 2.3255, d1.loss_map_dir: 0.0376, d2.loss_map_cls: 0.5322, d2.loss_map_pts: 2.2659, d2.loss_map_dir: 0.0376, d3.loss_map_cls: 0.5337, d3.loss_map_pts: 2.2523, d3.loss_map_dir: 0.0377, d4.loss_map_cls: 0.5356, d4.loss_map_pts: 2.2503, d4.loss_map_dir: 0.0378, d5.loss_map_cls: 0.5298, d5.loss_map_pts: 2.2509, d5.loss_map_dir: 0.0378, loss: 71.8429, grad_norm: 156.6233 +2026-02-24 09:20:52,710 - DriveTransformer - INFO - Epoch [1][31950/39528] lr: 1.000e-04, eta: 8 days, 11:22:26, time: 0.779, data_time: 0.043, memory: 19865, loss_cls: 0.8281, loss_bbox: 0.7597, loss_traj: 1.8746, loss_traj_cls: 0.0005, loss_map_cls: 0.4924, loss_map_pts: 2.1281, loss_map_dir: 0.0300, d0.loss_plan_l1_fix_time: 3.2968, d0.loss_plan_l1_fix_dist: 0.5003, d1.loss_plan_l1_fix_time: 2.9861, d1.loss_plan_l1_fix_dist: 0.5061, d2.loss_plan_l1_fix_time: 2.9336, d2.loss_plan_l1_fix_dist: 0.5320, d3.loss_plan_l1_fix_time: 2.9267, d3.loss_plan_l1_fix_dist: 0.5611, d4.loss_plan_l1_fix_time: 2.9282, d4.loss_plan_l1_fix_dist: 0.5939, d5.loss_plan_l1_fix_time: 2.9342, d5.loss_plan_l1_fix_dist: 0.6305, d6.loss_plan_l1_fix_time: 2.9444, d6.loss_plan_l1_fix_dist: 0.6676, d0.loss_cls_all: 0.8158, d0.loss_bbox_all: 0.7676, d0.loss_cls: 0.8158, d0.loss_bbox: 0.7676, d1.loss_cls: 0.8166, d1.loss_bbox: 0.8082, d2.loss_cls: 0.8176, d2.loss_bbox: 0.7844, d3.loss_cls: 0.8294, d3.loss_bbox: 0.7645, d4.loss_cls: 0.8198, d4.loss_bbox: 0.7721, d5.loss_cls: 0.8228, d5.loss_bbox: 0.7602, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8999, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.8814, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8892, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8820, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8730, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8737, d0.loss_map_cls_all: 0.5091, d0.loss_map_pts_all: 2.6104, d0.loss_map_dir_all: 0.0293, d0.loss_map_cls: 0.5091, d0.loss_map_pts: 2.6104, d0.loss_map_dir: 0.0293, d1.loss_map_cls: 0.5025, d1.loss_map_pts: 2.2042, d1.loss_map_dir: 0.0298, d2.loss_map_cls: 0.4980, d2.loss_map_pts: 2.1437, d2.loss_map_dir: 0.0298, d3.loss_map_cls: 0.4988, d3.loss_map_pts: 2.1318, d3.loss_map_dir: 0.0299, d4.loss_map_cls: 0.4958, d4.loss_map_pts: 2.1293, d4.loss_map_dir: 0.0299, d5.loss_map_cls: 0.4930, d5.loss_map_pts: 2.1282, d5.loss_map_dir: 0.0299, loss: 73.1923, grad_norm: 157.3601 +2026-02-24 09:21:30,820 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 09:21:30,820 - DriveTransformer - INFO - Epoch [1][32000/39528] lr: 1.000e-04, eta: 8 days, 11:20:56, time: 0.764, data_time: 0.042, memory: 19865, loss_cls: 0.8402, loss_bbox: 0.7538, loss_traj: 1.8533, loss_traj_cls: 0.0005, loss_map_cls: 0.4923, loss_map_pts: 2.3852, loss_map_dir: 0.0352, d0.loss_plan_l1_fix_time: 3.2110, d0.loss_plan_l1_fix_dist: 0.4994, d1.loss_plan_l1_fix_time: 3.0283, d1.loss_plan_l1_fix_dist: 0.5067, d2.loss_plan_l1_fix_time: 3.0152, d2.loss_plan_l1_fix_dist: 0.5215, d3.loss_plan_l1_fix_time: 3.0195, d3.loss_plan_l1_fix_dist: 0.5417, d4.loss_plan_l1_fix_time: 3.0262, d4.loss_plan_l1_fix_dist: 0.5651, d5.loss_plan_l1_fix_time: 3.0337, d5.loss_plan_l1_fix_dist: 0.5944, d6.loss_plan_l1_fix_time: 3.0432, d6.loss_plan_l1_fix_dist: 0.6282, d0.loss_cls_all: 0.8259, d0.loss_bbox_all: 0.7741, d0.loss_cls: 0.8259, d0.loss_bbox: 0.7741, d1.loss_cls: 0.8243, d1.loss_bbox: 0.8171, d2.loss_cls: 0.8254, d2.loss_bbox: 0.7967, d3.loss_cls: 0.8346, d3.loss_bbox: 0.7753, d4.loss_cls: 0.8312, d4.loss_bbox: 0.7683, d5.loss_cls: 0.8391, d5.loss_bbox: 0.7554, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8748, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.8477, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8681, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8716, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8688, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8596, d0.loss_map_cls_all: 0.5175, d0.loss_map_pts_all: 2.8238, d0.loss_map_dir_all: 0.0345, d0.loss_map_cls: 0.5175, d0.loss_map_pts: 2.8238, d0.loss_map_dir: 0.0345, d1.loss_map_cls: 0.5021, d1.loss_map_pts: 2.4366, d1.loss_map_dir: 0.0349, d2.loss_map_cls: 0.4996, d2.loss_map_pts: 2.3924, d2.loss_map_dir: 0.0347, d3.loss_map_cls: 0.4961, d3.loss_map_pts: 2.3878, d3.loss_map_dir: 0.0348, d4.loss_map_cls: 0.4951, d4.loss_map_pts: 2.3870, d4.loss_map_dir: 0.0349, d5.loss_map_cls: 0.4886, d5.loss_map_pts: 2.3865, d5.loss_map_dir: 0.0350, loss: 75.4535, grad_norm: 156.7195 +2026-02-24 09:22:10,891 - DriveTransformer - INFO - Epoch [1][32050/39528] lr: 1.000e-04, eta: 8 days, 11:20:18, time: 0.800, data_time: 0.033, memory: 19865, loss_cls: 0.8219, loss_bbox: 0.7611, loss_traj: 1.9727, loss_traj_cls: 0.0005, loss_map_cls: 0.4910, loss_map_pts: 2.3851, loss_map_dir: 0.0381, d0.loss_plan_l1_fix_time: 2.9301, d0.loss_plan_l1_fix_dist: 0.5189, d1.loss_plan_l1_fix_time: 2.8539, d1.loss_plan_l1_fix_dist: 0.5237, d2.loss_plan_l1_fix_time: 2.8673, d2.loss_plan_l1_fix_dist: 0.5388, d3.loss_plan_l1_fix_time: 2.8810, d3.loss_plan_l1_fix_dist: 0.5621, d4.loss_plan_l1_fix_time: 2.8931, d4.loss_plan_l1_fix_dist: 0.5864, d5.loss_plan_l1_fix_time: 2.9046, d5.loss_plan_l1_fix_dist: 0.6164, d6.loss_plan_l1_fix_time: 2.9170, d6.loss_plan_l1_fix_dist: 0.6506, d0.loss_cls_all: 0.8090, d0.loss_bbox_all: 0.7831, d0.loss_cls: 0.8090, d0.loss_bbox: 0.7831, d1.loss_cls: 0.8031, d1.loss_bbox: 0.8169, d2.loss_cls: 0.8107, d2.loss_bbox: 0.8062, d3.loss_cls: 0.8179, d3.loss_bbox: 0.7987, d4.loss_cls: 0.8163, d4.loss_bbox: 0.7772, d5.loss_cls: 0.8199, d5.loss_bbox: 0.7654, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9642, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.9540, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.9638, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.9862, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9917, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9817, d0.loss_map_cls_all: 0.5026, d0.loss_map_pts_all: 2.9034, d0.loss_map_dir_all: 0.0370, d0.loss_map_cls: 0.5026, d0.loss_map_pts: 2.9034, d0.loss_map_dir: 0.0370, d1.loss_map_cls: 0.4952, d1.loss_map_pts: 2.4465, d1.loss_map_dir: 0.0376, d2.loss_map_cls: 0.4977, d2.loss_map_pts: 2.3924, d2.loss_map_dir: 0.0377, d3.loss_map_cls: 0.4961, d3.loss_map_pts: 2.3843, d3.loss_map_dir: 0.0377, d4.loss_map_cls: 0.4948, d4.loss_map_pts: 2.3813, d4.loss_map_dir: 0.0378, d5.loss_map_cls: 0.4912, d5.loss_map_pts: 2.3815, d5.loss_map_dir: 0.0379, loss: 75.3120, grad_norm: 157.8208 +2026-02-24 09:22:48,038 - DriveTransformer - INFO - Epoch [1][32100/39528] lr: 1.000e-04, eta: 8 days, 11:18:19, time: 0.743, data_time: 0.040, memory: 19865, loss_cls: 0.8328, loss_bbox: 0.7287, loss_traj: 1.7487, loss_traj_cls: 0.0005, loss_map_cls: 0.4856, loss_map_pts: 2.0091, loss_map_dir: 0.0303, d0.loss_plan_l1_fix_time: 2.7657, d0.loss_plan_l1_fix_dist: 0.4612, d1.loss_plan_l1_fix_time: 2.6488, d1.loss_plan_l1_fix_dist: 0.4616, d2.loss_plan_l1_fix_time: 2.6425, d2.loss_plan_l1_fix_dist: 0.4786, d3.loss_plan_l1_fix_time: 2.6490, d3.loss_plan_l1_fix_dist: 0.5081, d4.loss_plan_l1_fix_time: 2.6584, d4.loss_plan_l1_fix_dist: 0.5406, d5.loss_plan_l1_fix_time: 2.6701, d5.loss_plan_l1_fix_dist: 0.5771, d6.loss_plan_l1_fix_time: 2.6836, d6.loss_plan_l1_fix_dist: 0.6199, d0.loss_cls_all: 0.8240, d0.loss_bbox_all: 0.7541, d0.loss_cls: 0.8240, d0.loss_bbox: 0.7541, d1.loss_cls: 0.8201, d1.loss_bbox: 0.7749, d2.loss_cls: 0.8275, d2.loss_bbox: 0.7650, d3.loss_cls: 0.8292, d3.loss_bbox: 0.7697, d4.loss_cls: 0.8325, d4.loss_bbox: 0.7421, d5.loss_cls: 0.8280, d5.loss_bbox: 0.7334, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7349, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.7035, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7116, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7272, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7379, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7427, d0.loss_map_cls_all: 0.5131, d0.loss_map_pts_all: 2.4698, d0.loss_map_dir_all: 0.0297, d0.loss_map_cls: 0.5131, d0.loss_map_pts: 2.4698, d0.loss_map_dir: 0.0297, d1.loss_map_cls: 0.4920, d1.loss_map_pts: 2.0636, d1.loss_map_dir: 0.0300, d2.loss_map_cls: 0.4903, d2.loss_map_pts: 2.0221, d2.loss_map_dir: 0.0300, d3.loss_map_cls: 0.4871, d3.loss_map_pts: 2.0075, d3.loss_map_dir: 0.0301, d4.loss_map_cls: 0.4845, d4.loss_map_pts: 2.0066, d4.loss_map_dir: 0.0302, d5.loss_map_cls: 0.4845, d5.loss_map_pts: 2.0058, d5.loss_map_dir: 0.0302, loss: 68.3604, grad_norm: 161.8853 +2026-02-24 09:23:28,636 - DriveTransformer - INFO - Epoch [1][32150/39528] lr: 1.000e-04, eta: 8 days, 11:17:58, time: 0.812, data_time: 0.042, memory: 19865, loss_cls: 0.8106, loss_bbox: 0.7628, loss_traj: 1.4973, loss_traj_cls: 0.0005, loss_map_cls: 0.4989, loss_map_pts: 2.3691, loss_map_dir: 0.0374, d0.loss_plan_l1_fix_time: 2.3709, d0.loss_plan_l1_fix_dist: 0.4313, d1.loss_plan_l1_fix_time: 2.3090, d1.loss_plan_l1_fix_dist: 0.4349, d2.loss_plan_l1_fix_time: 2.3313, d2.loss_plan_l1_fix_dist: 0.4541, d3.loss_plan_l1_fix_time: 2.3461, d3.loss_plan_l1_fix_dist: 0.4786, d4.loss_plan_l1_fix_time: 2.3586, d4.loss_plan_l1_fix_dist: 0.5015, d5.loss_plan_l1_fix_time: 2.3708, d5.loss_plan_l1_fix_dist: 0.5257, d6.loss_plan_l1_fix_time: 2.3838, d6.loss_plan_l1_fix_dist: 0.5522, d0.loss_cls_all: 0.8031, d0.loss_bbox_all: 0.7988, d0.loss_cls: 0.8031, d0.loss_bbox: 0.7988, d1.loss_cls: 0.7986, d1.loss_bbox: 0.7851, d2.loss_cls: 0.8031, d2.loss_bbox: 0.7777, d3.loss_cls: 0.8114, d3.loss_bbox: 0.7870, d4.loss_cls: 0.8158, d4.loss_bbox: 0.7580, d5.loss_cls: 0.8107, d5.loss_bbox: 0.7621, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4675, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.4613, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4682, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4859, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5071, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5031, d0.loss_map_cls_all: 0.5111, d0.loss_map_pts_all: 2.9586, d0.loss_map_dir_all: 0.0364, d0.loss_map_cls: 0.5111, d0.loss_map_pts: 2.9586, d0.loss_map_dir: 0.0364, d1.loss_map_cls: 0.4993, d1.loss_map_pts: 2.4350, d1.loss_map_dir: 0.0368, d2.loss_map_cls: 0.4981, d2.loss_map_pts: 2.3798, d2.loss_map_dir: 0.0367, d3.loss_map_cls: 0.4974, d3.loss_map_pts: 2.3627, d3.loss_map_dir: 0.0368, d4.loss_map_cls: 0.4968, d4.loss_map_pts: 2.3618, d4.loss_map_dir: 0.0370, d5.loss_map_cls: 0.4973, d5.loss_map_pts: 2.3644, d5.loss_map_dir: 0.0372, loss: 67.4246, grad_norm: 160.5486 +2026-02-24 09:24:07,867 - DriveTransformer - INFO - Epoch [1][32200/39528] lr: 1.000e-04, eta: 8 days, 11:16:58, time: 0.785, data_time: 0.038, memory: 19865, loss_cls: 0.8564, loss_bbox: 0.7484, loss_traj: 1.8494, loss_traj_cls: 0.0005, loss_map_cls: 0.4904, loss_map_pts: 1.9771, loss_map_dir: 0.0302, d0.loss_plan_l1_fix_time: 2.8874, d0.loss_plan_l1_fix_dist: 0.4862, d1.loss_plan_l1_fix_time: 2.7598, d1.loss_plan_l1_fix_dist: 0.4934, d2.loss_plan_l1_fix_time: 2.7611, d2.loss_plan_l1_fix_dist: 0.5175, d3.loss_plan_l1_fix_time: 2.7706, d3.loss_plan_l1_fix_dist: 0.5486, d4.loss_plan_l1_fix_time: 2.7828, d4.loss_plan_l1_fix_dist: 0.5809, d5.loss_plan_l1_fix_time: 2.7961, d5.loss_plan_l1_fix_dist: 0.6138, d6.loss_plan_l1_fix_time: 2.8108, d6.loss_plan_l1_fix_dist: 0.6466, d0.loss_cls_all: 0.8448, d0.loss_bbox_all: 0.7810, d0.loss_cls: 0.8448, d0.loss_bbox: 0.7810, d1.loss_cls: 0.8395, d1.loss_bbox: 0.7508, d2.loss_cls: 0.8462, d2.loss_bbox: 0.7436, d3.loss_cls: 0.8538, d3.loss_bbox: 0.7713, d4.loss_cls: 0.8597, d4.loss_bbox: 0.7467, d5.loss_cls: 0.8554, d5.loss_bbox: 0.7440, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8140, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.8016, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.8072, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8179, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8247, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8304, d0.loss_map_cls_all: 0.5106, d0.loss_map_pts_all: 2.4833, d0.loss_map_dir_all: 0.0293, d0.loss_map_cls: 0.5106, d0.loss_map_pts: 2.4833, d0.loss_map_dir: 0.0293, d1.loss_map_cls: 0.4962, d1.loss_map_pts: 2.0286, d1.loss_map_dir: 0.0297, d2.loss_map_cls: 0.4876, d2.loss_map_pts: 1.9889, d2.loss_map_dir: 0.0298, d3.loss_map_cls: 0.4857, d3.loss_map_pts: 1.9748, d3.loss_map_dir: 0.0299, d4.loss_map_cls: 0.4857, d4.loss_map_pts: 1.9732, d4.loss_map_dir: 0.0300, d5.loss_map_cls: 0.4875, d5.loss_map_pts: 1.9766, d5.loss_map_dir: 0.0301, loss: 70.1507, grad_norm: 162.7829 +2026-02-24 09:24:49,346 - DriveTransformer - INFO - Epoch [1][32250/39528] lr: 1.000e-04, eta: 8 days, 11:17:02, time: 0.830, data_time: 0.041, memory: 19865, loss_cls: 0.8878, loss_bbox: 0.7927, loss_traj: 1.7490, loss_traj_cls: 0.0005, loss_map_cls: 0.4998, loss_map_pts: 2.3164, loss_map_dir: 0.0365, d0.loss_plan_l1_fix_time: 2.8828, d0.loss_plan_l1_fix_dist: 0.4664, d1.loss_plan_l1_fix_time: 2.7104, d1.loss_plan_l1_fix_dist: 0.4632, d2.loss_plan_l1_fix_time: 2.7171, d2.loss_plan_l1_fix_dist: 0.4741, d3.loss_plan_l1_fix_time: 2.7300, d3.loss_plan_l1_fix_dist: 0.4936, d4.loss_plan_l1_fix_time: 2.7428, d4.loss_plan_l1_fix_dist: 0.5208, d5.loss_plan_l1_fix_time: 2.7565, d5.loss_plan_l1_fix_dist: 0.5515, d6.loss_plan_l1_fix_time: 2.7708, d6.loss_plan_l1_fix_dist: 0.5879, d0.loss_cls_all: 0.8927, d0.loss_bbox_all: 0.8407, d0.loss_cls: 0.8927, d0.loss_bbox: 0.8407, d1.loss_cls: 0.8796, d1.loss_bbox: 0.8109, d2.loss_cls: 0.8798, d2.loss_bbox: 0.7880, d3.loss_cls: 0.8875, d3.loss_bbox: 0.8081, d4.loss_cls: 0.9000, d4.loss_bbox: 0.7920, d5.loss_cls: 0.8890, d5.loss_bbox: 0.7876, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7013, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.7012, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6957, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7068, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7027, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7212, d0.loss_map_cls_all: 0.5112, d0.loss_map_pts_all: 2.9454, d0.loss_map_dir_all: 0.0359, d0.loss_map_cls: 0.5112, d0.loss_map_pts: 2.9454, d0.loss_map_dir: 0.0359, d1.loss_map_cls: 0.5011, d1.loss_map_pts: 2.3936, d1.loss_map_dir: 0.0361, d2.loss_map_cls: 0.4954, d2.loss_map_pts: 2.3381, d2.loss_map_dir: 0.0361, d3.loss_map_cls: 0.4974, d3.loss_map_pts: 2.3208, d3.loss_map_dir: 0.0362, d4.loss_map_cls: 0.5010, d4.loss_map_pts: 2.3167, d4.loss_map_dir: 0.0363, d5.loss_map_cls: 0.4994, d5.loss_map_pts: 2.3170, d5.loss_map_dir: 0.0364, loss: 72.6193, grad_norm: 163.2135 +2026-02-24 09:25:28,927 - DriveTransformer - INFO - Epoch [1][32300/39528] lr: 1.000e-04, eta: 8 days, 11:16:13, time: 0.792, data_time: 0.045, memory: 19865, loss_cls: 0.8643, loss_bbox: 0.7807, loss_traj: 1.8714, loss_traj_cls: 0.0005, loss_map_cls: 0.4799, loss_map_pts: 2.3789, loss_map_dir: 0.0382, d0.loss_plan_l1_fix_time: 3.1933, d0.loss_plan_l1_fix_dist: 0.5306, d1.loss_plan_l1_fix_time: 3.0865, d1.loss_plan_l1_fix_dist: 0.5336, d2.loss_plan_l1_fix_time: 3.0862, d2.loss_plan_l1_fix_dist: 0.5516, d3.loss_plan_l1_fix_time: 3.0941, d3.loss_plan_l1_fix_dist: 0.5714, d4.loss_plan_l1_fix_time: 3.1024, d4.loss_plan_l1_fix_dist: 0.5956, d5.loss_plan_l1_fix_time: 3.1112, d5.loss_plan_l1_fix_dist: 0.6246, d6.loss_plan_l1_fix_time: 3.1202, d6.loss_plan_l1_fix_dist: 0.6556, d0.loss_cls_all: 0.8793, d0.loss_bbox_all: 0.8293, d0.loss_cls: 0.8793, d0.loss_bbox: 0.8293, d1.loss_cls: 0.8638, d1.loss_bbox: 0.8282, d2.loss_cls: 0.8583, d2.loss_bbox: 0.8080, d3.loss_cls: 0.8676, d3.loss_bbox: 0.8062, d4.loss_cls: 0.8835, d4.loss_bbox: 0.7916, d5.loss_cls: 0.8711, d5.loss_bbox: 0.7836, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8372, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.8250, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.8245, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.8312, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.8370, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8527, d0.loss_map_cls_all: 0.4943, d0.loss_map_pts_all: 2.9968, d0.loss_map_dir_all: 0.0377, d0.loss_map_cls: 0.4943, d0.loss_map_pts: 2.9968, d0.loss_map_dir: 0.0377, d1.loss_map_cls: 0.4851, d1.loss_map_pts: 2.4656, d1.loss_map_dir: 0.0380, d2.loss_map_cls: 0.4804, d2.loss_map_pts: 2.4003, d2.loss_map_dir: 0.0379, d3.loss_map_cls: 0.4768, d3.loss_map_pts: 2.3801, d3.loss_map_dir: 0.0381, d4.loss_map_cls: 0.4802, d4.loss_map_pts: 2.3774, d4.loss_map_dir: 0.0382, d5.loss_map_cls: 0.4802, d5.loss_map_pts: 2.3721, d5.loss_map_dir: 0.0382, loss: 76.7077, grad_norm: 163.9169 +2026-02-24 09:26:08,112 - DriveTransformer - INFO - Epoch [1][32350/39528] lr: 1.000e-04, eta: 8 days, 11:15:12, time: 0.784, data_time: 0.045, memory: 19865, loss_cls: 0.8363, loss_bbox: 0.7684, loss_traj: 1.5582, loss_traj_cls: 0.0005, loss_map_cls: 0.4747, loss_map_pts: 2.2041, loss_map_dir: 0.0379, d0.loss_plan_l1_fix_time: 3.0672, d0.loss_plan_l1_fix_dist: 0.4981, d1.loss_plan_l1_fix_time: 2.9805, d1.loss_plan_l1_fix_dist: 0.4991, d2.loss_plan_l1_fix_time: 2.9695, d2.loss_plan_l1_fix_dist: 0.5097, d3.loss_plan_l1_fix_time: 2.9702, d3.loss_plan_l1_fix_dist: 0.5264, d4.loss_plan_l1_fix_time: 2.9745, d4.loss_plan_l1_fix_dist: 0.5466, d5.loss_plan_l1_fix_time: 2.9818, d5.loss_plan_l1_fix_dist: 0.5665, d6.loss_plan_l1_fix_time: 2.9919, d6.loss_plan_l1_fix_dist: 0.5854, d0.loss_cls_all: 0.8686, d0.loss_bbox_all: 0.8075, d0.loss_cls: 0.8686, d0.loss_bbox: 0.8075, d1.loss_cls: 0.8450, d1.loss_bbox: 0.8226, d2.loss_cls: 0.8418, d2.loss_bbox: 0.8189, d3.loss_cls: 0.8431, d3.loss_bbox: 0.7883, d4.loss_cls: 0.8578, d4.loss_bbox: 0.7768, d5.loss_cls: 0.8421, d5.loss_bbox: 0.7692, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4784, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5106, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5219, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5270, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5245, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5324, d0.loss_map_cls_all: 0.4972, d0.loss_map_pts_all: 2.8384, d0.loss_map_dir_all: 0.0378, d0.loss_map_cls: 0.4972, d0.loss_map_pts: 2.8384, d0.loss_map_dir: 0.0378, d1.loss_map_cls: 0.4842, d1.loss_map_pts: 2.2676, d1.loss_map_dir: 0.0375, d2.loss_map_cls: 0.4797, d2.loss_map_pts: 2.2197, d2.loss_map_dir: 0.0376, d3.loss_map_cls: 0.4760, d3.loss_map_pts: 2.2106, d3.loss_map_dir: 0.0376, d4.loss_map_cls: 0.4762, d4.loss_map_pts: 2.2078, d4.loss_map_dir: 0.0377, d5.loss_map_cls: 0.4741, d5.loss_map_pts: 2.2031, d5.loss_map_dir: 0.0377, loss: 71.6378, grad_norm: 165.4148 +2026-02-24 09:26:46,801 - DriveTransformer - INFO - Epoch [1][32400/39528] lr: 1.000e-04, eta: 8 days, 11:13:57, time: 0.774, data_time: 0.042, memory: 19865, loss_cls: 0.8543, loss_bbox: 0.7828, loss_traj: 1.7762, loss_traj_cls: 0.0005, loss_map_cls: 0.4915, loss_map_pts: 2.0470, loss_map_dir: 0.0310, d0.loss_plan_l1_fix_time: 3.5503, d0.loss_plan_l1_fix_dist: 0.5004, d1.loss_plan_l1_fix_time: 3.4792, d1.loss_plan_l1_fix_dist: 0.5070, d2.loss_plan_l1_fix_time: 3.4769, d2.loss_plan_l1_fix_dist: 0.5316, d3.loss_plan_l1_fix_time: 3.4814, d3.loss_plan_l1_fix_dist: 0.5643, d4.loss_plan_l1_fix_time: 3.4887, d4.loss_plan_l1_fix_dist: 0.5982, d5.loss_plan_l1_fix_time: 3.4977, d5.loss_plan_l1_fix_dist: 0.6330, d6.loss_plan_l1_fix_time: 3.5091, d6.loss_plan_l1_fix_dist: 0.6725, d0.loss_cls_all: 0.8591, d0.loss_bbox_all: 0.8213, d0.loss_cls: 0.8591, d0.loss_bbox: 0.8213, d1.loss_cls: 0.8463, d1.loss_bbox: 0.8352, d2.loss_cls: 0.8423, d2.loss_bbox: 0.8384, d3.loss_cls: 0.8457, d3.loss_bbox: 0.8062, d4.loss_cls: 0.8415, d4.loss_bbox: 0.7923, d5.loss_cls: 0.8511, d5.loss_bbox: 0.7866, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8287, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7827, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7785, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7647, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7640, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7652, d0.loss_map_cls_all: 0.5057, d0.loss_map_pts_all: 2.5137, d0.loss_map_dir_all: 0.0310, d0.loss_map_cls: 0.5057, d0.loss_map_pts: 2.5137, d0.loss_map_dir: 0.0310, d1.loss_map_cls: 0.5043, d1.loss_map_pts: 2.1318, d1.loss_map_dir: 0.0310, d2.loss_map_cls: 0.4936, d2.loss_map_pts: 2.0718, d2.loss_map_dir: 0.0310, d3.loss_map_cls: 0.4935, d3.loss_map_pts: 2.0608, d3.loss_map_dir: 0.0310, d4.loss_map_cls: 0.4923, d4.loss_map_pts: 2.0566, d4.loss_map_dir: 0.0310, d5.loss_map_cls: 0.4903, d5.loss_map_pts: 2.0520, d5.loss_map_dir: 0.0310, loss: 75.9102, grad_norm: 165.3877 +2026-02-24 09:27:27,145 - DriveTransformer - INFO - Epoch [1][32450/39528] lr: 1.000e-04, eta: 8 days, 11:13:29, time: 0.807, data_time: 0.037, memory: 19865, loss_cls: 0.8481, loss_bbox: 0.7485, loss_traj: 1.6660, loss_traj_cls: 0.0005, loss_map_cls: 0.4670, loss_map_pts: 2.2485, loss_map_dir: 0.0365, d0.loss_plan_l1_fix_time: 3.1005, d0.loss_plan_l1_fix_dist: 0.4926, d1.loss_plan_l1_fix_time: 2.9702, d1.loss_plan_l1_fix_dist: 0.4936, d2.loss_plan_l1_fix_time: 2.9629, d2.loss_plan_l1_fix_dist: 0.5076, d3.loss_plan_l1_fix_time: 2.9705, d3.loss_plan_l1_fix_dist: 0.5288, d4.loss_plan_l1_fix_time: 2.9814, d4.loss_plan_l1_fix_dist: 0.5548, d5.loss_plan_l1_fix_time: 2.9940, d5.loss_plan_l1_fix_dist: 0.5873, d6.loss_plan_l1_fix_time: 3.0096, d6.loss_plan_l1_fix_dist: 0.6276, d0.loss_cls_all: 0.8301, d0.loss_bbox_all: 0.7570, d0.loss_cls: 0.8301, d0.loss_bbox: 0.7570, d1.loss_cls: 0.8390, d1.loss_bbox: 0.7810, d2.loss_cls: 0.8385, d2.loss_bbox: 0.7883, d3.loss_cls: 0.8504, d3.loss_bbox: 0.7771, d4.loss_cls: 0.8332, d4.loss_bbox: 0.7601, d5.loss_cls: 0.8491, d5.loss_bbox: 0.7495, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6921, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6545, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6512, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6575, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6504, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6556, d0.loss_map_cls_all: 0.4995, d0.loss_map_pts_all: 2.8718, d0.loss_map_dir_all: 0.0362, d0.loss_map_cls: 0.4995, d0.loss_map_pts: 2.8718, d0.loss_map_dir: 0.0362, d1.loss_map_cls: 0.4861, d1.loss_map_pts: 2.3226, d1.loss_map_dir: 0.0364, d2.loss_map_cls: 0.4773, d2.loss_map_pts: 2.2531, d2.loss_map_dir: 0.0363, d3.loss_map_cls: 0.4717, d3.loss_map_pts: 2.2385, d3.loss_map_dir: 0.0364, d4.loss_map_cls: 0.4721, d4.loss_map_pts: 2.2415, d4.loss_map_dir: 0.0365, d5.loss_map_cls: 0.4683, d5.loss_map_pts: 2.2444, d5.loss_map_dir: 0.0364, loss: 72.6743, grad_norm: 165.9614 +2026-02-24 09:28:06,843 - DriveTransformer - INFO - Epoch [1][32500/39528] lr: 1.000e-04, eta: 8 days, 11:12:42, time: 0.794, data_time: 0.039, memory: 19865, loss_cls: 0.8312, loss_bbox: 0.7901, loss_traj: 1.7538, loss_traj_cls: 0.0005, loss_map_cls: 0.4988, loss_map_pts: 2.4147, loss_map_dir: 0.0353, d0.loss_plan_l1_fix_time: 3.3169, d0.loss_plan_l1_fix_dist: 0.6067, d1.loss_plan_l1_fix_time: 3.1789, d1.loss_plan_l1_fix_dist: 0.6115, d2.loss_plan_l1_fix_time: 3.1572, d2.loss_plan_l1_fix_dist: 0.6312, d3.loss_plan_l1_fix_time: 3.1586, d3.loss_plan_l1_fix_dist: 0.6577, d4.loss_plan_l1_fix_time: 3.1663, d4.loss_plan_l1_fix_dist: 0.6876, d5.loss_plan_l1_fix_time: 3.1762, d5.loss_plan_l1_fix_dist: 0.7203, d6.loss_plan_l1_fix_time: 3.1872, d6.loss_plan_l1_fix_dist: 0.7576, d0.loss_cls_all: 0.8454, d0.loss_bbox_all: 0.7987, d0.loss_cls: 0.8454, d0.loss_bbox: 0.7987, d1.loss_cls: 0.8335, d1.loss_bbox: 0.8245, d2.loss_cls: 0.8289, d2.loss_bbox: 0.8273, d3.loss_cls: 0.8315, d3.loss_bbox: 0.8089, d4.loss_cls: 0.8310, d4.loss_bbox: 0.7910, d5.loss_cls: 0.8308, d5.loss_bbox: 0.7883, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7723, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7707, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7754, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7954, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7891, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7710, d0.loss_map_cls_all: 0.5321, d0.loss_map_pts_all: 2.8439, d0.loss_map_dir_all: 0.0351, d0.loss_map_cls: 0.5321, d0.loss_map_pts: 2.8439, d0.loss_map_dir: 0.0351, d1.loss_map_cls: 0.5140, d1.loss_map_pts: 2.4650, d1.loss_map_dir: 0.0352, d2.loss_map_cls: 0.5070, d2.loss_map_pts: 2.4125, d2.loss_map_dir: 0.0352, d3.loss_map_cls: 0.4991, d3.loss_map_pts: 2.4017, d3.loss_map_dir: 0.0352, d4.loss_map_cls: 0.4971, d4.loss_map_pts: 2.4032, d4.loss_map_dir: 0.0354, d5.loss_map_cls: 0.4959, d5.loss_map_pts: 2.4067, d5.loss_map_dir: 0.0354, loss: 77.1005, grad_norm: 165.7014 +2026-02-24 09:28:46,350 - DriveTransformer - INFO - Epoch [1][32550/39528] lr: 1.000e-04, eta: 8 days, 11:11:51, time: 0.790, data_time: 0.040, memory: 19865, loss_cls: 0.8353, loss_bbox: 0.7917, loss_traj: 1.4867, loss_traj_cls: 0.0005, loss_map_cls: 0.4804, loss_map_pts: 2.3239, loss_map_dir: 0.0349, d0.loss_plan_l1_fix_time: 2.8500, d0.loss_plan_l1_fix_dist: 0.4756, d1.loss_plan_l1_fix_time: 2.6726, d1.loss_plan_l1_fix_dist: 0.4799, d2.loss_plan_l1_fix_time: 2.6500, d2.loss_plan_l1_fix_dist: 0.5006, d3.loss_plan_l1_fix_time: 2.6554, d3.loss_plan_l1_fix_dist: 0.5249, d4.loss_plan_l1_fix_time: 2.6664, d4.loss_plan_l1_fix_dist: 0.5524, d5.loss_plan_l1_fix_time: 2.6788, d5.loss_plan_l1_fix_dist: 0.5836, d6.loss_plan_l1_fix_time: 2.6923, d6.loss_plan_l1_fix_dist: 0.6177, d0.loss_cls_all: 0.8474, d0.loss_bbox_all: 0.7996, d0.loss_cls: 0.8474, d0.loss_bbox: 0.7996, d1.loss_cls: 0.8319, d1.loss_bbox: 0.8206, d2.loss_cls: 0.8329, d2.loss_bbox: 0.8205, d3.loss_cls: 0.8337, d3.loss_bbox: 0.8057, d4.loss_cls: 0.8316, d4.loss_bbox: 0.7898, d5.loss_cls: 0.8342, d5.loss_bbox: 0.7915, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4744, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4771, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4831, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4982, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.4899, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4781, d0.loss_map_cls_all: 0.5070, d0.loss_map_pts_all: 2.6922, d0.loss_map_dir_all: 0.0342, d0.loss_map_cls: 0.5070, d0.loss_map_pts: 2.6922, d0.loss_map_dir: 0.0342, d1.loss_map_cls: 0.4910, d1.loss_map_pts: 2.3497, d1.loss_map_dir: 0.0345, d2.loss_map_cls: 0.4889, d2.loss_map_pts: 2.3059, d2.loss_map_dir: 0.0346, d3.loss_map_cls: 0.4809, d3.loss_map_pts: 2.2958, d3.loss_map_dir: 0.0347, d4.loss_map_cls: 0.4790, d4.loss_map_pts: 2.2964, d4.loss_map_dir: 0.0348, d5.loss_map_cls: 0.4788, d5.loss_map_pts: 2.3018, d5.loss_map_dir: 0.0348, loss: 69.5531, grad_norm: 165.7706 +2026-02-24 09:29:25,935 - DriveTransformer - INFO - Epoch [1][32600/39528] lr: 1.000e-04, eta: 8 days, 11:11:01, time: 0.792, data_time: 0.038, memory: 19865, loss_cls: 0.8064, loss_bbox: 0.7490, loss_traj: 1.7535, loss_traj_cls: 0.0005, loss_map_cls: 0.4879, loss_map_pts: 2.2873, loss_map_dir: 0.0388, d0.loss_plan_l1_fix_time: 2.8561, d0.loss_plan_l1_fix_dist: 0.6617, d1.loss_plan_l1_fix_time: 2.7008, d1.loss_plan_l1_fix_dist: 0.6580, d2.loss_plan_l1_fix_time: 2.6876, d2.loss_plan_l1_fix_dist: 0.6664, d3.loss_plan_l1_fix_time: 2.6917, d3.loss_plan_l1_fix_dist: 0.6820, d4.loss_plan_l1_fix_time: 2.7017, d4.loss_plan_l1_fix_dist: 0.7031, d5.loss_plan_l1_fix_time: 2.7145, d5.loss_plan_l1_fix_dist: 0.7267, d6.loss_plan_l1_fix_time: 2.7287, d6.loss_plan_l1_fix_dist: 0.7536, d0.loss_cls_all: 0.8000, d0.loss_bbox_all: 0.7527, d0.loss_cls: 0.8000, d0.loss_bbox: 0.7527, d1.loss_cls: 0.7981, d1.loss_bbox: 0.7584, d2.loss_cls: 0.8019, d2.loss_bbox: 0.7529, d3.loss_cls: 0.8072, d3.loss_bbox: 0.7443, d4.loss_cls: 0.7984, d4.loss_bbox: 0.7378, d5.loss_cls: 0.8069, d5.loss_bbox: 0.7430, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7153, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7008, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7106, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7330, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7445, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7516, d0.loss_map_cls_all: 0.5147, d0.loss_map_pts_all: 2.9635, d0.loss_map_dir_all: 0.0384, d0.loss_map_cls: 0.5147, d0.loss_map_pts: 2.9635, d0.loss_map_dir: 0.0384, d1.loss_map_cls: 0.5039, d1.loss_map_pts: 2.3796, d1.loss_map_dir: 0.0385, d2.loss_map_cls: 0.4955, d2.loss_map_pts: 2.3100, d2.loss_map_dir: 0.0385, d3.loss_map_cls: 0.4864, d3.loss_map_pts: 2.2885, d3.loss_map_dir: 0.0386, d4.loss_map_cls: 0.4898, d4.loss_map_pts: 2.2846, d4.loss_map_dir: 0.0387, d5.loss_map_cls: 0.4865, d5.loss_map_pts: 2.2833, d5.loss_map_dir: 0.0387, loss: 72.5037, grad_norm: 165.5850 +2026-02-24 09:30:07,039 - DriveTransformer - INFO - Epoch [1][32650/39528] lr: 1.000e-04, eta: 8 days, 11:10:54, time: 0.822, data_time: 0.037, memory: 19865, loss_cls: 0.8451, loss_bbox: 0.7616, loss_traj: 1.5439, loss_traj_cls: 0.0005, loss_map_cls: 0.4282, loss_map_pts: 2.1898, loss_map_dir: 0.0364, d0.loss_plan_l1_fix_time: 2.7786, d0.loss_plan_l1_fix_dist: 0.6376, d1.loss_plan_l1_fix_time: 2.5990, d1.loss_plan_l1_fix_dist: 0.6375, d2.loss_plan_l1_fix_time: 2.5733, d2.loss_plan_l1_fix_dist: 0.6504, d3.loss_plan_l1_fix_time: 2.5765, d3.loss_plan_l1_fix_dist: 0.6731, d4.loss_plan_l1_fix_time: 2.5849, d4.loss_plan_l1_fix_dist: 0.7002, d5.loss_plan_l1_fix_time: 2.5976, d5.loss_plan_l1_fix_dist: 0.7278, d6.loss_plan_l1_fix_time: 2.6124, d6.loss_plan_l1_fix_dist: 0.7660, d0.loss_cls_all: 0.8220, d0.loss_bbox_all: 0.7704, d0.loss_cls: 0.8220, d0.loss_bbox: 0.7704, d1.loss_cls: 0.8255, d1.loss_bbox: 0.7653, d2.loss_cls: 0.8290, d2.loss_bbox: 0.7628, d3.loss_cls: 0.8374, d3.loss_bbox: 0.7587, d4.loss_cls: 0.8340, d4.loss_bbox: 0.7573, d5.loss_cls: 0.8434, d5.loss_bbox: 0.7569, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5525, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5317, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5542, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5636, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5637, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5555, d0.loss_map_cls_all: 0.4538, d0.loss_map_pts_all: 2.7110, d0.loss_map_dir_all: 0.0362, d0.loss_map_cls: 0.4538, d0.loss_map_pts: 2.7110, d0.loss_map_dir: 0.0362, d1.loss_map_cls: 0.4369, d1.loss_map_pts: 2.2336, d1.loss_map_dir: 0.0363, d2.loss_map_cls: 0.4305, d2.loss_map_pts: 2.1891, d2.loss_map_dir: 0.0363, d3.loss_map_cls: 0.4256, d3.loss_map_pts: 2.1809, d3.loss_map_dir: 0.0363, d4.loss_map_cls: 0.4243, d4.loss_map_pts: 2.1831, d4.loss_map_dir: 0.0363, d5.loss_map_cls: 0.4249, d5.loss_map_pts: 2.1885, d5.loss_map_dir: 0.0363, loss: 69.1011, grad_norm: 161.2962 +2026-02-24 09:30:46,160 - DriveTransformer - INFO - Epoch [1][32700/39528] lr: 1.000e-04, eta: 8 days, 11:09:52, time: 0.782, data_time: 0.037, memory: 19865, loss_cls: 0.8103, loss_bbox: 0.7574, loss_traj: 1.5466, loss_traj_cls: 0.0005, loss_map_cls: 0.4580, loss_map_pts: 2.1942, loss_map_dir: 0.0371, d0.loss_plan_l1_fix_time: 2.7532, d0.loss_plan_l1_fix_dist: 0.5059, d1.loss_plan_l1_fix_time: 2.5991, d1.loss_plan_l1_fix_dist: 0.5015, d2.loss_plan_l1_fix_time: 2.5799, d2.loss_plan_l1_fix_dist: 0.5157, d3.loss_plan_l1_fix_time: 2.5823, d3.loss_plan_l1_fix_dist: 0.5358, d4.loss_plan_l1_fix_time: 2.5896, d4.loss_plan_l1_fix_dist: 0.5611, d5.loss_plan_l1_fix_time: 2.5995, d5.loss_plan_l1_fix_dist: 0.5935, d6.loss_plan_l1_fix_time: 2.6118, d6.loss_plan_l1_fix_dist: 0.6279, d0.loss_cls_all: 0.8133, d0.loss_bbox_all: 0.7877, d0.loss_cls: 0.8133, d0.loss_bbox: 0.7877, d1.loss_cls: 0.8011, d1.loss_bbox: 0.7610, d2.loss_cls: 0.8059, d2.loss_bbox: 0.7507, d3.loss_cls: 0.8021, d3.loss_bbox: 0.7544, d4.loss_cls: 0.8124, d4.loss_bbox: 0.7539, d5.loss_cls: 0.8117, d5.loss_bbox: 0.7537, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5555, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5395, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5299, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5480, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5391, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5472, d0.loss_map_cls_all: 0.4875, d0.loss_map_pts_all: 2.7560, d0.loss_map_dir_all: 0.0369, d0.loss_map_cls: 0.4875, d0.loss_map_pts: 2.7560, d0.loss_map_dir: 0.0369, d1.loss_map_cls: 0.4749, d1.loss_map_pts: 2.2762, d1.loss_map_dir: 0.0369, d2.loss_map_cls: 0.4693, d2.loss_map_pts: 2.2191, d2.loss_map_dir: 0.0370, d3.loss_map_cls: 0.4652, d3.loss_map_pts: 2.2070, d3.loss_map_dir: 0.0370, d4.loss_map_cls: 0.4603, d4.loss_map_pts: 2.1992, d4.loss_map_dir: 0.0370, d5.loss_map_cls: 0.4568, d5.loss_map_pts: 2.1980, d5.loss_map_dir: 0.0371, loss: 68.4047, grad_norm: 159.5116 +2026-02-24 09:31:26,311 - DriveTransformer - INFO - Epoch [1][32750/39528] lr: 1.000e-04, eta: 8 days, 11:09:18, time: 0.803, data_time: 0.037, memory: 19865, loss_cls: 0.8826, loss_bbox: 0.7828, loss_traj: 1.9372, loss_traj_cls: 0.0005, loss_map_cls: 0.4842, loss_map_pts: 2.3413, loss_map_dir: 0.0364, d0.loss_plan_l1_fix_time: 3.1333, d0.loss_plan_l1_fix_dist: 0.4577, d1.loss_plan_l1_fix_time: 2.9578, d1.loss_plan_l1_fix_dist: 0.4652, d2.loss_plan_l1_fix_time: 2.9485, d2.loss_plan_l1_fix_dist: 0.4829, d3.loss_plan_l1_fix_time: 2.9542, d3.loss_plan_l1_fix_dist: 0.5093, d4.loss_plan_l1_fix_time: 2.9627, d4.loss_plan_l1_fix_dist: 0.5326, d5.loss_plan_l1_fix_time: 2.9719, d5.loss_plan_l1_fix_dist: 0.5560, d6.loss_plan_l1_fix_time: 2.9822, d6.loss_plan_l1_fix_dist: 0.5793, d0.loss_cls_all: 0.8713, d0.loss_bbox_all: 0.8251, d0.loss_cls: 0.8713, d0.loss_bbox: 0.8251, d1.loss_cls: 0.8672, d1.loss_bbox: 0.8129, d2.loss_cls: 0.8762, d2.loss_bbox: 0.7849, d3.loss_cls: 0.8780, d3.loss_bbox: 0.7729, d4.loss_cls: 0.8813, d4.loss_bbox: 0.7756, d5.loss_cls: 0.8837, d5.loss_bbox: 0.7833, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0036, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.9459, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.9379, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.9353, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9402, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9393, d0.loss_map_cls_all: 0.5255, d0.loss_map_pts_all: 2.8376, d0.loss_map_dir_all: 0.0364, d0.loss_map_cls: 0.5255, d0.loss_map_pts: 2.8376, d0.loss_map_dir: 0.0364, d1.loss_map_cls: 0.4992, d1.loss_map_pts: 2.4081, d1.loss_map_dir: 0.0363, d2.loss_map_cls: 0.4876, d2.loss_map_pts: 2.3575, d2.loss_map_dir: 0.0363, d3.loss_map_cls: 0.4864, d3.loss_map_pts: 2.3482, d3.loss_map_dir: 0.0363, d4.loss_map_cls: 0.4838, d4.loss_map_pts: 2.3461, d4.loss_map_dir: 0.0364, d5.loss_map_cls: 0.4792, d5.loss_map_pts: 2.3451, d5.loss_map_dir: 0.0364, loss: 75.5952, grad_norm: 159.7201 +2026-02-24 09:32:04,883 - DriveTransformer - INFO - Epoch [1][32800/39528] lr: 1.000e-04, eta: 8 days, 11:08:02, time: 0.773, data_time: 0.045, memory: 19865, loss_cls: 0.8354, loss_bbox: 0.7460, loss_traj: 1.7246, loss_traj_cls: 0.0005, loss_map_cls: 0.4422, loss_map_pts: 2.0948, loss_map_dir: 0.0353, d0.loss_plan_l1_fix_time: 2.8668, d0.loss_plan_l1_fix_dist: 0.4566, d1.loss_plan_l1_fix_time: 2.6997, d1.loss_plan_l1_fix_dist: 0.4560, d2.loss_plan_l1_fix_time: 2.6786, d2.loss_plan_l1_fix_dist: 0.4689, d3.loss_plan_l1_fix_time: 2.6784, d3.loss_plan_l1_fix_dist: 0.4858, d4.loss_plan_l1_fix_time: 2.6846, d4.loss_plan_l1_fix_dist: 0.5120, d5.loss_plan_l1_fix_time: 2.6928, d5.loss_plan_l1_fix_dist: 0.5420, d6.loss_plan_l1_fix_time: 2.7028, d6.loss_plan_l1_fix_dist: 0.5821, d0.loss_cls_all: 0.8189, d0.loss_bbox_all: 0.7960, d0.loss_cls: 0.8189, d0.loss_bbox: 0.7960, d1.loss_cls: 0.8120, d1.loss_bbox: 0.8062, d2.loss_cls: 0.8162, d2.loss_bbox: 0.7808, d3.loss_cls: 0.8219, d3.loss_bbox: 0.7592, d4.loss_cls: 0.8179, d4.loss_bbox: 0.7464, d5.loss_cls: 0.8314, d5.loss_bbox: 0.7444, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7239, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.6958, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6769, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6926, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7023, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7115, d0.loss_map_cls_all: 0.4724, d0.loss_map_pts_all: 2.5337, d0.loss_map_dir_all: 0.0349, d0.loss_map_cls: 0.4724, d0.loss_map_pts: 2.5337, d0.loss_map_dir: 0.0349, d1.loss_map_cls: 0.4530, d1.loss_map_pts: 2.1607, d1.loss_map_dir: 0.0352, d2.loss_map_cls: 0.4498, d2.loss_map_pts: 2.0998, d2.loss_map_dir: 0.0351, d3.loss_map_cls: 0.4446, d3.loss_map_pts: 2.0858, d3.loss_map_dir: 0.0352, d4.loss_map_cls: 0.4417, d4.loss_map_pts: 2.0843, d4.loss_map_dir: 0.0352, d5.loss_map_cls: 0.4408, d5.loss_map_pts: 2.0860, d5.loss_map_dir: 0.0353, loss: 68.7632, grad_norm: 160.3014 +2026-02-24 09:32:44,088 - DriveTransformer - INFO - Epoch [1][32850/39528] lr: 1.000e-04, eta: 8 days, 11:07:01, time: 0.783, data_time: 0.043, memory: 19865, loss_cls: 0.7877, loss_bbox: 0.7405, loss_traj: 1.7923, loss_traj_cls: 0.0005, loss_map_cls: 0.4245, loss_map_pts: 2.0295, loss_map_dir: 0.0311, d0.loss_plan_l1_fix_time: 2.8671, d0.loss_plan_l1_fix_dist: 0.4931, d1.loss_plan_l1_fix_time: 2.6571, d1.loss_plan_l1_fix_dist: 0.4861, d2.loss_plan_l1_fix_time: 2.6244, d2.loss_plan_l1_fix_dist: 0.4977, d3.loss_plan_l1_fix_time: 2.6221, d3.loss_plan_l1_fix_dist: 0.5165, d4.loss_plan_l1_fix_time: 2.6266, d4.loss_plan_l1_fix_dist: 0.5394, d5.loss_plan_l1_fix_time: 2.6345, d5.loss_plan_l1_fix_dist: 0.5672, d6.loss_plan_l1_fix_time: 2.6430, d6.loss_plan_l1_fix_dist: 0.5910, d0.loss_cls_all: 0.7848, d0.loss_bbox_all: 0.7938, d0.loss_cls: 0.7848, d0.loss_bbox: 0.7938, d1.loss_cls: 0.7832, d1.loss_bbox: 0.8038, d2.loss_cls: 0.7846, d2.loss_bbox: 0.7898, d3.loss_cls: 0.7910, d3.loss_bbox: 0.7678, d4.loss_cls: 0.7870, d4.loss_bbox: 0.7525, d5.loss_cls: 0.7880, d5.loss_bbox: 0.7406, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7372, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.7298, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7398, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7562, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7764, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7825, d0.loss_map_cls_all: 0.4369, d0.loss_map_pts_all: 2.5558, d0.loss_map_dir_all: 0.0311, d0.loss_map_cls: 0.4369, d0.loss_map_pts: 2.5558, d0.loss_map_dir: 0.0311, d1.loss_map_cls: 0.4314, d1.loss_map_pts: 2.0904, d1.loss_map_dir: 0.0312, d2.loss_map_cls: 0.4273, d2.loss_map_pts: 2.0403, d2.loss_map_dir: 0.0312, d3.loss_map_cls: 0.4290, d3.loss_map_pts: 2.0309, d3.loss_map_dir: 0.0312, d4.loss_map_cls: 0.4292, d4.loss_map_pts: 2.0286, d4.loss_map_dir: 0.0312, d5.loss_map_cls: 0.4215, d5.loss_map_pts: 2.0280, d5.loss_map_dir: 0.0311, loss: 68.2025, grad_norm: 159.4564 +2026-02-24 09:33:26,291 - DriveTransformer - INFO - Epoch [1][32900/39528] lr: 1.000e-04, eta: 8 days, 11:07:24, time: 0.844, data_time: 0.036, memory: 19865, loss_cls: 0.8422, loss_bbox: 0.7928, loss_traj: 1.6988, loss_traj_cls: 0.0005, loss_map_cls: 0.4616, loss_map_pts: 2.3549, loss_map_dir: 0.0418, d0.loss_plan_l1_fix_time: 2.9746, d0.loss_plan_l1_fix_dist: 0.3832, d1.loss_plan_l1_fix_time: 2.6967, d1.loss_plan_l1_fix_dist: 0.3872, d2.loss_plan_l1_fix_time: 2.6663, d2.loss_plan_l1_fix_dist: 0.4078, d3.loss_plan_l1_fix_time: 2.6663, d3.loss_plan_l1_fix_dist: 0.4402, d4.loss_plan_l1_fix_time: 2.6723, d4.loss_plan_l1_fix_dist: 0.4720, d5.loss_plan_l1_fix_time: 2.6810, d5.loss_plan_l1_fix_dist: 0.5103, d6.loss_plan_l1_fix_time: 2.6914, d6.loss_plan_l1_fix_dist: 0.5527, d0.loss_cls_all: 0.8358, d0.loss_bbox_all: 0.8137, d0.loss_cls: 0.8358, d0.loss_bbox: 0.8137, d1.loss_cls: 0.8303, d1.loss_bbox: 0.8175, d2.loss_cls: 0.8294, d2.loss_bbox: 0.8069, d3.loss_cls: 0.8388, d3.loss_bbox: 0.7931, d4.loss_cls: 0.8341, d4.loss_bbox: 0.7852, d5.loss_cls: 0.8382, d5.loss_bbox: 0.7847, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7007, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.6859, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6744, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6779, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6836, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6842, d0.loss_map_cls_all: 0.4737, d0.loss_map_pts_all: 3.0202, d0.loss_map_dir_all: 0.0405, d0.loss_map_cls: 0.4737, d0.loss_map_pts: 3.0202, d0.loss_map_dir: 0.0405, d1.loss_map_cls: 0.4643, d1.loss_map_pts: 2.4331, d1.loss_map_dir: 0.0414, d2.loss_map_cls: 0.4613, d2.loss_map_pts: 2.3728, d2.loss_map_dir: 0.0414, d3.loss_map_cls: 0.4618, d3.loss_map_pts: 2.3603, d3.loss_map_dir: 0.0417, d4.loss_map_cls: 0.4620, d4.loss_map_pts: 2.3563, d4.loss_map_dir: 0.0418, d5.loss_map_cls: 0.4589, d5.loss_map_pts: 2.3549, d5.loss_map_dir: 0.0418, loss: 71.4243, grad_norm: 160.3136 +2026-02-24 09:34:04,038 - DriveTransformer - INFO - Epoch [1][32950/39528] lr: 1.000e-04, eta: 8 days, 11:05:44, time: 0.755, data_time: 0.041, memory: 19865, loss_cls: 0.8399, loss_bbox: 0.7723, loss_traj: 1.9765, loss_traj_cls: 0.0005, loss_map_cls: 0.5043, loss_map_pts: 2.2065, loss_map_dir: 0.0355, d0.loss_plan_l1_fix_time: 3.1644, d0.loss_plan_l1_fix_dist: 0.5170, d1.loss_plan_l1_fix_time: 2.9277, d1.loss_plan_l1_fix_dist: 0.5166, d2.loss_plan_l1_fix_time: 2.8970, d2.loss_plan_l1_fix_dist: 0.5389, d3.loss_plan_l1_fix_time: 2.8990, d3.loss_plan_l1_fix_dist: 0.5693, d4.loss_plan_l1_fix_time: 2.9049, d4.loss_plan_l1_fix_dist: 0.6054, d5.loss_plan_l1_fix_time: 2.9139, d5.loss_plan_l1_fix_dist: 0.6493, d6.loss_plan_l1_fix_time: 2.9260, d6.loss_plan_l1_fix_dist: 0.7048, d0.loss_cls_all: 0.8364, d0.loss_bbox_all: 0.7855, d0.loss_cls: 0.8364, d0.loss_bbox: 0.7855, d1.loss_cls: 0.8230, d1.loss_bbox: 0.7787, d2.loss_cls: 0.8256, d2.loss_bbox: 0.7677, d3.loss_cls: 0.8298, d3.loss_bbox: 0.7633, d4.loss_cls: 0.8348, d4.loss_bbox: 0.7578, d5.loss_cls: 0.8401, d5.loss_bbox: 0.7622, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9176, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.8936, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9146, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9398, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9457, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9623, d0.loss_map_cls_all: 0.5346, d0.loss_map_pts_all: 2.6075, d0.loss_map_dir_all: 0.0351, d0.loss_map_cls: 0.5346, d0.loss_map_pts: 2.6075, d0.loss_map_dir: 0.0351, d1.loss_map_cls: 0.5191, d1.loss_map_pts: 2.2287, d1.loss_map_dir: 0.0354, d2.loss_map_cls: 0.5126, d2.loss_map_pts: 2.1957, d2.loss_map_dir: 0.0354, d3.loss_map_cls: 0.5069, d3.loss_map_pts: 2.1948, d3.loss_map_dir: 0.0353, d4.loss_map_cls: 0.5045, d4.loss_map_pts: 2.1949, d4.loss_map_dir: 0.0353, d5.loss_map_cls: 0.5014, d5.loss_map_pts: 2.1987, d5.loss_map_dir: 0.0354, loss: 73.9622, grad_norm: 161.4941 +2026-02-24 09:34:44,528 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 09:34:44,528 - DriveTransformer - INFO - Epoch [1][33000/39528] lr: 1.000e-04, eta: 8 days, 11:05:19, time: 0.810, data_time: 0.040, memory: 19865, loss_cls: 0.8650, loss_bbox: 0.7787, loss_traj: 1.6529, loss_traj_cls: 0.0005, loss_map_cls: 0.4563, loss_map_pts: 2.4051, loss_map_dir: 0.0405, d0.loss_plan_l1_fix_time: 3.0326, d0.loss_plan_l1_fix_dist: 0.5532, d1.loss_plan_l1_fix_time: 2.7388, d1.loss_plan_l1_fix_dist: 0.5503, d2.loss_plan_l1_fix_time: 2.6999, d2.loss_plan_l1_fix_dist: 0.5616, d3.loss_plan_l1_fix_time: 2.6989, d3.loss_plan_l1_fix_dist: 0.5792, d4.loss_plan_l1_fix_time: 2.7053, d4.loss_plan_l1_fix_dist: 0.6014, d5.loss_plan_l1_fix_time: 2.7162, d5.loss_plan_l1_fix_dist: 0.6289, d6.loss_plan_l1_fix_time: 2.7293, d6.loss_plan_l1_fix_dist: 0.6649, d0.loss_cls_all: 0.8538, d0.loss_bbox_all: 0.7868, d0.loss_cls: 0.8538, d0.loss_bbox: 0.7868, d1.loss_cls: 0.8454, d1.loss_bbox: 0.7782, d2.loss_cls: 0.8481, d2.loss_bbox: 0.7738, d3.loss_cls: 0.8563, d3.loss_bbox: 0.7720, d4.loss_cls: 0.8528, d4.loss_bbox: 0.7694, d5.loss_cls: 0.8559, d5.loss_bbox: 0.7741, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5556, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.5785, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6001, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6139, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6238, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6417, d0.loss_map_cls_all: 0.4855, d0.loss_map_pts_all: 2.8395, d0.loss_map_dir_all: 0.0392, d0.loss_map_cls: 0.4855, d0.loss_map_pts: 2.8395, d0.loss_map_dir: 0.0392, d1.loss_map_cls: 0.4713, d1.loss_map_pts: 2.4477, d1.loss_map_dir: 0.0400, d2.loss_map_cls: 0.4614, d2.loss_map_pts: 2.4042, d2.loss_map_dir: 0.0402, d3.loss_map_cls: 0.4606, d3.loss_map_pts: 2.3994, d3.loss_map_dir: 0.0402, d4.loss_map_cls: 0.4591, d4.loss_map_pts: 2.3996, d4.loss_map_dir: 0.0403, d5.loss_map_cls: 0.4549, d5.loss_map_pts: 2.4007, d5.loss_map_dir: 0.0404, loss: 71.9720, grad_norm: 161.1171 +2026-02-24 09:35:23,855 - DriveTransformer - INFO - Epoch [1][33050/39528] lr: 1.000e-04, eta: 8 days, 11:04:23, time: 0.787, data_time: 0.039, memory: 19865, loss_cls: 0.8492, loss_bbox: 0.8023, loss_traj: 1.8223, loss_traj_cls: 0.0005, loss_map_cls: 0.4763, loss_map_pts: 2.3070, loss_map_dir: 0.0409, d0.loss_plan_l1_fix_time: 2.8493, d0.loss_plan_l1_fix_dist: 0.3960, d1.loss_plan_l1_fix_time: 2.7197, d1.loss_plan_l1_fix_dist: 0.4011, d2.loss_plan_l1_fix_time: 2.7125, d2.loss_plan_l1_fix_dist: 0.4210, d3.loss_plan_l1_fix_time: 2.7155, d3.loss_plan_l1_fix_dist: 0.4465, d4.loss_plan_l1_fix_time: 2.7221, d4.loss_plan_l1_fix_dist: 0.4748, d5.loss_plan_l1_fix_time: 2.7312, d5.loss_plan_l1_fix_dist: 0.5044, d6.loss_plan_l1_fix_time: 2.7423, d6.loss_plan_l1_fix_dist: 0.5341, d0.loss_cls_all: 0.8609, d0.loss_bbox_all: 0.8226, d0.loss_cls: 0.8609, d0.loss_bbox: 0.8226, d1.loss_cls: 0.8444, d1.loss_bbox: 0.8081, d2.loss_cls: 0.8426, d2.loss_bbox: 0.7985, d3.loss_cls: 0.8431, d3.loss_bbox: 0.7960, d4.loss_cls: 0.8425, d4.loss_bbox: 0.7932, d5.loss_cls: 0.8433, d5.loss_bbox: 0.7985, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8229, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.7863, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7837, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.8017, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7945, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8109, d0.loss_map_cls_all: 0.5114, d0.loss_map_pts_all: 2.8546, d0.loss_map_dir_all: 0.0399, d0.loss_map_cls: 0.5114, d0.loss_map_pts: 2.8546, d0.loss_map_dir: 0.0399, d1.loss_map_cls: 0.4946, d1.loss_map_pts: 2.3661, d1.loss_map_dir: 0.0406, d2.loss_map_cls: 0.4839, d2.loss_map_pts: 2.3154, d2.loss_map_dir: 0.0407, d3.loss_map_cls: 0.4796, d3.loss_map_pts: 2.3095, d3.loss_map_dir: 0.0407, d4.loss_map_cls: 0.4797, d4.loss_map_pts: 2.3079, d4.loss_map_dir: 0.0409, d5.loss_map_cls: 0.4751, d5.loss_map_pts: 2.3058, d5.loss_map_dir: 0.0409, loss: 72.0831, grad_norm: 162.0961 +2026-02-24 09:36:03,719 - DriveTransformer - INFO - Epoch [1][33100/39528] lr: 1.000e-04, eta: 8 days, 11:03:41, time: 0.797, data_time: 0.037, memory: 19865, loss_cls: 0.8207, loss_bbox: 0.7538, loss_traj: 1.4666, loss_traj_cls: 0.0005, loss_map_cls: 0.4635, loss_map_pts: 2.1690, loss_map_dir: 0.0422, d0.loss_plan_l1_fix_time: 2.9713, d0.loss_plan_l1_fix_dist: 0.4755, d1.loss_plan_l1_fix_time: 2.7867, d1.loss_plan_l1_fix_dist: 0.4776, d2.loss_plan_l1_fix_time: 2.7925, d2.loss_plan_l1_fix_dist: 0.4919, d3.loss_plan_l1_fix_time: 2.8036, d3.loss_plan_l1_fix_dist: 0.5101, d4.loss_plan_l1_fix_time: 2.8161, d4.loss_plan_l1_fix_dist: 0.5285, d5.loss_plan_l1_fix_time: 2.8302, d5.loss_plan_l1_fix_dist: 0.5495, d6.loss_plan_l1_fix_time: 2.8466, d6.loss_plan_l1_fix_dist: 0.5742, d0.loss_cls_all: 0.8219, d0.loss_bbox_all: 0.7709, d0.loss_cls: 0.8219, d0.loss_bbox: 0.7709, d1.loss_cls: 0.8119, d1.loss_bbox: 0.7539, d2.loss_cls: 0.8130, d2.loss_bbox: 0.7434, d3.loss_cls: 0.8137, d3.loss_bbox: 0.7399, d4.loss_cls: 0.8226, d4.loss_bbox: 0.7383, d5.loss_cls: 0.8205, d5.loss_bbox: 0.7439, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4481, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.4600, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4522, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4603, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4541, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4655, d0.loss_map_cls_all: 0.5147, d0.loss_map_pts_all: 2.7339, d0.loss_map_dir_all: 0.0412, d0.loss_map_cls: 0.5147, d0.loss_map_pts: 2.7339, d0.loss_map_dir: 0.0412, d1.loss_map_cls: 0.4956, d1.loss_map_pts: 2.2171, d1.loss_map_dir: 0.0419, d2.loss_map_cls: 0.4824, d2.loss_map_pts: 2.1688, d2.loss_map_dir: 0.0420, d3.loss_map_cls: 0.4715, d3.loss_map_pts: 2.1623, d3.loss_map_dir: 0.0421, d4.loss_map_cls: 0.4680, d4.loss_map_pts: 2.1644, d4.loss_map_dir: 0.0421, d5.loss_map_cls: 0.4619, d5.loss_map_pts: 2.1644, d5.loss_map_dir: 0.0422, loss: 68.9476, grad_norm: 164.3496 +2026-02-24 09:36:42,014 - DriveTransformer - INFO - Epoch [1][33150/39528] lr: 1.000e-04, eta: 8 days, 11:02:17, time: 0.766, data_time: 0.041, memory: 19865, loss_cls: 0.8278, loss_bbox: 0.7543, loss_traj: 1.8149, loss_traj_cls: 0.0005, loss_map_cls: 0.4693, loss_map_pts: 2.0983, loss_map_dir: 0.0386, d0.loss_plan_l1_fix_time: 2.5999, d0.loss_plan_l1_fix_dist: 0.4472, d1.loss_plan_l1_fix_time: 2.4294, d1.loss_plan_l1_fix_dist: 0.4524, d2.loss_plan_l1_fix_time: 2.4335, d2.loss_plan_l1_fix_dist: 0.4705, d3.loss_plan_l1_fix_time: 2.4475, d3.loss_plan_l1_fix_dist: 0.4979, d4.loss_plan_l1_fix_time: 2.4611, d4.loss_plan_l1_fix_dist: 0.5303, d5.loss_plan_l1_fix_time: 2.4745, d5.loss_plan_l1_fix_dist: 0.5650, d6.loss_plan_l1_fix_time: 2.4888, d6.loss_plan_l1_fix_dist: 0.6082, d0.loss_cls_all: 0.8291, d0.loss_bbox_all: 0.7844, d0.loss_cls: 0.8291, d0.loss_bbox: 0.7844, d1.loss_cls: 0.8248, d1.loss_bbox: 0.7665, d2.loss_cls: 0.8293, d2.loss_bbox: 0.7536, d3.loss_cls: 0.8284, d3.loss_bbox: 0.7520, d4.loss_cls: 0.8346, d4.loss_bbox: 0.7536, d5.loss_cls: 0.8268, d5.loss_bbox: 0.7523, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7829, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.7833, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7853, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7984, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8057, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8143, d0.loss_map_cls_all: 0.5024, d0.loss_map_pts_all: 2.7123, d0.loss_map_dir_all: 0.0375, d0.loss_map_cls: 0.5024, d0.loss_map_pts: 2.7123, d0.loss_map_dir: 0.0375, d1.loss_map_cls: 0.4892, d1.loss_map_pts: 2.1805, d1.loss_map_dir: 0.0383, d2.loss_map_cls: 0.4790, d2.loss_map_pts: 2.1098, d2.loss_map_dir: 0.0384, d3.loss_map_cls: 0.4723, d3.loss_map_pts: 2.0984, d3.loss_map_dir: 0.0384, d4.loss_map_cls: 0.4704, d4.loss_map_pts: 2.0989, d4.loss_map_dir: 0.0385, d5.loss_map_cls: 0.4658, d5.loss_map_pts: 2.0978, d5.loss_map_dir: 0.0384, loss: 68.4909, grad_norm: 163.1992 +2026-02-24 09:37:22,878 - DriveTransformer - INFO - Epoch [1][33200/39528] lr: 1.000e-04, eta: 8 days, 11:02:03, time: 0.817, data_time: 0.034, memory: 19865, loss_cls: 0.8086, loss_bbox: 0.7487, loss_traj: 1.6585, loss_traj_cls: 0.0006, loss_map_cls: 0.4700, loss_map_pts: 2.1931, loss_map_dir: 0.0372, d0.loss_plan_l1_fix_time: 2.6488, d0.loss_plan_l1_fix_dist: 0.6193, d1.loss_plan_l1_fix_time: 2.6044, d1.loss_plan_l1_fix_dist: 0.6192, d2.loss_plan_l1_fix_time: 2.6420, d2.loss_plan_l1_fix_dist: 0.6403, d3.loss_plan_l1_fix_time: 2.6670, d3.loss_plan_l1_fix_dist: 0.6731, d4.loss_plan_l1_fix_time: 2.6871, d4.loss_plan_l1_fix_dist: 0.7101, d5.loss_plan_l1_fix_time: 2.7046, d5.loss_plan_l1_fix_dist: 0.7456, d6.loss_plan_l1_fix_time: 2.7214, d6.loss_plan_l1_fix_dist: 0.7790, d0.loss_cls_all: 0.8237, d0.loss_bbox_all: 0.7761, d0.loss_cls: 0.8237, d0.loss_bbox: 0.7761, d1.loss_cls: 0.8094, d1.loss_bbox: 0.7616, d2.loss_cls: 0.8046, d2.loss_bbox: 0.7475, d3.loss_cls: 0.8043, d3.loss_bbox: 0.7434, d4.loss_cls: 0.8033, d4.loss_bbox: 0.7454, d5.loss_cls: 0.8059, d5.loss_bbox: 0.7458, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5699, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6027, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.6236, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6422, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6525, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6601, d0.loss_map_cls_all: 0.4908, d0.loss_map_pts_all: 2.9317, d0.loss_map_dir_all: 0.0366, d0.loss_map_cls: 0.4908, d0.loss_map_pts: 2.9317, d0.loss_map_dir: 0.0366, d1.loss_map_cls: 0.4922, d1.loss_map_pts: 2.2372, d1.loss_map_dir: 0.0369, d2.loss_map_cls: 0.4827, d2.loss_map_pts: 2.1990, d2.loss_map_dir: 0.0370, d3.loss_map_cls: 0.4740, d3.loss_map_pts: 2.1992, d3.loss_map_dir: 0.0370, d4.loss_map_cls: 0.4746, d4.loss_map_pts: 2.1975, d4.loss_map_dir: 0.0371, d5.loss_map_cls: 0.4680, d5.loss_map_pts: 2.1981, d5.loss_map_dir: 0.0371, loss: 70.6301, grad_norm: 164.9486 +2026-02-24 09:38:04,316 - DriveTransformer - INFO - Epoch [1][33250/39528] lr: 1.000e-04, eta: 8 days, 11:02:05, time: 0.829, data_time: 0.041, memory: 19865, loss_cls: 0.8141, loss_bbox: 0.7378, loss_traj: 1.4409, loss_traj_cls: 0.0005, loss_map_cls: 0.4686, loss_map_pts: 2.4043, loss_map_dir: 0.0406, d0.loss_plan_l1_fix_time: 2.7412, d0.loss_plan_l1_fix_dist: 0.4918, d1.loss_plan_l1_fix_time: 2.5998, d1.loss_plan_l1_fix_dist: 0.4973, d2.loss_plan_l1_fix_time: 2.6048, d2.loss_plan_l1_fix_dist: 0.5143, d3.loss_plan_l1_fix_time: 2.6184, d3.loss_plan_l1_fix_dist: 0.5354, d4.loss_plan_l1_fix_time: 2.6319, d4.loss_plan_l1_fix_dist: 0.5597, d5.loss_plan_l1_fix_time: 2.6459, d5.loss_plan_l1_fix_dist: 0.5888, d6.loss_plan_l1_fix_time: 2.6604, d6.loss_plan_l1_fix_dist: 0.6251, d0.loss_cls_all: 0.8245, d0.loss_bbox_all: 0.7709, d0.loss_cls: 0.8245, d0.loss_bbox: 0.7709, d1.loss_cls: 0.8016, d1.loss_bbox: 0.7508, d2.loss_cls: 0.7942, d2.loss_bbox: 0.7338, d3.loss_cls: 0.7970, d3.loss_bbox: 0.7293, d4.loss_cls: 0.8069, d4.loss_bbox: 0.7294, d5.loss_cls: 0.8117, d5.loss_bbox: 0.7328, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4887, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4394, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4377, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4435, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4445, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4424, d0.loss_map_cls_all: 0.5029, d0.loss_map_pts_all: 3.0627, d0.loss_map_dir_all: 0.0396, d0.loss_map_cls: 0.5029, d0.loss_map_pts: 3.0627, d0.loss_map_dir: 0.0396, d1.loss_map_cls: 0.4870, d1.loss_map_pts: 2.4706, d1.loss_map_dir: 0.0400, d2.loss_map_cls: 0.4759, d2.loss_map_pts: 2.4089, d2.loss_map_dir: 0.0400, d3.loss_map_cls: 0.4680, d3.loss_map_pts: 2.4059, d3.loss_map_dir: 0.0402, d4.loss_map_cls: 0.4697, d4.loss_map_pts: 2.4018, d4.loss_map_dir: 0.0403, d5.loss_map_cls: 0.4647, d5.loss_map_pts: 2.4035, d5.loss_map_dir: 0.0403, loss: 69.6673, grad_norm: 161.9178 +2026-02-24 09:38:42,778 - DriveTransformer - INFO - Epoch [1][33300/39528] lr: 1.000e-04, eta: 8 days, 11:00:45, time: 0.769, data_time: 0.041, memory: 19865, loss_cls: 0.8367, loss_bbox: 0.8038, loss_traj: 1.9222, loss_traj_cls: 0.0005, loss_map_cls: 0.4956, loss_map_pts: 2.2445, loss_map_dir: 0.0372, d0.loss_plan_l1_fix_time: 3.4279, d0.loss_plan_l1_fix_dist: 0.5317, d1.loss_plan_l1_fix_time: 3.3586, d1.loss_plan_l1_fix_dist: 0.5433, d2.loss_plan_l1_fix_time: 3.3744, d2.loss_plan_l1_fix_dist: 0.5665, d3.loss_plan_l1_fix_time: 3.3900, d3.loss_plan_l1_fix_dist: 0.5972, d4.loss_plan_l1_fix_time: 3.4047, d4.loss_plan_l1_fix_dist: 0.6301, d5.loss_plan_l1_fix_time: 3.4194, d5.loss_plan_l1_fix_dist: 0.6694, d6.loss_plan_l1_fix_time: 3.4354, d6.loss_plan_l1_fix_dist: 0.7159, d0.loss_cls_all: 0.8387, d0.loss_bbox_all: 0.8443, d0.loss_cls: 0.8387, d0.loss_bbox: 0.8443, d1.loss_cls: 0.8198, d1.loss_bbox: 0.8305, d2.loss_cls: 0.8228, d2.loss_bbox: 0.8118, d3.loss_cls: 0.8248, d3.loss_bbox: 0.8063, d4.loss_cls: 0.8267, d4.loss_bbox: 0.8037, d5.loss_cls: 0.8265, d5.loss_bbox: 0.8091, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8246, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.8218, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.8304, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.8545, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.8882, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9034, d0.loss_map_cls_all: 0.5366, d0.loss_map_pts_all: 2.7633, d0.loss_map_dir_all: 0.0367, d0.loss_map_cls: 0.5366, d0.loss_map_pts: 2.7633, d0.loss_map_dir: 0.0367, d1.loss_map_cls: 0.5142, d1.loss_map_pts: 2.2986, d1.loss_map_dir: 0.0369, d2.loss_map_cls: 0.5100, d2.loss_map_pts: 2.2470, d2.loss_map_dir: 0.0369, d3.loss_map_cls: 0.5025, d3.loss_map_pts: 2.2340, d3.loss_map_dir: 0.0369, d4.loss_map_cls: 0.4987, d4.loss_map_pts: 2.2305, d4.loss_map_dir: 0.0370, d5.loss_map_cls: 0.4951, d5.loss_map_pts: 2.2366, d5.loss_map_dir: 0.0371, loss: 77.7049, grad_norm: 163.8531 +2026-02-24 09:39:23,152 - DriveTransformer - INFO - Epoch [1][33350/39528] lr: 1.000e-04, eta: 8 days, 11:00:17, time: 0.807, data_time: 0.046, memory: 19865, loss_cls: 0.8394, loss_bbox: 0.7991, loss_traj: 1.6765, loss_traj_cls: 0.0005, loss_map_cls: 0.4605, loss_map_pts: 2.3767, loss_map_dir: 0.0370, d0.loss_plan_l1_fix_time: 2.7200, d0.loss_plan_l1_fix_dist: 0.5143, d1.loss_plan_l1_fix_time: 2.6324, d1.loss_plan_l1_fix_dist: 0.5117, d2.loss_plan_l1_fix_time: 2.6462, d2.loss_plan_l1_fix_dist: 0.5266, d3.loss_plan_l1_fix_time: 2.6657, d3.loss_plan_l1_fix_dist: 0.5517, d4.loss_plan_l1_fix_time: 2.6875, d4.loss_plan_l1_fix_dist: 0.5807, d5.loss_plan_l1_fix_time: 2.7096, d5.loss_plan_l1_fix_dist: 0.6117, d6.loss_plan_l1_fix_time: 2.7329, d6.loss_plan_l1_fix_dist: 0.6440, d0.loss_cls_all: 0.8332, d0.loss_bbox_all: 0.8230, d0.loss_cls: 0.8332, d0.loss_bbox: 0.8230, d1.loss_cls: 0.8310, d1.loss_bbox: 0.8129, d2.loss_cls: 0.8267, d2.loss_bbox: 0.7974, d3.loss_cls: 0.8248, d3.loss_bbox: 0.7960, d4.loss_cls: 0.8279, d4.loss_bbox: 0.7964, d5.loss_cls: 0.8315, d5.loss_bbox: 0.7984, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6746, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6528, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6506, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6576, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6730, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6727, d0.loss_map_cls_all: 0.4955, d0.loss_map_pts_all: 2.8373, d0.loss_map_dir_all: 0.0364, d0.loss_map_cls: 0.4955, d0.loss_map_pts: 2.8373, d0.loss_map_dir: 0.0364, d1.loss_map_cls: 0.4777, d1.loss_map_pts: 2.3968, d1.loss_map_dir: 0.0366, d2.loss_map_cls: 0.4725, d2.loss_map_pts: 2.3634, d2.loss_map_dir: 0.0367, d3.loss_map_cls: 0.4671, d3.loss_map_pts: 2.3552, d3.loss_map_dir: 0.0367, d4.loss_map_cls: 0.4618, d4.loss_map_pts: 2.3577, d4.loss_map_dir: 0.0368, d5.loss_map_cls: 0.4604, d5.loss_map_pts: 2.3660, d5.loss_map_dir: 0.0369, loss: 71.4657, grad_norm: 163.3254 +2026-02-24 09:40:01,670 - DriveTransformer - INFO - Epoch [1][33400/39528] lr: 1.000e-04, eta: 8 days, 10:58:59, time: 0.770, data_time: 0.035, memory: 19865, loss_cls: 0.8532, loss_bbox: 0.7535, loss_traj: 1.7532, loss_traj_cls: 0.0005, loss_map_cls: 0.4756, loss_map_pts: 2.2405, loss_map_dir: 0.0383, d0.loss_plan_l1_fix_time: 3.0063, d0.loss_plan_l1_fix_dist: 0.5950, d1.loss_plan_l1_fix_time: 2.8391, d1.loss_plan_l1_fix_dist: 0.6343, d2.loss_plan_l1_fix_time: 2.8262, d2.loss_plan_l1_fix_dist: 0.6714, d3.loss_plan_l1_fix_time: 2.8328, d3.loss_plan_l1_fix_dist: 0.7097, d4.loss_plan_l1_fix_time: 2.8427, d4.loss_plan_l1_fix_dist: 0.7522, d5.loss_plan_l1_fix_time: 2.8548, d5.loss_plan_l1_fix_dist: 0.7999, d6.loss_plan_l1_fix_time: 2.8692, d6.loss_plan_l1_fix_dist: 0.8601, d0.loss_cls_all: 0.8518, d0.loss_bbox_all: 0.7681, d0.loss_cls: 0.8518, d0.loss_bbox: 0.7681, d1.loss_cls: 0.8479, d1.loss_bbox: 0.7646, d2.loss_cls: 0.8447, d2.loss_bbox: 0.7533, d3.loss_cls: 0.8438, d3.loss_bbox: 0.7529, d4.loss_cls: 0.8441, d4.loss_bbox: 0.7561, d5.loss_cls: 0.8479, d5.loss_bbox: 0.7519, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7378, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7186, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6963, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7184, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7197, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7315, d0.loss_map_cls_all: 0.5010, d0.loss_map_pts_all: 2.8539, d0.loss_map_dir_all: 0.0371, d0.loss_map_cls: 0.5010, d0.loss_map_pts: 2.8539, d0.loss_map_dir: 0.0371, d1.loss_map_cls: 0.4896, d1.loss_map_pts: 2.3126, d1.loss_map_dir: 0.0380, d2.loss_map_cls: 0.4806, d2.loss_map_pts: 2.2724, d2.loss_map_dir: 0.0380, d3.loss_map_cls: 0.4820, d3.loss_map_pts: 2.2550, d3.loss_map_dir: 0.0381, d4.loss_map_cls: 0.4805, d4.loss_map_pts: 2.2464, d4.loss_map_dir: 0.0382, d5.loss_map_cls: 0.4742, d5.loss_map_pts: 2.2419, d5.loss_map_dir: 0.0382, loss: 73.4916, grad_norm: 164.1392 +2026-02-24 09:40:40,913 - DriveTransformer - INFO - Epoch [1][33450/39528] lr: 1.000e-04, eta: 8 days, 10:58:00, time: 0.785, data_time: 0.039, memory: 19865, loss_cls: 0.8466, loss_bbox: 0.7862, loss_traj: 1.8691, loss_traj_cls: 0.0005, loss_map_cls: 0.5002, loss_map_pts: 2.2372, loss_map_dir: 0.0367, d0.loss_plan_l1_fix_time: 3.1891, d0.loss_plan_l1_fix_dist: 0.5069, d1.loss_plan_l1_fix_time: 2.9562, d1.loss_plan_l1_fix_dist: 0.5254, d2.loss_plan_l1_fix_time: 2.9294, d2.loss_plan_l1_fix_dist: 0.5616, d3.loss_plan_l1_fix_time: 2.9344, d3.loss_plan_l1_fix_dist: 0.6061, d4.loss_plan_l1_fix_time: 2.9440, d4.loss_plan_l1_fix_dist: 0.6533, d5.loss_plan_l1_fix_time: 2.9570, d5.loss_plan_l1_fix_dist: 0.7026, d6.loss_plan_l1_fix_time: 2.9718, d6.loss_plan_l1_fix_dist: 0.7580, d0.loss_cls_all: 0.8108, d0.loss_bbox_all: 0.7890, d0.loss_cls: 0.8108, d0.loss_bbox: 0.7890, d1.loss_cls: 0.8183, d1.loss_bbox: 0.7908, d2.loss_cls: 0.8224, d2.loss_bbox: 0.7841, d3.loss_cls: 0.8290, d3.loss_bbox: 0.7842, d4.loss_cls: 0.8330, d4.loss_bbox: 0.7886, d5.loss_cls: 0.8385, d5.loss_bbox: 0.7875, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8715, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.8376, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.8196, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8390, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8486, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8510, d0.loss_map_cls_all: 0.5300, d0.loss_map_pts_all: 2.7844, d0.loss_map_dir_all: 0.0356, d0.loss_map_cls: 0.5300, d0.loss_map_pts: 2.7844, d0.loss_map_dir: 0.0356, d1.loss_map_cls: 0.5134, d1.loss_map_pts: 2.3011, d1.loss_map_dir: 0.0363, d2.loss_map_cls: 0.5023, d2.loss_map_pts: 2.2457, d2.loss_map_dir: 0.0364, d3.loss_map_cls: 0.4997, d3.loss_map_pts: 2.2329, d3.loss_map_dir: 0.0365, d4.loss_map_cls: 0.5011, d4.loss_map_pts: 2.2284, d4.loss_map_dir: 0.0366, d5.loss_map_cls: 0.4958, d5.loss_map_pts: 2.2330, d5.loss_map_dir: 0.0366, loss: 74.4552, grad_norm: 170.7608 +2026-02-24 09:41:19,640 - DriveTransformer - INFO - Epoch [1][33500/39528] lr: 1.000e-04, eta: 8 days, 10:56:48, time: 0.775, data_time: 0.037, memory: 19865, loss_cls: 0.8887, loss_bbox: 0.8164, loss_traj: 1.9066, loss_traj_cls: 0.0005, loss_map_cls: 0.4989, loss_map_pts: 2.4188, loss_map_dir: 0.0361, d0.loss_plan_l1_fix_time: 3.1574, d0.loss_plan_l1_fix_dist: 0.4785, d1.loss_plan_l1_fix_time: 2.9885, d1.loss_plan_l1_fix_dist: 0.4937, d2.loss_plan_l1_fix_time: 2.9790, d2.loss_plan_l1_fix_dist: 0.5387, d3.loss_plan_l1_fix_time: 2.9842, d3.loss_plan_l1_fix_dist: 0.5868, d4.loss_plan_l1_fix_time: 2.9938, d4.loss_plan_l1_fix_dist: 0.6365, d5.loss_plan_l1_fix_time: 3.0072, d5.loss_plan_l1_fix_dist: 0.6850, d6.loss_plan_l1_fix_time: 3.0229, d6.loss_plan_l1_fix_dist: 0.7241, d0.loss_cls_all: 0.8580, d0.loss_bbox_all: 0.8241, d0.loss_cls: 0.8580, d0.loss_bbox: 0.8241, d1.loss_cls: 0.8657, d1.loss_bbox: 0.8340, d2.loss_cls: 0.8693, d2.loss_bbox: 0.8268, d3.loss_cls: 0.8727, d3.loss_bbox: 0.8213, d4.loss_cls: 0.8753, d4.loss_bbox: 0.8244, d5.loss_cls: 0.8817, d5.loss_bbox: 0.8235, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8714, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.8762, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.8940, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9023, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9069, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8952, d0.loss_map_cls_all: 0.5307, d0.loss_map_pts_all: 2.8557, d0.loss_map_dir_all: 0.0354, d0.loss_map_cls: 0.5307, d0.loss_map_pts: 2.8557, d0.loss_map_dir: 0.0354, d1.loss_map_cls: 0.5052, d1.loss_map_pts: 2.4567, d1.loss_map_dir: 0.0358, d2.loss_map_cls: 0.5038, d2.loss_map_pts: 2.4259, d2.loss_map_dir: 0.0358, d3.loss_map_cls: 0.4977, d3.loss_map_pts: 2.4186, d3.loss_map_dir: 0.0359, d4.loss_map_cls: 0.4977, d4.loss_map_pts: 2.4162, d4.loss_map_dir: 0.0359, d5.loss_map_cls: 0.4977, d5.loss_map_pts: 2.4173, d5.loss_map_dir: 0.0359, loss: 76.7105, grad_norm: 171.7812 +2026-02-24 09:41:58,237 - DriveTransformer - INFO - Epoch [1][33550/39528] lr: 1.000e-04, eta: 8 days, 10:55:32, time: 0.772, data_time: 0.040, memory: 19865, loss_cls: 0.8516, loss_bbox: 0.7595, loss_traj: 2.1010, loss_traj_cls: 0.0005, loss_map_cls: 0.4629, loss_map_pts: 2.0686, loss_map_dir: 0.0348, d0.loss_plan_l1_fix_time: 2.9928, d0.loss_plan_l1_fix_dist: 0.5734, d1.loss_plan_l1_fix_time: 2.7556, d1.loss_plan_l1_fix_dist: 0.5942, d2.loss_plan_l1_fix_time: 2.7232, d2.loss_plan_l1_fix_dist: 0.6228, d3.loss_plan_l1_fix_time: 2.7236, d3.loss_plan_l1_fix_dist: 0.6569, d4.loss_plan_l1_fix_time: 2.7323, d4.loss_plan_l1_fix_dist: 0.6936, d5.loss_plan_l1_fix_time: 2.7441, d5.loss_plan_l1_fix_dist: 0.7319, d6.loss_plan_l1_fix_time: 2.7587, d6.loss_plan_l1_fix_dist: 0.7762, d0.loss_cls_all: 0.8411, d0.loss_bbox_all: 0.7607, d0.loss_cls: 0.8411, d0.loss_bbox: 0.7607, d1.loss_cls: 0.8360, d1.loss_bbox: 0.7727, d2.loss_cls: 0.8401, d2.loss_bbox: 0.7599, d3.loss_cls: 0.8442, d3.loss_bbox: 0.7616, d4.loss_cls: 0.8454, d4.loss_bbox: 0.7599, d5.loss_cls: 0.8462, d5.loss_bbox: 0.7611, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0766, d1.loss_traj_cls: 0.0008, d1.loss_traj: 2.0742, d2.loss_traj_cls: 0.0007, d2.loss_traj: 2.0682, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0974, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0986, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0952, d0.loss_map_cls_all: 0.4996, d0.loss_map_pts_all: 2.6205, d0.loss_map_dir_all: 0.0340, d0.loss_map_cls: 0.4996, d0.loss_map_pts: 2.6205, d0.loss_map_dir: 0.0340, d1.loss_map_cls: 0.4839, d1.loss_map_pts: 2.1264, d1.loss_map_dir: 0.0344, d2.loss_map_cls: 0.4735, d2.loss_map_pts: 2.0832, d2.loss_map_dir: 0.0345, d3.loss_map_cls: 0.4678, d3.loss_map_pts: 2.0759, d3.loss_map_dir: 0.0346, d4.loss_map_cls: 0.4667, d4.loss_map_pts: 2.0688, d4.loss_map_dir: 0.0347, d5.loss_map_cls: 0.4613, d5.loss_map_pts: 2.0706, d5.loss_map_dir: 0.0347, loss: 73.3618, grad_norm: 172.5152 +2026-02-24 09:42:38,690 - DriveTransformer - INFO - Epoch [1][33600/39528] lr: 1.000e-04, eta: 8 days, 10:55:08, time: 0.810, data_time: 0.041, memory: 19865, loss_cls: 0.8586, loss_bbox: 0.7509, loss_traj: 1.7699, loss_traj_cls: 0.0005, loss_map_cls: 0.4828, loss_map_pts: 2.1639, loss_map_dir: 0.0370, d0.loss_plan_l1_fix_time: 3.2524, d0.loss_plan_l1_fix_dist: 0.4782, d1.loss_plan_l1_fix_time: 3.0397, d1.loss_plan_l1_fix_dist: 0.5086, d2.loss_plan_l1_fix_time: 3.0093, d2.loss_plan_l1_fix_dist: 0.5503, d3.loss_plan_l1_fix_time: 3.0141, d3.loss_plan_l1_fix_dist: 0.6016, d4.loss_plan_l1_fix_time: 3.0265, d4.loss_plan_l1_fix_dist: 0.6588, d5.loss_plan_l1_fix_time: 3.0410, d5.loss_plan_l1_fix_dist: 0.7160, d6.loss_plan_l1_fix_time: 3.0570, d6.loss_plan_l1_fix_dist: 0.7862, d0.loss_cls_all: 0.8461, d0.loss_bbox_all: 0.7676, d0.loss_cls: 0.8461, d0.loss_bbox: 0.7676, d1.loss_cls: 0.8385, d1.loss_bbox: 0.7760, d2.loss_cls: 0.8404, d2.loss_bbox: 0.7579, d3.loss_cls: 0.8424, d3.loss_bbox: 0.7628, d4.loss_cls: 0.8478, d4.loss_bbox: 0.7549, d5.loss_cls: 0.8512, d5.loss_bbox: 0.7528, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8019, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.7748, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.7637, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7651, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7636, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7665, d0.loss_map_cls_all: 0.5103, d0.loss_map_pts_all: 2.6421, d0.loss_map_dir_all: 0.0361, d0.loss_map_cls: 0.5103, d0.loss_map_pts: 2.6421, d0.loss_map_dir: 0.0361, d1.loss_map_cls: 0.5039, d1.loss_map_pts: 2.2136, d1.loss_map_dir: 0.0365, d2.loss_map_cls: 0.4879, d2.loss_map_pts: 2.1715, d2.loss_map_dir: 0.0366, d3.loss_map_cls: 0.4813, d3.loss_map_pts: 2.1616, d3.loss_map_dir: 0.0367, d4.loss_map_cls: 0.4812, d4.loss_map_pts: 2.1584, d4.loss_map_dir: 0.0368, d5.loss_map_cls: 0.4808, d5.loss_map_pts: 2.1621, d5.loss_map_dir: 0.0368, loss: 73.5571, grad_norm: 174.0284 +2026-02-24 09:43:18,541 - DriveTransformer - INFO - Epoch [1][33650/39528] lr: 1.000e-04, eta: 8 days, 10:54:25, time: 0.796, data_time: 0.038, memory: 19865, loss_cls: 0.8325, loss_bbox: 0.7413, loss_traj: 1.4925, loss_traj_cls: 0.0005, loss_map_cls: 0.4647, loss_map_pts: 2.1946, loss_map_dir: 0.0374, d0.loss_plan_l1_fix_time: 2.8795, d0.loss_plan_l1_fix_dist: 0.4991, d1.loss_plan_l1_fix_time: 2.7893, d1.loss_plan_l1_fix_dist: 0.5076, d2.loss_plan_l1_fix_time: 2.7972, d2.loss_plan_l1_fix_dist: 0.5351, d3.loss_plan_l1_fix_time: 2.8107, d3.loss_plan_l1_fix_dist: 0.5644, d4.loss_plan_l1_fix_time: 2.8252, d4.loss_plan_l1_fix_dist: 0.5985, d5.loss_plan_l1_fix_time: 2.8395, d5.loss_plan_l1_fix_dist: 0.6368, d6.loss_plan_l1_fix_time: 2.8526, d6.loss_plan_l1_fix_dist: 0.6819, d0.loss_cls_all: 0.8202, d0.loss_bbox_all: 0.7406, d0.loss_cls: 0.8202, d0.loss_bbox: 0.7406, d1.loss_cls: 0.8119, d1.loss_bbox: 0.7451, d2.loss_cls: 0.8068, d2.loss_bbox: 0.7323, d3.loss_cls: 0.8108, d3.loss_bbox: 0.7424, d4.loss_cls: 0.8224, d4.loss_bbox: 0.7361, d5.loss_cls: 0.8260, d5.loss_bbox: 0.7380, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5115, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4756, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4953, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4945, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4961, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4875, d0.loss_map_cls_all: 0.5044, d0.loss_map_pts_all: 2.8113, d0.loss_map_dir_all: 0.0366, d0.loss_map_cls: 0.5044, d0.loss_map_pts: 2.8113, d0.loss_map_dir: 0.0366, d1.loss_map_cls: 0.4917, d1.loss_map_pts: 2.2396, d1.loss_map_dir: 0.0370, d2.loss_map_cls: 0.4820, d2.loss_map_pts: 2.1940, d2.loss_map_dir: 0.0371, d3.loss_map_cls: 0.4645, d3.loss_map_pts: 2.1858, d3.loss_map_dir: 0.0373, d4.loss_map_cls: 0.4645, d4.loss_map_pts: 2.1838, d4.loss_map_dir: 0.0373, d5.loss_map_cls: 0.4622, d5.loss_map_pts: 2.1857, d5.loss_map_dir: 0.0374, loss: 69.6834, grad_norm: 174.7265 +2026-02-24 09:43:56,608 - DriveTransformer - INFO - Epoch [1][33700/39528] lr: 1.000e-04, eta: 8 days, 10:52:55, time: 0.761, data_time: 0.044, memory: 19865, loss_cls: 0.8548, loss_bbox: 0.8089, loss_traj: 2.1727, loss_traj_cls: 0.0005, loss_map_cls: 0.5061, loss_map_pts: 2.0630, loss_map_dir: 0.0305, d0.loss_plan_l1_fix_time: 3.3244, d0.loss_plan_l1_fix_dist: 0.4613, d1.loss_plan_l1_fix_time: 3.1362, d1.loss_plan_l1_fix_dist: 0.4742, d2.loss_plan_l1_fix_time: 3.1137, d2.loss_plan_l1_fix_dist: 0.5024, d3.loss_plan_l1_fix_time: 3.1173, d3.loss_plan_l1_fix_dist: 0.5373, d4.loss_plan_l1_fix_time: 3.1257, d4.loss_plan_l1_fix_dist: 0.5757, d5.loss_plan_l1_fix_time: 3.1368, d5.loss_plan_l1_fix_dist: 0.6188, d6.loss_plan_l1_fix_time: 3.1490, d6.loss_plan_l1_fix_dist: 0.6634, d0.loss_cls_all: 0.8496, d0.loss_bbox_all: 0.8200, d0.loss_cls: 0.8496, d0.loss_bbox: 0.8200, d1.loss_cls: 0.8473, d1.loss_bbox: 0.8203, d2.loss_cls: 0.8431, d2.loss_bbox: 0.8148, d3.loss_cls: 0.8457, d3.loss_bbox: 0.8259, d4.loss_cls: 0.8501, d4.loss_bbox: 0.8175, d5.loss_cls: 0.8525, d5.loss_bbox: 0.8106, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.1483, d1.loss_traj_cls: 0.0009, d1.loss_traj: 2.1520, d2.loss_traj_cls: 0.0007, d2.loss_traj: 2.1636, d3.loss_traj_cls: 0.0007, d3.loss_traj: 2.1661, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.1558, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.1634, d0.loss_map_cls_all: 0.5370, d0.loss_map_pts_all: 2.5148, d0.loss_map_dir_all: 0.0299, d0.loss_map_cls: 0.5370, d0.loss_map_pts: 2.5148, d0.loss_map_dir: 0.0299, d1.loss_map_cls: 0.5220, d1.loss_map_pts: 2.1073, d1.loss_map_dir: 0.0303, d2.loss_map_cls: 0.5104, d2.loss_map_pts: 2.0711, d2.loss_map_dir: 0.0303, d3.loss_map_cls: 0.5053, d3.loss_map_pts: 2.0646, d3.loss_map_dir: 0.0303, d4.loss_map_cls: 0.5052, d4.loss_map_pts: 2.0611, d4.loss_map_dir: 0.0304, d5.loss_map_cls: 0.5044, d5.loss_map_pts: 2.0593, d5.loss_map_dir: 0.0305, loss: 76.2185, grad_norm: 169.7333 +2026-02-24 09:44:37,672 - DriveTransformer - INFO - Epoch [1][33750/39528] lr: 1.000e-04, eta: 8 days, 10:52:46, time: 0.821, data_time: 0.048, memory: 19865, loss_cls: 0.8207, loss_bbox: 0.7799, loss_traj: 1.7962, loss_traj_cls: 0.0005, loss_map_cls: 0.4911, loss_map_pts: 2.2858, loss_map_dir: 0.0393, d0.loss_plan_l1_fix_time: 3.1827, d0.loss_plan_l1_fix_dist: 0.4298, d1.loss_plan_l1_fix_time: 3.0375, d1.loss_plan_l1_fix_dist: 0.4350, d2.loss_plan_l1_fix_time: 3.0300, d2.loss_plan_l1_fix_dist: 0.4701, d3.loss_plan_l1_fix_time: 3.0345, d3.loss_plan_l1_fix_dist: 0.5187, d4.loss_plan_l1_fix_time: 3.0430, d4.loss_plan_l1_fix_dist: 0.5728, d5.loss_plan_l1_fix_time: 3.0550, d5.loss_plan_l1_fix_dist: 0.6247, d6.loss_plan_l1_fix_time: 3.0703, d6.loss_plan_l1_fix_dist: 0.6762, d0.loss_cls_all: 0.8459, d0.loss_bbox_all: 0.7947, d0.loss_cls: 0.8459, d0.loss_bbox: 0.7947, d1.loss_cls: 0.8335, d1.loss_bbox: 0.7827, d2.loss_cls: 0.8172, d2.loss_bbox: 0.7810, d3.loss_cls: 0.8165, d3.loss_bbox: 0.7846, d4.loss_cls: 0.8187, d4.loss_bbox: 0.7826, d5.loss_cls: 0.8211, d5.loss_bbox: 0.7733, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7982, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.7826, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7690, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7742, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7774, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7877, d0.loss_map_cls_all: 0.5062, d0.loss_map_pts_all: 2.9525, d0.loss_map_dir_all: 0.0378, d0.loss_map_cls: 0.5062, d0.loss_map_pts: 2.9525, d0.loss_map_dir: 0.0378, d1.loss_map_cls: 0.4985, d1.loss_map_pts: 2.3517, d1.loss_map_dir: 0.0388, d2.loss_map_cls: 0.4879, d2.loss_map_pts: 2.2950, d2.loss_map_dir: 0.0388, d3.loss_map_cls: 0.4875, d3.loss_map_pts: 2.2821, d3.loss_map_dir: 0.0390, d4.loss_map_cls: 0.4889, d4.loss_map_pts: 2.2768, d4.loss_map_dir: 0.0390, d5.loss_map_cls: 0.4863, d5.loss_map_pts: 2.2791, d5.loss_map_dir: 0.0391, loss: 74.5006, grad_norm: 171.4245 +2026-02-24 09:45:18,112 - DriveTransformer - INFO - Epoch [1][33800/39528] lr: 1.000e-04, eta: 8 days, 10:52:20, time: 0.809, data_time: 0.041, memory: 19865, loss_cls: 0.8704, loss_bbox: 0.8175, loss_traj: 1.6567, loss_traj_cls: 0.0005, loss_map_cls: 0.4828, loss_map_pts: 2.2200, loss_map_dir: 0.0352, d0.loss_plan_l1_fix_time: 3.3113, d0.loss_plan_l1_fix_dist: 0.5061, d1.loss_plan_l1_fix_time: 3.1213, d1.loss_plan_l1_fix_dist: 0.5173, d2.loss_plan_l1_fix_time: 3.1100, d2.loss_plan_l1_fix_dist: 0.5435, d3.loss_plan_l1_fix_time: 3.1161, d3.loss_plan_l1_fix_dist: 0.5782, d4.loss_plan_l1_fix_time: 3.1280, d4.loss_plan_l1_fix_dist: 0.6182, d5.loss_plan_l1_fix_time: 3.1420, d5.loss_plan_l1_fix_dist: 0.6544, d6.loss_plan_l1_fix_time: 3.1570, d6.loss_plan_l1_fix_dist: 0.6973, d0.loss_cls_all: 0.8862, d0.loss_bbox_all: 0.8146, d0.loss_cls: 0.8862, d0.loss_bbox: 0.8146, d1.loss_cls: 0.8712, d1.loss_bbox: 0.8067, d2.loss_cls: 0.8607, d2.loss_bbox: 0.7983, d3.loss_cls: 0.8566, d3.loss_bbox: 0.8017, d4.loss_cls: 0.8661, d4.loss_bbox: 0.8106, d5.loss_cls: 0.8659, d5.loss_bbox: 0.8083, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6714, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.6495, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6530, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6564, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6631, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6577, d0.loss_map_cls_all: 0.5066, d0.loss_map_pts_all: 2.7952, d0.loss_map_dir_all: 0.0341, d0.loss_map_cls: 0.5066, d0.loss_map_pts: 2.7952, d0.loss_map_dir: 0.0341, d1.loss_map_cls: 0.4951, d1.loss_map_pts: 2.2518, d1.loss_map_dir: 0.0349, d2.loss_map_cls: 0.4844, d2.loss_map_pts: 2.2008, d2.loss_map_dir: 0.0348, d3.loss_map_cls: 0.4742, d3.loss_map_pts: 2.1898, d3.loss_map_dir: 0.0350, d4.loss_map_cls: 0.4766, d4.loss_map_pts: 2.1967, d4.loss_map_dir: 0.0351, d5.loss_map_cls: 0.4782, d5.loss_map_pts: 2.2077, d5.loss_map_dir: 0.0351, loss: 74.2877, grad_norm: 170.8686 +2026-02-24 09:45:59,049 - DriveTransformer - INFO - Epoch [1][33850/39528] lr: 1.000e-04, eta: 8 days, 10:52:08, time: 0.819, data_time: 0.039, memory: 19865, loss_cls: 0.8768, loss_bbox: 0.8072, loss_traj: 1.6512, loss_traj_cls: 0.0005, loss_map_cls: 0.4583, loss_map_pts: 2.3242, loss_map_dir: 0.0381, d0.loss_plan_l1_fix_time: 3.1928, d0.loss_plan_l1_fix_dist: 0.4730, d1.loss_plan_l1_fix_time: 3.0403, d1.loss_plan_l1_fix_dist: 0.4941, d2.loss_plan_l1_fix_time: 3.0368, d2.loss_plan_l1_fix_dist: 0.5288, d3.loss_plan_l1_fix_time: 3.0460, d3.loss_plan_l1_fix_dist: 0.5578, d4.loss_plan_l1_fix_time: 3.0579, d4.loss_plan_l1_fix_dist: 0.5915, d5.loss_plan_l1_fix_time: 3.0699, d5.loss_plan_l1_fix_dist: 0.6314, d6.loss_plan_l1_fix_time: 3.0822, d6.loss_plan_l1_fix_dist: 0.6721, d0.loss_cls_all: 0.8892, d0.loss_bbox_all: 0.8191, d0.loss_cls: 0.8892, d0.loss_bbox: 0.8191, d1.loss_cls: 0.8706, d1.loss_bbox: 0.8122, d2.loss_cls: 0.8613, d2.loss_bbox: 0.7993, d3.loss_cls: 0.8616, d3.loss_bbox: 0.8006, d4.loss_cls: 0.8713, d4.loss_bbox: 0.8120, d5.loss_cls: 0.8735, d5.loss_bbox: 0.8065, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6169, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.6132, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6213, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6316, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6386, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6422, d0.loss_map_cls_all: 0.4933, d0.loss_map_pts_all: 2.9915, d0.loss_map_dir_all: 0.0371, d0.loss_map_cls: 0.4933, d0.loss_map_pts: 2.9915, d0.loss_map_dir: 0.0371, d1.loss_map_cls: 0.4745, d1.loss_map_pts: 2.4034, d1.loss_map_dir: 0.0377, d2.loss_map_cls: 0.4655, d2.loss_map_pts: 2.3335, d2.loss_map_dir: 0.0378, d3.loss_map_cls: 0.4537, d3.loss_map_pts: 2.3193, d3.loss_map_dir: 0.0378, d4.loss_map_cls: 0.4555, d4.loss_map_pts: 2.3184, d4.loss_map_dir: 0.0379, d5.loss_map_cls: 0.4529, d5.loss_map_pts: 2.3237, d5.loss_map_dir: 0.0380, loss: 74.4170, grad_norm: 171.0884 +2026-02-24 09:46:39,276 - DriveTransformer - INFO - Epoch [1][33900/39528] lr: 1.000e-04, eta: 8 days, 10:51:36, time: 0.805, data_time: 0.037, memory: 19865, loss_cls: 0.8377, loss_bbox: 0.7511, loss_traj: 1.5983, loss_traj_cls: 0.0004, loss_map_cls: 0.4829, loss_map_pts: 2.1836, loss_map_dir: 0.0372, d0.loss_plan_l1_fix_time: 3.1414, d0.loss_plan_l1_fix_dist: 0.4573, d1.loss_plan_l1_fix_time: 2.9118, d1.loss_plan_l1_fix_dist: 0.4647, d2.loss_plan_l1_fix_time: 2.8785, d2.loss_plan_l1_fix_dist: 0.4893, d3.loss_plan_l1_fix_time: 2.8779, d3.loss_plan_l1_fix_dist: 0.5219, d4.loss_plan_l1_fix_time: 2.8832, d4.loss_plan_l1_fix_dist: 0.5569, d5.loss_plan_l1_fix_time: 2.8911, d5.loss_plan_l1_fix_dist: 0.5917, d6.loss_plan_l1_fix_time: 2.9007, d6.loss_plan_l1_fix_dist: 0.6210, d0.loss_cls_all: 0.8369, d0.loss_bbox_all: 0.7771, d0.loss_cls: 0.8369, d0.loss_bbox: 0.7771, d1.loss_cls: 0.8252, d1.loss_bbox: 0.7809, d2.loss_cls: 0.8377, d2.loss_bbox: 0.7617, d3.loss_cls: 0.8416, d3.loss_bbox: 0.7517, d4.loss_cls: 0.8325, d4.loss_bbox: 0.7559, d5.loss_cls: 0.8368, d5.loss_bbox: 0.7557, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6232, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.5961, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.5872, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5935, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6006, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5993, d0.loss_map_cls_all: 0.5111, d0.loss_map_pts_all: 2.7673, d0.loss_map_dir_all: 0.0361, d0.loss_map_cls: 0.5111, d0.loss_map_pts: 2.7673, d0.loss_map_dir: 0.0361, d1.loss_map_cls: 0.5005, d1.loss_map_pts: 2.2423, d1.loss_map_dir: 0.0368, d2.loss_map_cls: 0.4896, d2.loss_map_pts: 2.1893, d2.loss_map_dir: 0.0368, d3.loss_map_cls: 0.4880, d3.loss_map_pts: 2.1812, d3.loss_map_dir: 0.0368, d4.loss_map_cls: 0.4856, d4.loss_map_pts: 2.1794, d4.loss_map_dir: 0.0370, d5.loss_map_cls: 0.4818, d5.loss_map_pts: 2.1798, d5.loss_map_dir: 0.0370, loss: 71.1208, grad_norm: 170.5302 +2026-02-24 09:47:17,472 - DriveTransformer - INFO - Epoch [1][33950/39528] lr: 1.000e-04, eta: 8 days, 10:50:10, time: 0.764, data_time: 0.041, memory: 19865, loss_cls: 0.8572, loss_bbox: 0.8156, loss_traj: 2.1951, loss_traj_cls: 0.0004, loss_map_cls: 0.5129, loss_map_pts: 2.3683, loss_map_dir: 0.0377, d0.loss_plan_l1_fix_time: 3.3564, d0.loss_plan_l1_fix_dist: 0.5237, d1.loss_plan_l1_fix_time: 3.1191, d1.loss_plan_l1_fix_dist: 0.5275, d2.loss_plan_l1_fix_time: 3.0919, d2.loss_plan_l1_fix_dist: 0.5526, d3.loss_plan_l1_fix_time: 3.0925, d3.loss_plan_l1_fix_dist: 0.5846, d4.loss_plan_l1_fix_time: 3.0990, d4.loss_plan_l1_fix_dist: 0.6209, d5.loss_plan_l1_fix_time: 3.1090, d5.loss_plan_l1_fix_dist: 0.6619, d6.loss_plan_l1_fix_time: 3.1234, d6.loss_plan_l1_fix_dist: 0.7113, d0.loss_cls_all: 0.8563, d0.loss_bbox_all: 0.8509, d0.loss_cls: 0.8563, d0.loss_bbox: 0.8509, d1.loss_cls: 0.8557, d1.loss_bbox: 0.8672, d2.loss_cls: 0.8574, d2.loss_bbox: 0.8559, d3.loss_cls: 0.8595, d3.loss_bbox: 0.8458, d4.loss_cls: 0.8571, d4.loss_bbox: 0.8264, d5.loss_cls: 0.8584, d5.loss_bbox: 0.8189, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.1976, d1.loss_traj_cls: 0.0008, d1.loss_traj: 2.1640, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1542, d3.loss_traj_cls: 0.0007, d3.loss_traj: 2.1542, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.1648, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1730, d0.loss_map_cls_all: 0.5351, d0.loss_map_pts_all: 2.7781, d0.loss_map_dir_all: 0.0368, d0.loss_map_cls: 0.5351, d0.loss_map_pts: 2.7781, d0.loss_map_dir: 0.0368, d1.loss_map_cls: 0.5205, d1.loss_map_pts: 2.4180, d1.loss_map_dir: 0.0372, d2.loss_map_cls: 0.5100, d2.loss_map_pts: 2.3733, d2.loss_map_dir: 0.0373, d3.loss_map_cls: 0.5123, d3.loss_map_pts: 2.3589, d3.loss_map_dir: 0.0374, d4.loss_map_cls: 0.5128, d4.loss_map_pts: 2.3582, d4.loss_map_dir: 0.0376, d5.loss_map_cls: 0.5118, d5.loss_map_pts: 2.3583, d5.loss_map_dir: 0.0375, loss: 79.2103, grad_norm: 169.4217 +2026-02-24 09:48:00,024 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 09:48:00,024 - DriveTransformer - INFO - Epoch [1][34000/39528] lr: 1.000e-04, eta: 8 days, 10:50:41, time: 0.851, data_time: 0.046, memory: 19865, loss_cls: 0.8207, loss_bbox: 0.7716, loss_traj: 1.9651, loss_traj_cls: 0.0004, loss_map_cls: 0.4753, loss_map_pts: 2.3609, loss_map_dir: 0.0403, d0.loss_plan_l1_fix_time: 2.7549, d0.loss_plan_l1_fix_dist: 0.4342, d1.loss_plan_l1_fix_time: 2.5265, d1.loss_plan_l1_fix_dist: 0.4340, d2.loss_plan_l1_fix_time: 2.4998, d2.loss_plan_l1_fix_dist: 0.4510, d3.loss_plan_l1_fix_time: 2.5022, d3.loss_plan_l1_fix_dist: 0.4743, d4.loss_plan_l1_fix_time: 2.5103, d4.loss_plan_l1_fix_dist: 0.5058, d5.loss_plan_l1_fix_time: 2.5214, d5.loss_plan_l1_fix_dist: 0.5377, d6.loss_plan_l1_fix_time: 2.5358, d6.loss_plan_l1_fix_dist: 0.5725, d0.loss_cls_all: 0.8212, d0.loss_bbox_all: 0.7891, d0.loss_cls: 0.8212, d0.loss_bbox: 0.7891, d1.loss_cls: 0.8169, d1.loss_bbox: 0.8245, d2.loss_cls: 0.8159, d2.loss_bbox: 0.8087, d3.loss_cls: 0.8168, d3.loss_bbox: 0.8059, d4.loss_cls: 0.8151, d4.loss_bbox: 0.7867, d5.loss_cls: 0.8178, d5.loss_bbox: 0.7730, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9718, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.9365, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.9422, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.9559, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9674, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9608, d0.loss_map_cls_all: 0.4942, d0.loss_map_pts_all: 3.1212, d0.loss_map_dir_all: 0.0394, d0.loss_map_cls: 0.4942, d0.loss_map_pts: 3.1212, d0.loss_map_dir: 0.0394, d1.loss_map_cls: 0.4832, d1.loss_map_pts: 2.4638, d1.loss_map_dir: 0.0399, d2.loss_map_cls: 0.4759, d2.loss_map_pts: 2.3929, d2.loss_map_dir: 0.0400, d3.loss_map_cls: 0.4735, d3.loss_map_pts: 2.3747, d3.loss_map_dir: 0.0400, d4.loss_map_cls: 0.4759, d4.loss_map_pts: 2.3665, d4.loss_map_dir: 0.0401, d5.loss_map_cls: 0.4741, d5.loss_map_pts: 2.3606, d5.loss_map_dir: 0.0402, loss: 72.5860, grad_norm: 168.3510 +2026-02-24 09:48:37,642 - DriveTransformer - INFO - Epoch [1][34050/39528] lr: 1.000e-04, eta: 8 days, 10:48:59, time: 0.752, data_time: 0.040, memory: 19865, loss_cls: 0.8223, loss_bbox: 0.7343, loss_traj: 1.9058, loss_traj_cls: 0.0004, loss_map_cls: 0.4591, loss_map_pts: 2.0089, loss_map_dir: 0.0287, d0.loss_plan_l1_fix_time: 2.2836, d0.loss_plan_l1_fix_dist: 0.4982, d1.loss_plan_l1_fix_time: 2.1208, d1.loss_plan_l1_fix_dist: 0.5048, d2.loss_plan_l1_fix_time: 2.1082, d2.loss_plan_l1_fix_dist: 0.5331, d3.loss_plan_l1_fix_time: 2.1144, d3.loss_plan_l1_fix_dist: 0.5753, d4.loss_plan_l1_fix_time: 2.1230, d4.loss_plan_l1_fix_dist: 0.6182, d5.loss_plan_l1_fix_time: 2.1307, d5.loss_plan_l1_fix_dist: 0.6628, d6.loss_plan_l1_fix_time: 2.1373, d6.loss_plan_l1_fix_dist: 0.7090, d0.loss_cls_all: 0.8237, d0.loss_bbox_all: 0.7449, d0.loss_cls: 0.8237, d0.loss_bbox: 0.7449, d1.loss_cls: 0.8199, d1.loss_bbox: 0.7891, d2.loss_cls: 0.8175, d2.loss_bbox: 0.7676, d3.loss_cls: 0.8200, d3.loss_bbox: 0.7588, d4.loss_cls: 0.8177, d4.loss_bbox: 0.7424, d5.loss_cls: 0.8213, d5.loss_bbox: 0.7328, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8790, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.8711, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8796, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.8891, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9064, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8980, d0.loss_map_cls_all: 0.4866, d0.loss_map_pts_all: 2.4414, d0.loss_map_dir_all: 0.0286, d0.loss_map_cls: 0.4866, d0.loss_map_pts: 2.4414, d0.loss_map_dir: 0.0286, d1.loss_map_cls: 0.4668, d1.loss_map_pts: 2.0556, d1.loss_map_dir: 0.0286, d2.loss_map_cls: 0.4604, d2.loss_map_pts: 2.0219, d2.loss_map_dir: 0.0285, d3.loss_map_cls: 0.4594, d3.loss_map_pts: 2.0119, d3.loss_map_dir: 0.0285, d4.loss_map_cls: 0.4597, d4.loss_map_pts: 2.0082, d4.loss_map_dir: 0.0286, d5.loss_map_cls: 0.4599, d5.loss_map_pts: 2.0058, d5.loss_map_dir: 0.0285, loss: 65.8958, grad_norm: 168.0345 +2026-02-24 09:49:16,252 - DriveTransformer - INFO - Epoch [1][34100/39528] lr: 1.000e-04, eta: 8 days, 10:47:45, time: 0.772, data_time: 0.047, memory: 19865, loss_cls: 0.8059, loss_bbox: 0.7316, loss_traj: 1.7441, loss_traj_cls: 0.0005, loss_map_cls: 0.4563, loss_map_pts: 1.9601, loss_map_dir: 0.0325, d0.loss_plan_l1_fix_time: 3.1338, d0.loss_plan_l1_fix_dist: 0.4859, d1.loss_plan_l1_fix_time: 2.9423, d1.loss_plan_l1_fix_dist: 0.4899, d2.loss_plan_l1_fix_time: 2.9119, d2.loss_plan_l1_fix_dist: 0.5012, d3.loss_plan_l1_fix_time: 2.9086, d3.loss_plan_l1_fix_dist: 0.5192, d4.loss_plan_l1_fix_time: 2.9119, d4.loss_plan_l1_fix_dist: 0.5421, d5.loss_plan_l1_fix_time: 2.9177, d5.loss_plan_l1_fix_dist: 0.5698, d6.loss_plan_l1_fix_time: 2.9258, d6.loss_plan_l1_fix_dist: 0.6007, d0.loss_cls_all: 0.8010, d0.loss_bbox_all: 0.7514, d0.loss_cls: 0.8010, d0.loss_bbox: 0.7514, d1.loss_cls: 0.8049, d1.loss_bbox: 0.7759, d2.loss_cls: 0.8136, d2.loss_bbox: 0.7515, d3.loss_cls: 0.8158, d3.loss_bbox: 0.7461, d4.loss_cls: 0.8028, d4.loss_bbox: 0.7350, d5.loss_cls: 0.8060, d5.loss_bbox: 0.7266, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7164, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6975, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7124, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7256, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7337, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7471, d0.loss_map_cls_all: 0.4868, d0.loss_map_pts_all: 2.5013, d0.loss_map_dir_all: 0.0315, d0.loss_map_cls: 0.4868, d0.loss_map_pts: 2.5013, d0.loss_map_dir: 0.0315, d1.loss_map_cls: 0.4680, d1.loss_map_pts: 2.0057, d1.loss_map_dir: 0.0319, d2.loss_map_cls: 0.4560, d2.loss_map_pts: 1.9580, d2.loss_map_dir: 0.0321, d3.loss_map_cls: 0.4587, d3.loss_map_pts: 1.9533, d3.loss_map_dir: 0.0321, d4.loss_map_cls: 0.4570, d4.loss_map_pts: 1.9501, d4.loss_map_dir: 0.0322, d5.loss_map_cls: 0.4552, d5.loss_map_pts: 1.9526, d5.loss_map_dir: 0.0323, loss: 69.6256, grad_norm: 167.9560 +2026-02-24 09:49:57,542 - DriveTransformer - INFO - Epoch [1][34150/39528] lr: 1.000e-04, eta: 8 days, 10:47:42, time: 0.826, data_time: 0.048, memory: 19865, loss_cls: 0.7929, loss_bbox: 0.7393, loss_traj: 1.5874, loss_traj_cls: 0.0005, loss_map_cls: 0.4403, loss_map_pts: 2.1901, loss_map_dir: 0.0327, d0.loss_plan_l1_fix_time: 2.6968, d0.loss_plan_l1_fix_dist: 0.5065, d1.loss_plan_l1_fix_time: 2.4979, d1.loss_plan_l1_fix_dist: 0.5161, d2.loss_plan_l1_fix_time: 2.4830, d2.loss_plan_l1_fix_dist: 0.5343, d3.loss_plan_l1_fix_time: 2.4911, d3.loss_plan_l1_fix_dist: 0.5599, d4.loss_plan_l1_fix_time: 2.5018, d4.loss_plan_l1_fix_dist: 0.5910, d5.loss_plan_l1_fix_time: 2.5147, d5.loss_plan_l1_fix_dist: 0.6233, d6.loss_plan_l1_fix_time: 2.5306, d6.loss_plan_l1_fix_dist: 0.6551, d0.loss_cls_all: 0.7922, d0.loss_bbox_all: 0.7681, d0.loss_cls: 0.7922, d0.loss_bbox: 0.7681, d1.loss_cls: 0.7880, d1.loss_bbox: 0.7684, d2.loss_cls: 0.7935, d2.loss_bbox: 0.7438, d3.loss_cls: 0.7952, d3.loss_bbox: 0.7420, d4.loss_cls: 0.7868, d4.loss_bbox: 0.7371, d5.loss_cls: 0.7904, d5.loss_bbox: 0.7354, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6245, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5951, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5989, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6020, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5958, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5984, d0.loss_map_cls_all: 0.4750, d0.loss_map_pts_all: 2.6917, d0.loss_map_dir_all: 0.0321, d0.loss_map_cls: 0.4750, d0.loss_map_pts: 2.6917, d0.loss_map_dir: 0.0321, d1.loss_map_cls: 0.4576, d1.loss_map_pts: 2.2296, d1.loss_map_dir: 0.0322, d2.loss_map_cls: 0.4463, d2.loss_map_pts: 2.1860, d2.loss_map_dir: 0.0323, d3.loss_map_cls: 0.4459, d3.loss_map_pts: 2.1798, d3.loss_map_dir: 0.0324, d4.loss_map_cls: 0.4432, d4.loss_map_pts: 2.1796, d4.loss_map_dir: 0.0324, d5.loss_map_cls: 0.4403, d5.loss_map_pts: 2.1835, d5.loss_map_dir: 0.0325, loss: 67.6564, grad_norm: 167.8008 +2026-02-24 09:50:36,438 - DriveTransformer - INFO - Epoch [1][34200/39528] lr: 1.000e-04, eta: 8 days, 10:46:35, time: 0.778, data_time: 0.041, memory: 19865, loss_cls: 0.7744, loss_bbox: 0.7360, loss_traj: 1.8134, loss_traj_cls: 0.0005, loss_map_cls: 0.4402, loss_map_pts: 1.9950, loss_map_dir: 0.0334, d0.loss_plan_l1_fix_time: 3.0725, d0.loss_plan_l1_fix_dist: 0.4449, d1.loss_plan_l1_fix_time: 2.9225, d1.loss_plan_l1_fix_dist: 0.4420, d2.loss_plan_l1_fix_time: 2.9089, d2.loss_plan_l1_fix_dist: 0.4572, d3.loss_plan_l1_fix_time: 2.9124, d3.loss_plan_l1_fix_dist: 0.4772, d4.loss_plan_l1_fix_time: 2.9204, d4.loss_plan_l1_fix_dist: 0.4965, d5.loss_plan_l1_fix_time: 2.9310, d5.loss_plan_l1_fix_dist: 0.5171, d6.loss_plan_l1_fix_time: 2.9434, d6.loss_plan_l1_fix_dist: 0.5403, d0.loss_cls_all: 0.7934, d0.loss_bbox_all: 0.7766, d0.loss_cls: 0.7934, d0.loss_bbox: 0.7766, d1.loss_cls: 0.7761, d1.loss_bbox: 0.7510, d2.loss_cls: 0.7778, d2.loss_bbox: 0.7405, d3.loss_cls: 0.7782, d3.loss_bbox: 0.7401, d4.loss_cls: 0.7755, d4.loss_bbox: 0.7335, d5.loss_cls: 0.7744, d5.loss_bbox: 0.7336, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8356, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.8127, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.8068, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8127, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.8037, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8103, d0.loss_map_cls_all: 0.4646, d0.loss_map_pts_all: 2.5706, d0.loss_map_dir_all: 0.0323, d0.loss_map_cls: 0.4646, d0.loss_map_pts: 2.5706, d0.loss_map_dir: 0.0323, d1.loss_map_cls: 0.4503, d1.loss_map_pts: 2.0444, d1.loss_map_dir: 0.0332, d2.loss_map_cls: 0.4490, d2.loss_map_pts: 1.9883, d2.loss_map_dir: 0.0332, d3.loss_map_cls: 0.4386, d3.loss_map_pts: 1.9756, d3.loss_map_dir: 0.0333, d4.loss_map_cls: 0.4421, d4.loss_map_pts: 1.9767, d4.loss_map_dir: 0.0334, d5.loss_map_cls: 0.4343, d5.loss_map_pts: 1.9828, d5.loss_map_dir: 0.0334, loss: 69.8691, grad_norm: 168.6661 +2026-02-24 09:51:15,769 - DriveTransformer - INFO - Epoch [1][34250/39528] lr: 1.000e-04, eta: 8 days, 10:45:39, time: 0.786, data_time: 0.038, memory: 19865, loss_cls: 0.7861, loss_bbox: 0.7193, loss_traj: 1.6179, loss_traj_cls: 0.0005, loss_map_cls: 0.4275, loss_map_pts: 2.0146, loss_map_dir: 0.0318, d0.loss_plan_l1_fix_time: 2.6089, d0.loss_plan_l1_fix_dist: 0.4638, d1.loss_plan_l1_fix_time: 2.4714, d1.loss_plan_l1_fix_dist: 0.4681, d2.loss_plan_l1_fix_time: 2.4650, d2.loss_plan_l1_fix_dist: 0.4954, d3.loss_plan_l1_fix_time: 2.4731, d3.loss_plan_l1_fix_dist: 0.5301, d4.loss_plan_l1_fix_time: 2.4843, d4.loss_plan_l1_fix_dist: 0.5704, d5.loss_plan_l1_fix_time: 2.4965, d5.loss_plan_l1_fix_dist: 0.6129, d6.loss_plan_l1_fix_time: 2.5094, d6.loss_plan_l1_fix_dist: 0.6604, d0.loss_cls_all: 0.7805, d0.loss_bbox_all: 0.7583, d0.loss_cls: 0.7805, d0.loss_bbox: 0.7583, d1.loss_cls: 0.7766, d1.loss_bbox: 0.7385, d2.loss_cls: 0.7768, d2.loss_bbox: 0.7256, d3.loss_cls: 0.7828, d3.loss_bbox: 0.7294, d4.loss_cls: 0.7832, d4.loss_bbox: 0.7162, d5.loss_cls: 0.7843, d5.loss_bbox: 0.7165, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5948, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5872, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5997, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6219, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6239, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6194, d0.loss_map_cls_all: 0.4568, d0.loss_map_pts_all: 2.6311, d0.loss_map_dir_all: 0.0312, d0.loss_map_cls: 0.4568, d0.loss_map_pts: 2.6311, d0.loss_map_dir: 0.0312, d1.loss_map_cls: 0.4381, d1.loss_map_pts: 2.0812, d1.loss_map_dir: 0.0317, d2.loss_map_cls: 0.4341, d2.loss_map_pts: 2.0296, d2.loss_map_dir: 0.0316, d3.loss_map_cls: 0.4258, d3.loss_map_pts: 2.0169, d3.loss_map_dir: 0.0316, d4.loss_map_cls: 0.4259, d4.loss_map_pts: 2.0141, d4.loss_map_dir: 0.0317, d5.loss_map_cls: 0.4243, d5.loss_map_pts: 2.0137, d5.loss_map_dir: 0.0317, loss: 65.8659, grad_norm: 167.8009 +2026-02-24 09:51:54,077 - DriveTransformer - INFO - Epoch [1][34300/39528] lr: 1.000e-04, eta: 8 days, 10:44:16, time: 0.766, data_time: 0.042, memory: 19865, loss_cls: 0.8230, loss_bbox: 0.7730, loss_traj: 1.6326, loss_traj_cls: 0.0005, loss_map_cls: 0.4448, loss_map_pts: 1.9601, loss_map_dir: 0.0320, d0.loss_plan_l1_fix_time: 2.8174, d0.loss_plan_l1_fix_dist: 0.5465, d1.loss_plan_l1_fix_time: 2.6243, d1.loss_plan_l1_fix_dist: 0.5500, d2.loss_plan_l1_fix_time: 2.6119, d2.loss_plan_l1_fix_dist: 0.5790, d3.loss_plan_l1_fix_time: 2.6184, d3.loss_plan_l1_fix_dist: 0.6221, d4.loss_plan_l1_fix_time: 2.6266, d4.loss_plan_l1_fix_dist: 0.6757, d5.loss_plan_l1_fix_time: 2.6354, d5.loss_plan_l1_fix_dist: 0.7314, d6.loss_plan_l1_fix_time: 2.6470, d6.loss_plan_l1_fix_dist: 0.7909, d0.loss_cls_all: 0.8365, d0.loss_bbox_all: 0.7952, d0.loss_cls: 0.8365, d0.loss_bbox: 0.7952, d1.loss_cls: 0.8212, d1.loss_bbox: 0.7842, d2.loss_cls: 0.8157, d2.loss_bbox: 0.7632, d3.loss_cls: 0.8171, d3.loss_bbox: 0.7733, d4.loss_cls: 0.8168, d4.loss_bbox: 0.7634, d5.loss_cls: 0.8225, d5.loss_bbox: 0.7693, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5922, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5688, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5574, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5758, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6001, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6075, d0.loss_map_cls_all: 0.4841, d0.loss_map_pts_all: 2.4883, d0.loss_map_dir_all: 0.0313, d0.loss_map_cls: 0.4841, d0.loss_map_pts: 2.4883, d0.loss_map_dir: 0.0313, d1.loss_map_cls: 0.4610, d1.loss_map_pts: 2.0124, d1.loss_map_dir: 0.0317, d2.loss_map_cls: 0.4547, d2.loss_map_pts: 1.9695, d2.loss_map_dir: 0.0317, d3.loss_map_cls: 0.4489, d3.loss_map_pts: 1.9554, d3.loss_map_dir: 0.0317, d4.loss_map_cls: 0.4457, d4.loss_map_pts: 1.9536, d4.loss_map_dir: 0.0318, d5.loss_map_cls: 0.4418, d5.loss_map_pts: 1.9571, d5.loss_map_dir: 0.0318, loss: 67.7242, grad_norm: 169.3514 +2026-02-24 09:52:33,129 - DriveTransformer - INFO - Epoch [1][34350/39528] lr: 1.000e-04, eta: 8 days, 10:43:13, time: 0.781, data_time: 0.038, memory: 19865, loss_cls: 0.8243, loss_bbox: 0.8125, loss_traj: 1.9236, loss_traj_cls: 0.0005, loss_map_cls: 0.4984, loss_map_pts: 2.2566, loss_map_dir: 0.0331, d0.loss_plan_l1_fix_time: 3.2531, d0.loss_plan_l1_fix_dist: 0.5188, d1.loss_plan_l1_fix_time: 3.1371, d1.loss_plan_l1_fix_dist: 0.5271, d2.loss_plan_l1_fix_time: 3.1315, d2.loss_plan_l1_fix_dist: 0.5490, d3.loss_plan_l1_fix_time: 3.1384, d3.loss_plan_l1_fix_dist: 0.5731, d4.loss_plan_l1_fix_time: 3.1470, d4.loss_plan_l1_fix_dist: 0.6033, d5.loss_plan_l1_fix_time: 3.1575, d5.loss_plan_l1_fix_dist: 0.6361, d6.loss_plan_l1_fix_time: 3.1691, d6.loss_plan_l1_fix_dist: 0.6678, d0.loss_cls_all: 0.8375, d0.loss_bbox_all: 0.8337, d0.loss_cls: 0.8375, d0.loss_bbox: 0.8337, d1.loss_cls: 0.8254, d1.loss_bbox: 0.8197, d2.loss_cls: 0.8319, d2.loss_bbox: 0.7947, d3.loss_cls: 0.8343, d3.loss_bbox: 0.8112, d4.loss_cls: 0.8285, d4.loss_bbox: 0.7977, d5.loss_cls: 0.8276, d5.loss_bbox: 0.8023, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8098, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.8245, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.8232, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.8544, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.8856, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8982, d0.loss_map_cls_all: 0.5198, d0.loss_map_pts_all: 2.7095, d0.loss_map_dir_all: 0.0329, d0.loss_map_cls: 0.5198, d0.loss_map_pts: 2.7095, d0.loss_map_dir: 0.0329, d1.loss_map_cls: 0.4979, d1.loss_map_pts: 2.2842, d1.loss_map_dir: 0.0328, d2.loss_map_cls: 0.4989, d2.loss_map_pts: 2.2504, d2.loss_map_dir: 0.0329, d3.loss_map_cls: 0.4912, d3.loss_map_pts: 2.2470, d3.loss_map_dir: 0.0329, d4.loss_map_cls: 0.4964, d4.loss_map_pts: 2.2491, d4.loss_map_dir: 0.0330, d5.loss_map_cls: 0.4916, d5.loss_map_pts: 2.2545, d5.loss_map_dir: 0.0331, loss: 75.6235, grad_norm: 170.5833 +2026-02-24 09:53:11,460 - DriveTransformer - INFO - Epoch [1][34400/39528] lr: 1.000e-04, eta: 8 days, 10:41:53, time: 0.768, data_time: 0.036, memory: 19865, loss_cls: 0.8045, loss_bbox: 0.7611, loss_traj: 1.6971, loss_traj_cls: 0.0005, loss_map_cls: 0.4559, loss_map_pts: 2.0345, loss_map_dir: 0.0307, d0.loss_plan_l1_fix_time: 2.9314, d0.loss_plan_l1_fix_dist: 0.4822, d1.loss_plan_l1_fix_time: 2.6632, d1.loss_plan_l1_fix_dist: 0.4843, d2.loss_plan_l1_fix_time: 2.6353, d2.loss_plan_l1_fix_dist: 0.5166, d3.loss_plan_l1_fix_time: 2.6365, d3.loss_plan_l1_fix_dist: 0.5431, d4.loss_plan_l1_fix_time: 2.6443, d4.loss_plan_l1_fix_dist: 0.5730, d5.loss_plan_l1_fix_time: 2.6559, d5.loss_plan_l1_fix_dist: 0.6048, d6.loss_plan_l1_fix_time: 2.6685, d6.loss_plan_l1_fix_dist: 0.6400, d0.loss_cls_all: 0.8187, d0.loss_bbox_all: 0.7973, d0.loss_cls: 0.8187, d0.loss_bbox: 0.7973, d1.loss_cls: 0.8103, d1.loss_bbox: 0.7830, d2.loss_cls: 0.8018, d2.loss_bbox: 0.7542, d3.loss_cls: 0.8042, d3.loss_bbox: 0.7737, d4.loss_cls: 0.8087, d4.loss_bbox: 0.7601, d5.loss_cls: 0.8039, d5.loss_bbox: 0.7538, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7256, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7013, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6924, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6887, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6907, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6891, d0.loss_map_cls_all: 0.4846, d0.loss_map_pts_all: 2.5569, d0.loss_map_dir_all: 0.0302, d0.loss_map_cls: 0.4846, d0.loss_map_pts: 2.5569, d0.loss_map_dir: 0.0302, d1.loss_map_cls: 0.4674, d1.loss_map_pts: 2.0754, d1.loss_map_dir: 0.0307, d2.loss_map_cls: 0.4611, d2.loss_map_pts: 2.0305, d2.loss_map_dir: 0.0305, d3.loss_map_cls: 0.4530, d3.loss_map_pts: 2.0313, d3.loss_map_dir: 0.0305, d4.loss_map_cls: 0.4558, d4.loss_map_pts: 2.0325, d4.loss_map_dir: 0.0306, d5.loss_map_cls: 0.4531, d5.loss_map_pts: 2.0351, d5.loss_map_dir: 0.0306, loss: 68.5322, grad_norm: 173.0548 +2026-02-24 09:53:50,365 - DriveTransformer - INFO - Epoch [1][34450/39528] lr: 1.000e-04, eta: 8 days, 10:40:45, time: 0.777, data_time: 0.039, memory: 19865, loss_cls: 0.8290, loss_bbox: 0.7619, loss_traj: 1.6663, loss_traj_cls: 0.0005, loss_map_cls: 0.4258, loss_map_pts: 2.1968, loss_map_dir: 0.0290, d0.loss_plan_l1_fix_time: 2.9504, d0.loss_plan_l1_fix_dist: 0.5424, d1.loss_plan_l1_fix_time: 2.8398, d1.loss_plan_l1_fix_dist: 0.5366, d2.loss_plan_l1_fix_time: 2.8417, d2.loss_plan_l1_fix_dist: 0.5444, d3.loss_plan_l1_fix_time: 2.8484, d3.loss_plan_l1_fix_dist: 0.5643, d4.loss_plan_l1_fix_time: 2.8575, d4.loss_plan_l1_fix_dist: 0.5867, d5.loss_plan_l1_fix_time: 2.8684, d5.loss_plan_l1_fix_dist: 0.6119, d6.loss_plan_l1_fix_time: 2.8810, d6.loss_plan_l1_fix_dist: 0.6370, d0.loss_cls_all: 0.8365, d0.loss_bbox_all: 0.7890, d0.loss_cls: 0.8365, d0.loss_bbox: 0.7890, d1.loss_cls: 0.8336, d1.loss_bbox: 0.7705, d2.loss_cls: 0.8280, d2.loss_bbox: 0.7555, d3.loss_cls: 0.8283, d3.loss_bbox: 0.7728, d4.loss_cls: 0.8312, d4.loss_bbox: 0.7688, d5.loss_cls: 0.8279, d5.loss_bbox: 0.7556, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5455, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.5746, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6010, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6351, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6363, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6433, d0.loss_map_cls_all: 0.4632, d0.loss_map_pts_all: 2.6862, d0.loss_map_dir_all: 0.0289, d0.loss_map_cls: 0.4632, d0.loss_map_pts: 2.6862, d0.loss_map_dir: 0.0289, d1.loss_map_cls: 0.4437, d1.loss_map_pts: 2.2698, d1.loss_map_dir: 0.0290, d2.loss_map_cls: 0.4338, d2.loss_map_pts: 2.2245, d2.loss_map_dir: 0.0288, d3.loss_map_cls: 0.4287, d3.loss_map_pts: 2.2073, d3.loss_map_dir: 0.0288, d4.loss_map_cls: 0.4285, d4.loss_map_pts: 2.2008, d4.loss_map_dir: 0.0288, d5.loss_map_cls: 0.4259, d5.loss_map_pts: 2.1965, d5.loss_map_dir: 0.0288, loss: 70.6433, grad_norm: 172.7005 +2026-02-24 09:54:29,944 - DriveTransformer - INFO - Epoch [1][34500/39528] lr: 1.000e-04, eta: 8 days, 10:39:56, time: 0.792, data_time: 0.037, memory: 19865, loss_cls: 0.8389, loss_bbox: 0.7684, loss_traj: 1.6633, loss_traj_cls: 0.0005, loss_map_cls: 0.4579, loss_map_pts: 2.0521, loss_map_dir: 0.0307, d0.loss_plan_l1_fix_time: 2.9808, d0.loss_plan_l1_fix_dist: 0.5229, d1.loss_plan_l1_fix_time: 2.7859, d1.loss_plan_l1_fix_dist: 0.5254, d2.loss_plan_l1_fix_time: 2.7635, d2.loss_plan_l1_fix_dist: 0.5444, d3.loss_plan_l1_fix_time: 2.7633, d3.loss_plan_l1_fix_dist: 0.5658, d4.loss_plan_l1_fix_time: 2.7686, d4.loss_plan_l1_fix_dist: 0.5940, d5.loss_plan_l1_fix_time: 2.7757, d5.loss_plan_l1_fix_dist: 0.6307, d6.loss_plan_l1_fix_time: 2.7851, d6.loss_plan_l1_fix_dist: 0.6739, d0.loss_cls_all: 0.8223, d0.loss_bbox_all: 0.7928, d0.loss_cls: 0.8223, d0.loss_bbox: 0.7928, d1.loss_cls: 0.8185, d1.loss_bbox: 0.7741, d2.loss_cls: 0.8219, d2.loss_bbox: 0.7687, d3.loss_cls: 0.8273, d3.loss_bbox: 0.7783, d4.loss_cls: 0.8308, d4.loss_bbox: 0.7806, d5.loss_cls: 0.8312, d5.loss_bbox: 0.7736, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6642, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.6424, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6353, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6572, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6534, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6536, d0.loss_map_cls_all: 0.4809, d0.loss_map_pts_all: 2.6014, d0.loss_map_dir_all: 0.0301, d0.loss_map_cls: 0.4809, d0.loss_map_pts: 2.6014, d0.loss_map_dir: 0.0301, d1.loss_map_cls: 0.4677, d1.loss_map_pts: 2.1476, d1.loss_map_dir: 0.0304, d2.loss_map_cls: 0.4597, d2.loss_map_pts: 2.0918, d2.loss_map_dir: 0.0304, d3.loss_map_cls: 0.4605, d3.loss_map_pts: 2.0669, d3.loss_map_dir: 0.0305, d4.loss_map_cls: 0.4598, d4.loss_map_pts: 2.0554, d4.loss_map_dir: 0.0305, d5.loss_map_cls: 0.4581, d5.loss_map_pts: 2.0492, d5.loss_map_dir: 0.0305, loss: 69.7307, grad_norm: 172.0013 +2026-02-24 09:55:08,229 - DriveTransformer - INFO - Epoch [1][34550/39528] lr: 1.000e-04, eta: 8 days, 10:38:34, time: 0.766, data_time: 0.041, memory: 19865, loss_cls: 0.7949, loss_bbox: 0.7120, loss_traj: 1.7703, loss_traj_cls: 0.0005, loss_map_cls: 0.4286, loss_map_pts: 1.9249, loss_map_dir: 0.0291, d0.loss_plan_l1_fix_time: 2.6893, d0.loss_plan_l1_fix_dist: 0.4556, d1.loss_plan_l1_fix_time: 2.5511, d1.loss_plan_l1_fix_dist: 0.4527, d2.loss_plan_l1_fix_time: 2.5530, d2.loss_plan_l1_fix_dist: 0.4720, d3.loss_plan_l1_fix_time: 2.5630, d3.loss_plan_l1_fix_dist: 0.4960, d4.loss_plan_l1_fix_time: 2.5727, d4.loss_plan_l1_fix_dist: 0.5218, d5.loss_plan_l1_fix_time: 2.5825, d5.loss_plan_l1_fix_dist: 0.5474, d6.loss_plan_l1_fix_time: 2.5913, d6.loss_plan_l1_fix_dist: 0.5720, d0.loss_cls_all: 0.7965, d0.loss_bbox_all: 0.7260, d0.loss_cls: 0.7965, d0.loss_bbox: 0.7260, d1.loss_cls: 0.7913, d1.loss_bbox: 0.7332, d2.loss_cls: 0.7880, d2.loss_bbox: 0.7249, d3.loss_cls: 0.7885, d3.loss_bbox: 0.7271, d4.loss_cls: 0.7916, d4.loss_bbox: 0.7194, d5.loss_cls: 0.7930, d5.loss_bbox: 0.7157, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7376, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.7458, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7504, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7546, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7768, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7712, d0.loss_map_cls_all: 0.4676, d0.loss_map_pts_all: 2.5301, d0.loss_map_dir_all: 0.0285, d0.loss_map_cls: 0.4676, d0.loss_map_pts: 2.5301, d0.loss_map_dir: 0.0285, d1.loss_map_cls: 0.4436, d1.loss_map_pts: 2.0169, d1.loss_map_dir: 0.0288, d2.loss_map_cls: 0.4323, d2.loss_map_pts: 1.9549, d2.loss_map_dir: 0.0288, d3.loss_map_cls: 0.4282, d3.loss_map_pts: 1.9297, d3.loss_map_dir: 0.0288, d4.loss_map_cls: 0.4277, d4.loss_map_pts: 1.9238, d4.loss_map_dir: 0.0290, d5.loss_map_cls: 0.4260, d5.loss_map_pts: 1.9212, d5.loss_map_dir: 0.0290, loss: 66.5391, grad_norm: 171.7164 +2026-02-24 09:55:48,623 - DriveTransformer - INFO - Epoch [1][34600/39528] lr: 1.000e-04, eta: 8 days, 10:38:07, time: 0.808, data_time: 0.038, memory: 19865, loss_cls: 0.8148, loss_bbox: 0.7776, loss_traj: 1.9139, loss_traj_cls: 0.0005, loss_map_cls: 0.4494, loss_map_pts: 2.2176, loss_map_dir: 0.0348, d0.loss_plan_l1_fix_time: 3.2666, d0.loss_plan_l1_fix_dist: 0.5954, d1.loss_plan_l1_fix_time: 3.0368, d1.loss_plan_l1_fix_dist: 0.6012, d2.loss_plan_l1_fix_time: 3.0129, d2.loss_plan_l1_fix_dist: 0.6237, d3.loss_plan_l1_fix_time: 3.0122, d3.loss_plan_l1_fix_dist: 0.6554, d4.loss_plan_l1_fix_time: 3.0164, d4.loss_plan_l1_fix_dist: 0.6838, d5.loss_plan_l1_fix_time: 3.0237, d5.loss_plan_l1_fix_dist: 0.7065, d6.loss_plan_l1_fix_time: 3.0331, d6.loss_plan_l1_fix_dist: 0.7253, d0.loss_cls_all: 0.8015, d0.loss_bbox_all: 0.7965, d0.loss_cls: 0.8015, d0.loss_bbox: 0.7965, d1.loss_cls: 0.8011, d1.loss_bbox: 0.7947, d2.loss_cls: 0.8008, d2.loss_bbox: 0.7952, d3.loss_cls: 0.8085, d3.loss_bbox: 0.7864, d4.loss_cls: 0.8118, d4.loss_bbox: 0.7784, d5.loss_cls: 0.8136, d5.loss_bbox: 0.7781, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9353, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.8968, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.8858, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.9083, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.9078, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9053, d0.loss_map_cls_all: 0.4857, d0.loss_map_pts_all: 2.8341, d0.loss_map_dir_all: 0.0338, d0.loss_map_cls: 0.4857, d0.loss_map_pts: 2.8341, d0.loss_map_dir: 0.0338, d1.loss_map_cls: 0.4706, d1.loss_map_pts: 2.2623, d1.loss_map_dir: 0.0343, d2.loss_map_cls: 0.4627, d2.loss_map_pts: 2.2156, d2.loss_map_dir: 0.0343, d3.loss_map_cls: 0.4544, d3.loss_map_pts: 2.2179, d3.loss_map_dir: 0.0345, d4.loss_map_cls: 0.4518, d4.loss_map_pts: 2.2176, d4.loss_map_dir: 0.0346, d5.loss_map_cls: 0.4506, d5.loss_map_pts: 2.2162, d5.loss_map_dir: 0.0346, loss: 75.1088, grad_norm: 170.3610 +2026-02-24 09:56:26,381 - DriveTransformer - INFO - Epoch [1][34650/39528] lr: 1.000e-04, eta: 8 days, 10:36:30, time: 0.755, data_time: 0.039, memory: 19865, loss_cls: 0.8522, loss_bbox: 0.7535, loss_traj: 2.0583, loss_traj_cls: 0.0005, loss_map_cls: 0.4571, loss_map_pts: 1.9966, loss_map_dir: 0.0317, d0.loss_plan_l1_fix_time: 3.0157, d0.loss_plan_l1_fix_dist: 0.5365, d1.loss_plan_l1_fix_time: 2.8835, d1.loss_plan_l1_fix_dist: 0.5278, d2.loss_plan_l1_fix_time: 2.8867, d2.loss_plan_l1_fix_dist: 0.5381, d3.loss_plan_l1_fix_time: 2.8978, d3.loss_plan_l1_fix_dist: 0.5572, d4.loss_plan_l1_fix_time: 2.9089, d4.loss_plan_l1_fix_dist: 0.5818, d5.loss_plan_l1_fix_time: 2.9204, d5.loss_plan_l1_fix_dist: 0.6146, d6.loss_plan_l1_fix_time: 2.9327, d6.loss_plan_l1_fix_dist: 0.6520, d0.loss_cls_all: 0.8277, d0.loss_bbox_all: 0.7792, d0.loss_cls: 0.8277, d0.loss_bbox: 0.7792, d1.loss_cls: 0.8330, d1.loss_bbox: 0.7805, d2.loss_cls: 0.8384, d2.loss_bbox: 0.7822, d3.loss_cls: 0.8418, d3.loss_bbox: 0.7720, d4.loss_cls: 0.8436, d4.loss_bbox: 0.7635, d5.loss_cls: 0.8468, d5.loss_bbox: 0.7546, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0777, d1.loss_traj_cls: 0.0008, d1.loss_traj: 2.0475, d2.loss_traj_cls: 0.0007, d2.loss_traj: 2.0343, d3.loss_traj_cls: 0.0007, d3.loss_traj: 2.0412, d4.loss_traj_cls: 0.0008, d4.loss_traj: 2.0567, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0554, d0.loss_map_cls_all: 0.4850, d0.loss_map_pts_all: 2.5235, d0.loss_map_dir_all: 0.0312, d0.loss_map_cls: 0.4850, d0.loss_map_pts: 2.5235, d0.loss_map_dir: 0.0312, d1.loss_map_cls: 0.4692, d1.loss_map_pts: 2.0800, d1.loss_map_dir: 0.0316, d2.loss_map_cls: 0.4624, d2.loss_map_pts: 2.0183, d2.loss_map_dir: 0.0315, d3.loss_map_cls: 0.4566, d3.loss_map_pts: 2.0025, d3.loss_map_dir: 0.0314, d4.loss_map_cls: 0.4548, d4.loss_map_pts: 1.9983, d4.loss_map_dir: 0.0315, d5.loss_map_cls: 0.4571, d5.loss_map_pts: 1.9941, d5.loss_map_dir: 0.0316, loss: 72.8207, grad_norm: 169.5514 +2026-02-24 09:57:06,537 - DriveTransformer - INFO - Epoch [1][34700/39528] lr: 1.000e-04, eta: 8 days, 10:35:57, time: 0.803, data_time: 0.038, memory: 19865, loss_cls: 0.8482, loss_bbox: 0.7486, loss_traj: 1.5487, loss_traj_cls: 0.0005, loss_map_cls: 0.4732, loss_map_pts: 2.1306, loss_map_dir: 0.0384, d0.loss_plan_l1_fix_time: 3.0684, d0.loss_plan_l1_fix_dist: 0.3910, d1.loss_plan_l1_fix_time: 2.8502, d1.loss_plan_l1_fix_dist: 0.3969, d2.loss_plan_l1_fix_time: 2.8276, d2.loss_plan_l1_fix_dist: 0.4189, d3.loss_plan_l1_fix_time: 2.8310, d3.loss_plan_l1_fix_dist: 0.4488, d4.loss_plan_l1_fix_time: 2.8388, d4.loss_plan_l1_fix_dist: 0.4839, d5.loss_plan_l1_fix_time: 2.8493, d5.loss_plan_l1_fix_dist: 0.5260, d6.loss_plan_l1_fix_time: 2.8620, d6.loss_plan_l1_fix_dist: 0.5749, d0.loss_cls_all: 0.8408, d0.loss_bbox_all: 0.7749, d0.loss_cls: 0.8408, d0.loss_bbox: 0.7749, d1.loss_cls: 0.8318, d1.loss_bbox: 0.7752, d2.loss_cls: 0.8386, d2.loss_bbox: 0.7833, d3.loss_cls: 0.8361, d3.loss_bbox: 0.7799, d4.loss_cls: 0.8357, d4.loss_bbox: 0.7665, d5.loss_cls: 0.8448, d5.loss_bbox: 0.7477, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5636, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.5262, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5270, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5379, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5544, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5564, d0.loss_map_cls_all: 0.4803, d0.loss_map_pts_all: 2.8785, d0.loss_map_dir_all: 0.0379, d0.loss_map_cls: 0.4803, d0.loss_map_pts: 2.8785, d0.loss_map_dir: 0.0379, d1.loss_map_cls: 0.4750, d1.loss_map_pts: 2.2276, d1.loss_map_dir: 0.0381, d2.loss_map_cls: 0.4725, d2.loss_map_pts: 2.1501, d2.loss_map_dir: 0.0381, d3.loss_map_cls: 0.4707, d3.loss_map_pts: 2.1303, d3.loss_map_dir: 0.0381, d4.loss_map_cls: 0.4686, d4.loss_map_pts: 2.1242, d4.loss_map_dir: 0.0382, d5.loss_map_cls: 0.4698, d5.loss_map_pts: 2.1221, d5.loss_map_dir: 0.0383, loss: 69.7914, grad_norm: 168.1624 +2026-02-24 09:57:47,248 - DriveTransformer - INFO - Epoch [1][34750/39528] lr: 1.000e-04, eta: 8 days, 10:35:38, time: 0.814, data_time: 0.034, memory: 19865, loss_cls: 0.8593, loss_bbox: 0.7670, loss_traj: 1.6202, loss_traj_cls: 0.0004, loss_map_cls: 0.4093, loss_map_pts: 2.2691, loss_map_dir: 0.0330, d0.loss_plan_l1_fix_time: 3.3620, d0.loss_plan_l1_fix_dist: 0.4983, d1.loss_plan_l1_fix_time: 3.1131, d1.loss_plan_l1_fix_dist: 0.5021, d2.loss_plan_l1_fix_time: 3.0732, d2.loss_plan_l1_fix_dist: 0.5272, d3.loss_plan_l1_fix_time: 3.0709, d3.loss_plan_l1_fix_dist: 0.5572, d4.loss_plan_l1_fix_time: 3.0746, d4.loss_plan_l1_fix_dist: 0.5881, d5.loss_plan_l1_fix_time: 3.0801, d5.loss_plan_l1_fix_dist: 0.6214, d6.loss_plan_l1_fix_time: 3.0871, d6.loss_plan_l1_fix_dist: 0.6556, d0.loss_cls_all: 0.8511, d0.loss_bbox_all: 0.7820, d0.loss_cls: 0.8511, d0.loss_bbox: 0.7820, d1.loss_cls: 0.8497, d1.loss_bbox: 0.7882, d2.loss_cls: 0.8470, d2.loss_bbox: 0.7936, d3.loss_cls: 0.8480, d3.loss_bbox: 0.7909, d4.loss_cls: 0.8492, d4.loss_bbox: 0.7855, d5.loss_cls: 0.8563, d5.loss_bbox: 0.7702, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5940, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.5910, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.5978, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6071, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6157, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6175, d0.loss_map_cls_all: 0.4478, d0.loss_map_pts_all: 2.7590, d0.loss_map_dir_all: 0.0328, d0.loss_map_cls: 0.4478, d0.loss_map_pts: 2.7590, d0.loss_map_dir: 0.0328, d1.loss_map_cls: 0.4316, d1.loss_map_pts: 2.3266, d1.loss_map_dir: 0.0328, d2.loss_map_cls: 0.4218, d2.loss_map_pts: 2.2749, d2.loss_map_dir: 0.0327, d3.loss_map_cls: 0.4158, d3.loss_map_pts: 2.2661, d3.loss_map_dir: 0.0327, d4.loss_map_cls: 0.4117, d4.loss_map_pts: 2.2655, d4.loss_map_dir: 0.0328, d5.loss_map_cls: 0.4090, d5.loss_map_pts: 2.2663, d5.loss_map_dir: 0.0329, loss: 72.9731, grad_norm: 168.5128 +2026-02-24 09:58:26,022 - DriveTransformer - INFO - Epoch [1][34800/39528] lr: 1.000e-04, eta: 8 days, 10:34:29, time: 0.775, data_time: 0.035, memory: 19865, loss_cls: 0.8325, loss_bbox: 0.7991, loss_traj: 1.8798, loss_traj_cls: 0.0005, loss_map_cls: 0.4433, loss_map_pts: 2.0575, loss_map_dir: 0.0310, d0.loss_plan_l1_fix_time: 3.2379, d0.loss_plan_l1_fix_dist: 0.5182, d1.loss_plan_l1_fix_time: 3.0543, d1.loss_plan_l1_fix_dist: 0.5384, d2.loss_plan_l1_fix_time: 3.0547, d2.loss_plan_l1_fix_dist: 0.5718, d3.loss_plan_l1_fix_time: 3.0644, d3.loss_plan_l1_fix_dist: 0.6105, d4.loss_plan_l1_fix_time: 3.0758, d4.loss_plan_l1_fix_dist: 0.6573, d5.loss_plan_l1_fix_time: 3.0877, d5.loss_plan_l1_fix_dist: 0.7050, d6.loss_plan_l1_fix_time: 3.0996, d6.loss_plan_l1_fix_dist: 0.7503, d0.loss_cls_all: 0.8265, d0.loss_bbox_all: 0.8083, d0.loss_cls: 0.8265, d0.loss_bbox: 0.8083, d1.loss_cls: 0.8186, d1.loss_bbox: 0.8065, d2.loss_cls: 0.8242, d2.loss_bbox: 0.8034, d3.loss_cls: 0.8246, d3.loss_bbox: 0.8077, d4.loss_cls: 0.8272, d4.loss_bbox: 0.8112, d5.loss_cls: 0.8312, d5.loss_bbox: 0.8017, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8680, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.8516, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.8547, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8689, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.8687, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8733, d0.loss_map_cls_all: 0.4647, d0.loss_map_pts_all: 2.5747, d0.loss_map_dir_all: 0.0305, d0.loss_map_cls: 0.4647, d0.loss_map_pts: 2.5747, d0.loss_map_dir: 0.0305, d1.loss_map_cls: 0.4430, d1.loss_map_pts: 2.1083, d1.loss_map_dir: 0.0307, d2.loss_map_cls: 0.4400, d2.loss_map_pts: 2.0600, d2.loss_map_dir: 0.0306, d3.loss_map_cls: 0.4381, d3.loss_map_pts: 2.0511, d3.loss_map_dir: 0.0306, d4.loss_map_cls: 0.4386, d4.loss_map_pts: 2.0526, d4.loss_map_dir: 0.0308, d5.loss_map_cls: 0.4386, d5.loss_map_pts: 2.0509, d5.loss_map_dir: 0.0308, loss: 73.4991, grad_norm: 168.4401 +2026-02-24 09:59:04,967 - DriveTransformer - INFO - Epoch [1][34850/39528] lr: 1.000e-04, eta: 8 days, 10:33:24, time: 0.779, data_time: 0.039, memory: 19865, loss_cls: 0.8542, loss_bbox: 0.7365, loss_traj: 1.7157, loss_traj_cls: 0.0005, loss_map_cls: 0.4800, loss_map_pts: 2.1026, loss_map_dir: 0.0342, d0.loss_plan_l1_fix_time: 2.6441, d0.loss_plan_l1_fix_dist: 0.5680, d1.loss_plan_l1_fix_time: 2.4163, d1.loss_plan_l1_fix_dist: 0.5737, d2.loss_plan_l1_fix_time: 2.4032, d2.loss_plan_l1_fix_dist: 0.5964, d3.loss_plan_l1_fix_time: 2.4096, d3.loss_plan_l1_fix_dist: 0.6240, d4.loss_plan_l1_fix_time: 2.4181, d4.loss_plan_l1_fix_dist: 0.6549, d5.loss_plan_l1_fix_time: 2.4285, d5.loss_plan_l1_fix_dist: 0.6897, d6.loss_plan_l1_fix_time: 2.4400, d6.loss_plan_l1_fix_dist: 0.7352, d0.loss_cls_all: 0.8307, d0.loss_bbox_all: 0.7587, d0.loss_cls: 0.8307, d0.loss_bbox: 0.7587, d1.loss_cls: 0.8312, d1.loss_bbox: 0.7599, d2.loss_cls: 0.8475, d2.loss_bbox: 0.7442, d3.loss_cls: 0.8446, d3.loss_bbox: 0.7450, d4.loss_cls: 0.8416, d4.loss_bbox: 0.7434, d5.loss_cls: 0.8494, d5.loss_bbox: 0.7392, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6315, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.6540, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6730, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7003, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7043, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7106, d0.loss_map_cls_all: 0.5021, d0.loss_map_pts_all: 2.7033, d0.loss_map_dir_all: 0.0336, d0.loss_map_cls: 0.5021, d0.loss_map_pts: 2.7033, d0.loss_map_dir: 0.0336, d1.loss_map_cls: 0.4812, d1.loss_map_pts: 2.1795, d1.loss_map_dir: 0.0338, d2.loss_map_cls: 0.4772, d2.loss_map_pts: 2.1268, d2.loss_map_dir: 0.0338, d3.loss_map_cls: 0.4734, d3.loss_map_pts: 2.1118, d3.loss_map_dir: 0.0339, d4.loss_map_cls: 0.4734, d4.loss_map_pts: 2.1026, d4.loss_map_dir: 0.0340, d5.loss_map_cls: 0.4776, d5.loss_map_pts: 2.0988, d5.loss_map_dir: 0.0340, loss: 68.3773, grad_norm: 167.5553 +2026-02-24 09:59:43,947 - DriveTransformer - INFO - Epoch [1][34900/39528] lr: 1.000e-04, eta: 8 days, 10:32:20, time: 0.780, data_time: 0.041, memory: 19865, loss_cls: 0.8305, loss_bbox: 0.7454, loss_traj: 1.7253, loss_traj_cls: 0.0005, loss_map_cls: 0.4469, loss_map_pts: 1.9407, loss_map_dir: 0.0322, d0.loss_plan_l1_fix_time: 2.9532, d0.loss_plan_l1_fix_dist: 0.4930, d1.loss_plan_l1_fix_time: 2.8768, d1.loss_plan_l1_fix_dist: 0.5063, d2.loss_plan_l1_fix_time: 2.8793, d2.loss_plan_l1_fix_dist: 0.5359, d3.loss_plan_l1_fix_time: 2.8857, d3.loss_plan_l1_fix_dist: 0.5675, d4.loss_plan_l1_fix_time: 2.8928, d4.loss_plan_l1_fix_dist: 0.6047, d5.loss_plan_l1_fix_time: 2.9010, d5.loss_plan_l1_fix_dist: 0.6465, d6.loss_plan_l1_fix_time: 2.9101, d6.loss_plan_l1_fix_dist: 0.6872, d0.loss_cls_all: 0.8262, d0.loss_bbox_all: 0.7633, d0.loss_cls: 0.8262, d0.loss_bbox: 0.7633, d1.loss_cls: 0.8242, d1.loss_bbox: 0.7816, d2.loss_cls: 0.8207, d2.loss_bbox: 0.7573, d3.loss_cls: 0.8235, d3.loss_bbox: 0.7480, d4.loss_cls: 0.8264, d4.loss_bbox: 0.7458, d5.loss_cls: 0.8273, d5.loss_bbox: 0.7406, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6776, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.6936, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7153, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7235, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.7264, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7272, d0.loss_map_cls_all: 0.4541, d0.loss_map_pts_all: 2.5327, d0.loss_map_dir_all: 0.0315, d0.loss_map_cls: 0.4541, d0.loss_map_pts: 2.5327, d0.loss_map_dir: 0.0315, d1.loss_map_cls: 0.4473, d1.loss_map_pts: 2.0010, d1.loss_map_dir: 0.0319, d2.loss_map_cls: 0.4445, d2.loss_map_pts: 1.9506, d2.loss_map_dir: 0.0318, d3.loss_map_cls: 0.4406, d3.loss_map_pts: 1.9421, d3.loss_map_dir: 0.0318, d4.loss_map_cls: 0.4414, d4.loss_map_pts: 1.9403, d4.loss_map_dir: 0.0319, d5.loss_map_cls: 0.4437, d5.loss_map_pts: 1.9368, d5.loss_map_dir: 0.0320, loss: 69.5878, grad_norm: 164.9310 +2026-02-24 10:00:22,623 - DriveTransformer - INFO - Epoch [1][34950/39528] lr: 1.000e-04, eta: 8 days, 10:31:08, time: 0.773, data_time: 0.045, memory: 19865, loss_cls: 0.8328, loss_bbox: 0.7326, loss_traj: 1.7212, loss_traj_cls: 0.0005, loss_map_cls: 0.4531, loss_map_pts: 1.9458, loss_map_dir: 0.0304, d0.loss_plan_l1_fix_time: 3.0014, d0.loss_plan_l1_fix_dist: 0.4989, d1.loss_plan_l1_fix_time: 2.7982, d1.loss_plan_l1_fix_dist: 0.5027, d2.loss_plan_l1_fix_time: 2.7859, d2.loss_plan_l1_fix_dist: 0.5235, d3.loss_plan_l1_fix_time: 2.7946, d3.loss_plan_l1_fix_dist: 0.5523, d4.loss_plan_l1_fix_time: 2.8043, d4.loss_plan_l1_fix_dist: 0.5850, d5.loss_plan_l1_fix_time: 2.8133, d5.loss_plan_l1_fix_dist: 0.6208, d6.loss_plan_l1_fix_time: 2.8240, d6.loss_plan_l1_fix_dist: 0.6568, d0.loss_cls_all: 0.8260, d0.loss_bbox_all: 0.7503, d0.loss_cls: 0.8260, d0.loss_bbox: 0.7503, d1.loss_cls: 0.8215, d1.loss_bbox: 0.7651, d2.loss_cls: 0.8260, d2.loss_bbox: 0.7421, d3.loss_cls: 0.8292, d3.loss_bbox: 0.7343, d4.loss_cls: 0.8348, d4.loss_bbox: 0.7319, d5.loss_cls: 0.8328, d5.loss_bbox: 0.7296, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7300, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.7169, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7045, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7111, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.7119, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7215, d0.loss_map_cls_all: 0.4715, d0.loss_map_pts_all: 2.4378, d0.loss_map_dir_all: 0.0296, d0.loss_map_cls: 0.4715, d0.loss_map_pts: 2.4378, d0.loss_map_dir: 0.0296, d1.loss_map_cls: 0.4575, d1.loss_map_pts: 2.0061, d1.loss_map_dir: 0.0302, d2.loss_map_cls: 0.4526, d2.loss_map_pts: 1.9553, d2.loss_map_dir: 0.0299, d3.loss_map_cls: 0.4492, d3.loss_map_pts: 1.9465, d3.loss_map_dir: 0.0300, d4.loss_map_cls: 0.4508, d4.loss_map_pts: 1.9421, d4.loss_map_dir: 0.0301, d5.loss_map_cls: 0.4507, d5.loss_map_pts: 1.9430, d5.loss_map_dir: 0.0301, loss: 68.8595, grad_norm: 165.1536 +2026-02-24 10:01:00,241 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 10:01:00,241 - DriveTransformer - INFO - Epoch [1][35000/39528] lr: 1.000e-04, eta: 8 days, 10:29:29, time: 0.752, data_time: 0.043, memory: 19865, loss_cls: 0.8144, loss_bbox: 0.7679, loss_traj: 1.4167, loss_traj_cls: 0.0004, loss_map_cls: 0.4351, loss_map_pts: 1.8797, loss_map_dir: 0.0289, d0.loss_plan_l1_fix_time: 3.0544, d0.loss_plan_l1_fix_dist: 0.5037, d1.loss_plan_l1_fix_time: 2.9058, d1.loss_plan_l1_fix_dist: 0.5088, d2.loss_plan_l1_fix_time: 2.9072, d2.loss_plan_l1_fix_dist: 0.5284, d3.loss_plan_l1_fix_time: 2.9163, d3.loss_plan_l1_fix_dist: 0.5496, d4.loss_plan_l1_fix_time: 2.9264, d4.loss_plan_l1_fix_dist: 0.5697, d5.loss_plan_l1_fix_time: 2.9363, d5.loss_plan_l1_fix_dist: 0.5939, d6.loss_plan_l1_fix_time: 2.9462, d6.loss_plan_l1_fix_dist: 0.6257, d0.loss_cls_all: 0.8059, d0.loss_bbox_all: 0.7798, d0.loss_cls: 0.8059, d0.loss_bbox: 0.7798, d1.loss_cls: 0.8095, d1.loss_bbox: 0.7985, d2.loss_cls: 0.8155, d2.loss_bbox: 0.7756, d3.loss_cls: 0.8190, d3.loss_bbox: 0.7719, d4.loss_cls: 0.8149, d4.loss_bbox: 0.7678, d5.loss_cls: 0.8137, d5.loss_bbox: 0.7623, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4001, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.3728, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.3759, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3830, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3885, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.3994, d0.loss_map_cls_all: 0.4731, d0.loss_map_pts_all: 2.4043, d0.loss_map_dir_all: 0.0284, d0.loss_map_cls: 0.4731, d0.loss_map_pts: 2.4043, d0.loss_map_dir: 0.0284, d1.loss_map_cls: 0.4507, d1.loss_map_pts: 1.9120, d1.loss_map_dir: 0.0288, d2.loss_map_cls: 0.4411, d2.loss_map_pts: 1.8723, d2.loss_map_dir: 0.0286, d3.loss_map_cls: 0.4336, d3.loss_map_pts: 1.8711, d3.loss_map_dir: 0.0287, d4.loss_map_cls: 0.4332, d4.loss_map_pts: 1.8658, d4.loss_map_dir: 0.0287, d5.loss_map_cls: 0.4303, d5.loss_map_pts: 1.8795, d5.loss_map_dir: 0.0287, loss: 66.8041, grad_norm: 165.1946 +2026-02-24 10:01:38,335 - DriveTransformer - INFO - Epoch [1][35050/39528] lr: 1.000e-04, eta: 8 days, 10:28:02, time: 0.762, data_time: 0.043, memory: 19865, loss_cls: 0.7805, loss_bbox: 0.6944, loss_traj: 1.7620, loss_traj_cls: 0.0004, loss_map_cls: 0.4514, loss_map_pts: 1.9839, loss_map_dir: 0.0318, d0.loss_plan_l1_fix_time: 2.5577, d0.loss_plan_l1_fix_dist: 0.4032, d1.loss_plan_l1_fix_time: 2.3631, d1.loss_plan_l1_fix_dist: 0.4124, d2.loss_plan_l1_fix_time: 2.3410, d2.loss_plan_l1_fix_dist: 0.4440, d3.loss_plan_l1_fix_time: 2.3428, d3.loss_plan_l1_fix_dist: 0.4828, d4.loss_plan_l1_fix_time: 2.3497, d4.loss_plan_l1_fix_dist: 0.5283, d5.loss_plan_l1_fix_time: 2.3592, d5.loss_plan_l1_fix_dist: 0.5742, d6.loss_plan_l1_fix_time: 2.3693, d6.loss_plan_l1_fix_dist: 0.6207, d0.loss_cls_all: 0.7762, d0.loss_bbox_all: 0.7253, d0.loss_cls: 0.7762, d0.loss_bbox: 0.7253, d1.loss_cls: 0.7785, d1.loss_bbox: 0.7395, d2.loss_cls: 0.7803, d2.loss_bbox: 0.7079, d3.loss_cls: 0.7836, d3.loss_bbox: 0.7017, d4.loss_cls: 0.7836, d4.loss_bbox: 0.6930, d5.loss_cls: 0.7783, d5.loss_bbox: 0.6894, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7295, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.7372, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7343, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7516, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.7464, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7566, d0.loss_map_cls_all: 0.4791, d0.loss_map_pts_all: 2.4664, d0.loss_map_dir_all: 0.0306, d0.loss_map_cls: 0.4791, d0.loss_map_pts: 2.4664, d0.loss_map_dir: 0.0306, d1.loss_map_cls: 0.4609, d1.loss_map_pts: 1.9972, d1.loss_map_dir: 0.0313, d2.loss_map_cls: 0.4554, d2.loss_map_pts: 1.9511, d2.loss_map_dir: 0.0313, d3.loss_map_cls: 0.4529, d3.loss_map_pts: 1.9461, d3.loss_map_dir: 0.0313, d4.loss_map_cls: 0.4507, d4.loss_map_pts: 1.9580, d4.loss_map_dir: 0.0315, d5.loss_map_cls: 0.4482, d5.loss_map_pts: 1.9598, d5.loss_map_dir: 0.0315, loss: 64.9407, grad_norm: 157.7916 +2026-02-24 10:02:17,143 - DriveTransformer - INFO - Epoch [1][35100/39528] lr: 1.000e-04, eta: 8 days, 10:26:54, time: 0.776, data_time: 0.045, memory: 19865, loss_cls: 0.7860, loss_bbox: 0.7359, loss_traj: 1.6110, loss_traj_cls: 0.0005, loss_map_cls: 0.4834, loss_map_pts: 2.0695, loss_map_dir: 0.0372, d0.loss_plan_l1_fix_time: 2.5957, d0.loss_plan_l1_fix_dist: 0.4019, d1.loss_plan_l1_fix_time: 2.4057, d1.loss_plan_l1_fix_dist: 0.4054, d2.loss_plan_l1_fix_time: 2.4028, d2.loss_plan_l1_fix_dist: 0.4297, d3.loss_plan_l1_fix_time: 2.4100, d3.loss_plan_l1_fix_dist: 0.4626, d4.loss_plan_l1_fix_time: 2.4190, d4.loss_plan_l1_fix_dist: 0.5023, d5.loss_plan_l1_fix_time: 2.4299, d5.loss_plan_l1_fix_dist: 0.5421, d6.loss_plan_l1_fix_time: 2.4428, d6.loss_plan_l1_fix_dist: 0.5862, d0.loss_cls_all: 0.7955, d0.loss_bbox_all: 0.7325, d0.loss_cls: 0.7955, d0.loss_bbox: 0.7325, d1.loss_cls: 0.7827, d1.loss_bbox: 0.7628, d2.loss_cls: 0.7767, d2.loss_bbox: 0.7267, d3.loss_cls: 0.7785, d3.loss_bbox: 0.7314, d4.loss_cls: 0.7832, d4.loss_bbox: 0.7271, d5.loss_cls: 0.7825, d5.loss_bbox: 0.7274, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6321, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6079, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5956, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6052, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6055, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6089, d0.loss_map_cls_all: 0.4970, d0.loss_map_pts_all: 2.7217, d0.loss_map_dir_all: 0.0361, d0.loss_map_cls: 0.4970, d0.loss_map_pts: 2.7217, d0.loss_map_dir: 0.0361, d1.loss_map_cls: 0.4844, d1.loss_map_pts: 2.1198, d1.loss_map_dir: 0.0364, d2.loss_map_cls: 0.4795, d2.loss_map_pts: 2.0576, d2.loss_map_dir: 0.0366, d3.loss_map_cls: 0.4771, d3.loss_map_pts: 2.0442, d3.loss_map_dir: 0.0367, d4.loss_map_cls: 0.4790, d4.loss_map_pts: 2.0521, d4.loss_map_dir: 0.0369, d5.loss_map_cls: 0.4792, d5.loss_map_pts: 2.0497, d5.loss_map_dir: 0.0369, loss: 65.8696, grad_norm: 157.1864 +2026-02-24 10:02:56,594 - DriveTransformer - INFO - Epoch [1][35150/39528] lr: 1.000e-04, eta: 8 days, 10:26:03, time: 0.789, data_time: 0.040, memory: 19865, loss_cls: 0.7908, loss_bbox: 0.7323, loss_traj: 1.9065, loss_traj_cls: 0.0004, loss_map_cls: 0.4459, loss_map_pts: 2.1385, loss_map_dir: 0.0296, d0.loss_plan_l1_fix_time: 2.8448, d0.loss_plan_l1_fix_dist: 0.4340, d1.loss_plan_l1_fix_time: 2.6347, d1.loss_plan_l1_fix_dist: 0.4488, d2.loss_plan_l1_fix_time: 2.6032, d2.loss_plan_l1_fix_dist: 0.4811, d3.loss_plan_l1_fix_time: 2.6013, d3.loss_plan_l1_fix_dist: 0.5156, d4.loss_plan_l1_fix_time: 2.6052, d4.loss_plan_l1_fix_dist: 0.5515, d5.loss_plan_l1_fix_time: 2.6117, d5.loss_plan_l1_fix_dist: 0.5908, d6.loss_plan_l1_fix_time: 2.6204, d6.loss_plan_l1_fix_dist: 0.6315, d0.loss_cls_all: 0.8049, d0.loss_bbox_all: 0.7529, d0.loss_cls: 0.8049, d0.loss_bbox: 0.7529, d1.loss_cls: 0.7962, d1.loss_bbox: 0.7744, d2.loss_cls: 0.7919, d2.loss_bbox: 0.7390, d3.loss_cls: 0.7950, d3.loss_bbox: 0.7500, d4.loss_cls: 0.7924, d4.loss_bbox: 0.7340, d5.loss_cls: 0.7908, d5.loss_bbox: 0.7392, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8693, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.8804, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.8840, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9039, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.9027, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9068, d0.loss_map_cls_all: 0.4675, d0.loss_map_pts_all: 2.6309, d0.loss_map_dir_all: 0.0292, d0.loss_map_cls: 0.4675, d0.loss_map_pts: 2.6309, d0.loss_map_dir: 0.0292, d1.loss_map_cls: 0.4534, d1.loss_map_pts: 2.1850, d1.loss_map_dir: 0.0292, d2.loss_map_cls: 0.4432, d2.loss_map_pts: 2.1509, d2.loss_map_dir: 0.0292, d3.loss_map_cls: 0.4429, d3.loss_map_pts: 2.1384, d3.loss_map_dir: 0.0292, d4.loss_map_cls: 0.4428, d4.loss_map_pts: 2.1364, d4.loss_map_dir: 0.0293, d5.loss_map_cls: 0.4410, d5.loss_map_pts: 2.1408, d5.loss_map_dir: 0.0294, loss: 69.7641, grad_norm: 156.6391 +2026-02-24 10:03:37,556 - DriveTransformer - INFO - Epoch [1][35200/39528] lr: 1.000e-04, eta: 8 days, 10:25:53, time: 0.821, data_time: 0.040, memory: 19865, loss_cls: 0.7421, loss_bbox: 0.6909, loss_traj: 1.5548, loss_traj_cls: 0.0005, loss_map_cls: 0.4448, loss_map_pts: 1.9925, loss_map_dir: 0.0324, d0.loss_plan_l1_fix_time: 2.7357, d0.loss_plan_l1_fix_dist: 0.5129, d1.loss_plan_l1_fix_time: 2.5351, d1.loss_plan_l1_fix_dist: 0.5244, d2.loss_plan_l1_fix_time: 2.5073, d2.loss_plan_l1_fix_dist: 0.5513, d3.loss_plan_l1_fix_time: 2.5063, d3.loss_plan_l1_fix_dist: 0.5810, d4.loss_plan_l1_fix_time: 2.5105, d4.loss_plan_l1_fix_dist: 0.6116, d5.loss_plan_l1_fix_time: 2.5176, d5.loss_plan_l1_fix_dist: 0.6444, d6.loss_plan_l1_fix_time: 2.5277, d6.loss_plan_l1_fix_dist: 0.6760, d0.loss_cls_all: 0.7458, d0.loss_bbox_all: 0.7082, d0.loss_cls: 0.7458, d0.loss_bbox: 0.7082, d1.loss_cls: 0.7341, d1.loss_bbox: 0.7203, d2.loss_cls: 0.7315, d2.loss_bbox: 0.7068, d3.loss_cls: 0.7333, d3.loss_bbox: 0.7088, d4.loss_cls: 0.7355, d4.loss_bbox: 0.6947, d5.loss_cls: 0.7378, d5.loss_bbox: 0.7002, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5264, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5187, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5173, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5296, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5479, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5450, d0.loss_map_cls_all: 0.4618, d0.loss_map_pts_all: 2.6524, d0.loss_map_dir_all: 0.0316, d0.loss_map_cls: 0.4618, d0.loss_map_pts: 2.6524, d0.loss_map_dir: 0.0316, d1.loss_map_cls: 0.4575, d1.loss_map_pts: 2.0301, d1.loss_map_dir: 0.0321, d2.loss_map_cls: 0.4499, d2.loss_map_pts: 1.9914, d2.loss_map_dir: 0.0320, d3.loss_map_cls: 0.4471, d3.loss_map_pts: 1.9868, d3.loss_map_dir: 0.0322, d4.loss_map_cls: 0.4443, d4.loss_map_pts: 1.9812, d4.loss_map_dir: 0.0322, d5.loss_map_cls: 0.4432, d5.loss_map_pts: 1.9874, d5.loss_map_dir: 0.0323, loss: 65.3707, grad_norm: 155.5865 +2026-02-24 10:04:16,427 - DriveTransformer - INFO - Epoch [1][35250/39528] lr: 1.000e-04, eta: 8 days, 10:24:44, time: 0.776, data_time: 0.039, memory: 19865, loss_cls: 0.7868, loss_bbox: 0.6950, loss_traj: 1.6673, loss_traj_cls: 0.0004, loss_map_cls: 0.4840, loss_map_pts: 2.1663, loss_map_dir: 0.0324, d0.loss_plan_l1_fix_time: 3.0544, d0.loss_plan_l1_fix_dist: 0.5310, d1.loss_plan_l1_fix_time: 2.8741, d1.loss_plan_l1_fix_dist: 0.5414, d2.loss_plan_l1_fix_time: 2.8720, d2.loss_plan_l1_fix_dist: 0.5637, d3.loss_plan_l1_fix_time: 2.8793, d3.loss_plan_l1_fix_dist: 0.5941, d4.loss_plan_l1_fix_time: 2.8883, d4.loss_plan_l1_fix_dist: 0.6266, d5.loss_plan_l1_fix_time: 2.8990, d5.loss_plan_l1_fix_dist: 0.6602, d6.loss_plan_l1_fix_time: 2.9101, d6.loss_plan_l1_fix_dist: 0.6998, d0.loss_cls_all: 0.7948, d0.loss_bbox_all: 0.7239, d0.loss_cls: 0.7948, d0.loss_bbox: 0.7239, d1.loss_cls: 0.7778, d1.loss_bbox: 0.7222, d2.loss_cls: 0.7757, d2.loss_bbox: 0.7107, d3.loss_cls: 0.7762, d3.loss_bbox: 0.7065, d4.loss_cls: 0.7802, d4.loss_bbox: 0.6968, d5.loss_cls: 0.7835, d5.loss_bbox: 0.6947, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6854, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6563, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6459, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6584, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6645, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6733, d0.loss_map_cls_all: 0.5031, d0.loss_map_pts_all: 2.6375, d0.loss_map_dir_all: 0.0320, d0.loss_map_cls: 0.5031, d0.loss_map_pts: 2.6375, d0.loss_map_dir: 0.0320, d1.loss_map_cls: 0.4912, d1.loss_map_pts: 2.1897, d1.loss_map_dir: 0.0322, d2.loss_map_cls: 0.4877, d2.loss_map_pts: 2.1619, d2.loss_map_dir: 0.0321, d3.loss_map_cls: 0.4843, d3.loss_map_pts: 2.1521, d3.loss_map_dir: 0.0321, d4.loss_map_cls: 0.4830, d4.loss_map_pts: 2.1547, d4.loss_map_dir: 0.0323, d5.loss_map_cls: 0.4831, d5.loss_map_pts: 2.1568, d5.loss_map_dir: 0.0323, loss: 70.6263, grad_norm: 153.9101 +2026-02-24 10:04:56,920 - DriveTransformer - INFO - Epoch [1][35300/39528] lr: 1.000e-04, eta: 8 days, 10:24:20, time: 0.810, data_time: 0.038, memory: 19865, loss_cls: 0.8489, loss_bbox: 0.7599, loss_traj: 1.6765, loss_traj_cls: 0.0004, loss_map_cls: 0.4455, loss_map_pts: 2.2414, loss_map_dir: 0.0377, d0.loss_plan_l1_fix_time: 3.1172, d0.loss_plan_l1_fix_dist: 0.4661, d1.loss_plan_l1_fix_time: 2.9527, d1.loss_plan_l1_fix_dist: 0.4651, d2.loss_plan_l1_fix_time: 2.9252, d2.loss_plan_l1_fix_dist: 0.4874, d3.loss_plan_l1_fix_time: 2.9220, d3.loss_plan_l1_fix_dist: 0.5175, d4.loss_plan_l1_fix_time: 2.9249, d4.loss_plan_l1_fix_dist: 0.5532, d5.loss_plan_l1_fix_time: 2.9312, d5.loss_plan_l1_fix_dist: 0.5924, d6.loss_plan_l1_fix_time: 2.9394, d6.loss_plan_l1_fix_dist: 0.6366, d0.loss_cls_all: 0.8543, d0.loss_bbox_all: 0.7882, d0.loss_cls: 0.8543, d0.loss_bbox: 0.7882, d1.loss_cls: 0.8398, d1.loss_bbox: 0.7855, d2.loss_cls: 0.8406, d2.loss_bbox: 0.7664, d3.loss_cls: 0.8419, d3.loss_bbox: 0.7832, d4.loss_cls: 0.8447, d4.loss_bbox: 0.7653, d5.loss_cls: 0.8461, d5.loss_bbox: 0.7579, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6135, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.6103, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6210, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6439, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6690, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6706, d0.loss_map_cls_all: 0.4721, d0.loss_map_pts_all: 2.9037, d0.loss_map_dir_all: 0.0369, d0.loss_map_cls: 0.4721, d0.loss_map_pts: 2.9037, d0.loss_map_dir: 0.0369, d1.loss_map_cls: 0.4584, d1.loss_map_pts: 2.2984, d1.loss_map_dir: 0.0372, d2.loss_map_cls: 0.4516, d2.loss_map_pts: 2.2470, d2.loss_map_dir: 0.0372, d3.loss_map_cls: 0.4482, d3.loss_map_pts: 2.2378, d3.loss_map_dir: 0.0373, d4.loss_map_cls: 0.4461, d4.loss_map_pts: 2.2312, d4.loss_map_dir: 0.0374, d5.loss_map_cls: 0.4453, d5.loss_map_pts: 2.2339, d5.loss_map_dir: 0.0374, loss: 72.1392, grad_norm: 153.3298 +2026-02-24 10:05:36,061 - DriveTransformer - INFO - Epoch [1][35350/39528] lr: 1.000e-04, eta: 8 days, 10:23:21, time: 0.783, data_time: 0.036, memory: 19865, loss_cls: 0.7569, loss_bbox: 0.7217, loss_traj: 1.6927, loss_traj_cls: 0.0004, loss_map_cls: 0.4434, loss_map_pts: 1.9495, loss_map_dir: 0.0306, d0.loss_plan_l1_fix_time: 2.9362, d0.loss_plan_l1_fix_dist: 0.4947, d1.loss_plan_l1_fix_time: 2.7239, d1.loss_plan_l1_fix_dist: 0.4899, d2.loss_plan_l1_fix_time: 2.6990, d2.loss_plan_l1_fix_dist: 0.5064, d3.loss_plan_l1_fix_time: 2.6985, d3.loss_plan_l1_fix_dist: 0.5293, d4.loss_plan_l1_fix_time: 2.7036, d4.loss_plan_l1_fix_dist: 0.5600, d5.loss_plan_l1_fix_time: 2.7108, d5.loss_plan_l1_fix_dist: 0.5967, d6.loss_plan_l1_fix_time: 2.7218, d6.loss_plan_l1_fix_dist: 0.6290, d0.loss_cls_all: 0.7529, d0.loss_bbox_all: 0.7450, d0.loss_cls: 0.7529, d0.loss_bbox: 0.7450, d1.loss_cls: 0.7563, d1.loss_bbox: 0.7465, d2.loss_cls: 0.7571, d2.loss_bbox: 0.7250, d3.loss_cls: 0.7559, d3.loss_bbox: 0.7727, d4.loss_cls: 0.7584, d4.loss_bbox: 0.7390, d5.loss_cls: 0.7565, d5.loss_bbox: 0.7303, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7084, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.6726, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6663, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6792, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6837, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6909, d0.loss_map_cls_all: 0.4624, d0.loss_map_pts_all: 2.4958, d0.loss_map_dir_all: 0.0300, d0.loss_map_cls: 0.4624, d0.loss_map_pts: 2.4958, d0.loss_map_dir: 0.0300, d1.loss_map_cls: 0.4500, d1.loss_map_pts: 2.0047, d1.loss_map_dir: 0.0302, d2.loss_map_cls: 0.4498, d2.loss_map_pts: 1.9565, d2.loss_map_dir: 0.0303, d3.loss_map_cls: 0.4466, d3.loss_map_pts: 1.9432, d3.loss_map_dir: 0.0303, d4.loss_map_cls: 0.4435, d4.loss_map_pts: 1.9427, d4.loss_map_dir: 0.0304, d5.loss_map_cls: 0.4419, d5.loss_map_pts: 1.9440, d5.loss_map_dir: 0.0304, loss: 67.3440, grad_norm: 152.4564 +2026-02-24 10:06:14,597 - DriveTransformer - INFO - Epoch [1][35400/39528] lr: 1.000e-04, eta: 8 days, 10:22:06, time: 0.771, data_time: 0.038, memory: 19865, loss_cls: 0.8021, loss_bbox: 0.7531, loss_traj: 1.7420, loss_traj_cls: 0.0005, loss_map_cls: 0.4352, loss_map_pts: 2.0909, loss_map_dir: 0.0332, d0.loss_plan_l1_fix_time: 2.9279, d0.loss_plan_l1_fix_dist: 0.5263, d1.loss_plan_l1_fix_time: 2.6985, d1.loss_plan_l1_fix_dist: 0.5297, d2.loss_plan_l1_fix_time: 2.6726, d2.loss_plan_l1_fix_dist: 0.5527, d3.loss_plan_l1_fix_time: 2.6719, d3.loss_plan_l1_fix_dist: 0.5837, d4.loss_plan_l1_fix_time: 2.6766, d4.loss_plan_l1_fix_dist: 0.6139, d5.loss_plan_l1_fix_time: 2.6832, d5.loss_plan_l1_fix_dist: 0.6435, d6.loss_plan_l1_fix_time: 2.6925, d6.loss_plan_l1_fix_dist: 0.6759, d0.loss_cls_all: 0.8173, d0.loss_bbox_all: 0.7733, d0.loss_cls: 0.8173, d0.loss_bbox: 0.7733, d1.loss_cls: 0.8095, d1.loss_bbox: 0.7735, d2.loss_cls: 0.8034, d2.loss_bbox: 0.7636, d3.loss_cls: 0.8085, d3.loss_bbox: 0.7957, d4.loss_cls: 0.8065, d4.loss_bbox: 0.7645, d5.loss_cls: 0.8013, d5.loss_bbox: 0.7599, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6179, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.6442, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6605, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6990, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.7182, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7342, d0.loss_map_cls_all: 0.4778, d0.loss_map_pts_all: 2.5909, d0.loss_map_dir_all: 0.0322, d0.loss_map_cls: 0.4778, d0.loss_map_pts: 2.5909, d0.loss_map_dir: 0.0322, d1.loss_map_cls: 0.4540, d1.loss_map_pts: 2.1248, d1.loss_map_dir: 0.0326, d2.loss_map_cls: 0.4414, d2.loss_map_pts: 2.0855, d2.loss_map_dir: 0.0328, d3.loss_map_cls: 0.4372, d3.loss_map_pts: 2.0898, d3.loss_map_dir: 0.0329, d4.loss_map_cls: 0.4365, d4.loss_map_pts: 2.0961, d4.loss_map_dir: 0.0330, d5.loss_map_cls: 0.4344, d5.loss_map_pts: 2.0943, d5.loss_map_dir: 0.0330, loss: 69.2115, grad_norm: 151.1490 +2026-02-24 10:06:54,249 - DriveTransformer - INFO - Epoch [1][35450/39528] lr: 1.000e-04, eta: 8 days, 10:21:20, time: 0.793, data_time: 0.038, memory: 19865, loss_cls: 0.7790, loss_bbox: 0.7213, loss_traj: 1.7851, loss_traj_cls: 0.0005, loss_map_cls: 0.4364, loss_map_pts: 1.8997, loss_map_dir: 0.0322, d0.loss_plan_l1_fix_time: 2.8588, d0.loss_plan_l1_fix_dist: 0.4490, d1.loss_plan_l1_fix_time: 2.6895, d1.loss_plan_l1_fix_dist: 0.4633, d2.loss_plan_l1_fix_time: 2.6779, d2.loss_plan_l1_fix_dist: 0.4861, d3.loss_plan_l1_fix_time: 2.6849, d3.loss_plan_l1_fix_dist: 0.5105, d4.loss_plan_l1_fix_time: 2.6930, d4.loss_plan_l1_fix_dist: 0.5371, d5.loss_plan_l1_fix_time: 2.7017, d5.loss_plan_l1_fix_dist: 0.5651, d6.loss_plan_l1_fix_time: 2.7109, d6.loss_plan_l1_fix_dist: 0.5972, d0.loss_cls_all: 0.7655, d0.loss_bbox_all: 0.7346, d0.loss_cls: 0.7655, d0.loss_bbox: 0.7346, d1.loss_cls: 0.7674, d1.loss_bbox: 0.7450, d2.loss_cls: 0.7649, d2.loss_bbox: 0.7575, d3.loss_cls: 0.7687, d3.loss_bbox: 0.7520, d4.loss_cls: 0.7744, d4.loss_bbox: 0.7267, d5.loss_cls: 0.7749, d5.loss_bbox: 0.7305, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7764, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.7437, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7331, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7430, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.7558, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7781, d0.loss_map_cls_all: 0.4563, d0.loss_map_pts_all: 2.5134, d0.loss_map_dir_all: 0.0314, d0.loss_map_cls: 0.4563, d0.loss_map_pts: 2.5134, d0.loss_map_dir: 0.0314, d1.loss_map_cls: 0.4423, d1.loss_map_pts: 1.9585, d1.loss_map_dir: 0.0317, d2.loss_map_cls: 0.4356, d2.loss_map_pts: 1.9133, d2.loss_map_dir: 0.0317, d3.loss_map_cls: 0.4323, d3.loss_map_pts: 1.9084, d3.loss_map_dir: 0.0318, d4.loss_map_cls: 0.4351, d4.loss_map_pts: 1.9107, d4.loss_map_dir: 0.0319, d5.loss_map_cls: 0.4347, d5.loss_map_pts: 1.9034, d5.loss_map_dir: 0.0320, loss: 67.3107, grad_norm: 151.8616 +2026-02-24 10:07:35,526 - DriveTransformer - INFO - Epoch [1][35500/39528] lr: 1.000e-04, eta: 8 days, 10:21:16, time: 0.825, data_time: 0.046, memory: 19865, loss_cls: 0.8076, loss_bbox: 0.7708, loss_traj: 1.6308, loss_traj_cls: 0.0005, loss_map_cls: 0.4822, loss_map_pts: 2.3334, loss_map_dir: 0.0388, d0.loss_plan_l1_fix_time: 2.9523, d0.loss_plan_l1_fix_dist: 0.5073, d1.loss_plan_l1_fix_time: 2.7317, d1.loss_plan_l1_fix_dist: 0.4999, d2.loss_plan_l1_fix_time: 2.7121, d2.loss_plan_l1_fix_dist: 0.5166, d3.loss_plan_l1_fix_time: 2.7150, d3.loss_plan_l1_fix_dist: 0.5446, d4.loss_plan_l1_fix_time: 2.7208, d4.loss_plan_l1_fix_dist: 0.5806, d5.loss_plan_l1_fix_time: 2.7286, d5.loss_plan_l1_fix_dist: 0.6242, d6.loss_plan_l1_fix_time: 2.7375, d6.loss_plan_l1_fix_dist: 0.6680, d0.loss_cls_all: 0.8048, d0.loss_bbox_all: 0.7701, d0.loss_cls: 0.8048, d0.loss_bbox: 0.7701, d1.loss_cls: 0.8029, d1.loss_bbox: 0.7929, d2.loss_cls: 0.8008, d2.loss_bbox: 0.8012, d3.loss_cls: 0.8016, d3.loss_bbox: 0.7699, d4.loss_cls: 0.8036, d4.loss_bbox: 0.7658, d5.loss_cls: 0.8047, d5.loss_bbox: 0.7667, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6374, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6137, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6170, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6275, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6305, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6339, d0.loss_map_cls_all: 0.4862, d0.loss_map_pts_all: 3.0193, d0.loss_map_dir_all: 0.0376, d0.loss_map_cls: 0.4862, d0.loss_map_pts: 3.0193, d0.loss_map_dir: 0.0376, d1.loss_map_cls: 0.4794, d1.loss_map_pts: 2.3849, d1.loss_map_dir: 0.0382, d2.loss_map_cls: 0.4746, d2.loss_map_pts: 2.3271, d2.loss_map_dir: 0.0383, d3.loss_map_cls: 0.4750, d3.loss_map_pts: 2.3176, d3.loss_map_dir: 0.0384, d4.loss_map_cls: 0.4782, d4.loss_map_pts: 2.3141, d4.loss_map_dir: 0.0385, d5.loss_map_cls: 0.4773, d5.loss_map_pts: 2.3198, d5.loss_map_dir: 0.0386, loss: 71.4531, grad_norm: 151.1308 +2026-02-24 10:08:15,068 - DriveTransformer - INFO - Epoch [1][35550/39528] lr: 1.000e-04, eta: 8 days, 10:20:27, time: 0.791, data_time: 0.044, memory: 19865, loss_cls: 0.8079, loss_bbox: 0.7190, loss_traj: 1.5774, loss_traj_cls: 0.0005, loss_map_cls: 0.4564, loss_map_pts: 2.0658, loss_map_dir: 0.0327, d0.loss_plan_l1_fix_time: 2.7316, d0.loss_plan_l1_fix_dist: 0.5030, d1.loss_plan_l1_fix_time: 2.5912, d1.loss_plan_l1_fix_dist: 0.5034, d2.loss_plan_l1_fix_time: 2.5981, d2.loss_plan_l1_fix_dist: 0.5181, d3.loss_plan_l1_fix_time: 2.6081, d3.loss_plan_l1_fix_dist: 0.5399, d4.loss_plan_l1_fix_time: 2.6182, d4.loss_plan_l1_fix_dist: 0.5675, d5.loss_plan_l1_fix_time: 2.6291, d5.loss_plan_l1_fix_dist: 0.5998, d6.loss_plan_l1_fix_time: 2.6400, d6.loss_plan_l1_fix_dist: 0.6381, d0.loss_cls_all: 0.8226, d0.loss_bbox_all: 0.7301, d0.loss_cls: 0.8226, d0.loss_bbox: 0.7301, d1.loss_cls: 0.8081, d1.loss_bbox: 0.7456, d2.loss_cls: 0.8114, d2.loss_bbox: 0.7634, d3.loss_cls: 0.8137, d3.loss_bbox: 0.7389, d4.loss_cls: 0.8067, d4.loss_bbox: 0.7304, d5.loss_cls: 0.8108, d5.loss_bbox: 0.7187, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5216, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.5046, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5185, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5249, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5487, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5568, d0.loss_map_cls_all: 0.4779, d0.loss_map_pts_all: 2.6351, d0.loss_map_dir_all: 0.0319, d0.loss_map_cls: 0.4779, d0.loss_map_pts: 2.6351, d0.loss_map_dir: 0.0319, d1.loss_map_cls: 0.4659, d1.loss_map_pts: 2.1090, d1.loss_map_dir: 0.0322, d2.loss_map_cls: 0.4597, d2.loss_map_pts: 2.0491, d2.loss_map_dir: 0.0323, d3.loss_map_cls: 0.4583, d3.loss_map_pts: 2.0443, d3.loss_map_dir: 0.0323, d4.loss_map_cls: 0.4566, d4.loss_map_pts: 2.0417, d4.loss_map_dir: 0.0325, d5.loss_map_cls: 0.4543, d5.loss_map_pts: 2.0494, d5.loss_map_dir: 0.0325, loss: 67.0177, grad_norm: 151.0814 +2026-02-24 10:08:55,192 - DriveTransformer - INFO - Epoch [1][35600/39528] lr: 1.000e-04, eta: 8 days, 10:19:54, time: 0.802, data_time: 0.040, memory: 19865, loss_cls: 0.8024, loss_bbox: 0.7588, loss_traj: 1.5547, loss_traj_cls: 0.0005, loss_map_cls: 0.4481, loss_map_pts: 2.0358, loss_map_dir: 0.0359, d0.loss_plan_l1_fix_time: 2.9560, d0.loss_plan_l1_fix_dist: 0.5430, d1.loss_plan_l1_fix_time: 2.7944, d1.loss_plan_l1_fix_dist: 0.5455, d2.loss_plan_l1_fix_time: 2.7887, d2.loss_plan_l1_fix_dist: 0.5646, d3.loss_plan_l1_fix_time: 2.7956, d3.loss_plan_l1_fix_dist: 0.5912, d4.loss_plan_l1_fix_time: 2.8051, d4.loss_plan_l1_fix_dist: 0.6183, d5.loss_plan_l1_fix_time: 2.8154, d5.loss_plan_l1_fix_dist: 0.6469, d6.loss_plan_l1_fix_time: 2.8266, d6.loss_plan_l1_fix_dist: 0.6752, d0.loss_cls_all: 0.8033, d0.loss_bbox_all: 0.7661, d0.loss_cls: 0.8033, d0.loss_bbox: 0.7661, d1.loss_cls: 0.7961, d1.loss_bbox: 0.7719, d2.loss_cls: 0.7930, d2.loss_bbox: 0.7914, d3.loss_cls: 0.7968, d3.loss_bbox: 0.7747, d4.loss_cls: 0.7978, d4.loss_bbox: 0.7676, d5.loss_cls: 0.8003, d5.loss_bbox: 0.7549, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5620, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.5090, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5266, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5319, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5367, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5423, d0.loss_map_cls_all: 0.4614, d0.loss_map_pts_all: 2.7561, d0.loss_map_dir_all: 0.0349, d0.loss_map_cls: 0.4614, d0.loss_map_pts: 2.7561, d0.loss_map_dir: 0.0349, d1.loss_map_cls: 0.4539, d1.loss_map_pts: 2.1303, d1.loss_map_dir: 0.0353, d2.loss_map_cls: 0.4477, d2.loss_map_pts: 2.0555, d2.loss_map_dir: 0.0354, d3.loss_map_cls: 0.4451, d3.loss_map_pts: 2.0413, d3.loss_map_dir: 0.0355, d4.loss_map_cls: 0.4435, d4.loss_map_pts: 2.0329, d4.loss_map_dir: 0.0357, d5.loss_map_cls: 0.4450, d5.loss_map_pts: 2.0325, d5.loss_map_dir: 0.0357, loss: 69.0088, grad_norm: 151.9695 +2026-02-24 10:09:34,608 - DriveTransformer - INFO - Epoch [1][35650/39528] lr: 1.000e-04, eta: 8 days, 10:19:02, time: 0.788, data_time: 0.046, memory: 19865, loss_cls: 0.7824, loss_bbox: 0.7271, loss_traj: 1.4311, loss_traj_cls: 0.0004, loss_map_cls: 0.4193, loss_map_pts: 1.9578, loss_map_dir: 0.0309, d0.loss_plan_l1_fix_time: 2.8944, d0.loss_plan_l1_fix_dist: 0.4245, d1.loss_plan_l1_fix_time: 2.7331, d1.loss_plan_l1_fix_dist: 0.4264, d2.loss_plan_l1_fix_time: 2.7268, d2.loss_plan_l1_fix_dist: 0.4452, d3.loss_plan_l1_fix_time: 2.7331, d3.loss_plan_l1_fix_dist: 0.4692, d4.loss_plan_l1_fix_time: 2.7405, d4.loss_plan_l1_fix_dist: 0.4978, d5.loss_plan_l1_fix_time: 2.7497, d5.loss_plan_l1_fix_dist: 0.5314, d6.loss_plan_l1_fix_time: 2.7607, d6.loss_plan_l1_fix_dist: 0.5656, d0.loss_cls_all: 0.7903, d0.loss_bbox_all: 0.7264, d0.loss_cls: 0.7903, d0.loss_bbox: 0.7264, d1.loss_cls: 0.7787, d1.loss_bbox: 0.7358, d2.loss_cls: 0.7764, d2.loss_bbox: 0.7610, d3.loss_cls: 0.7808, d3.loss_bbox: 0.7385, d4.loss_cls: 0.7800, d4.loss_bbox: 0.7356, d5.loss_cls: 0.7808, d5.loss_bbox: 0.7273, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3988, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.4039, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.3992, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4118, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4190, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4304, d0.loss_map_cls_all: 0.4368, d0.loss_map_pts_all: 2.4767, d0.loss_map_dir_all: 0.0304, d0.loss_map_cls: 0.4368, d0.loss_map_pts: 2.4767, d0.loss_map_dir: 0.0304, d1.loss_map_cls: 0.4281, d1.loss_map_pts: 1.9815, d1.loss_map_dir: 0.0306, d2.loss_map_cls: 0.4165, d2.loss_map_pts: 1.9440, d2.loss_map_dir: 0.0306, d3.loss_map_cls: 0.4152, d3.loss_map_pts: 1.9407, d3.loss_map_dir: 0.0307, d4.loss_map_cls: 0.4149, d4.loss_map_pts: 1.9493, d4.loss_map_dir: 0.0307, d5.loss_map_cls: 0.4176, d5.loss_map_pts: 1.9512, d5.loss_map_dir: 0.0307, loss: 65.0425, grad_norm: 150.8418 +2026-02-24 10:10:13,746 - DriveTransformer - INFO - Epoch [1][35700/39528] lr: 1.000e-04, eta: 8 days, 10:18:03, time: 0.783, data_time: 0.038, memory: 19865, loss_cls: 0.7775, loss_bbox: 0.7084, loss_traj: 1.6223, loss_traj_cls: 0.0005, loss_map_cls: 0.4196, loss_map_pts: 1.8701, loss_map_dir: 0.0304, d0.loss_plan_l1_fix_time: 2.7260, d0.loss_plan_l1_fix_dist: 0.4826, d1.loss_plan_l1_fix_time: 2.5177, d1.loss_plan_l1_fix_dist: 0.4866, d2.loss_plan_l1_fix_time: 2.4945, d2.loss_plan_l1_fix_dist: 0.5090, d3.loss_plan_l1_fix_time: 2.4944, d3.loss_plan_l1_fix_dist: 0.5372, d4.loss_plan_l1_fix_time: 2.4999, d4.loss_plan_l1_fix_dist: 0.5699, d5.loss_plan_l1_fix_time: 2.5075, d5.loss_plan_l1_fix_dist: 0.6051, d6.loss_plan_l1_fix_time: 2.5167, d6.loss_plan_l1_fix_dist: 0.6415, d0.loss_cls_all: 0.7901, d0.loss_bbox_all: 0.7106, d0.loss_cls: 0.7901, d0.loss_bbox: 0.7106, d1.loss_cls: 0.7813, d1.loss_bbox: 0.7259, d2.loss_cls: 0.7780, d2.loss_bbox: 0.7312, d3.loss_cls: 0.7795, d3.loss_bbox: 0.7208, d4.loss_cls: 0.7773, d4.loss_bbox: 0.7210, d5.loss_cls: 0.7765, d5.loss_bbox: 0.7113, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6168, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.5904, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5843, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5947, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6056, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6147, d0.loss_map_cls_all: 0.4486, d0.loss_map_pts_all: 2.4575, d0.loss_map_dir_all: 0.0298, d0.loss_map_cls: 0.4486, d0.loss_map_pts: 2.4575, d0.loss_map_dir: 0.0298, d1.loss_map_cls: 0.4333, d1.loss_map_pts: 1.9144, d1.loss_map_dir: 0.0300, d2.loss_map_cls: 0.4243, d2.loss_map_pts: 1.8723, d2.loss_map_dir: 0.0300, d3.loss_map_cls: 0.4218, d3.loss_map_pts: 1.8621, d3.loss_map_dir: 0.0301, d4.loss_map_cls: 0.4208, d4.loss_map_pts: 1.8608, d4.loss_map_dir: 0.0302, d5.loss_map_cls: 0.4195, d5.loss_map_pts: 1.8600, d5.loss_map_dir: 0.0303, loss: 64.6438, grad_norm: 150.1398 +2026-02-24 10:10:53,072 - DriveTransformer - INFO - Epoch [1][35750/39528] lr: 1.000e-04, eta: 8 days, 10:17:08, time: 0.787, data_time: 0.041, memory: 19865, loss_cls: 0.8025, loss_bbox: 0.7434, loss_traj: 1.5374, loss_traj_cls: 0.0005, loss_map_cls: 0.4490, loss_map_pts: 2.1545, loss_map_dir: 0.0315, d0.loss_plan_l1_fix_time: 3.2302, d0.loss_plan_l1_fix_dist: 0.5050, d1.loss_plan_l1_fix_time: 3.0979, d1.loss_plan_l1_fix_dist: 0.5087, d2.loss_plan_l1_fix_time: 3.0828, d2.loss_plan_l1_fix_dist: 0.5281, d3.loss_plan_l1_fix_time: 3.0849, d3.loss_plan_l1_fix_dist: 0.5558, d4.loss_plan_l1_fix_time: 3.0909, d4.loss_plan_l1_fix_dist: 0.5835, d5.loss_plan_l1_fix_time: 3.0986, d5.loss_plan_l1_fix_dist: 0.6158, d6.loss_plan_l1_fix_time: 3.1084, d6.loss_plan_l1_fix_dist: 0.6525, d0.loss_cls_all: 0.8181, d0.loss_bbox_all: 0.7462, d0.loss_cls: 0.8181, d0.loss_bbox: 0.7462, d1.loss_cls: 0.8014, d1.loss_bbox: 0.7616, d2.loss_cls: 0.7969, d2.loss_bbox: 0.7464, d3.loss_cls: 0.7971, d3.loss_bbox: 0.7407, d4.loss_cls: 0.7990, d4.loss_bbox: 0.7383, d5.loss_cls: 0.7998, d5.loss_bbox: 0.7418, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5724, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.5370, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5197, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5256, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5308, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5330, d0.loss_map_cls_all: 0.4667, d0.loss_map_pts_all: 2.7096, d0.loss_map_dir_all: 0.0306, d0.loss_map_cls: 0.4667, d0.loss_map_pts: 2.7096, d0.loss_map_dir: 0.0306, d1.loss_map_cls: 0.4556, d1.loss_map_pts: 2.1953, d1.loss_map_dir: 0.0310, d2.loss_map_cls: 0.4521, d2.loss_map_pts: 2.1568, d2.loss_map_dir: 0.0309, d3.loss_map_cls: 0.4513, d3.loss_map_pts: 2.1434, d3.loss_map_dir: 0.0312, d4.loss_map_cls: 0.4493, d4.loss_map_pts: 2.1402, d4.loss_map_dir: 0.0313, d5.loss_map_cls: 0.4485, d5.loss_map_pts: 2.1432, d5.loss_map_dir: 0.0314, loss: 71.1408, grad_norm: 149.2879 +2026-02-24 10:11:34,375 - DriveTransformer - INFO - Epoch [1][35800/39528] lr: 1.000e-04, eta: 8 days, 10:17:05, time: 0.826, data_time: 0.037, memory: 19865, loss_cls: 0.7529, loss_bbox: 0.7370, loss_traj: 1.4747, loss_traj_cls: 0.0005, loss_map_cls: 0.4554, loss_map_pts: 2.2809, loss_map_dir: 0.0359, d0.loss_plan_l1_fix_time: 2.6026, d0.loss_plan_l1_fix_dist: 0.4134, d1.loss_plan_l1_fix_time: 2.3547, d1.loss_plan_l1_fix_dist: 0.4004, d2.loss_plan_l1_fix_time: 2.3174, d2.loss_plan_l1_fix_dist: 0.4085, d3.loss_plan_l1_fix_time: 2.3141, d3.loss_plan_l1_fix_dist: 0.4263, d4.loss_plan_l1_fix_time: 2.3171, d4.loss_plan_l1_fix_dist: 0.4498, d5.loss_plan_l1_fix_time: 2.3239, d5.loss_plan_l1_fix_dist: 0.4785, d6.loss_plan_l1_fix_time: 2.3341, d6.loss_plan_l1_fix_dist: 0.5100, d0.loss_cls_all: 0.7906, d0.loss_bbox_all: 0.7219, d0.loss_cls: 0.7906, d0.loss_bbox: 0.7219, d1.loss_cls: 0.7737, d1.loss_bbox: 0.7475, d2.loss_cls: 0.7543, d2.loss_bbox: 0.7385, d3.loss_cls: 0.7542, d3.loss_bbox: 0.7205, d4.loss_cls: 0.7580, d4.loss_bbox: 0.7292, d5.loss_cls: 0.7519, d5.loss_bbox: 0.7306, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5393, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.4871, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4614, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4685, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4722, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4701, d0.loss_map_cls_all: 0.4560, d0.loss_map_pts_all: 2.9777, d0.loss_map_dir_all: 0.0349, d0.loss_map_cls: 0.4560, d0.loss_map_pts: 2.9777, d0.loss_map_dir: 0.0349, d1.loss_map_cls: 0.4529, d1.loss_map_pts: 2.3359, d1.loss_map_dir: 0.0353, d2.loss_map_cls: 0.4495, d2.loss_map_pts: 2.2777, d2.loss_map_dir: 0.0353, d3.loss_map_cls: 0.4503, d3.loss_map_pts: 2.2646, d3.loss_map_dir: 0.0355, d4.loss_map_cls: 0.4485, d4.loss_map_pts: 2.2645, d4.loss_map_dir: 0.0355, d5.loss_map_cls: 0.4543, d5.loss_map_pts: 2.2738, d5.loss_map_dir: 0.0356, loss: 65.5607, grad_norm: 150.3599 +2026-02-24 10:12:14,594 - DriveTransformer - INFO - Epoch [1][35850/39528] lr: 1.000e-04, eta: 8 days, 10:16:33, time: 0.804, data_time: 0.038, memory: 19865, loss_cls: 0.8064, loss_bbox: 0.7351, loss_traj: 1.4927, loss_traj_cls: 0.0005, loss_map_cls: 0.3995, loss_map_pts: 2.0222, loss_map_dir: 0.0313, d0.loss_plan_l1_fix_time: 2.7434, d0.loss_plan_l1_fix_dist: 0.4241, d1.loss_plan_l1_fix_time: 2.6834, d1.loss_plan_l1_fix_dist: 0.4230, d2.loss_plan_l1_fix_time: 2.6978, d2.loss_plan_l1_fix_dist: 0.4419, d3.loss_plan_l1_fix_time: 2.7094, d3.loss_plan_l1_fix_dist: 0.4669, d4.loss_plan_l1_fix_time: 2.7198, d4.loss_plan_l1_fix_dist: 0.4931, d5.loss_plan_l1_fix_time: 2.7307, d5.loss_plan_l1_fix_dist: 0.5203, d6.loss_plan_l1_fix_time: 2.7421, d6.loss_plan_l1_fix_dist: 0.5511, d0.loss_cls_all: 0.8208, d0.loss_bbox_all: 0.7170, d0.loss_cls: 0.8208, d0.loss_bbox: 0.7170, d1.loss_cls: 0.8085, d1.loss_bbox: 0.7508, d2.loss_cls: 0.8023, d2.loss_bbox: 0.7666, d3.loss_cls: 0.8011, d3.loss_bbox: 0.7392, d4.loss_cls: 0.8017, d4.loss_bbox: 0.7413, d5.loss_cls: 0.8040, d5.loss_bbox: 0.7279, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4793, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.4822, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4881, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4952, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4941, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4902, d0.loss_map_cls_all: 0.4228, d0.loss_map_pts_all: 2.5880, d0.loss_map_dir_all: 0.0303, d0.loss_map_cls: 0.4228, d0.loss_map_pts: 2.5880, d0.loss_map_dir: 0.0303, d1.loss_map_cls: 0.4161, d1.loss_map_pts: 2.0715, d1.loss_map_dir: 0.0306, d2.loss_map_cls: 0.4073, d2.loss_map_pts: 2.0098, d2.loss_map_dir: 0.0308, d3.loss_map_cls: 0.4058, d3.loss_map_pts: 2.0068, d3.loss_map_dir: 0.0309, d4.loss_map_cls: 0.4017, d4.loss_map_pts: 2.0151, d4.loss_map_dir: 0.0311, d5.loss_map_cls: 0.3998, d5.loss_map_pts: 2.0248, d5.loss_map_dir: 0.0311, loss: 65.9819, grad_norm: 150.8374 +2026-02-24 10:12:54,419 - DriveTransformer - INFO - Epoch [1][35900/39528] lr: 1.000e-04, eta: 8 days, 10:15:52, time: 0.796, data_time: 0.040, memory: 19865, loss_cls: 0.8243, loss_bbox: 0.7320, loss_traj: 1.7736, loss_traj_cls: 0.0005, loss_map_cls: 0.3961, loss_map_pts: 2.1032, loss_map_dir: 0.0348, d0.loss_plan_l1_fix_time: 2.7292, d0.loss_plan_l1_fix_dist: 0.4177, d1.loss_plan_l1_fix_time: 2.7477, d1.loss_plan_l1_fix_dist: 0.4240, d2.loss_plan_l1_fix_time: 2.7869, d2.loss_plan_l1_fix_dist: 0.4402, d3.loss_plan_l1_fix_time: 2.8061, d3.loss_plan_l1_fix_dist: 0.4591, d4.loss_plan_l1_fix_time: 2.8218, d4.loss_plan_l1_fix_dist: 0.4859, d5.loss_plan_l1_fix_time: 2.8353, d5.loss_plan_l1_fix_dist: 0.5161, d6.loss_plan_l1_fix_time: 2.8487, d6.loss_plan_l1_fix_dist: 0.5467, d0.loss_cls_all: 0.8197, d0.loss_bbox_all: 0.7334, d0.loss_cls: 0.8197, d0.loss_bbox: 0.7334, d1.loss_cls: 0.8143, d1.loss_bbox: 0.7642, d2.loss_cls: 0.8148, d2.loss_bbox: 0.7746, d3.loss_cls: 0.8152, d3.loss_bbox: 0.7453, d4.loss_cls: 0.8144, d4.loss_bbox: 0.7508, d5.loss_cls: 0.8227, d5.loss_bbox: 0.7304, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7586, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.7412, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7497, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7617, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.7666, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7722, d0.loss_map_cls_all: 0.4316, d0.loss_map_pts_all: 2.8468, d0.loss_map_dir_all: 0.0342, d0.loss_map_cls: 0.4316, d0.loss_map_pts: 2.8468, d0.loss_map_dir: 0.0342, d1.loss_map_cls: 0.4208, d1.loss_map_pts: 2.1588, d1.loss_map_dir: 0.0344, d2.loss_map_cls: 0.4084, d2.loss_map_pts: 2.0999, d2.loss_map_dir: 0.0344, d3.loss_map_cls: 0.4061, d3.loss_map_pts: 2.0966, d3.loss_map_dir: 0.0345, d4.loss_map_cls: 0.4032, d4.loss_map_pts: 2.0987, d4.loss_map_dir: 0.0346, d5.loss_map_cls: 0.3977, d5.loss_map_pts: 2.1022, d5.loss_map_dir: 0.0346, loss: 69.6265, grad_norm: 150.1155 +2026-02-24 10:13:33,901 - DriveTransformer - INFO - Epoch [1][35950/39528] lr: 1.000e-04, eta: 8 days, 10:15:02, time: 0.790, data_time: 0.039, memory: 19865, loss_cls: 0.7939, loss_bbox: 0.7408, loss_traj: 1.9343, loss_traj_cls: 0.0004, loss_map_cls: 0.4116, loss_map_pts: 2.0082, loss_map_dir: 0.0293, d0.loss_plan_l1_fix_time: 2.9385, d0.loss_plan_l1_fix_dist: 0.5028, d1.loss_plan_l1_fix_time: 2.6270, d1.loss_plan_l1_fix_dist: 0.4988, d2.loss_plan_l1_fix_time: 2.5775, d2.loss_plan_l1_fix_dist: 0.5154, d3.loss_plan_l1_fix_time: 2.5709, d3.loss_plan_l1_fix_dist: 0.5368, d4.loss_plan_l1_fix_time: 2.5728, d4.loss_plan_l1_fix_dist: 0.5588, d5.loss_plan_l1_fix_time: 2.5770, d5.loss_plan_l1_fix_dist: 0.5845, d6.loss_plan_l1_fix_time: 2.5840, d6.loss_plan_l1_fix_dist: 0.6167, d0.loss_cls_all: 0.8024, d0.loss_bbox_all: 0.7543, d0.loss_cls: 0.8024, d0.loss_bbox: 0.7543, d1.loss_cls: 0.8013, d1.loss_bbox: 0.7891, d2.loss_cls: 0.7920, d2.loss_bbox: 0.7784, d3.loss_cls: 0.7905, d3.loss_bbox: 0.7497, d4.loss_cls: 0.7909, d4.loss_bbox: 0.7590, d5.loss_cls: 0.7890, d5.loss_bbox: 0.7407, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9784, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.9502, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.9390, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9375, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.9338, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9376, d0.loss_map_cls_all: 0.4388, d0.loss_map_pts_all: 2.4656, d0.loss_map_dir_all: 0.0285, d0.loss_map_cls: 0.4388, d0.loss_map_pts: 2.4656, d0.loss_map_dir: 0.0285, d1.loss_map_cls: 0.4222, d1.loss_map_pts: 1.9554, d1.loss_map_dir: 0.0289, d2.loss_map_cls: 0.4126, d2.loss_map_pts: 1.9355, d2.loss_map_dir: 0.0290, d3.loss_map_cls: 0.4096, d3.loss_map_pts: 1.9429, d3.loss_map_dir: 0.0290, d4.loss_map_cls: 0.4096, d4.loss_map_pts: 1.9609, d4.loss_map_dir: 0.0291, d5.loss_map_cls: 0.4101, d5.loss_map_pts: 1.9729, d5.loss_map_dir: 0.0291, loss: 68.5966, grad_norm: 148.7541 +2026-02-24 10:14:12,748 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 10:14:12,748 - DriveTransformer - INFO - Epoch [1][36000/39528] lr: 1.000e-04, eta: 8 days, 10:13:57, time: 0.778, data_time: 0.040, memory: 19865, loss_cls: 0.8802, loss_bbox: 0.7819, loss_traj: 1.5162, loss_traj_cls: 0.0004, loss_map_cls: 0.4389, loss_map_pts: 2.1975, loss_map_dir: 0.0323, d0.loss_plan_l1_fix_time: 3.1424, d0.loss_plan_l1_fix_dist: 0.5207, d1.loss_plan_l1_fix_time: 2.9187, d1.loss_plan_l1_fix_dist: 0.5107, d2.loss_plan_l1_fix_time: 2.8912, d2.loss_plan_l1_fix_dist: 0.5223, d3.loss_plan_l1_fix_time: 2.8896, d3.loss_plan_l1_fix_dist: 0.5411, d4.loss_plan_l1_fix_time: 2.8921, d4.loss_plan_l1_fix_dist: 0.5652, d5.loss_plan_l1_fix_time: 2.8974, d5.loss_plan_l1_fix_dist: 0.5918, d6.loss_plan_l1_fix_time: 2.9053, d6.loss_plan_l1_fix_dist: 0.6204, d0.loss_cls_all: 0.8703, d0.loss_bbox_all: 0.7981, d0.loss_cls: 0.8703, d0.loss_bbox: 0.7981, d1.loss_cls: 0.8656, d1.loss_bbox: 0.8133, d2.loss_cls: 0.8690, d2.loss_bbox: 0.7945, d3.loss_cls: 0.8701, d3.loss_bbox: 0.7839, d4.loss_cls: 0.8701, d4.loss_bbox: 0.7864, d5.loss_cls: 0.8772, d5.loss_bbox: 0.7734, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4985, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.4869, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4972, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5057, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4987, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5067, d0.loss_map_cls_all: 0.4704, d0.loss_map_pts_all: 2.5094, d0.loss_map_dir_all: 0.0317, d0.loss_map_cls: 0.4704, d0.loss_map_pts: 2.5094, d0.loss_map_dir: 0.0317, d1.loss_map_cls: 0.4523, d1.loss_map_pts: 2.1852, d1.loss_map_dir: 0.0319, d2.loss_map_cls: 0.4432, d2.loss_map_pts: 2.1631, d2.loss_map_dir: 0.0319, d3.loss_map_cls: 0.4408, d3.loss_map_pts: 2.1625, d3.loss_map_dir: 0.0320, d4.loss_map_cls: 0.4387, d4.loss_map_pts: 2.1714, d4.loss_map_dir: 0.0321, d5.loss_map_cls: 0.4373, d5.loss_map_pts: 2.1776, d5.loss_map_dir: 0.0322, loss: 70.1487, grad_norm: 148.0765 +2026-02-24 10:14:52,573 - DriveTransformer - INFO - Epoch [1][36050/39528] lr: 1.000e-04, eta: 8 days, 10:13:14, time: 0.795, data_time: 0.038, memory: 19865, loss_cls: 0.7804, loss_bbox: 0.7313, loss_traj: 1.6121, loss_traj_cls: 0.0004, loss_map_cls: 0.4487, loss_map_pts: 2.0031, loss_map_dir: 0.0297, d0.loss_plan_l1_fix_time: 2.8006, d0.loss_plan_l1_fix_dist: 0.4818, d1.loss_plan_l1_fix_time: 2.6435, d1.loss_plan_l1_fix_dist: 0.4764, d2.loss_plan_l1_fix_time: 2.6515, d2.loss_plan_l1_fix_dist: 0.4864, d3.loss_plan_l1_fix_time: 2.6609, d3.loss_plan_l1_fix_dist: 0.5031, d4.loss_plan_l1_fix_time: 2.6708, d4.loss_plan_l1_fix_dist: 0.5268, d5.loss_plan_l1_fix_time: 2.6820, d5.loss_plan_l1_fix_dist: 0.5516, d6.loss_plan_l1_fix_time: 2.6941, d6.loss_plan_l1_fix_dist: 0.5743, d0.loss_cls_all: 0.7785, d0.loss_bbox_all: 0.7605, d0.loss_cls: 0.7785, d0.loss_bbox: 0.7605, d1.loss_cls: 0.7792, d1.loss_bbox: 0.7529, d2.loss_cls: 0.7764, d2.loss_bbox: 0.7353, d3.loss_cls: 0.7735, d3.loss_bbox: 0.7432, d4.loss_cls: 0.7706, d4.loss_bbox: 0.7263, d5.loss_cls: 0.7778, d5.loss_bbox: 0.7230, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6543, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.6167, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6078, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6100, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6082, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6087, d0.loss_map_cls_all: 0.4649, d0.loss_map_pts_all: 2.5074, d0.loss_map_dir_all: 0.0289, d0.loss_map_cls: 0.4649, d0.loss_map_pts: 2.5074, d0.loss_map_dir: 0.0289, d1.loss_map_cls: 0.4536, d1.loss_map_pts: 2.0668, d1.loss_map_dir: 0.0291, d2.loss_map_cls: 0.4484, d2.loss_map_pts: 2.0187, d2.loss_map_dir: 0.0292, d3.loss_map_cls: 0.4461, d3.loss_map_pts: 2.0081, d3.loss_map_dir: 0.0294, d4.loss_map_cls: 0.4480, d4.loss_map_pts: 2.0056, d4.loss_map_dir: 0.0295, d5.loss_map_cls: 0.4491, d5.loss_map_pts: 2.0058, d5.loss_map_dir: 0.0295, loss: 66.8541, grad_norm: 149.5301 +2026-02-24 10:15:32,849 - DriveTransformer - INFO - Epoch [1][36100/39528] lr: 1.000e-04, eta: 8 days, 10:12:44, time: 0.806, data_time: 0.042, memory: 19865, loss_cls: 0.8164, loss_bbox: 0.7315, loss_traj: 1.5547, loss_traj_cls: 0.0005, loss_map_cls: 0.4302, loss_map_pts: 2.0635, loss_map_dir: 0.0343, d0.loss_plan_l1_fix_time: 3.0201, d0.loss_plan_l1_fix_dist: 0.5471, d1.loss_plan_l1_fix_time: 2.7822, d1.loss_plan_l1_fix_dist: 0.5346, d2.loss_plan_l1_fix_time: 2.7570, d2.loss_plan_l1_fix_dist: 0.5420, d3.loss_plan_l1_fix_time: 2.7561, d3.loss_plan_l1_fix_dist: 0.5566, d4.loss_plan_l1_fix_time: 2.7594, d4.loss_plan_l1_fix_dist: 0.5751, d5.loss_plan_l1_fix_time: 2.7654, d5.loss_plan_l1_fix_dist: 0.5984, d6.loss_plan_l1_fix_time: 2.7731, d6.loss_plan_l1_fix_dist: 0.6300, d0.loss_cls_all: 0.7922, d0.loss_bbox_all: 0.7552, d0.loss_cls: 0.7922, d0.loss_bbox: 0.7552, d1.loss_cls: 0.7983, d1.loss_bbox: 0.7411, d2.loss_cls: 0.8029, d2.loss_bbox: 0.7301, d3.loss_cls: 0.8080, d3.loss_bbox: 0.7472, d4.loss_cls: 0.8067, d4.loss_bbox: 0.7227, d5.loss_cls: 0.8141, d5.loss_bbox: 0.7226, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5731, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.5327, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5366, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5395, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5456, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5541, d0.loss_map_cls_all: 0.4457, d0.loss_map_pts_all: 2.7252, d0.loss_map_dir_all: 0.0329, d0.loss_map_cls: 0.4457, d0.loss_map_pts: 2.7252, d0.loss_map_dir: 0.0329, d1.loss_map_cls: 0.4352, d1.loss_map_pts: 2.1217, d1.loss_map_dir: 0.0338, d2.loss_map_cls: 0.4305, d2.loss_map_pts: 2.0737, d2.loss_map_dir: 0.0338, d3.loss_map_cls: 0.4262, d3.loss_map_pts: 2.0677, d3.loss_map_dir: 0.0339, d4.loss_map_cls: 0.4254, d4.loss_map_pts: 2.0625, d4.loss_map_dir: 0.0341, d5.loss_map_cls: 0.4287, d5.loss_map_pts: 2.0657, d5.loss_map_dir: 0.0341, loss: 68.4167, grad_norm: 149.5906 +2026-02-24 10:16:12,663 - DriveTransformer - INFO - Epoch [1][36150/39528] lr: 1.000e-04, eta: 8 days, 10:12:02, time: 0.796, data_time: 0.045, memory: 19865, loss_cls: 0.7757, loss_bbox: 0.7444, loss_traj: 2.1155, loss_traj_cls: 0.0005, loss_map_cls: 0.4115, loss_map_pts: 2.0903, loss_map_dir: 0.0305, d0.loss_plan_l1_fix_time: 2.9215, d0.loss_plan_l1_fix_dist: 0.5392, d1.loss_plan_l1_fix_time: 2.7282, d1.loss_plan_l1_fix_dist: 0.5337, d2.loss_plan_l1_fix_time: 2.6900, d2.loss_plan_l1_fix_dist: 0.5467, d3.loss_plan_l1_fix_time: 2.6824, d3.loss_plan_l1_fix_dist: 0.5645, d4.loss_plan_l1_fix_time: 2.6823, d4.loss_plan_l1_fix_dist: 0.5879, d5.loss_plan_l1_fix_time: 2.6854, d5.loss_plan_l1_fix_dist: 0.6198, d6.loss_plan_l1_fix_time: 2.6902, d6.loss_plan_l1_fix_dist: 0.6574, d0.loss_cls_all: 0.7698, d0.loss_bbox_all: 0.7658, d0.loss_cls: 0.7698, d0.loss_bbox: 0.7658, d1.loss_cls: 0.7675, d1.loss_bbox: 0.7621, d2.loss_cls: 0.7656, d2.loss_bbox: 0.7510, d3.loss_cls: 0.7695, d3.loss_bbox: 0.7742, d4.loss_cls: 0.7690, d4.loss_bbox: 0.7467, d5.loss_cls: 0.7710, d5.loss_bbox: 0.7474, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0858, d1.loss_traj_cls: 0.0008, d1.loss_traj: 2.0920, d2.loss_traj_cls: 0.0007, d2.loss_traj: 2.1030, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1091, d4.loss_traj_cls: 0.0008, d4.loss_traj: 2.1156, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1191, d0.loss_map_cls_all: 0.4411, d0.loss_map_pts_all: 2.6444, d0.loss_map_dir_all: 0.0307, d0.loss_map_cls: 0.4411, d0.loss_map_pts: 2.6444, d0.loss_map_dir: 0.0307, d1.loss_map_cls: 0.4240, d1.loss_map_pts: 2.1580, d1.loss_map_dir: 0.0302, d2.loss_map_cls: 0.4166, d2.loss_map_pts: 2.1036, d2.loss_map_dir: 0.0302, d3.loss_map_cls: 0.4142, d3.loss_map_pts: 2.0880, d3.loss_map_dir: 0.0302, d4.loss_map_cls: 0.4116, d4.loss_map_pts: 2.0865, d4.loss_map_dir: 0.0303, d5.loss_map_cls: 0.4107, d5.loss_map_pts: 2.0832, d5.loss_map_dir: 0.0303, loss: 71.6009, grad_norm: 148.8120 +2026-02-24 10:16:52,437 - DriveTransformer - INFO - Epoch [1][36200/39528] lr: 1.000e-04, eta: 8 days, 10:11:20, time: 0.795, data_time: 0.039, memory: 19865, loss_cls: 0.7994, loss_bbox: 0.7244, loss_traj: 1.6421, loss_traj_cls: 0.0004, loss_map_cls: 0.4820, loss_map_pts: 2.0941, loss_map_dir: 0.0365, d0.loss_plan_l1_fix_time: 2.8819, d0.loss_plan_l1_fix_dist: 0.4899, d1.loss_plan_l1_fix_time: 2.6650, d1.loss_plan_l1_fix_dist: 0.4820, d2.loss_plan_l1_fix_time: 2.6291, d2.loss_plan_l1_fix_dist: 0.4929, d3.loss_plan_l1_fix_time: 2.6261, d3.loss_plan_l1_fix_dist: 0.5140, d4.loss_plan_l1_fix_time: 2.6298, d4.loss_plan_l1_fix_dist: 0.5383, d5.loss_plan_l1_fix_time: 2.6364, d5.loss_plan_l1_fix_dist: 0.5611, d6.loss_plan_l1_fix_time: 2.6451, d6.loss_plan_l1_fix_dist: 0.5840, d0.loss_cls_all: 0.7977, d0.loss_bbox_all: 0.7612, d0.loss_cls: 0.7977, d0.loss_bbox: 0.7612, d1.loss_cls: 0.7895, d1.loss_bbox: 0.7610, d2.loss_cls: 0.7864, d2.loss_bbox: 0.7408, d3.loss_cls: 0.7936, d3.loss_bbox: 0.7571, d4.loss_cls: 0.7926, d4.loss_bbox: 0.7359, d5.loss_cls: 0.7974, d5.loss_bbox: 0.7280, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6588, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.6281, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6273, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6322, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6387, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6375, d0.loss_map_cls_all: 0.5078, d0.loss_map_pts_all: 2.7185, d0.loss_map_dir_all: 0.0366, d0.loss_map_cls: 0.5078, d0.loss_map_pts: 2.7185, d0.loss_map_dir: 0.0366, d1.loss_map_cls: 0.5052, d1.loss_map_pts: 2.1337, d1.loss_map_dir: 0.0362, d2.loss_map_cls: 0.4911, d2.loss_map_pts: 2.0907, d2.loss_map_dir: 0.0362, d3.loss_map_cls: 0.4852, d3.loss_map_pts: 2.0776, d3.loss_map_dir: 0.0363, d4.loss_map_cls: 0.4829, d4.loss_map_pts: 2.0847, d4.loss_map_dir: 0.0364, d5.loss_map_cls: 0.4830, d5.loss_map_pts: 2.0838, d5.loss_map_dir: 0.0363, loss: 68.4058, grad_norm: 148.3482 +2026-02-24 10:17:32,465 - DriveTransformer - INFO - Epoch [1][36250/39528] lr: 1.000e-04, eta: 8 days, 10:10:43, time: 0.801, data_time: 0.038, memory: 19865, loss_cls: 0.8011, loss_bbox: 0.7347, loss_traj: 1.5875, loss_traj_cls: 0.0005, loss_map_cls: 0.4672, loss_map_pts: 2.3430, loss_map_dir: 0.0377, d0.loss_plan_l1_fix_time: 2.6532, d0.loss_plan_l1_fix_dist: 0.4632, d1.loss_plan_l1_fix_time: 2.5061, d1.loss_plan_l1_fix_dist: 0.4606, d2.loss_plan_l1_fix_time: 2.4940, d2.loss_plan_l1_fix_dist: 0.4736, d3.loss_plan_l1_fix_time: 2.4972, d3.loss_plan_l1_fix_dist: 0.4926, d4.loss_plan_l1_fix_time: 2.5040, d4.loss_plan_l1_fix_dist: 0.5151, d5.loss_plan_l1_fix_time: 2.5115, d5.loss_plan_l1_fix_dist: 0.5434, d6.loss_plan_l1_fix_time: 2.5206, d6.loss_plan_l1_fix_dist: 0.5749, d0.loss_cls_all: 0.7843, d0.loss_bbox_all: 0.7627, d0.loss_cls: 0.7843, d0.loss_bbox: 0.7627, d1.loss_cls: 0.7869, d1.loss_bbox: 0.7746, d2.loss_cls: 0.7858, d2.loss_bbox: 0.7477, d3.loss_cls: 0.7917, d3.loss_bbox: 0.7606, d4.loss_cls: 0.7941, d4.loss_bbox: 0.7479, d5.loss_cls: 0.7995, d5.loss_bbox: 0.7320, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5738, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.5477, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5497, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5646, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5723, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5721, d0.loss_map_cls_all: 0.4902, d0.loss_map_pts_all: 2.8725, d0.loss_map_dir_all: 0.0375, d0.loss_map_cls: 0.4902, d0.loss_map_pts: 2.8725, d0.loss_map_dir: 0.0375, d1.loss_map_cls: 0.4847, d1.loss_map_pts: 2.4015, d1.loss_map_dir: 0.0376, d2.loss_map_cls: 0.4740, d2.loss_map_pts: 2.3568, d2.loss_map_dir: 0.0376, d3.loss_map_cls: 0.4696, d3.loss_map_pts: 2.3334, d3.loss_map_dir: 0.0376, d4.loss_map_cls: 0.4699, d4.loss_map_pts: 2.3414, d4.loss_map_dir: 0.0377, d5.loss_map_cls: 0.4665, d5.loss_map_pts: 2.3364, d5.loss_map_dir: 0.0377, loss: 68.5035, grad_norm: 148.2264 +2026-02-24 10:18:11,431 - DriveTransformer - INFO - Epoch [1][36300/39528] lr: 1.000e-04, eta: 8 days, 10:09:40, time: 0.779, data_time: 0.037, memory: 19865, loss_cls: 0.7889, loss_bbox: 0.7684, loss_traj: 1.8031, loss_traj_cls: 0.0005, loss_map_cls: 0.4731, loss_map_pts: 2.1828, loss_map_dir: 0.0361, d0.loss_plan_l1_fix_time: 3.3820, d0.loss_plan_l1_fix_dist: 0.3635, d1.loss_plan_l1_fix_time: 3.1709, d1.loss_plan_l1_fix_dist: 0.3664, d2.loss_plan_l1_fix_time: 3.1434, d2.loss_plan_l1_fix_dist: 0.3876, d3.loss_plan_l1_fix_time: 3.1430, d3.loss_plan_l1_fix_dist: 0.4135, d4.loss_plan_l1_fix_time: 3.1469, d4.loss_plan_l1_fix_dist: 0.4421, d5.loss_plan_l1_fix_time: 3.1521, d5.loss_plan_l1_fix_dist: 0.4781, d6.loss_plan_l1_fix_time: 3.1593, d6.loss_plan_l1_fix_dist: 0.5182, d0.loss_cls_all: 0.7850, d0.loss_bbox_all: 0.7858, d0.loss_cls: 0.7850, d0.loss_bbox: 0.7858, d1.loss_cls: 0.7855, d1.loss_bbox: 0.8039, d2.loss_cls: 0.7821, d2.loss_bbox: 0.7745, d3.loss_cls: 0.7869, d3.loss_bbox: 0.7762, d4.loss_cls: 0.7898, d4.loss_bbox: 0.7790, d5.loss_cls: 0.7900, d5.loss_bbox: 0.7648, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8299, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.8048, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7901, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7990, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.7949, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7929, d0.loss_map_cls_all: 0.4841, d0.loss_map_pts_all: 2.8561, d0.loss_map_dir_all: 0.0362, d0.loss_map_cls: 0.4841, d0.loss_map_pts: 2.8561, d0.loss_map_dir: 0.0362, d1.loss_map_cls: 0.4817, d1.loss_map_pts: 2.2734, d1.loss_map_dir: 0.0361, d2.loss_map_cls: 0.4765, d2.loss_map_pts: 2.2021, d2.loss_map_dir: 0.0359, d3.loss_map_cls: 0.4724, d3.loss_map_pts: 2.1768, d3.loss_map_dir: 0.0360, d4.loss_map_cls: 0.4710, d4.loss_map_pts: 2.1705, d4.loss_map_dir: 0.0360, d5.loss_map_cls: 0.4701, d5.loss_map_pts: 2.1745, d5.loss_map_dir: 0.0360, loss: 73.4114, grad_norm: 149.1371 +2026-02-24 10:18:50,354 - DriveTransformer - INFO - Epoch [1][36350/39528] lr: 1.000e-04, eta: 8 days, 10:08:36, time: 0.778, data_time: 0.042, memory: 19865, loss_cls: 0.8172, loss_bbox: 0.7378, loss_traj: 1.5291, loss_traj_cls: 0.0005, loss_map_cls: 0.4128, loss_map_pts: 2.1647, loss_map_dir: 0.0313, d0.loss_plan_l1_fix_time: 2.8562, d0.loss_plan_l1_fix_dist: 0.4505, d1.loss_plan_l1_fix_time: 2.7149, d1.loss_plan_l1_fix_dist: 0.4446, d2.loss_plan_l1_fix_time: 2.7046, d2.loss_plan_l1_fix_dist: 0.4534, d3.loss_plan_l1_fix_time: 2.7075, d3.loss_plan_l1_fix_dist: 0.4724, d4.loss_plan_l1_fix_time: 2.7137, d4.loss_plan_l1_fix_dist: 0.4913, d5.loss_plan_l1_fix_time: 2.7227, d5.loss_plan_l1_fix_dist: 0.5098, d6.loss_plan_l1_fix_time: 2.7338, d6.loss_plan_l1_fix_dist: 0.5316, d0.loss_cls_all: 0.8077, d0.loss_bbox_all: 0.7517, d0.loss_cls: 0.8077, d0.loss_bbox: 0.7517, d1.loss_cls: 0.8048, d1.loss_bbox: 0.7772, d2.loss_cls: 0.8072, d2.loss_bbox: 0.7458, d3.loss_cls: 0.8140, d3.loss_bbox: 0.7368, d4.loss_cls: 0.8133, d4.loss_bbox: 0.7608, d5.loss_cls: 0.8141, d5.loss_bbox: 0.7452, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5214, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.5328, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.5247, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5189, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5244, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5264, d0.loss_map_cls_all: 0.4472, d0.loss_map_pts_all: 2.7304, d0.loss_map_dir_all: 0.0313, d0.loss_map_cls: 0.4472, d0.loss_map_pts: 2.7304, d0.loss_map_dir: 0.0313, d1.loss_map_cls: 0.4311, d1.loss_map_pts: 2.1570, d1.loss_map_dir: 0.0311, d2.loss_map_cls: 0.4235, d2.loss_map_pts: 2.1099, d2.loss_map_dir: 0.0310, d3.loss_map_cls: 0.4168, d3.loss_map_pts: 2.1135, d3.loss_map_dir: 0.0311, d4.loss_map_cls: 0.4147, d4.loss_map_pts: 2.1162, d4.loss_map_dir: 0.0312, d5.loss_map_cls: 0.4127, d5.loss_map_pts: 2.1354, d5.loss_map_dir: 0.0312, loss: 67.5950, grad_norm: 149.5625 +2026-02-24 10:19:29,364 - DriveTransformer - INFO - Epoch [1][36400/39528] lr: 1.000e-04, eta: 8 days, 10:07:35, time: 0.780, data_time: 0.045, memory: 19865, loss_cls: 0.8386, loss_bbox: 0.7718, loss_traj: 1.9913, loss_traj_cls: 0.0005, loss_map_cls: 0.4429, loss_map_pts: 2.1270, loss_map_dir: 0.0275, d0.loss_plan_l1_fix_time: 3.2753, d0.loss_plan_l1_fix_dist: 0.4733, d1.loss_plan_l1_fix_time: 3.0173, d1.loss_plan_l1_fix_dist: 0.4633, d2.loss_plan_l1_fix_time: 2.9930, d2.loss_plan_l1_fix_dist: 0.4717, d3.loss_plan_l1_fix_time: 2.9925, d3.loss_plan_l1_fix_dist: 0.4877, d4.loss_plan_l1_fix_time: 2.9956, d4.loss_plan_l1_fix_dist: 0.5063, d5.loss_plan_l1_fix_time: 3.0000, d5.loss_plan_l1_fix_dist: 0.5285, d6.loss_plan_l1_fix_time: 3.0069, d6.loss_plan_l1_fix_dist: 0.5496, d0.loss_cls_all: 0.8292, d0.loss_bbox_all: 0.7837, d0.loss_cls: 0.8292, d0.loss_bbox: 0.7837, d1.loss_cls: 0.8231, d1.loss_bbox: 0.8187, d2.loss_cls: 0.8239, d2.loss_bbox: 0.7931, d3.loss_cls: 0.8284, d3.loss_bbox: 0.7818, d4.loss_cls: 0.8314, d4.loss_bbox: 0.8006, d5.loss_cls: 0.8338, d5.loss_bbox: 0.7810, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9627, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.9552, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9493, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9546, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.9616, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9822, d0.loss_map_cls_all: 0.4729, d0.loss_map_pts_all: 2.6237, d0.loss_map_dir_all: 0.0274, d0.loss_map_cls: 0.4729, d0.loss_map_pts: 2.6237, d0.loss_map_dir: 0.0274, d1.loss_map_cls: 0.4649, d1.loss_map_pts: 2.1561, d1.loss_map_dir: 0.0274, d2.loss_map_cls: 0.4545, d2.loss_map_pts: 2.1165, d2.loss_map_dir: 0.0273, d3.loss_map_cls: 0.4483, d3.loss_map_pts: 2.1110, d3.loss_map_dir: 0.0274, d4.loss_map_cls: 0.4477, d4.loss_map_pts: 2.1035, d4.loss_map_dir: 0.0275, d5.loss_map_cls: 0.4457, d5.loss_map_pts: 2.1118, d5.loss_map_dir: 0.0275, loss: 73.3166, grad_norm: 148.6278 +2026-02-24 10:20:09,554 - DriveTransformer - INFO - Epoch [1][36450/39528] lr: 1.000e-04, eta: 8 days, 10:07:02, time: 0.804, data_time: 0.040, memory: 19865, loss_cls: 0.8083, loss_bbox: 0.7474, loss_traj: 1.5590, loss_traj_cls: 0.0005, loss_map_cls: 0.4146, loss_map_pts: 1.9789, loss_map_dir: 0.0289, d0.loss_plan_l1_fix_time: 2.7724, d0.loss_plan_l1_fix_dist: 0.5453, d1.loss_plan_l1_fix_time: 2.6707, d1.loss_plan_l1_fix_dist: 0.5411, d2.loss_plan_l1_fix_time: 2.6578, d2.loss_plan_l1_fix_dist: 0.5513, d3.loss_plan_l1_fix_time: 2.6575, d3.loss_plan_l1_fix_dist: 0.5623, d4.loss_plan_l1_fix_time: 2.6598, d4.loss_plan_l1_fix_dist: 0.5774, d5.loss_plan_l1_fix_time: 2.6634, d5.loss_plan_l1_fix_dist: 0.5928, d6.loss_plan_l1_fix_time: 2.6671, d6.loss_plan_l1_fix_dist: 0.6125, d0.loss_cls_all: 0.8021, d0.loss_bbox_all: 0.7487, d0.loss_cls: 0.8021, d0.loss_bbox: 0.7487, d1.loss_cls: 0.7965, d1.loss_bbox: 0.7787, d2.loss_cls: 0.7978, d2.loss_bbox: 0.7605, d3.loss_cls: 0.8040, d3.loss_bbox: 0.7768, d4.loss_cls: 0.8066, d4.loss_bbox: 0.7664, d5.loss_cls: 0.8076, d5.loss_bbox: 0.7521, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5306, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5359, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5427, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5425, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5560, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5515, d0.loss_map_cls_all: 0.4481, d0.loss_map_pts_all: 2.6368, d0.loss_map_dir_all: 0.0282, d0.loss_map_cls: 0.4481, d0.loss_map_pts: 2.6368, d0.loss_map_dir: 0.0282, d1.loss_map_cls: 0.4373, d1.loss_map_pts: 2.0333, d1.loss_map_dir: 0.0284, d2.loss_map_cls: 0.4250, d2.loss_map_pts: 1.9941, d2.loss_map_dir: 0.0285, d3.loss_map_cls: 0.4178, d3.loss_map_pts: 1.9813, d3.loss_map_dir: 0.0286, d4.loss_map_cls: 0.4172, d4.loss_map_pts: 1.9844, d4.loss_map_dir: 0.0286, d5.loss_map_cls: 0.4146, d5.loss_map_pts: 1.9840, d5.loss_map_dir: 0.0287, loss: 66.9389, grad_norm: 149.7094 +2026-02-24 10:20:48,443 - DriveTransformer - INFO - Epoch [1][36500/39528] lr: 1.000e-04, eta: 8 days, 10:05:58, time: 0.778, data_time: 0.042, memory: 19865, loss_cls: 0.8077, loss_bbox: 0.7505, loss_traj: 1.5721, loss_traj_cls: 0.0004, loss_map_cls: 0.4124, loss_map_pts: 2.0343, loss_map_dir: 0.0261, d0.loss_plan_l1_fix_time: 2.5672, d0.loss_plan_l1_fix_dist: 0.4427, d1.loss_plan_l1_fix_time: 2.4649, d1.loss_plan_l1_fix_dist: 0.4414, d2.loss_plan_l1_fix_time: 2.4761, d2.loss_plan_l1_fix_dist: 0.4532, d3.loss_plan_l1_fix_time: 2.4865, d3.loss_plan_l1_fix_dist: 0.4731, d4.loss_plan_l1_fix_time: 2.4953, d4.loss_plan_l1_fix_dist: 0.4978, d5.loss_plan_l1_fix_time: 2.5041, d5.loss_plan_l1_fix_dist: 0.5291, d6.loss_plan_l1_fix_time: 2.5123, d6.loss_plan_l1_fix_dist: 0.5651, d0.loss_cls_all: 0.7938, d0.loss_bbox_all: 0.7573, d0.loss_cls: 0.7938, d0.loss_bbox: 0.7573, d1.loss_cls: 0.7885, d1.loss_bbox: 0.7766, d2.loss_cls: 0.7922, d2.loss_bbox: 0.7669, d3.loss_cls: 0.7997, d3.loss_bbox: 0.8017, d4.loss_cls: 0.8004, d4.loss_bbox: 0.7626, d5.loss_cls: 0.8017, d5.loss_bbox: 0.7501, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5431, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.4825, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5089, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5344, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5316, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5461, d0.loss_map_cls_all: 0.4519, d0.loss_map_pts_all: 2.5243, d0.loss_map_dir_all: 0.0258, d0.loss_map_cls: 0.4519, d0.loss_map_pts: 2.5243, d0.loss_map_dir: 0.0258, d1.loss_map_cls: 0.4377, d1.loss_map_pts: 2.0982, d1.loss_map_dir: 0.0257, d2.loss_map_cls: 0.4260, d2.loss_map_pts: 2.0607, d2.loss_map_dir: 0.0258, d3.loss_map_cls: 0.4188, d3.loss_map_pts: 2.0448, d3.loss_map_dir: 0.0258, d4.loss_map_cls: 0.4169, d4.loss_map_pts: 2.0369, d4.loss_map_dir: 0.0259, d5.loss_map_cls: 0.4135, d5.loss_map_pts: 2.0356, d5.loss_map_dir: 0.0259, loss: 65.1274, grad_norm: 151.1974 +2026-02-24 10:21:26,640 - DriveTransformer - INFO - Epoch [1][36550/39528] lr: 1.000e-04, eta: 8 days, 10:04:36, time: 0.764, data_time: 0.043, memory: 19865, loss_cls: 0.8476, loss_bbox: 0.7804, loss_traj: 1.8662, loss_traj_cls: 0.0005, loss_map_cls: 0.4786, loss_map_pts: 2.2593, loss_map_dir: 0.0308, d0.loss_plan_l1_fix_time: 3.2531, d0.loss_plan_l1_fix_dist: 0.4889, d1.loss_plan_l1_fix_time: 3.0703, d1.loss_plan_l1_fix_dist: 0.4873, d2.loss_plan_l1_fix_time: 3.0565, d2.loss_plan_l1_fix_dist: 0.4976, d3.loss_plan_l1_fix_time: 3.0581, d3.loss_plan_l1_fix_dist: 0.5125, d4.loss_plan_l1_fix_time: 3.0623, d4.loss_plan_l1_fix_dist: 0.5292, d5.loss_plan_l1_fix_time: 3.0693, d5.loss_plan_l1_fix_dist: 0.5468, d6.loss_plan_l1_fix_time: 3.0778, d6.loss_plan_l1_fix_dist: 0.5678, d0.loss_cls_all: 0.8369, d0.loss_bbox_all: 0.7920, d0.loss_cls: 0.8369, d0.loss_bbox: 0.7920, d1.loss_cls: 0.8421, d1.loss_bbox: 0.7997, d2.loss_cls: 0.8396, d2.loss_bbox: 0.7983, d3.loss_cls: 0.8437, d3.loss_bbox: 0.8428, d4.loss_cls: 0.8470, d4.loss_bbox: 0.8233, d5.loss_cls: 0.8461, d5.loss_bbox: 0.7918, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8184, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.8149, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.8230, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8391, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.8469, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8593, d0.loss_map_cls_all: 0.5027, d0.loss_map_pts_all: 2.7839, d0.loss_map_dir_all: 0.0302, d0.loss_map_cls: 0.5027, d0.loss_map_pts: 2.7839, d0.loss_map_dir: 0.0302, d1.loss_map_cls: 0.4874, d1.loss_map_pts: 2.3356, d1.loss_map_dir: 0.0302, d2.loss_map_cls: 0.4818, d2.loss_map_pts: 2.2789, d2.loss_map_dir: 0.0302, d3.loss_map_cls: 0.4779, d3.loss_map_pts: 2.2587, d3.loss_map_dir: 0.0304, d4.loss_map_cls: 0.4791, d4.loss_map_pts: 2.2540, d4.loss_map_dir: 0.0305, d5.loss_map_cls: 0.4788, d5.loss_map_pts: 2.2522, d5.loss_map_dir: 0.0305, loss: 74.6480, grad_norm: 151.1132 +2026-02-24 10:22:06,536 - DriveTransformer - INFO - Epoch [1][36600/39528] lr: 1.000e-04, eta: 8 days, 10:03:56, time: 0.798, data_time: 0.036, memory: 19865, loss_cls: 0.7968, loss_bbox: 0.7404, loss_traj: 1.7984, loss_traj_cls: 0.0005, loss_map_cls: 0.4617, loss_map_pts: 2.0287, loss_map_dir: 0.0289, d0.loss_plan_l1_fix_time: 2.9292, d0.loss_plan_l1_fix_dist: 0.4499, d1.loss_plan_l1_fix_time: 2.7294, d1.loss_plan_l1_fix_dist: 0.4444, d2.loss_plan_l1_fix_time: 2.7111, d2.loss_plan_l1_fix_dist: 0.4590, d3.loss_plan_l1_fix_time: 2.7132, d3.loss_plan_l1_fix_dist: 0.4766, d4.loss_plan_l1_fix_time: 2.7202, d4.loss_plan_l1_fix_dist: 0.4989, d5.loss_plan_l1_fix_time: 2.7296, d5.loss_plan_l1_fix_dist: 0.5205, d6.loss_plan_l1_fix_time: 2.7410, d6.loss_plan_l1_fix_dist: 0.5424, d0.loss_cls_all: 0.8021, d0.loss_bbox_all: 0.7543, d0.loss_cls: 0.8021, d0.loss_bbox: 0.7543, d1.loss_cls: 0.7970, d1.loss_bbox: 0.7586, d2.loss_cls: 0.7942, d2.loss_bbox: 0.7508, d3.loss_cls: 0.7967, d3.loss_bbox: 0.8135, d4.loss_cls: 0.7979, d4.loss_bbox: 0.7947, d5.loss_cls: 0.7963, d5.loss_bbox: 0.7573, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8268, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7797, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7844, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8004, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.8084, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8022, d0.loss_map_cls_all: 0.4855, d0.loss_map_pts_all: 2.5162, d0.loss_map_dir_all: 0.0284, d0.loss_map_cls: 0.4855, d0.loss_map_pts: 2.5162, d0.loss_map_dir: 0.0284, d1.loss_map_cls: 0.4755, d1.loss_map_pts: 2.1065, d1.loss_map_dir: 0.0283, d2.loss_map_cls: 0.4700, d2.loss_map_pts: 2.0490, d2.loss_map_dir: 0.0283, d3.loss_map_cls: 0.4624, d3.loss_map_pts: 2.0295, d3.loss_map_dir: 0.0284, d4.loss_map_cls: 0.4633, d4.loss_map_pts: 2.0301, d4.loss_map_dir: 0.0285, d5.loss_map_cls: 0.4605, d5.loss_map_pts: 2.0240, d5.loss_map_dir: 0.0285, loss: 69.0690, grad_norm: 151.8759 +2026-02-24 10:22:47,334 - DriveTransformer - INFO - Epoch [1][36650/39528] lr: 1.000e-04, eta: 8 days, 10:03:39, time: 0.816, data_time: 0.042, memory: 19865, loss_cls: 0.7840, loss_bbox: 0.7144, loss_traj: 1.5400, loss_traj_cls: 0.0005, loss_map_cls: 0.4215, loss_map_pts: 2.1877, loss_map_dir: 0.0340, d0.loss_plan_l1_fix_time: 2.7728, d0.loss_plan_l1_fix_dist: 0.4673, d1.loss_plan_l1_fix_time: 2.5846, d1.loss_plan_l1_fix_dist: 0.4516, d2.loss_plan_l1_fix_time: 2.5609, d2.loss_plan_l1_fix_dist: 0.4600, d3.loss_plan_l1_fix_time: 2.5588, d3.loss_plan_l1_fix_dist: 0.4733, d4.loss_plan_l1_fix_time: 2.5621, d4.loss_plan_l1_fix_dist: 0.4906, d5.loss_plan_l1_fix_time: 2.5687, d5.loss_plan_l1_fix_dist: 0.5124, d6.loss_plan_l1_fix_time: 2.5788, d6.loss_plan_l1_fix_dist: 0.5408, d0.loss_cls_all: 0.7898, d0.loss_bbox_all: 0.7172, d0.loss_cls: 0.7898, d0.loss_bbox: 0.7172, d1.loss_cls: 0.7883, d1.loss_bbox: 0.7230, d2.loss_cls: 0.7826, d2.loss_bbox: 0.7261, d3.loss_cls: 0.7878, d3.loss_bbox: 0.7754, d4.loss_cls: 0.7842, d4.loss_bbox: 0.7444, d5.loss_cls: 0.7853, d5.loss_bbox: 0.7184, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4928, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4819, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4986, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5082, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5164, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5317, d0.loss_map_cls_all: 0.4384, d0.loss_map_pts_all: 2.8794, d0.loss_map_dir_all: 0.0333, d0.loss_map_cls: 0.4384, d0.loss_map_pts: 2.8794, d0.loss_map_dir: 0.0333, d1.loss_map_cls: 0.4314, d1.loss_map_pts: 2.2572, d1.loss_map_dir: 0.0334, d2.loss_map_cls: 0.4261, d2.loss_map_pts: 2.2001, d2.loss_map_dir: 0.0333, d3.loss_map_cls: 0.4189, d3.loss_map_pts: 2.1825, d3.loss_map_dir: 0.0334, d4.loss_map_cls: 0.4195, d4.loss_map_pts: 2.1869, d4.loss_map_dir: 0.0336, d5.loss_map_cls: 0.4162, d5.loss_map_pts: 2.1846, d5.loss_map_dir: 0.0337, loss: 66.9209, grad_norm: 153.1177 +2026-02-24 10:23:26,732 - DriveTransformer - INFO - Epoch [1][36700/39528] lr: 1.000e-04, eta: 8 days, 10:02:47, time: 0.788, data_time: 0.038, memory: 19865, loss_cls: 0.7675, loss_bbox: 0.7484, loss_traj: 1.7355, loss_traj_cls: 0.0005, loss_map_cls: 0.4375, loss_map_pts: 2.0280, loss_map_dir: 0.0327, d0.loss_plan_l1_fix_time: 3.1419, d0.loss_plan_l1_fix_dist: 0.4852, d1.loss_plan_l1_fix_time: 2.9256, d1.loss_plan_l1_fix_dist: 0.4777, d2.loss_plan_l1_fix_time: 2.9003, d2.loss_plan_l1_fix_dist: 0.4817, d3.loss_plan_l1_fix_time: 2.9003, d3.loss_plan_l1_fix_dist: 0.4950, d4.loss_plan_l1_fix_time: 2.9046, d4.loss_plan_l1_fix_dist: 0.5108, d5.loss_plan_l1_fix_time: 2.9121, d5.loss_plan_l1_fix_dist: 0.5338, d6.loss_plan_l1_fix_time: 2.9212, d6.loss_plan_l1_fix_dist: 0.5596, d0.loss_cls_all: 0.7694, d0.loss_bbox_all: 0.7389, d0.loss_cls: 0.7694, d0.loss_bbox: 0.7389, d1.loss_cls: 0.7736, d1.loss_bbox: 0.7604, d2.loss_cls: 0.7635, d2.loss_bbox: 0.7660, d3.loss_cls: 0.7674, d3.loss_bbox: 0.7835, d4.loss_cls: 0.7685, d4.loss_bbox: 0.7512, d5.loss_cls: 0.7683, d5.loss_bbox: 0.7460, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7292, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7206, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7188, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7358, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.7554, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7462, d0.loss_map_cls_all: 0.4728, d0.loss_map_pts_all: 2.6654, d0.loss_map_dir_all: 0.0317, d0.loss_map_cls: 0.4728, d0.loss_map_pts: 2.6654, d0.loss_map_dir: 0.0317, d1.loss_map_cls: 0.4550, d1.loss_map_pts: 2.1010, d1.loss_map_dir: 0.0317, d2.loss_map_cls: 0.4508, d2.loss_map_pts: 2.0433, d2.loss_map_dir: 0.0319, d3.loss_map_cls: 0.4417, d3.loss_map_pts: 2.0295, d3.loss_map_dir: 0.0320, d4.loss_map_cls: 0.4377, d4.loss_map_pts: 2.0253, d4.loss_map_dir: 0.0322, d5.loss_map_cls: 0.4349, d5.loss_map_pts: 2.0223, d5.loss_map_dir: 0.0323, loss: 69.9160, grad_norm: 152.2734 +2026-02-24 10:24:06,668 - DriveTransformer - INFO - Epoch [1][36750/39528] lr: 1.000e-04, eta: 8 days, 10:02:09, time: 0.799, data_time: 0.036, memory: 19865, loss_cls: 0.7823, loss_bbox: 0.7291, loss_traj: 1.6545, loss_traj_cls: 0.0005, loss_map_cls: 0.4633, loss_map_pts: 2.1632, loss_map_dir: 0.0356, d0.loss_plan_l1_fix_time: 3.0214, d0.loss_plan_l1_fix_dist: 0.4961, d1.loss_plan_l1_fix_time: 2.8849, d1.loss_plan_l1_fix_dist: 0.4965, d2.loss_plan_l1_fix_time: 2.8930, d2.loss_plan_l1_fix_dist: 0.5160, d3.loss_plan_l1_fix_time: 2.9015, d3.loss_plan_l1_fix_dist: 0.5431, d4.loss_plan_l1_fix_time: 2.9106, d4.loss_plan_l1_fix_dist: 0.5734, d5.loss_plan_l1_fix_time: 2.9206, d5.loss_plan_l1_fix_dist: 0.6074, d6.loss_plan_l1_fix_time: 2.9316, d6.loss_plan_l1_fix_dist: 0.6443, d0.loss_cls_all: 0.7745, d0.loss_bbox_all: 0.7289, d0.loss_cls: 0.7745, d0.loss_bbox: 0.7289, d1.loss_cls: 0.7716, d1.loss_bbox: 0.7544, d2.loss_cls: 0.7751, d2.loss_bbox: 0.7840, d3.loss_cls: 0.7814, d3.loss_bbox: 0.7478, d4.loss_cls: 0.7797, d4.loss_bbox: 0.7297, d5.loss_cls: 0.7816, d5.loss_bbox: 0.7256, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6482, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6313, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6200, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6283, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6413, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6472, d0.loss_map_cls_all: 0.4966, d0.loss_map_pts_all: 2.7892, d0.loss_map_dir_all: 0.0341, d0.loss_map_cls: 0.4966, d0.loss_map_pts: 2.7892, d0.loss_map_dir: 0.0341, d1.loss_map_cls: 0.4829, d1.loss_map_pts: 2.2343, d1.loss_map_dir: 0.0344, d2.loss_map_cls: 0.4755, d2.loss_map_pts: 2.1703, d2.loss_map_dir: 0.0347, d3.loss_map_cls: 0.4658, d3.loss_map_pts: 2.1562, d3.loss_map_dir: 0.0350, d4.loss_map_cls: 0.4629, d4.loss_map_pts: 2.1548, d4.loss_map_dir: 0.0351, d5.loss_map_cls: 0.4608, d5.loss_map_pts: 2.1529, d5.loss_map_dir: 0.0352, loss: 70.6570, grad_norm: 151.4335 +2026-02-24 10:24:47,861 - DriveTransformer - INFO - Epoch [1][36800/39528] lr: 1.000e-04, eta: 8 days, 10:02:03, time: 0.825, data_time: 0.040, memory: 19865, loss_cls: 0.7857, loss_bbox: 0.7459, loss_traj: 1.6112, loss_traj_cls: 0.0005, loss_map_cls: 0.4567, loss_map_pts: 2.2508, loss_map_dir: 0.0378, d0.loss_plan_l1_fix_time: 2.7531, d0.loss_plan_l1_fix_dist: 0.4443, d1.loss_plan_l1_fix_time: 2.5544, d1.loss_plan_l1_fix_dist: 0.4533, d2.loss_plan_l1_fix_time: 2.5222, d2.loss_plan_l1_fix_dist: 0.4785, d3.loss_plan_l1_fix_time: 2.5177, d3.loss_plan_l1_fix_dist: 0.5068, d4.loss_plan_l1_fix_time: 2.5209, d4.loss_plan_l1_fix_dist: 0.5395, d5.loss_plan_l1_fix_time: 2.5269, d5.loss_plan_l1_fix_dist: 0.5724, d6.loss_plan_l1_fix_time: 2.5360, d6.loss_plan_l1_fix_dist: 0.6034, d0.loss_cls_all: 0.7927, d0.loss_bbox_all: 0.7296, d0.loss_cls: 0.7927, d0.loss_bbox: 0.7296, d1.loss_cls: 0.7917, d1.loss_bbox: 0.7589, d2.loss_cls: 0.7888, d2.loss_bbox: 0.7934, d3.loss_cls: 0.7935, d3.loss_bbox: 0.7501, d4.loss_cls: 0.7885, d4.loss_bbox: 0.7410, d5.loss_cls: 0.7846, d5.loss_bbox: 0.7426, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5316, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.5646, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5710, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5859, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5989, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6015, d0.loss_map_cls_all: 0.4840, d0.loss_map_pts_all: 2.9901, d0.loss_map_dir_all: 0.0370, d0.loss_map_cls: 0.4840, d0.loss_map_pts: 2.9901, d0.loss_map_dir: 0.0370, d1.loss_map_cls: 0.4742, d1.loss_map_pts: 2.3249, d1.loss_map_dir: 0.0372, d2.loss_map_cls: 0.4655, d2.loss_map_pts: 2.2634, d2.loss_map_dir: 0.0372, d3.loss_map_cls: 0.4593, d3.loss_map_pts: 2.2467, d3.loss_map_dir: 0.0374, d4.loss_map_cls: 0.4577, d4.loss_map_pts: 2.2450, d4.loss_map_dir: 0.0374, d5.loss_map_cls: 0.4564, d5.loss_map_pts: 2.2473, d5.loss_map_dir: 0.0374, loss: 68.5018, grad_norm: 150.7499 +2026-02-24 10:25:28,305 - DriveTransformer - INFO - Epoch [1][36850/39528] lr: 1.000e-04, eta: 8 days, 10:01:36, time: 0.807, data_time: 0.037, memory: 19865, loss_cls: 0.7777, loss_bbox: 0.7289, loss_traj: 1.5644, loss_traj_cls: 0.0005, loss_map_cls: 0.3940, loss_map_pts: 2.1309, loss_map_dir: 0.0330, d0.loss_plan_l1_fix_time: 2.6034, d0.loss_plan_l1_fix_dist: 0.5356, d1.loss_plan_l1_fix_time: 2.4838, d1.loss_plan_l1_fix_dist: 0.5420, d2.loss_plan_l1_fix_time: 2.4696, d2.loss_plan_l1_fix_dist: 0.5724, d3.loss_plan_l1_fix_time: 2.4713, d3.loss_plan_l1_fix_dist: 0.6100, d4.loss_plan_l1_fix_time: 2.4758, d4.loss_plan_l1_fix_dist: 0.6504, d5.loss_plan_l1_fix_time: 2.4821, d5.loss_plan_l1_fix_dist: 0.6929, d6.loss_plan_l1_fix_time: 2.4890, d6.loss_plan_l1_fix_dist: 0.7366, d0.loss_cls_all: 0.7671, d0.loss_bbox_all: 0.7260, d0.loss_cls: 0.7671, d0.loss_bbox: 0.7260, d1.loss_cls: 0.7612, d1.loss_bbox: 0.7506, d2.loss_cls: 0.7629, d2.loss_bbox: 0.7897, d3.loss_cls: 0.7680, d3.loss_bbox: 0.7416, d4.loss_cls: 0.7684, d4.loss_bbox: 0.7313, d5.loss_cls: 0.7722, d5.loss_bbox: 0.7278, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6299, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.5922, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5660, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5699, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5664, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5608, d0.loss_map_cls_all: 0.4347, d0.loss_map_pts_all: 2.7209, d0.loss_map_dir_all: 0.0320, d0.loss_map_cls: 0.4347, d0.loss_map_pts: 2.7209, d0.loss_map_dir: 0.0320, d1.loss_map_cls: 0.4201, d1.loss_map_pts: 2.1988, d1.loss_map_dir: 0.0322, d2.loss_map_cls: 0.4108, d2.loss_map_pts: 2.1404, d2.loss_map_dir: 0.0322, d3.loss_map_cls: 0.4055, d3.loss_map_pts: 2.1257, d3.loss_map_dir: 0.0324, d4.loss_map_cls: 0.4009, d4.loss_map_pts: 2.1204, d4.loss_map_dir: 0.0325, d5.loss_map_cls: 0.3955, d5.loss_map_pts: 2.1257, d5.loss_map_dir: 0.0326, loss: 66.7741, grad_norm: 150.5845 +2026-02-24 10:26:08,540 - DriveTransformer - INFO - Epoch [1][36900/39528] lr: 1.000e-04, eta: 8 days, 10:01:04, time: 0.805, data_time: 0.039, memory: 19865, loss_cls: 0.8063, loss_bbox: 0.7410, loss_traj: 1.7138, loss_traj_cls: 0.0005, loss_map_cls: 0.4149, loss_map_pts: 2.1350, loss_map_dir: 0.0290, d0.loss_plan_l1_fix_time: 3.2439, d0.loss_plan_l1_fix_dist: 0.5009, d1.loss_plan_l1_fix_time: 3.0264, d1.loss_plan_l1_fix_dist: 0.4997, d2.loss_plan_l1_fix_time: 2.9989, d2.loss_plan_l1_fix_dist: 0.5224, d3.loss_plan_l1_fix_time: 2.9961, d3.loss_plan_l1_fix_dist: 0.5536, d4.loss_plan_l1_fix_time: 2.9981, d4.loss_plan_l1_fix_dist: 0.5880, d5.loss_plan_l1_fix_time: 3.0028, d5.loss_plan_l1_fix_dist: 0.6312, d6.loss_plan_l1_fix_time: 3.0090, d6.loss_plan_l1_fix_dist: 0.6775, d0.loss_cls_all: 0.7995, d0.loss_bbox_all: 0.7476, d0.loss_cls: 0.7995, d0.loss_bbox: 0.7476, d1.loss_cls: 0.7937, d1.loss_bbox: 0.7581, d2.loss_cls: 0.7937, d2.loss_bbox: 0.8050, d3.loss_cls: 0.8007, d3.loss_bbox: 0.7586, d4.loss_cls: 0.8006, d4.loss_bbox: 0.7467, d5.loss_cls: 0.8014, d5.loss_bbox: 0.7419, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7941, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.7361, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7011, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7198, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.7174, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7181, d0.loss_map_cls_all: 0.4562, d0.loss_map_pts_all: 2.6172, d0.loss_map_dir_all: 0.0285, d0.loss_map_cls: 0.4562, d0.loss_map_pts: 2.6172, d0.loss_map_dir: 0.0285, d1.loss_map_cls: 0.4323, d1.loss_map_pts: 2.1789, d1.loss_map_dir: 0.0285, d2.loss_map_cls: 0.4221, d2.loss_map_pts: 2.1386, d2.loss_map_dir: 0.0285, d3.loss_map_cls: 0.4177, d3.loss_map_pts: 2.1377, d3.loss_map_dir: 0.0286, d4.loss_map_cls: 0.4128, d4.loss_map_pts: 2.1330, d4.loss_map_dir: 0.0286, d5.loss_map_cls: 0.4121, d5.loss_map_pts: 2.1367, d5.loss_map_dir: 0.0287, loss: 71.5425, grad_norm: 151.3360 +2026-02-24 10:26:47,951 - DriveTransformer - INFO - Epoch [1][36950/39528] lr: 1.000e-04, eta: 8 days, 10:00:13, time: 0.788, data_time: 0.038, memory: 19865, loss_cls: 0.7863, loss_bbox: 0.7633, loss_traj: 1.6037, loss_traj_cls: 0.0005, loss_map_cls: 0.4524, loss_map_pts: 2.0846, loss_map_dir: 0.0333, d0.loss_plan_l1_fix_time: 3.1218, d0.loss_plan_l1_fix_dist: 0.5831, d1.loss_plan_l1_fix_time: 3.0014, d1.loss_plan_l1_fix_dist: 0.6032, d2.loss_plan_l1_fix_time: 2.9925, d2.loss_plan_l1_fix_dist: 0.6375, d3.loss_plan_l1_fix_time: 2.9944, d3.loss_plan_l1_fix_dist: 0.6741, d4.loss_plan_l1_fix_time: 3.0018, d4.loss_plan_l1_fix_dist: 0.7166, d5.loss_plan_l1_fix_time: 3.0114, d5.loss_plan_l1_fix_dist: 0.7647, d6.loss_plan_l1_fix_time: 3.0229, d6.loss_plan_l1_fix_dist: 0.8195, d0.loss_cls_all: 0.7882, d0.loss_bbox_all: 0.7522, d0.loss_cls: 0.7882, d0.loss_bbox: 0.7522, d1.loss_cls: 0.7839, d1.loss_bbox: 0.7565, d2.loss_cls: 0.7822, d2.loss_bbox: 0.8109, d3.loss_cls: 0.7860, d3.loss_bbox: 0.7847, d4.loss_cls: 0.7842, d4.loss_bbox: 0.7683, d5.loss_cls: 0.7834, d5.loss_bbox: 0.7615, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5676, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5602, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5759, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6006, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6011, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6007, d0.loss_map_cls_all: 0.4718, d0.loss_map_pts_all: 2.6499, d0.loss_map_dir_all: 0.0324, d0.loss_map_cls: 0.4718, d0.loss_map_pts: 2.6499, d0.loss_map_dir: 0.0324, d1.loss_map_cls: 0.4602, d1.loss_map_pts: 2.1414, d1.loss_map_dir: 0.0325, d2.loss_map_cls: 0.4544, d2.loss_map_pts: 2.0809, d2.loss_map_dir: 0.0326, d3.loss_map_cls: 0.4478, d3.loss_map_pts: 2.0815, d3.loss_map_dir: 0.0327, d4.loss_map_cls: 0.4464, d4.loss_map_pts: 2.0774, d4.loss_map_dir: 0.0329, d5.loss_map_cls: 0.4481, d5.loss_map_pts: 2.0770, d5.loss_map_dir: 0.0329, loss: 71.2480, grad_norm: 153.0076 +2026-02-24 10:27:28,607 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 10:27:28,607 - DriveTransformer - INFO - Epoch [1][37000/39528] lr: 1.000e-04, eta: 8 days, 9:59:52, time: 0.813, data_time: 0.040, memory: 19865, loss_cls: 0.7849, loss_bbox: 0.7484, loss_traj: 1.5446, loss_traj_cls: 0.0005, loss_map_cls: 0.4493, loss_map_pts: 2.0335, loss_map_dir: 0.0371, d0.loss_plan_l1_fix_time: 2.7337, d0.loss_plan_l1_fix_dist: 0.4124, d1.loss_plan_l1_fix_time: 2.6298, d1.loss_plan_l1_fix_dist: 0.4310, d2.loss_plan_l1_fix_time: 2.6194, d2.loss_plan_l1_fix_dist: 0.4624, d3.loss_plan_l1_fix_time: 2.6217, d3.loss_plan_l1_fix_dist: 0.4995, d4.loss_plan_l1_fix_time: 2.6282, d4.loss_plan_l1_fix_dist: 0.5382, d5.loss_plan_l1_fix_time: 2.6375, d5.loss_plan_l1_fix_dist: 0.5779, d6.loss_plan_l1_fix_time: 2.6484, d6.loss_plan_l1_fix_dist: 0.6237, d0.loss_cls_all: 0.7718, d0.loss_bbox_all: 0.7150, d0.loss_cls: 0.7718, d0.loss_bbox: 0.7150, d1.loss_cls: 0.7671, d1.loss_bbox: 0.7184, d2.loss_cls: 0.7668, d2.loss_bbox: 0.7839, d3.loss_cls: 0.7735, d3.loss_bbox: 0.7634, d4.loss_cls: 0.7768, d4.loss_bbox: 0.7481, d5.loss_cls: 0.7863, d5.loss_bbox: 0.7396, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4902, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5137, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5219, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5248, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5329, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5492, d0.loss_map_cls_all: 0.4697, d0.loss_map_pts_all: 2.7342, d0.loss_map_dir_all: 0.0359, d0.loss_map_cls: 0.4697, d0.loss_map_pts: 2.7342, d0.loss_map_dir: 0.0359, d1.loss_map_cls: 0.4523, d1.loss_map_pts: 2.0752, d1.loss_map_dir: 0.0360, d2.loss_map_cls: 0.4409, d2.loss_map_pts: 2.0257, d2.loss_map_dir: 0.0361, d3.loss_map_cls: 0.4380, d3.loss_map_pts: 2.0233, d3.loss_map_dir: 0.0365, d4.loss_map_cls: 0.4401, d4.loss_map_pts: 2.0230, d4.loss_map_dir: 0.0365, d5.loss_map_cls: 0.4422, d5.loss_map_pts: 2.0227, d5.loss_map_dir: 0.0367, loss: 66.4409, grad_norm: 155.3898 +2026-02-24 10:28:07,847 - DriveTransformer - INFO - Epoch [1][37050/39528] lr: 1.000e-04, eta: 8 days, 9:58:57, time: 0.785, data_time: 0.045, memory: 19865, loss_cls: 0.7858, loss_bbox: 0.7425, loss_traj: 1.8665, loss_traj_cls: 0.0005, loss_map_cls: 0.4997, loss_map_pts: 2.0315, loss_map_dir: 0.0346, d0.loss_plan_l1_fix_time: 2.9220, d0.loss_plan_l1_fix_dist: 0.5433, d1.loss_plan_l1_fix_time: 2.8042, d1.loss_plan_l1_fix_dist: 0.5420, d2.loss_plan_l1_fix_time: 2.7970, d2.loss_plan_l1_fix_dist: 0.5689, d3.loss_plan_l1_fix_time: 2.8031, d3.loss_plan_l1_fix_dist: 0.6069, d4.loss_plan_l1_fix_time: 2.8105, d4.loss_plan_l1_fix_dist: 0.6465, d5.loss_plan_l1_fix_time: 2.8186, d5.loss_plan_l1_fix_dist: 0.6883, d6.loss_plan_l1_fix_time: 2.8264, d6.loss_plan_l1_fix_dist: 0.7299, d0.loss_cls_all: 0.7829, d0.loss_bbox_all: 0.7431, d0.loss_cls: 0.7829, d0.loss_bbox: 0.7431, d1.loss_cls: 0.7743, d1.loss_bbox: 0.7504, d2.loss_cls: 0.7739, d2.loss_bbox: 0.8039, d3.loss_cls: 0.7801, d3.loss_bbox: 0.7630, d4.loss_cls: 0.7808, d4.loss_bbox: 0.7496, d5.loss_cls: 0.7851, d5.loss_bbox: 0.7388, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8477, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.8519, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.8501, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8463, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.8606, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8575, d0.loss_map_cls_all: 0.5073, d0.loss_map_pts_all: 2.5074, d0.loss_map_dir_all: 0.0333, d0.loss_map_cls: 0.5073, d0.loss_map_pts: 2.5074, d0.loss_map_dir: 0.0333, d1.loss_map_cls: 0.5076, d1.loss_map_pts: 2.0351, d1.loss_map_dir: 0.0335, d2.loss_map_cls: 0.4905, d2.loss_map_pts: 1.9843, d2.loss_map_dir: 0.0337, d3.loss_map_cls: 0.4900, d3.loss_map_pts: 1.9739, d3.loss_map_dir: 0.0338, d4.loss_map_cls: 0.4917, d4.loss_map_pts: 1.9797, d4.loss_map_dir: 0.0340, d5.loss_map_cls: 0.4912, d5.loss_map_pts: 1.9989, d5.loss_map_dir: 0.0342, loss: 70.6468, grad_norm: 155.0893 +2026-02-24 10:28:47,133 - DriveTransformer - INFO - Epoch [1][37100/39528] lr: 1.000e-04, eta: 8 days, 9:58:02, time: 0.786, data_time: 0.038, memory: 19865, loss_cls: 0.8130, loss_bbox: 0.7805, loss_traj: 1.3330, loss_traj_cls: 0.0005, loss_map_cls: 0.4279, loss_map_pts: 2.1531, loss_map_dir: 0.0340, d0.loss_plan_l1_fix_time: 2.8860, d0.loss_plan_l1_fix_dist: 0.6446, d1.loss_plan_l1_fix_time: 2.7643, d1.loss_plan_l1_fix_dist: 0.6448, d2.loss_plan_l1_fix_time: 2.7555, d2.loss_plan_l1_fix_dist: 0.6575, d3.loss_plan_l1_fix_time: 2.7600, d3.loss_plan_l1_fix_dist: 0.6743, d4.loss_plan_l1_fix_time: 2.7674, d4.loss_plan_l1_fix_dist: 0.6973, d5.loss_plan_l1_fix_time: 2.7759, d5.loss_plan_l1_fix_dist: 0.7242, d6.loss_plan_l1_fix_time: 2.7860, d6.loss_plan_l1_fix_dist: 0.7547, d0.loss_cls_all: 0.8228, d0.loss_bbox_all: 0.7752, d0.loss_cls: 0.8228, d0.loss_bbox: 0.7752, d1.loss_cls: 0.8149, d1.loss_bbox: 0.7913, d2.loss_cls: 0.8061, d2.loss_bbox: 0.8163, d3.loss_cls: 0.8048, d3.loss_bbox: 0.7831, d4.loss_cls: 0.8058, d4.loss_bbox: 0.7841, d5.loss_cls: 0.8100, d5.loss_bbox: 0.7805, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3116, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.2945, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.2888, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.2992, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3139, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3195, d0.loss_map_cls_all: 0.4606, d0.loss_map_pts_all: 2.7865, d0.loss_map_dir_all: 0.0333, d0.loss_map_cls: 0.4606, d0.loss_map_pts: 2.7865, d0.loss_map_dir: 0.0333, d1.loss_map_cls: 0.4459, d1.loss_map_pts: 2.2036, d1.loss_map_dir: 0.0333, d2.loss_map_cls: 0.4303, d2.loss_map_pts: 2.1442, d2.loss_map_dir: 0.0333, d3.loss_map_cls: 0.4264, d3.loss_map_pts: 2.1253, d3.loss_map_dir: 0.0335, d4.loss_map_cls: 0.4245, d4.loss_map_pts: 2.1200, d4.loss_map_dir: 0.0336, d5.loss_map_cls: 0.4251, d5.loss_map_pts: 2.1315, d5.loss_map_dir: 0.0336, loss: 68.4640, grad_norm: 155.9893 +2026-02-24 10:29:28,014 - DriveTransformer - INFO - Epoch [1][37150/39528] lr: 1.000e-04, eta: 8 days, 9:57:47, time: 0.818, data_time: 0.047, memory: 19865, loss_cls: 0.7657, loss_bbox: 0.7197, loss_traj: 1.5002, loss_traj_cls: 0.0005, loss_map_cls: 0.4212, loss_map_pts: 1.9593, loss_map_dir: 0.0321, d0.loss_plan_l1_fix_time: 2.7890, d0.loss_plan_l1_fix_dist: 0.5286, d1.loss_plan_l1_fix_time: 2.6720, d1.loss_plan_l1_fix_dist: 0.5270, d2.loss_plan_l1_fix_time: 2.6609, d2.loss_plan_l1_fix_dist: 0.5408, d3.loss_plan_l1_fix_time: 2.6636, d3.loss_plan_l1_fix_dist: 0.5629, d4.loss_plan_l1_fix_time: 2.6698, d4.loss_plan_l1_fix_dist: 0.5898, d5.loss_plan_l1_fix_time: 2.6787, d5.loss_plan_l1_fix_dist: 0.6186, d6.loss_plan_l1_fix_time: 2.6898, d6.loss_plan_l1_fix_dist: 0.6485, d0.loss_cls_all: 0.7563, d0.loss_bbox_all: 0.7375, d0.loss_cls: 0.7563, d0.loss_bbox: 0.7375, d1.loss_cls: 0.7492, d1.loss_bbox: 0.7553, d2.loss_cls: 0.7507, d2.loss_bbox: 0.7484, d3.loss_cls: 0.7555, d3.loss_bbox: 0.7250, d4.loss_cls: 0.7614, d4.loss_bbox: 0.7225, d5.loss_cls: 0.7674, d5.loss_bbox: 0.7161, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4453, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.4567, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4665, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4779, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4864, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4959, d0.loss_map_cls_all: 0.4544, d0.loss_map_pts_all: 2.7036, d0.loss_map_dir_all: 0.0310, d0.loss_map_cls: 0.4544, d0.loss_map_pts: 2.7036, d0.loss_map_dir: 0.0310, d1.loss_map_cls: 0.4371, d1.loss_map_pts: 2.0471, d1.loss_map_dir: 0.0313, d2.loss_map_cls: 0.4242, d2.loss_map_pts: 1.9967, d2.loss_map_dir: 0.0314, d3.loss_map_cls: 0.4217, d3.loss_map_pts: 1.9757, d3.loss_map_dir: 0.0315, d4.loss_map_cls: 0.4203, d4.loss_map_pts: 1.9642, d4.loss_map_dir: 0.0316, d5.loss_map_cls: 0.4212, d5.loss_map_pts: 1.9571, d5.loss_map_dir: 0.0318, loss: 66.1111, grad_norm: 155.3086 +2026-02-24 10:30:08,040 - DriveTransformer - INFO - Epoch [1][37200/39528] lr: 1.000e-04, eta: 8 days, 9:57:10, time: 0.801, data_time: 0.045, memory: 19865, loss_cls: 0.7869, loss_bbox: 0.7382, loss_traj: 1.5599, loss_traj_cls: 0.0005, loss_map_cls: 0.4139, loss_map_pts: 1.9485, loss_map_dir: 0.0352, d0.loss_plan_l1_fix_time: 2.8594, d0.loss_plan_l1_fix_dist: 0.5313, d1.loss_plan_l1_fix_time: 2.6729, d1.loss_plan_l1_fix_dist: 0.5238, d2.loss_plan_l1_fix_time: 2.6522, d2.loss_plan_l1_fix_dist: 0.5340, d3.loss_plan_l1_fix_time: 2.6519, d3.loss_plan_l1_fix_dist: 0.5538, d4.loss_plan_l1_fix_time: 2.6560, d4.loss_plan_l1_fix_dist: 0.5748, d5.loss_plan_l1_fix_time: 2.6614, d5.loss_plan_l1_fix_dist: 0.5998, d6.loss_plan_l1_fix_time: 2.6676, d6.loss_plan_l1_fix_dist: 0.6241, d0.loss_cls_all: 0.7864, d0.loss_bbox_all: 0.7471, d0.loss_cls: 0.7864, d0.loss_bbox: 0.7471, d1.loss_cls: 0.7833, d1.loss_bbox: 0.7689, d2.loss_cls: 0.7804, d2.loss_bbox: 0.7366, d3.loss_cls: 0.7797, d3.loss_bbox: 0.7329, d4.loss_cls: 0.7811, d4.loss_bbox: 0.7283, d5.loss_cls: 0.7836, d5.loss_bbox: 0.7287, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5485, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.5391, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.5241, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5419, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5450, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5498, d0.loss_map_cls_all: 0.4376, d0.loss_map_pts_all: 2.7419, d0.loss_map_dir_all: 0.0340, d0.loss_map_cls: 0.4376, d0.loss_map_pts: 2.7419, d0.loss_map_dir: 0.0340, d1.loss_map_cls: 0.4280, d1.loss_map_pts: 2.0272, d1.loss_map_dir: 0.0340, d2.loss_map_cls: 0.4173, d2.loss_map_pts: 1.9649, d2.loss_map_dir: 0.0342, d3.loss_map_cls: 0.4132, d3.loss_map_pts: 1.9519, d3.loss_map_dir: 0.0345, d4.loss_map_cls: 0.4114, d4.loss_map_pts: 1.9445, d4.loss_map_dir: 0.0347, d5.loss_map_cls: 0.4122, d5.loss_map_pts: 1.9407, d5.loss_map_dir: 0.0347, loss: 66.6798, grad_norm: 154.5039 +2026-02-24 10:30:49,807 - DriveTransformer - INFO - Epoch [1][37250/39528] lr: 1.000e-04, eta: 8 days, 9:57:16, time: 0.835, data_time: 0.041, memory: 19865, loss_cls: 0.8045, loss_bbox: 0.7317, loss_traj: 1.5261, loss_traj_cls: 0.0005, loss_map_cls: 0.4080, loss_map_pts: 2.1194, loss_map_dir: 0.0335, d0.loss_plan_l1_fix_time: 2.9891, d0.loss_plan_l1_fix_dist: 0.5622, d1.loss_plan_l1_fix_time: 2.7897, d1.loss_plan_l1_fix_dist: 0.5590, d2.loss_plan_l1_fix_time: 2.7584, d2.loss_plan_l1_fix_dist: 0.5732, d3.loss_plan_l1_fix_time: 2.7545, d3.loss_plan_l1_fix_dist: 0.5961, d4.loss_plan_l1_fix_time: 2.7572, d4.loss_plan_l1_fix_dist: 0.6226, d5.loss_plan_l1_fix_time: 2.7635, d5.loss_plan_l1_fix_dist: 0.6499, d6.loss_plan_l1_fix_time: 2.7724, d6.loss_plan_l1_fix_dist: 0.6853, d0.loss_cls_all: 0.8032, d0.loss_bbox_all: 0.7482, d0.loss_cls: 0.8032, d0.loss_bbox: 0.7482, d1.loss_cls: 0.8009, d1.loss_bbox: 0.7907, d2.loss_cls: 0.7983, d2.loss_bbox: 0.7390, d3.loss_cls: 0.8014, d3.loss_bbox: 0.7300, d4.loss_cls: 0.8031, d4.loss_bbox: 0.7285, d5.loss_cls: 0.8000, d5.loss_bbox: 0.7294, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5660, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.5390, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5163, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.5221, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5226, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5162, d0.loss_map_cls_all: 0.4309, d0.loss_map_pts_all: 2.7724, d0.loss_map_dir_all: 0.0324, d0.loss_map_cls: 0.4309, d0.loss_map_pts: 2.7724, d0.loss_map_dir: 0.0324, d1.loss_map_cls: 0.4232, d1.loss_map_pts: 2.1685, d1.loss_map_dir: 0.0323, d2.loss_map_cls: 0.4177, d2.loss_map_pts: 2.1198, d2.loss_map_dir: 0.0327, d3.loss_map_cls: 0.4132, d3.loss_map_pts: 2.1127, d3.loss_map_dir: 0.0328, d4.loss_map_cls: 0.4084, d4.loss_map_pts: 2.1147, d4.loss_map_dir: 0.0329, d5.loss_map_cls: 0.4063, d5.loss_map_pts: 2.1129, d5.loss_map_dir: 0.0330, loss: 68.7991, grad_norm: 154.0270 +2026-02-24 10:31:28,827 - DriveTransformer - INFO - Epoch [1][37300/39528] lr: 1.000e-04, eta: 8 days, 9:56:15, time: 0.780, data_time: 0.047, memory: 19865, loss_cls: 0.8121, loss_bbox: 0.7686, loss_traj: 1.8132, loss_traj_cls: 0.0005, loss_map_cls: 0.4679, loss_map_pts: 2.1133, loss_map_dir: 0.0321, d0.loss_plan_l1_fix_time: 3.2414, d0.loss_plan_l1_fix_dist: 0.4798, d1.loss_plan_l1_fix_time: 3.0334, d1.loss_plan_l1_fix_dist: 0.4860, d2.loss_plan_l1_fix_time: 3.0150, d2.loss_plan_l1_fix_dist: 0.5031, d3.loss_plan_l1_fix_time: 3.0187, d3.loss_plan_l1_fix_dist: 0.5254, d4.loss_plan_l1_fix_time: 3.0257, d4.loss_plan_l1_fix_dist: 0.5536, d5.loss_plan_l1_fix_time: 3.0339, d5.loss_plan_l1_fix_dist: 0.5839, d6.loss_plan_l1_fix_time: 3.0436, d6.loss_plan_l1_fix_dist: 0.6130, d0.loss_cls_all: 0.8112, d0.loss_bbox_all: 0.7832, d0.loss_cls: 0.8112, d0.loss_bbox: 0.7832, d1.loss_cls: 0.8036, d1.loss_bbox: 0.8344, d2.loss_cls: 0.7993, d2.loss_bbox: 0.7940, d3.loss_cls: 0.8031, d3.loss_bbox: 0.7724, d4.loss_cls: 0.8077, d4.loss_bbox: 0.7773, d5.loss_cls: 0.8072, d5.loss_bbox: 0.7660, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8282, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.8252, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8226, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8215, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.8121, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8101, d0.loss_map_cls_all: 0.4939, d0.loss_map_pts_all: 2.6429, d0.loss_map_dir_all: 0.0308, d0.loss_map_cls: 0.4939, d0.loss_map_pts: 2.6429, d0.loss_map_dir: 0.0308, d1.loss_map_cls: 0.4855, d1.loss_map_pts: 2.1908, d1.loss_map_dir: 0.0309, d2.loss_map_cls: 0.4822, d2.loss_map_pts: 2.1375, d2.loss_map_dir: 0.0311, d3.loss_map_cls: 0.4775, d3.loss_map_pts: 2.1217, d3.loss_map_dir: 0.0314, d4.loss_map_cls: 0.4725, d4.loss_map_pts: 2.1171, d4.loss_map_dir: 0.0315, d5.loss_map_cls: 0.4686, d5.loss_map_pts: 2.1138, d5.loss_map_dir: 0.0316, loss: 72.8001, grad_norm: 154.0071 +2026-02-24 10:32:08,159 - DriveTransformer - INFO - Epoch [1][37350/39528] lr: 1.000e-04, eta: 8 days, 9:55:22, time: 0.787, data_time: 0.035, memory: 19865, loss_cls: 0.7918, loss_bbox: 0.7325, loss_traj: 1.4262, loss_traj_cls: 0.0005, loss_map_cls: 0.4151, loss_map_pts: 2.0894, loss_map_dir: 0.0322, d0.loss_plan_l1_fix_time: 2.9836, d0.loss_plan_l1_fix_dist: 0.5281, d1.loss_plan_l1_fix_time: 2.7874, d1.loss_plan_l1_fix_dist: 0.5313, d2.loss_plan_l1_fix_time: 2.7931, d2.loss_plan_l1_fix_dist: 0.5496, d3.loss_plan_l1_fix_time: 2.8050, d3.loss_plan_l1_fix_dist: 0.5775, d4.loss_plan_l1_fix_time: 2.8163, d4.loss_plan_l1_fix_dist: 0.6128, d5.loss_plan_l1_fix_time: 2.8268, d5.loss_plan_l1_fix_dist: 0.6499, d6.loss_plan_l1_fix_time: 2.8375, d6.loss_plan_l1_fix_dist: 0.6857, d0.loss_cls_all: 0.7772, d0.loss_bbox_all: 0.7558, d0.loss_cls: 0.7772, d0.loss_bbox: 0.7558, d1.loss_cls: 0.7857, d1.loss_bbox: 0.8128, d2.loss_cls: 0.7770, d2.loss_bbox: 0.7702, d3.loss_cls: 0.7788, d3.loss_bbox: 0.7460, d4.loss_cls: 0.7835, d4.loss_bbox: 0.7445, d5.loss_cls: 0.7859, d5.loss_bbox: 0.7365, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4257, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.4003, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4079, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4165, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4225, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4288, d0.loss_map_cls_all: 0.4370, d0.loss_map_pts_all: 2.8249, d0.loss_map_dir_all: 0.0311, d0.loss_map_cls: 0.4370, d0.loss_map_pts: 2.8249, d0.loss_map_dir: 0.0311, d1.loss_map_cls: 0.4310, d1.loss_map_pts: 2.1637, d1.loss_map_dir: 0.0311, d2.loss_map_cls: 0.4249, d2.loss_map_pts: 2.1106, d2.loss_map_dir: 0.0313, d3.loss_map_cls: 0.4169, d3.loss_map_pts: 2.0919, d3.loss_map_dir: 0.0316, d4.loss_map_cls: 0.4146, d4.loss_map_pts: 2.0857, d4.loss_map_dir: 0.0317, d5.loss_map_cls: 0.4138, d5.loss_map_pts: 2.0843, d5.loss_map_dir: 0.0317, loss: 68.1451, grad_norm: 154.4354 +2026-02-24 10:32:46,543 - DriveTransformer - INFO - Epoch [1][37400/39528] lr: 1.000e-04, eta: 8 days, 9:54:06, time: 0.768, data_time: 0.039, memory: 19865, loss_cls: 0.7873, loss_bbox: 0.7789, loss_traj: 1.7218, loss_traj_cls: 0.0005, loss_map_cls: 0.4458, loss_map_pts: 2.0838, loss_map_dir: 0.0331, d0.loss_plan_l1_fix_time: 3.0282, d0.loss_plan_l1_fix_dist: 0.5494, d1.loss_plan_l1_fix_time: 2.8543, d1.loss_plan_l1_fix_dist: 0.5385, d2.loss_plan_l1_fix_time: 2.8374, d2.loss_plan_l1_fix_dist: 0.5538, d3.loss_plan_l1_fix_time: 2.8397, d3.loss_plan_l1_fix_dist: 0.5739, d4.loss_plan_l1_fix_time: 2.8449, d4.loss_plan_l1_fix_dist: 0.5969, d5.loss_plan_l1_fix_time: 2.8517, d5.loss_plan_l1_fix_dist: 0.6295, d6.loss_plan_l1_fix_time: 2.8580, d6.loss_plan_l1_fix_dist: 0.6720, d0.loss_cls_all: 0.7700, d0.loss_bbox_all: 0.8027, d0.loss_cls: 0.7700, d0.loss_bbox: 0.8027, d1.loss_cls: 0.7723, d1.loss_bbox: 0.8543, d2.loss_cls: 0.7788, d2.loss_bbox: 0.8023, d3.loss_cls: 0.7795, d3.loss_bbox: 0.7887, d4.loss_cls: 0.7825, d4.loss_bbox: 0.7920, d5.loss_cls: 0.7860, d5.loss_bbox: 0.7848, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7428, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.7163, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.7166, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7257, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.7289, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7311, d0.loss_map_cls_all: 0.4605, d0.loss_map_pts_all: 2.6832, d0.loss_map_dir_all: 0.0319, d0.loss_map_cls: 0.4605, d0.loss_map_pts: 2.6832, d0.loss_map_dir: 0.0319, d1.loss_map_cls: 0.4507, d1.loss_map_pts: 2.1062, d1.loss_map_dir: 0.0320, d2.loss_map_cls: 0.4487, d2.loss_map_pts: 2.0571, d2.loss_map_dir: 0.0322, d3.loss_map_cls: 0.4453, d3.loss_map_pts: 2.0481, d3.loss_map_dir: 0.0324, d4.loss_map_cls: 0.4431, d4.loss_map_pts: 2.0506, d4.loss_map_dir: 0.0325, d5.loss_map_cls: 0.4427, d5.loss_map_pts: 2.0567, d5.loss_map_dir: 0.0326, loss: 70.5735, grad_norm: 155.6117 +2026-02-24 10:33:25,805 - DriveTransformer - INFO - Epoch [1][37450/39528] lr: 1.000e-04, eta: 8 days, 9:53:11, time: 0.785, data_time: 0.040, memory: 19865, loss_cls: 0.8126, loss_bbox: 0.7027, loss_traj: 1.6498, loss_traj_cls: 0.0005, loss_map_cls: 0.4408, loss_map_pts: 1.9402, loss_map_dir: 0.0320, d0.loss_plan_l1_fix_time: 3.2034, d0.loss_plan_l1_fix_dist: 0.5258, d1.loss_plan_l1_fix_time: 3.0397, d1.loss_plan_l1_fix_dist: 0.5300, d2.loss_plan_l1_fix_time: 3.0235, d2.loss_plan_l1_fix_dist: 0.5445, d3.loss_plan_l1_fix_time: 3.0281, d3.loss_plan_l1_fix_dist: 0.5654, d4.loss_plan_l1_fix_time: 3.0352, d4.loss_plan_l1_fix_dist: 0.5887, d5.loss_plan_l1_fix_time: 3.0434, d5.loss_plan_l1_fix_dist: 0.6178, d6.loss_plan_l1_fix_time: 3.0530, d6.loss_plan_l1_fix_dist: 0.6533, d0.loss_cls_all: 0.7922, d0.loss_bbox_all: 0.7144, d0.loss_cls: 0.7922, d0.loss_bbox: 0.7144, d1.loss_cls: 0.7960, d1.loss_bbox: 0.7631, d2.loss_cls: 0.8054, d2.loss_bbox: 0.7069, d3.loss_cls: 0.8122, d3.loss_bbox: 0.7027, d4.loss_cls: 0.8095, d4.loss_bbox: 0.7091, d5.loss_cls: 0.8129, d5.loss_bbox: 0.7027, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6544, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6427, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6395, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6383, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6502, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6399, d0.loss_map_cls_all: 0.4814, d0.loss_map_pts_all: 2.4367, d0.loss_map_dir_all: 0.0306, d0.loss_map_cls: 0.4814, d0.loss_map_pts: 2.4367, d0.loss_map_dir: 0.0306, d1.loss_map_cls: 0.4599, d1.loss_map_pts: 1.9819, d1.loss_map_dir: 0.0310, d2.loss_map_cls: 0.4510, d2.loss_map_pts: 1.9386, d2.loss_map_dir: 0.0311, d3.loss_map_cls: 0.4464, d3.loss_map_pts: 1.9259, d3.loss_map_dir: 0.0314, d4.loss_map_cls: 0.4438, d4.loss_map_pts: 1.9201, d4.loss_map_dir: 0.0315, d5.loss_map_cls: 0.4411, d5.loss_map_pts: 1.9253, d5.loss_map_dir: 0.0315, loss: 69.5206, grad_norm: 157.9527 +2026-02-24 10:34:04,958 - DriveTransformer - INFO - Epoch [1][37500/39528] lr: 1.000e-04, eta: 8 days, 9:52:13, time: 0.783, data_time: 0.047, memory: 19865, loss_cls: 0.8053, loss_bbox: 0.7512, loss_traj: 1.7703, loss_traj_cls: 0.0005, loss_map_cls: 0.4179, loss_map_pts: 2.0139, loss_map_dir: 0.0314, d0.loss_plan_l1_fix_time: 2.7493, d0.loss_plan_l1_fix_dist: 0.5752, d1.loss_plan_l1_fix_time: 2.6551, d1.loss_plan_l1_fix_dist: 0.5790, d2.loss_plan_l1_fix_time: 2.6697, d2.loss_plan_l1_fix_dist: 0.5918, d3.loss_plan_l1_fix_time: 2.6845, d3.loss_plan_l1_fix_dist: 0.6117, d4.loss_plan_l1_fix_time: 2.6972, d4.loss_plan_l1_fix_dist: 0.6319, d5.loss_plan_l1_fix_time: 2.7092, d5.loss_plan_l1_fix_dist: 0.6485, d6.loss_plan_l1_fix_time: 2.7228, d6.loss_plan_l1_fix_dist: 0.6652, d0.loss_cls_all: 0.7947, d0.loss_bbox_all: 0.7778, d0.loss_cls: 0.7947, d0.loss_bbox: 0.7778, d1.loss_cls: 0.7873, d1.loss_bbox: 0.8012, d2.loss_cls: 0.7933, d2.loss_bbox: 0.7582, d3.loss_cls: 0.7973, d3.loss_bbox: 0.7523, d4.loss_cls: 0.7992, d4.loss_bbox: 0.7558, d5.loss_cls: 0.8041, d5.loss_bbox: 0.7453, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7336, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7514, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7416, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7457, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7636, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7680, d0.loss_map_cls_all: 0.4453, d0.loss_map_pts_all: 2.7055, d0.loss_map_dir_all: 0.0308, d0.loss_map_cls: 0.4453, d0.loss_map_pts: 2.7055, d0.loss_map_dir: 0.0308, d1.loss_map_cls: 0.4319, d1.loss_map_pts: 2.0828, d1.loss_map_dir: 0.0307, d2.loss_map_cls: 0.4219, d2.loss_map_pts: 2.0292, d2.loss_map_dir: 0.0308, d3.loss_map_cls: 0.4204, d3.loss_map_pts: 2.0153, d3.loss_map_dir: 0.0310, d4.loss_map_cls: 0.4186, d4.loss_map_pts: 2.0096, d4.loss_map_dir: 0.0310, d5.loss_map_cls: 0.4162, d5.loss_map_pts: 2.0124, d5.loss_map_dir: 0.0311, loss: 69.2043, grad_norm: 157.9418 +2026-02-24 10:34:44,580 - DriveTransformer - INFO - Epoch [1][37550/39528] lr: 1.000e-04, eta: 8 days, 9:51:27, time: 0.793, data_time: 0.038, memory: 19865, loss_cls: 0.7698, loss_bbox: 0.7716, loss_traj: 1.7490, loss_traj_cls: 0.0005, loss_map_cls: 0.4471, loss_map_pts: 2.0837, loss_map_dir: 0.0339, d0.loss_plan_l1_fix_time: 3.0699, d0.loss_plan_l1_fix_dist: 0.3909, d1.loss_plan_l1_fix_time: 2.8288, d1.loss_plan_l1_fix_dist: 0.3864, d2.loss_plan_l1_fix_time: 2.8051, d2.loss_plan_l1_fix_dist: 0.3983, d3.loss_plan_l1_fix_time: 2.8066, d3.loss_plan_l1_fix_dist: 0.4146, d4.loss_plan_l1_fix_time: 2.8136, d4.loss_plan_l1_fix_dist: 0.4348, d5.loss_plan_l1_fix_time: 2.8212, d5.loss_plan_l1_fix_dist: 0.4611, d6.loss_plan_l1_fix_time: 2.8284, d6.loss_plan_l1_fix_dist: 0.4901, d0.loss_cls_all: 0.7798, d0.loss_bbox_all: 0.8026, d0.loss_cls: 0.7798, d0.loss_bbox: 0.8026, d1.loss_cls: 0.7736, d1.loss_bbox: 0.8062, d2.loss_cls: 0.7669, d2.loss_bbox: 0.7748, d3.loss_cls: 0.7717, d3.loss_bbox: 0.7646, d4.loss_cls: 0.7716, d4.loss_bbox: 0.7634, d5.loss_cls: 0.7733, d5.loss_bbox: 0.7755, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7695, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7334, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7312, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7273, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7395, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7436, d0.loss_map_cls_all: 0.4621, d0.loss_map_pts_all: 2.7459, d0.loss_map_dir_all: 0.0329, d0.loss_map_cls: 0.4621, d0.loss_map_pts: 2.7459, d0.loss_map_dir: 0.0329, d1.loss_map_cls: 0.4505, d1.loss_map_pts: 2.1547, d1.loss_map_dir: 0.0330, d2.loss_map_cls: 0.4479, d2.loss_map_pts: 2.1016, d2.loss_map_dir: 0.0331, d3.loss_map_cls: 0.4466, d3.loss_map_pts: 2.0874, d3.loss_map_dir: 0.0333, d4.loss_map_cls: 0.4461, d4.loss_map_pts: 2.0825, d4.loss_map_dir: 0.0334, d5.loss_map_cls: 0.4457, d5.loss_map_pts: 2.0787, d5.loss_map_dir: 0.0334, loss: 69.5499, grad_norm: 157.9105 +2026-02-24 10:35:24,739 - DriveTransformer - INFO - Epoch [1][37600/39528] lr: 1.000e-04, eta: 8 days, 9:50:56, time: 0.804, data_time: 0.039, memory: 19865, loss_cls: 0.7579, loss_bbox: 0.7010, loss_traj: 1.5499, loss_traj_cls: 0.0005, loss_map_cls: 0.4135, loss_map_pts: 1.8739, loss_map_dir: 0.0295, d0.loss_plan_l1_fix_time: 2.9170, d0.loss_plan_l1_fix_dist: 0.5491, d1.loss_plan_l1_fix_time: 2.6781, d1.loss_plan_l1_fix_dist: 0.5420, d2.loss_plan_l1_fix_time: 2.6460, d2.loss_plan_l1_fix_dist: 0.5515, d3.loss_plan_l1_fix_time: 2.6434, d3.loss_plan_l1_fix_dist: 0.5671, d4.loss_plan_l1_fix_time: 2.6465, d4.loss_plan_l1_fix_dist: 0.5852, d5.loss_plan_l1_fix_time: 2.6524, d5.loss_plan_l1_fix_dist: 0.6037, d6.loss_plan_l1_fix_time: 2.6599, d6.loss_plan_l1_fix_dist: 0.6230, d0.loss_cls_all: 0.7559, d0.loss_bbox_all: 0.7339, d0.loss_cls: 0.7559, d0.loss_bbox: 0.7339, d1.loss_cls: 0.7553, d1.loss_bbox: 0.7254, d2.loss_cls: 0.7521, d2.loss_bbox: 0.7048, d3.loss_cls: 0.7567, d3.loss_bbox: 0.6994, d4.loss_cls: 0.7553, d4.loss_bbox: 0.6987, d5.loss_cls: 0.7563, d5.loss_bbox: 0.7125, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5488, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5435, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5362, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5340, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5469, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5503, d0.loss_map_cls_all: 0.4443, d0.loss_map_pts_all: 2.4704, d0.loss_map_dir_all: 0.0287, d0.loss_map_cls: 0.4443, d0.loss_map_pts: 2.4704, d0.loss_map_dir: 0.0287, d1.loss_map_cls: 0.4253, d1.loss_map_pts: 1.9532, d1.loss_map_dir: 0.0289, d2.loss_map_cls: 0.4123, d2.loss_map_pts: 1.8951, d2.loss_map_dir: 0.0289, d3.loss_map_cls: 0.4081, d3.loss_map_pts: 1.8767, d3.loss_map_dir: 0.0290, d4.loss_map_cls: 0.4075, d4.loss_map_pts: 1.8704, d4.loss_map_dir: 0.0291, d5.loss_map_cls: 0.4103, d5.loss_map_pts: 1.8682, d5.loss_map_dir: 0.0291, loss: 65.3099, grad_norm: 157.0706 +2026-02-24 10:36:04,815 - DriveTransformer - INFO - Epoch [1][37650/39528] lr: 1.000e-04, eta: 8 days, 9:50:19, time: 0.800, data_time: 0.035, memory: 19865, loss_cls: 0.7732, loss_bbox: 0.7025, loss_traj: 1.5986, loss_traj_cls: 0.0005, loss_map_cls: 0.4406, loss_map_pts: 2.1411, loss_map_dir: 0.0361, d0.loss_plan_l1_fix_time: 2.9671, d0.loss_plan_l1_fix_dist: 0.6130, d1.loss_plan_l1_fix_time: 2.8057, d1.loss_plan_l1_fix_dist: 0.5873, d2.loss_plan_l1_fix_time: 2.7858, d2.loss_plan_l1_fix_dist: 0.5853, d3.loss_plan_l1_fix_time: 2.7855, d3.loss_plan_l1_fix_dist: 0.5934, d4.loss_plan_l1_fix_time: 2.7895, d4.loss_plan_l1_fix_dist: 0.6061, d5.loss_plan_l1_fix_time: 2.7957, d5.loss_plan_l1_fix_dist: 0.6221, d6.loss_plan_l1_fix_time: 2.8043, d6.loss_plan_l1_fix_dist: 0.6451, d0.loss_cls_all: 0.7816, d0.loss_bbox_all: 0.7352, d0.loss_cls: 0.7816, d0.loss_bbox: 0.7352, d1.loss_cls: 0.7758, d1.loss_bbox: 0.7091, d2.loss_cls: 0.7735, d2.loss_bbox: 0.6973, d3.loss_cls: 0.7741, d3.loss_bbox: 0.6974, d4.loss_cls: 0.7731, d4.loss_bbox: 0.7003, d5.loss_cls: 0.7703, d5.loss_bbox: 0.7026, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6360, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5991, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.5908, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5890, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5908, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5907, d0.loss_map_cls_all: 0.4612, d0.loss_map_pts_all: 2.7894, d0.loss_map_dir_all: 0.0353, d0.loss_map_cls: 0.4612, d0.loss_map_pts: 2.7894, d0.loss_map_dir: 0.0353, d1.loss_map_cls: 0.4463, d1.loss_map_pts: 2.2121, d1.loss_map_dir: 0.0355, d2.loss_map_cls: 0.4372, d2.loss_map_pts: 2.1615, d2.loss_map_dir: 0.0355, d3.loss_map_cls: 0.4340, d3.loss_map_pts: 2.1466, d3.loss_map_dir: 0.0356, d4.loss_map_cls: 0.4328, d4.loss_map_pts: 2.1477, d4.loss_map_dir: 0.0357, d5.loss_map_cls: 0.4359, d5.loss_map_pts: 2.1445, d5.loss_map_dir: 0.0357, loss: 69.4343, grad_norm: 156.1757 +2026-02-24 10:36:43,758 - DriveTransformer - INFO - Epoch [1][37700/39528] lr: 1.000e-04, eta: 8 days, 9:49:16, time: 0.779, data_time: 0.039, memory: 19865, loss_cls: 0.7637, loss_bbox: 0.7070, loss_traj: 1.5392, loss_traj_cls: 0.0004, loss_map_cls: 0.4483, loss_map_pts: 1.9681, loss_map_dir: 0.0341, d0.loss_plan_l1_fix_time: 2.8498, d0.loss_plan_l1_fix_dist: 0.4740, d1.loss_plan_l1_fix_time: 2.6564, d1.loss_plan_l1_fix_dist: 0.4668, d2.loss_plan_l1_fix_time: 2.6577, d2.loss_plan_l1_fix_dist: 0.4774, d3.loss_plan_l1_fix_time: 2.6666, d3.loss_plan_l1_fix_dist: 0.4938, d4.loss_plan_l1_fix_time: 2.6759, d4.loss_plan_l1_fix_dist: 0.5108, d5.loss_plan_l1_fix_time: 2.6837, d5.loss_plan_l1_fix_dist: 0.5312, d6.loss_plan_l1_fix_time: 2.6926, d6.loss_plan_l1_fix_dist: 0.5544, d0.loss_cls_all: 0.7705, d0.loss_bbox_all: 0.7353, d0.loss_cls: 0.7705, d0.loss_bbox: 0.7353, d1.loss_cls: 0.7683, d1.loss_bbox: 0.7090, d2.loss_cls: 0.7641, d2.loss_bbox: 0.6993, d3.loss_cls: 0.7632, d3.loss_bbox: 0.7121, d4.loss_cls: 0.7627, d4.loss_bbox: 0.7099, d5.loss_cls: 0.7628, d5.loss_bbox: 0.7032, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5845, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5221, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5261, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5316, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5345, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5371, d0.loss_map_cls_all: 0.4746, d0.loss_map_pts_all: 2.6041, d0.loss_map_dir_all: 0.0328, d0.loss_map_cls: 0.4746, d0.loss_map_pts: 2.6041, d0.loss_map_dir: 0.0328, d1.loss_map_cls: 0.4684, d1.loss_map_pts: 2.0267, d1.loss_map_dir: 0.0333, d2.loss_map_cls: 0.4574, d2.loss_map_pts: 1.9865, d2.loss_map_dir: 0.0335, d3.loss_map_cls: 0.4483, d3.loss_map_pts: 1.9684, d3.loss_map_dir: 0.0337, d4.loss_map_cls: 0.4443, d4.loss_map_pts: 1.9695, d4.loss_map_dir: 0.0338, d5.loss_map_cls: 0.4473, d5.loss_map_pts: 1.9655, d5.loss_map_dir: 0.0338, loss: 66.0309, grad_norm: 155.2243 +2026-02-24 10:37:22,536 - DriveTransformer - INFO - Epoch [1][37750/39528] lr: 1.000e-04, eta: 8 days, 9:48:10, time: 0.776, data_time: 0.036, memory: 19865, loss_cls: 0.7766, loss_bbox: 0.7601, loss_traj: 1.6190, loss_traj_cls: 0.0005, loss_map_cls: 0.4731, loss_map_pts: 2.2449, loss_map_dir: 0.0370, d0.loss_plan_l1_fix_time: 3.1838, d0.loss_plan_l1_fix_dist: 0.4444, d1.loss_plan_l1_fix_time: 2.9423, d1.loss_plan_l1_fix_dist: 0.4345, d2.loss_plan_l1_fix_time: 2.9225, d2.loss_plan_l1_fix_dist: 0.4430, d3.loss_plan_l1_fix_time: 2.9247, d3.loss_plan_l1_fix_dist: 0.4549, d4.loss_plan_l1_fix_time: 2.9298, d4.loss_plan_l1_fix_dist: 0.4698, d5.loss_plan_l1_fix_time: 2.9367, d5.loss_plan_l1_fix_dist: 0.4881, d6.loss_plan_l1_fix_time: 2.9443, d6.loss_plan_l1_fix_dist: 0.5101, d0.loss_cls_all: 0.7872, d0.loss_bbox_all: 0.8021, d0.loss_cls: 0.7872, d0.loss_bbox: 0.8021, d1.loss_cls: 0.7795, d1.loss_bbox: 0.7746, d2.loss_cls: 0.7740, d2.loss_bbox: 0.7664, d3.loss_cls: 0.7758, d3.loss_bbox: 0.7789, d4.loss_cls: 0.7748, d4.loss_bbox: 0.7747, d5.loss_cls: 0.7765, d5.loss_bbox: 0.7664, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5648, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5491, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5538, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5723, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5910, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6086, d0.loss_map_cls_all: 0.4913, d0.loss_map_pts_all: 2.8304, d0.loss_map_dir_all: 0.0356, d0.loss_map_cls: 0.4913, d0.loss_map_pts: 2.8304, d0.loss_map_dir: 0.0356, d1.loss_map_cls: 0.4825, d1.loss_map_pts: 2.3389, d1.loss_map_dir: 0.0361, d2.loss_map_cls: 0.4743, d2.loss_map_pts: 2.2793, d2.loss_map_dir: 0.0362, d3.loss_map_cls: 0.4733, d3.loss_map_pts: 2.2582, d3.loss_map_dir: 0.0364, d4.loss_map_cls: 0.4729, d4.loss_map_pts: 2.2456, d4.loss_map_dir: 0.0365, d5.loss_map_cls: 0.4726, d5.loss_map_pts: 2.2406, d5.loss_map_dir: 0.0366, loss: 70.9383, grad_norm: 155.2832 +2026-02-24 10:38:01,710 - DriveTransformer - INFO - Epoch [1][37800/39528] lr: 1.000e-04, eta: 8 days, 9:47:13, time: 0.783, data_time: 0.053, memory: 19865, loss_cls: 0.7732, loss_bbox: 0.8043, loss_traj: 1.8286, loss_traj_cls: 0.0005, loss_map_cls: 0.4682, loss_map_pts: 2.0957, loss_map_dir: 0.0324, d0.loss_plan_l1_fix_time: 3.1895, d0.loss_plan_l1_fix_dist: 0.5800, d1.loss_plan_l1_fix_time: 2.9595, d1.loss_plan_l1_fix_dist: 0.5658, d2.loss_plan_l1_fix_time: 2.9151, d2.loss_plan_l1_fix_dist: 0.5703, d3.loss_plan_l1_fix_time: 2.9069, d3.loss_plan_l1_fix_dist: 0.5806, d4.loss_plan_l1_fix_time: 2.9070, d4.loss_plan_l1_fix_dist: 0.5966, d5.loss_plan_l1_fix_time: 2.9113, d5.loss_plan_l1_fix_dist: 0.6163, d6.loss_plan_l1_fix_time: 2.9177, d6.loss_plan_l1_fix_dist: 0.6367, d0.loss_cls_all: 0.7782, d0.loss_bbox_all: 0.8281, d0.loss_cls: 0.7782, d0.loss_bbox: 0.8281, d1.loss_cls: 0.7718, d1.loss_bbox: 0.8104, d2.loss_cls: 0.7683, d2.loss_bbox: 0.8047, d3.loss_cls: 0.7708, d3.loss_bbox: 0.8124, d4.loss_cls: 0.7717, d4.loss_bbox: 0.8081, d5.loss_cls: 0.7717, d5.loss_bbox: 0.8110, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8401, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7941, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7955, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8014, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.8142, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8252, d0.loss_map_cls_all: 0.4898, d0.loss_map_pts_all: 2.5971, d0.loss_map_dir_all: 0.0312, d0.loss_map_cls: 0.4898, d0.loss_map_pts: 2.5971, d0.loss_map_dir: 0.0312, d1.loss_map_cls: 0.4778, d1.loss_map_pts: 2.1467, d1.loss_map_dir: 0.0316, d2.loss_map_cls: 0.4726, d2.loss_map_pts: 2.0922, d2.loss_map_dir: 0.0316, d3.loss_map_cls: 0.4678, d3.loss_map_pts: 2.0802, d3.loss_map_dir: 0.0318, d4.loss_map_cls: 0.4694, d4.loss_map_pts: 2.0747, d4.loss_map_dir: 0.0319, d5.loss_map_cls: 0.4681, d5.loss_map_pts: 2.0783, d5.loss_map_dir: 0.0319, loss: 72.0666, grad_norm: 157.6410 +2026-02-24 10:38:41,662 - DriveTransformer - INFO - Epoch [1][37850/39528] lr: 1.000e-04, eta: 8 days, 9:46:35, time: 0.799, data_time: 0.043, memory: 19865, loss_cls: 0.8049, loss_bbox: 0.7607, loss_traj: 1.4944, loss_traj_cls: 0.0005, loss_map_cls: 0.3988, loss_map_pts: 1.9255, loss_map_dir: 0.0292, d0.loss_plan_l1_fix_time: 3.0055, d0.loss_plan_l1_fix_dist: 0.5784, d1.loss_plan_l1_fix_time: 2.7804, d1.loss_plan_l1_fix_dist: 0.5679, d2.loss_plan_l1_fix_time: 2.7504, d2.loss_plan_l1_fix_dist: 0.5701, d3.loss_plan_l1_fix_time: 2.7464, d3.loss_plan_l1_fix_dist: 0.5784, d4.loss_plan_l1_fix_time: 2.7493, d4.loss_plan_l1_fix_dist: 0.5888, d5.loss_plan_l1_fix_time: 2.7551, d5.loss_plan_l1_fix_dist: 0.6031, d6.loss_plan_l1_fix_time: 2.7631, d6.loss_plan_l1_fix_dist: 0.6202, d0.loss_cls_all: 0.7999, d0.loss_bbox_all: 0.7422, d0.loss_cls: 0.7999, d0.loss_bbox: 0.7422, d1.loss_cls: 0.8020, d1.loss_bbox: 0.7397, d2.loss_cls: 0.7935, d2.loss_bbox: 0.7484, d3.loss_cls: 0.7998, d3.loss_bbox: 0.7463, d4.loss_cls: 0.7990, d4.loss_bbox: 0.7437, d5.loss_cls: 0.8028, d5.loss_bbox: 0.7568, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4846, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4662, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4600, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4659, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4730, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4731, d0.loss_map_cls_all: 0.4313, d0.loss_map_pts_all: 2.4326, d0.loss_map_dir_all: 0.0285, d0.loss_map_cls: 0.4313, d0.loss_map_pts: 2.4326, d0.loss_map_dir: 0.0285, d1.loss_map_cls: 0.4164, d1.loss_map_pts: 1.9839, d1.loss_map_dir: 0.0284, d2.loss_map_cls: 0.4060, d2.loss_map_pts: 1.9246, d2.loss_map_dir: 0.0285, d3.loss_map_cls: 0.4016, d3.loss_map_pts: 1.9122, d3.loss_map_dir: 0.0287, d4.loss_map_cls: 0.3997, d4.loss_map_pts: 1.9058, d4.loss_map_dir: 0.0289, d5.loss_map_cls: 0.3991, d5.loss_map_pts: 1.9099, d5.loss_map_dir: 0.0289, loss: 66.3012, grad_norm: 158.1792 +2026-02-24 10:39:21,360 - DriveTransformer - INFO - Epoch [1][37900/39528] lr: 1.000e-04, eta: 8 days, 9:45:51, time: 0.794, data_time: 0.039, memory: 19865, loss_cls: 0.7906, loss_bbox: 0.7560, loss_traj: 1.4818, loss_traj_cls: 0.0005, loss_map_cls: 0.4613, loss_map_pts: 2.2588, loss_map_dir: 0.0384, d0.loss_plan_l1_fix_time: 2.8777, d0.loss_plan_l1_fix_dist: 0.4558, d1.loss_plan_l1_fix_time: 2.7250, d1.loss_plan_l1_fix_dist: 0.4470, d2.loss_plan_l1_fix_time: 2.7127, d2.loss_plan_l1_fix_dist: 0.4529, d3.loss_plan_l1_fix_time: 2.7143, d3.loss_plan_l1_fix_dist: 0.4623, d4.loss_plan_l1_fix_time: 2.7193, d4.loss_plan_l1_fix_dist: 0.4777, d5.loss_plan_l1_fix_time: 2.7257, d5.loss_plan_l1_fix_dist: 0.4982, d6.loss_plan_l1_fix_time: 2.7340, d6.loss_plan_l1_fix_dist: 0.5249, d0.loss_cls_all: 0.7986, d0.loss_bbox_all: 0.7503, d0.loss_cls: 0.7986, d0.loss_bbox: 0.7503, d1.loss_cls: 0.7942, d1.loss_bbox: 0.7511, d2.loss_cls: 0.7914, d2.loss_bbox: 0.7655, d3.loss_cls: 0.7914, d3.loss_bbox: 0.7474, d4.loss_cls: 0.7887, d4.loss_bbox: 0.7450, d5.loss_cls: 0.7863, d5.loss_bbox: 0.7543, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5297, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4744, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4645, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4590, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4697, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4734, d0.loss_map_cls_all: 0.4867, d0.loss_map_pts_all: 2.8327, d0.loss_map_dir_all: 0.0367, d0.loss_map_cls: 0.4867, d0.loss_map_pts: 2.8327, d0.loss_map_dir: 0.0367, d1.loss_map_cls: 0.4788, d1.loss_map_pts: 2.2952, d1.loss_map_dir: 0.0371, d2.loss_map_cls: 0.4743, d2.loss_map_pts: 2.2413, d2.loss_map_dir: 0.0373, d3.loss_map_cls: 0.4680, d3.loss_map_pts: 2.2455, d3.loss_map_dir: 0.0376, d4.loss_map_cls: 0.4632, d4.loss_map_pts: 2.2486, d4.loss_map_dir: 0.0377, d5.loss_map_cls: 0.4603, d5.loss_map_pts: 2.2531, d5.loss_map_dir: 0.0379, loss: 68.5307, grad_norm: 158.9447 +2026-02-24 10:40:00,563 - DriveTransformer - INFO - Epoch [1][37950/39528] lr: 1.000e-04, eta: 8 days, 9:44:55, time: 0.784, data_time: 0.037, memory: 19865, loss_cls: 0.8188, loss_bbox: 0.7946, loss_traj: 1.7180, loss_traj_cls: 0.0005, loss_map_cls: 0.4505, loss_map_pts: 2.2302, loss_map_dir: 0.0331, d0.loss_plan_l1_fix_time: 3.1872, d0.loss_plan_l1_fix_dist: 0.4118, d1.loss_plan_l1_fix_time: 2.9904, d1.loss_plan_l1_fix_dist: 0.4132, d2.loss_plan_l1_fix_time: 2.9623, d2.loss_plan_l1_fix_dist: 0.4242, d3.loss_plan_l1_fix_time: 2.9611, d3.loss_plan_l1_fix_dist: 0.4389, d4.loss_plan_l1_fix_time: 2.9645, d4.loss_plan_l1_fix_dist: 0.4547, d5.loss_plan_l1_fix_time: 2.9703, d5.loss_plan_l1_fix_dist: 0.4709, d6.loss_plan_l1_fix_time: 2.9784, d6.loss_plan_l1_fix_dist: 0.4884, d0.loss_cls_all: 0.8211, d0.loss_bbox_all: 0.8024, d0.loss_cls: 0.8211, d0.loss_bbox: 0.8024, d1.loss_cls: 0.8239, d1.loss_bbox: 0.7975, d2.loss_cls: 0.8206, d2.loss_bbox: 0.8300, d3.loss_cls: 0.8186, d3.loss_bbox: 0.8107, d4.loss_cls: 0.8170, d4.loss_bbox: 0.8018, d5.loss_cls: 0.8163, d5.loss_bbox: 0.7995, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7174, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6753, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6882, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6944, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7045, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7110, d0.loss_map_cls_all: 0.4606, d0.loss_map_pts_all: 2.7901, d0.loss_map_dir_all: 0.0324, d0.loss_map_cls: 0.4606, d0.loss_map_pts: 2.7901, d0.loss_map_dir: 0.0324, d1.loss_map_cls: 0.4503, d1.loss_map_pts: 2.3078, d1.loss_map_dir: 0.0324, d2.loss_map_cls: 0.4432, d2.loss_map_pts: 2.2423, d2.loss_map_dir: 0.0324, d3.loss_map_cls: 0.4419, d3.loss_map_pts: 2.2291, d3.loss_map_dir: 0.0328, d4.loss_map_cls: 0.4416, d4.loss_map_pts: 2.2227, d4.loss_map_dir: 0.0328, d5.loss_map_cls: 0.4454, d5.loss_map_pts: 2.2243, d5.loss_map_dir: 0.0327, loss: 71.9172, grad_norm: 159.8373 +2026-02-24 10:40:39,586 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 10:40:39,586 - DriveTransformer - INFO - Epoch [1][38000/39528] lr: 1.000e-04, eta: 8 days, 9:43:55, time: 0.780, data_time: 0.042, memory: 19865, loss_cls: 0.7860, loss_bbox: 0.7644, loss_traj: 1.5464, loss_traj_cls: 0.0005, loss_map_cls: 0.4467, loss_map_pts: 2.1287, loss_map_dir: 0.0337, d0.loss_plan_l1_fix_time: 2.8496, d0.loss_plan_l1_fix_dist: 0.4326, d1.loss_plan_l1_fix_time: 2.6799, d1.loss_plan_l1_fix_dist: 0.4255, d2.loss_plan_l1_fix_time: 2.6693, d2.loss_plan_l1_fix_dist: 0.4370, d3.loss_plan_l1_fix_time: 2.6743, d3.loss_plan_l1_fix_dist: 0.4546, d4.loss_plan_l1_fix_time: 2.6818, d4.loss_plan_l1_fix_dist: 0.4715, d5.loss_plan_l1_fix_time: 2.6907, d5.loss_plan_l1_fix_dist: 0.4910, d6.loss_plan_l1_fix_time: 2.7001, d6.loss_plan_l1_fix_dist: 0.5111, d0.loss_cls_all: 0.7910, d0.loss_bbox_all: 0.7575, d0.loss_cls: 0.7910, d0.loss_bbox: 0.7575, d1.loss_cls: 0.7867, d1.loss_bbox: 0.7621, d2.loss_cls: 0.7824, d2.loss_bbox: 0.7953, d3.loss_cls: 0.7838, d3.loss_bbox: 0.7792, d4.loss_cls: 0.7846, d4.loss_bbox: 0.7692, d5.loss_cls: 0.7849, d5.loss_bbox: 0.7627, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5628, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5426, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.5391, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.5336, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5376, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5391, d0.loss_map_cls_all: 0.4662, d0.loss_map_pts_all: 2.6997, d0.loss_map_dir_all: 0.0330, d0.loss_map_cls: 0.4662, d0.loss_map_pts: 2.6997, d0.loss_map_dir: 0.0330, d1.loss_map_cls: 0.4488, d1.loss_map_pts: 2.2022, d1.loss_map_dir: 0.0333, d2.loss_map_cls: 0.4378, d2.loss_map_pts: 2.1424, d2.loss_map_dir: 0.0332, d3.loss_map_cls: 0.4395, d3.loss_map_pts: 2.1239, d3.loss_map_dir: 0.0334, d4.loss_map_cls: 0.4382, d4.loss_map_pts: 2.1200, d4.loss_map_dir: 0.0335, d5.loss_map_cls: 0.4439, d5.loss_map_pts: 2.1175, d5.loss_map_dir: 0.0335, loss: 67.5004, grad_norm: 159.2504 +2026-02-24 10:41:16,462 - DriveTransformer - INFO - Epoch [1][38050/39528] lr: 1.000e-04, eta: 8 days, 9:42:03, time: 0.738, data_time: 0.039, memory: 19865, loss_cls: 0.7629, loss_bbox: 0.7337, loss_traj: 2.1321, loss_traj_cls: 0.0005, loss_map_cls: 0.4263, loss_map_pts: 1.8932, loss_map_dir: 0.0272, d0.loss_plan_l1_fix_time: 2.9653, d0.loss_plan_l1_fix_dist: 0.4929, d1.loss_plan_l1_fix_time: 2.8360, d1.loss_plan_l1_fix_dist: 0.4766, d2.loss_plan_l1_fix_time: 2.8440, d2.loss_plan_l1_fix_dist: 0.4783, d3.loss_plan_l1_fix_time: 2.8543, d3.loss_plan_l1_fix_dist: 0.4868, d4.loss_plan_l1_fix_time: 2.8650, d4.loss_plan_l1_fix_dist: 0.5027, d5.loss_plan_l1_fix_time: 2.8738, d5.loss_plan_l1_fix_dist: 0.5224, d6.loss_plan_l1_fix_time: 2.8829, d6.loss_plan_l1_fix_dist: 0.5456, d0.loss_cls_all: 0.7709, d0.loss_bbox_all: 0.7361, d0.loss_cls: 0.7709, d0.loss_bbox: 0.7361, d1.loss_cls: 0.7644, d1.loss_bbox: 0.7355, d2.loss_cls: 0.7633, d2.loss_bbox: 0.7717, d3.loss_cls: 0.7623, d3.loss_bbox: 0.7492, d4.loss_cls: 0.7644, d4.loss_bbox: 0.7418, d5.loss_cls: 0.7643, d5.loss_bbox: 0.7374, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.1247, d1.loss_traj_cls: 0.0009, d1.loss_traj: 2.0919, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0995, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1053, d4.loss_traj_cls: 0.0008, d4.loss_traj: 2.1160, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.1185, d0.loss_map_cls_all: 0.4714, d0.loss_map_pts_all: 2.3283, d0.loss_map_dir_all: 0.0271, d0.loss_map_cls: 0.4714, d0.loss_map_pts: 2.3283, d0.loss_map_dir: 0.0271, d1.loss_map_cls: 0.4543, d1.loss_map_pts: 1.9475, d1.loss_map_dir: 0.0269, d2.loss_map_cls: 0.4387, d2.loss_map_pts: 1.8973, d2.loss_map_dir: 0.0268, d3.loss_map_cls: 0.4346, d3.loss_map_pts: 1.8831, d3.loss_map_dir: 0.0269, d4.loss_map_cls: 0.4305, d4.loss_map_pts: 1.8820, d4.loss_map_dir: 0.0270, d5.loss_map_cls: 0.4285, d5.loss_map_pts: 1.8821, d5.loss_map_dir: 0.0270, loss: 70.2964, grad_norm: 158.9090 +2026-02-24 10:41:53,950 - DriveTransformer - INFO - Epoch [1][38100/39528] lr: 1.000e-04, eta: 8 days, 9:40:26, time: 0.750, data_time: 0.035, memory: 19865, loss_cls: 0.8177, loss_bbox: 0.7890, loss_traj: 1.6095, loss_traj_cls: 0.0005, loss_map_cls: 0.4728, loss_map_pts: 2.1966, loss_map_dir: 0.0318, d0.loss_plan_l1_fix_time: 2.7874, d0.loss_plan_l1_fix_dist: 0.5382, d1.loss_plan_l1_fix_time: 2.6794, d1.loss_plan_l1_fix_dist: 0.5195, d2.loss_plan_l1_fix_time: 2.6802, d2.loss_plan_l1_fix_dist: 0.5227, d3.loss_plan_l1_fix_time: 2.6883, d3.loss_plan_l1_fix_dist: 0.5301, d4.loss_plan_l1_fix_time: 2.6980, d4.loss_plan_l1_fix_dist: 0.5404, d5.loss_plan_l1_fix_time: 2.7082, d5.loss_plan_l1_fix_dist: 0.5529, d6.loss_plan_l1_fix_time: 2.7182, d6.loss_plan_l1_fix_dist: 0.5705, d0.loss_cls_all: 0.8227, d0.loss_bbox_all: 0.7822, d0.loss_cls: 0.8227, d0.loss_bbox: 0.7822, d1.loss_cls: 0.8191, d1.loss_bbox: 0.7938, d2.loss_cls: 0.8220, d2.loss_bbox: 0.8060, d3.loss_cls: 0.8189, d3.loss_bbox: 0.7912, d4.loss_cls: 0.8208, d4.loss_bbox: 0.7924, d5.loss_cls: 0.8179, d5.loss_bbox: 0.7932, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5566, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5424, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5366, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5685, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5798, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5823, d0.loss_map_cls_all: 0.5007, d0.loss_map_pts_all: 2.6715, d0.loss_map_dir_all: 0.0310, d0.loss_map_cls: 0.5007, d0.loss_map_pts: 2.6715, d0.loss_map_dir: 0.0310, d1.loss_map_cls: 0.4725, d1.loss_map_pts: 2.2666, d1.loss_map_dir: 0.0311, d2.loss_map_cls: 0.4613, d2.loss_map_pts: 2.2208, d2.loss_map_dir: 0.0312, d3.loss_map_cls: 0.4603, d3.loss_map_pts: 2.1998, d3.loss_map_dir: 0.0314, d4.loss_map_cls: 0.4628, d4.loss_map_pts: 2.1950, d4.loss_map_dir: 0.0315, d5.loss_map_cls: 0.4642, d5.loss_map_pts: 2.1942, d5.loss_map_dir: 0.0315, loss: 69.2676, grad_norm: 158.1634 +2026-02-24 10:42:34,523 - DriveTransformer - INFO - Epoch [1][38150/39528] lr: 1.000e-04, eta: 8 days, 9:40:03, time: 0.811, data_time: 0.035, memory: 19865, loss_cls: 0.7981, loss_bbox: 0.7666, loss_traj: 1.5217, loss_traj_cls: 0.0005, loss_map_cls: 0.4311, loss_map_pts: 2.1852, loss_map_dir: 0.0352, d0.loss_plan_l1_fix_time: 3.2905, d0.loss_plan_l1_fix_dist: 0.4683, d1.loss_plan_l1_fix_time: 3.2632, d1.loss_plan_l1_fix_dist: 0.4748, d2.loss_plan_l1_fix_time: 3.2995, d2.loss_plan_l1_fix_dist: 0.4876, d3.loss_plan_l1_fix_time: 3.3212, d3.loss_plan_l1_fix_dist: 0.4999, d4.loss_plan_l1_fix_time: 3.3371, d4.loss_plan_l1_fix_dist: 0.5112, d5.loss_plan_l1_fix_time: 3.3513, d5.loss_plan_l1_fix_dist: 0.5209, d6.loss_plan_l1_fix_time: 3.3647, d6.loss_plan_l1_fix_dist: 0.5355, d0.loss_cls_all: 0.8039, d0.loss_bbox_all: 0.7654, d0.loss_cls: 0.8039, d0.loss_bbox: 0.7654, d1.loss_cls: 0.8015, d1.loss_bbox: 0.7711, d2.loss_cls: 0.8006, d2.loss_bbox: 0.7671, d3.loss_cls: 0.8029, d3.loss_bbox: 0.7599, d4.loss_cls: 0.8030, d4.loss_bbox: 0.7616, d5.loss_cls: 0.7998, d5.loss_bbox: 0.7680, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5132, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4982, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.4969, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5043, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5055, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5123, d0.loss_map_cls_all: 0.4532, d0.loss_map_pts_all: 2.8389, d0.loss_map_dir_all: 0.0341, d0.loss_map_cls: 0.4532, d0.loss_map_pts: 2.8389, d0.loss_map_dir: 0.0341, d1.loss_map_cls: 0.4293, d1.loss_map_pts: 2.2786, d1.loss_map_dir: 0.0344, d2.loss_map_cls: 0.4193, d2.loss_map_pts: 2.2189, d2.loss_map_dir: 0.0345, d3.loss_map_cls: 0.4204, d3.loss_map_pts: 2.1916, d3.loss_map_dir: 0.0348, d4.loss_map_cls: 0.4218, d4.loss_map_pts: 2.1835, d4.loss_map_dir: 0.0349, d5.loss_map_cls: 0.4253, d5.loss_map_pts: 2.1790, d5.loss_map_dir: 0.0349, loss: 72.4660, grad_norm: 159.6542 +2026-02-24 10:43:15,730 - DriveTransformer - INFO - Epoch [1][38200/39528] lr: 1.000e-04, eta: 8 days, 9:39:55, time: 0.824, data_time: 0.042, memory: 19865, loss_cls: 0.7518, loss_bbox: 0.7559, loss_traj: 1.7133, loss_traj_cls: 0.0005, loss_map_cls: 0.4258, loss_map_pts: 2.2797, loss_map_dir: 0.0386, d0.loss_plan_l1_fix_time: 2.8898, d0.loss_plan_l1_fix_dist: 0.4866, d1.loss_plan_l1_fix_time: 2.7258, d1.loss_plan_l1_fix_dist: 0.4833, d2.loss_plan_l1_fix_time: 2.7087, d2.loss_plan_l1_fix_dist: 0.4905, d3.loss_plan_l1_fix_time: 2.7121, d3.loss_plan_l1_fix_dist: 0.5044, d4.loss_plan_l1_fix_time: 2.7199, d4.loss_plan_l1_fix_dist: 0.5205, d5.loss_plan_l1_fix_time: 2.7303, d5.loss_plan_l1_fix_dist: 0.5367, d6.loss_plan_l1_fix_time: 2.7423, d6.loss_plan_l1_fix_dist: 0.5546, d0.loss_cls_all: 0.7634, d0.loss_bbox_all: 0.7402, d0.loss_cls: 0.7634, d0.loss_bbox: 0.7402, d1.loss_cls: 0.7485, d1.loss_bbox: 0.7517, d2.loss_cls: 0.7542, d2.loss_bbox: 0.7393, d3.loss_cls: 0.7568, d3.loss_bbox: 0.7351, d4.loss_cls: 0.7545, d4.loss_bbox: 0.7357, d5.loss_cls: 0.7537, d5.loss_bbox: 0.7494, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7242, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6922, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6822, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6925, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6989, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7157, d0.loss_map_cls_all: 0.4538, d0.loss_map_pts_all: 3.0783, d0.loss_map_dir_all: 0.0375, d0.loss_map_cls: 0.4538, d0.loss_map_pts: 3.0783, d0.loss_map_dir: 0.0375, d1.loss_map_cls: 0.4418, d1.loss_map_pts: 2.3792, d1.loss_map_dir: 0.0377, d2.loss_map_cls: 0.4334, d2.loss_map_pts: 2.3247, d2.loss_map_dir: 0.0379, d3.loss_map_cls: 0.4332, d3.loss_map_pts: 2.3010, d3.loss_map_dir: 0.0382, d4.loss_map_cls: 0.4298, d4.loss_map_pts: 2.2888, d4.loss_map_dir: 0.0384, d5.loss_map_cls: 0.4248, d5.loss_map_pts: 2.2812, d5.loss_map_dir: 0.0384, loss: 70.5340, grad_norm: 158.4780 +2026-02-24 10:43:54,191 - DriveTransformer - INFO - Epoch [1][38250/39528] lr: 1.000e-04, eta: 8 days, 9:38:42, time: 0.770, data_time: 0.037, memory: 19865, loss_cls: 0.7995, loss_bbox: 0.7825, loss_traj: 1.7686, loss_traj_cls: 0.0005, loss_map_cls: 0.5040, loss_map_pts: 2.0063, loss_map_dir: 0.0348, d0.loss_plan_l1_fix_time: 2.9753, d0.loss_plan_l1_fix_dist: 0.4796, d1.loss_plan_l1_fix_time: 2.7979, d1.loss_plan_l1_fix_dist: 0.4778, d2.loss_plan_l1_fix_time: 2.7921, d2.loss_plan_l1_fix_dist: 0.4896, d3.loss_plan_l1_fix_time: 2.7979, d3.loss_plan_l1_fix_dist: 0.5043, d4.loss_plan_l1_fix_time: 2.8054, d4.loss_plan_l1_fix_dist: 0.5234, d5.loss_plan_l1_fix_time: 2.8138, d5.loss_plan_l1_fix_dist: 0.5483, d6.loss_plan_l1_fix_time: 2.8236, d6.loss_plan_l1_fix_dist: 0.5788, d0.loss_cls_all: 0.7998, d0.loss_bbox_all: 0.7720, d0.loss_cls: 0.7998, d0.loss_bbox: 0.7720, d1.loss_cls: 0.7969, d1.loss_bbox: 0.7949, d2.loss_cls: 0.8009, d2.loss_bbox: 0.7790, d3.loss_cls: 0.7964, d3.loss_bbox: 0.7670, d4.loss_cls: 0.7973, d4.loss_bbox: 0.7701, d5.loss_cls: 0.7993, d5.loss_bbox: 0.7719, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7304, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6906, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7238, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7417, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.7527, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7648, d0.loss_map_cls_all: 0.5221, d0.loss_map_pts_all: 2.5415, d0.loss_map_dir_all: 0.0336, d0.loss_map_cls: 0.5221, d0.loss_map_pts: 2.5415, d0.loss_map_dir: 0.0336, d1.loss_map_cls: 0.5113, d1.loss_map_pts: 2.0634, d1.loss_map_dir: 0.0343, d2.loss_map_cls: 0.5125, d2.loss_map_pts: 2.0185, d2.loss_map_dir: 0.0342, d3.loss_map_cls: 0.5051, d3.loss_map_pts: 2.0131, d3.loss_map_dir: 0.0345, d4.loss_map_cls: 0.5064, d4.loss_map_pts: 2.0097, d4.loss_map_dir: 0.0345, d5.loss_map_cls: 0.5050, d5.loss_map_pts: 2.0074, d5.loss_map_dir: 0.0345, loss: 69.7479, grad_norm: 157.6678 +2026-02-24 10:44:31,881 - DriveTransformer - INFO - Epoch [1][38300/39528] lr: 1.000e-04, eta: 8 days, 9:37:10, time: 0.753, data_time: 0.041, memory: 19865, loss_cls: 0.8270, loss_bbox: 0.8036, loss_traj: 1.8778, loss_traj_cls: 0.0005, loss_map_cls: 0.4110, loss_map_pts: 2.0463, loss_map_dir: 0.0321, d0.loss_plan_l1_fix_time: 3.1671, d0.loss_plan_l1_fix_dist: 0.5206, d1.loss_plan_l1_fix_time: 3.0133, d1.loss_plan_l1_fix_dist: 0.5226, d2.loss_plan_l1_fix_time: 3.0085, d2.loss_plan_l1_fix_dist: 0.5352, d3.loss_plan_l1_fix_time: 3.0194, d3.loss_plan_l1_fix_dist: 0.5555, d4.loss_plan_l1_fix_time: 3.0303, d4.loss_plan_l1_fix_dist: 0.5792, d5.loss_plan_l1_fix_time: 3.0411, d5.loss_plan_l1_fix_dist: 0.6045, d6.loss_plan_l1_fix_time: 3.0525, d6.loss_plan_l1_fix_dist: 0.6308, d0.loss_cls_all: 0.8336, d0.loss_bbox_all: 0.7901, d0.loss_cls: 0.8336, d0.loss_bbox: 0.7901, d1.loss_cls: 0.8288, d1.loss_bbox: 0.8188, d2.loss_cls: 0.8318, d2.loss_bbox: 0.8107, d3.loss_cls: 0.8296, d3.loss_bbox: 0.7938, d4.loss_cls: 0.8298, d4.loss_bbox: 0.8027, d5.loss_cls: 0.8270, d5.loss_bbox: 0.7988, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8303, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.8114, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.8112, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8463, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.8620, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8675, d0.loss_map_cls_all: 0.4531, d0.loss_map_pts_all: 2.5923, d0.loss_map_dir_all: 0.0313, d0.loss_map_cls: 0.4531, d0.loss_map_pts: 2.5923, d0.loss_map_dir: 0.0313, d1.loss_map_cls: 0.4350, d1.loss_map_pts: 2.1315, d1.loss_map_dir: 0.0315, d2.loss_map_cls: 0.4207, d2.loss_map_pts: 2.0702, d2.loss_map_dir: 0.0314, d3.loss_map_cls: 0.4183, d3.loss_map_pts: 2.0472, d3.loss_map_dir: 0.0317, d4.loss_map_cls: 0.4134, d4.loss_map_pts: 2.0446, d4.loss_map_dir: 0.0318, d5.loss_map_cls: 0.4101, d5.loss_map_pts: 2.0417, d5.loss_map_dir: 0.0319, loss: 72.4751, grad_norm: 158.0823 +2026-02-24 10:45:11,368 - DriveTransformer - INFO - Epoch [1][38350/39528] lr: 1.000e-04, eta: 8 days, 9:36:21, time: 0.790, data_time: 0.037, memory: 19865, loss_cls: 0.7676, loss_bbox: 0.7657, loss_traj: 1.6724, loss_traj_cls: 0.0005, loss_map_cls: 0.4422, loss_map_pts: 2.0832, loss_map_dir: 0.0372, d0.loss_plan_l1_fix_time: 3.1737, d0.loss_plan_l1_fix_dist: 0.4806, d1.loss_plan_l1_fix_time: 3.0872, d1.loss_plan_l1_fix_dist: 0.4775, d2.loss_plan_l1_fix_time: 3.0979, d2.loss_plan_l1_fix_dist: 0.4884, d3.loss_plan_l1_fix_time: 3.1100, d3.loss_plan_l1_fix_dist: 0.5026, d4.loss_plan_l1_fix_time: 3.1225, d4.loss_plan_l1_fix_dist: 0.5179, d5.loss_plan_l1_fix_time: 3.1353, d5.loss_plan_l1_fix_dist: 0.5326, d6.loss_plan_l1_fix_time: 3.1481, d6.loss_plan_l1_fix_dist: 0.5527, d0.loss_cls_all: 0.7627, d0.loss_bbox_all: 0.7575, d0.loss_cls: 0.7627, d0.loss_bbox: 0.7575, d1.loss_cls: 0.7589, d1.loss_bbox: 0.7782, d2.loss_cls: 0.7602, d2.loss_bbox: 0.7720, d3.loss_cls: 0.7652, d3.loss_bbox: 0.7604, d4.loss_cls: 0.7658, d4.loss_bbox: 0.7709, d5.loss_cls: 0.7655, d5.loss_bbox: 0.7680, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6490, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6387, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6325, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6475, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6522, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6755, d0.loss_map_cls_all: 0.4614, d0.loss_map_pts_all: 2.8094, d0.loss_map_dir_all: 0.0364, d0.loss_map_cls: 0.4614, d0.loss_map_pts: 2.8094, d0.loss_map_dir: 0.0364, d1.loss_map_cls: 0.4481, d1.loss_map_pts: 2.1797, d1.loss_map_dir: 0.0365, d2.loss_map_cls: 0.4518, d2.loss_map_pts: 2.0992, d2.loss_map_dir: 0.0365, d3.loss_map_cls: 0.4517, d3.loss_map_pts: 2.0748, d3.loss_map_dir: 0.0367, d4.loss_map_cls: 0.4513, d4.loss_map_pts: 2.0673, d4.loss_map_dir: 0.0367, d5.loss_map_cls: 0.4461, d5.loss_map_pts: 2.0684, d5.loss_map_dir: 0.0368, loss: 71.3364, grad_norm: 158.8133 +2026-02-24 10:45:50,949 - DriveTransformer - INFO - Epoch [1][38400/39528] lr: 1.000e-04, eta: 8 days, 9:35:36, time: 0.793, data_time: 0.040, memory: 19865, loss_cls: 0.7818, loss_bbox: 0.7432, loss_traj: 1.8230, loss_traj_cls: 0.0004, loss_map_cls: 0.4814, loss_map_pts: 2.1837, loss_map_dir: 0.0353, d0.loss_plan_l1_fix_time: 3.0358, d0.loss_plan_l1_fix_dist: 0.4940, d1.loss_plan_l1_fix_time: 2.8410, d1.loss_plan_l1_fix_dist: 0.4903, d2.loss_plan_l1_fix_time: 2.8073, d2.loss_plan_l1_fix_dist: 0.4955, d3.loss_plan_l1_fix_time: 2.8036, d3.loss_plan_l1_fix_dist: 0.5054, d4.loss_plan_l1_fix_time: 2.8067, d4.loss_plan_l1_fix_dist: 0.5192, d5.loss_plan_l1_fix_time: 2.8124, d5.loss_plan_l1_fix_dist: 0.5377, d6.loss_plan_l1_fix_time: 2.8210, d6.loss_plan_l1_fix_dist: 0.5560, d0.loss_cls_all: 0.7805, d0.loss_bbox_all: 0.7458, d0.loss_cls: 0.7805, d0.loss_bbox: 0.7458, d1.loss_cls: 0.7748, d1.loss_bbox: 0.7765, d2.loss_cls: 0.7722, d2.loss_bbox: 0.7603, d3.loss_cls: 0.7743, d3.loss_bbox: 0.7412, d4.loss_cls: 0.7799, d4.loss_bbox: 0.7382, d5.loss_cls: 0.7780, d5.loss_bbox: 0.7346, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8086, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7760, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7739, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7887, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.8090, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8062, d0.loss_map_cls_all: 0.4911, d0.loss_map_pts_all: 2.7128, d0.loss_map_dir_all: 0.0338, d0.loss_map_cls: 0.4911, d0.loss_map_pts: 2.7128, d0.loss_map_dir: 0.0338, d1.loss_map_cls: 0.4881, d1.loss_map_pts: 2.2443, d1.loss_map_dir: 0.0343, d2.loss_map_cls: 0.5001, d2.loss_map_pts: 2.1829, d2.loss_map_dir: 0.0344, d3.loss_map_cls: 0.4971, d3.loss_map_pts: 2.1597, d3.loss_map_dir: 0.0347, d4.loss_map_cls: 0.4957, d4.loss_map_pts: 2.1550, d4.loss_map_dir: 0.0349, d5.loss_map_cls: 0.4869, d5.loss_map_pts: 2.1571, d5.loss_map_dir: 0.0349, loss: 71.0390, grad_norm: 158.9215 +2026-02-24 10:46:30,722 - DriveTransformer - INFO - Epoch [1][38450/39528] lr: 1.000e-04, eta: 8 days, 9:34:53, time: 0.794, data_time: 0.036, memory: 19865, loss_cls: 0.8002, loss_bbox: 0.7080, loss_traj: 1.7073, loss_traj_cls: 0.0004, loss_map_cls: 0.4217, loss_map_pts: 1.9653, loss_map_dir: 0.0340, d0.loss_plan_l1_fix_time: 2.7377, d0.loss_plan_l1_fix_dist: 0.3536, d1.loss_plan_l1_fix_time: 2.5604, d1.loss_plan_l1_fix_dist: 0.3536, d2.loss_plan_l1_fix_time: 2.5417, d2.loss_plan_l1_fix_dist: 0.3664, d3.loss_plan_l1_fix_time: 2.5425, d3.loss_plan_l1_fix_dist: 0.3823, d4.loss_plan_l1_fix_time: 2.5458, d4.loss_plan_l1_fix_dist: 0.3982, d5.loss_plan_l1_fix_time: 2.5517, d5.loss_plan_l1_fix_dist: 0.4156, d6.loss_plan_l1_fix_time: 2.5590, d6.loss_plan_l1_fix_dist: 0.4381, d0.loss_cls_all: 0.8067, d0.loss_bbox_all: 0.7151, d0.loss_cls: 0.8067, d0.loss_bbox: 0.7151, d1.loss_cls: 0.7939, d1.loss_bbox: 0.7252, d2.loss_cls: 0.7948, d2.loss_bbox: 0.7105, d3.loss_cls: 0.7977, d3.loss_bbox: 0.6967, d4.loss_cls: 0.7976, d4.loss_bbox: 0.7029, d5.loss_cls: 0.7931, d5.loss_bbox: 0.7052, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7044, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6735, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6733, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.6793, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7033, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6987, d0.loss_map_cls_all: 0.4419, d0.loss_map_pts_all: 2.7250, d0.loss_map_dir_all: 0.0332, d0.loss_map_cls: 0.4419, d0.loss_map_pts: 2.7250, d0.loss_map_dir: 0.0332, d1.loss_map_cls: 0.4311, d1.loss_map_pts: 2.0693, d1.loss_map_dir: 0.0334, d2.loss_map_cls: 0.4224, d2.loss_map_pts: 2.0067, d2.loss_map_dir: 0.0335, d3.loss_map_cls: 0.4243, d3.loss_map_pts: 1.9835, d3.loss_map_dir: 0.0337, d4.loss_map_cls: 0.4220, d4.loss_map_pts: 1.9728, d4.loss_map_dir: 0.0338, d5.loss_map_cls: 0.4210, d5.loss_map_pts: 1.9672, d5.loss_map_dir: 0.0338, loss: 65.7692, grad_norm: 158.3674 +2026-02-24 10:47:11,194 - DriveTransformer - INFO - Epoch [1][38500/39528] lr: 1.000e-04, eta: 8 days, 9:34:27, time: 0.809, data_time: 0.035, memory: 19865, loss_cls: 0.7620, loss_bbox: 0.7346, loss_traj: 1.7069, loss_traj_cls: 0.0005, loss_map_cls: 0.4405, loss_map_pts: 2.0795, loss_map_dir: 0.0332, d0.loss_plan_l1_fix_time: 2.7615, d0.loss_plan_l1_fix_dist: 0.4618, d1.loss_plan_l1_fix_time: 2.5757, d1.loss_plan_l1_fix_dist: 0.4506, d2.loss_plan_l1_fix_time: 2.5630, d2.loss_plan_l1_fix_dist: 0.4558, d3.loss_plan_l1_fix_time: 2.5676, d3.loss_plan_l1_fix_dist: 0.4705, d4.loss_plan_l1_fix_time: 2.5745, d4.loss_plan_l1_fix_dist: 0.4897, d5.loss_plan_l1_fix_time: 2.5821, d5.loss_plan_l1_fix_dist: 0.5096, d6.loss_plan_l1_fix_time: 2.5900, d6.loss_plan_l1_fix_dist: 0.5296, d0.loss_cls_all: 0.7659, d0.loss_bbox_all: 0.7555, d0.loss_cls: 0.7659, d0.loss_bbox: 0.7555, d1.loss_cls: 0.7620, d1.loss_bbox: 0.7428, d2.loss_cls: 0.7595, d2.loss_bbox: 0.7310, d3.loss_cls: 0.7605, d3.loss_bbox: 0.7243, d4.loss_cls: 0.7605, d4.loss_bbox: 0.7242, d5.loss_cls: 0.7601, d5.loss_bbox: 0.7283, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7227, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6705, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6640, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6716, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6826, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6937, d0.loss_map_cls_all: 0.4596, d0.loss_map_pts_all: 2.6721, d0.loss_map_dir_all: 0.0322, d0.loss_map_cls: 0.4596, d0.loss_map_pts: 2.6721, d0.loss_map_dir: 0.0322, d1.loss_map_cls: 0.4484, d1.loss_map_pts: 2.1618, d1.loss_map_dir: 0.0324, d2.loss_map_cls: 0.4411, d2.loss_map_pts: 2.1069, d2.loss_map_dir: 0.0324, d3.loss_map_cls: 0.4436, d3.loss_map_pts: 2.0899, d3.loss_map_dir: 0.0327, d4.loss_map_cls: 0.4419, d4.loss_map_pts: 2.0815, d4.loss_map_dir: 0.0329, d5.loss_map_cls: 0.4393, d5.loss_map_pts: 2.0778, d5.loss_map_dir: 0.0329, loss: 67.1672, grad_norm: 158.3555 +2026-02-24 10:47:51,444 - DriveTransformer - INFO - Epoch [1][38550/39528] lr: 1.000e-04, eta: 8 days, 9:33:56, time: 0.805, data_time: 0.045, memory: 19865, loss_cls: 0.7912, loss_bbox: 0.7145, loss_traj: 1.5571, loss_traj_cls: 0.0005, loss_map_cls: 0.3810, loss_map_pts: 1.8999, loss_map_dir: 0.0336, d0.loss_plan_l1_fix_time: 2.4732, d0.loss_plan_l1_fix_dist: 0.4618, d1.loss_plan_l1_fix_time: 2.3486, d1.loss_plan_l1_fix_dist: 0.4556, d2.loss_plan_l1_fix_time: 2.3495, d2.loss_plan_l1_fix_dist: 0.4648, d3.loss_plan_l1_fix_time: 2.3568, d3.loss_plan_l1_fix_dist: 0.4786, d4.loss_plan_l1_fix_time: 2.3655, d4.loss_plan_l1_fix_dist: 0.4925, d5.loss_plan_l1_fix_time: 2.3742, d5.loss_plan_l1_fix_dist: 0.5073, d6.loss_plan_l1_fix_time: 2.3837, d6.loss_plan_l1_fix_dist: 0.5263, d0.loss_cls_all: 0.7931, d0.loss_bbox_all: 0.7173, d0.loss_cls: 0.7931, d0.loss_bbox: 0.7173, d1.loss_cls: 0.7911, d1.loss_bbox: 0.7043, d2.loss_cls: 0.7770, d2.loss_bbox: 0.6947, d3.loss_cls: 0.7807, d3.loss_bbox: 0.6952, d4.loss_cls: 0.7784, d4.loss_bbox: 0.6991, d5.loss_cls: 0.7827, d5.loss_bbox: 0.7106, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5876, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5453, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5227, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.5286, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5363, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5435, d0.loss_map_cls_all: 0.4030, d0.loss_map_pts_all: 2.6657, d0.loss_map_dir_all: 0.0324, d0.loss_map_cls: 0.4030, d0.loss_map_pts: 2.6657, d0.loss_map_dir: 0.0324, d1.loss_map_cls: 0.3901, d1.loss_map_pts: 2.0112, d1.loss_map_dir: 0.0328, d2.loss_map_cls: 0.3827, d2.loss_map_pts: 1.9390, d2.loss_map_dir: 0.0329, d3.loss_map_cls: 0.3844, d3.loss_map_pts: 1.9091, d3.loss_map_dir: 0.0331, d4.loss_map_cls: 0.3815, d4.loss_map_pts: 1.9031, d4.loss_map_dir: 0.0332, d5.loss_map_cls: 0.3794, d5.loss_map_pts: 1.8966, d5.loss_map_dir: 0.0333, loss: 63.0627, grad_norm: 156.9687 +2026-02-24 10:48:29,183 - DriveTransformer - INFO - Epoch [1][38600/39528] lr: 1.000e-04, eta: 8 days, 9:32:26, time: 0.755, data_time: 0.043, memory: 19865, loss_cls: 0.7887, loss_bbox: 0.7260, loss_traj: 1.7945, loss_traj_cls: 0.0005, loss_map_cls: 0.4301, loss_map_pts: 1.8471, loss_map_dir: 0.0304, d0.loss_plan_l1_fix_time: 2.8853, d0.loss_plan_l1_fix_dist: 0.4765, d1.loss_plan_l1_fix_time: 2.6551, d1.loss_plan_l1_fix_dist: 0.4745, d2.loss_plan_l1_fix_time: 2.6117, d2.loss_plan_l1_fix_dist: 0.4868, d3.loss_plan_l1_fix_time: 2.6057, d3.loss_plan_l1_fix_dist: 0.5095, d4.loss_plan_l1_fix_time: 2.6084, d4.loss_plan_l1_fix_dist: 0.5394, d5.loss_plan_l1_fix_time: 2.6143, d5.loss_plan_l1_fix_dist: 0.5745, d6.loss_plan_l1_fix_time: 2.6222, d6.loss_plan_l1_fix_dist: 0.6130, d0.loss_cls_all: 0.8011, d0.loss_bbox_all: 0.7399, d0.loss_cls: 0.8011, d0.loss_bbox: 0.7399, d1.loss_cls: 0.7936, d1.loss_bbox: 0.7246, d2.loss_cls: 0.7882, d2.loss_bbox: 0.7135, d3.loss_cls: 0.7913, d3.loss_bbox: 0.7192, d4.loss_cls: 0.7887, d4.loss_bbox: 0.7153, d5.loss_cls: 0.7901, d5.loss_bbox: 0.7175, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7857, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7466, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7520, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7679, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7647, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7722, d0.loss_map_cls_all: 0.4713, d0.loss_map_pts_all: 2.4147, d0.loss_map_dir_all: 0.0295, d0.loss_map_cls: 0.4713, d0.loss_map_pts: 2.4147, d0.loss_map_dir: 0.0295, d1.loss_map_cls: 0.4468, d1.loss_map_pts: 1.9186, d1.loss_map_dir: 0.0298, d2.loss_map_cls: 0.4388, d2.loss_map_pts: 1.8687, d2.loss_map_dir: 0.0298, d3.loss_map_cls: 0.4335, d3.loss_map_pts: 1.8492, d3.loss_map_dir: 0.0300, d4.loss_map_cls: 0.4301, d4.loss_map_pts: 1.8518, d4.loss_map_dir: 0.0301, d5.loss_map_cls: 0.4298, d5.loss_map_pts: 1.8464, d5.loss_map_dir: 0.0302, loss: 66.6060, grad_norm: 152.7473 +2026-02-24 10:49:08,413 - DriveTransformer - INFO - Epoch [1][38650/39528] lr: 1.000e-04, eta: 8 days, 9:31:32, time: 0.785, data_time: 0.040, memory: 19865, loss_cls: 0.8169, loss_bbox: 0.7086, loss_traj: 1.6527, loss_traj_cls: 0.0005, loss_map_cls: 0.4539, loss_map_pts: 2.0630, loss_map_dir: 0.0352, d0.loss_plan_l1_fix_time: 2.8196, d0.loss_plan_l1_fix_dist: 0.4595, d1.loss_plan_l1_fix_time: 2.6679, d1.loss_plan_l1_fix_dist: 0.4508, d2.loss_plan_l1_fix_time: 2.6341, d2.loss_plan_l1_fix_dist: 0.4640, d3.loss_plan_l1_fix_time: 2.6310, d3.loss_plan_l1_fix_dist: 0.4811, d4.loss_plan_l1_fix_time: 2.6335, d4.loss_plan_l1_fix_dist: 0.5039, d5.loss_plan_l1_fix_time: 2.6388, d5.loss_plan_l1_fix_dist: 0.5316, d6.loss_plan_l1_fix_time: 2.6476, d6.loss_plan_l1_fix_dist: 0.5607, d0.loss_cls_all: 0.8162, d0.loss_bbox_all: 0.7501, d0.loss_cls: 0.8162, d0.loss_bbox: 0.7501, d1.loss_cls: 0.8081, d1.loss_bbox: 0.7302, d2.loss_cls: 0.8000, d2.loss_bbox: 0.7086, d3.loss_cls: 0.8020, d3.loss_bbox: 0.7146, d4.loss_cls: 0.8028, d4.loss_bbox: 0.7168, d5.loss_cls: 0.8105, d5.loss_bbox: 0.7038, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7024, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6428, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6319, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.6373, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6417, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6571, d0.loss_map_cls_all: 0.4791, d0.loss_map_pts_all: 2.6933, d0.loss_map_dir_all: 0.0344, d0.loss_map_cls: 0.4791, d0.loss_map_pts: 2.6933, d0.loss_map_dir: 0.0344, d1.loss_map_cls: 0.4664, d1.loss_map_pts: 2.1418, d1.loss_map_dir: 0.0344, d2.loss_map_cls: 0.4602, d2.loss_map_pts: 2.0829, d2.loss_map_dir: 0.0345, d3.loss_map_cls: 0.4546, d3.loss_map_pts: 2.0757, d3.loss_map_dir: 0.0347, d4.loss_map_cls: 0.4490, d4.loss_map_pts: 2.0648, d4.loss_map_dir: 0.0348, d5.loss_map_cls: 0.4498, d5.loss_map_pts: 2.0681, d5.loss_map_dir: 0.0349, loss: 67.8019, grad_norm: 152.1574 +2026-02-24 10:49:47,617 - DriveTransformer - INFO - Epoch [1][38700/39528] lr: 1.000e-04, eta: 8 days, 9:30:36, time: 0.784, data_time: 0.043, memory: 19865, loss_cls: 0.8036, loss_bbox: 0.7500, loss_traj: 1.4833, loss_traj_cls: 0.0005, loss_map_cls: 0.4669, loss_map_pts: 2.3119, loss_map_dir: 0.0341, d0.loss_plan_l1_fix_time: 2.5288, d0.loss_plan_l1_fix_dist: 0.4264, d1.loss_plan_l1_fix_time: 2.4379, d1.loss_plan_l1_fix_dist: 0.4244, d2.loss_plan_l1_fix_time: 2.4533, d2.loss_plan_l1_fix_dist: 0.4361, d3.loss_plan_l1_fix_time: 2.4641, d3.loss_plan_l1_fix_dist: 0.4535, d4.loss_plan_l1_fix_time: 2.4722, d4.loss_plan_l1_fix_dist: 0.4731, d5.loss_plan_l1_fix_time: 2.4807, d5.loss_plan_l1_fix_dist: 0.4963, d6.loss_plan_l1_fix_time: 2.4901, d6.loss_plan_l1_fix_dist: 0.5179, d0.loss_cls_all: 0.8191, d0.loss_bbox_all: 0.7690, d0.loss_cls: 0.8191, d0.loss_bbox: 0.7690, d1.loss_cls: 0.8198, d1.loss_bbox: 0.7623, d2.loss_cls: 0.8064, d2.loss_bbox: 0.7374, d3.loss_cls: 0.8013, d3.loss_bbox: 0.7424, d4.loss_cls: 0.7921, d4.loss_bbox: 0.7600, d5.loss_cls: 0.7981, d5.loss_bbox: 0.7474, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5378, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4843, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.4781, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.4765, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4763, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4773, d0.loss_map_cls_all: 0.4953, d0.loss_map_pts_all: 2.7609, d0.loss_map_dir_all: 0.0333, d0.loss_map_cls: 0.4953, d0.loss_map_pts: 2.7609, d0.loss_map_dir: 0.0333, d1.loss_map_cls: 0.4804, d1.loss_map_pts: 2.3784, d1.loss_map_dir: 0.0335, d2.loss_map_cls: 0.4725, d2.loss_map_pts: 2.3239, d2.loss_map_dir: 0.0335, d3.loss_map_cls: 0.4663, d3.loss_map_pts: 2.3137, d3.loss_map_dir: 0.0337, d4.loss_map_cls: 0.4634, d4.loss_map_pts: 2.3054, d4.loss_map_dir: 0.0338, d5.loss_map_cls: 0.4646, d5.loss_map_pts: 2.3052, d5.loss_map_dir: 0.0339, loss: 67.0033, grad_norm: 151.8768 +2026-02-24 10:50:26,707 - DriveTransformer - INFO - Epoch [1][38750/39528] lr: 1.000e-04, eta: 8 days, 9:29:38, time: 0.782, data_time: 0.044, memory: 19865, loss_cls: 0.8067, loss_bbox: 0.7209, loss_traj: 1.6263, loss_traj_cls: 0.0005, loss_map_cls: 0.4502, loss_map_pts: 2.0411, loss_map_dir: 0.0365, d0.loss_plan_l1_fix_time: 2.7275, d0.loss_plan_l1_fix_dist: 0.3955, d1.loss_plan_l1_fix_time: 2.5570, d1.loss_plan_l1_fix_dist: 0.3907, d2.loss_plan_l1_fix_time: 2.5260, d2.loss_plan_l1_fix_dist: 0.4041, d3.loss_plan_l1_fix_time: 2.5218, d3.loss_plan_l1_fix_dist: 0.4255, d4.loss_plan_l1_fix_time: 2.5237, d4.loss_plan_l1_fix_dist: 0.4497, d5.loss_plan_l1_fix_time: 2.5285, d5.loss_plan_l1_fix_dist: 0.4719, d6.loss_plan_l1_fix_time: 2.5346, d6.loss_plan_l1_fix_dist: 0.5023, d0.loss_cls_all: 0.8148, d0.loss_bbox_all: 0.7433, d0.loss_cls: 0.8148, d0.loss_bbox: 0.7433, d1.loss_cls: 0.8072, d1.loss_bbox: 0.7420, d2.loss_cls: 0.8006, d2.loss_bbox: 0.7236, d3.loss_cls: 0.8088, d3.loss_bbox: 0.7174, d4.loss_cls: 0.8067, d4.loss_bbox: 0.7315, d5.loss_cls: 0.8053, d5.loss_bbox: 0.7231, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6479, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5896, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5916, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6037, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6162, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6191, d0.loss_map_cls_all: 0.4716, d0.loss_map_pts_all: 2.6678, d0.loss_map_dir_all: 0.0353, d0.loss_map_cls: 0.4716, d0.loss_map_pts: 2.6678, d0.loss_map_dir: 0.0353, d1.loss_map_cls: 0.4640, d1.loss_map_pts: 2.1130, d1.loss_map_dir: 0.0358, d2.loss_map_cls: 0.4586, d2.loss_map_pts: 2.0634, d2.loss_map_dir: 0.0360, d3.loss_map_cls: 0.4527, d3.loss_map_pts: 2.0502, d3.loss_map_dir: 0.0361, d4.loss_map_cls: 0.4487, d4.loss_map_pts: 2.0459, d4.loss_map_dir: 0.0361, d5.loss_map_cls: 0.4495, d5.loss_map_pts: 2.0385, d5.loss_map_dir: 0.0363, loss: 66.2102, grad_norm: 151.6636 +2026-02-24 10:51:06,900 - DriveTransformer - INFO - Epoch [1][38800/39528] lr: 1.000e-04, eta: 8 days, 9:29:06, time: 0.804, data_time: 0.042, memory: 19865, loss_cls: 0.8311, loss_bbox: 0.7889, loss_traj: 1.7766, loss_traj_cls: 0.0005, loss_map_cls: 0.4306, loss_map_pts: 2.3115, loss_map_dir: 0.0386, d0.loss_plan_l1_fix_time: 3.2729, d0.loss_plan_l1_fix_dist: 0.4577, d1.loss_plan_l1_fix_time: 3.0628, d1.loss_plan_l1_fix_dist: 0.4591, d2.loss_plan_l1_fix_time: 3.0343, d2.loss_plan_l1_fix_dist: 0.4797, d3.loss_plan_l1_fix_time: 3.0346, d3.loss_plan_l1_fix_dist: 0.5047, d4.loss_plan_l1_fix_time: 3.0419, d4.loss_plan_l1_fix_dist: 0.5367, d5.loss_plan_l1_fix_time: 3.0508, d5.loss_plan_l1_fix_dist: 0.5776, d6.loss_plan_l1_fix_time: 3.0604, d6.loss_plan_l1_fix_dist: 0.6189, d0.loss_cls_all: 0.8281, d0.loss_bbox_all: 0.7933, d0.loss_cls: 0.8281, d0.loss_bbox: 0.7933, d1.loss_cls: 0.8220, d1.loss_bbox: 0.8108, d2.loss_cls: 0.8180, d2.loss_bbox: 0.7907, d3.loss_cls: 0.8190, d3.loss_bbox: 0.7867, d4.loss_cls: 0.8159, d4.loss_bbox: 0.8056, d5.loss_cls: 0.8235, d5.loss_bbox: 0.8006, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8730, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7973, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7688, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7732, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.7723, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7709, d0.loss_map_cls_all: 0.4588, d0.loss_map_pts_all: 2.9425, d0.loss_map_dir_all: 0.0375, d0.loss_map_cls: 0.4588, d0.loss_map_pts: 2.9425, d0.loss_map_dir: 0.0375, d1.loss_map_cls: 0.4441, d1.loss_map_pts: 2.3724, d1.loss_map_dir: 0.0377, d2.loss_map_cls: 0.4368, d2.loss_map_pts: 2.3355, d2.loss_map_dir: 0.0379, d3.loss_map_cls: 0.4329, d3.loss_map_pts: 2.3219, d3.loss_map_dir: 0.0381, d4.loss_map_cls: 0.4309, d4.loss_map_pts: 2.3128, d4.loss_map_dir: 0.0383, d5.loss_map_cls: 0.4297, d5.loss_map_pts: 2.3087, d5.loss_map_dir: 0.0383, loss: 74.3582, grad_norm: 152.7399 +2026-02-24 10:51:46,849 - DriveTransformer - INFO - Epoch [1][38850/39528] lr: 1.000e-04, eta: 8 days, 9:28:29, time: 0.799, data_time: 0.043, memory: 19865, loss_cls: 0.7611, loss_bbox: 0.7719, loss_traj: 1.7387, loss_traj_cls: 0.0005, loss_map_cls: 0.4634, loss_map_pts: 1.9939, loss_map_dir: 0.0363, d0.loss_plan_l1_fix_time: 3.2316, d0.loss_plan_l1_fix_dist: 0.5049, d1.loss_plan_l1_fix_time: 3.0125, d1.loss_plan_l1_fix_dist: 0.5046, d2.loss_plan_l1_fix_time: 2.9877, d2.loss_plan_l1_fix_dist: 0.5195, d3.loss_plan_l1_fix_time: 2.9878, d3.loss_plan_l1_fix_dist: 0.5397, d4.loss_plan_l1_fix_time: 2.9934, d4.loss_plan_l1_fix_dist: 0.5646, d5.loss_plan_l1_fix_time: 3.0013, d5.loss_plan_l1_fix_dist: 0.5978, d6.loss_plan_l1_fix_time: 3.0096, d6.loss_plan_l1_fix_dist: 0.6335, d0.loss_cls_all: 0.7768, d0.loss_bbox_all: 0.7729, d0.loss_cls: 0.7768, d0.loss_bbox: 0.7729, d1.loss_cls: 0.7730, d1.loss_bbox: 0.7871, d2.loss_cls: 0.7617, d2.loss_bbox: 0.7781, d3.loss_cls: 0.7642, d3.loss_bbox: 0.7798, d4.loss_cls: 0.7614, d4.loss_bbox: 0.7761, d5.loss_cls: 0.7590, d5.loss_bbox: 0.7743, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7467, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.7323, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7303, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7289, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7248, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.7225, d0.loss_map_cls_all: 0.4842, d0.loss_map_pts_all: 2.6031, d0.loss_map_dir_all: 0.0348, d0.loss_map_cls: 0.4842, d0.loss_map_pts: 2.6031, d0.loss_map_dir: 0.0348, d1.loss_map_cls: 0.4761, d1.loss_map_pts: 2.0480, d1.loss_map_dir: 0.0354, d2.loss_map_cls: 0.4695, d2.loss_map_pts: 2.0084, d2.loss_map_dir: 0.0355, d3.loss_map_cls: 0.4612, d3.loss_map_pts: 2.0009, d3.loss_map_dir: 0.0359, d4.loss_map_cls: 0.4614, d4.loss_map_pts: 1.9891, d4.loss_map_dir: 0.0359, d5.loss_map_cls: 0.4621, d5.loss_map_pts: 1.9926, d5.loss_map_dir: 0.0360, loss: 70.8494, grad_norm: 154.4540 +2026-02-24 10:52:25,789 - DriveTransformer - INFO - Epoch [1][38900/39528] lr: 1.000e-04, eta: 8 days, 9:27:27, time: 0.779, data_time: 0.040, memory: 19865, loss_cls: 0.7851, loss_bbox: 0.7156, loss_traj: 1.6297, loss_traj_cls: 0.0004, loss_map_cls: 0.4278, loss_map_pts: 1.9409, loss_map_dir: 0.0315, d0.loss_plan_l1_fix_time: 2.8152, d0.loss_plan_l1_fix_dist: 0.4756, d1.loss_plan_l1_fix_time: 2.6935, d1.loss_plan_l1_fix_dist: 0.4787, d2.loss_plan_l1_fix_time: 2.6899, d2.loss_plan_l1_fix_dist: 0.4957, d3.loss_plan_l1_fix_time: 2.6971, d3.loss_plan_l1_fix_dist: 0.5207, d4.loss_plan_l1_fix_time: 2.7064, d4.loss_plan_l1_fix_dist: 0.5430, d5.loss_plan_l1_fix_time: 2.7180, d5.loss_plan_l1_fix_dist: 0.5600, d6.loss_plan_l1_fix_time: 2.7317, d6.loss_plan_l1_fix_dist: 0.5798, d0.loss_cls_all: 0.7984, d0.loss_bbox_all: 0.7306, d0.loss_cls: 0.7984, d0.loss_bbox: 0.7306, d1.loss_cls: 0.7947, d1.loss_bbox: 0.7275, d2.loss_cls: 0.7877, d2.loss_bbox: 0.7286, d3.loss_cls: 0.7891, d3.loss_bbox: 0.7493, d4.loss_cls: 0.7845, d4.loss_bbox: 0.7320, d5.loss_cls: 0.7864, d5.loss_bbox: 0.7173, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6616, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6260, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6175, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6258, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6168, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6272, d0.loss_map_cls_all: 0.4520, d0.loss_map_pts_all: 2.5139, d0.loss_map_dir_all: 0.0306, d0.loss_map_cls: 0.4520, d0.loss_map_pts: 2.5139, d0.loss_map_dir: 0.0306, d1.loss_map_cls: 0.4468, d1.loss_map_pts: 2.0192, d1.loss_map_dir: 0.0308, d2.loss_map_cls: 0.4391, d2.loss_map_pts: 1.9658, d2.loss_map_dir: 0.0309, d3.loss_map_cls: 0.4351, d3.loss_map_pts: 1.9458, d3.loss_map_dir: 0.0311, d4.loss_map_cls: 0.4320, d4.loss_map_pts: 1.9382, d4.loss_map_dir: 0.0312, d5.loss_map_cls: 0.4286, d5.loss_map_pts: 1.9404, d5.loss_map_dir: 0.0313, loss: 66.8095, grad_norm: 154.9694 +2026-02-24 10:53:05,173 - DriveTransformer - INFO - Epoch [1][38950/39528] lr: 1.000e-04, eta: 8 days, 9:26:36, time: 0.788, data_time: 0.043, memory: 19865, loss_cls: 0.7694, loss_bbox: 0.7290, loss_traj: 1.6531, loss_traj_cls: 0.0005, loss_map_cls: 0.4162, loss_map_pts: 1.8379, loss_map_dir: 0.0334, d0.loss_plan_l1_fix_time: 3.0110, d0.loss_plan_l1_fix_dist: 0.4454, d1.loss_plan_l1_fix_time: 2.7912, d1.loss_plan_l1_fix_dist: 0.4384, d2.loss_plan_l1_fix_time: 2.7827, d2.loss_plan_l1_fix_dist: 0.4533, d3.loss_plan_l1_fix_time: 2.7916, d3.loss_plan_l1_fix_dist: 0.4766, d4.loss_plan_l1_fix_time: 2.8011, d4.loss_plan_l1_fix_dist: 0.5044, d5.loss_plan_l1_fix_time: 2.8110, d5.loss_plan_l1_fix_dist: 0.5331, d6.loss_plan_l1_fix_time: 2.8241, d6.loss_plan_l1_fix_dist: 0.5648, d0.loss_cls_all: 0.7591, d0.loss_bbox_all: 0.7272, d0.loss_cls: 0.7591, d0.loss_bbox: 0.7272, d1.loss_cls: 0.7613, d1.loss_bbox: 0.7224, d2.loss_cls: 0.7640, d2.loss_bbox: 0.7311, d3.loss_cls: 0.7672, d3.loss_bbox: 0.7664, d4.loss_cls: 0.7681, d4.loss_bbox: 0.7599, d5.loss_cls: 0.7692, d5.loss_bbox: 0.7385, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6782, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6561, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6461, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6462, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6437, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6494, d0.loss_map_cls_all: 0.4425, d0.loss_map_pts_all: 2.3987, d0.loss_map_dir_all: 0.0323, d0.loss_map_cls: 0.4425, d0.loss_map_pts: 2.3987, d0.loss_map_dir: 0.0323, d1.loss_map_cls: 0.4284, d1.loss_map_pts: 1.8925, d1.loss_map_dir: 0.0327, d2.loss_map_cls: 0.4203, d2.loss_map_pts: 1.8493, d2.loss_map_dir: 0.0327, d3.loss_map_cls: 0.4153, d3.loss_map_pts: 1.8332, d3.loss_map_dir: 0.0330, d4.loss_map_cls: 0.4140, d4.loss_map_pts: 1.8348, d4.loss_map_dir: 0.0332, d5.loss_map_cls: 0.4152, d5.loss_map_pts: 1.8337, d5.loss_map_dir: 0.0332, loss: 66.3609, grad_norm: 156.1401 +2026-02-24 10:53:44,556 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-24 10:53:44,556 - DriveTransformer - INFO - Epoch [1][39000/39528] lr: 1.000e-04, eta: 8 days, 9:25:45, time: 0.788, data_time: 0.040, memory: 19865, loss_cls: 0.8098, loss_bbox: 0.7757, loss_traj: 1.6076, loss_traj_cls: 0.0005, loss_map_cls: 0.4075, loss_map_pts: 2.0601, loss_map_dir: 0.0362, d0.loss_plan_l1_fix_time: 2.9499, d0.loss_plan_l1_fix_dist: 0.5352, d1.loss_plan_l1_fix_time: 2.6527, d1.loss_plan_l1_fix_dist: 0.5297, d2.loss_plan_l1_fix_time: 2.6082, d2.loss_plan_l1_fix_dist: 0.5445, d3.loss_plan_l1_fix_time: 2.6079, d3.loss_plan_l1_fix_dist: 0.5619, d4.loss_plan_l1_fix_time: 2.6143, d4.loss_plan_l1_fix_dist: 0.5855, d5.loss_plan_l1_fix_time: 2.6226, d5.loss_plan_l1_fix_dist: 0.6164, d6.loss_plan_l1_fix_time: 2.6320, d6.loss_plan_l1_fix_dist: 0.6496, d0.loss_cls_all: 0.7979, d0.loss_bbox_all: 0.7856, d0.loss_cls: 0.7979, d0.loss_bbox: 0.7856, d1.loss_cls: 0.8024, d1.loss_bbox: 0.7789, d2.loss_cls: 0.8062, d2.loss_bbox: 0.7780, d3.loss_cls: 0.8022, d3.loss_bbox: 0.8061, d4.loss_cls: 0.8036, d4.loss_bbox: 0.7920, d5.loss_cls: 0.8077, d5.loss_bbox: 0.7739, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6380, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5983, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6026, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6100, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6141, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6060, d0.loss_map_cls_all: 0.4329, d0.loss_map_pts_all: 2.7155, d0.loss_map_dir_all: 0.0359, d0.loss_map_cls: 0.4329, d0.loss_map_pts: 2.7155, d0.loss_map_dir: 0.0359, d1.loss_map_cls: 0.4191, d1.loss_map_pts: 2.1371, d1.loss_map_dir: 0.0357, d2.loss_map_cls: 0.4105, d2.loss_map_pts: 2.0825, d2.loss_map_dir: 0.0357, d3.loss_map_cls: 0.4070, d3.loss_map_pts: 2.0647, d3.loss_map_dir: 0.0358, d4.loss_map_cls: 0.4048, d4.loss_map_pts: 2.0656, d4.loss_map_dir: 0.0360, d5.loss_map_cls: 0.4059, d5.loss_map_pts: 2.0601, d5.loss_map_dir: 0.0360, loss: 68.2038, grad_norm: 153.5435 +2026-02-24 10:54:22,685 - DriveTransformer - INFO - Epoch [1][39050/39528] lr: 1.000e-04, eta: 8 days, 9:24:25, time: 0.763, data_time: 0.037, memory: 19865, loss_cls: 0.7839, loss_bbox: 0.7482, loss_traj: 1.6739, loss_traj_cls: 0.0005, loss_map_cls: 0.4098, loss_map_pts: 1.9061, loss_map_dir: 0.0306, d0.loss_plan_l1_fix_time: 2.9653, d0.loss_plan_l1_fix_dist: 0.5353, d1.loss_plan_l1_fix_time: 2.7253, d1.loss_plan_l1_fix_dist: 0.5291, d2.loss_plan_l1_fix_time: 2.6667, d2.loss_plan_l1_fix_dist: 0.5413, d3.loss_plan_l1_fix_time: 2.6541, d3.loss_plan_l1_fix_dist: 0.5611, d4.loss_plan_l1_fix_time: 2.6525, d4.loss_plan_l1_fix_dist: 0.5851, d5.loss_plan_l1_fix_time: 2.6554, d5.loss_plan_l1_fix_dist: 0.6129, d6.loss_plan_l1_fix_time: 2.6602, d6.loss_plan_l1_fix_dist: 0.6424, d0.loss_cls_all: 0.7752, d0.loss_bbox_all: 0.7599, d0.loss_cls: 0.7752, d0.loss_bbox: 0.7599, d1.loss_cls: 0.7813, d1.loss_bbox: 0.7639, d2.loss_cls: 0.7787, d2.loss_bbox: 0.7517, d3.loss_cls: 0.7804, d3.loss_bbox: 0.7928, d4.loss_cls: 0.7809, d4.loss_bbox: 0.7722, d5.loss_cls: 0.7812, d5.loss_bbox: 0.7489, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6918, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6599, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.6601, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.6699, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6626, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6714, d0.loss_map_cls_all: 0.4447, d0.loss_map_pts_all: 2.4352, d0.loss_map_dir_all: 0.0300, d0.loss_map_cls: 0.4447, d0.loss_map_pts: 2.4352, d0.loss_map_dir: 0.0300, d1.loss_map_cls: 0.4233, d1.loss_map_pts: 1.9719, d1.loss_map_dir: 0.0302, d2.loss_map_cls: 0.4165, d2.loss_map_pts: 1.9225, d2.loss_map_dir: 0.0302, d3.loss_map_cls: 0.4129, d3.loss_map_pts: 1.9055, d3.loss_map_dir: 0.0303, d4.loss_map_cls: 0.4117, d4.loss_map_pts: 1.9058, d4.loss_map_dir: 0.0304, d5.loss_map_cls: 0.4071, d5.loss_map_pts: 1.9040, d5.loss_map_dir: 0.0305, loss: 67.0138, grad_norm: 151.9255 +2026-02-24 10:55:00,790 - DriveTransformer - INFO - Epoch [1][39100/39528] lr: 1.000e-04, eta: 8 days, 9:23:05, time: 0.762, data_time: 0.037, memory: 19865, loss_cls: 0.8227, loss_bbox: 0.7977, loss_traj: 1.6496, loss_traj_cls: 0.0005, loss_map_cls: 0.4465, loss_map_pts: 2.1645, loss_map_dir: 0.0355, d0.loss_plan_l1_fix_time: 3.0659, d0.loss_plan_l1_fix_dist: 0.5055, d1.loss_plan_l1_fix_time: 2.8874, d1.loss_plan_l1_fix_dist: 0.4982, d2.loss_plan_l1_fix_time: 2.8701, d2.loss_plan_l1_fix_dist: 0.5135, d3.loss_plan_l1_fix_time: 2.8708, d3.loss_plan_l1_fix_dist: 0.5306, d4.loss_plan_l1_fix_time: 2.8751, d4.loss_plan_l1_fix_dist: 0.5419, d5.loss_plan_l1_fix_time: 2.8825, d5.loss_plan_l1_fix_dist: 0.5550, d6.loss_plan_l1_fix_time: 2.8923, d6.loss_plan_l1_fix_dist: 0.5773, d0.loss_cls_all: 0.8182, d0.loss_bbox_all: 0.7956, d0.loss_cls: 0.8182, d0.loss_bbox: 0.7956, d1.loss_cls: 0.8218, d1.loss_bbox: 0.8045, d2.loss_cls: 0.8167, d2.loss_bbox: 0.7869, d3.loss_cls: 0.8157, d3.loss_bbox: 0.8333, d4.loss_cls: 0.8213, d4.loss_bbox: 0.8081, d5.loss_cls: 0.8225, d5.loss_bbox: 0.7889, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6646, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.6366, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6224, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6273, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6298, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6338, d0.loss_map_cls_all: 0.4670, d0.loss_map_pts_all: 2.7393, d0.loss_map_dir_all: 0.0349, d0.loss_map_cls: 0.4670, d0.loss_map_pts: 2.7393, d0.loss_map_dir: 0.0349, d1.loss_map_cls: 0.4565, d1.loss_map_pts: 2.2304, d1.loss_map_dir: 0.0349, d2.loss_map_cls: 0.4512, d2.loss_map_pts: 2.1847, d2.loss_map_dir: 0.0350, d3.loss_map_cls: 0.4460, d3.loss_map_pts: 2.1649, d3.loss_map_dir: 0.0352, d4.loss_map_cls: 0.4473, d4.loss_map_pts: 2.1594, d4.loss_map_dir: 0.0353, d5.loss_map_cls: 0.4450, d5.loss_map_pts: 2.1617, d5.loss_map_dir: 0.0353, loss: 70.9541, grad_norm: 152.1982 +2026-02-24 10:55:41,038 - DriveTransformer - INFO - Epoch [1][39150/39528] lr: 1.000e-04, eta: 8 days, 9:22:34, time: 0.805, data_time: 0.036, memory: 19865, loss_cls: 0.7731, loss_bbox: 0.7366, loss_traj: 1.6267, loss_traj_cls: 0.0005, loss_map_cls: 0.4286, loss_map_pts: 2.0443, loss_map_dir: 0.0371, d0.loss_plan_l1_fix_time: 2.8955, d0.loss_plan_l1_fix_dist: 0.5961, d1.loss_plan_l1_fix_time: 2.6370, d1.loss_plan_l1_fix_dist: 0.5795, d2.loss_plan_l1_fix_time: 2.6055, d2.loss_plan_l1_fix_dist: 0.5855, d3.loss_plan_l1_fix_time: 2.6045, d3.loss_plan_l1_fix_dist: 0.5997, d4.loss_plan_l1_fix_time: 2.6089, d4.loss_plan_l1_fix_dist: 0.6232, d5.loss_plan_l1_fix_time: 2.6152, d5.loss_plan_l1_fix_dist: 0.6488, d6.loss_plan_l1_fix_time: 2.6233, d6.loss_plan_l1_fix_dist: 0.6701, d0.loss_cls_all: 0.7669, d0.loss_bbox_all: 0.7408, d0.loss_cls: 0.7669, d0.loss_bbox: 0.7408, d1.loss_cls: 0.7669, d1.loss_bbox: 0.7494, d2.loss_cls: 0.7669, d2.loss_bbox: 0.7445, d3.loss_cls: 0.7657, d3.loss_bbox: 0.7613, d4.loss_cls: 0.7636, d4.loss_bbox: 0.7289, d5.loss_cls: 0.7690, d5.loss_bbox: 0.7255, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6443, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5977, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5925, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5991, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6123, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6157, d0.loss_map_cls_all: 0.4495, d0.loss_map_pts_all: 2.7945, d0.loss_map_dir_all: 0.0359, d0.loss_map_cls: 0.4495, d0.loss_map_pts: 2.7945, d0.loss_map_dir: 0.0359, d1.loss_map_cls: 0.4404, d1.loss_map_pts: 2.1194, d1.loss_map_dir: 0.0363, d2.loss_map_cls: 0.4368, d2.loss_map_pts: 2.0577, d2.loss_map_dir: 0.0364, d3.loss_map_cls: 0.4295, d3.loss_map_pts: 2.0417, d3.loss_map_dir: 0.0365, d4.loss_map_cls: 0.4283, d4.loss_map_pts: 2.0375, d4.loss_map_dir: 0.0367, d5.loss_map_cls: 0.4267, d5.loss_map_pts: 2.0413, d5.loss_map_dir: 0.0368, loss: 67.9647, grad_norm: 152.4740 +2026-02-24 10:56:20,779 - DriveTransformer - INFO - Epoch [1][39200/39528] lr: 1.000e-04, eta: 8 days, 9:21:53, time: 0.796, data_time: 0.035, memory: 19865, loss_cls: 0.7764, loss_bbox: 0.7336, loss_traj: 1.6026, loss_traj_cls: 0.0005, loss_map_cls: 0.4506, loss_map_pts: 2.1136, loss_map_dir: 0.0375, d0.loss_plan_l1_fix_time: 2.8130, d0.loss_plan_l1_fix_dist: 0.5416, d1.loss_plan_l1_fix_time: 2.6843, d1.loss_plan_l1_fix_dist: 0.5280, d2.loss_plan_l1_fix_time: 2.6874, d2.loss_plan_l1_fix_dist: 0.5291, d3.loss_plan_l1_fix_time: 2.6981, d3.loss_plan_l1_fix_dist: 0.5429, d4.loss_plan_l1_fix_time: 2.7078, d4.loss_plan_l1_fix_dist: 0.5639, d5.loss_plan_l1_fix_time: 2.7168, d5.loss_plan_l1_fix_dist: 0.5909, d6.loss_plan_l1_fix_time: 2.7255, d6.loss_plan_l1_fix_dist: 0.6151, d0.loss_cls_all: 0.7700, d0.loss_bbox_all: 0.7391, d0.loss_cls: 0.7700, d0.loss_bbox: 0.7391, d1.loss_cls: 0.7662, d1.loss_bbox: 0.7583, d2.loss_cls: 0.7682, d2.loss_bbox: 0.7693, d3.loss_cls: 0.7686, d3.loss_bbox: 0.7528, d4.loss_cls: 0.7728, d4.loss_bbox: 0.7285, d5.loss_cls: 0.7728, d5.loss_bbox: 0.7293, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6353, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5712, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5735, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5810, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5844, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5870, d0.loss_map_cls_all: 0.4723, d0.loss_map_pts_all: 2.7862, d0.loss_map_dir_all: 0.0360, d0.loss_map_cls: 0.4723, d0.loss_map_pts: 2.7862, d0.loss_map_dir: 0.0360, d1.loss_map_cls: 0.4595, d1.loss_map_pts: 2.1785, d1.loss_map_dir: 0.0364, d2.loss_map_cls: 0.4529, d2.loss_map_pts: 2.1267, d2.loss_map_dir: 0.0367, d3.loss_map_cls: 0.4491, d3.loss_map_pts: 2.1131, d3.loss_map_dir: 0.0370, d4.loss_map_cls: 0.4500, d4.loss_map_pts: 2.1126, d4.loss_map_dir: 0.0371, d5.loss_map_cls: 0.4493, d5.loss_map_pts: 2.1101, d5.loss_map_dir: 0.0372, loss: 68.4753, grad_norm: 152.1823 +2026-02-24 10:56:57,975 - DriveTransformer - INFO - Epoch [1][39250/39528] lr: 1.000e-04, eta: 8 days, 9:20:10, time: 0.743, data_time: 0.044, memory: 19865, loss_cls: 0.7452, loss_bbox: 0.7019, loss_traj: 1.7447, loss_traj_cls: 0.0004, loss_map_cls: 0.4550, loss_map_pts: 1.6881, loss_map_dir: 0.0299, d0.loss_plan_l1_fix_time: 2.5148, d0.loss_plan_l1_fix_dist: 0.5433, d1.loss_plan_l1_fix_time: 2.2523, d1.loss_plan_l1_fix_dist: 0.5349, d2.loss_plan_l1_fix_time: 2.2254, d2.loss_plan_l1_fix_dist: 0.5584, d3.loss_plan_l1_fix_time: 2.2311, d3.loss_plan_l1_fix_dist: 0.5929, d4.loss_plan_l1_fix_time: 2.2406, d4.loss_plan_l1_fix_dist: 0.6311, d5.loss_plan_l1_fix_time: 2.2520, d5.loss_plan_l1_fix_dist: 0.6715, d6.loss_plan_l1_fix_time: 2.2642, d6.loss_plan_l1_fix_dist: 0.7274, d0.loss_cls_all: 0.7575, d0.loss_bbox_all: 0.7015, d0.loss_cls: 0.7575, d0.loss_bbox: 0.7015, d1.loss_cls: 0.7411, d1.loss_bbox: 0.7349, d2.loss_cls: 0.7390, d2.loss_bbox: 0.7518, d3.loss_cls: 0.7410, d3.loss_bbox: 0.7174, d4.loss_cls: 0.7431, d4.loss_bbox: 0.7004, d5.loss_cls: 0.7435, d5.loss_bbox: 0.6977, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7860, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7381, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7316, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7491, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7439, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7450, d0.loss_map_cls_all: 0.4752, d0.loss_map_pts_all: 2.3035, d0.loss_map_dir_all: 0.0289, d0.loss_map_cls: 0.4752, d0.loss_map_pts: 2.3035, d0.loss_map_dir: 0.0289, d1.loss_map_cls: 0.4621, d1.loss_map_pts: 1.7685, d1.loss_map_dir: 0.0291, d2.loss_map_cls: 0.4547, d2.loss_map_pts: 1.7122, d2.loss_map_dir: 0.0293, d3.loss_map_cls: 0.4500, d3.loss_map_pts: 1.6943, d3.loss_map_dir: 0.0294, d4.loss_map_cls: 0.4521, d4.loss_map_pts: 1.6887, d4.loss_map_dir: 0.0296, d5.loss_map_cls: 0.4532, d5.loss_map_pts: 1.6877, d5.loss_map_dir: 0.0296, loss: 62.9163, grad_norm: 151.8544 +2026-02-24 10:57:39,125 - DriveTransformer - INFO - Epoch [1][39300/39528] lr: 1.000e-04, eta: 8 days, 9:20:00, time: 0.823, data_time: 0.040, memory: 19865, loss_cls: 0.7861, loss_bbox: 0.7315, loss_traj: 1.4380, loss_traj_cls: 0.0005, loss_map_cls: 0.3918, loss_map_pts: 1.8724, loss_map_dir: 0.0336, d0.loss_plan_l1_fix_time: 2.6595, d0.loss_plan_l1_fix_dist: 0.5381, d1.loss_plan_l1_fix_time: 2.5030, d1.loss_plan_l1_fix_dist: 0.5348, d2.loss_plan_l1_fix_time: 2.5054, d2.loss_plan_l1_fix_dist: 0.5414, d3.loss_plan_l1_fix_time: 2.5164, d3.loss_plan_l1_fix_dist: 0.5565, d4.loss_plan_l1_fix_time: 2.5275, d4.loss_plan_l1_fix_dist: 0.5762, d5.loss_plan_l1_fix_time: 2.5390, d5.loss_plan_l1_fix_dist: 0.6006, d6.loss_plan_l1_fix_time: 2.5508, d6.loss_plan_l1_fix_dist: 0.6294, d0.loss_cls_all: 0.7854, d0.loss_bbox_all: 0.7223, d0.loss_cls: 0.7854, d0.loss_bbox: 0.7223, d1.loss_cls: 0.7797, d1.loss_bbox: 0.7527, d2.loss_cls: 0.7729, d2.loss_bbox: 0.7766, d3.loss_cls: 0.7709, d3.loss_bbox: 0.7395, d4.loss_cls: 0.7719, d4.loss_bbox: 0.7216, d5.loss_cls: 0.7782, d5.loss_bbox: 0.7221, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3926, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4267, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4193, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4215, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4303, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4306, d0.loss_map_cls_all: 0.4116, d0.loss_map_pts_all: 2.6004, d0.loss_map_dir_all: 0.0322, d0.loss_map_cls: 0.4116, d0.loss_map_pts: 2.6004, d0.loss_map_dir: 0.0322, d1.loss_map_cls: 0.4028, d1.loss_map_pts: 1.9413, d1.loss_map_dir: 0.0327, d2.loss_map_cls: 0.3930, d2.loss_map_pts: 1.8852, d2.loss_map_dir: 0.0329, d3.loss_map_cls: 0.3899, d3.loss_map_pts: 1.8680, d3.loss_map_dir: 0.0330, d4.loss_map_cls: 0.3902, d4.loss_map_pts: 1.8635, d4.loss_map_dir: 0.0332, d5.loss_map_cls: 0.3904, d5.loss_map_pts: 1.8694, d5.loss_map_dir: 0.0333, loss: 63.8064, grad_norm: 152.1246 +2026-02-24 10:58:19,521 - DriveTransformer - INFO - Epoch [1][39350/39528] lr: 1.000e-04, eta: 8 days, 9:19:33, time: 0.808, data_time: 0.048, memory: 19865, loss_cls: 0.7904, loss_bbox: 0.7096, loss_traj: 1.6502, loss_traj_cls: 0.0005, loss_map_cls: 0.4507, loss_map_pts: 2.0580, loss_map_dir: 0.0407, d0.loss_plan_l1_fix_time: 3.3321, d0.loss_plan_l1_fix_dist: 0.5083, d1.loss_plan_l1_fix_time: 3.2300, d1.loss_plan_l1_fix_dist: 0.5103, d2.loss_plan_l1_fix_time: 3.2252, d2.loss_plan_l1_fix_dist: 0.5308, d3.loss_plan_l1_fix_time: 3.2290, d3.loss_plan_l1_fix_dist: 0.5579, d4.loss_plan_l1_fix_time: 3.2353, d4.loss_plan_l1_fix_dist: 0.5877, d5.loss_plan_l1_fix_time: 3.2424, d5.loss_plan_l1_fix_dist: 0.6173, d6.loss_plan_l1_fix_time: 3.2508, d6.loss_plan_l1_fix_dist: 0.6339, d0.loss_cls_all: 0.7977, d0.loss_bbox_all: 0.7070, d0.loss_cls: 0.7977, d0.loss_bbox: 0.7070, d1.loss_cls: 0.7826, d1.loss_bbox: 0.7288, d2.loss_cls: 0.7761, d2.loss_bbox: 0.7552, d3.loss_cls: 0.7749, d3.loss_bbox: 0.7204, d4.loss_cls: 0.7752, d4.loss_bbox: 0.7016, d5.loss_cls: 0.7785, d5.loss_bbox: 0.7046, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6699, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6391, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6310, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6389, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6474, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6494, d0.loss_map_cls_all: 0.4593, d0.loss_map_pts_all: 2.8723, d0.loss_map_dir_all: 0.0385, d0.loss_map_cls: 0.4593, d0.loss_map_pts: 2.8723, d0.loss_map_dir: 0.0385, d1.loss_map_cls: 0.4501, d1.loss_map_pts: 2.1681, d1.loss_map_dir: 0.0393, d2.loss_map_cls: 0.4460, d2.loss_map_pts: 2.1044, d2.loss_map_dir: 0.0397, d3.loss_map_cls: 0.4452, d3.loss_map_pts: 2.0772, d3.loss_map_dir: 0.0400, d4.loss_map_cls: 0.4469, d4.loss_map_pts: 2.0650, d4.loss_map_dir: 0.0402, d5.loss_map_cls: 0.4477, d5.loss_map_pts: 2.0590, d5.loss_map_dir: 0.0403, loss: 72.4269, grad_norm: 153.4812 +2026-02-24 10:58:58,345 - DriveTransformer - INFO - Epoch [1][39400/39528] lr: 1.000e-04, eta: 8 days, 9:18:29, time: 0.776, data_time: 0.039, memory: 19865, loss_cls: 0.7530, loss_bbox: 0.6810, loss_traj: 1.4370, loss_traj_cls: 0.0005, loss_map_cls: 0.4356, loss_map_pts: 1.8483, loss_map_dir: 0.0339, d0.loss_plan_l1_fix_time: 3.0308, d0.loss_plan_l1_fix_dist: 0.5263, d1.loss_plan_l1_fix_time: 2.8466, d1.loss_plan_l1_fix_dist: 0.5095, d2.loss_plan_l1_fix_time: 2.8255, d2.loss_plan_l1_fix_dist: 0.5190, d3.loss_plan_l1_fix_time: 2.8262, d3.loss_plan_l1_fix_dist: 0.5360, d4.loss_plan_l1_fix_time: 2.8315, d4.loss_plan_l1_fix_dist: 0.5587, d5.loss_plan_l1_fix_time: 2.8381, d5.loss_plan_l1_fix_dist: 0.5872, d6.loss_plan_l1_fix_time: 2.8458, d6.loss_plan_l1_fix_dist: 0.6296, d0.loss_cls_all: 0.7426, d0.loss_bbox_all: 0.7060, d0.loss_cls: 0.7426, d0.loss_bbox: 0.7060, d1.loss_cls: 0.7364, d1.loss_bbox: 0.7099, d2.loss_cls: 0.7398, d2.loss_bbox: 0.7376, d3.loss_cls: 0.7459, d3.loss_bbox: 0.6953, d4.loss_cls: 0.7527, d4.loss_bbox: 0.6823, d5.loss_cls: 0.7556, d5.loss_bbox: 0.6788, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4247, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4220, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.4170, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.4225, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4286, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4384, d0.loss_map_cls_all: 0.4468, d0.loss_map_pts_all: 2.5117, d0.loss_map_dir_all: 0.0324, d0.loss_map_cls: 0.4468, d0.loss_map_pts: 2.5117, d0.loss_map_dir: 0.0324, d1.loss_map_cls: 0.4385, d1.loss_map_pts: 1.9507, d1.loss_map_dir: 0.0328, d2.loss_map_cls: 0.4324, d2.loss_map_pts: 1.8820, d2.loss_map_dir: 0.0330, d3.loss_map_cls: 0.4325, d3.loss_map_pts: 1.8537, d3.loss_map_dir: 0.0334, d4.loss_map_cls: 0.4341, d4.loss_map_pts: 1.8486, d4.loss_map_dir: 0.0335, d5.loss_map_cls: 0.4335, d5.loss_map_pts: 1.8423, d5.loss_map_dir: 0.0337, loss: 65.4851, grad_norm: 150.8437 +2026-02-24 10:59:37,160 - DriveTransformer - INFO - Epoch [1][39450/39528] lr: 1.000e-04, eta: 8 days, 9:17:26, time: 0.776, data_time: 0.039, memory: 19865, loss_cls: 0.7947, loss_bbox: 0.7493, loss_traj: 1.6478, loss_traj_cls: 0.0005, loss_map_cls: 0.4536, loss_map_pts: 2.0056, loss_map_dir: 0.0350, d0.loss_plan_l1_fix_time: 2.9278, d0.loss_plan_l1_fix_dist: 0.4791, d1.loss_plan_l1_fix_time: 2.7813, d1.loss_plan_l1_fix_dist: 0.4826, d2.loss_plan_l1_fix_time: 2.7611, d2.loss_plan_l1_fix_dist: 0.4954, d3.loss_plan_l1_fix_time: 2.7630, d3.loss_plan_l1_fix_dist: 0.5130, d4.loss_plan_l1_fix_time: 2.7689, d4.loss_plan_l1_fix_dist: 0.5342, d5.loss_plan_l1_fix_time: 2.7762, d5.loss_plan_l1_fix_dist: 0.5608, d6.loss_plan_l1_fix_time: 2.7829, d6.loss_plan_l1_fix_dist: 0.5986, d0.loss_cls_all: 0.8184, d0.loss_bbox_all: 0.7676, d0.loss_cls: 0.8184, d0.loss_bbox: 0.7676, d1.loss_cls: 0.8014, d1.loss_bbox: 0.7605, d2.loss_cls: 0.7940, d2.loss_bbox: 0.7855, d3.loss_cls: 0.7910, d3.loss_bbox: 0.7480, d4.loss_cls: 0.7916, d4.loss_bbox: 0.7426, d5.loss_cls: 0.7917, d5.loss_bbox: 0.7442, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6492, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6371, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6292, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6381, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6412, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6508, d0.loss_map_cls_all: 0.4798, d0.loss_map_pts_all: 2.6447, d0.loss_map_dir_all: 0.0341, d0.loss_map_cls: 0.4798, d0.loss_map_pts: 2.6447, d0.loss_map_dir: 0.0341, d1.loss_map_cls: 0.4678, d1.loss_map_pts: 2.0666, d1.loss_map_dir: 0.0342, d2.loss_map_cls: 0.4577, d2.loss_map_pts: 2.0205, d2.loss_map_dir: 0.0344, d3.loss_map_cls: 0.4553, d3.loss_map_pts: 2.0067, d3.loss_map_dir: 0.0346, d4.loss_map_cls: 0.4522, d4.loss_map_pts: 2.0019, d4.loss_map_dir: 0.0347, d5.loss_map_cls: 0.4525, d5.loss_map_pts: 2.0044, d5.loss_map_dir: 0.0347, loss: 68.5594, grad_norm: 151.5864 +2026-02-24 11:00:16,981 - DriveTransformer - INFO - Epoch [1][39500/39528] lr: 1.000e-04, eta: 8 days, 9:16:45, time: 0.796, data_time: 0.044, memory: 19865, loss_cls: 0.7406, loss_bbox: 0.6720, loss_traj: 1.5141, loss_traj_cls: 0.0005, loss_map_cls: 0.4114, loss_map_pts: 1.9997, loss_map_dir: 0.0349, d0.loss_plan_l1_fix_time: 2.5751, d0.loss_plan_l1_fix_dist: 0.4827, d1.loss_plan_l1_fix_time: 2.3811, d1.loss_plan_l1_fix_dist: 0.4796, d2.loss_plan_l1_fix_time: 2.3593, d2.loss_plan_l1_fix_dist: 0.5012, d3.loss_plan_l1_fix_time: 2.3602, d3.loss_plan_l1_fix_dist: 0.5303, d4.loss_plan_l1_fix_time: 2.3656, d4.loss_plan_l1_fix_dist: 0.5628, d5.loss_plan_l1_fix_time: 2.3734, d5.loss_plan_l1_fix_dist: 0.5927, d6.loss_plan_l1_fix_time: 2.3821, d6.loss_plan_l1_fix_dist: 0.6188, d0.loss_cls_all: 0.7406, d0.loss_bbox_all: 0.7165, d0.loss_cls: 0.7406, d0.loss_bbox: 0.7165, d1.loss_cls: 0.7336, d1.loss_bbox: 0.6937, d2.loss_cls: 0.7232, d2.loss_bbox: 0.7224, d3.loss_cls: 0.7310, d3.loss_bbox: 0.6815, d4.loss_cls: 0.7389, d4.loss_bbox: 0.6713, d5.loss_cls: 0.7409, d5.loss_bbox: 0.6700, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5408, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5125, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4983, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5031, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5123, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5146, d0.loss_map_cls_all: 0.4420, d0.loss_map_pts_all: 2.6986, d0.loss_map_dir_all: 0.0334, d0.loss_map_cls: 0.4420, d0.loss_map_pts: 2.6986, d0.loss_map_dir: 0.0334, d1.loss_map_cls: 0.4292, d1.loss_map_pts: 2.1086, d1.loss_map_dir: 0.0341, d2.loss_map_cls: 0.4197, d2.loss_map_pts: 2.0284, d2.loss_map_dir: 0.0342, d3.loss_map_cls: 0.4163, d3.loss_map_pts: 2.0077, d3.loss_map_dir: 0.0344, d4.loss_map_cls: 0.4119, d4.loss_map_pts: 2.0011, d4.loss_map_dir: 0.0346, d5.loss_map_cls: 0.4105, d5.loss_map_pts: 1.9989, d5.loss_map_dir: 0.0347, loss: 63.7971, grad_norm: 151.4135 +2026-02-24 11:00:37,259 - DriveTransformer - INFO - Saving checkpoint at 1 epochs +2026-02-24 11:01:28,759 - DriveTransformer - INFO - Epoch [2][50/39528] lr: 9.958e-05, eta: 8 days, 9:10:45, time: 0.984, data_time: 0.197, memory: 19865, loss_cls: 0.7698, loss_bbox: 0.7211, loss_traj: 1.5243, loss_traj_cls: 0.0005, loss_map_cls: 0.4176, loss_map_pts: 1.9763, loss_map_dir: 0.0358, d0.loss_plan_l1_fix_time: 3.1277, d0.loss_plan_l1_fix_dist: 0.5198, d1.loss_plan_l1_fix_time: 2.9320, d1.loss_plan_l1_fix_dist: 0.5138, d2.loss_plan_l1_fix_time: 2.9158, d2.loss_plan_l1_fix_dist: 0.5253, d3.loss_plan_l1_fix_time: 2.9200, d3.loss_plan_l1_fix_dist: 0.5410, d4.loss_plan_l1_fix_time: 2.9274, d4.loss_plan_l1_fix_dist: 0.5590, d5.loss_plan_l1_fix_time: 2.9367, d5.loss_plan_l1_fix_dist: 0.5842, d6.loss_plan_l1_fix_time: 2.9484, d6.loss_plan_l1_fix_dist: 0.6153, d0.loss_cls_all: 0.7879, d0.loss_bbox_all: 0.7581, d0.loss_cls: 0.7879, d0.loss_bbox: 0.7581, d1.loss_cls: 0.7798, d1.loss_bbox: 0.7506, d2.loss_cls: 0.7767, d2.loss_bbox: 0.7434, d3.loss_cls: 0.7769, d3.loss_bbox: 0.7219, d4.loss_cls: 0.7832, d4.loss_bbox: 0.7209, d5.loss_cls: 0.7805, d5.loss_bbox: 0.7191, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5162, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4998, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5046, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5072, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5146, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5158, d0.loss_map_cls_all: 0.4517, d0.loss_map_pts_all: 2.7329, d0.loss_map_dir_all: 0.0347, d0.loss_map_cls: 0.4517, d0.loss_map_pts: 2.7329, d0.loss_map_dir: 0.0347, d1.loss_map_cls: 0.4351, d1.loss_map_pts: 2.0513, d1.loss_map_dir: 0.0349, d2.loss_map_cls: 0.4237, d2.loss_map_pts: 1.9916, d2.loss_map_dir: 0.0351, d3.loss_map_cls: 0.4197, d3.loss_map_pts: 1.9752, d3.loss_map_dir: 0.0353, d4.loss_map_cls: 0.4176, d4.loss_map_pts: 1.9751, d4.loss_map_dir: 0.0355, d5.loss_map_cls: 0.4155, d5.loss_map_pts: 1.9711, d5.loss_map_dir: 0.0356, loss: 68.4096, grad_norm: 140.5187 +2026-02-24 11:02:06,045 - DriveTransformer - INFO - Epoch [2][100/39528] lr: 9.958e-05, eta: 8 days, 9:09:07, time: 0.746, data_time: 0.035, memory: 19865, loss_cls: 0.7440, loss_bbox: 0.7250, loss_traj: 1.4791, loss_traj_cls: 0.0005, loss_map_cls: 0.4229, loss_map_pts: 1.7576, loss_map_dir: 0.0292, d0.loss_plan_l1_fix_time: 2.9842, d0.loss_plan_l1_fix_dist: 0.4862, d1.loss_plan_l1_fix_time: 2.7763, d1.loss_plan_l1_fix_dist: 0.4790, d2.loss_plan_l1_fix_time: 2.7638, d2.loss_plan_l1_fix_dist: 0.4867, d3.loss_plan_l1_fix_time: 2.7690, d3.loss_plan_l1_fix_dist: 0.5011, d4.loss_plan_l1_fix_time: 2.7750, d4.loss_plan_l1_fix_dist: 0.5160, d5.loss_plan_l1_fix_time: 2.7805, d5.loss_plan_l1_fix_dist: 0.5326, d6.loss_plan_l1_fix_time: 2.7866, d6.loss_plan_l1_fix_dist: 0.5578, d0.loss_cls_all: 0.7524, d0.loss_bbox_all: 0.7551, d0.loss_cls: 0.7524, d0.loss_bbox: 0.7551, d1.loss_cls: 0.7474, d1.loss_bbox: 0.7637, d2.loss_cls: 0.7451, d2.loss_bbox: 0.7422, d3.loss_cls: 0.7456, d3.loss_bbox: 0.7236, d4.loss_cls: 0.7435, d4.loss_bbox: 0.7263, d5.loss_cls: 0.7427, d5.loss_bbox: 0.7217, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4860, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4481, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4561, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4742, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4731, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4772, d0.loss_map_cls_all: 0.4606, d0.loss_map_pts_all: 2.2603, d0.loss_map_dir_all: 0.0280, d0.loss_map_cls: 0.4606, d0.loss_map_pts: 2.2603, d0.loss_map_dir: 0.0280, d1.loss_map_cls: 0.4388, d1.loss_map_pts: 1.8012, d1.loss_map_dir: 0.0286, d2.loss_map_cls: 0.4269, d2.loss_map_pts: 1.7527, d2.loss_map_dir: 0.0286, d3.loss_map_cls: 0.4220, d3.loss_map_pts: 1.7474, d3.loss_map_dir: 0.0287, d4.loss_map_cls: 0.4208, d4.loss_map_pts: 1.7456, d4.loss_map_dir: 0.0289, d5.loss_map_cls: 0.4221, d5.loss_map_pts: 1.7518, d5.loss_map_dir: 0.0289, loss: 64.1596, grad_norm: 148.5320 +2026-02-24 11:02:44,718 - DriveTransformer - INFO - Epoch [2][150/39528] lr: 9.958e-05, eta: 8 days, 9:08:01, time: 0.773, data_time: 0.035, memory: 19865, loss_cls: 0.7919, loss_bbox: 0.7638, loss_traj: 1.7973, loss_traj_cls: 0.0005, loss_map_cls: 0.4638, loss_map_pts: 2.1573, loss_map_dir: 0.0337, d0.loss_plan_l1_fix_time: 3.0803, d0.loss_plan_l1_fix_dist: 0.5520, d1.loss_plan_l1_fix_time: 2.9658, d1.loss_plan_l1_fix_dist: 0.5370, d2.loss_plan_l1_fix_time: 2.9673, d2.loss_plan_l1_fix_dist: 0.5427, d3.loss_plan_l1_fix_time: 2.9768, d3.loss_plan_l1_fix_dist: 0.5544, d4.loss_plan_l1_fix_time: 2.9866, d4.loss_plan_l1_fix_dist: 0.5682, d5.loss_plan_l1_fix_time: 2.9957, d5.loss_plan_l1_fix_dist: 0.5836, d6.loss_plan_l1_fix_time: 3.0059, d6.loss_plan_l1_fix_dist: 0.6034, d0.loss_cls_all: 0.8043, d0.loss_bbox_all: 0.7975, d0.loss_cls: 0.8043, d0.loss_bbox: 0.7975, d1.loss_cls: 0.7981, d1.loss_bbox: 0.8052, d2.loss_cls: 0.8043, d2.loss_bbox: 0.7661, d3.loss_cls: 0.7971, d3.loss_bbox: 0.7636, d4.loss_cls: 0.7938, d4.loss_bbox: 0.7656, d5.loss_cls: 0.7948, d5.loss_bbox: 0.7604, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8014, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.7606, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7715, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7917, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.7887, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.7874, d0.loss_map_cls_all: 0.4885, d0.loss_map_pts_all: 2.8253, d0.loss_map_dir_all: 0.0324, d0.loss_map_cls: 0.4885, d0.loss_map_pts: 2.8253, d0.loss_map_dir: 0.0324, d1.loss_map_cls: 0.4759, d1.loss_map_pts: 2.2602, d1.loss_map_dir: 0.0328, d2.loss_map_cls: 0.4718, d2.loss_map_pts: 2.1908, d2.loss_map_dir: 0.0330, d3.loss_map_cls: 0.4661, d3.loss_map_pts: 2.1688, d3.loss_map_dir: 0.0331, d4.loss_map_cls: 0.4650, d4.loss_map_pts: 2.1580, d4.loss_map_dir: 0.0332, d5.loss_map_cls: 0.4615, d5.loss_map_pts: 2.1581, d5.loss_map_dir: 0.0333, loss: 72.8205, grad_norm: 149.5625 +2026-02-24 11:03:25,161 - DriveTransformer - INFO - Epoch [2][200/39528] lr: 9.958e-05, eta: 8 days, 9:07:35, time: 0.809, data_time: 0.035, memory: 19865, loss_cls: 0.8004, loss_bbox: 0.7478, loss_traj: 1.2749, loss_traj_cls: 0.0005, loss_map_cls: 0.4353, loss_map_pts: 2.1696, loss_map_dir: 0.0367, d0.loss_plan_l1_fix_time: 3.0368, d0.loss_plan_l1_fix_dist: 0.5272, d1.loss_plan_l1_fix_time: 2.8020, d1.loss_plan_l1_fix_dist: 0.5231, d2.loss_plan_l1_fix_time: 2.7760, d2.loss_plan_l1_fix_dist: 0.5359, d3.loss_plan_l1_fix_time: 2.7760, d3.loss_plan_l1_fix_dist: 0.5548, d4.loss_plan_l1_fix_time: 2.7816, d4.loss_plan_l1_fix_dist: 0.5789, d5.loss_plan_l1_fix_time: 2.7887, d5.loss_plan_l1_fix_dist: 0.6059, d6.loss_plan_l1_fix_time: 2.7966, d6.loss_plan_l1_fix_dist: 0.6312, d0.loss_cls_all: 0.8176, d0.loss_bbox_all: 0.7693, d0.loss_cls: 0.8176, d0.loss_bbox: 0.7693, d1.loss_cls: 0.8049, d1.loss_bbox: 0.7899, d2.loss_cls: 0.8091, d2.loss_bbox: 0.7474, d3.loss_cls: 0.8076, d3.loss_bbox: 0.7464, d4.loss_cls: 0.8065, d4.loss_bbox: 0.7523, d5.loss_cls: 0.8042, d5.loss_bbox: 0.7448, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3193, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2667, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.2665, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.2641, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2706, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2755, d0.loss_map_cls_all: 0.4695, d0.loss_map_pts_all: 2.8856, d0.loss_map_dir_all: 0.0355, d0.loss_map_cls: 0.4695, d0.loss_map_pts: 2.8856, d0.loss_map_dir: 0.0355, d1.loss_map_cls: 0.4519, d1.loss_map_pts: 2.2609, d1.loss_map_dir: 0.0361, d2.loss_map_cls: 0.4381, d2.loss_map_pts: 2.1950, d2.loss_map_dir: 0.0361, d3.loss_map_cls: 0.4351, d3.loss_map_pts: 2.1771, d3.loss_map_dir: 0.0362, d4.loss_map_cls: 0.4348, d4.loss_map_pts: 2.1708, d4.loss_map_dir: 0.0363, d5.loss_map_cls: 0.4342, d5.loss_map_pts: 2.1671, d5.loss_map_dir: 0.0364, loss: 67.9607, grad_norm: 154.2217 +2026-02-24 11:04:04,431 - DriveTransformer - INFO - Epoch [2][250/39528] lr: 9.958e-05, eta: 8 days, 9:06:42, time: 0.785, data_time: 0.050, memory: 19865, loss_cls: 0.7730, loss_bbox: 0.7237, loss_traj: 1.7312, loss_traj_cls: 0.0005, loss_map_cls: 0.4270, loss_map_pts: 1.9431, loss_map_dir: 0.0287, d0.loss_plan_l1_fix_time: 2.9607, d0.loss_plan_l1_fix_dist: 0.4354, d1.loss_plan_l1_fix_time: 2.8374, d1.loss_plan_l1_fix_dist: 0.4387, d2.loss_plan_l1_fix_time: 2.8481, d2.loss_plan_l1_fix_dist: 0.4560, d3.loss_plan_l1_fix_time: 2.8567, d3.loss_plan_l1_fix_dist: 0.4773, d4.loss_plan_l1_fix_time: 2.8653, d4.loss_plan_l1_fix_dist: 0.5035, d5.loss_plan_l1_fix_time: 2.8734, d5.loss_plan_l1_fix_dist: 0.5370, d6.loss_plan_l1_fix_time: 2.8818, d6.loss_plan_l1_fix_dist: 0.5789, d0.loss_cls_all: 0.7799, d0.loss_bbox_all: 0.7599, d0.loss_cls: 0.7799, d0.loss_bbox: 0.7599, d1.loss_cls: 0.7703, d1.loss_bbox: 0.7884, d2.loss_cls: 0.7661, d2.loss_bbox: 0.7410, d3.loss_cls: 0.7681, d3.loss_bbox: 0.7348, d4.loss_cls: 0.7668, d4.loss_bbox: 0.7321, d5.loss_cls: 0.7677, d5.loss_bbox: 0.7199, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7657, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7000, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6977, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7078, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.7255, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.7286, d0.loss_map_cls_all: 0.4711, d0.loss_map_pts_all: 2.4909, d0.loss_map_dir_all: 0.0280, d0.loss_map_cls: 0.4711, d0.loss_map_pts: 2.4909, d0.loss_map_dir: 0.0280, d1.loss_map_cls: 0.4522, d1.loss_map_pts: 1.9982, d1.loss_map_dir: 0.0282, d2.loss_map_cls: 0.4359, d2.loss_map_pts: 1.9602, d2.loss_map_dir: 0.0282, d3.loss_map_cls: 0.4305, d3.loss_map_pts: 1.9382, d3.loss_map_dir: 0.0283, d4.loss_map_cls: 0.4282, d4.loss_map_pts: 1.9357, d4.loss_map_dir: 0.0283, d5.loss_map_cls: 0.4255, d5.loss_map_pts: 1.9398, d5.loss_map_dir: 0.0284, loss: 68.2072, grad_norm: 152.0382 +2026-02-24 11:04:44,407 - DriveTransformer - INFO - Epoch [2][300/39528] lr: 9.958e-05, eta: 8 days, 9:06:06, time: 0.799, data_time: 0.033, memory: 19865, loss_cls: 0.7682, loss_bbox: 0.7176, loss_traj: 1.6230, loss_traj_cls: 0.0005, loss_map_cls: 0.4458, loss_map_pts: 2.0448, loss_map_dir: 0.0388, d0.loss_plan_l1_fix_time: 2.7469, d0.loss_plan_l1_fix_dist: 0.4444, d1.loss_plan_l1_fix_time: 2.5074, d1.loss_plan_l1_fix_dist: 0.4417, d2.loss_plan_l1_fix_time: 2.4690, d2.loss_plan_l1_fix_dist: 0.4680, d3.loss_plan_l1_fix_time: 2.4659, d3.loss_plan_l1_fix_dist: 0.5043, d4.loss_plan_l1_fix_time: 2.4703, d4.loss_plan_l1_fix_dist: 0.5429, d5.loss_plan_l1_fix_time: 2.4770, d5.loss_plan_l1_fix_dist: 0.5799, d6.loss_plan_l1_fix_time: 2.4861, d6.loss_plan_l1_fix_dist: 0.6252, d0.loss_cls_all: 0.7602, d0.loss_bbox_all: 0.7359, d0.loss_cls: 0.7602, d0.loss_bbox: 0.7359, d1.loss_cls: 0.7507, d1.loss_bbox: 0.7627, d2.loss_cls: 0.7486, d2.loss_bbox: 0.7239, d3.loss_cls: 0.7541, d3.loss_bbox: 0.7287, d4.loss_cls: 0.7534, d4.loss_bbox: 0.7111, d5.loss_cls: 0.7578, d5.loss_bbox: 0.7141, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6059, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5707, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5780, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6015, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6050, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6203, d0.loss_map_cls_all: 0.4764, d0.loss_map_pts_all: 2.7860, d0.loss_map_dir_all: 0.0377, d0.loss_map_cls: 0.4764, d0.loss_map_pts: 2.7860, d0.loss_map_dir: 0.0377, d1.loss_map_cls: 0.4554, d1.loss_map_pts: 2.1148, d1.loss_map_dir: 0.0382, d2.loss_map_cls: 0.4479, d2.loss_map_pts: 2.0499, d2.loss_map_dir: 0.0382, d3.loss_map_cls: 0.4438, d3.loss_map_pts: 2.0318, d3.loss_map_dir: 0.0384, d4.loss_map_cls: 0.4433, d4.loss_map_pts: 2.0330, d4.loss_map_dir: 0.0385, d5.loss_map_cls: 0.4437, d5.loss_map_pts: 2.0405, d5.loss_map_dir: 0.0386, loss: 66.1464, grad_norm: 154.1863 +2026-02-24 11:05:24,613 - DriveTransformer - INFO - Epoch [2][350/39528] lr: 9.958e-05, eta: 8 days, 9:05:34, time: 0.804, data_time: 0.033, memory: 19865, loss_cls: 0.7508, loss_bbox: 0.7124, loss_traj: 1.3556, loss_traj_cls: 0.0005, loss_map_cls: 0.4474, loss_map_pts: 2.2064, loss_map_dir: 0.0384, d0.loss_plan_l1_fix_time: 2.4166, d0.loss_plan_l1_fix_dist: 0.5060, d1.loss_plan_l1_fix_time: 2.2827, d1.loss_plan_l1_fix_dist: 0.5057, d2.loss_plan_l1_fix_time: 2.2725, d2.loss_plan_l1_fix_dist: 0.5205, d3.loss_plan_l1_fix_time: 2.2766, d3.loss_plan_l1_fix_dist: 0.5405, d4.loss_plan_l1_fix_time: 2.2826, d4.loss_plan_l1_fix_dist: 0.5638, d5.loss_plan_l1_fix_time: 2.2896, d5.loss_plan_l1_fix_dist: 0.5865, d6.loss_plan_l1_fix_time: 2.2982, d6.loss_plan_l1_fix_dist: 0.6115, d0.loss_cls_all: 0.7618, d0.loss_bbox_all: 0.7188, d0.loss_cls: 0.7618, d0.loss_bbox: 0.7188, d1.loss_cls: 0.7512, d1.loss_bbox: 0.7492, d2.loss_cls: 0.7505, d2.loss_bbox: 0.7123, d3.loss_cls: 0.7467, d3.loss_bbox: 0.7203, d4.loss_cls: 0.7462, d4.loss_bbox: 0.7081, d5.loss_cls: 0.7471, d5.loss_bbox: 0.7115, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3031, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2873, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.3105, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.3244, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3344, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3542, d0.loss_map_cls_all: 0.4780, d0.loss_map_pts_all: 3.0063, d0.loss_map_dir_all: 0.0372, d0.loss_map_cls: 0.4780, d0.loss_map_pts: 3.0063, d0.loss_map_dir: 0.0372, d1.loss_map_cls: 0.4673, d1.loss_map_pts: 2.2840, d1.loss_map_dir: 0.0378, d2.loss_map_cls: 0.4612, d2.loss_map_pts: 2.2198, d2.loss_map_dir: 0.0379, d3.loss_map_cls: 0.4526, d3.loss_map_pts: 2.2026, d3.loss_map_dir: 0.0380, d4.loss_map_cls: 0.4478, d4.loss_map_pts: 2.2037, d4.loss_map_dir: 0.0381, d5.loss_map_cls: 0.4462, d5.loss_map_pts: 2.2005, d5.loss_map_dir: 0.0383, loss: 64.3060, grad_norm: 168.4331 +2026-02-24 11:06:07,104 - DriveTransformer - INFO - Epoch [2][400/39528] lr: 9.958e-05, eta: 8 days, 9:05:55, time: 0.850, data_time: 0.041, memory: 19865, loss_cls: 0.7814, loss_bbox: 0.7223, loss_traj: 1.3687, loss_traj_cls: 0.0005, loss_map_cls: 0.4288, loss_map_pts: 2.2916, loss_map_dir: 0.0389, d0.loss_plan_l1_fix_time: 2.8678, d0.loss_plan_l1_fix_dist: 0.4884, d1.loss_plan_l1_fix_time: 2.8035, d1.loss_plan_l1_fix_dist: 0.4848, d2.loss_plan_l1_fix_time: 2.8193, d2.loss_plan_l1_fix_dist: 0.4978, d3.loss_plan_l1_fix_time: 2.8314, d3.loss_plan_l1_fix_dist: 0.5143, d4.loss_plan_l1_fix_time: 2.8411, d4.loss_plan_l1_fix_dist: 0.5329, d5.loss_plan_l1_fix_time: 2.8510, d5.loss_plan_l1_fix_dist: 0.5554, d6.loss_plan_l1_fix_time: 2.8605, d6.loss_plan_l1_fix_dist: 0.5794, d0.loss_cls_all: 0.7924, d0.loss_bbox_all: 0.7332, d0.loss_cls: 0.7924, d0.loss_bbox: 0.7332, d1.loss_cls: 0.7864, d1.loss_bbox: 0.7589, d2.loss_cls: 0.7838, d2.loss_bbox: 0.7311, d3.loss_cls: 0.7820, d3.loss_bbox: 0.7283, d4.loss_cls: 0.7798, d4.loss_bbox: 0.7219, d5.loss_cls: 0.7800, d5.loss_bbox: 0.7186, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3630, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3599, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.3542, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.3481, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3529, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3587, d0.loss_map_cls_all: 0.4507, d0.loss_map_pts_all: 2.9943, d0.loss_map_dir_all: 0.0371, d0.loss_map_cls: 0.4507, d0.loss_map_pts: 2.9943, d0.loss_map_dir: 0.0371, d1.loss_map_cls: 0.4423, d1.loss_map_pts: 2.3918, d1.loss_map_dir: 0.0380, d2.loss_map_cls: 0.4360, d2.loss_map_pts: 2.3158, d2.loss_map_dir: 0.0381, d3.loss_map_cls: 0.4331, d3.loss_map_pts: 2.2945, d3.loss_map_dir: 0.0383, d4.loss_map_cls: 0.4328, d4.loss_map_pts: 2.2870, d4.loss_map_dir: 0.0386, d5.loss_map_cls: 0.4272, d5.loss_map_pts: 2.2865, d5.loss_map_dir: 0.0386, loss: 68.8254, grad_norm: 163.1147 +2026-02-24 11:06:46,006 - DriveTransformer - INFO - Epoch [2][450/39528] lr: 9.958e-05, eta: 8 days, 9:04:54, time: 0.778, data_time: 0.037, memory: 19865, loss_cls: 0.7997, loss_bbox: 0.7037, loss_traj: 1.5052, loss_traj_cls: 0.0005, loss_map_cls: 0.4510, loss_map_pts: 1.9107, loss_map_dir: 0.0362, d0.loss_plan_l1_fix_time: 2.8565, d0.loss_plan_l1_fix_dist: 0.3943, d1.loss_plan_l1_fix_time: 2.7804, d1.loss_plan_l1_fix_dist: 0.3936, d2.loss_plan_l1_fix_time: 2.7857, d2.loss_plan_l1_fix_dist: 0.4064, d3.loss_plan_l1_fix_time: 2.7953, d3.loss_plan_l1_fix_dist: 0.4251, d4.loss_plan_l1_fix_time: 2.8046, d4.loss_plan_l1_fix_dist: 0.4461, d5.loss_plan_l1_fix_time: 2.8150, d5.loss_plan_l1_fix_dist: 0.4714, d6.loss_plan_l1_fix_time: 2.8266, d6.loss_plan_l1_fix_dist: 0.4990, d0.loss_cls_all: 0.8114, d0.loss_bbox_all: 0.7228, d0.loss_cls: 0.8114, d0.loss_bbox: 0.7228, d1.loss_cls: 0.8143, d1.loss_bbox: 0.7479, d2.loss_cls: 0.8114, d2.loss_bbox: 0.7221, d3.loss_cls: 0.8069, d3.loss_bbox: 0.7039, d4.loss_cls: 0.8040, d4.loss_bbox: 0.6995, d5.loss_cls: 0.8046, d5.loss_bbox: 0.7019, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5239, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4850, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4946, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4926, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4892, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4932, d0.loss_map_cls_all: 0.4801, d0.loss_map_pts_all: 2.5959, d0.loss_map_dir_all: 0.0348, d0.loss_map_cls: 0.4801, d0.loss_map_pts: 2.5959, d0.loss_map_dir: 0.0348, d1.loss_map_cls: 0.4675, d1.loss_map_pts: 2.0244, d1.loss_map_dir: 0.0351, d2.loss_map_cls: 0.4596, d2.loss_map_pts: 1.9466, d2.loss_map_dir: 0.0354, d3.loss_map_cls: 0.4564, d3.loss_map_pts: 1.9203, d3.loss_map_dir: 0.0356, d4.loss_map_cls: 0.4538, d4.loss_map_pts: 1.9089, d4.loss_map_dir: 0.0358, d5.loss_map_cls: 0.4496, d5.loss_map_pts: 1.9075, d5.loss_map_dir: 0.0358, loss: 66.1677, grad_norm: 161.2918 +2026-02-24 11:07:22,894 - DriveTransformer - INFO - Epoch [2][500/39528] lr: 9.958e-05, eta: 8 days, 9:03:07, time: 0.738, data_time: 0.034, memory: 19865, loss_cls: 0.8008, loss_bbox: 0.7257, loss_traj: 1.7243, loss_traj_cls: 0.0005, loss_map_cls: 0.4200, loss_map_pts: 1.8022, loss_map_dir: 0.0300, d0.loss_plan_l1_fix_time: 2.6841, d0.loss_plan_l1_fix_dist: 0.3924, d1.loss_plan_l1_fix_time: 2.5503, d1.loss_plan_l1_fix_dist: 0.3851, d2.loss_plan_l1_fix_time: 2.5455, d2.loss_plan_l1_fix_dist: 0.3950, d3.loss_plan_l1_fix_time: 2.5529, d3.loss_plan_l1_fix_dist: 0.4090, d4.loss_plan_l1_fix_time: 2.5614, d4.loss_plan_l1_fix_dist: 0.4267, d5.loss_plan_l1_fix_time: 2.5702, d5.loss_plan_l1_fix_dist: 0.4455, d6.loss_plan_l1_fix_time: 2.5813, d6.loss_plan_l1_fix_dist: 0.4666, d0.loss_cls_all: 0.8136, d0.loss_bbox_all: 0.7462, d0.loss_cls: 0.8136, d0.loss_bbox: 0.7462, d1.loss_cls: 0.8094, d1.loss_bbox: 0.7725, d2.loss_cls: 0.8101, d2.loss_bbox: 0.7520, d3.loss_cls: 0.8050, d3.loss_bbox: 0.7344, d4.loss_cls: 0.8054, d4.loss_bbox: 0.7276, d5.loss_cls: 0.8003, d5.loss_bbox: 0.7301, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7394, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.6970, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6843, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6924, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.7017, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.7109, d0.loss_map_cls_all: 0.4560, d0.loss_map_pts_all: 2.3114, d0.loss_map_dir_all: 0.0299, d0.loss_map_cls: 0.4560, d0.loss_map_pts: 2.3114, d0.loss_map_dir: 0.0299, d1.loss_map_cls: 0.4295, d1.loss_map_pts: 1.8870, d1.loss_map_dir: 0.0295, d2.loss_map_cls: 0.4210, d2.loss_map_pts: 1.8307, d2.loss_map_dir: 0.0296, d3.loss_map_cls: 0.4204, d3.loss_map_pts: 1.8127, d3.loss_map_dir: 0.0296, d4.loss_map_cls: 0.4182, d4.loss_map_pts: 1.8074, d4.loss_map_dir: 0.0297, d5.loss_map_cls: 0.4190, d5.loss_map_pts: 1.8026, d5.loss_map_dir: 0.0298, loss: 64.5570, grad_norm: 159.0420 +2026-02-24 11:08:02,087 - DriveTransformer - INFO - Epoch [2][550/39528] lr: 9.958e-05, eta: 8 days, 9:02:13, time: 0.784, data_time: 0.036, memory: 19865, loss_cls: 0.8266, loss_bbox: 0.7601, loss_traj: 1.3193, loss_traj_cls: 0.0005, loss_map_cls: 0.4675, loss_map_pts: 2.0705, loss_map_dir: 0.0367, d0.loss_plan_l1_fix_time: 2.4802, d0.loss_plan_l1_fix_dist: 0.4911, d1.loss_plan_l1_fix_time: 2.3310, d1.loss_plan_l1_fix_dist: 0.4818, d2.loss_plan_l1_fix_time: 2.3199, d2.loss_plan_l1_fix_dist: 0.4851, d3.loss_plan_l1_fix_time: 2.3245, d3.loss_plan_l1_fix_dist: 0.4964, d4.loss_plan_l1_fix_time: 2.3328, d4.loss_plan_l1_fix_dist: 0.5098, d5.loss_plan_l1_fix_time: 2.3418, d5.loss_plan_l1_fix_dist: 0.5249, d6.loss_plan_l1_fix_time: 2.3521, d6.loss_plan_l1_fix_dist: 0.5448, d0.loss_cls_all: 0.8448, d0.loss_bbox_all: 0.7647, d0.loss_cls: 0.8448, d0.loss_bbox: 0.7647, d1.loss_cls: 0.8192, d1.loss_bbox: 0.7816, d2.loss_cls: 0.8228, d2.loss_bbox: 0.7667, d3.loss_cls: 0.8212, d3.loss_bbox: 0.7588, d4.loss_cls: 0.8196, d4.loss_bbox: 0.7595, d5.loss_cls: 0.8239, d5.loss_bbox: 0.7560, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.2691, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2853, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.2816, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.3053, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3126, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3066, d0.loss_map_cls_all: 0.4620, d0.loss_map_pts_all: 2.7875, d0.loss_map_dir_all: 0.0360, d0.loss_map_cls: 0.4620, d0.loss_map_pts: 2.7875, d0.loss_map_dir: 0.0360, d1.loss_map_cls: 0.4674, d1.loss_map_pts: 2.1684, d1.loss_map_dir: 0.0359, d2.loss_map_cls: 0.4682, d2.loss_map_pts: 2.1015, d2.loss_map_dir: 0.0359, d3.loss_map_cls: 0.4658, d3.loss_map_pts: 2.0856, d3.loss_map_dir: 0.0361, d4.loss_map_cls: 0.4671, d4.loss_map_pts: 2.0779, d4.loss_map_dir: 0.0363, d5.loss_map_cls: 0.4630, d5.loss_map_pts: 2.0737, d5.loss_map_dir: 0.0364, loss: 64.0004, grad_norm: 156.6032 +2026-02-24 11:08:41,430 - DriveTransformer - INFO - Epoch [2][600/39528] lr: 9.958e-05, eta: 8 days, 9:01:24, time: 0.788, data_time: 0.037, memory: 19865, loss_cls: 0.8031, loss_bbox: 0.7380, loss_traj: 1.5625, loss_traj_cls: 0.0004, loss_map_cls: 0.4258, loss_map_pts: 2.1786, loss_map_dir: 0.0349, d0.loss_plan_l1_fix_time: 3.0071, d0.loss_plan_l1_fix_dist: 0.3895, d1.loss_plan_l1_fix_time: 2.8987, d1.loss_plan_l1_fix_dist: 0.3827, d2.loss_plan_l1_fix_time: 2.8788, d2.loss_plan_l1_fix_dist: 0.3934, d3.loss_plan_l1_fix_time: 2.8776, d3.loss_plan_l1_fix_dist: 0.4077, d4.loss_plan_l1_fix_time: 2.8805, d4.loss_plan_l1_fix_dist: 0.4242, d5.loss_plan_l1_fix_time: 2.8854, d5.loss_plan_l1_fix_dist: 0.4437, d6.loss_plan_l1_fix_time: 2.8911, d6.loss_plan_l1_fix_dist: 0.4666, d0.loss_cls_all: 0.7870, d0.loss_bbox_all: 0.7596, d0.loss_cls: 0.7870, d0.loss_bbox: 0.7596, d1.loss_cls: 0.7868, d1.loss_bbox: 0.7611, d2.loss_cls: 0.7899, d2.loss_bbox: 0.7492, d3.loss_cls: 0.7999, d3.loss_bbox: 0.7432, d4.loss_cls: 0.7972, d4.loss_bbox: 0.7464, d5.loss_cls: 0.7985, d5.loss_bbox: 0.7354, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6188, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5433, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5319, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5441, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5484, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5600, d0.loss_map_cls_all: 0.4497, d0.loss_map_pts_all: 2.8135, d0.loss_map_dir_all: 0.0345, d0.loss_map_cls: 0.4497, d0.loss_map_pts: 2.8135, d0.loss_map_dir: 0.0345, d1.loss_map_cls: 0.4384, d1.loss_map_pts: 2.2845, d1.loss_map_dir: 0.0343, d2.loss_map_cls: 0.4354, d2.loss_map_pts: 2.2197, d2.loss_map_dir: 0.0342, d3.loss_map_cls: 0.4343, d3.loss_map_pts: 2.1993, d3.loss_map_dir: 0.0344, d4.loss_map_cls: 0.4319, d4.loss_map_pts: 2.1810, d4.loss_map_dir: 0.0345, d5.loss_map_cls: 0.4243, d5.loss_map_pts: 2.1823, d5.loss_map_dir: 0.0345, loss: 69.1201, grad_norm: 155.2967 +2026-02-24 11:09:21,285 - DriveTransformer - INFO - Epoch [2][650/39528] lr: 9.958e-05, eta: 8 days, 9:00:43, time: 0.796, data_time: 0.034, memory: 19865, loss_cls: 0.8138, loss_bbox: 0.7182, loss_traj: 2.1256, loss_traj_cls: 0.0004, loss_map_cls: 0.4345, loss_map_pts: 1.9907, loss_map_dir: 0.0327, d0.loss_plan_l1_fix_time: 3.1578, d0.loss_plan_l1_fix_dist: 0.5108, d1.loss_plan_l1_fix_time: 2.9487, d1.loss_plan_l1_fix_dist: 0.4983, d2.loss_plan_l1_fix_time: 2.9063, d2.loss_plan_l1_fix_dist: 0.5038, d3.loss_plan_l1_fix_time: 2.9008, d3.loss_plan_l1_fix_dist: 0.5168, d4.loss_plan_l1_fix_time: 2.9035, d4.loss_plan_l1_fix_dist: 0.5357, d5.loss_plan_l1_fix_time: 2.9098, d5.loss_plan_l1_fix_dist: 0.5570, d6.loss_plan_l1_fix_time: 2.9188, d6.loss_plan_l1_fix_dist: 0.5837, d0.loss_cls_all: 0.7911, d0.loss_bbox_all: 0.7390, d0.loss_cls: 0.7911, d0.loss_bbox: 0.7390, d1.loss_cls: 0.7983, d1.loss_bbox: 0.7141, d2.loss_cls: 0.7908, d2.loss_bbox: 0.7117, d3.loss_cls: 0.7972, d3.loss_bbox: 0.7100, d4.loss_cls: 0.8045, d4.loss_bbox: 0.7186, d5.loss_cls: 0.8053, d5.loss_bbox: 0.7152, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.1325, d1.loss_traj_cls: 0.0009, d1.loss_traj: 2.1030, d2.loss_traj_cls: 0.0007, d2.loss_traj: 2.1132, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1151, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.1209, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.1148, d0.loss_map_cls_all: 0.4482, d0.loss_map_pts_all: 2.6429, d0.loss_map_dir_all: 0.0322, d0.loss_map_cls: 0.4482, d0.loss_map_pts: 2.6429, d0.loss_map_dir: 0.0322, d1.loss_map_cls: 0.4366, d1.loss_map_pts: 2.0801, d1.loss_map_dir: 0.0322, d2.loss_map_cls: 0.4286, d2.loss_map_pts: 2.0046, d2.loss_map_dir: 0.0321, d3.loss_map_cls: 0.4282, d3.loss_map_pts: 1.9866, d3.loss_map_dir: 0.0323, d4.loss_map_cls: 0.4267, d4.loss_map_pts: 1.9821, d4.loss_map_dir: 0.0325, d5.loss_map_cls: 0.4296, d5.loss_map_pts: 1.9870, d5.loss_map_dir: 0.0325, loss: 72.3954, grad_norm: 154.2093 +2026-02-24 11:10:02,043 - DriveTransformer - INFO - Epoch [2][700/39528] lr: 9.958e-05, eta: 8 days, 9:00:24, time: 0.815, data_time: 0.041, memory: 19865, loss_cls: 0.8237, loss_bbox: 0.6858, loss_traj: 1.5120, loss_traj_cls: 0.0004, loss_map_cls: 0.4092, loss_map_pts: 1.8499, loss_map_dir: 0.0300, d0.loss_plan_l1_fix_time: 2.4957, d0.loss_plan_l1_fix_dist: 0.4623, d1.loss_plan_l1_fix_time: 2.3541, d1.loss_plan_l1_fix_dist: 0.4561, d2.loss_plan_l1_fix_time: 2.3490, d2.loss_plan_l1_fix_dist: 0.4678, d3.loss_plan_l1_fix_time: 2.3545, d3.loss_plan_l1_fix_dist: 0.4831, d4.loss_plan_l1_fix_time: 2.3615, d4.loss_plan_l1_fix_dist: 0.4994, d5.loss_plan_l1_fix_time: 2.3704, d5.loss_plan_l1_fix_dist: 0.5138, d6.loss_plan_l1_fix_time: 2.3806, d6.loss_plan_l1_fix_dist: 0.5279, d0.loss_cls_all: 0.7771, d0.loss_bbox_all: 0.7063, d0.loss_cls: 0.7771, d0.loss_bbox: 0.7063, d1.loss_cls: 0.7692, d1.loss_bbox: 0.6817, d2.loss_cls: 0.7757, d2.loss_bbox: 0.6863, d3.loss_cls: 0.7968, d3.loss_bbox: 0.6872, d4.loss_cls: 0.7941, d4.loss_bbox: 0.6903, d5.loss_cls: 0.8011, d5.loss_bbox: 0.6892, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5596, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5270, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.4994, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5073, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5193, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5135, d0.loss_map_cls_all: 0.4298, d0.loss_map_pts_all: 2.4952, d0.loss_map_dir_all: 0.0297, d0.loss_map_cls: 0.4298, d0.loss_map_pts: 2.4952, d0.loss_map_dir: 0.0297, d1.loss_map_cls: 0.4143, d1.loss_map_pts: 1.9477, d1.loss_map_dir: 0.0293, d2.loss_map_cls: 0.4068, d2.loss_map_pts: 1.8647, d2.loss_map_dir: 0.0293, d3.loss_map_cls: 0.4013, d3.loss_map_pts: 1.8423, d3.loss_map_dir: 0.0296, d4.loss_map_cls: 0.4049, d4.loss_map_pts: 1.8440, d4.loss_map_dir: 0.0297, d5.loss_map_cls: 0.4074, d5.loss_map_pts: 1.8420, d5.loss_map_dir: 0.0297, loss: 62.2882, grad_norm: 155.4350 +2026-02-24 11:10:42,456 - DriveTransformer - INFO - Epoch [2][750/39528] lr: 9.958e-05, eta: 8 days, 8:59:58, time: 0.808, data_time: 0.039, memory: 19865, loss_cls: 0.8015, loss_bbox: 0.7473, loss_traj: 1.5767, loss_traj_cls: 0.0005, loss_map_cls: 0.4271, loss_map_pts: 2.0617, loss_map_dir: 0.0363, d0.loss_plan_l1_fix_time: 3.0989, d0.loss_plan_l1_fix_dist: 0.5124, d1.loss_plan_l1_fix_time: 2.9598, d1.loss_plan_l1_fix_dist: 0.5131, d2.loss_plan_l1_fix_time: 2.9486, d2.loss_plan_l1_fix_dist: 0.5201, d3.loss_plan_l1_fix_time: 2.9517, d3.loss_plan_l1_fix_dist: 0.5312, d4.loss_plan_l1_fix_time: 2.9567, d4.loss_plan_l1_fix_dist: 0.5466, d5.loss_plan_l1_fix_time: 2.9625, d5.loss_plan_l1_fix_dist: 0.5646, d6.loss_plan_l1_fix_time: 2.9702, d6.loss_plan_l1_fix_dist: 0.5857, d0.loss_cls_all: 0.7684, d0.loss_bbox_all: 0.7636, d0.loss_cls: 0.7684, d0.loss_bbox: 0.7636, d1.loss_cls: 0.7646, d1.loss_bbox: 0.7489, d2.loss_cls: 0.7700, d2.loss_bbox: 0.7440, d3.loss_cls: 0.7833, d3.loss_bbox: 0.7450, d4.loss_cls: 0.7823, d4.loss_bbox: 0.7399, d5.loss_cls: 0.7892, d5.loss_bbox: 0.7429, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5799, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5597, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5415, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5483, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5595, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5759, d0.loss_map_cls_all: 0.4514, d0.loss_map_pts_all: 2.7597, d0.loss_map_dir_all: 0.0358, d0.loss_map_cls: 0.4514, d0.loss_map_pts: 2.7597, d0.loss_map_dir: 0.0358, d1.loss_map_cls: 0.4383, d1.loss_map_pts: 2.1555, d1.loss_map_dir: 0.0356, d2.loss_map_cls: 0.4298, d2.loss_map_pts: 2.0730, d2.loss_map_dir: 0.0356, d3.loss_map_cls: 0.4219, d3.loss_map_pts: 2.0554, d3.loss_map_dir: 0.0357, d4.loss_map_cls: 0.4223, d4.loss_map_pts: 2.0562, d4.loss_map_dir: 0.0360, d5.loss_map_cls: 0.4240, d5.loss_map_pts: 2.0532, d5.loss_map_dir: 0.0360, loss: 69.5184, grad_norm: 154.7064 +2026-02-24 11:11:22,550 - DriveTransformer - INFO - Epoch [2][800/39528] lr: 9.958e-05, eta: 8 days, 8:59:24, time: 0.802, data_time: 0.034, memory: 19865, loss_cls: 0.7958, loss_bbox: 0.7094, loss_traj: 1.6900, loss_traj_cls: 0.0005, loss_map_cls: 0.4374, loss_map_pts: 1.9151, loss_map_dir: 0.0355, d0.loss_plan_l1_fix_time: 2.8270, d0.loss_plan_l1_fix_dist: 0.4733, d1.loss_plan_l1_fix_time: 2.6950, d1.loss_plan_l1_fix_dist: 0.4709, d2.loss_plan_l1_fix_time: 2.6776, d2.loss_plan_l1_fix_dist: 0.4872, d3.loss_plan_l1_fix_time: 2.6761, d3.loss_plan_l1_fix_dist: 0.5078, d4.loss_plan_l1_fix_time: 2.6781, d4.loss_plan_l1_fix_dist: 0.5317, d5.loss_plan_l1_fix_time: 2.6826, d5.loss_plan_l1_fix_dist: 0.5583, d6.loss_plan_l1_fix_time: 2.6886, d6.loss_plan_l1_fix_dist: 0.5937, d0.loss_cls_all: 0.7598, d0.loss_bbox_all: 0.7247, d0.loss_cls: 0.7598, d0.loss_bbox: 0.7247, d1.loss_cls: 0.7552, d1.loss_bbox: 0.7118, d2.loss_cls: 0.7664, d2.loss_bbox: 0.6964, d3.loss_cls: 0.7703, d3.loss_bbox: 0.7069, d4.loss_cls: 0.7763, d4.loss_bbox: 0.7062, d5.loss_cls: 0.7841, d5.loss_bbox: 0.7040, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6801, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6906, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6698, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6776, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6809, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6899, d0.loss_map_cls_all: 0.4620, d0.loss_map_pts_all: 2.6064, d0.loss_map_dir_all: 0.0351, d0.loss_map_cls: 0.4620, d0.loss_map_pts: 2.6064, d0.loss_map_dir: 0.0351, d1.loss_map_cls: 0.4525, d1.loss_map_pts: 1.9794, d1.loss_map_dir: 0.0347, d2.loss_map_cls: 0.4416, d2.loss_map_pts: 1.9133, d2.loss_map_dir: 0.0347, d3.loss_map_cls: 0.4385, d3.loss_map_pts: 1.9018, d3.loss_map_dir: 0.0349, d4.loss_map_cls: 0.4326, d4.loss_map_pts: 1.9012, d4.loss_map_dir: 0.0350, d5.loss_map_cls: 0.4369, d5.loss_map_pts: 1.9027, d5.loss_map_dir: 0.0352, loss: 66.7530, grad_norm: 155.2294 +2026-02-24 11:11:59,084 - DriveTransformer - INFO - Epoch [2][850/39528] lr: 9.958e-05, eta: 8 days, 8:57:30, time: 0.731, data_time: 0.035, memory: 19865, loss_cls: 0.7939, loss_bbox: 0.7655, loss_traj: 1.9123, loss_traj_cls: 0.0005, loss_map_cls: 0.4252, loss_map_pts: 1.8681, loss_map_dir: 0.0264, d0.loss_plan_l1_fix_time: 3.1257, d0.loss_plan_l1_fix_dist: 0.4745, d1.loss_plan_l1_fix_time: 2.9551, d1.loss_plan_l1_fix_dist: 0.4847, d2.loss_plan_l1_fix_time: 2.9387, d2.loss_plan_l1_fix_dist: 0.5017, d3.loss_plan_l1_fix_time: 2.9417, d3.loss_plan_l1_fix_dist: 0.5233, d4.loss_plan_l1_fix_time: 2.9486, d4.loss_plan_l1_fix_dist: 0.5463, d5.loss_plan_l1_fix_time: 2.9574, d5.loss_plan_l1_fix_dist: 0.5694, d6.loss_plan_l1_fix_time: 2.9671, d6.loss_plan_l1_fix_dist: 0.5922, d0.loss_cls_all: 0.7854, d0.loss_bbox_all: 0.7770, d0.loss_cls: 0.7854, d0.loss_bbox: 0.7770, d1.loss_cls: 0.7771, d1.loss_bbox: 0.7836, d2.loss_cls: 0.7838, d2.loss_bbox: 0.7662, d3.loss_cls: 0.7850, d3.loss_bbox: 0.7758, d4.loss_cls: 0.7870, d4.loss_bbox: 0.7723, d5.loss_cls: 0.7898, d5.loss_bbox: 0.7582, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9310, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.8966, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.8861, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8953, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.9001, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.9084, d0.loss_map_cls_all: 0.4509, d0.loss_map_pts_all: 2.2979, d0.loss_map_dir_all: 0.0262, d0.loss_map_cls: 0.4509, d0.loss_map_pts: 2.2979, d0.loss_map_dir: 0.0262, d1.loss_map_cls: 0.4385, d1.loss_map_pts: 1.9114, d1.loss_map_dir: 0.0260, d2.loss_map_cls: 0.4254, d2.loss_map_pts: 1.8654, d2.loss_map_dir: 0.0258, d3.loss_map_cls: 0.4207, d3.loss_map_pts: 1.8516, d3.loss_map_dir: 0.0260, d4.loss_map_cls: 0.4205, d4.loss_map_pts: 1.8521, d4.loss_map_dir: 0.0261, d5.loss_map_cls: 0.4228, d5.loss_map_pts: 1.8563, d5.loss_map_dir: 0.0262, loss: 69.7884, grad_norm: 155.2739 +2026-02-24 11:12:38,427 - DriveTransformer - INFO - Epoch [2][900/39528] lr: 9.958e-05, eta: 8 days, 8:56:39, time: 0.787, data_time: 0.035, memory: 19865, loss_cls: 0.7446, loss_bbox: 0.7188, loss_traj: 1.8994, loss_traj_cls: 0.0005, loss_map_cls: 0.4558, loss_map_pts: 1.9226, loss_map_dir: 0.0295, d0.loss_plan_l1_fix_time: 2.9038, d0.loss_plan_l1_fix_dist: 0.3626, d1.loss_plan_l1_fix_time: 2.6023, d1.loss_plan_l1_fix_dist: 0.3638, d2.loss_plan_l1_fix_time: 2.5756, d2.loss_plan_l1_fix_dist: 0.3854, d3.loss_plan_l1_fix_time: 2.5760, d3.loss_plan_l1_fix_dist: 0.4085, d4.loss_plan_l1_fix_time: 2.5824, d4.loss_plan_l1_fix_dist: 0.4324, d5.loss_plan_l1_fix_time: 2.5910, d5.loss_plan_l1_fix_dist: 0.4592, d6.loss_plan_l1_fix_time: 2.6016, d6.loss_plan_l1_fix_dist: 0.4869, d0.loss_cls_all: 0.7403, d0.loss_bbox_all: 0.7291, d0.loss_cls: 0.7403, d0.loss_bbox: 0.7291, d1.loss_cls: 0.7393, d1.loss_bbox: 0.7517, d2.loss_cls: 0.7351, d2.loss_bbox: 0.7281, d3.loss_cls: 0.7319, d3.loss_bbox: 0.7350, d4.loss_cls: 0.7378, d4.loss_bbox: 0.7285, d5.loss_cls: 0.7461, d5.loss_bbox: 0.7149, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9003, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.8641, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.8831, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8778, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.8834, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8912, d0.loss_map_cls_all: 0.4634, d0.loss_map_pts_all: 2.4789, d0.loss_map_dir_all: 0.0295, d0.loss_map_cls: 0.4634, d0.loss_map_pts: 2.4789, d0.loss_map_dir: 0.0295, d1.loss_map_cls: 0.4512, d1.loss_map_pts: 1.9865, d1.loss_map_dir: 0.0292, d2.loss_map_cls: 0.4491, d2.loss_map_pts: 1.9286, d2.loss_map_dir: 0.0290, d3.loss_map_cls: 0.4482, d3.loss_map_pts: 1.9113, d3.loss_map_dir: 0.0291, d4.loss_map_cls: 0.4494, d4.loss_map_pts: 1.9077, d4.loss_map_dir: 0.0292, d5.loss_map_cls: 0.4559, d5.loss_map_pts: 1.9158, d5.loss_map_dir: 0.0292, loss: 66.6868, grad_norm: 155.8750 +2026-02-24 11:13:17,143 - DriveTransformer - INFO - Epoch [2][950/39528] lr: 9.958e-05, eta: 8 days, 8:55:34, time: 0.774, data_time: 0.035, memory: 19865, loss_cls: 0.7611, loss_bbox: 0.6704, loss_traj: 1.4969, loss_traj_cls: 0.0005, loss_map_cls: 0.3742, loss_map_pts: 1.7690, loss_map_dir: 0.0293, d0.loss_plan_l1_fix_time: 2.7219, d0.loss_plan_l1_fix_dist: 0.6338, d1.loss_plan_l1_fix_time: 2.4731, d1.loss_plan_l1_fix_dist: 0.6248, d2.loss_plan_l1_fix_time: 2.4457, d2.loss_plan_l1_fix_dist: 0.6352, d3.loss_plan_l1_fix_time: 2.4449, d3.loss_plan_l1_fix_dist: 0.6503, d4.loss_plan_l1_fix_time: 2.4504, d4.loss_plan_l1_fix_dist: 0.6705, d5.loss_plan_l1_fix_time: 2.4586, d5.loss_plan_l1_fix_dist: 0.6921, d6.loss_plan_l1_fix_time: 2.4696, d6.loss_plan_l1_fix_dist: 0.7183, d0.loss_cls_all: 0.7575, d0.loss_bbox_all: 0.6854, d0.loss_cls: 0.7575, d0.loss_bbox: 0.6854, d1.loss_cls: 0.7399, d1.loss_bbox: 0.7059, d2.loss_cls: 0.7531, d2.loss_bbox: 0.6858, d3.loss_cls: 0.7420, d3.loss_bbox: 0.6818, d4.loss_cls: 0.7440, d4.loss_bbox: 0.6856, d5.loss_cls: 0.7568, d5.loss_bbox: 0.6769, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4693, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4572, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4720, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4767, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4872, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4898, d0.loss_map_cls_all: 0.3954, d0.loss_map_pts_all: 2.4312, d0.loss_map_dir_all: 0.0295, d0.loss_map_cls: 0.3954, d0.loss_map_pts: 2.4312, d0.loss_map_dir: 0.0295, d1.loss_map_cls: 0.3851, d1.loss_map_pts: 1.8677, d1.loss_map_dir: 0.0293, d2.loss_map_cls: 0.3777, d2.loss_map_pts: 1.7868, d2.loss_map_dir: 0.0291, d3.loss_map_cls: 0.3738, d3.loss_map_pts: 1.7652, d3.loss_map_dir: 0.0291, d4.loss_map_cls: 0.3707, d4.loss_map_pts: 1.7627, d4.loss_map_dir: 0.0293, d5.loss_map_cls: 0.3735, d5.loss_map_pts: 1.7660, d5.loss_map_dir: 0.0292, loss: 62.7920, grad_norm: 155.2289 +2026-02-24 11:13:57,563 - DriveTransformer - INFO - Epoch [2][1000/39528] lr: 9.958e-05, eta: 8 days, 8:55:08, time: 0.808, data_time: 0.040, memory: 19865, loss_cls: 0.7940, loss_bbox: 0.7195, loss_traj: 1.4634, loss_traj_cls: 0.0005, loss_map_cls: 0.4314, loss_map_pts: 2.0026, loss_map_dir: 0.0344, d0.loss_plan_l1_fix_time: 2.7010, d0.loss_plan_l1_fix_dist: 0.4661, d1.loss_plan_l1_fix_time: 2.5005, d1.loss_plan_l1_fix_dist: 0.4595, d2.loss_plan_l1_fix_time: 2.4675, d2.loss_plan_l1_fix_dist: 0.4662, d3.loss_plan_l1_fix_time: 2.4634, d3.loss_plan_l1_fix_dist: 0.4798, d4.loss_plan_l1_fix_time: 2.4664, d4.loss_plan_l1_fix_dist: 0.4937, d5.loss_plan_l1_fix_time: 2.4718, d5.loss_plan_l1_fix_dist: 0.5122, d6.loss_plan_l1_fix_time: 2.4803, d6.loss_plan_l1_fix_dist: 0.5336, d0.loss_cls_all: 0.7812, d0.loss_bbox_all: 0.7350, d0.loss_cls: 0.7812, d0.loss_bbox: 0.7350, d1.loss_cls: 0.7730, d1.loss_bbox: 0.7568, d2.loss_cls: 0.7725, d2.loss_bbox: 0.7520, d3.loss_cls: 0.7791, d3.loss_bbox: 0.7297, d4.loss_cls: 0.7826, d4.loss_bbox: 0.7387, d5.loss_cls: 0.7892, d5.loss_bbox: 0.7225, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5130, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4838, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4661, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4758, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4777, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4703, d0.loss_map_cls_all: 0.4490, d0.loss_map_pts_all: 2.7067, d0.loss_map_dir_all: 0.0340, d0.loss_map_cls: 0.4490, d0.loss_map_pts: 2.7067, d0.loss_map_dir: 0.0340, d1.loss_map_cls: 0.4440, d1.loss_map_pts: 2.1286, d1.loss_map_dir: 0.0340, d2.loss_map_cls: 0.4359, d2.loss_map_pts: 2.0503, d2.loss_map_dir: 0.0339, d3.loss_map_cls: 0.4355, d3.loss_map_pts: 2.0203, d3.loss_map_dir: 0.0340, d4.loss_map_cls: 0.4326, d4.loss_map_pts: 2.0131, d4.loss_map_dir: 0.0341, d5.loss_map_cls: 0.4319, d5.loss_map_pts: 2.0073, d5.loss_map_dir: 0.0342, loss: 64.8763, grad_norm: 154.8085 +2026-02-24 11:14:38,188 - DriveTransformer - INFO - Epoch [2][1050/39528] lr: 9.958e-05, eta: 8 days, 8:54:46, time: 0.812, data_time: 0.034, memory: 19865, loss_cls: 0.7742, loss_bbox: 0.7375, loss_traj: 1.7866, loss_traj_cls: 0.0005, loss_map_cls: 0.4071, loss_map_pts: 2.1500, loss_map_dir: 0.0379, d0.loss_plan_l1_fix_time: 3.0996, d0.loss_plan_l1_fix_dist: 0.5664, d1.loss_plan_l1_fix_time: 2.8724, d1.loss_plan_l1_fix_dist: 0.5545, d2.loss_plan_l1_fix_time: 2.8365, d2.loss_plan_l1_fix_dist: 0.5599, d3.loss_plan_l1_fix_time: 2.8330, d3.loss_plan_l1_fix_dist: 0.5693, d4.loss_plan_l1_fix_time: 2.8348, d4.loss_plan_l1_fix_dist: 0.5829, d5.loss_plan_l1_fix_time: 2.8396, d5.loss_plan_l1_fix_dist: 0.5994, d6.loss_plan_l1_fix_time: 2.8464, d6.loss_plan_l1_fix_dist: 0.6174, d0.loss_cls_all: 0.7685, d0.loss_bbox_all: 0.7503, d0.loss_cls: 0.7685, d0.loss_bbox: 0.7503, d1.loss_cls: 0.7607, d1.loss_bbox: 0.7826, d2.loss_cls: 0.7547, d2.loss_bbox: 0.7874, d3.loss_cls: 0.7635, d3.loss_bbox: 0.7610, d4.loss_cls: 0.7690, d4.loss_bbox: 0.7414, d5.loss_cls: 0.7721, d5.loss_bbox: 0.7393, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7783, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.7714, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7600, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7779, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.7802, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.7813, d0.loss_map_cls_all: 0.4200, d0.loss_map_pts_all: 3.0005, d0.loss_map_dir_all: 0.0375, d0.loss_map_cls: 0.4200, d0.loss_map_pts: 3.0005, d0.loss_map_dir: 0.0375, d1.loss_map_cls: 0.4191, d1.loss_map_pts: 2.2807, d1.loss_map_dir: 0.0370, d2.loss_map_cls: 0.4123, d2.loss_map_pts: 2.1861, d2.loss_map_dir: 0.0372, d3.loss_map_cls: 0.4095, d3.loss_map_pts: 2.1601, d3.loss_map_dir: 0.0374, d4.loss_map_cls: 0.4086, d4.loss_map_pts: 2.1571, d4.loss_map_dir: 0.0376, d5.loss_map_cls: 0.4083, d5.loss_map_pts: 2.1494, d5.loss_map_dir: 0.0376, loss: 71.5228, grad_norm: 152.2284 +2026-02-24 11:15:17,155 - DriveTransformer - INFO - Epoch [2][1100/39528] lr: 9.958e-05, eta: 8 days, 8:53:47, time: 0.779, data_time: 0.040, memory: 19865, loss_cls: 0.7944, loss_bbox: 0.7112, loss_traj: 1.7734, loss_traj_cls: 0.0005, loss_map_cls: 0.4452, loss_map_pts: 2.0022, loss_map_dir: 0.0343, d0.loss_plan_l1_fix_time: 2.7090, d0.loss_plan_l1_fix_dist: 0.4969, d1.loss_plan_l1_fix_time: 2.4752, d1.loss_plan_l1_fix_dist: 0.4872, d2.loss_plan_l1_fix_time: 2.4543, d2.loss_plan_l1_fix_dist: 0.4922, d3.loss_plan_l1_fix_time: 2.4599, d3.loss_plan_l1_fix_dist: 0.5074, d4.loss_plan_l1_fix_time: 2.4683, d4.loss_plan_l1_fix_dist: 0.5253, d5.loss_plan_l1_fix_time: 2.4780, d5.loss_plan_l1_fix_dist: 0.5464, d6.loss_plan_l1_fix_time: 2.4893, d6.loss_plan_l1_fix_dist: 0.5706, d0.loss_cls_all: 0.7854, d0.loss_bbox_all: 0.7248, d0.loss_cls: 0.7854, d0.loss_bbox: 0.7248, d1.loss_cls: 0.7756, d1.loss_bbox: 0.7582, d2.loss_cls: 0.7746, d2.loss_bbox: 0.7747, d3.loss_cls: 0.7800, d3.loss_bbox: 0.7601, d4.loss_cls: 0.7811, d4.loss_bbox: 0.7211, d5.loss_cls: 0.7878, d5.loss_bbox: 0.7149, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7733, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.7603, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7482, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7588, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.7612, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.7605, d0.loss_map_cls_all: 0.4618, d0.loss_map_pts_all: 2.7311, d0.loss_map_dir_all: 0.0341, d0.loss_map_cls: 0.4618, d0.loss_map_pts: 2.7311, d0.loss_map_dir: 0.0341, d1.loss_map_cls: 0.4550, d1.loss_map_pts: 2.0929, d1.loss_map_dir: 0.0340, d2.loss_map_cls: 0.4533, d2.loss_map_pts: 2.0259, d2.loss_map_dir: 0.0338, d3.loss_map_cls: 0.4441, d3.loss_map_pts: 2.0077, d3.loss_map_dir: 0.0339, d4.loss_map_cls: 0.4434, d4.loss_map_pts: 1.9972, d4.loss_map_dir: 0.0339, d5.loss_map_cls: 0.4419, d5.loss_map_pts: 1.9955, d5.loss_map_dir: 0.0341, loss: 67.1166, grad_norm: 151.5316 +2026-02-24 11:15:57,299 - DriveTransformer - INFO - Epoch [2][1150/39528] lr: 9.958e-05, eta: 8 days, 8:53:14, time: 0.803, data_time: 0.040, memory: 19865, loss_cls: 0.7891, loss_bbox: 0.7394, loss_traj: 1.3774, loss_traj_cls: 0.0005, loss_map_cls: 0.4243, loss_map_pts: 2.0674, loss_map_dir: 0.0354, d0.loss_plan_l1_fix_time: 2.8352, d0.loss_plan_l1_fix_dist: 0.4632, d1.loss_plan_l1_fix_time: 2.6241, d1.loss_plan_l1_fix_dist: 0.4587, d2.loss_plan_l1_fix_time: 2.6108, d2.loss_plan_l1_fix_dist: 0.4661, d3.loss_plan_l1_fix_time: 2.6133, d3.loss_plan_l1_fix_dist: 0.4801, d4.loss_plan_l1_fix_time: 2.6181, d4.loss_plan_l1_fix_dist: 0.4955, d5.loss_plan_l1_fix_time: 2.6249, d5.loss_plan_l1_fix_dist: 0.5134, d6.loss_plan_l1_fix_time: 2.6337, d6.loss_plan_l1_fix_dist: 0.5350, d0.loss_cls_all: 0.7814, d0.loss_bbox_all: 0.7603, d0.loss_cls: 0.7814, d0.loss_bbox: 0.7603, d1.loss_cls: 0.7777, d1.loss_bbox: 0.7712, d2.loss_cls: 0.7816, d2.loss_bbox: 0.7926, d3.loss_cls: 0.7856, d3.loss_bbox: 0.7812, d4.loss_cls: 0.7826, d4.loss_bbox: 0.7486, d5.loss_cls: 0.7866, d5.loss_bbox: 0.7416, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3983, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3531, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.3551, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.3654, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3648, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3737, d0.loss_map_cls_all: 0.4499, d0.loss_map_pts_all: 2.7231, d0.loss_map_dir_all: 0.0350, d0.loss_map_cls: 0.4499, d0.loss_map_pts: 2.7231, d0.loss_map_dir: 0.0350, d1.loss_map_cls: 0.4388, d1.loss_map_pts: 2.1553, d1.loss_map_dir: 0.0349, d2.loss_map_cls: 0.4313, d2.loss_map_pts: 2.0980, d2.loss_map_dir: 0.0348, d3.loss_map_cls: 0.4280, d3.loss_map_pts: 2.0724, d3.loss_map_dir: 0.0349, d4.loss_map_cls: 0.4251, d4.loss_map_pts: 2.0632, d4.loss_map_dir: 0.0350, d5.loss_map_cls: 0.4227, d5.loss_map_pts: 2.0641, d5.loss_map_dir: 0.0351, loss: 65.6421, grad_norm: 149.7399 +2026-02-24 11:16:37,329 - DriveTransformer - INFO - Epoch [2][1200/39528] lr: 9.958e-05, eta: 8 days, 8:52:40, time: 0.801, data_time: 0.040, memory: 19865, loss_cls: 0.7635, loss_bbox: 0.7176, loss_traj: 1.5817, loss_traj_cls: 0.0005, loss_map_cls: 0.4423, loss_map_pts: 2.0886, loss_map_dir: 0.0360, d0.loss_plan_l1_fix_time: 2.7207, d0.loss_plan_l1_fix_dist: 0.4926, d1.loss_plan_l1_fix_time: 2.6049, d1.loss_plan_l1_fix_dist: 0.4915, d2.loss_plan_l1_fix_time: 2.6373, d2.loss_plan_l1_fix_dist: 0.4998, d3.loss_plan_l1_fix_time: 2.6537, d3.loss_plan_l1_fix_dist: 0.5148, d4.loss_plan_l1_fix_time: 2.6665, d4.loss_plan_l1_fix_dist: 0.5355, d5.loss_plan_l1_fix_time: 2.6789, d5.loss_plan_l1_fix_dist: 0.5598, d6.loss_plan_l1_fix_time: 2.6909, d6.loss_plan_l1_fix_dist: 0.5809, d0.loss_cls_all: 0.7629, d0.loss_bbox_all: 0.7329, d0.loss_cls: 0.7629, d0.loss_bbox: 0.7329, d1.loss_cls: 0.7542, d1.loss_bbox: 0.7184, d2.loss_cls: 0.7536, d2.loss_bbox: 0.7387, d3.loss_cls: 0.7533, d3.loss_bbox: 0.7324, d4.loss_cls: 0.7606, d4.loss_bbox: 0.7081, d5.loss_cls: 0.7609, d5.loss_bbox: 0.7112, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5972, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5660, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5639, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5694, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5752, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5769, d0.loss_map_cls_all: 0.4509, d0.loss_map_pts_all: 2.8124, d0.loss_map_dir_all: 0.0356, d0.loss_map_cls: 0.4509, d0.loss_map_pts: 2.8124, d0.loss_map_dir: 0.0356, d1.loss_map_cls: 0.4400, d1.loss_map_pts: 2.1911, d1.loss_map_dir: 0.0353, d2.loss_map_cls: 0.4357, d2.loss_map_pts: 2.1337, d2.loss_map_dir: 0.0352, d3.loss_map_cls: 0.4387, d3.loss_map_pts: 2.1090, d3.loss_map_dir: 0.0354, d4.loss_map_cls: 0.4407, d4.loss_map_pts: 2.0910, d4.loss_map_dir: 0.0356, d5.loss_map_cls: 0.4400, d5.loss_map_pts: 2.0855, d5.loss_map_dir: 0.0356, loss: 67.3740, grad_norm: 149.3239 +2026-02-24 11:17:17,619 - DriveTransformer - INFO - Epoch [2][1250/39528] lr: 9.958e-05, eta: 8 days, 8:52:10, time: 0.805, data_time: 0.037, memory: 19865, loss_cls: 0.7529, loss_bbox: 0.7469, loss_traj: 1.5495, loss_traj_cls: 0.0005, loss_map_cls: 0.4635, loss_map_pts: 2.2935, loss_map_dir: 0.0419, d0.loss_plan_l1_fix_time: 2.7669, d0.loss_plan_l1_fix_dist: 0.4885, d1.loss_plan_l1_fix_time: 2.7259, d1.loss_plan_l1_fix_dist: 0.4740, d2.loss_plan_l1_fix_time: 2.7614, d2.loss_plan_l1_fix_dist: 0.4785, d3.loss_plan_l1_fix_time: 2.7808, d3.loss_plan_l1_fix_dist: 0.4904, d4.loss_plan_l1_fix_time: 2.7963, d4.loss_plan_l1_fix_dist: 0.5069, d5.loss_plan_l1_fix_time: 2.8117, d5.loss_plan_l1_fix_dist: 0.5268, d6.loss_plan_l1_fix_time: 2.8257, d6.loss_plan_l1_fix_dist: 0.5535, d0.loss_cls_all: 0.7465, d0.loss_bbox_all: 0.7643, d0.loss_cls: 0.7465, d0.loss_bbox: 0.7643, d1.loss_cls: 0.7368, d1.loss_bbox: 0.7457, d2.loss_cls: 0.7379, d2.loss_bbox: 0.7615, d3.loss_cls: 0.7406, d3.loss_bbox: 0.7555, d4.loss_cls: 0.7451, d4.loss_bbox: 0.7390, d5.loss_cls: 0.7512, d5.loss_bbox: 0.7423, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6101, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5303, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5215, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5245, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5246, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5387, d0.loss_map_cls_all: 0.4707, d0.loss_map_pts_all: 3.1430, d0.loss_map_dir_all: 0.0406, d0.loss_map_cls: 0.4707, d0.loss_map_pts: 3.1430, d0.loss_map_dir: 0.0406, d1.loss_map_cls: 0.4616, d1.loss_map_pts: 2.3993, d1.loss_map_dir: 0.0408, d2.loss_map_cls: 0.4585, d2.loss_map_pts: 2.3132, d2.loss_map_dir: 0.0410, d3.loss_map_cls: 0.4610, d3.loss_map_pts: 2.2921, d3.loss_map_dir: 0.0413, d4.loss_map_cls: 0.4618, d4.loss_map_pts: 2.2787, d4.loss_map_dir: 0.0415, d5.loss_map_cls: 0.4636, d5.loss_map_pts: 2.2771, d5.loss_map_dir: 0.0416, loss: 69.9488, grad_norm: 149.7891 +2026-02-24 11:17:58,082 - DriveTransformer - INFO - Epoch [2][1300/39528] lr: 9.958e-05, eta: 8 days, 8:51:44, time: 0.809, data_time: 0.042, memory: 19865, loss_cls: 0.7873, loss_bbox: 0.7750, loss_traj: 1.4793, loss_traj_cls: 0.0004, loss_map_cls: 0.4632, loss_map_pts: 2.2098, loss_map_dir: 0.0418, d0.loss_plan_l1_fix_time: 2.7888, d0.loss_plan_l1_fix_dist: 0.3934, d1.loss_plan_l1_fix_time: 2.5987, d1.loss_plan_l1_fix_dist: 0.4050, d2.loss_plan_l1_fix_time: 2.5870, d2.loss_plan_l1_fix_dist: 0.4246, d3.loss_plan_l1_fix_time: 2.5936, d3.loss_plan_l1_fix_dist: 0.4443, d4.loss_plan_l1_fix_time: 2.6010, d4.loss_plan_l1_fix_dist: 0.4663, d5.loss_plan_l1_fix_time: 2.6082, d5.loss_plan_l1_fix_dist: 0.4914, d6.loss_plan_l1_fix_time: 2.6168, d6.loss_plan_l1_fix_dist: 0.5206, d0.loss_cls_all: 0.7766, d0.loss_bbox_all: 0.8352, d0.loss_cls: 0.7766, d0.loss_bbox: 0.8352, d1.loss_cls: 0.7711, d1.loss_bbox: 0.8146, d2.loss_cls: 0.7774, d2.loss_bbox: 0.8020, d3.loss_cls: 0.7800, d3.loss_bbox: 0.7966, d4.loss_cls: 0.7807, d4.loss_bbox: 0.7855, d5.loss_cls: 0.7850, d5.loss_bbox: 0.7777, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4998, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4509, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4553, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4619, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4631, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4759, d0.loss_map_cls_all: 0.4761, d0.loss_map_pts_all: 2.9641, d0.loss_map_dir_all: 0.0404, d0.loss_map_cls: 0.4761, d0.loss_map_pts: 2.9641, d0.loss_map_dir: 0.0404, d1.loss_map_cls: 0.4735, d1.loss_map_pts: 2.3371, d1.loss_map_dir: 0.0408, d2.loss_map_cls: 0.4637, d2.loss_map_pts: 2.2477, d2.loss_map_dir: 0.0410, d3.loss_map_cls: 0.4654, d3.loss_map_pts: 2.2150, d3.loss_map_dir: 0.0411, d4.loss_map_cls: 0.4655, d4.loss_map_pts: 2.2085, d4.loss_map_dir: 0.0413, d5.loss_map_cls: 0.4637, d5.loss_map_pts: 2.2070, d5.loss_map_dir: 0.0414, loss: 67.9150, grad_norm: 148.7530 +2026-02-24 11:18:38,532 - DriveTransformer - INFO - Epoch [2][1350/39528] lr: 9.958e-05, eta: 8 days, 8:51:18, time: 0.809, data_time: 0.033, memory: 19865, loss_cls: 0.7689, loss_bbox: 0.7656, loss_traj: 1.6494, loss_traj_cls: 0.0005, loss_map_cls: 0.4202, loss_map_pts: 2.0940, loss_map_dir: 0.0415, d0.loss_plan_l1_fix_time: 2.8320, d0.loss_plan_l1_fix_dist: 0.5232, d1.loss_plan_l1_fix_time: 2.7365, d1.loss_plan_l1_fix_dist: 0.5249, d2.loss_plan_l1_fix_time: 2.7295, d2.loss_plan_l1_fix_dist: 0.5325, d3.loss_plan_l1_fix_time: 2.7356, d3.loss_plan_l1_fix_dist: 0.5447, d4.loss_plan_l1_fix_time: 2.7441, d4.loss_plan_l1_fix_dist: 0.5623, d5.loss_plan_l1_fix_time: 2.7529, d5.loss_plan_l1_fix_dist: 0.5828, d6.loss_plan_l1_fix_time: 2.7625, d6.loss_plan_l1_fix_dist: 0.6045, d0.loss_cls_all: 0.7600, d0.loss_bbox_all: 0.8138, d0.loss_cls: 0.7600, d0.loss_bbox: 0.8138, d1.loss_cls: 0.7600, d1.loss_bbox: 0.8102, d2.loss_cls: 0.7551, d2.loss_bbox: 0.7745, d3.loss_cls: 0.7653, d3.loss_bbox: 0.7715, d4.loss_cls: 0.7693, d4.loss_bbox: 0.7617, d5.loss_cls: 0.7672, d5.loss_bbox: 0.7641, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6631, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.6217, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6323, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6364, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6388, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6413, d0.loss_map_cls_all: 0.4268, d0.loss_map_pts_all: 3.0765, d0.loss_map_dir_all: 0.0399, d0.loss_map_cls: 0.4268, d0.loss_map_pts: 3.0765, d0.loss_map_dir: 0.0399, d1.loss_map_cls: 0.4227, d1.loss_map_pts: 2.2460, d1.loss_map_dir: 0.0403, d2.loss_map_cls: 0.4179, d2.loss_map_pts: 2.1421, d2.loss_map_dir: 0.0405, d3.loss_map_cls: 0.4220, d3.loss_map_pts: 2.1098, d3.loss_map_dir: 0.0408, d4.loss_map_cls: 0.4224, d4.loss_map_pts: 2.1026, d4.loss_map_dir: 0.0410, d5.loss_map_cls: 0.4210, d5.loss_map_pts: 2.0989, d5.loss_map_dir: 0.0411, loss: 69.6875, grad_norm: 148.2856 +2026-02-24 11:19:18,761 - DriveTransformer - INFO - Epoch [2][1400/39528] lr: 9.958e-05, eta: 8 days, 8:50:49, time: 0.806, data_time: 0.034, memory: 19865, loss_cls: 0.7894, loss_bbox: 0.7678, loss_traj: 1.8147, loss_traj_cls: 0.0004, loss_map_cls: 0.3807, loss_map_pts: 1.9803, loss_map_dir: 0.0314, d0.loss_plan_l1_fix_time: 2.7821, d0.loss_plan_l1_fix_dist: 0.5559, d1.loss_plan_l1_fix_time: 2.6075, d1.loss_plan_l1_fix_dist: 0.5462, d2.loss_plan_l1_fix_time: 2.5873, d2.loss_plan_l1_fix_dist: 0.5547, d3.loss_plan_l1_fix_time: 2.5889, d3.loss_plan_l1_fix_dist: 0.5729, d4.loss_plan_l1_fix_time: 2.5943, d4.loss_plan_l1_fix_dist: 0.5928, d5.loss_plan_l1_fix_time: 2.6005, d5.loss_plan_l1_fix_dist: 0.6146, d6.loss_plan_l1_fix_time: 2.6090, d6.loss_plan_l1_fix_dist: 0.6389, d0.loss_cls_all: 0.7967, d0.loss_bbox_all: 0.8244, d0.loss_cls: 0.7967, d0.loss_bbox: 0.8244, d1.loss_cls: 0.7954, d1.loss_bbox: 0.8369, d2.loss_cls: 0.7859, d2.loss_bbox: 0.7953, d3.loss_cls: 0.7909, d3.loss_bbox: 0.7761, d4.loss_cls: 0.7917, d4.loss_bbox: 0.7621, d5.loss_cls: 0.7883, d5.loss_bbox: 0.7664, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8388, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.7838, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7853, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7963, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.8020, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.8146, d0.loss_map_cls_all: 0.4110, d0.loss_map_pts_all: 2.5567, d0.loss_map_dir_all: 0.0306, d0.loss_map_cls: 0.4110, d0.loss_map_pts: 2.5567, d0.loss_map_dir: 0.0306, d1.loss_map_cls: 0.4003, d1.loss_map_pts: 2.0373, d1.loss_map_dir: 0.0307, d2.loss_map_cls: 0.3899, d2.loss_map_pts: 1.9967, d2.loss_map_dir: 0.0307, d3.loss_map_cls: 0.3851, d3.loss_map_pts: 1.9953, d3.loss_map_dir: 0.0310, d4.loss_map_cls: 0.3830, d4.loss_map_pts: 1.9889, d4.loss_map_dir: 0.0310, d5.loss_map_cls: 0.3791, d5.loss_map_pts: 1.9832, d5.loss_map_dir: 0.0312, loss: 68.2560, grad_norm: 146.9464 +2026-02-24 11:19:57,842 - DriveTransformer - INFO - Epoch [2][1450/39528] lr: 9.958e-05, eta: 8 days, 8:49:51, time: 0.780, data_time: 0.040, memory: 19865, loss_cls: 0.7524, loss_bbox: 0.7115, loss_traj: 1.5993, loss_traj_cls: 0.0005, loss_map_cls: 0.4366, loss_map_pts: 1.8809, loss_map_dir: 0.0348, d0.loss_plan_l1_fix_time: 2.5765, d0.loss_plan_l1_fix_dist: 0.4894, d1.loss_plan_l1_fix_time: 2.4346, d1.loss_plan_l1_fix_dist: 0.4939, d2.loss_plan_l1_fix_time: 2.4285, d2.loss_plan_l1_fix_dist: 0.5122, d3.loss_plan_l1_fix_time: 2.4357, d3.loss_plan_l1_fix_dist: 0.5290, d4.loss_plan_l1_fix_time: 2.4464, d4.loss_plan_l1_fix_dist: 0.5478, d5.loss_plan_l1_fix_time: 2.4591, d5.loss_plan_l1_fix_dist: 0.5691, d6.loss_plan_l1_fix_time: 2.4725, d6.loss_plan_l1_fix_dist: 0.5974, d0.loss_cls_all: 0.7537, d0.loss_bbox_all: 0.7641, d0.loss_cls: 0.7537, d0.loss_bbox: 0.7641, d1.loss_cls: 0.7417, d1.loss_bbox: 0.7835, d2.loss_cls: 0.7467, d2.loss_bbox: 0.7604, d3.loss_cls: 0.7428, d3.loss_bbox: 0.7303, d4.loss_cls: 0.7389, d4.loss_bbox: 0.7176, d5.loss_cls: 0.7488, d5.loss_bbox: 0.7138, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6233, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5879, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5821, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5883, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5933, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5975, d0.loss_map_cls_all: 0.4529, d0.loss_map_pts_all: 2.6203, d0.loss_map_dir_all: 0.0338, d0.loss_map_cls: 0.4529, d0.loss_map_pts: 2.6203, d0.loss_map_dir: 0.0338, d1.loss_map_cls: 0.4475, d1.loss_map_pts: 1.9505, d1.loss_map_dir: 0.0340, d2.loss_map_cls: 0.4385, d2.loss_map_pts: 1.8916, d2.loss_map_dir: 0.0341, d3.loss_map_cls: 0.4320, d3.loss_map_pts: 1.8739, d3.loss_map_dir: 0.0344, d4.loss_map_cls: 0.4319, d4.loss_map_pts: 1.8671, d4.loss_map_dir: 0.0344, d5.loss_map_cls: 0.4325, d5.loss_map_pts: 1.8674, d5.loss_map_dir: 0.0345, loss: 64.4628, grad_norm: 146.3149 +2026-02-24 11:20:36,844 - DriveTransformer - INFO - Epoch [2][1500/39528] lr: 9.958e-05, eta: 8 days, 8:48:53, time: 0.780, data_time: 0.050, memory: 19865, loss_cls: 0.7449, loss_bbox: 0.7311, loss_traj: 1.6532, loss_traj_cls: 0.0005, loss_map_cls: 0.4314, loss_map_pts: 1.9363, loss_map_dir: 0.0311, d0.loss_plan_l1_fix_time: 3.0782, d0.loss_plan_l1_fix_dist: 0.5210, d1.loss_plan_l1_fix_time: 2.9740, d1.loss_plan_l1_fix_dist: 0.5222, d2.loss_plan_l1_fix_time: 2.9781, d2.loss_plan_l1_fix_dist: 0.5348, d3.loss_plan_l1_fix_time: 2.9871, d3.loss_plan_l1_fix_dist: 0.5514, d4.loss_plan_l1_fix_time: 2.9990, d4.loss_plan_l1_fix_dist: 0.5749, d5.loss_plan_l1_fix_time: 3.0126, d5.loss_plan_l1_fix_dist: 0.6060, d6.loss_plan_l1_fix_time: 3.0262, d6.loss_plan_l1_fix_dist: 0.6356, d0.loss_cls_all: 0.7568, d0.loss_bbox_all: 0.7393, d0.loss_cls: 0.7568, d0.loss_bbox: 0.7393, d1.loss_cls: 0.7435, d1.loss_bbox: 0.7579, d2.loss_cls: 0.7416, d2.loss_bbox: 0.7515, d3.loss_cls: 0.7417, d3.loss_bbox: 0.7386, d4.loss_cls: 0.7384, d4.loss_bbox: 0.7296, d5.loss_cls: 0.7454, d5.loss_bbox: 0.7263, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7105, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.6340, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6263, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6349, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6435, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6439, d0.loss_map_cls_all: 0.4549, d0.loss_map_pts_all: 2.4716, d0.loss_map_dir_all: 0.0303, d0.loss_map_cls: 0.4549, d0.loss_map_pts: 2.4716, d0.loss_map_dir: 0.0303, d1.loss_map_cls: 0.4395, d1.loss_map_pts: 1.9912, d1.loss_map_dir: 0.0302, d2.loss_map_cls: 0.4301, d2.loss_map_pts: 1.9365, d2.loss_map_dir: 0.0303, d3.loss_map_cls: 0.4225, d3.loss_map_pts: 1.9238, d3.loss_map_dir: 0.0305, d4.loss_map_cls: 0.4245, d4.loss_map_pts: 1.9166, d4.loss_map_dir: 0.0307, d5.loss_map_cls: 0.4262, d5.loss_map_pts: 1.9180, d5.loss_map_dir: 0.0307, loss: 68.7281, grad_norm: 148.6444 +2026-02-24 11:21:16,744 - DriveTransformer - INFO - Epoch [2][1550/39528] lr: 9.958e-05, eta: 8 days, 8:48:15, time: 0.798, data_time: 0.036, memory: 19865, loss_cls: 0.7442, loss_bbox: 0.7866, loss_traj: 1.7341, loss_traj_cls: 0.0005, loss_map_cls: 0.4628, loss_map_pts: 2.2182, loss_map_dir: 0.0342, d0.loss_plan_l1_fix_time: 2.7969, d0.loss_plan_l1_fix_dist: 0.5089, d1.loss_plan_l1_fix_time: 2.5511, d1.loss_plan_l1_fix_dist: 0.5054, d2.loss_plan_l1_fix_time: 2.5078, d2.loss_plan_l1_fix_dist: 0.5231, d3.loss_plan_l1_fix_time: 2.5036, d3.loss_plan_l1_fix_dist: 0.5508, d4.loss_plan_l1_fix_time: 2.5069, d4.loss_plan_l1_fix_dist: 0.5839, d5.loss_plan_l1_fix_time: 2.5145, d5.loss_plan_l1_fix_dist: 0.6215, d6.loss_plan_l1_fix_time: 2.5255, d6.loss_plan_l1_fix_dist: 0.6582, d0.loss_cls_all: 0.7464, d0.loss_bbox_all: 0.7788, d0.loss_cls: 0.7464, d0.loss_bbox: 0.7788, d1.loss_cls: 0.7334, d1.loss_bbox: 0.7965, d2.loss_cls: 0.7338, d2.loss_bbox: 0.8027, d3.loss_cls: 0.7375, d3.loss_bbox: 0.7989, d4.loss_cls: 0.7391, d4.loss_bbox: 0.7928, d5.loss_cls: 0.7412, d5.loss_bbox: 0.7875, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7394, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.7166, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.7125, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7142, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.7261, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.7370, d0.loss_map_cls_all: 0.4844, d0.loss_map_pts_all: 2.8545, d0.loss_map_dir_all: 0.0333, d0.loss_map_cls: 0.4844, d0.loss_map_pts: 2.8545, d0.loss_map_dir: 0.0333, d1.loss_map_cls: 0.4708, d1.loss_map_pts: 2.2883, d1.loss_map_dir: 0.0332, d2.loss_map_cls: 0.4655, d2.loss_map_pts: 2.2368, d2.loss_map_dir: 0.0334, d3.loss_map_cls: 0.4627, d3.loss_map_pts: 2.2225, d3.loss_map_dir: 0.0335, d4.loss_map_cls: 0.4587, d4.loss_map_pts: 2.2120, d4.loss_map_dir: 0.0338, d5.loss_map_cls: 0.4593, d5.loss_map_pts: 2.2125, d5.loss_map_dir: 0.0339, loss: 69.3034, grad_norm: 148.4838 +2026-02-24 11:21:56,416 - DriveTransformer - INFO - Epoch [2][1600/39528] lr: 9.958e-05, eta: 8 days, 8:47:31, time: 0.793, data_time: 0.038, memory: 19865, loss_cls: 0.7850, loss_bbox: 0.7228, loss_traj: 1.6832, loss_traj_cls: 0.0005, loss_map_cls: 0.4726, loss_map_pts: 2.0620, loss_map_dir: 0.0343, d0.loss_plan_l1_fix_time: 2.8310, d0.loss_plan_l1_fix_dist: 0.4040, d1.loss_plan_l1_fix_time: 2.5972, d1.loss_plan_l1_fix_dist: 0.4013, d2.loss_plan_l1_fix_time: 2.5644, d2.loss_plan_l1_fix_dist: 0.4165, d3.loss_plan_l1_fix_time: 2.5630, d3.loss_plan_l1_fix_dist: 0.4388, d4.loss_plan_l1_fix_time: 2.5665, d4.loss_plan_l1_fix_dist: 0.4631, d5.loss_plan_l1_fix_time: 2.5731, d5.loss_plan_l1_fix_dist: 0.4876, d6.loss_plan_l1_fix_time: 2.5827, d6.loss_plan_l1_fix_dist: 0.5248, d0.loss_cls_all: 0.7826, d0.loss_bbox_all: 0.7371, d0.loss_cls: 0.7826, d0.loss_bbox: 0.7371, d1.loss_cls: 0.7763, d1.loss_bbox: 0.7509, d2.loss_cls: 0.7762, d2.loss_bbox: 0.7519, d3.loss_cls: 0.7791, d3.loss_bbox: 0.7458, d4.loss_cls: 0.7856, d4.loss_bbox: 0.7351, d5.loss_cls: 0.7848, d5.loss_bbox: 0.7259, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7265, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.6918, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.6814, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6826, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6796, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6842, d0.loss_map_cls_all: 0.4710, d0.loss_map_pts_all: 2.6988, d0.loss_map_dir_all: 0.0324, d0.loss_map_cls: 0.4710, d0.loss_map_pts: 2.6988, d0.loss_map_dir: 0.0324, d1.loss_map_cls: 0.4619, d1.loss_map_pts: 2.1486, d1.loss_map_dir: 0.0330, d2.loss_map_cls: 0.4595, d2.loss_map_pts: 2.0865, d2.loss_map_dir: 0.0333, d3.loss_map_cls: 0.4602, d3.loss_map_pts: 2.0655, d3.loss_map_dir: 0.0336, d4.loss_map_cls: 0.4650, d4.loss_map_pts: 2.0569, d4.loss_map_dir: 0.0338, d5.loss_map_cls: 0.4707, d5.loss_map_pts: 2.0582, d5.loss_map_dir: 0.0339, loss: 67.2805, grad_norm: 148.8093 +2026-02-24 11:22:35,516 - DriveTransformer - INFO - Epoch [2][1650/39528] lr: 9.958e-05, eta: 8 days, 8:46:36, time: 0.782, data_time: 0.043, memory: 19865, loss_cls: 0.7716, loss_bbox: 0.7310, loss_traj: 1.7106, loss_traj_cls: 0.0005, loss_map_cls: 0.4794, loss_map_pts: 2.0710, loss_map_dir: 0.0341, d0.loss_plan_l1_fix_time: 3.0400, d0.loss_plan_l1_fix_dist: 0.5332, d1.loss_plan_l1_fix_time: 2.9238, d1.loss_plan_l1_fix_dist: 0.5424, d2.loss_plan_l1_fix_time: 2.9212, d2.loss_plan_l1_fix_dist: 0.5627, d3.loss_plan_l1_fix_time: 2.9287, d3.loss_plan_l1_fix_dist: 0.5877, d4.loss_plan_l1_fix_time: 2.9370, d4.loss_plan_l1_fix_dist: 0.6133, d5.loss_plan_l1_fix_time: 2.9458, d5.loss_plan_l1_fix_dist: 0.6418, d6.loss_plan_l1_fix_time: 2.9553, d6.loss_plan_l1_fix_dist: 0.6636, d0.loss_cls_all: 0.7705, d0.loss_bbox_all: 0.7396, d0.loss_cls: 0.7705, d0.loss_bbox: 0.7396, d1.loss_cls: 0.7613, d1.loss_bbox: 0.7478, d2.loss_cls: 0.7631, d2.loss_bbox: 0.7507, d3.loss_cls: 0.7668, d3.loss_bbox: 0.7416, d4.loss_cls: 0.7688, d4.loss_bbox: 0.7264, d5.loss_cls: 0.7678, d5.loss_bbox: 0.7248, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6678, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6433, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6535, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6654, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6762, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6787, d0.loss_map_cls_all: 0.4764, d0.loss_map_pts_all: 2.7319, d0.loss_map_dir_all: 0.0328, d0.loss_map_cls: 0.4764, d0.loss_map_pts: 2.7319, d0.loss_map_dir: 0.0328, d1.loss_map_cls: 0.4684, d1.loss_map_pts: 2.1624, d1.loss_map_dir: 0.0331, d2.loss_map_cls: 0.4684, d2.loss_map_pts: 2.0904, d2.loss_map_dir: 0.0334, d3.loss_map_cls: 0.4676, d3.loss_map_pts: 2.0731, d3.loss_map_dir: 0.0337, d4.loss_map_cls: 0.4695, d4.loss_map_pts: 2.0683, d4.loss_map_dir: 0.0338, d5.loss_map_cls: 0.4740, d5.loss_map_pts: 2.0731, d5.loss_map_dir: 0.0340, loss: 70.5884, grad_norm: 149.0705 +2026-02-24 11:23:15,805 - DriveTransformer - INFO - Epoch [2][1700/39528] lr: 9.958e-05, eta: 8 days, 8:46:06, time: 0.806, data_time: 0.038, memory: 19865, loss_cls: 0.7731, loss_bbox: 0.7154, loss_traj: 1.3999, loss_traj_cls: 0.0005, loss_map_cls: 0.4225, loss_map_pts: 1.9668, loss_map_dir: 0.0351, d0.loss_plan_l1_fix_time: 2.6451, d0.loss_plan_l1_fix_dist: 0.4913, d1.loss_plan_l1_fix_time: 2.5162, d1.loss_plan_l1_fix_dist: 0.4893, d2.loss_plan_l1_fix_time: 2.5063, d2.loss_plan_l1_fix_dist: 0.4999, d3.loss_plan_l1_fix_time: 2.5095, d3.loss_plan_l1_fix_dist: 0.5130, d4.loss_plan_l1_fix_time: 2.5155, d4.loss_plan_l1_fix_dist: 0.5308, d5.loss_plan_l1_fix_time: 2.5218, d5.loss_plan_l1_fix_dist: 0.5517, d6.loss_plan_l1_fix_time: 2.5287, d6.loss_plan_l1_fix_dist: 0.5758, d0.loss_cls_all: 0.7727, d0.loss_bbox_all: 0.7300, d0.loss_cls: 0.7727, d0.loss_bbox: 0.7300, d1.loss_cls: 0.7736, d1.loss_bbox: 0.7248, d2.loss_cls: 0.7689, d2.loss_bbox: 0.7237, d3.loss_cls: 0.7733, d3.loss_bbox: 0.7145, d4.loss_cls: 0.7722, d4.loss_bbox: 0.7082, d5.loss_cls: 0.7712, d5.loss_bbox: 0.7098, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4299, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3723, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.3822, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.3892, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3939, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4014, d0.loss_map_cls_all: 0.4401, d0.loss_map_pts_all: 2.6428, d0.loss_map_dir_all: 0.0338, d0.loss_map_cls: 0.4401, d0.loss_map_pts: 2.6428, d0.loss_map_dir: 0.0338, d1.loss_map_cls: 0.4271, d1.loss_map_pts: 2.0846, d1.loss_map_dir: 0.0342, d2.loss_map_cls: 0.4236, d2.loss_map_pts: 2.0009, d2.loss_map_dir: 0.0343, d3.loss_map_cls: 0.4222, d3.loss_map_pts: 1.9797, d3.loss_map_dir: 0.0346, d4.loss_map_cls: 0.4226, d4.loss_map_pts: 1.9717, d4.loss_map_dir: 0.0347, d5.loss_map_cls: 0.4216, d5.loss_map_pts: 1.9703, d5.loss_map_dir: 0.0348, loss: 64.0569, grad_norm: 147.7421 +2026-02-24 11:23:54,456 - DriveTransformer - INFO - Epoch [2][1750/39528] lr: 9.958e-05, eta: 8 days, 8:45:00, time: 0.773, data_time: 0.036, memory: 19865, loss_cls: 0.7475, loss_bbox: 0.7138, loss_traj: 1.8880, loss_traj_cls: 0.0005, loss_map_cls: 0.4271, loss_map_pts: 1.8871, loss_map_dir: 0.0279, d0.loss_plan_l1_fix_time: 3.0416, d0.loss_plan_l1_fix_dist: 0.4485, d1.loss_plan_l1_fix_time: 2.8538, d1.loss_plan_l1_fix_dist: 0.4415, d2.loss_plan_l1_fix_time: 2.8345, d2.loss_plan_l1_fix_dist: 0.4493, d3.loss_plan_l1_fix_time: 2.8380, d3.loss_plan_l1_fix_dist: 0.4632, d4.loss_plan_l1_fix_time: 2.8446, d4.loss_plan_l1_fix_dist: 0.4804, d5.loss_plan_l1_fix_time: 2.8532, d5.loss_plan_l1_fix_dist: 0.5039, d6.loss_plan_l1_fix_time: 2.8636, d6.loss_plan_l1_fix_dist: 0.5347, d0.loss_cls_all: 0.7506, d0.loss_bbox_all: 0.7401, d0.loss_cls: 0.7506, d0.loss_bbox: 0.7401, d1.loss_cls: 0.7434, d1.loss_bbox: 0.7268, d2.loss_cls: 0.7410, d2.loss_bbox: 0.7208, d3.loss_cls: 0.7420, d3.loss_bbox: 0.7132, d4.loss_cls: 0.7430, d4.loss_bbox: 0.7107, d5.loss_cls: 0.7444, d5.loss_bbox: 0.7122, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8716, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7928, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.8132, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8392, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.8518, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.8575, d0.loss_map_cls_all: 0.4435, d0.loss_map_pts_all: 2.4713, d0.loss_map_dir_all: 0.0274, d0.loss_map_cls: 0.4435, d0.loss_map_pts: 2.4713, d0.loss_map_dir: 0.0274, d1.loss_map_cls: 0.4370, d1.loss_map_pts: 1.9829, d1.loss_map_dir: 0.0272, d2.loss_map_cls: 0.4294, d2.loss_map_pts: 1.9171, d2.loss_map_dir: 0.0273, d3.loss_map_cls: 0.4265, d3.loss_map_pts: 1.8993, d3.loss_map_dir: 0.0275, d4.loss_map_cls: 0.4272, d4.loss_map_pts: 1.8899, d4.loss_map_dir: 0.0276, d5.loss_map_cls: 0.4257, d5.loss_map_pts: 1.8876, d5.loss_map_dir: 0.0277, loss: 68.1960, grad_norm: 147.6445 +2026-02-24 11:24:34,457 - DriveTransformer - INFO - Epoch [2][1800/39528] lr: 9.958e-05, eta: 8 days, 8:44:24, time: 0.800, data_time: 0.037, memory: 19865, loss_cls: 0.7541, loss_bbox: 0.7343, loss_traj: 1.8687, loss_traj_cls: 0.0005, loss_map_cls: 0.4728, loss_map_pts: 2.1666, loss_map_dir: 0.0372, d0.loss_plan_l1_fix_time: 3.1916, d0.loss_plan_l1_fix_dist: 0.4983, d1.loss_plan_l1_fix_time: 3.0108, d1.loss_plan_l1_fix_dist: 0.4921, d2.loss_plan_l1_fix_time: 2.9868, d2.loss_plan_l1_fix_dist: 0.5045, d3.loss_plan_l1_fix_time: 2.9869, d3.loss_plan_l1_fix_dist: 0.5233, d4.loss_plan_l1_fix_time: 2.9921, d4.loss_plan_l1_fix_dist: 0.5476, d5.loss_plan_l1_fix_time: 2.9995, d5.loss_plan_l1_fix_dist: 0.5705, d6.loss_plan_l1_fix_time: 3.0086, d6.loss_plan_l1_fix_dist: 0.5938, d0.loss_cls_all: 0.7503, d0.loss_bbox_all: 0.7862, d0.loss_cls: 0.7503, d0.loss_bbox: 0.7862, d1.loss_cls: 0.7466, d1.loss_bbox: 0.7764, d2.loss_cls: 0.7445, d2.loss_bbox: 0.7462, d3.loss_cls: 0.7501, d3.loss_bbox: 0.7358, d4.loss_cls: 0.7469, d4.loss_bbox: 0.7332, d5.loss_cls: 0.7524, d5.loss_bbox: 0.7319, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8790, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.8254, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.8307, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.8468, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.8613, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.8633, d0.loss_map_cls_all: 0.4762, d0.loss_map_pts_all: 2.8876, d0.loss_map_dir_all: 0.0360, d0.loss_map_cls: 0.4762, d0.loss_map_pts: 2.8876, d0.loss_map_dir: 0.0360, d1.loss_map_cls: 0.4729, d1.loss_map_pts: 2.2591, d1.loss_map_dir: 0.0361, d2.loss_map_cls: 0.4665, d2.loss_map_pts: 2.1912, d2.loss_map_dir: 0.0363, d3.loss_map_cls: 0.4673, d3.loss_map_pts: 2.1712, d3.loss_map_dir: 0.0366, d4.loss_map_cls: 0.4681, d4.loss_map_pts: 2.1620, d4.loss_map_dir: 0.0368, d5.loss_map_cls: 0.4705, d5.loss_map_pts: 2.1622, d5.loss_map_dir: 0.0370, loss: 72.8618, grad_norm: 146.2080 +2026-02-24 11:25:14,732 - DriveTransformer - INFO - Epoch [2][1850/39528] lr: 9.958e-05, eta: 8 days, 8:43:54, time: 0.805, data_time: 0.041, memory: 19865, loss_cls: 0.7308, loss_bbox: 0.7278, loss_traj: 1.7509, loss_traj_cls: 0.0005, loss_map_cls: 0.4265, loss_map_pts: 2.0928, loss_map_dir: 0.0342, d0.loss_plan_l1_fix_time: 2.8377, d0.loss_plan_l1_fix_dist: 0.4946, d1.loss_plan_l1_fix_time: 2.5799, d1.loss_plan_l1_fix_dist: 0.4866, d2.loss_plan_l1_fix_time: 2.5463, d2.loss_plan_l1_fix_dist: 0.5020, d3.loss_plan_l1_fix_time: 2.5441, d3.loss_plan_l1_fix_dist: 0.5266, d4.loss_plan_l1_fix_time: 2.5469, d4.loss_plan_l1_fix_dist: 0.5553, d5.loss_plan_l1_fix_time: 2.5519, d5.loss_plan_l1_fix_dist: 0.5888, d6.loss_plan_l1_fix_time: 2.5587, d6.loss_plan_l1_fix_dist: 0.6246, d0.loss_cls_all: 0.7334, d0.loss_bbox_all: 0.7736, d0.loss_cls: 0.7334, d0.loss_bbox: 0.7736, d1.loss_cls: 0.7286, d1.loss_bbox: 0.7758, d2.loss_cls: 0.7256, d2.loss_bbox: 0.7365, d3.loss_cls: 0.7277, d3.loss_bbox: 0.7257, d4.loss_cls: 0.7275, d4.loss_bbox: 0.7257, d5.loss_cls: 0.7305, d5.loss_bbox: 0.7235, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8081, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7079, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6930, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7065, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.7310, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.7351, d0.loss_map_cls_all: 0.4552, d0.loss_map_pts_all: 2.8523, d0.loss_map_dir_all: 0.0334, d0.loss_map_cls: 0.4552, d0.loss_map_pts: 2.8523, d0.loss_map_dir: 0.0334, d1.loss_map_cls: 0.4405, d1.loss_map_pts: 2.2023, d1.loss_map_dir: 0.0334, d2.loss_map_cls: 0.4309, d2.loss_map_pts: 2.1269, d2.loss_map_dir: 0.0335, d3.loss_map_cls: 0.4290, d3.loss_map_pts: 2.1037, d3.loss_map_dir: 0.0336, d4.loss_map_cls: 0.4274, d4.loss_map_pts: 2.0955, d4.loss_map_dir: 0.0339, d5.loss_map_cls: 0.4260, d5.loss_map_pts: 2.0920, d5.loss_map_dir: 0.0340, loss: 68.0587, grad_norm: 146.7057 +2026-02-24 11:25:54,293 - DriveTransformer - INFO - Epoch [2][1900/39528] lr: 9.958e-05, eta: 8 days, 8:43:09, time: 0.791, data_time: 0.040, memory: 19865, loss_cls: 0.7380, loss_bbox: 0.7249, loss_traj: 1.6634, loss_traj_cls: 0.0004, loss_map_cls: 0.4173, loss_map_pts: 1.9962, loss_map_dir: 0.0339, d0.loss_plan_l1_fix_time: 2.7317, d0.loss_plan_l1_fix_dist: 0.4596, d1.loss_plan_l1_fix_time: 2.5707, d1.loss_plan_l1_fix_dist: 0.4571, d2.loss_plan_l1_fix_time: 2.5616, d2.loss_plan_l1_fix_dist: 0.4778, d3.loss_plan_l1_fix_time: 2.5688, d3.loss_plan_l1_fix_dist: 0.5060, d4.loss_plan_l1_fix_time: 2.5775, d4.loss_plan_l1_fix_dist: 0.5385, d5.loss_plan_l1_fix_time: 2.5878, d5.loss_plan_l1_fix_dist: 0.5807, d6.loss_plan_l1_fix_time: 2.5992, d6.loss_plan_l1_fix_dist: 0.6268, d0.loss_cls_all: 0.7316, d0.loss_bbox_all: 0.7793, d0.loss_cls: 0.7316, d0.loss_bbox: 0.7793, d1.loss_cls: 0.7381, d1.loss_bbox: 0.7857, d2.loss_cls: 0.7370, d2.loss_bbox: 0.7541, d3.loss_cls: 0.7396, d3.loss_bbox: 0.7301, d4.loss_cls: 0.7367, d4.loss_bbox: 0.7264, d5.loss_cls: 0.7368, d5.loss_bbox: 0.7194, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7271, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6535, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6387, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6490, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6510, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6624, d0.loss_map_cls_all: 0.4373, d0.loss_map_pts_all: 2.7110, d0.loss_map_dir_all: 0.0332, d0.loss_map_cls: 0.4373, d0.loss_map_pts: 2.7110, d0.loss_map_dir: 0.0332, d1.loss_map_cls: 0.4298, d1.loss_map_pts: 2.1087, d1.loss_map_dir: 0.0331, d2.loss_map_cls: 0.4192, d2.loss_map_pts: 2.0319, d2.loss_map_dir: 0.0332, d3.loss_map_cls: 0.4180, d3.loss_map_pts: 2.0118, d3.loss_map_dir: 0.0335, d4.loss_map_cls: 0.4168, d4.loss_map_pts: 2.0016, d4.loss_map_dir: 0.0336, d5.loss_map_cls: 0.4167, d5.loss_map_pts: 1.9968, d5.loss_map_dir: 0.0337, loss: 66.6111, grad_norm: 147.0304 +2026-02-24 11:26:31,582 - DriveTransformer - INFO - Epoch [2][1950/39528] lr: 9.958e-05, eta: 8 days, 8:41:34, time: 0.746, data_time: 0.044, memory: 19865, loss_cls: 0.7403, loss_bbox: 0.7309, loss_traj: 1.6160, loss_traj_cls: 0.0004, loss_map_cls: 0.3719, loss_map_pts: 1.7763, loss_map_dir: 0.0255, d0.loss_plan_l1_fix_time: 2.8365, d0.loss_plan_l1_fix_dist: 0.4623, d1.loss_plan_l1_fix_time: 2.6521, d1.loss_plan_l1_fix_dist: 0.4542, d2.loss_plan_l1_fix_time: 2.6411, d2.loss_plan_l1_fix_dist: 0.4663, d3.loss_plan_l1_fix_time: 2.6482, d3.loss_plan_l1_fix_dist: 0.4874, d4.loss_plan_l1_fix_time: 2.6578, d4.loss_plan_l1_fix_dist: 0.5137, d5.loss_plan_l1_fix_time: 2.6673, d5.loss_plan_l1_fix_dist: 0.5395, d6.loss_plan_l1_fix_time: 2.6775, d6.loss_plan_l1_fix_dist: 0.5661, d0.loss_cls_all: 0.7387, d0.loss_bbox_all: 0.7785, d0.loss_cls: 0.7387, d0.loss_bbox: 0.7785, d1.loss_cls: 0.7408, d1.loss_bbox: 0.7925, d2.loss_cls: 0.7443, d2.loss_bbox: 0.7702, d3.loss_cls: 0.7482, d3.loss_bbox: 0.7424, d4.loss_cls: 0.7423, d4.loss_bbox: 0.7395, d5.loss_cls: 0.7403, d5.loss_bbox: 0.7312, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5867, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5981, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5899, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6062, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6129, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6304, d0.loss_map_cls_all: 0.3942, d0.loss_map_pts_all: 2.2542, d0.loss_map_dir_all: 0.0254, d0.loss_map_cls: 0.3942, d0.loss_map_pts: 2.2542, d0.loss_map_dir: 0.0254, d1.loss_map_cls: 0.3801, d1.loss_map_pts: 1.8241, d1.loss_map_dir: 0.0252, d2.loss_map_cls: 0.3752, d2.loss_map_pts: 1.7698, d2.loss_map_dir: 0.0251, d3.loss_map_cls: 0.3744, d3.loss_map_pts: 1.7555, d3.loss_map_dir: 0.0251, d4.loss_map_cls: 0.3723, d4.loss_map_pts: 1.7556, d4.loss_map_dir: 0.0253, d5.loss_map_cls: 0.3720, d5.loss_map_pts: 1.7585, d5.loss_map_dir: 0.0253, loss: 63.8965, grad_norm: 143.0651 +2026-02-24 11:27:10,791 - DriveTransformer - INFO - Epoch [2][2000/39528] lr: 9.958e-05, eta: 8 days, 8:40:40, time: 0.784, data_time: 0.040, memory: 19865, loss_cls: 0.7691, loss_bbox: 0.7456, loss_traj: 2.0152, loss_traj_cls: 0.0005, loss_map_cls: 0.4429, loss_map_pts: 2.0730, loss_map_dir: 0.0318, d0.loss_plan_l1_fix_time: 3.0792, d0.loss_plan_l1_fix_dist: 0.4277, d1.loss_plan_l1_fix_time: 2.8341, d1.loss_plan_l1_fix_dist: 0.4191, d2.loss_plan_l1_fix_time: 2.8001, d2.loss_plan_l1_fix_dist: 0.4451, d3.loss_plan_l1_fix_time: 2.8000, d3.loss_plan_l1_fix_dist: 0.4793, d4.loss_plan_l1_fix_time: 2.8051, d4.loss_plan_l1_fix_dist: 0.5126, d5.loss_plan_l1_fix_time: 2.8114, d5.loss_plan_l1_fix_dist: 0.5552, d6.loss_plan_l1_fix_time: 2.8193, d6.loss_plan_l1_fix_dist: 0.6032, d0.loss_cls_all: 0.7811, d0.loss_bbox_all: 0.7863, d0.loss_cls: 0.7811, d0.loss_bbox: 0.7863, d1.loss_cls: 0.7761, d1.loss_bbox: 0.7853, d2.loss_cls: 0.7762, d2.loss_bbox: 0.7709, d3.loss_cls: 0.7755, d3.loss_bbox: 0.7518, d4.loss_cls: 0.7708, d4.loss_bbox: 0.7513, d5.loss_cls: 0.7704, d5.loss_bbox: 0.7472, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9577, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.9654, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.9861, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0009, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.0018, d5.loss_traj_cls: 0.0007, d5.loss_traj: 2.0105, d0.loss_map_cls_all: 0.4611, d0.loss_map_pts_all: 2.6824, d0.loss_map_dir_all: 0.0312, d0.loss_map_cls: 0.4611, d0.loss_map_pts: 2.6824, d0.loss_map_dir: 0.0312, d1.loss_map_cls: 0.4522, d1.loss_map_pts: 2.1415, d1.loss_map_dir: 0.0313, d2.loss_map_cls: 0.4442, d2.loss_map_pts: 2.0805, d2.loss_map_dir: 0.0314, d3.loss_map_cls: 0.4429, d3.loss_map_pts: 2.0678, d3.loss_map_dir: 0.0315, d4.loss_map_cls: 0.4432, d4.loss_map_pts: 2.0650, d4.loss_map_dir: 0.0317, d5.loss_map_cls: 0.4434, d5.loss_map_pts: 2.0685, d5.loss_map_dir: 0.0316, loss: 71.3623, grad_norm: 144.1366 +2026-02-24 11:27:50,916 - DriveTransformer - INFO - Epoch [2][2050/39528] lr: 9.958e-05, eta: 8 days, 8:40:07, time: 0.802, data_time: 0.039, memory: 19865, loss_cls: 0.7675, loss_bbox: 0.6922, loss_traj: 1.5689, loss_traj_cls: 0.0005, loss_map_cls: 0.3877, loss_map_pts: 1.9492, loss_map_dir: 0.0360, d0.loss_plan_l1_fix_time: 3.0110, d0.loss_plan_l1_fix_dist: 0.4134, d1.loss_plan_l1_fix_time: 2.8057, d1.loss_plan_l1_fix_dist: 0.4226, d2.loss_plan_l1_fix_time: 2.7876, d2.loss_plan_l1_fix_dist: 0.4467, d3.loss_plan_l1_fix_time: 2.7919, d3.loss_plan_l1_fix_dist: 0.4772, d4.loss_plan_l1_fix_time: 2.8018, d4.loss_plan_l1_fix_dist: 0.5134, d5.loss_plan_l1_fix_time: 2.8145, d5.loss_plan_l1_fix_dist: 0.5470, d6.loss_plan_l1_fix_time: 2.8303, d6.loss_plan_l1_fix_dist: 0.5854, d0.loss_cls_all: 0.7617, d0.loss_bbox_all: 0.7099, d0.loss_cls: 0.7617, d0.loss_bbox: 0.7099, d1.loss_cls: 0.7585, d1.loss_bbox: 0.7056, d2.loss_cls: 0.7560, d2.loss_bbox: 0.7061, d3.loss_cls: 0.7610, d3.loss_bbox: 0.6936, d4.loss_cls: 0.7600, d4.loss_bbox: 0.6943, d5.loss_cls: 0.7645, d5.loss_bbox: 0.6908, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5076, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5225, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5588, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5807, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5834, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5832, d0.loss_map_cls_all: 0.4087, d0.loss_map_pts_all: 2.6008, d0.loss_map_dir_all: 0.0346, d0.loss_map_cls: 0.4087, d0.loss_map_pts: 2.6008, d0.loss_map_dir: 0.0346, d1.loss_map_cls: 0.4080, d1.loss_map_pts: 2.0109, d1.loss_map_dir: 0.0349, d2.loss_map_cls: 0.3971, d2.loss_map_pts: 1.9461, d2.loss_map_dir: 0.0352, d3.loss_map_cls: 0.3939, d3.loss_map_pts: 1.9302, d3.loss_map_dir: 0.0355, d4.loss_map_cls: 0.3902, d4.loss_map_pts: 1.9315, d4.loss_map_dir: 0.0356, d5.loss_map_cls: 0.3885, d5.loss_map_pts: 1.9385, d5.loss_map_dir: 0.0356, loss: 66.2242, grad_norm: 144.1425 +2026-02-24 11:28:30,941 - DriveTransformer - INFO - Epoch [2][2100/39528] lr: 9.958e-05, eta: 8 days, 8:39:32, time: 0.801, data_time: 0.038, memory: 19865, loss_cls: 0.7508, loss_bbox: 0.6899, loss_traj: 1.5314, loss_traj_cls: 0.0005, loss_map_cls: 0.4290, loss_map_pts: 1.8727, loss_map_dir: 0.0334, d0.loss_plan_l1_fix_time: 2.7981, d0.loss_plan_l1_fix_dist: 0.4452, d1.loss_plan_l1_fix_time: 2.5663, d1.loss_plan_l1_fix_dist: 0.4477, d2.loss_plan_l1_fix_time: 2.5691, d2.loss_plan_l1_fix_dist: 0.4699, d3.loss_plan_l1_fix_time: 2.5801, d3.loss_plan_l1_fix_dist: 0.4998, d4.loss_plan_l1_fix_time: 2.5915, d4.loss_plan_l1_fix_dist: 0.5358, d5.loss_plan_l1_fix_time: 2.6033, d5.loss_plan_l1_fix_dist: 0.5726, d6.loss_plan_l1_fix_time: 2.6173, d6.loss_plan_l1_fix_dist: 0.6086, d0.loss_cls_all: 0.7472, d0.loss_bbox_all: 0.6994, d0.loss_cls: 0.7472, d0.loss_bbox: 0.6994, d1.loss_cls: 0.7544, d1.loss_bbox: 0.6987, d2.loss_cls: 0.7538, d2.loss_bbox: 0.6899, d3.loss_cls: 0.7554, d3.loss_bbox: 0.6866, d4.loss_cls: 0.7493, d4.loss_bbox: 0.6845, d5.loss_cls: 0.7502, d5.loss_bbox: 0.6839, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5957, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5445, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5362, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5390, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.5381, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5269, d0.loss_map_cls_all: 0.4389, d0.loss_map_pts_all: 2.5012, d0.loss_map_dir_all: 0.0324, d0.loss_map_cls: 0.4389, d0.loss_map_pts: 2.5012, d0.loss_map_dir: 0.0324, d1.loss_map_cls: 0.4329, d1.loss_map_pts: 1.9424, d1.loss_map_dir: 0.0324, d2.loss_map_cls: 0.4317, d2.loss_map_pts: 1.8661, d2.loss_map_dir: 0.0325, d3.loss_map_cls: 0.4289, d3.loss_map_pts: 1.8455, d3.loss_map_dir: 0.0329, d4.loss_map_cls: 0.4272, d4.loss_map_pts: 1.8408, d4.loss_map_dir: 0.0330, d5.loss_map_cls: 0.4262, d5.loss_map_pts: 1.8501, d5.loss_map_dir: 0.0331, loss: 64.1985, grad_norm: 145.0574 +2026-02-24 11:29:10,508 - DriveTransformer - INFO - Epoch [2][2150/39528] lr: 9.958e-05, eta: 8 days, 8:38:46, time: 0.791, data_time: 0.036, memory: 19865, loss_cls: 0.7500, loss_bbox: 0.7364, loss_traj: 1.8134, loss_traj_cls: 0.0005, loss_map_cls: 0.4168, loss_map_pts: 2.0424, loss_map_dir: 0.0332, d0.loss_plan_l1_fix_time: 2.6556, d0.loss_plan_l1_fix_dist: 0.4075, d1.loss_plan_l1_fix_time: 2.5476, d1.loss_plan_l1_fix_dist: 0.4072, d2.loss_plan_l1_fix_time: 2.5431, d2.loss_plan_l1_fix_dist: 0.4397, d3.loss_plan_l1_fix_time: 2.5457, d3.loss_plan_l1_fix_dist: 0.4725, d4.loss_plan_l1_fix_time: 2.5487, d4.loss_plan_l1_fix_dist: 0.5045, d5.loss_plan_l1_fix_time: 2.5524, d5.loss_plan_l1_fix_dist: 0.5432, d6.loss_plan_l1_fix_time: 2.5579, d6.loss_plan_l1_fix_dist: 0.5881, d0.loss_cls_all: 0.7604, d0.loss_bbox_all: 0.7618, d0.loss_cls: 0.7604, d0.loss_bbox: 0.7618, d1.loss_cls: 0.7427, d1.loss_bbox: 0.7541, d2.loss_cls: 0.7396, d2.loss_bbox: 0.7410, d3.loss_cls: 0.7416, d3.loss_bbox: 0.7381, d4.loss_cls: 0.7469, d4.loss_bbox: 0.7330, d5.loss_cls: 0.7490, d5.loss_bbox: 0.7320, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8197, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7822, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7945, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7912, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.8042, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8012, d0.loss_map_cls_all: 0.4324, d0.loss_map_pts_all: 2.6353, d0.loss_map_dir_all: 0.0324, d0.loss_map_cls: 0.4324, d0.loss_map_pts: 2.6353, d0.loss_map_dir: 0.0324, d1.loss_map_cls: 0.4253, d1.loss_map_pts: 2.0688, d1.loss_map_dir: 0.0323, d2.loss_map_cls: 0.4191, d2.loss_map_pts: 2.0191, d2.loss_map_dir: 0.0325, d3.loss_map_cls: 0.4203, d3.loss_map_pts: 2.0173, d3.loss_map_dir: 0.0327, d4.loss_map_cls: 0.4205, d4.loss_map_pts: 2.0254, d4.loss_map_dir: 0.0328, d5.loss_map_cls: 0.4151, d5.loss_map_pts: 2.0282, d5.loss_map_dir: 0.0329, loss: 66.9879, grad_norm: 147.0646 +2026-02-24 11:29:48,837 - DriveTransformer - INFO - Epoch [2][2200/39528] lr: 9.958e-05, eta: 8 days, 8:37:36, time: 0.768, data_time: 0.039, memory: 19865, loss_cls: 0.7659, loss_bbox: 0.7290, loss_traj: 1.5817, loss_traj_cls: 0.0005, loss_map_cls: 0.4364, loss_map_pts: 2.0510, loss_map_dir: 0.0316, d0.loss_plan_l1_fix_time: 2.9703, d0.loss_plan_l1_fix_dist: 0.5326, d1.loss_plan_l1_fix_time: 2.8388, d1.loss_plan_l1_fix_dist: 0.5356, d2.loss_plan_l1_fix_time: 2.8425, d2.loss_plan_l1_fix_dist: 0.5665, d3.loss_plan_l1_fix_time: 2.8505, d3.loss_plan_l1_fix_dist: 0.6013, d4.loss_plan_l1_fix_time: 2.8574, d4.loss_plan_l1_fix_dist: 0.6366, d5.loss_plan_l1_fix_time: 2.8641, d5.loss_plan_l1_fix_dist: 0.6767, d6.loss_plan_l1_fix_time: 2.8720, d6.loss_plan_l1_fix_dist: 0.7251, d0.loss_cls_all: 0.7677, d0.loss_bbox_all: 0.7374, d0.loss_cls: 0.7677, d0.loss_bbox: 0.7374, d1.loss_cls: 0.7521, d1.loss_bbox: 0.7316, d2.loss_cls: 0.7493, d2.loss_bbox: 0.7248, d3.loss_cls: 0.7559, d3.loss_bbox: 0.7217, d4.loss_cls: 0.7604, d4.loss_bbox: 0.7271, d5.loss_cls: 0.7641, d5.loss_bbox: 0.7260, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6310, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5715, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5732, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5794, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5912, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5793, d0.loss_map_cls_all: 0.4564, d0.loss_map_pts_all: 2.5275, d0.loss_map_dir_all: 0.0303, d0.loss_map_cls: 0.4564, d0.loss_map_pts: 2.5275, d0.loss_map_dir: 0.0303, d1.loss_map_cls: 0.4431, d1.loss_map_pts: 2.0558, d1.loss_map_dir: 0.0305, d2.loss_map_cls: 0.4310, d2.loss_map_pts: 2.0145, d2.loss_map_dir: 0.0308, d3.loss_map_cls: 0.4330, d3.loss_map_pts: 2.0138, d3.loss_map_dir: 0.0311, d4.loss_map_cls: 0.4331, d4.loss_map_pts: 2.0239, d4.loss_map_dir: 0.0313, d5.loss_map_cls: 0.4340, d5.loss_map_pts: 2.0334, d5.loss_map_dir: 0.0314, loss: 68.4179, grad_norm: 147.0668 +2026-02-24 11:30:30,295 - DriveTransformer - INFO - Epoch [2][2250/39528] lr: 9.958e-05, eta: 8 days, 8:37:30, time: 0.828, data_time: 0.037, memory: 19865, loss_cls: 0.7948, loss_bbox: 0.7248, loss_traj: 1.4232, loss_traj_cls: 0.0005, loss_map_cls: 0.4310, loss_map_pts: 2.1156, loss_map_dir: 0.0379, d0.loss_plan_l1_fix_time: 2.7761, d0.loss_plan_l1_fix_dist: 0.4913, d1.loss_plan_l1_fix_time: 2.6049, d1.loss_plan_l1_fix_dist: 0.4848, d2.loss_plan_l1_fix_time: 2.5883, d2.loss_plan_l1_fix_dist: 0.4980, d3.loss_plan_l1_fix_time: 2.5908, d3.loss_plan_l1_fix_dist: 0.5199, d4.loss_plan_l1_fix_time: 2.5965, d4.loss_plan_l1_fix_dist: 0.5454, d5.loss_plan_l1_fix_time: 2.6050, d5.loss_plan_l1_fix_dist: 0.5725, d6.loss_plan_l1_fix_time: 2.6151, d6.loss_plan_l1_fix_dist: 0.5999, d0.loss_cls_all: 0.7859, d0.loss_bbox_all: 0.7486, d0.loss_cls: 0.7859, d0.loss_bbox: 0.7486, d1.loss_cls: 0.7738, d1.loss_bbox: 0.7384, d2.loss_cls: 0.7730, d2.loss_bbox: 0.7280, d3.loss_cls: 0.7764, d3.loss_bbox: 0.7247, d4.loss_cls: 0.7830, d4.loss_bbox: 0.7272, d5.loss_cls: 0.7890, d5.loss_bbox: 0.7225, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4239, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3957, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.3864, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4071, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4154, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4213, d0.loss_map_cls_all: 0.4457, d0.loss_map_pts_all: 2.9444, d0.loss_map_dir_all: 0.0359, d0.loss_map_cls: 0.4457, d0.loss_map_pts: 2.9444, d0.loss_map_dir: 0.0359, d1.loss_map_cls: 0.4376, d1.loss_map_pts: 2.2310, d1.loss_map_dir: 0.0365, d2.loss_map_cls: 0.4273, d2.loss_map_pts: 2.1412, d2.loss_map_dir: 0.0369, d3.loss_map_cls: 0.4292, d3.loss_map_pts: 2.1215, d3.loss_map_dir: 0.0372, d4.loss_map_cls: 0.4296, d4.loss_map_pts: 2.1160, d4.loss_map_dir: 0.0374, d5.loss_map_cls: 0.4298, d5.loss_map_pts: 2.1129, d5.loss_map_dir: 0.0375, loss: 66.5889, grad_norm: 146.6406 +2026-02-24 11:31:09,651 - DriveTransformer - INFO - Epoch [2][2300/39528] lr: 9.958e-05, eta: 8 days, 8:36:40, time: 0.787, data_time: 0.044, memory: 19865, loss_cls: 0.7576, loss_bbox: 0.7013, loss_traj: 1.5833, loss_traj_cls: 0.0005, loss_map_cls: 0.4035, loss_map_pts: 1.8446, loss_map_dir: 0.0322, d0.loss_plan_l1_fix_time: 3.0411, d0.loss_plan_l1_fix_dist: 0.4877, d1.loss_plan_l1_fix_time: 2.8744, d1.loss_plan_l1_fix_dist: 0.4927, d2.loss_plan_l1_fix_time: 2.8772, d2.loss_plan_l1_fix_dist: 0.5152, d3.loss_plan_l1_fix_time: 2.8862, d3.loss_plan_l1_fix_dist: 0.5403, d4.loss_plan_l1_fix_time: 2.8982, d4.loss_plan_l1_fix_dist: 0.5748, d5.loss_plan_l1_fix_time: 2.9120, d5.loss_plan_l1_fix_dist: 0.6135, d6.loss_plan_l1_fix_time: 2.9274, d6.loss_plan_l1_fix_dist: 0.6562, d0.loss_cls_all: 0.7433, d0.loss_bbox_all: 0.7334, d0.loss_cls: 0.7433, d0.loss_bbox: 0.7334, d1.loss_cls: 0.7394, d1.loss_bbox: 0.7167, d2.loss_cls: 0.7428, d2.loss_bbox: 0.7001, d3.loss_cls: 0.7454, d3.loss_bbox: 0.6942, d4.loss_cls: 0.7481, d4.loss_bbox: 0.6998, d5.loss_cls: 0.7577, d5.loss_bbox: 0.6989, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6146, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5598, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5574, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5495, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5647, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5709, d0.loss_map_cls_all: 0.4167, d0.loss_map_pts_all: 2.4357, d0.loss_map_dir_all: 0.0311, d0.loss_map_cls: 0.4167, d0.loss_map_pts: 2.4357, d0.loss_map_dir: 0.0311, d1.loss_map_cls: 0.4088, d1.loss_map_pts: 1.8890, d1.loss_map_dir: 0.0312, d2.loss_map_cls: 0.4103, d2.loss_map_pts: 1.8366, d2.loss_map_dir: 0.0315, d3.loss_map_cls: 0.4069, d3.loss_map_pts: 1.8306, d3.loss_map_dir: 0.0317, d4.loss_map_cls: 0.4045, d4.loss_map_pts: 1.8343, d4.loss_map_dir: 0.0318, d5.loss_map_cls: 0.4016, d5.loss_map_pts: 1.8426, d5.loss_map_dir: 0.0319, loss: 66.4275, grad_norm: 146.7730 +2026-02-24 11:31:47,719 - DriveTransformer - INFO - Epoch [2][2350/39528] lr: 9.958e-05, eta: 8 days, 8:35:22, time: 0.761, data_time: 0.044, memory: 19865, loss_cls: 0.7434, loss_bbox: 0.6788, loss_traj: 1.4113, loss_traj_cls: 0.0005, loss_map_cls: 0.4280, loss_map_pts: 1.7693, loss_map_dir: 0.0305, d0.loss_plan_l1_fix_time: 2.7841, d0.loss_plan_l1_fix_dist: 0.4366, d1.loss_plan_l1_fix_time: 2.7438, d1.loss_plan_l1_fix_dist: 0.4411, d2.loss_plan_l1_fix_time: 2.7722, d2.loss_plan_l1_fix_dist: 0.4588, d3.loss_plan_l1_fix_time: 2.7912, d3.loss_plan_l1_fix_dist: 0.4814, d4.loss_plan_l1_fix_time: 2.8100, d4.loss_plan_l1_fix_dist: 0.5033, d5.loss_plan_l1_fix_time: 2.8296, d5.loss_plan_l1_fix_dist: 0.5306, d6.loss_plan_l1_fix_time: 2.8494, d6.loss_plan_l1_fix_dist: 0.5574, d0.loss_cls_all: 0.7478, d0.loss_bbox_all: 0.7094, d0.loss_cls: 0.7478, d0.loss_bbox: 0.7094, d1.loss_cls: 0.7386, d1.loss_bbox: 0.6902, d2.loss_cls: 0.7385, d2.loss_bbox: 0.6804, d3.loss_cls: 0.7423, d3.loss_bbox: 0.6751, d4.loss_cls: 0.7430, d4.loss_bbox: 0.6796, d5.loss_cls: 0.7443, d5.loss_bbox: 0.6795, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4345, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3995, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4054, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4018, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4103, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4055, d0.loss_map_cls_all: 0.4385, d0.loss_map_pts_all: 2.3772, d0.loss_map_dir_all: 0.0294, d0.loss_map_cls: 0.4385, d0.loss_map_pts: 2.3772, d0.loss_map_dir: 0.0294, d1.loss_map_cls: 0.4295, d1.loss_map_pts: 1.8240, d1.loss_map_dir: 0.0297, d2.loss_map_cls: 0.4302, d2.loss_map_pts: 1.7821, d2.loss_map_dir: 0.0298, d3.loss_map_cls: 0.4287, d3.loss_map_pts: 1.7606, d3.loss_map_dir: 0.0301, d4.loss_map_cls: 0.4272, d4.loss_map_pts: 1.7579, d4.loss_map_dir: 0.0302, d5.loss_map_cls: 0.4261, d5.loss_map_pts: 1.7619, d5.loss_map_dir: 0.0303, loss: 63.4072, grad_norm: 147.4913 +2026-02-24 11:32:27,938 - DriveTransformer - INFO - Epoch [2][2400/39528] lr: 9.958e-05, eta: 8 days, 8:34:51, time: 0.804, data_time: 0.038, memory: 19865, loss_cls: 0.7839, loss_bbox: 0.7085, loss_traj: 1.6508, loss_traj_cls: 0.0005, loss_map_cls: 0.4188, loss_map_pts: 1.9724, loss_map_dir: 0.0359, d0.loss_plan_l1_fix_time: 2.6395, d0.loss_plan_l1_fix_dist: 0.4272, d1.loss_plan_l1_fix_time: 2.4153, d1.loss_plan_l1_fix_dist: 0.4444, d2.loss_plan_l1_fix_time: 2.3835, d2.loss_plan_l1_fix_dist: 0.4685, d3.loss_plan_l1_fix_time: 2.3859, d3.loss_plan_l1_fix_dist: 0.4952, d4.loss_plan_l1_fix_time: 2.3952, d4.loss_plan_l1_fix_dist: 0.5189, d5.loss_plan_l1_fix_time: 2.4077, d5.loss_plan_l1_fix_dist: 0.5452, d6.loss_plan_l1_fix_time: 2.4222, d6.loss_plan_l1_fix_dist: 0.5718, d0.loss_cls_all: 0.7745, d0.loss_bbox_all: 0.7204, d0.loss_cls: 0.7745, d0.loss_bbox: 0.7204, d1.loss_cls: 0.7666, d1.loss_bbox: 0.7171, d2.loss_cls: 0.7700, d2.loss_bbox: 0.7072, d3.loss_cls: 0.7732, d3.loss_bbox: 0.7098, d4.loss_cls: 0.7777, d4.loss_bbox: 0.7047, d5.loss_cls: 0.7811, d5.loss_bbox: 0.7070, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6420, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.6058, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.6112, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6269, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6370, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6435, d0.loss_map_cls_all: 0.4341, d0.loss_map_pts_all: 2.7098, d0.loss_map_dir_all: 0.0348, d0.loss_map_cls: 0.4341, d0.loss_map_pts: 2.7098, d0.loss_map_dir: 0.0348, d1.loss_map_cls: 0.4336, d1.loss_map_pts: 2.0512, d1.loss_map_dir: 0.0348, d2.loss_map_cls: 0.4236, d2.loss_map_pts: 1.9905, d2.loss_map_dir: 0.0349, d3.loss_map_cls: 0.4183, d3.loss_map_pts: 1.9691, d3.loss_map_dir: 0.0352, d4.loss_map_cls: 0.4163, d4.loss_map_pts: 1.9674, d4.loss_map_dir: 0.0355, d5.loss_map_cls: 0.4164, d5.loss_map_pts: 1.9678, d5.loss_map_dir: 0.0356, loss: 64.8535, grad_norm: 148.0969 +2026-02-24 11:33:04,939 - DriveTransformer - INFO - Epoch [2][2450/39528] lr: 9.958e-05, eta: 8 days, 8:33:11, time: 0.740, data_time: 0.041, memory: 19865, loss_cls: 0.7457, loss_bbox: 0.7382, loss_traj: 1.8967, loss_traj_cls: 0.0005, loss_map_cls: 0.4324, loss_map_pts: 1.8918, loss_map_dir: 0.0287, d0.loss_plan_l1_fix_time: 2.9596, d0.loss_plan_l1_fix_dist: 0.5294, d1.loss_plan_l1_fix_time: 2.7764, d1.loss_plan_l1_fix_dist: 0.5281, d2.loss_plan_l1_fix_time: 2.7481, d2.loss_plan_l1_fix_dist: 0.5399, d3.loss_plan_l1_fix_time: 2.7475, d3.loss_plan_l1_fix_dist: 0.5580, d4.loss_plan_l1_fix_time: 2.7525, d4.loss_plan_l1_fix_dist: 0.5799, d5.loss_plan_l1_fix_time: 2.7598, d5.loss_plan_l1_fix_dist: 0.6038, d6.loss_plan_l1_fix_time: 2.7708, d6.loss_plan_l1_fix_dist: 0.6317, d0.loss_cls_all: 0.7432, d0.loss_bbox_all: 0.7625, d0.loss_cls: 0.7432, d0.loss_bbox: 0.7625, d1.loss_cls: 0.7458, d1.loss_bbox: 0.7541, d2.loss_cls: 0.7452, d2.loss_bbox: 0.7456, d3.loss_cls: 0.7499, d3.loss_bbox: 0.7491, d4.loss_cls: 0.7438, d4.loss_bbox: 0.7406, d5.loss_cls: 0.7453, d5.loss_bbox: 0.7370, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9315, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.8726, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.8756, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8899, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.8894, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.8893, d0.loss_map_cls_all: 0.4628, d0.loss_map_pts_all: 2.4383, d0.loss_map_dir_all: 0.0277, d0.loss_map_cls: 0.4628, d0.loss_map_pts: 2.4383, d0.loss_map_dir: 0.0277, d1.loss_map_cls: 0.4490, d1.loss_map_pts: 1.9540, d1.loss_map_dir: 0.0278, d2.loss_map_cls: 0.4330, d2.loss_map_pts: 1.8982, d2.loss_map_dir: 0.0280, d3.loss_map_cls: 0.4305, d3.loss_map_pts: 1.8842, d3.loss_map_dir: 0.0281, d4.loss_map_cls: 0.4291, d4.loss_map_pts: 1.8855, d4.loss_map_dir: 0.0283, d5.loss_map_cls: 0.4281, d5.loss_map_pts: 1.8839, d5.loss_map_dir: 0.0284, loss: 68.7132, grad_norm: 148.3447 +2026-02-24 11:33:44,186 - DriveTransformer - INFO - Epoch [2][2500/39528] lr: 9.958e-05, eta: 8 days, 8:32:19, time: 0.785, data_time: 0.035, memory: 19865, loss_cls: 0.7800, loss_bbox: 0.7382, loss_traj: 1.8034, loss_traj_cls: 0.0005, loss_map_cls: 0.4271, loss_map_pts: 1.9117, loss_map_dir: 0.0323, d0.loss_plan_l1_fix_time: 2.7205, d0.loss_plan_l1_fix_dist: 0.5690, d1.loss_plan_l1_fix_time: 2.5868, d1.loss_plan_l1_fix_dist: 0.5622, d2.loss_plan_l1_fix_time: 2.5685, d2.loss_plan_l1_fix_dist: 0.5680, d3.loss_plan_l1_fix_time: 2.5706, d3.loss_plan_l1_fix_dist: 0.5794, d4.loss_plan_l1_fix_time: 2.5769, d4.loss_plan_l1_fix_dist: 0.6000, d5.loss_plan_l1_fix_time: 2.5849, d5.loss_plan_l1_fix_dist: 0.6235, d6.loss_plan_l1_fix_time: 2.5945, d6.loss_plan_l1_fix_dist: 0.6552, d0.loss_cls_all: 0.7848, d0.loss_bbox_all: 0.7508, d0.loss_cls: 0.7848, d0.loss_bbox: 0.7508, d1.loss_cls: 0.7731, d1.loss_bbox: 0.7491, d2.loss_cls: 0.7742, d2.loss_bbox: 0.7390, d3.loss_cls: 0.7772, d3.loss_bbox: 0.7442, d4.loss_cls: 0.7742, d4.loss_bbox: 0.7364, d5.loss_cls: 0.7811, d5.loss_bbox: 0.7335, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8473, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.7740, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.7773, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7878, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.7925, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.7932, d0.loss_map_cls_all: 0.4524, d0.loss_map_pts_all: 2.5412, d0.loss_map_dir_all: 0.0313, d0.loss_map_cls: 0.4524, d0.loss_map_pts: 2.5412, d0.loss_map_dir: 0.0313, d1.loss_map_cls: 0.4427, d1.loss_map_pts: 2.0015, d1.loss_map_dir: 0.0315, d2.loss_map_cls: 0.4359, d2.loss_map_pts: 1.9342, d2.loss_map_dir: 0.0316, d3.loss_map_cls: 0.4322, d3.loss_map_pts: 1.9188, d3.loss_map_dir: 0.0318, d4.loss_map_cls: 0.4286, d4.loss_map_pts: 1.9137, d4.loss_map_dir: 0.0320, d5.loss_map_cls: 0.4267, d5.loss_map_pts: 1.9157, d5.loss_map_dir: 0.0321, loss: 67.5423, grad_norm: 147.5940 +2026-02-24 11:34:25,009 - DriveTransformer - INFO - Epoch [2][2550/39528] lr: 9.958e-05, eta: 8 days, 8:32:00, time: 0.816, data_time: 0.037, memory: 19865, loss_cls: 0.7518, loss_bbox: 0.6746, loss_traj: 1.4765, loss_traj_cls: 0.0005, loss_map_cls: 0.4252, loss_map_pts: 1.8901, loss_map_dir: 0.0333, d0.loss_plan_l1_fix_time: 2.6185, d0.loss_plan_l1_fix_dist: 0.4375, d1.loss_plan_l1_fix_time: 2.3969, d1.loss_plan_l1_fix_dist: 0.4322, d2.loss_plan_l1_fix_time: 2.3750, d2.loss_plan_l1_fix_dist: 0.4461, d3.loss_plan_l1_fix_time: 2.3762, d3.loss_plan_l1_fix_dist: 0.4664, d4.loss_plan_l1_fix_time: 2.3813, d4.loss_plan_l1_fix_dist: 0.4886, d5.loss_plan_l1_fix_time: 2.3873, d5.loss_plan_l1_fix_dist: 0.5155, d6.loss_plan_l1_fix_time: 2.3926, d6.loss_plan_l1_fix_dist: 0.5499, d0.loss_cls_all: 0.7549, d0.loss_bbox_all: 0.6820, d0.loss_cls: 0.7549, d0.loss_bbox: 0.6820, d1.loss_cls: 0.7415, d1.loss_bbox: 0.6810, d2.loss_cls: 0.7432, d2.loss_bbox: 0.6715, d3.loss_cls: 0.7496, d3.loss_bbox: 0.6804, d4.loss_cls: 0.7470, d4.loss_bbox: 0.6773, d5.loss_cls: 0.7511, d5.loss_bbox: 0.6735, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5152, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4679, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4605, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4701, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4658, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4702, d0.loss_map_cls_all: 0.4351, d0.loss_map_pts_all: 2.7110, d0.loss_map_dir_all: 0.0323, d0.loss_map_cls: 0.4351, d0.loss_map_pts: 2.7110, d0.loss_map_dir: 0.0323, d1.loss_map_cls: 0.4245, d1.loss_map_pts: 2.0281, d1.loss_map_dir: 0.0324, d2.loss_map_cls: 0.4276, d2.loss_map_pts: 1.9433, d2.loss_map_dir: 0.0325, d3.loss_map_cls: 0.4279, d3.loss_map_pts: 1.9169, d3.loss_map_dir: 0.0327, d4.loss_map_cls: 0.4250, d4.loss_map_pts: 1.9013, d4.loss_map_dir: 0.0328, d5.loss_map_cls: 0.4253, d5.loss_map_pts: 1.9001, d5.loss_map_dir: 0.0330, loss: 62.6996, grad_norm: 148.3925 +2026-02-24 11:35:05,105 - DriveTransformer - INFO - Epoch [2][2600/39528] lr: 9.958e-05, eta: 8 days, 8:31:27, time: 0.802, data_time: 0.035, memory: 19865, loss_cls: 0.7264, loss_bbox: 0.7207, loss_traj: 1.5116, loss_traj_cls: 0.0005, loss_map_cls: 0.4029, loss_map_pts: 1.9479, loss_map_dir: 0.0320, d0.loss_plan_l1_fix_time: 2.9710, d0.loss_plan_l1_fix_dist: 0.5307, d1.loss_plan_l1_fix_time: 2.8175, d1.loss_plan_l1_fix_dist: 0.5272, d2.loss_plan_l1_fix_time: 2.8031, d2.loss_plan_l1_fix_dist: 0.5359, d3.loss_plan_l1_fix_time: 2.8059, d3.loss_plan_l1_fix_dist: 0.5524, d4.loss_plan_l1_fix_time: 2.8123, d4.loss_plan_l1_fix_dist: 0.5703, d5.loss_plan_l1_fix_time: 2.8188, d5.loss_plan_l1_fix_dist: 0.5887, d6.loss_plan_l1_fix_time: 2.8247, d6.loss_plan_l1_fix_dist: 0.6083, d0.loss_cls_all: 0.7319, d0.loss_bbox_all: 0.7308, d0.loss_cls: 0.7319, d0.loss_bbox: 0.7308, d1.loss_cls: 0.7283, d1.loss_bbox: 0.7258, d2.loss_cls: 0.7245, d2.loss_bbox: 0.7174, d3.loss_cls: 0.7231, d3.loss_bbox: 0.7235, d4.loss_cls: 0.7221, d4.loss_bbox: 0.7200, d5.loss_cls: 0.7273, d5.loss_bbox: 0.7158, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5461, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4879, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4857, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4824, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4865, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4982, d0.loss_map_cls_all: 0.4333, d0.loss_map_pts_all: 2.7172, d0.loss_map_dir_all: 0.0312, d0.loss_map_cls: 0.4333, d0.loss_map_pts: 2.7172, d0.loss_map_dir: 0.0312, d1.loss_map_cls: 0.4120, d1.loss_map_pts: 2.0568, d1.loss_map_dir: 0.0312, d2.loss_map_cls: 0.4085, d2.loss_map_pts: 1.9748, d2.loss_map_dir: 0.0313, d3.loss_map_cls: 0.4051, d3.loss_map_pts: 1.9558, d3.loss_map_dir: 0.0315, d4.loss_map_cls: 0.4028, d4.loss_map_pts: 1.9478, d4.loss_map_dir: 0.0317, d5.loss_map_cls: 0.4008, d5.loss_map_pts: 1.9406, d5.loss_map_dir: 0.0318, loss: 66.6788, grad_norm: 147.9338 +2026-02-24 11:35:44,455 - DriveTransformer - INFO - Epoch [2][2650/39528] lr: 9.958e-05, eta: 8 days, 8:30:37, time: 0.787, data_time: 0.036, memory: 19865, loss_cls: 0.7187, loss_bbox: 0.6934, loss_traj: 1.5830, loss_traj_cls: 0.0005, loss_map_cls: 0.4335, loss_map_pts: 2.0829, loss_map_dir: 0.0331, d0.loss_plan_l1_fix_time: 2.7946, d0.loss_plan_l1_fix_dist: 0.5147, d1.loss_plan_l1_fix_time: 2.5550, d1.loss_plan_l1_fix_dist: 0.5078, d2.loss_plan_l1_fix_time: 2.5303, d2.loss_plan_l1_fix_dist: 0.5155, d3.loss_plan_l1_fix_time: 2.5297, d3.loss_plan_l1_fix_dist: 0.5310, d4.loss_plan_l1_fix_time: 2.5350, d4.loss_plan_l1_fix_dist: 0.5519, d5.loss_plan_l1_fix_time: 2.5432, d5.loss_plan_l1_fix_dist: 0.5759, d6.loss_plan_l1_fix_time: 2.5542, d6.loss_plan_l1_fix_dist: 0.6043, d0.loss_cls_all: 0.7269, d0.loss_bbox_all: 0.7161, d0.loss_cls: 0.7269, d0.loss_bbox: 0.7161, d1.loss_cls: 0.7220, d1.loss_bbox: 0.7062, d2.loss_cls: 0.7199, d2.loss_bbox: 0.6937, d3.loss_cls: 0.7191, d3.loss_bbox: 0.6969, d4.loss_cls: 0.7181, d4.loss_bbox: 0.6998, d5.loss_cls: 0.7183, d5.loss_bbox: 0.6916, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6524, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5748, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5624, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5670, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5647, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5739, d0.loss_map_cls_all: 0.4551, d0.loss_map_pts_all: 2.7831, d0.loss_map_dir_all: 0.0320, d0.loss_map_cls: 0.4551, d0.loss_map_pts: 2.7831, d0.loss_map_dir: 0.0320, d1.loss_map_cls: 0.4437, d1.loss_map_pts: 2.2157, d1.loss_map_dir: 0.0322, d2.loss_map_cls: 0.4346, d2.loss_map_pts: 2.1319, d2.loss_map_dir: 0.0323, d3.loss_map_cls: 0.4320, d3.loss_map_pts: 2.1020, d3.loss_map_dir: 0.0325, d4.loss_map_cls: 0.4297, d4.loss_map_pts: 2.0895, d4.loss_map_dir: 0.0328, d5.loss_map_cls: 0.4305, d5.loss_map_pts: 2.0791, d5.loss_map_dir: 0.0329, loss: 66.3512, grad_norm: 148.7525 +2026-02-24 11:36:22,935 - DriveTransformer - INFO - Epoch [2][2700/39528] lr: 9.958e-05, eta: 8 days, 8:29:28, time: 0.770, data_time: 0.037, memory: 19865, loss_cls: 0.7286, loss_bbox: 0.7102, loss_traj: 1.9454, loss_traj_cls: 0.0005, loss_map_cls: 0.4581, loss_map_pts: 1.8783, loss_map_dir: 0.0307, d0.loss_plan_l1_fix_time: 3.1290, d0.loss_plan_l1_fix_dist: 0.5002, d1.loss_plan_l1_fix_time: 2.8874, d1.loss_plan_l1_fix_dist: 0.4889, d2.loss_plan_l1_fix_time: 2.8592, d2.loss_plan_l1_fix_dist: 0.4993, d3.loss_plan_l1_fix_time: 2.8618, d3.loss_plan_l1_fix_dist: 0.5192, d4.loss_plan_l1_fix_time: 2.8682, d4.loss_plan_l1_fix_dist: 0.5412, d5.loss_plan_l1_fix_time: 2.8777, d5.loss_plan_l1_fix_dist: 0.5641, d6.loss_plan_l1_fix_time: 2.8902, d6.loss_plan_l1_fix_dist: 0.5896, d0.loss_cls_all: 0.7424, d0.loss_bbox_all: 0.7284, d0.loss_cls: 0.7424, d0.loss_bbox: 0.7284, d1.loss_cls: 0.7333, d1.loss_bbox: 0.7283, d2.loss_cls: 0.7303, d2.loss_bbox: 0.7198, d3.loss_cls: 0.7304, d3.loss_bbox: 0.7129, d4.loss_cls: 0.7312, d4.loss_bbox: 0.7180, d5.loss_cls: 0.7294, d5.loss_bbox: 0.7109, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0289, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.9624, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.9387, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9338, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.9341, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9367, d0.loss_map_cls_all: 0.4800, d0.loss_map_pts_all: 2.5145, d0.loss_map_dir_all: 0.0300, d0.loss_map_cls: 0.4800, d0.loss_map_pts: 2.5145, d0.loss_map_dir: 0.0300, d1.loss_map_cls: 0.4639, d1.loss_map_pts: 2.0058, d1.loss_map_dir: 0.0299, d2.loss_map_cls: 0.4597, d2.loss_map_pts: 1.9189, d2.loss_map_dir: 0.0300, d3.loss_map_cls: 0.4578, d3.loss_map_pts: 1.8907, d3.loss_map_dir: 0.0302, d4.loss_map_cls: 0.4590, d4.loss_map_pts: 1.8775, d4.loss_map_dir: 0.0305, d5.loss_map_cls: 0.4567, d5.loss_map_pts: 1.8763, d5.loss_map_dir: 0.0307, loss: 69.8190, grad_norm: 149.3825 +2026-02-24 11:37:01,230 - DriveTransformer - INFO - Epoch [2][2750/39528] lr: 9.958e-05, eta: 8 days, 8:28:16, time: 0.766, data_time: 0.036, memory: 19865, loss_cls: 0.7734, loss_bbox: 0.7731, loss_traj: 1.7525, loss_traj_cls: 0.0005, loss_map_cls: 0.4516, loss_map_pts: 2.0112, loss_map_dir: 0.0308, d0.loss_plan_l1_fix_time: 3.2819, d0.loss_plan_l1_fix_dist: 0.5333, d1.loss_plan_l1_fix_time: 3.0893, d1.loss_plan_l1_fix_dist: 0.5227, d2.loss_plan_l1_fix_time: 3.0829, d2.loss_plan_l1_fix_dist: 0.5327, d3.loss_plan_l1_fix_time: 3.0918, d3.loss_plan_l1_fix_dist: 0.5501, d4.loss_plan_l1_fix_time: 3.1014, d4.loss_plan_l1_fix_dist: 0.5692, d5.loss_plan_l1_fix_time: 3.1130, d5.loss_plan_l1_fix_dist: 0.5901, d6.loss_plan_l1_fix_time: 3.1281, d6.loss_plan_l1_fix_dist: 0.6154, d0.loss_cls_all: 0.7753, d0.loss_bbox_all: 0.7935, d0.loss_cls: 0.7753, d0.loss_bbox: 0.7935, d1.loss_cls: 0.7726, d1.loss_bbox: 0.7964, d2.loss_cls: 0.7706, d2.loss_bbox: 0.7876, d3.loss_cls: 0.7736, d3.loss_bbox: 0.7772, d4.loss_cls: 0.7740, d4.loss_bbox: 0.7776, d5.loss_cls: 0.7736, d5.loss_bbox: 0.7735, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7624, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.7277, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.7245, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7328, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.7424, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.7487, d0.loss_map_cls_all: 0.4829, d0.loss_map_pts_all: 2.6800, d0.loss_map_dir_all: 0.0302, d0.loss_map_cls: 0.4829, d0.loss_map_pts: 2.6800, d0.loss_map_dir: 0.0302, d1.loss_map_cls: 0.4519, d1.loss_map_pts: 2.1069, d1.loss_map_dir: 0.0302, d2.loss_map_cls: 0.4564, d2.loss_map_pts: 2.0412, d2.loss_map_dir: 0.0303, d3.loss_map_cls: 0.4504, d3.loss_map_pts: 2.0209, d3.loss_map_dir: 0.0304, d4.loss_map_cls: 0.4513, d4.loss_map_pts: 2.0129, d4.loss_map_dir: 0.0305, d5.loss_map_cls: 0.4507, d5.loss_map_pts: 2.0100, d5.loss_map_dir: 0.0306, loss: 71.9428, grad_norm: 151.0886 +2026-02-24 11:37:40,403 - DriveTransformer - INFO - Epoch [2][2800/39528] lr: 9.958e-05, eta: 8 days, 8:27:22, time: 0.783, data_time: 0.041, memory: 19865, loss_cls: 0.7675, loss_bbox: 0.6916, loss_traj: 1.8609, loss_traj_cls: 0.0005, loss_map_cls: 0.4317, loss_map_pts: 1.8876, loss_map_dir: 0.0311, d0.loss_plan_l1_fix_time: 3.1699, d0.loss_plan_l1_fix_dist: 0.4894, d1.loss_plan_l1_fix_time: 2.9598, d1.loss_plan_l1_fix_dist: 0.4889, d2.loss_plan_l1_fix_time: 2.9493, d2.loss_plan_l1_fix_dist: 0.5037, d3.loss_plan_l1_fix_time: 2.9566, d3.loss_plan_l1_fix_dist: 0.5219, d4.loss_plan_l1_fix_time: 2.9656, d4.loss_plan_l1_fix_dist: 0.5446, d5.loss_plan_l1_fix_time: 2.9748, d5.loss_plan_l1_fix_dist: 0.5702, d6.loss_plan_l1_fix_time: 2.9855, d6.loss_plan_l1_fix_dist: 0.5987, d0.loss_cls_all: 0.7692, d0.loss_bbox_all: 0.7079, d0.loss_cls: 0.7692, d0.loss_bbox: 0.7079, d1.loss_cls: 0.7626, d1.loss_bbox: 0.7080, d2.loss_cls: 0.7596, d2.loss_bbox: 0.7110, d3.loss_cls: 0.7584, d3.loss_bbox: 0.7030, d4.loss_cls: 0.7644, d4.loss_bbox: 0.6935, d5.loss_cls: 0.7665, d5.loss_bbox: 0.6921, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8695, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.8469, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.8459, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.8506, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.8553, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.8522, d0.loss_map_cls_all: 0.4497, d0.loss_map_pts_all: 2.5520, d0.loss_map_dir_all: 0.0301, d0.loss_map_cls: 0.4497, d0.loss_map_pts: 2.5520, d0.loss_map_dir: 0.0301, d1.loss_map_cls: 0.4485, d1.loss_map_pts: 2.0013, d1.loss_map_dir: 0.0304, d2.loss_map_cls: 0.4364, d2.loss_map_pts: 1.9347, d2.loss_map_dir: 0.0306, d3.loss_map_cls: 0.4329, d3.loss_map_pts: 1.9129, d3.loss_map_dir: 0.0307, d4.loss_map_cls: 0.4303, d4.loss_map_pts: 1.9014, d4.loss_map_dir: 0.0308, d5.loss_map_cls: 0.4309, d5.loss_map_pts: 1.8937, d5.loss_map_dir: 0.0310, loss: 69.7874, grad_norm: 150.9085 +2026-02-24 11:38:20,216 - DriveTransformer - INFO - Epoch [2][2850/39528] lr: 9.958e-05, eta: 8 days, 8:26:43, time: 0.796, data_time: 0.044, memory: 19865, loss_cls: 0.7160, loss_bbox: 0.7156, loss_traj: 1.7403, loss_traj_cls: 0.0005, loss_map_cls: 0.4154, loss_map_pts: 1.9117, loss_map_dir: 0.0330, d0.loss_plan_l1_fix_time: 2.6592, d0.loss_plan_l1_fix_dist: 0.4899, d1.loss_plan_l1_fix_time: 2.4579, d1.loss_plan_l1_fix_dist: 0.4759, d2.loss_plan_l1_fix_time: 2.4430, d2.loss_plan_l1_fix_dist: 0.4823, d3.loss_plan_l1_fix_time: 2.4472, d3.loss_plan_l1_fix_dist: 0.5014, d4.loss_plan_l1_fix_time: 2.4541, d4.loss_plan_l1_fix_dist: 0.5229, d5.loss_plan_l1_fix_time: 2.4618, d5.loss_plan_l1_fix_dist: 0.5479, d6.loss_plan_l1_fix_time: 2.4691, d6.loss_plan_l1_fix_dist: 0.5742, d0.loss_cls_all: 0.7317, d0.loss_bbox_all: 0.7302, d0.loss_cls: 0.7317, d0.loss_bbox: 0.7302, d1.loss_cls: 0.7232, d1.loss_bbox: 0.7333, d2.loss_cls: 0.7223, d2.loss_bbox: 0.7342, d3.loss_cls: 0.7217, d3.loss_bbox: 0.7291, d4.loss_cls: 0.7197, d4.loss_bbox: 0.7164, d5.loss_cls: 0.7193, d5.loss_bbox: 0.7157, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8311, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.7443, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.7229, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7359, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7356, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7357, d0.loss_map_cls_all: 0.4394, d0.loss_map_pts_all: 2.7797, d0.loss_map_dir_all: 0.0324, d0.loss_map_cls: 0.4394, d0.loss_map_pts: 2.7797, d0.loss_map_dir: 0.0324, d1.loss_map_cls: 0.4337, d1.loss_map_pts: 2.0603, d1.loss_map_dir: 0.0326, d2.loss_map_cls: 0.4200, d2.loss_map_pts: 1.9757, d2.loss_map_dir: 0.0326, d3.loss_map_cls: 0.4160, d3.loss_map_pts: 1.9394, d3.loss_map_dir: 0.0326, d4.loss_map_cls: 0.4171, d4.loss_map_pts: 1.9238, d4.loss_map_dir: 0.0328, d5.loss_map_cls: 0.4159, d5.loss_map_pts: 1.9143, d5.loss_map_dir: 0.0329, loss: 65.7703, grad_norm: 150.9524 +2026-02-24 11:39:00,507 - DriveTransformer - INFO - Epoch [2][2900/39528] lr: 9.958e-05, eta: 8 days, 8:26:13, time: 0.806, data_time: 0.040, memory: 19865, loss_cls: 0.7457, loss_bbox: 0.7399, loss_traj: 1.3617, loss_traj_cls: 0.0005, loss_map_cls: 0.4265, loss_map_pts: 1.7045, loss_map_dir: 0.0323, d0.loss_plan_l1_fix_time: 3.0857, d0.loss_plan_l1_fix_dist: 0.4201, d1.loss_plan_l1_fix_time: 2.9648, d1.loss_plan_l1_fix_dist: 0.4176, d2.loss_plan_l1_fix_time: 2.9578, d2.loss_plan_l1_fix_dist: 0.4339, d3.loss_plan_l1_fix_time: 2.9609, d3.loss_plan_l1_fix_dist: 0.4521, d4.loss_plan_l1_fix_time: 2.9665, d4.loss_plan_l1_fix_dist: 0.4728, d5.loss_plan_l1_fix_time: 2.9727, d5.loss_plan_l1_fix_dist: 0.4952, d6.loss_plan_l1_fix_time: 2.9793, d6.loss_plan_l1_fix_dist: 0.5211, d0.loss_cls_all: 0.7450, d0.loss_bbox_all: 0.7434, d0.loss_cls: 0.7450, d0.loss_bbox: 0.7434, d1.loss_cls: 0.7401, d1.loss_bbox: 0.7429, d2.loss_cls: 0.7433, d2.loss_bbox: 0.7456, d3.loss_cls: 0.7406, d3.loss_bbox: 0.7411, d4.loss_cls: 0.7418, d4.loss_bbox: 0.7280, d5.loss_cls: 0.7446, d5.loss_bbox: 0.7319, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4071, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3585, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3537, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.3529, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3520, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3548, d0.loss_map_cls_all: 0.4479, d0.loss_map_pts_all: 2.5201, d0.loss_map_dir_all: 0.0319, d0.loss_map_cls: 0.4479, d0.loss_map_pts: 2.5201, d0.loss_map_dir: 0.0319, d1.loss_map_cls: 0.4330, d1.loss_map_pts: 1.8581, d1.loss_map_dir: 0.0318, d2.loss_map_cls: 0.4295, d2.loss_map_pts: 1.7650, d2.loss_map_dir: 0.0318, d3.loss_map_cls: 0.4268, d3.loss_map_pts: 1.7316, d3.loss_map_dir: 0.0319, d4.loss_map_cls: 0.4265, d4.loss_map_pts: 1.7155, d4.loss_map_dir: 0.0321, d5.loss_map_cls: 0.4265, d5.loss_map_pts: 1.7068, d5.loss_map_dir: 0.0322, loss: 64.7501, grad_norm: 152.4629 +2026-02-24 11:39:40,573 - DriveTransformer - INFO - Epoch [2][2950/39528] lr: 9.958e-05, eta: 8 days, 8:25:39, time: 0.801, data_time: 0.045, memory: 19865, loss_cls: 0.7624, loss_bbox: 0.7517, loss_traj: 1.7078, loss_traj_cls: 0.0005, loss_map_cls: 0.4192, loss_map_pts: 1.9374, loss_map_dir: 0.0309, d0.loss_plan_l1_fix_time: 3.2730, d0.loss_plan_l1_fix_dist: 0.4889, d1.loss_plan_l1_fix_time: 3.0390, d1.loss_plan_l1_fix_dist: 0.4821, d2.loss_plan_l1_fix_time: 3.0065, d2.loss_plan_l1_fix_dist: 0.4877, d3.loss_plan_l1_fix_time: 3.0072, d3.loss_plan_l1_fix_dist: 0.4999, d4.loss_plan_l1_fix_time: 3.0119, d4.loss_plan_l1_fix_dist: 0.5169, d5.loss_plan_l1_fix_time: 3.0180, d5.loss_plan_l1_fix_dist: 0.5345, d6.loss_plan_l1_fix_time: 3.0262, d6.loss_plan_l1_fix_dist: 0.5561, d0.loss_cls_all: 0.7652, d0.loss_bbox_all: 0.7704, d0.loss_cls: 0.7652, d0.loss_bbox: 0.7704, d1.loss_cls: 0.7594, d1.loss_bbox: 0.7594, d2.loss_cls: 0.7592, d2.loss_bbox: 0.7666, d3.loss_cls: 0.7569, d3.loss_bbox: 0.7640, d4.loss_cls: 0.7634, d4.loss_bbox: 0.7550, d5.loss_cls: 0.7652, d5.loss_bbox: 0.7490, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7535, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.7106, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.6936, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6976, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6965, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7058, d0.loss_map_cls_all: 0.4486, d0.loss_map_pts_all: 2.5525, d0.loss_map_dir_all: 0.0306, d0.loss_map_cls: 0.4486, d0.loss_map_pts: 2.5525, d0.loss_map_dir: 0.0306, d1.loss_map_cls: 0.4313, d1.loss_map_pts: 2.0477, d1.loss_map_dir: 0.0305, d2.loss_map_cls: 0.4257, d2.loss_map_pts: 1.9771, d2.loss_map_dir: 0.0305, d3.loss_map_cls: 0.4229, d3.loss_map_pts: 1.9497, d3.loss_map_dir: 0.0306, d4.loss_map_cls: 0.4228, d4.loss_map_pts: 1.9394, d4.loss_map_dir: 0.0308, d5.loss_map_cls: 0.4186, d5.loss_map_pts: 1.9376, d5.loss_map_dir: 0.0309, loss: 69.6783, grad_norm: 152.3288 +2026-02-24 11:40:20,060 - DriveTransformer - INFO - Epoch [2][3000/39528] lr: 9.958e-05, eta: 8 days, 8:24:54, time: 0.791, data_time: 0.041, memory: 19865, loss_cls: 0.7344, loss_bbox: 0.7012, loss_traj: 1.5179, loss_traj_cls: 0.0005, loss_map_cls: 0.4147, loss_map_pts: 1.9820, loss_map_dir: 0.0343, d0.loss_plan_l1_fix_time: 2.6027, d0.loss_plan_l1_fix_dist: 0.5589, d1.loss_plan_l1_fix_time: 2.4175, d1.loss_plan_l1_fix_dist: 0.5298, d2.loss_plan_l1_fix_time: 2.4094, d2.loss_plan_l1_fix_dist: 0.5318, d3.loss_plan_l1_fix_time: 2.4129, d3.loss_plan_l1_fix_dist: 0.5432, d4.loss_plan_l1_fix_time: 2.4180, d4.loss_plan_l1_fix_dist: 0.5562, d5.loss_plan_l1_fix_time: 2.4244, d5.loss_plan_l1_fix_dist: 0.5701, d6.loss_plan_l1_fix_time: 2.4327, d6.loss_plan_l1_fix_dist: 0.5838, d0.loss_cls_all: 0.7310, d0.loss_bbox_all: 0.7216, d0.loss_cls: 0.7310, d0.loss_bbox: 0.7216, d1.loss_cls: 0.7279, d1.loss_bbox: 0.7097, d2.loss_cls: 0.7237, d2.loss_bbox: 0.7206, d3.loss_cls: 0.7272, d3.loss_bbox: 0.7183, d4.loss_cls: 0.7311, d4.loss_bbox: 0.7066, d5.loss_cls: 0.7313, d5.loss_bbox: 0.7009, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5035, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4748, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4880, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4956, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5077, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5122, d0.loss_map_cls_all: 0.4384, d0.loss_map_pts_all: 2.7038, d0.loss_map_dir_all: 0.0336, d0.loss_map_cls: 0.4384, d0.loss_map_pts: 2.7038, d0.loss_map_dir: 0.0336, d1.loss_map_cls: 0.4228, d1.loss_map_pts: 2.0989, d1.loss_map_dir: 0.0335, d2.loss_map_cls: 0.4143, d2.loss_map_pts: 2.0218, d2.loss_map_dir: 0.0337, d3.loss_map_cls: 0.4110, d3.loss_map_pts: 1.9959, d3.loss_map_dir: 0.0339, d4.loss_map_cls: 0.4114, d4.loss_map_pts: 1.9826, d4.loss_map_dir: 0.0342, d5.loss_map_cls: 0.4121, d5.loss_map_pts: 1.9811, d5.loss_map_dir: 0.0343, loss: 64.1374, grad_norm: 152.3256 +2026-02-24 11:40:58,182 - DriveTransformer - INFO - Epoch [2][3050/39528] lr: 9.958e-05, eta: 8 days, 8:23:36, time: 0.761, data_time: 0.033, memory: 19865, loss_cls: 0.7332, loss_bbox: 0.7294, loss_traj: 1.6829, loss_traj_cls: 0.0005, loss_map_cls: 0.4475, loss_map_pts: 1.9206, loss_map_dir: 0.0319, d0.loss_plan_l1_fix_time: 3.2029, d0.loss_plan_l1_fix_dist: 0.4411, d1.loss_plan_l1_fix_time: 2.9491, d1.loss_plan_l1_fix_dist: 0.4316, d2.loss_plan_l1_fix_time: 2.9085, d2.loss_plan_l1_fix_dist: 0.4424, d3.loss_plan_l1_fix_time: 2.9025, d3.loss_plan_l1_fix_dist: 0.4567, d4.loss_plan_l1_fix_time: 2.9037, d4.loss_plan_l1_fix_dist: 0.4771, d5.loss_plan_l1_fix_time: 2.9083, d5.loss_plan_l1_fix_dist: 0.5004, d6.loss_plan_l1_fix_time: 2.9148, d6.loss_plan_l1_fix_dist: 0.5305, d0.loss_cls_all: 0.7364, d0.loss_bbox_all: 0.7516, d0.loss_cls: 0.7364, d0.loss_bbox: 0.7516, d1.loss_cls: 0.7305, d1.loss_bbox: 0.7499, d2.loss_cls: 0.7279, d2.loss_bbox: 0.7401, d3.loss_cls: 0.7268, d3.loss_bbox: 0.7383, d4.loss_cls: 0.7265, d4.loss_bbox: 0.7304, d5.loss_cls: 0.7321, d5.loss_bbox: 0.7238, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7150, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.6573, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.6606, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6773, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6844, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6761, d0.loss_map_cls_all: 0.4694, d0.loss_map_pts_all: 2.5124, d0.loss_map_dir_all: 0.0306, d0.loss_map_cls: 0.4694, d0.loss_map_pts: 2.5124, d0.loss_map_dir: 0.0306, d1.loss_map_cls: 0.4589, d1.loss_map_pts: 2.0279, d1.loss_map_dir: 0.0309, d2.loss_map_cls: 0.4453, d2.loss_map_pts: 1.9556, d2.loss_map_dir: 0.0311, d3.loss_map_cls: 0.4416, d3.loss_map_pts: 1.9371, d3.loss_map_dir: 0.0314, d4.loss_map_cls: 0.4420, d4.loss_map_pts: 1.9258, d4.loss_map_dir: 0.0316, d5.loss_map_cls: 0.4440, d5.loss_map_pts: 1.9200, d5.loss_map_dir: 0.0317, loss: 68.0727, grad_norm: 154.1773 +2026-02-24 11:41:37,844 - DriveTransformer - INFO - Epoch [2][3100/39528] lr: 9.958e-05, eta: 8 days, 8:22:53, time: 0.793, data_time: 0.038, memory: 19865, loss_cls: 0.7426, loss_bbox: 0.7511, loss_traj: 1.5747, loss_traj_cls: 0.0005, loss_map_cls: 0.4525, loss_map_pts: 2.2052, loss_map_dir: 0.0385, d0.loss_plan_l1_fix_time: 2.6371, d0.loss_plan_l1_fix_dist: 0.5026, d1.loss_plan_l1_fix_time: 2.4723, d1.loss_plan_l1_fix_dist: 0.4948, d2.loss_plan_l1_fix_time: 2.4659, d2.loss_plan_l1_fix_dist: 0.5007, d3.loss_plan_l1_fix_time: 2.4712, d3.loss_plan_l1_fix_dist: 0.5144, d4.loss_plan_l1_fix_time: 2.4788, d4.loss_plan_l1_fix_dist: 0.5323, d5.loss_plan_l1_fix_time: 2.4879, d5.loss_plan_l1_fix_dist: 0.5549, d6.loss_plan_l1_fix_time: 2.4985, d6.loss_plan_l1_fix_dist: 0.5837, d0.loss_cls_all: 0.7464, d0.loss_bbox_all: 0.7696, d0.loss_cls: 0.7464, d0.loss_bbox: 0.7696, d1.loss_cls: 0.7452, d1.loss_bbox: 0.7759, d2.loss_cls: 0.7401, d2.loss_bbox: 0.7558, d3.loss_cls: 0.7412, d3.loss_bbox: 0.7590, d4.loss_cls: 0.7454, d4.loss_bbox: 0.7449, d5.loss_cls: 0.7434, d5.loss_bbox: 0.7443, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5936, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5520, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5510, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5597, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5675, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5730, d0.loss_map_cls_all: 0.4730, d0.loss_map_pts_all: 2.9954, d0.loss_map_dir_all: 0.0373, d0.loss_map_cls: 0.4730, d0.loss_map_pts: 2.9954, d0.loss_map_dir: 0.0373, d1.loss_map_cls: 0.4635, d1.loss_map_pts: 2.2994, d1.loss_map_dir: 0.0376, d2.loss_map_cls: 0.4581, d2.loss_map_pts: 2.2252, d2.loss_map_dir: 0.0377, d3.loss_map_cls: 0.4558, d3.loss_map_pts: 2.2082, d3.loss_map_dir: 0.0380, d4.loss_map_cls: 0.4531, d4.loss_map_pts: 2.2051, d4.loss_map_dir: 0.0382, d5.loss_map_cls: 0.4499, d5.loss_map_pts: 2.2004, d5.loss_map_dir: 0.0384, loss: 67.5086, grad_norm: 153.7753 +2026-02-24 11:42:17,675 - DriveTransformer - INFO - Epoch [2][3150/39528] lr: 9.958e-05, eta: 8 days, 8:22:14, time: 0.797, data_time: 0.035, memory: 19865, loss_cls: 0.7922, loss_bbox: 0.7258, loss_traj: 1.6612, loss_traj_cls: 0.0005, loss_map_cls: 0.4250, loss_map_pts: 1.9312, loss_map_dir: 0.0335, d0.loss_plan_l1_fix_time: 3.0182, d0.loss_plan_l1_fix_dist: 0.5155, d1.loss_plan_l1_fix_time: 2.8814, d1.loss_plan_l1_fix_dist: 0.5077, d2.loss_plan_l1_fix_time: 2.8733, d2.loss_plan_l1_fix_dist: 0.5231, d3.loss_plan_l1_fix_time: 2.8762, d3.loss_plan_l1_fix_dist: 0.5458, d4.loss_plan_l1_fix_time: 2.8813, d4.loss_plan_l1_fix_dist: 0.5697, d5.loss_plan_l1_fix_time: 2.8882, d5.loss_plan_l1_fix_dist: 0.5946, d6.loss_plan_l1_fix_time: 2.8973, d6.loss_plan_l1_fix_dist: 0.6216, d0.loss_cls_all: 0.7743, d0.loss_bbox_all: 0.7533, d0.loss_cls: 0.7743, d0.loss_bbox: 0.7533, d1.loss_cls: 0.7760, d1.loss_bbox: 0.7704, d2.loss_cls: 0.7703, d2.loss_bbox: 0.7508, d3.loss_cls: 0.7761, d3.loss_bbox: 0.7349, d4.loss_cls: 0.7822, d4.loss_bbox: 0.7260, d5.loss_cls: 0.7857, d5.loss_bbox: 0.7252, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6449, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6260, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.6240, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6319, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6425, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6594, d0.loss_map_cls_all: 0.4393, d0.loss_map_pts_all: 2.6003, d0.loss_map_dir_all: 0.0328, d0.loss_map_cls: 0.4393, d0.loss_map_pts: 2.6003, d0.loss_map_dir: 0.0328, d1.loss_map_cls: 0.4276, d1.loss_map_pts: 2.0297, d1.loss_map_dir: 0.0327, d2.loss_map_cls: 0.4243, d2.loss_map_pts: 1.9641, d2.loss_map_dir: 0.0329, d3.loss_map_cls: 0.4214, d3.loss_map_pts: 1.9442, d3.loss_map_dir: 0.0330, d4.loss_map_cls: 0.4198, d4.loss_map_pts: 1.9281, d4.loss_map_dir: 0.0332, d5.loss_map_cls: 0.4215, d5.loss_map_pts: 1.9290, d5.loss_map_dir: 0.0333, loss: 68.4689, grad_norm: 155.4711 +2026-02-24 11:42:56,420 - DriveTransformer - INFO - Epoch [2][3200/39528] lr: 9.958e-05, eta: 8 days, 8:21:12, time: 0.775, data_time: 0.036, memory: 19865, loss_cls: 0.7546, loss_bbox: 0.6976, loss_traj: 1.3856, loss_traj_cls: 0.0005, loss_map_cls: 0.4258, loss_map_pts: 1.9183, loss_map_dir: 0.0342, d0.loss_plan_l1_fix_time: 2.6170, d0.loss_plan_l1_fix_dist: 0.4376, d1.loss_plan_l1_fix_time: 2.3829, d1.loss_plan_l1_fix_dist: 0.4350, d2.loss_plan_l1_fix_time: 2.3431, d2.loss_plan_l1_fix_dist: 0.4457, d3.loss_plan_l1_fix_time: 2.3392, d3.loss_plan_l1_fix_dist: 0.4630, d4.loss_plan_l1_fix_time: 2.3409, d4.loss_plan_l1_fix_dist: 0.4857, d5.loss_plan_l1_fix_time: 2.3448, d5.loss_plan_l1_fix_dist: 0.5095, d6.loss_plan_l1_fix_time: 2.3507, d6.loss_plan_l1_fix_dist: 0.5337, d0.loss_cls_all: 0.7387, d0.loss_bbox_all: 0.7160, d0.loss_cls: 0.7387, d0.loss_bbox: 0.7160, d1.loss_cls: 0.7404, d1.loss_bbox: 0.7405, d2.loss_cls: 0.7441, d2.loss_bbox: 0.7304, d3.loss_cls: 0.7463, d3.loss_bbox: 0.7031, d4.loss_cls: 0.7454, d4.loss_bbox: 0.6935, d5.loss_cls: 0.7501, d5.loss_bbox: 0.6956, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4228, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3621, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3680, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.3744, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3768, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3842, d0.loss_map_cls_all: 0.4567, d0.loss_map_pts_all: 2.6100, d0.loss_map_dir_all: 0.0334, d0.loss_map_cls: 0.4567, d0.loss_map_pts: 2.6100, d0.loss_map_dir: 0.0334, d1.loss_map_cls: 0.4438, d1.loss_map_pts: 2.0378, d1.loss_map_dir: 0.0333, d2.loss_map_cls: 0.4356, d2.loss_map_pts: 1.9629, d2.loss_map_dir: 0.0335, d3.loss_map_cls: 0.4285, d3.loss_map_pts: 1.9356, d3.loss_map_dir: 0.0337, d4.loss_map_cls: 0.4260, d4.loss_map_pts: 1.9184, d4.loss_map_dir: 0.0339, d5.loss_map_cls: 0.4233, d5.loss_map_pts: 1.9154, d5.loss_map_dir: 0.0340, loss: 62.0321, grad_norm: 154.4623 +2026-02-24 11:43:33,948 - DriveTransformer - INFO - Epoch [2][3250/39528] lr: 9.958e-05, eta: 8 days, 8:19:44, time: 0.751, data_time: 0.044, memory: 19865, loss_cls: 0.7423, loss_bbox: 0.7352, loss_traj: 1.6339, loss_traj_cls: 0.0005, loss_map_cls: 0.4011, loss_map_pts: 1.9029, loss_map_dir: 0.0269, d0.loss_plan_l1_fix_time: 3.1050, d0.loss_plan_l1_fix_dist: 0.5695, d1.loss_plan_l1_fix_time: 2.9509, d1.loss_plan_l1_fix_dist: 0.5620, d2.loss_plan_l1_fix_time: 2.9324, d2.loss_plan_l1_fix_dist: 0.5718, d3.loss_plan_l1_fix_time: 2.9341, d3.loss_plan_l1_fix_dist: 0.5926, d4.loss_plan_l1_fix_time: 2.9389, d4.loss_plan_l1_fix_dist: 0.6166, d5.loss_plan_l1_fix_time: 2.9448, d5.loss_plan_l1_fix_dist: 0.6409, d6.loss_plan_l1_fix_time: 2.9520, d6.loss_plan_l1_fix_dist: 0.6652, d0.loss_cls_all: 0.7525, d0.loss_bbox_all: 0.7314, d0.loss_cls: 0.7525, d0.loss_bbox: 0.7314, d1.loss_cls: 0.7463, d1.loss_bbox: 0.7800, d2.loss_cls: 0.7490, d2.loss_bbox: 0.7812, d3.loss_cls: 0.7471, d3.loss_bbox: 0.7565, d4.loss_cls: 0.7432, d4.loss_bbox: 0.7410, d5.loss_cls: 0.7448, d5.loss_bbox: 0.7344, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6588, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6328, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.6100, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6153, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6164, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6155, d0.loss_map_cls_all: 0.4294, d0.loss_map_pts_all: 2.3811, d0.loss_map_dir_all: 0.0265, d0.loss_map_cls: 0.4294, d0.loss_map_pts: 2.3811, d0.loss_map_dir: 0.0265, d1.loss_map_cls: 0.4159, d1.loss_map_pts: 1.9833, d1.loss_map_dir: 0.0264, d2.loss_map_cls: 0.4056, d2.loss_map_pts: 1.9252, d2.loss_map_dir: 0.0265, d3.loss_map_cls: 0.4056, d3.loss_map_pts: 1.9037, d3.loss_map_dir: 0.0266, d4.loss_map_cls: 0.4032, d4.loss_map_pts: 1.8996, d4.loss_map_dir: 0.0268, d5.loss_map_cls: 0.4011, d5.loss_map_pts: 1.9002, d5.loss_map_dir: 0.0268, loss: 68.1140, grad_norm: 154.6982 +2026-02-24 11:44:13,290 - DriveTransformer - INFO - Epoch [2][3300/39528] lr: 9.958e-05, eta: 8 days, 8:18:54, time: 0.787, data_time: 0.039, memory: 19865, loss_cls: 0.7306, loss_bbox: 0.7069, loss_traj: 1.2620, loss_traj_cls: 0.0005, loss_map_cls: 0.3870, loss_map_pts: 2.0152, loss_map_dir: 0.0372, d0.loss_plan_l1_fix_time: 2.3402, d0.loss_plan_l1_fix_dist: 0.5487, d1.loss_plan_l1_fix_time: 2.0864, d1.loss_plan_l1_fix_dist: 0.5319, d2.loss_plan_l1_fix_time: 2.0592, d2.loss_plan_l1_fix_dist: 0.5393, d3.loss_plan_l1_fix_time: 2.0627, d3.loss_plan_l1_fix_dist: 0.5542, d4.loss_plan_l1_fix_time: 2.0699, d4.loss_plan_l1_fix_dist: 0.5701, d5.loss_plan_l1_fix_time: 2.0781, d5.loss_plan_l1_fix_dist: 0.5897, d6.loss_plan_l1_fix_time: 2.0876, d6.loss_plan_l1_fix_dist: 0.6112, d0.loss_cls_all: 0.7277, d0.loss_bbox_all: 0.7013, d0.loss_cls: 0.7277, d0.loss_bbox: 0.7013, d1.loss_cls: 0.7237, d1.loss_bbox: 0.7314, d2.loss_cls: 0.7250, d2.loss_bbox: 0.7309, d3.loss_cls: 0.7279, d3.loss_bbox: 0.7163, d4.loss_cls: 0.7251, d4.loss_bbox: 0.7045, d5.loss_cls: 0.7269, d5.loss_bbox: 0.7017, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.2693, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.2491, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.2461, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.2500, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2566, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2502, d0.loss_map_cls_all: 0.4023, d0.loss_map_pts_all: 2.8264, d0.loss_map_dir_all: 0.0361, d0.loss_map_cls: 0.4023, d0.loss_map_pts: 2.8264, d0.loss_map_dir: 0.0361, d1.loss_map_cls: 0.3983, d1.loss_map_pts: 2.1374, d1.loss_map_dir: 0.0364, d2.loss_map_cls: 0.3879, d2.loss_map_pts: 2.0518, d2.loss_map_dir: 0.0366, d3.loss_map_cls: 0.3877, d3.loss_map_pts: 2.0234, d3.loss_map_dir: 0.0368, d4.loss_map_cls: 0.3864, d4.loss_map_pts: 2.0128, d4.loss_map_dir: 0.0369, d5.loss_map_cls: 0.3853, d5.loss_map_pts: 2.0118, d5.loss_map_dir: 0.0371, loss: 60.3613, grad_norm: 154.8089 +2026-02-24 11:44:52,273 - DriveTransformer - INFO - Epoch [2][3350/39528] lr: 9.958e-05, eta: 8 days, 8:17:57, time: 0.780, data_time: 0.038, memory: 19865, loss_cls: 0.7359, loss_bbox: 0.6790, loss_traj: 1.8027, loss_traj_cls: 0.0005, loss_map_cls: 0.3971, loss_map_pts: 1.7562, loss_map_dir: 0.0329, d0.loss_plan_l1_fix_time: 2.7162, d0.loss_plan_l1_fix_dist: 0.4812, d1.loss_plan_l1_fix_time: 2.4273, d1.loss_plan_l1_fix_dist: 0.4731, d2.loss_plan_l1_fix_time: 2.3765, d2.loss_plan_l1_fix_dist: 0.4935, d3.loss_plan_l1_fix_time: 2.3698, d3.loss_plan_l1_fix_dist: 0.5212, d4.loss_plan_l1_fix_time: 2.3716, d4.loss_plan_l1_fix_dist: 0.5571, d5.loss_plan_l1_fix_time: 2.3766, d5.loss_plan_l1_fix_dist: 0.5968, d6.loss_plan_l1_fix_time: 2.3837, d6.loss_plan_l1_fix_dist: 0.6410, d0.loss_cls_all: 0.7338, d0.loss_bbox_all: 0.6973, d0.loss_cls: 0.7338, d0.loss_bbox: 0.6973, d1.loss_cls: 0.7322, d1.loss_bbox: 0.7333, d2.loss_cls: 0.7387, d2.loss_bbox: 0.7277, d3.loss_cls: 0.7367, d3.loss_bbox: 0.7016, d4.loss_cls: 0.7369, d4.loss_bbox: 0.6839, d5.loss_cls: 0.7378, d5.loss_bbox: 0.6756, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8404, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.7926, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.7853, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7917, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7907, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.7956, d0.loss_map_cls_all: 0.4073, d0.loss_map_pts_all: 2.6491, d0.loss_map_dir_all: 0.0318, d0.loss_map_cls: 0.4073, d0.loss_map_pts: 2.6491, d0.loss_map_dir: 0.0318, d1.loss_map_cls: 0.4031, d1.loss_map_pts: 1.8906, d1.loss_map_dir: 0.0320, d2.loss_map_cls: 0.3966, d2.loss_map_pts: 1.7865, d2.loss_map_dir: 0.0322, d3.loss_map_cls: 0.3973, d3.loss_map_pts: 1.7533, d3.loss_map_dir: 0.0324, d4.loss_map_cls: 0.3943, d4.loss_map_pts: 1.7438, d4.loss_map_dir: 0.0326, d5.loss_map_cls: 0.3948, d5.loss_map_pts: 1.7461, d5.loss_map_dir: 0.0327, loss: 64.3017, grad_norm: 155.3952 +2026-02-24 11:45:31,644 - DriveTransformer - INFO - Epoch [2][3400/39528] lr: 9.958e-05, eta: 8 days, 8:17:08, time: 0.787, data_time: 0.039, memory: 19865, loss_cls: 0.7708, loss_bbox: 0.7266, loss_traj: 1.5728, loss_traj_cls: 0.0005, loss_map_cls: 0.4504, loss_map_pts: 1.9521, loss_map_dir: 0.0383, d0.loss_plan_l1_fix_time: 3.1618, d0.loss_plan_l1_fix_dist: 0.5199, d1.loss_plan_l1_fix_time: 2.8964, d1.loss_plan_l1_fix_dist: 0.5088, d2.loss_plan_l1_fix_time: 2.8644, d2.loss_plan_l1_fix_dist: 0.5160, d3.loss_plan_l1_fix_time: 2.8599, d3.loss_plan_l1_fix_dist: 0.5295, d4.loss_plan_l1_fix_time: 2.8614, d4.loss_plan_l1_fix_dist: 0.5455, d5.loss_plan_l1_fix_time: 2.8655, d5.loss_plan_l1_fix_dist: 0.5652, d6.loss_plan_l1_fix_time: 2.8710, d6.loss_plan_l1_fix_dist: 0.5892, d0.loss_cls_all: 0.7823, d0.loss_bbox_all: 0.7447, d0.loss_cls: 0.7823, d0.loss_bbox: 0.7447, d1.loss_cls: 0.7777, d1.loss_bbox: 0.7611, d2.loss_cls: 0.7813, d2.loss_bbox: 0.7578, d3.loss_cls: 0.7730, d3.loss_bbox: 0.7371, d4.loss_cls: 0.7702, d4.loss_bbox: 0.7288, d5.loss_cls: 0.7706, d5.loss_bbox: 0.7268, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5482, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5416, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5370, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5543, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5618, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5709, d0.loss_map_cls_all: 0.4641, d0.loss_map_pts_all: 2.8099, d0.loss_map_dir_all: 0.0371, d0.loss_map_cls: 0.4641, d0.loss_map_pts: 2.8099, d0.loss_map_dir: 0.0371, d1.loss_map_cls: 0.4631, d1.loss_map_pts: 2.0787, d1.loss_map_dir: 0.0374, d2.loss_map_cls: 0.4528, d2.loss_map_pts: 1.9902, d2.loss_map_dir: 0.0376, d3.loss_map_cls: 0.4505, d3.loss_map_pts: 1.9641, d3.loss_map_dir: 0.0379, d4.loss_map_cls: 0.4499, d4.loss_map_pts: 1.9563, d4.loss_map_dir: 0.0380, d5.loss_map_cls: 0.4499, d5.loss_map_pts: 1.9519, d5.loss_map_dir: 0.0382, loss: 68.6413, grad_norm: 156.0173 +2026-02-24 11:46:11,389 - DriveTransformer - INFO - Epoch [2][3450/39528] lr: 9.958e-05, eta: 8 days, 8:16:27, time: 0.795, data_time: 0.039, memory: 19865, loss_cls: 0.7601, loss_bbox: 0.6864, loss_traj: 1.3336, loss_traj_cls: 0.0004, loss_map_cls: 0.3727, loss_map_pts: 1.8459, loss_map_dir: 0.0325, d0.loss_plan_l1_fix_time: 2.3800, d0.loss_plan_l1_fix_dist: 0.5486, d1.loss_plan_l1_fix_time: 2.2896, d1.loss_plan_l1_fix_dist: 0.5452, d2.loss_plan_l1_fix_time: 2.3002, d2.loss_plan_l1_fix_dist: 0.5676, d3.loss_plan_l1_fix_time: 2.3117, d3.loss_plan_l1_fix_dist: 0.5929, d4.loss_plan_l1_fix_time: 2.3226, d4.loss_plan_l1_fix_dist: 0.6176, d5.loss_plan_l1_fix_time: 2.3326, d5.loss_plan_l1_fix_dist: 0.6432, d6.loss_plan_l1_fix_time: 2.3432, d6.loss_plan_l1_fix_dist: 0.6731, d0.loss_cls_all: 0.7415, d0.loss_bbox_all: 0.7019, d0.loss_cls: 0.7415, d0.loss_bbox: 0.7019, d1.loss_cls: 0.7439, d1.loss_bbox: 0.6943, d2.loss_cls: 0.7435, d2.loss_bbox: 0.6951, d3.loss_cls: 0.7495, d3.loss_bbox: 0.6780, d4.loss_cls: 0.7557, d4.loss_bbox: 0.6818, d5.loss_cls: 0.7542, d5.loss_bbox: 0.6817, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3569, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3137, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3182, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.3208, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3271, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3312, d0.loss_map_cls_all: 0.4109, d0.loss_map_pts_all: 2.6498, d0.loss_map_dir_all: 0.0315, d0.loss_map_cls: 0.4109, d0.loss_map_pts: 2.6498, d0.loss_map_dir: 0.0315, d1.loss_map_cls: 0.3955, d1.loss_map_pts: 1.9838, d1.loss_map_dir: 0.0318, d2.loss_map_cls: 0.3820, d2.loss_map_pts: 1.8867, d2.loss_map_dir: 0.0318, d3.loss_map_cls: 0.3759, d3.loss_map_pts: 1.8593, d3.loss_map_dir: 0.0321, d4.loss_map_cls: 0.3745, d4.loss_map_pts: 1.8525, d4.loss_map_dir: 0.0323, d5.loss_map_cls: 0.3708, d5.loss_map_pts: 1.8445, d5.loss_map_dir: 0.0324, loss: 61.2067, grad_norm: 157.1733 +2026-02-24 11:46:50,696 - DriveTransformer - INFO - Epoch [2][3500/39528] lr: 9.958e-05, eta: 8 days, 8:15:37, time: 0.786, data_time: 0.038, memory: 19865, loss_cls: 0.7532, loss_bbox: 0.7336, loss_traj: 1.4600, loss_traj_cls: 0.0004, loss_map_cls: 0.4207, loss_map_pts: 2.1570, loss_map_dir: 0.0359, d0.loss_plan_l1_fix_time: 2.9250, d0.loss_plan_l1_fix_dist: 0.6035, d1.loss_plan_l1_fix_time: 2.6803, d1.loss_plan_l1_fix_dist: 0.5856, d2.loss_plan_l1_fix_time: 2.6424, d2.loss_plan_l1_fix_dist: 0.5928, d3.loss_plan_l1_fix_time: 2.6407, d3.loss_plan_l1_fix_dist: 0.6113, d4.loss_plan_l1_fix_time: 2.6439, d4.loss_plan_l1_fix_dist: 0.6343, d5.loss_plan_l1_fix_time: 2.6491, d5.loss_plan_l1_fix_dist: 0.6601, d6.loss_plan_l1_fix_time: 2.6567, d6.loss_plan_l1_fix_dist: 0.6916, d0.loss_cls_all: 0.7436, d0.loss_bbox_all: 0.7640, d0.loss_cls: 0.7436, d0.loss_bbox: 0.7640, d1.loss_cls: 0.7425, d1.loss_bbox: 0.7430, d2.loss_cls: 0.7512, d2.loss_bbox: 0.7399, d3.loss_cls: 0.7517, d3.loss_bbox: 0.7247, d4.loss_cls: 0.7529, d4.loss_bbox: 0.7259, d5.loss_cls: 0.7528, d5.loss_bbox: 0.7268, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4870, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4506, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4484, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4474, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4534, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4605, d0.loss_map_cls_all: 0.4396, d0.loss_map_pts_all: 2.8062, d0.loss_map_dir_all: 0.0345, d0.loss_map_cls: 0.4396, d0.loss_map_pts: 2.8062, d0.loss_map_dir: 0.0345, d1.loss_map_cls: 0.4344, d1.loss_map_pts: 2.2767, d1.loss_map_dir: 0.0349, d2.loss_map_cls: 0.4257, d2.loss_map_pts: 2.2050, d2.loss_map_dir: 0.0350, d3.loss_map_cls: 0.4226, d3.loss_map_pts: 2.1732, d3.loss_map_dir: 0.0353, d4.loss_map_cls: 0.4248, d4.loss_map_pts: 2.1607, d4.loss_map_dir: 0.0357, d5.loss_map_cls: 0.4198, d5.loss_map_pts: 2.1556, d5.loss_map_dir: 0.0357, loss: 67.7921, grad_norm: 156.7614 +2026-02-24 11:47:31,843 - DriveTransformer - INFO - Epoch [2][3550/39528] lr: 9.958e-05, eta: 8 days, 8:15:25, time: 0.823, data_time: 0.038, memory: 19865, loss_cls: 0.7698, loss_bbox: 0.7226, loss_traj: 1.5450, loss_traj_cls: 0.0005, loss_map_cls: 0.4300, loss_map_pts: 2.2005, loss_map_dir: 0.0371, d0.loss_plan_l1_fix_time: 2.8021, d0.loss_plan_l1_fix_dist: 0.6143, d1.loss_plan_l1_fix_time: 2.6060, d1.loss_plan_l1_fix_dist: 0.5990, d2.loss_plan_l1_fix_time: 2.6207, d2.loss_plan_l1_fix_dist: 0.6057, d3.loss_plan_l1_fix_time: 2.6372, d3.loss_plan_l1_fix_dist: 0.6227, d4.loss_plan_l1_fix_time: 2.6505, d4.loss_plan_l1_fix_dist: 0.6440, d5.loss_plan_l1_fix_time: 2.6631, d5.loss_plan_l1_fix_dist: 0.6711, d6.loss_plan_l1_fix_time: 2.6761, d6.loss_plan_l1_fix_dist: 0.7001, d0.loss_cls_all: 0.7687, d0.loss_bbox_all: 0.7704, d0.loss_cls: 0.7687, d0.loss_bbox: 0.7704, d1.loss_cls: 0.7621, d1.loss_bbox: 0.7408, d2.loss_cls: 0.7575, d2.loss_bbox: 0.7323, d3.loss_cls: 0.7610, d3.loss_bbox: 0.7210, d4.loss_cls: 0.7652, d4.loss_bbox: 0.7195, d5.loss_cls: 0.7645, d5.loss_bbox: 0.7231, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5592, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4971, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5129, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5308, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5456, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5457, d0.loss_map_cls_all: 0.4556, d0.loss_map_pts_all: 2.9765, d0.loss_map_dir_all: 0.0360, d0.loss_map_cls: 0.4556, d0.loss_map_pts: 2.9765, d0.loss_map_dir: 0.0360, d1.loss_map_cls: 0.4436, d1.loss_map_pts: 2.2888, d1.loss_map_dir: 0.0361, d2.loss_map_cls: 0.4364, d2.loss_map_pts: 2.2309, d2.loss_map_dir: 0.0363, d3.loss_map_cls: 0.4328, d3.loss_map_pts: 2.2059, d3.loss_map_dir: 0.0366, d4.loss_map_cls: 0.4336, d4.loss_map_pts: 2.1952, d4.loss_map_dir: 0.0369, d5.loss_map_cls: 0.4301, d5.loss_map_pts: 2.1956, d5.loss_map_dir: 0.0370, loss: 68.9507, grad_norm: 159.4008 +2026-02-24 11:48:11,004 - DriveTransformer - INFO - Epoch [2][3600/39528] lr: 9.958e-05, eta: 8 days, 8:14:32, time: 0.783, data_time: 0.042, memory: 19865, loss_cls: 0.7655, loss_bbox: 0.7088, loss_traj: 1.4764, loss_traj_cls: 0.0004, loss_map_cls: 0.4238, loss_map_pts: 1.9837, loss_map_dir: 0.0312, d0.loss_plan_l1_fix_time: 2.7957, d0.loss_plan_l1_fix_dist: 0.5323, d1.loss_plan_l1_fix_time: 2.5355, d1.loss_plan_l1_fix_dist: 0.5333, d2.loss_plan_l1_fix_time: 2.5367, d2.loss_plan_l1_fix_dist: 0.5510, d3.loss_plan_l1_fix_time: 2.5472, d3.loss_plan_l1_fix_dist: 0.5737, d4.loss_plan_l1_fix_time: 2.5581, d4.loss_plan_l1_fix_dist: 0.6013, d5.loss_plan_l1_fix_time: 2.5696, d5.loss_plan_l1_fix_dist: 0.6311, d6.loss_plan_l1_fix_time: 2.5812, d6.loss_plan_l1_fix_dist: 0.6644, d0.loss_cls_all: 0.7681, d0.loss_bbox_all: 0.7645, d0.loss_cls: 0.7681, d0.loss_bbox: 0.7645, d1.loss_cls: 0.7541, d1.loss_bbox: 0.7427, d2.loss_cls: 0.7525, d2.loss_bbox: 0.7192, d3.loss_cls: 0.7567, d3.loss_bbox: 0.7084, d4.loss_cls: 0.7596, d4.loss_bbox: 0.7086, d5.loss_cls: 0.7615, d5.loss_bbox: 0.7080, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5005, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4563, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4614, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4593, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4634, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4684, d0.loss_map_cls_all: 0.4448, d0.loss_map_pts_all: 2.6481, d0.loss_map_dir_all: 0.0305, d0.loss_map_cls: 0.4448, d0.loss_map_pts: 2.6481, d0.loss_map_dir: 0.0305, d1.loss_map_cls: 0.4315, d1.loss_map_pts: 2.0788, d1.loss_map_dir: 0.0305, d2.loss_map_cls: 0.4265, d2.loss_map_pts: 2.0036, d2.loss_map_dir: 0.0306, d3.loss_map_cls: 0.4240, d3.loss_map_pts: 1.9818, d3.loss_map_dir: 0.0309, d4.loss_map_cls: 0.4250, d4.loss_map_pts: 1.9755, d4.loss_map_dir: 0.0310, d5.loss_map_cls: 0.4232, d5.loss_map_pts: 1.9781, d5.loss_map_dir: 0.0311, loss: 65.3993, grad_norm: 159.0450 +2026-02-24 11:48:50,877 - DriveTransformer - INFO - Epoch [2][3650/39528] lr: 9.958e-05, eta: 8 days, 8:13:53, time: 0.797, data_time: 0.043, memory: 19865, loss_cls: 0.7446, loss_bbox: 0.7033, loss_traj: 1.6669, loss_traj_cls: 0.0005, loss_map_cls: 0.3762, loss_map_pts: 2.1111, loss_map_dir: 0.0348, d0.loss_plan_l1_fix_time: 3.1000, d0.loss_plan_l1_fix_dist: 0.5184, d1.loss_plan_l1_fix_time: 2.8931, d1.loss_plan_l1_fix_dist: 0.5170, d2.loss_plan_l1_fix_time: 2.8749, d2.loss_plan_l1_fix_dist: 0.5373, d3.loss_plan_l1_fix_time: 2.8779, d3.loss_plan_l1_fix_dist: 0.5689, d4.loss_plan_l1_fix_time: 2.8841, d4.loss_plan_l1_fix_dist: 0.5991, d5.loss_plan_l1_fix_time: 2.8920, d5.loss_plan_l1_fix_dist: 0.6276, d6.loss_plan_l1_fix_time: 2.9001, d6.loss_plan_l1_fix_dist: 0.6601, d0.loss_cls_all: 0.7518, d0.loss_bbox_all: 0.7699, d0.loss_cls: 0.7518, d0.loss_bbox: 0.7699, d1.loss_cls: 0.7464, d1.loss_bbox: 0.7486, d2.loss_cls: 0.7417, d2.loss_bbox: 0.7197, d3.loss_cls: 0.7433, d3.loss_bbox: 0.7092, d4.loss_cls: 0.7408, d4.loss_bbox: 0.7028, d5.loss_cls: 0.7422, d5.loss_bbox: 0.7009, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7104, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.6465, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.6401, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6561, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6547, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6598, d0.loss_map_cls_all: 0.3978, d0.loss_map_pts_all: 2.8564, d0.loss_map_dir_all: 0.0338, d0.loss_map_cls: 0.3978, d0.loss_map_pts: 2.8564, d0.loss_map_dir: 0.0338, d1.loss_map_cls: 0.3881, d1.loss_map_pts: 2.2463, d1.loss_map_dir: 0.0337, d2.loss_map_cls: 0.3834, d2.loss_map_pts: 2.1503, d2.loss_map_dir: 0.0339, d3.loss_map_cls: 0.3809, d3.loss_map_pts: 2.1227, d3.loss_map_dir: 0.0342, d4.loss_map_cls: 0.3786, d4.loss_map_pts: 2.1092, d4.loss_map_dir: 0.0345, d5.loss_map_cls: 0.3764, d5.loss_map_pts: 2.1062, d5.loss_map_dir: 0.0345, loss: 69.7874, grad_norm: 159.0552 +2026-02-24 11:49:30,200 - DriveTransformer - INFO - Epoch [2][3700/39528] lr: 9.958e-05, eta: 8 days, 8:13:03, time: 0.786, data_time: 0.043, memory: 19865, loss_cls: 0.7374, loss_bbox: 0.7064, loss_traj: 1.6190, loss_traj_cls: 0.0005, loss_map_cls: 0.4084, loss_map_pts: 1.8085, loss_map_dir: 0.0350, d0.loss_plan_l1_fix_time: 2.7659, d0.loss_plan_l1_fix_dist: 0.4897, d1.loss_plan_l1_fix_time: 2.5988, d1.loss_plan_l1_fix_dist: 0.4824, d2.loss_plan_l1_fix_time: 2.5934, d2.loss_plan_l1_fix_dist: 0.4897, d3.loss_plan_l1_fix_time: 2.6013, d3.loss_plan_l1_fix_dist: 0.5079, d4.loss_plan_l1_fix_time: 2.6106, d4.loss_plan_l1_fix_dist: 0.5333, d5.loss_plan_l1_fix_time: 2.6209, d5.loss_plan_l1_fix_dist: 0.5671, d6.loss_plan_l1_fix_time: 2.6306, d6.loss_plan_l1_fix_dist: 0.5995, d0.loss_cls_all: 0.7386, d0.loss_bbox_all: 0.7578, d0.loss_cls: 0.7386, d0.loss_bbox: 0.7578, d1.loss_cls: 0.7310, d1.loss_bbox: 0.7426, d2.loss_cls: 0.7310, d2.loss_bbox: 0.7110, d3.loss_cls: 0.7342, d3.loss_bbox: 0.6998, d4.loss_cls: 0.7278, d4.loss_bbox: 0.6994, d5.loss_cls: 0.7332, d5.loss_bbox: 0.7001, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6913, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.6480, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.6177, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6159, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6133, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.6090, d0.loss_map_cls_all: 0.4202, d0.loss_map_pts_all: 2.6475, d0.loss_map_dir_all: 0.0336, d0.loss_map_cls: 0.4202, d0.loss_map_pts: 2.6475, d0.loss_map_dir: 0.0336, d1.loss_map_cls: 0.4140, d1.loss_map_pts: 1.9488, d1.loss_map_dir: 0.0342, d2.loss_map_cls: 0.4106, d2.loss_map_pts: 1.8638, d2.loss_map_dir: 0.0343, d3.loss_map_cls: 0.4078, d3.loss_map_pts: 1.8302, d3.loss_map_dir: 0.0346, d4.loss_map_cls: 0.4074, d4.loss_map_pts: 1.8170, d4.loss_map_dir: 0.0348, d5.loss_map_cls: 0.4080, d5.loss_map_pts: 1.8094, d5.loss_map_dir: 0.0349, loss: 65.1013, grad_norm: 158.1388 +2026-02-24 11:50:09,870 - DriveTransformer - INFO - Epoch [2][3750/39528] lr: 9.958e-05, eta: 8 days, 8:12:21, time: 0.793, data_time: 0.038, memory: 19865, loss_cls: 0.7528, loss_bbox: 0.6768, loss_traj: 1.5384, loss_traj_cls: 0.0005, loss_map_cls: 0.4071, loss_map_pts: 1.8592, loss_map_dir: 0.0310, d0.loss_plan_l1_fix_time: 2.8082, d0.loss_plan_l1_fix_dist: 0.3581, d1.loss_plan_l1_fix_time: 2.6263, d1.loss_plan_l1_fix_dist: 0.3743, d2.loss_plan_l1_fix_time: 2.6123, d2.loss_plan_l1_fix_dist: 0.4009, d3.loss_plan_l1_fix_time: 2.6187, d3.loss_plan_l1_fix_dist: 0.4314, d4.loss_plan_l1_fix_time: 2.6271, d4.loss_plan_l1_fix_dist: 0.4664, d5.loss_plan_l1_fix_time: 2.6360, d5.loss_plan_l1_fix_dist: 0.5060, d6.loss_plan_l1_fix_time: 2.6454, d6.loss_plan_l1_fix_dist: 0.5492, d0.loss_cls_all: 0.7607, d0.loss_bbox_all: 0.7199, d0.loss_cls: 0.7607, d0.loss_bbox: 0.7199, d1.loss_cls: 0.7508, d1.loss_bbox: 0.7114, d2.loss_cls: 0.7509, d2.loss_bbox: 0.6831, d3.loss_cls: 0.7526, d3.loss_bbox: 0.6768, d4.loss_cls: 0.7505, d4.loss_bbox: 0.6788, d5.loss_cls: 0.7514, d5.loss_bbox: 0.6787, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6173, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5487, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.5299, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5420, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5424, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5455, d0.loss_map_cls_all: 0.4378, d0.loss_map_pts_all: 2.4896, d0.loss_map_dir_all: 0.0303, d0.loss_map_cls: 0.4378, d0.loss_map_pts: 2.4896, d0.loss_map_dir: 0.0303, d1.loss_map_cls: 0.4234, d1.loss_map_pts: 1.9726, d1.loss_map_dir: 0.0301, d2.loss_map_cls: 0.4113, d2.loss_map_pts: 1.8928, d2.loss_map_dir: 0.0302, d3.loss_map_cls: 0.4061, d3.loss_map_pts: 1.8710, d3.loss_map_dir: 0.0305, d4.loss_map_cls: 0.4046, d4.loss_map_pts: 1.8582, d4.loss_map_dir: 0.0308, d5.loss_map_cls: 0.4061, d5.loss_map_pts: 1.8618, d5.loss_map_dir: 0.0309, loss: 63.9776, grad_norm: 157.8322 +2026-02-24 11:50:49,363 - DriveTransformer - INFO - Epoch [2][3800/39528] lr: 9.958e-05, eta: 8 days, 8:11:36, time: 0.791, data_time: 0.038, memory: 19865, loss_cls: 0.7575, loss_bbox: 0.7060, loss_traj: 1.4596, loss_traj_cls: 0.0005, loss_map_cls: 0.4306, loss_map_pts: 2.0694, loss_map_dir: 0.0398, d0.loss_plan_l1_fix_time: 2.9138, d0.loss_plan_l1_fix_dist: 0.4765, d1.loss_plan_l1_fix_time: 2.6683, d1.loss_plan_l1_fix_dist: 0.4540, d2.loss_plan_l1_fix_time: 2.6216, d2.loss_plan_l1_fix_dist: 0.4623, d3.loss_plan_l1_fix_time: 2.6117, d3.loss_plan_l1_fix_dist: 0.4847, d4.loss_plan_l1_fix_time: 2.6103, d4.loss_plan_l1_fix_dist: 0.5093, d5.loss_plan_l1_fix_time: 2.6124, d5.loss_plan_l1_fix_dist: 0.5357, d6.loss_plan_l1_fix_time: 2.6156, d6.loss_plan_l1_fix_dist: 0.5641, d0.loss_cls_all: 0.7763, d0.loss_bbox_all: 0.7329, d0.loss_cls: 0.7763, d0.loss_bbox: 0.7329, d1.loss_cls: 0.7619, d1.loss_bbox: 0.7224, d2.loss_cls: 0.7600, d2.loss_bbox: 0.6998, d3.loss_cls: 0.7586, d3.loss_bbox: 0.7006, d4.loss_cls: 0.7506, d4.loss_bbox: 0.7080, d5.loss_cls: 0.7545, d5.loss_bbox: 0.7081, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4971, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4629, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4650, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4610, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4627, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4638, d0.loss_map_cls_all: 0.4459, d0.loss_map_pts_all: 2.9019, d0.loss_map_dir_all: 0.0385, d0.loss_map_cls: 0.4459, d0.loss_map_pts: 2.9019, d0.loss_map_dir: 0.0385, d1.loss_map_cls: 0.4447, d1.loss_map_pts: 2.2027, d1.loss_map_dir: 0.0390, d2.loss_map_cls: 0.4368, d2.loss_map_pts: 2.1168, d2.loss_map_dir: 0.0390, d3.loss_map_cls: 0.4341, d3.loss_map_pts: 2.0904, d3.loss_map_dir: 0.0393, d4.loss_map_cls: 0.4322, d4.loss_map_pts: 2.0740, d4.loss_map_dir: 0.0395, d5.loss_map_cls: 0.4302, d5.loss_map_pts: 2.0718, d5.loss_map_dir: 0.0397, loss: 66.4660, grad_norm: 158.1564 +2026-02-24 11:51:30,503 - DriveTransformer - INFO - Epoch [2][3850/39528] lr: 9.958e-05, eta: 8 days, 8:11:23, time: 0.821, data_time: 0.039, memory: 19865, loss_cls: 0.7412, loss_bbox: 0.7299, loss_traj: 1.8079, loss_traj_cls: 0.0005, loss_map_cls: 0.4480, loss_map_pts: 2.0271, loss_map_dir: 0.0393, d0.loss_plan_l1_fix_time: 3.0286, d0.loss_plan_l1_fix_dist: 0.4506, d1.loss_plan_l1_fix_time: 2.8737, d1.loss_plan_l1_fix_dist: 0.4369, d2.loss_plan_l1_fix_time: 2.8633, d2.loss_plan_l1_fix_dist: 0.4493, d3.loss_plan_l1_fix_time: 2.8682, d3.loss_plan_l1_fix_dist: 0.4692, d4.loss_plan_l1_fix_time: 2.8757, d4.loss_plan_l1_fix_dist: 0.4919, d5.loss_plan_l1_fix_time: 2.8846, d5.loss_plan_l1_fix_dist: 0.5145, d6.loss_plan_l1_fix_time: 2.8942, d6.loss_plan_l1_fix_dist: 0.5356, d0.loss_cls_all: 0.7585, d0.loss_bbox_all: 0.7536, d0.loss_cls: 0.7585, d0.loss_bbox: 0.7536, d1.loss_cls: 0.7463, d1.loss_bbox: 0.7515, d2.loss_cls: 0.7420, d2.loss_bbox: 0.7343, d3.loss_cls: 0.7435, d3.loss_bbox: 0.7262, d4.loss_cls: 0.7433, d4.loss_bbox: 0.7292, d5.loss_cls: 0.7434, d5.loss_bbox: 0.7254, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7387, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.7552, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.7809, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7946, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.8016, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.8047, d0.loss_map_cls_all: 0.4584, d0.loss_map_pts_all: 2.9357, d0.loss_map_dir_all: 0.0381, d0.loss_map_cls: 0.4584, d0.loss_map_pts: 2.9357, d0.loss_map_dir: 0.0381, d1.loss_map_cls: 0.4647, d1.loss_map_pts: 2.1908, d1.loss_map_dir: 0.0386, d2.loss_map_cls: 0.4537, d2.loss_map_pts: 2.0919, d2.loss_map_dir: 0.0386, d3.loss_map_cls: 0.4499, d3.loss_map_pts: 2.0536, d3.loss_map_dir: 0.0390, d4.loss_map_cls: 0.4456, d4.loss_map_pts: 2.0373, d4.loss_map_dir: 0.0391, d5.loss_map_cls: 0.4457, d5.loss_map_pts: 2.0307, d5.loss_map_dir: 0.0393, loss: 70.2425, grad_norm: 159.7745 +2026-02-24 11:52:09,221 - DriveTransformer - INFO - Epoch [2][3900/39528] lr: 9.958e-05, eta: 8 days, 8:10:20, time: 0.774, data_time: 0.040, memory: 19865, loss_cls: 0.7402, loss_bbox: 0.7150, loss_traj: 1.5437, loss_traj_cls: 0.0005, loss_map_cls: 0.4587, loss_map_pts: 1.9390, loss_map_dir: 0.0366, d0.loss_plan_l1_fix_time: 2.7380, d0.loss_plan_l1_fix_dist: 0.4734, d1.loss_plan_l1_fix_time: 2.5876, d1.loss_plan_l1_fix_dist: 0.4630, d2.loss_plan_l1_fix_time: 2.5585, d2.loss_plan_l1_fix_dist: 0.4713, d3.loss_plan_l1_fix_time: 2.5570, d3.loss_plan_l1_fix_dist: 0.4860, d4.loss_plan_l1_fix_time: 2.5620, d4.loss_plan_l1_fix_dist: 0.5078, d5.loss_plan_l1_fix_time: 2.5700, d5.loss_plan_l1_fix_dist: 0.5326, d6.loss_plan_l1_fix_time: 2.5807, d6.loss_plan_l1_fix_dist: 0.5625, d0.loss_cls_all: 0.7452, d0.loss_bbox_all: 0.7349, d0.loss_cls: 0.7452, d0.loss_bbox: 0.7349, d1.loss_cls: 0.7535, d1.loss_bbox: 0.7303, d2.loss_cls: 0.7447, d2.loss_bbox: 0.7149, d3.loss_cls: 0.7425, d3.loss_bbox: 0.7153, d4.loss_cls: 0.7497, d4.loss_bbox: 0.7191, d5.loss_cls: 0.7440, d5.loss_bbox: 0.7110, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5001, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4919, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.5052, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5237, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5301, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5373, d0.loss_map_cls_all: 0.4716, d0.loss_map_pts_all: 2.7365, d0.loss_map_dir_all: 0.0357, d0.loss_map_cls: 0.4716, d0.loss_map_pts: 2.7365, d0.loss_map_dir: 0.0357, d1.loss_map_cls: 0.4661, d1.loss_map_pts: 2.0697, d1.loss_map_dir: 0.0358, d2.loss_map_cls: 0.4569, d2.loss_map_pts: 1.9826, d2.loss_map_dir: 0.0360, d3.loss_map_cls: 0.4551, d3.loss_map_pts: 1.9459, d3.loss_map_dir: 0.0363, d4.loss_map_cls: 0.4521, d4.loss_map_pts: 1.9365, d4.loss_map_dir: 0.0364, d5.loss_map_cls: 0.4542, d5.loss_map_pts: 1.9373, d5.loss_map_dir: 0.0365, loss: 65.2867, grad_norm: 157.6062 +2026-02-24 11:52:46,660 - DriveTransformer - INFO - Epoch [2][3950/39528] lr: 9.958e-05, eta: 8 days, 8:08:51, time: 0.749, data_time: 0.040, memory: 19865, loss_cls: 0.7439, loss_bbox: 0.7143, loss_traj: 1.8700, loss_traj_cls: 0.0005, loss_map_cls: 0.3933, loss_map_pts: 1.8179, loss_map_dir: 0.0287, d0.loss_plan_l1_fix_time: 3.0501, d0.loss_plan_l1_fix_dist: 0.4371, d1.loss_plan_l1_fix_time: 2.9004, d1.loss_plan_l1_fix_dist: 0.4469, d2.loss_plan_l1_fix_time: 2.8864, d2.loss_plan_l1_fix_dist: 0.4677, d3.loss_plan_l1_fix_time: 2.8904, d3.loss_plan_l1_fix_dist: 0.4890, d4.loss_plan_l1_fix_time: 2.8964, d4.loss_plan_l1_fix_dist: 0.5137, d5.loss_plan_l1_fix_time: 2.9032, d5.loss_plan_l1_fix_dist: 0.5401, d6.loss_plan_l1_fix_time: 2.9105, d6.loss_plan_l1_fix_dist: 0.5667, d0.loss_cls_all: 0.7504, d0.loss_bbox_all: 0.7289, d0.loss_cls: 0.7504, d0.loss_bbox: 0.7289, d1.loss_cls: 0.7432, d1.loss_bbox: 0.7322, d2.loss_cls: 0.7417, d2.loss_bbox: 0.7167, d3.loss_cls: 0.7428, d3.loss_bbox: 0.7209, d4.loss_cls: 0.7421, d4.loss_bbox: 0.7215, d5.loss_cls: 0.7429, d5.loss_bbox: 0.7153, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8710, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.8243, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.8320, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8380, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.8524, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.8568, d0.loss_map_cls_all: 0.4192, d0.loss_map_pts_all: 2.3973, d0.loss_map_dir_all: 0.0283, d0.loss_map_cls: 0.4192, d0.loss_map_pts: 2.3973, d0.loss_map_dir: 0.0283, d1.loss_map_cls: 0.4041, d1.loss_map_pts: 1.9237, d1.loss_map_dir: 0.0282, d2.loss_map_cls: 0.3935, d2.loss_map_pts: 1.8457, d2.loss_map_dir: 0.0282, d3.loss_map_cls: 0.3918, d3.loss_map_pts: 1.8180, d3.loss_map_dir: 0.0283, d4.loss_map_cls: 0.3917, d4.loss_map_pts: 1.8130, d4.loss_map_dir: 0.0285, d5.loss_map_cls: 0.3904, d5.loss_map_pts: 1.8135, d5.loss_map_dir: 0.0286, loss: 67.8397, grad_norm: 156.3833 +2026-02-24 11:53:27,011 - DriveTransformer - INFO - Epoch [2][4000/39528] lr: 9.958e-05, eta: 8 days, 8:08:23, time: 0.807, data_time: 0.043, memory: 19865, loss_cls: 0.7526, loss_bbox: 0.7209, loss_traj: 1.7473, loss_traj_cls: 0.0005, loss_map_cls: 0.4173, loss_map_pts: 1.8837, loss_map_dir: 0.0346, d0.loss_plan_l1_fix_time: 3.1428, d0.loss_plan_l1_fix_dist: 0.5254, d1.loss_plan_l1_fix_time: 2.9765, d1.loss_plan_l1_fix_dist: 0.5099, d2.loss_plan_l1_fix_time: 2.9841, d2.loss_plan_l1_fix_dist: 0.5163, d3.loss_plan_l1_fix_time: 2.9991, d3.loss_plan_l1_fix_dist: 0.5317, d4.loss_plan_l1_fix_time: 3.0112, d4.loss_plan_l1_fix_dist: 0.5493, d5.loss_plan_l1_fix_time: 3.0219, d5.loss_plan_l1_fix_dist: 0.5695, d6.loss_plan_l1_fix_time: 3.0326, d6.loss_plan_l1_fix_dist: 0.5890, d0.loss_cls_all: 0.7482, d0.loss_bbox_all: 0.7347, d0.loss_cls: 0.7482, d0.loss_bbox: 0.7347, d1.loss_cls: 0.7473, d1.loss_bbox: 0.7366, d2.loss_cls: 0.7466, d2.loss_bbox: 0.7259, d3.loss_cls: 0.7484, d3.loss_bbox: 0.7276, d4.loss_cls: 0.7572, d4.loss_bbox: 0.7227, d5.loss_cls: 0.7537, d5.loss_bbox: 0.7213, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7620, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.7065, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.7155, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7288, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7344, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.7316, d0.loss_map_cls_all: 0.4368, d0.loss_map_pts_all: 2.6725, d0.loss_map_dir_all: 0.0336, d0.loss_map_cls: 0.4368, d0.loss_map_pts: 2.6725, d0.loss_map_dir: 0.0336, d1.loss_map_cls: 0.4252, d1.loss_map_pts: 2.0056, d1.loss_map_dir: 0.0339, d2.loss_map_cls: 0.4210, d2.loss_map_pts: 1.9350, d2.loss_map_dir: 0.0341, d3.loss_map_cls: 0.4166, d3.loss_map_pts: 1.9067, d3.loss_map_dir: 0.0343, d4.loss_map_cls: 0.4152, d4.loss_map_pts: 1.8915, d4.loss_map_dir: 0.0344, d5.loss_map_cls: 0.4170, d5.loss_map_pts: 1.8871, d5.loss_map_dir: 0.0345, loss: 69.4301, grad_norm: 156.9751 +2026-02-24 11:54:07,002 - DriveTransformer - INFO - Epoch [2][4050/39528] lr: 9.958e-05, eta: 8 days, 8:07:47, time: 0.800, data_time: 0.042, memory: 19865, loss_cls: 0.7530, loss_bbox: 0.6961, loss_traj: 1.6272, loss_traj_cls: 0.0005, loss_map_cls: 0.4109, loss_map_pts: 1.9735, loss_map_dir: 0.0339, d0.loss_plan_l1_fix_time: 2.9983, d0.loss_plan_l1_fix_dist: 0.4711, d1.loss_plan_l1_fix_time: 2.7761, d1.loss_plan_l1_fix_dist: 0.4511, d2.loss_plan_l1_fix_time: 2.7571, d2.loss_plan_l1_fix_dist: 0.4574, d3.loss_plan_l1_fix_time: 2.7618, d3.loss_plan_l1_fix_dist: 0.4722, d4.loss_plan_l1_fix_time: 2.7678, d4.loss_plan_l1_fix_dist: 0.4913, d5.loss_plan_l1_fix_time: 2.7759, d5.loss_plan_l1_fix_dist: 0.5113, d6.loss_plan_l1_fix_time: 2.7868, d6.loss_plan_l1_fix_dist: 0.5341, d0.loss_cls_all: 0.7346, d0.loss_bbox_all: 0.7095, d0.loss_cls: 0.7346, d0.loss_bbox: 0.7095, d1.loss_cls: 0.7397, d1.loss_bbox: 0.7016, d2.loss_cls: 0.7382, d2.loss_bbox: 0.6970, d3.loss_cls: 0.7442, d3.loss_bbox: 0.6977, d4.loss_cls: 0.7612, d4.loss_bbox: 0.6915, d5.loss_cls: 0.7544, d5.loss_bbox: 0.6939, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6519, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.6047, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5856, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5866, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5981, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6078, d0.loss_map_cls_all: 0.4345, d0.loss_map_pts_all: 2.7208, d0.loss_map_dir_all: 0.0333, d0.loss_map_cls: 0.4345, d0.loss_map_pts: 2.7208, d0.loss_map_dir: 0.0333, d1.loss_map_cls: 0.4223, d1.loss_map_pts: 2.1141, d1.loss_map_dir: 0.0331, d2.loss_map_cls: 0.4139, d2.loss_map_pts: 2.0225, d2.loss_map_dir: 0.0331, d3.loss_map_cls: 0.4097, d3.loss_map_pts: 1.9947, d3.loss_map_dir: 0.0335, d4.loss_map_cls: 0.4091, d4.loss_map_pts: 1.9783, d4.loss_map_dir: 0.0336, d5.loss_map_cls: 0.4115, d5.loss_map_pts: 1.9731, d5.loss_map_dir: 0.0337, loss: 66.9474, grad_norm: 156.2892 +2026-02-24 11:54:46,709 - DriveTransformer - INFO - Epoch [2][4100/39528] lr: 9.958e-05, eta: 8 days, 8:07:05, time: 0.794, data_time: 0.039, memory: 19865, loss_cls: 0.7088, loss_bbox: 0.6694, loss_traj: 1.5875, loss_traj_cls: 0.0005, loss_map_cls: 0.3723, loss_map_pts: 1.7727, loss_map_dir: 0.0315, d0.loss_plan_l1_fix_time: 3.1470, d0.loss_plan_l1_fix_dist: 0.4297, d1.loss_plan_l1_fix_time: 2.8836, d1.loss_plan_l1_fix_dist: 0.4279, d2.loss_plan_l1_fix_time: 2.8432, d2.loss_plan_l1_fix_dist: 0.4401, d3.loss_plan_l1_fix_time: 2.8410, d3.loss_plan_l1_fix_dist: 0.4527, d4.loss_plan_l1_fix_time: 2.8448, d4.loss_plan_l1_fix_dist: 0.4724, d5.loss_plan_l1_fix_time: 2.8511, d5.loss_plan_l1_fix_dist: 0.4953, d6.loss_plan_l1_fix_time: 2.8597, d6.loss_plan_l1_fix_dist: 0.5266, d0.loss_cls_all: 0.7117, d0.loss_bbox_all: 0.6947, d0.loss_cls: 0.7117, d0.loss_bbox: 0.6947, d1.loss_cls: 0.7135, d1.loss_bbox: 0.6796, d2.loss_cls: 0.7074, d2.loss_bbox: 0.6832, d3.loss_cls: 0.7071, d3.loss_bbox: 0.6742, d4.loss_cls: 0.7193, d4.loss_bbox: 0.6696, d5.loss_cls: 0.7123, d5.loss_bbox: 0.6683, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6248, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5846, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.5769, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5738, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5758, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5771, d0.loss_map_cls_all: 0.3957, d0.loss_map_pts_all: 2.5152, d0.loss_map_dir_all: 0.0310, d0.loss_map_cls: 0.3957, d0.loss_map_pts: 2.5152, d0.loss_map_dir: 0.0310, d1.loss_map_cls: 0.3878, d1.loss_map_pts: 1.9095, d1.loss_map_dir: 0.0308, d2.loss_map_cls: 0.3769, d2.loss_map_pts: 1.8177, d2.loss_map_dir: 0.0309, d3.loss_map_cls: 0.3749, d3.loss_map_pts: 1.7839, d3.loss_map_dir: 0.0311, d4.loss_map_cls: 0.3721, d4.loss_map_pts: 1.7729, d4.loss_map_dir: 0.0313, d5.loss_map_cls: 0.3706, d5.loss_map_pts: 1.7732, d5.loss_map_dir: 0.0314, loss: 64.9009, grad_norm: 157.5792 +2026-02-24 11:55:25,714 - DriveTransformer - INFO - Epoch [2][4150/39528] lr: 9.958e-05, eta: 8 days, 8:06:09, time: 0.780, data_time: 0.046, memory: 19865, loss_cls: 0.7340, loss_bbox: 0.6858, loss_traj: 1.4479, loss_traj_cls: 0.0005, loss_map_cls: 0.3829, loss_map_pts: 1.6793, loss_map_dir: 0.0320, d0.loss_plan_l1_fix_time: 2.6599, d0.loss_plan_l1_fix_dist: 0.5768, d1.loss_plan_l1_fix_time: 2.5260, d1.loss_plan_l1_fix_dist: 0.5532, d2.loss_plan_l1_fix_time: 2.5138, d2.loss_plan_l1_fix_dist: 0.5510, d3.loss_plan_l1_fix_time: 2.5146, d3.loss_plan_l1_fix_dist: 0.5590, d4.loss_plan_l1_fix_time: 2.5190, d4.loss_plan_l1_fix_dist: 0.5733, d5.loss_plan_l1_fix_time: 2.5249, d5.loss_plan_l1_fix_dist: 0.5914, d6.loss_plan_l1_fix_time: 2.5309, d6.loss_plan_l1_fix_dist: 0.6141, d0.loss_cls_all: 0.7417, d0.loss_bbox_all: 0.7011, d0.loss_cls: 0.7417, d0.loss_bbox: 0.7011, d1.loss_cls: 0.7383, d1.loss_bbox: 0.6886, d2.loss_cls: 0.7323, d2.loss_bbox: 0.6954, d3.loss_cls: 0.7332, d3.loss_bbox: 0.6778, d4.loss_cls: 0.7368, d4.loss_bbox: 0.6823, d5.loss_cls: 0.7355, d5.loss_bbox: 0.6817, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4836, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4293, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.4297, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4391, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4420, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4420, d0.loss_map_cls_all: 0.4125, d0.loss_map_pts_all: 2.4925, d0.loss_map_dir_all: 0.0315, d0.loss_map_cls: 0.4125, d0.loss_map_pts: 2.4925, d0.loss_map_dir: 0.0315, d1.loss_map_cls: 0.3999, d1.loss_map_pts: 1.8049, d1.loss_map_dir: 0.0317, d2.loss_map_cls: 0.3898, d2.loss_map_pts: 1.7170, d2.loss_map_dir: 0.0316, d3.loss_map_cls: 0.3861, d3.loss_map_pts: 1.6891, d3.loss_map_dir: 0.0318, d4.loss_map_cls: 0.3838, d4.loss_map_pts: 1.6732, d4.loss_map_dir: 0.0318, d5.loss_map_cls: 0.3826, d5.loss_map_pts: 1.6758, d5.loss_map_dir: 0.0320, loss: 61.9621, grad_norm: 157.9728 +2026-02-24 11:56:04,331 - DriveTransformer - INFO - Epoch [2][4200/39528] lr: 9.958e-05, eta: 8 days, 8:05:05, time: 0.772, data_time: 0.040, memory: 19865, loss_cls: 0.7094, loss_bbox: 0.7024, loss_traj: 1.7200, loss_traj_cls: 0.0005, loss_map_cls: 0.3979, loss_map_pts: 1.8375, loss_map_dir: 0.0313, d0.loss_plan_l1_fix_time: 2.5055, d0.loss_plan_l1_fix_dist: 0.4818, d1.loss_plan_l1_fix_time: 2.3080, d1.loss_plan_l1_fix_dist: 0.4656, d2.loss_plan_l1_fix_time: 2.2698, d2.loss_plan_l1_fix_dist: 0.4737, d3.loss_plan_l1_fix_time: 2.2658, d3.loss_plan_l1_fix_dist: 0.4896, d4.loss_plan_l1_fix_time: 2.2676, d4.loss_plan_l1_fix_dist: 0.5072, d5.loss_plan_l1_fix_time: 2.2721, d5.loss_plan_l1_fix_dist: 0.5232, d6.loss_plan_l1_fix_time: 2.2785, d6.loss_plan_l1_fix_dist: 0.5402, d0.loss_cls_all: 0.7036, d0.loss_bbox_all: 0.7258, d0.loss_cls: 0.7036, d0.loss_bbox: 0.7258, d1.loss_cls: 0.6983, d1.loss_bbox: 0.7153, d2.loss_cls: 0.7006, d2.loss_bbox: 0.7296, d3.loss_cls: 0.7034, d3.loss_bbox: 0.7037, d4.loss_cls: 0.7008, d4.loss_bbox: 0.7121, d5.loss_cls: 0.7047, d5.loss_bbox: 0.7008, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7559, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.7142, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.7122, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7242, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7232, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.7162, d0.loss_map_cls_all: 0.4261, d0.loss_map_pts_all: 2.4636, d0.loss_map_dir_all: 0.0312, d0.loss_map_cls: 0.4261, d0.loss_map_pts: 2.4636, d0.loss_map_dir: 0.0312, d1.loss_map_cls: 0.4178, d1.loss_map_pts: 1.9461, d1.loss_map_dir: 0.0308, d2.loss_map_cls: 0.4015, d2.loss_map_pts: 1.8665, d2.loss_map_dir: 0.0308, d3.loss_map_cls: 0.3973, d3.loss_map_pts: 1.8399, d3.loss_map_dir: 0.0310, d4.loss_map_cls: 0.3966, d4.loss_map_pts: 1.8333, d4.loss_map_dir: 0.0310, d5.loss_map_cls: 0.3962, d5.loss_map_pts: 1.8350, d5.loss_map_dir: 0.0312, loss: 62.6520, grad_norm: 157.0971 +2026-02-24 11:56:44,955 - DriveTransformer - INFO - Epoch [2][4250/39528] lr: 9.958e-05, eta: 8 days, 8:04:42, time: 0.812, data_time: 0.041, memory: 19865, loss_cls: 0.7674, loss_bbox: 0.7323, loss_traj: 1.4509, loss_traj_cls: 0.0005, loss_map_cls: 0.4151, loss_map_pts: 2.0507, loss_map_dir: 0.0334, d0.loss_plan_l1_fix_time: 2.8490, d0.loss_plan_l1_fix_dist: 0.4660, d1.loss_plan_l1_fix_time: 2.6513, d1.loss_plan_l1_fix_dist: 0.4564, d2.loss_plan_l1_fix_time: 2.6265, d2.loss_plan_l1_fix_dist: 0.4689, d3.loss_plan_l1_fix_time: 2.6220, d3.loss_plan_l1_fix_dist: 0.4852, d4.loss_plan_l1_fix_time: 2.6228, d4.loss_plan_l1_fix_dist: 0.5034, d5.loss_plan_l1_fix_time: 2.6267, d5.loss_plan_l1_fix_dist: 0.5218, d6.loss_plan_l1_fix_time: 2.6324, d6.loss_plan_l1_fix_dist: 0.5417, d0.loss_cls_all: 0.7591, d0.loss_bbox_all: 0.7638, d0.loss_cls: 0.7591, d0.loss_bbox: 0.7638, d1.loss_cls: 0.7553, d1.loss_bbox: 0.7520, d2.loss_cls: 0.7544, d2.loss_bbox: 0.7636, d3.loss_cls: 0.7588, d3.loss_bbox: 0.7398, d4.loss_cls: 0.7626, d4.loss_bbox: 0.7457, d5.loss_cls: 0.7639, d5.loss_bbox: 0.7309, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4743, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4516, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4541, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4462, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4478, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4473, d0.loss_map_cls_all: 0.4387, d0.loss_map_pts_all: 2.7011, d0.loss_map_dir_all: 0.0333, d0.loss_map_cls: 0.4387, d0.loss_map_pts: 2.7011, d0.loss_map_dir: 0.0333, d1.loss_map_cls: 0.4263, d1.loss_map_pts: 2.2010, d1.loss_map_dir: 0.0331, d2.loss_map_cls: 0.4203, d2.loss_map_pts: 2.1035, d2.loss_map_dir: 0.0331, d3.loss_map_cls: 0.4176, d3.loss_map_pts: 2.0656, d3.loss_map_dir: 0.0332, d4.loss_map_cls: 0.4145, d4.loss_map_pts: 2.0557, d4.loss_map_dir: 0.0333, d5.loss_map_cls: 0.4140, d5.loss_map_pts: 2.0516, d5.loss_map_dir: 0.0333, loss: 65.9050, grad_norm: 157.8532 +2026-02-24 11:57:26,967 - DriveTransformer - INFO - Epoch [2][4300/39528] lr: 9.958e-05, eta: 8 days, 8:04:48, time: 0.840, data_time: 0.040, memory: 19865, loss_cls: 0.7228, loss_bbox: 0.7378, loss_traj: 1.7347, loss_traj_cls: 0.0005, loss_map_cls: 0.4107, loss_map_pts: 2.2509, loss_map_dir: 0.0346, d0.loss_plan_l1_fix_time: 2.7596, d0.loss_plan_l1_fix_dist: 0.4941, d1.loss_plan_l1_fix_time: 2.5493, d1.loss_plan_l1_fix_dist: 0.4808, d2.loss_plan_l1_fix_time: 2.5162, d2.loss_plan_l1_fix_dist: 0.4926, d3.loss_plan_l1_fix_time: 2.5139, d3.loss_plan_l1_fix_dist: 0.5072, d4.loss_plan_l1_fix_time: 2.5175, d4.loss_plan_l1_fix_dist: 0.5261, d5.loss_plan_l1_fix_time: 2.5246, d5.loss_plan_l1_fix_dist: 0.5479, d6.loss_plan_l1_fix_time: 2.5338, d6.loss_plan_l1_fix_dist: 0.5738, d0.loss_cls_all: 0.7241, d0.loss_bbox_all: 0.7557, d0.loss_cls: 0.7241, d0.loss_bbox: 0.7557, d1.loss_cls: 0.7169, d1.loss_bbox: 0.7463, d2.loss_cls: 0.7152, d2.loss_bbox: 0.7524, d3.loss_cls: 0.7161, d3.loss_bbox: 0.7382, d4.loss_cls: 0.7182, d4.loss_bbox: 0.7460, d5.loss_cls: 0.7194, d5.loss_bbox: 0.7357, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7602, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7062, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.7177, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7241, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.7250, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7331, d0.loss_map_cls_all: 0.4412, d0.loss_map_pts_all: 2.9855, d0.loss_map_dir_all: 0.0347, d0.loss_map_cls: 0.4412, d0.loss_map_pts: 2.9855, d0.loss_map_dir: 0.0347, d1.loss_map_cls: 0.4233, d1.loss_map_pts: 2.3798, d1.loss_map_dir: 0.0343, d2.loss_map_cls: 0.4148, d2.loss_map_pts: 2.2986, d2.loss_map_dir: 0.0343, d3.loss_map_cls: 0.4095, d3.loss_map_pts: 2.2670, d3.loss_map_dir: 0.0344, d4.loss_map_cls: 0.4090, d4.loss_map_pts: 2.2530, d4.loss_map_dir: 0.0345, d5.loss_map_cls: 0.4085, d5.loss_map_pts: 2.2504, d5.loss_map_dir: 0.0346, loss: 68.6722, grad_norm: 157.2223 +2026-02-24 11:58:04,775 - DriveTransformer - INFO - Epoch [2][4350/39528] lr: 9.958e-05, eta: 8 days, 8:03:27, time: 0.756, data_time: 0.040, memory: 19865, loss_cls: 0.7223, loss_bbox: 0.7036, loss_traj: 1.2479, loss_traj_cls: 0.0004, loss_map_cls: 0.3718, loss_map_pts: 1.8555, loss_map_dir: 0.0288, d0.loss_plan_l1_fix_time: 2.6998, d0.loss_plan_l1_fix_dist: 0.5484, d1.loss_plan_l1_fix_time: 2.5586, d1.loss_plan_l1_fix_dist: 0.5256, d2.loss_plan_l1_fix_time: 2.5595, d2.loss_plan_l1_fix_dist: 0.5303, d3.loss_plan_l1_fix_time: 2.5645, d3.loss_plan_l1_fix_dist: 0.5461, d4.loss_plan_l1_fix_time: 2.5693, d4.loss_plan_l1_fix_dist: 0.5632, d5.loss_plan_l1_fix_time: 2.5742, d5.loss_plan_l1_fix_dist: 0.5840, d6.loss_plan_l1_fix_time: 2.5793, d6.loss_plan_l1_fix_dist: 0.6124, d0.loss_cls_all: 0.7173, d0.loss_bbox_all: 0.7234, d0.loss_cls: 0.7173, d0.loss_bbox: 0.7234, d1.loss_cls: 0.7160, d1.loss_bbox: 0.7178, d2.loss_cls: 0.7152, d2.loss_bbox: 0.7217, d3.loss_cls: 0.7189, d3.loss_bbox: 0.7123, d4.loss_cls: 0.7157, d4.loss_bbox: 0.7094, d5.loss_cls: 0.7165, d5.loss_bbox: 0.7059, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.2356, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.2134, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.2174, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.2256, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2436, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2464, d0.loss_map_cls_all: 0.4216, d0.loss_map_pts_all: 2.4467, d0.loss_map_dir_all: 0.0292, d0.loss_map_cls: 0.4216, d0.loss_map_pts: 2.4467, d0.loss_map_dir: 0.0292, d1.loss_map_cls: 0.3938, d1.loss_map_pts: 1.9567, d1.loss_map_dir: 0.0286, d2.loss_map_cls: 0.3814, d2.loss_map_pts: 1.8992, d2.loss_map_dir: 0.0285, d3.loss_map_cls: 0.3776, d3.loss_map_pts: 1.8683, d3.loss_map_dir: 0.0286, d4.loss_map_cls: 0.3740, d4.loss_map_pts: 1.8559, d4.loss_map_dir: 0.0287, d5.loss_map_cls: 0.3708, d5.loss_map_pts: 1.8536, d5.loss_map_dir: 0.0287, loss: 61.6310, grad_norm: 156.8515 +2026-02-24 11:58:42,117 - DriveTransformer - INFO - Epoch [2][4400/39528] lr: 9.958e-05, eta: 8 days, 8:01:56, time: 0.747, data_time: 0.043, memory: 19865, loss_cls: 0.7722, loss_bbox: 0.7428, loss_traj: 1.8455, loss_traj_cls: 0.0005, loss_map_cls: 0.4462, loss_map_pts: 1.9256, loss_map_dir: 0.0352, d0.loss_plan_l1_fix_time: 3.0615, d0.loss_plan_l1_fix_dist: 0.5304, d1.loss_plan_l1_fix_time: 2.9320, d1.loss_plan_l1_fix_dist: 0.5162, d2.loss_plan_l1_fix_time: 2.9231, d2.loss_plan_l1_fix_dist: 0.5225, d3.loss_plan_l1_fix_time: 2.9259, d3.loss_plan_l1_fix_dist: 0.5392, d4.loss_plan_l1_fix_time: 2.9302, d4.loss_plan_l1_fix_dist: 0.5610, d5.loss_plan_l1_fix_time: 2.9348, d5.loss_plan_l1_fix_dist: 0.5834, d6.loss_plan_l1_fix_time: 2.9415, d6.loss_plan_l1_fix_dist: 0.6055, d0.loss_cls_all: 0.7515, d0.loss_bbox_all: 0.7645, d0.loss_cls: 0.7515, d0.loss_bbox: 0.7645, d1.loss_cls: 0.7442, d1.loss_bbox: 0.7630, d2.loss_cls: 0.7409, d2.loss_bbox: 0.7671, d3.loss_cls: 0.7492, d3.loss_bbox: 0.7620, d4.loss_cls: 0.7590, d4.loss_bbox: 0.7429, d5.loss_cls: 0.7596, d5.loss_bbox: 0.7449, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8270, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.8073, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.8084, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8251, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.8329, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.8392, d0.loss_map_cls_all: 0.4629, d0.loss_map_pts_all: 2.5834, d0.loss_map_dir_all: 0.0348, d0.loss_map_cls: 0.4629, d0.loss_map_pts: 2.5834, d0.loss_map_dir: 0.0348, d1.loss_map_cls: 0.4565, d1.loss_map_pts: 2.0279, d1.loss_map_dir: 0.0349, d2.loss_map_cls: 0.4498, d2.loss_map_pts: 1.9680, d2.loss_map_dir: 0.0349, d3.loss_map_cls: 0.4459, d3.loss_map_pts: 1.9344, d3.loss_map_dir: 0.0349, d4.loss_map_cls: 0.4448, d4.loss_map_pts: 1.9188, d4.loss_map_dir: 0.0350, d5.loss_map_cls: 0.4455, d5.loss_map_pts: 1.9188, d5.loss_map_dir: 0.0352, loss: 70.1314, grad_norm: 156.9831 +2026-02-24 11:59:23,511 - DriveTransformer - INFO - Epoch [2][4450/39528] lr: 9.958e-05, eta: 8 days, 8:01:49, time: 0.828, data_time: 0.036, memory: 19865, loss_cls: 0.7422, loss_bbox: 0.7239, loss_traj: 1.3207, loss_traj_cls: 0.0005, loss_map_cls: 0.3706, loss_map_pts: 2.0634, loss_map_dir: 0.0368, d0.loss_plan_l1_fix_time: 3.0089, d0.loss_plan_l1_fix_dist: 0.5816, d1.loss_plan_l1_fix_time: 2.7276, d1.loss_plan_l1_fix_dist: 0.5577, d2.loss_plan_l1_fix_time: 2.6960, d2.loss_plan_l1_fix_dist: 0.5658, d3.loss_plan_l1_fix_time: 2.6941, d3.loss_plan_l1_fix_dist: 0.5839, d4.loss_plan_l1_fix_time: 2.6967, d4.loss_plan_l1_fix_dist: 0.6090, d5.loss_plan_l1_fix_time: 2.7016, d5.loss_plan_l1_fix_dist: 0.6347, d6.loss_plan_l1_fix_time: 2.7087, d6.loss_plan_l1_fix_dist: 0.6543, d0.loss_cls_all: 0.7357, d0.loss_bbox_all: 0.7337, d0.loss_cls: 0.7357, d0.loss_bbox: 0.7337, d1.loss_cls: 0.7340, d1.loss_bbox: 0.7344, d2.loss_cls: 0.7325, d2.loss_bbox: 0.7311, d3.loss_cls: 0.7390, d3.loss_bbox: 0.7391, d4.loss_cls: 0.7354, d4.loss_bbox: 0.7221, d5.loss_cls: 0.7375, d5.loss_bbox: 0.7179, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3470, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3249, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3083, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.3141, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3157, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3228, d0.loss_map_cls_all: 0.3883, d0.loss_map_pts_all: 2.8435, d0.loss_map_dir_all: 0.0371, d0.loss_map_cls: 0.3883, d0.loss_map_pts: 2.8435, d0.loss_map_dir: 0.0371, d1.loss_map_cls: 0.3801, d1.loss_map_pts: 2.1798, d1.loss_map_dir: 0.0367, d2.loss_map_cls: 0.3738, d2.loss_map_pts: 2.0961, d2.loss_map_dir: 0.0366, d3.loss_map_cls: 0.3722, d3.loss_map_pts: 2.0622, d3.loss_map_dir: 0.0366, d4.loss_map_cls: 0.3710, d4.loss_map_pts: 2.0546, d4.loss_map_dir: 0.0367, d5.loss_map_cls: 0.3692, d5.loss_map_pts: 2.0598, d5.loss_map_dir: 0.0368, loss: 65.9171, grad_norm: 156.7657 +2026-02-24 12:00:02,369 - DriveTransformer - INFO - Epoch [2][4500/39528] lr: 9.958e-05, eta: 8 days, 8:00:50, time: 0.777, data_time: 0.038, memory: 19865, loss_cls: 0.7412, loss_bbox: 0.7041, loss_traj: 1.7935, loss_traj_cls: 0.0005, loss_map_cls: 0.4119, loss_map_pts: 2.0371, loss_map_dir: 0.0359, d0.loss_plan_l1_fix_time: 2.5348, d0.loss_plan_l1_fix_dist: 0.4754, d1.loss_plan_l1_fix_time: 2.3307, d1.loss_plan_l1_fix_dist: 0.4854, d2.loss_plan_l1_fix_time: 2.2998, d2.loss_plan_l1_fix_dist: 0.5015, d3.loss_plan_l1_fix_time: 2.2983, d3.loss_plan_l1_fix_dist: 0.5190, d4.loss_plan_l1_fix_time: 2.3021, d4.loss_plan_l1_fix_dist: 0.5389, d5.loss_plan_l1_fix_time: 2.3089, d5.loss_plan_l1_fix_dist: 0.5672, d6.loss_plan_l1_fix_time: 2.3176, d6.loss_plan_l1_fix_dist: 0.6024, d0.loss_cls_all: 0.7348, d0.loss_bbox_all: 0.7107, d0.loss_cls: 0.7348, d0.loss_bbox: 0.7107, d1.loss_cls: 0.7309, d1.loss_bbox: 0.7083, d2.loss_cls: 0.7279, d2.loss_bbox: 0.7065, d3.loss_cls: 0.7324, d3.loss_bbox: 0.7300, d4.loss_cls: 0.7383, d4.loss_bbox: 0.7181, d5.loss_cls: 0.7373, d5.loss_bbox: 0.7007, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8098, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.7576, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.7617, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7794, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7847, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7885, d0.loss_map_cls_all: 0.4322, d0.loss_map_pts_all: 2.7470, d0.loss_map_dir_all: 0.0359, d0.loss_map_cls: 0.4322, d0.loss_map_pts: 2.7470, d0.loss_map_dir: 0.0359, d1.loss_map_cls: 0.4205, d1.loss_map_pts: 2.1459, d1.loss_map_dir: 0.0355, d2.loss_map_cls: 0.4126, d2.loss_map_pts: 2.0561, d2.loss_map_dir: 0.0356, d3.loss_map_cls: 0.4117, d3.loss_map_pts: 2.0290, d3.loss_map_dir: 0.0357, d4.loss_map_cls: 0.4113, d4.loss_map_pts: 2.0247, d4.loss_map_dir: 0.0358, d5.loss_map_cls: 0.4100, d5.loss_map_pts: 2.0337, d5.loss_map_dir: 0.0358, loss: 65.5774, grad_norm: 155.7274 +2026-02-24 12:00:42,896 - DriveTransformer - INFO - Epoch [2][4550/39528] lr: 9.958e-05, eta: 8 days, 8:00:25, time: 0.811, data_time: 0.039, memory: 19865, loss_cls: 0.7758, loss_bbox: 0.7580, loss_traj: 1.3763, loss_traj_cls: 0.0005, loss_map_cls: 0.4193, loss_map_pts: 2.2456, loss_map_dir: 0.0396, d0.loss_plan_l1_fix_time: 2.9771, d0.loss_plan_l1_fix_dist: 0.4917, d1.loss_plan_l1_fix_time: 2.8757, d1.loss_plan_l1_fix_dist: 0.4882, d2.loss_plan_l1_fix_time: 2.8686, d2.loss_plan_l1_fix_dist: 0.4978, d3.loss_plan_l1_fix_time: 2.8728, d3.loss_plan_l1_fix_dist: 0.5120, d4.loss_plan_l1_fix_time: 2.8781, d4.loss_plan_l1_fix_dist: 0.5289, d5.loss_plan_l1_fix_time: 2.8836, d5.loss_plan_l1_fix_dist: 0.5568, d6.loss_plan_l1_fix_time: 2.8903, d6.loss_plan_l1_fix_dist: 0.5958, d0.loss_cls_all: 0.7756, d0.loss_bbox_all: 0.7671, d0.loss_cls: 0.7756, d0.loss_bbox: 0.7671, d1.loss_cls: 0.7689, d1.loss_bbox: 0.7666, d2.loss_cls: 0.7631, d2.loss_bbox: 0.7515, d3.loss_cls: 0.7659, d3.loss_bbox: 0.7864, d4.loss_cls: 0.7694, d4.loss_bbox: 0.7762, d5.loss_cls: 0.7698, d5.loss_bbox: 0.7555, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3713, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3445, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3427, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.3715, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3684, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3737, d0.loss_map_cls_all: 0.4199, d0.loss_map_pts_all: 3.0813, d0.loss_map_dir_all: 0.0397, d0.loss_map_cls: 0.4199, d0.loss_map_pts: 3.0813, d0.loss_map_dir: 0.0397, d1.loss_map_cls: 0.4183, d1.loss_map_pts: 2.3863, d1.loss_map_dir: 0.0392, d2.loss_map_cls: 0.4123, d2.loss_map_pts: 2.2920, d2.loss_map_dir: 0.0392, d3.loss_map_cls: 0.4140, d3.loss_map_pts: 2.2554, d3.loss_map_dir: 0.0393, d4.loss_map_cls: 0.4139, d4.loss_map_pts: 2.2438, d4.loss_map_dir: 0.0395, d5.loss_map_cls: 0.4175, d5.loss_map_pts: 2.2409, d5.loss_map_dir: 0.0396, loss: 69.2407, grad_norm: 158.2928 +2026-02-24 12:01:25,498 - DriveTransformer - INFO - Epoch [2][4600/39528] lr: 9.958e-05, eta: 8 days, 8:00:45, time: 0.853, data_time: 0.041, memory: 19865, loss_cls: 0.7516, loss_bbox: 0.7119, loss_traj: 1.4698, loss_traj_cls: 0.0005, loss_map_cls: 0.4386, loss_map_pts: 2.0956, loss_map_dir: 0.0415, d0.loss_plan_l1_fix_time: 2.7729, d0.loss_plan_l1_fix_dist: 0.4798, d1.loss_plan_l1_fix_time: 2.6669, d1.loss_plan_l1_fix_dist: 0.4838, d2.loss_plan_l1_fix_time: 2.6650, d2.loss_plan_l1_fix_dist: 0.5106, d3.loss_plan_l1_fix_time: 2.6717, d3.loss_plan_l1_fix_dist: 0.5416, d4.loss_plan_l1_fix_time: 2.6782, d4.loss_plan_l1_fix_dist: 0.5738, d5.loss_plan_l1_fix_time: 2.6849, d5.loss_plan_l1_fix_dist: 0.5994, d6.loss_plan_l1_fix_time: 2.6932, d6.loss_plan_l1_fix_dist: 0.6233, d0.loss_cls_all: 0.7492, d0.loss_bbox_all: 0.7279, d0.loss_cls: 0.7492, d0.loss_bbox: 0.7279, d1.loss_cls: 0.7471, d1.loss_bbox: 0.7370, d2.loss_cls: 0.7409, d2.loss_bbox: 0.7135, d3.loss_cls: 0.7440, d3.loss_bbox: 0.7461, d4.loss_cls: 0.7484, d4.loss_bbox: 0.7254, d5.loss_cls: 0.7475, d5.loss_bbox: 0.7058, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4807, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4437, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.4403, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4532, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4633, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4632, d0.loss_map_cls_all: 0.4437, d0.loss_map_pts_all: 2.8625, d0.loss_map_dir_all: 0.0410, d0.loss_map_cls: 0.4437, d0.loss_map_pts: 2.8625, d0.loss_map_dir: 0.0410, d1.loss_map_cls: 0.4428, d1.loss_map_pts: 2.1693, d1.loss_map_dir: 0.0409, d2.loss_map_cls: 0.4347, d2.loss_map_pts: 2.1148, d2.loss_map_dir: 0.0410, d3.loss_map_cls: 0.4336, d3.loss_map_pts: 2.0955, d3.loss_map_dir: 0.0412, d4.loss_map_cls: 0.4343, d4.loss_map_pts: 2.0887, d4.loss_map_dir: 0.0414, d5.loss_map_cls: 0.4370, d5.loss_map_pts: 2.0884, d5.loss_map_dir: 0.0415, loss: 66.8533, grad_norm: 158.8154 +2026-02-24 12:02:04,406 - DriveTransformer - INFO - Epoch [2][4650/39528] lr: 9.958e-05, eta: 8 days, 7:59:45, time: 0.777, data_time: 0.038, memory: 19865, loss_cls: 0.7671, loss_bbox: 0.6964, loss_traj: 1.6476, loss_traj_cls: 0.0005, loss_map_cls: 0.4231, loss_map_pts: 1.9696, loss_map_dir: 0.0367, d0.loss_plan_l1_fix_time: 3.0195, d0.loss_plan_l1_fix_dist: 0.4961, d1.loss_plan_l1_fix_time: 2.9570, d1.loss_plan_l1_fix_dist: 0.5073, d2.loss_plan_l1_fix_time: 2.9593, d2.loss_plan_l1_fix_dist: 0.5360, d3.loss_plan_l1_fix_time: 2.9673, d3.loss_plan_l1_fix_dist: 0.5792, d4.loss_plan_l1_fix_time: 2.9764, d4.loss_plan_l1_fix_dist: 0.6301, d5.loss_plan_l1_fix_time: 2.9874, d5.loss_plan_l1_fix_dist: 0.6812, d6.loss_plan_l1_fix_time: 2.9992, d6.loss_plan_l1_fix_dist: 0.7230, d0.loss_cls_all: 0.7843, d0.loss_bbox_all: 0.7023, d0.loss_cls: 0.7843, d0.loss_bbox: 0.7023, d1.loss_cls: 0.7861, d1.loss_bbox: 0.7229, d2.loss_cls: 0.7773, d2.loss_bbox: 0.7122, d3.loss_cls: 0.7745, d3.loss_bbox: 0.7176, d4.loss_cls: 0.7737, d4.loss_bbox: 0.6960, d5.loss_cls: 0.7682, d5.loss_bbox: 0.6900, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6123, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.6051, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.6063, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6202, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6244, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6334, d0.loss_map_cls_all: 0.4340, d0.loss_map_pts_all: 2.7166, d0.loss_map_dir_all: 0.0361, d0.loss_map_cls: 0.4340, d0.loss_map_pts: 2.7166, d0.loss_map_dir: 0.0361, d1.loss_map_cls: 0.4306, d1.loss_map_pts: 2.0634, d1.loss_map_dir: 0.0363, d2.loss_map_cls: 0.4204, d2.loss_map_pts: 1.9969, d2.loss_map_dir: 0.0364, d3.loss_map_cls: 0.4211, d3.loss_map_pts: 1.9692, d3.loss_map_dir: 0.0365, d4.loss_map_cls: 0.4202, d4.loss_map_pts: 1.9625, d4.loss_map_dir: 0.0366, d5.loss_map_cls: 0.4220, d5.loss_map_pts: 1.9607, d5.loss_map_dir: 0.0368, loss: 69.2802, grad_norm: 159.0613 +2026-02-24 12:02:44,637 - DriveTransformer - INFO - Epoch [2][4700/39528] lr: 9.958e-05, eta: 8 days, 7:59:14, time: 0.805, data_time: 0.041, memory: 19865, loss_cls: 0.7300, loss_bbox: 0.6950, loss_traj: 1.5052, loss_traj_cls: 0.0005, loss_map_cls: 0.3945, loss_map_pts: 1.8730, loss_map_dir: 0.0376, d0.loss_plan_l1_fix_time: 2.7549, d0.loss_plan_l1_fix_dist: 0.4554, d1.loss_plan_l1_fix_time: 2.6057, d1.loss_plan_l1_fix_dist: 0.4585, d2.loss_plan_l1_fix_time: 2.5966, d2.loss_plan_l1_fix_dist: 0.4787, d3.loss_plan_l1_fix_time: 2.6011, d3.loss_plan_l1_fix_dist: 0.5052, d4.loss_plan_l1_fix_time: 2.6073, d4.loss_plan_l1_fix_dist: 0.5347, d5.loss_plan_l1_fix_time: 2.6148, d5.loss_plan_l1_fix_dist: 0.5731, d6.loss_plan_l1_fix_time: 2.6243, d6.loss_plan_l1_fix_dist: 0.6143, d0.loss_cls_all: 0.7442, d0.loss_bbox_all: 0.7148, d0.loss_cls: 0.7442, d0.loss_bbox: 0.7148, d1.loss_cls: 0.7338, d1.loss_bbox: 0.7444, d2.loss_cls: 0.7308, d2.loss_bbox: 0.7395, d3.loss_cls: 0.7275, d3.loss_bbox: 0.7156, d4.loss_cls: 0.7256, d4.loss_bbox: 0.6971, d5.loss_cls: 0.7264, d5.loss_bbox: 0.6945, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5104, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4949, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.4880, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4997, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4943, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4983, d0.loss_map_cls_all: 0.4190, d0.loss_map_pts_all: 2.7394, d0.loss_map_dir_all: 0.0364, d0.loss_map_cls: 0.4190, d0.loss_map_pts: 2.7394, d0.loss_map_dir: 0.0364, d1.loss_map_cls: 0.4039, d1.loss_map_pts: 1.9895, d1.loss_map_dir: 0.0369, d2.loss_map_cls: 0.3939, d2.loss_map_pts: 1.9126, d2.loss_map_dir: 0.0369, d3.loss_map_cls: 0.3938, d3.loss_map_pts: 1.8892, d3.loss_map_dir: 0.0371, d4.loss_map_cls: 0.3904, d4.loss_map_pts: 1.8802, d4.loss_map_dir: 0.0373, d5.loss_map_cls: 0.3906, d5.loss_map_pts: 1.8726, d5.loss_map_dir: 0.0375, loss: 64.4958, grad_norm: 156.3520 +2026-02-24 12:03:24,530 - DriveTransformer - INFO - Epoch [2][4750/39528] lr: 9.958e-05, eta: 8 days, 7:58:36, time: 0.798, data_time: 0.039, memory: 19865, loss_cls: 0.7251, loss_bbox: 0.6853, loss_traj: 1.7104, loss_traj_cls: 0.0005, loss_map_cls: 0.4023, loss_map_pts: 2.0469, loss_map_dir: 0.0367, d0.loss_plan_l1_fix_time: 2.9115, d0.loss_plan_l1_fix_dist: 0.4616, d1.loss_plan_l1_fix_time: 2.7966, d1.loss_plan_l1_fix_dist: 0.4682, d2.loss_plan_l1_fix_time: 2.7980, d2.loss_plan_l1_fix_dist: 0.4944, d3.loss_plan_l1_fix_time: 2.8060, d3.loss_plan_l1_fix_dist: 0.5277, d4.loss_plan_l1_fix_time: 2.8134, d4.loss_plan_l1_fix_dist: 0.5626, d5.loss_plan_l1_fix_time: 2.8211, d5.loss_plan_l1_fix_dist: 0.5948, d6.loss_plan_l1_fix_time: 2.8303, d6.loss_plan_l1_fix_dist: 0.6380, d0.loss_cls_all: 0.7228, d0.loss_bbox_all: 0.7099, d0.loss_cls: 0.7228, d0.loss_bbox: 0.7099, d1.loss_cls: 0.7183, d1.loss_bbox: 0.7379, d2.loss_cls: 0.7204, d2.loss_bbox: 0.7450, d3.loss_cls: 0.7200, d3.loss_bbox: 0.6996, d4.loss_cls: 0.7244, d4.loss_bbox: 0.6867, d5.loss_cls: 0.7266, d5.loss_bbox: 0.6831, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7126, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6956, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.6995, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7028, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7044, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7047, d0.loss_map_cls_all: 0.4316, d0.loss_map_pts_all: 2.7612, d0.loss_map_dir_all: 0.0359, d0.loss_map_cls: 0.4316, d0.loss_map_pts: 2.7612, d0.loss_map_dir: 0.0359, d1.loss_map_cls: 0.4172, d1.loss_map_pts: 2.1615, d1.loss_map_dir: 0.0361, d2.loss_map_cls: 0.4059, d2.loss_map_pts: 2.0847, d2.loss_map_dir: 0.0362, d3.loss_map_cls: 0.4042, d3.loss_map_pts: 2.0587, d3.loss_map_dir: 0.0364, d4.loss_map_cls: 0.4019, d4.loss_map_pts: 2.0490, d4.loss_map_dir: 0.0366, d5.loss_map_cls: 0.4004, d5.loss_map_pts: 2.0500, d5.loss_map_dir: 0.0367, loss: 68.4551, grad_norm: 154.4751 +2026-02-24 12:04:05,394 - DriveTransformer - INFO - Epoch [2][4800/39528] lr: 9.958e-05, eta: 8 days, 7:58:18, time: 0.817, data_time: 0.040, memory: 19865, loss_cls: 0.7735, loss_bbox: 0.7299, loss_traj: 1.6061, loss_traj_cls: 0.0004, loss_map_cls: 0.3897, loss_map_pts: 2.0480, loss_map_dir: 0.0369, d0.loss_plan_l1_fix_time: 3.0645, d0.loss_plan_l1_fix_dist: 0.4406, d1.loss_plan_l1_fix_time: 2.8184, d1.loss_plan_l1_fix_dist: 0.4559, d2.loss_plan_l1_fix_time: 2.7811, d2.loss_plan_l1_fix_dist: 0.4909, d3.loss_plan_l1_fix_time: 2.7800, d3.loss_plan_l1_fix_dist: 0.5306, d4.loss_plan_l1_fix_time: 2.7840, d4.loss_plan_l1_fix_dist: 0.5676, d5.loss_plan_l1_fix_time: 2.7892, d5.loss_plan_l1_fix_dist: 0.6028, d6.loss_plan_l1_fix_time: 2.7953, d6.loss_plan_l1_fix_dist: 0.6345, d0.loss_cls_all: 0.7643, d0.loss_bbox_all: 0.7431, d0.loss_cls: 0.7643, d0.loss_bbox: 0.7431, d1.loss_cls: 0.7585, d1.loss_bbox: 0.7636, d2.loss_cls: 0.7568, d2.loss_bbox: 0.7830, d3.loss_cls: 0.7629, d3.loss_bbox: 0.7487, d4.loss_cls: 0.7618, d4.loss_bbox: 0.7277, d5.loss_cls: 0.7686, d5.loss_bbox: 0.7260, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6141, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5656, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5811, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5910, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5989, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6075, d0.loss_map_cls_all: 0.4147, d0.loss_map_pts_all: 2.8098, d0.loss_map_dir_all: 0.0364, d0.loss_map_cls: 0.4147, d0.loss_map_pts: 2.8098, d0.loss_map_dir: 0.0364, d1.loss_map_cls: 0.3983, d1.loss_map_pts: 2.1847, d1.loss_map_dir: 0.0365, d2.loss_map_cls: 0.3912, d2.loss_map_pts: 2.0963, d2.loss_map_dir: 0.0366, d3.loss_map_cls: 0.3894, d3.loss_map_pts: 2.0676, d3.loss_map_dir: 0.0367, d4.loss_map_cls: 0.3900, d4.loss_map_pts: 2.0553, d4.loss_map_dir: 0.0367, d5.loss_map_cls: 0.3892, d5.loss_map_pts: 2.0517, d5.loss_map_dir: 0.0369, loss: 68.3738, grad_norm: 154.1648 +2026-02-24 12:04:45,216 - DriveTransformer - INFO - Epoch [2][4850/39528] lr: 9.958e-05, eta: 8 days, 7:57:39, time: 0.796, data_time: 0.042, memory: 19865, loss_cls: 0.7206, loss_bbox: 0.6727, loss_traj: 1.4928, loss_traj_cls: 0.0004, loss_map_cls: 0.3873, loss_map_pts: 1.9076, loss_map_dir: 0.0369, d0.loss_plan_l1_fix_time: 2.7490, d0.loss_plan_l1_fix_dist: 0.4354, d1.loss_plan_l1_fix_time: 2.5855, d1.loss_plan_l1_fix_dist: 0.4314, d2.loss_plan_l1_fix_time: 2.5785, d2.loss_plan_l1_fix_dist: 0.4529, d3.loss_plan_l1_fix_time: 2.5858, d3.loss_plan_l1_fix_dist: 0.4789, d4.loss_plan_l1_fix_time: 2.5967, d4.loss_plan_l1_fix_dist: 0.5129, d5.loss_plan_l1_fix_time: 2.6079, d5.loss_plan_l1_fix_dist: 0.5525, d6.loss_plan_l1_fix_time: 2.6201, d6.loss_plan_l1_fix_dist: 0.5878, d0.loss_cls_all: 0.7225, d0.loss_bbox_all: 0.6989, d0.loss_cls: 0.7225, d0.loss_bbox: 0.6989, d1.loss_cls: 0.7151, d1.loss_bbox: 0.7053, d2.loss_cls: 0.7116, d2.loss_bbox: 0.7310, d3.loss_cls: 0.7119, d3.loss_bbox: 0.6985, d4.loss_cls: 0.7117, d4.loss_bbox: 0.6713, d5.loss_cls: 0.7155, d5.loss_bbox: 0.6691, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4686, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4527, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4616, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4712, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.4725, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4788, d0.loss_map_cls_all: 0.4107, d0.loss_map_pts_all: 2.6530, d0.loss_map_dir_all: 0.0360, d0.loss_map_cls: 0.4107, d0.loss_map_pts: 2.6530, d0.loss_map_dir: 0.0360, d1.loss_map_cls: 0.3975, d1.loss_map_pts: 1.9971, d1.loss_map_dir: 0.0363, d2.loss_map_cls: 0.3894, d2.loss_map_pts: 1.9144, d2.loss_map_dir: 0.0363, d3.loss_map_cls: 0.3859, d3.loss_map_pts: 1.8883, d3.loss_map_dir: 0.0365, d4.loss_map_cls: 0.3845, d4.loss_map_pts: 1.8888, d4.loss_map_dir: 0.0367, d5.loss_map_cls: 0.3845, d5.loss_map_pts: 1.8934, d5.loss_map_dir: 0.0368, loss: 63.5925, grad_norm: 153.6139 +2026-02-24 12:05:24,778 - DriveTransformer - INFO - Epoch [2][4900/39528] lr: 9.958e-05, eta: 8 days, 7:56:54, time: 0.791, data_time: 0.039, memory: 19865, loss_cls: 0.7313, loss_bbox: 0.6868, loss_traj: 1.5878, loss_traj_cls: 0.0005, loss_map_cls: 0.4189, loss_map_pts: 1.9550, loss_map_dir: 0.0335, d0.loss_plan_l1_fix_time: 2.7781, d0.loss_plan_l1_fix_dist: 0.5474, d1.loss_plan_l1_fix_time: 2.6769, d1.loss_plan_l1_fix_dist: 0.5381, d2.loss_plan_l1_fix_time: 2.6745, d2.loss_plan_l1_fix_dist: 0.5479, d3.loss_plan_l1_fix_time: 2.6797, d3.loss_plan_l1_fix_dist: 0.5666, d4.loss_plan_l1_fix_time: 2.6863, d4.loss_plan_l1_fix_dist: 0.5922, d5.loss_plan_l1_fix_time: 2.6933, d5.loss_plan_l1_fix_dist: 0.6214, d6.loss_plan_l1_fix_time: 2.7018, d6.loss_plan_l1_fix_dist: 0.6600, d0.loss_cls_all: 0.7280, d0.loss_bbox_all: 0.7198, d0.loss_cls: 0.7280, d0.loss_bbox: 0.7198, d1.loss_cls: 0.7373, d1.loss_bbox: 0.7087, d2.loss_cls: 0.7328, d2.loss_bbox: 0.7424, d3.loss_cls: 0.7330, d3.loss_bbox: 0.7100, d4.loss_cls: 0.7253, d4.loss_bbox: 0.6866, d5.loss_cls: 0.7307, d5.loss_bbox: 0.6822, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5333, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5393, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5640, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5720, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5779, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5812, d0.loss_map_cls_all: 0.4353, d0.loss_map_pts_all: 2.6482, d0.loss_map_dir_all: 0.0330, d0.loss_map_cls: 0.4353, d0.loss_map_pts: 2.6482, d0.loss_map_dir: 0.0330, d1.loss_map_cls: 0.4288, d1.loss_map_pts: 2.0785, d1.loss_map_dir: 0.0331, d2.loss_map_cls: 0.4221, d2.loss_map_pts: 1.9872, d2.loss_map_dir: 0.0331, d3.loss_map_cls: 0.4162, d3.loss_map_pts: 1.9592, d3.loss_map_dir: 0.0333, d4.loss_map_cls: 0.4153, d4.loss_map_pts: 1.9499, d4.loss_map_dir: 0.0334, d5.loss_map_cls: 0.4177, d5.loss_map_pts: 1.9473, d5.loss_map_dir: 0.0335, loss: 66.2560, grad_norm: 153.0034 +2026-02-24 12:06:05,568 - DriveTransformer - INFO - Epoch [2][4950/39528] lr: 9.958e-05, eta: 8 days, 7:56:34, time: 0.816, data_time: 0.040, memory: 19865, loss_cls: 0.7113, loss_bbox: 0.6703, loss_traj: 1.4478, loss_traj_cls: 0.0005, loss_map_cls: 0.3865, loss_map_pts: 1.8267, loss_map_dir: 0.0373, d0.loss_plan_l1_fix_time: 2.9362, d0.loss_plan_l1_fix_dist: 0.4714, d1.loss_plan_l1_fix_time: 2.7771, d1.loss_plan_l1_fix_dist: 0.4734, d2.loss_plan_l1_fix_time: 2.7559, d2.loss_plan_l1_fix_dist: 0.4962, d3.loss_plan_l1_fix_time: 2.7579, d3.loss_plan_l1_fix_dist: 0.5294, d4.loss_plan_l1_fix_time: 2.7635, d4.loss_plan_l1_fix_dist: 0.5643, d5.loss_plan_l1_fix_time: 2.7717, d5.loss_plan_l1_fix_dist: 0.5987, d6.loss_plan_l1_fix_time: 2.7833, d6.loss_plan_l1_fix_dist: 0.6338, d0.loss_cls_all: 0.7130, d0.loss_bbox_all: 0.7113, d0.loss_cls: 0.7130, d0.loss_bbox: 0.7113, d1.loss_cls: 0.7064, d1.loss_bbox: 0.6839, d2.loss_cls: 0.7013, d2.loss_bbox: 0.7217, d3.loss_cls: 0.7024, d3.loss_bbox: 0.6921, d4.loss_cls: 0.6997, d4.loss_bbox: 0.6735, d5.loss_cls: 0.7057, d5.loss_bbox: 0.6676, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4297, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4125, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4211, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4339, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4328, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4366, d0.loss_map_cls_all: 0.4168, d0.loss_map_pts_all: 2.8063, d0.loss_map_dir_all: 0.0365, d0.loss_map_cls: 0.4168, d0.loss_map_pts: 2.8063, d0.loss_map_dir: 0.0365, d1.loss_map_cls: 0.4039, d1.loss_map_pts: 1.9750, d1.loss_map_dir: 0.0367, d2.loss_map_cls: 0.3963, d2.loss_map_pts: 1.8680, d2.loss_map_dir: 0.0369, d3.loss_map_cls: 0.3919, d3.loss_map_pts: 1.8349, d3.loss_map_dir: 0.0370, d4.loss_map_cls: 0.3866, d4.loss_map_pts: 1.8257, d4.loss_map_dir: 0.0372, d5.loss_map_cls: 0.3851, d5.loss_map_pts: 1.8291, d5.loss_map_dir: 0.0372, loss: 64.7675, grad_norm: 152.6589 +2026-02-24 12:06:45,631 - DriveTransformer - INFO - Epoch [2][5000/39528] lr: 9.958e-05, eta: 8 days, 7:56:00, time: 0.801, data_time: 0.042, memory: 19865, loss_cls: 0.7352, loss_bbox: 0.7065, loss_traj: 1.5834, loss_traj_cls: 0.0004, loss_map_cls: 0.4167, loss_map_pts: 2.0017, loss_map_dir: 0.0367, d0.loss_plan_l1_fix_time: 2.9469, d0.loss_plan_l1_fix_dist: 0.5051, d1.loss_plan_l1_fix_time: 2.6948, d1.loss_plan_l1_fix_dist: 0.4955, d2.loss_plan_l1_fix_time: 2.6561, d2.loss_plan_l1_fix_dist: 0.5156, d3.loss_plan_l1_fix_time: 2.6525, d3.loss_plan_l1_fix_dist: 0.5405, d4.loss_plan_l1_fix_time: 2.6548, d4.loss_plan_l1_fix_dist: 0.5711, d5.loss_plan_l1_fix_time: 2.6597, d5.loss_plan_l1_fix_dist: 0.5991, d6.loss_plan_l1_fix_time: 2.6667, d6.loss_plan_l1_fix_dist: 0.6259, d0.loss_cls_all: 0.7329, d0.loss_bbox_all: 0.7454, d0.loss_cls: 0.7329, d0.loss_bbox: 0.7454, d1.loss_cls: 0.7290, d1.loss_bbox: 0.7225, d2.loss_cls: 0.7292, d2.loss_bbox: 0.7418, d3.loss_cls: 0.7302, d3.loss_bbox: 0.7106, d4.loss_cls: 0.7282, d4.loss_bbox: 0.7034, d5.loss_cls: 0.7308, d5.loss_bbox: 0.7015, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6079, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5384, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5443, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5603, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5654, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5758, d0.loss_map_cls_all: 0.4362, d0.loss_map_pts_all: 2.8565, d0.loss_map_dir_all: 0.0364, d0.loss_map_cls: 0.4362, d0.loss_map_pts: 2.8565, d0.loss_map_dir: 0.0364, d1.loss_map_cls: 0.4247, d1.loss_map_pts: 2.1424, d1.loss_map_dir: 0.0362, d2.loss_map_cls: 0.4166, d2.loss_map_pts: 2.0530, d2.loss_map_dir: 0.0363, d3.loss_map_cls: 0.4136, d3.loss_map_pts: 2.0209, d3.loss_map_dir: 0.0365, d4.loss_map_cls: 0.4143, d4.loss_map_pts: 2.0082, d4.loss_map_dir: 0.0366, d5.loss_map_cls: 0.4163, d5.loss_map_pts: 2.0042, d5.loss_map_dir: 0.0366, loss: 66.9994, grad_norm: 151.9177 +2026-02-24 12:07:26,203 - DriveTransformer - INFO - Epoch [2][5050/39528] lr: 9.958e-05, eta: 8 days, 7:55:35, time: 0.811, data_time: 0.036, memory: 19865, loss_cls: 0.7405, loss_bbox: 0.7197, loss_traj: 1.5483, loss_traj_cls: 0.0005, loss_map_cls: 0.4015, loss_map_pts: 2.0717, loss_map_dir: 0.0360, d0.loss_plan_l1_fix_time: 2.6926, d0.loss_plan_l1_fix_dist: 0.5108, d1.loss_plan_l1_fix_time: 2.5128, d1.loss_plan_l1_fix_dist: 0.5048, d2.loss_plan_l1_fix_time: 2.4989, d2.loss_plan_l1_fix_dist: 0.5239, d3.loss_plan_l1_fix_time: 2.5026, d3.loss_plan_l1_fix_dist: 0.5531, d4.loss_plan_l1_fix_time: 2.5082, d4.loss_plan_l1_fix_dist: 0.5861, d5.loss_plan_l1_fix_time: 2.5143, d5.loss_plan_l1_fix_dist: 0.6227, d6.loss_plan_l1_fix_time: 2.5204, d6.loss_plan_l1_fix_dist: 0.6630, d0.loss_cls_all: 0.7436, d0.loss_bbox_all: 0.7651, d0.loss_cls: 0.7436, d0.loss_bbox: 0.7651, d1.loss_cls: 0.7364, d1.loss_bbox: 0.7568, d2.loss_cls: 0.7390, d2.loss_bbox: 0.7362, d3.loss_cls: 0.7389, d3.loss_bbox: 0.7205, d4.loss_cls: 0.7339, d4.loss_bbox: 0.7187, d5.loss_cls: 0.7391, d5.loss_bbox: 0.7152, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5207, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5247, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5106, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5205, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5285, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5453, d0.loss_map_cls_all: 0.4217, d0.loss_map_pts_all: 2.8727, d0.loss_map_dir_all: 0.0354, d0.loss_map_cls: 0.4217, d0.loss_map_pts: 2.8727, d0.loss_map_dir: 0.0354, d1.loss_map_cls: 0.4099, d1.loss_map_pts: 2.1720, d1.loss_map_dir: 0.0355, d2.loss_map_cls: 0.4037, d2.loss_map_pts: 2.0932, d2.loss_map_dir: 0.0355, d3.loss_map_cls: 0.4013, d3.loss_map_pts: 2.0639, d3.loss_map_dir: 0.0357, d4.loss_map_cls: 0.4009, d4.loss_map_pts: 2.0586, d4.loss_map_dir: 0.0358, d5.loss_map_cls: 0.3991, d5.loss_map_pts: 2.0618, d5.loss_map_dir: 0.0359, loss: 66.0410, grad_norm: 149.3322 +2026-02-24 12:08:05,183 - DriveTransformer - INFO - Epoch [2][5100/39528] lr: 9.958e-05, eta: 8 days, 7:54:39, time: 0.780, data_time: 0.040, memory: 19865, loss_cls: 0.7316, loss_bbox: 0.7166, loss_traj: 2.1065, loss_traj_cls: 0.0004, loss_map_cls: 0.4270, loss_map_pts: 1.7734, loss_map_dir: 0.0245, d0.loss_plan_l1_fix_time: 2.8980, d0.loss_plan_l1_fix_dist: 0.4166, d1.loss_plan_l1_fix_time: 2.7080, d1.loss_plan_l1_fix_dist: 0.4108, d2.loss_plan_l1_fix_time: 2.6817, d2.loss_plan_l1_fix_dist: 0.4277, d3.loss_plan_l1_fix_time: 2.6792, d3.loss_plan_l1_fix_dist: 0.4542, d4.loss_plan_l1_fix_time: 2.6826, d4.loss_plan_l1_fix_dist: 0.4794, d5.loss_plan_l1_fix_time: 2.6875, d5.loss_plan_l1_fix_dist: 0.5107, d6.loss_plan_l1_fix_time: 2.6944, d6.loss_plan_l1_fix_dist: 0.5463, d0.loss_cls_all: 0.7336, d0.loss_bbox_all: 0.7729, d0.loss_cls: 0.7336, d0.loss_bbox: 0.7729, d1.loss_cls: 0.7320, d1.loss_bbox: 0.7826, d2.loss_cls: 0.7215, d2.loss_bbox: 0.7353, d3.loss_cls: 0.7251, d3.loss_bbox: 0.7255, d4.loss_cls: 0.7310, d4.loss_bbox: 0.7207, d5.loss_cls: 0.7255, d5.loss_bbox: 0.7168, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.1770, d1.loss_traj_cls: 0.0009, d1.loss_traj: 2.1074, d2.loss_traj_cls: 0.0008, d2.loss_traj: 2.0905, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0928, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.1050, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.1045, d0.loss_map_cls_all: 0.4599, d0.loss_map_pts_all: 2.1438, d0.loss_map_dir_all: 0.0245, d0.loss_map_cls: 0.4599, d0.loss_map_pts: 2.1438, d0.loss_map_dir: 0.0245, d1.loss_map_cls: 0.4375, d1.loss_map_pts: 1.8525, d1.loss_map_dir: 0.0244, d2.loss_map_cls: 0.4307, d2.loss_map_pts: 1.7924, d2.loss_map_dir: 0.0244, d3.loss_map_cls: 0.4313, d3.loss_map_pts: 1.7726, d3.loss_map_dir: 0.0244, d4.loss_map_cls: 0.4297, d4.loss_map_pts: 1.7694, d4.loss_map_dir: 0.0245, d5.loss_map_cls: 0.4269, d5.loss_map_pts: 1.7704, d5.loss_map_dir: 0.0246, loss: 67.5597, grad_norm: 148.6463 +2026-02-24 12:08:46,517 - DriveTransformer - INFO - Epoch [2][5150/39528] lr: 9.958e-05, eta: 8 days, 7:54:30, time: 0.827, data_time: 0.043, memory: 19865, loss_cls: 0.7602, loss_bbox: 0.7189, loss_traj: 1.4275, loss_traj_cls: 0.0005, loss_map_cls: 0.4356, loss_map_pts: 2.0881, loss_map_dir: 0.0427, d0.loss_plan_l1_fix_time: 3.1708, d0.loss_plan_l1_fix_dist: 0.5291, d1.loss_plan_l1_fix_time: 3.0811, d1.loss_plan_l1_fix_dist: 0.5158, d2.loss_plan_l1_fix_time: 3.0883, d2.loss_plan_l1_fix_dist: 0.5316, d3.loss_plan_l1_fix_time: 3.0915, d3.loss_plan_l1_fix_dist: 0.5565, d4.loss_plan_l1_fix_time: 3.0966, d4.loss_plan_l1_fix_dist: 0.5924, d5.loss_plan_l1_fix_time: 3.1027, d5.loss_plan_l1_fix_dist: 0.6326, d6.loss_plan_l1_fix_time: 3.1097, d6.loss_plan_l1_fix_dist: 0.6769, d0.loss_cls_all: 0.7618, d0.loss_bbox_all: 0.7689, d0.loss_cls: 0.7618, d0.loss_bbox: 0.7689, d1.loss_cls: 0.7535, d1.loss_bbox: 0.7751, d2.loss_cls: 0.7595, d2.loss_bbox: 0.7391, d3.loss_cls: 0.7571, d3.loss_bbox: 0.7260, d4.loss_cls: 0.7480, d4.loss_bbox: 0.7212, d5.loss_cls: 0.7532, d5.loss_bbox: 0.7194, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4584, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4125, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4111, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4235, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4237, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4213, d0.loss_map_cls_all: 0.4540, d0.loss_map_pts_all: 3.0836, d0.loss_map_dir_all: 0.0414, d0.loss_map_cls: 0.4540, d0.loss_map_pts: 3.0836, d0.loss_map_dir: 0.0414, d1.loss_map_cls: 0.4443, d1.loss_map_pts: 2.2225, d1.loss_map_dir: 0.0419, d2.loss_map_cls: 0.4348, d2.loss_map_pts: 2.1293, d2.loss_map_dir: 0.0420, d3.loss_map_cls: 0.4354, d3.loss_map_pts: 2.0935, d3.loss_map_dir: 0.0422, d4.loss_map_cls: 0.4352, d4.loss_map_pts: 2.0840, d4.loss_map_dir: 0.0424, d5.loss_map_cls: 0.4350, d5.loss_map_pts: 2.0861, d5.loss_map_dir: 0.0426, loss: 70.4861, grad_norm: 146.5339 +2026-02-24 12:09:24,977 - DriveTransformer - INFO - Epoch [2][5200/39528] lr: 9.958e-05, eta: 8 days, 7:53:23, time: 0.769, data_time: 0.040, memory: 19865, loss_cls: 0.7122, loss_bbox: 0.7274, loss_traj: 1.5338, loss_traj_cls: 0.0004, loss_map_cls: 0.3891, loss_map_pts: 1.6807, loss_map_dir: 0.0298, d0.loss_plan_l1_fix_time: 2.6643, d0.loss_plan_l1_fix_dist: 0.5703, d1.loss_plan_l1_fix_time: 2.5828, d1.loss_plan_l1_fix_dist: 0.5632, d2.loss_plan_l1_fix_time: 2.5760, d2.loss_plan_l1_fix_dist: 0.5727, d3.loss_plan_l1_fix_time: 2.5830, d3.loss_plan_l1_fix_dist: 0.5898, d4.loss_plan_l1_fix_time: 2.5907, d4.loss_plan_l1_fix_dist: 0.6100, d5.loss_plan_l1_fix_time: 2.6001, d5.loss_plan_l1_fix_dist: 0.6300, d6.loss_plan_l1_fix_time: 2.6118, d6.loss_plan_l1_fix_dist: 0.6549, d0.loss_cls_all: 0.7176, d0.loss_bbox_all: 0.7631, d0.loss_cls: 0.7176, d0.loss_bbox: 0.7631, d1.loss_cls: 0.7123, d1.loss_bbox: 0.7778, d2.loss_cls: 0.7059, d2.loss_bbox: 0.7486, d3.loss_cls: 0.7084, d3.loss_bbox: 0.7335, d4.loss_cls: 0.7126, d4.loss_bbox: 0.7271, d5.loss_cls: 0.7117, d5.loss_bbox: 0.7239, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5470, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5260, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5226, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5284, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5272, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5328, d0.loss_map_cls_all: 0.4193, d0.loss_map_pts_all: 2.4051, d0.loss_map_dir_all: 0.0293, d0.loss_map_cls: 0.4193, d0.loss_map_pts: 2.4051, d0.loss_map_dir: 0.0293, d1.loss_map_cls: 0.3985, d1.loss_map_pts: 1.7827, d1.loss_map_dir: 0.0293, d2.loss_map_cls: 0.3919, d2.loss_map_pts: 1.6983, d2.loss_map_dir: 0.0294, d3.loss_map_cls: 0.3872, d3.loss_map_pts: 1.6751, d3.loss_map_dir: 0.0295, d4.loss_map_cls: 0.3846, d4.loss_map_pts: 1.6720, d4.loss_map_dir: 0.0295, d5.loss_map_cls: 0.3875, d5.loss_map_pts: 1.6719, d5.loss_map_dir: 0.0298, loss: 63.1886, grad_norm: 145.9263 +2026-02-24 12:10:05,081 - DriveTransformer - INFO - Epoch [2][5250/39528] lr: 9.958e-05, eta: 8 days, 7:52:50, time: 0.802, data_time: 0.037, memory: 19865, loss_cls: 0.7111, loss_bbox: 0.7076, loss_traj: 1.6113, loss_traj_cls: 0.0005, loss_map_cls: 0.4183, loss_map_pts: 1.8929, loss_map_dir: 0.0374, d0.loss_plan_l1_fix_time: 2.7806, d0.loss_plan_l1_fix_dist: 0.4336, d1.loss_plan_l1_fix_time: 2.3936, d1.loss_plan_l1_fix_dist: 0.4364, d2.loss_plan_l1_fix_time: 2.3374, d2.loss_plan_l1_fix_dist: 0.4588, d3.loss_plan_l1_fix_time: 2.3341, d3.loss_plan_l1_fix_dist: 0.4886, d4.loss_plan_l1_fix_time: 2.3383, d4.loss_plan_l1_fix_dist: 0.5172, d5.loss_plan_l1_fix_time: 2.3442, d5.loss_plan_l1_fix_dist: 0.5449, d6.loss_plan_l1_fix_time: 2.3541, d6.loss_plan_l1_fix_dist: 0.5721, d0.loss_cls_all: 0.7043, d0.loss_bbox_all: 0.7300, d0.loss_cls: 0.7043, d0.loss_bbox: 0.7300, d1.loss_cls: 0.7025, d1.loss_bbox: 0.7427, d2.loss_cls: 0.7059, d2.loss_bbox: 0.7187, d3.loss_cls: 0.7096, d3.loss_bbox: 0.7045, d4.loss_cls: 0.7068, d4.loss_bbox: 0.7068, d5.loss_cls: 0.7106, d5.loss_bbox: 0.7047, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6234, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5975, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5908, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5906, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5956, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6032, d0.loss_map_cls_all: 0.4395, d0.loss_map_pts_all: 2.7216, d0.loss_map_dir_all: 0.0358, d0.loss_map_cls: 0.4395, d0.loss_map_pts: 2.7216, d0.loss_map_dir: 0.0358, d1.loss_map_cls: 0.4275, d1.loss_map_pts: 1.9981, d1.loss_map_dir: 0.0364, d2.loss_map_cls: 0.4204, d2.loss_map_pts: 1.9180, d2.loss_map_dir: 0.0367, d3.loss_map_cls: 0.4184, d3.loss_map_pts: 1.8938, d3.loss_map_dir: 0.0370, d4.loss_map_cls: 0.4161, d4.loss_map_pts: 1.8833, d4.loss_map_dir: 0.0372, d5.loss_map_cls: 0.4162, d5.loss_map_pts: 1.8861, d5.loss_map_dir: 0.0374, loss: 63.5560, grad_norm: 146.8288 +2026-02-24 12:10:44,990 - DriveTransformer - INFO - Epoch [2][5300/39528] lr: 9.958e-05, eta: 8 days, 7:52:12, time: 0.798, data_time: 0.042, memory: 19865, loss_cls: 0.7071, loss_bbox: 0.6802, loss_traj: 1.3424, loss_traj_cls: 0.0005, loss_map_cls: 0.4059, loss_map_pts: 2.0149, loss_map_dir: 0.0357, d0.loss_plan_l1_fix_time: 2.4877, d0.loss_plan_l1_fix_dist: 0.4358, d1.loss_plan_l1_fix_time: 2.3012, d1.loss_plan_l1_fix_dist: 0.4155, d2.loss_plan_l1_fix_time: 2.3017, d2.loss_plan_l1_fix_dist: 0.4234, d3.loss_plan_l1_fix_time: 2.3097, d3.loss_plan_l1_fix_dist: 0.4410, d4.loss_plan_l1_fix_time: 2.3196, d4.loss_plan_l1_fix_dist: 0.4625, d5.loss_plan_l1_fix_time: 2.3299, d5.loss_plan_l1_fix_dist: 0.4867, d6.loss_plan_l1_fix_time: 2.3407, d6.loss_plan_l1_fix_dist: 0.5172, d0.loss_cls_all: 0.7114, d0.loss_bbox_all: 0.6887, d0.loss_cls: 0.7114, d0.loss_bbox: 0.6887, d1.loss_cls: 0.7098, d1.loss_bbox: 0.7043, d2.loss_cls: 0.7042, d2.loss_bbox: 0.6877, d3.loss_cls: 0.7077, d3.loss_bbox: 0.6695, d4.loss_cls: 0.7081, d4.loss_bbox: 0.6733, d5.loss_cls: 0.7072, d5.loss_bbox: 0.6752, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4147, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3374, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.3343, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.3361, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3303, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3389, d0.loss_map_cls_all: 0.4132, d0.loss_map_pts_all: 2.7694, d0.loss_map_dir_all: 0.0344, d0.loss_map_cls: 0.4132, d0.loss_map_pts: 2.7694, d0.loss_map_dir: 0.0344, d1.loss_map_cls: 0.4082, d1.loss_map_pts: 2.1044, d1.loss_map_dir: 0.0350, d2.loss_map_cls: 0.4010, d2.loss_map_pts: 2.0320, d2.loss_map_dir: 0.0352, d3.loss_map_cls: 0.4021, d3.loss_map_pts: 2.0160, d3.loss_map_dir: 0.0353, d4.loss_map_cls: 0.4038, d4.loss_map_pts: 2.0074, d4.loss_map_dir: 0.0355, d5.loss_map_cls: 0.4059, d5.loss_map_pts: 2.0086, d5.loss_map_dir: 0.0356, loss: 61.4022, grad_norm: 147.6033 +2026-02-24 12:11:25,030 - DriveTransformer - INFO - Epoch [2][5350/39528] lr: 9.958e-05, eta: 8 days, 7:51:37, time: 0.801, data_time: 0.042, memory: 19865, loss_cls: 0.7082, loss_bbox: 0.7134, loss_traj: 1.3993, loss_traj_cls: 0.0005, loss_map_cls: 0.4289, loss_map_pts: 2.0249, loss_map_dir: 0.0358, d0.loss_plan_l1_fix_time: 2.3049, d0.loss_plan_l1_fix_dist: 0.4473, d1.loss_plan_l1_fix_time: 2.1068, d1.loss_plan_l1_fix_dist: 0.4318, d2.loss_plan_l1_fix_time: 2.0921, d2.loss_plan_l1_fix_dist: 0.4389, d3.loss_plan_l1_fix_time: 2.0980, d3.loss_plan_l1_fix_dist: 0.4588, d4.loss_plan_l1_fix_time: 2.1079, d4.loss_plan_l1_fix_dist: 0.4855, d5.loss_plan_l1_fix_time: 2.1197, d5.loss_plan_l1_fix_dist: 0.5162, d6.loss_plan_l1_fix_time: 2.1317, d6.loss_plan_l1_fix_dist: 0.5530, d0.loss_cls_all: 0.7045, d0.loss_bbox_all: 0.7337, d0.loss_cls: 0.7045, d0.loss_bbox: 0.7337, d1.loss_cls: 0.7035, d1.loss_bbox: 0.7371, d2.loss_cls: 0.7000, d2.loss_bbox: 0.7200, d3.loss_cls: 0.7042, d3.loss_bbox: 0.7095, d4.loss_cls: 0.7052, d4.loss_bbox: 0.7098, d5.loss_cls: 0.7085, d5.loss_bbox: 0.7093, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4109, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3904, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.3893, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.3884, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3896, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3890, d0.loss_map_cls_all: 0.4352, d0.loss_map_pts_all: 2.8593, d0.loss_map_dir_all: 0.0346, d0.loss_map_cls: 0.4352, d0.loss_map_pts: 2.8593, d0.loss_map_dir: 0.0346, d1.loss_map_cls: 0.4260, d1.loss_map_pts: 2.1479, d1.loss_map_dir: 0.0350, d2.loss_map_cls: 0.4210, d2.loss_map_pts: 2.0694, d2.loss_map_dir: 0.0352, d3.loss_map_cls: 0.4223, d3.loss_map_pts: 2.0421, d3.loss_map_dir: 0.0354, d4.loss_map_cls: 0.4262, d4.loss_map_pts: 2.0308, d4.loss_map_dir: 0.0355, d5.loss_map_cls: 0.4293, d5.loss_map_pts: 2.0260, d5.loss_map_dir: 0.0356, loss: 61.2248, grad_norm: 146.6061 +2026-02-24 12:12:03,684 - DriveTransformer - INFO - Epoch [2][5400/39528] lr: 9.958e-05, eta: 8 days, 7:50:35, time: 0.774, data_time: 0.036, memory: 19865, loss_cls: 0.7554, loss_bbox: 0.7468, loss_traj: 1.4884, loss_traj_cls: 0.0005, loss_map_cls: 0.4190, loss_map_pts: 1.8643, loss_map_dir: 0.0339, d0.loss_plan_l1_fix_time: 2.9519, d0.loss_plan_l1_fix_dist: 0.5144, d1.loss_plan_l1_fix_time: 2.7697, d1.loss_plan_l1_fix_dist: 0.5084, d2.loss_plan_l1_fix_time: 2.7511, d2.loss_plan_l1_fix_dist: 0.5185, d3.loss_plan_l1_fix_time: 2.7536, d3.loss_plan_l1_fix_dist: 0.5367, d4.loss_plan_l1_fix_time: 2.7584, d4.loss_plan_l1_fix_dist: 0.5595, d5.loss_plan_l1_fix_time: 2.7644, d5.loss_plan_l1_fix_dist: 0.5903, d6.loss_plan_l1_fix_time: 2.7704, d6.loss_plan_l1_fix_dist: 0.6257, d0.loss_cls_all: 0.7644, d0.loss_bbox_all: 0.7662, d0.loss_cls: 0.7644, d0.loss_bbox: 0.7662, d1.loss_cls: 0.7539, d1.loss_bbox: 0.7650, d2.loss_cls: 0.7473, d2.loss_bbox: 0.7506, d3.loss_cls: 0.7481, d3.loss_bbox: 0.7441, d4.loss_cls: 0.7642, d4.loss_bbox: 0.7439, d5.loss_cls: 0.7509, d5.loss_bbox: 0.7468, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5065, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4661, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4743, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4832, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4843, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4823, d0.loss_map_cls_all: 0.4434, d0.loss_map_pts_all: 2.5810, d0.loss_map_dir_all: 0.0327, d0.loss_map_cls: 0.4434, d0.loss_map_pts: 2.5810, d0.loss_map_dir: 0.0327, d1.loss_map_cls: 0.4282, d1.loss_map_pts: 1.9731, d1.loss_map_dir: 0.0330, d2.loss_map_cls: 0.4212, d2.loss_map_pts: 1.8947, d2.loss_map_dir: 0.0332, d3.loss_map_cls: 0.4177, d3.loss_map_pts: 1.8690, d3.loss_map_dir: 0.0335, d4.loss_map_cls: 0.4173, d4.loss_map_pts: 1.8622, d4.loss_map_dir: 0.0337, d5.loss_map_cls: 0.4179, d5.loss_map_pts: 1.8627, d5.loss_map_dir: 0.0338, loss: 66.0039, grad_norm: 146.2659 +2026-02-24 12:12:41,606 - DriveTransformer - INFO - Epoch [2][5450/39528] lr: 9.958e-05, eta: 8 days, 7:49:16, time: 0.757, data_time: 0.040, memory: 19865, loss_cls: 0.7289, loss_bbox: 0.7414, loss_traj: 1.7325, loss_traj_cls: 0.0005, loss_map_cls: 0.4139, loss_map_pts: 1.8695, loss_map_dir: 0.0343, d0.loss_plan_l1_fix_time: 2.7271, d0.loss_plan_l1_fix_dist: 0.3792, d1.loss_plan_l1_fix_time: 2.5921, d1.loss_plan_l1_fix_dist: 0.3814, d2.loss_plan_l1_fix_time: 2.5826, d2.loss_plan_l1_fix_dist: 0.4051, d3.loss_plan_l1_fix_time: 2.5906, d3.loss_plan_l1_fix_dist: 0.4336, d4.loss_plan_l1_fix_time: 2.5991, d4.loss_plan_l1_fix_dist: 0.4619, d5.loss_plan_l1_fix_time: 2.6072, d5.loss_plan_l1_fix_dist: 0.4906, d6.loss_plan_l1_fix_time: 2.6160, d6.loss_plan_l1_fix_dist: 0.5226, d0.loss_cls_all: 0.7410, d0.loss_bbox_all: 0.7496, d0.loss_cls: 0.7410, d0.loss_bbox: 0.7496, d1.loss_cls: 0.7291, d1.loss_bbox: 0.7352, d2.loss_cls: 0.7290, d2.loss_bbox: 0.7273, d3.loss_cls: 0.7275, d3.loss_bbox: 0.7278, d4.loss_cls: 0.7248, d4.loss_bbox: 0.7327, d5.loss_cls: 0.7277, d5.loss_bbox: 0.7358, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7135, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.6845, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.6943, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7002, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7190, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.7303, d0.loss_map_cls_all: 0.4367, d0.loss_map_pts_all: 2.5962, d0.loss_map_dir_all: 0.0333, d0.loss_map_cls: 0.4367, d0.loss_map_pts: 2.5962, d0.loss_map_dir: 0.0333, d1.loss_map_cls: 0.4295, d1.loss_map_pts: 1.9485, d1.loss_map_dir: 0.0337, d2.loss_map_cls: 0.4195, d2.loss_map_pts: 1.8826, d2.loss_map_dir: 0.0338, d3.loss_map_cls: 0.4153, d3.loss_map_pts: 1.8612, d3.loss_map_dir: 0.0339, d4.loss_map_cls: 0.4122, d4.loss_map_pts: 1.8569, d4.loss_map_dir: 0.0341, d5.loss_map_cls: 0.4114, d5.loss_map_pts: 1.8635, d5.loss_map_dir: 0.0342, loss: 65.2365, grad_norm: 145.4477 +2026-02-24 12:13:21,255 - DriveTransformer - INFO - Epoch [2][5500/39528] lr: 9.958e-05, eta: 8 days, 7:48:33, time: 0.793, data_time: 0.039, memory: 19865, loss_cls: 0.6891, loss_bbox: 0.7034, loss_traj: 1.5421, loss_traj_cls: 0.0005, loss_map_cls: 0.4028, loss_map_pts: 1.9333, loss_map_dir: 0.0361, d0.loss_plan_l1_fix_time: 2.9203, d0.loss_plan_l1_fix_dist: 0.4872, d1.loss_plan_l1_fix_time: 2.7055, d1.loss_plan_l1_fix_dist: 0.4740, d2.loss_plan_l1_fix_time: 2.6783, d2.loss_plan_l1_fix_dist: 0.4895, d3.loss_plan_l1_fix_time: 2.6799, d3.loss_plan_l1_fix_dist: 0.5133, d4.loss_plan_l1_fix_time: 2.6865, d4.loss_plan_l1_fix_dist: 0.5415, d5.loss_plan_l1_fix_time: 2.6945, d5.loss_plan_l1_fix_dist: 0.5671, d6.loss_plan_l1_fix_time: 2.7037, d6.loss_plan_l1_fix_dist: 0.5946, d0.loss_cls_all: 0.6968, d0.loss_bbox_all: 0.7349, d0.loss_cls: 0.6968, d0.loss_bbox: 0.7349, d1.loss_cls: 0.6868, d1.loss_bbox: 0.7154, d2.loss_cls: 0.6866, d2.loss_bbox: 0.7035, d3.loss_cls: 0.6842, d3.loss_bbox: 0.6999, d4.loss_cls: 0.6830, d4.loss_bbox: 0.7006, d5.loss_cls: 0.6887, d5.loss_bbox: 0.7028, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5593, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5304, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5221, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5335, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5375, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5396, d0.loss_map_cls_all: 0.4239, d0.loss_map_pts_all: 2.6634, d0.loss_map_dir_all: 0.0346, d0.loss_map_cls: 0.4239, d0.loss_map_pts: 2.6634, d0.loss_map_dir: 0.0346, d1.loss_map_cls: 0.4095, d1.loss_map_pts: 2.0435, d1.loss_map_dir: 0.0351, d2.loss_map_cls: 0.4027, d2.loss_map_pts: 1.9725, d2.loss_map_dir: 0.0352, d3.loss_map_cls: 0.3999, d3.loss_map_pts: 1.9460, d3.loss_map_dir: 0.0355, d4.loss_map_cls: 0.3983, d4.loss_map_pts: 1.9324, d4.loss_map_dir: 0.0356, d5.loss_map_cls: 0.4001, d5.loss_map_pts: 1.9317, d5.loss_map_dir: 0.0359, loss: 65.3423, grad_norm: 146.1513 +2026-02-24 12:14:02,368 - DriveTransformer - INFO - Epoch [2][5550/39528] lr: 9.958e-05, eta: 8 days, 7:48:20, time: 0.822, data_time: 0.042, memory: 19865, loss_cls: 0.7150, loss_bbox: 0.7007, loss_traj: 1.9372, loss_traj_cls: 0.0005, loss_map_cls: 0.4025, loss_map_pts: 1.9853, loss_map_dir: 0.0348, d0.loss_plan_l1_fix_time: 2.8147, d0.loss_plan_l1_fix_dist: 0.4233, d1.loss_plan_l1_fix_time: 2.5996, d1.loss_plan_l1_fix_dist: 0.4080, d2.loss_plan_l1_fix_time: 2.5988, d2.loss_plan_l1_fix_dist: 0.4191, d3.loss_plan_l1_fix_time: 2.6047, d3.loss_plan_l1_fix_dist: 0.4385, d4.loss_plan_l1_fix_time: 2.6115, d4.loss_plan_l1_fix_dist: 0.4609, d5.loss_plan_l1_fix_time: 2.6185, d5.loss_plan_l1_fix_dist: 0.4920, d6.loss_plan_l1_fix_time: 2.6267, d6.loss_plan_l1_fix_dist: 0.5309, d0.loss_cls_all: 0.7221, d0.loss_bbox_all: 0.7405, d0.loss_cls: 0.7221, d0.loss_bbox: 0.7405, d1.loss_cls: 0.7156, d1.loss_bbox: 0.7229, d2.loss_cls: 0.7141, d2.loss_bbox: 0.7059, d3.loss_cls: 0.7154, d3.loss_bbox: 0.6994, d4.loss_cls: 0.7136, d4.loss_bbox: 0.6983, d5.loss_cls: 0.7153, d5.loss_bbox: 0.6994, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.9744, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.9298, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.9323, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9317, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.9406, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.9422, d0.loss_map_cls_all: 0.4217, d0.loss_map_pts_all: 2.7223, d0.loss_map_dir_all: 0.0339, d0.loss_map_cls: 0.4217, d0.loss_map_pts: 2.7223, d0.loss_map_dir: 0.0339, d1.loss_map_cls: 0.4103, d1.loss_map_pts: 2.1004, d1.loss_map_dir: 0.0339, d2.loss_map_cls: 0.4008, d2.loss_map_pts: 2.0320, d2.loss_map_dir: 0.0340, d3.loss_map_cls: 0.4001, d3.loss_map_pts: 2.0000, d3.loss_map_dir: 0.0342, d4.loss_map_cls: 0.3982, d4.loss_map_pts: 1.9870, d4.loss_map_dir: 0.0344, d5.loss_map_cls: 0.3997, d5.loss_map_pts: 1.9859, d5.loss_map_dir: 0.0346, loss: 67.7445, grad_norm: 146.1186 +2026-02-24 12:14:41,574 - DriveTransformer - INFO - Epoch [2][5600/39528] lr: 9.958e-05, eta: 8 days, 7:47:28, time: 0.784, data_time: 0.041, memory: 19865, loss_cls: 0.6698, loss_bbox: 0.6742, loss_traj: 1.7772, loss_traj_cls: 0.0004, loss_map_cls: 0.4050, loss_map_pts: 1.6926, loss_map_dir: 0.0329, d0.loss_plan_l1_fix_time: 3.1129, d0.loss_plan_l1_fix_dist: 0.4561, d1.loss_plan_l1_fix_time: 2.9423, d1.loss_plan_l1_fix_dist: 0.4480, d2.loss_plan_l1_fix_time: 2.9233, d2.loss_plan_l1_fix_dist: 0.4631, d3.loss_plan_l1_fix_time: 2.9255, d3.loss_plan_l1_fix_dist: 0.4854, d4.loss_plan_l1_fix_time: 2.9321, d4.loss_plan_l1_fix_dist: 0.5091, d5.loss_plan_l1_fix_time: 2.9402, d5.loss_plan_l1_fix_dist: 0.5362, d6.loss_plan_l1_fix_time: 2.9500, d6.loss_plan_l1_fix_dist: 0.5638, d0.loss_cls_all: 0.6796, d0.loss_bbox_all: 0.7197, d0.loss_cls: 0.6796, d0.loss_bbox: 0.7197, d1.loss_cls: 0.6694, d1.loss_bbox: 0.7009, d2.loss_cls: 0.6672, d2.loss_bbox: 0.6819, d3.loss_cls: 0.6683, d3.loss_bbox: 0.6761, d4.loss_cls: 0.6667, d4.loss_bbox: 0.6765, d5.loss_cls: 0.6679, d5.loss_bbox: 0.6737, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.8117, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.7584, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.7583, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7681, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7679, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.7708, d0.loss_map_cls_all: 0.4302, d0.loss_map_pts_all: 2.4047, d0.loss_map_dir_all: 0.0316, d0.loss_map_cls: 0.4302, d0.loss_map_pts: 2.4047, d0.loss_map_dir: 0.0316, d1.loss_map_cls: 0.4161, d1.loss_map_pts: 1.7890, d1.loss_map_dir: 0.0318, d2.loss_map_cls: 0.4087, d2.loss_map_pts: 1.7161, d2.loss_map_dir: 0.0322, d3.loss_map_cls: 0.4066, d3.loss_map_pts: 1.6915, d3.loss_map_dir: 0.0325, d4.loss_map_cls: 0.4033, d4.loss_map_pts: 1.6932, d4.loss_map_dir: 0.0326, d5.loss_map_cls: 0.4036, d5.loss_map_pts: 1.6937, d5.loss_map_dir: 0.0328, loss: 66.1432, grad_norm: 143.8469 +2026-02-24 12:15:21,948 - DriveTransformer - INFO - Epoch [2][5650/39528] lr: 9.958e-05, eta: 8 days, 7:46:59, time: 0.808, data_time: 0.037, memory: 19865, loss_cls: 0.7194, loss_bbox: 0.7438, loss_traj: 1.4754, loss_traj_cls: 0.0005, loss_map_cls: 0.3952, loss_map_pts: 1.9901, loss_map_dir: 0.0357, d0.loss_plan_l1_fix_time: 3.1590, d0.loss_plan_l1_fix_dist: 0.5096, d1.loss_plan_l1_fix_time: 3.0098, d1.loss_plan_l1_fix_dist: 0.5075, d2.loss_plan_l1_fix_time: 2.9919, d2.loss_plan_l1_fix_dist: 0.5231, d3.loss_plan_l1_fix_time: 2.9941, d3.loss_plan_l1_fix_dist: 0.5467, d4.loss_plan_l1_fix_time: 3.0005, d4.loss_plan_l1_fix_dist: 0.5730, d5.loss_plan_l1_fix_time: 3.0084, d5.loss_plan_l1_fix_dist: 0.6009, d6.loss_plan_l1_fix_time: 3.0179, d6.loss_plan_l1_fix_dist: 0.6329, d0.loss_cls_all: 0.7339, d0.loss_bbox_all: 0.7783, d0.loss_cls: 0.7339, d0.loss_bbox: 0.7783, d1.loss_cls: 0.7276, d1.loss_bbox: 0.7656, d2.loss_cls: 0.7234, d2.loss_bbox: 0.7514, d3.loss_cls: 0.7228, d3.loss_bbox: 0.7445, d4.loss_cls: 0.7181, d4.loss_bbox: 0.7453, d5.loss_cls: 0.7199, d5.loss_bbox: 0.7419, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4517, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4361, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4662, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4787, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4797, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4757, d0.loss_map_cls_all: 0.4197, d0.loss_map_pts_all: 2.7902, d0.loss_map_dir_all: 0.0341, d0.loss_map_cls: 0.4197, d0.loss_map_pts: 2.7902, d0.loss_map_dir: 0.0341, d1.loss_map_cls: 0.4099, d1.loss_map_pts: 2.0845, d1.loss_map_dir: 0.0344, d2.loss_map_cls: 0.4001, d2.loss_map_pts: 2.0089, d2.loss_map_dir: 0.0349, d3.loss_map_cls: 0.3973, d3.loss_map_pts: 1.9888, d3.loss_map_dir: 0.0351, d4.loss_map_cls: 0.3960, d4.loss_map_pts: 1.9857, d4.loss_map_dir: 0.0352, d5.loss_map_cls: 0.3951, d5.loss_map_pts: 1.9854, d5.loss_map_dir: 0.0355, loss: 68.3279, grad_norm: 143.1711 +2026-02-24 12:16:01,243 - DriveTransformer - INFO - Epoch [2][5700/39528] lr: 9.958e-05, eta: 8 days, 7:46:10, time: 0.786, data_time: 0.036, memory: 19865, loss_cls: 0.6915, loss_bbox: 0.6884, loss_traj: 1.5437, loss_traj_cls: 0.0005, loss_map_cls: 0.4087, loss_map_pts: 1.9106, loss_map_dir: 0.0338, d0.loss_plan_l1_fix_time: 3.1073, d0.loss_plan_l1_fix_dist: 0.4347, d1.loss_plan_l1_fix_time: 2.8690, d1.loss_plan_l1_fix_dist: 0.4358, d2.loss_plan_l1_fix_time: 2.8352, d2.loss_plan_l1_fix_dist: 0.4566, d3.loss_plan_l1_fix_time: 2.8303, d3.loss_plan_l1_fix_dist: 0.4868, d4.loss_plan_l1_fix_time: 2.8317, d4.loss_plan_l1_fix_dist: 0.5162, d5.loss_plan_l1_fix_time: 2.8365, d5.loss_plan_l1_fix_dist: 0.5454, d6.loss_plan_l1_fix_time: 2.8444, d6.loss_plan_l1_fix_dist: 0.5728, d0.loss_cls_all: 0.6970, d0.loss_bbox_all: 0.7145, d0.loss_cls: 0.6970, d0.loss_bbox: 0.7145, d1.loss_cls: 0.6948, d1.loss_bbox: 0.7087, d2.loss_cls: 0.6896, d2.loss_bbox: 0.6929, d3.loss_cls: 0.6916, d3.loss_bbox: 0.6822, d4.loss_cls: 0.6902, d4.loss_bbox: 0.6856, d5.loss_cls: 0.6868, d5.loss_bbox: 0.6883, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5373, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5029, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5119, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5248, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5220, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5357, d0.loss_map_cls_all: 0.4260, d0.loss_map_pts_all: 2.5506, d0.loss_map_dir_all: 0.0328, d0.loss_map_cls: 0.4260, d0.loss_map_pts: 2.5506, d0.loss_map_dir: 0.0328, d1.loss_map_cls: 0.4169, d1.loss_map_pts: 1.9937, d1.loss_map_dir: 0.0326, d2.loss_map_cls: 0.4120, d2.loss_map_pts: 1.9302, d2.loss_map_dir: 0.0329, d3.loss_map_cls: 0.4077, d3.loss_map_pts: 1.9006, d3.loss_map_dir: 0.0333, d4.loss_map_cls: 0.4069, d4.loss_map_pts: 1.8917, d4.loss_map_dir: 0.0335, d5.loss_map_cls: 0.4071, d5.loss_map_pts: 1.8980, d5.loss_map_dir: 0.0338, loss: 65.6024, grad_norm: 141.2832 +2026-02-24 12:16:41,330 - DriveTransformer - INFO - Epoch [2][5750/39528] lr: 9.958e-05, eta: 8 days, 7:45:35, time: 0.802, data_time: 0.037, memory: 19865, loss_cls: 0.6844, loss_bbox: 0.6824, loss_traj: 1.5262, loss_traj_cls: 0.0004, loss_map_cls: 0.3656, loss_map_pts: 1.6796, loss_map_dir: 0.0318, d0.loss_plan_l1_fix_time: 2.7428, d0.loss_plan_l1_fix_dist: 0.4851, d1.loss_plan_l1_fix_time: 2.5951, d1.loss_plan_l1_fix_dist: 0.4734, d2.loss_plan_l1_fix_time: 2.5860, d2.loss_plan_l1_fix_dist: 0.4868, d3.loss_plan_l1_fix_time: 2.5887, d3.loss_plan_l1_fix_dist: 0.5123, d4.loss_plan_l1_fix_time: 2.5940, d4.loss_plan_l1_fix_dist: 0.5413, d5.loss_plan_l1_fix_time: 2.6024, d5.loss_plan_l1_fix_dist: 0.5744, d6.loss_plan_l1_fix_time: 2.6121, d6.loss_plan_l1_fix_dist: 0.6093, d0.loss_cls_all: 0.6854, d0.loss_bbox_all: 0.6898, d0.loss_cls: 0.6854, d0.loss_bbox: 0.6898, d1.loss_cls: 0.6780, d1.loss_bbox: 0.6851, d2.loss_cls: 0.6786, d2.loss_bbox: 0.6740, d3.loss_cls: 0.6772, d3.loss_bbox: 0.6724, d4.loss_cls: 0.6779, d4.loss_bbox: 0.6725, d5.loss_cls: 0.6809, d5.loss_bbox: 0.6752, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5420, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4973, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4933, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5088, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5169, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5199, d0.loss_map_cls_all: 0.3819, d0.loss_map_pts_all: 2.4001, d0.loss_map_dir_all: 0.0307, d0.loss_map_cls: 0.3819, d0.loss_map_pts: 2.4001, d0.loss_map_dir: 0.0307, d1.loss_map_cls: 0.3755, d1.loss_map_pts: 1.7612, d1.loss_map_dir: 0.0309, d2.loss_map_cls: 0.3668, d2.loss_map_pts: 1.6880, d2.loss_map_dir: 0.0311, d3.loss_map_cls: 0.3645, d3.loss_map_pts: 1.6647, d3.loss_map_dir: 0.0313, d4.loss_map_cls: 0.3622, d4.loss_map_pts: 1.6628, d4.loss_map_dir: 0.0314, d5.loss_map_cls: 0.3642, d5.loss_map_pts: 1.6708, d5.loss_map_dir: 0.0317, loss: 61.6410, grad_norm: 140.1167 +2026-02-24 12:17:22,819 - DriveTransformer - INFO - Epoch [2][5800/39528] lr: 9.958e-05, eta: 8 days, 7:45:29, time: 0.830, data_time: 0.036, memory: 19865, loss_cls: 0.6521, loss_bbox: 0.6427, loss_traj: 1.2541, loss_traj_cls: 0.0005, loss_map_cls: 0.3770, loss_map_pts: 1.8873, loss_map_dir: 0.0384, d0.loss_plan_l1_fix_time: 2.7492, d0.loss_plan_l1_fix_dist: 0.4584, d1.loss_plan_l1_fix_time: 2.5028, d1.loss_plan_l1_fix_dist: 0.4296, d2.loss_plan_l1_fix_time: 2.4563, d2.loss_plan_l1_fix_dist: 0.4341, d3.loss_plan_l1_fix_time: 2.4505, d3.loss_plan_l1_fix_dist: 0.4492, d4.loss_plan_l1_fix_time: 2.4531, d4.loss_plan_l1_fix_dist: 0.4720, d5.loss_plan_l1_fix_time: 2.4583, d5.loss_plan_l1_fix_dist: 0.5003, d6.loss_plan_l1_fix_time: 2.4654, d6.loss_plan_l1_fix_dist: 0.5417, d0.loss_cls_all: 0.6570, d0.loss_bbox_all: 0.6595, d0.loss_cls: 0.6570, d0.loss_bbox: 0.6595, d1.loss_cls: 0.6498, d1.loss_bbox: 0.6560, d2.loss_cls: 0.6486, d2.loss_bbox: 0.6457, d3.loss_cls: 0.6508, d3.loss_bbox: 0.6486, d4.loss_cls: 0.6509, d4.loss_bbox: 0.6424, d5.loss_cls: 0.6494, d5.loss_bbox: 0.6417, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3146, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2599, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.2459, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.2493, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2536, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2552, d0.loss_map_cls_all: 0.3891, d0.loss_map_pts_all: 2.9494, d0.loss_map_dir_all: 0.0372, d0.loss_map_cls: 0.3891, d0.loss_map_pts: 2.9494, d0.loss_map_dir: 0.0372, d1.loss_map_cls: 0.3906, d1.loss_map_pts: 2.0457, d1.loss_map_dir: 0.0376, d2.loss_map_cls: 0.3832, d2.loss_map_pts: 1.9358, d2.loss_map_dir: 0.0378, d3.loss_map_cls: 0.3774, d3.loss_map_pts: 1.8965, d3.loss_map_dir: 0.0380, d4.loss_map_cls: 0.3769, d4.loss_map_pts: 1.8848, d4.loss_map_dir: 0.0382, d5.loss_map_cls: 0.3762, d5.loss_map_pts: 1.8863, d5.loss_map_dir: 0.0383, loss: 60.8673, grad_norm: 142.5623 +2026-02-24 12:18:02,462 - DriveTransformer - INFO - Epoch [2][5850/39528] lr: 9.958e-05, eta: 8 days, 7:44:46, time: 0.793, data_time: 0.035, memory: 19865, loss_cls: 0.6778, loss_bbox: 0.6843, loss_traj: 1.3969, loss_traj_cls: 0.0005, loss_map_cls: 0.4139, loss_map_pts: 1.9306, loss_map_dir: 0.0341, d0.loss_plan_l1_fix_time: 2.9647, d0.loss_plan_l1_fix_dist: 0.5001, d1.loss_plan_l1_fix_time: 2.6853, d1.loss_plan_l1_fix_dist: 0.4965, d2.loss_plan_l1_fix_time: 2.6533, d2.loss_plan_l1_fix_dist: 0.5056, d3.loss_plan_l1_fix_time: 2.6529, d3.loss_plan_l1_fix_dist: 0.5243, d4.loss_plan_l1_fix_time: 2.6566, d4.loss_plan_l1_fix_dist: 0.5443, d5.loss_plan_l1_fix_time: 2.6616, d5.loss_plan_l1_fix_dist: 0.5663, d6.loss_plan_l1_fix_time: 2.6688, d6.loss_plan_l1_fix_dist: 0.5890, d0.loss_cls_all: 0.6779, d0.loss_bbox_all: 0.6988, d0.loss_cls: 0.6779, d0.loss_bbox: 0.6988, d1.loss_cls: 0.6700, d1.loss_bbox: 0.6990, d2.loss_cls: 0.6742, d2.loss_bbox: 0.6849, d3.loss_cls: 0.6754, d3.loss_bbox: 0.6879, d4.loss_cls: 0.6727, d4.loss_bbox: 0.6833, d5.loss_cls: 0.6761, d5.loss_bbox: 0.6836, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4161, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3785, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3700, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.3796, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3851, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3912, d0.loss_map_cls_all: 0.4478, d0.loss_map_pts_all: 2.7338, d0.loss_map_dir_all: 0.0333, d0.loss_map_cls: 0.4478, d0.loss_map_pts: 2.7338, d0.loss_map_dir: 0.0333, d1.loss_map_cls: 0.4371, d1.loss_map_pts: 2.0626, d1.loss_map_dir: 0.0332, d2.loss_map_cls: 0.4261, d2.loss_map_pts: 1.9821, d2.loss_map_dir: 0.0335, d3.loss_map_cls: 0.4196, d3.loss_map_pts: 1.9488, d3.loss_map_dir: 0.0338, d4.loss_map_cls: 0.4164, d4.loss_map_pts: 1.9349, d4.loss_map_dir: 0.0339, d5.loss_map_cls: 0.4130, d5.loss_map_pts: 1.9320, d5.loss_map_dir: 0.0341, loss: 64.2637, grad_norm: 141.2281 +2026-02-24 12:18:42,976 - DriveTransformer - INFO - Epoch [2][5900/39528] lr: 9.958e-05, eta: 8 days, 7:44:21, time: 0.810, data_time: 0.036, memory: 19865, loss_cls: 0.7026, loss_bbox: 0.6722, loss_traj: 1.6488, loss_traj_cls: 0.0005, loss_map_cls: 0.3487, loss_map_pts: 1.7884, loss_map_dir: 0.0314, d0.loss_plan_l1_fix_time: 2.7592, d0.loss_plan_l1_fix_dist: 0.4424, d1.loss_plan_l1_fix_time: 2.5052, d1.loss_plan_l1_fix_dist: 0.4443, d2.loss_plan_l1_fix_time: 2.5129, d2.loss_plan_l1_fix_dist: 0.4719, d3.loss_plan_l1_fix_time: 2.5214, d3.loss_plan_l1_fix_dist: 0.5023, d4.loss_plan_l1_fix_time: 2.5289, d4.loss_plan_l1_fix_dist: 0.5368, d5.loss_plan_l1_fix_time: 2.5360, d5.loss_plan_l1_fix_dist: 0.5738, d6.loss_plan_l1_fix_time: 2.5429, d6.loss_plan_l1_fix_dist: 0.6146, d0.loss_cls_all: 0.7183, d0.loss_bbox_all: 0.6961, d0.loss_cls: 0.7183, d0.loss_bbox: 0.6961, d1.loss_cls: 0.7085, d1.loss_bbox: 0.6906, d2.loss_cls: 0.7036, d2.loss_bbox: 0.6756, d3.loss_cls: 0.7018, d3.loss_bbox: 0.6758, d4.loss_cls: 0.6980, d4.loss_bbox: 0.6730, d5.loss_cls: 0.7009, d5.loss_bbox: 0.6743, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7034, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.6371, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6331, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6376, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6412, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6472, d0.loss_map_cls_all: 0.3787, d0.loss_map_pts_all: 2.5695, d0.loss_map_dir_all: 0.0302, d0.loss_map_cls: 0.3787, d0.loss_map_pts: 2.5695, d0.loss_map_dir: 0.0302, d1.loss_map_cls: 0.3682, d1.loss_map_pts: 1.9123, d1.loss_map_dir: 0.0305, d2.loss_map_cls: 0.3575, d2.loss_map_pts: 1.8303, d2.loss_map_dir: 0.0308, d3.loss_map_cls: 0.3511, d3.loss_map_pts: 1.8064, d3.loss_map_dir: 0.0311, d4.loss_map_cls: 0.3486, d4.loss_map_pts: 1.7928, d4.loss_map_dir: 0.0312, d5.loss_map_cls: 0.3480, d5.loss_map_pts: 1.7914, d5.loss_map_dir: 0.0313, loss: 63.3381, grad_norm: 141.1353 +2026-02-24 12:19:22,742 - DriveTransformer - INFO - Epoch [2][5950/39528] lr: 9.958e-05, eta: 8 days, 7:43:40, time: 0.795, data_time: 0.041, memory: 19865, loss_cls: 0.7556, loss_bbox: 0.8016, loss_traj: 2.1783, loss_traj_cls: 0.0005, loss_map_cls: 0.4438, loss_map_pts: 1.9661, loss_map_dir: 0.0373, d0.loss_plan_l1_fix_time: 3.9391, d0.loss_plan_l1_fix_dist: 0.4677, d1.loss_plan_l1_fix_time: 3.6334, d1.loss_plan_l1_fix_dist: 0.4837, d2.loss_plan_l1_fix_time: 3.5871, d2.loss_plan_l1_fix_dist: 0.5127, d3.loss_plan_l1_fix_time: 3.5807, d3.loss_plan_l1_fix_dist: 0.5524, d4.loss_plan_l1_fix_time: 3.5816, d4.loss_plan_l1_fix_dist: 0.5904, d5.loss_plan_l1_fix_time: 3.5846, d5.loss_plan_l1_fix_dist: 0.6282, d6.loss_plan_l1_fix_time: 3.5895, d6.loss_plan_l1_fix_dist: 0.6698, d0.loss_cls_all: 0.7664, d0.loss_bbox_all: 0.8102, d0.loss_cls: 0.7664, d0.loss_bbox: 0.8102, d1.loss_cls: 0.7550, d1.loss_bbox: 0.8044, d2.loss_cls: 0.7576, d2.loss_bbox: 0.7932, d3.loss_cls: 0.7569, d3.loss_bbox: 0.7923, d4.loss_cls: 0.7533, d4.loss_bbox: 0.7935, d5.loss_cls: 0.7574, d5.loss_bbox: 0.7966, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.1334, d1.loss_traj_cls: 0.0010, d1.loss_traj: 2.1183, d2.loss_traj_cls: 0.0008, d2.loss_traj: 2.1296, d3.loss_traj_cls: 0.0007, d3.loss_traj: 2.1490, d4.loss_traj_cls: 0.0008, d4.loss_traj: 2.1605, d5.loss_traj_cls: 0.0007, d5.loss_traj: 2.1658, d0.loss_map_cls_all: 0.4630, d0.loss_map_pts_all: 2.6441, d0.loss_map_dir_all: 0.0361, d0.loss_map_cls: 0.4630, d0.loss_map_pts: 2.6441, d0.loss_map_dir: 0.0361, d1.loss_map_cls: 0.4553, d1.loss_map_pts: 2.0860, d1.loss_map_dir: 0.0363, d2.loss_map_cls: 0.4487, d2.loss_map_pts: 2.0018, d2.loss_map_dir: 0.0365, d3.loss_map_cls: 0.4449, d3.loss_map_pts: 1.9755, d3.loss_map_dir: 0.0367, d4.loss_map_cls: 0.4442, d4.loss_map_pts: 1.9669, d4.loss_map_dir: 0.0369, d5.loss_map_cls: 0.4437, d5.loss_map_pts: 1.9644, d5.loss_map_dir: 0.0372, loss: 78.0594, grad_norm: 140.1562 +2026-02-24 12:20:02,616 - DriveTransformer - INFO - Epoch [2][6000/39528] lr: 9.958e-05, eta: 8 days, 7:43:02, time: 0.797, data_time: 0.041, memory: 19865, loss_cls: 0.7033, loss_bbox: 0.7256, loss_traj: 1.6174, loss_traj_cls: 0.0005, loss_map_cls: 0.3905, loss_map_pts: 1.9223, loss_map_dir: 0.0338, d0.loss_plan_l1_fix_time: 2.9284, d0.loss_plan_l1_fix_dist: 0.5116, d1.loss_plan_l1_fix_time: 2.7965, d1.loss_plan_l1_fix_dist: 0.5157, d2.loss_plan_l1_fix_time: 2.7717, d2.loss_plan_l1_fix_dist: 0.5506, d3.loss_plan_l1_fix_time: 2.7697, d3.loss_plan_l1_fix_dist: 0.5964, d4.loss_plan_l1_fix_time: 2.7731, d4.loss_plan_l1_fix_dist: 0.6439, d5.loss_plan_l1_fix_time: 2.7785, d5.loss_plan_l1_fix_dist: 0.6930, d6.loss_plan_l1_fix_time: 2.7846, d6.loss_plan_l1_fix_dist: 0.7413, d0.loss_cls_all: 0.7011, d0.loss_bbox_all: 0.7248, d0.loss_cls: 0.7011, d0.loss_bbox: 0.7248, d1.loss_cls: 0.6970, d1.loss_bbox: 0.7200, d2.loss_cls: 0.6985, d2.loss_bbox: 0.7132, d3.loss_cls: 0.6984, d3.loss_bbox: 0.7127, d4.loss_cls: 0.6984, d4.loss_bbox: 0.7143, d5.loss_cls: 0.7005, d5.loss_bbox: 0.7183, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6374, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5651, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5706, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5776, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5968, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5947, d0.loss_map_cls_all: 0.4252, d0.loss_map_pts_all: 2.6939, d0.loss_map_dir_all: 0.0325, d0.loss_map_cls: 0.4252, d0.loss_map_pts: 2.6939, d0.loss_map_dir: 0.0325, d1.loss_map_cls: 0.4059, d1.loss_map_pts: 2.0577, d1.loss_map_dir: 0.0327, d2.loss_map_cls: 0.3976, d2.loss_map_pts: 1.9656, d2.loss_map_dir: 0.0329, d3.loss_map_cls: 0.3946, d3.loss_map_pts: 1.9265, d3.loss_map_dir: 0.0333, d4.loss_map_cls: 0.3914, d4.loss_map_pts: 1.9189, d4.loss_map_dir: 0.0335, d5.loss_map_cls: 0.3894, d5.loss_map_pts: 1.9199, d5.loss_map_dir: 0.0337, loss: 66.9543, grad_norm: 140.5174 +2026-02-24 12:20:42,236 - DriveTransformer - INFO - Epoch [2][6050/39528] lr: 9.958e-05, eta: 8 days, 7:42:18, time: 0.792, data_time: 0.041, memory: 19865, loss_cls: 0.7248, loss_bbox: 0.7028, loss_traj: 1.6031, loss_traj_cls: 0.0004, loss_map_cls: 0.4054, loss_map_pts: 1.9480, loss_map_dir: 0.0383, d0.loss_plan_l1_fix_time: 2.7870, d0.loss_plan_l1_fix_dist: 0.5558, d1.loss_plan_l1_fix_time: 2.5411, d1.loss_plan_l1_fix_dist: 0.5439, d2.loss_plan_l1_fix_time: 2.5172, d2.loss_plan_l1_fix_dist: 0.5618, d3.loss_plan_l1_fix_time: 2.5182, d3.loss_plan_l1_fix_dist: 0.5850, d4.loss_plan_l1_fix_time: 2.5219, d4.loss_plan_l1_fix_dist: 0.6152, d5.loss_plan_l1_fix_time: 2.5277, d5.loss_plan_l1_fix_dist: 0.6481, d6.loss_plan_l1_fix_time: 2.5351, d6.loss_plan_l1_fix_dist: 0.6806, d0.loss_cls_all: 0.7203, d0.loss_bbox_all: 0.7239, d0.loss_cls: 0.7203, d0.loss_bbox: 0.7239, d1.loss_cls: 0.7222, d1.loss_bbox: 0.7159, d2.loss_cls: 0.7228, d2.loss_bbox: 0.7070, d3.loss_cls: 0.7205, d3.loss_bbox: 0.7018, d4.loss_cls: 0.7205, d4.loss_bbox: 0.6998, d5.loss_cls: 0.7239, d5.loss_bbox: 0.6985, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6493, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5718, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5684, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5791, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5908, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5955, d0.loss_map_cls_all: 0.4329, d0.loss_map_pts_all: 2.6972, d0.loss_map_dir_all: 0.0371, d0.loss_map_cls: 0.4329, d0.loss_map_pts: 2.6972, d0.loss_map_dir: 0.0371, d1.loss_map_cls: 0.4208, d1.loss_map_pts: 2.0548, d1.loss_map_dir: 0.0372, d2.loss_map_cls: 0.4103, d2.loss_map_pts: 1.9693, d2.loss_map_dir: 0.0375, d3.loss_map_cls: 0.4049, d3.loss_map_pts: 1.9425, d3.loss_map_dir: 0.0379, d4.loss_map_cls: 0.4040, d4.loss_map_pts: 1.9396, d4.loss_map_dir: 0.0381, d5.loss_map_cls: 0.4030, d5.loss_map_pts: 1.9445, d5.loss_map_dir: 0.0383, loss: 65.5590, grad_norm: 140.4102 +2026-02-24 12:21:19,731 - DriveTransformer - INFO - Epoch [2][6100/39528] lr: 9.958e-05, eta: 8 days, 7:40:52, time: 0.750, data_time: 0.040, memory: 19865, loss_cls: 0.7585, loss_bbox: 0.7644, loss_traj: 1.8361, loss_traj_cls: 0.0004, loss_map_cls: 0.4270, loss_map_pts: 1.9534, loss_map_dir: 0.0319, d0.loss_plan_l1_fix_time: 3.3326, d0.loss_plan_l1_fix_dist: 0.5154, d1.loss_plan_l1_fix_time: 3.0824, d1.loss_plan_l1_fix_dist: 0.5088, d2.loss_plan_l1_fix_time: 3.0466, d2.loss_plan_l1_fix_dist: 0.5277, d3.loss_plan_l1_fix_time: 3.0410, d3.loss_plan_l1_fix_dist: 0.5567, d4.loss_plan_l1_fix_time: 3.0414, d4.loss_plan_l1_fix_dist: 0.5907, d5.loss_plan_l1_fix_time: 3.0455, d5.loss_plan_l1_fix_dist: 0.6338, d6.loss_plan_l1_fix_time: 3.0528, d6.loss_plan_l1_fix_dist: 0.6890, d0.loss_cls_all: 0.7673, d0.loss_bbox_all: 0.7672, d0.loss_cls: 0.7673, d0.loss_bbox: 0.7672, d1.loss_cls: 0.7606, d1.loss_bbox: 0.7652, d2.loss_cls: 0.7613, d2.loss_bbox: 0.7584, d3.loss_cls: 0.7628, d3.loss_bbox: 0.7573, d4.loss_cls: 0.7608, d4.loss_bbox: 0.7621, d5.loss_cls: 0.7562, d5.loss_bbox: 0.7626, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7742, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7508, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7891, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7974, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.8153, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.8298, d0.loss_map_cls_all: 0.4613, d0.loss_map_pts_all: 2.5843, d0.loss_map_dir_all: 0.0310, d0.loss_map_cls: 0.4613, d0.loss_map_pts: 2.5843, d0.loss_map_dir: 0.0310, d1.loss_map_cls: 0.4462, d1.loss_map_pts: 2.0662, d1.loss_map_dir: 0.0311, d2.loss_map_cls: 0.4321, d2.loss_map_pts: 1.9801, d2.loss_map_dir: 0.0311, d3.loss_map_cls: 0.4268, d3.loss_map_pts: 1.9590, d3.loss_map_dir: 0.0314, d4.loss_map_cls: 0.4261, d4.loss_map_pts: 1.9534, d4.loss_map_dir: 0.0315, d5.loss_map_cls: 0.4271, d5.loss_map_pts: 1.9505, d5.loss_map_dir: 0.0318, loss: 71.2503, grad_norm: 140.4382 +2026-02-24 12:21:58,475 - DriveTransformer - INFO - Epoch [2][6150/39528] lr: 9.958e-05, eta: 8 days, 7:39:52, time: 0.775, data_time: 0.046, memory: 19865, loss_cls: 0.7269, loss_bbox: 0.7374, loss_traj: 1.8996, loss_traj_cls: 0.0005, loss_map_cls: 0.3610, loss_map_pts: 1.7464, loss_map_dir: 0.0264, d0.loss_plan_l1_fix_time: 3.1988, d0.loss_plan_l1_fix_dist: 0.4586, d1.loss_plan_l1_fix_time: 2.9823, d1.loss_plan_l1_fix_dist: 0.4601, d2.loss_plan_l1_fix_time: 2.9505, d2.loss_plan_l1_fix_dist: 0.4809, d3.loss_plan_l1_fix_time: 2.9464, d3.loss_plan_l1_fix_dist: 0.5110, d4.loss_plan_l1_fix_time: 2.9494, d4.loss_plan_l1_fix_dist: 0.5467, d5.loss_plan_l1_fix_time: 2.9541, d5.loss_plan_l1_fix_dist: 0.5827, d6.loss_plan_l1_fix_time: 2.9619, d6.loss_plan_l1_fix_dist: 0.6250, d0.loss_cls_all: 0.7390, d0.loss_bbox_all: 0.7687, d0.loss_cls: 0.7390, d0.loss_bbox: 0.7687, d1.loss_cls: 0.7307, d1.loss_bbox: 0.7584, d2.loss_cls: 0.7301, d2.loss_bbox: 0.7488, d3.loss_cls: 0.7297, d3.loss_bbox: 0.7419, d4.loss_cls: 0.7289, d4.loss_bbox: 0.7399, d5.loss_cls: 0.7272, d5.loss_bbox: 0.7358, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9416, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.9106, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.9034, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8966, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.8955, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.8995, d0.loss_map_cls_all: 0.4025, d0.loss_map_pts_all: 2.2197, d0.loss_map_dir_all: 0.0255, d0.loss_map_cls: 0.4025, d0.loss_map_pts: 2.2197, d0.loss_map_dir: 0.0255, d1.loss_map_cls: 0.3865, d1.loss_map_pts: 1.8519, d1.loss_map_dir: 0.0256, d2.loss_map_cls: 0.3726, d2.loss_map_pts: 1.7808, d2.loss_map_dir: 0.0258, d3.loss_map_cls: 0.3662, d3.loss_map_pts: 1.7611, d3.loss_map_dir: 0.0260, d4.loss_map_cls: 0.3639, d4.loss_map_pts: 1.7501, d4.loss_map_dir: 0.0261, d5.loss_map_cls: 0.3601, d5.loss_map_pts: 1.7487, d5.loss_map_dir: 0.0263, loss: 68.1116, grad_norm: 137.3401 +2026-02-24 12:22:37,455 - DriveTransformer - INFO - Epoch [2][6200/39528] lr: 9.958e-05, eta: 8 days, 7:38:57, time: 0.781, data_time: 0.048, memory: 19865, loss_cls: 0.6917, loss_bbox: 0.6617, loss_traj: 1.7319, loss_traj_cls: 0.0004, loss_map_cls: 0.3772, loss_map_pts: 1.8158, loss_map_dir: 0.0281, d0.loss_plan_l1_fix_time: 2.7829, d0.loss_plan_l1_fix_dist: 0.5053, d1.loss_plan_l1_fix_time: 2.6579, d1.loss_plan_l1_fix_dist: 0.4989, d2.loss_plan_l1_fix_time: 2.6495, d2.loss_plan_l1_fix_dist: 0.5176, d3.loss_plan_l1_fix_time: 2.6556, d3.loss_plan_l1_fix_dist: 0.5441, d4.loss_plan_l1_fix_time: 2.6656, d4.loss_plan_l1_fix_dist: 0.5778, d5.loss_plan_l1_fix_time: 2.6757, d5.loss_plan_l1_fix_dist: 0.6145, d6.loss_plan_l1_fix_time: 2.6880, d6.loss_plan_l1_fix_dist: 0.6487, d0.loss_cls_all: 0.6986, d0.loss_bbox_all: 0.6885, d0.loss_cls: 0.6986, d0.loss_bbox: 0.6885, d1.loss_cls: 0.6926, d1.loss_bbox: 0.6765, d2.loss_cls: 0.6946, d2.loss_bbox: 0.6727, d3.loss_cls: 0.6953, d3.loss_bbox: 0.6661, d4.loss_cls: 0.6945, d4.loss_bbox: 0.6619, d5.loss_cls: 0.6927, d5.loss_bbox: 0.6570, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7572, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7066, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7132, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7305, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7256, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.7247, d0.loss_map_cls_all: 0.4009, d0.loss_map_pts_all: 2.4587, d0.loss_map_dir_all: 0.0272, d0.loss_map_cls: 0.4009, d0.loss_map_pts: 2.4587, d0.loss_map_dir: 0.0272, d1.loss_map_cls: 0.3863, d1.loss_map_pts: 1.9131, d1.loss_map_dir: 0.0273, d2.loss_map_cls: 0.3798, d2.loss_map_pts: 1.8545, d2.loss_map_dir: 0.0276, d3.loss_map_cls: 0.3771, d3.loss_map_pts: 1.8299, d3.loss_map_dir: 0.0278, d4.loss_map_cls: 0.3766, d4.loss_map_pts: 1.8213, d4.loss_map_dir: 0.0279, d5.loss_map_cls: 0.3753, d5.loss_map_pts: 1.8180, d5.loss_map_dir: 0.0282, loss: 64.9729, grad_norm: 137.4353 +2026-02-24 12:23:14,627 - DriveTransformer - INFO - Epoch [2][6250/39528] lr: 9.958e-05, eta: 8 days, 7:37:24, time: 0.742, data_time: 0.036, memory: 19865, loss_cls: 0.6960, loss_bbox: 0.6740, loss_traj: 1.7916, loss_traj_cls: 0.0004, loss_map_cls: 0.3662, loss_map_pts: 1.5522, loss_map_dir: 0.0249, d0.loss_plan_l1_fix_time: 2.5479, d0.loss_plan_l1_fix_dist: 0.4287, d1.loss_plan_l1_fix_time: 2.3982, d1.loss_plan_l1_fix_dist: 0.4208, d2.loss_plan_l1_fix_time: 2.3872, d2.loss_plan_l1_fix_dist: 0.4357, d3.loss_plan_l1_fix_time: 2.3951, d3.loss_plan_l1_fix_dist: 0.4570, d4.loss_plan_l1_fix_time: 2.4034, d4.loss_plan_l1_fix_dist: 0.4832, d5.loss_plan_l1_fix_time: 2.4145, d5.loss_plan_l1_fix_dist: 0.5111, d6.loss_plan_l1_fix_time: 2.4254, d6.loss_plan_l1_fix_dist: 0.5418, d0.loss_cls_all: 0.7037, d0.loss_bbox_all: 0.6877, d0.loss_cls: 0.7037, d0.loss_bbox: 0.6877, d1.loss_cls: 0.6894, d1.loss_bbox: 0.6822, d2.loss_cls: 0.6885, d2.loss_bbox: 0.6775, d3.loss_cls: 0.6896, d3.loss_bbox: 0.6759, d4.loss_cls: 0.6934, d4.loss_bbox: 0.6697, d5.loss_cls: 0.6934, d5.loss_bbox: 0.6688, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.8452, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7684, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7693, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7720, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7771, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.7824, d0.loss_map_cls_all: 0.3931, d0.loss_map_pts_all: 2.1185, d0.loss_map_dir_all: 0.0240, d0.loss_map_cls: 0.3931, d0.loss_map_pts: 2.1185, d0.loss_map_dir: 0.0240, d1.loss_map_cls: 0.3766, d1.loss_map_pts: 1.6401, d1.loss_map_dir: 0.0239, d2.loss_map_cls: 0.3690, d2.loss_map_pts: 1.5832, d2.loss_map_dir: 0.0240, d3.loss_map_cls: 0.3640, d3.loss_map_pts: 1.5557, d3.loss_map_dir: 0.0243, d4.loss_map_cls: 0.3638, d4.loss_map_pts: 1.5477, d4.loss_map_dir: 0.0245, d5.loss_map_cls: 0.3643, d5.loss_map_pts: 1.5514, d5.loss_map_dir: 0.0247, loss: 60.5933, grad_norm: 135.3593 +2026-02-24 12:23:53,724 - DriveTransformer - INFO - Epoch [2][6300/39528] lr: 9.958e-05, eta: 8 days, 7:36:31, time: 0.782, data_time: 0.036, memory: 19865, loss_cls: 0.7196, loss_bbox: 0.6960, loss_traj: 1.4689, loss_traj_cls: 0.0004, loss_map_cls: 0.3422, loss_map_pts: 1.6486, loss_map_dir: 0.0296, d0.loss_plan_l1_fix_time: 2.4622, d0.loss_plan_l1_fix_dist: 0.4286, d1.loss_plan_l1_fix_time: 2.2844, d1.loss_plan_l1_fix_dist: 0.4175, d2.loss_plan_l1_fix_time: 2.2503, d2.loss_plan_l1_fix_dist: 0.4374, d3.loss_plan_l1_fix_time: 2.2511, d3.loss_plan_l1_fix_dist: 0.4631, d4.loss_plan_l1_fix_time: 2.2559, d4.loss_plan_l1_fix_dist: 0.4944, d5.loss_plan_l1_fix_time: 2.2640, d5.loss_plan_l1_fix_dist: 0.5248, d6.loss_plan_l1_fix_time: 2.2726, d6.loss_plan_l1_fix_dist: 0.5608, d0.loss_cls_all: 0.7194, d0.loss_bbox_all: 0.7130, d0.loss_cls: 0.7194, d0.loss_bbox: 0.7130, d1.loss_cls: 0.7219, d1.loss_bbox: 0.7062, d2.loss_cls: 0.7177, d2.loss_bbox: 0.7056, d3.loss_cls: 0.7198, d3.loss_bbox: 0.7063, d4.loss_cls: 0.7196, d4.loss_bbox: 0.6989, d5.loss_cls: 0.7192, d5.loss_bbox: 0.6931, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4732, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4209, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4248, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4436, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4596, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4611, d0.loss_map_cls_all: 0.3758, d0.loss_map_pts_all: 2.3734, d0.loss_map_dir_all: 0.0282, d0.loss_map_cls: 0.3758, d0.loss_map_pts: 2.3734, d0.loss_map_dir: 0.0282, d1.loss_map_cls: 0.3623, d1.loss_map_pts: 1.7717, d1.loss_map_dir: 0.0285, d2.loss_map_cls: 0.3540, d2.loss_map_pts: 1.6906, d2.loss_map_dir: 0.0289, d3.loss_map_cls: 0.3463, d3.loss_map_pts: 1.6574, d3.loss_map_dir: 0.0292, d4.loss_map_cls: 0.3436, d4.loss_map_pts: 1.6481, d4.loss_map_dir: 0.0293, d5.loss_map_cls: 0.3406, d5.loss_map_pts: 1.6487, d5.loss_map_dir: 0.0295, loss: 58.7956, grad_norm: 136.2722 +2026-02-24 12:24:32,223 - DriveTransformer - INFO - Epoch [2][6350/39528] lr: 9.958e-05, eta: 8 days, 7:35:25, time: 0.770, data_time: 0.039, memory: 19865, loss_cls: 0.7610, loss_bbox: 0.7219, loss_traj: 1.6704, loss_traj_cls: 0.0004, loss_map_cls: 0.4231, loss_map_pts: 1.8699, loss_map_dir: 0.0339, d0.loss_plan_l1_fix_time: 2.6567, d0.loss_plan_l1_fix_dist: 0.4220, d1.loss_plan_l1_fix_time: 2.3757, d1.loss_plan_l1_fix_dist: 0.4246, d2.loss_plan_l1_fix_time: 2.3439, d2.loss_plan_l1_fix_dist: 0.4439, d3.loss_plan_l1_fix_time: 2.3456, d3.loss_plan_l1_fix_dist: 0.4689, d4.loss_plan_l1_fix_time: 2.3510, d4.loss_plan_l1_fix_dist: 0.4959, d5.loss_plan_l1_fix_time: 2.3579, d5.loss_plan_l1_fix_dist: 0.5247, d6.loss_plan_l1_fix_time: 2.3660, d6.loss_plan_l1_fix_dist: 0.5553, d0.loss_cls_all: 0.7540, d0.loss_bbox_all: 0.7468, d0.loss_cls: 0.7540, d0.loss_bbox: 0.7468, d1.loss_cls: 0.7462, d1.loss_bbox: 0.7387, d2.loss_cls: 0.7447, d2.loss_bbox: 0.7352, d3.loss_cls: 0.7513, d3.loss_bbox: 0.7376, d4.loss_cls: 0.7565, d4.loss_bbox: 0.7290, d5.loss_cls: 0.7581, d5.loss_bbox: 0.7221, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6909, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.6464, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6382, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6474, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6596, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6634, d0.loss_map_cls_all: 0.4380, d0.loss_map_pts_all: 2.4935, d0.loss_map_dir_all: 0.0322, d0.loss_map_cls: 0.4380, d0.loss_map_pts: 2.4935, d0.loss_map_dir: 0.0322, d1.loss_map_cls: 0.4275, d1.loss_map_pts: 1.9450, d1.loss_map_dir: 0.0328, d2.loss_map_cls: 0.4160, d2.loss_map_pts: 1.8835, d2.loss_map_dir: 0.0331, d3.loss_map_cls: 0.4198, d3.loss_map_pts: 1.8659, d3.loss_map_dir: 0.0334, d4.loss_map_cls: 0.4192, d4.loss_map_pts: 1.8608, d4.loss_map_dir: 0.0337, d5.loss_map_cls: 0.4190, d5.loss_map_pts: 1.8633, d5.loss_map_dir: 0.0338, loss: 63.5973, grad_norm: 136.0613 +2026-02-24 12:25:10,390 - DriveTransformer - INFO - Epoch [2][6400/39528] lr: 9.958e-05, eta: 8 days, 7:34:13, time: 0.763, data_time: 0.036, memory: 19865, loss_cls: 0.6557, loss_bbox: 0.6974, loss_traj: 1.6843, loss_traj_cls: 0.0004, loss_map_cls: 0.3456, loss_map_pts: 1.6984, loss_map_dir: 0.0278, d0.loss_plan_l1_fix_time: 2.6646, d0.loss_plan_l1_fix_dist: 0.4537, d1.loss_plan_l1_fix_time: 2.4921, d1.loss_plan_l1_fix_dist: 0.4472, d2.loss_plan_l1_fix_time: 2.4801, d2.loss_plan_l1_fix_dist: 0.4661, d3.loss_plan_l1_fix_time: 2.4844, d3.loss_plan_l1_fix_dist: 0.4903, d4.loss_plan_l1_fix_time: 2.4929, d4.loss_plan_l1_fix_dist: 0.5166, d5.loss_plan_l1_fix_time: 2.5021, d5.loss_plan_l1_fix_dist: 0.5484, d6.loss_plan_l1_fix_time: 2.5132, d6.loss_plan_l1_fix_dist: 0.5831, d0.loss_cls_all: 0.6570, d0.loss_bbox_all: 0.7137, d0.loss_cls: 0.6570, d0.loss_bbox: 0.7137, d1.loss_cls: 0.6545, d1.loss_bbox: 0.7072, d2.loss_cls: 0.6530, d2.loss_bbox: 0.6995, d3.loss_cls: 0.6550, d3.loss_bbox: 0.6976, d4.loss_cls: 0.6545, d4.loss_bbox: 0.6944, d5.loss_cls: 0.6549, d5.loss_bbox: 0.6916, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6516, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.6464, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.6450, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6591, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6678, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6816, d0.loss_map_cls_all: 0.3669, d0.loss_map_pts_all: 2.3416, d0.loss_map_dir_all: 0.0265, d0.loss_map_cls: 0.3669, d0.loss_map_pts: 2.3416, d0.loss_map_dir: 0.0265, d1.loss_map_cls: 0.3587, d1.loss_map_pts: 1.8032, d1.loss_map_dir: 0.0269, d2.loss_map_cls: 0.3495, d2.loss_map_pts: 1.7214, d2.loss_map_dir: 0.0272, d3.loss_map_cls: 0.3451, d3.loss_map_pts: 1.6979, d3.loss_map_dir: 0.0274, d4.loss_map_cls: 0.3421, d4.loss_map_pts: 1.6878, d4.loss_map_dir: 0.0276, d5.loss_map_cls: 0.3421, d5.loss_map_pts: 1.6935, d5.loss_map_dir: 0.0277, loss: 61.6515, grad_norm: 138.1386 +2026-02-24 12:25:52,761 - DriveTransformer - INFO - Epoch [2][6450/39528] lr: 9.958e-05, eta: 8 days, 7:34:24, time: 0.847, data_time: 0.036, memory: 19865, loss_cls: 0.7197, loss_bbox: 0.7075, loss_traj: 1.4327, loss_traj_cls: 0.0004, loss_map_cls: 0.3862, loss_map_pts: 1.9739, loss_map_dir: 0.0364, d0.loss_plan_l1_fix_time: 2.4024, d0.loss_plan_l1_fix_dist: 0.3811, d1.loss_plan_l1_fix_time: 2.2668, d1.loss_plan_l1_fix_dist: 0.3866, d2.loss_plan_l1_fix_time: 2.2648, d2.loss_plan_l1_fix_dist: 0.4092, d3.loss_plan_l1_fix_time: 2.2722, d3.loss_plan_l1_fix_dist: 0.4340, d4.loss_plan_l1_fix_time: 2.2820, d4.loss_plan_l1_fix_dist: 0.4628, d5.loss_plan_l1_fix_time: 2.2911, d5.loss_plan_l1_fix_dist: 0.4897, d6.loss_plan_l1_fix_time: 2.3008, d6.loss_plan_l1_fix_dist: 0.5225, d0.loss_cls_all: 0.7292, d0.loss_bbox_all: 0.7397, d0.loss_cls: 0.7292, d0.loss_bbox: 0.7397, d1.loss_cls: 0.7204, d1.loss_bbox: 0.7312, d2.loss_cls: 0.7148, d2.loss_bbox: 0.7172, d3.loss_cls: 0.7158, d3.loss_bbox: 0.7096, d4.loss_cls: 0.7140, d4.loss_bbox: 0.7091, d5.loss_cls: 0.7186, d5.loss_bbox: 0.7030, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4390, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4116, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4012, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4124, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4180, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4266, d0.loss_map_cls_all: 0.4034, d0.loss_map_pts_all: 2.9260, d0.loss_map_dir_all: 0.0347, d0.loss_map_cls: 0.4034, d0.loss_map_pts: 2.9260, d0.loss_map_dir: 0.0347, d1.loss_map_cls: 0.4015, d1.loss_map_pts: 2.1027, d1.loss_map_dir: 0.0352, d2.loss_map_cls: 0.3901, d2.loss_map_pts: 2.0131, d2.loss_map_dir: 0.0355, d3.loss_map_cls: 0.3845, d3.loss_map_pts: 1.9811, d3.loss_map_dir: 0.0360, d4.loss_map_cls: 0.3819, d4.loss_map_pts: 1.9720, d4.loss_map_dir: 0.0362, d5.loss_map_cls: 0.3831, d5.loss_map_pts: 1.9700, d5.loss_map_dir: 0.0363, loss: 61.9142, grad_norm: 138.1124 +2026-02-24 12:26:32,540 - DriveTransformer - INFO - Epoch [2][6500/39528] lr: 9.958e-05, eta: 8 days, 7:33:44, time: 0.796, data_time: 0.039, memory: 19865, loss_cls: 0.6864, loss_bbox: 0.7040, loss_traj: 1.4944, loss_traj_cls: 0.0004, loss_map_cls: 0.3857, loss_map_pts: 1.8632, loss_map_dir: 0.0308, d0.loss_plan_l1_fix_time: 2.8490, d0.loss_plan_l1_fix_dist: 0.4005, d1.loss_plan_l1_fix_time: 2.7608, d1.loss_plan_l1_fix_dist: 0.3754, d2.loss_plan_l1_fix_time: 2.7523, d2.loss_plan_l1_fix_dist: 0.3847, d3.loss_plan_l1_fix_time: 2.7570, d3.loss_plan_l1_fix_dist: 0.4109, d4.loss_plan_l1_fix_time: 2.7635, d4.loss_plan_l1_fix_dist: 0.4443, d5.loss_plan_l1_fix_time: 2.7710, d5.loss_plan_l1_fix_dist: 0.4770, d6.loss_plan_l1_fix_time: 2.7798, d6.loss_plan_l1_fix_dist: 0.5124, d0.loss_cls_all: 0.6918, d0.loss_bbox_all: 0.7164, d0.loss_cls: 0.6918, d0.loss_bbox: 0.7164, d1.loss_cls: 0.6834, d1.loss_bbox: 0.7119, d2.loss_cls: 0.6843, d2.loss_bbox: 0.7076, d3.loss_cls: 0.6867, d3.loss_bbox: 0.7060, d4.loss_cls: 0.6858, d4.loss_bbox: 0.7085, d5.loss_cls: 0.6871, d5.loss_bbox: 0.7030, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5383, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5057, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5010, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5042, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4948, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4928, d0.loss_map_cls_all: 0.4160, d0.loss_map_pts_all: 2.5396, d0.loss_map_dir_all: 0.0295, d0.loss_map_cls: 0.4160, d0.loss_map_pts: 2.5396, d0.loss_map_dir: 0.0295, d1.loss_map_cls: 0.3983, d1.loss_map_pts: 1.9762, d1.loss_map_dir: 0.0298, d2.loss_map_cls: 0.3892, d2.loss_map_pts: 1.8925, d2.loss_map_dir: 0.0302, d3.loss_map_cls: 0.3830, d3.loss_map_pts: 1.8620, d3.loss_map_dir: 0.0305, d4.loss_map_cls: 0.3806, d4.loss_map_pts: 1.8588, d4.loss_map_dir: 0.0306, d5.loss_map_cls: 0.3820, d5.loss_map_pts: 1.8590, d5.loss_map_dir: 0.0308, loss: 63.9289, grad_norm: 139.6996 +2026-02-24 12:27:12,144 - DriveTransformer - INFO - Epoch [2][6550/39528] lr: 9.958e-05, eta: 8 days, 7:33:01, time: 0.792, data_time: 0.046, memory: 19865, loss_cls: 0.7101, loss_bbox: 0.7330, loss_traj: 1.4488, loss_traj_cls: 0.0005, loss_map_cls: 0.3989, loss_map_pts: 1.9667, loss_map_dir: 0.0321, d0.loss_plan_l1_fix_time: 3.0753, d0.loss_plan_l1_fix_dist: 0.4326, d1.loss_plan_l1_fix_time: 2.9043, d1.loss_plan_l1_fix_dist: 0.4289, d2.loss_plan_l1_fix_time: 2.8755, d2.loss_plan_l1_fix_dist: 0.4442, d3.loss_plan_l1_fix_time: 2.8768, d3.loss_plan_l1_fix_dist: 0.4661, d4.loss_plan_l1_fix_time: 2.8827, d4.loss_plan_l1_fix_dist: 0.4859, d5.loss_plan_l1_fix_time: 2.8922, d5.loss_plan_l1_fix_dist: 0.5094, d6.loss_plan_l1_fix_time: 2.9043, d6.loss_plan_l1_fix_dist: 0.5394, d0.loss_cls_all: 0.7093, d0.loss_bbox_all: 0.7490, d0.loss_cls: 0.7093, d0.loss_bbox: 0.7490, d1.loss_cls: 0.7053, d1.loss_bbox: 0.7440, d2.loss_cls: 0.7102, d2.loss_bbox: 0.7364, d3.loss_cls: 0.7114, d3.loss_bbox: 0.7350, d4.loss_cls: 0.7125, d4.loss_bbox: 0.7304, d5.loss_cls: 0.7114, d5.loss_bbox: 0.7297, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4237, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4128, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4102, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4290, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4320, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.4357, d0.loss_map_cls_all: 0.4176, d0.loss_map_pts_all: 2.6349, d0.loss_map_dir_all: 0.0307, d0.loss_map_cls: 0.4176, d0.loss_map_pts: 2.6349, d0.loss_map_dir: 0.0307, d1.loss_map_cls: 0.4109, d1.loss_map_pts: 2.1001, d1.loss_map_dir: 0.0312, d2.loss_map_cls: 0.4063, d2.loss_map_pts: 2.0224, d2.loss_map_dir: 0.0315, d3.loss_map_cls: 0.4009, d3.loss_map_pts: 1.9831, d3.loss_map_dir: 0.0316, d4.loss_map_cls: 0.3977, d4.loss_map_pts: 1.9731, d4.loss_map_dir: 0.0318, d5.loss_map_cls: 0.3964, d5.loss_map_pts: 1.9685, d5.loss_map_dir: 0.0319, loss: 66.0820, grad_norm: 139.6625 +2026-02-24 12:27:49,355 - DriveTransformer - INFO - Epoch [2][6600/39528] lr: 9.958e-05, eta: 8 days, 7:31:30, time: 0.744, data_time: 0.047, memory: 19865, loss_cls: 0.7352, loss_bbox: 0.7196, loss_traj: 1.7424, loss_traj_cls: 0.0005, loss_map_cls: 0.4167, loss_map_pts: 1.6870, loss_map_dir: 0.0288, d0.loss_plan_l1_fix_time: 2.9910, d0.loss_plan_l1_fix_dist: 0.4924, d1.loss_plan_l1_fix_time: 2.8624, d1.loss_plan_l1_fix_dist: 0.4703, d2.loss_plan_l1_fix_time: 2.8423, d2.loss_plan_l1_fix_dist: 0.4824, d3.loss_plan_l1_fix_time: 2.8453, d3.loss_plan_l1_fix_dist: 0.5012, d4.loss_plan_l1_fix_time: 2.8521, d4.loss_plan_l1_fix_dist: 0.5245, d5.loss_plan_l1_fix_time: 2.8611, d5.loss_plan_l1_fix_dist: 0.5477, d6.loss_plan_l1_fix_time: 2.8725, d6.loss_plan_l1_fix_dist: 0.5707, d0.loss_cls_all: 0.7340, d0.loss_bbox_all: 0.7384, d0.loss_cls: 0.7340, d0.loss_bbox: 0.7384, d1.loss_cls: 0.7293, d1.loss_bbox: 0.7402, d2.loss_cls: 0.7320, d2.loss_bbox: 0.7351, d3.loss_cls: 0.7352, d3.loss_bbox: 0.7296, d4.loss_cls: 0.7376, d4.loss_bbox: 0.7148, d5.loss_cls: 0.7356, d5.loss_bbox: 0.7182, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7289, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7054, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7062, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7190, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.7191, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.7336, d0.loss_map_cls_all: 0.4405, d0.loss_map_pts_all: 2.2458, d0.loss_map_dir_all: 0.0283, d0.loss_map_cls: 0.4405, d0.loss_map_pts: 2.2458, d0.loss_map_dir: 0.0283, d1.loss_map_cls: 0.4382, d1.loss_map_pts: 1.8016, d1.loss_map_dir: 0.0279, d2.loss_map_cls: 0.4342, d2.loss_map_pts: 1.7164, d2.loss_map_dir: 0.0281, d3.loss_map_cls: 0.4264, d3.loss_map_pts: 1.6880, d3.loss_map_dir: 0.0284, d4.loss_map_cls: 0.4228, d4.loss_map_pts: 1.6846, d4.loss_map_dir: 0.0285, d5.loss_map_cls: 0.4175, d5.loss_map_pts: 1.6825, d5.loss_map_dir: 0.0287, loss: 65.8977, grad_norm: 140.5001 +2026-02-24 12:28:28,660 - DriveTransformer - INFO - Epoch [2][6650/39528] lr: 9.958e-05, eta: 8 days, 7:30:41, time: 0.786, data_time: 0.041, memory: 19865, loss_cls: 0.7028, loss_bbox: 0.7064, loss_traj: 1.4647, loss_traj_cls: 0.0005, loss_map_cls: 0.4093, loss_map_pts: 1.9090, loss_map_dir: 0.0331, d0.loss_plan_l1_fix_time: 3.0516, d0.loss_plan_l1_fix_dist: 0.4918, d1.loss_plan_l1_fix_time: 2.9153, d1.loss_plan_l1_fix_dist: 0.4678, d2.loss_plan_l1_fix_time: 2.8937, d2.loss_plan_l1_fix_dist: 0.4706, d3.loss_plan_l1_fix_time: 2.8970, d3.loss_plan_l1_fix_dist: 0.4824, d4.loss_plan_l1_fix_time: 2.9038, d4.loss_plan_l1_fix_dist: 0.4984, d5.loss_plan_l1_fix_time: 2.9121, d5.loss_plan_l1_fix_dist: 0.5173, d6.loss_plan_l1_fix_time: 2.9209, d6.loss_plan_l1_fix_dist: 0.5388, d0.loss_cls_all: 0.7006, d0.loss_bbox_all: 0.7100, d0.loss_cls: 0.7006, d0.loss_bbox: 0.7100, d1.loss_cls: 0.7002, d1.loss_bbox: 0.7094, d2.loss_cls: 0.7003, d2.loss_bbox: 0.7165, d3.loss_cls: 0.7025, d3.loss_bbox: 0.7125, d4.loss_cls: 0.7026, d4.loss_bbox: 0.6991, d5.loss_cls: 0.7031, d5.loss_bbox: 0.7025, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5120, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4527, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4309, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4344, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4431, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4520, d0.loss_map_cls_all: 0.4246, d0.loss_map_pts_all: 2.6353, d0.loss_map_dir_all: 0.0323, d0.loss_map_cls: 0.4246, d0.loss_map_pts: 2.6353, d0.loss_map_dir: 0.0323, d1.loss_map_cls: 0.4217, d1.loss_map_pts: 2.0090, d1.loss_map_dir: 0.0324, d2.loss_map_cls: 0.4137, d2.loss_map_pts: 1.9269, d2.loss_map_dir: 0.0326, d3.loss_map_cls: 0.4122, d3.loss_map_pts: 1.9046, d3.loss_map_dir: 0.0329, d4.loss_map_cls: 0.4096, d4.loss_map_pts: 1.9025, d4.loss_map_dir: 0.0330, d5.loss_map_cls: 0.4093, d5.loss_map_pts: 1.9061, d5.loss_map_dir: 0.0332, loss: 65.8505, grad_norm: 140.6258 +2026-02-24 12:29:09,248 - DriveTransformer - INFO - Epoch [2][6700/39528] lr: 9.958e-05, eta: 8 days, 7:30:17, time: 0.812, data_time: 0.040, memory: 19865, loss_cls: 0.7414, loss_bbox: 0.7046, loss_traj: 1.3659, loss_traj_cls: 0.0005, loss_map_cls: 0.4297, loss_map_pts: 1.8681, loss_map_dir: 0.0343, d0.loss_plan_l1_fix_time: 2.6327, d0.loss_plan_l1_fix_dist: 0.4635, d1.loss_plan_l1_fix_time: 2.4684, d1.loss_plan_l1_fix_dist: 0.4480, d2.loss_plan_l1_fix_time: 2.4328, d2.loss_plan_l1_fix_dist: 0.4513, d3.loss_plan_l1_fix_time: 2.4338, d3.loss_plan_l1_fix_dist: 0.4628, d4.loss_plan_l1_fix_time: 2.4407, d4.loss_plan_l1_fix_dist: 0.4796, d5.loss_plan_l1_fix_time: 2.4500, d5.loss_plan_l1_fix_dist: 0.5049, d6.loss_plan_l1_fix_time: 2.4603, d6.loss_plan_l1_fix_dist: 0.5389, d0.loss_cls_all: 0.7146, d0.loss_bbox_all: 0.7105, d0.loss_cls: 0.7146, d0.loss_bbox: 0.7105, d1.loss_cls: 0.7200, d1.loss_bbox: 0.7019, d2.loss_cls: 0.7267, d2.loss_bbox: 0.7075, d3.loss_cls: 0.7335, d3.loss_bbox: 0.7076, d4.loss_cls: 0.7416, d4.loss_bbox: 0.6976, d5.loss_cls: 0.7419, d5.loss_bbox: 0.7010, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3522, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3338, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.3420, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.3456, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3511, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3626, d0.loss_map_cls_all: 0.4364, d0.loss_map_pts_all: 2.6625, d0.loss_map_dir_all: 0.0331, d0.loss_map_cls: 0.4364, d0.loss_map_pts: 2.6625, d0.loss_map_dir: 0.0331, d1.loss_map_cls: 0.4347, d1.loss_map_pts: 1.9758, d1.loss_map_dir: 0.0335, d2.loss_map_cls: 0.4278, d2.loss_map_pts: 1.8876, d2.loss_map_dir: 0.0338, d3.loss_map_cls: 0.4288, d3.loss_map_pts: 1.8615, d3.loss_map_dir: 0.0341, d4.loss_map_cls: 0.4287, d4.loss_map_pts: 1.8611, d4.loss_map_dir: 0.0341, d5.loss_map_cls: 0.4285, d5.loss_map_pts: 1.8637, d5.loss_map_dir: 0.0343, loss: 61.9648, grad_norm: 140.3586 +2026-02-24 12:29:48,536 - DriveTransformer - INFO - Epoch [2][6750/39528] lr: 9.958e-05, eta: 8 days, 7:29:27, time: 0.786, data_time: 0.036, memory: 19865, loss_cls: 0.6906, loss_bbox: 0.6660, loss_traj: 1.5949, loss_traj_cls: 0.0005, loss_map_cls: 0.3985, loss_map_pts: 1.8371, loss_map_dir: 0.0315, d0.loss_plan_l1_fix_time: 2.7725, d0.loss_plan_l1_fix_dist: 0.4241, d1.loss_plan_l1_fix_time: 2.4679, d1.loss_plan_l1_fix_dist: 0.4161, d2.loss_plan_l1_fix_time: 2.4181, d2.loss_plan_l1_fix_dist: 0.4212, d3.loss_plan_l1_fix_time: 2.4171, d3.loss_plan_l1_fix_dist: 0.4331, d4.loss_plan_l1_fix_time: 2.4217, d4.loss_plan_l1_fix_dist: 0.4470, d5.loss_plan_l1_fix_time: 2.4284, d5.loss_plan_l1_fix_dist: 0.4626, d6.loss_plan_l1_fix_time: 2.4374, d6.loss_plan_l1_fix_dist: 0.4813, d0.loss_cls_all: 0.6894, d0.loss_bbox_all: 0.6884, d0.loss_cls: 0.6894, d0.loss_bbox: 0.6884, d1.loss_cls: 0.6771, d1.loss_bbox: 0.6751, d2.loss_cls: 0.6797, d2.loss_bbox: 0.6849, d3.loss_cls: 0.6840, d3.loss_bbox: 0.6802, d4.loss_cls: 0.6897, d4.loss_bbox: 0.6634, d5.loss_cls: 0.6902, d5.loss_bbox: 0.6618, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6001, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5564, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5738, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5804, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5909, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.5944, d0.loss_map_cls_all: 0.4152, d0.loss_map_pts_all: 2.5067, d0.loss_map_dir_all: 0.0307, d0.loss_map_cls: 0.4152, d0.loss_map_pts: 2.5067, d0.loss_map_dir: 0.0307, d1.loss_map_cls: 0.4067, d1.loss_map_pts: 1.9349, d1.loss_map_dir: 0.0306, d2.loss_map_cls: 0.4040, d2.loss_map_pts: 1.8596, d2.loss_map_dir: 0.0309, d3.loss_map_cls: 0.3993, d3.loss_map_pts: 1.8376, d3.loss_map_dir: 0.0311, d4.loss_map_cls: 0.3976, d4.loss_map_pts: 1.8344, d4.loss_map_dir: 0.0313, d5.loss_map_cls: 0.3971, d5.loss_map_pts: 1.8392, d5.loss_map_dir: 0.0315, loss: 62.0805, grad_norm: 139.5950 +2026-02-24 12:30:30,213 - DriveTransformer - INFO - Epoch [2][6800/39528] lr: 9.958e-05, eta: 8 days, 7:29:24, time: 0.834, data_time: 0.048, memory: 19865, loss_cls: 0.7304, loss_bbox: 0.6626, loss_traj: 1.2017, loss_traj_cls: 0.0005, loss_map_cls: 0.4300, loss_map_pts: 1.9282, loss_map_dir: 0.0391, d0.loss_plan_l1_fix_time: 2.8177, d0.loss_plan_l1_fix_dist: 0.5122, d1.loss_plan_l1_fix_time: 2.5797, d1.loss_plan_l1_fix_dist: 0.4793, d2.loss_plan_l1_fix_time: 2.5292, d2.loss_plan_l1_fix_dist: 0.4750, d3.loss_plan_l1_fix_time: 2.5253, d3.loss_plan_l1_fix_dist: 0.4843, d4.loss_plan_l1_fix_time: 2.5289, d4.loss_plan_l1_fix_dist: 0.5005, d5.loss_plan_l1_fix_time: 2.5368, d5.loss_plan_l1_fix_dist: 0.5175, d6.loss_plan_l1_fix_time: 2.5467, d6.loss_plan_l1_fix_dist: 0.5366, d0.loss_cls_all: 0.7255, d0.loss_bbox_all: 0.6862, d0.loss_cls: 0.7255, d0.loss_bbox: 0.6862, d1.loss_cls: 0.7104, d1.loss_bbox: 0.6734, d2.loss_cls: 0.7082, d2.loss_bbox: 0.6724, d3.loss_cls: 0.7092, d3.loss_bbox: 0.6683, d4.loss_cls: 0.7088, d4.loss_bbox: 0.6601, d5.loss_cls: 0.7142, d5.loss_bbox: 0.6603, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.2483, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1849, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.1850, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.1941, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1930, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1967, d0.loss_map_cls_all: 0.4381, d0.loss_map_pts_all: 2.9817, d0.loss_map_dir_all: 0.0382, d0.loss_map_cls: 0.4381, d0.loss_map_pts: 2.9817, d0.loss_map_dir: 0.0382, d1.loss_map_cls: 0.4392, d1.loss_map_pts: 2.0752, d1.loss_map_dir: 0.0385, d2.loss_map_cls: 0.4297, d2.loss_map_pts: 1.9609, d2.loss_map_dir: 0.0387, d3.loss_map_cls: 0.4303, d3.loss_map_pts: 1.9285, d3.loss_map_dir: 0.0389, d4.loss_map_cls: 0.4275, d4.loss_map_pts: 1.9226, d4.loss_map_dir: 0.0390, d5.loss_map_cls: 0.4273, d5.loss_map_pts: 1.9247, d5.loss_map_dir: 0.0392, loss: 62.5533, grad_norm: 140.3952 +2026-02-24 12:31:10,857 - DriveTransformer - INFO - Epoch [2][6850/39528] lr: 9.958e-05, eta: 8 days, 7:29:01, time: 0.813, data_time: 0.038, memory: 19865, loss_cls: 0.6663, loss_bbox: 0.6612, loss_traj: 1.3123, loss_traj_cls: 0.0005, loss_map_cls: 0.4073, loss_map_pts: 1.9733, loss_map_dir: 0.0351, d0.loss_plan_l1_fix_time: 2.6286, d0.loss_plan_l1_fix_dist: 0.5401, d1.loss_plan_l1_fix_time: 2.3210, d1.loss_plan_l1_fix_dist: 0.5058, d2.loss_plan_l1_fix_time: 2.2859, d2.loss_plan_l1_fix_dist: 0.5078, d3.loss_plan_l1_fix_time: 2.2875, d3.loss_plan_l1_fix_dist: 0.5200, d4.loss_plan_l1_fix_time: 2.2931, d4.loss_plan_l1_fix_dist: 0.5374, d5.loss_plan_l1_fix_time: 2.3009, d5.loss_plan_l1_fix_dist: 0.5572, d6.loss_plan_l1_fix_time: 2.3092, d6.loss_plan_l1_fix_dist: 0.5781, d0.loss_cls_all: 0.6718, d0.loss_bbox_all: 0.6920, d0.loss_cls: 0.6718, d0.loss_bbox: 0.6920, d1.loss_cls: 0.6668, d1.loss_bbox: 0.6826, d2.loss_cls: 0.6637, d2.loss_bbox: 0.6702, d3.loss_cls: 0.6654, d3.loss_bbox: 0.6702, d4.loss_cls: 0.6646, d4.loss_bbox: 0.6596, d5.loss_cls: 0.6626, d5.loss_bbox: 0.6600, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.2784, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2973, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.2919, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3067, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3093, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3096, d0.loss_map_cls_all: 0.4144, d0.loss_map_pts_all: 2.7845, d0.loss_map_dir_all: 0.0341, d0.loss_map_cls: 0.4144, d0.loss_map_pts: 2.7845, d0.loss_map_dir: 0.0341, d1.loss_map_cls: 0.4091, d1.loss_map_pts: 2.0841, d1.loss_map_dir: 0.0343, d2.loss_map_cls: 0.4034, d2.loss_map_pts: 1.9912, d2.loss_map_dir: 0.0345, d3.loss_map_cls: 0.4016, d3.loss_map_pts: 1.9676, d3.loss_map_dir: 0.0348, d4.loss_map_cls: 0.4019, d4.loss_map_pts: 1.9645, d4.loss_map_dir: 0.0350, d5.loss_map_cls: 0.4035, d5.loss_map_pts: 1.9668, d5.loss_map_dir: 0.0351, loss: 61.0521, grad_norm: 139.3009 +2026-02-24 12:31:49,979 - DriveTransformer - INFO - Epoch [2][6900/39528] lr: 9.958e-05, eta: 8 days, 7:28:08, time: 0.782, data_time: 0.038, memory: 19865, loss_cls: 0.7145, loss_bbox: 0.6831, loss_traj: 1.2123, loss_traj_cls: 0.0004, loss_map_cls: 0.3984, loss_map_pts: 1.7803, loss_map_dir: 0.0323, d0.loss_plan_l1_fix_time: 2.7392, d0.loss_plan_l1_fix_dist: 0.5923, d1.loss_plan_l1_fix_time: 2.5054, d1.loss_plan_l1_fix_dist: 0.5429, d2.loss_plan_l1_fix_time: 2.4833, d2.loss_plan_l1_fix_dist: 0.5370, d3.loss_plan_l1_fix_time: 2.4876, d3.loss_plan_l1_fix_dist: 0.5448, d4.loss_plan_l1_fix_time: 2.4944, d4.loss_plan_l1_fix_dist: 0.5579, d5.loss_plan_l1_fix_time: 2.5025, d5.loss_plan_l1_fix_dist: 0.5736, d6.loss_plan_l1_fix_time: 2.5113, d6.loss_plan_l1_fix_dist: 0.5955, d0.loss_cls_all: 0.7246, d0.loss_bbox_all: 0.7182, d0.loss_cls: 0.7246, d0.loss_bbox: 0.7182, d1.loss_cls: 0.7132, d1.loss_bbox: 0.7101, d2.loss_cls: 0.7088, d2.loss_bbox: 0.6877, d3.loss_cls: 0.7037, d3.loss_bbox: 0.6881, d4.loss_cls: 0.6986, d4.loss_bbox: 0.6758, d5.loss_cls: 0.7034, d5.loss_bbox: 0.6787, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.2355, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2333, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.2061, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.2105, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2195, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2159, d0.loss_map_cls_all: 0.4114, d0.loss_map_pts_all: 2.5094, d0.loss_map_dir_all: 0.0318, d0.loss_map_cls: 0.4114, d0.loss_map_pts: 2.5094, d0.loss_map_dir: 0.0318, d1.loss_map_cls: 0.4024, d1.loss_map_pts: 1.8829, d1.loss_map_dir: 0.0318, d2.loss_map_cls: 0.3972, d2.loss_map_pts: 1.8031, d2.loss_map_dir: 0.0318, d3.loss_map_cls: 0.3956, d3.loss_map_pts: 1.7812, d3.loss_map_dir: 0.0322, d4.loss_map_cls: 0.3947, d4.loss_map_pts: 1.7775, d4.loss_map_dir: 0.0322, d5.loss_map_cls: 0.3949, d5.loss_map_pts: 1.7786, d5.loss_map_dir: 0.0324, loss: 60.7412, grad_norm: 138.8895 +2026-02-24 12:32:32,086 - DriveTransformer - INFO - Epoch [2][6950/39528] lr: 9.958e-05, eta: 8 days, 7:28:13, time: 0.842, data_time: 0.039, memory: 19865, loss_cls: 0.7393, loss_bbox: 0.7122, loss_traj: 1.5250, loss_traj_cls: 0.0004, loss_map_cls: 0.3887, loss_map_pts: 1.9234, loss_map_dir: 0.0325, d0.loss_plan_l1_fix_time: 2.5196, d0.loss_plan_l1_fix_dist: 0.4239, d1.loss_plan_l1_fix_time: 2.2085, d1.loss_plan_l1_fix_dist: 0.4271, d2.loss_plan_l1_fix_time: 2.1887, d2.loss_plan_l1_fix_dist: 0.4474, d3.loss_plan_l1_fix_time: 2.1976, d3.loss_plan_l1_fix_dist: 0.4671, d4.loss_plan_l1_fix_time: 2.2085, d4.loss_plan_l1_fix_dist: 0.4864, d5.loss_plan_l1_fix_time: 2.2190, d5.loss_plan_l1_fix_dist: 0.5082, d6.loss_plan_l1_fix_time: 2.2294, d6.loss_plan_l1_fix_dist: 0.5363, d0.loss_cls_all: 0.7474, d0.loss_bbox_all: 0.7454, d0.loss_cls: 0.7474, d0.loss_bbox: 0.7454, d1.loss_cls: 0.7320, d1.loss_bbox: 0.7461, d2.loss_cls: 0.7292, d2.loss_bbox: 0.7295, d3.loss_cls: 0.7268, d3.loss_bbox: 0.7159, d4.loss_cls: 0.7187, d4.loss_bbox: 0.7125, d5.loss_cls: 0.7289, d5.loss_bbox: 0.7125, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5623, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5157, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5180, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5253, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5244, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5231, d0.loss_map_cls_all: 0.4225, d0.loss_map_pts_all: 2.6747, d0.loss_map_dir_all: 0.0318, d0.loss_map_cls: 0.4225, d0.loss_map_pts: 2.6747, d0.loss_map_dir: 0.0318, d1.loss_map_cls: 0.4039, d1.loss_map_pts: 2.0468, d1.loss_map_dir: 0.0318, d2.loss_map_cls: 0.3986, d2.loss_map_pts: 1.9589, d2.loss_map_dir: 0.0318, d3.loss_map_cls: 0.3919, d3.loss_map_pts: 1.9311, d3.loss_map_dir: 0.0321, d4.loss_map_cls: 0.3876, d4.loss_map_pts: 1.9229, d4.loss_map_dir: 0.0322, d5.loss_map_cls: 0.3870, d5.loss_map_pts: 1.9243, d5.loss_map_dir: 0.0324, loss: 61.9714, grad_norm: 137.9090 +2026-02-24 12:33:10,607 - DriveTransformer - INFO - Epoch [2][7000/39528] lr: 9.958e-05, eta: 8 days, 7:27:10, time: 0.772, data_time: 0.041, memory: 19865, loss_cls: 0.7007, loss_bbox: 0.7341, loss_traj: 1.7270, loss_traj_cls: 0.0004, loss_map_cls: 0.3908, loss_map_pts: 1.8263, loss_map_dir: 0.0280, d0.loss_plan_l1_fix_time: 3.0559, d0.loss_plan_l1_fix_dist: 0.4713, d1.loss_plan_l1_fix_time: 2.7905, d1.loss_plan_l1_fix_dist: 0.4713, d2.loss_plan_l1_fix_time: 2.7431, d2.loss_plan_l1_fix_dist: 0.4905, d3.loss_plan_l1_fix_time: 2.7420, d3.loss_plan_l1_fix_dist: 0.5194, d4.loss_plan_l1_fix_time: 2.7476, d4.loss_plan_l1_fix_dist: 0.5553, d5.loss_plan_l1_fix_time: 2.7546, d5.loss_plan_l1_fix_dist: 0.5916, d6.loss_plan_l1_fix_time: 2.7630, d6.loss_plan_l1_fix_dist: 0.6231, d0.loss_cls_all: 0.7132, d0.loss_bbox_all: 0.7814, d0.loss_cls: 0.7132, d0.loss_bbox: 0.7814, d1.loss_cls: 0.6992, d1.loss_bbox: 0.7884, d2.loss_cls: 0.6993, d2.loss_bbox: 0.7740, d3.loss_cls: 0.7013, d3.loss_bbox: 0.7413, d4.loss_cls: 0.6995, d4.loss_bbox: 0.7402, d5.loss_cls: 0.6996, d5.loss_bbox: 0.7338, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7513, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6980, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6977, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7166, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.7205, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.7232, d0.loss_map_cls_all: 0.4221, d0.loss_map_pts_all: 2.4459, d0.loss_map_dir_all: 0.0272, d0.loss_map_cls: 0.4221, d0.loss_map_pts: 2.4459, d0.loss_map_dir: 0.0272, d1.loss_map_cls: 0.4046, d1.loss_map_pts: 1.9439, d1.loss_map_dir: 0.0272, d2.loss_map_cls: 0.3998, d2.loss_map_pts: 1.8645, d2.loss_map_dir: 0.0274, d3.loss_map_cls: 0.3941, d3.loss_map_pts: 1.8379, d3.loss_map_dir: 0.0277, d4.loss_map_cls: 0.3907, d4.loss_map_pts: 1.8298, d4.loss_map_dir: 0.0278, d5.loss_map_cls: 0.3886, d5.loss_map_pts: 1.8295, d5.loss_map_dir: 0.0278, loss: 66.5153, grad_norm: 137.0927 +2026-02-24 12:33:47,737 - DriveTransformer - INFO - Epoch [2][7050/39528] lr: 9.958e-05, eta: 8 days, 7:25:37, time: 0.741, data_time: 0.039, memory: 19865, loss_cls: 0.7237, loss_bbox: 0.7244, loss_traj: 1.5763, loss_traj_cls: 0.0005, loss_map_cls: 0.4110, loss_map_pts: 1.6945, loss_map_dir: 0.0262, d0.loss_plan_l1_fix_time: 2.9883, d0.loss_plan_l1_fix_dist: 0.4657, d1.loss_plan_l1_fix_time: 2.7866, d1.loss_plan_l1_fix_dist: 0.4531, d2.loss_plan_l1_fix_time: 2.7404, d2.loss_plan_l1_fix_dist: 0.4629, d3.loss_plan_l1_fix_time: 2.7366, d3.loss_plan_l1_fix_dist: 0.4759, d4.loss_plan_l1_fix_time: 2.7402, d4.loss_plan_l1_fix_dist: 0.4915, d5.loss_plan_l1_fix_time: 2.7468, d5.loss_plan_l1_fix_dist: 0.5110, d6.loss_plan_l1_fix_time: 2.7555, d6.loss_plan_l1_fix_dist: 0.5364, d0.loss_cls_all: 0.7211, d0.loss_bbox_all: 0.7475, d0.loss_cls: 0.7211, d0.loss_bbox: 0.7475, d1.loss_cls: 0.7302, d1.loss_bbox: 0.7602, d2.loss_cls: 0.7354, d2.loss_bbox: 0.7588, d3.loss_cls: 0.7336, d3.loss_bbox: 0.7284, d4.loss_cls: 0.7332, d4.loss_bbox: 0.7238, d5.loss_cls: 0.7324, d5.loss_bbox: 0.7218, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5633, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5371, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5408, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5568, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5689, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5674, d0.loss_map_cls_all: 0.4334, d0.loss_map_pts_all: 2.2308, d0.loss_map_dir_all: 0.0253, d0.loss_map_cls: 0.4334, d0.loss_map_pts: 2.2308, d0.loss_map_dir: 0.0253, d1.loss_map_cls: 0.4216, d1.loss_map_pts: 1.7924, d1.loss_map_dir: 0.0256, d2.loss_map_cls: 0.4162, d2.loss_map_pts: 1.7242, d2.loss_map_dir: 0.0257, d3.loss_map_cls: 0.4101, d3.loss_map_pts: 1.6985, d3.loss_map_dir: 0.0260, d4.loss_map_cls: 0.4093, d4.loss_map_pts: 1.6907, d4.loss_map_dir: 0.0261, d5.loss_map_cls: 0.4085, d5.loss_map_pts: 1.6921, d5.loss_map_dir: 0.0262, loss: 63.8532, grad_norm: 136.3012 +2026-02-24 12:34:27,274 - DriveTransformer - INFO - Epoch [2][7100/39528] lr: 9.958e-05, eta: 8 days, 7:24:53, time: 0.791, data_time: 0.038, memory: 19865, loss_cls: 0.7313, loss_bbox: 0.7378, loss_traj: 1.9194, loss_traj_cls: 0.0005, loss_map_cls: 0.4215, loss_map_pts: 1.9896, loss_map_dir: 0.0342, d0.loss_plan_l1_fix_time: 3.1630, d0.loss_plan_l1_fix_dist: 0.4500, d1.loss_plan_l1_fix_time: 2.8265, d1.loss_plan_l1_fix_dist: 0.4774, d2.loss_plan_l1_fix_time: 2.8264, d2.loss_plan_l1_fix_dist: 0.5127, d3.loss_plan_l1_fix_time: 2.8375, d3.loss_plan_l1_fix_dist: 0.5440, d4.loss_plan_l1_fix_time: 2.8490, d4.loss_plan_l1_fix_dist: 0.5758, d5.loss_plan_l1_fix_time: 2.8604, d5.loss_plan_l1_fix_dist: 0.6150, d6.loss_plan_l1_fix_time: 2.8714, d6.loss_plan_l1_fix_dist: 0.6667, d0.loss_cls_all: 0.7330, d0.loss_bbox_all: 0.7630, d0.loss_cls: 0.7330, d0.loss_bbox: 0.7630, d1.loss_cls: 0.7323, d1.loss_bbox: 0.7672, d2.loss_cls: 0.7342, d2.loss_bbox: 0.7659, d3.loss_cls: 0.7342, d3.loss_bbox: 0.7425, d4.loss_cls: 0.7357, d4.loss_bbox: 0.7383, d5.loss_cls: 0.7352, d5.loss_bbox: 0.7365, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8971, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.8778, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.8910, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8990, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.9080, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.9104, d0.loss_map_cls_all: 0.4381, d0.loss_map_pts_all: 2.6963, d0.loss_map_dir_all: 0.0334, d0.loss_map_cls: 0.4381, d0.loss_map_pts: 2.6963, d0.loss_map_dir: 0.0334, d1.loss_map_cls: 0.4259, d1.loss_map_pts: 2.1135, d1.loss_map_dir: 0.0337, d2.loss_map_cls: 0.4189, d2.loss_map_pts: 2.0268, d2.loss_map_dir: 0.0338, d3.loss_map_cls: 0.4181, d3.loss_map_pts: 1.9991, d3.loss_map_dir: 0.0340, d4.loss_map_cls: 0.4179, d4.loss_map_pts: 1.9927, d4.loss_map_dir: 0.0340, d5.loss_map_cls: 0.4193, d5.loss_map_pts: 1.9905, d5.loss_map_dir: 0.0342, loss: 70.4398, grad_norm: 139.3227 +2026-02-24 12:35:06,815 - DriveTransformer - INFO - Epoch [2][7150/39528] lr: 9.958e-05, eta: 8 days, 7:24:07, time: 0.790, data_time: 0.042, memory: 19865, loss_cls: 0.6950, loss_bbox: 0.6881, loss_traj: 1.5696, loss_traj_cls: 0.0004, loss_map_cls: 0.3697, loss_map_pts: 1.7288, loss_map_dir: 0.0285, d0.loss_plan_l1_fix_time: 2.5932, d0.loss_plan_l1_fix_dist: 0.4530, d1.loss_plan_l1_fix_time: 2.3128, d1.loss_plan_l1_fix_dist: 0.4332, d2.loss_plan_l1_fix_time: 2.2899, d2.loss_plan_l1_fix_dist: 0.4415, d3.loss_plan_l1_fix_time: 2.2916, d3.loss_plan_l1_fix_dist: 0.4611, d4.loss_plan_l1_fix_time: 2.2968, d4.loss_plan_l1_fix_dist: 0.4845, d5.loss_plan_l1_fix_time: 2.3046, d5.loss_plan_l1_fix_dist: 0.5066, d6.loss_plan_l1_fix_time: 2.3160, d6.loss_plan_l1_fix_dist: 0.5318, d0.loss_cls_all: 0.6915, d0.loss_bbox_all: 0.7156, d0.loss_cls: 0.6915, d0.loss_bbox: 0.7156, d1.loss_cls: 0.6876, d1.loss_bbox: 0.7066, d2.loss_cls: 0.6924, d2.loss_bbox: 0.7041, d3.loss_cls: 0.7029, d3.loss_bbox: 0.6878, d4.loss_cls: 0.7063, d4.loss_bbox: 0.6851, d5.loss_cls: 0.7039, d5.loss_bbox: 0.6843, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6146, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5594, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5485, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5678, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5721, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5697, d0.loss_map_cls_all: 0.4014, d0.loss_map_pts_all: 2.3896, d0.loss_map_dir_all: 0.0278, d0.loss_map_cls: 0.4014, d0.loss_map_pts: 2.3896, d0.loss_map_dir: 0.0278, d1.loss_map_cls: 0.3867, d1.loss_map_pts: 1.8468, d1.loss_map_dir: 0.0279, d2.loss_map_cls: 0.3761, d2.loss_map_pts: 1.7573, d2.loss_map_dir: 0.0281, d3.loss_map_cls: 0.3712, d3.loss_map_pts: 1.7326, d3.loss_map_dir: 0.0284, d4.loss_map_cls: 0.3685, d4.loss_map_pts: 1.7274, d4.loss_map_dir: 0.0284, d5.loss_map_cls: 0.3670, d5.loss_map_pts: 1.7296, d5.loss_map_dir: 0.0285, loss: 60.4497, grad_norm: 139.5704 +2026-02-24 12:35:46,287 - DriveTransformer - INFO - Epoch [2][7200/39528] lr: 9.958e-05, eta: 8 days, 7:23:21, time: 0.789, data_time: 0.035, memory: 19865, loss_cls: 0.7099, loss_bbox: 0.7292, loss_traj: 1.5097, loss_traj_cls: 0.0004, loss_map_cls: 0.3660, loss_map_pts: 1.8198, loss_map_dir: 0.0290, d0.loss_plan_l1_fix_time: 3.0896, d0.loss_plan_l1_fix_dist: 0.4672, d1.loss_plan_l1_fix_time: 2.7123, d1.loss_plan_l1_fix_dist: 0.4638, d2.loss_plan_l1_fix_time: 2.6831, d2.loss_plan_l1_fix_dist: 0.4817, d3.loss_plan_l1_fix_time: 2.6830, d3.loss_plan_l1_fix_dist: 0.5114, d4.loss_plan_l1_fix_time: 2.6873, d4.loss_plan_l1_fix_dist: 0.5438, d5.loss_plan_l1_fix_time: 2.6924, d5.loss_plan_l1_fix_dist: 0.5776, d6.loss_plan_l1_fix_time: 2.6981, d6.loss_plan_l1_fix_dist: 0.6137, d0.loss_cls_all: 0.7131, d0.loss_bbox_all: 0.7435, d0.loss_cls: 0.7131, d0.loss_bbox: 0.7435, d1.loss_cls: 0.7102, d1.loss_bbox: 0.7427, d2.loss_cls: 0.7126, d2.loss_bbox: 0.7463, d3.loss_cls: 0.7212, d3.loss_bbox: 0.7291, d4.loss_cls: 0.7240, d4.loss_bbox: 0.7281, d5.loss_cls: 0.7151, d5.loss_bbox: 0.7261, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5591, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5082, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5096, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5081, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5105, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5176, d0.loss_map_cls_all: 0.4058, d0.loss_map_pts_all: 2.4996, d0.loss_map_dir_all: 0.0287, d0.loss_map_cls: 0.4058, d0.loss_map_pts: 2.4996, d0.loss_map_dir: 0.0287, d1.loss_map_cls: 0.3896, d1.loss_map_pts: 1.9114, d1.loss_map_dir: 0.0285, d2.loss_map_cls: 0.3748, d2.loss_map_pts: 1.8312, d2.loss_map_dir: 0.0285, d3.loss_map_cls: 0.3695, d3.loss_map_pts: 1.8135, d3.loss_map_dir: 0.0288, d4.loss_map_cls: 0.3658, d4.loss_map_pts: 1.8131, d4.loss_map_dir: 0.0288, d5.loss_map_cls: 0.3624, d5.loss_map_pts: 1.8170, d5.loss_map_dir: 0.0289, loss: 64.4147, grad_norm: 142.6081 +2026-02-24 12:36:26,545 - DriveTransformer - INFO - Epoch [2][7250/39528] lr: 9.958e-05, eta: 8 days, 7:22:51, time: 0.805, data_time: 0.038, memory: 19865, loss_cls: 0.7511, loss_bbox: 0.7070, loss_traj: 1.5622, loss_traj_cls: 0.0005, loss_map_cls: 0.4431, loss_map_pts: 1.8588, loss_map_dir: 0.0337, d0.loss_plan_l1_fix_time: 2.6120, d0.loss_plan_l1_fix_dist: 0.4915, d1.loss_plan_l1_fix_time: 2.4601, d1.loss_plan_l1_fix_dist: 0.4817, d2.loss_plan_l1_fix_time: 2.4505, d2.loss_plan_l1_fix_dist: 0.4948, d3.loss_plan_l1_fix_time: 2.4592, d3.loss_plan_l1_fix_dist: 0.5142, d4.loss_plan_l1_fix_time: 2.4694, d4.loss_plan_l1_fix_dist: 0.5365, d5.loss_plan_l1_fix_time: 2.4781, d5.loss_plan_l1_fix_dist: 0.5626, d6.loss_plan_l1_fix_time: 2.4863, d6.loss_plan_l1_fix_dist: 0.5864, d0.loss_cls_all: 0.7521, d0.loss_bbox_all: 0.7154, d0.loss_cls: 0.7521, d0.loss_bbox: 0.7154, d1.loss_cls: 0.7371, d1.loss_bbox: 0.7076, d2.loss_cls: 0.7363, d2.loss_bbox: 0.7200, d3.loss_cls: 0.7338, d3.loss_bbox: 0.7070, d4.loss_cls: 0.7386, d4.loss_bbox: 0.7037, d5.loss_cls: 0.7373, d5.loss_bbox: 0.7005, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5343, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5044, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5305, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5414, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5535, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.5593, d0.loss_map_cls_all: 0.4625, d0.loss_map_pts_all: 2.6581, d0.loss_map_dir_all: 0.0329, d0.loss_map_cls: 0.4625, d0.loss_map_pts: 2.6581, d0.loss_map_dir: 0.0329, d1.loss_map_cls: 0.4579, d1.loss_map_pts: 1.9864, d1.loss_map_dir: 0.0330, d2.loss_map_cls: 0.4549, d2.loss_map_pts: 1.8962, d2.loss_map_dir: 0.0332, d3.loss_map_cls: 0.4453, d3.loss_map_pts: 1.8693, d3.loss_map_dir: 0.0334, d4.loss_map_cls: 0.4390, d4.loss_map_pts: 1.8624, d4.loss_map_dir: 0.0334, d5.loss_map_cls: 0.4378, d5.loss_map_pts: 1.8561, d5.loss_map_dir: 0.0336, loss: 64.0030, grad_norm: 143.8141 +2026-02-24 12:37:06,933 - DriveTransformer - INFO - Epoch [2][7300/39528] lr: 9.958e-05, eta: 8 days, 7:22:22, time: 0.808, data_time: 0.046, memory: 19865, loss_cls: 0.7387, loss_bbox: 0.7164, loss_traj: 1.5022, loss_traj_cls: 0.0005, loss_map_cls: 0.3894, loss_map_pts: 1.9469, loss_map_dir: 0.0320, d0.loss_plan_l1_fix_time: 2.4611, d0.loss_plan_l1_fix_dist: 0.4723, d1.loss_plan_l1_fix_time: 2.2787, d1.loss_plan_l1_fix_dist: 0.4533, d2.loss_plan_l1_fix_time: 2.2912, d2.loss_plan_l1_fix_dist: 0.4674, d3.loss_plan_l1_fix_time: 2.3099, d3.loss_plan_l1_fix_dist: 0.4863, d4.loss_plan_l1_fix_time: 2.3241, d4.loss_plan_l1_fix_dist: 0.5097, d5.loss_plan_l1_fix_time: 2.3354, d5.loss_plan_l1_fix_dist: 0.5350, d6.loss_plan_l1_fix_time: 2.3456, d6.loss_plan_l1_fix_dist: 0.5646, d0.loss_cls_all: 0.7212, d0.loss_bbox_all: 0.7439, d0.loss_cls: 0.7212, d0.loss_bbox: 0.7439, d1.loss_cls: 0.7068, d1.loss_bbox: 0.7330, d2.loss_cls: 0.7094, d2.loss_bbox: 0.7403, d3.loss_cls: 0.7123, d3.loss_bbox: 0.7211, d4.loss_cls: 0.7187, d4.loss_bbox: 0.7167, d5.loss_cls: 0.7248, d5.loss_bbox: 0.7119, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5608, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5157, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5193, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5226, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5163, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.5123, d0.loss_map_cls_all: 0.4076, d0.loss_map_pts_all: 2.6954, d0.loss_map_dir_all: 0.0317, d0.loss_map_cls: 0.4076, d0.loss_map_pts: 2.6954, d0.loss_map_dir: 0.0317, d1.loss_map_cls: 0.4019, d1.loss_map_pts: 2.0692, d1.loss_map_dir: 0.0315, d2.loss_map_cls: 0.3981, d2.loss_map_pts: 1.9793, d2.loss_map_dir: 0.0317, d3.loss_map_cls: 0.3868, d3.loss_map_pts: 1.9544, d3.loss_map_dir: 0.0318, d4.loss_map_cls: 0.3852, d4.loss_map_pts: 1.9478, d4.loss_map_dir: 0.0319, d5.loss_map_cls: 0.3841, d5.loss_map_pts: 1.9447, d5.loss_map_dir: 0.0319, loss: 62.7168, grad_norm: 146.5902 +2026-02-24 12:37:47,215 - DriveTransformer - INFO - Epoch [2][7350/39528] lr: 9.958e-05, eta: 8 days, 7:21:52, time: 0.806, data_time: 0.037, memory: 19865, loss_cls: 0.6904, loss_bbox: 0.6831, loss_traj: 1.3651, loss_traj_cls: 0.0005, loss_map_cls: 0.3863, loss_map_pts: 1.7377, loss_map_dir: 0.0293, d0.loss_plan_l1_fix_time: 2.7962, d0.loss_plan_l1_fix_dist: 0.5066, d1.loss_plan_l1_fix_time: 2.5482, d1.loss_plan_l1_fix_dist: 0.4793, d2.loss_plan_l1_fix_time: 2.4971, d2.loss_plan_l1_fix_dist: 0.4838, d3.loss_plan_l1_fix_time: 2.4927, d3.loss_plan_l1_fix_dist: 0.4982, d4.loss_plan_l1_fix_time: 2.4962, d4.loss_plan_l1_fix_dist: 0.5150, d5.loss_plan_l1_fix_time: 2.5041, d5.loss_plan_l1_fix_dist: 0.5327, d6.loss_plan_l1_fix_time: 2.5152, d6.loss_plan_l1_fix_dist: 0.5629, d0.loss_cls_all: 0.6865, d0.loss_bbox_all: 0.7214, d0.loss_cls: 0.6865, d0.loss_bbox: 0.7214, d1.loss_cls: 0.6844, d1.loss_bbox: 0.6955, d2.loss_cls: 0.6805, d2.loss_bbox: 0.7044, d3.loss_cls: 0.6813, d3.loss_bbox: 0.6878, d4.loss_cls: 0.6831, d4.loss_bbox: 0.6827, d5.loss_cls: 0.6874, d5.loss_bbox: 0.6803, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3466, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3132, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.3324, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3468, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3544, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.3608, d0.loss_map_cls_all: 0.4147, d0.loss_map_pts_all: 2.4306, d0.loss_map_dir_all: 0.0283, d0.loss_map_cls: 0.4147, d0.loss_map_pts: 2.4306, d0.loss_map_dir: 0.0283, d1.loss_map_cls: 0.4064, d1.loss_map_pts: 1.8854, d1.loss_map_dir: 0.0288, d2.loss_map_cls: 0.3936, d2.loss_map_pts: 1.7891, d2.loss_map_dir: 0.0288, d3.loss_map_cls: 0.3895, d3.loss_map_pts: 1.7554, d3.loss_map_dir: 0.0290, d4.loss_map_cls: 0.3852, d4.loss_map_pts: 1.7454, d4.loss_map_dir: 0.0291, d5.loss_map_cls: 0.3848, d5.loss_map_pts: 1.7411, d5.loss_map_dir: 0.0292, loss: 60.8302, grad_norm: 147.8861 +2026-02-24 12:38:27,259 - DriveTransformer - INFO - Epoch [2][7400/39528] lr: 9.958e-05, eta: 8 days, 7:21:17, time: 0.801, data_time: 0.040, memory: 19865, loss_cls: 0.7191, loss_bbox: 0.6896, loss_traj: 1.3435, loss_traj_cls: 0.0004, loss_map_cls: 0.4173, loss_map_pts: 1.8739, loss_map_dir: 0.0299, d0.loss_plan_l1_fix_time: 3.2758, d0.loss_plan_l1_fix_dist: 0.5110, d1.loss_plan_l1_fix_time: 3.0531, d1.loss_plan_l1_fix_dist: 0.4950, d2.loss_plan_l1_fix_time: 3.0221, d2.loss_plan_l1_fix_dist: 0.5025, d3.loss_plan_l1_fix_time: 3.0202, d3.loss_plan_l1_fix_dist: 0.5196, d4.loss_plan_l1_fix_time: 3.0254, d4.loss_plan_l1_fix_dist: 0.5431, d5.loss_plan_l1_fix_time: 3.0338, d5.loss_plan_l1_fix_dist: 0.5688, d6.loss_plan_l1_fix_time: 3.0445, d6.loss_plan_l1_fix_dist: 0.5905, d0.loss_cls_all: 0.7252, d0.loss_bbox_all: 0.7168, d0.loss_cls: 0.7252, d0.loss_bbox: 0.7168, d1.loss_cls: 0.7137, d1.loss_bbox: 0.7001, d2.loss_cls: 0.7138, d2.loss_bbox: 0.7006, d3.loss_cls: 0.7104, d3.loss_bbox: 0.6870, d4.loss_cls: 0.7087, d4.loss_bbox: 0.6846, d5.loss_cls: 0.7078, d5.loss_bbox: 0.6860, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3758, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3264, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.3207, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.3290, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3361, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3460, d0.loss_map_cls_all: 0.4360, d0.loss_map_pts_all: 2.5441, d0.loss_map_dir_all: 0.0296, d0.loss_map_cls: 0.4360, d0.loss_map_pts: 2.5441, d0.loss_map_dir: 0.0296, d1.loss_map_cls: 0.4283, d1.loss_map_pts: 2.0002, d1.loss_map_dir: 0.0297, d2.loss_map_cls: 0.4240, d2.loss_map_pts: 1.9194, d2.loss_map_dir: 0.0297, d3.loss_map_cls: 0.4224, d3.loss_map_pts: 1.8904, d3.loss_map_dir: 0.0299, d4.loss_map_cls: 0.4186, d4.loss_map_pts: 1.8824, d4.loss_map_dir: 0.0298, d5.loss_map_cls: 0.4176, d5.loss_map_pts: 1.8802, d5.loss_map_dir: 0.0299, loss: 66.0657, grad_norm: 146.2008 +2026-02-24 12:39:06,777 - DriveTransformer - INFO - Epoch [2][7450/39528] lr: 9.958e-05, eta: 8 days, 7:20:32, time: 0.790, data_time: 0.046, memory: 19865, loss_cls: 0.6998, loss_bbox: 0.6978, loss_traj: 1.6378, loss_traj_cls: 0.0004, loss_map_cls: 0.4081, loss_map_pts: 1.9168, loss_map_dir: 0.0321, d0.loss_plan_l1_fix_time: 2.7895, d0.loss_plan_l1_fix_dist: 0.4818, d1.loss_plan_l1_fix_time: 2.6013, d1.loss_plan_l1_fix_dist: 0.4748, d2.loss_plan_l1_fix_time: 2.5727, d2.loss_plan_l1_fix_dist: 0.4860, d3.loss_plan_l1_fix_time: 2.5783, d3.loss_plan_l1_fix_dist: 0.5060, d4.loss_plan_l1_fix_time: 2.5887, d4.loss_plan_l1_fix_dist: 0.5333, d5.loss_plan_l1_fix_time: 2.5997, d5.loss_plan_l1_fix_dist: 0.5618, d6.loss_plan_l1_fix_time: 2.6113, d6.loss_plan_l1_fix_dist: 0.5803, d0.loss_cls_all: 0.7263, d0.loss_bbox_all: 0.7366, d0.loss_cls: 0.7263, d0.loss_bbox: 0.7366, d1.loss_cls: 0.7101, d1.loss_bbox: 0.7212, d2.loss_cls: 0.7007, d2.loss_bbox: 0.7161, d3.loss_cls: 0.6964, d3.loss_bbox: 0.7032, d4.loss_cls: 0.6953, d4.loss_bbox: 0.6960, d5.loss_cls: 0.6935, d5.loss_bbox: 0.6946, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6452, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6192, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6251, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6278, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6261, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6323, d0.loss_map_cls_all: 0.4338, d0.loss_map_pts_all: 2.5924, d0.loss_map_dir_all: 0.0313, d0.loss_map_cls: 0.4338, d0.loss_map_pts: 2.5924, d0.loss_map_dir: 0.0313, d1.loss_map_cls: 0.4242, d1.loss_map_pts: 2.0253, d1.loss_map_dir: 0.0314, d2.loss_map_cls: 0.4181, d2.loss_map_pts: 1.9479, d2.loss_map_dir: 0.0316, d3.loss_map_cls: 0.4148, d3.loss_map_pts: 1.9226, d3.loss_map_dir: 0.0319, d4.loss_map_cls: 0.4092, d4.loss_map_pts: 1.9162, d4.loss_map_dir: 0.0319, d5.loss_map_cls: 0.4075, d5.loss_map_pts: 1.9147, d5.loss_map_dir: 0.0320, loss: 65.1651, grad_norm: 147.7427 +2026-02-24 12:39:46,966 - DriveTransformer - INFO - Epoch [2][7500/39528] lr: 9.958e-05, eta: 8 days, 7:20:00, time: 0.804, data_time: 0.035, memory: 19865, loss_cls: 0.6935, loss_bbox: 0.7082, loss_traj: 1.4805, loss_traj_cls: 0.0004, loss_map_cls: 0.4154, loss_map_pts: 2.0218, loss_map_dir: 0.0327, d0.loss_plan_l1_fix_time: 3.1151, d0.loss_plan_l1_fix_dist: 0.5205, d1.loss_plan_l1_fix_time: 2.8910, d1.loss_plan_l1_fix_dist: 0.4992, d2.loss_plan_l1_fix_time: 2.8639, d2.loss_plan_l1_fix_dist: 0.5118, d3.loss_plan_l1_fix_time: 2.8626, d3.loss_plan_l1_fix_dist: 0.5322, d4.loss_plan_l1_fix_time: 2.8654, d4.loss_plan_l1_fix_dist: 0.5553, d5.loss_plan_l1_fix_time: 2.8713, d5.loss_plan_l1_fix_dist: 0.5824, d6.loss_plan_l1_fix_time: 2.8805, d6.loss_plan_l1_fix_dist: 0.6158, d0.loss_cls_all: 0.6858, d0.loss_bbox_all: 0.7572, d0.loss_cls: 0.6858, d0.loss_bbox: 0.7572, d1.loss_cls: 0.6821, d1.loss_bbox: 0.7413, d2.loss_cls: 0.6846, d2.loss_bbox: 0.7276, d3.loss_cls: 0.6848, d3.loss_bbox: 0.7203, d4.loss_cls: 0.6880, d4.loss_bbox: 0.7104, d5.loss_cls: 0.6903, d5.loss_bbox: 0.7066, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4609, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4336, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4427, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4513, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4658, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4698, d0.loss_map_cls_all: 0.4366, d0.loss_map_pts_all: 2.7313, d0.loss_map_dir_all: 0.0318, d0.loss_map_cls: 0.4366, d0.loss_map_pts: 2.7313, d0.loss_map_dir: 0.0318, d1.loss_map_cls: 0.4340, d1.loss_map_pts: 2.1292, d1.loss_map_dir: 0.0321, d2.loss_map_cls: 0.4280, d2.loss_map_pts: 2.0539, d2.loss_map_dir: 0.0322, d3.loss_map_cls: 0.4177, d3.loss_map_pts: 2.0298, d3.loss_map_dir: 0.0324, d4.loss_map_cls: 0.4163, d4.loss_map_pts: 2.0186, d4.loss_map_dir: 0.0325, d5.loss_map_cls: 0.4146, d5.loss_map_pts: 2.0204, d5.loss_map_dir: 0.0326, loss: 67.0930, grad_norm: 148.4691 +2026-02-24 12:40:26,660 - DriveTransformer - INFO - Epoch [2][7550/39528] lr: 9.958e-05, eta: 8 days, 7:19:18, time: 0.794, data_time: 0.036, memory: 19865, loss_cls: 0.7233, loss_bbox: 0.7243, loss_traj: 1.2779, loss_traj_cls: 0.0005, loss_map_cls: 0.3761, loss_map_pts: 1.9633, loss_map_dir: 0.0338, d0.loss_plan_l1_fix_time: 2.6887, d0.loss_plan_l1_fix_dist: 0.4513, d1.loss_plan_l1_fix_time: 2.5101, d1.loss_plan_l1_fix_dist: 0.4508, d2.loss_plan_l1_fix_time: 2.5034, d2.loss_plan_l1_fix_dist: 0.4770, d3.loss_plan_l1_fix_time: 2.5123, d3.loss_plan_l1_fix_dist: 0.5061, d4.loss_plan_l1_fix_time: 2.5226, d4.loss_plan_l1_fix_dist: 0.5355, d5.loss_plan_l1_fix_time: 2.5349, d5.loss_plan_l1_fix_dist: 0.5735, d6.loss_plan_l1_fix_time: 2.5495, d6.loss_plan_l1_fix_dist: 0.6325, d0.loss_cls_all: 0.7350, d0.loss_bbox_all: 0.7524, d0.loss_cls: 0.7350, d0.loss_bbox: 0.7524, d1.loss_cls: 0.7248, d1.loss_bbox: 0.7466, d2.loss_cls: 0.7239, d2.loss_bbox: 0.7367, d3.loss_cls: 0.7259, d3.loss_bbox: 0.7303, d4.loss_cls: 0.7246, d4.loss_bbox: 0.7254, d5.loss_cls: 0.7204, d5.loss_bbox: 0.7225, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3626, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2824, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.2699, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.2693, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2695, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2788, d0.loss_map_cls_all: 0.3959, d0.loss_map_pts_all: 2.8019, d0.loss_map_dir_all: 0.0335, d0.loss_map_cls: 0.3959, d0.loss_map_pts: 2.8019, d0.loss_map_dir: 0.0335, d1.loss_map_cls: 0.3894, d1.loss_map_pts: 2.0884, d1.loss_map_dir: 0.0334, d2.loss_map_cls: 0.3838, d2.loss_map_pts: 1.9922, d2.loss_map_dir: 0.0335, d3.loss_map_cls: 0.3748, d3.loss_map_pts: 1.9624, d3.loss_map_dir: 0.0336, d4.loss_map_cls: 0.3729, d4.loss_map_pts: 1.9540, d4.loss_map_dir: 0.0336, d5.loss_map_cls: 0.3748, d5.loss_map_pts: 1.9580, d5.loss_map_dir: 0.0338, loss: 63.0207, grad_norm: 152.3548 +2026-02-24 12:41:05,936 - DriveTransformer - INFO - Epoch [2][7600/39528] lr: 9.958e-05, eta: 8 days, 7:18:28, time: 0.786, data_time: 0.038, memory: 19865, loss_cls: 0.6941, loss_bbox: 0.6868, loss_traj: 1.3166, loss_traj_cls: 0.0005, loss_map_cls: 0.3740, loss_map_pts: 1.7471, loss_map_dir: 0.0296, d0.loss_plan_l1_fix_time: 2.9541, d0.loss_plan_l1_fix_dist: 0.5050, d1.loss_plan_l1_fix_time: 2.6718, d1.loss_plan_l1_fix_dist: 0.4760, d2.loss_plan_l1_fix_time: 2.6422, d2.loss_plan_l1_fix_dist: 0.4852, d3.loss_plan_l1_fix_time: 2.6456, d3.loss_plan_l1_fix_dist: 0.5002, d4.loss_plan_l1_fix_time: 2.6520, d4.loss_plan_l1_fix_dist: 0.5185, d5.loss_plan_l1_fix_time: 2.6597, d5.loss_plan_l1_fix_dist: 0.5382, d6.loss_plan_l1_fix_time: 2.6685, d6.loss_plan_l1_fix_dist: 0.5646, d0.loss_cls_all: 0.6909, d0.loss_bbox_all: 0.7206, d0.loss_cls: 0.6909, d0.loss_bbox: 0.7206, d1.loss_cls: 0.6877, d1.loss_bbox: 0.7113, d2.loss_cls: 0.6877, d2.loss_bbox: 0.6901, d3.loss_cls: 0.6892, d3.loss_bbox: 0.6896, d4.loss_cls: 0.6926, d4.loss_bbox: 0.6870, d5.loss_cls: 0.6874, d5.loss_bbox: 0.6837, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3562, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3064, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.3018, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.3053, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3130, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3113, d0.loss_map_cls_all: 0.3931, d0.loss_map_pts_all: 2.4977, d0.loss_map_dir_all: 0.0295, d0.loss_map_cls: 0.3931, d0.loss_map_pts: 2.4977, d0.loss_map_dir: 0.0295, d1.loss_map_cls: 0.3870, d1.loss_map_pts: 1.8768, d1.loss_map_dir: 0.0294, d2.loss_map_cls: 0.3785, d2.loss_map_pts: 1.7848, d2.loss_map_dir: 0.0293, d3.loss_map_cls: 0.3780, d3.loss_map_pts: 1.7469, d3.loss_map_dir: 0.0295, d4.loss_map_cls: 0.3748, d4.loss_map_pts: 1.7410, d4.loss_map_dir: 0.0294, d5.loss_map_cls: 0.3732, d5.loss_map_pts: 1.7438, d5.loss_map_dir: 0.0295, loss: 61.7304, grad_norm: 152.1573 +2026-02-24 12:41:46,138 - DriveTransformer - INFO - Epoch [2][7650/39528] lr: 9.958e-05, eta: 8 days, 7:17:56, time: 0.804, data_time: 0.039, memory: 19865, loss_cls: 0.6983, loss_bbox: 0.6995, loss_traj: 1.3394, loss_traj_cls: 0.0004, loss_map_cls: 0.3764, loss_map_pts: 1.8979, loss_map_dir: 0.0339, d0.loss_plan_l1_fix_time: 2.5140, d0.loss_plan_l1_fix_dist: 0.5108, d1.loss_plan_l1_fix_time: 2.2748, d1.loss_plan_l1_fix_dist: 0.4855, d2.loss_plan_l1_fix_time: 2.2392, d2.loss_plan_l1_fix_dist: 0.4922, d3.loss_plan_l1_fix_time: 2.2411, d3.loss_plan_l1_fix_dist: 0.5061, d4.loss_plan_l1_fix_time: 2.2479, d4.loss_plan_l1_fix_dist: 0.5242, d5.loss_plan_l1_fix_time: 2.2562, d5.loss_plan_l1_fix_dist: 0.5389, d6.loss_plan_l1_fix_time: 2.2667, d6.loss_plan_l1_fix_dist: 0.5500, d0.loss_cls_all: 0.7028, d0.loss_bbox_all: 0.7164, d0.loss_cls: 0.7028, d0.loss_bbox: 0.7164, d1.loss_cls: 0.6984, d1.loss_bbox: 0.7198, d2.loss_cls: 0.6922, d2.loss_bbox: 0.6972, d3.loss_cls: 0.6928, d3.loss_bbox: 0.7011, d4.loss_cls: 0.6956, d4.loss_bbox: 0.6973, d5.loss_cls: 0.6942, d5.loss_bbox: 0.6957, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3635, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3304, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.3323, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.3362, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3276, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3311, d0.loss_map_cls_all: 0.4226, d0.loss_map_pts_all: 2.6886, d0.loss_map_dir_all: 0.0335, d0.loss_map_cls: 0.4226, d0.loss_map_pts: 2.6886, d0.loss_map_dir: 0.0335, d1.loss_map_cls: 0.4015, d1.loss_map_pts: 2.0322, d1.loss_map_dir: 0.0335, d2.loss_map_cls: 0.3876, d2.loss_map_pts: 1.9402, d2.loss_map_dir: 0.0335, d3.loss_map_cls: 0.3818, d3.loss_map_pts: 1.9105, d3.loss_map_dir: 0.0337, d4.loss_map_cls: 0.3774, d4.loss_map_pts: 1.8984, d4.loss_map_dir: 0.0337, d5.loss_map_cls: 0.3754, d5.loss_map_pts: 1.8981, d5.loss_map_dir: 0.0338, loss: 60.6019, grad_norm: 150.8827 +2026-02-24 12:42:26,033 - DriveTransformer - INFO - Epoch [2][7700/39528] lr: 9.958e-05, eta: 8 days, 7:17:18, time: 0.798, data_time: 0.047, memory: 19865, loss_cls: 0.6979, loss_bbox: 0.7032, loss_traj: 1.5173, loss_traj_cls: 0.0004, loss_map_cls: 0.4296, loss_map_pts: 2.0142, loss_map_dir: 0.0309, d0.loss_plan_l1_fix_time: 3.0163, d0.loss_plan_l1_fix_dist: 0.4643, d1.loss_plan_l1_fix_time: 2.8241, d1.loss_plan_l1_fix_dist: 0.4527, d2.loss_plan_l1_fix_time: 2.8150, d2.loss_plan_l1_fix_dist: 0.4643, d3.loss_plan_l1_fix_time: 2.8197, d3.loss_plan_l1_fix_dist: 0.4823, d4.loss_plan_l1_fix_time: 2.8279, d4.loss_plan_l1_fix_dist: 0.5012, d5.loss_plan_l1_fix_time: 2.8394, d5.loss_plan_l1_fix_dist: 0.5221, d6.loss_plan_l1_fix_time: 2.8534, d6.loss_plan_l1_fix_dist: 0.5471, d0.loss_cls_all: 0.7191, d0.loss_bbox_all: 0.7295, d0.loss_cls: 0.7191, d0.loss_bbox: 0.7295, d1.loss_cls: 0.7060, d1.loss_bbox: 0.7339, d2.loss_cls: 0.6993, d2.loss_bbox: 0.7118, d3.loss_cls: 0.7007, d3.loss_bbox: 0.7173, d4.loss_cls: 0.6982, d4.loss_bbox: 0.7070, d5.loss_cls: 0.7002, d5.loss_bbox: 0.7038, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5372, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4856, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4916, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5017, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5001, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5132, d0.loss_map_cls_all: 0.4969, d0.loss_map_pts_all: 2.6378, d0.loss_map_dir_all: 0.0305, d0.loss_map_cls: 0.4969, d0.loss_map_pts: 2.6378, d0.loss_map_dir: 0.0305, d1.loss_map_cls: 0.4616, d1.loss_map_pts: 2.1237, d1.loss_map_dir: 0.0306, d2.loss_map_cls: 0.4466, d2.loss_map_pts: 2.0356, d2.loss_map_dir: 0.0306, d3.loss_map_cls: 0.4355, d3.loss_map_pts: 2.0105, d3.loss_map_dir: 0.0308, d4.loss_map_cls: 0.4314, d4.loss_map_pts: 2.0054, d4.loss_map_dir: 0.0308, d5.loss_map_cls: 0.4303, d5.loss_map_pts: 2.0124, d5.loss_map_dir: 0.0308, loss: 66.7088, grad_norm: 150.5305 +2026-02-24 12:43:05,510 - DriveTransformer - INFO - Epoch [2][7750/39528] lr: 9.958e-05, eta: 8 days, 7:16:32, time: 0.790, data_time: 0.039, memory: 19865, loss_cls: 0.7080, loss_bbox: 0.7084, loss_traj: 1.4223, loss_traj_cls: 0.0004, loss_map_cls: 0.3733, loss_map_pts: 1.8802, loss_map_dir: 0.0300, d0.loss_plan_l1_fix_time: 2.8262, d0.loss_plan_l1_fix_dist: 0.5264, d1.loss_plan_l1_fix_time: 2.5885, d1.loss_plan_l1_fix_dist: 0.5156, d2.loss_plan_l1_fix_time: 2.5683, d2.loss_plan_l1_fix_dist: 0.5249, d3.loss_plan_l1_fix_time: 2.5769, d3.loss_plan_l1_fix_dist: 0.5477, d4.loss_plan_l1_fix_time: 2.5893, d4.loss_plan_l1_fix_dist: 0.5729, d5.loss_plan_l1_fix_time: 2.6039, d5.loss_plan_l1_fix_dist: 0.6043, d6.loss_plan_l1_fix_time: 2.6223, d6.loss_plan_l1_fix_dist: 0.6399, d0.loss_cls_all: 0.7069, d0.loss_bbox_all: 0.7162, d0.loss_cls: 0.7069, d0.loss_bbox: 0.7162, d1.loss_cls: 0.6880, d1.loss_bbox: 0.7245, d2.loss_cls: 0.6859, d2.loss_bbox: 0.7121, d3.loss_cls: 0.6912, d3.loss_bbox: 0.7159, d4.loss_cls: 0.6870, d4.loss_bbox: 0.7084, d5.loss_cls: 0.7031, d5.loss_bbox: 0.7067, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4340, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3716, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.3704, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.3885, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4000, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4113, d0.loss_map_cls_all: 0.4397, d0.loss_map_pts_all: 2.5544, d0.loss_map_dir_all: 0.0292, d0.loss_map_cls: 0.4397, d0.loss_map_pts: 2.5544, d0.loss_map_dir: 0.0292, d1.loss_map_cls: 0.4065, d1.loss_map_pts: 1.9726, d1.loss_map_dir: 0.0295, d2.loss_map_cls: 0.3867, d2.loss_map_pts: 1.8980, d2.loss_map_dir: 0.0296, d3.loss_map_cls: 0.3772, d3.loss_map_pts: 1.8726, d3.loss_map_dir: 0.0298, d4.loss_map_cls: 0.3749, d4.loss_map_pts: 1.8716, d4.loss_map_dir: 0.0298, d5.loss_map_cls: 0.3729, d5.loss_map_pts: 1.8790, d5.loss_map_dir: 0.0299, loss: 63.2858, grad_norm: 153.9521 +2026-02-24 12:43:46,850 - DriveTransformer - INFO - Epoch [2][7800/39528] lr: 9.958e-05, eta: 8 days, 7:16:23, time: 0.828, data_time: 0.037, memory: 19865, loss_cls: 0.7116, loss_bbox: 0.7082, loss_traj: 1.3691, loss_traj_cls: 0.0005, loss_map_cls: 0.3978, loss_map_pts: 1.9736, loss_map_dir: 0.0350, d0.loss_plan_l1_fix_time: 2.7699, d0.loss_plan_l1_fix_dist: 0.4560, d1.loss_plan_l1_fix_time: 2.6440, d1.loss_plan_l1_fix_dist: 0.4491, d2.loss_plan_l1_fix_time: 2.6389, d2.loss_plan_l1_fix_dist: 0.4621, d3.loss_plan_l1_fix_time: 2.6460, d3.loss_plan_l1_fix_dist: 0.4809, d4.loss_plan_l1_fix_time: 2.6552, d4.loss_plan_l1_fix_dist: 0.5029, d5.loss_plan_l1_fix_time: 2.6652, d5.loss_plan_l1_fix_dist: 0.5261, d6.loss_plan_l1_fix_time: 2.6778, d6.loss_plan_l1_fix_dist: 0.5525, d0.loss_cls_all: 0.7081, d0.loss_bbox_all: 0.7334, d0.loss_cls: 0.7081, d0.loss_bbox: 0.7334, d1.loss_cls: 0.7065, d1.loss_bbox: 0.7390, d2.loss_cls: 0.7081, d2.loss_bbox: 0.7244, d3.loss_cls: 0.7066, d3.loss_bbox: 0.7113, d4.loss_cls: 0.7055, d4.loss_bbox: 0.7067, d5.loss_cls: 0.7066, d5.loss_bbox: 0.7070, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4286, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3652, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.3664, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3678, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3625, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3622, d0.loss_map_cls_all: 0.4216, d0.loss_map_pts_all: 2.7801, d0.loss_map_dir_all: 0.0344, d0.loss_map_cls: 0.4216, d0.loss_map_pts: 2.7801, d0.loss_map_dir: 0.0344, d1.loss_map_cls: 0.4093, d1.loss_map_pts: 2.0968, d1.loss_map_dir: 0.0346, d2.loss_map_cls: 0.4014, d2.loss_map_pts: 1.9929, d2.loss_map_dir: 0.0346, d3.loss_map_cls: 0.3980, d3.loss_map_pts: 1.9635, d3.loss_map_dir: 0.0349, d4.loss_map_cls: 0.3991, d4.loss_map_pts: 1.9638, d4.loss_map_dir: 0.0349, d5.loss_map_cls: 0.3971, d5.loss_map_pts: 1.9679, d5.loss_map_dir: 0.0350, loss: 64.2197, grad_norm: 157.3394 +2026-02-24 12:44:26,821 - DriveTransformer - INFO - Epoch [2][7850/39528] lr: 9.958e-05, eta: 8 days, 7:15:46, time: 0.798, data_time: 0.040, memory: 19865, loss_cls: 0.7137, loss_bbox: 0.7219, loss_traj: 1.4756, loss_traj_cls: 0.0005, loss_map_cls: 0.5379, loss_map_pts: 2.1984, loss_map_dir: 0.0354, d0.loss_plan_l1_fix_time: 2.9328, d0.loss_plan_l1_fix_dist: 0.5475, d1.loss_plan_l1_fix_time: 2.7295, d1.loss_plan_l1_fix_dist: 0.5525, d2.loss_plan_l1_fix_time: 2.7232, d2.loss_plan_l1_fix_dist: 0.5801, d3.loss_plan_l1_fix_time: 2.7381, d3.loss_plan_l1_fix_dist: 0.6195, d4.loss_plan_l1_fix_time: 2.7541, d4.loss_plan_l1_fix_dist: 0.6679, d5.loss_plan_l1_fix_time: 2.7697, d5.loss_plan_l1_fix_dist: 0.7178, d6.loss_plan_l1_fix_time: 2.7864, d6.loss_plan_l1_fix_dist: 0.7686, d0.loss_cls_all: 0.7270, d0.loss_bbox_all: 0.7374, d0.loss_cls: 0.7270, d0.loss_bbox: 0.7374, d1.loss_cls: 0.7412, d1.loss_bbox: 0.7493, d2.loss_cls: 0.7316, d2.loss_bbox: 0.7422, d3.loss_cls: 0.7237, d3.loss_bbox: 0.7250, d4.loss_cls: 0.7160, d4.loss_bbox: 0.7212, d5.loss_cls: 0.7112, d5.loss_bbox: 0.7202, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4922, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4450, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4365, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4516, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4651, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.4726, d0.loss_map_cls_all: 0.5653, d0.loss_map_pts_all: 2.9022, d0.loss_map_dir_all: 0.0350, d0.loss_map_cls: 0.5653, d0.loss_map_pts: 2.9022, d0.loss_map_dir: 0.0350, d1.loss_map_cls: 0.5540, d1.loss_map_pts: 2.2940, d1.loss_map_dir: 0.0350, d2.loss_map_cls: 0.5551, d2.loss_map_pts: 2.1925, d2.loss_map_dir: 0.0350, d3.loss_map_cls: 0.5462, d3.loss_map_pts: 2.1869, d3.loss_map_dir: 0.0351, d4.loss_map_cls: 0.5483, d4.loss_map_pts: 2.1925, d4.loss_map_dir: 0.0352, d5.loss_map_cls: 0.5380, d5.loss_map_pts: 2.1912, d5.loss_map_dir: 0.0353, loss: 69.5282, grad_norm: 158.3624 +2026-02-24 12:45:06,834 - DriveTransformer - INFO - Epoch [2][7900/39528] lr: 9.958e-05, eta: 8 days, 7:15:10, time: 0.800, data_time: 0.041, memory: 19865, loss_cls: 0.7369, loss_bbox: 0.7174, loss_traj: 1.6132, loss_traj_cls: 0.0005, loss_map_cls: 0.4684, loss_map_pts: 2.0354, loss_map_dir: 0.0309, d0.loss_plan_l1_fix_time: 2.7168, d0.loss_plan_l1_fix_dist: 0.5285, d1.loss_plan_l1_fix_time: 2.4710, d1.loss_plan_l1_fix_dist: 0.4915, d2.loss_plan_l1_fix_time: 2.4629, d2.loss_plan_l1_fix_dist: 0.4935, d3.loss_plan_l1_fix_time: 2.4732, d3.loss_plan_l1_fix_dist: 0.5124, d4.loss_plan_l1_fix_time: 2.4841, d4.loss_plan_l1_fix_dist: 0.5427, d5.loss_plan_l1_fix_time: 2.4958, d5.loss_plan_l1_fix_dist: 0.5722, d6.loss_plan_l1_fix_time: 2.5075, d6.loss_plan_l1_fix_dist: 0.6071, d0.loss_cls_all: 0.7343, d0.loss_bbox_all: 0.7318, d0.loss_cls: 0.7343, d0.loss_bbox: 0.7318, d1.loss_cls: 0.7182, d1.loss_bbox: 0.7486, d2.loss_cls: 0.7179, d2.loss_bbox: 0.7471, d3.loss_cls: 0.7246, d3.loss_bbox: 0.7277, d4.loss_cls: 0.7196, d4.loss_bbox: 0.7203, d5.loss_cls: 0.7314, d5.loss_bbox: 0.7174, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6630, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5879, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5919, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6015, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6059, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6128, d0.loss_map_cls_all: 0.5400, d0.loss_map_pts_all: 2.5494, d0.loss_map_dir_all: 0.0305, d0.loss_map_cls: 0.5400, d0.loss_map_pts: 2.5494, d0.loss_map_dir: 0.0305, d1.loss_map_cls: 0.5004, d1.loss_map_pts: 2.1141, d1.loss_map_dir: 0.0307, d2.loss_map_cls: 0.4931, d2.loss_map_pts: 2.0268, d2.loss_map_dir: 0.0306, d3.loss_map_cls: 0.4774, d3.loss_map_pts: 2.0161, d3.loss_map_dir: 0.0306, d4.loss_map_cls: 0.4727, d4.loss_map_pts: 2.0198, d4.loss_map_dir: 0.0307, d5.loss_map_cls: 0.4700, d5.loss_map_pts: 2.0227, d5.loss_map_dir: 0.0308, loss: 65.8406, grad_norm: 158.8331 +2026-02-24 12:45:44,710 - DriveTransformer - INFO - Epoch [2][7950/39528] lr: 9.958e-05, eta: 8 days, 7:13:54, time: 0.757, data_time: 0.039, memory: 19865, loss_cls: 0.7197, loss_bbox: 0.7531, loss_traj: 1.7780, loss_traj_cls: 0.0004, loss_map_cls: 0.4945, loss_map_pts: 2.1329, loss_map_dir: 0.0293, d0.loss_plan_l1_fix_time: 2.7216, d0.loss_plan_l1_fix_dist: 0.4660, d1.loss_plan_l1_fix_time: 2.6037, d1.loss_plan_l1_fix_dist: 0.4643, d2.loss_plan_l1_fix_time: 2.5710, d2.loss_plan_l1_fix_dist: 0.4879, d3.loss_plan_l1_fix_time: 2.5688, d3.loss_plan_l1_fix_dist: 0.5128, d4.loss_plan_l1_fix_time: 2.5723, d4.loss_plan_l1_fix_dist: 0.5368, d5.loss_plan_l1_fix_time: 2.5787, d5.loss_plan_l1_fix_dist: 0.5657, d6.loss_plan_l1_fix_time: 2.5860, d6.loss_plan_l1_fix_dist: 0.5986, d0.loss_cls_all: 0.7314, d0.loss_bbox_all: 0.7640, d0.loss_cls: 0.7314, d0.loss_bbox: 0.7640, d1.loss_cls: 0.7280, d1.loss_bbox: 0.7675, d2.loss_cls: 0.7330, d2.loss_bbox: 0.7777, d3.loss_cls: 0.7334, d3.loss_bbox: 0.7563, d4.loss_cls: 0.7183, d4.loss_bbox: 0.7531, d5.loss_cls: 0.7188, d5.loss_bbox: 0.7512, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8074, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.7405, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7499, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7621, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.7622, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.7655, d0.loss_map_cls_all: 0.4893, d0.loss_map_pts_all: 2.6423, d0.loss_map_dir_all: 0.0286, d0.loss_map_cls: 0.4893, d0.loss_map_pts: 2.6423, d0.loss_map_dir: 0.0286, d1.loss_map_cls: 0.4861, d1.loss_map_pts: 2.1955, d1.loss_map_dir: 0.0289, d2.loss_map_cls: 0.4812, d2.loss_map_pts: 2.1220, d2.loss_map_dir: 0.0289, d3.loss_map_cls: 0.4775, d3.loss_map_pts: 2.1057, d3.loss_map_dir: 0.0291, d4.loss_map_cls: 0.4823, d4.loss_map_pts: 2.1083, d4.loss_map_dir: 0.0291, d5.loss_map_cls: 0.4895, d5.loss_map_pts: 2.1160, d5.loss_map_dir: 0.0292, loss: 68.2914, grad_norm: 159.0900 +2026-02-24 12:46:24,422 - DriveTransformer - INFO - Epoch [2][8000/39528] lr: 9.958e-05, eta: 8 days, 7:13:12, time: 0.794, data_time: 0.037, memory: 19865, loss_cls: 0.6904, loss_bbox: 0.7181, loss_traj: 1.7817, loss_traj_cls: 0.0004, loss_map_cls: 0.5284, loss_map_pts: 1.9544, loss_map_dir: 0.0320, d0.loss_plan_l1_fix_time: 3.3430, d0.loss_plan_l1_fix_dist: 0.4457, d1.loss_plan_l1_fix_time: 3.0145, d1.loss_plan_l1_fix_dist: 0.4394, d2.loss_plan_l1_fix_time: 2.9534, d2.loss_plan_l1_fix_dist: 0.4558, d3.loss_plan_l1_fix_time: 2.9449, d3.loss_plan_l1_fix_dist: 0.4780, d4.loss_plan_l1_fix_time: 2.9458, d4.loss_plan_l1_fix_dist: 0.5027, d5.loss_plan_l1_fix_time: 2.9502, d5.loss_plan_l1_fix_dist: 0.5330, d6.loss_plan_l1_fix_time: 2.9565, d6.loss_plan_l1_fix_dist: 0.5617, d0.loss_cls_all: 0.7108, d0.loss_bbox_all: 0.7555, d0.loss_cls: 0.7108, d0.loss_bbox: 0.7555, d1.loss_cls: 0.7268, d1.loss_bbox: 0.7534, d2.loss_cls: 0.7249, d2.loss_bbox: 0.7582, d3.loss_cls: 0.7167, d3.loss_bbox: 0.7292, d4.loss_cls: 0.6971, d4.loss_bbox: 0.7216, d5.loss_cls: 0.6889, d5.loss_bbox: 0.7200, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8566, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7818, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7943, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.7837, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7877, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7870, d0.loss_map_cls_all: 0.5205, d0.loss_map_pts_all: 2.6169, d0.loss_map_dir_all: 0.0316, d0.loss_map_cls: 0.5205, d0.loss_map_pts: 2.6169, d0.loss_map_dir: 0.0316, d1.loss_map_cls: 0.5133, d1.loss_map_pts: 2.0540, d1.loss_map_dir: 0.0317, d2.loss_map_cls: 0.5151, d2.loss_map_pts: 1.9907, d2.loss_map_dir: 0.0317, d3.loss_map_cls: 0.5163, d3.loss_map_pts: 1.9633, d3.loss_map_dir: 0.0319, d4.loss_map_cls: 0.5158, d4.loss_map_pts: 1.9559, d4.loss_map_dir: 0.0319, d5.loss_map_cls: 0.5246, d5.loss_map_pts: 1.9564, d5.loss_map_dir: 0.0320, loss: 70.1968, grad_norm: 158.1379 +2026-02-24 12:47:04,565 - DriveTransformer - INFO - Epoch [2][8050/39528] lr: 9.958e-05, eta: 8 days, 7:12:39, time: 0.803, data_time: 0.038, memory: 19865, loss_cls: 0.7367, loss_bbox: 0.6901, loss_traj: 1.3827, loss_traj_cls: 0.0005, loss_map_cls: 0.4217, loss_map_pts: 1.9219, loss_map_dir: 0.0322, d0.loss_plan_l1_fix_time: 2.5829, d0.loss_plan_l1_fix_dist: 0.5040, d1.loss_plan_l1_fix_time: 2.4674, d1.loss_plan_l1_fix_dist: 0.4843, d2.loss_plan_l1_fix_time: 2.4664, d2.loss_plan_l1_fix_dist: 0.4951, d3.loss_plan_l1_fix_time: 2.4756, d3.loss_plan_l1_fix_dist: 0.5206, d4.loss_plan_l1_fix_time: 2.4855, d4.loss_plan_l1_fix_dist: 0.5532, d5.loss_plan_l1_fix_time: 2.4952, d5.loss_plan_l1_fix_dist: 0.5882, d6.loss_plan_l1_fix_time: 2.5064, d6.loss_plan_l1_fix_dist: 0.6304, d0.loss_cls_all: 0.7202, d0.loss_bbox_all: 0.7029, d0.loss_cls: 0.7202, d0.loss_bbox: 0.7029, d1.loss_cls: 0.7010, d1.loss_bbox: 0.6987, d2.loss_cls: 0.6996, d2.loss_bbox: 0.7076, d3.loss_cls: 0.7079, d3.loss_bbox: 0.6877, d4.loss_cls: 0.6970, d4.loss_bbox: 0.6845, d5.loss_cls: 0.7260, d5.loss_bbox: 0.6847, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3830, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3572, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.3560, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.3597, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3746, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3795, d0.loss_map_cls_all: 0.4473, d0.loss_map_pts_all: 2.6306, d0.loss_map_dir_all: 0.0319, d0.loss_map_cls: 0.4473, d0.loss_map_pts: 2.6306, d0.loss_map_dir: 0.0319, d1.loss_map_cls: 0.4331, d1.loss_map_pts: 1.9839, d1.loss_map_dir: 0.0320, d2.loss_map_cls: 0.4285, d2.loss_map_pts: 1.9291, d2.loss_map_dir: 0.0320, d3.loss_map_cls: 0.4213, d3.loss_map_pts: 1.9146, d3.loss_map_dir: 0.0321, d4.loss_map_cls: 0.4167, d4.loss_map_pts: 1.9131, d4.loss_map_dir: 0.0321, d5.loss_map_cls: 0.4213, d5.loss_map_pts: 1.9168, d5.loss_map_dir: 0.0321, loss: 62.6544, grad_norm: 158.8122 +2026-02-24 12:47:45,258 - DriveTransformer - INFO - Epoch [2][8100/39528] lr: 9.958e-05, eta: 8 days, 7:12:16, time: 0.814, data_time: 0.044, memory: 19865, loss_cls: 0.7337, loss_bbox: 0.6934, loss_traj: 1.5781, loss_traj_cls: 0.0005, loss_map_cls: 0.4133, loss_map_pts: 1.9464, loss_map_dir: 0.0337, d0.loss_plan_l1_fix_time: 3.0779, d0.loss_plan_l1_fix_dist: 0.4960, d1.loss_plan_l1_fix_time: 2.7893, d1.loss_plan_l1_fix_dist: 0.5018, d2.loss_plan_l1_fix_time: 2.7502, d2.loss_plan_l1_fix_dist: 0.5238, d3.loss_plan_l1_fix_time: 2.7490, d3.loss_plan_l1_fix_dist: 0.5534, d4.loss_plan_l1_fix_time: 2.7536, d4.loss_plan_l1_fix_dist: 0.5891, d5.loss_plan_l1_fix_time: 2.7608, d5.loss_plan_l1_fix_dist: 0.6264, d6.loss_plan_l1_fix_time: 2.7702, d6.loss_plan_l1_fix_dist: 0.6594, d0.loss_cls_all: 0.7390, d0.loss_bbox_all: 0.7051, d0.loss_cls: 0.7390, d0.loss_bbox: 0.7051, d1.loss_cls: 0.7349, d1.loss_bbox: 0.6932, d2.loss_cls: 0.7285, d2.loss_bbox: 0.7126, d3.loss_cls: 0.7220, d3.loss_bbox: 0.6887, d4.loss_cls: 0.7262, d4.loss_bbox: 0.6868, d5.loss_cls: 0.7325, d5.loss_bbox: 0.6885, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6276, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5584, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5515, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5550, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5664, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5706, d0.loss_map_cls_all: 0.4344, d0.loss_map_pts_all: 2.6897, d0.loss_map_dir_all: 0.0333, d0.loss_map_cls: 0.4344, d0.loss_map_pts: 2.6897, d0.loss_map_dir: 0.0333, d1.loss_map_cls: 0.4219, d1.loss_map_pts: 2.0593, d1.loss_map_dir: 0.0331, d2.loss_map_cls: 0.4158, d2.loss_map_pts: 1.9713, d2.loss_map_dir: 0.0333, d3.loss_map_cls: 0.4111, d3.loss_map_pts: 1.9492, d3.loss_map_dir: 0.0335, d4.loss_map_cls: 0.4116, d4.loss_map_pts: 1.9398, d4.loss_map_dir: 0.0336, d5.loss_map_cls: 0.4129, d5.loss_map_pts: 1.9415, d5.loss_map_dir: 0.0336, loss: 66.8518, grad_norm: 158.8841 +2026-02-24 12:48:24,611 - DriveTransformer - INFO - Epoch [2][8150/39528] lr: 9.958e-05, eta: 8 days, 7:11:28, time: 0.787, data_time: 0.037, memory: 19865, loss_cls: 0.6971, loss_bbox: 0.6910, loss_traj: 1.3530, loss_traj_cls: 0.0005, loss_map_cls: 0.4537, loss_map_pts: 1.9383, loss_map_dir: 0.0343, d0.loss_plan_l1_fix_time: 2.5932, d0.loss_plan_l1_fix_dist: 0.4555, d1.loss_plan_l1_fix_time: 2.4109, d1.loss_plan_l1_fix_dist: 0.4453, d2.loss_plan_l1_fix_time: 2.3804, d2.loss_plan_l1_fix_dist: 0.4646, d3.loss_plan_l1_fix_time: 2.3831, d3.loss_plan_l1_fix_dist: 0.4923, d4.loss_plan_l1_fix_time: 2.3907, d4.loss_plan_l1_fix_dist: 0.5230, d5.loss_plan_l1_fix_time: 2.4009, d5.loss_plan_l1_fix_dist: 0.5592, d6.loss_plan_l1_fix_time: 2.4113, d6.loss_plan_l1_fix_dist: 0.5948, d0.loss_cls_all: 0.7039, d0.loss_bbox_all: 0.7205, d0.loss_cls: 0.7039, d0.loss_bbox: 0.7205, d1.loss_cls: 0.6906, d1.loss_bbox: 0.7037, d2.loss_cls: 0.6900, d2.loss_bbox: 0.7056, d3.loss_cls: 0.6895, d3.loss_bbox: 0.6858, d4.loss_cls: 0.6816, d4.loss_bbox: 0.6873, d5.loss_cls: 0.6918, d5.loss_bbox: 0.6884, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3274, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2956, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3028, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3301, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3366, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3479, d0.loss_map_cls_all: 0.4572, d0.loss_map_pts_all: 2.6895, d0.loss_map_dir_all: 0.0337, d0.loss_map_cls: 0.4572, d0.loss_map_pts: 2.6895, d0.loss_map_dir: 0.0337, d1.loss_map_cls: 0.4437, d1.loss_map_pts: 2.0874, d1.loss_map_dir: 0.0337, d2.loss_map_cls: 0.4416, d2.loss_map_pts: 1.9796, d2.loss_map_dir: 0.0340, d3.loss_map_cls: 0.4388, d3.loss_map_pts: 1.9446, d3.loss_map_dir: 0.0341, d4.loss_map_cls: 0.4440, d4.loss_map_pts: 1.9385, d4.loss_map_dir: 0.0342, d5.loss_map_cls: 0.4486, d5.loss_map_pts: 1.9363, d5.loss_map_dir: 0.0342, loss: 62.0146, grad_norm: 158.0765 +2026-02-24 12:49:04,258 - DriveTransformer - INFO - Epoch [2][8200/39528] lr: 9.958e-05, eta: 8 days, 7:10:46, time: 0.793, data_time: 0.037, memory: 19865, loss_cls: 0.7030, loss_bbox: 0.6577, loss_traj: 1.3309, loss_traj_cls: 0.0005, loss_map_cls: 0.3863, loss_map_pts: 1.7292, loss_map_dir: 0.0321, d0.loss_plan_l1_fix_time: 2.4325, d0.loss_plan_l1_fix_dist: 0.4996, d1.loss_plan_l1_fix_time: 2.3118, d1.loss_plan_l1_fix_dist: 0.4894, d2.loss_plan_l1_fix_time: 2.2903, d2.loss_plan_l1_fix_dist: 0.5027, d3.loss_plan_l1_fix_time: 2.2928, d3.loss_plan_l1_fix_dist: 0.5248, d4.loss_plan_l1_fix_time: 2.2988, d4.loss_plan_l1_fix_dist: 0.5512, d5.loss_plan_l1_fix_time: 2.3057, d5.loss_plan_l1_fix_dist: 0.5782, d6.loss_plan_l1_fix_time: 2.3129, d6.loss_plan_l1_fix_dist: 0.6119, d0.loss_cls_all: 0.6883, d0.loss_bbox_all: 0.6935, d0.loss_cls: 0.6883, d0.loss_bbox: 0.6935, d1.loss_cls: 0.6594, d1.loss_bbox: 0.6725, d2.loss_cls: 0.6609, d2.loss_bbox: 0.6711, d3.loss_cls: 0.6661, d3.loss_bbox: 0.6556, d4.loss_cls: 0.6738, d4.loss_bbox: 0.6536, d5.loss_cls: 0.6968, d5.loss_bbox: 0.6540, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3226, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3052, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3072, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3161, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3179, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3259, d0.loss_map_cls_all: 0.3851, d0.loss_map_pts_all: 2.5810, d0.loss_map_dir_all: 0.0314, d0.loss_map_cls: 0.3851, d0.loss_map_pts: 2.5810, d0.loss_map_dir: 0.0314, d1.loss_map_cls: 0.3793, d1.loss_map_pts: 1.8704, d1.loss_map_dir: 0.0315, d2.loss_map_cls: 0.3761, d2.loss_map_pts: 1.7656, d2.loss_map_dir: 0.0317, d3.loss_map_cls: 0.3751, d3.loss_map_pts: 1.7379, d3.loss_map_dir: 0.0318, d4.loss_map_cls: 0.3797, d4.loss_map_pts: 1.7298, d4.loss_map_dir: 0.0320, d5.loss_map_cls: 0.3823, d5.loss_map_pts: 1.7261, d5.loss_map_dir: 0.0321, loss: 59.0453, grad_norm: 157.3248 +2026-02-24 12:49:43,961 - DriveTransformer - INFO - Epoch [2][8250/39528] lr: 9.958e-05, eta: 8 days, 7:10:04, time: 0.794, data_time: 0.040, memory: 19865, loss_cls: 0.7272, loss_bbox: 0.6659, loss_traj: 1.6015, loss_traj_cls: 0.0004, loss_map_cls: 0.4396, loss_map_pts: 1.7654, loss_map_dir: 0.0311, d0.loss_plan_l1_fix_time: 2.7570, d0.loss_plan_l1_fix_dist: 0.3813, d1.loss_plan_l1_fix_time: 2.5599, d1.loss_plan_l1_fix_dist: 0.3791, d2.loss_plan_l1_fix_time: 2.5341, d2.loss_plan_l1_fix_dist: 0.3956, d3.loss_plan_l1_fix_time: 2.5314, d3.loss_plan_l1_fix_dist: 0.4182, d4.loss_plan_l1_fix_time: 2.5348, d4.loss_plan_l1_fix_dist: 0.4470, d5.loss_plan_l1_fix_time: 2.5396, d5.loss_plan_l1_fix_dist: 0.4759, d6.loss_plan_l1_fix_time: 2.5468, d6.loss_plan_l1_fix_dist: 0.5035, d0.loss_cls_all: 0.7158, d0.loss_bbox_all: 0.6980, d0.loss_cls: 0.7158, d0.loss_bbox: 0.6980, d1.loss_cls: 0.6950, d1.loss_bbox: 0.6851, d2.loss_cls: 0.6923, d2.loss_bbox: 0.6756, d3.loss_cls: 0.6963, d3.loss_bbox: 0.6616, d4.loss_cls: 0.7081, d4.loss_bbox: 0.6578, d5.loss_cls: 0.7244, d5.loss_bbox: 0.6608, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6315, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5764, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5713, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5861, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5839, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5954, d0.loss_map_cls_all: 0.4448, d0.loss_map_pts_all: 2.4171, d0.loss_map_dir_all: 0.0303, d0.loss_map_cls: 0.4448, d0.loss_map_pts: 2.4171, d0.loss_map_dir: 0.0303, d1.loss_map_cls: 0.4337, d1.loss_map_pts: 1.8953, d1.loss_map_dir: 0.0305, d2.loss_map_cls: 0.4306, d2.loss_map_pts: 1.7943, d2.loss_map_dir: 0.0307, d3.loss_map_cls: 0.4317, d3.loss_map_pts: 1.7688, d3.loss_map_dir: 0.0309, d4.loss_map_cls: 0.4344, d4.loss_map_pts: 1.7581, d4.loss_map_dir: 0.0310, d5.loss_map_cls: 0.4363, d5.loss_map_pts: 1.7622, d5.loss_map_dir: 0.0310, loss: 62.5529, grad_norm: 157.5818 +2026-02-24 12:50:23,262 - DriveTransformer - INFO - Epoch [2][8300/39528] lr: 9.958e-05, eta: 8 days, 7:09:15, time: 0.786, data_time: 0.036, memory: 19865, loss_cls: 0.7074, loss_bbox: 0.7022, loss_traj: 1.4414, loss_traj_cls: 0.0005, loss_map_cls: 0.4263, loss_map_pts: 1.8722, loss_map_dir: 0.0346, d0.loss_plan_l1_fix_time: 2.9844, d0.loss_plan_l1_fix_dist: 0.5002, d1.loss_plan_l1_fix_time: 2.7911, d1.loss_plan_l1_fix_dist: 0.4775, d2.loss_plan_l1_fix_time: 2.7526, d2.loss_plan_l1_fix_dist: 0.4976, d3.loss_plan_l1_fix_time: 2.7490, d3.loss_plan_l1_fix_dist: 0.5285, d4.loss_plan_l1_fix_time: 2.7521, d4.loss_plan_l1_fix_dist: 0.5605, d5.loss_plan_l1_fix_time: 2.7584, d5.loss_plan_l1_fix_dist: 0.5960, d6.loss_plan_l1_fix_time: 2.7666, d6.loss_plan_l1_fix_dist: 0.6378, d0.loss_cls_all: 0.7204, d0.loss_bbox_all: 0.7330, d0.loss_cls: 0.7204, d0.loss_bbox: 0.7330, d1.loss_cls: 0.7000, d1.loss_bbox: 0.7222, d2.loss_cls: 0.6908, d2.loss_bbox: 0.7108, d3.loss_cls: 0.6952, d3.loss_bbox: 0.7039, d4.loss_cls: 0.6947, d4.loss_bbox: 0.7015, d5.loss_cls: 0.7052, d5.loss_bbox: 0.7010, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4328, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4114, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4254, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4275, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4298, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4335, d0.loss_map_cls_all: 0.4315, d0.loss_map_pts_all: 2.7022, d0.loss_map_dir_all: 0.0335, d0.loss_map_cls: 0.4315, d0.loss_map_pts: 2.7022, d0.loss_map_dir: 0.0335, d1.loss_map_cls: 0.4257, d1.loss_map_pts: 1.9908, d1.loss_map_dir: 0.0338, d2.loss_map_cls: 0.4213, d2.loss_map_pts: 1.9010, d2.loss_map_dir: 0.0339, d3.loss_map_cls: 0.4206, d3.loss_map_pts: 1.8758, d3.loss_map_dir: 0.0341, d4.loss_map_cls: 0.4220, d4.loss_map_pts: 1.8668, d4.loss_map_dir: 0.0342, d5.loss_map_cls: 0.4246, d5.loss_map_pts: 1.8713, d5.loss_map_dir: 0.0345, loss: 65.1584, grad_norm: 158.3208 +2026-02-24 12:51:02,411 - DriveTransformer - INFO - Epoch [2][8350/39528] lr: 9.958e-05, eta: 8 days, 7:08:23, time: 0.783, data_time: 0.037, memory: 19865, loss_cls: 0.7475, loss_bbox: 0.7463, loss_traj: 1.5961, loss_traj_cls: 0.0005, loss_map_cls: 0.4576, loss_map_pts: 2.1897, loss_map_dir: 0.0344, d0.loss_plan_l1_fix_time: 3.2687, d0.loss_plan_l1_fix_dist: 0.5703, d1.loss_plan_l1_fix_time: 3.0317, d1.loss_plan_l1_fix_dist: 0.5674, d2.loss_plan_l1_fix_time: 2.9948, d2.loss_plan_l1_fix_dist: 0.5845, d3.loss_plan_l1_fix_time: 2.9913, d3.loss_plan_l1_fix_dist: 0.6102, d4.loss_plan_l1_fix_time: 2.9937, d4.loss_plan_l1_fix_dist: 0.6369, d5.loss_plan_l1_fix_time: 2.9997, d5.loss_plan_l1_fix_dist: 0.6653, d6.loss_plan_l1_fix_time: 3.0068, d6.loss_plan_l1_fix_dist: 0.6940, d0.loss_cls_all: 0.7560, d0.loss_bbox_all: 0.7740, d0.loss_cls: 0.7560, d0.loss_bbox: 0.7740, d1.loss_cls: 0.7324, d1.loss_bbox: 0.7712, d2.loss_cls: 0.7343, d2.loss_bbox: 0.7494, d3.loss_cls: 0.7403, d3.loss_bbox: 0.7476, d4.loss_cls: 0.7451, d4.loss_bbox: 0.7434, d5.loss_cls: 0.7492, d5.loss_bbox: 0.7418, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6217, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5712, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5697, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5658, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5785, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5873, d0.loss_map_cls_all: 0.4731, d0.loss_map_pts_all: 2.7400, d0.loss_map_dir_all: 0.0336, d0.loss_map_cls: 0.4731, d0.loss_map_pts: 2.7400, d0.loss_map_dir: 0.0336, d1.loss_map_cls: 0.4631, d1.loss_map_pts: 2.2595, d1.loss_map_dir: 0.0341, d2.loss_map_cls: 0.4555, d2.loss_map_pts: 2.2009, d2.loss_map_dir: 0.0341, d3.loss_map_cls: 0.4527, d3.loss_map_pts: 2.1780, d3.loss_map_dir: 0.0342, d4.loss_map_cls: 0.4546, d4.loss_map_pts: 2.1776, d4.loss_map_dir: 0.0342, d5.loss_map_cls: 0.4559, d5.loss_map_pts: 2.1820, d5.loss_map_dir: 0.0344, loss: 71.3447, grad_norm: 159.5411 +2026-02-24 12:51:42,366 - DriveTransformer - INFO - Epoch [2][8400/39528] lr: 9.958e-05, eta: 8 days, 7:07:46, time: 0.799, data_time: 0.044, memory: 19865, loss_cls: 0.6838, loss_bbox: 0.6839, loss_traj: 1.6425, loss_traj_cls: 0.0005, loss_map_cls: 0.4174, loss_map_pts: 1.8908, loss_map_dir: 0.0307, d0.loss_plan_l1_fix_time: 3.0770, d0.loss_plan_l1_fix_dist: 0.5682, d1.loss_plan_l1_fix_time: 2.7911, d1.loss_plan_l1_fix_dist: 0.5406, d2.loss_plan_l1_fix_time: 2.7332, d2.loss_plan_l1_fix_dist: 0.5459, d3.loss_plan_l1_fix_time: 2.7266, d3.loss_plan_l1_fix_dist: 0.5637, d4.loss_plan_l1_fix_time: 2.7275, d4.loss_plan_l1_fix_dist: 0.5901, d5.loss_plan_l1_fix_time: 2.7317, d5.loss_plan_l1_fix_dist: 0.6202, d6.loss_plan_l1_fix_time: 2.7392, d6.loss_plan_l1_fix_dist: 0.6530, d0.loss_cls_all: 0.6911, d0.loss_bbox_all: 0.7115, d0.loss_cls: 0.6911, d0.loss_bbox: 0.7115, d1.loss_cls: 0.6723, d1.loss_bbox: 0.7100, d2.loss_cls: 0.6772, d2.loss_bbox: 0.6880, d3.loss_cls: 0.6761, d3.loss_bbox: 0.6830, d4.loss_cls: 0.6795, d4.loss_bbox: 0.6812, d5.loss_cls: 0.6841, d5.loss_bbox: 0.6798, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6583, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6252, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6251, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6307, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6288, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6343, d0.loss_map_cls_all: 0.4302, d0.loss_map_pts_all: 2.5446, d0.loss_map_dir_all: 0.0303, d0.loss_map_cls: 0.4302, d0.loss_map_pts: 2.5446, d0.loss_map_dir: 0.0303, d1.loss_map_cls: 0.4235, d1.loss_map_pts: 1.9798, d1.loss_map_dir: 0.0303, d2.loss_map_cls: 0.4183, d2.loss_map_pts: 1.9102, d2.loss_map_dir: 0.0304, d3.loss_map_cls: 0.4152, d3.loss_map_pts: 1.8956, d3.loss_map_dir: 0.0305, d4.loss_map_cls: 0.4171, d4.loss_map_pts: 1.8923, d4.loss_map_dir: 0.0306, d5.loss_map_cls: 0.4157, d5.loss_map_pts: 1.8895, d5.loss_map_dir: 0.0307, loss: 66.2204, grad_norm: 158.7141 +2026-02-24 12:52:21,870 - DriveTransformer - INFO - Epoch [2][8450/39528] lr: 9.958e-05, eta: 8 days, 7:07:01, time: 0.790, data_time: 0.041, memory: 19865, loss_cls: 0.6988, loss_bbox: 0.7036, loss_traj: 1.3703, loss_traj_cls: 0.0004, loss_map_cls: 0.4375, loss_map_pts: 2.0023, loss_map_dir: 0.0377, d0.loss_plan_l1_fix_time: 2.5186, d0.loss_plan_l1_fix_dist: 0.4002, d1.loss_plan_l1_fix_time: 2.4261, d1.loss_plan_l1_fix_dist: 0.3932, d2.loss_plan_l1_fix_time: 2.4145, d2.loss_plan_l1_fix_dist: 0.4183, d3.loss_plan_l1_fix_time: 2.4217, d3.loss_plan_l1_fix_dist: 0.4487, d4.loss_plan_l1_fix_time: 2.4306, d4.loss_plan_l1_fix_dist: 0.4825, d5.loss_plan_l1_fix_time: 2.4399, d5.loss_plan_l1_fix_dist: 0.5214, d6.loss_plan_l1_fix_time: 2.4495, d6.loss_plan_l1_fix_dist: 0.5590, d0.loss_cls_all: 0.7101, d0.loss_bbox_all: 0.7200, d0.loss_cls: 0.7101, d0.loss_bbox: 0.7200, d1.loss_cls: 0.7054, d1.loss_bbox: 0.7204, d2.loss_cls: 0.7074, d2.loss_bbox: 0.7062, d3.loss_cls: 0.7055, d3.loss_bbox: 0.6998, d4.loss_cls: 0.7053, d4.loss_bbox: 0.6996, d5.loss_cls: 0.6984, d5.loss_bbox: 0.6998, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3759, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3336, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.3395, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3563, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3678, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3678, d0.loss_map_cls_all: 0.4486, d0.loss_map_pts_all: 2.8453, d0.loss_map_dir_all: 0.0370, d0.loss_map_cls: 0.4486, d0.loss_map_pts: 2.8453, d0.loss_map_dir: 0.0370, d1.loss_map_cls: 0.4421, d1.loss_map_pts: 2.1252, d1.loss_map_dir: 0.0375, d2.loss_map_cls: 0.4350, d2.loss_map_pts: 2.0286, d2.loss_map_dir: 0.0377, d3.loss_map_cls: 0.4350, d3.loss_map_pts: 2.0079, d3.loss_map_dir: 0.0377, d4.loss_map_cls: 0.4365, d4.loss_map_pts: 2.0059, d4.loss_map_dir: 0.0377, d5.loss_map_cls: 0.4363, d5.loss_map_pts: 1.9989, d5.loss_map_dir: 0.0377, loss: 62.8293, grad_norm: 158.1529 +2026-02-24 12:53:01,366 - DriveTransformer - INFO - Epoch [2][8500/39528] lr: 9.958e-05, eta: 8 days, 7:06:16, time: 0.790, data_time: 0.039, memory: 19865, loss_cls: 0.6795, loss_bbox: 0.6881, loss_traj: 1.5546, loss_traj_cls: 0.0004, loss_map_cls: 0.4053, loss_map_pts: 1.8441, loss_map_dir: 0.0344, d0.loss_plan_l1_fix_time: 2.4997, d0.loss_plan_l1_fix_dist: 0.4028, d1.loss_plan_l1_fix_time: 2.2559, d1.loss_plan_l1_fix_dist: 0.4000, d2.loss_plan_l1_fix_time: 2.2185, d2.loss_plan_l1_fix_dist: 0.4218, d3.loss_plan_l1_fix_time: 2.2151, d3.loss_plan_l1_fix_dist: 0.4471, d4.loss_plan_l1_fix_time: 2.2188, d4.loss_plan_l1_fix_dist: 0.4717, d5.loss_plan_l1_fix_time: 2.2245, d5.loss_plan_l1_fix_dist: 0.4994, d6.loss_plan_l1_fix_time: 2.2311, d6.loss_plan_l1_fix_dist: 0.5329, d0.loss_cls_all: 0.6860, d0.loss_bbox_all: 0.7176, d0.loss_cls: 0.6860, d0.loss_bbox: 0.7176, d1.loss_cls: 0.6763, d1.loss_bbox: 0.7147, d2.loss_cls: 0.6784, d2.loss_bbox: 0.6970, d3.loss_cls: 0.6821, d3.loss_bbox: 0.6922, d4.loss_cls: 0.6826, d4.loss_bbox: 0.6895, d5.loss_cls: 0.6806, d5.loss_bbox: 0.6878, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5658, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5425, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5462, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5542, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5543, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5428, d0.loss_map_cls_all: 0.4209, d0.loss_map_pts_all: 2.5989, d0.loss_map_dir_all: 0.0335, d0.loss_map_cls: 0.4209, d0.loss_map_pts: 2.5989, d0.loss_map_dir: 0.0335, d1.loss_map_cls: 0.4145, d1.loss_map_pts: 1.9528, d1.loss_map_dir: 0.0339, d2.loss_map_cls: 0.4056, d2.loss_map_pts: 1.8681, d2.loss_map_dir: 0.0339, d3.loss_map_cls: 0.4032, d3.loss_map_pts: 1.8483, d3.loss_map_dir: 0.0341, d4.loss_map_cls: 0.4031, d4.loss_map_pts: 1.8442, d4.loss_map_dir: 0.0342, d5.loss_map_cls: 0.4041, d5.loss_map_pts: 1.8440, d5.loss_map_dir: 0.0342, loss: 60.9084, grad_norm: 157.4899 +2026-02-24 12:53:38,807 - DriveTransformer - INFO - Epoch [2][8550/39528] lr: 9.958e-05, eta: 8 days, 7:04:52, time: 0.749, data_time: 0.036, memory: 19865, loss_cls: 0.6582, loss_bbox: 0.6555, loss_traj: 1.8935, loss_traj_cls: 0.0005, loss_map_cls: 0.4222, loss_map_pts: 1.6649, loss_map_dir: 0.0286, d0.loss_plan_l1_fix_time: 2.9489, d0.loss_plan_l1_fix_dist: 0.5246, d1.loss_plan_l1_fix_time: 2.7602, d1.loss_plan_l1_fix_dist: 0.4997, d2.loss_plan_l1_fix_time: 2.7491, d2.loss_plan_l1_fix_dist: 0.5046, d3.loss_plan_l1_fix_time: 2.7551, d3.loss_plan_l1_fix_dist: 0.5223, d4.loss_plan_l1_fix_time: 2.7621, d4.loss_plan_l1_fix_dist: 0.5451, d5.loss_plan_l1_fix_time: 2.7699, d5.loss_plan_l1_fix_dist: 0.5649, d6.loss_plan_l1_fix_time: 2.7791, d6.loss_plan_l1_fix_dist: 0.5828, d0.loss_cls_all: 0.6670, d0.loss_bbox_all: 0.6825, d0.loss_cls: 0.6670, d0.loss_bbox: 0.6825, d1.loss_cls: 0.6677, d1.loss_bbox: 0.6752, d2.loss_cls: 0.6645, d2.loss_bbox: 0.6613, d3.loss_cls: 0.6672, d3.loss_bbox: 0.6543, d4.loss_cls: 0.6612, d4.loss_bbox: 0.6511, d5.loss_cls: 0.6615, d5.loss_bbox: 0.6525, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9473, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.8659, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.8644, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.8715, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.8704, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8807, d0.loss_map_cls_all: 0.4569, d0.loss_map_pts_all: 2.3697, d0.loss_map_dir_all: 0.0286, d0.loss_map_cls: 0.4569, d0.loss_map_pts: 2.3697, d0.loss_map_dir: 0.0286, d1.loss_map_cls: 0.4457, d1.loss_map_pts: 1.8187, d1.loss_map_dir: 0.0285, d2.loss_map_cls: 0.4273, d2.loss_map_pts: 1.7180, d2.loss_map_dir: 0.0285, d3.loss_map_cls: 0.4232, d3.loss_map_pts: 1.6820, d3.loss_map_dir: 0.0286, d4.loss_map_cls: 0.4212, d4.loss_map_pts: 1.6704, d4.loss_map_dir: 0.0284, d5.loss_map_cls: 0.4220, d5.loss_map_pts: 1.6647, d5.loss_map_dir: 0.0286, loss: 65.7576, grad_norm: 157.0569 +2026-02-24 12:54:19,153 - DriveTransformer - INFO - Epoch [2][8600/39528] lr: 9.958e-05, eta: 8 days, 7:04:24, time: 0.808, data_time: 0.043, memory: 19865, loss_cls: 0.7207, loss_bbox: 0.6918, loss_traj: 1.6738, loss_traj_cls: 0.0005, loss_map_cls: 0.4125, loss_map_pts: 1.9098, loss_map_dir: 0.0306, d0.loss_plan_l1_fix_time: 2.5705, d0.loss_plan_l1_fix_dist: 0.4663, d1.loss_plan_l1_fix_time: 2.3484, d1.loss_plan_l1_fix_dist: 0.4455, d2.loss_plan_l1_fix_time: 2.3168, d2.loss_plan_l1_fix_dist: 0.4563, d3.loss_plan_l1_fix_time: 2.3167, d3.loss_plan_l1_fix_dist: 0.4764, d4.loss_plan_l1_fix_time: 2.3201, d4.loss_plan_l1_fix_dist: 0.5050, d5.loss_plan_l1_fix_time: 2.3248, d5.loss_plan_l1_fix_dist: 0.5406, d6.loss_plan_l1_fix_time: 2.3309, d6.loss_plan_l1_fix_dist: 0.5811, d0.loss_cls_all: 0.7204, d0.loss_bbox_all: 0.7138, d0.loss_cls: 0.7204, d0.loss_bbox: 0.7138, d1.loss_cls: 0.7196, d1.loss_bbox: 0.7042, d2.loss_cls: 0.7211, d2.loss_bbox: 0.6931, d3.loss_cls: 0.7196, d3.loss_bbox: 0.6911, d4.loss_cls: 0.7169, d4.loss_bbox: 0.6913, d5.loss_cls: 0.7201, d5.loss_bbox: 0.6927, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6417, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.6093, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.6148, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6317, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6443, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6516, d0.loss_map_cls_all: 0.4411, d0.loss_map_pts_all: 2.5571, d0.loss_map_dir_all: 0.0300, d0.loss_map_cls: 0.4411, d0.loss_map_pts: 2.5571, d0.loss_map_dir: 0.0300, d1.loss_map_cls: 0.4277, d1.loss_map_pts: 2.0319, d1.loss_map_dir: 0.0302, d2.loss_map_cls: 0.4208, d2.loss_map_pts: 1.9521, d2.loss_map_dir: 0.0303, d3.loss_map_cls: 0.4177, d3.loss_map_pts: 1.9256, d3.loss_map_dir: 0.0304, d4.loss_map_cls: 0.4139, d4.loss_map_pts: 1.9152, d4.loss_map_dir: 0.0304, d5.loss_map_cls: 0.4115, d5.loss_map_pts: 1.9121, d5.loss_map_dir: 0.0305, loss: 63.2114, grad_norm: 157.4562 +2026-02-24 12:55:00,066 - DriveTransformer - INFO - Epoch [2][8650/39528] lr: 9.958e-05, eta: 8 days, 7:04:04, time: 0.817, data_time: 0.044, memory: 19865, loss_cls: 0.6903, loss_bbox: 0.6619, loss_traj: 1.6117, loss_traj_cls: 0.0005, loss_map_cls: 0.3954, loss_map_pts: 1.7381, loss_map_dir: 0.0298, d0.loss_plan_l1_fix_time: 2.6455, d0.loss_plan_l1_fix_dist: 0.3908, d1.loss_plan_l1_fix_time: 2.4927, d1.loss_plan_l1_fix_dist: 0.3810, d2.loss_plan_l1_fix_time: 2.4496, d2.loss_plan_l1_fix_dist: 0.3973, d3.loss_plan_l1_fix_time: 2.4484, d3.loss_plan_l1_fix_dist: 0.4178, d4.loss_plan_l1_fix_time: 2.4524, d4.loss_plan_l1_fix_dist: 0.4393, d5.loss_plan_l1_fix_time: 2.4581, d5.loss_plan_l1_fix_dist: 0.4640, d6.loss_plan_l1_fix_time: 2.4661, d6.loss_plan_l1_fix_dist: 0.4908, d0.loss_cls_all: 0.6840, d0.loss_bbox_all: 0.6941, d0.loss_cls: 0.6840, d0.loss_bbox: 0.6941, d1.loss_cls: 0.6857, d1.loss_bbox: 0.6846, d2.loss_cls: 0.6907, d2.loss_bbox: 0.6695, d3.loss_cls: 0.6890, d3.loss_bbox: 0.6686, d4.loss_cls: 0.6858, d4.loss_bbox: 0.6683, d5.loss_cls: 0.6858, d5.loss_bbox: 0.6633, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6219, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.6101, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.6066, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6104, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6138, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6114, d0.loss_map_cls_all: 0.4132, d0.loss_map_pts_all: 2.4261, d0.loss_map_dir_all: 0.0295, d0.loss_map_cls: 0.4132, d0.loss_map_pts: 2.4261, d0.loss_map_dir: 0.0295, d1.loss_map_cls: 0.4158, d1.loss_map_pts: 1.8553, d1.loss_map_dir: 0.0295, d2.loss_map_cls: 0.4024, d2.loss_map_pts: 1.7762, d2.loss_map_dir: 0.0295, d3.loss_map_cls: 0.4003, d3.loss_map_pts: 1.7442, d3.loss_map_dir: 0.0296, d4.loss_map_cls: 0.3977, d4.loss_map_pts: 1.7343, d4.loss_map_dir: 0.0297, d5.loss_map_cls: 0.3939, d5.loss_map_pts: 1.7372, d5.loss_map_dir: 0.0297, loss: 61.4903, grad_norm: 157.7211 +2026-02-24 12:55:39,671 - DriveTransformer - INFO - Epoch [2][8700/39528] lr: 9.958e-05, eta: 8 days, 7:03:20, time: 0.792, data_time: 0.037, memory: 19865, loss_cls: 0.6670, loss_bbox: 0.6526, loss_traj: 1.5689, loss_traj_cls: 0.0004, loss_map_cls: 0.4553, loss_map_pts: 1.9084, loss_map_dir: 0.0393, d0.loss_plan_l1_fix_time: 3.1001, d0.loss_plan_l1_fix_dist: 0.4493, d1.loss_plan_l1_fix_time: 2.7609, d1.loss_plan_l1_fix_dist: 0.4328, d2.loss_plan_l1_fix_time: 2.7031, d2.loss_plan_l1_fix_dist: 0.4442, d3.loss_plan_l1_fix_time: 2.6991, d3.loss_plan_l1_fix_dist: 0.4600, d4.loss_plan_l1_fix_time: 2.7019, d4.loss_plan_l1_fix_dist: 0.4810, d5.loss_plan_l1_fix_time: 2.7072, d5.loss_plan_l1_fix_dist: 0.5017, d6.loss_plan_l1_fix_time: 2.7137, d6.loss_plan_l1_fix_dist: 0.5237, d0.loss_cls_all: 0.6663, d0.loss_bbox_all: 0.6828, d0.loss_cls: 0.6663, d0.loss_bbox: 0.6828, d1.loss_cls: 0.6627, d1.loss_bbox: 0.6738, d2.loss_cls: 0.6626, d2.loss_bbox: 0.6626, d3.loss_cls: 0.6610, d3.loss_bbox: 0.6581, d4.loss_cls: 0.6609, d4.loss_bbox: 0.6558, d5.loss_cls: 0.6605, d5.loss_bbox: 0.6536, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6321, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5664, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5594, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5601, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5649, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5767, d0.loss_map_cls_all: 0.4638, d0.loss_map_pts_all: 2.7730, d0.loss_map_dir_all: 0.0384, d0.loss_map_cls: 0.4638, d0.loss_map_pts: 2.7730, d0.loss_map_dir: 0.0384, d1.loss_map_cls: 0.4606, d1.loss_map_pts: 2.0527, d1.loss_map_dir: 0.0389, d2.loss_map_cls: 0.4542, d2.loss_map_pts: 1.9408, d2.loss_map_dir: 0.0389, d3.loss_map_cls: 0.4531, d3.loss_map_pts: 1.9122, d3.loss_map_dir: 0.0391, d4.loss_map_cls: 0.4511, d4.loss_map_pts: 1.9060, d4.loss_map_dir: 0.0391, d5.loss_map_cls: 0.4527, d5.loss_map_pts: 1.9097, d5.loss_map_dir: 0.0392, loss: 65.4833, grad_norm: 154.8841 +2026-02-24 12:56:19,344 - DriveTransformer - INFO - Epoch [2][8750/39528] lr: 9.958e-05, eta: 8 days, 7:02:38, time: 0.793, data_time: 0.037, memory: 19865, loss_cls: 0.7331, loss_bbox: 0.7478, loss_traj: 1.7992, loss_traj_cls: 0.0004, loss_map_cls: 0.4739, loss_map_pts: 2.0042, loss_map_dir: 0.0398, d0.loss_plan_l1_fix_time: 2.8636, d0.loss_plan_l1_fix_dist: 0.4698, d1.loss_plan_l1_fix_time: 2.6348, d1.loss_plan_l1_fix_dist: 0.4760, d2.loss_plan_l1_fix_time: 2.6059, d2.loss_plan_l1_fix_dist: 0.4962, d3.loss_plan_l1_fix_time: 2.6086, d3.loss_plan_l1_fix_dist: 0.5186, d4.loss_plan_l1_fix_time: 2.6140, d4.loss_plan_l1_fix_dist: 0.5411, d5.loss_plan_l1_fix_time: 2.6206, d5.loss_plan_l1_fix_dist: 0.5624, d6.loss_plan_l1_fix_time: 2.6277, d6.loss_plan_l1_fix_dist: 0.5818, d0.loss_cls_all: 0.7166, d0.loss_bbox_all: 0.7660, d0.loss_cls: 0.7166, d0.loss_bbox: 0.7660, d1.loss_cls: 0.7095, d1.loss_bbox: 0.7580, d2.loss_cls: 0.7172, d2.loss_bbox: 0.7524, d3.loss_cls: 0.7161, d3.loss_bbox: 0.7530, d4.loss_cls: 0.7186, d4.loss_bbox: 0.7477, d5.loss_cls: 0.7281, d5.loss_bbox: 0.7428, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7920, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7834, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7848, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7893, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7923, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7913, d0.loss_map_cls_all: 0.4850, d0.loss_map_pts_all: 2.7286, d0.loss_map_dir_all: 0.0383, d0.loss_map_cls: 0.4850, d0.loss_map_pts: 2.7286, d0.loss_map_dir: 0.0383, d1.loss_map_cls: 0.4825, d1.loss_map_pts: 2.1101, d1.loss_map_dir: 0.0393, d2.loss_map_cls: 0.4792, d2.loss_map_pts: 2.0325, d2.loss_map_dir: 0.0394, d3.loss_map_cls: 0.4756, d3.loss_map_pts: 2.0108, d3.loss_map_dir: 0.0395, d4.loss_map_cls: 0.4698, d4.loss_map_pts: 2.0053, d4.loss_map_dir: 0.0396, d5.loss_map_cls: 0.4725, d5.loss_map_pts: 2.0081, d5.loss_map_dir: 0.0397, loss: 68.3130, grad_norm: 155.0660 +2026-02-24 12:56:58,558 - DriveTransformer - INFO - Epoch [2][8800/39528] lr: 9.958e-05, eta: 8 days, 7:01:48, time: 0.784, data_time: 0.039, memory: 19865, loss_cls: 0.6728, loss_bbox: 0.6582, loss_traj: 1.5833, loss_traj_cls: 0.0004, loss_map_cls: 0.4243, loss_map_pts: 1.8119, loss_map_dir: 0.0383, d0.loss_plan_l1_fix_time: 2.5039, d0.loss_plan_l1_fix_dist: 0.4361, d1.loss_plan_l1_fix_time: 2.3528, d1.loss_plan_l1_fix_dist: 0.4255, d2.loss_plan_l1_fix_time: 2.3496, d2.loss_plan_l1_fix_dist: 0.4367, d3.loss_plan_l1_fix_time: 2.3572, d3.loss_plan_l1_fix_dist: 0.4591, d4.loss_plan_l1_fix_time: 2.3653, d4.loss_plan_l1_fix_dist: 0.4873, d5.loss_plan_l1_fix_time: 2.3743, d5.loss_plan_l1_fix_dist: 0.5185, d6.loss_plan_l1_fix_time: 2.3841, d6.loss_plan_l1_fix_dist: 0.5531, d0.loss_cls_all: 0.6592, d0.loss_bbox_all: 0.6766, d0.loss_cls: 0.6592, d0.loss_bbox: 0.6766, d1.loss_cls: 0.6587, d1.loss_bbox: 0.6686, d2.loss_cls: 0.6603, d2.loss_bbox: 0.6588, d3.loss_cls: 0.6623, d3.loss_bbox: 0.6603, d4.loss_cls: 0.6621, d4.loss_bbox: 0.6550, d5.loss_cls: 0.6701, d5.loss_bbox: 0.6533, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6404, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5768, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5690, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5767, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5799, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5773, d0.loss_map_cls_all: 0.4427, d0.loss_map_pts_all: 2.6212, d0.loss_map_dir_all: 0.0373, d0.loss_map_cls: 0.4427, d0.loss_map_pts: 2.6212, d0.loss_map_dir: 0.0373, d1.loss_map_cls: 0.4353, d1.loss_map_pts: 1.9341, d1.loss_map_dir: 0.0379, d2.loss_map_cls: 0.4284, d2.loss_map_pts: 1.8362, d2.loss_map_dir: 0.0380, d3.loss_map_cls: 0.4271, d3.loss_map_pts: 1.8089, d3.loss_map_dir: 0.0380, d4.loss_map_cls: 0.4244, d4.loss_map_pts: 1.8065, d4.loss_map_dir: 0.0381, d5.loss_map_cls: 0.4235, d5.loss_map_pts: 1.8086, d5.loss_map_dir: 0.0382, loss: 61.7232, grad_norm: 153.2897 +2026-02-24 12:57:38,542 - DriveTransformer - INFO - Epoch [2][8850/39528] lr: 9.958e-05, eta: 8 days, 7:01:12, time: 0.800, data_time: 0.039, memory: 19865, loss_cls: 0.6690, loss_bbox: 0.6692, loss_traj: 1.6895, loss_traj_cls: 0.0004, loss_map_cls: 0.3531, loss_map_pts: 1.6065, loss_map_dir: 0.0304, d0.loss_plan_l1_fix_time: 2.5733, d0.loss_plan_l1_fix_dist: 0.4900, d1.loss_plan_l1_fix_time: 2.4147, d1.loss_plan_l1_fix_dist: 0.4672, d2.loss_plan_l1_fix_time: 2.3917, d2.loss_plan_l1_fix_dist: 0.4713, d3.loss_plan_l1_fix_time: 2.3908, d3.loss_plan_l1_fix_dist: 0.4844, d4.loss_plan_l1_fix_time: 2.3934, d4.loss_plan_l1_fix_dist: 0.4994, d5.loss_plan_l1_fix_time: 2.3984, d5.loss_plan_l1_fix_dist: 0.5196, d6.loss_plan_l1_fix_time: 2.4051, d6.loss_plan_l1_fix_dist: 0.5488, d0.loss_cls_all: 0.6734, d0.loss_bbox_all: 0.7014, d0.loss_cls: 0.6734, d0.loss_bbox: 0.7014, d1.loss_cls: 0.6657, d1.loss_bbox: 0.6941, d2.loss_cls: 0.6650, d2.loss_bbox: 0.6809, d3.loss_cls: 0.6697, d3.loss_bbox: 0.6803, d4.loss_cls: 0.6606, d4.loss_bbox: 0.6765, d5.loss_cls: 0.6696, d5.loss_bbox: 0.6692, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6971, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6584, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6530, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6674, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6790, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6774, d0.loss_map_cls_all: 0.3759, d0.loss_map_pts_all: 2.3625, d0.loss_map_dir_all: 0.0303, d0.loss_map_cls: 0.3759, d0.loss_map_pts: 2.3625, d0.loss_map_dir: 0.0303, d1.loss_map_cls: 0.3680, d1.loss_map_pts: 1.7391, d1.loss_map_dir: 0.0303, d2.loss_map_cls: 0.3596, d2.loss_map_pts: 1.6463, d2.loss_map_dir: 0.0303, d3.loss_map_cls: 0.3562, d3.loss_map_pts: 1.6117, d3.loss_map_dir: 0.0303, d4.loss_map_cls: 0.3542, d4.loss_map_pts: 1.6063, d4.loss_map_dir: 0.0303, d5.loss_map_cls: 0.3530, d5.loss_map_pts: 1.6051, d5.loss_map_dir: 0.0304, loss: 60.6727, grad_norm: 152.9138 +2026-02-24 12:58:18,402 - DriveTransformer - INFO - Epoch [2][8900/39528] lr: 9.958e-05, eta: 8 days, 7:00:33, time: 0.797, data_time: 0.042, memory: 19865, loss_cls: 0.7131, loss_bbox: 0.6767, loss_traj: 1.7131, loss_traj_cls: 0.0004, loss_map_cls: 0.4139, loss_map_pts: 1.8586, loss_map_dir: 0.0328, d0.loss_plan_l1_fix_time: 2.7821, d0.loss_plan_l1_fix_dist: 0.4578, d1.loss_plan_l1_fix_time: 2.5555, d1.loss_plan_l1_fix_dist: 0.4511, d2.loss_plan_l1_fix_time: 2.5299, d2.loss_plan_l1_fix_dist: 0.4620, d3.loss_plan_l1_fix_time: 2.5306, d3.loss_plan_l1_fix_dist: 0.4750, d4.loss_plan_l1_fix_time: 2.5345, d4.loss_plan_l1_fix_dist: 0.4948, d5.loss_plan_l1_fix_time: 2.5408, d5.loss_plan_l1_fix_dist: 0.5131, d6.loss_plan_l1_fix_time: 2.5485, d6.loss_plan_l1_fix_dist: 0.5333, d0.loss_cls_all: 0.7227, d0.loss_bbox_all: 0.7057, d0.loss_cls: 0.7227, d0.loss_bbox: 0.7057, d1.loss_cls: 0.7061, d1.loss_bbox: 0.6986, d2.loss_cls: 0.7038, d2.loss_bbox: 0.6895, d3.loss_cls: 0.7050, d3.loss_bbox: 0.6830, d4.loss_cls: 0.7024, d4.loss_bbox: 0.6800, d5.loss_cls: 0.7080, d5.loss_bbox: 0.6753, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7812, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7033, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6844, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6886, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6964, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6992, d0.loss_map_cls_all: 0.4450, d0.loss_map_pts_all: 2.4838, d0.loss_map_dir_all: 0.0324, d0.loss_map_cls: 0.4450, d0.loss_map_pts: 2.4838, d0.loss_map_dir: 0.0324, d1.loss_map_cls: 0.4334, d1.loss_map_pts: 1.9709, d1.loss_map_dir: 0.0324, d2.loss_map_cls: 0.4241, d2.loss_map_pts: 1.8884, d2.loss_map_dir: 0.0326, d3.loss_map_cls: 0.4207, d3.loss_map_pts: 1.8651, d3.loss_map_dir: 0.0327, d4.loss_map_cls: 0.4177, d4.loss_map_pts: 1.8585, d4.loss_map_dir: 0.0328, d5.loss_map_cls: 0.4141, d5.loss_map_pts: 1.8559, d5.loss_map_dir: 0.0329, loss: 64.5176, grad_norm: 150.6827 +2026-02-24 12:58:57,741 - DriveTransformer - INFO - Epoch [2][8950/39528] lr: 9.958e-05, eta: 8 days, 6:59:45, time: 0.787, data_time: 0.039, memory: 19865, loss_cls: 0.6708, loss_bbox: 0.6608, loss_traj: 1.6586, loss_traj_cls: 0.0005, loss_map_cls: 0.3841, loss_map_pts: 1.6842, loss_map_dir: 0.0355, d0.loss_plan_l1_fix_time: 2.8167, d0.loss_plan_l1_fix_dist: 0.4552, d1.loss_plan_l1_fix_time: 2.6579, d1.loss_plan_l1_fix_dist: 0.4556, d2.loss_plan_l1_fix_time: 2.6292, d2.loss_plan_l1_fix_dist: 0.4693, d3.loss_plan_l1_fix_time: 2.6292, d3.loss_plan_l1_fix_dist: 0.4898, d4.loss_plan_l1_fix_time: 2.6334, d4.loss_plan_l1_fix_dist: 0.5096, d5.loss_plan_l1_fix_time: 2.6385, d5.loss_plan_l1_fix_dist: 0.5302, d6.loss_plan_l1_fix_time: 2.6447, d6.loss_plan_l1_fix_dist: 0.5513, d0.loss_cls_all: 0.6717, d0.loss_bbox_all: 0.6835, d0.loss_cls: 0.6717, d0.loss_bbox: 0.6835, d1.loss_cls: 0.6643, d1.loss_bbox: 0.6743, d2.loss_cls: 0.6623, d2.loss_bbox: 0.6664, d3.loss_cls: 0.6633, d3.loss_bbox: 0.6582, d4.loss_cls: 0.6635, d4.loss_bbox: 0.6573, d5.loss_cls: 0.6664, d5.loss_bbox: 0.6564, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7174, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6565, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6465, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6440, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6428, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6421, d0.loss_map_cls_all: 0.4107, d0.loss_map_pts_all: 2.4302, d0.loss_map_dir_all: 0.0347, d0.loss_map_cls: 0.4107, d0.loss_map_pts: 2.4302, d0.loss_map_dir: 0.0347, d1.loss_map_cls: 0.4028, d1.loss_map_pts: 1.7975, d1.loss_map_dir: 0.0352, d2.loss_map_cls: 0.3928, d2.loss_map_pts: 1.7141, d2.loss_map_dir: 0.0352, d3.loss_map_cls: 0.3892, d3.loss_map_pts: 1.6924, d3.loss_map_dir: 0.0353, d4.loss_map_cls: 0.3832, d4.loss_map_pts: 1.6844, d4.loss_map_dir: 0.0354, d5.loss_map_cls: 0.3831, d5.loss_map_pts: 1.6834, d5.loss_map_dir: 0.0354, loss: 62.9520, grad_norm: 149.1376 +2026-02-24 12:59:37,929 - DriveTransformer - INFO - Epoch [2][9000/39528] lr: 9.958e-05, eta: 8 days, 6:59:13, time: 0.804, data_time: 0.037, memory: 19865, loss_cls: 0.6645, loss_bbox: 0.6429, loss_traj: 1.3613, loss_traj_cls: 0.0005, loss_map_cls: 0.3993, loss_map_pts: 1.7075, loss_map_dir: 0.0371, d0.loss_plan_l1_fix_time: 2.6731, d0.loss_plan_l1_fix_dist: 0.4618, d1.loss_plan_l1_fix_time: 2.3934, d1.loss_plan_l1_fix_dist: 0.4582, d2.loss_plan_l1_fix_time: 2.3375, d2.loss_plan_l1_fix_dist: 0.4761, d3.loss_plan_l1_fix_time: 2.3330, d3.loss_plan_l1_fix_dist: 0.5023, d4.loss_plan_l1_fix_time: 2.3359, d4.loss_plan_l1_fix_dist: 0.5291, d5.loss_plan_l1_fix_time: 2.3401, d5.loss_plan_l1_fix_dist: 0.5610, d6.loss_plan_l1_fix_time: 2.3458, d6.loss_plan_l1_fix_dist: 0.5950, d0.loss_cls_all: 0.6663, d0.loss_bbox_all: 0.6702, d0.loss_cls: 0.6663, d0.loss_bbox: 0.6702, d1.loss_cls: 0.6595, d1.loss_bbox: 0.6605, d2.loss_cls: 0.6583, d2.loss_bbox: 0.6573, d3.loss_cls: 0.6634, d3.loss_bbox: 0.6482, d4.loss_cls: 0.6638, d4.loss_bbox: 0.6403, d5.loss_cls: 0.6639, d5.loss_bbox: 0.6390, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4329, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3527, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.3553, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3552, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3596, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3607, d0.loss_map_cls_all: 0.4198, d0.loss_map_pts_all: 2.6207, d0.loss_map_dir_all: 0.0361, d0.loss_map_cls: 0.4198, d0.loss_map_pts: 2.6207, d0.loss_map_dir: 0.0361, d1.loss_map_cls: 0.4117, d1.loss_map_pts: 1.8527, d1.loss_map_dir: 0.0367, d2.loss_map_cls: 0.4025, d2.loss_map_pts: 1.7473, d2.loss_map_dir: 0.0368, d3.loss_map_cls: 0.4011, d3.loss_map_pts: 1.7175, d3.loss_map_dir: 0.0369, d4.loss_map_cls: 0.3982, d4.loss_map_pts: 1.7086, d4.loss_map_dir: 0.0369, d5.loss_map_cls: 0.3979, d5.loss_map_pts: 1.7075, d5.loss_map_dir: 0.0370, loss: 59.6857, grad_norm: 151.2249 +2026-02-24 13:00:18,865 - DriveTransformer - INFO - Epoch [2][9050/39528] lr: 9.958e-05, eta: 8 days, 6:58:54, time: 0.818, data_time: 0.036, memory: 19865, loss_cls: 0.6690, loss_bbox: 0.6728, loss_traj: 1.4515, loss_traj_cls: 0.0004, loss_map_cls: 0.3880, loss_map_pts: 1.8537, loss_map_dir: 0.0409, d0.loss_plan_l1_fix_time: 3.1988, d0.loss_plan_l1_fix_dist: 0.5000, d1.loss_plan_l1_fix_time: 2.8362, d1.loss_plan_l1_fix_dist: 0.4999, d2.loss_plan_l1_fix_time: 2.7569, d2.loss_plan_l1_fix_dist: 0.5120, d3.loss_plan_l1_fix_time: 2.7422, d3.loss_plan_l1_fix_dist: 0.5298, d4.loss_plan_l1_fix_time: 2.7396, d4.loss_plan_l1_fix_dist: 0.5551, d5.loss_plan_l1_fix_time: 2.7407, d5.loss_plan_l1_fix_dist: 0.5802, d6.loss_plan_l1_fix_time: 2.7449, d6.loss_plan_l1_fix_dist: 0.6115, d0.loss_cls_all: 0.6802, d0.loss_bbox_all: 0.7022, d0.loss_cls: 0.6802, d0.loss_bbox: 0.7022, d1.loss_cls: 0.6734, d1.loss_bbox: 0.6889, d2.loss_cls: 0.6731, d2.loss_bbox: 0.6850, d3.loss_cls: 0.6712, d3.loss_bbox: 0.6744, d4.loss_cls: 0.6703, d4.loss_bbox: 0.6719, d5.loss_cls: 0.6701, d5.loss_bbox: 0.6682, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4960, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4305, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4327, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4421, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4443, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4460, d0.loss_map_cls_all: 0.4078, d0.loss_map_pts_all: 2.7896, d0.loss_map_dir_all: 0.0404, d0.loss_map_cls: 0.4078, d0.loss_map_pts: 2.7896, d0.loss_map_dir: 0.0404, d1.loss_map_cls: 0.4031, d1.loss_map_pts: 2.0077, d1.loss_map_dir: 0.0403, d2.loss_map_cls: 0.3941, d2.loss_map_pts: 1.8999, d2.loss_map_dir: 0.0406, d3.loss_map_cls: 0.3920, d3.loss_map_pts: 1.8716, d3.loss_map_dir: 0.0407, d4.loss_map_cls: 0.3889, d4.loss_map_pts: 1.8606, d4.loss_map_dir: 0.0408, d5.loss_map_cls: 0.3875, d5.loss_map_pts: 1.8544, d5.loss_map_dir: 0.0409, loss: 64.9700, grad_norm: 150.3957 +2026-02-24 13:00:59,964 - DriveTransformer - INFO - Epoch [2][9100/39528] lr: 9.958e-05, eta: 8 days, 6:58:38, time: 0.822, data_time: 0.039, memory: 19865, loss_cls: 0.6769, loss_bbox: 0.6713, loss_traj: 1.5853, loss_traj_cls: 0.0004, loss_map_cls: 0.4121, loss_map_pts: 1.9820, loss_map_dir: 0.0401, d0.loss_plan_l1_fix_time: 3.1029, d0.loss_plan_l1_fix_dist: 0.4825, d1.loss_plan_l1_fix_time: 2.6796, d1.loss_plan_l1_fix_dist: 0.4839, d2.loss_plan_l1_fix_time: 2.6035, d2.loss_plan_l1_fix_dist: 0.5067, d3.loss_plan_l1_fix_time: 2.5931, d3.loss_plan_l1_fix_dist: 0.5363, d4.loss_plan_l1_fix_time: 2.5941, d4.loss_plan_l1_fix_dist: 0.5700, d5.loss_plan_l1_fix_time: 2.5988, d5.loss_plan_l1_fix_dist: 0.6031, d6.loss_plan_l1_fix_time: 2.6058, d6.loss_plan_l1_fix_dist: 0.6371, d0.loss_cls_all: 0.6931, d0.loss_bbox_all: 0.6956, d0.loss_cls: 0.6931, d0.loss_bbox: 0.6956, d1.loss_cls: 0.6835, d1.loss_bbox: 0.6874, d2.loss_cls: 0.6814, d2.loss_bbox: 0.6835, d3.loss_cls: 0.6771, d3.loss_bbox: 0.6772, d4.loss_cls: 0.6773, d4.loss_bbox: 0.6727, d5.loss_cls: 0.6778, d5.loss_bbox: 0.6685, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6227, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5667, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5662, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5757, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5791, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5795, d0.loss_map_cls_all: 0.4371, d0.loss_map_pts_all: 2.8870, d0.loss_map_dir_all: 0.0389, d0.loss_map_cls: 0.4371, d0.loss_map_pts: 2.8870, d0.loss_map_dir: 0.0389, d1.loss_map_cls: 0.4296, d1.loss_map_pts: 2.1180, d1.loss_map_dir: 0.0394, d2.loss_map_cls: 0.4211, d2.loss_map_pts: 2.0145, d2.loss_map_dir: 0.0397, d3.loss_map_cls: 0.4148, d3.loss_map_pts: 1.9892, d3.loss_map_dir: 0.0398, d4.loss_map_cls: 0.4113, d4.loss_map_pts: 1.9796, d4.loss_map_dir: 0.0399, d5.loss_map_cls: 0.4115, d5.loss_map_pts: 1.9780, d5.loss_map_dir: 0.0401, loss: 66.1152, grad_norm: 150.1021 +2026-02-24 13:01:39,427 - DriveTransformer - INFO - Epoch [2][9150/39528] lr: 9.958e-05, eta: 8 days, 6:57:52, time: 0.789, data_time: 0.040, memory: 19865, loss_cls: 0.6513, loss_bbox: 0.6852, loss_traj: 1.5268, loss_traj_cls: 0.0004, loss_map_cls: 0.3973, loss_map_pts: 1.8843, loss_map_dir: 0.0351, d0.loss_plan_l1_fix_time: 2.6848, d0.loss_plan_l1_fix_dist: 0.3735, d1.loss_plan_l1_fix_time: 2.3522, d1.loss_plan_l1_fix_dist: 0.3847, d2.loss_plan_l1_fix_time: 2.3308, d2.loss_plan_l1_fix_dist: 0.4154, d3.loss_plan_l1_fix_time: 2.3342, d3.loss_plan_l1_fix_dist: 0.4436, d4.loss_plan_l1_fix_time: 2.3405, d4.loss_plan_l1_fix_dist: 0.4720, d5.loss_plan_l1_fix_time: 2.3466, d5.loss_plan_l1_fix_dist: 0.5039, d6.loss_plan_l1_fix_time: 2.3531, d6.loss_plan_l1_fix_dist: 0.5352, d0.loss_cls_all: 0.6633, d0.loss_bbox_all: 0.7060, d0.loss_cls: 0.6633, d0.loss_bbox: 0.7060, d1.loss_cls: 0.6591, d1.loss_bbox: 0.6957, d2.loss_cls: 0.6567, d2.loss_bbox: 0.7007, d3.loss_cls: 0.6534, d3.loss_bbox: 0.6922, d4.loss_cls: 0.6529, d4.loss_bbox: 0.6846, d5.loss_cls: 0.6514, d5.loss_bbox: 0.6832, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5918, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5254, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5224, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5283, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5333, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5354, d0.loss_map_cls_all: 0.4231, d0.loss_map_pts_all: 2.6086, d0.loss_map_dir_all: 0.0344, d0.loss_map_cls: 0.4231, d0.loss_map_pts: 2.6086, d0.loss_map_dir: 0.0344, d1.loss_map_cls: 0.4127, d1.loss_map_pts: 2.0128, d1.loss_map_dir: 0.0347, d2.loss_map_cls: 0.4029, d2.loss_map_pts: 1.9211, d2.loss_map_dir: 0.0348, d3.loss_map_cls: 0.3979, d3.loss_map_pts: 1.8924, d3.loss_map_dir: 0.0350, d4.loss_map_cls: 0.3986, d4.loss_map_pts: 1.8811, d4.loss_map_dir: 0.0350, d5.loss_map_cls: 0.3980, d5.loss_map_pts: 1.8798, d5.loss_map_dir: 0.0351, loss: 61.6645, grad_norm: 149.8946 +2026-02-24 13:02:19,529 - DriveTransformer - INFO - Epoch [2][9200/39528] lr: 9.958e-05, eta: 8 days, 6:57:18, time: 0.802, data_time: 0.037, memory: 19865, loss_cls: 0.6895, loss_bbox: 0.7008, loss_traj: 1.6339, loss_traj_cls: 0.0004, loss_map_cls: 0.4380, loss_map_pts: 2.0551, loss_map_dir: 0.0404, d0.loss_plan_l1_fix_time: 2.9524, d0.loss_plan_l1_fix_dist: 0.3972, d1.loss_plan_l1_fix_time: 2.6839, d1.loss_plan_l1_fix_dist: 0.3992, d2.loss_plan_l1_fix_time: 2.6973, d2.loss_plan_l1_fix_dist: 0.4179, d3.loss_plan_l1_fix_time: 2.7071, d3.loss_plan_l1_fix_dist: 0.4465, d4.loss_plan_l1_fix_time: 2.7153, d4.loss_plan_l1_fix_dist: 0.4760, d5.loss_plan_l1_fix_time: 2.7220, d5.loss_plan_l1_fix_dist: 0.5089, d6.loss_plan_l1_fix_time: 2.7292, d6.loss_plan_l1_fix_dist: 0.5401, d0.loss_cls_all: 0.7029, d0.loss_bbox_all: 0.7273, d0.loss_cls: 0.7029, d0.loss_bbox: 0.7273, d1.loss_cls: 0.6978, d1.loss_bbox: 0.7112, d2.loss_cls: 0.6934, d2.loss_bbox: 0.7148, d3.loss_cls: 0.6896, d3.loss_bbox: 0.7087, d4.loss_cls: 0.6896, d4.loss_bbox: 0.7020, d5.loss_cls: 0.6900, d5.loss_bbox: 0.7016, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7009, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.6400, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6341, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6392, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6495, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6445, d0.loss_map_cls_all: 0.4661, d0.loss_map_pts_all: 2.8822, d0.loss_map_dir_all: 0.0391, d0.loss_map_cls: 0.4661, d0.loss_map_pts: 2.8822, d0.loss_map_dir: 0.0391, d1.loss_map_cls: 0.4536, d1.loss_map_pts: 2.1975, d1.loss_map_dir: 0.0396, d2.loss_map_cls: 0.4492, d2.loss_map_pts: 2.0886, d2.loss_map_dir: 0.0400, d3.loss_map_cls: 0.4451, d3.loss_map_pts: 2.0600, d3.loss_map_dir: 0.0401, d4.loss_map_cls: 0.4401, d4.loss_map_pts: 2.0539, d4.loss_map_dir: 0.0402, d5.loss_map_cls: 0.4381, d5.loss_map_pts: 2.0545, d5.loss_map_dir: 0.0403, loss: 67.3779, grad_norm: 150.8540 +2026-02-24 13:02:58,849 - DriveTransformer - INFO - Epoch [2][9250/39528] lr: 9.958e-05, eta: 8 days, 6:56:30, time: 0.786, data_time: 0.038, memory: 19865, loss_cls: 0.6609, loss_bbox: 0.6973, loss_traj: 1.5622, loss_traj_cls: 0.0005, loss_map_cls: 0.3935, loss_map_pts: 1.7410, loss_map_dir: 0.0320, d0.loss_plan_l1_fix_time: 2.4718, d0.loss_plan_l1_fix_dist: 0.5386, d1.loss_plan_l1_fix_time: 2.2118, d1.loss_plan_l1_fix_dist: 0.5140, d2.loss_plan_l1_fix_time: 2.1791, d2.loss_plan_l1_fix_dist: 0.5218, d3.loss_plan_l1_fix_time: 2.1807, d3.loss_plan_l1_fix_dist: 0.5385, d4.loss_plan_l1_fix_time: 2.1861, d4.loss_plan_l1_fix_dist: 0.5609, d5.loss_plan_l1_fix_time: 2.1926, d5.loss_plan_l1_fix_dist: 0.5850, d6.loss_plan_l1_fix_time: 2.1993, d6.loss_plan_l1_fix_dist: 0.6151, d0.loss_cls_all: 0.6591, d0.loss_bbox_all: 0.7223, d0.loss_cls: 0.6591, d0.loss_bbox: 0.7223, d1.loss_cls: 0.6589, d1.loss_bbox: 0.7105, d2.loss_cls: 0.6590, d2.loss_bbox: 0.7144, d3.loss_cls: 0.6571, d3.loss_bbox: 0.7101, d4.loss_cls: 0.6585, d4.loss_bbox: 0.6995, d5.loss_cls: 0.6596, d5.loss_bbox: 0.6948, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5903, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5488, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5477, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5532, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5578, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5592, d0.loss_map_cls_all: 0.4140, d0.loss_map_pts_all: 2.4329, d0.loss_map_dir_all: 0.0309, d0.loss_map_cls: 0.4140, d0.loss_map_pts: 2.4329, d0.loss_map_dir: 0.0309, d1.loss_map_cls: 0.4064, d1.loss_map_pts: 1.8630, d1.loss_map_dir: 0.0313, d2.loss_map_cls: 0.4013, d2.loss_map_pts: 1.7753, d2.loss_map_dir: 0.0315, d3.loss_map_cls: 0.3956, d3.loss_map_pts: 1.7477, d3.loss_map_dir: 0.0317, d4.loss_map_cls: 0.3931, d4.loss_map_pts: 1.7401, d4.loss_map_dir: 0.0318, d5.loss_map_cls: 0.3914, d5.loss_map_pts: 1.7408, d5.loss_map_dir: 0.0319, loss: 60.2977, grad_norm: 151.3801 +2026-02-24 13:03:36,696 - DriveTransformer - INFO - Epoch [2][9300/39528] lr: 9.958e-05, eta: 8 days, 6:55:14, time: 0.757, data_time: 0.036, memory: 19865, loss_cls: 0.6699, loss_bbox: 0.6848, loss_traj: 1.5039, loss_traj_cls: 0.0004, loss_map_cls: 0.4020, loss_map_pts: 1.8824, loss_map_dir: 0.0281, d0.loss_plan_l1_fix_time: 2.9003, d0.loss_plan_l1_fix_dist: 0.4781, d1.loss_plan_l1_fix_time: 2.7126, d1.loss_plan_l1_fix_dist: 0.4598, d2.loss_plan_l1_fix_time: 2.6811, d2.loss_plan_l1_fix_dist: 0.4737, d3.loss_plan_l1_fix_time: 2.6799, d3.loss_plan_l1_fix_dist: 0.4945, d4.loss_plan_l1_fix_time: 2.6832, d4.loss_plan_l1_fix_dist: 0.5209, d5.loss_plan_l1_fix_time: 2.6879, d5.loss_plan_l1_fix_dist: 0.5469, d6.loss_plan_l1_fix_time: 2.6933, d6.loss_plan_l1_fix_dist: 0.5755, d0.loss_cls_all: 0.6766, d0.loss_bbox_all: 0.7117, d0.loss_cls: 0.6766, d0.loss_bbox: 0.7117, d1.loss_cls: 0.6696, d1.loss_bbox: 0.7021, d2.loss_cls: 0.6672, d2.loss_bbox: 0.7028, d3.loss_cls: 0.6665, d3.loss_bbox: 0.7032, d4.loss_cls: 0.6678, d4.loss_bbox: 0.6858, d5.loss_cls: 0.6674, d5.loss_bbox: 0.6822, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6050, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5076, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4721, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4874, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4880, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5034, d0.loss_map_cls_all: 0.4325, d0.loss_map_pts_all: 2.4229, d0.loss_map_dir_all: 0.0277, d0.loss_map_cls: 0.4325, d0.loss_map_pts: 2.4229, d0.loss_map_dir: 0.0277, d1.loss_map_cls: 0.4133, d1.loss_map_pts: 1.9936, d1.loss_map_dir: 0.0278, d2.loss_map_cls: 0.4073, d2.loss_map_pts: 1.9221, d2.loss_map_dir: 0.0279, d3.loss_map_cls: 0.4036, d3.loss_map_pts: 1.8981, d3.loss_map_dir: 0.0280, d4.loss_map_cls: 0.4030, d4.loss_map_pts: 1.8888, d4.loss_map_dir: 0.0280, d5.loss_map_cls: 0.3982, d5.loss_map_pts: 1.8831, d5.loss_map_dir: 0.0281, loss: 63.9347, grad_norm: 152.0012 +2026-02-24 13:04:16,028 - DriveTransformer - INFO - Epoch [2][9350/39528] lr: 9.958e-05, eta: 8 days, 6:54:26, time: 0.787, data_time: 0.043, memory: 19865, loss_cls: 0.7044, loss_bbox: 0.7358, loss_traj: 1.6036, loss_traj_cls: 0.0004, loss_map_cls: 0.3805, loss_map_pts: 1.8538, loss_map_dir: 0.0318, d0.loss_plan_l1_fix_time: 3.5833, d0.loss_plan_l1_fix_dist: 0.4697, d1.loss_plan_l1_fix_time: 3.3365, d1.loss_plan_l1_fix_dist: 0.4730, d2.loss_plan_l1_fix_time: 3.2822, d2.loss_plan_l1_fix_dist: 0.4947, d3.loss_plan_l1_fix_time: 3.2717, d3.loss_plan_l1_fix_dist: 0.5217, d4.loss_plan_l1_fix_time: 3.2696, d4.loss_plan_l1_fix_dist: 0.5510, d5.loss_plan_l1_fix_time: 3.2708, d5.loss_plan_l1_fix_dist: 0.5812, d6.loss_plan_l1_fix_time: 3.2734, d6.loss_plan_l1_fix_dist: 0.6117, d0.loss_cls_all: 0.7094, d0.loss_bbox_all: 0.7659, d0.loss_cls: 0.7094, d0.loss_bbox: 0.7659, d1.loss_cls: 0.7048, d1.loss_bbox: 0.7601, d2.loss_cls: 0.7014, d2.loss_bbox: 0.7460, d3.loss_cls: 0.6989, d3.loss_bbox: 0.7522, d4.loss_cls: 0.6976, d4.loss_bbox: 0.7363, d5.loss_cls: 0.7018, d5.loss_bbox: 0.7332, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6985, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.6036, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5965, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6054, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6073, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6094, d0.loss_map_cls_all: 0.4001, d0.loss_map_pts_all: 2.5458, d0.loss_map_dir_all: 0.0314, d0.loss_map_cls: 0.4001, d0.loss_map_pts: 2.5458, d0.loss_map_dir: 0.0314, d1.loss_map_cls: 0.3909, d1.loss_map_pts: 1.9736, d1.loss_map_dir: 0.0314, d2.loss_map_cls: 0.3829, d2.loss_map_pts: 1.8846, d2.loss_map_dir: 0.0315, d3.loss_map_cls: 0.3833, d3.loss_map_pts: 1.8537, d3.loss_map_dir: 0.0317, d4.loss_map_cls: 0.3789, d4.loss_map_pts: 1.8527, d4.loss_map_dir: 0.0317, d5.loss_map_cls: 0.3783, d5.loss_map_pts: 1.8515, d5.loss_map_dir: 0.0318, loss: 69.6517, grad_norm: 148.0027 +2026-02-24 13:04:55,344 - DriveTransformer - INFO - Epoch [2][9400/39528] lr: 9.958e-05, eta: 8 days, 6:53:39, time: 0.788, data_time: 0.048, memory: 19865, loss_cls: 0.6748, loss_bbox: 0.6396, loss_traj: 1.7012, loss_traj_cls: 0.0005, loss_map_cls: 0.3858, loss_map_pts: 1.7312, loss_map_dir: 0.0299, d0.loss_plan_l1_fix_time: 2.5834, d0.loss_plan_l1_fix_dist: 0.4287, d1.loss_plan_l1_fix_time: 2.3379, d1.loss_plan_l1_fix_dist: 0.4029, d2.loss_plan_l1_fix_time: 2.2847, d2.loss_plan_l1_fix_dist: 0.4226, d3.loss_plan_l1_fix_time: 2.2788, d3.loss_plan_l1_fix_dist: 0.4526, d4.loss_plan_l1_fix_time: 2.2810, d4.loss_plan_l1_fix_dist: 0.4834, d5.loss_plan_l1_fix_time: 2.2859, d5.loss_plan_l1_fix_dist: 0.5175, d6.loss_plan_l1_fix_time: 2.2934, d6.loss_plan_l1_fix_dist: 0.5532, d0.loss_cls_all: 0.6817, d0.loss_bbox_all: 0.6783, d0.loss_cls: 0.6817, d0.loss_bbox: 0.6783, d1.loss_cls: 0.6684, d1.loss_bbox: 0.6802, d2.loss_cls: 0.6681, d2.loss_bbox: 0.6552, d3.loss_cls: 0.6718, d3.loss_bbox: 0.6566, d4.loss_cls: 0.6677, d4.loss_bbox: 0.6439, d5.loss_cls: 0.6722, d5.loss_bbox: 0.6395, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7624, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6905, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6817, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6843, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6930, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6956, d0.loss_map_cls_all: 0.4106, d0.loss_map_pts_all: 2.3601, d0.loss_map_dir_all: 0.0296, d0.loss_map_cls: 0.4106, d0.loss_map_pts: 2.3601, d0.loss_map_dir: 0.0296, d1.loss_map_cls: 0.4041, d1.loss_map_pts: 1.8424, d1.loss_map_dir: 0.0295, d2.loss_map_cls: 0.3973, d2.loss_map_pts: 1.7579, d2.loss_map_dir: 0.0296, d3.loss_map_cls: 0.3908, d3.loss_map_pts: 1.7315, d3.loss_map_dir: 0.0298, d4.loss_map_cls: 0.3890, d4.loss_map_pts: 1.7264, d4.loss_map_dir: 0.0298, d5.loss_map_cls: 0.3850, d5.loss_map_pts: 1.7280, d5.loss_map_dir: 0.0299, loss: 60.8257, grad_norm: 145.2467 +2026-02-24 13:05:35,635 - DriveTransformer - INFO - Epoch [2][9450/39528] lr: 9.958e-05, eta: 8 days, 6:53:07, time: 0.804, data_time: 0.044, memory: 19865, loss_cls: 0.6278, loss_bbox: 0.6503, loss_traj: 1.2494, loss_traj_cls: 0.0005, loss_map_cls: 0.3505, loss_map_pts: 1.7582, loss_map_dir: 0.0318, d0.loss_plan_l1_fix_time: 2.4441, d0.loss_plan_l1_fix_dist: 0.4841, d1.loss_plan_l1_fix_time: 2.2450, d1.loss_plan_l1_fix_dist: 0.4620, d2.loss_plan_l1_fix_time: 2.2032, d2.loss_plan_l1_fix_dist: 0.4712, d3.loss_plan_l1_fix_time: 2.2012, d3.loss_plan_l1_fix_dist: 0.4884, d4.loss_plan_l1_fix_time: 2.2064, d4.loss_plan_l1_fix_dist: 0.5085, d5.loss_plan_l1_fix_time: 2.2140, d5.loss_plan_l1_fix_dist: 0.5303, d6.loss_plan_l1_fix_time: 2.2231, d6.loss_plan_l1_fix_dist: 0.5544, d0.loss_cls_all: 0.6383, d0.loss_bbox_all: 0.6877, d0.loss_cls: 0.6383, d0.loss_bbox: 0.6877, d1.loss_cls: 0.6283, d1.loss_bbox: 0.6876, d2.loss_cls: 0.6279, d2.loss_bbox: 0.6642, d3.loss_cls: 0.6272, d3.loss_bbox: 0.6600, d4.loss_cls: 0.6248, d4.loss_bbox: 0.6468, d5.loss_cls: 0.6257, d5.loss_bbox: 0.6465, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3218, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2504, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.2453, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.2525, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2529, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2530, d0.loss_map_cls_all: 0.3789, d0.loss_map_pts_all: 2.6488, d0.loss_map_dir_all: 0.0312, d0.loss_map_cls: 0.3789, d0.loss_map_pts: 2.6488, d0.loss_map_dir: 0.0312, d1.loss_map_cls: 0.3682, d1.loss_map_pts: 1.9312, d1.loss_map_dir: 0.0313, d2.loss_map_cls: 0.3602, d2.loss_map_pts: 1.8061, d2.loss_map_dir: 0.0315, d3.loss_map_cls: 0.3551, d3.loss_map_pts: 1.7686, d3.loss_map_dir: 0.0316, d4.loss_map_cls: 0.3520, d4.loss_map_pts: 1.7540, d4.loss_map_dir: 0.0318, d5.loss_map_cls: 0.3500, d5.loss_map_pts: 1.7550, d5.loss_map_dir: 0.0318, loss: 57.6515, grad_norm: 144.2359 +2026-02-24 13:06:15,538 - DriveTransformer - INFO - Epoch [2][9500/39528] lr: 9.958e-05, eta: 8 days, 6:52:29, time: 0.798, data_time: 0.040, memory: 19865, loss_cls: 0.6727, loss_bbox: 0.6692, loss_traj: 1.2833, loss_traj_cls: 0.0004, loss_map_cls: 0.3995, loss_map_pts: 1.7698, loss_map_dir: 0.0363, d0.loss_plan_l1_fix_time: 2.6295, d0.loss_plan_l1_fix_dist: 0.5019, d1.loss_plan_l1_fix_time: 2.4580, d1.loss_plan_l1_fix_dist: 0.4798, d2.loss_plan_l1_fix_time: 2.4460, d2.loss_plan_l1_fix_dist: 0.4934, d3.loss_plan_l1_fix_time: 2.4500, d3.loss_plan_l1_fix_dist: 0.5134, d4.loss_plan_l1_fix_time: 2.4573, d4.loss_plan_l1_fix_dist: 0.5388, d5.loss_plan_l1_fix_time: 2.4663, d5.loss_plan_l1_fix_dist: 0.5667, d6.loss_plan_l1_fix_time: 2.4750, d6.loss_plan_l1_fix_dist: 0.5911, d0.loss_cls_all: 0.6659, d0.loss_bbox_all: 0.7049, d0.loss_cls: 0.6659, d0.loss_bbox: 0.7049, d1.loss_cls: 0.6608, d1.loss_bbox: 0.7094, d2.loss_cls: 0.6623, d2.loss_bbox: 0.6906, d3.loss_cls: 0.6642, d3.loss_bbox: 0.6807, d4.loss_cls: 0.6633, d4.loss_bbox: 0.6709, d5.loss_cls: 0.6681, d5.loss_bbox: 0.6695, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3374, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2441, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.2564, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.2609, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2697, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2794, d0.loss_map_cls_all: 0.4138, d0.loss_map_pts_all: 2.6986, d0.loss_map_dir_all: 0.0353, d0.loss_map_cls: 0.4138, d0.loss_map_pts: 2.6986, d0.loss_map_dir: 0.0353, d1.loss_map_cls: 0.4048, d1.loss_map_pts: 1.9274, d1.loss_map_dir: 0.0358, d2.loss_map_cls: 0.3982, d2.loss_map_pts: 1.8140, d2.loss_map_dir: 0.0360, d3.loss_map_cls: 0.3992, d3.loss_map_pts: 1.7806, d3.loss_map_dir: 0.0361, d4.loss_map_cls: 0.3972, d4.loss_map_pts: 1.7725, d4.loss_map_dir: 0.0361, d5.loss_map_cls: 0.3969, d5.loss_map_pts: 1.7707, d5.loss_map_dir: 0.0362, loss: 60.5686, grad_norm: 142.8957 +2026-02-24 13:06:53,191 - DriveTransformer - INFO - Epoch [2][9550/39528] lr: 9.958e-05, eta: 8 days, 6:51:10, time: 0.753, data_time: 0.045, memory: 19865, loss_cls: 0.6549, loss_bbox: 0.6709, loss_traj: 1.7363, loss_traj_cls: 0.0004, loss_map_cls: 0.3877, loss_map_pts: 1.6494, loss_map_dir: 0.0271, d0.loss_plan_l1_fix_time: 2.8941, d0.loss_plan_l1_fix_dist: 0.4665, d1.loss_plan_l1_fix_time: 2.7243, d1.loss_plan_l1_fix_dist: 0.4651, d2.loss_plan_l1_fix_time: 2.6988, d2.loss_plan_l1_fix_dist: 0.4806, d3.loss_plan_l1_fix_time: 2.7022, d3.loss_plan_l1_fix_dist: 0.5013, d4.loss_plan_l1_fix_time: 2.7076, d4.loss_plan_l1_fix_dist: 0.5280, d5.loss_plan_l1_fix_time: 2.7136, d5.loss_plan_l1_fix_dist: 0.5603, d6.loss_plan_l1_fix_time: 2.7213, d6.loss_plan_l1_fix_dist: 0.5961, d0.loss_cls_all: 0.6712, d0.loss_bbox_all: 0.6998, d0.loss_cls: 0.6712, d0.loss_bbox: 0.6998, d1.loss_cls: 0.6572, d1.loss_bbox: 0.7015, d2.loss_cls: 0.6534, d2.loss_bbox: 0.6954, d3.loss_cls: 0.6515, d3.loss_bbox: 0.6775, d4.loss_cls: 0.6505, d4.loss_bbox: 0.6737, d5.loss_cls: 0.6534, d5.loss_bbox: 0.6722, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7980, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7329, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7202, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7161, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7290, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7262, d0.loss_map_cls_all: 0.4191, d0.loss_map_pts_all: 2.3127, d0.loss_map_dir_all: 0.0266, d0.loss_map_cls: 0.4191, d0.loss_map_pts: 2.3127, d0.loss_map_dir: 0.0266, d1.loss_map_cls: 0.4090, d1.loss_map_pts: 1.7867, d1.loss_map_dir: 0.0268, d2.loss_map_cls: 0.4013, d2.loss_map_pts: 1.6873, d2.loss_map_dir: 0.0268, d3.loss_map_cls: 0.3952, d3.loss_map_pts: 1.6562, d3.loss_map_dir: 0.0269, d4.loss_map_cls: 0.3896, d4.loss_map_pts: 1.6548, d4.loss_map_dir: 0.0269, d5.loss_map_cls: 0.3869, d5.loss_map_pts: 1.6456, d5.loss_map_dir: 0.0270, loss: 63.8046, grad_norm: 142.4431 +2026-02-24 13:07:32,062 - DriveTransformer - INFO - Epoch [2][9600/39528] lr: 9.958e-05, eta: 8 days, 6:50:13, time: 0.777, data_time: 0.044, memory: 19865, loss_cls: 0.6737, loss_bbox: 0.6805, loss_traj: 1.2494, loss_traj_cls: 0.0004, loss_map_cls: 0.3725, loss_map_pts: 1.7576, loss_map_dir: 0.0317, d0.loss_plan_l1_fix_time: 2.2752, d0.loss_plan_l1_fix_dist: 0.5971, d1.loss_plan_l1_fix_time: 2.0355, d1.loss_plan_l1_fix_dist: 0.5618, d2.loss_plan_l1_fix_time: 1.9921, d2.loss_plan_l1_fix_dist: 0.5598, d3.loss_plan_l1_fix_time: 1.9914, d3.loss_plan_l1_fix_dist: 0.5734, d4.loss_plan_l1_fix_time: 1.9965, d4.loss_plan_l1_fix_dist: 0.5958, d5.loss_plan_l1_fix_time: 2.0030, d5.loss_plan_l1_fix_dist: 0.6227, d6.loss_plan_l1_fix_time: 2.0117, d6.loss_plan_l1_fix_dist: 0.6560, d0.loss_cls_all: 0.6696, d0.loss_bbox_all: 0.7080, d0.loss_cls: 0.6696, d0.loss_bbox: 0.7080, d1.loss_cls: 0.6649, d1.loss_bbox: 0.7042, d2.loss_cls: 0.6694, d2.loss_bbox: 0.7035, d3.loss_cls: 0.6730, d3.loss_bbox: 0.6864, d4.loss_cls: 0.6664, d4.loss_bbox: 0.6836, d5.loss_cls: 0.6720, d5.loss_bbox: 0.6802, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2464, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.2329, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.2428, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.2487, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2519, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2424, d0.loss_map_cls_all: 0.4069, d0.loss_map_pts_all: 2.4965, d0.loss_map_dir_all: 0.0309, d0.loss_map_cls: 0.4069, d0.loss_map_pts: 2.4965, d0.loss_map_dir: 0.0309, d1.loss_map_cls: 0.3957, d1.loss_map_pts: 1.8903, d1.loss_map_dir: 0.0313, d2.loss_map_cls: 0.3839, d2.loss_map_pts: 1.7927, d2.loss_map_dir: 0.0314, d3.loss_map_cls: 0.3787, d3.loss_map_pts: 1.7697, d3.loss_map_dir: 0.0315, d4.loss_map_cls: 0.3735, d4.loss_map_pts: 1.7651, d4.loss_map_dir: 0.0316, d5.loss_map_cls: 0.3718, d5.loss_map_pts: 1.7596, d5.loss_map_dir: 0.0317, loss: 57.1720, grad_norm: 143.3270 +2026-02-24 13:08:10,741 - DriveTransformer - INFO - Epoch [2][9650/39528] lr: 9.958e-05, eta: 8 days, 6:49:13, time: 0.774, data_time: 0.035, memory: 19865, loss_cls: 0.6623, loss_bbox: 0.6978, loss_traj: 1.6831, loss_traj_cls: 0.0004, loss_map_cls: 0.4078, loss_map_pts: 1.6797, loss_map_dir: 0.0306, d0.loss_plan_l1_fix_time: 2.9949, d0.loss_plan_l1_fix_dist: 0.4514, d1.loss_plan_l1_fix_time: 2.7412, d1.loss_plan_l1_fix_dist: 0.4385, d2.loss_plan_l1_fix_time: 2.7017, d2.loss_plan_l1_fix_dist: 0.4479, d3.loss_plan_l1_fix_time: 2.6983, d3.loss_plan_l1_fix_dist: 0.4651, d4.loss_plan_l1_fix_time: 2.7011, d4.loss_plan_l1_fix_dist: 0.4816, d5.loss_plan_l1_fix_time: 2.7066, d5.loss_plan_l1_fix_dist: 0.4984, d6.loss_plan_l1_fix_time: 2.7143, d6.loss_plan_l1_fix_dist: 0.5193, d0.loss_cls_all: 0.6654, d0.loss_bbox_all: 0.7131, d0.loss_cls: 0.6654, d0.loss_bbox: 0.7131, d1.loss_cls: 0.6577, d1.loss_bbox: 0.7158, d2.loss_cls: 0.6572, d2.loss_bbox: 0.7188, d3.loss_cls: 0.6587, d3.loss_bbox: 0.7037, d4.loss_cls: 0.6564, d4.loss_bbox: 0.7009, d5.loss_cls: 0.6587, d5.loss_bbox: 0.6987, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7411, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6744, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6783, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6767, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6712, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6739, d0.loss_map_cls_all: 0.4295, d0.loss_map_pts_all: 2.3965, d0.loss_map_dir_all: 0.0305, d0.loss_map_cls: 0.4295, d0.loss_map_pts: 2.3965, d0.loss_map_dir: 0.0305, d1.loss_map_cls: 0.4251, d1.loss_map_pts: 1.8070, d1.loss_map_dir: 0.0302, d2.loss_map_cls: 0.4206, d2.loss_map_pts: 1.7091, d2.loss_map_dir: 0.0304, d3.loss_map_cls: 0.4167, d3.loss_map_pts: 1.6846, d3.loss_map_dir: 0.0305, d4.loss_map_cls: 0.4101, d4.loss_map_pts: 1.6805, d4.loss_map_dir: 0.0306, d5.loss_map_cls: 0.4075, d5.loss_map_pts: 1.6800, d5.loss_map_dir: 0.0305, loss: 63.9314, grad_norm: 143.1615 +2026-02-24 13:08:52,445 - DriveTransformer - INFO - Epoch [2][9700/39528] lr: 9.958e-05, eta: 8 days, 6:49:09, time: 0.834, data_time: 0.043, memory: 19865, loss_cls: 0.6615, loss_bbox: 0.6904, loss_traj: 1.5929, loss_traj_cls: 0.0004, loss_map_cls: 0.3985, loss_map_pts: 1.8053, loss_map_dir: 0.0352, d0.loss_plan_l1_fix_time: 2.7769, d0.loss_plan_l1_fix_dist: 0.3800, d1.loss_plan_l1_fix_time: 2.6771, d1.loss_plan_l1_fix_dist: 0.3842, d2.loss_plan_l1_fix_time: 2.6892, d2.loss_plan_l1_fix_dist: 0.4078, d3.loss_plan_l1_fix_time: 2.6980, d3.loss_plan_l1_fix_dist: 0.4328, d4.loss_plan_l1_fix_time: 2.7061, d4.loss_plan_l1_fix_dist: 0.4584, d5.loss_plan_l1_fix_time: 2.7148, d5.loss_plan_l1_fix_dist: 0.4871, d6.loss_plan_l1_fix_time: 2.7248, d6.loss_plan_l1_fix_dist: 0.5129, d0.loss_cls_all: 0.6649, d0.loss_bbox_all: 0.7057, d0.loss_cls: 0.6649, d0.loss_bbox: 0.7057, d1.loss_cls: 0.6605, d1.loss_bbox: 0.7000, d2.loss_cls: 0.6608, d2.loss_bbox: 0.7072, d3.loss_cls: 0.6583, d3.loss_bbox: 0.6984, d4.loss_cls: 0.6618, d4.loss_bbox: 0.6904, d5.loss_cls: 0.6641, d5.loss_bbox: 0.6870, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6295, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5906, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5830, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5863, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5804, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5914, d0.loss_map_cls_all: 0.4245, d0.loss_map_pts_all: 2.6956, d0.loss_map_dir_all: 0.0348, d0.loss_map_cls: 0.4245, d0.loss_map_pts: 2.6956, d0.loss_map_dir: 0.0348, d1.loss_map_cls: 0.4180, d1.loss_map_pts: 1.9381, d1.loss_map_dir: 0.0346, d2.loss_map_cls: 0.4099, d2.loss_map_pts: 1.8335, d2.loss_map_dir: 0.0347, d3.loss_map_cls: 0.4045, d3.loss_map_pts: 1.8104, d3.loss_map_dir: 0.0349, d4.loss_map_cls: 0.3994, d4.loss_map_pts: 1.8068, d4.loss_map_dir: 0.0351, d5.loss_map_cls: 0.3976, d5.loss_map_pts: 1.8078, d5.loss_map_dir: 0.0351, loss: 64.0395, grad_norm: 143.6645 +2026-02-24 13:09:32,918 - DriveTransformer - INFO - Epoch [2][9750/39528] lr: 9.958e-05, eta: 8 days, 6:48:41, time: 0.809, data_time: 0.035, memory: 19865, loss_cls: 0.6705, loss_bbox: 0.6695, loss_traj: 1.2924, loss_traj_cls: 0.0005, loss_map_cls: 0.4122, loss_map_pts: 1.7981, loss_map_dir: 0.0317, d0.loss_plan_l1_fix_time: 2.7105, d0.loss_plan_l1_fix_dist: 0.3945, d1.loss_plan_l1_fix_time: 2.4781, d1.loss_plan_l1_fix_dist: 0.3681, d2.loss_plan_l1_fix_time: 2.4127, d2.loss_plan_l1_fix_dist: 0.3739, d3.loss_plan_l1_fix_time: 2.4031, d3.loss_plan_l1_fix_dist: 0.3902, d4.loss_plan_l1_fix_time: 2.4029, d4.loss_plan_l1_fix_dist: 0.4138, d5.loss_plan_l1_fix_time: 2.4057, d5.loss_plan_l1_fix_dist: 0.4390, d6.loss_plan_l1_fix_time: 2.4098, d6.loss_plan_l1_fix_dist: 0.4633, d0.loss_cls_all: 0.6799, d0.loss_bbox_all: 0.7131, d0.loss_cls: 0.6799, d0.loss_bbox: 0.7131, d1.loss_cls: 0.6634, d1.loss_bbox: 0.6927, d2.loss_cls: 0.6666, d2.loss_bbox: 0.6917, d3.loss_cls: 0.6679, d3.loss_bbox: 0.6841, d4.loss_cls: 0.6699, d4.loss_bbox: 0.6721, d5.loss_cls: 0.6688, d5.loss_bbox: 0.6690, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3573, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2996, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.2860, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.2899, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3019, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2950, d0.loss_map_cls_all: 0.4226, d0.loss_map_pts_all: 2.4907, d0.loss_map_dir_all: 0.0312, d0.loss_map_cls: 0.4226, d0.loss_map_pts: 2.4907, d0.loss_map_dir: 0.0312, d1.loss_map_cls: 0.4207, d1.loss_map_pts: 1.9394, d1.loss_map_dir: 0.0314, d2.loss_map_cls: 0.4123, d2.loss_map_pts: 1.8383, d2.loss_map_dir: 0.0314, d3.loss_map_cls: 0.4079, d3.loss_map_pts: 1.8134, d3.loss_map_dir: 0.0314, d4.loss_map_cls: 0.4056, d4.loss_map_pts: 1.8044, d4.loss_map_dir: 0.0315, d5.loss_map_cls: 0.4098, d5.loss_map_pts: 1.8008, d5.loss_map_dir: 0.0316, loss: 59.6056, grad_norm: 144.3253 +2026-02-24 13:10:12,046 - DriveTransformer - INFO - Epoch [2][9800/39528] lr: 9.958e-05, eta: 8 days, 6:47:49, time: 0.783, data_time: 0.045, memory: 19865, loss_cls: 0.6960, loss_bbox: 0.7108, loss_traj: 1.8677, loss_traj_cls: 0.0004, loss_map_cls: 0.4521, loss_map_pts: 1.9477, loss_map_dir: 0.0328, d0.loss_plan_l1_fix_time: 3.4902, d0.loss_plan_l1_fix_dist: 0.3849, d1.loss_plan_l1_fix_time: 3.2244, d1.loss_plan_l1_fix_dist: 0.3858, d2.loss_plan_l1_fix_time: 3.1478, d2.loss_plan_l1_fix_dist: 0.4054, d3.loss_plan_l1_fix_time: 3.1405, d3.loss_plan_l1_fix_dist: 0.4249, d4.loss_plan_l1_fix_time: 3.1439, d4.loss_plan_l1_fix_dist: 0.4477, d5.loss_plan_l1_fix_time: 3.1494, d5.loss_plan_l1_fix_dist: 0.4777, d6.loss_plan_l1_fix_time: 3.1546, d6.loss_plan_l1_fix_dist: 0.5207, d0.loss_cls_all: 0.7043, d0.loss_bbox_all: 0.7599, d0.loss_cls: 0.7043, d0.loss_bbox: 0.7599, d1.loss_cls: 0.6974, d1.loss_bbox: 0.7367, d2.loss_cls: 0.7002, d2.loss_bbox: 0.7262, d3.loss_cls: 0.6997, d3.loss_bbox: 0.7244, d4.loss_cls: 0.6963, d4.loss_bbox: 0.7119, d5.loss_cls: 0.6951, d5.loss_bbox: 0.7103, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.9397, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.8560, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.8492, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.8570, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.8610, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8655, d0.loss_map_cls_all: 0.4778, d0.loss_map_pts_all: 2.4797, d0.loss_map_dir_all: 0.0326, d0.loss_map_cls: 0.4778, d0.loss_map_pts: 2.4797, d0.loss_map_dir: 0.0326, d1.loss_map_cls: 0.4699, d1.loss_map_pts: 2.0446, d1.loss_map_dir: 0.0326, d2.loss_map_cls: 0.4628, d2.loss_map_pts: 1.9718, d2.loss_map_dir: 0.0325, d3.loss_map_cls: 0.4572, d3.loss_map_pts: 1.9516, d3.loss_map_dir: 0.0325, d4.loss_map_cls: 0.4512, d4.loss_map_pts: 1.9498, d4.loss_map_dir: 0.0326, d5.loss_map_cls: 0.4497, d5.loss_map_pts: 1.9475, d5.loss_map_dir: 0.0327, loss: 70.7630, grad_norm: 146.0269 +2026-02-24 13:10:50,790 - DriveTransformer - INFO - Epoch [2][9850/39528] lr: 9.958e-05, eta: 8 days, 6:46:51, time: 0.775, data_time: 0.039, memory: 19865, loss_cls: 0.6521, loss_bbox: 0.6980, loss_traj: 1.8908, loss_traj_cls: 0.0004, loss_map_cls: 0.3669, loss_map_pts: 1.6452, loss_map_dir: 0.0268, d0.loss_plan_l1_fix_time: 3.1538, d0.loss_plan_l1_fix_dist: 0.4650, d1.loss_plan_l1_fix_time: 2.9450, d1.loss_plan_l1_fix_dist: 0.4482, d2.loss_plan_l1_fix_time: 2.9068, d2.loss_plan_l1_fix_dist: 0.4566, d3.loss_plan_l1_fix_time: 2.9086, d3.loss_plan_l1_fix_dist: 0.4735, d4.loss_plan_l1_fix_time: 2.9144, d4.loss_plan_l1_fix_dist: 0.4915, d5.loss_plan_l1_fix_time: 2.9212, d5.loss_plan_l1_fix_dist: 0.5104, d6.loss_plan_l1_fix_time: 2.9290, d6.loss_plan_l1_fix_dist: 0.5284, d0.loss_cls_all: 0.6657, d0.loss_bbox_all: 0.7253, d0.loss_cls: 0.6657, d0.loss_bbox: 0.7253, d1.loss_cls: 0.6570, d1.loss_bbox: 0.7143, d2.loss_cls: 0.6506, d2.loss_bbox: 0.7030, d3.loss_cls: 0.6542, d3.loss_bbox: 0.7104, d4.loss_cls: 0.6471, d4.loss_bbox: 0.6989, d5.loss_cls: 0.6484, d5.loss_bbox: 0.6961, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9179, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.8826, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.8889, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.8973, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.8947, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8897, d0.loss_map_cls_all: 0.4013, d0.loss_map_pts_all: 2.2913, d0.loss_map_dir_all: 0.0272, d0.loss_map_cls: 0.4013, d0.loss_map_pts: 2.2913, d0.loss_map_dir: 0.0272, d1.loss_map_cls: 0.3901, d1.loss_map_pts: 1.7647, d1.loss_map_dir: 0.0266, d2.loss_map_cls: 0.3801, d2.loss_map_pts: 1.6745, d2.loss_map_dir: 0.0266, d3.loss_map_cls: 0.3730, d3.loss_map_pts: 1.6429, d3.loss_map_dir: 0.0266, d4.loss_map_cls: 0.3690, d4.loss_map_pts: 1.6386, d4.loss_map_dir: 0.0267, d5.loss_map_cls: 0.3659, d5.loss_map_pts: 1.6402, d5.loss_map_dir: 0.0268, loss: 66.0816, grad_norm: 146.9574 +2026-02-24 13:11:32,776 - DriveTransformer - INFO - Epoch [2][9900/39528] lr: 9.958e-05, eta: 8 days, 6:46:51, time: 0.840, data_time: 0.050, memory: 19865, loss_cls: 0.6663, loss_bbox: 0.6623, loss_traj: 1.5956, loss_traj_cls: 0.0004, loss_map_cls: 0.4041, loss_map_pts: 1.8763, loss_map_dir: 0.0382, d0.loss_plan_l1_fix_time: 3.0479, d0.loss_plan_l1_fix_dist: 0.4625, d1.loss_plan_l1_fix_time: 2.8190, d1.loss_plan_l1_fix_dist: 0.4441, d2.loss_plan_l1_fix_time: 2.7637, d2.loss_plan_l1_fix_dist: 0.4538, d3.loss_plan_l1_fix_time: 2.7600, d3.loss_plan_l1_fix_dist: 0.4694, d4.loss_plan_l1_fix_time: 2.7641, d4.loss_plan_l1_fix_dist: 0.4904, d5.loss_plan_l1_fix_time: 2.7713, d5.loss_plan_l1_fix_dist: 0.5117, d6.loss_plan_l1_fix_time: 2.7808, d6.loss_plan_l1_fix_dist: 0.5342, d0.loss_cls_all: 0.6756, d0.loss_bbox_all: 0.7197, d0.loss_cls: 0.6756, d0.loss_bbox: 0.7197, d1.loss_cls: 0.6675, d1.loss_bbox: 0.6975, d2.loss_cls: 0.6633, d2.loss_bbox: 0.6718, d3.loss_cls: 0.6586, d3.loss_bbox: 0.6726, d4.loss_cls: 0.6628, d4.loss_bbox: 0.6611, d5.loss_cls: 0.6662, d5.loss_bbox: 0.6611, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6415, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5761, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5688, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5811, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5798, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5842, d0.loss_map_cls_all: 0.4215, d0.loss_map_pts_all: 2.8795, d0.loss_map_dir_all: 0.0386, d0.loss_map_cls: 0.4215, d0.loss_map_pts: 2.8795, d0.loss_map_dir: 0.0386, d1.loss_map_cls: 0.4220, d1.loss_map_pts: 2.0800, d1.loss_map_dir: 0.0378, d2.loss_map_cls: 0.4124, d2.loss_map_pts: 1.9447, d2.loss_map_dir: 0.0379, d3.loss_map_cls: 0.4056, d3.loss_map_pts: 1.8987, d3.loss_map_dir: 0.0380, d4.loss_map_cls: 0.4037, d4.loss_map_pts: 1.8815, d4.loss_map_dir: 0.0381, d5.loss_map_cls: 0.4037, d5.loss_map_pts: 1.8769, d5.loss_map_dir: 0.0381, loss: 65.9226, grad_norm: 147.7325 +2026-02-24 13:12:13,737 - DriveTransformer - INFO - Epoch [2][9950/39528] lr: 9.958e-05, eta: 8 days, 6:46:32, time: 0.819, data_time: 0.044, memory: 19865, loss_cls: 0.6750, loss_bbox: 0.6813, loss_traj: 1.2724, loss_traj_cls: 0.0004, loss_map_cls: 0.4244, loss_map_pts: 1.8533, loss_map_dir: 0.0352, d0.loss_plan_l1_fix_time: 2.7323, d0.loss_plan_l1_fix_dist: 0.4556, d1.loss_plan_l1_fix_time: 2.4978, d1.loss_plan_l1_fix_dist: 0.4216, d2.loss_plan_l1_fix_time: 2.4500, d2.loss_plan_l1_fix_dist: 0.4331, d3.loss_plan_l1_fix_time: 2.4498, d3.loss_plan_l1_fix_dist: 0.4499, d4.loss_plan_l1_fix_time: 2.4550, d4.loss_plan_l1_fix_dist: 0.4723, d5.loss_plan_l1_fix_time: 2.4631, d5.loss_plan_l1_fix_dist: 0.4986, d6.loss_plan_l1_fix_time: 2.4737, d6.loss_plan_l1_fix_dist: 0.5335, d0.loss_cls_all: 0.6787, d0.loss_bbox_all: 0.7151, d0.loss_cls: 0.6787, d0.loss_bbox: 0.7151, d1.loss_cls: 0.6712, d1.loss_bbox: 0.7022, d2.loss_cls: 0.6718, d2.loss_bbox: 0.6820, d3.loss_cls: 0.6696, d3.loss_bbox: 0.6849, d4.loss_cls: 0.6740, d4.loss_bbox: 0.6754, d5.loss_cls: 0.6762, d5.loss_bbox: 0.6766, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3007, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.2660, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.2621, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.2678, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2688, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2704, d0.loss_map_cls_all: 0.4475, d0.loss_map_pts_all: 2.7053, d0.loss_map_dir_all: 0.0356, d0.loss_map_cls: 0.4475, d0.loss_map_pts: 2.7053, d0.loss_map_dir: 0.0356, d1.loss_map_cls: 0.4382, d1.loss_map_pts: 2.0197, d1.loss_map_dir: 0.0348, d2.loss_map_cls: 0.4306, d2.loss_map_pts: 1.9027, d2.loss_map_dir: 0.0348, d3.loss_map_cls: 0.4263, d3.loss_map_pts: 1.8748, d3.loss_map_dir: 0.0349, d4.loss_map_cls: 0.4251, d4.loss_map_pts: 1.8584, d4.loss_map_dir: 0.0350, d5.loss_map_cls: 0.4232, d5.loss_map_pts: 1.8561, d5.loss_map_dir: 0.0351, loss: 61.1461, grad_norm: 148.4766 +2026-02-24 13:12:55,013 - DriveTransformer - INFO - Epoch [2][10000/39528] lr: 9.958e-05, eta: 8 days, 6:46:19, time: 0.825, data_time: 0.040, memory: 19865, loss_cls: 0.6434, loss_bbox: 0.6944, loss_traj: 1.5858, loss_traj_cls: 0.0004, loss_map_cls: 0.3996, loss_map_pts: 2.0171, loss_map_dir: 0.0327, d0.loss_plan_l1_fix_time: 2.8329, d0.loss_plan_l1_fix_dist: 0.4846, d1.loss_plan_l1_fix_time: 2.6378, d1.loss_plan_l1_fix_dist: 0.4498, d2.loss_plan_l1_fix_time: 2.6151, d2.loss_plan_l1_fix_dist: 0.4509, d3.loss_plan_l1_fix_time: 2.6166, d3.loss_plan_l1_fix_dist: 0.4644, d4.loss_plan_l1_fix_time: 2.6212, d4.loss_plan_l1_fix_dist: 0.4800, d5.loss_plan_l1_fix_time: 2.6267, d5.loss_plan_l1_fix_dist: 0.4988, d6.loss_plan_l1_fix_time: 2.6354, d6.loss_plan_l1_fix_dist: 0.5160, d0.loss_cls_all: 0.6559, d0.loss_bbox_all: 0.7394, d0.loss_cls: 0.6559, d0.loss_bbox: 0.7394, d1.loss_cls: 0.6480, d1.loss_bbox: 0.7356, d2.loss_cls: 0.6436, d2.loss_bbox: 0.7106, d3.loss_cls: 0.6463, d3.loss_bbox: 0.6993, d4.loss_cls: 0.6430, d4.loss_bbox: 0.6941, d5.loss_cls: 0.6428, d5.loss_bbox: 0.6925, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6199, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5623, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5540, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5681, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5752, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5811, d0.loss_map_cls_all: 0.4270, d0.loss_map_pts_all: 2.7632, d0.loss_map_dir_all: 0.0329, d0.loss_map_cls: 0.4270, d0.loss_map_pts: 2.7632, d0.loss_map_dir: 0.0329, d1.loss_map_cls: 0.4147, d1.loss_map_pts: 2.1639, d1.loss_map_dir: 0.0325, d2.loss_map_cls: 0.4027, d2.loss_map_pts: 2.0635, d2.loss_map_dir: 0.0324, d3.loss_map_cls: 0.3979, d3.loss_map_pts: 2.0360, d3.loss_map_dir: 0.0325, d4.loss_map_cls: 0.3981, d4.loss_map_pts: 2.0249, d4.loss_map_dir: 0.0326, d5.loss_map_cls: 0.3976, d5.loss_map_pts: 2.0215, d5.loss_map_dir: 0.0327, loss: 65.2438, grad_norm: 149.2322 +2026-02-24 13:13:36,590 - DriveTransformer - INFO - Epoch [2][10050/39528] lr: 9.958e-05, eta: 8 days, 6:46:12, time: 0.832, data_time: 0.038, memory: 19865, loss_cls: 0.6745, loss_bbox: 0.6509, loss_traj: 1.3957, loss_traj_cls: 0.0004, loss_map_cls: 0.3871, loss_map_pts: 1.9087, loss_map_dir: 0.0407, d0.loss_plan_l1_fix_time: 2.5263, d0.loss_plan_l1_fix_dist: 0.4850, d1.loss_plan_l1_fix_time: 2.3134, d1.loss_plan_l1_fix_dist: 0.4634, d2.loss_plan_l1_fix_time: 2.2613, d2.loss_plan_l1_fix_dist: 0.4717, d3.loss_plan_l1_fix_time: 2.2592, d3.loss_plan_l1_fix_dist: 0.4871, d4.loss_plan_l1_fix_time: 2.2641, d4.loss_plan_l1_fix_dist: 0.5107, d5.loss_plan_l1_fix_time: 2.2706, d5.loss_plan_l1_fix_dist: 0.5367, d6.loss_plan_l1_fix_time: 2.2787, d6.loss_plan_l1_fix_dist: 0.5686, d0.loss_cls_all: 0.6585, d0.loss_bbox_all: 0.6907, d0.loss_cls: 0.6585, d0.loss_bbox: 0.6907, d1.loss_cls: 0.6559, d1.loss_bbox: 0.6890, d2.loss_cls: 0.6618, d2.loss_bbox: 0.6660, d3.loss_cls: 0.6596, d3.loss_bbox: 0.6562, d4.loss_cls: 0.6670, d4.loss_bbox: 0.6522, d5.loss_cls: 0.6673, d5.loss_bbox: 0.6516, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4758, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4023, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4090, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4071, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4043, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3991, d0.loss_map_cls_all: 0.3969, d0.loss_map_pts_all: 2.8193, d0.loss_map_dir_all: 0.0409, d0.loss_map_cls: 0.3969, d0.loss_map_pts: 2.8193, d0.loss_map_dir: 0.0409, d1.loss_map_cls: 0.3966, d1.loss_map_pts: 2.0501, d1.loss_map_dir: 0.0405, d2.loss_map_cls: 0.3905, d2.loss_map_pts: 1.9397, d2.loss_map_dir: 0.0403, d3.loss_map_cls: 0.3906, d3.loss_map_pts: 1.9124, d3.loss_map_dir: 0.0405, d4.loss_map_cls: 0.3904, d4.loss_map_pts: 1.9104, d4.loss_map_dir: 0.0407, d5.loss_map_cls: 0.3861, d5.loss_map_pts: 1.9103, d5.loss_map_dir: 0.0407, loss: 60.9752, grad_norm: 149.3725 +2026-02-24 13:14:14,736 - DriveTransformer - INFO - Epoch [2][10100/39528] lr: 9.958e-05, eta: 8 days, 6:45:02, time: 0.763, data_time: 0.043, memory: 19865, loss_cls: 0.6849, loss_bbox: 0.6778, loss_traj: 1.7230, loss_traj_cls: 0.0004, loss_map_cls: 0.3617, loss_map_pts: 1.7351, loss_map_dir: 0.0305, d0.loss_plan_l1_fix_time: 3.1985, d0.loss_plan_l1_fix_dist: 0.5457, d1.loss_plan_l1_fix_time: 2.9341, d1.loss_plan_l1_fix_dist: 0.5032, d2.loss_plan_l1_fix_time: 2.8880, d2.loss_plan_l1_fix_dist: 0.5020, d3.loss_plan_l1_fix_time: 2.8850, d3.loss_plan_l1_fix_dist: 0.5180, d4.loss_plan_l1_fix_time: 2.8900, d4.loss_plan_l1_fix_dist: 0.5386, d5.loss_plan_l1_fix_time: 2.8960, d5.loss_plan_l1_fix_dist: 0.5624, d6.loss_plan_l1_fix_time: 2.9027, d6.loss_plan_l1_fix_dist: 0.5868, d0.loss_cls_all: 0.6678, d0.loss_bbox_all: 0.7130, d0.loss_cls: 0.6678, d0.loss_bbox: 0.7130, d1.loss_cls: 0.6653, d1.loss_bbox: 0.7080, d2.loss_cls: 0.6716, d2.loss_bbox: 0.6913, d3.loss_cls: 0.6704, d3.loss_bbox: 0.6768, d4.loss_cls: 0.6785, d4.loss_bbox: 0.6776, d5.loss_cls: 0.6813, d5.loss_bbox: 0.6748, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.8544, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7405, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7148, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7110, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7150, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7178, d0.loss_map_cls_all: 0.3891, d0.loss_map_pts_all: 2.4126, d0.loss_map_dir_all: 0.0308, d0.loss_map_cls: 0.3891, d0.loss_map_pts: 2.4126, d0.loss_map_dir: 0.0308, d1.loss_map_cls: 0.3810, d1.loss_map_pts: 1.8836, d1.loss_map_dir: 0.0305, d2.loss_map_cls: 0.3712, d2.loss_map_pts: 1.7738, d2.loss_map_dir: 0.0304, d3.loss_map_cls: 0.3670, d3.loss_map_pts: 1.7503, d3.loss_map_dir: 0.0304, d4.loss_map_cls: 0.3616, d4.loss_map_pts: 1.7364, d4.loss_map_dir: 0.0305, d5.loss_map_cls: 0.3610, d5.loss_map_pts: 1.7347, d5.loss_map_dir: 0.0305, loss: 66.1169, grad_norm: 150.2994 +2026-02-24 13:14:55,617 - DriveTransformer - INFO - Epoch [2][10150/39528] lr: 9.958e-05, eta: 8 days, 6:44:42, time: 0.818, data_time: 0.046, memory: 19865, loss_cls: 0.6580, loss_bbox: 0.6722, loss_traj: 1.3329, loss_traj_cls: 0.0005, loss_map_cls: 0.3850, loss_map_pts: 1.9419, loss_map_dir: 0.0373, d0.loss_plan_l1_fix_time: 2.6129, d0.loss_plan_l1_fix_dist: 0.4782, d1.loss_plan_l1_fix_time: 2.3467, d1.loss_plan_l1_fix_dist: 0.4476, d2.loss_plan_l1_fix_time: 2.3053, d2.loss_plan_l1_fix_dist: 0.4528, d3.loss_plan_l1_fix_time: 2.3038, d3.loss_plan_l1_fix_dist: 0.4713, d4.loss_plan_l1_fix_time: 2.3099, d4.loss_plan_l1_fix_dist: 0.4949, d5.loss_plan_l1_fix_time: 2.3172, d5.loss_plan_l1_fix_dist: 0.5194, d6.loss_plan_l1_fix_time: 2.3253, d6.loss_plan_l1_fix_dist: 0.5516, d0.loss_cls_all: 0.6603, d0.loss_bbox_all: 0.6959, d0.loss_cls: 0.6603, d0.loss_bbox: 0.6959, d1.loss_cls: 0.6519, d1.loss_bbox: 0.6880, d2.loss_cls: 0.6529, d2.loss_bbox: 0.6795, d3.loss_cls: 0.6525, d3.loss_bbox: 0.6665, d4.loss_cls: 0.6569, d4.loss_bbox: 0.6692, d5.loss_cls: 0.6547, d5.loss_bbox: 0.6679, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3438, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3129, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.3263, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3259, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3230, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3234, d0.loss_map_cls_all: 0.4151, d0.loss_map_pts_all: 2.8207, d0.loss_map_dir_all: 0.0375, d0.loss_map_cls: 0.4151, d0.loss_map_pts: 2.8207, d0.loss_map_dir: 0.0375, d1.loss_map_cls: 0.4039, d1.loss_map_pts: 2.0642, d1.loss_map_dir: 0.0370, d2.loss_map_cls: 0.3931, d2.loss_map_pts: 1.9564, d2.loss_map_dir: 0.0369, d3.loss_map_cls: 0.3887, d3.loss_map_pts: 1.9429, d3.loss_map_dir: 0.0371, d4.loss_map_cls: 0.3860, d4.loss_map_pts: 1.9319, d4.loss_map_dir: 0.0371, d5.loss_map_cls: 0.3846, d5.loss_map_pts: 1.9404, d5.loss_map_dir: 0.0372, loss: 60.8007, grad_norm: 151.4198 +2026-02-24 13:15:35,473 - DriveTransformer - INFO - Epoch [2][10200/39528] lr: 9.958e-05, eta: 8 days, 6:44:05, time: 0.799, data_time: 0.042, memory: 19865, loss_cls: 0.6175, loss_bbox: 0.5920, loss_traj: 1.5450, loss_traj_cls: 0.0004, loss_map_cls: 0.3614, loss_map_pts: 1.6099, loss_map_dir: 0.0293, d0.loss_plan_l1_fix_time: 2.9039, d0.loss_plan_l1_fix_dist: 0.4526, d1.loss_plan_l1_fix_time: 2.6006, d1.loss_plan_l1_fix_dist: 0.4335, d2.loss_plan_l1_fix_time: 2.5383, d2.loss_plan_l1_fix_dist: 0.4408, d3.loss_plan_l1_fix_time: 2.5331, d3.loss_plan_l1_fix_dist: 0.4588, d4.loss_plan_l1_fix_time: 2.5358, d4.loss_plan_l1_fix_dist: 0.4791, d5.loss_plan_l1_fix_time: 2.5405, d5.loss_plan_l1_fix_dist: 0.5005, d6.loss_plan_l1_fix_time: 2.5483, d6.loss_plan_l1_fix_dist: 0.5235, d0.loss_cls_all: 0.6099, d0.loss_bbox_all: 0.6285, d0.loss_cls: 0.6099, d0.loss_bbox: 0.6285, d1.loss_cls: 0.6069, d1.loss_bbox: 0.6207, d2.loss_cls: 0.6069, d2.loss_bbox: 0.6135, d3.loss_cls: 0.6122, d3.loss_bbox: 0.6024, d4.loss_cls: 0.6127, d4.loss_bbox: 0.5966, d5.loss_cls: 0.6127, d5.loss_bbox: 0.5913, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6128, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5459, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5303, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5382, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5434, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5389, d0.loss_map_cls_all: 0.3965, d0.loss_map_pts_all: 2.2723, d0.loss_map_dir_all: 0.0298, d0.loss_map_cls: 0.3965, d0.loss_map_pts: 2.2723, d0.loss_map_dir: 0.0298, d1.loss_map_cls: 0.3795, d1.loss_map_pts: 1.7341, d1.loss_map_dir: 0.0293, d2.loss_map_cls: 0.3677, d2.loss_map_pts: 1.6318, d2.loss_map_dir: 0.0290, d3.loss_map_cls: 0.3617, d3.loss_map_pts: 1.6034, d3.loss_map_dir: 0.0291, d4.loss_map_cls: 0.3590, d4.loss_map_pts: 1.5980, d4.loss_map_dir: 0.0292, d5.loss_map_cls: 0.3600, d5.loss_map_pts: 1.6065, d5.loss_map_dir: 0.0292, loss: 59.6552, grad_norm: 155.6082 +2026-02-24 13:16:15,419 - DriveTransformer - INFO - Epoch [2][10250/39528] lr: 9.958e-05, eta: 8 days, 6:43:26, time: 0.797, data_time: 0.040, memory: 19865, loss_cls: 0.6452, loss_bbox: 0.6983, loss_traj: 1.6420, loss_traj_cls: 0.0004, loss_map_cls: 0.3883, loss_map_pts: 1.7870, loss_map_dir: 0.0311, d0.loss_plan_l1_fix_time: 2.7748, d0.loss_plan_l1_fix_dist: 0.4122, d1.loss_plan_l1_fix_time: 2.4260, d1.loss_plan_l1_fix_dist: 0.3989, d2.loss_plan_l1_fix_time: 2.3882, d2.loss_plan_l1_fix_dist: 0.4149, d3.loss_plan_l1_fix_time: 2.3878, d3.loss_plan_l1_fix_dist: 0.4408, d4.loss_plan_l1_fix_time: 2.3923, d4.loss_plan_l1_fix_dist: 0.4705, d5.loss_plan_l1_fix_time: 2.3983, d5.loss_plan_l1_fix_dist: 0.5063, d6.loss_plan_l1_fix_time: 2.4065, d6.loss_plan_l1_fix_dist: 0.5430, d0.loss_cls_all: 0.6537, d0.loss_bbox_all: 0.7188, d0.loss_cls: 0.6537, d0.loss_bbox: 0.7188, d1.loss_cls: 0.6431, d1.loss_bbox: 0.7133, d2.loss_cls: 0.6440, d2.loss_bbox: 0.7101, d3.loss_cls: 0.6439, d3.loss_bbox: 0.7102, d4.loss_cls: 0.6398, d4.loss_bbox: 0.7004, d5.loss_cls: 0.6422, d5.loss_bbox: 0.6983, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6795, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.6391, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6394, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6395, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6416, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6368, d0.loss_map_cls_all: 0.4187, d0.loss_map_pts_all: 2.4082, d0.loss_map_dir_all: 0.0311, d0.loss_map_cls: 0.4187, d0.loss_map_pts: 2.4082, d0.loss_map_dir: 0.0311, d1.loss_map_cls: 0.4056, d1.loss_map_pts: 1.9163, d1.loss_map_dir: 0.0307, d2.loss_map_cls: 0.3947, d2.loss_map_pts: 1.8172, d2.loss_map_dir: 0.0307, d3.loss_map_cls: 0.3917, d3.loss_map_pts: 1.7872, d3.loss_map_dir: 0.0307, d4.loss_map_cls: 0.3894, d4.loss_map_pts: 1.7835, d4.loss_map_dir: 0.0309, d5.loss_map_cls: 0.3880, d5.loss_map_pts: 1.7880, d5.loss_map_dir: 0.0310, loss: 61.8543, grad_norm: 155.2141 +2026-02-24 13:16:54,166 - DriveTransformer - INFO - Epoch [2][10300/39528] lr: 9.958e-05, eta: 8 days, 6:42:28, time: 0.775, data_time: 0.039, memory: 19865, loss_cls: 0.6811, loss_bbox: 0.6605, loss_traj: 1.3040, loss_traj_cls: 0.0004, loss_map_cls: 0.3970, loss_map_pts: 1.7789, loss_map_dir: 0.0357, d0.loss_plan_l1_fix_time: 2.5096, d0.loss_plan_l1_fix_dist: 0.3173, d1.loss_plan_l1_fix_time: 2.3359, d1.loss_plan_l1_fix_dist: 0.3189, d2.loss_plan_l1_fix_time: 2.2929, d2.loss_plan_l1_fix_dist: 0.3420, d3.loss_plan_l1_fix_time: 2.2910, d3.loss_plan_l1_fix_dist: 0.3703, d4.loss_plan_l1_fix_time: 2.2960, d4.loss_plan_l1_fix_dist: 0.4040, d5.loss_plan_l1_fix_time: 2.3038, d5.loss_plan_l1_fix_dist: 0.4380, d6.loss_plan_l1_fix_time: 2.3122, d6.loss_plan_l1_fix_dist: 0.4759, d0.loss_cls_all: 0.6763, d0.loss_bbox_all: 0.6843, d0.loss_cls: 0.6763, d0.loss_bbox: 0.6843, d1.loss_cls: 0.6718, d1.loss_bbox: 0.6730, d2.loss_cls: 0.6692, d2.loss_bbox: 0.6664, d3.loss_cls: 0.6735, d3.loss_bbox: 0.6698, d4.loss_cls: 0.6734, d4.loss_bbox: 0.6581, d5.loss_cls: 0.6761, d5.loss_bbox: 0.6592, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3029, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2669, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.2789, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.2869, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2939, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2966, d0.loss_map_cls_all: 0.4241, d0.loss_map_pts_all: 2.6383, d0.loss_map_dir_all: 0.0354, d0.loss_map_cls: 0.4241, d0.loss_map_pts: 2.6383, d0.loss_map_dir: 0.0354, d1.loss_map_cls: 0.4110, d1.loss_map_pts: 1.9589, d1.loss_map_dir: 0.0356, d2.loss_map_cls: 0.3986, d2.loss_map_pts: 1.8262, d2.loss_map_dir: 0.0354, d3.loss_map_cls: 0.3957, d3.loss_map_pts: 1.7923, d3.loss_map_dir: 0.0355, d4.loss_map_cls: 0.3933, d4.loss_map_pts: 1.7811, d4.loss_map_dir: 0.0356, d5.loss_map_cls: 0.3963, d5.loss_map_pts: 1.7768, d5.loss_map_dir: 0.0357, loss: 58.5110, grad_norm: 155.0157 +2026-02-24 13:17:34,376 - DriveTransformer - INFO - Epoch [2][10350/39528] lr: 9.958e-05, eta: 8 days, 6:41:56, time: 0.804, data_time: 0.038, memory: 19865, loss_cls: 0.6861, loss_bbox: 0.6984, loss_traj: 1.3923, loss_traj_cls: 0.0004, loss_map_cls: 0.4205, loss_map_pts: 1.9686, loss_map_dir: 0.0398, d0.loss_plan_l1_fix_time: 2.5911, d0.loss_plan_l1_fix_dist: 0.4962, d1.loss_plan_l1_fix_time: 2.4481, d1.loss_plan_l1_fix_dist: 0.4827, d2.loss_plan_l1_fix_time: 2.4701, d2.loss_plan_l1_fix_dist: 0.4892, d3.loss_plan_l1_fix_time: 2.4864, d3.loss_plan_l1_fix_dist: 0.5051, d4.loss_plan_l1_fix_time: 2.4996, d4.loss_plan_l1_fix_dist: 0.5249, d5.loss_plan_l1_fix_time: 2.5127, d5.loss_plan_l1_fix_dist: 0.5454, d6.loss_plan_l1_fix_time: 2.5260, d6.loss_plan_l1_fix_dist: 0.5675, d0.loss_cls_all: 0.6869, d0.loss_bbox_all: 0.7284, d0.loss_cls: 0.6869, d0.loss_bbox: 0.7284, d1.loss_cls: 0.6743, d1.loss_bbox: 0.7158, d2.loss_cls: 0.6763, d2.loss_bbox: 0.7011, d3.loss_cls: 0.6789, d3.loss_bbox: 0.7063, d4.loss_cls: 0.6808, d4.loss_bbox: 0.6948, d5.loss_cls: 0.6842, d5.loss_bbox: 0.6977, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4268, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3619, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.3436, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3648, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3745, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3850, d0.loss_map_cls_all: 0.4310, d0.loss_map_pts_all: 2.8788, d0.loss_map_dir_all: 0.0392, d0.loss_map_cls: 0.4310, d0.loss_map_pts: 2.8788, d0.loss_map_dir: 0.0392, d1.loss_map_cls: 0.4245, d1.loss_map_pts: 2.1063, d1.loss_map_dir: 0.0394, d2.loss_map_cls: 0.4200, d2.loss_map_pts: 2.0019, d2.loss_map_dir: 0.0393, d3.loss_map_cls: 0.4195, d3.loss_map_pts: 1.9759, d3.loss_map_dir: 0.0393, d4.loss_map_cls: 0.4179, d4.loss_map_pts: 1.9721, d4.loss_map_dir: 0.0395, d5.loss_map_cls: 0.4181, d5.loss_map_pts: 1.9676, d5.loss_map_dir: 0.0397, loss: 63.3719, grad_norm: 154.8609 +2026-02-24 13:18:15,894 - DriveTransformer - INFO - Epoch [2][10400/39528] lr: 9.958e-05, eta: 8 days, 6:41:47, time: 0.830, data_time: 0.036, memory: 19865, loss_cls: 0.7155, loss_bbox: 0.7316, loss_traj: 1.4060, loss_traj_cls: 0.0004, loss_map_cls: 0.4143, loss_map_pts: 1.9672, loss_map_dir: 0.0404, d0.loss_plan_l1_fix_time: 3.2127, d0.loss_plan_l1_fix_dist: 0.4397, d1.loss_plan_l1_fix_time: 2.9871, d1.loss_plan_l1_fix_dist: 0.4318, d2.loss_plan_l1_fix_time: 2.9424, d2.loss_plan_l1_fix_dist: 0.4472, d3.loss_plan_l1_fix_time: 2.9461, d3.loss_plan_l1_fix_dist: 0.4716, d4.loss_plan_l1_fix_time: 2.9536, d4.loss_plan_l1_fix_dist: 0.5003, d5.loss_plan_l1_fix_time: 2.9615, d5.loss_plan_l1_fix_dist: 0.5320, d6.loss_plan_l1_fix_time: 2.9701, d6.loss_plan_l1_fix_dist: 0.5628, d0.loss_cls_all: 0.7244, d0.loss_bbox_all: 0.7512, d0.loss_cls: 0.7244, d0.loss_bbox: 0.7512, d1.loss_cls: 0.7081, d1.loss_bbox: 0.7482, d2.loss_cls: 0.7127, d2.loss_bbox: 0.7281, d3.loss_cls: 0.7110, d3.loss_bbox: 0.7342, d4.loss_cls: 0.7080, d4.loss_bbox: 0.7289, d5.loss_cls: 0.7131, d5.loss_bbox: 0.7304, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4526, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3992, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.3938, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3932, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3895, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3913, d0.loss_map_cls_all: 0.4313, d0.loss_map_pts_all: 2.8535, d0.loss_map_dir_all: 0.0400, d0.loss_map_cls: 0.4313, d0.loss_map_pts: 2.8535, d0.loss_map_dir: 0.0400, d1.loss_map_cls: 0.4241, d1.loss_map_pts: 2.1170, d1.loss_map_dir: 0.0400, d2.loss_map_cls: 0.4183, d2.loss_map_pts: 2.0019, d2.loss_map_dir: 0.0399, d3.loss_map_cls: 0.4154, d3.loss_map_pts: 1.9754, d3.loss_map_dir: 0.0401, d4.loss_map_cls: 0.4151, d4.loss_map_pts: 1.9674, d4.loss_map_dir: 0.0403, d5.loss_map_cls: 0.4153, d5.loss_map_pts: 1.9646, d5.loss_map_dir: 0.0404, loss: 67.1968, grad_norm: 153.0131 +2026-02-24 13:18:55,396 - DriveTransformer - INFO - Epoch [2][10450/39528] lr: 9.958e-05, eta: 8 days, 6:41:02, time: 0.790, data_time: 0.049, memory: 19865, loss_cls: 0.6109, loss_bbox: 0.6559, loss_traj: 1.5687, loss_traj_cls: 0.0004, loss_map_cls: 0.3375, loss_map_pts: 1.6725, loss_map_dir: 0.0285, d0.loss_plan_l1_fix_time: 3.1349, d0.loss_plan_l1_fix_dist: 0.5193, d1.loss_plan_l1_fix_time: 2.9442, d1.loss_plan_l1_fix_dist: 0.4945, d2.loss_plan_l1_fix_time: 2.9161, d2.loss_plan_l1_fix_dist: 0.5105, d3.loss_plan_l1_fix_time: 2.9204, d3.loss_plan_l1_fix_dist: 0.5372, d4.loss_plan_l1_fix_time: 2.9276, d4.loss_plan_l1_fix_dist: 0.5696, d5.loss_plan_l1_fix_time: 2.9358, d5.loss_plan_l1_fix_dist: 0.6051, d6.loss_plan_l1_fix_time: 2.9448, d6.loss_plan_l1_fix_dist: 0.6420, d0.loss_cls_all: 0.6334, d0.loss_bbox_all: 0.6852, d0.loss_cls: 0.6334, d0.loss_bbox: 0.6852, d1.loss_cls: 0.6184, d1.loss_bbox: 0.6839, d2.loss_cls: 0.6137, d2.loss_bbox: 0.6622, d3.loss_cls: 0.6127, d3.loss_bbox: 0.6660, d4.loss_cls: 0.6133, d4.loss_bbox: 0.6588, d5.loss_cls: 0.6134, d5.loss_bbox: 0.6553, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6607, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5801, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5640, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5598, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5645, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5668, d0.loss_map_cls_all: 0.3707, d0.loss_map_pts_all: 2.2909, d0.loss_map_dir_all: 0.0285, d0.loss_map_cls: 0.3707, d0.loss_map_pts: 2.2909, d0.loss_map_dir: 0.0285, d1.loss_map_cls: 0.3555, d1.loss_map_pts: 1.7960, d1.loss_map_dir: 0.0281, d2.loss_map_cls: 0.3474, d2.loss_map_pts: 1.6969, d2.loss_map_dir: 0.0282, d3.loss_map_cls: 0.3427, d3.loss_map_pts: 1.6712, d3.loss_map_dir: 0.0282, d4.loss_map_cls: 0.3392, d4.loss_map_pts: 1.6678, d4.loss_map_dir: 0.0283, d5.loss_map_cls: 0.3377, d5.loss_map_pts: 1.6732, d5.loss_map_dir: 0.0284, loss: 63.7598, grad_norm: 152.3213 +2026-02-24 13:19:36,159 - DriveTransformer - INFO - Epoch [2][10500/39528] lr: 9.958e-05, eta: 8 days, 6:40:39, time: 0.815, data_time: 0.040, memory: 19865, loss_cls: 0.6624, loss_bbox: 0.6704, loss_traj: 1.6200, loss_traj_cls: 0.0004, loss_map_cls: 0.3786, loss_map_pts: 1.8268, loss_map_dir: 0.0275, d0.loss_plan_l1_fix_time: 3.2147, d0.loss_plan_l1_fix_dist: 0.4533, d1.loss_plan_l1_fix_time: 2.9673, d1.loss_plan_l1_fix_dist: 0.4491, d2.loss_plan_l1_fix_time: 2.9281, d2.loss_plan_l1_fix_dist: 0.4674, d3.loss_plan_l1_fix_time: 2.9291, d3.loss_plan_l1_fix_dist: 0.4955, d4.loss_plan_l1_fix_time: 2.9348, d4.loss_plan_l1_fix_dist: 0.5304, d5.loss_plan_l1_fix_time: 2.9411, d5.loss_plan_l1_fix_dist: 0.5711, d6.loss_plan_l1_fix_time: 2.9485, d6.loss_plan_l1_fix_dist: 0.6194, d0.loss_cls_all: 0.6755, d0.loss_bbox_all: 0.7047, d0.loss_cls: 0.6755, d0.loss_bbox: 0.7047, d1.loss_cls: 0.6661, d1.loss_bbox: 0.7030, d2.loss_cls: 0.6638, d2.loss_bbox: 0.6804, d3.loss_cls: 0.6628, d3.loss_bbox: 0.6789, d4.loss_cls: 0.6624, d4.loss_bbox: 0.6745, d5.loss_cls: 0.6652, d5.loss_bbox: 0.6711, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6442, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6105, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6092, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6167, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6159, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6138, d0.loss_map_cls_all: 0.4159, d0.loss_map_pts_all: 2.4134, d0.loss_map_dir_all: 0.0274, d0.loss_map_cls: 0.4159, d0.loss_map_pts: 2.4134, d0.loss_map_dir: 0.0274, d1.loss_map_cls: 0.3974, d1.loss_map_pts: 1.9443, d1.loss_map_dir: 0.0269, d2.loss_map_cls: 0.3862, d2.loss_map_pts: 1.8596, d2.loss_map_dir: 0.0270, d3.loss_map_cls: 0.3820, d3.loss_map_pts: 1.8339, d3.loss_map_dir: 0.0272, d4.loss_map_cls: 0.3777, d4.loss_map_pts: 1.8259, d4.loss_map_dir: 0.0273, d5.loss_map_cls: 0.3794, d5.loss_map_pts: 1.8262, d5.loss_map_dir: 0.0273, loss: 65.9002, grad_norm: 151.7728 +2026-02-24 13:20:16,845 - DriveTransformer - INFO - Epoch [2][10550/39528] lr: 9.958e-05, eta: 8 days, 6:40:16, time: 0.814, data_time: 0.038, memory: 19865, loss_cls: 0.6702, loss_bbox: 0.6975, loss_traj: 1.3727, loss_traj_cls: 0.0005, loss_map_cls: 0.3953, loss_map_pts: 1.9086, loss_map_dir: 0.0366, d0.loss_plan_l1_fix_time: 2.9963, d0.loss_plan_l1_fix_dist: 0.5529, d1.loss_plan_l1_fix_time: 2.6887, d1.loss_plan_l1_fix_dist: 0.5296, d2.loss_plan_l1_fix_time: 2.6209, d2.loss_plan_l1_fix_dist: 0.5446, d3.loss_plan_l1_fix_time: 2.6123, d3.loss_plan_l1_fix_dist: 0.5632, d4.loss_plan_l1_fix_time: 2.6142, d4.loss_plan_l1_fix_dist: 0.5819, d5.loss_plan_l1_fix_time: 2.6202, d5.loss_plan_l1_fix_dist: 0.6015, d6.loss_plan_l1_fix_time: 2.6284, d6.loss_plan_l1_fix_dist: 0.6245, d0.loss_cls_all: 0.6679, d0.loss_bbox_all: 0.7258, d0.loss_cls: 0.6679, d0.loss_bbox: 0.7258, d1.loss_cls: 0.6637, d1.loss_bbox: 0.7234, d2.loss_cls: 0.6604, d2.loss_bbox: 0.7081, d3.loss_cls: 0.6641, d3.loss_bbox: 0.7004, d4.loss_cls: 0.6631, d4.loss_bbox: 0.7023, d5.loss_cls: 0.6678, d5.loss_bbox: 0.6972, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4128, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3716, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3656, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3680, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3701, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3696, d0.loss_map_cls_all: 0.4322, d0.loss_map_pts_all: 2.7649, d0.loss_map_dir_all: 0.0355, d0.loss_map_cls: 0.4322, d0.loss_map_pts: 2.7649, d0.loss_map_dir: 0.0355, d1.loss_map_cls: 0.4192, d1.loss_map_pts: 2.0585, d1.loss_map_dir: 0.0359, d2.loss_map_cls: 0.4047, d2.loss_map_pts: 1.9485, d2.loss_map_dir: 0.0361, d3.loss_map_cls: 0.4002, d3.loss_map_pts: 1.9240, d3.loss_map_dir: 0.0363, d4.loss_map_cls: 0.3973, d4.loss_map_pts: 1.9064, d4.loss_map_dir: 0.0364, d5.loss_map_cls: 0.3945, d5.loss_map_pts: 1.9054, d5.loss_map_dir: 0.0365, loss: 64.1653, grad_norm: 151.9876 +2026-02-24 13:20:57,816 - DriveTransformer - INFO - Epoch [2][10600/39528] lr: 9.958e-05, eta: 8 days, 6:39:57, time: 0.819, data_time: 0.039, memory: 19865, loss_cls: 0.6559, loss_bbox: 0.6726, loss_traj: 1.4625, loss_traj_cls: 0.0004, loss_map_cls: 0.3650, loss_map_pts: 1.8540, loss_map_dir: 0.0335, d0.loss_plan_l1_fix_time: 2.7075, d0.loss_plan_l1_fix_dist: 0.4253, d1.loss_plan_l1_fix_time: 2.5025, d1.loss_plan_l1_fix_dist: 0.4123, d2.loss_plan_l1_fix_time: 2.4708, d2.loss_plan_l1_fix_dist: 0.4326, d3.loss_plan_l1_fix_time: 2.4688, d3.loss_plan_l1_fix_dist: 0.4581, d4.loss_plan_l1_fix_time: 2.4743, d4.loss_plan_l1_fix_dist: 0.4909, d5.loss_plan_l1_fix_time: 2.4817, d5.loss_plan_l1_fix_dist: 0.5193, d6.loss_plan_l1_fix_time: 2.4900, d6.loss_plan_l1_fix_dist: 0.5465, d0.loss_cls_all: 0.6338, d0.loss_bbox_all: 0.6952, d0.loss_cls: 0.6338, d0.loss_bbox: 0.6952, d1.loss_cls: 0.6255, d1.loss_bbox: 0.6870, d2.loss_cls: 0.6296, d2.loss_bbox: 0.6795, d3.loss_cls: 0.6380, d3.loss_bbox: 0.6720, d4.loss_cls: 0.6419, d4.loss_bbox: 0.6737, d5.loss_cls: 0.6543, d5.loss_bbox: 0.6691, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4938, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4402, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4362, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4434, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4485, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4542, d0.loss_map_cls_all: 0.3999, d0.loss_map_pts_all: 2.6939, d0.loss_map_dir_all: 0.0332, d0.loss_map_cls: 0.3999, d0.loss_map_pts: 2.6939, d0.loss_map_dir: 0.0332, d1.loss_map_cls: 0.3844, d1.loss_map_pts: 2.0061, d1.loss_map_dir: 0.0329, d2.loss_map_cls: 0.3761, d2.loss_map_pts: 1.8958, d2.loss_map_dir: 0.0330, d3.loss_map_cls: 0.3732, d3.loss_map_pts: 1.8653, d3.loss_map_dir: 0.0332, d4.loss_map_cls: 0.3685, d4.loss_map_pts: 1.8530, d4.loss_map_dir: 0.0333, d5.loss_map_cls: 0.3649, d5.loss_map_pts: 1.8520, d5.loss_map_dir: 0.0334, loss: 61.6326, grad_norm: 149.4446 +2026-02-24 13:21:37,672 - DriveTransformer - INFO - Epoch [2][10650/39528] lr: 9.958e-05, eta: 8 days, 6:39:18, time: 0.797, data_time: 0.039, memory: 19865, loss_cls: 0.6097, loss_bbox: 0.6344, loss_traj: 1.3397, loss_traj_cls: 0.0005, loss_map_cls: 0.3878, loss_map_pts: 1.6245, loss_map_dir: 0.0300, d0.loss_plan_l1_fix_time: 2.4959, d0.loss_plan_l1_fix_dist: 0.5275, d1.loss_plan_l1_fix_time: 2.2511, d1.loss_plan_l1_fix_dist: 0.5125, d2.loss_plan_l1_fix_time: 2.2129, d2.loss_plan_l1_fix_dist: 0.5374, d3.loss_plan_l1_fix_time: 2.2144, d3.loss_plan_l1_fix_dist: 0.5773, d4.loss_plan_l1_fix_time: 2.2216, d4.loss_plan_l1_fix_dist: 0.6224, d5.loss_plan_l1_fix_time: 2.2305, d5.loss_plan_l1_fix_dist: 0.6663, d6.loss_plan_l1_fix_time: 2.2416, d6.loss_plan_l1_fix_dist: 0.7075, d0.loss_cls_all: 0.6125, d0.loss_bbox_all: 0.6557, d0.loss_cls: 0.6125, d0.loss_bbox: 0.6557, d1.loss_cls: 0.6019, d1.loss_bbox: 0.6466, d2.loss_cls: 0.6026, d2.loss_bbox: 0.6467, d3.loss_cls: 0.6033, d3.loss_bbox: 0.6397, d4.loss_cls: 0.6034, d4.loss_bbox: 0.6345, d5.loss_cls: 0.6052, d5.loss_bbox: 0.6330, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4262, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3550, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3265, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3311, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3309, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3343, d0.loss_map_cls_all: 0.4039, d0.loss_map_pts_all: 2.3624, d0.loss_map_dir_all: 0.0293, d0.loss_map_cls: 0.4039, d0.loss_map_pts: 2.3624, d0.loss_map_dir: 0.0293, d1.loss_map_cls: 0.3951, d1.loss_map_pts: 1.7676, d1.loss_map_dir: 0.0293, d2.loss_map_cls: 0.4007, d2.loss_map_pts: 1.6583, d2.loss_map_dir: 0.0296, d3.loss_map_cls: 0.3966, d3.loss_map_pts: 1.6366, d3.loss_map_dir: 0.0297, d4.loss_map_cls: 0.3946, d4.loss_map_pts: 1.6291, d4.loss_map_dir: 0.0298, d5.loss_map_cls: 0.3898, d5.loss_map_pts: 1.6257, d5.loss_map_dir: 0.0300, loss: 57.5405, grad_norm: 152.0726 +2026-02-24 13:22:16,033 - DriveTransformer - INFO - Epoch [2][10700/39528] lr: 9.958e-05, eta: 8 days, 6:38:12, time: 0.767, data_time: 0.038, memory: 19865, loss_cls: 0.7122, loss_bbox: 0.6851, loss_traj: 1.4287, loss_traj_cls: 0.0005, loss_map_cls: 0.4590, loss_map_pts: 1.8246, loss_map_dir: 0.0363, d0.loss_plan_l1_fix_time: 2.8133, d0.loss_plan_l1_fix_dist: 0.4090, d1.loss_plan_l1_fix_time: 2.6099, d1.loss_plan_l1_fix_dist: 0.3926, d2.loss_plan_l1_fix_time: 2.5761, d2.loss_plan_l1_fix_dist: 0.4121, d3.loss_plan_l1_fix_time: 2.5739, d3.loss_plan_l1_fix_dist: 0.4438, d4.loss_plan_l1_fix_time: 2.5810, d4.loss_plan_l1_fix_dist: 0.4814, d5.loss_plan_l1_fix_time: 2.5911, d5.loss_plan_l1_fix_dist: 0.5286, d6.loss_plan_l1_fix_time: 2.6048, d6.loss_plan_l1_fix_dist: 0.5905, d0.loss_cls_all: 0.6971, d0.loss_bbox_all: 0.6990, d0.loss_cls: 0.6971, d0.loss_bbox: 0.6990, d1.loss_cls: 0.6832, d1.loss_bbox: 0.6923, d2.loss_cls: 0.6897, d2.loss_bbox: 0.6949, d3.loss_cls: 0.6920, d3.loss_bbox: 0.6967, d4.loss_cls: 0.6951, d4.loss_bbox: 0.6851, d5.loss_cls: 0.7000, d5.loss_bbox: 0.6806, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4539, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4036, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4130, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4148, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4220, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4236, d0.loss_map_cls_all: 0.4741, d0.loss_map_pts_all: 2.5878, d0.loss_map_dir_all: 0.0353, d0.loss_map_cls: 0.4741, d0.loss_map_pts: 2.5878, d0.loss_map_dir: 0.0353, d1.loss_map_cls: 0.4680, d1.loss_map_pts: 1.9772, d1.loss_map_dir: 0.0357, d2.loss_map_cls: 0.4711, d2.loss_map_pts: 1.8700, d2.loss_map_dir: 0.0357, d3.loss_map_cls: 0.4707, d3.loss_map_pts: 1.8422, d3.loss_map_dir: 0.0360, d4.loss_map_cls: 0.4674, d4.loss_map_pts: 1.8318, d4.loss_map_dir: 0.0362, d5.loss_map_cls: 0.4602, d5.loss_map_pts: 1.8297, d5.loss_map_dir: 0.0363, loss: 63.0542, grad_norm: 152.9023 +2026-02-24 13:22:56,382 - DriveTransformer - INFO - Epoch [2][10750/39528] lr: 9.958e-05, eta: 8 days, 6:37:43, time: 0.807, data_time: 0.042, memory: 19865, loss_cls: 0.6636, loss_bbox: 0.6505, loss_traj: 1.4831, loss_traj_cls: 0.0004, loss_map_cls: 0.3992, loss_map_pts: 1.7634, loss_map_dir: 0.0320, d0.loss_plan_l1_fix_time: 2.8612, d0.loss_plan_l1_fix_dist: 0.4926, d1.loss_plan_l1_fix_time: 2.5522, d1.loss_plan_l1_fix_dist: 0.4636, d2.loss_plan_l1_fix_time: 2.4791, d2.loss_plan_l1_fix_dist: 0.4715, d3.loss_plan_l1_fix_time: 2.4649, d3.loss_plan_l1_fix_dist: 0.4931, d4.loss_plan_l1_fix_time: 2.4639, d4.loss_plan_l1_fix_dist: 0.5195, d5.loss_plan_l1_fix_time: 2.4675, d5.loss_plan_l1_fix_dist: 0.5496, d6.loss_plan_l1_fix_time: 2.4726, d6.loss_plan_l1_fix_dist: 0.5832, d0.loss_cls_all: 0.6556, d0.loss_bbox_all: 0.6743, d0.loss_cls: 0.6556, d0.loss_bbox: 0.6743, d1.loss_cls: 0.6542, d1.loss_bbox: 0.6637, d2.loss_cls: 0.6532, d2.loss_bbox: 0.6660, d3.loss_cls: 0.6569, d3.loss_bbox: 0.6744, d4.loss_cls: 0.6574, d4.loss_bbox: 0.6539, d5.loss_cls: 0.6591, d5.loss_bbox: 0.6493, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5294, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4697, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4741, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4800, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4837, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4713, d0.loss_map_cls_all: 0.4277, d0.loss_map_pts_all: 2.5978, d0.loss_map_dir_all: 0.0311, d0.loss_map_cls: 0.4277, d0.loss_map_pts: 2.5978, d0.loss_map_dir: 0.0311, d1.loss_map_cls: 0.4146, d1.loss_map_pts: 1.9115, d1.loss_map_dir: 0.0310, d2.loss_map_cls: 0.4062, d2.loss_map_pts: 1.7902, d2.loss_map_dir: 0.0314, d3.loss_map_cls: 0.4040, d3.loss_map_pts: 1.7603, d3.loss_map_dir: 0.0317, d4.loss_map_cls: 0.4011, d4.loss_map_pts: 1.7549, d4.loss_map_dir: 0.0318, d5.loss_map_cls: 0.3988, d5.loss_map_pts: 1.7574, d5.loss_map_dir: 0.0319, loss: 61.7572, grad_norm: 149.5599 +2026-02-24 13:23:36,827 - DriveTransformer - INFO - Epoch [2][10800/39528] lr: 9.958e-05, eta: 8 days, 6:37:14, time: 0.809, data_time: 0.037, memory: 19865, loss_cls: 0.6867, loss_bbox: 0.7002, loss_traj: 1.3186, loss_traj_cls: 0.0004, loss_map_cls: 0.4028, loss_map_pts: 1.9178, loss_map_dir: 0.0370, d0.loss_plan_l1_fix_time: 2.8625, d0.loss_plan_l1_fix_dist: 0.4370, d1.loss_plan_l1_fix_time: 2.5063, d1.loss_plan_l1_fix_dist: 0.4287, d2.loss_plan_l1_fix_time: 2.5017, d2.loss_plan_l1_fix_dist: 0.4502, d3.loss_plan_l1_fix_time: 2.5124, d3.loss_plan_l1_fix_dist: 0.4797, d4.loss_plan_l1_fix_time: 2.5228, d4.loss_plan_l1_fix_dist: 0.5105, d5.loss_plan_l1_fix_time: 2.5319, d5.loss_plan_l1_fix_dist: 0.5395, d6.loss_plan_l1_fix_time: 2.5410, d6.loss_plan_l1_fix_dist: 0.5631, d0.loss_cls_all: 0.6909, d0.loss_bbox_all: 0.7348, d0.loss_cls: 0.6909, d0.loss_bbox: 0.7348, d1.loss_cls: 0.6841, d1.loss_bbox: 0.7214, d2.loss_cls: 0.6807, d2.loss_bbox: 0.7084, d3.loss_cls: 0.6807, d3.loss_bbox: 0.7192, d4.loss_cls: 0.6813, d4.loss_bbox: 0.6975, d5.loss_cls: 0.6839, d5.loss_bbox: 0.6969, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3228, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2980, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3001, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3090, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3052, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3074, d0.loss_map_cls_all: 0.4196, d0.loss_map_pts_all: 2.8199, d0.loss_map_dir_all: 0.0359, d0.loss_map_cls: 0.4196, d0.loss_map_pts: 2.8199, d0.loss_map_dir: 0.0359, d1.loss_map_cls: 0.4105, d1.loss_map_pts: 2.0830, d1.loss_map_dir: 0.0364, d2.loss_map_cls: 0.4051, d2.loss_map_pts: 1.9617, d2.loss_map_dir: 0.0364, d3.loss_map_cls: 0.4012, d3.loss_map_pts: 1.9234, d3.loss_map_dir: 0.0367, d4.loss_map_cls: 0.3978, d4.loss_map_pts: 1.9144, d4.loss_map_dir: 0.0368, d5.loss_map_cls: 0.4013, d5.loss_map_pts: 1.9111, d5.loss_map_dir: 0.0370, loss: 62.6463, grad_norm: 149.5500 +2026-02-24 13:24:15,814 - DriveTransformer - INFO - Epoch [2][10850/39528] lr: 9.958e-05, eta: 8 days, 6:36:20, time: 0.780, data_time: 0.035, memory: 19865, loss_cls: 0.6608, loss_bbox: 0.6793, loss_traj: 1.6438, loss_traj_cls: 0.0004, loss_map_cls: 0.3798, loss_map_pts: 1.6417, loss_map_dir: 0.0278, d0.loss_plan_l1_fix_time: 3.2348, d0.loss_plan_l1_fix_dist: 0.4899, d1.loss_plan_l1_fix_time: 2.9289, d1.loss_plan_l1_fix_dist: 0.4409, d2.loss_plan_l1_fix_time: 2.8907, d2.loss_plan_l1_fix_dist: 0.4368, d3.loss_plan_l1_fix_time: 2.8884, d3.loss_plan_l1_fix_dist: 0.4492, d4.loss_plan_l1_fix_time: 2.8929, d4.loss_plan_l1_fix_dist: 0.4676, d5.loss_plan_l1_fix_time: 2.8989, d5.loss_plan_l1_fix_dist: 0.4897, d6.loss_plan_l1_fix_time: 2.9074, d6.loss_plan_l1_fix_dist: 0.5160, d0.loss_cls_all: 0.6605, d0.loss_bbox_all: 0.7141, d0.loss_cls: 0.6605, d0.loss_bbox: 0.7141, d1.loss_cls: 0.6615, d1.loss_bbox: 0.6992, d2.loss_cls: 0.6589, d2.loss_bbox: 0.6817, d3.loss_cls: 0.6583, d3.loss_bbox: 0.6930, d4.loss_cls: 0.6574, d4.loss_bbox: 0.6768, d5.loss_cls: 0.6619, d5.loss_bbox: 0.6741, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6488, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6013, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6097, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6244, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6288, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6341, d0.loss_map_cls_all: 0.4040, d0.loss_map_pts_all: 2.3566, d0.loss_map_dir_all: 0.0272, d0.loss_map_cls: 0.4040, d0.loss_map_pts: 2.3566, d0.loss_map_dir: 0.0272, d1.loss_map_cls: 0.3886, d1.loss_map_pts: 1.7714, d1.loss_map_dir: 0.0272, d2.loss_map_cls: 0.3889, d2.loss_map_pts: 1.6754, d2.loss_map_dir: 0.0274, d3.loss_map_cls: 0.3834, d3.loss_map_pts: 1.6533, d3.loss_map_dir: 0.0276, d4.loss_map_cls: 0.3789, d4.loss_map_pts: 1.6449, d4.loss_map_dir: 0.0276, d5.loss_map_cls: 0.3787, d5.loss_map_pts: 1.6445, d5.loss_map_dir: 0.0278, loss: 64.2097, grad_norm: 149.2642 +2026-02-24 13:24:54,044 - DriveTransformer - INFO - Epoch [2][10900/39528] lr: 9.958e-05, eta: 8 days, 6:35:12, time: 0.765, data_time: 0.042, memory: 19865, loss_cls: 0.6801, loss_bbox: 0.6905, loss_traj: 1.4925, loss_traj_cls: 0.0005, loss_map_cls: 0.4332, loss_map_pts: 1.8950, loss_map_dir: 0.0354, d0.loss_plan_l1_fix_time: 2.7634, d0.loss_plan_l1_fix_dist: 0.4407, d1.loss_plan_l1_fix_time: 2.5119, d1.loss_plan_l1_fix_dist: 0.4019, d2.loss_plan_l1_fix_time: 2.4578, d2.loss_plan_l1_fix_dist: 0.4102, d3.loss_plan_l1_fix_time: 2.4568, d3.loss_plan_l1_fix_dist: 0.4281, d4.loss_plan_l1_fix_time: 2.4635, d4.loss_plan_l1_fix_dist: 0.4533, d5.loss_plan_l1_fix_time: 2.4722, d5.loss_plan_l1_fix_dist: 0.4826, d6.loss_plan_l1_fix_time: 2.4827, d6.loss_plan_l1_fix_dist: 0.5091, d0.loss_cls_all: 0.6972, d0.loss_bbox_all: 0.7298, d0.loss_cls: 0.6972, d0.loss_bbox: 0.7298, d1.loss_cls: 0.6884, d1.loss_bbox: 0.7220, d2.loss_cls: 0.6830, d2.loss_bbox: 0.7030, d3.loss_cls: 0.6814, d3.loss_bbox: 0.7121, d4.loss_cls: 0.6806, d4.loss_bbox: 0.6966, d5.loss_cls: 0.6822, d5.loss_bbox: 0.6900, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5227, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4735, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4600, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4647, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4821, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4799, d0.loss_map_cls_all: 0.4562, d0.loss_map_pts_all: 2.5806, d0.loss_map_dir_all: 0.0346, d0.loss_map_cls: 0.4562, d0.loss_map_pts: 2.5806, d0.loss_map_dir: 0.0346, d1.loss_map_cls: 0.4458, d1.loss_map_pts: 2.0228, d1.loss_map_dir: 0.0346, d2.loss_map_cls: 0.4495, d2.loss_map_pts: 1.9322, d2.loss_map_dir: 0.0349, d3.loss_map_cls: 0.4419, d3.loss_map_pts: 1.9096, d3.loss_map_dir: 0.0350, d4.loss_map_cls: 0.4382, d4.loss_map_pts: 1.8990, d4.loss_map_dir: 0.0352, d5.loss_map_cls: 0.4357, d5.loss_map_pts: 1.8985, d5.loss_map_dir: 0.0353, loss: 62.8325, grad_norm: 149.2734 +2026-02-24 13:25:35,064 - DriveTransformer - INFO - Epoch [2][10950/39528] lr: 9.958e-05, eta: 8 days, 6:34:54, time: 0.820, data_time: 0.039, memory: 19865, loss_cls: 0.6706, loss_bbox: 0.6473, loss_traj: 1.7352, loss_traj_cls: 0.0005, loss_map_cls: 0.4036, loss_map_pts: 1.7547, loss_map_dir: 0.0367, d0.loss_plan_l1_fix_time: 2.7348, d0.loss_plan_l1_fix_dist: 0.4655, d1.loss_plan_l1_fix_time: 2.5021, d1.loss_plan_l1_fix_dist: 0.4196, d2.loss_plan_l1_fix_time: 2.4821, d2.loss_plan_l1_fix_dist: 0.4317, d3.loss_plan_l1_fix_time: 2.4815, d3.loss_plan_l1_fix_dist: 0.4490, d4.loss_plan_l1_fix_time: 2.4848, d4.loss_plan_l1_fix_dist: 0.4725, d5.loss_plan_l1_fix_time: 2.4898, d5.loss_plan_l1_fix_dist: 0.4990, d6.loss_plan_l1_fix_time: 2.4961, d6.loss_plan_l1_fix_dist: 0.5316, d0.loss_cls_all: 0.6668, d0.loss_bbox_all: 0.6865, d0.loss_cls: 0.6668, d0.loss_bbox: 0.6865, d1.loss_cls: 0.6610, d1.loss_bbox: 0.6742, d2.loss_cls: 0.6607, d2.loss_bbox: 0.6498, d3.loss_cls: 0.6611, d3.loss_bbox: 0.6579, d4.loss_cls: 0.6583, d4.loss_bbox: 0.6511, d5.loss_cls: 0.6606, d5.loss_bbox: 0.6470, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7933, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7111, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7050, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7213, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7283, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7340, d0.loss_map_cls_all: 0.4148, d0.loss_map_pts_all: 2.6164, d0.loss_map_dir_all: 0.0358, d0.loss_map_cls: 0.4148, d0.loss_map_pts: 2.6164, d0.loss_map_dir: 0.0358, d1.loss_map_cls: 0.4119, d1.loss_map_pts: 1.8913, d1.loss_map_dir: 0.0360, d2.loss_map_cls: 0.4091, d2.loss_map_pts: 1.7757, d2.loss_map_dir: 0.0360, d3.loss_map_cls: 0.4028, d3.loss_map_pts: 1.7545, d3.loss_map_dir: 0.0363, d4.loss_map_cls: 0.3993, d4.loss_map_pts: 1.7497, d4.loss_map_dir: 0.0364, d5.loss_map_cls: 0.4012, d5.loss_map_pts: 1.7524, d5.loss_map_dir: 0.0366, loss: 63.1375, grad_norm: 152.2115 +2026-02-24 13:26:13,907 - DriveTransformer - INFO - Epoch [2][11000/39528] lr: 9.958e-05, eta: 8 days, 6:33:59, time: 0.778, data_time: 0.040, memory: 19865, loss_cls: 0.6914, loss_bbox: 0.6981, loss_traj: 1.6197, loss_traj_cls: 0.0004, loss_map_cls: 0.4760, loss_map_pts: 1.8061, loss_map_dir: 0.0342, d0.loss_plan_l1_fix_time: 2.4722, d0.loss_plan_l1_fix_dist: 0.5287, d1.loss_plan_l1_fix_time: 2.3866, d1.loss_plan_l1_fix_dist: 0.4895, d2.loss_plan_l1_fix_time: 2.3975, d2.loss_plan_l1_fix_dist: 0.4942, d3.loss_plan_l1_fix_time: 2.4077, d3.loss_plan_l1_fix_dist: 0.5124, d4.loss_plan_l1_fix_time: 2.4162, d4.loss_plan_l1_fix_dist: 0.5399, d5.loss_plan_l1_fix_time: 2.4245, d5.loss_plan_l1_fix_dist: 0.5720, d6.loss_plan_l1_fix_time: 2.4336, d6.loss_plan_l1_fix_dist: 0.6133, d0.loss_cls_all: 0.6977, d0.loss_bbox_all: 0.7254, d0.loss_cls: 0.6977, d0.loss_bbox: 0.7254, d1.loss_cls: 0.6832, d1.loss_bbox: 0.7177, d2.loss_cls: 0.6805, d2.loss_bbox: 0.7058, d3.loss_cls: 0.6805, d3.loss_bbox: 0.6971, d4.loss_cls: 0.6848, d4.loss_bbox: 0.6915, d5.loss_cls: 0.6844, d5.loss_bbox: 0.6975, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6728, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6085, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5954, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6058, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6016, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6079, d0.loss_map_cls_all: 0.4807, d0.loss_map_pts_all: 2.5140, d0.loss_map_dir_all: 0.0331, d0.loss_map_cls: 0.4807, d0.loss_map_pts: 2.5140, d0.loss_map_dir: 0.0331, d1.loss_map_cls: 0.4743, d1.loss_map_pts: 1.9340, d1.loss_map_dir: 0.0334, d2.loss_map_cls: 0.4665, d2.loss_map_pts: 1.8323, d2.loss_map_dir: 0.0337, d3.loss_map_cls: 0.4634, d3.loss_map_pts: 1.8049, d3.loss_map_dir: 0.0338, d4.loss_map_cls: 0.4588, d4.loss_map_pts: 1.7994, d4.loss_map_dir: 0.0339, d5.loss_map_cls: 0.4676, d5.loss_map_pts: 1.8023, d5.loss_map_dir: 0.0341, loss: 63.2077, grad_norm: 153.5803 +2026-02-24 13:26:55,165 - DriveTransformer - INFO - Epoch [2][11050/39528] lr: 9.958e-05, eta: 8 days, 6:33:44, time: 0.824, data_time: 0.035, memory: 19865, loss_cls: 0.6487, loss_bbox: 0.6977, loss_traj: 1.5330, loss_traj_cls: 0.0004, loss_map_cls: 0.4031, loss_map_pts: 1.8643, loss_map_dir: 0.0375, d0.loss_plan_l1_fix_time: 2.4752, d0.loss_plan_l1_fix_dist: 0.4010, d1.loss_plan_l1_fix_time: 2.3259, d1.loss_plan_l1_fix_dist: 0.3627, d2.loss_plan_l1_fix_time: 2.2763, d2.loss_plan_l1_fix_dist: 0.3652, d3.loss_plan_l1_fix_time: 2.2677, d3.loss_plan_l1_fix_dist: 0.3781, d4.loss_plan_l1_fix_time: 2.2706, d4.loss_plan_l1_fix_dist: 0.3915, d5.loss_plan_l1_fix_time: 2.2766, d5.loss_plan_l1_fix_dist: 0.4070, d6.loss_plan_l1_fix_time: 2.2856, d6.loss_plan_l1_fix_dist: 0.4240, d0.loss_cls_all: 0.6555, d0.loss_bbox_all: 0.7364, d0.loss_cls: 0.6555, d0.loss_bbox: 0.7364, d1.loss_cls: 0.6500, d1.loss_bbox: 0.7328, d2.loss_cls: 0.6490, d2.loss_bbox: 0.7257, d3.loss_cls: 0.6505, d3.loss_bbox: 0.7003, d4.loss_cls: 0.6469, d4.loss_bbox: 0.6945, d5.loss_cls: 0.6489, d5.loss_bbox: 0.6955, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5587, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5051, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5009, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5087, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5092, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5193, d0.loss_map_cls_all: 0.4255, d0.loss_map_pts_all: 2.7204, d0.loss_map_dir_all: 0.0368, d0.loss_map_cls: 0.4255, d0.loss_map_pts: 2.7204, d0.loss_map_dir: 0.0368, d1.loss_map_cls: 0.4095, d1.loss_map_pts: 2.0212, d1.loss_map_dir: 0.0370, d2.loss_map_cls: 0.3955, d2.loss_map_pts: 1.8863, d2.loss_map_dir: 0.0369, d3.loss_map_cls: 0.3935, d3.loss_map_pts: 1.8594, d3.loss_map_dir: 0.0372, d4.loss_map_cls: 0.3922, d4.loss_map_pts: 1.8594, d4.loss_map_dir: 0.0373, d5.loss_map_cls: 0.3981, d5.loss_map_pts: 1.8600, d5.loss_map_dir: 0.0374, loss: 60.8022, grad_norm: 153.5749 +2026-02-24 13:27:32,969 - DriveTransformer - INFO - Epoch [2][11100/39528] lr: 9.958e-05, eta: 8 days, 6:32:29, time: 0.756, data_time: 0.041, memory: 19865, loss_cls: 0.6265, loss_bbox: 0.6676, loss_traj: 1.4873, loss_traj_cls: 0.0004, loss_map_cls: 0.3463, loss_map_pts: 1.6565, loss_map_dir: 0.0259, d0.loss_plan_l1_fix_time: 2.8807, d0.loss_plan_l1_fix_dist: 0.5134, d1.loss_plan_l1_fix_time: 2.7176, d1.loss_plan_l1_fix_dist: 0.4700, d2.loss_plan_l1_fix_time: 2.6527, d2.loss_plan_l1_fix_dist: 0.4686, d3.loss_plan_l1_fix_time: 2.6428, d3.loss_plan_l1_fix_dist: 0.4817, d4.loss_plan_l1_fix_time: 2.6430, d4.loss_plan_l1_fix_dist: 0.5046, d5.loss_plan_l1_fix_time: 2.6459, d5.loss_plan_l1_fix_dist: 0.5315, d6.loss_plan_l1_fix_time: 2.6506, d6.loss_plan_l1_fix_dist: 0.5585, d0.loss_cls_all: 0.6406, d0.loss_bbox_all: 0.6907, d0.loss_cls: 0.6406, d0.loss_bbox: 0.6907, d1.loss_cls: 0.6255, d1.loss_bbox: 0.6950, d2.loss_cls: 0.6207, d2.loss_bbox: 0.6902, d3.loss_cls: 0.6230, d3.loss_bbox: 0.6678, d4.loss_cls: 0.6201, d4.loss_bbox: 0.6656, d5.loss_cls: 0.6229, d5.loss_bbox: 0.6645, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5255, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4671, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4688, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4739, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4746, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4785, d0.loss_map_cls_all: 0.3821, d0.loss_map_pts_all: 2.2634, d0.loss_map_dir_all: 0.0257, d0.loss_map_cls: 0.3821, d0.loss_map_pts: 2.2634, d0.loss_map_dir: 0.0257, d1.loss_map_cls: 0.3602, d1.loss_map_pts: 1.7642, d1.loss_map_dir: 0.0255, d2.loss_map_cls: 0.3527, d2.loss_map_pts: 1.6701, d2.loss_map_dir: 0.0256, d3.loss_map_cls: 0.3445, d3.loss_map_pts: 1.6518, d3.loss_map_dir: 0.0258, d4.loss_map_cls: 0.3435, d4.loss_map_pts: 1.6469, d4.loss_map_dir: 0.0259, d5.loss_map_cls: 0.3448, d5.loss_map_pts: 1.6498, d5.loss_map_dir: 0.0259, loss: 60.8223, grad_norm: 155.0249 +2026-02-24 13:28:12,136 - DriveTransformer - INFO - Epoch [2][11150/39528] lr: 9.958e-05, eta: 8 days, 6:31:38, time: 0.783, data_time: 0.040, memory: 19865, loss_cls: 0.6281, loss_bbox: 0.6203, loss_traj: 1.2690, loss_traj_cls: 0.0004, loss_map_cls: 0.3650, loss_map_pts: 1.6229, loss_map_dir: 0.0294, d0.loss_plan_l1_fix_time: 2.5686, d0.loss_plan_l1_fix_dist: 0.4582, d1.loss_plan_l1_fix_time: 2.3259, d1.loss_plan_l1_fix_dist: 0.3985, d2.loss_plan_l1_fix_time: 2.2555, d2.loss_plan_l1_fix_dist: 0.3936, d3.loss_plan_l1_fix_time: 2.2464, d3.loss_plan_l1_fix_dist: 0.4050, d4.loss_plan_l1_fix_time: 2.2481, d4.loss_plan_l1_fix_dist: 0.4229, d5.loss_plan_l1_fix_time: 2.2527, d5.loss_plan_l1_fix_dist: 0.4418, d6.loss_plan_l1_fix_time: 2.2592, d6.loss_plan_l1_fix_dist: 0.4660, d0.loss_cls_all: 0.6376, d0.loss_bbox_all: 0.6559, d0.loss_cls: 0.6376, d0.loss_bbox: 0.6559, d1.loss_cls: 0.6221, d1.loss_bbox: 0.6450, d2.loss_cls: 0.6249, d2.loss_bbox: 0.6443, d3.loss_cls: 0.6225, d3.loss_bbox: 0.6338, d4.loss_cls: 0.6220, d4.loss_bbox: 0.6224, d5.loss_cls: 0.6250, d5.loss_bbox: 0.6180, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3100, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2605, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.2676, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.2827, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2794, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2659, d0.loss_map_cls_all: 0.4006, d0.loss_map_pts_all: 2.3895, d0.loss_map_dir_all: 0.0290, d0.loss_map_cls: 0.4006, d0.loss_map_pts: 2.3895, d0.loss_map_dir: 0.0290, d1.loss_map_cls: 0.3793, d1.loss_map_pts: 1.7600, d1.loss_map_dir: 0.0289, d2.loss_map_cls: 0.3710, d2.loss_map_pts: 1.6606, d2.loss_map_dir: 0.0289, d3.loss_map_cls: 0.3662, d3.loss_map_pts: 1.6323, d3.loss_map_dir: 0.0292, d4.loss_map_cls: 0.3624, d4.loss_map_pts: 1.6261, d4.loss_map_dir: 0.0292, d5.loss_map_cls: 0.3626, d5.loss_map_pts: 1.6243, d5.loss_map_dir: 0.0293, loss: 56.1434, grad_norm: 155.3369 +2026-02-24 13:28:51,758 - DriveTransformer - INFO - Epoch [2][11200/39528] lr: 9.958e-05, eta: 8 days, 6:30:55, time: 0.792, data_time: 0.034, memory: 19865, loss_cls: 0.6932, loss_bbox: 0.7408, loss_traj: 1.4486, loss_traj_cls: 0.0004, loss_map_cls: 0.4160, loss_map_pts: 1.9642, loss_map_dir: 0.0367, d0.loss_plan_l1_fix_time: 3.0798, d0.loss_plan_l1_fix_dist: 0.4556, d1.loss_plan_l1_fix_time: 2.7853, d1.loss_plan_l1_fix_dist: 0.4121, d2.loss_plan_l1_fix_time: 2.7473, d2.loss_plan_l1_fix_dist: 0.4131, d3.loss_plan_l1_fix_time: 2.7448, d3.loss_plan_l1_fix_dist: 0.4277, d4.loss_plan_l1_fix_time: 2.7480, d4.loss_plan_l1_fix_dist: 0.4420, d5.loss_plan_l1_fix_time: 2.7529, d5.loss_plan_l1_fix_dist: 0.4631, d6.loss_plan_l1_fix_time: 2.7598, d6.loss_plan_l1_fix_dist: 0.4852, d0.loss_cls_all: 0.7082, d0.loss_bbox_all: 0.7771, d0.loss_cls: 0.7082, d0.loss_bbox: 0.7771, d1.loss_cls: 0.7031, d1.loss_bbox: 0.7649, d2.loss_cls: 0.7027, d2.loss_bbox: 0.7615, d3.loss_cls: 0.7016, d3.loss_bbox: 0.7504, d4.loss_cls: 0.6984, d4.loss_bbox: 0.7437, d5.loss_cls: 0.6954, d5.loss_bbox: 0.7391, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5293, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4407, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4335, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4456, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4457, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4507, d0.loss_map_cls_all: 0.4289, d0.loss_map_pts_all: 2.8128, d0.loss_map_dir_all: 0.0358, d0.loss_map_cls: 0.4289, d0.loss_map_pts: 2.8128, d0.loss_map_dir: 0.0358, d1.loss_map_cls: 0.4125, d1.loss_map_pts: 2.1167, d1.loss_map_dir: 0.0358, d2.loss_map_cls: 0.4081, d2.loss_map_pts: 2.0024, d2.loss_map_dir: 0.0359, d3.loss_map_cls: 0.4045, d3.loss_map_pts: 1.9704, d3.loss_map_dir: 0.0363, d4.loss_map_cls: 0.4053, d4.loss_map_pts: 1.9664, d4.loss_map_dir: 0.0365, d5.loss_map_cls: 0.4115, d5.loss_map_pts: 1.9658, d5.loss_map_dir: 0.0366, loss: 65.7973, grad_norm: 153.9410 +2026-02-24 13:29:30,962 - DriveTransformer - INFO - Epoch [2][11250/39528] lr: 9.958e-05, eta: 8 days, 6:30:05, time: 0.784, data_time: 0.045, memory: 19865, loss_cls: 0.6247, loss_bbox: 0.6482, loss_traj: 1.7075, loss_traj_cls: 0.0004, loss_map_cls: 0.3838, loss_map_pts: 1.6660, loss_map_dir: 0.0317, d0.loss_plan_l1_fix_time: 2.9314, d0.loss_plan_l1_fix_dist: 0.5004, d1.loss_plan_l1_fix_time: 2.6630, d1.loss_plan_l1_fix_dist: 0.4675, d2.loss_plan_l1_fix_time: 2.6527, d2.loss_plan_l1_fix_dist: 0.4664, d3.loss_plan_l1_fix_time: 2.6589, d3.loss_plan_l1_fix_dist: 0.4759, d4.loss_plan_l1_fix_time: 2.6669, d4.loss_plan_l1_fix_dist: 0.4912, d5.loss_plan_l1_fix_time: 2.6749, d5.loss_plan_l1_fix_dist: 0.5099, d6.loss_plan_l1_fix_time: 2.6836, d6.loss_plan_l1_fix_dist: 0.5286, d0.loss_cls_all: 0.6442, d0.loss_bbox_all: 0.6886, d0.loss_cls: 0.6442, d0.loss_bbox: 0.6886, d1.loss_cls: 0.6325, d1.loss_bbox: 0.6707, d2.loss_cls: 0.6273, d2.loss_bbox: 0.6600, d3.loss_cls: 0.6255, d3.loss_bbox: 0.6607, d4.loss_cls: 0.6242, d4.loss_bbox: 0.6525, d5.loss_cls: 0.6281, d5.loss_bbox: 0.6465, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7802, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.7159, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.7134, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7130, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7200, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7094, d0.loss_map_cls_all: 0.4093, d0.loss_map_pts_all: 2.3924, d0.loss_map_dir_all: 0.0315, d0.loss_map_cls: 0.4093, d0.loss_map_pts: 2.3924, d0.loss_map_dir: 0.0315, d1.loss_map_cls: 0.3951, d1.loss_map_pts: 1.7978, d1.loss_map_dir: 0.0312, d2.loss_map_cls: 0.3853, d2.loss_map_pts: 1.6875, d2.loss_map_dir: 0.0313, d3.loss_map_cls: 0.3806, d3.loss_map_pts: 1.6629, d3.loss_map_dir: 0.0316, d4.loss_map_cls: 0.3797, d4.loss_map_pts: 1.6623, d4.loss_map_dir: 0.0316, d5.loss_map_cls: 0.3808, d5.loss_map_pts: 1.6642, d5.loss_map_dir: 0.0316, loss: 63.1031, grad_norm: 153.1401 +2026-02-24 13:30:09,283 - DriveTransformer - INFO - Epoch [2][11300/39528] lr: 9.958e-05, eta: 8 days, 6:28:59, time: 0.766, data_time: 0.042, memory: 19865, loss_cls: 0.6273, loss_bbox: 0.6477, loss_traj: 1.5469, loss_traj_cls: 0.0004, loss_map_cls: 0.4060, loss_map_pts: 1.6893, loss_map_dir: 0.0301, d0.loss_plan_l1_fix_time: 2.7248, d0.loss_plan_l1_fix_dist: 0.4804, d1.loss_plan_l1_fix_time: 2.3955, d1.loss_plan_l1_fix_dist: 0.4372, d2.loss_plan_l1_fix_time: 2.3630, d2.loss_plan_l1_fix_dist: 0.4360, d3.loss_plan_l1_fix_time: 2.3645, d3.loss_plan_l1_fix_dist: 0.4483, d4.loss_plan_l1_fix_time: 2.3704, d4.loss_plan_l1_fix_dist: 0.4696, d5.loss_plan_l1_fix_time: 2.3767, d5.loss_plan_l1_fix_dist: 0.4952, d6.loss_plan_l1_fix_time: 2.3838, d6.loss_plan_l1_fix_dist: 0.5268, d0.loss_cls_all: 0.6307, d0.loss_bbox_all: 0.6713, d0.loss_cls: 0.6307, d0.loss_bbox: 0.6713, d1.loss_cls: 0.6311, d1.loss_bbox: 0.6580, d2.loss_cls: 0.6309, d2.loss_bbox: 0.6448, d3.loss_cls: 0.6322, d3.loss_bbox: 0.6490, d4.loss_cls: 0.6275, d4.loss_bbox: 0.6445, d5.loss_cls: 0.6275, d5.loss_bbox: 0.6427, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5948, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5308, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5245, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5383, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5496, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5498, d0.loss_map_cls_all: 0.4378, d0.loss_map_pts_all: 2.3801, d0.loss_map_dir_all: 0.0293, d0.loss_map_cls: 0.4378, d0.loss_map_pts: 2.3801, d0.loss_map_dir: 0.0293, d1.loss_map_cls: 0.4259, d1.loss_map_pts: 1.8091, d1.loss_map_dir: 0.0292, d2.loss_map_cls: 0.4223, d2.loss_map_pts: 1.7182, d2.loss_map_dir: 0.0295, d3.loss_map_cls: 0.4126, d3.loss_map_pts: 1.6901, d3.loss_map_dir: 0.0297, d4.loss_map_cls: 0.4072, d4.loss_map_pts: 1.6831, d4.loss_map_dir: 0.0298, d5.loss_map_cls: 0.4055, d5.loss_map_pts: 1.6847, d5.loss_map_dir: 0.0300, loss: 60.0051, grad_norm: 152.9857 +2026-02-24 13:30:49,411 - DriveTransformer - INFO - Epoch [2][11350/39528] lr: 9.958e-05, eta: 8 days, 6:28:25, time: 0.803, data_time: 0.038, memory: 19865, loss_cls: 0.6622, loss_bbox: 0.6755, loss_traj: 1.7258, loss_traj_cls: 0.0005, loss_map_cls: 0.3692, loss_map_pts: 1.7770, loss_map_dir: 0.0330, d0.loss_plan_l1_fix_time: 3.3325, d0.loss_plan_l1_fix_dist: 0.4593, d1.loss_plan_l1_fix_time: 3.0656, d1.loss_plan_l1_fix_dist: 0.4203, d2.loss_plan_l1_fix_time: 2.9980, d2.loss_plan_l1_fix_dist: 0.4248, d3.loss_plan_l1_fix_time: 2.9841, d3.loss_plan_l1_fix_dist: 0.4372, d4.loss_plan_l1_fix_time: 2.9824, d4.loss_plan_l1_fix_dist: 0.4507, d5.loss_plan_l1_fix_time: 2.9842, d5.loss_plan_l1_fix_dist: 0.4637, d6.loss_plan_l1_fix_time: 2.9896, d6.loss_plan_l1_fix_dist: 0.4804, d0.loss_cls_all: 0.6695, d0.loss_bbox_all: 0.7048, d0.loss_cls: 0.6695, d0.loss_bbox: 0.7048, d1.loss_cls: 0.6794, d1.loss_bbox: 0.6989, d2.loss_cls: 0.6826, d2.loss_bbox: 0.6792, d3.loss_cls: 0.6830, d3.loss_bbox: 0.6785, d4.loss_cls: 0.6778, d4.loss_bbox: 0.6716, d5.loss_cls: 0.6702, d5.loss_bbox: 0.6708, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7722, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7008, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.7044, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7080, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7147, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7192, d0.loss_map_cls_all: 0.3991, d0.loss_map_pts_all: 2.5189, d0.loss_map_dir_all: 0.0327, d0.loss_map_cls: 0.3991, d0.loss_map_pts: 2.5189, d0.loss_map_dir: 0.0327, d1.loss_map_cls: 0.3906, d1.loss_map_pts: 1.8883, d1.loss_map_dir: 0.0326, d2.loss_map_cls: 0.3857, d2.loss_map_pts: 1.8056, d2.loss_map_dir: 0.0326, d3.loss_map_cls: 0.3757, d3.loss_map_pts: 1.7831, d3.loss_map_dir: 0.0327, d4.loss_map_cls: 0.3696, d4.loss_map_pts: 1.7748, d4.loss_map_dir: 0.0328, d5.loss_map_cls: 0.3691, d5.loss_map_pts: 1.7732, d5.loss_map_dir: 0.0329, loss: 66.5604, grad_norm: 152.9798 +2026-02-24 13:31:28,782 - DriveTransformer - INFO - Epoch [2][11400/39528] lr: 9.958e-05, eta: 8 days, 6:27:38, time: 0.787, data_time: 0.038, memory: 19865, loss_cls: 0.6358, loss_bbox: 0.7045, loss_traj: 1.9934, loss_traj_cls: 0.0004, loss_map_cls: 0.4023, loss_map_pts: 1.8633, loss_map_dir: 0.0341, d0.loss_plan_l1_fix_time: 3.1503, d0.loss_plan_l1_fix_dist: 0.5411, d1.loss_plan_l1_fix_time: 2.8812, d1.loss_plan_l1_fix_dist: 0.5073, d2.loss_plan_l1_fix_time: 2.8212, d2.loss_plan_l1_fix_dist: 0.5115, d3.loss_plan_l1_fix_time: 2.8147, d3.loss_plan_l1_fix_dist: 0.5242, d4.loss_plan_l1_fix_time: 2.8175, d4.loss_plan_l1_fix_dist: 0.5438, d5.loss_plan_l1_fix_time: 2.8224, d5.loss_plan_l1_fix_dist: 0.5638, d6.loss_plan_l1_fix_time: 2.8288, d6.loss_plan_l1_fix_dist: 0.5859, d0.loss_cls_all: 0.6511, d0.loss_bbox_all: 0.7545, d0.loss_cls: 0.6511, d0.loss_bbox: 0.7545, d1.loss_cls: 0.6584, d1.loss_bbox: 0.7499, d2.loss_cls: 0.6590, d2.loss_bbox: 0.7223, d3.loss_cls: 0.6492, d3.loss_bbox: 0.7080, d4.loss_cls: 0.6438, d4.loss_bbox: 0.7030, d5.loss_cls: 0.6390, d5.loss_bbox: 0.7014, d0.loss_traj_cls: 0.0002, d0.loss_traj: 2.0676, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.9933, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.9860, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.9857, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.9826, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.9977, d0.loss_map_cls_all: 0.4325, d0.loss_map_pts_all: 2.6852, d0.loss_map_dir_all: 0.0338, d0.loss_map_cls: 0.4325, d0.loss_map_pts: 2.6852, d0.loss_map_dir: 0.0338, d1.loss_map_cls: 0.4194, d1.loss_map_pts: 2.0037, d1.loss_map_dir: 0.0333, d2.loss_map_cls: 0.4098, d2.loss_map_pts: 1.9066, d2.loss_map_dir: 0.0335, d3.loss_map_cls: 0.4026, d3.loss_map_pts: 1.8806, d3.loss_map_dir: 0.0338, d4.loss_map_cls: 0.3987, d4.loss_map_pts: 1.8710, d4.loss_map_dir: 0.0339, d5.loss_map_cls: 0.4007, d5.loss_map_pts: 1.8666, d5.loss_map_dir: 0.0341, loss: 69.2409, grad_norm: 153.1470 +2026-02-24 13:32:07,865 - DriveTransformer - INFO - Epoch [2][11450/39528] lr: 9.958e-05, eta: 8 days, 6:26:45, time: 0.782, data_time: 0.038, memory: 19865, loss_cls: 0.6634, loss_bbox: 0.7220, loss_traj: 1.7009, loss_traj_cls: 0.0004, loss_map_cls: 0.3827, loss_map_pts: 1.7591, loss_map_dir: 0.0323, d0.loss_plan_l1_fix_time: 2.9970, d0.loss_plan_l1_fix_dist: 0.4713, d1.loss_plan_l1_fix_time: 2.8030, d1.loss_plan_l1_fix_dist: 0.4816, d2.loss_plan_l1_fix_time: 2.7594, d2.loss_plan_l1_fix_dist: 0.5135, d3.loss_plan_l1_fix_time: 2.7614, d3.loss_plan_l1_fix_dist: 0.5363, d4.loss_plan_l1_fix_time: 2.7698, d4.loss_plan_l1_fix_dist: 0.5562, d5.loss_plan_l1_fix_time: 2.7787, d5.loss_plan_l1_fix_dist: 0.5796, d6.loss_plan_l1_fix_time: 2.7883, d6.loss_plan_l1_fix_dist: 0.6053, d0.loss_cls_all: 0.6931, d0.loss_bbox_all: 0.7411, d0.loss_cls: 0.6931, d0.loss_bbox: 0.7411, d1.loss_cls: 0.6902, d1.loss_bbox: 0.7484, d2.loss_cls: 0.6851, d2.loss_bbox: 0.7285, d3.loss_cls: 0.6779, d3.loss_bbox: 0.7095, d4.loss_cls: 0.6731, d4.loss_bbox: 0.7090, d5.loss_cls: 0.6657, d5.loss_bbox: 0.7177, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7362, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6614, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6621, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6735, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6747, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6852, d0.loss_map_cls_all: 0.4068, d0.loss_map_pts_all: 2.3916, d0.loss_map_dir_all: 0.0315, d0.loss_map_cls: 0.4068, d0.loss_map_pts: 2.3916, d0.loss_map_dir: 0.0315, d1.loss_map_cls: 0.3997, d1.loss_map_pts: 1.8799, d1.loss_map_dir: 0.0316, d2.loss_map_cls: 0.3944, d2.loss_map_pts: 1.7837, d2.loss_map_dir: 0.0317, d3.loss_map_cls: 0.3848, d3.loss_map_pts: 1.7632, d3.loss_map_dir: 0.0320, d4.loss_map_cls: 0.3824, d4.loss_map_pts: 1.7571, d4.loss_map_dir: 0.0321, d5.loss_map_cls: 0.3831, d5.loss_map_pts: 1.7571, d5.loss_map_dir: 0.0322, loss: 65.3375, grad_norm: 154.5780 +2026-02-24 13:32:46,509 - DriveTransformer - INFO - Epoch [2][11500/39528] lr: 9.958e-05, eta: 8 days, 6:25:46, time: 0.773, data_time: 0.040, memory: 19865, loss_cls: 0.6520, loss_bbox: 0.7031, loss_traj: 1.5913, loss_traj_cls: 0.0004, loss_map_cls: 0.3904, loss_map_pts: 1.7045, loss_map_dir: 0.0360, d0.loss_plan_l1_fix_time: 2.8650, d0.loss_plan_l1_fix_dist: 0.4915, d1.loss_plan_l1_fix_time: 2.4421, d1.loss_plan_l1_fix_dist: 0.4447, d2.loss_plan_l1_fix_time: 2.3833, d2.loss_plan_l1_fix_dist: 0.4517, d3.loss_plan_l1_fix_time: 2.3864, d3.loss_plan_l1_fix_dist: 0.4669, d4.loss_plan_l1_fix_time: 2.3960, d4.loss_plan_l1_fix_dist: 0.4908, d5.loss_plan_l1_fix_time: 2.4060, d5.loss_plan_l1_fix_dist: 0.5130, d6.loss_plan_l1_fix_time: 2.4171, d6.loss_plan_l1_fix_dist: 0.5365, d0.loss_cls_all: 0.6590, d0.loss_bbox_all: 0.7181, d0.loss_cls: 0.6590, d0.loss_bbox: 0.7181, d1.loss_cls: 0.6561, d1.loss_bbox: 0.7230, d2.loss_cls: 0.6499, d2.loss_bbox: 0.7130, d3.loss_cls: 0.6425, d3.loss_bbox: 0.7001, d4.loss_cls: 0.6464, d4.loss_bbox: 0.6963, d5.loss_cls: 0.6459, d5.loss_bbox: 0.6978, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6317, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5604, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5668, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5596, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5709, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5801, d0.loss_map_cls_all: 0.4026, d0.loss_map_pts_all: 2.5278, d0.loss_map_dir_all: 0.0352, d0.loss_map_cls: 0.4026, d0.loss_map_pts: 2.5278, d0.loss_map_dir: 0.0352, d1.loss_map_cls: 0.3976, d1.loss_map_pts: 1.8296, d1.loss_map_dir: 0.0352, d2.loss_map_cls: 0.3943, d2.loss_map_pts: 1.7301, d2.loss_map_dir: 0.0353, d3.loss_map_cls: 0.3887, d3.loss_map_pts: 1.7067, d3.loss_map_dir: 0.0356, d4.loss_map_cls: 0.3863, d4.loss_map_pts: 1.7015, d4.loss_map_dir: 0.0357, d5.loss_map_cls: 0.3892, d5.loss_map_pts: 1.7012, d5.loss_map_dir: 0.0359, loss: 61.5015, grad_norm: 153.9598 +2026-02-24 13:33:28,218 - DriveTransformer - INFO - Epoch [2][11550/39528] lr: 9.958e-05, eta: 8 days, 6:25:39, time: 0.834, data_time: 0.043, memory: 19865, loss_cls: 0.6802, loss_bbox: 0.7086, loss_traj: 1.3182, loss_traj_cls: 0.0005, loss_map_cls: 0.3885, loss_map_pts: 1.8325, loss_map_dir: 0.0408, d0.loss_plan_l1_fix_time: 2.8754, d0.loss_plan_l1_fix_dist: 0.4939, d1.loss_plan_l1_fix_time: 2.5872, d1.loss_plan_l1_fix_dist: 0.4724, d2.loss_plan_l1_fix_time: 2.5471, d2.loss_plan_l1_fix_dist: 0.4793, d3.loss_plan_l1_fix_time: 2.5528, d3.loss_plan_l1_fix_dist: 0.4961, d4.loss_plan_l1_fix_time: 2.5624, d4.loss_plan_l1_fix_dist: 0.5155, d5.loss_plan_l1_fix_time: 2.5720, d5.loss_plan_l1_fix_dist: 0.5394, d6.loss_plan_l1_fix_time: 2.5823, d6.loss_plan_l1_fix_dist: 0.5677, d0.loss_cls_all: 0.6748, d0.loss_bbox_all: 0.7406, d0.loss_cls: 0.6748, d0.loss_bbox: 0.7406, d1.loss_cls: 0.6668, d1.loss_bbox: 0.7350, d2.loss_cls: 0.6691, d2.loss_bbox: 0.7236, d3.loss_cls: 0.6687, d3.loss_bbox: 0.7110, d4.loss_cls: 0.6694, d4.loss_bbox: 0.7078, d5.loss_cls: 0.6756, d5.loss_bbox: 0.7076, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3678, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3065, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3079, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3174, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3191, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3159, d0.loss_map_cls_all: 0.4098, d0.loss_map_pts_all: 2.8212, d0.loss_map_dir_all: 0.0399, d0.loss_map_cls: 0.4098, d0.loss_map_pts: 2.8212, d0.loss_map_dir: 0.0399, d1.loss_map_cls: 0.4012, d1.loss_map_pts: 2.0000, d1.loss_map_dir: 0.0398, d2.loss_map_cls: 0.3952, d2.loss_map_pts: 1.8735, d2.loss_map_dir: 0.0400, d3.loss_map_cls: 0.3887, d3.loss_map_pts: 1.8420, d3.loss_map_dir: 0.0404, d4.loss_map_cls: 0.3854, d4.loss_map_pts: 1.8355, d4.loss_map_dir: 0.0406, d5.loss_map_cls: 0.3870, d5.loss_map_pts: 1.8356, d5.loss_map_dir: 0.0407, loss: 62.6046, grad_norm: 151.6495 +2026-02-24 13:34:07,160 - DriveTransformer - INFO - Epoch [2][11600/39528] lr: 9.958e-05, eta: 8 days, 6:24:45, time: 0.779, data_time: 0.039, memory: 19865, loss_cls: 0.6378, loss_bbox: 0.6959, loss_traj: 1.5610, loss_traj_cls: 0.0004, loss_map_cls: 0.3982, loss_map_pts: 1.6700, loss_map_dir: 0.0341, d0.loss_plan_l1_fix_time: 2.8533, d0.loss_plan_l1_fix_dist: 0.4751, d1.loss_plan_l1_fix_time: 2.6461, d1.loss_plan_l1_fix_dist: 0.4317, d2.loss_plan_l1_fix_time: 2.5824, d2.loss_plan_l1_fix_dist: 0.4285, d3.loss_plan_l1_fix_time: 2.5787, d3.loss_plan_l1_fix_dist: 0.4399, d4.loss_plan_l1_fix_time: 2.5836, d4.loss_plan_l1_fix_dist: 0.4542, d5.loss_plan_l1_fix_time: 2.5911, d5.loss_plan_l1_fix_dist: 0.4717, d6.loss_plan_l1_fix_time: 2.6009, d6.loss_plan_l1_fix_dist: 0.4927, d0.loss_cls_all: 0.6512, d0.loss_bbox_all: 0.6959, d0.loss_cls: 0.6512, d0.loss_bbox: 0.6959, d1.loss_cls: 0.6492, d1.loss_bbox: 0.7005, d2.loss_cls: 0.6514, d2.loss_bbox: 0.6883, d3.loss_cls: 0.6500, d3.loss_bbox: 0.6807, d4.loss_cls: 0.6432, d4.loss_bbox: 0.6800, d5.loss_cls: 0.6397, d5.loss_bbox: 0.6878, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5689, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5247, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5280, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5382, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5457, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5441, d0.loss_map_cls_all: 0.4173, d0.loss_map_pts_all: 2.4713, d0.loss_map_dir_all: 0.0337, d0.loss_map_cls: 0.4173, d0.loss_map_pts: 2.4713, d0.loss_map_dir: 0.0337, d1.loss_map_cls: 0.4192, d1.loss_map_pts: 1.8178, d1.loss_map_dir: 0.0333, d2.loss_map_cls: 0.4081, d2.loss_map_pts: 1.7057, d2.loss_map_dir: 0.0333, d3.loss_map_cls: 0.3996, d3.loss_map_pts: 1.6821, d3.loss_map_dir: 0.0336, d4.loss_map_cls: 0.3957, d4.loss_map_pts: 1.6752, d4.loss_map_dir: 0.0338, d5.loss_map_cls: 0.3982, d5.loss_map_pts: 1.6718, d5.loss_map_dir: 0.0340, loss: 61.8319, grad_norm: 151.3154 +2026-02-24 13:34:49,370 - DriveTransformer - INFO - Epoch [2][11650/39528] lr: 9.958e-05, eta: 8 days, 6:24:47, time: 0.844, data_time: 0.040, memory: 19865, loss_cls: 0.6396, loss_bbox: 0.6676, loss_traj: 1.3219, loss_traj_cls: 0.0004, loss_map_cls: 0.3689, loss_map_pts: 1.8197, loss_map_dir: 0.0353, d0.loss_plan_l1_fix_time: 2.7451, d0.loss_plan_l1_fix_dist: 0.5092, d1.loss_plan_l1_fix_time: 2.5689, d1.loss_plan_l1_fix_dist: 0.4634, d2.loss_plan_l1_fix_time: 2.5206, d2.loss_plan_l1_fix_dist: 0.4594, d3.loss_plan_l1_fix_time: 2.5202, d3.loss_plan_l1_fix_dist: 0.4656, d4.loss_plan_l1_fix_time: 2.5271, d4.loss_plan_l1_fix_dist: 0.4760, d5.loss_plan_l1_fix_time: 2.5364, d5.loss_plan_l1_fix_dist: 0.4886, d6.loss_plan_l1_fix_time: 2.5485, d6.loss_plan_l1_fix_dist: 0.5024, d0.loss_cls_all: 0.6319, d0.loss_bbox_all: 0.6712, d0.loss_cls: 0.6319, d0.loss_bbox: 0.6712, d1.loss_cls: 0.6180, d1.loss_bbox: 0.6634, d2.loss_cls: 0.6169, d2.loss_bbox: 0.6504, d3.loss_cls: 0.6168, d3.loss_bbox: 0.6494, d4.loss_cls: 0.6192, d4.loss_bbox: 0.6477, d5.loss_cls: 0.6275, d5.loss_bbox: 0.6585, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3738, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3067, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3169, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3194, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3211, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3193, d0.loss_map_cls_all: 0.3855, d0.loss_map_pts_all: 2.6923, d0.loss_map_dir_all: 0.0343, d0.loss_map_cls: 0.3855, d0.loss_map_pts: 2.6923, d0.loss_map_dir: 0.0343, d1.loss_map_cls: 0.3835, d1.loss_map_pts: 1.9753, d1.loss_map_dir: 0.0343, d2.loss_map_cls: 0.3737, d2.loss_map_pts: 1.8700, d2.loss_map_dir: 0.0347, d3.loss_map_cls: 0.3670, d3.loss_map_pts: 1.8388, d3.loss_map_dir: 0.0349, d4.loss_map_cls: 0.3668, d4.loss_map_pts: 1.8292, d4.loss_map_dir: 0.0351, d5.loss_map_cls: 0.3676, d5.loss_map_pts: 1.8187, d5.loss_map_dir: 0.0352, loss: 60.7089, grad_norm: 151.8520 +2026-02-24 13:35:29,828 - DriveTransformer - INFO - Epoch [2][11700/39528] lr: 9.958e-05, eta: 8 days, 6:24:19, time: 0.809, data_time: 0.037, memory: 19865, loss_cls: 0.6754, loss_bbox: 0.6803, loss_traj: 1.2567, loss_traj_cls: 0.0004, loss_map_cls: 0.3886, loss_map_pts: 2.0045, loss_map_dir: 0.0362, d0.loss_plan_l1_fix_time: 2.6885, d0.loss_plan_l1_fix_dist: 0.4194, d1.loss_plan_l1_fix_time: 2.4727, d1.loss_plan_l1_fix_dist: 0.3807, d2.loss_plan_l1_fix_time: 2.4380, d2.loss_plan_l1_fix_dist: 0.3797, d3.loss_plan_l1_fix_time: 2.4446, d3.loss_plan_l1_fix_dist: 0.3907, d4.loss_plan_l1_fix_time: 2.4531, d4.loss_plan_l1_fix_dist: 0.4043, d5.loss_plan_l1_fix_time: 2.4611, d5.loss_plan_l1_fix_dist: 0.4218, d6.loss_plan_l1_fix_time: 2.4692, d6.loss_plan_l1_fix_dist: 0.4456, d0.loss_cls_all: 0.6750, d0.loss_bbox_all: 0.7070, d0.loss_cls: 0.6750, d0.loss_bbox: 0.7070, d1.loss_cls: 0.6619, d1.loss_bbox: 0.6975, d2.loss_cls: 0.6618, d2.loss_bbox: 0.6839, d3.loss_cls: 0.6606, d3.loss_bbox: 0.6795, d4.loss_cls: 0.6584, d4.loss_bbox: 0.6755, d5.loss_cls: 0.6648, d5.loss_bbox: 0.6767, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.2851, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2417, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.2507, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.2617, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2552, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2466, d0.loss_map_cls_all: 0.4124, d0.loss_map_pts_all: 2.8817, d0.loss_map_dir_all: 0.0354, d0.loss_map_cls: 0.4124, d0.loss_map_pts: 2.8817, d0.loss_map_dir: 0.0354, d1.loss_map_cls: 0.4051, d1.loss_map_pts: 2.1830, d1.loss_map_dir: 0.0354, d2.loss_map_cls: 0.3939, d2.loss_map_pts: 2.0472, d2.loss_map_dir: 0.0355, d3.loss_map_cls: 0.3897, d3.loss_map_pts: 2.0154, d3.loss_map_dir: 0.0357, d4.loss_map_cls: 0.3867, d4.loss_map_pts: 2.0061, d4.loss_map_dir: 0.0359, d5.loss_map_cls: 0.3870, d5.loss_map_pts: 2.0041, d5.loss_map_dir: 0.0361, loss: 61.3967, grad_norm: 150.4166 +2026-02-24 13:36:10,588 - DriveTransformer - INFO - Epoch [2][11750/39528] lr: 9.958e-05, eta: 8 days, 6:23:56, time: 0.815, data_time: 0.037, memory: 19865, loss_cls: 0.6911, loss_bbox: 0.7034, loss_traj: 1.3808, loss_traj_cls: 0.0004, loss_map_cls: 0.3866, loss_map_pts: 1.7752, loss_map_dir: 0.0319, d0.loss_plan_l1_fix_time: 2.7069, d0.loss_plan_l1_fix_dist: 0.4468, d1.loss_plan_l1_fix_time: 2.4820, d1.loss_plan_l1_fix_dist: 0.4285, d2.loss_plan_l1_fix_time: 2.4453, d2.loss_plan_l1_fix_dist: 0.4402, d3.loss_plan_l1_fix_time: 2.4471, d3.loss_plan_l1_fix_dist: 0.4643, d4.loss_plan_l1_fix_time: 2.4566, d4.loss_plan_l1_fix_dist: 0.4892, d5.loss_plan_l1_fix_time: 2.4663, d5.loss_plan_l1_fix_dist: 0.5172, d6.loss_plan_l1_fix_time: 2.4752, d6.loss_plan_l1_fix_dist: 0.5483, d0.loss_cls_all: 0.7026, d0.loss_bbox_all: 0.7342, d0.loss_cls: 0.7026, d0.loss_bbox: 0.7342, d1.loss_cls: 0.6872, d1.loss_bbox: 0.7205, d2.loss_cls: 0.6853, d2.loss_bbox: 0.7051, d3.loss_cls: 0.6863, d3.loss_bbox: 0.6990, d4.loss_cls: 0.6830, d4.loss_bbox: 0.6995, d5.loss_cls: 0.6871, d5.loss_bbox: 0.7017, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4818, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3904, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3616, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3708, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3757, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3614, d0.loss_map_cls_all: 0.4121, d0.loss_map_pts_all: 2.5305, d0.loss_map_dir_all: 0.0309, d0.loss_map_cls: 0.4121, d0.loss_map_pts: 2.5305, d0.loss_map_dir: 0.0309, d1.loss_map_cls: 0.4088, d1.loss_map_pts: 1.9256, d1.loss_map_dir: 0.0309, d2.loss_map_cls: 0.3983, d2.loss_map_pts: 1.8133, d2.loss_map_dir: 0.0312, d3.loss_map_cls: 0.3925, d3.loss_map_pts: 1.7830, d3.loss_map_dir: 0.0315, d4.loss_map_cls: 0.3885, d4.loss_map_pts: 1.7756, d4.loss_map_dir: 0.0317, d5.loss_map_cls: 0.3864, d5.loss_map_pts: 1.7759, d5.loss_map_dir: 0.0319, loss: 61.1099, grad_norm: 151.7097 +2026-02-24 13:36:50,981 - DriveTransformer - INFO - Epoch [2][11800/39528] lr: 9.958e-05, eta: 8 days, 6:23:28, time: 0.809, data_time: 0.042, memory: 19865, loss_cls: 0.6280, loss_bbox: 0.6752, loss_traj: 1.2977, loss_traj_cls: 0.0005, loss_map_cls: 0.3596, loss_map_pts: 1.7520, loss_map_dir: 0.0354, d0.loss_plan_l1_fix_time: 2.5366, d0.loss_plan_l1_fix_dist: 0.4889, d1.loss_plan_l1_fix_time: 2.2635, d1.loss_plan_l1_fix_dist: 0.4444, d2.loss_plan_l1_fix_time: 2.2654, d2.loss_plan_l1_fix_dist: 0.4513, d3.loss_plan_l1_fix_time: 2.2792, d3.loss_plan_l1_fix_dist: 0.4634, d4.loss_plan_l1_fix_time: 2.2918, d4.loss_plan_l1_fix_dist: 0.4798, d5.loss_plan_l1_fix_time: 2.3049, d5.loss_plan_l1_fix_dist: 0.4963, d6.loss_plan_l1_fix_time: 2.3179, d6.loss_plan_l1_fix_dist: 0.5112, d0.loss_cls_all: 0.6372, d0.loss_bbox_all: 0.6864, d0.loss_cls: 0.6372, d0.loss_bbox: 0.6864, d1.loss_cls: 0.6240, d1.loss_bbox: 0.6798, d2.loss_cls: 0.6251, d2.loss_bbox: 0.6711, d3.loss_cls: 0.6234, d3.loss_bbox: 0.6600, d4.loss_cls: 0.6282, d4.loss_bbox: 0.6663, d5.loss_cls: 0.6274, d5.loss_bbox: 0.6719, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3599, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3064, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3108, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3151, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3097, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3057, d0.loss_map_cls_all: 0.3986, d0.loss_map_pts_all: 2.6197, d0.loss_map_dir_all: 0.0344, d0.loss_map_cls: 0.3986, d0.loss_map_pts: 2.6197, d0.loss_map_dir: 0.0344, d1.loss_map_cls: 0.3835, d1.loss_map_pts: 1.9406, d1.loss_map_dir: 0.0344, d2.loss_map_cls: 0.3684, d2.loss_map_pts: 1.8072, d2.loss_map_dir: 0.0348, d3.loss_map_cls: 0.3641, d3.loss_map_pts: 1.7690, d3.loss_map_dir: 0.0351, d4.loss_map_cls: 0.3606, d4.loss_map_pts: 1.7558, d4.loss_map_dir: 0.0351, d5.loss_map_cls: 0.3597, d5.loss_map_pts: 1.7522, d5.loss_map_dir: 0.0353, loss: 58.5205, grad_norm: 148.1106 +2026-02-24 13:37:31,680 - DriveTransformer - INFO - Epoch [2][11850/39528] lr: 9.958e-05, eta: 8 days, 6:23:03, time: 0.813, data_time: 0.037, memory: 19865, loss_cls: 0.6656, loss_bbox: 0.6788, loss_traj: 1.4751, loss_traj_cls: 0.0005, loss_map_cls: 0.3808, loss_map_pts: 1.7502, loss_map_dir: 0.0319, d0.loss_plan_l1_fix_time: 2.7221, d0.loss_plan_l1_fix_dist: 0.4659, d1.loss_plan_l1_fix_time: 2.4231, d1.loss_plan_l1_fix_dist: 0.4614, d2.loss_plan_l1_fix_time: 2.3883, d2.loss_plan_l1_fix_dist: 0.4898, d3.loss_plan_l1_fix_time: 2.3929, d3.loss_plan_l1_fix_dist: 0.5196, d4.loss_plan_l1_fix_time: 2.4025, d4.loss_plan_l1_fix_dist: 0.5572, d5.loss_plan_l1_fix_time: 2.4149, d5.loss_plan_l1_fix_dist: 0.5983, d6.loss_plan_l1_fix_time: 2.4299, d6.loss_plan_l1_fix_dist: 0.6409, d0.loss_cls_all: 0.6802, d0.loss_bbox_all: 0.7130, d0.loss_cls: 0.6802, d0.loss_bbox: 0.7130, d1.loss_cls: 0.6717, d1.loss_bbox: 0.7060, d2.loss_cls: 0.6661, d2.loss_bbox: 0.6872, d3.loss_cls: 0.6627, d3.loss_bbox: 0.6728, d4.loss_cls: 0.6634, d4.loss_bbox: 0.6737, d5.loss_cls: 0.6613, d5.loss_bbox: 0.6771, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5313, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4593, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4752, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4838, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4874, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4892, d0.loss_map_cls_all: 0.4144, d0.loss_map_pts_all: 2.5491, d0.loss_map_dir_all: 0.0317, d0.loss_map_cls: 0.4144, d0.loss_map_pts: 2.5491, d0.loss_map_dir: 0.0317, d1.loss_map_cls: 0.4002, d1.loss_map_pts: 1.9155, d1.loss_map_dir: 0.0314, d2.loss_map_cls: 0.3961, d2.loss_map_pts: 1.8003, d2.loss_map_dir: 0.0315, d3.loss_map_cls: 0.3897, d3.loss_map_pts: 1.7632, d3.loss_map_dir: 0.0316, d4.loss_map_cls: 0.3840, d4.loss_map_pts: 1.7507, d4.loss_map_dir: 0.0317, d5.loss_map_cls: 0.3808, d5.loss_map_pts: 1.7490, d5.loss_map_dir: 0.0318, loss: 61.4263, grad_norm: 149.1162 +2026-02-24 13:38:12,397 - DriveTransformer - INFO - Epoch [2][11900/39528] lr: 9.958e-05, eta: 8 days, 6:22:39, time: 0.814, data_time: 0.043, memory: 19865, loss_cls: 0.6763, loss_bbox: 0.6865, loss_traj: 1.4949, loss_traj_cls: 0.0004, loss_map_cls: 0.3440, loss_map_pts: 1.7313, loss_map_dir: 0.0299, d0.loss_plan_l1_fix_time: 2.9289, d0.loss_plan_l1_fix_dist: 0.4972, d1.loss_plan_l1_fix_time: 2.5906, d1.loss_plan_l1_fix_dist: 0.4764, d2.loss_plan_l1_fix_time: 2.5178, d2.loss_plan_l1_fix_dist: 0.4944, d3.loss_plan_l1_fix_time: 2.5110, d3.loss_plan_l1_fix_dist: 0.5236, d4.loss_plan_l1_fix_time: 2.5152, d4.loss_plan_l1_fix_dist: 0.5578, d5.loss_plan_l1_fix_time: 2.5235, d5.loss_plan_l1_fix_dist: 0.5941, d6.loss_plan_l1_fix_time: 2.5353, d6.loss_plan_l1_fix_dist: 0.6311, d0.loss_cls_all: 0.6857, d0.loss_bbox_all: 0.7129, d0.loss_cls: 0.6857, d0.loss_bbox: 0.7129, d1.loss_cls: 0.6749, d1.loss_bbox: 0.7070, d2.loss_cls: 0.6744, d2.loss_bbox: 0.6870, d3.loss_cls: 0.6719, d3.loss_bbox: 0.6782, d4.loss_cls: 0.6674, d4.loss_bbox: 0.6810, d5.loss_cls: 0.6730, d5.loss_bbox: 0.6817, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5561, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4744, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4716, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4708, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4809, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4932, d0.loss_map_cls_all: 0.3855, d0.loss_map_pts_all: 2.4399, d0.loss_map_dir_all: 0.0296, d0.loss_map_cls: 0.3855, d0.loss_map_pts: 2.4399, d0.loss_map_dir: 0.0296, d1.loss_map_cls: 0.3639, d1.loss_map_pts: 1.8539, d1.loss_map_dir: 0.0293, d2.loss_map_cls: 0.3575, d2.loss_map_pts: 1.7583, d2.loss_map_dir: 0.0295, d3.loss_map_cls: 0.3482, d3.loss_map_pts: 1.7346, d3.loss_map_dir: 0.0297, d4.loss_map_cls: 0.3463, d4.loss_map_pts: 1.7296, d4.loss_map_dir: 0.0298, d5.loss_map_cls: 0.3433, d5.loss_map_pts: 1.7310, d5.loss_map_dir: 0.0299, loss: 61.8294, grad_norm: 150.2600 +2026-02-24 13:38:52,159 - DriveTransformer - INFO - Epoch [2][11950/39528] lr: 9.958e-05, eta: 8 days, 6:21:59, time: 0.795, data_time: 0.037, memory: 19865, loss_cls: 0.6739, loss_bbox: 0.6821, loss_traj: 1.3246, loss_traj_cls: 0.0004, loss_map_cls: 0.4100, loss_map_pts: 1.9216, loss_map_dir: 0.0354, d0.loss_plan_l1_fix_time: 2.4801, d0.loss_plan_l1_fix_dist: 0.5016, d1.loss_plan_l1_fix_time: 2.2909, d1.loss_plan_l1_fix_dist: 0.4740, d2.loss_plan_l1_fix_time: 2.3037, d2.loss_plan_l1_fix_dist: 0.4837, d3.loss_plan_l1_fix_time: 2.3140, d3.loss_plan_l1_fix_dist: 0.5066, d4.loss_plan_l1_fix_time: 2.3234, d4.loss_plan_l1_fix_dist: 0.5311, d5.loss_plan_l1_fix_time: 2.3316, d5.loss_plan_l1_fix_dist: 0.5582, d6.loss_plan_l1_fix_time: 2.3395, d6.loss_plan_l1_fix_dist: 0.5906, d0.loss_cls_all: 0.6629, d0.loss_bbox_all: 0.7084, d0.loss_cls: 0.6629, d0.loss_bbox: 0.7084, d1.loss_cls: 0.6579, d1.loss_bbox: 0.6991, d2.loss_cls: 0.6617, d2.loss_bbox: 0.6803, d3.loss_cls: 0.6648, d3.loss_bbox: 0.6739, d4.loss_cls: 0.6625, d4.loss_bbox: 0.6737, d5.loss_cls: 0.6703, d5.loss_bbox: 0.6744, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3779, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3036, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3049, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3180, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3263, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3316, d0.loss_map_cls_all: 0.4398, d0.loss_map_pts_all: 2.6606, d0.loss_map_dir_all: 0.0343, d0.loss_map_cls: 0.4398, d0.loss_map_pts: 2.6606, d0.loss_map_dir: 0.0343, d1.loss_map_cls: 0.4260, d1.loss_map_pts: 2.0550, d1.loss_map_dir: 0.0344, d2.loss_map_cls: 0.4216, d2.loss_map_pts: 1.9532, d2.loss_map_dir: 0.0348, d3.loss_map_cls: 0.4165, d3.loss_map_pts: 1.9317, d3.loss_map_dir: 0.0350, d4.loss_map_cls: 0.4134, d4.loss_map_pts: 1.9238, d4.loss_map_dir: 0.0351, d5.loss_map_cls: 0.4107, d5.loss_map_pts: 1.9238, d5.loss_map_dir: 0.0353, loss: 60.8250, grad_norm: 150.6980 +2026-02-24 13:39:32,961 - DriveTransformer - INFO - Epoch [2][12000/39528] lr: 9.958e-05, eta: 8 days, 6:21:36, time: 0.816, data_time: 0.040, memory: 19865, loss_cls: 0.6372, loss_bbox: 0.6353, loss_traj: 1.3254, loss_traj_cls: 0.0004, loss_map_cls: 0.3697, loss_map_pts: 1.8255, loss_map_dir: 0.0366, d0.loss_plan_l1_fix_time: 2.5394, d0.loss_plan_l1_fix_dist: 0.4481, d1.loss_plan_l1_fix_time: 2.3677, d1.loss_plan_l1_fix_dist: 0.4258, d2.loss_plan_l1_fix_time: 2.3237, d2.loss_plan_l1_fix_dist: 0.4402, d3.loss_plan_l1_fix_time: 2.3238, d3.loss_plan_l1_fix_dist: 0.4614, d4.loss_plan_l1_fix_time: 2.3303, d4.loss_plan_l1_fix_dist: 0.4853, d5.loss_plan_l1_fix_time: 2.3381, d5.loss_plan_l1_fix_dist: 0.5085, d6.loss_plan_l1_fix_time: 2.3473, d6.loss_plan_l1_fix_dist: 0.5335, d0.loss_cls_all: 0.6470, d0.loss_bbox_all: 0.6591, d0.loss_cls: 0.6470, d0.loss_bbox: 0.6591, d1.loss_cls: 0.6354, d1.loss_bbox: 0.6527, d2.loss_cls: 0.6347, d2.loss_bbox: 0.6359, d3.loss_cls: 0.6348, d3.loss_bbox: 0.6293, d4.loss_cls: 0.6339, d4.loss_bbox: 0.6307, d5.loss_cls: 0.6352, d5.loss_bbox: 0.6294, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3644, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3057, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.3142, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3231, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3318, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.3269, d0.loss_map_cls_all: 0.4027, d0.loss_map_pts_all: 2.8402, d0.loss_map_dir_all: 0.0359, d0.loss_map_cls: 0.4027, d0.loss_map_pts: 2.8402, d0.loss_map_dir: 0.0359, d1.loss_map_cls: 0.3913, d1.loss_map_pts: 2.0003, d1.loss_map_dir: 0.0360, d2.loss_map_cls: 0.3807, d2.loss_map_pts: 1.8759, d2.loss_map_dir: 0.0361, d3.loss_map_cls: 0.3780, d3.loss_map_pts: 1.8411, d3.loss_map_dir: 0.0363, d4.loss_map_cls: 0.3721, d4.loss_map_pts: 1.8293, d4.loss_map_dir: 0.0364, d5.loss_map_cls: 0.3682, d5.loss_map_pts: 1.8291, d5.loss_map_dir: 0.0365, loss: 59.6417, grad_norm: 151.0511 +2026-02-24 13:40:11,239 - DriveTransformer - INFO - Epoch [2][12050/39528] lr: 9.958e-05, eta: 8 days, 6:20:30, time: 0.766, data_time: 0.035, memory: 19865, loss_cls: 0.6413, loss_bbox: 0.6849, loss_traj: 1.5798, loss_traj_cls: 0.0004, loss_map_cls: 0.3551, loss_map_pts: 1.6279, loss_map_dir: 0.0312, d0.loss_plan_l1_fix_time: 2.8377, d0.loss_plan_l1_fix_dist: 0.4561, d1.loss_plan_l1_fix_time: 2.6289, d1.loss_plan_l1_fix_dist: 0.4210, d2.loss_plan_l1_fix_time: 2.5763, d2.loss_plan_l1_fix_dist: 0.4384, d3.loss_plan_l1_fix_time: 2.5725, d3.loss_plan_l1_fix_dist: 0.4630, d4.loss_plan_l1_fix_time: 2.5790, d4.loss_plan_l1_fix_dist: 0.4937, d5.loss_plan_l1_fix_time: 2.5869, d5.loss_plan_l1_fix_dist: 0.5303, d6.loss_plan_l1_fix_time: 2.5963, d6.loss_plan_l1_fix_dist: 0.5674, d0.loss_cls_all: 0.6505, d0.loss_bbox_all: 0.7048, d0.loss_cls: 0.6505, d0.loss_bbox: 0.7048, d1.loss_cls: 0.6431, d1.loss_bbox: 0.6991, d2.loss_cls: 0.6411, d2.loss_bbox: 0.6858, d3.loss_cls: 0.6370, d3.loss_bbox: 0.6816, d4.loss_cls: 0.6314, d4.loss_bbox: 0.6854, d5.loss_cls: 0.6383, d5.loss_bbox: 0.6818, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5952, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5461, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.5425, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5592, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5611, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5672, d0.loss_map_cls_all: 0.3930, d0.loss_map_pts_all: 2.4799, d0.loss_map_dir_all: 0.0308, d0.loss_map_cls: 0.3930, d0.loss_map_pts: 2.4799, d0.loss_map_dir: 0.0308, d1.loss_map_cls: 0.3759, d1.loss_map_pts: 1.8006, d1.loss_map_dir: 0.0305, d2.loss_map_cls: 0.3627, d2.loss_map_pts: 1.6765, d2.loss_map_dir: 0.0305, d3.loss_map_cls: 0.3584, d3.loss_map_pts: 1.6417, d3.loss_map_dir: 0.0307, d4.loss_map_cls: 0.3545, d4.loss_map_pts: 1.6287, d4.loss_map_dir: 0.0308, d5.loss_map_cls: 0.3542, d5.loss_map_pts: 1.6278, d5.loss_map_dir: 0.0310, loss: 61.5204, grad_norm: 151.5961 +2026-02-24 13:40:53,246 - DriveTransformer - INFO - Epoch [2][12100/39528] lr: 9.958e-05, eta: 8 days, 6:20:29, time: 0.840, data_time: 0.035, memory: 19865, loss_cls: 0.6560, loss_bbox: 0.6874, loss_traj: 1.4501, loss_traj_cls: 0.0005, loss_map_cls: 0.4079, loss_map_pts: 1.8519, loss_map_dir: 0.0367, d0.loss_plan_l1_fix_time: 2.9643, d0.loss_plan_l1_fix_dist: 0.4839, d1.loss_plan_l1_fix_time: 2.6165, d1.loss_plan_l1_fix_dist: 0.4460, d2.loss_plan_l1_fix_time: 2.5306, d2.loss_plan_l1_fix_dist: 0.4553, d3.loss_plan_l1_fix_time: 2.5171, d3.loss_plan_l1_fix_dist: 0.4686, d4.loss_plan_l1_fix_time: 2.5191, d4.loss_plan_l1_fix_dist: 0.4864, d5.loss_plan_l1_fix_time: 2.5246, d5.loss_plan_l1_fix_dist: 0.5080, d6.loss_plan_l1_fix_time: 2.5323, d6.loss_plan_l1_fix_dist: 0.5364, d0.loss_cls_all: 0.6445, d0.loss_bbox_all: 0.7215, d0.loss_cls: 0.6445, d0.loss_bbox: 0.7215, d1.loss_cls: 0.6428, d1.loss_bbox: 0.7053, d2.loss_cls: 0.6430, d2.loss_bbox: 0.6899, d3.loss_cls: 0.6474, d3.loss_bbox: 0.6845, d4.loss_cls: 0.6480, d4.loss_bbox: 0.6843, d5.loss_cls: 0.6573, d5.loss_bbox: 0.6818, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4815, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3864, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3869, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4131, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4302, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4410, d0.loss_map_cls_all: 0.4264, d0.loss_map_pts_all: 2.8698, d0.loss_map_dir_all: 0.0360, d0.loss_map_cls: 0.4264, d0.loss_map_pts: 2.8698, d0.loss_map_dir: 0.0360, d1.loss_map_cls: 0.4299, d1.loss_map_pts: 2.0434, d1.loss_map_dir: 0.0358, d2.loss_map_cls: 0.4177, d2.loss_map_pts: 1.9023, d2.loss_map_dir: 0.0360, d3.loss_map_cls: 0.4135, d3.loss_map_pts: 1.8645, d3.loss_map_dir: 0.0362, d4.loss_map_cls: 0.4092, d4.loss_map_pts: 1.8533, d4.loss_map_dir: 0.0363, d5.loss_map_cls: 0.4082, d5.loss_map_pts: 1.8517, d5.loss_map_dir: 0.0366, loss: 63.0782, grad_norm: 151.5936 +2026-02-24 13:41:31,811 - DriveTransformer - INFO - Epoch [2][12150/39528] lr: 9.958e-05, eta: 8 days, 6:19:27, time: 0.771, data_time: 0.041, memory: 19865, loss_cls: 0.5997, loss_bbox: 0.6330, loss_traj: 1.5480, loss_traj_cls: 0.0004, loss_map_cls: 0.3566, loss_map_pts: 1.6032, loss_map_dir: 0.0278, d0.loss_plan_l1_fix_time: 2.4875, d0.loss_plan_l1_fix_dist: 0.5071, d1.loss_plan_l1_fix_time: 2.1844, d1.loss_plan_l1_fix_dist: 0.4570, d2.loss_plan_l1_fix_time: 2.0983, d2.loss_plan_l1_fix_dist: 0.4694, d3.loss_plan_l1_fix_time: 2.0877, d3.loss_plan_l1_fix_dist: 0.4922, d4.loss_plan_l1_fix_time: 2.0898, d4.loss_plan_l1_fix_dist: 0.5192, d5.loss_plan_l1_fix_time: 2.0954, d5.loss_plan_l1_fix_dist: 0.5412, d6.loss_plan_l1_fix_time: 2.1024, d6.loss_plan_l1_fix_dist: 0.5678, d0.loss_cls_all: 0.6121, d0.loss_bbox_all: 0.6606, d0.loss_cls: 0.6121, d0.loss_bbox: 0.6606, d1.loss_cls: 0.6087, d1.loss_bbox: 0.6412, d2.loss_cls: 0.6037, d2.loss_bbox: 0.6302, d3.loss_cls: 0.6044, d3.loss_bbox: 0.6274, d4.loss_cls: 0.6005, d4.loss_bbox: 0.6275, d5.loss_cls: 0.6011, d5.loss_bbox: 0.6258, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6352, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5305, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5152, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5206, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5310, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5314, d0.loss_map_cls_all: 0.3921, d0.loss_map_pts_all: 2.4399, d0.loss_map_dir_all: 0.0277, d0.loss_map_cls: 0.3921, d0.loss_map_pts: 2.4399, d0.loss_map_dir: 0.0277, d1.loss_map_cls: 0.3862, d1.loss_map_pts: 1.7368, d1.loss_map_dir: 0.0275, d2.loss_map_cls: 0.3711, d2.loss_map_pts: 1.6379, d2.loss_map_dir: 0.0274, d3.loss_map_cls: 0.3634, d3.loss_map_pts: 1.6115, d3.loss_map_dir: 0.0276, d4.loss_map_cls: 0.3623, d4.loss_map_pts: 1.6058, d4.loss_map_dir: 0.0277, d5.loss_map_cls: 0.3590, d5.loss_map_pts: 1.6028, d5.loss_map_dir: 0.0278, loss: 57.3463, grad_norm: 152.1030 +2026-02-24 13:42:10,139 - DriveTransformer - INFO - Epoch [2][12200/39528] lr: 9.958e-05, eta: 8 days, 6:18:22, time: 0.767, data_time: 0.043, memory: 19865, loss_cls: 0.7283, loss_bbox: 0.7130, loss_traj: 1.8631, loss_traj_cls: 0.0004, loss_map_cls: 0.4041, loss_map_pts: 1.6627, loss_map_dir: 0.0292, d0.loss_plan_l1_fix_time: 3.1260, d0.loss_plan_l1_fix_dist: 0.3413, d1.loss_plan_l1_fix_time: 2.6799, d1.loss_plan_l1_fix_dist: 0.3364, d2.loss_plan_l1_fix_time: 2.5956, d2.loss_plan_l1_fix_dist: 0.3504, d3.loss_plan_l1_fix_time: 2.5855, d3.loss_plan_l1_fix_dist: 0.3683, d4.loss_plan_l1_fix_time: 2.5875, d4.loss_plan_l1_fix_dist: 0.3885, d5.loss_plan_l1_fix_time: 2.5920, d5.loss_plan_l1_fix_dist: 0.4137, d6.loss_plan_l1_fix_time: 2.5990, d6.loss_plan_l1_fix_dist: 0.4362, d0.loss_cls_all: 0.7113, d0.loss_bbox_all: 0.7495, d0.loss_cls: 0.7113, d0.loss_bbox: 0.7495, d1.loss_cls: 0.7028, d1.loss_bbox: 0.7337, d2.loss_cls: 0.7054, d2.loss_bbox: 0.7205, d3.loss_cls: 0.7057, d3.loss_bbox: 0.7181, d4.loss_cls: 0.7133, d4.loss_bbox: 0.7142, d5.loss_cls: 0.7248, d5.loss_bbox: 0.7107, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.9292, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.8502, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.8397, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.8447, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.8554, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.8556, d0.loss_map_cls_all: 0.4245, d0.loss_map_pts_all: 2.2988, d0.loss_map_dir_all: 0.0284, d0.loss_map_cls: 0.4245, d0.loss_map_pts: 2.2988, d0.loss_map_dir: 0.0284, d1.loss_map_cls: 0.4143, d1.loss_map_pts: 1.7676, d1.loss_map_dir: 0.0283, d2.loss_map_cls: 0.4080, d2.loss_map_pts: 1.6894, d2.loss_map_dir: 0.0286, d3.loss_map_cls: 0.4023, d3.loss_map_pts: 1.6661, d3.loss_map_dir: 0.0288, d4.loss_map_cls: 0.4024, d4.loss_map_pts: 1.6601, d4.loss_map_dir: 0.0290, d5.loss_map_cls: 0.4027, d5.loss_map_pts: 1.6626, d5.loss_map_dir: 0.0291, loss: 64.1733, grad_norm: 154.3652 +2026-02-24 13:42:49,567 - DriveTransformer - INFO - Epoch [2][12250/39528] lr: 9.958e-05, eta: 8 days, 6:17:36, time: 0.789, data_time: 0.043, memory: 19865, loss_cls: 0.7143, loss_bbox: 0.7047, loss_traj: 1.6401, loss_traj_cls: 0.0005, loss_map_cls: 0.3842, loss_map_pts: 1.8257, loss_map_dir: 0.0308, d0.loss_plan_l1_fix_time: 2.7804, d0.loss_plan_l1_fix_dist: 0.5524, d1.loss_plan_l1_fix_time: 2.6143, d1.loss_plan_l1_fix_dist: 0.4819, d2.loss_plan_l1_fix_time: 2.5757, d2.loss_plan_l1_fix_dist: 0.4735, d3.loss_plan_l1_fix_time: 2.5751, d3.loss_plan_l1_fix_dist: 0.4914, d4.loss_plan_l1_fix_time: 2.5814, d4.loss_plan_l1_fix_dist: 0.5184, d5.loss_plan_l1_fix_time: 2.5906, d5.loss_plan_l1_fix_dist: 0.5493, d6.loss_plan_l1_fix_time: 2.6007, d6.loss_plan_l1_fix_dist: 0.5761, d0.loss_cls_all: 0.6716, d0.loss_bbox_all: 0.7346, d0.loss_cls: 0.6716, d0.loss_bbox: 0.7346, d1.loss_cls: 0.6776, d1.loss_bbox: 0.7195, d2.loss_cls: 0.6870, d2.loss_bbox: 0.7096, d3.loss_cls: 0.6877, d3.loss_bbox: 0.7052, d4.loss_cls: 0.6979, d4.loss_bbox: 0.7048, d5.loss_cls: 0.7151, d5.loss_bbox: 0.7042, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6432, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.6016, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.6138, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6250, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6320, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6402, d0.loss_map_cls_all: 0.4102, d0.loss_map_pts_all: 2.4840, d0.loss_map_dir_all: 0.0301, d0.loss_map_cls: 0.4102, d0.loss_map_pts: 2.4840, d0.loss_map_dir: 0.0301, d1.loss_map_cls: 0.4029, d1.loss_map_pts: 1.9373, d1.loss_map_dir: 0.0300, d2.loss_map_cls: 0.3916, d2.loss_map_pts: 1.8506, d2.loss_map_dir: 0.0301, d3.loss_map_cls: 0.3842, d3.loss_map_pts: 1.8280, d3.loss_map_dir: 0.0303, d4.loss_map_cls: 0.3823, d4.loss_map_pts: 1.8240, d4.loss_map_dir: 0.0305, d5.loss_map_cls: 0.3844, d5.loss_map_pts: 1.8249, d5.loss_map_dir: 0.0306, loss: 64.0530, grad_norm: 153.3448 +2026-02-24 13:43:31,111 - DriveTransformer - INFO - Epoch [2][12300/39528] lr: 9.958e-05, eta: 8 days, 6:17:26, time: 0.831, data_time: 0.038, memory: 19865, loss_cls: 0.6776, loss_bbox: 0.6789, loss_traj: 1.6001, loss_traj_cls: 0.0004, loss_map_cls: 0.4020, loss_map_pts: 1.8784, loss_map_dir: 0.0335, d0.loss_plan_l1_fix_time: 3.4201, d0.loss_plan_l1_fix_dist: 0.4756, d1.loss_plan_l1_fix_time: 2.8888, d1.loss_plan_l1_fix_dist: 0.4442, d2.loss_plan_l1_fix_time: 2.8234, d2.loss_plan_l1_fix_dist: 0.4554, d3.loss_plan_l1_fix_time: 2.8177, d3.loss_plan_l1_fix_dist: 0.4759, d4.loss_plan_l1_fix_time: 2.8213, d4.loss_plan_l1_fix_dist: 0.5013, d5.loss_plan_l1_fix_time: 2.8277, d5.loss_plan_l1_fix_dist: 0.5265, d6.loss_plan_l1_fix_time: 2.8357, d6.loss_plan_l1_fix_dist: 0.5603, d0.loss_cls_all: 0.6740, d0.loss_bbox_all: 0.7072, d0.loss_cls: 0.6740, d0.loss_bbox: 0.7072, d1.loss_cls: 0.6624, d1.loss_bbox: 0.6996, d2.loss_cls: 0.6659, d2.loss_bbox: 0.6834, d3.loss_cls: 0.6694, d3.loss_bbox: 0.6783, d4.loss_cls: 0.6680, d4.loss_bbox: 0.6775, d5.loss_cls: 0.6771, d5.loss_bbox: 0.6772, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6757, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6020, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5900, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6078, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5968, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6047, d0.loss_map_cls_all: 0.4195, d0.loss_map_pts_all: 2.6005, d0.loss_map_dir_all: 0.0328, d0.loss_map_cls: 0.4195, d0.loss_map_pts: 2.6005, d0.loss_map_dir: 0.0328, d1.loss_map_cls: 0.4165, d1.loss_map_pts: 1.9930, d1.loss_map_dir: 0.0328, d2.loss_map_cls: 0.4074, d2.loss_map_pts: 1.9070, d2.loss_map_dir: 0.0329, d3.loss_map_cls: 0.4002, d3.loss_map_pts: 1.8875, d3.loss_map_dir: 0.0332, d4.loss_map_cls: 0.3997, d4.loss_map_pts: 1.8784, d4.loss_map_dir: 0.0333, d5.loss_map_cls: 0.4019, d5.loss_map_pts: 1.8763, d5.loss_map_dir: 0.0334, loss: 66.1862, grad_norm: 154.2148 +2026-02-24 13:44:11,146 - DriveTransformer - INFO - Epoch [2][12350/39528] lr: 9.958e-05, eta: 8 days, 6:16:51, time: 0.801, data_time: 0.035, memory: 19865, loss_cls: 0.6496, loss_bbox: 0.6743, loss_traj: 1.4270, loss_traj_cls: 0.0005, loss_map_cls: 0.3829, loss_map_pts: 1.8056, loss_map_dir: 0.0326, d0.loss_plan_l1_fix_time: 2.6463, d0.loss_plan_l1_fix_dist: 0.4201, d1.loss_plan_l1_fix_time: 2.4064, d1.loss_plan_l1_fix_dist: 0.4091, d2.loss_plan_l1_fix_time: 2.3922, d2.loss_plan_l1_fix_dist: 0.4263, d3.loss_plan_l1_fix_time: 2.4028, d3.loss_plan_l1_fix_dist: 0.4543, d4.loss_plan_l1_fix_time: 2.4148, d4.loss_plan_l1_fix_dist: 0.4860, d5.loss_plan_l1_fix_time: 2.4274, d5.loss_plan_l1_fix_dist: 0.5239, d6.loss_plan_l1_fix_time: 2.4410, d6.loss_plan_l1_fix_dist: 0.5704, d0.loss_cls_all: 0.6307, d0.loss_bbox_all: 0.7131, d0.loss_cls: 0.6307, d0.loss_bbox: 0.7131, d1.loss_cls: 0.6214, d1.loss_bbox: 0.6962, d2.loss_cls: 0.6234, d2.loss_bbox: 0.6797, d3.loss_cls: 0.6283, d3.loss_bbox: 0.6798, d4.loss_cls: 0.6379, d4.loss_bbox: 0.6749, d5.loss_cls: 0.6404, d5.loss_bbox: 0.6723, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4593, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4165, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4063, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4142, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4055, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4137, d0.loss_map_cls_all: 0.4171, d0.loss_map_pts_all: 2.5746, d0.loss_map_dir_all: 0.0323, d0.loss_map_cls: 0.4171, d0.loss_map_pts: 2.5746, d0.loss_map_dir: 0.0323, d1.loss_map_cls: 0.4078, d1.loss_map_pts: 1.9215, d1.loss_map_dir: 0.0323, d2.loss_map_cls: 0.3978, d2.loss_map_pts: 1.8239, d2.loss_map_dir: 0.0322, d3.loss_map_cls: 0.3884, d3.loss_map_pts: 1.8089, d3.loss_map_dir: 0.0323, d4.loss_map_cls: 0.3842, d4.loss_map_pts: 1.8002, d4.loss_map_dir: 0.0324, d5.loss_map_cls: 0.3829, d5.loss_map_pts: 1.8023, d5.loss_map_dir: 0.0326, loss: 60.4827, grad_norm: 156.1187 +2026-02-24 13:44:51,219 - DriveTransformer - INFO - Epoch [2][12400/39528] lr: 9.958e-05, eta: 8 days, 6:16:16, time: 0.801, data_time: 0.037, memory: 19865, loss_cls: 0.6258, loss_bbox: 0.6687, loss_traj: 1.4305, loss_traj_cls: 0.0005, loss_map_cls: 0.3557, loss_map_pts: 1.7295, loss_map_dir: 0.0330, d0.loss_plan_l1_fix_time: 3.0132, d0.loss_plan_l1_fix_dist: 0.5039, d1.loss_plan_l1_fix_time: 2.8451, d1.loss_plan_l1_fix_dist: 0.4734, d2.loss_plan_l1_fix_time: 2.8286, d2.loss_plan_l1_fix_dist: 0.4862, d3.loss_plan_l1_fix_time: 2.8313, d3.loss_plan_l1_fix_dist: 0.5075, d4.loss_plan_l1_fix_time: 2.8373, d4.loss_plan_l1_fix_dist: 0.5287, d5.loss_plan_l1_fix_time: 2.8443, d5.loss_plan_l1_fix_dist: 0.5522, d6.loss_plan_l1_fix_time: 2.8534, d6.loss_plan_l1_fix_dist: 0.5750, d0.loss_cls_all: 0.6265, d0.loss_bbox_all: 0.6974, d0.loss_cls: 0.6265, d0.loss_bbox: 0.6974, d1.loss_cls: 0.6168, d1.loss_bbox: 0.6839, d2.loss_cls: 0.6167, d2.loss_bbox: 0.6702, d3.loss_cls: 0.6224, d3.loss_bbox: 0.6669, d4.loss_cls: 0.6232, d4.loss_bbox: 0.6692, d5.loss_cls: 0.6206, d5.loss_bbox: 0.6660, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4628, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4187, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4104, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4196, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4120, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4231, d0.loss_map_cls_all: 0.3874, d0.loss_map_pts_all: 2.5174, d0.loss_map_dir_all: 0.0325, d0.loss_map_cls: 0.3874, d0.loss_map_pts: 2.5174, d0.loss_map_dir: 0.0325, d1.loss_map_cls: 0.3724, d1.loss_map_pts: 1.8618, d1.loss_map_dir: 0.0322, d2.loss_map_cls: 0.3614, d2.loss_map_pts: 1.7604, d2.loss_map_dir: 0.0322, d3.loss_map_cls: 0.3579, d3.loss_map_pts: 1.7431, d3.loss_map_dir: 0.0325, d4.loss_map_cls: 0.3580, d4.loss_map_pts: 1.7386, d4.loss_map_dir: 0.0327, d5.loss_map_cls: 0.3553, d5.loss_map_pts: 1.7348, d5.loss_map_dir: 0.0329, loss: 62.8589, grad_norm: 154.5006 +2026-02-24 13:45:30,266 - DriveTransformer - INFO - Epoch [2][12450/39528] lr: 9.958e-05, eta: 8 days, 6:15:23, time: 0.781, data_time: 0.035, memory: 19865, loss_cls: 0.6629, loss_bbox: 0.7283, loss_traj: 1.4075, loss_traj_cls: 0.0004, loss_map_cls: 0.4205, loss_map_pts: 1.8663, loss_map_dir: 0.0368, d0.loss_plan_l1_fix_time: 3.2939, d0.loss_plan_l1_fix_dist: 0.4582, d1.loss_plan_l1_fix_time: 2.7914, d1.loss_plan_l1_fix_dist: 0.4427, d2.loss_plan_l1_fix_time: 2.6887, d2.loss_plan_l1_fix_dist: 0.4680, d3.loss_plan_l1_fix_time: 2.6698, d3.loss_plan_l1_fix_dist: 0.4964, d4.loss_plan_l1_fix_time: 2.6677, d4.loss_plan_l1_fix_dist: 0.5246, d5.loss_plan_l1_fix_time: 2.6706, d5.loss_plan_l1_fix_dist: 0.5496, d6.loss_plan_l1_fix_time: 2.6765, d6.loss_plan_l1_fix_dist: 0.5736, d0.loss_cls_all: 0.6704, d0.loss_bbox_all: 0.7405, d0.loss_cls: 0.6704, d0.loss_bbox: 0.7405, d1.loss_cls: 0.6688, d1.loss_bbox: 0.7368, d2.loss_cls: 0.6674, d2.loss_bbox: 0.7240, d3.loss_cls: 0.6620, d3.loss_bbox: 0.7270, d4.loss_cls: 0.6601, d4.loss_bbox: 0.7262, d5.loss_cls: 0.6592, d5.loss_bbox: 0.7235, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4481, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4015, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.3970, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4078, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4052, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4036, d0.loss_map_cls_all: 0.4430, d0.loss_map_pts_all: 2.6294, d0.loss_map_dir_all: 0.0361, d0.loss_map_cls: 0.4430, d0.loss_map_pts: 2.6294, d0.loss_map_dir: 0.0361, d1.loss_map_cls: 0.4398, d1.loss_map_pts: 2.0186, d1.loss_map_dir: 0.0362, d2.loss_map_cls: 0.4310, d2.loss_map_pts: 1.9156, d2.loss_map_dir: 0.0363, d3.loss_map_cls: 0.4224, d3.loss_map_pts: 1.8851, d3.loss_map_dir: 0.0364, d4.loss_map_cls: 0.4229, d4.loss_map_pts: 1.8746, d4.loss_map_dir: 0.0365, d5.loss_map_cls: 0.4202, d5.loss_map_pts: 1.8690, d5.loss_map_dir: 0.0366, loss: 64.4363, grad_norm: 155.1113 +2026-02-24 13:46:10,221 - DriveTransformer - INFO - Epoch [2][12500/39528] lr: 9.958e-05, eta: 8 days, 6:14:46, time: 0.799, data_time: 0.041, memory: 19865, loss_cls: 0.6177, loss_bbox: 0.6645, loss_traj: 1.3717, loss_traj_cls: 0.0004, loss_map_cls: 0.3671, loss_map_pts: 1.7084, loss_map_dir: 0.0328, d0.loss_plan_l1_fix_time: 2.7397, d0.loss_plan_l1_fix_dist: 0.4654, d1.loss_plan_l1_fix_time: 2.4734, d1.loss_plan_l1_fix_dist: 0.4105, d2.loss_plan_l1_fix_time: 2.4144, d2.loss_plan_l1_fix_dist: 0.4190, d3.loss_plan_l1_fix_time: 2.4039, d3.loss_plan_l1_fix_dist: 0.4438, d4.loss_plan_l1_fix_time: 2.4066, d4.loss_plan_l1_fix_dist: 0.4700, d5.loss_plan_l1_fix_time: 2.4117, d5.loss_plan_l1_fix_dist: 0.4987, d6.loss_plan_l1_fix_time: 2.4190, d6.loss_plan_l1_fix_dist: 0.5233, d0.loss_cls_all: 0.6258, d0.loss_bbox_all: 0.6938, d0.loss_cls: 0.6258, d0.loss_bbox: 0.6938, d1.loss_cls: 0.6188, d1.loss_bbox: 0.6817, d2.loss_cls: 0.6109, d2.loss_bbox: 0.6724, d3.loss_cls: 0.6113, d3.loss_bbox: 0.6664, d4.loss_cls: 0.6126, d4.loss_bbox: 0.6671, d5.loss_cls: 0.6130, d5.loss_bbox: 0.6641, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4856, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3902, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.3718, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.3672, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3660, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3674, d0.loss_map_cls_all: 0.3958, d0.loss_map_pts_all: 2.5145, d0.loss_map_dir_all: 0.0326, d0.loss_map_cls: 0.3958, d0.loss_map_pts: 2.5145, d0.loss_map_dir: 0.0326, d1.loss_map_cls: 0.3892, d1.loss_map_pts: 1.8299, d1.loss_map_dir: 0.0323, d2.loss_map_cls: 0.3728, d2.loss_map_pts: 1.7345, d2.loss_map_dir: 0.0323, d3.loss_map_cls: 0.3691, d3.loss_map_pts: 1.7110, d3.loss_map_dir: 0.0324, d4.loss_map_cls: 0.3678, d4.loss_map_pts: 1.7074, d4.loss_map_dir: 0.0325, d5.loss_map_cls: 0.3667, d5.loss_map_pts: 1.7048, d5.loss_map_dir: 0.0326, loss: 59.2729, grad_norm: 156.0655 +2026-02-24 13:46:50,775 - DriveTransformer - INFO - Epoch [2][12550/39528] lr: 9.958e-05, eta: 8 days, 6:14:19, time: 0.811, data_time: 0.038, memory: 19865, loss_cls: 0.5815, loss_bbox: 0.6402, loss_traj: 1.4380, loss_traj_cls: 0.0004, loss_map_cls: 0.3572, loss_map_pts: 1.7068, loss_map_dir: 0.0365, d0.loss_plan_l1_fix_time: 3.2274, d0.loss_plan_l1_fix_dist: 0.4859, d1.loss_plan_l1_fix_time: 2.8085, d1.loss_plan_l1_fix_dist: 0.4372, d2.loss_plan_l1_fix_time: 2.7226, d2.loss_plan_l1_fix_dist: 0.4509, d3.loss_plan_l1_fix_time: 2.7114, d3.loss_plan_l1_fix_dist: 0.4737, d4.loss_plan_l1_fix_time: 2.7123, d4.loss_plan_l1_fix_dist: 0.4989, d5.loss_plan_l1_fix_time: 2.7157, d5.loss_plan_l1_fix_dist: 0.5271, d6.loss_plan_l1_fix_time: 2.7211, d6.loss_plan_l1_fix_dist: 0.5563, d0.loss_cls_all: 0.5940, d0.loss_bbox_all: 0.6719, d0.loss_cls: 0.5940, d0.loss_bbox: 0.6719, d1.loss_cls: 0.5846, d1.loss_bbox: 0.6590, d2.loss_cls: 0.5822, d2.loss_bbox: 0.6480, d3.loss_cls: 0.5833, d3.loss_bbox: 0.6406, d4.loss_cls: 0.5757, d4.loss_bbox: 0.6440, d5.loss_cls: 0.5785, d5.loss_bbox: 0.6375, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5128, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4157, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4115, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4265, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4224, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4222, d0.loss_map_cls_all: 0.3799, d0.loss_map_pts_all: 2.5988, d0.loss_map_dir_all: 0.0358, d0.loss_map_cls: 0.3799, d0.loss_map_pts: 2.5988, d0.loss_map_dir: 0.0358, d1.loss_map_cls: 0.3724, d1.loss_map_pts: 1.8328, d1.loss_map_dir: 0.0359, d2.loss_map_cls: 0.3634, d2.loss_map_pts: 1.7209, d2.loss_map_dir: 0.0360, d3.loss_map_cls: 0.3639, d3.loss_map_pts: 1.6951, d3.loss_map_dir: 0.0361, d4.loss_map_cls: 0.3598, d4.loss_map_pts: 1.6903, d4.loss_map_dir: 0.0363, d5.loss_map_cls: 0.3574, d5.loss_map_pts: 1.6930, d5.loss_map_dir: 0.0364, loss: 61.7485, grad_norm: 154.9693 +2026-02-24 13:47:31,625 - DriveTransformer - INFO - Epoch [2][12600/39528] lr: 9.958e-05, eta: 8 days, 6:13:59, time: 0.818, data_time: 0.042, memory: 19865, loss_cls: 0.6968, loss_bbox: 0.7329, loss_traj: 1.3598, loss_traj_cls: 0.0004, loss_map_cls: 0.4026, loss_map_pts: 1.9771, loss_map_dir: 0.0365, d0.loss_plan_l1_fix_time: 2.7493, d0.loss_plan_l1_fix_dist: 0.4862, d1.loss_plan_l1_fix_time: 2.4348, d1.loss_plan_l1_fix_dist: 0.4716, d2.loss_plan_l1_fix_time: 2.4105, d2.loss_plan_l1_fix_dist: 0.4807, d3.loss_plan_l1_fix_time: 2.4227, d3.loss_plan_l1_fix_dist: 0.4935, d4.loss_plan_l1_fix_time: 2.4343, d4.loss_plan_l1_fix_dist: 0.5164, d5.loss_plan_l1_fix_time: 2.4466, d5.loss_plan_l1_fix_dist: 0.5436, d6.loss_plan_l1_fix_time: 2.4584, d6.loss_plan_l1_fix_dist: 0.5789, d0.loss_cls_all: 0.7046, d0.loss_bbox_all: 0.7594, d0.loss_cls: 0.7046, d0.loss_bbox: 0.7594, d1.loss_cls: 0.7035, d1.loss_bbox: 0.7457, d2.loss_cls: 0.6998, d2.loss_bbox: 0.7414, d3.loss_cls: 0.7052, d3.loss_bbox: 0.7284, d4.loss_cls: 0.6975, d4.loss_bbox: 0.7307, d5.loss_cls: 0.6983, d5.loss_bbox: 0.7289, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4155, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3667, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3600, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3583, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3560, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3561, d0.loss_map_cls_all: 0.4149, d0.loss_map_pts_all: 2.8378, d0.loss_map_dir_all: 0.0355, d0.loss_map_cls: 0.4149, d0.loss_map_pts: 2.8378, d0.loss_map_dir: 0.0355, d1.loss_map_cls: 0.4090, d1.loss_map_pts: 2.1348, d1.loss_map_dir: 0.0357, d2.loss_map_cls: 0.4040, d2.loss_map_pts: 2.0218, d2.loss_map_dir: 0.0359, d3.loss_map_cls: 0.4039, d3.loss_map_pts: 1.9927, d3.loss_map_dir: 0.0361, d4.loss_map_cls: 0.4024, d4.loss_map_pts: 1.9791, d4.loss_map_dir: 0.0363, d5.loss_map_cls: 0.4032, d5.loss_map_pts: 1.9745, d5.loss_map_dir: 0.0364, loss: 63.3399, grad_norm: 158.0725 +2026-02-24 13:48:10,670 - DriveTransformer - INFO - Epoch [2][12650/39528] lr: 9.958e-05, eta: 8 days, 6:13:05, time: 0.779, data_time: 0.038, memory: 19865, loss_cls: 0.6352, loss_bbox: 0.6796, loss_traj: 1.5591, loss_traj_cls: 0.0005, loss_map_cls: 0.3884, loss_map_pts: 1.7168, loss_map_dir: 0.0265, d0.loss_plan_l1_fix_time: 2.8422, d0.loss_plan_l1_fix_dist: 0.4397, d1.loss_plan_l1_fix_time: 2.4877, d1.loss_plan_l1_fix_dist: 0.3873, d2.loss_plan_l1_fix_time: 2.4720, d2.loss_plan_l1_fix_dist: 0.3884, d3.loss_plan_l1_fix_time: 2.4792, d3.loss_plan_l1_fix_dist: 0.4024, d4.loss_plan_l1_fix_time: 2.4882, d4.loss_plan_l1_fix_dist: 0.4203, d5.loss_plan_l1_fix_time: 2.4983, d5.loss_plan_l1_fix_dist: 0.4411, d6.loss_plan_l1_fix_time: 2.5099, d6.loss_plan_l1_fix_dist: 0.4652, d0.loss_cls_all: 0.6437, d0.loss_bbox_all: 0.6932, d0.loss_cls: 0.6437, d0.loss_bbox: 0.6932, d1.loss_cls: 0.6403, d1.loss_bbox: 0.6876, d2.loss_cls: 0.6357, d2.loss_bbox: 0.6827, d3.loss_cls: 0.6335, d3.loss_bbox: 0.6807, d4.loss_cls: 0.6306, d4.loss_bbox: 0.6734, d5.loss_cls: 0.6320, d5.loss_bbox: 0.6752, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5933, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5594, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5553, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5638, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5580, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5600, d0.loss_map_cls_all: 0.4132, d0.loss_map_pts_all: 2.3461, d0.loss_map_dir_all: 0.0261, d0.loss_map_cls: 0.4132, d0.loss_map_pts: 2.3461, d0.loss_map_dir: 0.0261, d1.loss_map_cls: 0.3994, d1.loss_map_pts: 1.8656, d1.loss_map_dir: 0.0260, d2.loss_map_cls: 0.3896, d2.loss_map_pts: 1.7717, d2.loss_map_dir: 0.0261, d3.loss_map_cls: 0.3878, d3.loss_map_pts: 1.7384, d3.loss_map_dir: 0.0262, d4.loss_map_cls: 0.3884, d4.loss_map_pts: 1.7237, d4.loss_map_dir: 0.0263, d5.loss_map_cls: 0.3889, d5.loss_map_pts: 1.7198, d5.loss_map_dir: 0.0264, loss: 60.8427, grad_norm: 158.8815 +2026-02-24 13:48:51,646 - DriveTransformer - INFO - Epoch [2][12700/39528] lr: 9.958e-05, eta: 8 days, 6:12:45, time: 0.820, data_time: 0.044, memory: 19865, loss_cls: 0.6665, loss_bbox: 0.7058, loss_traj: 1.6594, loss_traj_cls: 0.0005, loss_map_cls: 0.3866, loss_map_pts: 1.8929, loss_map_dir: 0.0341, d0.loss_plan_l1_fix_time: 3.2475, d0.loss_plan_l1_fix_dist: 0.4271, d1.loss_plan_l1_fix_time: 2.8129, d1.loss_plan_l1_fix_dist: 0.4105, d2.loss_plan_l1_fix_time: 2.7621, d2.loss_plan_l1_fix_dist: 0.4224, d3.loss_plan_l1_fix_time: 2.7629, d3.loss_plan_l1_fix_dist: 0.4392, d4.loss_plan_l1_fix_time: 2.7697, d4.loss_plan_l1_fix_dist: 0.4577, d5.loss_plan_l1_fix_time: 2.7786, d5.loss_plan_l1_fix_dist: 0.4750, d6.loss_plan_l1_fix_time: 2.7893, d6.loss_plan_l1_fix_dist: 0.4889, d0.loss_cls_all: 0.6623, d0.loss_bbox_all: 0.7221, d0.loss_cls: 0.6623, d0.loss_bbox: 0.7221, d1.loss_cls: 0.6500, d1.loss_bbox: 0.7156, d2.loss_cls: 0.6500, d2.loss_bbox: 0.7114, d3.loss_cls: 0.6494, d3.loss_bbox: 0.7155, d4.loss_cls: 0.6528, d4.loss_bbox: 0.7052, d5.loss_cls: 0.6598, d5.loss_bbox: 0.7037, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7090, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6565, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.6531, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6518, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6456, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6572, d0.loss_map_cls_all: 0.4108, d0.loss_map_pts_all: 2.7670, d0.loss_map_dir_all: 0.0338, d0.loss_map_cls: 0.4108, d0.loss_map_pts: 2.7670, d0.loss_map_dir: 0.0338, d1.loss_map_cls: 0.3975, d1.loss_map_pts: 2.0727, d1.loss_map_dir: 0.0337, d2.loss_map_cls: 0.3898, d2.loss_map_pts: 1.9475, d2.loss_map_dir: 0.0336, d3.loss_map_cls: 0.3864, d3.loss_map_pts: 1.9121, d3.loss_map_dir: 0.0338, d4.loss_map_cls: 0.3849, d4.loss_map_pts: 1.8969, d4.loss_map_dir: 0.0339, d5.loss_map_cls: 0.3847, d5.loss_map_pts: 1.8936, d5.loss_map_dir: 0.0340, loss: 66.2071, grad_norm: 159.0421 +2026-02-24 13:49:32,394 - DriveTransformer - INFO - Epoch [2][12750/39528] lr: 9.958e-05, eta: 8 days, 6:12:21, time: 0.815, data_time: 0.037, memory: 19865, loss_cls: 0.6326, loss_bbox: 0.6782, loss_traj: 1.4400, loss_traj_cls: 0.0005, loss_map_cls: 0.3886, loss_map_pts: 1.9116, loss_map_dir: 0.0375, d0.loss_plan_l1_fix_time: 2.8707, d0.loss_plan_l1_fix_dist: 0.4488, d1.loss_plan_l1_fix_time: 2.5663, d1.loss_plan_l1_fix_dist: 0.4247, d2.loss_plan_l1_fix_time: 2.4966, d2.loss_plan_l1_fix_dist: 0.4300, d3.loss_plan_l1_fix_time: 2.4915, d3.loss_plan_l1_fix_dist: 0.4429, d4.loss_plan_l1_fix_time: 2.4955, d4.loss_plan_l1_fix_dist: 0.4565, d5.loss_plan_l1_fix_time: 2.5022, d5.loss_plan_l1_fix_dist: 0.4735, d6.loss_plan_l1_fix_time: 2.5107, d6.loss_plan_l1_fix_dist: 0.4936, d0.loss_cls_all: 0.6305, d0.loss_bbox_all: 0.7020, d0.loss_cls: 0.6305, d0.loss_bbox: 0.7020, d1.loss_cls: 0.6230, d1.loss_bbox: 0.6925, d2.loss_cls: 0.6246, d2.loss_bbox: 0.6866, d3.loss_cls: 0.6238, d3.loss_bbox: 0.6944, d4.loss_cls: 0.6222, d4.loss_bbox: 0.6819, d5.loss_cls: 0.6267, d5.loss_bbox: 0.6780, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4628, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4278, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4188, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4294, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4268, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4335, d0.loss_map_cls_all: 0.4108, d0.loss_map_pts_all: 2.9795, d0.loss_map_dir_all: 0.0373, d0.loss_map_cls: 0.4108, d0.loss_map_pts: 2.9795, d0.loss_map_dir: 0.0373, d1.loss_map_cls: 0.4008, d1.loss_map_pts: 2.0835, d1.loss_map_dir: 0.0366, d2.loss_map_cls: 0.3948, d2.loss_map_pts: 1.9510, d2.loss_map_dir: 0.0368, d3.loss_map_cls: 0.3929, d3.loss_map_pts: 1.9197, d3.loss_map_dir: 0.0370, d4.loss_map_cls: 0.3887, d4.loss_map_pts: 1.9117, d4.loss_map_dir: 0.0372, d5.loss_map_cls: 0.3894, d5.loss_map_pts: 1.9113, d5.loss_map_dir: 0.0374, loss: 62.7981, grad_norm: 159.0124 +2026-02-24 13:50:13,596 - DriveTransformer - INFO - Epoch [2][12800/39528] lr: 9.958e-05, eta: 8 days, 6:12:06, time: 0.824, data_time: 0.040, memory: 19865, loss_cls: 0.6443, loss_bbox: 0.6436, loss_traj: 1.3151, loss_traj_cls: 0.0005, loss_map_cls: 0.3276, loss_map_pts: 1.6139, loss_map_dir: 0.0330, d0.loss_plan_l1_fix_time: 2.3560, d0.loss_plan_l1_fix_dist: 0.4377, d1.loss_plan_l1_fix_time: 2.0036, d1.loss_plan_l1_fix_dist: 0.3921, d2.loss_plan_l1_fix_time: 1.9630, d2.loss_plan_l1_fix_dist: 0.3927, d3.loss_plan_l1_fix_time: 1.9665, d3.loss_plan_l1_fix_dist: 0.4068, d4.loss_plan_l1_fix_time: 1.9730, d4.loss_plan_l1_fix_dist: 0.4232, d5.loss_plan_l1_fix_time: 1.9815, d5.loss_plan_l1_fix_dist: 0.4427, d6.loss_plan_l1_fix_time: 1.9909, d6.loss_plan_l1_fix_dist: 0.4651, d0.loss_cls_all: 0.6311, d0.loss_bbox_all: 0.6692, d0.loss_cls: 0.6311, d0.loss_bbox: 0.6692, d1.loss_cls: 0.6262, d1.loss_bbox: 0.6580, d2.loss_cls: 0.6287, d2.loss_bbox: 0.6475, d3.loss_cls: 0.6312, d3.loss_bbox: 0.6520, d4.loss_cls: 0.6295, d4.loss_bbox: 0.6431, d5.loss_cls: 0.6346, d5.loss_bbox: 0.6409, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3154, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.2799, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.2932, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3041, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3028, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3079, d0.loss_map_cls_all: 0.3471, d0.loss_map_pts_all: 2.5928, d0.loss_map_dir_all: 0.0326, d0.loss_map_cls: 0.3471, d0.loss_map_pts: 2.5928, d0.loss_map_dir: 0.0326, d1.loss_map_cls: 0.3437, d1.loss_map_pts: 1.8025, d1.loss_map_dir: 0.0324, d2.loss_map_cls: 0.3337, d2.loss_map_pts: 1.6613, d2.loss_map_dir: 0.0323, d3.loss_map_cls: 0.3276, d3.loss_map_pts: 1.6317, d3.loss_map_dir: 0.0326, d4.loss_map_cls: 0.3276, d4.loss_map_pts: 1.6193, d4.loss_map_dir: 0.0327, d5.loss_map_cls: 0.3283, d5.loss_map_pts: 1.6138, d5.loss_map_dir: 0.0329, loss: 54.6698, grad_norm: 157.7487 +2026-02-24 13:50:54,072 - DriveTransformer - INFO - Epoch [2][12850/39528] lr: 9.958e-05, eta: 8 days, 6:11:37, time: 0.809, data_time: 0.039, memory: 19865, loss_cls: 0.6390, loss_bbox: 0.6510, loss_traj: 1.5699, loss_traj_cls: 0.0004, loss_map_cls: 0.3932, loss_map_pts: 1.7376, loss_map_dir: 0.0337, d0.loss_plan_l1_fix_time: 3.1594, d0.loss_plan_l1_fix_dist: 0.3805, d1.loss_plan_l1_fix_time: 2.8371, d1.loss_plan_l1_fix_dist: 0.3732, d2.loss_plan_l1_fix_time: 2.7925, d2.loss_plan_l1_fix_dist: 0.3918, d3.loss_plan_l1_fix_time: 2.7938, d3.loss_plan_l1_fix_dist: 0.4122, d4.loss_plan_l1_fix_time: 2.8002, d4.loss_plan_l1_fix_dist: 0.4348, d5.loss_plan_l1_fix_time: 2.8077, d5.loss_plan_l1_fix_dist: 0.4548, d6.loss_plan_l1_fix_time: 2.8153, d6.loss_plan_l1_fix_dist: 0.4770, d0.loss_cls_all: 0.6652, d0.loss_bbox_all: 0.6813, d0.loss_cls: 0.6652, d0.loss_bbox: 0.6813, d1.loss_cls: 0.6370, d1.loss_bbox: 0.6711, d2.loss_cls: 0.6336, d2.loss_bbox: 0.6580, d3.loss_cls: 0.6337, d3.loss_bbox: 0.6628, d4.loss_cls: 0.6336, d4.loss_bbox: 0.6527, d5.loss_cls: 0.6359, d5.loss_bbox: 0.6483, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6568, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5508, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5484, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5549, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5446, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5514, d0.loss_map_cls_all: 0.4235, d0.loss_map_pts_all: 2.6013, d0.loss_map_dir_all: 0.0335, d0.loss_map_cls: 0.4235, d0.loss_map_pts: 2.6013, d0.loss_map_dir: 0.0335, d1.loss_map_cls: 0.4078, d1.loss_map_pts: 1.9252, d1.loss_map_dir: 0.0329, d2.loss_map_cls: 0.4023, d2.loss_map_pts: 1.8044, d2.loss_map_dir: 0.0330, d3.loss_map_cls: 0.3973, d3.loss_map_pts: 1.7673, d3.loss_map_dir: 0.0332, d4.loss_map_cls: 0.3940, d4.loss_map_pts: 1.7465, d4.loss_map_dir: 0.0334, d5.loss_map_cls: 0.3921, d5.loss_map_pts: 1.7417, d5.loss_map_dir: 0.0336, loss: 63.7866, grad_norm: 158.7742 +2026-02-24 13:51:34,032 - DriveTransformer - INFO - Epoch [2][12900/39528] lr: 9.958e-05, eta: 8 days, 6:11:00, time: 0.799, data_time: 0.034, memory: 19865, loss_cls: 0.6059, loss_bbox: 0.6434, loss_traj: 1.4799, loss_traj_cls: 0.0004, loss_map_cls: 0.3719, loss_map_pts: 1.6471, loss_map_dir: 0.0311, d0.loss_plan_l1_fix_time: 2.4290, d0.loss_plan_l1_fix_dist: 0.4301, d1.loss_plan_l1_fix_time: 2.2046, d1.loss_plan_l1_fix_dist: 0.3898, d2.loss_plan_l1_fix_time: 2.1693, d2.loss_plan_l1_fix_dist: 0.3881, d3.loss_plan_l1_fix_time: 2.1698, d3.loss_plan_l1_fix_dist: 0.3988, d4.loss_plan_l1_fix_time: 2.1779, d4.loss_plan_l1_fix_dist: 0.4115, d5.loss_plan_l1_fix_time: 2.1873, d5.loss_plan_l1_fix_dist: 0.4270, d6.loss_plan_l1_fix_time: 2.1980, d6.loss_plan_l1_fix_dist: 0.4423, d0.loss_cls_all: 0.6157, d0.loss_bbox_all: 0.6718, d0.loss_cls: 0.6157, d0.loss_bbox: 0.6718, d1.loss_cls: 0.6015, d1.loss_bbox: 0.6655, d2.loss_cls: 0.5977, d2.loss_bbox: 0.6517, d3.loss_cls: 0.5999, d3.loss_bbox: 0.6465, d4.loss_cls: 0.5972, d4.loss_bbox: 0.6461, d5.loss_cls: 0.5997, d5.loss_bbox: 0.6440, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5225, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4678, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4639, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4682, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4764, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4809, d0.loss_map_cls_all: 0.4063, d0.loss_map_pts_all: 2.4534, d0.loss_map_dir_all: 0.0302, d0.loss_map_cls: 0.4063, d0.loss_map_pts: 2.4534, d0.loss_map_dir: 0.0302, d1.loss_map_cls: 0.3871, d1.loss_map_pts: 1.8319, d1.loss_map_dir: 0.0302, d2.loss_map_cls: 0.3795, d2.loss_map_pts: 1.7119, d2.loss_map_dir: 0.0304, d3.loss_map_cls: 0.3725, d3.loss_map_pts: 1.6733, d3.loss_map_dir: 0.0306, d4.loss_map_cls: 0.3718, d4.loss_map_pts: 1.6535, d4.loss_map_dir: 0.0308, d5.loss_map_cls: 0.3708, d5.loss_map_pts: 1.6510, d5.loss_map_dir: 0.0309, loss: 57.2474, grad_norm: 156.8329 +2026-02-24 13:52:15,405 - DriveTransformer - INFO - Epoch [2][12950/39528] lr: 9.958e-05, eta: 8 days, 6:10:47, time: 0.827, data_time: 0.043, memory: 19865, loss_cls: 0.6092, loss_bbox: 0.6292, loss_traj: 1.3387, loss_traj_cls: 0.0004, loss_map_cls: 0.3666, loss_map_pts: 1.8191, loss_map_dir: 0.0336, d0.loss_plan_l1_fix_time: 2.6640, d0.loss_plan_l1_fix_dist: 0.4590, d1.loss_plan_l1_fix_time: 2.3386, d1.loss_plan_l1_fix_dist: 0.4057, d2.loss_plan_l1_fix_time: 2.2665, d2.loss_plan_l1_fix_dist: 0.4055, d3.loss_plan_l1_fix_time: 2.2609, d3.loss_plan_l1_fix_dist: 0.4208, d4.loss_plan_l1_fix_time: 2.2656, d4.loss_plan_l1_fix_dist: 0.4411, d5.loss_plan_l1_fix_time: 2.2733, d5.loss_plan_l1_fix_dist: 0.4612, d6.loss_plan_l1_fix_time: 2.2836, d6.loss_plan_l1_fix_dist: 0.4841, d0.loss_cls_all: 0.6192, d0.loss_bbox_all: 0.6632, d0.loss_cls: 0.6192, d0.loss_bbox: 0.6632, d1.loss_cls: 0.6042, d1.loss_bbox: 0.6623, d2.loss_cls: 0.6037, d2.loss_bbox: 0.6473, d3.loss_cls: 0.6054, d3.loss_bbox: 0.6329, d4.loss_cls: 0.6033, d4.loss_bbox: 0.6297, d5.loss_cls: 0.6050, d5.loss_bbox: 0.6318, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3884, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3332, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3141, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.3143, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3169, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3266, d0.loss_map_cls_all: 0.3917, d0.loss_map_pts_all: 2.6813, d0.loss_map_dir_all: 0.0330, d0.loss_map_cls: 0.3917, d0.loss_map_pts: 2.6813, d0.loss_map_dir: 0.0330, d1.loss_map_cls: 0.3816, d1.loss_map_pts: 1.9777, d1.loss_map_dir: 0.0329, d2.loss_map_cls: 0.3741, d2.loss_map_pts: 1.8701, d2.loss_map_dir: 0.0331, d3.loss_map_cls: 0.3684, d3.loss_map_pts: 1.8334, d3.loss_map_dir: 0.0332, d4.loss_map_cls: 0.3644, d4.loss_map_pts: 1.8180, d4.loss_map_dir: 0.0333, d5.loss_map_cls: 0.3641, d5.loss_map_pts: 1.8167, d5.loss_map_dir: 0.0335, loss: 58.5610, grad_norm: 156.7733 +2026-02-24 13:52:54,320 - DriveTransformer - INFO - Epoch [2][13000/39528] lr: 9.958e-05, eta: 8 days, 6:09:52, time: 0.778, data_time: 0.039, memory: 19865, loss_cls: 0.6300, loss_bbox: 0.6715, loss_traj: 1.3632, loss_traj_cls: 0.0004, loss_map_cls: 0.4074, loss_map_pts: 1.7347, loss_map_dir: 0.0320, d0.loss_plan_l1_fix_time: 2.8771, d0.loss_plan_l1_fix_dist: 0.4498, d1.loss_plan_l1_fix_time: 2.6206, d1.loss_plan_l1_fix_dist: 0.4392, d2.loss_plan_l1_fix_time: 2.5716, d2.loss_plan_l1_fix_dist: 0.4538, d3.loss_plan_l1_fix_time: 2.5687, d3.loss_plan_l1_fix_dist: 0.4753, d4.loss_plan_l1_fix_time: 2.5747, d4.loss_plan_l1_fix_dist: 0.5008, d5.loss_plan_l1_fix_time: 2.5820, d5.loss_plan_l1_fix_dist: 0.5298, d6.loss_plan_l1_fix_time: 2.5897, d6.loss_plan_l1_fix_dist: 0.5616, d0.loss_cls_all: 0.6415, d0.loss_bbox_all: 0.7114, d0.loss_cls: 0.6415, d0.loss_bbox: 0.7114, d1.loss_cls: 0.6272, d1.loss_bbox: 0.7111, d2.loss_cls: 0.6264, d2.loss_bbox: 0.7045, d3.loss_cls: 0.6285, d3.loss_bbox: 0.6850, d4.loss_cls: 0.6273, d4.loss_bbox: 0.6735, d5.loss_cls: 0.6299, d5.loss_bbox: 0.6712, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.4051, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3349, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3269, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3299, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3441, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3544, d0.loss_map_cls_all: 0.4272, d0.loss_map_pts_all: 2.6165, d0.loss_map_dir_all: 0.0319, d0.loss_map_cls: 0.4272, d0.loss_map_pts: 2.6165, d0.loss_map_dir: 0.0319, d1.loss_map_cls: 0.4167, d1.loss_map_pts: 1.9128, d1.loss_map_dir: 0.0313, d2.loss_map_cls: 0.4085, d2.loss_map_pts: 1.7943, d2.loss_map_dir: 0.0315, d3.loss_map_cls: 0.4019, d3.loss_map_pts: 1.7547, d3.loss_map_dir: 0.0316, d4.loss_map_cls: 0.4019, d4.loss_map_pts: 1.7437, d4.loss_map_dir: 0.0318, d5.loss_map_cls: 0.4047, d5.loss_map_pts: 1.7370, d5.loss_map_dir: 0.0319, loss: 61.3089, grad_norm: 154.3727 +2026-02-24 13:53:35,533 - DriveTransformer - INFO - Epoch [2][13050/39528] lr: 9.958e-05, eta: 8 days, 6:09:36, time: 0.824, data_time: 0.044, memory: 19865, loss_cls: 0.6427, loss_bbox: 0.6431, loss_traj: 1.4880, loss_traj_cls: 0.0004, loss_map_cls: 0.3555, loss_map_pts: 1.6876, loss_map_dir: 0.0312, d0.loss_plan_l1_fix_time: 3.0161, d0.loss_plan_l1_fix_dist: 0.4779, d1.loss_plan_l1_fix_time: 2.6928, d1.loss_plan_l1_fix_dist: 0.4407, d2.loss_plan_l1_fix_time: 2.6160, d2.loss_plan_l1_fix_dist: 0.4437, d3.loss_plan_l1_fix_time: 2.6066, d3.loss_plan_l1_fix_dist: 0.4585, d4.loss_plan_l1_fix_time: 2.6107, d4.loss_plan_l1_fix_dist: 0.4764, d5.loss_plan_l1_fix_time: 2.6177, d5.loss_plan_l1_fix_dist: 0.4966, d6.loss_plan_l1_fix_time: 2.6261, d6.loss_plan_l1_fix_dist: 0.5203, d0.loss_cls_all: 0.6640, d0.loss_bbox_all: 0.6675, d0.loss_cls: 0.6640, d0.loss_bbox: 0.6675, d1.loss_cls: 0.6527, d1.loss_bbox: 0.6709, d2.loss_cls: 0.6440, d2.loss_bbox: 0.6725, d3.loss_cls: 0.6446, d3.loss_bbox: 0.6585, d4.loss_cls: 0.6395, d4.loss_bbox: 0.6474, d5.loss_cls: 0.6412, d5.loss_bbox: 0.6420, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5217, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4610, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4651, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4661, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4807, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4824, d0.loss_map_cls_all: 0.3955, d0.loss_map_pts_all: 2.4334, d0.loss_map_dir_all: 0.0302, d0.loss_map_cls: 0.3955, d0.loss_map_pts: 2.4334, d0.loss_map_dir: 0.0302, d1.loss_map_cls: 0.3762, d1.loss_map_pts: 1.8320, d1.loss_map_dir: 0.0306, d2.loss_map_cls: 0.3694, d2.loss_map_pts: 1.7350, d2.loss_map_dir: 0.0306, d3.loss_map_cls: 0.3590, d3.loss_map_pts: 1.7035, d3.loss_map_dir: 0.0308, d4.loss_map_cls: 0.3558, d4.loss_map_pts: 1.6933, d4.loss_map_dir: 0.0309, d5.loss_map_cls: 0.3543, d5.loss_map_pts: 1.6894, d5.loss_map_dir: 0.0311, loss: 61.3457, grad_norm: 153.0877 +2026-02-24 13:54:14,302 - DriveTransformer - INFO - Epoch [2][13100/39528] lr: 9.958e-05, eta: 8 days, 6:08:39, time: 0.775, data_time: 0.042, memory: 19865, loss_cls: 0.6142, loss_bbox: 0.6954, loss_traj: 1.5735, loss_traj_cls: 0.0004, loss_map_cls: 0.3881, loss_map_pts: 1.7286, loss_map_dir: 0.0300, d0.loss_plan_l1_fix_time: 2.7346, d0.loss_plan_l1_fix_dist: 0.4293, d1.loss_plan_l1_fix_time: 2.4954, d1.loss_plan_l1_fix_dist: 0.3927, d2.loss_plan_l1_fix_time: 2.4681, d2.loss_plan_l1_fix_dist: 0.3988, d3.loss_plan_l1_fix_time: 2.4676, d3.loss_plan_l1_fix_dist: 0.4144, d4.loss_plan_l1_fix_time: 2.4732, d4.loss_plan_l1_fix_dist: 0.4295, d5.loss_plan_l1_fix_time: 2.4810, d5.loss_plan_l1_fix_dist: 0.4470, d6.loss_plan_l1_fix_time: 2.4917, d6.loss_plan_l1_fix_dist: 0.4648, d0.loss_cls_all: 0.6371, d0.loss_bbox_all: 0.7235, d0.loss_cls: 0.6371, d0.loss_bbox: 0.7235, d1.loss_cls: 0.6228, d1.loss_bbox: 0.7136, d2.loss_cls: 0.6132, d2.loss_bbox: 0.7160, d3.loss_cls: 0.6136, d3.loss_bbox: 0.7108, d4.loss_cls: 0.6115, d4.loss_bbox: 0.6981, d5.loss_cls: 0.6157, d5.loss_bbox: 0.6928, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6221, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5658, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5547, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5629, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5645, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5706, d0.loss_map_cls_all: 0.4200, d0.loss_map_pts_all: 2.6007, d0.loss_map_dir_all: 0.0296, d0.loss_map_cls: 0.4200, d0.loss_map_pts: 2.6007, d0.loss_map_dir: 0.0296, d1.loss_map_cls: 0.4091, d1.loss_map_pts: 1.8801, d1.loss_map_dir: 0.0293, d2.loss_map_cls: 0.3988, d2.loss_map_pts: 1.7797, d2.loss_map_dir: 0.0295, d3.loss_map_cls: 0.3913, d3.loss_map_pts: 1.7433, d3.loss_map_dir: 0.0297, d4.loss_map_cls: 0.3883, d4.loss_map_pts: 1.7318, d4.loss_map_dir: 0.0297, d5.loss_map_cls: 0.3857, d5.loss_map_pts: 1.7319, d5.loss_map_dir: 0.0299, loss: 61.4804, grad_norm: 152.3713 +2026-02-24 13:54:54,348 - DriveTransformer - INFO - Epoch [2][13150/39528] lr: 9.958e-05, eta: 8 days, 6:08:03, time: 0.801, data_time: 0.039, memory: 19865, loss_cls: 0.6083, loss_bbox: 0.6357, loss_traj: 1.6613, loss_traj_cls: 0.0004, loss_map_cls: 0.4108, loss_map_pts: 1.7548, loss_map_dir: 0.0345, d0.loss_plan_l1_fix_time: 3.1296, d0.loss_plan_l1_fix_dist: 0.4643, d1.loss_plan_l1_fix_time: 2.8603, d1.loss_plan_l1_fix_dist: 0.4303, d2.loss_plan_l1_fix_time: 2.8483, d2.loss_plan_l1_fix_dist: 0.4349, d3.loss_plan_l1_fix_time: 2.8594, d3.loss_plan_l1_fix_dist: 0.4459, d4.loss_plan_l1_fix_time: 2.8699, d4.loss_plan_l1_fix_dist: 0.4641, d5.loss_plan_l1_fix_time: 2.8822, d5.loss_plan_l1_fix_dist: 0.4858, d6.loss_plan_l1_fix_time: 2.8959, d6.loss_plan_l1_fix_dist: 0.5081, d0.loss_cls_all: 0.6264, d0.loss_bbox_all: 0.6729, d0.loss_cls: 0.6264, d0.loss_bbox: 0.6729, d1.loss_cls: 0.6143, d1.loss_bbox: 0.6522, d2.loss_cls: 0.6076, d2.loss_bbox: 0.6521, d3.loss_cls: 0.6080, d3.loss_bbox: 0.6525, d4.loss_cls: 0.6067, d4.loss_bbox: 0.6389, d5.loss_cls: 0.6071, d5.loss_bbox: 0.6353, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7171, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6169, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.6222, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6398, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6472, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6495, d0.loss_map_cls_all: 0.4358, d0.loss_map_pts_all: 2.6427, d0.loss_map_dir_all: 0.0335, d0.loss_map_cls: 0.4358, d0.loss_map_pts: 2.6427, d0.loss_map_dir: 0.0335, d1.loss_map_cls: 0.4229, d1.loss_map_pts: 1.9225, d1.loss_map_dir: 0.0334, d2.loss_map_cls: 0.4150, d2.loss_map_pts: 1.7992, d2.loss_map_dir: 0.0336, d3.loss_map_cls: 0.4132, d3.loss_map_pts: 1.7667, d3.loss_map_dir: 0.0340, d4.loss_map_cls: 0.4096, d4.loss_map_pts: 1.7562, d4.loss_map_dir: 0.0342, d5.loss_map_cls: 0.4116, d5.loss_map_pts: 1.7525, d5.loss_map_dir: 0.0343, loss: 64.9174, grad_norm: 152.8590 +2026-02-24 13:55:34,712 - DriveTransformer - INFO - Epoch [2][13200/39528] lr: 9.958e-05, eta: 8 days, 6:07:33, time: 0.807, data_time: 0.041, memory: 19865, loss_cls: 0.6274, loss_bbox: 0.6735, loss_traj: 1.4574, loss_traj_cls: 0.0004, loss_map_cls: 0.3794, loss_map_pts: 1.6561, loss_map_dir: 0.0327, d0.loss_plan_l1_fix_time: 2.6853, d0.loss_plan_l1_fix_dist: 0.4505, d1.loss_plan_l1_fix_time: 2.3613, d1.loss_plan_l1_fix_dist: 0.4349, d2.loss_plan_l1_fix_time: 2.3232, d2.loss_plan_l1_fix_dist: 0.4441, d3.loss_plan_l1_fix_time: 2.3265, d3.loss_plan_l1_fix_dist: 0.4589, d4.loss_plan_l1_fix_time: 2.3335, d4.loss_plan_l1_fix_dist: 0.4790, d5.loss_plan_l1_fix_time: 2.3411, d5.loss_plan_l1_fix_dist: 0.4996, d6.loss_plan_l1_fix_time: 2.3508, d6.loss_plan_l1_fix_dist: 0.5250, d0.loss_cls_all: 0.6479, d0.loss_bbox_all: 0.7045, d0.loss_cls: 0.6479, d0.loss_bbox: 0.7045, d1.loss_cls: 0.6316, d1.loss_bbox: 0.6830, d2.loss_cls: 0.6281, d2.loss_bbox: 0.6754, d3.loss_cls: 0.6289, d3.loss_bbox: 0.6816, d4.loss_cls: 0.6304, d4.loss_bbox: 0.6717, d5.loss_cls: 0.6278, d5.loss_bbox: 0.6708, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5068, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4541, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4603, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4594, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4626, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4593, d0.loss_map_cls_all: 0.4156, d0.loss_map_pts_all: 2.4618, d0.loss_map_dir_all: 0.0321, d0.loss_map_cls: 0.4156, d0.loss_map_pts: 2.4618, d0.loss_map_dir: 0.0321, d1.loss_map_cls: 0.3988, d1.loss_map_pts: 1.7746, d1.loss_map_dir: 0.0321, d2.loss_map_cls: 0.3902, d2.loss_map_pts: 1.6734, d2.loss_map_dir: 0.0322, d3.loss_map_cls: 0.3826, d3.loss_map_pts: 1.6553, d3.loss_map_dir: 0.0324, d4.loss_map_cls: 0.3801, d4.loss_map_pts: 1.6504, d4.loss_map_dir: 0.0325, d5.loss_map_cls: 0.3793, d5.loss_map_pts: 1.6499, d5.loss_map_dir: 0.0326, loss: 59.1967, grad_norm: 153.0085 +2026-02-24 13:56:15,269 - DriveTransformer - INFO - Epoch [2][13250/39528] lr: 9.958e-05, eta: 8 days, 6:07:06, time: 0.811, data_time: 0.041, memory: 19865, loss_cls: 0.6323, loss_bbox: 0.6982, loss_traj: 1.6354, loss_traj_cls: 0.0004, loss_map_cls: 0.3900, loss_map_pts: 1.8618, loss_map_dir: 0.0338, d0.loss_plan_l1_fix_time: 2.7645, d0.loss_plan_l1_fix_dist: 0.3793, d1.loss_plan_l1_fix_time: 2.3898, d1.loss_plan_l1_fix_dist: 0.3619, d2.loss_plan_l1_fix_time: 2.3069, d2.loss_plan_l1_fix_dist: 0.3926, d3.loss_plan_l1_fix_time: 2.3022, d3.loss_plan_l1_fix_dist: 0.4238, d4.loss_plan_l1_fix_time: 2.3078, d4.loss_plan_l1_fix_dist: 0.4567, d5.loss_plan_l1_fix_time: 2.3145, d5.loss_plan_l1_fix_dist: 0.4939, d6.loss_plan_l1_fix_time: 2.3247, d6.loss_plan_l1_fix_dist: 0.5344, d0.loss_cls_all: 0.6343, d0.loss_bbox_all: 0.7365, d0.loss_cls: 0.6343, d0.loss_bbox: 0.7365, d1.loss_cls: 0.6320, d1.loss_bbox: 0.7184, d2.loss_cls: 0.6314, d2.loss_bbox: 0.7017, d3.loss_cls: 0.6313, d3.loss_bbox: 0.7048, d4.loss_cls: 0.6324, d4.loss_bbox: 0.6971, d5.loss_cls: 0.6339, d5.loss_bbox: 0.6935, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7147, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6205, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.6177, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6233, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6478, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6333, d0.loss_map_cls_all: 0.4167, d0.loss_map_pts_all: 2.8457, d0.loss_map_dir_all: 0.0331, d0.loss_map_cls: 0.4167, d0.loss_map_pts: 2.8457, d0.loss_map_dir: 0.0331, d1.loss_map_cls: 0.4077, d1.loss_map_pts: 2.0114, d1.loss_map_dir: 0.0331, d2.loss_map_cls: 0.3985, d2.loss_map_pts: 1.8909, d2.loss_map_dir: 0.0331, d3.loss_map_cls: 0.3934, d3.loss_map_pts: 1.8703, d3.loss_map_dir: 0.0333, d4.loss_map_cls: 0.3886, d4.loss_map_pts: 1.8668, d4.loss_map_dir: 0.0335, d5.loss_map_cls: 0.3890, d5.loss_map_pts: 1.8623, d5.loss_map_dir: 0.0336, loss: 62.5209, grad_norm: 156.7013 +2026-02-24 13:56:56,542 - DriveTransformer - INFO - Epoch [2][13300/39528] lr: 9.958e-05, eta: 8 days, 6:06:51, time: 0.825, data_time: 0.045, memory: 19865, loss_cls: 0.6038, loss_bbox: 0.6729, loss_traj: 1.5630, loss_traj_cls: 0.0004, loss_map_cls: 0.3641, loss_map_pts: 1.7656, loss_map_dir: 0.0332, d0.loss_plan_l1_fix_time: 2.8120, d0.loss_plan_l1_fix_dist: 0.4986, d1.loss_plan_l1_fix_time: 2.5988, d1.loss_plan_l1_fix_dist: 0.4661, d2.loss_plan_l1_fix_time: 2.5376, d2.loss_plan_l1_fix_dist: 0.4777, d3.loss_plan_l1_fix_time: 2.5303, d3.loss_plan_l1_fix_dist: 0.4979, d4.loss_plan_l1_fix_time: 2.5331, d4.loss_plan_l1_fix_dist: 0.5241, d5.loss_plan_l1_fix_time: 2.5383, d5.loss_plan_l1_fix_dist: 0.5506, d6.loss_plan_l1_fix_time: 2.5458, d6.loss_plan_l1_fix_dist: 0.5737, d0.loss_cls_all: 0.6102, d0.loss_bbox_all: 0.7296, d0.loss_cls: 0.6102, d0.loss_bbox: 0.7296, d1.loss_cls: 0.6055, d1.loss_bbox: 0.7073, d2.loss_cls: 0.6022, d2.loss_bbox: 0.6857, d3.loss_cls: 0.6045, d3.loss_bbox: 0.6794, d4.loss_cls: 0.6022, d4.loss_bbox: 0.6738, d5.loss_cls: 0.6038, d5.loss_bbox: 0.6701, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5530, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5400, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5456, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5480, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5432, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5563, d0.loss_map_cls_all: 0.3900, d0.loss_map_pts_all: 2.6400, d0.loss_map_dir_all: 0.0323, d0.loss_map_cls: 0.3900, d0.loss_map_pts: 2.6400, d0.loss_map_dir: 0.0323, d1.loss_map_cls: 0.3805, d1.loss_map_pts: 1.8988, d1.loss_map_dir: 0.0323, d2.loss_map_cls: 0.3754, d2.loss_map_pts: 1.7867, d2.loss_map_dir: 0.0324, d3.loss_map_cls: 0.3691, d3.loss_map_pts: 1.7675, d3.loss_map_dir: 0.0328, d4.loss_map_cls: 0.3648, d4.loss_map_pts: 1.7615, d4.loss_map_dir: 0.0329, d5.loss_map_cls: 0.3636, d5.loss_map_pts: 1.7650, d5.loss_map_dir: 0.0330, loss: 62.2129, grad_norm: 157.0032 +2026-02-24 13:57:37,106 - DriveTransformer - INFO - Epoch [2][13350/39528] lr: 9.958e-05, eta: 8 days, 6:06:24, time: 0.811, data_time: 0.037, memory: 19865, loss_cls: 0.6194, loss_bbox: 0.6327, loss_traj: 1.4448, loss_traj_cls: 0.0004, loss_map_cls: 0.3511, loss_map_pts: 1.6266, loss_map_dir: 0.0317, d0.loss_plan_l1_fix_time: 2.4458, d0.loss_plan_l1_fix_dist: 0.5040, d1.loss_plan_l1_fix_time: 2.0864, d1.loss_plan_l1_fix_dist: 0.4840, d2.loss_plan_l1_fix_time: 2.0330, d2.loss_plan_l1_fix_dist: 0.5053, d3.loss_plan_l1_fix_time: 2.0315, d3.loss_plan_l1_fix_dist: 0.5418, d4.loss_plan_l1_fix_time: 2.0373, d4.loss_plan_l1_fix_dist: 0.5860, d5.loss_plan_l1_fix_time: 2.0464, d5.loss_plan_l1_fix_dist: 0.6313, d6.loss_plan_l1_fix_time: 2.0559, d6.loss_plan_l1_fix_dist: 0.6722, d0.loss_cls_all: 0.6238, d0.loss_bbox_all: 0.6763, d0.loss_cls: 0.6238, d0.loss_bbox: 0.6763, d1.loss_cls: 0.6093, d1.loss_bbox: 0.6701, d2.loss_cls: 0.6069, d2.loss_bbox: 0.6489, d3.loss_cls: 0.6124, d3.loss_bbox: 0.6349, d4.loss_cls: 0.6187, d4.loss_bbox: 0.6289, d5.loss_cls: 0.6177, d5.loss_bbox: 0.6292, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4908, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4520, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4318, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4326, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4327, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4425, d0.loss_map_cls_all: 0.3813, d0.loss_map_pts_all: 2.4806, d0.loss_map_dir_all: 0.0309, d0.loss_map_cls: 0.3813, d0.loss_map_pts: 2.4806, d0.loss_map_dir: 0.0309, d1.loss_map_cls: 0.3745, d1.loss_map_pts: 1.7669, d1.loss_map_dir: 0.0309, d2.loss_map_cls: 0.3655, d2.loss_map_pts: 1.6625, d2.loss_map_dir: 0.0310, d3.loss_map_cls: 0.3547, d3.loss_map_pts: 1.6426, d3.loss_map_dir: 0.0312, d4.loss_map_cls: 0.3514, d4.loss_map_pts: 1.6322, d4.loss_map_dir: 0.0315, d5.loss_map_cls: 0.3500, d5.loss_map_pts: 1.6285, d5.loss_map_dir: 0.0316, loss: 57.0014, grad_norm: 155.9188 +2026-02-24 13:58:18,156 - DriveTransformer - INFO - Epoch [2][13400/39528] lr: 9.958e-05, eta: 8 days, 6:06:06, time: 0.822, data_time: 0.038, memory: 19865, loss_cls: 0.6260, loss_bbox: 0.6932, loss_traj: 1.4574, loss_traj_cls: 0.0005, loss_map_cls: 0.4227, loss_map_pts: 2.1696, loss_map_dir: 0.0397, d0.loss_plan_l1_fix_time: 2.6662, d0.loss_plan_l1_fix_dist: 0.4806, d1.loss_plan_l1_fix_time: 2.4067, d1.loss_plan_l1_fix_dist: 0.4680, d2.loss_plan_l1_fix_time: 2.3310, d2.loss_plan_l1_fix_dist: 0.4914, d3.loss_plan_l1_fix_time: 2.3218, d3.loss_plan_l1_fix_dist: 0.5193, d4.loss_plan_l1_fix_time: 2.3247, d4.loss_plan_l1_fix_dist: 0.5507, d5.loss_plan_l1_fix_time: 2.3325, d5.loss_plan_l1_fix_dist: 0.5844, d6.loss_plan_l1_fix_time: 2.3418, d6.loss_plan_l1_fix_dist: 0.6222, d0.loss_cls_all: 0.6274, d0.loss_bbox_all: 0.7446, d0.loss_cls: 0.6274, d0.loss_bbox: 0.7446, d1.loss_cls: 0.6207, d1.loss_bbox: 0.7425, d2.loss_cls: 0.6208, d2.loss_bbox: 0.7198, d3.loss_cls: 0.6226, d3.loss_bbox: 0.6992, d4.loss_cls: 0.6237, d4.loss_bbox: 0.6930, d5.loss_cls: 0.6249, d5.loss_bbox: 0.6909, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5009, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4527, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4456, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4566, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4484, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4633, d0.loss_map_cls_all: 0.4454, d0.loss_map_pts_all: 3.0566, d0.loss_map_dir_all: 0.0386, d0.loss_map_cls: 0.4454, d0.loss_map_pts: 3.0566, d0.loss_map_dir: 0.0386, d1.loss_map_cls: 0.4383, d1.loss_map_pts: 2.3013, d1.loss_map_dir: 0.0387, d2.loss_map_cls: 0.4326, d2.loss_map_pts: 2.1989, d2.loss_map_dir: 0.0389, d3.loss_map_cls: 0.4278, d3.loss_map_pts: 2.1789, d3.loss_map_dir: 0.0392, d4.loss_map_cls: 0.4247, d4.loss_map_pts: 2.1687, d4.loss_map_dir: 0.0394, d5.loss_map_cls: 0.4233, d5.loss_map_pts: 2.1649, d5.loss_map_dir: 0.0395, loss: 64.4605, grad_norm: 154.9994 +2026-02-24 13:58:57,128 - DriveTransformer - INFO - Epoch [2][13450/39528] lr: 9.958e-05, eta: 8 days, 6:05:11, time: 0.778, data_time: 0.033, memory: 19865, loss_cls: 0.6687, loss_bbox: 0.7232, loss_traj: 1.5046, loss_traj_cls: 0.0005, loss_map_cls: 0.3938, loss_map_pts: 1.8750, loss_map_dir: 0.0346, d0.loss_plan_l1_fix_time: 2.4544, d0.loss_plan_l1_fix_dist: 0.4597, d1.loss_plan_l1_fix_time: 2.2246, d1.loss_plan_l1_fix_dist: 0.4411, d2.loss_plan_l1_fix_time: 2.1880, d2.loss_plan_l1_fix_dist: 0.4776, d3.loss_plan_l1_fix_time: 2.1923, d3.loss_plan_l1_fix_dist: 0.5187, d4.loss_plan_l1_fix_time: 2.2005, d4.loss_plan_l1_fix_dist: 0.5624, d5.loss_plan_l1_fix_time: 2.2095, d5.loss_plan_l1_fix_dist: 0.6062, d6.loss_plan_l1_fix_time: 2.2196, d6.loss_plan_l1_fix_dist: 0.6527, d0.loss_cls_all: 0.6669, d0.loss_bbox_all: 0.7651, d0.loss_cls: 0.6669, d0.loss_bbox: 0.7651, d1.loss_cls: 0.6583, d1.loss_bbox: 0.7667, d2.loss_cls: 0.6581, d2.loss_bbox: 0.7517, d3.loss_cls: 0.6555, d3.loss_bbox: 0.7350, d4.loss_cls: 0.6588, d4.loss_bbox: 0.7283, d5.loss_cls: 0.6628, d5.loss_bbox: 0.7236, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5073, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4574, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4647, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4801, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4864, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4973, d0.loss_map_cls_all: 0.4160, d0.loss_map_pts_all: 2.7127, d0.loss_map_dir_all: 0.0339, d0.loss_map_cls: 0.4160, d0.loss_map_pts: 2.7127, d0.loss_map_dir: 0.0339, d1.loss_map_cls: 0.4064, d1.loss_map_pts: 1.9509, d1.loss_map_dir: 0.0339, d2.loss_map_cls: 0.3928, d2.loss_map_pts: 1.8855, d2.loss_map_dir: 0.0340, d3.loss_map_cls: 0.3890, d3.loss_map_pts: 1.8713, d3.loss_map_dir: 0.0343, d4.loss_map_cls: 0.3889, d4.loss_map_pts: 1.8733, d4.loss_map_dir: 0.0343, d5.loss_map_cls: 0.3903, d5.loss_map_pts: 1.8704, d5.loss_map_dir: 0.0345, loss: 61.2828, grad_norm: 155.2652 +2026-02-24 13:59:36,942 - DriveTransformer - INFO - Epoch [2][13500/39528] lr: 9.958e-05, eta: 8 days, 6:04:32, time: 0.796, data_time: 0.046, memory: 19865, loss_cls: 0.6239, loss_bbox: 0.6650, loss_traj: 1.6805, loss_traj_cls: 0.0005, loss_map_cls: 0.3703, loss_map_pts: 1.7021, loss_map_dir: 0.0260, d0.loss_plan_l1_fix_time: 2.9385, d0.loss_plan_l1_fix_dist: 0.4494, d1.loss_plan_l1_fix_time: 2.6477, d1.loss_plan_l1_fix_dist: 0.4136, d2.loss_plan_l1_fix_time: 2.5648, d2.loss_plan_l1_fix_dist: 0.4266, d3.loss_plan_l1_fix_time: 2.5502, d3.loss_plan_l1_fix_dist: 0.4499, d4.loss_plan_l1_fix_time: 2.5523, d4.loss_plan_l1_fix_dist: 0.4731, d5.loss_plan_l1_fix_time: 2.5580, d5.loss_plan_l1_fix_dist: 0.5025, d6.loss_plan_l1_fix_time: 2.5674, d6.loss_plan_l1_fix_dist: 0.5322, d0.loss_cls_all: 0.6317, d0.loss_bbox_all: 0.7042, d0.loss_cls: 0.6317, d0.loss_bbox: 0.7042, d1.loss_cls: 0.6232, d1.loss_bbox: 0.6983, d2.loss_cls: 0.6187, d2.loss_bbox: 0.6862, d3.loss_cls: 0.6201, d3.loss_bbox: 0.6716, d4.loss_cls: 0.6218, d4.loss_bbox: 0.6644, d5.loss_cls: 0.6217, d5.loss_bbox: 0.6624, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6905, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6211, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.6068, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6246, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6486, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6625, d0.loss_map_cls_all: 0.3915, d0.loss_map_pts_all: 2.2262, d0.loss_map_dir_all: 0.0252, d0.loss_map_cls: 0.3915, d0.loss_map_pts: 2.2262, d0.loss_map_dir: 0.0252, d1.loss_map_cls: 0.3797, d1.loss_map_pts: 1.7645, d1.loss_map_dir: 0.0253, d2.loss_map_cls: 0.3720, d2.loss_map_pts: 1.7124, d2.loss_map_dir: 0.0255, d3.loss_map_cls: 0.3688, d3.loss_map_pts: 1.6982, d3.loss_map_dir: 0.0256, d4.loss_map_cls: 0.3671, d4.loss_map_pts: 1.6995, d4.loss_map_dir: 0.0258, d5.loss_map_cls: 0.3699, d5.loss_map_pts: 1.6983, d5.loss_map_dir: 0.0260, loss: 61.5569, grad_norm: 154.4532 +2026-02-24 14:00:17,115 - DriveTransformer - INFO - Epoch [2][13550/39528] lr: 9.958e-05, eta: 8 days, 6:03:58, time: 0.803, data_time: 0.040, memory: 19865, loss_cls: 0.6240, loss_bbox: 0.6800, loss_traj: 1.3925, loss_traj_cls: 0.0005, loss_map_cls: 0.4032, loss_map_pts: 1.9433, loss_map_dir: 0.0353, d0.loss_plan_l1_fix_time: 3.2016, d0.loss_plan_l1_fix_dist: 0.3569, d1.loss_plan_l1_fix_time: 2.7974, d1.loss_plan_l1_fix_dist: 0.3499, d2.loss_plan_l1_fix_time: 2.7169, d2.loss_plan_l1_fix_dist: 0.3766, d3.loss_plan_l1_fix_time: 2.7095, d3.loss_plan_l1_fix_dist: 0.4119, d4.loss_plan_l1_fix_time: 2.7137, d4.loss_plan_l1_fix_dist: 0.4587, d5.loss_plan_l1_fix_time: 2.7220, d5.loss_plan_l1_fix_dist: 0.5132, d6.loss_plan_l1_fix_time: 2.7320, d6.loss_plan_l1_fix_dist: 0.5707, d0.loss_cls_all: 0.6382, d0.loss_bbox_all: 0.7147, d0.loss_cls: 0.6382, d0.loss_bbox: 0.7147, d1.loss_cls: 0.6292, d1.loss_bbox: 0.7031, d2.loss_cls: 0.6249, d2.loss_bbox: 0.6980, d3.loss_cls: 0.6300, d3.loss_bbox: 0.6864, d4.loss_cls: 0.6282, d4.loss_bbox: 0.6772, d5.loss_cls: 0.6263, d5.loss_bbox: 0.6769, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4373, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3651, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3715, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3754, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3835, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3857, d0.loss_map_cls_all: 0.4412, d0.loss_map_pts_all: 2.6706, d0.loss_map_dir_all: 0.0338, d0.loss_map_cls: 0.4412, d0.loss_map_pts: 2.6706, d0.loss_map_dir: 0.0338, d1.loss_map_cls: 0.4246, d1.loss_map_pts: 2.0344, d1.loss_map_dir: 0.0339, d2.loss_map_cls: 0.4140, d2.loss_map_pts: 1.9381, d2.loss_map_dir: 0.0344, d3.loss_map_cls: 0.4074, d3.loss_map_pts: 1.9217, d3.loss_map_dir: 0.0347, d4.loss_map_cls: 0.4028, d4.loss_map_pts: 1.9197, d4.loss_map_dir: 0.0349, d5.loss_map_cls: 0.4024, d5.loss_map_pts: 1.9350, d5.loss_map_dir: 0.0351, loss: 63.5826, grad_norm: 155.4708 +2026-02-24 14:00:56,776 - DriveTransformer - INFO - Epoch [2][13600/39528] lr: 9.958e-05, eta: 8 days, 6:03:16, time: 0.793, data_time: 0.043, memory: 19865, loss_cls: 0.6541, loss_bbox: 0.7285, loss_traj: 1.4813, loss_traj_cls: 0.0005, loss_map_cls: 0.4045, loss_map_pts: 1.9203, loss_map_dir: 0.0325, d0.loss_plan_l1_fix_time: 2.9204, d0.loss_plan_l1_fix_dist: 0.4390, d1.loss_plan_l1_fix_time: 2.6299, d1.loss_plan_l1_fix_dist: 0.4085, d2.loss_plan_l1_fix_time: 2.6068, d2.loss_plan_l1_fix_dist: 0.4247, d3.loss_plan_l1_fix_time: 2.6164, d3.loss_plan_l1_fix_dist: 0.4527, d4.loss_plan_l1_fix_time: 2.6267, d4.loss_plan_l1_fix_dist: 0.4857, d5.loss_plan_l1_fix_time: 2.6365, d5.loss_plan_l1_fix_dist: 0.5170, d6.loss_plan_l1_fix_time: 2.6466, d6.loss_plan_l1_fix_dist: 0.5482, d0.loss_cls_all: 0.6745, d0.loss_bbox_all: 0.7780, d0.loss_cls: 0.6745, d0.loss_bbox: 0.7780, d1.loss_cls: 0.6662, d1.loss_bbox: 0.7591, d2.loss_cls: 0.6645, d2.loss_bbox: 0.7446, d3.loss_cls: 0.6628, d3.loss_bbox: 0.7364, d4.loss_cls: 0.6597, d4.loss_bbox: 0.7287, d5.loss_cls: 0.6558, d5.loss_bbox: 0.7257, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5161, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4454, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4418, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4571, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4585, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4678, d0.loss_map_cls_all: 0.4289, d0.loss_map_pts_all: 2.5423, d0.loss_map_dir_all: 0.0311, d0.loss_map_cls: 0.4289, d0.loss_map_pts: 2.5423, d0.loss_map_dir: 0.0311, d1.loss_map_cls: 0.4194, d1.loss_map_pts: 1.9940, d1.loss_map_dir: 0.0316, d2.loss_map_cls: 0.4082, d2.loss_map_pts: 1.9216, d2.loss_map_dir: 0.0317, d3.loss_map_cls: 0.4075, d3.loss_map_pts: 1.9043, d3.loss_map_dir: 0.0319, d4.loss_map_cls: 0.4035, d4.loss_map_pts: 1.9036, d4.loss_map_dir: 0.0321, d5.loss_map_cls: 0.4029, d5.loss_map_pts: 1.9140, d5.loss_map_dir: 0.0323, loss: 63.7234, grad_norm: 158.1769 +2026-02-24 14:01:36,572 - DriveTransformer - INFO - Epoch [2][13650/39528] lr: 9.958e-05, eta: 8 days, 6:02:36, time: 0.796, data_time: 0.043, memory: 19865, loss_cls: 0.6042, loss_bbox: 0.6320, loss_traj: 1.5616, loss_traj_cls: 0.0004, loss_map_cls: 0.3717, loss_map_pts: 1.6186, loss_map_dir: 0.0272, d0.loss_plan_l1_fix_time: 2.5818, d0.loss_plan_l1_fix_dist: 0.5079, d1.loss_plan_l1_fix_time: 2.4737, d1.loss_plan_l1_fix_dist: 0.4685, d2.loss_plan_l1_fix_time: 2.4989, d2.loss_plan_l1_fix_dist: 0.5037, d3.loss_plan_l1_fix_time: 2.5107, d3.loss_plan_l1_fix_dist: 0.5365, d4.loss_plan_l1_fix_time: 2.5232, d4.loss_plan_l1_fix_dist: 0.5655, d5.loss_plan_l1_fix_time: 2.5335, d5.loss_plan_l1_fix_dist: 0.5961, d6.loss_plan_l1_fix_time: 2.5434, d6.loss_plan_l1_fix_dist: 0.6297, d0.loss_cls_all: 0.6210, d0.loss_bbox_all: 0.6829, d0.loss_cls: 0.6210, d0.loss_bbox: 0.6829, d1.loss_cls: 0.6084, d1.loss_bbox: 0.6543, d2.loss_cls: 0.6044, d2.loss_bbox: 0.6385, d3.loss_cls: 0.6043, d3.loss_bbox: 0.6319, d4.loss_cls: 0.6040, d4.loss_bbox: 0.6275, d5.loss_cls: 0.6067, d5.loss_bbox: 0.6243, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6360, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5388, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5295, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5458, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5415, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5534, d0.loss_map_cls_all: 0.3906, d0.loss_map_pts_all: 2.3221, d0.loss_map_dir_all: 0.0260, d0.loss_map_cls: 0.3906, d0.loss_map_pts: 2.3221, d0.loss_map_dir: 0.0260, d1.loss_map_cls: 0.3939, d1.loss_map_pts: 1.7182, d1.loss_map_dir: 0.0263, d2.loss_map_cls: 0.3899, d2.loss_map_pts: 1.6347, d2.loss_map_dir: 0.0265, d3.loss_map_cls: 0.3785, d3.loss_map_pts: 1.6179, d3.loss_map_dir: 0.0268, d4.loss_map_cls: 0.3731, d4.loss_map_pts: 1.6207, d4.loss_map_dir: 0.0268, d5.loss_map_cls: 0.3715, d5.loss_map_pts: 1.6189, d5.loss_map_dir: 0.0271, loss: 60.1781, grad_norm: 158.9141 +2026-02-24 14:02:16,576 - DriveTransformer - INFO - Epoch [2][13700/39528] lr: 9.958e-05, eta: 8 days, 6:01:59, time: 0.800, data_time: 0.044, memory: 19865, loss_cls: 0.6397, loss_bbox: 0.6673, loss_traj: 1.3161, loss_traj_cls: 0.0004, loss_map_cls: 0.3791, loss_map_pts: 1.7121, loss_map_dir: 0.0314, d0.loss_plan_l1_fix_time: 2.8505, d0.loss_plan_l1_fix_dist: 0.4402, d1.loss_plan_l1_fix_time: 2.5733, d1.loss_plan_l1_fix_dist: 0.4066, d2.loss_plan_l1_fix_time: 2.5066, d2.loss_plan_l1_fix_dist: 0.4213, d3.loss_plan_l1_fix_time: 2.5014, d3.loss_plan_l1_fix_dist: 0.4402, d4.loss_plan_l1_fix_time: 2.5041, d4.loss_plan_l1_fix_dist: 0.4650, d5.loss_plan_l1_fix_time: 2.5094, d5.loss_plan_l1_fix_dist: 0.4930, d6.loss_plan_l1_fix_time: 2.5156, d6.loss_plan_l1_fix_dist: 0.5232, d0.loss_cls_all: 0.6450, d0.loss_bbox_all: 0.7126, d0.loss_cls: 0.6450, d0.loss_bbox: 0.7126, d1.loss_cls: 0.6319, d1.loss_bbox: 0.6880, d2.loss_cls: 0.6323, d2.loss_bbox: 0.6762, d3.loss_cls: 0.6343, d3.loss_bbox: 0.6740, d4.loss_cls: 0.6339, d4.loss_bbox: 0.6669, d5.loss_cls: 0.6367, d5.loss_bbox: 0.6646, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3661, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3142, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.2970, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.3022, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3063, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.3102, d0.loss_map_cls_all: 0.4087, d0.loss_map_pts_all: 2.5505, d0.loss_map_dir_all: 0.0304, d0.loss_map_cls: 0.4087, d0.loss_map_pts: 2.5505, d0.loss_map_dir: 0.0304, d1.loss_map_cls: 0.3986, d1.loss_map_pts: 1.8570, d1.loss_map_dir: 0.0304, d2.loss_map_cls: 0.3875, d2.loss_map_pts: 1.7526, d2.loss_map_dir: 0.0307, d3.loss_map_cls: 0.3797, d3.loss_map_pts: 1.7239, d3.loss_map_dir: 0.0309, d4.loss_map_cls: 0.3776, d4.loss_map_pts: 1.7147, d4.loss_map_dir: 0.0311, d5.loss_map_cls: 0.3764, d5.loss_map_pts: 1.7112, d5.loss_map_dir: 0.0312, loss: 59.8627, grad_norm: 159.6484 +2026-02-24 14:02:55,949 - DriveTransformer - INFO - Epoch [2][13750/39528] lr: 9.958e-05, eta: 8 days, 6:01:12, time: 0.788, data_time: 0.041, memory: 19865, loss_cls: 0.5993, loss_bbox: 0.6390, loss_traj: 1.4821, loss_traj_cls: 0.0005, loss_map_cls: 0.3605, loss_map_pts: 1.7155, loss_map_dir: 0.0300, d0.loss_plan_l1_fix_time: 3.0651, d0.loss_plan_l1_fix_dist: 0.5159, d1.loss_plan_l1_fix_time: 2.8611, d1.loss_plan_l1_fix_dist: 0.4755, d2.loss_plan_l1_fix_time: 2.8130, d2.loss_plan_l1_fix_dist: 0.4835, d3.loss_plan_l1_fix_time: 2.8116, d3.loss_plan_l1_fix_dist: 0.5080, d4.loss_plan_l1_fix_time: 2.8168, d4.loss_plan_l1_fix_dist: 0.5408, d5.loss_plan_l1_fix_time: 2.8243, d5.loss_plan_l1_fix_dist: 0.5752, d6.loss_plan_l1_fix_time: 2.8327, d6.loss_plan_l1_fix_dist: 0.6095, d0.loss_cls_all: 0.6145, d0.loss_bbox_all: 0.6869, d0.loss_cls: 0.6145, d0.loss_bbox: 0.6869, d1.loss_cls: 0.6070, d1.loss_bbox: 0.6643, d2.loss_cls: 0.6001, d2.loss_bbox: 0.6496, d3.loss_cls: 0.5985, d3.loss_bbox: 0.6471, d4.loss_cls: 0.5983, d4.loss_bbox: 0.6402, d5.loss_cls: 0.5987, d5.loss_bbox: 0.6372, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5603, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4952, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4771, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4804, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4797, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4836, d0.loss_map_cls_all: 0.3891, d0.loss_map_pts_all: 2.4177, d0.loss_map_dir_all: 0.0290, d0.loss_map_cls: 0.3891, d0.loss_map_pts: 2.4177, d0.loss_map_dir: 0.0290, d1.loss_map_cls: 0.3765, d1.loss_map_pts: 1.8383, d1.loss_map_dir: 0.0292, d2.loss_map_cls: 0.3689, d2.loss_map_pts: 1.7417, d2.loss_map_dir: 0.0294, d3.loss_map_cls: 0.3626, d3.loss_map_pts: 1.7154, d3.loss_map_dir: 0.0296, d4.loss_map_cls: 0.3615, d4.loss_map_pts: 1.7071, d4.loss_map_dir: 0.0298, d5.loss_map_cls: 0.3601, d5.loss_map_pts: 1.7092, d5.loss_map_dir: 0.0299, loss: 62.7451, grad_norm: 159.9670 +2026-02-24 14:03:36,369 - DriveTransformer - INFO - Epoch [2][13800/39528] lr: 9.958e-05, eta: 8 days, 6:00:42, time: 0.808, data_time: 0.040, memory: 19865, loss_cls: 0.6615, loss_bbox: 0.6823, loss_traj: 1.4726, loss_traj_cls: 0.0005, loss_map_cls: 0.3757, loss_map_pts: 1.7617, loss_map_dir: 0.0315, d0.loss_plan_l1_fix_time: 2.8394, d0.loss_plan_l1_fix_dist: 0.5062, d1.loss_plan_l1_fix_time: 2.6225, d1.loss_plan_l1_fix_dist: 0.4553, d2.loss_plan_l1_fix_time: 2.5630, d2.loss_plan_l1_fix_dist: 0.4561, d3.loss_plan_l1_fix_time: 2.5589, d3.loss_plan_l1_fix_dist: 0.4689, d4.loss_plan_l1_fix_time: 2.5644, d4.loss_plan_l1_fix_dist: 0.4853, d5.loss_plan_l1_fix_time: 2.5717, d5.loss_plan_l1_fix_dist: 0.5036, d6.loss_plan_l1_fix_time: 2.5802, d6.loss_plan_l1_fix_dist: 0.5288, d0.loss_cls_all: 0.6645, d0.loss_bbox_all: 0.7304, d0.loss_cls: 0.6645, d0.loss_bbox: 0.7304, d1.loss_cls: 0.6548, d1.loss_bbox: 0.7085, d2.loss_cls: 0.6559, d2.loss_bbox: 0.6900, d3.loss_cls: 0.6574, d3.loss_bbox: 0.6835, d4.loss_cls: 0.6611, d4.loss_bbox: 0.6802, d5.loss_cls: 0.6618, d5.loss_bbox: 0.6778, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5220, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4638, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4600, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4635, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4670, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4721, d0.loss_map_cls_all: 0.4069, d0.loss_map_pts_all: 2.6238, d0.loss_map_dir_all: 0.0310, d0.loss_map_cls: 0.4069, d0.loss_map_pts: 2.6238, d0.loss_map_dir: 0.0310, d1.loss_map_cls: 0.3972, d1.loss_map_pts: 1.8763, d1.loss_map_dir: 0.0307, d2.loss_map_cls: 0.3882, d2.loss_map_pts: 1.7769, d2.loss_map_dir: 0.0309, d3.loss_map_cls: 0.3811, d3.loss_map_pts: 1.7576, d3.loss_map_dir: 0.0310, d4.loss_map_cls: 0.3769, d4.loss_map_pts: 1.7537, d4.loss_map_dir: 0.0312, d5.loss_map_cls: 0.3760, d5.loss_map_pts: 1.7592, d5.loss_map_dir: 0.0313, loss: 62.1846, grad_norm: 157.6800 +2026-02-24 14:04:16,048 - DriveTransformer - INFO - Epoch [2][13850/39528] lr: 9.958e-05, eta: 8 days, 6:00:00, time: 0.794, data_time: 0.038, memory: 19865, loss_cls: 0.5948, loss_bbox: 0.6454, loss_traj: 1.2442, loss_traj_cls: 0.0005, loss_map_cls: 0.3368, loss_map_pts: 1.6321, loss_map_dir: 0.0280, d0.loss_plan_l1_fix_time: 2.4467, d0.loss_plan_l1_fix_dist: 0.4544, d1.loss_plan_l1_fix_time: 2.2018, d1.loss_plan_l1_fix_dist: 0.3871, d2.loss_plan_l1_fix_time: 2.1892, d2.loss_plan_l1_fix_dist: 0.3954, d3.loss_plan_l1_fix_time: 2.1930, d3.loss_plan_l1_fix_dist: 0.4164, d4.loss_plan_l1_fix_time: 2.2018, d4.loss_plan_l1_fix_dist: 0.4423, d5.loss_plan_l1_fix_time: 2.2109, d5.loss_plan_l1_fix_dist: 0.4712, d6.loss_plan_l1_fix_time: 2.2217, d6.loss_plan_l1_fix_dist: 0.4963, d0.loss_cls_all: 0.5870, d0.loss_bbox_all: 0.6751, d0.loss_cls: 0.5870, d0.loss_bbox: 0.6751, d1.loss_cls: 0.5870, d1.loss_bbox: 0.6622, d2.loss_cls: 0.5879, d2.loss_bbox: 0.6497, d3.loss_cls: 0.5948, d3.loss_bbox: 0.6402, d4.loss_cls: 0.5942, d4.loss_bbox: 0.6400, d5.loss_cls: 0.5938, d5.loss_bbox: 0.6412, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2879, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2345, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.2300, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.2365, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2382, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2388, d0.loss_map_cls_all: 0.3735, d0.loss_map_pts_all: 2.3366, d0.loss_map_dir_all: 0.0275, d0.loss_map_cls: 0.3735, d0.loss_map_pts: 2.3366, d0.loss_map_dir: 0.0275, d1.loss_map_cls: 0.3580, d1.loss_map_pts: 1.7678, d1.loss_map_dir: 0.0272, d2.loss_map_cls: 0.3477, d2.loss_map_pts: 1.6552, d2.loss_map_dir: 0.0274, d3.loss_map_cls: 0.3386, d3.loss_map_pts: 1.6318, d3.loss_map_dir: 0.0276, d4.loss_map_cls: 0.3396, d4.loss_map_pts: 1.6280, d4.loss_map_dir: 0.0277, d5.loss_map_cls: 0.3374, d5.loss_map_pts: 1.6291, d5.loss_map_dir: 0.0278, loss: 55.0409, grad_norm: 155.7181 +2026-02-24 14:04:56,488 - DriveTransformer - INFO - Epoch [2][13900/39528] lr: 9.958e-05, eta: 8 days, 5:59:31, time: 0.809, data_time: 0.039, memory: 19865, loss_cls: 0.6669, loss_bbox: 0.6917, loss_traj: 1.3863, loss_traj_cls: 0.0005, loss_map_cls: 0.3826, loss_map_pts: 1.7164, loss_map_dir: 0.0332, d0.loss_plan_l1_fix_time: 2.6480, d0.loss_plan_l1_fix_dist: 0.5108, d1.loss_plan_l1_fix_time: 2.3913, d1.loss_plan_l1_fix_dist: 0.4790, d2.loss_plan_l1_fix_time: 2.3384, d2.loss_plan_l1_fix_dist: 0.4829, d3.loss_plan_l1_fix_time: 2.3395, d3.loss_plan_l1_fix_dist: 0.4982, d4.loss_plan_l1_fix_time: 2.3468, d4.loss_plan_l1_fix_dist: 0.5190, d5.loss_plan_l1_fix_time: 2.3552, d5.loss_plan_l1_fix_dist: 0.5425, d6.loss_plan_l1_fix_time: 2.3640, d6.loss_plan_l1_fix_dist: 0.5697, d0.loss_cls_all: 0.6701, d0.loss_bbox_all: 0.7288, d0.loss_cls: 0.6701, d0.loss_bbox: 0.7288, d1.loss_cls: 0.6596, d1.loss_bbox: 0.7139, d2.loss_cls: 0.6586, d2.loss_bbox: 0.7006, d3.loss_cls: 0.6607, d3.loss_bbox: 0.6932, d4.loss_cls: 0.6624, d4.loss_bbox: 0.6934, d5.loss_cls: 0.6628, d5.loss_bbox: 0.6923, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4398, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3590, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3513, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3579, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3638, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3693, d0.loss_map_cls_all: 0.4082, d0.loss_map_pts_all: 2.6085, d0.loss_map_dir_all: 0.0327, d0.loss_map_cls: 0.4082, d0.loss_map_pts: 2.6085, d0.loss_map_dir: 0.0327, d1.loss_map_cls: 0.4018, d1.loss_map_pts: 1.8488, d1.loss_map_dir: 0.0326, d2.loss_map_cls: 0.3940, d2.loss_map_pts: 1.7503, d2.loss_map_dir: 0.0326, d3.loss_map_cls: 0.3862, d3.loss_map_pts: 1.7192, d3.loss_map_dir: 0.0328, d4.loss_map_cls: 0.3868, d4.loss_map_pts: 1.7133, d4.loss_map_dir: 0.0330, d5.loss_map_cls: 0.3844, d5.loss_map_pts: 1.7118, d5.loss_map_dir: 0.0331, loss: 60.0627, grad_norm: 153.6113 +2026-02-24 14:05:36,139 - DriveTransformer - INFO - Epoch [2][13950/39528] lr: 9.958e-05, eta: 8 days, 5:58:49, time: 0.793, data_time: 0.041, memory: 19865, loss_cls: 0.6255, loss_bbox: 0.6476, loss_traj: 1.6618, loss_traj_cls: 0.0004, loss_map_cls: 0.3682, loss_map_pts: 1.7866, loss_map_dir: 0.0294, d0.loss_plan_l1_fix_time: 2.7860, d0.loss_plan_l1_fix_dist: 0.4489, d1.loss_plan_l1_fix_time: 2.4139, d1.loss_plan_l1_fix_dist: 0.4280, d2.loss_plan_l1_fix_time: 2.3192, d2.loss_plan_l1_fix_dist: 0.4514, d3.loss_plan_l1_fix_time: 2.3070, d3.loss_plan_l1_fix_dist: 0.4851, d4.loss_plan_l1_fix_time: 2.3083, d4.loss_plan_l1_fix_dist: 0.5210, d5.loss_plan_l1_fix_time: 2.3136, d5.loss_plan_l1_fix_dist: 0.5628, d6.loss_plan_l1_fix_time: 2.3206, d6.loss_plan_l1_fix_dist: 0.6159, d0.loss_cls_all: 0.6092, d0.loss_bbox_all: 0.6694, d0.loss_cls: 0.6092, d0.loss_bbox: 0.6694, d1.loss_cls: 0.6007, d1.loss_bbox: 0.6643, d2.loss_cls: 0.6032, d2.loss_bbox: 0.6501, d3.loss_cls: 0.6123, d3.loss_bbox: 0.6429, d4.loss_cls: 0.6149, d4.loss_bbox: 0.6419, d5.loss_cls: 0.6189, d5.loss_bbox: 0.6444, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7001, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.6503, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.6436, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6453, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6460, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6524, d0.loss_map_cls_all: 0.4011, d0.loss_map_pts_all: 2.4953, d0.loss_map_dir_all: 0.0289, d0.loss_map_cls: 0.4011, d0.loss_map_pts: 2.4953, d0.loss_map_dir: 0.0289, d1.loss_map_cls: 0.3882, d1.loss_map_pts: 1.9036, d1.loss_map_dir: 0.0287, d2.loss_map_cls: 0.3773, d2.loss_map_pts: 1.8188, d2.loss_map_dir: 0.0289, d3.loss_map_cls: 0.3728, d3.loss_map_pts: 1.7854, d3.loss_map_dir: 0.0292, d4.loss_map_cls: 0.3691, d4.loss_map_pts: 1.7793, d4.loss_map_dir: 0.0292, d5.loss_map_cls: 0.3677, d5.loss_map_pts: 1.7800, d5.loss_map_dir: 0.0293, loss: 61.1323, grad_norm: 153.4058 +2026-02-24 14:06:15,283 - DriveTransformer - INFO - Epoch [2][14000/39528] lr: 9.958e-05, eta: 8 days, 5:57:58, time: 0.783, data_time: 0.037, memory: 19865, loss_cls: 0.6300, loss_bbox: 0.7032, loss_traj: 1.4452, loss_traj_cls: 0.0004, loss_map_cls: 0.4132, loss_map_pts: 1.9617, loss_map_dir: 0.0348, d0.loss_plan_l1_fix_time: 2.7659, d0.loss_plan_l1_fix_dist: 0.5422, d1.loss_plan_l1_fix_time: 2.4706, d1.loss_plan_l1_fix_dist: 0.5074, d2.loss_plan_l1_fix_time: 2.3986, d2.loss_plan_l1_fix_dist: 0.5147, d3.loss_plan_l1_fix_time: 2.3794, d3.loss_plan_l1_fix_dist: 0.5294, d4.loss_plan_l1_fix_time: 2.3794, d4.loss_plan_l1_fix_dist: 0.5509, d5.loss_plan_l1_fix_time: 2.3837, d5.loss_plan_l1_fix_dist: 0.5746, d6.loss_plan_l1_fix_time: 2.3903, d6.loss_plan_l1_fix_dist: 0.5998, d0.loss_cls_all: 0.6388, d0.loss_bbox_all: 0.7287, d0.loss_cls: 0.6388, d0.loss_bbox: 0.7287, d1.loss_cls: 0.6256, d1.loss_bbox: 0.7318, d2.loss_cls: 0.6258, d2.loss_bbox: 0.7190, d3.loss_cls: 0.6269, d3.loss_bbox: 0.7086, d4.loss_cls: 0.6275, d4.loss_bbox: 0.7014, d5.loss_cls: 0.6295, d5.loss_bbox: 0.7028, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4999, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4138, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4007, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4116, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4196, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4321, d0.loss_map_cls_all: 0.4357, d0.loss_map_pts_all: 2.8561, d0.loss_map_dir_all: 0.0341, d0.loss_map_cls: 0.4357, d0.loss_map_pts: 2.8561, d0.loss_map_dir: 0.0341, d1.loss_map_cls: 0.4297, d1.loss_map_pts: 2.0734, d1.loss_map_dir: 0.0341, d2.loss_map_cls: 0.4210, d2.loss_map_pts: 1.9851, d2.loss_map_dir: 0.0342, d3.loss_map_cls: 0.4170, d3.loss_map_pts: 1.9595, d3.loss_map_dir: 0.0344, d4.loss_map_cls: 0.4151, d4.loss_map_pts: 1.9558, d4.loss_map_dir: 0.0345, d5.loss_map_cls: 0.4125, d5.loss_map_pts: 1.9564, d5.loss_map_dir: 0.0346, loss: 63.0402, grad_norm: 153.5865 +2026-02-24 14:06:55,355 - DriveTransformer - INFO - Epoch [2][14050/39528] lr: 9.958e-05, eta: 8 days, 5:57:22, time: 0.801, data_time: 0.036, memory: 19865, loss_cls: 0.6071, loss_bbox: 0.6403, loss_traj: 1.5099, loss_traj_cls: 0.0004, loss_map_cls: 0.3888, loss_map_pts: 1.7884, loss_map_dir: 0.0313, d0.loss_plan_l1_fix_time: 2.7881, d0.loss_plan_l1_fix_dist: 0.4377, d1.loss_plan_l1_fix_time: 2.5173, d1.loss_plan_l1_fix_dist: 0.4273, d2.loss_plan_l1_fix_time: 2.4365, d2.loss_plan_l1_fix_dist: 0.4452, d3.loss_plan_l1_fix_time: 2.4184, d3.loss_plan_l1_fix_dist: 0.4700, d4.loss_plan_l1_fix_time: 2.4184, d4.loss_plan_l1_fix_dist: 0.4955, d5.loss_plan_l1_fix_time: 2.4223, d5.loss_plan_l1_fix_dist: 0.5231, d6.loss_plan_l1_fix_time: 2.4287, d6.loss_plan_l1_fix_dist: 0.5505, d0.loss_cls_all: 0.6095, d0.loss_bbox_all: 0.6703, d0.loss_cls: 0.6095, d0.loss_bbox: 0.6703, d1.loss_cls: 0.6032, d1.loss_bbox: 0.6642, d2.loss_cls: 0.6001, d2.loss_bbox: 0.6543, d3.loss_cls: 0.5981, d3.loss_bbox: 0.6456, d4.loss_cls: 0.6009, d4.loss_bbox: 0.6392, d5.loss_cls: 0.6044, d5.loss_bbox: 0.6367, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5791, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4899, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4856, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4891, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4857, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4952, d0.loss_map_cls_all: 0.3978, d0.loss_map_pts_all: 2.5927, d0.loss_map_dir_all: 0.0308, d0.loss_map_cls: 0.3978, d0.loss_map_pts: 2.5927, d0.loss_map_dir: 0.0308, d1.loss_map_cls: 0.3977, d1.loss_map_pts: 1.9040, d1.loss_map_dir: 0.0307, d2.loss_map_cls: 0.3934, d2.loss_map_pts: 1.8164, d2.loss_map_dir: 0.0309, d3.loss_map_cls: 0.3874, d3.loss_map_pts: 1.7869, d3.loss_map_dir: 0.0311, d4.loss_map_cls: 0.3869, d4.loss_map_pts: 1.7860, d4.loss_map_dir: 0.0312, d5.loss_map_cls: 0.3868, d5.loss_map_pts: 1.7827, d5.loss_map_dir: 0.0312, loss: 60.8057, grad_norm: 154.6971 +2026-02-24 14:07:36,188 - DriveTransformer - INFO - Epoch [2][14100/39528] lr: 9.958e-05, eta: 8 days, 5:57:00, time: 0.817, data_time: 0.045, memory: 19865, loss_cls: 0.6236, loss_bbox: 0.6812, loss_traj: 1.4614, loss_traj_cls: 0.0004, loss_map_cls: 0.3678, loss_map_pts: 1.7115, loss_map_dir: 0.0296, d0.loss_plan_l1_fix_time: 2.6062, d0.loss_plan_l1_fix_dist: 0.4215, d1.loss_plan_l1_fix_time: 2.3841, d1.loss_plan_l1_fix_dist: 0.3898, d2.loss_plan_l1_fix_time: 2.3894, d2.loss_plan_l1_fix_dist: 0.3999, d3.loss_plan_l1_fix_time: 2.4056, d3.loss_plan_l1_fix_dist: 0.4197, d4.loss_plan_l1_fix_time: 2.4162, d4.loss_plan_l1_fix_dist: 0.4420, d5.loss_plan_l1_fix_time: 2.4254, d5.loss_plan_l1_fix_dist: 0.4679, d6.loss_plan_l1_fix_time: 2.4343, d6.loss_plan_l1_fix_dist: 0.4958, d0.loss_cls_all: 0.6244, d0.loss_bbox_all: 0.7101, d0.loss_cls: 0.6244, d0.loss_bbox: 0.7101, d1.loss_cls: 0.6178, d1.loss_bbox: 0.7066, d2.loss_cls: 0.6161, d2.loss_bbox: 0.6957, d3.loss_cls: 0.6167, d3.loss_bbox: 0.6906, d4.loss_cls: 0.6230, d4.loss_bbox: 0.6824, d5.loss_cls: 0.6262, d5.loss_bbox: 0.6779, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5039, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4378, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4498, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4622, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4671, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4682, d0.loss_map_cls_all: 0.4022, d0.loss_map_pts_all: 2.5337, d0.loss_map_dir_all: 0.0293, d0.loss_map_cls: 0.4022, d0.loss_map_pts: 2.5337, d0.loss_map_dir: 0.0293, d1.loss_map_cls: 0.3850, d1.loss_map_pts: 1.8483, d1.loss_map_dir: 0.0291, d2.loss_map_cls: 0.3762, d2.loss_map_pts: 1.7507, d2.loss_map_dir: 0.0292, d3.loss_map_cls: 0.3697, d3.loss_map_pts: 1.7225, d3.loss_map_dir: 0.0293, d4.loss_map_cls: 0.3659, d4.loss_map_pts: 1.7158, d4.loss_map_dir: 0.0294, d5.loss_map_cls: 0.3652, d5.loss_map_pts: 1.7115, d5.loss_map_dir: 0.0295, loss: 59.6759, grad_norm: 152.9862 +2026-02-24 14:08:15,951 - DriveTransformer - INFO - Epoch [2][14150/39528] lr: 9.958e-05, eta: 8 days, 5:56:19, time: 0.795, data_time: 0.036, memory: 19865, loss_cls: 0.6290, loss_bbox: 0.6961, loss_traj: 1.5960, loss_traj_cls: 0.0004, loss_map_cls: 0.3815, loss_map_pts: 1.7792, loss_map_dir: 0.0331, d0.loss_plan_l1_fix_time: 2.7666, d0.loss_plan_l1_fix_dist: 0.4430, d1.loss_plan_l1_fix_time: 2.3529, d1.loss_plan_l1_fix_dist: 0.4248, d2.loss_plan_l1_fix_time: 2.2479, d2.loss_plan_l1_fix_dist: 0.4440, d3.loss_plan_l1_fix_time: 2.2386, d3.loss_plan_l1_fix_dist: 0.4712, d4.loss_plan_l1_fix_time: 2.2429, d4.loss_plan_l1_fix_dist: 0.5013, d5.loss_plan_l1_fix_time: 2.2500, d5.loss_plan_l1_fix_dist: 0.5348, d6.loss_plan_l1_fix_time: 2.2593, d6.loss_plan_l1_fix_dist: 0.5745, d0.loss_cls_all: 0.6368, d0.loss_bbox_all: 0.7324, d0.loss_cls: 0.6368, d0.loss_bbox: 0.7324, d1.loss_cls: 0.6202, d1.loss_bbox: 0.7236, d2.loss_cls: 0.6185, d2.loss_bbox: 0.7078, d3.loss_cls: 0.6194, d3.loss_bbox: 0.7054, d4.loss_cls: 0.6251, d4.loss_bbox: 0.6970, d5.loss_cls: 0.6288, d5.loss_bbox: 0.6969, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.6804, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5848, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5859, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5887, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5935, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5987, d0.loss_map_cls_all: 0.4205, d0.loss_map_pts_all: 2.6464, d0.loss_map_dir_all: 0.0321, d0.loss_map_cls: 0.4205, d0.loss_map_pts: 2.6464, d0.loss_map_dir: 0.0321, d1.loss_map_cls: 0.4050, d1.loss_map_pts: 1.9524, d1.loss_map_dir: 0.0320, d2.loss_map_cls: 0.3932, d2.loss_map_pts: 1.8307, d2.loss_map_dir: 0.0323, d3.loss_map_cls: 0.3869, d3.loss_map_pts: 1.7956, d3.loss_map_dir: 0.0327, d4.loss_map_cls: 0.3828, d4.loss_map_pts: 1.7812, d4.loss_map_dir: 0.0328, d5.loss_map_cls: 0.3814, d5.loss_map_pts: 1.7812, d5.loss_map_dir: 0.0330, loss: 61.3352, grad_norm: 152.5055 +2026-02-24 14:08:55,369 - DriveTransformer - INFO - Epoch [2][14200/39528] lr: 9.958e-05, eta: 8 days, 5:55:34, time: 0.790, data_time: 0.043, memory: 19865, loss_cls: 0.6201, loss_bbox: 0.6697, loss_traj: 1.3525, loss_traj_cls: 0.0004, loss_map_cls: 0.3824, loss_map_pts: 1.7460, loss_map_dir: 0.0322, d0.loss_plan_l1_fix_time: 2.7113, d0.loss_plan_l1_fix_dist: 0.4622, d1.loss_plan_l1_fix_time: 2.5046, d1.loss_plan_l1_fix_dist: 0.4239, d2.loss_plan_l1_fix_time: 2.4266, d2.loss_plan_l1_fix_dist: 0.4295, d3.loss_plan_l1_fix_time: 2.4213, d3.loss_plan_l1_fix_dist: 0.4448, d4.loss_plan_l1_fix_time: 2.4269, d4.loss_plan_l1_fix_dist: 0.4675, d5.loss_plan_l1_fix_time: 2.4341, d5.loss_plan_l1_fix_dist: 0.4901, d6.loss_plan_l1_fix_time: 2.4424, d6.loss_plan_l1_fix_dist: 0.5161, d0.loss_cls_all: 0.6098, d0.loss_bbox_all: 0.7120, d0.loss_cls: 0.6098, d0.loss_bbox: 0.7120, d1.loss_cls: 0.6040, d1.loss_bbox: 0.6932, d2.loss_cls: 0.6026, d2.loss_bbox: 0.6760, d3.loss_cls: 0.5994, d3.loss_bbox: 0.6725, d4.loss_cls: 0.6060, d4.loss_bbox: 0.6713, d5.loss_cls: 0.6173, d5.loss_bbox: 0.6721, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3785, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3443, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3560, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3541, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3514, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3540, d0.loss_map_cls_all: 0.4218, d0.loss_map_pts_all: 2.6185, d0.loss_map_dir_all: 0.0312, d0.loss_map_cls: 0.4218, d0.loss_map_pts: 2.6185, d0.loss_map_dir: 0.0312, d1.loss_map_cls: 0.4053, d1.loss_map_pts: 1.9078, d1.loss_map_dir: 0.0311, d2.loss_map_cls: 0.3922, d2.loss_map_pts: 1.7919, d2.loss_map_dir: 0.0314, d3.loss_map_cls: 0.3863, d3.loss_map_pts: 1.7596, d3.loss_map_dir: 0.0318, d4.loss_map_cls: 0.3823, d4.loss_map_pts: 1.7486, d4.loss_map_dir: 0.0319, d5.loss_map_cls: 0.3813, d5.loss_map_pts: 1.7496, d5.loss_map_dir: 0.0320, loss: 59.8108, grad_norm: 147.0031 +2026-02-24 14:09:33,635 - DriveTransformer - INFO - Epoch [2][14250/39528] lr: 9.958e-05, eta: 8 days, 5:54:27, time: 0.764, data_time: 0.040, memory: 19865, loss_cls: 0.6361, loss_bbox: 0.6822, loss_traj: 1.7075, loss_traj_cls: 0.0004, loss_map_cls: 0.3521, loss_map_pts: 1.5821, loss_map_dir: 0.0252, d0.loss_plan_l1_fix_time: 3.1441, d0.loss_plan_l1_fix_dist: 0.4819, d1.loss_plan_l1_fix_time: 2.7542, d1.loss_plan_l1_fix_dist: 0.4289, d2.loss_plan_l1_fix_time: 2.7018, d2.loss_plan_l1_fix_dist: 0.4380, d3.loss_plan_l1_fix_time: 2.7002, d3.loss_plan_l1_fix_dist: 0.4663, d4.loss_plan_l1_fix_time: 2.7054, d4.loss_plan_l1_fix_dist: 0.5013, d5.loss_plan_l1_fix_time: 2.7106, d5.loss_plan_l1_fix_dist: 0.5420, d6.loss_plan_l1_fix_time: 2.7172, d6.loss_plan_l1_fix_dist: 0.5785, d0.loss_cls_all: 0.6526, d0.loss_bbox_all: 0.7284, d0.loss_cls: 0.6526, d0.loss_bbox: 0.7284, d1.loss_cls: 0.6367, d1.loss_bbox: 0.7085, d2.loss_cls: 0.6319, d2.loss_bbox: 0.6861, d3.loss_cls: 0.6305, d3.loss_bbox: 0.6814, d4.loss_cls: 0.6302, d4.loss_bbox: 0.6821, d5.loss_cls: 0.6322, d5.loss_bbox: 0.6806, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7820, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7121, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.7020, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6983, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7024, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7045, d0.loss_map_cls_all: 0.3859, d0.loss_map_pts_all: 2.2050, d0.loss_map_dir_all: 0.0248, d0.loss_map_cls: 0.3859, d0.loss_map_pts: 2.2050, d0.loss_map_dir: 0.0248, d1.loss_map_cls: 0.3744, d1.loss_map_pts: 1.7178, d1.loss_map_dir: 0.0246, d2.loss_map_cls: 0.3707, d2.loss_map_pts: 1.6215, d2.loss_map_dir: 0.0247, d3.loss_map_cls: 0.3585, d3.loss_map_pts: 1.5910, d3.loss_map_dir: 0.0250, d4.loss_map_cls: 0.3568, d4.loss_map_pts: 1.5833, d4.loss_map_dir: 0.0251, d5.loss_map_cls: 0.3516, d5.loss_map_pts: 1.5816, d5.loss_map_dir: 0.0251, loss: 62.7864, grad_norm: 148.3722 +2026-02-24 14:10:13,231 - DriveTransformer - INFO - Epoch [2][14300/39528] lr: 9.958e-05, eta: 8 days, 5:53:44, time: 0.792, data_time: 0.036, memory: 19865, loss_cls: 0.6423, loss_bbox: 0.6858, loss_traj: 1.5384, loss_traj_cls: 0.0004, loss_map_cls: 0.3912, loss_map_pts: 1.8612, loss_map_dir: 0.0312, d0.loss_plan_l1_fix_time: 3.0116, d0.loss_plan_l1_fix_dist: 0.4739, d1.loss_plan_l1_fix_time: 2.7868, d1.loss_plan_l1_fix_dist: 0.4481, d2.loss_plan_l1_fix_time: 2.7796, d2.loss_plan_l1_fix_dist: 0.4638, d3.loss_plan_l1_fix_time: 2.7851, d3.loss_plan_l1_fix_dist: 0.4925, d4.loss_plan_l1_fix_time: 2.7924, d4.loss_plan_l1_fix_dist: 0.5220, d5.loss_plan_l1_fix_time: 2.8011, d5.loss_plan_l1_fix_dist: 0.5587, d6.loss_plan_l1_fix_time: 2.8110, d6.loss_plan_l1_fix_dist: 0.5965, d0.loss_cls_all: 0.6322, d0.loss_bbox_all: 0.7339, d0.loss_cls: 0.6322, d0.loss_bbox: 0.7339, d1.loss_cls: 0.6312, d1.loss_bbox: 0.7190, d2.loss_cls: 0.6333, d2.loss_bbox: 0.6959, d3.loss_cls: 0.6376, d3.loss_bbox: 0.6870, d4.loss_cls: 0.6372, d4.loss_bbox: 0.6847, d5.loss_cls: 0.6380, d5.loss_bbox: 0.6848, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6204, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5587, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5309, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5360, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5331, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5276, d0.loss_map_cls_all: 0.4194, d0.loss_map_pts_all: 2.5804, d0.loss_map_dir_all: 0.0300, d0.loss_map_cls: 0.4194, d0.loss_map_pts: 2.5804, d0.loss_map_dir: 0.0300, d1.loss_map_cls: 0.4042, d1.loss_map_pts: 1.9909, d1.loss_map_dir: 0.0303, d2.loss_map_cls: 0.4025, d2.loss_map_pts: 1.8944, d2.loss_map_dir: 0.0306, d3.loss_map_cls: 0.3962, d3.loss_map_pts: 1.8672, d3.loss_map_dir: 0.0309, d4.loss_map_cls: 0.3919, d4.loss_map_pts: 1.8594, d4.loss_map_dir: 0.0310, d5.loss_map_cls: 0.3898, d5.loss_map_pts: 1.8591, d5.loss_map_dir: 0.0310, loss: 64.8342, grad_norm: 148.5639 +2026-02-24 14:10:52,442 - DriveTransformer - INFO - Epoch [2][14350/39528] lr: 9.958e-05, eta: 8 days, 5:52:54, time: 0.784, data_time: 0.037, memory: 19865, loss_cls: 0.6302, loss_bbox: 0.7044, loss_traj: 1.5363, loss_traj_cls: 0.0005, loss_map_cls: 0.3545, loss_map_pts: 1.7867, loss_map_dir: 0.0309, d0.loss_plan_l1_fix_time: 2.6268, d0.loss_plan_l1_fix_dist: 0.4171, d1.loss_plan_l1_fix_time: 2.3911, d1.loss_plan_l1_fix_dist: 0.3652, d2.loss_plan_l1_fix_time: 2.3437, d2.loss_plan_l1_fix_dist: 0.3771, d3.loss_plan_l1_fix_time: 2.3424, d3.loss_plan_l1_fix_dist: 0.3941, d4.loss_plan_l1_fix_time: 2.3502, d4.loss_plan_l1_fix_dist: 0.4152, d5.loss_plan_l1_fix_time: 2.3606, d5.loss_plan_l1_fix_dist: 0.4358, d6.loss_plan_l1_fix_time: 2.3725, d6.loss_plan_l1_fix_dist: 0.4616, d0.loss_cls_all: 0.6469, d0.loss_bbox_all: 0.7474, d0.loss_cls: 0.6469, d0.loss_bbox: 0.7474, d1.loss_cls: 0.6365, d1.loss_bbox: 0.7327, d2.loss_cls: 0.6330, d2.loss_bbox: 0.7143, d3.loss_cls: 0.6315, d3.loss_bbox: 0.7070, d4.loss_cls: 0.6304, d4.loss_bbox: 0.7032, d5.loss_cls: 0.6313, d5.loss_bbox: 0.7022, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6465, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5749, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5500, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5400, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5355, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5326, d0.loss_map_cls_all: 0.3894, d0.loss_map_pts_all: 2.5683, d0.loss_map_dir_all: 0.0302, d0.loss_map_cls: 0.3894, d0.loss_map_pts: 2.5683, d0.loss_map_dir: 0.0302, d1.loss_map_cls: 0.3785, d1.loss_map_pts: 1.9378, d1.loss_map_dir: 0.0303, d2.loss_map_cls: 0.3643, d2.loss_map_pts: 1.8304, d2.loss_map_dir: 0.0305, d3.loss_map_cls: 0.3582, d3.loss_map_pts: 1.7979, d3.loss_map_dir: 0.0306, d4.loss_map_cls: 0.3536, d4.loss_map_pts: 1.7892, d4.loss_map_dir: 0.0308, d5.loss_map_cls: 0.3535, d5.loss_map_pts: 1.7839, d5.loss_map_dir: 0.0309, loss: 60.6674, grad_norm: 149.1540 +2026-02-24 14:11:33,693 - DriveTransformer - INFO - Epoch [2][14400/39528] lr: 9.958e-05, eta: 8 days, 5:52:38, time: 0.825, data_time: 0.034, memory: 19865, loss_cls: 0.6423, loss_bbox: 0.6783, loss_traj: 1.3098, loss_traj_cls: 0.0005, loss_map_cls: 0.3841, loss_map_pts: 1.9062, loss_map_dir: 0.0346, d0.loss_plan_l1_fix_time: 2.4743, d0.loss_plan_l1_fix_dist: 0.4936, d1.loss_plan_l1_fix_time: 2.1884, d1.loss_plan_l1_fix_dist: 0.4397, d2.loss_plan_l1_fix_time: 2.1321, d2.loss_plan_l1_fix_dist: 0.4460, d3.loss_plan_l1_fix_time: 2.1259, d3.loss_plan_l1_fix_dist: 0.4610, d4.loss_plan_l1_fix_time: 2.1292, d4.loss_plan_l1_fix_dist: 0.4839, d5.loss_plan_l1_fix_time: 2.1351, d5.loss_plan_l1_fix_dist: 0.5067, d6.loss_plan_l1_fix_time: 2.1429, d6.loss_plan_l1_fix_dist: 0.5311, d0.loss_cls_all: 0.6433, d0.loss_bbox_all: 0.7113, d0.loss_cls: 0.6433, d0.loss_bbox: 0.7113, d1.loss_cls: 0.6367, d1.loss_bbox: 0.7029, d2.loss_cls: 0.6376, d2.loss_bbox: 0.6832, d3.loss_cls: 0.6409, d3.loss_bbox: 0.6775, d4.loss_cls: 0.6402, d4.loss_bbox: 0.6784, d5.loss_cls: 0.6436, d5.loss_bbox: 0.6758, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.3276, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2908, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3079, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3198, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3154, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3181, d0.loss_map_cls_all: 0.4140, d0.loss_map_pts_all: 2.8913, d0.loss_map_dir_all: 0.0334, d0.loss_map_cls: 0.4140, d0.loss_map_pts: 2.8913, d0.loss_map_dir: 0.0334, d1.loss_map_cls: 0.4102, d1.loss_map_pts: 2.0525, d1.loss_map_dir: 0.0337, d2.loss_map_cls: 0.3970, d2.loss_map_pts: 1.9380, d2.loss_map_dir: 0.0339, d3.loss_map_cls: 0.3895, d3.loss_map_pts: 1.9101, d3.loss_map_dir: 0.0341, d4.loss_map_cls: 0.3870, d4.loss_map_pts: 1.9045, d4.loss_map_dir: 0.0343, d5.loss_map_cls: 0.3842, d5.loss_map_pts: 1.8993, d5.loss_map_dir: 0.0344, loss: 59.3755, grad_norm: 150.2252 +2026-02-24 14:12:13,047 - DriveTransformer - INFO - Epoch [2][14450/39528] lr: 9.958e-05, eta: 8 days, 5:51:51, time: 0.787, data_time: 0.040, memory: 19865, loss_cls: 0.6338, loss_bbox: 0.6698, loss_traj: 1.5313, loss_traj_cls: 0.0004, loss_map_cls: 0.3194, loss_map_pts: 1.7163, loss_map_dir: 0.0256, d0.loss_plan_l1_fix_time: 2.8736, d0.loss_plan_l1_fix_dist: 0.5058, d1.loss_plan_l1_fix_time: 2.6568, d1.loss_plan_l1_fix_dist: 0.4494, d2.loss_plan_l1_fix_time: 2.6498, d2.loss_plan_l1_fix_dist: 0.4625, d3.loss_plan_l1_fix_time: 2.6569, d3.loss_plan_l1_fix_dist: 0.4833, d4.loss_plan_l1_fix_time: 2.6643, d4.loss_plan_l1_fix_dist: 0.5037, d5.loss_plan_l1_fix_time: 2.6718, d5.loss_plan_l1_fix_dist: 0.5273, d6.loss_plan_l1_fix_time: 2.6799, d6.loss_plan_l1_fix_dist: 0.5505, d0.loss_cls_all: 0.6292, d0.loss_bbox_all: 0.6961, d0.loss_cls: 0.6292, d0.loss_bbox: 0.6961, d1.loss_cls: 0.6299, d1.loss_bbox: 0.6921, d2.loss_cls: 0.6245, d2.loss_bbox: 0.6752, d3.loss_cls: 0.6248, d3.loss_bbox: 0.6708, d4.loss_cls: 0.6324, d4.loss_bbox: 0.6709, d5.loss_cls: 0.6345, d5.loss_bbox: 0.6658, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5382, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5061, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5069, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5138, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5119, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5211, d0.loss_map_cls_all: 0.3652, d0.loss_map_pts_all: 2.4172, d0.loss_map_dir_all: 0.0250, d0.loss_map_cls: 0.3652, d0.loss_map_pts: 2.4172, d0.loss_map_dir: 0.0250, d1.loss_map_cls: 0.3478, d1.loss_map_pts: 1.8310, d1.loss_map_dir: 0.0249, d2.loss_map_cls: 0.3357, d2.loss_map_pts: 1.7439, d2.loss_map_dir: 0.0251, d3.loss_map_cls: 0.3258, d3.loss_map_pts: 1.7209, d3.loss_map_dir: 0.0253, d4.loss_map_cls: 0.3213, d4.loss_map_pts: 1.7156, d4.loss_map_dir: 0.0254, d5.loss_map_cls: 0.3192, d5.loss_map_pts: 1.7139, d5.loss_map_dir: 0.0255, loss: 61.6221, grad_norm: 149.6302 +2026-02-24 14:12:54,136 - DriveTransformer - INFO - Epoch [2][14500/39528] lr: 9.958e-05, eta: 8 days, 5:51:32, time: 0.822, data_time: 0.036, memory: 19865, loss_cls: 0.5991, loss_bbox: 0.6474, loss_traj: 1.3483, loss_traj_cls: 0.0004, loss_map_cls: 0.3596, loss_map_pts: 1.7483, loss_map_dir: 0.0310, d0.loss_plan_l1_fix_time: 2.7236, d0.loss_plan_l1_fix_dist: 0.4293, d1.loss_plan_l1_fix_time: 2.4704, d1.loss_plan_l1_fix_dist: 0.4043, d2.loss_plan_l1_fix_time: 2.4139, d2.loss_plan_l1_fix_dist: 0.4133, d3.loss_plan_l1_fix_time: 2.4105, d3.loss_plan_l1_fix_dist: 0.4313, d4.loss_plan_l1_fix_time: 2.4174, d4.loss_plan_l1_fix_dist: 0.4518, d5.loss_plan_l1_fix_time: 2.4254, d5.loss_plan_l1_fix_dist: 0.4761, d6.loss_plan_l1_fix_time: 2.4356, d6.loss_plan_l1_fix_dist: 0.5011, d0.loss_cls_all: 0.5934, d0.loss_bbox_all: 0.6748, d0.loss_cls: 0.5934, d0.loss_bbox: 0.6748, d1.loss_cls: 0.5887, d1.loss_bbox: 0.6715, d2.loss_cls: 0.5884, d2.loss_bbox: 0.6570, d3.loss_cls: 0.5920, d3.loss_bbox: 0.6477, d4.loss_cls: 0.5915, d4.loss_bbox: 0.6480, d5.loss_cls: 0.5977, d5.loss_bbox: 0.6439, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3528, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3078, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3260, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3307, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3373, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3392, d0.loss_map_cls_all: 0.3992, d0.loss_map_pts_all: 2.5699, d0.loss_map_dir_all: 0.0302, d0.loss_map_cls: 0.3992, d0.loss_map_pts: 2.5699, d0.loss_map_dir: 0.0302, d1.loss_map_cls: 0.3832, d1.loss_map_pts: 1.9068, d1.loss_map_dir: 0.0300, d2.loss_map_cls: 0.3677, d2.loss_map_pts: 1.7972, d2.loss_map_dir: 0.0303, d3.loss_map_cls: 0.3611, d3.loss_map_pts: 1.7555, d3.loss_map_dir: 0.0307, d4.loss_map_cls: 0.3572, d4.loss_map_pts: 1.7483, d4.loss_map_dir: 0.0308, d5.loss_map_cls: 0.3583, d5.loss_map_pts: 1.7471, d5.loss_map_dir: 0.0309, loss: 58.8322, grad_norm: 151.3573 +2026-02-24 14:13:33,697 - DriveTransformer - INFO - Epoch [2][14550/39528] lr: 9.958e-05, eta: 8 days, 5:50:49, time: 0.791, data_time: 0.038, memory: 19865, loss_cls: 0.6304, loss_bbox: 0.6777, loss_traj: 1.5239, loss_traj_cls: 0.0004, loss_map_cls: 0.3912, loss_map_pts: 1.9272, loss_map_dir: 0.0359, d0.loss_plan_l1_fix_time: 2.9217, d0.loss_plan_l1_fix_dist: 0.4389, d1.loss_plan_l1_fix_time: 2.8160, d1.loss_plan_l1_fix_dist: 0.4186, d2.loss_plan_l1_fix_time: 2.7616, d2.loss_plan_l1_fix_dist: 0.4309, d3.loss_plan_l1_fix_time: 2.7547, d3.loss_plan_l1_fix_dist: 0.4480, d4.loss_plan_l1_fix_time: 2.7601, d4.loss_plan_l1_fix_dist: 0.4681, d5.loss_plan_l1_fix_time: 2.7675, d5.loss_plan_l1_fix_dist: 0.4921, d6.loss_plan_l1_fix_time: 2.7769, d6.loss_plan_l1_fix_dist: 0.5216, d0.loss_cls_all: 0.6305, d0.loss_bbox_all: 0.7092, d0.loss_cls: 0.6305, d0.loss_bbox: 0.7092, d1.loss_cls: 0.6228, d1.loss_bbox: 0.7030, d2.loss_cls: 0.6213, d2.loss_bbox: 0.6909, d3.loss_cls: 0.6188, d3.loss_bbox: 0.6847, d4.loss_cls: 0.6255, d4.loss_bbox: 0.6768, d5.loss_cls: 0.6275, d5.loss_bbox: 0.6755, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5171, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4907, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5111, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5131, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5116, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5168, d0.loss_map_cls_all: 0.4146, d0.loss_map_pts_all: 2.7981, d0.loss_map_dir_all: 0.0345, d0.loss_map_cls: 0.4146, d0.loss_map_pts: 2.7981, d0.loss_map_dir: 0.0345, d1.loss_map_cls: 0.4120, d1.loss_map_pts: 2.0712, d1.loss_map_dir: 0.0347, d2.loss_map_cls: 0.4014, d2.loss_map_pts: 1.9613, d2.loss_map_dir: 0.0350, d3.loss_map_cls: 0.3929, d3.loss_map_pts: 1.9364, d3.loss_map_dir: 0.0354, d4.loss_map_cls: 0.3895, d4.loss_map_pts: 1.9321, d4.loss_map_dir: 0.0356, d5.loss_map_cls: 0.3906, d5.loss_map_pts: 1.9294, d5.loss_map_dir: 0.0357, loss: 64.7418, grad_norm: 151.0953 +2026-02-24 14:14:12,717 - DriveTransformer - INFO - Epoch [2][14600/39528] lr: 9.958e-05, eta: 8 days, 5:49:56, time: 0.780, data_time: 0.042, memory: 19865, loss_cls: 0.6156, loss_bbox: 0.6263, loss_traj: 1.2363, loss_traj_cls: 0.0004, loss_map_cls: 0.3418, loss_map_pts: 1.5311, loss_map_dir: 0.0284, d0.loss_plan_l1_fix_time: 2.3838, d0.loss_plan_l1_fix_dist: 0.5096, d1.loss_plan_l1_fix_time: 2.1210, d1.loss_plan_l1_fix_dist: 0.4141, d2.loss_plan_l1_fix_time: 2.0454, d2.loss_plan_l1_fix_dist: 0.4091, d3.loss_plan_l1_fix_time: 2.0370, d3.loss_plan_l1_fix_dist: 0.4222, d4.loss_plan_l1_fix_time: 2.0387, d4.loss_plan_l1_fix_dist: 0.4414, d5.loss_plan_l1_fix_time: 2.0436, d5.loss_plan_l1_fix_dist: 0.4646, d6.loss_plan_l1_fix_time: 2.0503, d6.loss_plan_l1_fix_dist: 0.4924, d0.loss_cls_all: 0.6116, d0.loss_bbox_all: 0.6710, d0.loss_cls: 0.6116, d0.loss_bbox: 0.6710, d1.loss_cls: 0.6030, d1.loss_bbox: 0.6545, d2.loss_cls: 0.6009, d2.loss_bbox: 0.6487, d3.loss_cls: 0.6011, d3.loss_bbox: 0.6422, d4.loss_cls: 0.6029, d4.loss_bbox: 0.6309, d5.loss_cls: 0.6114, d5.loss_bbox: 0.6268, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2614, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.2279, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.2205, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.2139, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2114, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2202, d0.loss_map_cls_all: 0.3747, d0.loss_map_pts_all: 2.3919, d0.loss_map_dir_all: 0.0280, d0.loss_map_cls: 0.3747, d0.loss_map_pts: 2.3919, d0.loss_map_dir: 0.0280, d1.loss_map_cls: 0.3594, d1.loss_map_pts: 1.6747, d1.loss_map_dir: 0.0278, d2.loss_map_cls: 0.3518, d2.loss_map_pts: 1.5661, d2.loss_map_dir: 0.0279, d3.loss_map_cls: 0.3476, d3.loss_map_pts: 1.5418, d3.loss_map_dir: 0.0281, d4.loss_map_cls: 0.3427, d4.loss_map_pts: 1.5347, d4.loss_map_dir: 0.0282, d5.loss_map_cls: 0.3415, d5.loss_map_pts: 1.5310, d5.loss_map_dir: 0.0282, loss: 53.7203, grad_norm: 151.6199 +2026-02-24 14:14:52,469 - DriveTransformer - INFO - Epoch [2][14650/39528] lr: 9.958e-05, eta: 8 days, 5:49:15, time: 0.795, data_time: 0.037, memory: 19865, loss_cls: 0.6527, loss_bbox: 0.6920, loss_traj: 1.4973, loss_traj_cls: 0.0005, loss_map_cls: 0.3881, loss_map_pts: 1.7778, loss_map_dir: 0.0302, d0.loss_plan_l1_fix_time: 2.6422, d0.loss_plan_l1_fix_dist: 0.4700, d1.loss_plan_l1_fix_time: 2.3213, d1.loss_plan_l1_fix_dist: 0.4354, d2.loss_plan_l1_fix_time: 2.2550, d2.loss_plan_l1_fix_dist: 0.4445, d3.loss_plan_l1_fix_time: 2.2442, d3.loss_plan_l1_fix_dist: 0.4614, d4.loss_plan_l1_fix_time: 2.2458, d4.loss_plan_l1_fix_dist: 0.4806, d5.loss_plan_l1_fix_time: 2.2513, d5.loss_plan_l1_fix_dist: 0.5008, d6.loss_plan_l1_fix_time: 2.2591, d6.loss_plan_l1_fix_dist: 0.5221, d0.loss_cls_all: 0.6513, d0.loss_bbox_all: 0.7244, d0.loss_cls: 0.6513, d0.loss_bbox: 0.7244, d1.loss_cls: 0.6471, d1.loss_bbox: 0.7063, d2.loss_cls: 0.6427, d2.loss_bbox: 0.7034, d3.loss_cls: 0.6501, d3.loss_bbox: 0.7015, d4.loss_cls: 0.6476, d4.loss_bbox: 0.6950, d5.loss_cls: 0.6500, d5.loss_bbox: 0.6923, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6050, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5093, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4990, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4922, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4951, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4938, d0.loss_map_cls_all: 0.4292, d0.loss_map_pts_all: 2.4574, d0.loss_map_dir_all: 0.0296, d0.loss_map_cls: 0.4292, d0.loss_map_pts: 2.4574, d0.loss_map_dir: 0.0296, d1.loss_map_cls: 0.4147, d1.loss_map_pts: 1.8923, d1.loss_map_dir: 0.0294, d2.loss_map_cls: 0.3996, d2.loss_map_pts: 1.8096, d2.loss_map_dir: 0.0295, d3.loss_map_cls: 0.3940, d3.loss_map_pts: 1.7830, d3.loss_map_dir: 0.0299, d4.loss_map_cls: 0.3888, d4.loss_map_pts: 1.7783, d4.loss_map_dir: 0.0299, d5.loss_map_cls: 0.3877, d5.loss_map_pts: 1.7736, d5.loss_map_dir: 0.0299, loss: 60.1606, grad_norm: 150.8885 +2026-02-24 14:15:31,303 - DriveTransformer - INFO - Epoch [2][14700/39528] lr: 9.958e-05, eta: 8 days, 5:48:19, time: 0.777, data_time: 0.039, memory: 19865, loss_cls: 0.6347, loss_bbox: 0.6724, loss_traj: 1.3950, loss_traj_cls: 0.0005, loss_map_cls: 0.3462, loss_map_pts: 1.7308, loss_map_dir: 0.0286, d0.loss_plan_l1_fix_time: 2.7901, d0.loss_plan_l1_fix_dist: 0.5053, d1.loss_plan_l1_fix_time: 2.5188, d1.loss_plan_l1_fix_dist: 0.4598, d2.loss_plan_l1_fix_time: 2.5025, d2.loss_plan_l1_fix_dist: 0.4621, d3.loss_plan_l1_fix_time: 2.5078, d3.loss_plan_l1_fix_dist: 0.4726, d4.loss_plan_l1_fix_time: 2.5150, d4.loss_plan_l1_fix_dist: 0.4872, d5.loss_plan_l1_fix_time: 2.5232, d5.loss_plan_l1_fix_dist: 0.5053, d6.loss_plan_l1_fix_time: 2.5314, d6.loss_plan_l1_fix_dist: 0.5281, d0.loss_cls_all: 0.6339, d0.loss_bbox_all: 0.7125, d0.loss_cls: 0.6339, d0.loss_bbox: 0.7125, d1.loss_cls: 0.6295, d1.loss_bbox: 0.6931, d2.loss_cls: 0.6260, d2.loss_bbox: 0.6782, d3.loss_cls: 0.6312, d3.loss_bbox: 0.6782, d4.loss_cls: 0.6314, d4.loss_bbox: 0.6702, d5.loss_cls: 0.6351, d5.loss_bbox: 0.6718, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4751, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3892, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3841, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3802, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3799, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.3839, d0.loss_map_cls_all: 0.3878, d0.loss_map_pts_all: 2.3908, d0.loss_map_dir_all: 0.0283, d0.loss_map_cls: 0.3878, d0.loss_map_pts: 2.3908, d0.loss_map_dir: 0.0283, d1.loss_map_cls: 0.3725, d1.loss_map_pts: 1.8548, d1.loss_map_dir: 0.0280, d2.loss_map_cls: 0.3614, d2.loss_map_pts: 1.7604, d2.loss_map_dir: 0.0281, d3.loss_map_cls: 0.3512, d3.loss_map_pts: 1.7378, d3.loss_map_dir: 0.0283, d4.loss_map_cls: 0.3479, d4.loss_map_pts: 1.7276, d4.loss_map_dir: 0.0284, d5.loss_map_cls: 0.3459, d5.loss_map_pts: 1.7274, d5.loss_map_dir: 0.0285, loss: 60.0937, grad_norm: 150.8054 +2026-02-24 14:16:12,154 - DriveTransformer - INFO - Epoch [2][14750/39528] lr: 9.958e-05, eta: 8 days, 5:47:56, time: 0.817, data_time: 0.037, memory: 19865, loss_cls: 0.5975, loss_bbox: 0.6237, loss_traj: 1.4398, loss_traj_cls: 0.0005, loss_map_cls: 0.3500, loss_map_pts: 1.6742, loss_map_dir: 0.0354, d0.loss_plan_l1_fix_time: 2.5932, d0.loss_plan_l1_fix_dist: 0.4995, d1.loss_plan_l1_fix_time: 2.1612, d1.loss_plan_l1_fix_dist: 0.4374, d2.loss_plan_l1_fix_time: 2.0959, d2.loss_plan_l1_fix_dist: 0.4405, d3.loss_plan_l1_fix_time: 2.0887, d3.loss_plan_l1_fix_dist: 0.4539, d4.loss_plan_l1_fix_time: 2.0924, d4.loss_plan_l1_fix_dist: 0.4716, d5.loss_plan_l1_fix_time: 2.0983, d5.loss_plan_l1_fix_dist: 0.4926, d6.loss_plan_l1_fix_time: 2.1064, d6.loss_plan_l1_fix_dist: 0.5136, d0.loss_cls_all: 0.6010, d0.loss_bbox_all: 0.6668, d0.loss_cls: 0.6010, d0.loss_bbox: 0.6668, d1.loss_cls: 0.5923, d1.loss_bbox: 0.6477, d2.loss_cls: 0.5903, d2.loss_bbox: 0.6255, d3.loss_cls: 0.5919, d3.loss_bbox: 0.6247, d4.loss_cls: 0.5923, d4.loss_bbox: 0.6209, d5.loss_cls: 0.5948, d5.loss_bbox: 0.6210, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5001, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4367, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.4437, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4430, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4365, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4392, d0.loss_map_cls_all: 0.3736, d0.loss_map_pts_all: 2.5709, d0.loss_map_dir_all: 0.0350, d0.loss_map_cls: 0.3736, d0.loss_map_pts: 2.5709, d0.loss_map_dir: 0.0350, d1.loss_map_cls: 0.3654, d1.loss_map_pts: 1.8250, d1.loss_map_dir: 0.0349, d2.loss_map_cls: 0.3560, d2.loss_map_pts: 1.7049, d2.loss_map_dir: 0.0349, d3.loss_map_cls: 0.3529, d3.loss_map_pts: 1.6733, d3.loss_map_dir: 0.0351, d4.loss_map_cls: 0.3498, d4.loss_map_pts: 1.6684, d4.loss_map_dir: 0.0352, d5.loss_map_cls: 0.3482, d5.loss_map_pts: 1.6716, d5.loss_map_dir: 0.0352, loss: 57.0561, grad_norm: 150.5162 +2026-02-24 14:16:50,905 - DriveTransformer - INFO - Epoch [2][14800/39528] lr: 9.958e-05, eta: 8 days, 5:46:59, time: 0.775, data_time: 0.046, memory: 19865, loss_cls: 0.6495, loss_bbox: 0.6406, loss_traj: 1.4660, loss_traj_cls: 0.0004, loss_map_cls: 0.3600, loss_map_pts: 1.6151, loss_map_dir: 0.0290, d0.loss_plan_l1_fix_time: 2.6558, d0.loss_plan_l1_fix_dist: 0.3803, d1.loss_plan_l1_fix_time: 2.2468, d1.loss_plan_l1_fix_dist: 0.3422, d2.loss_plan_l1_fix_time: 2.2187, d2.loss_plan_l1_fix_dist: 0.3531, d3.loss_plan_l1_fix_time: 2.2255, d3.loss_plan_l1_fix_dist: 0.3761, d4.loss_plan_l1_fix_time: 2.2344, d4.loss_plan_l1_fix_dist: 0.4014, d5.loss_plan_l1_fix_time: 2.2435, d5.loss_plan_l1_fix_dist: 0.4263, d6.loss_plan_l1_fix_time: 2.2534, d6.loss_plan_l1_fix_dist: 0.4517, d0.loss_cls_all: 0.6459, d0.loss_bbox_all: 0.6828, d0.loss_cls: 0.6459, d0.loss_bbox: 0.6828, d1.loss_cls: 0.6370, d1.loss_bbox: 0.6783, d2.loss_cls: 0.6364, d2.loss_bbox: 0.6501, d3.loss_cls: 0.6410, d3.loss_bbox: 0.6463, d4.loss_cls: 0.6456, d4.loss_bbox: 0.6410, d5.loss_cls: 0.6453, d5.loss_bbox: 0.6394, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5162, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4437, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4573, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4636, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4677, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4658, d0.loss_map_cls_all: 0.3941, d0.loss_map_pts_all: 2.3492, d0.loss_map_dir_all: 0.0288, d0.loss_map_cls: 0.3941, d0.loss_map_pts: 2.3492, d0.loss_map_dir: 0.0288, d1.loss_map_cls: 0.3839, d1.loss_map_pts: 1.7181, d1.loss_map_dir: 0.0285, d2.loss_map_cls: 0.3711, d2.loss_map_pts: 1.6292, d2.loss_map_dir: 0.0285, d3.loss_map_cls: 0.3643, d3.loss_map_pts: 1.6058, d3.loss_map_dir: 0.0287, d4.loss_map_cls: 0.3597, d4.loss_map_pts: 1.6045, d4.loss_map_dir: 0.0288, d5.loss_map_cls: 0.3585, d5.loss_map_pts: 1.6041, d5.loss_map_dir: 0.0289, loss: 57.1929, grad_norm: 151.1466 +2026-02-24 14:17:29,284 - DriveTransformer - INFO - Epoch [2][14850/39528] lr: 9.958e-05, eta: 8 days, 5:45:56, time: 0.768, data_time: 0.037, memory: 19865, loss_cls: 0.6271, loss_bbox: 0.6659, loss_traj: 1.5268, loss_traj_cls: 0.0005, loss_map_cls: 0.3480, loss_map_pts: 1.6584, loss_map_dir: 0.0270, d0.loss_plan_l1_fix_time: 2.9387, d0.loss_plan_l1_fix_dist: 0.4504, d1.loss_plan_l1_fix_time: 2.6373, d1.loss_plan_l1_fix_dist: 0.3997, d2.loss_plan_l1_fix_time: 2.5874, d2.loss_plan_l1_fix_dist: 0.4029, d3.loss_plan_l1_fix_time: 2.5876, d3.loss_plan_l1_fix_dist: 0.4167, d4.loss_plan_l1_fix_time: 2.5947, d4.loss_plan_l1_fix_dist: 0.4347, d5.loss_plan_l1_fix_time: 2.6031, d5.loss_plan_l1_fix_dist: 0.4551, d6.loss_plan_l1_fix_time: 2.6116, d6.loss_plan_l1_fix_dist: 0.4825, d0.loss_cls_all: 0.6198, d0.loss_bbox_all: 0.7089, d0.loss_cls: 0.6198, d0.loss_bbox: 0.7089, d1.loss_cls: 0.6234, d1.loss_bbox: 0.7005, d2.loss_cls: 0.6193, d2.loss_bbox: 0.6764, d3.loss_cls: 0.6271, d3.loss_bbox: 0.6655, d4.loss_cls: 0.6247, d4.loss_bbox: 0.6643, d5.loss_cls: 0.6256, d5.loss_bbox: 0.6647, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5698, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5092, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5105, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5125, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5157, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5270, d0.loss_map_cls_all: 0.3958, d0.loss_map_pts_all: 2.2911, d0.loss_map_dir_all: 0.0268, d0.loss_map_cls: 0.3958, d0.loss_map_pts: 2.2911, d0.loss_map_dir: 0.0268, d1.loss_map_cls: 0.3751, d1.loss_map_pts: 1.7280, d1.loss_map_dir: 0.0266, d2.loss_map_cls: 0.3630, d2.loss_map_pts: 1.6662, d2.loss_map_dir: 0.0266, d3.loss_map_cls: 0.3534, d3.loss_map_pts: 1.6641, d3.loss_map_dir: 0.0267, d4.loss_map_cls: 0.3503, d4.loss_map_pts: 1.6609, d4.loss_map_dir: 0.0268, d5.loss_map_cls: 0.3476, d5.loss_map_pts: 1.6562, d5.loss_map_dir: 0.0268, loss: 60.4792, grad_norm: 147.0640 +2026-02-24 14:18:08,564 - DriveTransformer - INFO - Epoch [2][14900/39528] lr: 9.958e-05, eta: 8 days, 5:45:08, time: 0.786, data_time: 0.036, memory: 19865, loss_cls: 0.6116, loss_bbox: 0.6461, loss_traj: 1.7579, loss_traj_cls: 0.0004, loss_map_cls: 0.3494, loss_map_pts: 1.5368, loss_map_dir: 0.0279, d0.loss_plan_l1_fix_time: 2.5907, d0.loss_plan_l1_fix_dist: 0.4038, d1.loss_plan_l1_fix_time: 2.0895, d1.loss_plan_l1_fix_dist: 0.3827, d2.loss_plan_l1_fix_time: 2.0344, d2.loss_plan_l1_fix_dist: 0.4013, d3.loss_plan_l1_fix_time: 2.0377, d3.loss_plan_l1_fix_dist: 0.4271, d4.loss_plan_l1_fix_time: 2.0468, d4.loss_plan_l1_fix_dist: 0.4594, d5.loss_plan_l1_fix_time: 2.0562, d5.loss_plan_l1_fix_dist: 0.4944, d6.loss_plan_l1_fix_time: 2.0651, d6.loss_plan_l1_fix_dist: 0.5322, d0.loss_cls_all: 0.5977, d0.loss_bbox_all: 0.6775, d0.loss_cls: 0.5977, d0.loss_bbox: 0.6775, d1.loss_cls: 0.5911, d1.loss_bbox: 0.6770, d2.loss_cls: 0.5976, d2.loss_bbox: 0.6565, d3.loss_cls: 0.5980, d3.loss_bbox: 0.6445, d4.loss_cls: 0.6010, d4.loss_bbox: 0.6444, d5.loss_cls: 0.6057, d5.loss_bbox: 0.6455, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.9083, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.7921, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.7599, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7537, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7497, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7542, d0.loss_map_cls_all: 0.3773, d0.loss_map_pts_all: 2.2624, d0.loss_map_dir_all: 0.0273, d0.loss_map_cls: 0.3773, d0.loss_map_pts: 2.2624, d0.loss_map_dir: 0.0273, d1.loss_map_cls: 0.3631, d1.loss_map_pts: 1.6237, d1.loss_map_dir: 0.0274, d2.loss_map_cls: 0.3526, d2.loss_map_pts: 1.5438, d2.loss_map_dir: 0.0273, d3.loss_map_cls: 0.3494, d3.loss_map_pts: 1.5350, d3.loss_map_dir: 0.0276, d4.loss_map_cls: 0.3465, d4.loss_map_pts: 1.5311, d4.loss_map_dir: 0.0276, d5.loss_map_cls: 0.3482, d5.loss_map_pts: 1.5339, d5.loss_map_dir: 0.0277, loss: 57.4840, grad_norm: 148.6947 +2026-02-24 14:18:48,129 - DriveTransformer - INFO - Epoch [2][14950/39528] lr: 9.958e-05, eta: 8 days, 5:44:24, time: 0.791, data_time: 0.037, memory: 19865, loss_cls: 0.6696, loss_bbox: 0.6932, loss_traj: 1.3204, loss_traj_cls: 0.0004, loss_map_cls: 0.4115, loss_map_pts: 1.9352, loss_map_dir: 0.0345, d0.loss_plan_l1_fix_time: 2.9019, d0.loss_plan_l1_fix_dist: 0.4548, d1.loss_plan_l1_fix_time: 2.4835, d1.loss_plan_l1_fix_dist: 0.4356, d2.loss_plan_l1_fix_time: 2.4282, d2.loss_plan_l1_fix_dist: 0.4447, d3.loss_plan_l1_fix_time: 2.4223, d3.loss_plan_l1_fix_dist: 0.4607, d4.loss_plan_l1_fix_time: 2.4283, d4.loss_plan_l1_fix_dist: 0.4786, d5.loss_plan_l1_fix_time: 2.4366, d5.loss_plan_l1_fix_dist: 0.5002, d6.loss_plan_l1_fix_time: 2.4472, d6.loss_plan_l1_fix_dist: 0.5233, d0.loss_cls_all: 0.6646, d0.loss_bbox_all: 0.7231, d0.loss_cls: 0.6646, d0.loss_bbox: 0.7231, d1.loss_cls: 0.6533, d1.loss_bbox: 0.7290, d2.loss_cls: 0.6569, d2.loss_bbox: 0.7092, d3.loss_cls: 0.6575, d3.loss_bbox: 0.6979, d4.loss_cls: 0.6649, d4.loss_bbox: 0.6886, d5.loss_cls: 0.6660, d5.loss_bbox: 0.6912, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4210, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3342, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3225, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3193, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3211, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.3155, d0.loss_map_cls_all: 0.4472, d0.loss_map_pts_all: 2.7037, d0.loss_map_dir_all: 0.0338, d0.loss_map_cls: 0.4472, d0.loss_map_pts: 2.7037, d0.loss_map_dir: 0.0338, d1.loss_map_cls: 0.4331, d1.loss_map_pts: 2.0184, d1.loss_map_dir: 0.0335, d2.loss_map_cls: 0.4194, d2.loss_map_pts: 1.9277, d2.loss_map_dir: 0.0337, d3.loss_map_cls: 0.4169, d3.loss_map_pts: 1.9040, d3.loss_map_dir: 0.0340, d4.loss_map_cls: 0.4137, d4.loss_map_pts: 1.9106, d4.loss_map_dir: 0.0341, d5.loss_map_cls: 0.4114, d5.loss_map_pts: 1.9202, d5.loss_map_dir: 0.0342, loss: 61.8530, grad_norm: 148.8209 +2026-02-24 14:19:28,028 - DriveTransformer - INFO - Epoch [2][15000/39528] lr: 9.958e-05, eta: 8 days, 5:43:47, time: 0.799, data_time: 0.043, memory: 19865, loss_cls: 0.5804, loss_bbox: 0.6386, loss_traj: 1.5937, loss_traj_cls: 0.0004, loss_map_cls: 0.3375, loss_map_pts: 1.6693, loss_map_dir: 0.0251, d0.loss_plan_l1_fix_time: 2.5856, d0.loss_plan_l1_fix_dist: 0.4804, d1.loss_plan_l1_fix_time: 2.3260, d1.loss_plan_l1_fix_dist: 0.4169, d2.loss_plan_l1_fix_time: 2.3141, d2.loss_plan_l1_fix_dist: 0.4274, d3.loss_plan_l1_fix_time: 2.3280, d3.loss_plan_l1_fix_dist: 0.4493, d4.loss_plan_l1_fix_time: 2.3416, d4.loss_plan_l1_fix_dist: 0.4742, d5.loss_plan_l1_fix_time: 2.3532, d5.loss_plan_l1_fix_dist: 0.5020, d6.loss_plan_l1_fix_time: 2.3654, d6.loss_plan_l1_fix_dist: 0.5341, d0.loss_cls_all: 0.5783, d0.loss_bbox_all: 0.6693, d0.loss_cls: 0.5783, d0.loss_bbox: 0.6693, d1.loss_cls: 0.5702, d1.loss_bbox: 0.6679, d2.loss_cls: 0.5714, d2.loss_bbox: 0.6566, d3.loss_cls: 0.5737, d3.loss_bbox: 0.6487, d4.loss_cls: 0.5732, d4.loss_bbox: 0.6360, d5.loss_cls: 0.5765, d5.loss_bbox: 0.6386, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7186, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6295, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6049, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.5982, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5941, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5881, d0.loss_map_cls_all: 0.3729, d0.loss_map_pts_all: 2.2634, d0.loss_map_dir_all: 0.0254, d0.loss_map_cls: 0.3729, d0.loss_map_pts: 2.2634, d0.loss_map_dir: 0.0254, d1.loss_map_cls: 0.3573, d1.loss_map_pts: 1.6983, d1.loss_map_dir: 0.0248, d2.loss_map_cls: 0.3465, d2.loss_map_pts: 1.6358, d2.loss_map_dir: 0.0248, d3.loss_map_cls: 0.3390, d3.loss_map_pts: 1.6207, d3.loss_map_dir: 0.0249, d4.loss_map_cls: 0.3367, d4.loss_map_pts: 1.6278, d4.loss_map_dir: 0.0250, d5.loss_map_cls: 0.3378, d5.loss_map_pts: 1.6490, d5.loss_map_dir: 0.0250, loss: 58.4857, grad_norm: 150.6351 +2026-02-24 14:20:06,444 - DriveTransformer - INFO - Epoch [2][15050/39528] lr: 9.958e-05, eta: 8 days, 5:42:43, time: 0.767, data_time: 0.038, memory: 19865, loss_cls: 0.6159, loss_bbox: 0.6434, loss_traj: 1.5536, loss_traj_cls: 0.0005, loss_map_cls: 0.3639, loss_map_pts: 1.6829, loss_map_dir: 0.0284, d0.loss_plan_l1_fix_time: 2.8597, d0.loss_plan_l1_fix_dist: 0.4417, d1.loss_plan_l1_fix_time: 2.6697, d1.loss_plan_l1_fix_dist: 0.4089, d2.loss_plan_l1_fix_time: 2.6634, d2.loss_plan_l1_fix_dist: 0.4244, d3.loss_plan_l1_fix_time: 2.6675, d3.loss_plan_l1_fix_dist: 0.4477, d4.loss_plan_l1_fix_time: 2.6745, d4.loss_plan_l1_fix_dist: 0.4768, d5.loss_plan_l1_fix_time: 2.6817, d5.loss_plan_l1_fix_dist: 0.5074, d6.loss_plan_l1_fix_time: 2.6895, d6.loss_plan_l1_fix_dist: 0.5399, d0.loss_cls_all: 0.6117, d0.loss_bbox_all: 0.6672, d0.loss_cls: 0.6117, d0.loss_bbox: 0.6672, d1.loss_cls: 0.6093, d1.loss_bbox: 0.6697, d2.loss_cls: 0.6111, d2.loss_bbox: 0.6608, d3.loss_cls: 0.6103, d3.loss_bbox: 0.6535, d4.loss_cls: 0.6138, d4.loss_bbox: 0.6433, d5.loss_cls: 0.6133, d5.loss_bbox: 0.6425, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5804, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5061, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5163, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5247, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5302, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5453, d0.loss_map_cls_all: 0.3949, d0.loss_map_pts_all: 2.4224, d0.loss_map_dir_all: 0.0278, d0.loss_map_cls: 0.3949, d0.loss_map_pts: 2.4224, d0.loss_map_dir: 0.0278, d1.loss_map_cls: 0.3771, d1.loss_map_pts: 1.8156, d1.loss_map_dir: 0.0278, d2.loss_map_cls: 0.3658, d2.loss_map_pts: 1.7214, d2.loss_map_dir: 0.0280, d3.loss_map_cls: 0.3632, d3.loss_map_pts: 1.6908, d3.loss_map_dir: 0.0282, d4.loss_map_cls: 0.3634, d4.loss_map_pts: 1.6805, d4.loss_map_dir: 0.0283, d5.loss_map_cls: 0.3615, d5.loss_map_pts: 1.6765, d5.loss_map_dir: 0.0282, loss: 61.3802, grad_norm: 149.8279 +2026-02-24 14:20:45,192 - DriveTransformer - INFO - Epoch [2][15100/39528] lr: 9.958e-05, eta: 8 days, 5:41:46, time: 0.775, data_time: 0.043, memory: 19865, loss_cls: 0.6194, loss_bbox: 0.6943, loss_traj: 1.6216, loss_traj_cls: 0.0005, loss_map_cls: 0.3722, loss_map_pts: 1.6550, loss_map_dir: 0.0257, d0.loss_plan_l1_fix_time: 2.6401, d0.loss_plan_l1_fix_dist: 0.4373, d1.loss_plan_l1_fix_time: 2.3883, d1.loss_plan_l1_fix_dist: 0.4023, d2.loss_plan_l1_fix_time: 2.3370, d2.loss_plan_l1_fix_dist: 0.4220, d3.loss_plan_l1_fix_time: 2.3326, d3.loss_plan_l1_fix_dist: 0.4459, d4.loss_plan_l1_fix_time: 2.3370, d4.loss_plan_l1_fix_dist: 0.4726, d5.loss_plan_l1_fix_time: 2.3431, d5.loss_plan_l1_fix_dist: 0.5046, d6.loss_plan_l1_fix_time: 2.3509, d6.loss_plan_l1_fix_dist: 0.5395, d0.loss_cls_all: 0.6292, d0.loss_bbox_all: 0.7231, d0.loss_cls: 0.6292, d0.loss_bbox: 0.7231, d1.loss_cls: 0.6184, d1.loss_bbox: 0.7200, d2.loss_cls: 0.6149, d2.loss_bbox: 0.7106, d3.loss_cls: 0.6119, d3.loss_bbox: 0.7070, d4.loss_cls: 0.6189, d4.loss_bbox: 0.6942, d5.loss_cls: 0.6211, d5.loss_bbox: 0.6929, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6836, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5900, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.6024, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6118, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6030, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6119, d0.loss_map_cls_all: 0.3991, d0.loss_map_pts_all: 2.2880, d0.loss_map_dir_all: 0.0256, d0.loss_map_cls: 0.3991, d0.loss_map_pts: 2.2880, d0.loss_map_dir: 0.0256, d1.loss_map_cls: 0.3837, d1.loss_map_pts: 1.7714, d1.loss_map_dir: 0.0253, d2.loss_map_cls: 0.3737, d2.loss_map_pts: 1.6842, d2.loss_map_dir: 0.0254, d3.loss_map_cls: 0.3688, d3.loss_map_pts: 1.6562, d3.loss_map_dir: 0.0255, d4.loss_map_cls: 0.3671, d4.loss_map_pts: 1.6484, d4.loss_map_dir: 0.0256, d5.loss_map_cls: 0.3690, d5.loss_map_pts: 1.6462, d5.loss_map_dir: 0.0255, loss: 59.7841, grad_norm: 148.7292 +2026-02-24 14:21:24,345 - DriveTransformer - INFO - Epoch [2][15150/39528] lr: 9.958e-05, eta: 8 days, 5:40:55, time: 0.783, data_time: 0.039, memory: 19865, loss_cls: 0.6363, loss_bbox: 0.6781, loss_traj: 1.6398, loss_traj_cls: 0.0004, loss_map_cls: 0.3894, loss_map_pts: 1.8360, loss_map_dir: 0.0320, d0.loss_plan_l1_fix_time: 2.6829, d0.loss_plan_l1_fix_dist: 0.4412, d1.loss_plan_l1_fix_time: 2.4078, d1.loss_plan_l1_fix_dist: 0.4100, d2.loss_plan_l1_fix_time: 2.3363, d2.loss_plan_l1_fix_dist: 0.4245, d3.loss_plan_l1_fix_time: 2.3313, d3.loss_plan_l1_fix_dist: 0.4477, d4.loss_plan_l1_fix_time: 2.3375, d4.loss_plan_l1_fix_dist: 0.4718, d5.loss_plan_l1_fix_time: 2.3474, d5.loss_plan_l1_fix_dist: 0.5018, d6.loss_plan_l1_fix_time: 2.3598, d6.loss_plan_l1_fix_dist: 0.5368, d0.loss_cls_all: 0.6313, d0.loss_bbox_all: 0.7209, d0.loss_cls: 0.6313, d0.loss_bbox: 0.7209, d1.loss_cls: 0.6259, d1.loss_bbox: 0.6971, d2.loss_cls: 0.6258, d2.loss_bbox: 0.6904, d3.loss_cls: 0.6287, d3.loss_bbox: 0.6833, d4.loss_cls: 0.6340, d4.loss_bbox: 0.6759, d5.loss_cls: 0.6362, d5.loss_bbox: 0.6744, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7706, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6496, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.6266, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6294, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6266, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6358, d0.loss_map_cls_all: 0.4262, d0.loss_map_pts_all: 2.6120, d0.loss_map_dir_all: 0.0316, d0.loss_map_cls: 0.4262, d0.loss_map_pts: 2.6120, d0.loss_map_dir: 0.0316, d1.loss_map_cls: 0.4111, d1.loss_map_pts: 1.9728, d1.loss_map_dir: 0.0315, d2.loss_map_cls: 0.3991, d2.loss_map_pts: 1.8738, d2.loss_map_dir: 0.0314, d3.loss_map_cls: 0.3938, d3.loss_map_pts: 1.8447, d3.loss_map_dir: 0.0317, d4.loss_map_cls: 0.3899, d4.loss_map_pts: 1.8352, d4.loss_map_dir: 0.0318, d5.loss_map_cls: 0.3892, d5.loss_map_pts: 1.8336, d5.loss_map_dir: 0.0318, loss: 62.1084, grad_norm: 147.6754 +2026-02-24 14:22:02,771 - DriveTransformer - INFO - Epoch [2][15200/39528] lr: 9.958e-05, eta: 8 days, 5:39:53, time: 0.769, data_time: 0.042, memory: 19865, loss_cls: 0.5750, loss_bbox: 0.6441, loss_traj: 1.3519, loss_traj_cls: 0.0004, loss_map_cls: 0.3537, loss_map_pts: 1.5895, loss_map_dir: 0.0291, d0.loss_plan_l1_fix_time: 2.1591, d0.loss_plan_l1_fix_dist: 0.4392, d1.loss_plan_l1_fix_time: 1.8874, d1.loss_plan_l1_fix_dist: 0.3908, d2.loss_plan_l1_fix_time: 1.8360, d2.loss_plan_l1_fix_dist: 0.3932, d3.loss_plan_l1_fix_time: 1.8344, d3.loss_plan_l1_fix_dist: 0.4091, d4.loss_plan_l1_fix_time: 1.8404, d4.loss_plan_l1_fix_dist: 0.4285, d5.loss_plan_l1_fix_time: 1.8473, d5.loss_plan_l1_fix_dist: 0.4485, d6.loss_plan_l1_fix_time: 1.8568, d6.loss_plan_l1_fix_dist: 0.4707, d0.loss_cls_all: 0.5784, d0.loss_bbox_all: 0.6867, d0.loss_cls: 0.5784, d0.loss_bbox: 0.6867, d1.loss_cls: 0.5731, d1.loss_bbox: 0.6644, d2.loss_cls: 0.5695, d2.loss_bbox: 0.6476, d3.loss_cls: 0.5695, d3.loss_bbox: 0.6382, d4.loss_cls: 0.5706, d4.loss_bbox: 0.6336, d5.loss_cls: 0.5733, d5.loss_bbox: 0.6363, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3951, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3222, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3305, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3311, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3319, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3319, d0.loss_map_cls_all: 0.4000, d0.loss_map_pts_all: 2.2932, d0.loss_map_dir_all: 0.0288, d0.loss_map_cls: 0.4000, d0.loss_map_pts: 2.2932, d0.loss_map_dir: 0.0288, d1.loss_map_cls: 0.3800, d1.loss_map_pts: 1.7086, d1.loss_map_dir: 0.0283, d2.loss_map_cls: 0.3592, d2.loss_map_pts: 1.6264, d2.loss_map_dir: 0.0285, d3.loss_map_cls: 0.3535, d3.loss_map_pts: 1.5978, d3.loss_map_dir: 0.0287, d4.loss_map_cls: 0.3538, d4.loss_map_pts: 1.5873, d4.loss_map_dir: 0.0289, d5.loss_map_cls: 0.3520, d5.loss_map_pts: 1.5892, d5.loss_map_dir: 0.0290, loss: 52.9334, grad_norm: 145.9947 +2026-02-24 14:22:42,657 - DriveTransformer - INFO - Epoch [2][15250/39528] lr: 9.958e-05, eta: 8 days, 5:39:15, time: 0.798, data_time: 0.036, memory: 19865, loss_cls: 0.5987, loss_bbox: 0.6868, loss_traj: 1.7398, loss_traj_cls: 0.0005, loss_map_cls: 0.3925, loss_map_pts: 1.8579, loss_map_dir: 0.0322, d0.loss_plan_l1_fix_time: 2.9182, d0.loss_plan_l1_fix_dist: 0.4617, d1.loss_plan_l1_fix_time: 2.5912, d1.loss_plan_l1_fix_dist: 0.4004, d2.loss_plan_l1_fix_time: 2.5243, d2.loss_plan_l1_fix_dist: 0.4071, d3.loss_plan_l1_fix_time: 2.5143, d3.loss_plan_l1_fix_dist: 0.4214, d4.loss_plan_l1_fix_time: 2.5172, d4.loss_plan_l1_fix_dist: 0.4347, d5.loss_plan_l1_fix_time: 2.5226, d5.loss_plan_l1_fix_dist: 0.4501, d6.loss_plan_l1_fix_time: 2.5298, d6.loss_plan_l1_fix_dist: 0.4662, d0.loss_cls_all: 0.6104, d0.loss_bbox_all: 0.7315, d0.loss_cls: 0.6104, d0.loss_bbox: 0.7315, d1.loss_cls: 0.5948, d1.loss_bbox: 0.7130, d2.loss_cls: 0.5904, d2.loss_bbox: 0.6977, d3.loss_cls: 0.5889, d3.loss_bbox: 0.6900, d4.loss_cls: 0.5899, d4.loss_bbox: 0.6863, d5.loss_cls: 0.5943, d5.loss_bbox: 0.6834, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.8062, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.7123, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.7144, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7251, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.7331, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7381, d0.loss_map_cls_all: 0.4252, d0.loss_map_pts_all: 2.6147, d0.loss_map_dir_all: 0.0319, d0.loss_map_cls: 0.4252, d0.loss_map_pts: 2.6147, d0.loss_map_dir: 0.0319, d1.loss_map_cls: 0.4041, d1.loss_map_pts: 1.9323, d1.loss_map_dir: 0.0315, d2.loss_map_cls: 0.3926, d2.loss_map_pts: 1.8451, d2.loss_map_dir: 0.0316, d3.loss_map_cls: 0.3907, d3.loss_map_pts: 1.8286, d3.loss_map_dir: 0.0318, d4.loss_map_cls: 0.3923, d4.loss_map_pts: 1.8301, d4.loss_map_dir: 0.0319, d5.loss_map_cls: 0.3932, d5.loss_map_pts: 1.8446, d5.loss_map_dir: 0.0321, loss: 63.5691, grad_norm: 146.0228 +2026-02-24 14:23:22,163 - DriveTransformer - INFO - Epoch [2][15300/39528] lr: 9.958e-05, eta: 8 days, 5:38:30, time: 0.790, data_time: 0.039, memory: 19865, loss_cls: 0.6069, loss_bbox: 0.6947, loss_traj: 1.4093, loss_traj_cls: 0.0005, loss_map_cls: 0.3521, loss_map_pts: 1.7688, loss_map_dir: 0.0305, d0.loss_plan_l1_fix_time: 2.8425, d0.loss_plan_l1_fix_dist: 0.5203, d1.loss_plan_l1_fix_time: 2.6387, d1.loss_plan_l1_fix_dist: 0.4530, d2.loss_plan_l1_fix_time: 2.5802, d2.loss_plan_l1_fix_dist: 0.4481, d3.loss_plan_l1_fix_time: 2.5681, d3.loss_plan_l1_fix_dist: 0.4622, d4.loss_plan_l1_fix_time: 2.5701, d4.loss_plan_l1_fix_dist: 0.4810, d5.loss_plan_l1_fix_time: 2.5757, d5.loss_plan_l1_fix_dist: 0.5005, d6.loss_plan_l1_fix_time: 2.5826, d6.loss_plan_l1_fix_dist: 0.5214, d0.loss_cls_all: 0.6113, d0.loss_bbox_all: 0.7441, d0.loss_cls: 0.6113, d0.loss_bbox: 0.7441, d1.loss_cls: 0.6027, d1.loss_bbox: 0.7265, d2.loss_cls: 0.6016, d2.loss_bbox: 0.7070, d3.loss_cls: 0.6011, d3.loss_bbox: 0.7000, d4.loss_cls: 0.6011, d4.loss_bbox: 0.6977, d5.loss_cls: 0.6052, d5.loss_bbox: 0.6943, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4580, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3955, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3958, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3945, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3974, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4001, d0.loss_map_cls_all: 0.3894, d0.loss_map_pts_all: 2.5662, d0.loss_map_dir_all: 0.0303, d0.loss_map_cls: 0.3894, d0.loss_map_pts: 2.5662, d0.loss_map_dir: 0.0303, d1.loss_map_cls: 0.3745, d1.loss_map_pts: 1.8799, d1.loss_map_dir: 0.0298, d2.loss_map_cls: 0.3615, d2.loss_map_pts: 1.7919, d2.loss_map_dir: 0.0299, d3.loss_map_cls: 0.3584, d3.loss_map_pts: 1.7693, d3.loss_map_dir: 0.0301, d4.loss_map_cls: 0.3527, d4.loss_map_pts: 1.7658, d4.loss_map_dir: 0.0302, d5.loss_map_cls: 0.3507, d5.loss_map_pts: 1.7635, d5.loss_map_dir: 0.0303, loss: 61.1912, grad_norm: 145.6187 +2026-02-24 14:24:00,993 - DriveTransformer - INFO - Epoch [2][15350/39528] lr: 9.958e-05, eta: 8 days, 5:37:34, time: 0.777, data_time: 0.039, memory: 19865, loss_cls: 0.6263, loss_bbox: 0.6724, loss_traj: 1.5762, loss_traj_cls: 0.0005, loss_map_cls: 0.3761, loss_map_pts: 1.7651, loss_map_dir: 0.0304, d0.loss_plan_l1_fix_time: 2.9505, d0.loss_plan_l1_fix_dist: 0.4330, d1.loss_plan_l1_fix_time: 2.5047, d1.loss_plan_l1_fix_dist: 0.3854, d2.loss_plan_l1_fix_time: 2.4333, d2.loss_plan_l1_fix_dist: 0.3913, d3.loss_plan_l1_fix_time: 2.4275, d3.loss_plan_l1_fix_dist: 0.4061, d4.loss_plan_l1_fix_time: 2.4327, d4.loss_plan_l1_fix_dist: 0.4256, d5.loss_plan_l1_fix_time: 2.4403, d5.loss_plan_l1_fix_dist: 0.4457, d6.loss_plan_l1_fix_time: 2.4491, d6.loss_plan_l1_fix_dist: 0.4688, d0.loss_cls_all: 0.6372, d0.loss_bbox_all: 0.7180, d0.loss_cls: 0.6372, d0.loss_bbox: 0.7180, d1.loss_cls: 0.6355, d1.loss_bbox: 0.7088, d2.loss_cls: 0.6317, d2.loss_bbox: 0.6872, d3.loss_cls: 0.6293, d3.loss_bbox: 0.6771, d4.loss_cls: 0.6291, d4.loss_bbox: 0.6747, d5.loss_cls: 0.6271, d5.loss_bbox: 0.6732, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5962, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5279, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5492, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5534, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5614, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5680, d0.loss_map_cls_all: 0.4099, d0.loss_map_pts_all: 2.5056, d0.loss_map_dir_all: 0.0299, d0.loss_map_cls: 0.4099, d0.loss_map_pts: 2.5056, d0.loss_map_dir: 0.0299, d1.loss_map_cls: 0.3898, d1.loss_map_pts: 1.8934, d1.loss_map_dir: 0.0296, d2.loss_map_cls: 0.3820, d2.loss_map_pts: 1.7987, d2.loss_map_dir: 0.0298, d3.loss_map_cls: 0.3795, d3.loss_map_pts: 1.7746, d3.loss_map_dir: 0.0300, d4.loss_map_cls: 0.3752, d4.loss_map_pts: 1.7686, d4.loss_map_dir: 0.0300, d5.loss_map_cls: 0.3750, d5.loss_map_pts: 1.7640, d5.loss_map_dir: 0.0302, loss: 61.2265, grad_norm: 144.0931 +2026-02-24 14:24:41,109 - DriveTransformer - INFO - Epoch [2][15400/39528] lr: 9.958e-05, eta: 8 days, 5:37:00, time: 0.802, data_time: 0.039, memory: 19865, loss_cls: 0.6666, loss_bbox: 0.7193, loss_traj: 1.5691, loss_traj_cls: 0.0004, loss_map_cls: 0.4265, loss_map_pts: 2.0549, loss_map_dir: 0.0363, d0.loss_plan_l1_fix_time: 2.9163, d0.loss_plan_l1_fix_dist: 0.4630, d1.loss_plan_l1_fix_time: 2.4657, d1.loss_plan_l1_fix_dist: 0.4039, d2.loss_plan_l1_fix_time: 2.4547, d2.loss_plan_l1_fix_dist: 0.4163, d3.loss_plan_l1_fix_time: 2.4749, d3.loss_plan_l1_fix_dist: 0.4395, d4.loss_plan_l1_fix_time: 2.4898, d4.loss_plan_l1_fix_dist: 0.4671, d5.loss_plan_l1_fix_time: 2.5032, d5.loss_plan_l1_fix_dist: 0.4982, d6.loss_plan_l1_fix_time: 2.5164, d6.loss_plan_l1_fix_dist: 0.5308, d0.loss_cls_all: 0.6872, d0.loss_bbox_all: 0.7574, d0.loss_cls: 0.6872, d0.loss_bbox: 0.7574, d1.loss_cls: 0.6703, d1.loss_bbox: 0.7616, d2.loss_cls: 0.6701, d2.loss_bbox: 0.7414, d3.loss_cls: 0.6650, d3.loss_bbox: 0.7289, d4.loss_cls: 0.6663, d4.loss_bbox: 0.7202, d5.loss_cls: 0.6657, d5.loss_bbox: 0.7188, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5628, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5068, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5233, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5364, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5447, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5615, d0.loss_map_cls_all: 0.4636, d0.loss_map_pts_all: 2.7647, d0.loss_map_dir_all: 0.0357, d0.loss_map_cls: 0.4636, d0.loss_map_pts: 2.7647, d0.loss_map_dir: 0.0357, d1.loss_map_cls: 0.4428, d1.loss_map_pts: 2.1757, d1.loss_map_dir: 0.0355, d2.loss_map_cls: 0.4314, d2.loss_map_pts: 2.0894, d2.loss_map_dir: 0.0356, d3.loss_map_cls: 0.4290, d3.loss_map_pts: 2.0639, d3.loss_map_dir: 0.0359, d4.loss_map_cls: 0.4267, d4.loss_map_pts: 2.0566, d4.loss_map_dir: 0.0360, d5.loss_map_cls: 0.4267, d5.loss_map_pts: 2.0576, d5.loss_map_dir: 0.0361, loss: 64.9566, grad_norm: 144.1816 +2026-02-24 14:25:21,540 - DriveTransformer - INFO - Epoch [2][15450/39528] lr: 9.958e-05, eta: 8 days, 5:36:30, time: 0.809, data_time: 0.041, memory: 19865, loss_cls: 0.6398, loss_bbox: 0.7197, loss_traj: 1.6450, loss_traj_cls: 0.0005, loss_map_cls: 0.3929, loss_map_pts: 1.9331, loss_map_dir: 0.0310, d0.loss_plan_l1_fix_time: 3.3263, d0.loss_plan_l1_fix_dist: 0.4501, d1.loss_plan_l1_fix_time: 2.7876, d1.loss_plan_l1_fix_dist: 0.4075, d2.loss_plan_l1_fix_time: 2.7551, d2.loss_plan_l1_fix_dist: 0.4239, d3.loss_plan_l1_fix_time: 2.7748, d3.loss_plan_l1_fix_dist: 0.4506, d4.loss_plan_l1_fix_time: 2.7918, d4.loss_plan_l1_fix_dist: 0.4787, d5.loss_plan_l1_fix_time: 2.8077, d5.loss_plan_l1_fix_dist: 0.5098, d6.loss_plan_l1_fix_time: 2.8233, d6.loss_plan_l1_fix_dist: 0.5368, d0.loss_cls_all: 0.6498, d0.loss_bbox_all: 0.7416, d0.loss_cls: 0.6498, d0.loss_bbox: 0.7416, d1.loss_cls: 0.6476, d1.loss_bbox: 0.7478, d2.loss_cls: 0.6475, d2.loss_bbox: 0.7335, d3.loss_cls: 0.6450, d3.loss_bbox: 0.7261, d4.loss_cls: 0.6461, d4.loss_bbox: 0.7183, d5.loss_cls: 0.6427, d5.loss_bbox: 0.7167, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6350, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.5779, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5989, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6033, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6190, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6388, d0.loss_map_cls_all: 0.4287, d0.loss_map_pts_all: 2.6829, d0.loss_map_dir_all: 0.0306, d0.loss_map_cls: 0.4287, d0.loss_map_pts: 2.6829, d0.loss_map_dir: 0.0306, d1.loss_map_cls: 0.4139, d1.loss_map_pts: 2.0888, d1.loss_map_dir: 0.0303, d2.loss_map_cls: 0.3992, d2.loss_map_pts: 1.9841, d2.loss_map_dir: 0.0304, d3.loss_map_cls: 0.3944, d3.loss_map_pts: 1.9511, d3.loss_map_dir: 0.0307, d4.loss_map_cls: 0.3938, d4.loss_map_pts: 1.9340, d4.loss_map_dir: 0.0307, d5.loss_map_cls: 0.3939, d5.loss_map_pts: 1.9344, d5.loss_map_dir: 0.0308, loss: 66.3417, grad_norm: 149.2587 +2026-02-24 14:26:02,161 - DriveTransformer - INFO - Epoch [2][15500/39528] lr: 9.958e-05, eta: 8 days, 5:36:04, time: 0.812, data_time: 0.036, memory: 19865, loss_cls: 0.5785, loss_bbox: 0.6363, loss_traj: 1.4711, loss_traj_cls: 0.0005, loss_map_cls: 0.3824, loss_map_pts: 1.6947, loss_map_dir: 0.0366, d0.loss_plan_l1_fix_time: 2.6959, d0.loss_plan_l1_fix_dist: 0.4080, d1.loss_plan_l1_fix_time: 2.2802, d1.loss_plan_l1_fix_dist: 0.4016, d2.loss_plan_l1_fix_time: 2.2387, d2.loss_plan_l1_fix_dist: 0.4219, d3.loss_plan_l1_fix_time: 2.2546, d3.loss_plan_l1_fix_dist: 0.4420, d4.loss_plan_l1_fix_time: 2.2706, d4.loss_plan_l1_fix_dist: 0.4643, d5.loss_plan_l1_fix_time: 2.2865, d5.loss_plan_l1_fix_dist: 0.4867, d6.loss_plan_l1_fix_time: 2.3048, d6.loss_plan_l1_fix_dist: 0.5107, d0.loss_cls_all: 0.5849, d0.loss_bbox_all: 0.6645, d0.loss_cls: 0.5849, d0.loss_bbox: 0.6645, d1.loss_cls: 0.5917, d1.loss_bbox: 0.6513, d2.loss_cls: 0.5841, d2.loss_bbox: 0.6419, d3.loss_cls: 0.5832, d3.loss_bbox: 0.6347, d4.loss_cls: 0.5844, d4.loss_bbox: 0.6277, d5.loss_cls: 0.5786, d5.loss_bbox: 0.6304, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5635, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4576, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4485, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4514, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4562, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4572, d0.loss_map_cls_all: 0.3991, d0.loss_map_pts_all: 2.6339, d0.loss_map_dir_all: 0.0352, d0.loss_map_cls: 0.3991, d0.loss_map_pts: 2.6339, d0.loss_map_dir: 0.0352, d1.loss_map_cls: 0.3909, d1.loss_map_pts: 1.8613, d1.loss_map_dir: 0.0353, d2.loss_map_cls: 0.3823, d2.loss_map_pts: 1.7411, d2.loss_map_dir: 0.0357, d3.loss_map_cls: 0.3811, d3.loss_map_pts: 1.7067, d3.loss_map_dir: 0.0362, d4.loss_map_cls: 0.3797, d4.loss_map_pts: 1.6966, d4.loss_map_dir: 0.0363, d5.loss_map_cls: 0.3803, d5.loss_map_pts: 1.6933, d5.loss_map_dir: 0.0363, loss: 58.6409, grad_norm: 148.9206 +2026-02-24 14:26:40,236 - DriveTransformer - INFO - Epoch [2][15550/39528] lr: 9.958e-05, eta: 8 days, 5:34:56, time: 0.761, data_time: 0.037, memory: 19865, loss_cls: 0.5965, loss_bbox: 0.6819, loss_traj: 1.4785, loss_traj_cls: 0.0005, loss_map_cls: 0.3722, loss_map_pts: 1.6408, loss_map_dir: 0.0286, d0.loss_plan_l1_fix_time: 2.5743, d0.loss_plan_l1_fix_dist: 0.4973, d1.loss_plan_l1_fix_time: 2.3583, d1.loss_plan_l1_fix_dist: 0.4566, d2.loss_plan_l1_fix_time: 2.3104, d2.loss_plan_l1_fix_dist: 0.4639, d3.loss_plan_l1_fix_time: 2.3113, d3.loss_plan_l1_fix_dist: 0.4853, d4.loss_plan_l1_fix_time: 2.3196, d4.loss_plan_l1_fix_dist: 0.5135, d5.loss_plan_l1_fix_time: 2.3292, d5.loss_plan_l1_fix_dist: 0.5460, d6.loss_plan_l1_fix_time: 2.3406, d6.loss_plan_l1_fix_dist: 0.5890, d0.loss_cls_all: 0.6036, d0.loss_bbox_all: 0.7214, d0.loss_cls: 0.6036, d0.loss_bbox: 0.7214, d1.loss_cls: 0.5983, d1.loss_bbox: 0.7008, d2.loss_cls: 0.5938, d2.loss_bbox: 0.6958, d3.loss_cls: 0.5954, d3.loss_bbox: 0.6915, d4.loss_cls: 0.5944, d4.loss_bbox: 0.6848, d5.loss_cls: 0.5941, d5.loss_bbox: 0.6820, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5125, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4508, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4375, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4517, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4710, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4747, d0.loss_map_cls_all: 0.3983, d0.loss_map_pts_all: 2.2835, d0.loss_map_dir_all: 0.0280, d0.loss_map_cls: 0.3983, d0.loss_map_pts: 2.2835, d0.loss_map_dir: 0.0280, d1.loss_map_cls: 0.3881, d1.loss_map_pts: 1.7628, d1.loss_map_dir: 0.0278, d2.loss_map_cls: 0.3735, d2.loss_map_pts: 1.6754, d2.loss_map_dir: 0.0279, d3.loss_map_cls: 0.3686, d3.loss_map_pts: 1.6475, d3.loss_map_dir: 0.0282, d4.loss_map_cls: 0.3688, d4.loss_map_pts: 1.6371, d4.loss_map_dir: 0.0283, d5.loss_map_cls: 0.3680, d5.loss_map_pts: 1.6363, d5.loss_map_dir: 0.0284, loss: 58.5638, grad_norm: 147.5925 +2026-02-24 14:27:20,530 - DriveTransformer - INFO - Epoch [2][15600/39528] lr: 9.958e-05, eta: 8 days, 5:34:24, time: 0.806, data_time: 0.037, memory: 19865, loss_cls: 0.5895, loss_bbox: 0.6764, loss_traj: 1.3277, loss_traj_cls: 0.0005, loss_map_cls: 0.3687, loss_map_pts: 1.6378, loss_map_dir: 0.0317, d0.loss_plan_l1_fix_time: 2.6169, d0.loss_plan_l1_fix_dist: 0.5053, d1.loss_plan_l1_fix_time: 2.2853, d1.loss_plan_l1_fix_dist: 0.4722, d2.loss_plan_l1_fix_time: 2.2211, d2.loss_plan_l1_fix_dist: 0.4784, d3.loss_plan_l1_fix_time: 2.2134, d3.loss_plan_l1_fix_dist: 0.4952, d4.loss_plan_l1_fix_time: 2.2183, d4.loss_plan_l1_fix_dist: 0.5139, d5.loss_plan_l1_fix_time: 2.2255, d5.loss_plan_l1_fix_dist: 0.5332, d6.loss_plan_l1_fix_time: 2.2340, d6.loss_plan_l1_fix_dist: 0.5520, d0.loss_cls_all: 0.5897, d0.loss_bbox_all: 0.7166, d0.loss_cls: 0.5897, d0.loss_bbox: 0.7166, d1.loss_cls: 0.5788, d1.loss_bbox: 0.6896, d2.loss_cls: 0.5784, d2.loss_bbox: 0.6818, d3.loss_cls: 0.5841, d3.loss_bbox: 0.6772, d4.loss_cls: 0.5843, d4.loss_bbox: 0.6733, d5.loss_cls: 0.5913, d5.loss_bbox: 0.6733, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3724, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.2932, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.2928, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.2995, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3121, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.3149, d0.loss_map_cls_all: 0.3989, d0.loss_map_pts_all: 2.3951, d0.loss_map_dir_all: 0.0313, d0.loss_map_cls: 0.3989, d0.loss_map_pts: 2.3951, d0.loss_map_dir: 0.0313, d1.loss_map_cls: 0.3877, d1.loss_map_pts: 1.7577, d1.loss_map_dir: 0.0308, d2.loss_map_cls: 0.3723, d2.loss_map_pts: 1.6734, d2.loss_map_dir: 0.0311, d3.loss_map_cls: 0.3683, d3.loss_map_pts: 1.6477, d3.loss_map_dir: 0.0314, d4.loss_map_cls: 0.3688, d4.loss_map_pts: 1.6394, d4.loss_map_dir: 0.0314, d5.loss_map_cls: 0.3675, d5.loss_map_pts: 1.6357, d5.loss_map_dir: 0.0316, loss: 57.0357, grad_norm: 148.1854 +2026-02-24 14:27:59,501 - DriveTransformer - INFO - Epoch [2][15650/39528] lr: 9.958e-05, eta: 8 days, 5:33:31, time: 0.779, data_time: 0.040, memory: 19865, loss_cls: 0.5969, loss_bbox: 0.7121, loss_traj: 1.3481, loss_traj_cls: 0.0004, loss_map_cls: 0.3767, loss_map_pts: 1.6965, loss_map_dir: 0.0313, d0.loss_plan_l1_fix_time: 3.0741, d0.loss_plan_l1_fix_dist: 0.3701, d1.loss_plan_l1_fix_time: 2.7794, d1.loss_plan_l1_fix_dist: 0.3557, d2.loss_plan_l1_fix_time: 2.7192, d2.loss_plan_l1_fix_dist: 0.3843, d3.loss_plan_l1_fix_time: 2.7078, d3.loss_plan_l1_fix_dist: 0.4144, d4.loss_plan_l1_fix_time: 2.7105, d4.loss_plan_l1_fix_dist: 0.4470, d5.loss_plan_l1_fix_time: 2.7160, d5.loss_plan_l1_fix_dist: 0.4846, d6.loss_plan_l1_fix_time: 2.7243, d6.loss_plan_l1_fix_dist: 0.5250, d0.loss_cls_all: 0.6097, d0.loss_bbox_all: 0.7494, d0.loss_cls: 0.6097, d0.loss_bbox: 0.7494, d1.loss_cls: 0.5989, d1.loss_bbox: 0.7266, d2.loss_cls: 0.5967, d2.loss_bbox: 0.7105, d3.loss_cls: 0.5976, d3.loss_bbox: 0.7065, d4.loss_cls: 0.5938, d4.loss_bbox: 0.7047, d5.loss_cls: 0.5975, d5.loss_bbox: 0.7065, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3292, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3124, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3227, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3271, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3347, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.3346, d0.loss_map_cls_all: 0.4123, d0.loss_map_pts_all: 2.4518, d0.loss_map_dir_all: 0.0307, d0.loss_map_cls: 0.4123, d0.loss_map_pts: 2.4518, d0.loss_map_dir: 0.0307, d1.loss_map_cls: 0.4033, d1.loss_map_pts: 1.8282, d1.loss_map_dir: 0.0306, d2.loss_map_cls: 0.3904, d2.loss_map_pts: 1.7347, d2.loss_map_dir: 0.0307, d3.loss_map_cls: 0.3799, d3.loss_map_pts: 1.7064, d3.loss_map_dir: 0.0310, d4.loss_map_cls: 0.3774, d4.loss_map_pts: 1.6965, d4.loss_map_dir: 0.0311, d5.loss_map_cls: 0.3769, d5.loss_map_pts: 1.6925, d5.loss_map_dir: 0.0312, loss: 60.9271, grad_norm: 147.5376 +2026-02-24 14:28:39,785 - DriveTransformer - INFO - Epoch [2][15700/39528] lr: 9.958e-05, eta: 8 days, 5:32:59, time: 0.806, data_time: 0.051, memory: 19865, loss_cls: 0.5796, loss_bbox: 0.6524, loss_traj: 1.4345, loss_traj_cls: 0.0005, loss_map_cls: 0.3682, loss_map_pts: 1.7193, loss_map_dir: 0.0328, d0.loss_plan_l1_fix_time: 2.6646, d0.loss_plan_l1_fix_dist: 0.4743, d1.loss_plan_l1_fix_time: 2.4064, d1.loss_plan_l1_fix_dist: 0.3997, d2.loss_plan_l1_fix_time: 2.3829, d2.loss_plan_l1_fix_dist: 0.4129, d3.loss_plan_l1_fix_time: 2.3866, d3.loss_plan_l1_fix_dist: 0.4504, d4.loss_plan_l1_fix_time: 2.3941, d4.loss_plan_l1_fix_dist: 0.4926, d5.loss_plan_l1_fix_time: 2.4028, d5.loss_plan_l1_fix_dist: 0.5407, d6.loss_plan_l1_fix_time: 2.4130, d6.loss_plan_l1_fix_dist: 0.5856, d0.loss_cls_all: 0.5907, d0.loss_bbox_all: 0.6984, d0.loss_cls: 0.5907, d0.loss_bbox: 0.6984, d1.loss_cls: 0.5772, d1.loss_bbox: 0.6795, d2.loss_cls: 0.5742, d2.loss_bbox: 0.6550, d3.loss_cls: 0.5756, d3.loss_bbox: 0.6497, d4.loss_cls: 0.5748, d4.loss_bbox: 0.6468, d5.loss_cls: 0.5779, d5.loss_bbox: 0.6467, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4867, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4136, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.4177, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4189, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4223, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4248, d0.loss_map_cls_all: 0.4019, d0.loss_map_pts_all: 2.6128, d0.loss_map_dir_all: 0.0318, d0.loss_map_cls: 0.4019, d0.loss_map_pts: 2.6128, d0.loss_map_dir: 0.0318, d1.loss_map_cls: 0.3857, d1.loss_map_pts: 1.8848, d1.loss_map_dir: 0.0319, d2.loss_map_cls: 0.3728, d2.loss_map_pts: 1.7648, d2.loss_map_dir: 0.0320, d3.loss_map_cls: 0.3683, d3.loss_map_pts: 1.7288, d3.loss_map_dir: 0.0324, d4.loss_map_cls: 0.3668, d4.loss_map_pts: 1.7158, d4.loss_map_dir: 0.0324, d5.loss_map_cls: 0.3674, d5.loss_map_pts: 1.7193, d5.loss_map_dir: 0.0326, loss: 59.4466, grad_norm: 150.0611 +2026-02-24 14:29:21,749 - DriveTransformer - INFO - Epoch [2][15750/39528] lr: 9.958e-05, eta: 8 days, 5:32:54, time: 0.839, data_time: 0.045, memory: 19865, loss_cls: 0.5680, loss_bbox: 0.6303, loss_traj: 1.2127, loss_traj_cls: 0.0005, loss_map_cls: 0.3491, loss_map_pts: 1.6947, loss_map_dir: 0.0334, d0.loss_plan_l1_fix_time: 2.5604, d0.loss_plan_l1_fix_dist: 0.5422, d1.loss_plan_l1_fix_time: 2.1420, d1.loss_plan_l1_fix_dist: 0.4181, d2.loss_plan_l1_fix_time: 2.0342, d2.loss_plan_l1_fix_dist: 0.4184, d3.loss_plan_l1_fix_time: 2.0136, d3.loss_plan_l1_fix_dist: 0.4468, d4.loss_plan_l1_fix_time: 2.0123, d4.loss_plan_l1_fix_dist: 0.4800, d5.loss_plan_l1_fix_time: 2.0154, d5.loss_plan_l1_fix_dist: 0.5131, d6.loss_plan_l1_fix_time: 2.0207, d6.loss_plan_l1_fix_dist: 0.5482, d0.loss_cls_all: 0.5853, d0.loss_bbox_all: 0.6685, d0.loss_cls: 0.5853, d0.loss_bbox: 0.6685, d1.loss_cls: 0.5657, d1.loss_bbox: 0.6583, d2.loss_cls: 0.5624, d2.loss_bbox: 0.6356, d3.loss_cls: 0.5634, d3.loss_bbox: 0.6286, d4.loss_cls: 0.5619, d4.loss_bbox: 0.6258, d5.loss_cls: 0.5671, d5.loss_bbox: 0.6279, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2658, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1921, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.1910, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.1901, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1963, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2034, d0.loss_map_cls_all: 0.3678, d0.loss_map_pts_all: 2.6330, d0.loss_map_dir_all: 0.0332, d0.loss_map_cls: 0.3678, d0.loss_map_pts: 2.6330, d0.loss_map_dir: 0.0332, d1.loss_map_cls: 0.3606, d1.loss_map_pts: 1.8816, d1.loss_map_dir: 0.0329, d2.loss_map_cls: 0.3491, d2.loss_map_pts: 1.7489, d2.loss_map_dir: 0.0329, d3.loss_map_cls: 0.3458, d3.loss_map_pts: 1.7098, d3.loss_map_dir: 0.0331, d4.loss_map_cls: 0.3472, d4.loss_map_pts: 1.6962, d4.loss_map_dir: 0.0332, d5.loss_map_cls: 0.3483, d5.loss_map_pts: 1.6961, d5.loss_map_dir: 0.0333, loss: 55.1186, grad_norm: 151.2642 +2026-02-24 14:29:59,942 - DriveTransformer - INFO - Epoch [2][15800/39528] lr: 9.958e-05, eta: 8 days, 5:31:49, time: 0.765, data_time: 0.039, memory: 19865, loss_cls: 0.5962, loss_bbox: 0.6730, loss_traj: 1.3924, loss_traj_cls: 0.0004, loss_map_cls: 0.3599, loss_map_pts: 1.6038, loss_map_dir: 0.0275, d0.loss_plan_l1_fix_time: 2.7774, d0.loss_plan_l1_fix_dist: 0.4155, d1.loss_plan_l1_fix_time: 2.4695, d1.loss_plan_l1_fix_dist: 0.3599, d2.loss_plan_l1_fix_time: 2.4042, d2.loss_plan_l1_fix_dist: 0.3714, d3.loss_plan_l1_fix_time: 2.3956, d3.loss_plan_l1_fix_dist: 0.3928, d4.loss_plan_l1_fix_time: 2.3974, d4.loss_plan_l1_fix_dist: 0.4205, d5.loss_plan_l1_fix_time: 2.4027, d5.loss_plan_l1_fix_dist: 0.4530, d6.loss_plan_l1_fix_time: 2.4097, d6.loss_plan_l1_fix_dist: 0.4887, d0.loss_cls_all: 0.6058, d0.loss_bbox_all: 0.7213, d0.loss_cls: 0.6058, d0.loss_bbox: 0.7213, d1.loss_cls: 0.5962, d1.loss_bbox: 0.7094, d2.loss_cls: 0.5896, d2.loss_bbox: 0.6910, d3.loss_cls: 0.5915, d3.loss_bbox: 0.6835, d4.loss_cls: 0.5924, d4.loss_bbox: 0.6761, d5.loss_cls: 0.5944, d5.loss_bbox: 0.6753, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4873, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4086, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3920, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4002, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4005, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.3965, d0.loss_map_cls_all: 0.3951, d0.loss_map_pts_all: 2.2789, d0.loss_map_dir_all: 0.0273, d0.loss_map_cls: 0.3951, d0.loss_map_pts: 2.2789, d0.loss_map_dir: 0.0273, d1.loss_map_cls: 0.3737, d1.loss_map_pts: 1.7536, d1.loss_map_dir: 0.0270, d2.loss_map_cls: 0.3633, d2.loss_map_pts: 1.6547, d2.loss_map_dir: 0.0271, d3.loss_map_cls: 0.3606, d3.loss_map_pts: 1.6233, d3.loss_map_dir: 0.0273, d4.loss_map_cls: 0.3581, d4.loss_map_pts: 1.6099, d4.loss_map_dir: 0.0273, d5.loss_map_cls: 0.3590, d5.loss_map_pts: 1.6022, d5.loss_map_dir: 0.0273, loss: 57.9515, grad_norm: 151.2758 +2026-02-24 14:30:39,177 - DriveTransformer - INFO - Epoch [2][15850/39528] lr: 9.958e-05, eta: 8 days, 5:30:59, time: 0.783, data_time: 0.046, memory: 19865, loss_cls: 0.6316, loss_bbox: 0.6730, loss_traj: 1.3727, loss_traj_cls: 0.0005, loss_map_cls: 0.4136, loss_map_pts: 1.7084, loss_map_dir: 0.0317, d0.loss_plan_l1_fix_time: 3.2071, d0.loss_plan_l1_fix_dist: 0.4582, d1.loss_plan_l1_fix_time: 2.7575, d1.loss_plan_l1_fix_dist: 0.4044, d2.loss_plan_l1_fix_time: 2.7015, d2.loss_plan_l1_fix_dist: 0.4149, d3.loss_plan_l1_fix_time: 2.6998, d3.loss_plan_l1_fix_dist: 0.4344, d4.loss_plan_l1_fix_time: 2.7055, d4.loss_plan_l1_fix_dist: 0.4568, d5.loss_plan_l1_fix_time: 2.7129, d5.loss_plan_l1_fix_dist: 0.4828, d6.loss_plan_l1_fix_time: 2.7214, d6.loss_plan_l1_fix_dist: 0.5185, d0.loss_cls_all: 0.6371, d0.loss_bbox_all: 0.7097, d0.loss_cls: 0.6371, d0.loss_bbox: 0.7097, d1.loss_cls: 0.6309, d1.loss_bbox: 0.6996, d2.loss_cls: 0.6275, d2.loss_bbox: 0.6801, d3.loss_cls: 0.6282, d3.loss_bbox: 0.6712, d4.loss_cls: 0.6255, d4.loss_bbox: 0.6701, d5.loss_cls: 0.6263, d5.loss_bbox: 0.6714, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4274, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3491, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3564, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3718, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3689, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.3699, d0.loss_map_cls_all: 0.4312, d0.loss_map_pts_all: 2.4380, d0.loss_map_dir_all: 0.0313, d0.loss_map_cls: 0.4312, d0.loss_map_pts: 2.4380, d0.loss_map_dir: 0.0313, d1.loss_map_cls: 0.4227, d1.loss_map_pts: 1.8513, d1.loss_map_dir: 0.0311, d2.loss_map_cls: 0.4201, d2.loss_map_pts: 1.7628, d2.loss_map_dir: 0.0312, d3.loss_map_cls: 0.4196, d3.loss_map_pts: 1.7319, d3.loss_map_dir: 0.0314, d4.loss_map_cls: 0.4156, d4.loss_map_pts: 1.7168, d4.loss_map_dir: 0.0315, d5.loss_map_cls: 0.4136, d5.loss_map_pts: 1.7061, d5.loss_map_dir: 0.0315, loss: 61.7971, grad_norm: 149.3715 +2026-02-24 14:31:17,701 - DriveTransformer - INFO - Epoch [2][15900/39528] lr: 9.958e-05, eta: 8 days, 5:29:59, time: 0.770, data_time: 0.042, memory: 19865, loss_cls: 0.6037, loss_bbox: 0.6757, loss_traj: 1.4871, loss_traj_cls: 0.0004, loss_map_cls: 0.4155, loss_map_pts: 1.6596, loss_map_dir: 0.0338, d0.loss_plan_l1_fix_time: 3.0632, d0.loss_plan_l1_fix_dist: 0.4443, d1.loss_plan_l1_fix_time: 2.7707, d1.loss_plan_l1_fix_dist: 0.4279, d2.loss_plan_l1_fix_time: 2.7340, d2.loss_plan_l1_fix_dist: 0.4457, d3.loss_plan_l1_fix_time: 2.7337, d3.loss_plan_l1_fix_dist: 0.4715, d4.loss_plan_l1_fix_time: 2.7413, d4.loss_plan_l1_fix_dist: 0.4968, d5.loss_plan_l1_fix_time: 2.7502, d5.loss_plan_l1_fix_dist: 0.5220, d6.loss_plan_l1_fix_time: 2.7597, d6.loss_plan_l1_fix_dist: 0.5383, d0.loss_cls_all: 0.6195, d0.loss_bbox_all: 0.7097, d0.loss_cls: 0.6195, d0.loss_bbox: 0.7097, d1.loss_cls: 0.6088, d1.loss_bbox: 0.7009, d2.loss_cls: 0.6023, d2.loss_bbox: 0.6848, d3.loss_cls: 0.6031, d3.loss_bbox: 0.6765, d4.loss_cls: 0.6024, d4.loss_bbox: 0.6740, d5.loss_cls: 0.6025, d5.loss_bbox: 0.6731, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5564, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4930, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4671, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4709, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4747, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4745, d0.loss_map_cls_all: 0.4432, d0.loss_map_pts_all: 2.3997, d0.loss_map_dir_all: 0.0331, d0.loss_map_cls: 0.4432, d0.loss_map_pts: 2.3997, d0.loss_map_dir: 0.0331, d1.loss_map_cls: 0.4334, d1.loss_map_pts: 1.8031, d1.loss_map_dir: 0.0334, d2.loss_map_cls: 0.4240, d2.loss_map_pts: 1.7037, d2.loss_map_dir: 0.0335, d3.loss_map_cls: 0.4187, d3.loss_map_pts: 1.6732, d3.loss_map_dir: 0.0335, d4.loss_map_cls: 0.4159, d4.loss_map_pts: 1.6624, d4.loss_map_dir: 0.0336, d5.loss_map_cls: 0.4138, d5.loss_map_pts: 1.6612, d5.loss_map_dir: 0.0336, loss: 62.3316, grad_norm: 148.1855 +2026-02-24 14:31:57,157 - DriveTransformer - INFO - Epoch [2][15950/39528] lr: 9.958e-05, eta: 8 days, 5:29:14, time: 0.789, data_time: 0.036, memory: 19865, loss_cls: 0.5957, loss_bbox: 0.6814, loss_traj: 1.3392, loss_traj_cls: 0.0004, loss_map_cls: 0.3745, loss_map_pts: 1.7425, loss_map_dir: 0.0348, d0.loss_plan_l1_fix_time: 2.6349, d0.loss_plan_l1_fix_dist: 0.4356, d1.loss_plan_l1_fix_time: 2.2971, d1.loss_plan_l1_fix_dist: 0.4045, d2.loss_plan_l1_fix_time: 2.2548, d2.loss_plan_l1_fix_dist: 0.4252, d3.loss_plan_l1_fix_time: 2.2623, d3.loss_plan_l1_fix_dist: 0.4548, d4.loss_plan_l1_fix_time: 2.2727, d4.loss_plan_l1_fix_dist: 0.4896, d5.loss_plan_l1_fix_time: 2.2834, d5.loss_plan_l1_fix_dist: 0.5285, d6.loss_plan_l1_fix_time: 2.2960, d6.loss_plan_l1_fix_dist: 0.5622, d0.loss_cls_all: 0.6187, d0.loss_bbox_all: 0.7095, d0.loss_cls: 0.6187, d0.loss_bbox: 0.7095, d1.loss_cls: 0.6042, d1.loss_bbox: 0.7024, d2.loss_cls: 0.6035, d2.loss_bbox: 0.6902, d3.loss_cls: 0.5989, d3.loss_bbox: 0.6828, d4.loss_cls: 0.5969, d4.loss_bbox: 0.6819, d5.loss_cls: 0.5952, d5.loss_bbox: 0.6844, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3809, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3403, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3310, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3410, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3429, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.3369, d0.loss_map_cls_all: 0.4066, d0.loss_map_pts_all: 2.6269, d0.loss_map_dir_all: 0.0342, d0.loss_map_cls: 0.4066, d0.loss_map_pts: 2.6269, d0.loss_map_dir: 0.0342, d1.loss_map_cls: 0.3937, d1.loss_map_pts: 1.8625, d1.loss_map_dir: 0.0344, d2.loss_map_cls: 0.3830, d2.loss_map_pts: 1.7676, d2.loss_map_dir: 0.0344, d3.loss_map_cls: 0.3787, d3.loss_map_pts: 1.7441, d3.loss_map_dir: 0.0345, d4.loss_map_cls: 0.3750, d4.loss_map_pts: 1.7401, d4.loss_map_dir: 0.0345, d5.loss_map_cls: 0.3727, d5.loss_map_pts: 1.7432, d5.loss_map_dir: 0.0346, loss: 58.6122, grad_norm: 147.5268 +2026-02-24 14:32:37,744 - DriveTransformer - INFO - Epoch [2][16000/39528] lr: 9.958e-05, eta: 8 days, 5:28:47, time: 0.812, data_time: 0.036, memory: 19865, loss_cls: 0.5864, loss_bbox: 0.6702, loss_traj: 1.1914, loss_traj_cls: 0.0005, loss_map_cls: 0.3633, loss_map_pts: 1.7220, loss_map_dir: 0.0344, d0.loss_plan_l1_fix_time: 2.5172, d0.loss_plan_l1_fix_dist: 0.5011, d1.loss_plan_l1_fix_time: 2.1926, d1.loss_plan_l1_fix_dist: 0.4711, d2.loss_plan_l1_fix_time: 2.1560, d2.loss_plan_l1_fix_dist: 0.4927, d3.loss_plan_l1_fix_time: 2.1598, d3.loss_plan_l1_fix_dist: 0.5267, d4.loss_plan_l1_fix_time: 2.1675, d4.loss_plan_l1_fix_dist: 0.5667, d5.loss_plan_l1_fix_time: 2.1746, d5.loss_plan_l1_fix_dist: 0.6114, d6.loss_plan_l1_fix_time: 2.1833, d6.loss_plan_l1_fix_dist: 0.6629, d0.loss_cls_all: 0.5903, d0.loss_bbox_all: 0.7002, d0.loss_cls: 0.5903, d0.loss_bbox: 0.7002, d1.loss_cls: 0.5848, d1.loss_bbox: 0.6859, d2.loss_cls: 0.5845, d2.loss_bbox: 0.6742, d3.loss_cls: 0.5800, d3.loss_bbox: 0.6690, d4.loss_cls: 0.5812, d4.loss_bbox: 0.6683, d5.loss_cls: 0.5835, d5.loss_bbox: 0.6663, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2466, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1688, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.1640, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.1818, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1860, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1862, d0.loss_map_cls_all: 0.3842, d0.loss_map_pts_all: 2.6459, d0.loss_map_dir_all: 0.0342, d0.loss_map_cls: 0.3842, d0.loss_map_pts: 2.6459, d0.loss_map_dir: 0.0342, d1.loss_map_cls: 0.3789, d1.loss_map_pts: 1.8495, d1.loss_map_dir: 0.0343, d2.loss_map_cls: 0.3744, d2.loss_map_pts: 1.7345, d2.loss_map_dir: 0.0342, d3.loss_map_cls: 0.3701, d3.loss_map_pts: 1.7057, d3.loss_map_dir: 0.0342, d4.loss_map_cls: 0.3609, d4.loss_map_pts: 1.7012, d4.loss_map_dir: 0.0343, d5.loss_map_cls: 0.3612, d5.loss_map_pts: 1.7087, d5.loss_map_dir: 0.0343, loss: 56.7924, grad_norm: 148.9548 +2026-02-24 14:33:17,811 - DriveTransformer - INFO - Epoch [2][16050/39528] lr: 9.958e-05, eta: 8 days, 5:28:11, time: 0.801, data_time: 0.039, memory: 19865, loss_cls: 0.6181, loss_bbox: 0.6778, loss_traj: 1.4087, loss_traj_cls: 0.0005, loss_map_cls: 0.3853, loss_map_pts: 1.7553, loss_map_dir: 0.0341, d0.loss_plan_l1_fix_time: 2.8757, d0.loss_plan_l1_fix_dist: 0.4147, d1.loss_plan_l1_fix_time: 2.4469, d1.loss_plan_l1_fix_dist: 0.3838, d2.loss_plan_l1_fix_time: 2.3723, d2.loss_plan_l1_fix_dist: 0.4157, d3.loss_plan_l1_fix_time: 2.3677, d3.loss_plan_l1_fix_dist: 0.4553, d4.loss_plan_l1_fix_time: 2.3715, d4.loss_plan_l1_fix_dist: 0.4983, d5.loss_plan_l1_fix_time: 2.3776, d5.loss_plan_l1_fix_dist: 0.5462, d6.loss_plan_l1_fix_time: 2.3862, d6.loss_plan_l1_fix_dist: 0.6060, d0.loss_cls_all: 0.6384, d0.loss_bbox_all: 0.7082, d0.loss_cls: 0.6384, d0.loss_bbox: 0.7082, d1.loss_cls: 0.6226, d1.loss_bbox: 0.6926, d2.loss_cls: 0.6202, d2.loss_bbox: 0.6763, d3.loss_cls: 0.6145, d3.loss_bbox: 0.6720, d4.loss_cls: 0.6170, d4.loss_bbox: 0.6689, d5.loss_cls: 0.6178, d5.loss_bbox: 0.6711, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4425, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3646, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3803, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3951, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4039, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4032, d0.loss_map_cls_all: 0.4122, d0.loss_map_pts_all: 2.5862, d0.loss_map_dir_all: 0.0335, d0.loss_map_cls: 0.4122, d0.loss_map_pts: 2.5862, d0.loss_map_dir: 0.0335, d1.loss_map_cls: 0.4055, d1.loss_map_pts: 1.8885, d1.loss_map_dir: 0.0336, d2.loss_map_cls: 0.4008, d2.loss_map_pts: 1.7772, d2.loss_map_dir: 0.0336, d3.loss_map_cls: 0.3946, d3.loss_map_pts: 1.7435, d3.loss_map_dir: 0.0338, d4.loss_map_cls: 0.3853, d4.loss_map_pts: 1.7365, d4.loss_map_dir: 0.0339, d5.loss_map_cls: 0.3848, d5.loss_map_pts: 1.7447, d5.loss_map_dir: 0.0340, loss: 60.0518, grad_norm: 149.6192 +2026-02-24 14:33:57,265 - DriveTransformer - INFO - Epoch [2][16100/39528] lr: 9.958e-05, eta: 8 days, 5:27:26, time: 0.789, data_time: 0.041, memory: 19865, loss_cls: 0.5879, loss_bbox: 0.6454, loss_traj: 1.4797, loss_traj_cls: 0.0005, loss_map_cls: 0.3575, loss_map_pts: 1.7104, loss_map_dir: 0.0306, d0.loss_plan_l1_fix_time: 2.7514, d0.loss_plan_l1_fix_dist: 0.5620, d1.loss_plan_l1_fix_time: 2.4831, d1.loss_plan_l1_fix_dist: 0.4495, d2.loss_plan_l1_fix_time: 2.4296, d2.loss_plan_l1_fix_dist: 0.4457, d3.loss_plan_l1_fix_time: 2.4231, d3.loss_plan_l1_fix_dist: 0.4656, d4.loss_plan_l1_fix_time: 2.4276, d4.loss_plan_l1_fix_dist: 0.4901, d5.loss_plan_l1_fix_time: 2.4349, d5.loss_plan_l1_fix_dist: 0.5148, d6.loss_plan_l1_fix_time: 2.4445, d6.loss_plan_l1_fix_dist: 0.5405, d0.loss_cls_all: 0.6089, d0.loss_bbox_all: 0.6698, d0.loss_cls: 0.6089, d0.loss_bbox: 0.6698, d1.loss_cls: 0.5883, d1.loss_bbox: 0.6574, d2.loss_cls: 0.5874, d2.loss_bbox: 0.6469, d3.loss_cls: 0.5876, d3.loss_bbox: 0.6417, d4.loss_cls: 0.5858, d4.loss_bbox: 0.6431, d5.loss_cls: 0.5875, d5.loss_bbox: 0.6430, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5575, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4827, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4806, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4871, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4902, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4808, d0.loss_map_cls_all: 0.3850, d0.loss_map_pts_all: 2.4904, d0.loss_map_dir_all: 0.0304, d0.loss_map_cls: 0.3850, d0.loss_map_pts: 2.4904, d0.loss_map_dir: 0.0304, d1.loss_map_cls: 0.3731, d1.loss_map_pts: 1.8487, d1.loss_map_dir: 0.0301, d2.loss_map_cls: 0.3621, d2.loss_map_pts: 1.7557, d2.loss_map_dir: 0.0301, d3.loss_map_cls: 0.3583, d3.loss_map_pts: 1.7228, d3.loss_map_dir: 0.0302, d4.loss_map_cls: 0.3556, d4.loss_map_pts: 1.7148, d4.loss_map_dir: 0.0303, d5.loss_map_cls: 0.3559, d5.loss_map_pts: 1.7138, d5.loss_map_dir: 0.0305, loss: 59.9073, grad_norm: 149.3062 +2026-02-24 14:34:35,566 - DriveTransformer - INFO - Epoch [2][16150/39528] lr: 9.958e-05, eta: 8 days, 5:26:22, time: 0.766, data_time: 0.041, memory: 19865, loss_cls: 0.6072, loss_bbox: 0.6884, loss_traj: 1.3176, loss_traj_cls: 0.0004, loss_map_cls: 0.3474, loss_map_pts: 1.6543, loss_map_dir: 0.0280, d0.loss_plan_l1_fix_time: 2.8674, d0.loss_plan_l1_fix_dist: 0.5083, d1.loss_plan_l1_fix_time: 2.5277, d1.loss_plan_l1_fix_dist: 0.4187, d2.loss_plan_l1_fix_time: 2.4754, d2.loss_plan_l1_fix_dist: 0.4348, d3.loss_plan_l1_fix_time: 2.4776, d3.loss_plan_l1_fix_dist: 0.4686, d4.loss_plan_l1_fix_time: 2.4863, d4.loss_plan_l1_fix_dist: 0.5067, d5.loss_plan_l1_fix_time: 2.4960, d5.loss_plan_l1_fix_dist: 0.5416, d6.loss_plan_l1_fix_time: 2.5069, d6.loss_plan_l1_fix_dist: 0.5762, d0.loss_cls_all: 0.6348, d0.loss_bbox_all: 0.7152, d0.loss_cls: 0.6348, d0.loss_bbox: 0.7152, d1.loss_cls: 0.6134, d1.loss_bbox: 0.7059, d2.loss_cls: 0.6088, d2.loss_bbox: 0.6974, d3.loss_cls: 0.6062, d3.loss_bbox: 0.6903, d4.loss_cls: 0.6090, d4.loss_bbox: 0.6878, d5.loss_cls: 0.6095, d5.loss_bbox: 0.6845, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3914, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3148, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.3134, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.3240, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3253, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.3169, d0.loss_map_cls_all: 0.3820, d0.loss_map_pts_all: 2.2885, d0.loss_map_dir_all: 0.0283, d0.loss_map_cls: 0.3820, d0.loss_map_pts: 2.2885, d0.loss_map_dir: 0.0283, d1.loss_map_cls: 0.3763, d1.loss_map_pts: 1.7606, d1.loss_map_dir: 0.0278, d2.loss_map_cls: 0.3623, d2.loss_map_pts: 1.6894, d2.loss_map_dir: 0.0278, d3.loss_map_cls: 0.3538, d3.loss_map_pts: 1.6624, d3.loss_map_dir: 0.0278, d4.loss_map_cls: 0.3494, d4.loss_map_pts: 1.6581, d4.loss_map_dir: 0.0278, d5.loss_map_cls: 0.3474, d5.loss_map_pts: 1.6572, d5.loss_map_dir: 0.0279, loss: 58.8910, grad_norm: 150.7542 +2026-02-24 14:35:17,066 - DriveTransformer - INFO - Epoch [2][16200/39528] lr: 9.958e-05, eta: 8 days, 5:26:09, time: 0.830, data_time: 0.037, memory: 19865, loss_cls: 0.5701, loss_bbox: 0.6546, loss_traj: 1.4427, loss_traj_cls: 0.0004, loss_map_cls: 0.3651, loss_map_pts: 1.7863, loss_map_dir: 0.0341, d0.loss_plan_l1_fix_time: 2.5884, d0.loss_plan_l1_fix_dist: 0.5227, d1.loss_plan_l1_fix_time: 2.2114, d1.loss_plan_l1_fix_dist: 0.4453, d2.loss_plan_l1_fix_time: 2.1744, d2.loss_plan_l1_fix_dist: 0.4519, d3.loss_plan_l1_fix_time: 2.1753, d3.loss_plan_l1_fix_dist: 0.4751, d4.loss_plan_l1_fix_time: 2.1835, d4.loss_plan_l1_fix_dist: 0.5029, d5.loss_plan_l1_fix_time: 2.1934, d5.loss_plan_l1_fix_dist: 0.5374, d6.loss_plan_l1_fix_time: 2.2053, d6.loss_plan_l1_fix_dist: 0.5718, d0.loss_cls_all: 0.5855, d0.loss_bbox_all: 0.7045, d0.loss_cls: 0.5855, d0.loss_bbox: 0.7045, d1.loss_cls: 0.5729, d1.loss_bbox: 0.6803, d2.loss_cls: 0.5699, d2.loss_bbox: 0.6668, d3.loss_cls: 0.5685, d3.loss_bbox: 0.6566, d4.loss_cls: 0.5667, d4.loss_bbox: 0.6533, d5.loss_cls: 0.5667, d5.loss_bbox: 0.6516, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5162, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4530, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.4384, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.4468, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.4448, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4473, d0.loss_map_cls_all: 0.3905, d0.loss_map_pts_all: 2.7083, d0.loss_map_dir_all: 0.0338, d0.loss_map_cls: 0.3905, d0.loss_map_pts: 2.7083, d0.loss_map_dir: 0.0338, d1.loss_map_cls: 0.3851, d1.loss_map_pts: 1.9215, d1.loss_map_dir: 0.0336, d2.loss_map_cls: 0.3772, d2.loss_map_pts: 1.8245, d2.loss_map_dir: 0.0337, d3.loss_map_cls: 0.3708, d3.loss_map_pts: 1.7991, d3.loss_map_dir: 0.0338, d4.loss_map_cls: 0.3664, d4.loss_map_pts: 1.7892, d4.loss_map_dir: 0.0338, d5.loss_map_cls: 0.3639, d5.loss_map_pts: 1.7867, d5.loss_map_dir: 0.0339, loss: 58.9943, grad_norm: 150.6669 +2026-02-24 14:35:56,946 - DriveTransformer - INFO - Epoch [2][16250/39528] lr: 9.958e-05, eta: 8 days, 5:25:31, time: 0.798, data_time: 0.042, memory: 19865, loss_cls: 0.5595, loss_bbox: 0.6333, loss_traj: 1.3216, loss_traj_cls: 0.0005, loss_map_cls: 0.3600, loss_map_pts: 1.7160, loss_map_dir: 0.0373, d0.loss_plan_l1_fix_time: 2.4984, d0.loss_plan_l1_fix_dist: 0.4055, d1.loss_plan_l1_fix_time: 2.2529, d1.loss_plan_l1_fix_dist: 0.3825, d2.loss_plan_l1_fix_time: 2.2040, d2.loss_plan_l1_fix_dist: 0.4004, d3.loss_plan_l1_fix_time: 2.2117, d3.loss_plan_l1_fix_dist: 0.4267, d4.loss_plan_l1_fix_time: 2.2254, d4.loss_plan_l1_fix_dist: 0.4527, d5.loss_plan_l1_fix_time: 2.2417, d5.loss_plan_l1_fix_dist: 0.4834, d6.loss_plan_l1_fix_time: 2.2604, d6.loss_plan_l1_fix_dist: 0.5146, d0.loss_cls_all: 0.5677, d0.loss_bbox_all: 0.6681, d0.loss_cls: 0.5677, d0.loss_bbox: 0.6681, d1.loss_cls: 0.5647, d1.loss_bbox: 0.6455, d2.loss_cls: 0.5597, d2.loss_bbox: 0.6346, d3.loss_cls: 0.5625, d3.loss_bbox: 0.6311, d4.loss_cls: 0.5596, d4.loss_bbox: 0.6299, d5.loss_cls: 0.5578, d5.loss_bbox: 0.6322, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3332, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.2716, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.2873, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3091, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3075, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.3213, d0.loss_map_cls_all: 0.3804, d0.loss_map_pts_all: 2.4912, d0.loss_map_dir_all: 0.0364, d0.loss_map_cls: 0.3804, d0.loss_map_pts: 2.4912, d0.loss_map_dir: 0.0364, d1.loss_map_cls: 0.3824, d1.loss_map_pts: 1.8363, d1.loss_map_dir: 0.0366, d2.loss_map_cls: 0.3714, d2.loss_map_pts: 1.7467, d2.loss_map_dir: 0.0367, d3.loss_map_cls: 0.3642, d3.loss_map_pts: 1.7255, d3.loss_map_dir: 0.0368, d4.loss_map_cls: 0.3599, d4.loss_map_pts: 1.7164, d4.loss_map_dir: 0.0371, d5.loss_map_cls: 0.3588, d5.loss_map_pts: 1.7133, d5.loss_map_dir: 0.0372, loss: 56.4472, grad_norm: 151.1552 +2026-02-24 14:36:35,457 - DriveTransformer - INFO - Epoch [2][16300/39528] lr: 9.958e-05, eta: 8 days, 5:24:30, time: 0.770, data_time: 0.038, memory: 19865, loss_cls: 0.5713, loss_bbox: 0.6810, loss_traj: 1.5703, loss_traj_cls: 0.0005, loss_map_cls: 0.3708, loss_map_pts: 1.6494, loss_map_dir: 0.0291, d0.loss_plan_l1_fix_time: 3.0198, d0.loss_plan_l1_fix_dist: 0.5196, d1.loss_plan_l1_fix_time: 2.7141, d1.loss_plan_l1_fix_dist: 0.4574, d2.loss_plan_l1_fix_time: 2.6389, d2.loss_plan_l1_fix_dist: 0.4583, d3.loss_plan_l1_fix_time: 2.6246, d3.loss_plan_l1_fix_dist: 0.4711, d4.loss_plan_l1_fix_time: 2.6231, d4.loss_plan_l1_fix_dist: 0.4902, d5.loss_plan_l1_fix_time: 2.6257, d5.loss_plan_l1_fix_dist: 0.5136, d6.loss_plan_l1_fix_time: 2.6321, d6.loss_plan_l1_fix_dist: 0.5460, d0.loss_cls_all: 0.5849, d0.loss_bbox_all: 0.7196, d0.loss_cls: 0.5849, d0.loss_bbox: 0.7196, d1.loss_cls: 0.5709, d1.loss_bbox: 0.7032, d2.loss_cls: 0.5692, d2.loss_bbox: 0.6878, d3.loss_cls: 0.5751, d3.loss_bbox: 0.6825, d4.loss_cls: 0.5726, d4.loss_bbox: 0.6806, d5.loss_cls: 0.5706, d5.loss_bbox: 0.6815, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6734, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5993, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5864, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5762, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5685, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5754, d0.loss_map_cls_all: 0.4147, d0.loss_map_pts_all: 2.2964, d0.loss_map_dir_all: 0.0288, d0.loss_map_cls: 0.4147, d0.loss_map_pts: 2.2964, d0.loss_map_dir: 0.0288, d1.loss_map_cls: 0.3951, d1.loss_map_pts: 1.7787, d1.loss_map_dir: 0.0286, d2.loss_map_cls: 0.3864, d2.loss_map_pts: 1.6830, d2.loss_map_dir: 0.0286, d3.loss_map_cls: 0.3791, d3.loss_map_pts: 1.6552, d3.loss_map_dir: 0.0287, d4.loss_map_cls: 0.3748, d4.loss_map_pts: 1.6463, d4.loss_map_dir: 0.0288, d5.loss_map_cls: 0.3708, d5.loss_map_pts: 1.6440, d5.loss_map_dir: 0.0290, loss: 61.6301, grad_norm: 151.7982 +2026-02-24 14:37:15,448 - DriveTransformer - INFO - Epoch [2][16350/39528] lr: 9.958e-05, eta: 8 days, 5:23:54, time: 0.800, data_time: 0.035, memory: 19865, loss_cls: 0.5807, loss_bbox: 0.6665, loss_traj: 1.6596, loss_traj_cls: 0.0005, loss_map_cls: 0.3948, loss_map_pts: 1.7992, loss_map_dir: 0.0341, d0.loss_plan_l1_fix_time: 2.9680, d0.loss_plan_l1_fix_dist: 0.3792, d1.loss_plan_l1_fix_time: 2.7788, d1.loss_plan_l1_fix_dist: 0.3633, d2.loss_plan_l1_fix_time: 2.7632, d2.loss_plan_l1_fix_dist: 0.3789, d3.loss_plan_l1_fix_time: 2.7692, d3.loss_plan_l1_fix_dist: 0.3948, d4.loss_plan_l1_fix_time: 2.7784, d4.loss_plan_l1_fix_dist: 0.4155, d5.loss_plan_l1_fix_time: 2.7877, d5.loss_plan_l1_fix_dist: 0.4363, d6.loss_plan_l1_fix_time: 2.7971, d6.loss_plan_l1_fix_dist: 0.4608, d0.loss_cls_all: 0.5961, d0.loss_bbox_all: 0.7039, d0.loss_cls: 0.5961, d0.loss_bbox: 0.7039, d1.loss_cls: 0.5813, d1.loss_bbox: 0.6945, d2.loss_cls: 0.5770, d2.loss_bbox: 0.6761, d3.loss_cls: 0.5790, d3.loss_bbox: 0.6720, d4.loss_cls: 0.5797, d4.loss_bbox: 0.6650, d5.loss_cls: 0.5784, d5.loss_bbox: 0.6654, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7342, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.6416, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.6390, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.6479, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6486, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6587, d0.loss_map_cls_all: 0.4326, d0.loss_map_pts_all: 2.6201, d0.loss_map_dir_all: 0.0337, d0.loss_map_cls: 0.4326, d0.loss_map_pts: 2.6201, d0.loss_map_dir: 0.0337, d1.loss_map_cls: 0.4200, d1.loss_map_pts: 1.9474, d1.loss_map_dir: 0.0336, d2.loss_map_cls: 0.4071, d2.loss_map_pts: 1.8370, d2.loss_map_dir: 0.0337, d3.loss_map_cls: 0.3990, d3.loss_map_pts: 1.8043, d3.loss_map_dir: 0.0338, d4.loss_map_cls: 0.3965, d4.loss_map_pts: 1.7938, d4.loss_map_dir: 0.0339, d5.loss_map_cls: 0.3952, d5.loss_map_pts: 1.7917, d5.loss_map_dir: 0.0340, loss: 63.9827, grad_norm: 152.5817 +2026-02-24 14:37:55,875 - DriveTransformer - INFO - Epoch [2][16400/39528] lr: 9.958e-05, eta: 8 days, 5:23:24, time: 0.809, data_time: 0.045, memory: 19865, loss_cls: 0.5967, loss_bbox: 0.6368, loss_traj: 1.4311, loss_traj_cls: 0.0005, loss_map_cls: 0.3764, loss_map_pts: 1.7806, loss_map_dir: 0.0356, d0.loss_plan_l1_fix_time: 2.9180, d0.loss_plan_l1_fix_dist: 0.4109, d1.loss_plan_l1_fix_time: 2.4226, d1.loss_plan_l1_fix_dist: 0.3713, d2.loss_plan_l1_fix_time: 2.3141, d2.loss_plan_l1_fix_dist: 0.3875, d3.loss_plan_l1_fix_time: 2.3039, d3.loss_plan_l1_fix_dist: 0.4123, d4.loss_plan_l1_fix_time: 2.3054, d4.loss_plan_l1_fix_dist: 0.4392, d5.loss_plan_l1_fix_time: 2.3108, d5.loss_plan_l1_fix_dist: 0.4636, d6.loss_plan_l1_fix_time: 2.3171, d6.loss_plan_l1_fix_dist: 0.4844, d0.loss_cls_all: 0.6077, d0.loss_bbox_all: 0.6557, d0.loss_cls: 0.6077, d0.loss_bbox: 0.6557, d1.loss_cls: 0.6059, d1.loss_bbox: 0.6460, d2.loss_cls: 0.6022, d2.loss_bbox: 0.6358, d3.loss_cls: 0.6025, d3.loss_bbox: 0.6345, d4.loss_cls: 0.6017, d4.loss_bbox: 0.6354, d5.loss_cls: 0.6005, d5.loss_bbox: 0.6338, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4089, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3596, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.3893, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4108, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4186, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4196, d0.loss_map_cls_all: 0.4107, d0.loss_map_pts_all: 2.6419, d0.loss_map_dir_all: 0.0353, d0.loss_map_cls: 0.4107, d0.loss_map_pts: 2.6419, d0.loss_map_dir: 0.0353, d1.loss_map_cls: 0.4059, d1.loss_map_pts: 1.8857, d1.loss_map_dir: 0.0351, d2.loss_map_cls: 0.3919, d2.loss_map_pts: 1.7890, d2.loss_map_dir: 0.0351, d3.loss_map_cls: 0.3834, d3.loss_map_pts: 1.7760, d3.loss_map_dir: 0.0352, d4.loss_map_cls: 0.3785, d4.loss_map_pts: 1.7718, d4.loss_map_dir: 0.0353, d5.loss_map_cls: 0.3766, d5.loss_map_pts: 1.7745, d5.loss_map_dir: 0.0354, loss: 59.1400, grad_norm: 151.8184 +2026-02-24 14:38:36,756 - DriveTransformer - INFO - Epoch [2][16450/39528] lr: 9.958e-05, eta: 8 days, 5:23:01, time: 0.818, data_time: 0.039, memory: 19865, loss_cls: 0.6268, loss_bbox: 0.6735, loss_traj: 1.5344, loss_traj_cls: 0.0005, loss_map_cls: 0.4304, loss_map_pts: 2.0145, loss_map_dir: 0.0386, d0.loss_plan_l1_fix_time: 2.7269, d0.loss_plan_l1_fix_dist: 0.5234, d1.loss_plan_l1_fix_time: 2.2400, d1.loss_plan_l1_fix_dist: 0.4490, d2.loss_plan_l1_fix_time: 2.1990, d2.loss_plan_l1_fix_dist: 0.4507, d3.loss_plan_l1_fix_time: 2.2013, d3.loss_plan_l1_fix_dist: 0.4631, d4.loss_plan_l1_fix_time: 2.2068, d4.loss_plan_l1_fix_dist: 0.4855, d5.loss_plan_l1_fix_time: 2.2128, d5.loss_plan_l1_fix_dist: 0.5143, d6.loss_plan_l1_fix_time: 2.2193, d6.loss_plan_l1_fix_dist: 0.5478, d0.loss_cls_all: 0.6207, d0.loss_bbox_all: 0.7123, d0.loss_cls: 0.6207, d0.loss_bbox: 0.7123, d1.loss_cls: 0.6160, d1.loss_bbox: 0.6957, d2.loss_cls: 0.6199, d2.loss_bbox: 0.6779, d3.loss_cls: 0.6207, d3.loss_bbox: 0.6795, d4.loss_cls: 0.6220, d4.loss_bbox: 0.6759, d5.loss_cls: 0.6230, d5.loss_bbox: 0.6736, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7062, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5602, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5513, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5435, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5437, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5351, d0.loss_map_cls_all: 0.4543, d0.loss_map_pts_all: 2.8506, d0.loss_map_dir_all: 0.0384, d0.loss_map_cls: 0.4543, d0.loss_map_pts: 2.8506, d0.loss_map_dir: 0.0384, d1.loss_map_cls: 0.4538, d1.loss_map_pts: 2.1507, d1.loss_map_dir: 0.0380, d2.loss_map_cls: 0.4423, d2.loss_map_pts: 2.0594, d2.loss_map_dir: 0.0382, d3.loss_map_cls: 0.4360, d3.loss_map_pts: 2.0301, d3.loss_map_dir: 0.0384, d4.loss_map_cls: 0.4302, d4.loss_map_pts: 2.0211, d4.loss_map_dir: 0.0385, d5.loss_map_cls: 0.4302, d5.loss_map_pts: 2.0201, d5.loss_map_dir: 0.0385, loss: 62.7251, grad_norm: 150.2566 +2026-02-24 14:39:17,207 - DriveTransformer - INFO - Epoch [2][16500/39528] lr: 9.958e-05, eta: 8 days, 5:22:32, time: 0.809, data_time: 0.038, memory: 19865, loss_cls: 0.5532, loss_bbox: 0.6170, loss_traj: 1.4614, loss_traj_cls: 0.0005, loss_map_cls: 0.3471, loss_map_pts: 1.5894, loss_map_dir: 0.0309, d0.loss_plan_l1_fix_time: 2.7416, d0.loss_plan_l1_fix_dist: 0.4035, d1.loss_plan_l1_fix_time: 2.3469, d1.loss_plan_l1_fix_dist: 0.3620, d2.loss_plan_l1_fix_time: 2.2979, d2.loss_plan_l1_fix_dist: 0.3687, d3.loss_plan_l1_fix_time: 2.2993, d3.loss_plan_l1_fix_dist: 0.3857, d4.loss_plan_l1_fix_time: 2.3041, d4.loss_plan_l1_fix_dist: 0.4126, d5.loss_plan_l1_fix_time: 2.3101, d5.loss_plan_l1_fix_dist: 0.4489, d6.loss_plan_l1_fix_time: 2.3172, d6.loss_plan_l1_fix_dist: 0.4964, d0.loss_cls_all: 0.5601, d0.loss_bbox_all: 0.6480, d0.loss_cls: 0.5601, d0.loss_bbox: 0.6480, d1.loss_cls: 0.5488, d1.loss_bbox: 0.6371, d2.loss_cls: 0.5517, d2.loss_bbox: 0.6206, d3.loss_cls: 0.5575, d3.loss_bbox: 0.6177, d4.loss_cls: 0.5527, d4.loss_bbox: 0.6172, d5.loss_cls: 0.5527, d5.loss_bbox: 0.6148, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5018, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4460, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4535, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4551, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4568, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4631, d0.loss_map_cls_all: 0.3849, d0.loss_map_pts_all: 2.2769, d0.loss_map_dir_all: 0.0307, d0.loss_map_cls: 0.3849, d0.loss_map_pts: 2.2769, d0.loss_map_dir: 0.0307, d1.loss_map_cls: 0.3716, d1.loss_map_pts: 1.6854, d1.loss_map_dir: 0.0302, d2.loss_map_cls: 0.3600, d2.loss_map_pts: 1.6152, d2.loss_map_dir: 0.0304, d3.loss_map_cls: 0.3520, d3.loss_map_pts: 1.5969, d3.loss_map_dir: 0.0306, d4.loss_map_cls: 0.3486, d4.loss_map_pts: 1.5904, d4.loss_map_dir: 0.0306, d5.loss_map_cls: 0.3460, d5.loss_map_pts: 1.5888, d5.loss_map_dir: 0.0307, loss: 56.5543, grad_norm: 150.2940 +2026-02-24 14:39:56,980 - DriveTransformer - INFO - Epoch [2][16550/39528] lr: 9.958e-05, eta: 8 days, 5:21:52, time: 0.795, data_time: 0.041, memory: 19865, loss_cls: 0.6027, loss_bbox: 0.6595, loss_traj: 1.6959, loss_traj_cls: 0.0005, loss_map_cls: 0.3494, loss_map_pts: 1.5485, loss_map_dir: 0.0321, d0.loss_plan_l1_fix_time: 2.7238, d0.loss_plan_l1_fix_dist: 0.4457, d1.loss_plan_l1_fix_time: 2.4090, d1.loss_plan_l1_fix_dist: 0.4117, d2.loss_plan_l1_fix_time: 2.3648, d2.loss_plan_l1_fix_dist: 0.4175, d3.loss_plan_l1_fix_time: 2.3657, d3.loss_plan_l1_fix_dist: 0.4313, d4.loss_plan_l1_fix_time: 2.3704, d4.loss_plan_l1_fix_dist: 0.4450, d5.loss_plan_l1_fix_time: 2.3768, d5.loss_plan_l1_fix_dist: 0.4596, d6.loss_plan_l1_fix_time: 2.3844, d6.loss_plan_l1_fix_dist: 0.4784, d0.loss_cls_all: 0.6026, d0.loss_bbox_all: 0.6988, d0.loss_cls: 0.6026, d0.loss_bbox: 0.6988, d1.loss_cls: 0.5905, d1.loss_bbox: 0.6802, d2.loss_cls: 0.5938, d2.loss_bbox: 0.6622, d3.loss_cls: 0.5963, d3.loss_bbox: 0.6579, d4.loss_cls: 0.5970, d4.loss_bbox: 0.6618, d5.loss_cls: 0.5981, d5.loss_bbox: 0.6585, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7930, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7146, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.6913, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6891, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6849, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6915, d0.loss_map_cls_all: 0.3827, d0.loss_map_pts_all: 2.4091, d0.loss_map_dir_all: 0.0318, d0.loss_map_cls: 0.3827, d0.loss_map_pts: 2.4091, d0.loss_map_dir: 0.0318, d1.loss_map_cls: 0.3662, d1.loss_map_pts: 1.6552, d1.loss_map_dir: 0.0314, d2.loss_map_cls: 0.3550, d2.loss_map_pts: 1.5663, d2.loss_map_dir: 0.0315, d3.loss_map_cls: 0.3488, d3.loss_map_pts: 1.5481, d3.loss_map_dir: 0.0317, d4.loss_map_cls: 0.3491, d4.loss_map_pts: 1.5470, d4.loss_map_dir: 0.0320, d5.loss_map_cls: 0.3467, d5.loss_map_pts: 1.5469, d5.loss_map_dir: 0.0320, loss: 59.5751, grad_norm: 150.0445 +2026-02-24 14:40:37,762 - DriveTransformer - INFO - Epoch [2][16600/39528] lr: 9.958e-05, eta: 8 days, 5:21:29, time: 0.817, data_time: 0.039, memory: 19865, loss_cls: 0.6083, loss_bbox: 0.6608, loss_traj: 1.3650, loss_traj_cls: 0.0005, loss_map_cls: 0.3739, loss_map_pts: 1.6414, loss_map_dir: 0.0308, d0.loss_plan_l1_fix_time: 2.8576, d0.loss_plan_l1_fix_dist: 0.4532, d1.loss_plan_l1_fix_time: 2.5350, d1.loss_plan_l1_fix_dist: 0.4069, d2.loss_plan_l1_fix_time: 2.4743, d2.loss_plan_l1_fix_dist: 0.4180, d3.loss_plan_l1_fix_time: 2.4716, d3.loss_plan_l1_fix_dist: 0.4411, d4.loss_plan_l1_fix_time: 2.4760, d4.loss_plan_l1_fix_dist: 0.4659, d5.loss_plan_l1_fix_time: 2.4828, d5.loss_plan_l1_fix_dist: 0.4886, d6.loss_plan_l1_fix_time: 2.4912, d6.loss_plan_l1_fix_dist: 0.5072, d0.loss_cls_all: 0.5947, d0.loss_bbox_all: 0.6894, d0.loss_cls: 0.5947, d0.loss_bbox: 0.6894, d1.loss_cls: 0.6055, d1.loss_bbox: 0.6727, d2.loss_cls: 0.6003, d2.loss_bbox: 0.6612, d3.loss_cls: 0.6034, d3.loss_bbox: 0.6578, d4.loss_cls: 0.6051, d4.loss_bbox: 0.6607, d5.loss_cls: 0.6072, d5.loss_bbox: 0.6585, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3368, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.2909, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3072, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3214, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3371, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.3513, d0.loss_map_cls_all: 0.3982, d0.loss_map_pts_all: 2.4032, d0.loss_map_dir_all: 0.0300, d0.loss_map_cls: 0.3982, d0.loss_map_pts: 2.4032, d0.loss_map_dir: 0.0300, d1.loss_map_cls: 0.3811, d1.loss_map_pts: 1.7624, d1.loss_map_dir: 0.0296, d2.loss_map_cls: 0.3773, d2.loss_map_pts: 1.6735, d2.loss_map_dir: 0.0299, d3.loss_map_cls: 0.3760, d3.loss_map_pts: 1.6476, d3.loss_map_dir: 0.0303, d4.loss_map_cls: 0.3753, d4.loss_map_pts: 1.6405, d4.loss_map_dir: 0.0305, d5.loss_map_cls: 0.3726, d5.loss_map_pts: 1.6419, d5.loss_map_dir: 0.0307, loss: 58.5611, grad_norm: 149.8326 +2026-02-24 14:41:17,776 - DriveTransformer - INFO - Epoch [2][16650/39528] lr: 9.958e-05, eta: 8 days, 5:20:51, time: 0.799, data_time: 0.039, memory: 19865, loss_cls: 0.6203, loss_bbox: 0.6580, loss_traj: 1.7042, loss_traj_cls: 0.0005, loss_map_cls: 0.3952, loss_map_pts: 1.6573, loss_map_dir: 0.0325, d0.loss_plan_l1_fix_time: 3.1821, d0.loss_plan_l1_fix_dist: 0.4650, d1.loss_plan_l1_fix_time: 2.7607, d1.loss_plan_l1_fix_dist: 0.4215, d2.loss_plan_l1_fix_time: 2.6660, d2.loss_plan_l1_fix_dist: 0.4287, d3.loss_plan_l1_fix_time: 2.6467, d3.loss_plan_l1_fix_dist: 0.4437, d4.loss_plan_l1_fix_time: 2.6477, d4.loss_plan_l1_fix_dist: 0.4623, d5.loss_plan_l1_fix_time: 2.6527, d5.loss_plan_l1_fix_dist: 0.4831, d6.loss_plan_l1_fix_time: 2.6609, d6.loss_plan_l1_fix_dist: 0.5065, d0.loss_cls_all: 0.6146, d0.loss_bbox_all: 0.6988, d0.loss_cls: 0.6146, d0.loss_bbox: 0.6988, d1.loss_cls: 0.6154, d1.loss_bbox: 0.6894, d2.loss_cls: 0.6163, d2.loss_bbox: 0.6702, d3.loss_cls: 0.6190, d3.loss_bbox: 0.6569, d4.loss_cls: 0.6162, d4.loss_bbox: 0.6539, d5.loss_cls: 0.6198, d5.loss_bbox: 0.6535, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.8363, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.7094, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6866, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6940, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7083, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6991, d0.loss_map_cls_all: 0.4216, d0.loss_map_pts_all: 2.4642, d0.loss_map_dir_all: 0.0318, d0.loss_map_cls: 0.4216, d0.loss_map_pts: 2.4642, d0.loss_map_dir: 0.0318, d1.loss_map_cls: 0.4223, d1.loss_map_pts: 1.7690, d1.loss_map_dir: 0.0318, d2.loss_map_cls: 0.4154, d2.loss_map_pts: 1.6807, d2.loss_map_dir: 0.0320, d3.loss_map_cls: 0.4049, d3.loss_map_pts: 1.6584, d3.loss_map_dir: 0.0320, d4.loss_map_cls: 0.3998, d4.loss_map_pts: 1.6541, d4.loss_map_dir: 0.0322, d5.loss_map_cls: 0.3968, d5.loss_map_pts: 1.6563, d5.loss_map_dir: 0.0323, loss: 63.3237, grad_norm: 149.3361 +2026-02-24 14:41:58,981 - DriveTransformer - INFO - Epoch [2][16700/39528] lr: 9.958e-05, eta: 8 days, 5:20:34, time: 0.824, data_time: 0.044, memory: 19865, loss_cls: 0.6024, loss_bbox: 0.6508, loss_traj: 1.4350, loss_traj_cls: 0.0005, loss_map_cls: 0.3634, loss_map_pts: 1.6811, loss_map_dir: 0.0339, d0.loss_plan_l1_fix_time: 2.7778, d0.loss_plan_l1_fix_dist: 0.4826, d1.loss_plan_l1_fix_time: 2.5027, d1.loss_plan_l1_fix_dist: 0.4423, d2.loss_plan_l1_fix_time: 2.4723, d2.loss_plan_l1_fix_dist: 0.4586, d3.loss_plan_l1_fix_time: 2.4760, d3.loss_plan_l1_fix_dist: 0.4784, d4.loss_plan_l1_fix_time: 2.4847, d4.loss_plan_l1_fix_dist: 0.5059, d5.loss_plan_l1_fix_time: 2.4941, d5.loss_plan_l1_fix_dist: 0.5397, d6.loss_plan_l1_fix_time: 2.5057, d6.loss_plan_l1_fix_dist: 0.5839, d0.loss_cls_all: 0.5787, d0.loss_bbox_all: 0.6752, d0.loss_cls: 0.5787, d0.loss_bbox: 0.6752, d1.loss_cls: 0.5782, d1.loss_bbox: 0.6772, d2.loss_cls: 0.5811, d2.loss_bbox: 0.6613, d3.loss_cls: 0.5805, d3.loss_bbox: 0.6523, d4.loss_cls: 0.5865, d4.loss_bbox: 0.6482, d5.loss_cls: 0.5936, d5.loss_bbox: 0.6490, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4947, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.4195, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4202, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4216, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4342, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4348, d0.loss_map_cls_all: 0.3983, d0.loss_map_pts_all: 2.6005, d0.loss_map_dir_all: 0.0330, d0.loss_map_cls: 0.3983, d0.loss_map_pts: 2.6005, d0.loss_map_dir: 0.0330, d1.loss_map_cls: 0.3818, d1.loss_map_pts: 1.8304, d1.loss_map_dir: 0.0329, d2.loss_map_cls: 0.3708, d2.loss_map_pts: 1.7230, d2.loss_map_dir: 0.0331, d3.loss_map_cls: 0.3659, d3.loss_map_pts: 1.6893, d3.loss_map_dir: 0.0334, d4.loss_map_cls: 0.3645, d4.loss_map_pts: 1.6802, d4.loss_map_dir: 0.0337, d5.loss_map_cls: 0.3631, d5.loss_map_pts: 1.6783, d5.loss_map_dir: 0.0337, loss: 59.9940, grad_norm: 151.5764 +2026-02-24 14:42:38,540 - DriveTransformer - INFO - Epoch [2][16750/39528] lr: 9.958e-05, eta: 8 days, 5:19:50, time: 0.791, data_time: 0.034, memory: 19865, loss_cls: 0.6120, loss_bbox: 0.6525, loss_traj: 1.3477, loss_traj_cls: 0.0005, loss_map_cls: 0.3622, loss_map_pts: 1.6520, loss_map_dir: 0.0325, d0.loss_plan_l1_fix_time: 2.7024, d0.loss_plan_l1_fix_dist: 0.3881, d1.loss_plan_l1_fix_time: 2.4572, d1.loss_plan_l1_fix_dist: 0.3613, d2.loss_plan_l1_fix_time: 2.4236, d2.loss_plan_l1_fix_dist: 0.3774, d3.loss_plan_l1_fix_time: 2.4316, d3.loss_plan_l1_fix_dist: 0.3989, d4.loss_plan_l1_fix_time: 2.4403, d4.loss_plan_l1_fix_dist: 0.4195, d5.loss_plan_l1_fix_time: 2.4508, d5.loss_plan_l1_fix_dist: 0.4415, d6.loss_plan_l1_fix_time: 2.4626, d6.loss_plan_l1_fix_dist: 0.4679, d0.loss_cls_all: 0.6032, d0.loss_bbox_all: 0.6702, d0.loss_cls: 0.6032, d0.loss_bbox: 0.6702, d1.loss_cls: 0.5960, d1.loss_bbox: 0.6690, d2.loss_cls: 0.6008, d2.loss_bbox: 0.6585, d3.loss_cls: 0.6005, d3.loss_bbox: 0.6533, d4.loss_cls: 0.6029, d4.loss_bbox: 0.6503, d5.loss_cls: 0.6079, d5.loss_bbox: 0.6508, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3903, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3361, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.3283, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3386, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3378, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.3439, d0.loss_map_cls_all: 0.4125, d0.loss_map_pts_all: 2.4674, d0.loss_map_dir_all: 0.0320, d0.loss_map_cls: 0.4125, d0.loss_map_pts: 2.4674, d0.loss_map_dir: 0.0320, d1.loss_map_cls: 0.3990, d1.loss_map_pts: 1.7751, d1.loss_map_dir: 0.0319, d2.loss_map_cls: 0.3817, d2.loss_map_pts: 1.6749, d2.loss_map_dir: 0.0320, d3.loss_map_cls: 0.3680, d3.loss_map_pts: 1.6489, d3.loss_map_dir: 0.0322, d4.loss_map_cls: 0.3652, d4.loss_map_pts: 1.6461, d4.loss_map_dir: 0.0323, d5.loss_map_cls: 0.3610, d5.loss_map_pts: 1.6468, d5.loss_map_dir: 0.0324, loss: 58.0493, grad_norm: 150.8036 +2026-02-24 14:43:18,385 - DriveTransformer - INFO - Epoch [2][16800/39528] lr: 9.958e-05, eta: 8 days, 5:19:11, time: 0.797, data_time: 0.043, memory: 19865, loss_cls: 0.6477, loss_bbox: 0.6645, loss_traj: 1.7130, loss_traj_cls: 0.0005, loss_map_cls: 0.3446, loss_map_pts: 1.6959, loss_map_dir: 0.0292, d0.loss_plan_l1_fix_time: 3.2211, d0.loss_plan_l1_fix_dist: 0.5221, d1.loss_plan_l1_fix_time: 2.8144, d1.loss_plan_l1_fix_dist: 0.4819, d2.loss_plan_l1_fix_time: 2.7226, d2.loss_plan_l1_fix_dist: 0.4988, d3.loss_plan_l1_fix_time: 2.7075, d3.loss_plan_l1_fix_dist: 0.5234, d4.loss_plan_l1_fix_time: 2.7097, d4.loss_plan_l1_fix_dist: 0.5478, d5.loss_plan_l1_fix_time: 2.7146, d5.loss_plan_l1_fix_dist: 0.5742, d6.loss_plan_l1_fix_time: 2.7218, d6.loss_plan_l1_fix_dist: 0.5945, d0.loss_cls_all: 0.6184, d0.loss_bbox_all: 0.6926, d0.loss_cls: 0.6184, d0.loss_bbox: 0.6926, d1.loss_cls: 0.6137, d1.loss_bbox: 0.6848, d2.loss_cls: 0.6199, d2.loss_bbox: 0.6795, d3.loss_cls: 0.6281, d3.loss_bbox: 0.6703, d4.loss_cls: 0.6299, d4.loss_bbox: 0.6637, d5.loss_cls: 0.6427, d5.loss_bbox: 0.6621, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7591, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.6454, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.6522, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.6776, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6761, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6932, d0.loss_map_cls_all: 0.3854, d0.loss_map_pts_all: 2.4033, d0.loss_map_dir_all: 0.0286, d0.loss_map_cls: 0.3854, d0.loss_map_pts: 2.4033, d0.loss_map_dir: 0.0286, d1.loss_map_cls: 0.3716, d1.loss_map_pts: 1.8335, d1.loss_map_dir: 0.0286, d2.loss_map_cls: 0.3594, d2.loss_map_pts: 1.7316, d2.loss_map_dir: 0.0287, d3.loss_map_cls: 0.3489, d3.loss_map_pts: 1.7029, d3.loss_map_dir: 0.0289, d4.loss_map_cls: 0.3469, d4.loss_map_pts: 1.6934, d4.loss_map_dir: 0.0290, d5.loss_map_cls: 0.3449, d5.loss_map_pts: 1.6912, d5.loss_map_dir: 0.0291, loss: 63.8775, grad_norm: 152.2875 +2026-02-24 14:43:59,042 - DriveTransformer - INFO - Epoch [2][16850/39528] lr: 9.958e-05, eta: 8 days, 5:18:44, time: 0.813, data_time: 0.042, memory: 19865, loss_cls: 0.6263, loss_bbox: 0.6678, loss_traj: 1.3336, loss_traj_cls: 0.0005, loss_map_cls: 0.3933, loss_map_pts: 1.7705, loss_map_dir: 0.0352, d0.loss_plan_l1_fix_time: 2.9308, d0.loss_plan_l1_fix_dist: 0.3860, d1.loss_plan_l1_fix_time: 2.5540, d1.loss_plan_l1_fix_dist: 0.3809, d2.loss_plan_l1_fix_time: 2.4801, d2.loss_plan_l1_fix_dist: 0.3979, d3.loss_plan_l1_fix_time: 2.4775, d3.loss_plan_l1_fix_dist: 0.4203, d4.loss_plan_l1_fix_time: 2.4864, d4.loss_plan_l1_fix_dist: 0.4475, d5.loss_plan_l1_fix_time: 2.4954, d5.loss_plan_l1_fix_dist: 0.4742, d6.loss_plan_l1_fix_time: 2.5044, d6.loss_plan_l1_fix_dist: 0.5045, d0.loss_cls_all: 0.6414, d0.loss_bbox_all: 0.6954, d0.loss_cls: 0.6414, d0.loss_bbox: 0.6954, d1.loss_cls: 0.6279, d1.loss_bbox: 0.6825, d2.loss_cls: 0.6265, d2.loss_bbox: 0.6818, d3.loss_cls: 0.6247, d3.loss_bbox: 0.6762, d4.loss_cls: 0.6233, d4.loss_bbox: 0.6645, d5.loss_cls: 0.6251, d5.loss_bbox: 0.6618, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4116, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3523, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3354, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3289, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3275, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.3323, d0.loss_map_cls_all: 0.4197, d0.loss_map_pts_all: 2.7778, d0.loss_map_dir_all: 0.0346, d0.loss_map_cls: 0.4197, d0.loss_map_pts: 2.7778, d0.loss_map_dir: 0.0346, d1.loss_map_cls: 0.4187, d1.loss_map_pts: 1.9484, d1.loss_map_dir: 0.0342, d2.loss_map_cls: 0.4027, d2.loss_map_pts: 1.8151, d2.loss_map_dir: 0.0344, d3.loss_map_cls: 0.3973, d3.loss_map_pts: 1.7818, d3.loss_map_dir: 0.0347, d4.loss_map_cls: 0.3947, d4.loss_map_pts: 1.7680, d4.loss_map_dir: 0.0349, d5.loss_map_cls: 0.3926, d5.loss_map_pts: 1.7702, d5.loss_map_dir: 0.0350, loss: 60.7539, grad_norm: 152.4691 +2026-02-24 14:44:38,268 - DriveTransformer - INFO - Epoch [2][16900/39528] lr: 9.958e-05, eta: 8 days, 5:17:56, time: 0.784, data_time: 0.038, memory: 19865, loss_cls: 0.6333, loss_bbox: 0.6950, loss_traj: 1.4740, loss_traj_cls: 0.0005, loss_map_cls: 0.3901, loss_map_pts: 1.7572, loss_map_dir: 0.0332, d0.loss_plan_l1_fix_time: 3.1935, d0.loss_plan_l1_fix_dist: 0.4380, d1.loss_plan_l1_fix_time: 2.9388, d1.loss_plan_l1_fix_dist: 0.4077, d2.loss_plan_l1_fix_time: 2.9152, d2.loss_plan_l1_fix_dist: 0.4154, d3.loss_plan_l1_fix_time: 2.9207, d3.loss_plan_l1_fix_dist: 0.4313, d4.loss_plan_l1_fix_time: 2.9292, d4.loss_plan_l1_fix_dist: 0.4536, d5.loss_plan_l1_fix_time: 2.9386, d5.loss_plan_l1_fix_dist: 0.4782, d6.loss_plan_l1_fix_time: 2.9488, d6.loss_plan_l1_fix_dist: 0.5070, d0.loss_cls_all: 0.6233, d0.loss_bbox_all: 0.7239, d0.loss_cls: 0.6233, d0.loss_bbox: 0.7239, d1.loss_cls: 0.6089, d1.loss_bbox: 0.7147, d2.loss_cls: 0.6118, d2.loss_bbox: 0.7059, d3.loss_cls: 0.6143, d3.loss_bbox: 0.6970, d4.loss_cls: 0.6178, d4.loss_bbox: 0.6938, d5.loss_cls: 0.6278, d5.loss_bbox: 0.6932, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5175, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4482, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.4526, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4598, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4661, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4703, d0.loss_map_cls_all: 0.4268, d0.loss_map_pts_all: 2.6198, d0.loss_map_dir_all: 0.0326, d0.loss_map_cls: 0.4268, d0.loss_map_pts: 2.6198, d0.loss_map_dir: 0.0326, d1.loss_map_cls: 0.4133, d1.loss_map_pts: 1.9245, d1.loss_map_dir: 0.0323, d2.loss_map_cls: 0.4061, d2.loss_map_pts: 1.8032, d2.loss_map_dir: 0.0325, d3.loss_map_cls: 0.3952, d3.loss_map_pts: 1.7715, d3.loss_map_dir: 0.0329, d4.loss_map_cls: 0.3906, d4.loss_map_pts: 1.7586, d4.loss_map_dir: 0.0329, d5.loss_map_cls: 0.3897, d5.loss_map_pts: 1.7554, d5.loss_map_dir: 0.0331, loss: 64.3283, grad_norm: 151.8893 +2026-02-24 14:45:19,177 - DriveTransformer - INFO - Epoch [2][16950/39528] lr: 9.958e-05, eta: 8 days, 5:17:33, time: 0.818, data_time: 0.037, memory: 19865, loss_cls: 0.6141, loss_bbox: 0.6774, loss_traj: 1.3412, loss_traj_cls: 0.0005, loss_map_cls: 0.3817, loss_map_pts: 1.9109, loss_map_dir: 0.0359, d0.loss_plan_l1_fix_time: 2.3584, d0.loss_plan_l1_fix_dist: 0.4092, d1.loss_plan_l1_fix_time: 2.0470, d1.loss_plan_l1_fix_dist: 0.3969, d2.loss_plan_l1_fix_time: 1.9936, d2.loss_plan_l1_fix_dist: 0.4109, d3.loss_plan_l1_fix_time: 1.9843, d3.loss_plan_l1_fix_dist: 0.4274, d4.loss_plan_l1_fix_time: 1.9870, d4.loss_plan_l1_fix_dist: 0.4450, d5.loss_plan_l1_fix_time: 1.9942, d5.loss_plan_l1_fix_dist: 0.4636, d6.loss_plan_l1_fix_time: 2.0033, d6.loss_plan_l1_fix_dist: 0.4826, d0.loss_cls_all: 0.6115, d0.loss_bbox_all: 0.7080, d0.loss_cls: 0.6115, d0.loss_bbox: 0.7080, d1.loss_cls: 0.5987, d1.loss_bbox: 0.7009, d2.loss_cls: 0.6022, d2.loss_bbox: 0.6935, d3.loss_cls: 0.6052, d3.loss_bbox: 0.6850, d4.loss_cls: 0.6067, d4.loss_bbox: 0.6862, d5.loss_cls: 0.6118, d5.loss_bbox: 0.6767, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4283, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3466, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.3257, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3343, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3345, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3380, d0.loss_map_cls_all: 0.4147, d0.loss_map_pts_all: 2.8265, d0.loss_map_dir_all: 0.0349, d0.loss_map_cls: 0.4147, d0.loss_map_pts: 2.8265, d0.loss_map_dir: 0.0349, d1.loss_map_cls: 0.4031, d1.loss_map_pts: 2.0587, d1.loss_map_dir: 0.0346, d2.loss_map_cls: 0.3934, d2.loss_map_pts: 1.9508, d2.loss_map_dir: 0.0351, d3.loss_map_cls: 0.3853, d3.loss_map_pts: 1.9221, d3.loss_map_dir: 0.0355, d4.loss_map_cls: 0.3815, d4.loss_map_pts: 1.9127, d4.loss_map_dir: 0.0357, d5.loss_map_cls: 0.3801, d5.loss_map_pts: 1.9094, d5.loss_map_dir: 0.0358, loss: 58.0087, grad_norm: 152.6564 +2026-02-24 14:45:58,570 - DriveTransformer - INFO - Epoch [2][17000/39528] lr: 9.958e-05, eta: 8 days, 5:16:47, time: 0.788, data_time: 0.036, memory: 19865, loss_cls: 0.5937, loss_bbox: 0.6367, loss_traj: 1.7154, loss_traj_cls: 0.0005, loss_map_cls: 0.3596, loss_map_pts: 1.6415, loss_map_dir: 0.0308, d0.loss_plan_l1_fix_time: 2.8430, d0.loss_plan_l1_fix_dist: 0.4907, d1.loss_plan_l1_fix_time: 2.2766, d1.loss_plan_l1_fix_dist: 0.4298, d2.loss_plan_l1_fix_time: 2.1712, d2.loss_plan_l1_fix_dist: 0.4306, d3.loss_plan_l1_fix_time: 2.1525, d3.loss_plan_l1_fix_dist: 0.4411, d4.loss_plan_l1_fix_time: 2.1521, d4.loss_plan_l1_fix_dist: 0.4550, d5.loss_plan_l1_fix_time: 2.1567, d5.loss_plan_l1_fix_dist: 0.4739, d6.loss_plan_l1_fix_time: 2.1643, d6.loss_plan_l1_fix_dist: 0.4936, d0.loss_cls_all: 0.5957, d0.loss_bbox_all: 0.6725, d0.loss_cls: 0.5957, d0.loss_bbox: 0.6725, d1.loss_cls: 0.5880, d1.loss_bbox: 0.6557, d2.loss_cls: 0.5894, d2.loss_bbox: 0.6496, d3.loss_cls: 0.5929, d3.loss_bbox: 0.6386, d4.loss_cls: 0.5933, d4.loss_bbox: 0.6344, d5.loss_cls: 0.5947, d5.loss_bbox: 0.6336, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.8509, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.7233, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.7211, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.7092, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7144, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7117, d0.loss_map_cls_all: 0.4010, d0.loss_map_pts_all: 2.5067, d0.loss_map_dir_all: 0.0302, d0.loss_map_cls: 0.4010, d0.loss_map_pts: 2.5067, d0.loss_map_dir: 0.0302, d1.loss_map_cls: 0.3866, d1.loss_map_pts: 1.8251, d1.loss_map_dir: 0.0298, d2.loss_map_cls: 0.3778, d2.loss_map_pts: 1.6995, d2.loss_map_dir: 0.0301, d3.loss_map_cls: 0.3711, d3.loss_map_pts: 1.6592, d3.loss_map_dir: 0.0303, d4.loss_map_cls: 0.3624, d4.loss_map_pts: 1.6449, d4.loss_map_dir: 0.0305, d5.loss_map_cls: 0.3593, d5.loss_map_pts: 1.6422, d5.loss_map_dir: 0.0306, loss: 59.6055, grad_norm: 153.3777 +2026-02-24 14:46:37,619 - DriveTransformer - INFO - Epoch [2][17050/39528] lr: 9.958e-05, eta: 8 days, 5:15:55, time: 0.781, data_time: 0.039, memory: 19865, loss_cls: 0.6158, loss_bbox: 0.6945, loss_traj: 1.3879, loss_traj_cls: 0.0005, loss_map_cls: 0.3853, loss_map_pts: 1.8659, loss_map_dir: 0.0321, d0.loss_plan_l1_fix_time: 2.6550, d0.loss_plan_l1_fix_dist: 0.4195, d1.loss_plan_l1_fix_time: 2.2010, d1.loss_plan_l1_fix_dist: 0.3450, d2.loss_plan_l1_fix_time: 2.1213, d2.loss_plan_l1_fix_dist: 0.3723, d3.loss_plan_l1_fix_time: 2.1152, d3.loss_plan_l1_fix_dist: 0.3965, d4.loss_plan_l1_fix_time: 2.1186, d4.loss_plan_l1_fix_dist: 0.4210, d5.loss_plan_l1_fix_time: 2.1231, d5.loss_plan_l1_fix_dist: 0.4435, d6.loss_plan_l1_fix_time: 2.1297, d6.loss_plan_l1_fix_dist: 0.4693, d0.loss_cls_all: 0.6157, d0.loss_bbox_all: 0.7231, d0.loss_cls: 0.6157, d0.loss_bbox: 0.7231, d1.loss_cls: 0.6059, d1.loss_bbox: 0.7079, d2.loss_cls: 0.6046, d2.loss_bbox: 0.7019, d3.loss_cls: 0.6072, d3.loss_bbox: 0.6936, d4.loss_cls: 0.6093, d4.loss_bbox: 0.6890, d5.loss_cls: 0.6151, d5.loss_bbox: 0.6909, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4552, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3810, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3788, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3818, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3770, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3835, d0.loss_map_cls_all: 0.4177, d0.loss_map_pts_all: 2.6280, d0.loss_map_dir_all: 0.0316, d0.loss_map_cls: 0.4177, d0.loss_map_pts: 2.6280, d0.loss_map_dir: 0.0316, d1.loss_map_cls: 0.4068, d1.loss_map_pts: 2.0084, d1.loss_map_dir: 0.0313, d2.loss_map_cls: 0.3974, d2.loss_map_pts: 1.9116, d2.loss_map_dir: 0.0316, d3.loss_map_cls: 0.3903, d3.loss_map_pts: 1.8784, d3.loss_map_dir: 0.0319, d4.loss_map_cls: 0.3845, d4.loss_map_pts: 1.8695, d4.loss_map_dir: 0.0319, d5.loss_map_cls: 0.3847, d5.loss_map_pts: 1.8672, d5.loss_map_dir: 0.0320, loss: 58.6896, grad_norm: 148.9448 +2026-02-24 14:47:15,846 - DriveTransformer - INFO - Epoch [2][17100/39528] lr: 9.958e-05, eta: 8 days, 5:14:51, time: 0.765, data_time: 0.047, memory: 19865, loss_cls: 0.6310, loss_bbox: 0.7099, loss_traj: 1.4251, loss_traj_cls: 0.0005, loss_map_cls: 0.3748, loss_map_pts: 1.6797, loss_map_dir: 0.0327, d0.loss_plan_l1_fix_time: 2.9394, d0.loss_plan_l1_fix_dist: 0.4792, d1.loss_plan_l1_fix_time: 2.6943, d1.loss_plan_l1_fix_dist: 0.4077, d2.loss_plan_l1_fix_time: 2.6839, d2.loss_plan_l1_fix_dist: 0.4094, d3.loss_plan_l1_fix_time: 2.6979, d3.loss_plan_l1_fix_dist: 0.4196, d4.loss_plan_l1_fix_time: 2.7092, d4.loss_plan_l1_fix_dist: 0.4320, d5.loss_plan_l1_fix_time: 2.7180, d5.loss_plan_l1_fix_dist: 0.4495, d6.loss_plan_l1_fix_time: 2.7267, d6.loss_plan_l1_fix_dist: 0.4676, d0.loss_cls_all: 0.6348, d0.loss_bbox_all: 0.7429, d0.loss_cls: 0.6348, d0.loss_bbox: 0.7429, d1.loss_cls: 0.6233, d1.loss_bbox: 0.7291, d2.loss_cls: 0.6250, d2.loss_bbox: 0.7131, d3.loss_cls: 0.6265, d3.loss_bbox: 0.7088, d4.loss_cls: 0.6266, d4.loss_bbox: 0.7056, d5.loss_cls: 0.6296, d5.loss_bbox: 0.7075, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4837, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4109, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4098, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4135, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4176, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4214, d0.loss_map_cls_all: 0.4048, d0.loss_map_pts_all: 2.4834, d0.loss_map_dir_all: 0.0322, d0.loss_map_cls: 0.4048, d0.loss_map_pts: 2.4834, d0.loss_map_dir: 0.0322, d1.loss_map_cls: 0.4035, d1.loss_map_pts: 1.8384, d1.loss_map_dir: 0.0320, d2.loss_map_cls: 0.3904, d2.loss_map_pts: 1.7359, d2.loss_map_dir: 0.0322, d3.loss_map_cls: 0.3825, d3.loss_map_pts: 1.6943, d3.loss_map_dir: 0.0324, d4.loss_map_cls: 0.3786, d4.loss_map_pts: 1.6858, d4.loss_map_dir: 0.0325, d5.loss_map_cls: 0.3755, d5.loss_map_pts: 1.6811, d5.loss_map_dir: 0.0326, loss: 61.6680, grad_norm: 148.9265 +2026-02-24 14:47:56,954 - DriveTransformer - INFO - Epoch [2][17150/39528] lr: 9.958e-05, eta: 8 days, 5:14:31, time: 0.822, data_time: 0.043, memory: 19865, loss_cls: 0.6075, loss_bbox: 0.6702, loss_traj: 1.6903, loss_traj_cls: 0.0004, loss_map_cls: 0.3764, loss_map_pts: 1.8740, loss_map_dir: 0.0341, d0.loss_plan_l1_fix_time: 2.7062, d0.loss_plan_l1_fix_dist: 0.5124, d1.loss_plan_l1_fix_time: 2.5201, d1.loss_plan_l1_fix_dist: 0.4322, d2.loss_plan_l1_fix_time: 2.5454, d2.loss_plan_l1_fix_dist: 0.4292, d3.loss_plan_l1_fix_time: 2.5643, d3.loss_plan_l1_fix_dist: 0.4382, d4.loss_plan_l1_fix_time: 2.5748, d4.loss_plan_l1_fix_dist: 0.4514, d5.loss_plan_l1_fix_time: 2.5843, d5.loss_plan_l1_fix_dist: 0.4666, d6.loss_plan_l1_fix_time: 2.5936, d6.loss_plan_l1_fix_dist: 0.4869, d0.loss_cls_all: 0.6021, d0.loss_bbox_all: 0.7076, d0.loss_cls: 0.6021, d0.loss_bbox: 0.7076, d1.loss_cls: 0.5995, d1.loss_bbox: 0.6943, d2.loss_cls: 0.5990, d2.loss_bbox: 0.6803, d3.loss_cls: 0.6027, d3.loss_bbox: 0.6742, d4.loss_cls: 0.6029, d4.loss_bbox: 0.6699, d5.loss_cls: 0.6052, d5.loss_bbox: 0.6677, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7632, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.6657, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.6670, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6779, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6860, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6831, d0.loss_map_cls_all: 0.4045, d0.loss_map_pts_all: 2.6539, d0.loss_map_dir_all: 0.0333, d0.loss_map_cls: 0.4045, d0.loss_map_pts: 2.6539, d0.loss_map_dir: 0.0333, d1.loss_map_cls: 0.3978, d1.loss_map_pts: 1.9966, d1.loss_map_dir: 0.0332, d2.loss_map_cls: 0.3898, d2.loss_map_pts: 1.8954, d2.loss_map_dir: 0.0334, d3.loss_map_cls: 0.3826, d3.loss_map_pts: 1.8713, d3.loss_map_dir: 0.0338, d4.loss_map_cls: 0.3798, d4.loss_map_pts: 1.8654, d4.loss_map_dir: 0.0339, d5.loss_map_cls: 0.3762, d5.loss_map_pts: 1.8668, d5.loss_map_dir: 0.0339, loss: 63.4938, grad_norm: 148.3299 +2026-02-24 14:48:35,497 - DriveTransformer - INFO - Epoch [2][17200/39528] lr: 9.958e-05, eta: 8 days, 5:13:32, time: 0.771, data_time: 0.042, memory: 19865, loss_cls: 0.6081, loss_bbox: 0.6608, loss_traj: 1.2722, loss_traj_cls: 0.0005, loss_map_cls: 0.3500, loss_map_pts: 1.5957, loss_map_dir: 0.0286, d0.loss_plan_l1_fix_time: 2.5043, d0.loss_plan_l1_fix_dist: 0.4271, d1.loss_plan_l1_fix_time: 2.1731, d1.loss_plan_l1_fix_dist: 0.3693, d2.loss_plan_l1_fix_time: 2.1074, d2.loss_plan_l1_fix_dist: 0.3684, d3.loss_plan_l1_fix_time: 2.0990, d3.loss_plan_l1_fix_dist: 0.3803, d4.loss_plan_l1_fix_time: 2.1030, d4.loss_plan_l1_fix_dist: 0.3956, d5.loss_plan_l1_fix_time: 2.1094, d5.loss_plan_l1_fix_dist: 0.4167, d6.loss_plan_l1_fix_time: 2.1186, d6.loss_plan_l1_fix_dist: 0.4433, d0.loss_cls_all: 0.6036, d0.loss_bbox_all: 0.6986, d0.loss_cls: 0.6036, d0.loss_bbox: 0.6986, d1.loss_cls: 0.6074, d1.loss_bbox: 0.6861, d2.loss_cls: 0.6080, d2.loss_bbox: 0.6714, d3.loss_cls: 0.6138, d3.loss_bbox: 0.6678, d4.loss_cls: 0.6130, d4.loss_bbox: 0.6616, d5.loss_cls: 0.6119, d5.loss_bbox: 0.6594, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3417, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2608, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.2570, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.2605, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2723, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.2765, d0.loss_map_cls_all: 0.3942, d0.loss_map_pts_all: 2.3560, d0.loss_map_dir_all: 0.0281, d0.loss_map_cls: 0.3942, d0.loss_map_pts: 2.3560, d0.loss_map_dir: 0.0281, d1.loss_map_cls: 0.3743, d1.loss_map_pts: 1.7298, d1.loss_map_dir: 0.0279, d2.loss_map_cls: 0.3667, d2.loss_map_pts: 1.6279, d2.loss_map_dir: 0.0281, d3.loss_map_cls: 0.3555, d3.loss_map_pts: 1.5995, d3.loss_map_dir: 0.0283, d4.loss_map_cls: 0.3517, d4.loss_map_pts: 1.5918, d4.loss_map_dir: 0.0285, d5.loss_map_cls: 0.3500, d5.loss_map_pts: 1.5907, d5.loss_map_dir: 0.0285, loss: 54.8442, grad_norm: 147.8418 +2026-02-24 14:49:15,480 - DriveTransformer - INFO - Epoch [2][17250/39528] lr: 9.958e-05, eta: 8 days, 5:12:55, time: 0.800, data_time: 0.037, memory: 19865, loss_cls: 0.6432, loss_bbox: 0.6943, loss_traj: 1.4879, loss_traj_cls: 0.0005, loss_map_cls: 0.3466, loss_map_pts: 1.7428, loss_map_dir: 0.0315, d0.loss_plan_l1_fix_time: 2.6991, d0.loss_plan_l1_fix_dist: 0.5500, d1.loss_plan_l1_fix_time: 2.3539, d1.loss_plan_l1_fix_dist: 0.4638, d2.loss_plan_l1_fix_time: 2.2641, d2.loss_plan_l1_fix_dist: 0.4631, d3.loss_plan_l1_fix_time: 2.2538, d3.loss_plan_l1_fix_dist: 0.4705, d4.loss_plan_l1_fix_time: 2.2571, d4.loss_plan_l1_fix_dist: 0.4831, d5.loss_plan_l1_fix_time: 2.2630, d5.loss_plan_l1_fix_dist: 0.4992, d6.loss_plan_l1_fix_time: 2.2713, d6.loss_plan_l1_fix_dist: 0.5209, d0.loss_cls_all: 0.6255, d0.loss_bbox_all: 0.7329, d0.loss_cls: 0.6255, d0.loss_bbox: 0.7329, d1.loss_cls: 0.6178, d1.loss_bbox: 0.7175, d2.loss_cls: 0.6253, d2.loss_bbox: 0.6958, d3.loss_cls: 0.6216, d3.loss_bbox: 0.6940, d4.loss_cls: 0.6265, d4.loss_bbox: 0.6921, d5.loss_cls: 0.6350, d5.loss_bbox: 0.6887, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6522, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4944, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4650, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4674, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4699, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4756, d0.loss_map_cls_all: 0.3879, d0.loss_map_pts_all: 2.6174, d0.loss_map_dir_all: 0.0311, d0.loss_map_cls: 0.3879, d0.loss_map_pts: 2.6174, d0.loss_map_dir: 0.0311, d1.loss_map_cls: 0.3725, d1.loss_map_pts: 1.8872, d1.loss_map_dir: 0.0308, d2.loss_map_cls: 0.3579, d2.loss_map_pts: 1.7879, d2.loss_map_dir: 0.0310, d3.loss_map_cls: 0.3534, d3.loss_map_pts: 1.7572, d3.loss_map_dir: 0.0312, d4.loss_map_cls: 0.3503, d4.loss_map_pts: 1.7468, d4.loss_map_dir: 0.0314, d5.loss_map_cls: 0.3463, d5.loss_map_pts: 1.7455, d5.loss_map_dir: 0.0315, loss: 60.0529, grad_norm: 146.7511 +2026-02-24 14:49:56,311 - DriveTransformer - INFO - Epoch [2][17300/39528] lr: 9.958e-05, eta: 8 days, 5:12:31, time: 0.816, data_time: 0.043, memory: 19865, loss_cls: 0.6159, loss_bbox: 0.6398, loss_traj: 1.2107, loss_traj_cls: 0.0005, loss_map_cls: 0.3419, loss_map_pts: 1.7302, loss_map_dir: 0.0337, d0.loss_plan_l1_fix_time: 2.4218, d0.loss_plan_l1_fix_dist: 0.5493, d1.loss_plan_l1_fix_time: 2.1256, d1.loss_plan_l1_fix_dist: 0.4835, d2.loss_plan_l1_fix_time: 2.0928, d2.loss_plan_l1_fix_dist: 0.4886, d3.loss_plan_l1_fix_time: 2.0927, d3.loss_plan_l1_fix_dist: 0.4982, d4.loss_plan_l1_fix_time: 2.0993, d4.loss_plan_l1_fix_dist: 0.5086, d5.loss_plan_l1_fix_time: 2.1072, d5.loss_plan_l1_fix_dist: 0.5194, d6.loss_plan_l1_fix_time: 2.1154, d6.loss_plan_l1_fix_dist: 0.5306, d0.loss_cls_all: 0.6120, d0.loss_bbox_all: 0.6725, d0.loss_cls: 0.6120, d0.loss_bbox: 0.6725, d1.loss_cls: 0.6058, d1.loss_bbox: 0.6611, d2.loss_cls: 0.6092, d2.loss_bbox: 0.6446, d3.loss_cls: 0.6033, d3.loss_bbox: 0.6448, d4.loss_cls: 0.6063, d4.loss_bbox: 0.6396, d5.loss_cls: 0.6101, d5.loss_bbox: 0.6376, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.2187, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1808, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.1872, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1929, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1963, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2100, d0.loss_map_cls_all: 0.3802, d0.loss_map_pts_all: 2.6794, d0.loss_map_dir_all: 0.0329, d0.loss_map_cls: 0.3802, d0.loss_map_pts: 2.6794, d0.loss_map_dir: 0.0329, d1.loss_map_cls: 0.3766, d1.loss_map_pts: 1.8786, d1.loss_map_dir: 0.0327, d2.loss_map_cls: 0.3627, d2.loss_map_pts: 1.7751, d2.loss_map_dir: 0.0330, d3.loss_map_cls: 0.3506, d3.loss_map_pts: 1.7448, d3.loss_map_dir: 0.0333, d4.loss_map_cls: 0.3463, d4.loss_map_pts: 1.7359, d4.loss_map_dir: 0.0334, d5.loss_map_cls: 0.3425, d5.loss_map_pts: 1.7321, d5.loss_map_dir: 0.0335, loss: 56.2236, grad_norm: 144.4266 +2026-02-24 14:50:36,667 - DriveTransformer - INFO - Epoch [2][17350/39528] lr: 9.958e-05, eta: 8 days, 5:12:00, time: 0.807, data_time: 0.050, memory: 19865, loss_cls: 0.5876, loss_bbox: 0.6390, loss_traj: 1.2563, loss_traj_cls: 0.0005, loss_map_cls: 0.3387, loss_map_pts: 1.6283, loss_map_dir: 0.0338, d0.loss_plan_l1_fix_time: 2.4852, d0.loss_plan_l1_fix_dist: 0.5271, d1.loss_plan_l1_fix_time: 2.1922, d1.loss_plan_l1_fix_dist: 0.4474, d2.loss_plan_l1_fix_time: 2.1586, d2.loss_plan_l1_fix_dist: 0.4580, d3.loss_plan_l1_fix_time: 2.1602, d3.loss_plan_l1_fix_dist: 0.4739, d4.loss_plan_l1_fix_time: 2.1691, d4.loss_plan_l1_fix_dist: 0.4927, d5.loss_plan_l1_fix_time: 2.1805, d5.loss_plan_l1_fix_dist: 0.5133, d6.loss_plan_l1_fix_time: 2.1929, d6.loss_plan_l1_fix_dist: 0.5375, d0.loss_cls_all: 0.5645, d0.loss_bbox_all: 0.6594, d0.loss_cls: 0.5645, d0.loss_bbox: 0.6594, d1.loss_cls: 0.5534, d1.loss_bbox: 0.6617, d2.loss_cls: 0.5591, d2.loss_bbox: 0.6483, d3.loss_cls: 0.5599, d3.loss_bbox: 0.6374, d4.loss_cls: 0.5686, d4.loss_bbox: 0.6322, d5.loss_cls: 0.5727, d5.loss_bbox: 0.6350, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2991, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2277, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.2335, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.2316, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2314, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.2435, d0.loss_map_cls_all: 0.3736, d0.loss_map_pts_all: 2.5658, d0.loss_map_dir_all: 0.0335, d0.loss_map_cls: 0.3736, d0.loss_map_pts: 2.5658, d0.loss_map_dir: 0.0335, d1.loss_map_cls: 0.3644, d1.loss_map_pts: 1.7757, d1.loss_map_dir: 0.0330, d2.loss_map_cls: 0.3531, d2.loss_map_pts: 1.6669, d2.loss_map_dir: 0.0334, d3.loss_map_cls: 0.3453, d3.loss_map_pts: 1.6317, d3.loss_map_dir: 0.0335, d4.loss_map_cls: 0.3415, d4.loss_map_pts: 1.6231, d4.loss_map_dir: 0.0336, d5.loss_map_cls: 0.3383, d5.loss_map_pts: 1.6229, d5.loss_map_dir: 0.0337, loss: 55.5956, grad_norm: 142.3131 +2026-02-24 14:51:16,574 - DriveTransformer - INFO - Epoch [2][17400/39528] lr: 9.958e-05, eta: 8 days, 5:11:23, time: 0.800, data_time: 0.040, memory: 19865, loss_cls: 0.6658, loss_bbox: 0.6972, loss_traj: 1.5405, loss_traj_cls: 0.0006, loss_map_cls: 0.3725, loss_map_pts: 1.8052, loss_map_dir: 0.0338, d0.loss_plan_l1_fix_time: 2.7472, d0.loss_plan_l1_fix_dist: 0.4821, d1.loss_plan_l1_fix_time: 2.3735, d1.loss_plan_l1_fix_dist: 0.4071, d2.loss_plan_l1_fix_time: 2.3595, d2.loss_plan_l1_fix_dist: 0.4200, d3.loss_plan_l1_fix_time: 2.3734, d3.loss_plan_l1_fix_dist: 0.4491, d4.loss_plan_l1_fix_time: 2.3852, d4.loss_plan_l1_fix_dist: 0.4779, d5.loss_plan_l1_fix_time: 2.3962, d5.loss_plan_l1_fix_dist: 0.5063, d6.loss_plan_l1_fix_time: 2.4065, d6.loss_plan_l1_fix_dist: 0.5351, d0.loss_cls_all: 0.6223, d0.loss_bbox_all: 0.7397, d0.loss_cls: 0.6223, d0.loss_bbox: 0.7397, d1.loss_cls: 0.6121, d1.loss_bbox: 0.7293, d2.loss_cls: 0.6273, d2.loss_bbox: 0.7129, d3.loss_cls: 0.6241, d3.loss_bbox: 0.6983, d4.loss_cls: 0.6359, d4.loss_bbox: 0.6924, d5.loss_cls: 0.6430, d5.loss_bbox: 0.6921, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5919, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5146, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5146, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5228, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5271, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5291, d0.loss_map_cls_all: 0.3950, d0.loss_map_pts_all: 2.6140, d0.loss_map_dir_all: 0.0335, d0.loss_map_cls: 0.3950, d0.loss_map_pts: 2.6140, d0.loss_map_dir: 0.0335, d1.loss_map_cls: 0.3916, d1.loss_map_pts: 1.9349, d1.loss_map_dir: 0.0329, d2.loss_map_cls: 0.3783, d2.loss_map_pts: 1.8398, d2.loss_map_dir: 0.0332, d3.loss_map_cls: 0.3766, d3.loss_map_pts: 1.8105, d3.loss_map_dir: 0.0335, d4.loss_map_cls: 0.3721, d4.loss_map_pts: 1.8012, d4.loss_map_dir: 0.0336, d5.loss_map_cls: 0.3719, d5.loss_map_pts: 1.8039, d5.loss_map_dir: 0.0337, loss: 61.3626, grad_norm: 143.5624 +2026-02-24 14:51:55,550 - DriveTransformer - INFO - Epoch [2][17450/39528] lr: 9.958e-05, eta: 8 days, 5:10:29, time: 0.778, data_time: 0.035, memory: 19865, loss_cls: 0.6569, loss_bbox: 0.6870, loss_traj: 1.5824, loss_traj_cls: 0.0005, loss_map_cls: 0.3712, loss_map_pts: 1.7077, loss_map_dir: 0.0323, d0.loss_plan_l1_fix_time: 3.1649, d0.loss_plan_l1_fix_dist: 0.4658, d1.loss_plan_l1_fix_time: 2.8435, d1.loss_plan_l1_fix_dist: 0.4206, d2.loss_plan_l1_fix_time: 2.7780, d2.loss_plan_l1_fix_dist: 0.4269, d3.loss_plan_l1_fix_time: 2.7694, d3.loss_plan_l1_fix_dist: 0.4425, d4.loss_plan_l1_fix_time: 2.7715, d4.loss_plan_l1_fix_dist: 0.4672, d5.loss_plan_l1_fix_time: 2.7751, d5.loss_plan_l1_fix_dist: 0.4991, d6.loss_plan_l1_fix_time: 2.7807, d6.loss_plan_l1_fix_dist: 0.5438, d0.loss_cls_all: 0.6389, d0.loss_bbox_all: 0.7148, d0.loss_cls: 0.6389, d0.loss_bbox: 0.7148, d1.loss_cls: 0.6259, d1.loss_bbox: 0.7163, d2.loss_cls: 0.6340, d2.loss_bbox: 0.7067, d3.loss_cls: 0.6302, d3.loss_bbox: 0.6922, d4.loss_cls: 0.6428, d4.loss_bbox: 0.6866, d5.loss_cls: 0.6452, d5.loss_bbox: 0.6852, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6884, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5655, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5479, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5548, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5585, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5684, d0.loss_map_cls_all: 0.4065, d0.loss_map_pts_all: 2.5307, d0.loss_map_dir_all: 0.0322, d0.loss_map_cls: 0.4065, d0.loss_map_pts: 2.5307, d0.loss_map_dir: 0.0322, d1.loss_map_cls: 0.3984, d1.loss_map_pts: 1.8545, d1.loss_map_dir: 0.0318, d2.loss_map_cls: 0.3864, d2.loss_map_pts: 1.7482, d2.loss_map_dir: 0.0319, d3.loss_map_cls: 0.3775, d3.loss_map_pts: 1.7163, d3.loss_map_dir: 0.0321, d4.loss_map_cls: 0.3729, d4.loss_map_pts: 1.7077, d4.loss_map_dir: 0.0322, d5.loss_map_cls: 0.3722, d5.loss_map_pts: 1.7081, d5.loss_map_dir: 0.0322, loss: 63.7884, grad_norm: 144.2552 +2026-02-24 14:52:34,602 - DriveTransformer - INFO - Epoch [2][17500/39528] lr: 9.958e-05, eta: 8 days, 5:09:38, time: 0.781, data_time: 0.040, memory: 19865, loss_cls: 0.6103, loss_bbox: 0.6919, loss_traj: 1.3961, loss_traj_cls: 0.0005, loss_map_cls: 0.3650, loss_map_pts: 1.7513, loss_map_dir: 0.0317, d0.loss_plan_l1_fix_time: 2.8513, d0.loss_plan_l1_fix_dist: 0.4876, d1.loss_plan_l1_fix_time: 2.5268, d1.loss_plan_l1_fix_dist: 0.4226, d2.loss_plan_l1_fix_time: 2.4649, d2.loss_plan_l1_fix_dist: 0.4276, d3.loss_plan_l1_fix_time: 2.4511, d3.loss_plan_l1_fix_dist: 0.4394, d4.loss_plan_l1_fix_time: 2.4506, d4.loss_plan_l1_fix_dist: 0.4558, d5.loss_plan_l1_fix_time: 2.4533, d5.loss_plan_l1_fix_dist: 0.4778, d6.loss_plan_l1_fix_time: 2.4594, d6.loss_plan_l1_fix_dist: 0.5089, d0.loss_cls_all: 0.6058, d0.loss_bbox_all: 0.7159, d0.loss_cls: 0.6058, d0.loss_bbox: 0.7159, d1.loss_cls: 0.5977, d1.loss_bbox: 0.7156, d2.loss_cls: 0.5966, d2.loss_bbox: 0.7107, d3.loss_cls: 0.5991, d3.loss_bbox: 0.6996, d4.loss_cls: 0.6005, d4.loss_bbox: 0.6937, d5.loss_cls: 0.6073, d5.loss_bbox: 0.6885, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4852, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3989, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3823, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3946, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3938, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.3946, d0.loss_map_cls_all: 0.3882, d0.loss_map_pts_all: 2.5556, d0.loss_map_dir_all: 0.0317, d0.loss_map_cls: 0.3882, d0.loss_map_pts: 2.5556, d0.loss_map_dir: 0.0317, d1.loss_map_cls: 0.3925, d1.loss_map_pts: 1.8909, d1.loss_map_dir: 0.0311, d2.loss_map_cls: 0.3727, d2.loss_map_pts: 1.7896, d2.loss_map_dir: 0.0313, d3.loss_map_cls: 0.3684, d3.loss_map_pts: 1.7576, d3.loss_map_dir: 0.0315, d4.loss_map_cls: 0.3665, d4.loss_map_pts: 1.7508, d4.loss_map_dir: 0.0315, d5.loss_map_cls: 0.3647, d5.loss_map_pts: 1.7469, d5.loss_map_dir: 0.0315, loss: 60.2381, grad_norm: 144.3968 +2026-02-24 14:53:13,583 - DriveTransformer - INFO - Epoch [2][17550/39528] lr: 9.958e-05, eta: 8 days, 5:08:45, time: 0.780, data_time: 0.039, memory: 19865, loss_cls: 0.6194, loss_bbox: 0.6377, loss_traj: 1.6296, loss_traj_cls: 0.0005, loss_map_cls: 0.3797, loss_map_pts: 1.7131, loss_map_dir: 0.0299, d0.loss_plan_l1_fix_time: 2.6279, d0.loss_plan_l1_fix_dist: 0.4167, d1.loss_plan_l1_fix_time: 2.3887, d1.loss_plan_l1_fix_dist: 0.3967, d2.loss_plan_l1_fix_time: 2.3368, d2.loss_plan_l1_fix_dist: 0.4086, d3.loss_plan_l1_fix_time: 2.3295, d3.loss_plan_l1_fix_dist: 0.4276, d4.loss_plan_l1_fix_time: 2.3328, d4.loss_plan_l1_fix_dist: 0.4412, d5.loss_plan_l1_fix_time: 2.3403, d5.loss_plan_l1_fix_dist: 0.4524, d6.loss_plan_l1_fix_time: 2.3504, d6.loss_plan_l1_fix_dist: 0.4601, d0.loss_cls_all: 0.6107, d0.loss_bbox_all: 0.6649, d0.loss_cls: 0.6107, d0.loss_bbox: 0.6649, d1.loss_cls: 0.5994, d1.loss_bbox: 0.6589, d2.loss_cls: 0.5984, d2.loss_bbox: 0.6567, d3.loss_cls: 0.6029, d3.loss_bbox: 0.6431, d4.loss_cls: 0.6067, d4.loss_bbox: 0.6331, d5.loss_cls: 0.6134, d5.loss_bbox: 0.6336, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6672, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5915, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.5912, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5889, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6015, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6214, d0.loss_map_cls_all: 0.4183, d0.loss_map_pts_all: 2.3959, d0.loss_map_dir_all: 0.0299, d0.loss_map_cls: 0.4183, d0.loss_map_pts: 2.3959, d0.loss_map_dir: 0.0299, d1.loss_map_cls: 0.4114, d1.loss_map_pts: 1.8621, d1.loss_map_dir: 0.0294, d2.loss_map_cls: 0.3988, d2.loss_map_pts: 1.7679, d2.loss_map_dir: 0.0296, d3.loss_map_cls: 0.3907, d3.loss_map_pts: 1.7265, d3.loss_map_dir: 0.0298, d4.loss_map_cls: 0.3817, d4.loss_map_pts: 1.7156, d4.loss_map_dir: 0.0298, d5.loss_map_cls: 0.3805, d5.loss_map_pts: 1.7092, d5.loss_map_dir: 0.0299, loss: 59.7639, grad_norm: 144.7601 +2026-02-24 14:53:53,981 - DriveTransformer - INFO - Epoch [2][17600/39528] lr: 9.958e-05, eta: 8 days, 5:08:14, time: 0.808, data_time: 0.041, memory: 19865, loss_cls: 0.6135, loss_bbox: 0.6692, loss_traj: 1.4147, loss_traj_cls: 0.0005, loss_map_cls: 0.4023, loss_map_pts: 1.7089, loss_map_dir: 0.0315, d0.loss_plan_l1_fix_time: 2.4357, d0.loss_plan_l1_fix_dist: 0.3469, d1.loss_plan_l1_fix_time: 2.1901, d1.loss_plan_l1_fix_dist: 0.3148, d2.loss_plan_l1_fix_time: 2.1653, d2.loss_plan_l1_fix_dist: 0.3261, d3.loss_plan_l1_fix_time: 2.1665, d3.loss_plan_l1_fix_dist: 0.3457, d4.loss_plan_l1_fix_time: 2.1733, d4.loss_plan_l1_fix_dist: 0.3663, d5.loss_plan_l1_fix_time: 2.1801, d5.loss_plan_l1_fix_dist: 0.3858, d6.loss_plan_l1_fix_time: 2.1871, d6.loss_plan_l1_fix_dist: 0.4085, d0.loss_cls_all: 0.6279, d0.loss_bbox_all: 0.7012, d0.loss_cls: 0.6279, d0.loss_bbox: 0.7012, d1.loss_cls: 0.6156, d1.loss_bbox: 0.6849, d2.loss_cls: 0.6152, d2.loss_bbox: 0.6797, d3.loss_cls: 0.6140, d3.loss_bbox: 0.6709, d4.loss_cls: 0.6116, d4.loss_bbox: 0.6616, d5.loss_cls: 0.6127, d5.loss_bbox: 0.6651, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4877, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4200, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3967, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4102, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4038, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4098, d0.loss_map_cls_all: 0.4402, d0.loss_map_pts_all: 2.5260, d0.loss_map_dir_all: 0.0313, d0.loss_map_cls: 0.4402, d0.loss_map_pts: 2.5260, d0.loss_map_dir: 0.0313, d1.loss_map_cls: 0.4288, d1.loss_map_pts: 1.8622, d1.loss_map_dir: 0.0309, d2.loss_map_cls: 0.4177, d2.loss_map_pts: 1.7522, d2.loss_map_dir: 0.0311, d3.loss_map_cls: 0.4146, d3.loss_map_pts: 1.7215, d3.loss_map_dir: 0.0313, d4.loss_map_cls: 0.4088, d4.loss_map_pts: 1.7113, d4.loss_map_dir: 0.0314, d5.loss_map_cls: 0.4034, d5.loss_map_pts: 1.7101, d5.loss_map_dir: 0.0314, loss: 57.4363, grad_norm: 143.3692 +2026-02-24 14:54:33,890 - DriveTransformer - INFO - Epoch [2][17650/39528] lr: 9.958e-05, eta: 8 days, 5:07:36, time: 0.798, data_time: 0.040, memory: 19865, loss_cls: 0.6066, loss_bbox: 0.6706, loss_traj: 1.4371, loss_traj_cls: 0.0005, loss_map_cls: 0.3697, loss_map_pts: 1.7798, loss_map_dir: 0.0319, d0.loss_plan_l1_fix_time: 2.7469, d0.loss_plan_l1_fix_dist: 0.3964, d1.loss_plan_l1_fix_time: 2.3774, d1.loss_plan_l1_fix_dist: 0.3711, d2.loss_plan_l1_fix_time: 2.3695, d2.loss_plan_l1_fix_dist: 0.3849, d3.loss_plan_l1_fix_time: 2.3767, d3.loss_plan_l1_fix_dist: 0.4032, d4.loss_plan_l1_fix_time: 2.3840, d4.loss_plan_l1_fix_dist: 0.4272, d5.loss_plan_l1_fix_time: 2.3904, d5.loss_plan_l1_fix_dist: 0.4581, d6.loss_plan_l1_fix_time: 2.3968, d6.loss_plan_l1_fix_dist: 0.4931, d0.loss_cls_all: 0.6131, d0.loss_bbox_all: 0.7165, d0.loss_cls: 0.6131, d0.loss_bbox: 0.7165, d1.loss_cls: 0.6071, d1.loss_bbox: 0.6899, d2.loss_cls: 0.6028, d2.loss_bbox: 0.6803, d3.loss_cls: 0.6041, d3.loss_bbox: 0.6752, d4.loss_cls: 0.6046, d4.loss_bbox: 0.6691, d5.loss_cls: 0.6061, d5.loss_bbox: 0.6695, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4781, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4382, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4243, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4233, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4193, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4295, d0.loss_map_cls_all: 0.4101, d0.loss_map_pts_all: 2.6321, d0.loss_map_dir_all: 0.0318, d0.loss_map_cls: 0.4101, d0.loss_map_pts: 2.6321, d0.loss_map_dir: 0.0318, d1.loss_map_cls: 0.4027, d1.loss_map_pts: 1.9290, d1.loss_map_dir: 0.0312, d2.loss_map_cls: 0.3880, d2.loss_map_pts: 1.8189, d2.loss_map_dir: 0.0314, d3.loss_map_cls: 0.3802, d3.loss_map_pts: 1.7854, d3.loss_map_dir: 0.0316, d4.loss_map_cls: 0.3732, d4.loss_map_pts: 1.7771, d4.loss_map_dir: 0.0316, d5.loss_map_cls: 0.3698, d5.loss_map_pts: 1.7789, d5.loss_map_dir: 0.0317, loss: 59.8650, grad_norm: 143.2300 +2026-02-24 14:55:11,047 - DriveTransformer - INFO - Epoch [2][17700/39528] lr: 9.958e-05, eta: 8 days, 5:06:15, time: 0.743, data_time: 0.038, memory: 19865, loss_cls: 0.6035, loss_bbox: 0.6605, loss_traj: 1.4974, loss_traj_cls: 0.0005, loss_map_cls: 0.3838, loss_map_pts: 1.7040, loss_map_dir: 0.0294, d0.loss_plan_l1_fix_time: 3.0870, d0.loss_plan_l1_fix_dist: 0.3986, d1.loss_plan_l1_fix_time: 2.7606, d1.loss_plan_l1_fix_dist: 0.3752, d2.loss_plan_l1_fix_time: 2.6788, d2.loss_plan_l1_fix_dist: 0.3850, d3.loss_plan_l1_fix_time: 2.6574, d3.loss_plan_l1_fix_dist: 0.3998, d4.loss_plan_l1_fix_time: 2.6532, d4.loss_plan_l1_fix_dist: 0.4187, d5.loss_plan_l1_fix_time: 2.6541, d5.loss_plan_l1_fix_dist: 0.4390, d6.loss_plan_l1_fix_time: 2.6578, d6.loss_plan_l1_fix_dist: 0.4591, d0.loss_cls_all: 0.6027, d0.loss_bbox_all: 0.7083, d0.loss_cls: 0.6027, d0.loss_bbox: 0.7083, d1.loss_cls: 0.6031, d1.loss_bbox: 0.6854, d2.loss_cls: 0.5976, d2.loss_bbox: 0.6684, d3.loss_cls: 0.6027, d3.loss_bbox: 0.6621, d4.loss_cls: 0.6039, d4.loss_bbox: 0.6558, d5.loss_cls: 0.6050, d5.loss_bbox: 0.6561, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5687, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5005, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.4948, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5040, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4945, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4966, d0.loss_map_cls_all: 0.4311, d0.loss_map_pts_all: 2.3892, d0.loss_map_dir_all: 0.0291, d0.loss_map_cls: 0.4311, d0.loss_map_pts: 2.3892, d0.loss_map_dir: 0.0291, d1.loss_map_cls: 0.4174, d1.loss_map_pts: 1.8431, d1.loss_map_dir: 0.0290, d2.loss_map_cls: 0.4022, d2.loss_map_pts: 1.7456, d2.loss_map_dir: 0.0290, d3.loss_map_cls: 0.3926, d3.loss_map_pts: 1.7129, d3.loss_map_dir: 0.0292, d4.loss_map_cls: 0.3867, d4.loss_map_pts: 1.7080, d4.loss_map_dir: 0.0292, d5.loss_map_cls: 0.3844, d5.loss_map_pts: 1.7044, d5.loss_map_dir: 0.0293, loss: 61.4709, grad_norm: 141.6559 +2026-02-24 14:55:50,061 - DriveTransformer - INFO - Epoch [2][17750/39528] lr: 9.958e-05, eta: 8 days, 5:05:23, time: 0.780, data_time: 0.035, memory: 19865, loss_cls: 0.5830, loss_bbox: 0.6425, loss_traj: 1.3385, loss_traj_cls: 0.0005, loss_map_cls: 0.3558, loss_map_pts: 1.5709, loss_map_dir: 0.0259, d0.loss_plan_l1_fix_time: 2.6244, d0.loss_plan_l1_fix_dist: 0.5325, d1.loss_plan_l1_fix_time: 2.2739, d1.loss_plan_l1_fix_dist: 0.4222, d2.loss_plan_l1_fix_time: 2.2477, d2.loss_plan_l1_fix_dist: 0.4183, d3.loss_plan_l1_fix_time: 2.2555, d3.loss_plan_l1_fix_dist: 0.4350, d4.loss_plan_l1_fix_time: 2.2652, d4.loss_plan_l1_fix_dist: 0.4588, d5.loss_plan_l1_fix_time: 2.2756, d5.loss_plan_l1_fix_dist: 0.4872, d6.loss_plan_l1_fix_time: 2.2870, d6.loss_plan_l1_fix_dist: 0.5221, d0.loss_cls_all: 0.5895, d0.loss_bbox_all: 0.6882, d0.loss_cls: 0.5895, d0.loss_bbox: 0.6882, d1.loss_cls: 0.5807, d1.loss_bbox: 0.6764, d2.loss_cls: 0.5794, d2.loss_bbox: 0.6519, d3.loss_cls: 0.5752, d3.loss_bbox: 0.6436, d4.loss_cls: 0.5774, d4.loss_bbox: 0.6395, d5.loss_cls: 0.5820, d5.loss_bbox: 0.6378, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3648, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3163, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.3229, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3252, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3260, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3299, d0.loss_map_cls_all: 0.3964, d0.loss_map_pts_all: 2.1881, d0.loss_map_dir_all: 0.0259, d0.loss_map_cls: 0.3964, d0.loss_map_pts: 2.1881, d0.loss_map_dir: 0.0259, d1.loss_map_cls: 0.3830, d1.loss_map_pts: 1.6878, d1.loss_map_dir: 0.0255, d2.loss_map_cls: 0.3709, d2.loss_map_pts: 1.6079, d2.loss_map_dir: 0.0256, d3.loss_map_cls: 0.3626, d3.loss_map_pts: 1.5782, d3.loss_map_dir: 0.0258, d4.loss_map_cls: 0.3582, d4.loss_map_pts: 1.5730, d4.loss_map_dir: 0.0258, d5.loss_map_cls: 0.3572, d5.loss_map_pts: 1.5682, d5.loss_map_dir: 0.0259, loss: 55.9076, grad_norm: 141.3849 +2026-02-24 14:56:29,008 - DriveTransformer - INFO - Epoch [2][17800/39528] lr: 9.958e-05, eta: 8 days, 5:04:30, time: 0.779, data_time: 0.043, memory: 19865, loss_cls: 0.5669, loss_bbox: 0.6347, loss_traj: 1.4013, loss_traj_cls: 0.0004, loss_map_cls: 0.3688, loss_map_pts: 1.5548, loss_map_dir: 0.0285, d0.loss_plan_l1_fix_time: 2.8256, d0.loss_plan_l1_fix_dist: 0.4264, d1.loss_plan_l1_fix_time: 2.3104, d1.loss_plan_l1_fix_dist: 0.3930, d2.loss_plan_l1_fix_time: 2.2465, d2.loss_plan_l1_fix_dist: 0.4188, d3.loss_plan_l1_fix_time: 2.2502, d3.loss_plan_l1_fix_dist: 0.4409, d4.loss_plan_l1_fix_time: 2.2593, d4.loss_plan_l1_fix_dist: 0.4657, d5.loss_plan_l1_fix_time: 2.2692, d5.loss_plan_l1_fix_dist: 0.4879, d6.loss_plan_l1_fix_time: 2.2804, d6.loss_plan_l1_fix_dist: 0.5081, d0.loss_cls_all: 0.5698, d0.loss_bbox_all: 0.6915, d0.loss_cls: 0.5698, d0.loss_bbox: 0.6915, d1.loss_cls: 0.5548, d1.loss_bbox: 0.6775, d2.loss_cls: 0.5488, d2.loss_bbox: 0.6521, d3.loss_cls: 0.5522, d3.loss_bbox: 0.6373, d4.loss_cls: 0.5596, d4.loss_bbox: 0.6312, d5.loss_cls: 0.5636, d5.loss_bbox: 0.6301, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5064, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4108, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3949, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3949, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3929, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.3928, d0.loss_map_cls_all: 0.3958, d0.loss_map_pts_all: 2.2730, d0.loss_map_dir_all: 0.0278, d0.loss_map_cls: 0.3958, d0.loss_map_pts: 2.2730, d0.loss_map_dir: 0.0278, d1.loss_map_cls: 0.3885, d1.loss_map_pts: 1.6842, d1.loss_map_dir: 0.0279, d2.loss_map_cls: 0.3799, d2.loss_map_pts: 1.5951, d2.loss_map_dir: 0.0281, d3.loss_map_cls: 0.3741, d3.loss_map_pts: 1.5683, d3.loss_map_dir: 0.0283, d4.loss_map_cls: 0.3669, d4.loss_map_pts: 1.5584, d4.loss_map_dir: 0.0284, d5.loss_map_cls: 0.3693, d5.loss_map_pts: 1.5550, d5.loss_map_dir: 0.0284, loss: 56.5383, grad_norm: 142.6698 +2026-02-24 14:57:09,191 - DriveTransformer - INFO - Epoch [2][17850/39528] lr: 9.958e-05, eta: 8 days, 5:03:56, time: 0.804, data_time: 0.040, memory: 19865, loss_cls: 0.5476, loss_bbox: 0.6413, loss_traj: 1.3753, loss_traj_cls: 0.0004, loss_map_cls: 0.3490, loss_map_pts: 1.6021, loss_map_dir: 0.0297, d0.loss_plan_l1_fix_time: 2.4301, d0.loss_plan_l1_fix_dist: 0.3992, d1.loss_plan_l1_fix_time: 2.1028, d1.loss_plan_l1_fix_dist: 0.3770, d2.loss_plan_l1_fix_time: 2.0929, d2.loss_plan_l1_fix_dist: 0.3994, d3.loss_plan_l1_fix_time: 2.1055, d3.loss_plan_l1_fix_dist: 0.4275, d4.loss_plan_l1_fix_time: 2.1176, d4.loss_plan_l1_fix_dist: 0.4606, d5.loss_plan_l1_fix_time: 2.1299, d5.loss_plan_l1_fix_dist: 0.4951, d6.loss_plan_l1_fix_time: 2.1437, d6.loss_plan_l1_fix_dist: 0.5252, d0.loss_cls_all: 0.5577, d0.loss_bbox_all: 0.6718, d0.loss_cls: 0.5577, d0.loss_bbox: 0.6718, d1.loss_cls: 0.5478, d1.loss_bbox: 0.6621, d2.loss_cls: 0.5427, d2.loss_bbox: 0.6468, d3.loss_cls: 0.5424, d3.loss_bbox: 0.6377, d4.loss_cls: 0.5454, d4.loss_bbox: 0.6366, d5.loss_cls: 0.5468, d5.loss_bbox: 0.6379, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4344, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3593, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.3699, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.3728, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3815, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.3764, d0.loss_map_cls_all: 0.3849, d0.loss_map_pts_all: 2.3223, d0.loss_map_dir_all: 0.0293, d0.loss_map_cls: 0.3849, d0.loss_map_pts: 2.3223, d0.loss_map_dir: 0.0293, d1.loss_map_cls: 0.3700, d1.loss_map_pts: 1.7281, d1.loss_map_dir: 0.0291, d2.loss_map_cls: 0.3596, d2.loss_map_pts: 1.6369, d2.loss_map_dir: 0.0293, d3.loss_map_cls: 0.3543, d3.loss_map_pts: 1.6143, d3.loss_map_dir: 0.0294, d4.loss_map_cls: 0.3497, d4.loss_map_pts: 1.6028, d4.loss_map_dir: 0.0295, d5.loss_map_cls: 0.3489, d5.loss_map_pts: 1.6002, d5.loss_map_dir: 0.0297, loss: 55.0401, grad_norm: 142.9412 +2026-02-24 14:57:50,375 - DriveTransformer - INFO - Epoch [2][17900/39528] lr: 9.958e-05, eta: 8 days, 5:03:38, time: 0.824, data_time: 0.039, memory: 19865, loss_cls: 0.5927, loss_bbox: 0.6905, loss_traj: 1.5170, loss_traj_cls: 0.0004, loss_map_cls: 0.3470, loss_map_pts: 1.7855, loss_map_dir: 0.0347, d0.loss_plan_l1_fix_time: 3.0761, d0.loss_plan_l1_fix_dist: 0.4592, d1.loss_plan_l1_fix_time: 2.8009, d1.loss_plan_l1_fix_dist: 0.4321, d2.loss_plan_l1_fix_time: 2.8186, d2.loss_plan_l1_fix_dist: 0.4534, d3.loss_plan_l1_fix_time: 2.8369, d3.loss_plan_l1_fix_dist: 0.4756, d4.loss_plan_l1_fix_time: 2.8494, d4.loss_plan_l1_fix_dist: 0.4966, d5.loss_plan_l1_fix_time: 2.8600, d5.loss_plan_l1_fix_dist: 0.5215, d6.loss_plan_l1_fix_time: 2.8719, d6.loss_plan_l1_fix_dist: 0.5493, d0.loss_cls_all: 0.5891, d0.loss_bbox_all: 0.7199, d0.loss_cls: 0.5891, d0.loss_bbox: 0.7199, d1.loss_cls: 0.5743, d1.loss_bbox: 0.7051, d2.loss_cls: 0.5801, d2.loss_bbox: 0.6913, d3.loss_cls: 0.5796, d3.loss_bbox: 0.6794, d4.loss_cls: 0.5843, d4.loss_bbox: 0.6829, d5.loss_cls: 0.5869, d5.loss_bbox: 0.6860, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5722, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5016, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5009, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.5074, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5034, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5040, d0.loss_map_cls_all: 0.3799, d0.loss_map_pts_all: 2.6775, d0.loss_map_dir_all: 0.0342, d0.loss_map_cls: 0.3799, d0.loss_map_pts: 2.6775, d0.loss_map_dir: 0.0342, d1.loss_map_cls: 0.3685, d1.loss_map_pts: 1.9466, d1.loss_map_dir: 0.0336, d2.loss_map_cls: 0.3594, d2.loss_map_pts: 1.8341, d2.loss_map_dir: 0.0339, d3.loss_map_cls: 0.3509, d3.loss_map_pts: 1.8030, d3.loss_map_dir: 0.0344, d4.loss_map_cls: 0.3470, d4.loss_map_pts: 1.7921, d4.loss_map_dir: 0.0345, d5.loss_map_cls: 0.3471, d5.loss_map_pts: 1.7861, d5.loss_map_dir: 0.0346, loss: 63.8193, grad_norm: 143.2081 +2026-02-24 14:58:30,072 - DriveTransformer - INFO - Epoch [2][17950/39528] lr: 9.958e-05, eta: 8 days, 5:02:57, time: 0.794, data_time: 0.048, memory: 19865, loss_cls: 0.5786, loss_bbox: 0.6529, loss_traj: 1.5669, loss_traj_cls: 0.0004, loss_map_cls: 0.3621, loss_map_pts: 1.6314, loss_map_dir: 0.0305, d0.loss_plan_l1_fix_time: 2.9674, d0.loss_plan_l1_fix_dist: 0.5165, d1.loss_plan_l1_fix_time: 2.5372, d1.loss_plan_l1_fix_dist: 0.4606, d2.loss_plan_l1_fix_time: 2.4598, d2.loss_plan_l1_fix_dist: 0.4763, d3.loss_plan_l1_fix_time: 2.4456, d3.loss_plan_l1_fix_dist: 0.4979, d4.loss_plan_l1_fix_time: 2.4468, d4.loss_plan_l1_fix_dist: 0.5219, d5.loss_plan_l1_fix_time: 2.4528, d5.loss_plan_l1_fix_dist: 0.5500, d6.loss_plan_l1_fix_time: 2.4613, d6.loss_plan_l1_fix_dist: 0.5826, d0.loss_cls_all: 0.5833, d0.loss_bbox_all: 0.6812, d0.loss_cls: 0.5833, d0.loss_bbox: 0.6812, d1.loss_cls: 0.5736, d1.loss_bbox: 0.6699, d2.loss_cls: 0.5750, d2.loss_bbox: 0.6541, d3.loss_cls: 0.5707, d3.loss_bbox: 0.6451, d4.loss_cls: 0.5739, d4.loss_bbox: 0.6460, d5.loss_cls: 0.5777, d5.loss_bbox: 0.6484, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6141, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5441, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.5458, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5570, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5633, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5649, d0.loss_map_cls_all: 0.4017, d0.loss_map_pts_all: 2.4002, d0.loss_map_dir_all: 0.0298, d0.loss_map_cls: 0.4017, d0.loss_map_pts: 2.4002, d0.loss_map_dir: 0.0298, d1.loss_map_cls: 0.3887, d1.loss_map_pts: 1.7590, d1.loss_map_dir: 0.0297, d2.loss_map_cls: 0.3777, d2.loss_map_pts: 1.6626, d2.loss_map_dir: 0.0299, d3.loss_map_cls: 0.3689, d3.loss_map_pts: 1.6410, d3.loss_map_dir: 0.0303, d4.loss_map_cls: 0.3646, d4.loss_map_pts: 1.6363, d4.loss_map_dir: 0.0303, d5.loss_map_cls: 0.3614, d5.loss_map_pts: 1.6295, d5.loss_map_dir: 0.0304, loss: 60.2606, grad_norm: 144.7234 +2026-02-24 14:59:10,718 - DriveTransformer - INFO - Epoch [2][18000/39528] lr: 9.958e-05, eta: 8 days, 5:02:30, time: 0.813, data_time: 0.037, memory: 19865, loss_cls: 0.5766, loss_bbox: 0.6483, loss_traj: 1.4643, loss_traj_cls: 0.0004, loss_map_cls: 0.3804, loss_map_pts: 1.6866, loss_map_dir: 0.0334, d0.loss_plan_l1_fix_time: 2.5054, d0.loss_plan_l1_fix_dist: 0.4731, d1.loss_plan_l1_fix_time: 2.0926, d1.loss_plan_l1_fix_dist: 0.4387, d2.loss_plan_l1_fix_time: 2.0407, d2.loss_plan_l1_fix_dist: 0.4486, d3.loss_plan_l1_fix_time: 2.0440, d3.loss_plan_l1_fix_dist: 0.4683, d4.loss_plan_l1_fix_time: 2.0506, d4.loss_plan_l1_fix_dist: 0.4938, d5.loss_plan_l1_fix_time: 2.0565, d5.loss_plan_l1_fix_dist: 0.5218, d6.loss_plan_l1_fix_time: 2.0626, d6.loss_plan_l1_fix_dist: 0.5564, d0.loss_cls_all: 0.5887, d0.loss_bbox_all: 0.6728, d0.loss_cls: 0.5887, d0.loss_bbox: 0.6728, d1.loss_cls: 0.5753, d1.loss_bbox: 0.6638, d2.loss_cls: 0.5724, d2.loss_bbox: 0.6513, d3.loss_cls: 0.5765, d3.loss_bbox: 0.6454, d4.loss_cls: 0.5760, d4.loss_bbox: 0.6456, d5.loss_cls: 0.5745, d5.loss_bbox: 0.6465, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5315, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4745, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.4603, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4598, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4652, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4645, d0.loss_map_cls_all: 0.4146, d0.loss_map_pts_all: 2.5786, d0.loss_map_dir_all: 0.0322, d0.loss_map_cls: 0.4146, d0.loss_map_pts: 2.5786, d0.loss_map_dir: 0.0322, d1.loss_map_cls: 0.4031, d1.loss_map_pts: 1.8520, d1.loss_map_dir: 0.0322, d2.loss_map_cls: 0.3933, d2.loss_map_pts: 1.7293, d2.loss_map_dir: 0.0326, d3.loss_map_cls: 0.3878, d3.loss_map_pts: 1.6955, d3.loss_map_dir: 0.0329, d4.loss_map_cls: 0.3828, d4.loss_map_pts: 1.6838, d4.loss_map_dir: 0.0331, d5.loss_map_cls: 0.3803, d5.loss_map_pts: 1.6844, d5.loss_map_dir: 0.0332, loss: 57.3607, grad_norm: 144.1726 +2026-02-24 14:59:49,330 - DriveTransformer - INFO - Epoch [2][18050/39528] lr: 9.958e-05, eta: 8 days, 5:01:32, time: 0.772, data_time: 0.043, memory: 19865, loss_cls: 0.5825, loss_bbox: 0.6884, loss_traj: 1.5331, loss_traj_cls: 0.0004, loss_map_cls: 0.3796, loss_map_pts: 1.7068, loss_map_dir: 0.0303, d0.loss_plan_l1_fix_time: 3.1973, d0.loss_plan_l1_fix_dist: 0.5106, d1.loss_plan_l1_fix_time: 2.7464, d1.loss_plan_l1_fix_dist: 0.4581, d2.loss_plan_l1_fix_time: 2.6943, d2.loss_plan_l1_fix_dist: 0.4795, d3.loss_plan_l1_fix_time: 2.6930, d3.loss_plan_l1_fix_dist: 0.5190, d4.loss_plan_l1_fix_time: 2.6996, d4.loss_plan_l1_fix_dist: 0.5709, d5.loss_plan_l1_fix_time: 2.7075, d5.loss_plan_l1_fix_dist: 0.6257, d6.loss_plan_l1_fix_time: 2.7165, d6.loss_plan_l1_fix_dist: 0.6832, d0.loss_cls_all: 0.5860, d0.loss_bbox_all: 0.7151, d0.loss_cls: 0.5860, d0.loss_bbox: 0.7151, d1.loss_cls: 0.5750, d1.loss_bbox: 0.7045, d2.loss_cls: 0.5737, d2.loss_bbox: 0.6970, d3.loss_cls: 0.5766, d3.loss_bbox: 0.6900, d4.loss_cls: 0.5784, d4.loss_bbox: 0.6872, d5.loss_cls: 0.5797, d5.loss_bbox: 0.6866, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6477, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5596, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.5215, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5281, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5236, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5266, d0.loss_map_cls_all: 0.4121, d0.loss_map_pts_all: 2.4698, d0.loss_map_dir_all: 0.0296, d0.loss_map_cls: 0.4121, d0.loss_map_pts: 2.4698, d0.loss_map_dir: 0.0296, d1.loss_map_cls: 0.4012, d1.loss_map_pts: 1.8845, d1.loss_map_dir: 0.0296, d2.loss_map_cls: 0.3891, d2.loss_map_pts: 1.7637, d2.loss_map_dir: 0.0298, d3.loss_map_cls: 0.3824, d3.loss_map_pts: 1.7286, d3.loss_map_dir: 0.0300, d4.loss_map_cls: 0.3793, d4.loss_map_pts: 1.7089, d4.loss_map_dir: 0.0301, d5.loss_map_cls: 0.3789, d5.loss_map_pts: 1.7074, d5.loss_map_dir: 0.0302, loss: 63.1815, grad_norm: 147.8876 +2026-02-24 15:00:28,811 - DriveTransformer - INFO - Epoch [2][18100/39528] lr: 9.958e-05, eta: 8 days, 5:00:47, time: 0.790, data_time: 0.039, memory: 19865, loss_cls: 0.5798, loss_bbox: 0.6704, loss_traj: 1.7893, loss_traj_cls: 0.0004, loss_map_cls: 0.3799, loss_map_pts: 1.6463, loss_map_dir: 0.0302, d0.loss_plan_l1_fix_time: 2.9503, d0.loss_plan_l1_fix_dist: 0.4345, d1.loss_plan_l1_fix_time: 2.6571, d1.loss_plan_l1_fix_dist: 0.3993, d2.loss_plan_l1_fix_time: 2.5942, d2.loss_plan_l1_fix_dist: 0.4090, d3.loss_plan_l1_fix_time: 2.5903, d3.loss_plan_l1_fix_dist: 0.4305, d4.loss_plan_l1_fix_time: 2.5954, d4.loss_plan_l1_fix_dist: 0.4607, d5.loss_plan_l1_fix_time: 2.6032, d5.loss_plan_l1_fix_dist: 0.4980, d6.loss_plan_l1_fix_time: 2.6128, d6.loss_plan_l1_fix_dist: 0.5286, d0.loss_cls_all: 0.5883, d0.loss_bbox_all: 0.7025, d0.loss_cls: 0.5883, d0.loss_bbox: 0.7025, d1.loss_cls: 0.5744, d1.loss_bbox: 0.6864, d2.loss_cls: 0.5746, d2.loss_bbox: 0.6823, d3.loss_cls: 0.5729, d3.loss_bbox: 0.6763, d4.loss_cls: 0.5751, d4.loss_bbox: 0.6698, d5.loss_cls: 0.5757, d5.loss_bbox: 0.6678, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.9215, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.8241, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.7994, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.7880, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7814, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7798, d0.loss_map_cls_all: 0.3955, d0.loss_map_pts_all: 2.4528, d0.loss_map_dir_all: 0.0296, d0.loss_map_cls: 0.3955, d0.loss_map_pts: 2.4528, d0.loss_map_dir: 0.0296, d1.loss_map_cls: 0.3862, d1.loss_map_pts: 1.7874, d1.loss_map_dir: 0.0294, d2.loss_map_cls: 0.3805, d2.loss_map_pts: 1.6822, d2.loss_map_dir: 0.0298, d3.loss_map_cls: 0.3798, d3.loss_map_pts: 1.6568, d3.loss_map_dir: 0.0299, d4.loss_map_cls: 0.3739, d4.loss_map_pts: 1.6471, d4.loss_map_dir: 0.0301, d5.loss_map_cls: 0.3790, d5.loss_map_pts: 1.6471, d5.loss_map_dir: 0.0301, loss: 62.8206, grad_norm: 147.1129 +2026-02-24 15:01:08,833 - DriveTransformer - INFO - Epoch [2][18150/39528] lr: 9.958e-05, eta: 8 days, 5:00:11, time: 0.800, data_time: 0.042, memory: 19865, loss_cls: 0.5203, loss_bbox: 0.6353, loss_traj: 1.5542, loss_traj_cls: 0.0004, loss_map_cls: 0.3240, loss_map_pts: 1.5455, loss_map_dir: 0.0283, d0.loss_plan_l1_fix_time: 2.5258, d0.loss_plan_l1_fix_dist: 0.5738, d1.loss_plan_l1_fix_time: 2.2546, d1.loss_plan_l1_fix_dist: 0.4609, d2.loss_plan_l1_fix_time: 2.1741, d2.loss_plan_l1_fix_dist: 0.4816, d3.loss_plan_l1_fix_time: 2.1635, d3.loss_plan_l1_fix_dist: 0.5115, d4.loss_plan_l1_fix_time: 2.1658, d4.loss_plan_l1_fix_dist: 0.5454, d5.loss_plan_l1_fix_time: 2.1714, d5.loss_plan_l1_fix_dist: 0.5809, d6.loss_plan_l1_fix_time: 2.1801, d6.loss_plan_l1_fix_dist: 0.6232, d0.loss_cls_all: 0.5245, d0.loss_bbox_all: 0.6665, d0.loss_cls: 0.5245, d0.loss_bbox: 0.6665, d1.loss_cls: 0.5141, d1.loss_bbox: 0.6451, d2.loss_cls: 0.5188, d2.loss_bbox: 0.6343, d3.loss_cls: 0.5113, d3.loss_bbox: 0.6360, d4.loss_cls: 0.5137, d4.loss_bbox: 0.6322, d5.loss_cls: 0.5148, d5.loss_bbox: 0.6316, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7192, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5753, d2.loss_traj_cls: 0.0008, d2.loss_traj: 1.5524, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5537, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5487, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5528, d0.loss_map_cls_all: 0.3654, d0.loss_map_pts_all: 2.2773, d0.loss_map_dir_all: 0.0279, d0.loss_map_cls: 0.3654, d0.loss_map_pts: 2.2773, d0.loss_map_dir: 0.0279, d1.loss_map_cls: 0.3524, d1.loss_map_pts: 1.6855, d1.loss_map_dir: 0.0276, d2.loss_map_cls: 0.3413, d2.loss_map_pts: 1.5922, d2.loss_map_dir: 0.0279, d3.loss_map_cls: 0.3324, d3.loss_map_pts: 1.5557, d3.loss_map_dir: 0.0280, d4.loss_map_cls: 0.3310, d4.loss_map_pts: 1.5483, d4.loss_map_dir: 0.0281, d5.loss_map_cls: 0.3253, d5.loss_map_pts: 1.5457, d5.loss_map_dir: 0.0282, loss: 56.7511, grad_norm: 147.6487 +2026-02-24 15:01:49,436 - DriveTransformer - INFO - Epoch [2][18200/39528] lr: 9.958e-05, eta: 8 days, 4:59:44, time: 0.813, data_time: 0.042, memory: 19865, loss_cls: 0.6123, loss_bbox: 0.6879, loss_traj: 1.2797, loss_traj_cls: 0.0004, loss_map_cls: 0.3977, loss_map_pts: 1.8765, loss_map_dir: 0.0313, d0.loss_plan_l1_fix_time: 3.1207, d0.loss_plan_l1_fix_dist: 0.4832, d1.loss_plan_l1_fix_time: 2.8463, d1.loss_plan_l1_fix_dist: 0.4036, d2.loss_plan_l1_fix_time: 2.8100, d2.loss_plan_l1_fix_dist: 0.4362, d3.loss_plan_l1_fix_time: 2.8104, d3.loss_plan_l1_fix_dist: 0.4758, d4.loss_plan_l1_fix_time: 2.8180, d4.loss_plan_l1_fix_dist: 0.5174, d5.loss_plan_l1_fix_time: 2.8266, d5.loss_plan_l1_fix_dist: 0.5610, d6.loss_plan_l1_fix_time: 2.8366, d6.loss_plan_l1_fix_dist: 0.6204, d0.loss_cls_all: 0.6362, d0.loss_bbox_all: 0.7138, d0.loss_cls: 0.6362, d0.loss_bbox: 0.7138, d1.loss_cls: 0.6288, d1.loss_bbox: 0.6976, d2.loss_cls: 0.6220, d2.loss_bbox: 0.6894, d3.loss_cls: 0.6166, d3.loss_bbox: 0.6908, d4.loss_cls: 0.6147, d4.loss_bbox: 0.6873, d5.loss_cls: 0.6158, d5.loss_bbox: 0.6848, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2769, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2615, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.2551, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.2718, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2780, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.2761, d0.loss_map_cls_all: 0.4408, d0.loss_map_pts_all: 2.5971, d0.loss_map_dir_all: 0.0307, d0.loss_map_cls: 0.4408, d0.loss_map_pts: 2.5971, d0.loss_map_dir: 0.0307, d1.loss_map_cls: 0.4254, d1.loss_map_pts: 2.0170, d1.loss_map_dir: 0.0304, d2.loss_map_cls: 0.4125, d2.loss_map_pts: 1.9176, d2.loss_map_dir: 0.0308, d3.loss_map_cls: 0.4043, d3.loss_map_pts: 1.8854, d3.loss_map_dir: 0.0311, d4.loss_map_cls: 0.3977, d4.loss_map_pts: 1.8798, d4.loss_map_dir: 0.0312, d5.loss_map_cls: 0.3986, d5.loss_map_pts: 1.8757, d5.loss_map_dir: 0.0312, loss: 63.2292, grad_norm: 148.4849 +2026-02-24 15:02:26,317 - DriveTransformer - INFO - Epoch [2][18250/39528] lr: 9.958e-05, eta: 8 days, 4:58:18, time: 0.736, data_time: 0.039, memory: 19865, loss_cls: 0.5564, loss_bbox: 0.6727, loss_traj: 1.7075, loss_traj_cls: 0.0004, loss_map_cls: 0.3338, loss_map_pts: 1.5612, loss_map_dir: 0.0228, d0.loss_plan_l1_fix_time: 2.7276, d0.loss_plan_l1_fix_dist: 0.4918, d1.loss_plan_l1_fix_time: 2.4861, d1.loss_plan_l1_fix_dist: 0.4479, d2.loss_plan_l1_fix_time: 2.4654, d2.loss_plan_l1_fix_dist: 0.4561, d3.loss_plan_l1_fix_time: 2.4703, d3.loss_plan_l1_fix_dist: 0.4749, d4.loss_plan_l1_fix_time: 2.4776, d4.loss_plan_l1_fix_dist: 0.4966, d5.loss_plan_l1_fix_time: 2.4861, d5.loss_plan_l1_fix_dist: 0.5211, d6.loss_plan_l1_fix_time: 2.4944, d6.loss_plan_l1_fix_dist: 0.5460, d0.loss_cls_all: 0.5713, d0.loss_bbox_all: 0.6930, d0.loss_cls: 0.5713, d0.loss_bbox: 0.6930, d1.loss_cls: 0.5579, d1.loss_bbox: 0.6786, d2.loss_cls: 0.5521, d2.loss_bbox: 0.6690, d3.loss_cls: 0.5527, d3.loss_bbox: 0.6761, d4.loss_cls: 0.5546, d4.loss_bbox: 0.6705, d5.loss_cls: 0.5565, d5.loss_bbox: 0.6706, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7264, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.6839, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.6745, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.6866, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6881, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7017, d0.loss_map_cls_all: 0.3762, d0.loss_map_pts_all: 2.1363, d0.loss_map_dir_all: 0.0226, d0.loss_map_cls: 0.3762, d0.loss_map_pts: 2.1363, d0.loss_map_dir: 0.0226, d1.loss_map_cls: 0.3593, d1.loss_map_pts: 1.6806, d1.loss_map_dir: 0.0224, d2.loss_map_cls: 0.3482, d2.loss_map_pts: 1.5936, d2.loss_map_dir: 0.0225, d3.loss_map_cls: 0.3385, d3.loss_map_pts: 1.5685, d3.loss_map_dir: 0.0227, d4.loss_map_cls: 0.3368, d4.loss_map_pts: 1.5604, d4.loss_map_dir: 0.0228, d5.loss_map_cls: 0.3350, d5.loss_map_pts: 1.5598, d5.loss_map_dir: 0.0228, loss: 59.5934, grad_norm: 149.5724 +2026-02-24 15:03:06,892 - DriveTransformer - INFO - Epoch [2][18300/39528] lr: 9.958e-05, eta: 8 days, 4:57:51, time: 0.812, data_time: 0.042, memory: 19865, loss_cls: 0.5651, loss_bbox: 0.6658, loss_traj: 1.2335, loss_traj_cls: 0.0005, loss_map_cls: 0.3454, loss_map_pts: 1.6934, loss_map_dir: 0.0316, d0.loss_plan_l1_fix_time: 2.8639, d0.loss_plan_l1_fix_dist: 0.4446, d1.loss_plan_l1_fix_time: 2.4234, d1.loss_plan_l1_fix_dist: 0.3532, d2.loss_plan_l1_fix_time: 2.3621, d2.loss_plan_l1_fix_dist: 0.3615, d3.loss_plan_l1_fix_time: 2.3628, d3.loss_plan_l1_fix_dist: 0.3947, d4.loss_plan_l1_fix_time: 2.3730, d4.loss_plan_l1_fix_dist: 0.4330, d5.loss_plan_l1_fix_time: 2.3844, d5.loss_plan_l1_fix_dist: 0.4756, d6.loss_plan_l1_fix_time: 2.3965, d6.loss_plan_l1_fix_dist: 0.5080, d0.loss_cls_all: 0.5679, d0.loss_bbox_all: 0.6931, d0.loss_cls: 0.5679, d0.loss_bbox: 0.6931, d1.loss_cls: 0.5599, d1.loss_bbox: 0.6735, d2.loss_cls: 0.5553, d2.loss_bbox: 0.6644, d3.loss_cls: 0.5545, d3.loss_bbox: 0.6676, d4.loss_cls: 0.5589, d4.loss_bbox: 0.6606, d5.loss_cls: 0.5628, d5.loss_bbox: 0.6602, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2863, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2125, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.2132, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.2210, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2247, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.2302, d0.loss_map_cls_all: 0.3777, d0.loss_map_pts_all: 2.5170, d0.loss_map_dir_all: 0.0307, d0.loss_map_cls: 0.3777, d0.loss_map_pts: 2.5170, d0.loss_map_dir: 0.0307, d1.loss_map_cls: 0.3671, d1.loss_map_pts: 1.8652, d1.loss_map_dir: 0.0307, d2.loss_map_cls: 0.3547, d2.loss_map_pts: 1.7492, d2.loss_map_dir: 0.0311, d3.loss_map_cls: 0.3451, d3.loss_map_pts: 1.7146, d3.loss_map_dir: 0.0312, d4.loss_map_cls: 0.3451, d4.loss_map_pts: 1.7007, d4.loss_map_dir: 0.0314, d5.loss_map_cls: 0.3450, d5.loss_map_pts: 1.6952, d5.loss_map_dir: 0.0315, loss: 57.1924, grad_norm: 150.4601 +2026-02-24 15:03:47,010 - DriveTransformer - INFO - Epoch [2][18350/39528] lr: 9.958e-05, eta: 8 days, 4:57:16, time: 0.802, data_time: 0.047, memory: 19865, loss_cls: 0.6081, loss_bbox: 0.6832, loss_traj: 1.3688, loss_traj_cls: 0.0005, loss_map_cls: 0.3712, loss_map_pts: 1.7560, loss_map_dir: 0.0335, d0.loss_plan_l1_fix_time: 3.0046, d0.loss_plan_l1_fix_dist: 0.3997, d1.loss_plan_l1_fix_time: 2.5827, d1.loss_plan_l1_fix_dist: 0.3725, d2.loss_plan_l1_fix_time: 2.5672, d2.loss_plan_l1_fix_dist: 0.3912, d3.loss_plan_l1_fix_time: 2.5779, d3.loss_plan_l1_fix_dist: 0.4132, d4.loss_plan_l1_fix_time: 2.5880, d4.loss_plan_l1_fix_dist: 0.4393, d5.loss_plan_l1_fix_time: 2.5980, d5.loss_plan_l1_fix_dist: 0.4685, d6.loss_plan_l1_fix_time: 2.6089, d6.loss_plan_l1_fix_dist: 0.5021, d0.loss_cls_all: 0.6194, d0.loss_bbox_all: 0.7098, d0.loss_cls: 0.6194, d0.loss_bbox: 0.7098, d1.loss_cls: 0.6147, d1.loss_bbox: 0.6989, d2.loss_cls: 0.6145, d2.loss_bbox: 0.6870, d3.loss_cls: 0.6077, d3.loss_bbox: 0.6891, d4.loss_cls: 0.6078, d4.loss_bbox: 0.6862, d5.loss_cls: 0.6063, d5.loss_bbox: 0.6813, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4477, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.3554, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.3506, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3598, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3687, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.3732, d0.loss_map_cls_all: 0.4056, d0.loss_map_pts_all: 2.6093, d0.loss_map_dir_all: 0.0331, d0.loss_map_cls: 0.4056, d0.loss_map_pts: 2.6093, d0.loss_map_dir: 0.0331, d1.loss_map_cls: 0.3862, d1.loss_map_pts: 1.9263, d1.loss_map_dir: 0.0328, d2.loss_map_cls: 0.3785, d2.loss_map_pts: 1.8043, d2.loss_map_dir: 0.0331, d3.loss_map_cls: 0.3725, d3.loss_map_pts: 1.7672, d3.loss_map_dir: 0.0333, d4.loss_map_cls: 0.3719, d4.loss_map_pts: 1.7584, d4.loss_map_dir: 0.0335, d5.loss_map_cls: 0.3694, d5.loss_map_pts: 1.7580, d5.loss_map_dir: 0.0335, loss: 60.9016, grad_norm: 153.0079 +2026-02-24 15:04:27,890 - DriveTransformer - INFO - Epoch [2][18400/39528] lr: 9.958e-05, eta: 8 days, 4:56:53, time: 0.818, data_time: 0.041, memory: 19865, loss_cls: 0.5746, loss_bbox: 0.6655, loss_traj: 1.5207, loss_traj_cls: 0.0005, loss_map_cls: 0.3798, loss_map_pts: 1.6896, loss_map_dir: 0.0306, d0.loss_plan_l1_fix_time: 3.1914, d0.loss_plan_l1_fix_dist: 0.4723, d1.loss_plan_l1_fix_time: 2.6797, d1.loss_plan_l1_fix_dist: 0.3948, d2.loss_plan_l1_fix_time: 2.5959, d2.loss_plan_l1_fix_dist: 0.4036, d3.loss_plan_l1_fix_time: 2.5838, d3.loss_plan_l1_fix_dist: 0.4198, d4.loss_plan_l1_fix_time: 2.5846, d4.loss_plan_l1_fix_dist: 0.4395, d5.loss_plan_l1_fix_time: 2.5892, d5.loss_plan_l1_fix_dist: 0.4618, d6.loss_plan_l1_fix_time: 2.5962, d6.loss_plan_l1_fix_dist: 0.4916, d0.loss_cls_all: 0.5863, d0.loss_bbox_all: 0.6801, d0.loss_cls: 0.5863, d0.loss_bbox: 0.6801, d1.loss_cls: 0.5799, d1.loss_bbox: 0.6727, d2.loss_cls: 0.5789, d2.loss_bbox: 0.6653, d3.loss_cls: 0.5743, d3.loss_bbox: 0.6627, d4.loss_cls: 0.5711, d4.loss_bbox: 0.6650, d5.loss_cls: 0.5736, d5.loss_bbox: 0.6622, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5465, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4984, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.4843, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5045, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5095, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5151, d0.loss_map_cls_all: 0.4118, d0.loss_map_pts_all: 2.4932, d0.loss_map_dir_all: 0.0302, d0.loss_map_cls: 0.4118, d0.loss_map_pts: 2.4932, d0.loss_map_dir: 0.0302, d1.loss_map_cls: 0.3980, d1.loss_map_pts: 1.8598, d1.loss_map_dir: 0.0299, d2.loss_map_cls: 0.3902, d2.loss_map_pts: 1.7417, d2.loss_map_dir: 0.0301, d3.loss_map_cls: 0.3846, d3.loss_map_pts: 1.7038, d3.loss_map_dir: 0.0304, d4.loss_map_cls: 0.3788, d4.loss_map_pts: 1.6919, d4.loss_map_dir: 0.0304, d5.loss_map_cls: 0.3775, d5.loss_map_pts: 1.6917, d5.loss_map_dir: 0.0305, loss: 61.2060, grad_norm: 151.0609 +2026-02-24 15:05:06,799 - DriveTransformer - INFO - Epoch [2][18450/39528] lr: 9.958e-05, eta: 8 days, 4:55:59, time: 0.778, data_time: 0.043, memory: 19865, loss_cls: 0.5444, loss_bbox: 0.6074, loss_traj: 1.7188, loss_traj_cls: 0.0005, loss_map_cls: 0.3866, loss_map_pts: 1.6804, loss_map_dir: 0.0282, d0.loss_plan_l1_fix_time: 2.7025, d0.loss_plan_l1_fix_dist: 0.4072, d1.loss_plan_l1_fix_time: 2.2646, d1.loss_plan_l1_fix_dist: 0.3532, d2.loss_plan_l1_fix_time: 2.2217, d2.loss_plan_l1_fix_dist: 0.3720, d3.loss_plan_l1_fix_time: 2.2255, d3.loss_plan_l1_fix_dist: 0.3985, d4.loss_plan_l1_fix_time: 2.2329, d4.loss_plan_l1_fix_dist: 0.4248, d5.loss_plan_l1_fix_time: 2.2404, d5.loss_plan_l1_fix_dist: 0.4530, d6.loss_plan_l1_fix_time: 2.2482, d6.loss_plan_l1_fix_dist: 0.4847, d0.loss_cls_all: 0.5461, d0.loss_bbox_all: 0.6410, d0.loss_cls: 0.5461, d0.loss_bbox: 0.6410, d1.loss_cls: 0.5439, d1.loss_bbox: 0.6342, d2.loss_cls: 0.5340, d2.loss_bbox: 0.6246, d3.loss_cls: 0.5353, d3.loss_bbox: 0.6131, d4.loss_cls: 0.5372, d4.loss_bbox: 0.6097, d5.loss_cls: 0.5424, d5.loss_bbox: 0.6074, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.8338, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.7259, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.6958, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.7039, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7074, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7115, d0.loss_map_cls_all: 0.4256, d0.loss_map_pts_all: 2.3452, d0.loss_map_dir_all: 0.0281, d0.loss_map_cls: 0.4256, d0.loss_map_pts: 2.3452, d0.loss_map_dir: 0.0281, d1.loss_map_cls: 0.4139, d1.loss_map_pts: 1.8458, d1.loss_map_dir: 0.0277, d2.loss_map_cls: 0.4034, d2.loss_map_pts: 1.7323, d2.loss_map_dir: 0.0279, d3.loss_map_cls: 0.3958, d3.loss_map_pts: 1.7007, d3.loss_map_dir: 0.0280, d4.loss_map_cls: 0.3914, d4.loss_map_pts: 1.6847, d4.loss_map_dir: 0.0281, d5.loss_map_cls: 0.3853, d5.loss_map_pts: 1.6838, d5.loss_map_dir: 0.0282, loss: 58.9088, grad_norm: 149.7829 +2026-02-24 15:05:46,522 - DriveTransformer - INFO - Epoch [2][18500/39528] lr: 9.958e-05, eta: 8 days, 4:55:18, time: 0.794, data_time: 0.035, memory: 19865, loss_cls: 0.5708, loss_bbox: 0.6362, loss_traj: 1.4629, loss_traj_cls: 0.0005, loss_map_cls: 0.3404, loss_map_pts: 1.5720, loss_map_dir: 0.0303, d0.loss_plan_l1_fix_time: 2.4672, d0.loss_plan_l1_fix_dist: 0.4550, d1.loss_plan_l1_fix_time: 2.1054, d1.loss_plan_l1_fix_dist: 0.3892, d2.loss_plan_l1_fix_time: 2.0545, d2.loss_plan_l1_fix_dist: 0.3980, d3.loss_plan_l1_fix_time: 2.0511, d3.loss_plan_l1_fix_dist: 0.4160, d4.loss_plan_l1_fix_time: 2.0546, d4.loss_plan_l1_fix_dist: 0.4400, d5.loss_plan_l1_fix_time: 2.0596, d5.loss_plan_l1_fix_dist: 0.4634, d6.loss_plan_l1_fix_time: 2.0654, d6.loss_plan_l1_fix_dist: 0.4850, d0.loss_cls_all: 0.5825, d0.loss_bbox_all: 0.6734, d0.loss_cls: 0.5825, d0.loss_bbox: 0.6734, d1.loss_cls: 0.5730, d1.loss_bbox: 0.6612, d2.loss_cls: 0.5628, d2.loss_bbox: 0.6581, d3.loss_cls: 0.5613, d3.loss_bbox: 0.6430, d4.loss_cls: 0.5645, d4.loss_bbox: 0.6412, d5.loss_cls: 0.5671, d5.loss_bbox: 0.6346, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5367, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4589, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.4514, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4575, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4536, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4536, d0.loss_map_cls_all: 0.3864, d0.loss_map_pts_all: 2.3773, d0.loss_map_dir_all: 0.0299, d0.loss_map_cls: 0.3864, d0.loss_map_pts: 2.3773, d0.loss_map_dir: 0.0299, d1.loss_map_cls: 0.3690, d1.loss_map_pts: 1.7122, d1.loss_map_dir: 0.0298, d2.loss_map_cls: 0.3565, d2.loss_map_pts: 1.6013, d2.loss_map_dir: 0.0299, d3.loss_map_cls: 0.3478, d3.loss_map_pts: 1.5814, d3.loss_map_dir: 0.0301, d4.loss_map_cls: 0.3425, d4.loss_map_pts: 1.5740, d4.loss_map_dir: 0.0302, d5.loss_map_cls: 0.3405, d5.loss_map_pts: 1.5716, d5.loss_map_dir: 0.0302, loss: 55.4459, grad_norm: 149.3509 +2026-02-24 15:06:26,688 - DriveTransformer - INFO - Epoch [2][18550/39528] lr: 9.958e-05, eta: 8 days, 4:54:44, time: 0.803, data_time: 0.042, memory: 19865, loss_cls: 0.5889, loss_bbox: 0.6656, loss_traj: 1.5288, loss_traj_cls: 0.0005, loss_map_cls: 0.3656, loss_map_pts: 1.7047, loss_map_dir: 0.0289, d0.loss_plan_l1_fix_time: 3.0351, d0.loss_plan_l1_fix_dist: 0.4561, d1.loss_plan_l1_fix_time: 2.6808, d1.loss_plan_l1_fix_dist: 0.4011, d2.loss_plan_l1_fix_time: 2.6709, d2.loss_plan_l1_fix_dist: 0.4087, d3.loss_plan_l1_fix_time: 2.6789, d3.loss_plan_l1_fix_dist: 0.4286, d4.loss_plan_l1_fix_time: 2.6863, d4.loss_plan_l1_fix_dist: 0.4526, d5.loss_plan_l1_fix_time: 2.6936, d5.loss_plan_l1_fix_dist: 0.4795, d6.loss_plan_l1_fix_time: 2.7020, d6.loss_plan_l1_fix_dist: 0.5072, d0.loss_cls_all: 0.5994, d0.loss_bbox_all: 0.7041, d0.loss_cls: 0.5994, d0.loss_bbox: 0.7041, d1.loss_cls: 0.5950, d1.loss_bbox: 0.6951, d2.loss_cls: 0.5885, d2.loss_bbox: 0.6909, d3.loss_cls: 0.5875, d3.loss_bbox: 0.6745, d4.loss_cls: 0.5851, d4.loss_bbox: 0.6664, d5.loss_cls: 0.5875, d5.loss_bbox: 0.6627, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6027, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5179, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.5122, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5190, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5136, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5178, d0.loss_map_cls_all: 0.4086, d0.loss_map_pts_all: 2.4720, d0.loss_map_dir_all: 0.0286, d0.loss_map_cls: 0.4086, d0.loss_map_pts: 2.4720, d0.loss_map_dir: 0.0286, d1.loss_map_cls: 0.3971, d1.loss_map_pts: 1.8525, d1.loss_map_dir: 0.0284, d2.loss_map_cls: 0.3822, d2.loss_map_pts: 1.7531, d2.loss_map_dir: 0.0286, d3.loss_map_cls: 0.3721, d3.loss_map_pts: 1.7125, d3.loss_map_dir: 0.0288, d4.loss_map_cls: 0.3675, d4.loss_map_pts: 1.7036, d4.loss_map_dir: 0.0288, d5.loss_map_cls: 0.3642, d5.loss_map_pts: 1.7011, d5.loss_map_dir: 0.0288, loss: 61.8598, grad_norm: 149.3802 +2026-02-24 15:07:05,129 - DriveTransformer - INFO - Epoch [2][18600/39528] lr: 9.958e-05, eta: 8 days, 4:53:43, time: 0.769, data_time: 0.039, memory: 19865, loss_cls: 0.6107, loss_bbox: 0.7146, loss_traj: 1.5371, loss_traj_cls: 0.0005, loss_map_cls: 0.3886, loss_map_pts: 1.7177, loss_map_dir: 0.0287, d0.loss_plan_l1_fix_time: 2.9482, d0.loss_plan_l1_fix_dist: 0.4005, d1.loss_plan_l1_fix_time: 2.5631, d1.loss_plan_l1_fix_dist: 0.3931, d2.loss_plan_l1_fix_time: 2.5492, d2.loss_plan_l1_fix_dist: 0.4045, d3.loss_plan_l1_fix_time: 2.5474, d3.loss_plan_l1_fix_dist: 0.4201, d4.loss_plan_l1_fix_time: 2.5522, d4.loss_plan_l1_fix_dist: 0.4355, d5.loss_plan_l1_fix_time: 2.5575, d5.loss_plan_l1_fix_dist: 0.4523, d6.loss_plan_l1_fix_time: 2.5636, d6.loss_plan_l1_fix_dist: 0.4716, d0.loss_cls_all: 0.6151, d0.loss_bbox_all: 0.7483, d0.loss_cls: 0.6151, d0.loss_bbox: 0.7483, d1.loss_cls: 0.6038, d1.loss_bbox: 0.7391, d2.loss_cls: 0.6036, d2.loss_bbox: 0.7365, d3.loss_cls: 0.6048, d3.loss_bbox: 0.7259, d4.loss_cls: 0.6072, d4.loss_bbox: 0.7135, d5.loss_cls: 0.6110, d5.loss_bbox: 0.7106, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6295, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5321, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.5131, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5156, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5138, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5266, d0.loss_map_cls_all: 0.4221, d0.loss_map_pts_all: 2.3079, d0.loss_map_dir_all: 0.0281, d0.loss_map_cls: 0.4221, d0.loss_map_pts: 2.3079, d0.loss_map_dir: 0.0281, d1.loss_map_cls: 0.4085, d1.loss_map_pts: 1.8597, d1.loss_map_dir: 0.0281, d2.loss_map_cls: 0.4000, d2.loss_map_pts: 1.7780, d2.loss_map_dir: 0.0282, d3.loss_map_cls: 0.3910, d3.loss_map_pts: 1.7372, d3.loss_map_dir: 0.0285, d4.loss_map_cls: 0.3870, d4.loss_map_pts: 1.7235, d4.loss_map_dir: 0.0286, d5.loss_map_cls: 0.3886, d5.loss_map_pts: 1.7182, d5.loss_map_dir: 0.0286, loss: 61.3243, grad_norm: 149.5359 +2026-02-24 15:07:43,756 - DriveTransformer - INFO - Epoch [2][18650/39528] lr: 9.958e-05, eta: 8 days, 4:52:46, time: 0.773, data_time: 0.042, memory: 19865, loss_cls: 0.5674, loss_bbox: 0.6352, loss_traj: 1.4118, loss_traj_cls: 0.0005, loss_map_cls: 0.3559, loss_map_pts: 1.6242, loss_map_dir: 0.0287, d0.loss_plan_l1_fix_time: 2.4051, d0.loss_plan_l1_fix_dist: 0.5463, d1.loss_plan_l1_fix_time: 2.1067, d1.loss_plan_l1_fix_dist: 0.4236, d2.loss_plan_l1_fix_time: 2.0604, d2.loss_plan_l1_fix_dist: 0.4260, d3.loss_plan_l1_fix_time: 2.0611, d3.loss_plan_l1_fix_dist: 0.4458, d4.loss_plan_l1_fix_time: 2.0674, d4.loss_plan_l1_fix_dist: 0.4717, d5.loss_plan_l1_fix_time: 2.0763, d5.loss_plan_l1_fix_dist: 0.5040, d6.loss_plan_l1_fix_time: 2.0859, d6.loss_plan_l1_fix_dist: 0.5397, d0.loss_cls_all: 0.5763, d0.loss_bbox_all: 0.6653, d0.loss_cls: 0.5763, d0.loss_bbox: 0.6653, d1.loss_cls: 0.5629, d1.loss_bbox: 0.6537, d2.loss_cls: 0.5625, d2.loss_bbox: 0.6467, d3.loss_cls: 0.5633, d3.loss_bbox: 0.6374, d4.loss_cls: 0.5651, d4.loss_bbox: 0.6299, d5.loss_cls: 0.5663, d5.loss_bbox: 0.6307, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4947, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4097, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.3919, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3922, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3987, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4068, d0.loss_map_cls_all: 0.3843, d0.loss_map_pts_all: 2.3303, d0.loss_map_dir_all: 0.0285, d0.loss_map_cls: 0.3843, d0.loss_map_pts: 2.3303, d0.loss_map_dir: 0.0285, d1.loss_map_cls: 0.3768, d1.loss_map_pts: 1.7522, d1.loss_map_dir: 0.0282, d2.loss_map_cls: 0.3638, d2.loss_map_pts: 1.6591, d2.loss_map_dir: 0.0284, d3.loss_map_cls: 0.3598, d3.loss_map_pts: 1.6330, d3.loss_map_dir: 0.0286, d4.loss_map_cls: 0.3590, d4.loss_map_pts: 1.6250, d4.loss_map_dir: 0.0286, d5.loss_map_cls: 0.3563, d5.loss_map_pts: 1.6230, d5.loss_map_dir: 0.0286, loss: 55.5799, grad_norm: 151.2893 +2026-02-24 15:08:22,228 - DriveTransformer - INFO - Epoch [2][18700/39528] lr: 9.958e-05, eta: 8 days, 4:51:46, time: 0.769, data_time: 0.040, memory: 19865, loss_cls: 0.5916, loss_bbox: 0.6921, loss_traj: 1.5124, loss_traj_cls: 0.0005, loss_map_cls: 0.3725, loss_map_pts: 1.6309, loss_map_dir: 0.0267, d0.loss_plan_l1_fix_time: 2.8077, d0.loss_plan_l1_fix_dist: 0.4326, d1.loss_plan_l1_fix_time: 2.4829, d1.loss_plan_l1_fix_dist: 0.3969, d2.loss_plan_l1_fix_time: 2.4456, d2.loss_plan_l1_fix_dist: 0.4088, d3.loss_plan_l1_fix_time: 2.4447, d3.loss_plan_l1_fix_dist: 0.4243, d4.loss_plan_l1_fix_time: 2.4491, d4.loss_plan_l1_fix_dist: 0.4440, d5.loss_plan_l1_fix_time: 2.4535, d5.loss_plan_l1_fix_dist: 0.4664, d6.loss_plan_l1_fix_time: 2.4598, d6.loss_plan_l1_fix_dist: 0.4930, d0.loss_cls_all: 0.6036, d0.loss_bbox_all: 0.7193, d0.loss_cls: 0.6036, d0.loss_bbox: 0.7193, d1.loss_cls: 0.5874, d1.loss_bbox: 0.7049, d2.loss_cls: 0.5905, d2.loss_bbox: 0.6924, d3.loss_cls: 0.5894, d3.loss_bbox: 0.6880, d4.loss_cls: 0.5871, d4.loss_bbox: 0.6827, d5.loss_cls: 0.5907, d5.loss_bbox: 0.6860, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6371, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5503, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.5146, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5146, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5181, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5114, d0.loss_map_cls_all: 0.4173, d0.loss_map_pts_all: 2.3473, d0.loss_map_dir_all: 0.0259, d0.loss_map_cls: 0.4173, d0.loss_map_pts: 2.3473, d0.loss_map_dir: 0.0259, d1.loss_map_cls: 0.4041, d1.loss_map_pts: 1.7461, d1.loss_map_dir: 0.0260, d2.loss_map_cls: 0.3894, d2.loss_map_pts: 1.6487, d2.loss_map_dir: 0.0261, d3.loss_map_cls: 0.3783, d3.loss_map_pts: 1.6314, d3.loss_map_dir: 0.0263, d4.loss_map_cls: 0.3744, d4.loss_map_pts: 1.6271, d4.loss_map_dir: 0.0264, d5.loss_map_cls: 0.3713, d5.loss_map_pts: 1.6298, d5.loss_map_dir: 0.0266, loss: 59.6445, grad_norm: 152.7448 +2026-02-24 15:09:01,650 - DriveTransformer - INFO - Epoch [2][18750/39528] lr: 9.958e-05, eta: 8 days, 4:51:00, time: 0.789, data_time: 0.035, memory: 19865, loss_cls: 0.5633, loss_bbox: 0.6614, loss_traj: 1.4665, loss_traj_cls: 0.0005, loss_map_cls: 0.3563, loss_map_pts: 1.6460, loss_map_dir: 0.0302, d0.loss_plan_l1_fix_time: 2.4880, d0.loss_plan_l1_fix_dist: 0.3881, d1.loss_plan_l1_fix_time: 2.1261, d1.loss_plan_l1_fix_dist: 0.3428, d2.loss_plan_l1_fix_time: 2.0801, d2.loss_plan_l1_fix_dist: 0.3573, d3.loss_plan_l1_fix_time: 2.0745, d3.loss_plan_l1_fix_dist: 0.3735, d4.loss_plan_l1_fix_time: 2.0780, d4.loss_plan_l1_fix_dist: 0.3916, d5.loss_plan_l1_fix_time: 2.0826, d5.loss_plan_l1_fix_dist: 0.4105, d6.loss_plan_l1_fix_time: 2.0893, d6.loss_plan_l1_fix_dist: 0.4267, d0.loss_cls_all: 0.5740, d0.loss_bbox_all: 0.7084, d0.loss_cls: 0.5740, d0.loss_bbox: 0.7084, d1.loss_cls: 0.5587, d1.loss_bbox: 0.6881, d2.loss_cls: 0.5580, d2.loss_bbox: 0.6685, d3.loss_cls: 0.5557, d3.loss_bbox: 0.6717, d4.loss_cls: 0.5590, d4.loss_bbox: 0.6614, d5.loss_cls: 0.5629, d5.loss_bbox: 0.6572, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5592, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4672, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.4548, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4596, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4614, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4596, d0.loss_map_cls_all: 0.3934, d0.loss_map_pts_all: 2.3468, d0.loss_map_dir_all: 0.0290, d0.loss_map_cls: 0.3934, d0.loss_map_pts: 2.3468, d0.loss_map_dir: 0.0290, d1.loss_map_cls: 0.3802, d1.loss_map_pts: 1.7389, d1.loss_map_dir: 0.0292, d2.loss_map_cls: 0.3693, d2.loss_map_pts: 1.6386, d2.loss_map_dir: 0.0296, d3.loss_map_cls: 0.3626, d3.loss_map_pts: 1.6310, d3.loss_map_dir: 0.0299, d4.loss_map_cls: 0.3577, d4.loss_map_pts: 1.6350, d4.loss_map_dir: 0.0300, d5.loss_map_cls: 0.3572, d5.loss_map_pts: 1.6415, d5.loss_map_dir: 0.0301, loss: 55.8044, grad_norm: 153.6028 +2026-02-24 15:09:43,103 - DriveTransformer - INFO - Epoch [2][18800/39528] lr: 9.958e-05, eta: 8 days, 4:50:46, time: 0.829, data_time: 0.037, memory: 19865, loss_cls: 0.5312, loss_bbox: 0.5892, loss_traj: 1.0913, loss_traj_cls: 0.0004, loss_map_cls: 0.3491, loss_map_pts: 1.7510, loss_map_dir: 0.0338, d0.loss_plan_l1_fix_time: 2.5934, d0.loss_plan_l1_fix_dist: 0.4691, d1.loss_plan_l1_fix_time: 2.2178, d1.loss_plan_l1_fix_dist: 0.3945, d2.loss_plan_l1_fix_time: 2.1404, d2.loss_plan_l1_fix_dist: 0.4107, d3.loss_plan_l1_fix_time: 2.1331, d3.loss_plan_l1_fix_dist: 0.4308, d4.loss_plan_l1_fix_time: 2.1365, d4.loss_plan_l1_fix_dist: 0.4474, d5.loss_plan_l1_fix_time: 2.1429, d5.loss_plan_l1_fix_dist: 0.4635, d6.loss_plan_l1_fix_time: 2.1495, d6.loss_plan_l1_fix_dist: 0.4813, d0.loss_cls_all: 0.5471, d0.loss_bbox_all: 0.6218, d0.loss_cls: 0.5471, d0.loss_bbox: 0.6218, d1.loss_cls: 0.5328, d1.loss_bbox: 0.6140, d2.loss_cls: 0.5293, d2.loss_bbox: 0.5926, d3.loss_cls: 0.5310, d3.loss_bbox: 0.5974, d4.loss_cls: 0.5315, d4.loss_bbox: 0.5874, d5.loss_cls: 0.5341, d5.loss_bbox: 0.5861, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1572, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0958, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.0874, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.0964, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.0895, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.0838, d0.loss_map_cls_all: 0.3928, d0.loss_map_pts_all: 2.7423, d0.loss_map_dir_all: 0.0328, d0.loss_map_cls: 0.3928, d0.loss_map_pts: 2.7423, d0.loss_map_dir: 0.0328, d1.loss_map_cls: 0.3790, d1.loss_map_pts: 1.9386, d1.loss_map_dir: 0.0326, d2.loss_map_cls: 0.3641, d2.loss_map_pts: 1.8109, d2.loss_map_dir: 0.0331, d3.loss_map_cls: 0.3566, d3.loss_map_pts: 1.7587, d3.loss_map_dir: 0.0335, d4.loss_map_cls: 0.3505, d4.loss_map_pts: 1.7474, d4.loss_map_dir: 0.0336, d5.loss_map_cls: 0.3498, d5.loss_map_pts: 1.7489, d5.loss_map_dir: 0.0338, loss: 54.8517, grad_norm: 154.0980 +2026-02-24 15:10:22,146 - DriveTransformer - INFO - Epoch [2][18850/39528] lr: 9.958e-05, eta: 8 days, 4:49:54, time: 0.781, data_time: 0.037, memory: 19865, loss_cls: 0.5561, loss_bbox: 0.6284, loss_traj: 1.5222, loss_traj_cls: 0.0005, loss_map_cls: 0.3245, loss_map_pts: 1.5322, loss_map_dir: 0.0300, d0.loss_plan_l1_fix_time: 2.6795, d0.loss_plan_l1_fix_dist: 0.4503, d1.loss_plan_l1_fix_time: 2.4743, d1.loss_plan_l1_fix_dist: 0.3862, d2.loss_plan_l1_fix_time: 2.4170, d2.loss_plan_l1_fix_dist: 0.3919, d3.loss_plan_l1_fix_time: 2.4083, d3.loss_plan_l1_fix_dist: 0.4066, d4.loss_plan_l1_fix_time: 2.4096, d4.loss_plan_l1_fix_dist: 0.4264, d5.loss_plan_l1_fix_time: 2.4145, d5.loss_plan_l1_fix_dist: 0.4503, d6.loss_plan_l1_fix_time: 2.4203, d6.loss_plan_l1_fix_dist: 0.4840, d0.loss_cls_all: 0.5786, d0.loss_bbox_all: 0.6812, d0.loss_cls: 0.5786, d0.loss_bbox: 0.6812, d1.loss_cls: 0.5600, d1.loss_bbox: 0.6689, d2.loss_cls: 0.5557, d2.loss_bbox: 0.6502, d3.loss_cls: 0.5549, d3.loss_bbox: 0.6417, d4.loss_cls: 0.5556, d4.loss_bbox: 0.6324, d5.loss_cls: 0.5547, d5.loss_bbox: 0.6299, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6495, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5281, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.5058, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5159, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5147, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5135, d0.loss_map_cls_all: 0.3589, d0.loss_map_pts_all: 2.3792, d0.loss_map_dir_all: 0.0291, d0.loss_map_cls: 0.3589, d0.loss_map_pts: 2.3792, d0.loss_map_dir: 0.0291, d1.loss_map_cls: 0.3430, d1.loss_map_pts: 1.7178, d1.loss_map_dir: 0.0292, d2.loss_map_cls: 0.3326, d2.loss_map_pts: 1.6022, d2.loss_map_dir: 0.0295, d3.loss_map_cls: 0.3234, d3.loss_map_pts: 1.5466, d3.loss_map_dir: 0.0296, d4.loss_map_cls: 0.3221, d4.loss_map_pts: 1.5317, d4.loss_map_dir: 0.0297, d5.loss_map_cls: 0.3230, d5.loss_map_pts: 1.5295, d5.loss_map_dir: 0.0299, loss: 57.8225, grad_norm: 155.7397 +2026-02-24 15:11:01,715 - DriveTransformer - INFO - Epoch [2][18900/39528] lr: 9.958e-05, eta: 8 days, 4:49:11, time: 0.791, data_time: 0.037, memory: 19865, loss_cls: 0.5619, loss_bbox: 0.6832, loss_traj: 1.5809, loss_traj_cls: 0.0004, loss_map_cls: 0.3508, loss_map_pts: 1.7264, loss_map_dir: 0.0281, d0.loss_plan_l1_fix_time: 2.7445, d0.loss_plan_l1_fix_dist: 0.4874, d1.loss_plan_l1_fix_time: 2.4172, d1.loss_plan_l1_fix_dist: 0.4114, d2.loss_plan_l1_fix_time: 2.3732, d2.loss_plan_l1_fix_dist: 0.4122, d3.loss_plan_l1_fix_time: 2.3615, d3.loss_plan_l1_fix_dist: 0.4221, d4.loss_plan_l1_fix_time: 2.3619, d4.loss_plan_l1_fix_dist: 0.4374, d5.loss_plan_l1_fix_time: 2.3643, d5.loss_plan_l1_fix_dist: 0.4541, d6.loss_plan_l1_fix_time: 2.3685, d6.loss_plan_l1_fix_dist: 0.4723, d0.loss_cls_all: 0.5803, d0.loss_bbox_all: 0.7371, d0.loss_cls: 0.5803, d0.loss_bbox: 0.7371, d1.loss_cls: 0.5710, d1.loss_bbox: 0.7297, d2.loss_cls: 0.5653, d2.loss_bbox: 0.7105, d3.loss_cls: 0.5642, d3.loss_bbox: 0.6885, d4.loss_cls: 0.5629, d4.loss_bbox: 0.6830, d5.loss_cls: 0.5634, d5.loss_bbox: 0.6788, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6354, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5714, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.5646, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5680, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5713, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5744, d0.loss_map_cls_all: 0.3719, d0.loss_map_pts_all: 2.3523, d0.loss_map_dir_all: 0.0274, d0.loss_map_cls: 0.3719, d0.loss_map_pts: 2.3523, d0.loss_map_dir: 0.0274, d1.loss_map_cls: 0.3605, d1.loss_map_pts: 1.8385, d1.loss_map_dir: 0.0273, d2.loss_map_cls: 0.3556, d2.loss_map_pts: 1.7559, d2.loss_map_dir: 0.0276, d3.loss_map_cls: 0.3524, d3.loss_map_pts: 1.7259, d3.loss_map_dir: 0.0279, d4.loss_map_cls: 0.3505, d4.loss_map_pts: 1.7212, d4.loss_map_dir: 0.0280, d5.loss_map_cls: 0.3505, d5.loss_map_pts: 1.7226, d5.loss_map_dir: 0.0281, loss: 59.6367, grad_norm: 156.0958 +2026-02-24 15:11:41,585 - DriveTransformer - INFO - Epoch [2][18950/39528] lr: 9.958e-05, eta: 8 days, 4:48:32, time: 0.797, data_time: 0.038, memory: 19865, loss_cls: 0.5585, loss_bbox: 0.6386, loss_traj: 1.4838, loss_traj_cls: 0.0004, loss_map_cls: 0.3558, loss_map_pts: 1.5830, loss_map_dir: 0.0307, d0.loss_plan_l1_fix_time: 2.5686, d0.loss_plan_l1_fix_dist: 0.4663, d1.loss_plan_l1_fix_time: 2.2851, d1.loss_plan_l1_fix_dist: 0.3861, d2.loss_plan_l1_fix_time: 2.2672, d2.loss_plan_l1_fix_dist: 0.3907, d3.loss_plan_l1_fix_time: 2.2732, d3.loss_plan_l1_fix_dist: 0.4031, d4.loss_plan_l1_fix_time: 2.2801, d4.loss_plan_l1_fix_dist: 0.4168, d5.loss_plan_l1_fix_time: 2.2864, d5.loss_plan_l1_fix_dist: 0.4308, d6.loss_plan_l1_fix_time: 2.2942, d6.loss_plan_l1_fix_dist: 0.4441, d0.loss_cls_all: 0.5765, d0.loss_bbox_all: 0.6947, d0.loss_cls: 0.5765, d0.loss_bbox: 0.6947, d1.loss_cls: 0.5645, d1.loss_bbox: 0.6873, d2.loss_cls: 0.5630, d2.loss_bbox: 0.6646, d3.loss_cls: 0.5596, d3.loss_bbox: 0.6439, d4.loss_cls: 0.5586, d4.loss_bbox: 0.6370, d5.loss_cls: 0.5592, d5.loss_bbox: 0.6338, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5912, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4928, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.4748, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4803, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.4733, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4838, d0.loss_map_cls_all: 0.3902, d0.loss_map_pts_all: 2.4889, d0.loss_map_dir_all: 0.0298, d0.loss_map_cls: 0.3902, d0.loss_map_pts: 2.4889, d0.loss_map_dir: 0.0298, d1.loss_map_cls: 0.3807, d1.loss_map_pts: 1.7404, d1.loss_map_dir: 0.0299, d2.loss_map_cls: 0.3685, d2.loss_map_pts: 1.6334, d2.loss_map_dir: 0.0300, d3.loss_map_cls: 0.3599, d3.loss_map_pts: 1.6015, d3.loss_map_dir: 0.0303, d4.loss_map_cls: 0.3575, d4.loss_map_pts: 1.5895, d4.loss_map_dir: 0.0304, d5.loss_map_cls: 0.3561, d5.loss_map_pts: 1.5834, d5.loss_map_dir: 0.0306, loss: 57.3980, grad_norm: 158.3428 +2026-02-24 15:12:21,154 - DriveTransformer - INFO - Epoch [2][19000/39528] lr: 9.958e-05, eta: 8 days, 4:47:50, time: 0.793, data_time: 0.039, memory: 19865, loss_cls: 0.5317, loss_bbox: 0.6086, loss_traj: 1.5815, loss_traj_cls: 0.0004, loss_map_cls: 0.3186, loss_map_pts: 1.4773, loss_map_dir: 0.0278, d0.loss_plan_l1_fix_time: 2.6073, d0.loss_plan_l1_fix_dist: 0.4952, d1.loss_plan_l1_fix_time: 2.2610, d1.loss_plan_l1_fix_dist: 0.3874, d2.loss_plan_l1_fix_time: 2.2421, d2.loss_plan_l1_fix_dist: 0.3929, d3.loss_plan_l1_fix_time: 2.2517, d3.loss_plan_l1_fix_dist: 0.4081, d4.loss_plan_l1_fix_time: 2.2613, d4.loss_plan_l1_fix_dist: 0.4248, d5.loss_plan_l1_fix_time: 2.2701, d5.loss_plan_l1_fix_dist: 0.4407, d6.loss_plan_l1_fix_time: 2.2790, d6.loss_plan_l1_fix_dist: 0.4596, d0.loss_cls_all: 0.5419, d0.loss_bbox_all: 0.6460, d0.loss_cls: 0.5419, d0.loss_bbox: 0.6460, d1.loss_cls: 0.5359, d1.loss_bbox: 0.6408, d2.loss_cls: 0.5316, d2.loss_bbox: 0.6279, d3.loss_cls: 0.5291, d3.loss_bbox: 0.6103, d4.loss_cls: 0.5310, d4.loss_bbox: 0.6031, d5.loss_cls: 0.5309, d5.loss_bbox: 0.6032, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7080, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5885, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.5793, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5859, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5772, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5777, d0.loss_map_cls_all: 0.3589, d0.loss_map_pts_all: 2.2936, d0.loss_map_dir_all: 0.0271, d0.loss_map_cls: 0.3589, d0.loss_map_pts: 2.2936, d0.loss_map_dir: 0.0271, d1.loss_map_cls: 0.3452, d1.loss_map_pts: 1.6464, d1.loss_map_dir: 0.0270, d2.loss_map_cls: 0.3327, d2.loss_map_pts: 1.5326, d2.loss_map_dir: 0.0273, d3.loss_map_cls: 0.3225, d3.loss_map_pts: 1.4944, d3.loss_map_dir: 0.0276, d4.loss_map_cls: 0.3186, d4.loss_map_pts: 1.4828, d4.loss_map_dir: 0.0277, d5.loss_map_cls: 0.3181, d5.loss_map_pts: 1.4813, d5.loss_map_dir: 0.0278, loss: 56.2382, grad_norm: 157.5588 +2026-02-24 15:13:01,367 - DriveTransformer - INFO - Epoch [2][19050/39528] lr: 9.958e-05, eta: 8 days, 4:47:16, time: 0.803, data_time: 0.039, memory: 19865, loss_cls: 0.5463, loss_bbox: 0.6274, loss_traj: 1.3334, loss_traj_cls: 0.0005, loss_map_cls: 0.4033, loss_map_pts: 1.7011, loss_map_dir: 0.0334, d0.loss_plan_l1_fix_time: 2.6655, d0.loss_plan_l1_fix_dist: 0.4865, d1.loss_plan_l1_fix_time: 2.3972, d1.loss_plan_l1_fix_dist: 0.4366, d2.loss_plan_l1_fix_time: 2.3338, d2.loss_plan_l1_fix_dist: 0.4380, d3.loss_plan_l1_fix_time: 2.3233, d3.loss_plan_l1_fix_dist: 0.4516, d4.loss_plan_l1_fix_time: 2.3254, d4.loss_plan_l1_fix_dist: 0.4676, d5.loss_plan_l1_fix_time: 2.3304, d5.loss_plan_l1_fix_dist: 0.4867, d6.loss_plan_l1_fix_time: 2.3371, d6.loss_plan_l1_fix_dist: 0.5151, d0.loss_cls_all: 0.5586, d0.loss_bbox_all: 0.6600, d0.loss_cls: 0.5586, d0.loss_bbox: 0.6600, d1.loss_cls: 0.5467, d1.loss_bbox: 0.6594, d2.loss_cls: 0.5454, d2.loss_bbox: 0.6475, d3.loss_cls: 0.5425, d3.loss_bbox: 0.6378, d4.loss_cls: 0.5421, d4.loss_bbox: 0.6303, d5.loss_cls: 0.5457, d5.loss_bbox: 0.6267, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3864, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.3259, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3274, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3297, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3245, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.3340, d0.loss_map_cls_all: 0.4317, d0.loss_map_pts_all: 2.6893, d0.loss_map_dir_all: 0.0319, d0.loss_map_cls: 0.4317, d0.loss_map_pts: 2.6893, d0.loss_map_dir: 0.0319, d1.loss_map_cls: 0.4244, d1.loss_map_pts: 1.9108, d1.loss_map_dir: 0.0321, d2.loss_map_cls: 0.4129, d2.loss_map_pts: 1.7759, d2.loss_map_dir: 0.0326, d3.loss_map_cls: 0.4045, d3.loss_map_pts: 1.7274, d3.loss_map_dir: 0.0328, d4.loss_map_cls: 0.4027, d4.loss_map_pts: 1.7098, d4.loss_map_dir: 0.0331, d5.loss_map_cls: 0.4031, d5.loss_map_pts: 1.7032, d5.loss_map_dir: 0.0333, loss: 58.3782, grad_norm: 157.8636 +2026-02-24 15:13:38,870 - DriveTransformer - INFO - Epoch [2][19100/39528] lr: 9.958e-05, eta: 8 days, 4:46:01, time: 0.750, data_time: 0.036, memory: 19865, loss_cls: 0.5872, loss_bbox: 0.6913, loss_traj: 1.5734, loss_traj_cls: 0.0005, loss_map_cls: 0.3798, loss_map_pts: 1.6570, loss_map_dir: 0.0285, d0.loss_plan_l1_fix_time: 3.2031, d0.loss_plan_l1_fix_dist: 0.4482, d1.loss_plan_l1_fix_time: 2.8054, d1.loss_plan_l1_fix_dist: 0.4342, d2.loss_plan_l1_fix_time: 2.7605, d2.loss_plan_l1_fix_dist: 0.4428, d3.loss_plan_l1_fix_time: 2.7545, d3.loss_plan_l1_fix_dist: 0.4558, d4.loss_plan_l1_fix_time: 2.7587, d4.loss_plan_l1_fix_dist: 0.4715, d5.loss_plan_l1_fix_time: 2.7649, d5.loss_plan_l1_fix_dist: 0.4901, d6.loss_plan_l1_fix_time: 2.7725, d6.loss_plan_l1_fix_dist: 0.5102, d0.loss_cls_all: 0.6010, d0.loss_bbox_all: 0.7240, d0.loss_cls: 0.6010, d0.loss_bbox: 0.7240, d1.loss_cls: 0.5928, d1.loss_bbox: 0.7129, d2.loss_cls: 0.5901, d2.loss_bbox: 0.7056, d3.loss_cls: 0.5886, d3.loss_bbox: 0.6980, d4.loss_cls: 0.5898, d4.loss_bbox: 0.6900, d5.loss_cls: 0.5902, d5.loss_bbox: 0.6882, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6383, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.5456, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.5434, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5536, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5545, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5640, d0.loss_map_cls_all: 0.4265, d0.loss_map_pts_all: 2.3795, d0.loss_map_dir_all: 0.0276, d0.loss_map_cls: 0.4265, d0.loss_map_pts: 2.3795, d0.loss_map_dir: 0.0276, d1.loss_map_cls: 0.4154, d1.loss_map_pts: 1.7881, d1.loss_map_dir: 0.0276, d2.loss_map_cls: 0.4006, d2.loss_map_pts: 1.6941, d2.loss_map_dir: 0.0278, d3.loss_map_cls: 0.3870, d3.loss_map_pts: 1.6635, d3.loss_map_dir: 0.0281, d4.loss_map_cls: 0.3799, d4.loss_map_pts: 1.6558, d4.loss_map_dir: 0.0283, d5.loss_map_cls: 0.3800, d5.loss_map_pts: 1.6539, d5.loss_map_dir: 0.0284, loss: 62.7158, grad_norm: 156.6064 +2026-02-24 15:14:18,254 - DriveTransformer - INFO - Epoch [2][19150/39528] lr: 9.958e-05, eta: 8 days, 4:45:15, time: 0.788, data_time: 0.045, memory: 19865, loss_cls: 0.5701, loss_bbox: 0.6630, loss_traj: 1.5673, loss_traj_cls: 0.0005, loss_map_cls: 0.3604, loss_map_pts: 1.7094, loss_map_dir: 0.0305, d0.loss_plan_l1_fix_time: 2.7616, d0.loss_plan_l1_fix_dist: 0.3807, d1.loss_plan_l1_fix_time: 2.3311, d1.loss_plan_l1_fix_dist: 0.3344, d2.loss_plan_l1_fix_time: 2.3241, d2.loss_plan_l1_fix_dist: 0.3439, d3.loss_plan_l1_fix_time: 2.3357, d3.loss_plan_l1_fix_dist: 0.3619, d4.loss_plan_l1_fix_time: 2.3467, d4.loss_plan_l1_fix_dist: 0.3834, d5.loss_plan_l1_fix_time: 2.3579, d5.loss_plan_l1_fix_dist: 0.4016, d6.loss_plan_l1_fix_time: 2.3696, d6.loss_plan_l1_fix_dist: 0.4190, d0.loss_cls_all: 0.5878, d0.loss_bbox_all: 0.6990, d0.loss_cls: 0.5878, d0.loss_bbox: 0.6990, d1.loss_cls: 0.5766, d1.loss_bbox: 0.6781, d2.loss_cls: 0.5714, d2.loss_bbox: 0.6703, d3.loss_cls: 0.5687, d3.loss_bbox: 0.6664, d4.loss_cls: 0.5669, d4.loss_bbox: 0.6615, d5.loss_cls: 0.5701, d5.loss_bbox: 0.6618, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5724, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5087, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.5355, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5451, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5576, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5714, d0.loss_map_cls_all: 0.3925, d0.loss_map_pts_all: 2.5633, d0.loss_map_dir_all: 0.0299, d0.loss_map_cls: 0.3925, d0.loss_map_pts: 2.5633, d0.loss_map_dir: 0.0299, d1.loss_map_cls: 0.3826, d1.loss_map_pts: 1.8878, d1.loss_map_dir: 0.0296, d2.loss_map_cls: 0.3722, d2.loss_map_pts: 1.7685, d2.loss_map_dir: 0.0298, d3.loss_map_cls: 0.3666, d3.loss_map_pts: 1.7324, d3.loss_map_dir: 0.0301, d4.loss_map_cls: 0.3641, d4.loss_map_pts: 1.7164, d4.loss_map_dir: 0.0303, d5.loss_map_cls: 0.3612, d5.loss_map_pts: 1.7120, d5.loss_map_dir: 0.0304, loss: 59.1985, grad_norm: 157.1095 +2026-02-24 15:14:56,884 - DriveTransformer - INFO - Epoch [2][19200/39528] lr: 9.958e-05, eta: 8 days, 4:44:18, time: 0.773, data_time: 0.037, memory: 19865, loss_cls: 0.5869, loss_bbox: 0.7168, loss_traj: 1.6302, loss_traj_cls: 0.0005, loss_map_cls: 0.3573, loss_map_pts: 1.5667, loss_map_dir: 0.0294, d0.loss_plan_l1_fix_time: 3.0334, d0.loss_plan_l1_fix_dist: 0.4527, d1.loss_plan_l1_fix_time: 2.6119, d1.loss_plan_l1_fix_dist: 0.4045, d2.loss_plan_l1_fix_time: 2.5886, d2.loss_plan_l1_fix_dist: 0.4092, d3.loss_plan_l1_fix_time: 2.5979, d3.loss_plan_l1_fix_dist: 0.4207, d4.loss_plan_l1_fix_time: 2.6069, d4.loss_plan_l1_fix_dist: 0.4330, d5.loss_plan_l1_fix_time: 2.6155, d5.loss_plan_l1_fix_dist: 0.4481, d6.loss_plan_l1_fix_time: 2.6251, d6.loss_plan_l1_fix_dist: 0.4648, d0.loss_cls_all: 0.5994, d0.loss_bbox_all: 0.7514, d0.loss_cls: 0.5994, d0.loss_bbox: 0.7514, d1.loss_cls: 0.5907, d1.loss_bbox: 0.7337, d2.loss_cls: 0.5881, d2.loss_bbox: 0.7204, d3.loss_cls: 0.5871, d3.loss_bbox: 0.7156, d4.loss_cls: 0.5845, d4.loss_bbox: 0.7142, d5.loss_cls: 0.5873, d5.loss_bbox: 0.7170, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6863, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.6007, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.5877, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5974, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6017, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6177, d0.loss_map_cls_all: 0.3864, d0.loss_map_pts_all: 2.3582, d0.loss_map_dir_all: 0.0290, d0.loss_map_cls: 0.3864, d0.loss_map_pts: 2.3582, d0.loss_map_dir: 0.0290, d1.loss_map_cls: 0.3754, d1.loss_map_pts: 1.7094, d1.loss_map_dir: 0.0287, d2.loss_map_cls: 0.3698, d2.loss_map_pts: 1.6045, d2.loss_map_dir: 0.0289, d3.loss_map_cls: 0.3607, d3.loss_map_pts: 1.5789, d3.loss_map_dir: 0.0291, d4.loss_map_cls: 0.3580, d4.loss_map_pts: 1.5679, d4.loss_map_dir: 0.0292, d5.loss_map_cls: 0.3564, d5.loss_map_pts: 1.5668, d5.loss_map_dir: 0.0293, loss: 61.0758, grad_norm: 157.7170 +2026-02-24 15:15:35,667 - DriveTransformer - INFO - Epoch [2][19250/39528] lr: 9.958e-05, eta: 8 days, 4:43:23, time: 0.776, data_time: 0.040, memory: 19865, loss_cls: 0.6323, loss_bbox: 0.7054, loss_traj: 1.5654, loss_traj_cls: 0.0005, loss_map_cls: 0.3894, loss_map_pts: 1.8541, loss_map_dir: 0.0274, d0.loss_plan_l1_fix_time: 2.5677, d0.loss_plan_l1_fix_dist: 0.4406, d1.loss_plan_l1_fix_time: 2.1699, d1.loss_plan_l1_fix_dist: 0.3773, d2.loss_plan_l1_fix_time: 2.1177, d2.loss_plan_l1_fix_dist: 0.3729, d3.loss_plan_l1_fix_time: 2.1204, d3.loss_plan_l1_fix_dist: 0.3803, d4.loss_plan_l1_fix_time: 2.1266, d4.loss_plan_l1_fix_dist: 0.3929, d5.loss_plan_l1_fix_time: 2.1344, d5.loss_plan_l1_fix_dist: 0.4101, d6.loss_plan_l1_fix_time: 2.1431, d6.loss_plan_l1_fix_dist: 0.4319, d0.loss_cls_all: 0.6442, d0.loss_bbox_all: 0.7422, d0.loss_cls: 0.6442, d0.loss_bbox: 0.7422, d1.loss_cls: 0.6330, d1.loss_bbox: 0.7305, d2.loss_cls: 0.6292, d2.loss_bbox: 0.7099, d3.loss_cls: 0.6240, d3.loss_bbox: 0.7088, d4.loss_cls: 0.6221, d4.loss_bbox: 0.7035, d5.loss_cls: 0.6277, d5.loss_bbox: 0.7019, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6061, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5291, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.5224, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5330, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5378, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5527, d0.loss_map_cls_all: 0.4294, d0.loss_map_pts_all: 2.4571, d0.loss_map_dir_all: 0.0265, d0.loss_map_cls: 0.4294, d0.loss_map_pts: 2.4571, d0.loss_map_dir: 0.0265, d1.loss_map_cls: 0.4109, d1.loss_map_pts: 2.0032, d1.loss_map_dir: 0.0265, d2.loss_map_cls: 0.4011, d2.loss_map_pts: 1.9088, d2.loss_map_dir: 0.0267, d3.loss_map_cls: 0.3977, d3.loss_map_pts: 1.8742, d3.loss_map_dir: 0.0271, d4.loss_map_cls: 0.3905, d4.loss_map_pts: 1.8594, d4.loss_map_dir: 0.0272, d5.loss_map_cls: 0.3887, d5.loss_map_pts: 1.8567, d5.loss_map_dir: 0.0274, loss: 59.5611, grad_norm: 157.3591 +2026-02-24 15:16:15,999 - DriveTransformer - INFO - Epoch [2][19300/39528] lr: 9.958e-05, eta: 8 days, 4:42:51, time: 0.807, data_time: 0.036, memory: 19865, loss_cls: 0.5528, loss_bbox: 0.6275, loss_traj: 1.3273, loss_traj_cls: 0.0005, loss_map_cls: 0.3519, loss_map_pts: 1.6842, loss_map_dir: 0.0350, d0.loss_plan_l1_fix_time: 2.5593, d0.loss_plan_l1_fix_dist: 0.4935, d1.loss_plan_l1_fix_time: 2.2628, d1.loss_plan_l1_fix_dist: 0.4303, d2.loss_plan_l1_fix_time: 2.2187, d2.loss_plan_l1_fix_dist: 0.4388, d3.loss_plan_l1_fix_time: 2.2154, d3.loss_plan_l1_fix_dist: 0.4567, d4.loss_plan_l1_fix_time: 2.2206, d4.loss_plan_l1_fix_dist: 0.4800, d5.loss_plan_l1_fix_time: 2.2271, d5.loss_plan_l1_fix_dist: 0.5030, d6.loss_plan_l1_fix_time: 2.2347, d6.loss_plan_l1_fix_dist: 0.5254, d0.loss_cls_all: 0.5646, d0.loss_bbox_all: 0.6699, d0.loss_cls: 0.5646, d0.loss_bbox: 0.6699, d1.loss_cls: 0.5583, d1.loss_bbox: 0.6542, d2.loss_cls: 0.5519, d2.loss_bbox: 0.6295, d3.loss_cls: 0.5498, d3.loss_bbox: 0.6216, d4.loss_cls: 0.5512, d4.loss_bbox: 0.6204, d5.loss_cls: 0.5518, d5.loss_bbox: 0.6222, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3547, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2697, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.2846, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3036, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3180, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3252, d0.loss_map_cls_all: 0.3721, d0.loss_map_pts_all: 2.7456, d0.loss_map_dir_all: 0.0348, d0.loss_map_cls: 0.3721, d0.loss_map_pts: 2.7456, d0.loss_map_dir: 0.0348, d1.loss_map_cls: 0.3743, d1.loss_map_pts: 1.8657, d1.loss_map_dir: 0.0343, d2.loss_map_cls: 0.3640, d2.loss_map_pts: 1.7316, d2.loss_map_dir: 0.0345, d3.loss_map_cls: 0.3575, d3.loss_map_pts: 1.6976, d3.loss_map_dir: 0.0347, d4.loss_map_cls: 0.3530, d4.loss_map_pts: 1.6873, d4.loss_map_dir: 0.0348, d5.loss_map_cls: 0.3519, d5.loss_map_pts: 1.6852, d5.loss_map_dir: 0.0349, loss: 57.0321, grad_norm: 158.5763 +2026-02-24 15:16:55,884 - DriveTransformer - INFO - Epoch [2][19350/39528] lr: 9.958e-05, eta: 8 days, 4:42:13, time: 0.798, data_time: 0.038, memory: 19865, loss_cls: 0.5807, loss_bbox: 0.6834, loss_traj: 1.6872, loss_traj_cls: 0.0005, loss_map_cls: 0.3385, loss_map_pts: 1.6300, loss_map_dir: 0.0283, d0.loss_plan_l1_fix_time: 2.9469, d0.loss_plan_l1_fix_dist: 0.4654, d1.loss_plan_l1_fix_time: 2.6899, d1.loss_plan_l1_fix_dist: 0.4058, d2.loss_plan_l1_fix_time: 2.6267, d2.loss_plan_l1_fix_dist: 0.4211, d3.loss_plan_l1_fix_time: 2.6237, d3.loss_plan_l1_fix_dist: 0.4397, d4.loss_plan_l1_fix_time: 2.6295, d4.loss_plan_l1_fix_dist: 0.4589, d5.loss_plan_l1_fix_time: 2.6368, d5.loss_plan_l1_fix_dist: 0.4774, d6.loss_plan_l1_fix_time: 2.6444, d6.loss_plan_l1_fix_dist: 0.5000, d0.loss_cls_all: 0.5903, d0.loss_bbox_all: 0.7340, d0.loss_cls: 0.5903, d0.loss_bbox: 0.7340, d1.loss_cls: 0.5826, d1.loss_bbox: 0.7157, d2.loss_cls: 0.5749, d2.loss_bbox: 0.6965, d3.loss_cls: 0.5760, d3.loss_bbox: 0.6829, d4.loss_cls: 0.5759, d4.loss_bbox: 0.6857, d5.loss_cls: 0.5765, d5.loss_bbox: 0.6830, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7726, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.6803, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.6738, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.6800, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6983, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6860, d0.loss_map_cls_all: 0.3678, d0.loss_map_pts_all: 2.4719, d0.loss_map_dir_all: 0.0280, d0.loss_map_cls: 0.3678, d0.loss_map_pts: 2.4719, d0.loss_map_dir: 0.0280, d1.loss_map_cls: 0.3653, d1.loss_map_pts: 1.7838, d1.loss_map_dir: 0.0274, d2.loss_map_cls: 0.3540, d2.loss_map_pts: 1.6657, d2.loss_map_dir: 0.0277, d3.loss_map_cls: 0.3460, d3.loss_map_pts: 1.6383, d3.loss_map_dir: 0.0280, d4.loss_map_cls: 0.3417, d4.loss_map_pts: 1.6316, d4.loss_map_dir: 0.0281, d5.loss_map_cls: 0.3403, d5.loss_map_pts: 1.6308, d5.loss_map_dir: 0.0283, loss: 62.0811, grad_norm: 158.0058 +2026-02-24 15:17:35,222 - DriveTransformer - INFO - Epoch [2][19400/39528] lr: 9.958e-05, eta: 8 days, 4:41:26, time: 0.787, data_time: 0.037, memory: 19865, loss_cls: 0.6152, loss_bbox: 0.6996, loss_traj: 1.5116, loss_traj_cls: 0.0005, loss_map_cls: 0.4134, loss_map_pts: 1.7825, loss_map_dir: 0.0301, d0.loss_plan_l1_fix_time: 2.5020, d0.loss_plan_l1_fix_dist: 0.4408, d1.loss_plan_l1_fix_time: 2.1521, d1.loss_plan_l1_fix_dist: 0.4082, d2.loss_plan_l1_fix_time: 2.1259, d2.loss_plan_l1_fix_dist: 0.4214, d3.loss_plan_l1_fix_time: 2.1319, d3.loss_plan_l1_fix_dist: 0.4427, d4.loss_plan_l1_fix_time: 2.1417, d4.loss_plan_l1_fix_dist: 0.4683, d5.loss_plan_l1_fix_time: 2.1519, d5.loss_plan_l1_fix_dist: 0.4941, d6.loss_plan_l1_fix_time: 2.1625, d6.loss_plan_l1_fix_dist: 0.5193, d0.loss_cls_all: 0.6269, d0.loss_bbox_all: 0.7251, d0.loss_cls: 0.6269, d0.loss_bbox: 0.7251, d1.loss_cls: 0.6187, d1.loss_bbox: 0.7185, d2.loss_cls: 0.6124, d2.loss_bbox: 0.7032, d3.loss_cls: 0.6123, d3.loss_bbox: 0.6957, d4.loss_cls: 0.6118, d4.loss_bbox: 0.6961, d5.loss_cls: 0.6119, d5.loss_bbox: 0.6955, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6601, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.5056, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.4789, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4831, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4890, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4962, d0.loss_map_cls_all: 0.4303, d0.loss_map_pts_all: 2.5774, d0.loss_map_dir_all: 0.0291, d0.loss_map_cls: 0.4303, d0.loss_map_pts: 2.5774, d0.loss_map_dir: 0.0291, d1.loss_map_cls: 0.4261, d1.loss_map_pts: 1.9863, d1.loss_map_dir: 0.0290, d2.loss_map_cls: 0.4180, d2.loss_map_pts: 1.8486, d2.loss_map_dir: 0.0295, d3.loss_map_cls: 0.4182, d3.loss_map_pts: 1.8071, d3.loss_map_dir: 0.0298, d4.loss_map_cls: 0.4136, d4.loss_map_pts: 1.7913, d4.loss_map_dir: 0.0298, d5.loss_map_cls: 0.4148, d5.loss_map_pts: 1.7830, d5.loss_map_dir: 0.0300, loss: 59.5418, grad_norm: 158.2444 +2026-02-24 15:18:15,679 - DriveTransformer - INFO - Epoch [2][19450/39528] lr: 9.958e-05, eta: 8 days, 4:40:56, time: 0.809, data_time: 0.043, memory: 19865, loss_cls: 0.6014, loss_bbox: 0.6734, loss_traj: 1.4270, loss_traj_cls: 0.0005, loss_map_cls: 0.3952, loss_map_pts: 1.8551, loss_map_dir: 0.0306, d0.loss_plan_l1_fix_time: 2.9919, d0.loss_plan_l1_fix_dist: 0.4233, d1.loss_plan_l1_fix_time: 2.6022, d1.loss_plan_l1_fix_dist: 0.3992, d2.loss_plan_l1_fix_time: 2.5395, d2.loss_plan_l1_fix_dist: 0.4158, d3.loss_plan_l1_fix_time: 2.5307, d3.loss_plan_l1_fix_dist: 0.4406, d4.loss_plan_l1_fix_time: 2.5343, d4.loss_plan_l1_fix_dist: 0.4757, d5.loss_plan_l1_fix_time: 2.5401, d5.loss_plan_l1_fix_dist: 0.5130, d6.loss_plan_l1_fix_time: 2.5482, d6.loss_plan_l1_fix_dist: 0.5507, d0.loss_cls_all: 0.6129, d0.loss_bbox_all: 0.7094, d0.loss_cls: 0.6129, d0.loss_bbox: 0.7094, d1.loss_cls: 0.6065, d1.loss_bbox: 0.7003, d2.loss_cls: 0.6028, d2.loss_bbox: 0.6829, d3.loss_cls: 0.6020, d3.loss_bbox: 0.6729, d4.loss_cls: 0.5994, d4.loss_bbox: 0.6719, d5.loss_cls: 0.5993, d5.loss_bbox: 0.6711, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4389, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.4078, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.4064, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4101, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4139, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4245, d0.loss_map_cls_all: 0.4216, d0.loss_map_pts_all: 2.7182, d0.loss_map_dir_all: 0.0295, d0.loss_map_cls: 0.4216, d0.loss_map_pts: 2.7182, d0.loss_map_dir: 0.0295, d1.loss_map_cls: 0.4124, d1.loss_map_pts: 2.0370, d1.loss_map_dir: 0.0293, d2.loss_map_cls: 0.4010, d2.loss_map_pts: 1.9108, d2.loss_map_dir: 0.0299, d3.loss_map_cls: 0.3936, d3.loss_map_pts: 1.8771, d3.loss_map_dir: 0.0303, d4.loss_map_cls: 0.3917, d4.loss_map_pts: 1.8617, d4.loss_map_dir: 0.0305, d5.loss_map_cls: 0.3922, d5.loss_map_pts: 1.8572, d5.loss_map_dir: 0.0305, loss: 62.0722, grad_norm: 159.5172 +2026-02-24 15:18:56,899 - DriveTransformer - INFO - Epoch [2][19500/39528] lr: 9.958e-05, eta: 8 days, 4:40:38, time: 0.824, data_time: 0.037, memory: 19865, loss_cls: 0.5534, loss_bbox: 0.6260, loss_traj: 1.4861, loss_traj_cls: 0.0005, loss_map_cls: 0.3584, loss_map_pts: 1.6539, loss_map_dir: 0.0322, d0.loss_plan_l1_fix_time: 2.8163, d0.loss_plan_l1_fix_dist: 0.4115, d1.loss_plan_l1_fix_time: 2.3696, d1.loss_plan_l1_fix_dist: 0.3930, d2.loss_plan_l1_fix_time: 2.3079, d2.loss_plan_l1_fix_dist: 0.4147, d3.loss_plan_l1_fix_time: 2.2995, d3.loss_plan_l1_fix_dist: 0.4355, d4.loss_plan_l1_fix_time: 2.3028, d4.loss_plan_l1_fix_dist: 0.4563, d5.loss_plan_l1_fix_time: 2.3091, d5.loss_plan_l1_fix_dist: 0.4818, d6.loss_plan_l1_fix_time: 2.3169, d6.loss_plan_l1_fix_dist: 0.5120, d0.loss_cls_all: 0.5574, d0.loss_bbox_all: 0.6527, d0.loss_cls: 0.5574, d0.loss_bbox: 0.6527, d1.loss_cls: 0.5498, d1.loss_bbox: 0.6438, d2.loss_cls: 0.5509, d2.loss_bbox: 0.6207, d3.loss_cls: 0.5520, d3.loss_bbox: 0.6160, d4.loss_cls: 0.5507, d4.loss_bbox: 0.6170, d5.loss_cls: 0.5512, d5.loss_bbox: 0.6202, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6225, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.5128, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.4815, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4774, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4742, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4738, d0.loss_map_cls_all: 0.3886, d0.loss_map_pts_all: 2.6643, d0.loss_map_dir_all: 0.0315, d0.loss_map_cls: 0.3886, d0.loss_map_pts: 2.6643, d0.loss_map_dir: 0.0315, d1.loss_map_cls: 0.3776, d1.loss_map_pts: 1.8336, d1.loss_map_dir: 0.0310, d2.loss_map_cls: 0.3686, d2.loss_map_pts: 1.7077, d2.loss_map_dir: 0.0314, d3.loss_map_cls: 0.3595, d3.loss_map_pts: 1.6741, d3.loss_map_dir: 0.0318, d4.loss_map_cls: 0.3586, d4.loss_map_pts: 1.6616, d4.loss_map_dir: 0.0320, d5.loss_map_cls: 0.3575, d5.loss_map_pts: 1.6566, d5.loss_map_dir: 0.0320, loss: 58.5583, grad_norm: 158.6244 +2026-02-24 15:19:36,732 - DriveTransformer - INFO - Epoch [2][19550/39528] lr: 9.958e-05, eta: 8 days, 4:39:59, time: 0.797, data_time: 0.041, memory: 19865, loss_cls: 0.5981, loss_bbox: 0.6633, loss_traj: 1.4128, loss_traj_cls: 0.0005, loss_map_cls: 0.3736, loss_map_pts: 1.5952, loss_map_dir: 0.0314, d0.loss_plan_l1_fix_time: 2.8298, d0.loss_plan_l1_fix_dist: 0.4585, d1.loss_plan_l1_fix_time: 2.5068, d1.loss_plan_l1_fix_dist: 0.4178, d2.loss_plan_l1_fix_time: 2.4900, d2.loss_plan_l1_fix_dist: 0.4377, d3.loss_plan_l1_fix_time: 2.4905, d3.loss_plan_l1_fix_dist: 0.4637, d4.loss_plan_l1_fix_time: 2.4958, d4.loss_plan_l1_fix_dist: 0.4929, d5.loss_plan_l1_fix_time: 2.5017, d5.loss_plan_l1_fix_dist: 0.5247, d6.loss_plan_l1_fix_time: 2.5082, d6.loss_plan_l1_fix_dist: 0.5591, d0.loss_cls_all: 0.5994, d0.loss_bbox_all: 0.7013, d0.loss_cls: 0.5994, d0.loss_bbox: 0.7013, d1.loss_cls: 0.5874, d1.loss_bbox: 0.6861, d2.loss_cls: 0.5834, d2.loss_bbox: 0.6720, d3.loss_cls: 0.5837, d3.loss_bbox: 0.6705, d4.loss_cls: 0.5897, d4.loss_bbox: 0.6684, d5.loss_cls: 0.5942, d5.loss_bbox: 0.6631, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4434, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.3698, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.3846, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3986, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3975, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4055, d0.loss_map_cls_all: 0.4072, d0.loss_map_pts_all: 2.5114, d0.loss_map_dir_all: 0.0306, d0.loss_map_cls: 0.4072, d0.loss_map_pts: 2.5114, d0.loss_map_dir: 0.0306, d1.loss_map_cls: 0.4022, d1.loss_map_pts: 1.7800, d1.loss_map_dir: 0.0303, d2.loss_map_cls: 0.3918, d2.loss_map_pts: 1.6479, d2.loss_map_dir: 0.0307, d3.loss_map_cls: 0.3818, d3.loss_map_pts: 1.6108, d3.loss_map_dir: 0.0310, d4.loss_map_cls: 0.3760, d4.loss_map_pts: 1.6005, d4.loss_map_dir: 0.0312, d5.loss_map_cls: 0.3732, d5.loss_map_pts: 1.5953, d5.loss_map_dir: 0.0314, loss: 59.3685, grad_norm: 158.2968 +2026-02-24 15:20:15,790 - DriveTransformer - INFO - Epoch [2][19600/39528] lr: 9.958e-05, eta: 8 days, 4:39:08, time: 0.781, data_time: 0.036, memory: 19865, loss_cls: 0.5436, loss_bbox: 0.6411, loss_traj: 1.5530, loss_traj_cls: 0.0006, loss_map_cls: 0.3323, loss_map_pts: 1.5599, loss_map_dir: 0.0268, d0.loss_plan_l1_fix_time: 2.5126, d0.loss_plan_l1_fix_dist: 0.5060, d1.loss_plan_l1_fix_time: 2.0274, d1.loss_plan_l1_fix_dist: 0.4215, d2.loss_plan_l1_fix_time: 1.9866, d2.loss_plan_l1_fix_dist: 0.4286, d3.loss_plan_l1_fix_time: 1.9847, d3.loss_plan_l1_fix_dist: 0.4479, d4.loss_plan_l1_fix_time: 1.9896, d4.loss_plan_l1_fix_dist: 0.4672, d5.loss_plan_l1_fix_time: 1.9957, d5.loss_plan_l1_fix_dist: 0.4837, d6.loss_plan_l1_fix_time: 2.0035, d6.loss_plan_l1_fix_dist: 0.4995, d0.loss_cls_all: 0.5636, d0.loss_bbox_all: 0.6760, d0.loss_cls: 0.5636, d0.loss_bbox: 0.6760, d1.loss_cls: 0.5521, d1.loss_bbox: 0.6568, d2.loss_cls: 0.5438, d2.loss_bbox: 0.6431, d3.loss_cls: 0.5439, d3.loss_bbox: 0.6388, d4.loss_cls: 0.5419, d4.loss_bbox: 0.6393, d5.loss_cls: 0.5430, d5.loss_bbox: 0.6379, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5898, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.5279, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.5233, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5395, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5444, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5417, d0.loss_map_cls_all: 0.3731, d0.loss_map_pts_all: 2.3015, d0.loss_map_dir_all: 0.0261, d0.loss_map_cls: 0.3731, d0.loss_map_pts: 2.3015, d0.loss_map_dir: 0.0261, d1.loss_map_cls: 0.3531, d1.loss_map_pts: 1.7031, d1.loss_map_dir: 0.0256, d2.loss_map_cls: 0.3471, d2.loss_map_pts: 1.6053, d2.loss_map_dir: 0.0260, d3.loss_map_cls: 0.3380, d3.loss_map_pts: 1.5727, d3.loss_map_dir: 0.0264, d4.loss_map_cls: 0.3311, d4.loss_map_pts: 1.5667, d4.loss_map_dir: 0.0265, d5.loss_map_cls: 0.3302, d5.loss_map_pts: 1.5615, d5.loss_map_dir: 0.0266, loss: 55.3436, grad_norm: 160.4411 +2026-02-24 15:20:55,466 - DriveTransformer - INFO - Epoch [2][19650/39528] lr: 9.958e-05, eta: 8 days, 4:38:26, time: 0.794, data_time: 0.036, memory: 19865, loss_cls: 0.5628, loss_bbox: 0.6577, loss_traj: 1.3706, loss_traj_cls: 0.0006, loss_map_cls: 0.3691, loss_map_pts: 1.5831, loss_map_dir: 0.0347, d0.loss_plan_l1_fix_time: 3.1390, d0.loss_plan_l1_fix_dist: 0.5327, d1.loss_plan_l1_fix_time: 2.4660, d1.loss_plan_l1_fix_dist: 0.4357, d2.loss_plan_l1_fix_time: 2.3487, d2.loss_plan_l1_fix_dist: 0.4437, d3.loss_plan_l1_fix_time: 2.3384, d3.loss_plan_l1_fix_dist: 0.4615, d4.loss_plan_l1_fix_time: 2.3448, d4.loss_plan_l1_fix_dist: 0.4840, d5.loss_plan_l1_fix_time: 2.3533, d5.loss_plan_l1_fix_dist: 0.5071, d6.loss_plan_l1_fix_time: 2.3634, d6.loss_plan_l1_fix_dist: 0.5278, d0.loss_cls_all: 0.5691, d0.loss_bbox_all: 0.6863, d0.loss_cls: 0.5691, d0.loss_bbox: 0.6863, d1.loss_cls: 0.5585, d1.loss_bbox: 0.6680, d2.loss_cls: 0.5600, d2.loss_bbox: 0.6534, d3.loss_cls: 0.5589, d3.loss_bbox: 0.6481, d4.loss_cls: 0.5585, d4.loss_bbox: 0.6487, d5.loss_cls: 0.5611, d5.loss_bbox: 0.6488, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3902, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.3407, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3473, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3553, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3591, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.3618, d0.loss_map_cls_all: 0.3932, d0.loss_map_pts_all: 2.5514, d0.loss_map_dir_all: 0.0333, d0.loss_map_cls: 0.3932, d0.loss_map_pts: 2.5514, d0.loss_map_dir: 0.0333, d1.loss_map_cls: 0.3878, d1.loss_map_pts: 1.7728, d1.loss_map_dir: 0.0335, d2.loss_map_cls: 0.3789, d2.loss_map_pts: 1.6432, d2.loss_map_dir: 0.0339, d3.loss_map_cls: 0.3717, d3.loss_map_pts: 1.5993, d3.loss_map_dir: 0.0343, d4.loss_map_cls: 0.3697, d4.loss_map_pts: 1.5873, d4.loss_map_dir: 0.0344, d5.loss_map_cls: 0.3681, d5.loss_map_pts: 1.5850, d5.loss_map_dir: 0.0346, loss: 58.2488, grad_norm: 160.3757 +2026-02-24 15:21:34,301 - DriveTransformer - INFO - Epoch [2][19700/39528] lr: 9.958e-05, eta: 8 days, 4:37:32, time: 0.777, data_time: 0.040, memory: 19865, loss_cls: 0.5300, loss_bbox: 0.6254, loss_traj: 1.5111, loss_traj_cls: 0.0005, loss_map_cls: 0.3200, loss_map_pts: 1.3541, loss_map_dir: 0.0252, d0.loss_plan_l1_fix_time: 2.7040, d0.loss_plan_l1_fix_dist: 0.4978, d1.loss_plan_l1_fix_time: 2.3701, d1.loss_plan_l1_fix_dist: 0.3989, d2.loss_plan_l1_fix_time: 2.3038, d2.loss_plan_l1_fix_dist: 0.4105, d3.loss_plan_l1_fix_time: 2.2981, d3.loss_plan_l1_fix_dist: 0.4266, d4.loss_plan_l1_fix_time: 2.3024, d4.loss_plan_l1_fix_dist: 0.4484, d5.loss_plan_l1_fix_time: 2.3092, d5.loss_plan_l1_fix_dist: 0.4731, d6.loss_plan_l1_fix_time: 2.3178, d6.loss_plan_l1_fix_dist: 0.4990, d0.loss_cls_all: 0.5303, d0.loss_bbox_all: 0.6562, d0.loss_cls: 0.5303, d0.loss_bbox: 0.6562, d1.loss_cls: 0.5258, d1.loss_bbox: 0.6373, d2.loss_cls: 0.5252, d2.loss_bbox: 0.6231, d3.loss_cls: 0.5260, d3.loss_bbox: 0.6236, d4.loss_cls: 0.5264, d4.loss_bbox: 0.6218, d5.loss_cls: 0.5287, d5.loss_bbox: 0.6199, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5381, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.4924, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.4957, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5047, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5132, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5105, d0.loss_map_cls_all: 0.3479, d0.loss_map_pts_all: 2.1022, d0.loss_map_dir_all: 0.0245, d0.loss_map_cls: 0.3479, d0.loss_map_pts: 2.1022, d0.loss_map_dir: 0.0245, d1.loss_map_cls: 0.3343, d1.loss_map_pts: 1.4949, d1.loss_map_dir: 0.0243, d2.loss_map_cls: 0.3271, d2.loss_map_pts: 1.3980, d2.loss_map_dir: 0.0247, d3.loss_map_cls: 0.3217, d3.loss_map_pts: 1.3666, d3.loss_map_dir: 0.0249, d4.loss_map_cls: 0.3188, d4.loss_map_pts: 1.3570, d4.loss_map_dir: 0.0250, d5.loss_map_cls: 0.3172, d5.loss_map_pts: 1.3575, d5.loss_map_dir: 0.0252, loss: 54.9821, grad_norm: 160.6766 +2026-02-24 15:22:14,332 - DriveTransformer - INFO - Epoch [2][19750/39528] lr: 9.958e-05, eta: 8 days, 4:36:56, time: 0.801, data_time: 0.038, memory: 19865, loss_cls: 0.5689, loss_bbox: 0.6348, loss_traj: 1.5435, loss_traj_cls: 0.0005, loss_map_cls: 0.3931, loss_map_pts: 1.7242, loss_map_dir: 0.0289, d0.loss_plan_l1_fix_time: 2.8175, d0.loss_plan_l1_fix_dist: 0.4733, d1.loss_plan_l1_fix_time: 2.4378, d1.loss_plan_l1_fix_dist: 0.3956, d2.loss_plan_l1_fix_time: 2.3926, d2.loss_plan_l1_fix_dist: 0.3884, d3.loss_plan_l1_fix_time: 2.3918, d3.loss_plan_l1_fix_dist: 0.3971, d4.loss_plan_l1_fix_time: 2.3970, d4.loss_plan_l1_fix_dist: 0.4086, d5.loss_plan_l1_fix_time: 2.4032, d5.loss_plan_l1_fix_dist: 0.4245, d6.loss_plan_l1_fix_time: 2.4106, d6.loss_plan_l1_fix_dist: 0.4450, d0.loss_cls_all: 0.5696, d0.loss_bbox_all: 0.6746, d0.loss_cls: 0.5696, d0.loss_bbox: 0.6746, d1.loss_cls: 0.5627, d1.loss_bbox: 0.6548, d2.loss_cls: 0.5641, d2.loss_bbox: 0.6388, d3.loss_cls: 0.5670, d3.loss_bbox: 0.6318, d4.loss_cls: 0.5669, d4.loss_bbox: 0.6266, d5.loss_cls: 0.5679, d5.loss_bbox: 0.6297, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6922, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.5550, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.5405, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5451, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5360, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5448, d0.loss_map_cls_all: 0.4142, d0.loss_map_pts_all: 2.4854, d0.loss_map_dir_all: 0.0276, d0.loss_map_cls: 0.4142, d0.loss_map_pts: 2.4854, d0.loss_map_dir: 0.0276, d1.loss_map_cls: 0.4086, d1.loss_map_pts: 1.8630, d1.loss_map_dir: 0.0277, d2.loss_map_cls: 0.3997, d2.loss_map_pts: 1.7690, d2.loss_map_dir: 0.0282, d3.loss_map_cls: 0.3952, d3.loss_map_pts: 1.7313, d3.loss_map_dir: 0.0285, d4.loss_map_cls: 0.3948, d4.loss_map_pts: 1.7220, d4.loss_map_dir: 0.0287, d5.loss_map_cls: 0.3930, d5.loss_map_pts: 1.7206, d5.loss_map_dir: 0.0289, loss: 59.7871, grad_norm: 159.2525 +2026-02-24 15:22:54,119 - DriveTransformer - INFO - Epoch [2][19800/39528] lr: 9.958e-05, eta: 8 days, 4:36:17, time: 0.797, data_time: 0.038, memory: 19865, loss_cls: 0.5626, loss_bbox: 0.6223, loss_traj: 1.6117, loss_traj_cls: 0.0005, loss_map_cls: 0.4015, loss_map_pts: 1.6456, loss_map_dir: 0.0309, d0.loss_plan_l1_fix_time: 3.1170, d0.loss_plan_l1_fix_dist: 0.4444, d1.loss_plan_l1_fix_time: 2.6325, d1.loss_plan_l1_fix_dist: 0.4217, d2.loss_plan_l1_fix_time: 2.5688, d2.loss_plan_l1_fix_dist: 0.4244, d3.loss_plan_l1_fix_time: 2.5698, d3.loss_plan_l1_fix_dist: 0.4307, d4.loss_plan_l1_fix_time: 2.5750, d4.loss_plan_l1_fix_dist: 0.4438, d5.loss_plan_l1_fix_time: 2.5803, d5.loss_plan_l1_fix_dist: 0.4591, d6.loss_plan_l1_fix_time: 2.5862, d6.loss_plan_l1_fix_dist: 0.4746, d0.loss_cls_all: 0.5643, d0.loss_bbox_all: 0.6537, d0.loss_cls: 0.5643, d0.loss_bbox: 0.6537, d1.loss_cls: 0.5536, d1.loss_bbox: 0.6391, d2.loss_cls: 0.5539, d2.loss_bbox: 0.6244, d3.loss_cls: 0.5560, d3.loss_bbox: 0.6134, d4.loss_cls: 0.5556, d4.loss_bbox: 0.6133, d5.loss_cls: 0.5607, d5.loss_bbox: 0.6168, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7262, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.6311, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.6152, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.6216, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6155, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6112, d0.loss_map_cls_all: 0.4417, d0.loss_map_pts_all: 2.5659, d0.loss_map_dir_all: 0.0302, d0.loss_map_cls: 0.4417, d0.loss_map_pts: 2.5659, d0.loss_map_dir: 0.0302, d1.loss_map_cls: 0.4346, d1.loss_map_pts: 1.8082, d1.loss_map_dir: 0.0299, d2.loss_map_cls: 0.4205, d2.loss_map_pts: 1.6904, d2.loss_map_dir: 0.0302, d3.loss_map_cls: 0.4062, d3.loss_map_pts: 1.6557, d3.loss_map_dir: 0.0305, d4.loss_map_cls: 0.4002, d4.loss_map_pts: 1.6477, d4.loss_map_dir: 0.0307, d5.loss_map_cls: 0.3997, d5.loss_map_pts: 1.6416, d5.loss_map_dir: 0.0308, loss: 61.4838, grad_norm: 158.6892 +2026-02-24 15:23:34,674 - DriveTransformer - INFO - Epoch [2][19850/39528] lr: 9.958e-05, eta: 8 days, 4:35:48, time: 0.810, data_time: 0.036, memory: 19865, loss_cls: 0.5526, loss_bbox: 0.6404, loss_traj: 1.4428, loss_traj_cls: 0.0005, loss_map_cls: 0.3557, loss_map_pts: 1.6564, loss_map_dir: 0.0332, d0.loss_plan_l1_fix_time: 2.7151, d0.loss_plan_l1_fix_dist: 0.3898, d1.loss_plan_l1_fix_time: 2.3520, d1.loss_plan_l1_fix_dist: 0.3284, d2.loss_plan_l1_fix_time: 2.2870, d2.loss_plan_l1_fix_dist: 0.3333, d3.loss_plan_l1_fix_time: 2.2770, d3.loss_plan_l1_fix_dist: 0.3485, d4.loss_plan_l1_fix_time: 2.2796, d4.loss_plan_l1_fix_dist: 0.3638, d5.loss_plan_l1_fix_time: 2.2854, d5.loss_plan_l1_fix_dist: 0.3780, d6.loss_plan_l1_fix_time: 2.2932, d6.loss_plan_l1_fix_dist: 0.3955, d0.loss_cls_all: 0.5607, d0.loss_bbox_all: 0.6695, d0.loss_cls: 0.5607, d0.loss_bbox: 0.6695, d1.loss_cls: 0.5481, d1.loss_bbox: 0.6621, d2.loss_cls: 0.5478, d2.loss_bbox: 0.6431, d3.loss_cls: 0.5489, d3.loss_bbox: 0.6384, d4.loss_cls: 0.5483, d4.loss_bbox: 0.6375, d5.loss_cls: 0.5514, d5.loss_bbox: 0.6366, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4622, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3873, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.3956, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.4201, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4333, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4348, d0.loss_map_cls_all: 0.3819, d0.loss_map_pts_all: 2.6198, d0.loss_map_dir_all: 0.0326, d0.loss_map_cls: 0.3819, d0.loss_map_pts: 2.6198, d0.loss_map_dir: 0.0326, d1.loss_map_cls: 0.3754, d1.loss_map_pts: 1.8495, d1.loss_map_dir: 0.0323, d2.loss_map_cls: 0.3644, d2.loss_map_pts: 1.7218, d2.loss_map_dir: 0.0327, d3.loss_map_cls: 0.3566, d3.loss_map_pts: 1.6698, d3.loss_map_dir: 0.0330, d4.loss_map_cls: 0.3514, d4.loss_map_pts: 1.6577, d4.loss_map_dir: 0.0331, d5.loss_map_cls: 0.3526, d5.loss_map_pts: 1.6549, d5.loss_map_dir: 0.0333, loss: 57.2552, grad_norm: 157.5609 +2026-02-24 15:24:14,634 - DriveTransformer - INFO - Epoch [2][19900/39528] lr: 9.958e-05, eta: 8 days, 4:35:10, time: 0.799, data_time: 0.039, memory: 19865, loss_cls: 0.5326, loss_bbox: 0.6328, loss_traj: 1.3279, loss_traj_cls: 0.0005, loss_map_cls: 0.3435, loss_map_pts: 1.6153, loss_map_dir: 0.0292, d0.loss_plan_l1_fix_time: 2.8166, d0.loss_plan_l1_fix_dist: 0.4709, d1.loss_plan_l1_fix_time: 2.2301, d1.loss_plan_l1_fix_dist: 0.4133, d2.loss_plan_l1_fix_time: 2.1418, d2.loss_plan_l1_fix_dist: 0.4215, d3.loss_plan_l1_fix_time: 2.1223, d3.loss_plan_l1_fix_dist: 0.4376, d4.loss_plan_l1_fix_time: 2.1219, d4.loss_plan_l1_fix_dist: 0.4565, d5.loss_plan_l1_fix_time: 2.1253, d5.loss_plan_l1_fix_dist: 0.4805, d6.loss_plan_l1_fix_time: 2.1309, d6.loss_plan_l1_fix_dist: 0.5068, d0.loss_cls_all: 0.5390, d0.loss_bbox_all: 0.6781, d0.loss_cls: 0.5390, d0.loss_bbox: 0.6781, d1.loss_cls: 0.5328, d1.loss_bbox: 0.6658, d2.loss_cls: 0.5299, d2.loss_bbox: 0.6468, d3.loss_cls: 0.5279, d3.loss_bbox: 0.6393, d4.loss_cls: 0.5290, d4.loss_bbox: 0.6361, d5.loss_cls: 0.5311, d5.loss_bbox: 0.6331, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4618, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3173, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.3041, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3126, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3181, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.3238, d0.loss_map_cls_all: 0.3745, d0.loss_map_pts_all: 2.4764, d0.loss_map_dir_all: 0.0285, d0.loss_map_cls: 0.3745, d0.loss_map_pts: 2.4764, d0.loss_map_dir: 0.0285, d1.loss_map_cls: 0.3624, d1.loss_map_pts: 1.7819, d1.loss_map_dir: 0.0283, d2.loss_map_cls: 0.3496, d2.loss_map_pts: 1.6718, d2.loss_map_dir: 0.0286, d3.loss_map_cls: 0.3425, d3.loss_map_pts: 1.6351, d3.loss_map_dir: 0.0289, d4.loss_map_cls: 0.3398, d4.loss_map_pts: 1.6219, d4.loss_map_dir: 0.0290, d5.loss_map_cls: 0.3416, d5.loss_map_pts: 1.6158, d5.loss_map_dir: 0.0291, loss: 55.6709, grad_norm: 156.1516 +2026-02-24 15:24:55,293 - DriveTransformer - INFO - Epoch [2][19950/39528] lr: 9.958e-05, eta: 8 days, 4:34:44, time: 0.813, data_time: 0.044, memory: 19865, loss_cls: 0.5734, loss_bbox: 0.6701, loss_traj: 1.2821, loss_traj_cls: 0.0005, loss_map_cls: 0.3529, loss_map_pts: 1.7215, loss_map_dir: 0.0334, d0.loss_plan_l1_fix_time: 2.7239, d0.loss_plan_l1_fix_dist: 0.3923, d1.loss_plan_l1_fix_time: 2.2214, d1.loss_plan_l1_fix_dist: 0.3119, d2.loss_plan_l1_fix_time: 2.1854, d2.loss_plan_l1_fix_dist: 0.3204, d3.loss_plan_l1_fix_time: 2.1919, d3.loss_plan_l1_fix_dist: 0.3407, d4.loss_plan_l1_fix_time: 2.2000, d4.loss_plan_l1_fix_dist: 0.3672, d5.loss_plan_l1_fix_time: 2.2079, d5.loss_plan_l1_fix_dist: 0.3939, d6.loss_plan_l1_fix_time: 2.2159, d6.loss_plan_l1_fix_dist: 0.4208, d0.loss_cls_all: 0.5819, d0.loss_bbox_all: 0.6975, d0.loss_cls: 0.5819, d0.loss_bbox: 0.6975, d1.loss_cls: 0.5691, d1.loss_bbox: 0.6938, d2.loss_cls: 0.5681, d2.loss_bbox: 0.6783, d3.loss_cls: 0.5662, d3.loss_bbox: 0.6726, d4.loss_cls: 0.5677, d4.loss_bbox: 0.6715, d5.loss_cls: 0.5696, d5.loss_bbox: 0.6695, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4026, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2994, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.2845, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.2853, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2791, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.2764, d0.loss_map_cls_all: 0.3854, d0.loss_map_pts_all: 2.5886, d0.loss_map_dir_all: 0.0327, d0.loss_map_cls: 0.3854, d0.loss_map_pts: 2.5886, d0.loss_map_dir: 0.0327, d1.loss_map_cls: 0.3705, d1.loss_map_pts: 1.8891, d1.loss_map_dir: 0.0324, d2.loss_map_cls: 0.3625, d2.loss_map_pts: 1.7812, d2.loss_map_dir: 0.0328, d3.loss_map_cls: 0.3541, d3.loss_map_pts: 1.7408, d3.loss_map_dir: 0.0330, d4.loss_map_cls: 0.3506, d4.loss_map_pts: 1.7270, d4.loss_map_dir: 0.0331, d5.loss_map_cls: 0.3516, d5.loss_map_pts: 1.7230, d5.loss_map_dir: 0.0332, loss: 56.5724, grad_norm: 154.0742 +2026-02-24 15:25:33,331 - DriveTransformer - INFO - Epoch [2][20000/39528] lr: 9.958e-05, eta: 8 days, 4:33:38, time: 0.761, data_time: 0.043, memory: 19865, loss_cls: 0.5257, loss_bbox: 0.6360, loss_traj: 1.4383, loss_traj_cls: 0.0006, loss_map_cls: 0.3542, loss_map_pts: 1.4776, loss_map_dir: 0.0283, d0.loss_plan_l1_fix_time: 2.5668, d0.loss_plan_l1_fix_dist: 0.4090, d1.loss_plan_l1_fix_time: 2.1237, d1.loss_plan_l1_fix_dist: 0.3440, d2.loss_plan_l1_fix_time: 2.0880, d2.loss_plan_l1_fix_dist: 0.3701, d3.loss_plan_l1_fix_time: 2.0995, d3.loss_plan_l1_fix_dist: 0.3987, d4.loss_plan_l1_fix_time: 2.1086, d4.loss_plan_l1_fix_dist: 0.4233, d5.loss_plan_l1_fix_time: 2.1162, d5.loss_plan_l1_fix_dist: 0.4505, d6.loss_plan_l1_fix_time: 2.1247, d6.loss_plan_l1_fix_dist: 0.4816, d0.loss_cls_all: 0.5318, d0.loss_bbox_all: 0.6744, d0.loss_cls: 0.5318, d0.loss_bbox: 0.6744, d1.loss_cls: 0.5209, d1.loss_bbox: 0.6640, d2.loss_cls: 0.5161, d2.loss_bbox: 0.6509, d3.loss_cls: 0.5197, d3.loss_bbox: 0.6401, d4.loss_cls: 0.5233, d4.loss_bbox: 0.6377, d5.loss_cls: 0.5246, d5.loss_bbox: 0.6334, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6027, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4829, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.4413, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4385, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4324, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4348, d0.loss_map_cls_all: 0.3724, d0.loss_map_pts_all: 2.2479, d0.loss_map_dir_all: 0.0276, d0.loss_map_cls: 0.3724, d0.loss_map_pts: 2.2479, d0.loss_map_dir: 0.0276, d1.loss_map_cls: 0.3714, d1.loss_map_pts: 1.6486, d1.loss_map_dir: 0.0275, d2.loss_map_cls: 0.3648, d2.loss_map_pts: 1.5338, d2.loss_map_dir: 0.0278, d3.loss_map_cls: 0.3573, d3.loss_map_pts: 1.4955, d3.loss_map_dir: 0.0281, d4.loss_map_cls: 0.3531, d4.loss_map_pts: 1.4785, d4.loss_map_dir: 0.0282, d5.loss_map_cls: 0.3539, d5.loss_map_pts: 1.4787, d5.loss_map_dir: 0.0283, loss: 54.5166, grad_norm: 154.3870 +2026-02-24 15:26:15,624 - DriveTransformer - INFO - Epoch [2][20050/39528] lr: 9.958e-05, eta: 8 days, 4:33:35, time: 0.846, data_time: 0.038, memory: 19865, loss_cls: 0.5497, loss_bbox: 0.6558, loss_traj: 1.5519, loss_traj_cls: 0.0005, loss_map_cls: 0.3577, loss_map_pts: 1.6840, loss_map_dir: 0.0309, d0.loss_plan_l1_fix_time: 3.0240, d0.loss_plan_l1_fix_dist: 0.4731, d1.loss_plan_l1_fix_time: 2.5056, d1.loss_plan_l1_fix_dist: 0.4476, d2.loss_plan_l1_fix_time: 2.4269, d2.loss_plan_l1_fix_dist: 0.4617, d3.loss_plan_l1_fix_time: 2.4193, d3.loss_plan_l1_fix_dist: 0.4808, d4.loss_plan_l1_fix_time: 2.4227, d4.loss_plan_l1_fix_dist: 0.5064, d5.loss_plan_l1_fix_time: 2.4288, d5.loss_plan_l1_fix_dist: 0.5313, d6.loss_plan_l1_fix_time: 2.4372, d6.loss_plan_l1_fix_dist: 0.5581, d0.loss_cls_all: 0.5639, d0.loss_bbox_all: 0.6964, d0.loss_cls: 0.5639, d0.loss_bbox: 0.6964, d1.loss_cls: 0.5542, d1.loss_bbox: 0.6841, d2.loss_cls: 0.5482, d2.loss_bbox: 0.6761, d3.loss_cls: 0.5471, d3.loss_bbox: 0.6648, d4.loss_cls: 0.5480, d4.loss_bbox: 0.6586, d5.loss_cls: 0.5482, d5.loss_bbox: 0.6549, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6901, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.5731, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.5602, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5511, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5450, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5522, d0.loss_map_cls_all: 0.3922, d0.loss_map_pts_all: 2.6120, d0.loss_map_dir_all: 0.0305, d0.loss_map_cls: 0.3922, d0.loss_map_pts: 2.6120, d0.loss_map_dir: 0.0305, d1.loss_map_cls: 0.3767, d1.loss_map_pts: 1.8269, d1.loss_map_dir: 0.0300, d2.loss_map_cls: 0.3683, d2.loss_map_pts: 1.7144, d2.loss_map_dir: 0.0304, d3.loss_map_cls: 0.3606, d3.loss_map_pts: 1.6837, d3.loss_map_dir: 0.0306, d4.loss_map_cls: 0.3582, d4.loss_map_pts: 1.6765, d4.loss_map_dir: 0.0306, d5.loss_map_cls: 0.3572, d5.loss_map_pts: 1.6806, d5.loss_map_dir: 0.0308, loss: 60.6593, grad_norm: 155.8205 +2026-02-24 15:26:54,919 - DriveTransformer - INFO - Epoch [2][20100/39528] lr: 9.958e-05, eta: 8 days, 4:32:48, time: 0.786, data_time: 0.044, memory: 19865, loss_cls: 0.5456, loss_bbox: 0.6419, loss_traj: 1.3820, loss_traj_cls: 0.0005, loss_map_cls: 0.3721, loss_map_pts: 1.6202, loss_map_dir: 0.0310, d0.loss_plan_l1_fix_time: 2.6485, d0.loss_plan_l1_fix_dist: 0.4175, d1.loss_plan_l1_fix_time: 2.0996, d1.loss_plan_l1_fix_dist: 0.3471, d2.loss_plan_l1_fix_time: 2.0299, d2.loss_plan_l1_fix_dist: 0.3607, d3.loss_plan_l1_fix_time: 2.0133, d3.loss_plan_l1_fix_dist: 0.3806, d4.loss_plan_l1_fix_time: 2.0139, d4.loss_plan_l1_fix_dist: 0.4058, d5.loss_plan_l1_fix_time: 2.0177, d5.loss_plan_l1_fix_dist: 0.4302, d6.loss_plan_l1_fix_time: 2.0229, d6.loss_plan_l1_fix_dist: 0.4569, d0.loss_cls_all: 0.5544, d0.loss_bbox_all: 0.6760, d0.loss_cls: 0.5544, d0.loss_bbox: 0.6760, d1.loss_cls: 0.5438, d1.loss_bbox: 0.6596, d2.loss_cls: 0.5418, d2.loss_bbox: 0.6527, d3.loss_cls: 0.5419, d3.loss_bbox: 0.6462, d4.loss_cls: 0.5425, d4.loss_bbox: 0.6409, d5.loss_cls: 0.5442, d5.loss_bbox: 0.6411, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4140, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.3558, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.3615, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3749, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3735, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3802, d0.loss_map_cls_all: 0.4052, d0.loss_map_pts_all: 2.5755, d0.loss_map_dir_all: 0.0305, d0.loss_map_cls: 0.4052, d0.loss_map_pts: 2.5755, d0.loss_map_dir: 0.0305, d1.loss_map_cls: 0.3855, d1.loss_map_pts: 1.7935, d1.loss_map_dir: 0.0298, d2.loss_map_cls: 0.3738, d2.loss_map_pts: 1.6760, d2.loss_map_dir: 0.0303, d3.loss_map_cls: 0.3681, d3.loss_map_pts: 1.6338, d3.loss_map_dir: 0.0306, d4.loss_map_cls: 0.3675, d4.loss_map_pts: 1.6211, d4.loss_map_dir: 0.0308, d5.loss_map_cls: 0.3683, d5.loss_map_pts: 1.6226, d5.loss_map_dir: 0.0310, loss: 55.3024, grad_norm: 157.1503 +2026-02-24 15:27:33,987 - DriveTransformer - INFO - Epoch [2][20150/39528] lr: 9.958e-05, eta: 8 days, 4:31:57, time: 0.781, data_time: 0.038, memory: 19865, loss_cls: 0.5375, loss_bbox: 0.6081, loss_traj: 1.5139, loss_traj_cls: 0.0005, loss_map_cls: 0.3319, loss_map_pts: 1.4372, loss_map_dir: 0.0235, d0.loss_plan_l1_fix_time: 2.4120, d0.loss_plan_l1_fix_dist: 0.5455, d1.loss_plan_l1_fix_time: 2.0870, d1.loss_plan_l1_fix_dist: 0.4079, d2.loss_plan_l1_fix_time: 2.0364, d2.loss_plan_l1_fix_dist: 0.4132, d3.loss_plan_l1_fix_time: 2.0303, d3.loss_plan_l1_fix_dist: 0.4329, d4.loss_plan_l1_fix_time: 2.0339, d4.loss_plan_l1_fix_dist: 0.4542, d5.loss_plan_l1_fix_time: 2.0403, d5.loss_plan_l1_fix_dist: 0.4814, d6.loss_plan_l1_fix_time: 2.0472, d6.loss_plan_l1_fix_dist: 0.5139, d0.loss_cls_all: 0.5412, d0.loss_bbox_all: 0.6587, d0.loss_cls: 0.5412, d0.loss_bbox: 0.6587, d1.loss_cls: 0.5337, d1.loss_bbox: 0.6396, d2.loss_cls: 0.5350, d2.loss_bbox: 0.6297, d3.loss_cls: 0.5329, d3.loss_bbox: 0.6211, d4.loss_cls: 0.5336, d4.loss_bbox: 0.6106, d5.loss_cls: 0.5343, d5.loss_bbox: 0.6083, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6404, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.5283, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.5067, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5162, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5040, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5105, d0.loss_map_cls_all: 0.3791, d0.loss_map_pts_all: 2.1492, d0.loss_map_dir_all: 0.0228, d0.loss_map_cls: 0.3791, d0.loss_map_pts: 2.1492, d0.loss_map_dir: 0.0228, d1.loss_map_cls: 0.3708, d1.loss_map_pts: 1.5624, d1.loss_map_dir: 0.0227, d2.loss_map_cls: 0.3554, d2.loss_map_pts: 1.4722, d2.loss_map_dir: 0.0230, d3.loss_map_cls: 0.3415, d3.loss_map_pts: 1.4439, d3.loss_map_dir: 0.0232, d4.loss_map_cls: 0.3345, d4.loss_map_pts: 1.4399, d4.loss_map_dir: 0.0233, d5.loss_map_cls: 0.3298, d5.loss_map_pts: 1.4406, d5.loss_map_dir: 0.0235, loss: 54.0861, grad_norm: 157.1854 +2026-02-24 15:28:13,169 - DriveTransformer - INFO - Epoch [2][20200/39528] lr: 9.958e-05, eta: 8 days, 4:31:08, time: 0.784, data_time: 0.040, memory: 19865, loss_cls: 0.5910, loss_bbox: 0.6754, loss_traj: 1.7203, loss_traj_cls: 0.0005, loss_map_cls: 0.3691, loss_map_pts: 1.7292, loss_map_dir: 0.0303, d0.loss_plan_l1_fix_time: 3.1838, d0.loss_plan_l1_fix_dist: 0.4503, d1.loss_plan_l1_fix_time: 2.7928, d1.loss_plan_l1_fix_dist: 0.4469, d2.loss_plan_l1_fix_time: 2.7623, d2.loss_plan_l1_fix_dist: 0.4578, d3.loss_plan_l1_fix_time: 2.7723, d3.loss_plan_l1_fix_dist: 0.4741, d4.loss_plan_l1_fix_time: 2.7790, d4.loss_plan_l1_fix_dist: 0.4932, d5.loss_plan_l1_fix_time: 2.7852, d5.loss_plan_l1_fix_dist: 0.5080, d6.loss_plan_l1_fix_time: 2.7920, d6.loss_plan_l1_fix_dist: 0.5258, d0.loss_cls_all: 0.6102, d0.loss_bbox_all: 0.7143, d0.loss_cls: 0.6102, d0.loss_bbox: 0.7143, d1.loss_cls: 0.6017, d1.loss_bbox: 0.6924, d2.loss_cls: 0.5940, d2.loss_bbox: 0.6807, d3.loss_cls: 0.5883, d3.loss_bbox: 0.6831, d4.loss_cls: 0.5902, d4.loss_bbox: 0.6719, d5.loss_cls: 0.5916, d5.loss_bbox: 0.6698, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.8216, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.7298, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.7146, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.7149, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7102, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7177, d0.loss_map_cls_all: 0.4121, d0.loss_map_pts_all: 2.5827, d0.loss_map_dir_all: 0.0298, d0.loss_map_cls: 0.4121, d0.loss_map_pts: 2.5827, d0.loss_map_dir: 0.0298, d1.loss_map_cls: 0.3983, d1.loss_map_pts: 1.8935, d1.loss_map_dir: 0.0294, d2.loss_map_cls: 0.3880, d2.loss_map_pts: 1.7763, d2.loss_map_dir: 0.0296, d3.loss_map_cls: 0.3771, d3.loss_map_pts: 1.7432, d3.loss_map_dir: 0.0299, d4.loss_map_cls: 0.3695, d4.loss_map_pts: 1.7307, d4.loss_map_dir: 0.0301, d5.loss_map_cls: 0.3679, d5.loss_map_pts: 1.7281, d5.loss_map_dir: 0.0302, loss: 64.7364, grad_norm: 155.7834 +2026-02-24 15:28:51,763 - DriveTransformer - INFO - Epoch [2][20250/39528] lr: 9.958e-05, eta: 8 days, 4:30:11, time: 0.772, data_time: 0.044, memory: 19865, loss_cls: 0.5585, loss_bbox: 0.6580, loss_traj: 1.8018, loss_traj_cls: 0.0005, loss_map_cls: 0.3661, loss_map_pts: 1.5812, loss_map_dir: 0.0292, d0.loss_plan_l1_fix_time: 2.6418, d0.loss_plan_l1_fix_dist: 0.3631, d1.loss_plan_l1_fix_time: 2.3318, d1.loss_plan_l1_fix_dist: 0.3539, d2.loss_plan_l1_fix_time: 2.3346, d2.loss_plan_l1_fix_dist: 0.3754, d3.loss_plan_l1_fix_time: 2.3506, d3.loss_plan_l1_fix_dist: 0.3952, d4.loss_plan_l1_fix_time: 2.3615, d4.loss_plan_l1_fix_dist: 0.4145, d5.loss_plan_l1_fix_time: 2.3707, d5.loss_plan_l1_fix_dist: 0.4318, d6.loss_plan_l1_fix_time: 2.3796, d6.loss_plan_l1_fix_dist: 0.4502, d0.loss_cls_all: 0.5720, d0.loss_bbox_all: 0.6907, d0.loss_cls: 0.5720, d0.loss_bbox: 0.6907, d1.loss_cls: 0.5631, d1.loss_bbox: 0.6736, d2.loss_cls: 0.5547, d2.loss_bbox: 0.6638, d3.loss_cls: 0.5549, d3.loss_bbox: 0.6650, d4.loss_cls: 0.5563, d4.loss_bbox: 0.6577, d5.loss_cls: 0.5550, d5.loss_bbox: 0.6570, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.9080, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.7934, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.7861, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.8008, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8093, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8062, d0.loss_map_cls_all: 0.4061, d0.loss_map_pts_all: 2.3854, d0.loss_map_dir_all: 0.0282, d0.loss_map_cls: 0.4061, d0.loss_map_pts: 2.3854, d0.loss_map_dir: 0.0282, d1.loss_map_cls: 0.3984, d1.loss_map_pts: 1.7365, d1.loss_map_dir: 0.0283, d2.loss_map_cls: 0.3858, d2.loss_map_pts: 1.6258, d2.loss_map_dir: 0.0285, d3.loss_map_cls: 0.3738, d3.loss_map_pts: 1.5907, d3.loss_map_dir: 0.0289, d4.loss_map_cls: 0.3676, d4.loss_map_pts: 1.5803, d4.loss_map_dir: 0.0290, d5.loss_map_cls: 0.3653, d5.loss_map_pts: 1.5805, d5.loss_map_dir: 0.0291, loss: 59.8719, grad_norm: 155.5197 +2026-02-24 15:29:34,004 - DriveTransformer - INFO - Epoch [2][20300/39528] lr: 9.958e-05, eta: 8 days, 4:30:07, time: 0.845, data_time: 0.047, memory: 19865, loss_cls: 0.5458, loss_bbox: 0.6137, loss_traj: 1.3200, loss_traj_cls: 0.0006, loss_map_cls: 0.3730, loss_map_pts: 1.6808, loss_map_dir: 0.0323, d0.loss_plan_l1_fix_time: 2.5525, d0.loss_plan_l1_fix_dist: 0.4689, d1.loss_plan_l1_fix_time: 2.2464, d1.loss_plan_l1_fix_dist: 0.4291, d2.loss_plan_l1_fix_time: 2.2032, d2.loss_plan_l1_fix_dist: 0.4476, d3.loss_plan_l1_fix_time: 2.1974, d3.loss_plan_l1_fix_dist: 0.4667, d4.loss_plan_l1_fix_time: 2.2032, d4.loss_plan_l1_fix_dist: 0.4838, d5.loss_plan_l1_fix_time: 2.2091, d5.loss_plan_l1_fix_dist: 0.5077, d6.loss_plan_l1_fix_time: 2.2166, d6.loss_plan_l1_fix_dist: 0.5347, d0.loss_cls_all: 0.5627, d0.loss_bbox_all: 0.6516, d0.loss_cls: 0.5627, d0.loss_bbox: 0.6516, d1.loss_cls: 0.5516, d1.loss_bbox: 0.6352, d2.loss_cls: 0.5507, d2.loss_bbox: 0.6231, d3.loss_cls: 0.5502, d3.loss_bbox: 0.6239, d4.loss_cls: 0.5474, d4.loss_bbox: 0.6185, d5.loss_cls: 0.5456, d5.loss_bbox: 0.6146, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3843, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.3148, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.3299, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3206, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3157, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3224, d0.loss_map_cls_all: 0.4013, d0.loss_map_pts_all: 2.6454, d0.loss_map_dir_all: 0.0313, d0.loss_map_cls: 0.4013, d0.loss_map_pts: 2.6454, d0.loss_map_dir: 0.0313, d1.loss_map_cls: 0.3899, d1.loss_map_pts: 1.8143, d1.loss_map_dir: 0.0312, d2.loss_map_cls: 0.3860, d2.loss_map_pts: 1.7096, d2.loss_map_dir: 0.0316, d3.loss_map_cls: 0.3767, d3.loss_map_pts: 1.6677, d3.loss_map_dir: 0.0319, d4.loss_map_cls: 0.3714, d4.loss_map_pts: 1.6659, d4.loss_map_dir: 0.0321, d5.loss_map_cls: 0.3731, d5.loss_map_pts: 1.6740, d5.loss_map_dir: 0.0322, loss: 56.7581, grad_norm: 155.9577 +2026-02-24 15:30:15,462 - DriveTransformer - INFO - Epoch [2][20350/39528] lr: 9.958e-05, eta: 8 days, 4:29:52, time: 0.829, data_time: 0.037, memory: 19865, loss_cls: 0.5363, loss_bbox: 0.5828, loss_traj: 1.1828, loss_traj_cls: 0.0006, loss_map_cls: 0.3425, loss_map_pts: 1.5251, loss_map_dir: 0.0350, d0.loss_plan_l1_fix_time: 2.8944, d0.loss_plan_l1_fix_dist: 0.4275, d1.loss_plan_l1_fix_time: 2.2824, d1.loss_plan_l1_fix_dist: 0.3502, d2.loss_plan_l1_fix_time: 2.1955, d2.loss_plan_l1_fix_dist: 0.3539, d3.loss_plan_l1_fix_time: 2.1739, d3.loss_plan_l1_fix_dist: 0.3670, d4.loss_plan_l1_fix_time: 2.1771, d4.loss_plan_l1_fix_dist: 0.3865, d5.loss_plan_l1_fix_time: 2.1848, d5.loss_plan_l1_fix_dist: 0.4099, d6.loss_plan_l1_fix_time: 2.1963, d6.loss_plan_l1_fix_dist: 0.4406, d0.loss_cls_all: 0.5455, d0.loss_bbox_all: 0.6208, d0.loss_cls: 0.5455, d0.loss_bbox: 0.6208, d1.loss_cls: 0.5378, d1.loss_bbox: 0.6075, d2.loss_cls: 0.5378, d2.loss_bbox: 0.5975, d3.loss_cls: 0.5345, d3.loss_bbox: 0.5928, d4.loss_cls: 0.5342, d4.loss_bbox: 0.5867, d5.loss_cls: 0.5361, d5.loss_bbox: 0.5816, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2956, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1959, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.1782, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.1809, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1811, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1838, d0.loss_map_cls_all: 0.3658, d0.loss_map_pts_all: 2.5812, d0.loss_map_dir_all: 0.0338, d0.loss_map_cls: 0.3658, d0.loss_map_pts: 2.5812, d0.loss_map_dir: 0.0338, d1.loss_map_cls: 0.3637, d1.loss_map_pts: 1.6954, d1.loss_map_dir: 0.0336, d2.loss_map_cls: 0.3532, d2.loss_map_pts: 1.5644, d2.loss_map_dir: 0.0340, d3.loss_map_cls: 0.3489, d3.loss_map_pts: 1.5280, d3.loss_map_dir: 0.0345, d4.loss_map_cls: 0.3427, d4.loss_map_pts: 1.5205, d4.loss_map_dir: 0.0347, d5.loss_map_cls: 0.3421, d5.loss_map_pts: 1.5213, d5.loss_map_dir: 0.0348, loss: 53.9574, grad_norm: 157.1867 +2026-02-24 15:30:54,246 - DriveTransformer - INFO - Epoch [2][20400/39528] lr: 9.958e-05, eta: 8 days, 4:28:57, time: 0.776, data_time: 0.039, memory: 19865, loss_cls: 0.5226, loss_bbox: 0.5977, loss_traj: 1.2263, loss_traj_cls: 0.0005, loss_map_cls: 0.3656, loss_map_pts: 1.6631, loss_map_dir: 0.0314, d0.loss_plan_l1_fix_time: 2.5235, d0.loss_plan_l1_fix_dist: 0.4859, d1.loss_plan_l1_fix_time: 2.3078, d1.loss_plan_l1_fix_dist: 0.3781, d2.loss_plan_l1_fix_time: 2.3003, d2.loss_plan_l1_fix_dist: 0.3863, d3.loss_plan_l1_fix_time: 2.3118, d3.loss_plan_l1_fix_dist: 0.4042, d4.loss_plan_l1_fix_time: 2.3217, d4.loss_plan_l1_fix_dist: 0.4256, d5.loss_plan_l1_fix_time: 2.3318, d5.loss_plan_l1_fix_dist: 0.4458, d6.loss_plan_l1_fix_time: 2.3420, d6.loss_plan_l1_fix_dist: 0.4660, d0.loss_cls_all: 0.5383, d0.loss_bbox_all: 0.6325, d0.loss_cls: 0.5383, d0.loss_bbox: 0.6325, d1.loss_cls: 0.5298, d1.loss_bbox: 0.6225, d2.loss_cls: 0.5289, d2.loss_bbox: 0.6085, d3.loss_cls: 0.5262, d3.loss_bbox: 0.5978, d4.loss_cls: 0.5262, d4.loss_bbox: 0.5909, d5.loss_cls: 0.5236, d5.loss_bbox: 0.5919, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2648, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2183, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.2059, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.2240, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.2305, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.2327, d0.loss_map_cls_all: 0.3947, d0.loss_map_pts_all: 2.4997, d0.loss_map_dir_all: 0.0301, d0.loss_map_cls: 0.3947, d0.loss_map_pts: 2.4997, d0.loss_map_dir: 0.0301, d1.loss_map_cls: 0.3903, d1.loss_map_pts: 1.7658, d1.loss_map_dir: 0.0299, d2.loss_map_cls: 0.3831, d2.loss_map_pts: 1.6739, d2.loss_map_dir: 0.0304, d3.loss_map_cls: 0.3744, d3.loss_map_pts: 1.6577, d3.loss_map_dir: 0.0308, d4.loss_map_cls: 0.3676, d4.loss_map_pts: 1.6575, d4.loss_map_dir: 0.0311, d5.loss_map_cls: 0.3660, d5.loss_map_pts: 1.6578, d5.loss_map_dir: 0.0312, loss: 55.5024, grad_norm: 157.5987 +2026-02-24 15:31:33,368 - DriveTransformer - INFO - Epoch [2][20450/39528] lr: 9.958e-05, eta: 8 days, 4:28:08, time: 0.782, data_time: 0.048, memory: 19865, loss_cls: 0.5944, loss_bbox: 0.6782, loss_traj: 1.4841, loss_traj_cls: 0.0005, loss_map_cls: 0.3751, loss_map_pts: 1.7654, loss_map_dir: 0.0311, d0.loss_plan_l1_fix_time: 2.7690, d0.loss_plan_l1_fix_dist: 0.4781, d1.loss_plan_l1_fix_time: 2.3552, d1.loss_plan_l1_fix_dist: 0.3540, d2.loss_plan_l1_fix_time: 2.2612, d2.loss_plan_l1_fix_dist: 0.3601, d3.loss_plan_l1_fix_time: 2.2422, d3.loss_plan_l1_fix_dist: 0.3759, d4.loss_plan_l1_fix_time: 2.2407, d4.loss_plan_l1_fix_dist: 0.3906, d5.loss_plan_l1_fix_time: 2.2433, d5.loss_plan_l1_fix_dist: 0.4102, d6.loss_plan_l1_fix_time: 2.2476, d6.loss_plan_l1_fix_dist: 0.4277, d0.loss_cls_all: 0.6021, d0.loss_bbox_all: 0.7261, d0.loss_cls: 0.6021, d0.loss_bbox: 0.7261, d1.loss_cls: 0.5953, d1.loss_bbox: 0.7176, d2.loss_cls: 0.5938, d2.loss_bbox: 0.7033, d3.loss_cls: 0.5938, d3.loss_bbox: 0.6817, d4.loss_cls: 0.5923, d4.loss_bbox: 0.6775, d5.loss_cls: 0.5943, d5.loss_bbox: 0.6746, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5672, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.4675, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.4551, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4711, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.4713, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4769, d0.loss_map_cls_all: 0.4185, d0.loss_map_pts_all: 2.5153, d0.loss_map_dir_all: 0.0292, d0.loss_map_cls: 0.4185, d0.loss_map_pts: 2.5153, d0.loss_map_dir: 0.0292, d1.loss_map_cls: 0.4000, d1.loss_map_pts: 1.9029, d1.loss_map_dir: 0.0293, d2.loss_map_cls: 0.3879, d2.loss_map_pts: 1.8064, d2.loss_map_dir: 0.0298, d3.loss_map_cls: 0.3804, d3.loss_map_pts: 1.7778, d3.loss_map_dir: 0.0305, d4.loss_map_cls: 0.3744, d4.loss_map_pts: 1.7696, d4.loss_map_dir: 0.0308, d5.loss_map_cls: 0.3739, d5.loss_map_pts: 1.7679, d5.loss_map_dir: 0.0310, loss: 59.0968, grad_norm: 157.6164 +2026-02-24 15:32:15,320 - DriveTransformer - INFO - Epoch [2][20500/39528] lr: 9.958e-05, eta: 8 days, 4:28:00, time: 0.839, data_time: 0.041, memory: 19865, loss_cls: 0.5831, loss_bbox: 0.6503, loss_traj: 1.2825, loss_traj_cls: 0.0005, loss_map_cls: 0.3866, loss_map_pts: 1.7686, loss_map_dir: 0.0344, d0.loss_plan_l1_fix_time: 3.4472, d0.loss_plan_l1_fix_dist: 0.4416, d1.loss_plan_l1_fix_time: 2.8363, d1.loss_plan_l1_fix_dist: 0.3845, d2.loss_plan_l1_fix_time: 2.7578, d2.loss_plan_l1_fix_dist: 0.3922, d3.loss_plan_l1_fix_time: 2.7419, d3.loss_plan_l1_fix_dist: 0.4046, d4.loss_plan_l1_fix_time: 2.7415, d4.loss_plan_l1_fix_dist: 0.4199, d5.loss_plan_l1_fix_time: 2.7437, d5.loss_plan_l1_fix_dist: 0.4356, d6.loss_plan_l1_fix_time: 2.7473, d6.loss_plan_l1_fix_dist: 0.4541, d0.loss_cls_all: 0.5987, d0.loss_bbox_all: 0.6873, d0.loss_cls: 0.5987, d0.loss_bbox: 0.6873, d1.loss_cls: 0.5890, d1.loss_bbox: 0.6797, d2.loss_cls: 0.5885, d2.loss_bbox: 0.6746, d3.loss_cls: 0.5864, d3.loss_bbox: 0.6543, d4.loss_cls: 0.5841, d4.loss_bbox: 0.6516, d5.loss_cls: 0.5845, d5.loss_bbox: 0.6495, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4074, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.3043, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.2805, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.2929, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2897, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.2797, d0.loss_map_cls_all: 0.4107, d0.loss_map_pts_all: 2.7853, d0.loss_map_dir_all: 0.0328, d0.loss_map_cls: 0.4107, d0.loss_map_pts: 2.7853, d0.loss_map_dir: 0.0328, d1.loss_map_cls: 0.4001, d1.loss_map_pts: 1.9173, d1.loss_map_dir: 0.0327, d2.loss_map_cls: 0.3941, d2.loss_map_pts: 1.8123, d2.loss_map_dir: 0.0333, d3.loss_map_cls: 0.3899, d3.loss_map_pts: 1.7759, d3.loss_map_dir: 0.0339, d4.loss_map_cls: 0.3844, d4.loss_map_pts: 1.7654, d4.loss_map_dir: 0.0341, d5.loss_map_cls: 0.3852, d5.loss_map_pts: 1.7655, d5.loss_map_dir: 0.0343, loss: 61.9430, grad_norm: 157.2635 +2026-02-24 15:32:55,506 - DriveTransformer - INFO - Epoch [2][20550/39528] lr: 9.958e-05, eta: 8 days, 4:27:26, time: 0.804, data_time: 0.043, memory: 19865, loss_cls: 0.5279, loss_bbox: 0.6224, loss_traj: 1.1538, loss_traj_cls: 0.0005, loss_map_cls: 0.3460, loss_map_pts: 1.5035, loss_map_dir: 0.0291, d0.loss_plan_l1_fix_time: 2.8981, d0.loss_plan_l1_fix_dist: 0.3867, d1.loss_plan_l1_fix_time: 2.3913, d1.loss_plan_l1_fix_dist: 0.3719, d2.loss_plan_l1_fix_time: 2.4031, d2.loss_plan_l1_fix_dist: 0.3853, d3.loss_plan_l1_fix_time: 2.4209, d3.loss_plan_l1_fix_dist: 0.4019, d4.loss_plan_l1_fix_time: 2.4346, d4.loss_plan_l1_fix_dist: 0.4226, d5.loss_plan_l1_fix_time: 2.4463, d5.loss_plan_l1_fix_dist: 0.4443, d6.loss_plan_l1_fix_time: 2.4570, d6.loss_plan_l1_fix_dist: 0.4706, d0.loss_cls_all: 0.5377, d0.loss_bbox_all: 0.6610, d0.loss_cls: 0.5377, d0.loss_bbox: 0.6610, d1.loss_cls: 0.5301, d1.loss_bbox: 0.6519, d2.loss_cls: 0.5272, d2.loss_bbox: 0.6499, d3.loss_cls: 0.5261, d3.loss_bbox: 0.6321, d4.loss_cls: 0.5244, d4.loss_bbox: 0.6256, d5.loss_cls: 0.5274, d5.loss_bbox: 0.6235, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2526, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1645, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.1576, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.1515, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.1490, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.1511, d0.loss_map_cls_all: 0.3766, d0.loss_map_pts_all: 2.4597, d0.loss_map_dir_all: 0.0280, d0.loss_map_cls: 0.3766, d0.loss_map_pts: 2.4597, d0.loss_map_dir: 0.0280, d1.loss_map_cls: 0.3715, d1.loss_map_pts: 1.6647, d1.loss_map_dir: 0.0279, d2.loss_map_cls: 0.3598, d2.loss_map_pts: 1.5344, d2.loss_map_dir: 0.0283, d3.loss_map_cls: 0.3499, d3.loss_map_pts: 1.5036, d3.loss_map_dir: 0.0287, d4.loss_map_cls: 0.3446, d4.loss_map_pts: 1.4966, d4.loss_map_dir: 0.0289, d5.loss_map_cls: 0.3445, d5.loss_map_pts: 1.5045, d5.loss_map_dir: 0.0290, loss: 55.1096, grad_norm: 155.7676 +2026-02-24 15:33:36,563 - DriveTransformer - INFO - Epoch [2][20600/39528] lr: 9.958e-05, eta: 8 days, 4:27:06, time: 0.823, data_time: 0.036, memory: 19865, loss_cls: 0.5805, loss_bbox: 0.6863, loss_traj: 1.5560, loss_traj_cls: 0.0005, loss_map_cls: 0.3927, loss_map_pts: 1.8678, loss_map_dir: 0.0320, d0.loss_plan_l1_fix_time: 3.1493, d0.loss_plan_l1_fix_dist: 0.4699, d1.loss_plan_l1_fix_time: 2.6523, d1.loss_plan_l1_fix_dist: 0.4428, d2.loss_plan_l1_fix_time: 2.6229, d2.loss_plan_l1_fix_dist: 0.4527, d3.loss_plan_l1_fix_time: 2.6244, d3.loss_plan_l1_fix_dist: 0.4674, d4.loss_plan_l1_fix_time: 2.6312, d4.loss_plan_l1_fix_dist: 0.4846, d5.loss_plan_l1_fix_time: 2.6385, d5.loss_plan_l1_fix_dist: 0.5043, d6.loss_plan_l1_fix_time: 2.6463, d6.loss_plan_l1_fix_dist: 0.5217, d0.loss_cls_all: 0.5913, d0.loss_bbox_all: 0.7325, d0.loss_cls: 0.5913, d0.loss_bbox: 0.7325, d1.loss_cls: 0.5851, d1.loss_bbox: 0.7082, d2.loss_cls: 0.5829, d2.loss_bbox: 0.7079, d3.loss_cls: 0.5826, d3.loss_bbox: 0.6947, d4.loss_cls: 0.5844, d4.loss_bbox: 0.6832, d5.loss_cls: 0.5839, d5.loss_bbox: 0.6836, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6834, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.5546, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.5429, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5631, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5668, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5616, d0.loss_map_cls_all: 0.4311, d0.loss_map_pts_all: 2.7027, d0.loss_map_dir_all: 0.0304, d0.loss_map_cls: 0.4311, d0.loss_map_pts: 2.7027, d0.loss_map_dir: 0.0304, d1.loss_map_cls: 0.4210, d1.loss_map_pts: 2.0303, d1.loss_map_dir: 0.0305, d2.loss_map_cls: 0.4071, d2.loss_map_pts: 1.9105, d2.loss_map_dir: 0.0310, d3.loss_map_cls: 0.3971, d3.loss_map_pts: 1.8758, d3.loss_map_dir: 0.0314, d4.loss_map_cls: 0.3927, d4.loss_map_pts: 1.8677, d4.loss_map_dir: 0.0316, d5.loss_map_cls: 0.3920, d5.loss_map_pts: 1.8667, d5.loss_map_dir: 0.0318, loss: 63.9907, grad_norm: 157.2120 +2026-02-24 15:34:17,327 - DriveTransformer - INFO - Epoch [2][20650/39528] lr: 9.958e-05, eta: 8 days, 4:26:39, time: 0.814, data_time: 0.043, memory: 19865, loss_cls: 0.4953, loss_bbox: 0.5755, loss_traj: 1.2600, loss_traj_cls: 0.0005, loss_map_cls: 0.3194, loss_map_pts: 1.4607, loss_map_dir: 0.0275, d0.loss_plan_l1_fix_time: 2.5636, d0.loss_plan_l1_fix_dist: 0.4645, d1.loss_plan_l1_fix_time: 2.2696, d1.loss_plan_l1_fix_dist: 0.4016, d2.loss_plan_l1_fix_time: 2.2239, d2.loss_plan_l1_fix_dist: 0.4190, d3.loss_plan_l1_fix_time: 2.2210, d3.loss_plan_l1_fix_dist: 0.4394, d4.loss_plan_l1_fix_time: 2.2270, d4.loss_plan_l1_fix_dist: 0.4588, d5.loss_plan_l1_fix_time: 2.2349, d5.loss_plan_l1_fix_dist: 0.4789, d6.loss_plan_l1_fix_time: 2.2442, d6.loss_plan_l1_fix_dist: 0.4966, d0.loss_cls_all: 0.4951, d0.loss_bbox_all: 0.6305, d0.loss_cls: 0.4951, d0.loss_bbox: 0.6305, d1.loss_cls: 0.4904, d1.loss_bbox: 0.6005, d2.loss_cls: 0.4916, d2.loss_bbox: 0.5933, d3.loss_cls: 0.4936, d3.loss_bbox: 0.5834, d4.loss_cls: 0.4931, d4.loss_bbox: 0.5744, d5.loss_cls: 0.4917, d5.loss_bbox: 0.5754, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3503, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2728, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.2582, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.2648, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.2734, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.2646, d0.loss_map_cls_all: 0.3567, d0.loss_map_pts_all: 2.3291, d0.loss_map_dir_all: 0.0267, d0.loss_map_cls: 0.3567, d0.loss_map_pts: 2.3291, d0.loss_map_dir: 0.0267, d1.loss_map_cls: 0.3475, d1.loss_map_pts: 1.6241, d1.loss_map_dir: 0.0264, d2.loss_map_cls: 0.3375, d2.loss_map_pts: 1.5061, d2.loss_map_dir: 0.0267, d3.loss_map_cls: 0.3279, d3.loss_map_pts: 1.4677, d3.loss_map_dir: 0.0270, d4.loss_map_cls: 0.3213, d4.loss_map_pts: 1.4548, d4.loss_map_dir: 0.0272, d5.loss_map_cls: 0.3192, d5.loss_map_pts: 1.4519, d5.loss_map_dir: 0.0275, loss: 53.3269, grad_norm: 157.3463 +2026-02-24 15:34:55,692 - DriveTransformer - INFO - Epoch [2][20700/39528] lr: 9.958e-05, eta: 8 days, 4:25:38, time: 0.767, data_time: 0.039, memory: 19865, loss_cls: 0.5390, loss_bbox: 0.6334, loss_traj: 1.3799, loss_traj_cls: 0.0005, loss_map_cls: 0.3184, loss_map_pts: 1.4510, loss_map_dir: 0.0280, d0.loss_plan_l1_fix_time: 2.7544, d0.loss_plan_l1_fix_dist: 0.4625, d1.loss_plan_l1_fix_time: 2.3211, d1.loss_plan_l1_fix_dist: 0.3865, d2.loss_plan_l1_fix_time: 2.2907, d2.loss_plan_l1_fix_dist: 0.3984, d3.loss_plan_l1_fix_time: 2.2975, d3.loss_plan_l1_fix_dist: 0.4155, d4.loss_plan_l1_fix_time: 2.3077, d4.loss_plan_l1_fix_dist: 0.4369, d5.loss_plan_l1_fix_time: 2.3165, d5.loss_plan_l1_fix_dist: 0.4609, d6.loss_plan_l1_fix_time: 2.3246, d6.loss_plan_l1_fix_dist: 0.4905, d0.loss_cls_all: 0.5514, d0.loss_bbox_all: 0.6770, d0.loss_cls: 0.5514, d0.loss_bbox: 0.6770, d1.loss_cls: 0.5437, d1.loss_bbox: 0.6551, d2.loss_cls: 0.5447, d2.loss_bbox: 0.6412, d3.loss_cls: 0.5424, d3.loss_bbox: 0.6374, d4.loss_cls: 0.5417, d4.loss_bbox: 0.6322, d5.loss_cls: 0.5380, d5.loss_bbox: 0.6323, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3965, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.3341, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.3408, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3684, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3813, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.3781, d0.loss_map_cls_all: 0.3450, d0.loss_map_pts_all: 2.1705, d0.loss_map_dir_all: 0.0275, d0.loss_map_cls: 0.3450, d0.loss_map_pts: 2.1705, d0.loss_map_dir: 0.0275, d1.loss_map_cls: 0.3410, d1.loss_map_pts: 1.6044, d1.loss_map_dir: 0.0272, d2.loss_map_cls: 0.3324, d2.loss_map_pts: 1.4939, d2.loss_map_dir: 0.0276, d3.loss_map_cls: 0.3261, d3.loss_map_pts: 1.4605, d3.loss_map_dir: 0.0277, d4.loss_map_cls: 0.3215, d4.loss_map_pts: 1.4513, d4.loss_map_dir: 0.0279, d5.loss_map_cls: 0.3184, d5.loss_map_pts: 1.4486, d5.loss_map_dir: 0.0280, loss: 54.9052, grad_norm: 158.4088 +2026-02-24 15:35:33,607 - DriveTransformer - INFO - Epoch [2][20750/39528] lr: 9.958e-05, eta: 8 days, 4:24:31, time: 0.758, data_time: 0.041, memory: 19865, loss_cls: 0.4799, loss_bbox: 0.5800, loss_traj: 1.5047, loss_traj_cls: 0.0005, loss_map_cls: 0.3185, loss_map_pts: 1.4954, loss_map_dir: 0.0255, d0.loss_plan_l1_fix_time: 2.3999, d0.loss_plan_l1_fix_dist: 0.4949, d1.loss_plan_l1_fix_time: 2.0247, d1.loss_plan_l1_fix_dist: 0.3691, d2.loss_plan_l1_fix_time: 1.9804, d2.loss_plan_l1_fix_dist: 0.3780, d3.loss_plan_l1_fix_time: 1.9750, d3.loss_plan_l1_fix_dist: 0.3984, d4.loss_plan_l1_fix_time: 1.9813, d4.loss_plan_l1_fix_dist: 0.4239, d5.loss_plan_l1_fix_time: 1.9868, d5.loss_plan_l1_fix_dist: 0.4496, d6.loss_plan_l1_fix_time: 1.9919, d6.loss_plan_l1_fix_dist: 0.4775, d0.loss_cls_all: 0.4961, d0.loss_bbox_all: 0.6417, d0.loss_cls: 0.4961, d0.loss_bbox: 0.6417, d1.loss_cls: 0.4858, d1.loss_bbox: 0.6085, d2.loss_cls: 0.4842, d2.loss_bbox: 0.5893, d3.loss_cls: 0.4835, d3.loss_bbox: 0.5824, d4.loss_cls: 0.4779, d4.loss_bbox: 0.5797, d5.loss_cls: 0.4805, d5.loss_bbox: 0.5766, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6340, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.5133, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.4951, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5035, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5107, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5035, d0.loss_map_cls_all: 0.3635, d0.loss_map_pts_all: 2.1465, d0.loss_map_dir_all: 0.0249, d0.loss_map_cls: 0.3635, d0.loss_map_pts: 2.1465, d0.loss_map_dir: 0.0249, d1.loss_map_cls: 0.3482, d1.loss_map_pts: 1.6391, d1.loss_map_dir: 0.0245, d2.loss_map_cls: 0.3358, d2.loss_map_pts: 1.5335, d2.loss_map_dir: 0.0248, d3.loss_map_cls: 0.3253, d3.loss_map_pts: 1.5008, d3.loss_map_dir: 0.0251, d4.loss_map_cls: 0.3205, d4.loss_map_pts: 1.4915, d4.loss_map_dir: 0.0252, d5.loss_map_cls: 0.3184, d5.loss_map_pts: 1.4929, d5.loss_map_dir: 0.0254, loss: 53.0249, grad_norm: 157.4659 +2026-02-24 15:36:14,223 - DriveTransformer - INFO - Epoch [2][20800/39528] lr: 9.958e-05, eta: 8 days, 4:24:03, time: 0.812, data_time: 0.039, memory: 19865, loss_cls: 0.5651, loss_bbox: 0.6527, loss_traj: 1.4432, loss_traj_cls: 0.0005, loss_map_cls: 0.3714, loss_map_pts: 1.7058, loss_map_dir: 0.0314, d0.loss_plan_l1_fix_time: 2.8938, d0.loss_plan_l1_fix_dist: 0.4476, d1.loss_plan_l1_fix_time: 2.3672, d1.loss_plan_l1_fix_dist: 0.4155, d2.loss_plan_l1_fix_time: 2.3051, d2.loss_plan_l1_fix_dist: 0.4441, d3.loss_plan_l1_fix_time: 2.2983, d3.loss_plan_l1_fix_dist: 0.4713, d4.loss_plan_l1_fix_time: 2.3028, d4.loss_plan_l1_fix_dist: 0.4958, d5.loss_plan_l1_fix_time: 2.3090, d5.loss_plan_l1_fix_dist: 0.5234, d6.loss_plan_l1_fix_time: 2.3155, d6.loss_plan_l1_fix_dist: 0.5525, d0.loss_cls_all: 0.5697, d0.loss_bbox_all: 0.7045, d0.loss_cls: 0.5697, d0.loss_bbox: 0.7045, d1.loss_cls: 0.5624, d1.loss_bbox: 0.6878, d2.loss_cls: 0.5673, d2.loss_bbox: 0.6629, d3.loss_cls: 0.5688, d3.loss_bbox: 0.6580, d4.loss_cls: 0.5648, d4.loss_bbox: 0.6519, d5.loss_cls: 0.5653, d5.loss_bbox: 0.6509, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4831, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.4260, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.4101, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4146, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.4150, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4252, d0.loss_map_cls_all: 0.4018, d0.loss_map_pts_all: 2.5482, d0.loss_map_dir_all: 0.0300, d0.loss_map_cls: 0.4018, d0.loss_map_pts: 2.5482, d0.loss_map_dir: 0.0300, d1.loss_map_cls: 0.3972, d1.loss_map_pts: 1.8729, d1.loss_map_dir: 0.0301, d2.loss_map_cls: 0.3894, d2.loss_map_pts: 1.7515, d2.loss_map_dir: 0.0305, d3.loss_map_cls: 0.3788, d3.loss_map_pts: 1.7157, d3.loss_map_dir: 0.0309, d4.loss_map_cls: 0.3726, d4.loss_map_pts: 1.7113, d4.loss_map_dir: 0.0312, d5.loss_map_cls: 0.3714, d5.loss_map_pts: 1.7113, d5.loss_map_dir: 0.0313, loss: 58.9648, grad_norm: 157.6818 +2026-02-24 15:36:55,375 - DriveTransformer - INFO - Epoch [2][20850/39528] lr: 9.958e-05, eta: 8 days, 4:23:43, time: 0.823, data_time: 0.044, memory: 19865, loss_cls: 0.5530, loss_bbox: 0.6160, loss_traj: 1.4389, loss_traj_cls: 0.0005, loss_map_cls: 0.3610, loss_map_pts: 1.7789, loss_map_dir: 0.0318, d0.loss_plan_l1_fix_time: 2.6537, d0.loss_plan_l1_fix_dist: 0.5064, d1.loss_plan_l1_fix_time: 2.1465, d1.loss_plan_l1_fix_dist: 0.4563, d2.loss_plan_l1_fix_time: 2.0651, d2.loss_plan_l1_fix_dist: 0.4758, d3.loss_plan_l1_fix_time: 2.0522, d3.loss_plan_l1_fix_dist: 0.4960, d4.loss_plan_l1_fix_time: 2.0552, d4.loss_plan_l1_fix_dist: 0.5165, d5.loss_plan_l1_fix_time: 2.0617, d5.loss_plan_l1_fix_dist: 0.5406, d6.loss_plan_l1_fix_time: 2.0700, d6.loss_plan_l1_fix_dist: 0.5660, d0.loss_cls_all: 0.5532, d0.loss_bbox_all: 0.6827, d0.loss_cls: 0.5532, d0.loss_bbox: 0.6827, d1.loss_cls: 0.5436, d1.loss_bbox: 0.6643, d2.loss_cls: 0.5486, d2.loss_bbox: 0.6406, d3.loss_cls: 0.5499, d3.loss_bbox: 0.6279, d4.loss_cls: 0.5502, d4.loss_bbox: 0.6182, d5.loss_cls: 0.5521, d5.loss_bbox: 0.6159, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6344, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.4807, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.4303, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4244, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.4153, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.4199, d0.loss_map_cls_all: 0.3926, d0.loss_map_pts_all: 2.6196, d0.loss_map_dir_all: 0.0303, d0.loss_map_cls: 0.3926, d0.loss_map_pts: 2.6196, d0.loss_map_dir: 0.0303, d1.loss_map_cls: 0.3915, d1.loss_map_pts: 1.9321, d1.loss_map_dir: 0.0306, d2.loss_map_cls: 0.3784, d2.loss_map_pts: 1.8224, d2.loss_map_dir: 0.0310, d3.loss_map_cls: 0.3650, d3.loss_map_pts: 1.7971, d3.loss_map_dir: 0.0314, d4.loss_map_cls: 0.3609, d4.loss_map_pts: 1.7926, d4.loss_map_dir: 0.0317, d5.loss_map_cls: 0.3601, d5.loss_map_pts: 1.7833, d5.loss_map_dir: 0.0318, loss: 57.8592, grad_norm: 157.4149 +2026-02-24 15:37:36,562 - DriveTransformer - INFO - Epoch [2][20900/39528] lr: 9.958e-05, eta: 8 days, 4:23:24, time: 0.824, data_time: 0.039, memory: 19865, loss_cls: 0.5720, loss_bbox: 0.6746, loss_traj: 1.4074, loss_traj_cls: 0.0005, loss_map_cls: 0.3542, loss_map_pts: 1.5906, loss_map_dir: 0.0333, d0.loss_plan_l1_fix_time: 3.2463, d0.loss_plan_l1_fix_dist: 0.4273, d1.loss_plan_l1_fix_time: 2.5335, d1.loss_plan_l1_fix_dist: 0.3882, d2.loss_plan_l1_fix_time: 2.4429, d2.loss_plan_l1_fix_dist: 0.4051, d3.loss_plan_l1_fix_time: 2.4305, d3.loss_plan_l1_fix_dist: 0.4273, d4.loss_plan_l1_fix_time: 2.4346, d4.loss_plan_l1_fix_dist: 0.4505, d5.loss_plan_l1_fix_time: 2.4415, d5.loss_plan_l1_fix_dist: 0.4696, d6.loss_plan_l1_fix_time: 2.4510, d6.loss_plan_l1_fix_dist: 0.4919, d0.loss_cls_all: 0.5867, d0.loss_bbox_all: 0.7140, d0.loss_cls: 0.5867, d0.loss_bbox: 0.7140, d1.loss_cls: 0.5771, d1.loss_bbox: 0.7041, d2.loss_cls: 0.5719, d2.loss_bbox: 0.6858, d3.loss_cls: 0.5701, d3.loss_bbox: 0.6757, d4.loss_cls: 0.5699, d4.loss_bbox: 0.6736, d5.loss_cls: 0.5720, d5.loss_bbox: 0.6723, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4414, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.3844, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3856, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3890, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3985, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3993, d0.loss_map_cls_all: 0.3915, d0.loss_map_pts_all: 2.6011, d0.loss_map_dir_all: 0.0322, d0.loss_map_cls: 0.3915, d0.loss_map_pts: 2.6011, d0.loss_map_dir: 0.0322, d1.loss_map_cls: 0.3856, d1.loss_map_pts: 1.7583, d1.loss_map_dir: 0.0319, d2.loss_map_cls: 0.3741, d2.loss_map_pts: 1.6358, d2.loss_map_dir: 0.0325, d3.loss_map_cls: 0.3632, d3.loss_map_pts: 1.5965, d3.loss_map_dir: 0.0328, d4.loss_map_cls: 0.3551, d4.loss_map_pts: 1.5862, d4.loss_map_dir: 0.0330, d5.loss_map_cls: 0.3526, d5.loss_map_pts: 1.5844, d5.loss_map_dir: 0.0332, loss: 59.1540, grad_norm: 160.4745 +2026-02-24 15:38:14,711 - DriveTransformer - INFO - Epoch [2][20950/39528] lr: 9.958e-05, eta: 8 days, 4:22:20, time: 0.763, data_time: 0.037, memory: 19865, loss_cls: 0.5669, loss_bbox: 0.6407, loss_traj: 1.3445, loss_traj_cls: 0.0005, loss_map_cls: 0.3836, loss_map_pts: 1.6538, loss_map_dir: 0.0276, d0.loss_plan_l1_fix_time: 2.1882, d0.loss_plan_l1_fix_dist: 0.4765, d1.loss_plan_l1_fix_time: 1.8363, d1.loss_plan_l1_fix_dist: 0.4171, d2.loss_plan_l1_fix_time: 1.8099, d2.loss_plan_l1_fix_dist: 0.4386, d3.loss_plan_l1_fix_time: 1.8196, d3.loss_plan_l1_fix_dist: 0.4595, d4.loss_plan_l1_fix_time: 1.8305, d4.loss_plan_l1_fix_dist: 0.4774, d5.loss_plan_l1_fix_time: 1.8410, d5.loss_plan_l1_fix_dist: 0.4978, d6.loss_plan_l1_fix_time: 1.8528, d6.loss_plan_l1_fix_dist: 0.5208, d0.loss_cls_all: 0.5805, d0.loss_bbox_all: 0.6949, d0.loss_cls: 0.5805, d0.loss_bbox: 0.6949, d1.loss_cls: 0.5723, d1.loss_bbox: 0.6812, d2.loss_cls: 0.5678, d2.loss_bbox: 0.6644, d3.loss_cls: 0.5665, d3.loss_bbox: 0.6474, d4.loss_cls: 0.5653, d4.loss_bbox: 0.6406, d5.loss_cls: 0.5644, d5.loss_bbox: 0.6396, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4280, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3581, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3335, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3433, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3444, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3463, d0.loss_map_cls_all: 0.4138, d0.loss_map_pts_all: 2.2352, d0.loss_map_dir_all: 0.0265, d0.loss_map_cls: 0.4138, d0.loss_map_pts: 2.2352, d0.loss_map_dir: 0.0265, d1.loss_map_cls: 0.4034, d1.loss_map_pts: 1.7499, d1.loss_map_dir: 0.0268, d2.loss_map_cls: 0.3930, d2.loss_map_pts: 1.6619, d2.loss_map_dir: 0.0272, d3.loss_map_cls: 0.3864, d3.loss_map_pts: 1.6428, d3.loss_map_dir: 0.0274, d4.loss_map_cls: 0.3822, d4.loss_map_pts: 1.6399, d4.loss_map_dir: 0.0275, d5.loss_map_cls: 0.3796, d5.loss_map_pts: 1.6458, d5.loss_map_dir: 0.0276, loss: 53.6744, grad_norm: 159.8788 +2026-02-24 15:38:55,520 - DriveTransformer - INFO - Epoch [2][21000/39528] lr: 9.958e-05, eta: 8 days, 4:21:55, time: 0.816, data_time: 0.039, memory: 19865, loss_cls: 0.5557, loss_bbox: 0.6180, loss_traj: 1.3405, loss_traj_cls: 0.0005, loss_map_cls: 0.3280, loss_map_pts: 1.5858, loss_map_dir: 0.0286, d0.loss_plan_l1_fix_time: 2.9296, d0.loss_plan_l1_fix_dist: 0.5247, d1.loss_plan_l1_fix_time: 2.5308, d1.loss_plan_l1_fix_dist: 0.4269, d2.loss_plan_l1_fix_time: 2.4650, d2.loss_plan_l1_fix_dist: 0.4441, d3.loss_plan_l1_fix_time: 2.4589, d3.loss_plan_l1_fix_dist: 0.4687, d4.loss_plan_l1_fix_time: 2.4641, d4.loss_plan_l1_fix_dist: 0.4955, d5.loss_plan_l1_fix_time: 2.4703, d5.loss_plan_l1_fix_dist: 0.5294, d6.loss_plan_l1_fix_time: 2.4765, d6.loss_plan_l1_fix_dist: 0.5652, d0.loss_cls_all: 0.5606, d0.loss_bbox_all: 0.6652, d0.loss_cls: 0.5606, d0.loss_bbox: 0.6652, d1.loss_cls: 0.5543, d1.loss_bbox: 0.6484, d2.loss_cls: 0.5551, d2.loss_bbox: 0.6371, d3.loss_cls: 0.5541, d3.loss_bbox: 0.6261, d4.loss_cls: 0.5539, d4.loss_bbox: 0.6183, d5.loss_cls: 0.5562, d5.loss_bbox: 0.6165, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4220, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3152, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3147, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3225, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3294, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.3371, d0.loss_map_cls_all: 0.3745, d0.loss_map_pts_all: 2.4102, d0.loss_map_dir_all: 0.0280, d0.loss_map_cls: 0.3745, d0.loss_map_pts: 2.4102, d0.loss_map_dir: 0.0280, d1.loss_map_cls: 0.3561, d1.loss_map_pts: 1.7455, d1.loss_map_dir: 0.0276, d2.loss_map_cls: 0.3410, d2.loss_map_pts: 1.6351, d2.loss_map_dir: 0.0280, d3.loss_map_cls: 0.3297, d3.loss_map_pts: 1.6010, d3.loss_map_dir: 0.0283, d4.loss_map_cls: 0.3268, d4.loss_map_pts: 1.5890, d4.loss_map_dir: 0.0284, d5.loss_map_cls: 0.3259, d5.loss_map_pts: 1.5840, d5.loss_map_dir: 0.0286, loss: 57.7246, grad_norm: 158.9051 +2026-02-24 15:39:35,574 - DriveTransformer - INFO - Epoch [2][21050/39528] lr: 9.958e-05, eta: 8 days, 4:21:19, time: 0.801, data_time: 0.044, memory: 19865, loss_cls: 0.5411, loss_bbox: 0.6385, loss_traj: 1.2805, loss_traj_cls: 0.0005, loss_map_cls: 0.3220, loss_map_pts: 1.6447, loss_map_dir: 0.0288, d0.loss_plan_l1_fix_time: 2.9769, d0.loss_plan_l1_fix_dist: 0.5920, d1.loss_plan_l1_fix_time: 2.3258, d1.loss_plan_l1_fix_dist: 0.4733, d2.loss_plan_l1_fix_time: 2.2744, d2.loss_plan_l1_fix_dist: 0.4777, d3.loss_plan_l1_fix_time: 2.2762, d3.loss_plan_l1_fix_dist: 0.4920, d4.loss_plan_l1_fix_time: 2.2862, d4.loss_plan_l1_fix_dist: 0.5146, d5.loss_plan_l1_fix_time: 2.2960, d5.loss_plan_l1_fix_dist: 0.5450, d6.loss_plan_l1_fix_time: 2.3056, d6.loss_plan_l1_fix_dist: 0.5791, d0.loss_cls_all: 0.5452, d0.loss_bbox_all: 0.6806, d0.loss_cls: 0.5452, d0.loss_bbox: 0.6806, d1.loss_cls: 0.5387, d1.loss_bbox: 0.6628, d2.loss_cls: 0.5396, d2.loss_bbox: 0.6534, d3.loss_cls: 0.5384, d3.loss_bbox: 0.6447, d4.loss_cls: 0.5365, d4.loss_bbox: 0.6377, d5.loss_cls: 0.5393, d5.loss_bbox: 0.6366, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3502, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2672, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.2570, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.2660, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2794, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2770, d0.loss_map_cls_all: 0.3676, d0.loss_map_pts_all: 2.5468, d0.loss_map_dir_all: 0.0281, d0.loss_map_cls: 0.3676, d0.loss_map_pts: 2.5468, d0.loss_map_dir: 0.0281, d1.loss_map_cls: 0.3549, d1.loss_map_pts: 1.8132, d1.loss_map_dir: 0.0277, d2.loss_map_cls: 0.3392, d2.loss_map_pts: 1.6978, d2.loss_map_dir: 0.0281, d3.loss_map_cls: 0.3249, d3.loss_map_pts: 1.6596, d3.loss_map_dir: 0.0283, d4.loss_map_cls: 0.3229, d4.loss_map_pts: 1.6481, d4.loss_map_dir: 0.0285, d5.loss_map_cls: 0.3211, d5.loss_map_pts: 1.6426, d5.loss_map_dir: 0.0287, loss: 57.1020, grad_norm: 157.9961 +2026-02-24 15:40:15,981 - DriveTransformer - INFO - Epoch [2][21100/39528] lr: 9.958e-05, eta: 8 days, 4:20:48, time: 0.808, data_time: 0.039, memory: 19865, loss_cls: 0.5577, loss_bbox: 0.6424, loss_traj: 1.5118, loss_traj_cls: 0.0005, loss_map_cls: 0.3474, loss_map_pts: 1.6341, loss_map_dir: 0.0290, d0.loss_plan_l1_fix_time: 3.0214, d0.loss_plan_l1_fix_dist: 0.4914, d1.loss_plan_l1_fix_time: 2.8296, d1.loss_plan_l1_fix_dist: 0.4277, d2.loss_plan_l1_fix_time: 2.8500, d2.loss_plan_l1_fix_dist: 0.4386, d3.loss_plan_l1_fix_time: 2.8669, d3.loss_plan_l1_fix_dist: 0.4606, d4.loss_plan_l1_fix_time: 2.8823, d4.loss_plan_l1_fix_dist: 0.4875, d5.loss_plan_l1_fix_time: 2.8962, d5.loss_plan_l1_fix_dist: 0.5155, d6.loss_plan_l1_fix_time: 2.9105, d6.loss_plan_l1_fix_dist: 0.5495, d0.loss_cls_all: 0.5558, d0.loss_bbox_all: 0.6900, d0.loss_cls: 0.5558, d0.loss_bbox: 0.6900, d1.loss_cls: 0.5510, d1.loss_bbox: 0.6696, d2.loss_cls: 0.5478, d2.loss_bbox: 0.6589, d3.loss_cls: 0.5493, d3.loss_bbox: 0.6517, d4.loss_cls: 0.5493, d4.loss_bbox: 0.6448, d5.loss_cls: 0.5552, d5.loss_bbox: 0.6418, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6283, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.5273, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.5012, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4989, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4987, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5038, d0.loss_map_cls_all: 0.3902, d0.loss_map_pts_all: 2.3252, d0.loss_map_dir_all: 0.0281, d0.loss_map_cls: 0.3902, d0.loss_map_pts: 2.3252, d0.loss_map_dir: 0.0281, d1.loss_map_cls: 0.3760, d1.loss_map_pts: 1.7490, d1.loss_map_dir: 0.0278, d2.loss_map_cls: 0.3639, d2.loss_map_pts: 1.6599, d2.loss_map_dir: 0.0283, d3.loss_map_cls: 0.3523, d3.loss_map_pts: 1.6340, d3.loss_map_dir: 0.0287, d4.loss_map_cls: 0.3480, d4.loss_map_pts: 1.6302, d4.loss_map_dir: 0.0290, d5.loss_map_cls: 0.3462, d5.loss_map_pts: 1.6330, d5.loss_map_dir: 0.0290, loss: 61.7463, grad_norm: 159.7175 +2026-02-24 15:40:58,724 - DriveTransformer - INFO - Epoch [2][21150/39528] lr: 9.958e-05, eta: 8 days, 4:20:51, time: 0.855, data_time: 0.040, memory: 19865, loss_cls: 0.5560, loss_bbox: 0.6414, loss_traj: 1.2620, loss_traj_cls: 0.0006, loss_map_cls: 0.3792, loss_map_pts: 1.7338, loss_map_dir: 0.0345, d0.loss_plan_l1_fix_time: 2.6120, d0.loss_plan_l1_fix_dist: 0.5046, d1.loss_plan_l1_fix_time: 1.9970, d1.loss_plan_l1_fix_dist: 0.4401, d2.loss_plan_l1_fix_time: 1.9447, d2.loss_plan_l1_fix_dist: 0.4472, d3.loss_plan_l1_fix_time: 1.9433, d3.loss_plan_l1_fix_dist: 0.4621, d4.loss_plan_l1_fix_time: 1.9502, d4.loss_plan_l1_fix_dist: 0.4810, d5.loss_plan_l1_fix_time: 1.9581, d5.loss_plan_l1_fix_dist: 0.4969, d6.loss_plan_l1_fix_time: 1.9683, d6.loss_plan_l1_fix_dist: 0.5146, d0.loss_cls_all: 0.5647, d0.loss_bbox_all: 0.6649, d0.loss_cls: 0.5647, d0.loss_bbox: 0.6649, d1.loss_cls: 0.5568, d1.loss_bbox: 0.6547, d2.loss_cls: 0.5550, d2.loss_bbox: 0.6435, d3.loss_cls: 0.5533, d3.loss_bbox: 0.6413, d4.loss_cls: 0.5527, d4.loss_bbox: 0.6374, d5.loss_cls: 0.5565, d5.loss_bbox: 0.6359, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2730, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2269, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.2325, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2358, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2478, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2473, d0.loss_map_cls_all: 0.4076, d0.loss_map_pts_all: 2.7998, d0.loss_map_dir_all: 0.0334, d0.loss_map_cls: 0.4076, d0.loss_map_pts: 2.7998, d0.loss_map_dir: 0.0334, d1.loss_map_cls: 0.4007, d1.loss_map_pts: 1.9002, d1.loss_map_dir: 0.0330, d2.loss_map_cls: 0.3913, d2.loss_map_pts: 1.7752, d2.loss_map_dir: 0.0336, d3.loss_map_cls: 0.3829, d3.loss_map_pts: 1.7416, d3.loss_map_dir: 0.0341, d4.loss_map_cls: 0.3794, d4.loss_map_pts: 1.7338, d4.loss_map_dir: 0.0343, d5.loss_map_cls: 0.3782, d5.loss_map_pts: 1.7359, d5.loss_map_dir: 0.0345, loss: 55.7119, grad_norm: 158.6676 +2026-02-24 15:41:40,169 - DriveTransformer - INFO - Epoch [2][21200/39528] lr: 9.958e-05, eta: 8 days, 4:20:35, time: 0.829, data_time: 0.043, memory: 19865, loss_cls: 0.5641, loss_bbox: 0.6457, loss_traj: 1.3072, loss_traj_cls: 0.0006, loss_map_cls: 0.3567, loss_map_pts: 1.5829, loss_map_dir: 0.0308, d0.loss_plan_l1_fix_time: 2.7666, d0.loss_plan_l1_fix_dist: 0.4283, d1.loss_plan_l1_fix_time: 2.4844, d1.loss_plan_l1_fix_dist: 0.4176, d2.loss_plan_l1_fix_time: 2.5013, d2.loss_plan_l1_fix_dist: 0.4373, d3.loss_plan_l1_fix_time: 2.5163, d3.loss_plan_l1_fix_dist: 0.4638, d4.loss_plan_l1_fix_time: 2.5286, d4.loss_plan_l1_fix_dist: 0.4933, d5.loss_plan_l1_fix_time: 2.5402, d5.loss_plan_l1_fix_dist: 0.5237, d6.loss_plan_l1_fix_time: 2.5520, d6.loss_plan_l1_fix_dist: 0.5546, d0.loss_cls_all: 0.5736, d0.loss_bbox_all: 0.6732, d0.loss_cls: 0.5736, d0.loss_bbox: 0.6732, d1.loss_cls: 0.5663, d1.loss_bbox: 0.6646, d2.loss_cls: 0.5640, d2.loss_bbox: 0.6492, d3.loss_cls: 0.5616, d3.loss_bbox: 0.6471, d4.loss_cls: 0.5627, d4.loss_bbox: 0.6416, d5.loss_cls: 0.5642, d5.loss_bbox: 0.6399, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3622, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2852, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.2797, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.2990, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2948, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.2943, d0.loss_map_cls_all: 0.3780, d0.loss_map_pts_all: 2.4697, d0.loss_map_dir_all: 0.0299, d0.loss_map_cls: 0.3780, d0.loss_map_pts: 2.4697, d0.loss_map_dir: 0.0299, d1.loss_map_cls: 0.3707, d1.loss_map_pts: 1.7554, d1.loss_map_dir: 0.0298, d2.loss_map_cls: 0.3613, d2.loss_map_pts: 1.6388, d2.loss_map_dir: 0.0302, d3.loss_map_cls: 0.3574, d3.loss_map_pts: 1.5965, d3.loss_map_dir: 0.0304, d4.loss_map_cls: 0.3539, d4.loss_map_pts: 1.5818, d4.loss_map_dir: 0.0306, d5.loss_map_cls: 0.3565, d5.loss_map_pts: 1.5760, d5.loss_map_dir: 0.0307, loss: 57.9252, grad_norm: 157.8063 +2026-02-24 15:42:20,298 - DriveTransformer - INFO - Epoch [2][21250/39528] lr: 9.958e-05, eta: 8 days, 4:20:01, time: 0.803, data_time: 0.046, memory: 19865, loss_cls: 0.5377, loss_bbox: 0.6290, loss_traj: 1.2940, loss_traj_cls: 0.0006, loss_map_cls: 0.3796, loss_map_pts: 1.5629, loss_map_dir: 0.0306, d0.loss_plan_l1_fix_time: 3.0679, d0.loss_plan_l1_fix_dist: 0.4151, d1.loss_plan_l1_fix_time: 2.4649, d1.loss_plan_l1_fix_dist: 0.3654, d2.loss_plan_l1_fix_time: 2.4009, d2.loss_plan_l1_fix_dist: 0.3738, d3.loss_plan_l1_fix_time: 2.3956, d3.loss_plan_l1_fix_dist: 0.3928, d4.loss_plan_l1_fix_time: 2.3996, d4.loss_plan_l1_fix_dist: 0.4135, d5.loss_plan_l1_fix_time: 2.4061, d5.loss_plan_l1_fix_dist: 0.4378, d6.loss_plan_l1_fix_time: 2.4134, d6.loss_plan_l1_fix_dist: 0.4641, d0.loss_cls_all: 0.5392, d0.loss_bbox_all: 0.6821, d0.loss_cls: 0.5392, d0.loss_bbox: 0.6821, d1.loss_cls: 0.5335, d1.loss_bbox: 0.6631, d2.loss_cls: 0.5311, d2.loss_bbox: 0.6432, d3.loss_cls: 0.5337, d3.loss_bbox: 0.6369, d4.loss_cls: 0.5366, d4.loss_bbox: 0.6303, d5.loss_cls: 0.5365, d5.loss_bbox: 0.6291, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3339, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2763, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.2828, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.2853, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2850, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2862, d0.loss_map_cls_all: 0.4036, d0.loss_map_pts_all: 2.3390, d0.loss_map_dir_all: 0.0300, d0.loss_map_cls: 0.4036, d0.loss_map_pts: 2.3390, d0.loss_map_dir: 0.0300, d1.loss_map_cls: 0.3986, d1.loss_map_pts: 1.7365, d1.loss_map_dir: 0.0296, d2.loss_map_cls: 0.3900, d2.loss_map_pts: 1.6198, d2.loss_map_dir: 0.0301, d3.loss_map_cls: 0.3834, d3.loss_map_pts: 1.5783, d3.loss_map_dir: 0.0303, d4.loss_map_cls: 0.3798, d4.loss_map_pts: 1.5648, d4.loss_map_dir: 0.0305, d5.loss_map_cls: 0.3801, d5.loss_map_pts: 1.5591, d5.loss_map_dir: 0.0306, loss: 56.6028, grad_norm: 155.2374 +2026-02-24 15:43:00,195 - DriveTransformer - INFO - Epoch [2][21300/39528] lr: 9.958e-05, eta: 8 days, 4:19:22, time: 0.798, data_time: 0.048, memory: 19865, loss_cls: 0.5343, loss_bbox: 0.6022, loss_traj: 1.3439, loss_traj_cls: 0.0005, loss_map_cls: 0.3551, loss_map_pts: 1.4371, loss_map_dir: 0.0275, d0.loss_plan_l1_fix_time: 2.8901, d0.loss_plan_l1_fix_dist: 0.3905, d1.loss_plan_l1_fix_time: 2.3943, d1.loss_plan_l1_fix_dist: 0.3484, d2.loss_plan_l1_fix_time: 2.3389, d2.loss_plan_l1_fix_dist: 0.3623, d3.loss_plan_l1_fix_time: 2.3355, d3.loss_plan_l1_fix_dist: 0.3863, d4.loss_plan_l1_fix_time: 2.3420, d4.loss_plan_l1_fix_dist: 0.4162, d5.loss_plan_l1_fix_time: 2.3499, d5.loss_plan_l1_fix_dist: 0.4494, d6.loss_plan_l1_fix_time: 2.3589, d6.loss_plan_l1_fix_dist: 0.4893, d0.loss_cls_all: 0.5428, d0.loss_bbox_all: 0.6370, d0.loss_cls: 0.5428, d0.loss_bbox: 0.6370, d1.loss_cls: 0.5341, d1.loss_bbox: 0.6179, d2.loss_cls: 0.5312, d2.loss_bbox: 0.6055, d3.loss_cls: 0.5303, d3.loss_bbox: 0.6011, d4.loss_cls: 0.5314, d4.loss_bbox: 0.5970, d5.loss_cls: 0.5343, d5.loss_bbox: 0.5988, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5061, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.3624, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.3399, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3376, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3334, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.3266, d0.loss_map_cls_all: 0.4108, d0.loss_map_pts_all: 2.1526, d0.loss_map_dir_all: 0.0266, d0.loss_map_cls: 0.4108, d0.loss_map_pts: 2.1526, d0.loss_map_dir: 0.0266, d1.loss_map_cls: 0.3950, d1.loss_map_pts: 1.5879, d1.loss_map_dir: 0.0265, d2.loss_map_cls: 0.3745, d2.loss_map_pts: 1.4902, d2.loss_map_dir: 0.0269, d3.loss_map_cls: 0.3644, d3.loss_map_pts: 1.4571, d3.loss_map_dir: 0.0271, d4.loss_map_cls: 0.3583, d4.loss_map_pts: 1.4439, d4.loss_map_dir: 0.0273, d5.loss_map_cls: 0.3554, d5.loss_map_pts: 1.4394, d5.loss_map_dir: 0.0275, loss: 54.9856, grad_norm: 155.9522 +2026-02-24 15:43:39,915 - DriveTransformer - INFO - Epoch [2][21350/39528] lr: 9.958e-05, eta: 8 days, 4:18:41, time: 0.794, data_time: 0.039, memory: 19865, loss_cls: 0.5444, loss_bbox: 0.6404, loss_traj: 1.3123, loss_traj_cls: 0.0006, loss_map_cls: 0.3686, loss_map_pts: 1.6198, loss_map_dir: 0.0312, d0.loss_plan_l1_fix_time: 2.6922, d0.loss_plan_l1_fix_dist: 0.4145, d1.loss_plan_l1_fix_time: 2.2681, d1.loss_plan_l1_fix_dist: 0.3718, d2.loss_plan_l1_fix_time: 2.2422, d2.loss_plan_l1_fix_dist: 0.3825, d3.loss_plan_l1_fix_time: 2.2489, d3.loss_plan_l1_fix_dist: 0.4046, d4.loss_plan_l1_fix_time: 2.2581, d4.loss_plan_l1_fix_dist: 0.4365, d5.loss_plan_l1_fix_time: 2.2677, d5.loss_plan_l1_fix_dist: 0.4731, d6.loss_plan_l1_fix_time: 2.2784, d6.loss_plan_l1_fix_dist: 0.5165, d0.loss_cls_all: 0.5462, d0.loss_bbox_all: 0.6752, d0.loss_cls: 0.5462, d0.loss_bbox: 0.6752, d1.loss_cls: 0.5364, d1.loss_bbox: 0.6634, d2.loss_cls: 0.5350, d2.loss_bbox: 0.6466, d3.loss_cls: 0.5364, d3.loss_bbox: 0.6438, d4.loss_cls: 0.5402, d4.loss_bbox: 0.6424, d5.loss_cls: 0.5428, d5.loss_bbox: 0.6401, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3870, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2949, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.2851, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3016, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3097, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3066, d0.loss_map_cls_all: 0.4129, d0.loss_map_pts_all: 2.5346, d0.loss_map_dir_all: 0.0310, d0.loss_map_cls: 0.4129, d0.loss_map_pts: 2.5346, d0.loss_map_dir: 0.0310, d1.loss_map_cls: 0.3975, d1.loss_map_pts: 1.7911, d1.loss_map_dir: 0.0303, d2.loss_map_cls: 0.3866, d2.loss_map_pts: 1.6744, d2.loss_map_dir: 0.0305, d3.loss_map_cls: 0.3795, d3.loss_map_pts: 1.6390, d3.loss_map_dir: 0.0308, d4.loss_map_cls: 0.3728, d4.loss_map_pts: 1.6236, d4.loss_map_dir: 0.0309, d5.loss_map_cls: 0.3697, d5.loss_map_pts: 1.6223, d5.loss_map_dir: 0.0310, loss: 56.3984, grad_norm: 158.6719 +2026-02-24 15:44:20,569 - DriveTransformer - INFO - Epoch [2][21400/39528] lr: 9.958e-05, eta: 8 days, 4:18:14, time: 0.815, data_time: 0.035, memory: 19865, loss_cls: 0.5534, loss_bbox: 0.6179, loss_traj: 1.6063, loss_traj_cls: 0.0006, loss_map_cls: 0.3334, loss_map_pts: 1.5825, loss_map_dir: 0.0291, d0.loss_plan_l1_fix_time: 3.1401, d0.loss_plan_l1_fix_dist: 0.4534, d1.loss_plan_l1_fix_time: 2.4801, d1.loss_plan_l1_fix_dist: 0.3816, d2.loss_plan_l1_fix_time: 2.4042, d2.loss_plan_l1_fix_dist: 0.3989, d3.loss_plan_l1_fix_time: 2.3894, d3.loss_plan_l1_fix_dist: 0.4194, d4.loss_plan_l1_fix_time: 2.3893, d4.loss_plan_l1_fix_dist: 0.4376, d5.loss_plan_l1_fix_time: 2.3916, d5.loss_plan_l1_fix_dist: 0.4562, d6.loss_plan_l1_fix_time: 2.3954, d6.loss_plan_l1_fix_dist: 0.4748, d0.loss_cls_all: 0.5583, d0.loss_bbox_all: 0.6691, d0.loss_cls: 0.5583, d0.loss_bbox: 0.6691, d1.loss_cls: 0.5563, d1.loss_bbox: 0.6497, d2.loss_cls: 0.5522, d2.loss_bbox: 0.6349, d3.loss_cls: 0.5522, d3.loss_bbox: 0.6271, d4.loss_cls: 0.5514, d4.loss_bbox: 0.6240, d5.loss_cls: 0.5533, d5.loss_bbox: 0.6189, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6314, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.5654, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.5677, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5786, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5826, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5958, d0.loss_map_cls_all: 0.3711, d0.loss_map_pts_all: 2.3997, d0.loss_map_dir_all: 0.0282, d0.loss_map_cls: 0.3711, d0.loss_map_pts: 2.3997, d0.loss_map_dir: 0.0282, d1.loss_map_cls: 0.3530, d1.loss_map_pts: 1.7405, d1.loss_map_dir: 0.0281, d2.loss_map_cls: 0.3471, d2.loss_map_pts: 1.6352, d2.loss_map_dir: 0.0285, d3.loss_map_cls: 0.3401, d3.loss_map_pts: 1.6025, d3.loss_map_dir: 0.0288, d4.loss_map_cls: 0.3355, d4.loss_map_pts: 1.5886, d4.loss_map_dir: 0.0290, d5.loss_map_cls: 0.3335, d5.loss_map_pts: 1.5869, d5.loss_map_dir: 0.0291, loss: 58.8407, grad_norm: 160.9171 +2026-02-24 15:44:59,230 - DriveTransformer - INFO - Epoch [2][21450/39528] lr: 9.958e-05, eta: 8 days, 4:17:17, time: 0.772, data_time: 0.043, memory: 19865, loss_cls: 0.5205, loss_bbox: 0.5979, loss_traj: 1.3215, loss_traj_cls: 0.0006, loss_map_cls: 0.3378, loss_map_pts: 1.4313, loss_map_dir: 0.0275, d0.loss_plan_l1_fix_time: 2.7469, d0.loss_plan_l1_fix_dist: 0.4784, d1.loss_plan_l1_fix_time: 2.3204, d1.loss_plan_l1_fix_dist: 0.4068, d2.loss_plan_l1_fix_time: 2.2752, d2.loss_plan_l1_fix_dist: 0.4388, d3.loss_plan_l1_fix_time: 2.2721, d3.loss_plan_l1_fix_dist: 0.4751, d4.loss_plan_l1_fix_time: 2.2792, d4.loss_plan_l1_fix_dist: 0.5065, d5.loss_plan_l1_fix_time: 2.2881, d5.loss_plan_l1_fix_dist: 0.5366, d6.loss_plan_l1_fix_time: 2.2982, d6.loss_plan_l1_fix_dist: 0.5659, d0.loss_cls_all: 0.5294, d0.loss_bbox_all: 0.6394, d0.loss_cls: 0.5294, d0.loss_bbox: 0.6394, d1.loss_cls: 0.5207, d1.loss_bbox: 0.6249, d2.loss_cls: 0.5177, d2.loss_bbox: 0.6094, d3.loss_cls: 0.5158, d3.loss_bbox: 0.6001, d4.loss_cls: 0.5206, d4.loss_bbox: 0.5941, d5.loss_cls: 0.5191, d5.loss_bbox: 0.5947, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4258, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3424, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3056, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3113, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3092, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3054, d0.loss_map_cls_all: 0.3787, d0.loss_map_pts_all: 2.2537, d0.loss_map_dir_all: 0.0273, d0.loss_map_cls: 0.3787, d0.loss_map_pts: 2.2537, d0.loss_map_dir: 0.0273, d1.loss_map_cls: 0.3706, d1.loss_map_pts: 1.5769, d1.loss_map_dir: 0.0269, d2.loss_map_cls: 0.3523, d2.loss_map_pts: 1.4787, d2.loss_map_dir: 0.0271, d3.loss_map_cls: 0.3443, d3.loss_map_pts: 1.4457, d3.loss_map_dir: 0.0272, d4.loss_map_cls: 0.3402, d4.loss_map_pts: 1.4358, d4.loss_map_dir: 0.0273, d5.loss_map_cls: 0.3351, d5.loss_map_pts: 1.4375, d5.loss_map_dir: 0.0274, loss: 54.6565, grad_norm: 163.2093 +2026-02-24 15:45:38,108 - DriveTransformer - INFO - Epoch [2][21500/39528] lr: 9.958e-05, eta: 8 days, 4:16:24, time: 0.778, data_time: 0.036, memory: 19865, loss_cls: 0.5721, loss_bbox: 0.6563, loss_traj: 1.4752, loss_traj_cls: 0.0006, loss_map_cls: 0.3862, loss_map_pts: 1.5289, loss_map_dir: 0.0305, d0.loss_plan_l1_fix_time: 2.9391, d0.loss_plan_l1_fix_dist: 0.4134, d1.loss_plan_l1_fix_time: 2.4629, d1.loss_plan_l1_fix_dist: 0.3834, d2.loss_plan_l1_fix_time: 2.4187, d2.loss_plan_l1_fix_dist: 0.4019, d3.loss_plan_l1_fix_time: 2.4113, d3.loss_plan_l1_fix_dist: 0.4261, d4.loss_plan_l1_fix_time: 2.4164, d4.loss_plan_l1_fix_dist: 0.4543, d5.loss_plan_l1_fix_time: 2.4239, d5.loss_plan_l1_fix_dist: 0.4809, d6.loss_plan_l1_fix_time: 2.4321, d6.loss_plan_l1_fix_dist: 0.5041, d0.loss_cls_all: 0.5811, d0.loss_bbox_all: 0.6867, d0.loss_cls: 0.5811, d0.loss_bbox: 0.6867, d1.loss_cls: 0.5712, d1.loss_bbox: 0.6800, d2.loss_cls: 0.5681, d2.loss_bbox: 0.6671, d3.loss_cls: 0.5672, d3.loss_bbox: 0.6560, d4.loss_cls: 0.5638, d4.loss_bbox: 0.6479, d5.loss_cls: 0.5701, d5.loss_bbox: 0.6516, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6578, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.5184, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.4883, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4807, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4788, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4789, d0.loss_map_cls_all: 0.4246, d0.loss_map_pts_all: 2.3322, d0.loss_map_dir_all: 0.0294, d0.loss_map_cls: 0.4246, d0.loss_map_pts: 2.3322, d0.loss_map_dir: 0.0294, d1.loss_map_cls: 0.4198, d1.loss_map_pts: 1.6667, d1.loss_map_dir: 0.0293, d2.loss_map_cls: 0.4033, d2.loss_map_pts: 1.5811, d2.loss_map_dir: 0.0298, d3.loss_map_cls: 0.3914, d3.loss_map_pts: 1.5480, d3.loss_map_dir: 0.0300, d4.loss_map_cls: 0.3860, d4.loss_map_pts: 1.5313, d4.loss_map_dir: 0.0302, d5.loss_map_cls: 0.3839, d5.loss_map_pts: 1.5303, d5.loss_map_dir: 0.0304, loss: 58.5681, grad_norm: 162.8402 +2026-02-24 15:46:16,273 - DriveTransformer - INFO - Epoch [2][21550/39528] lr: 9.958e-05, eta: 8 days, 4:15:20, time: 0.763, data_time: 0.035, memory: 19865, loss_cls: 0.5546, loss_bbox: 0.6469, loss_traj: 1.4160, loss_traj_cls: 0.0006, loss_map_cls: 0.3572, loss_map_pts: 1.5478, loss_map_dir: 0.0272, d0.loss_plan_l1_fix_time: 2.8683, d0.loss_plan_l1_fix_dist: 0.3909, d1.loss_plan_l1_fix_time: 2.3784, d1.loss_plan_l1_fix_dist: 0.3848, d2.loss_plan_l1_fix_time: 2.3624, d2.loss_plan_l1_fix_dist: 0.4118, d3.loss_plan_l1_fix_time: 2.3721, d3.loss_plan_l1_fix_dist: 0.4448, d4.loss_plan_l1_fix_time: 2.3834, d4.loss_plan_l1_fix_dist: 0.4784, d5.loss_plan_l1_fix_time: 2.3945, d5.loss_plan_l1_fix_dist: 0.5147, d6.loss_plan_l1_fix_time: 2.4053, d6.loss_plan_l1_fix_dist: 0.5531, d0.loss_cls_all: 0.5655, d0.loss_bbox_all: 0.6797, d0.loss_cls: 0.5655, d0.loss_bbox: 0.6797, d1.loss_cls: 0.5606, d1.loss_bbox: 0.6675, d2.loss_cls: 0.5548, d2.loss_bbox: 0.6593, d3.loss_cls: 0.5519, d3.loss_bbox: 0.6484, d4.loss_cls: 0.5531, d4.loss_bbox: 0.6441, d5.loss_cls: 0.5523, d5.loss_bbox: 0.6437, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5085, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.4070, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3970, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3950, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4039, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4044, d0.loss_map_cls_all: 0.4026, d0.loss_map_pts_all: 2.2285, d0.loss_map_dir_all: 0.0270, d0.loss_map_cls: 0.4026, d0.loss_map_pts: 2.2285, d0.loss_map_dir: 0.0270, d1.loss_map_cls: 0.3926, d1.loss_map_pts: 1.6598, d1.loss_map_dir: 0.0265, d2.loss_map_cls: 0.3753, d2.loss_map_pts: 1.5843, d2.loss_map_dir: 0.0267, d3.loss_map_cls: 0.3677, d3.loss_map_pts: 1.5591, d3.loss_map_dir: 0.0269, d4.loss_map_cls: 0.3606, d4.loss_map_pts: 1.5535, d4.loss_map_dir: 0.0271, d5.loss_map_cls: 0.3565, d5.loss_map_pts: 1.5467, d5.loss_map_dir: 0.0272, loss: 57.1462, grad_norm: 164.9320 +2026-02-24 15:46:56,947 - DriveTransformer - INFO - Epoch [2][21600/39528] lr: 9.958e-05, eta: 8 days, 4:14:53, time: 0.813, data_time: 0.036, memory: 19865, loss_cls: 0.5784, loss_bbox: 0.6632, loss_traj: 1.2259, loss_traj_cls: 0.0005, loss_map_cls: 0.3857, loss_map_pts: 1.6469, loss_map_dir: 0.0304, d0.loss_plan_l1_fix_time: 2.7388, d0.loss_plan_l1_fix_dist: 0.4536, d1.loss_plan_l1_fix_time: 2.1731, d1.loss_plan_l1_fix_dist: 0.3732, d2.loss_plan_l1_fix_time: 2.1499, d2.loss_plan_l1_fix_dist: 0.4023, d3.loss_plan_l1_fix_time: 2.1693, d3.loss_plan_l1_fix_dist: 0.4346, d4.loss_plan_l1_fix_time: 2.1829, d4.loss_plan_l1_fix_dist: 0.4716, d5.loss_plan_l1_fix_time: 2.1948, d5.loss_plan_l1_fix_dist: 0.5163, d6.loss_plan_l1_fix_time: 2.2069, d6.loss_plan_l1_fix_dist: 0.5668, d0.loss_cls_all: 0.5781, d0.loss_bbox_all: 0.6953, d0.loss_cls: 0.5781, d0.loss_bbox: 0.6953, d1.loss_cls: 0.5728, d1.loss_bbox: 0.6761, d2.loss_cls: 0.5762, d2.loss_bbox: 0.6696, d3.loss_cls: 0.5780, d3.loss_bbox: 0.6639, d4.loss_cls: 0.5776, d4.loss_bbox: 0.6606, d5.loss_cls: 0.5749, d5.loss_bbox: 0.6618, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3434, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2377, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.2094, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.2123, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2116, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2180, d0.loss_map_cls_all: 0.4298, d0.loss_map_pts_all: 2.4321, d0.loss_map_dir_all: 0.0293, d0.loss_map_cls: 0.4298, d0.loss_map_pts: 2.4321, d0.loss_map_dir: 0.0293, d1.loss_map_cls: 0.4129, d1.loss_map_pts: 1.8070, d1.loss_map_dir: 0.0295, d2.loss_map_cls: 0.3995, d2.loss_map_pts: 1.7081, d2.loss_map_dir: 0.0298, d3.loss_map_cls: 0.3909, d3.loss_map_pts: 1.6708, d3.loss_map_dir: 0.0300, d4.loss_map_cls: 0.3874, d4.loss_map_pts: 1.6550, d4.loss_map_dir: 0.0302, d5.loss_map_cls: 0.3848, d5.loss_map_pts: 1.6503, d5.loss_map_dir: 0.0302, loss: 56.1592, grad_norm: 166.0000 +2026-02-24 15:47:38,273 - DriveTransformer - INFO - Epoch [2][21650/39528] lr: 9.958e-05, eta: 8 days, 4:14:35, time: 0.826, data_time: 0.041, memory: 19865, loss_cls: 0.5185, loss_bbox: 0.6042, loss_traj: 1.3826, loss_traj_cls: 0.0005, loss_map_cls: 0.3463, loss_map_pts: 1.5225, loss_map_dir: 0.0310, d0.loss_plan_l1_fix_time: 2.6393, d0.loss_plan_l1_fix_dist: 0.4974, d1.loss_plan_l1_fix_time: 2.2137, d1.loss_plan_l1_fix_dist: 0.3749, d2.loss_plan_l1_fix_time: 2.1967, d2.loss_plan_l1_fix_dist: 0.3838, d3.loss_plan_l1_fix_time: 2.2022, d3.loss_plan_l1_fix_dist: 0.3995, d4.loss_plan_l1_fix_time: 2.2096, d4.loss_plan_l1_fix_dist: 0.4207, d5.loss_plan_l1_fix_time: 2.2170, d5.loss_plan_l1_fix_dist: 0.4443, d6.loss_plan_l1_fix_time: 2.2259, d6.loss_plan_l1_fix_dist: 0.4734, d0.loss_cls_all: 0.5331, d0.loss_bbox_all: 0.6420, d0.loss_cls: 0.5331, d0.loss_bbox: 0.6420, d1.loss_cls: 0.5221, d1.loss_bbox: 0.6165, d2.loss_cls: 0.5193, d2.loss_bbox: 0.6114, d3.loss_cls: 0.5188, d3.loss_bbox: 0.6069, d4.loss_cls: 0.5156, d4.loss_bbox: 0.6030, d5.loss_cls: 0.5165, d5.loss_bbox: 0.6039, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5726, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.4702, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.4232, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4161, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3938, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.3824, d0.loss_map_cls_all: 0.3741, d0.loss_map_pts_all: 2.4483, d0.loss_map_dir_all: 0.0298, d0.loss_map_cls: 0.3741, d0.loss_map_pts: 2.4483, d0.loss_map_dir: 0.0298, d1.loss_map_cls: 0.3622, d1.loss_map_pts: 1.6953, d1.loss_map_dir: 0.0298, d2.loss_map_cls: 0.3518, d2.loss_map_pts: 1.5872, d2.loss_map_dir: 0.0303, d3.loss_map_cls: 0.3488, d3.loss_map_pts: 1.5448, d3.loss_map_dir: 0.0306, d4.loss_map_cls: 0.3446, d4.loss_map_pts: 1.5295, d4.loss_map_dir: 0.0308, d5.loss_map_cls: 0.3455, d5.loss_map_pts: 1.5283, d5.loss_map_dir: 0.0310, loss: 55.4458, grad_norm: 165.8338 +2026-02-24 15:48:19,300 - DriveTransformer - INFO - Epoch [2][21700/39528] lr: 9.958e-05, eta: 8 days, 4:14:13, time: 0.821, data_time: 0.044, memory: 19865, loss_cls: 0.5031, loss_bbox: 0.5887, loss_traj: 1.1167, loss_traj_cls: 0.0005, loss_map_cls: 0.2966, loss_map_pts: 1.3477, loss_map_dir: 0.0269, d0.loss_plan_l1_fix_time: 2.6409, d0.loss_plan_l1_fix_dist: 0.5660, d1.loss_plan_l1_fix_time: 2.0887, d1.loss_plan_l1_fix_dist: 0.3953, d2.loss_plan_l1_fix_time: 1.9983, d2.loss_plan_l1_fix_dist: 0.4014, d3.loss_plan_l1_fix_time: 1.9843, d3.loss_plan_l1_fix_dist: 0.4224, d4.loss_plan_l1_fix_time: 1.9873, d4.loss_plan_l1_fix_dist: 0.4453, d5.loss_plan_l1_fix_time: 1.9924, d5.loss_plan_l1_fix_dist: 0.4684, d6.loss_plan_l1_fix_time: 1.9990, d6.loss_plan_l1_fix_dist: 0.4944, d0.loss_cls_all: 0.5136, d0.loss_bbox_all: 0.6230, d0.loss_cls: 0.5136, d0.loss_bbox: 0.6230, d1.loss_cls: 0.5023, d1.loss_bbox: 0.5992, d2.loss_cls: 0.5027, d2.loss_bbox: 0.5830, d3.loss_cls: 0.4980, d3.loss_bbox: 0.5804, d4.loss_cls: 0.5000, d4.loss_bbox: 0.5795, d5.loss_cls: 0.5026, d5.loss_bbox: 0.5827, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2142, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1572, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.1253, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.1252, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.1146, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1132, d0.loss_map_cls_all: 0.3499, d0.loss_map_pts_all: 2.3040, d0.loss_map_dir_all: 0.0259, d0.loss_map_cls: 0.3499, d0.loss_map_pts: 2.3040, d0.loss_map_dir: 0.0259, d1.loss_map_cls: 0.3272, d1.loss_map_pts: 1.4972, d1.loss_map_dir: 0.0259, d2.loss_map_cls: 0.3108, d2.loss_map_pts: 1.3980, d2.loss_map_dir: 0.0262, d3.loss_map_cls: 0.2981, d3.loss_map_pts: 1.3610, d3.loss_map_dir: 0.0264, d4.loss_map_cls: 0.2965, d4.loss_map_pts: 1.3499, d4.loss_map_dir: 0.0266, d5.loss_map_cls: 0.2953, d5.loss_map_pts: 1.3519, d5.loss_map_dir: 0.0268, loss: 50.2995, grad_norm: 165.3714 +2026-02-24 15:48:59,252 - DriveTransformer - INFO - Epoch [2][21750/39528] lr: 9.958e-05, eta: 8 days, 4:13:36, time: 0.799, data_time: 0.039, memory: 19865, loss_cls: 0.5611, loss_bbox: 0.6368, loss_traj: 1.3833, loss_traj_cls: 0.0005, loss_map_cls: 0.3750, loss_map_pts: 1.6839, loss_map_dir: 0.0316, d0.loss_plan_l1_fix_time: 2.5554, d0.loss_plan_l1_fix_dist: 0.4931, d1.loss_plan_l1_fix_time: 2.1559, d1.loss_plan_l1_fix_dist: 0.3609, d2.loss_plan_l1_fix_time: 2.1053, d2.loss_plan_l1_fix_dist: 0.3644, d3.loss_plan_l1_fix_time: 2.1012, d3.loss_plan_l1_fix_dist: 0.3783, d4.loss_plan_l1_fix_time: 2.1062, d4.loss_plan_l1_fix_dist: 0.3958, d5.loss_plan_l1_fix_time: 2.1123, d5.loss_plan_l1_fix_dist: 0.4157, d6.loss_plan_l1_fix_time: 2.1191, d6.loss_plan_l1_fix_dist: 0.4323, d0.loss_cls_all: 0.5774, d0.loss_bbox_all: 0.6834, d0.loss_cls: 0.5774, d0.loss_bbox: 0.6834, d1.loss_cls: 0.5666, d1.loss_bbox: 0.6604, d2.loss_cls: 0.5670, d2.loss_bbox: 0.6402, d3.loss_cls: 0.5633, d3.loss_bbox: 0.6323, d4.loss_cls: 0.5604, d4.loss_bbox: 0.6308, d5.loss_cls: 0.5623, d5.loss_bbox: 0.6323, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4639, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3766, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3706, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3808, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3859, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3758, d0.loss_map_cls_all: 0.4120, d0.loss_map_pts_all: 2.5152, d0.loss_map_dir_all: 0.0306, d0.loss_map_cls: 0.4120, d0.loss_map_pts: 2.5152, d0.loss_map_dir: 0.0306, d1.loss_map_cls: 0.3975, d1.loss_map_pts: 1.8348, d1.loss_map_dir: 0.0307, d2.loss_map_cls: 0.3892, d2.loss_map_pts: 1.7280, d2.loss_map_dir: 0.0312, d3.loss_map_cls: 0.3806, d3.loss_map_pts: 1.6933, d3.loss_map_dir: 0.0313, d4.loss_map_cls: 0.3771, d4.loss_map_pts: 1.6873, d4.loss_map_dir: 0.0314, d5.loss_map_cls: 0.3752, d5.loss_map_pts: 1.6844, d5.loss_map_dir: 0.0316, loss: 56.2821, grad_norm: 164.8597 +2026-02-24 15:49:39,544 - DriveTransformer - INFO - Epoch [2][21800/39528] lr: 9.958e-05, eta: 8 days, 4:13:03, time: 0.806, data_time: 0.039, memory: 19865, loss_cls: 0.5536, loss_bbox: 0.6206, loss_traj: 1.5702, loss_traj_cls: 0.0005, loss_map_cls: 0.3459, loss_map_pts: 1.5911, loss_map_dir: 0.0288, d0.loss_plan_l1_fix_time: 2.7539, d0.loss_plan_l1_fix_dist: 0.4403, d1.loss_plan_l1_fix_time: 2.2945, d1.loss_plan_l1_fix_dist: 0.3760, d2.loss_plan_l1_fix_time: 2.2706, d2.loss_plan_l1_fix_dist: 0.3807, d3.loss_plan_l1_fix_time: 2.2758, d3.loss_plan_l1_fix_dist: 0.3940, d4.loss_plan_l1_fix_time: 2.2847, d4.loss_plan_l1_fix_dist: 0.4104, d5.loss_plan_l1_fix_time: 2.2940, d5.loss_plan_l1_fix_dist: 0.4276, d6.loss_plan_l1_fix_time: 2.3041, d6.loss_plan_l1_fix_dist: 0.4476, d0.loss_cls_all: 0.5753, d0.loss_bbox_all: 0.6590, d0.loss_cls: 0.5753, d0.loss_bbox: 0.6590, d1.loss_cls: 0.5653, d1.loss_bbox: 0.6375, d2.loss_cls: 0.5648, d2.loss_bbox: 0.6221, d3.loss_cls: 0.5581, d3.loss_bbox: 0.6219, d4.loss_cls: 0.5554, d4.loss_bbox: 0.6206, d5.loss_cls: 0.5538, d5.loss_bbox: 0.6183, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6249, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.5656, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.5590, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5704, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5648, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5690, d0.loss_map_cls_all: 0.3748, d0.loss_map_pts_all: 2.4322, d0.loss_map_dir_all: 0.0276, d0.loss_map_cls: 0.3748, d0.loss_map_pts: 2.4322, d0.loss_map_dir: 0.0276, d1.loss_map_cls: 0.3647, d1.loss_map_pts: 1.7541, d1.loss_map_dir: 0.0276, d2.loss_map_cls: 0.3537, d2.loss_map_pts: 1.6467, d2.loss_map_dir: 0.0280, d3.loss_map_cls: 0.3503, d3.loss_map_pts: 1.6069, d3.loss_map_dir: 0.0283, d4.loss_map_cls: 0.3468, d4.loss_map_pts: 1.5942, d4.loss_map_dir: 0.0285, d5.loss_map_cls: 0.3428, d5.loss_map_pts: 1.5903, d5.loss_map_dir: 0.0287, loss: 57.6695, grad_norm: 165.1959 +2026-02-24 15:50:18,138 - DriveTransformer - INFO - Epoch [2][21850/39528] lr: 9.958e-05, eta: 8 days, 4:12:06, time: 0.772, data_time: 0.041, memory: 19865, loss_cls: 0.5543, loss_bbox: 0.6647, loss_traj: 1.4789, loss_traj_cls: 0.0006, loss_map_cls: 0.3743, loss_map_pts: 1.7329, loss_map_dir: 0.0297, d0.loss_plan_l1_fix_time: 3.0895, d0.loss_plan_l1_fix_dist: 0.4853, d1.loss_plan_l1_fix_time: 2.6100, d1.loss_plan_l1_fix_dist: 0.4369, d2.loss_plan_l1_fix_time: 2.5909, d2.loss_plan_l1_fix_dist: 0.4406, d3.loss_plan_l1_fix_time: 2.5988, d3.loss_plan_l1_fix_dist: 0.4518, d4.loss_plan_l1_fix_time: 2.6074, d4.loss_plan_l1_fix_dist: 0.4669, d5.loss_plan_l1_fix_time: 2.6171, d5.loss_plan_l1_fix_dist: 0.4849, d6.loss_plan_l1_fix_time: 2.6275, d6.loss_plan_l1_fix_dist: 0.5099, d0.loss_cls_all: 0.6027, d0.loss_bbox_all: 0.7046, d0.loss_cls: 0.6027, d0.loss_bbox: 0.7046, d1.loss_cls: 0.5847, d1.loss_bbox: 0.6879, d2.loss_cls: 0.5761, d2.loss_bbox: 0.6755, d3.loss_cls: 0.5658, d3.loss_bbox: 0.6711, d4.loss_cls: 0.5606, d4.loss_bbox: 0.6662, d5.loss_cls: 0.5566, d5.loss_bbox: 0.6648, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6095, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.5046, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.4771, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4796, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4760, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4771, d0.loss_map_cls_all: 0.4056, d0.loss_map_pts_all: 2.6110, d0.loss_map_dir_all: 0.0286, d0.loss_map_cls: 0.4056, d0.loss_map_pts: 2.6110, d0.loss_map_dir: 0.0286, d1.loss_map_cls: 0.3940, d1.loss_map_pts: 1.8807, d1.loss_map_dir: 0.0288, d2.loss_map_cls: 0.3824, d2.loss_map_pts: 1.7760, d2.loss_map_dir: 0.0291, d3.loss_map_cls: 0.3764, d3.loss_map_pts: 1.7396, d3.loss_map_dir: 0.0294, d4.loss_map_cls: 0.3749, d4.loss_map_pts: 1.7335, d4.loss_map_dir: 0.0296, d5.loss_map_cls: 0.3726, d5.loss_map_pts: 1.7364, d5.loss_map_dir: 0.0297, loss: 61.7088, grad_norm: 166.6932 +2026-02-24 15:50:58,252 - DriveTransformer - INFO - Epoch [2][21900/39528] lr: 9.958e-05, eta: 8 days, 4:11:30, time: 0.802, data_time: 0.037, memory: 19865, loss_cls: 0.5747, loss_bbox: 0.6566, loss_traj: 1.6790, loss_traj_cls: 0.0007, loss_map_cls: 0.3774, loss_map_pts: 1.7212, loss_map_dir: 0.0296, d0.loss_plan_l1_fix_time: 2.7597, d0.loss_plan_l1_fix_dist: 0.4477, d1.loss_plan_l1_fix_time: 2.4260, d1.loss_plan_l1_fix_dist: 0.3859, d2.loss_plan_l1_fix_time: 2.3980, d2.loss_plan_l1_fix_dist: 0.3868, d3.loss_plan_l1_fix_time: 2.3998, d3.loss_plan_l1_fix_dist: 0.3969, d4.loss_plan_l1_fix_time: 2.4074, d4.loss_plan_l1_fix_dist: 0.4113, d5.loss_plan_l1_fix_time: 2.4173, d5.loss_plan_l1_fix_dist: 0.4308, d6.loss_plan_l1_fix_time: 2.4278, d6.loss_plan_l1_fix_dist: 0.4536, d0.loss_cls_all: 0.6191, d0.loss_bbox_all: 0.6907, d0.loss_cls: 0.6191, d0.loss_bbox: 0.6907, d1.loss_cls: 0.5974, d1.loss_bbox: 0.6743, d2.loss_cls: 0.5906, d2.loss_bbox: 0.6622, d3.loss_cls: 0.5826, d3.loss_bbox: 0.6553, d4.loss_cls: 0.5768, d4.loss_bbox: 0.6543, d5.loss_cls: 0.5749, d5.loss_bbox: 0.6552, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7456, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.6792, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.6598, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.6695, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6743, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6823, d0.loss_map_cls_all: 0.4201, d0.loss_map_pts_all: 2.5859, d0.loss_map_dir_all: 0.0277, d0.loss_map_cls: 0.4201, d0.loss_map_pts: 2.5859, d0.loss_map_dir: 0.0277, d1.loss_map_cls: 0.4027, d1.loss_map_pts: 1.8942, d1.loss_map_dir: 0.0280, d2.loss_map_cls: 0.3904, d2.loss_map_pts: 1.7778, d2.loss_map_dir: 0.0287, d3.loss_map_cls: 0.3806, d3.loss_map_pts: 1.7375, d3.loss_map_dir: 0.0290, d4.loss_map_cls: 0.3788, d4.loss_map_pts: 1.7264, d4.loss_map_dir: 0.0293, d5.loss_map_cls: 0.3771, d5.loss_map_pts: 1.7262, d5.loss_map_dir: 0.0296, loss: 61.1509, grad_norm: 164.5628 +2026-02-24 15:51:36,913 - DriveTransformer - INFO - Epoch [2][21950/39528] lr: 9.958e-05, eta: 8 days, 4:10:34, time: 0.773, data_time: 0.035, memory: 19865, loss_cls: 0.5757, loss_bbox: 0.6289, loss_traj: 1.3632, loss_traj_cls: 0.0006, loss_map_cls: 0.3509, loss_map_pts: 1.5878, loss_map_dir: 0.0281, d0.loss_plan_l1_fix_time: 2.5816, d0.loss_plan_l1_fix_dist: 0.5108, d1.loss_plan_l1_fix_time: 2.1673, d1.loss_plan_l1_fix_dist: 0.4011, d2.loss_plan_l1_fix_time: 2.1430, d2.loss_plan_l1_fix_dist: 0.4038, d3.loss_plan_l1_fix_time: 2.1476, d3.loss_plan_l1_fix_dist: 0.4177, d4.loss_plan_l1_fix_time: 2.1552, d4.loss_plan_l1_fix_dist: 0.4323, d5.loss_plan_l1_fix_time: 2.1629, d5.loss_plan_l1_fix_dist: 0.4484, d6.loss_plan_l1_fix_time: 2.1712, d6.loss_plan_l1_fix_dist: 0.4651, d0.loss_cls_all: 0.5568, d0.loss_bbox_all: 0.6680, d0.loss_cls: 0.5568, d0.loss_bbox: 0.6680, d1.loss_cls: 0.5583, d1.loss_bbox: 0.6416, d2.loss_cls: 0.5594, d2.loss_bbox: 0.6343, d3.loss_cls: 0.5663, d3.loss_bbox: 0.6262, d4.loss_cls: 0.5742, d4.loss_bbox: 0.6243, d5.loss_cls: 0.5747, d5.loss_bbox: 0.6251, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4367, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3630, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3383, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3416, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3504, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3510, d0.loss_map_cls_all: 0.3700, d0.loss_map_pts_all: 2.4443, d0.loss_map_dir_all: 0.0278, d0.loss_map_cls: 0.3700, d0.loss_map_pts: 2.4443, d0.loss_map_dir: 0.0278, d1.loss_map_cls: 0.3635, d1.loss_map_pts: 1.7272, d1.loss_map_dir: 0.0272, d2.loss_map_cls: 0.3584, d2.loss_map_pts: 1.6092, d2.loss_map_dir: 0.0276, d3.loss_map_cls: 0.3545, d3.loss_map_pts: 1.5833, d3.loss_map_dir: 0.0278, d4.loss_map_cls: 0.3501, d4.loss_map_pts: 1.5752, d4.loss_map_dir: 0.0280, d5.loss_map_cls: 0.3500, d5.loss_map_pts: 1.5797, d5.loss_map_dir: 0.0281, loss: 55.4369, grad_norm: 162.7490 +2026-02-24 15:52:16,601 - DriveTransformer - INFO - Epoch [2][22000/39528] lr: 9.958e-05, eta: 8 days, 4:09:53, time: 0.794, data_time: 0.040, memory: 19865, loss_cls: 0.5588, loss_bbox: 0.6451, loss_traj: 1.6426, loss_traj_cls: 0.0005, loss_map_cls: 0.3417, loss_map_pts: 1.6607, loss_map_dir: 0.0268, d0.loss_plan_l1_fix_time: 3.1736, d0.loss_plan_l1_fix_dist: 0.4637, d1.loss_plan_l1_fix_time: 2.6828, d1.loss_plan_l1_fix_dist: 0.3887, d2.loss_plan_l1_fix_time: 2.6414, d2.loss_plan_l1_fix_dist: 0.3903, d3.loss_plan_l1_fix_time: 2.6411, d3.loss_plan_l1_fix_dist: 0.3997, d4.loss_plan_l1_fix_time: 2.6488, d4.loss_plan_l1_fix_dist: 0.4118, d5.loss_plan_l1_fix_time: 2.6569, d5.loss_plan_l1_fix_dist: 0.4263, d6.loss_plan_l1_fix_time: 2.6667, d6.loss_plan_l1_fix_dist: 0.4451, d0.loss_cls_all: 0.5613, d0.loss_bbox_all: 0.6781, d0.loss_cls: 0.5613, d0.loss_bbox: 0.6781, d1.loss_cls: 0.5772, d1.loss_bbox: 0.6639, d2.loss_cls: 0.5767, d2.loss_bbox: 0.6544, d3.loss_cls: 0.5670, d3.loss_bbox: 0.6464, d4.loss_cls: 0.5648, d4.loss_bbox: 0.6426, d5.loss_cls: 0.5602, d5.loss_bbox: 0.6431, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7123, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.6256, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.6008, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5959, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6064, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6273, d0.loss_map_cls_all: 0.3786, d0.loss_map_pts_all: 2.4010, d0.loss_map_dir_all: 0.0257, d0.loss_map_cls: 0.3786, d0.loss_map_pts: 2.4010, d0.loss_map_dir: 0.0257, d1.loss_map_cls: 0.3638, d1.loss_map_pts: 1.7825, d1.loss_map_dir: 0.0258, d2.loss_map_cls: 0.3546, d2.loss_map_pts: 1.6763, d2.loss_map_dir: 0.0263, d3.loss_map_cls: 0.3487, d3.loss_map_pts: 1.6522, d3.loss_map_dir: 0.0265, d4.loss_map_cls: 0.3432, d4.loss_map_pts: 1.6463, d4.loss_map_dir: 0.0266, d5.loss_map_cls: 0.3409, d5.loss_map_pts: 1.6528, d5.loss_map_dir: 0.0268, loss: 61.1650, grad_norm: 161.9984 +2026-02-24 15:52:55,427 - DriveTransformer - INFO - Epoch [2][22050/39528] lr: 9.958e-05, eta: 8 days, 4:08:59, time: 0.777, data_time: 0.043, memory: 19865, loss_cls: 0.5851, loss_bbox: 0.6449, loss_traj: 1.3986, loss_traj_cls: 0.0005, loss_map_cls: 0.3459, loss_map_pts: 1.5060, loss_map_dir: 0.0254, d0.loss_plan_l1_fix_time: 3.0469, d0.loss_plan_l1_fix_dist: 0.4651, d1.loss_plan_l1_fix_time: 2.5641, d1.loss_plan_l1_fix_dist: 0.3819, d2.loss_plan_l1_fix_time: 2.5170, d2.loss_plan_l1_fix_dist: 0.3827, d3.loss_plan_l1_fix_time: 2.5091, d3.loss_plan_l1_fix_dist: 0.3942, d4.loss_plan_l1_fix_time: 2.5120, d4.loss_plan_l1_fix_dist: 0.4095, d5.loss_plan_l1_fix_time: 2.5172, d5.loss_plan_l1_fix_dist: 0.4255, d6.loss_plan_l1_fix_time: 2.5237, d6.loss_plan_l1_fix_dist: 0.4415, d0.loss_cls_all: 0.5720, d0.loss_bbox_all: 0.6827, d0.loss_cls: 0.5720, d0.loss_bbox: 0.6827, d1.loss_cls: 0.5700, d1.loss_bbox: 0.6640, d2.loss_cls: 0.5671, d2.loss_bbox: 0.6536, d3.loss_cls: 0.5695, d3.loss_bbox: 0.6479, d4.loss_cls: 0.5729, d4.loss_bbox: 0.6470, d5.loss_cls: 0.5791, d5.loss_bbox: 0.6445, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5743, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.4395, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3975, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3923, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3927, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3941, d0.loss_map_cls_all: 0.3741, d0.loss_map_pts_all: 2.1557, d0.loss_map_dir_all: 0.0241, d0.loss_map_cls: 0.3741, d0.loss_map_pts: 2.1557, d0.loss_map_dir: 0.0241, d1.loss_map_cls: 0.3622, d1.loss_map_pts: 1.6311, d1.loss_map_dir: 0.0243, d2.loss_map_cls: 0.3579, d2.loss_map_pts: 1.5333, d2.loss_map_dir: 0.0248, d3.loss_map_cls: 0.3497, d3.loss_map_pts: 1.5000, d3.loss_map_dir: 0.0250, d4.loss_map_cls: 0.3476, d4.loss_map_pts: 1.4962, d4.loss_map_dir: 0.0251, d5.loss_map_cls: 0.3462, d5.loss_map_pts: 1.4997, d5.loss_map_dir: 0.0253, loss: 57.4728, grad_norm: 160.3113 +2026-02-24 15:53:36,859 - DriveTransformer - INFO - Epoch [2][22100/39528] lr: 9.958e-05, eta: 8 days, 4:08:42, time: 0.829, data_time: 0.039, memory: 19865, loss_cls: 0.6177, loss_bbox: 0.6455, loss_traj: 1.3796, loss_traj_cls: 0.0005, loss_map_cls: 0.3451, loss_map_pts: 1.6667, loss_map_dir: 0.0346, d0.loss_plan_l1_fix_time: 2.6999, d0.loss_plan_l1_fix_dist: 0.5168, d1.loss_plan_l1_fix_time: 2.2500, d1.loss_plan_l1_fix_dist: 0.3778, d2.loss_plan_l1_fix_time: 2.2019, d2.loss_plan_l1_fix_dist: 0.3877, d3.loss_plan_l1_fix_time: 2.1961, d3.loss_plan_l1_fix_dist: 0.4063, d4.loss_plan_l1_fix_time: 2.1994, d4.loss_plan_l1_fix_dist: 0.4244, d5.loss_plan_l1_fix_time: 2.2043, d5.loss_plan_l1_fix_dist: 0.4451, d6.loss_plan_l1_fix_time: 2.2112, d6.loss_plan_l1_fix_dist: 0.4722, d0.loss_cls_all: 0.5828, d0.loss_bbox_all: 0.6816, d0.loss_cls: 0.5828, d0.loss_bbox: 0.6816, d1.loss_cls: 0.5792, d1.loss_bbox: 0.6642, d2.loss_cls: 0.5862, d2.loss_bbox: 0.6507, d3.loss_cls: 0.5964, d3.loss_bbox: 0.6464, d4.loss_cls: 0.6035, d4.loss_bbox: 0.6449, d5.loss_cls: 0.6126, d5.loss_bbox: 0.6426, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4049, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3626, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3539, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3631, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3673, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3745, d0.loss_map_cls_all: 0.3756, d0.loss_map_pts_all: 2.6814, d0.loss_map_dir_all: 0.0330, d0.loss_map_cls: 0.3756, d0.loss_map_pts: 2.6814, d0.loss_map_dir: 0.0330, d1.loss_map_cls: 0.3666, d1.loss_map_pts: 1.8194, d1.loss_map_dir: 0.0332, d2.loss_map_cls: 0.3605, d2.loss_map_pts: 1.7047, d2.loss_map_dir: 0.0339, d3.loss_map_cls: 0.3535, d3.loss_map_pts: 1.6674, d3.loss_map_dir: 0.0341, d4.loss_map_cls: 0.3468, d4.loss_map_pts: 1.6681, d4.loss_map_dir: 0.0343, d5.loss_map_cls: 0.3439, d5.loss_map_pts: 1.6681, d5.loss_map_dir: 0.0346, loss: 57.3178, grad_norm: 161.2037 +2026-02-24 15:54:15,435 - DriveTransformer - INFO - Epoch [2][22150/39528] lr: 9.958e-05, eta: 8 days, 4:07:45, time: 0.771, data_time: 0.040, memory: 19865, loss_cls: 0.5332, loss_bbox: 0.6108, loss_traj: 1.4104, loss_traj_cls: 0.0005, loss_map_cls: 0.3288, loss_map_pts: 1.5269, loss_map_dir: 0.0245, d0.loss_plan_l1_fix_time: 2.7221, d0.loss_plan_l1_fix_dist: 0.4734, d1.loss_plan_l1_fix_time: 2.4064, d1.loss_plan_l1_fix_dist: 0.3364, d2.loss_plan_l1_fix_time: 2.3879, d2.loss_plan_l1_fix_dist: 0.3437, d3.loss_plan_l1_fix_time: 2.3943, d3.loss_plan_l1_fix_dist: 0.3604, d4.loss_plan_l1_fix_time: 2.4036, d4.loss_plan_l1_fix_dist: 0.3764, d5.loss_plan_l1_fix_time: 2.4122, d5.loss_plan_l1_fix_dist: 0.3941, d6.loss_plan_l1_fix_time: 2.4199, d6.loss_plan_l1_fix_dist: 0.4137, d0.loss_cls_all: 0.5525, d0.loss_bbox_all: 0.6456, d0.loss_cls: 0.5525, d0.loss_bbox: 0.6456, d1.loss_cls: 0.5254, d1.loss_bbox: 0.6212, d2.loss_cls: 0.5283, d2.loss_bbox: 0.6073, d3.loss_cls: 0.5267, d3.loss_bbox: 0.6047, d4.loss_cls: 0.5284, d4.loss_bbox: 0.6086, d5.loss_cls: 0.5292, d5.loss_bbox: 0.6081, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6149, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.4661, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.4121, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3972, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3901, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.3985, d0.loss_map_cls_all: 0.3633, d0.loss_map_pts_all: 2.1543, d0.loss_map_dir_all: 0.0243, d0.loss_map_cls: 0.3633, d0.loss_map_pts: 2.1543, d0.loss_map_dir: 0.0243, d1.loss_map_cls: 0.3555, d1.loss_map_pts: 1.6597, d1.loss_map_dir: 0.0241, d2.loss_map_cls: 0.3424, d2.loss_map_pts: 1.5663, d2.loss_map_dir: 0.0241, d3.loss_map_cls: 0.3334, d3.loss_map_pts: 1.5396, d3.loss_map_dir: 0.0243, d4.loss_map_cls: 0.3322, d4.loss_map_pts: 1.5312, d4.loss_map_dir: 0.0244, d5.loss_map_cls: 0.3303, d5.loss_map_pts: 1.5270, d5.loss_map_dir: 0.0244, loss: 55.7694, grad_norm: 163.1203 +2026-02-24 15:54:53,179 - DriveTransformer - INFO - Epoch [2][22200/39528] lr: 9.958e-05, eta: 8 days, 4:06:37, time: 0.756, data_time: 0.036, memory: 19865, loss_cls: 0.5235, loss_bbox: 0.6451, loss_traj: 1.6255, loss_traj_cls: 0.0005, loss_map_cls: 0.3522, loss_map_pts: 1.3938, loss_map_dir: 0.0237, d0.loss_plan_l1_fix_time: 2.7126, d0.loss_plan_l1_fix_dist: 0.3978, d1.loss_plan_l1_fix_time: 2.2291, d1.loss_plan_l1_fix_dist: 0.3344, d2.loss_plan_l1_fix_time: 2.2327, d2.loss_plan_l1_fix_dist: 0.3394, d3.loss_plan_l1_fix_time: 2.2539, d3.loss_plan_l1_fix_dist: 0.3535, d4.loss_plan_l1_fix_time: 2.2676, d4.loss_plan_l1_fix_dist: 0.3700, d5.loss_plan_l1_fix_time: 2.2785, d5.loss_plan_l1_fix_dist: 0.3891, d6.loss_plan_l1_fix_time: 2.2878, d6.loss_plan_l1_fix_dist: 0.4090, d0.loss_cls_all: 0.5283, d0.loss_bbox_all: 0.6874, d0.loss_cls: 0.5283, d0.loss_bbox: 0.6874, d1.loss_cls: 0.5279, d1.loss_bbox: 0.6592, d2.loss_cls: 0.5262, d2.loss_bbox: 0.6456, d3.loss_cls: 0.5253, d3.loss_bbox: 0.6392, d4.loss_cls: 0.5269, d4.loss_bbox: 0.6405, d5.loss_cls: 0.5244, d5.loss_bbox: 0.6394, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7135, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.6093, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.5879, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5917, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5932, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6198, d0.loss_map_cls_all: 0.3897, d0.loss_map_pts_all: 2.0199, d0.loss_map_dir_all: 0.0229, d0.loss_map_cls: 0.3897, d0.loss_map_pts: 2.0199, d0.loss_map_dir: 0.0229, d1.loss_map_cls: 0.3791, d1.loss_map_pts: 1.5210, d1.loss_map_dir: 0.0228, d2.loss_map_cls: 0.3660, d2.loss_map_pts: 1.4194, d2.loss_map_dir: 0.0231, d3.loss_map_cls: 0.3590, d3.loss_map_pts: 1.3941, d3.loss_map_dir: 0.0233, d4.loss_map_cls: 0.3526, d4.loss_map_pts: 1.3881, d4.loss_map_dir: 0.0235, d5.loss_map_cls: 0.3512, d5.loss_map_pts: 1.3918, d5.loss_map_dir: 0.0237, loss: 55.3291, grad_norm: 163.4296 +2026-02-24 15:55:34,451 - DriveTransformer - INFO - Epoch [2][22250/39528] lr: 9.958e-05, eta: 8 days, 4:06:17, time: 0.824, data_time: 0.039, memory: 19865, loss_cls: 0.5643, loss_bbox: 0.6420, loss_traj: 1.4004, loss_traj_cls: 0.0005, loss_map_cls: 0.3727, loss_map_pts: 1.8220, loss_map_dir: 0.0338, d0.loss_plan_l1_fix_time: 2.7865, d0.loss_plan_l1_fix_dist: 0.4699, d1.loss_plan_l1_fix_time: 2.3474, d1.loss_plan_l1_fix_dist: 0.3903, d2.loss_plan_l1_fix_time: 2.3076, d2.loss_plan_l1_fix_dist: 0.3924, d3.loss_plan_l1_fix_time: 2.3069, d3.loss_plan_l1_fix_dist: 0.4034, d4.loss_plan_l1_fix_time: 2.3125, d4.loss_plan_l1_fix_dist: 0.4183, d5.loss_plan_l1_fix_time: 2.3195, d5.loss_plan_l1_fix_dist: 0.4352, d6.loss_plan_l1_fix_time: 2.3281, d6.loss_plan_l1_fix_dist: 0.4518, d0.loss_cls_all: 0.5647, d0.loss_bbox_all: 0.6748, d0.loss_cls: 0.5647, d0.loss_bbox: 0.6748, d1.loss_cls: 0.5542, d1.loss_bbox: 0.6600, d2.loss_cls: 0.5519, d2.loss_bbox: 0.6473, d3.loss_cls: 0.5523, d3.loss_bbox: 0.6411, d4.loss_cls: 0.5556, d4.loss_bbox: 0.6375, d5.loss_cls: 0.5608, d5.loss_bbox: 0.6367, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4406, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3599, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3520, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3652, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3682, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3810, d0.loss_map_cls_all: 0.3974, d0.loss_map_pts_all: 2.7405, d0.loss_map_dir_all: 0.0324, d0.loss_map_cls: 0.3974, d0.loss_map_pts: 2.7405, d0.loss_map_dir: 0.0324, d1.loss_map_cls: 0.3920, d1.loss_map_pts: 1.9707, d1.loss_map_dir: 0.0326, d2.loss_map_cls: 0.3793, d2.loss_map_pts: 1.8654, d2.loss_map_dir: 0.0331, d3.loss_map_cls: 0.3774, d3.loss_map_pts: 1.8308, d3.loss_map_dir: 0.0333, d4.loss_map_cls: 0.3710, d4.loss_map_pts: 1.8172, d4.loss_map_dir: 0.0336, d5.loss_map_cls: 0.3713, d5.loss_map_pts: 1.8198, d5.loss_map_dir: 0.0338, loss: 58.9554, grad_norm: 162.7036 +2026-02-24 15:56:13,318 - DriveTransformer - INFO - Epoch [2][22300/39528] lr: 9.958e-05, eta: 8 days, 4:05:24, time: 0.777, data_time: 0.039, memory: 19865, loss_cls: 0.5334, loss_bbox: 0.6026, loss_traj: 1.7276, loss_traj_cls: 0.0005, loss_map_cls: 0.3199, loss_map_pts: 1.3032, loss_map_dir: 0.0239, d0.loss_plan_l1_fix_time: 3.1055, d0.loss_plan_l1_fix_dist: 0.4320, d1.loss_plan_l1_fix_time: 2.5858, d1.loss_plan_l1_fix_dist: 0.3493, d2.loss_plan_l1_fix_time: 2.5397, d2.loss_plan_l1_fix_dist: 0.3562, d3.loss_plan_l1_fix_time: 2.5394, d3.loss_plan_l1_fix_dist: 0.3677, d4.loss_plan_l1_fix_time: 2.5451, d4.loss_plan_l1_fix_dist: 0.3810, d5.loss_plan_l1_fix_time: 2.5532, d5.loss_plan_l1_fix_dist: 0.3959, d6.loss_plan_l1_fix_time: 2.5632, d6.loss_plan_l1_fix_dist: 0.4140, d0.loss_cls_all: 0.5331, d0.loss_bbox_all: 0.6501, d0.loss_cls: 0.5331, d0.loss_bbox: 0.6501, d1.loss_cls: 0.5280, d1.loss_bbox: 0.6251, d2.loss_cls: 0.5256, d2.loss_bbox: 0.6130, d3.loss_cls: 0.5256, d3.loss_bbox: 0.6106, d4.loss_cls: 0.5290, d4.loss_bbox: 0.6051, d5.loss_cls: 0.5317, d5.loss_bbox: 0.6014, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.8725, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.7416, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.7167, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.7113, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6973, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7061, d0.loss_map_cls_all: 0.3576, d0.loss_map_pts_all: 2.0775, d0.loss_map_dir_all: 0.0228, d0.loss_map_cls: 0.3576, d0.loss_map_pts: 2.0775, d0.loss_map_dir: 0.0228, d1.loss_map_cls: 0.3481, d1.loss_map_pts: 1.4514, d1.loss_map_dir: 0.0230, d2.loss_map_cls: 0.3363, d2.loss_map_pts: 1.3506, d2.loss_map_dir: 0.0233, d3.loss_map_cls: 0.3281, d3.loss_map_pts: 1.3177, d3.loss_map_dir: 0.0235, d4.loss_map_cls: 0.3221, d4.loss_map_pts: 1.3083, d4.loss_map_dir: 0.0237, d5.loss_map_cls: 0.3192, d5.loss_map_pts: 1.3051, d5.loss_map_dir: 0.0238, loss: 57.5707, grad_norm: 163.8035 +2026-02-24 15:56:52,434 - DriveTransformer - INFO - Epoch [2][22350/39528] lr: 9.958e-05, eta: 8 days, 4:04:34, time: 0.782, data_time: 0.043, memory: 19865, loss_cls: 0.5400, loss_bbox: 0.6267, loss_traj: 1.5835, loss_traj_cls: 0.0005, loss_map_cls: 0.3692, loss_map_pts: 1.6109, loss_map_dir: 0.0299, d0.loss_plan_l1_fix_time: 3.1670, d0.loss_plan_l1_fix_dist: 0.4525, d1.loss_plan_l1_fix_time: 2.5674, d1.loss_plan_l1_fix_dist: 0.3850, d2.loss_plan_l1_fix_time: 2.5365, d2.loss_plan_l1_fix_dist: 0.3870, d3.loss_plan_l1_fix_time: 2.5404, d3.loss_plan_l1_fix_dist: 0.3982, d4.loss_plan_l1_fix_time: 2.5462, d4.loss_plan_l1_fix_dist: 0.4109, d5.loss_plan_l1_fix_time: 2.5517, d5.loss_plan_l1_fix_dist: 0.4250, d6.loss_plan_l1_fix_time: 2.5579, d6.loss_plan_l1_fix_dist: 0.4430, d0.loss_cls_all: 0.5596, d0.loss_bbox_all: 0.6773, d0.loss_cls: 0.5596, d0.loss_bbox: 0.6773, d1.loss_cls: 0.5452, d1.loss_bbox: 0.6515, d2.loss_cls: 0.5381, d2.loss_bbox: 0.6387, d3.loss_cls: 0.5366, d3.loss_bbox: 0.6359, d4.loss_cls: 0.5391, d4.loss_bbox: 0.6289, d5.loss_cls: 0.5377, d5.loss_bbox: 0.6237, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7720, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.6201, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.5746, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5689, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5628, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5672, d0.loss_map_cls_all: 0.4113, d0.loss_map_pts_all: 2.4048, d0.loss_map_dir_all: 0.0289, d0.loss_map_cls: 0.4113, d0.loss_map_pts: 2.4048, d0.loss_map_dir: 0.0289, d1.loss_map_cls: 0.3997, d1.loss_map_pts: 1.7705, d1.loss_map_dir: 0.0288, d2.loss_map_cls: 0.3873, d2.loss_map_pts: 1.6669, d2.loss_map_dir: 0.0291, d3.loss_map_cls: 0.3782, d3.loss_map_pts: 1.6295, d3.loss_map_dir: 0.0295, d4.loss_map_cls: 0.3718, d4.loss_map_pts: 1.6162, d4.loss_map_dir: 0.0297, d5.loss_map_cls: 0.3694, d5.loss_map_pts: 1.6104, d5.loss_map_dir: 0.0298, loss: 60.1854, grad_norm: 163.3971 +2026-02-24 15:57:33,943 - DriveTransformer - INFO - Epoch [2][22400/39528] lr: 9.958e-05, eta: 8 days, 4:04:19, time: 0.830, data_time: 0.039, memory: 19865, loss_cls: 0.5701, loss_bbox: 0.6265, loss_traj: 1.5320, loss_traj_cls: 0.0005, loss_map_cls: 0.3843, loss_map_pts: 1.7933, loss_map_dir: 0.0324, d0.loss_plan_l1_fix_time: 2.7925, d0.loss_plan_l1_fix_dist: 0.4248, d1.loss_plan_l1_fix_time: 2.3742, d1.loss_plan_l1_fix_dist: 0.3585, d2.loss_plan_l1_fix_time: 2.3611, d2.loss_plan_l1_fix_dist: 0.3715, d3.loss_plan_l1_fix_time: 2.3635, d3.loss_plan_l1_fix_dist: 0.3952, d4.loss_plan_l1_fix_time: 2.3694, d4.loss_plan_l1_fix_dist: 0.4198, d5.loss_plan_l1_fix_time: 2.3746, d5.loss_plan_l1_fix_dist: 0.4447, d6.loss_plan_l1_fix_time: 2.3796, d6.loss_plan_l1_fix_dist: 0.4719, d0.loss_cls_all: 0.5751, d0.loss_bbox_all: 0.6870, d0.loss_cls: 0.5751, d0.loss_bbox: 0.6870, d1.loss_cls: 0.5671, d1.loss_bbox: 0.6588, d2.loss_cls: 0.5632, d2.loss_bbox: 0.6381, d3.loss_cls: 0.5609, d3.loss_bbox: 0.6346, d4.loss_cls: 0.5607, d4.loss_bbox: 0.6274, d5.loss_cls: 0.5642, d5.loss_bbox: 0.6238, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6818, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.5522, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.5300, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5357, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5364, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5327, d0.loss_map_cls_all: 0.4096, d0.loss_map_pts_all: 2.6375, d0.loss_map_dir_all: 0.0308, d0.loss_map_cls: 0.4096, d0.loss_map_pts: 2.6375, d0.loss_map_dir: 0.0308, d1.loss_map_cls: 0.4075, d1.loss_map_pts: 1.9709, d1.loss_map_dir: 0.0312, d2.loss_map_cls: 0.3963, d2.loss_map_pts: 1.8516, d2.loss_map_dir: 0.0316, d3.loss_map_cls: 0.3897, d3.loss_map_pts: 1.8167, d3.loss_map_dir: 0.0319, d4.loss_map_cls: 0.3872, d4.loss_map_pts: 1.7995, d4.loss_map_dir: 0.0323, d5.loss_map_cls: 0.3846, d5.loss_map_pts: 1.7940, d5.loss_map_dir: 0.0324, loss: 60.2501, grad_norm: 163.1226 +2026-02-24 15:58:14,428 - DriveTransformer - INFO - Epoch [2][22450/39528] lr: 9.958e-05, eta: 8 days, 4:03:49, time: 0.810, data_time: 0.038, memory: 19865, loss_cls: 0.5402, loss_bbox: 0.6047, loss_traj: 1.1174, loss_traj_cls: 0.0005, loss_map_cls: 0.3475, loss_map_pts: 1.5515, loss_map_dir: 0.0334, d0.loss_plan_l1_fix_time: 2.0168, d0.loss_plan_l1_fix_dist: 0.5049, d1.loss_plan_l1_fix_time: 1.7124, d1.loss_plan_l1_fix_dist: 0.4029, d2.loss_plan_l1_fix_time: 1.6717, d2.loss_plan_l1_fix_dist: 0.4171, d3.loss_plan_l1_fix_time: 1.6716, d3.loss_plan_l1_fix_dist: 0.4347, d4.loss_plan_l1_fix_time: 1.6771, d4.loss_plan_l1_fix_dist: 0.4556, d5.loss_plan_l1_fix_time: 1.6834, d5.loss_plan_l1_fix_dist: 0.4758, d6.loss_plan_l1_fix_time: 1.6902, d6.loss_plan_l1_fix_dist: 0.4953, d0.loss_cls_all: 0.5511, d0.loss_bbox_all: 0.6481, d0.loss_cls: 0.5511, d0.loss_bbox: 0.6481, d1.loss_cls: 0.5410, d1.loss_bbox: 0.6278, d2.loss_cls: 0.5361, d2.loss_bbox: 0.6156, d3.loss_cls: 0.5328, d3.loss_bbox: 0.6090, d4.loss_cls: 0.5353, d4.loss_bbox: 0.6055, d5.loss_cls: 0.5367, d5.loss_bbox: 0.6027, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1551, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1127, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.1020, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.1069, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.1119, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1118, d0.loss_map_cls_all: 0.3803, d0.loss_map_pts_all: 2.5760, d0.loss_map_dir_all: 0.0322, d0.loss_map_cls: 0.3803, d0.loss_map_pts: 2.5760, d0.loss_map_dir: 0.0322, d1.loss_map_cls: 0.3727, d1.loss_map_pts: 1.7746, d1.loss_map_dir: 0.0323, d2.loss_map_cls: 0.3632, d2.loss_map_pts: 1.6319, d2.loss_map_dir: 0.0328, d3.loss_map_cls: 0.3538, d3.loss_map_pts: 1.5797, d3.loss_map_dir: 0.0330, d4.loss_map_cls: 0.3486, d4.loss_map_pts: 1.5595, d4.loss_map_dir: 0.0332, d5.loss_map_cls: 0.3460, d5.loss_map_pts: 1.5551, d5.loss_map_dir: 0.0333, loss: 50.3777, grad_norm: 163.2764 +2026-02-24 15:58:54,150 - DriveTransformer - INFO - Epoch [2][22500/39528] lr: 9.958e-05, eta: 8 days, 4:03:08, time: 0.794, data_time: 0.035, memory: 19865, loss_cls: 0.5308, loss_bbox: 0.6212, loss_traj: 1.4755, loss_traj_cls: 0.0005, loss_map_cls: 0.3612, loss_map_pts: 1.5189, loss_map_dir: 0.0303, d0.loss_plan_l1_fix_time: 2.8527, d0.loss_plan_l1_fix_dist: 0.5011, d1.loss_plan_l1_fix_time: 2.4496, d1.loss_plan_l1_fix_dist: 0.4140, d2.loss_plan_l1_fix_time: 2.4119, d2.loss_plan_l1_fix_dist: 0.4199, d3.loss_plan_l1_fix_time: 2.4098, d3.loss_plan_l1_fix_dist: 0.4369, d4.loss_plan_l1_fix_time: 2.4136, d4.loss_plan_l1_fix_dist: 0.4621, d5.loss_plan_l1_fix_time: 2.4190, d5.loss_plan_l1_fix_dist: 0.4892, d6.loss_plan_l1_fix_time: 2.4260, d6.loss_plan_l1_fix_dist: 0.5177, d0.loss_cls_all: 0.5364, d0.loss_bbox_all: 0.6630, d0.loss_cls: 0.5364, d0.loss_bbox: 0.6630, d1.loss_cls: 0.5265, d1.loss_bbox: 0.6492, d2.loss_cls: 0.5247, d2.loss_bbox: 0.6323, d3.loss_cls: 0.5255, d3.loss_bbox: 0.6219, d4.loss_cls: 0.5266, d4.loss_bbox: 0.6163, d5.loss_cls: 0.5283, d5.loss_bbox: 0.6189, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5635, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.4882, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.4697, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4768, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.4695, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4669, d0.loss_map_cls_all: 0.4094, d0.loss_map_pts_all: 2.4927, d0.loss_map_dir_all: 0.0300, d0.loss_map_cls: 0.4094, d0.loss_map_pts: 2.4927, d0.loss_map_dir: 0.0300, d1.loss_map_cls: 0.3898, d1.loss_map_pts: 1.6754, d1.loss_map_dir: 0.0294, d2.loss_map_cls: 0.3831, d2.loss_map_pts: 1.5620, d2.loss_map_dir: 0.0297, d3.loss_map_cls: 0.3717, d3.loss_map_pts: 1.5269, d3.loss_map_dir: 0.0299, d4.loss_map_cls: 0.3627, d4.loss_map_pts: 1.5186, d4.loss_map_dir: 0.0301, d5.loss_map_cls: 0.3599, d5.loss_map_pts: 1.5178, d5.loss_map_dir: 0.0302, loss: 57.9515, grad_norm: 160.4220 +2026-02-24 15:59:33,860 - DriveTransformer - INFO - Epoch [2][22550/39528] lr: 9.958e-05, eta: 8 days, 4:02:27, time: 0.794, data_time: 0.039, memory: 19865, loss_cls: 0.5551, loss_bbox: 0.6581, loss_traj: 1.5019, loss_traj_cls: 0.0005, loss_map_cls: 0.3637, loss_map_pts: 1.7847, loss_map_dir: 0.0297, d0.loss_plan_l1_fix_time: 2.7238, d0.loss_plan_l1_fix_dist: 0.4400, d1.loss_plan_l1_fix_time: 2.3386, d1.loss_plan_l1_fix_dist: 0.3486, d2.loss_plan_l1_fix_time: 2.3218, d2.loss_plan_l1_fix_dist: 0.3639, d3.loss_plan_l1_fix_time: 2.3233, d3.loss_plan_l1_fix_dist: 0.3816, d4.loss_plan_l1_fix_time: 2.3282, d4.loss_plan_l1_fix_dist: 0.4004, d5.loss_plan_l1_fix_time: 2.3335, d5.loss_plan_l1_fix_dist: 0.4213, d6.loss_plan_l1_fix_time: 2.3396, d6.loss_plan_l1_fix_dist: 0.4454, d0.loss_cls_all: 0.5555, d0.loss_bbox_all: 0.7078, d0.loss_cls: 0.5555, d0.loss_bbox: 0.7078, d1.loss_cls: 0.5522, d1.loss_bbox: 0.6847, d2.loss_cls: 0.5526, d2.loss_bbox: 0.6700, d3.loss_cls: 0.5545, d3.loss_bbox: 0.6615, d4.loss_cls: 0.5542, d4.loss_bbox: 0.6546, d5.loss_cls: 0.5530, d5.loss_bbox: 0.6567, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5625, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.4726, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.4785, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5003, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.4953, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5063, d0.loss_map_cls_all: 0.3920, d0.loss_map_pts_all: 2.5489, d0.loss_map_dir_all: 0.0285, d0.loss_map_cls: 0.3920, d0.loss_map_pts: 2.5489, d0.loss_map_dir: 0.0285, d1.loss_map_cls: 0.3818, d1.loss_map_pts: 1.9421, d1.loss_map_dir: 0.0287, d2.loss_map_cls: 0.3717, d2.loss_map_pts: 1.8260, d2.loss_map_dir: 0.0289, d3.loss_map_cls: 0.3649, d3.loss_map_pts: 1.7911, d3.loss_map_dir: 0.0292, d4.loss_map_cls: 0.3649, d4.loss_map_pts: 1.7817, d4.loss_map_dir: 0.0295, d5.loss_map_cls: 0.3624, d5.loss_map_pts: 1.7827, d5.loss_map_dir: 0.0296, loss: 59.0983, grad_norm: 160.0520 +2026-02-24 16:00:14,122 - DriveTransformer - INFO - Epoch [2][22600/39528] lr: 9.958e-05, eta: 8 days, 4:01:54, time: 0.805, data_time: 0.039, memory: 19865, loss_cls: 0.5493, loss_bbox: 0.6616, loss_traj: 1.5021, loss_traj_cls: 0.0005, loss_map_cls: 0.3203, loss_map_pts: 1.5623, loss_map_dir: 0.0288, d0.loss_plan_l1_fix_time: 3.0847, d0.loss_plan_l1_fix_dist: 0.4770, d1.loss_plan_l1_fix_time: 2.4895, d1.loss_plan_l1_fix_dist: 0.4056, d2.loss_plan_l1_fix_time: 2.4065, d2.loss_plan_l1_fix_dist: 0.4235, d3.loss_plan_l1_fix_time: 2.3849, d3.loss_plan_l1_fix_dist: 0.4503, d4.loss_plan_l1_fix_time: 2.3831, d4.loss_plan_l1_fix_dist: 0.4789, d5.loss_plan_l1_fix_time: 2.3851, d5.loss_plan_l1_fix_dist: 0.5111, d6.loss_plan_l1_fix_time: 2.3891, d6.loss_plan_l1_fix_dist: 0.5547, d0.loss_cls_all: 0.5585, d0.loss_bbox_all: 0.6904, d0.loss_cls: 0.5585, d0.loss_bbox: 0.6904, d1.loss_cls: 0.5559, d1.loss_bbox: 0.6776, d2.loss_cls: 0.5500, d2.loss_bbox: 0.6676, d3.loss_cls: 0.5473, d3.loss_bbox: 0.6630, d4.loss_cls: 0.5423, d4.loss_bbox: 0.6599, d5.loss_cls: 0.5455, d5.loss_bbox: 0.6596, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6108, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.5256, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.5154, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5098, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.4966, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5027, d0.loss_map_cls_all: 0.3619, d0.loss_map_pts_all: 2.4970, d0.loss_map_dir_all: 0.0279, d0.loss_map_cls: 0.3619, d0.loss_map_pts: 2.4970, d0.loss_map_dir: 0.0279, d1.loss_map_cls: 0.3460, d1.loss_map_pts: 1.7320, d1.loss_map_dir: 0.0279, d2.loss_map_cls: 0.3341, d2.loss_map_pts: 1.6165, d2.loss_map_dir: 0.0282, d3.loss_map_cls: 0.3255, d3.loss_map_pts: 1.5797, d3.loss_map_dir: 0.0285, d4.loss_map_cls: 0.3198, d4.loss_map_pts: 1.5669, d4.loss_map_dir: 0.0286, d5.loss_map_cls: 0.3187, d5.loss_map_pts: 1.5628, d5.loss_map_dir: 0.0288, loss: 58.7983, grad_norm: 160.9742 +2026-02-24 16:00:54,332 - DriveTransformer - INFO - Epoch [2][22650/39528] lr: 9.958e-05, eta: 8 days, 4:01:20, time: 0.804, data_time: 0.038, memory: 19865, loss_cls: 0.5681, loss_bbox: 0.6514, loss_traj: 1.3726, loss_traj_cls: 0.0005, loss_map_cls: 0.3714, loss_map_pts: 1.5779, loss_map_dir: 0.0307, d0.loss_plan_l1_fix_time: 2.9319, d0.loss_plan_l1_fix_dist: 0.4328, d1.loss_plan_l1_fix_time: 2.3442, d1.loss_plan_l1_fix_dist: 0.3670, d2.loss_plan_l1_fix_time: 2.2861, d2.loss_plan_l1_fix_dist: 0.3712, d3.loss_plan_l1_fix_time: 2.2833, d3.loss_plan_l1_fix_dist: 0.3863, d4.loss_plan_l1_fix_time: 2.2891, d4.loss_plan_l1_fix_dist: 0.4038, d5.loss_plan_l1_fix_time: 2.2957, d5.loss_plan_l1_fix_dist: 0.4209, d6.loss_plan_l1_fix_time: 2.3027, d6.loss_plan_l1_fix_dist: 0.4390, d0.loss_cls_all: 0.5730, d0.loss_bbox_all: 0.7031, d0.loss_cls: 0.5730, d0.loss_bbox: 0.7031, d1.loss_cls: 0.5625, d1.loss_bbox: 0.6859, d2.loss_cls: 0.5595, d2.loss_bbox: 0.6691, d3.loss_cls: 0.5567, d3.loss_bbox: 0.6572, d4.loss_cls: 0.5587, d4.loss_bbox: 0.6493, d5.loss_cls: 0.5639, d5.loss_bbox: 0.6485, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5881, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.4240, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3587, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3664, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3607, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3611, d0.loss_map_cls_all: 0.4120, d0.loss_map_pts_all: 2.5878, d0.loss_map_dir_all: 0.0296, d0.loss_map_cls: 0.4120, d0.loss_map_pts: 2.5878, d0.loss_map_dir: 0.0296, d1.loss_map_cls: 0.3991, d1.loss_map_pts: 1.7538, d1.loss_map_dir: 0.0295, d2.loss_map_cls: 0.3856, d2.loss_map_pts: 1.6377, d2.loss_map_dir: 0.0299, d3.loss_map_cls: 0.3749, d3.loss_map_pts: 1.5978, d3.loss_map_dir: 0.0302, d4.loss_map_cls: 0.3708, d4.loss_map_pts: 1.5841, d4.loss_map_dir: 0.0304, d5.loss_map_cls: 0.3689, d5.loss_map_pts: 1.5800, d5.loss_map_dir: 0.0306, loss: 57.5153, grad_norm: 159.6792 +2026-02-24 16:01:34,857 - DriveTransformer - INFO - Epoch [2][22700/39528] lr: 9.958e-05, eta: 8 days, 4:00:50, time: 0.811, data_time: 0.036, memory: 19865, loss_cls: 0.5542, loss_bbox: 0.6781, loss_traj: 1.6672, loss_traj_cls: 0.0005, loss_map_cls: 0.3847, loss_map_pts: 1.9087, loss_map_dir: 0.0328, d0.loss_plan_l1_fix_time: 2.7693, d0.loss_plan_l1_fix_dist: 0.3950, d1.loss_plan_l1_fix_time: 2.3828, d1.loss_plan_l1_fix_dist: 0.3488, d2.loss_plan_l1_fix_time: 2.3324, d2.loss_plan_l1_fix_dist: 0.3594, d3.loss_plan_l1_fix_time: 2.3315, d3.loss_plan_l1_fix_dist: 0.3748, d4.loss_plan_l1_fix_time: 2.3356, d4.loss_plan_l1_fix_dist: 0.3932, d5.loss_plan_l1_fix_time: 2.3407, d5.loss_plan_l1_fix_dist: 0.4111, d6.loss_plan_l1_fix_time: 2.3461, d6.loss_plan_l1_fix_dist: 0.4254, d0.loss_cls_all: 0.5652, d0.loss_bbox_all: 0.7219, d0.loss_cls: 0.5652, d0.loss_bbox: 0.7219, d1.loss_cls: 0.5579, d1.loss_bbox: 0.7052, d2.loss_cls: 0.5571, d2.loss_bbox: 0.6894, d3.loss_cls: 0.5530, d3.loss_bbox: 0.6826, d4.loss_cls: 0.5496, d4.loss_bbox: 0.6763, d5.loss_cls: 0.5509, d5.loss_bbox: 0.6769, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7077, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.6353, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.6216, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.6437, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6490, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6590, d0.loss_map_cls_all: 0.4262, d0.loss_map_pts_all: 2.7606, d0.loss_map_dir_all: 0.0313, d0.loss_map_cls: 0.4262, d0.loss_map_pts: 2.7606, d0.loss_map_dir: 0.0313, d1.loss_map_cls: 0.4166, d1.loss_map_pts: 2.0735, d1.loss_map_dir: 0.0313, d2.loss_map_cls: 0.4022, d2.loss_map_pts: 1.9599, d2.loss_map_dir: 0.0318, d3.loss_map_cls: 0.3933, d3.loss_map_pts: 1.9197, d3.loss_map_dir: 0.0322, d4.loss_map_cls: 0.3898, d4.loss_map_pts: 1.9066, d4.loss_map_dir: 0.0325, d5.loss_map_cls: 0.3849, d5.loss_map_pts: 1.9078, d5.loss_map_dir: 0.0326, loss: 61.8169, grad_norm: 158.6606 +2026-02-24 16:02:14,787 - DriveTransformer - INFO - Epoch [2][22750/39528] lr: 9.958e-05, eta: 8 days, 4:00:12, time: 0.799, data_time: 0.044, memory: 19865, loss_cls: 0.5526, loss_bbox: 0.6392, loss_traj: 1.0886, loss_traj_cls: 0.0005, loss_map_cls: 0.3137, loss_map_pts: 1.6432, loss_map_dir: 0.0322, d0.loss_plan_l1_fix_time: 2.5895, d0.loss_plan_l1_fix_dist: 0.4898, d1.loss_plan_l1_fix_time: 2.2170, d1.loss_plan_l1_fix_dist: 0.4175, d2.loss_plan_l1_fix_time: 2.1991, d2.loss_plan_l1_fix_dist: 0.4250, d3.loss_plan_l1_fix_time: 2.2055, d3.loss_plan_l1_fix_dist: 0.4390, d4.loss_plan_l1_fix_time: 2.2136, d4.loss_plan_l1_fix_dist: 0.4592, d5.loss_plan_l1_fix_time: 2.2228, d5.loss_plan_l1_fix_dist: 0.4805, d6.loss_plan_l1_fix_time: 2.2336, d6.loss_plan_l1_fix_dist: 0.5052, d0.loss_cls_all: 0.5666, d0.loss_bbox_all: 0.6795, d0.loss_cls: 0.5666, d0.loss_bbox: 0.6795, d1.loss_cls: 0.5597, d1.loss_bbox: 0.6585, d2.loss_cls: 0.5584, d2.loss_bbox: 0.6429, d3.loss_cls: 0.5535, d3.loss_bbox: 0.6393, d4.loss_cls: 0.5555, d4.loss_bbox: 0.6362, d5.loss_cls: 0.5546, d5.loss_bbox: 0.6357, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1472, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0685, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.0673, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.0817, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.0821, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.0879, d0.loss_map_cls_all: 0.3521, d0.loss_map_pts_all: 2.5249, d0.loss_map_dir_all: 0.0307, d0.loss_map_cls: 0.3521, d0.loss_map_pts: 2.5249, d0.loss_map_dir: 0.0307, d1.loss_map_cls: 0.3414, d1.loss_map_pts: 1.7881, d1.loss_map_dir: 0.0311, d2.loss_map_cls: 0.3278, d2.loss_map_pts: 1.6826, d2.loss_map_dir: 0.0314, d3.loss_map_cls: 0.3189, d3.loss_map_pts: 1.6529, d3.loss_map_dir: 0.0318, d4.loss_map_cls: 0.3146, d4.loss_map_pts: 1.6456, d4.loss_map_dir: 0.0319, d5.loss_map_cls: 0.3114, d5.loss_map_pts: 1.6484, d5.loss_map_dir: 0.0321, loss: 54.3977, grad_norm: 159.3947 +2026-02-24 16:02:53,654 - DriveTransformer - INFO - Epoch [2][22800/39528] lr: 9.958e-05, eta: 8 days, 3:59:19, time: 0.777, data_time: 0.042, memory: 19865, loss_cls: 0.5411, loss_bbox: 0.6472, loss_traj: 1.1611, loss_traj_cls: 0.0005, loss_map_cls: 0.3331, loss_map_pts: 1.5257, loss_map_dir: 0.0278, d0.loss_plan_l1_fix_time: 2.6535, d0.loss_plan_l1_fix_dist: 0.4307, d1.loss_plan_l1_fix_time: 2.2549, d1.loss_plan_l1_fix_dist: 0.3336, d2.loss_plan_l1_fix_time: 2.1936, d2.loss_plan_l1_fix_dist: 0.3493, d3.loss_plan_l1_fix_time: 2.1886, d3.loss_plan_l1_fix_dist: 0.3734, d4.loss_plan_l1_fix_time: 2.1918, d4.loss_plan_l1_fix_dist: 0.3995, d5.loss_plan_l1_fix_time: 2.1966, d5.loss_plan_l1_fix_dist: 0.4297, d6.loss_plan_l1_fix_time: 2.2025, d6.loss_plan_l1_fix_dist: 0.4671, d0.loss_cls_all: 0.5414, d0.loss_bbox_all: 0.6980, d0.loss_cls: 0.5414, d0.loss_bbox: 0.6980, d1.loss_cls: 0.5366, d1.loss_bbox: 0.6742, d2.loss_cls: 0.5370, d2.loss_bbox: 0.6590, d3.loss_cls: 0.5322, d3.loss_bbox: 0.6536, d4.loss_cls: 0.5361, d4.loss_bbox: 0.6493, d5.loss_cls: 0.5377, d5.loss_bbox: 0.6461, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2892, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1908, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.1665, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.1620, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.1610, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1634, d0.loss_map_cls_all: 0.3796, d0.loss_map_pts_all: 2.3335, d0.loss_map_dir_all: 0.0266, d0.loss_map_cls: 0.3796, d0.loss_map_pts: 2.3335, d0.loss_map_dir: 0.0266, d1.loss_map_cls: 0.3671, d1.loss_map_pts: 1.6736, d1.loss_map_dir: 0.0267, d2.loss_map_cls: 0.3492, d2.loss_map_pts: 1.5757, d2.loss_map_dir: 0.0270, d3.loss_map_cls: 0.3393, d3.loss_map_pts: 1.5450, d3.loss_map_dir: 0.0274, d4.loss_map_cls: 0.3328, d4.loss_map_pts: 1.5356, d4.loss_map_dir: 0.0275, d5.loss_map_cls: 0.3299, d5.loss_map_pts: 1.5336, d5.loss_map_dir: 0.0277, loss: 53.6767, grad_norm: 158.7024 +2026-02-24 16:03:34,070 - DriveTransformer - INFO - Epoch [2][22850/39528] lr: 9.958e-05, eta: 8 days, 3:58:48, time: 0.808, data_time: 0.035, memory: 19865, loss_cls: 0.5347, loss_bbox: 0.6245, loss_traj: 1.4755, loss_traj_cls: 0.0005, loss_map_cls: 0.3353, loss_map_pts: 1.5487, loss_map_dir: 0.0277, d0.loss_plan_l1_fix_time: 2.9476, d0.loss_plan_l1_fix_dist: 0.4198, d1.loss_plan_l1_fix_time: 2.4770, d1.loss_plan_l1_fix_dist: 0.3610, d2.loss_plan_l1_fix_time: 2.4473, d2.loss_plan_l1_fix_dist: 0.3706, d3.loss_plan_l1_fix_time: 2.4531, d3.loss_plan_l1_fix_dist: 0.3890, d4.loss_plan_l1_fix_time: 2.4594, d4.loss_plan_l1_fix_dist: 0.4096, d5.loss_plan_l1_fix_time: 2.4658, d5.loss_plan_l1_fix_dist: 0.4302, d6.loss_plan_l1_fix_time: 2.4715, d6.loss_plan_l1_fix_dist: 0.4496, d0.loss_cls_all: 0.5402, d0.loss_bbox_all: 0.6787, d0.loss_cls: 0.5402, d0.loss_bbox: 0.6787, d1.loss_cls: 0.5327, d1.loss_bbox: 0.6581, d2.loss_cls: 0.5306, d2.loss_bbox: 0.6472, d3.loss_cls: 0.5301, d3.loss_bbox: 0.6369, d4.loss_cls: 0.5328, d4.loss_bbox: 0.6304, d5.loss_cls: 0.5351, d5.loss_bbox: 0.6253, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5613, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.4742, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.4605, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4618, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4629, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4634, d0.loss_map_cls_all: 0.3735, d0.loss_map_pts_all: 2.4632, d0.loss_map_dir_all: 0.0272, d0.loss_map_cls: 0.3735, d0.loss_map_pts: 2.4632, d0.loss_map_dir: 0.0272, d1.loss_map_cls: 0.3605, d1.loss_map_pts: 1.7024, d1.loss_map_dir: 0.0266, d2.loss_map_cls: 0.3504, d2.loss_map_pts: 1.5874, d2.loss_map_dir: 0.0270, d3.loss_map_cls: 0.3397, d3.loss_map_pts: 1.5501, d3.loss_map_dir: 0.0272, d4.loss_map_cls: 0.3376, d4.loss_map_pts: 1.5397, d4.loss_map_dir: 0.0276, d5.loss_map_cls: 0.3352, d5.loss_map_pts: 1.5398, d5.loss_map_dir: 0.0277, loss: 57.7909, grad_norm: 159.7889 +2026-02-24 16:04:14,414 - DriveTransformer - INFO - Epoch [2][22900/39528] lr: 9.958e-05, eta: 8 days, 3:58:16, time: 0.807, data_time: 0.039, memory: 19865, loss_cls: 0.5436, loss_bbox: 0.6451, loss_traj: 1.4564, loss_traj_cls: 0.0005, loss_map_cls: 0.3754, loss_map_pts: 1.6398, loss_map_dir: 0.0309, d0.loss_plan_l1_fix_time: 3.3529, d0.loss_plan_l1_fix_dist: 0.5085, d1.loss_plan_l1_fix_time: 2.6147, d1.loss_plan_l1_fix_dist: 0.4284, d2.loss_plan_l1_fix_time: 2.5394, d2.loss_plan_l1_fix_dist: 0.4373, d3.loss_plan_l1_fix_time: 2.5376, d3.loss_plan_l1_fix_dist: 0.4528, d4.loss_plan_l1_fix_time: 2.5430, d4.loss_plan_l1_fix_dist: 0.4728, d5.loss_plan_l1_fix_time: 2.5494, d5.loss_plan_l1_fix_dist: 0.4934, d6.loss_plan_l1_fix_time: 2.5558, d6.loss_plan_l1_fix_dist: 0.5175, d0.loss_cls_all: 0.5496, d0.loss_bbox_all: 0.6918, d0.loss_cls: 0.5496, d0.loss_bbox: 0.6918, d1.loss_cls: 0.5389, d1.loss_bbox: 0.6696, d2.loss_cls: 0.5405, d2.loss_bbox: 0.6595, d3.loss_cls: 0.5412, d3.loss_bbox: 0.6494, d4.loss_cls: 0.5403, d4.loss_bbox: 0.6444, d5.loss_cls: 0.5423, d5.loss_bbox: 0.6434, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6096, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.4702, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.4466, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.4469, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4482, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4491, d0.loss_map_cls_all: 0.4070, d0.loss_map_pts_all: 2.6148, d0.loss_map_dir_all: 0.0303, d0.loss_map_cls: 0.4070, d0.loss_map_pts: 2.6148, d0.loss_map_dir: 0.0303, d1.loss_map_cls: 0.3905, d1.loss_map_pts: 1.8336, d1.loss_map_dir: 0.0301, d2.loss_map_cls: 0.3797, d2.loss_map_pts: 1.6992, d2.loss_map_dir: 0.0303, d3.loss_map_cls: 0.3750, d3.loss_map_pts: 1.6509, d3.loss_map_dir: 0.0306, d4.loss_map_cls: 0.3750, d4.loss_map_pts: 1.6374, d4.loss_map_dir: 0.0307, d5.loss_map_cls: 0.3739, d5.loss_map_pts: 1.6346, d5.loss_map_dir: 0.0308, loss: 60.6290, grad_norm: 160.1300 +2026-02-24 16:04:53,797 - DriveTransformer - INFO - Epoch [2][22950/39528] lr: 9.958e-05, eta: 8 days, 3:57:30, time: 0.788, data_time: 0.041, memory: 19865, loss_cls: 0.5179, loss_bbox: 0.5997, loss_traj: 1.3894, loss_traj_cls: 0.0005, loss_map_cls: 0.3581, loss_map_pts: 1.5002, loss_map_dir: 0.0272, d0.loss_plan_l1_fix_time: 2.5763, d0.loss_plan_l1_fix_dist: 0.4142, d1.loss_plan_l1_fix_time: 2.0366, d1.loss_plan_l1_fix_dist: 0.3514, d2.loss_plan_l1_fix_time: 2.0003, d2.loss_plan_l1_fix_dist: 0.3634, d3.loss_plan_l1_fix_time: 1.9958, d3.loss_plan_l1_fix_dist: 0.3774, d4.loss_plan_l1_fix_time: 2.0005, d4.loss_plan_l1_fix_dist: 0.3922, d5.loss_plan_l1_fix_time: 2.0078, d5.loss_plan_l1_fix_dist: 0.4098, d6.loss_plan_l1_fix_time: 2.0171, d6.loss_plan_l1_fix_dist: 0.4300, d0.loss_cls_all: 0.5277, d0.loss_bbox_all: 0.6287, d0.loss_cls: 0.5277, d0.loss_bbox: 0.6287, d1.loss_cls: 0.5189, d1.loss_bbox: 0.6197, d2.loss_cls: 0.5169, d2.loss_bbox: 0.6090, d3.loss_cls: 0.5159, d3.loss_bbox: 0.6012, d4.loss_cls: 0.5170, d4.loss_bbox: 0.5946, d5.loss_cls: 0.5191, d5.loss_bbox: 0.5960, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4899, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3840, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3512, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3656, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3758, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3747, d0.loss_map_cls_all: 0.3932, d0.loss_map_pts_all: 2.2498, d0.loss_map_dir_all: 0.0265, d0.loss_map_cls: 0.3932, d0.loss_map_pts: 2.2498, d0.loss_map_dir: 0.0265, d1.loss_map_cls: 0.3797, d1.loss_map_pts: 1.6646, d1.loss_map_dir: 0.0262, d2.loss_map_cls: 0.3688, d2.loss_map_pts: 1.5527, d2.loss_map_dir: 0.0266, d3.loss_map_cls: 0.3627, d3.loss_map_pts: 1.5123, d3.loss_map_dir: 0.0268, d4.loss_map_cls: 0.3586, d4.loss_map_pts: 1.4961, d4.loss_map_dir: 0.0270, d5.loss_map_cls: 0.3576, d5.loss_map_pts: 1.4983, d5.loss_map_dir: 0.0272, loss: 53.0570, grad_norm: 157.5140 +2026-02-24 16:05:34,403 - DriveTransformer - INFO - Epoch [2][23000/39528] lr: 9.958e-05, eta: 8 days, 3:57:03, time: 0.814, data_time: 0.039, memory: 19865, loss_cls: 0.5604, loss_bbox: 0.6782, loss_traj: 1.4637, loss_traj_cls: 0.0006, loss_map_cls: 0.3677, loss_map_pts: 1.8566, loss_map_dir: 0.0337, d0.loss_plan_l1_fix_time: 2.7078, d0.loss_plan_l1_fix_dist: 0.3914, d1.loss_plan_l1_fix_time: 2.1057, d1.loss_plan_l1_fix_dist: 0.3298, d2.loss_plan_l1_fix_time: 2.0765, d2.loss_plan_l1_fix_dist: 0.3367, d3.loss_plan_l1_fix_time: 2.0837, d3.loss_plan_l1_fix_dist: 0.3511, d4.loss_plan_l1_fix_time: 2.0912, d4.loss_plan_l1_fix_dist: 0.3677, d5.loss_plan_l1_fix_time: 2.1002, d5.loss_plan_l1_fix_dist: 0.3861, d6.loss_plan_l1_fix_time: 2.1113, d6.loss_plan_l1_fix_dist: 0.4023, d0.loss_cls_all: 0.5680, d0.loss_bbox_all: 0.7147, d0.loss_cls: 0.5680, d0.loss_bbox: 0.7147, d1.loss_cls: 0.5578, d1.loss_bbox: 0.7034, d2.loss_cls: 0.5583, d2.loss_bbox: 0.6920, d3.loss_cls: 0.5574, d3.loss_bbox: 0.6885, d4.loss_cls: 0.5593, d4.loss_bbox: 0.6811, d5.loss_cls: 0.5583, d5.loss_bbox: 0.6774, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5723, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.4836, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.4623, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.4603, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4698, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4709, d0.loss_map_cls_all: 0.3996, d0.loss_map_pts_all: 2.9043, d0.loss_map_dir_all: 0.0332, d0.loss_map_cls: 0.3996, d0.loss_map_pts: 2.9043, d0.loss_map_dir: 0.0332, d1.loss_map_cls: 0.3913, d1.loss_map_pts: 2.0581, d1.loss_map_dir: 0.0329, d2.loss_map_cls: 0.3830, d2.loss_map_pts: 1.9246, d2.loss_map_dir: 0.0331, d3.loss_map_cls: 0.3764, d3.loss_map_pts: 1.8799, d3.loss_map_dir: 0.0333, d4.loss_map_cls: 0.3712, d4.loss_map_pts: 1.8608, d4.loss_map_dir: 0.0336, d5.loss_map_cls: 0.3667, d5.loss_map_pts: 1.8553, d5.loss_map_dir: 0.0336, loss: 58.8330, grad_norm: 153.9982 +2026-02-24 16:06:14,414 - DriveTransformer - INFO - Epoch [2][23050/39528] lr: 9.958e-05, eta: 8 days, 3:56:25, time: 0.799, data_time: 0.037, memory: 19865, loss_cls: 0.5221, loss_bbox: 0.6085, loss_traj: 1.6083, loss_traj_cls: 0.0006, loss_map_cls: 0.3371, loss_map_pts: 1.4806, loss_map_dir: 0.0271, d0.loss_plan_l1_fix_time: 2.4815, d0.loss_plan_l1_fix_dist: 0.4303, d1.loss_plan_l1_fix_time: 2.0594, d1.loss_plan_l1_fix_dist: 0.3671, d2.loss_plan_l1_fix_time: 2.0492, d2.loss_plan_l1_fix_dist: 0.3703, d3.loss_plan_l1_fix_time: 2.0591, d3.loss_plan_l1_fix_dist: 0.3811, d4.loss_plan_l1_fix_time: 2.0681, d4.loss_plan_l1_fix_dist: 0.3962, d5.loss_plan_l1_fix_time: 2.0761, d5.loss_plan_l1_fix_dist: 0.4135, d6.loss_plan_l1_fix_time: 2.0837, d6.loss_plan_l1_fix_dist: 0.4364, d0.loss_cls_all: 0.5280, d0.loss_bbox_all: 0.6469, d0.loss_cls: 0.5280, d0.loss_bbox: 0.6469, d1.loss_cls: 0.5226, d1.loss_bbox: 0.6295, d2.loss_cls: 0.5167, d2.loss_bbox: 0.6172, d3.loss_cls: 0.5181, d3.loss_bbox: 0.6144, d4.loss_cls: 0.5190, d4.loss_bbox: 0.6103, d5.loss_cls: 0.5217, d5.loss_bbox: 0.6067, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7083, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.6346, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.5941, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.6027, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5990, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6013, d0.loss_map_cls_all: 0.3715, d0.loss_map_pts_all: 2.3879, d0.loss_map_dir_all: 0.0268, d0.loss_map_cls: 0.3715, d0.loss_map_pts: 2.3879, d0.loss_map_dir: 0.0268, d1.loss_map_cls: 0.3559, d1.loss_map_pts: 1.6736, d1.loss_map_dir: 0.0262, d2.loss_map_cls: 0.3447, d2.loss_map_pts: 1.5552, d2.loss_map_dir: 0.0265, d3.loss_map_cls: 0.3405, d3.loss_map_pts: 1.5110, d3.loss_map_dir: 0.0268, d4.loss_map_cls: 0.3391, d4.loss_map_pts: 1.4955, d4.loss_map_dir: 0.0269, d5.loss_map_cls: 0.3359, d5.loss_map_pts: 1.4881, d5.loss_map_dir: 0.0271, loss: 55.1720, grad_norm: 152.0848 +2026-02-24 16:06:54,368 - DriveTransformer - INFO - Epoch [2][23100/39528] lr: 9.958e-05, eta: 8 days, 3:55:47, time: 0.799, data_time: 0.038, memory: 19865, loss_cls: 0.5210, loss_bbox: 0.6283, loss_traj: 1.3714, loss_traj_cls: 0.0005, loss_map_cls: 0.3359, loss_map_pts: 1.5348, loss_map_dir: 0.0282, d0.loss_plan_l1_fix_time: 2.9272, d0.loss_plan_l1_fix_dist: 0.4227, d1.loss_plan_l1_fix_time: 2.5244, d1.loss_plan_l1_fix_dist: 0.3137, d2.loss_plan_l1_fix_time: 2.4831, d2.loss_plan_l1_fix_dist: 0.3175, d3.loss_plan_l1_fix_time: 2.4766, d3.loss_plan_l1_fix_dist: 0.3291, d4.loss_plan_l1_fix_time: 2.4810, d4.loss_plan_l1_fix_dist: 0.3436, d5.loss_plan_l1_fix_time: 2.4857, d5.loss_plan_l1_fix_dist: 0.3597, d6.loss_plan_l1_fix_time: 2.4897, d6.loss_plan_l1_fix_dist: 0.3753, d0.loss_cls_all: 0.5317, d0.loss_bbox_all: 0.6657, d0.loss_cls: 0.5317, d0.loss_bbox: 0.6657, d1.loss_cls: 0.5245, d1.loss_bbox: 0.6443, d2.loss_cls: 0.5204, d2.loss_bbox: 0.6330, d3.loss_cls: 0.5199, d3.loss_bbox: 0.6303, d4.loss_cls: 0.5193, d4.loss_bbox: 0.6266, d5.loss_cls: 0.5203, d5.loss_bbox: 0.6266, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4199, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3471, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3423, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3570, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3551, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3638, d0.loss_map_cls_all: 0.3877, d0.loss_map_pts_all: 2.3186, d0.loss_map_dir_all: 0.0274, d0.loss_map_cls: 0.3877, d0.loss_map_pts: 2.3186, d0.loss_map_dir: 0.0274, d1.loss_map_cls: 0.3676, d1.loss_map_pts: 1.7003, d1.loss_map_dir: 0.0271, d2.loss_map_cls: 0.3488, d2.loss_map_pts: 1.5886, d2.loss_map_dir: 0.0276, d3.loss_map_cls: 0.3410, d3.loss_map_pts: 1.5476, d3.loss_map_dir: 0.0279, d4.loss_map_cls: 0.3367, d4.loss_map_pts: 1.5333, d4.loss_map_dir: 0.0280, d5.loss_map_cls: 0.3344, d5.loss_map_pts: 1.5343, d5.loss_map_dir: 0.0281, loss: 56.3379, grad_norm: 150.3133 +2026-02-24 16:07:33,338 - DriveTransformer - INFO - Epoch [2][23150/39528] lr: 9.958e-05, eta: 8 days, 3:54:55, time: 0.779, data_time: 0.036, memory: 19865, loss_cls: 0.5188, loss_bbox: 0.6158, loss_traj: 1.2327, loss_traj_cls: 0.0005, loss_map_cls: 0.3571, loss_map_pts: 1.5646, loss_map_dir: 0.0303, d0.loss_plan_l1_fix_time: 2.5948, d0.loss_plan_l1_fix_dist: 0.6352, d1.loss_plan_l1_fix_time: 2.1865, d1.loss_plan_l1_fix_dist: 0.4392, d2.loss_plan_l1_fix_time: 2.1628, d2.loss_plan_l1_fix_dist: 0.4366, d3.loss_plan_l1_fix_time: 2.1679, d3.loss_plan_l1_fix_dist: 0.4440, d4.loss_plan_l1_fix_time: 2.1745, d4.loss_plan_l1_fix_dist: 0.4568, d5.loss_plan_l1_fix_time: 2.1811, d5.loss_plan_l1_fix_dist: 0.4715, d6.loss_plan_l1_fix_time: 2.1886, d6.loss_plan_l1_fix_dist: 0.4882, d0.loss_cls_all: 0.5371, d0.loss_bbox_all: 0.6471, d0.loss_cls: 0.5371, d0.loss_bbox: 0.6471, d1.loss_cls: 0.5263, d1.loss_bbox: 0.6245, d2.loss_cls: 0.5211, d2.loss_bbox: 0.6142, d3.loss_cls: 0.5153, d3.loss_bbox: 0.6117, d4.loss_cls: 0.5145, d4.loss_bbox: 0.6101, d5.loss_cls: 0.5156, d5.loss_bbox: 0.6131, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3854, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2515, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.2268, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.2322, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2342, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2330, d0.loss_map_cls_all: 0.3972, d0.loss_map_pts_all: 2.5583, d0.loss_map_dir_all: 0.0295, d0.loss_map_cls: 0.3972, d0.loss_map_pts: 2.5583, d0.loss_map_dir: 0.0295, d1.loss_map_cls: 0.3818, d1.loss_map_pts: 1.7456, d1.loss_map_dir: 0.0290, d2.loss_map_cls: 0.3671, d2.loss_map_pts: 1.6275, d2.loss_map_dir: 0.0294, d3.loss_map_cls: 0.3593, d3.loss_map_pts: 1.5819, d3.loss_map_dir: 0.0297, d4.loss_map_cls: 0.3558, d4.loss_map_pts: 1.5678, d4.loss_map_dir: 0.0300, d5.loss_map_cls: 0.3553, d5.loss_map_pts: 1.5637, d5.loss_map_dir: 0.0301, loss: 54.9738, grad_norm: 148.6175 +2026-02-24 16:08:11,522 - DriveTransformer - INFO - Epoch [2][23200/39528] lr: 9.958e-05, eta: 8 days, 3:53:53, time: 0.764, data_time: 0.040, memory: 19865, loss_cls: 0.5232, loss_bbox: 0.6296, loss_traj: 1.3857, loss_traj_cls: 0.0005, loss_map_cls: 0.3691, loss_map_pts: 1.5744, loss_map_dir: 0.0286, d0.loss_plan_l1_fix_time: 2.4134, d0.loss_plan_l1_fix_dist: 0.3889, d1.loss_plan_l1_fix_time: 2.0905, d1.loss_plan_l1_fix_dist: 0.3175, d2.loss_plan_l1_fix_time: 2.0728, d2.loss_plan_l1_fix_dist: 0.3224, d3.loss_plan_l1_fix_time: 2.0833, d3.loss_plan_l1_fix_dist: 0.3315, d4.loss_plan_l1_fix_time: 2.0933, d4.loss_plan_l1_fix_dist: 0.3456, d5.loss_plan_l1_fix_time: 2.1043, d5.loss_plan_l1_fix_dist: 0.3596, d6.loss_plan_l1_fix_time: 2.1168, d6.loss_plan_l1_fix_dist: 0.3796, d0.loss_cls_all: 0.5335, d0.loss_bbox_all: 0.6587, d0.loss_cls: 0.5335, d0.loss_bbox: 0.6587, d1.loss_cls: 0.5234, d1.loss_bbox: 0.6450, d2.loss_cls: 0.5169, d2.loss_bbox: 0.6304, d3.loss_cls: 0.5164, d3.loss_bbox: 0.6271, d4.loss_cls: 0.5173, d4.loss_bbox: 0.6259, d5.loss_cls: 0.5213, d5.loss_bbox: 0.6267, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4806, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3731, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3542, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3663, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3788, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.3804, d0.loss_map_cls_all: 0.4072, d0.loss_map_pts_all: 2.3386, d0.loss_map_dir_all: 0.0272, d0.loss_map_cls: 0.4072, d0.loss_map_pts: 2.3386, d0.loss_map_dir: 0.0272, d1.loss_map_cls: 0.3980, d1.loss_map_pts: 1.7122, d1.loss_map_dir: 0.0272, d2.loss_map_cls: 0.3822, d2.loss_map_pts: 1.6084, d2.loss_map_dir: 0.0277, d3.loss_map_cls: 0.3803, d3.loss_map_pts: 1.5684, d3.loss_map_dir: 0.0281, d4.loss_map_cls: 0.3736, d4.loss_map_pts: 1.5642, d4.loss_map_dir: 0.0283, d5.loss_map_cls: 0.3710, d5.loss_map_pts: 1.5644, d5.loss_map_dir: 0.0285, loss: 54.0118, grad_norm: 148.8591 +2026-02-24 16:08:53,691 - DriveTransformer - INFO - Epoch [2][23250/39528] lr: 9.958e-05, eta: 8 days, 3:53:46, time: 0.843, data_time: 0.044, memory: 19865, loss_cls: 0.5094, loss_bbox: 0.6493, loss_traj: 1.2799, loss_traj_cls: 0.0006, loss_map_cls: 0.3486, loss_map_pts: 1.6482, loss_map_dir: 0.0308, d0.loss_plan_l1_fix_time: 2.3366, d0.loss_plan_l1_fix_dist: 0.4723, d1.loss_plan_l1_fix_time: 1.8917, d1.loss_plan_l1_fix_dist: 0.3562, d2.loss_plan_l1_fix_time: 1.8313, d2.loss_plan_l1_fix_dist: 0.3720, d3.loss_plan_l1_fix_time: 1.8302, d3.loss_plan_l1_fix_dist: 0.3913, d4.loss_plan_l1_fix_time: 1.8353, d4.loss_plan_l1_fix_dist: 0.4101, d5.loss_plan_l1_fix_time: 1.8416, d5.loss_plan_l1_fix_dist: 0.4304, d6.loss_plan_l1_fix_time: 1.8489, d6.loss_plan_l1_fix_dist: 0.4519, d0.loss_cls_all: 0.5266, d0.loss_bbox_all: 0.6985, d0.loss_cls: 0.5266, d0.loss_bbox: 0.6985, d1.loss_cls: 0.5131, d1.loss_bbox: 0.6832, d2.loss_cls: 0.5091, d2.loss_bbox: 0.6653, d3.loss_cls: 0.5106, d3.loss_bbox: 0.6616, d4.loss_cls: 0.5082, d4.loss_bbox: 0.6499, d5.loss_cls: 0.5108, d5.loss_bbox: 0.6441, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3885, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2641, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.2496, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.2552, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2621, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2695, d0.loss_map_cls_all: 0.3874, d0.loss_map_pts_all: 2.6734, d0.loss_map_dir_all: 0.0296, d0.loss_map_cls: 0.3874, d0.loss_map_pts: 2.6734, d0.loss_map_dir: 0.0296, d1.loss_map_cls: 0.3775, d1.loss_map_pts: 1.8055, d1.loss_map_dir: 0.0296, d2.loss_map_cls: 0.3569, d2.loss_map_pts: 1.6959, d2.loss_map_dir: 0.0301, d3.loss_map_cls: 0.3511, d3.loss_map_pts: 1.6545, d3.loss_map_dir: 0.0304, d4.loss_map_cls: 0.3478, d4.loss_map_pts: 1.6479, d4.loss_map_dir: 0.0306, d5.loss_map_cls: 0.3479, d5.loss_map_pts: 1.6460, d5.loss_map_dir: 0.0307, loss: 53.3295, grad_norm: 148.3551 +2026-02-24 16:09:34,892 - DriveTransformer - INFO - Epoch [2][23300/39528] lr: 9.958e-05, eta: 8 days, 3:53:26, time: 0.824, data_time: 0.046, memory: 19865, loss_cls: 0.5328, loss_bbox: 0.6408, loss_traj: 1.3402, loss_traj_cls: 0.0005, loss_map_cls: 0.3251, loss_map_pts: 1.6517, loss_map_dir: 0.0289, d0.loss_plan_l1_fix_time: 2.8325, d0.loss_plan_l1_fix_dist: 0.4883, d1.loss_plan_l1_fix_time: 2.3256, d1.loss_plan_l1_fix_dist: 0.3720, d2.loss_plan_l1_fix_time: 2.2543, d2.loss_plan_l1_fix_dist: 0.3800, d3.loss_plan_l1_fix_time: 2.2336, d3.loss_plan_l1_fix_dist: 0.3916, d4.loss_plan_l1_fix_time: 2.2342, d4.loss_plan_l1_fix_dist: 0.4080, d5.loss_plan_l1_fix_time: 2.2385, d5.loss_plan_l1_fix_dist: 0.4275, d6.loss_plan_l1_fix_time: 2.2440, d6.loss_plan_l1_fix_dist: 0.4511, d0.loss_cls_all: 0.5360, d0.loss_bbox_all: 0.6934, d0.loss_cls: 0.5360, d0.loss_bbox: 0.6934, d1.loss_cls: 0.5326, d1.loss_bbox: 0.6702, d2.loss_cls: 0.5247, d2.loss_bbox: 0.6581, d3.loss_cls: 0.5241, d3.loss_bbox: 0.6494, d4.loss_cls: 0.5273, d4.loss_bbox: 0.6422, d5.loss_cls: 0.5286, d5.loss_bbox: 0.6383, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3519, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3112, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3132, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3290, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3334, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3322, d0.loss_map_cls_all: 0.3778, d0.loss_map_pts_all: 2.4361, d0.loss_map_dir_all: 0.0275, d0.loss_map_cls: 0.3778, d0.loss_map_pts: 2.4361, d0.loss_map_dir: 0.0275, d1.loss_map_cls: 0.3617, d1.loss_map_pts: 1.7712, d1.loss_map_dir: 0.0276, d2.loss_map_cls: 0.3428, d2.loss_map_pts: 1.6830, d2.loss_map_dir: 0.0281, d3.loss_map_cls: 0.3326, d3.loss_map_pts: 1.6571, d3.loss_map_dir: 0.0285, d4.loss_map_cls: 0.3267, d4.loss_map_pts: 1.6517, d4.loss_map_dir: 0.0286, d5.loss_map_cls: 0.3233, d5.loss_map_pts: 1.6512, d5.loss_map_dir: 0.0288, loss: 56.0565, grad_norm: 147.7637 +2026-02-24 16:10:14,491 - DriveTransformer - INFO - Epoch [2][23350/39528] lr: 9.958e-05, eta: 8 days, 3:52:44, time: 0.792, data_time: 0.037, memory: 19865, loss_cls: 0.5085, loss_bbox: 0.6198, loss_traj: 1.2819, loss_traj_cls: 0.0005, loss_map_cls: 0.3459, loss_map_pts: 1.4649, loss_map_dir: 0.0306, d0.loss_plan_l1_fix_time: 2.4768, d0.loss_plan_l1_fix_dist: 0.5565, d1.loss_plan_l1_fix_time: 1.9814, d1.loss_plan_l1_fix_dist: 0.4102, d2.loss_plan_l1_fix_time: 1.9190, d2.loss_plan_l1_fix_dist: 0.4198, d3.loss_plan_l1_fix_time: 1.9130, d3.loss_plan_l1_fix_dist: 0.4333, d4.loss_plan_l1_fix_time: 1.9175, d4.loss_plan_l1_fix_dist: 0.4484, d5.loss_plan_l1_fix_time: 1.9240, d5.loss_plan_l1_fix_dist: 0.4641, d6.loss_plan_l1_fix_time: 1.9339, d6.loss_plan_l1_fix_dist: 0.4832, d0.loss_cls_all: 0.5163, d0.loss_bbox_all: 0.6618, d0.loss_cls: 0.5163, d0.loss_bbox: 0.6618, d1.loss_cls: 0.5065, d1.loss_bbox: 0.6408, d2.loss_cls: 0.5092, d2.loss_bbox: 0.6300, d3.loss_cls: 0.5102, d3.loss_bbox: 0.6191, d4.loss_cls: 0.5091, d4.loss_bbox: 0.6177, d5.loss_cls: 0.5066, d5.loss_bbox: 0.6175, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3404, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2466, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.2579, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.2761, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2763, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2780, d0.loss_map_cls_all: 0.3851, d0.loss_map_pts_all: 2.4729, d0.loss_map_dir_all: 0.0287, d0.loss_map_cls: 0.3851, d0.loss_map_pts: 2.4729, d0.loss_map_dir: 0.0287, d1.loss_map_cls: 0.3730, d1.loss_map_pts: 1.6411, d1.loss_map_dir: 0.0290, d2.loss_map_cls: 0.3630, d2.loss_map_pts: 1.5134, d2.loss_map_dir: 0.0295, d3.loss_map_cls: 0.3508, d3.loss_map_pts: 1.4770, d3.loss_map_dir: 0.0300, d4.loss_map_cls: 0.3489, d4.loss_map_pts: 1.4656, d4.loss_map_dir: 0.0302, d5.loss_map_cls: 0.3455, d5.loss_map_pts: 1.4669, d5.loss_map_dir: 0.0304, loss: 52.5037, grad_norm: 148.0112 +2026-02-24 16:10:53,606 - DriveTransformer - INFO - Epoch [2][23400/39528] lr: 9.958e-05, eta: 8 days, 3:51:54, time: 0.782, data_time: 0.042, memory: 19865, loss_cls: 0.5499, loss_bbox: 0.6483, loss_traj: 1.4010, loss_traj_cls: 0.0005, loss_map_cls: 0.3341, loss_map_pts: 1.4193, loss_map_dir: 0.0257, d0.loss_plan_l1_fix_time: 3.2801, d0.loss_plan_l1_fix_dist: 0.4776, d1.loss_plan_l1_fix_time: 2.5634, d1.loss_plan_l1_fix_dist: 0.3867, d2.loss_plan_l1_fix_time: 2.5077, d2.loss_plan_l1_fix_dist: 0.3935, d3.loss_plan_l1_fix_time: 2.5009, d3.loss_plan_l1_fix_dist: 0.4087, d4.loss_plan_l1_fix_time: 2.5061, d4.loss_plan_l1_fix_dist: 0.4243, d5.loss_plan_l1_fix_time: 2.5134, d5.loss_plan_l1_fix_dist: 0.4436, d6.loss_plan_l1_fix_time: 2.5242, d6.loss_plan_l1_fix_dist: 0.4625, d0.loss_cls_all: 0.5640, d0.loss_bbox_all: 0.6725, d0.loss_cls: 0.5640, d0.loss_bbox: 0.6725, d1.loss_cls: 0.5545, d1.loss_bbox: 0.6548, d2.loss_cls: 0.5532, d2.loss_bbox: 0.6487, d3.loss_cls: 0.5527, d3.loss_bbox: 0.6395, d4.loss_cls: 0.5492, d4.loss_bbox: 0.6422, d5.loss_cls: 0.5489, d5.loss_bbox: 0.6453, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5304, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.4000, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3829, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3852, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3897, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3942, d0.loss_map_cls_all: 0.3608, d0.loss_map_pts_all: 2.1327, d0.loss_map_dir_all: 0.0238, d0.loss_map_cls: 0.3608, d0.loss_map_pts: 2.1327, d0.loss_map_dir: 0.0238, d1.loss_map_cls: 0.3492, d1.loss_map_pts: 1.5308, d1.loss_map_dir: 0.0244, d2.loss_map_cls: 0.3421, d2.loss_map_pts: 1.4454, d2.loss_map_dir: 0.0249, d3.loss_map_cls: 0.3362, d3.loss_map_pts: 1.4232, d3.loss_map_dir: 0.0252, d4.loss_map_cls: 0.3349, d4.loss_map_pts: 1.4155, d4.loss_map_dir: 0.0255, d5.loss_map_cls: 0.3346, d5.loss_map_pts: 1.4179, d5.loss_map_dir: 0.0256, loss: 56.8102, grad_norm: 152.2066 +2026-02-24 16:11:35,571 - DriveTransformer - INFO - Epoch [2][23450/39528] lr: 9.958e-05, eta: 8 days, 3:51:45, time: 0.839, data_time: 0.038, memory: 19865, loss_cls: 0.5786, loss_bbox: 0.6841, loss_traj: 1.4632, loss_traj_cls: 0.0005, loss_map_cls: 0.4046, loss_map_pts: 1.9512, loss_map_dir: 0.0346, d0.loss_plan_l1_fix_time: 2.8483, d0.loss_plan_l1_fix_dist: 0.3888, d1.loss_plan_l1_fix_time: 2.4519, d1.loss_plan_l1_fix_dist: 0.3590, d2.loss_plan_l1_fix_time: 2.4506, d2.loss_plan_l1_fix_dist: 0.3698, d3.loss_plan_l1_fix_time: 2.4719, d3.loss_plan_l1_fix_dist: 0.3896, d4.loss_plan_l1_fix_time: 2.4845, d4.loss_plan_l1_fix_dist: 0.4113, d5.loss_plan_l1_fix_time: 2.4974, d5.loss_plan_l1_fix_dist: 0.4371, d6.loss_plan_l1_fix_time: 2.5115, d6.loss_plan_l1_fix_dist: 0.4653, d0.loss_cls_all: 0.5852, d0.loss_bbox_all: 0.7070, d0.loss_cls: 0.5852, d0.loss_bbox: 0.7070, d1.loss_cls: 0.5773, d1.loss_bbox: 0.6951, d2.loss_cls: 0.5766, d2.loss_bbox: 0.6892, d3.loss_cls: 0.5779, d3.loss_bbox: 0.6799, d4.loss_cls: 0.5782, d4.loss_bbox: 0.6779, d5.loss_cls: 0.5769, d5.loss_bbox: 0.6807, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5575, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.4529, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.4427, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4531, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4498, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4566, d0.loss_map_cls_all: 0.4292, d0.loss_map_pts_all: 2.9086, d0.loss_map_dir_all: 0.0325, d0.loss_map_cls: 0.4292, d0.loss_map_pts: 2.9086, d0.loss_map_dir: 0.0325, d1.loss_map_cls: 0.4298, d1.loss_map_pts: 2.1003, d1.loss_map_dir: 0.0329, d2.loss_map_cls: 0.4163, d2.loss_map_pts: 1.9965, d2.loss_map_dir: 0.0335, d3.loss_map_cls: 0.4095, d3.loss_map_pts: 1.9649, d3.loss_map_dir: 0.0340, d4.loss_map_cls: 0.4083, d4.loss_map_pts: 1.9506, d4.loss_map_dir: 0.0342, d5.loss_map_cls: 0.4046, d5.loss_map_pts: 1.9492, d5.loss_map_dir: 0.0345, loss: 62.3047, grad_norm: 151.0345 +2026-02-24 16:12:13,327 - DriveTransformer - INFO - Epoch [2][23500/39528] lr: 9.958e-05, eta: 8 days, 3:50:36, time: 0.755, data_time: 0.036, memory: 19865, loss_cls: 0.5291, loss_bbox: 0.6429, loss_traj: 1.5991, loss_traj_cls: 0.0005, loss_map_cls: 0.3749, loss_map_pts: 1.6134, loss_map_dir: 0.0277, d0.loss_plan_l1_fix_time: 2.4873, d0.loss_plan_l1_fix_dist: 0.4746, d1.loss_plan_l1_fix_time: 2.0982, d1.loss_plan_l1_fix_dist: 0.3893, d2.loss_plan_l1_fix_time: 2.0733, d2.loss_plan_l1_fix_dist: 0.3922, d3.loss_plan_l1_fix_time: 2.0724, d3.loss_plan_l1_fix_dist: 0.4010, d4.loss_plan_l1_fix_time: 2.0775, d4.loss_plan_l1_fix_dist: 0.4134, d5.loss_plan_l1_fix_time: 2.0855, d5.loss_plan_l1_fix_dist: 0.4260, d6.loss_plan_l1_fix_time: 2.0950, d6.loss_plan_l1_fix_dist: 0.4429, d0.loss_cls_all: 0.5375, d0.loss_bbox_all: 0.6816, d0.loss_cls: 0.5375, d0.loss_bbox: 0.6816, d1.loss_cls: 0.5301, d1.loss_bbox: 0.6595, d2.loss_cls: 0.5299, d2.loss_bbox: 0.6545, d3.loss_cls: 0.5272, d3.loss_bbox: 0.6469, d4.loss_cls: 0.5288, d4.loss_bbox: 0.6419, d5.loss_cls: 0.5244, d5.loss_bbox: 0.6429, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7213, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.6174, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.5995, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.6029, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6085, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6087, d0.loss_map_cls_all: 0.4153, d0.loss_map_pts_all: 2.3627, d0.loss_map_dir_all: 0.0265, d0.loss_map_cls: 0.4153, d0.loss_map_pts: 2.3627, d0.loss_map_dir: 0.0265, d1.loss_map_cls: 0.4055, d1.loss_map_pts: 1.7647, d1.loss_map_dir: 0.0265, d2.loss_map_cls: 0.3933, d2.loss_map_pts: 1.6630, d2.loss_map_dir: 0.0268, d3.loss_map_cls: 0.3846, d3.loss_map_pts: 1.6260, d3.loss_map_dir: 0.0274, d4.loss_map_cls: 0.3785, d4.loss_map_pts: 1.6154, d4.loss_map_dir: 0.0275, d5.loss_map_cls: 0.3761, d5.loss_map_pts: 1.6119, d5.loss_map_dir: 0.0276, loss: 56.7672, grad_norm: 152.2541 +2026-02-24 16:12:51,908 - DriveTransformer - INFO - Epoch [2][23550/39528] lr: 9.958e-05, eta: 8 days, 3:49:39, time: 0.772, data_time: 0.037, memory: 19865, loss_cls: 0.5429, loss_bbox: 0.6278, loss_traj: 1.5127, loss_traj_cls: 0.0005, loss_map_cls: 0.3228, loss_map_pts: 1.4547, loss_map_dir: 0.0268, d0.loss_plan_l1_fix_time: 3.0308, d0.loss_plan_l1_fix_dist: 0.4190, d1.loss_plan_l1_fix_time: 2.4548, d1.loss_plan_l1_fix_dist: 0.3847, d2.loss_plan_l1_fix_time: 2.3898, d2.loss_plan_l1_fix_dist: 0.3918, d3.loss_plan_l1_fix_time: 2.3753, d3.loss_plan_l1_fix_dist: 0.4022, d4.loss_plan_l1_fix_time: 2.3755, d4.loss_plan_l1_fix_dist: 0.4136, d5.loss_plan_l1_fix_time: 2.3787, d5.loss_plan_l1_fix_dist: 0.4253, d6.loss_plan_l1_fix_time: 2.3841, d6.loss_plan_l1_fix_dist: 0.4393, d0.loss_cls_all: 0.5510, d0.loss_bbox_all: 0.6621, d0.loss_cls: 0.5510, d0.loss_bbox: 0.6621, d1.loss_cls: 0.5423, d1.loss_bbox: 0.6389, d2.loss_cls: 0.5438, d2.loss_bbox: 0.6356, d3.loss_cls: 0.5445, d3.loss_bbox: 0.6316, d4.loss_cls: 0.5437, d4.loss_bbox: 0.6249, d5.loss_cls: 0.5437, d5.loss_bbox: 0.6276, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6015, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.4824, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.4801, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4841, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.4963, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5036, d0.loss_map_cls_all: 0.3769, d0.loss_map_pts_all: 2.1727, d0.loss_map_dir_all: 0.0253, d0.loss_map_cls: 0.3769, d0.loss_map_pts: 2.1727, d0.loss_map_dir: 0.0253, d1.loss_map_cls: 0.3580, d1.loss_map_pts: 1.5780, d1.loss_map_dir: 0.0257, d2.loss_map_cls: 0.3439, d2.loss_map_pts: 1.4848, d2.loss_map_dir: 0.0261, d3.loss_map_cls: 0.3296, d3.loss_map_pts: 1.4581, d3.loss_map_dir: 0.0264, d4.loss_map_cls: 0.3232, d4.loss_map_pts: 1.4515, d4.loss_map_dir: 0.0267, d5.loss_map_cls: 0.3212, d5.loss_map_pts: 1.4530, d5.loss_map_dir: 0.0267, loss: 56.4910, grad_norm: 152.9688 +2026-02-24 16:13:31,001 - DriveTransformer - INFO - Epoch [2][23600/39528] lr: 9.958e-05, eta: 8 days, 3:48:49, time: 0.782, data_time: 0.039, memory: 19865, loss_cls: 0.5100, loss_bbox: 0.6199, loss_traj: 1.6894, loss_traj_cls: 0.0005, loss_map_cls: 0.3368, loss_map_pts: 1.4137, loss_map_dir: 0.0243, d0.loss_plan_l1_fix_time: 2.8900, d0.loss_plan_l1_fix_dist: 0.4261, d1.loss_plan_l1_fix_time: 2.3208, d1.loss_plan_l1_fix_dist: 0.3597, d2.loss_plan_l1_fix_time: 2.2599, d2.loss_plan_l1_fix_dist: 0.3674, d3.loss_plan_l1_fix_time: 2.2467, d3.loss_plan_l1_fix_dist: 0.3810, d4.loss_plan_l1_fix_time: 2.2461, d4.loss_plan_l1_fix_dist: 0.3965, d5.loss_plan_l1_fix_time: 2.2482, d5.loss_plan_l1_fix_dist: 0.4122, d6.loss_plan_l1_fix_time: 2.2524, d6.loss_plan_l1_fix_dist: 0.4274, d0.loss_cls_all: 0.5277, d0.loss_bbox_all: 0.6672, d0.loss_cls: 0.5277, d0.loss_bbox: 0.6672, d1.loss_cls: 0.5161, d1.loss_bbox: 0.6453, d2.loss_cls: 0.5125, d2.loss_bbox: 0.6388, d3.loss_cls: 0.5097, d3.loss_bbox: 0.6343, d4.loss_cls: 0.5076, d4.loss_bbox: 0.6208, d5.loss_cls: 0.5078, d5.loss_bbox: 0.6223, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.8576, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.7266, d2.loss_traj_cls: 0.0009, d2.loss_traj: 1.6994, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.6886, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6844, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6939, d0.loss_map_cls_all: 0.3809, d0.loss_map_pts_all: 2.1755, d0.loss_map_dir_all: 0.0233, d0.loss_map_cls: 0.3809, d0.loss_map_pts: 2.1755, d0.loss_map_dir: 0.0233, d1.loss_map_cls: 0.3612, d1.loss_map_pts: 1.5773, d1.loss_map_dir: 0.0234, d2.loss_map_cls: 0.3490, d2.loss_map_pts: 1.4711, d2.loss_map_dir: 0.0237, d3.loss_map_cls: 0.3413, d3.loss_map_pts: 1.4312, d3.loss_map_dir: 0.0240, d4.loss_map_cls: 0.3383, d4.loss_map_pts: 1.4178, d4.loss_map_dir: 0.0241, d5.loss_map_cls: 0.3363, d5.loss_map_pts: 1.4123, d5.loss_map_dir: 0.0243, loss: 56.6034, grad_norm: 154.6942 +2026-02-24 16:14:12,764 - DriveTransformer - INFO - Epoch [2][23650/39528] lr: 9.958e-05, eta: 8 days, 3:48:37, time: 0.835, data_time: 0.045, memory: 19865, loss_cls: 0.5281, loss_bbox: 0.6164, loss_traj: 1.3386, loss_traj_cls: 0.0005, loss_map_cls: 0.3317, loss_map_pts: 1.5769, loss_map_dir: 0.0318, d0.loss_plan_l1_fix_time: 2.7397, d0.loss_plan_l1_fix_dist: 0.4321, d1.loss_plan_l1_fix_time: 2.0809, d1.loss_plan_l1_fix_dist: 0.3495, d2.loss_plan_l1_fix_time: 2.0157, d2.loss_plan_l1_fix_dist: 0.3480, d3.loss_plan_l1_fix_time: 2.0085, d3.loss_plan_l1_fix_dist: 0.3571, d4.loss_plan_l1_fix_time: 2.0112, d4.loss_plan_l1_fix_dist: 0.3696, d5.loss_plan_l1_fix_time: 2.0145, d5.loss_plan_l1_fix_dist: 0.3847, d6.loss_plan_l1_fix_time: 2.0192, d6.loss_plan_l1_fix_dist: 0.4059, d0.loss_cls_all: 0.5278, d0.loss_bbox_all: 0.6479, d0.loss_cls: 0.5278, d0.loss_bbox: 0.6479, d1.loss_cls: 0.5256, d1.loss_bbox: 0.6233, d2.loss_cls: 0.5254, d2.loss_bbox: 0.6156, d3.loss_cls: 0.5283, d3.loss_bbox: 0.6115, d4.loss_cls: 0.5259, d4.loss_bbox: 0.6057, d5.loss_cls: 0.5278, d5.loss_bbox: 0.6098, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4309, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3189, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3205, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3286, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3296, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3346, d0.loss_map_cls_all: 0.3715, d0.loss_map_pts_all: 2.5732, d0.loss_map_dir_all: 0.0306, d0.loss_map_cls: 0.3715, d0.loss_map_pts: 2.5732, d0.loss_map_dir: 0.0306, d1.loss_map_cls: 0.3567, d1.loss_map_pts: 1.7510, d1.loss_map_dir: 0.0304, d2.loss_map_cls: 0.3399, d2.loss_map_pts: 1.6289, d2.loss_map_dir: 0.0310, d3.loss_map_cls: 0.3333, d3.loss_map_pts: 1.5883, d3.loss_map_dir: 0.0315, d4.loss_map_cls: 0.3314, d4.loss_map_pts: 1.5754, d4.loss_map_dir: 0.0317, d5.loss_map_cls: 0.3316, d5.loss_map_pts: 1.5738, d5.loss_map_dir: 0.0317, loss: 53.9961, grad_norm: 156.3393 +2026-02-24 16:14:51,961 - DriveTransformer - INFO - Epoch [2][23700/39528] lr: 9.958e-05, eta: 8 days, 3:47:49, time: 0.784, data_time: 0.038, memory: 19865, loss_cls: 0.5258, loss_bbox: 0.6582, loss_traj: 1.2645, loss_traj_cls: 0.0005, loss_map_cls: 0.3765, loss_map_pts: 1.5554, loss_map_dir: 0.0276, d0.loss_plan_l1_fix_time: 2.6844, d0.loss_plan_l1_fix_dist: 0.3949, d1.loss_plan_l1_fix_time: 2.1926, d1.loss_plan_l1_fix_dist: 0.3467, d2.loss_plan_l1_fix_time: 2.1404, d2.loss_plan_l1_fix_dist: 0.3555, d3.loss_plan_l1_fix_time: 2.1363, d3.loss_plan_l1_fix_dist: 0.3685, d4.loss_plan_l1_fix_time: 2.1416, d4.loss_plan_l1_fix_dist: 0.3846, d5.loss_plan_l1_fix_time: 2.1478, d5.loss_plan_l1_fix_dist: 0.4030, d6.loss_plan_l1_fix_time: 2.1543, d6.loss_plan_l1_fix_dist: 0.4260, d0.loss_cls_all: 0.5327, d0.loss_bbox_all: 0.6812, d0.loss_cls: 0.5327, d0.loss_bbox: 0.6812, d1.loss_cls: 0.5284, d1.loss_bbox: 0.6602, d2.loss_cls: 0.5252, d2.loss_bbox: 0.6523, d3.loss_cls: 0.5260, d3.loss_bbox: 0.6504, d4.loss_cls: 0.5202, d4.loss_bbox: 0.6506, d5.loss_cls: 0.5238, d5.loss_bbox: 0.6506, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3844, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2883, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.2583, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.2530, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.2479, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2537, d0.loss_map_cls_all: 0.4119, d0.loss_map_pts_all: 2.3468, d0.loss_map_dir_all: 0.0263, d0.loss_map_cls: 0.4119, d0.loss_map_pts: 2.3468, d0.loss_map_dir: 0.0263, d1.loss_map_cls: 0.3996, d1.loss_map_pts: 1.7115, d1.loss_map_dir: 0.0263, d2.loss_map_cls: 0.3893, d2.loss_map_pts: 1.6089, d2.loss_map_dir: 0.0269, d3.loss_map_cls: 0.3800, d3.loss_map_pts: 1.5745, d3.loss_map_dir: 0.0273, d4.loss_map_cls: 0.3747, d4.loss_map_pts: 1.5629, d4.loss_map_dir: 0.0274, d5.loss_map_cls: 0.3744, d5.loss_map_pts: 1.5578, d5.loss_map_dir: 0.0276, loss: 54.3294, grad_norm: 156.4618 +2026-02-24 16:15:31,105 - DriveTransformer - INFO - Epoch [2][23750/39528] lr: 9.958e-05, eta: 8 days, 3:47:00, time: 0.783, data_time: 0.036, memory: 19865, loss_cls: 0.5029, loss_bbox: 0.6319, loss_traj: 1.4848, loss_traj_cls: 0.0005, loss_map_cls: 0.3351, loss_map_pts: 1.3853, loss_map_dir: 0.0256, d0.loss_plan_l1_fix_time: 2.7415, d0.loss_plan_l1_fix_dist: 0.3910, d1.loss_plan_l1_fix_time: 2.2130, d1.loss_plan_l1_fix_dist: 0.3463, d2.loss_plan_l1_fix_time: 2.2280, d2.loss_plan_l1_fix_dist: 0.3503, d3.loss_plan_l1_fix_time: 2.2430, d3.loss_plan_l1_fix_dist: 0.3601, d4.loss_plan_l1_fix_time: 2.2523, d4.loss_plan_l1_fix_dist: 0.3725, d5.loss_plan_l1_fix_time: 2.2605, d5.loss_plan_l1_fix_dist: 0.3849, d6.loss_plan_l1_fix_time: 2.2682, d6.loss_plan_l1_fix_dist: 0.3963, d0.loss_cls_all: 0.5142, d0.loss_bbox_all: 0.6635, d0.loss_cls: 0.5142, d0.loss_bbox: 0.6635, d1.loss_cls: 0.5081, d1.loss_bbox: 0.6429, d2.loss_cls: 0.5061, d2.loss_bbox: 0.6310, d3.loss_cls: 0.5043, d3.loss_bbox: 0.6296, d4.loss_cls: 0.5011, d4.loss_bbox: 0.6324, d5.loss_cls: 0.5007, d5.loss_bbox: 0.6288, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5526, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.4834, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.4774, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4853, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.4882, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4941, d0.loss_map_cls_all: 0.3929, d0.loss_map_pts_all: 2.1923, d0.loss_map_dir_all: 0.0242, d0.loss_map_cls: 0.3929, d0.loss_map_pts: 2.1923, d0.loss_map_dir: 0.0242, d1.loss_map_cls: 0.3734, d1.loss_map_pts: 1.5542, d1.loss_map_dir: 0.0245, d2.loss_map_cls: 0.3538, d2.loss_map_pts: 1.4417, d2.loss_map_dir: 0.0249, d3.loss_map_cls: 0.3409, d3.loss_map_pts: 1.4000, d3.loss_map_dir: 0.0252, d4.loss_map_cls: 0.3349, d4.loss_map_pts: 1.3895, d4.loss_map_dir: 0.0254, d5.loss_map_cls: 0.3345, d5.loss_map_pts: 1.3852, d5.loss_map_dir: 0.0254, loss: 54.4525, grad_norm: 153.8398 +2026-02-24 16:16:09,768 - DriveTransformer - INFO - Epoch [2][23800/39528] lr: 9.958e-05, eta: 8 days, 3:46:05, time: 0.775, data_time: 0.038, memory: 19865, loss_cls: 0.5283, loss_bbox: 0.6336, loss_traj: 1.4205, loss_traj_cls: 0.0005, loss_map_cls: 0.3602, loss_map_pts: 1.5322, loss_map_dir: 0.0277, d0.loss_plan_l1_fix_time: 2.8248, d0.loss_plan_l1_fix_dist: 0.4701, d1.loss_plan_l1_fix_time: 2.1278, d1.loss_plan_l1_fix_dist: 0.3580, d2.loss_plan_l1_fix_time: 2.0832, d2.loss_plan_l1_fix_dist: 0.3594, d3.loss_plan_l1_fix_time: 2.0809, d3.loss_plan_l1_fix_dist: 0.3709, d4.loss_plan_l1_fix_time: 2.0856, d4.loss_plan_l1_fix_dist: 0.3861, d5.loss_plan_l1_fix_time: 2.0913, d5.loss_plan_l1_fix_dist: 0.4049, d6.loss_plan_l1_fix_time: 2.0989, d6.loss_plan_l1_fix_dist: 0.4287, d0.loss_cls_all: 0.5266, d0.loss_bbox_all: 0.6636, d0.loss_cls: 0.5266, d0.loss_bbox: 0.6636, d1.loss_cls: 0.5241, d1.loss_bbox: 0.6456, d2.loss_cls: 0.5258, d2.loss_bbox: 0.6356, d3.loss_cls: 0.5268, d3.loss_bbox: 0.6353, d4.loss_cls: 0.5278, d4.loss_bbox: 0.6326, d5.loss_cls: 0.5304, d5.loss_bbox: 0.6292, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5348, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.4283, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.4140, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4223, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.4154, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4130, d0.loss_map_cls_all: 0.4017, d0.loss_map_pts_all: 2.3657, d0.loss_map_dir_all: 0.0265, d0.loss_map_cls: 0.4017, d0.loss_map_pts: 2.3657, d0.loss_map_dir: 0.0265, d1.loss_map_cls: 0.3841, d1.loss_map_pts: 1.7092, d1.loss_map_dir: 0.0265, d2.loss_map_cls: 0.3736, d2.loss_map_pts: 1.5948, d2.loss_map_dir: 0.0268, d3.loss_map_cls: 0.3678, d3.loss_map_pts: 1.5530, d3.loss_map_dir: 0.0273, d4.loss_map_cls: 0.3620, d4.loss_map_pts: 1.5367, d4.loss_map_dir: 0.0275, d5.loss_map_cls: 0.3614, d5.loss_map_pts: 1.5323, d5.loss_map_dir: 0.0276, loss: 54.9980, grad_norm: 151.4347 +2026-02-24 16:16:49,433 - DriveTransformer - INFO - Epoch [2][23850/39528] lr: 9.958e-05, eta: 8 days, 3:45:22, time: 0.792, data_time: 0.037, memory: 19865, loss_cls: 0.5106, loss_bbox: 0.6189, loss_traj: 1.0950, loss_traj_cls: 0.0005, loss_map_cls: 0.3309, loss_map_pts: 1.5279, loss_map_dir: 0.0275, d0.loss_plan_l1_fix_time: 2.5619, d0.loss_plan_l1_fix_dist: 0.4064, d1.loss_plan_l1_fix_time: 2.0214, d1.loss_plan_l1_fix_dist: 0.3187, d2.loss_plan_l1_fix_time: 2.0049, d2.loss_plan_l1_fix_dist: 0.3282, d3.loss_plan_l1_fix_time: 2.0124, d3.loss_plan_l1_fix_dist: 0.3417, d4.loss_plan_l1_fix_time: 2.0198, d4.loss_plan_l1_fix_dist: 0.3582, d5.loss_plan_l1_fix_time: 2.0268, d5.loss_plan_l1_fix_dist: 0.3758, d6.loss_plan_l1_fix_time: 2.0342, d6.loss_plan_l1_fix_dist: 0.3934, d0.loss_cls_all: 0.5239, d0.loss_bbox_all: 0.6519, d0.loss_cls: 0.5239, d0.loss_bbox: 0.6519, d1.loss_cls: 0.5133, d1.loss_bbox: 0.6440, d2.loss_cls: 0.5110, d2.loss_bbox: 0.6326, d3.loss_cls: 0.5145, d3.loss_bbox: 0.6228, d4.loss_cls: 0.5138, d4.loss_bbox: 0.6193, d5.loss_cls: 0.5102, d5.loss_bbox: 0.6187, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1535, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.0841, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.0772, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.0880, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.0825, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.0937, d0.loss_map_cls_all: 0.3740, d0.loss_map_pts_all: 2.2977, d0.loss_map_dir_all: 0.0261, d0.loss_map_cls: 0.3740, d0.loss_map_pts: 2.2977, d0.loss_map_dir: 0.0261, d1.loss_map_cls: 0.3607, d1.loss_map_pts: 1.6765, d1.loss_map_dir: 0.0262, d2.loss_map_cls: 0.3476, d2.loss_map_pts: 1.5735, d2.loss_map_dir: 0.0265, d3.loss_map_cls: 0.3383, d3.loss_map_pts: 1.5416, d3.loss_map_dir: 0.0271, d4.loss_map_cls: 0.3306, d4.loss_map_pts: 1.5340, d4.loss_map_dir: 0.0272, d5.loss_map_cls: 0.3307, d5.loss_map_pts: 1.5278, d5.loss_map_dir: 0.0274, loss: 51.0414, grad_norm: 150.8778 +2026-02-24 16:17:25,805 - DriveTransformer - INFO - Epoch [2][23900/39528] lr: 9.958e-05, eta: 8 days, 3:43:54, time: 0.727, data_time: 0.038, memory: 19865, loss_cls: 0.5455, loss_bbox: 0.6668, loss_traj: 1.4246, loss_traj_cls: 0.0005, loss_map_cls: 0.3366, loss_map_pts: 1.4956, loss_map_dir: 0.0238, d0.loss_plan_l1_fix_time: 2.9495, d0.loss_plan_l1_fix_dist: 0.4330, d1.loss_plan_l1_fix_time: 2.4725, d1.loss_plan_l1_fix_dist: 0.3586, d2.loss_plan_l1_fix_time: 2.4377, d2.loss_plan_l1_fix_dist: 0.3660, d3.loss_plan_l1_fix_time: 2.4340, d3.loss_plan_l1_fix_dist: 0.3788, d4.loss_plan_l1_fix_time: 2.4365, d4.loss_plan_l1_fix_dist: 0.3935, d5.loss_plan_l1_fix_time: 2.4404, d5.loss_plan_l1_fix_dist: 0.4109, d6.loss_plan_l1_fix_time: 2.4455, d6.loss_plan_l1_fix_dist: 0.4327, d0.loss_cls_all: 0.5578, d0.loss_bbox_all: 0.7025, d0.loss_cls: 0.5578, d0.loss_bbox: 0.7025, d1.loss_cls: 0.5508, d1.loss_bbox: 0.6960, d2.loss_cls: 0.5505, d2.loss_bbox: 0.6826, d3.loss_cls: 0.5482, d3.loss_bbox: 0.6746, d4.loss_cls: 0.5495, d4.loss_bbox: 0.6656, d5.loss_cls: 0.5470, d5.loss_bbox: 0.6691, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5447, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.4366, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.4069, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4105, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.4253, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4257, d0.loss_map_cls_all: 0.3918, d0.loss_map_pts_all: 2.1242, d0.loss_map_dir_all: 0.0227, d0.loss_map_cls: 0.3918, d0.loss_map_pts: 2.1242, d0.loss_map_dir: 0.0227, d1.loss_map_cls: 0.3650, d1.loss_map_pts: 1.6295, d1.loss_map_dir: 0.0227, d2.loss_map_cls: 0.3538, d2.loss_map_pts: 1.5388, d2.loss_map_dir: 0.0231, d3.loss_map_cls: 0.3445, d3.loss_map_pts: 1.5045, d3.loss_map_dir: 0.0235, d4.loss_map_cls: 0.3365, d4.loss_map_pts: 1.4951, d4.loss_map_dir: 0.0236, d5.loss_map_cls: 0.3371, d5.loss_map_pts: 1.4912, d5.loss_map_dir: 0.0237, loss: 56.7819, grad_norm: 149.7900 +2026-02-24 16:18:04,938 - DriveTransformer - INFO - Epoch [2][23950/39528] lr: 9.958e-05, eta: 8 days, 3:43:05, time: 0.783, data_time: 0.036, memory: 19865, loss_cls: 0.5160, loss_bbox: 0.6077, loss_traj: 1.2085, loss_traj_cls: 0.0006, loss_map_cls: 0.3144, loss_map_pts: 1.4562, loss_map_dir: 0.0268, d0.loss_plan_l1_fix_time: 2.3630, d0.loss_plan_l1_fix_dist: 0.4487, d1.loss_plan_l1_fix_time: 1.9363, d1.loss_plan_l1_fix_dist: 0.3389, d2.loss_plan_l1_fix_time: 1.8771, d2.loss_plan_l1_fix_dist: 0.3489, d3.loss_plan_l1_fix_time: 1.8693, d3.loss_plan_l1_fix_dist: 0.3631, d4.loss_plan_l1_fix_time: 1.8719, d4.loss_plan_l1_fix_dist: 0.3761, d5.loss_plan_l1_fix_time: 1.8760, d5.loss_plan_l1_fix_dist: 0.3879, d6.loss_plan_l1_fix_time: 1.8804, d6.loss_plan_l1_fix_dist: 0.4016, d0.loss_cls_all: 0.5169, d0.loss_bbox_all: 0.6454, d0.loss_cls: 0.5169, d0.loss_bbox: 0.6454, d1.loss_cls: 0.5094, d1.loss_bbox: 0.6358, d2.loss_cls: 0.5054, d2.loss_bbox: 0.6306, d3.loss_cls: 0.5086, d3.loss_bbox: 0.6204, d4.loss_cls: 0.5115, d4.loss_bbox: 0.6112, d5.loss_cls: 0.5156, d5.loss_bbox: 0.6072, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3254, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2312, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.1989, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.2016, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2030, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2070, d0.loss_map_cls_all: 0.3628, d0.loss_map_pts_all: 2.3282, d0.loss_map_dir_all: 0.0256, d0.loss_map_cls: 0.3628, d0.loss_map_pts: 2.3282, d0.loss_map_dir: 0.0256, d1.loss_map_cls: 0.3429, d1.loss_map_pts: 1.6221, d1.loss_map_dir: 0.0256, d2.loss_map_cls: 0.3293, d2.loss_map_pts: 1.5137, d2.loss_map_dir: 0.0260, d3.loss_map_cls: 0.3206, d3.loss_map_pts: 1.4687, d3.loss_map_dir: 0.0264, d4.loss_map_cls: 0.3145, d4.loss_map_pts: 1.4586, d4.loss_map_dir: 0.0266, d5.loss_map_cls: 0.3131, d5.loss_map_pts: 1.4568, d5.loss_map_dir: 0.0267, loss: 50.5266, grad_norm: 150.1579 +2026-02-24 16:18:45,005 - DriveTransformer - INFO - Epoch [2][24000/39528] lr: 9.958e-05, eta: 8 days, 3:42:29, time: 0.801, data_time: 0.036, memory: 19865, loss_cls: 0.5362, loss_bbox: 0.6206, loss_traj: 1.4059, loss_traj_cls: 0.0006, loss_map_cls: 0.3466, loss_map_pts: 1.4770, loss_map_dir: 0.0293, d0.loss_plan_l1_fix_time: 2.9827, d0.loss_plan_l1_fix_dist: 0.3985, d1.loss_plan_l1_fix_time: 2.5314, d1.loss_plan_l1_fix_dist: 0.3347, d2.loss_plan_l1_fix_time: 2.4852, d2.loss_plan_l1_fix_dist: 0.3433, d3.loss_plan_l1_fix_time: 2.4832, d3.loss_plan_l1_fix_dist: 0.3599, d4.loss_plan_l1_fix_time: 2.4865, d4.loss_plan_l1_fix_dist: 0.3810, d5.loss_plan_l1_fix_time: 2.4910, d5.loss_plan_l1_fix_dist: 0.4036, d6.loss_plan_l1_fix_time: 2.4966, d6.loss_plan_l1_fix_dist: 0.4276, d0.loss_cls_all: 0.5419, d0.loss_bbox_all: 0.6611, d0.loss_cls: 0.5419, d0.loss_bbox: 0.6611, d1.loss_cls: 0.5371, d1.loss_bbox: 0.6360, d2.loss_cls: 0.5339, d2.loss_bbox: 0.6271, d3.loss_cls: 0.5357, d3.loss_bbox: 0.6232, d4.loss_cls: 0.5339, d4.loss_bbox: 0.6169, d5.loss_cls: 0.5359, d5.loss_bbox: 0.6151, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4238, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3535, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3633, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3789, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3890, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4017, d0.loss_map_cls_all: 0.3808, d0.loss_map_pts_all: 2.4418, d0.loss_map_dir_all: 0.0282, d0.loss_map_cls: 0.3808, d0.loss_map_pts: 2.4418, d0.loss_map_dir: 0.0282, d1.loss_map_cls: 0.3704, d1.loss_map_pts: 1.6516, d1.loss_map_dir: 0.0282, d2.loss_map_cls: 0.3574, d2.loss_map_pts: 1.5400, d2.loss_map_dir: 0.0285, d3.loss_map_cls: 0.3525, d3.loss_map_pts: 1.4979, d3.loss_map_dir: 0.0289, d4.loss_map_cls: 0.3480, d4.loss_map_pts: 1.4836, d4.loss_map_dir: 0.0291, d5.loss_map_cls: 0.3468, d5.loss_map_pts: 1.4819, d5.loss_map_dir: 0.0292, loss: 56.8126, grad_norm: 149.3414 +2026-02-24 16:19:25,356 - DriveTransformer - INFO - Epoch [2][24050/39528] lr: 9.958e-05, eta: 8 days, 3:41:57, time: 0.807, data_time: 0.042, memory: 19865, loss_cls: 0.5549, loss_bbox: 0.6681, loss_traj: 1.3381, loss_traj_cls: 0.0006, loss_map_cls: 0.3499, loss_map_pts: 1.6163, loss_map_dir: 0.0277, d0.loss_plan_l1_fix_time: 2.7392, d0.loss_plan_l1_fix_dist: 0.4741, d1.loss_plan_l1_fix_time: 2.3021, d1.loss_plan_l1_fix_dist: 0.3440, d2.loss_plan_l1_fix_time: 2.2728, d2.loss_plan_l1_fix_dist: 0.3492, d3.loss_plan_l1_fix_time: 2.2692, d3.loss_plan_l1_fix_dist: 0.3608, d4.loss_plan_l1_fix_time: 2.2716, d4.loss_plan_l1_fix_dist: 0.3792, d5.loss_plan_l1_fix_time: 2.2751, d5.loss_plan_l1_fix_dist: 0.4034, d6.loss_plan_l1_fix_time: 2.2789, d6.loss_plan_l1_fix_dist: 0.4310, d0.loss_cls_all: 0.5422, d0.loss_bbox_all: 0.6878, d0.loss_cls: 0.5422, d0.loss_bbox: 0.6878, d1.loss_cls: 0.5365, d1.loss_bbox: 0.6734, d2.loss_cls: 0.5382, d2.loss_bbox: 0.6646, d3.loss_cls: 0.5382, d3.loss_bbox: 0.6643, d4.loss_cls: 0.5439, d4.loss_bbox: 0.6628, d5.loss_cls: 0.5511, d5.loss_bbox: 0.6614, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4001, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3278, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3172, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3283, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3320, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3437, d0.loss_map_cls_all: 0.4022, d0.loss_map_pts_all: 2.3321, d0.loss_map_dir_all: 0.0267, d0.loss_map_cls: 0.4022, d0.loss_map_pts: 2.3321, d0.loss_map_dir: 0.0267, d1.loss_map_cls: 0.3768, d1.loss_map_pts: 1.7726, d1.loss_map_dir: 0.0267, d2.loss_map_cls: 0.3642, d2.loss_map_pts: 1.6665, d2.loss_map_dir: 0.0270, d3.loss_map_cls: 0.3590, d3.loss_map_pts: 1.6300, d3.loss_map_dir: 0.0273, d4.loss_map_cls: 0.3525, d4.loss_map_pts: 1.6230, d4.loss_map_dir: 0.0275, d5.loss_map_cls: 0.3499, d5.loss_map_pts: 1.6168, d5.loss_map_dir: 0.0275, loss: 56.0237, grad_norm: 149.8569 +2026-02-24 16:20:03,439 - DriveTransformer - INFO - Epoch [2][24100/39528] lr: 9.958e-05, eta: 8 days, 3:40:54, time: 0.762, data_time: 0.038, memory: 19865, loss_cls: 0.5569, loss_bbox: 0.6601, loss_traj: 1.5352, loss_traj_cls: 0.0005, loss_map_cls: 0.3262, loss_map_pts: 1.4611, loss_map_dir: 0.0256, d0.loss_plan_l1_fix_time: 2.5996, d0.loss_plan_l1_fix_dist: 0.4534, d1.loss_plan_l1_fix_time: 2.1636, d1.loss_plan_l1_fix_dist: 0.3895, d2.loss_plan_l1_fix_time: 2.1439, d2.loss_plan_l1_fix_dist: 0.3986, d3.loss_plan_l1_fix_time: 2.1437, d3.loss_plan_l1_fix_dist: 0.4199, d4.loss_plan_l1_fix_time: 2.1477, d4.loss_plan_l1_fix_dist: 0.4413, d5.loss_plan_l1_fix_time: 2.1522, d5.loss_plan_l1_fix_dist: 0.4663, d6.loss_plan_l1_fix_time: 2.1566, d6.loss_plan_l1_fix_dist: 0.4950, d0.loss_cls_all: 0.5408, d0.loss_bbox_all: 0.6896, d0.loss_cls: 0.5408, d0.loss_bbox: 0.6896, d1.loss_cls: 0.5335, d1.loss_bbox: 0.6721, d2.loss_cls: 0.5351, d2.loss_bbox: 0.6596, d3.loss_cls: 0.5368, d3.loss_bbox: 0.6574, d4.loss_cls: 0.5418, d4.loss_bbox: 0.6559, d5.loss_cls: 0.5511, d5.loss_bbox: 0.6557, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6997, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.5579, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.5148, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5206, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5124, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5232, d0.loss_map_cls_all: 0.3731, d0.loss_map_pts_all: 2.2764, d0.loss_map_dir_all: 0.0244, d0.loss_map_cls: 0.3731, d0.loss_map_pts: 2.2764, d0.loss_map_dir: 0.0244, d1.loss_map_cls: 0.3540, d1.loss_map_pts: 1.6465, d1.loss_map_dir: 0.0246, d2.loss_map_cls: 0.3404, d2.loss_map_pts: 1.5285, d2.loss_map_dir: 0.0249, d3.loss_map_cls: 0.3344, d3.loss_map_pts: 1.4806, d3.loss_map_dir: 0.0252, d4.loss_map_cls: 0.3290, d4.loss_map_pts: 1.4692, d4.loss_map_dir: 0.0254, d5.loss_map_cls: 0.3270, d5.loss_map_pts: 1.4645, d5.loss_map_dir: 0.0255, loss: 55.6771, grad_norm: 151.4042 +2026-02-24 16:20:43,312 - DriveTransformer - INFO - Epoch [2][24150/39528] lr: 9.958e-05, eta: 8 days, 3:40:15, time: 0.797, data_time: 0.039, memory: 19865, loss_cls: 0.4922, loss_bbox: 0.5715, loss_traj: 1.2043, loss_traj_cls: 0.0005, loss_map_cls: 0.2859, loss_map_pts: 1.3386, loss_map_dir: 0.0239, d0.loss_plan_l1_fix_time: 2.1767, d0.loss_plan_l1_fix_dist: 0.5150, d1.loss_plan_l1_fix_time: 1.7529, d1.loss_plan_l1_fix_dist: 0.3884, d2.loss_plan_l1_fix_time: 1.6964, d2.loss_plan_l1_fix_dist: 0.3931, d3.loss_plan_l1_fix_time: 1.6851, d3.loss_plan_l1_fix_dist: 0.4102, d4.loss_plan_l1_fix_time: 1.6854, d4.loss_plan_l1_fix_dist: 0.4302, d5.loss_plan_l1_fix_time: 1.6898, d5.loss_plan_l1_fix_dist: 0.4512, d6.loss_plan_l1_fix_time: 1.6966, d6.loss_plan_l1_fix_dist: 0.4722, d0.loss_cls_all: 0.4912, d0.loss_bbox_all: 0.6238, d0.loss_cls: 0.4912, d0.loss_bbox: 0.6238, d1.loss_cls: 0.4890, d1.loss_bbox: 0.5935, d2.loss_cls: 0.4838, d2.loss_bbox: 0.5830, d3.loss_cls: 0.4847, d3.loss_bbox: 0.5754, d4.loss_cls: 0.4876, d4.loss_bbox: 0.5709, d5.loss_cls: 0.4872, d5.loss_bbox: 0.5703, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3961, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2654, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.2177, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.2107, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.2051, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1977, d0.loss_map_cls_all: 0.3318, d0.loss_map_pts_all: 2.1815, d0.loss_map_dir_all: 0.0226, d0.loss_map_cls: 0.3318, d0.loss_map_pts: 2.1815, d0.loss_map_dir: 0.0226, d1.loss_map_cls: 0.3136, d1.loss_map_pts: 1.5112, d1.loss_map_dir: 0.0228, d2.loss_map_cls: 0.3000, d2.loss_map_pts: 1.4044, d2.loss_map_dir: 0.0232, d3.loss_map_cls: 0.2901, d3.loss_map_pts: 1.3558, d3.loss_map_dir: 0.0234, d4.loss_map_cls: 0.2863, d4.loss_map_pts: 1.3429, d4.loss_map_dir: 0.0237, d5.loss_map_cls: 0.2853, d5.loss_map_pts: 1.3388, d5.loss_map_dir: 0.0237, loss: 48.0302, grad_norm: 151.6421 +2026-02-24 16:21:23,939 - DriveTransformer - INFO - Epoch [2][24200/39528] lr: 9.958e-05, eta: 8 days, 3:39:47, time: 0.813, data_time: 0.041, memory: 19865, loss_cls: 0.5370, loss_bbox: 0.6452, loss_traj: 1.3754, loss_traj_cls: 0.0005, loss_map_cls: 0.3474, loss_map_pts: 1.6095, loss_map_dir: 0.0299, d0.loss_plan_l1_fix_time: 2.4624, d0.loss_plan_l1_fix_dist: 0.4229, d1.loss_plan_l1_fix_time: 2.0209, d1.loss_plan_l1_fix_dist: 0.3680, d2.loss_plan_l1_fix_time: 1.9700, d2.loss_plan_l1_fix_dist: 0.3770, d3.loss_plan_l1_fix_time: 1.9660, d3.loss_plan_l1_fix_dist: 0.3930, d4.loss_plan_l1_fix_time: 1.9693, d4.loss_plan_l1_fix_dist: 0.4130, d5.loss_plan_l1_fix_time: 1.9744, d5.loss_plan_l1_fix_dist: 0.4337, d6.loss_plan_l1_fix_time: 1.9818, d6.loss_plan_l1_fix_dist: 0.4559, d0.loss_cls_all: 0.5421, d0.loss_bbox_all: 0.6915, d0.loss_cls: 0.5421, d0.loss_bbox: 0.6915, d1.loss_cls: 0.5346, d1.loss_bbox: 0.6690, d2.loss_cls: 0.5337, d2.loss_bbox: 0.6570, d3.loss_cls: 0.5303, d3.loss_bbox: 0.6487, d4.loss_cls: 0.5333, d4.loss_bbox: 0.6457, d5.loss_cls: 0.5356, d5.loss_bbox: 0.6419, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4243, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3524, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3348, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3511, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3564, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3644, d0.loss_map_cls_all: 0.3815, d0.loss_map_pts_all: 2.5999, d0.loss_map_dir_all: 0.0291, d0.loss_map_cls: 0.3815, d0.loss_map_pts: 2.5999, d0.loss_map_dir: 0.0291, d1.loss_map_cls: 0.3690, d1.loss_map_pts: 1.8081, d1.loss_map_dir: 0.0287, d2.loss_map_cls: 0.3580, d2.loss_map_pts: 1.6749, d2.loss_map_dir: 0.0291, d3.loss_map_cls: 0.3504, d3.loss_map_pts: 1.6291, d3.loss_map_dir: 0.0296, d4.loss_map_cls: 0.3469, d4.loss_map_pts: 1.6171, d4.loss_map_dir: 0.0297, d5.loss_map_cls: 0.3467, d5.loss_map_pts: 1.6096, d5.loss_map_dir: 0.0298, loss: 54.6156, grad_norm: 150.2616 +2026-02-24 16:22:06,172 - DriveTransformer - INFO - Epoch [2][24250/39528] lr: 9.958e-05, eta: 8 days, 3:39:41, time: 0.845, data_time: 0.042, memory: 19865, loss_cls: 0.5066, loss_bbox: 0.6105, loss_traj: 1.3207, loss_traj_cls: 0.0005, loss_map_cls: 0.3023, loss_map_pts: 1.5331, loss_map_dir: 0.0283, d0.loss_plan_l1_fix_time: 2.5048, d0.loss_plan_l1_fix_dist: 0.5373, d1.loss_plan_l1_fix_time: 2.1870, d1.loss_plan_l1_fix_dist: 0.3704, d2.loss_plan_l1_fix_time: 2.1680, d2.loss_plan_l1_fix_dist: 0.3788, d3.loss_plan_l1_fix_time: 2.1708, d3.loss_plan_l1_fix_dist: 0.3958, d4.loss_plan_l1_fix_time: 2.1761, d4.loss_plan_l1_fix_dist: 0.4139, d5.loss_plan_l1_fix_time: 2.1819, d5.loss_plan_l1_fix_dist: 0.4362, d6.loss_plan_l1_fix_time: 2.1888, d6.loss_plan_l1_fix_dist: 0.4630, d0.loss_cls_all: 0.5154, d0.loss_bbox_all: 0.6446, d0.loss_cls: 0.5154, d0.loss_bbox: 0.6446, d1.loss_cls: 0.5093, d1.loss_bbox: 0.6318, d2.loss_cls: 0.5084, d2.loss_bbox: 0.6223, d3.loss_cls: 0.5058, d3.loss_bbox: 0.6095, d4.loss_cls: 0.5074, d4.loss_bbox: 0.6082, d5.loss_cls: 0.5060, d5.loss_bbox: 0.6085, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4599, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3241, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3135, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3288, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3171, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3192, d0.loss_map_cls_all: 0.3447, d0.loss_map_pts_all: 2.5409, d0.loss_map_dir_all: 0.0276, d0.loss_map_cls: 0.3447, d0.loss_map_pts: 2.5409, d0.loss_map_dir: 0.0276, d1.loss_map_cls: 0.3294, d1.loss_map_pts: 1.7100, d1.loss_map_dir: 0.0273, d2.loss_map_cls: 0.3136, d2.loss_map_pts: 1.5922, d2.loss_map_dir: 0.0276, d3.loss_map_cls: 0.3059, d3.loss_map_pts: 1.5557, d3.loss_map_dir: 0.0279, d4.loss_map_cls: 0.3024, d4.loss_map_pts: 1.5416, d4.loss_map_dir: 0.0281, d5.loss_map_cls: 0.3017, d5.loss_map_pts: 1.5337, d5.loss_map_dir: 0.0282, loss: 54.3306, grad_norm: 150.6803 +2026-02-24 16:22:45,671 - DriveTransformer - INFO - Epoch [2][24300/39528] lr: 9.958e-05, eta: 8 days, 3:38:57, time: 0.790, data_time: 0.040, memory: 19865, loss_cls: 0.5720, loss_bbox: 0.6973, loss_traj: 1.2818, loss_traj_cls: 0.0005, loss_map_cls: 0.3719, loss_map_pts: 1.8169, loss_map_dir: 0.0309, d0.loss_plan_l1_fix_time: 2.9148, d0.loss_plan_l1_fix_dist: 0.5263, d1.loss_plan_l1_fix_time: 2.4898, d1.loss_plan_l1_fix_dist: 0.4003, d2.loss_plan_l1_fix_time: 2.4416, d2.loss_plan_l1_fix_dist: 0.4120, d3.loss_plan_l1_fix_time: 2.4422, d3.loss_plan_l1_fix_dist: 0.4275, d4.loss_plan_l1_fix_time: 2.4486, d4.loss_plan_l1_fix_dist: 0.4442, d5.loss_plan_l1_fix_time: 2.4558, d5.loss_plan_l1_fix_dist: 0.4653, d6.loss_plan_l1_fix_time: 2.4637, d6.loss_plan_l1_fix_dist: 0.4897, d0.loss_cls_all: 0.5881, d0.loss_bbox_all: 0.7439, d0.loss_cls: 0.5881, d0.loss_bbox: 0.7439, d1.loss_cls: 0.5790, d1.loss_bbox: 0.7231, d2.loss_cls: 0.5737, d2.loss_bbox: 0.7168, d3.loss_cls: 0.5712, d3.loss_bbox: 0.7061, d4.loss_cls: 0.5728, d4.loss_bbox: 0.6992, d5.loss_cls: 0.5720, d5.loss_bbox: 0.6986, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3823, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.2962, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.2790, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.2796, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.2766, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2717, d0.loss_map_cls_all: 0.4112, d0.loss_map_pts_all: 2.6348, d0.loss_map_dir_all: 0.0294, d0.loss_map_cls: 0.4112, d0.loss_map_pts: 2.6348, d0.loss_map_dir: 0.0294, d1.loss_map_cls: 0.3958, d1.loss_map_pts: 1.9641, d1.loss_map_dir: 0.0297, d2.loss_map_cls: 0.3883, d2.loss_map_pts: 1.8646, d2.loss_map_dir: 0.0300, d3.loss_map_cls: 0.3813, d3.loss_map_pts: 1.8288, d3.loss_map_dir: 0.0304, d4.loss_map_cls: 0.3732, d4.loss_map_pts: 1.8216, d4.loss_map_dir: 0.0306, d5.loss_map_cls: 0.3712, d5.loss_map_pts: 1.8164, d5.loss_map_dir: 0.0307, loss: 59.9667, grad_norm: 150.1594 +2026-02-24 16:23:25,559 - DriveTransformer - INFO - Epoch [2][24350/39528] lr: 9.958e-05, eta: 8 days, 3:38:18, time: 0.797, data_time: 0.043, memory: 19865, loss_cls: 0.5517, loss_bbox: 0.6275, loss_traj: 1.4684, loss_traj_cls: 0.0005, loss_map_cls: 0.3459, loss_map_pts: 1.4801, loss_map_dir: 0.0280, d0.loss_plan_l1_fix_time: 2.4468, d0.loss_plan_l1_fix_dist: 0.4360, d1.loss_plan_l1_fix_time: 2.0740, d1.loss_plan_l1_fix_dist: 0.3312, d2.loss_plan_l1_fix_time: 2.0404, d2.loss_plan_l1_fix_dist: 0.3493, d3.loss_plan_l1_fix_time: 2.0442, d3.loss_plan_l1_fix_dist: 0.3708, d4.loss_plan_l1_fix_time: 2.0508, d4.loss_plan_l1_fix_dist: 0.3925, d5.loss_plan_l1_fix_time: 2.0579, d5.loss_plan_l1_fix_dist: 0.4143, d6.loss_plan_l1_fix_time: 2.0658, d6.loss_plan_l1_fix_dist: 0.4363, d0.loss_cls_all: 0.5427, d0.loss_bbox_all: 0.6684, d0.loss_cls: 0.5427, d0.loss_bbox: 0.6684, d1.loss_cls: 0.5403, d1.loss_bbox: 0.6449, d2.loss_cls: 0.5402, d2.loss_bbox: 0.6435, d3.loss_cls: 0.5433, d3.loss_bbox: 0.6399, d4.loss_cls: 0.5512, d4.loss_bbox: 0.6315, d5.loss_cls: 0.5478, d5.loss_bbox: 0.6281, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5946, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.4686, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.4521, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4578, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.4581, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4664, d0.loss_map_cls_all: 0.3757, d0.loss_map_pts_all: 2.2849, d0.loss_map_dir_all: 0.0268, d0.loss_map_cls: 0.3757, d0.loss_map_pts: 2.2849, d0.loss_map_dir: 0.0268, d1.loss_map_cls: 0.3653, d1.loss_map_pts: 1.6190, d1.loss_map_dir: 0.0270, d2.loss_map_cls: 0.3600, d2.loss_map_pts: 1.5268, d2.loss_map_dir: 0.0273, d3.loss_map_cls: 0.3530, d3.loss_map_pts: 1.4916, d3.loss_map_dir: 0.0276, d4.loss_map_cls: 0.3480, d4.loss_map_pts: 1.4800, d4.loss_map_dir: 0.0278, d5.loss_map_cls: 0.3448, d5.loss_map_pts: 1.4776, d5.loss_map_dir: 0.0280, loss: 54.1262, grad_norm: 151.3910 +2026-02-24 16:24:04,898 - DriveTransformer - INFO - Epoch [2][24400/39528] lr: 9.958e-05, eta: 8 days, 3:37:32, time: 0.787, data_time: 0.042, memory: 19865, loss_cls: 0.5348, loss_bbox: 0.6217, loss_traj: 1.4863, loss_traj_cls: 0.0006, loss_map_cls: 0.3979, loss_map_pts: 1.6834, loss_map_dir: 0.0294, d0.loss_plan_l1_fix_time: 3.1016, d0.loss_plan_l1_fix_dist: 0.4586, d1.loss_plan_l1_fix_time: 2.4944, d1.loss_plan_l1_fix_dist: 0.3335, d2.loss_plan_l1_fix_time: 2.4684, d2.loss_plan_l1_fix_dist: 0.3446, d3.loss_plan_l1_fix_time: 2.4724, d3.loss_plan_l1_fix_dist: 0.3628, d4.loss_plan_l1_fix_time: 2.4796, d4.loss_plan_l1_fix_dist: 0.3858, d5.loss_plan_l1_fix_time: 2.4872, d5.loss_plan_l1_fix_dist: 0.4092, d6.loss_plan_l1_fix_time: 2.4955, d6.loss_plan_l1_fix_dist: 0.4350, d0.loss_cls_all: 0.5388, d0.loss_bbox_all: 0.6614, d0.loss_cls: 0.5388, d0.loss_bbox: 0.6614, d1.loss_cls: 0.5307, d1.loss_bbox: 0.6337, d2.loss_cls: 0.5300, d2.loss_bbox: 0.6297, d3.loss_cls: 0.5317, d3.loss_bbox: 0.6263, d4.loss_cls: 0.5390, d4.loss_bbox: 0.6225, d5.loss_cls: 0.5340, d5.loss_bbox: 0.6200, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5255, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.4280, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.4322, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4606, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.4673, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4828, d0.loss_map_cls_all: 0.4250, d0.loss_map_pts_all: 2.6414, d0.loss_map_dir_all: 0.0282, d0.loss_map_cls: 0.4250, d0.loss_map_pts: 2.6414, d0.loss_map_dir: 0.0282, d1.loss_map_cls: 0.4224, d1.loss_map_pts: 1.8736, d1.loss_map_dir: 0.0282, d2.loss_map_cls: 0.4105, d2.loss_map_pts: 1.7495, d2.loss_map_dir: 0.0285, d3.loss_map_cls: 0.4067, d3.loss_map_pts: 1.7002, d3.loss_map_dir: 0.0291, d4.loss_map_cls: 0.3995, d4.loss_map_pts: 1.6879, d4.loss_map_dir: 0.0292, d5.loss_map_cls: 0.3968, d5.loss_map_pts: 1.6830, d5.loss_map_dir: 0.0292, loss: 59.5454, grad_norm: 151.6618 +2026-02-24 16:24:45,073 - DriveTransformer - INFO - Epoch [2][24450/39528] lr: 9.958e-05, eta: 8 days, 3:36:57, time: 0.804, data_time: 0.045, memory: 19865, loss_cls: 0.5790, loss_bbox: 0.6272, loss_traj: 1.4626, loss_traj_cls: 0.0006, loss_map_cls: 0.3426, loss_map_pts: 1.5725, loss_map_dir: 0.0263, d0.loss_plan_l1_fix_time: 2.5834, d0.loss_plan_l1_fix_dist: 0.3933, d1.loss_plan_l1_fix_time: 2.2190, d1.loss_plan_l1_fix_dist: 0.3671, d2.loss_plan_l1_fix_time: 2.1961, d2.loss_plan_l1_fix_dist: 0.3897, d3.loss_plan_l1_fix_time: 2.1964, d3.loss_plan_l1_fix_dist: 0.4133, d4.loss_plan_l1_fix_time: 2.2007, d4.loss_plan_l1_fix_dist: 0.4356, d5.loss_plan_l1_fix_time: 2.2057, d5.loss_plan_l1_fix_dist: 0.4614, d6.loss_plan_l1_fix_time: 2.2112, d6.loss_plan_l1_fix_dist: 0.4905, d0.loss_cls_all: 0.5782, d0.loss_bbox_all: 0.6666, d0.loss_cls: 0.5782, d0.loss_bbox: 0.6666, d1.loss_cls: 0.5653, d1.loss_bbox: 0.6464, d2.loss_cls: 0.5695, d2.loss_bbox: 0.6293, d3.loss_cls: 0.5738, d3.loss_bbox: 0.6266, d4.loss_cls: 0.5772, d4.loss_bbox: 0.6255, d5.loss_cls: 0.5772, d5.loss_bbox: 0.6234, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5823, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.4767, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.4518, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.4562, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4491, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4533, d0.loss_map_cls_all: 0.3939, d0.loss_map_pts_all: 2.4006, d0.loss_map_dir_all: 0.0250, d0.loss_map_cls: 0.3939, d0.loss_map_pts: 2.4006, d0.loss_map_dir: 0.0250, d1.loss_map_cls: 0.3725, d1.loss_map_pts: 1.7397, d1.loss_map_dir: 0.0249, d2.loss_map_cls: 0.3594, d2.loss_map_pts: 1.6277, d2.loss_map_dir: 0.0253, d3.loss_map_cls: 0.3536, d3.loss_map_pts: 1.5896, d3.loss_map_dir: 0.0257, d4.loss_map_cls: 0.3436, d4.loss_map_pts: 1.5764, d4.loss_map_dir: 0.0260, d5.loss_map_cls: 0.3415, d5.loss_map_pts: 1.5754, d5.loss_map_dir: 0.0261, loss: 56.3982, grad_norm: 150.6190 +2026-02-24 16:25:24,943 - DriveTransformer - INFO - Epoch [2][24500/39528] lr: 9.958e-05, eta: 8 days, 3:36:18, time: 0.797, data_time: 0.039, memory: 19865, loss_cls: 0.5500, loss_bbox: 0.6533, loss_traj: 1.4392, loss_traj_cls: 0.0006, loss_map_cls: 0.4026, loss_map_pts: 1.6999, loss_map_dir: 0.0310, d0.loss_plan_l1_fix_time: 3.0193, d0.loss_plan_l1_fix_dist: 0.4331, d1.loss_plan_l1_fix_time: 2.4303, d1.loss_plan_l1_fix_dist: 0.3747, d2.loss_plan_l1_fix_time: 2.3650, d2.loss_plan_l1_fix_dist: 0.3870, d3.loss_plan_l1_fix_time: 2.3526, d3.loss_plan_l1_fix_dist: 0.4075, d4.loss_plan_l1_fix_time: 2.3533, d4.loss_plan_l1_fix_dist: 0.4321, d5.loss_plan_l1_fix_time: 2.3568, d5.loss_plan_l1_fix_dist: 0.4627, d6.loss_plan_l1_fix_time: 2.3625, d6.loss_plan_l1_fix_dist: 0.4949, d0.loss_cls_all: 0.5490, d0.loss_bbox_all: 0.7080, d0.loss_cls: 0.5490, d0.loss_bbox: 0.7080, d1.loss_cls: 0.5416, d1.loss_bbox: 0.6796, d2.loss_cls: 0.5457, d2.loss_bbox: 0.6623, d3.loss_cls: 0.5436, d3.loss_bbox: 0.6561, d4.loss_cls: 0.5477, d4.loss_bbox: 0.6518, d5.loss_cls: 0.5472, d5.loss_bbox: 0.6513, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4821, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3787, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3830, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.4083, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4241, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4421, d0.loss_map_cls_all: 0.4310, d0.loss_map_pts_all: 2.5832, d0.loss_map_dir_all: 0.0296, d0.loss_map_cls: 0.4310, d0.loss_map_pts: 2.5832, d0.loss_map_dir: 0.0296, d1.loss_map_cls: 0.4244, d1.loss_map_pts: 1.8818, d1.loss_map_dir: 0.0295, d2.loss_map_cls: 0.4138, d2.loss_map_pts: 1.7699, d2.loss_map_dir: 0.0300, d3.loss_map_cls: 0.4094, d3.loss_map_pts: 1.7193, d3.loss_map_dir: 0.0306, d4.loss_map_cls: 0.4034, d4.loss_map_pts: 1.7078, d4.loss_map_dir: 0.0306, d5.loss_map_cls: 0.4027, d5.loss_map_pts: 1.7035, d5.loss_map_dir: 0.0308, loss: 59.1472, grad_norm: 148.5347 +2026-02-24 16:26:05,107 - DriveTransformer - INFO - Epoch [2][24550/39528] lr: 9.958e-05, eta: 8 days, 3:35:44, time: 0.804, data_time: 0.043, memory: 19865, loss_cls: 0.4895, loss_bbox: 0.6096, loss_traj: 1.4208, loss_traj_cls: 0.0005, loss_map_cls: 0.3566, loss_map_pts: 1.5058, loss_map_dir: 0.0247, d0.loss_plan_l1_fix_time: 2.6785, d0.loss_plan_l1_fix_dist: 0.5476, d1.loss_plan_l1_fix_time: 2.1203, d1.loss_plan_l1_fix_dist: 0.4115, d2.loss_plan_l1_fix_time: 2.0717, d2.loss_plan_l1_fix_dist: 0.4275, d3.loss_plan_l1_fix_time: 2.0645, d3.loss_plan_l1_fix_dist: 0.4526, d4.loss_plan_l1_fix_time: 2.0675, d4.loss_plan_l1_fix_dist: 0.4831, d5.loss_plan_l1_fix_time: 2.0731, d5.loss_plan_l1_fix_dist: 0.5113, d6.loss_plan_l1_fix_time: 2.0801, d6.loss_plan_l1_fix_dist: 0.5444, d0.loss_cls_all: 0.4873, d0.loss_bbox_all: 0.6486, d0.loss_cls: 0.4873, d0.loss_bbox: 0.6486, d1.loss_cls: 0.4796, d1.loss_bbox: 0.6305, d2.loss_cls: 0.4819, d2.loss_bbox: 0.6149, d3.loss_cls: 0.4823, d3.loss_bbox: 0.6108, d4.loss_cls: 0.4839, d4.loss_bbox: 0.6080, d5.loss_cls: 0.4850, d5.loss_bbox: 0.6085, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5103, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.4105, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.4011, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4031, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3985, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4040, d0.loss_map_cls_all: 0.3926, d0.loss_map_pts_all: 2.3761, d0.loss_map_dir_all: 0.0237, d0.loss_map_cls: 0.3926, d0.loss_map_pts: 2.3761, d0.loss_map_dir: 0.0237, d1.loss_map_cls: 0.3803, d1.loss_map_pts: 1.7208, d1.loss_map_dir: 0.0236, d2.loss_map_cls: 0.3661, d2.loss_map_pts: 1.5916, d2.loss_map_dir: 0.0240, d3.loss_map_cls: 0.3595, d3.loss_map_pts: 1.5413, d3.loss_map_dir: 0.0244, d4.loss_map_cls: 0.3561, d4.loss_map_pts: 1.5189, d4.loss_map_dir: 0.0245, d5.loss_map_cls: 0.3550, d5.loss_map_pts: 1.5108, d5.loss_map_dir: 0.0246, loss: 54.6367, grad_norm: 149.5441 +2026-02-24 16:26:45,240 - DriveTransformer - INFO - Epoch [2][24600/39528] lr: 9.958e-05, eta: 8 days, 3:35:09, time: 0.804, data_time: 0.044, memory: 19865, loss_cls: 0.5690, loss_bbox: 0.6366, loss_traj: 1.5610, loss_traj_cls: 0.0005, loss_map_cls: 0.3842, loss_map_pts: 1.6064, loss_map_dir: 0.0266, d0.loss_plan_l1_fix_time: 2.9656, d0.loss_plan_l1_fix_dist: 0.4216, d1.loss_plan_l1_fix_time: 2.3491, d1.loss_plan_l1_fix_dist: 0.3545, d2.loss_plan_l1_fix_time: 2.3237, d2.loss_plan_l1_fix_dist: 0.3660, d3.loss_plan_l1_fix_time: 2.3257, d3.loss_plan_l1_fix_dist: 0.3836, d4.loss_plan_l1_fix_time: 2.3302, d4.loss_plan_l1_fix_dist: 0.4034, d5.loss_plan_l1_fix_time: 2.3351, d5.loss_plan_l1_fix_dist: 0.4239, d6.loss_plan_l1_fix_time: 2.3399, d6.loss_plan_l1_fix_dist: 0.4493, d0.loss_cls_all: 0.5634, d0.loss_bbox_all: 0.6772, d0.loss_cls: 0.5634, d0.loss_bbox: 0.6772, d1.loss_cls: 0.5653, d1.loss_bbox: 0.6533, d2.loss_cls: 0.5619, d2.loss_bbox: 0.6419, d3.loss_cls: 0.5634, d3.loss_bbox: 0.6327, d4.loss_cls: 0.5643, d4.loss_bbox: 0.6333, d5.loss_cls: 0.5637, d5.loss_bbox: 0.6349, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7573, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.6048, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.5679, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5641, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5654, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5468, d0.loss_map_cls_all: 0.4133, d0.loss_map_pts_all: 2.4543, d0.loss_map_dir_all: 0.0257, d0.loss_map_cls: 0.4133, d0.loss_map_pts: 2.4543, d0.loss_map_dir: 0.0257, d1.loss_map_cls: 0.4069, d1.loss_map_pts: 1.7794, d1.loss_map_dir: 0.0253, d2.loss_map_cls: 0.3963, d2.loss_map_pts: 1.6601, d2.loss_map_dir: 0.0257, d3.loss_map_cls: 0.3868, d3.loss_map_pts: 1.6214, d3.loss_map_dir: 0.0262, d4.loss_map_cls: 0.3799, d4.loss_map_pts: 1.6109, d4.loss_map_dir: 0.0263, d5.loss_map_cls: 0.3806, d5.loss_map_pts: 1.6058, d5.loss_map_dir: 0.0265, loss: 58.8071, grad_norm: 149.2162 +2026-02-24 16:27:25,686 - DriveTransformer - INFO - Epoch [2][24650/39528] lr: 9.958e-05, eta: 8 days, 3:34:37, time: 0.807, data_time: 0.039, memory: 19865, loss_cls: 0.5594, loss_bbox: 0.6835, loss_traj: 1.4132, loss_traj_cls: 0.0005, loss_map_cls: 0.3456, loss_map_pts: 1.6317, loss_map_dir: 0.0281, d0.loss_plan_l1_fix_time: 3.0113, d0.loss_plan_l1_fix_dist: 0.4916, d1.loss_plan_l1_fix_time: 2.3386, d1.loss_plan_l1_fix_dist: 0.4283, d2.loss_plan_l1_fix_time: 2.2732, d2.loss_plan_l1_fix_dist: 0.4403, d3.loss_plan_l1_fix_time: 2.2593, d3.loss_plan_l1_fix_dist: 0.4631, d4.loss_plan_l1_fix_time: 2.2600, d4.loss_plan_l1_fix_dist: 0.4903, d5.loss_plan_l1_fix_time: 2.2638, d5.loss_plan_l1_fix_dist: 0.5180, d6.loss_plan_l1_fix_time: 2.2686, d6.loss_plan_l1_fix_dist: 0.5434, d0.loss_cls_all: 0.5769, d0.loss_bbox_all: 0.7190, d0.loss_cls: 0.5769, d0.loss_bbox: 0.7190, d1.loss_cls: 0.5685, d1.loss_bbox: 0.7068, d2.loss_cls: 0.5611, d2.loss_bbox: 0.6957, d3.loss_cls: 0.5619, d3.loss_bbox: 0.6819, d4.loss_cls: 0.5601, d4.loss_bbox: 0.6840, d5.loss_cls: 0.5635, d5.loss_bbox: 0.6780, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5035, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.4398, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.4186, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4297, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4208, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4211, d0.loss_map_cls_all: 0.3927, d0.loss_map_pts_all: 2.4361, d0.loss_map_dir_all: 0.0265, d0.loss_map_cls: 0.3927, d0.loss_map_pts: 2.4361, d0.loss_map_dir: 0.0265, d1.loss_map_cls: 0.3809, d1.loss_map_pts: 1.7706, d1.loss_map_dir: 0.0269, d2.loss_map_cls: 0.3663, d2.loss_map_pts: 1.6706, d2.loss_map_dir: 0.0274, d3.loss_map_cls: 0.3524, d3.loss_map_pts: 1.6431, d3.loss_map_dir: 0.0277, d4.loss_map_cls: 0.3469, d4.loss_map_pts: 1.6330, d4.loss_map_dir: 0.0279, d5.loss_map_cls: 0.3443, d5.loss_map_pts: 1.6317, d5.loss_map_dir: 0.0280, loss: 58.1915, grad_norm: 149.4146 +2026-02-24 16:28:05,782 - DriveTransformer - INFO - Epoch [2][24700/39528] lr: 9.958e-05, eta: 8 days, 3:34:02, time: 0.802, data_time: 0.042, memory: 19865, loss_cls: 0.5240, loss_bbox: 0.6382, loss_traj: 1.3337, loss_traj_cls: 0.0005, loss_map_cls: 0.3323, loss_map_pts: 1.5555, loss_map_dir: 0.0303, d0.loss_plan_l1_fix_time: 2.9972, d0.loss_plan_l1_fix_dist: 0.5105, d1.loss_plan_l1_fix_time: 2.3646, d1.loss_plan_l1_fix_dist: 0.3758, d2.loss_plan_l1_fix_time: 2.3282, d2.loss_plan_l1_fix_dist: 0.3830, d3.loss_plan_l1_fix_time: 2.3287, d3.loss_plan_l1_fix_dist: 0.3976, d4.loss_plan_l1_fix_time: 2.3347, d4.loss_plan_l1_fix_dist: 0.4155, d5.loss_plan_l1_fix_time: 2.3417, d5.loss_plan_l1_fix_dist: 0.4363, d6.loss_plan_l1_fix_time: 2.3504, d6.loss_plan_l1_fix_dist: 0.4600, d0.loss_cls_all: 0.5370, d0.loss_bbox_all: 0.6665, d0.loss_cls: 0.5370, d0.loss_bbox: 0.6665, d1.loss_cls: 0.5312, d1.loss_bbox: 0.6526, d2.loss_cls: 0.5308, d2.loss_bbox: 0.6424, d3.loss_cls: 0.5288, d3.loss_bbox: 0.6311, d4.loss_cls: 0.5250, d4.loss_bbox: 0.6327, d5.loss_cls: 0.5276, d5.loss_bbox: 0.6334, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3728, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2882, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.2793, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3033, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3136, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3278, d0.loss_map_cls_all: 0.3665, d0.loss_map_pts_all: 2.4916, d0.loss_map_dir_all: 0.0297, d0.loss_map_cls: 0.3665, d0.loss_map_pts: 2.4916, d0.loss_map_dir: 0.0297, d1.loss_map_cls: 0.3571, d1.loss_map_pts: 1.7368, d1.loss_map_dir: 0.0289, d2.loss_map_cls: 0.3455, d2.loss_map_pts: 1.6188, d2.loss_map_dir: 0.0293, d3.loss_map_cls: 0.3387, d3.loss_map_pts: 1.5739, d3.loss_map_dir: 0.0299, d4.loss_map_cls: 0.3344, d4.loss_map_pts: 1.5610, d4.loss_map_dir: 0.0300, d5.loss_map_cls: 0.3330, d5.loss_map_pts: 1.5575, d5.loss_map_dir: 0.0302, loss: 56.2517, grad_norm: 150.0233 +2026-02-24 16:28:45,233 - DriveTransformer - INFO - Epoch [2][24750/39528] lr: 9.958e-05, eta: 8 days, 3:33:17, time: 0.789, data_time: 0.039, memory: 19865, loss_cls: 0.5031, loss_bbox: 0.6213, loss_traj: 1.3646, loss_traj_cls: 0.0005, loss_map_cls: 0.3269, loss_map_pts: 1.4272, loss_map_dir: 0.0255, d0.loss_plan_l1_fix_time: 2.4587, d0.loss_plan_l1_fix_dist: 0.4737, d1.loss_plan_l1_fix_time: 2.0986, d1.loss_plan_l1_fix_dist: 0.3493, d2.loss_plan_l1_fix_time: 2.0858, d2.loss_plan_l1_fix_dist: 0.3649, d3.loss_plan_l1_fix_time: 2.0949, d3.loss_plan_l1_fix_dist: 0.3863, d4.loss_plan_l1_fix_time: 2.1031, d4.loss_plan_l1_fix_dist: 0.4132, d5.loss_plan_l1_fix_time: 2.1116, d5.loss_plan_l1_fix_dist: 0.4439, d6.loss_plan_l1_fix_time: 2.1213, d6.loss_plan_l1_fix_dist: 0.4819, d0.loss_cls_all: 0.5155, d0.loss_bbox_all: 0.6582, d0.loss_cls: 0.5155, d0.loss_bbox: 0.6582, d1.loss_cls: 0.5090, d1.loss_bbox: 0.6411, d2.loss_cls: 0.5025, d2.loss_bbox: 0.6255, d3.loss_cls: 0.5042, d3.loss_bbox: 0.6179, d4.loss_cls: 0.5020, d4.loss_bbox: 0.6175, d5.loss_cls: 0.5026, d5.loss_bbox: 0.6186, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4551, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3469, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3317, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3546, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3691, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3555, d0.loss_map_cls_all: 0.3688, d0.loss_map_pts_all: 2.2804, d0.loss_map_dir_all: 0.0249, d0.loss_map_cls: 0.3688, d0.loss_map_pts: 2.2804, d0.loss_map_dir: 0.0249, d1.loss_map_cls: 0.3564, d1.loss_map_pts: 1.5880, d1.loss_map_dir: 0.0248, d2.loss_map_cls: 0.3410, d2.loss_map_pts: 1.4905, d2.loss_map_dir: 0.0250, d3.loss_map_cls: 0.3303, d3.loss_map_pts: 1.4478, d3.loss_map_dir: 0.0253, d4.loss_map_cls: 0.3267, d4.loss_map_pts: 1.4332, d4.loss_map_dir: 0.0254, d5.loss_map_cls: 0.3258, d5.loss_map_pts: 1.4304, d5.loss_map_dir: 0.0255, loss: 53.0062, grad_norm: 150.6405 +2026-02-24 16:29:25,452 - DriveTransformer - INFO - Epoch [2][24800/39528] lr: 9.958e-05, eta: 8 days, 3:32:43, time: 0.804, data_time: 0.039, memory: 19865, loss_cls: 0.5269, loss_bbox: 0.6458, loss_traj: 1.3007, loss_traj_cls: 0.0005, loss_map_cls: 0.3681, loss_map_pts: 1.6728, loss_map_dir: 0.0317, d0.loss_plan_l1_fix_time: 2.7936, d0.loss_plan_l1_fix_dist: 0.4565, d1.loss_plan_l1_fix_time: 2.4017, d1.loss_plan_l1_fix_dist: 0.3974, d2.loss_plan_l1_fix_time: 2.3923, d2.loss_plan_l1_fix_dist: 0.4158, d3.loss_plan_l1_fix_time: 2.3996, d3.loss_plan_l1_fix_dist: 0.4400, d4.loss_plan_l1_fix_time: 2.4068, d4.loss_plan_l1_fix_dist: 0.4617, d5.loss_plan_l1_fix_time: 2.4144, d5.loss_plan_l1_fix_dist: 0.4845, d6.loss_plan_l1_fix_time: 2.4234, d6.loss_plan_l1_fix_dist: 0.5098, d0.loss_cls_all: 0.5329, d0.loss_bbox_all: 0.6919, d0.loss_cls: 0.5329, d0.loss_bbox: 0.6919, d1.loss_cls: 0.5307, d1.loss_bbox: 0.6687, d2.loss_cls: 0.5300, d2.loss_bbox: 0.6519, d3.loss_cls: 0.5257, d3.loss_bbox: 0.6467, d4.loss_cls: 0.5251, d4.loss_bbox: 0.6420, d5.loss_cls: 0.5255, d5.loss_bbox: 0.6431, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2787, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2366, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2340, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.2721, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.2792, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2922, d0.loss_map_cls_all: 0.3920, d0.loss_map_pts_all: 2.5688, d0.loss_map_dir_all: 0.0305, d0.loss_map_cls: 0.3920, d0.loss_map_pts: 2.5688, d0.loss_map_dir: 0.0305, d1.loss_map_cls: 0.3823, d1.loss_map_pts: 1.8420, d1.loss_map_dir: 0.0304, d2.loss_map_cls: 0.3734, d2.loss_map_pts: 1.7401, d2.loss_map_dir: 0.0308, d3.loss_map_cls: 0.3685, d3.loss_map_pts: 1.6963, d3.loss_map_dir: 0.0312, d4.loss_map_cls: 0.3665, d4.loss_map_pts: 1.6812, d4.loss_map_dir: 0.0315, d5.loss_map_cls: 0.3665, d5.loss_map_pts: 1.6733, d5.loss_map_dir: 0.0316, loss: 57.5088, grad_norm: 148.5806 +2026-02-24 16:30:06,355 - DriveTransformer - INFO - Epoch [2][24850/39528] lr: 9.958e-05, eta: 8 days, 3:32:18, time: 0.818, data_time: 0.040, memory: 19865, loss_cls: 0.5402, loss_bbox: 0.6254, loss_traj: 1.5344, loss_traj_cls: 0.0005, loss_map_cls: 0.3807, loss_map_pts: 1.6975, loss_map_dir: 0.0290, d0.loss_plan_l1_fix_time: 3.2466, d0.loss_plan_l1_fix_dist: 0.4659, d1.loss_plan_l1_fix_time: 2.3804, d1.loss_plan_l1_fix_dist: 0.3788, d2.loss_plan_l1_fix_time: 2.3357, d2.loss_plan_l1_fix_dist: 0.3924, d3.loss_plan_l1_fix_time: 2.3413, d3.loss_plan_l1_fix_dist: 0.4153, d4.loss_plan_l1_fix_time: 2.3471, d4.loss_plan_l1_fix_dist: 0.4388, d5.loss_plan_l1_fix_time: 2.3527, d5.loss_plan_l1_fix_dist: 0.4626, d6.loss_plan_l1_fix_time: 2.3592, d6.loss_plan_l1_fix_dist: 0.4858, d0.loss_cls_all: 0.5546, d0.loss_bbox_all: 0.6764, d0.loss_cls: 0.5546, d0.loss_bbox: 0.6764, d1.loss_cls: 0.5460, d1.loss_bbox: 0.6516, d2.loss_cls: 0.5458, d2.loss_bbox: 0.6368, d3.loss_cls: 0.5444, d3.loss_bbox: 0.6281, d4.loss_cls: 0.5389, d4.loss_bbox: 0.6262, d5.loss_cls: 0.5406, d5.loss_bbox: 0.6242, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5223, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.4733, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.4430, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.4699, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.4903, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5103, d0.loss_map_cls_all: 0.4196, d0.loss_map_pts_all: 2.5503, d0.loss_map_dir_all: 0.0280, d0.loss_map_cls: 0.4196, d0.loss_map_pts: 2.5503, d0.loss_map_dir: 0.0280, d1.loss_map_cls: 0.4037, d1.loss_map_pts: 1.8942, d1.loss_map_dir: 0.0278, d2.loss_map_cls: 0.3880, d2.loss_map_pts: 1.7744, d2.loss_map_dir: 0.0282, d3.loss_map_cls: 0.3802, d3.loss_map_pts: 1.7322, d3.loss_map_dir: 0.0285, d4.loss_map_cls: 0.3762, d4.loss_map_pts: 1.7122, d4.loss_map_dir: 0.0287, d5.loss_map_cls: 0.3779, d5.loss_map_pts: 1.7001, d5.loss_map_dir: 0.0289, loss: 59.3460, grad_norm: 148.4163 +2026-02-24 16:30:44,610 - DriveTransformer - INFO - Epoch [2][24900/39528] lr: 9.958e-05, eta: 8 days, 3:31:17, time: 0.765, data_time: 0.043, memory: 19865, loss_cls: 0.4974, loss_bbox: 0.6075, loss_traj: 1.5265, loss_traj_cls: 0.0005, loss_map_cls: 0.3142, loss_map_pts: 1.4194, loss_map_dir: 0.0248, d0.loss_plan_l1_fix_time: 2.5833, d0.loss_plan_l1_fix_dist: 0.4389, d1.loss_plan_l1_fix_time: 2.0331, d1.loss_plan_l1_fix_dist: 0.3524, d2.loss_plan_l1_fix_time: 1.9698, d2.loss_plan_l1_fix_dist: 0.3643, d3.loss_plan_l1_fix_time: 1.9614, d3.loss_plan_l1_fix_dist: 0.3800, d4.loss_plan_l1_fix_time: 1.9648, d4.loss_plan_l1_fix_dist: 0.4010, d5.loss_plan_l1_fix_time: 1.9693, d5.loss_plan_l1_fix_dist: 0.4247, d6.loss_plan_l1_fix_time: 1.9747, d6.loss_plan_l1_fix_dist: 0.4484, d0.loss_cls_all: 0.4997, d0.loss_bbox_all: 0.6483, d0.loss_cls: 0.4997, d0.loss_bbox: 0.6483, d1.loss_cls: 0.4932, d1.loss_bbox: 0.6279, d2.loss_cls: 0.4935, d2.loss_bbox: 0.6140, d3.loss_cls: 0.4951, d3.loss_bbox: 0.6088, d4.loss_cls: 0.4965, d4.loss_bbox: 0.6053, d5.loss_cls: 0.4975, d5.loss_bbox: 0.6069, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5747, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.4881, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.4765, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4811, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.4999, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5167, d0.loss_map_cls_all: 0.3641, d0.loss_map_pts_all: 2.1285, d0.loss_map_dir_all: 0.0240, d0.loss_map_cls: 0.3641, d0.loss_map_pts: 2.1285, d0.loss_map_dir: 0.0240, d1.loss_map_cls: 0.3470, d1.loss_map_pts: 1.5669, d1.loss_map_dir: 0.0239, d2.loss_map_cls: 0.3327, d2.loss_map_pts: 1.4661, d2.loss_map_dir: 0.0243, d3.loss_map_cls: 0.3215, d3.loss_map_pts: 1.4329, d3.loss_map_dir: 0.0245, d4.loss_map_cls: 0.3162, d4.loss_map_pts: 1.4203, d4.loss_map_dir: 0.0246, d5.loss_map_cls: 0.3132, d5.loss_map_pts: 1.4189, d5.loss_map_dir: 0.0247, loss: 52.6233, grad_norm: 148.9469 +2026-02-24 16:31:24,121 - DriveTransformer - INFO - Epoch [2][24950/39528] lr: 9.958e-05, eta: 8 days, 3:30:33, time: 0.790, data_time: 0.036, memory: 19865, loss_cls: 0.5921, loss_bbox: 0.7116, loss_traj: 1.3248, loss_traj_cls: 0.0006, loss_map_cls: 0.3869, loss_map_pts: 1.7296, loss_map_dir: 0.0335, d0.loss_plan_l1_fix_time: 3.0606, d0.loss_plan_l1_fix_dist: 0.4575, d1.loss_plan_l1_fix_time: 2.4790, d1.loss_plan_l1_fix_dist: 0.3889, d2.loss_plan_l1_fix_time: 2.4275, d2.loss_plan_l1_fix_dist: 0.4031, d3.loss_plan_l1_fix_time: 2.4236, d3.loss_plan_l1_fix_dist: 0.4254, d4.loss_plan_l1_fix_time: 2.4275, d4.loss_plan_l1_fix_dist: 0.4509, d5.loss_plan_l1_fix_time: 2.4333, d5.loss_plan_l1_fix_dist: 0.4801, d6.loss_plan_l1_fix_time: 2.4406, d6.loss_plan_l1_fix_dist: 0.5149, d0.loss_cls_all: 0.5952, d0.loss_bbox_all: 0.7434, d0.loss_cls: 0.5952, d0.loss_bbox: 0.7434, d1.loss_cls: 0.5919, d1.loss_bbox: 0.7271, d2.loss_cls: 0.5928, d2.loss_bbox: 0.7143, d3.loss_cls: 0.5909, d3.loss_bbox: 0.7083, d4.loss_cls: 0.5910, d4.loss_bbox: 0.7079, d5.loss_cls: 0.5915, d5.loss_bbox: 0.7071, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3257, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2713, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2787, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3017, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3075, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3188, d0.loss_map_cls_all: 0.4250, d0.loss_map_pts_all: 2.5972, d0.loss_map_dir_all: 0.0320, d0.loss_map_cls: 0.4250, d0.loss_map_pts: 2.5972, d0.loss_map_dir: 0.0320, d1.loss_map_cls: 0.4062, d1.loss_map_pts: 1.9208, d1.loss_map_dir: 0.0317, d2.loss_map_cls: 0.3997, d2.loss_map_pts: 1.7985, d2.loss_map_dir: 0.0323, d3.loss_map_cls: 0.3922, d3.loss_map_pts: 1.7510, d3.loss_map_dir: 0.0328, d4.loss_map_cls: 0.3886, d4.loss_map_pts: 1.7331, d4.loss_map_dir: 0.0330, d5.loss_map_cls: 0.3871, d5.loss_map_pts: 1.7303, d5.loss_map_dir: 0.0333, loss: 59.7795, grad_norm: 149.0891 +2026-02-24 16:32:04,127 - DriveTransformer - INFO - Epoch [2][25000/39528] lr: 9.958e-05, eta: 8 days, 3:29:56, time: 0.800, data_time: 0.040, memory: 19865, loss_cls: 0.5536, loss_bbox: 0.6200, loss_traj: 1.5326, loss_traj_cls: 0.0006, loss_map_cls: 0.3783, loss_map_pts: 1.6760, loss_map_dir: 0.0288, d0.loss_plan_l1_fix_time: 3.3600, d0.loss_plan_l1_fix_dist: 0.4189, d1.loss_plan_l1_fix_time: 2.5398, d1.loss_plan_l1_fix_dist: 0.3749, d2.loss_plan_l1_fix_time: 2.4829, d2.loss_plan_l1_fix_dist: 0.3896, d3.loss_plan_l1_fix_time: 2.4828, d3.loss_plan_l1_fix_dist: 0.4083, d4.loss_plan_l1_fix_time: 2.4893, d4.loss_plan_l1_fix_dist: 0.4292, d5.loss_plan_l1_fix_time: 2.4973, d5.loss_plan_l1_fix_dist: 0.4550, d6.loss_plan_l1_fix_time: 2.5060, d6.loss_plan_l1_fix_dist: 0.4882, d0.loss_cls_all: 0.5623, d0.loss_bbox_all: 0.6629, d0.loss_cls: 0.5623, d0.loss_bbox: 0.6629, d1.loss_cls: 0.5514, d1.loss_bbox: 0.6382, d2.loss_cls: 0.5507, d2.loss_bbox: 0.6218, d3.loss_cls: 0.5477, d3.loss_bbox: 0.6170, d4.loss_cls: 0.5455, d4.loss_bbox: 0.6131, d5.loss_cls: 0.5520, d5.loss_bbox: 0.6157, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6141, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.5191, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.5012, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5112, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5152, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5237, d0.loss_map_cls_all: 0.4083, d0.loss_map_pts_all: 2.5484, d0.loss_map_dir_all: 0.0274, d0.loss_map_cls: 0.4083, d0.loss_map_pts: 2.5484, d0.loss_map_dir: 0.0274, d1.loss_map_cls: 0.4006, d1.loss_map_pts: 1.8544, d1.loss_map_dir: 0.0273, d2.loss_map_cls: 0.3936, d2.loss_map_pts: 1.7325, d2.loss_map_dir: 0.0278, d3.loss_map_cls: 0.3863, d3.loss_map_pts: 1.6931, d3.loss_map_dir: 0.0283, d4.loss_map_cls: 0.3816, d4.loss_map_pts: 1.6744, d4.loss_map_dir: 0.0285, d5.loss_map_cls: 0.3793, d5.loss_map_pts: 1.6756, d5.loss_map_dir: 0.0287, loss: 60.2849, grad_norm: 149.0797 +2026-02-24 16:32:44,180 - DriveTransformer - INFO - Epoch [2][25050/39528] lr: 9.958e-05, eta: 8 days, 3:29:20, time: 0.801, data_time: 0.046, memory: 19865, loss_cls: 0.5032, loss_bbox: 0.6037, loss_traj: 1.5360, loss_traj_cls: 0.0005, loss_map_cls: 0.3089, loss_map_pts: 1.3618, loss_map_dir: 0.0260, d0.loss_plan_l1_fix_time: 2.7355, d0.loss_plan_l1_fix_dist: 0.4112, d1.loss_plan_l1_fix_time: 2.0566, d1.loss_plan_l1_fix_dist: 0.3308, d2.loss_plan_l1_fix_time: 1.9873, d2.loss_plan_l1_fix_dist: 0.3483, d3.loss_plan_l1_fix_time: 1.9734, d3.loss_plan_l1_fix_dist: 0.3693, d4.loss_plan_l1_fix_time: 1.9756, d4.loss_plan_l1_fix_dist: 0.3931, d5.loss_plan_l1_fix_time: 1.9806, d5.loss_plan_l1_fix_dist: 0.4209, d6.loss_plan_l1_fix_time: 1.9882, d6.loss_plan_l1_fix_dist: 0.4520, d0.loss_cls_all: 0.5098, d0.loss_bbox_all: 0.6441, d0.loss_cls: 0.5098, d0.loss_bbox: 0.6441, d1.loss_cls: 0.5057, d1.loss_bbox: 0.6149, d2.loss_cls: 0.4985, d2.loss_bbox: 0.6018, d3.loss_cls: 0.4963, d3.loss_bbox: 0.5972, d4.loss_cls: 0.4983, d4.loss_bbox: 0.5962, d5.loss_cls: 0.5021, d5.loss_bbox: 0.5982, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6297, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.5266, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.5125, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5250, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5270, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5341, d0.loss_map_cls_all: 0.3557, d0.loss_map_pts_all: 2.3174, d0.loss_map_dir_all: 0.0254, d0.loss_map_cls: 0.3557, d0.loss_map_pts: 2.3174, d0.loss_map_dir: 0.0254, d1.loss_map_cls: 0.3398, d1.loss_map_pts: 1.5349, d1.loss_map_dir: 0.0249, d2.loss_map_cls: 0.3224, d2.loss_map_pts: 1.4153, d2.loss_map_dir: 0.0252, d3.loss_map_cls: 0.3133, d3.loss_map_pts: 1.3799, d3.loss_map_dir: 0.0255, d4.loss_map_cls: 0.3088, d4.loss_map_pts: 1.3645, d4.loss_map_dir: 0.0256, d5.loss_map_cls: 0.3078, d5.loss_map_pts: 1.3623, d5.loss_map_dir: 0.0258, loss: 53.0124, grad_norm: 147.7738 +2026-02-24 16:33:24,463 - DriveTransformer - INFO - Epoch [2][25100/39528] lr: 9.958e-05, eta: 8 days, 3:28:47, time: 0.806, data_time: 0.052, memory: 19865, loss_cls: 0.5177, loss_bbox: 0.6161, loss_traj: 1.3456, loss_traj_cls: 0.0006, loss_map_cls: 0.3623, loss_map_pts: 1.6009, loss_map_dir: 0.0300, d0.loss_plan_l1_fix_time: 2.7367, d0.loss_plan_l1_fix_dist: 0.4047, d1.loss_plan_l1_fix_time: 2.1106, d1.loss_plan_l1_fix_dist: 0.3612, d2.loss_plan_l1_fix_time: 2.0951, d2.loss_plan_l1_fix_dist: 0.3855, d3.loss_plan_l1_fix_time: 2.1047, d3.loss_plan_l1_fix_dist: 0.4170, d4.loss_plan_l1_fix_time: 2.1137, d4.loss_plan_l1_fix_dist: 0.4533, d5.loss_plan_l1_fix_time: 2.1223, d5.loss_plan_l1_fix_dist: 0.4860, d6.loss_plan_l1_fix_time: 2.1319, d6.loss_plan_l1_fix_dist: 0.5222, d0.loss_cls_all: 0.5108, d0.loss_bbox_all: 0.6539, d0.loss_cls: 0.5108, d0.loss_bbox: 0.6539, d1.loss_cls: 0.5099, d1.loss_bbox: 0.6296, d2.loss_cls: 0.5083, d2.loss_bbox: 0.6107, d3.loss_cls: 0.5156, d3.loss_bbox: 0.6064, d4.loss_cls: 0.5162, d4.loss_bbox: 0.6070, d5.loss_cls: 0.5178, d5.loss_bbox: 0.6089, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3737, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3004, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2912, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3141, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3260, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3402, d0.loss_map_cls_all: 0.4044, d0.loss_map_pts_all: 2.5765, d0.loss_map_dir_all: 0.0292, d0.loss_map_cls: 0.4044, d0.loss_map_pts: 2.5765, d0.loss_map_dir: 0.0292, d1.loss_map_cls: 0.3916, d1.loss_map_pts: 1.8167, d1.loss_map_dir: 0.0290, d2.loss_map_cls: 0.3753, d2.loss_map_pts: 1.6803, d2.loss_map_dir: 0.0294, d3.loss_map_cls: 0.3662, d3.loss_map_pts: 1.6318, d3.loss_map_dir: 0.0297, d4.loss_map_cls: 0.3627, d4.loss_map_pts: 1.6115, d4.loss_map_dir: 0.0299, d5.loss_map_cls: 0.3615, d5.loss_map_pts: 1.6077, d5.loss_map_dir: 0.0299, loss: 55.2015, grad_norm: 147.2678 +2026-02-24 16:34:04,874 - DriveTransformer - INFO - Epoch [2][25150/39528] lr: 9.958e-05, eta: 8 days, 3:28:15, time: 0.808, data_time: 0.040, memory: 19865, loss_cls: 0.5078, loss_bbox: 0.6147, loss_traj: 1.2029, loss_traj_cls: 0.0006, loss_map_cls: 0.3059, loss_map_pts: 1.4146, loss_map_dir: 0.0285, d0.loss_plan_l1_fix_time: 2.1811, d0.loss_plan_l1_fix_dist: 0.3765, d1.loss_plan_l1_fix_time: 1.9267, d1.loss_plan_l1_fix_dist: 0.3279, d2.loss_plan_l1_fix_time: 1.9111, d2.loss_plan_l1_fix_dist: 0.3390, d3.loss_plan_l1_fix_time: 1.9216, d3.loss_plan_l1_fix_dist: 0.3582, d4.loss_plan_l1_fix_time: 1.9315, d4.loss_plan_l1_fix_dist: 0.3788, d5.loss_plan_l1_fix_time: 1.9407, d5.loss_plan_l1_fix_dist: 0.3978, d6.loss_plan_l1_fix_time: 1.9504, d6.loss_plan_l1_fix_dist: 0.4191, d0.loss_cls_all: 0.5070, d0.loss_bbox_all: 0.6373, d0.loss_cls: 0.5070, d0.loss_bbox: 0.6373, d1.loss_cls: 0.5058, d1.loss_bbox: 0.6095, d2.loss_cls: 0.5047, d2.loss_bbox: 0.6015, d3.loss_cls: 0.5070, d3.loss_bbox: 0.6045, d4.loss_cls: 0.5063, d4.loss_bbox: 0.6059, d5.loss_cls: 0.5070, d5.loss_bbox: 0.6084, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1873, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.1442, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1631, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1851, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1910, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2004, d0.loss_map_cls_all: 0.3536, d0.loss_map_pts_all: 2.3878, d0.loss_map_dir_all: 0.0276, d0.loss_map_cls: 0.3536, d0.loss_map_pts: 2.3878, d0.loss_map_dir: 0.0276, d1.loss_map_cls: 0.3410, d1.loss_map_pts: 1.6035, d1.loss_map_dir: 0.0275, d2.loss_map_cls: 0.3286, d2.loss_map_pts: 1.4759, d2.loss_map_dir: 0.0278, d3.loss_map_cls: 0.3180, d3.loss_map_pts: 1.4350, d3.loss_map_dir: 0.0280, d4.loss_map_cls: 0.3112, d4.loss_map_pts: 1.4214, d4.loss_map_dir: 0.0283, d5.loss_map_cls: 0.3067, d5.loss_map_pts: 1.4178, d5.loss_map_dir: 0.0283, loss: 49.9976, grad_norm: 150.4526 +2026-02-24 16:34:46,964 - DriveTransformer - INFO - Epoch [2][25200/39528] lr: 9.958e-05, eta: 8 days, 3:28:07, time: 0.842, data_time: 0.047, memory: 19865, loss_cls: 0.5403, loss_bbox: 0.6660, loss_traj: 1.5176, loss_traj_cls: 0.0005, loss_map_cls: 0.3349, loss_map_pts: 1.5921, loss_map_dir: 0.0275, d0.loss_plan_l1_fix_time: 2.9794, d0.loss_plan_l1_fix_dist: 0.4493, d1.loss_plan_l1_fix_time: 2.4149, d1.loss_plan_l1_fix_dist: 0.3943, d2.loss_plan_l1_fix_time: 2.3831, d2.loss_plan_l1_fix_dist: 0.4015, d3.loss_plan_l1_fix_time: 2.3823, d3.loss_plan_l1_fix_dist: 0.4121, d4.loss_plan_l1_fix_time: 2.3877, d4.loss_plan_l1_fix_dist: 0.4271, d5.loss_plan_l1_fix_time: 2.3935, d5.loss_plan_l1_fix_dist: 0.4454, d6.loss_plan_l1_fix_time: 2.4003, d6.loss_plan_l1_fix_dist: 0.4630, d0.loss_cls_all: 0.5382, d0.loss_bbox_all: 0.7136, d0.loss_cls: 0.5382, d0.loss_bbox: 0.7136, d1.loss_cls: 0.5336, d1.loss_bbox: 0.6892, d2.loss_cls: 0.5355, d2.loss_bbox: 0.6713, d3.loss_cls: 0.5383, d3.loss_bbox: 0.6653, d4.loss_cls: 0.5353, d4.loss_bbox: 0.6631, d5.loss_cls: 0.5402, d5.loss_bbox: 0.6611, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6491, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.5257, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.4930, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.5081, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5157, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5140, d0.loss_map_cls_all: 0.3887, d0.loss_map_pts_all: 2.5454, d0.loss_map_dir_all: 0.0265, d0.loss_map_cls: 0.3887, d0.loss_map_pts: 2.5454, d0.loss_map_dir: 0.0265, d1.loss_map_cls: 0.3789, d1.loss_map_pts: 1.7704, d1.loss_map_dir: 0.0263, d2.loss_map_cls: 0.3580, d2.loss_map_pts: 1.6590, d2.loss_map_dir: 0.0268, d3.loss_map_cls: 0.3442, d3.loss_map_pts: 1.6152, d3.loss_map_dir: 0.0271, d4.loss_map_cls: 0.3383, d4.loss_map_pts: 1.5990, d4.loss_map_dir: 0.0274, d5.loss_map_cls: 0.3352, d5.loss_map_pts: 1.5949, d5.loss_map_dir: 0.0274, loss: 58.8093, grad_norm: 149.6053 +2026-02-24 16:35:27,939 - DriveTransformer - INFO - Epoch [2][25250/39528] lr: 9.958e-05, eta: 8 days, 3:27:43, time: 0.820, data_time: 0.038, memory: 19865, loss_cls: 0.5141, loss_bbox: 0.6025, loss_traj: 1.3576, loss_traj_cls: 0.0005, loss_map_cls: 0.3472, loss_map_pts: 1.5601, loss_map_dir: 0.0293, d0.loss_plan_l1_fix_time: 2.6827, d0.loss_plan_l1_fix_dist: 0.4129, d1.loss_plan_l1_fix_time: 2.3155, d1.loss_plan_l1_fix_dist: 0.3275, d2.loss_plan_l1_fix_time: 2.3081, d2.loss_plan_l1_fix_dist: 0.3351, d3.loss_plan_l1_fix_time: 2.3108, d3.loss_plan_l1_fix_dist: 0.3492, d4.loss_plan_l1_fix_time: 2.3168, d4.loss_plan_l1_fix_dist: 0.3676, d5.loss_plan_l1_fix_time: 2.3231, d5.loss_plan_l1_fix_dist: 0.3867, d6.loss_plan_l1_fix_time: 2.3291, d6.loss_plan_l1_fix_dist: 0.4087, d0.loss_cls_all: 0.5259, d0.loss_bbox_all: 0.6287, d0.loss_cls: 0.5259, d0.loss_bbox: 0.6287, d1.loss_cls: 0.5169, d1.loss_bbox: 0.6090, d2.loss_cls: 0.5161, d2.loss_bbox: 0.5969, d3.loss_cls: 0.5166, d3.loss_bbox: 0.5942, d4.loss_cls: 0.5150, d4.loss_bbox: 0.5955, d5.loss_cls: 0.5163, d5.loss_bbox: 0.5947, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4553, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3361, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3253, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3486, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3564, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3615, d0.loss_map_cls_all: 0.3825, d0.loss_map_pts_all: 2.5270, d0.loss_map_dir_all: 0.0283, d0.loss_map_cls: 0.3825, d0.loss_map_pts: 2.5270, d0.loss_map_dir: 0.0283, d1.loss_map_cls: 0.3734, d1.loss_map_pts: 1.7558, d1.loss_map_dir: 0.0281, d2.loss_map_cls: 0.3608, d2.loss_map_pts: 1.6373, d2.loss_map_dir: 0.0284, d3.loss_map_cls: 0.3518, d3.loss_map_pts: 1.5826, d3.loss_map_dir: 0.0289, d4.loss_map_cls: 0.3479, d4.loss_map_pts: 1.5628, d4.loss_map_dir: 0.0291, d5.loss_map_cls: 0.3477, d5.loss_map_pts: 1.5583, d5.loss_map_dir: 0.0291, loss: 55.5500, grad_norm: 147.6398 +2026-02-24 16:36:08,982 - DriveTransformer - INFO - Epoch [2][25300/39528] lr: 9.958e-05, eta: 8 days, 3:27:20, time: 0.821, data_time: 0.041, memory: 19865, loss_cls: 0.4764, loss_bbox: 0.5890, loss_traj: 1.4723, loss_traj_cls: 0.0005, loss_map_cls: 0.3395, loss_map_pts: 1.4920, loss_map_dir: 0.0274, d0.loss_plan_l1_fix_time: 2.4940, d0.loss_plan_l1_fix_dist: 0.4741, d1.loss_plan_l1_fix_time: 2.1401, d1.loss_plan_l1_fix_dist: 0.3732, d2.loss_plan_l1_fix_time: 2.1444, d2.loss_plan_l1_fix_dist: 0.3831, d3.loss_plan_l1_fix_time: 2.1602, d3.loss_plan_l1_fix_dist: 0.4023, d4.loss_plan_l1_fix_time: 2.1714, d4.loss_plan_l1_fix_dist: 0.4264, d5.loss_plan_l1_fix_time: 2.1814, d5.loss_plan_l1_fix_dist: 0.4511, d6.loss_plan_l1_fix_time: 2.1904, d6.loss_plan_l1_fix_dist: 0.4808, d0.loss_cls_all: 0.4862, d0.loss_bbox_all: 0.6305, d0.loss_cls: 0.4862, d0.loss_bbox: 0.6305, d1.loss_cls: 0.4743, d1.loss_bbox: 0.6064, d2.loss_cls: 0.4747, d2.loss_bbox: 0.5933, d3.loss_cls: 0.4757, d3.loss_bbox: 0.5892, d4.loss_cls: 0.4767, d4.loss_bbox: 0.5902, d5.loss_cls: 0.4777, d5.loss_bbox: 0.5880, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6265, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.4829, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.4489, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.4633, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.4574, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4650, d0.loss_map_cls_all: 0.3783, d0.loss_map_pts_all: 2.4485, d0.loss_map_dir_all: 0.0269, d0.loss_map_cls: 0.3783, d0.loss_map_pts: 2.4485, d0.loss_map_dir: 0.0269, d1.loss_map_cls: 0.3602, d1.loss_map_pts: 1.6901, d1.loss_map_dir: 0.0263, d2.loss_map_cls: 0.3456, d2.loss_map_pts: 1.5690, d2.loss_map_dir: 0.0265, d3.loss_map_cls: 0.3370, d3.loss_map_pts: 1.5170, d3.loss_map_dir: 0.0269, d4.loss_map_cls: 0.3339, d4.loss_map_pts: 1.4990, d4.loss_map_dir: 0.0271, d5.loss_map_cls: 0.3356, d5.loss_map_pts: 1.4945, d5.loss_map_dir: 0.0272, loss: 54.7213, grad_norm: 146.8964 +2026-02-24 16:36:46,991 - DriveTransformer - INFO - Epoch [2][25350/39528] lr: 9.958e-05, eta: 8 days, 3:26:16, time: 0.760, data_time: 0.046, memory: 19865, loss_cls: 0.5057, loss_bbox: 0.6119, loss_traj: 1.6954, loss_traj_cls: 0.0005, loss_map_cls: 0.3581, loss_map_pts: 1.4509, loss_map_dir: 0.0238, d0.loss_plan_l1_fix_time: 2.7378, d0.loss_plan_l1_fix_dist: 0.4068, d1.loss_plan_l1_fix_time: 2.3063, d1.loss_plan_l1_fix_dist: 0.3366, d2.loss_plan_l1_fix_time: 2.2581, d2.loss_plan_l1_fix_dist: 0.3453, d3.loss_plan_l1_fix_time: 2.2520, d3.loss_plan_l1_fix_dist: 0.3596, d4.loss_plan_l1_fix_time: 2.2565, d4.loss_plan_l1_fix_dist: 0.3750, d5.loss_plan_l1_fix_time: 2.2637, d5.loss_plan_l1_fix_dist: 0.3942, d6.loss_plan_l1_fix_time: 2.2728, d6.loss_plan_l1_fix_dist: 0.4145, d0.loss_cls_all: 0.5192, d0.loss_bbox_all: 0.6538, d0.loss_cls: 0.5192, d0.loss_bbox: 0.6538, d1.loss_cls: 0.5112, d1.loss_bbox: 0.6280, d2.loss_cls: 0.5077, d2.loss_bbox: 0.6123, d3.loss_cls: 0.5078, d3.loss_bbox: 0.6091, d4.loss_cls: 0.5049, d4.loss_bbox: 0.6080, d5.loss_cls: 0.5053, d5.loss_bbox: 0.6086, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7543, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.6706, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.6571, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.6634, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6783, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6826, d0.loss_map_cls_all: 0.4045, d0.loss_map_pts_all: 2.0995, d0.loss_map_dir_all: 0.0226, d0.loss_map_cls: 0.4045, d0.loss_map_pts: 2.0995, d0.loss_map_dir: 0.0226, d1.loss_map_cls: 0.3857, d1.loss_map_pts: 1.6200, d1.loss_map_dir: 0.0226, d2.loss_map_cls: 0.3733, d2.loss_map_pts: 1.5171, d2.loss_map_dir: 0.0229, d3.loss_map_cls: 0.3650, d3.loss_map_pts: 1.4726, d3.loss_map_dir: 0.0233, d4.loss_map_cls: 0.3602, d4.loss_map_pts: 1.4557, d4.loss_map_dir: 0.0236, d5.loss_map_cls: 0.3571, d5.loss_map_pts: 1.4508, d5.loss_map_dir: 0.0238, loss: 56.2124, grad_norm: 147.1821 +2026-02-24 16:37:27,741 - DriveTransformer - INFO - Epoch [2][25400/39528] lr: 9.958e-05, eta: 8 days, 3:25:50, time: 0.816, data_time: 0.037, memory: 19865, loss_cls: 0.5162, loss_bbox: 0.6331, loss_traj: 1.3280, loss_traj_cls: 0.0005, loss_map_cls: 0.3686, loss_map_pts: 1.6561, loss_map_dir: 0.0291, d0.loss_plan_l1_fix_time: 3.0450, d0.loss_plan_l1_fix_dist: 0.4325, d1.loss_plan_l1_fix_time: 2.5155, d1.loss_plan_l1_fix_dist: 0.3549, d2.loss_plan_l1_fix_time: 2.4926, d2.loss_plan_l1_fix_dist: 0.3584, d3.loss_plan_l1_fix_time: 2.4923, d3.loss_plan_l1_fix_dist: 0.3693, d4.loss_plan_l1_fix_time: 2.4954, d4.loss_plan_l1_fix_dist: 0.3820, d5.loss_plan_l1_fix_time: 2.4996, d5.loss_plan_l1_fix_dist: 0.3966, d6.loss_plan_l1_fix_time: 2.5058, d6.loss_plan_l1_fix_dist: 0.4129, d0.loss_cls_all: 0.5294, d0.loss_bbox_all: 0.6704, d0.loss_cls: 0.5294, d0.loss_bbox: 0.6704, d1.loss_cls: 0.5210, d1.loss_bbox: 0.6493, d2.loss_cls: 0.5187, d2.loss_bbox: 0.6358, d3.loss_cls: 0.5181, d3.loss_bbox: 0.6310, d4.loss_cls: 0.5174, d4.loss_bbox: 0.6302, d5.loss_cls: 0.5167, d5.loss_bbox: 0.6301, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4290, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3234, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3103, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3080, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3160, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3192, d0.loss_map_cls_all: 0.4057, d0.loss_map_pts_all: 2.5869, d0.loss_map_dir_all: 0.0276, d0.loss_map_cls: 0.4057, d0.loss_map_pts: 2.5869, d0.loss_map_dir: 0.0276, d1.loss_map_cls: 0.3926, d1.loss_map_pts: 1.8548, d1.loss_map_dir: 0.0276, d2.loss_map_cls: 0.3780, d2.loss_map_pts: 1.7255, d2.loss_map_dir: 0.0281, d3.loss_map_cls: 0.3699, d3.loss_map_pts: 1.6804, d3.loss_map_dir: 0.0286, d4.loss_map_cls: 0.3658, d4.loss_map_pts: 1.6647, d4.loss_map_dir: 0.0288, d5.loss_map_cls: 0.3671, d5.loss_map_pts: 1.6585, d5.loss_map_dir: 0.0290, loss: 58.1030, grad_norm: 147.7290 +2026-02-24 16:38:08,196 - DriveTransformer - INFO - Epoch [2][25450/39528] lr: 9.958e-05, eta: 8 days, 3:25:18, time: 0.808, data_time: 0.037, memory: 19865, loss_cls: 0.5340, loss_bbox: 0.6801, loss_traj: 1.0313, loss_traj_cls: 0.0006, loss_map_cls: 0.3756, loss_map_pts: 1.7114, loss_map_dir: 0.0332, d0.loss_plan_l1_fix_time: 2.5574, d0.loss_plan_l1_fix_dist: 0.4461, d1.loss_plan_l1_fix_time: 2.0769, d1.loss_plan_l1_fix_dist: 0.3822, d2.loss_plan_l1_fix_time: 2.0206, d2.loss_plan_l1_fix_dist: 0.3864, d3.loss_plan_l1_fix_time: 2.0158, d3.loss_plan_l1_fix_dist: 0.4000, d4.loss_plan_l1_fix_time: 2.0190, d4.loss_plan_l1_fix_dist: 0.4167, d5.loss_plan_l1_fix_time: 2.0228, d5.loss_plan_l1_fix_dist: 0.4352, d6.loss_plan_l1_fix_time: 2.0270, d6.loss_plan_l1_fix_dist: 0.4554, d0.loss_cls_all: 0.5527, d0.loss_bbox_all: 0.7025, d0.loss_cls: 0.5527, d0.loss_bbox: 0.7025, d1.loss_cls: 0.5334, d1.loss_bbox: 0.6886, d2.loss_cls: 0.5309, d2.loss_bbox: 0.6822, d3.loss_cls: 0.5280, d3.loss_bbox: 0.6777, d4.loss_cls: 0.5283, d4.loss_bbox: 0.6762, d5.loss_cls: 0.5310, d5.loss_bbox: 0.6787, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0754, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.0173, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0139, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.0243, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.0280, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.0251, d0.loss_map_cls_all: 0.4056, d0.loss_map_pts_all: 2.7071, d0.loss_map_dir_all: 0.0317, d0.loss_map_cls: 0.4056, d0.loss_map_pts: 2.7071, d0.loss_map_dir: 0.0317, d1.loss_map_cls: 0.3947, d1.loss_map_pts: 1.8765, d1.loss_map_dir: 0.0316, d2.loss_map_cls: 0.3835, d2.loss_map_pts: 1.7616, d2.loss_map_dir: 0.0321, d3.loss_map_cls: 0.3754, d3.loss_map_pts: 1.7315, d3.loss_map_dir: 0.0325, d4.loss_map_cls: 0.3730, d4.loss_map_pts: 1.7203, d4.loss_map_dir: 0.0328, d5.loss_map_cls: 0.3731, d5.loss_map_pts: 1.7140, d5.loss_map_dir: 0.0329, loss: 53.9360, grad_norm: 147.7921 +2026-02-24 16:38:49,185 - DriveTransformer - INFO - Epoch [2][25500/39528] lr: 9.958e-05, eta: 8 days, 3:24:54, time: 0.820, data_time: 0.041, memory: 19865, loss_cls: 0.5296, loss_bbox: 0.6564, loss_traj: 1.3024, loss_traj_cls: 0.0006, loss_map_cls: 0.3675, loss_map_pts: 1.5844, loss_map_dir: 0.0319, d0.loss_plan_l1_fix_time: 2.8464, d0.loss_plan_l1_fix_dist: 0.4705, d1.loss_plan_l1_fix_time: 2.4120, d1.loss_plan_l1_fix_dist: 0.3813, d2.loss_plan_l1_fix_time: 2.3820, d2.loss_plan_l1_fix_dist: 0.3895, d3.loss_plan_l1_fix_time: 2.3859, d3.loss_plan_l1_fix_dist: 0.3983, d4.loss_plan_l1_fix_time: 2.3927, d4.loss_plan_l1_fix_dist: 0.4096, d5.loss_plan_l1_fix_time: 2.4004, d5.loss_plan_l1_fix_dist: 0.4258, d6.loss_plan_l1_fix_time: 2.4080, d6.loss_plan_l1_fix_dist: 0.4449, d0.loss_cls_all: 0.5375, d0.loss_bbox_all: 0.6843, d0.loss_cls: 0.5375, d0.loss_bbox: 0.6843, d1.loss_cls: 0.5268, d1.loss_bbox: 0.6636, d2.loss_cls: 0.5263, d2.loss_bbox: 0.6543, d3.loss_cls: 0.5246, d3.loss_bbox: 0.6527, d4.loss_cls: 0.5250, d4.loss_bbox: 0.6508, d5.loss_cls: 0.5281, d5.loss_bbox: 0.6516, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4131, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2921, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2634, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.2697, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2793, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2835, d0.loss_map_cls_all: 0.3803, d0.loss_map_pts_all: 2.4794, d0.loss_map_dir_all: 0.0299, d0.loss_map_cls: 0.3803, d0.loss_map_pts: 2.4794, d0.loss_map_dir: 0.0299, d1.loss_map_cls: 0.3787, d1.loss_map_pts: 1.7371, d1.loss_map_dir: 0.0300, d2.loss_map_cls: 0.3691, d2.loss_map_pts: 1.6329, d2.loss_map_dir: 0.0306, d3.loss_map_cls: 0.3657, d3.loss_map_pts: 1.6004, d3.loss_map_dir: 0.0311, d4.loss_map_cls: 0.3644, d4.loss_map_pts: 1.5886, d4.loss_map_dir: 0.0315, d5.loss_map_cls: 0.3655, d5.loss_map_pts: 1.5871, d5.loss_map_dir: 0.0317, loss: 56.6972, grad_norm: 148.7766 +2026-02-24 16:39:29,511 - DriveTransformer - INFO - Epoch [2][25550/39528] lr: 9.958e-05, eta: 8 days, 3:24:21, time: 0.806, data_time: 0.038, memory: 19865, loss_cls: 0.5142, loss_bbox: 0.6402, loss_traj: 1.2866, loss_traj_cls: 0.0006, loss_map_cls: 0.3294, loss_map_pts: 1.4425, loss_map_dir: 0.0315, d0.loss_plan_l1_fix_time: 2.6996, d0.loss_plan_l1_fix_dist: 0.3992, d1.loss_plan_l1_fix_time: 2.0474, d1.loss_plan_l1_fix_dist: 0.3387, d2.loss_plan_l1_fix_time: 2.0190, d2.loss_plan_l1_fix_dist: 0.3479, d3.loss_plan_l1_fix_time: 2.0266, d3.loss_plan_l1_fix_dist: 0.3610, d4.loss_plan_l1_fix_time: 2.0396, d4.loss_plan_l1_fix_dist: 0.3761, d5.loss_plan_l1_fix_time: 2.0534, d5.loss_plan_l1_fix_dist: 0.3950, d6.loss_plan_l1_fix_time: 2.0682, d6.loss_plan_l1_fix_dist: 0.4197, d0.loss_cls_all: 0.5214, d0.loss_bbox_all: 0.6770, d0.loss_cls: 0.5214, d0.loss_bbox: 0.6770, d1.loss_cls: 0.5170, d1.loss_bbox: 0.6509, d2.loss_cls: 0.5136, d2.loss_bbox: 0.6405, d3.loss_cls: 0.5142, d3.loss_bbox: 0.6381, d4.loss_cls: 0.5120, d4.loss_bbox: 0.6363, d5.loss_cls: 0.5125, d5.loss_bbox: 0.6373, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3808, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2492, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2325, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.2495, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.2578, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2725, d0.loss_map_cls_all: 0.3587, d0.loss_map_pts_all: 2.4333, d0.loss_map_dir_all: 0.0297, d0.loss_map_cls: 0.3587, d0.loss_map_pts: 2.4333, d0.loss_map_dir: 0.0297, d1.loss_map_cls: 0.3479, d1.loss_map_pts: 1.6108, d1.loss_map_dir: 0.0299, d2.loss_map_cls: 0.3341, d2.loss_map_pts: 1.4984, d2.loss_map_dir: 0.0306, d3.loss_map_cls: 0.3263, d3.loss_map_pts: 1.4576, d3.loss_map_dir: 0.0311, d4.loss_map_cls: 0.3263, d4.loss_map_pts: 1.4436, d4.loss_map_dir: 0.0313, d5.loss_map_cls: 0.3286, d5.loss_map_pts: 1.4407, d5.loss_map_dir: 0.0314, loss: 52.5644, grad_norm: 148.5502 +2026-02-24 16:40:09,835 - DriveTransformer - INFO - Epoch [2][25600/39528] lr: 9.958e-05, eta: 8 days, 3:23:49, time: 0.806, data_time: 0.039, memory: 19865, loss_cls: 0.5265, loss_bbox: 0.6272, loss_traj: 1.3537, loss_traj_cls: 0.0005, loss_map_cls: 0.3341, loss_map_pts: 1.5025, loss_map_dir: 0.0271, d0.loss_plan_l1_fix_time: 2.4990, d0.loss_plan_l1_fix_dist: 0.4462, d1.loss_plan_l1_fix_time: 1.9436, d1.loss_plan_l1_fix_dist: 0.3469, d2.loss_plan_l1_fix_time: 1.9171, d2.loss_plan_l1_fix_dist: 0.3618, d3.loss_plan_l1_fix_time: 1.9207, d3.loss_plan_l1_fix_dist: 0.3843, d4.loss_plan_l1_fix_time: 1.9307, d4.loss_plan_l1_fix_dist: 0.4081, d5.loss_plan_l1_fix_time: 1.9413, d5.loss_plan_l1_fix_dist: 0.4272, d6.loss_plan_l1_fix_time: 1.9527, d6.loss_plan_l1_fix_dist: 0.4448, d0.loss_cls_all: 0.5386, d0.loss_bbox_all: 0.6616, d0.loss_cls: 0.5386, d0.loss_bbox: 0.6616, d1.loss_cls: 0.5321, d1.loss_bbox: 0.6389, d2.loss_cls: 0.5314, d2.loss_bbox: 0.6304, d3.loss_cls: 0.5290, d3.loss_bbox: 0.6265, d4.loss_cls: 0.5295, d4.loss_bbox: 0.6260, d5.loss_cls: 0.5267, d5.loss_bbox: 0.6237, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5285, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3526, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3146, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3245, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3432, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3441, d0.loss_map_cls_all: 0.3656, d0.loss_map_pts_all: 2.3207, d0.loss_map_dir_all: 0.0252, d0.loss_map_cls: 0.3656, d0.loss_map_pts: 2.3207, d0.loss_map_dir: 0.0252, d1.loss_map_cls: 0.3483, d1.loss_map_pts: 1.6683, d1.loss_map_dir: 0.0254, d2.loss_map_cls: 0.3351, d2.loss_map_pts: 1.5577, d2.loss_map_dir: 0.0260, d3.loss_map_cls: 0.3307, d3.loss_map_pts: 1.5162, d3.loss_map_dir: 0.0265, d4.loss_map_cls: 0.3300, d4.loss_map_pts: 1.5067, d4.loss_map_dir: 0.0268, d5.loss_map_cls: 0.3328, d5.loss_map_pts: 1.5049, d5.loss_map_dir: 0.0269, loss: 52.6883, grad_norm: 149.7313 +2026-02-24 16:40:48,944 - DriveTransformer - INFO - Epoch [2][25650/39528] lr: 9.958e-05, eta: 8 days, 3:22:59, time: 0.782, data_time: 0.037, memory: 19865, loss_cls: 0.5288, loss_bbox: 0.6686, loss_traj: 1.2108, loss_traj_cls: 0.0005, loss_map_cls: 0.3286, loss_map_pts: 1.5427, loss_map_dir: 0.0259, d0.loss_plan_l1_fix_time: 2.6992, d0.loss_plan_l1_fix_dist: 0.5006, d1.loss_plan_l1_fix_time: 2.2661, d1.loss_plan_l1_fix_dist: 0.4066, d2.loss_plan_l1_fix_time: 2.2307, d2.loss_plan_l1_fix_dist: 0.4150, d3.loss_plan_l1_fix_time: 2.2314, d3.loss_plan_l1_fix_dist: 0.4300, d4.loss_plan_l1_fix_time: 2.2376, d4.loss_plan_l1_fix_dist: 0.4495, d5.loss_plan_l1_fix_time: 2.2448, d5.loss_plan_l1_fix_dist: 0.4683, d6.loss_plan_l1_fix_time: 2.2531, d6.loss_plan_l1_fix_dist: 0.4876, d0.loss_cls_all: 0.5298, d0.loss_bbox_all: 0.7054, d0.loss_cls: 0.5298, d0.loss_bbox: 0.7054, d1.loss_cls: 0.5291, d1.loss_bbox: 0.6822, d2.loss_cls: 0.5268, d2.loss_bbox: 0.6724, d3.loss_cls: 0.5261, d3.loss_bbox: 0.6681, d4.loss_cls: 0.5332, d4.loss_bbox: 0.6659, d5.loss_cls: 0.5317, d5.loss_bbox: 0.6664, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3287, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2208, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.1992, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.2012, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.2132, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2144, d0.loss_map_cls_all: 0.3664, d0.loss_map_pts_all: 2.3355, d0.loss_map_dir_all: 0.0247, d0.loss_map_cls: 0.3664, d0.loss_map_pts: 2.3355, d0.loss_map_dir: 0.0247, d1.loss_map_cls: 0.3461, d1.loss_map_pts: 1.6864, d1.loss_map_dir: 0.0247, d2.loss_map_cls: 0.3346, d2.loss_map_pts: 1.5896, d2.loss_map_dir: 0.0251, d3.loss_map_cls: 0.3315, d3.loss_map_pts: 1.5652, d3.loss_map_dir: 0.0255, d4.loss_map_cls: 0.3292, d4.loss_map_pts: 1.5560, d4.loss_map_dir: 0.0257, d5.loss_map_cls: 0.3292, d5.loss_map_pts: 1.5473, d5.loss_map_dir: 0.0258, loss: 54.6761, grad_norm: 149.3815 +2026-02-24 16:41:30,527 - DriveTransformer - INFO - Epoch [2][25700/39528] lr: 9.958e-05, eta: 8 days, 3:22:43, time: 0.832, data_time: 0.038, memory: 19865, loss_cls: 0.5141, loss_bbox: 0.6427, loss_traj: 1.1485, loss_traj_cls: 0.0005, loss_map_cls: 0.3818, loss_map_pts: 1.7229, loss_map_dir: 0.0337, d0.loss_plan_l1_fix_time: 2.4151, d0.loss_plan_l1_fix_dist: 0.3875, d1.loss_plan_l1_fix_time: 2.1205, d1.loss_plan_l1_fix_dist: 0.3336, d2.loss_plan_l1_fix_time: 2.1083, d2.loss_plan_l1_fix_dist: 0.3438, d3.loss_plan_l1_fix_time: 2.1179, d3.loss_plan_l1_fix_dist: 0.3603, d4.loss_plan_l1_fix_time: 2.1261, d4.loss_plan_l1_fix_dist: 0.3773, d5.loss_plan_l1_fix_time: 2.1349, d5.loss_plan_l1_fix_dist: 0.3963, d6.loss_plan_l1_fix_time: 2.1450, d6.loss_plan_l1_fix_dist: 0.4184, d0.loss_cls_all: 0.5289, d0.loss_bbox_all: 0.6761, d0.loss_cls: 0.5289, d0.loss_bbox: 0.6761, d1.loss_cls: 0.5197, d1.loss_bbox: 0.6581, d2.loss_cls: 0.5204, d2.loss_bbox: 0.6472, d3.loss_cls: 0.5163, d3.loss_bbox: 0.6464, d4.loss_cls: 0.5172, d4.loss_bbox: 0.6409, d5.loss_cls: 0.5146, d5.loss_bbox: 0.6422, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2667, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1616, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.1334, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.1338, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.1343, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.1413, d0.loss_map_cls_all: 0.3991, d0.loss_map_pts_all: 2.7927, d0.loss_map_dir_all: 0.0319, d0.loss_map_cls: 0.3991, d0.loss_map_pts: 2.7927, d0.loss_map_dir: 0.0319, d1.loss_map_cls: 0.3886, d1.loss_map_pts: 1.9201, d1.loss_map_dir: 0.0319, d2.loss_map_cls: 0.3809, d2.loss_map_pts: 1.7973, d2.loss_map_dir: 0.0324, d3.loss_map_cls: 0.3794, d3.loss_map_pts: 1.7530, d3.loss_map_dir: 0.0331, d4.loss_map_cls: 0.3791, d4.loss_map_pts: 1.7340, d4.loss_map_dir: 0.0333, d5.loss_map_cls: 0.3805, d5.loss_map_pts: 1.7258, d5.loss_map_dir: 0.0335, loss: 54.8884, grad_norm: 149.2800 +2026-02-24 16:42:11,415 - DriveTransformer - INFO - Epoch [2][25750/39528] lr: 9.958e-05, eta: 8 days, 3:22:18, time: 0.818, data_time: 0.045, memory: 19865, loss_cls: 0.4977, loss_bbox: 0.5712, loss_traj: 1.2360, loss_traj_cls: 0.0005, loss_map_cls: 0.3299, loss_map_pts: 1.3716, loss_map_dir: 0.0279, d0.loss_plan_l1_fix_time: 2.7796, d0.loss_plan_l1_fix_dist: 0.4378, d1.loss_plan_l1_fix_time: 2.2112, d1.loss_plan_l1_fix_dist: 0.3260, d2.loss_plan_l1_fix_time: 2.1344, d2.loss_plan_l1_fix_dist: 0.3357, d3.loss_plan_l1_fix_time: 2.1161, d3.loss_plan_l1_fix_dist: 0.3510, d4.loss_plan_l1_fix_time: 2.1151, d4.loss_plan_l1_fix_dist: 0.3685, d5.loss_plan_l1_fix_time: 2.1182, d5.loss_plan_l1_fix_dist: 0.3881, d6.loss_plan_l1_fix_time: 2.1234, d6.loss_plan_l1_fix_dist: 0.4061, d0.loss_cls_all: 0.5072, d0.loss_bbox_all: 0.6134, d0.loss_cls: 0.5072, d0.loss_bbox: 0.6134, d1.loss_cls: 0.4993, d1.loss_bbox: 0.5859, d2.loss_cls: 0.5001, d2.loss_bbox: 0.5745, d3.loss_cls: 0.4938, d3.loss_bbox: 0.5709, d4.loss_cls: 0.4957, d4.loss_bbox: 0.5652, d5.loss_cls: 0.4958, d5.loss_bbox: 0.5690, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3428, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2379, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.2069, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.2133, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.2176, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2243, d0.loss_map_cls_all: 0.3665, d0.loss_map_pts_all: 2.3999, d0.loss_map_dir_all: 0.0263, d0.loss_map_cls: 0.3665, d0.loss_map_pts: 2.3999, d0.loss_map_dir: 0.0263, d1.loss_map_cls: 0.3571, d1.loss_map_pts: 1.5490, d1.loss_map_dir: 0.0264, d2.loss_map_cls: 0.3430, d2.loss_map_pts: 1.4315, d2.loss_map_dir: 0.0268, d3.loss_map_cls: 0.3323, d3.loss_map_pts: 1.3887, d3.loss_map_dir: 0.0273, d4.loss_map_cls: 0.3284, d4.loss_map_pts: 1.3741, d4.loss_map_dir: 0.0275, d5.loss_map_cls: 0.3297, d5.loss_map_pts: 1.3722, d5.loss_map_dir: 0.0276, loss: 51.8114, grad_norm: 149.6824 +2026-02-24 16:42:50,778 - DriveTransformer - INFO - Epoch [2][25800/39528] lr: 9.958e-05, eta: 8 days, 3:21:32, time: 0.787, data_time: 0.041, memory: 19865, loss_cls: 0.4881, loss_bbox: 0.6300, loss_traj: 1.5584, loss_traj_cls: 0.0005, loss_map_cls: 0.3411, loss_map_pts: 1.5128, loss_map_dir: 0.0284, d0.loss_plan_l1_fix_time: 2.7181, d0.loss_plan_l1_fix_dist: 0.4534, d1.loss_plan_l1_fix_time: 2.1288, d1.loss_plan_l1_fix_dist: 0.2871, d2.loss_plan_l1_fix_time: 2.0915, d2.loss_plan_l1_fix_dist: 0.2968, d3.loss_plan_l1_fix_time: 2.0952, d3.loss_plan_l1_fix_dist: 0.3125, d4.loss_plan_l1_fix_time: 2.1007, d4.loss_plan_l1_fix_dist: 0.3328, d5.loss_plan_l1_fix_time: 2.1058, d5.loss_plan_l1_fix_dist: 0.3554, d6.loss_plan_l1_fix_time: 2.1116, d6.loss_plan_l1_fix_dist: 0.3799, d0.loss_cls_all: 0.4965, d0.loss_bbox_all: 0.6795, d0.loss_cls: 0.4965, d0.loss_bbox: 0.6795, d1.loss_cls: 0.4884, d1.loss_bbox: 0.6495, d2.loss_cls: 0.4858, d2.loss_bbox: 0.6399, d3.loss_cls: 0.4842, d3.loss_bbox: 0.6336, d4.loss_cls: 0.4860, d4.loss_bbox: 0.6295, d5.loss_cls: 0.4863, d5.loss_bbox: 0.6270, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6661, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.5309, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.5184, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5344, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5393, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5479, d0.loss_map_cls_all: 0.3696, d0.loss_map_pts_all: 2.3821, d0.loss_map_dir_all: 0.0271, d0.loss_map_cls: 0.3696, d0.loss_map_pts: 2.3821, d0.loss_map_dir: 0.0271, d1.loss_map_cls: 0.3564, d1.loss_map_pts: 1.6846, d1.loss_map_dir: 0.0270, d2.loss_map_cls: 0.3501, d2.loss_map_pts: 1.5750, d2.loss_map_dir: 0.0274, d3.loss_map_cls: 0.3456, d3.loss_map_pts: 1.5371, d3.loss_map_dir: 0.0279, d4.loss_map_cls: 0.3412, d4.loss_map_pts: 1.5203, d4.loss_map_dir: 0.0280, d5.loss_map_cls: 0.3405, d5.loss_map_pts: 1.5133, d5.loss_map_dir: 0.0282, loss: 54.8928, grad_norm: 149.4932 +2026-02-24 16:43:30,478 - DriveTransformer - INFO - Epoch [2][25850/39528] lr: 9.958e-05, eta: 8 days, 3:20:51, time: 0.794, data_time: 0.038, memory: 19865, loss_cls: 0.5129, loss_bbox: 0.6155, loss_traj: 1.1166, loss_traj_cls: 0.0005, loss_map_cls: 0.3253, loss_map_pts: 1.5485, loss_map_dir: 0.0301, d0.loss_plan_l1_fix_time: 2.7603, d0.loss_plan_l1_fix_dist: 0.6253, d1.loss_plan_l1_fix_time: 2.2037, d1.loss_plan_l1_fix_dist: 0.4323, d2.loss_plan_l1_fix_time: 2.1582, d2.loss_plan_l1_fix_dist: 0.4471, d3.loss_plan_l1_fix_time: 2.1600, d3.loss_plan_l1_fix_dist: 0.4595, d4.loss_plan_l1_fix_time: 2.1679, d4.loss_plan_l1_fix_dist: 0.4735, d5.loss_plan_l1_fix_time: 2.1758, d5.loss_plan_l1_fix_dist: 0.4906, d6.loss_plan_l1_fix_time: 2.1846, d6.loss_plan_l1_fix_dist: 0.5133, d0.loss_cls_all: 0.5165, d0.loss_bbox_all: 0.6550, d0.loss_cls: 0.5165, d0.loss_bbox: 0.6550, d1.loss_cls: 0.5078, d1.loss_bbox: 0.6327, d2.loss_cls: 0.5113, d2.loss_bbox: 0.6189, d3.loss_cls: 0.5087, d3.loss_bbox: 0.6144, d4.loss_cls: 0.5082, d4.loss_bbox: 0.6119, d5.loss_cls: 0.5091, d5.loss_bbox: 0.6111, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2132, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1391, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0960, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.1044, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.1076, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1116, d0.loss_map_cls_all: 0.3725, d0.loss_map_pts_all: 2.5069, d0.loss_map_dir_all: 0.0284, d0.loss_map_cls: 0.3725, d0.loss_map_pts: 2.5069, d0.loss_map_dir: 0.0284, d1.loss_map_cls: 0.3576, d1.loss_map_pts: 1.6944, d1.loss_map_dir: 0.0288, d2.loss_map_cls: 0.3445, d2.loss_map_pts: 1.5935, d2.loss_map_dir: 0.0291, d3.loss_map_cls: 0.3347, d3.loss_map_pts: 1.5626, d3.loss_map_dir: 0.0295, d4.loss_map_cls: 0.3263, d4.loss_map_pts: 1.5515, d4.loss_map_dir: 0.0297, d5.loss_map_cls: 0.3253, d5.loss_map_pts: 1.5495, d5.loss_map_dir: 0.0299, loss: 53.7578, grad_norm: 150.6769 +2026-02-24 16:44:08,625 - DriveTransformer - INFO - Epoch [2][25900/39528] lr: 9.958e-05, eta: 8 days, 3:19:49, time: 0.763, data_time: 0.035, memory: 19865, loss_cls: 0.5639, loss_bbox: 0.6547, loss_traj: 1.4371, loss_traj_cls: 0.0006, loss_map_cls: 0.3493, loss_map_pts: 1.5375, loss_map_dir: 0.0248, d0.loss_plan_l1_fix_time: 2.9805, d0.loss_plan_l1_fix_dist: 0.4700, d1.loss_plan_l1_fix_time: 2.3660, d1.loss_plan_l1_fix_dist: 0.3416, d2.loss_plan_l1_fix_time: 2.3445, d2.loss_plan_l1_fix_dist: 0.3467, d3.loss_plan_l1_fix_time: 2.3503, d3.loss_plan_l1_fix_dist: 0.3579, d4.loss_plan_l1_fix_time: 2.3591, d4.loss_plan_l1_fix_dist: 0.3706, d5.loss_plan_l1_fix_time: 2.3675, d5.loss_plan_l1_fix_dist: 0.3829, d6.loss_plan_l1_fix_time: 2.3765, d6.loss_plan_l1_fix_dist: 0.3973, d0.loss_cls_all: 0.5634, d0.loss_bbox_all: 0.7038, d0.loss_cls: 0.5634, d0.loss_bbox: 0.7038, d1.loss_cls: 0.5575, d1.loss_bbox: 0.6751, d2.loss_cls: 0.5578, d2.loss_bbox: 0.6600, d3.loss_cls: 0.5584, d3.loss_bbox: 0.6541, d4.loss_cls: 0.5611, d4.loss_bbox: 0.6513, d5.loss_cls: 0.5626, d5.loss_bbox: 0.6515, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6728, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.4964, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.4295, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.4344, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4279, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4418, d0.loss_map_cls_all: 0.3978, d0.loss_map_pts_all: 2.3554, d0.loss_map_dir_all: 0.0238, d0.loss_map_cls: 0.3978, d0.loss_map_pts: 2.3554, d0.loss_map_dir: 0.0238, d1.loss_map_cls: 0.3728, d1.loss_map_pts: 1.6881, d1.loss_map_dir: 0.0235, d2.loss_map_cls: 0.3589, d2.loss_map_pts: 1.5897, d2.loss_map_dir: 0.0238, d3.loss_map_cls: 0.3542, d3.loss_map_pts: 1.5574, d3.loss_map_dir: 0.0244, d4.loss_map_cls: 0.3483, d4.loss_map_pts: 1.5408, d4.loss_map_dir: 0.0245, d5.loss_map_cls: 0.3488, d5.loss_map_pts: 1.5383, d5.loss_map_dir: 0.0246, loss: 57.2830, grad_norm: 150.5201 +2026-02-24 16:44:48,158 - DriveTransformer - INFO - Epoch [2][25950/39528] lr: 9.958e-05, eta: 8 days, 3:19:05, time: 0.791, data_time: 0.039, memory: 19865, loss_cls: 0.5429, loss_bbox: 0.6367, loss_traj: 1.3120, loss_traj_cls: 0.0006, loss_map_cls: 0.3447, loss_map_pts: 1.5236, loss_map_dir: 0.0301, d0.loss_plan_l1_fix_time: 2.7300, d0.loss_plan_l1_fix_dist: 0.4471, d1.loss_plan_l1_fix_time: 2.1097, d1.loss_plan_l1_fix_dist: 0.3464, d2.loss_plan_l1_fix_time: 2.0595, d2.loss_plan_l1_fix_dist: 0.3500, d3.loss_plan_l1_fix_time: 2.0553, d3.loss_plan_l1_fix_dist: 0.3592, d4.loss_plan_l1_fix_time: 2.0606, d4.loss_plan_l1_fix_dist: 0.3706, d5.loss_plan_l1_fix_time: 2.0681, d5.loss_plan_l1_fix_dist: 0.3863, d6.loss_plan_l1_fix_time: 2.0764, d6.loss_plan_l1_fix_dist: 0.4021, d0.loss_cls_all: 0.5473, d0.loss_bbox_all: 0.6783, d0.loss_cls: 0.5473, d0.loss_bbox: 0.6783, d1.loss_cls: 0.5427, d1.loss_bbox: 0.6586, d2.loss_cls: 0.5400, d2.loss_bbox: 0.6472, d3.loss_cls: 0.5388, d3.loss_bbox: 0.6384, d4.loss_cls: 0.5394, d4.loss_bbox: 0.6360, d5.loss_cls: 0.5408, d5.loss_bbox: 0.6359, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4368, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3203, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2950, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3048, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3077, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3079, d0.loss_map_cls_all: 0.3893, d0.loss_map_pts_all: 2.4704, d0.loss_map_dir_all: 0.0286, d0.loss_map_cls: 0.3893, d0.loss_map_pts: 2.4704, d0.loss_map_dir: 0.0286, d1.loss_map_cls: 0.3736, d1.loss_map_pts: 1.6958, d1.loss_map_dir: 0.0285, d2.loss_map_cls: 0.3605, d2.loss_map_pts: 1.5780, d2.loss_map_dir: 0.0290, d3.loss_map_cls: 0.3499, d3.loss_map_pts: 1.5434, d3.loss_map_dir: 0.0294, d4.loss_map_cls: 0.3459, d4.loss_map_pts: 1.5274, d4.loss_map_dir: 0.0297, d5.loss_map_cls: 0.3441, d5.loss_map_pts: 1.5238, d5.loss_map_dir: 0.0299, loss: 54.1239, grad_norm: 147.1884 +2026-02-24 16:45:30,522 - DriveTransformer - INFO - Epoch [2][26000/39528] lr: 9.958e-05, eta: 8 days, 3:19:00, time: 0.847, data_time: 0.042, memory: 19865, loss_cls: 0.5289, loss_bbox: 0.6280, loss_traj: 1.4044, loss_traj_cls: 0.0006, loss_map_cls: 0.3217, loss_map_pts: 1.5218, loss_map_dir: 0.0301, d0.loss_plan_l1_fix_time: 2.4635, d0.loss_plan_l1_fix_dist: 0.4404, d1.loss_plan_l1_fix_time: 1.9467, d1.loss_plan_l1_fix_dist: 0.3127, d2.loss_plan_l1_fix_time: 1.9234, d2.loss_plan_l1_fix_dist: 0.3147, d3.loss_plan_l1_fix_time: 1.9372, d3.loss_plan_l1_fix_dist: 0.3248, d4.loss_plan_l1_fix_time: 1.9484, d4.loss_plan_l1_fix_dist: 0.3364, d5.loss_plan_l1_fix_time: 1.9587, d5.loss_plan_l1_fix_dist: 0.3478, d6.loss_plan_l1_fix_time: 1.9688, d6.loss_plan_l1_fix_dist: 0.3603, d0.loss_cls_all: 0.5210, d0.loss_bbox_all: 0.6470, d0.loss_cls: 0.5210, d0.loss_bbox: 0.6470, d1.loss_cls: 0.5155, d1.loss_bbox: 0.6365, d2.loss_cls: 0.5180, d2.loss_bbox: 0.6272, d3.loss_cls: 0.5239, d3.loss_bbox: 0.6215, d4.loss_cls: 0.5238, d4.loss_bbox: 0.6220, d5.loss_cls: 0.5281, d5.loss_bbox: 0.6224, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6048, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.4538, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.4088, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.4175, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4068, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4036, d0.loss_map_cls_all: 0.3798, d0.loss_map_pts_all: 2.5925, d0.loss_map_dir_all: 0.0281, d0.loss_map_cls: 0.3798, d0.loss_map_pts: 2.5925, d0.loss_map_dir: 0.0281, d1.loss_map_cls: 0.3565, d1.loss_map_pts: 1.7204, d1.loss_map_dir: 0.0282, d2.loss_map_cls: 0.3357, d2.loss_map_pts: 1.5934, d2.loss_map_dir: 0.0287, d3.loss_map_cls: 0.3275, d3.loss_map_pts: 1.5487, d3.loss_map_dir: 0.0294, d4.loss_map_cls: 0.3232, d4.loss_map_pts: 1.5327, d4.loss_map_dir: 0.0297, d5.loss_map_cls: 0.3226, d5.loss_map_pts: 1.5239, d5.loss_map_dir: 0.0299, loss: 53.5261, grad_norm: 147.4025 +2026-02-24 16:46:10,014 - DriveTransformer - INFO - Epoch [2][26050/39528] lr: 9.958e-05, eta: 8 days, 3:18:16, time: 0.790, data_time: 0.040, memory: 19865, loss_cls: 0.4881, loss_bbox: 0.6151, loss_traj: 1.5096, loss_traj_cls: 0.0005, loss_map_cls: 0.3491, loss_map_pts: 1.4632, loss_map_dir: 0.0247, d0.loss_plan_l1_fix_time: 2.5492, d0.loss_plan_l1_fix_dist: 0.4171, d1.loss_plan_l1_fix_time: 2.0260, d1.loss_plan_l1_fix_dist: 0.3636, d2.loss_plan_l1_fix_time: 2.0104, d2.loss_plan_l1_fix_dist: 0.3687, d3.loss_plan_l1_fix_time: 2.0239, d3.loss_plan_l1_fix_dist: 0.3784, d4.loss_plan_l1_fix_time: 2.0345, d4.loss_plan_l1_fix_dist: 0.3921, d5.loss_plan_l1_fix_time: 2.0446, d5.loss_plan_l1_fix_dist: 0.4080, d6.loss_plan_l1_fix_time: 2.0545, d6.loss_plan_l1_fix_dist: 0.4278, d0.loss_cls_all: 0.4958, d0.loss_bbox_all: 0.6510, d0.loss_cls: 0.4958, d0.loss_bbox: 0.6510, d1.loss_cls: 0.4885, d1.loss_bbox: 0.6290, d2.loss_cls: 0.4853, d2.loss_bbox: 0.6250, d3.loss_cls: 0.4857, d3.loss_bbox: 0.6146, d4.loss_cls: 0.4869, d4.loss_bbox: 0.6125, d5.loss_cls: 0.4859, d5.loss_bbox: 0.6118, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6917, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.5259, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.4916, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.5054, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5028, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5143, d0.loss_map_cls_all: 0.3965, d0.loss_map_pts_all: 2.2406, d0.loss_map_dir_all: 0.0229, d0.loss_map_cls: 0.3965, d0.loss_map_pts: 2.2406, d0.loss_map_dir: 0.0229, d1.loss_map_cls: 0.3761, d1.loss_map_pts: 1.6138, d1.loss_map_dir: 0.0232, d2.loss_map_cls: 0.3669, d2.loss_map_pts: 1.5226, d2.loss_map_dir: 0.0237, d3.loss_map_cls: 0.3573, d3.loss_map_pts: 1.4856, d3.loss_map_dir: 0.0242, d4.loss_map_cls: 0.3519, d4.loss_map_pts: 1.4709, d4.loss_map_dir: 0.0244, d5.loss_map_cls: 0.3501, d5.loss_map_pts: 1.4656, d5.loss_map_dir: 0.0246, loss: 53.8054, grad_norm: 147.4705 +2026-02-24 16:46:50,135 - DriveTransformer - INFO - Epoch [2][26100/39528] lr: 9.958e-05, eta: 8 days, 3:17:40, time: 0.802, data_time: 0.041, memory: 19865, loss_cls: 0.5846, loss_bbox: 0.6857, loss_traj: 1.6832, loss_traj_cls: 0.0006, loss_map_cls: 0.3685, loss_map_pts: 1.5887, loss_map_dir: 0.0277, d0.loss_plan_l1_fix_time: 3.0178, d0.loss_plan_l1_fix_dist: 0.4204, d1.loss_plan_l1_fix_time: 2.3773, d1.loss_plan_l1_fix_dist: 0.3473, d2.loss_plan_l1_fix_time: 2.3102, d2.loss_plan_l1_fix_dist: 0.3483, d3.loss_plan_l1_fix_time: 2.3019, d3.loss_plan_l1_fix_dist: 0.3558, d4.loss_plan_l1_fix_time: 2.3075, d4.loss_plan_l1_fix_dist: 0.3655, d5.loss_plan_l1_fix_time: 2.3149, d5.loss_plan_l1_fix_dist: 0.3772, d6.loss_plan_l1_fix_time: 2.3233, d6.loss_plan_l1_fix_dist: 0.3900, d0.loss_cls_all: 0.5846, d0.loss_bbox_all: 0.7227, d0.loss_cls: 0.5846, d0.loss_bbox: 0.7227, d1.loss_cls: 0.5674, d1.loss_bbox: 0.7024, d2.loss_cls: 0.5707, d2.loss_bbox: 0.6953, d3.loss_cls: 0.5701, d3.loss_bbox: 0.6868, d4.loss_cls: 0.5726, d4.loss_bbox: 0.6838, d5.loss_cls: 0.5782, d5.loss_bbox: 0.6856, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.8487, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.6950, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.6794, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.6812, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6786, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6781, d0.loss_map_cls_all: 0.4040, d0.loss_map_pts_all: 2.4411, d0.loss_map_dir_all: 0.0260, d0.loss_map_cls: 0.4040, d0.loss_map_pts: 2.4411, d0.loss_map_dir: 0.0260, d1.loss_map_cls: 0.3889, d1.loss_map_pts: 1.7771, d1.loss_map_dir: 0.0259, d2.loss_map_cls: 0.3814, d2.loss_map_pts: 1.6653, d2.loss_map_dir: 0.0264, d3.loss_map_cls: 0.3750, d3.loss_map_pts: 1.6168, d3.loss_map_dir: 0.0271, d4.loss_map_cls: 0.3713, d4.loss_map_pts: 1.5957, d4.loss_map_dir: 0.0274, d5.loss_map_cls: 0.3696, d5.loss_map_pts: 1.5915, d5.loss_map_dir: 0.0276, loss: 59.6987, grad_norm: 148.1828 +2026-02-24 16:47:29,368 - DriveTransformer - INFO - Epoch [2][26150/39528] lr: 9.958e-05, eta: 8 days, 3:16:53, time: 0.785, data_time: 0.038, memory: 19865, loss_cls: 0.5330, loss_bbox: 0.5999, loss_traj: 1.2029, loss_traj_cls: 0.0005, loss_map_cls: 0.3775, loss_map_pts: 1.6044, loss_map_dir: 0.0273, d0.loss_plan_l1_fix_time: 2.4141, d0.loss_plan_l1_fix_dist: 0.4387, d1.loss_plan_l1_fix_time: 1.9024, d1.loss_plan_l1_fix_dist: 0.3238, d2.loss_plan_l1_fix_time: 1.8510, d2.loss_plan_l1_fix_dist: 0.3254, d3.loss_plan_l1_fix_time: 1.8502, d3.loss_plan_l1_fix_dist: 0.3354, d4.loss_plan_l1_fix_time: 1.8569, d4.loss_plan_l1_fix_dist: 0.3489, d5.loss_plan_l1_fix_time: 1.8651, d5.loss_plan_l1_fix_dist: 0.3653, d6.loss_plan_l1_fix_time: 1.8745, d6.loss_plan_l1_fix_dist: 0.3812, d0.loss_cls_all: 0.5346, d0.loss_bbox_all: 0.6244, d0.loss_cls: 0.5346, d0.loss_bbox: 0.6244, d1.loss_cls: 0.5268, d1.loss_bbox: 0.6082, d2.loss_cls: 0.5232, d2.loss_bbox: 0.6047, d3.loss_cls: 0.5241, d3.loss_bbox: 0.6000, d4.loss_cls: 0.5225, d4.loss_bbox: 0.5984, d5.loss_cls: 0.5279, d5.loss_bbox: 0.5975, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4017, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.2476, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1980, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1990, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1965, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2015, d0.loss_map_cls_all: 0.4171, d0.loss_map_pts_all: 2.3305, d0.loss_map_dir_all: 0.0254, d0.loss_map_cls: 0.4171, d0.loss_map_pts: 2.3305, d0.loss_map_dir: 0.0254, d1.loss_map_cls: 0.4021, d1.loss_map_pts: 1.7685, d1.loss_map_dir: 0.0254, d2.loss_map_cls: 0.3918, d2.loss_map_pts: 1.6671, d2.loss_map_dir: 0.0260, d3.loss_map_cls: 0.3828, d3.loss_map_pts: 1.6253, d3.loss_map_dir: 0.0266, d4.loss_map_cls: 0.3783, d4.loss_map_pts: 1.6092, d4.loss_map_dir: 0.0269, d5.loss_map_cls: 0.3769, d5.loss_map_pts: 1.6059, d5.loss_map_dir: 0.0271, loss: 51.7652, grad_norm: 147.1960 +2026-02-24 16:48:10,610 - DriveTransformer - INFO - Epoch [2][26200/39528] lr: 9.958e-05, eta: 8 days, 3:16:33, time: 0.826, data_time: 0.040, memory: 19865, loss_cls: 0.5274, loss_bbox: 0.6391, loss_traj: 1.3709, loss_traj_cls: 0.0005, loss_map_cls: 0.3476, loss_map_pts: 1.5180, loss_map_dir: 0.0288, d0.loss_plan_l1_fix_time: 2.9991, d0.loss_plan_l1_fix_dist: 0.3700, d1.loss_plan_l1_fix_time: 2.5575, d1.loss_plan_l1_fix_dist: 0.3194, d2.loss_plan_l1_fix_time: 2.5066, d2.loss_plan_l1_fix_dist: 0.3244, d3.loss_plan_l1_fix_time: 2.4977, d3.loss_plan_l1_fix_dist: 0.3369, d4.loss_plan_l1_fix_time: 2.5006, d4.loss_plan_l1_fix_dist: 0.3521, d5.loss_plan_l1_fix_time: 2.5062, d5.loss_plan_l1_fix_dist: 0.3643, d6.loss_plan_l1_fix_time: 2.5133, d6.loss_plan_l1_fix_dist: 0.3799, d0.loss_cls_all: 0.5418, d0.loss_bbox_all: 0.6760, d0.loss_cls: 0.5418, d0.loss_bbox: 0.6760, d1.loss_cls: 0.5372, d1.loss_bbox: 0.6544, d2.loss_cls: 0.5340, d2.loss_bbox: 0.6441, d3.loss_cls: 0.5247, d3.loss_bbox: 0.6415, d4.loss_cls: 0.5288, d4.loss_bbox: 0.6371, d5.loss_cls: 0.5274, d5.loss_bbox: 0.6369, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4787, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3853, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3565, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3623, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3670, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3695, d0.loss_map_cls_all: 0.3974, d0.loss_map_pts_all: 2.5100, d0.loss_map_dir_all: 0.0271, d0.loss_map_cls: 0.3974, d0.loss_map_pts: 2.5100, d0.loss_map_dir: 0.0271, d1.loss_map_cls: 0.3820, d1.loss_map_pts: 1.6958, d1.loss_map_dir: 0.0273, d2.loss_map_cls: 0.3708, d2.loss_map_pts: 1.5750, d2.loss_map_dir: 0.0277, d3.loss_map_cls: 0.3589, d3.loss_map_pts: 1.5353, d3.loss_map_dir: 0.0282, d4.loss_map_cls: 0.3517, d4.loss_map_pts: 1.5188, d4.loss_map_dir: 0.0284, d5.loss_map_cls: 0.3489, d5.loss_map_pts: 1.5164, d5.loss_map_dir: 0.0286, loss: 57.2490, grad_norm: 146.2243 +2026-02-24 16:48:49,325 - DriveTransformer - INFO - Epoch [2][26250/39528] lr: 9.958e-05, eta: 8 days, 3:15:38, time: 0.773, data_time: 0.048, memory: 19865, loss_cls: 0.5467, loss_bbox: 0.6086, loss_traj: 1.4054, loss_traj_cls: 0.0005, loss_map_cls: 0.3679, loss_map_pts: 1.5527, loss_map_dir: 0.0273, d0.loss_plan_l1_fix_time: 2.6209, d0.loss_plan_l1_fix_dist: 0.4190, d1.loss_plan_l1_fix_time: 2.0942, d1.loss_plan_l1_fix_dist: 0.3411, d2.loss_plan_l1_fix_time: 2.0649, d2.loss_plan_l1_fix_dist: 0.3461, d3.loss_plan_l1_fix_time: 2.0738, d3.loss_plan_l1_fix_dist: 0.3571, d4.loss_plan_l1_fix_time: 2.0824, d4.loss_plan_l1_fix_dist: 0.3698, d5.loss_plan_l1_fix_time: 2.0904, d5.loss_plan_l1_fix_dist: 0.3883, d6.loss_plan_l1_fix_time: 2.0982, d6.loss_plan_l1_fix_dist: 0.4072, d0.loss_cls_all: 0.5723, d0.loss_bbox_all: 0.6469, d0.loss_cls: 0.5723, d0.loss_bbox: 0.6469, d1.loss_cls: 0.5599, d1.loss_bbox: 0.6262, d2.loss_cls: 0.5525, d2.loss_bbox: 0.6191, d3.loss_cls: 0.5468, d3.loss_bbox: 0.6126, d4.loss_cls: 0.5488, d4.loss_bbox: 0.6066, d5.loss_cls: 0.5463, d5.loss_bbox: 0.6064, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5252, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.4139, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3951, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3978, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3898, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3943, d0.loss_map_cls_all: 0.4203, d0.loss_map_pts_all: 2.3643, d0.loss_map_dir_all: 0.0260, d0.loss_map_cls: 0.4203, d0.loss_map_pts: 2.3643, d0.loss_map_dir: 0.0260, d1.loss_map_cls: 0.3986, d1.loss_map_pts: 1.7284, d1.loss_map_dir: 0.0260, d2.loss_map_cls: 0.3840, d2.loss_map_pts: 1.6163, d2.loss_map_dir: 0.0265, d3.loss_map_cls: 0.3740, d3.loss_map_pts: 1.5732, d3.loss_map_dir: 0.0268, d4.loss_map_cls: 0.3672, d4.loss_map_pts: 1.5572, d4.loss_map_dir: 0.0270, d5.loss_map_cls: 0.3691, d5.loss_map_pts: 1.5509, d5.loss_map_dir: 0.0272, loss: 54.7212, grad_norm: 145.2944 +2026-02-24 16:49:28,140 - DriveTransformer - INFO - Epoch [2][26300/39528] lr: 9.958e-05, eta: 8 days, 3:14:45, time: 0.776, data_time: 0.042, memory: 19865, loss_cls: 0.5274, loss_bbox: 0.6469, loss_traj: 1.3045, loss_traj_cls: 0.0005, loss_map_cls: 0.3157, loss_map_pts: 1.5601, loss_map_dir: 0.0242, d0.loss_plan_l1_fix_time: 3.0625, d0.loss_plan_l1_fix_dist: 0.4644, d1.loss_plan_l1_fix_time: 2.4958, d1.loss_plan_l1_fix_dist: 0.3811, d2.loss_plan_l1_fix_time: 2.4818, d2.loss_plan_l1_fix_dist: 0.4024, d3.loss_plan_l1_fix_time: 2.4879, d3.loss_plan_l1_fix_dist: 0.4258, d4.loss_plan_l1_fix_time: 2.4969, d4.loss_plan_l1_fix_dist: 0.4529, d5.loss_plan_l1_fix_time: 2.5058, d5.loss_plan_l1_fix_dist: 0.4774, d6.loss_plan_l1_fix_time: 2.5157, d6.loss_plan_l1_fix_dist: 0.5096, d0.loss_cls_all: 0.5352, d0.loss_bbox_all: 0.6915, d0.loss_cls: 0.5352, d0.loss_bbox: 0.6915, d1.loss_cls: 0.5324, d1.loss_bbox: 0.6710, d2.loss_cls: 0.5300, d2.loss_bbox: 0.6551, d3.loss_cls: 0.5291, d3.loss_bbox: 0.6507, d4.loss_cls: 0.5296, d4.loss_bbox: 0.6465, d5.loss_cls: 0.5278, d5.loss_bbox: 0.6455, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4420, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3266, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2939, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2964, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.2966, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2944, d0.loss_map_cls_all: 0.3696, d0.loss_map_pts_all: 2.1889, d0.loss_map_dir_all: 0.0231, d0.loss_map_cls: 0.3696, d0.loss_map_pts: 2.1889, d0.loss_map_dir: 0.0231, d1.loss_map_cls: 0.3490, d1.loss_map_pts: 1.7125, d1.loss_map_dir: 0.0233, d2.loss_map_cls: 0.3321, d2.loss_map_pts: 1.6208, d2.loss_map_dir: 0.0236, d3.loss_map_cls: 0.3192, d3.loss_map_pts: 1.5823, d3.loss_map_dir: 0.0239, d4.loss_map_cls: 0.3153, d4.loss_map_pts: 1.5676, d4.loss_map_dir: 0.0241, d5.loss_map_cls: 0.3136, d5.loss_map_pts: 1.5617, d5.loss_map_dir: 0.0241, loss: 56.8219, grad_norm: 145.6288 +2026-02-24 16:50:07,776 - DriveTransformer - INFO - Epoch [2][26350/39528] lr: 9.958e-05, eta: 8 days, 3:14:03, time: 0.793, data_time: 0.041, memory: 19865, loss_cls: 0.5149, loss_bbox: 0.6038, loss_traj: 1.5390, loss_traj_cls: 0.0005, loss_map_cls: 0.3337, loss_map_pts: 1.5064, loss_map_dir: 0.0272, d0.loss_plan_l1_fix_time: 2.9627, d0.loss_plan_l1_fix_dist: 0.4394, d1.loss_plan_l1_fix_time: 2.2173, d1.loss_plan_l1_fix_dist: 0.3910, d2.loss_plan_l1_fix_time: 2.1630, d2.loss_plan_l1_fix_dist: 0.4068, d3.loss_plan_l1_fix_time: 2.1577, d3.loss_plan_l1_fix_dist: 0.4292, d4.loss_plan_l1_fix_time: 2.1622, d4.loss_plan_l1_fix_dist: 0.4512, d5.loss_plan_l1_fix_time: 2.1691, d5.loss_plan_l1_fix_dist: 0.4745, d6.loss_plan_l1_fix_time: 2.1776, d6.loss_plan_l1_fix_dist: 0.5029, d0.loss_cls_all: 0.5348, d0.loss_bbox_all: 0.6361, d0.loss_cls: 0.5348, d0.loss_bbox: 0.6361, d1.loss_cls: 0.5384, d1.loss_bbox: 0.6177, d2.loss_cls: 0.5345, d2.loss_bbox: 0.6073, d3.loss_cls: 0.5280, d3.loss_bbox: 0.6033, d4.loss_cls: 0.5272, d4.loss_bbox: 0.6035, d5.loss_cls: 0.5201, d5.loss_bbox: 0.6041, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6984, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.5346, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.5081, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.5219, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5181, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5199, d0.loss_map_cls_all: 0.3777, d0.loss_map_pts_all: 2.3232, d0.loss_map_dir_all: 0.0256, d0.loss_map_cls: 0.3777, d0.loss_map_pts: 2.3232, d0.loss_map_dir: 0.0256, d1.loss_map_cls: 0.3598, d1.loss_map_pts: 1.6539, d1.loss_map_dir: 0.0258, d2.loss_map_cls: 0.3467, d2.loss_map_pts: 1.5574, d2.loss_map_dir: 0.0261, d3.loss_map_cls: 0.3364, d3.loss_map_pts: 1.5168, d3.loss_map_dir: 0.0266, d4.loss_map_cls: 0.3336, d4.loss_map_pts: 1.5101, d4.loss_map_dir: 0.0269, d5.loss_map_cls: 0.3330, d5.loss_map_pts: 1.5083, d5.loss_map_dir: 0.0271, loss: 56.0032, grad_norm: 145.0136 +2026-02-24 16:50:47,392 - DriveTransformer - INFO - Epoch [2][26400/39528] lr: 9.958e-05, eta: 8 days, 3:13:20, time: 0.792, data_time: 0.041, memory: 19865, loss_cls: 0.5223, loss_bbox: 0.6323, loss_traj: 1.1872, loss_traj_cls: 0.0006, loss_map_cls: 0.3082, loss_map_pts: 1.4504, loss_map_dir: 0.0290, d0.loss_plan_l1_fix_time: 2.9004, d0.loss_plan_l1_fix_dist: 0.5227, d1.loss_plan_l1_fix_time: 2.2173, d1.loss_plan_l1_fix_dist: 0.4141, d2.loss_plan_l1_fix_time: 2.1771, d2.loss_plan_l1_fix_dist: 0.4299, d3.loss_plan_l1_fix_time: 2.1797, d3.loss_plan_l1_fix_dist: 0.4477, d4.loss_plan_l1_fix_time: 2.1875, d4.loss_plan_l1_fix_dist: 0.4633, d5.loss_plan_l1_fix_time: 2.1969, d5.loss_plan_l1_fix_dist: 0.4813, d6.loss_plan_l1_fix_time: 2.2059, d6.loss_plan_l1_fix_dist: 0.4916, d0.loss_cls_all: 0.5436, d0.loss_bbox_all: 0.6663, d0.loss_cls: 0.5436, d0.loss_bbox: 0.6663, d1.loss_cls: 0.5389, d1.loss_bbox: 0.6497, d2.loss_cls: 0.5356, d2.loss_bbox: 0.6395, d3.loss_cls: 0.5298, d3.loss_bbox: 0.6353, d4.loss_cls: 0.5279, d4.loss_bbox: 0.6284, d5.loss_cls: 0.5233, d5.loss_bbox: 0.6302, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2419, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1655, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1696, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1753, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1813, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1803, d0.loss_map_cls_all: 0.3575, d0.loss_map_pts_all: 2.3776, d0.loss_map_dir_all: 0.0277, d0.loss_map_cls: 0.3575, d0.loss_map_pts: 2.3776, d0.loss_map_dir: 0.0277, d1.loss_map_cls: 0.3356, d1.loss_map_pts: 1.6274, d1.loss_map_dir: 0.0278, d2.loss_map_cls: 0.3203, d2.loss_map_pts: 1.5074, d2.loss_map_dir: 0.0281, d3.loss_map_cls: 0.3139, d3.loss_map_pts: 1.4648, d3.loss_map_dir: 0.0285, d4.loss_map_cls: 0.3099, d4.loss_map_pts: 1.4533, d4.loss_map_dir: 0.0288, d5.loss_map_cls: 0.3084, d5.loss_map_pts: 1.4508, d5.loss_map_dir: 0.0289, loss: 53.5819, grad_norm: 146.5059 +2026-02-24 16:51:27,012 - DriveTransformer - INFO - Epoch [2][26450/39528] lr: 9.958e-05, eta: 8 days, 3:12:38, time: 0.792, data_time: 0.042, memory: 19865, loss_cls: 0.5691, loss_bbox: 0.6644, loss_traj: 1.3276, loss_traj_cls: 0.0006, loss_map_cls: 0.3315, loss_map_pts: 1.4623, loss_map_dir: 0.0267, d0.loss_plan_l1_fix_time: 3.0083, d0.loss_plan_l1_fix_dist: 0.4617, d1.loss_plan_l1_fix_time: 2.4604, d1.loss_plan_l1_fix_dist: 0.3899, d2.loss_plan_l1_fix_time: 2.4476, d2.loss_plan_l1_fix_dist: 0.4052, d3.loss_plan_l1_fix_time: 2.4538, d3.loss_plan_l1_fix_dist: 0.4210, d4.loss_plan_l1_fix_time: 2.4609, d4.loss_plan_l1_fix_dist: 0.4372, d5.loss_plan_l1_fix_time: 2.4684, d5.loss_plan_l1_fix_dist: 0.4547, d6.loss_plan_l1_fix_time: 2.4754, d6.loss_plan_l1_fix_dist: 0.4763, d0.loss_cls_all: 0.5674, d0.loss_bbox_all: 0.7093, d0.loss_cls: 0.5674, d0.loss_bbox: 0.7093, d1.loss_cls: 0.5597, d1.loss_bbox: 0.6855, d2.loss_cls: 0.5593, d2.loss_bbox: 0.6768, d3.loss_cls: 0.5614, d3.loss_bbox: 0.6711, d4.loss_cls: 0.5581, d4.loss_bbox: 0.6625, d5.loss_cls: 0.5634, d5.loss_bbox: 0.6619, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3561, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2788, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2981, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3096, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3107, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3109, d0.loss_map_cls_all: 0.3894, d0.loss_map_pts_all: 2.2691, d0.loss_map_dir_all: 0.0252, d0.loss_map_cls: 0.3894, d0.loss_map_pts: 2.2691, d0.loss_map_dir: 0.0252, d1.loss_map_cls: 0.3662, d1.loss_map_pts: 1.6117, d1.loss_map_dir: 0.0256, d2.loss_map_cls: 0.3524, d2.loss_map_pts: 1.5071, d2.loss_map_dir: 0.0260, d3.loss_map_cls: 0.3363, d3.loss_map_pts: 1.4762, d3.loss_map_dir: 0.0263, d4.loss_map_cls: 0.3329, d4.loss_map_pts: 1.4631, d4.loss_map_dir: 0.0264, d5.loss_map_cls: 0.3305, d5.loss_map_pts: 1.4640, d5.loss_map_dir: 0.0266, loss: 56.5238, grad_norm: 146.9314 +2026-02-24 16:52:06,726 - DriveTransformer - INFO - Epoch [2][26500/39528] lr: 9.958e-05, eta: 8 days, 3:11:57, time: 0.794, data_time: 0.047, memory: 19865, loss_cls: 0.5264, loss_bbox: 0.6248, loss_traj: 1.2605, loss_traj_cls: 0.0006, loss_map_cls: 0.2904, loss_map_pts: 1.3148, loss_map_dir: 0.0269, d0.loss_plan_l1_fix_time: 2.5048, d0.loss_plan_l1_fix_dist: 0.5172, d1.loss_plan_l1_fix_time: 1.8937, d1.loss_plan_l1_fix_dist: 0.3762, d2.loss_plan_l1_fix_time: 1.8683, d2.loss_plan_l1_fix_dist: 0.3884, d3.loss_plan_l1_fix_time: 1.8803, d3.loss_plan_l1_fix_dist: 0.4091, d4.loss_plan_l1_fix_time: 1.8923, d4.loss_plan_l1_fix_dist: 0.4312, d5.loss_plan_l1_fix_time: 1.9034, d5.loss_plan_l1_fix_dist: 0.4560, d6.loss_plan_l1_fix_time: 1.9146, d6.loss_plan_l1_fix_dist: 0.4923, d0.loss_cls_all: 0.5085, d0.loss_bbox_all: 0.6451, d0.loss_cls: 0.5085, d0.loss_bbox: 0.6451, d1.loss_cls: 0.5163, d1.loss_bbox: 0.6311, d2.loss_cls: 0.5179, d2.loss_bbox: 0.6253, d3.loss_cls: 0.5217, d3.loss_bbox: 0.6209, d4.loss_cls: 0.5195, d4.loss_bbox: 0.6186, d5.loss_cls: 0.5245, d5.loss_bbox: 0.6193, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3267, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2461, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2388, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2487, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2491, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2601, d0.loss_map_cls_all: 0.3371, d0.loss_map_pts_all: 2.2847, d0.loss_map_dir_all: 0.0252, d0.loss_map_cls: 0.3371, d0.loss_map_pts: 2.2847, d0.loss_map_dir: 0.0252, d1.loss_map_cls: 0.3214, d1.loss_map_pts: 1.4931, d1.loss_map_dir: 0.0255, d2.loss_map_cls: 0.3053, d2.loss_map_pts: 1.3724, d2.loss_map_dir: 0.0259, d3.loss_map_cls: 0.2955, d3.loss_map_pts: 1.3292, d3.loss_map_dir: 0.0263, d4.loss_map_cls: 0.2913, d4.loss_map_pts: 1.3158, d4.loss_map_dir: 0.0266, d5.loss_map_cls: 0.2902, d5.loss_map_pts: 1.3140, d5.loss_map_dir: 0.0267, loss: 50.3219, grad_norm: 149.6055 +2026-02-24 16:52:45,743 - DriveTransformer - INFO - Epoch [2][26550/39528] lr: 9.958e-05, eta: 8 days, 3:11:06, time: 0.780, data_time: 0.036, memory: 19865, loss_cls: 0.5085, loss_bbox: 0.6611, loss_traj: 1.4395, loss_traj_cls: 0.0006, loss_map_cls: 0.3346, loss_map_pts: 1.5571, loss_map_dir: 0.0264, d0.loss_plan_l1_fix_time: 2.6023, d0.loss_plan_l1_fix_dist: 0.5633, d1.loss_plan_l1_fix_time: 2.1881, d1.loss_plan_l1_fix_dist: 0.4385, d2.loss_plan_l1_fix_time: 2.1863, d2.loss_plan_l1_fix_dist: 0.4453, d3.loss_plan_l1_fix_time: 2.1991, d3.loss_plan_l1_fix_dist: 0.4612, d4.loss_plan_l1_fix_time: 2.2112, d4.loss_plan_l1_fix_dist: 0.4776, d5.loss_plan_l1_fix_time: 2.2227, d5.loss_plan_l1_fix_dist: 0.4950, d6.loss_plan_l1_fix_time: 2.2357, d6.loss_plan_l1_fix_dist: 0.5139, d0.loss_cls_all: 0.5133, d0.loss_bbox_all: 0.6932, d0.loss_cls: 0.5133, d0.loss_bbox: 0.6932, d1.loss_cls: 0.5270, d1.loss_bbox: 0.6748, d2.loss_cls: 0.5185, d2.loss_bbox: 0.6655, d3.loss_cls: 0.5145, d3.loss_bbox: 0.6576, d4.loss_cls: 0.5125, d4.loss_bbox: 0.6557, d5.loss_cls: 0.5093, d5.loss_bbox: 0.6554, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6460, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.4796, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.4255, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.4263, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4300, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4356, d0.loss_map_cls_all: 0.3768, d0.loss_map_pts_all: 2.3396, d0.loss_map_dir_all: 0.0245, d0.loss_map_cls: 0.3768, d0.loss_map_pts: 2.3396, d0.loss_map_dir: 0.0245, d1.loss_map_cls: 0.3567, d1.loss_map_pts: 1.7024, d1.loss_map_dir: 0.0248, d2.loss_map_cls: 0.3446, d2.loss_map_pts: 1.6014, d2.loss_map_dir: 0.0254, d3.loss_map_cls: 0.3348, d3.loss_map_pts: 1.5708, d3.loss_map_dir: 0.0259, d4.loss_map_cls: 0.3338, d4.loss_map_pts: 1.5561, d4.loss_map_dir: 0.0260, d5.loss_map_cls: 0.3333, d5.loss_map_pts: 1.5551, d5.loss_map_dir: 0.0263, loss: 56.2188, grad_norm: 150.0237 +2026-02-24 16:53:26,800 - DriveTransformer - INFO - Epoch [2][26600/39528] lr: 9.958e-05, eta: 8 days, 3:10:43, time: 0.821, data_time: 0.040, memory: 19865, loss_cls: 0.5487, loss_bbox: 0.6271, loss_traj: 1.1696, loss_traj_cls: 0.0005, loss_map_cls: 0.3124, loss_map_pts: 1.5264, loss_map_dir: 0.0294, d0.loss_plan_l1_fix_time: 2.4252, d0.loss_plan_l1_fix_dist: 0.4848, d1.loss_plan_l1_fix_time: 2.1259, d1.loss_plan_l1_fix_dist: 0.3703, d2.loss_plan_l1_fix_time: 2.1161, d2.loss_plan_l1_fix_dist: 0.3813, d3.loss_plan_l1_fix_time: 2.1252, d3.loss_plan_l1_fix_dist: 0.3984, d4.loss_plan_l1_fix_time: 2.1365, d4.loss_plan_l1_fix_dist: 0.4179, d5.loss_plan_l1_fix_time: 2.1489, d5.loss_plan_l1_fix_dist: 0.4407, d6.loss_plan_l1_fix_time: 2.1621, d6.loss_plan_l1_fix_dist: 0.4613, d0.loss_cls_all: 0.5227, d0.loss_bbox_all: 0.6506, d0.loss_cls: 0.5227, d0.loss_bbox: 0.6506, d1.loss_cls: 0.5172, d1.loss_bbox: 0.6288, d2.loss_cls: 0.5236, d2.loss_bbox: 0.6231, d3.loss_cls: 0.5298, d3.loss_bbox: 0.6217, d4.loss_cls: 0.5281, d4.loss_bbox: 0.6211, d5.loss_cls: 0.5379, d5.loss_bbox: 0.6239, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2117, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1556, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1416, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1606, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1531, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1637, d0.loss_map_cls_all: 0.3456, d0.loss_map_pts_all: 2.4465, d0.loss_map_dir_all: 0.0270, d0.loss_map_cls: 0.3456, d0.loss_map_pts: 2.4465, d0.loss_map_dir: 0.0270, d1.loss_map_cls: 0.3312, d1.loss_map_pts: 1.6904, d1.loss_map_dir: 0.0275, d2.loss_map_cls: 0.3201, d2.loss_map_pts: 1.5818, d2.loss_map_dir: 0.0281, d3.loss_map_cls: 0.3140, d3.loss_map_pts: 1.5384, d3.loss_map_dir: 0.0286, d4.loss_map_cls: 0.3123, d4.loss_map_pts: 1.5260, d4.loss_map_dir: 0.0290, d5.loss_map_cls: 0.3118, d5.loss_map_pts: 1.5243, d5.loss_map_dir: 0.0293, loss: 52.7325, grad_norm: 147.7624 +2026-02-24 16:54:05,753 - DriveTransformer - INFO - Epoch [2][26650/39528] lr: 9.958e-05, eta: 8 days, 3:09:52, time: 0.779, data_time: 0.040, memory: 19865, loss_cls: 0.5472, loss_bbox: 0.6474, loss_traj: 1.2148, loss_traj_cls: 0.0005, loss_map_cls: 0.3421, loss_map_pts: 1.5773, loss_map_dir: 0.0260, d0.loss_plan_l1_fix_time: 2.4017, d0.loss_plan_l1_fix_dist: 0.5033, d1.loss_plan_l1_fix_time: 2.1000, d1.loss_plan_l1_fix_dist: 0.4217, d2.loss_plan_l1_fix_time: 2.0814, d2.loss_plan_l1_fix_dist: 0.4288, d3.loss_plan_l1_fix_time: 2.0857, d3.loss_plan_l1_fix_dist: 0.4400, d4.loss_plan_l1_fix_time: 2.0939, d4.loss_plan_l1_fix_dist: 0.4516, d5.loss_plan_l1_fix_time: 2.1031, d5.loss_plan_l1_fix_dist: 0.4626, d6.loss_plan_l1_fix_time: 2.1128, d6.loss_plan_l1_fix_dist: 0.4762, d0.loss_cls_all: 0.5315, d0.loss_bbox_all: 0.6863, d0.loss_cls: 0.5315, d0.loss_bbox: 0.6863, d1.loss_cls: 0.5230, d1.loss_bbox: 0.6682, d2.loss_cls: 0.5217, d2.loss_bbox: 0.6607, d3.loss_cls: 0.5292, d3.loss_bbox: 0.6550, d4.loss_cls: 0.5281, d4.loss_bbox: 0.6488, d5.loss_cls: 0.5373, d5.loss_bbox: 0.6470, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3181, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2344, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2128, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2179, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2165, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2079, d0.loss_map_cls_all: 0.3819, d0.loss_map_pts_all: 2.4000, d0.loss_map_dir_all: 0.0241, d0.loss_map_cls: 0.3819, d0.loss_map_pts: 2.4000, d0.loss_map_dir: 0.0241, d1.loss_map_cls: 0.3666, d1.loss_map_pts: 1.7446, d1.loss_map_dir: 0.0244, d2.loss_map_cls: 0.3538, d2.loss_map_pts: 1.6389, d2.loss_map_dir: 0.0250, d3.loss_map_cls: 0.3448, d3.loss_map_pts: 1.5980, d3.loss_map_dir: 0.0254, d4.loss_map_cls: 0.3406, d4.loss_map_pts: 1.5831, d4.loss_map_dir: 0.0257, d5.loss_map_cls: 0.3413, d5.loss_map_pts: 1.5783, d5.loss_map_dir: 0.0257, loss: 53.9135, grad_norm: 147.2551 +2026-02-24 16:54:47,091 - DriveTransformer - INFO - Epoch [2][26700/39528] lr: 9.958e-05, eta: 8 days, 3:09:33, time: 0.827, data_time: 0.041, memory: 19865, loss_cls: 0.5444, loss_bbox: 0.6083, loss_traj: 1.3487, loss_traj_cls: 0.0006, loss_map_cls: 0.3684, loss_map_pts: 1.6784, loss_map_dir: 0.0306, d0.loss_plan_l1_fix_time: 2.6836, d0.loss_plan_l1_fix_dist: 0.4599, d1.loss_plan_l1_fix_time: 2.1878, d1.loss_plan_l1_fix_dist: 0.3761, d2.loss_plan_l1_fix_time: 2.1435, d2.loss_plan_l1_fix_dist: 0.3808, d3.loss_plan_l1_fix_time: 2.1392, d3.loss_plan_l1_fix_dist: 0.3931, d4.loss_plan_l1_fix_time: 2.1432, d4.loss_plan_l1_fix_dist: 0.4068, d5.loss_plan_l1_fix_time: 2.1489, d5.loss_plan_l1_fix_dist: 0.4223, d6.loss_plan_l1_fix_time: 2.1556, d6.loss_plan_l1_fix_dist: 0.4417, d0.loss_cls_all: 0.5471, d0.loss_bbox_all: 0.6473, d0.loss_cls: 0.5471, d0.loss_bbox: 0.6473, d1.loss_cls: 0.5309, d1.loss_bbox: 0.6233, d2.loss_cls: 0.5274, d2.loss_bbox: 0.6160, d3.loss_cls: 0.5326, d3.loss_bbox: 0.6043, d4.loss_cls: 0.5355, d4.loss_bbox: 0.6010, d5.loss_cls: 0.5404, d5.loss_bbox: 0.6051, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3468, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3257, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3125, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3296, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3280, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3434, d0.loss_map_cls_all: 0.3952, d0.loss_map_pts_all: 2.6912, d0.loss_map_dir_all: 0.0277, d0.loss_map_cls: 0.3952, d0.loss_map_pts: 2.6912, d0.loss_map_dir: 0.0277, d1.loss_map_cls: 0.3980, d1.loss_map_pts: 1.8704, d1.loss_map_dir: 0.0283, d2.loss_map_cls: 0.3822, d2.loss_map_pts: 1.7499, d2.loss_map_dir: 0.0292, d3.loss_map_cls: 0.3744, d3.loss_map_pts: 1.6983, d3.loss_map_dir: 0.0297, d4.loss_map_cls: 0.3681, d4.loss_map_pts: 1.6851, d4.loss_map_dir: 0.0300, d5.loss_map_cls: 0.3674, d5.loss_map_pts: 1.6786, d5.loss_map_dir: 0.0303, loss: 56.1066, grad_norm: 147.7731 +2026-02-24 16:55:26,419 - DriveTransformer - INFO - Epoch [2][26750/39528] lr: 9.958e-05, eta: 8 days, 3:08:46, time: 0.787, data_time: 0.040, memory: 19865, loss_cls: 0.5300, loss_bbox: 0.6498, loss_traj: 1.3820, loss_traj_cls: 0.0006, loss_map_cls: 0.3234, loss_map_pts: 1.5850, loss_map_dir: 0.0240, d0.loss_plan_l1_fix_time: 2.9616, d0.loss_plan_l1_fix_dist: 0.5512, d1.loss_plan_l1_fix_time: 2.1981, d1.loss_plan_l1_fix_dist: 0.3864, d2.loss_plan_l1_fix_time: 2.1201, d2.loss_plan_l1_fix_dist: 0.3941, d3.loss_plan_l1_fix_time: 2.1098, d3.loss_plan_l1_fix_dist: 0.4082, d4.loss_plan_l1_fix_time: 2.1108, d4.loss_plan_l1_fix_dist: 0.4219, d5.loss_plan_l1_fix_time: 2.1149, d5.loss_plan_l1_fix_dist: 0.4392, d6.loss_plan_l1_fix_time: 2.1207, d6.loss_plan_l1_fix_dist: 0.4568, d0.loss_cls_all: 0.5311, d0.loss_bbox_all: 0.6761, d0.loss_cls: 0.5311, d0.loss_bbox: 0.6761, d1.loss_cls: 0.5202, d1.loss_bbox: 0.6547, d2.loss_cls: 0.5209, d2.loss_bbox: 0.6445, d3.loss_cls: 0.5241, d3.loss_bbox: 0.6379, d4.loss_cls: 0.5272, d4.loss_bbox: 0.6385, d5.loss_cls: 0.5279, d5.loss_bbox: 0.6430, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4414, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3615, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3470, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3619, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3600, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3665, d0.loss_map_cls_all: 0.3507, d0.loss_map_pts_all: 2.2862, d0.loss_map_dir_all: 0.0220, d0.loss_map_cls: 0.3507, d0.loss_map_pts: 2.2862, d0.loss_map_dir: 0.0220, d1.loss_map_cls: 0.3443, d1.loss_map_pts: 1.7366, d1.loss_map_dir: 0.0223, d2.loss_map_cls: 0.3316, d2.loss_map_pts: 1.6435, d2.loss_map_dir: 0.0230, d3.loss_map_cls: 0.3248, d3.loss_map_pts: 1.6018, d3.loss_map_dir: 0.0235, d4.loss_map_cls: 0.3232, d4.loss_map_pts: 1.5919, d4.loss_map_dir: 0.0237, d5.loss_map_cls: 0.3222, d5.loss_map_pts: 1.5858, d5.loss_map_dir: 0.0238, loss: 55.0246, grad_norm: 143.6137 +2026-02-24 16:56:06,841 - DriveTransformer - INFO - Epoch [2][26800/39528] lr: 9.958e-05, eta: 8 days, 3:08:15, time: 0.808, data_time: 0.037, memory: 19865, loss_cls: 0.5133, loss_bbox: 0.6590, loss_traj: 1.1909, loss_traj_cls: 0.0005, loss_map_cls: 0.3306, loss_map_pts: 1.4603, loss_map_dir: 0.0267, d0.loss_plan_l1_fix_time: 2.9189, d0.loss_plan_l1_fix_dist: 0.4761, d1.loss_plan_l1_fix_time: 2.2716, d1.loss_plan_l1_fix_dist: 0.3842, d2.loss_plan_l1_fix_time: 2.1845, d2.loss_plan_l1_fix_dist: 0.4015, d3.loss_plan_l1_fix_time: 2.1772, d3.loss_plan_l1_fix_dist: 0.4224, d4.loss_plan_l1_fix_time: 2.1841, d4.loss_plan_l1_fix_dist: 0.4479, d5.loss_plan_l1_fix_time: 2.1927, d5.loss_plan_l1_fix_dist: 0.4739, d6.loss_plan_l1_fix_time: 2.2025, d6.loss_plan_l1_fix_dist: 0.5017, d0.loss_cls_all: 0.5180, d0.loss_bbox_all: 0.6960, d0.loss_cls: 0.5180, d0.loss_bbox: 0.6960, d1.loss_cls: 0.5137, d1.loss_bbox: 0.6771, d2.loss_cls: 0.5113, d2.loss_bbox: 0.6671, d3.loss_cls: 0.5129, d3.loss_bbox: 0.6585, d4.loss_cls: 0.5156, d4.loss_bbox: 0.6560, d5.loss_cls: 0.5122, d5.loss_bbox: 0.6556, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3464, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.2248, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1827, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1822, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1898, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1890, d0.loss_map_cls_all: 0.3591, d0.loss_map_pts_all: 2.4225, d0.loss_map_dir_all: 0.0245, d0.loss_map_cls: 0.3591, d0.loss_map_pts: 2.4225, d0.loss_map_dir: 0.0245, d1.loss_map_cls: 0.3513, d1.loss_map_pts: 1.6552, d1.loss_map_dir: 0.0249, d2.loss_map_cls: 0.3371, d2.loss_map_pts: 1.5368, d2.loss_map_dir: 0.0257, d3.loss_map_cls: 0.3333, d3.loss_map_pts: 1.4849, d3.loss_map_dir: 0.0261, d4.loss_map_cls: 0.3303, d4.loss_map_pts: 1.4673, d4.loss_map_dir: 0.0264, d5.loss_map_cls: 0.3295, d5.loss_map_pts: 1.4608, d5.loss_map_dir: 0.0266, loss: 54.0766, grad_norm: 143.2747 +2026-02-24 16:56:48,268 - DriveTransformer - INFO - Epoch [2][26850/39528] lr: 9.958e-05, eta: 8 days, 3:07:56, time: 0.829, data_time: 0.040, memory: 19865, loss_cls: 0.5249, loss_bbox: 0.6022, loss_traj: 1.3614, loss_traj_cls: 0.0006, loss_map_cls: 0.3209, loss_map_pts: 1.4828, loss_map_dir: 0.0258, d0.loss_plan_l1_fix_time: 2.4642, d0.loss_plan_l1_fix_dist: 0.4188, d1.loss_plan_l1_fix_time: 2.2360, d1.loss_plan_l1_fix_dist: 0.3610, d2.loss_plan_l1_fix_time: 2.2341, d2.loss_plan_l1_fix_dist: 0.3703, d3.loss_plan_l1_fix_time: 2.2470, d3.loss_plan_l1_fix_dist: 0.3811, d4.loss_plan_l1_fix_time: 2.2578, d4.loss_plan_l1_fix_dist: 0.3921, d5.loss_plan_l1_fix_time: 2.2678, d5.loss_plan_l1_fix_dist: 0.4052, d6.loss_plan_l1_fix_time: 2.2781, d6.loss_plan_l1_fix_dist: 0.4226, d0.loss_cls_all: 0.5302, d0.loss_bbox_all: 0.6577, d0.loss_cls: 0.5302, d0.loss_bbox: 0.6577, d1.loss_cls: 0.5195, d1.loss_bbox: 0.6318, d2.loss_cls: 0.5127, d2.loss_bbox: 0.6239, d3.loss_cls: 0.5189, d3.loss_bbox: 0.6188, d4.loss_cls: 0.5230, d4.loss_bbox: 0.6119, d5.loss_cls: 0.5230, d5.loss_bbox: 0.6053, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4076, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3221, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3219, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3434, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3533, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3576, d0.loss_map_cls_all: 0.3580, d0.loss_map_pts_all: 2.2789, d0.loss_map_dir_all: 0.0233, d0.loss_map_cls: 0.3580, d0.loss_map_pts: 2.2789, d0.loss_map_dir: 0.0233, d1.loss_map_cls: 0.3424, d1.loss_map_pts: 1.6463, d1.loss_map_dir: 0.0239, d2.loss_map_cls: 0.3278, d2.loss_map_pts: 1.5371, d2.loss_map_dir: 0.0246, d3.loss_map_cls: 0.3216, d3.loss_map_pts: 1.5021, d3.loss_map_dir: 0.0252, d4.loss_map_cls: 0.3183, d4.loss_map_pts: 1.4930, d4.loss_map_dir: 0.0255, d5.loss_map_cls: 0.3193, d5.loss_map_pts: 1.4872, d5.loss_map_dir: 0.0257, loss: 53.9705, grad_norm: 145.0418 +2026-02-24 16:57:26,500 - DriveTransformer - INFO - Epoch [2][26900/39528] lr: 9.958e-05, eta: 8 days, 3:06:56, time: 0.765, data_time: 0.036, memory: 19865, loss_cls: 0.5036, loss_bbox: 0.5993, loss_traj: 1.3398, loss_traj_cls: 0.0006, loss_map_cls: 0.3320, loss_map_pts: 1.4006, loss_map_dir: 0.0255, d0.loss_plan_l1_fix_time: 2.5583, d0.loss_plan_l1_fix_dist: 0.5135, d1.loss_plan_l1_fix_time: 1.8998, d1.loss_plan_l1_fix_dist: 0.3572, d2.loss_plan_l1_fix_time: 1.8723, d2.loss_plan_l1_fix_dist: 0.3598, d3.loss_plan_l1_fix_time: 1.8709, d3.loss_plan_l1_fix_dist: 0.3728, d4.loss_plan_l1_fix_time: 1.8771, d4.loss_plan_l1_fix_dist: 0.3853, d5.loss_plan_l1_fix_time: 1.8850, d5.loss_plan_l1_fix_dist: 0.3992, d6.loss_plan_l1_fix_time: 1.8940, d6.loss_plan_l1_fix_dist: 0.4139, d0.loss_cls_all: 0.5166, d0.loss_bbox_all: 0.6485, d0.loss_cls: 0.5166, d0.loss_bbox: 0.6485, d1.loss_cls: 0.4976, d1.loss_bbox: 0.6214, d2.loss_cls: 0.4957, d2.loss_bbox: 0.6167, d3.loss_cls: 0.4976, d3.loss_bbox: 0.6121, d4.loss_cls: 0.5032, d4.loss_bbox: 0.6048, d5.loss_cls: 0.5017, d5.loss_bbox: 0.6013, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4399, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3454, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3229, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3388, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3354, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3343, d0.loss_map_cls_all: 0.3702, d0.loss_map_pts_all: 2.2691, d0.loss_map_dir_all: 0.0241, d0.loss_map_cls: 0.3702, d0.loss_map_pts: 2.2691, d0.loss_map_dir: 0.0241, d1.loss_map_cls: 0.3562, d1.loss_map_pts: 1.5952, d1.loss_map_dir: 0.0242, d2.loss_map_cls: 0.3419, d2.loss_map_pts: 1.4716, d2.loss_map_dir: 0.0246, d3.loss_map_cls: 0.3343, d3.loss_map_pts: 1.4288, d3.loss_map_dir: 0.0250, d4.loss_map_cls: 0.3312, d4.loss_map_pts: 1.4123, d4.loss_map_dir: 0.0251, d5.loss_map_cls: 0.3306, d5.loss_map_pts: 1.4055, d5.loss_map_dir: 0.0253, loss: 51.3228, grad_norm: 146.7497 +2026-02-24 16:58:05,686 - DriveTransformer - INFO - Epoch [2][26950/39528] lr: 9.958e-05, eta: 8 days, 3:06:08, time: 0.784, data_time: 0.043, memory: 19865, loss_cls: 0.5551, loss_bbox: 0.6541, loss_traj: 1.4448, loss_traj_cls: 0.0006, loss_map_cls: 0.3151, loss_map_pts: 1.3605, loss_map_dir: 0.0224, d0.loss_plan_l1_fix_time: 2.9961, d0.loss_plan_l1_fix_dist: 0.4768, d1.loss_plan_l1_fix_time: 2.5360, d1.loss_plan_l1_fix_dist: 0.3712, d2.loss_plan_l1_fix_time: 2.5079, d2.loss_plan_l1_fix_dist: 0.3740, d3.loss_plan_l1_fix_time: 2.5049, d3.loss_plan_l1_fix_dist: 0.3816, d4.loss_plan_l1_fix_time: 2.5088, d4.loss_plan_l1_fix_dist: 0.3901, d5.loss_plan_l1_fix_time: 2.5143, d5.loss_plan_l1_fix_dist: 0.4010, d6.loss_plan_l1_fix_time: 2.5209, d6.loss_plan_l1_fix_dist: 0.4163, d0.loss_cls_all: 0.5508, d0.loss_bbox_all: 0.6966, d0.loss_cls: 0.5508, d0.loss_bbox: 0.6966, d1.loss_cls: 0.5511, d1.loss_bbox: 0.6677, d2.loss_cls: 0.5495, d2.loss_bbox: 0.6626, d3.loss_cls: 0.5504, d3.loss_bbox: 0.6581, d4.loss_cls: 0.5494, d4.loss_bbox: 0.6531, d5.loss_cls: 0.5543, d5.loss_bbox: 0.6534, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4969, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.4174, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.4169, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.4307, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4324, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4338, d0.loss_map_cls_all: 0.3747, d0.loss_map_pts_all: 2.1380, d0.loss_map_dir_all: 0.0211, d0.loss_map_cls: 0.3747, d0.loss_map_pts: 2.1380, d0.loss_map_dir: 0.0211, d1.loss_map_cls: 0.3495, d1.loss_map_pts: 1.5279, d1.loss_map_dir: 0.0213, d2.loss_map_cls: 0.3291, d2.loss_map_pts: 1.4209, d2.loss_map_dir: 0.0215, d3.loss_map_cls: 0.3173, d3.loss_map_pts: 1.3795, d3.loss_map_dir: 0.0219, d4.loss_map_cls: 0.3137, d4.loss_map_pts: 1.3646, d4.loss_map_dir: 0.0221, d5.loss_map_cls: 0.3134, d5.loss_map_pts: 1.3620, d5.loss_map_dir: 0.0223, loss: 56.2848, grad_norm: 147.6141 +2026-02-24 16:58:45,423 - DriveTransformer - INFO - Epoch [2][27000/39528] lr: 9.958e-05, eta: 8 days, 3:05:28, time: 0.796, data_time: 0.039, memory: 19865, loss_cls: 0.5534, loss_bbox: 0.6243, loss_traj: 1.0976, loss_traj_cls: 0.0006, loss_map_cls: 0.3498, loss_map_pts: 1.5047, loss_map_dir: 0.0286, d0.loss_plan_l1_fix_time: 2.9919, d0.loss_plan_l1_fix_dist: 0.5274, d1.loss_plan_l1_fix_time: 2.4056, d1.loss_plan_l1_fix_dist: 0.3746, d2.loss_plan_l1_fix_time: 2.3642, d2.loss_plan_l1_fix_dist: 0.3808, d3.loss_plan_l1_fix_time: 2.3633, d3.loss_plan_l1_fix_dist: 0.3881, d4.loss_plan_l1_fix_time: 2.3674, d4.loss_plan_l1_fix_dist: 0.3973, d5.loss_plan_l1_fix_time: 2.3728, d5.loss_plan_l1_fix_dist: 0.4059, d6.loss_plan_l1_fix_time: 2.3790, d6.loss_plan_l1_fix_dist: 0.4148, d0.loss_cls_all: 0.5529, d0.loss_bbox_all: 0.6736, d0.loss_cls: 0.5529, d0.loss_bbox: 0.6736, d1.loss_cls: 0.5625, d1.loss_bbox: 0.6426, d2.loss_cls: 0.5573, d2.loss_bbox: 0.6338, d3.loss_cls: 0.5566, d3.loss_bbox: 0.6267, d4.loss_cls: 0.5487, d4.loss_bbox: 0.6216, d5.loss_cls: 0.5522, d5.loss_bbox: 0.6200, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1765, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.0911, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0884, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.0927, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.0942, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.0895, d0.loss_map_cls_all: 0.3872, d0.loss_map_pts_all: 2.4363, d0.loss_map_dir_all: 0.0262, d0.loss_map_cls: 0.3872, d0.loss_map_pts: 2.4363, d0.loss_map_dir: 0.0262, d1.loss_map_cls: 0.3727, d1.loss_map_pts: 1.6881, d1.loss_map_dir: 0.0269, d2.loss_map_cls: 0.3589, d2.loss_map_pts: 1.5695, d2.loss_map_dir: 0.0274, d3.loss_map_cls: 0.3527, d3.loss_map_pts: 1.5241, d3.loss_map_dir: 0.0279, d4.loss_map_cls: 0.3491, d4.loss_map_pts: 1.5049, d4.loss_map_dir: 0.0282, d5.loss_map_cls: 0.3494, d5.loss_map_pts: 1.5025, d5.loss_map_dir: 0.0284, loss: 54.7146, grad_norm: 149.3239 +2026-02-24 16:59:25,984 - DriveTransformer - INFO - Epoch [2][27050/39528] lr: 9.958e-05, eta: 8 days, 3:04:57, time: 0.810, data_time: 0.036, memory: 19865, loss_cls: 0.5353, loss_bbox: 0.6383, loss_traj: 1.4349, loss_traj_cls: 0.0006, loss_map_cls: 0.3476, loss_map_pts: 1.4099, loss_map_dir: 0.0241, d0.loss_plan_l1_fix_time: 2.9442, d0.loss_plan_l1_fix_dist: 0.4066, d1.loss_plan_l1_fix_time: 2.2787, d1.loss_plan_l1_fix_dist: 0.3344, d2.loss_plan_l1_fix_time: 2.2381, d2.loss_plan_l1_fix_dist: 0.3389, d3.loss_plan_l1_fix_time: 2.2335, d3.loss_plan_l1_fix_dist: 0.3471, d4.loss_plan_l1_fix_time: 2.2359, d4.loss_plan_l1_fix_dist: 0.3572, d5.loss_plan_l1_fix_time: 2.2398, d5.loss_plan_l1_fix_dist: 0.3681, d6.loss_plan_l1_fix_time: 2.2456, d6.loss_plan_l1_fix_dist: 0.3806, d0.loss_cls_all: 0.5532, d0.loss_bbox_all: 0.6855, d0.loss_cls: 0.5532, d0.loss_bbox: 0.6855, d1.loss_cls: 0.5442, d1.loss_bbox: 0.6509, d2.loss_cls: 0.5393, d2.loss_bbox: 0.6474, d3.loss_cls: 0.5311, d3.loss_bbox: 0.6447, d4.loss_cls: 0.5318, d4.loss_bbox: 0.6389, d5.loss_cls: 0.5332, d5.loss_bbox: 0.6376, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5966, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.4372, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.4086, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.4072, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4130, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4182, d0.loss_map_cls_all: 0.3833, d0.loss_map_pts_all: 2.2849, d0.loss_map_dir_all: 0.0225, d0.loss_map_cls: 0.3833, d0.loss_map_pts: 2.2849, d0.loss_map_dir: 0.0225, d1.loss_map_cls: 0.3701, d1.loss_map_pts: 1.5801, d1.loss_map_dir: 0.0226, d2.loss_map_cls: 0.3605, d2.loss_map_pts: 1.4749, d2.loss_map_dir: 0.0232, d3.loss_map_cls: 0.3501, d3.loss_map_pts: 1.4323, d3.loss_map_dir: 0.0235, d4.loss_map_cls: 0.3452, d4.loss_map_pts: 1.4144, d4.loss_map_dir: 0.0238, d5.loss_map_cls: 0.3456, d5.loss_map_pts: 1.4125, d5.loss_map_dir: 0.0239, loss: 54.9860, grad_norm: 149.2729 +2026-02-24 17:00:07,443 - DriveTransformer - INFO - Epoch [2][27100/39528] lr: 9.958e-05, eta: 8 days, 3:04:39, time: 0.829, data_time: 0.042, memory: 19865, loss_cls: 0.5145, loss_bbox: 0.6248, loss_traj: 1.2993, loss_traj_cls: 0.0006, loss_map_cls: 0.3199, loss_map_pts: 1.5473, loss_map_dir: 0.0258, d0.loss_plan_l1_fix_time: 2.6583, d0.loss_plan_l1_fix_dist: 0.4714, d1.loss_plan_l1_fix_time: 2.2209, d1.loss_plan_l1_fix_dist: 0.3745, d2.loss_plan_l1_fix_time: 2.2197, d2.loss_plan_l1_fix_dist: 0.3741, d3.loss_plan_l1_fix_time: 2.2263, d3.loss_plan_l1_fix_dist: 0.3839, d4.loss_plan_l1_fix_time: 2.2337, d4.loss_plan_l1_fix_dist: 0.3955, d5.loss_plan_l1_fix_time: 2.2399, d5.loss_plan_l1_fix_dist: 0.4110, d6.loss_plan_l1_fix_time: 2.2458, d6.loss_plan_l1_fix_dist: 0.4284, d0.loss_cls_all: 0.5139, d0.loss_bbox_all: 0.6743, d0.loss_cls: 0.5139, d0.loss_bbox: 0.6743, d1.loss_cls: 0.5129, d1.loss_bbox: 0.6484, d2.loss_cls: 0.5140, d2.loss_bbox: 0.6348, d3.loss_cls: 0.5155, d3.loss_bbox: 0.6277, d4.loss_cls: 0.5115, d4.loss_bbox: 0.6254, d5.loss_cls: 0.5145, d5.loss_bbox: 0.6228, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2847, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.2623, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2601, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2717, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2815, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2936, d0.loss_map_cls_all: 0.3613, d0.loss_map_pts_all: 2.4439, d0.loss_map_dir_all: 0.0239, d0.loss_map_cls: 0.3613, d0.loss_map_pts: 2.4439, d0.loss_map_dir: 0.0239, d1.loss_map_cls: 0.3523, d1.loss_map_pts: 1.6838, d1.loss_map_dir: 0.0240, d2.loss_map_cls: 0.3340, d2.loss_map_pts: 1.5849, d2.loss_map_dir: 0.0246, d3.loss_map_cls: 0.3260, d3.loss_map_pts: 1.5474, d3.loss_map_dir: 0.0251, d4.loss_map_cls: 0.3209, d4.loss_map_pts: 1.5393, d4.loss_map_dir: 0.0254, d5.loss_map_cls: 0.3190, d5.loss_map_pts: 1.5393, d5.loss_map_dir: 0.0256, loss: 54.3082, grad_norm: 148.8243 +2026-02-24 17:00:47,139 - DriveTransformer - INFO - Epoch [2][27150/39528] lr: 9.958e-05, eta: 8 days, 3:03:58, time: 0.794, data_time: 0.042, memory: 19865, loss_cls: 0.5242, loss_bbox: 0.6198, loss_traj: 1.2868, loss_traj_cls: 0.0006, loss_map_cls: 0.3679, loss_map_pts: 1.5904, loss_map_dir: 0.0288, d0.loss_plan_l1_fix_time: 2.6268, d0.loss_plan_l1_fix_dist: 0.5149, d1.loss_plan_l1_fix_time: 2.1469, d1.loss_plan_l1_fix_dist: 0.3809, d2.loss_plan_l1_fix_time: 2.1114, d2.loss_plan_l1_fix_dist: 0.3809, d3.loss_plan_l1_fix_time: 2.1074, d3.loss_plan_l1_fix_dist: 0.3891, d4.loss_plan_l1_fix_time: 2.1129, d4.loss_plan_l1_fix_dist: 0.3993, d5.loss_plan_l1_fix_time: 2.1204, d5.loss_plan_l1_fix_dist: 0.4105, d6.loss_plan_l1_fix_time: 2.1294, d6.loss_plan_l1_fix_dist: 0.4251, d0.loss_cls_all: 0.5242, d0.loss_bbox_all: 0.6697, d0.loss_cls: 0.5242, d0.loss_bbox: 0.6697, d1.loss_cls: 0.5259, d1.loss_bbox: 0.6420, d2.loss_cls: 0.5313, d2.loss_bbox: 0.6266, d3.loss_cls: 0.5303, d3.loss_bbox: 0.6204, d4.loss_cls: 0.5195, d4.loss_bbox: 0.6184, d5.loss_cls: 0.5233, d5.loss_bbox: 0.6168, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4204, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3288, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2879, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2916, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2921, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2880, d0.loss_map_cls_all: 0.4074, d0.loss_map_pts_all: 2.5201, d0.loss_map_dir_all: 0.0270, d0.loss_map_cls: 0.4074, d0.loss_map_pts: 2.5201, d0.loss_map_dir: 0.0270, d1.loss_map_cls: 0.3972, d1.loss_map_pts: 1.7741, d1.loss_map_dir: 0.0275, d2.loss_map_cls: 0.3818, d2.loss_map_pts: 1.6588, d2.loss_map_dir: 0.0278, d3.loss_map_cls: 0.3722, d3.loss_map_pts: 1.6122, d3.loss_map_dir: 0.0282, d4.loss_map_cls: 0.3711, d4.loss_map_pts: 1.5946, d4.loss_map_dir: 0.0285, d5.loss_map_cls: 0.3690, d5.loss_map_pts: 1.5912, d5.loss_map_dir: 0.0287, loss: 54.9026, grad_norm: 151.1831 +2026-02-24 17:01:24,256 - DriveTransformer - INFO - Epoch [2][27200/39528] lr: 9.958e-05, eta: 8 days, 3:02:43, time: 0.743, data_time: 0.043, memory: 19865, loss_cls: 0.5418, loss_bbox: 0.6547, loss_traj: 1.7537, loss_traj_cls: 0.0006, loss_map_cls: 0.3562, loss_map_pts: 1.4241, loss_map_dir: 0.0208, d0.loss_plan_l1_fix_time: 2.7454, d0.loss_plan_l1_fix_dist: 0.4157, d1.loss_plan_l1_fix_time: 2.1234, d1.loss_plan_l1_fix_dist: 0.3435, d2.loss_plan_l1_fix_time: 2.0973, d2.loss_plan_l1_fix_dist: 0.3502, d3.loss_plan_l1_fix_time: 2.0957, d3.loss_plan_l1_fix_dist: 0.3615, d4.loss_plan_l1_fix_time: 2.1014, d4.loss_plan_l1_fix_dist: 0.3761, d5.loss_plan_l1_fix_time: 2.1089, d5.loss_plan_l1_fix_dist: 0.3949, d6.loss_plan_l1_fix_time: 2.1184, d6.loss_plan_l1_fix_dist: 0.4178, d0.loss_cls_all: 0.5502, d0.loss_bbox_all: 0.7171, d0.loss_cls: 0.5502, d0.loss_bbox: 0.7171, d1.loss_cls: 0.5485, d1.loss_bbox: 0.6838, d2.loss_cls: 0.5425, d2.loss_bbox: 0.6643, d3.loss_cls: 0.5411, d3.loss_bbox: 0.6559, d4.loss_cls: 0.5337, d4.loss_bbox: 0.6528, d5.loss_cls: 0.5371, d5.loss_bbox: 0.6526, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.8753, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.7244, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.6813, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.7064, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7256, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7376, d0.loss_map_cls_all: 0.4036, d0.loss_map_pts_all: 2.1288, d0.loss_map_dir_all: 0.0194, d0.loss_map_cls: 0.4036, d0.loss_map_pts: 2.1288, d0.loss_map_dir: 0.0194, d1.loss_map_cls: 0.3901, d1.loss_map_pts: 1.5844, d1.loss_map_dir: 0.0194, d2.loss_map_cls: 0.3720, d2.loss_map_pts: 1.4811, d2.loss_map_dir: 0.0199, d3.loss_map_cls: 0.3623, d3.loss_map_pts: 1.4446, d3.loss_map_dir: 0.0203, d4.loss_map_cls: 0.3577, d4.loss_map_pts: 1.4304, d4.loss_map_dir: 0.0204, d5.loss_map_cls: 0.3553, d5.loss_map_pts: 1.4274, d5.loss_map_dir: 0.0206, loss: 56.2146, grad_norm: 150.5045 +2026-02-24 17:02:05,155 - DriveTransformer - INFO - Epoch [2][27250/39528] lr: 9.958e-05, eta: 8 days, 3:02:17, time: 0.818, data_time: 0.048, memory: 19865, loss_cls: 0.5527, loss_bbox: 0.6356, loss_traj: 1.5018, loss_traj_cls: 0.0006, loss_map_cls: 0.3709, loss_map_pts: 1.6483, loss_map_dir: 0.0284, d0.loss_plan_l1_fix_time: 3.2080, d0.loss_plan_l1_fix_dist: 0.4637, d1.loss_plan_l1_fix_time: 2.5502, d1.loss_plan_l1_fix_dist: 0.4155, d2.loss_plan_l1_fix_time: 2.5209, d2.loss_plan_l1_fix_dist: 0.4198, d3.loss_plan_l1_fix_time: 2.5268, d3.loss_plan_l1_fix_dist: 0.4324, d4.loss_plan_l1_fix_time: 2.5339, d4.loss_plan_l1_fix_dist: 0.4481, d5.loss_plan_l1_fix_time: 2.5421, d5.loss_plan_l1_fix_dist: 0.4669, d6.loss_plan_l1_fix_time: 2.5505, d6.loss_plan_l1_fix_dist: 0.4890, d0.loss_cls_all: 0.5447, d0.loss_bbox_all: 0.6852, d0.loss_cls: 0.5447, d0.loss_bbox: 0.6852, d1.loss_cls: 0.5443, d1.loss_bbox: 0.6588, d2.loss_cls: 0.5496, d2.loss_bbox: 0.6439, d3.loss_cls: 0.5430, d3.loss_bbox: 0.6387, d4.loss_cls: 0.5492, d4.loss_bbox: 0.6371, d5.loss_cls: 0.5491, d5.loss_bbox: 0.6349, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6314, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.5353, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.5033, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.5079, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5011, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5045, d0.loss_map_cls_all: 0.4214, d0.loss_map_pts_all: 2.5364, d0.loss_map_dir_all: 0.0263, d0.loss_map_cls: 0.4214, d0.loss_map_pts: 2.5364, d0.loss_map_dir: 0.0263, d1.loss_map_cls: 0.3969, d1.loss_map_pts: 1.8398, d1.loss_map_dir: 0.0265, d2.loss_map_cls: 0.3815, d2.loss_map_pts: 1.7210, d2.loss_map_dir: 0.0273, d3.loss_map_cls: 0.3769, d3.loss_map_pts: 1.6757, d3.loss_map_dir: 0.0278, d4.loss_map_cls: 0.3711, d4.loss_map_pts: 1.6579, d4.loss_map_dir: 0.0281, d5.loss_map_cls: 0.3686, d5.loss_map_pts: 1.6523, d5.loss_map_dir: 0.0282, loss: 60.4508, grad_norm: 152.7294 +2026-02-24 17:02:46,972 - DriveTransformer - INFO - Epoch [2][27300/39528] lr: 9.958e-05, eta: 8 days, 3:02:04, time: 0.836, data_time: 0.037, memory: 19865, loss_cls: 0.5754, loss_bbox: 0.6665, loss_traj: 1.3863, loss_traj_cls: 0.0006, loss_map_cls: 0.3821, loss_map_pts: 1.7647, loss_map_dir: 0.0294, d0.loss_plan_l1_fix_time: 2.8363, d0.loss_plan_l1_fix_dist: 0.4298, d1.loss_plan_l1_fix_time: 2.2100, d1.loss_plan_l1_fix_dist: 0.3532, d2.loss_plan_l1_fix_time: 2.1677, d2.loss_plan_l1_fix_dist: 0.3540, d3.loss_plan_l1_fix_time: 2.1625, d3.loss_plan_l1_fix_dist: 0.3611, d4.loss_plan_l1_fix_time: 2.1654, d4.loss_plan_l1_fix_dist: 0.3719, d5.loss_plan_l1_fix_time: 2.1701, d5.loss_plan_l1_fix_dist: 0.3854, d6.loss_plan_l1_fix_time: 2.1763, d6.loss_plan_l1_fix_dist: 0.4007, d0.loss_cls_all: 0.5726, d0.loss_bbox_all: 0.7114, d0.loss_cls: 0.5726, d0.loss_bbox: 0.7114, d1.loss_cls: 0.5639, d1.loss_bbox: 0.6894, d2.loss_cls: 0.5735, d2.loss_bbox: 0.6767, d3.loss_cls: 0.5710, d3.loss_bbox: 0.6689, d4.loss_cls: 0.5718, d4.loss_bbox: 0.6690, d5.loss_cls: 0.5726, d5.loss_bbox: 0.6677, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5032, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3820, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3567, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3728, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3744, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3790, d0.loss_map_cls_all: 0.4096, d0.loss_map_pts_all: 2.6417, d0.loss_map_dir_all: 0.0272, d0.loss_map_cls: 0.4096, d0.loss_map_pts: 2.6417, d0.loss_map_dir: 0.0272, d1.loss_map_cls: 0.3967, d1.loss_map_pts: 1.9555, d1.loss_map_dir: 0.0274, d2.loss_map_cls: 0.3909, d2.loss_map_pts: 1.8343, d2.loss_map_dir: 0.0282, d3.loss_map_cls: 0.3864, d3.loss_map_pts: 1.7869, d3.loss_map_dir: 0.0287, d4.loss_map_cls: 0.3827, d4.loss_map_pts: 1.7729, d4.loss_map_dir: 0.0290, d5.loss_map_cls: 0.3812, d5.loss_map_pts: 1.7660, d5.loss_map_dir: 0.0292, loss: 57.8677, grad_norm: 152.2323 +2026-02-24 17:03:27,278 - DriveTransformer - INFO - Epoch [2][27350/39528] lr: 9.958e-05, eta: 8 days, 3:01:30, time: 0.806, data_time: 0.037, memory: 19865, loss_cls: 0.5368, loss_bbox: 0.6190, loss_traj: 1.4422, loss_traj_cls: 0.0006, loss_map_cls: 0.3180, loss_map_pts: 1.5944, loss_map_dir: 0.0284, d0.loss_plan_l1_fix_time: 2.5569, d0.loss_plan_l1_fix_dist: 0.4733, d1.loss_plan_l1_fix_time: 1.8267, d1.loss_plan_l1_fix_dist: 0.3519, d2.loss_plan_l1_fix_time: 1.7807, d2.loss_plan_l1_fix_dist: 0.3628, d3.loss_plan_l1_fix_time: 1.7812, d3.loss_plan_l1_fix_dist: 0.3771, d4.loss_plan_l1_fix_time: 1.7864, d4.loss_plan_l1_fix_dist: 0.3910, d5.loss_plan_l1_fix_time: 1.7923, d5.loss_plan_l1_fix_dist: 0.4065, d6.loss_plan_l1_fix_time: 1.8005, d6.loss_plan_l1_fix_dist: 0.4226, d0.loss_cls_all: 0.5464, d0.loss_bbox_all: 0.6520, d0.loss_cls: 0.5464, d0.loss_bbox: 0.6520, d1.loss_cls: 0.5386, d1.loss_bbox: 0.6330, d2.loss_cls: 0.5371, d2.loss_bbox: 0.6242, d3.loss_cls: 0.5313, d3.loss_bbox: 0.6164, d4.loss_cls: 0.5319, d4.loss_bbox: 0.6152, d5.loss_cls: 0.5336, d5.loss_bbox: 0.6147, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5464, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.4287, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.4103, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.4349, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4306, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4437, d0.loss_map_cls_all: 0.3635, d0.loss_map_pts_all: 2.5570, d0.loss_map_dir_all: 0.0261, d0.loss_map_cls: 0.3635, d0.loss_map_pts: 2.5570, d0.loss_map_dir: 0.0261, d1.loss_map_cls: 0.3471, d1.loss_map_pts: 1.7821, d1.loss_map_dir: 0.0264, d2.loss_map_cls: 0.3365, d2.loss_map_pts: 1.6667, d2.loss_map_dir: 0.0271, d3.loss_map_cls: 0.3257, d3.loss_map_pts: 1.6167, d3.loss_map_dir: 0.0276, d4.loss_map_cls: 0.3181, d4.loss_map_pts: 1.6011, d4.loss_map_dir: 0.0280, d5.loss_map_cls: 0.3171, d5.loss_map_pts: 1.5951, d5.loss_map_dir: 0.0282, loss: 53.4582, grad_norm: 151.8372 +2026-02-24 17:04:08,883 - DriveTransformer - INFO - Epoch [2][27400/39528] lr: 9.958e-05, eta: 8 days, 3:01:14, time: 0.832, data_time: 0.041, memory: 19865, loss_cls: 0.5247, loss_bbox: 0.6045, loss_traj: 1.2989, loss_traj_cls: 0.0006, loss_map_cls: 0.3164, loss_map_pts: 1.5537, loss_map_dir: 0.0254, d0.loss_plan_l1_fix_time: 2.8308, d0.loss_plan_l1_fix_dist: 0.5738, d1.loss_plan_l1_fix_time: 2.3985, d1.loss_plan_l1_fix_dist: 0.4225, d2.loss_plan_l1_fix_time: 2.3848, d2.loss_plan_l1_fix_dist: 0.4259, d3.loss_plan_l1_fix_time: 2.3969, d3.loss_plan_l1_fix_dist: 0.4360, d4.loss_plan_l1_fix_time: 2.4083, d4.loss_plan_l1_fix_dist: 0.4509, d5.loss_plan_l1_fix_time: 2.4198, d5.loss_plan_l1_fix_dist: 0.4650, d6.loss_plan_l1_fix_time: 2.4307, d6.loss_plan_l1_fix_dist: 0.4821, d0.loss_cls_all: 0.5227, d0.loss_bbox_all: 0.6553, d0.loss_cls: 0.5227, d0.loss_bbox: 0.6553, d1.loss_cls: 0.5174, d1.loss_bbox: 0.6283, d2.loss_cls: 0.5175, d2.loss_bbox: 0.6159, d3.loss_cls: 0.5190, d3.loss_bbox: 0.6038, d4.loss_cls: 0.5216, d4.loss_bbox: 0.6037, d5.loss_cls: 0.5255, d5.loss_bbox: 0.6016, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4991, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3138, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2857, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2898, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2822, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2909, d0.loss_map_cls_all: 0.3554, d0.loss_map_pts_all: 2.3919, d0.loss_map_dir_all: 0.0242, d0.loss_map_cls: 0.3554, d0.loss_map_pts: 2.3919, d0.loss_map_dir: 0.0242, d1.loss_map_cls: 0.3403, d1.loss_map_pts: 1.7351, d1.loss_map_dir: 0.0240, d2.loss_map_cls: 0.3301, d2.loss_map_pts: 1.6265, d2.loss_map_dir: 0.0244, d3.loss_map_cls: 0.3233, d3.loss_map_pts: 1.5807, d3.loss_map_dir: 0.0248, d4.loss_map_cls: 0.3187, d4.loss_map_pts: 1.5616, d4.loss_map_dir: 0.0250, d5.loss_map_cls: 0.3154, d5.loss_map_pts: 1.5564, d5.loss_map_dir: 0.0251, loss: 56.1811, grad_norm: 154.4045 +2026-02-24 17:04:50,136 - DriveTransformer - INFO - Epoch [2][27450/39528] lr: 9.958e-05, eta: 8 days, 3:00:53, time: 0.825, data_time: 0.037, memory: 19865, loss_cls: 0.5714, loss_bbox: 0.6574, loss_traj: 1.3499, loss_traj_cls: 0.0006, loss_map_cls: 0.3657, loss_map_pts: 1.6558, loss_map_dir: 0.0303, d0.loss_plan_l1_fix_time: 2.9630, d0.loss_plan_l1_fix_dist: 0.4071, d1.loss_plan_l1_fix_time: 2.1948, d1.loss_plan_l1_fix_dist: 0.3420, d2.loss_plan_l1_fix_time: 2.1288, d2.loss_plan_l1_fix_dist: 0.3500, d3.loss_plan_l1_fix_time: 2.1199, d3.loss_plan_l1_fix_dist: 0.3629, d4.loss_plan_l1_fix_time: 2.1251, d4.loss_plan_l1_fix_dist: 0.3797, d5.loss_plan_l1_fix_time: 2.1335, d5.loss_plan_l1_fix_dist: 0.3929, d6.loss_plan_l1_fix_time: 2.1416, d6.loss_plan_l1_fix_dist: 0.4070, d0.loss_cls_all: 0.5672, d0.loss_bbox_all: 0.6878, d0.loss_cls: 0.5672, d0.loss_bbox: 0.6878, d1.loss_cls: 0.5602, d1.loss_bbox: 0.6700, d2.loss_cls: 0.5667, d2.loss_bbox: 0.6625, d3.loss_cls: 0.5653, d3.loss_bbox: 0.6563, d4.loss_cls: 0.5741, d4.loss_bbox: 0.6544, d5.loss_cls: 0.5744, d5.loss_bbox: 0.6534, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4194, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3325, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3168, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3254, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3267, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3377, d0.loss_map_cls_all: 0.3910, d0.loss_map_pts_all: 2.6386, d0.loss_map_dir_all: 0.0280, d0.loss_map_cls: 0.3910, d0.loss_map_pts: 2.6386, d0.loss_map_dir: 0.0280, d1.loss_map_cls: 0.3901, d1.loss_map_pts: 1.8414, d1.loss_map_dir: 0.0283, d2.loss_map_cls: 0.3803, d2.loss_map_pts: 1.7324, d2.loss_map_dir: 0.0289, d3.loss_map_cls: 0.3733, d3.loss_map_pts: 1.6853, d3.loss_map_dir: 0.0295, d4.loss_map_cls: 0.3667, d4.loss_map_pts: 1.6657, d4.loss_map_dir: 0.0297, d5.loss_map_cls: 0.3658, d5.loss_map_pts: 1.6597, d5.loss_map_dir: 0.0301, loss: 56.5124, grad_norm: 153.1895 +2026-02-24 17:05:33,379 - DriveTransformer - INFO - Epoch [2][27500/39528] lr: 9.958e-05, eta: 8 days, 3:00:59, time: 0.865, data_time: 0.038, memory: 19865, loss_cls: 0.5390, loss_bbox: 0.6538, loss_traj: 1.4534, loss_traj_cls: 0.0006, loss_map_cls: 0.3388, loss_map_pts: 1.7299, loss_map_dir: 0.0311, d0.loss_plan_l1_fix_time: 3.2300, d0.loss_plan_l1_fix_dist: 0.4621, d1.loss_plan_l1_fix_time: 2.6723, d1.loss_plan_l1_fix_dist: 0.3932, d2.loss_plan_l1_fix_time: 2.6439, d2.loss_plan_l1_fix_dist: 0.3984, d3.loss_plan_l1_fix_time: 2.6441, d3.loss_plan_l1_fix_dist: 0.4101, d4.loss_plan_l1_fix_time: 2.6477, d4.loss_plan_l1_fix_dist: 0.4266, d5.loss_plan_l1_fix_time: 2.6519, d5.loss_plan_l1_fix_dist: 0.4489, d6.loss_plan_l1_fix_time: 2.6565, d6.loss_plan_l1_fix_dist: 0.4791, d0.loss_cls_all: 0.5354, d0.loss_bbox_all: 0.6948, d0.loss_cls: 0.5354, d0.loss_bbox: 0.6948, d1.loss_cls: 0.5363, d1.loss_bbox: 0.6713, d2.loss_cls: 0.5383, d2.loss_bbox: 0.6598, d3.loss_cls: 0.5394, d3.loss_bbox: 0.6543, d4.loss_cls: 0.5399, d4.loss_bbox: 0.6538, d5.loss_cls: 0.5387, d5.loss_bbox: 0.6550, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5515, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.4324, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.4066, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.4278, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4335, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4552, d0.loss_map_cls_all: 0.3746, d0.loss_map_pts_all: 2.8782, d0.loss_map_dir_all: 0.0289, d0.loss_map_cls: 0.3746, d0.loss_map_pts: 2.8782, d0.loss_map_dir: 0.0289, d1.loss_map_cls: 0.3667, d1.loss_map_pts: 1.9286, d1.loss_map_dir: 0.0290, d2.loss_map_cls: 0.3559, d2.loss_map_pts: 1.8021, d2.loss_map_dir: 0.0298, d3.loss_map_cls: 0.3459, d3.loss_map_pts: 1.7538, d3.loss_map_dir: 0.0303, d4.loss_map_cls: 0.3404, d4.loss_map_pts: 1.7375, d4.loss_map_dir: 0.0306, d5.loss_map_cls: 0.3390, d5.loss_map_pts: 1.7296, d5.loss_map_dir: 0.0308, loss: 61.4836, grad_norm: 154.1254 +2026-02-24 17:06:14,350 - DriveTransformer - INFO - Epoch [2][27550/39528] lr: 9.958e-05, eta: 8 days, 3:00:34, time: 0.819, data_time: 0.043, memory: 19865, loss_cls: 0.4879, loss_bbox: 0.6082, loss_traj: 1.2237, loss_traj_cls: 0.0006, loss_map_cls: 0.3210, loss_map_pts: 1.3940, loss_map_dir: 0.0232, d0.loss_plan_l1_fix_time: 2.7749, d0.loss_plan_l1_fix_dist: 0.5088, d1.loss_plan_l1_fix_time: 2.1914, d1.loss_plan_l1_fix_dist: 0.3704, d2.loss_plan_l1_fix_time: 2.1555, d2.loss_plan_l1_fix_dist: 0.3858, d3.loss_plan_l1_fix_time: 2.1570, d3.loss_plan_l1_fix_dist: 0.4040, d4.loss_plan_l1_fix_time: 2.1637, d4.loss_plan_l1_fix_dist: 0.4243, d5.loss_plan_l1_fix_time: 2.1719, d5.loss_plan_l1_fix_dist: 0.4505, d6.loss_plan_l1_fix_time: 2.1820, d6.loss_plan_l1_fix_dist: 0.4776, d0.loss_cls_all: 0.5010, d0.loss_bbox_all: 0.6499, d0.loss_cls: 0.5010, d0.loss_bbox: 0.6499, d1.loss_cls: 0.4957, d1.loss_bbox: 0.6144, d2.loss_cls: 0.4923, d2.loss_bbox: 0.6054, d3.loss_cls: 0.4899, d3.loss_bbox: 0.6018, d4.loss_cls: 0.4872, d4.loss_bbox: 0.6020, d5.loss_cls: 0.4868, d5.loss_bbox: 0.6028, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3697, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2507, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2228, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2282, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.2204, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2214, d0.loss_map_cls_all: 0.3569, d0.loss_map_pts_all: 2.2218, d0.loss_map_dir_all: 0.0219, d0.loss_map_cls: 0.3569, d0.loss_map_pts: 2.2218, d0.loss_map_dir: 0.0219, d1.loss_map_cls: 0.3470, d1.loss_map_pts: 1.5557, d1.loss_map_dir: 0.0217, d2.loss_map_cls: 0.3353, d2.loss_map_pts: 1.4430, d2.loss_map_dir: 0.0223, d3.loss_map_cls: 0.3254, d3.loss_map_pts: 1.4045, d3.loss_map_dir: 0.0226, d4.loss_map_cls: 0.3208, d4.loss_map_pts: 1.3942, d4.loss_map_dir: 0.0229, d5.loss_map_cls: 0.3200, d5.loss_map_pts: 1.3950, d5.loss_map_dir: 0.0230, loss: 52.3293, grad_norm: 155.5200 +2026-02-24 17:06:55,093 - DriveTransformer - INFO - Epoch [2][27600/39528] lr: 9.958e-05, eta: 8 days, 3:00:06, time: 0.815, data_time: 0.044, memory: 19865, loss_cls: 0.5416, loss_bbox: 0.6354, loss_traj: 1.4662, loss_traj_cls: 0.0006, loss_map_cls: 0.3416, loss_map_pts: 1.7056, loss_map_dir: 0.0287, d0.loss_plan_l1_fix_time: 3.0087, d0.loss_plan_l1_fix_dist: 0.5609, d1.loss_plan_l1_fix_time: 2.4392, d1.loss_plan_l1_fix_dist: 0.4445, d2.loss_plan_l1_fix_time: 2.4571, d2.loss_plan_l1_fix_dist: 0.4614, d3.loss_plan_l1_fix_time: 2.4705, d3.loss_plan_l1_fix_dist: 0.4787, d4.loss_plan_l1_fix_time: 2.4787, d4.loss_plan_l1_fix_dist: 0.4992, d5.loss_plan_l1_fix_time: 2.4860, d5.loss_plan_l1_fix_dist: 0.5184, d6.loss_plan_l1_fix_time: 2.4941, d6.loss_plan_l1_fix_dist: 0.5415, d0.loss_cls_all: 0.5470, d0.loss_bbox_all: 0.6811, d0.loss_cls: 0.5470, d0.loss_bbox: 0.6811, d1.loss_cls: 0.5381, d1.loss_bbox: 0.6529, d2.loss_cls: 0.5365, d2.loss_bbox: 0.6428, d3.loss_cls: 0.5356, d3.loss_bbox: 0.6389, d4.loss_cls: 0.5344, d4.loss_bbox: 0.6366, d5.loss_cls: 0.5385, d5.loss_bbox: 0.6344, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5935, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.4636, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.4466, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.4604, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4789, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4747, d0.loss_map_cls_all: 0.3841, d0.loss_map_pts_all: 2.6935, d0.loss_map_dir_all: 0.0268, d0.loss_map_cls: 0.3841, d0.loss_map_pts: 2.6935, d0.loss_map_dir: 0.0268, d1.loss_map_cls: 0.3618, d1.loss_map_pts: 1.8926, d1.loss_map_dir: 0.0270, d2.loss_map_cls: 0.3520, d2.loss_map_pts: 1.7659, d2.loss_map_dir: 0.0276, d3.loss_map_cls: 0.3474, d3.loss_map_pts: 1.7192, d3.loss_map_dir: 0.0280, d4.loss_map_cls: 0.3437, d4.loss_map_pts: 1.7089, d4.loss_map_dir: 0.0284, d5.loss_map_cls: 0.3416, d5.loss_map_pts: 1.7041, d5.loss_map_dir: 0.0285, loss: 60.2114, grad_norm: 155.0527 +2026-02-24 17:07:35,545 - DriveTransformer - INFO - Epoch [2][27650/39528] lr: 9.958e-05, eta: 8 days, 2:59:35, time: 0.809, data_time: 0.040, memory: 19865, loss_cls: 0.4946, loss_bbox: 0.6158, loss_traj: 1.1504, loss_traj_cls: 0.0005, loss_map_cls: 0.3013, loss_map_pts: 1.5492, loss_map_dir: 0.0269, d0.loss_plan_l1_fix_time: 2.4405, d0.loss_plan_l1_fix_dist: 0.3885, d1.loss_plan_l1_fix_time: 1.9223, d1.loss_plan_l1_fix_dist: 0.3524, d2.loss_plan_l1_fix_time: 1.8779, d2.loss_plan_l1_fix_dist: 0.3664, d3.loss_plan_l1_fix_time: 1.8814, d3.loss_plan_l1_fix_dist: 0.3842, d4.loss_plan_l1_fix_time: 1.8889, d4.loss_plan_l1_fix_dist: 0.4045, d5.loss_plan_l1_fix_time: 1.8963, d5.loss_plan_l1_fix_dist: 0.4235, d6.loss_plan_l1_fix_time: 1.9040, d6.loss_plan_l1_fix_dist: 0.4444, d0.loss_cls_all: 0.5081, d0.loss_bbox_all: 0.6447, d0.loss_cls: 0.5081, d0.loss_bbox: 0.6447, d1.loss_cls: 0.4921, d1.loss_bbox: 0.6226, d2.loss_cls: 0.4908, d2.loss_bbox: 0.6121, d3.loss_cls: 0.4935, d3.loss_bbox: 0.6082, d4.loss_cls: 0.4929, d4.loss_bbox: 0.6064, d5.loss_cls: 0.4948, d5.loss_bbox: 0.6088, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2804, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.1693, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1446, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1564, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.1534, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1480, d0.loss_map_cls_all: 0.3408, d0.loss_map_pts_all: 2.6373, d0.loss_map_dir_all: 0.0253, d0.loss_map_cls: 0.3408, d0.loss_map_pts: 2.6373, d0.loss_map_dir: 0.0253, d1.loss_map_cls: 0.3247, d1.loss_map_pts: 1.7414, d1.loss_map_dir: 0.0251, d2.loss_map_cls: 0.3124, d2.loss_map_pts: 1.6141, d2.loss_map_dir: 0.0256, d3.loss_map_cls: 0.3046, d3.loss_map_pts: 1.5674, d3.loss_map_dir: 0.0261, d4.loss_map_cls: 0.3004, d4.loss_map_pts: 1.5528, d4.loss_map_dir: 0.0264, d5.loss_map_cls: 0.2994, d5.loss_map_pts: 1.5495, d5.loss_map_dir: 0.0267, loss: 51.3023, grad_norm: 154.6997 +2026-02-24 17:08:15,320 - DriveTransformer - INFO - Epoch [2][27700/39528] lr: 9.958e-05, eta: 8 days, 2:58:54, time: 0.796, data_time: 0.047, memory: 19865, loss_cls: 0.4835, loss_bbox: 0.5958, loss_traj: 1.4782, loss_traj_cls: 0.0005, loss_map_cls: 0.3069, loss_map_pts: 1.3411, loss_map_dir: 0.0223, d0.loss_plan_l1_fix_time: 2.5175, d0.loss_plan_l1_fix_dist: 0.5377, d1.loss_plan_l1_fix_time: 2.0498, d1.loss_plan_l1_fix_dist: 0.3731, d2.loss_plan_l1_fix_time: 2.0115, d2.loss_plan_l1_fix_dist: 0.3762, d3.loss_plan_l1_fix_time: 2.0079, d3.loss_plan_l1_fix_dist: 0.3912, d4.loss_plan_l1_fix_time: 2.0130, d4.loss_plan_l1_fix_dist: 0.4095, d5.loss_plan_l1_fix_time: 2.0198, d5.loss_plan_l1_fix_dist: 0.4327, d6.loss_plan_l1_fix_time: 2.0273, d6.loss_plan_l1_fix_dist: 0.4564, d0.loss_cls_all: 0.4954, d0.loss_bbox_all: 0.6327, d0.loss_cls: 0.4954, d0.loss_bbox: 0.6327, d1.loss_cls: 0.4833, d1.loss_bbox: 0.6063, d2.loss_cls: 0.4790, d2.loss_bbox: 0.5973, d3.loss_cls: 0.4771, d3.loss_bbox: 0.5948, d4.loss_cls: 0.4769, d4.loss_bbox: 0.5944, d5.loss_cls: 0.4809, d5.loss_bbox: 0.5927, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5461, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.4655, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.4473, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.4437, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.4613, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4663, d0.loss_map_cls_all: 0.3595, d0.loss_map_pts_all: 2.1824, d0.loss_map_dir_all: 0.0208, d0.loss_map_cls: 0.3595, d0.loss_map_pts: 2.1824, d0.loss_map_dir: 0.0208, d1.loss_map_cls: 0.3392, d1.loss_map_pts: 1.4836, d1.loss_map_dir: 0.0206, d2.loss_map_cls: 0.3276, d2.loss_map_pts: 1.3950, d2.loss_map_dir: 0.0212, d3.loss_map_cls: 0.3183, d3.loss_map_pts: 1.3593, d3.loss_map_dir: 0.0216, d4.loss_map_cls: 0.3119, d4.loss_map_pts: 1.3429, d4.loss_map_dir: 0.0219, d5.loss_map_cls: 0.3073, d5.loss_map_pts: 1.3418, d5.loss_map_dir: 0.0222, loss: 52.0855, grad_norm: 154.2451 +2026-02-24 17:08:54,442 - DriveTransformer - INFO - Epoch [2][27750/39528] lr: 9.958e-05, eta: 8 days, 2:58:06, time: 0.782, data_time: 0.037, memory: 19865, loss_cls: 0.5441, loss_bbox: 0.6482, loss_traj: 1.5185, loss_traj_cls: 0.0006, loss_map_cls: 0.3243, loss_map_pts: 1.4211, loss_map_dir: 0.0237, d0.loss_plan_l1_fix_time: 2.6448, d0.loss_plan_l1_fix_dist: 0.4471, d1.loss_plan_l1_fix_time: 2.0031, d1.loss_plan_l1_fix_dist: 0.3180, d2.loss_plan_l1_fix_time: 1.9587, d2.loss_plan_l1_fix_dist: 0.3274, d3.loss_plan_l1_fix_time: 1.9565, d3.loss_plan_l1_fix_dist: 0.3461, d4.loss_plan_l1_fix_time: 1.9630, d4.loss_plan_l1_fix_dist: 0.3685, d5.loss_plan_l1_fix_time: 1.9714, d5.loss_plan_l1_fix_dist: 0.3937, d6.loss_plan_l1_fix_time: 1.9807, d6.loss_plan_l1_fix_dist: 0.4178, d0.loss_cls_all: 0.5376, d0.loss_bbox_all: 0.6869, d0.loss_cls: 0.5376, d0.loss_bbox: 0.6869, d1.loss_cls: 0.5295, d1.loss_bbox: 0.6655, d2.loss_cls: 0.5270, d2.loss_bbox: 0.6523, d3.loss_cls: 0.5306, d3.loss_bbox: 0.6489, d4.loss_cls: 0.5299, d4.loss_bbox: 0.6463, d5.loss_cls: 0.5365, d5.loss_bbox: 0.6441, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5343, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.4720, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.4660, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.4810, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4977, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5118, d0.loss_map_cls_all: 0.3740, d0.loss_map_pts_all: 2.1748, d0.loss_map_dir_all: 0.0227, d0.loss_map_cls: 0.3740, d0.loss_map_pts: 2.1748, d0.loss_map_dir: 0.0227, d1.loss_map_cls: 0.3584, d1.loss_map_pts: 1.5608, d1.loss_map_dir: 0.0225, d2.loss_map_cls: 0.3452, d2.loss_map_pts: 1.4719, d2.loss_map_dir: 0.0228, d3.loss_map_cls: 0.3353, d3.loss_map_pts: 1.4375, d3.loss_map_dir: 0.0232, d4.loss_map_cls: 0.3264, d4.loss_map_pts: 1.4252, d4.loss_map_dir: 0.0234, d5.loss_map_cls: 0.3230, d5.loss_map_pts: 1.4204, d5.loss_map_dir: 0.0236, loss: 53.1671, grad_norm: 154.4345 +2026-02-24 17:09:34,600 - DriveTransformer - INFO - Epoch [2][27800/39528] lr: 9.958e-05, eta: 8 days, 2:57:31, time: 0.805, data_time: 0.040, memory: 19865, loss_cls: 0.5241, loss_bbox: 0.6340, loss_traj: 1.1832, loss_traj_cls: 0.0006, loss_map_cls: 0.3333, loss_map_pts: 1.4642, loss_map_dir: 0.0268, d0.loss_plan_l1_fix_time: 2.8409, d0.loss_plan_l1_fix_dist: 0.4430, d1.loss_plan_l1_fix_time: 2.3007, d1.loss_plan_l1_fix_dist: 0.3729, d2.loss_plan_l1_fix_time: 2.2637, d2.loss_plan_l1_fix_dist: 0.3976, d3.loss_plan_l1_fix_time: 2.2577, d3.loss_plan_l1_fix_dist: 0.4256, d4.loss_plan_l1_fix_time: 2.2604, d4.loss_plan_l1_fix_dist: 0.4564, d5.loss_plan_l1_fix_time: 2.2655, d5.loss_plan_l1_fix_dist: 0.4905, d6.loss_plan_l1_fix_time: 2.2722, d6.loss_plan_l1_fix_dist: 0.5290, d0.loss_cls_all: 0.5213, d0.loss_bbox_all: 0.6581, d0.loss_cls: 0.5213, d0.loss_bbox: 0.6581, d1.loss_cls: 0.5164, d1.loss_bbox: 0.6386, d2.loss_cls: 0.5151, d2.loss_bbox: 0.6277, d3.loss_cls: 0.5184, d3.loss_bbox: 0.6273, d4.loss_cls: 0.5160, d4.loss_bbox: 0.6264, d5.loss_cls: 0.5203, d5.loss_bbox: 0.6295, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2750, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.1771, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1550, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1698, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1787, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1815, d0.loss_map_cls_all: 0.3702, d0.loss_map_pts_all: 2.3822, d0.loss_map_dir_all: 0.0251, d0.loss_map_cls: 0.3702, d0.loss_map_pts: 2.3822, d0.loss_map_dir: 0.0251, d1.loss_map_cls: 0.3584, d1.loss_map_pts: 1.6274, d1.loss_map_dir: 0.0253, d2.loss_map_cls: 0.3435, d2.loss_map_pts: 1.5201, d2.loss_map_dir: 0.0257, d3.loss_map_cls: 0.3354, d3.loss_map_pts: 1.4807, d3.loss_map_dir: 0.0261, d4.loss_map_cls: 0.3333, d4.loss_map_pts: 1.4687, d4.loss_map_dir: 0.0263, d5.loss_map_cls: 0.3336, d5.loss_map_pts: 1.4605, d5.loss_map_dir: 0.0265, loss: 53.9254, grad_norm: 156.9078 +2026-02-24 17:10:13,608 - DriveTransformer - INFO - Epoch [2][27850/39528] lr: 9.958e-05, eta: 8 days, 2:56:40, time: 0.779, data_time: 0.041, memory: 19865, loss_cls: 0.4791, loss_bbox: 0.5848, loss_traj: 1.2573, loss_traj_cls: 0.0006, loss_map_cls: 0.2996, loss_map_pts: 1.2407, loss_map_dir: 0.0230, d0.loss_plan_l1_fix_time: 2.5046, d0.loss_plan_l1_fix_dist: 0.4239, d1.loss_plan_l1_fix_time: 2.1562, d1.loss_plan_l1_fix_dist: 0.3319, d2.loss_plan_l1_fix_time: 2.1481, d2.loss_plan_l1_fix_dist: 0.3515, d3.loss_plan_l1_fix_time: 2.1586, d3.loss_plan_l1_fix_dist: 0.3760, d4.loss_plan_l1_fix_time: 2.1669, d4.loss_plan_l1_fix_dist: 0.4038, d5.loss_plan_l1_fix_time: 2.1749, d5.loss_plan_l1_fix_dist: 0.4330, d6.loss_plan_l1_fix_time: 2.1839, d6.loss_plan_l1_fix_dist: 0.4669, d0.loss_cls_all: 0.4940, d0.loss_bbox_all: 0.6194, d0.loss_cls: 0.4940, d0.loss_bbox: 0.6194, d1.loss_cls: 0.4876, d1.loss_bbox: 0.6031, d2.loss_cls: 0.4823, d2.loss_bbox: 0.5884, d3.loss_cls: 0.4785, d3.loss_bbox: 0.5870, d4.loss_cls: 0.4784, d4.loss_bbox: 0.5832, d5.loss_cls: 0.4796, d5.loss_bbox: 0.5813, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3675, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.2448, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2382, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2458, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2454, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2513, d0.loss_map_cls_all: 0.3559, d0.loss_map_pts_all: 2.1747, d0.loss_map_dir_all: 0.0218, d0.loss_map_cls: 0.3559, d0.loss_map_pts: 2.1747, d0.loss_map_dir: 0.0218, d1.loss_map_cls: 0.3381, d1.loss_map_pts: 1.4082, d1.loss_map_dir: 0.0217, d2.loss_map_cls: 0.3173, d2.loss_map_pts: 1.3091, d2.loss_map_dir: 0.0222, d3.loss_map_cls: 0.3074, d3.loss_map_pts: 1.2652, d3.loss_map_dir: 0.0224, d4.loss_map_cls: 0.3003, d4.loss_map_pts: 1.2503, d4.loss_map_dir: 0.0226, d5.loss_map_cls: 0.2984, d5.loss_map_pts: 1.2426, d5.loss_map_dir: 0.0228, loss: 50.5929, grad_norm: 157.9069 +2026-02-24 17:10:54,399 - DriveTransformer - INFO - Epoch [2][27900/39528] lr: 9.958e-05, eta: 8 days, 2:56:13, time: 0.816, data_time: 0.039, memory: 19865, loss_cls: 0.5102, loss_bbox: 0.6188, loss_traj: 1.3285, loss_traj_cls: 0.0006, loss_map_cls: 0.3563, loss_map_pts: 1.6126, loss_map_dir: 0.0311, d0.loss_plan_l1_fix_time: 2.6025, d0.loss_plan_l1_fix_dist: 0.4396, d1.loss_plan_l1_fix_time: 1.9658, d1.loss_plan_l1_fix_dist: 0.4022, d2.loss_plan_l1_fix_time: 1.9177, d2.loss_plan_l1_fix_dist: 0.4249, d3.loss_plan_l1_fix_time: 1.9143, d3.loss_plan_l1_fix_dist: 0.4511, d4.loss_plan_l1_fix_time: 1.9196, d4.loss_plan_l1_fix_dist: 0.4847, d5.loss_plan_l1_fix_time: 1.9261, d5.loss_plan_l1_fix_dist: 0.5166, d6.loss_plan_l1_fix_time: 1.9337, d6.loss_plan_l1_fix_dist: 0.5473, d0.loss_cls_all: 0.5106, d0.loss_bbox_all: 0.6570, d0.loss_cls: 0.5106, d0.loss_bbox: 0.6570, d1.loss_cls: 0.5069, d1.loss_bbox: 0.6385, d2.loss_cls: 0.5082, d2.loss_bbox: 0.6256, d3.loss_cls: 0.5070, d3.loss_bbox: 0.6190, d4.loss_cls: 0.5066, d4.loss_bbox: 0.6171, d5.loss_cls: 0.5088, d5.loss_bbox: 0.6153, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3224, d1.loss_traj_cls: 0.0015, d1.loss_traj: 1.2671, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2872, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.3053, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3086, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3209, d0.loss_map_cls_all: 0.4093, d0.loss_map_pts_all: 2.7741, d0.loss_map_dir_all: 0.0292, d0.loss_map_cls: 0.4093, d0.loss_map_pts: 2.7741, d0.loss_map_dir: 0.0292, d1.loss_map_cls: 0.3970, d1.loss_map_pts: 1.8154, d1.loss_map_dir: 0.0294, d2.loss_map_cls: 0.3749, d2.loss_map_pts: 1.6789, d2.loss_map_dir: 0.0299, d3.loss_map_cls: 0.3643, d3.loss_map_pts: 1.6328, d3.loss_map_dir: 0.0303, d4.loss_map_cls: 0.3585, d4.loss_map_pts: 1.6167, d4.loss_map_dir: 0.0306, d5.loss_map_cls: 0.3559, d5.loss_map_pts: 1.6143, d5.loss_map_dir: 0.0309, loss: 54.4948, grad_norm: 159.1747 +2026-02-24 17:11:33,449 - DriveTransformer - INFO - Epoch [2][27950/39528] lr: 9.958e-05, eta: 8 days, 2:55:23, time: 0.781, data_time: 0.038, memory: 19865, loss_cls: 0.5222, loss_bbox: 0.6477, loss_traj: 1.4333, loss_traj_cls: 0.0006, loss_map_cls: 0.3522, loss_map_pts: 1.4857, loss_map_dir: 0.0245, d0.loss_plan_l1_fix_time: 2.6629, d0.loss_plan_l1_fix_dist: 0.4489, d1.loss_plan_l1_fix_time: 2.1332, d1.loss_plan_l1_fix_dist: 0.4011, d2.loss_plan_l1_fix_time: 2.0796, d2.loss_plan_l1_fix_dist: 0.4271, d3.loss_plan_l1_fix_time: 2.0706, d3.loss_plan_l1_fix_dist: 0.4626, d4.loss_plan_l1_fix_time: 2.0746, d4.loss_plan_l1_fix_dist: 0.5049, d5.loss_plan_l1_fix_time: 2.0808, d5.loss_plan_l1_fix_dist: 0.5474, d6.loss_plan_l1_fix_time: 2.0871, d6.loss_plan_l1_fix_dist: 0.5871, d0.loss_cls_all: 0.5280, d0.loss_bbox_all: 0.6859, d0.loss_cls: 0.5280, d0.loss_bbox: 0.6859, d1.loss_cls: 0.5209, d1.loss_bbox: 0.6745, d2.loss_cls: 0.5160, d2.loss_bbox: 0.6606, d3.loss_cls: 0.5168, d3.loss_bbox: 0.6527, d4.loss_cls: 0.5180, d4.loss_bbox: 0.6461, d5.loss_cls: 0.5188, d5.loss_bbox: 0.6451, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6250, d1.loss_traj_cls: 0.0015, d1.loss_traj: 1.4361, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.4155, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.4229, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4202, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4285, d0.loss_map_cls_all: 0.3949, d0.loss_map_pts_all: 2.2800, d0.loss_map_dir_all: 0.0229, d0.loss_map_cls: 0.3949, d0.loss_map_pts: 2.2800, d0.loss_map_dir: 0.0229, d1.loss_map_cls: 0.3790, d1.loss_map_pts: 1.6635, d1.loss_map_dir: 0.0231, d2.loss_map_cls: 0.3629, d2.loss_map_pts: 1.5486, d2.loss_map_dir: 0.0236, d3.loss_map_cls: 0.3551, d3.loss_map_pts: 1.5079, d3.loss_map_dir: 0.0239, d4.loss_map_cls: 0.3525, d4.loss_map_pts: 1.4909, d4.loss_map_dir: 0.0242, d5.loss_map_cls: 0.3512, d5.loss_map_pts: 1.4865, d5.loss_map_dir: 0.0244, loss: 55.0976, grad_norm: 159.1400 +2026-02-24 17:12:11,845 - DriveTransformer - INFO - Epoch [2][28000/39528] lr: 9.958e-05, eta: 8 days, 2:54:24, time: 0.768, data_time: 0.039, memory: 19865, loss_cls: 0.5127, loss_bbox: 0.6138, loss_traj: 1.3792, loss_traj_cls: 0.0006, loss_map_cls: 0.3458, loss_map_pts: 1.4381, loss_map_dir: 0.0228, d0.loss_plan_l1_fix_time: 2.7801, d0.loss_plan_l1_fix_dist: 0.5040, d1.loss_plan_l1_fix_time: 2.2528, d1.loss_plan_l1_fix_dist: 0.3811, d2.loss_plan_l1_fix_time: 2.2201, d2.loss_plan_l1_fix_dist: 0.3942, d3.loss_plan_l1_fix_time: 2.2172, d3.loss_plan_l1_fix_dist: 0.4166, d4.loss_plan_l1_fix_time: 2.2223, d4.loss_plan_l1_fix_dist: 0.4385, d5.loss_plan_l1_fix_time: 2.2297, d5.loss_plan_l1_fix_dist: 0.4649, d6.loss_plan_l1_fix_time: 2.2377, d6.loss_plan_l1_fix_dist: 0.4952, d0.loss_cls_all: 0.5284, d0.loss_bbox_all: 0.6546, d0.loss_cls: 0.5284, d0.loss_bbox: 0.6546, d1.loss_cls: 0.5206, d1.loss_bbox: 0.6370, d2.loss_cls: 0.5151, d2.loss_bbox: 0.6273, d3.loss_cls: 0.5149, d3.loss_bbox: 0.6191, d4.loss_cls: 0.5155, d4.loss_bbox: 0.6152, d5.loss_cls: 0.5118, d5.loss_bbox: 0.6116, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5304, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.4040, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3707, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3724, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3711, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3750, d0.loss_map_cls_all: 0.3812, d0.loss_map_pts_all: 2.2446, d0.loss_map_dir_all: 0.0218, d0.loss_map_cls: 0.3812, d0.loss_map_pts: 2.2446, d0.loss_map_dir: 0.0218, d1.loss_map_cls: 0.3699, d1.loss_map_pts: 1.6089, d1.loss_map_dir: 0.0217, d2.loss_map_cls: 0.3574, d2.loss_map_pts: 1.4962, d2.loss_map_dir: 0.0220, d3.loss_map_cls: 0.3484, d3.loss_map_pts: 1.4599, d3.loss_map_dir: 0.0223, d4.loss_map_cls: 0.3428, d4.loss_map_pts: 1.4438, d4.loss_map_dir: 0.0225, d5.loss_map_cls: 0.3451, d5.loss_map_pts: 1.4358, d5.loss_map_dir: 0.0227, loss: 54.6649, grad_norm: 158.0894 +2026-02-24 17:12:52,652 - DriveTransformer - INFO - Epoch [2][28050/39528] lr: 9.958e-05, eta: 8 days, 2:53:58, time: 0.816, data_time: 0.041, memory: 19865, loss_cls: 0.5004, loss_bbox: 0.6293, loss_traj: 1.2275, loss_traj_cls: 0.0006, loss_map_cls: 0.3555, loss_map_pts: 1.4934, loss_map_dir: 0.0260, d0.loss_plan_l1_fix_time: 2.9032, d0.loss_plan_l1_fix_dist: 0.5206, d1.loss_plan_l1_fix_time: 2.2737, d1.loss_plan_l1_fix_dist: 0.3644, d2.loss_plan_l1_fix_time: 2.2207, d2.loss_plan_l1_fix_dist: 0.3853, d3.loss_plan_l1_fix_time: 2.2201, d3.loss_plan_l1_fix_dist: 0.4062, d4.loss_plan_l1_fix_time: 2.2250, d4.loss_plan_l1_fix_dist: 0.4292, d5.loss_plan_l1_fix_time: 2.2317, d5.loss_plan_l1_fix_dist: 0.4547, d6.loss_plan_l1_fix_time: 2.2396, d6.loss_plan_l1_fix_dist: 0.4843, d0.loss_cls_all: 0.5116, d0.loss_bbox_all: 0.6704, d0.loss_cls: 0.5116, d0.loss_bbox: 0.6704, d1.loss_cls: 0.5038, d1.loss_bbox: 0.6532, d2.loss_cls: 0.4992, d2.loss_bbox: 0.6448, d3.loss_cls: 0.5000, d3.loss_bbox: 0.6340, d4.loss_cls: 0.5011, d4.loss_bbox: 0.6282, d5.loss_cls: 0.4976, d5.loss_bbox: 0.6267, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3423, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.2389, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2254, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2263, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2252, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2210, d0.loss_map_cls_all: 0.4031, d0.loss_map_pts_all: 2.3981, d0.loss_map_dir_all: 0.0243, d0.loss_map_cls: 0.4031, d0.loss_map_pts: 2.3981, d0.loss_map_dir: 0.0243, d1.loss_map_cls: 0.3873, d1.loss_map_pts: 1.6703, d1.loss_map_dir: 0.0245, d2.loss_map_cls: 0.3677, d2.loss_map_pts: 1.5505, d2.loss_map_dir: 0.0249, d3.loss_map_cls: 0.3598, d3.loss_map_pts: 1.5113, d3.loss_map_dir: 0.0253, d4.loss_map_cls: 0.3577, d4.loss_map_pts: 1.4977, d4.loss_map_dir: 0.0256, d5.loss_map_cls: 0.3554, d5.loss_map_pts: 1.4954, d5.loss_map_dir: 0.0259, loss: 54.4583, grad_norm: 156.8053 +2026-02-24 17:13:32,451 - DriveTransformer - INFO - Epoch [2][28100/39528] lr: 9.958e-05, eta: 8 days, 2:53:18, time: 0.796, data_time: 0.041, memory: 19865, loss_cls: 0.5374, loss_bbox: 0.6570, loss_traj: 1.6515, loss_traj_cls: 0.0006, loss_map_cls: 0.3647, loss_map_pts: 1.6217, loss_map_dir: 0.0276, d0.loss_plan_l1_fix_time: 2.9522, d0.loss_plan_l1_fix_dist: 0.3874, d1.loss_plan_l1_fix_time: 2.5873, d1.loss_plan_l1_fix_dist: 0.3184, d2.loss_plan_l1_fix_time: 2.5660, d2.loss_plan_l1_fix_dist: 0.3397, d3.loss_plan_l1_fix_time: 2.5669, d3.loss_plan_l1_fix_dist: 0.3630, d4.loss_plan_l1_fix_time: 2.5723, d4.loss_plan_l1_fix_dist: 0.3881, d5.loss_plan_l1_fix_time: 2.5782, d5.loss_plan_l1_fix_dist: 0.4119, d6.loss_plan_l1_fix_time: 2.5854, d6.loss_plan_l1_fix_dist: 0.4401, d0.loss_cls_all: 0.5420, d0.loss_bbox_all: 0.6850, d0.loss_cls: 0.5420, d0.loss_bbox: 0.6850, d1.loss_cls: 0.5327, d1.loss_bbox: 0.6729, d2.loss_cls: 0.5344, d2.loss_bbox: 0.6675, d3.loss_cls: 0.5297, d3.loss_bbox: 0.6592, d4.loss_cls: 0.5314, d4.loss_bbox: 0.6562, d5.loss_cls: 0.5341, d5.loss_bbox: 0.6536, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7953, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.6482, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.6277, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.6305, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6433, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6486, d0.loss_map_cls_all: 0.3972, d0.loss_map_pts_all: 2.4674, d0.loss_map_dir_all: 0.0263, d0.loss_map_cls: 0.3972, d0.loss_map_pts: 2.4674, d0.loss_map_dir: 0.0263, d1.loss_map_cls: 0.3824, d1.loss_map_pts: 1.8091, d1.loss_map_dir: 0.0261, d2.loss_map_cls: 0.3747, d2.loss_map_pts: 1.6959, d2.loss_map_dir: 0.0267, d3.loss_map_cls: 0.3678, d3.loss_map_pts: 1.6494, d3.loss_map_dir: 0.0271, d4.loss_map_cls: 0.3648, d4.loss_map_pts: 1.6284, d4.loss_map_dir: 0.0273, d5.loss_map_cls: 0.3648, d5.loss_map_pts: 1.6255, d5.loss_map_dir: 0.0275, loss: 60.5211, grad_norm: 154.8968 +2026-02-24 17:14:12,588 - DriveTransformer - INFO - Epoch [2][28150/39528] lr: 9.958e-05, eta: 8 days, 2:52:42, time: 0.803, data_time: 0.043, memory: 19865, loss_cls: 0.5392, loss_bbox: 0.6232, loss_traj: 1.2991, loss_traj_cls: 0.0006, loss_map_cls: 0.3634, loss_map_pts: 1.6267, loss_map_dir: 0.0291, d0.loss_plan_l1_fix_time: 3.1460, d0.loss_plan_l1_fix_dist: 0.4978, d1.loss_plan_l1_fix_time: 2.2650, d1.loss_plan_l1_fix_dist: 0.3583, d2.loss_plan_l1_fix_time: 2.2098, d2.loss_plan_l1_fix_dist: 0.3669, d3.loss_plan_l1_fix_time: 2.2006, d3.loss_plan_l1_fix_dist: 0.3817, d4.loss_plan_l1_fix_time: 2.2034, d4.loss_plan_l1_fix_dist: 0.4011, d5.loss_plan_l1_fix_time: 2.2084, d5.loss_plan_l1_fix_dist: 0.4207, d6.loss_plan_l1_fix_time: 2.2156, d6.loss_plan_l1_fix_dist: 0.4378, d0.loss_cls_all: 0.5322, d0.loss_bbox_all: 0.6539, d0.loss_cls: 0.5322, d0.loss_bbox: 0.6539, d1.loss_cls: 0.5230, d1.loss_bbox: 0.6376, d2.loss_cls: 0.5272, d2.loss_bbox: 0.6312, d3.loss_cls: 0.5275, d3.loss_bbox: 0.6245, d4.loss_cls: 0.5301, d4.loss_bbox: 0.6220, d5.loss_cls: 0.5341, d5.loss_bbox: 0.6185, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4107, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3041, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2905, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2969, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2929, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2883, d0.loss_map_cls_all: 0.3980, d0.loss_map_pts_all: 2.6109, d0.loss_map_dir_all: 0.0271, d0.loss_map_cls: 0.3980, d0.loss_map_pts: 2.6109, d0.loss_map_dir: 0.0271, d1.loss_map_cls: 0.3766, d1.loss_map_pts: 1.8136, d1.loss_map_dir: 0.0271, d2.loss_map_cls: 0.3668, d2.loss_map_pts: 1.6855, d2.loss_map_dir: 0.0277, d3.loss_map_cls: 0.3628, d3.loss_map_pts: 1.6482, d3.loss_map_dir: 0.0282, d4.loss_map_cls: 0.3598, d4.loss_map_pts: 1.6332, d4.loss_map_dir: 0.0285, d5.loss_map_cls: 0.3626, d5.loss_map_pts: 1.6263, d5.loss_map_dir: 0.0288, loss: 56.2784, grad_norm: 153.6863 +2026-02-24 17:14:52,799 - DriveTransformer - INFO - Epoch [2][28200/39528] lr: 9.958e-05, eta: 8 days, 2:52:07, time: 0.804, data_time: 0.045, memory: 19865, loss_cls: 0.5368, loss_bbox: 0.6389, loss_traj: 1.3868, loss_traj_cls: 0.0006, loss_map_cls: 0.3668, loss_map_pts: 1.6600, loss_map_dir: 0.0313, d0.loss_plan_l1_fix_time: 2.9028, d0.loss_plan_l1_fix_dist: 0.4188, d1.loss_plan_l1_fix_time: 2.3159, d1.loss_plan_l1_fix_dist: 0.3597, d2.loss_plan_l1_fix_time: 2.2984, d2.loss_plan_l1_fix_dist: 0.3766, d3.loss_plan_l1_fix_time: 2.3050, d3.loss_plan_l1_fix_dist: 0.3975, d4.loss_plan_l1_fix_time: 2.3129, d4.loss_plan_l1_fix_dist: 0.4201, d5.loss_plan_l1_fix_time: 2.3212, d5.loss_plan_l1_fix_dist: 0.4500, d6.loss_plan_l1_fix_time: 2.3307, d6.loss_plan_l1_fix_dist: 0.4803, d0.loss_cls_all: 0.5397, d0.loss_bbox_all: 0.6698, d0.loss_cls: 0.5397, d0.loss_bbox: 0.6698, d1.loss_cls: 0.5335, d1.loss_bbox: 0.6501, d2.loss_cls: 0.5324, d2.loss_bbox: 0.6432, d3.loss_cls: 0.5279, d3.loss_bbox: 0.6419, d4.loss_cls: 0.5308, d4.loss_bbox: 0.6349, d5.loss_cls: 0.5315, d5.loss_bbox: 0.6338, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4923, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3649, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3403, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3570, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3526, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3661, d0.loss_map_cls_all: 0.3948, d0.loss_map_pts_all: 2.6577, d0.loss_map_dir_all: 0.0292, d0.loss_map_cls: 0.3948, d0.loss_map_pts: 2.6577, d0.loss_map_dir: 0.0292, d1.loss_map_cls: 0.3840, d1.loss_map_pts: 1.8846, d1.loss_map_dir: 0.0292, d2.loss_map_cls: 0.3720, d2.loss_map_pts: 1.7426, d2.loss_map_dir: 0.0299, d3.loss_map_cls: 0.3693, d3.loss_map_pts: 1.6904, d3.loss_map_dir: 0.0305, d4.loss_map_cls: 0.3648, d4.loss_map_pts: 1.6692, d4.loss_map_dir: 0.0308, d5.loss_map_cls: 0.3639, d5.loss_map_pts: 1.6633, d5.loss_map_dir: 0.0310, loss: 57.6874, grad_norm: 153.6387 +2026-02-24 17:15:32,780 - DriveTransformer - INFO - Epoch [2][28250/39528] lr: 9.958e-05, eta: 8 days, 2:51:30, time: 0.800, data_time: 0.040, memory: 19865, loss_cls: 0.5129, loss_bbox: 0.6507, loss_traj: 1.3463, loss_traj_cls: 0.0006, loss_map_cls: 0.3232, loss_map_pts: 1.4055, loss_map_dir: 0.0266, d0.loss_plan_l1_fix_time: 2.7692, d0.loss_plan_l1_fix_dist: 0.4540, d1.loss_plan_l1_fix_time: 2.1524, d1.loss_plan_l1_fix_dist: 0.3512, d2.loss_plan_l1_fix_time: 2.1398, d2.loss_plan_l1_fix_dist: 0.3644, d3.loss_plan_l1_fix_time: 2.1452, d3.loss_plan_l1_fix_dist: 0.3811, d4.loss_plan_l1_fix_time: 2.1523, d4.loss_plan_l1_fix_dist: 0.3996, d5.loss_plan_l1_fix_time: 2.1593, d5.loss_plan_l1_fix_dist: 0.4220, d6.loss_plan_l1_fix_time: 2.1686, d6.loss_plan_l1_fix_dist: 0.4486, d0.loss_cls_all: 0.5191, d0.loss_bbox_all: 0.6786, d0.loss_cls: 0.5191, d0.loss_bbox: 0.6786, d1.loss_cls: 0.5140, d1.loss_bbox: 0.6547, d2.loss_cls: 0.5129, d2.loss_bbox: 0.6489, d3.loss_cls: 0.5098, d3.loss_bbox: 0.6459, d4.loss_cls: 0.5098, d4.loss_bbox: 0.6406, d5.loss_cls: 0.5099, d5.loss_bbox: 0.6423, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3881, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3032, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3035, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3219, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3217, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3283, d0.loss_map_cls_all: 0.3520, d0.loss_map_pts_all: 2.2601, d0.loss_map_dir_all: 0.0248, d0.loss_map_cls: 0.3520, d0.loss_map_pts: 2.2601, d0.loss_map_dir: 0.0248, d1.loss_map_cls: 0.3419, d1.loss_map_pts: 1.5936, d1.loss_map_dir: 0.0247, d2.loss_map_cls: 0.3357, d2.loss_map_pts: 1.4732, d2.loss_map_dir: 0.0254, d3.loss_map_cls: 0.3273, d3.loss_map_pts: 1.4278, d3.loss_map_dir: 0.0258, d4.loss_map_cls: 0.3246, d4.loss_map_pts: 1.4118, d4.loss_map_dir: 0.0262, d5.loss_map_cls: 0.3202, d5.loss_map_pts: 1.4059, d5.loss_map_dir: 0.0264, loss: 53.2934, grad_norm: 157.1403 +2026-02-24 17:16:10,547 - DriveTransformer - INFO - Epoch [2][28300/39528] lr: 9.958e-05, eta: 8 days, 2:50:23, time: 0.755, data_time: 0.039, memory: 19865, loss_cls: 0.4878, loss_bbox: 0.6323, loss_traj: 1.3387, loss_traj_cls: 0.0005, loss_map_cls: 0.3645, loss_map_pts: 1.3918, loss_map_dir: 0.0242, d0.loss_plan_l1_fix_time: 2.9980, d0.loss_plan_l1_fix_dist: 0.5111, d1.loss_plan_l1_fix_time: 2.2867, d1.loss_plan_l1_fix_dist: 0.4285, d2.loss_plan_l1_fix_time: 2.2140, d2.loss_plan_l1_fix_dist: 0.4439, d3.loss_plan_l1_fix_time: 2.2063, d3.loss_plan_l1_fix_dist: 0.4620, d4.loss_plan_l1_fix_time: 2.2083, d4.loss_plan_l1_fix_dist: 0.4819, d5.loss_plan_l1_fix_time: 2.2120, d5.loss_plan_l1_fix_dist: 0.5006, d6.loss_plan_l1_fix_time: 2.2177, d6.loss_plan_l1_fix_dist: 0.5220, d0.loss_cls_all: 0.4977, d0.loss_bbox_all: 0.6654, d0.loss_cls: 0.4977, d0.loss_bbox: 0.6654, d1.loss_cls: 0.4913, d1.loss_bbox: 0.6404, d2.loss_cls: 0.4878, d2.loss_bbox: 0.6289, d3.loss_cls: 0.4863, d3.loss_bbox: 0.6276, d4.loss_cls: 0.4862, d4.loss_bbox: 0.6257, d5.loss_cls: 0.4864, d5.loss_bbox: 0.6301, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4513, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3725, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3230, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3280, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3321, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3241, d0.loss_map_cls_all: 0.3971, d0.loss_map_pts_all: 2.0789, d0.loss_map_dir_all: 0.0226, d0.loss_map_cls: 0.3971, d0.loss_map_pts: 2.0789, d0.loss_map_dir: 0.0226, d1.loss_map_cls: 0.3817, d1.loss_map_pts: 1.5486, d1.loss_map_dir: 0.0226, d2.loss_map_cls: 0.3760, d2.loss_map_pts: 1.4447, d2.loss_map_dir: 0.0231, d3.loss_map_cls: 0.3686, d3.loss_map_pts: 1.4078, d3.loss_map_dir: 0.0235, d4.loss_map_cls: 0.3659, d4.loss_map_pts: 1.3956, d4.loss_map_dir: 0.0237, d5.loss_map_cls: 0.3611, d5.loss_map_pts: 1.3913, d5.loss_map_dir: 0.0239, loss: 54.1405, grad_norm: 156.8908 +2026-02-24 17:16:51,585 - DriveTransformer - INFO - Epoch [2][28350/39528] lr: 9.958e-05, eta: 8 days, 2:49:59, time: 0.821, data_time: 0.041, memory: 19865, loss_cls: 0.5275, loss_bbox: 0.6438, loss_traj: 1.2049, loss_traj_cls: 0.0006, loss_map_cls: 0.3482, loss_map_pts: 1.6206, loss_map_dir: 0.0292, d0.loss_plan_l1_fix_time: 2.9149, d0.loss_plan_l1_fix_dist: 0.4831, d1.loss_plan_l1_fix_time: 2.2441, d1.loss_plan_l1_fix_dist: 0.3503, d2.loss_plan_l1_fix_time: 2.1779, d2.loss_plan_l1_fix_dist: 0.3563, d3.loss_plan_l1_fix_time: 2.1674, d3.loss_plan_l1_fix_dist: 0.3657, d4.loss_plan_l1_fix_time: 2.1706, d4.loss_plan_l1_fix_dist: 0.3775, d5.loss_plan_l1_fix_time: 2.1759, d5.loss_plan_l1_fix_dist: 0.3910, d6.loss_plan_l1_fix_time: 2.1822, d6.loss_plan_l1_fix_dist: 0.4078, d0.loss_cls_all: 0.5451, d0.loss_bbox_all: 0.6785, d0.loss_cls: 0.5451, d0.loss_bbox: 0.6785, d1.loss_cls: 0.5360, d1.loss_bbox: 0.6607, d2.loss_cls: 0.5362, d2.loss_bbox: 0.6427, d3.loss_cls: 0.5300, d3.loss_bbox: 0.6425, d4.loss_cls: 0.5303, d4.loss_bbox: 0.6403, d5.loss_cls: 0.5254, d5.loss_bbox: 0.6416, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3793, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.2349, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1989, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2017, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1944, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2023, d0.loss_map_cls_all: 0.3749, d0.loss_map_pts_all: 2.4372, d0.loss_map_dir_all: 0.0278, d0.loss_map_cls: 0.3749, d0.loss_map_pts: 2.4372, d0.loss_map_dir: 0.0278, d1.loss_map_cls: 0.3660, d1.loss_map_pts: 1.7837, d1.loss_map_dir: 0.0278, d2.loss_map_cls: 0.3541, d2.loss_map_pts: 1.6727, d2.loss_map_dir: 0.0283, d3.loss_map_cls: 0.3511, d3.loss_map_pts: 1.6328, d3.loss_map_dir: 0.0286, d4.loss_map_cls: 0.3491, d4.loss_map_pts: 1.6216, d4.loss_map_dir: 0.0289, d5.loss_map_cls: 0.3478, d5.loss_map_pts: 1.6204, d5.loss_map_dir: 0.0291, loss: 54.8105, grad_norm: 157.1475 +2026-02-24 17:17:31,983 - DriveTransformer - INFO - Epoch [2][28400/39528] lr: 9.958e-05, eta: 8 days, 2:49:27, time: 0.808, data_time: 0.044, memory: 19865, loss_cls: 0.5138, loss_bbox: 0.6320, loss_traj: 1.4536, loss_traj_cls: 0.0006, loss_map_cls: 0.3102, loss_map_pts: 1.3975, loss_map_dir: 0.0258, d0.loss_plan_l1_fix_time: 2.7160, d0.loss_plan_l1_fix_dist: 0.4506, d1.loss_plan_l1_fix_time: 2.0889, d1.loss_plan_l1_fix_dist: 0.3430, d2.loss_plan_l1_fix_time: 2.0722, d2.loss_plan_l1_fix_dist: 0.3543, d3.loss_plan_l1_fix_time: 2.0738, d3.loss_plan_l1_fix_dist: 0.3717, d4.loss_plan_l1_fix_time: 2.0791, d4.loss_plan_l1_fix_dist: 0.3915, d5.loss_plan_l1_fix_time: 2.0848, d5.loss_plan_l1_fix_dist: 0.4140, d6.loss_plan_l1_fix_time: 2.0908, d6.loss_plan_l1_fix_dist: 0.4338, d0.loss_cls_all: 0.5291, d0.loss_bbox_all: 0.6663, d0.loss_cls: 0.5291, d0.loss_bbox: 0.6663, d1.loss_cls: 0.5191, d1.loss_bbox: 0.6461, d2.loss_cls: 0.5159, d2.loss_bbox: 0.6349, d3.loss_cls: 0.5140, d3.loss_bbox: 0.6330, d4.loss_cls: 0.5127, d4.loss_bbox: 0.6301, d5.loss_cls: 0.5129, d5.loss_bbox: 0.6287, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5608, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.4617, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.4513, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.4571, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4537, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4583, d0.loss_map_cls_all: 0.3614, d0.loss_map_pts_all: 2.1901, d0.loss_map_dir_all: 0.0244, d0.loss_map_cls: 0.3614, d0.loss_map_pts: 2.1901, d0.loss_map_dir: 0.0244, d1.loss_map_cls: 0.3436, d1.loss_map_pts: 1.5763, d1.loss_map_dir: 0.0244, d2.loss_map_cls: 0.3287, d2.loss_map_pts: 1.4611, d2.loss_map_dir: 0.0248, d3.loss_map_cls: 0.3187, d3.loss_map_pts: 1.4181, d3.loss_map_dir: 0.0252, d4.loss_map_cls: 0.3149, d4.loss_map_pts: 1.4012, d4.loss_map_dir: 0.0255, d5.loss_map_cls: 0.3104, d5.loss_map_pts: 1.3975, d5.loss_map_dir: 0.0256, loss: 53.4320, grad_norm: 156.3350 +2026-02-24 17:18:12,429 - DriveTransformer - INFO - Epoch [2][28450/39528] lr: 9.958e-05, eta: 8 days, 2:48:55, time: 0.809, data_time: 0.040, memory: 19865, loss_cls: 0.5391, loss_bbox: 0.6485, loss_traj: 1.3999, loss_traj_cls: 0.0006, loss_map_cls: 0.3368, loss_map_pts: 1.5184, loss_map_dir: 0.0322, d0.loss_plan_l1_fix_time: 3.0218, d0.loss_plan_l1_fix_dist: 0.4085, d1.loss_plan_l1_fix_time: 2.4429, d1.loss_plan_l1_fix_dist: 0.3157, d2.loss_plan_l1_fix_time: 2.4305, d2.loss_plan_l1_fix_dist: 0.3199, d3.loss_plan_l1_fix_time: 2.4338, d3.loss_plan_l1_fix_dist: 0.3317, d4.loss_plan_l1_fix_time: 2.4382, d4.loss_plan_l1_fix_dist: 0.3456, d5.loss_plan_l1_fix_time: 2.4436, d5.loss_plan_l1_fix_dist: 0.3609, d6.loss_plan_l1_fix_time: 2.4505, d6.loss_plan_l1_fix_dist: 0.3823, d0.loss_cls_all: 0.5481, d0.loss_bbox_all: 0.6809, d0.loss_cls: 0.5481, d0.loss_bbox: 0.6809, d1.loss_cls: 0.5354, d1.loss_bbox: 0.6599, d2.loss_cls: 0.5354, d2.loss_bbox: 0.6507, d3.loss_cls: 0.5334, d3.loss_bbox: 0.6458, d4.loss_cls: 0.5367, d4.loss_bbox: 0.6426, d5.loss_cls: 0.5350, d5.loss_bbox: 0.6426, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4578, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3641, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3597, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.3779, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3804, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3930, d0.loss_map_cls_all: 0.3771, d0.loss_map_pts_all: 2.5070, d0.loss_map_dir_all: 0.0305, d0.loss_map_cls: 0.3771, d0.loss_map_pts: 2.5070, d0.loss_map_dir: 0.0305, d1.loss_map_cls: 0.3592, d1.loss_map_pts: 1.7002, d1.loss_map_dir: 0.0304, d2.loss_map_cls: 0.3454, d2.loss_map_pts: 1.5786, d2.loss_map_dir: 0.0310, d3.loss_map_cls: 0.3390, d3.loss_map_pts: 1.5358, d3.loss_map_dir: 0.0315, d4.loss_map_cls: 0.3344, d4.loss_map_pts: 1.5252, d4.loss_map_dir: 0.0317, d5.loss_map_cls: 0.3341, d5.loss_map_pts: 1.5201, d5.loss_map_dir: 0.0320, loss: 56.8727, grad_norm: 155.9045 +2026-02-24 17:18:52,628 - DriveTransformer - INFO - Epoch [2][28500/39528] lr: 9.958e-05, eta: 8 days, 2:48:20, time: 0.804, data_time: 0.040, memory: 19865, loss_cls: 0.5260, loss_bbox: 0.6498, loss_traj: 1.2949, loss_traj_cls: 0.0006, loss_map_cls: 0.3617, loss_map_pts: 1.5545, loss_map_dir: 0.0282, d0.loss_plan_l1_fix_time: 2.8702, d0.loss_plan_l1_fix_dist: 0.4247, d1.loss_plan_l1_fix_time: 2.3566, d1.loss_plan_l1_fix_dist: 0.3568, d2.loss_plan_l1_fix_time: 2.3708, d2.loss_plan_l1_fix_dist: 0.3705, d3.loss_plan_l1_fix_time: 2.3825, d3.loss_plan_l1_fix_dist: 0.3868, d4.loss_plan_l1_fix_time: 2.3900, d4.loss_plan_l1_fix_dist: 0.4055, d5.loss_plan_l1_fix_time: 2.3968, d5.loss_plan_l1_fix_dist: 0.4260, d6.loss_plan_l1_fix_time: 2.4047, d6.loss_plan_l1_fix_dist: 0.4475, d0.loss_cls_all: 0.5395, d0.loss_bbox_all: 0.6885, d0.loss_cls: 0.5395, d0.loss_bbox: 0.6885, d1.loss_cls: 0.5351, d1.loss_bbox: 0.6643, d2.loss_cls: 0.5333, d2.loss_bbox: 0.6559, d3.loss_cls: 0.5269, d3.loss_bbox: 0.6507, d4.loss_cls: 0.5247, d4.loss_bbox: 0.6482, d5.loss_cls: 0.5259, d5.loss_bbox: 0.6445, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3667, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.2666, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2556, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.2642, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2674, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2782, d0.loss_map_cls_all: 0.4100, d0.loss_map_pts_all: 2.5001, d0.loss_map_dir_all: 0.0265, d0.loss_map_cls: 0.4100, d0.loss_map_pts: 2.5001, d0.loss_map_dir: 0.0265, d1.loss_map_cls: 0.3865, d1.loss_map_pts: 1.7472, d1.loss_map_dir: 0.0265, d2.loss_map_cls: 0.3712, d2.loss_map_pts: 1.6262, d2.loss_map_dir: 0.0270, d3.loss_map_cls: 0.3665, d3.loss_map_pts: 1.5763, d3.loss_map_dir: 0.0275, d4.loss_map_cls: 0.3628, d4.loss_map_pts: 1.5617, d4.loss_map_dir: 0.0277, d5.loss_map_cls: 0.3616, d5.loss_map_pts: 1.5544, d5.loss_map_dir: 0.0280, loss: 56.3990, grad_norm: 153.7230 +2026-02-24 17:19:32,032 - DriveTransformer - INFO - Epoch [2][28550/39528] lr: 9.958e-05, eta: 8 days, 2:47:35, time: 0.788, data_time: 0.042, memory: 19865, loss_cls: 0.5093, loss_bbox: 0.5935, loss_traj: 1.2754, loss_traj_cls: 0.0006, loss_map_cls: 0.2968, loss_map_pts: 1.2543, loss_map_dir: 0.0231, d0.loss_plan_l1_fix_time: 2.7587, d0.loss_plan_l1_fix_dist: 0.4658, d1.loss_plan_l1_fix_time: 2.2175, d1.loss_plan_l1_fix_dist: 0.3209, d2.loss_plan_l1_fix_time: 2.2015, d2.loss_plan_l1_fix_dist: 0.3349, d3.loss_plan_l1_fix_time: 2.2073, d3.loss_plan_l1_fix_dist: 0.3562, d4.loss_plan_l1_fix_time: 2.2155, d4.loss_plan_l1_fix_dist: 0.3768, d5.loss_plan_l1_fix_time: 2.2228, d5.loss_plan_l1_fix_dist: 0.3972, d6.loss_plan_l1_fix_time: 2.2301, d6.loss_plan_l1_fix_dist: 0.4163, d0.loss_cls_all: 0.5348, d0.loss_bbox_all: 0.6212, d0.loss_cls: 0.5348, d0.loss_bbox: 0.6212, d1.loss_cls: 0.5225, d1.loss_bbox: 0.6062, d2.loss_cls: 0.5145, d2.loss_bbox: 0.6003, d3.loss_cls: 0.5127, d3.loss_bbox: 0.5912, d4.loss_cls: 0.5091, d4.loss_bbox: 0.5893, d5.loss_cls: 0.5077, d5.loss_bbox: 0.5910, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3650, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3003, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2803, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.2813, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2814, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2789, d0.loss_map_cls_all: 0.3306, d0.loss_map_pts_all: 2.1041, d0.loss_map_dir_all: 0.0216, d0.loss_map_cls: 0.3306, d0.loss_map_pts: 2.1041, d0.loss_map_dir: 0.0216, d1.loss_map_cls: 0.3156, d1.loss_map_pts: 1.4338, d1.loss_map_dir: 0.0218, d2.loss_map_cls: 0.3053, d2.loss_map_pts: 1.3210, d2.loss_map_dir: 0.0221, d3.loss_map_cls: 0.2979, d3.loss_map_pts: 1.2788, d3.loss_map_dir: 0.0226, d4.loss_map_cls: 0.2958, d4.loss_map_pts: 1.2601, d4.loss_map_dir: 0.0228, d5.loss_map_cls: 0.2956, d5.loss_map_pts: 1.2591, d5.loss_map_dir: 0.0230, loss: 51.4112, grad_norm: 153.9200 +2026-02-24 17:20:12,969 - DriveTransformer - INFO - Epoch [2][28600/39528] lr: 9.958e-05, eta: 8 days, 2:47:11, time: 0.820, data_time: 0.034, memory: 19865, loss_cls: 0.5508, loss_bbox: 0.6722, loss_traj: 1.2711, loss_traj_cls: 0.0006, loss_map_cls: 0.3406, loss_map_pts: 1.6042, loss_map_dir: 0.0278, d0.loss_plan_l1_fix_time: 2.6628, d0.loss_plan_l1_fix_dist: 0.5872, d1.loss_plan_l1_fix_time: 2.1871, d1.loss_plan_l1_fix_dist: 0.4133, d2.loss_plan_l1_fix_time: 2.1435, d2.loss_plan_l1_fix_dist: 0.4172, d3.loss_plan_l1_fix_time: 2.1403, d3.loss_plan_l1_fix_dist: 0.4292, d4.loss_plan_l1_fix_time: 2.1455, d4.loss_plan_l1_fix_dist: 0.4429, d5.loss_plan_l1_fix_time: 2.1518, d5.loss_plan_l1_fix_dist: 0.4574, d6.loss_plan_l1_fix_time: 2.1592, d6.loss_plan_l1_fix_dist: 0.4792, d0.loss_cls_all: 0.5604, d0.loss_bbox_all: 0.7064, d0.loss_cls: 0.5604, d0.loss_bbox: 0.7064, d1.loss_cls: 0.5494, d1.loss_bbox: 0.6883, d2.loss_cls: 0.5462, d2.loss_bbox: 0.6783, d3.loss_cls: 0.5429, d3.loss_bbox: 0.6746, d4.loss_cls: 0.5454, d4.loss_bbox: 0.6703, d5.loss_cls: 0.5477, d5.loss_bbox: 0.6688, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2762, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.2298, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2206, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2334, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2472, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2653, d0.loss_map_cls_all: 0.3786, d0.loss_map_pts_all: 2.4579, d0.loss_map_dir_all: 0.0257, d0.loss_map_cls: 0.3786, d0.loss_map_pts: 2.4579, d0.loss_map_dir: 0.0257, d1.loss_map_cls: 0.3656, d1.loss_map_pts: 1.7800, d1.loss_map_dir: 0.0261, d2.loss_map_cls: 0.3522, d2.loss_map_pts: 1.6739, d2.loss_map_dir: 0.0267, d3.loss_map_cls: 0.3473, d3.loss_map_pts: 1.6349, d3.loss_map_dir: 0.0272, d4.loss_map_cls: 0.3418, d4.loss_map_pts: 1.6178, d4.loss_map_dir: 0.0274, d5.loss_map_cls: 0.3415, d5.loss_map_pts: 1.6120, d5.loss_map_dir: 0.0276, loss: 55.3331, grad_norm: 151.9856 +2026-02-24 17:20:52,070 - DriveTransformer - INFO - Epoch [2][28650/39528] lr: 9.958e-05, eta: 8 days, 2:46:21, time: 0.781, data_time: 0.040, memory: 19865, loss_cls: 0.5135, loss_bbox: 0.6055, loss_traj: 1.3073, loss_traj_cls: 0.0005, loss_map_cls: 0.3484, loss_map_pts: 1.4205, loss_map_dir: 0.0258, d0.loss_plan_l1_fix_time: 2.5511, d0.loss_plan_l1_fix_dist: 0.4405, d1.loss_plan_l1_fix_time: 2.0132, d1.loss_plan_l1_fix_dist: 0.3309, d2.loss_plan_l1_fix_time: 2.0034, d2.loss_plan_l1_fix_dist: 0.3404, d3.loss_plan_l1_fix_time: 2.0088, d3.loss_plan_l1_fix_dist: 0.3501, d4.loss_plan_l1_fix_time: 2.0137, d4.loss_plan_l1_fix_dist: 0.3630, d5.loss_plan_l1_fix_time: 2.0196, d5.loss_plan_l1_fix_dist: 0.3794, d6.loss_plan_l1_fix_time: 2.0264, d6.loss_plan_l1_fix_dist: 0.3942, d0.loss_cls_all: 0.5205, d0.loss_bbox_all: 0.6249, d0.loss_cls: 0.5205, d0.loss_bbox: 0.6249, d1.loss_cls: 0.5167, d1.loss_bbox: 0.6076, d2.loss_cls: 0.5135, d2.loss_bbox: 0.6036, d3.loss_cls: 0.5078, d3.loss_bbox: 0.6078, d4.loss_cls: 0.5078, d4.loss_bbox: 0.6050, d5.loss_cls: 0.5106, d5.loss_bbox: 0.6023, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4819, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3353, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2987, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3000, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3028, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3016, d0.loss_map_cls_all: 0.3838, d0.loss_map_pts_all: 2.2022, d0.loss_map_dir_all: 0.0240, d0.loss_map_cls: 0.3838, d0.loss_map_pts: 2.2022, d0.loss_map_dir: 0.0240, d1.loss_map_cls: 0.3687, d1.loss_map_pts: 1.5558, d1.loss_map_dir: 0.0239, d2.loss_map_cls: 0.3579, d2.loss_map_pts: 1.4673, d2.loss_map_dir: 0.0246, d3.loss_map_cls: 0.3550, d3.loss_map_pts: 1.4328, d3.loss_map_dir: 0.0252, d4.loss_map_cls: 0.3505, d4.loss_map_pts: 1.4234, d4.loss_map_dir: 0.0254, d5.loss_map_cls: 0.3475, d5.loss_map_pts: 1.4169, d5.loss_map_dir: 0.0257, loss: 51.7756, grad_norm: 152.9136 +2026-02-24 17:21:30,956 - DriveTransformer - INFO - Epoch [2][28700/39528] lr: 9.958e-05, eta: 8 days, 2:45:29, time: 0.778, data_time: 0.039, memory: 19865, loss_cls: 0.5548, loss_bbox: 0.6675, loss_traj: 1.5870, loss_traj_cls: 0.0006, loss_map_cls: 0.3864, loss_map_pts: 1.5535, loss_map_dir: 0.0250, d0.loss_plan_l1_fix_time: 3.0194, d0.loss_plan_l1_fix_dist: 0.3441, d1.loss_plan_l1_fix_time: 2.3570, d1.loss_plan_l1_fix_dist: 0.3248, d2.loss_plan_l1_fix_time: 2.2952, d2.loss_plan_l1_fix_dist: 0.3351, d3.loss_plan_l1_fix_time: 2.2835, d3.loss_plan_l1_fix_dist: 0.3472, d4.loss_plan_l1_fix_time: 2.2841, d4.loss_plan_l1_fix_dist: 0.3595, d5.loss_plan_l1_fix_time: 2.2867, d5.loss_plan_l1_fix_dist: 0.3722, d6.loss_plan_l1_fix_time: 2.2911, d6.loss_plan_l1_fix_dist: 0.3849, d0.loss_cls_all: 0.5607, d0.loss_bbox_all: 0.7052, d0.loss_cls: 0.5607, d0.loss_bbox: 0.7052, d1.loss_cls: 0.5490, d1.loss_bbox: 0.6833, d2.loss_cls: 0.5458, d2.loss_bbox: 0.6721, d3.loss_cls: 0.5475, d3.loss_bbox: 0.6710, d4.loss_cls: 0.5458, d4.loss_bbox: 0.6683, d5.loss_cls: 0.5525, d5.loss_bbox: 0.6628, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6546, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.5188, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.5259, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.5707, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5807, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5877, d0.loss_map_cls_all: 0.4232, d0.loss_map_pts_all: 2.3162, d0.loss_map_dir_all: 0.0233, d0.loss_map_cls: 0.4232, d0.loss_map_pts: 2.3162, d0.loss_map_dir: 0.0233, d1.loss_map_cls: 0.4088, d1.loss_map_pts: 1.6848, d1.loss_map_dir: 0.0233, d2.loss_map_cls: 0.3957, d2.loss_map_pts: 1.5916, d2.loss_map_dir: 0.0239, d3.loss_map_cls: 0.3891, d3.loss_map_pts: 1.5558, d3.loss_map_dir: 0.0243, d4.loss_map_cls: 0.3861, d4.loss_map_pts: 1.5518, d4.loss_map_dir: 0.0246, d5.loss_map_cls: 0.3859, d5.loss_map_pts: 1.5455, d5.loss_map_dir: 0.0248, loss: 57.6743, grad_norm: 154.2514 +2026-02-24 17:22:09,839 - DriveTransformer - INFO - Epoch [2][28750/39528] lr: 9.958e-05, eta: 8 days, 2:44:37, time: 0.778, data_time: 0.043, memory: 19865, loss_cls: 0.5260, loss_bbox: 0.6523, loss_traj: 1.4762, loss_traj_cls: 0.0006, loss_map_cls: 0.3139, loss_map_pts: 1.4243, loss_map_dir: 0.0231, d0.loss_plan_l1_fix_time: 3.3428, d0.loss_plan_l1_fix_dist: 0.5334, d1.loss_plan_l1_fix_time: 2.7346, d1.loss_plan_l1_fix_dist: 0.4239, d2.loss_plan_l1_fix_time: 2.6934, d2.loss_plan_l1_fix_dist: 0.4320, d3.loss_plan_l1_fix_time: 2.6884, d3.loss_plan_l1_fix_dist: 0.4447, d4.loss_plan_l1_fix_time: 2.6912, d4.loss_plan_l1_fix_dist: 0.4595, d5.loss_plan_l1_fix_time: 2.6958, d5.loss_plan_l1_fix_dist: 0.4768, d6.loss_plan_l1_fix_time: 2.7020, d6.loss_plan_l1_fix_dist: 0.5041, d0.loss_cls_all: 0.5319, d0.loss_bbox_all: 0.6851, d0.loss_cls: 0.5319, d0.loss_bbox: 0.6851, d1.loss_cls: 0.5134, d1.loss_bbox: 0.6609, d2.loss_cls: 0.5104, d2.loss_bbox: 0.6521, d3.loss_cls: 0.5138, d3.loss_bbox: 0.6498, d4.loss_cls: 0.5151, d4.loss_bbox: 0.6476, d5.loss_cls: 0.5194, d5.loss_bbox: 0.6485, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5600, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.4761, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.4537, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.4765, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4803, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4732, d0.loss_map_cls_all: 0.3656, d0.loss_map_pts_all: 2.1937, d0.loss_map_dir_all: 0.0217, d0.loss_map_cls: 0.3656, d0.loss_map_pts: 2.1937, d0.loss_map_dir: 0.0217, d1.loss_map_cls: 0.3453, d1.loss_map_pts: 1.5768, d1.loss_map_dir: 0.0215, d2.loss_map_cls: 0.3264, d2.loss_map_pts: 1.4638, d2.loss_map_dir: 0.0221, d3.loss_map_cls: 0.3176, d3.loss_map_pts: 1.4283, d3.loss_map_dir: 0.0225, d4.loss_map_cls: 0.3091, d4.loss_map_pts: 1.4224, d4.loss_map_dir: 0.0227, d5.loss_map_cls: 0.3102, d5.loss_map_pts: 1.4270, d5.loss_map_dir: 0.0228, loss: 58.6296, grad_norm: 153.7979 +2026-02-24 17:22:49,975 - DriveTransformer - INFO - Epoch [2][28800/39528] lr: 9.958e-05, eta: 8 days, 2:44:01, time: 0.803, data_time: 0.038, memory: 19865, loss_cls: 0.5559, loss_bbox: 0.6921, loss_traj: 1.4974, loss_traj_cls: 0.0006, loss_map_cls: 0.3634, loss_map_pts: 1.6953, loss_map_dir: 0.0280, d0.loss_plan_l1_fix_time: 2.6256, d0.loss_plan_l1_fix_dist: 0.3942, d1.loss_plan_l1_fix_time: 2.0955, d1.loss_plan_l1_fix_dist: 0.3374, d2.loss_plan_l1_fix_time: 2.0735, d2.loss_plan_l1_fix_dist: 0.3471, d3.loss_plan_l1_fix_time: 2.0797, d3.loss_plan_l1_fix_dist: 0.3616, d4.loss_plan_l1_fix_time: 2.0858, d4.loss_plan_l1_fix_dist: 0.3800, d5.loss_plan_l1_fix_time: 2.0921, d5.loss_plan_l1_fix_dist: 0.4002, d6.loss_plan_l1_fix_time: 2.0979, d6.loss_plan_l1_fix_dist: 0.4208, d0.loss_cls_all: 0.5591, d0.loss_bbox_all: 0.7342, d0.loss_cls: 0.5591, d0.loss_bbox: 0.7342, d1.loss_cls: 0.5536, d1.loss_bbox: 0.7140, d2.loss_cls: 0.5527, d2.loss_bbox: 0.6989, d3.loss_cls: 0.5507, d3.loss_bbox: 0.6916, d4.loss_cls: 0.5514, d4.loss_bbox: 0.6908, d5.loss_cls: 0.5509, d5.loss_bbox: 0.6914, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7654, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.5309, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.4843, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.4908, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.4834, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4769, d0.loss_map_cls_all: 0.3951, d0.loss_map_pts_all: 2.6204, d0.loss_map_dir_all: 0.0263, d0.loss_map_cls: 0.3951, d0.loss_map_pts: 2.6204, d0.loss_map_dir: 0.0263, d1.loss_map_cls: 0.3869, d1.loss_map_pts: 1.8827, d1.loss_map_dir: 0.0265, d2.loss_map_cls: 0.3726, d2.loss_map_pts: 1.7537, d2.loss_map_dir: 0.0270, d3.loss_map_cls: 0.3650, d3.loss_map_pts: 1.7132, d3.loss_map_dir: 0.0274, d4.loss_map_cls: 0.3616, d4.loss_map_pts: 1.6963, d4.loss_map_dir: 0.0276, d5.loss_map_cls: 0.3629, d5.loss_map_pts: 1.7016, d5.loss_map_dir: 0.0278, loss: 57.5094, grad_norm: 153.6349 +2026-02-24 17:23:29,353 - DriveTransformer - INFO - Epoch [2][28850/39528] lr: 9.958e-05, eta: 8 days, 2:43:16, time: 0.788, data_time: 0.039, memory: 19865, loss_cls: 0.4753, loss_bbox: 0.6292, loss_traj: 1.3364, loss_traj_cls: 0.0006, loss_map_cls: 0.3213, loss_map_pts: 1.5039, loss_map_dir: 0.0279, d0.loss_plan_l1_fix_time: 2.9402, d0.loss_plan_l1_fix_dist: 0.4285, d1.loss_plan_l1_fix_time: 2.2126, d1.loss_plan_l1_fix_dist: 0.3541, d2.loss_plan_l1_fix_time: 2.1575, d2.loss_plan_l1_fix_dist: 0.3730, d3.loss_plan_l1_fix_time: 2.1566, d3.loss_plan_l1_fix_dist: 0.3939, d4.loss_plan_l1_fix_time: 2.1619, d4.loss_plan_l1_fix_dist: 0.4127, d5.loss_plan_l1_fix_time: 2.1677, d5.loss_plan_l1_fix_dist: 0.4306, d6.loss_plan_l1_fix_time: 2.1734, d6.loss_plan_l1_fix_dist: 0.4488, d0.loss_cls_all: 0.4862, d0.loss_bbox_all: 0.6511, d0.loss_cls: 0.4862, d0.loss_bbox: 0.6511, d1.loss_cls: 0.4808, d1.loss_bbox: 0.6310, d2.loss_cls: 0.4784, d2.loss_bbox: 0.6242, d3.loss_cls: 0.4731, d3.loss_bbox: 0.6251, d4.loss_cls: 0.4723, d4.loss_bbox: 0.6276, d5.loss_cls: 0.4745, d5.loss_bbox: 0.6282, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4289, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3612, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3410, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3379, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3431, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3400, d0.loss_map_cls_all: 0.3534, d0.loss_map_pts_all: 2.3511, d0.loss_map_dir_all: 0.0254, d0.loss_map_cls: 0.3534, d0.loss_map_pts: 2.3511, d0.loss_map_dir: 0.0254, d1.loss_map_cls: 0.3447, d1.loss_map_pts: 1.6443, d1.loss_map_dir: 0.0261, d2.loss_map_cls: 0.3316, d2.loss_map_pts: 1.5369, d2.loss_map_dir: 0.0268, d3.loss_map_cls: 0.3242, d3.loss_map_pts: 1.5087, d3.loss_map_dir: 0.0272, d4.loss_map_cls: 0.3206, d4.loss_map_pts: 1.5041, d4.loss_map_dir: 0.0276, d5.loss_map_cls: 0.3216, d5.loss_map_pts: 1.5051, d5.loss_map_dir: 0.0277, loss: 53.9895, grad_norm: 151.1404 +2026-02-24 17:24:08,216 - DriveTransformer - INFO - Epoch [2][28900/39528] lr: 9.958e-05, eta: 8 days, 2:42:24, time: 0.777, data_time: 0.035, memory: 19865, loss_cls: 0.4827, loss_bbox: 0.6523, loss_traj: 1.6318, loss_traj_cls: 0.0006, loss_map_cls: 0.3389, loss_map_pts: 1.4783, loss_map_dir: 0.0214, d0.loss_plan_l1_fix_time: 2.7532, d0.loss_plan_l1_fix_dist: 0.3966, d1.loss_plan_l1_fix_time: 2.2346, d1.loss_plan_l1_fix_dist: 0.3221, d2.loss_plan_l1_fix_time: 2.2095, d2.loss_plan_l1_fix_dist: 0.3308, d3.loss_plan_l1_fix_time: 2.2063, d3.loss_plan_l1_fix_dist: 0.3429, d4.loss_plan_l1_fix_time: 2.2084, d4.loss_plan_l1_fix_dist: 0.3582, d5.loss_plan_l1_fix_time: 2.2117, d5.loss_plan_l1_fix_dist: 0.3762, d6.loss_plan_l1_fix_time: 2.2143, d6.loss_plan_l1_fix_dist: 0.3944, d0.loss_cls_all: 0.4764, d0.loss_bbox_all: 0.6885, d0.loss_cls: 0.4764, d0.loss_bbox: 0.6885, d1.loss_cls: 0.4781, d1.loss_bbox: 0.6612, d2.loss_cls: 0.4748, d2.loss_bbox: 0.6527, d3.loss_cls: 0.4766, d3.loss_bbox: 0.6453, d4.loss_cls: 0.4797, d4.loss_bbox: 0.6446, d5.loss_cls: 0.4819, d5.loss_bbox: 0.6496, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7498, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.6640, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.6128, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.6201, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5832, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6014, d0.loss_map_cls_all: 0.3966, d0.loss_map_pts_all: 2.1547, d0.loss_map_dir_all: 0.0204, d0.loss_map_cls: 0.3966, d0.loss_map_pts: 2.1547, d0.loss_map_dir: 0.0204, d1.loss_map_cls: 0.3703, d1.loss_map_pts: 1.5917, d1.loss_map_dir: 0.0202, d2.loss_map_cls: 0.3581, d2.loss_map_pts: 1.4945, d2.loss_map_dir: 0.0206, d3.loss_map_cls: 0.3503, d3.loss_map_pts: 1.4710, d3.loss_map_dir: 0.0209, d4.loss_map_cls: 0.3425, d4.loss_map_pts: 1.4725, d4.loss_map_dir: 0.0211, d5.loss_map_cls: 0.3373, d5.loss_map_pts: 1.4687, d5.loss_map_dir: 0.0213, loss: 55.4801, grad_norm: 150.7201 +2026-02-24 17:24:47,952 - DriveTransformer - INFO - Epoch [2][28950/39528] lr: 9.958e-05, eta: 8 days, 2:41:43, time: 0.795, data_time: 0.036, memory: 19865, loss_cls: 0.5227, loss_bbox: 0.6476, loss_traj: 1.6852, loss_traj_cls: 0.0005, loss_map_cls: 0.3539, loss_map_pts: 1.4923, loss_map_dir: 0.0280, d0.loss_plan_l1_fix_time: 3.0389, d0.loss_plan_l1_fix_dist: 0.3968, d1.loss_plan_l1_fix_time: 2.4615, d1.loss_plan_l1_fix_dist: 0.3441, d2.loss_plan_l1_fix_time: 2.4262, d2.loss_plan_l1_fix_dist: 0.3517, d3.loss_plan_l1_fix_time: 2.4229, d3.loss_plan_l1_fix_dist: 0.3607, d4.loss_plan_l1_fix_time: 2.4269, d4.loss_plan_l1_fix_dist: 0.3727, d5.loss_plan_l1_fix_time: 2.4327, d5.loss_plan_l1_fix_dist: 0.3876, d6.loss_plan_l1_fix_time: 2.4394, d6.loss_plan_l1_fix_dist: 0.4054, d0.loss_cls_all: 0.5466, d0.loss_bbox_all: 0.6841, d0.loss_cls: 0.5466, d0.loss_bbox: 0.6841, d1.loss_cls: 0.5324, d1.loss_bbox: 0.6633, d2.loss_cls: 0.5306, d2.loss_bbox: 0.6498, d3.loss_cls: 0.5307, d3.loss_bbox: 0.6445, d4.loss_cls: 0.5257, d4.loss_bbox: 0.6432, d5.loss_cls: 0.5260, d5.loss_bbox: 0.6407, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7717, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.6619, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.6465, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.6550, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6512, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.6702, d0.loss_map_cls_all: 0.3978, d0.loss_map_pts_all: 2.3394, d0.loss_map_dir_all: 0.0257, d0.loss_map_cls: 0.3978, d0.loss_map_pts: 2.3394, d0.loss_map_dir: 0.0257, d1.loss_map_cls: 0.3727, d1.loss_map_pts: 1.6347, d1.loss_map_dir: 0.0260, d2.loss_map_cls: 0.3585, d2.loss_map_pts: 1.5306, d2.loss_map_dir: 0.0266, d3.loss_map_cls: 0.3534, d3.loss_map_pts: 1.4964, d3.loss_map_dir: 0.0273, d4.loss_map_cls: 0.3526, d4.loss_map_pts: 1.4853, d4.loss_map_dir: 0.0276, d5.loss_map_cls: 0.3508, d5.loss_map_pts: 1.4865, d5.loss_map_dir: 0.0279, loss: 58.4899, grad_norm: 151.2652 +2026-02-24 17:25:28,475 - DriveTransformer - INFO - Epoch [2][29000/39528] lr: 9.958e-05, eta: 8 days, 2:41:12, time: 0.810, data_time: 0.038, memory: 19865, loss_cls: 0.5041, loss_bbox: 0.6623, loss_traj: 1.2204, loss_traj_cls: 0.0005, loss_map_cls: 0.3057, loss_map_pts: 1.4425, loss_map_dir: 0.0291, d0.loss_plan_l1_fix_time: 2.6982, d0.loss_plan_l1_fix_dist: 0.5417, d1.loss_plan_l1_fix_time: 2.0902, d1.loss_plan_l1_fix_dist: 0.4245, d2.loss_plan_l1_fix_time: 2.0710, d2.loss_plan_l1_fix_dist: 0.4253, d3.loss_plan_l1_fix_time: 2.0746, d3.loss_plan_l1_fix_dist: 0.4349, d4.loss_plan_l1_fix_time: 2.0786, d4.loss_plan_l1_fix_dist: 0.4479, d5.loss_plan_l1_fix_time: 2.0831, d5.loss_plan_l1_fix_dist: 0.4641, d6.loss_plan_l1_fix_time: 2.0885, d6.loss_plan_l1_fix_dist: 0.4806, d0.loss_cls_all: 0.5138, d0.loss_bbox_all: 0.6908, d0.loss_cls: 0.5138, d0.loss_bbox: 0.6908, d1.loss_cls: 0.5042, d1.loss_bbox: 0.6716, d2.loss_cls: 0.5035, d2.loss_bbox: 0.6616, d3.loss_cls: 0.5058, d3.loss_bbox: 0.6600, d4.loss_cls: 0.5032, d4.loss_bbox: 0.6572, d5.loss_cls: 0.5042, d5.loss_bbox: 0.6578, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2083, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1607, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.1524, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1753, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.1845, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2078, d0.loss_map_cls_all: 0.3477, d0.loss_map_pts_all: 2.5012, d0.loss_map_dir_all: 0.0275, d0.loss_map_cls: 0.3477, d0.loss_map_pts: 2.5012, d0.loss_map_dir: 0.0275, d1.loss_map_cls: 0.3318, d1.loss_map_pts: 1.6029, d1.loss_map_dir: 0.0276, d2.loss_map_cls: 0.3211, d2.loss_map_pts: 1.4890, d2.loss_map_dir: 0.0281, d3.loss_map_cls: 0.3092, d3.loss_map_pts: 1.4508, d3.loss_map_dir: 0.0286, d4.loss_map_cls: 0.3073, d4.loss_map_pts: 1.4375, d4.loss_map_dir: 0.0288, d5.loss_map_cls: 0.3054, d5.loss_map_pts: 1.4394, d5.loss_map_dir: 0.0289, loss: 52.7893, grad_norm: 150.3249 +2026-02-24 17:26:10,190 - DriveTransformer - INFO - Epoch [2][29050/39528] lr: 9.958e-05, eta: 8 days, 2:40:57, time: 0.834, data_time: 0.039, memory: 19865, loss_cls: 0.5599, loss_bbox: 0.6769, loss_traj: 1.3008, loss_traj_cls: 0.0006, loss_map_cls: 0.4049, loss_map_pts: 1.6683, loss_map_dir: 0.0304, d0.loss_plan_l1_fix_time: 2.7777, d0.loss_plan_l1_fix_dist: 0.4853, d1.loss_plan_l1_fix_time: 2.2394, d1.loss_plan_l1_fix_dist: 0.4125, d2.loss_plan_l1_fix_time: 2.2215, d2.loss_plan_l1_fix_dist: 0.4127, d3.loss_plan_l1_fix_time: 2.2224, d3.loss_plan_l1_fix_dist: 0.4209, d4.loss_plan_l1_fix_time: 2.2266, d4.loss_plan_l1_fix_dist: 0.4308, d5.loss_plan_l1_fix_time: 2.2317, d5.loss_plan_l1_fix_dist: 0.4439, d6.loss_plan_l1_fix_time: 2.2374, d6.loss_plan_l1_fix_dist: 0.4586, d0.loss_cls_all: 0.5666, d0.loss_bbox_all: 0.7175, d0.loss_cls: 0.5666, d0.loss_bbox: 0.7175, d1.loss_cls: 0.5611, d1.loss_bbox: 0.6979, d2.loss_cls: 0.5578, d2.loss_bbox: 0.6855, d3.loss_cls: 0.5560, d3.loss_bbox: 0.6815, d4.loss_cls: 0.5608, d4.loss_bbox: 0.6790, d5.loss_cls: 0.5598, d5.loss_bbox: 0.6758, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3608, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2678, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2608, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2780, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2794, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2891, d0.loss_map_cls_all: 0.4414, d0.loss_map_pts_all: 2.7411, d0.loss_map_dir_all: 0.0291, d0.loss_map_cls: 0.4414, d0.loss_map_pts: 2.7411, d0.loss_map_dir: 0.0291, d1.loss_map_cls: 0.4279, d1.loss_map_pts: 1.8574, d1.loss_map_dir: 0.0286, d2.loss_map_cls: 0.4168, d2.loss_map_pts: 1.7405, d2.loss_map_dir: 0.0292, d3.loss_map_cls: 0.4058, d3.loss_map_pts: 1.6967, d3.loss_map_dir: 0.0298, d4.loss_map_cls: 0.4025, d4.loss_map_pts: 1.6795, d4.loss_map_dir: 0.0301, d5.loss_map_cls: 0.4030, d5.loss_map_pts: 1.6714, d5.loss_map_dir: 0.0303, loss: 57.6600, grad_norm: 150.3311 +2026-02-24 17:26:49,485 - DriveTransformer - INFO - Epoch [2][29100/39528] lr: 9.958e-05, eta: 8 days, 2:40:10, time: 0.786, data_time: 0.040, memory: 19865, loss_cls: 0.5178, loss_bbox: 0.6109, loss_traj: 1.5755, loss_traj_cls: 0.0006, loss_map_cls: 0.2917, loss_map_pts: 1.3688, loss_map_dir: 0.0228, d0.loss_plan_l1_fix_time: 2.7434, d0.loss_plan_l1_fix_dist: 0.4501, d1.loss_plan_l1_fix_time: 2.2217, d1.loss_plan_l1_fix_dist: 0.3224, d2.loss_plan_l1_fix_time: 2.1856, d2.loss_plan_l1_fix_dist: 0.3281, d3.loss_plan_l1_fix_time: 2.1830, d3.loss_plan_l1_fix_dist: 0.3417, d4.loss_plan_l1_fix_time: 2.1870, d4.loss_plan_l1_fix_dist: 0.3596, d5.loss_plan_l1_fix_time: 2.1925, d5.loss_plan_l1_fix_dist: 0.3772, d6.loss_plan_l1_fix_time: 2.1984, d6.loss_plan_l1_fix_dist: 0.3935, d0.loss_cls_all: 0.5334, d0.loss_bbox_all: 0.6524, d0.loss_cls: 0.5334, d0.loss_bbox: 0.6524, d1.loss_cls: 0.5207, d1.loss_bbox: 0.6225, d2.loss_cls: 0.5282, d2.loss_bbox: 0.6105, d3.loss_cls: 0.5272, d3.loss_bbox: 0.6080, d4.loss_cls: 0.5234, d4.loss_bbox: 0.6094, d5.loss_cls: 0.5208, d5.loss_bbox: 0.6069, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6680, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.5229, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.5196, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.5450, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5565, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5615, d0.loss_map_cls_all: 0.3429, d0.loss_map_pts_all: 2.2244, d0.loss_map_dir_all: 0.0220, d0.loss_map_cls: 0.3429, d0.loss_map_pts: 2.2244, d0.loss_map_dir: 0.0220, d1.loss_map_cls: 0.3243, d1.loss_map_pts: 1.5624, d1.loss_map_dir: 0.0218, d2.loss_map_cls: 0.3101, d2.loss_map_pts: 1.4534, d2.loss_map_dir: 0.0220, d3.loss_map_cls: 0.2968, d3.loss_map_pts: 1.4035, d3.loss_map_dir: 0.0223, d4.loss_map_cls: 0.2902, d4.loss_map_pts: 1.3846, d4.loss_map_dir: 0.0225, d5.loss_map_cls: 0.2918, d5.loss_map_pts: 1.3761, d5.loss_map_dir: 0.0226, loss: 54.2831, grad_norm: 149.2051 +2026-02-24 17:27:31,524 - DriveTransformer - INFO - Epoch [2][29150/39528] lr: 9.958e-05, eta: 8 days, 2:39:59, time: 0.841, data_time: 0.043, memory: 19865, loss_cls: 0.5067, loss_bbox: 0.6499, loss_traj: 1.2357, loss_traj_cls: 0.0006, loss_map_cls: 0.3654, loss_map_pts: 1.5457, loss_map_dir: 0.0301, d0.loss_plan_l1_fix_time: 2.8880, d0.loss_plan_l1_fix_dist: 0.4660, d1.loss_plan_l1_fix_time: 2.1097, d1.loss_plan_l1_fix_dist: 0.3813, d2.loss_plan_l1_fix_time: 2.0588, d2.loss_plan_l1_fix_dist: 0.3865, d3.loss_plan_l1_fix_time: 2.0508, d3.loss_plan_l1_fix_dist: 0.3976, d4.loss_plan_l1_fix_time: 2.0522, d4.loss_plan_l1_fix_dist: 0.4138, d5.loss_plan_l1_fix_time: 2.0559, d5.loss_plan_l1_fix_dist: 0.4335, d6.loss_plan_l1_fix_time: 2.0613, d6.loss_plan_l1_fix_dist: 0.4572, d0.loss_cls_all: 0.5182, d0.loss_bbox_all: 0.6832, d0.loss_cls: 0.5182, d0.loss_bbox: 0.6832, d1.loss_cls: 0.5079, d1.loss_bbox: 0.6619, d2.loss_cls: 0.5080, d2.loss_bbox: 0.6477, d3.loss_cls: 0.5078, d3.loss_bbox: 0.6473, d4.loss_cls: 0.5067, d4.loss_bbox: 0.6483, d5.loss_cls: 0.5061, d5.loss_bbox: 0.6497, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3405, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2287, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2067, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2279, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2367, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2315, d0.loss_map_cls_all: 0.3951, d0.loss_map_pts_all: 2.6534, d0.loss_map_dir_all: 0.0287, d0.loss_map_cls: 0.3951, d0.loss_map_pts: 2.6534, d0.loss_map_dir: 0.0287, d1.loss_map_cls: 0.3869, d1.loss_map_pts: 1.7516, d1.loss_map_dir: 0.0283, d2.loss_map_cls: 0.3763, d2.loss_map_pts: 1.6261, d2.loss_map_dir: 0.0288, d3.loss_map_cls: 0.3648, d3.loss_map_pts: 1.5724, d3.loss_map_dir: 0.0295, d4.loss_map_cls: 0.3602, d4.loss_map_pts: 1.5572, d4.loss_map_dir: 0.0298, d5.loss_map_cls: 0.3649, d5.loss_map_pts: 1.5487, d5.loss_map_dir: 0.0300, loss: 54.4277, grad_norm: 150.3791 +2026-02-24 17:28:09,980 - DriveTransformer - INFO - Epoch [2][29200/39528] lr: 9.958e-05, eta: 8 days, 2:39:02, time: 0.769, data_time: 0.036, memory: 19865, loss_cls: 0.5089, loss_bbox: 0.6318, loss_traj: 1.4045, loss_traj_cls: 0.0006, loss_map_cls: 0.3805, loss_map_pts: 1.5124, loss_map_dir: 0.0256, d0.loss_plan_l1_fix_time: 2.9182, d0.loss_plan_l1_fix_dist: 0.4861, d1.loss_plan_l1_fix_time: 2.0530, d1.loss_plan_l1_fix_dist: 0.3563, d2.loss_plan_l1_fix_time: 1.9717, d2.loss_plan_l1_fix_dist: 0.3613, d3.loss_plan_l1_fix_time: 1.9552, d3.loss_plan_l1_fix_dist: 0.3735, d4.loss_plan_l1_fix_time: 1.9547, d4.loss_plan_l1_fix_dist: 0.3890, d5.loss_plan_l1_fix_time: 1.9573, d5.loss_plan_l1_fix_dist: 0.4059, d6.loss_plan_l1_fix_time: 1.9619, d6.loss_plan_l1_fix_dist: 0.4263, d0.loss_cls_all: 0.5132, d0.loss_bbox_all: 0.6726, d0.loss_cls: 0.5132, d0.loss_bbox: 0.6726, d1.loss_cls: 0.5050, d1.loss_bbox: 0.6436, d2.loss_cls: 0.5027, d2.loss_bbox: 0.6299, d3.loss_cls: 0.5051, d3.loss_bbox: 0.6279, d4.loss_cls: 0.5086, d4.loss_bbox: 0.6278, d5.loss_cls: 0.5120, d5.loss_bbox: 0.6294, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5328, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3941, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3612, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3897, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3954, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3951, d0.loss_map_cls_all: 0.4147, d0.loss_map_pts_all: 2.2945, d0.loss_map_dir_all: 0.0243, d0.loss_map_cls: 0.4147, d0.loss_map_pts: 2.2945, d0.loss_map_dir: 0.0243, d1.loss_map_cls: 0.3997, d1.loss_map_pts: 1.7013, d1.loss_map_dir: 0.0240, d2.loss_map_cls: 0.3929, d2.loss_map_pts: 1.5824, d2.loss_map_dir: 0.0245, d3.loss_map_cls: 0.3823, d3.loss_map_pts: 1.5353, d3.loss_map_dir: 0.0249, d4.loss_map_cls: 0.3763, d4.loss_map_pts: 1.5217, d4.loss_map_dir: 0.0252, d5.loss_map_cls: 0.3799, d5.loss_map_pts: 1.5138, d5.loss_map_dir: 0.0254, loss: 53.9479, grad_norm: 149.9749 +2026-02-24 17:28:50,342 - DriveTransformer - INFO - Epoch [2][29250/39528] lr: 9.958e-05, eta: 8 days, 2:38:29, time: 0.807, data_time: 0.038, memory: 19865, loss_cls: 0.5377, loss_bbox: 0.6129, loss_traj: 1.3486, loss_traj_cls: 0.0006, loss_map_cls: 0.3546, loss_map_pts: 1.6185, loss_map_dir: 0.0293, d0.loss_plan_l1_fix_time: 2.9858, d0.loss_plan_l1_fix_dist: 0.4610, d1.loss_plan_l1_fix_time: 2.3631, d1.loss_plan_l1_fix_dist: 0.3864, d2.loss_plan_l1_fix_time: 2.3355, d2.loss_plan_l1_fix_dist: 0.3978, d3.loss_plan_l1_fix_time: 2.3392, d3.loss_plan_l1_fix_dist: 0.4118, d4.loss_plan_l1_fix_time: 2.3452, d4.loss_plan_l1_fix_dist: 0.4277, d5.loss_plan_l1_fix_time: 2.3522, d5.loss_plan_l1_fix_dist: 0.4497, d6.loss_plan_l1_fix_time: 2.3599, d6.loss_plan_l1_fix_dist: 0.4763, d0.loss_cls_all: 0.5423, d0.loss_bbox_all: 0.6424, d0.loss_cls: 0.5423, d0.loss_bbox: 0.6424, d1.loss_cls: 0.5336, d1.loss_bbox: 0.6223, d2.loss_cls: 0.5318, d2.loss_bbox: 0.6125, d3.loss_cls: 0.5327, d3.loss_bbox: 0.6076, d4.loss_cls: 0.5346, d4.loss_bbox: 0.6082, d5.loss_cls: 0.5351, d5.loss_bbox: 0.6098, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3995, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3071, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2959, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3235, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3347, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3457, d0.loss_map_cls_all: 0.3943, d0.loss_map_pts_all: 2.7419, d0.loss_map_dir_all: 0.0273, d0.loss_map_cls: 0.3943, d0.loss_map_pts: 2.7419, d0.loss_map_dir: 0.0273, d1.loss_map_cls: 0.3759, d1.loss_map_pts: 1.8385, d1.loss_map_dir: 0.0274, d2.loss_map_cls: 0.3642, d2.loss_map_pts: 1.7056, d2.loss_map_dir: 0.0281, d3.loss_map_cls: 0.3568, d3.loss_map_pts: 1.6541, d3.loss_map_dir: 0.0285, d4.loss_map_cls: 0.3551, d4.loss_map_pts: 1.6296, d4.loss_map_dir: 0.0288, d5.loss_map_cls: 0.3550, d5.loss_map_pts: 1.6198, d5.loss_map_dir: 0.0292, loss: 57.4265, grad_norm: 154.6617 +2026-02-24 17:29:30,409 - DriveTransformer - INFO - Epoch [2][29300/39528] lr: 9.958e-05, eta: 8 days, 2:37:52, time: 0.801, data_time: 0.049, memory: 19865, loss_cls: 0.4704, loss_bbox: 0.6071, loss_traj: 1.4206, loss_traj_cls: 0.0006, loss_map_cls: 0.3115, loss_map_pts: 1.4584, loss_map_dir: 0.0229, d0.loss_plan_l1_fix_time: 2.5524, d0.loss_plan_l1_fix_dist: 0.4880, d1.loss_plan_l1_fix_time: 2.1007, d1.loss_plan_l1_fix_dist: 0.3980, d2.loss_plan_l1_fix_time: 2.0794, d2.loss_plan_l1_fix_dist: 0.4044, d3.loss_plan_l1_fix_time: 2.0862, d3.loss_plan_l1_fix_dist: 0.4130, d4.loss_plan_l1_fix_time: 2.0963, d4.loss_plan_l1_fix_dist: 0.4229, d5.loss_plan_l1_fix_time: 2.1069, d5.loss_plan_l1_fix_dist: 0.4322, d6.loss_plan_l1_fix_time: 2.1178, d6.loss_plan_l1_fix_dist: 0.4432, d0.loss_cls_all: 0.4847, d0.loss_bbox_all: 0.6310, d0.loss_cls: 0.4847, d0.loss_bbox: 0.6310, d1.loss_cls: 0.4690, d1.loss_bbox: 0.6150, d2.loss_cls: 0.4706, d2.loss_bbox: 0.6079, d3.loss_cls: 0.4679, d3.loss_bbox: 0.6009, d4.loss_cls: 0.4693, d4.loss_bbox: 0.5999, d5.loss_cls: 0.4675, d5.loss_bbox: 0.6012, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6138, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.4760, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.4377, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.4409, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4424, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4276, d0.loss_map_cls_all: 0.3533, d0.loss_map_pts_all: 2.2111, d0.loss_map_dir_all: 0.0222, d0.loss_map_cls: 0.3533, d0.loss_map_pts: 2.2111, d0.loss_map_dir: 0.0222, d1.loss_map_cls: 0.3368, d1.loss_map_pts: 1.6235, d1.loss_map_dir: 0.0220, d2.loss_map_cls: 0.3247, d2.loss_map_pts: 1.5250, d2.loss_map_dir: 0.0222, d3.loss_map_cls: 0.3159, d3.loss_map_pts: 1.4863, d3.loss_map_dir: 0.0225, d4.loss_map_cls: 0.3134, d4.loss_map_pts: 1.4678, d4.loss_map_dir: 0.0227, d5.loss_map_cls: 0.3114, d5.loss_map_pts: 1.4606, d5.loss_map_dir: 0.0228, loss: 53.3275, grad_norm: 155.9981 +2026-02-24 17:30:10,389 - DriveTransformer - INFO - Epoch [2][29350/39528] lr: 9.958e-05, eta: 8 days, 2:37:14, time: 0.800, data_time: 0.039, memory: 19865, loss_cls: 0.5546, loss_bbox: 0.6498, loss_traj: 1.4207, loss_traj_cls: 0.0006, loss_map_cls: 0.3790, loss_map_pts: 1.6793, loss_map_dir: 0.0268, d0.loss_plan_l1_fix_time: 2.6601, d0.loss_plan_l1_fix_dist: 0.4832, d1.loss_plan_l1_fix_time: 2.1181, d1.loss_plan_l1_fix_dist: 0.4124, d2.loss_plan_l1_fix_time: 2.1011, d2.loss_plan_l1_fix_dist: 0.4219, d3.loss_plan_l1_fix_time: 2.1061, d3.loss_plan_l1_fix_dist: 0.4320, d4.loss_plan_l1_fix_time: 2.1129, d4.loss_plan_l1_fix_dist: 0.4456, d5.loss_plan_l1_fix_time: 2.1202, d5.loss_plan_l1_fix_dist: 0.4629, d6.loss_plan_l1_fix_time: 2.1278, d6.loss_plan_l1_fix_dist: 0.4851, d0.loss_cls_all: 0.5645, d0.loss_bbox_all: 0.6845, d0.loss_cls: 0.5645, d0.loss_bbox: 0.6845, d1.loss_cls: 0.5549, d1.loss_bbox: 0.6622, d2.loss_cls: 0.5529, d2.loss_bbox: 0.6510, d3.loss_cls: 0.5499, d3.loss_bbox: 0.6454, d4.loss_cls: 0.5516, d4.loss_bbox: 0.6432, d5.loss_cls: 0.5526, d5.loss_bbox: 0.6444, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4525, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3720, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3608, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3846, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3898, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3996, d0.loss_map_cls_all: 0.4158, d0.loss_map_pts_all: 2.6162, d0.loss_map_dir_all: 0.0251, d0.loss_map_cls: 0.4158, d0.loss_map_pts: 2.6162, d0.loss_map_dir: 0.0251, d1.loss_map_cls: 0.3976, d1.loss_map_pts: 1.8922, d1.loss_map_dir: 0.0254, d2.loss_map_cls: 0.3968, d2.loss_map_pts: 1.7691, d2.loss_map_dir: 0.0257, d3.loss_map_cls: 0.3900, d3.loss_map_pts: 1.7138, d3.loss_map_dir: 0.0262, d4.loss_map_cls: 0.3830, d4.loss_map_pts: 1.6922, d4.loss_map_dir: 0.0265, d5.loss_map_cls: 0.3787, d5.loss_map_pts: 1.6839, d5.loss_map_dir: 0.0267, loss: 57.0129, grad_norm: 156.8943 +2026-02-24 17:30:50,682 - DriveTransformer - INFO - Epoch [2][29400/39528] lr: 9.958e-05, eta: 8 days, 2:36:41, time: 0.807, data_time: 0.038, memory: 19865, loss_cls: 0.5134, loss_bbox: 0.6233, loss_traj: 1.0981, loss_traj_cls: 0.0006, loss_map_cls: 0.3201, loss_map_pts: 1.5551, loss_map_dir: 0.0259, d0.loss_plan_l1_fix_time: 2.3513, d0.loss_plan_l1_fix_dist: 0.4935, d1.loss_plan_l1_fix_time: 1.8993, d1.loss_plan_l1_fix_dist: 0.3293, d2.loss_plan_l1_fix_time: 1.8762, d2.loss_plan_l1_fix_dist: 0.3371, d3.loss_plan_l1_fix_time: 1.8766, d3.loss_plan_l1_fix_dist: 0.3483, d4.loss_plan_l1_fix_time: 1.8834, d4.loss_plan_l1_fix_dist: 0.3628, d5.loss_plan_l1_fix_time: 1.8909, d5.loss_plan_l1_fix_dist: 0.3775, d6.loss_plan_l1_fix_time: 1.8991, d6.loss_plan_l1_fix_dist: 0.3926, d0.loss_cls_all: 0.5131, d0.loss_bbox_all: 0.6508, d0.loss_cls: 0.5131, d0.loss_bbox: 0.6508, d1.loss_cls: 0.5096, d1.loss_bbox: 0.6301, d2.loss_cls: 0.5047, d2.loss_bbox: 0.6190, d3.loss_cls: 0.5020, d3.loss_bbox: 0.6148, d4.loss_cls: 0.5042, d4.loss_bbox: 0.6180, d5.loss_cls: 0.5091, d5.loss_bbox: 0.6196, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1308, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.0638, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0561, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.0698, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.0692, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.0804, d0.loss_map_cls_all: 0.3572, d0.loss_map_pts_all: 2.5334, d0.loss_map_dir_all: 0.0245, d0.loss_map_cls: 0.3572, d0.loss_map_pts: 2.5334, d0.loss_map_dir: 0.0245, d1.loss_map_cls: 0.3397, d1.loss_map_pts: 1.7681, d1.loss_map_dir: 0.0246, d2.loss_map_cls: 0.3314, d2.loss_map_pts: 1.6491, d2.loss_map_dir: 0.0249, d3.loss_map_cls: 0.3238, d3.loss_map_pts: 1.5938, d3.loss_map_dir: 0.0252, d4.loss_map_cls: 0.3193, d4.loss_map_pts: 1.5700, d4.loss_map_dir: 0.0255, d5.loss_map_cls: 0.3179, d5.loss_map_pts: 1.5609, d5.loss_map_dir: 0.0257, loss: 50.6181, grad_norm: 154.7371 +2026-02-24 17:31:34,430 - DriveTransformer - INFO - Epoch [2][29450/39528] lr: 9.958e-05, eta: 8 days, 2:36:51, time: 0.874, data_time: 0.046, memory: 19865, loss_cls: 0.4964, loss_bbox: 0.6330, loss_traj: 1.1482, loss_traj_cls: 0.0006, loss_map_cls: 0.3415, loss_map_pts: 1.5788, loss_map_dir: 0.0282, d0.loss_plan_l1_fix_time: 2.2786, d0.loss_plan_l1_fix_dist: 0.5593, d1.loss_plan_l1_fix_time: 1.7585, d1.loss_plan_l1_fix_dist: 0.3626, d2.loss_plan_l1_fix_time: 1.7502, d2.loss_plan_l1_fix_dist: 0.3729, d3.loss_plan_l1_fix_time: 1.7577, d3.loss_plan_l1_fix_dist: 0.3906, d4.loss_plan_l1_fix_time: 1.7644, d4.loss_plan_l1_fix_dist: 0.4093, d5.loss_plan_l1_fix_time: 1.7718, d5.loss_plan_l1_fix_dist: 0.4287, d6.loss_plan_l1_fix_time: 1.7800, d6.loss_plan_l1_fix_dist: 0.4507, d0.loss_cls_all: 0.5048, d0.loss_bbox_all: 0.6606, d0.loss_cls: 0.5048, d0.loss_bbox: 0.6606, d1.loss_cls: 0.5010, d1.loss_bbox: 0.6427, d2.loss_cls: 0.4949, d2.loss_bbox: 0.6309, d3.loss_cls: 0.4929, d3.loss_bbox: 0.6293, d4.loss_cls: 0.4957, d4.loss_bbox: 0.6288, d5.loss_cls: 0.4942, d5.loss_bbox: 0.6308, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2045, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1203, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1131, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1303, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1344, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1434, d0.loss_map_cls_all: 0.3826, d0.loss_map_pts_all: 2.5704, d0.loss_map_dir_all: 0.0265, d0.loss_map_cls: 0.3826, d0.loss_map_pts: 2.5704, d0.loss_map_dir: 0.0265, d1.loss_map_cls: 0.3618, d1.loss_map_pts: 1.7791, d1.loss_map_dir: 0.0267, d2.loss_map_cls: 0.3488, d2.loss_map_pts: 1.6588, d2.loss_map_dir: 0.0270, d3.loss_map_cls: 0.3440, d3.loss_map_pts: 1.6054, d3.loss_map_dir: 0.0275, d4.loss_map_cls: 0.3400, d4.loss_map_pts: 1.5907, d4.loss_map_dir: 0.0278, d5.loss_map_cls: 0.3419, d5.loss_map_pts: 1.5813, d5.loss_map_dir: 0.0280, loss: 50.9331, grad_norm: 154.5858 +2026-02-24 17:32:13,950 - DriveTransformer - INFO - Epoch [2][29500/39528] lr: 9.958e-05, eta: 8 days, 2:36:07, time: 0.791, data_time: 0.039, memory: 19865, loss_cls: 0.5047, loss_bbox: 0.6123, loss_traj: 1.3850, loss_traj_cls: 0.0006, loss_map_cls: 0.3356, loss_map_pts: 1.4636, loss_map_dir: 0.0255, d0.loss_plan_l1_fix_time: 2.8242, d0.loss_plan_l1_fix_dist: 0.5139, d1.loss_plan_l1_fix_time: 2.2508, d1.loss_plan_l1_fix_dist: 0.3849, d2.loss_plan_l1_fix_time: 2.2083, d2.loss_plan_l1_fix_dist: 0.3859, d3.loss_plan_l1_fix_time: 2.2117, d3.loss_plan_l1_fix_dist: 0.3978, d4.loss_plan_l1_fix_time: 2.2183, d4.loss_plan_l1_fix_dist: 0.4139, d5.loss_plan_l1_fix_time: 2.2254, d5.loss_plan_l1_fix_dist: 0.4351, d6.loss_plan_l1_fix_time: 2.2338, d6.loss_plan_l1_fix_dist: 0.4597, d0.loss_cls_all: 0.5010, d0.loss_bbox_all: 0.6485, d0.loss_cls: 0.5010, d0.loss_bbox: 0.6485, d1.loss_cls: 0.5004, d1.loss_bbox: 0.6239, d2.loss_cls: 0.4968, d2.loss_bbox: 0.6118, d3.loss_cls: 0.4963, d3.loss_bbox: 0.6053, d4.loss_cls: 0.4985, d4.loss_bbox: 0.6040, d5.loss_cls: 0.5005, d5.loss_bbox: 0.6077, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5610, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.4062, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3705, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3911, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3898, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3877, d0.loss_map_cls_all: 0.3760, d0.loss_map_pts_all: 2.3231, d0.loss_map_dir_all: 0.0236, d0.loss_map_cls: 0.3760, d0.loss_map_pts: 2.3231, d0.loss_map_dir: 0.0236, d1.loss_map_cls: 0.3643, d1.loss_map_pts: 1.6383, d1.loss_map_dir: 0.0238, d2.loss_map_cls: 0.3508, d2.loss_map_pts: 1.5207, d2.loss_map_dir: 0.0243, d3.loss_map_cls: 0.3436, d3.loss_map_pts: 1.4802, d3.loss_map_dir: 0.0247, d4.loss_map_cls: 0.3406, d4.loss_map_pts: 1.4649, d4.loss_map_dir: 0.0251, d5.loss_map_cls: 0.3356, d5.loss_map_pts: 1.4631, d5.loss_map_dir: 0.0253, loss: 54.7171, grad_norm: 154.5278 +2026-02-24 17:32:54,127 - DriveTransformer - INFO - Epoch [2][29550/39528] lr: 9.958e-05, eta: 8 days, 2:35:32, time: 0.803, data_time: 0.042, memory: 19865, loss_cls: 0.4889, loss_bbox: 0.6513, loss_traj: 1.1942, loss_traj_cls: 0.0006, loss_map_cls: 0.3392, loss_map_pts: 1.6690, loss_map_dir: 0.0304, d0.loss_plan_l1_fix_time: 2.4076, d0.loss_plan_l1_fix_dist: 0.4106, d1.loss_plan_l1_fix_time: 1.9083, d1.loss_plan_l1_fix_dist: 0.3389, d2.loss_plan_l1_fix_time: 1.8563, d2.loss_plan_l1_fix_dist: 0.3477, d3.loss_plan_l1_fix_time: 1.8500, d3.loss_plan_l1_fix_dist: 0.3656, d4.loss_plan_l1_fix_time: 1.8565, d4.loss_plan_l1_fix_dist: 0.3868, d5.loss_plan_l1_fix_time: 1.8647, d5.loss_plan_l1_fix_dist: 0.4088, d6.loss_plan_l1_fix_time: 1.8741, d6.loss_plan_l1_fix_dist: 0.4286, d0.loss_cls_all: 0.4839, d0.loss_bbox_all: 0.6977, d0.loss_cls: 0.4839, d0.loss_bbox: 0.6977, d1.loss_cls: 0.4852, d1.loss_bbox: 0.6685, d2.loss_cls: 0.4823, d2.loss_bbox: 0.6587, d3.loss_cls: 0.4792, d3.loss_bbox: 0.6531, d4.loss_cls: 0.4775, d4.loss_bbox: 0.6534, d5.loss_cls: 0.4817, d5.loss_bbox: 0.6547, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2729, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.1824, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1681, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1745, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.1711, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1773, d0.loss_map_cls_all: 0.3753, d0.loss_map_pts_all: 2.7434, d0.loss_map_dir_all: 0.0283, d0.loss_map_cls: 0.3753, d0.loss_map_pts: 2.7434, d0.loss_map_dir: 0.0283, d1.loss_map_cls: 0.3583, d1.loss_map_pts: 1.8435, d1.loss_map_dir: 0.0284, d2.loss_map_cls: 0.3513, d2.loss_map_pts: 1.7242, d2.loss_map_dir: 0.0291, d3.loss_map_cls: 0.3430, d3.loss_map_pts: 1.6846, d3.loss_map_dir: 0.0297, d4.loss_map_cls: 0.3402, d4.loss_map_pts: 1.6702, d4.loss_map_dir: 0.0301, d5.loss_map_cls: 0.3379, d5.loss_map_pts: 1.6659, d5.loss_map_dir: 0.0302, loss: 52.6475, grad_norm: 155.1625 +2026-02-24 17:33:35,616 - DriveTransformer - INFO - Epoch [2][29600/39528] lr: 9.958e-05, eta: 8 days, 2:35:13, time: 0.830, data_time: 0.047, memory: 19865, loss_cls: 0.4930, loss_bbox: 0.6315, loss_traj: 1.3258, loss_traj_cls: 0.0006, loss_map_cls: 0.3518, loss_map_pts: 1.6152, loss_map_dir: 0.0282, d0.loss_plan_l1_fix_time: 2.4716, d0.loss_plan_l1_fix_dist: 0.5178, d1.loss_plan_l1_fix_time: 2.0936, d1.loss_plan_l1_fix_dist: 0.3938, d2.loss_plan_l1_fix_time: 2.0710, d2.loss_plan_l1_fix_dist: 0.4012, d3.loss_plan_l1_fix_time: 2.0795, d3.loss_plan_l1_fix_dist: 0.4132, d4.loss_plan_l1_fix_time: 2.0897, d4.loss_plan_l1_fix_dist: 0.4275, d5.loss_plan_l1_fix_time: 2.1001, d5.loss_plan_l1_fix_dist: 0.4425, d6.loss_plan_l1_fix_time: 2.1108, d6.loss_plan_l1_fix_dist: 0.4583, d0.loss_cls_all: 0.4975, d0.loss_bbox_all: 0.6710, d0.loss_cls: 0.4975, d0.loss_bbox: 0.6710, d1.loss_cls: 0.4916, d1.loss_bbox: 0.6459, d2.loss_cls: 0.4882, d2.loss_bbox: 0.6365, d3.loss_cls: 0.4901, d3.loss_bbox: 0.6320, d4.loss_cls: 0.4899, d4.loss_bbox: 0.6316, d5.loss_cls: 0.4908, d5.loss_bbox: 0.6313, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3619, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3083, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3117, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3183, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3150, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3206, d0.loss_map_cls_all: 0.3808, d0.loss_map_pts_all: 2.5945, d0.loss_map_dir_all: 0.0265, d0.loss_map_cls: 0.3808, d0.loss_map_pts: 2.5945, d0.loss_map_dir: 0.0265, d1.loss_map_cls: 0.3683, d1.loss_map_pts: 1.7932, d1.loss_map_dir: 0.0262, d2.loss_map_cls: 0.3611, d2.loss_map_pts: 1.6828, d2.loss_map_dir: 0.0270, d3.loss_map_cls: 0.3545, d3.loss_map_pts: 1.6423, d3.loss_map_dir: 0.0274, d4.loss_map_cls: 0.3514, d4.loss_map_pts: 1.6275, d4.loss_map_dir: 0.0279, d5.loss_map_cls: 0.3490, d5.loss_map_pts: 1.6198, d5.loss_map_dir: 0.0281, loss: 54.7124, grad_norm: 155.5344 +2026-02-24 17:34:16,402 - DriveTransformer - INFO - Epoch [2][29650/39528] lr: 9.958e-05, eta: 8 days, 2:34:46, time: 0.816, data_time: 0.043, memory: 19865, loss_cls: 0.5001, loss_bbox: 0.5775, loss_traj: 1.1566, loss_traj_cls: 0.0006, loss_map_cls: 0.3123, loss_map_pts: 1.5280, loss_map_dir: 0.0274, d0.loss_plan_l1_fix_time: 2.9105, d0.loss_plan_l1_fix_dist: 0.4207, d1.loss_plan_l1_fix_time: 2.3098, d1.loss_plan_l1_fix_dist: 0.3291, d2.loss_plan_l1_fix_time: 2.2495, d2.loss_plan_l1_fix_dist: 0.3400, d3.loss_plan_l1_fix_time: 2.2359, d3.loss_plan_l1_fix_dist: 0.3557, d4.loss_plan_l1_fix_time: 2.2382, d4.loss_plan_l1_fix_dist: 0.3725, d5.loss_plan_l1_fix_time: 2.2434, d5.loss_plan_l1_fix_dist: 0.3918, d6.loss_plan_l1_fix_time: 2.2514, d6.loss_plan_l1_fix_dist: 0.4171, d0.loss_cls_all: 0.5008, d0.loss_bbox_all: 0.6268, d0.loss_cls: 0.5008, d0.loss_bbox: 0.6268, d1.loss_cls: 0.4933, d1.loss_bbox: 0.6021, d2.loss_cls: 0.4932, d2.loss_bbox: 0.5878, d3.loss_cls: 0.4955, d3.loss_bbox: 0.5832, d4.loss_cls: 0.4981, d4.loss_bbox: 0.5802, d5.loss_cls: 0.4998, d5.loss_bbox: 0.5781, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2497, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.1671, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1421, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1498, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1481, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1513, d0.loss_map_cls_all: 0.3622, d0.loss_map_pts_all: 2.4488, d0.loss_map_dir_all: 0.0255, d0.loss_map_cls: 0.3622, d0.loss_map_pts: 2.4488, d0.loss_map_dir: 0.0255, d1.loss_map_cls: 0.3465, d1.loss_map_pts: 1.7165, d1.loss_map_dir: 0.0255, d2.loss_map_cls: 0.3272, d2.loss_map_pts: 1.6013, d2.loss_map_dir: 0.0260, d3.loss_map_cls: 0.3201, d3.loss_map_pts: 1.5530, d3.loss_map_dir: 0.0266, d4.loss_map_cls: 0.3122, d4.loss_map_pts: 1.5348, d4.loss_map_dir: 0.0270, d5.loss_map_cls: 0.3105, d5.loss_map_pts: 1.5303, d5.loss_map_dir: 0.0272, loss: 53.2056, grad_norm: 156.0709 +2026-02-24 17:34:57,405 - DriveTransformer - INFO - Epoch [2][29700/39528] lr: 9.958e-05, eta: 8 days, 2:34:21, time: 0.820, data_time: 0.042, memory: 19865, loss_cls: 0.4609, loss_bbox: 0.5949, loss_traj: 1.3066, loss_traj_cls: 0.0005, loss_map_cls: 0.3122, loss_map_pts: 1.4191, loss_map_dir: 0.0219, d0.loss_plan_l1_fix_time: 2.4454, d0.loss_plan_l1_fix_dist: 0.5089, d1.loss_plan_l1_fix_time: 2.0124, d1.loss_plan_l1_fix_dist: 0.3823, d2.loss_plan_l1_fix_time: 1.9902, d2.loss_plan_l1_fix_dist: 0.3896, d3.loss_plan_l1_fix_time: 1.9955, d3.loss_plan_l1_fix_dist: 0.4057, d4.loss_plan_l1_fix_time: 2.0060, d4.loss_plan_l1_fix_dist: 0.4227, d5.loss_plan_l1_fix_time: 2.0184, d5.loss_plan_l1_fix_dist: 0.4383, d6.loss_plan_l1_fix_time: 2.0330, d6.loss_plan_l1_fix_dist: 0.4566, d0.loss_cls_all: 0.4651, d0.loss_bbox_all: 0.6381, d0.loss_cls: 0.4651, d0.loss_bbox: 0.6381, d1.loss_cls: 0.4575, d1.loss_bbox: 0.6142, d2.loss_cls: 0.4552, d2.loss_bbox: 0.6026, d3.loss_cls: 0.4538, d3.loss_bbox: 0.5984, d4.loss_cls: 0.4542, d4.loss_bbox: 0.5958, d5.loss_cls: 0.4591, d5.loss_bbox: 0.5913, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3636, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3230, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2960, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3038, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3066, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3009, d0.loss_map_cls_all: 0.3599, d0.loss_map_pts_all: 2.1637, d0.loss_map_dir_all: 0.0210, d0.loss_map_cls: 0.3599, d0.loss_map_pts: 2.1637, d0.loss_map_dir: 0.0210, d1.loss_map_cls: 0.3455, d1.loss_map_pts: 1.5532, d1.loss_map_dir: 0.0207, d2.loss_map_cls: 0.3224, d2.loss_map_pts: 1.4704, d2.loss_map_dir: 0.0210, d3.loss_map_cls: 0.3166, d3.loss_map_pts: 1.4346, d3.loss_map_dir: 0.0214, d4.loss_map_cls: 0.3134, d4.loss_map_pts: 1.4216, d4.loss_map_dir: 0.0217, d5.loss_map_cls: 0.3101, d5.loss_map_pts: 1.4204, d5.loss_map_dir: 0.0218, loss: 51.1121, grad_norm: 156.1514 +2026-02-24 17:35:38,084 - DriveTransformer - INFO - Epoch [2][29750/39528] lr: 9.958e-05, eta: 8 days, 2:33:52, time: 0.814, data_time: 0.042, memory: 19865, loss_cls: 0.5004, loss_bbox: 0.6280, loss_traj: 1.1646, loss_traj_cls: 0.0005, loss_map_cls: 0.3196, loss_map_pts: 1.5741, loss_map_dir: 0.0316, d0.loss_plan_l1_fix_time: 2.7454, d0.loss_plan_l1_fix_dist: 0.4162, d1.loss_plan_l1_fix_time: 2.1814, d1.loss_plan_l1_fix_dist: 0.3495, d2.loss_plan_l1_fix_time: 2.1460, d2.loss_plan_l1_fix_dist: 0.3556, d3.loss_plan_l1_fix_time: 2.1467, d3.loss_plan_l1_fix_dist: 0.3666, d4.loss_plan_l1_fix_time: 2.1548, d4.loss_plan_l1_fix_dist: 0.3833, d5.loss_plan_l1_fix_time: 2.1657, d5.loss_plan_l1_fix_dist: 0.3998, d6.loss_plan_l1_fix_time: 2.1783, d6.loss_plan_l1_fix_dist: 0.4149, d0.loss_cls_all: 0.5124, d0.loss_bbox_all: 0.6679, d0.loss_cls: 0.5124, d0.loss_bbox: 0.6679, d1.loss_cls: 0.5055, d1.loss_bbox: 0.6528, d2.loss_cls: 0.5031, d2.loss_bbox: 0.6398, d3.loss_cls: 0.5033, d3.loss_bbox: 0.6355, d4.loss_cls: 0.5025, d4.loss_bbox: 0.6286, d5.loss_cls: 0.5007, d5.loss_bbox: 0.6258, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2460, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1581, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1457, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1548, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.1550, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1580, d0.loss_map_cls_all: 0.3677, d0.loss_map_pts_all: 2.6790, d0.loss_map_dir_all: 0.0303, d0.loss_map_cls: 0.3677, d0.loss_map_pts: 2.6790, d0.loss_map_dir: 0.0303, d1.loss_map_cls: 0.3494, d1.loss_map_pts: 1.7689, d1.loss_map_dir: 0.0302, d2.loss_map_cls: 0.3347, d2.loss_map_pts: 1.6398, d2.loss_map_dir: 0.0304, d3.loss_map_cls: 0.3272, d3.loss_map_pts: 1.5909, d3.loss_map_dir: 0.0309, d4.loss_map_cls: 0.3219, d4.loss_map_pts: 1.5723, d4.loss_map_dir: 0.0313, d5.loss_map_cls: 0.3206, d5.loss_map_pts: 1.5728, d5.loss_map_dir: 0.0314, loss: 53.8099, grad_norm: 157.3132 +2026-02-24 17:36:18,117 - DriveTransformer - INFO - Epoch [2][29800/39528] lr: 9.958e-05, eta: 8 days, 2:33:15, time: 0.801, data_time: 0.037, memory: 19865, loss_cls: 0.5369, loss_bbox: 0.6369, loss_traj: 1.1792, loss_traj_cls: 0.0006, loss_map_cls: 0.3620, loss_map_pts: 1.5922, loss_map_dir: 0.0279, d0.loss_plan_l1_fix_time: 2.6485, d0.loss_plan_l1_fix_dist: 0.4310, d1.loss_plan_l1_fix_time: 2.1057, d1.loss_plan_l1_fix_dist: 0.3530, d2.loss_plan_l1_fix_time: 2.1064, d2.loss_plan_l1_fix_dist: 0.3679, d3.loss_plan_l1_fix_time: 2.1180, d3.loss_plan_l1_fix_dist: 0.3819, d4.loss_plan_l1_fix_time: 2.1262, d4.loss_plan_l1_fix_dist: 0.3984, d5.loss_plan_l1_fix_time: 2.1335, d5.loss_plan_l1_fix_dist: 0.4174, d6.loss_plan_l1_fix_time: 2.1409, d6.loss_plan_l1_fix_dist: 0.4404, d0.loss_cls_all: 0.5459, d0.loss_bbox_all: 0.6808, d0.loss_cls: 0.5459, d0.loss_bbox: 0.6808, d1.loss_cls: 0.5392, d1.loss_bbox: 0.6592, d2.loss_cls: 0.5365, d2.loss_bbox: 0.6468, d3.loss_cls: 0.5376, d3.loss_bbox: 0.6415, d4.loss_cls: 0.5367, d4.loss_bbox: 0.6400, d5.loss_cls: 0.5373, d5.loss_bbox: 0.6371, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2742, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.1859, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1720, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1730, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1716, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1799, d0.loss_map_cls_all: 0.4102, d0.loss_map_pts_all: 2.4903, d0.loss_map_dir_all: 0.0261, d0.loss_map_cls: 0.4102, d0.loss_map_pts: 2.4903, d0.loss_map_dir: 0.0261, d1.loss_map_cls: 0.3914, d1.loss_map_pts: 1.7622, d1.loss_map_dir: 0.0266, d2.loss_map_cls: 0.3736, d2.loss_map_pts: 1.6464, d2.loss_map_dir: 0.0269, d3.loss_map_cls: 0.3663, d3.loss_map_pts: 1.6019, d3.loss_map_dir: 0.0274, d4.loss_map_cls: 0.3641, d4.loss_map_pts: 1.5912, d4.loss_map_dir: 0.0276, d5.loss_map_cls: 0.3609, d5.loss_map_pts: 1.5907, d5.loss_map_dir: 0.0277, loss: 54.0700, grad_norm: 155.2536 +2026-02-24 17:36:57,844 - DriveTransformer - INFO - Epoch [2][29850/39528] lr: 9.958e-05, eta: 8 days, 2:32:34, time: 0.795, data_time: 0.038, memory: 19865, loss_cls: 0.5289, loss_bbox: 0.6186, loss_traj: 1.2869, loss_traj_cls: 0.0006, loss_map_cls: 0.3881, loss_map_pts: 1.5673, loss_map_dir: 0.0296, d0.loss_plan_l1_fix_time: 2.8014, d0.loss_plan_l1_fix_dist: 0.4012, d1.loss_plan_l1_fix_time: 2.0079, d1.loss_plan_l1_fix_dist: 0.3412, d2.loss_plan_l1_fix_time: 2.0146, d2.loss_plan_l1_fix_dist: 0.3477, d3.loss_plan_l1_fix_time: 2.0204, d3.loss_plan_l1_fix_dist: 0.3635, d4.loss_plan_l1_fix_time: 2.0258, d4.loss_plan_l1_fix_dist: 0.3829, d5.loss_plan_l1_fix_time: 2.0316, d5.loss_plan_l1_fix_dist: 0.4028, d6.loss_plan_l1_fix_time: 2.0371, d6.loss_plan_l1_fix_dist: 0.4224, d0.loss_cls_all: 0.5373, d0.loss_bbox_all: 0.6653, d0.loss_cls: 0.5373, d0.loss_bbox: 0.6653, d1.loss_cls: 0.5331, d1.loss_bbox: 0.6366, d2.loss_cls: 0.5339, d2.loss_bbox: 0.6207, d3.loss_cls: 0.5296, d3.loss_bbox: 0.6192, d4.loss_cls: 0.5286, d4.loss_bbox: 0.6181, d5.loss_cls: 0.5287, d5.loss_bbox: 0.6169, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4911, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2904, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2630, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2733, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2690, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2782, d0.loss_map_cls_all: 0.4218, d0.loss_map_pts_all: 2.5504, d0.loss_map_dir_all: 0.0278, d0.loss_map_cls: 0.4218, d0.loss_map_pts: 2.5504, d0.loss_map_dir: 0.0278, d1.loss_map_cls: 0.4136, d1.loss_map_pts: 1.7460, d1.loss_map_dir: 0.0279, d2.loss_map_cls: 0.4004, d2.loss_map_pts: 1.6308, d2.loss_map_dir: 0.0283, d3.loss_map_cls: 0.3925, d3.loss_map_pts: 1.5832, d3.loss_map_dir: 0.0289, d4.loss_map_cls: 0.3901, d4.loss_map_pts: 1.5684, d4.loss_map_dir: 0.0292, d5.loss_map_cls: 0.3878, d5.loss_map_pts: 1.5674, d5.loss_map_dir: 0.0294, loss: 54.2851, grad_norm: 152.6572 +2026-02-24 17:37:37,174 - DriveTransformer - INFO - Epoch [2][29900/39528] lr: 9.958e-05, eta: 8 days, 2:31:48, time: 0.787, data_time: 0.035, memory: 19865, loss_cls: 0.4751, loss_bbox: 0.5990, loss_traj: 1.3923, loss_traj_cls: 0.0006, loss_map_cls: 0.3226, loss_map_pts: 1.3860, loss_map_dir: 0.0254, d0.loss_plan_l1_fix_time: 2.6034, d0.loss_plan_l1_fix_dist: 0.4789, d1.loss_plan_l1_fix_time: 2.0216, d1.loss_plan_l1_fix_dist: 0.3290, d2.loss_plan_l1_fix_time: 1.9984, d2.loss_plan_l1_fix_dist: 0.3346, d3.loss_plan_l1_fix_time: 1.9978, d3.loss_plan_l1_fix_dist: 0.3464, d4.loss_plan_l1_fix_time: 2.0036, d4.loss_plan_l1_fix_dist: 0.3606, d5.loss_plan_l1_fix_time: 2.0107, d5.loss_plan_l1_fix_dist: 0.3752, d6.loss_plan_l1_fix_time: 2.0186, d6.loss_plan_l1_fix_dist: 0.3879, d0.loss_cls_all: 0.4769, d0.loss_bbox_all: 0.6386, d0.loss_cls: 0.4769, d0.loss_bbox: 0.6386, d1.loss_cls: 0.4718, d1.loss_bbox: 0.6089, d2.loss_cls: 0.4730, d2.loss_bbox: 0.5962, d3.loss_cls: 0.4741, d3.loss_bbox: 0.5935, d4.loss_cls: 0.4761, d4.loss_bbox: 0.5946, d5.loss_cls: 0.4762, d5.loss_bbox: 0.5968, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4972, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.4026, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3684, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3787, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3787, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3828, d0.loss_map_cls_all: 0.3614, d0.loss_map_pts_all: 2.3003, d0.loss_map_dir_all: 0.0239, d0.loss_map_cls: 0.3614, d0.loss_map_pts: 2.3003, d0.loss_map_dir: 0.0239, d1.loss_map_cls: 0.3483, d1.loss_map_pts: 1.5724, d1.loss_map_dir: 0.0239, d2.loss_map_cls: 0.3362, d2.loss_map_pts: 1.4550, d2.loss_map_dir: 0.0243, d3.loss_map_cls: 0.3292, d3.loss_map_pts: 1.4070, d3.loss_map_dir: 0.0248, d4.loss_map_cls: 0.3264, d4.loss_map_pts: 1.3905, d4.loss_map_dir: 0.0251, d5.loss_map_cls: 0.3227, d5.loss_map_pts: 1.3895, d5.loss_map_dir: 0.0252, loss: 51.8448, grad_norm: 153.1728 +2026-02-24 17:38:15,943 - DriveTransformer - INFO - Epoch [2][29950/39528] lr: 9.958e-05, eta: 8 days, 2:30:55, time: 0.776, data_time: 0.037, memory: 19865, loss_cls: 0.5183, loss_bbox: 0.6405, loss_traj: 1.7216, loss_traj_cls: 0.0006, loss_map_cls: 0.3329, loss_map_pts: 1.4299, loss_map_dir: 0.0239, d0.loss_plan_l1_fix_time: 2.9717, d0.loss_plan_l1_fix_dist: 0.5380, d1.loss_plan_l1_fix_time: 2.3850, d1.loss_plan_l1_fix_dist: 0.4166, d2.loss_plan_l1_fix_time: 2.3651, d2.loss_plan_l1_fix_dist: 0.4235, d3.loss_plan_l1_fix_time: 2.3675, d3.loss_plan_l1_fix_dist: 0.4311, d4.loss_plan_l1_fix_time: 2.3726, d4.loss_plan_l1_fix_dist: 0.4405, d5.loss_plan_l1_fix_time: 2.3786, d5.loss_plan_l1_fix_dist: 0.4533, d6.loss_plan_l1_fix_time: 2.3856, d6.loss_plan_l1_fix_dist: 0.4729, d0.loss_cls_all: 0.5247, d0.loss_bbox_all: 0.6918, d0.loss_cls: 0.5247, d0.loss_bbox: 0.6918, d1.loss_cls: 0.5224, d1.loss_bbox: 0.6639, d2.loss_cls: 0.5182, d2.loss_bbox: 0.6512, d3.loss_cls: 0.5175, d3.loss_bbox: 0.6435, d4.loss_cls: 0.5190, d4.loss_bbox: 0.6422, d5.loss_cls: 0.5195, d5.loss_bbox: 0.6401, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.9371, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.7483, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.7108, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.7126, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7113, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.7172, d0.loss_map_cls_all: 0.3727, d0.loss_map_pts_all: 2.1854, d0.loss_map_dir_all: 0.0228, d0.loss_map_cls: 0.3727, d0.loss_map_pts: 2.1854, d0.loss_map_dir: 0.0228, d1.loss_map_cls: 0.3578, d1.loss_map_pts: 1.6029, d1.loss_map_dir: 0.0227, d2.loss_map_cls: 0.3424, d2.loss_map_pts: 1.4964, d2.loss_map_dir: 0.0230, d3.loss_map_cls: 0.3334, d3.loss_map_pts: 1.4541, d3.loss_map_dir: 0.0234, d4.loss_map_cls: 0.3311, d4.loss_map_pts: 1.4381, d4.loss_map_dir: 0.0237, d5.loss_map_cls: 0.3318, d5.loss_map_pts: 1.4307, d5.loss_map_dir: 0.0239, loss: 58.2799, grad_norm: 154.2451 +2026-02-24 17:38:55,428 - DriveTransformer - INFO - Epoch [2][30000/39528] lr: 9.958e-05, eta: 8 days, 2:30:10, time: 0.789, data_time: 0.041, memory: 19865, loss_cls: 0.5032, loss_bbox: 0.6420, loss_traj: 1.4062, loss_traj_cls: 0.0006, loss_map_cls: 0.3633, loss_map_pts: 1.4532, loss_map_dir: 0.0256, d0.loss_plan_l1_fix_time: 2.8894, d0.loss_plan_l1_fix_dist: 0.4590, d1.loss_plan_l1_fix_time: 2.1918, d1.loss_plan_l1_fix_dist: 0.3275, d2.loss_plan_l1_fix_time: 2.1629, d2.loss_plan_l1_fix_dist: 0.3333, d3.loss_plan_l1_fix_time: 2.1687, d3.loss_plan_l1_fix_dist: 0.3450, d4.loss_plan_l1_fix_time: 2.1750, d4.loss_plan_l1_fix_dist: 0.3595, d5.loss_plan_l1_fix_time: 2.1819, d5.loss_plan_l1_fix_dist: 0.3745, d6.loss_plan_l1_fix_time: 2.1892, d6.loss_plan_l1_fix_dist: 0.3903, d0.loss_cls_all: 0.5125, d0.loss_bbox_all: 0.6795, d0.loss_cls: 0.5125, d0.loss_bbox: 0.6795, d1.loss_cls: 0.5057, d1.loss_bbox: 0.6584, d2.loss_cls: 0.5001, d2.loss_bbox: 0.6491, d3.loss_cls: 0.4985, d3.loss_bbox: 0.6417, d4.loss_cls: 0.5004, d4.loss_bbox: 0.6399, d5.loss_cls: 0.4999, d5.loss_bbox: 0.6407, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5248, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3919, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3755, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3922, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3908, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3927, d0.loss_map_cls_all: 0.3951, d0.loss_map_pts_all: 2.2934, d0.loss_map_dir_all: 0.0238, d0.loss_map_cls: 0.3951, d0.loss_map_pts: 2.2934, d0.loss_map_dir: 0.0238, d1.loss_map_cls: 0.3824, d1.loss_map_pts: 1.6280, d1.loss_map_dir: 0.0239, d2.loss_map_cls: 0.3717, d2.loss_map_pts: 1.5168, d2.loss_map_dir: 0.0244, d3.loss_map_cls: 0.3655, d3.loss_map_pts: 1.4816, d3.loss_map_dir: 0.0250, d4.loss_map_cls: 0.3637, d4.loss_map_pts: 1.4621, d4.loss_map_dir: 0.0253, d5.loss_map_cls: 0.3618, d5.loss_map_pts: 1.4541, d5.loss_map_dir: 0.0255, loss: 54.4704, grad_norm: 155.3191 +2026-02-24 17:39:35,285 - DriveTransformer - INFO - Epoch [2][30050/39528] lr: 9.958e-05, eta: 8 days, 2:29:31, time: 0.797, data_time: 0.039, memory: 19865, loss_cls: 0.5154, loss_bbox: 0.6342, loss_traj: 1.6318, loss_traj_cls: 0.0006, loss_map_cls: 0.3707, loss_map_pts: 1.5372, loss_map_dir: 0.0239, d0.loss_plan_l1_fix_time: 2.8877, d0.loss_plan_l1_fix_dist: 0.4260, d1.loss_plan_l1_fix_time: 2.3384, d1.loss_plan_l1_fix_dist: 0.3416, d2.loss_plan_l1_fix_time: 2.3145, d2.loss_plan_l1_fix_dist: 0.3479, d3.loss_plan_l1_fix_time: 2.3176, d3.loss_plan_l1_fix_dist: 0.3586, d4.loss_plan_l1_fix_time: 2.3233, d4.loss_plan_l1_fix_dist: 0.3750, d5.loss_plan_l1_fix_time: 2.3302, d5.loss_plan_l1_fix_dist: 0.3896, d6.loss_plan_l1_fix_time: 2.3367, d6.loss_plan_l1_fix_dist: 0.4071, d0.loss_cls_all: 0.5145, d0.loss_bbox_all: 0.6735, d0.loss_cls: 0.5145, d0.loss_bbox: 0.6735, d1.loss_cls: 0.5054, d1.loss_bbox: 0.6507, d2.loss_cls: 0.5051, d2.loss_bbox: 0.6412, d3.loss_cls: 0.5040, d3.loss_bbox: 0.6351, d4.loss_cls: 0.5106, d4.loss_bbox: 0.6311, d5.loss_cls: 0.5140, d5.loss_bbox: 0.6287, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7564, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.6166, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.5949, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.6028, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.6110, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6246, d0.loss_map_cls_all: 0.4077, d0.loss_map_pts_all: 2.3357, d0.loss_map_dir_all: 0.0223, d0.loss_map_cls: 0.4077, d0.loss_map_pts: 2.3357, d0.loss_map_dir: 0.0223, d1.loss_map_cls: 0.3939, d1.loss_map_pts: 1.7193, d1.loss_map_dir: 0.0223, d2.loss_map_cls: 0.3839, d2.loss_map_pts: 1.6068, d2.loss_map_dir: 0.0226, d3.loss_map_cls: 0.3764, d3.loss_map_pts: 1.5639, d3.loss_map_dir: 0.0231, d4.loss_map_cls: 0.3701, d4.loss_map_pts: 1.5447, d4.loss_map_dir: 0.0235, d5.loss_map_cls: 0.3683, d5.loss_map_pts: 1.5379, d5.loss_map_dir: 0.0238, loss: 57.6332, grad_norm: 156.9182 +2026-02-24 17:40:15,122 - DriveTransformer - INFO - Epoch [2][30100/39528] lr: 9.958e-05, eta: 8 days, 2:28:51, time: 0.797, data_time: 0.044, memory: 19865, loss_cls: 0.5138, loss_bbox: 0.6480, loss_traj: 1.3586, loss_traj_cls: 0.0006, loss_map_cls: 0.4015, loss_map_pts: 1.6745, loss_map_dir: 0.0281, d0.loss_plan_l1_fix_time: 2.9801, d0.loss_plan_l1_fix_dist: 0.4020, d1.loss_plan_l1_fix_time: 2.2083, d1.loss_plan_l1_fix_dist: 0.3199, d2.loss_plan_l1_fix_time: 2.1654, d2.loss_plan_l1_fix_dist: 0.3278, d3.loss_plan_l1_fix_time: 2.1669, d3.loss_plan_l1_fix_dist: 0.3388, d4.loss_plan_l1_fix_time: 2.1723, d4.loss_plan_l1_fix_dist: 0.3498, d5.loss_plan_l1_fix_time: 2.1793, d5.loss_plan_l1_fix_dist: 0.3640, d6.loss_plan_l1_fix_time: 2.1881, d6.loss_plan_l1_fix_dist: 0.3787, d0.loss_cls_all: 0.5155, d0.loss_bbox_all: 0.6886, d0.loss_cls: 0.5155, d0.loss_bbox: 0.6886, d1.loss_cls: 0.5116, d1.loss_bbox: 0.6640, d2.loss_cls: 0.5116, d2.loss_bbox: 0.6557, d3.loss_cls: 0.5093, d3.loss_bbox: 0.6487, d4.loss_cls: 0.5144, d4.loss_bbox: 0.6441, d5.loss_cls: 0.5152, d5.loss_bbox: 0.6462, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4262, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3519, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3402, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3495, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3476, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3530, d0.loss_map_cls_all: 0.4302, d0.loss_map_pts_all: 2.7232, d0.loss_map_dir_all: 0.0262, d0.loss_map_cls: 0.4302, d0.loss_map_pts: 2.7232, d0.loss_map_dir: 0.0262, d1.loss_map_cls: 0.4212, d1.loss_map_pts: 1.8940, d1.loss_map_dir: 0.0262, d2.loss_map_cls: 0.4150, d2.loss_map_pts: 1.7498, d2.loss_map_dir: 0.0268, d3.loss_map_cls: 0.4061, d3.loss_map_pts: 1.6916, d3.loss_map_dir: 0.0274, d4.loss_map_cls: 0.4025, d4.loss_map_pts: 1.6776, d4.loss_map_dir: 0.0277, d5.loss_map_cls: 0.4020, d5.loss_map_pts: 1.6778, d5.loss_map_dir: 0.0279, loss: 56.8016, grad_norm: 156.8943 +2026-02-24 17:40:55,625 - DriveTransformer - INFO - Epoch [2][30150/39528] lr: 9.958e-05, eta: 8 days, 2:28:20, time: 0.810, data_time: 0.042, memory: 19865, loss_cls: 0.4880, loss_bbox: 0.6305, loss_traj: 1.4482, loss_traj_cls: 0.0006, loss_map_cls: 0.3195, loss_map_pts: 1.4621, loss_map_dir: 0.0232, d0.loss_plan_l1_fix_time: 2.8881, d0.loss_plan_l1_fix_dist: 0.4229, d1.loss_plan_l1_fix_time: 2.1312, d1.loss_plan_l1_fix_dist: 0.3201, d2.loss_plan_l1_fix_time: 2.0693, d2.loss_plan_l1_fix_dist: 0.3216, d3.loss_plan_l1_fix_time: 2.0606, d3.loss_plan_l1_fix_dist: 0.3290, d4.loss_plan_l1_fix_time: 2.0616, d4.loss_plan_l1_fix_dist: 0.3402, d5.loss_plan_l1_fix_time: 2.0651, d5.loss_plan_l1_fix_dist: 0.3553, d6.loss_plan_l1_fix_time: 2.0707, d6.loss_plan_l1_fix_dist: 0.3721, d0.loss_cls_all: 0.4967, d0.loss_bbox_all: 0.6685, d0.loss_cls: 0.4967, d0.loss_bbox: 0.6685, d1.loss_cls: 0.4885, d1.loss_bbox: 0.6436, d2.loss_cls: 0.4837, d2.loss_bbox: 0.6379, d3.loss_cls: 0.4820, d3.loss_bbox: 0.6319, d4.loss_cls: 0.4827, d4.loss_bbox: 0.6301, d5.loss_cls: 0.4850, d5.loss_bbox: 0.6286, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5220, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3999, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.4148, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.4292, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4343, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4412, d0.loss_map_cls_all: 0.3566, d0.loss_map_pts_all: 2.3733, d0.loss_map_dir_all: 0.0220, d0.loss_map_cls: 0.3566, d0.loss_map_pts: 2.3733, d0.loss_map_dir: 0.0220, d1.loss_map_cls: 0.3408, d1.loss_map_pts: 1.6414, d1.loss_map_dir: 0.0216, d2.loss_map_cls: 0.3278, d2.loss_map_pts: 1.5218, d2.loss_map_dir: 0.0220, d3.loss_map_cls: 0.3228, d3.loss_map_pts: 1.4758, d3.loss_map_dir: 0.0226, d4.loss_map_cls: 0.3201, d4.loss_map_pts: 1.4633, d4.loss_map_dir: 0.0228, d5.loss_map_cls: 0.3193, d5.loss_map_pts: 1.4576, d5.loss_map_dir: 0.0230, loss: 53.5574, grad_norm: 155.9407 +2026-02-24 17:41:34,329 - DriveTransformer - INFO - Epoch [2][30200/39528] lr: 9.958e-05, eta: 8 days, 2:27:27, time: 0.776, data_time: 0.042, memory: 19865, loss_cls: 0.4772, loss_bbox: 0.5548, loss_traj: 1.2799, loss_traj_cls: 0.0006, loss_map_cls: 0.2938, loss_map_pts: 1.3655, loss_map_dir: 0.0226, d0.loss_plan_l1_fix_time: 2.5770, d0.loss_plan_l1_fix_dist: 0.4673, d1.loss_plan_l1_fix_time: 2.0629, d1.loss_plan_l1_fix_dist: 0.3317, d2.loss_plan_l1_fix_time: 2.0231, d2.loss_plan_l1_fix_dist: 0.3331, d3.loss_plan_l1_fix_time: 2.0217, d3.loss_plan_l1_fix_dist: 0.3428, d4.loss_plan_l1_fix_time: 2.0285, d4.loss_plan_l1_fix_dist: 0.3565, d5.loss_plan_l1_fix_time: 2.0371, d5.loss_plan_l1_fix_dist: 0.3720, d6.loss_plan_l1_fix_time: 2.0459, d6.loss_plan_l1_fix_dist: 0.3908, d0.loss_cls_all: 0.4659, d0.loss_bbox_all: 0.6061, d0.loss_cls: 0.4659, d0.loss_bbox: 0.6061, d1.loss_cls: 0.4591, d1.loss_bbox: 0.5800, d2.loss_cls: 0.4639, d2.loss_bbox: 0.5650, d3.loss_cls: 0.4636, d3.loss_bbox: 0.5585, d4.loss_cls: 0.4697, d4.loss_bbox: 0.5546, d5.loss_cls: 0.4717, d5.loss_bbox: 0.5525, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4212, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3056, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2680, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2678, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2642, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2711, d0.loss_map_cls_all: 0.3397, d0.loss_map_pts_all: 2.1313, d0.loss_map_dir_all: 0.0212, d0.loss_map_cls: 0.3397, d0.loss_map_pts: 2.1313, d0.loss_map_dir: 0.0212, d1.loss_map_cls: 0.3258, d1.loss_map_pts: 1.5470, d1.loss_map_dir: 0.0214, d2.loss_map_cls: 0.3084, d2.loss_map_pts: 1.4256, d2.loss_map_dir: 0.0217, d3.loss_map_cls: 0.3008, d3.loss_map_pts: 1.3794, d3.loss_map_dir: 0.0221, d4.loss_map_cls: 0.2971, d4.loss_map_pts: 1.3671, d4.loss_map_dir: 0.0223, d5.loss_map_cls: 0.2947, d5.loss_map_pts: 1.3625, d5.loss_map_dir: 0.0224, loss: 50.1727, grad_norm: 158.4094 +2026-02-24 17:42:12,194 - DriveTransformer - INFO - Epoch [2][30250/39528] lr: 9.958e-05, eta: 8 days, 2:26:21, time: 0.756, data_time: 0.048, memory: 19865, loss_cls: 0.4605, loss_bbox: 0.5947, loss_traj: 1.3428, loss_traj_cls: 0.0005, loss_map_cls: 0.3236, loss_map_pts: 1.3508, loss_map_dir: 0.0221, d0.loss_plan_l1_fix_time: 2.5849, d0.loss_plan_l1_fix_dist: 0.4096, d1.loss_plan_l1_fix_time: 2.1454, d1.loss_plan_l1_fix_dist: 0.3173, d2.loss_plan_l1_fix_time: 2.1241, d2.loss_plan_l1_fix_dist: 0.3267, d3.loss_plan_l1_fix_time: 2.1272, d3.loss_plan_l1_fix_dist: 0.3411, d4.loss_plan_l1_fix_time: 2.1347, d4.loss_plan_l1_fix_dist: 0.3571, d5.loss_plan_l1_fix_time: 2.1438, d5.loss_plan_l1_fix_dist: 0.3760, d6.loss_plan_l1_fix_time: 2.1532, d6.loss_plan_l1_fix_dist: 0.3981, d0.loss_cls_all: 0.4759, d0.loss_bbox_all: 0.6377, d0.loss_cls: 0.4759, d0.loss_bbox: 0.6377, d1.loss_cls: 0.4683, d1.loss_bbox: 0.6119, d2.loss_cls: 0.4640, d2.loss_bbox: 0.6019, d3.loss_cls: 0.4650, d3.loss_bbox: 0.5958, d4.loss_cls: 0.4687, d4.loss_bbox: 0.5919, d5.loss_cls: 0.4619, d5.loss_bbox: 0.5910, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4118, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3283, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3162, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3311, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3370, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3352, d0.loss_map_cls_all: 0.3582, d0.loss_map_pts_all: 2.1316, d0.loss_map_dir_all: 0.0207, d0.loss_map_cls: 0.3582, d0.loss_map_pts: 2.1316, d0.loss_map_dir: 0.0207, d1.loss_map_cls: 0.3459, d1.loss_map_pts: 1.5380, d1.loss_map_dir: 0.0208, d2.loss_map_cls: 0.3343, d2.loss_map_pts: 1.4237, d2.loss_map_dir: 0.0211, d3.loss_map_cls: 0.3272, d3.loss_map_pts: 1.3779, d3.loss_map_dir: 0.0216, d4.loss_map_cls: 0.3235, d4.loss_map_pts: 1.3604, d4.loss_map_dir: 0.0219, d5.loss_map_cls: 0.3238, d5.loss_map_pts: 1.3572, d5.loss_map_dir: 0.0220, loss: 51.4865, grad_norm: 157.6928 +2026-02-24 17:42:52,444 - DriveTransformer - INFO - Epoch [2][30300/39528] lr: 9.958e-05, eta: 8 days, 2:25:47, time: 0.805, data_time: 0.041, memory: 19865, loss_cls: 0.4913, loss_bbox: 0.5916, loss_traj: 1.1269, loss_traj_cls: 0.0006, loss_map_cls: 0.3653, loss_map_pts: 1.7202, loss_map_dir: 0.0335, d0.loss_plan_l1_fix_time: 2.5032, d0.loss_plan_l1_fix_dist: 0.4545, d1.loss_plan_l1_fix_time: 2.0212, d1.loss_plan_l1_fix_dist: 0.3698, d2.loss_plan_l1_fix_time: 1.9897, d2.loss_plan_l1_fix_dist: 0.3821, d3.loss_plan_l1_fix_time: 1.9928, d3.loss_plan_l1_fix_dist: 0.3986, d4.loss_plan_l1_fix_time: 2.0007, d4.loss_plan_l1_fix_dist: 0.4176, d5.loss_plan_l1_fix_time: 2.0100, d5.loss_plan_l1_fix_dist: 0.4398, d6.loss_plan_l1_fix_time: 2.0207, d6.loss_plan_l1_fix_dist: 0.4579, d0.loss_cls_all: 0.4862, d0.loss_bbox_all: 0.6317, d0.loss_cls: 0.4862, d0.loss_bbox: 0.6317, d1.loss_cls: 0.4876, d1.loss_bbox: 0.6069, d2.loss_cls: 0.4877, d2.loss_bbox: 0.5964, d3.loss_cls: 0.4915, d3.loss_bbox: 0.5921, d4.loss_cls: 0.4878, d4.loss_bbox: 0.5913, d5.loss_cls: 0.4894, d5.loss_bbox: 0.5902, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1436, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.1020, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0864, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1116, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1133, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1224, d0.loss_map_cls_all: 0.3924, d0.loss_map_pts_all: 2.9583, d0.loss_map_dir_all: 0.0306, d0.loss_map_cls: 0.3924, d0.loss_map_pts: 2.9583, d0.loss_map_dir: 0.0306, d1.loss_map_cls: 0.3829, d1.loss_map_pts: 1.9173, d1.loss_map_dir: 0.0312, d2.loss_map_cls: 0.3688, d2.loss_map_pts: 1.7871, d2.loss_map_dir: 0.0319, d3.loss_map_cls: 0.3666, d3.loss_map_pts: 1.7349, d3.loss_map_dir: 0.0326, d4.loss_map_cls: 0.3630, d4.loss_map_pts: 1.7165, d4.loss_map_dir: 0.0330, d5.loss_map_cls: 0.3651, d5.loss_map_pts: 1.7164, d5.loss_map_dir: 0.0333, loss: 53.7725, grad_norm: 155.8930 +2026-02-24 17:43:33,756 - DriveTransformer - INFO - Epoch [2][30350/39528] lr: 9.958e-05, eta: 8 days, 2:25:26, time: 0.827, data_time: 0.047, memory: 19865, loss_cls: 0.4745, loss_bbox: 0.5809, loss_traj: 1.3664, loss_traj_cls: 0.0005, loss_map_cls: 0.3199, loss_map_pts: 1.5053, loss_map_dir: 0.0256, d0.loss_plan_l1_fix_time: 2.9125, d0.loss_plan_l1_fix_dist: 0.5309, d1.loss_plan_l1_fix_time: 2.3551, d1.loss_plan_l1_fix_dist: 0.3846, d2.loss_plan_l1_fix_time: 2.3332, d2.loss_plan_l1_fix_dist: 0.3919, d3.loss_plan_l1_fix_time: 2.3327, d3.loss_plan_l1_fix_dist: 0.4063, d4.loss_plan_l1_fix_time: 2.3384, d4.loss_plan_l1_fix_dist: 0.4237, d5.loss_plan_l1_fix_time: 2.3450, d5.loss_plan_l1_fix_dist: 0.4418, d6.loss_plan_l1_fix_time: 2.3526, d6.loss_plan_l1_fix_dist: 0.4632, d0.loss_cls_all: 0.4742, d0.loss_bbox_all: 0.6227, d0.loss_cls: 0.4742, d0.loss_bbox: 0.6227, d1.loss_cls: 0.4713, d1.loss_bbox: 0.5976, d2.loss_cls: 0.4700, d2.loss_bbox: 0.5866, d3.loss_cls: 0.4711, d3.loss_bbox: 0.5809, d4.loss_cls: 0.4712, d4.loss_bbox: 0.5807, d5.loss_cls: 0.4728, d5.loss_bbox: 0.5787, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4621, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3739, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3617, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3613, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3616, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3622, d0.loss_map_cls_all: 0.3587, d0.loss_map_pts_all: 2.2097, d0.loss_map_dir_all: 0.0237, d0.loss_map_cls: 0.3587, d0.loss_map_pts: 2.2097, d0.loss_map_dir: 0.0237, d1.loss_map_cls: 0.3421, d1.loss_map_pts: 1.6407, d1.loss_map_dir: 0.0241, d2.loss_map_cls: 0.3306, d2.loss_map_pts: 1.5490, d2.loss_map_dir: 0.0245, d3.loss_map_cls: 0.3238, d3.loss_map_pts: 1.5168, d3.loss_map_dir: 0.0250, d4.loss_map_cls: 0.3225, d4.loss_map_pts: 1.5027, d4.loss_map_dir: 0.0254, d5.loss_map_cls: 0.3219, d5.loss_map_pts: 1.4996, d5.loss_map_dir: 0.0255, loss: 54.7055, grad_norm: 154.0330 +2026-02-24 17:44:14,710 - DriveTransformer - INFO - Epoch [2][30400/39528] lr: 9.958e-05, eta: 8 days, 2:25:00, time: 0.819, data_time: 0.037, memory: 19865, loss_cls: 0.5056, loss_bbox: 0.6058, loss_traj: 1.2943, loss_traj_cls: 0.0005, loss_map_cls: 0.3370, loss_map_pts: 1.5671, loss_map_dir: 0.0292, d0.loss_plan_l1_fix_time: 2.7447, d0.loss_plan_l1_fix_dist: 0.5089, d1.loss_plan_l1_fix_time: 2.0592, d1.loss_plan_l1_fix_dist: 0.3653, d2.loss_plan_l1_fix_time: 2.0308, d2.loss_plan_l1_fix_dist: 0.3783, d3.loss_plan_l1_fix_time: 2.0356, d3.loss_plan_l1_fix_dist: 0.3955, d4.loss_plan_l1_fix_time: 2.0431, d4.loss_plan_l1_fix_dist: 0.4148, d5.loss_plan_l1_fix_time: 2.0507, d5.loss_plan_l1_fix_dist: 0.4385, d6.loss_plan_l1_fix_time: 2.0584, d6.loss_plan_l1_fix_dist: 0.4685, d0.loss_cls_all: 0.5247, d0.loss_bbox_all: 0.6461, d0.loss_cls: 0.5247, d0.loss_bbox: 0.6461, d1.loss_cls: 0.5122, d1.loss_bbox: 0.6192, d2.loss_cls: 0.5061, d2.loss_bbox: 0.6088, d3.loss_cls: 0.5039, d3.loss_bbox: 0.6060, d4.loss_cls: 0.5049, d4.loss_bbox: 0.6056, d5.loss_cls: 0.5059, d5.loss_bbox: 0.6034, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4227, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.2761, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2414, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2709, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2763, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2819, d0.loss_map_cls_all: 0.3716, d0.loss_map_pts_all: 2.6204, d0.loss_map_dir_all: 0.0274, d0.loss_map_cls: 0.3716, d0.loss_map_pts: 2.6204, d0.loss_map_dir: 0.0274, d1.loss_map_cls: 0.3617, d1.loss_map_pts: 1.7124, d1.loss_map_dir: 0.0273, d2.loss_map_cls: 0.3501, d2.loss_map_pts: 1.6041, d2.loss_map_dir: 0.0279, d3.loss_map_cls: 0.3470, d3.loss_map_pts: 1.5726, d3.loss_map_dir: 0.0284, d4.loss_map_cls: 0.3420, d4.loss_map_pts: 1.5756, d4.loss_map_dir: 0.0288, d5.loss_map_cls: 0.3389, d5.loss_map_pts: 1.5685, d5.loss_map_dir: 0.0290, loss: 53.9770, grad_norm: 157.4336 +2026-02-24 17:44:56,221 - DriveTransformer - INFO - Epoch [2][30450/39528] lr: 9.958e-05, eta: 8 days, 2:24:42, time: 0.830, data_time: 0.044, memory: 19865, loss_cls: 0.5386, loss_bbox: 0.5962, loss_traj: 1.3507, loss_traj_cls: 0.0005, loss_map_cls: 0.3703, loss_map_pts: 1.5363, loss_map_dir: 0.0310, d0.loss_plan_l1_fix_time: 2.9454, d0.loss_plan_l1_fix_dist: 0.4311, d1.loss_plan_l1_fix_time: 2.1775, d1.loss_plan_l1_fix_dist: 0.3244, d2.loss_plan_l1_fix_time: 2.1460, d2.loss_plan_l1_fix_dist: 0.3309, d3.loss_plan_l1_fix_time: 2.1507, d3.loss_plan_l1_fix_dist: 0.3444, d4.loss_plan_l1_fix_time: 2.1570, d4.loss_plan_l1_fix_dist: 0.3578, d5.loss_plan_l1_fix_time: 2.1640, d5.loss_plan_l1_fix_dist: 0.3739, d6.loss_plan_l1_fix_time: 2.1718, d6.loss_plan_l1_fix_dist: 0.3924, d0.loss_cls_all: 0.5474, d0.loss_bbox_all: 0.6370, d0.loss_cls: 0.5474, d0.loss_bbox: 0.6370, d1.loss_cls: 0.5449, d1.loss_bbox: 0.6121, d2.loss_cls: 0.5401, d2.loss_bbox: 0.6017, d3.loss_cls: 0.5351, d3.loss_bbox: 0.5972, d4.loss_cls: 0.5348, d4.loss_bbox: 0.5940, d5.loss_cls: 0.5365, d5.loss_bbox: 0.5939, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5398, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3172, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2819, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3166, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3260, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3280, d0.loss_map_cls_all: 0.4013, d0.loss_map_pts_all: 2.5902, d0.loss_map_dir_all: 0.0282, d0.loss_map_cls: 0.4013, d0.loss_map_pts: 2.5902, d0.loss_map_dir: 0.0282, d1.loss_map_cls: 0.4011, d1.loss_map_pts: 1.7356, d1.loss_map_dir: 0.0289, d2.loss_map_cls: 0.3863, d2.loss_map_pts: 1.5952, d2.loss_map_dir: 0.0295, d3.loss_map_cls: 0.3804, d3.loss_map_pts: 1.5449, d3.loss_map_dir: 0.0301, d4.loss_map_cls: 0.3760, d4.loss_map_pts: 1.5344, d4.loss_map_dir: 0.0305, d5.loss_map_cls: 0.3721, d5.loss_map_pts: 1.5349, d5.loss_map_dir: 0.0308, loss: 55.1144, grad_norm: 158.3836 +2026-02-24 17:45:35,873 - DriveTransformer - INFO - Epoch [2][30500/39528] lr: 9.958e-05, eta: 8 days, 2:24:00, time: 0.793, data_time: 0.035, memory: 19865, loss_cls: 0.5149, loss_bbox: 0.6354, loss_traj: 1.3181, loss_traj_cls: 0.0005, loss_map_cls: 0.3533, loss_map_pts: 1.6191, loss_map_dir: 0.0284, d0.loss_plan_l1_fix_time: 2.7471, d0.loss_plan_l1_fix_dist: 0.3917, d1.loss_plan_l1_fix_time: 2.1581, d1.loss_plan_l1_fix_dist: 0.3160, d2.loss_plan_l1_fix_time: 2.1261, d2.loss_plan_l1_fix_dist: 0.3271, d3.loss_plan_l1_fix_time: 2.1269, d3.loss_plan_l1_fix_dist: 0.3440, d4.loss_plan_l1_fix_time: 2.1323, d4.loss_plan_l1_fix_dist: 0.3614, d5.loss_plan_l1_fix_time: 2.1383, d5.loss_plan_l1_fix_dist: 0.3784, d6.loss_plan_l1_fix_time: 2.1454, d6.loss_plan_l1_fix_dist: 0.3959, d0.loss_cls_all: 0.5171, d0.loss_bbox_all: 0.6851, d0.loss_cls: 0.5171, d0.loss_bbox: 0.6851, d1.loss_cls: 0.5123, d1.loss_bbox: 0.6566, d2.loss_cls: 0.5156, d2.loss_bbox: 0.6443, d3.loss_cls: 0.5150, d3.loss_bbox: 0.6424, d4.loss_cls: 0.5158, d4.loss_bbox: 0.6381, d5.loss_cls: 0.5141, d5.loss_bbox: 0.6349, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4291, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3079, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2802, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2949, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2949, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3081, d0.loss_map_cls_all: 0.3856, d0.loss_map_pts_all: 2.4823, d0.loss_map_dir_all: 0.0262, d0.loss_map_cls: 0.3856, d0.loss_map_pts: 2.4823, d0.loss_map_dir: 0.0262, d1.loss_map_cls: 0.3704, d1.loss_map_pts: 1.7774, d1.loss_map_dir: 0.0265, d2.loss_map_cls: 0.3597, d2.loss_map_pts: 1.6796, d2.loss_map_dir: 0.0273, d3.loss_map_cls: 0.3574, d3.loss_map_pts: 1.6357, d3.loss_map_dir: 0.0276, d4.loss_map_cls: 0.3537, d4.loss_map_pts: 1.6216, d4.loss_map_dir: 0.0280, d5.loss_map_cls: 0.3531, d5.loss_map_pts: 1.6206, d5.loss_map_dir: 0.0282, loss: 54.7268, grad_norm: 158.4442 +2026-02-24 17:46:15,257 - DriveTransformer - INFO - Epoch [2][30550/39528] lr: 9.958e-05, eta: 8 days, 2:23:14, time: 0.788, data_time: 0.041, memory: 19865, loss_cls: 0.4815, loss_bbox: 0.5991, loss_traj: 1.2782, loss_traj_cls: 0.0005, loss_map_cls: 0.3334, loss_map_pts: 1.4935, loss_map_dir: 0.0264, d0.loss_plan_l1_fix_time: 2.5680, d0.loss_plan_l1_fix_dist: 0.4828, d1.loss_plan_l1_fix_time: 2.0364, d1.loss_plan_l1_fix_dist: 0.3351, d2.loss_plan_l1_fix_time: 1.9850, d2.loss_plan_l1_fix_dist: 0.3433, d3.loss_plan_l1_fix_time: 1.9779, d3.loss_plan_l1_fix_dist: 0.3577, d4.loss_plan_l1_fix_time: 1.9805, d4.loss_plan_l1_fix_dist: 0.3754, d5.loss_plan_l1_fix_time: 1.9856, d5.loss_plan_l1_fix_dist: 0.3927, d6.loss_plan_l1_fix_time: 1.9926, d6.loss_plan_l1_fix_dist: 0.4120, d0.loss_cls_all: 0.5064, d0.loss_bbox_all: 0.6380, d0.loss_cls: 0.5064, d0.loss_bbox: 0.6380, d1.loss_cls: 0.4940, d1.loss_bbox: 0.6187, d2.loss_cls: 0.4894, d2.loss_bbox: 0.6066, d3.loss_cls: 0.4841, d3.loss_bbox: 0.6039, d4.loss_cls: 0.4857, d4.loss_bbox: 0.5977, d5.loss_cls: 0.4824, d5.loss_bbox: 0.5961, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4577, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3207, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2790, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2764, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2824, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2796, d0.loss_map_cls_all: 0.3729, d0.loss_map_pts_all: 2.3472, d0.loss_map_dir_all: 0.0242, d0.loss_map_cls: 0.3729, d0.loss_map_pts: 2.3472, d0.loss_map_dir: 0.0242, d1.loss_map_cls: 0.3557, d1.loss_map_pts: 1.6702, d1.loss_map_dir: 0.0248, d2.loss_map_cls: 0.3470, d2.loss_map_pts: 1.5631, d2.loss_map_dir: 0.0253, d3.loss_map_cls: 0.3385, d3.loss_map_pts: 1.5182, d3.loss_map_dir: 0.0258, d4.loss_map_cls: 0.3348, d4.loss_map_pts: 1.4994, d4.loss_map_dir: 0.0260, d5.loss_map_cls: 0.3336, d5.loss_map_pts: 1.4952, d5.loss_map_dir: 0.0262, loss: 52.1580, grad_norm: 158.2466 +2026-02-24 17:46:54,285 - DriveTransformer - INFO - Epoch [2][30600/39528] lr: 9.958e-05, eta: 8 days, 2:22:24, time: 0.780, data_time: 0.034, memory: 19865, loss_cls: 0.5005, loss_bbox: 0.6404, loss_traj: 1.3833, loss_traj_cls: 0.0005, loss_map_cls: 0.3458, loss_map_pts: 1.5282, loss_map_dir: 0.0262, d0.loss_plan_l1_fix_time: 2.8653, d0.loss_plan_l1_fix_dist: 0.4797, d1.loss_plan_l1_fix_time: 2.3178, d1.loss_plan_l1_fix_dist: 0.3707, d2.loss_plan_l1_fix_time: 2.2764, d2.loss_plan_l1_fix_dist: 0.3794, d3.loss_plan_l1_fix_time: 2.2688, d3.loss_plan_l1_fix_dist: 0.3905, d4.loss_plan_l1_fix_time: 2.2699, d4.loss_plan_l1_fix_dist: 0.4066, d5.loss_plan_l1_fix_time: 2.2732, d5.loss_plan_l1_fix_dist: 0.4249, d6.loss_plan_l1_fix_time: 2.2785, d6.loss_plan_l1_fix_dist: 0.4456, d0.loss_cls_all: 0.5205, d0.loss_bbox_all: 0.6726, d0.loss_cls: 0.5205, d0.loss_bbox: 0.6726, d1.loss_cls: 0.5114, d1.loss_bbox: 0.6527, d2.loss_cls: 0.5055, d2.loss_bbox: 0.6439, d3.loss_cls: 0.5028, d3.loss_bbox: 0.6375, d4.loss_cls: 0.5031, d4.loss_bbox: 0.6377, d5.loss_cls: 0.5001, d5.loss_bbox: 0.6361, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5234, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3804, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3551, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3599, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3642, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3797, d0.loss_map_cls_all: 0.3952, d0.loss_map_pts_all: 2.3343, d0.loss_map_dir_all: 0.0242, d0.loss_map_cls: 0.3952, d0.loss_map_pts: 2.3343, d0.loss_map_dir: 0.0242, d1.loss_map_cls: 0.3719, d1.loss_map_pts: 1.7197, d1.loss_map_dir: 0.0247, d2.loss_map_cls: 0.3561, d2.loss_map_pts: 1.6031, d2.loss_map_dir: 0.0252, d3.loss_map_cls: 0.3499, d3.loss_map_pts: 1.5598, d3.loss_map_dir: 0.0256, d4.loss_map_cls: 0.3475, d4.loss_map_pts: 1.5390, d4.loss_map_dir: 0.0259, d5.loss_map_cls: 0.3459, d5.loss_map_pts: 1.5320, d5.loss_map_dir: 0.0260, loss: 55.7161, grad_norm: 158.7596 +2026-02-24 17:47:33,892 - DriveTransformer - INFO - Epoch [2][30650/39528] lr: 9.958e-05, eta: 8 days, 2:21:42, time: 0.792, data_time: 0.037, memory: 19865, loss_cls: 0.4743, loss_bbox: 0.5929, loss_traj: 1.2016, loss_traj_cls: 0.0006, loss_map_cls: 0.3414, loss_map_pts: 1.3673, loss_map_dir: 0.0290, d0.loss_plan_l1_fix_time: 2.6594, d0.loss_plan_l1_fix_dist: 0.4690, d1.loss_plan_l1_fix_time: 2.1834, d1.loss_plan_l1_fix_dist: 0.3270, d2.loss_plan_l1_fix_time: 2.1649, d2.loss_plan_l1_fix_dist: 0.3363, d3.loss_plan_l1_fix_time: 2.1707, d3.loss_plan_l1_fix_dist: 0.3499, d4.loss_plan_l1_fix_time: 2.1761, d4.loss_plan_l1_fix_dist: 0.3647, d5.loss_plan_l1_fix_time: 2.1817, d5.loss_plan_l1_fix_dist: 0.3817, d6.loss_plan_l1_fix_time: 2.1882, d6.loss_plan_l1_fix_dist: 0.4039, d0.loss_cls_all: 0.4831, d0.loss_bbox_all: 0.6283, d0.loss_cls: 0.4831, d0.loss_bbox: 0.6283, d1.loss_cls: 0.4752, d1.loss_bbox: 0.6054, d2.loss_cls: 0.4757, d2.loss_bbox: 0.5921, d3.loss_cls: 0.4754, d3.loss_bbox: 0.5886, d4.loss_cls: 0.4746, d4.loss_bbox: 0.5889, d5.loss_cls: 0.4741, d5.loss_bbox: 0.5900, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3541, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1808, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1622, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1835, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1802, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1980, d0.loss_map_cls_all: 0.3800, d0.loss_map_pts_all: 2.4790, d0.loss_map_dir_all: 0.0273, d0.loss_map_cls: 0.3800, d0.loss_map_pts: 2.4790, d0.loss_map_dir: 0.0273, d1.loss_map_cls: 0.3691, d1.loss_map_pts: 1.5808, d1.loss_map_dir: 0.0271, d2.loss_map_cls: 0.3535, d2.loss_map_pts: 1.4381, d2.loss_map_dir: 0.0277, d3.loss_map_cls: 0.3485, d3.loss_map_pts: 1.3915, d3.loss_map_dir: 0.0283, d4.loss_map_cls: 0.3439, d4.loss_map_pts: 1.3742, d4.loss_map_dir: 0.0285, d5.loss_map_cls: 0.3421, d5.loss_map_pts: 1.3691, d5.loss_map_dir: 0.0288, loss: 52.0138, grad_norm: 160.0585 +2026-02-24 17:48:15,830 - DriveTransformer - INFO - Epoch [2][30700/39528] lr: 9.958e-05, eta: 8 days, 2:21:29, time: 0.839, data_time: 0.040, memory: 19865, loss_cls: 0.5219, loss_bbox: 0.6212, loss_traj: 1.2221, loss_traj_cls: 0.0006, loss_map_cls: 0.3393, loss_map_pts: 1.4916, loss_map_dir: 0.0280, d0.loss_plan_l1_fix_time: 2.4449, d0.loss_plan_l1_fix_dist: 0.4915, d1.loss_plan_l1_fix_time: 1.9900, d1.loss_plan_l1_fix_dist: 0.3668, d2.loss_plan_l1_fix_time: 1.9878, d2.loss_plan_l1_fix_dist: 0.3771, d3.loss_plan_l1_fix_time: 2.0032, d3.loss_plan_l1_fix_dist: 0.3925, d4.loss_plan_l1_fix_time: 2.0121, d4.loss_plan_l1_fix_dist: 0.4084, d5.loss_plan_l1_fix_time: 2.0201, d5.loss_plan_l1_fix_dist: 0.4248, d6.loss_plan_l1_fix_time: 2.0285, d6.loss_plan_l1_fix_dist: 0.4410, d0.loss_cls_all: 0.5168, d0.loss_bbox_all: 0.6713, d0.loss_cls: 0.5168, d0.loss_bbox: 0.6713, d1.loss_cls: 0.5165, d1.loss_bbox: 0.6454, d2.loss_cls: 0.5224, d2.loss_bbox: 0.6325, d3.loss_cls: 0.5295, d3.loss_bbox: 0.6230, d4.loss_cls: 0.5219, d4.loss_bbox: 0.6235, d5.loss_cls: 0.5200, d5.loss_bbox: 0.6222, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3798, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.2520, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2279, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2175, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2130, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2156, d0.loss_map_cls_all: 0.3931, d0.loss_map_pts_all: 2.3672, d0.loss_map_dir_all: 0.0255, d0.loss_map_cls: 0.3931, d0.loss_map_pts: 2.3672, d0.loss_map_dir: 0.0255, d1.loss_map_cls: 0.3684, d1.loss_map_pts: 1.6871, d1.loss_map_dir: 0.0261, d2.loss_map_cls: 0.3511, d2.loss_map_pts: 1.5650, d2.loss_map_dir: 0.0266, d3.loss_map_cls: 0.3397, d3.loss_map_pts: 1.5182, d3.loss_map_dir: 0.0272, d4.loss_map_cls: 0.3355, d4.loss_map_pts: 1.4983, d4.loss_map_dir: 0.0275, d5.loss_map_cls: 0.3365, d5.loss_map_pts: 1.4927, d5.loss_map_dir: 0.0278, loss: 52.4561, grad_norm: 162.3486 +2026-02-24 17:48:56,547 - DriveTransformer - INFO - Epoch [2][30750/39528] lr: 9.958e-05, eta: 8 days, 2:21:00, time: 0.814, data_time: 0.041, memory: 19865, loss_cls: 0.4866, loss_bbox: 0.5919, loss_traj: 1.3183, loss_traj_cls: 0.0005, loss_map_cls: 0.3147, loss_map_pts: 1.3938, loss_map_dir: 0.0250, d0.loss_plan_l1_fix_time: 2.5640, d0.loss_plan_l1_fix_dist: 0.4335, d1.loss_plan_l1_fix_time: 2.0717, d1.loss_plan_l1_fix_dist: 0.3094, d2.loss_plan_l1_fix_time: 2.0751, d2.loss_plan_l1_fix_dist: 0.3242, d3.loss_plan_l1_fix_time: 2.0804, d3.loss_plan_l1_fix_dist: 0.3421, d4.loss_plan_l1_fix_time: 2.0872, d4.loss_plan_l1_fix_dist: 0.3619, d5.loss_plan_l1_fix_time: 2.0937, d5.loss_plan_l1_fix_dist: 0.3824, d6.loss_plan_l1_fix_time: 2.1012, d6.loss_plan_l1_fix_dist: 0.4048, d0.loss_cls_all: 0.4952, d0.loss_bbox_all: 0.6337, d0.loss_cls: 0.4952, d0.loss_bbox: 0.6337, d1.loss_cls: 0.4946, d1.loss_bbox: 0.6081, d2.loss_cls: 0.4950, d2.loss_bbox: 0.5997, d3.loss_cls: 0.4912, d3.loss_bbox: 0.5902, d4.loss_cls: 0.4844, d4.loss_bbox: 0.5888, d5.loss_cls: 0.4867, d5.loss_bbox: 0.5876, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4547, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3328, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3039, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3118, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3158, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3145, d0.loss_map_cls_all: 0.3591, d0.loss_map_pts_all: 2.3247, d0.loss_map_dir_all: 0.0232, d0.loss_map_cls: 0.3591, d0.loss_map_pts: 2.3247, d0.loss_map_dir: 0.0232, d1.loss_map_cls: 0.3357, d1.loss_map_pts: 1.6017, d1.loss_map_dir: 0.0231, d2.loss_map_cls: 0.3236, d2.loss_map_pts: 1.4853, d2.loss_map_dir: 0.0238, d3.loss_map_cls: 0.3146, d3.loss_map_pts: 1.4317, d3.loss_map_dir: 0.0242, d4.loss_map_cls: 0.3138, d4.loss_map_pts: 1.4113, d4.loss_map_dir: 0.0246, d5.loss_map_cls: 0.3149, d5.loss_map_pts: 1.3983, d5.loss_map_dir: 0.0248, loss: 51.9502, grad_norm: 160.9882 +2026-02-24 17:49:36,512 - DriveTransformer - INFO - Epoch [2][30800/39528] lr: 9.958e-05, eta: 8 days, 2:20:22, time: 0.799, data_time: 0.046, memory: 19865, loss_cls: 0.4951, loss_bbox: 0.6194, loss_traj: 1.1868, loss_traj_cls: 0.0005, loss_map_cls: 0.3437, loss_map_pts: 1.4705, loss_map_dir: 0.0279, d0.loss_plan_l1_fix_time: 2.7848, d0.loss_plan_l1_fix_dist: 0.4731, d1.loss_plan_l1_fix_time: 2.1851, d1.loss_plan_l1_fix_dist: 0.3477, d2.loss_plan_l1_fix_time: 2.1443, d2.loss_plan_l1_fix_dist: 0.3538, d3.loss_plan_l1_fix_time: 2.1418, d3.loss_plan_l1_fix_dist: 0.3647, d4.loss_plan_l1_fix_time: 2.1452, d4.loss_plan_l1_fix_dist: 0.3776, d5.loss_plan_l1_fix_time: 2.1499, d5.loss_plan_l1_fix_dist: 0.3965, d6.loss_plan_l1_fix_time: 2.1557, d6.loss_plan_l1_fix_dist: 0.4188, d0.loss_cls_all: 0.4941, d0.loss_bbox_all: 0.6536, d0.loss_cls: 0.4941, d0.loss_bbox: 0.6536, d1.loss_cls: 0.4940, d1.loss_bbox: 0.6325, d2.loss_cls: 0.4918, d2.loss_bbox: 0.6248, d3.loss_cls: 0.4919, d3.loss_bbox: 0.6167, d4.loss_cls: 0.4900, d4.loss_bbox: 0.6147, d5.loss_cls: 0.4927, d5.loss_bbox: 0.6146, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3382, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2108, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1712, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1717, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1709, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1766, d0.loss_map_cls_all: 0.3759, d0.loss_map_pts_all: 2.4222, d0.loss_map_dir_all: 0.0252, d0.loss_map_cls: 0.3759, d0.loss_map_pts: 2.4222, d0.loss_map_dir: 0.0252, d1.loss_map_cls: 0.3663, d1.loss_map_pts: 1.6839, d1.loss_map_dir: 0.0257, d2.loss_map_cls: 0.3517, d2.loss_map_pts: 1.5583, d2.loss_map_dir: 0.0263, d3.loss_map_cls: 0.3457, d3.loss_map_pts: 1.5054, d3.loss_map_dir: 0.0269, d4.loss_map_cls: 0.3432, d4.loss_map_pts: 1.4823, d4.loss_map_dir: 0.0273, d5.loss_map_cls: 0.3416, d5.loss_map_pts: 1.4743, d5.loss_map_dir: 0.0276, loss: 52.9190, grad_norm: 161.7783 +2026-02-24 17:50:15,435 - DriveTransformer - INFO - Epoch [2][30850/39528] lr: 9.958e-05, eta: 8 days, 2:19:31, time: 0.778, data_time: 0.042, memory: 19865, loss_cls: 0.4395, loss_bbox: 0.5559, loss_traj: 1.3376, loss_traj_cls: 0.0005, loss_map_cls: 0.2828, loss_map_pts: 1.2986, loss_map_dir: 0.0211, d0.loss_plan_l1_fix_time: 2.5432, d0.loss_plan_l1_fix_dist: 0.4704, d1.loss_plan_l1_fix_time: 2.0243, d1.loss_plan_l1_fix_dist: 0.3109, d2.loss_plan_l1_fix_time: 1.9971, d2.loss_plan_l1_fix_dist: 0.3202, d3.loss_plan_l1_fix_time: 2.0009, d3.loss_plan_l1_fix_dist: 0.3381, d4.loss_plan_l1_fix_time: 2.0065, d4.loss_plan_l1_fix_dist: 0.3586, d5.loss_plan_l1_fix_time: 2.0138, d5.loss_plan_l1_fix_dist: 0.3781, d6.loss_plan_l1_fix_time: 2.0223, d6.loss_plan_l1_fix_dist: 0.3987, d0.loss_cls_all: 0.4478, d0.loss_bbox_all: 0.5963, d0.loss_cls: 0.4478, d0.loss_bbox: 0.5963, d1.loss_cls: 0.4424, d1.loss_bbox: 0.5689, d2.loss_cls: 0.4365, d2.loss_bbox: 0.5634, d3.loss_cls: 0.4365, d3.loss_bbox: 0.5582, d4.loss_cls: 0.4381, d4.loss_bbox: 0.5512, d5.loss_cls: 0.4391, d5.loss_bbox: 0.5527, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5293, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3547, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3368, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.3376, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3380, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3318, d0.loss_map_cls_all: 0.3367, d0.loss_map_pts_all: 2.1090, d0.loss_map_dir_all: 0.0195, d0.loss_map_cls: 0.3367, d0.loss_map_pts: 2.1090, d0.loss_map_dir: 0.0195, d1.loss_map_cls: 0.3147, d1.loss_map_pts: 1.4955, d1.loss_map_dir: 0.0193, d2.loss_map_cls: 0.2992, d2.loss_map_pts: 1.3780, d2.loss_map_dir: 0.0199, d3.loss_map_cls: 0.2900, d3.loss_map_pts: 1.3315, d3.loss_map_dir: 0.0203, d4.loss_map_cls: 0.2849, d4.loss_map_pts: 1.3097, d4.loss_map_dir: 0.0207, d5.loss_map_cls: 0.2827, d5.loss_map_pts: 1.3008, d5.loss_map_dir: 0.0209, loss: 49.7454, grad_norm: 157.4807 +2026-02-24 17:50:54,340 - DriveTransformer - INFO - Epoch [2][30900/39528] lr: 9.958e-05, eta: 8 days, 2:18:39, time: 0.778, data_time: 0.045, memory: 19865, loss_cls: 0.4600, loss_bbox: 0.6012, loss_traj: 1.3043, loss_traj_cls: 0.0005, loss_map_cls: 0.3155, loss_map_pts: 1.4425, loss_map_dir: 0.0239, d0.loss_plan_l1_fix_time: 2.8201, d0.loss_plan_l1_fix_dist: 0.4722, d1.loss_plan_l1_fix_time: 2.0955, d1.loss_plan_l1_fix_dist: 0.3593, d2.loss_plan_l1_fix_time: 2.0507, d2.loss_plan_l1_fix_dist: 0.3653, d3.loss_plan_l1_fix_time: 2.0462, d3.loss_plan_l1_fix_dist: 0.3791, d4.loss_plan_l1_fix_time: 2.0489, d4.loss_plan_l1_fix_dist: 0.3978, d5.loss_plan_l1_fix_time: 2.0527, d5.loss_plan_l1_fix_dist: 0.4186, d6.loss_plan_l1_fix_time: 2.0573, d6.loss_plan_l1_fix_dist: 0.4399, d0.loss_cls_all: 0.4771, d0.loss_bbox_all: 0.6453, d0.loss_cls: 0.4771, d0.loss_bbox: 0.6453, d1.loss_cls: 0.4649, d1.loss_bbox: 0.6188, d2.loss_cls: 0.4623, d2.loss_bbox: 0.6111, d3.loss_cls: 0.4611, d3.loss_bbox: 0.6062, d4.loss_cls: 0.4630, d4.loss_bbox: 0.6002, d5.loss_cls: 0.4624, d5.loss_bbox: 0.5982, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3845, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2844, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2720, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2839, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.2852, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2954, d0.loss_map_cls_all: 0.3667, d0.loss_map_pts_all: 2.2911, d0.loss_map_dir_all: 0.0221, d0.loss_map_cls: 0.3667, d0.loss_map_pts: 2.2911, d0.loss_map_dir: 0.0221, d1.loss_map_cls: 0.3435, d1.loss_map_pts: 1.6375, d1.loss_map_dir: 0.0221, d2.loss_map_cls: 0.3320, d2.loss_map_pts: 1.5087, d2.loss_map_dir: 0.0227, d3.loss_map_cls: 0.3230, d3.loss_map_pts: 1.4591, d3.loss_map_dir: 0.0232, d4.loss_map_cls: 0.3188, d4.loss_map_pts: 1.4458, d4.loss_map_dir: 0.0235, d5.loss_map_cls: 0.3158, d5.loss_map_pts: 1.4409, d5.loss_map_dir: 0.0238, loss: 52.1554, grad_norm: 156.0921 +2026-02-24 17:51:34,440 - DriveTransformer - INFO - Epoch [2][30950/39528] lr: 9.958e-05, eta: 8 days, 2:18:03, time: 0.802, data_time: 0.044, memory: 19865, loss_cls: 0.4780, loss_bbox: 0.6130, loss_traj: 1.4197, loss_traj_cls: 0.0006, loss_map_cls: 0.3440, loss_map_pts: 1.4628, loss_map_dir: 0.0256, d0.loss_plan_l1_fix_time: 2.7156, d0.loss_plan_l1_fix_dist: 0.4737, d1.loss_plan_l1_fix_time: 2.0851, d1.loss_plan_l1_fix_dist: 0.4056, d2.loss_plan_l1_fix_time: 2.0578, d2.loss_plan_l1_fix_dist: 0.4210, d3.loss_plan_l1_fix_time: 2.0582, d3.loss_plan_l1_fix_dist: 0.4370, d4.loss_plan_l1_fix_time: 2.0633, d4.loss_plan_l1_fix_dist: 0.4535, d5.loss_plan_l1_fix_time: 2.0705, d5.loss_plan_l1_fix_dist: 0.4720, d6.loss_plan_l1_fix_time: 2.0783, d6.loss_plan_l1_fix_dist: 0.4941, d0.loss_cls_all: 0.4895, d0.loss_bbox_all: 0.6567, d0.loss_cls: 0.4895, d0.loss_bbox: 0.6567, d1.loss_cls: 0.4850, d1.loss_bbox: 0.6270, d2.loss_cls: 0.4804, d2.loss_bbox: 0.6176, d3.loss_cls: 0.4778, d3.loss_bbox: 0.6161, d4.loss_cls: 0.4779, d4.loss_bbox: 0.6141, d5.loss_cls: 0.4757, d5.loss_bbox: 0.6121, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5366, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.4122, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.4052, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.4100, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4141, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4202, d0.loss_map_cls_all: 0.3736, d0.loss_map_pts_all: 2.3961, d0.loss_map_dir_all: 0.0237, d0.loss_map_cls: 0.3736, d0.loss_map_pts: 2.3961, d0.loss_map_dir: 0.0237, d1.loss_map_cls: 0.3644, d1.loss_map_pts: 1.6691, d1.loss_map_dir: 0.0236, d2.loss_map_cls: 0.3527, d2.loss_map_pts: 1.5394, d2.loss_map_dir: 0.0242, d3.loss_map_cls: 0.3450, d3.loss_map_pts: 1.4887, d3.loss_map_dir: 0.0247, d4.loss_map_cls: 0.3416, d4.loss_map_pts: 1.4705, d4.loss_map_dir: 0.0250, d5.loss_map_cls: 0.3421, d5.loss_map_pts: 1.4623, d5.loss_map_dir: 0.0253, loss: 54.0939, grad_norm: 154.8584 +2026-02-24 17:52:14,679 - DriveTransformer - INFO - Epoch [2][31000/39528] lr: 9.958e-05, eta: 8 days, 2:17:29, time: 0.806, data_time: 0.042, memory: 19865, loss_cls: 0.4529, loss_bbox: 0.5384, loss_traj: 1.1540, loss_traj_cls: 0.0005, loss_map_cls: 0.3422, loss_map_pts: 1.4311, loss_map_dir: 0.0252, d0.loss_plan_l1_fix_time: 2.4262, d0.loss_plan_l1_fix_dist: 0.3890, d1.loss_plan_l1_fix_time: 1.9347, d1.loss_plan_l1_fix_dist: 0.2900, d2.loss_plan_l1_fix_time: 1.8936, d2.loss_plan_l1_fix_dist: 0.3052, d3.loss_plan_l1_fix_time: 1.8908, d3.loss_plan_l1_fix_dist: 0.3275, d4.loss_plan_l1_fix_time: 1.8946, d4.loss_plan_l1_fix_dist: 0.3542, d5.loss_plan_l1_fix_time: 1.9010, d5.loss_plan_l1_fix_dist: 0.3829, d6.loss_plan_l1_fix_time: 1.9091, d6.loss_plan_l1_fix_dist: 0.4157, d0.loss_cls_all: 0.4596, d0.loss_bbox_all: 0.5924, d0.loss_cls: 0.4596, d0.loss_bbox: 0.5924, d1.loss_cls: 0.4549, d1.loss_bbox: 0.5614, d2.loss_cls: 0.4513, d2.loss_bbox: 0.5470, d3.loss_cls: 0.4487, d3.loss_bbox: 0.5427, d4.loss_cls: 0.4488, d4.loss_bbox: 0.5417, d5.loss_cls: 0.4502, d5.loss_bbox: 0.5370, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3416, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1927, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.1583, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1494, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.1478, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1475, d0.loss_map_cls_all: 0.3776, d0.loss_map_pts_all: 2.3651, d0.loss_map_dir_all: 0.0236, d0.loss_map_cls: 0.3776, d0.loss_map_pts: 2.3651, d0.loss_map_dir: 0.0236, d1.loss_map_cls: 0.3646, d1.loss_map_pts: 1.6378, d1.loss_map_dir: 0.0236, d2.loss_map_cls: 0.3462, d2.loss_map_pts: 1.5088, d2.loss_map_dir: 0.0240, d3.loss_map_cls: 0.3411, d3.loss_map_pts: 1.4584, d3.loss_map_dir: 0.0245, d4.loss_map_cls: 0.3422, d4.loss_map_pts: 1.4411, d4.loss_map_dir: 0.0249, d5.loss_map_cls: 0.3413, d5.loss_map_pts: 1.4345, d5.loss_map_dir: 0.0250, loss: 49.3588, grad_norm: 155.7219 +2026-02-24 17:52:55,322 - DriveTransformer - INFO - Epoch [2][31050/39528] lr: 9.958e-05, eta: 8 days, 2:16:59, time: 0.811, data_time: 0.040, memory: 19865, loss_cls: 0.4630, loss_bbox: 0.5597, loss_traj: 1.0926, loss_traj_cls: 0.0005, loss_map_cls: 0.3097, loss_map_pts: 1.4053, loss_map_dir: 0.0247, d0.loss_plan_l1_fix_time: 2.5109, d0.loss_plan_l1_fix_dist: 0.4898, d1.loss_plan_l1_fix_time: 1.8180, d1.loss_plan_l1_fix_dist: 0.3530, d2.loss_plan_l1_fix_time: 1.7712, d2.loss_plan_l1_fix_dist: 0.3572, d3.loss_plan_l1_fix_time: 1.7631, d3.loss_plan_l1_fix_dist: 0.3717, d4.loss_plan_l1_fix_time: 1.7645, d4.loss_plan_l1_fix_dist: 0.3929, d5.loss_plan_l1_fix_time: 1.7675, d5.loss_plan_l1_fix_dist: 0.4160, d6.loss_plan_l1_fix_time: 1.7717, d6.loss_plan_l1_fix_dist: 0.4394, d0.loss_cls_all: 0.4657, d0.loss_bbox_all: 0.6058, d0.loss_cls: 0.4657, d0.loss_bbox: 0.6058, d1.loss_cls: 0.4544, d1.loss_bbox: 0.5817, d2.loss_cls: 0.4551, d2.loss_bbox: 0.5665, d3.loss_cls: 0.4558, d3.loss_bbox: 0.5640, d4.loss_cls: 0.4607, d4.loss_bbox: 0.5616, d5.loss_cls: 0.4605, d5.loss_bbox: 0.5603, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2373, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.1078, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0837, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.0896, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.0875, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.0917, d0.loss_map_cls_all: 0.3509, d0.loss_map_pts_all: 2.3172, d0.loss_map_dir_all: 0.0233, d0.loss_map_cls: 0.3509, d0.loss_map_pts: 2.3172, d0.loss_map_dir: 0.0233, d1.loss_map_cls: 0.3397, d1.loss_map_pts: 1.6114, d1.loss_map_dir: 0.0231, d2.loss_map_cls: 0.3251, d2.loss_map_pts: 1.4862, d2.loss_map_dir: 0.0236, d3.loss_map_cls: 0.3135, d3.loss_map_pts: 1.4353, d3.loss_map_dir: 0.0241, d4.loss_map_cls: 0.3080, d4.loss_map_pts: 1.4176, d4.loss_map_dir: 0.0245, d5.loss_map_cls: 0.3068, d5.loss_map_pts: 1.4068, d5.loss_map_dir: 0.0246, loss: 48.2619, grad_norm: 155.8149 +2026-02-24 17:53:34,185 - DriveTransformer - INFO - Epoch [2][31100/39528] lr: 9.958e-05, eta: 8 days, 2:16:07, time: 0.777, data_time: 0.047, memory: 19865, loss_cls: 0.4595, loss_bbox: 0.5718, loss_traj: 1.1624, loss_traj_cls: 0.0005, loss_map_cls: 0.2921, loss_map_pts: 1.2047, loss_map_dir: 0.0222, d0.loss_plan_l1_fix_time: 2.4264, d0.loss_plan_l1_fix_dist: 0.4105, d1.loss_plan_l1_fix_time: 1.8695, d1.loss_plan_l1_fix_dist: 0.3150, d2.loss_plan_l1_fix_time: 1.8523, d2.loss_plan_l1_fix_dist: 0.3403, d3.loss_plan_l1_fix_time: 1.8576, d3.loss_plan_l1_fix_dist: 0.3613, d4.loss_plan_l1_fix_time: 1.8651, d4.loss_plan_l1_fix_dist: 0.3875, d5.loss_plan_l1_fix_time: 1.8728, d5.loss_plan_l1_fix_dist: 0.4167, d6.loss_plan_l1_fix_time: 1.8814, d6.loss_plan_l1_fix_dist: 0.4468, d0.loss_cls_all: 0.4626, d0.loss_bbox_all: 0.6089, d0.loss_cls: 0.4626, d0.loss_bbox: 0.6089, d1.loss_cls: 0.4535, d1.loss_bbox: 0.5912, d2.loss_cls: 0.4530, d2.loss_bbox: 0.5759, d3.loss_cls: 0.4537, d3.loss_bbox: 0.5712, d4.loss_cls: 0.4563, d4.loss_bbox: 0.5717, d5.loss_cls: 0.4564, d5.loss_bbox: 0.5697, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2785, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.1588, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1300, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1601, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1681, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1675, d0.loss_map_cls_all: 0.3360, d0.loss_map_pts_all: 2.0383, d0.loss_map_dir_all: 0.0207, d0.loss_map_cls: 0.3360, d0.loss_map_pts: 2.0383, d0.loss_map_dir: 0.0207, d1.loss_map_cls: 0.3259, d1.loss_map_pts: 1.3680, d1.loss_map_dir: 0.0204, d2.loss_map_cls: 0.3104, d2.loss_map_pts: 1.2544, d2.loss_map_dir: 0.0209, d3.loss_map_cls: 0.2996, d3.loss_map_pts: 1.2179, d3.loss_map_dir: 0.0214, d4.loss_map_cls: 0.2932, d4.loss_map_pts: 1.2070, d4.loss_map_dir: 0.0217, d5.loss_map_cls: 0.2926, d5.loss_map_pts: 1.2022, d5.loss_map_dir: 0.0220, loss: 47.0474, grad_norm: 156.2026 +2026-02-24 17:54:14,434 - DriveTransformer - INFO - Epoch [2][31150/39528] lr: 9.958e-05, eta: 8 days, 2:15:32, time: 0.805, data_time: 0.040, memory: 19865, loss_cls: 0.4787, loss_bbox: 0.5694, loss_traj: 1.2359, loss_traj_cls: 0.0006, loss_map_cls: 0.3098, loss_map_pts: 1.3609, loss_map_dir: 0.0244, d0.loss_plan_l1_fix_time: 2.6845, d0.loss_plan_l1_fix_dist: 0.4756, d1.loss_plan_l1_fix_time: 2.1895, d1.loss_plan_l1_fix_dist: 0.3581, d2.loss_plan_l1_fix_time: 2.1575, d2.loss_plan_l1_fix_dist: 0.3663, d3.loss_plan_l1_fix_time: 2.1582, d3.loss_plan_l1_fix_dist: 0.3843, d4.loss_plan_l1_fix_time: 2.1633, d4.loss_plan_l1_fix_dist: 0.4002, d5.loss_plan_l1_fix_time: 2.1698, d5.loss_plan_l1_fix_dist: 0.4152, d6.loss_plan_l1_fix_time: 2.1782, d6.loss_plan_l1_fix_dist: 0.4346, d0.loss_cls_all: 0.4891, d0.loss_bbox_all: 0.6100, d0.loss_cls: 0.4891, d0.loss_bbox: 0.6100, d1.loss_cls: 0.4758, d1.loss_bbox: 0.5875, d2.loss_cls: 0.4694, d2.loss_bbox: 0.5775, d3.loss_cls: 0.4702, d3.loss_bbox: 0.5729, d4.loss_cls: 0.4730, d4.loss_bbox: 0.5693, d5.loss_cls: 0.4742, d5.loss_bbox: 0.5681, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3631, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.2558, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2123, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.2137, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2198, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2274, d0.loss_map_cls_all: 0.3522, d0.loss_map_pts_all: 2.2228, d0.loss_map_dir_all: 0.0221, d0.loss_map_cls: 0.3522, d0.loss_map_pts: 2.2228, d0.loss_map_dir: 0.0221, d1.loss_map_cls: 0.3354, d1.loss_map_pts: 1.5414, d1.loss_map_dir: 0.0223, d2.loss_map_cls: 0.3196, d2.loss_map_pts: 1.4192, d2.loss_map_dir: 0.0231, d3.loss_map_cls: 0.3111, d3.loss_map_pts: 1.3770, d3.loss_map_dir: 0.0236, d4.loss_map_cls: 0.3085, d4.loss_map_pts: 1.3625, d4.loss_map_dir: 0.0239, d5.loss_map_cls: 0.3097, d5.loss_map_pts: 1.3587, d5.loss_map_dir: 0.0242, loss: 51.4024, grad_norm: 156.7139 +2026-02-24 17:54:55,234 - DriveTransformer - INFO - Epoch [2][31200/39528] lr: 9.958e-05, eta: 8 days, 2:15:05, time: 0.816, data_time: 0.043, memory: 19865, loss_cls: 0.4939, loss_bbox: 0.5904, loss_traj: 1.1806, loss_traj_cls: 0.0006, loss_map_cls: 0.3337, loss_map_pts: 1.6078, loss_map_dir: 0.0314, d0.loss_plan_l1_fix_time: 3.0161, d0.loss_plan_l1_fix_dist: 0.4387, d1.loss_plan_l1_fix_time: 2.2615, d1.loss_plan_l1_fix_dist: 0.3404, d2.loss_plan_l1_fix_time: 2.2190, d2.loss_plan_l1_fix_dist: 0.3493, d3.loss_plan_l1_fix_time: 2.2198, d3.loss_plan_l1_fix_dist: 0.3635, d4.loss_plan_l1_fix_time: 2.2255, d4.loss_plan_l1_fix_dist: 0.3820, d5.loss_plan_l1_fix_time: 2.2317, d5.loss_plan_l1_fix_dist: 0.4032, d6.loss_plan_l1_fix_time: 2.2387, d6.loss_plan_l1_fix_dist: 0.4257, d0.loss_cls_all: 0.5031, d0.loss_bbox_all: 0.6444, d0.loss_cls: 0.5031, d0.loss_bbox: 0.6444, d1.loss_cls: 0.4948, d1.loss_bbox: 0.6181, d2.loss_cls: 0.4930, d2.loss_bbox: 0.6016, d3.loss_cls: 0.4917, d3.loss_bbox: 0.5942, d4.loss_cls: 0.4901, d4.loss_bbox: 0.5912, d5.loss_cls: 0.4915, d5.loss_bbox: 0.5902, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3238, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.1754, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1538, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1655, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1664, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1747, d0.loss_map_cls_all: 0.3680, d0.loss_map_pts_all: 2.5644, d0.loss_map_dir_all: 0.0285, d0.loss_map_cls: 0.3680, d0.loss_map_pts: 2.5644, d0.loss_map_dir: 0.0285, d1.loss_map_cls: 0.3614, d1.loss_map_pts: 1.8024, d1.loss_map_dir: 0.0289, d2.loss_map_cls: 0.3528, d2.loss_map_pts: 1.6703, d2.loss_map_dir: 0.0297, d3.loss_map_cls: 0.3410, d3.loss_map_pts: 1.6232, d3.loss_map_dir: 0.0305, d4.loss_map_cls: 0.3328, d4.loss_map_pts: 1.6096, d4.loss_map_dir: 0.0310, d5.loss_map_cls: 0.3326, d5.loss_map_pts: 1.6073, d5.loss_map_dir: 0.0312, loss: 54.3757, grad_norm: 155.1581 +2026-02-24 17:55:36,205 - DriveTransformer - INFO - Epoch [2][31250/39528] lr: 9.958e-05, eta: 8 days, 2:14:39, time: 0.819, data_time: 0.039, memory: 19865, loss_cls: 0.4716, loss_bbox: 0.5406, loss_traj: 1.0926, loss_traj_cls: 0.0005, loss_map_cls: 0.3152, loss_map_pts: 1.3793, loss_map_dir: 0.0281, d0.loss_plan_l1_fix_time: 2.4707, d0.loss_plan_l1_fix_dist: 0.4367, d1.loss_plan_l1_fix_time: 1.8553, d1.loss_plan_l1_fix_dist: 0.3172, d2.loss_plan_l1_fix_time: 1.8409, d2.loss_plan_l1_fix_dist: 0.3255, d3.loss_plan_l1_fix_time: 1.8510, d3.loss_plan_l1_fix_dist: 0.3402, d4.loss_plan_l1_fix_time: 1.8591, d4.loss_plan_l1_fix_dist: 0.3610, d5.loss_plan_l1_fix_time: 1.8671, d5.loss_plan_l1_fix_dist: 0.3872, d6.loss_plan_l1_fix_time: 1.8747, d6.loss_plan_l1_fix_dist: 0.4155, d0.loss_cls_all: 0.4793, d0.loss_bbox_all: 0.5776, d0.loss_cls: 0.4793, d0.loss_bbox: 0.5776, d1.loss_cls: 0.4736, d1.loss_bbox: 0.5545, d2.loss_cls: 0.4676, d2.loss_bbox: 0.5436, d3.loss_cls: 0.4688, d3.loss_bbox: 0.5381, d4.loss_cls: 0.4713, d4.loss_bbox: 0.5344, d5.loss_cls: 0.4701, d5.loss_bbox: 0.5362, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1358, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.0456, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0505, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.0612, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.0667, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.0753, d0.loss_map_cls_all: 0.3647, d0.loss_map_pts_all: 2.3229, d0.loss_map_dir_all: 0.0254, d0.loss_map_cls: 0.3647, d0.loss_map_pts: 2.3229, d0.loss_map_dir: 0.0254, d1.loss_map_cls: 0.3517, d1.loss_map_pts: 1.5387, d1.loss_map_dir: 0.0255, d2.loss_map_cls: 0.3342, d2.loss_map_pts: 1.4315, d2.loss_map_dir: 0.0265, d3.loss_map_cls: 0.3220, d3.loss_map_pts: 1.3970, d3.loss_map_dir: 0.0272, d4.loss_map_cls: 0.3155, d4.loss_map_pts: 1.3824, d4.loss_map_dir: 0.0277, d5.loss_map_cls: 0.3147, d5.loss_map_pts: 1.3782, d5.loss_map_dir: 0.0278, loss: 47.9681, grad_norm: 156.0380 +2026-02-24 17:56:18,908 - DriveTransformer - INFO - Epoch [2][31300/39528] lr: 9.958e-05, eta: 8 days, 2:14:35, time: 0.854, data_time: 0.039, memory: 19865, loss_cls: 0.4834, loss_bbox: 0.5874, loss_traj: 1.1702, loss_traj_cls: 0.0006, loss_map_cls: 0.3242, loss_map_pts: 1.5581, loss_map_dir: 0.0336, d0.loss_plan_l1_fix_time: 2.5594, d0.loss_plan_l1_fix_dist: 0.4502, d1.loss_plan_l1_fix_time: 2.0139, d1.loss_plan_l1_fix_dist: 0.3399, d2.loss_plan_l1_fix_time: 1.9898, d2.loss_plan_l1_fix_dist: 0.3499, d3.loss_plan_l1_fix_time: 1.9942, d3.loss_plan_l1_fix_dist: 0.3650, d4.loss_plan_l1_fix_time: 2.0013, d4.loss_plan_l1_fix_dist: 0.3807, d5.loss_plan_l1_fix_time: 2.0084, d5.loss_plan_l1_fix_dist: 0.3980, d6.loss_plan_l1_fix_time: 2.0160, d6.loss_plan_l1_fix_dist: 0.4174, d0.loss_cls_all: 0.4875, d0.loss_bbox_all: 0.6148, d0.loss_cls: 0.4875, d0.loss_bbox: 0.6148, d1.loss_cls: 0.4812, d1.loss_bbox: 0.5921, d2.loss_cls: 0.4797, d2.loss_bbox: 0.5814, d3.loss_cls: 0.4776, d3.loss_bbox: 0.5764, d4.loss_cls: 0.4760, d4.loss_bbox: 0.5791, d5.loss_cls: 0.4775, d5.loss_bbox: 0.5821, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3204, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2060, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1604, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1611, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1621, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1650, d0.loss_map_cls_all: 0.3513, d0.loss_map_pts_all: 2.6910, d0.loss_map_dir_all: 0.0308, d0.loss_map_cls: 0.3513, d0.loss_map_pts: 2.6910, d0.loss_map_dir: 0.0308, d1.loss_map_cls: 0.3429, d1.loss_map_pts: 1.7073, d1.loss_map_dir: 0.0309, d2.loss_map_cls: 0.3330, d2.loss_map_pts: 1.5900, d2.loss_map_dir: 0.0318, d3.loss_map_cls: 0.3252, d3.loss_map_pts: 1.5596, d3.loss_map_dir: 0.0327, d4.loss_map_cls: 0.3229, d4.loss_map_pts: 1.5555, d4.loss_map_dir: 0.0332, d5.loss_map_cls: 0.3247, d5.loss_map_pts: 1.5588, d5.loss_map_dir: 0.0334, loss: 52.0570, grad_norm: 154.8838 +2026-02-24 17:56:57,414 - DriveTransformer - INFO - Epoch [2][31350/39528] lr: 9.958e-05, eta: 8 days, 2:13:38, time: 0.770, data_time: 0.044, memory: 19865, loss_cls: 0.5017, loss_bbox: 0.6097, loss_traj: 1.5988, loss_traj_cls: 0.0005, loss_map_cls: 0.3798, loss_map_pts: 1.4722, loss_map_dir: 0.0245, d0.loss_plan_l1_fix_time: 3.0107, d0.loss_plan_l1_fix_dist: 0.4364, d1.loss_plan_l1_fix_time: 2.2527, d1.loss_plan_l1_fix_dist: 0.3573, d2.loss_plan_l1_fix_time: 2.2191, d2.loss_plan_l1_fix_dist: 0.3631, d3.loss_plan_l1_fix_time: 2.2140, d3.loss_plan_l1_fix_dist: 0.3785, d4.loss_plan_l1_fix_time: 2.2170, d4.loss_plan_l1_fix_dist: 0.3978, d5.loss_plan_l1_fix_time: 2.2223, d5.loss_plan_l1_fix_dist: 0.4177, d6.loss_plan_l1_fix_time: 2.2293, d6.loss_plan_l1_fix_dist: 0.4363, d0.loss_cls_all: 0.4971, d0.loss_bbox_all: 0.6530, d0.loss_cls: 0.4971, d0.loss_bbox: 0.6530, d1.loss_cls: 0.4950, d1.loss_bbox: 0.6283, d2.loss_cls: 0.4928, d2.loss_bbox: 0.6161, d3.loss_cls: 0.4905, d3.loss_bbox: 0.6109, d4.loss_cls: 0.4938, d4.loss_bbox: 0.6069, d5.loss_cls: 0.4950, d5.loss_bbox: 0.6080, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7500, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.5788, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.5545, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.5628, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5644, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5773, d0.loss_map_cls_all: 0.4116, d0.loss_map_pts_all: 2.1979, d0.loss_map_dir_all: 0.0221, d0.loss_map_cls: 0.4116, d0.loss_map_pts: 2.1979, d0.loss_map_dir: 0.0221, d1.loss_map_cls: 0.4033, d1.loss_map_pts: 1.6229, d1.loss_map_dir: 0.0224, d2.loss_map_cls: 0.3899, d2.loss_map_pts: 1.5243, d2.loss_map_dir: 0.0231, d3.loss_map_cls: 0.3858, d3.loss_map_pts: 1.4864, d3.loss_map_dir: 0.0237, d4.loss_map_cls: 0.3827, d4.loss_map_pts: 1.4724, d4.loss_map_dir: 0.0240, d5.loss_map_cls: 0.3802, d5.loss_map_pts: 1.4732, d5.loss_map_dir: 0.0243, loss: 56.0712, grad_norm: 154.2163 +2026-02-24 17:57:37,513 - DriveTransformer - INFO - Epoch [2][31400/39528] lr: 9.958e-05, eta: 8 days, 2:13:02, time: 0.802, data_time: 0.038, memory: 19865, loss_cls: 0.4770, loss_bbox: 0.5848, loss_traj: 1.3092, loss_traj_cls: 0.0005, loss_map_cls: 0.3124, loss_map_pts: 1.3287, loss_map_dir: 0.0236, d0.loss_plan_l1_fix_time: 2.6879, d0.loss_plan_l1_fix_dist: 0.4285, d1.loss_plan_l1_fix_time: 2.0199, d1.loss_plan_l1_fix_dist: 0.3014, d2.loss_plan_l1_fix_time: 1.9765, d2.loss_plan_l1_fix_dist: 0.3099, d3.loss_plan_l1_fix_time: 1.9709, d3.loss_plan_l1_fix_dist: 0.3276, d4.loss_plan_l1_fix_time: 1.9748, d4.loss_plan_l1_fix_dist: 0.3473, d5.loss_plan_l1_fix_time: 1.9807, d5.loss_plan_l1_fix_dist: 0.3695, d6.loss_plan_l1_fix_time: 1.9888, d6.loss_plan_l1_fix_dist: 0.3915, d0.loss_cls_all: 0.4788, d0.loss_bbox_all: 0.6209, d0.loss_cls: 0.4788, d0.loss_bbox: 0.6209, d1.loss_cls: 0.4700, d1.loss_bbox: 0.5989, d2.loss_cls: 0.4684, d2.loss_bbox: 0.5936, d3.loss_cls: 0.4708, d3.loss_bbox: 0.5866, d4.loss_cls: 0.4730, d4.loss_bbox: 0.5819, d5.loss_cls: 0.4744, d5.loss_bbox: 0.5822, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4133, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3139, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3113, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3093, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.3100, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3090, d0.loss_map_cls_all: 0.3511, d0.loss_map_pts_all: 2.2060, d0.loss_map_dir_all: 0.0215, d0.loss_map_cls: 0.3511, d0.loss_map_pts: 2.2060, d0.loss_map_dir: 0.0215, d1.loss_map_cls: 0.3389, d1.loss_map_pts: 1.4980, d1.loss_map_dir: 0.0216, d2.loss_map_cls: 0.3234, d2.loss_map_pts: 1.3837, d2.loss_map_dir: 0.0223, d3.loss_map_cls: 0.3170, d3.loss_map_pts: 1.3436, d3.loss_map_dir: 0.0228, d4.loss_map_cls: 0.3107, d4.loss_map_pts: 1.3318, d4.loss_map_dir: 0.0232, d5.loss_map_cls: 0.3118, d5.loss_map_pts: 1.3339, d5.loss_map_dir: 0.0234, loss: 50.3458, grad_norm: 156.1109 +2026-02-24 17:58:17,446 - DriveTransformer - INFO - Epoch [2][31450/39528] lr: 9.958e-05, eta: 8 days, 2:12:23, time: 0.799, data_time: 0.040, memory: 19865, loss_cls: 0.4813, loss_bbox: 0.5970, loss_traj: 1.3795, loss_traj_cls: 0.0005, loss_map_cls: 0.3081, loss_map_pts: 1.3237, loss_map_dir: 0.0256, d0.loss_plan_l1_fix_time: 2.6859, d0.loss_plan_l1_fix_dist: 0.4189, d1.loss_plan_l1_fix_time: 2.1639, d1.loss_plan_l1_fix_dist: 0.3108, d2.loss_plan_l1_fix_time: 2.1357, d2.loss_plan_l1_fix_dist: 0.3238, d3.loss_plan_l1_fix_time: 2.1310, d3.loss_plan_l1_fix_dist: 0.3427, d4.loss_plan_l1_fix_time: 2.1349, d4.loss_plan_l1_fix_dist: 0.3647, d5.loss_plan_l1_fix_time: 2.1398, d5.loss_plan_l1_fix_dist: 0.3887, d6.loss_plan_l1_fix_time: 2.1454, d6.loss_plan_l1_fix_dist: 0.4186, d0.loss_cls_all: 0.4921, d0.loss_bbox_all: 0.6328, d0.loss_cls: 0.4921, d0.loss_bbox: 0.6328, d1.loss_cls: 0.4826, d1.loss_bbox: 0.6158, d2.loss_cls: 0.4799, d2.loss_bbox: 0.6068, d3.loss_cls: 0.4762, d3.loss_bbox: 0.5990, d4.loss_cls: 0.4747, d4.loss_bbox: 0.5936, d5.loss_cls: 0.4757, d5.loss_bbox: 0.5934, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6276, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.4344, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.4122, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.4087, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3874, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3898, d0.loss_map_cls_all: 0.3590, d0.loss_map_pts_all: 2.3867, d0.loss_map_dir_all: 0.0234, d0.loss_map_cls: 0.3590, d0.loss_map_pts: 2.3867, d0.loss_map_dir: 0.0234, d1.loss_map_cls: 0.3464, d1.loss_map_pts: 1.5011, d1.loss_map_dir: 0.0235, d2.loss_map_cls: 0.3252, d2.loss_map_pts: 1.3827, d2.loss_map_dir: 0.0241, d3.loss_map_cls: 0.3168, d3.loss_map_pts: 1.3399, d3.loss_map_dir: 0.0248, d4.loss_map_cls: 0.3103, d4.loss_map_pts: 1.3256, d4.loss_map_dir: 0.0252, d5.loss_map_cls: 0.3088, d5.loss_map_pts: 1.3232, d5.loss_map_dir: 0.0254, loss: 52.6742, grad_norm: 153.7785 +2026-02-24 17:58:58,915 - DriveTransformer - INFO - Epoch [2][31500/39528] lr: 9.958e-05, eta: 8 days, 2:12:04, time: 0.829, data_time: 0.037, memory: 19865, loss_cls: 0.4727, loss_bbox: 0.5806, loss_traj: 1.3030, loss_traj_cls: 0.0006, loss_map_cls: 0.3122, loss_map_pts: 1.5134, loss_map_dir: 0.0266, d0.loss_plan_l1_fix_time: 2.6014, d0.loss_plan_l1_fix_dist: 0.4761, d1.loss_plan_l1_fix_time: 1.9552, d1.loss_plan_l1_fix_dist: 0.3792, d2.loss_plan_l1_fix_time: 1.9214, d2.loss_plan_l1_fix_dist: 0.3918, d3.loss_plan_l1_fix_time: 1.9188, d3.loss_plan_l1_fix_dist: 0.4105, d4.loss_plan_l1_fix_time: 1.9235, d4.loss_plan_l1_fix_dist: 0.4329, d5.loss_plan_l1_fix_time: 1.9292, d5.loss_plan_l1_fix_dist: 0.4599, d6.loss_plan_l1_fix_time: 1.9363, d6.loss_plan_l1_fix_dist: 0.4852, d0.loss_cls_all: 0.4774, d0.loss_bbox_all: 0.6227, d0.loss_cls: 0.4774, d0.loss_bbox: 0.6227, d1.loss_cls: 0.4706, d1.loss_bbox: 0.6014, d2.loss_cls: 0.4700, d2.loss_bbox: 0.5899, d3.loss_cls: 0.4693, d3.loss_bbox: 0.5817, d4.loss_cls: 0.4681, d4.loss_bbox: 0.5774, d5.loss_cls: 0.4702, d5.loss_bbox: 0.5786, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4683, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3238, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2943, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3106, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3083, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3019, d0.loss_map_cls_all: 0.3597, d0.loss_map_pts_all: 2.4679, d0.loss_map_dir_all: 0.0250, d0.loss_map_cls: 0.3597, d0.loss_map_pts: 2.4679, d0.loss_map_dir: 0.0250, d1.loss_map_cls: 0.3462, d1.loss_map_pts: 1.6822, d1.loss_map_dir: 0.0249, d2.loss_map_cls: 0.3269, d2.loss_map_pts: 1.5713, d2.loss_map_dir: 0.0254, d3.loss_map_cls: 0.3184, d3.loss_map_pts: 1.5332, d3.loss_map_dir: 0.0259, d4.loss_map_cls: 0.3128, d4.loss_map_pts: 1.5191, d4.loss_map_dir: 0.0263, d5.loss_map_cls: 0.3117, d5.loss_map_pts: 1.5136, d5.loss_map_dir: 0.0265, loss: 52.1894, grad_norm: 153.3711 +2026-02-24 17:59:37,761 - DriveTransformer - INFO - Epoch [2][31550/39528] lr: 9.958e-05, eta: 8 days, 2:11:12, time: 0.777, data_time: 0.036, memory: 19865, loss_cls: 0.4816, loss_bbox: 0.5978, loss_traj: 1.2395, loss_traj_cls: 0.0005, loss_map_cls: 0.3180, loss_map_pts: 1.4354, loss_map_dir: 0.0247, d0.loss_plan_l1_fix_time: 2.9171, d0.loss_plan_l1_fix_dist: 0.5377, d1.loss_plan_l1_fix_time: 2.2878, d1.loss_plan_l1_fix_dist: 0.4191, d2.loss_plan_l1_fix_time: 2.2653, d2.loss_plan_l1_fix_dist: 0.4339, d3.loss_plan_l1_fix_time: 2.2661, d3.loss_plan_l1_fix_dist: 0.4562, d4.loss_plan_l1_fix_time: 2.2709, d4.loss_plan_l1_fix_dist: 0.4831, d5.loss_plan_l1_fix_time: 2.2761, d5.loss_plan_l1_fix_dist: 0.5107, d6.loss_plan_l1_fix_time: 2.2823, d6.loss_plan_l1_fix_dist: 0.5362, d0.loss_cls_all: 0.4926, d0.loss_bbox_all: 0.6425, d0.loss_cls: 0.4926, d0.loss_bbox: 0.6425, d1.loss_cls: 0.4859, d1.loss_bbox: 0.6142, d2.loss_cls: 0.4840, d2.loss_bbox: 0.6009, d3.loss_cls: 0.4835, d3.loss_bbox: 0.5980, d4.loss_cls: 0.4824, d4.loss_bbox: 0.5942, d5.loss_cls: 0.4825, d5.loss_bbox: 0.5954, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3411, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2690, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.2351, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2407, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2443, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2350, d0.loss_map_cls_all: 0.3581, d0.loss_map_pts_all: 2.2819, d0.loss_map_dir_all: 0.0232, d0.loss_map_cls: 0.3581, d0.loss_map_pts: 2.2819, d0.loss_map_dir: 0.0232, d1.loss_map_cls: 0.3486, d1.loss_map_pts: 1.5853, d1.loss_map_dir: 0.0234, d2.loss_map_cls: 0.3286, d2.loss_map_pts: 1.4874, d2.loss_map_dir: 0.0238, d3.loss_map_cls: 0.3203, d3.loss_map_pts: 1.4549, d3.loss_map_dir: 0.0243, d4.loss_map_cls: 0.3155, d4.loss_map_pts: 1.4444, d4.loss_map_dir: 0.0244, d5.loss_map_cls: 0.3163, d5.loss_map_pts: 1.4364, d5.loss_map_dir: 0.0247, loss: 53.7858, grad_norm: 152.3633 +2026-02-24 18:00:17,550 - DriveTransformer - INFO - Epoch [2][31600/39528] lr: 9.958e-05, eta: 8 days, 2:10:32, time: 0.796, data_time: 0.038, memory: 19865, loss_cls: 0.4856, loss_bbox: 0.6076, loss_traj: 1.2033, loss_traj_cls: 0.0005, loss_map_cls: 0.3316, loss_map_pts: 1.5134, loss_map_dir: 0.0270, d0.loss_plan_l1_fix_time: 2.9833, d0.loss_plan_l1_fix_dist: 0.4075, d1.loss_plan_l1_fix_time: 2.1358, d1.loss_plan_l1_fix_dist: 0.3598, d2.loss_plan_l1_fix_time: 2.0810, d2.loss_plan_l1_fix_dist: 0.3762, d3.loss_plan_l1_fix_time: 2.0756, d3.loss_plan_l1_fix_dist: 0.3924, d4.loss_plan_l1_fix_time: 2.0786, d4.loss_plan_l1_fix_dist: 0.4107, d5.loss_plan_l1_fix_time: 2.0831, d5.loss_plan_l1_fix_dist: 0.4304, d6.loss_plan_l1_fix_time: 2.0879, d6.loss_plan_l1_fix_dist: 0.4523, d0.loss_cls_all: 0.5008, d0.loss_bbox_all: 0.6346, d0.loss_cls: 0.5008, d0.loss_bbox: 0.6346, d1.loss_cls: 0.4971, d1.loss_bbox: 0.6127, d2.loss_cls: 0.4890, d2.loss_bbox: 0.6046, d3.loss_cls: 0.4830, d3.loss_bbox: 0.6038, d4.loss_cls: 0.4853, d4.loss_bbox: 0.6048, d5.loss_cls: 0.4849, d5.loss_bbox: 0.6060, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3664, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2299, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.2022, d3.loss_traj_cls: 0.0008, d3.loss_traj: 1.1937, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.1957, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1943, d0.loss_map_cls_all: 0.3668, d0.loss_map_pts_all: 2.4284, d0.loss_map_dir_all: 0.0248, d0.loss_map_cls: 0.3668, d0.loss_map_pts: 2.4284, d0.loss_map_dir: 0.0248, d1.loss_map_cls: 0.3588, d1.loss_map_pts: 1.6490, d1.loss_map_dir: 0.0249, d2.loss_map_cls: 0.3422, d2.loss_map_pts: 1.5589, d2.loss_map_dir: 0.0257, d3.loss_map_cls: 0.3357, d3.loss_map_pts: 1.5264, d3.loss_map_dir: 0.0262, d4.loss_map_cls: 0.3312, d4.loss_map_pts: 1.5137, d4.loss_map_dir: 0.0265, d5.loss_map_cls: 0.3308, d5.loss_map_pts: 1.5093, d5.loss_map_dir: 0.0268, loss: 52.8786, grad_norm: 151.9306 +2026-02-24 18:00:56,696 - DriveTransformer - INFO - Epoch [2][31650/39528] lr: 9.958e-05, eta: 8 days, 2:09:43, time: 0.783, data_time: 0.041, memory: 19865, loss_cls: 0.4995, loss_bbox: 0.6232, loss_traj: 1.3019, loss_traj_cls: 0.0006, loss_map_cls: 0.3728, loss_map_pts: 1.5493, loss_map_dir: 0.0310, d0.loss_plan_l1_fix_time: 3.0877, d0.loss_plan_l1_fix_dist: 0.4014, d1.loss_plan_l1_fix_time: 2.3586, d1.loss_plan_l1_fix_dist: 0.3458, d2.loss_plan_l1_fix_time: 2.3002, d2.loss_plan_l1_fix_dist: 0.3676, d3.loss_plan_l1_fix_time: 2.2949, d3.loss_plan_l1_fix_dist: 0.3932, d4.loss_plan_l1_fix_time: 2.2981, d4.loss_plan_l1_fix_dist: 0.4190, d5.loss_plan_l1_fix_time: 2.3030, d5.loss_plan_l1_fix_dist: 0.4481, d6.loss_plan_l1_fix_time: 2.3092, d6.loss_plan_l1_fix_dist: 0.4842, d0.loss_cls_all: 0.5044, d0.loss_bbox_all: 0.6613, d0.loss_cls: 0.5044, d0.loss_bbox: 0.6613, d1.loss_cls: 0.5083, d1.loss_bbox: 0.6325, d2.loss_cls: 0.5019, d2.loss_bbox: 0.6237, d3.loss_cls: 0.4970, d3.loss_bbox: 0.6210, d4.loss_cls: 0.4956, d4.loss_bbox: 0.6195, d5.loss_cls: 0.4981, d5.loss_bbox: 0.6191, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4525, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3059, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.2856, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2840, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2880, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2899, d0.loss_map_cls_all: 0.4107, d0.loss_map_pts_all: 2.5200, d0.loss_map_dir_all: 0.0283, d0.loss_map_cls: 0.4107, d0.loss_map_pts: 2.5200, d0.loss_map_dir: 0.0283, d1.loss_map_cls: 0.4020, d1.loss_map_pts: 1.7460, d1.loss_map_dir: 0.0286, d2.loss_map_cls: 0.3874, d2.loss_map_pts: 1.6227, d2.loss_map_dir: 0.0294, d3.loss_map_cls: 0.3778, d3.loss_map_pts: 1.5732, d3.loss_map_dir: 0.0300, d4.loss_map_cls: 0.3723, d4.loss_map_pts: 1.5560, d4.loss_map_dir: 0.0305, d5.loss_map_cls: 0.3731, d5.loss_map_pts: 1.5480, d5.loss_map_dir: 0.0308, loss: 56.0736, grad_norm: 150.7861 +2026-02-24 18:01:35,616 - DriveTransformer - INFO - Epoch [2][31700/39528] lr: 9.958e-05, eta: 8 days, 2:08:52, time: 0.778, data_time: 0.042, memory: 19865, loss_cls: 0.4848, loss_bbox: 0.6289, loss_traj: 1.5103, loss_traj_cls: 0.0006, loss_map_cls: 0.3272, loss_map_pts: 1.3615, loss_map_dir: 0.0245, d0.loss_plan_l1_fix_time: 3.1067, d0.loss_plan_l1_fix_dist: 0.4410, d1.loss_plan_l1_fix_time: 2.5440, d1.loss_plan_l1_fix_dist: 0.3870, d2.loss_plan_l1_fix_time: 2.5252, d2.loss_plan_l1_fix_dist: 0.4041, d3.loss_plan_l1_fix_time: 2.5265, d3.loss_plan_l1_fix_dist: 0.4278, d4.loss_plan_l1_fix_time: 2.5328, d4.loss_plan_l1_fix_dist: 0.4559, d5.loss_plan_l1_fix_time: 2.5412, d5.loss_plan_l1_fix_dist: 0.4853, d6.loss_plan_l1_fix_time: 2.5517, d6.loss_plan_l1_fix_dist: 0.5172, d0.loss_cls_all: 0.4925, d0.loss_bbox_all: 0.6727, d0.loss_cls: 0.4925, d0.loss_bbox: 0.6727, d1.loss_cls: 0.4869, d1.loss_bbox: 0.6479, d2.loss_cls: 0.4856, d2.loss_bbox: 0.6363, d3.loss_cls: 0.4839, d3.loss_bbox: 0.6290, d4.loss_cls: 0.4841, d4.loss_bbox: 0.6283, d5.loss_cls: 0.4835, d5.loss_bbox: 0.6269, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5897, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.4978, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.5025, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.5108, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5239, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5224, d0.loss_map_cls_all: 0.3741, d0.loss_map_pts_all: 2.2618, d0.loss_map_dir_all: 0.0226, d0.loss_map_cls: 0.3741, d0.loss_map_pts: 2.2618, d0.loss_map_dir: 0.0226, d1.loss_map_cls: 0.3576, d1.loss_map_pts: 1.5431, d1.loss_map_dir: 0.0227, d2.loss_map_cls: 0.3446, d2.loss_map_pts: 1.4315, d2.loss_map_dir: 0.0233, d3.loss_map_cls: 0.3353, d3.loss_map_pts: 1.3817, d3.loss_map_dir: 0.0238, d4.loss_map_cls: 0.3312, d4.loss_map_pts: 1.3647, d4.loss_map_dir: 0.0241, d5.loss_map_cls: 0.3283, d5.loss_map_pts: 1.3590, d5.loss_map_dir: 0.0243, loss: 57.0716, grad_norm: 150.6855 +2026-02-24 18:02:15,792 - DriveTransformer - INFO - Epoch [2][31750/39528] lr: 9.958e-05, eta: 8 days, 2:08:17, time: 0.804, data_time: 0.041, memory: 19865, loss_cls: 0.4895, loss_bbox: 0.6352, loss_traj: 1.4521, loss_traj_cls: 0.0006, loss_map_cls: 0.3781, loss_map_pts: 1.6209, loss_map_dir: 0.0266, d0.loss_plan_l1_fix_time: 2.8198, d0.loss_plan_l1_fix_dist: 0.4993, d1.loss_plan_l1_fix_time: 2.1254, d1.loss_plan_l1_fix_dist: 0.4014, d2.loss_plan_l1_fix_time: 2.0733, d2.loss_plan_l1_fix_dist: 0.4171, d3.loss_plan_l1_fix_time: 2.0661, d3.loss_plan_l1_fix_dist: 0.4399, d4.loss_plan_l1_fix_time: 2.0696, d4.loss_plan_l1_fix_dist: 0.4690, d5.loss_plan_l1_fix_time: 2.0758, d5.loss_plan_l1_fix_dist: 0.5022, d6.loss_plan_l1_fix_time: 2.0859, d6.loss_plan_l1_fix_dist: 0.5335, d0.loss_cls_all: 0.5001, d0.loss_bbox_all: 0.6838, d0.loss_cls: 0.5001, d0.loss_bbox: 0.6838, d1.loss_cls: 0.4982, d1.loss_bbox: 0.6613, d2.loss_cls: 0.4975, d2.loss_bbox: 0.6446, d3.loss_cls: 0.4917, d3.loss_bbox: 0.6391, d4.loss_cls: 0.4904, d4.loss_bbox: 0.6372, d5.loss_cls: 0.4896, d5.loss_bbox: 0.6333, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5319, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.4584, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.4303, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.4398, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4429, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4469, d0.loss_map_cls_all: 0.4165, d0.loss_map_pts_all: 2.5334, d0.loss_map_dir_all: 0.0250, d0.loss_map_cls: 0.4165, d0.loss_map_pts: 2.5334, d0.loss_map_dir: 0.0250, d1.loss_map_cls: 0.4055, d1.loss_map_pts: 1.7896, d1.loss_map_dir: 0.0249, d2.loss_map_cls: 0.3936, d2.loss_map_pts: 1.6863, d2.loss_map_dir: 0.0255, d3.loss_map_cls: 0.3855, d3.loss_map_pts: 1.6419, d3.loss_map_dir: 0.0260, d4.loss_map_cls: 0.3806, d4.loss_map_pts: 1.6255, d4.loss_map_dir: 0.0262, d5.loss_map_cls: 0.3776, d5.loss_map_pts: 1.6222, d5.loss_map_dir: 0.0264, loss: 56.3745, grad_norm: 150.5798 +2026-02-24 18:02:55,363 - DriveTransformer - INFO - Epoch [2][31800/39528] lr: 9.958e-05, eta: 8 days, 2:07:35, time: 0.793, data_time: 0.044, memory: 19865, loss_cls: 0.4586, loss_bbox: 0.5904, loss_traj: 1.2325, loss_traj_cls: 0.0005, loss_map_cls: 0.3297, loss_map_pts: 1.3687, loss_map_dir: 0.0234, d0.loss_plan_l1_fix_time: 2.8645, d0.loss_plan_l1_fix_dist: 0.4839, d1.loss_plan_l1_fix_time: 2.0524, d1.loss_plan_l1_fix_dist: 0.3337, d2.loss_plan_l1_fix_time: 2.0323, d2.loss_plan_l1_fix_dist: 0.3497, d3.loss_plan_l1_fix_time: 2.0364, d3.loss_plan_l1_fix_dist: 0.3716, d4.loss_plan_l1_fix_time: 2.0419, d4.loss_plan_l1_fix_dist: 0.3948, d5.loss_plan_l1_fix_time: 2.0486, d5.loss_plan_l1_fix_dist: 0.4198, d6.loss_plan_l1_fix_time: 2.0577, d6.loss_plan_l1_fix_dist: 0.4471, d0.loss_cls_all: 0.4800, d0.loss_bbox_all: 0.6209, d0.loss_cls: 0.4800, d0.loss_bbox: 0.6209, d1.loss_cls: 0.4654, d1.loss_bbox: 0.6061, d2.loss_cls: 0.4595, d2.loss_bbox: 0.5943, d3.loss_cls: 0.4586, d3.loss_bbox: 0.5898, d4.loss_cls: 0.4570, d4.loss_bbox: 0.5897, d5.loss_cls: 0.4583, d5.loss_bbox: 0.5887, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3458, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2143, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1974, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2157, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2330, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2337, d0.loss_map_cls_all: 0.3668, d0.loss_map_pts_all: 2.0468, d0.loss_map_dir_all: 0.0216, d0.loss_map_cls: 0.3668, d0.loss_map_pts: 2.0468, d0.loss_map_dir: 0.0216, d1.loss_map_cls: 0.3494, d1.loss_map_pts: 1.5288, d1.loss_map_dir: 0.0218, d2.loss_map_cls: 0.3383, d2.loss_map_pts: 1.4258, d2.loss_map_dir: 0.0222, d3.loss_map_cls: 0.3336, d3.loss_map_pts: 1.3838, d3.loss_map_dir: 0.0226, d4.loss_map_cls: 0.3293, d4.loss_map_pts: 1.3744, d4.loss_map_dir: 0.0230, d5.loss_map_cls: 0.3279, d5.loss_map_pts: 1.3703, d5.loss_map_dir: 0.0233, loss: 50.5967, grad_norm: 147.7320 +2026-02-24 18:03:35,839 - DriveTransformer - INFO - Epoch [2][31850/39528] lr: 9.958e-05, eta: 8 days, 2:07:02, time: 0.808, data_time: 0.040, memory: 19865, loss_cls: 0.4574, loss_bbox: 0.5758, loss_traj: 1.1321, loss_traj_cls: 0.0005, loss_map_cls: 0.3025, loss_map_pts: 1.5183, loss_map_dir: 0.0313, d0.loss_plan_l1_fix_time: 2.3168, d0.loss_plan_l1_fix_dist: 0.5077, d1.loss_plan_l1_fix_time: 1.8268, d1.loss_plan_l1_fix_dist: 0.3724, d2.loss_plan_l1_fix_time: 1.8057, d2.loss_plan_l1_fix_dist: 0.3875, d3.loss_plan_l1_fix_time: 1.8052, d3.loss_plan_l1_fix_dist: 0.4135, d4.loss_plan_l1_fix_time: 1.8087, d4.loss_plan_l1_fix_dist: 0.4422, d5.loss_plan_l1_fix_time: 1.8127, d5.loss_plan_l1_fix_dist: 0.4741, d6.loss_plan_l1_fix_time: 1.8170, d6.loss_plan_l1_fix_dist: 0.5088, d0.loss_cls_all: 0.4628, d0.loss_bbox_all: 0.6222, d0.loss_cls: 0.4628, d0.loss_bbox: 0.6222, d1.loss_cls: 0.4589, d1.loss_bbox: 0.5959, d2.loss_cls: 0.4571, d2.loss_bbox: 0.5831, d3.loss_cls: 0.4556, d3.loss_bbox: 0.5768, d4.loss_cls: 0.4568, d4.loss_bbox: 0.5743, d5.loss_cls: 0.4564, d5.loss_bbox: 0.5745, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1848, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.0979, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.0934, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.0936, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.0997, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1113, d0.loss_map_cls_all: 0.3336, d0.loss_map_pts_all: 2.6055, d0.loss_map_dir_all: 0.0283, d0.loss_map_cls: 0.3336, d0.loss_map_pts: 2.6055, d0.loss_map_dir: 0.0283, d1.loss_map_cls: 0.3211, d1.loss_map_pts: 1.7194, d1.loss_map_dir: 0.0287, d2.loss_map_cls: 0.3103, d2.loss_map_pts: 1.5827, d2.loss_map_dir: 0.0297, d3.loss_map_cls: 0.3056, d3.loss_map_pts: 1.5332, d3.loss_map_dir: 0.0304, d4.loss_map_cls: 0.3015, d4.loss_map_pts: 1.5246, d4.loss_map_dir: 0.0308, d5.loss_map_cls: 0.3015, d5.loss_map_pts: 1.5190, d5.loss_map_dir: 0.0310, loss: 49.8658, grad_norm: 147.2083 +2026-02-24 18:04:17,008 - DriveTransformer - INFO - Epoch [2][31900/39528] lr: 9.958e-05, eta: 8 days, 2:06:39, time: 0.823, data_time: 0.036, memory: 19865, loss_cls: 0.4799, loss_bbox: 0.6063, loss_traj: 1.2342, loss_traj_cls: 0.0005, loss_map_cls: 0.3302, loss_map_pts: 1.5406, loss_map_dir: 0.0304, d0.loss_plan_l1_fix_time: 3.1915, d0.loss_plan_l1_fix_dist: 0.5176, d1.loss_plan_l1_fix_time: 2.4890, d1.loss_plan_l1_fix_dist: 0.3245, d2.loss_plan_l1_fix_time: 2.4747, d2.loss_plan_l1_fix_dist: 0.3368, d3.loss_plan_l1_fix_time: 2.4825, d3.loss_plan_l1_fix_dist: 0.3578, d4.loss_plan_l1_fix_time: 2.4884, d4.loss_plan_l1_fix_dist: 0.3835, d5.loss_plan_l1_fix_time: 2.4942, d5.loss_plan_l1_fix_dist: 0.4121, d6.loss_plan_l1_fix_time: 2.4994, d6.loss_plan_l1_fix_dist: 0.4413, d0.loss_cls_all: 0.4892, d0.loss_bbox_all: 0.6399, d0.loss_cls: 0.4892, d0.loss_bbox: 0.6399, d1.loss_cls: 0.4834, d1.loss_bbox: 0.6229, d2.loss_cls: 0.4798, d2.loss_bbox: 0.6149, d3.loss_cls: 0.4781, d3.loss_bbox: 0.6075, d4.loss_cls: 0.4802, d4.loss_bbox: 0.6037, d5.loss_cls: 0.4790, d5.loss_bbox: 0.6035, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3073, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2150, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.1868, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1944, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2036, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2102, d0.loss_map_cls_all: 0.3627, d0.loss_map_pts_all: 2.4688, d0.loss_map_dir_all: 0.0273, d0.loss_map_cls: 0.3627, d0.loss_map_pts: 2.4688, d0.loss_map_dir: 0.0273, d1.loss_map_cls: 0.3580, d1.loss_map_pts: 1.7174, d1.loss_map_dir: 0.0277, d2.loss_map_cls: 0.3440, d2.loss_map_pts: 1.5879, d2.loss_map_dir: 0.0286, d3.loss_map_cls: 0.3358, d3.loss_map_pts: 1.5495, d3.loss_map_dir: 0.0292, d4.loss_map_cls: 0.3295, d4.loss_map_pts: 1.5397, d4.loss_map_dir: 0.0299, d5.loss_map_cls: 0.3299, d5.loss_map_pts: 1.5377, d5.loss_map_dir: 0.0301, loss: 55.6414, grad_norm: 146.6575 +2026-02-24 18:04:57,331 - DriveTransformer - INFO - Epoch [2][31950/39528] lr: 9.958e-05, eta: 8 days, 2:06:05, time: 0.806, data_time: 0.041, memory: 19865, loss_cls: 0.4617, loss_bbox: 0.6089, loss_traj: 1.3322, loss_traj_cls: 0.0006, loss_map_cls: 0.3495, loss_map_pts: 1.5934, loss_map_dir: 0.0278, d0.loss_plan_l1_fix_time: 2.8517, d0.loss_plan_l1_fix_dist: 0.5575, d1.loss_plan_l1_fix_time: 1.9057, d1.loss_plan_l1_fix_dist: 0.3784, d2.loss_plan_l1_fix_time: 1.8506, d2.loss_plan_l1_fix_dist: 0.3977, d3.loss_plan_l1_fix_time: 1.8425, d3.loss_plan_l1_fix_dist: 0.4208, d4.loss_plan_l1_fix_time: 1.8450, d4.loss_plan_l1_fix_dist: 0.4481, d5.loss_plan_l1_fix_time: 1.8502, d5.loss_plan_l1_fix_dist: 0.4757, d6.loss_plan_l1_fix_time: 1.8576, d6.loss_plan_l1_fix_dist: 0.5067, d0.loss_cls_all: 0.4791, d0.loss_bbox_all: 0.6574, d0.loss_cls: 0.4791, d0.loss_bbox: 0.6574, d1.loss_cls: 0.4684, d1.loss_bbox: 0.6340, d2.loss_cls: 0.4624, d2.loss_bbox: 0.6195, d3.loss_cls: 0.4598, d3.loss_bbox: 0.6134, d4.loss_cls: 0.4620, d4.loss_bbox: 0.6097, d5.loss_cls: 0.4629, d5.loss_bbox: 0.6068, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4312, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3095, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2949, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3084, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3167, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3188, d0.loss_map_cls_all: 0.3841, d0.loss_map_pts_all: 2.4994, d0.loss_map_dir_all: 0.0252, d0.loss_map_cls: 0.3841, d0.loss_map_pts: 2.4994, d0.loss_map_dir: 0.0252, d1.loss_map_cls: 0.3769, d1.loss_map_pts: 1.7580, d1.loss_map_dir: 0.0257, d2.loss_map_cls: 0.3580, d2.loss_map_pts: 1.6429, d2.loss_map_dir: 0.0265, d3.loss_map_cls: 0.3531, d3.loss_map_pts: 1.6045, d3.loss_map_dir: 0.0270, d4.loss_map_cls: 0.3486, d4.loss_map_pts: 1.5920, d4.loss_map_dir: 0.0273, d5.loss_map_cls: 0.3476, d5.loss_map_pts: 1.5915, d5.loss_map_dir: 0.0276, loss: 53.1437, grad_norm: 147.2516 +2026-02-24 18:05:38,938 - DriveTransformer - INFO - Epoch [2][32000/39528] lr: 9.958e-05, eta: 8 days, 2:05:47, time: 0.832, data_time: 0.039, memory: 19865, loss_cls: 0.4884, loss_bbox: 0.6239, loss_traj: 1.3131, loss_traj_cls: 0.0006, loss_map_cls: 0.3271, loss_map_pts: 1.4535, loss_map_dir: 0.0289, d0.loss_plan_l1_fix_time: 2.8813, d0.loss_plan_l1_fix_dist: 0.4452, d1.loss_plan_l1_fix_time: 2.1996, d1.loss_plan_l1_fix_dist: 0.3680, d2.loss_plan_l1_fix_time: 2.1565, d2.loss_plan_l1_fix_dist: 0.3837, d3.loss_plan_l1_fix_time: 2.1538, d3.loss_plan_l1_fix_dist: 0.4060, d4.loss_plan_l1_fix_time: 2.1596, d4.loss_plan_l1_fix_dist: 0.4328, d5.loss_plan_l1_fix_time: 2.1669, d5.loss_plan_l1_fix_dist: 0.4581, d6.loss_plan_l1_fix_time: 2.1760, d6.loss_plan_l1_fix_dist: 0.4867, d0.loss_cls_all: 0.5006, d0.loss_bbox_all: 0.6502, d0.loss_cls: 0.5006, d0.loss_bbox: 0.6502, d1.loss_cls: 0.4899, d1.loss_bbox: 0.6297, d2.loss_cls: 0.4874, d2.loss_bbox: 0.6207, d3.loss_cls: 0.4830, d3.loss_bbox: 0.6242, d4.loss_cls: 0.4842, d4.loss_bbox: 0.6212, d5.loss_cls: 0.4876, d5.loss_bbox: 0.6213, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4152, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2988, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2674, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2871, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2838, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2935, d0.loss_map_cls_all: 0.3698, d0.loss_map_pts_all: 2.4560, d0.loss_map_dir_all: 0.0261, d0.loss_map_cls: 0.3698, d0.loss_map_pts: 2.4560, d0.loss_map_dir: 0.0261, d1.loss_map_cls: 0.3517, d1.loss_map_pts: 1.6198, d1.loss_map_dir: 0.0266, d2.loss_map_cls: 0.3412, d2.loss_map_pts: 1.4999, d2.loss_map_dir: 0.0273, d3.loss_map_cls: 0.3306, d3.loss_map_pts: 1.4617, d3.loss_map_dir: 0.0279, d4.loss_map_cls: 0.3259, d4.loss_map_pts: 1.4575, d4.loss_map_dir: 0.0284, d5.loss_map_cls: 0.3253, d5.loss_map_pts: 1.4523, d5.loss_map_dir: 0.0287, loss: 53.8195, grad_norm: 143.6554 +2026-02-24 18:06:17,958 - DriveTransformer - INFO - Epoch [2][32050/39528] lr: 9.958e-05, eta: 8 days, 2:04:57, time: 0.780, data_time: 0.043, memory: 19865, loss_cls: 0.4775, loss_bbox: 0.6670, loss_traj: 1.5537, loss_traj_cls: 0.0005, loss_map_cls: 0.3394, loss_map_pts: 1.4934, loss_map_dir: 0.0250, d0.loss_plan_l1_fix_time: 3.0879, d0.loss_plan_l1_fix_dist: 0.4167, d1.loss_plan_l1_fix_time: 2.3788, d1.loss_plan_l1_fix_dist: 0.3624, d2.loss_plan_l1_fix_time: 2.3390, d2.loss_plan_l1_fix_dist: 0.3755, d3.loss_plan_l1_fix_time: 2.3358, d3.loss_plan_l1_fix_dist: 0.3978, d4.loss_plan_l1_fix_time: 2.3385, d4.loss_plan_l1_fix_dist: 0.4249, d5.loss_plan_l1_fix_time: 2.3428, d5.loss_plan_l1_fix_dist: 0.4570, d6.loss_plan_l1_fix_time: 2.3501, d6.loss_plan_l1_fix_dist: 0.4875, d0.loss_cls_all: 0.4901, d0.loss_bbox_all: 0.6898, d0.loss_cls: 0.4901, d0.loss_bbox: 0.6898, d1.loss_cls: 0.4848, d1.loss_bbox: 0.6655, d2.loss_cls: 0.4841, d2.loss_bbox: 0.6586, d3.loss_cls: 0.4772, d3.loss_bbox: 0.6601, d4.loss_cls: 0.4779, d4.loss_bbox: 0.6572, d5.loss_cls: 0.4750, d5.loss_bbox: 0.6629, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6988, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.5202, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.4995, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.5076, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5069, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5293, d0.loss_map_cls_all: 0.3829, d0.loss_map_pts_all: 2.2770, d0.loss_map_dir_all: 0.0227, d0.loss_map_cls: 0.3829, d0.loss_map_pts: 2.2770, d0.loss_map_dir: 0.0227, d1.loss_map_cls: 0.3674, d1.loss_map_pts: 1.6599, d1.loss_map_dir: 0.0232, d2.loss_map_cls: 0.3536, d2.loss_map_pts: 1.5545, d2.loss_map_dir: 0.0237, d3.loss_map_cls: 0.3455, d3.loss_map_pts: 1.5118, d3.loss_map_dir: 0.0243, d4.loss_map_cls: 0.3421, d4.loss_map_pts: 1.5029, d4.loss_map_dir: 0.0246, d5.loss_map_cls: 0.3397, d5.loss_map_pts: 1.4953, d5.loss_map_dir: 0.0249, loss: 56.9399, grad_norm: 142.7265 +2026-02-24 18:06:58,862 - DriveTransformer - INFO - Epoch [2][32100/39528] lr: 9.958e-05, eta: 8 days, 2:04:30, time: 0.818, data_time: 0.040, memory: 19865, loss_cls: 0.4621, loss_bbox: 0.5863, loss_traj: 1.2196, loss_traj_cls: 0.0005, loss_map_cls: 0.3130, loss_map_pts: 1.3009, loss_map_dir: 0.0247, d0.loss_plan_l1_fix_time: 2.1752, d0.loss_plan_l1_fix_dist: 0.3619, d1.loss_plan_l1_fix_time: 1.7267, d1.loss_plan_l1_fix_dist: 0.3054, d2.loss_plan_l1_fix_time: 1.7146, d2.loss_plan_l1_fix_dist: 0.3152, d3.loss_plan_l1_fix_time: 1.7164, d3.loss_plan_l1_fix_dist: 0.3311, d4.loss_plan_l1_fix_time: 1.7212, d4.loss_plan_l1_fix_dist: 0.3480, d5.loss_plan_l1_fix_time: 1.7276, d5.loss_plan_l1_fix_dist: 0.3658, d6.loss_plan_l1_fix_time: 1.7366, d6.loss_plan_l1_fix_dist: 0.3848, d0.loss_cls_all: 0.4662, d0.loss_bbox_all: 0.6200, d0.loss_cls: 0.4662, d0.loss_bbox: 0.6200, d1.loss_cls: 0.4623, d1.loss_bbox: 0.5931, d2.loss_cls: 0.4575, d2.loss_bbox: 0.5858, d3.loss_cls: 0.4544, d3.loss_bbox: 0.5832, d4.loss_cls: 0.4545, d4.loss_bbox: 0.5815, d5.loss_cls: 0.4590, d5.loss_bbox: 0.5806, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3068, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2158, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1979, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1961, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1947, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2060, d0.loss_map_cls_all: 0.3506, d0.loss_map_pts_all: 2.1089, d0.loss_map_dir_all: 0.0222, d0.loss_map_cls: 0.3506, d0.loss_map_pts: 2.1089, d0.loss_map_dir: 0.0222, d1.loss_map_cls: 0.3363, d1.loss_map_pts: 1.4728, d1.loss_map_dir: 0.0225, d2.loss_map_cls: 0.3281, d2.loss_map_pts: 1.3600, d2.loss_map_dir: 0.0232, d3.loss_map_cls: 0.3180, d3.loss_map_pts: 1.3209, d3.loss_map_dir: 0.0238, d4.loss_map_cls: 0.3158, d4.loss_map_pts: 1.3041, d4.loss_map_dir: 0.0243, d5.loss_map_cls: 0.3129, d5.loss_map_pts: 1.3015, d5.loss_map_dir: 0.0245, loss: 46.9962, grad_norm: 141.2299 +2026-02-24 18:07:37,397 - DriveTransformer - INFO - Epoch [2][32150/39528] lr: 9.958e-05, eta: 8 days, 2:03:35, time: 0.771, data_time: 0.038, memory: 19865, loss_cls: 0.4416, loss_bbox: 0.5684, loss_traj: 1.1332, loss_traj_cls: 0.0005, loss_map_cls: 0.3145, loss_map_pts: 1.3201, loss_map_dir: 0.0247, d0.loss_plan_l1_fix_time: 2.4403, d0.loss_plan_l1_fix_dist: 0.5290, d1.loss_plan_l1_fix_time: 1.9195, d1.loss_plan_l1_fix_dist: 0.3566, d2.loss_plan_l1_fix_time: 1.8846, d2.loss_plan_l1_fix_dist: 0.3680, d3.loss_plan_l1_fix_time: 1.8784, d3.loss_plan_l1_fix_dist: 0.3932, d4.loss_plan_l1_fix_time: 1.8820, d4.loss_plan_l1_fix_dist: 0.4251, d5.loss_plan_l1_fix_time: 1.8877, d5.loss_plan_l1_fix_dist: 0.4573, d6.loss_plan_l1_fix_time: 1.8945, d6.loss_plan_l1_fix_dist: 0.4987, d0.loss_cls_all: 0.4612, d0.loss_bbox_all: 0.6018, d0.loss_cls: 0.4612, d0.loss_bbox: 0.6018, d1.loss_cls: 0.4459, d1.loss_bbox: 0.5836, d2.loss_cls: 0.4398, d2.loss_bbox: 0.5727, d3.loss_cls: 0.4365, d3.loss_bbox: 0.5704, d4.loss_cls: 0.4387, d4.loss_bbox: 0.5662, d5.loss_cls: 0.4381, d5.loss_bbox: 0.5657, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2327, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1447, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1095, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1206, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1154, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1214, d0.loss_map_cls_all: 0.3525, d0.loss_map_pts_all: 2.1271, d0.loss_map_dir_all: 0.0221, d0.loss_map_cls: 0.3525, d0.loss_map_pts: 2.1271, d0.loss_map_dir: 0.0221, d1.loss_map_cls: 0.3359, d1.loss_map_pts: 1.4938, d1.loss_map_dir: 0.0228, d2.loss_map_cls: 0.3228, d2.loss_map_pts: 1.3812, d2.loss_map_dir: 0.0233, d3.loss_map_cls: 0.3155, d3.loss_map_pts: 1.3425, d3.loss_map_dir: 0.0239, d4.loss_map_cls: 0.3163, d4.loss_map_pts: 1.3253, d4.loss_map_dir: 0.0243, d5.loss_map_cls: 0.3149, d5.loss_map_pts: 1.3222, d5.loss_map_dir: 0.0245, loss: 48.2431, grad_norm: 142.1335 +2026-02-24 18:08:18,186 - DriveTransformer - INFO - Epoch [2][32200/39528] lr: 9.958e-05, eta: 8 days, 2:03:06, time: 0.816, data_time: 0.036, memory: 19865, loss_cls: 0.4881, loss_bbox: 0.6386, loss_traj: 1.2683, loss_traj_cls: 0.0005, loss_map_cls: 0.3363, loss_map_pts: 1.5957, loss_map_dir: 0.0301, d0.loss_plan_l1_fix_time: 2.6282, d0.loss_plan_l1_fix_dist: 0.4376, d1.loss_plan_l1_fix_time: 2.0779, d1.loss_plan_l1_fix_dist: 0.3209, d2.loss_plan_l1_fix_time: 2.0406, d2.loss_plan_l1_fix_dist: 0.3288, d3.loss_plan_l1_fix_time: 2.0334, d3.loss_plan_l1_fix_dist: 0.3491, d4.loss_plan_l1_fix_time: 2.0363, d4.loss_plan_l1_fix_dist: 0.3744, d5.loss_plan_l1_fix_time: 2.0403, d5.loss_plan_l1_fix_dist: 0.4015, d6.loss_plan_l1_fix_time: 2.0450, d6.loss_plan_l1_fix_dist: 0.4315, d0.loss_cls_all: 0.5027, d0.loss_bbox_all: 0.6768, d0.loss_cls: 0.5027, d0.loss_bbox: 0.6768, d1.loss_cls: 0.4909, d1.loss_bbox: 0.6556, d2.loss_cls: 0.4858, d2.loss_bbox: 0.6437, d3.loss_cls: 0.4854, d3.loss_bbox: 0.6389, d4.loss_cls: 0.4851, d4.loss_bbox: 0.6362, d5.loss_cls: 0.4870, d5.loss_bbox: 0.6354, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4659, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2709, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.2462, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2548, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2547, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2601, d0.loss_map_cls_all: 0.3653, d0.loss_map_pts_all: 2.5136, d0.loss_map_dir_all: 0.0273, d0.loss_map_cls: 0.3653, d0.loss_map_pts: 2.5136, d0.loss_map_dir: 0.0273, d1.loss_map_cls: 0.3544, d1.loss_map_pts: 1.7700, d1.loss_map_dir: 0.0280, d2.loss_map_cls: 0.3444, d2.loss_map_pts: 1.6541, d2.loss_map_dir: 0.0288, d3.loss_map_cls: 0.3385, d3.loss_map_pts: 1.6107, d3.loss_map_dir: 0.0293, d4.loss_map_cls: 0.3364, d4.loss_map_pts: 1.5968, d4.loss_map_dir: 0.0298, d5.loss_map_cls: 0.3356, d5.loss_map_pts: 1.5935, d5.loss_map_dir: 0.0300, loss: 53.5563, grad_norm: 141.5118 +2026-02-24 18:08:58,503 - DriveTransformer - INFO - Epoch [2][32250/39528] lr: 9.958e-05, eta: 8 days, 2:02:33, time: 0.806, data_time: 0.037, memory: 19865, loss_cls: 0.4786, loss_bbox: 0.6128, loss_traj: 1.2136, loss_traj_cls: 0.0005, loss_map_cls: 0.3239, loss_map_pts: 1.4272, loss_map_dir: 0.0285, d0.loss_plan_l1_fix_time: 2.7598, d0.loss_plan_l1_fix_dist: 0.5059, d1.loss_plan_l1_fix_time: 1.9762, d1.loss_plan_l1_fix_dist: 0.3313, d2.loss_plan_l1_fix_time: 1.9216, d2.loss_plan_l1_fix_dist: 0.3416, d3.loss_plan_l1_fix_time: 1.9126, d3.loss_plan_l1_fix_dist: 0.3568, d4.loss_plan_l1_fix_time: 1.9142, d4.loss_plan_l1_fix_dist: 0.3761, d5.loss_plan_l1_fix_time: 1.9175, d5.loss_plan_l1_fix_dist: 0.3968, d6.loss_plan_l1_fix_time: 1.9237, d6.loss_plan_l1_fix_dist: 0.4177, d0.loss_cls_all: 0.5003, d0.loss_bbox_all: 0.6451, d0.loss_cls: 0.5003, d0.loss_bbox: 0.6451, d1.loss_cls: 0.4851, d1.loss_bbox: 0.6252, d2.loss_cls: 0.4795, d2.loss_bbox: 0.6158, d3.loss_cls: 0.4758, d3.loss_bbox: 0.6145, d4.loss_cls: 0.4759, d4.loss_bbox: 0.6127, d5.loss_cls: 0.4768, d5.loss_bbox: 0.6115, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3111, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1955, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1828, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1954, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1971, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2046, d0.loss_map_cls_all: 0.3698, d0.loss_map_pts_all: 2.4880, d0.loss_map_dir_all: 0.0260, d0.loss_map_cls: 0.3698, d0.loss_map_pts: 2.4880, d0.loss_map_dir: 0.0260, d1.loss_map_cls: 0.3551, d1.loss_map_pts: 1.6351, d1.loss_map_dir: 0.0262, d2.loss_map_cls: 0.3394, d2.loss_map_pts: 1.4994, d2.loss_map_dir: 0.0268, d3.loss_map_cls: 0.3283, d3.loss_map_pts: 1.4496, d3.loss_map_dir: 0.0275, d4.loss_map_cls: 0.3244, d4.loss_map_pts: 1.4315, d4.loss_map_dir: 0.0282, d5.loss_map_cls: 0.3239, d5.loss_map_pts: 1.4257, d5.loss_map_dir: 0.0284, loss: 51.2094, grad_norm: 140.5157 +2026-02-24 18:09:36,628 - DriveTransformer - INFO - Epoch [2][32300/39528] lr: 9.958e-05, eta: 8 days, 2:01:32, time: 0.762, data_time: 0.039, memory: 19865, loss_cls: 0.4579, loss_bbox: 0.5870, loss_traj: 1.1039, loss_traj_cls: 0.0005, loss_map_cls: 0.3715, loss_map_pts: 1.4487, loss_map_dir: 0.0257, d0.loss_plan_l1_fix_time: 2.7609, d0.loss_plan_l1_fix_dist: 0.4656, d1.loss_plan_l1_fix_time: 2.0737, d1.loss_plan_l1_fix_dist: 0.2947, d2.loss_plan_l1_fix_time: 2.0533, d2.loss_plan_l1_fix_dist: 0.3100, d3.loss_plan_l1_fix_time: 2.0579, d3.loss_plan_l1_fix_dist: 0.3331, d4.loss_plan_l1_fix_time: 2.0625, d4.loss_plan_l1_fix_dist: 0.3586, d5.loss_plan_l1_fix_time: 2.0678, d5.loss_plan_l1_fix_dist: 0.3862, d6.loss_plan_l1_fix_time: 2.0756, d6.loss_plan_l1_fix_dist: 0.4147, d0.loss_cls_all: 0.4673, d0.loss_bbox_all: 0.6273, d0.loss_cls: 0.4673, d0.loss_bbox: 0.6273, d1.loss_cls: 0.4602, d1.loss_bbox: 0.6047, d2.loss_cls: 0.4631, d2.loss_bbox: 0.5902, d3.loss_cls: 0.4578, d3.loss_bbox: 0.5873, d4.loss_cls: 0.4569, d4.loss_bbox: 0.5847, d5.loss_cls: 0.4569, d5.loss_bbox: 0.5844, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2788, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1297, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0981, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.0948, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.0859, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.0931, d0.loss_map_cls_all: 0.4162, d0.loss_map_pts_all: 2.2406, d0.loss_map_dir_all: 0.0236, d0.loss_map_cls: 0.4162, d0.loss_map_pts: 2.2406, d0.loss_map_dir: 0.0236, d1.loss_map_cls: 0.4043, d1.loss_map_pts: 1.6374, d1.loss_map_dir: 0.0241, d2.loss_map_cls: 0.3890, d2.loss_map_pts: 1.5155, d2.loss_map_dir: 0.0247, d3.loss_map_cls: 0.3777, d3.loss_map_pts: 1.4727, d3.loss_map_dir: 0.0250, d4.loss_map_cls: 0.3713, d4.loss_map_pts: 1.4555, d4.loss_map_dir: 0.0253, d5.loss_map_cls: 0.3706, d5.loss_map_pts: 1.4464, d5.loss_map_dir: 0.0254, loss: 50.8554, grad_norm: 139.6940 +2026-02-24 18:10:17,193 - DriveTransformer - INFO - Epoch [2][32350/39528] lr: 9.958e-05, eta: 8 days, 2:01:01, time: 0.811, data_time: 0.039, memory: 19865, loss_cls: 0.4641, loss_bbox: 0.5925, loss_traj: 1.2470, loss_traj_cls: 0.0006, loss_map_cls: 0.2900, loss_map_pts: 1.2952, loss_map_dir: 0.0250, d0.loss_plan_l1_fix_time: 2.7756, d0.loss_plan_l1_fix_dist: 0.5002, d1.loss_plan_l1_fix_time: 2.0799, d1.loss_plan_l1_fix_dist: 0.3412, d2.loss_plan_l1_fix_time: 2.0397, d2.loss_plan_l1_fix_dist: 0.3591, d3.loss_plan_l1_fix_time: 2.0400, d3.loss_plan_l1_fix_dist: 0.3800, d4.loss_plan_l1_fix_time: 2.0452, d4.loss_plan_l1_fix_dist: 0.3993, d5.loss_plan_l1_fix_time: 2.0503, d5.loss_plan_l1_fix_dist: 0.4186, d6.loss_plan_l1_fix_time: 2.0570, d6.loss_plan_l1_fix_dist: 0.4395, d0.loss_cls_all: 0.4764, d0.loss_bbox_all: 0.6259, d0.loss_cls: 0.4764, d0.loss_bbox: 0.6259, d1.loss_cls: 0.4709, d1.loss_bbox: 0.6055, d2.loss_cls: 0.4668, d2.loss_bbox: 0.5924, d3.loss_cls: 0.4617, d3.loss_bbox: 0.5895, d4.loss_cls: 0.4617, d4.loss_bbox: 0.5885, d5.loss_cls: 0.4629, d5.loss_bbox: 0.5894, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3497, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2481, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2143, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2234, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2210, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2378, d0.loss_map_cls_all: 0.3223, d0.loss_map_pts_all: 2.1913, d0.loss_map_dir_all: 0.0225, d0.loss_map_cls: 0.3223, d0.loss_map_pts: 2.1913, d0.loss_map_dir: 0.0225, d1.loss_map_cls: 0.3134, d1.loss_map_pts: 1.4695, d1.loss_map_dir: 0.0231, d2.loss_map_cls: 0.3025, d2.loss_map_pts: 1.3537, d2.loss_map_dir: 0.0237, d3.loss_map_cls: 0.2930, d3.loss_map_pts: 1.3170, d3.loss_map_dir: 0.0242, d4.loss_map_cls: 0.2889, d4.loss_map_pts: 1.3026, d4.loss_map_dir: 0.0247, d5.loss_map_cls: 0.2892, d5.loss_map_pts: 1.2957, d5.loss_map_dir: 0.0249, loss: 50.2518, grad_norm: 142.6204 +2026-02-24 18:10:54,641 - DriveTransformer - INFO - Epoch [2][32400/39528] lr: 9.958e-05, eta: 8 days, 1:59:52, time: 0.749, data_time: 0.042, memory: 19865, loss_cls: 0.5007, loss_bbox: 0.6149, loss_traj: 1.3446, loss_traj_cls: 0.0006, loss_map_cls: 0.3385, loss_map_pts: 1.4264, loss_map_dir: 0.0204, d0.loss_plan_l1_fix_time: 2.9416, d0.loss_plan_l1_fix_dist: 0.4408, d1.loss_plan_l1_fix_time: 2.0982, d1.loss_plan_l1_fix_dist: 0.3162, d2.loss_plan_l1_fix_time: 2.0718, d2.loss_plan_l1_fix_dist: 0.3300, d3.loss_plan_l1_fix_time: 2.0736, d3.loss_plan_l1_fix_dist: 0.3438, d4.loss_plan_l1_fix_time: 2.0793, d4.loss_plan_l1_fix_dist: 0.3572, d5.loss_plan_l1_fix_time: 2.0851, d5.loss_plan_l1_fix_dist: 0.3690, d6.loss_plan_l1_fix_time: 2.0904, d6.loss_plan_l1_fix_dist: 0.3824, d0.loss_cls_all: 0.5090, d0.loss_bbox_all: 0.6497, d0.loss_cls: 0.5090, d0.loss_bbox: 0.6497, d1.loss_cls: 0.4938, d1.loss_bbox: 0.6327, d2.loss_cls: 0.4937, d2.loss_bbox: 0.6209, d3.loss_cls: 0.4955, d3.loss_bbox: 0.6165, d4.loss_cls: 0.4950, d4.loss_bbox: 0.6166, d5.loss_cls: 0.4983, d5.loss_bbox: 0.6151, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4985, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3537, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3193, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3221, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3251, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3352, d0.loss_map_cls_all: 0.3664, d0.loss_map_pts_all: 2.0414, d0.loss_map_dir_all: 0.0185, d0.loss_map_cls: 0.3664, d0.loss_map_pts: 2.0414, d0.loss_map_dir: 0.0185, d1.loss_map_cls: 0.3550, d1.loss_map_pts: 1.5751, d1.loss_map_dir: 0.0189, d2.loss_map_cls: 0.3435, d2.loss_map_pts: 1.4813, d2.loss_map_dir: 0.0193, d3.loss_map_cls: 0.3388, d3.loss_map_pts: 1.4433, d3.loss_map_dir: 0.0198, d4.loss_map_cls: 0.3373, d4.loss_map_pts: 1.4291, d4.loss_map_dir: 0.0200, d5.loss_map_cls: 0.3392, d5.loss_map_pts: 1.4260, d5.loss_map_dir: 0.0202, loss: 52.2990, grad_norm: 143.0303 +2026-02-24 18:11:34,844 - DriveTransformer - INFO - Epoch [2][32450/39528] lr: 9.958e-05, eta: 8 days, 1:59:17, time: 0.804, data_time: 0.043, memory: 19865, loss_cls: 0.4741, loss_bbox: 0.6193, loss_traj: 1.0979, loss_traj_cls: 0.0006, loss_map_cls: 0.3686, loss_map_pts: 1.6522, loss_map_dir: 0.0265, d0.loss_plan_l1_fix_time: 2.6257, d0.loss_plan_l1_fix_dist: 0.4548, d1.loss_plan_l1_fix_time: 2.0066, d1.loss_plan_l1_fix_dist: 0.3227, d2.loss_plan_l1_fix_time: 1.9930, d2.loss_plan_l1_fix_dist: 0.3325, d3.loss_plan_l1_fix_time: 2.0007, d3.loss_plan_l1_fix_dist: 0.3466, d4.loss_plan_l1_fix_time: 2.0085, d4.loss_plan_l1_fix_dist: 0.3619, d5.loss_plan_l1_fix_time: 2.0160, d5.loss_plan_l1_fix_dist: 0.3775, d6.loss_plan_l1_fix_time: 2.0245, d6.loss_plan_l1_fix_dist: 0.3939, d0.loss_cls_all: 0.4855, d0.loss_bbox_all: 0.6554, d0.loss_cls: 0.4855, d0.loss_bbox: 0.6554, d1.loss_cls: 0.4795, d1.loss_bbox: 0.6354, d2.loss_cls: 0.4761, d2.loss_bbox: 0.6276, d3.loss_cls: 0.4749, d3.loss_bbox: 0.6209, d4.loss_cls: 0.4739, d4.loss_bbox: 0.6205, d5.loss_cls: 0.4739, d5.loss_bbox: 0.6212, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1145, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.0653, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0541, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.0611, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.0682, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.0859, d0.loss_map_cls_all: 0.4138, d0.loss_map_pts_all: 2.3581, d0.loss_map_dir_all: 0.0246, d0.loss_map_cls: 0.4138, d0.loss_map_pts: 2.3581, d0.loss_map_dir: 0.0246, d1.loss_map_cls: 0.3960, d1.loss_map_pts: 1.8153, d1.loss_map_dir: 0.0249, d2.loss_map_cls: 0.3821, d2.loss_map_pts: 1.7170, d2.loss_map_dir: 0.0254, d3.loss_map_cls: 0.3744, d3.loss_map_pts: 1.6740, d3.loss_map_dir: 0.0259, d4.loss_map_cls: 0.3697, d4.loss_map_pts: 1.6582, d4.loss_map_dir: 0.0262, d5.loss_map_cls: 0.3694, d5.loss_map_pts: 1.6537, d5.loss_map_dir: 0.0264, loss: 51.8751, grad_norm: 143.6274 +2026-02-24 18:12:15,367 - DriveTransformer - INFO - Epoch [2][32500/39528] lr: 9.958e-05, eta: 8 days, 1:58:45, time: 0.810, data_time: 0.043, memory: 19865, loss_cls: 0.4784, loss_bbox: 0.6158, loss_traj: 1.3668, loss_traj_cls: 0.0006, loss_map_cls: 0.3351, loss_map_pts: 1.4658, loss_map_dir: 0.0252, d0.loss_plan_l1_fix_time: 3.0144, d0.loss_plan_l1_fix_dist: 0.4696, d1.loss_plan_l1_fix_time: 2.2792, d1.loss_plan_l1_fix_dist: 0.3548, d2.loss_plan_l1_fix_time: 2.2826, d2.loss_plan_l1_fix_dist: 0.3644, d3.loss_plan_l1_fix_time: 2.2990, d3.loss_plan_l1_fix_dist: 0.3834, d4.loss_plan_l1_fix_time: 2.3098, d4.loss_plan_l1_fix_dist: 0.4024, d5.loss_plan_l1_fix_time: 2.3194, d5.loss_plan_l1_fix_dist: 0.4252, d6.loss_plan_l1_fix_time: 2.3299, d6.loss_plan_l1_fix_dist: 0.4527, d0.loss_cls_all: 0.5009, d0.loss_bbox_all: 0.6433, d0.loss_cls: 0.5009, d0.loss_bbox: 0.6433, d1.loss_cls: 0.4892, d1.loss_bbox: 0.6277, d2.loss_cls: 0.4852, d2.loss_bbox: 0.6217, d3.loss_cls: 0.4807, d3.loss_bbox: 0.6143, d4.loss_cls: 0.4788, d4.loss_bbox: 0.6119, d5.loss_cls: 0.4786, d5.loss_bbox: 0.6117, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5447, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3788, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3416, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3430, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3464, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3514, d0.loss_map_cls_all: 0.3808, d0.loss_map_pts_all: 2.3126, d0.loss_map_dir_all: 0.0236, d0.loss_map_cls: 0.3808, d0.loss_map_pts: 2.3126, d0.loss_map_dir: 0.0236, d1.loss_map_cls: 0.3652, d1.loss_map_pts: 1.6401, d1.loss_map_dir: 0.0237, d2.loss_map_cls: 0.3463, d2.loss_map_pts: 1.5345, d2.loss_map_dir: 0.0241, d3.loss_map_cls: 0.3377, d3.loss_map_pts: 1.4939, d3.loss_map_dir: 0.0245, d4.loss_map_cls: 0.3355, d4.loss_map_pts: 1.4780, d4.loss_map_dir: 0.0248, d5.loss_map_cls: 0.3355, d5.loss_map_pts: 1.4708, d5.loss_map_dir: 0.0251, loss: 54.9668, grad_norm: 144.9624 +2026-02-24 18:12:57,825 - DriveTransformer - INFO - Epoch [2][32550/39528] lr: 9.958e-05, eta: 8 days, 1:58:38, time: 0.849, data_time: 0.038, memory: 19865, loss_cls: 0.4673, loss_bbox: 0.5709, loss_traj: 1.0389, loss_traj_cls: 0.0006, loss_map_cls: 0.3276, loss_map_pts: 1.5994, loss_map_dir: 0.0317, d0.loss_plan_l1_fix_time: 2.3252, d0.loss_plan_l1_fix_dist: 0.4207, d1.loss_plan_l1_fix_time: 1.8866, d1.loss_plan_l1_fix_dist: 0.3099, d2.loss_plan_l1_fix_time: 1.8808, d2.loss_plan_l1_fix_dist: 0.3188, d3.loss_plan_l1_fix_time: 1.8844, d3.loss_plan_l1_fix_dist: 0.3336, d4.loss_plan_l1_fix_time: 1.8908, d4.loss_plan_l1_fix_dist: 0.3541, d5.loss_plan_l1_fix_time: 1.8982, d5.loss_plan_l1_fix_dist: 0.3774, d6.loss_plan_l1_fix_time: 1.9076, d6.loss_plan_l1_fix_dist: 0.4039, d0.loss_cls_all: 0.4814, d0.loss_bbox_all: 0.5987, d0.loss_cls: 0.4814, d0.loss_bbox: 0.5987, d1.loss_cls: 0.4743, d1.loss_bbox: 0.5787, d2.loss_cls: 0.4709, d2.loss_bbox: 0.5725, d3.loss_cls: 0.4659, d3.loss_bbox: 0.5681, d4.loss_cls: 0.4650, d4.loss_bbox: 0.5654, d5.loss_cls: 0.4667, d5.loss_bbox: 0.5658, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1044, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.0322, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0187, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.0304, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.0327, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.0270, d0.loss_map_cls_all: 0.3543, d0.loss_map_pts_all: 2.7041, d0.loss_map_dir_all: 0.0297, d0.loss_map_cls: 0.3543, d0.loss_map_pts: 2.7041, d0.loss_map_dir: 0.0297, d1.loss_map_cls: 0.3462, d1.loss_map_pts: 1.8048, d1.loss_map_dir: 0.0301, d2.loss_map_cls: 0.3345, d2.loss_map_pts: 1.6674, d2.loss_map_dir: 0.0305, d3.loss_map_cls: 0.3275, d3.loss_map_pts: 1.6231, d3.loss_map_dir: 0.0310, d4.loss_map_cls: 0.3250, d4.loss_map_pts: 1.6037, d4.loss_map_dir: 0.0314, d5.loss_map_cls: 0.3252, d5.loss_map_pts: 1.5982, d5.loss_map_dir: 0.0316, loss: 50.1185, grad_norm: 146.5197 +2026-02-24 18:13:37,553 - DriveTransformer - INFO - Epoch [2][32600/39528] lr: 9.958e-05, eta: 8 days, 1:57:57, time: 0.796, data_time: 0.040, memory: 19865, loss_cls: 0.4581, loss_bbox: 0.5797, loss_traj: 1.3616, loss_traj_cls: 0.0006, loss_map_cls: 0.3418, loss_map_pts: 1.4397, loss_map_dir: 0.0259, d0.loss_plan_l1_fix_time: 2.7666, d0.loss_plan_l1_fix_dist: 0.4665, d1.loss_plan_l1_fix_time: 1.9487, d1.loss_plan_l1_fix_dist: 0.3099, d2.loss_plan_l1_fix_time: 1.8967, d2.loss_plan_l1_fix_dist: 0.3159, d3.loss_plan_l1_fix_time: 1.8891, d3.loss_plan_l1_fix_dist: 0.3263, d4.loss_plan_l1_fix_time: 1.8919, d4.loss_plan_l1_fix_dist: 0.3389, d5.loss_plan_l1_fix_time: 1.8971, d5.loss_plan_l1_fix_dist: 0.3525, d6.loss_plan_l1_fix_time: 1.9042, d6.loss_plan_l1_fix_dist: 0.3678, d0.loss_cls_all: 0.4714, d0.loss_bbox_all: 0.6070, d0.loss_cls: 0.4714, d0.loss_bbox: 0.6070, d1.loss_cls: 0.4654, d1.loss_bbox: 0.5843, d2.loss_cls: 0.4624, d2.loss_bbox: 0.5754, d3.loss_cls: 0.4586, d3.loss_bbox: 0.5692, d4.loss_cls: 0.4547, d4.loss_bbox: 0.5720, d5.loss_cls: 0.4564, d5.loss_bbox: 0.5744, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4404, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3275, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3197, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.3388, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3529, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3585, d0.loss_map_cls_all: 0.3786, d0.loss_map_pts_all: 2.2078, d0.loss_map_dir_all: 0.0236, d0.loss_map_cls: 0.3786, d0.loss_map_pts: 2.2078, d0.loss_map_dir: 0.0236, d1.loss_map_cls: 0.3668, d1.loss_map_pts: 1.5970, d1.loss_map_dir: 0.0243, d2.loss_map_cls: 0.3514, d2.loss_map_pts: 1.4859, d2.loss_map_dir: 0.0247, d3.loss_map_cls: 0.3452, d3.loss_map_pts: 1.4516, d3.loss_map_dir: 0.0253, d4.loss_map_cls: 0.3410, d4.loss_map_pts: 1.4407, d4.loss_map_dir: 0.0256, d5.loss_map_cls: 0.3415, d5.loss_map_pts: 1.4383, d5.loss_map_dir: 0.0257, loss: 50.8567, grad_norm: 146.1759 +2026-02-24 18:14:18,422 - DriveTransformer - INFO - Epoch [2][32650/39528] lr: 9.958e-05, eta: 8 days, 1:57:29, time: 0.816, data_time: 0.043, memory: 19865, loss_cls: 0.4726, loss_bbox: 0.5849, loss_traj: 1.2939, loss_traj_cls: 0.0006, loss_map_cls: 0.3230, loss_map_pts: 1.5013, loss_map_dir: 0.0276, d0.loss_plan_l1_fix_time: 2.6215, d0.loss_plan_l1_fix_dist: 0.4755, d1.loss_plan_l1_fix_time: 2.0442, d1.loss_plan_l1_fix_dist: 0.3497, d2.loss_plan_l1_fix_time: 2.0161, d2.loss_plan_l1_fix_dist: 0.3592, d3.loss_plan_l1_fix_time: 2.0240, d3.loss_plan_l1_fix_dist: 0.3798, d4.loss_plan_l1_fix_time: 2.0307, d4.loss_plan_l1_fix_dist: 0.3997, d5.loss_plan_l1_fix_time: 2.0367, d5.loss_plan_l1_fix_dist: 0.4203, d6.loss_plan_l1_fix_time: 2.0432, d6.loss_plan_l1_fix_dist: 0.4467, d0.loss_cls_all: 0.4787, d0.loss_bbox_all: 0.6188, d0.loss_cls: 0.4787, d0.loss_bbox: 0.6188, d1.loss_cls: 0.4755, d1.loss_bbox: 0.5972, d2.loss_cls: 0.4715, d2.loss_bbox: 0.5887, d3.loss_cls: 0.4721, d3.loss_bbox: 0.5848, d4.loss_cls: 0.4728, d4.loss_bbox: 0.5827, d5.loss_cls: 0.4703, d5.loss_bbox: 0.5842, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4257, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2883, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2661, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2802, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2953, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2916, d0.loss_map_cls_all: 0.3578, d0.loss_map_pts_all: 2.4576, d0.loss_map_dir_all: 0.0258, d0.loss_map_cls: 0.3578, d0.loss_map_pts: 2.4576, d0.loss_map_dir: 0.0258, d1.loss_map_cls: 0.3500, d1.loss_map_pts: 1.6644, d1.loss_map_dir: 0.0261, d2.loss_map_cls: 0.3348, d2.loss_map_pts: 1.5545, d2.loss_map_dir: 0.0264, d3.loss_map_cls: 0.3272, d3.loss_map_pts: 1.5155, d3.loss_map_dir: 0.0269, d4.loss_map_cls: 0.3249, d4.loss_map_pts: 1.5026, d4.loss_map_dir: 0.0273, d5.loss_map_cls: 0.3242, d5.loss_map_pts: 1.5056, d5.loss_map_dir: 0.0275, loss: 52.4188, grad_norm: 146.5882 +2026-02-24 18:14:58,016 - DriveTransformer - INFO - Epoch [2][32700/39528] lr: 9.958e-05, eta: 8 days, 1:56:47, time: 0.792, data_time: 0.046, memory: 19865, loss_cls: 0.4733, loss_bbox: 0.6105, loss_traj: 1.3929, loss_traj_cls: 0.0006, loss_map_cls: 0.3185, loss_map_pts: 1.4947, loss_map_dir: 0.0251, d0.loss_plan_l1_fix_time: 2.9176, d0.loss_plan_l1_fix_dist: 0.3481, d1.loss_plan_l1_fix_time: 2.1607, d1.loss_plan_l1_fix_dist: 0.2711, d2.loss_plan_l1_fix_time: 2.1433, d2.loss_plan_l1_fix_dist: 0.2772, d3.loss_plan_l1_fix_time: 2.1511, d3.loss_plan_l1_fix_dist: 0.2882, d4.loss_plan_l1_fix_time: 2.1581, d4.loss_plan_l1_fix_dist: 0.3021, d5.loss_plan_l1_fix_time: 2.1642, d5.loss_plan_l1_fix_dist: 0.3176, d6.loss_plan_l1_fix_time: 2.1697, d6.loss_plan_l1_fix_dist: 0.3345, d0.loss_cls_all: 0.4958, d0.loss_bbox_all: 0.6442, d0.loss_cls: 0.4958, d0.loss_bbox: 0.6442, d1.loss_cls: 0.4959, d1.loss_bbox: 0.6214, d2.loss_cls: 0.4863, d2.loss_bbox: 0.6120, d3.loss_cls: 0.4800, d3.loss_bbox: 0.6077, d4.loss_cls: 0.4759, d4.loss_bbox: 0.6052, d5.loss_cls: 0.4738, d5.loss_bbox: 0.6069, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6877, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.4491, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3997, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.4087, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4083, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3937, d0.loss_map_cls_all: 0.3708, d0.loss_map_pts_all: 2.3506, d0.loss_map_dir_all: 0.0237, d0.loss_map_cls: 0.3708, d0.loss_map_pts: 2.3506, d0.loss_map_dir: 0.0237, d1.loss_map_cls: 0.3564, d1.loss_map_pts: 1.6789, d1.loss_map_dir: 0.0240, d2.loss_map_cls: 0.3375, d2.loss_map_pts: 1.5572, d2.loss_map_dir: 0.0242, d3.loss_map_cls: 0.3261, d3.loss_map_pts: 1.5132, d3.loss_map_dir: 0.0246, d4.loss_map_cls: 0.3211, d4.loss_map_pts: 1.4944, d4.loss_map_dir: 0.0248, d5.loss_map_cls: 0.3171, d5.loss_map_pts: 1.4945, d5.loss_map_dir: 0.0250, loss: 53.8255, grad_norm: 145.9909 +2026-02-24 18:15:38,555 - DriveTransformer - INFO - Epoch [2][32750/39528] lr: 9.958e-05, eta: 8 days, 1:56:15, time: 0.811, data_time: 0.040, memory: 19865, loss_cls: 0.4724, loss_bbox: 0.5867, loss_traj: 1.4342, loss_traj_cls: 0.0006, loss_map_cls: 0.3788, loss_map_pts: 1.5685, loss_map_dir: 0.0271, d0.loss_plan_l1_fix_time: 3.1884, d0.loss_plan_l1_fix_dist: 0.3797, d1.loss_plan_l1_fix_time: 2.4333, d1.loss_plan_l1_fix_dist: 0.3152, d2.loss_plan_l1_fix_time: 2.4114, d2.loss_plan_l1_fix_dist: 0.3257, d3.loss_plan_l1_fix_time: 2.4098, d3.loss_plan_l1_fix_dist: 0.3405, d4.loss_plan_l1_fix_time: 2.4138, d4.loss_plan_l1_fix_dist: 0.3584, d5.loss_plan_l1_fix_time: 2.4190, d5.loss_plan_l1_fix_dist: 0.3792, d6.loss_plan_l1_fix_time: 2.4246, d6.loss_plan_l1_fix_dist: 0.4013, d0.loss_cls_all: 0.4883, d0.loss_bbox_all: 0.6278, d0.loss_cls: 0.4883, d0.loss_bbox: 0.6278, d1.loss_cls: 0.4829, d1.loss_bbox: 0.6028, d2.loss_cls: 0.4799, d2.loss_bbox: 0.5914, d3.loss_cls: 0.4755, d3.loss_bbox: 0.5867, d4.loss_cls: 0.4741, d4.loss_bbox: 0.5840, d5.loss_cls: 0.4742, d5.loss_bbox: 0.5851, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5548, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.4294, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.4267, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.4292, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4273, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4343, d0.loss_map_cls_all: 0.4127, d0.loss_map_pts_all: 2.3992, d0.loss_map_dir_all: 0.0250, d0.loss_map_cls: 0.4127, d0.loss_map_pts: 2.3992, d0.loss_map_dir: 0.0250, d1.loss_map_cls: 0.3965, d1.loss_map_pts: 1.7455, d1.loss_map_dir: 0.0251, d2.loss_map_cls: 0.3840, d2.loss_map_pts: 1.6273, d2.loss_map_dir: 0.0257, d3.loss_map_cls: 0.3782, d3.loss_map_pts: 1.5812, d3.loss_map_dir: 0.0264, d4.loss_map_cls: 0.3785, d4.loss_map_pts: 1.5653, d4.loss_map_dir: 0.0267, d5.loss_map_cls: 0.3773, d5.loss_map_pts: 1.5650, d5.loss_map_dir: 0.0270, loss: 56.7476, grad_norm: 143.7980 +2026-02-24 18:16:17,484 - DriveTransformer - INFO - Epoch [2][32800/39528] lr: 9.958e-05, eta: 8 days, 1:55:24, time: 0.779, data_time: 0.040, memory: 19865, loss_cls: 0.4899, loss_bbox: 0.6040, loss_traj: 1.2026, loss_traj_cls: 0.0006, loss_map_cls: 0.2952, loss_map_pts: 1.4064, loss_map_dir: 0.0273, d0.loss_plan_l1_fix_time: 2.5143, d0.loss_plan_l1_fix_dist: 0.4422, d1.loss_plan_l1_fix_time: 2.0222, d1.loss_plan_l1_fix_dist: 0.3351, d2.loss_plan_l1_fix_time: 1.9969, d2.loss_plan_l1_fix_dist: 0.3439, d3.loss_plan_l1_fix_time: 1.9935, d3.loss_plan_l1_fix_dist: 0.3573, d4.loss_plan_l1_fix_time: 1.9979, d4.loss_plan_l1_fix_dist: 0.3755, d5.loss_plan_l1_fix_time: 2.0047, d5.loss_plan_l1_fix_dist: 0.3977, d6.loss_plan_l1_fix_time: 2.0135, d6.loss_plan_l1_fix_dist: 0.4246, d0.loss_cls_all: 0.4856, d0.loss_bbox_all: 0.6440, d0.loss_cls: 0.4856, d0.loss_bbox: 0.6440, d1.loss_cls: 0.4856, d1.loss_bbox: 0.6193, d2.loss_cls: 0.4831, d2.loss_bbox: 0.6079, d3.loss_cls: 0.4838, d3.loss_bbox: 0.6011, d4.loss_cls: 0.4814, d4.loss_bbox: 0.5999, d5.loss_cls: 0.4873, d5.loss_bbox: 0.6015, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2874, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1866, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.1651, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1745, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1904, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2064, d0.loss_map_cls_all: 0.3313, d0.loss_map_pts_all: 2.4213, d0.loss_map_dir_all: 0.0261, d0.loss_map_cls: 0.3313, d0.loss_map_pts: 2.4213, d0.loss_map_dir: 0.0261, d1.loss_map_cls: 0.3219, d1.loss_map_pts: 1.5808, d1.loss_map_dir: 0.0260, d2.loss_map_cls: 0.3095, d2.loss_map_pts: 1.4702, d2.loss_map_dir: 0.0262, d3.loss_map_cls: 0.3004, d3.loss_map_pts: 1.4270, d3.loss_map_dir: 0.0267, d4.loss_map_cls: 0.2980, d4.loss_map_pts: 1.4120, d4.loss_map_dir: 0.0270, d5.loss_map_cls: 0.2943, d5.loss_map_pts: 1.4077, d5.loss_map_dir: 0.0271, loss: 50.6830, grad_norm: 146.1556 +2026-02-24 18:16:56,609 - DriveTransformer - INFO - Epoch [2][32850/39528] lr: 9.958e-05, eta: 8 days, 1:54:36, time: 0.782, data_time: 0.040, memory: 19865, loss_cls: 0.4595, loss_bbox: 0.5849, loss_traj: 1.1932, loss_traj_cls: 0.0006, loss_map_cls: 0.3293, loss_map_pts: 1.3852, loss_map_dir: 0.0253, d0.loss_plan_l1_fix_time: 2.2531, d0.loss_plan_l1_fix_dist: 0.4312, d1.loss_plan_l1_fix_time: 1.7957, d1.loss_plan_l1_fix_dist: 0.3296, d2.loss_plan_l1_fix_time: 1.7784, d2.loss_plan_l1_fix_dist: 0.3353, d3.loss_plan_l1_fix_time: 1.7807, d3.loss_plan_l1_fix_dist: 0.3452, d4.loss_plan_l1_fix_time: 1.7862, d4.loss_plan_l1_fix_dist: 0.3547, d5.loss_plan_l1_fix_time: 1.7930, d5.loss_plan_l1_fix_dist: 0.3639, d6.loss_plan_l1_fix_time: 1.8012, d6.loss_plan_l1_fix_dist: 0.3753, d0.loss_cls_all: 0.4685, d0.loss_bbox_all: 0.6265, d0.loss_cls: 0.4685, d0.loss_bbox: 0.6265, d1.loss_cls: 0.4661, d1.loss_bbox: 0.5984, d2.loss_cls: 0.4608, d2.loss_bbox: 0.5835, d3.loss_cls: 0.4599, d3.loss_bbox: 0.5766, d4.loss_cls: 0.4569, d4.loss_bbox: 0.5772, d5.loss_cls: 0.4572, d5.loss_bbox: 0.5804, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2685, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1729, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1560, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1683, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1786, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1916, d0.loss_map_cls_all: 0.3657, d0.loss_map_pts_all: 2.3027, d0.loss_map_dir_all: 0.0232, d0.loss_map_cls: 0.3657, d0.loss_map_pts: 2.3027, d0.loss_map_dir: 0.0232, d1.loss_map_cls: 0.3541, d1.loss_map_pts: 1.5784, d1.loss_map_dir: 0.0235, d2.loss_map_cls: 0.3477, d2.loss_map_pts: 1.4589, d2.loss_map_dir: 0.0240, d3.loss_map_cls: 0.3375, d3.loss_map_pts: 1.4162, d3.loss_map_dir: 0.0246, d4.loss_map_cls: 0.3309, d4.loss_map_pts: 1.3966, d4.loss_map_dir: 0.0250, d5.loss_map_cls: 0.3290, d5.loss_map_pts: 1.3880, d5.loss_map_dir: 0.0252, loss: 48.4918, grad_norm: 146.5937 +2026-02-24 18:17:37,145 - DriveTransformer - INFO - Epoch [2][32900/39528] lr: 9.958e-05, eta: 8 days, 1:54:05, time: 0.811, data_time: 0.039, memory: 19865, loss_cls: 0.4985, loss_bbox: 0.6285, loss_traj: 1.3232, loss_traj_cls: 0.0006, loss_map_cls: 0.3524, loss_map_pts: 1.5700, loss_map_dir: 0.0270, d0.loss_plan_l1_fix_time: 2.9495, d0.loss_plan_l1_fix_dist: 0.4188, d1.loss_plan_l1_fix_time: 2.2310, d1.loss_plan_l1_fix_dist: 0.3057, d2.loss_plan_l1_fix_time: 2.1724, d2.loss_plan_l1_fix_dist: 0.3129, d3.loss_plan_l1_fix_time: 2.1589, d3.loss_plan_l1_fix_dist: 0.3257, d4.loss_plan_l1_fix_time: 2.1601, d4.loss_plan_l1_fix_dist: 0.3380, d5.loss_plan_l1_fix_time: 2.1643, d5.loss_plan_l1_fix_dist: 0.3521, d6.loss_plan_l1_fix_time: 2.1698, d6.loss_plan_l1_fix_dist: 0.3653, d0.loss_cls_all: 0.5105, d0.loss_bbox_all: 0.6595, d0.loss_cls: 0.5105, d0.loss_bbox: 0.6595, d1.loss_cls: 0.5021, d1.loss_bbox: 0.6403, d2.loss_cls: 0.4996, d2.loss_bbox: 0.6307, d3.loss_cls: 0.4965, d3.loss_bbox: 0.6230, d4.loss_cls: 0.4970, d4.loss_bbox: 0.6202, d5.loss_cls: 0.4990, d5.loss_bbox: 0.6233, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3781, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3129, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2970, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.2952, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2955, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3098, d0.loss_map_cls_all: 0.3942, d0.loss_map_pts_all: 2.3274, d0.loss_map_dir_all: 0.0247, d0.loss_map_cls: 0.3942, d0.loss_map_pts: 2.3274, d0.loss_map_dir: 0.0247, d1.loss_map_cls: 0.3730, d1.loss_map_pts: 1.7375, d1.loss_map_dir: 0.0253, d2.loss_map_cls: 0.3646, d2.loss_map_pts: 1.6303, d2.loss_map_dir: 0.0258, d3.loss_map_cls: 0.3587, d3.loss_map_pts: 1.5906, d3.loss_map_dir: 0.0263, d4.loss_map_cls: 0.3517, d4.loss_map_pts: 1.5757, d4.loss_map_dir: 0.0266, d5.loss_map_cls: 0.3502, d5.loss_map_pts: 1.5697, d5.loss_map_dir: 0.0269, loss: 54.2154, grad_norm: 150.5876 +2026-02-24 18:18:17,118 - DriveTransformer - INFO - Epoch [2][32950/39528] lr: 9.958e-05, eta: 8 days, 1:53:27, time: 0.799, data_time: 0.042, memory: 19865, loss_cls: 0.4754, loss_bbox: 0.6077, loss_traj: 1.1464, loss_traj_cls: 0.0005, loss_map_cls: 0.3518, loss_map_pts: 1.5012, loss_map_dir: 0.0286, d0.loss_plan_l1_fix_time: 2.3518, d0.loss_plan_l1_fix_dist: 0.4296, d1.loss_plan_l1_fix_time: 1.8884, d1.loss_plan_l1_fix_dist: 0.2993, d2.loss_plan_l1_fix_time: 1.8619, d2.loss_plan_l1_fix_dist: 0.3054, d3.loss_plan_l1_fix_time: 1.8629, d3.loss_plan_l1_fix_dist: 0.3132, d4.loss_plan_l1_fix_time: 1.8683, d4.loss_plan_l1_fix_dist: 0.3252, d5.loss_plan_l1_fix_time: 1.8750, d5.loss_plan_l1_fix_dist: 0.3405, d6.loss_plan_l1_fix_time: 1.8830, d6.loss_plan_l1_fix_dist: 0.3579, d0.loss_cls_all: 0.4798, d0.loss_bbox_all: 0.6433, d0.loss_cls: 0.4798, d0.loss_bbox: 0.6433, d1.loss_cls: 0.4692, d1.loss_bbox: 0.6261, d2.loss_cls: 0.4653, d2.loss_bbox: 0.6129, d3.loss_cls: 0.4637, d3.loss_bbox: 0.6060, d4.loss_cls: 0.4646, d4.loss_bbox: 0.6050, d5.loss_cls: 0.4681, d5.loss_bbox: 0.6060, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2971, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1772, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.1439, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1342, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.1262, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1446, d0.loss_map_cls_all: 0.3978, d0.loss_map_pts_all: 2.4270, d0.loss_map_dir_all: 0.0265, d0.loss_map_cls: 0.3978, d0.loss_map_pts: 2.4270, d0.loss_map_dir: 0.0265, d1.loss_map_cls: 0.3772, d1.loss_map_pts: 1.6781, d1.loss_map_dir: 0.0267, d2.loss_map_cls: 0.3697, d2.loss_map_pts: 1.5631, d2.loss_map_dir: 0.0273, d3.loss_map_cls: 0.3597, d3.loss_map_pts: 1.5169, d3.loss_map_dir: 0.0279, d4.loss_map_cls: 0.3549, d4.loss_map_pts: 1.5064, d4.loss_map_dir: 0.0282, d5.loss_map_cls: 0.3540, d5.loss_map_pts: 1.5018, d5.loss_map_dir: 0.0284, loss: 50.1578, grad_norm: 150.9161 +2026-02-24 18:18:58,238 - DriveTransformer - INFO - Epoch [2][33000/39528] lr: 9.958e-05, eta: 8 days, 1:53:02, time: 0.822, data_time: 0.041, memory: 19865, loss_cls: 0.5073, loss_bbox: 0.6131, loss_traj: 1.2497, loss_traj_cls: 0.0005, loss_map_cls: 0.3294, loss_map_pts: 1.5826, loss_map_dir: 0.0304, d0.loss_plan_l1_fix_time: 2.5565, d0.loss_plan_l1_fix_dist: 0.4508, d1.loss_plan_l1_fix_time: 2.0128, d1.loss_plan_l1_fix_dist: 0.3764, d2.loss_plan_l1_fix_time: 1.9818, d2.loss_plan_l1_fix_dist: 0.3785, d3.loss_plan_l1_fix_time: 1.9775, d3.loss_plan_l1_fix_dist: 0.3872, d4.loss_plan_l1_fix_time: 1.9807, d4.loss_plan_l1_fix_dist: 0.3985, d5.loss_plan_l1_fix_time: 1.9854, d5.loss_plan_l1_fix_dist: 0.4092, d6.loss_plan_l1_fix_time: 1.9909, d6.loss_plan_l1_fix_dist: 0.4232, d0.loss_cls_all: 0.4978, d0.loss_bbox_all: 0.6409, d0.loss_cls: 0.4978, d0.loss_bbox: 0.6409, d1.loss_cls: 0.4939, d1.loss_bbox: 0.6270, d2.loss_cls: 0.4923, d2.loss_bbox: 0.6160, d3.loss_cls: 0.4941, d3.loss_bbox: 0.6092, d4.loss_cls: 0.4957, d4.loss_bbox: 0.6084, d5.loss_cls: 0.5002, d5.loss_bbox: 0.6108, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3148, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2261, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.2032, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2277, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.2243, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2332, d0.loss_map_cls_all: 0.3641, d0.loss_map_pts_all: 2.5771, d0.loss_map_dir_all: 0.0275, d0.loss_map_cls: 0.3641, d0.loss_map_pts: 2.5771, d0.loss_map_dir: 0.0275, d1.loss_map_cls: 0.3532, d1.loss_map_pts: 1.7688, d1.loss_map_dir: 0.0280, d2.loss_map_cls: 0.3424, d2.loss_map_pts: 1.6421, d2.loss_map_dir: 0.0287, d3.loss_map_cls: 0.3348, d3.loss_map_pts: 1.5934, d3.loss_map_dir: 0.0294, d4.loss_map_cls: 0.3307, d4.loss_map_pts: 1.5807, d4.loss_map_dir: 0.0300, d5.loss_map_cls: 0.3312, d5.loss_map_pts: 1.5807, d5.loss_map_dir: 0.0303, loss: 52.8232, grad_norm: 149.2838 +2026-02-24 18:19:38,282 - DriveTransformer - INFO - Epoch [2][33050/39528] lr: 9.958e-05, eta: 8 days, 1:52:25, time: 0.801, data_time: 0.041, memory: 19865, loss_cls: 0.4791, loss_bbox: 0.6056, loss_traj: 1.1088, loss_traj_cls: 0.0005, loss_map_cls: 0.3406, loss_map_pts: 1.5470, loss_map_dir: 0.0287, d0.loss_plan_l1_fix_time: 2.9498, d0.loss_plan_l1_fix_dist: 0.4973, d1.loss_plan_l1_fix_time: 2.0925, d1.loss_plan_l1_fix_dist: 0.3308, d2.loss_plan_l1_fix_time: 2.0434, d2.loss_plan_l1_fix_dist: 0.3343, d3.loss_plan_l1_fix_time: 2.0364, d3.loss_plan_l1_fix_dist: 0.3468, d4.loss_plan_l1_fix_time: 2.0405, d4.loss_plan_l1_fix_dist: 0.3579, d5.loss_plan_l1_fix_time: 2.0465, d5.loss_plan_l1_fix_dist: 0.3697, d6.loss_plan_l1_fix_time: 2.0534, d6.loss_plan_l1_fix_dist: 0.3796, d0.loss_cls_all: 0.4873, d0.loss_bbox_all: 0.6254, d0.loss_cls: 0.4873, d0.loss_bbox: 0.6254, d1.loss_cls: 0.4765, d1.loss_bbox: 0.6130, d2.loss_cls: 0.4774, d2.loss_bbox: 0.6025, d3.loss_cls: 0.4790, d3.loss_bbox: 0.5970, d4.loss_cls: 0.4790, d4.loss_bbox: 0.5973, d5.loss_cls: 0.4782, d5.loss_bbox: 0.6004, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1902, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.0760, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.0740, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1023, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.0975, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1010, d0.loss_map_cls_all: 0.3812, d0.loss_map_pts_all: 2.4489, d0.loss_map_dir_all: 0.0268, d0.loss_map_cls: 0.3812, d0.loss_map_pts: 2.4489, d0.loss_map_dir: 0.0268, d1.loss_map_cls: 0.3627, d1.loss_map_pts: 1.7450, d1.loss_map_dir: 0.0273, d2.loss_map_cls: 0.3523, d2.loss_map_pts: 1.6143, d2.loss_map_dir: 0.0276, d3.loss_map_cls: 0.3433, d3.loss_map_pts: 1.5671, d3.loss_map_dir: 0.0280, d4.loss_map_cls: 0.3394, d4.loss_map_pts: 1.5494, d4.loss_map_dir: 0.0283, d5.loss_map_cls: 0.3393, d5.loss_map_pts: 1.5465, d5.loss_map_dir: 0.0286, loss: 51.8731, grad_norm: 150.4248 +2026-02-24 18:20:19,727 - DriveTransformer - INFO - Epoch [2][33100/39528] lr: 9.958e-05, eta: 8 days, 1:52:05, time: 0.829, data_time: 0.038, memory: 19865, loss_cls: 0.4659, loss_bbox: 0.5922, loss_traj: 1.2281, loss_traj_cls: 0.0006, loss_map_cls: 0.3007, loss_map_pts: 1.4049, loss_map_dir: 0.0280, d0.loss_plan_l1_fix_time: 2.7418, d0.loss_plan_l1_fix_dist: 0.4719, d1.loss_plan_l1_fix_time: 2.1745, d1.loss_plan_l1_fix_dist: 0.3398, d2.loss_plan_l1_fix_time: 2.1505, d2.loss_plan_l1_fix_dist: 0.3456, d3.loss_plan_l1_fix_time: 2.1470, d3.loss_plan_l1_fix_dist: 0.3554, d4.loss_plan_l1_fix_time: 2.1509, d4.loss_plan_l1_fix_dist: 0.3685, d5.loss_plan_l1_fix_time: 2.1567, d5.loss_plan_l1_fix_dist: 0.3844, d6.loss_plan_l1_fix_time: 2.1643, d6.loss_plan_l1_fix_dist: 0.4030, d0.loss_cls_all: 0.4758, d0.loss_bbox_all: 0.6174, d0.loss_cls: 0.4758, d0.loss_bbox: 0.6174, d1.loss_cls: 0.4707, d1.loss_bbox: 0.5991, d2.loss_cls: 0.4701, d2.loss_bbox: 0.5902, d3.loss_cls: 0.4703, d3.loss_bbox: 0.5837, d4.loss_cls: 0.4679, d4.loss_bbox: 0.5847, d5.loss_cls: 0.4651, d5.loss_bbox: 0.5872, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4535, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2358, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.2093, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2125, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2075, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2210, d0.loss_map_cls_all: 0.3443, d0.loss_map_pts_all: 2.4928, d0.loss_map_dir_all: 0.0263, d0.loss_map_cls: 0.3443, d0.loss_map_pts: 2.4928, d0.loss_map_dir: 0.0263, d1.loss_map_cls: 0.3307, d1.loss_map_pts: 1.6102, d1.loss_map_dir: 0.0265, d2.loss_map_cls: 0.3140, d2.loss_map_pts: 1.4869, d2.loss_map_dir: 0.0268, d3.loss_map_cls: 0.3060, d3.loss_map_pts: 1.4304, d3.loss_map_dir: 0.0273, d4.loss_map_cls: 0.3019, d4.loss_map_pts: 1.4044, d4.loss_map_dir: 0.0276, d5.loss_map_cls: 0.3007, d5.loss_map_pts: 1.4030, d5.loss_map_dir: 0.0278, loss: 52.1452, grad_norm: 149.5052 +2026-02-24 18:21:03,431 - DriveTransformer - INFO - Epoch [2][33150/39528] lr: 9.958e-05, eta: 8 days, 1:52:11, time: 0.874, data_time: 0.037, memory: 19865, loss_cls: 0.4833, loss_bbox: 0.6091, loss_traj: 1.1098, loss_traj_cls: 0.0006, loss_map_cls: 0.3473, loss_map_pts: 1.6184, loss_map_dir: 0.0320, d0.loss_plan_l1_fix_time: 2.8574, d0.loss_plan_l1_fix_dist: 0.4365, d1.loss_plan_l1_fix_time: 2.2643, d1.loss_plan_l1_fix_dist: 0.3052, d2.loss_plan_l1_fix_time: 2.2230, d2.loss_plan_l1_fix_dist: 0.3095, d3.loss_plan_l1_fix_time: 2.2178, d3.loss_plan_l1_fix_dist: 0.3169, d4.loss_plan_l1_fix_time: 2.2198, d4.loss_plan_l1_fix_dist: 0.3296, d5.loss_plan_l1_fix_time: 2.2236, d5.loss_plan_l1_fix_dist: 0.3438, d6.loss_plan_l1_fix_time: 2.2290, d6.loss_plan_l1_fix_dist: 0.3613, d0.loss_cls_all: 0.4900, d0.loss_bbox_all: 0.6354, d0.loss_cls: 0.4900, d0.loss_bbox: 0.6354, d1.loss_cls: 0.4861, d1.loss_bbox: 0.6185, d2.loss_cls: 0.4846, d2.loss_bbox: 0.6096, d3.loss_cls: 0.4850, d3.loss_bbox: 0.6065, d4.loss_cls: 0.4835, d4.loss_bbox: 0.6074, d5.loss_cls: 0.4836, d5.loss_bbox: 0.6065, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2166, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1128, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.1067, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1006, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.0993, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1063, d0.loss_map_cls_all: 0.3807, d0.loss_map_pts_all: 2.8351, d0.loss_map_dir_all: 0.0296, d0.loss_map_cls: 0.3807, d0.loss_map_pts: 2.8351, d0.loss_map_dir: 0.0296, d1.loss_map_cls: 0.3598, d1.loss_map_pts: 1.8571, d1.loss_map_dir: 0.0298, d2.loss_map_cls: 0.3523, d2.loss_map_pts: 1.7145, d2.loss_map_dir: 0.0305, d3.loss_map_cls: 0.3458, d3.loss_map_pts: 1.6522, d3.loss_map_dir: 0.0313, d4.loss_map_cls: 0.3457, d4.loss_map_pts: 1.6283, d4.loss_map_dir: 0.0317, d5.loss_map_cls: 0.3468, d5.loss_map_pts: 1.6198, d5.loss_map_dir: 0.0319, loss: 54.1754, grad_norm: 148.8551 +2026-02-24 18:21:42,949 - DriveTransformer - INFO - Epoch [2][33200/39528] lr: 9.958e-05, eta: 8 days, 1:51:28, time: 0.790, data_time: 0.038, memory: 19865, loss_cls: 0.5173, loss_bbox: 0.6275, loss_traj: 1.4518, loss_traj_cls: 0.0006, loss_map_cls: 0.3613, loss_map_pts: 1.4291, loss_map_dir: 0.0257, d0.loss_plan_l1_fix_time: 3.3744, d0.loss_plan_l1_fix_dist: 0.3911, d1.loss_plan_l1_fix_time: 2.5412, d1.loss_plan_l1_fix_dist: 0.3263, d2.loss_plan_l1_fix_time: 2.5244, d2.loss_plan_l1_fix_dist: 0.3361, d3.loss_plan_l1_fix_time: 2.5312, d3.loss_plan_l1_fix_dist: 0.3481, d4.loss_plan_l1_fix_time: 2.5386, d4.loss_plan_l1_fix_dist: 0.3597, d5.loss_plan_l1_fix_time: 2.5452, d5.loss_plan_l1_fix_dist: 0.3728, d6.loss_plan_l1_fix_time: 2.5525, d6.loss_plan_l1_fix_dist: 0.3860, d0.loss_cls_all: 0.5164, d0.loss_bbox_all: 0.6702, d0.loss_cls: 0.5164, d0.loss_bbox: 0.6702, d1.loss_cls: 0.5093, d1.loss_bbox: 0.6478, d2.loss_cls: 0.5142, d2.loss_bbox: 0.6332, d3.loss_cls: 0.5159, d3.loss_bbox: 0.6287, d4.loss_cls: 0.5168, d4.loss_bbox: 0.6247, d5.loss_cls: 0.5180, d5.loss_bbox: 0.6235, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5941, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.4289, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.4107, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.4300, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4306, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4399, d0.loss_map_cls_all: 0.4003, d0.loss_map_pts_all: 2.2355, d0.loss_map_dir_all: 0.0233, d0.loss_map_cls: 0.4003, d0.loss_map_pts: 2.2355, d0.loss_map_dir: 0.0233, d1.loss_map_cls: 0.3838, d1.loss_map_pts: 1.6310, d1.loss_map_dir: 0.0239, d2.loss_map_cls: 0.3768, d2.loss_map_pts: 1.4990, d2.loss_map_dir: 0.0246, d3.loss_map_cls: 0.3654, d3.loss_map_pts: 1.4517, d3.loss_map_dir: 0.0251, d4.loss_map_cls: 0.3611, d4.loss_map_pts: 1.4364, d4.loss_map_dir: 0.0254, d5.loss_map_cls: 0.3612, d5.loss_map_pts: 1.4305, d5.loss_map_dir: 0.0255, loss: 57.1246, grad_norm: 149.1307 +2026-02-24 18:22:23,337 - DriveTransformer - INFO - Epoch [2][33250/39528] lr: 9.958e-05, eta: 8 days, 1:50:55, time: 0.808, data_time: 0.040, memory: 19865, loss_cls: 0.4703, loss_bbox: 0.6182, loss_traj: 1.1947, loss_traj_cls: 0.0005, loss_map_cls: 0.3209, loss_map_pts: 1.4915, loss_map_dir: 0.0290, d0.loss_plan_l1_fix_time: 2.8630, d0.loss_plan_l1_fix_dist: 0.4731, d1.loss_plan_l1_fix_time: 2.2384, d1.loss_plan_l1_fix_dist: 0.3681, d2.loss_plan_l1_fix_time: 2.2176, d2.loss_plan_l1_fix_dist: 0.3771, d3.loss_plan_l1_fix_time: 2.2184, d3.loss_plan_l1_fix_dist: 0.3880, d4.loss_plan_l1_fix_time: 2.2234, d4.loss_plan_l1_fix_dist: 0.4002, d5.loss_plan_l1_fix_time: 2.2294, d5.loss_plan_l1_fix_dist: 0.4142, d6.loss_plan_l1_fix_time: 2.2367, d6.loss_plan_l1_fix_dist: 0.4268, d0.loss_cls_all: 0.4764, d0.loss_bbox_all: 0.6527, d0.loss_cls: 0.4764, d0.loss_bbox: 0.6527, d1.loss_cls: 0.4702, d1.loss_bbox: 0.6305, d2.loss_cls: 0.4670, d2.loss_bbox: 0.6198, d3.loss_cls: 0.4652, d3.loss_bbox: 0.6151, d4.loss_cls: 0.4680, d4.loss_bbox: 0.6132, d5.loss_cls: 0.4679, d5.loss_bbox: 0.6137, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1830, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1299, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.1318, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1436, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1520, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1698, d0.loss_map_cls_all: 0.3485, d0.loss_map_pts_all: 2.5193, d0.loss_map_dir_all: 0.0273, d0.loss_map_cls: 0.3485, d0.loss_map_pts: 2.5193, d0.loss_map_dir: 0.0273, d1.loss_map_cls: 0.3364, d1.loss_map_pts: 1.6852, d1.loss_map_dir: 0.0272, d2.loss_map_cls: 0.3334, d2.loss_map_pts: 1.5517, d2.loss_map_dir: 0.0276, d3.loss_map_cls: 0.3241, d3.loss_map_pts: 1.5095, d3.loss_map_dir: 0.0280, d4.loss_map_cls: 0.3200, d4.loss_map_pts: 1.4991, d4.loss_map_dir: 0.0285, d5.loss_map_cls: 0.3201, d5.loss_map_pts: 1.4873, d5.loss_map_dir: 0.0288, loss: 53.0998, grad_norm: 147.7766 +2026-02-24 18:23:03,434 - DriveTransformer - INFO - Epoch [2][33300/39528] lr: 9.958e-05, eta: 8 days, 1:50:18, time: 0.802, data_time: 0.037, memory: 19865, loss_cls: 0.5331, loss_bbox: 0.6426, loss_traj: 1.3253, loss_traj_cls: 0.0006, loss_map_cls: 0.3496, loss_map_pts: 1.5890, loss_map_dir: 0.0295, d0.loss_plan_l1_fix_time: 2.6614, d0.loss_plan_l1_fix_dist: 0.4317, d1.loss_plan_l1_fix_time: 2.0247, d1.loss_plan_l1_fix_dist: 0.3156, d2.loss_plan_l1_fix_time: 2.0404, d2.loss_plan_l1_fix_dist: 0.3179, d3.loss_plan_l1_fix_time: 2.0553, d3.loss_plan_l1_fix_dist: 0.3269, d4.loss_plan_l1_fix_time: 2.0648, d4.loss_plan_l1_fix_dist: 0.3387, d5.loss_plan_l1_fix_time: 2.0729, d5.loss_plan_l1_fix_dist: 0.3528, d6.loss_plan_l1_fix_time: 2.0809, d6.loss_plan_l1_fix_dist: 0.3695, d0.loss_cls_all: 0.5397, d0.loss_bbox_all: 0.6839, d0.loss_cls: 0.5397, d0.loss_bbox: 0.6839, d1.loss_cls: 0.5281, d1.loss_bbox: 0.6606, d2.loss_cls: 0.5267, d2.loss_bbox: 0.6439, d3.loss_cls: 0.5220, d3.loss_bbox: 0.6422, d4.loss_cls: 0.5237, d4.loss_bbox: 0.6432, d5.loss_cls: 0.5283, d5.loss_bbox: 0.6421, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3819, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2822, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.2689, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2863, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3033, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3103, d0.loss_map_cls_all: 0.3919, d0.loss_map_pts_all: 2.4982, d0.loss_map_dir_all: 0.0274, d0.loss_map_cls: 0.3919, d0.loss_map_pts: 2.4982, d0.loss_map_dir: 0.0274, d1.loss_map_cls: 0.3752, d1.loss_map_pts: 1.7451, d1.loss_map_dir: 0.0277, d2.loss_map_cls: 0.3637, d2.loss_map_pts: 1.6271, d2.loss_map_dir: 0.0282, d3.loss_map_cls: 0.3483, d3.loss_map_pts: 1.5926, d3.loss_map_dir: 0.0288, d4.loss_map_cls: 0.3488, d4.loss_map_pts: 1.5794, d4.loss_map_dir: 0.0291, d5.loss_map_cls: 0.3490, d5.loss_map_pts: 1.5814, d5.loss_map_dir: 0.0294, loss: 53.9576, grad_norm: 148.3768 +2026-02-24 18:23:43,079 - DriveTransformer - INFO - Epoch [2][33350/39528] lr: 9.958e-05, eta: 8 days, 1:49:36, time: 0.793, data_time: 0.037, memory: 19865, loss_cls: 0.4709, loss_bbox: 0.6222, loss_traj: 1.2131, loss_traj_cls: 0.0005, loss_map_cls: 0.3335, loss_map_pts: 1.4951, loss_map_dir: 0.0273, d0.loss_plan_l1_fix_time: 2.4085, d0.loss_plan_l1_fix_dist: 0.4447, d1.loss_plan_l1_fix_time: 2.0137, d1.loss_plan_l1_fix_dist: 0.3109, d2.loss_plan_l1_fix_time: 1.9920, d2.loss_plan_l1_fix_dist: 0.3160, d3.loss_plan_l1_fix_time: 1.9986, d3.loss_plan_l1_fix_dist: 0.3251, d4.loss_plan_l1_fix_time: 2.0055, d4.loss_plan_l1_fix_dist: 0.3369, d5.loss_plan_l1_fix_time: 2.0124, d5.loss_plan_l1_fix_dist: 0.3493, d6.loss_plan_l1_fix_time: 2.0206, d6.loss_plan_l1_fix_dist: 0.3660, d0.loss_cls_all: 0.4744, d0.loss_bbox_all: 0.6540, d0.loss_cls: 0.4744, d0.loss_bbox: 0.6540, d1.loss_cls: 0.4778, d1.loss_bbox: 0.6344, d2.loss_cls: 0.4773, d2.loss_bbox: 0.6210, d3.loss_cls: 0.4730, d3.loss_bbox: 0.6167, d4.loss_cls: 0.4703, d4.loss_bbox: 0.6163, d5.loss_cls: 0.4749, d5.loss_bbox: 0.6178, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3186, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2061, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1875, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1996, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1929, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2019, d0.loss_map_cls_all: 0.3743, d0.loss_map_pts_all: 2.3246, d0.loss_map_dir_all: 0.0255, d0.loss_map_cls: 0.3743, d0.loss_map_pts: 2.3246, d0.loss_map_dir: 0.0255, d1.loss_map_cls: 0.3606, d1.loss_map_pts: 1.6655, d1.loss_map_dir: 0.0256, d2.loss_map_cls: 0.3478, d2.loss_map_pts: 1.5550, d2.loss_map_dir: 0.0260, d3.loss_map_cls: 0.3360, d3.loss_map_pts: 1.5153, d3.loss_map_dir: 0.0266, d4.loss_map_cls: 0.3325, d4.loss_map_pts: 1.4980, d4.loss_map_dir: 0.0269, d5.loss_map_cls: 0.3328, d5.loss_map_pts: 1.4973, d5.loss_map_dir: 0.0272, loss: 51.1324, grad_norm: 147.6452 +2026-02-24 18:24:23,526 - DriveTransformer - INFO - Epoch [2][33400/39528] lr: 9.958e-05, eta: 8 days, 1:49:04, time: 0.810, data_time: 0.040, memory: 19865, loss_cls: 0.4518, loss_bbox: 0.6068, loss_traj: 1.1017, loss_traj_cls: 0.0005, loss_map_cls: 0.3169, loss_map_pts: 1.4512, loss_map_dir: 0.0276, d0.loss_plan_l1_fix_time: 2.7449, d0.loss_plan_l1_fix_dist: 0.4360, d1.loss_plan_l1_fix_time: 2.1153, d1.loss_plan_l1_fix_dist: 0.3299, d2.loss_plan_l1_fix_time: 2.0883, d2.loss_plan_l1_fix_dist: 0.3379, d3.loss_plan_l1_fix_time: 2.0900, d3.loss_plan_l1_fix_dist: 0.3482, d4.loss_plan_l1_fix_time: 2.0944, d4.loss_plan_l1_fix_dist: 0.3601, d5.loss_plan_l1_fix_time: 2.0999, d5.loss_plan_l1_fix_dist: 0.3723, d6.loss_plan_l1_fix_time: 2.1076, d6.loss_plan_l1_fix_dist: 0.3851, d0.loss_cls_all: 0.4551, d0.loss_bbox_all: 0.6521, d0.loss_cls: 0.4551, d0.loss_bbox: 0.6521, d1.loss_cls: 0.4539, d1.loss_bbox: 0.6269, d2.loss_cls: 0.4543, d2.loss_bbox: 0.6137, d3.loss_cls: 0.4520, d3.loss_bbox: 0.6064, d4.loss_cls: 0.4486, d4.loss_bbox: 0.6063, d5.loss_cls: 0.4511, d5.loss_bbox: 0.6061, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2103, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1094, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0893, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.0848, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.0821, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.0887, d0.loss_map_cls_all: 0.3450, d0.loss_map_pts_all: 2.4294, d0.loss_map_dir_all: 0.0255, d0.loss_map_cls: 0.3450, d0.loss_map_pts: 2.4294, d0.loss_map_dir: 0.0255, d1.loss_map_cls: 0.3376, d1.loss_map_pts: 1.6463, d1.loss_map_dir: 0.0259, d2.loss_map_cls: 0.3244, d2.loss_map_pts: 1.5200, d2.loss_map_dir: 0.0265, d3.loss_map_cls: 0.3212, d3.loss_map_pts: 1.4715, d3.loss_map_dir: 0.0270, d4.loss_map_cls: 0.3170, d4.loss_map_pts: 1.4601, d4.loss_map_dir: 0.0272, d5.loss_map_cls: 0.3179, d5.loss_map_pts: 1.4538, d5.loss_map_dir: 0.0275, loss: 50.9738, grad_norm: 147.6365 +2026-02-24 18:25:05,673 - DriveTransformer - INFO - Epoch [2][33450/39528] lr: 9.958e-05, eta: 8 days, 1:48:51, time: 0.842, data_time: 0.046, memory: 19865, loss_cls: 0.4967, loss_bbox: 0.5951, loss_traj: 1.2189, loss_traj_cls: 0.0005, loss_map_cls: 0.3025, loss_map_pts: 1.3065, loss_map_dir: 0.0289, d0.loss_plan_l1_fix_time: 2.4906, d0.loss_plan_l1_fix_dist: 0.3768, d1.loss_plan_l1_fix_time: 2.0259, d1.loss_plan_l1_fix_dist: 0.2920, d2.loss_plan_l1_fix_time: 1.9887, d2.loss_plan_l1_fix_dist: 0.2988, d3.loss_plan_l1_fix_time: 1.9907, d3.loss_plan_l1_fix_dist: 0.3114, d4.loss_plan_l1_fix_time: 1.9983, d4.loss_plan_l1_fix_dist: 0.3240, d5.loss_plan_l1_fix_time: 2.0084, d5.loss_plan_l1_fix_dist: 0.3346, d6.loss_plan_l1_fix_time: 2.0204, d6.loss_plan_l1_fix_dist: 0.3490, d0.loss_cls_all: 0.4889, d0.loss_bbox_all: 0.6324, d0.loss_cls: 0.4889, d0.loss_bbox: 0.6324, d1.loss_cls: 0.4887, d1.loss_bbox: 0.6111, d2.loss_cls: 0.4875, d2.loss_bbox: 0.5999, d3.loss_cls: 0.4881, d3.loss_bbox: 0.5950, d4.loss_cls: 0.4862, d4.loss_bbox: 0.5944, d5.loss_cls: 0.4920, d5.loss_bbox: 0.5915, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2860, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1882, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.1839, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2035, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2083, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2135, d0.loss_map_cls_all: 0.3503, d0.loss_map_pts_all: 2.2586, d0.loss_map_dir_all: 0.0274, d0.loss_map_cls: 0.3503, d0.loss_map_pts: 2.2586, d0.loss_map_dir: 0.0274, d1.loss_map_cls: 0.3312, d1.loss_map_pts: 1.4548, d1.loss_map_dir: 0.0273, d2.loss_map_cls: 0.3152, d2.loss_map_pts: 1.3480, d2.loss_map_dir: 0.0278, d3.loss_map_cls: 0.3018, d3.loss_map_pts: 1.3183, d3.loss_map_dir: 0.0283, d4.loss_map_cls: 0.2991, d4.loss_map_pts: 1.3109, d4.loss_map_dir: 0.0285, d5.loss_map_cls: 0.3002, d5.loss_map_pts: 1.3064, d5.loss_map_dir: 0.0287, loss: 49.4231, grad_norm: 152.0271 +2026-02-24 18:25:47,521 - DriveTransformer - INFO - Epoch [2][33500/39528] lr: 9.958e-05, eta: 8 days, 1:48:35, time: 0.837, data_time: 0.037, memory: 19865, loss_cls: 0.4838, loss_bbox: 0.5913, loss_traj: 1.2475, loss_traj_cls: 0.0005, loss_map_cls: 0.3207, loss_map_pts: 1.5182, loss_map_dir: 0.0285, d0.loss_plan_l1_fix_time: 2.6070, d0.loss_plan_l1_fix_dist: 0.3881, d1.loss_plan_l1_fix_time: 2.1938, d1.loss_plan_l1_fix_dist: 0.3013, d2.loss_plan_l1_fix_time: 2.1572, d2.loss_plan_l1_fix_dist: 0.3046, d3.loss_plan_l1_fix_time: 2.1537, d3.loss_plan_l1_fix_dist: 0.3136, d4.loss_plan_l1_fix_time: 2.1577, d4.loss_plan_l1_fix_dist: 0.3274, d5.loss_plan_l1_fix_time: 2.1638, d5.loss_plan_l1_fix_dist: 0.3438, d6.loss_plan_l1_fix_time: 2.1716, d6.loss_plan_l1_fix_dist: 0.3653, d0.loss_cls_all: 0.4686, d0.loss_bbox_all: 0.6333, d0.loss_cls: 0.4686, d0.loss_bbox: 0.6333, d1.loss_cls: 0.4732, d1.loss_bbox: 0.6070, d2.loss_cls: 0.4748, d2.loss_bbox: 0.5970, d3.loss_cls: 0.4764, d3.loss_bbox: 0.5875, d4.loss_cls: 0.4754, d4.loss_bbox: 0.5874, d5.loss_cls: 0.4819, d5.loss_bbox: 0.5868, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4215, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.2462, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2274, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2330, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2399, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2441, d0.loss_map_cls_all: 0.3497, d0.loss_map_pts_all: 2.4642, d0.loss_map_dir_all: 0.0273, d0.loss_map_cls: 0.3497, d0.loss_map_pts: 2.4642, d0.loss_map_dir: 0.0273, d1.loss_map_cls: 0.3349, d1.loss_map_pts: 1.6847, d1.loss_map_dir: 0.0269, d2.loss_map_cls: 0.3260, d2.loss_map_pts: 1.5736, d2.loss_map_dir: 0.0274, d3.loss_map_cls: 0.3211, d3.loss_map_pts: 1.5352, d3.loss_map_dir: 0.0279, d4.loss_map_cls: 0.3212, d4.loss_map_pts: 1.5264, d4.loss_map_dir: 0.0282, d5.loss_map_cls: 0.3201, d5.loss_map_pts: 1.5196, d5.loss_map_dir: 0.0284, loss: 52.5918, grad_norm: 151.9611 +2026-02-24 18:26:26,278 - DriveTransformer - INFO - Epoch [2][33550/39528] lr: 9.958e-05, eta: 8 days, 1:47:43, time: 0.775, data_time: 0.047, memory: 19865, loss_cls: 0.4726, loss_bbox: 0.6354, loss_traj: 1.5077, loss_traj_cls: 0.0006, loss_map_cls: 0.3274, loss_map_pts: 1.3803, loss_map_dir: 0.0223, d0.loss_plan_l1_fix_time: 2.8920, d0.loss_plan_l1_fix_dist: 0.4861, d1.loss_plan_l1_fix_time: 2.3641, d1.loss_plan_l1_fix_dist: 0.3703, d2.loss_plan_l1_fix_time: 2.3286, d2.loss_plan_l1_fix_dist: 0.3741, d3.loss_plan_l1_fix_time: 2.3202, d3.loss_plan_l1_fix_dist: 0.3844, d4.loss_plan_l1_fix_time: 2.3224, d4.loss_plan_l1_fix_dist: 0.3995, d5.loss_plan_l1_fix_time: 2.3260, d5.loss_plan_l1_fix_dist: 0.4162, d6.loss_plan_l1_fix_time: 2.3315, d6.loss_plan_l1_fix_dist: 0.4327, d0.loss_cls_all: 0.4786, d0.loss_bbox_all: 0.6715, d0.loss_cls: 0.4786, d0.loss_bbox: 0.6715, d1.loss_cls: 0.4729, d1.loss_bbox: 0.6497, d2.loss_cls: 0.4729, d2.loss_bbox: 0.6412, d3.loss_cls: 0.4706, d3.loss_bbox: 0.6340, d4.loss_cls: 0.4658, d4.loss_bbox: 0.6317, d5.loss_cls: 0.4696, d5.loss_bbox: 0.6313, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6990, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.5211, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.4904, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.4842, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4914, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.5024, d0.loss_map_cls_all: 0.3659, d0.loss_map_pts_all: 1.9529, d0.loss_map_dir_all: 0.0208, d0.loss_map_cls: 0.3659, d0.loss_map_pts: 1.9529, d0.loss_map_dir: 0.0208, d1.loss_map_cls: 0.3410, d1.loss_map_pts: 1.5038, d1.loss_map_dir: 0.0208, d2.loss_map_cls: 0.3337, d2.loss_map_pts: 1.4151, d2.loss_map_dir: 0.0214, d3.loss_map_cls: 0.3260, d3.loss_map_pts: 1.3826, d3.loss_map_dir: 0.0217, d4.loss_map_cls: 0.3258, d4.loss_map_pts: 1.3770, d4.loss_map_dir: 0.0220, d5.loss_map_cls: 0.3253, d5.loss_map_pts: 1.3735, d5.loss_map_dir: 0.0222, loss: 54.6186, grad_norm: 152.3969 +2026-02-24 18:27:08,082 - DriveTransformer - INFO - Epoch [2][33600/39528] lr: 9.958e-05, eta: 8 days, 1:47:26, time: 0.836, data_time: 0.040, memory: 19865, loss_cls: 0.5118, loss_bbox: 0.6791, loss_traj: 1.4455, loss_traj_cls: 0.0006, loss_map_cls: 0.3830, loss_map_pts: 1.7229, loss_map_dir: 0.0307, d0.loss_plan_l1_fix_time: 2.9012, d0.loss_plan_l1_fix_dist: 0.3843, d1.loss_plan_l1_fix_time: 2.2632, d1.loss_plan_l1_fix_dist: 0.3375, d2.loss_plan_l1_fix_time: 2.2317, d2.loss_plan_l1_fix_dist: 0.3469, d3.loss_plan_l1_fix_time: 2.2236, d3.loss_plan_l1_fix_dist: 0.3572, d4.loss_plan_l1_fix_time: 2.2281, d4.loss_plan_l1_fix_dist: 0.3695, d5.loss_plan_l1_fix_time: 2.2339, d5.loss_plan_l1_fix_dist: 0.3831, d6.loss_plan_l1_fix_time: 2.2415, d6.loss_plan_l1_fix_dist: 0.4002, d0.loss_cls_all: 0.5130, d0.loss_bbox_all: 0.7091, d0.loss_cls: 0.5130, d0.loss_bbox: 0.7091, d1.loss_cls: 0.5145, d1.loss_bbox: 0.6883, d2.loss_cls: 0.5125, d2.loss_bbox: 0.6828, d3.loss_cls: 0.5075, d3.loss_bbox: 0.6792, d4.loss_cls: 0.5034, d4.loss_bbox: 0.6781, d5.loss_cls: 0.5096, d5.loss_bbox: 0.6764, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6586, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.4301, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.4040, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.4146, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4241, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4361, d0.loss_map_cls_all: 0.4192, d0.loss_map_pts_all: 2.6266, d0.loss_map_dir_all: 0.0289, d0.loss_map_cls: 0.4192, d0.loss_map_pts: 2.6266, d0.loss_map_dir: 0.0289, d1.loss_map_cls: 0.4072, d1.loss_map_pts: 1.8918, d1.loss_map_dir: 0.0289, d2.loss_map_cls: 0.3929, d2.loss_map_pts: 1.7767, d2.loss_map_dir: 0.0294, d3.loss_map_cls: 0.3847, d3.loss_map_pts: 1.7391, d3.loss_map_dir: 0.0299, d4.loss_map_cls: 0.3835, d4.loss_map_pts: 1.7264, d4.loss_map_dir: 0.0303, d5.loss_map_cls: 0.3826, d5.loss_map_pts: 1.7218, d5.loss_map_dir: 0.0305, loss: 57.9499, grad_norm: 155.3523 +2026-02-24 18:27:46,493 - DriveTransformer - INFO - Epoch [2][33650/39528] lr: 9.958e-05, eta: 8 days, 1:46:29, time: 0.768, data_time: 0.038, memory: 19865, loss_cls: 0.4766, loss_bbox: 0.5653, loss_traj: 1.3106, loss_traj_cls: 0.0005, loss_map_cls: 0.3347, loss_map_pts: 1.4754, loss_map_dir: 0.0244, d0.loss_plan_l1_fix_time: 3.0332, d0.loss_plan_l1_fix_dist: 0.4574, d1.loss_plan_l1_fix_time: 2.2859, d1.loss_plan_l1_fix_dist: 0.3041, d2.loss_plan_l1_fix_time: 2.2284, d2.loss_plan_l1_fix_dist: 0.3089, d3.loss_plan_l1_fix_time: 2.2153, d3.loss_plan_l1_fix_dist: 0.3197, d4.loss_plan_l1_fix_time: 2.2170, d4.loss_plan_l1_fix_dist: 0.3326, d5.loss_plan_l1_fix_time: 2.2213, d5.loss_plan_l1_fix_dist: 0.3445, d6.loss_plan_l1_fix_time: 2.2273, d6.loss_plan_l1_fix_dist: 0.3578, d0.loss_cls_all: 0.4861, d0.loss_bbox_all: 0.6114, d0.loss_cls: 0.4861, d0.loss_bbox: 0.6114, d1.loss_cls: 0.4804, d1.loss_bbox: 0.5832, d2.loss_cls: 0.4746, d2.loss_bbox: 0.5703, d3.loss_cls: 0.4711, d3.loss_bbox: 0.5666, d4.loss_cls: 0.4726, d4.loss_bbox: 0.5638, d5.loss_cls: 0.4722, d5.loss_bbox: 0.5655, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4827, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3089, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2836, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2937, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2950, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3063, d0.loss_map_cls_all: 0.3715, d0.loss_map_pts_all: 2.1467, d0.loss_map_dir_all: 0.0228, d0.loss_map_cls: 0.3715, d0.loss_map_pts: 2.1467, d0.loss_map_dir: 0.0228, d1.loss_map_cls: 0.3597, d1.loss_map_pts: 1.6261, d1.loss_map_dir: 0.0228, d2.loss_map_cls: 0.3418, d2.loss_map_pts: 1.5257, d2.loss_map_dir: 0.0233, d3.loss_map_cls: 0.3342, d3.loss_map_pts: 1.4867, d3.loss_map_dir: 0.0237, d4.loss_map_cls: 0.3350, d4.loss_map_pts: 1.4735, d4.loss_map_dir: 0.0241, d5.loss_map_cls: 0.3354, d5.loss_map_pts: 1.4719, d5.loss_map_dir: 0.0243, loss: 52.9213, grad_norm: 154.9960 +2026-02-24 18:28:26,874 - DriveTransformer - INFO - Epoch [2][33700/39528] lr: 9.958e-05, eta: 8 days, 1:45:56, time: 0.808, data_time: 0.041, memory: 19865, loss_cls: 0.4959, loss_bbox: 0.6022, loss_traj: 1.4132, loss_traj_cls: 0.0005, loss_map_cls: 0.3167, loss_map_pts: 1.3970, loss_map_dir: 0.0254, d0.loss_plan_l1_fix_time: 2.6890, d0.loss_plan_l1_fix_dist: 0.3628, d1.loss_plan_l1_fix_time: 2.0202, d1.loss_plan_l1_fix_dist: 0.2910, d2.loss_plan_l1_fix_time: 1.9701, d2.loss_plan_l1_fix_dist: 0.2958, d3.loss_plan_l1_fix_time: 1.9685, d3.loss_plan_l1_fix_dist: 0.3072, d4.loss_plan_l1_fix_time: 1.9757, d4.loss_plan_l1_fix_dist: 0.3212, d5.loss_plan_l1_fix_time: 1.9847, d5.loss_plan_l1_fix_dist: 0.3366, d6.loss_plan_l1_fix_time: 1.9942, d6.loss_plan_l1_fix_dist: 0.3540, d0.loss_cls_all: 0.5078, d0.loss_bbox_all: 0.6488, d0.loss_cls: 0.5078, d0.loss_bbox: 0.6488, d1.loss_cls: 0.5022, d1.loss_bbox: 0.6262, d2.loss_cls: 0.4980, d2.loss_bbox: 0.6135, d3.loss_cls: 0.4961, d3.loss_bbox: 0.6068, d4.loss_cls: 0.4971, d4.loss_bbox: 0.6012, d5.loss_cls: 0.4949, d5.loss_bbox: 0.6004, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4602, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3635, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3567, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3747, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3888, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4014, d0.loss_map_cls_all: 0.3586, d0.loss_map_pts_all: 2.0768, d0.loss_map_dir_all: 0.0237, d0.loss_map_cls: 0.3586, d0.loss_map_pts: 2.0768, d0.loss_map_dir: 0.0237, d1.loss_map_cls: 0.3395, d1.loss_map_pts: 1.5635, d1.loss_map_dir: 0.0240, d2.loss_map_cls: 0.3274, d2.loss_map_pts: 1.4616, d2.loss_map_dir: 0.0245, d3.loss_map_cls: 0.3184, d3.loss_map_pts: 1.4177, d3.loss_map_dir: 0.0248, d4.loss_map_cls: 0.3152, d4.loss_map_pts: 1.4015, d4.loss_map_dir: 0.0251, d5.loss_map_cls: 0.3153, d5.loss_map_pts: 1.3946, d5.loss_map_dir: 0.0253, loss: 51.2184, grad_norm: 156.7077 +2026-02-24 18:29:07,501 - DriveTransformer - INFO - Epoch [2][33750/39528] lr: 9.958e-05, eta: 8 days, 1:45:25, time: 0.813, data_time: 0.041, memory: 19865, loss_cls: 0.4649, loss_bbox: 0.5657, loss_traj: 1.3591, loss_traj_cls: 0.0006, loss_map_cls: 0.3180, loss_map_pts: 1.5039, loss_map_dir: 0.0278, d0.loss_plan_l1_fix_time: 2.7777, d0.loss_plan_l1_fix_dist: 0.4038, d1.loss_plan_l1_fix_time: 2.1826, d1.loss_plan_l1_fix_dist: 0.3097, d2.loss_plan_l1_fix_time: 2.1832, d2.loss_plan_l1_fix_dist: 0.3082, d3.loss_plan_l1_fix_time: 2.1936, d3.loss_plan_l1_fix_dist: 0.3146, d4.loss_plan_l1_fix_time: 2.2016, d4.loss_plan_l1_fix_dist: 0.3230, d5.loss_plan_l1_fix_time: 2.2098, d5.loss_plan_l1_fix_dist: 0.3368, d6.loss_plan_l1_fix_time: 2.2186, d6.loss_plan_l1_fix_dist: 0.3520, d0.loss_cls_all: 0.4680, d0.loss_bbox_all: 0.6133, d0.loss_cls: 0.4680, d0.loss_bbox: 0.6133, d1.loss_cls: 0.4662, d1.loss_bbox: 0.5832, d2.loss_cls: 0.4672, d2.loss_bbox: 0.5679, d3.loss_cls: 0.4669, d3.loss_bbox: 0.5607, d4.loss_cls: 0.4654, d4.loss_bbox: 0.5614, d5.loss_cls: 0.4647, d5.loss_bbox: 0.5619, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4328, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3380, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3318, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3426, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3456, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.3543, d0.loss_map_cls_all: 0.3575, d0.loss_map_pts_all: 2.4765, d0.loss_map_dir_all: 0.0263, d0.loss_map_cls: 0.3575, d0.loss_map_pts: 2.4765, d0.loss_map_dir: 0.0263, d1.loss_map_cls: 0.3433, d1.loss_map_pts: 1.7016, d1.loss_map_dir: 0.0262, d2.loss_map_cls: 0.3255, d2.loss_map_pts: 1.5718, d2.loss_map_dir: 0.0266, d3.loss_map_cls: 0.3197, d3.loss_map_pts: 1.5215, d3.loss_map_dir: 0.0270, d4.loss_map_cls: 0.3176, d4.loss_map_pts: 1.5060, d4.loss_map_dir: 0.0274, d5.loss_map_cls: 0.3169, d5.loss_map_pts: 1.5019, d5.loss_map_dir: 0.0277, loss: 53.3146, grad_norm: 155.1307 +2026-02-24 18:29:47,557 - DriveTransformer - INFO - Epoch [2][33800/39528] lr: 9.958e-05, eta: 8 days, 1:44:48, time: 0.801, data_time: 0.051, memory: 19865, loss_cls: 0.4778, loss_bbox: 0.6075, loss_traj: 1.3365, loss_traj_cls: 0.0006, loss_map_cls: 0.3403, loss_map_pts: 1.4182, loss_map_dir: 0.0224, d0.loss_plan_l1_fix_time: 2.6924, d0.loss_plan_l1_fix_dist: 0.4697, d1.loss_plan_l1_fix_time: 2.2184, d1.loss_plan_l1_fix_dist: 0.3486, d2.loss_plan_l1_fix_time: 2.2717, d2.loss_plan_l1_fix_dist: 0.3583, d3.loss_plan_l1_fix_time: 2.2998, d3.loss_plan_l1_fix_dist: 0.3706, d4.loss_plan_l1_fix_time: 2.3123, d4.loss_plan_l1_fix_dist: 0.3828, d5.loss_plan_l1_fix_time: 2.3223, d5.loss_plan_l1_fix_dist: 0.3971, d6.loss_plan_l1_fix_time: 2.3325, d6.loss_plan_l1_fix_dist: 0.4147, d0.loss_cls_all: 0.4813, d0.loss_bbox_all: 0.6493, d0.loss_cls: 0.4813, d0.loss_bbox: 0.6493, d1.loss_cls: 0.4815, d1.loss_bbox: 0.6250, d2.loss_cls: 0.4843, d2.loss_bbox: 0.6126, d3.loss_cls: 0.4766, d3.loss_bbox: 0.6077, d4.loss_cls: 0.4771, d4.loss_bbox: 0.6072, d5.loss_cls: 0.4769, d5.loss_bbox: 0.6064, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4639, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3335, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3219, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3250, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3326, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3315, d0.loss_map_cls_all: 0.3811, d0.loss_map_pts_all: 2.0645, d0.loss_map_dir_all: 0.0208, d0.loss_map_cls: 0.3811, d0.loss_map_pts: 2.0645, d0.loss_map_dir: 0.0208, d1.loss_map_cls: 0.3647, d1.loss_map_pts: 1.5417, d1.loss_map_dir: 0.0210, d2.loss_map_cls: 0.3525, d2.loss_map_pts: 1.4416, d2.loss_map_dir: 0.0213, d3.loss_map_cls: 0.3452, d3.loss_map_pts: 1.4190, d3.loss_map_dir: 0.0217, d4.loss_map_cls: 0.3435, d4.loss_map_pts: 1.4107, d4.loss_map_dir: 0.0220, d5.loss_map_cls: 0.3407, d5.loss_map_pts: 1.4127, d5.loss_map_dir: 0.0223, loss: 53.2376, grad_norm: 155.8278 +2026-02-24 18:30:28,334 - DriveTransformer - INFO - Epoch [2][33850/39528] lr: 9.958e-05, eta: 8 days, 1:44:20, time: 0.816, data_time: 0.041, memory: 19865, loss_cls: 0.4799, loss_bbox: 0.6102, loss_traj: 1.3069, loss_traj_cls: 0.0005, loss_map_cls: 0.3252, loss_map_pts: 1.4549, loss_map_dir: 0.0302, d0.loss_plan_l1_fix_time: 2.7463, d0.loss_plan_l1_fix_dist: 0.3912, d1.loss_plan_l1_fix_time: 2.1106, d1.loss_plan_l1_fix_dist: 0.3070, d2.loss_plan_l1_fix_time: 2.1135, d2.loss_plan_l1_fix_dist: 0.3125, d3.loss_plan_l1_fix_time: 2.1247, d3.loss_plan_l1_fix_dist: 0.3244, d4.loss_plan_l1_fix_time: 2.1349, d4.loss_plan_l1_fix_dist: 0.3412, d5.loss_plan_l1_fix_time: 2.1456, d5.loss_plan_l1_fix_dist: 0.3573, d6.loss_plan_l1_fix_time: 2.1578, d6.loss_plan_l1_fix_dist: 0.3829, d0.loss_cls_all: 0.4836, d0.loss_bbox_all: 0.6491, d0.loss_cls: 0.4836, d0.loss_bbox: 0.6491, d1.loss_cls: 0.4796, d1.loss_bbox: 0.6227, d2.loss_cls: 0.4772, d2.loss_bbox: 0.6082, d3.loss_cls: 0.4750, d3.loss_bbox: 0.6024, d4.loss_cls: 0.4790, d4.loss_bbox: 0.6023, d5.loss_cls: 0.4766, d5.loss_bbox: 0.6056, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5781, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3047, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2899, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2838, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2889, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2937, d0.loss_map_cls_all: 0.3589, d0.loss_map_pts_all: 2.3729, d0.loss_map_dir_all: 0.0282, d0.loss_map_cls: 0.3589, d0.loss_map_pts: 2.3729, d0.loss_map_dir: 0.0282, d1.loss_map_cls: 0.3476, d1.loss_map_pts: 1.6526, d1.loss_map_dir: 0.0283, d2.loss_map_cls: 0.3337, d2.loss_map_pts: 1.5181, d2.loss_map_dir: 0.0289, d3.loss_map_cls: 0.3275, d3.loss_map_pts: 1.4692, d3.loss_map_dir: 0.0294, d4.loss_map_cls: 0.3247, d4.loss_map_pts: 1.4516, d4.loss_map_dir: 0.0297, d5.loss_map_cls: 0.3245, d5.loss_map_pts: 1.4509, d5.loss_map_dir: 0.0300, loss: 52.7624, grad_norm: 156.6639 +2026-02-24 18:31:07,529 - DriveTransformer - INFO - Epoch [2][33900/39528] lr: 9.958e-05, eta: 8 days, 1:43:32, time: 0.784, data_time: 0.043, memory: 19865, loss_cls: 0.4695, loss_bbox: 0.5978, loss_traj: 1.2205, loss_traj_cls: 0.0005, loss_map_cls: 0.3362, loss_map_pts: 1.4889, loss_map_dir: 0.0271, d0.loss_plan_l1_fix_time: 2.7842, d0.loss_plan_l1_fix_dist: 0.4919, d1.loss_plan_l1_fix_time: 2.0774, d1.loss_plan_l1_fix_dist: 0.3431, d2.loss_plan_l1_fix_time: 2.0193, d2.loss_plan_l1_fix_dist: 0.3492, d3.loss_plan_l1_fix_time: 2.0167, d3.loss_plan_l1_fix_dist: 0.3574, d4.loss_plan_l1_fix_time: 2.0224, d4.loss_plan_l1_fix_dist: 0.3681, d5.loss_plan_l1_fix_time: 2.0305, d5.loss_plan_l1_fix_dist: 0.3808, d6.loss_plan_l1_fix_time: 2.0410, d6.loss_plan_l1_fix_dist: 0.3899, d0.loss_cls_all: 0.4749, d0.loss_bbox_all: 0.6411, d0.loss_cls: 0.4749, d0.loss_bbox: 0.6411, d1.loss_cls: 0.4641, d1.loss_bbox: 0.6140, d2.loss_cls: 0.4597, d2.loss_bbox: 0.6055, d3.loss_cls: 0.4609, d3.loss_bbox: 0.5986, d4.loss_cls: 0.4659, d4.loss_bbox: 0.5964, d5.loss_cls: 0.4661, d5.loss_bbox: 0.5957, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3503, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2146, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.1999, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2020, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2058, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2120, d0.loss_map_cls_all: 0.3774, d0.loss_map_pts_all: 2.2611, d0.loss_map_dir_all: 0.0254, d0.loss_map_cls: 0.3774, d0.loss_map_pts: 2.2611, d0.loss_map_dir: 0.0254, d1.loss_map_cls: 0.3599, d1.loss_map_pts: 1.6333, d1.loss_map_dir: 0.0256, d2.loss_map_cls: 0.3495, d2.loss_map_pts: 1.5273, d2.loss_map_dir: 0.0260, d3.loss_map_cls: 0.3386, d3.loss_map_pts: 1.4886, d3.loss_map_dir: 0.0264, d4.loss_map_cls: 0.3386, d4.loss_map_pts: 1.4768, d4.loss_map_dir: 0.0267, d5.loss_map_cls: 0.3353, d5.loss_map_pts: 1.4835, d5.loss_map_dir: 0.0270, loss: 51.5513, grad_norm: 155.5797 +2026-02-24 18:31:48,559 - DriveTransformer - INFO - Epoch [2][33950/39528] lr: 9.958e-05, eta: 8 days, 1:43:06, time: 0.821, data_time: 0.041, memory: 19865, loss_cls: 0.4545, loss_bbox: 0.5853, loss_traj: 1.1728, loss_traj_cls: 0.0006, loss_map_cls: 0.3391, loss_map_pts: 1.4576, loss_map_dir: 0.0232, d0.loss_plan_l1_fix_time: 2.7386, d0.loss_plan_l1_fix_dist: 0.4909, d1.loss_plan_l1_fix_time: 2.0895, d1.loss_plan_l1_fix_dist: 0.2904, d2.loss_plan_l1_fix_time: 2.0587, d2.loss_plan_l1_fix_dist: 0.2964, d3.loss_plan_l1_fix_time: 2.0588, d3.loss_plan_l1_fix_dist: 0.3061, d4.loss_plan_l1_fix_time: 2.0640, d4.loss_plan_l1_fix_dist: 0.3190, d5.loss_plan_l1_fix_time: 2.0706, d5.loss_plan_l1_fix_dist: 0.3352, d6.loss_plan_l1_fix_time: 2.0791, d6.loss_plan_l1_fix_dist: 0.3545, d0.loss_cls_all: 0.4673, d0.loss_bbox_all: 0.6284, d0.loss_cls: 0.4673, d0.loss_bbox: 0.6284, d1.loss_cls: 0.4581, d1.loss_bbox: 0.6051, d2.loss_cls: 0.4589, d2.loss_bbox: 0.5928, d3.loss_cls: 0.4546, d3.loss_bbox: 0.5903, d4.loss_cls: 0.4532, d4.loss_bbox: 0.5885, d5.loss_cls: 0.4554, d5.loss_bbox: 0.5833, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2280, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.1570, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1428, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.1539, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1569, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1648, d0.loss_map_cls_all: 0.3767, d0.loss_map_pts_all: 2.1340, d0.loss_map_dir_all: 0.0219, d0.loss_map_cls: 0.3767, d0.loss_map_pts: 2.1340, d0.loss_map_dir: 0.0219, d1.loss_map_cls: 0.3597, d1.loss_map_pts: 1.5944, d1.loss_map_dir: 0.0218, d2.loss_map_cls: 0.3467, d2.loss_map_pts: 1.4968, d2.loss_map_dir: 0.0221, d3.loss_map_cls: 0.3399, d3.loss_map_pts: 1.4632, d3.loss_map_dir: 0.0225, d4.loss_map_cls: 0.3400, d4.loss_map_pts: 1.4492, d4.loss_map_dir: 0.0228, d5.loss_map_cls: 0.3395, d5.loss_map_pts: 1.4536, d5.loss_map_dir: 0.0230, loss: 50.3852, grad_norm: 152.8312 +2026-02-24 18:32:28,173 - DriveTransformer - INFO - Epoch [2][34000/39528] lr: 9.958e-05, eta: 8 days, 1:42:24, time: 0.792, data_time: 0.044, memory: 19865, loss_cls: 0.4540, loss_bbox: 0.5853, loss_traj: 1.3667, loss_traj_cls: 0.0005, loss_map_cls: 0.3150, loss_map_pts: 1.3408, loss_map_dir: 0.0255, d0.loss_plan_l1_fix_time: 2.4064, d0.loss_plan_l1_fix_dist: 0.4054, d1.loss_plan_l1_fix_time: 1.9247, d1.loss_plan_l1_fix_dist: 0.3405, d2.loss_plan_l1_fix_time: 1.9019, d2.loss_plan_l1_fix_dist: 0.3537, d3.loss_plan_l1_fix_time: 1.9051, d3.loss_plan_l1_fix_dist: 0.3747, d4.loss_plan_l1_fix_time: 1.9097, d4.loss_plan_l1_fix_dist: 0.3971, d5.loss_plan_l1_fix_time: 1.9144, d5.loss_plan_l1_fix_dist: 0.4184, d6.loss_plan_l1_fix_time: 1.9194, d6.loss_plan_l1_fix_dist: 0.4452, d0.loss_cls_all: 0.4544, d0.loss_bbox_all: 0.6201, d0.loss_cls: 0.4544, d0.loss_bbox: 0.6201, d1.loss_cls: 0.4520, d1.loss_bbox: 0.5965, d2.loss_cls: 0.4512, d2.loss_bbox: 0.5864, d3.loss_cls: 0.4535, d3.loss_bbox: 0.5841, d4.loss_cls: 0.4490, d4.loss_bbox: 0.5826, d5.loss_cls: 0.4545, d5.loss_bbox: 0.5828, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5594, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3845, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3628, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.3724, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3667, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3620, d0.loss_map_cls_all: 0.3665, d0.loss_map_pts_all: 2.1141, d0.loss_map_dir_all: 0.0235, d0.loss_map_cls: 0.3665, d0.loss_map_pts: 2.1141, d0.loss_map_dir: 0.0235, d1.loss_map_cls: 0.3465, d1.loss_map_pts: 1.4646, d1.loss_map_dir: 0.0243, d2.loss_map_cls: 0.3344, d2.loss_map_pts: 1.3829, d2.loss_map_dir: 0.0246, d3.loss_map_cls: 0.3227, d3.loss_map_pts: 1.3495, d3.loss_map_dir: 0.0249, d4.loss_map_cls: 0.3183, d4.loss_map_pts: 1.3409, d4.loss_map_dir: 0.0252, d5.loss_map_cls: 0.3152, d5.loss_map_pts: 1.3392, d5.loss_map_dir: 0.0254, loss: 50.1059, grad_norm: 153.1395 +2026-02-24 18:33:08,241 - DriveTransformer - INFO - Epoch [2][34050/39528] lr: 9.958e-05, eta: 8 days, 1:41:47, time: 0.801, data_time: 0.042, memory: 19865, loss_cls: 0.4962, loss_bbox: 0.6285, loss_traj: 1.2797, loss_traj_cls: 0.0006, loss_map_cls: 0.3908, loss_map_pts: 1.6975, loss_map_dir: 0.0268, d0.loss_plan_l1_fix_time: 3.2125, d0.loss_plan_l1_fix_dist: 0.3995, d1.loss_plan_l1_fix_time: 2.4963, d1.loss_plan_l1_fix_dist: 0.3567, d2.loss_plan_l1_fix_time: 2.4526, d2.loss_plan_l1_fix_dist: 0.3647, d3.loss_plan_l1_fix_time: 2.4461, d3.loss_plan_l1_fix_dist: 0.3792, d4.loss_plan_l1_fix_time: 2.4489, d4.loss_plan_l1_fix_dist: 0.3971, d5.loss_plan_l1_fix_time: 2.4527, d5.loss_plan_l1_fix_dist: 0.4173, d6.loss_plan_l1_fix_time: 2.4574, d6.loss_plan_l1_fix_dist: 0.4426, d0.loss_cls_all: 0.4982, d0.loss_bbox_all: 0.6648, d0.loss_cls: 0.4982, d0.loss_bbox: 0.6648, d1.loss_cls: 0.4900, d1.loss_bbox: 0.6438, d2.loss_cls: 0.4899, d2.loss_bbox: 0.6339, d3.loss_cls: 0.4911, d3.loss_bbox: 0.6259, d4.loss_cls: 0.4931, d4.loss_bbox: 0.6247, d5.loss_cls: 0.4967, d5.loss_bbox: 0.6269, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4592, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3099, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2815, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.2671, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2683, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2776, d0.loss_map_cls_all: 0.4134, d0.loss_map_pts_all: 2.4221, d0.loss_map_dir_all: 0.0249, d0.loss_map_cls: 0.4134, d0.loss_map_pts: 2.4221, d0.loss_map_dir: 0.0249, d1.loss_map_cls: 0.4039, d1.loss_map_pts: 1.8601, d1.loss_map_dir: 0.0252, d2.loss_map_cls: 0.3991, d2.loss_map_pts: 1.7690, d2.loss_map_dir: 0.0257, d3.loss_map_cls: 0.3926, d3.loss_map_pts: 1.7248, d3.loss_map_dir: 0.0262, d4.loss_map_cls: 0.3899, d4.loss_map_pts: 1.7056, d4.loss_map_dir: 0.0265, d5.loss_map_cls: 0.3897, d5.loss_map_pts: 1.6979, d5.loss_map_dir: 0.0267, loss: 57.6382, grad_norm: 153.5650 +2026-02-24 18:33:48,354 - DriveTransformer - INFO - Epoch [2][34100/39528] lr: 9.958e-05, eta: 8 days, 1:41:10, time: 0.802, data_time: 0.040, memory: 19865, loss_cls: 0.4718, loss_bbox: 0.6162, loss_traj: 1.0909, loss_traj_cls: 0.0006, loss_map_cls: 0.3412, loss_map_pts: 1.5155, loss_map_dir: 0.0283, d0.loss_plan_l1_fix_time: 2.9193, d0.loss_plan_l1_fix_dist: 0.4755, d1.loss_plan_l1_fix_time: 2.1712, d1.loss_plan_l1_fix_dist: 0.3418, d2.loss_plan_l1_fix_time: 2.1234, d2.loss_plan_l1_fix_dist: 0.3490, d3.loss_plan_l1_fix_time: 2.1130, d3.loss_plan_l1_fix_dist: 0.3587, d4.loss_plan_l1_fix_time: 2.1146, d4.loss_plan_l1_fix_dist: 0.3692, d5.loss_plan_l1_fix_time: 2.1191, d5.loss_plan_l1_fix_dist: 0.3804, d6.loss_plan_l1_fix_time: 2.1260, d6.loss_plan_l1_fix_dist: 0.3924, d0.loss_cls_all: 0.4846, d0.loss_bbox_all: 0.6367, d0.loss_cls: 0.4846, d0.loss_bbox: 0.6367, d1.loss_cls: 0.4801, d1.loss_bbox: 0.6179, d2.loss_cls: 0.4771, d2.loss_bbox: 0.6091, d3.loss_cls: 0.4708, d3.loss_bbox: 0.6070, d4.loss_cls: 0.4705, d4.loss_bbox: 0.6082, d5.loss_cls: 0.4705, d5.loss_bbox: 0.6122, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1538, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.0777, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0587, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.0777, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.0755, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.0895, d0.loss_map_cls_all: 0.3717, d0.loss_map_pts_all: 2.5075, d0.loss_map_dir_all: 0.0275, d0.loss_map_cls: 0.3717, d0.loss_map_pts: 2.5075, d0.loss_map_dir: 0.0275, d1.loss_map_cls: 0.3603, d1.loss_map_pts: 1.7075, d1.loss_map_dir: 0.0269, d2.loss_map_cls: 0.3525, d2.loss_map_pts: 1.5942, d2.loss_map_dir: 0.0271, d3.loss_map_cls: 0.3442, d3.loss_map_pts: 1.5401, d3.loss_map_dir: 0.0276, d4.loss_map_cls: 0.3408, d4.loss_map_pts: 1.5175, d4.loss_map_dir: 0.0279, d5.loss_map_cls: 0.3403, d5.loss_map_pts: 1.5109, d5.loss_map_dir: 0.0281, loss: 52.1814, grad_norm: 152.3920 +2026-02-24 18:34:29,065 - DriveTransformer - INFO - Epoch [2][34150/39528] lr: 9.958e-05, eta: 8 days, 1:40:40, time: 0.814, data_time: 0.044, memory: 19865, loss_cls: 0.4591, loss_bbox: 0.5887, loss_traj: 1.1072, loss_traj_cls: 0.0006, loss_map_cls: 0.3098, loss_map_pts: 1.4390, loss_map_dir: 0.0282, d0.loss_plan_l1_fix_time: 2.4541, d0.loss_plan_l1_fix_dist: 0.3825, d1.loss_plan_l1_fix_time: 1.7582, d1.loss_plan_l1_fix_dist: 0.2899, d2.loss_plan_l1_fix_time: 1.7151, d2.loss_plan_l1_fix_dist: 0.2979, d3.loss_plan_l1_fix_time: 1.7079, d3.loss_plan_l1_fix_dist: 0.3120, d4.loss_plan_l1_fix_time: 1.7108, d4.loss_plan_l1_fix_dist: 0.3278, d5.loss_plan_l1_fix_time: 1.7154, d5.loss_plan_l1_fix_dist: 0.3450, d6.loss_plan_l1_fix_time: 1.7210, d6.loss_plan_l1_fix_dist: 0.3628, d0.loss_cls_all: 0.4728, d0.loss_bbox_all: 0.6075, d0.loss_cls: 0.4728, d0.loss_bbox: 0.6075, d1.loss_cls: 0.4654, d1.loss_bbox: 0.5874, d2.loss_cls: 0.4614, d2.loss_bbox: 0.5820, d3.loss_cls: 0.4574, d3.loss_bbox: 0.5797, d4.loss_cls: 0.4556, d4.loss_bbox: 0.5823, d5.loss_cls: 0.4593, d5.loss_bbox: 0.5834, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1820, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.0998, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0958, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.1016, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.0972, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1048, d0.loss_map_cls_all: 0.3474, d0.loss_map_pts_all: 2.4226, d0.loss_map_dir_all: 0.0265, d0.loss_map_cls: 0.3474, d0.loss_map_pts: 2.4226, d0.loss_map_dir: 0.0265, d1.loss_map_cls: 0.3316, d1.loss_map_pts: 1.6291, d1.loss_map_dir: 0.0267, d2.loss_map_cls: 0.3243, d2.loss_map_pts: 1.5054, d2.loss_map_dir: 0.0270, d3.loss_map_cls: 0.3155, d3.loss_map_pts: 1.4567, d3.loss_map_dir: 0.0274, d4.loss_map_cls: 0.3126, d4.loss_map_pts: 1.4399, d4.loss_map_dir: 0.0279, d5.loss_map_cls: 0.3097, d5.loss_map_pts: 1.4365, d5.loss_map_dir: 0.0281, loss: 47.8849, grad_norm: 151.0753 +2026-02-24 18:35:07,655 - DriveTransformer - INFO - Epoch [2][34200/39528] lr: 9.958e-05, eta: 8 days, 1:39:47, time: 0.773, data_time: 0.044, memory: 19865, loss_cls: 0.4370, loss_bbox: 0.5932, loss_traj: 1.0523, loss_traj_cls: 0.0005, loss_map_cls: 0.3452, loss_map_pts: 1.2793, loss_map_dir: 0.0251, d0.loss_plan_l1_fix_time: 2.8328, d0.loss_plan_l1_fix_dist: 0.4847, d1.loss_plan_l1_fix_time: 1.9354, d1.loss_plan_l1_fix_dist: 0.3542, d2.loss_plan_l1_fix_time: 1.8850, d2.loss_plan_l1_fix_dist: 0.3694, d3.loss_plan_l1_fix_time: 1.8825, d3.loss_plan_l1_fix_dist: 0.3921, d4.loss_plan_l1_fix_time: 1.8879, d4.loss_plan_l1_fix_dist: 0.4146, d5.loss_plan_l1_fix_time: 1.8939, d5.loss_plan_l1_fix_dist: 0.4366, d6.loss_plan_l1_fix_time: 1.9010, d6.loss_plan_l1_fix_dist: 0.4606, d0.loss_cls_all: 0.4499, d0.loss_bbox_all: 0.6220, d0.loss_cls: 0.4499, d0.loss_bbox: 0.6220, d1.loss_cls: 0.4401, d1.loss_bbox: 0.5998, d2.loss_cls: 0.4402, d2.loss_bbox: 0.5916, d3.loss_cls: 0.4380, d3.loss_bbox: 0.5887, d4.loss_cls: 0.4370, d4.loss_bbox: 0.5885, d5.loss_cls: 0.4377, d5.loss_bbox: 0.5869, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1227, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.0397, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0259, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.0365, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.0464, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.0505, d0.loss_map_cls_all: 0.3742, d0.loss_map_pts_all: 2.0891, d0.loss_map_dir_all: 0.0236, d0.loss_map_cls: 0.3742, d0.loss_map_pts: 2.0891, d0.loss_map_dir: 0.0236, d1.loss_map_cls: 0.3619, d1.loss_map_pts: 1.4440, d1.loss_map_dir: 0.0239, d2.loss_map_cls: 0.3504, d2.loss_map_pts: 1.3281, d2.loss_map_dir: 0.0243, d3.loss_map_cls: 0.3479, d3.loss_map_pts: 1.2877, d3.loss_map_dir: 0.0245, d4.loss_map_cls: 0.3442, d4.loss_map_pts: 1.2780, d4.loss_map_dir: 0.0248, d5.loss_map_cls: 0.3441, d5.loss_map_pts: 1.2785, d5.loss_map_dir: 0.0250, loss: 47.9431, grad_norm: 152.9367 +2026-02-24 18:35:47,945 - DriveTransformer - INFO - Epoch [2][34250/39528] lr: 9.958e-05, eta: 8 days, 1:39:11, time: 0.804, data_time: 0.037, memory: 19865, loss_cls: 0.4331, loss_bbox: 0.6041, loss_traj: 1.3029, loss_traj_cls: 0.0005, loss_map_cls: 0.3296, loss_map_pts: 1.3701, loss_map_dir: 0.0246, d0.loss_plan_l1_fix_time: 2.6001, d0.loss_plan_l1_fix_dist: 0.3995, d1.loss_plan_l1_fix_time: 2.1635, d1.loss_plan_l1_fix_dist: 0.3071, d2.loss_plan_l1_fix_time: 2.1365, d2.loss_plan_l1_fix_dist: 0.3135, d3.loss_plan_l1_fix_time: 2.1324, d3.loss_plan_l1_fix_dist: 0.3272, d4.loss_plan_l1_fix_time: 2.1372, d4.loss_plan_l1_fix_dist: 0.3430, d5.loss_plan_l1_fix_time: 2.1439, d5.loss_plan_l1_fix_dist: 0.3643, d6.loss_plan_l1_fix_time: 2.1521, d6.loss_plan_l1_fix_dist: 0.3914, d0.loss_cls_all: 0.4472, d0.loss_bbox_all: 0.6354, d0.loss_cls: 0.4472, d0.loss_bbox: 0.6354, d1.loss_cls: 0.4407, d1.loss_bbox: 0.6112, d2.loss_cls: 0.4397, d2.loss_bbox: 0.6006, d3.loss_cls: 0.4365, d3.loss_bbox: 0.5964, d4.loss_cls: 0.4329, d4.loss_bbox: 0.5960, d5.loss_cls: 0.4328, d5.loss_bbox: 0.5982, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4284, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3056, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2975, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2980, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2965, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2987, d0.loss_map_cls_all: 0.3736, d0.loss_map_pts_all: 2.2297, d0.loss_map_dir_all: 0.0234, d0.loss_map_cls: 0.3736, d0.loss_map_pts: 2.2297, d0.loss_map_dir: 0.0234, d1.loss_map_cls: 0.3572, d1.loss_map_pts: 1.5539, d1.loss_map_dir: 0.0234, d2.loss_map_cls: 0.3436, d2.loss_map_pts: 1.4324, d2.loss_map_dir: 0.0237, d3.loss_map_cls: 0.3316, d3.loss_map_pts: 1.3884, d3.loss_map_dir: 0.0240, d4.loss_map_cls: 0.3282, d4.loss_map_pts: 1.3718, d4.loss_map_dir: 0.0244, d5.loss_map_cls: 0.3273, d5.loss_map_pts: 1.3699, d5.loss_map_dir: 0.0245, loss: 51.4337, grad_norm: 152.6284 +2026-02-24 18:36:28,689 - DriveTransformer - INFO - Epoch [2][34300/39528] lr: 9.958e-05, eta: 8 days, 1:38:42, time: 0.815, data_time: 0.039, memory: 19865, loss_cls: 0.4602, loss_bbox: 0.6156, loss_traj: 1.1883, loss_traj_cls: 0.0005, loss_map_cls: 0.3232, loss_map_pts: 1.5861, loss_map_dir: 0.0305, d0.loss_plan_l1_fix_time: 2.9318, d0.loss_plan_l1_fix_dist: 0.4053, d1.loss_plan_l1_fix_time: 2.3547, d1.loss_plan_l1_fix_dist: 0.3478, d2.loss_plan_l1_fix_time: 2.3262, d2.loss_plan_l1_fix_dist: 0.3759, d3.loss_plan_l1_fix_time: 2.3225, d3.loss_plan_l1_fix_dist: 0.3992, d4.loss_plan_l1_fix_time: 2.3297, d4.loss_plan_l1_fix_dist: 0.4263, d5.loss_plan_l1_fix_time: 2.3385, d5.loss_plan_l1_fix_dist: 0.4559, d6.loss_plan_l1_fix_time: 2.3485, d6.loss_plan_l1_fix_dist: 0.4882, d0.loss_cls_all: 0.4629, d0.loss_bbox_all: 0.6490, d0.loss_cls: 0.4629, d0.loss_bbox: 0.6490, d1.loss_cls: 0.4606, d1.loss_bbox: 0.6252, d2.loss_cls: 0.4558, d2.loss_bbox: 0.6163, d3.loss_cls: 0.4515, d3.loss_bbox: 0.6145, d4.loss_cls: 0.4546, d4.loss_bbox: 0.6100, d5.loss_cls: 0.4559, d5.loss_bbox: 0.6118, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2510, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1497, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1400, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1574, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1675, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1775, d0.loss_map_cls_all: 0.3651, d0.loss_map_pts_all: 2.6074, d0.loss_map_dir_all: 0.0293, d0.loss_map_cls: 0.3651, d0.loss_map_pts: 2.6074, d0.loss_map_dir: 0.0293, d1.loss_map_cls: 0.3491, d1.loss_map_pts: 1.7912, d1.loss_map_dir: 0.0291, d2.loss_map_cls: 0.3358, d2.loss_map_pts: 1.6616, d2.loss_map_dir: 0.0295, d3.loss_map_cls: 0.3271, d3.loss_map_pts: 1.6118, d3.loss_map_dir: 0.0299, d4.loss_map_cls: 0.3252, d4.loss_map_pts: 1.5936, d4.loss_map_dir: 0.0302, d5.loss_map_cls: 0.3232, d5.loss_map_pts: 1.5870, d5.loss_map_dir: 0.0303, loss: 54.7409, grad_norm: 154.0726 +2026-02-24 18:37:08,332 - DriveTransformer - INFO - Epoch [2][34350/39528] lr: 9.958e-05, eta: 8 days, 1:38:00, time: 0.793, data_time: 0.035, memory: 19865, loss_cls: 0.4566, loss_bbox: 0.5878, loss_traj: 1.3620, loss_traj_cls: 0.0006, loss_map_cls: 0.3108, loss_map_pts: 1.3562, loss_map_dir: 0.0263, d0.loss_plan_l1_fix_time: 2.3989, d0.loss_plan_l1_fix_dist: 0.4763, d1.loss_plan_l1_fix_time: 1.6706, d1.loss_plan_l1_fix_dist: 0.3320, d2.loss_plan_l1_fix_time: 1.6381, d2.loss_plan_l1_fix_dist: 0.3414, d3.loss_plan_l1_fix_time: 1.6432, d3.loss_plan_l1_fix_dist: 0.3576, d4.loss_plan_l1_fix_time: 1.6492, d4.loss_plan_l1_fix_dist: 0.3754, d5.loss_plan_l1_fix_time: 1.6557, d5.loss_plan_l1_fix_dist: 0.3935, d6.loss_plan_l1_fix_time: 1.6626, d6.loss_plan_l1_fix_dist: 0.4139, d0.loss_cls_all: 0.4666, d0.loss_bbox_all: 0.6226, d0.loss_cls: 0.4666, d0.loss_bbox: 0.6226, d1.loss_cls: 0.4565, d1.loss_bbox: 0.6024, d2.loss_cls: 0.4528, d2.loss_bbox: 0.5923, d3.loss_cls: 0.4507, d3.loss_bbox: 0.5892, d4.loss_cls: 0.4539, d4.loss_bbox: 0.5887, d5.loss_cls: 0.4557, d5.loss_bbox: 0.5853, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5015, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3531, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3382, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.3484, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3501, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3568, d0.loss_map_cls_all: 0.3631, d0.loss_map_pts_all: 2.2348, d0.loss_map_dir_all: 0.0255, d0.loss_map_cls: 0.3631, d0.loss_map_pts: 2.2348, d0.loss_map_dir: 0.0255, d1.loss_map_cls: 0.3407, d1.loss_map_pts: 1.5313, d1.loss_map_dir: 0.0252, d2.loss_map_cls: 0.3268, d2.loss_map_pts: 1.4219, d2.loss_map_dir: 0.0254, d3.loss_map_cls: 0.3142, d3.loss_map_pts: 1.3778, d3.loss_map_dir: 0.0258, d4.loss_map_cls: 0.3097, d4.loss_map_pts: 1.3620, d4.loss_map_dir: 0.0260, d5.loss_map_cls: 0.3090, d5.loss_map_pts: 1.3579, d5.loss_map_dir: 0.0261, loss: 48.7942, grad_norm: 154.5687 +2026-02-24 18:37:48,728 - DriveTransformer - INFO - Epoch [2][34400/39528] lr: 9.958e-05, eta: 8 days, 1:37:26, time: 0.808, data_time: 0.044, memory: 19865, loss_cls: 0.4834, loss_bbox: 0.6169, loss_traj: 1.0679, loss_traj_cls: 0.0005, loss_map_cls: 0.3670, loss_map_pts: 1.7335, loss_map_dir: 0.0345, d0.loss_plan_l1_fix_time: 3.3112, d0.loss_plan_l1_fix_dist: 0.4237, d1.loss_plan_l1_fix_time: 2.3726, d1.loss_plan_l1_fix_dist: 0.3116, d2.loss_plan_l1_fix_time: 2.3296, d2.loss_plan_l1_fix_dist: 0.3263, d3.loss_plan_l1_fix_time: 2.3229, d3.loss_plan_l1_fix_dist: 0.3500, d4.loss_plan_l1_fix_time: 2.3261, d4.loss_plan_l1_fix_dist: 0.3727, d5.loss_plan_l1_fix_time: 2.3316, d5.loss_plan_l1_fix_dist: 0.4007, d6.loss_plan_l1_fix_time: 2.3382, d6.loss_plan_l1_fix_dist: 0.4284, d0.loss_cls_all: 0.5046, d0.loss_bbox_all: 0.6451, d0.loss_cls: 0.5046, d0.loss_bbox: 0.6451, d1.loss_cls: 0.4932, d1.loss_bbox: 0.6275, d2.loss_cls: 0.4873, d2.loss_bbox: 0.6182, d3.loss_cls: 0.4818, d3.loss_bbox: 0.6162, d4.loss_cls: 0.4811, d4.loss_bbox: 0.6176, d5.loss_cls: 0.4834, d5.loss_bbox: 0.6151, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2357, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.0498, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.0238, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.0480, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.0457, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.0559, d0.loss_map_cls_all: 0.3849, d0.loss_map_pts_all: 2.9585, d0.loss_map_dir_all: 0.0334, d0.loss_map_cls: 0.3849, d0.loss_map_pts: 2.9585, d0.loss_map_dir: 0.0334, d1.loss_map_cls: 0.3773, d1.loss_map_pts: 1.9396, d1.loss_map_dir: 0.0331, d2.loss_map_cls: 0.3732, d2.loss_map_pts: 1.8030, d2.loss_map_dir: 0.0333, d3.loss_map_cls: 0.3696, d3.loss_map_pts: 1.7526, d3.loss_map_dir: 0.0339, d4.loss_map_cls: 0.3666, d4.loss_map_pts: 1.7351, d4.loss_map_dir: 0.0342, d5.loss_map_cls: 0.3656, d5.loss_map_pts: 1.7330, d5.loss_map_dir: 0.0343, loss: 56.2717, grad_norm: 154.4723 +2026-02-24 18:38:29,677 - DriveTransformer - INFO - Epoch [2][34450/39528] lr: 9.958e-05, eta: 8 days, 1:37:00, time: 0.819, data_time: 0.045, memory: 19865, loss_cls: 0.4529, loss_bbox: 0.5836, loss_traj: 1.2894, loss_traj_cls: 0.0005, loss_map_cls: 0.3284, loss_map_pts: 1.4624, loss_map_dir: 0.0263, d0.loss_plan_l1_fix_time: 2.6293, d0.loss_plan_l1_fix_dist: 0.4308, d1.loss_plan_l1_fix_time: 2.0900, d1.loss_plan_l1_fix_dist: 0.3389, d2.loss_plan_l1_fix_time: 2.0610, d2.loss_plan_l1_fix_dist: 0.3513, d3.loss_plan_l1_fix_time: 2.0565, d3.loss_plan_l1_fix_dist: 0.3688, d4.loss_plan_l1_fix_time: 2.0596, d4.loss_plan_l1_fix_dist: 0.3873, d5.loss_plan_l1_fix_time: 2.0641, d5.loss_plan_l1_fix_dist: 0.4082, d6.loss_plan_l1_fix_time: 2.0701, d6.loss_plan_l1_fix_dist: 0.4308, d0.loss_cls_all: 0.4719, d0.loss_bbox_all: 0.6106, d0.loss_cls: 0.4719, d0.loss_bbox: 0.6106, d1.loss_cls: 0.4624, d1.loss_bbox: 0.5906, d2.loss_cls: 0.4592, d2.loss_bbox: 0.5785, d3.loss_cls: 0.4570, d3.loss_bbox: 0.5794, d4.loss_cls: 0.4564, d4.loss_bbox: 0.5794, d5.loss_cls: 0.4566, d5.loss_bbox: 0.5791, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3892, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2938, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2560, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.2572, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2657, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2726, d0.loss_map_cls_all: 0.3710, d0.loss_map_pts_all: 2.3129, d0.loss_map_dir_all: 0.0248, d0.loss_map_cls: 0.3710, d0.loss_map_pts: 2.3129, d0.loss_map_dir: 0.0248, d1.loss_map_cls: 0.3553, d1.loss_map_pts: 1.6162, d1.loss_map_dir: 0.0251, d2.loss_map_cls: 0.3414, d2.loss_map_pts: 1.5047, d2.loss_map_dir: 0.0254, d3.loss_map_cls: 0.3350, d3.loss_map_pts: 1.4699, d3.loss_map_dir: 0.0257, d4.loss_map_cls: 0.3299, d4.loss_map_pts: 1.4565, d4.loss_map_dir: 0.0260, d5.loss_map_cls: 0.3267, d5.loss_map_pts: 1.4575, d5.loss_map_dir: 0.0262, loss: 51.7322, grad_norm: 152.6916 +2026-02-24 18:39:08,477 - DriveTransformer - INFO - Epoch [2][34500/39528] lr: 9.958e-05, eta: 8 days, 1:36:08, time: 0.776, data_time: 0.041, memory: 19865, loss_cls: 0.4324, loss_bbox: 0.5908, loss_traj: 1.1995, loss_traj_cls: 0.0005, loss_map_cls: 0.3270, loss_map_pts: 1.4878, loss_map_dir: 0.0219, d0.loss_plan_l1_fix_time: 2.5524, d0.loss_plan_l1_fix_dist: 0.4191, d1.loss_plan_l1_fix_time: 1.9211, d1.loss_plan_l1_fix_dist: 0.3151, d2.loss_plan_l1_fix_time: 1.9259, d2.loss_plan_l1_fix_dist: 0.3321, d3.loss_plan_l1_fix_time: 1.9321, d3.loss_plan_l1_fix_dist: 0.3502, d4.loss_plan_l1_fix_time: 1.9376, d4.loss_plan_l1_fix_dist: 0.3715, d5.loss_plan_l1_fix_time: 1.9429, d5.loss_plan_l1_fix_dist: 0.3917, d6.loss_plan_l1_fix_time: 1.9489, d6.loss_plan_l1_fix_dist: 0.4154, d0.loss_cls_all: 0.4421, d0.loss_bbox_all: 0.6254, d0.loss_cls: 0.4421, d0.loss_bbox: 0.6254, d1.loss_cls: 0.4378, d1.loss_bbox: 0.6018, d2.loss_cls: 0.4306, d2.loss_bbox: 0.5938, d3.loss_cls: 0.4316, d3.loss_bbox: 0.5866, d4.loss_cls: 0.4298, d4.loss_bbox: 0.5870, d5.loss_cls: 0.4316, d5.loss_bbox: 0.5873, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3243, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2137, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.1776, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1782, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1813, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1817, d0.loss_map_cls_all: 0.3668, d0.loss_map_pts_all: 2.1054, d0.loss_map_dir_all: 0.0206, d0.loss_map_cls: 0.3668, d0.loss_map_pts: 2.1054, d0.loss_map_dir: 0.0206, d1.loss_map_cls: 0.3534, d1.loss_map_pts: 1.6437, d1.loss_map_dir: 0.0209, d2.loss_map_cls: 0.3439, d2.loss_map_pts: 1.5515, d2.loss_map_dir: 0.0211, d3.loss_map_cls: 0.3360, d3.loss_map_pts: 1.5043, d3.loss_map_dir: 0.0214, d4.loss_map_cls: 0.3302, d4.loss_map_pts: 1.4894, d4.loss_map_dir: 0.0216, d5.loss_map_cls: 0.3270, d5.loss_map_pts: 1.4880, d5.loss_map_dir: 0.0218, loss: 49.7899, grad_norm: 148.7535 +2026-02-24 18:39:50,740 - DriveTransformer - INFO - Epoch [2][34550/39528] lr: 9.958e-05, eta: 8 days, 1:35:56, time: 0.845, data_time: 0.038, memory: 19865, loss_cls: 0.4509, loss_bbox: 0.5888, loss_traj: 1.1248, loss_traj_cls: 0.0005, loss_map_cls: 0.3206, loss_map_pts: 1.5275, loss_map_dir: 0.0304, d0.loss_plan_l1_fix_time: 2.3234, d0.loss_plan_l1_fix_dist: 0.3803, d1.loss_plan_l1_fix_time: 1.8072, d1.loss_plan_l1_fix_dist: 0.3067, d2.loss_plan_l1_fix_time: 1.7861, d2.loss_plan_l1_fix_dist: 0.3270, d3.loss_plan_l1_fix_time: 1.7833, d3.loss_plan_l1_fix_dist: 0.3470, d4.loss_plan_l1_fix_time: 1.7893, d4.loss_plan_l1_fix_dist: 0.3694, d5.loss_plan_l1_fix_time: 1.7961, d5.loss_plan_l1_fix_dist: 0.3911, d6.loss_plan_l1_fix_time: 1.8042, d6.loss_plan_l1_fix_dist: 0.4147, d0.loss_cls_all: 0.4600, d0.loss_bbox_all: 0.6184, d0.loss_cls: 0.4600, d0.loss_bbox: 0.6184, d1.loss_cls: 0.4529, d1.loss_bbox: 0.5976, d2.loss_cls: 0.4510, d2.loss_bbox: 0.5881, d3.loss_cls: 0.4491, d3.loss_bbox: 0.5824, d4.loss_cls: 0.4485, d4.loss_bbox: 0.5822, d5.loss_cls: 0.4491, d5.loss_bbox: 0.5824, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2343, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1223, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.0982, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.1076, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1029, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1147, d0.loss_map_cls_all: 0.3551, d0.loss_map_pts_all: 2.5051, d0.loss_map_dir_all: 0.0290, d0.loss_map_cls: 0.3551, d0.loss_map_pts: 2.5051, d0.loss_map_dir: 0.0290, d1.loss_map_cls: 0.3339, d1.loss_map_pts: 1.7457, d1.loss_map_dir: 0.0292, d2.loss_map_cls: 0.3281, d2.loss_map_pts: 1.6172, d2.loss_map_dir: 0.0294, d3.loss_map_cls: 0.3221, d3.loss_map_pts: 1.5591, d3.loss_map_dir: 0.0297, d4.loss_map_cls: 0.3194, d4.loss_map_pts: 1.5367, d4.loss_map_dir: 0.0300, d5.loss_map_cls: 0.3175, d5.loss_map_pts: 1.5302, d5.loss_map_dir: 0.0302, loss: 49.3308, grad_norm: 148.5835 +2026-02-24 18:40:30,571 - DriveTransformer - INFO - Epoch [2][34600/39528] lr: 9.958e-05, eta: 8 days, 1:35:16, time: 0.797, data_time: 0.040, memory: 19865, loss_cls: 0.4627, loss_bbox: 0.6024, loss_traj: 1.0798, loss_traj_cls: 0.0006, loss_map_cls: 0.3439, loss_map_pts: 1.5401, loss_map_dir: 0.0297, d0.loss_plan_l1_fix_time: 3.1066, d0.loss_plan_l1_fix_dist: 0.4736, d1.loss_plan_l1_fix_time: 2.2586, d1.loss_plan_l1_fix_dist: 0.3243, d2.loss_plan_l1_fix_time: 2.2290, d2.loss_plan_l1_fix_dist: 0.3346, d3.loss_plan_l1_fix_time: 2.2306, d3.loss_plan_l1_fix_dist: 0.3506, d4.loss_plan_l1_fix_time: 2.2364, d4.loss_plan_l1_fix_dist: 0.3707, d5.loss_plan_l1_fix_time: 2.2423, d5.loss_plan_l1_fix_dist: 0.3966, d6.loss_plan_l1_fix_time: 2.2479, d6.loss_plan_l1_fix_dist: 0.4208, d0.loss_cls_all: 0.4720, d0.loss_bbox_all: 0.6387, d0.loss_cls: 0.4720, d0.loss_bbox: 0.6387, d1.loss_cls: 0.4717, d1.loss_bbox: 0.6146, d2.loss_cls: 0.4703, d2.loss_bbox: 0.6050, d3.loss_cls: 0.4647, d3.loss_bbox: 0.6015, d4.loss_cls: 0.4664, d4.loss_bbox: 0.5978, d5.loss_cls: 0.4651, d5.loss_bbox: 0.5986, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2014, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.0728, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0587, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.0678, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.0730, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.0781, d0.loss_map_cls_all: 0.3771, d0.loss_map_pts_all: 2.5193, d0.loss_map_dir_all: 0.0285, d0.loss_map_cls: 0.3771, d0.loss_map_pts: 2.5193, d0.loss_map_dir: 0.0285, d1.loss_map_cls: 0.3661, d1.loss_map_pts: 1.7576, d1.loss_map_dir: 0.0285, d2.loss_map_cls: 0.3487, d2.loss_map_pts: 1.6213, d2.loss_map_dir: 0.0288, d3.loss_map_cls: 0.3438, d3.loss_map_pts: 1.5675, d3.loss_map_dir: 0.0291, d4.loss_map_cls: 0.3414, d4.loss_map_pts: 1.5475, d4.loss_map_dir: 0.0293, d5.loss_map_cls: 0.3406, d5.loss_map_pts: 1.5417, d5.loss_map_dir: 0.0296, loss: 53.1872, grad_norm: 149.6664 +2026-02-24 18:41:10,494 - DriveTransformer - INFO - Epoch [2][34650/39528] lr: 9.958e-05, eta: 8 days, 1:34:37, time: 0.798, data_time: 0.040, memory: 19865, loss_cls: 0.4551, loss_bbox: 0.5957, loss_traj: 1.0229, loss_traj_cls: 0.0006, loss_map_cls: 0.3210, loss_map_pts: 1.4450, loss_map_dir: 0.0258, d0.loss_plan_l1_fix_time: 2.7892, d0.loss_plan_l1_fix_dist: 0.4819, d1.loss_plan_l1_fix_time: 2.1096, d1.loss_plan_l1_fix_dist: 0.3097, d2.loss_plan_l1_fix_time: 2.0640, d2.loss_plan_l1_fix_dist: 0.3196, d3.loss_plan_l1_fix_time: 2.0534, d3.loss_plan_l1_fix_dist: 0.3353, d4.loss_plan_l1_fix_time: 2.0544, d4.loss_plan_l1_fix_dist: 0.3536, d5.loss_plan_l1_fix_time: 2.0571, d5.loss_plan_l1_fix_dist: 0.3741, d6.loss_plan_l1_fix_time: 2.0608, d6.loss_plan_l1_fix_dist: 0.3993, d0.loss_cls_all: 0.4659, d0.loss_bbox_all: 0.6327, d0.loss_cls: 0.4659, d0.loss_bbox: 0.6327, d1.loss_cls: 0.4666, d1.loss_bbox: 0.6060, d2.loss_cls: 0.4616, d2.loss_bbox: 0.5971, d3.loss_cls: 0.4582, d3.loss_bbox: 0.5918, d4.loss_cls: 0.4542, d4.loss_bbox: 0.5938, d5.loss_cls: 0.4563, d5.loss_bbox: 0.5933, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1947, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.0795, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0282, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.0195, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.0193, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.0229, d0.loss_map_cls_all: 0.3600, d0.loss_map_pts_all: 2.3966, d0.loss_map_dir_all: 0.0250, d0.loss_map_cls: 0.3600, d0.loss_map_pts: 2.3966, d0.loss_map_dir: 0.0250, d1.loss_map_cls: 0.3455, d1.loss_map_pts: 1.6515, d1.loss_map_dir: 0.0245, d2.loss_map_cls: 0.3347, d2.loss_map_pts: 1.5296, d2.loss_map_dir: 0.0248, d3.loss_map_cls: 0.3262, d3.loss_map_pts: 1.4797, d3.loss_map_dir: 0.0251, d4.loss_map_cls: 0.3236, d4.loss_map_pts: 1.4552, d4.loss_map_dir: 0.0254, d5.loss_map_cls: 0.3223, d5.loss_map_pts: 1.4468, d5.loss_map_dir: 0.0256, loss: 50.3769, grad_norm: 150.4982 +2026-02-24 18:41:49,408 - DriveTransformer - INFO - Epoch [2][34700/39528] lr: 9.958e-05, eta: 8 days, 1:33:46, time: 0.778, data_time: 0.037, memory: 19865, loss_cls: 0.4787, loss_bbox: 0.5923, loss_traj: 1.5976, loss_traj_cls: 0.0006, loss_map_cls: 0.3241, loss_map_pts: 1.4159, loss_map_dir: 0.0240, d0.loss_plan_l1_fix_time: 2.9929, d0.loss_plan_l1_fix_dist: 0.3871, d1.loss_plan_l1_fix_time: 2.3920, d1.loss_plan_l1_fix_dist: 0.2945, d2.loss_plan_l1_fix_time: 2.3829, d2.loss_plan_l1_fix_dist: 0.3092, d3.loss_plan_l1_fix_time: 2.3860, d3.loss_plan_l1_fix_dist: 0.3259, d4.loss_plan_l1_fix_time: 2.3917, d4.loss_plan_l1_fix_dist: 0.3461, d5.loss_plan_l1_fix_time: 2.3974, d5.loss_plan_l1_fix_dist: 0.3661, d6.loss_plan_l1_fix_time: 2.4030, d6.loss_plan_l1_fix_dist: 0.3884, d0.loss_cls_all: 0.4913, d0.loss_bbox_all: 0.6271, d0.loss_cls: 0.4913, d0.loss_bbox: 0.6271, d1.loss_cls: 0.4849, d1.loss_bbox: 0.6031, d2.loss_cls: 0.4823, d2.loss_bbox: 0.5945, d3.loss_cls: 0.4790, d3.loss_bbox: 0.5888, d4.loss_cls: 0.4773, d4.loss_bbox: 0.5897, d5.loss_cls: 0.4769, d5.loss_bbox: 0.5918, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7319, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.6149, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.5767, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.5776, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.5839, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5891, d0.loss_map_cls_all: 0.3768, d0.loss_map_pts_all: 2.2722, d0.loss_map_dir_all: 0.0232, d0.loss_map_cls: 0.3768, d0.loss_map_pts: 2.2722, d0.loss_map_dir: 0.0232, d1.loss_map_cls: 0.3526, d1.loss_map_pts: 1.5931, d1.loss_map_dir: 0.0230, d2.loss_map_cls: 0.3391, d2.loss_map_pts: 1.4895, d2.loss_map_dir: 0.0232, d3.loss_map_cls: 0.3287, d3.loss_map_pts: 1.4453, d3.loss_map_dir: 0.0236, d4.loss_map_cls: 0.3251, d4.loss_map_pts: 1.4251, d4.loss_map_dir: 0.0238, d5.loss_map_cls: 0.3222, d5.loss_map_pts: 1.4179, d5.loss_map_dir: 0.0239, loss: 55.9806, grad_norm: 151.3160 +2026-02-24 18:42:30,201 - DriveTransformer - INFO - Epoch [2][34750/39528] lr: 9.958e-05, eta: 8 days, 1:33:18, time: 0.816, data_time: 0.043, memory: 19865, loss_cls: 0.4391, loss_bbox: 0.5536, loss_traj: 1.3269, loss_traj_cls: 0.0006, loss_map_cls: 0.2974, loss_map_pts: 1.3384, loss_map_dir: 0.0255, d0.loss_plan_l1_fix_time: 2.6218, d0.loss_plan_l1_fix_dist: 0.4638, d1.loss_plan_l1_fix_time: 2.0838, d1.loss_plan_l1_fix_dist: 0.3691, d2.loss_plan_l1_fix_time: 2.0714, d2.loss_plan_l1_fix_dist: 0.3800, d3.loss_plan_l1_fix_time: 2.0774, d3.loss_plan_l1_fix_dist: 0.3936, d4.loss_plan_l1_fix_time: 2.0821, d4.loss_plan_l1_fix_dist: 0.4099, d5.loss_plan_l1_fix_time: 2.0866, d5.loss_plan_l1_fix_dist: 0.4265, d6.loss_plan_l1_fix_time: 2.0918, d6.loss_plan_l1_fix_dist: 0.4427, d0.loss_cls_all: 0.4511, d0.loss_bbox_all: 0.5948, d0.loss_cls: 0.4511, d0.loss_bbox: 0.5948, d1.loss_cls: 0.4442, d1.loss_bbox: 0.5689, d2.loss_cls: 0.4415, d2.loss_bbox: 0.5586, d3.loss_cls: 0.4386, d3.loss_bbox: 0.5525, d4.loss_cls: 0.4371, d4.loss_bbox: 0.5516, d5.loss_cls: 0.4367, d5.loss_bbox: 0.5539, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4346, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3166, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2998, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.3038, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3072, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3170, d0.loss_map_cls_all: 0.3381, d0.loss_map_pts_all: 2.3588, d0.loss_map_dir_all: 0.0238, d0.loss_map_cls: 0.3381, d0.loss_map_pts: 2.3588, d0.loss_map_dir: 0.0238, d1.loss_map_cls: 0.3188, d1.loss_map_pts: 1.5137, d1.loss_map_dir: 0.0239, d2.loss_map_cls: 0.3071, d2.loss_map_pts: 1.3876, d2.loss_map_dir: 0.0242, d3.loss_map_cls: 0.3041, d3.loss_map_pts: 1.3446, d3.loss_map_dir: 0.0248, d4.loss_map_cls: 0.2998, d4.loss_map_pts: 1.3347, d4.loss_map_dir: 0.0252, d5.loss_map_cls: 0.2964, d5.loss_map_pts: 1.3338, d5.loss_map_dir: 0.0253, loss: 51.0466, grad_norm: 152.9844 +2026-02-24 18:43:09,983 - DriveTransformer - INFO - Epoch [2][34800/39528] lr: 9.958e-05, eta: 8 days, 1:32:37, time: 0.796, data_time: 0.039, memory: 19865, loss_cls: 0.4681, loss_bbox: 0.5765, loss_traj: 1.3943, loss_traj_cls: 0.0006, loss_map_cls: 0.3383, loss_map_pts: 1.5530, loss_map_dir: 0.0280, d0.loss_plan_l1_fix_time: 2.5842, d0.loss_plan_l1_fix_dist: 0.4842, d1.loss_plan_l1_fix_time: 1.8178, d1.loss_plan_l1_fix_dist: 0.3716, d2.loss_plan_l1_fix_time: 1.7856, d2.loss_plan_l1_fix_dist: 0.3840, d3.loss_plan_l1_fix_time: 1.7798, d3.loss_plan_l1_fix_dist: 0.4013, d4.loss_plan_l1_fix_time: 1.7822, d4.loss_plan_l1_fix_dist: 0.4219, d5.loss_plan_l1_fix_time: 1.7862, d5.loss_plan_l1_fix_dist: 0.4442, d6.loss_plan_l1_fix_time: 1.7921, d6.loss_plan_l1_fix_dist: 0.4724, d0.loss_cls_all: 0.4730, d0.loss_bbox_all: 0.6226, d0.loss_cls: 0.4730, d0.loss_bbox: 0.6226, d1.loss_cls: 0.4715, d1.loss_bbox: 0.5929, d2.loss_cls: 0.4699, d2.loss_bbox: 0.5839, d3.loss_cls: 0.4659, d3.loss_bbox: 0.5784, d4.loss_cls: 0.4672, d4.loss_bbox: 0.5734, d5.loss_cls: 0.4687, d5.loss_bbox: 0.5735, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4694, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3684, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3375, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3381, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3475, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3619, d0.loss_map_cls_all: 0.3822, d0.loss_map_pts_all: 2.5246, d0.loss_map_dir_all: 0.0260, d0.loss_map_cls: 0.3822, d0.loss_map_pts: 2.5246, d0.loss_map_dir: 0.0260, d1.loss_map_cls: 0.3657, d1.loss_map_pts: 1.7090, d1.loss_map_dir: 0.0264, d2.loss_map_cls: 0.3512, d2.loss_map_pts: 1.5907, d2.loss_map_dir: 0.0269, d3.loss_map_cls: 0.3429, d3.loss_map_pts: 1.5491, d3.loss_map_dir: 0.0273, d4.loss_map_cls: 0.3390, d4.loss_map_pts: 1.5426, d4.loss_map_dir: 0.0277, d5.loss_map_cls: 0.3386, d5.loss_map_pts: 1.5417, d5.loss_map_dir: 0.0278, loss: 52.0027, grad_norm: 153.2268 +2026-02-24 18:43:50,895 - DriveTransformer - INFO - Epoch [2][34850/39528] lr: 9.958e-05, eta: 8 days, 1:32:10, time: 0.818, data_time: 0.040, memory: 19865, loss_cls: 0.4418, loss_bbox: 0.6070, loss_traj: 1.3571, loss_traj_cls: 0.0006, loss_map_cls: 0.3220, loss_map_pts: 1.5644, loss_map_dir: 0.0297, d0.loss_plan_l1_fix_time: 3.2646, d0.loss_plan_l1_fix_dist: 0.5082, d1.loss_plan_l1_fix_time: 2.5616, d1.loss_plan_l1_fix_dist: 0.3843, d2.loss_plan_l1_fix_time: 2.5206, d2.loss_plan_l1_fix_dist: 0.4002, d3.loss_plan_l1_fix_time: 2.5112, d3.loss_plan_l1_fix_dist: 0.4214, d4.loss_plan_l1_fix_time: 2.5123, d4.loss_plan_l1_fix_dist: 0.4419, d5.loss_plan_l1_fix_time: 2.5154, d5.loss_plan_l1_fix_dist: 0.4660, d6.loss_plan_l1_fix_time: 2.5206, d6.loss_plan_l1_fix_dist: 0.4920, d0.loss_cls_all: 0.4499, d0.loss_bbox_all: 0.6442, d0.loss_cls: 0.4499, d0.loss_bbox: 0.6442, d1.loss_cls: 0.4472, d1.loss_bbox: 0.6170, d2.loss_cls: 0.4470, d2.loss_bbox: 0.6132, d3.loss_cls: 0.4442, d3.loss_bbox: 0.6114, d4.loss_cls: 0.4439, d4.loss_bbox: 0.6084, d5.loss_cls: 0.4443, d5.loss_bbox: 0.6065, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4890, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3805, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.3284, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3308, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3352, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3470, d0.loss_map_cls_all: 0.3633, d0.loss_map_pts_all: 2.5890, d0.loss_map_dir_all: 0.0279, d0.loss_map_cls: 0.3633, d0.loss_map_pts: 2.5890, d0.loss_map_dir: 0.0279, d1.loss_map_cls: 0.3494, d1.loss_map_pts: 1.7381, d1.loss_map_dir: 0.0277, d2.loss_map_cls: 0.3370, d2.loss_map_pts: 1.6184, d2.loss_map_dir: 0.0283, d3.loss_map_cls: 0.3273, d3.loss_map_pts: 1.5703, d3.loss_map_dir: 0.0288, d4.loss_map_cls: 0.3231, d4.loss_map_pts: 1.5563, d4.loss_map_dir: 0.0292, d5.loss_map_cls: 0.3220, d5.loss_map_pts: 1.5573, d5.loss_map_dir: 0.0296, loss: 57.3326, grad_norm: 153.9238 +2026-02-24 18:44:30,019 - DriveTransformer - INFO - Epoch [2][34900/39528] lr: 9.958e-05, eta: 8 days, 1:31:22, time: 0.782, data_time: 0.038, memory: 19865, loss_cls: 0.4914, loss_bbox: 0.6154, loss_traj: 1.3522, loss_traj_cls: 0.0006, loss_map_cls: 0.3332, loss_map_pts: 1.3974, loss_map_dir: 0.0264, d0.loss_plan_l1_fix_time: 2.9716, d0.loss_plan_l1_fix_dist: 0.3937, d1.loss_plan_l1_fix_time: 2.1175, d1.loss_plan_l1_fix_dist: 0.3151, d2.loss_plan_l1_fix_time: 2.0849, d2.loss_plan_l1_fix_dist: 0.3289, d3.loss_plan_l1_fix_time: 2.0894, d3.loss_plan_l1_fix_dist: 0.3543, d4.loss_plan_l1_fix_time: 2.0958, d4.loss_plan_l1_fix_dist: 0.3821, d5.loss_plan_l1_fix_time: 2.1027, d5.loss_plan_l1_fix_dist: 0.4136, d6.loss_plan_l1_fix_time: 2.1102, d6.loss_plan_l1_fix_dist: 0.4439, d0.loss_cls_all: 0.4970, d0.loss_bbox_all: 0.6541, d0.loss_cls: 0.4970, d0.loss_bbox: 0.6541, d1.loss_cls: 0.4948, d1.loss_bbox: 0.6317, d2.loss_cls: 0.4914, d2.loss_bbox: 0.6251, d3.loss_cls: 0.4918, d3.loss_bbox: 0.6185, d4.loss_cls: 0.4907, d4.loss_bbox: 0.6155, d5.loss_cls: 0.4934, d5.loss_bbox: 0.6125, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4623, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3818, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3316, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3247, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3293, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3368, d0.loss_map_cls_all: 0.3980, d0.loss_map_pts_all: 2.2598, d0.loss_map_dir_all: 0.0250, d0.loss_map_cls: 0.3980, d0.loss_map_pts: 2.2598, d0.loss_map_dir: 0.0250, d1.loss_map_cls: 0.3736, d1.loss_map_pts: 1.5235, d1.loss_map_dir: 0.0251, d2.loss_map_cls: 0.3524, d2.loss_map_pts: 1.4346, d2.loss_map_dir: 0.0255, d3.loss_map_cls: 0.3399, d3.loss_map_pts: 1.3986, d3.loss_map_dir: 0.0258, d4.loss_map_cls: 0.3347, d4.loss_map_pts: 1.3885, d4.loss_map_dir: 0.0261, d5.loss_map_cls: 0.3349, d5.loss_map_pts: 1.3937, d5.loss_map_dir: 0.0263, loss: 52.8280, grad_norm: 155.6088 +2026-02-24 18:45:13,731 - DriveTransformer - INFO - Epoch [2][34950/39528] lr: 9.958e-05, eta: 8 days, 1:31:27, time: 0.874, data_time: 0.039, memory: 19865, loss_cls: 0.4795, loss_bbox: 0.6186, loss_traj: 1.4175, loss_traj_cls: 0.0006, loss_map_cls: 0.3203, loss_map_pts: 1.5698, loss_map_dir: 0.0304, d0.loss_plan_l1_fix_time: 2.8002, d0.loss_plan_l1_fix_dist: 0.4296, d1.loss_plan_l1_fix_time: 2.2321, d1.loss_plan_l1_fix_dist: 0.3229, d2.loss_plan_l1_fix_time: 2.1952, d2.loss_plan_l1_fix_dist: 0.3360, d3.loss_plan_l1_fix_time: 2.1956, d3.loss_plan_l1_fix_dist: 0.3515, d4.loss_plan_l1_fix_time: 2.1998, d4.loss_plan_l1_fix_dist: 0.3718, d5.loss_plan_l1_fix_time: 2.2055, d5.loss_plan_l1_fix_dist: 0.3944, d6.loss_plan_l1_fix_time: 2.2120, d6.loss_plan_l1_fix_dist: 0.4217, d0.loss_cls_all: 0.4866, d0.loss_bbox_all: 0.6477, d0.loss_cls: 0.4866, d0.loss_bbox: 0.6477, d1.loss_cls: 0.4824, d1.loss_bbox: 0.6268, d2.loss_cls: 0.4841, d2.loss_bbox: 0.6183, d3.loss_cls: 0.4806, d3.loss_bbox: 0.6143, d4.loss_cls: 0.4807, d4.loss_bbox: 0.6113, d5.loss_cls: 0.4798, d5.loss_bbox: 0.6123, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5495, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.4087, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3859, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.3981, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3999, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4134, d0.loss_map_cls_all: 0.3679, d0.loss_map_pts_all: 2.5974, d0.loss_map_dir_all: 0.0283, d0.loss_map_cls: 0.3679, d0.loss_map_pts: 2.5974, d0.loss_map_dir: 0.0283, d1.loss_map_cls: 0.3491, d1.loss_map_pts: 1.7615, d1.loss_map_dir: 0.0289, d2.loss_map_cls: 0.3363, d2.loss_map_pts: 1.6350, d2.loss_map_dir: 0.0293, d3.loss_map_cls: 0.3267, d3.loss_map_pts: 1.5878, d3.loss_map_dir: 0.0297, d4.loss_map_cls: 0.3217, d4.loss_map_pts: 1.5692, d4.loss_map_dir: 0.0301, d5.loss_map_cls: 0.3199, d5.loss_map_pts: 1.5667, d5.loss_map_dir: 0.0302, loss: 55.3342, grad_norm: 157.1604 +2026-02-24 18:45:53,036 - DriveTransformer - INFO - Epoch [2][35000/39528] lr: 9.958e-05, eta: 8 days, 1:30:42, time: 0.788, data_time: 0.043, memory: 19865, loss_cls: 0.4336, loss_bbox: 0.5421, loss_traj: 1.2408, loss_traj_cls: 0.0006, loss_map_cls: 0.2809, loss_map_pts: 1.3295, loss_map_dir: 0.0244, d0.loss_plan_l1_fix_time: 2.3539, d0.loss_plan_l1_fix_dist: 0.3934, d1.loss_plan_l1_fix_time: 1.7841, d1.loss_plan_l1_fix_dist: 0.3244, d2.loss_plan_l1_fix_time: 1.7621, d2.loss_plan_l1_fix_dist: 0.3371, d3.loss_plan_l1_fix_time: 1.7602, d3.loss_plan_l1_fix_dist: 0.3528, d4.loss_plan_l1_fix_time: 1.7626, d4.loss_plan_l1_fix_dist: 0.3697, d5.loss_plan_l1_fix_time: 1.7665, d5.loss_plan_l1_fix_dist: 0.3881, d6.loss_plan_l1_fix_time: 1.7717, d6.loss_plan_l1_fix_dist: 0.4117, d0.loss_cls_all: 0.4375, d0.loss_bbox_all: 0.5694, d0.loss_cls: 0.4375, d0.loss_bbox: 0.5694, d1.loss_cls: 0.4378, d1.loss_bbox: 0.5391, d2.loss_cls: 0.4363, d2.loss_bbox: 0.5357, d3.loss_cls: 0.4352, d3.loss_bbox: 0.5333, d4.loss_cls: 0.4339, d4.loss_bbox: 0.5344, d5.loss_cls: 0.4330, d5.loss_bbox: 0.5367, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3566, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2193, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2011, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.2134, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2149, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2331, d0.loss_map_cls_all: 0.3318, d0.loss_map_pts_all: 2.3389, d0.loss_map_dir_all: 0.0230, d0.loss_map_cls: 0.3318, d0.loss_map_pts: 2.3389, d0.loss_map_dir: 0.0230, d1.loss_map_cls: 0.3116, d1.loss_map_pts: 1.4881, d1.loss_map_dir: 0.0230, d2.loss_map_cls: 0.2964, d2.loss_map_pts: 1.3666, d2.loss_map_dir: 0.0233, d3.loss_map_cls: 0.2882, d3.loss_map_pts: 1.3278, d3.loss_map_dir: 0.0237, d4.loss_map_cls: 0.2847, d4.loss_map_pts: 1.3196, d4.loss_map_dir: 0.0241, d5.loss_map_cls: 0.2823, d5.loss_map_pts: 1.3161, d5.loss_map_dir: 0.0243, loss: 47.4900, grad_norm: 158.4191 +2026-02-24 18:46:33,789 - DriveTransformer - INFO - Epoch [2][35050/39528] lr: 9.958e-05, eta: 8 days, 1:30:12, time: 0.814, data_time: 0.034, memory: 19865, loss_cls: 0.4571, loss_bbox: 0.5827, loss_traj: 1.1339, loss_traj_cls: 0.0006, loss_map_cls: 0.3066, loss_map_pts: 1.4411, loss_map_dir: 0.0281, d0.loss_plan_l1_fix_time: 2.4945, d0.loss_plan_l1_fix_dist: 0.4237, d1.loss_plan_l1_fix_time: 1.7607, d1.loss_plan_l1_fix_dist: 0.3104, d2.loss_plan_l1_fix_time: 1.7484, d2.loss_plan_l1_fix_dist: 0.3275, d3.loss_plan_l1_fix_time: 1.7546, d3.loss_plan_l1_fix_dist: 0.3494, d4.loss_plan_l1_fix_time: 1.7621, d4.loss_plan_l1_fix_dist: 0.3735, d5.loss_plan_l1_fix_time: 1.7700, d5.loss_plan_l1_fix_dist: 0.3964, d6.loss_plan_l1_fix_time: 1.7784, d6.loss_plan_l1_fix_dist: 0.4207, d0.loss_cls_all: 0.4650, d0.loss_bbox_all: 0.6149, d0.loss_cls: 0.4650, d0.loss_bbox: 0.6149, d1.loss_cls: 0.4573, d1.loss_bbox: 0.5967, d2.loss_cls: 0.4582, d2.loss_bbox: 0.5868, d3.loss_cls: 0.4543, d3.loss_bbox: 0.5845, d4.loss_cls: 0.4536, d4.loss_bbox: 0.5830, d5.loss_cls: 0.4533, d5.loss_bbox: 0.5827, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2399, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.1493, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1134, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.1206, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1238, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1328, d0.loss_map_cls_all: 0.3698, d0.loss_map_pts_all: 2.4326, d0.loss_map_dir_all: 0.0263, d0.loss_map_cls: 0.3698, d0.loss_map_pts: 2.4326, d0.loss_map_dir: 0.0263, d1.loss_map_cls: 0.3343, d1.loss_map_pts: 1.5928, d1.loss_map_dir: 0.0265, d2.loss_map_cls: 0.3231, d2.loss_map_pts: 1.4867, d2.loss_map_dir: 0.0268, d3.loss_map_cls: 0.3142, d3.loss_map_pts: 1.4430, d3.loss_map_dir: 0.0273, d4.loss_map_cls: 0.3085, d4.loss_map_pts: 1.4351, d4.loss_map_dir: 0.0276, d5.loss_map_cls: 0.3072, d5.loss_map_pts: 1.4396, d5.loss_map_dir: 0.0279, loss: 48.6534, grad_norm: 154.8182 +2026-02-24 18:47:15,444 - DriveTransformer - INFO - Epoch [2][35100/39528] lr: 9.958e-05, eta: 8 days, 1:29:53, time: 0.833, data_time: 0.044, memory: 19865, loss_cls: 0.4818, loss_bbox: 0.5659, loss_traj: 1.3309, loss_traj_cls: 0.0006, loss_map_cls: 0.3038, loss_map_pts: 1.4297, loss_map_dir: 0.0255, d0.loss_plan_l1_fix_time: 2.8373, d0.loss_plan_l1_fix_dist: 0.4188, d1.loss_plan_l1_fix_time: 2.0386, d1.loss_plan_l1_fix_dist: 0.3375, d2.loss_plan_l1_fix_time: 1.9945, d2.loss_plan_l1_fix_dist: 0.3473, d3.loss_plan_l1_fix_time: 1.9901, d3.loss_plan_l1_fix_dist: 0.3635, d4.loss_plan_l1_fix_time: 1.9924, d4.loss_plan_l1_fix_dist: 0.3854, d5.loss_plan_l1_fix_time: 1.9961, d5.loss_plan_l1_fix_dist: 0.4092, d6.loss_plan_l1_fix_time: 2.0015, d6.loss_plan_l1_fix_dist: 0.4340, d0.loss_cls_all: 0.4859, d0.loss_bbox_all: 0.6017, d0.loss_cls: 0.4859, d0.loss_bbox: 0.6017, d1.loss_cls: 0.4833, d1.loss_bbox: 0.5787, d2.loss_cls: 0.4787, d2.loss_bbox: 0.5717, d3.loss_cls: 0.4769, d3.loss_bbox: 0.5707, d4.loss_cls: 0.4811, d4.loss_bbox: 0.5665, d5.loss_cls: 0.4785, d5.loss_bbox: 0.5654, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4921, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3569, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3275, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.3288, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3272, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3345, d0.loss_map_cls_all: 0.3626, d0.loss_map_pts_all: 2.3528, d0.loss_map_dir_all: 0.0238, d0.loss_map_cls: 0.3626, d0.loss_map_pts: 2.3528, d0.loss_map_dir: 0.0238, d1.loss_map_cls: 0.3353, d1.loss_map_pts: 1.5732, d1.loss_map_dir: 0.0237, d2.loss_map_cls: 0.3214, d2.loss_map_pts: 1.4719, d2.loss_map_dir: 0.0242, d3.loss_map_cls: 0.3097, d3.loss_map_pts: 1.4317, d3.loss_map_dir: 0.0247, d4.loss_map_cls: 0.3042, d4.loss_map_pts: 1.4211, d4.loss_map_dir: 0.0250, d5.loss_map_cls: 0.3043, d5.loss_map_pts: 1.4283, d5.loss_map_dir: 0.0253, loss: 51.7853, grad_norm: 159.7714 +2026-02-24 18:47:55,616 - DriveTransformer - INFO - Epoch [2][35150/39528] lr: 9.958e-05, eta: 8 days, 1:29:17, time: 0.803, data_time: 0.046, memory: 19865, loss_cls: 0.4574, loss_bbox: 0.5765, loss_traj: 1.2140, loss_traj_cls: 0.0006, loss_map_cls: 0.2956, loss_map_pts: 1.4954, loss_map_dir: 0.0266, d0.loss_plan_l1_fix_time: 2.6133, d0.loss_plan_l1_fix_dist: 0.4762, d1.loss_plan_l1_fix_time: 1.9387, d1.loss_plan_l1_fix_dist: 0.3264, d2.loss_plan_l1_fix_time: 1.8912, d2.loss_plan_l1_fix_dist: 0.3364, d3.loss_plan_l1_fix_time: 1.8841, d3.loss_plan_l1_fix_dist: 0.3504, d4.loss_plan_l1_fix_time: 1.8860, d4.loss_plan_l1_fix_dist: 0.3674, d5.loss_plan_l1_fix_time: 1.8900, d5.loss_plan_l1_fix_dist: 0.3893, d6.loss_plan_l1_fix_time: 1.8958, d6.loss_plan_l1_fix_dist: 0.4154, d0.loss_cls_all: 0.4604, d0.loss_bbox_all: 0.6082, d0.loss_cls: 0.4604, d0.loss_bbox: 0.6082, d1.loss_cls: 0.4557, d1.loss_bbox: 0.5878, d2.loss_cls: 0.4529, d2.loss_bbox: 0.5804, d3.loss_cls: 0.4509, d3.loss_bbox: 0.5800, d4.loss_cls: 0.4549, d4.loss_bbox: 0.5761, d5.loss_cls: 0.4555, d5.loss_bbox: 0.5732, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3168, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.2197, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1960, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.2053, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2037, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2133, d0.loss_map_cls_all: 0.3462, d0.loss_map_pts_all: 2.2801, d0.loss_map_dir_all: 0.0246, d0.loss_map_cls: 0.3462, d0.loss_map_pts: 2.2801, d0.loss_map_dir: 0.0246, d1.loss_map_cls: 0.3234, d1.loss_map_pts: 1.6515, d1.loss_map_dir: 0.0249, d2.loss_map_cls: 0.3096, d2.loss_map_pts: 1.5503, d2.loss_map_dir: 0.0254, d3.loss_map_cls: 0.2967, d3.loss_map_pts: 1.5109, d3.loss_map_dir: 0.0259, d4.loss_map_cls: 0.2935, d4.loss_map_pts: 1.4953, d4.loss_map_dir: 0.0262, d5.loss_map_cls: 0.2938, d5.loss_map_pts: 1.4945, d5.loss_map_dir: 0.0264, loss: 50.0413, grad_norm: 158.9837 +2026-02-24 18:48:36,061 - DriveTransformer - INFO - Epoch [2][35200/39528] lr: 9.958e-05, eta: 8 days, 1:28:44, time: 0.809, data_time: 0.037, memory: 19865, loss_cls: 0.4833, loss_bbox: 0.5998, loss_traj: 1.3935, loss_traj_cls: 0.0006, loss_map_cls: 0.2875, loss_map_pts: 1.4129, loss_map_dir: 0.0240, d0.loss_plan_l1_fix_time: 2.5962, d0.loss_plan_l1_fix_dist: 0.4749, d1.loss_plan_l1_fix_time: 1.9966, d1.loss_plan_l1_fix_dist: 0.3359, d2.loss_plan_l1_fix_time: 1.9794, d2.loss_plan_l1_fix_dist: 0.3461, d3.loss_plan_l1_fix_time: 1.9840, d3.loss_plan_l1_fix_dist: 0.3634, d4.loss_plan_l1_fix_time: 1.9893, d4.loss_plan_l1_fix_dist: 0.3824, d5.loss_plan_l1_fix_time: 1.9945, d5.loss_plan_l1_fix_dist: 0.4023, d6.loss_plan_l1_fix_time: 2.0006, d6.loss_plan_l1_fix_dist: 0.4237, d0.loss_cls_all: 0.4856, d0.loss_bbox_all: 0.6391, d0.loss_cls: 0.4856, d0.loss_bbox: 0.6391, d1.loss_cls: 0.4777, d1.loss_bbox: 0.6174, d2.loss_cls: 0.4776, d2.loss_bbox: 0.6047, d3.loss_cls: 0.4784, d3.loss_bbox: 0.5986, d4.loss_cls: 0.4793, d4.loss_bbox: 0.5952, d5.loss_cls: 0.4819, d5.loss_bbox: 0.5951, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4990, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3685, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3573, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.3683, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3786, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3882, d0.loss_map_cls_all: 0.3306, d0.loss_map_pts_all: 2.1525, d0.loss_map_dir_all: 0.0224, d0.loss_map_cls: 0.3306, d0.loss_map_pts: 2.1525, d0.loss_map_dir: 0.0224, d1.loss_map_cls: 0.3130, d1.loss_map_pts: 1.4973, d1.loss_map_dir: 0.0227, d2.loss_map_cls: 0.3022, d2.loss_map_pts: 1.4167, d2.loss_map_dir: 0.0229, d3.loss_map_cls: 0.2931, d3.loss_map_pts: 1.3943, d3.loss_map_dir: 0.0234, d4.loss_map_cls: 0.2871, d4.loss_map_pts: 1.3959, d4.loss_map_dir: 0.0236, d5.loss_map_cls: 0.2872, d5.loss_map_pts: 1.4064, d5.loss_map_dir: 0.0238, loss: 51.2124, grad_norm: 156.4088 +2026-02-24 18:49:16,874 - DriveTransformer - INFO - Epoch [2][35250/39528] lr: 9.958e-05, eta: 8 days, 1:28:15, time: 0.816, data_time: 0.043, memory: 19865, loss_cls: 0.4703, loss_bbox: 0.6038, loss_traj: 1.1355, loss_traj_cls: 0.0006, loss_map_cls: 0.3275, loss_map_pts: 1.5170, loss_map_dir: 0.0280, d0.loss_plan_l1_fix_time: 3.1045, d0.loss_plan_l1_fix_dist: 0.4771, d1.loss_plan_l1_fix_time: 2.2332, d1.loss_plan_l1_fix_dist: 0.3380, d2.loss_plan_l1_fix_time: 2.2385, d2.loss_plan_l1_fix_dist: 0.3475, d3.loss_plan_l1_fix_time: 2.2471, d3.loss_plan_l1_fix_dist: 0.3594, d4.loss_plan_l1_fix_time: 2.2542, d4.loss_plan_l1_fix_dist: 0.3755, d5.loss_plan_l1_fix_time: 2.2604, d5.loss_plan_l1_fix_dist: 0.3933, d6.loss_plan_l1_fix_time: 2.2669, d6.loss_plan_l1_fix_dist: 0.4105, d0.loss_cls_all: 0.4846, d0.loss_bbox_all: 0.6377, d0.loss_cls: 0.4846, d0.loss_bbox: 0.6377, d1.loss_cls: 0.4739, d1.loss_bbox: 0.6205, d2.loss_cls: 0.4703, d2.loss_bbox: 0.6049, d3.loss_cls: 0.4690, d3.loss_bbox: 0.5999, d4.loss_cls: 0.4692, d4.loss_bbox: 0.6002, d5.loss_cls: 0.4690, d5.loss_bbox: 0.6024, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2282, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1352, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1151, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.1172, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1216, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1308, d0.loss_map_cls_all: 0.3696, d0.loss_map_pts_all: 2.3931, d0.loss_map_dir_all: 0.0257, d0.loss_map_cls: 0.3696, d0.loss_map_pts: 2.3931, d0.loss_map_dir: 0.0257, d1.loss_map_cls: 0.3528, d1.loss_map_pts: 1.6670, d1.loss_map_dir: 0.0263, d2.loss_map_cls: 0.3376, d2.loss_map_pts: 1.5647, d2.loss_map_dir: 0.0268, d3.loss_map_cls: 0.3303, d3.loss_map_pts: 1.5216, d3.loss_map_dir: 0.0273, d4.loss_map_cls: 0.3270, d4.loss_map_pts: 1.5172, d4.loss_map_dir: 0.0275, d5.loss_map_cls: 0.3255, d5.loss_map_pts: 1.5170, d5.loss_map_dir: 0.0278, loss: 53.0391, grad_norm: 156.2008 +2026-02-24 18:49:56,589 - DriveTransformer - INFO - Epoch [2][35300/39528] lr: 9.958e-05, eta: 8 days, 1:27:34, time: 0.794, data_time: 0.046, memory: 19865, loss_cls: 0.4392, loss_bbox: 0.5945, loss_traj: 1.1709, loss_traj_cls: 0.0005, loss_map_cls: 0.3336, loss_map_pts: 1.4376, loss_map_dir: 0.0268, d0.loss_plan_l1_fix_time: 2.6228, d0.loss_plan_l1_fix_dist: 0.4269, d1.loss_plan_l1_fix_time: 2.0449, d1.loss_plan_l1_fix_dist: 0.3344, d2.loss_plan_l1_fix_time: 2.0775, d2.loss_plan_l1_fix_dist: 0.3509, d3.loss_plan_l1_fix_time: 2.0994, d3.loss_plan_l1_fix_dist: 0.3720, d4.loss_plan_l1_fix_time: 2.1098, d4.loss_plan_l1_fix_dist: 0.3949, d5.loss_plan_l1_fix_time: 2.1179, d5.loss_plan_l1_fix_dist: 0.4210, d6.loss_plan_l1_fix_time: 2.1256, d6.loss_plan_l1_fix_dist: 0.4480, d0.loss_cls_all: 0.4526, d0.loss_bbox_all: 0.6340, d0.loss_cls: 0.4526, d0.loss_bbox: 0.6340, d1.loss_cls: 0.4426, d1.loss_bbox: 0.6117, d2.loss_cls: 0.4405, d2.loss_bbox: 0.6010, d3.loss_cls: 0.4367, d3.loss_bbox: 0.5943, d4.loss_cls: 0.4350, d4.loss_bbox: 0.5940, d5.loss_cls: 0.4381, d5.loss_bbox: 0.5938, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2313, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1393, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1246, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.1433, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1464, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.1561, d0.loss_map_cls_all: 0.3781, d0.loss_map_pts_all: 2.2729, d0.loss_map_dir_all: 0.0249, d0.loss_map_cls: 0.3781, d0.loss_map_pts: 2.2729, d0.loss_map_dir: 0.0249, d1.loss_map_cls: 0.3689, d1.loss_map_pts: 1.5988, d1.loss_map_dir: 0.0254, d2.loss_map_cls: 0.3517, d2.loss_map_pts: 1.4923, d2.loss_map_dir: 0.0257, d3.loss_map_cls: 0.3380, d3.loss_map_pts: 1.4487, d3.loss_map_dir: 0.0261, d4.loss_map_cls: 0.3334, d4.loss_map_pts: 1.4384, d4.loss_map_dir: 0.0264, d5.loss_map_cls: 0.3309, d5.loss_map_pts: 1.4398, d5.loss_map_dir: 0.0266, loss: 50.8791, grad_norm: 157.6901 +2026-02-24 18:50:36,816 - DriveTransformer - INFO - Epoch [2][35350/39528] lr: 9.958e-05, eta: 8 days, 1:26:59, time: 0.804, data_time: 0.047, memory: 19865, loss_cls: 0.4432, loss_bbox: 0.5881, loss_traj: 1.2960, loss_traj_cls: 0.0006, loss_map_cls: 0.3437, loss_map_pts: 1.4669, loss_map_dir: 0.0270, d0.loss_plan_l1_fix_time: 2.6613, d0.loss_plan_l1_fix_dist: 0.4457, d1.loss_plan_l1_fix_time: 2.0555, d1.loss_plan_l1_fix_dist: 0.3404, d2.loss_plan_l1_fix_time: 2.0294, d2.loss_plan_l1_fix_dist: 0.3495, d3.loss_plan_l1_fix_time: 2.0291, d3.loss_plan_l1_fix_dist: 0.3620, d4.loss_plan_l1_fix_time: 2.0328, d4.loss_plan_l1_fix_dist: 0.3753, d5.loss_plan_l1_fix_time: 2.0371, d5.loss_plan_l1_fix_dist: 0.3931, d6.loss_plan_l1_fix_time: 2.0424, d6.loss_plan_l1_fix_dist: 0.4169, d0.loss_cls_all: 0.4502, d0.loss_bbox_all: 0.6296, d0.loss_cls: 0.4502, d0.loss_bbox: 0.6296, d1.loss_cls: 0.4480, d1.loss_bbox: 0.6019, d2.loss_cls: 0.4445, d2.loss_bbox: 0.5932, d3.loss_cls: 0.4431, d3.loss_bbox: 0.5858, d4.loss_cls: 0.4422, d4.loss_bbox: 0.5855, d5.loss_cls: 0.4452, d5.loss_bbox: 0.5864, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4792, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3041, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2631, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.2789, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2817, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2868, d0.loss_map_cls_all: 0.4017, d0.loss_map_pts_all: 2.4181, d0.loss_map_dir_all: 0.0244, d0.loss_map_cls: 0.4017, d0.loss_map_pts: 2.4181, d0.loss_map_dir: 0.0244, d1.loss_map_cls: 0.3777, d1.loss_map_pts: 1.6663, d1.loss_map_dir: 0.0252, d2.loss_map_cls: 0.3593, d2.loss_map_pts: 1.5414, d2.loss_map_dir: 0.0257, d3.loss_map_cls: 0.3484, d3.loss_map_pts: 1.4888, d3.loss_map_dir: 0.0262, d4.loss_map_cls: 0.3433, d4.loss_map_pts: 1.4707, d4.loss_map_dir: 0.0266, d5.loss_map_cls: 0.3423, d5.loss_map_pts: 1.4667, d5.loss_map_dir: 0.0268, loss: 52.1937, grad_norm: 157.8768 +2026-02-24 18:51:15,377 - DriveTransformer - INFO - Epoch [2][35400/39528] lr: 9.958e-05, eta: 8 days, 1:26:04, time: 0.771, data_time: 0.039, memory: 19865, loss_cls: 0.4850, loss_bbox: 0.6225, loss_traj: 1.3664, loss_traj_cls: 0.0006, loss_map_cls: 0.3604, loss_map_pts: 1.4365, loss_map_dir: 0.0262, d0.loss_plan_l1_fix_time: 2.4241, d0.loss_plan_l1_fix_dist: 0.4080, d1.loss_plan_l1_fix_time: 1.7177, d1.loss_plan_l1_fix_dist: 0.3338, d2.loss_plan_l1_fix_time: 1.6733, d2.loss_plan_l1_fix_dist: 0.3454, d3.loss_plan_l1_fix_time: 1.6627, d3.loss_plan_l1_fix_dist: 0.3601, d4.loss_plan_l1_fix_time: 1.6631, d4.loss_plan_l1_fix_dist: 0.3812, d5.loss_plan_l1_fix_time: 1.6668, d5.loss_plan_l1_fix_dist: 0.4054, d6.loss_plan_l1_fix_time: 1.6730, d6.loss_plan_l1_fix_dist: 0.4332, d0.loss_cls_all: 0.5041, d0.loss_bbox_all: 0.6560, d0.loss_cls: 0.5041, d0.loss_bbox: 0.6560, d1.loss_cls: 0.4948, d1.loss_bbox: 0.6344, d2.loss_cls: 0.4886, d2.loss_bbox: 0.6286, d3.loss_cls: 0.4875, d3.loss_bbox: 0.6194, d4.loss_cls: 0.4858, d4.loss_bbox: 0.6169, d5.loss_cls: 0.4861, d5.loss_bbox: 0.6204, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5212, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3628, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3442, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.3537, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3558, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3636, d0.loss_map_cls_all: 0.4126, d0.loss_map_pts_all: 2.2655, d0.loss_map_dir_all: 0.0244, d0.loss_map_cls: 0.4126, d0.loss_map_pts: 2.2655, d0.loss_map_dir: 0.0244, d1.loss_map_cls: 0.3950, d1.loss_map_pts: 1.6301, d1.loss_map_dir: 0.0249, d2.loss_map_cls: 0.3755, d2.loss_map_pts: 1.5140, d2.loss_map_dir: 0.0250, d3.loss_map_cls: 0.3647, d3.loss_map_pts: 1.4610, d3.loss_map_dir: 0.0255, d4.loss_map_cls: 0.3594, d4.loss_map_pts: 1.4440, d4.loss_map_dir: 0.0259, d5.loss_map_cls: 0.3573, d5.loss_map_pts: 1.4405, d5.loss_map_dir: 0.0260, loss: 50.5084, grad_norm: 156.6172 +2026-02-24 18:51:55,841 - DriveTransformer - INFO - Epoch [2][35450/39528] lr: 9.958e-05, eta: 8 days, 1:25:31, time: 0.809, data_time: 0.048, memory: 19865, loss_cls: 0.4365, loss_bbox: 0.5813, loss_traj: 1.4232, loss_traj_cls: 0.0005, loss_map_cls: 0.3090, loss_map_pts: 1.3363, loss_map_dir: 0.0231, d0.loss_plan_l1_fix_time: 2.4704, d0.loss_plan_l1_fix_dist: 0.4038, d1.loss_plan_l1_fix_time: 2.0234, d1.loss_plan_l1_fix_dist: 0.3012, d2.loss_plan_l1_fix_time: 2.0002, d2.loss_plan_l1_fix_dist: 0.3107, d3.loss_plan_l1_fix_time: 1.9991, d3.loss_plan_l1_fix_dist: 0.3233, d4.loss_plan_l1_fix_time: 2.0030, d4.loss_plan_l1_fix_dist: 0.3398, d5.loss_plan_l1_fix_time: 2.0086, d5.loss_plan_l1_fix_dist: 0.3580, d6.loss_plan_l1_fix_time: 2.0161, d6.loss_plan_l1_fix_dist: 0.3789, d0.loss_cls_all: 0.4507, d0.loss_bbox_all: 0.6028, d0.loss_cls: 0.4507, d0.loss_bbox: 0.6028, d1.loss_cls: 0.4425, d1.loss_bbox: 0.5778, d2.loss_cls: 0.4374, d2.loss_bbox: 0.5760, d3.loss_cls: 0.4328, d3.loss_bbox: 0.5733, d4.loss_cls: 0.4327, d4.loss_bbox: 0.5745, d5.loss_cls: 0.4342, d5.loss_bbox: 0.5777, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7039, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.4537, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.4211, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.4196, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4230, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4241, d0.loss_map_cls_all: 0.3605, d0.loss_map_pts_all: 2.1346, d0.loss_map_dir_all: 0.0214, d0.loss_map_cls: 0.3605, d0.loss_map_pts: 2.1346, d0.loss_map_dir: 0.0214, d1.loss_map_cls: 0.3386, d1.loss_map_pts: 1.5297, d1.loss_map_dir: 0.0217, d2.loss_map_cls: 0.3237, d2.loss_map_pts: 1.4141, d2.loss_map_dir: 0.0220, d3.loss_map_cls: 0.3149, d3.loss_map_pts: 1.3615, d3.loss_map_dir: 0.0225, d4.loss_map_cls: 0.3119, d4.loss_map_pts: 1.3438, d4.loss_map_dir: 0.0227, d5.loss_map_cls: 0.3099, d5.loss_map_pts: 1.3317, d5.loss_map_dir: 0.0229, loss: 50.7874, grad_norm: 155.2410 +2026-02-24 18:52:35,556 - DriveTransformer - INFO - Epoch [2][35500/39528] lr: 9.958e-05, eta: 8 days, 1:24:50, time: 0.794, data_time: 0.040, memory: 19865, loss_cls: 0.4698, loss_bbox: 0.6165, loss_traj: 1.6854, loss_traj_cls: 0.0006, loss_map_cls: 0.3272, loss_map_pts: 1.3234, loss_map_dir: 0.0259, d0.loss_plan_l1_fix_time: 3.4179, d0.loss_plan_l1_fix_dist: 0.4834, d1.loss_plan_l1_fix_time: 2.6119, d1.loss_plan_l1_fix_dist: 0.3424, d2.loss_plan_l1_fix_time: 2.5642, d2.loss_plan_l1_fix_dist: 0.3510, d3.loss_plan_l1_fix_time: 2.5548, d3.loss_plan_l1_fix_dist: 0.3681, d4.loss_plan_l1_fix_time: 2.5563, d4.loss_plan_l1_fix_dist: 0.3834, d5.loss_plan_l1_fix_time: 2.5598, d5.loss_plan_l1_fix_dist: 0.4003, d6.loss_plan_l1_fix_time: 2.5650, d6.loss_plan_l1_fix_dist: 0.4174, d0.loss_cls_all: 0.4846, d0.loss_bbox_all: 0.6394, d0.loss_cls: 0.4846, d0.loss_bbox: 0.6394, d1.loss_cls: 0.4749, d1.loss_bbox: 0.6140, d2.loss_cls: 0.4716, d2.loss_bbox: 0.6085, d3.loss_cls: 0.4714, d3.loss_bbox: 0.6049, d4.loss_cls: 0.4711, d4.loss_bbox: 0.6072, d5.loss_cls: 0.4704, d5.loss_bbox: 0.6101, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.8619, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.6848, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.6340, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.6496, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.6555, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.6721, d0.loss_map_cls_all: 0.3656, d0.loss_map_pts_all: 2.1712, d0.loss_map_dir_all: 0.0241, d0.loss_map_cls: 0.3656, d0.loss_map_pts: 2.1712, d0.loss_map_dir: 0.0241, d1.loss_map_cls: 0.3549, d1.loss_map_pts: 1.4883, d1.loss_map_dir: 0.0245, d2.loss_map_cls: 0.3429, d2.loss_map_pts: 1.3780, d2.loss_map_dir: 0.0247, d3.loss_map_cls: 0.3336, d3.loss_map_pts: 1.3376, d3.loss_map_dir: 0.0252, d4.loss_map_cls: 0.3316, d4.loss_map_pts: 1.3224, d4.loss_map_dir: 0.0255, d5.loss_map_cls: 0.3280, d5.loss_map_pts: 1.3185, d5.loss_map_dir: 0.0257, loss: 57.6231, grad_norm: 156.2029 +2026-02-24 18:53:15,897 - DriveTransformer - INFO - Epoch [2][35550/39528] lr: 9.958e-05, eta: 8 days, 1:24:16, time: 0.807, data_time: 0.042, memory: 19865, loss_cls: 0.4582, loss_bbox: 0.5980, loss_traj: 1.3209, loss_traj_cls: 0.0005, loss_map_cls: 0.3209, loss_map_pts: 1.3816, loss_map_dir: 0.0263, d0.loss_plan_l1_fix_time: 3.0270, d0.loss_plan_l1_fix_dist: 0.5310, d1.loss_plan_l1_fix_time: 2.1834, d1.loss_plan_l1_fix_dist: 0.3227, d2.loss_plan_l1_fix_time: 2.1348, d2.loss_plan_l1_fix_dist: 0.3313, d3.loss_plan_l1_fix_time: 2.1250, d3.loss_plan_l1_fix_dist: 0.3440, d4.loss_plan_l1_fix_time: 2.1261, d4.loss_plan_l1_fix_dist: 0.3608, d5.loss_plan_l1_fix_time: 2.1290, d5.loss_plan_l1_fix_dist: 0.3798, d6.loss_plan_l1_fix_time: 2.1340, d6.loss_plan_l1_fix_dist: 0.3989, d0.loss_cls_all: 0.4622, d0.loss_bbox_all: 0.6121, d0.loss_cls: 0.4622, d0.loss_bbox: 0.6121, d1.loss_cls: 0.4569, d1.loss_bbox: 0.5914, d2.loss_cls: 0.4592, d2.loss_bbox: 0.5830, d3.loss_cls: 0.4604, d3.loss_bbox: 0.5854, d4.loss_cls: 0.4605, d4.loss_bbox: 0.5847, d5.loss_cls: 0.4601, d5.loss_bbox: 0.5887, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5200, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3366, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3032, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.3130, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3090, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3136, d0.loss_map_cls_all: 0.3712, d0.loss_map_pts_all: 2.3059, d0.loss_map_dir_all: 0.0242, d0.loss_map_cls: 0.3712, d0.loss_map_pts: 2.3059, d0.loss_map_dir: 0.0242, d1.loss_map_cls: 0.3517, d1.loss_map_pts: 1.5823, d1.loss_map_dir: 0.0245, d2.loss_map_cls: 0.3364, d2.loss_map_pts: 1.4617, d2.loss_map_dir: 0.0249, d3.loss_map_cls: 0.3245, d3.loss_map_pts: 1.4092, d3.loss_map_dir: 0.0254, d4.loss_map_cls: 0.3226, d4.loss_map_pts: 1.3854, d4.loss_map_dir: 0.0259, d5.loss_map_cls: 0.3217, d5.loss_map_pts: 1.3825, d5.loss_map_dir: 0.0261, loss: 52.5210, grad_norm: 156.0143 +2026-02-24 18:53:55,345 - DriveTransformer - INFO - Epoch [2][35600/39528] lr: 9.958e-05, eta: 8 days, 1:23:31, time: 0.789, data_time: 0.039, memory: 19865, loss_cls: 0.4263, loss_bbox: 0.5553, loss_traj: 1.1234, loss_traj_cls: 0.0006, loss_map_cls: 0.2910, loss_map_pts: 1.2694, loss_map_dir: 0.0246, d0.loss_plan_l1_fix_time: 2.8750, d0.loss_plan_l1_fix_dist: 0.5286, d1.loss_plan_l1_fix_time: 2.0053, d1.loss_plan_l1_fix_dist: 0.3153, d2.loss_plan_l1_fix_time: 1.9647, d2.loss_plan_l1_fix_dist: 0.3322, d3.loss_plan_l1_fix_time: 1.9578, d3.loss_plan_l1_fix_dist: 0.3483, d4.loss_plan_l1_fix_time: 1.9604, d4.loss_plan_l1_fix_dist: 0.3636, d5.loss_plan_l1_fix_time: 1.9645, d5.loss_plan_l1_fix_dist: 0.3814, d6.loss_plan_l1_fix_time: 1.9697, d6.loss_plan_l1_fix_dist: 0.4053, d0.loss_cls_all: 0.4331, d0.loss_bbox_all: 0.5889, d0.loss_cls: 0.4331, d0.loss_bbox: 0.5889, d1.loss_cls: 0.4326, d1.loss_bbox: 0.5636, d2.loss_cls: 0.4284, d2.loss_bbox: 0.5559, d3.loss_cls: 0.4264, d3.loss_bbox: 0.5547, d4.loss_cls: 0.4259, d4.loss_bbox: 0.5522, d5.loss_cls: 0.4274, d5.loss_bbox: 0.5537, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2623, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.1075, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0864, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.0983, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1000, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1098, d0.loss_map_cls_all: 0.3302, d0.loss_map_pts_all: 2.1466, d0.loss_map_dir_all: 0.0233, d0.loss_map_cls: 0.3302, d0.loss_map_pts: 2.1466, d0.loss_map_dir: 0.0233, d1.loss_map_cls: 0.3135, d1.loss_map_pts: 1.4535, d1.loss_map_dir: 0.0233, d2.loss_map_cls: 0.3017, d2.loss_map_pts: 1.3335, d2.loss_map_dir: 0.0235, d3.loss_map_cls: 0.2952, d3.loss_map_pts: 1.2851, d3.loss_map_dir: 0.0238, d4.loss_map_cls: 0.2921, d4.loss_map_pts: 1.2672, d4.loss_map_dir: 0.0242, d5.loss_map_cls: 0.2926, d5.loss_map_pts: 1.2671, d5.loss_map_dir: 0.0244, loss: 48.0179, grad_norm: 154.6833 +2026-02-24 18:54:34,666 - DriveTransformer - INFO - Epoch [2][35650/39528] lr: 9.958e-05, eta: 8 days, 1:22:45, time: 0.786, data_time: 0.041, memory: 19865, loss_cls: 0.4433, loss_bbox: 0.5992, loss_traj: 1.2127, loss_traj_cls: 0.0005, loss_map_cls: 0.2957, loss_map_pts: 1.3058, loss_map_dir: 0.0248, d0.loss_plan_l1_fix_time: 2.5466, d0.loss_plan_l1_fix_dist: 0.4183, d1.loss_plan_l1_fix_time: 1.8383, d1.loss_plan_l1_fix_dist: 0.3347, d2.loss_plan_l1_fix_time: 1.8225, d2.loss_plan_l1_fix_dist: 0.3495, d3.loss_plan_l1_fix_time: 1.8261, d3.loss_plan_l1_fix_dist: 0.3723, d4.loss_plan_l1_fix_time: 1.8309, d4.loss_plan_l1_fix_dist: 0.3989, d5.loss_plan_l1_fix_time: 1.8362, d5.loss_plan_l1_fix_dist: 0.4227, d6.loss_plan_l1_fix_time: 1.8426, d6.loss_plan_l1_fix_dist: 0.4465, d0.loss_cls_all: 0.4476, d0.loss_bbox_all: 0.6254, d0.loss_cls: 0.4476, d0.loss_bbox: 0.6254, d1.loss_cls: 0.4469, d1.loss_bbox: 0.6036, d2.loss_cls: 0.4425, d2.loss_bbox: 0.5935, d3.loss_cls: 0.4422, d3.loss_bbox: 0.5933, d4.loss_cls: 0.4424, d4.loss_bbox: 0.5940, d5.loss_cls: 0.4454, d5.loss_bbox: 0.5966, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4014, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2507, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2147, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.2095, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2100, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2103, d0.loss_map_cls_all: 0.3366, d0.loss_map_pts_all: 2.1152, d0.loss_map_dir_all: 0.0228, d0.loss_map_cls: 0.3366, d0.loss_map_pts: 2.1152, d0.loss_map_dir: 0.0228, d1.loss_map_cls: 0.3178, d1.loss_map_pts: 1.4756, d1.loss_map_dir: 0.0230, d2.loss_map_cls: 0.3101, d2.loss_map_pts: 1.3652, d2.loss_map_dir: 0.0234, d3.loss_map_cls: 0.3005, d3.loss_map_pts: 1.3228, d3.loss_map_dir: 0.0239, d4.loss_map_cls: 0.2977, d4.loss_map_pts: 1.3073, d4.loss_map_dir: 0.0243, d5.loss_map_cls: 0.2941, d5.loss_map_pts: 1.3063, d5.loss_map_dir: 0.0246, loss: 48.3817, grad_norm: 155.2634 +2026-02-24 18:55:13,897 - DriveTransformer - INFO - Epoch [2][35700/39528] lr: 9.958e-05, eta: 8 days, 1:21:58, time: 0.784, data_time: 0.041, memory: 19865, loss_cls: 0.4476, loss_bbox: 0.5749, loss_traj: 1.2362, loss_traj_cls: 0.0005, loss_map_cls: 0.3332, loss_map_pts: 1.3726, loss_map_dir: 0.0293, d0.loss_plan_l1_fix_time: 2.6255, d0.loss_plan_l1_fix_dist: 0.4788, d1.loss_plan_l1_fix_time: 2.0497, d1.loss_plan_l1_fix_dist: 0.3613, d2.loss_plan_l1_fix_time: 2.0553, d2.loss_plan_l1_fix_dist: 0.3830, d3.loss_plan_l1_fix_time: 2.0667, d3.loss_plan_l1_fix_dist: 0.4138, d4.loss_plan_l1_fix_time: 2.0754, d4.loss_plan_l1_fix_dist: 0.4468, d5.loss_plan_l1_fix_time: 2.0843, d5.loss_plan_l1_fix_dist: 0.4806, d6.loss_plan_l1_fix_time: 2.0938, d6.loss_plan_l1_fix_dist: 0.5114, d0.loss_cls_all: 0.4469, d0.loss_bbox_all: 0.6048, d0.loss_cls: 0.4469, d0.loss_bbox: 0.6048, d1.loss_cls: 0.4453, d1.loss_bbox: 0.5803, d2.loss_cls: 0.4422, d2.loss_bbox: 0.5716, d3.loss_cls: 0.4432, d3.loss_bbox: 0.5689, d4.loss_cls: 0.4449, d4.loss_bbox: 0.5682, d5.loss_cls: 0.4475, d5.loss_bbox: 0.5703, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3227, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2187, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2111, d3.loss_traj_cls: 0.0009, d3.loss_traj: 1.2249, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2245, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2302, d0.loss_map_cls_all: 0.3853, d0.loss_map_pts_all: 2.2555, d0.loss_map_dir_all: 0.0267, d0.loss_map_cls: 0.3853, d0.loss_map_pts: 2.2555, d0.loss_map_dir: 0.0267, d1.loss_map_cls: 0.3604, d1.loss_map_pts: 1.5272, d1.loss_map_dir: 0.0273, d2.loss_map_cls: 0.3402, d2.loss_map_pts: 1.4136, d2.loss_map_dir: 0.0278, d3.loss_map_cls: 0.3353, d3.loss_map_pts: 1.3706, d3.loss_map_dir: 0.0284, d4.loss_map_cls: 0.3316, d4.loss_map_pts: 1.3644, d4.loss_map_dir: 0.0288, d5.loss_map_cls: 0.3318, d5.loss_map_pts: 1.3654, d5.loss_map_dir: 0.0290, loss: 50.9606, grad_norm: 156.0538 +2026-02-24 18:55:55,676 - DriveTransformer - INFO - Epoch [2][35750/39528] lr: 9.958e-05, eta: 8 days, 1:21:40, time: 0.836, data_time: 0.039, memory: 19865, loss_cls: 0.4475, loss_bbox: 0.5669, loss_traj: 1.4389, loss_traj_cls: 0.0005, loss_map_cls: 0.3102, loss_map_pts: 1.4018, loss_map_dir: 0.0293, d0.loss_plan_l1_fix_time: 2.5559, d0.loss_plan_l1_fix_dist: 0.4239, d1.loss_plan_l1_fix_time: 2.0324, d1.loss_plan_l1_fix_dist: 0.3424, d2.loss_plan_l1_fix_time: 2.0276, d2.loss_plan_l1_fix_dist: 0.3647, d3.loss_plan_l1_fix_time: 2.0324, d3.loss_plan_l1_fix_dist: 0.3921, d4.loss_plan_l1_fix_time: 2.0373, d4.loss_plan_l1_fix_dist: 0.4223, d5.loss_plan_l1_fix_time: 2.0424, d5.loss_plan_l1_fix_dist: 0.4572, d6.loss_plan_l1_fix_time: 2.0474, d6.loss_plan_l1_fix_dist: 0.4939, d0.loss_cls_all: 0.4536, d0.loss_bbox_all: 0.6104, d0.loss_cls: 0.4536, d0.loss_bbox: 0.6104, d1.loss_cls: 0.4525, d1.loss_bbox: 0.5862, d2.loss_cls: 0.4518, d2.loss_bbox: 0.5738, d3.loss_cls: 0.4456, d3.loss_bbox: 0.5709, d4.loss_cls: 0.4460, d4.loss_bbox: 0.5690, d5.loss_cls: 0.4465, d5.loss_bbox: 0.5662, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5656, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.4434, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.4183, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.4134, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4150, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4238, d0.loss_map_cls_all: 0.3476, d0.loss_map_pts_all: 2.4947, d0.loss_map_dir_all: 0.0266, d0.loss_map_cls: 0.3476, d0.loss_map_pts: 2.4947, d0.loss_map_dir: 0.0266, d1.loss_map_cls: 0.3321, d1.loss_map_pts: 1.6044, d1.loss_map_dir: 0.0269, d2.loss_map_cls: 0.3214, d2.loss_map_pts: 1.4649, d2.loss_map_dir: 0.0275, d3.loss_map_cls: 0.3131, d3.loss_map_pts: 1.4148, d3.loss_map_dir: 0.0282, d4.loss_map_cls: 0.3104, d4.loss_map_pts: 1.4013, d4.loss_map_dir: 0.0287, d5.loss_map_cls: 0.3099, d5.loss_map_pts: 1.3986, d5.loss_map_dir: 0.0291, loss: 52.5374, grad_norm: 156.0934 +2026-02-24 18:56:36,576 - DriveTransformer - INFO - Epoch [2][35800/39528] lr: 9.958e-05, eta: 8 days, 1:21:14, time: 0.819, data_time: 0.039, memory: 19865, loss_cls: 0.4470, loss_bbox: 0.5707, loss_traj: 1.1951, loss_traj_cls: 0.0005, loss_map_cls: 0.3029, loss_map_pts: 1.4246, loss_map_dir: 0.0266, d0.loss_plan_l1_fix_time: 2.4381, d0.loss_plan_l1_fix_dist: 0.5017, d1.loss_plan_l1_fix_time: 1.8311, d1.loss_plan_l1_fix_dist: 0.3474, d2.loss_plan_l1_fix_time: 1.8154, d2.loss_plan_l1_fix_dist: 0.3680, d3.loss_plan_l1_fix_time: 1.8245, d3.loss_plan_l1_fix_dist: 0.3940, d4.loss_plan_l1_fix_time: 1.8311, d4.loss_plan_l1_fix_dist: 0.4225, d5.loss_plan_l1_fix_time: 1.8375, d5.loss_plan_l1_fix_dist: 0.4488, d6.loss_plan_l1_fix_time: 1.8449, d6.loss_plan_l1_fix_dist: 0.4792, d0.loss_cls_all: 0.4574, d0.loss_bbox_all: 0.6126, d0.loss_cls: 0.4574, d0.loss_bbox: 0.6126, d1.loss_cls: 0.4542, d1.loss_bbox: 0.5822, d2.loss_cls: 0.4488, d2.loss_bbox: 0.5722, d3.loss_cls: 0.4457, d3.loss_bbox: 0.5710, d4.loss_cls: 0.4434, d4.loss_bbox: 0.5696, d5.loss_cls: 0.4480, d5.loss_bbox: 0.5674, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4125, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2208, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1940, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.1950, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1904, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1864, d0.loss_map_cls_all: 0.3516, d0.loss_map_pts_all: 2.3503, d0.loss_map_dir_all: 0.0247, d0.loss_map_cls: 0.3516, d0.loss_map_pts: 2.3503, d0.loss_map_dir: 0.0247, d1.loss_map_cls: 0.3327, d1.loss_map_pts: 1.6083, d1.loss_map_dir: 0.0250, d2.loss_map_cls: 0.3170, d2.loss_map_pts: 1.4938, d2.loss_map_dir: 0.0254, d3.loss_map_cls: 0.3088, d3.loss_map_pts: 1.4463, d3.loss_map_dir: 0.0259, d4.loss_map_cls: 0.3033, d4.loss_map_pts: 1.4272, d4.loss_map_dir: 0.0262, d5.loss_map_cls: 0.3025, d5.loss_map_pts: 1.4287, d5.loss_map_dir: 0.0264, loss: 49.5487, grad_norm: 154.5656 +2026-02-24 18:57:17,248 - DriveTransformer - INFO - Epoch [2][35850/39528] lr: 9.958e-05, eta: 8 days, 1:20:42, time: 0.812, data_time: 0.039, memory: 19865, loss_cls: 0.4739, loss_bbox: 0.5976, loss_traj: 1.3257, loss_traj_cls: 0.0005, loss_map_cls: 0.3617, loss_map_pts: 1.5250, loss_map_dir: 0.0301, d0.loss_plan_l1_fix_time: 2.6998, d0.loss_plan_l1_fix_dist: 0.3322, d1.loss_plan_l1_fix_time: 2.0492, d1.loss_plan_l1_fix_dist: 0.2668, d2.loss_plan_l1_fix_time: 2.0261, d2.loss_plan_l1_fix_dist: 0.2818, d3.loss_plan_l1_fix_time: 2.0292, d3.loss_plan_l1_fix_dist: 0.3072, d4.loss_plan_l1_fix_time: 2.0359, d4.loss_plan_l1_fix_dist: 0.3348, d5.loss_plan_l1_fix_time: 2.0431, d5.loss_plan_l1_fix_dist: 0.3656, d6.loss_plan_l1_fix_time: 2.0515, d6.loss_plan_l1_fix_dist: 0.4009, d0.loss_cls_all: 0.4851, d0.loss_bbox_all: 0.6368, d0.loss_cls: 0.4851, d0.loss_bbox: 0.6368, d1.loss_cls: 0.4829, d1.loss_bbox: 0.6145, d2.loss_cls: 0.4782, d2.loss_bbox: 0.6002, d3.loss_cls: 0.4747, d3.loss_bbox: 0.5963, d4.loss_cls: 0.4754, d4.loss_bbox: 0.5928, d5.loss_cls: 0.4752, d5.loss_bbox: 0.5939, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5592, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3410, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3050, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.3134, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3168, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3214, d0.loss_map_cls_all: 0.4145, d0.loss_map_pts_all: 2.4488, d0.loss_map_dir_all: 0.0273, d0.loss_map_cls: 0.4145, d0.loss_map_pts: 2.4488, d0.loss_map_dir: 0.0273, d1.loss_map_cls: 0.3864, d1.loss_map_pts: 1.7261, d1.loss_map_dir: 0.0278, d2.loss_map_cls: 0.3751, d2.loss_map_pts: 1.5993, d2.loss_map_dir: 0.0285, d3.loss_map_cls: 0.3673, d3.loss_map_pts: 1.5543, d3.loss_map_dir: 0.0293, d4.loss_map_cls: 0.3608, d4.loss_map_pts: 1.5324, d4.loss_map_dir: 0.0297, d5.loss_map_cls: 0.3604, d5.loss_map_pts: 1.5296, d5.loss_map_dir: 0.0300, loss: 53.0462, grad_norm: 154.0401 +2026-02-24 18:57:55,300 - DriveTransformer - INFO - Epoch [2][35900/39528] lr: 9.958e-05, eta: 8 days, 1:19:42, time: 0.761, data_time: 0.043, memory: 19865, loss_cls: 0.4692, loss_bbox: 0.6287, loss_traj: 1.5636, loss_traj_cls: 0.0006, loss_map_cls: 0.3515, loss_map_pts: 1.4174, loss_map_dir: 0.0246, d0.loss_plan_l1_fix_time: 3.1944, d0.loss_plan_l1_fix_dist: 0.4670, d1.loss_plan_l1_fix_time: 2.3255, d1.loss_plan_l1_fix_dist: 0.3717, d2.loss_plan_l1_fix_time: 2.2985, d2.loss_plan_l1_fix_dist: 0.3944, d3.loss_plan_l1_fix_time: 2.3005, d3.loss_plan_l1_fix_dist: 0.4213, d4.loss_plan_l1_fix_time: 2.3069, d4.loss_plan_l1_fix_dist: 0.4530, d5.loss_plan_l1_fix_time: 2.3135, d5.loss_plan_l1_fix_dist: 0.4855, d6.loss_plan_l1_fix_time: 2.3201, d6.loss_plan_l1_fix_dist: 0.5150, d0.loss_cls_all: 0.4754, d0.loss_bbox_all: 0.6856, d0.loss_cls: 0.4754, d0.loss_bbox: 0.6856, d1.loss_cls: 0.4770, d1.loss_bbox: 0.6522, d2.loss_cls: 0.4729, d2.loss_bbox: 0.6372, d3.loss_cls: 0.4690, d3.loss_bbox: 0.6309, d4.loss_cls: 0.4666, d4.loss_bbox: 0.6294, d5.loss_cls: 0.4677, d5.loss_bbox: 0.6288, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7283, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.5685, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.5426, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.5519, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.5524, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5630, d0.loss_map_cls_all: 0.4118, d0.loss_map_pts_all: 2.0961, d0.loss_map_dir_all: 0.0220, d0.loss_map_cls: 0.4118, d0.loss_map_pts: 2.0961, d0.loss_map_dir: 0.0220, d1.loss_map_cls: 0.3849, d1.loss_map_pts: 1.6029, d1.loss_map_dir: 0.0224, d2.loss_map_cls: 0.3696, d2.loss_map_pts: 1.4840, d2.loss_map_dir: 0.0230, d3.loss_map_cls: 0.3574, d3.loss_map_pts: 1.4400, d3.loss_map_dir: 0.0236, d4.loss_map_cls: 0.3535, d4.loss_map_pts: 1.4225, d4.loss_map_dir: 0.0240, d5.loss_map_cls: 0.3516, d5.loss_map_pts: 1.4159, d5.loss_map_dir: 0.0243, loss: 56.3478, grad_norm: 154.9045 +2026-02-24 18:58:36,101 - DriveTransformer - INFO - Epoch [2][35950/39528] lr: 9.958e-05, eta: 8 days, 1:19:13, time: 0.816, data_time: 0.040, memory: 19865, loss_cls: 0.4611, loss_bbox: 0.5862, loss_traj: 1.2273, loss_traj_cls: 0.0006, loss_map_cls: 0.3503, loss_map_pts: 1.4220, loss_map_dir: 0.0289, d0.loss_plan_l1_fix_time: 2.5175, d0.loss_plan_l1_fix_dist: 0.4243, d1.loss_plan_l1_fix_time: 1.9826, d1.loss_plan_l1_fix_dist: 0.3487, d2.loss_plan_l1_fix_time: 1.9370, d2.loss_plan_l1_fix_dist: 0.3676, d3.loss_plan_l1_fix_time: 1.9361, d3.loss_plan_l1_fix_dist: 0.3914, d4.loss_plan_l1_fix_time: 1.9407, d4.loss_plan_l1_fix_dist: 0.4200, d5.loss_plan_l1_fix_time: 1.9470, d5.loss_plan_l1_fix_dist: 0.4501, d6.loss_plan_l1_fix_time: 1.9550, d6.loss_plan_l1_fix_dist: 0.4773, d0.loss_cls_all: 0.4712, d0.loss_bbox_all: 0.6307, d0.loss_cls: 0.4712, d0.loss_bbox: 0.6307, d1.loss_cls: 0.4646, d1.loss_bbox: 0.6049, d2.loss_cls: 0.4603, d2.loss_bbox: 0.5961, d3.loss_cls: 0.4560, d3.loss_bbox: 0.5912, d4.loss_cls: 0.4571, d4.loss_bbox: 0.5859, d5.loss_cls: 0.4593, d5.loss_bbox: 0.5846, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3312, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2060, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1857, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.1969, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2128, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2197, d0.loss_map_cls_all: 0.3900, d0.loss_map_pts_all: 2.3200, d0.loss_map_dir_all: 0.0260, d0.loss_map_cls: 0.3900, d0.loss_map_pts: 2.3200, d0.loss_map_dir: 0.0260, d1.loss_map_cls: 0.3736, d1.loss_map_pts: 1.6197, d1.loss_map_dir: 0.0268, d2.loss_map_cls: 0.3633, d2.loss_map_pts: 1.4881, d2.loss_map_dir: 0.0273, d3.loss_map_cls: 0.3551, d3.loss_map_pts: 1.4355, d3.loss_map_dir: 0.0280, d4.loss_map_cls: 0.3497, d4.loss_map_pts: 1.4247, d4.loss_map_dir: 0.0284, d5.loss_map_cls: 0.3515, d5.loss_map_pts: 1.4174, d5.loss_map_dir: 0.0288, loss: 50.7829, grad_norm: 155.1168 +2026-02-24 18:59:15,299 - DriveTransformer - INFO - Epoch [2][36000/39528] lr: 9.958e-05, eta: 8 days, 1:18:25, time: 0.784, data_time: 0.042, memory: 19865, loss_cls: 0.4728, loss_bbox: 0.5724, loss_traj: 1.0197, loss_traj_cls: 0.0006, loss_map_cls: 0.3314, loss_map_pts: 1.3949, loss_map_dir: 0.0278, d0.loss_plan_l1_fix_time: 2.3602, d0.loss_plan_l1_fix_dist: 0.3897, d1.loss_plan_l1_fix_time: 1.7660, d1.loss_plan_l1_fix_dist: 0.3072, d2.loss_plan_l1_fix_time: 1.7317, d2.loss_plan_l1_fix_dist: 0.3252, d3.loss_plan_l1_fix_time: 1.7290, d3.loss_plan_l1_fix_dist: 0.3493, d4.loss_plan_l1_fix_time: 1.7326, d4.loss_plan_l1_fix_dist: 0.3759, d5.loss_plan_l1_fix_time: 1.7372, d5.loss_plan_l1_fix_dist: 0.4050, d6.loss_plan_l1_fix_time: 1.7435, d6.loss_plan_l1_fix_dist: 0.4392, d0.loss_cls_all: 0.4824, d0.loss_bbox_all: 0.6153, d0.loss_cls: 0.4824, d0.loss_bbox: 0.6153, d1.loss_cls: 0.4798, d1.loss_bbox: 0.5886, d2.loss_cls: 0.4740, d2.loss_bbox: 0.5804, d3.loss_cls: 0.4693, d3.loss_bbox: 0.5725, d4.loss_cls: 0.4695, d4.loss_bbox: 0.5700, d5.loss_cls: 0.4704, d5.loss_bbox: 0.5706, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1384, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.0404, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0148, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.0156, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.0097, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.0124, d0.loss_map_cls_all: 0.3776, d0.loss_map_pts_all: 2.3541, d0.loss_map_dir_all: 0.0263, d0.loss_map_cls: 0.3776, d0.loss_map_pts: 2.3541, d0.loss_map_dir: 0.0263, d1.loss_map_cls: 0.3580, d1.loss_map_pts: 1.5764, d1.loss_map_dir: 0.0261, d2.loss_map_cls: 0.3450, d2.loss_map_pts: 1.4523, d2.loss_map_dir: 0.0264, d3.loss_map_cls: 0.3362, d3.loss_map_pts: 1.4032, d3.loss_map_dir: 0.0269, d4.loss_map_cls: 0.3345, d4.loss_map_pts: 1.3914, d4.loss_map_dir: 0.0273, d5.loss_map_cls: 0.3331, d5.loss_map_pts: 1.3905, d5.loss_map_dir: 0.0275, loss: 47.4590, grad_norm: 153.1723 +2026-02-24 18:59:57,179 - DriveTransformer - INFO - Epoch [2][36050/39528] lr: 9.958e-05, eta: 8 days, 1:18:09, time: 0.838, data_time: 0.040, memory: 19865, loss_cls: 0.4554, loss_bbox: 0.5984, loss_traj: 1.2351, loss_traj_cls: 0.0005, loss_map_cls: 0.3316, loss_map_pts: 1.6075, loss_map_dir: 0.0314, d0.loss_plan_l1_fix_time: 2.6208, d0.loss_plan_l1_fix_dist: 0.4428, d1.loss_plan_l1_fix_time: 1.9905, d1.loss_plan_l1_fix_dist: 0.3550, d2.loss_plan_l1_fix_time: 1.9523, d2.loss_plan_l1_fix_dist: 0.3796, d3.loss_plan_l1_fix_time: 1.9457, d3.loss_plan_l1_fix_dist: 0.4113, d4.loss_plan_l1_fix_time: 1.9498, d4.loss_plan_l1_fix_dist: 0.4430, d5.loss_plan_l1_fix_time: 1.9558, d5.loss_plan_l1_fix_dist: 0.4813, d6.loss_plan_l1_fix_time: 1.9628, d6.loss_plan_l1_fix_dist: 0.5241, d0.loss_cls_all: 0.4803, d0.loss_bbox_all: 0.6201, d0.loss_cls: 0.4803, d0.loss_bbox: 0.6201, d1.loss_cls: 0.4681, d1.loss_bbox: 0.6029, d2.loss_cls: 0.4619, d2.loss_bbox: 0.5974, d3.loss_cls: 0.4588, d3.loss_bbox: 0.5947, d4.loss_cls: 0.4557, d4.loss_bbox: 0.5933, d5.loss_cls: 0.4544, d5.loss_bbox: 0.5969, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3425, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2003, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1885, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.2056, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2106, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2227, d0.loss_map_cls_all: 0.3718, d0.loss_map_pts_all: 2.5763, d0.loss_map_dir_all: 0.0283, d0.loss_map_cls: 0.3718, d0.loss_map_pts: 2.5763, d0.loss_map_dir: 0.0283, d1.loss_map_cls: 0.3625, d1.loss_map_pts: 1.7923, d1.loss_map_dir: 0.0292, d2.loss_map_cls: 0.3458, d2.loss_map_pts: 1.6690, d2.loss_map_dir: 0.0299, d3.loss_map_cls: 0.3375, d3.loss_map_pts: 1.6254, d3.loss_map_dir: 0.0305, d4.loss_map_cls: 0.3347, d4.loss_map_pts: 1.6070, d4.loss_map_dir: 0.0309, d5.loss_map_cls: 0.3321, d5.loss_map_pts: 1.6053, d5.loss_map_dir: 0.0312, loss: 52.6508, grad_norm: 153.8720 +2026-02-24 19:00:37,226 - DriveTransformer - INFO - Epoch [2][36100/39528] lr: 9.958e-05, eta: 8 days, 1:17:31, time: 0.801, data_time: 0.047, memory: 19865, loss_cls: 0.4503, loss_bbox: 0.5981, loss_traj: 1.2158, loss_traj_cls: 0.0005, loss_map_cls: 0.3158, loss_map_pts: 1.3792, loss_map_dir: 0.0264, d0.loss_plan_l1_fix_time: 2.5707, d0.loss_plan_l1_fix_dist: 0.4036, d1.loss_plan_l1_fix_time: 1.8949, d1.loss_plan_l1_fix_dist: 0.3293, d2.loss_plan_l1_fix_time: 1.8746, d2.loss_plan_l1_fix_dist: 0.3493, d3.loss_plan_l1_fix_time: 1.8733, d3.loss_plan_l1_fix_dist: 0.3729, d4.loss_plan_l1_fix_time: 1.8767, d4.loss_plan_l1_fix_dist: 0.4011, d5.loss_plan_l1_fix_time: 1.8807, d5.loss_plan_l1_fix_dist: 0.4293, d6.loss_plan_l1_fix_time: 1.8855, d6.loss_plan_l1_fix_dist: 0.4619, d0.loss_cls_all: 0.4547, d0.loss_bbox_all: 0.6291, d0.loss_cls: 0.4547, d0.loss_bbox: 0.6291, d1.loss_cls: 0.4482, d1.loss_bbox: 0.6131, d2.loss_cls: 0.4492, d2.loss_bbox: 0.6049, d3.loss_cls: 0.4471, d3.loss_bbox: 0.6007, d4.loss_cls: 0.4458, d4.loss_bbox: 0.5984, d5.loss_cls: 0.4452, d5.loss_bbox: 0.6007, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3436, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2625, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.2146, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.2206, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2187, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.2110, d0.loss_map_cls_all: 0.3589, d0.loss_map_pts_all: 2.2456, d0.loss_map_dir_all: 0.0241, d0.loss_map_cls: 0.3589, d0.loss_map_pts: 2.2456, d0.loss_map_dir: 0.0241, d1.loss_map_cls: 0.3402, d1.loss_map_pts: 1.5585, d1.loss_map_dir: 0.0244, d2.loss_map_cls: 0.3302, d2.loss_map_pts: 1.4396, d2.loss_map_dir: 0.0249, d3.loss_map_cls: 0.3208, d3.loss_map_pts: 1.3959, d3.loss_map_dir: 0.0256, d4.loss_map_cls: 0.3180, d4.loss_map_pts: 1.3807, d4.loss_map_dir: 0.0260, d5.loss_map_cls: 0.3165, d5.loss_map_pts: 1.3761, d5.loss_map_dir: 0.0263, loss: 49.6477, grad_norm: 154.2148 +2026-02-24 19:01:15,652 - DriveTransformer - INFO - Epoch [2][36150/39528] lr: 9.958e-05, eta: 8 days, 1:16:35, time: 0.769, data_time: 0.038, memory: 19865, loss_cls: 0.4543, loss_bbox: 0.5939, loss_traj: 1.4307, loss_traj_cls: 0.0005, loss_map_cls: 0.3182, loss_map_pts: 1.4708, loss_map_dir: 0.0242, d0.loss_plan_l1_fix_time: 2.8163, d0.loss_plan_l1_fix_dist: 0.5068, d1.loss_plan_l1_fix_time: 2.1196, d1.loss_plan_l1_fix_dist: 0.3323, d2.loss_plan_l1_fix_time: 2.0867, d2.loss_plan_l1_fix_dist: 0.3675, d3.loss_plan_l1_fix_time: 2.0844, d3.loss_plan_l1_fix_dist: 0.4007, d4.loss_plan_l1_fix_time: 2.0875, d4.loss_plan_l1_fix_dist: 0.4397, d5.loss_plan_l1_fix_time: 2.0918, d5.loss_plan_l1_fix_dist: 0.4744, d6.loss_plan_l1_fix_time: 2.0977, d6.loss_plan_l1_fix_dist: 0.5060, d0.loss_cls_all: 0.4751, d0.loss_bbox_all: 0.6285, d0.loss_cls: 0.4751, d0.loss_bbox: 0.6285, d1.loss_cls: 0.4681, d1.loss_bbox: 0.6097, d2.loss_cls: 0.4651, d2.loss_bbox: 0.5973, d3.loss_cls: 0.4577, d3.loss_bbox: 0.5951, d4.loss_cls: 0.4564, d4.loss_bbox: 0.5922, d5.loss_cls: 0.4571, d5.loss_bbox: 0.5913, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6548, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.4407, d2.loss_traj_cls: 0.0010, d2.loss_traj: 1.4008, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.4081, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4074, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.4154, d0.loss_map_cls_all: 0.3572, d0.loss_map_pts_all: 2.1576, d0.loss_map_dir_all: 0.0224, d0.loss_map_cls: 0.3572, d0.loss_map_pts: 2.1576, d0.loss_map_dir: 0.0224, d1.loss_map_cls: 0.3453, d1.loss_map_pts: 1.6330, d1.loss_map_dir: 0.0228, d2.loss_map_cls: 0.3316, d2.loss_map_pts: 1.5301, d2.loss_map_dir: 0.0232, d3.loss_map_cls: 0.3237, d3.loss_map_pts: 1.4854, d3.loss_map_dir: 0.0236, d4.loss_map_cls: 0.3188, d4.loss_map_pts: 1.4770, d4.loss_map_dir: 0.0238, d5.loss_map_cls: 0.3195, d5.loss_map_pts: 1.4716, d5.loss_map_dir: 0.0240, loss: 53.3607, grad_norm: 154.5433 +2026-02-24 19:01:55,596 - DriveTransformer - INFO - Epoch [2][36200/39528] lr: 9.958e-05, eta: 8 days, 1:15:56, time: 0.799, data_time: 0.042, memory: 19865, loss_cls: 0.3939, loss_bbox: 0.5629, loss_traj: 1.3710, loss_traj_cls: 0.0005, loss_map_cls: 0.2770, loss_map_pts: 1.2107, loss_map_dir: 0.0225, d0.loss_plan_l1_fix_time: 2.5246, d0.loss_plan_l1_fix_dist: 0.3635, d1.loss_plan_l1_fix_time: 1.8341, d1.loss_plan_l1_fix_dist: 0.2819, d2.loss_plan_l1_fix_time: 1.8225, d2.loss_plan_l1_fix_dist: 0.3010, d3.loss_plan_l1_fix_time: 1.8248, d3.loss_plan_l1_fix_dist: 0.3280, d4.loss_plan_l1_fix_time: 1.8307, d4.loss_plan_l1_fix_dist: 0.3558, d5.loss_plan_l1_fix_time: 1.8377, d5.loss_plan_l1_fix_dist: 0.3869, d6.loss_plan_l1_fix_time: 1.8450, d6.loss_plan_l1_fix_dist: 0.4165, d0.loss_cls_all: 0.4151, d0.loss_bbox_all: 0.5883, d0.loss_cls: 0.4151, d0.loss_bbox: 0.5883, d1.loss_cls: 0.4042, d1.loss_bbox: 0.5723, d2.loss_cls: 0.3971, d2.loss_bbox: 0.5623, d3.loss_cls: 0.3911, d3.loss_bbox: 0.5596, d4.loss_cls: 0.3897, d4.loss_bbox: 0.5597, d5.loss_cls: 0.3909, d5.loss_bbox: 0.5626, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4965, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3486, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3328, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.3510, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3454, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3577, d0.loss_map_cls_all: 0.3277, d0.loss_map_pts_all: 2.0523, d0.loss_map_dir_all: 0.0208, d0.loss_map_cls: 0.3277, d0.loss_map_pts: 2.0523, d0.loss_map_dir: 0.0208, d1.loss_map_cls: 0.3087, d1.loss_map_pts: 1.4107, d1.loss_map_dir: 0.0209, d2.loss_map_cls: 0.2935, d2.loss_map_pts: 1.2884, d2.loss_map_dir: 0.0214, d3.loss_map_cls: 0.2809, d3.loss_map_pts: 1.2338, d3.loss_map_dir: 0.0219, d4.loss_map_cls: 0.2769, d4.loss_map_pts: 1.2179, d4.loss_map_dir: 0.0222, d5.loss_map_cls: 0.2763, d5.loss_map_pts: 1.2075, d5.loss_map_dir: 0.0224, loss: 47.5300, grad_norm: 153.9324 +2026-02-24 19:02:37,202 - DriveTransformer - INFO - Epoch [2][36250/39528] lr: 9.958e-05, eta: 8 days, 1:15:37, time: 0.832, data_time: 0.040, memory: 19865, loss_cls: 0.4781, loss_bbox: 0.6165, loss_traj: 1.5146, loss_traj_cls: 0.0006, loss_map_cls: 0.3504, loss_map_pts: 1.5829, loss_map_dir: 0.0300, d0.loss_plan_l1_fix_time: 3.0966, d0.loss_plan_l1_fix_dist: 0.4465, d1.loss_plan_l1_fix_time: 2.1461, d1.loss_plan_l1_fix_dist: 0.3265, d2.loss_plan_l1_fix_time: 2.1116, d2.loss_plan_l1_fix_dist: 0.3454, d3.loss_plan_l1_fix_time: 2.1148, d3.loss_plan_l1_fix_dist: 0.3702, d4.loss_plan_l1_fix_time: 2.1205, d4.loss_plan_l1_fix_dist: 0.3968, d5.loss_plan_l1_fix_time: 2.1273, d5.loss_plan_l1_fix_dist: 0.4289, d6.loss_plan_l1_fix_time: 2.1354, d6.loss_plan_l1_fix_dist: 0.4667, d0.loss_cls_all: 0.4994, d0.loss_bbox_all: 0.6505, d0.loss_cls: 0.4994, d0.loss_bbox: 0.6505, d1.loss_cls: 0.4835, d1.loss_bbox: 0.6293, d2.loss_cls: 0.4793, d2.loss_bbox: 0.6189, d3.loss_cls: 0.4762, d3.loss_bbox: 0.6170, d4.loss_cls: 0.4748, d4.loss_bbox: 0.6161, d5.loss_cls: 0.4753, d5.loss_bbox: 0.6170, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7230, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.5037, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.4769, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.4971, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4966, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.5070, d0.loss_map_cls_all: 0.3944, d0.loss_map_pts_all: 2.5992, d0.loss_map_dir_all: 0.0280, d0.loss_map_cls: 0.3944, d0.loss_map_pts: 2.5992, d0.loss_map_dir: 0.0280, d1.loss_map_cls: 0.3768, d1.loss_map_pts: 1.8143, d1.loss_map_dir: 0.0279, d2.loss_map_cls: 0.3639, d2.loss_map_pts: 1.6700, d2.loss_map_dir: 0.0288, d3.loss_map_cls: 0.3524, d3.loss_map_pts: 1.6117, d3.loss_map_dir: 0.0292, d4.loss_map_cls: 0.3491, d4.loss_map_pts: 1.5921, d4.loss_map_dir: 0.0296, d5.loss_map_cls: 0.3503, d5.loss_map_pts: 1.5850, d5.loss_map_dir: 0.0299, loss: 56.4573, grad_norm: 154.1810 +2026-02-24 19:03:17,663 - DriveTransformer - INFO - Epoch [2][36300/39528] lr: 9.958e-05, eta: 8 days, 1:15:04, time: 0.809, data_time: 0.040, memory: 19865, loss_cls: 0.4700, loss_bbox: 0.5947, loss_traj: 1.4293, loss_traj_cls: 0.0006, loss_map_cls: 0.3009, loss_map_pts: 1.3523, loss_map_dir: 0.0275, d0.loss_plan_l1_fix_time: 2.3371, d0.loss_plan_l1_fix_dist: 0.4440, d1.loss_plan_l1_fix_time: 1.9433, d1.loss_plan_l1_fix_dist: 0.3385, d2.loss_plan_l1_fix_time: 1.9273, d2.loss_plan_l1_fix_dist: 0.3547, d3.loss_plan_l1_fix_time: 1.9276, d3.loss_plan_l1_fix_dist: 0.3771, d4.loss_plan_l1_fix_time: 1.9330, d4.loss_plan_l1_fix_dist: 0.4036, d5.loss_plan_l1_fix_time: 1.9399, d5.loss_plan_l1_fix_dist: 0.4308, d6.loss_plan_l1_fix_time: 1.9484, d6.loss_plan_l1_fix_dist: 0.4639, d0.loss_cls_all: 0.4890, d0.loss_bbox_all: 0.6264, d0.loss_cls: 0.4890, d0.loss_bbox: 0.6264, d1.loss_cls: 0.4723, d1.loss_bbox: 0.6064, d2.loss_cls: 0.4695, d2.loss_bbox: 0.5944, d3.loss_cls: 0.4684, d3.loss_bbox: 0.5908, d4.loss_cls: 0.4681, d4.loss_bbox: 0.5901, d5.loss_cls: 0.4677, d5.loss_bbox: 0.5913, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5288, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.4035, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3779, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.3982, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3998, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4093, d0.loss_map_cls_all: 0.3534, d0.loss_map_pts_all: 2.3439, d0.loss_map_dir_all: 0.0257, d0.loss_map_cls: 0.3534, d0.loss_map_pts: 2.3439, d0.loss_map_dir: 0.0257, d1.loss_map_cls: 0.3340, d1.loss_map_pts: 1.5307, d1.loss_map_dir: 0.0257, d2.loss_map_cls: 0.3161, d2.loss_map_pts: 1.4081, d2.loss_map_dir: 0.0263, d3.loss_map_cls: 0.3047, d3.loss_map_pts: 1.3616, d3.loss_map_dir: 0.0267, d4.loss_map_cls: 0.3017, d4.loss_map_pts: 1.3503, d4.loss_map_dir: 0.0270, d5.loss_map_cls: 0.3008, d5.loss_map_pts: 1.3493, d5.loss_map_dir: 0.0273, loss: 51.1535, grad_norm: 154.2647 +2026-02-24 19:03:57,251 - DriveTransformer - INFO - Epoch [2][36350/39528] lr: 9.958e-05, eta: 8 days, 1:14:21, time: 0.792, data_time: 0.040, memory: 19865, loss_cls: 0.4186, loss_bbox: 0.5640, loss_traj: 1.2459, loss_traj_cls: 0.0006, loss_map_cls: 0.3265, loss_map_pts: 1.3897, loss_map_dir: 0.0254, d0.loss_plan_l1_fix_time: 2.8006, d0.loss_plan_l1_fix_dist: 0.4077, d1.loss_plan_l1_fix_time: 2.1470, d1.loss_plan_l1_fix_dist: 0.3282, d2.loss_plan_l1_fix_time: 2.1099, d2.loss_plan_l1_fix_dist: 0.3378, d3.loss_plan_l1_fix_time: 2.1065, d3.loss_plan_l1_fix_dist: 0.3545, d4.loss_plan_l1_fix_time: 2.1096, d4.loss_plan_l1_fix_dist: 0.3727, d5.loss_plan_l1_fix_time: 2.1141, d5.loss_plan_l1_fix_dist: 0.3920, d6.loss_plan_l1_fix_time: 2.1197, d6.loss_plan_l1_fix_dist: 0.4128, d0.loss_cls_all: 0.4399, d0.loss_bbox_all: 0.5935, d0.loss_cls: 0.4399, d0.loss_bbox: 0.5935, d1.loss_cls: 0.4310, d1.loss_bbox: 0.5722, d2.loss_cls: 0.4285, d2.loss_bbox: 0.5625, d3.loss_cls: 0.4214, d3.loss_bbox: 0.5589, d4.loss_cls: 0.4183, d4.loss_bbox: 0.5572, d5.loss_cls: 0.4182, d5.loss_bbox: 0.5606, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3663, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.2626, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2257, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2280, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2349, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2405, d0.loss_map_cls_all: 0.3745, d0.loss_map_pts_all: 2.1715, d0.loss_map_dir_all: 0.0231, d0.loss_map_cls: 0.3745, d0.loss_map_pts: 2.1715, d0.loss_map_dir: 0.0231, d1.loss_map_cls: 0.3540, d1.loss_map_pts: 1.5612, d1.loss_map_dir: 0.0234, d2.loss_map_cls: 0.3384, d2.loss_map_pts: 1.4541, d2.loss_map_dir: 0.0239, d3.loss_map_cls: 0.3259, d3.loss_map_pts: 1.4099, d3.loss_map_dir: 0.0244, d4.loss_map_cls: 0.3249, d4.loss_map_pts: 1.3909, d4.loss_map_dir: 0.0248, d5.loss_map_cls: 0.3257, d5.loss_map_pts: 1.3870, d5.loss_map_dir: 0.0252, loss: 50.7745, grad_norm: 153.0385 +2026-02-24 19:04:34,764 - DriveTransformer - INFO - Epoch [2][36400/39528] lr: 9.958e-05, eta: 8 days, 1:13:14, time: 0.750, data_time: 0.038, memory: 19865, loss_cls: 0.4675, loss_bbox: 0.5910, loss_traj: 1.4053, loss_traj_cls: 0.0006, loss_map_cls: 0.3391, loss_map_pts: 1.2484, loss_map_dir: 0.0217, d0.loss_plan_l1_fix_time: 2.3788, d0.loss_plan_l1_fix_dist: 0.3889, d1.loss_plan_l1_fix_time: 2.0807, d1.loss_plan_l1_fix_dist: 0.3194, d2.loss_plan_l1_fix_time: 2.0740, d2.loss_plan_l1_fix_dist: 0.3327, d3.loss_plan_l1_fix_time: 2.0814, d3.loss_plan_l1_fix_dist: 0.3499, d4.loss_plan_l1_fix_time: 2.0868, d4.loss_plan_l1_fix_dist: 0.3700, d5.loss_plan_l1_fix_time: 2.0927, d5.loss_plan_l1_fix_dist: 0.3943, d6.loss_plan_l1_fix_time: 2.0998, d6.loss_plan_l1_fix_dist: 0.4181, d0.loss_cls_all: 0.4891, d0.loss_bbox_all: 0.6313, d0.loss_cls: 0.4891, d0.loss_bbox: 0.6313, d1.loss_cls: 0.4867, d1.loss_bbox: 0.6082, d2.loss_cls: 0.4834, d2.loss_bbox: 0.5969, d3.loss_cls: 0.4747, d3.loss_bbox: 0.5898, d4.loss_cls: 0.4675, d4.loss_bbox: 0.5901, d5.loss_cls: 0.4669, d5.loss_bbox: 0.5903, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4965, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.4053, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3799, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.3802, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3794, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.3922, d0.loss_map_cls_all: 0.3919, d0.loss_map_pts_all: 1.8788, d0.loss_map_dir_all: 0.0197, d0.loss_map_cls: 0.3919, d0.loss_map_pts: 1.8788, d0.loss_map_dir: 0.0197, d1.loss_map_cls: 0.3704, d1.loss_map_pts: 1.3967, d1.loss_map_dir: 0.0201, d2.loss_map_cls: 0.3530, d2.loss_map_pts: 1.2997, d2.loss_map_dir: 0.0206, d3.loss_map_cls: 0.3408, d3.loss_map_pts: 1.2626, d3.loss_map_dir: 0.0210, d4.loss_map_cls: 0.3390, d4.loss_map_pts: 1.2512, d4.loss_map_dir: 0.0214, d5.loss_map_cls: 0.3374, d5.loss_map_pts: 1.2496, d5.loss_map_dir: 0.0216, loss: 50.4616, grad_norm: 152.2220 +2026-02-24 19:05:13,778 - DriveTransformer - INFO - Epoch [2][36450/39528] lr: 9.958e-05, eta: 8 days, 1:12:25, time: 0.780, data_time: 0.044, memory: 19865, loss_cls: 0.4781, loss_bbox: 0.5789, loss_traj: 1.1329, loss_traj_cls: 0.0006, loss_map_cls: 0.3480, loss_map_pts: 1.2938, loss_map_dir: 0.0240, d0.loss_plan_l1_fix_time: 2.8339, d0.loss_plan_l1_fix_dist: 0.3717, d1.loss_plan_l1_fix_time: 2.0810, d1.loss_plan_l1_fix_dist: 0.3037, d2.loss_plan_l1_fix_time: 2.0506, d2.loss_plan_l1_fix_dist: 0.3195, d3.loss_plan_l1_fix_time: 2.0519, d3.loss_plan_l1_fix_dist: 0.3420, d4.loss_plan_l1_fix_time: 2.0568, d4.loss_plan_l1_fix_dist: 0.3684, d5.loss_plan_l1_fix_time: 2.0622, d5.loss_plan_l1_fix_dist: 0.3935, d6.loss_plan_l1_fix_time: 2.0687, d6.loss_plan_l1_fix_dist: 0.4174, d0.loss_cls_all: 0.4906, d0.loss_bbox_all: 0.6057, d0.loss_cls: 0.4906, d0.loss_bbox: 0.6057, d1.loss_cls: 0.4873, d1.loss_bbox: 0.5900, d2.loss_cls: 0.4866, d2.loss_bbox: 0.5792, d3.loss_cls: 0.4808, d3.loss_bbox: 0.5745, d4.loss_cls: 0.4795, d4.loss_bbox: 0.5746, d5.loss_cls: 0.4793, d5.loss_bbox: 0.5755, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2015, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.1074, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0911, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.1039, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1152, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1291, d0.loss_map_cls_all: 0.3920, d0.loss_map_pts_all: 2.1148, d0.loss_map_dir_all: 0.0222, d0.loss_map_cls: 0.3920, d0.loss_map_pts: 2.1148, d0.loss_map_dir: 0.0222, d1.loss_map_cls: 0.3712, d1.loss_map_pts: 1.4513, d1.loss_map_dir: 0.0223, d2.loss_map_cls: 0.3566, d2.loss_map_pts: 1.3456, d2.loss_map_dir: 0.0229, d3.loss_map_cls: 0.3463, d3.loss_map_pts: 1.3072, d3.loss_map_dir: 0.0233, d4.loss_map_cls: 0.3436, d4.loss_map_pts: 1.2952, d4.loss_map_dir: 0.0237, d5.loss_map_cls: 0.3462, d5.loss_map_pts: 1.2939, d5.loss_map_dir: 0.0238, loss: 49.4620, grad_norm: 151.5122 +2026-02-24 19:05:54,786 - DriveTransformer - INFO - Epoch [2][36500/39528] lr: 9.958e-05, eta: 8 days, 1:11:58, time: 0.820, data_time: 0.037, memory: 19865, loss_cls: 0.4624, loss_bbox: 0.6009, loss_traj: 1.2898, loss_traj_cls: 0.0006, loss_map_cls: 0.3492, loss_map_pts: 1.4398, loss_map_dir: 0.0266, d0.loss_plan_l1_fix_time: 2.9026, d0.loss_plan_l1_fix_dist: 0.4871, d1.loss_plan_l1_fix_time: 2.2231, d1.loss_plan_l1_fix_dist: 0.3207, d2.loss_plan_l1_fix_time: 2.1986, d2.loss_plan_l1_fix_dist: 0.3377, d3.loss_plan_l1_fix_time: 2.2009, d3.loss_plan_l1_fix_dist: 0.3611, d4.loss_plan_l1_fix_time: 2.2066, d4.loss_plan_l1_fix_dist: 0.3893, d5.loss_plan_l1_fix_time: 2.2131, d5.loss_plan_l1_fix_dist: 0.4251, d6.loss_plan_l1_fix_time: 2.2205, d6.loss_plan_l1_fix_dist: 0.4705, d0.loss_cls_all: 0.4735, d0.loss_bbox_all: 0.6342, d0.loss_cls: 0.4735, d0.loss_bbox: 0.6342, d1.loss_cls: 0.4690, d1.loss_bbox: 0.6181, d2.loss_cls: 0.4666, d2.loss_bbox: 0.6042, d3.loss_cls: 0.4639, d3.loss_bbox: 0.5983, d4.loss_cls: 0.4618, d4.loss_bbox: 0.5977, d5.loss_cls: 0.4630, d5.loss_bbox: 0.5992, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3499, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.2603, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2390, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2562, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2603, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2753, d0.loss_map_cls_all: 0.3710, d0.loss_map_pts_all: 2.3474, d0.loss_map_dir_all: 0.0243, d0.loss_map_cls: 0.3710, d0.loss_map_pts: 2.3474, d0.loss_map_dir: 0.0243, d1.loss_map_cls: 0.3632, d1.loss_map_pts: 1.6263, d1.loss_map_dir: 0.0244, d2.loss_map_cls: 0.3563, d2.loss_map_pts: 1.4963, d2.loss_map_dir: 0.0250, d3.loss_map_cls: 0.3465, d3.loss_map_pts: 1.4505, d3.loss_map_dir: 0.0256, d4.loss_map_cls: 0.3442, d4.loss_map_pts: 1.4415, d4.loss_map_dir: 0.0261, d5.loss_map_cls: 0.3455, d5.loss_map_pts: 1.4358, d5.loss_map_dir: 0.0264, loss: 53.1487, grad_norm: 150.1174 +2026-02-24 19:06:32,882 - DriveTransformer - INFO - Epoch [2][36550/39528] lr: 9.958e-05, eta: 8 days, 1:10:58, time: 0.762, data_time: 0.038, memory: 19865, loss_cls: 0.4105, loss_bbox: 0.5559, loss_traj: 1.3144, loss_traj_cls: 0.0006, loss_map_cls: 0.2776, loss_map_pts: 1.2664, loss_map_dir: 0.0219, d0.loss_plan_l1_fix_time: 2.6501, d0.loss_plan_l1_fix_dist: 0.5572, d1.loss_plan_l1_fix_time: 2.1768, d1.loss_plan_l1_fix_dist: 0.3433, d2.loss_plan_l1_fix_time: 2.1386, d2.loss_plan_l1_fix_dist: 0.3498, d3.loss_plan_l1_fix_time: 2.1370, d3.loss_plan_l1_fix_dist: 0.3650, d4.loss_plan_l1_fix_time: 2.1408, d4.loss_plan_l1_fix_dist: 0.3851, d5.loss_plan_l1_fix_time: 2.1451, d5.loss_plan_l1_fix_dist: 0.4093, d6.loss_plan_l1_fix_time: 2.1495, d6.loss_plan_l1_fix_dist: 0.4388, d0.loss_cls_all: 0.4249, d0.loss_bbox_all: 0.5963, d0.loss_cls: 0.4249, d0.loss_bbox: 0.5963, d1.loss_cls: 0.4208, d1.loss_bbox: 0.5757, d2.loss_cls: 0.4205, d2.loss_bbox: 0.5605, d3.loss_cls: 0.4140, d3.loss_bbox: 0.5568, d4.loss_cls: 0.4123, d4.loss_bbox: 0.5550, d5.loss_cls: 0.4123, d5.loss_bbox: 0.5535, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3608, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.2715, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2773, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.2983, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3000, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3082, d0.loss_map_cls_all: 0.3275, d0.loss_map_pts_all: 2.0368, d0.loss_map_dir_all: 0.0201, d0.loss_map_cls: 0.3275, d0.loss_map_pts: 2.0368, d0.loss_map_dir: 0.0201, d1.loss_map_cls: 0.3103, d1.loss_map_pts: 1.3874, d1.loss_map_dir: 0.0206, d2.loss_map_cls: 0.2961, d2.loss_map_pts: 1.2981, d2.loss_map_dir: 0.0210, d3.loss_map_cls: 0.2812, d3.loss_map_pts: 1.2716, d3.loss_map_dir: 0.0214, d4.loss_map_cls: 0.2762, d4.loss_map_pts: 1.2640, d4.loss_map_dir: 0.0216, d5.loss_map_cls: 0.2763, d5.loss_map_pts: 1.2609, d5.loss_map_dir: 0.0219, loss: 49.7761, grad_norm: 150.0831 +2026-02-24 19:07:13,556 - DriveTransformer - INFO - Epoch [2][36600/39528] lr: 9.958e-05, eta: 8 days, 1:10:29, time: 0.815, data_time: 0.038, memory: 19865, loss_cls: 0.4454, loss_bbox: 0.5855, loss_traj: 1.3669, loss_traj_cls: 0.0006, loss_map_cls: 0.3030, loss_map_pts: 1.4248, loss_map_dir: 0.0244, d0.loss_plan_l1_fix_time: 2.4029, d0.loss_plan_l1_fix_dist: 0.4518, d1.loss_plan_l1_fix_time: 1.6911, d1.loss_plan_l1_fix_dist: 0.3349, d2.loss_plan_l1_fix_time: 1.6429, d2.loss_plan_l1_fix_dist: 0.3470, d3.loss_plan_l1_fix_time: 1.6372, d3.loss_plan_l1_fix_dist: 0.3630, d4.loss_plan_l1_fix_time: 1.6400, d4.loss_plan_l1_fix_dist: 0.3813, d5.loss_plan_l1_fix_time: 1.6440, d5.loss_plan_l1_fix_dist: 0.3987, d6.loss_plan_l1_fix_time: 1.6500, d6.loss_plan_l1_fix_dist: 0.4129, d0.loss_cls_all: 0.4604, d0.loss_bbox_all: 0.6200, d0.loss_cls: 0.4604, d0.loss_bbox: 0.6200, d1.loss_cls: 0.4522, d1.loss_bbox: 0.5990, d2.loss_cls: 0.4470, d2.loss_bbox: 0.5875, d3.loss_cls: 0.4432, d3.loss_bbox: 0.5827, d4.loss_cls: 0.4428, d4.loss_bbox: 0.5818, d5.loss_cls: 0.4442, d5.loss_bbox: 0.5825, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5276, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3687, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3467, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.3518, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3504, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3630, d0.loss_map_cls_all: 0.3437, d0.loss_map_pts_all: 2.2450, d0.loss_map_dir_all: 0.0230, d0.loss_map_cls: 0.3437, d0.loss_map_pts: 2.2450, d0.loss_map_dir: 0.0230, d1.loss_map_cls: 0.3228, d1.loss_map_pts: 1.5722, d1.loss_map_dir: 0.0230, d2.loss_map_cls: 0.3159, d2.loss_map_pts: 1.4676, d2.loss_map_dir: 0.0234, d3.loss_map_cls: 0.3065, d3.loss_map_pts: 1.4326, d3.loss_map_dir: 0.0239, d4.loss_map_cls: 0.3035, d4.loss_map_pts: 1.4191, d4.loss_map_dir: 0.0241, d5.loss_map_cls: 0.3030, d5.loss_map_pts: 1.4204, d5.loss_map_dir: 0.0244, loss: 48.9913, grad_norm: 150.9739 +2026-02-24 19:07:53,389 - DriveTransformer - INFO - Epoch [2][36650/39528] lr: 9.958e-05, eta: 8 days, 1:09:48, time: 0.795, data_time: 0.045, memory: 19865, loss_cls: 0.4247, loss_bbox: 0.5756, loss_traj: 1.4232, loss_traj_cls: 0.0006, loss_map_cls: 0.3023, loss_map_pts: 1.2488, loss_map_dir: 0.0209, d0.loss_plan_l1_fix_time: 2.5709, d0.loss_plan_l1_fix_dist: 0.4386, d1.loss_plan_l1_fix_time: 2.0007, d1.loss_plan_l1_fix_dist: 0.3303, d2.loss_plan_l1_fix_time: 1.9902, d2.loss_plan_l1_fix_dist: 0.3428, d3.loss_plan_l1_fix_time: 1.9966, d3.loss_plan_l1_fix_dist: 0.3577, d4.loss_plan_l1_fix_time: 2.0023, d4.loss_plan_l1_fix_dist: 0.3741, d5.loss_plan_l1_fix_time: 2.0090, d5.loss_plan_l1_fix_dist: 0.3912, d6.loss_plan_l1_fix_time: 2.0179, d6.loss_plan_l1_fix_dist: 0.4065, d0.loss_cls_all: 0.4289, d0.loss_bbox_all: 0.6139, d0.loss_cls: 0.4289, d0.loss_bbox: 0.6139, d1.loss_cls: 0.4240, d1.loss_bbox: 0.5901, d2.loss_cls: 0.4226, d2.loss_bbox: 0.5780, d3.loss_cls: 0.4207, d3.loss_bbox: 0.5763, d4.loss_cls: 0.4237, d4.loss_bbox: 0.5746, d5.loss_cls: 0.4233, d5.loss_bbox: 0.5747, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5831, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.4267, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3975, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.3927, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4016, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4211, d0.loss_map_cls_all: 0.3463, d0.loss_map_pts_all: 1.9372, d0.loss_map_dir_all: 0.0196, d0.loss_map_cls: 0.3463, d0.loss_map_pts: 1.9372, d0.loss_map_dir: 0.0196, d1.loss_map_cls: 0.3208, d1.loss_map_pts: 1.3841, d1.loss_map_dir: 0.0196, d2.loss_map_cls: 0.3095, d2.loss_map_pts: 1.2923, d2.loss_map_dir: 0.0198, d3.loss_map_cls: 0.3005, d3.loss_map_pts: 1.2630, d3.loss_map_dir: 0.0203, d4.loss_map_cls: 0.2986, d4.loss_map_pts: 1.2494, d4.loss_map_dir: 0.0205, d5.loss_map_cls: 0.3004, d5.loss_map_pts: 1.2461, d5.loss_map_dir: 0.0207, loss: 49.6181, grad_norm: 150.2815 +2026-02-24 19:08:33,505 - DriveTransformer - INFO - Epoch [2][36700/39528] lr: 9.958e-05, eta: 8 days, 1:09:11, time: 0.802, data_time: 0.039, memory: 19865, loss_cls: 0.4335, loss_bbox: 0.5527, loss_traj: 1.3603, loss_traj_cls: 0.0006, loss_map_cls: 0.2879, loss_map_pts: 1.2949, loss_map_dir: 0.0245, d0.loss_plan_l1_fix_time: 2.5130, d0.loss_plan_l1_fix_dist: 0.4632, d1.loss_plan_l1_fix_time: 1.8312, d1.loss_plan_l1_fix_dist: 0.3348, d2.loss_plan_l1_fix_time: 1.8381, d2.loss_plan_l1_fix_dist: 0.3487, d3.loss_plan_l1_fix_time: 1.8526, d3.loss_plan_l1_fix_dist: 0.3687, d4.loss_plan_l1_fix_time: 1.8605, d4.loss_plan_l1_fix_dist: 0.3957, d5.loss_plan_l1_fix_time: 1.8675, d5.loss_plan_l1_fix_dist: 0.4256, d6.loss_plan_l1_fix_time: 1.8746, d6.loss_plan_l1_fix_dist: 0.4694, d0.loss_cls_all: 0.4476, d0.loss_bbox_all: 0.5823, d0.loss_cls: 0.4476, d0.loss_bbox: 0.5823, d1.loss_cls: 0.4394, d1.loss_bbox: 0.5625, d2.loss_cls: 0.4316, d2.loss_bbox: 0.5588, d3.loss_cls: 0.4296, d3.loss_bbox: 0.5569, d4.loss_cls: 0.4308, d4.loss_bbox: 0.5535, d5.loss_cls: 0.4320, d5.loss_bbox: 0.5512, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5712, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3709, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3366, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.3361, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3378, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3478, d0.loss_map_cls_all: 0.3196, d0.loss_map_pts_all: 2.1629, d0.loss_map_dir_all: 0.0224, d0.loss_map_cls: 0.3196, d0.loss_map_pts: 2.1629, d0.loss_map_dir: 0.0224, d1.loss_map_cls: 0.3022, d1.loss_map_pts: 1.4602, d1.loss_map_dir: 0.0227, d2.loss_map_cls: 0.2923, d2.loss_map_pts: 1.3452, d2.loss_map_dir: 0.0232, d3.loss_map_cls: 0.2887, d3.loss_map_pts: 1.3059, d3.loss_map_dir: 0.0238, d4.loss_map_cls: 0.2861, d4.loss_map_pts: 1.2952, d4.loss_map_dir: 0.0242, d5.loss_map_cls: 0.2862, d5.loss_map_pts: 1.2916, d5.loss_map_dir: 0.0244, loss: 48.9917, grad_norm: 146.0311 +2026-02-24 19:09:13,429 - DriveTransformer - INFO - Epoch [2][36750/39528] lr: 9.958e-05, eta: 8 days, 1:08:32, time: 0.798, data_time: 0.038, memory: 19865, loss_cls: 0.4731, loss_bbox: 0.6090, loss_traj: 1.1584, loss_traj_cls: 0.0006, loss_map_cls: 0.3526, loss_map_pts: 1.5459, loss_map_dir: 0.0320, d0.loss_plan_l1_fix_time: 2.8701, d0.loss_plan_l1_fix_dist: 0.3936, d1.loss_plan_l1_fix_time: 2.0364, d1.loss_plan_l1_fix_dist: 0.3124, d2.loss_plan_l1_fix_time: 1.9947, d2.loss_plan_l1_fix_dist: 0.3247, d3.loss_plan_l1_fix_time: 1.9914, d3.loss_plan_l1_fix_dist: 0.3428, d4.loss_plan_l1_fix_time: 1.9948, d4.loss_plan_l1_fix_dist: 0.3632, d5.loss_plan_l1_fix_time: 1.9993, d5.loss_plan_l1_fix_dist: 0.3865, d6.loss_plan_l1_fix_time: 2.0048, d6.loss_plan_l1_fix_dist: 0.4141, d0.loss_cls_all: 0.4762, d0.loss_bbox_all: 0.6388, d0.loss_cls: 0.4762, d0.loss_bbox: 0.6388, d1.loss_cls: 0.4708, d1.loss_bbox: 0.6209, d2.loss_cls: 0.4674, d2.loss_bbox: 0.6119, d3.loss_cls: 0.4658, d3.loss_bbox: 0.6088, d4.loss_cls: 0.4658, d4.loss_bbox: 0.6077, d5.loss_cls: 0.4693, d5.loss_bbox: 0.6059, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2000, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.1496, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1233, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.1335, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1405, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1511, d0.loss_map_cls_all: 0.3862, d0.loss_map_pts_all: 2.4682, d0.loss_map_dir_all: 0.0296, d0.loss_map_cls: 0.3862, d0.loss_map_pts: 2.4682, d0.loss_map_dir: 0.0296, d1.loss_map_cls: 0.3771, d1.loss_map_pts: 1.7123, d1.loss_map_dir: 0.0301, d2.loss_map_cls: 0.3664, d2.loss_map_pts: 1.5892, d2.loss_map_dir: 0.0306, d3.loss_map_cls: 0.3606, d3.loss_map_pts: 1.5556, d3.loss_map_dir: 0.0312, d4.loss_map_cls: 0.3535, d4.loss_map_pts: 1.5549, d4.loss_map_dir: 0.0317, d5.loss_map_cls: 0.3525, d5.loss_map_pts: 1.5455, d5.loss_map_dir: 0.0319, loss: 51.8192, grad_norm: 146.2206 +2026-02-24 19:09:54,371 - DriveTransformer - INFO - Epoch [2][36800/39528] lr: 9.958e-05, eta: 8 days, 1:08:04, time: 0.819, data_time: 0.039, memory: 19865, loss_cls: 0.4489, loss_bbox: 0.5767, loss_traj: 1.3005, loss_traj_cls: 0.0006, loss_map_cls: 0.3013, loss_map_pts: 1.4449, loss_map_dir: 0.0301, d0.loss_plan_l1_fix_time: 2.4712, d0.loss_plan_l1_fix_dist: 0.4312, d1.loss_plan_l1_fix_time: 1.8098, d1.loss_plan_l1_fix_dist: 0.3438, d2.loss_plan_l1_fix_time: 1.7762, d2.loss_plan_l1_fix_dist: 0.3515, d3.loss_plan_l1_fix_time: 1.7780, d3.loss_plan_l1_fix_dist: 0.3682, d4.loss_plan_l1_fix_time: 1.7840, d4.loss_plan_l1_fix_dist: 0.3878, d5.loss_plan_l1_fix_time: 1.7915, d5.loss_plan_l1_fix_dist: 0.4087, d6.loss_plan_l1_fix_time: 1.8000, d6.loss_plan_l1_fix_dist: 0.4274, d0.loss_cls_all: 0.4538, d0.loss_bbox_all: 0.6145, d0.loss_cls: 0.4538, d0.loss_bbox: 0.6145, d1.loss_cls: 0.4530, d1.loss_bbox: 0.5929, d2.loss_cls: 0.4516, d2.loss_bbox: 0.5816, d3.loss_cls: 0.4468, d3.loss_bbox: 0.5818, d4.loss_cls: 0.4418, d4.loss_bbox: 0.5791, d5.loss_cls: 0.4430, d5.loss_bbox: 0.5789, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3729, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2791, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2774, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.2832, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2908, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2979, d0.loss_map_cls_all: 0.3484, d0.loss_map_pts_all: 2.4334, d0.loss_map_dir_all: 0.0284, d0.loss_map_cls: 0.3484, d0.loss_map_pts: 2.4334, d0.loss_map_dir: 0.0284, d1.loss_map_cls: 0.3265, d1.loss_map_pts: 1.6261, d1.loss_map_dir: 0.0283, d2.loss_map_cls: 0.3146, d2.loss_map_pts: 1.5150, d2.loss_map_dir: 0.0289, d3.loss_map_cls: 0.3047, d3.loss_map_pts: 1.4678, d3.loss_map_dir: 0.0293, d4.loss_map_cls: 0.3027, d4.loss_map_pts: 1.4506, d4.loss_map_dir: 0.0296, d5.loss_map_cls: 0.2999, d5.loss_map_pts: 1.4445, d5.loss_map_dir: 0.0298, loss: 49.9446, grad_norm: 146.9524 +2026-02-24 19:10:33,163 - DriveTransformer - INFO - Epoch [2][36850/39528] lr: 9.958e-05, eta: 8 days, 1:07:12, time: 0.776, data_time: 0.040, memory: 19865, loss_cls: 0.4661, loss_bbox: 0.5729, loss_traj: 1.3525, loss_traj_cls: 0.0006, loss_map_cls: 0.3023, loss_map_pts: 1.3159, loss_map_dir: 0.0246, d0.loss_plan_l1_fix_time: 2.6258, d0.loss_plan_l1_fix_dist: 0.4337, d1.loss_plan_l1_fix_time: 1.8991, d1.loss_plan_l1_fix_dist: 0.3058, d2.loss_plan_l1_fix_time: 1.8736, d2.loss_plan_l1_fix_dist: 0.3201, d3.loss_plan_l1_fix_time: 1.8692, d3.loss_plan_l1_fix_dist: 0.3368, d4.loss_plan_l1_fix_time: 1.8709, d4.loss_plan_l1_fix_dist: 0.3548, d5.loss_plan_l1_fix_time: 1.8747, d5.loss_plan_l1_fix_dist: 0.3737, d6.loss_plan_l1_fix_time: 1.8801, d6.loss_plan_l1_fix_dist: 0.3929, d0.loss_cls_all: 0.4881, d0.loss_bbox_all: 0.6212, d0.loss_cls: 0.4881, d0.loss_bbox: 0.6212, d1.loss_cls: 0.4858, d1.loss_bbox: 0.5960, d2.loss_cls: 0.4818, d2.loss_bbox: 0.5811, d3.loss_cls: 0.4719, d3.loss_bbox: 0.5746, d4.loss_cls: 0.4668, d4.loss_bbox: 0.5719, d5.loss_cls: 0.4664, d5.loss_bbox: 0.5698, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5458, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3877, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3441, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.3421, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3385, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3462, d0.loss_map_cls_all: 0.3559, d0.loss_map_pts_all: 2.1066, d0.loss_map_dir_all: 0.0236, d0.loss_map_cls: 0.3559, d0.loss_map_pts: 2.1066, d0.loss_map_dir: 0.0236, d1.loss_map_cls: 0.3337, d1.loss_map_pts: 1.4529, d1.loss_map_dir: 0.0234, d2.loss_map_cls: 0.3163, d2.loss_map_pts: 1.3587, d2.loss_map_dir: 0.0237, d3.loss_map_cls: 0.3049, d3.loss_map_pts: 1.3211, d3.loss_map_dir: 0.0240, d4.loss_map_cls: 0.3019, d4.loss_map_pts: 1.3077, d4.loss_map_dir: 0.0243, d5.loss_map_cls: 0.3016, d5.loss_map_pts: 1.3129, d5.loss_map_dir: 0.0244, loss: 49.6438, grad_norm: 146.7335 +2026-02-24 19:11:12,247 - DriveTransformer - INFO - Epoch [2][36900/39528] lr: 9.958e-05, eta: 8 days, 1:06:24, time: 0.782, data_time: 0.043, memory: 19865, loss_cls: 0.4619, loss_bbox: 0.5898, loss_traj: 1.2543, loss_traj_cls: 0.0006, loss_map_cls: 0.3110, loss_map_pts: 1.3062, loss_map_dir: 0.0279, d0.loss_plan_l1_fix_time: 3.3095, d0.loss_plan_l1_fix_dist: 0.4409, d1.loss_plan_l1_fix_time: 2.2474, d1.loss_plan_l1_fix_dist: 0.3582, d2.loss_plan_l1_fix_time: 2.1908, d2.loss_plan_l1_fix_dist: 0.3706, d3.loss_plan_l1_fix_time: 2.1802, d3.loss_plan_l1_fix_dist: 0.3888, d4.loss_plan_l1_fix_time: 2.1812, d4.loss_plan_l1_fix_dist: 0.4087, d5.loss_plan_l1_fix_time: 2.1843, d5.loss_plan_l1_fix_dist: 0.4311, d6.loss_plan_l1_fix_time: 2.1885, d6.loss_plan_l1_fix_dist: 0.4563, d0.loss_cls_all: 0.4704, d0.loss_bbox_all: 0.6277, d0.loss_cls: 0.4704, d0.loss_bbox: 0.6277, d1.loss_cls: 0.4670, d1.loss_bbox: 0.6082, d2.loss_cls: 0.4628, d2.loss_bbox: 0.5955, d3.loss_cls: 0.4620, d3.loss_bbox: 0.5923, d4.loss_cls: 0.4622, d4.loss_bbox: 0.5897, d5.loss_cls: 0.4629, d5.loss_bbox: 0.5887, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3500, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2542, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2298, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.2318, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2388, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2515, d0.loss_map_cls_all: 0.3581, d0.loss_map_pts_all: 2.1716, d0.loss_map_dir_all: 0.0263, d0.loss_map_cls: 0.3581, d0.loss_map_pts: 2.1716, d0.loss_map_dir: 0.0263, d1.loss_map_cls: 0.3388, d1.loss_map_pts: 1.4829, d1.loss_map_dir: 0.0265, d2.loss_map_cls: 0.3216, d2.loss_map_pts: 1.3635, d2.loss_map_dir: 0.0270, d3.loss_map_cls: 0.3133, d3.loss_map_pts: 1.3204, d3.loss_map_dir: 0.0273, d4.loss_map_cls: 0.3096, d4.loss_map_pts: 1.3030, d4.loss_map_dir: 0.0276, d5.loss_map_cls: 0.3111, d5.loss_map_pts: 1.3027, d5.loss_map_dir: 0.0277, loss: 51.9514, grad_norm: 143.5166 +2026-02-24 19:11:52,756 - DriveTransformer - INFO - Epoch [2][36950/39528] lr: 9.958e-05, eta: 8 days, 1:05:52, time: 0.810, data_time: 0.040, memory: 19865, loss_cls: 0.4286, loss_bbox: 0.5778, loss_traj: 1.0824, loss_traj_cls: 0.0005, loss_map_cls: 0.2837, loss_map_pts: 1.4109, loss_map_dir: 0.0267, d0.loss_plan_l1_fix_time: 2.4987, d0.loss_plan_l1_fix_dist: 0.4342, d1.loss_plan_l1_fix_time: 1.6527, d1.loss_plan_l1_fix_dist: 0.3138, d2.loss_plan_l1_fix_time: 1.6080, d2.loss_plan_l1_fix_dist: 0.3232, d3.loss_plan_l1_fix_time: 1.6038, d3.loss_plan_l1_fix_dist: 0.3373, d4.loss_plan_l1_fix_time: 1.6059, d4.loss_plan_l1_fix_dist: 0.3544, d5.loss_plan_l1_fix_time: 1.6096, d5.loss_plan_l1_fix_dist: 0.3753, d6.loss_plan_l1_fix_time: 1.6140, d6.loss_plan_l1_fix_dist: 0.4012, d0.loss_cls_all: 0.4359, d0.loss_bbox_all: 0.6058, d0.loss_cls: 0.4359, d0.loss_bbox: 0.6058, d1.loss_cls: 0.4281, d1.loss_bbox: 0.5899, d2.loss_cls: 0.4262, d2.loss_bbox: 0.5822, d3.loss_cls: 0.4265, d3.loss_bbox: 0.5761, d4.loss_cls: 0.4276, d4.loss_bbox: 0.5750, d5.loss_cls: 0.4293, d5.loss_bbox: 0.5732, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2929, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1238, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0855, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0781, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.0763, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.0796, d0.loss_map_cls_all: 0.3252, d0.loss_map_pts_all: 2.2252, d0.loss_map_dir_all: 0.0252, d0.loss_map_cls: 0.3252, d0.loss_map_pts: 2.2252, d0.loss_map_dir: 0.0252, d1.loss_map_cls: 0.3122, d1.loss_map_pts: 1.5913, d1.loss_map_dir: 0.0254, d2.loss_map_cls: 0.2965, d2.loss_map_pts: 1.4729, d2.loss_map_dir: 0.0259, d3.loss_map_cls: 0.2889, d3.loss_map_pts: 1.4297, d3.loss_map_dir: 0.0262, d4.loss_map_cls: 0.2841, d4.loss_map_pts: 1.4200, d4.loss_map_dir: 0.0264, d5.loss_map_cls: 0.2829, d5.loss_map_pts: 1.4123, d5.loss_map_dir: 0.0266, loss: 46.4739, grad_norm: 143.3289 +2026-02-24 19:12:32,810 - DriveTransformer - INFO - Epoch [2][37000/39528] lr: 9.958e-05, eta: 8 days, 1:05:14, time: 0.801, data_time: 0.041, memory: 19865, loss_cls: 0.4601, loss_bbox: 0.5774, loss_traj: 1.3993, loss_traj_cls: 0.0006, loss_map_cls: 0.3194, loss_map_pts: 1.3478, loss_map_dir: 0.0246, d0.loss_plan_l1_fix_time: 3.0666, d0.loss_plan_l1_fix_dist: 0.4045, d1.loss_plan_l1_fix_time: 2.2641, d1.loss_plan_l1_fix_dist: 0.3234, d2.loss_plan_l1_fix_time: 2.2535, d2.loss_plan_l1_fix_dist: 0.3310, d3.loss_plan_l1_fix_time: 2.2580, d3.loss_plan_l1_fix_dist: 0.3457, d4.loss_plan_l1_fix_time: 2.2648, d4.loss_plan_l1_fix_dist: 0.3652, d5.loss_plan_l1_fix_time: 2.2720, d5.loss_plan_l1_fix_dist: 0.3873, d6.loss_plan_l1_fix_time: 2.2797, d6.loss_plan_l1_fix_dist: 0.4127, d0.loss_cls_all: 0.4669, d0.loss_bbox_all: 0.6183, d0.loss_cls: 0.4669, d0.loss_bbox: 0.6183, d1.loss_cls: 0.4600, d1.loss_bbox: 0.5954, d2.loss_cls: 0.4597, d2.loss_bbox: 0.5898, d3.loss_cls: 0.4555, d3.loss_bbox: 0.5832, d4.loss_cls: 0.4552, d4.loss_bbox: 0.5808, d5.loss_cls: 0.4566, d5.loss_bbox: 0.5778, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6489, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.4301, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3847, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.3884, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3865, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3925, d0.loss_map_cls_all: 0.3607, d0.loss_map_pts_all: 2.0386, d0.loss_map_dir_all: 0.0235, d0.loss_map_cls: 0.3607, d0.loss_map_pts: 2.0386, d0.loss_map_dir: 0.0235, d1.loss_map_cls: 0.3407, d1.loss_map_pts: 1.5067, d1.loss_map_dir: 0.0233, d2.loss_map_cls: 0.3305, d2.loss_map_pts: 1.4040, d2.loss_map_dir: 0.0236, d3.loss_map_cls: 0.3215, d3.loss_map_pts: 1.3706, d3.loss_map_dir: 0.0240, d4.loss_map_cls: 0.3183, d4.loss_map_pts: 1.3594, d4.loss_map_dir: 0.0243, d5.loss_map_cls: 0.3184, d5.loss_map_pts: 1.3511, d5.loss_map_dir: 0.0245, loss: 52.9652, grad_norm: 143.0642 +2026-02-24 19:13:12,913 - DriveTransformer - INFO - Epoch [2][37050/39528] lr: 9.958e-05, eta: 8 days, 1:04:37, time: 0.802, data_time: 0.043, memory: 19865, loss_cls: 0.4582, loss_bbox: 0.6028, loss_traj: 1.1897, loss_traj_cls: 0.0006, loss_map_cls: 0.3347, loss_map_pts: 1.5162, loss_map_dir: 0.0297, d0.loss_plan_l1_fix_time: 2.7354, d0.loss_plan_l1_fix_dist: 0.4059, d1.loss_plan_l1_fix_time: 2.0837, d1.loss_plan_l1_fix_dist: 0.3421, d2.loss_plan_l1_fix_time: 2.0843, d2.loss_plan_l1_fix_dist: 0.3475, d3.loss_plan_l1_fix_time: 2.0935, d3.loss_plan_l1_fix_dist: 0.3584, d4.loss_plan_l1_fix_time: 2.1005, d4.loss_plan_l1_fix_dist: 0.3703, d5.loss_plan_l1_fix_time: 2.1077, d5.loss_plan_l1_fix_dist: 0.3818, d6.loss_plan_l1_fix_time: 2.1152, d6.loss_plan_l1_fix_dist: 0.3912, d0.loss_cls_all: 0.4697, d0.loss_bbox_all: 0.6412, d0.loss_cls: 0.4697, d0.loss_bbox: 0.6412, d1.loss_cls: 0.4618, d1.loss_bbox: 0.6186, d2.loss_cls: 0.4620, d2.loss_bbox: 0.6053, d3.loss_cls: 0.4600, d3.loss_bbox: 0.5998, d4.loss_cls: 0.4580, d4.loss_bbox: 0.5982, d5.loss_cls: 0.4554, d5.loss_bbox: 0.6000, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2994, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2140, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1936, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1991, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1838, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1871, d0.loss_map_cls_all: 0.3755, d0.loss_map_pts_all: 2.3381, d0.loss_map_dir_all: 0.0285, d0.loss_map_cls: 0.3755, d0.loss_map_pts: 2.3381, d0.loss_map_dir: 0.0285, d1.loss_map_cls: 0.3590, d1.loss_map_pts: 1.7135, d1.loss_map_dir: 0.0284, d2.loss_map_cls: 0.3479, d2.loss_map_pts: 1.5889, d2.loss_map_dir: 0.0287, d3.loss_map_cls: 0.3387, d3.loss_map_pts: 1.5423, d3.loss_map_dir: 0.0292, d4.loss_map_cls: 0.3330, d4.loss_map_pts: 1.5303, d4.loss_map_dir: 0.0294, d5.loss_map_cls: 0.3326, d5.loss_map_pts: 1.5211, d5.loss_map_dir: 0.0296, loss: 52.1097, grad_norm: 143.2220 +2026-02-24 19:13:54,825 - DriveTransformer - INFO - Epoch [2][37100/39528] lr: 9.958e-05, eta: 8 days, 1:04:21, time: 0.838, data_time: 0.040, memory: 19865, loss_cls: 0.4268, loss_bbox: 0.5626, loss_traj: 1.3710, loss_traj_cls: 0.0006, loss_map_cls: 0.3049, loss_map_pts: 1.4551, loss_map_dir: 0.0285, d0.loss_plan_l1_fix_time: 2.6858, d0.loss_plan_l1_fix_dist: 0.4915, d1.loss_plan_l1_fix_time: 1.8621, d1.loss_plan_l1_fix_dist: 0.3657, d2.loss_plan_l1_fix_time: 1.8342, d2.loss_plan_l1_fix_dist: 0.3755, d3.loss_plan_l1_fix_time: 1.8337, d3.loss_plan_l1_fix_dist: 0.3907, d4.loss_plan_l1_fix_time: 1.8390, d4.loss_plan_l1_fix_dist: 0.4104, d5.loss_plan_l1_fix_time: 1.8465, d5.loss_plan_l1_fix_dist: 0.4300, d6.loss_plan_l1_fix_time: 1.8548, d6.loss_plan_l1_fix_dist: 0.4486, d0.loss_cls_all: 0.4296, d0.loss_bbox_all: 0.5902, d0.loss_cls: 0.4296, d0.loss_bbox: 0.5902, d1.loss_cls: 0.4253, d1.loss_bbox: 0.5674, d2.loss_cls: 0.4266, d2.loss_bbox: 0.5610, d3.loss_cls: 0.4226, d3.loss_bbox: 0.5619, d4.loss_cls: 0.4240, d4.loss_bbox: 0.5615, d5.loss_cls: 0.4256, d5.loss_bbox: 0.5591, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6034, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3970, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3683, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.3775, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3733, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3721, d0.loss_map_cls_all: 0.3577, d0.loss_map_pts_all: 2.5093, d0.loss_map_dir_all: 0.0278, d0.loss_map_cls: 0.3577, d0.loss_map_pts: 2.5093, d0.loss_map_dir: 0.0278, d1.loss_map_cls: 0.3304, d1.loss_map_pts: 1.6394, d1.loss_map_dir: 0.0273, d2.loss_map_cls: 0.3161, d2.loss_map_pts: 1.5161, d2.loss_map_dir: 0.0273, d3.loss_map_cls: 0.3093, d3.loss_map_pts: 1.4701, d3.loss_map_dir: 0.0277, d4.loss_map_cls: 0.3042, d4.loss_map_pts: 1.4520, d4.loss_map_dir: 0.0281, d5.loss_map_cls: 0.3036, d5.loss_map_pts: 1.4517, d5.loss_map_dir: 0.0283, loss: 51.3109, grad_norm: 142.5979 +2026-02-24 19:14:36,458 - DriveTransformer - INFO - Epoch [2][37150/39528] lr: 9.958e-05, eta: 8 days, 1:04:01, time: 0.833, data_time: 0.039, memory: 19865, loss_cls: 0.4710, loss_bbox: 0.6360, loss_traj: 1.3411, loss_traj_cls: 0.0006, loss_map_cls: 0.3415, loss_map_pts: 1.6031, loss_map_dir: 0.0290, d0.loss_plan_l1_fix_time: 3.0329, d0.loss_plan_l1_fix_dist: 0.4590, d1.loss_plan_l1_fix_time: 2.3476, d1.loss_plan_l1_fix_dist: 0.3136, d2.loss_plan_l1_fix_time: 2.3134, d2.loss_plan_l1_fix_dist: 0.3204, d3.loss_plan_l1_fix_time: 2.3042, d3.loss_plan_l1_fix_dist: 0.3301, d4.loss_plan_l1_fix_time: 2.3048, d4.loss_plan_l1_fix_dist: 0.3430, d5.loss_plan_l1_fix_time: 2.3072, d5.loss_plan_l1_fix_dist: 0.3573, d6.loss_plan_l1_fix_time: 2.3109, d6.loss_plan_l1_fix_dist: 0.3781, d0.loss_cls_all: 0.4823, d0.loss_bbox_all: 0.6665, d0.loss_cls: 0.4823, d0.loss_bbox: 0.6665, d1.loss_cls: 0.4715, d1.loss_bbox: 0.6406, d2.loss_cls: 0.4681, d2.loss_bbox: 0.6311, d3.loss_cls: 0.4692, d3.loss_bbox: 0.6316, d4.loss_cls: 0.4674, d4.loss_bbox: 0.6329, d5.loss_cls: 0.4686, d5.loss_bbox: 0.6335, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4964, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3150, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3093, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.3288, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3316, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.3356, d0.loss_map_cls_all: 0.3829, d0.loss_map_pts_all: 2.5457, d0.loss_map_dir_all: 0.0274, d0.loss_map_cls: 0.3829, d0.loss_map_pts: 2.5457, d0.loss_map_dir: 0.0274, d1.loss_map_cls: 0.3679, d1.loss_map_pts: 1.7816, d1.loss_map_dir: 0.0274, d2.loss_map_cls: 0.3573, d2.loss_map_pts: 1.6563, d2.loss_map_dir: 0.0279, d3.loss_map_cls: 0.3475, d3.loss_map_pts: 1.6053, d3.loss_map_dir: 0.0284, d4.loss_map_cls: 0.3425, d4.loss_map_pts: 1.5882, d4.loss_map_dir: 0.0286, d5.loss_map_cls: 0.3411, d5.loss_map_pts: 1.5955, d5.loss_map_dir: 0.0289, loss: 55.8152, grad_norm: 144.3662 +2026-02-24 19:15:15,478 - DriveTransformer - INFO - Epoch [2][37200/39528] lr: 9.958e-05, eta: 8 days, 1:03:12, time: 0.780, data_time: 0.042, memory: 19865, loss_cls: 0.4021, loss_bbox: 0.5700, loss_traj: 1.3185, loss_traj_cls: 0.0006, loss_map_cls: 0.2823, loss_map_pts: 1.2865, loss_map_dir: 0.0210, d0.loss_plan_l1_fix_time: 3.0565, d0.loss_plan_l1_fix_dist: 0.5062, d1.loss_plan_l1_fix_time: 2.0427, d1.loss_plan_l1_fix_dist: 0.3248, d2.loss_plan_l1_fix_time: 1.9892, d2.loss_plan_l1_fix_dist: 0.3281, d3.loss_plan_l1_fix_time: 1.9820, d3.loss_plan_l1_fix_dist: 0.3390, d4.loss_plan_l1_fix_time: 1.9855, d4.loss_plan_l1_fix_dist: 0.3533, d5.loss_plan_l1_fix_time: 1.9913, d5.loss_plan_l1_fix_dist: 0.3717, d6.loss_plan_l1_fix_time: 1.9978, d6.loss_plan_l1_fix_dist: 0.3987, d0.loss_cls_all: 0.4091, d0.loss_bbox_all: 0.6007, d0.loss_cls: 0.4091, d0.loss_bbox: 0.6007, d1.loss_cls: 0.4026, d1.loss_bbox: 0.5753, d2.loss_cls: 0.4039, d2.loss_bbox: 0.5628, d3.loss_cls: 0.4045, d3.loss_bbox: 0.5618, d4.loss_cls: 0.4033, d4.loss_bbox: 0.5617, d5.loss_cls: 0.4022, d5.loss_bbox: 0.5646, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4720, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3059, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2828, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2989, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3047, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3101, d0.loss_map_cls_all: 0.3313, d0.loss_map_pts_all: 2.0062, d0.loss_map_dir_all: 0.0202, d0.loss_map_cls: 0.3313, d0.loss_map_pts: 2.0062, d0.loss_map_dir: 0.0202, d1.loss_map_cls: 0.3083, d1.loss_map_pts: 1.4304, d1.loss_map_dir: 0.0200, d2.loss_map_cls: 0.2939, d2.loss_map_pts: 1.3262, d2.loss_map_dir: 0.0201, d3.loss_map_cls: 0.2882, d3.loss_map_pts: 1.2874, d3.loss_map_dir: 0.0205, d4.loss_map_cls: 0.2833, d4.loss_map_pts: 1.2797, d4.loss_map_dir: 0.0207, d5.loss_map_cls: 0.2807, d5.loss_map_pts: 1.2820, d5.loss_map_dir: 0.0209, loss: 49.2672, grad_norm: 144.4733 +2026-02-24 19:15:55,528 - DriveTransformer - INFO - Epoch [2][37250/39528] lr: 9.958e-05, eta: 8 days, 1:02:34, time: 0.801, data_time: 0.038, memory: 19865, loss_cls: 0.4360, loss_bbox: 0.5624, loss_traj: 1.0349, loss_traj_cls: 0.0006, loss_map_cls: 0.3077, loss_map_pts: 1.3718, loss_map_dir: 0.0266, d0.loss_plan_l1_fix_time: 2.6321, d0.loss_plan_l1_fix_dist: 0.3955, d1.loss_plan_l1_fix_time: 2.0278, d1.loss_plan_l1_fix_dist: 0.3001, d2.loss_plan_l1_fix_time: 2.0264, d2.loss_plan_l1_fix_dist: 0.3057, d3.loss_plan_l1_fix_time: 2.0347, d3.loss_plan_l1_fix_dist: 0.3176, d4.loss_plan_l1_fix_time: 2.0411, d4.loss_plan_l1_fix_dist: 0.3331, d5.loss_plan_l1_fix_time: 2.0468, d5.loss_plan_l1_fix_dist: 0.3505, d6.loss_plan_l1_fix_time: 2.0527, d6.loss_plan_l1_fix_dist: 0.3667, d0.loss_cls_all: 0.4378, d0.loss_bbox_all: 0.6032, d0.loss_cls: 0.4378, d0.loss_bbox: 0.6032, d1.loss_cls: 0.4369, d1.loss_bbox: 0.5786, d2.loss_cls: 0.4353, d2.loss_bbox: 0.5643, d3.loss_cls: 0.4345, d3.loss_bbox: 0.5612, d4.loss_cls: 0.4345, d4.loss_bbox: 0.5595, d5.loss_cls: 0.4349, d5.loss_bbox: 0.5599, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1817, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.0375, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0171, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0170, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.0183, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.0283, d0.loss_map_cls_all: 0.3582, d0.loss_map_pts_all: 2.2639, d0.loss_map_dir_all: 0.0254, d0.loss_map_cls: 0.3582, d0.loss_map_pts: 2.2639, d0.loss_map_dir: 0.0254, d1.loss_map_cls: 0.3381, d1.loss_map_pts: 1.5339, d1.loss_map_dir: 0.0252, d2.loss_map_cls: 0.3268, d2.loss_map_pts: 1.4275, d2.loss_map_dir: 0.0256, d3.loss_map_cls: 0.3164, d3.loss_map_pts: 1.3903, d3.loss_map_dir: 0.0260, d4.loss_map_cls: 0.3109, d4.loss_map_pts: 1.3840, d4.loss_map_dir: 0.0263, d5.loss_map_cls: 0.3064, d5.loss_map_pts: 1.3737, d5.loss_map_dir: 0.0265, loss: 48.4908, grad_norm: 143.8641 +2026-02-24 19:16:37,413 - DriveTransformer - INFO - Epoch [2][37300/39528] lr: 9.958e-05, eta: 8 days, 1:02:17, time: 0.838, data_time: 0.041, memory: 19865, loss_cls: 0.5043, loss_bbox: 0.6522, loss_traj: 1.2002, loss_traj_cls: 0.0006, loss_map_cls: 0.3412, loss_map_pts: 1.5646, loss_map_dir: 0.0326, d0.loss_plan_l1_fix_time: 3.3368, d0.loss_plan_l1_fix_dist: 0.4505, d1.loss_plan_l1_fix_time: 2.3608, d1.loss_plan_l1_fix_dist: 0.3352, d2.loss_plan_l1_fix_time: 2.3523, d2.loss_plan_l1_fix_dist: 0.3390, d3.loss_plan_l1_fix_time: 2.3579, d3.loss_plan_l1_fix_dist: 0.3471, d4.loss_plan_l1_fix_time: 2.3635, d4.loss_plan_l1_fix_dist: 0.3588, d5.loss_plan_l1_fix_time: 2.3687, d5.loss_plan_l1_fix_dist: 0.3709, d6.loss_plan_l1_fix_time: 2.3747, d6.loss_plan_l1_fix_dist: 0.3820, d0.loss_cls_all: 0.5095, d0.loss_bbox_all: 0.6895, d0.loss_cls: 0.5095, d0.loss_bbox: 0.6895, d1.loss_cls: 0.5036, d1.loss_bbox: 0.6643, d2.loss_cls: 0.5060, d2.loss_bbox: 0.6511, d3.loss_cls: 0.5049, d3.loss_bbox: 0.6485, d4.loss_cls: 0.5053, d4.loss_bbox: 0.6501, d5.loss_cls: 0.5044, d5.loss_bbox: 0.6516, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3723, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.1857, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1604, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1752, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1779, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1904, d0.loss_map_cls_all: 0.3748, d0.loss_map_pts_all: 2.6217, d0.loss_map_dir_all: 0.0310, d0.loss_map_cls: 0.3748, d0.loss_map_pts: 2.6217, d0.loss_map_dir: 0.0310, d1.loss_map_cls: 0.3634, d1.loss_map_pts: 1.7790, d1.loss_map_dir: 0.0308, d2.loss_map_cls: 0.3523, d2.loss_map_pts: 1.6414, d2.loss_map_dir: 0.0315, d3.loss_map_cls: 0.3486, d3.loss_map_pts: 1.5894, d3.loss_map_dir: 0.0319, d4.loss_map_cls: 0.3418, d4.loss_map_pts: 1.5805, d4.loss_map_dir: 0.0323, d5.loss_map_cls: 0.3389, d5.loss_map_pts: 1.5690, d5.loss_map_dir: 0.0325, loss: 55.9676, grad_norm: 143.3209 +2026-02-24 19:17:16,751 - DriveTransformer - INFO - Epoch [2][37350/39528] lr: 9.958e-05, eta: 8 days, 1:01:32, time: 0.787, data_time: 0.036, memory: 19865, loss_cls: 0.4627, loss_bbox: 0.6161, loss_traj: 1.1904, loss_traj_cls: 0.0006, loss_map_cls: 0.3093, loss_map_pts: 1.4637, loss_map_dir: 0.0291, d0.loss_plan_l1_fix_time: 2.7049, d0.loss_plan_l1_fix_dist: 0.4218, d1.loss_plan_l1_fix_time: 1.9970, d1.loss_plan_l1_fix_dist: 0.3145, d2.loss_plan_l1_fix_time: 1.9884, d2.loss_plan_l1_fix_dist: 0.3214, d3.loss_plan_l1_fix_time: 2.0021, d3.loss_plan_l1_fix_dist: 0.3352, d4.loss_plan_l1_fix_time: 2.0109, d4.loss_plan_l1_fix_dist: 0.3493, d5.loss_plan_l1_fix_time: 2.0199, d5.loss_plan_l1_fix_dist: 0.3657, d6.loss_plan_l1_fix_time: 2.0282, d6.loss_plan_l1_fix_dist: 0.3866, d0.loss_cls_all: 0.4626, d0.loss_bbox_all: 0.6517, d0.loss_cls: 0.4626, d0.loss_bbox: 0.6517, d1.loss_cls: 0.4592, d1.loss_bbox: 0.6251, d2.loss_cls: 0.4589, d2.loss_bbox: 0.6132, d3.loss_cls: 0.4604, d3.loss_bbox: 0.6090, d4.loss_cls: 0.4623, d4.loss_bbox: 0.6094, d5.loss_cls: 0.4623, d5.loss_bbox: 0.6114, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2888, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.1870, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1740, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1736, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1747, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1806, d0.loss_map_cls_all: 0.3513, d0.loss_map_pts_all: 2.3809, d0.loss_map_dir_all: 0.0279, d0.loss_map_cls: 0.3513, d0.loss_map_pts: 2.3809, d0.loss_map_dir: 0.0279, d1.loss_map_cls: 0.3397, d1.loss_map_pts: 1.6388, d1.loss_map_dir: 0.0276, d2.loss_map_cls: 0.3290, d2.loss_map_pts: 1.5252, d2.loss_map_dir: 0.0279, d3.loss_map_cls: 0.3174, d3.loss_map_pts: 1.4781, d3.loss_map_dir: 0.0284, d4.loss_map_cls: 0.3107, d4.loss_map_pts: 1.4593, d4.loss_map_dir: 0.0287, d5.loss_map_cls: 0.3090, d5.loss_map_pts: 1.4609, d5.loss_map_dir: 0.0290, loss: 50.9315, grad_norm: 143.4573 +2026-02-24 19:17:57,099 - DriveTransformer - INFO - Epoch [2][37400/39528] lr: 9.958e-05, eta: 8 days, 1:00:58, time: 0.808, data_time: 0.040, memory: 19865, loss_cls: 0.4905, loss_bbox: 0.6493, loss_traj: 1.3090, loss_traj_cls: 0.0006, loss_map_cls: 0.3398, loss_map_pts: 1.4894, loss_map_dir: 0.0286, d0.loss_plan_l1_fix_time: 2.9401, d0.loss_plan_l1_fix_dist: 0.4279, d1.loss_plan_l1_fix_time: 2.1580, d1.loss_plan_l1_fix_dist: 0.3574, d2.loss_plan_l1_fix_time: 2.1204, d2.loss_plan_l1_fix_dist: 0.3603, d3.loss_plan_l1_fix_time: 2.1183, d3.loss_plan_l1_fix_dist: 0.3708, d4.loss_plan_l1_fix_time: 2.1237, d4.loss_plan_l1_fix_dist: 0.3837, d5.loss_plan_l1_fix_time: 2.1311, d5.loss_plan_l1_fix_dist: 0.3977, d6.loss_plan_l1_fix_time: 2.1397, d6.loss_plan_l1_fix_dist: 0.4122, d0.loss_cls_all: 0.4949, d0.loss_bbox_all: 0.6866, d0.loss_cls: 0.4949, d0.loss_bbox: 0.6866, d1.loss_cls: 0.4902, d1.loss_bbox: 0.6613, d2.loss_cls: 0.4843, d2.loss_bbox: 0.6526, d3.loss_cls: 0.4853, d3.loss_bbox: 0.6474, d4.loss_cls: 0.4848, d4.loss_bbox: 0.6461, d5.loss_cls: 0.4884, d5.loss_bbox: 0.6466, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5086, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.2965, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2840, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2857, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.2890, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2956, d0.loss_map_cls_all: 0.3896, d0.loss_map_pts_all: 2.4184, d0.loss_map_dir_all: 0.0271, d0.loss_map_cls: 0.3896, d0.loss_map_pts: 2.4184, d0.loss_map_dir: 0.0271, d1.loss_map_cls: 0.3783, d1.loss_map_pts: 1.6605, d1.loss_map_dir: 0.0274, d2.loss_map_cls: 0.3553, d2.loss_map_pts: 1.5419, d2.loss_map_dir: 0.0277, d3.loss_map_cls: 0.3495, d3.loss_map_pts: 1.4929, d3.loss_map_dir: 0.0280, d4.loss_map_cls: 0.3449, d4.loss_map_pts: 1.4781, d4.loss_map_dir: 0.0283, d5.loss_map_cls: 0.3396, d5.loss_map_pts: 1.4861, d5.loss_map_dir: 0.0285, loss: 54.0011, grad_norm: 144.8662 +2026-02-24 19:18:36,612 - DriveTransformer - INFO - Epoch [2][37450/39528] lr: 9.958e-05, eta: 8 days, 1:00:14, time: 0.789, data_time: 0.037, memory: 19865, loss_cls: 0.4641, loss_bbox: 0.5704, loss_traj: 1.3365, loss_traj_cls: 0.0006, loss_map_cls: 0.3200, loss_map_pts: 1.3134, loss_map_dir: 0.0239, d0.loss_plan_l1_fix_time: 2.7264, d0.loss_plan_l1_fix_dist: 0.3921, d1.loss_plan_l1_fix_time: 2.1305, d1.loss_plan_l1_fix_dist: 0.2780, d2.loss_plan_l1_fix_time: 2.1067, d2.loss_plan_l1_fix_dist: 0.2832, d3.loss_plan_l1_fix_time: 2.1094, d3.loss_plan_l1_fix_dist: 0.2935, d4.loss_plan_l1_fix_time: 2.1140, d4.loss_plan_l1_fix_dist: 0.3069, d5.loss_plan_l1_fix_time: 2.1195, d5.loss_plan_l1_fix_dist: 0.3225, d6.loss_plan_l1_fix_time: 2.1265, d6.loss_plan_l1_fix_dist: 0.3401, d0.loss_cls_all: 0.4646, d0.loss_bbox_all: 0.6011, d0.loss_cls: 0.4646, d0.loss_bbox: 0.6011, d1.loss_cls: 0.4598, d1.loss_bbox: 0.5796, d2.loss_cls: 0.4586, d2.loss_bbox: 0.5688, d3.loss_cls: 0.4577, d3.loss_bbox: 0.5667, d4.loss_cls: 0.4582, d4.loss_bbox: 0.5664, d5.loss_cls: 0.4592, d5.loss_bbox: 0.5678, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4881, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3409, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3251, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.3342, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3345, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3332, d0.loss_map_cls_all: 0.3716, d0.loss_map_pts_all: 2.1288, d0.loss_map_dir_all: 0.0227, d0.loss_map_cls: 0.3716, d0.loss_map_pts: 2.1288, d0.loss_map_dir: 0.0227, d1.loss_map_cls: 0.3505, d1.loss_map_pts: 1.4795, d1.loss_map_dir: 0.0227, d2.loss_map_cls: 0.3356, d2.loss_map_pts: 1.3641, d2.loss_map_dir: 0.0230, d3.loss_map_cls: 0.3273, d3.loss_map_pts: 1.3245, d3.loss_map_dir: 0.0233, d4.loss_map_cls: 0.3219, d4.loss_map_pts: 1.3141, d4.loss_map_dir: 0.0236, d5.loss_map_cls: 0.3200, d5.loss_map_pts: 1.3110, d5.loss_map_dir: 0.0238, loss: 50.7246, grad_norm: 144.5036 +2026-02-24 19:19:16,503 - DriveTransformer - INFO - Epoch [2][37500/39528] lr: 9.958e-05, eta: 8 days, 0:59:34, time: 0.798, data_time: 0.041, memory: 19865, loss_cls: 0.4625, loss_bbox: 0.5721, loss_traj: 1.2128, loss_traj_cls: 0.0006, loss_map_cls: 0.3442, loss_map_pts: 1.5188, loss_map_dir: 0.0257, d0.loss_plan_l1_fix_time: 2.6568, d0.loss_plan_l1_fix_dist: 0.3991, d1.loss_plan_l1_fix_time: 1.9313, d1.loss_plan_l1_fix_dist: 0.3177, d2.loss_plan_l1_fix_time: 1.9083, d2.loss_plan_l1_fix_dist: 0.3236, d3.loss_plan_l1_fix_time: 1.9140, d3.loss_plan_l1_fix_dist: 0.3347, d4.loss_plan_l1_fix_time: 1.9206, d4.loss_plan_l1_fix_dist: 0.3521, d5.loss_plan_l1_fix_time: 1.9274, d5.loss_plan_l1_fix_dist: 0.3756, d6.loss_plan_l1_fix_time: 1.9347, d6.loss_plan_l1_fix_dist: 0.4072, d0.loss_cls_all: 0.4679, d0.loss_bbox_all: 0.6255, d0.loss_cls: 0.4679, d0.loss_bbox: 0.6255, d1.loss_cls: 0.4651, d1.loss_bbox: 0.5996, d2.loss_cls: 0.4615, d2.loss_bbox: 0.5844, d3.loss_cls: 0.4591, d3.loss_bbox: 0.5749, d4.loss_cls: 0.4580, d4.loss_bbox: 0.5739, d5.loss_cls: 0.4594, d5.loss_bbox: 0.5722, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3409, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.2013, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1753, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1783, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1838, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1964, d0.loss_map_cls_all: 0.3838, d0.loss_map_pts_all: 2.1393, d0.loss_map_dir_all: 0.0245, d0.loss_map_cls: 0.3838, d0.loss_map_pts: 2.1393, d0.loss_map_dir: 0.0245, d1.loss_map_cls: 0.3712, d1.loss_map_pts: 1.6557, d1.loss_map_dir: 0.0246, d2.loss_map_cls: 0.3549, d2.loss_map_pts: 1.5580, d2.loss_map_dir: 0.0248, d3.loss_map_cls: 0.3476, d3.loss_map_pts: 1.5288, d3.loss_map_dir: 0.0252, d4.loss_map_cls: 0.3441, d4.loss_map_pts: 1.5233, d4.loss_map_dir: 0.0254, d5.loss_map_cls: 0.3430, d5.loss_map_pts: 1.5176, d5.loss_map_dir: 0.0256, loss: 50.2813, grad_norm: 141.7050 +2026-02-24 19:19:57,836 - DriveTransformer - INFO - Epoch [2][37550/39528] lr: 9.958e-05, eta: 8 days, 0:59:11, time: 0.827, data_time: 0.041, memory: 19865, loss_cls: 0.4429, loss_bbox: 0.5851, loss_traj: 1.2979, loss_traj_cls: 0.0006, loss_map_cls: 0.3075, loss_map_pts: 1.3768, loss_map_dir: 0.0280, d0.loss_plan_l1_fix_time: 2.3816, d0.loss_plan_l1_fix_dist: 0.4295, d1.loss_plan_l1_fix_time: 1.8503, d1.loss_plan_l1_fix_dist: 0.3193, d2.loss_plan_l1_fix_time: 1.8290, d2.loss_plan_l1_fix_dist: 0.3302, d3.loss_plan_l1_fix_time: 1.8279, d3.loss_plan_l1_fix_dist: 0.3443, d4.loss_plan_l1_fix_time: 1.8330, d4.loss_plan_l1_fix_dist: 0.3564, d5.loss_plan_l1_fix_time: 1.8388, d5.loss_plan_l1_fix_dist: 0.3669, d6.loss_plan_l1_fix_time: 1.8454, d6.loss_plan_l1_fix_dist: 0.3760, d0.loss_cls_all: 0.4499, d0.loss_bbox_all: 0.6127, d0.loss_cls: 0.4499, d0.loss_bbox: 0.6127, d1.loss_cls: 0.4419, d1.loss_bbox: 0.5919, d2.loss_cls: 0.4409, d2.loss_bbox: 0.5819, d3.loss_cls: 0.4360, d3.loss_bbox: 0.5788, d4.loss_cls: 0.4345, d4.loss_bbox: 0.5799, d5.loss_cls: 0.4395, d5.loss_bbox: 0.5807, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4459, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.3017, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2874, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2966, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.3018, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2934, d0.loss_map_cls_all: 0.3430, d0.loss_map_pts_all: 2.2634, d0.loss_map_dir_all: 0.0268, d0.loss_map_cls: 0.3430, d0.loss_map_pts: 2.2634, d0.loss_map_dir: 0.0268, d1.loss_map_cls: 0.3319, d1.loss_map_pts: 1.5281, d1.loss_map_dir: 0.0267, d2.loss_map_cls: 0.3156, d2.loss_map_pts: 1.4200, d2.loss_map_dir: 0.0270, d3.loss_map_cls: 0.3107, d3.loss_map_pts: 1.3860, d3.loss_map_dir: 0.0274, d4.loss_map_cls: 0.3093, d4.loss_map_pts: 1.3833, d4.loss_map_dir: 0.0277, d5.loss_map_cls: 0.3076, d5.loss_map_pts: 1.3761, d5.loss_map_dir: 0.0278, loss: 49.2026, grad_norm: 141.7964 +2026-02-24 19:20:37,678 - DriveTransformer - INFO - Epoch [2][37600/39528] lr: 9.958e-05, eta: 8 days, 0:58:31, time: 0.797, data_time: 0.040, memory: 19865, loss_cls: 0.4349, loss_bbox: 0.5638, loss_traj: 1.4492, loss_traj_cls: 0.0006, loss_map_cls: 0.3174, loss_map_pts: 1.3203, loss_map_dir: 0.0251, d0.loss_plan_l1_fix_time: 2.9473, d0.loss_plan_l1_fix_dist: 0.3828, d1.loss_plan_l1_fix_time: 2.0425, d1.loss_plan_l1_fix_dist: 0.2519, d2.loss_plan_l1_fix_time: 2.0205, d2.loss_plan_l1_fix_dist: 0.2567, d3.loss_plan_l1_fix_time: 2.0236, d3.loss_plan_l1_fix_dist: 0.2685, d4.loss_plan_l1_fix_time: 2.0289, d4.loss_plan_l1_fix_dist: 0.2843, d5.loss_plan_l1_fix_time: 2.0354, d5.loss_plan_l1_fix_dist: 0.3031, d6.loss_plan_l1_fix_time: 2.0428, d6.loss_plan_l1_fix_dist: 0.3261, d0.loss_cls_all: 0.4416, d0.loss_bbox_all: 0.6005, d0.loss_cls: 0.4416, d0.loss_bbox: 0.6005, d1.loss_cls: 0.4346, d1.loss_bbox: 0.5758, d2.loss_cls: 0.4301, d2.loss_bbox: 0.5659, d3.loss_cls: 0.4274, d3.loss_bbox: 0.5623, d4.loss_cls: 0.4258, d4.loss_bbox: 0.5616, d5.loss_cls: 0.4301, d5.loss_bbox: 0.5618, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6240, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.4750, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.4488, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.4429, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4429, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4437, d0.loss_map_cls_all: 0.3615, d0.loss_map_pts_all: 2.1748, d0.loss_map_dir_all: 0.0240, d0.loss_map_cls: 0.3615, d0.loss_map_pts: 2.1748, d0.loss_map_dir: 0.0240, d1.loss_map_cls: 0.3447, d1.loss_map_pts: 1.4962, d1.loss_map_dir: 0.0237, d2.loss_map_cls: 0.3338, d2.loss_map_pts: 1.3763, d2.loss_map_dir: 0.0241, d3.loss_map_cls: 0.3244, d3.loss_map_pts: 1.3357, d3.loss_map_dir: 0.0245, d4.loss_map_cls: 0.3197, d4.loss_map_pts: 1.3236, d4.loss_map_dir: 0.0248, d5.loss_map_cls: 0.3178, d5.loss_map_pts: 1.3211, d5.loss_map_dir: 0.0249, loss: 51.0037, grad_norm: 141.4556 +2026-02-24 19:21:19,622 - DriveTransformer - INFO - Epoch [2][37650/39528] lr: 9.958e-05, eta: 8 days, 0:58:15, time: 0.839, data_time: 0.040, memory: 19865, loss_cls: 0.4662, loss_bbox: 0.5779, loss_traj: 1.1644, loss_traj_cls: 0.0006, loss_map_cls: 0.3066, loss_map_pts: 1.3444, loss_map_dir: 0.0267, d0.loss_plan_l1_fix_time: 2.7989, d0.loss_plan_l1_fix_dist: 0.4222, d1.loss_plan_l1_fix_time: 2.1898, d1.loss_plan_l1_fix_dist: 0.3075, d2.loss_plan_l1_fix_time: 2.1829, d2.loss_plan_l1_fix_dist: 0.3141, d3.loss_plan_l1_fix_time: 2.1979, d3.loss_plan_l1_fix_dist: 0.3254, d4.loss_plan_l1_fix_time: 2.2095, d4.loss_plan_l1_fix_dist: 0.3417, d5.loss_plan_l1_fix_time: 2.2226, d5.loss_plan_l1_fix_dist: 0.3626, d6.loss_plan_l1_fix_time: 2.2358, d6.loss_plan_l1_fix_dist: 0.3845, d0.loss_cls_all: 0.4678, d0.loss_bbox_all: 0.6193, d0.loss_cls: 0.4678, d0.loss_bbox: 0.6193, d1.loss_cls: 0.4664, d1.loss_bbox: 0.5941, d2.loss_cls: 0.4659, d2.loss_bbox: 0.5796, d3.loss_cls: 0.4642, d3.loss_bbox: 0.5753, d4.loss_cls: 0.4698, d4.loss_bbox: 0.5758, d5.loss_cls: 0.4674, d5.loss_bbox: 0.5775, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3342, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.1933, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1640, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1649, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1585, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1590, d0.loss_map_cls_all: 0.3584, d0.loss_map_pts_all: 2.1649, d0.loss_map_dir_all: 0.0253, d0.loss_map_cls: 0.3584, d0.loss_map_pts: 2.1649, d0.loss_map_dir: 0.0253, d1.loss_map_cls: 0.3351, d1.loss_map_pts: 1.5375, d1.loss_map_dir: 0.0257, d2.loss_map_cls: 0.3177, d2.loss_map_pts: 1.4089, d2.loss_map_dir: 0.0259, d3.loss_map_cls: 0.3073, d3.loss_map_pts: 1.3630, d3.loss_map_dir: 0.0262, d4.loss_map_cls: 0.3059, d4.loss_map_pts: 1.3449, d4.loss_map_dir: 0.0264, d5.loss_map_cls: 0.3070, d5.loss_map_pts: 1.3457, d5.loss_map_dir: 0.0266, loss: 50.7728, grad_norm: 141.5483 +2026-02-24 19:21:58,989 - DriveTransformer - INFO - Epoch [2][37700/39528] lr: 9.958e-05, eta: 8 days, 0:57:30, time: 0.788, data_time: 0.038, memory: 19865, loss_cls: 0.4697, loss_bbox: 0.6169, loss_traj: 1.1937, loss_traj_cls: 0.0006, loss_map_cls: 0.3166, loss_map_pts: 1.3767, loss_map_dir: 0.0258, d0.loss_plan_l1_fix_time: 3.0459, d0.loss_plan_l1_fix_dist: 0.4321, d1.loss_plan_l1_fix_time: 2.2298, d1.loss_plan_l1_fix_dist: 0.2876, d2.loss_plan_l1_fix_time: 2.1994, d2.loss_plan_l1_fix_dist: 0.2951, d3.loss_plan_l1_fix_time: 2.1943, d3.loss_plan_l1_fix_dist: 0.3061, d4.loss_plan_l1_fix_time: 2.1995, d4.loss_plan_l1_fix_dist: 0.3175, d5.loss_plan_l1_fix_time: 2.2073, d5.loss_plan_l1_fix_dist: 0.3319, d6.loss_plan_l1_fix_time: 2.2161, d6.loss_plan_l1_fix_dist: 0.3519, d0.loss_cls_all: 0.4731, d0.loss_bbox_all: 0.6444, d0.loss_cls: 0.4731, d0.loss_bbox: 0.6444, d1.loss_cls: 0.4725, d1.loss_bbox: 0.6240, d2.loss_cls: 0.4713, d2.loss_bbox: 0.6146, d3.loss_cls: 0.4705, d3.loss_bbox: 0.6117, d4.loss_cls: 0.4702, d4.loss_bbox: 0.6140, d5.loss_cls: 0.4717, d5.loss_bbox: 0.6141, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4079, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.2115, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1903, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1838, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1814, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1833, d0.loss_map_cls_all: 0.3570, d0.loss_map_pts_all: 2.1955, d0.loss_map_dir_all: 0.0244, d0.loss_map_cls: 0.3570, d0.loss_map_pts: 2.1955, d0.loss_map_dir: 0.0244, d1.loss_map_cls: 0.3424, d1.loss_map_pts: 1.5287, d1.loss_map_dir: 0.0245, d2.loss_map_cls: 0.3264, d2.loss_map_pts: 1.4184, d2.loss_map_dir: 0.0249, d3.loss_map_cls: 0.3181, d3.loss_map_pts: 1.3778, d3.loss_map_dir: 0.0253, d4.loss_map_cls: 0.3134, d4.loss_map_pts: 1.3680, d4.loss_map_dir: 0.0253, d5.loss_map_cls: 0.3149, d5.loss_map_pts: 1.3703, d5.loss_map_dir: 0.0256, loss: 51.6051, grad_norm: 141.8825 +2026-02-24 19:22:40,905 - DriveTransformer - INFO - Epoch [2][37750/39528] lr: 9.958e-05, eta: 8 days, 0:57:13, time: 0.838, data_time: 0.042, memory: 19865, loss_cls: 0.4653, loss_bbox: 0.6466, loss_traj: 1.0527, loss_traj_cls: 0.0006, loss_map_cls: 0.3288, loss_map_pts: 1.4568, loss_map_dir: 0.0335, d0.loss_plan_l1_fix_time: 2.6710, d0.loss_plan_l1_fix_dist: 0.3933, d1.loss_plan_l1_fix_time: 2.1738, d1.loss_plan_l1_fix_dist: 0.2676, d2.loss_plan_l1_fix_time: 2.1671, d2.loss_plan_l1_fix_dist: 0.2746, d3.loss_plan_l1_fix_time: 2.1758, d3.loss_plan_l1_fix_dist: 0.2859, d4.loss_plan_l1_fix_time: 2.1862, d4.loss_plan_l1_fix_dist: 0.2999, d5.loss_plan_l1_fix_time: 2.1962, d5.loss_plan_l1_fix_dist: 0.3153, d6.loss_plan_l1_fix_time: 2.2056, d6.loss_plan_l1_fix_dist: 0.3322, d0.loss_cls_all: 0.4736, d0.loss_bbox_all: 0.6794, d0.loss_cls: 0.4736, d0.loss_bbox: 0.6794, d1.loss_cls: 0.4722, d1.loss_bbox: 0.6552, d2.loss_cls: 0.4681, d2.loss_bbox: 0.6480, d3.loss_cls: 0.4653, d3.loss_bbox: 0.6436, d4.loss_cls: 0.4655, d4.loss_bbox: 0.6420, d5.loss_cls: 0.4643, d5.loss_bbox: 0.6428, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1650, d1.loss_traj_cls: 0.0014, d1.loss_traj: 1.0572, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0374, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0392, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.0414, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.0457, d0.loss_map_cls_all: 0.3600, d0.loss_map_pts_all: 2.6780, d0.loss_map_dir_all: 0.0321, d0.loss_map_cls: 0.3600, d0.loss_map_pts: 2.6780, d0.loss_map_dir: 0.0321, d1.loss_map_cls: 0.3509, d1.loss_map_pts: 1.6734, d1.loss_map_dir: 0.0320, d2.loss_map_cls: 0.3360, d2.loss_map_pts: 1.5375, d2.loss_map_dir: 0.0324, d3.loss_map_cls: 0.3322, d3.loss_map_pts: 1.4825, d3.loss_map_dir: 0.0329, d4.loss_map_cls: 0.3275, d4.loss_map_pts: 1.4595, d4.loss_map_dir: 0.0331, d5.loss_map_cls: 0.3290, d5.loss_map_pts: 1.4540, d5.loss_map_dir: 0.0334, loss: 51.7798, grad_norm: 141.4986 +2026-02-24 19:23:19,773 - DriveTransformer - INFO - Epoch [2][37800/39528] lr: 9.958e-05, eta: 8 days, 0:56:22, time: 0.777, data_time: 0.036, memory: 19865, loss_cls: 0.4625, loss_bbox: 0.5895, loss_traj: 1.1917, loss_traj_cls: 0.0006, loss_map_cls: 0.3373, loss_map_pts: 1.3303, loss_map_dir: 0.0262, d0.loss_plan_l1_fix_time: 2.5651, d0.loss_plan_l1_fix_dist: 0.4530, d1.loss_plan_l1_fix_time: 1.9024, d1.loss_plan_l1_fix_dist: 0.2978, d2.loss_plan_l1_fix_time: 1.8657, d2.loss_plan_l1_fix_dist: 0.3052, d3.loss_plan_l1_fix_time: 1.8603, d3.loss_plan_l1_fix_dist: 0.3174, d4.loss_plan_l1_fix_time: 1.8643, d4.loss_plan_l1_fix_dist: 0.3328, d5.loss_plan_l1_fix_time: 1.8706, d5.loss_plan_l1_fix_dist: 0.3505, d6.loss_plan_l1_fix_time: 1.8782, d6.loss_plan_l1_fix_dist: 0.3693, d0.loss_cls_all: 0.4676, d0.loss_bbox_all: 0.6353, d0.loss_cls: 0.4676, d0.loss_bbox: 0.6353, d1.loss_cls: 0.4634, d1.loss_bbox: 0.6075, d2.loss_cls: 0.4626, d2.loss_bbox: 0.5924, d3.loss_cls: 0.4619, d3.loss_bbox: 0.5881, d4.loss_cls: 0.4635, d4.loss_bbox: 0.5856, d5.loss_cls: 0.4630, d5.loss_bbox: 0.5874, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3436, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1942, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1721, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1910, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1958, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1862, d0.loss_map_cls_all: 0.3678, d0.loss_map_pts_all: 2.1411, d0.loss_map_dir_all: 0.0245, d0.loss_map_cls: 0.3678, d0.loss_map_pts: 2.1411, d0.loss_map_dir: 0.0245, d1.loss_map_cls: 0.3594, d1.loss_map_pts: 1.5185, d1.loss_map_dir: 0.0246, d2.loss_map_cls: 0.3454, d2.loss_map_pts: 1.3957, d2.loss_map_dir: 0.0250, d3.loss_map_cls: 0.3380, d3.loss_map_pts: 1.3501, d3.loss_map_dir: 0.0255, d4.loss_map_cls: 0.3353, d4.loss_map_pts: 1.3390, d4.loss_map_dir: 0.0259, d5.loss_map_cls: 0.3372, d5.loss_map_pts: 1.3325, d5.loss_map_dir: 0.0261, loss: 48.7850, grad_norm: 141.5526 +2026-02-24 19:24:01,213 - DriveTransformer - INFO - Epoch [2][37850/39528] lr: 9.958e-05, eta: 8 days, 0:56:00, time: 0.829, data_time: 0.036, memory: 19865, loss_cls: 0.4733, loss_bbox: 0.5957, loss_traj: 1.2193, loss_traj_cls: 0.0006, loss_map_cls: 0.2950, loss_map_pts: 1.4681, loss_map_dir: 0.0280, d0.loss_plan_l1_fix_time: 2.4150, d0.loss_plan_l1_fix_dist: 0.4532, d1.loss_plan_l1_fix_time: 1.7943, d1.loss_plan_l1_fix_dist: 0.2719, d2.loss_plan_l1_fix_time: 1.7791, d2.loss_plan_l1_fix_dist: 0.2751, d3.loss_plan_l1_fix_time: 1.7846, d3.loss_plan_l1_fix_dist: 0.2858, d4.loss_plan_l1_fix_time: 1.7926, d4.loss_plan_l1_fix_dist: 0.3010, d5.loss_plan_l1_fix_time: 1.8012, d5.loss_plan_l1_fix_dist: 0.3215, d6.loss_plan_l1_fix_time: 1.8107, d6.loss_plan_l1_fix_dist: 0.3433, d0.loss_cls_all: 0.4757, d0.loss_bbox_all: 0.6435, d0.loss_cls: 0.4757, d0.loss_bbox: 0.6435, d1.loss_cls: 0.4764, d1.loss_bbox: 0.6156, d2.loss_cls: 0.4794, d2.loss_bbox: 0.5973, d3.loss_cls: 0.4751, d3.loss_bbox: 0.5946, d4.loss_cls: 0.4734, d4.loss_bbox: 0.5924, d5.loss_cls: 0.4719, d5.loss_bbox: 0.5923, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4060, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2276, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1945, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1921, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1886, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2026, d0.loss_map_cls_all: 0.3457, d0.loss_map_pts_all: 2.3271, d0.loss_map_dir_all: 0.0262, d0.loss_map_cls: 0.3457, d0.loss_map_pts: 2.3271, d0.loss_map_dir: 0.0262, d1.loss_map_cls: 0.3296, d1.loss_map_pts: 1.6440, d1.loss_map_dir: 0.0264, d2.loss_map_cls: 0.3111, d2.loss_map_pts: 1.5318, d2.loss_map_dir: 0.0270, d3.loss_map_cls: 0.3008, d3.loss_map_pts: 1.4907, d3.loss_map_dir: 0.0274, d4.loss_map_cls: 0.2956, d4.loss_map_pts: 1.4769, d4.loss_map_dir: 0.0277, d5.loss_map_cls: 0.2945, d5.loss_map_pts: 1.4691, d5.loss_map_dir: 0.0279, loss: 49.2120, grad_norm: 140.7359 +2026-02-24 19:24:41,726 - DriveTransformer - INFO - Epoch [2][37900/39528] lr: 9.958e-05, eta: 8 days, 0:55:27, time: 0.810, data_time: 0.045, memory: 19865, loss_cls: 0.4416, loss_bbox: 0.5619, loss_traj: 1.1620, loss_traj_cls: 0.0006, loss_map_cls: 0.2987, loss_map_pts: 1.1667, loss_map_dir: 0.0253, d0.loss_plan_l1_fix_time: 2.5534, d0.loss_plan_l1_fix_dist: 0.3774, d1.loss_plan_l1_fix_time: 1.9116, d1.loss_plan_l1_fix_dist: 0.3019, d2.loss_plan_l1_fix_time: 1.8918, d2.loss_plan_l1_fix_dist: 0.3091, d3.loss_plan_l1_fix_time: 1.9006, d3.loss_plan_l1_fix_dist: 0.3189, d4.loss_plan_l1_fix_time: 1.9106, d4.loss_plan_l1_fix_dist: 0.3310, d5.loss_plan_l1_fix_time: 1.9206, d5.loss_plan_l1_fix_dist: 0.3433, d6.loss_plan_l1_fix_time: 1.9323, d6.loss_plan_l1_fix_dist: 0.3590, d0.loss_cls_all: 0.4357, d0.loss_bbox_all: 0.6038, d0.loss_cls: 0.4357, d0.loss_bbox: 0.6038, d1.loss_cls: 0.4375, d1.loss_bbox: 0.5825, d2.loss_cls: 0.4340, d2.loss_bbox: 0.5715, d3.loss_cls: 0.4362, d3.loss_bbox: 0.5665, d4.loss_cls: 0.4371, d4.loss_bbox: 0.5632, d5.loss_cls: 0.4394, d5.loss_bbox: 0.5591, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2291, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1530, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1378, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1462, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1485, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1530, d0.loss_map_cls_all: 0.3381, d0.loss_map_pts_all: 2.0528, d0.loss_map_dir_all: 0.0241, d0.loss_map_cls: 0.3381, d0.loss_map_pts: 2.0528, d0.loss_map_dir: 0.0241, d1.loss_map_cls: 0.3202, d1.loss_map_pts: 1.3336, d1.loss_map_dir: 0.0238, d2.loss_map_cls: 0.3102, d2.loss_map_pts: 1.2245, d2.loss_map_dir: 0.0243, d3.loss_map_cls: 0.3025, d3.loss_map_pts: 1.1844, d3.loss_map_dir: 0.0247, d4.loss_map_cls: 0.3003, d4.loss_map_pts: 1.1690, d4.loss_map_dir: 0.0249, d5.loss_map_cls: 0.2994, d5.loss_map_pts: 1.1645, d5.loss_map_dir: 0.0251, loss: 46.6585, grad_norm: 140.5956 +2026-02-24 19:25:21,063 - DriveTransformer - INFO - Epoch [2][37950/39528] lr: 9.958e-05, eta: 8 days, 0:54:41, time: 0.787, data_time: 0.041, memory: 19865, loss_cls: 0.4398, loss_bbox: 0.5810, loss_traj: 0.9474, loss_traj_cls: 0.0006, loss_map_cls: 0.3124, loss_map_pts: 1.3592, loss_map_dir: 0.0273, d0.loss_plan_l1_fix_time: 2.3272, d0.loss_plan_l1_fix_dist: 0.4416, d1.loss_plan_l1_fix_time: 1.6475, d1.loss_plan_l1_fix_dist: 0.3160, d2.loss_plan_l1_fix_time: 1.6251, d2.loss_plan_l1_fix_dist: 0.3196, d3.loss_plan_l1_fix_time: 1.6333, d3.loss_plan_l1_fix_dist: 0.3293, d4.loss_plan_l1_fix_time: 1.6430, d4.loss_plan_l1_fix_dist: 0.3398, d5.loss_plan_l1_fix_time: 1.6531, d5.loss_plan_l1_fix_dist: 0.3530, d6.loss_plan_l1_fix_time: 1.6639, d6.loss_plan_l1_fix_dist: 0.3639, d0.loss_cls_all: 0.4443, d0.loss_bbox_all: 0.6109, d0.loss_cls: 0.4443, d0.loss_bbox: 0.6109, d1.loss_cls: 0.4371, d1.loss_bbox: 0.5894, d2.loss_cls: 0.4351, d2.loss_bbox: 0.5802, d3.loss_cls: 0.4332, d3.loss_bbox: 0.5771, d4.loss_cls: 0.4339, d4.loss_bbox: 0.5770, d5.loss_cls: 0.4380, d5.loss_bbox: 0.5772, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0903, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.9699, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9462, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9483, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.9421, d5.loss_traj_cls: 0.0007, d5.loss_traj: 0.9437, d0.loss_map_cls_all: 0.3490, d0.loss_map_pts_all: 2.1756, d0.loss_map_dir_all: 0.0256, d0.loss_map_cls: 0.3490, d0.loss_map_pts: 2.1756, d0.loss_map_dir: 0.0256, d1.loss_map_cls: 0.3368, d1.loss_map_pts: 1.5260, d1.loss_map_dir: 0.0259, d2.loss_map_cls: 0.3231, d2.loss_map_pts: 1.4112, d2.loss_map_dir: 0.0263, d3.loss_map_cls: 0.3159, d3.loss_map_pts: 1.3733, d3.loss_map_dir: 0.0266, d4.loss_map_cls: 0.3126, d4.loss_map_pts: 1.3637, d4.loss_map_dir: 0.0269, d5.loss_map_cls: 0.3134, d5.loss_map_pts: 1.3589, d5.loss_map_dir: 0.0271, loss: 45.2261, grad_norm: 140.2441 +2026-02-24 19:26:02,056 - DriveTransformer - INFO - Epoch [2][38000/39528] lr: 9.958e-05, eta: 8 days, 0:54:14, time: 0.820, data_time: 0.041, memory: 19865, loss_cls: 0.4038, loss_bbox: 0.5547, loss_traj: 1.0961, loss_traj_cls: 0.0006, loss_map_cls: 0.3020, loss_map_pts: 1.2918, loss_map_dir: 0.0258, d0.loss_plan_l1_fix_time: 2.6923, d0.loss_plan_l1_fix_dist: 0.4993, d1.loss_plan_l1_fix_time: 1.9685, d1.loss_plan_l1_fix_dist: 0.3596, d2.loss_plan_l1_fix_time: 1.9612, d2.loss_plan_l1_fix_dist: 0.3664, d3.loss_plan_l1_fix_time: 1.9675, d3.loss_plan_l1_fix_dist: 0.3772, d4.loss_plan_l1_fix_time: 1.9763, d4.loss_plan_l1_fix_dist: 0.3898, d5.loss_plan_l1_fix_time: 1.9859, d5.loss_plan_l1_fix_dist: 0.4030, d6.loss_plan_l1_fix_time: 1.9963, d6.loss_plan_l1_fix_dist: 0.4210, d0.loss_cls_all: 0.4158, d0.loss_bbox_all: 0.5877, d0.loss_cls: 0.4158, d0.loss_bbox: 0.5877, d1.loss_cls: 0.4015, d1.loss_bbox: 0.5632, d2.loss_cls: 0.3996, d2.loss_bbox: 0.5562, d3.loss_cls: 0.3996, d3.loss_bbox: 0.5520, d4.loss_cls: 0.4012, d4.loss_bbox: 0.5515, d5.loss_cls: 0.4015, d5.loss_bbox: 0.5553, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3192, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1072, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0812, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.0783, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.0817, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.0836, d0.loss_map_cls_all: 0.3445, d0.loss_map_pts_all: 2.1276, d0.loss_map_dir_all: 0.0238, d0.loss_map_cls: 0.3445, d0.loss_map_pts: 2.1276, d0.loss_map_dir: 0.0238, d1.loss_map_cls: 0.3317, d1.loss_map_pts: 1.4696, d1.loss_map_dir: 0.0243, d2.loss_map_cls: 0.3144, d2.loss_map_pts: 1.3483, d2.loss_map_dir: 0.0247, d3.loss_map_cls: 0.3055, d3.loss_map_pts: 1.3101, d3.loss_map_dir: 0.0252, d4.loss_map_cls: 0.3013, d4.loss_map_pts: 1.2993, d4.loss_map_dir: 0.0256, d5.loss_map_cls: 0.3018, d5.loss_map_pts: 1.2954, d5.loss_map_dir: 0.0257, loss: 47.9784, grad_norm: 140.2476 +2026-02-24 19:26:43,143 - DriveTransformer - INFO - Epoch [2][38050/39528] lr: 9.958e-05, eta: 8 days, 0:53:48, time: 0.822, data_time: 0.044, memory: 19865, loss_cls: 0.4087, loss_bbox: 0.5798, loss_traj: 1.0768, loss_traj_cls: 0.0005, loss_map_cls: 0.2953, loss_map_pts: 1.2921, loss_map_dir: 0.0270, d0.loss_plan_l1_fix_time: 2.4293, d0.loss_plan_l1_fix_dist: 0.4363, d1.loss_plan_l1_fix_time: 1.7039, d1.loss_plan_l1_fix_dist: 0.3313, d2.loss_plan_l1_fix_time: 1.6608, d2.loss_plan_l1_fix_dist: 0.3422, d3.loss_plan_l1_fix_time: 1.6593, d3.loss_plan_l1_fix_dist: 0.3536, d4.loss_plan_l1_fix_time: 1.6653, d4.loss_plan_l1_fix_dist: 0.3669, d5.loss_plan_l1_fix_time: 1.6729, d5.loss_plan_l1_fix_dist: 0.3831, d6.loss_plan_l1_fix_time: 1.6822, d6.loss_plan_l1_fix_dist: 0.3987, d0.loss_cls_all: 0.4143, d0.loss_bbox_all: 0.6036, d0.loss_cls: 0.4143, d0.loss_bbox: 0.6036, d1.loss_cls: 0.4112, d1.loss_bbox: 0.5809, d2.loss_cls: 0.4083, d2.loss_bbox: 0.5731, d3.loss_cls: 0.4068, d3.loss_bbox: 0.5715, d4.loss_cls: 0.4052, d4.loss_bbox: 0.5728, d5.loss_cls: 0.4076, d5.loss_bbox: 0.5752, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2362, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.0916, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0651, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.0700, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.0639, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.0713, d0.loss_map_cls_all: 0.3331, d0.loss_map_pts_all: 2.2968, d0.loss_map_dir_all: 0.0254, d0.loss_map_cls: 0.3331, d0.loss_map_pts: 2.2968, d0.loss_map_dir: 0.0254, d1.loss_map_cls: 0.3178, d1.loss_map_pts: 1.4619, d1.loss_map_dir: 0.0252, d2.loss_map_cls: 0.3072, d2.loss_map_pts: 1.3365, d2.loss_map_dir: 0.0256, d3.loss_map_cls: 0.3025, d3.loss_map_pts: 1.2909, d3.loss_map_dir: 0.0260, d4.loss_map_cls: 0.2973, d4.loss_map_pts: 1.2867, d4.loss_map_dir: 0.0265, d5.loss_map_cls: 0.2954, d5.loss_map_pts: 1.2845, d5.loss_map_dir: 0.0268, loss: 45.9388, grad_norm: 140.2922 +2026-02-24 19:27:23,470 - DriveTransformer - INFO - Epoch [2][38100/39528] lr: 9.958e-05, eta: 8 days, 0:53:14, time: 0.806, data_time: 0.042, memory: 19865, loss_cls: 0.4289, loss_bbox: 0.5931, loss_traj: 1.1334, loss_traj_cls: 0.0005, loss_map_cls: 0.3046, loss_map_pts: 1.3854, loss_map_dir: 0.0253, d0.loss_plan_l1_fix_time: 2.8626, d0.loss_plan_l1_fix_dist: 0.3940, d1.loss_plan_l1_fix_time: 2.0765, d1.loss_plan_l1_fix_dist: 0.2549, d2.loss_plan_l1_fix_time: 2.0639, d2.loss_plan_l1_fix_dist: 0.2661, d3.loss_plan_l1_fix_time: 2.0611, d3.loss_plan_l1_fix_dist: 0.2831, d4.loss_plan_l1_fix_time: 2.0659, d4.loss_plan_l1_fix_dist: 0.3048, d5.loss_plan_l1_fix_time: 2.0724, d5.loss_plan_l1_fix_dist: 0.3288, d6.loss_plan_l1_fix_time: 2.0802, d6.loss_plan_l1_fix_dist: 0.3526, d0.loss_cls_all: 0.4389, d0.loss_bbox_all: 0.6209, d0.loss_cls: 0.4389, d0.loss_bbox: 0.6209, d1.loss_cls: 0.4325, d1.loss_bbox: 0.6025, d2.loss_cls: 0.4297, d2.loss_bbox: 0.5963, d3.loss_cls: 0.4298, d3.loss_bbox: 0.5906, d4.loss_cls: 0.4283, d4.loss_bbox: 0.5896, d5.loss_cls: 0.4313, d5.loss_bbox: 0.5902, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2635, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1525, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1196, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.1137, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1126, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1230, d0.loss_map_cls_all: 0.3419, d0.loss_map_pts_all: 2.2359, d0.loss_map_dir_all: 0.0229, d0.loss_map_cls: 0.3419, d0.loss_map_pts: 2.2359, d0.loss_map_dir: 0.0229, d1.loss_map_cls: 0.3304, d1.loss_map_pts: 1.5769, d1.loss_map_dir: 0.0231, d2.loss_map_cls: 0.3167, d2.loss_map_pts: 1.4520, d2.loss_map_dir: 0.0238, d3.loss_map_cls: 0.3100, d3.loss_map_pts: 1.4106, d3.loss_map_dir: 0.0244, d4.loss_map_cls: 0.3061, d4.loss_map_pts: 1.3910, d4.loss_map_dir: 0.0248, d5.loss_map_cls: 0.3056, d5.loss_map_pts: 1.3855, d5.loss_map_dir: 0.0250, loss: 49.5760, grad_norm: 140.2317 +2026-02-24 19:28:03,532 - DriveTransformer - INFO - Epoch [2][38150/39528] lr: 9.958e-05, eta: 8 days, 0:52:36, time: 0.801, data_time: 0.037, memory: 19865, loss_cls: 0.4346, loss_bbox: 0.5919, loss_traj: 1.2755, loss_traj_cls: 0.0006, loss_map_cls: 0.3089, loss_map_pts: 1.4471, loss_map_dir: 0.0264, d0.loss_plan_l1_fix_time: 2.6146, d0.loss_plan_l1_fix_dist: 0.4652, d1.loss_plan_l1_fix_time: 1.9913, d1.loss_plan_l1_fix_dist: 0.3845, d2.loss_plan_l1_fix_time: 1.9852, d2.loss_plan_l1_fix_dist: 0.3916, d3.loss_plan_l1_fix_time: 1.9922, d3.loss_plan_l1_fix_dist: 0.4042, d4.loss_plan_l1_fix_time: 1.9998, d4.loss_plan_l1_fix_dist: 0.4179, d5.loss_plan_l1_fix_time: 2.0083, d5.loss_plan_l1_fix_dist: 0.4345, d6.loss_plan_l1_fix_time: 2.0174, d6.loss_plan_l1_fix_dist: 0.4574, d0.loss_cls_all: 0.4501, d0.loss_bbox_all: 0.6296, d0.loss_cls: 0.4501, d0.loss_bbox: 0.6296, d1.loss_cls: 0.4425, d1.loss_bbox: 0.6040, d2.loss_cls: 0.4404, d2.loss_bbox: 0.5936, d3.loss_cls: 0.4335, d3.loss_bbox: 0.5912, d4.loss_cls: 0.4329, d4.loss_bbox: 0.5892, d5.loss_cls: 0.4330, d5.loss_bbox: 0.5898, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4068, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2772, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2437, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2564, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2519, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2664, d0.loss_map_cls_all: 0.3594, d0.loss_map_pts_all: 2.3455, d0.loss_map_dir_all: 0.0239, d0.loss_map_cls: 0.3594, d0.loss_map_pts: 2.3455, d0.loss_map_dir: 0.0239, d1.loss_map_cls: 0.3409, d1.loss_map_pts: 1.6365, d1.loss_map_dir: 0.0242, d2.loss_map_cls: 0.3261, d2.loss_map_pts: 1.5146, d2.loss_map_dir: 0.0247, d3.loss_map_cls: 0.3139, d3.loss_map_pts: 1.4708, d3.loss_map_dir: 0.0255, d4.loss_map_cls: 0.3100, d4.loss_map_pts: 1.4526, d4.loss_map_dir: 0.0258, d5.loss_map_cls: 0.3090, d5.loss_map_pts: 1.4462, d5.loss_map_dir: 0.0261, loss: 51.3703, grad_norm: 139.3299 +2026-02-24 19:28:41,752 - DriveTransformer - INFO - Epoch [2][38200/39528] lr: 9.958e-05, eta: 8 days, 0:51:39, time: 0.766, data_time: 0.038, memory: 19865, loss_cls: 0.4041, loss_bbox: 0.5508, loss_traj: 1.2783, loss_traj_cls: 0.0006, loss_map_cls: 0.2828, loss_map_pts: 1.2444, loss_map_dir: 0.0192, d0.loss_plan_l1_fix_time: 2.4816, d0.loss_plan_l1_fix_dist: 0.6124, d1.loss_plan_l1_fix_time: 1.9912, d1.loss_plan_l1_fix_dist: 0.4286, d2.loss_plan_l1_fix_time: 1.9966, d2.loss_plan_l1_fix_dist: 0.4510, d3.loss_plan_l1_fix_time: 2.0083, d3.loss_plan_l1_fix_dist: 0.4738, d4.loss_plan_l1_fix_time: 2.0170, d4.loss_plan_l1_fix_dist: 0.4964, d5.loss_plan_l1_fix_time: 2.0259, d5.loss_plan_l1_fix_dist: 0.5164, d6.loss_plan_l1_fix_time: 2.0359, d6.loss_plan_l1_fix_dist: 0.5359, d0.loss_cls_all: 0.4074, d0.loss_bbox_all: 0.5911, d0.loss_cls: 0.4074, d0.loss_bbox: 0.5911, d1.loss_cls: 0.4026, d1.loss_bbox: 0.5599, d2.loss_cls: 0.4002, d2.loss_bbox: 0.5489, d3.loss_cls: 0.4031, d3.loss_bbox: 0.5445, d4.loss_cls: 0.4029, d4.loss_bbox: 0.5427, d5.loss_cls: 0.4042, d5.loss_bbox: 0.5442, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4429, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2926, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2606, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2595, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2670, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2731, d0.loss_map_cls_all: 0.3412, d0.loss_map_pts_all: 1.8294, d0.loss_map_dir_all: 0.0173, d0.loss_map_cls: 0.3412, d0.loss_map_pts: 1.8294, d0.loss_map_dir: 0.0173, d1.loss_map_cls: 0.3138, d1.loss_map_pts: 1.3975, d1.loss_map_dir: 0.0178, d2.loss_map_cls: 0.2972, d2.loss_map_pts: 1.3026, d2.loss_map_dir: 0.0183, d3.loss_map_cls: 0.2885, d3.loss_map_pts: 1.2664, d3.loss_map_dir: 0.0187, d4.loss_map_cls: 0.2850, d4.loss_map_pts: 1.2537, d4.loss_map_dir: 0.0189, d5.loss_map_cls: 0.2837, d5.loss_map_pts: 1.2458, d5.loss_map_dir: 0.0191, loss: 48.8045, grad_norm: 138.1104 +2026-02-24 19:29:21,202 - DriveTransformer - INFO - Epoch [2][38250/39528] lr: 9.958e-05, eta: 8 days, 0:50:53, time: 0.788, data_time: 0.040, memory: 19865, loss_cls: 0.4531, loss_bbox: 0.5898, loss_traj: 1.4207, loss_traj_cls: 0.0006, loss_map_cls: 0.3200, loss_map_pts: 1.3097, loss_map_dir: 0.0240, d0.loss_plan_l1_fix_time: 2.7394, d0.loss_plan_l1_fix_dist: 0.3396, d1.loss_plan_l1_fix_time: 2.0499, d1.loss_plan_l1_fix_dist: 0.2728, d2.loss_plan_l1_fix_time: 2.0246, d2.loss_plan_l1_fix_dist: 0.2849, d3.loss_plan_l1_fix_time: 2.0271, d3.loss_plan_l1_fix_dist: 0.3042, d4.loss_plan_l1_fix_time: 2.0324, d4.loss_plan_l1_fix_dist: 0.3251, d5.loss_plan_l1_fix_time: 2.0388, d5.loss_plan_l1_fix_dist: 0.3480, d6.loss_plan_l1_fix_time: 2.0462, d6.loss_plan_l1_fix_dist: 0.3673, d0.loss_cls_all: 0.4549, d0.loss_bbox_all: 0.6308, d0.loss_cls: 0.4549, d0.loss_bbox: 0.6308, d1.loss_cls: 0.4496, d1.loss_bbox: 0.6050, d2.loss_cls: 0.4479, d2.loss_bbox: 0.5932, d3.loss_cls: 0.4519, d3.loss_bbox: 0.5885, d4.loss_cls: 0.4502, d4.loss_bbox: 0.5857, d5.loss_cls: 0.4527, d5.loss_bbox: 0.5872, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6731, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.4427, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.4001, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.4006, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3985, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4059, d0.loss_map_cls_all: 0.3710, d0.loss_map_pts_all: 2.1828, d0.loss_map_dir_all: 0.0223, d0.loss_map_cls: 0.3710, d0.loss_map_pts: 2.1828, d0.loss_map_dir: 0.0223, d1.loss_map_cls: 0.3520, d1.loss_map_pts: 1.4854, d1.loss_map_dir: 0.0225, d2.loss_map_cls: 0.3340, d2.loss_map_pts: 1.3672, d2.loss_map_dir: 0.0228, d3.loss_map_cls: 0.3246, d3.loss_map_pts: 1.3254, d3.loss_map_dir: 0.0233, d4.loss_map_cls: 0.3204, d4.loss_map_pts: 1.3075, d4.loss_map_dir: 0.0237, d5.loss_map_cls: 0.3189, d5.loss_map_pts: 1.3072, d5.loss_map_dir: 0.0238, loss: 51.1386, grad_norm: 138.8578 +2026-02-24 19:30:02,080 - DriveTransformer - INFO - Epoch [2][38300/39528] lr: 9.958e-05, eta: 8 days, 0:50:25, time: 0.818, data_time: 0.045, memory: 19865, loss_cls: 0.4665, loss_bbox: 0.5863, loss_traj: 1.0700, loss_traj_cls: 0.0006, loss_map_cls: 0.3214, loss_map_pts: 1.4422, loss_map_dir: 0.0288, d0.loss_plan_l1_fix_time: 2.5350, d0.loss_plan_l1_fix_dist: 0.4690, d1.loss_plan_l1_fix_time: 1.9725, d1.loss_plan_l1_fix_dist: 0.3218, d2.loss_plan_l1_fix_time: 1.9613, d2.loss_plan_l1_fix_dist: 0.3316, d3.loss_plan_l1_fix_time: 1.9615, d3.loss_plan_l1_fix_dist: 0.3476, d4.loss_plan_l1_fix_time: 1.9675, d4.loss_plan_l1_fix_dist: 0.3675, d5.loss_plan_l1_fix_time: 1.9749, d5.loss_plan_l1_fix_dist: 0.3921, d6.loss_plan_l1_fix_time: 1.9837, d6.loss_plan_l1_fix_dist: 0.4226, d0.loss_cls_all: 0.4806, d0.loss_bbox_all: 0.6203, d0.loss_cls: 0.4806, d0.loss_bbox: 0.6203, d1.loss_cls: 0.4750, d1.loss_bbox: 0.5923, d2.loss_cls: 0.4691, d2.loss_bbox: 0.5837, d3.loss_cls: 0.4714, d3.loss_bbox: 0.5787, d4.loss_cls: 0.4647, d4.loss_bbox: 0.5803, d5.loss_cls: 0.4675, d5.loss_bbox: 0.5835, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1945, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.0800, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0609, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0591, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.0581, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.0621, d0.loss_map_cls_all: 0.3676, d0.loss_map_pts_all: 2.5108, d0.loss_map_dir_all: 0.0269, d0.loss_map_cls: 0.3676, d0.loss_map_pts: 2.5108, d0.loss_map_dir: 0.0269, d1.loss_map_cls: 0.3513, d1.loss_map_pts: 1.6394, d1.loss_map_dir: 0.0270, d2.loss_map_cls: 0.3378, d2.loss_map_pts: 1.5031, d2.loss_map_dir: 0.0275, d3.loss_map_cls: 0.3266, d3.loss_map_pts: 1.4609, d3.loss_map_dir: 0.0280, d4.loss_map_cls: 0.3218, d4.loss_map_pts: 1.4418, d4.loss_map_dir: 0.0284, d5.loss_map_cls: 0.3214, d5.loss_map_pts: 1.4397, d5.loss_map_dir: 0.0286, loss: 50.0060, grad_norm: 138.7116 +2026-02-24 19:30:46,503 - DriveTransformer - INFO - Epoch [2][38350/39528] lr: 9.958e-05, eta: 8 days, 0:50:36, time: 0.888, data_time: 0.041, memory: 19865, loss_cls: 0.4855, loss_bbox: 0.5887, loss_traj: 1.1787, loss_traj_cls: 0.0006, loss_map_cls: 0.3215, loss_map_pts: 1.6154, loss_map_dir: 0.0304, d0.loss_plan_l1_fix_time: 2.8040, d0.loss_plan_l1_fix_dist: 0.4825, d1.loss_plan_l1_fix_time: 2.0311, d1.loss_plan_l1_fix_dist: 0.3746, d2.loss_plan_l1_fix_time: 1.9986, d2.loss_plan_l1_fix_dist: 0.3859, d3.loss_plan_l1_fix_time: 1.9958, d3.loss_plan_l1_fix_dist: 0.4047, d4.loss_plan_l1_fix_time: 2.0024, d4.loss_plan_l1_fix_dist: 0.4302, d5.loss_plan_l1_fix_time: 2.0117, d5.loss_plan_l1_fix_dist: 0.4595, d6.loss_plan_l1_fix_time: 2.0223, d6.loss_plan_l1_fix_dist: 0.4933, d0.loss_cls_all: 0.4774, d0.loss_bbox_all: 0.6331, d0.loss_cls: 0.4774, d0.loss_bbox: 0.6331, d1.loss_cls: 0.4757, d1.loss_bbox: 0.6050, d2.loss_cls: 0.4795, d2.loss_bbox: 0.5923, d3.loss_cls: 0.4764, d3.loss_bbox: 0.5912, d4.loss_cls: 0.4814, d4.loss_bbox: 0.5891, d5.loss_cls: 0.4823, d5.loss_bbox: 0.5874, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2621, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1612, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1428, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1486, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1513, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1567, d0.loss_map_cls_all: 0.3667, d0.loss_map_pts_all: 2.6738, d0.loss_map_dir_all: 0.0280, d0.loss_map_cls: 0.3667, d0.loss_map_pts: 2.6738, d0.loss_map_dir: 0.0280, d1.loss_map_cls: 0.3542, d1.loss_map_pts: 1.8081, d1.loss_map_dir: 0.0283, d2.loss_map_cls: 0.3426, d2.loss_map_pts: 1.6731, d2.loss_map_dir: 0.0289, d3.loss_map_cls: 0.3293, d3.loss_map_pts: 1.6316, d3.loss_map_dir: 0.0296, d4.loss_map_cls: 0.3223, d4.loss_map_pts: 1.6184, d4.loss_map_dir: 0.0300, d5.loss_map_cls: 0.3216, d5.loss_map_pts: 1.6110, d5.loss_map_dir: 0.0302, loss: 53.0224, grad_norm: 139.4565 +2026-02-24 19:31:26,302 - DriveTransformer - INFO - Epoch [2][38400/39528] lr: 9.958e-05, eta: 8 days, 0:49:55, time: 0.796, data_time: 0.037, memory: 19865, loss_cls: 0.4622, loss_bbox: 0.5517, loss_traj: 1.2382, loss_traj_cls: 0.0006, loss_map_cls: 0.2746, loss_map_pts: 1.2786, loss_map_dir: 0.0213, d0.loss_plan_l1_fix_time: 2.3207, d0.loss_plan_l1_fix_dist: 0.4743, d1.loss_plan_l1_fix_time: 1.7445, d1.loss_plan_l1_fix_dist: 0.3038, d2.loss_plan_l1_fix_time: 1.7097, d2.loss_plan_l1_fix_dist: 0.3163, d3.loss_plan_l1_fix_time: 1.7122, d3.loss_plan_l1_fix_dist: 0.3375, d4.loss_plan_l1_fix_time: 1.7221, d4.loss_plan_l1_fix_dist: 0.3620, d5.loss_plan_l1_fix_time: 1.7331, d5.loss_plan_l1_fix_dist: 0.3906, d6.loss_plan_l1_fix_time: 1.7453, d6.loss_plan_l1_fix_dist: 0.4209, d0.loss_cls_all: 0.4474, d0.loss_bbox_all: 0.5924, d0.loss_cls: 0.4474, d0.loss_bbox: 0.5924, d1.loss_cls: 0.4537, d1.loss_bbox: 0.5624, d2.loss_cls: 0.4528, d2.loss_bbox: 0.5518, d3.loss_cls: 0.4564, d3.loss_bbox: 0.5468, d4.loss_cls: 0.4575, d4.loss_bbox: 0.5466, d5.loss_cls: 0.4589, d5.loss_bbox: 0.5482, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4272, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2518, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2214, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2271, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2216, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2310, d0.loss_map_cls_all: 0.3403, d0.loss_map_pts_all: 2.0586, d0.loss_map_dir_all: 0.0194, d0.loss_map_cls: 0.3403, d0.loss_map_pts: 2.0586, d0.loss_map_dir: 0.0194, d1.loss_map_cls: 0.3192, d1.loss_map_pts: 1.4411, d1.loss_map_dir: 0.0197, d2.loss_map_cls: 0.2983, d2.loss_map_pts: 1.3367, d2.loss_map_dir: 0.0202, d3.loss_map_cls: 0.2843, d3.loss_map_pts: 1.3003, d3.loss_map_dir: 0.0207, d4.loss_map_cls: 0.2773, d4.loss_map_pts: 1.2885, d4.loss_map_dir: 0.0209, d5.loss_map_cls: 0.2748, d5.loss_map_pts: 1.2817, d5.loss_map_dir: 0.0210, loss: 46.8615, grad_norm: 142.0662 +2026-02-24 19:32:08,549 - DriveTransformer - INFO - Epoch [2][38450/39528] lr: 9.958e-05, eta: 8 days, 0:49:42, time: 0.845, data_time: 0.038, memory: 19865, loss_cls: 0.4672, loss_bbox: 0.6058, loss_traj: 1.2882, loss_traj_cls: 0.0006, loss_map_cls: 0.3197, loss_map_pts: 1.5208, loss_map_dir: 0.0276, d0.loss_plan_l1_fix_time: 3.0550, d0.loss_plan_l1_fix_dist: 0.4298, d1.loss_plan_l1_fix_time: 2.3597, d1.loss_plan_l1_fix_dist: 0.3386, d2.loss_plan_l1_fix_time: 2.3340, d2.loss_plan_l1_fix_dist: 0.3527, d3.loss_plan_l1_fix_time: 2.3359, d3.loss_plan_l1_fix_dist: 0.3766, d4.loss_plan_l1_fix_time: 2.3393, d4.loss_plan_l1_fix_dist: 0.4014, d5.loss_plan_l1_fix_time: 2.3436, d5.loss_plan_l1_fix_dist: 0.4259, d6.loss_plan_l1_fix_time: 2.3504, d6.loss_plan_l1_fix_dist: 0.4509, d0.loss_cls_all: 0.4704, d0.loss_bbox_all: 0.6539, d0.loss_cls: 0.4704, d0.loss_bbox: 0.6539, d1.loss_cls: 0.4657, d1.loss_bbox: 0.6262, d2.loss_cls: 0.4619, d2.loss_bbox: 0.6126, d3.loss_cls: 0.4619, d3.loss_bbox: 0.6069, d4.loss_cls: 0.4634, d4.loss_bbox: 0.6041, d5.loss_cls: 0.4649, d5.loss_bbox: 0.6022, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3837, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2838, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2636, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2786, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2793, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2762, d0.loss_map_cls_all: 0.3687, d0.loss_map_pts_all: 2.6123, d0.loss_map_dir_all: 0.0255, d0.loss_map_cls: 0.3687, d0.loss_map_pts: 2.6123, d0.loss_map_dir: 0.0255, d1.loss_map_cls: 0.3466, d1.loss_map_pts: 1.7213, d1.loss_map_dir: 0.0256, d2.loss_map_cls: 0.3293, d2.loss_map_pts: 1.5886, d2.loss_map_dir: 0.0262, d3.loss_map_cls: 0.3237, d3.loss_map_pts: 1.5409, d3.loss_map_dir: 0.0267, d4.loss_map_cls: 0.3218, d4.loss_map_pts: 1.5288, d4.loss_map_dir: 0.0271, d5.loss_map_cls: 0.3194, d5.loss_map_pts: 1.5208, d5.loss_map_dir: 0.0273, loss: 55.1994, grad_norm: 142.8365 +2026-02-24 19:32:47,831 - DriveTransformer - INFO - Epoch [2][38500/39528] lr: 9.958e-05, eta: 8 days, 0:48:56, time: 0.786, data_time: 0.041, memory: 19865, loss_cls: 0.4419, loss_bbox: 0.5293, loss_traj: 1.2374, loss_traj_cls: 0.0006, loss_map_cls: 0.3080, loss_map_pts: 1.2288, loss_map_dir: 0.0205, d0.loss_plan_l1_fix_time: 2.7422, d0.loss_plan_l1_fix_dist: 0.4313, d1.loss_plan_l1_fix_time: 1.9042, d1.loss_plan_l1_fix_dist: 0.2579, d2.loss_plan_l1_fix_time: 1.8647, d2.loss_plan_l1_fix_dist: 0.2691, d3.loss_plan_l1_fix_time: 1.8585, d3.loss_plan_l1_fix_dist: 0.2860, d4.loss_plan_l1_fix_time: 1.8643, d4.loss_plan_l1_fix_dist: 0.3084, d5.loss_plan_l1_fix_time: 1.8726, d5.loss_plan_l1_fix_dist: 0.3335, d6.loss_plan_l1_fix_time: 1.8828, d6.loss_plan_l1_fix_dist: 0.3594, d0.loss_cls_all: 0.4205, d0.loss_bbox_all: 0.5770, d0.loss_cls: 0.4205, d0.loss_bbox: 0.5770, d1.loss_cls: 0.4206, d1.loss_bbox: 0.5549, d2.loss_cls: 0.4274, d2.loss_bbox: 0.5422, d3.loss_cls: 0.4310, d3.loss_bbox: 0.5328, d4.loss_cls: 0.4328, d4.loss_bbox: 0.5310, d5.loss_cls: 0.4358, d5.loss_bbox: 0.5288, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3522, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2384, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2239, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2208, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2208, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2195, d0.loss_map_cls_all: 0.3557, d0.loss_map_pts_all: 2.0211, d0.loss_map_dir_all: 0.0189, d0.loss_map_cls: 0.3557, d0.loss_map_pts: 2.0211, d0.loss_map_dir: 0.0189, d1.loss_map_cls: 0.3378, d1.loss_map_pts: 1.4316, d1.loss_map_dir: 0.0190, d2.loss_map_cls: 0.3190, d2.loss_map_pts: 1.2965, d2.loss_map_dir: 0.0195, d3.loss_map_cls: 0.3061, d3.loss_map_pts: 1.2452, d3.loss_map_dir: 0.0199, d4.loss_map_cls: 0.3052, d4.loss_map_pts: 1.2285, d4.loss_map_dir: 0.0202, d5.loss_map_cls: 0.3069, d5.loss_map_pts: 1.2236, d5.loss_map_dir: 0.0203, loss: 47.2051, grad_norm: 146.2423 +2026-02-24 19:33:27,902 - DriveTransformer - INFO - Epoch [2][38550/39528] lr: 9.958e-05, eta: 8 days, 0:48:18, time: 0.801, data_time: 0.039, memory: 19865, loss_cls: 0.5099, loss_bbox: 0.6012, loss_traj: 1.2359, loss_traj_cls: 0.0006, loss_map_cls: 0.3202, loss_map_pts: 1.4783, loss_map_dir: 0.0258, d0.loss_plan_l1_fix_time: 2.6496, d0.loss_plan_l1_fix_dist: 0.4844, d1.loss_plan_l1_fix_time: 1.9534, d1.loss_plan_l1_fix_dist: 0.3436, d2.loss_plan_l1_fix_time: 1.9293, d2.loss_plan_l1_fix_dist: 0.3624, d3.loss_plan_l1_fix_time: 1.9297, d3.loss_plan_l1_fix_dist: 0.3818, d4.loss_plan_l1_fix_time: 1.9347, d4.loss_plan_l1_fix_dist: 0.4052, d5.loss_plan_l1_fix_time: 1.9406, d5.loss_plan_l1_fix_dist: 0.4301, d6.loss_plan_l1_fix_time: 1.9474, d6.loss_plan_l1_fix_dist: 0.4593, d0.loss_cls_all: 0.4803, d0.loss_bbox_all: 0.6498, d0.loss_cls: 0.4803, d0.loss_bbox: 0.6498, d1.loss_cls: 0.4807, d1.loss_bbox: 0.6257, d2.loss_cls: 0.4930, d2.loss_bbox: 0.6141, d3.loss_cls: 0.4890, d3.loss_bbox: 0.6080, d4.loss_cls: 0.4966, d4.loss_bbox: 0.6028, d5.loss_cls: 0.4990, d5.loss_bbox: 0.6024, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2961, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2025, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1954, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.2092, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2128, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2145, d0.loss_map_cls_all: 0.3598, d0.loss_map_pts_all: 2.3818, d0.loss_map_dir_all: 0.0242, d0.loss_map_cls: 0.3598, d0.loss_map_pts: 2.3818, d0.loss_map_dir: 0.0242, d1.loss_map_cls: 0.3520, d1.loss_map_pts: 1.6215, d1.loss_map_dir: 0.0243, d2.loss_map_cls: 0.3342, d2.loss_map_pts: 1.5107, d2.loss_map_dir: 0.0248, d3.loss_map_cls: 0.3250, d3.loss_map_pts: 1.4753, d3.loss_map_dir: 0.0252, d4.loss_map_cls: 0.3201, d4.loss_map_pts: 1.4636, d4.loss_map_dir: 0.0254, d5.loss_map_cls: 0.3213, d5.loss_map_pts: 1.4708, d5.loss_map_dir: 0.0256, loss: 51.2815, grad_norm: 148.1106 +2026-02-24 19:34:07,696 - DriveTransformer - INFO - Epoch [2][38600/39528] lr: 9.958e-05, eta: 8 days, 0:47:38, time: 0.796, data_time: 0.042, memory: 19865, loss_cls: 0.4446, loss_bbox: 0.5956, loss_traj: 1.4352, loss_traj_cls: 0.0006, loss_map_cls: 0.3216, loss_map_pts: 1.5083, loss_map_dir: 0.0226, d0.loss_plan_l1_fix_time: 3.5418, d0.loss_plan_l1_fix_dist: 0.4869, d1.loss_plan_l1_fix_time: 2.6288, d1.loss_plan_l1_fix_dist: 0.3481, d2.loss_plan_l1_fix_time: 2.6146, d2.loss_plan_l1_fix_dist: 0.3582, d3.loss_plan_l1_fix_time: 2.6157, d3.loss_plan_l1_fix_dist: 0.3753, d4.loss_plan_l1_fix_time: 2.6202, d4.loss_plan_l1_fix_dist: 0.3940, d5.loss_plan_l1_fix_time: 2.6257, d5.loss_plan_l1_fix_dist: 0.4169, d6.loss_plan_l1_fix_time: 2.6323, d6.loss_plan_l1_fix_dist: 0.4457, d0.loss_cls_all: 0.4476, d0.loss_bbox_all: 0.6373, d0.loss_cls: 0.4476, d0.loss_bbox: 0.6373, d1.loss_cls: 0.4403, d1.loss_bbox: 0.6135, d2.loss_cls: 0.4408, d2.loss_bbox: 0.6029, d3.loss_cls: 0.4400, d3.loss_bbox: 0.5949, d4.loss_cls: 0.4416, d4.loss_bbox: 0.5936, d5.loss_cls: 0.4423, d5.loss_bbox: 0.5924, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6325, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.4481, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.4204, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.4171, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4200, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4340, d0.loss_map_cls_all: 0.3691, d0.loss_map_pts_all: 2.3480, d0.loss_map_dir_all: 0.0208, d0.loss_map_cls: 0.3691, d0.loss_map_pts: 2.3480, d0.loss_map_dir: 0.0208, d1.loss_map_cls: 0.3510, d1.loss_map_pts: 1.6922, d1.loss_map_dir: 0.0212, d2.loss_map_cls: 0.3350, d2.loss_map_pts: 1.5765, d2.loss_map_dir: 0.0217, d3.loss_map_cls: 0.3261, d3.loss_map_pts: 1.5327, d3.loss_map_dir: 0.0220, d4.loss_map_cls: 0.3235, d4.loss_map_pts: 1.5166, d4.loss_map_dir: 0.0222, d5.loss_map_cls: 0.3215, d5.loss_map_pts: 1.5134, d5.loss_map_dir: 0.0224, loss: 57.6558, grad_norm: 147.7082 +2026-02-24 19:34:46,680 - DriveTransformer - INFO - Epoch [2][38650/39528] lr: 9.958e-05, eta: 8 days, 0:46:48, time: 0.780, data_time: 0.045, memory: 19865, loss_cls: 0.4502, loss_bbox: 0.5473, loss_traj: 1.4283, loss_traj_cls: 0.0006, loss_map_cls: 0.3247, loss_map_pts: 1.2229, loss_map_dir: 0.0194, d0.loss_plan_l1_fix_time: 3.2653, d0.loss_plan_l1_fix_dist: 0.4061, d1.loss_plan_l1_fix_time: 2.0285, d1.loss_plan_l1_fix_dist: 0.2885, d2.loss_plan_l1_fix_time: 1.9945, d2.loss_plan_l1_fix_dist: 0.3049, d3.loss_plan_l1_fix_time: 1.9981, d3.loss_plan_l1_fix_dist: 0.3273, d4.loss_plan_l1_fix_time: 2.0012, d4.loss_plan_l1_fix_dist: 0.3511, d5.loss_plan_l1_fix_time: 2.0059, d5.loss_plan_l1_fix_dist: 0.3741, d6.loss_plan_l1_fix_time: 2.0119, d6.loss_plan_l1_fix_dist: 0.3934, d0.loss_cls_all: 0.4492, d0.loss_bbox_all: 0.5865, d0.loss_cls: 0.4492, d0.loss_bbox: 0.5865, d1.loss_cls: 0.4452, d1.loss_bbox: 0.5630, d2.loss_cls: 0.4474, d2.loss_bbox: 0.5543, d3.loss_cls: 0.4459, d3.loss_bbox: 0.5462, d4.loss_cls: 0.4465, d4.loss_bbox: 0.5450, d5.loss_cls: 0.4484, d5.loss_bbox: 0.5440, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6018, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.4256, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3970, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.4075, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4064, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4192, d0.loss_map_cls_all: 0.3822, d0.loss_map_pts_all: 2.0317, d0.loss_map_dir_all: 0.0179, d0.loss_map_cls: 0.3822, d0.loss_map_pts: 2.0317, d0.loss_map_dir: 0.0179, d1.loss_map_cls: 0.3556, d1.loss_map_pts: 1.4175, d1.loss_map_dir: 0.0183, d2.loss_map_cls: 0.3406, d2.loss_map_pts: 1.2922, d2.loss_map_dir: 0.0186, d3.loss_map_cls: 0.3292, d3.loss_map_pts: 1.2426, d3.loss_map_dir: 0.0190, d4.loss_map_cls: 0.3246, d4.loss_map_pts: 1.2290, d4.loss_map_dir: 0.0192, d5.loss_map_cls: 0.3248, d5.loss_map_pts: 1.2212, d5.loss_map_dir: 0.0193, loss: 50.4990, grad_norm: 147.6834 +2026-02-24 19:35:26,592 - DriveTransformer - INFO - Epoch [2][38700/39528] lr: 9.958e-05, eta: 8 days, 0:46:09, time: 0.798, data_time: 0.048, memory: 19865, loss_cls: 0.4436, loss_bbox: 0.5544, loss_traj: 1.3962, loss_traj_cls: 0.0006, loss_map_cls: 0.3131, loss_map_pts: 1.3611, loss_map_dir: 0.0211, d0.loss_plan_l1_fix_time: 2.5107, d0.loss_plan_l1_fix_dist: 0.4622, d1.loss_plan_l1_fix_time: 1.8109, d1.loss_plan_l1_fix_dist: 0.3418, d2.loss_plan_l1_fix_time: 1.7938, d2.loss_plan_l1_fix_dist: 0.3572, d3.loss_plan_l1_fix_time: 1.7970, d3.loss_plan_l1_fix_dist: 0.3735, d4.loss_plan_l1_fix_time: 1.8034, d4.loss_plan_l1_fix_dist: 0.3948, d5.loss_plan_l1_fix_time: 1.8104, d5.loss_plan_l1_fix_dist: 0.4144, d6.loss_plan_l1_fix_time: 1.8182, d6.loss_plan_l1_fix_dist: 0.4348, d0.loss_cls_all: 0.4559, d0.loss_bbox_all: 0.5967, d0.loss_cls: 0.4559, d0.loss_bbox: 0.5967, d1.loss_cls: 0.4516, d1.loss_bbox: 0.5740, d2.loss_cls: 0.4466, d2.loss_bbox: 0.5620, d3.loss_cls: 0.4503, d3.loss_bbox: 0.5532, d4.loss_cls: 0.4482, d4.loss_bbox: 0.5486, d5.loss_cls: 0.4492, d5.loss_bbox: 0.5508, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6385, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.4016, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3734, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.3788, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3837, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.3987, d0.loss_map_cls_all: 0.3600, d0.loss_map_pts_all: 2.2090, d0.loss_map_dir_all: 0.0196, d0.loss_map_cls: 0.3600, d0.loss_map_pts: 2.2090, d0.loss_map_dir: 0.0196, d1.loss_map_cls: 0.3392, d1.loss_map_pts: 1.5606, d1.loss_map_dir: 0.0197, d2.loss_map_cls: 0.3213, d2.loss_map_pts: 1.4328, d2.loss_map_dir: 0.0201, d3.loss_map_cls: 0.3125, d3.loss_map_pts: 1.3824, d3.loss_map_dir: 0.0204, d4.loss_map_cls: 0.3098, d4.loss_map_pts: 1.3689, d4.loss_map_dir: 0.0207, d5.loss_map_cls: 0.3126, d5.loss_map_pts: 1.3590, d5.loss_map_dir: 0.0210, loss: 49.9111, grad_norm: 147.4835 +2026-02-24 19:36:07,072 - DriveTransformer - INFO - Epoch [2][38750/39528] lr: 9.958e-05, eta: 8 days, 0:45:36, time: 0.810, data_time: 0.041, memory: 19865, loss_cls: 0.4167, loss_bbox: 0.5439, loss_traj: 1.2693, loss_traj_cls: 0.0006, loss_map_cls: 0.2956, loss_map_pts: 1.2668, loss_map_dir: 0.0232, d0.loss_plan_l1_fix_time: 2.8553, d0.loss_plan_l1_fix_dist: 0.4522, d1.loss_plan_l1_fix_time: 2.1005, d1.loss_plan_l1_fix_dist: 0.3409, d2.loss_plan_l1_fix_time: 2.0769, d2.loss_plan_l1_fix_dist: 0.3562, d3.loss_plan_l1_fix_time: 2.0871, d3.loss_plan_l1_fix_dist: 0.3754, d4.loss_plan_l1_fix_time: 2.0973, d4.loss_plan_l1_fix_dist: 0.3975, d5.loss_plan_l1_fix_time: 2.1072, d5.loss_plan_l1_fix_dist: 0.4197, d6.loss_plan_l1_fix_time: 2.1173, d6.loss_plan_l1_fix_dist: 0.4435, d0.loss_cls_all: 0.4288, d0.loss_bbox_all: 0.5722, d0.loss_cls: 0.4288, d0.loss_bbox: 0.5722, d1.loss_cls: 0.4223, d1.loss_bbox: 0.5595, d2.loss_cls: 0.4172, d2.loss_bbox: 0.5518, d3.loss_cls: 0.4166, d3.loss_bbox: 0.5453, d4.loss_cls: 0.4143, d4.loss_bbox: 0.5436, d5.loss_cls: 0.4167, d5.loss_bbox: 0.5417, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3079, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2670, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2510, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.2474, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2584, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2699, d0.loss_map_cls_all: 0.3437, d0.loss_map_pts_all: 2.1850, d0.loss_map_dir_all: 0.0216, d0.loss_map_cls: 0.3437, d0.loss_map_pts: 2.1850, d0.loss_map_dir: 0.0216, d1.loss_map_cls: 0.3258, d1.loss_map_pts: 1.4586, d1.loss_map_dir: 0.0220, d2.loss_map_cls: 0.3092, d2.loss_map_pts: 1.3247, d2.loss_map_dir: 0.0222, d3.loss_map_cls: 0.2995, d3.loss_map_pts: 1.2825, d3.loss_map_dir: 0.0226, d4.loss_map_cls: 0.2953, d4.loss_map_pts: 1.2698, d4.loss_map_dir: 0.0229, d5.loss_map_cls: 0.2968, d5.loss_map_pts: 1.2668, d5.loss_map_dir: 0.0231, loss: 49.8233, grad_norm: 147.0370 +2026-02-24 19:36:46,920 - DriveTransformer - INFO - Epoch [2][38800/39528] lr: 9.958e-05, eta: 8 days, 0:44:56, time: 0.797, data_time: 0.042, memory: 19865, loss_cls: 0.4283, loss_bbox: 0.6222, loss_traj: 1.1734, loss_traj_cls: 0.0006, loss_map_cls: 0.3151, loss_map_pts: 1.4441, loss_map_dir: 0.0192, d0.loss_plan_l1_fix_time: 2.7152, d0.loss_plan_l1_fix_dist: 0.5300, d1.loss_plan_l1_fix_time: 2.0000, d1.loss_plan_l1_fix_dist: 0.3250, d2.loss_plan_l1_fix_time: 1.9808, d2.loss_plan_l1_fix_dist: 0.3393, d3.loss_plan_l1_fix_time: 1.9790, d3.loss_plan_l1_fix_dist: 0.3564, d4.loss_plan_l1_fix_time: 1.9822, d4.loss_plan_l1_fix_dist: 0.3732, d5.loss_plan_l1_fix_time: 1.9863, d5.loss_plan_l1_fix_dist: 0.3928, d6.loss_plan_l1_fix_time: 1.9917, d6.loss_plan_l1_fix_dist: 0.4153, d0.loss_cls_all: 0.4430, d0.loss_bbox_all: 0.6607, d0.loss_cls: 0.4430, d0.loss_bbox: 0.6607, d1.loss_cls: 0.4326, d1.loss_bbox: 0.6358, d2.loss_cls: 0.4265, d2.loss_bbox: 0.6274, d3.loss_cls: 0.4256, d3.loss_bbox: 0.6215, d4.loss_cls: 0.4251, d4.loss_bbox: 0.6205, d5.loss_cls: 0.4284, d5.loss_bbox: 0.6193, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2917, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1927, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1640, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1706, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1686, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1670, d0.loss_map_cls_all: 0.3718, d0.loss_map_pts_all: 2.0200, d0.loss_map_dir_all: 0.0175, d0.loss_map_cls: 0.3718, d0.loss_map_pts: 2.0200, d0.loss_map_dir: 0.0175, d1.loss_map_cls: 0.3400, d1.loss_map_pts: 1.5897, d1.loss_map_dir: 0.0178, d2.loss_map_cls: 0.3268, d2.loss_map_pts: 1.4916, d2.loss_map_dir: 0.0184, d3.loss_map_cls: 0.3141, d3.loss_map_pts: 1.4515, d3.loss_map_dir: 0.0187, d4.loss_map_cls: 0.3123, d4.loss_map_pts: 1.4394, d4.loss_map_dir: 0.0190, d5.loss_map_cls: 0.3141, d5.loss_map_pts: 1.4413, d5.loss_map_dir: 0.0192, loss: 49.9326, grad_norm: 147.4491 +2026-02-24 19:37:27,280 - DriveTransformer - INFO - Epoch [2][38850/39528] lr: 9.958e-05, eta: 8 days, 0:44:21, time: 0.807, data_time: 0.042, memory: 19865, loss_cls: 0.4218, loss_bbox: 0.5780, loss_traj: 1.2803, loss_traj_cls: 0.0006, loss_map_cls: 0.3089, loss_map_pts: 1.4146, loss_map_dir: 0.0239, d0.loss_plan_l1_fix_time: 2.6037, d0.loss_plan_l1_fix_dist: 0.3805, d1.loss_plan_l1_fix_time: 1.8604, d1.loss_plan_l1_fix_dist: 0.2671, d2.loss_plan_l1_fix_time: 1.8533, d2.loss_plan_l1_fix_dist: 0.2788, d3.loss_plan_l1_fix_time: 1.8558, d3.loss_plan_l1_fix_dist: 0.2977, d4.loss_plan_l1_fix_time: 1.8606, d4.loss_plan_l1_fix_dist: 0.3238, d5.loss_plan_l1_fix_time: 1.8663, d5.loss_plan_l1_fix_dist: 0.3517, d6.loss_plan_l1_fix_time: 1.8732, d6.loss_plan_l1_fix_dist: 0.3833, d0.loss_cls_all: 0.4399, d0.loss_bbox_all: 0.6166, d0.loss_cls: 0.4399, d0.loss_bbox: 0.6166, d1.loss_cls: 0.4298, d1.loss_bbox: 0.5862, d2.loss_cls: 0.4248, d2.loss_bbox: 0.5773, d3.loss_cls: 0.4265, d3.loss_bbox: 0.5742, d4.loss_cls: 0.4253, d4.loss_bbox: 0.5730, d5.loss_cls: 0.4254, d5.loss_bbox: 0.5731, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4468, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3037, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2580, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.2561, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2565, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2779, d0.loss_map_cls_all: 0.3526, d0.loss_map_pts_all: 2.4182, d0.loss_map_dir_all: 0.0226, d0.loss_map_cls: 0.3526, d0.loss_map_pts: 2.4182, d0.loss_map_dir: 0.0226, d1.loss_map_cls: 0.3392, d1.loss_map_pts: 1.6256, d1.loss_map_dir: 0.0226, d2.loss_map_cls: 0.3218, d2.loss_map_pts: 1.4829, d2.loss_map_dir: 0.0229, d3.loss_map_cls: 0.3142, d3.loss_map_pts: 1.4370, d3.loss_map_dir: 0.0233, d4.loss_map_cls: 0.3119, d4.loss_map_pts: 1.4222, d4.loss_map_dir: 0.0236, d5.loss_map_cls: 0.3071, d5.loss_map_pts: 1.4177, d5.loss_map_dir: 0.0238, loss: 49.6999, grad_norm: 147.3645 +2026-02-24 19:38:06,799 - DriveTransformer - INFO - Epoch [2][38900/39528] lr: 9.958e-05, eta: 8 days, 0:43:38, time: 0.790, data_time: 0.036, memory: 19865, loss_cls: 0.4414, loss_bbox: 0.5963, loss_traj: 1.2868, loss_traj_cls: 0.0006, loss_map_cls: 0.3059, loss_map_pts: 1.3360, loss_map_dir: 0.0237, d0.loss_plan_l1_fix_time: 2.8125, d0.loss_plan_l1_fix_dist: 0.4535, d1.loss_plan_l1_fix_time: 2.1715, d1.loss_plan_l1_fix_dist: 0.3502, d2.loss_plan_l1_fix_time: 2.1506, d2.loss_plan_l1_fix_dist: 0.3597, d3.loss_plan_l1_fix_time: 2.1560, d3.loss_plan_l1_fix_dist: 0.3744, d4.loss_plan_l1_fix_time: 2.1629, d4.loss_plan_l1_fix_dist: 0.3943, d5.loss_plan_l1_fix_time: 2.1699, d5.loss_plan_l1_fix_dist: 0.4150, d6.loss_plan_l1_fix_time: 2.1766, d6.loss_plan_l1_fix_dist: 0.4365, d0.loss_cls_all: 0.4452, d0.loss_bbox_all: 0.6412, d0.loss_cls: 0.4452, d0.loss_bbox: 0.6412, d1.loss_cls: 0.4451, d1.loss_bbox: 0.6122, d2.loss_cls: 0.4423, d2.loss_bbox: 0.5977, d3.loss_cls: 0.4453, d3.loss_bbox: 0.5909, d4.loss_cls: 0.4425, d4.loss_bbox: 0.5906, d5.loss_cls: 0.4451, d5.loss_bbox: 0.5894, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4342, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2934, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2765, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.2794, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2745, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2774, d0.loss_map_cls_all: 0.3604, d0.loss_map_pts_all: 2.1831, d0.loss_map_dir_all: 0.0218, d0.loss_map_cls: 0.3604, d0.loss_map_pts: 2.1831, d0.loss_map_dir: 0.0218, d1.loss_map_cls: 0.3369, d1.loss_map_pts: 1.5113, d1.loss_map_dir: 0.0220, d2.loss_map_cls: 0.3228, d2.loss_map_pts: 1.3795, d2.loss_map_dir: 0.0226, d3.loss_map_cls: 0.3093, d3.loss_map_pts: 1.3474, d3.loss_map_dir: 0.0231, d4.loss_map_cls: 0.3061, d4.loss_map_pts: 1.3369, d4.loss_map_dir: 0.0233, d5.loss_map_cls: 0.3046, d5.loss_map_pts: 1.3324, d5.loss_map_dir: 0.0236, loss: 51.5211, grad_norm: 146.6511 +2026-02-24 19:38:47,559 - DriveTransformer - INFO - Epoch [2][38950/39528] lr: 9.958e-05, eta: 8 days, 0:43:08, time: 0.815, data_time: 0.039, memory: 19865, loss_cls: 0.4669, loss_bbox: 0.6282, loss_traj: 1.3533, loss_traj_cls: 0.0006, loss_map_cls: 0.2935, loss_map_pts: 1.4250, loss_map_dir: 0.0249, d0.loss_plan_l1_fix_time: 2.7083, d0.loss_plan_l1_fix_dist: 0.4283, d1.loss_plan_l1_fix_time: 2.0600, d1.loss_plan_l1_fix_dist: 0.3501, d2.loss_plan_l1_fix_time: 2.0668, d2.loss_plan_l1_fix_dist: 0.3715, d3.loss_plan_l1_fix_time: 2.0776, d3.loss_plan_l1_fix_dist: 0.3968, d4.loss_plan_l1_fix_time: 2.0867, d4.loss_plan_l1_fix_dist: 0.4232, d5.loss_plan_l1_fix_time: 2.0954, d5.loss_plan_l1_fix_dist: 0.4530, d6.loss_plan_l1_fix_time: 2.1039, d6.loss_plan_l1_fix_dist: 0.4838, d0.loss_cls_all: 0.4662, d0.loss_bbox_all: 0.6591, d0.loss_cls: 0.4662, d0.loss_bbox: 0.6591, d1.loss_cls: 0.4730, d1.loss_bbox: 0.6323, d2.loss_cls: 0.4642, d2.loss_bbox: 0.6203, d3.loss_cls: 0.4647, d3.loss_bbox: 0.6152, d4.loss_cls: 0.4628, d4.loss_bbox: 0.6177, d5.loss_cls: 0.4653, d5.loss_bbox: 0.6219, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4807, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3586, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3347, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.3474, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3544, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3542, d0.loss_map_cls_all: 0.3471, d0.loss_map_pts_all: 2.3880, d0.loss_map_dir_all: 0.0226, d0.loss_map_cls: 0.3471, d0.loss_map_pts: 2.3880, d0.loss_map_dir: 0.0226, d1.loss_map_cls: 0.3281, d1.loss_map_pts: 1.6064, d1.loss_map_dir: 0.0231, d2.loss_map_cls: 0.3104, d2.loss_map_pts: 1.4789, d2.loss_map_dir: 0.0236, d3.loss_map_cls: 0.2980, d3.loss_map_pts: 1.4362, d3.loss_map_dir: 0.0242, d4.loss_map_cls: 0.2942, d4.loss_map_pts: 1.4279, d4.loss_map_dir: 0.0245, d5.loss_map_cls: 0.2930, d5.loss_map_pts: 1.4215, d5.loss_map_dir: 0.0248, loss: 52.7513, grad_norm: 149.2052 +2026-02-24 19:39:28,070 - DriveTransformer - INFO - Epoch [2][39000/39528] lr: 9.958e-05, eta: 8 days, 0:42:36, time: 0.812, data_time: 0.044, memory: 19865, loss_cls: 0.4451, loss_bbox: 0.6176, loss_traj: 1.3936, loss_traj_cls: 0.0005, loss_map_cls: 0.3093, loss_map_pts: 1.4196, loss_map_dir: 0.0228, d0.loss_plan_l1_fix_time: 2.6364, d0.loss_plan_l1_fix_dist: 0.3554, d1.loss_plan_l1_fix_time: 1.9670, d1.loss_plan_l1_fix_dist: 0.2924, d2.loss_plan_l1_fix_time: 1.9347, d2.loss_plan_l1_fix_dist: 0.3093, d3.loss_plan_l1_fix_time: 1.9393, d3.loss_plan_l1_fix_dist: 0.3261, d4.loss_plan_l1_fix_time: 1.9480, d4.loss_plan_l1_fix_dist: 0.3427, d5.loss_plan_l1_fix_time: 1.9570, d5.loss_plan_l1_fix_dist: 0.3595, d6.loss_plan_l1_fix_time: 1.9667, d6.loss_plan_l1_fix_dist: 0.3764, d0.loss_cls_all: 0.4561, d0.loss_bbox_all: 0.6466, d0.loss_cls: 0.4561, d0.loss_bbox: 0.6466, d1.loss_cls: 0.4507, d1.loss_bbox: 0.6265, d2.loss_cls: 0.4431, d2.loss_bbox: 0.6150, d3.loss_cls: 0.4411, d3.loss_bbox: 0.6126, d4.loss_cls: 0.4419, d4.loss_bbox: 0.6128, d5.loss_cls: 0.4420, d5.loss_bbox: 0.6165, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4404, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3796, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3794, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.3902, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3924, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3965, d0.loss_map_cls_all: 0.3595, d0.loss_map_pts_all: 2.2367, d0.loss_map_dir_all: 0.0204, d0.loss_map_cls: 0.3595, d0.loss_map_pts: 2.2367, d0.loss_map_dir: 0.0204, d1.loss_map_cls: 0.3367, d1.loss_map_pts: 1.6045, d1.loss_map_dir: 0.0208, d2.loss_map_cls: 0.3223, d2.loss_map_pts: 1.4826, d2.loss_map_dir: 0.0215, d3.loss_map_cls: 0.3133, d3.loss_map_pts: 1.4369, d3.loss_map_dir: 0.0221, d4.loss_map_cls: 0.3088, d4.loss_map_pts: 1.4223, d4.loss_map_dir: 0.0225, d5.loss_map_cls: 0.3091, d5.loss_map_pts: 1.4174, d5.loss_map_dir: 0.0227, loss: 51.1073, grad_norm: 149.7253 +2026-02-24 19:40:07,919 - DriveTransformer - INFO - Epoch [2][39050/39528] lr: 9.958e-05, eta: 8 days, 0:41:55, time: 0.796, data_time: 0.035, memory: 19865, loss_cls: 0.4986, loss_bbox: 0.6550, loss_traj: 1.3668, loss_traj_cls: 0.0006, loss_map_cls: 0.3590, loss_map_pts: 1.5436, loss_map_dir: 0.0267, d0.loss_plan_l1_fix_time: 3.3375, d0.loss_plan_l1_fix_dist: 0.3942, d1.loss_plan_l1_fix_time: 2.6303, d1.loss_plan_l1_fix_dist: 0.2991, d2.loss_plan_l1_fix_time: 2.5966, d2.loss_plan_l1_fix_dist: 0.3077, d3.loss_plan_l1_fix_time: 2.5949, d3.loss_plan_l1_fix_dist: 0.3215, d4.loss_plan_l1_fix_time: 2.5981, d4.loss_plan_l1_fix_dist: 0.3371, d5.loss_plan_l1_fix_time: 2.6026, d5.loss_plan_l1_fix_dist: 0.3529, d6.loss_plan_l1_fix_time: 2.6092, d6.loss_plan_l1_fix_dist: 0.3722, d0.loss_cls_all: 0.5060, d0.loss_bbox_all: 0.6982, d0.loss_cls: 0.5060, d0.loss_bbox: 0.6982, d1.loss_cls: 0.5030, d1.loss_bbox: 0.6705, d2.loss_cls: 0.5029, d2.loss_bbox: 0.6582, d3.loss_cls: 0.5007, d3.loss_bbox: 0.6533, d4.loss_cls: 0.5016, d4.loss_bbox: 0.6530, d5.loss_cls: 0.5007, d5.loss_bbox: 0.6517, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4417, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3436, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3317, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.3398, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3529, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3598, d0.loss_map_cls_all: 0.4088, d0.loss_map_pts_all: 2.3421, d0.loss_map_dir_all: 0.0239, d0.loss_map_cls: 0.4088, d0.loss_map_pts: 2.3421, d0.loss_map_dir: 0.0239, d1.loss_map_cls: 0.3870, d1.loss_map_pts: 1.7152, d1.loss_map_dir: 0.0249, d2.loss_map_cls: 0.3724, d2.loss_map_pts: 1.5950, d2.loss_map_dir: 0.0256, d3.loss_map_cls: 0.3606, d3.loss_map_pts: 1.5569, d3.loss_map_dir: 0.0260, d4.loss_map_cls: 0.3549, d4.loss_map_pts: 1.5435, d4.loss_map_dir: 0.0263, d5.loss_map_cls: 0.3546, d5.loss_map_pts: 1.5442, d5.loss_map_dir: 0.0266, loss: 57.6460, grad_norm: 150.4531 +2026-02-24 19:40:48,257 - DriveTransformer - INFO - Epoch [2][39100/39528] lr: 9.958e-05, eta: 8 days, 0:41:20, time: 0.807, data_time: 0.039, memory: 19865, loss_cls: 0.4857, loss_bbox: 0.6224, loss_traj: 1.1396, loss_traj_cls: 0.0006, loss_map_cls: 0.3439, loss_map_pts: 1.5100, loss_map_dir: 0.0268, d0.loss_plan_l1_fix_time: 3.1741, d0.loss_plan_l1_fix_dist: 0.4202, d1.loss_plan_l1_fix_time: 2.4575, d1.loss_plan_l1_fix_dist: 0.3436, d2.loss_plan_l1_fix_time: 2.4461, d2.loss_plan_l1_fix_dist: 0.3474, d3.loss_plan_l1_fix_time: 2.4490, d3.loss_plan_l1_fix_dist: 0.3578, d4.loss_plan_l1_fix_time: 2.4546, d4.loss_plan_l1_fix_dist: 0.3731, d5.loss_plan_l1_fix_time: 2.4617, d5.loss_plan_l1_fix_dist: 0.3914, d6.loss_plan_l1_fix_time: 2.4705, d6.loss_plan_l1_fix_dist: 0.4131, d0.loss_cls_all: 0.4924, d0.loss_bbox_all: 0.6681, d0.loss_cls: 0.4924, d0.loss_bbox: 0.6681, d1.loss_cls: 0.4875, d1.loss_bbox: 0.6440, d2.loss_cls: 0.4850, d2.loss_bbox: 0.6330, d3.loss_cls: 0.4857, d3.loss_bbox: 0.6245, d4.loss_cls: 0.4824, d4.loss_bbox: 0.6243, d5.loss_cls: 0.4844, d5.loss_bbox: 0.6242, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2520, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1428, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1238, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.1234, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1297, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1389, d0.loss_map_cls_all: 0.3793, d0.loss_map_pts_all: 2.2707, d0.loss_map_dir_all: 0.0242, d0.loss_map_cls: 0.3793, d0.loss_map_pts: 2.2707, d0.loss_map_dir: 0.0242, d1.loss_map_cls: 0.3654, d1.loss_map_pts: 1.6814, d1.loss_map_dir: 0.0250, d2.loss_map_cls: 0.3537, d2.loss_map_pts: 1.5698, d2.loss_map_dir: 0.0258, d3.loss_map_cls: 0.3467, d3.loss_map_pts: 1.5287, d3.loss_map_dir: 0.0262, d4.loss_map_cls: 0.3441, d4.loss_map_pts: 1.5153, d4.loss_map_dir: 0.0265, d5.loss_map_cls: 0.3426, d5.loss_map_pts: 1.5121, d5.loss_map_dir: 0.0266, loss: 54.5392, grad_norm: 149.5944 +2026-02-24 19:41:27,185 - DriveTransformer - INFO - Epoch [2][39150/39528] lr: 9.958e-05, eta: 8 days, 0:40:30, time: 0.779, data_time: 0.039, memory: 19865, loss_cls: 0.4435, loss_bbox: 0.5684, loss_traj: 1.2409, loss_traj_cls: 0.0005, loss_map_cls: 0.3110, loss_map_pts: 1.2974, loss_map_dir: 0.0211, d0.loss_plan_l1_fix_time: 2.8526, d0.loss_plan_l1_fix_dist: 0.4314, d1.loss_plan_l1_fix_time: 2.1188, d1.loss_plan_l1_fix_dist: 0.3303, d2.loss_plan_l1_fix_time: 2.0854, d2.loss_plan_l1_fix_dist: 0.3443, d3.loss_plan_l1_fix_time: 2.0868, d3.loss_plan_l1_fix_dist: 0.3628, d4.loss_plan_l1_fix_time: 2.0931, d4.loss_plan_l1_fix_dist: 0.3825, d5.loss_plan_l1_fix_time: 2.0992, d5.loss_plan_l1_fix_dist: 0.4008, d6.loss_plan_l1_fix_time: 2.1051, d6.loss_plan_l1_fix_dist: 0.4195, d0.loss_cls_all: 0.4449, d0.loss_bbox_all: 0.6116, d0.loss_cls: 0.4449, d0.loss_bbox: 0.6116, d1.loss_cls: 0.4366, d1.loss_bbox: 0.5897, d2.loss_cls: 0.4353, d2.loss_bbox: 0.5804, d3.loss_cls: 0.4382, d3.loss_bbox: 0.5721, d4.loss_cls: 0.4412, d4.loss_bbox: 0.5660, d5.loss_cls: 0.4386, d5.loss_bbox: 0.5677, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3855, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2290, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2103, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.2193, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2235, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2325, d0.loss_map_cls_all: 0.3582, d0.loss_map_pts_all: 2.0253, d0.loss_map_dir_all: 0.0189, d0.loss_map_cls: 0.3582, d0.loss_map_pts: 2.0253, d0.loss_map_dir: 0.0189, d1.loss_map_cls: 0.3360, d1.loss_map_pts: 1.4722, d1.loss_map_dir: 0.0196, d2.loss_map_cls: 0.3197, d2.loss_map_pts: 1.3588, d2.loss_map_dir: 0.0201, d3.loss_map_cls: 0.3148, d3.loss_map_pts: 1.3195, d3.loss_map_dir: 0.0205, d4.loss_map_cls: 0.3101, d4.loss_map_pts: 1.3039, d4.loss_map_dir: 0.0208, d5.loss_map_cls: 0.3079, d5.loss_map_pts: 1.3001, d5.loss_map_dir: 0.0210, loss: 49.9294, grad_norm: 149.8115 +2026-02-24 19:42:08,316 - DriveTransformer - INFO - Epoch [2][39200/39528] lr: 9.958e-05, eta: 8 days, 0:40:04, time: 0.823, data_time: 0.045, memory: 19865, loss_cls: 0.4395, loss_bbox: 0.5741, loss_traj: 1.0004, loss_traj_cls: 0.0006, loss_map_cls: 0.3316, loss_map_pts: 1.3908, loss_map_dir: 0.0253, d0.loss_plan_l1_fix_time: 2.5742, d0.loss_plan_l1_fix_dist: 0.4196, d1.loss_plan_l1_fix_time: 1.8505, d1.loss_plan_l1_fix_dist: 0.3178, d2.loss_plan_l1_fix_time: 1.8133, d2.loss_plan_l1_fix_dist: 0.3256, d3.loss_plan_l1_fix_time: 1.8093, d3.loss_plan_l1_fix_dist: 0.3385, d4.loss_plan_l1_fix_time: 1.8134, d4.loss_plan_l1_fix_dist: 0.3555, d5.loss_plan_l1_fix_time: 1.8186, d5.loss_plan_l1_fix_dist: 0.3765, d6.loss_plan_l1_fix_time: 1.8239, d6.loss_plan_l1_fix_dist: 0.3999, d0.loss_cls_all: 0.4528, d0.loss_bbox_all: 0.6104, d0.loss_cls: 0.4528, d0.loss_bbox: 0.6104, d1.loss_cls: 0.4416, d1.loss_bbox: 0.5901, d2.loss_cls: 0.4400, d2.loss_bbox: 0.5782, d3.loss_cls: 0.4401, d3.loss_bbox: 0.5725, d4.loss_cls: 0.4420, d4.loss_bbox: 0.5701, d5.loss_cls: 0.4377, d5.loss_bbox: 0.5720, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0902, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.9762, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9600, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9656, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.9714, d5.loss_traj_cls: 0.0007, d5.loss_traj: 0.9838, d0.loss_map_cls_all: 0.3649, d0.loss_map_pts_all: 2.2176, d0.loss_map_dir_all: 0.0234, d0.loss_map_cls: 0.3649, d0.loss_map_pts: 2.2176, d0.loss_map_dir: 0.0234, d1.loss_map_cls: 0.3539, d1.loss_map_pts: 1.5695, d1.loss_map_dir: 0.0234, d2.loss_map_cls: 0.3398, d2.loss_map_pts: 1.4503, d2.loss_map_dir: 0.0241, d3.loss_map_cls: 0.3331, d3.loss_map_pts: 1.4073, d3.loss_map_dir: 0.0246, d4.loss_map_cls: 0.3311, d4.loss_map_pts: 1.3942, d4.loss_map_dir: 0.0249, d5.loss_map_cls: 0.3302, d5.loss_map_pts: 1.3919, d5.loss_map_dir: 0.0251, loss: 47.1974, grad_norm: 150.4534 +2026-02-24 19:42:49,963 - DriveTransformer - INFO - Epoch [2][39250/39528] lr: 9.958e-05, eta: 8 days, 0:39:44, time: 0.833, data_time: 0.040, memory: 19865, loss_cls: 0.4051, loss_bbox: 0.5486, loss_traj: 1.1798, loss_traj_cls: 0.0006, loss_map_cls: 0.2656, loss_map_pts: 1.2176, loss_map_dir: 0.0250, d0.loss_plan_l1_fix_time: 2.6161, d0.loss_plan_l1_fix_dist: 0.5668, d1.loss_plan_l1_fix_time: 2.0714, d1.loss_plan_l1_fix_dist: 0.3561, d2.loss_plan_l1_fix_time: 2.0531, d2.loss_plan_l1_fix_dist: 0.3648, d3.loss_plan_l1_fix_time: 2.0645, d3.loss_plan_l1_fix_dist: 0.3820, d4.loss_plan_l1_fix_time: 2.0735, d4.loss_plan_l1_fix_dist: 0.4047, d5.loss_plan_l1_fix_time: 2.0825, d5.loss_plan_l1_fix_dist: 0.4324, d6.loss_plan_l1_fix_time: 2.0921, d6.loss_plan_l1_fix_dist: 0.4562, d0.loss_cls_all: 0.4202, d0.loss_bbox_all: 0.5769, d0.loss_cls: 0.4202, d0.loss_bbox: 0.5769, d1.loss_cls: 0.4133, d1.loss_bbox: 0.5550, d2.loss_cls: 0.4089, d2.loss_bbox: 0.5449, d3.loss_cls: 0.4051, d3.loss_bbox: 0.5429, d4.loss_cls: 0.4034, d4.loss_bbox: 0.5454, d5.loss_cls: 0.4054, d5.loss_bbox: 0.5468, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3081, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1709, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1538, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1648, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1710, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1779, d0.loss_map_cls_all: 0.3005, d0.loss_map_pts_all: 2.1738, d0.loss_map_dir_all: 0.0231, d0.loss_map_cls: 0.3005, d0.loss_map_pts: 2.1738, d0.loss_map_dir: 0.0231, d1.loss_map_cls: 0.2860, d1.loss_map_pts: 1.3954, d1.loss_map_dir: 0.0234, d2.loss_map_cls: 0.2732, d2.loss_map_pts: 1.2772, d2.loss_map_dir: 0.0238, d3.loss_map_cls: 0.2661, d3.loss_map_pts: 1.2340, d3.loss_map_dir: 0.0243, d4.loss_map_cls: 0.2660, d4.loss_map_pts: 1.2196, d4.loss_map_dir: 0.0247, d5.loss_map_cls: 0.2646, d5.loss_map_pts: 1.2133, d5.loss_map_dir: 0.0248, loss: 48.3867, grad_norm: 150.3452 +2026-02-24 19:43:30,676 - DriveTransformer - INFO - Epoch [2][39300/39528] lr: 9.958e-05, eta: 8 days, 0:39:13, time: 0.814, data_time: 0.038, memory: 19865, loss_cls: 0.4775, loss_bbox: 0.5927, loss_traj: 1.4262, loss_traj_cls: 0.0006, loss_map_cls: 0.3497, loss_map_pts: 1.5774, loss_map_dir: 0.0304, d0.loss_plan_l1_fix_time: 2.8946, d0.loss_plan_l1_fix_dist: 0.4148, d1.loss_plan_l1_fix_time: 2.2933, d1.loss_plan_l1_fix_dist: 0.3441, d2.loss_plan_l1_fix_time: 2.2751, d2.loss_plan_l1_fix_dist: 0.3565, d3.loss_plan_l1_fix_time: 2.2792, d3.loss_plan_l1_fix_dist: 0.3723, d4.loss_plan_l1_fix_time: 2.2850, d4.loss_plan_l1_fix_dist: 0.3862, d5.loss_plan_l1_fix_time: 2.2918, d5.loss_plan_l1_fix_dist: 0.4009, d6.loss_plan_l1_fix_time: 2.2994, d6.loss_plan_l1_fix_dist: 0.4259, d0.loss_cls_all: 0.4756, d0.loss_bbox_all: 0.6270, d0.loss_cls: 0.4756, d0.loss_bbox: 0.6270, d1.loss_cls: 0.4700, d1.loss_bbox: 0.6057, d2.loss_cls: 0.4717, d2.loss_bbox: 0.5936, d3.loss_cls: 0.4692, d3.loss_bbox: 0.5921, d4.loss_cls: 0.4698, d4.loss_bbox: 0.5905, d5.loss_cls: 0.4745, d5.loss_bbox: 0.5919, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4777, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3820, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3640, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.3767, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3770, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3981, d0.loss_map_cls_all: 0.3816, d0.loss_map_pts_all: 2.6393, d0.loss_map_dir_all: 0.0283, d0.loss_map_cls: 0.3816, d0.loss_map_pts: 2.6393, d0.loss_map_dir: 0.0283, d1.loss_map_cls: 0.3662, d1.loss_map_pts: 1.7945, d1.loss_map_dir: 0.0284, d2.loss_map_cls: 0.3547, d2.loss_map_pts: 1.6539, d2.loss_map_dir: 0.0291, d3.loss_map_cls: 0.3518, d3.loss_map_pts: 1.6008, d3.loss_map_dir: 0.0297, d4.loss_map_cls: 0.3481, d4.loss_map_pts: 1.5824, d4.loss_map_dir: 0.0301, d5.loss_map_cls: 0.3491, d5.loss_map_pts: 1.5752, d5.loss_map_dir: 0.0303, loss: 55.9113, grad_norm: 151.6642 +2026-02-24 19:44:09,538 - DriveTransformer - INFO - Epoch [2][39350/39528] lr: 9.958e-05, eta: 8 days, 0:38:22, time: 0.777, data_time: 0.051, memory: 19865, loss_cls: 0.4301, loss_bbox: 0.5651, loss_traj: 1.2897, loss_traj_cls: 0.0006, loss_map_cls: 0.3029, loss_map_pts: 1.2640, loss_map_dir: 0.0205, d0.loss_plan_l1_fix_time: 2.5896, d0.loss_plan_l1_fix_dist: 0.4950, d1.loss_plan_l1_fix_time: 1.9844, d1.loss_plan_l1_fix_dist: 0.3282, d2.loss_plan_l1_fix_time: 1.9710, d2.loss_plan_l1_fix_dist: 0.3441, d3.loss_plan_l1_fix_time: 1.9766, d3.loss_plan_l1_fix_dist: 0.3610, d4.loss_plan_l1_fix_time: 1.9817, d4.loss_plan_l1_fix_dist: 0.3791, d5.loss_plan_l1_fix_time: 1.9875, d5.loss_plan_l1_fix_dist: 0.3978, d6.loss_plan_l1_fix_time: 1.9947, d6.loss_plan_l1_fix_dist: 0.4229, d0.loss_cls_all: 0.4354, d0.loss_bbox_all: 0.6075, d0.loss_cls: 0.4354, d0.loss_bbox: 0.6075, d1.loss_cls: 0.4297, d1.loss_bbox: 0.5840, d2.loss_cls: 0.4307, d2.loss_bbox: 0.5703, d3.loss_cls: 0.4273, d3.loss_bbox: 0.5678, d4.loss_cls: 0.4269, d4.loss_bbox: 0.5640, d5.loss_cls: 0.4299, d5.loss_bbox: 0.5629, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4225, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2513, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2152, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.2192, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2360, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2598, d0.loss_map_cls_all: 0.3623, d0.loss_map_pts_all: 1.8891, d0.loss_map_dir_all: 0.0190, d0.loss_map_cls: 0.3623, d0.loss_map_pts: 1.8891, d0.loss_map_dir: 0.0190, d1.loss_map_cls: 0.3382, d1.loss_map_pts: 1.4111, d1.loss_map_dir: 0.0193, d2.loss_map_cls: 0.3169, d2.loss_map_pts: 1.3085, d2.loss_map_dir: 0.0197, d3.loss_map_cls: 0.3116, d3.loss_map_pts: 1.2714, d3.loss_map_dir: 0.0200, d4.loss_map_cls: 0.3058, d4.loss_map_pts: 1.2598, d4.loss_map_dir: 0.0203, d5.loss_map_cls: 0.3038, d5.loss_map_pts: 1.2613, d5.loss_map_dir: 0.0204, loss: 48.5039, grad_norm: 151.8400 +2026-02-24 19:44:49,632 - DriveTransformer - INFO - Epoch [2][39400/39528] lr: 9.958e-05, eta: 8 days, 0:37:45, time: 0.802, data_time: 0.042, memory: 19865, loss_cls: 0.4264, loss_bbox: 0.5709, loss_traj: 1.2675, loss_traj_cls: 0.0006, loss_map_cls: 0.3000, loss_map_pts: 1.3547, loss_map_dir: 0.0262, d0.loss_plan_l1_fix_time: 2.7715, d0.loss_plan_l1_fix_dist: 0.5323, d1.loss_plan_l1_fix_time: 1.8774, d1.loss_plan_l1_fix_dist: 0.3651, d2.loss_plan_l1_fix_time: 1.8208, d2.loss_plan_l1_fix_dist: 0.3717, d3.loss_plan_l1_fix_time: 1.8144, d3.loss_plan_l1_fix_dist: 0.3890, d4.loss_plan_l1_fix_time: 1.8172, d4.loss_plan_l1_fix_dist: 0.4106, d5.loss_plan_l1_fix_time: 1.8214, d5.loss_plan_l1_fix_dist: 0.4355, d6.loss_plan_l1_fix_time: 1.8268, d6.loss_plan_l1_fix_dist: 0.4532, d0.loss_cls_all: 0.4410, d0.loss_bbox_all: 0.6025, d0.loss_cls: 0.4410, d0.loss_bbox: 0.6025, d1.loss_cls: 0.4355, d1.loss_bbox: 0.5838, d2.loss_cls: 0.4333, d2.loss_bbox: 0.5716, d3.loss_cls: 0.4295, d3.loss_bbox: 0.5674, d4.loss_cls: 0.4260, d4.loss_bbox: 0.5636, d5.loss_cls: 0.4245, d5.loss_bbox: 0.5656, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3172, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2149, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2068, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.2216, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2247, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2549, d0.loss_map_cls_all: 0.3424, d0.loss_map_pts_all: 2.3185, d0.loss_map_dir_all: 0.0250, d0.loss_map_cls: 0.3424, d0.loss_map_pts: 2.3185, d0.loss_map_dir: 0.0250, d1.loss_map_cls: 0.3249, d1.loss_map_pts: 1.5449, d1.loss_map_dir: 0.0252, d2.loss_map_cls: 0.3144, d2.loss_map_pts: 1.4234, d2.loss_map_dir: 0.0254, d3.loss_map_cls: 0.3041, d3.loss_map_pts: 1.3802, d3.loss_map_dir: 0.0257, d4.loss_map_cls: 0.2994, d4.loss_map_pts: 1.3645, d4.loss_map_dir: 0.0259, d5.loss_map_cls: 0.2986, d5.loss_map_pts: 1.3599, d5.loss_map_dir: 0.0260, loss: 49.3005, grad_norm: 150.9826 +2026-02-24 19:45:28,481 - DriveTransformer - INFO - Epoch [2][39450/39528] lr: 9.958e-05, eta: 8 days, 0:36:54, time: 0.777, data_time: 0.038, memory: 19865, loss_cls: 0.3995, loss_bbox: 0.5421, loss_traj: 1.2385, loss_traj_cls: 0.0006, loss_map_cls: 0.3019, loss_map_pts: 1.2134, loss_map_dir: 0.0221, d0.loss_plan_l1_fix_time: 2.3271, d0.loss_plan_l1_fix_dist: 0.3971, d1.loss_plan_l1_fix_time: 1.7609, d1.loss_plan_l1_fix_dist: 0.2567, d2.loss_plan_l1_fix_time: 1.7270, d2.loss_plan_l1_fix_dist: 0.2677, d3.loss_plan_l1_fix_time: 1.7247, d3.loss_plan_l1_fix_dist: 0.2875, d4.loss_plan_l1_fix_time: 1.7295, d4.loss_plan_l1_fix_dist: 0.3083, d5.loss_plan_l1_fix_time: 1.7350, d5.loss_plan_l1_fix_dist: 0.3324, d6.loss_plan_l1_fix_time: 1.7414, d6.loss_plan_l1_fix_dist: 0.3611, d0.loss_cls_all: 0.4088, d0.loss_bbox_all: 0.5724, d0.loss_cls: 0.4088, d0.loss_bbox: 0.5724, d1.loss_cls: 0.4070, d1.loss_bbox: 0.5530, d2.loss_cls: 0.4019, d2.loss_bbox: 0.5405, d3.loss_cls: 0.4019, d3.loss_bbox: 0.5372, d4.loss_cls: 0.4000, d4.loss_bbox: 0.5339, d5.loss_cls: 0.4007, d5.loss_bbox: 0.5350, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3962, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2189, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2061, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.2098, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2187, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2347, d0.loss_map_cls_all: 0.3504, d0.loss_map_pts_all: 1.9451, d0.loss_map_dir_all: 0.0209, d0.loss_map_cls: 0.3504, d0.loss_map_pts: 1.9451, d0.loss_map_dir: 0.0209, d1.loss_map_cls: 0.3229, d1.loss_map_pts: 1.3794, d1.loss_map_dir: 0.0211, d2.loss_map_cls: 0.3122, d2.loss_map_pts: 1.2695, d2.loss_map_dir: 0.0214, d3.loss_map_cls: 0.3056, d3.loss_map_pts: 1.2296, d3.loss_map_dir: 0.0218, d4.loss_map_cls: 0.3039, d4.loss_map_pts: 1.2172, d4.loss_map_dir: 0.0220, d5.loss_map_cls: 0.3007, d5.loss_map_pts: 1.2145, d5.loss_map_dir: 0.0220, loss: 45.4345, grad_norm: 150.4632 +2026-02-24 19:46:07,720 - DriveTransformer - INFO - Epoch [2][39500/39528] lr: 9.958e-05, eta: 8 days, 0:36:07, time: 0.785, data_time: 0.042, memory: 19865, loss_cls: 0.4357, loss_bbox: 0.5584, loss_traj: 1.0613, loss_traj_cls: 0.0006, loss_map_cls: 0.2982, loss_map_pts: 1.2705, loss_map_dir: 0.0250, d0.loss_plan_l1_fix_time: 2.6699, d0.loss_plan_l1_fix_dist: 0.4570, d1.loss_plan_l1_fix_time: 1.8859, d1.loss_plan_l1_fix_dist: 0.3224, d2.loss_plan_l1_fix_time: 1.8558, d2.loss_plan_l1_fix_dist: 0.3308, d3.loss_plan_l1_fix_time: 1.8526, d3.loss_plan_l1_fix_dist: 0.3467, d4.loss_plan_l1_fix_time: 1.8565, d4.loss_plan_l1_fix_dist: 0.3650, d5.loss_plan_l1_fix_time: 1.8626, d5.loss_plan_l1_fix_dist: 0.3826, d6.loss_plan_l1_fix_time: 1.8700, d6.loss_plan_l1_fix_dist: 0.4046, d0.loss_cls_all: 0.4573, d0.loss_bbox_all: 0.5975, d0.loss_cls: 0.4573, d0.loss_bbox: 0.5975, d1.loss_cls: 0.4474, d1.loss_bbox: 0.5780, d2.loss_cls: 0.4450, d2.loss_bbox: 0.5650, d3.loss_cls: 0.4403, d3.loss_bbox: 0.5597, d4.loss_cls: 0.4387, d4.loss_bbox: 0.5564, d5.loss_cls: 0.4371, d5.loss_bbox: 0.5571, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1656, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.0571, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0363, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.0373, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.0400, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.0525, d0.loss_map_cls_all: 0.3499, d0.loss_map_pts_all: 2.1301, d0.loss_map_dir_all: 0.0233, d0.loss_map_cls: 0.3499, d0.loss_map_pts: 2.1301, d0.loss_map_dir: 0.0233, d1.loss_map_cls: 0.3233, d1.loss_map_pts: 1.4472, d1.loss_map_dir: 0.0236, d2.loss_map_cls: 0.3106, d2.loss_map_pts: 1.3247, d2.loss_map_dir: 0.0241, d3.loss_map_cls: 0.3028, d3.loss_map_pts: 1.2855, d3.loss_map_dir: 0.0244, d4.loss_map_cls: 0.3009, d4.loss_map_pts: 1.2730, d4.loss_map_dir: 0.0247, d5.loss_map_cls: 0.2992, d5.loss_map_pts: 1.2663, d5.loss_map_dir: 0.0249, loss: 46.9017, grad_norm: 150.0015 +2026-02-24 19:46:27,238 - DriveTransformer - INFO - Saving checkpoint at 2 epochs +2026-02-24 19:47:18,613 - DriveTransformer - INFO - Epoch [3][50/39528] lr: 9.831e-05, eta: 8 days, 0:32:43, time: 0.984, data_time: 0.198, memory: 19865, loss_cls: 0.4250, loss_bbox: 0.5543, loss_traj: 1.0617, loss_traj_cls: 0.0006, loss_map_cls: 0.3100, loss_map_pts: 1.3036, loss_map_dir: 0.0271, d0.loss_plan_l1_fix_time: 2.5314, d0.loss_plan_l1_fix_dist: 0.4366, d1.loss_plan_l1_fix_time: 1.8072, d1.loss_plan_l1_fix_dist: 0.3194, d2.loss_plan_l1_fix_time: 1.7964, d2.loss_plan_l1_fix_dist: 0.3245, d3.loss_plan_l1_fix_time: 1.7980, d3.loss_plan_l1_fix_dist: 0.3365, d4.loss_plan_l1_fix_time: 1.8046, d4.loss_plan_l1_fix_dist: 0.3505, d5.loss_plan_l1_fix_time: 1.8122, d5.loss_plan_l1_fix_dist: 0.3649, d6.loss_plan_l1_fix_time: 1.8207, d6.loss_plan_l1_fix_dist: 0.3792, d0.loss_cls_all: 0.4387, d0.loss_bbox_all: 0.5966, d0.loss_cls: 0.4387, d0.loss_bbox: 0.5966, d1.loss_cls: 0.4339, d1.loss_bbox: 0.5716, d2.loss_cls: 0.4299, d2.loss_bbox: 0.5620, d3.loss_cls: 0.4276, d3.loss_bbox: 0.5578, d4.loss_cls: 0.4239, d4.loss_bbox: 0.5559, d5.loss_cls: 0.4256, d5.loss_bbox: 0.5514, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2336, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.0950, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0652, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.0590, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.0580, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.0528, d0.loss_map_cls_all: 0.3545, d0.loss_map_pts_all: 2.3455, d0.loss_map_dir_all: 0.0254, d0.loss_map_cls: 0.3545, d0.loss_map_pts: 2.3455, d0.loss_map_dir: 0.0254, d1.loss_map_cls: 0.3294, d1.loss_map_pts: 1.5003, d1.loss_map_dir: 0.0257, d2.loss_map_cls: 0.3160, d2.loss_map_pts: 1.3714, d2.loss_map_dir: 0.0260, d3.loss_map_cls: 0.3123, d3.loss_map_pts: 1.3209, d3.loss_map_dir: 0.0264, d4.loss_map_cls: 0.3082, d4.loss_map_pts: 1.3063, d4.loss_map_dir: 0.0266, d5.loss_map_cls: 0.3092, d5.loss_map_pts: 1.3015, d5.loss_map_dir: 0.0269, loss: 47.1010, grad_norm: 121.6912 +2026-02-24 19:47:59,001 - DriveTransformer - INFO - Epoch [3][100/39528] lr: 9.831e-05, eta: 8 days, 0:32:09, time: 0.808, data_time: 0.040, memory: 19865, loss_cls: 0.4325, loss_bbox: 0.5657, loss_traj: 0.9947, loss_traj_cls: 0.0006, loss_map_cls: 0.3058, loss_map_pts: 1.3757, loss_map_dir: 0.0281, d0.loss_plan_l1_fix_time: 2.4719, d0.loss_plan_l1_fix_dist: 0.4289, d1.loss_plan_l1_fix_time: 1.7647, d1.loss_plan_l1_fix_dist: 0.3159, d2.loss_plan_l1_fix_time: 1.7245, d2.loss_plan_l1_fix_dist: 0.3203, d3.loss_plan_l1_fix_time: 1.7211, d3.loss_plan_l1_fix_dist: 0.3327, d4.loss_plan_l1_fix_time: 1.7241, d4.loss_plan_l1_fix_dist: 0.3475, d5.loss_plan_l1_fix_time: 1.7288, d5.loss_plan_l1_fix_dist: 0.3639, d6.loss_plan_l1_fix_time: 1.7354, d6.loss_plan_l1_fix_dist: 0.3854, d0.loss_cls_all: 0.4461, d0.loss_bbox_all: 0.6019, d0.loss_cls: 0.4461, d0.loss_bbox: 0.6019, d1.loss_cls: 0.4440, d1.loss_bbox: 0.5733, d2.loss_cls: 0.4394, d2.loss_bbox: 0.5645, d3.loss_cls: 0.4376, d3.loss_bbox: 0.5608, d4.loss_cls: 0.4327, d4.loss_bbox: 0.5634, d5.loss_cls: 0.4303, d5.loss_bbox: 0.5644, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1083, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.9881, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9664, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.9686, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.9717, d5.loss_traj_cls: 0.0007, d5.loss_traj: 0.9830, d0.loss_map_cls_all: 0.3548, d0.loss_map_pts_all: 2.3785, d0.loss_map_dir_all: 0.0259, d0.loss_map_cls: 0.3548, d0.loss_map_pts: 2.3785, d0.loss_map_dir: 0.0259, d1.loss_map_cls: 0.3375, d1.loss_map_pts: 1.5538, d1.loss_map_dir: 0.0264, d2.loss_map_cls: 0.3227, d2.loss_map_pts: 1.4354, d2.loss_map_dir: 0.0269, d3.loss_map_cls: 0.3098, d3.loss_map_pts: 1.3897, d3.loss_map_dir: 0.0274, d4.loss_map_cls: 0.3060, d4.loss_map_pts: 1.3756, d4.loss_map_dir: 0.0277, d5.loss_map_cls: 0.3052, d5.loss_map_pts: 1.3749, d5.loss_map_dir: 0.0279, loss: 46.5311, grad_norm: 128.5530 +2026-02-24 19:48:38,390 - DriveTransformer - INFO - Epoch [3][150/39528] lr: 9.831e-05, eta: 8 days, 0:31:24, time: 0.788, data_time: 0.046, memory: 19865, loss_cls: 0.4488, loss_bbox: 0.5993, loss_traj: 1.1352, loss_traj_cls: 0.0005, loss_map_cls: 0.3046, loss_map_pts: 1.3026, loss_map_dir: 0.0230, d0.loss_plan_l1_fix_time: 3.0182, d0.loss_plan_l1_fix_dist: 0.4870, d1.loss_plan_l1_fix_time: 2.2431, d1.loss_plan_l1_fix_dist: 0.3318, d2.loss_plan_l1_fix_time: 2.2251, d2.loss_plan_l1_fix_dist: 0.3386, d3.loss_plan_l1_fix_time: 2.2289, d3.loss_plan_l1_fix_dist: 0.3493, d4.loss_plan_l1_fix_time: 2.2356, d4.loss_plan_l1_fix_dist: 0.3631, d5.loss_plan_l1_fix_time: 2.2437, d5.loss_plan_l1_fix_dist: 0.3782, d6.loss_plan_l1_fix_time: 2.2533, d6.loss_plan_l1_fix_dist: 0.3986, d0.loss_cls_all: 0.4574, d0.loss_bbox_all: 0.6294, d0.loss_cls: 0.4574, d0.loss_bbox: 0.6294, d1.loss_cls: 0.4551, d1.loss_bbox: 0.6043, d2.loss_cls: 0.4462, d2.loss_bbox: 0.5972, d3.loss_cls: 0.4478, d3.loss_bbox: 0.5938, d4.loss_cls: 0.4483, d4.loss_bbox: 0.5938, d5.loss_cls: 0.4466, d5.loss_bbox: 0.5956, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1906, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1391, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1246, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.1203, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1227, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1263, d0.loss_map_cls_all: 0.3536, d0.loss_map_pts_all: 2.0673, d0.loss_map_dir_all: 0.0213, d0.loss_map_cls: 0.3536, d0.loss_map_pts: 2.0673, d0.loss_map_dir: 0.0213, d1.loss_map_cls: 0.3263, d1.loss_map_pts: 1.4461, d1.loss_map_dir: 0.0215, d2.loss_map_cls: 0.3145, d2.loss_map_pts: 1.3490, d2.loss_map_dir: 0.0221, d3.loss_map_cls: 0.3077, d3.loss_map_pts: 1.3178, d3.loss_map_dir: 0.0225, d4.loss_map_cls: 0.3054, d4.loss_map_pts: 1.3038, d4.loss_map_dir: 0.0227, d5.loss_map_cls: 0.3044, d5.loss_map_pts: 1.3018, d5.loss_map_dir: 0.0229, loss: 50.4120, grad_norm: 142.0890 +2026-02-24 19:49:16,609 - DriveTransformer - INFO - Epoch [3][200/39528] lr: 9.831e-05, eta: 8 days, 0:30:26, time: 0.764, data_time: 0.041, memory: 19865, loss_cls: 0.4456, loss_bbox: 0.5821, loss_traj: 1.3284, loss_traj_cls: 0.0005, loss_map_cls: 0.3590, loss_map_pts: 1.5010, loss_map_dir: 0.0252, d0.loss_plan_l1_fix_time: 2.9104, d0.loss_plan_l1_fix_dist: 0.4157, d1.loss_plan_l1_fix_time: 1.9334, d1.loss_plan_l1_fix_dist: 0.3203, d2.loss_plan_l1_fix_time: 1.9183, d2.loss_plan_l1_fix_dist: 0.3241, d3.loss_plan_l1_fix_time: 1.9276, d3.loss_plan_l1_fix_dist: 0.3328, d4.loss_plan_l1_fix_time: 1.9353, d4.loss_plan_l1_fix_dist: 0.3460, d5.loss_plan_l1_fix_time: 1.9428, d5.loss_plan_l1_fix_dist: 0.3586, d6.loss_plan_l1_fix_time: 1.9519, d6.loss_plan_l1_fix_dist: 0.3714, d0.loss_cls_all: 0.4628, d0.loss_bbox_all: 0.6178, d0.loss_cls: 0.4628, d0.loss_bbox: 0.6178, d1.loss_cls: 0.4578, d1.loss_bbox: 0.5877, d2.loss_cls: 0.4481, d2.loss_bbox: 0.5768, d3.loss_cls: 0.4446, d3.loss_bbox: 0.5775, d4.loss_cls: 0.4430, d4.loss_bbox: 0.5769, d5.loss_cls: 0.4422, d5.loss_bbox: 0.5792, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4964, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3422, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3084, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.3083, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3170, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3177, d0.loss_map_cls_all: 0.4097, d0.loss_map_pts_all: 2.2442, d0.loss_map_dir_all: 0.0233, d0.loss_map_cls: 0.4097, d0.loss_map_pts: 2.2442, d0.loss_map_dir: 0.0233, d1.loss_map_cls: 0.3836, d1.loss_map_pts: 1.6436, d1.loss_map_dir: 0.0234, d2.loss_map_cls: 0.3720, d2.loss_map_pts: 1.5429, d2.loss_map_dir: 0.0240, d3.loss_map_cls: 0.3674, d3.loss_map_pts: 1.5056, d3.loss_map_dir: 0.0245, d4.loss_map_cls: 0.3607, d4.loss_map_pts: 1.4968, d4.loss_map_dir: 0.0247, d5.loss_map_cls: 0.3590, d5.loss_map_pts: 1.4963, d5.loss_map_dir: 0.0249, loss: 51.6240, grad_norm: 141.6323 +2026-02-24 19:49:58,129 - DriveTransformer - INFO - Epoch [3][250/39528] lr: 9.831e-05, eta: 8 days, 0:30:04, time: 0.830, data_time: 0.042, memory: 19865, loss_cls: 0.4471, loss_bbox: 0.5652, loss_traj: 1.1871, loss_traj_cls: 0.0005, loss_map_cls: 0.3351, loss_map_pts: 1.4444, loss_map_dir: 0.0270, d0.loss_plan_l1_fix_time: 2.6456, d0.loss_plan_l1_fix_dist: 0.5184, d1.loss_plan_l1_fix_time: 2.0342, d1.loss_plan_l1_fix_dist: 0.3477, d2.loss_plan_l1_fix_time: 2.0316, d2.loss_plan_l1_fix_dist: 0.3524, d3.loss_plan_l1_fix_time: 2.0355, d3.loss_plan_l1_fix_dist: 0.3597, d4.loss_plan_l1_fix_time: 2.0448, d4.loss_plan_l1_fix_dist: 0.3690, d5.loss_plan_l1_fix_time: 2.0533, d5.loss_plan_l1_fix_dist: 0.3804, d6.loss_plan_l1_fix_time: 2.0620, d6.loss_plan_l1_fix_dist: 0.3925, d0.loss_cls_all: 0.4548, d0.loss_bbox_all: 0.5964, d0.loss_cls: 0.4548, d0.loss_bbox: 0.5964, d1.loss_cls: 0.4471, d1.loss_bbox: 0.5747, d2.loss_cls: 0.4431, d2.loss_bbox: 0.5618, d3.loss_cls: 0.4407, d3.loss_bbox: 0.5618, d4.loss_cls: 0.4428, d4.loss_bbox: 0.5606, d5.loss_cls: 0.4444, d5.loss_bbox: 0.5607, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2607, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1614, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1452, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.1624, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.1661, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1714, d0.loss_map_cls_all: 0.3738, d0.loss_map_pts_all: 2.3803, d0.loss_map_dir_all: 0.0245, d0.loss_map_cls: 0.3738, d0.loss_map_pts: 2.3803, d0.loss_map_dir: 0.0245, d1.loss_map_cls: 0.3594, d1.loss_map_pts: 1.6426, d1.loss_map_dir: 0.0249, d2.loss_map_cls: 0.3502, d2.loss_map_pts: 1.5056, d2.loss_map_dir: 0.0257, d3.loss_map_cls: 0.3413, d3.loss_map_pts: 1.4676, d3.loss_map_dir: 0.0262, d4.loss_map_cls: 0.3370, d4.loss_map_pts: 1.4519, d4.loss_map_dir: 0.0267, d5.loss_map_cls: 0.3348, d5.loss_map_pts: 1.4452, d5.loss_map_dir: 0.0268, loss: 50.7686, grad_norm: 146.2059 +2026-02-24 19:50:38,367 - DriveTransformer - INFO - Epoch [3][300/39528] lr: 9.831e-05, eta: 8 days, 0:29:29, time: 0.805, data_time: 0.038, memory: 19865, loss_cls: 0.4240, loss_bbox: 0.5813, loss_traj: 1.3242, loss_traj_cls: 0.0006, loss_map_cls: 0.2851, loss_map_pts: 1.2717, loss_map_dir: 0.0226, d0.loss_plan_l1_fix_time: 2.9308, d0.loss_plan_l1_fix_dist: 0.4313, d1.loss_plan_l1_fix_time: 1.9381, d1.loss_plan_l1_fix_dist: 0.2848, d2.loss_plan_l1_fix_time: 1.8895, d2.loss_plan_l1_fix_dist: 0.2907, d3.loss_plan_l1_fix_time: 1.8815, d3.loss_plan_l1_fix_dist: 0.3023, d4.loss_plan_l1_fix_time: 1.8838, d4.loss_plan_l1_fix_dist: 0.3154, d5.loss_plan_l1_fix_time: 1.8879, d5.loss_plan_l1_fix_dist: 0.3292, d6.loss_plan_l1_fix_time: 1.8934, d6.loss_plan_l1_fix_dist: 0.3468, d0.loss_cls_all: 0.4257, d0.loss_bbox_all: 0.6174, d0.loss_cls: 0.4257, d0.loss_bbox: 0.6174, d1.loss_cls: 0.4224, d1.loss_bbox: 0.5928, d2.loss_cls: 0.4215, d2.loss_bbox: 0.5850, d3.loss_cls: 0.4208, d3.loss_bbox: 0.5795, d4.loss_cls: 0.4221, d4.loss_bbox: 0.5790, d5.loss_cls: 0.4221, d5.loss_bbox: 0.5799, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3794, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3162, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3060, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.3064, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3135, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3168, d0.loss_map_cls_all: 0.3372, d0.loss_map_pts_all: 2.0187, d0.loss_map_dir_all: 0.0207, d0.loss_map_cls: 0.3372, d0.loss_map_pts: 2.0187, d0.loss_map_dir: 0.0207, d1.loss_map_cls: 0.3196, d1.loss_map_pts: 1.4294, d1.loss_map_dir: 0.0210, d2.loss_map_cls: 0.3041, d2.loss_map_pts: 1.3220, d2.loss_map_dir: 0.0215, d3.loss_map_cls: 0.2906, d3.loss_map_pts: 1.2903, d3.loss_map_dir: 0.0220, d4.loss_map_cls: 0.2852, d4.loss_map_pts: 1.2776, d4.loss_map_dir: 0.0222, d5.loss_map_cls: 0.2837, d5.loss_map_pts: 1.2706, d5.loss_map_dir: 0.0224, loss: 48.5050, grad_norm: 141.2122 +2026-02-24 19:51:17,791 - DriveTransformer - INFO - Epoch [3][350/39528] lr: 9.831e-05, eta: 8 days, 0:28:44, time: 0.788, data_time: 0.038, memory: 19865, loss_cls: 0.4647, loss_bbox: 0.5885, loss_traj: 1.3799, loss_traj_cls: 0.0006, loss_map_cls: 0.3249, loss_map_pts: 1.2920, loss_map_dir: 0.0233, d0.loss_plan_l1_fix_time: 2.8541, d0.loss_plan_l1_fix_dist: 0.4095, d1.loss_plan_l1_fix_time: 1.9096, d1.loss_plan_l1_fix_dist: 0.2833, d2.loss_plan_l1_fix_time: 1.8971, d2.loss_plan_l1_fix_dist: 0.2918, d3.loss_plan_l1_fix_time: 1.9089, d3.loss_plan_l1_fix_dist: 0.3048, d4.loss_plan_l1_fix_time: 1.9154, d4.loss_plan_l1_fix_dist: 0.3191, d5.loss_plan_l1_fix_time: 1.9224, d5.loss_plan_l1_fix_dist: 0.3362, d6.loss_plan_l1_fix_time: 1.9298, d6.loss_plan_l1_fix_dist: 0.3572, d0.loss_cls_all: 0.4788, d0.loss_bbox_all: 0.6227, d0.loss_cls: 0.4788, d0.loss_bbox: 0.6227, d1.loss_cls: 0.4699, d1.loss_bbox: 0.6009, d2.loss_cls: 0.4633, d2.loss_bbox: 0.5872, d3.loss_cls: 0.4603, d3.loss_bbox: 0.5828, d4.loss_cls: 0.4619, d4.loss_bbox: 0.5837, d5.loss_cls: 0.4651, d5.loss_bbox: 0.5840, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6410, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3808, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3567, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.3602, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3736, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3803, d0.loss_map_cls_all: 0.3693, d0.loss_map_pts_all: 2.1230, d0.loss_map_dir_all: 0.0213, d0.loss_map_cls: 0.3693, d0.loss_map_pts: 2.1230, d0.loss_map_dir: 0.0213, d1.loss_map_cls: 0.3479, d1.loss_map_pts: 1.4354, d1.loss_map_dir: 0.0218, d2.loss_map_cls: 0.3349, d2.loss_map_pts: 1.3312, d2.loss_map_dir: 0.0223, d3.loss_map_cls: 0.3294, d3.loss_map_pts: 1.2994, d3.loss_map_dir: 0.0227, d4.loss_map_cls: 0.3252, d4.loss_map_pts: 1.2919, d4.loss_map_dir: 0.0229, d5.loss_map_cls: 0.3243, d5.loss_map_pts: 1.2901, d5.loss_map_dir: 0.0231, loss: 50.1224, grad_norm: 142.6326 +2026-02-24 19:51:58,673 - DriveTransformer - INFO - Epoch [3][400/39528] lr: 9.831e-05, eta: 8 days, 0:28:16, time: 0.819, data_time: 0.038, memory: 19865, loss_cls: 0.4254, loss_bbox: 0.5669, loss_traj: 1.2829, loss_traj_cls: 0.0006, loss_map_cls: 0.2710, loss_map_pts: 1.3301, loss_map_dir: 0.0226, d0.loss_plan_l1_fix_time: 2.5440, d0.loss_plan_l1_fix_dist: 0.4250, d1.loss_plan_l1_fix_time: 1.9877, d1.loss_plan_l1_fix_dist: 0.2628, d2.loss_plan_l1_fix_time: 1.9798, d2.loss_plan_l1_fix_dist: 0.2735, d3.loss_plan_l1_fix_time: 1.9882, d3.loss_plan_l1_fix_dist: 0.2845, d4.loss_plan_l1_fix_time: 1.9953, d4.loss_plan_l1_fix_dist: 0.2975, d5.loss_plan_l1_fix_time: 2.0033, d5.loss_plan_l1_fix_dist: 0.3131, d6.loss_plan_l1_fix_time: 2.0114, d6.loss_plan_l1_fix_dist: 0.3286, d0.loss_cls_all: 0.4330, d0.loss_bbox_all: 0.6110, d0.loss_cls: 0.4330, d0.loss_bbox: 0.6110, d1.loss_cls: 0.4267, d1.loss_bbox: 0.5834, d2.loss_cls: 0.4247, d2.loss_bbox: 0.5704, d3.loss_cls: 0.4218, d3.loss_bbox: 0.5667, d4.loss_cls: 0.4206, d4.loss_bbox: 0.5661, d5.loss_cls: 0.4223, d5.loss_bbox: 0.5667, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3563, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2879, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2707, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2649, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2653, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2675, d0.loss_map_cls_all: 0.3319, d0.loss_map_pts_all: 2.0488, d0.loss_map_dir_all: 0.0206, d0.loss_map_cls: 0.3319, d0.loss_map_pts: 2.0488, d0.loss_map_dir: 0.0206, d1.loss_map_cls: 0.3035, d1.loss_map_pts: 1.4713, d1.loss_map_dir: 0.0211, d2.loss_map_cls: 0.2859, d2.loss_map_pts: 1.3748, d2.loss_map_dir: 0.0216, d3.loss_map_cls: 0.2757, d3.loss_map_pts: 1.3472, d3.loss_map_dir: 0.0220, d4.loss_map_cls: 0.2709, d4.loss_map_pts: 1.3369, d4.loss_map_dir: 0.0222, d5.loss_map_cls: 0.2701, d5.loss_map_pts: 1.3314, d5.loss_map_dir: 0.0224, loss: 48.5490, grad_norm: 146.8376 +2026-02-24 19:52:39,237 - DriveTransformer - INFO - Epoch [3][450/39528] lr: 9.831e-05, eta: 8 days, 0:27:43, time: 0.810, data_time: 0.037, memory: 19865, loss_cls: 0.4627, loss_bbox: 0.6073, loss_traj: 1.3778, loss_traj_cls: 0.0006, loss_map_cls: 0.3193, loss_map_pts: 1.4405, loss_map_dir: 0.0271, d0.loss_plan_l1_fix_time: 2.7170, d0.loss_plan_l1_fix_dist: 0.4733, d1.loss_plan_l1_fix_time: 2.0213, d1.loss_plan_l1_fix_dist: 0.3209, d2.loss_plan_l1_fix_time: 1.9915, d2.loss_plan_l1_fix_dist: 0.3238, d3.loss_plan_l1_fix_time: 1.9874, d3.loss_plan_l1_fix_dist: 0.3315, d4.loss_plan_l1_fix_time: 1.9928, d4.loss_plan_l1_fix_dist: 0.3398, d5.loss_plan_l1_fix_time: 1.9986, d5.loss_plan_l1_fix_dist: 0.3495, d6.loss_plan_l1_fix_time: 2.0049, d6.loss_plan_l1_fix_dist: 0.3627, d0.loss_cls_all: 0.4627, d0.loss_bbox_all: 0.6370, d0.loss_cls: 0.4627, d0.loss_bbox: 0.6370, d1.loss_cls: 0.4591, d1.loss_bbox: 0.6093, d2.loss_cls: 0.4608, d2.loss_bbox: 0.6033, d3.loss_cls: 0.4589, d3.loss_bbox: 0.6004, d4.loss_cls: 0.4586, d4.loss_bbox: 0.6026, d5.loss_cls: 0.4621, d5.loss_bbox: 0.6052, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4356, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3339, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3188, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.3327, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3420, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.3584, d0.loss_map_cls_all: 0.3561, d0.loss_map_pts_all: 2.3658, d0.loss_map_dir_all: 0.0247, d0.loss_map_cls: 0.3561, d0.loss_map_pts: 2.3658, d0.loss_map_dir: 0.0247, d1.loss_map_cls: 0.3501, d1.loss_map_pts: 1.6251, d1.loss_map_dir: 0.0251, d2.loss_map_cls: 0.3331, d2.loss_map_pts: 1.5005, d2.loss_map_dir: 0.0257, d3.loss_map_cls: 0.3228, d3.loss_map_pts: 1.4584, d3.loss_map_dir: 0.0262, d4.loss_map_cls: 0.3204, d4.loss_map_pts: 1.4430, d4.loss_map_dir: 0.0266, d5.loss_map_cls: 0.3191, d5.loss_map_pts: 1.4413, d5.loss_map_dir: 0.0269, loss: 51.8343, grad_norm: 147.1757 +2026-02-24 19:53:18,634 - DriveTransformer - INFO - Epoch [3][500/39528] lr: 9.831e-05, eta: 8 days, 0:26:58, time: 0.788, data_time: 0.039, memory: 19865, loss_cls: 0.4071, loss_bbox: 0.5580, loss_traj: 1.1550, loss_traj_cls: 0.0006, loss_map_cls: 0.2843, loss_map_pts: 1.2149, loss_map_dir: 0.0240, d0.loss_plan_l1_fix_time: 2.8635, d0.loss_plan_l1_fix_dist: 0.4519, d1.loss_plan_l1_fix_time: 2.0632, d1.loss_plan_l1_fix_dist: 0.3193, d2.loss_plan_l1_fix_time: 2.0235, d2.loss_plan_l1_fix_dist: 0.3223, d3.loss_plan_l1_fix_time: 2.0166, d3.loss_plan_l1_fix_dist: 0.3312, d4.loss_plan_l1_fix_time: 2.0197, d4.loss_plan_l1_fix_dist: 0.3422, d5.loss_plan_l1_fix_time: 2.0239, d5.loss_plan_l1_fix_dist: 0.3529, d6.loss_plan_l1_fix_time: 2.0294, d6.loss_plan_l1_fix_dist: 0.3659, d0.loss_cls_all: 0.4181, d0.loss_bbox_all: 0.5910, d0.loss_cls: 0.4181, d0.loss_bbox: 0.5910, d1.loss_cls: 0.4133, d1.loss_bbox: 0.5678, d2.loss_cls: 0.4125, d2.loss_bbox: 0.5593, d3.loss_cls: 0.4126, d3.loss_bbox: 0.5537, d4.loss_cls: 0.4082, d4.loss_bbox: 0.5571, d5.loss_cls: 0.4079, d5.loss_bbox: 0.5560, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2761, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1552, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1247, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.1304, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1351, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1380, d0.loss_map_cls_all: 0.3376, d0.loss_map_pts_all: 2.1727, d0.loss_map_dir_all: 0.0230, d0.loss_map_cls: 0.3376, d0.loss_map_pts: 2.1727, d0.loss_map_dir: 0.0230, d1.loss_map_cls: 0.3156, d1.loss_map_pts: 1.3935, d1.loss_map_dir: 0.0230, d2.loss_map_cls: 0.3041, d2.loss_map_pts: 1.2682, d2.loss_map_dir: 0.0231, d3.loss_map_cls: 0.2908, d3.loss_map_pts: 1.2281, d3.loss_map_dir: 0.0233, d4.loss_map_cls: 0.2869, d4.loss_map_pts: 1.2170, d4.loss_map_dir: 0.0236, d5.loss_map_cls: 0.2852, d5.loss_map_pts: 1.2121, d5.loss_map_dir: 0.0238, loss: 47.9849, grad_norm: 147.6130 +2026-02-24 19:53:59,017 - DriveTransformer - INFO - Epoch [3][550/39528] lr: 9.831e-05, eta: 8 days, 0:26:24, time: 0.808, data_time: 0.039, memory: 19865, loss_cls: 0.4385, loss_bbox: 0.5755, loss_traj: 1.4300, loss_traj_cls: 0.0006, loss_map_cls: 0.3298, loss_map_pts: 1.3476, loss_map_dir: 0.0255, d0.loss_plan_l1_fix_time: 3.0628, d0.loss_plan_l1_fix_dist: 0.4620, d1.loss_plan_l1_fix_time: 2.0590, d1.loss_plan_l1_fix_dist: 0.3488, d2.loss_plan_l1_fix_time: 2.0177, d2.loss_plan_l1_fix_dist: 0.3517, d3.loss_plan_l1_fix_time: 2.0138, d3.loss_plan_l1_fix_dist: 0.3598, d4.loss_plan_l1_fix_time: 2.0156, d4.loss_plan_l1_fix_dist: 0.3707, d5.loss_plan_l1_fix_time: 2.0194, d5.loss_plan_l1_fix_dist: 0.3841, d6.loss_plan_l1_fix_time: 2.0253, d6.loss_plan_l1_fix_dist: 0.3968, d0.loss_cls_all: 0.4443, d0.loss_bbox_all: 0.6211, d0.loss_cls: 0.4443, d0.loss_bbox: 0.6211, d1.loss_cls: 0.4392, d1.loss_bbox: 0.6019, d2.loss_cls: 0.4367, d2.loss_bbox: 0.5868, d3.loss_cls: 0.4375, d3.loss_bbox: 0.5798, d4.loss_cls: 0.4343, d4.loss_bbox: 0.5799, d5.loss_cls: 0.4359, d5.loss_bbox: 0.5754, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6035, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.4328, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3874, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.4006, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4155, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.4248, d0.loss_map_cls_all: 0.3602, d0.loss_map_pts_all: 2.2603, d0.loss_map_dir_all: 0.0235, d0.loss_map_cls: 0.3602, d0.loss_map_pts: 2.2603, d0.loss_map_dir: 0.0235, d1.loss_map_cls: 0.3401, d1.loss_map_pts: 1.5316, d1.loss_map_dir: 0.0241, d2.loss_map_cls: 0.3366, d2.loss_map_pts: 1.4047, d2.loss_map_dir: 0.0245, d3.loss_map_cls: 0.3289, d3.loss_map_pts: 1.3621, d3.loss_map_dir: 0.0249, d4.loss_map_cls: 0.3255, d4.loss_map_pts: 1.3470, d4.loss_map_dir: 0.0251, d5.loss_map_cls: 0.3298, d5.loss_map_pts: 1.3449, d5.loss_map_dir: 0.0253, loss: 52.0059, grad_norm: 145.5431 +2026-02-24 19:54:39,197 - DriveTransformer - INFO - Epoch [3][600/39528] lr: 9.831e-05, eta: 8 days, 0:25:48, time: 0.804, data_time: 0.047, memory: 19865, loss_cls: 0.4376, loss_bbox: 0.5529, loss_traj: 1.2095, loss_traj_cls: 0.0006, loss_map_cls: 0.3649, loss_map_pts: 1.4123, loss_map_dir: 0.0247, d0.loss_plan_l1_fix_time: 2.4554, d0.loss_plan_l1_fix_dist: 0.3964, d1.loss_plan_l1_fix_time: 1.6632, d1.loss_plan_l1_fix_dist: 0.2943, d2.loss_plan_l1_fix_time: 1.6388, d2.loss_plan_l1_fix_dist: 0.2971, d3.loss_plan_l1_fix_time: 1.6424, d3.loss_plan_l1_fix_dist: 0.3051, d4.loss_plan_l1_fix_time: 1.6486, d4.loss_plan_l1_fix_dist: 0.3166, d5.loss_plan_l1_fix_time: 1.6553, d5.loss_plan_l1_fix_dist: 0.3304, d6.loss_plan_l1_fix_time: 1.6630, d6.loss_plan_l1_fix_dist: 0.3485, d0.loss_cls_all: 0.4490, d0.loss_bbox_all: 0.5986, d0.loss_cls: 0.4490, d0.loss_bbox: 0.5986, d1.loss_cls: 0.4405, d1.loss_bbox: 0.5740, d2.loss_cls: 0.4394, d2.loss_bbox: 0.5602, d3.loss_cls: 0.4381, d3.loss_bbox: 0.5546, d4.loss_cls: 0.4362, d4.loss_bbox: 0.5509, d5.loss_cls: 0.4376, d5.loss_bbox: 0.5521, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4637, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2384, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2123, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2025, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2018, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1981, d0.loss_map_cls_all: 0.4022, d0.loss_map_pts_all: 2.3669, d0.loss_map_dir_all: 0.0227, d0.loss_map_cls: 0.4022, d0.loss_map_pts: 2.3669, d0.loss_map_dir: 0.0227, d1.loss_map_cls: 0.3838, d1.loss_map_pts: 1.6393, d1.loss_map_dir: 0.0228, d2.loss_map_cls: 0.3718, d2.loss_map_pts: 1.4963, d2.loss_map_dir: 0.0235, d3.loss_map_cls: 0.3650, d3.loss_map_pts: 1.4453, d3.loss_map_dir: 0.0239, d4.loss_map_cls: 0.3637, d4.loss_map_pts: 1.4246, d4.loss_map_dir: 0.0242, d5.loss_map_cls: 0.3654, d5.loss_map_pts: 1.4149, d5.loss_map_dir: 0.0246, loss: 48.2312, grad_norm: 147.8787 +2026-02-24 19:55:19,289 - DriveTransformer - INFO - Epoch [3][650/39528] lr: 9.831e-05, eta: 8 days, 0:25:10, time: 0.802, data_time: 0.041, memory: 19865, loss_cls: 0.4263, loss_bbox: 0.5565, loss_traj: 1.1663, loss_traj_cls: 0.0006, loss_map_cls: 0.3236, loss_map_pts: 1.2056, loss_map_dir: 0.0221, d0.loss_plan_l1_fix_time: 2.9544, d0.loss_plan_l1_fix_dist: 0.3813, d1.loss_plan_l1_fix_time: 2.1356, d1.loss_plan_l1_fix_dist: 0.2834, d2.loss_plan_l1_fix_time: 2.1107, d2.loss_plan_l1_fix_dist: 0.2887, d3.loss_plan_l1_fix_time: 2.1108, d3.loss_plan_l1_fix_dist: 0.2992, d4.loss_plan_l1_fix_time: 2.1147, d4.loss_plan_l1_fix_dist: 0.3113, d5.loss_plan_l1_fix_time: 2.1189, d5.loss_plan_l1_fix_dist: 0.3260, d6.loss_plan_l1_fix_time: 2.1238, d6.loss_plan_l1_fix_dist: 0.3421, d0.loss_cls_all: 0.4419, d0.loss_bbox_all: 0.5990, d0.loss_cls: 0.4419, d0.loss_bbox: 0.5990, d1.loss_cls: 0.4317, d1.loss_bbox: 0.5719, d2.loss_cls: 0.4289, d2.loss_bbox: 0.5610, d3.loss_cls: 0.4252, d3.loss_bbox: 0.5590, d4.loss_cls: 0.4264, d4.loss_bbox: 0.5569, d5.loss_cls: 0.4258, d5.loss_bbox: 0.5566, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3057, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1812, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1529, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1559, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1551, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1645, d0.loss_map_cls_all: 0.3635, d0.loss_map_pts_all: 1.9797, d0.loss_map_dir_all: 0.0204, d0.loss_map_cls: 0.3635, d0.loss_map_pts: 1.9797, d0.loss_map_dir: 0.0204, d1.loss_map_cls: 0.3494, d1.loss_map_pts: 1.3631, d1.loss_map_dir: 0.0208, d2.loss_map_cls: 0.3390, d2.loss_map_pts: 1.2455, d2.loss_map_dir: 0.0211, d3.loss_map_cls: 0.3260, d3.loss_map_pts: 1.2145, d3.loss_map_dir: 0.0215, d4.loss_map_cls: 0.3218, d4.loss_map_pts: 1.2052, d4.loss_map_dir: 0.0217, d5.loss_map_cls: 0.3217, d5.loss_map_pts: 1.2054, d5.loss_map_dir: 0.0218, loss: 48.4731, grad_norm: 145.3540 +2026-02-24 19:56:00,422 - DriveTransformer - INFO - Epoch [3][700/39528] lr: 9.831e-05, eta: 8 days, 0:24:44, time: 0.823, data_time: 0.045, memory: 19865, loss_cls: 0.4493, loss_bbox: 0.5752, loss_traj: 1.1373, loss_traj_cls: 0.0006, loss_map_cls: 0.3548, loss_map_pts: 1.5072, loss_map_dir: 0.0283, d0.loss_plan_l1_fix_time: 2.5002, d0.loss_plan_l1_fix_dist: 0.3938, d1.loss_plan_l1_fix_time: 1.7756, d1.loss_plan_l1_fix_dist: 0.3109, d2.loss_plan_l1_fix_time: 1.7547, d2.loss_plan_l1_fix_dist: 0.3176, d3.loss_plan_l1_fix_time: 1.7500, d3.loss_plan_l1_fix_dist: 0.3273, d4.loss_plan_l1_fix_time: 1.7545, d4.loss_plan_l1_fix_dist: 0.3392, d5.loss_plan_l1_fix_time: 1.7598, d5.loss_plan_l1_fix_dist: 0.3529, d6.loss_plan_l1_fix_time: 1.7657, d6.loss_plan_l1_fix_dist: 0.3668, d0.loss_cls_all: 0.4665, d0.loss_bbox_all: 0.6034, d0.loss_cls: 0.4665, d0.loss_bbox: 0.6034, d1.loss_cls: 0.4605, d1.loss_bbox: 0.5835, d2.loss_cls: 0.4536, d2.loss_bbox: 0.5740, d3.loss_cls: 0.4511, d3.loss_bbox: 0.5715, d4.loss_cls: 0.4491, d4.loss_bbox: 0.5726, d5.loss_cls: 0.4501, d5.loss_bbox: 0.5719, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3244, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1389, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1133, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.1118, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1215, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1257, d0.loss_map_cls_all: 0.3871, d0.loss_map_pts_all: 2.5620, d0.loss_map_dir_all: 0.0262, d0.loss_map_cls: 0.3871, d0.loss_map_pts: 2.5620, d0.loss_map_dir: 0.0262, d1.loss_map_cls: 0.3743, d1.loss_map_pts: 1.7039, d1.loss_map_dir: 0.0263, d2.loss_map_cls: 0.3665, d2.loss_map_pts: 1.5734, d2.loss_map_dir: 0.0268, d3.loss_map_cls: 0.3570, d3.loss_map_pts: 1.5305, d3.loss_map_dir: 0.0274, d4.loss_map_cls: 0.3548, d4.loss_map_pts: 1.5152, d4.loss_map_dir: 0.0277, d5.loss_map_cls: 0.3541, d5.loss_map_pts: 1.5083, d5.loss_map_dir: 0.0280, loss: 49.4646, grad_norm: 143.9966 +2026-02-24 19:56:41,412 - DriveTransformer - INFO - Epoch [3][750/39528] lr: 9.831e-05, eta: 8 days, 0:24:17, time: 0.820, data_time: 0.040, memory: 19865, loss_cls: 0.4047, loss_bbox: 0.5322, loss_traj: 1.1864, loss_traj_cls: 0.0006, loss_map_cls: 0.2473, loss_map_pts: 1.2051, loss_map_dir: 0.0217, d0.loss_plan_l1_fix_time: 2.7419, d0.loss_plan_l1_fix_dist: 0.5848, d1.loss_plan_l1_fix_time: 1.8525, d1.loss_plan_l1_fix_dist: 0.3707, d2.loss_plan_l1_fix_time: 1.8183, d2.loss_plan_l1_fix_dist: 0.3729, d3.loss_plan_l1_fix_time: 1.8126, d3.loss_plan_l1_fix_dist: 0.3835, d4.loss_plan_l1_fix_time: 1.8148, d4.loss_plan_l1_fix_dist: 0.3959, d5.loss_plan_l1_fix_time: 1.8191, d5.loss_plan_l1_fix_dist: 0.4107, d6.loss_plan_l1_fix_time: 1.8246, d6.loss_plan_l1_fix_dist: 0.4248, d0.loss_cls_all: 0.4173, d0.loss_bbox_all: 0.5661, d0.loss_cls: 0.4173, d0.loss_bbox: 0.5661, d1.loss_cls: 0.4117, d1.loss_bbox: 0.5474, d2.loss_cls: 0.4091, d2.loss_bbox: 0.5359, d3.loss_cls: 0.4058, d3.loss_bbox: 0.5316, d4.loss_cls: 0.4043, d4.loss_bbox: 0.5296, d5.loss_cls: 0.4019, d5.loss_bbox: 0.5295, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2646, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1751, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1556, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1568, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1659, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1747, d0.loss_map_cls_all: 0.2940, d0.loss_map_pts_all: 2.0781, d0.loss_map_dir_all: 0.0206, d0.loss_map_cls: 0.2940, d0.loss_map_pts: 2.0781, d0.loss_map_dir: 0.0206, d1.loss_map_cls: 0.2766, d1.loss_map_pts: 1.3582, d1.loss_map_dir: 0.0202, d2.loss_map_cls: 0.2601, d2.loss_map_pts: 1.2456, d2.loss_map_dir: 0.0207, d3.loss_map_cls: 0.2486, d3.loss_map_pts: 1.2113, d3.loss_map_dir: 0.0211, d4.loss_map_cls: 0.2459, d4.loss_map_pts: 1.1998, d4.loss_map_dir: 0.0212, d5.loss_map_cls: 0.2470, d5.loss_map_pts: 1.2001, d5.loss_map_dir: 0.0215, loss: 46.3799, grad_norm: 142.2741 +2026-02-24 19:57:20,632 - DriveTransformer - INFO - Epoch [3][800/39528] lr: 9.831e-05, eta: 8 days, 0:23:30, time: 0.784, data_time: 0.038, memory: 19865, loss_cls: 0.4208, loss_bbox: 0.5497, loss_traj: 1.4119, loss_traj_cls: 0.0006, loss_map_cls: 0.3417, loss_map_pts: 1.3762, loss_map_dir: 0.0248, d0.loss_plan_l1_fix_time: 2.6029, d0.loss_plan_l1_fix_dist: 0.3629, d1.loss_plan_l1_fix_time: 1.7360, d1.loss_plan_l1_fix_dist: 0.3021, d2.loss_plan_l1_fix_time: 1.7007, d2.loss_plan_l1_fix_dist: 0.3054, d3.loss_plan_l1_fix_time: 1.7038, d3.loss_plan_l1_fix_dist: 0.3173, d4.loss_plan_l1_fix_time: 1.7086, d4.loss_plan_l1_fix_dist: 0.3331, d5.loss_plan_l1_fix_time: 1.7140, d5.loss_plan_l1_fix_dist: 0.3502, d6.loss_plan_l1_fix_time: 1.7202, d6.loss_plan_l1_fix_dist: 0.3695, d0.loss_cls_all: 0.4405, d0.loss_bbox_all: 0.5947, d0.loss_cls: 0.4405, d0.loss_bbox: 0.5947, d1.loss_cls: 0.4355, d1.loss_bbox: 0.5672, d2.loss_cls: 0.4295, d2.loss_bbox: 0.5531, d3.loss_cls: 0.4231, d3.loss_bbox: 0.5481, d4.loss_cls: 0.4211, d4.loss_bbox: 0.5478, d5.loss_cls: 0.4199, d5.loss_bbox: 0.5487, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5124, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3845, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3796, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.3902, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3944, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.4047, d0.loss_map_cls_all: 0.3902, d0.loss_map_pts_all: 2.2427, d0.loss_map_dir_all: 0.0232, d0.loss_map_cls: 0.3902, d0.loss_map_pts: 2.2427, d0.loss_map_dir: 0.0232, d1.loss_map_cls: 0.3679, d1.loss_map_pts: 1.5597, d1.loss_map_dir: 0.0233, d2.loss_map_cls: 0.3502, d2.loss_map_pts: 1.4365, d2.loss_map_dir: 0.0237, d3.loss_map_cls: 0.3442, d3.loss_map_pts: 1.3927, d3.loss_map_dir: 0.0241, d4.loss_map_cls: 0.3394, d4.loss_map_pts: 1.3761, d4.loss_map_dir: 0.0244, d5.loss_map_cls: 0.3385, d5.loss_map_pts: 1.3726, d5.loss_map_dir: 0.0246, loss: 49.0978, grad_norm: 139.8431 +2026-02-24 19:58:00,335 - DriveTransformer - INFO - Epoch [3][850/39528] lr: 9.831e-05, eta: 8 days, 0:22:48, time: 0.794, data_time: 0.040, memory: 19865, loss_cls: 0.4266, loss_bbox: 0.5923, loss_traj: 1.1999, loss_traj_cls: 0.0006, loss_map_cls: 0.2815, loss_map_pts: 1.3146, loss_map_dir: 0.0218, d0.loss_plan_l1_fix_time: 3.0025, d0.loss_plan_l1_fix_dist: 0.5113, d1.loss_plan_l1_fix_time: 2.1542, d1.loss_plan_l1_fix_dist: 0.3479, d2.loss_plan_l1_fix_time: 2.1250, d2.loss_plan_l1_fix_dist: 0.3649, d3.loss_plan_l1_fix_time: 2.1260, d3.loss_plan_l1_fix_dist: 0.3876, d4.loss_plan_l1_fix_time: 2.1328, d4.loss_plan_l1_fix_dist: 0.4137, d5.loss_plan_l1_fix_time: 2.1401, d5.loss_plan_l1_fix_dist: 0.4446, d6.loss_plan_l1_fix_time: 2.1484, d6.loss_plan_l1_fix_dist: 0.4782, d0.loss_cls_all: 0.4409, d0.loss_bbox_all: 0.6295, d0.loss_cls: 0.4409, d0.loss_bbox: 0.6295, d1.loss_cls: 0.4472, d1.loss_bbox: 0.6045, d2.loss_cls: 0.4426, d2.loss_bbox: 0.5942, d3.loss_cls: 0.4345, d3.loss_bbox: 0.5925, d4.loss_cls: 0.4302, d4.loss_bbox: 0.5909, d5.loss_cls: 0.4282, d5.loss_bbox: 0.5890, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3338, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2112, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1914, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.1877, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1932, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1948, d0.loss_map_cls_all: 0.3213, d0.loss_map_pts_all: 2.0276, d0.loss_map_dir_all: 0.0206, d0.loss_map_cls: 0.3213, d0.loss_map_pts: 2.0276, d0.loss_map_dir: 0.0206, d1.loss_map_cls: 0.3027, d1.loss_map_pts: 1.4799, d1.loss_map_dir: 0.0207, d2.loss_map_cls: 0.2896, d2.loss_map_pts: 1.3672, d2.loss_map_dir: 0.0210, d3.loss_map_cls: 0.2809, d3.loss_map_pts: 1.3293, d3.loss_map_dir: 0.0212, d4.loss_map_cls: 0.2786, d4.loss_map_pts: 1.3192, d4.loss_map_dir: 0.0214, d5.loss_map_cls: 0.2790, d5.loss_map_pts: 1.3143, d5.loss_map_dir: 0.0216, loss: 50.3120, grad_norm: 145.4218 +2026-02-24 19:58:42,400 - DriveTransformer - INFO - Epoch [3][900/39528] lr: 9.831e-05, eta: 8 days, 0:22:32, time: 0.841, data_time: 0.046, memory: 19865, loss_cls: 0.4340, loss_bbox: 0.5997, loss_traj: 1.2678, loss_traj_cls: 0.0006, loss_map_cls: 0.3225, loss_map_pts: 1.4156, loss_map_dir: 0.0249, d0.loss_plan_l1_fix_time: 2.6625, d0.loss_plan_l1_fix_dist: 0.4518, d1.loss_plan_l1_fix_time: 2.0009, d1.loss_plan_l1_fix_dist: 0.3238, d2.loss_plan_l1_fix_time: 2.0039, d2.loss_plan_l1_fix_dist: 0.3401, d3.loss_plan_l1_fix_time: 2.0106, d3.loss_plan_l1_fix_dist: 0.3576, d4.loss_plan_l1_fix_time: 2.0169, d4.loss_plan_l1_fix_dist: 0.3773, d5.loss_plan_l1_fix_time: 2.0244, d5.loss_plan_l1_fix_dist: 0.4002, d6.loss_plan_l1_fix_time: 2.0330, d6.loss_plan_l1_fix_dist: 0.4298, d0.loss_cls_all: 0.4584, d0.loss_bbox_all: 0.6316, d0.loss_cls: 0.4584, d0.loss_bbox: 0.6316, d1.loss_cls: 0.4550, d1.loss_bbox: 0.6059, d2.loss_cls: 0.4461, d2.loss_bbox: 0.5983, d3.loss_cls: 0.4373, d3.loss_bbox: 0.5942, d4.loss_cls: 0.4364, d4.loss_bbox: 0.5935, d5.loss_cls: 0.4348, d5.loss_bbox: 0.5949, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4206, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2671, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2580, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.2515, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2455, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2531, d0.loss_map_cls_all: 0.3727, d0.loss_map_pts_all: 2.4020, d0.loss_map_dir_all: 0.0236, d0.loss_map_cls: 0.3727, d0.loss_map_pts: 2.4020, d0.loss_map_dir: 0.0236, d1.loss_map_cls: 0.3488, d1.loss_map_pts: 1.6132, d1.loss_map_dir: 0.0234, d2.loss_map_cls: 0.3373, d2.loss_map_pts: 1.4736, d2.loss_map_dir: 0.0239, d3.loss_map_cls: 0.3277, d3.loss_map_pts: 1.4296, d3.loss_map_dir: 0.0243, d4.loss_map_cls: 0.3219, d4.loss_map_pts: 1.4170, d4.loss_map_dir: 0.0245, d5.loss_map_cls: 0.3218, d5.loss_map_pts: 1.4163, d5.loss_map_dir: 0.0246, loss: 51.2997, grad_norm: 143.9066 +2026-02-24 19:59:22,366 - DriveTransformer - INFO - Epoch [3][950/39528] lr: 9.831e-05, eta: 8 days, 0:21:54, time: 0.799, data_time: 0.037, memory: 19865, loss_cls: 0.4543, loss_bbox: 0.6023, loss_traj: 1.2316, loss_traj_cls: 0.0006, loss_map_cls: 0.3053, loss_map_pts: 1.4282, loss_map_dir: 0.0260, d0.loss_plan_l1_fix_time: 2.6670, d0.loss_plan_l1_fix_dist: 0.5022, d1.loss_plan_l1_fix_time: 2.0078, d1.loss_plan_l1_fix_dist: 0.3511, d2.loss_plan_l1_fix_time: 2.0011, d2.loss_plan_l1_fix_dist: 0.3608, d3.loss_plan_l1_fix_time: 2.0091, d3.loss_plan_l1_fix_dist: 0.3770, d4.loss_plan_l1_fix_time: 2.0160, d4.loss_plan_l1_fix_dist: 0.3967, d5.loss_plan_l1_fix_time: 2.0230, d5.loss_plan_l1_fix_dist: 0.4155, d6.loss_plan_l1_fix_time: 2.0303, d6.loss_plan_l1_fix_dist: 0.4327, d0.loss_cls_all: 0.4520, d0.loss_bbox_all: 0.6337, d0.loss_cls: 0.4520, d0.loss_bbox: 0.6337, d1.loss_cls: 0.4498, d1.loss_bbox: 0.6144, d2.loss_cls: 0.4519, d2.loss_bbox: 0.6042, d3.loss_cls: 0.4535, d3.loss_bbox: 0.6022, d4.loss_cls: 0.4535, d4.loss_bbox: 0.5971, d5.loss_cls: 0.4536, d5.loss_bbox: 0.5996, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3172, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2125, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1991, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2041, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2051, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2203, d0.loss_map_cls_all: 0.3439, d0.loss_map_pts_all: 2.2455, d0.loss_map_dir_all: 0.0242, d0.loss_map_cls: 0.3439, d0.loss_map_pts: 2.2455, d0.loss_map_dir: 0.0242, d1.loss_map_cls: 0.3302, d1.loss_map_pts: 1.6018, d1.loss_map_dir: 0.0246, d2.loss_map_cls: 0.3187, d2.loss_map_pts: 1.4788, d2.loss_map_dir: 0.0250, d3.loss_map_cls: 0.3077, d3.loss_map_pts: 1.4414, d3.loss_map_dir: 0.0252, d4.loss_map_cls: 0.3054, d4.loss_map_pts: 1.4268, d4.loss_map_dir: 0.0256, d5.loss_map_cls: 0.3029, d5.loss_map_pts: 1.4265, d5.loss_map_dir: 0.0258, loss: 50.7470, grad_norm: 143.3093 +2026-02-24 20:00:02,162 - DriveTransformer - INFO - Epoch [3][1000/39528] lr: 9.831e-05, eta: 8 days, 0:21:13, time: 0.796, data_time: 0.046, memory: 19865, loss_cls: 0.4252, loss_bbox: 0.5734, loss_traj: 1.4061, loss_traj_cls: 0.0006, loss_map_cls: 0.3111, loss_map_pts: 1.2419, loss_map_dir: 0.0235, d0.loss_plan_l1_fix_time: 3.0142, d0.loss_plan_l1_fix_dist: 0.3985, d1.loss_plan_l1_fix_time: 2.1094, d1.loss_plan_l1_fix_dist: 0.3492, d2.loss_plan_l1_fix_time: 2.1086, d2.loss_plan_l1_fix_dist: 0.3615, d3.loss_plan_l1_fix_time: 2.1165, d3.loss_plan_l1_fix_dist: 0.3793, d4.loss_plan_l1_fix_time: 2.1236, d4.loss_plan_l1_fix_dist: 0.4005, d5.loss_plan_l1_fix_time: 2.1310, d5.loss_plan_l1_fix_dist: 0.4224, d6.loss_plan_l1_fix_time: 2.1398, d6.loss_plan_l1_fix_dist: 0.4431, d0.loss_cls_all: 0.4288, d0.loss_bbox_all: 0.6201, d0.loss_cls: 0.4288, d0.loss_bbox: 0.6201, d1.loss_cls: 0.4298, d1.loss_bbox: 0.6002, d2.loss_cls: 0.4316, d2.loss_bbox: 0.5835, d3.loss_cls: 0.4316, d3.loss_bbox: 0.5732, d4.loss_cls: 0.4246, d4.loss_bbox: 0.5716, d5.loss_cls: 0.4262, d5.loss_bbox: 0.5699, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5541, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3732, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3721, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.3648, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3709, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.3887, d0.loss_map_cls_all: 0.3663, d0.loss_map_pts_all: 2.0550, d0.loss_map_dir_all: 0.0220, d0.loss_map_cls: 0.3663, d0.loss_map_pts: 2.0550, d0.loss_map_dir: 0.0220, d1.loss_map_cls: 0.3515, d1.loss_map_pts: 1.4168, d1.loss_map_dir: 0.0223, d2.loss_map_cls: 0.3337, d2.loss_map_pts: 1.2993, d2.loss_map_dir: 0.0226, d3.loss_map_cls: 0.3162, d3.loss_map_pts: 1.2599, d3.loss_map_dir: 0.0230, d4.loss_map_cls: 0.3140, d4.loss_map_pts: 1.2402, d4.loss_map_dir: 0.0232, d5.loss_map_cls: 0.3107, d5.loss_map_pts: 1.2389, d5.loss_map_dir: 0.0233, loss: 51.1305, grad_norm: 144.9231 +2026-02-24 20:00:42,682 - DriveTransformer - INFO - Epoch [3][1050/39528] lr: 9.831e-05, eta: 8 days, 0:20:40, time: 0.810, data_time: 0.039, memory: 19865, loss_cls: 0.4465, loss_bbox: 0.5690, loss_traj: 1.3391, loss_traj_cls: 0.0006, loss_map_cls: 0.3130, loss_map_pts: 1.2806, loss_map_dir: 0.0266, d0.loss_plan_l1_fix_time: 2.7086, d0.loss_plan_l1_fix_dist: 0.5068, d1.loss_plan_l1_fix_time: 1.9756, d1.loss_plan_l1_fix_dist: 0.3475, d2.loss_plan_l1_fix_time: 1.9443, d2.loss_plan_l1_fix_dist: 0.3573, d3.loss_plan_l1_fix_time: 1.9374, d3.loss_plan_l1_fix_dist: 0.3696, d4.loss_plan_l1_fix_time: 1.9407, d4.loss_plan_l1_fix_dist: 0.3877, d5.loss_plan_l1_fix_time: 1.9461, d5.loss_plan_l1_fix_dist: 0.4052, d6.loss_plan_l1_fix_time: 1.9537, d6.loss_plan_l1_fix_dist: 0.4265, d0.loss_cls_all: 0.4616, d0.loss_bbox_all: 0.6121, d0.loss_cls: 0.4616, d0.loss_bbox: 0.6121, d1.loss_cls: 0.4540, d1.loss_bbox: 0.5828, d2.loss_cls: 0.4484, d2.loss_bbox: 0.5724, d3.loss_cls: 0.4458, d3.loss_bbox: 0.5645, d4.loss_cls: 0.4445, d4.loss_bbox: 0.5639, d5.loss_cls: 0.4464, d5.loss_bbox: 0.5647, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4678, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3214, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3123, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.3261, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.3245, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.3294, d0.loss_map_cls_all: 0.3535, d0.loss_map_pts_all: 2.2185, d0.loss_map_dir_all: 0.0250, d0.loss_map_cls: 0.3535, d0.loss_map_pts: 2.2185, d0.loss_map_dir: 0.0250, d1.loss_map_cls: 0.3321, d1.loss_map_pts: 1.4779, d1.loss_map_dir: 0.0251, d2.loss_map_cls: 0.3193, d2.loss_map_pts: 1.3444, d2.loss_map_dir: 0.0255, d3.loss_map_cls: 0.3153, d3.loss_map_pts: 1.2986, d3.loss_map_dir: 0.0259, d4.loss_map_cls: 0.3136, d4.loss_map_pts: 1.2836, d4.loss_map_dir: 0.0262, d5.loss_map_cls: 0.3116, d5.loss_map_pts: 1.2813, d5.loss_map_dir: 0.0264, loss: 50.1050, grad_norm: 146.5009 +2026-02-24 20:01:24,379 - DriveTransformer - INFO - Epoch [3][1100/39528] lr: 9.831e-05, eta: 8 days, 0:20:20, time: 0.834, data_time: 0.040, memory: 19865, loss_cls: 0.4596, loss_bbox: 0.5785, loss_traj: 1.1073, loss_traj_cls: 0.0006, loss_map_cls: 0.2794, loss_map_pts: 1.3420, loss_map_dir: 0.0245, d0.loss_plan_l1_fix_time: 2.8204, d0.loss_plan_l1_fix_dist: 0.5065, d1.loss_plan_l1_fix_time: 2.1339, d1.loss_plan_l1_fix_dist: 0.3743, d2.loss_plan_l1_fix_time: 2.1063, d2.loss_plan_l1_fix_dist: 0.3890, d3.loss_plan_l1_fix_time: 2.1020, d3.loss_plan_l1_fix_dist: 0.4052, d4.loss_plan_l1_fix_time: 2.1067, d4.loss_plan_l1_fix_dist: 0.4247, d5.loss_plan_l1_fix_time: 2.1125, d5.loss_plan_l1_fix_dist: 0.4475, d6.loss_plan_l1_fix_time: 2.1191, d6.loss_plan_l1_fix_dist: 0.4727, d0.loss_cls_all: 0.4528, d0.loss_bbox_all: 0.6060, d0.loss_cls: 0.4528, d0.loss_bbox: 0.6060, d1.loss_cls: 0.4467, d1.loss_bbox: 0.5828, d2.loss_cls: 0.4438, d2.loss_bbox: 0.5757, d3.loss_cls: 0.4502, d3.loss_bbox: 0.5690, d4.loss_cls: 0.4522, d4.loss_bbox: 0.5715, d5.loss_cls: 0.4558, d5.loss_bbox: 0.5743, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3077, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1210, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0878, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1008, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0984, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1076, d0.loss_map_cls_all: 0.3255, d0.loss_map_pts_all: 2.2711, d0.loss_map_dir_all: 0.0234, d0.loss_map_cls: 0.3255, d0.loss_map_pts: 2.2711, d0.loss_map_dir: 0.0234, d1.loss_map_cls: 0.3074, d1.loss_map_pts: 1.5377, d1.loss_map_dir: 0.0232, d2.loss_map_cls: 0.2936, d2.loss_map_pts: 1.4071, d2.loss_map_dir: 0.0236, d3.loss_map_cls: 0.2845, d3.loss_map_pts: 1.3609, d3.loss_map_dir: 0.0239, d4.loss_map_cls: 0.2816, d4.loss_map_pts: 1.3477, d4.loss_map_dir: 0.0242, d5.loss_map_cls: 0.2787, d5.loss_map_pts: 1.3432, d5.loss_map_dir: 0.0242, loss: 50.1825, grad_norm: 147.1832 +2026-02-24 20:02:03,093 - DriveTransformer - INFO - Epoch [3][1150/39528] lr: 9.831e-05, eta: 8 days, 0:19:28, time: 0.774, data_time: 0.037, memory: 19865, loss_cls: 0.4764, loss_bbox: 0.5708, loss_traj: 1.3843, loss_traj_cls: 0.0006, loss_map_cls: 0.3303, loss_map_pts: 1.3725, loss_map_dir: 0.0226, d0.loss_plan_l1_fix_time: 2.3832, d0.loss_plan_l1_fix_dist: 0.4145, d1.loss_plan_l1_fix_time: 1.9482, d1.loss_plan_l1_fix_dist: 0.2650, d2.loss_plan_l1_fix_time: 1.9321, d2.loss_plan_l1_fix_dist: 0.2759, d3.loss_plan_l1_fix_time: 1.9359, d3.loss_plan_l1_fix_dist: 0.2914, d4.loss_plan_l1_fix_time: 1.9431, d4.loss_plan_l1_fix_dist: 0.3054, d5.loss_plan_l1_fix_time: 1.9504, d5.loss_plan_l1_fix_dist: 0.3237, d6.loss_plan_l1_fix_time: 1.9584, d6.loss_plan_l1_fix_dist: 0.3448, d0.loss_cls_all: 0.4795, d0.loss_bbox_all: 0.6062, d0.loss_cls: 0.4795, d0.loss_bbox: 0.6062, d1.loss_cls: 0.4716, d1.loss_bbox: 0.5855, d2.loss_cls: 0.4677, d2.loss_bbox: 0.5767, d3.loss_cls: 0.4702, d3.loss_bbox: 0.5729, d4.loss_cls: 0.4698, d4.loss_bbox: 0.5707, d5.loss_cls: 0.4749, d5.loss_bbox: 0.5711, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5199, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.3570, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3499, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.3631, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.3607, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.3720, d0.loss_map_cls_all: 0.3704, d0.loss_map_pts_all: 2.0412, d0.loss_map_dir_all: 0.0211, d0.loss_map_cls: 0.3704, d0.loss_map_pts: 2.0412, d0.loss_map_dir: 0.0211, d1.loss_map_cls: 0.3567, d1.loss_map_pts: 1.5610, d1.loss_map_dir: 0.0217, d2.loss_map_cls: 0.3426, d2.loss_map_pts: 1.4372, d2.loss_map_dir: 0.0220, d3.loss_map_cls: 0.3314, d3.loss_map_pts: 1.3911, d3.loss_map_dir: 0.0222, d4.loss_map_cls: 0.3294, d4.loss_map_pts: 1.3777, d4.loss_map_dir: 0.0224, d5.loss_map_cls: 0.3299, d5.loss_map_pts: 1.3720, d5.loss_map_dir: 0.0225, loss: 49.9653, grad_norm: 147.2145 +2026-02-24 20:02:44,661 - DriveTransformer - INFO - Epoch [3][1200/39528] lr: 9.831e-05, eta: 8 days, 0:19:07, time: 0.833, data_time: 0.036, memory: 19865, loss_cls: 0.4386, loss_bbox: 0.5677, loss_traj: 1.1175, loss_traj_cls: 0.0007, loss_map_cls: 0.3176, loss_map_pts: 1.3991, loss_map_dir: 0.0257, d0.loss_plan_l1_fix_time: 2.5566, d0.loss_plan_l1_fix_dist: 0.4176, d1.loss_plan_l1_fix_time: 1.6349, d1.loss_plan_l1_fix_dist: 0.2795, d2.loss_plan_l1_fix_time: 1.5824, d2.loss_plan_l1_fix_dist: 0.2952, d3.loss_plan_l1_fix_time: 1.5768, d3.loss_plan_l1_fix_dist: 0.3171, d4.loss_plan_l1_fix_time: 1.5805, d4.loss_plan_l1_fix_dist: 0.3408, d5.loss_plan_l1_fix_time: 1.5865, d5.loss_plan_l1_fix_dist: 0.3669, d6.loss_plan_l1_fix_time: 1.5941, d6.loss_plan_l1_fix_dist: 0.3954, d0.loss_cls_all: 0.4464, d0.loss_bbox_all: 0.6022, d0.loss_cls: 0.4464, d0.loss_bbox: 0.6022, d1.loss_cls: 0.4407, d1.loss_bbox: 0.5822, d2.loss_cls: 0.4382, d2.loss_bbox: 0.5739, d3.loss_cls: 0.4375, d3.loss_bbox: 0.5720, d4.loss_cls: 0.4364, d4.loss_bbox: 0.5694, d5.loss_cls: 0.4390, d5.loss_bbox: 0.5670, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2978, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1343, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1031, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1087, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1082, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1107, d0.loss_map_cls_all: 0.3474, d0.loss_map_pts_all: 2.3557, d0.loss_map_dir_all: 0.0248, d0.loss_map_cls: 0.3474, d0.loss_map_pts: 2.3557, d0.loss_map_dir: 0.0248, d1.loss_map_cls: 0.3336, d1.loss_map_pts: 1.6038, d1.loss_map_dir: 0.0245, d2.loss_map_cls: 0.3252, d2.loss_map_pts: 1.4699, d2.loss_map_dir: 0.0248, d3.loss_map_cls: 0.3158, d3.loss_map_pts: 1.4227, d3.loss_map_dir: 0.0251, d4.loss_map_cls: 0.3172, d4.loss_map_pts: 1.4081, d4.loss_map_dir: 0.0254, d5.loss_map_cls: 0.3168, d5.loss_map_pts: 1.4034, d5.loss_map_dir: 0.0255, loss: 46.9105, grad_norm: 148.2749 +2026-02-24 20:03:23,924 - DriveTransformer - INFO - Epoch [3][1250/39528] lr: 9.831e-05, eta: 8 days, 0:18:20, time: 0.784, data_time: 0.040, memory: 19865, loss_cls: 0.4502, loss_bbox: 0.5914, loss_traj: 1.2627, loss_traj_cls: 0.0006, loss_map_cls: 0.3268, loss_map_pts: 1.4208, loss_map_dir: 0.0243, d0.loss_plan_l1_fix_time: 2.6579, d0.loss_plan_l1_fix_dist: 0.4443, d1.loss_plan_l1_fix_time: 1.9249, d1.loss_plan_l1_fix_dist: 0.3109, d2.loss_plan_l1_fix_time: 1.9051, d2.loss_plan_l1_fix_dist: 0.3149, d3.loss_plan_l1_fix_time: 1.9143, d3.loss_plan_l1_fix_dist: 0.3266, d4.loss_plan_l1_fix_time: 1.9241, d4.loss_plan_l1_fix_dist: 0.3424, d5.loss_plan_l1_fix_time: 1.9345, d5.loss_plan_l1_fix_dist: 0.3597, d6.loss_plan_l1_fix_time: 1.9456, d6.loss_plan_l1_fix_dist: 0.3792, d0.loss_cls_all: 0.4623, d0.loss_bbox_all: 0.6229, d0.loss_cls: 0.4623, d0.loss_bbox: 0.6229, d1.loss_cls: 0.4550, d1.loss_bbox: 0.6030, d2.loss_cls: 0.4454, d2.loss_bbox: 0.5948, d3.loss_cls: 0.4441, d3.loss_bbox: 0.5874, d4.loss_cls: 0.4452, d4.loss_bbox: 0.5849, d5.loss_cls: 0.4472, d5.loss_bbox: 0.5871, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3803, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2677, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2458, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2526, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.2509, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2547, d0.loss_map_cls_all: 0.3753, d0.loss_map_pts_all: 2.2923, d0.loss_map_dir_all: 0.0232, d0.loss_map_cls: 0.3753, d0.loss_map_pts: 2.2923, d0.loss_map_dir: 0.0232, d1.loss_map_cls: 0.3586, d1.loss_map_pts: 1.6405, d1.loss_map_dir: 0.0232, d2.loss_map_cls: 0.3465, d2.loss_map_pts: 1.5031, d2.loss_map_dir: 0.0236, d3.loss_map_cls: 0.3338, d3.loss_map_pts: 1.4521, d3.loss_map_dir: 0.0240, d4.loss_map_cls: 0.3290, d4.loss_map_pts: 1.4356, d4.loss_map_dir: 0.0242, d5.loss_map_cls: 0.3274, d5.loss_map_pts: 1.4267, d5.loss_map_dir: 0.0241, loss: 50.4372, grad_norm: 147.8524 +2026-02-24 20:04:03,340 - DriveTransformer - INFO - Epoch [3][1300/39528] lr: 9.831e-05, eta: 8 days, 0:17:36, time: 0.788, data_time: 0.043, memory: 19865, loss_cls: 0.4740, loss_bbox: 0.5995, loss_traj: 1.2459, loss_traj_cls: 0.0006, loss_map_cls: 0.2840, loss_map_pts: 1.3061, loss_map_dir: 0.0217, d0.loss_plan_l1_fix_time: 2.6374, d0.loss_plan_l1_fix_dist: 0.4816, d1.loss_plan_l1_fix_time: 2.0204, d1.loss_plan_l1_fix_dist: 0.3447, d2.loss_plan_l1_fix_time: 2.0257, d2.loss_plan_l1_fix_dist: 0.3547, d3.loss_plan_l1_fix_time: 2.0381, d3.loss_plan_l1_fix_dist: 0.3709, d4.loss_plan_l1_fix_time: 2.0474, d4.loss_plan_l1_fix_dist: 0.3903, d5.loss_plan_l1_fix_time: 2.0563, d5.loss_plan_l1_fix_dist: 0.4109, d6.loss_plan_l1_fix_time: 2.0652, d6.loss_plan_l1_fix_dist: 0.4351, d0.loss_cls_all: 0.4819, d0.loss_bbox_all: 0.6370, d0.loss_cls: 0.4819, d0.loss_bbox: 0.6370, d1.loss_cls: 0.4704, d1.loss_bbox: 0.6118, d2.loss_cls: 0.4640, d2.loss_bbox: 0.6024, d3.loss_cls: 0.4614, d3.loss_bbox: 0.5978, d4.loss_cls: 0.4639, d4.loss_bbox: 0.5932, d5.loss_cls: 0.4700, d5.loss_bbox: 0.5928, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4141, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2835, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2543, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2435, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2437, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2418, d0.loss_map_cls_all: 0.3341, d0.loss_map_pts_all: 2.0895, d0.loss_map_dir_all: 0.0209, d0.loss_map_cls: 0.3341, d0.loss_map_pts: 2.0895, d0.loss_map_dir: 0.0209, d1.loss_map_cls: 0.3118, d1.loss_map_pts: 1.4615, d1.loss_map_dir: 0.0205, d2.loss_map_cls: 0.2976, d2.loss_map_pts: 1.3561, d2.loss_map_dir: 0.0208, d3.loss_map_cls: 0.2868, d3.loss_map_pts: 1.3174, d3.loss_map_dir: 0.0211, d4.loss_map_cls: 0.2823, d4.loss_map_pts: 1.3036, d4.loss_map_dir: 0.0213, d5.loss_map_cls: 0.2825, d5.loss_map_pts: 1.3027, d5.loss_map_dir: 0.0215, loss: 50.0589, grad_norm: 148.3896 +2026-02-24 20:04:42,658 - DriveTransformer - INFO - Epoch [3][1350/39528] lr: 9.831e-05, eta: 8 days, 0:16:50, time: 0.786, data_time: 0.042, memory: 19865, loss_cls: 0.4409, loss_bbox: 0.5898, loss_traj: 1.2805, loss_traj_cls: 0.0006, loss_map_cls: 0.3011, loss_map_pts: 1.2798, loss_map_dir: 0.0207, d0.loss_plan_l1_fix_time: 3.0803, d0.loss_plan_l1_fix_dist: 0.4340, d1.loss_plan_l1_fix_time: 2.3690, d1.loss_plan_l1_fix_dist: 0.3095, d2.loss_plan_l1_fix_time: 2.3714, d2.loss_plan_l1_fix_dist: 0.3180, d3.loss_plan_l1_fix_time: 2.3758, d3.loss_plan_l1_fix_dist: 0.3328, d4.loss_plan_l1_fix_time: 2.3842, d4.loss_plan_l1_fix_dist: 0.3474, d5.loss_plan_l1_fix_time: 2.3932, d5.loss_plan_l1_fix_dist: 0.3656, d6.loss_plan_l1_fix_time: 2.4025, d6.loss_plan_l1_fix_dist: 0.3838, d0.loss_cls_all: 0.4398, d0.loss_bbox_all: 0.6262, d0.loss_cls: 0.4398, d0.loss_bbox: 0.6262, d1.loss_cls: 0.4384, d1.loss_bbox: 0.6048, d2.loss_cls: 0.4295, d2.loss_bbox: 0.5926, d3.loss_cls: 0.4298, d3.loss_bbox: 0.5868, d4.loss_cls: 0.4327, d4.loss_bbox: 0.5862, d5.loss_cls: 0.4357, d5.loss_bbox: 0.5852, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5158, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3202, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2830, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2759, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2795, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2725, d0.loss_map_cls_all: 0.3459, d0.loss_map_pts_all: 1.9660, d0.loss_map_dir_all: 0.0195, d0.loss_map_cls: 0.3459, d0.loss_map_pts: 1.9660, d0.loss_map_dir: 0.0195, d1.loss_map_cls: 0.3204, d1.loss_map_pts: 1.4552, d1.loss_map_dir: 0.0196, d2.loss_map_cls: 0.3083, d2.loss_map_pts: 1.3413, d2.loss_map_dir: 0.0199, d3.loss_map_cls: 0.3001, d3.loss_map_pts: 1.2982, d3.loss_map_dir: 0.0203, d4.loss_map_cls: 0.2987, d4.loss_map_pts: 1.2827, d4.loss_map_dir: 0.0204, d5.loss_map_cls: 0.2992, d5.loss_map_pts: 1.2803, d5.loss_map_dir: 0.0205, loss: 51.9352, grad_norm: 148.6348 +2026-02-24 20:05:22,809 - DriveTransformer - INFO - Epoch [3][1400/39528] lr: 9.831e-05, eta: 8 days, 0:16:13, time: 0.803, data_time: 0.047, memory: 19865, loss_cls: 0.4325, loss_bbox: 0.5681, loss_traj: 1.2125, loss_traj_cls: 0.0006, loss_map_cls: 0.3287, loss_map_pts: 1.3866, loss_map_dir: 0.0238, d0.loss_plan_l1_fix_time: 2.7727, d0.loss_plan_l1_fix_dist: 0.5153, d1.loss_plan_l1_fix_time: 1.8814, d1.loss_plan_l1_fix_dist: 0.3489, d2.loss_plan_l1_fix_time: 1.8862, d2.loss_plan_l1_fix_dist: 0.3557, d3.loss_plan_l1_fix_time: 1.8964, d3.loss_plan_l1_fix_dist: 0.3677, d4.loss_plan_l1_fix_time: 1.9055, d4.loss_plan_l1_fix_dist: 0.3822, d5.loss_plan_l1_fix_time: 1.9143, d5.loss_plan_l1_fix_dist: 0.3967, d6.loss_plan_l1_fix_time: 1.9244, d6.loss_plan_l1_fix_dist: 0.4124, d0.loss_cls_all: 0.4405, d0.loss_bbox_all: 0.6027, d0.loss_cls: 0.4405, d0.loss_bbox: 0.6027, d1.loss_cls: 0.4317, d1.loss_bbox: 0.5766, d2.loss_cls: 0.4286, d2.loss_bbox: 0.5662, d3.loss_cls: 0.4302, d3.loss_bbox: 0.5635, d4.loss_cls: 0.4326, d4.loss_bbox: 0.5646, d5.loss_cls: 0.4332, d5.loss_bbox: 0.5648, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4613, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2383, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2133, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2071, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2063, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2084, d0.loss_map_cls_all: 0.3496, d0.loss_map_pts_all: 2.1103, d0.loss_map_dir_all: 0.0223, d0.loss_map_cls: 0.3496, d0.loss_map_pts: 2.1103, d0.loss_map_dir: 0.0223, d1.loss_map_cls: 0.3387, d1.loss_map_pts: 1.5787, d1.loss_map_dir: 0.0222, d2.loss_map_cls: 0.3306, d2.loss_map_pts: 1.4575, d2.loss_map_dir: 0.0226, d3.loss_map_cls: 0.3243, d3.loss_map_pts: 1.4088, d3.loss_map_dir: 0.0231, d4.loss_map_cls: 0.3258, d4.loss_map_pts: 1.3906, d4.loss_map_dir: 0.0233, d5.loss_map_cls: 0.3287, d5.loss_map_pts: 1.3840, d5.loss_map_dir: 0.0235, loss: 49.4780, grad_norm: 148.3274 +2026-02-24 20:06:03,555 - DriveTransformer - INFO - Epoch [3][1450/39528] lr: 9.831e-05, eta: 8 days, 0:15:43, time: 0.815, data_time: 0.043, memory: 19865, loss_cls: 0.4541, loss_bbox: 0.5716, loss_traj: 1.2849, loss_traj_cls: 0.0006, loss_map_cls: 0.3564, loss_map_pts: 1.5092, loss_map_dir: 0.0272, d0.loss_plan_l1_fix_time: 2.7176, d0.loss_plan_l1_fix_dist: 0.3604, d1.loss_plan_l1_fix_time: 1.9891, d1.loss_plan_l1_fix_dist: 0.2635, d2.loss_plan_l1_fix_time: 1.9574, d2.loss_plan_l1_fix_dist: 0.2681, d3.loss_plan_l1_fix_time: 1.9515, d3.loss_plan_l1_fix_dist: 0.2818, d4.loss_plan_l1_fix_time: 1.9554, d4.loss_plan_l1_fix_dist: 0.2975, d5.loss_plan_l1_fix_time: 1.9614, d5.loss_plan_l1_fix_dist: 0.3166, d6.loss_plan_l1_fix_time: 1.9682, d6.loss_plan_l1_fix_dist: 0.3397, d0.loss_cls_all: 0.4652, d0.loss_bbox_all: 0.6162, d0.loss_cls: 0.4652, d0.loss_bbox: 0.6162, d1.loss_cls: 0.4534, d1.loss_bbox: 0.5939, d2.loss_cls: 0.4513, d2.loss_bbox: 0.5835, d3.loss_cls: 0.4536, d3.loss_bbox: 0.5747, d4.loss_cls: 0.4546, d4.loss_bbox: 0.5694, d5.loss_cls: 0.4544, d5.loss_bbox: 0.5680, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5051, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3073, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2770, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2718, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2762, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2814, d0.loss_map_cls_all: 0.3991, d0.loss_map_pts_all: 2.4233, d0.loss_map_dir_all: 0.0256, d0.loss_map_cls: 0.3991, d0.loss_map_pts: 2.4233, d0.loss_map_dir: 0.0256, d1.loss_map_cls: 0.3806, d1.loss_map_pts: 1.7169, d1.loss_map_dir: 0.0256, d2.loss_map_cls: 0.3692, d2.loss_map_pts: 1.5817, d2.loss_map_dir: 0.0261, d3.loss_map_cls: 0.3588, d3.loss_map_pts: 1.5358, d3.loss_map_dir: 0.0265, d4.loss_map_cls: 0.3588, d4.loss_map_pts: 1.5138, d4.loss_map_dir: 0.0268, d5.loss_map_cls: 0.3558, d5.loss_map_pts: 1.5079, d5.loss_map_dir: 0.0270, loss: 51.5830, grad_norm: 148.0724 +2026-02-24 20:06:45,182 - DriveTransformer - INFO - Epoch [3][1500/39528] lr: 9.831e-05, eta: 8 days, 0:15:22, time: 0.833, data_time: 0.041, memory: 19865, loss_cls: 0.4184, loss_bbox: 0.5787, loss_traj: 1.1183, loss_traj_cls: 0.0006, loss_map_cls: 0.2901, loss_map_pts: 1.3986, loss_map_dir: 0.0288, d0.loss_plan_l1_fix_time: 2.5917, d0.loss_plan_l1_fix_dist: 0.4828, d1.loss_plan_l1_fix_time: 1.8430, d1.loss_plan_l1_fix_dist: 0.3266, d2.loss_plan_l1_fix_time: 1.8053, d2.loss_plan_l1_fix_dist: 0.3295, d3.loss_plan_l1_fix_time: 1.8003, d3.loss_plan_l1_fix_dist: 0.3411, d4.loss_plan_l1_fix_time: 1.8038, d4.loss_plan_l1_fix_dist: 0.3575, d5.loss_plan_l1_fix_time: 1.8107, d5.loss_plan_l1_fix_dist: 0.3750, d6.loss_plan_l1_fix_time: 1.8189, d6.loss_plan_l1_fix_dist: 0.3930, d0.loss_cls_all: 0.4312, d0.loss_bbox_all: 0.6138, d0.loss_cls: 0.4312, d0.loss_bbox: 0.6138, d1.loss_cls: 0.4237, d1.loss_bbox: 0.5940, d2.loss_cls: 0.4172, d2.loss_bbox: 0.5832, d3.loss_cls: 0.4160, d3.loss_bbox: 0.5772, d4.loss_cls: 0.4168, d4.loss_bbox: 0.5734, d5.loss_cls: 0.4173, d5.loss_bbox: 0.5757, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1763, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.0856, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0639, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0772, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.0846, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1012, d0.loss_map_cls_all: 0.3255, d0.loss_map_pts_all: 2.4158, d0.loss_map_dir_all: 0.0273, d0.loss_map_cls: 0.3255, d0.loss_map_pts: 2.4158, d0.loss_map_dir: 0.0273, d1.loss_map_cls: 0.3106, d1.loss_map_pts: 1.6099, d1.loss_map_dir: 0.0273, d2.loss_map_cls: 0.3018, d2.loss_map_pts: 1.4653, d2.loss_map_dir: 0.0279, d3.loss_map_cls: 0.2952, d3.loss_map_pts: 1.4203, d3.loss_map_dir: 0.0283, d4.loss_map_cls: 0.2894, d4.loss_map_pts: 1.4007, d4.loss_map_dir: 0.0286, d5.loss_map_cls: 0.2888, d5.loss_map_pts: 1.3972, d5.loss_map_dir: 0.0287, loss: 48.0482, grad_norm: 150.3148 +2026-02-24 20:07:25,362 - DriveTransformer - INFO - Epoch [3][1550/39528] lr: 9.831e-05, eta: 8 days, 0:14:45, time: 0.804, data_time: 0.039, memory: 19865, loss_cls: 0.4856, loss_bbox: 0.5665, loss_traj: 1.2810, loss_traj_cls: 0.0006, loss_map_cls: 0.3358, loss_map_pts: 1.3430, loss_map_dir: 0.0263, d0.loss_plan_l1_fix_time: 3.0686, d0.loss_plan_l1_fix_dist: 0.4213, d1.loss_plan_l1_fix_time: 2.1887, d1.loss_plan_l1_fix_dist: 0.3322, d2.loss_plan_l1_fix_time: 2.1565, d2.loss_plan_l1_fix_dist: 0.3378, d3.loss_plan_l1_fix_time: 2.1543, d3.loss_plan_l1_fix_dist: 0.3492, d4.loss_plan_l1_fix_time: 2.1572, d4.loss_plan_l1_fix_dist: 0.3632, d5.loss_plan_l1_fix_time: 2.1625, d5.loss_plan_l1_fix_dist: 0.3777, d6.loss_plan_l1_fix_time: 2.1696, d6.loss_plan_l1_fix_dist: 0.3957, d0.loss_cls_all: 0.4991, d0.loss_bbox_all: 0.6069, d0.loss_cls: 0.4991, d0.loss_bbox: 0.6069, d1.loss_cls: 0.4915, d1.loss_bbox: 0.5832, d2.loss_cls: 0.4870, d2.loss_bbox: 0.5731, d3.loss_cls: 0.4849, d3.loss_bbox: 0.5680, d4.loss_cls: 0.4856, d4.loss_bbox: 0.5660, d5.loss_cls: 0.4858, d5.loss_bbox: 0.5648, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4203, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2941, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2618, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2609, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.2636, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2697, d0.loss_map_cls_all: 0.3816, d0.loss_map_pts_all: 2.2529, d0.loss_map_dir_all: 0.0245, d0.loss_map_cls: 0.3816, d0.loss_map_pts: 2.2529, d0.loss_map_dir: 0.0245, d1.loss_map_cls: 0.3569, d1.loss_map_pts: 1.5332, d1.loss_map_dir: 0.0246, d2.loss_map_cls: 0.3409, d2.loss_map_pts: 1.4090, d2.loss_map_dir: 0.0251, d3.loss_map_cls: 0.3332, d3.loss_map_pts: 1.3626, d3.loss_map_dir: 0.0256, d4.loss_map_cls: 0.3305, d4.loss_map_pts: 1.3466, d4.loss_map_dir: 0.0258, d5.loss_map_cls: 0.3332, d5.loss_map_pts: 1.3427, d5.loss_map_dir: 0.0261, loss: 52.0852, grad_norm: 149.8411 +2026-02-24 20:08:03,585 - DriveTransformer - INFO - Epoch [3][1600/39528] lr: 9.831e-05, eta: 8 days, 0:13:48, time: 0.765, data_time: 0.048, memory: 19865, loss_cls: 0.4412, loss_bbox: 0.5746, loss_traj: 1.4264, loss_traj_cls: 0.0006, loss_map_cls: 0.3489, loss_map_pts: 1.3307, loss_map_dir: 0.0223, d0.loss_plan_l1_fix_time: 3.1348, d0.loss_plan_l1_fix_dist: 0.3767, d1.loss_plan_l1_fix_time: 2.3617, d1.loss_plan_l1_fix_dist: 0.2848, d2.loss_plan_l1_fix_time: 2.3482, d2.loss_plan_l1_fix_dist: 0.2927, d3.loss_plan_l1_fix_time: 2.3501, d3.loss_plan_l1_fix_dist: 0.3107, d4.loss_plan_l1_fix_time: 2.3549, d4.loss_plan_l1_fix_dist: 0.3273, d5.loss_plan_l1_fix_time: 2.3595, d5.loss_plan_l1_fix_dist: 0.3467, d6.loss_plan_l1_fix_time: 2.3649, d6.loss_plan_l1_fix_dist: 0.3697, d0.loss_cls_all: 0.4610, d0.loss_bbox_all: 0.6144, d0.loss_cls: 0.4610, d0.loss_bbox: 0.6144, d1.loss_cls: 0.4556, d1.loss_bbox: 0.5843, d2.loss_cls: 0.4505, d2.loss_bbox: 0.5741, d3.loss_cls: 0.4479, d3.loss_bbox: 0.5697, d4.loss_cls: 0.4472, d4.loss_bbox: 0.5684, d5.loss_cls: 0.4455, d5.loss_bbox: 0.5685, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5873, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.4263, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.4097, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.4064, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.4001, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.4135, d0.loss_map_cls_all: 0.3892, d0.loss_map_pts_all: 1.8458, d0.loss_map_dir_all: 0.0204, d0.loss_map_cls: 0.3892, d0.loss_map_pts: 1.8458, d0.loss_map_dir: 0.0204, d1.loss_map_cls: 0.3649, d1.loss_map_pts: 1.4480, d1.loss_map_dir: 0.0210, d2.loss_map_cls: 0.3502, d2.loss_map_pts: 1.3602, d2.loss_map_dir: 0.0214, d3.loss_map_cls: 0.3461, d3.loss_map_pts: 1.3287, d3.loss_map_dir: 0.0218, d4.loss_map_cls: 0.3454, d4.loss_map_pts: 1.3199, d4.loss_map_dir: 0.0220, d5.loss_map_cls: 0.3459, d5.loss_map_pts: 1.3208, d5.loss_map_dir: 0.0221, loss: 52.7883, grad_norm: 149.9233 +2026-02-24 20:08:44,312 - DriveTransformer - INFO - Epoch [3][1650/39528] lr: 9.831e-05, eta: 8 days, 0:13:17, time: 0.814, data_time: 0.044, memory: 19865, loss_cls: 0.4678, loss_bbox: 0.6037, loss_traj: 1.1779, loss_traj_cls: 0.0006, loss_map_cls: 0.3161, loss_map_pts: 1.2700, loss_map_dir: 0.0250, d0.loss_plan_l1_fix_time: 3.2413, d0.loss_plan_l1_fix_dist: 0.4729, d1.loss_plan_l1_fix_time: 2.1201, d1.loss_plan_l1_fix_dist: 0.2872, d2.loss_plan_l1_fix_time: 2.0836, d2.loss_plan_l1_fix_dist: 0.2972, d3.loss_plan_l1_fix_time: 2.0793, d3.loss_plan_l1_fix_dist: 0.3060, d4.loss_plan_l1_fix_time: 2.0828, d4.loss_plan_l1_fix_dist: 0.3189, d5.loss_plan_l1_fix_time: 2.0871, d5.loss_plan_l1_fix_dist: 0.3331, d6.loss_plan_l1_fix_time: 2.0932, d6.loss_plan_l1_fix_dist: 0.3506, d0.loss_cls_all: 0.4864, d0.loss_bbox_all: 0.6330, d0.loss_cls: 0.4864, d0.loss_bbox: 0.6330, d1.loss_cls: 0.4794, d1.loss_bbox: 0.6121, d2.loss_cls: 0.4725, d2.loss_bbox: 0.6024, d3.loss_cls: 0.4675, d3.loss_bbox: 0.6002, d4.loss_cls: 0.4686, d4.loss_bbox: 0.5969, d5.loss_cls: 0.4675, d5.loss_bbox: 0.5992, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2905, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.1849, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1656, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1656, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1628, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1683, d0.loss_map_cls_all: 0.3562, d0.loss_map_pts_all: 1.9905, d0.loss_map_dir_all: 0.0232, d0.loss_map_cls: 0.3562, d0.loss_map_pts: 1.9905, d0.loss_map_dir: 0.0232, d1.loss_map_cls: 0.3381, d1.loss_map_pts: 1.4160, d1.loss_map_dir: 0.0236, d2.loss_map_cls: 0.3257, d2.loss_map_pts: 1.3083, d2.loss_map_dir: 0.0241, d3.loss_map_cls: 0.3143, d3.loss_map_pts: 1.2838, d3.loss_map_dir: 0.0244, d4.loss_map_cls: 0.3136, d4.loss_map_pts: 1.2741, d4.loss_map_dir: 0.0246, d5.loss_map_cls: 0.3151, d5.loss_map_pts: 1.2726, d5.loss_map_dir: 0.0248, loss: 49.7858, grad_norm: 150.6380 +2026-02-24 20:09:25,205 - DriveTransformer - INFO - Epoch [3][1700/39528] lr: 9.831e-05, eta: 8 days, 0:12:49, time: 0.818, data_time: 0.040, memory: 19865, loss_cls: 0.4090, loss_bbox: 0.5465, loss_traj: 1.1101, loss_traj_cls: 0.0006, loss_map_cls: 0.2845, loss_map_pts: 1.2293, loss_map_dir: 0.0249, d0.loss_plan_l1_fix_time: 2.5493, d0.loss_plan_l1_fix_dist: 0.4076, d1.loss_plan_l1_fix_time: 1.8034, d1.loss_plan_l1_fix_dist: 0.2863, d2.loss_plan_l1_fix_time: 1.7722, d2.loss_plan_l1_fix_dist: 0.2975, d3.loss_plan_l1_fix_time: 1.7726, d3.loss_plan_l1_fix_dist: 0.3107, d4.loss_plan_l1_fix_time: 1.7777, d4.loss_plan_l1_fix_dist: 0.3293, d5.loss_plan_l1_fix_time: 1.7843, d5.loss_plan_l1_fix_dist: 0.3489, d6.loss_plan_l1_fix_time: 1.7924, d6.loss_plan_l1_fix_dist: 0.3692, d0.loss_cls_all: 0.4268, d0.loss_bbox_all: 0.5923, d0.loss_cls: 0.4268, d0.loss_bbox: 0.5923, d1.loss_cls: 0.4166, d1.loss_bbox: 0.5730, d2.loss_cls: 0.4114, d2.loss_bbox: 0.5581, d3.loss_cls: 0.4091, d3.loss_bbox: 0.5492, d4.loss_cls: 0.4061, d4.loss_bbox: 0.5466, d5.loss_cls: 0.4077, d5.loss_bbox: 0.5451, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2920, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.0838, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0739, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0821, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0812, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0984, d0.loss_map_cls_all: 0.3320, d0.loss_map_pts_all: 2.0438, d0.loss_map_dir_all: 0.0240, d0.loss_map_cls: 0.3320, d0.loss_map_pts: 2.0438, d0.loss_map_dir: 0.0240, d1.loss_map_cls: 0.3088, d1.loss_map_pts: 1.4150, d1.loss_map_dir: 0.0240, d2.loss_map_cls: 0.2966, d2.loss_map_pts: 1.2910, d2.loss_map_dir: 0.0241, d3.loss_map_cls: 0.2855, d3.loss_map_pts: 1.2514, d3.loss_map_dir: 0.0244, d4.loss_map_cls: 0.2829, d4.loss_map_pts: 1.2382, d4.loss_map_dir: 0.0247, d5.loss_map_cls: 0.2832, d5.loss_map_pts: 1.2333, d5.loss_map_dir: 0.0248, loss: 45.5918, grad_norm: 151.3186 +2026-02-24 20:10:04,641 - DriveTransformer - INFO - Epoch [3][1750/39528] lr: 9.831e-05, eta: 8 days, 0:12:04, time: 0.789, data_time: 0.037, memory: 19865, loss_cls: 0.4462, loss_bbox: 0.5812, loss_traj: 1.0367, loss_traj_cls: 0.0006, loss_map_cls: 0.3629, loss_map_pts: 1.4831, loss_map_dir: 0.0281, d0.loss_plan_l1_fix_time: 2.7756, d0.loss_plan_l1_fix_dist: 0.4510, d1.loss_plan_l1_fix_time: 2.1787, d1.loss_plan_l1_fix_dist: 0.3319, d2.loss_plan_l1_fix_time: 2.1420, d2.loss_plan_l1_fix_dist: 0.3389, d3.loss_plan_l1_fix_time: 2.1417, d3.loss_plan_l1_fix_dist: 0.3525, d4.loss_plan_l1_fix_time: 2.1459, d4.loss_plan_l1_fix_dist: 0.3658, d5.loss_plan_l1_fix_time: 2.1518, d5.loss_plan_l1_fix_dist: 0.3779, d6.loss_plan_l1_fix_time: 2.1586, d6.loss_plan_l1_fix_dist: 0.3919, d0.loss_cls_all: 0.4541, d0.loss_bbox_all: 0.6325, d0.loss_cls: 0.4541, d0.loss_bbox: 0.6325, d1.loss_cls: 0.4482, d1.loss_bbox: 0.5997, d2.loss_cls: 0.4473, d2.loss_bbox: 0.5887, d3.loss_cls: 0.4481, d3.loss_bbox: 0.5838, d4.loss_cls: 0.4458, d4.loss_bbox: 0.5820, d5.loss_cls: 0.4479, d5.loss_bbox: 0.5806, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1834, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.0361, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0096, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0145, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0204, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.0302, d0.loss_map_cls_all: 0.3941, d0.loss_map_pts_all: 2.4380, d0.loss_map_dir_all: 0.0272, d0.loss_map_cls: 0.3941, d0.loss_map_pts: 2.4380, d0.loss_map_dir: 0.0272, d1.loss_map_cls: 0.3794, d1.loss_map_pts: 1.6761, d1.loss_map_dir: 0.0270, d2.loss_map_cls: 0.3717, d2.loss_map_pts: 1.5409, d2.loss_map_dir: 0.0271, d3.loss_map_cls: 0.3649, d3.loss_map_pts: 1.5005, d3.loss_map_dir: 0.0275, d4.loss_map_cls: 0.3602, d4.loss_map_pts: 1.4854, d4.loss_map_dir: 0.0277, d5.loss_map_cls: 0.3592, d5.loss_map_pts: 1.4829, d5.loss_map_dir: 0.0279, loss: 51.2647, grad_norm: 151.2549 +2026-02-24 20:10:44,109 - DriveTransformer - INFO - Epoch [3][1800/39528] lr: 9.831e-05, eta: 8 days, 0:11:20, time: 0.789, data_time: 0.042, memory: 19865, loss_cls: 0.4568, loss_bbox: 0.6128, loss_traj: 1.2514, loss_traj_cls: 0.0006, loss_map_cls: 0.3145, loss_map_pts: 1.3240, loss_map_dir: 0.0256, d0.loss_plan_l1_fix_time: 2.8407, d0.loss_plan_l1_fix_dist: 0.4608, d1.loss_plan_l1_fix_time: 2.1222, d1.loss_plan_l1_fix_dist: 0.3432, d2.loss_plan_l1_fix_time: 2.1127, d2.loss_plan_l1_fix_dist: 0.3473, d3.loss_plan_l1_fix_time: 2.1187, d3.loss_plan_l1_fix_dist: 0.3570, d4.loss_plan_l1_fix_time: 2.1250, d4.loss_plan_l1_fix_dist: 0.3712, d5.loss_plan_l1_fix_time: 2.1324, d5.loss_plan_l1_fix_dist: 0.3879, d6.loss_plan_l1_fix_time: 2.1396, d6.loss_plan_l1_fix_dist: 0.4094, d0.loss_cls_all: 0.4627, d0.loss_bbox_all: 0.6473, d0.loss_cls: 0.4627, d0.loss_bbox: 0.6473, d1.loss_cls: 0.4612, d1.loss_bbox: 0.6204, d2.loss_cls: 0.4607, d2.loss_bbox: 0.6124, d3.loss_cls: 0.4607, d3.loss_bbox: 0.6087, d4.loss_cls: 0.4579, d4.loss_bbox: 0.6096, d5.loss_cls: 0.4597, d5.loss_bbox: 0.6084, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4597, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2906, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2488, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2440, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2370, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2446, d0.loss_map_cls_all: 0.3636, d0.loss_map_pts_all: 2.1946, d0.loss_map_dir_all: 0.0246, d0.loss_map_cls: 0.3636, d0.loss_map_pts: 2.1946, d0.loss_map_dir: 0.0246, d1.loss_map_cls: 0.3398, d1.loss_map_pts: 1.5081, d1.loss_map_dir: 0.0245, d2.loss_map_cls: 0.3251, d2.loss_map_pts: 1.3794, d2.loss_map_dir: 0.0247, d3.loss_map_cls: 0.3209, d3.loss_map_pts: 1.3364, d3.loss_map_dir: 0.0250, d4.loss_map_cls: 0.3144, d4.loss_map_pts: 1.3213, d4.loss_map_dir: 0.0252, d5.loss_map_cls: 0.3138, d5.loss_map_pts: 1.3217, d5.loss_map_dir: 0.0255, loss: 51.3348, grad_norm: 151.0187 +2026-02-24 20:11:26,602 - DriveTransformer - INFO - Epoch [3][1850/39528] lr: 9.831e-05, eta: 8 days, 0:11:08, time: 0.850, data_time: 0.041, memory: 19865, loss_cls: 0.4604, loss_bbox: 0.5766, loss_traj: 0.9941, loss_traj_cls: 0.0006, loss_map_cls: 0.3295, loss_map_pts: 1.4978, loss_map_dir: 0.0300, d0.loss_plan_l1_fix_time: 2.6124, d0.loss_plan_l1_fix_dist: 0.4222, d1.loss_plan_l1_fix_time: 1.8662, d1.loss_plan_l1_fix_dist: 0.3114, d2.loss_plan_l1_fix_time: 1.8391, d2.loss_plan_l1_fix_dist: 0.3220, d3.loss_plan_l1_fix_time: 1.8382, d3.loss_plan_l1_fix_dist: 0.3386, d4.loss_plan_l1_fix_time: 1.8418, d4.loss_plan_l1_fix_dist: 0.3559, d5.loss_plan_l1_fix_time: 1.8460, d5.loss_plan_l1_fix_dist: 0.3739, d6.loss_plan_l1_fix_time: 1.8512, d6.loss_plan_l1_fix_dist: 0.3932, d0.loss_cls_all: 0.4735, d0.loss_bbox_all: 0.6186, d0.loss_cls: 0.4735, d0.loss_bbox: 0.6186, d1.loss_cls: 0.4656, d1.loss_bbox: 0.5929, d2.loss_cls: 0.4589, d2.loss_bbox: 0.5789, d3.loss_cls: 0.4596, d3.loss_bbox: 0.5734, d4.loss_cls: 0.4583, d4.loss_bbox: 0.5737, d5.loss_cls: 0.4612, d5.loss_bbox: 0.5732, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0814, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.9747, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.9499, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9637, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.9787, d5.loss_traj_cls: 0.0008, d5.loss_traj: 0.9884, d0.loss_map_cls_all: 0.3752, d0.loss_map_pts_all: 2.5817, d0.loss_map_dir_all: 0.0290, d0.loss_map_cls: 0.3752, d0.loss_map_pts: 2.5817, d0.loss_map_dir: 0.0290, d1.loss_map_cls: 0.3593, d1.loss_map_pts: 1.7033, d1.loss_map_dir: 0.0286, d2.loss_map_cls: 0.3447, d2.loss_map_pts: 1.5608, d2.loss_map_dir: 0.0290, d3.loss_map_cls: 0.3376, d3.loss_map_pts: 1.5150, d3.loss_map_dir: 0.0294, d4.loss_map_cls: 0.3311, d4.loss_map_pts: 1.5015, d4.loss_map_dir: 0.0296, d5.loss_map_cls: 0.3302, d5.loss_map_pts: 1.4978, d5.loss_map_dir: 0.0299, loss: 49.0230, grad_norm: 149.3162 +2026-02-24 20:12:06,949 - DriveTransformer - INFO - Epoch [3][1900/39528] lr: 9.831e-05, eta: 8 days, 0:10:34, time: 0.807, data_time: 0.049, memory: 19865, loss_cls: 0.4354, loss_bbox: 0.5610, loss_traj: 1.2816, loss_traj_cls: 0.0006, loss_map_cls: 0.3106, loss_map_pts: 1.3366, loss_map_dir: 0.0247, d0.loss_plan_l1_fix_time: 2.7705, d0.loss_plan_l1_fix_dist: 0.4294, d1.loss_plan_l1_fix_time: 2.1145, d1.loss_plan_l1_fix_dist: 0.3193, d2.loss_plan_l1_fix_time: 2.0992, d2.loss_plan_l1_fix_dist: 0.3265, d3.loss_plan_l1_fix_time: 2.0975, d3.loss_plan_l1_fix_dist: 0.3396, d4.loss_plan_l1_fix_time: 2.1013, d4.loss_plan_l1_fix_dist: 0.3568, d5.loss_plan_l1_fix_time: 2.1058, d5.loss_plan_l1_fix_dist: 0.3765, d6.loss_plan_l1_fix_time: 2.1109, d6.loss_plan_l1_fix_dist: 0.4000, d0.loss_cls_all: 0.4435, d0.loss_bbox_all: 0.5953, d0.loss_cls: 0.4435, d0.loss_bbox: 0.5953, d1.loss_cls: 0.4338, d1.loss_bbox: 0.5710, d2.loss_cls: 0.4321, d2.loss_bbox: 0.5598, d3.loss_cls: 0.4336, d3.loss_bbox: 0.5563, d4.loss_cls: 0.4349, d4.loss_bbox: 0.5537, d5.loss_cls: 0.4381, d5.loss_bbox: 0.5558, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4486, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3117, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2960, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2776, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2735, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2744, d0.loss_map_cls_all: 0.3731, d0.loss_map_pts_all: 2.1424, d0.loss_map_dir_all: 0.0235, d0.loss_map_cls: 0.3731, d0.loss_map_pts: 2.1424, d0.loss_map_dir: 0.0235, d1.loss_map_cls: 0.3510, d1.loss_map_pts: 1.5149, d1.loss_map_dir: 0.0235, d2.loss_map_cls: 0.3306, d2.loss_map_pts: 1.3963, d2.loss_map_dir: 0.0239, d3.loss_map_cls: 0.3182, d3.loss_map_pts: 1.3564, d3.loss_map_dir: 0.0241, d4.loss_map_cls: 0.3106, d4.loss_map_pts: 1.3439, d4.loss_map_dir: 0.0245, d5.loss_map_cls: 0.3105, d5.loss_map_pts: 1.3360, d5.loss_map_dir: 0.0246, loss: 50.5991, grad_norm: 150.2685 +2026-02-24 20:12:47,128 - DriveTransformer - INFO - Epoch [3][1950/39528] lr: 9.831e-05, eta: 8 days, 0:09:57, time: 0.803, data_time: 0.045, memory: 19865, loss_cls: 0.4291, loss_bbox: 0.5718, loss_traj: 1.1713, loss_traj_cls: 0.0006, loss_map_cls: 0.3235, loss_map_pts: 1.4207, loss_map_dir: 0.0263, d0.loss_plan_l1_fix_time: 2.6560, d0.loss_plan_l1_fix_dist: 0.5350, d1.loss_plan_l1_fix_time: 1.9209, d1.loss_plan_l1_fix_dist: 0.3258, d2.loss_plan_l1_fix_time: 1.8897, d2.loss_plan_l1_fix_dist: 0.3336, d3.loss_plan_l1_fix_time: 1.8909, d3.loss_plan_l1_fix_dist: 0.3464, d4.loss_plan_l1_fix_time: 1.8958, d4.loss_plan_l1_fix_dist: 0.3602, d5.loss_plan_l1_fix_time: 1.9022, d5.loss_plan_l1_fix_dist: 0.3741, d6.loss_plan_l1_fix_time: 1.9097, d6.loss_plan_l1_fix_dist: 0.3864, d0.loss_cls_all: 0.4379, d0.loss_bbox_all: 0.6099, d0.loss_cls: 0.4379, d0.loss_bbox: 0.6099, d1.loss_cls: 0.4374, d1.loss_bbox: 0.5885, d2.loss_cls: 0.4340, d2.loss_bbox: 0.5748, d3.loss_cls: 0.4310, d3.loss_bbox: 0.5695, d4.loss_cls: 0.4311, d4.loss_bbox: 0.5672, d5.loss_cls: 0.4314, d5.loss_bbox: 0.5682, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3667, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1850, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1710, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.1646, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1639, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1713, d0.loss_map_cls_all: 0.3544, d0.loss_map_pts_all: 2.2048, d0.loss_map_dir_all: 0.0247, d0.loss_map_cls: 0.3544, d0.loss_map_pts: 2.2048, d0.loss_map_dir: 0.0247, d1.loss_map_cls: 0.3428, d1.loss_map_pts: 1.5989, d1.loss_map_dir: 0.0249, d2.loss_map_cls: 0.3306, d2.loss_map_pts: 1.4770, d2.loss_map_dir: 0.0253, d3.loss_map_cls: 0.3265, d3.loss_map_pts: 1.4369, d3.loss_map_dir: 0.0256, d4.loss_map_cls: 0.3221, d4.loss_map_pts: 1.4237, d4.loss_map_dir: 0.0258, d5.loss_map_cls: 0.3221, d5.loss_map_pts: 1.4227, d5.loss_map_dir: 0.0260, loss: 49.3249, grad_norm: 149.0633 +2026-02-24 20:13:28,259 - DriveTransformer - INFO - Epoch [3][2000/39528] lr: 9.831e-05, eta: 8 days, 0:09:32, time: 0.824, data_time: 0.039, memory: 19865, loss_cls: 0.4134, loss_bbox: 0.5490, loss_traj: 1.0372, loss_traj_cls: 0.0006, loss_map_cls: 0.2940, loss_map_pts: 1.3422, loss_map_dir: 0.0269, d0.loss_plan_l1_fix_time: 2.4609, d0.loss_plan_l1_fix_dist: 0.4906, d1.loss_plan_l1_fix_time: 1.7884, d1.loss_plan_l1_fix_dist: 0.3080, d2.loss_plan_l1_fix_time: 1.7613, d2.loss_plan_l1_fix_dist: 0.3194, d3.loss_plan_l1_fix_time: 1.7622, d3.loss_plan_l1_fix_dist: 0.3384, d4.loss_plan_l1_fix_time: 1.7663, d4.loss_plan_l1_fix_dist: 0.3585, d5.loss_plan_l1_fix_time: 1.7719, d5.loss_plan_l1_fix_dist: 0.3805, d6.loss_plan_l1_fix_time: 1.7784, d6.loss_plan_l1_fix_dist: 0.4056, d0.loss_cls_all: 0.4317, d0.loss_bbox_all: 0.5862, d0.loss_cls: 0.4317, d0.loss_bbox: 0.5862, d1.loss_cls: 0.4255, d1.loss_bbox: 0.5622, d2.loss_cls: 0.4184, d2.loss_bbox: 0.5528, d3.loss_cls: 0.4155, d3.loss_bbox: 0.5457, d4.loss_cls: 0.4125, d4.loss_bbox: 0.5450, d5.loss_cls: 0.4124, d5.loss_bbox: 0.5451, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1404, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.0420, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0209, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0185, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.0156, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.0284, d0.loss_map_cls_all: 0.3430, d0.loss_map_pts_all: 2.2022, d0.loss_map_dir_all: 0.0255, d0.loss_map_cls: 0.3430, d0.loss_map_pts: 2.2022, d0.loss_map_dir: 0.0255, d1.loss_map_cls: 0.3304, d1.loss_map_pts: 1.4987, d1.loss_map_dir: 0.0258, d2.loss_map_cls: 0.3154, d2.loss_map_pts: 1.3813, d2.loss_map_dir: 0.0261, d3.loss_map_cls: 0.3037, d3.loss_map_pts: 1.3467, d3.loss_map_dir: 0.0264, d4.loss_map_cls: 0.2964, d4.loss_map_pts: 1.3352, d4.loss_map_dir: 0.0266, d5.loss_map_cls: 0.2944, d5.loss_map_pts: 1.3419, d5.loss_map_dir: 0.0268, loss: 46.2124, grad_norm: 148.1533 +2026-02-24 20:14:09,170 - DriveTransformer - INFO - Epoch [3][2050/39528] lr: 9.831e-05, eta: 8 days, 0:09:02, time: 0.817, data_time: 0.043, memory: 19865, loss_cls: 0.4311, loss_bbox: 0.5725, loss_traj: 1.1275, loss_traj_cls: 0.0006, loss_map_cls: 0.2899, loss_map_pts: 1.3084, loss_map_dir: 0.0284, d0.loss_plan_l1_fix_time: 2.4403, d0.loss_plan_l1_fix_dist: 0.3840, d1.loss_plan_l1_fix_time: 1.8133, d1.loss_plan_l1_fix_dist: 0.3142, d2.loss_plan_l1_fix_time: 1.7869, d2.loss_plan_l1_fix_dist: 0.3262, d3.loss_plan_l1_fix_time: 1.7909, d3.loss_plan_l1_fix_dist: 0.3425, d4.loss_plan_l1_fix_time: 1.7967, d4.loss_plan_l1_fix_dist: 0.3608, d5.loss_plan_l1_fix_time: 1.8037, d5.loss_plan_l1_fix_dist: 0.3818, d6.loss_plan_l1_fix_time: 1.8111, d6.loss_plan_l1_fix_dist: 0.4020, d0.loss_cls_all: 0.4443, d0.loss_bbox_all: 0.6012, d0.loss_cls: 0.4443, d0.loss_bbox: 0.6012, d1.loss_cls: 0.4356, d1.loss_bbox: 0.5816, d2.loss_cls: 0.4298, d2.loss_bbox: 0.5729, d3.loss_cls: 0.4285, d3.loss_bbox: 0.5679, d4.loss_cls: 0.4273, d4.loss_bbox: 0.5677, d5.loss_cls: 0.4287, d5.loss_bbox: 0.5695, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2327, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1022, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0851, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1070, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1126, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1185, d0.loss_map_cls_all: 0.3443, d0.loss_map_pts_all: 2.3004, d0.loss_map_dir_all: 0.0269, d0.loss_map_cls: 0.3443, d0.loss_map_pts: 2.3004, d0.loss_map_dir: 0.0269, d1.loss_map_cls: 0.3187, d1.loss_map_pts: 1.5002, d1.loss_map_dir: 0.0270, d2.loss_map_cls: 0.3045, d2.loss_map_pts: 1.3695, d2.loss_map_dir: 0.0274, d3.loss_map_cls: 0.2964, d3.loss_map_pts: 1.3244, d3.loss_map_dir: 0.0278, d4.loss_map_cls: 0.2901, d4.loss_map_pts: 1.3111, d4.loss_map_dir: 0.0280, d5.loss_map_cls: 0.2888, d5.loss_map_pts: 1.3082, d5.loss_map_dir: 0.0282, loss: 47.1703, grad_norm: 148.0468 +2026-02-24 20:14:49,719 - DriveTransformer - INFO - Epoch [3][2100/39528] lr: 9.831e-05, eta: 8 days, 0:08:29, time: 0.811, data_time: 0.040, memory: 19865, loss_cls: 0.4717, loss_bbox: 0.6191, loss_traj: 0.9959, loss_traj_cls: 0.0006, loss_map_cls: 0.3172, loss_map_pts: 1.4504, loss_map_dir: 0.0327, d0.loss_plan_l1_fix_time: 3.0358, d0.loss_plan_l1_fix_dist: 0.4480, d1.loss_plan_l1_fix_time: 1.9677, d1.loss_plan_l1_fix_dist: 0.2996, d2.loss_plan_l1_fix_time: 1.9569, d2.loss_plan_l1_fix_dist: 0.3088, d3.loss_plan_l1_fix_time: 1.9599, d3.loss_plan_l1_fix_dist: 0.3239, d4.loss_plan_l1_fix_time: 1.9660, d4.loss_plan_l1_fix_dist: 0.3435, d5.loss_plan_l1_fix_time: 1.9724, d5.loss_plan_l1_fix_dist: 0.3658, d6.loss_plan_l1_fix_time: 1.9799, d6.loss_plan_l1_fix_dist: 0.3930, d0.loss_cls_all: 0.4838, d0.loss_bbox_all: 0.6617, d0.loss_cls: 0.4838, d0.loss_bbox: 0.6617, d1.loss_cls: 0.4778, d1.loss_bbox: 0.6378, d2.loss_cls: 0.4726, d2.loss_bbox: 0.6271, d3.loss_cls: 0.4699, d3.loss_bbox: 0.6234, d4.loss_cls: 0.4682, d4.loss_bbox: 0.6192, d5.loss_cls: 0.4702, d5.loss_bbox: 0.6164, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1262, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.0058, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.9638, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.9890, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.9838, d5.loss_traj_cls: 0.0008, d5.loss_traj: 0.9844, d0.loss_map_cls_all: 0.3651, d0.loss_map_pts_all: 2.5978, d0.loss_map_dir_all: 0.0306, d0.loss_map_cls: 0.3651, d0.loss_map_pts: 2.5978, d0.loss_map_dir: 0.0306, d1.loss_map_cls: 0.3469, d1.loss_map_pts: 1.6949, d1.loss_map_dir: 0.0309, d2.loss_map_cls: 0.3318, d2.loss_map_pts: 1.5372, d2.loss_map_dir: 0.0313, d3.loss_map_cls: 0.3230, d3.loss_map_pts: 1.4775, d3.loss_map_dir: 0.0317, d4.loss_map_cls: 0.3186, d4.loss_map_pts: 1.4579, d4.loss_map_dir: 0.0322, d5.loss_map_cls: 0.3160, d5.loss_map_pts: 1.4509, d5.loss_map_dir: 0.0324, loss: 50.4407, grad_norm: 146.0011 +2026-02-24 20:15:31,113 - DriveTransformer - INFO - Epoch [3][2150/39528] lr: 9.831e-05, eta: 8 days, 0:08:06, time: 0.828, data_time: 0.040, memory: 19865, loss_cls: 0.4209, loss_bbox: 0.5662, loss_traj: 1.1944, loss_traj_cls: 0.0006, loss_map_cls: 0.2949, loss_map_pts: 1.3972, loss_map_dir: 0.0256, d0.loss_plan_l1_fix_time: 2.3049, d0.loss_plan_l1_fix_dist: 0.4031, d1.loss_plan_l1_fix_time: 1.7171, d1.loss_plan_l1_fix_dist: 0.2832, d2.loss_plan_l1_fix_time: 1.7100, d2.loss_plan_l1_fix_dist: 0.2996, d3.loss_plan_l1_fix_time: 1.7176, d3.loss_plan_l1_fix_dist: 0.3189, d4.loss_plan_l1_fix_time: 1.7241, d4.loss_plan_l1_fix_dist: 0.3400, d5.loss_plan_l1_fix_time: 1.7306, d5.loss_plan_l1_fix_dist: 0.3617, d6.loss_plan_l1_fix_time: 1.7373, d6.loss_plan_l1_fix_dist: 0.3829, d0.loss_cls_all: 0.4303, d0.loss_bbox_all: 0.6100, d0.loss_cls: 0.4303, d0.loss_bbox: 0.6100, d1.loss_cls: 0.4241, d1.loss_bbox: 0.5856, d2.loss_cls: 0.4235, d2.loss_bbox: 0.5734, d3.loss_cls: 0.4201, d3.loss_bbox: 0.5701, d4.loss_cls: 0.4178, d4.loss_bbox: 0.5685, d5.loss_cls: 0.4184, d5.loss_bbox: 0.5655, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3449, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2358, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1976, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1982, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1857, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1887, d0.loss_map_cls_all: 0.3383, d0.loss_map_pts_all: 2.3110, d0.loss_map_dir_all: 0.0247, d0.loss_map_cls: 0.3383, d0.loss_map_pts: 2.3110, d0.loss_map_dir: 0.0247, d1.loss_map_cls: 0.3260, d1.loss_map_pts: 1.5857, d1.loss_map_dir: 0.0244, d2.loss_map_cls: 0.3110, d2.loss_map_pts: 1.4648, d2.loss_map_dir: 0.0248, d3.loss_map_cls: 0.3011, d3.loss_map_pts: 1.4198, d3.loss_map_dir: 0.0251, d4.loss_map_cls: 0.2957, d4.loss_map_pts: 1.4050, d4.loss_map_dir: 0.0253, d5.loss_map_cls: 0.2940, d5.loss_map_pts: 1.3983, d5.loss_map_dir: 0.0255, loss: 47.6087, grad_norm: 146.1085 +2026-02-24 20:16:12,547 - DriveTransformer - INFO - Epoch [3][2200/39528] lr: 9.831e-05, eta: 8 days, 0:07:43, time: 0.829, data_time: 0.041, memory: 19865, loss_cls: 0.3921, loss_bbox: 0.5142, loss_traj: 0.9274, loss_traj_cls: 0.0006, loss_map_cls: 0.2581, loss_map_pts: 1.1925, loss_map_dir: 0.0252, d0.loss_plan_l1_fix_time: 2.2938, d0.loss_plan_l1_fix_dist: 0.4248, d1.loss_plan_l1_fix_time: 1.6538, d1.loss_plan_l1_fix_dist: 0.2761, d2.loss_plan_l1_fix_time: 1.6439, d2.loss_plan_l1_fix_dist: 0.2927, d3.loss_plan_l1_fix_time: 1.6498, d3.loss_plan_l1_fix_dist: 0.3161, d4.loss_plan_l1_fix_time: 1.6557, d4.loss_plan_l1_fix_dist: 0.3414, d5.loss_plan_l1_fix_time: 1.6613, d5.loss_plan_l1_fix_dist: 0.3685, d6.loss_plan_l1_fix_time: 1.6680, d6.loss_plan_l1_fix_dist: 0.3887, d0.loss_cls_all: 0.4050, d0.loss_bbox_all: 0.5348, d0.loss_cls: 0.4050, d0.loss_bbox: 0.5348, d1.loss_cls: 0.4015, d1.loss_bbox: 0.5141, d2.loss_cls: 0.3983, d2.loss_bbox: 0.5050, d3.loss_cls: 0.3956, d3.loss_bbox: 0.5022, d4.loss_cls: 0.3925, d4.loss_bbox: 0.5038, d5.loss_cls: 0.3920, d5.loss_bbox: 0.5065, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1007, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.9490, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.9184, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9235, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.9250, d5.loss_traj_cls: 0.0008, d5.loss_traj: 0.9276, d0.loss_map_cls_all: 0.3075, d0.loss_map_pts_all: 2.1033, d0.loss_map_dir_all: 0.0239, d0.loss_map_cls: 0.3075, d0.loss_map_pts: 2.1033, d0.loss_map_dir: 0.0239, d1.loss_map_cls: 0.2894, d1.loss_map_pts: 1.3669, d1.loss_map_dir: 0.0241, d2.loss_map_cls: 0.2724, d2.loss_map_pts: 1.2445, d2.loss_map_dir: 0.0243, d3.loss_map_cls: 0.2667, d3.loss_map_pts: 1.2072, d3.loss_map_dir: 0.0247, d4.loss_map_cls: 0.2614, d4.loss_map_pts: 1.1939, d4.loss_map_dir: 0.0249, d5.loss_map_cls: 0.2596, d5.loss_map_pts: 1.1925, d5.loss_map_dir: 0.0251, loss: 42.6324, grad_norm: 145.1128 +2026-02-24 20:16:50,406 - DriveTransformer - INFO - Epoch [3][2250/39528] lr: 9.831e-05, eta: 8 days, 0:06:41, time: 0.757, data_time: 0.048, memory: 19865, loss_cls: 0.4127, loss_bbox: 0.5696, loss_traj: 1.2891, loss_traj_cls: 0.0006, loss_map_cls: 0.3488, loss_map_pts: 1.3873, loss_map_dir: 0.0253, d0.loss_plan_l1_fix_time: 3.0626, d0.loss_plan_l1_fix_dist: 0.4373, d1.loss_plan_l1_fix_time: 1.9649, d1.loss_plan_l1_fix_dist: 0.2910, d2.loss_plan_l1_fix_time: 1.9638, d2.loss_plan_l1_fix_dist: 0.3055, d3.loss_plan_l1_fix_time: 1.9701, d3.loss_plan_l1_fix_dist: 0.3248, d4.loss_plan_l1_fix_time: 1.9757, d4.loss_plan_l1_fix_dist: 0.3451, d5.loss_plan_l1_fix_time: 1.9806, d5.loss_plan_l1_fix_dist: 0.3659, d6.loss_plan_l1_fix_time: 1.9863, d6.loss_plan_l1_fix_dist: 0.3941, d0.loss_cls_all: 0.4304, d0.loss_bbox_all: 0.6035, d0.loss_cls: 0.4304, d0.loss_bbox: 0.6035, d1.loss_cls: 0.4201, d1.loss_bbox: 0.5749, d2.loss_cls: 0.4142, d2.loss_bbox: 0.5683, d3.loss_cls: 0.4122, d3.loss_bbox: 0.5650, d4.loss_cls: 0.4127, d4.loss_bbox: 0.5621, d5.loss_cls: 0.4116, d5.loss_bbox: 0.5652, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4856, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3198, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2672, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2693, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2714, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2755, d0.loss_map_cls_all: 0.3987, d0.loss_map_pts_all: 2.1034, d0.loss_map_dir_all: 0.0242, d0.loss_map_cls: 0.3987, d0.loss_map_pts: 2.1034, d0.loss_map_dir: 0.0242, d1.loss_map_cls: 0.3751, d1.loss_map_pts: 1.5478, d1.loss_map_dir: 0.0242, d2.loss_map_cls: 0.3632, d2.loss_map_pts: 1.4356, d2.loss_map_dir: 0.0243, d3.loss_map_cls: 0.3526, d3.loss_map_pts: 1.4024, d3.loss_map_dir: 0.0245, d4.loss_map_cls: 0.3495, d4.loss_map_pts: 1.3872, d4.loss_map_dir: 0.0248, d5.loss_map_cls: 0.3486, d5.loss_map_pts: 1.3866, d5.loss_map_dir: 0.0251, loss: 50.3935, grad_norm: 145.7033 +2026-02-24 20:17:30,908 - DriveTransformer - INFO - Epoch [3][2300/39528] lr: 9.831e-05, eta: 8 days, 0:06:08, time: 0.810, data_time: 0.044, memory: 19865, loss_cls: 0.4129, loss_bbox: 0.5795, loss_traj: 1.2492, loss_traj_cls: 0.0007, loss_map_cls: 0.2853, loss_map_pts: 1.2672, loss_map_dir: 0.0257, d0.loss_plan_l1_fix_time: 2.8054, d0.loss_plan_l1_fix_dist: 0.5284, d1.loss_plan_l1_fix_time: 2.0076, d1.loss_plan_l1_fix_dist: 0.3524, d2.loss_plan_l1_fix_time: 1.9793, d2.loss_plan_l1_fix_dist: 0.3635, d3.loss_plan_l1_fix_time: 1.9782, d3.loss_plan_l1_fix_dist: 0.3807, d4.loss_plan_l1_fix_time: 1.9816, d4.loss_plan_l1_fix_dist: 0.4003, d5.loss_plan_l1_fix_time: 1.9858, d5.loss_plan_l1_fix_dist: 0.4188, d6.loss_plan_l1_fix_time: 1.9906, d6.loss_plan_l1_fix_dist: 0.4449, d0.loss_cls_all: 0.4304, d0.loss_bbox_all: 0.6050, d0.loss_cls: 0.4304, d0.loss_bbox: 0.6050, d1.loss_cls: 0.4209, d1.loss_bbox: 0.5853, d2.loss_cls: 0.4170, d2.loss_bbox: 0.5752, d3.loss_cls: 0.4138, d3.loss_bbox: 0.5737, d4.loss_cls: 0.4119, d4.loss_bbox: 0.5759, d5.loss_cls: 0.4135, d5.loss_bbox: 0.5758, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3834, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2437, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2248, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2328, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.2392, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2473, d0.loss_map_cls_all: 0.3388, d0.loss_map_pts_all: 2.0512, d0.loss_map_dir_all: 0.0246, d0.loss_map_cls: 0.3388, d0.loss_map_pts: 2.0512, d0.loss_map_dir: 0.0246, d1.loss_map_cls: 0.3139, d1.loss_map_pts: 1.4309, d1.loss_map_dir: 0.0246, d2.loss_map_cls: 0.2992, d2.loss_map_pts: 1.3094, d2.loss_map_dir: 0.0248, d3.loss_map_cls: 0.2908, d3.loss_map_pts: 1.2708, d3.loss_map_dir: 0.0252, d4.loss_map_cls: 0.2867, d4.loss_map_pts: 1.2621, d4.loss_map_dir: 0.0254, d5.loss_map_cls: 0.2853, d5.loss_map_pts: 1.2610, d5.loss_map_dir: 0.0255, loss: 49.0127, grad_norm: 146.0888 +2026-02-24 20:18:10,778 - DriveTransformer - INFO - Epoch [3][2350/39528] lr: 9.831e-05, eta: 8 days, 0:05:28, time: 0.797, data_time: 0.037, memory: 19865, loss_cls: 0.4249, loss_bbox: 0.6016, loss_traj: 1.1144, loss_traj_cls: 0.0006, loss_map_cls: 0.3267, loss_map_pts: 1.2630, loss_map_dir: 0.0254, d0.loss_plan_l1_fix_time: 2.8575, d0.loss_plan_l1_fix_dist: 0.4789, d1.loss_plan_l1_fix_time: 2.2957, d1.loss_plan_l1_fix_dist: 0.2957, d2.loss_plan_l1_fix_time: 2.2824, d2.loss_plan_l1_fix_dist: 0.3039, d3.loss_plan_l1_fix_time: 2.2858, d3.loss_plan_l1_fix_dist: 0.3190, d4.loss_plan_l1_fix_time: 2.2899, d4.loss_plan_l1_fix_dist: 0.3415, d5.loss_plan_l1_fix_time: 2.2950, d5.loss_plan_l1_fix_dist: 0.3662, d6.loss_plan_l1_fix_time: 2.3004, d6.loss_plan_l1_fix_dist: 0.3830, d0.loss_cls_all: 0.4422, d0.loss_bbox_all: 0.6363, d0.loss_cls: 0.4422, d0.loss_bbox: 0.6363, d1.loss_cls: 0.4364, d1.loss_bbox: 0.6088, d2.loss_cls: 0.4337, d2.loss_bbox: 0.5991, d3.loss_cls: 0.4314, d3.loss_bbox: 0.5951, d4.loss_cls: 0.4295, d4.loss_bbox: 0.5954, d5.loss_cls: 0.4285, d5.loss_bbox: 0.5948, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2456, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1431, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1104, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1101, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1099, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1104, d0.loss_map_cls_all: 0.3736, d0.loss_map_pts_all: 2.0780, d0.loss_map_dir_all: 0.0240, d0.loss_map_cls: 0.3736, d0.loss_map_pts: 2.0780, d0.loss_map_dir: 0.0240, d1.loss_map_cls: 0.3549, d1.loss_map_pts: 1.4379, d1.loss_map_dir: 0.0243, d2.loss_map_cls: 0.3467, d2.loss_map_pts: 1.3206, d2.loss_map_dir: 0.0246, d3.loss_map_cls: 0.3330, d3.loss_map_pts: 1.2774, d3.loss_map_dir: 0.0249, d4.loss_map_cls: 0.3301, d4.loss_map_pts: 1.2660, d4.loss_map_dir: 0.0251, d5.loss_map_cls: 0.3268, d5.loss_map_pts: 1.2636, d5.loss_map_dir: 0.0253, loss: 50.3287, grad_norm: 146.8700 +2026-02-24 20:18:51,101 - DriveTransformer - INFO - Epoch [3][2400/39528] lr: 9.831e-05, eta: 8 days, 0:04:53, time: 0.806, data_time: 0.037, memory: 19865, loss_cls: 0.4137, loss_bbox: 0.5891, loss_traj: 1.1709, loss_traj_cls: 0.0006, loss_map_cls: 0.3155, loss_map_pts: 1.3735, loss_map_dir: 0.0277, d0.loss_plan_l1_fix_time: 2.9428, d0.loss_plan_l1_fix_dist: 0.4648, d1.loss_plan_l1_fix_time: 2.0121, d1.loss_plan_l1_fix_dist: 0.3130, d2.loss_plan_l1_fix_time: 1.9660, d2.loss_plan_l1_fix_dist: 0.3187, d3.loss_plan_l1_fix_time: 1.9602, d3.loss_plan_l1_fix_dist: 0.3311, d4.loss_plan_l1_fix_time: 1.9616, d4.loss_plan_l1_fix_dist: 0.3459, d5.loss_plan_l1_fix_time: 1.9651, d5.loss_plan_l1_fix_dist: 0.3648, d6.loss_plan_l1_fix_time: 1.9702, d6.loss_plan_l1_fix_dist: 0.3833, d0.loss_cls_all: 0.4323, d0.loss_bbox_all: 0.6103, d0.loss_cls: 0.4323, d0.loss_bbox: 0.6103, d1.loss_cls: 0.4213, d1.loss_bbox: 0.5923, d2.loss_cls: 0.4175, d2.loss_bbox: 0.5833, d3.loss_cls: 0.4135, d3.loss_bbox: 0.5798, d4.loss_cls: 0.4160, d4.loss_bbox: 0.5794, d5.loss_cls: 0.4158, d5.loss_bbox: 0.5837, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2796, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1746, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1487, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1458, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1433, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1547, d0.loss_map_cls_all: 0.3614, d0.loss_map_pts_all: 2.3461, d0.loss_map_dir_all: 0.0261, d0.loss_map_cls: 0.3614, d0.loss_map_pts: 2.3461, d0.loss_map_dir: 0.0261, d1.loss_map_cls: 0.3359, d1.loss_map_pts: 1.5757, d1.loss_map_dir: 0.0260, d2.loss_map_cls: 0.3249, d2.loss_map_pts: 1.4431, d2.loss_map_dir: 0.0264, d3.loss_map_cls: 0.3175, d3.loss_map_pts: 1.3955, d3.loss_map_dir: 0.0268, d4.loss_map_cls: 0.3146, d4.loss_map_pts: 1.3781, d4.loss_map_dir: 0.0272, d5.loss_map_cls: 0.3150, d5.loss_map_pts: 1.3731, d5.loss_map_dir: 0.0275, loss: 49.7047, grad_norm: 149.9529 +2026-02-24 20:19:32,481 - DriveTransformer - INFO - Epoch [3][2450/39528] lr: 9.831e-05, eta: 8 days, 0:04:30, time: 0.828, data_time: 0.038, memory: 19865, loss_cls: 0.4466, loss_bbox: 0.6302, loss_traj: 1.3513, loss_traj_cls: 0.0006, loss_map_cls: 0.3423, loss_map_pts: 1.3642, loss_map_dir: 0.0284, d0.loss_plan_l1_fix_time: 3.2602, d0.loss_plan_l1_fix_dist: 0.4259, d1.loss_plan_l1_fix_time: 2.3027, d1.loss_plan_l1_fix_dist: 0.3145, d2.loss_plan_l1_fix_time: 2.2537, d2.loss_plan_l1_fix_dist: 0.3254, d3.loss_plan_l1_fix_time: 2.2404, d3.loss_plan_l1_fix_dist: 0.3393, d4.loss_plan_l1_fix_time: 2.2388, d4.loss_plan_l1_fix_dist: 0.3539, d5.loss_plan_l1_fix_time: 2.2400, d5.loss_plan_l1_fix_dist: 0.3675, d6.loss_plan_l1_fix_time: 2.2430, d6.loss_plan_l1_fix_dist: 0.3823, d0.loss_cls_all: 0.4596, d0.loss_bbox_all: 0.6731, d0.loss_cls: 0.4596, d0.loss_bbox: 0.6731, d1.loss_cls: 0.4617, d1.loss_bbox: 0.6426, d2.loss_cls: 0.4529, d2.loss_bbox: 0.6346, d3.loss_cls: 0.4476, d3.loss_bbox: 0.6310, d4.loss_cls: 0.4449, d4.loss_bbox: 0.6295, d5.loss_cls: 0.4462, d5.loss_bbox: 0.6271, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5768, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3667, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3355, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.3374, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3417, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.3430, d0.loss_map_cls_all: 0.3888, d0.loss_map_pts_all: 2.2451, d0.loss_map_dir_all: 0.0268, d0.loss_map_cls: 0.3888, d0.loss_map_pts: 2.2451, d0.loss_map_dir: 0.0268, d1.loss_map_cls: 0.3697, d1.loss_map_pts: 1.5335, d1.loss_map_dir: 0.0269, d2.loss_map_cls: 0.3533, d2.loss_map_pts: 1.4151, d2.loss_map_dir: 0.0272, d3.loss_map_cls: 0.3449, d3.loss_map_pts: 1.3785, d3.loss_map_dir: 0.0276, d4.loss_map_cls: 0.3424, d4.loss_map_pts: 1.3664, d4.loss_map_dir: 0.0280, d5.loss_map_cls: 0.3420, d5.loss_map_pts: 1.3643, d5.loss_map_dir: 0.0283, loss: 53.7104, grad_norm: 146.0425 +2026-02-24 20:20:11,989 - DriveTransformer - INFO - Epoch [3][2500/39528] lr: 9.831e-05, eta: 8 days, 0:03:46, time: 0.790, data_time: 0.045, memory: 19865, loss_cls: 0.4356, loss_bbox: 0.5693, loss_traj: 1.1777, loss_traj_cls: 0.0006, loss_map_cls: 0.3055, loss_map_pts: 1.3571, loss_map_dir: 0.0241, d0.loss_plan_l1_fix_time: 2.7416, d0.loss_plan_l1_fix_dist: 0.4357, d1.loss_plan_l1_fix_time: 2.0498, d1.loss_plan_l1_fix_dist: 0.3150, d2.loss_plan_l1_fix_time: 2.0356, d2.loss_plan_l1_fix_dist: 0.3225, d3.loss_plan_l1_fix_time: 2.0395, d3.loss_plan_l1_fix_dist: 0.3332, d4.loss_plan_l1_fix_time: 2.0448, d4.loss_plan_l1_fix_dist: 0.3471, d5.loss_plan_l1_fix_time: 2.0498, d5.loss_plan_l1_fix_dist: 0.3618, d6.loss_plan_l1_fix_time: 2.0557, d6.loss_plan_l1_fix_dist: 0.3805, d0.loss_cls_all: 0.4461, d0.loss_bbox_all: 0.6062, d0.loss_cls: 0.4461, d0.loss_bbox: 0.6062, d1.loss_cls: 0.4426, d1.loss_bbox: 0.5837, d2.loss_cls: 0.4382, d2.loss_bbox: 0.5734, d3.loss_cls: 0.4347, d3.loss_bbox: 0.5712, d4.loss_cls: 0.4337, d4.loss_bbox: 0.5676, d5.loss_cls: 0.4338, d5.loss_bbox: 0.5689, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3622, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2131, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1759, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.1685, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1745, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1749, d0.loss_map_cls_all: 0.3492, d0.loss_map_pts_all: 2.1098, d0.loss_map_dir_all: 0.0225, d0.loss_map_cls: 0.3492, d0.loss_map_pts: 2.1098, d0.loss_map_dir: 0.0225, d1.loss_map_cls: 0.3289, d1.loss_map_pts: 1.5080, d1.loss_map_dir: 0.0225, d2.loss_map_cls: 0.3119, d2.loss_map_pts: 1.4048, d2.loss_map_dir: 0.0230, d3.loss_map_cls: 0.3076, d3.loss_map_pts: 1.3674, d3.loss_map_dir: 0.0234, d4.loss_map_cls: 0.3030, d4.loss_map_pts: 1.3570, d4.loss_map_dir: 0.0237, d5.loss_map_cls: 0.3047, d5.loss_map_pts: 1.3551, d5.loss_map_dir: 0.0240, loss: 49.4371, grad_norm: 146.9818 +2026-02-24 20:20:52,573 - DriveTransformer - INFO - Epoch [3][2550/39528] lr: 9.831e-05, eta: 8 days, 0:03:14, time: 0.812, data_time: 0.048, memory: 19865, loss_cls: 0.3884, loss_bbox: 0.5466, loss_traj: 1.0452, loss_traj_cls: 0.0005, loss_map_cls: 0.3288, loss_map_pts: 1.4236, loss_map_dir: 0.0254, d0.loss_plan_l1_fix_time: 2.6377, d0.loss_plan_l1_fix_dist: 0.4440, d1.loss_plan_l1_fix_time: 1.8538, d1.loss_plan_l1_fix_dist: 0.3131, d2.loss_plan_l1_fix_time: 1.8227, d2.loss_plan_l1_fix_dist: 0.3166, d3.loss_plan_l1_fix_time: 1.8228, d3.loss_plan_l1_fix_dist: 0.3285, d4.loss_plan_l1_fix_time: 1.8260, d4.loss_plan_l1_fix_dist: 0.3434, d5.loss_plan_l1_fix_time: 1.8299, d5.loss_plan_l1_fix_dist: 0.3603, d6.loss_plan_l1_fix_time: 1.8349, d6.loss_plan_l1_fix_dist: 0.3759, d0.loss_cls_all: 0.4081, d0.loss_bbox_all: 0.5935, d0.loss_cls: 0.4081, d0.loss_bbox: 0.5935, d1.loss_cls: 0.4000, d1.loss_bbox: 0.5649, d2.loss_cls: 0.3937, d2.loss_bbox: 0.5550, d3.loss_cls: 0.3915, d3.loss_bbox: 0.5484, d4.loss_cls: 0.3879, d4.loss_bbox: 0.5466, d5.loss_cls: 0.3880, d5.loss_bbox: 0.5457, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1227, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0110, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0029, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.0070, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.0095, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.0258, d0.loss_map_cls_all: 0.3717, d0.loss_map_pts_all: 2.2806, d0.loss_map_dir_all: 0.0234, d0.loss_map_cls: 0.3717, d0.loss_map_pts: 2.2806, d0.loss_map_dir: 0.0234, d1.loss_map_cls: 0.3523, d1.loss_map_pts: 1.6149, d1.loss_map_dir: 0.0237, d2.loss_map_cls: 0.3413, d2.loss_map_pts: 1.4857, d2.loss_map_dir: 0.0241, d3.loss_map_cls: 0.3359, d3.loss_map_pts: 1.4411, d3.loss_map_dir: 0.0245, d4.loss_map_cls: 0.3298, d4.loss_map_pts: 1.4272, d4.loss_map_dir: 0.0249, d5.loss_map_cls: 0.3279, d5.loss_map_pts: 1.4244, d5.loss_map_dir: 0.0252, loss: 47.3311, grad_norm: 147.7443 +2026-02-24 20:21:32,329 - DriveTransformer - INFO - Epoch [3][2600/39528] lr: 9.831e-05, eta: 8 days, 0:02:33, time: 0.795, data_time: 0.041, memory: 19865, loss_cls: 0.4052, loss_bbox: 0.5268, loss_traj: 1.3605, loss_traj_cls: 0.0006, loss_map_cls: 0.2935, loss_map_pts: 1.3137, loss_map_dir: 0.0202, d0.loss_plan_l1_fix_time: 2.8399, d0.loss_plan_l1_fix_dist: 0.5121, d1.loss_plan_l1_fix_time: 1.9034, d1.loss_plan_l1_fix_dist: 0.3459, d2.loss_plan_l1_fix_time: 1.8879, d2.loss_plan_l1_fix_dist: 0.3561, d3.loss_plan_l1_fix_time: 1.8884, d3.loss_plan_l1_fix_dist: 0.3688, d4.loss_plan_l1_fix_time: 1.8920, d4.loss_plan_l1_fix_dist: 0.3806, d5.loss_plan_l1_fix_time: 1.8964, d5.loss_plan_l1_fix_dist: 0.3944, d6.loss_plan_l1_fix_time: 1.9018, d6.loss_plan_l1_fix_dist: 0.4105, d0.loss_cls_all: 0.4173, d0.loss_bbox_all: 0.5800, d0.loss_cls: 0.4173, d0.loss_bbox: 0.5800, d1.loss_cls: 0.4115, d1.loss_bbox: 0.5506, d2.loss_cls: 0.4074, d2.loss_bbox: 0.5357, d3.loss_cls: 0.4066, d3.loss_bbox: 0.5294, d4.loss_cls: 0.4062, d4.loss_bbox: 0.5274, d5.loss_cls: 0.4056, d5.loss_bbox: 0.5265, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5374, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3655, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3340, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.3339, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3339, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.3462, d0.loss_map_cls_all: 0.3557, d0.loss_map_pts_all: 2.0308, d0.loss_map_dir_all: 0.0191, d0.loss_map_cls: 0.3557, d0.loss_map_pts: 2.0308, d0.loss_map_dir: 0.0191, d1.loss_map_cls: 0.3289, d1.loss_map_pts: 1.4747, d1.loss_map_dir: 0.0193, d2.loss_map_cls: 0.3156, d2.loss_map_pts: 1.3627, d2.loss_map_dir: 0.0194, d3.loss_map_cls: 0.3000, d3.loss_map_pts: 1.3256, d3.loss_map_dir: 0.0196, d4.loss_map_cls: 0.2940, d4.loss_map_pts: 1.3159, d4.loss_map_dir: 0.0200, d5.loss_map_cls: 0.2926, d5.loss_map_pts: 1.3146, d5.loss_map_dir: 0.0202, loss: 49.0904, grad_norm: 146.1108 +2026-02-24 20:22:11,110 - DriveTransformer - INFO - Epoch [3][2650/39528] lr: 9.831e-05, eta: 8 days, 0:01:41, time: 0.776, data_time: 0.039, memory: 19865, loss_cls: 0.4259, loss_bbox: 0.5659, loss_traj: 1.3200, loss_traj_cls: 0.0005, loss_map_cls: 0.3032, loss_map_pts: 1.3352, loss_map_dir: 0.0206, d0.loss_plan_l1_fix_time: 2.7200, d0.loss_plan_l1_fix_dist: 0.3971, d1.loss_plan_l1_fix_time: 1.9447, d1.loss_plan_l1_fix_dist: 0.2742, d2.loss_plan_l1_fix_time: 1.9251, d2.loss_plan_l1_fix_dist: 0.2880, d3.loss_plan_l1_fix_time: 1.9253, d3.loss_plan_l1_fix_dist: 0.3035, d4.loss_plan_l1_fix_time: 1.9294, d4.loss_plan_l1_fix_dist: 0.3216, d5.loss_plan_l1_fix_time: 1.9341, d5.loss_plan_l1_fix_dist: 0.3407, d6.loss_plan_l1_fix_time: 1.9390, d6.loss_plan_l1_fix_dist: 0.3601, d0.loss_cls_all: 0.4332, d0.loss_bbox_all: 0.6113, d0.loss_cls: 0.4332, d0.loss_bbox: 0.6113, d1.loss_cls: 0.4298, d1.loss_bbox: 0.5761, d2.loss_cls: 0.4306, d2.loss_bbox: 0.5650, d3.loss_cls: 0.4308, d3.loss_bbox: 0.5600, d4.loss_cls: 0.4241, d4.loss_bbox: 0.5625, d5.loss_cls: 0.4248, d5.loss_bbox: 0.5604, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5053, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3330, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3017, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.3066, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3083, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3130, d0.loss_map_cls_all: 0.3587, d0.loss_map_pts_all: 2.0059, d0.loss_map_dir_all: 0.0194, d0.loss_map_cls: 0.3587, d0.loss_map_pts: 2.0059, d0.loss_map_dir: 0.0194, d1.loss_map_cls: 0.3326, d1.loss_map_pts: 1.4756, d1.loss_map_dir: 0.0194, d2.loss_map_cls: 0.3173, d2.loss_map_pts: 1.3639, d2.loss_map_dir: 0.0197, d3.loss_map_cls: 0.3062, d3.loss_map_pts: 1.3270, d3.loss_map_dir: 0.0199, d4.loss_map_cls: 0.3046, d4.loss_map_pts: 1.3229, d4.loss_map_dir: 0.0202, d5.loss_map_cls: 0.3011, d5.loss_map_pts: 1.3279, d5.loss_map_dir: 0.0204, loss: 48.9473, grad_norm: 145.9067 +2026-02-24 20:22:52,860 - DriveTransformer - INFO - Epoch [3][2700/39528] lr: 9.831e-05, eta: 8 days, 0:01:21, time: 0.835, data_time: 0.041, memory: 19865, loss_cls: 0.4353, loss_bbox: 0.5685, loss_traj: 1.1120, loss_traj_cls: 0.0006, loss_map_cls: 0.3009, loss_map_pts: 1.2482, loss_map_dir: 0.0242, d0.loss_plan_l1_fix_time: 2.7953, d0.loss_plan_l1_fix_dist: 0.4327, d1.loss_plan_l1_fix_time: 1.8806, d1.loss_plan_l1_fix_dist: 0.3258, d2.loss_plan_l1_fix_time: 1.8441, d2.loss_plan_l1_fix_dist: 0.3332, d3.loss_plan_l1_fix_time: 1.8387, d3.loss_plan_l1_fix_dist: 0.3476, d4.loss_plan_l1_fix_time: 1.8405, d4.loss_plan_l1_fix_dist: 0.3673, d5.loss_plan_l1_fix_time: 1.8438, d5.loss_plan_l1_fix_dist: 0.3881, d6.loss_plan_l1_fix_time: 1.8487, d6.loss_plan_l1_fix_dist: 0.4041, d0.loss_cls_all: 0.4521, d0.loss_bbox_all: 0.6065, d0.loss_cls: 0.4521, d0.loss_bbox: 0.6065, d1.loss_cls: 0.4533, d1.loss_bbox: 0.5793, d2.loss_cls: 0.4475, d2.loss_bbox: 0.5706, d3.loss_cls: 0.4400, d3.loss_bbox: 0.5653, d4.loss_cls: 0.4372, d4.loss_bbox: 0.5616, d5.loss_cls: 0.4362, d5.loss_bbox: 0.5646, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2771, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1214, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1007, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.1000, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.0988, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1023, d0.loss_map_cls_all: 0.3387, d0.loss_map_pts_all: 2.1406, d0.loss_map_dir_all: 0.0224, d0.loss_map_cls: 0.3387, d0.loss_map_pts: 2.1406, d0.loss_map_dir: 0.0224, d1.loss_map_cls: 0.3220, d1.loss_map_pts: 1.4061, d1.loss_map_dir: 0.0226, d2.loss_map_cls: 0.3137, d2.loss_map_pts: 1.2835, d2.loss_map_dir: 0.0230, d3.loss_map_cls: 0.3065, d3.loss_map_pts: 1.2438, d3.loss_map_dir: 0.0234, d4.loss_map_cls: 0.3018, d4.loss_map_pts: 1.2414, d4.loss_map_dir: 0.0238, d5.loss_map_cls: 0.3009, d5.loss_map_pts: 1.2447, d5.loss_map_dir: 0.0240, loss: 47.2431, grad_norm: 146.4358 +2026-02-24 20:23:34,292 - DriveTransformer - INFO - Epoch [3][2750/39528] lr: 9.831e-05, eta: 8 days, 0:00:58, time: 0.828, data_time: 0.043, memory: 19865, loss_cls: 0.4277, loss_bbox: 0.5575, loss_traj: 1.3039, loss_traj_cls: 0.0006, loss_map_cls: 0.3261, loss_map_pts: 1.4898, loss_map_dir: 0.0248, d0.loss_plan_l1_fix_time: 2.9855, d0.loss_plan_l1_fix_dist: 0.3918, d1.loss_plan_l1_fix_time: 2.0245, d1.loss_plan_l1_fix_dist: 0.3132, d2.loss_plan_l1_fix_time: 1.9897, d2.loss_plan_l1_fix_dist: 0.3214, d3.loss_plan_l1_fix_time: 1.9864, d3.loss_plan_l1_fix_dist: 0.3321, d4.loss_plan_l1_fix_time: 1.9886, d4.loss_plan_l1_fix_dist: 0.3455, d5.loss_plan_l1_fix_time: 1.9926, d5.loss_plan_l1_fix_dist: 0.3615, d6.loss_plan_l1_fix_time: 1.9982, d6.loss_plan_l1_fix_dist: 0.3832, d0.loss_cls_all: 0.4359, d0.loss_bbox_all: 0.6115, d0.loss_cls: 0.4359, d0.loss_bbox: 0.6115, d1.loss_cls: 0.4362, d1.loss_bbox: 0.5809, d2.loss_cls: 0.4299, d2.loss_bbox: 0.5678, d3.loss_cls: 0.4294, d3.loss_bbox: 0.5582, d4.loss_cls: 0.4263, d4.loss_bbox: 0.5550, d5.loss_cls: 0.4258, d5.loss_bbox: 0.5557, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4863, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3094, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2817, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2834, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2899, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2905, d0.loss_map_cls_all: 0.3871, d0.loss_map_pts_all: 2.4693, d0.loss_map_dir_all: 0.0232, d0.loss_map_cls: 0.3871, d0.loss_map_pts: 2.4693, d0.loss_map_dir: 0.0232, d1.loss_map_cls: 0.3580, d1.loss_map_pts: 1.6868, d1.loss_map_dir: 0.0232, d2.loss_map_cls: 0.3423, d2.loss_map_pts: 1.5535, d2.loss_map_dir: 0.0236, d3.loss_map_cls: 0.3298, d3.loss_map_pts: 1.5054, d3.loss_map_dir: 0.0241, d4.loss_map_cls: 0.3254, d4.loss_map_pts: 1.4906, d4.loss_map_dir: 0.0245, d5.loss_map_cls: 0.3248, d5.loss_map_pts: 1.4855, d5.loss_map_dir: 0.0246, loss: 51.8323, grad_norm: 148.3922 +2026-02-24 20:24:13,876 - DriveTransformer - INFO - Epoch [3][2800/39528] lr: 9.831e-05, eta: 8 days, 0:00:16, time: 0.793, data_time: 0.039, memory: 19865, loss_cls: 0.4035, loss_bbox: 0.5297, loss_traj: 1.2292, loss_traj_cls: 0.0006, loss_map_cls: 0.3253, loss_map_pts: 1.4455, loss_map_dir: 0.0218, d0.loss_plan_l1_fix_time: 2.5864, d0.loss_plan_l1_fix_dist: 0.5016, d1.loss_plan_l1_fix_time: 1.8831, d1.loss_plan_l1_fix_dist: 0.3048, d2.loss_plan_l1_fix_time: 1.8778, d2.loss_plan_l1_fix_dist: 0.3194, d3.loss_plan_l1_fix_time: 1.8796, d3.loss_plan_l1_fix_dist: 0.3355, d4.loss_plan_l1_fix_time: 1.8829, d4.loss_plan_l1_fix_dist: 0.3545, d5.loss_plan_l1_fix_time: 1.8865, d5.loss_plan_l1_fix_dist: 0.3763, d6.loss_plan_l1_fix_time: 1.8905, d6.loss_plan_l1_fix_dist: 0.4012, d0.loss_cls_all: 0.4143, d0.loss_bbox_all: 0.5714, d0.loss_cls: 0.4143, d0.loss_bbox: 0.5714, d1.loss_cls: 0.4087, d1.loss_bbox: 0.5439, d2.loss_cls: 0.4031, d2.loss_bbox: 0.5362, d3.loss_cls: 0.4026, d3.loss_bbox: 0.5303, d4.loss_cls: 0.4002, d4.loss_bbox: 0.5292, d5.loss_cls: 0.4016, d5.loss_bbox: 0.5280, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4745, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2652, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2125, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2161, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2211, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2201, d0.loss_map_cls_all: 0.3701, d0.loss_map_pts_all: 2.1855, d0.loss_map_dir_all: 0.0209, d0.loss_map_cls: 0.3701, d0.loss_map_pts: 2.1855, d0.loss_map_dir: 0.0209, d1.loss_map_cls: 0.3518, d1.loss_map_pts: 1.6044, d1.loss_map_dir: 0.0206, d2.loss_map_cls: 0.3313, d2.loss_map_pts: 1.4949, d2.loss_map_dir: 0.0210, d3.loss_map_cls: 0.3250, d3.loss_map_pts: 1.4503, d3.loss_map_dir: 0.0212, d4.loss_map_cls: 0.3252, d4.loss_map_pts: 1.4472, d4.loss_map_dir: 0.0215, d5.loss_map_cls: 0.3246, d5.loss_map_pts: 1.4463, d5.loss_map_dir: 0.0217, loss: 49.0651, grad_norm: 146.8851 +2026-02-24 20:24:53,605 - DriveTransformer - INFO - Epoch [3][2850/39528] lr: 9.831e-05, eta: 7 days, 23:59:34, time: 0.793, data_time: 0.044, memory: 19865, loss_cls: 0.4207, loss_bbox: 0.5848, loss_traj: 1.2758, loss_traj_cls: 0.0006, loss_map_cls: 0.3005, loss_map_pts: 1.3361, loss_map_dir: 0.0226, d0.loss_plan_l1_fix_time: 2.9181, d0.loss_plan_l1_fix_dist: 0.4343, d1.loss_plan_l1_fix_time: 2.0749, d1.loss_plan_l1_fix_dist: 0.3071, d2.loss_plan_l1_fix_time: 2.0586, d2.loss_plan_l1_fix_dist: 0.3202, d3.loss_plan_l1_fix_time: 2.0612, d3.loss_plan_l1_fix_dist: 0.3398, d4.loss_plan_l1_fix_time: 2.0663, d4.loss_plan_l1_fix_dist: 0.3622, d5.loss_plan_l1_fix_time: 2.0711, d5.loss_plan_l1_fix_dist: 0.3844, d6.loss_plan_l1_fix_time: 2.0762, d6.loss_plan_l1_fix_dist: 0.4064, d0.loss_cls_all: 0.4403, d0.loss_bbox_all: 0.6237, d0.loss_cls: 0.4403, d0.loss_bbox: 0.6237, d1.loss_cls: 0.4281, d1.loss_bbox: 0.6002, d2.loss_cls: 0.4252, d2.loss_bbox: 0.5892, d3.loss_cls: 0.4233, d3.loss_bbox: 0.5829, d4.loss_cls: 0.4218, d4.loss_bbox: 0.5788, d5.loss_cls: 0.4206, d5.loss_bbox: 0.5807, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5072, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2966, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2674, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2740, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2741, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2776, d0.loss_map_cls_all: 0.3376, d0.loss_map_pts_all: 2.1910, d0.loss_map_dir_all: 0.0214, d0.loss_map_cls: 0.3376, d0.loss_map_pts: 2.1910, d0.loss_map_dir: 0.0214, d1.loss_map_cls: 0.3204, d1.loss_map_pts: 1.5257, d1.loss_map_dir: 0.0214, d2.loss_map_cls: 0.3094, d2.loss_map_pts: 1.3976, d2.loss_map_dir: 0.0216, d3.loss_map_cls: 0.3058, d3.loss_map_pts: 1.3516, d3.loss_map_dir: 0.0219, d4.loss_map_cls: 0.3018, d4.loss_map_pts: 1.3440, d4.loss_map_dir: 0.0222, d5.loss_map_cls: 0.2996, d5.loss_map_pts: 1.3368, d5.loss_map_dir: 0.0224, loss: 50.6051, grad_norm: 147.8213 +2026-02-24 20:25:34,356 - DriveTransformer - INFO - Epoch [3][2900/39528] lr: 9.831e-05, eta: 7 days, 23:59:03, time: 0.815, data_time: 0.038, memory: 19865, loss_cls: 0.3897, loss_bbox: 0.5484, loss_traj: 1.1543, loss_traj_cls: 0.0006, loss_map_cls: 0.2889, loss_map_pts: 1.3564, loss_map_dir: 0.0228, d0.loss_plan_l1_fix_time: 2.5403, d0.loss_plan_l1_fix_dist: 0.4651, d1.loss_plan_l1_fix_time: 1.8496, d1.loss_plan_l1_fix_dist: 0.2962, d2.loss_plan_l1_fix_time: 1.8280, d2.loss_plan_l1_fix_dist: 0.3052, d3.loss_plan_l1_fix_time: 1.8258, d3.loss_plan_l1_fix_dist: 0.3198, d4.loss_plan_l1_fix_time: 1.8295, d4.loss_plan_l1_fix_dist: 0.3392, d5.loss_plan_l1_fix_time: 1.8340, d5.loss_plan_l1_fix_dist: 0.3595, d6.loss_plan_l1_fix_time: 1.8396, d6.loss_plan_l1_fix_dist: 0.3826, d0.loss_cls_all: 0.4095, d0.loss_bbox_all: 0.5771, d0.loss_cls: 0.4095, d0.loss_bbox: 0.5771, d1.loss_cls: 0.4006, d1.loss_bbox: 0.5525, d2.loss_cls: 0.3946, d2.loss_bbox: 0.5445, d3.loss_cls: 0.3933, d3.loss_bbox: 0.5399, d4.loss_cls: 0.3923, d4.loss_bbox: 0.5403, d5.loss_cls: 0.3915, d5.loss_bbox: 0.5421, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3134, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1493, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1330, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1359, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1371, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1420, d0.loss_map_cls_all: 0.3367, d0.loss_map_pts_all: 2.3344, d0.loss_map_dir_all: 0.0223, d0.loss_map_cls: 0.3367, d0.loss_map_pts: 2.3344, d0.loss_map_dir: 0.0223, d1.loss_map_cls: 0.3143, d1.loss_map_pts: 1.5884, d1.loss_map_dir: 0.0215, d2.loss_map_cls: 0.3003, d2.loss_map_pts: 1.4373, d2.loss_map_dir: 0.0216, d3.loss_map_cls: 0.2940, d3.loss_map_pts: 1.3825, d3.loss_map_dir: 0.0221, d4.loss_map_cls: 0.2886, d4.loss_map_pts: 1.3631, d4.loss_map_dir: 0.0224, d5.loss_map_cls: 0.2881, d5.loss_map_pts: 1.3564, d5.loss_map_dir: 0.0226, loss: 47.5657, grad_norm: 145.8582 +2026-02-24 20:26:14,912 - DriveTransformer - INFO - Epoch [3][2950/39528] lr: 9.831e-05, eta: 7 days, 23:58:30, time: 0.811, data_time: 0.040, memory: 19865, loss_cls: 0.4245, loss_bbox: 0.5456, loss_traj: 1.2697, loss_traj_cls: 0.0005, loss_map_cls: 0.3095, loss_map_pts: 1.4431, loss_map_dir: 0.0273, d0.loss_plan_l1_fix_time: 2.8602, d0.loss_plan_l1_fix_dist: 0.3700, d1.loss_plan_l1_fix_time: 1.8951, d1.loss_plan_l1_fix_dist: 0.2876, d2.loss_plan_l1_fix_time: 1.8721, d2.loss_plan_l1_fix_dist: 0.3012, d3.loss_plan_l1_fix_time: 1.8716, d3.loss_plan_l1_fix_dist: 0.3195, d4.loss_plan_l1_fix_time: 1.8748, d4.loss_plan_l1_fix_dist: 0.3425, d5.loss_plan_l1_fix_time: 1.8794, d5.loss_plan_l1_fix_dist: 0.3674, d6.loss_plan_l1_fix_time: 1.8850, d6.loss_plan_l1_fix_dist: 0.3950, d0.loss_cls_all: 0.4395, d0.loss_bbox_all: 0.5871, d0.loss_cls: 0.4395, d0.loss_bbox: 0.5871, d1.loss_cls: 0.4401, d1.loss_bbox: 0.5608, d2.loss_cls: 0.4331, d2.loss_bbox: 0.5504, d3.loss_cls: 0.4281, d3.loss_bbox: 0.5451, d4.loss_cls: 0.4258, d4.loss_bbox: 0.5435, d5.loss_cls: 0.4246, d5.loss_bbox: 0.5423, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3347, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2560, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2378, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.2459, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2574, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2548, d0.loss_map_cls_all: 0.3612, d0.loss_map_pts_all: 2.4462, d0.loss_map_dir_all: 0.0255, d0.loss_map_cls: 0.3612, d0.loss_map_pts: 2.4462, d0.loss_map_dir: 0.0255, d1.loss_map_cls: 0.3471, d1.loss_map_pts: 1.6552, d1.loss_map_dir: 0.0258, d2.loss_map_cls: 0.3266, d2.loss_map_pts: 1.5091, d2.loss_map_dir: 0.0263, d3.loss_map_cls: 0.3166, d3.loss_map_pts: 1.4581, d3.loss_map_dir: 0.0267, d4.loss_map_cls: 0.3124, d4.loss_map_pts: 1.4388, d4.loss_map_dir: 0.0270, d5.loss_map_cls: 0.3093, d5.loss_map_pts: 1.4361, d5.loss_map_dir: 0.0271, loss: 49.9884, grad_norm: 145.7416 +2026-02-24 20:26:55,739 - DriveTransformer - INFO - Epoch [3][3000/39528] lr: 9.831e-05, eta: 7 days, 23:58:01, time: 0.817, data_time: 0.044, memory: 19865, loss_cls: 0.4100, loss_bbox: 0.5390, loss_traj: 1.1200, loss_traj_cls: 0.0006, loss_map_cls: 0.3028, loss_map_pts: 1.3142, loss_map_dir: 0.0239, d0.loss_plan_l1_fix_time: 2.5881, d0.loss_plan_l1_fix_dist: 0.4731, d1.loss_plan_l1_fix_time: 1.8226, d1.loss_plan_l1_fix_dist: 0.3276, d2.loss_plan_l1_fix_time: 1.8153, d2.loss_plan_l1_fix_dist: 0.3374, d3.loss_plan_l1_fix_time: 1.8187, d3.loss_plan_l1_fix_dist: 0.3544, d4.loss_plan_l1_fix_time: 1.8242, d4.loss_plan_l1_fix_dist: 0.3734, d5.loss_plan_l1_fix_time: 1.8303, d5.loss_plan_l1_fix_dist: 0.3961, d6.loss_plan_l1_fix_time: 1.8375, d6.loss_plan_l1_fix_dist: 0.4255, d0.loss_cls_all: 0.4257, d0.loss_bbox_all: 0.5861, d0.loss_cls: 0.4257, d0.loss_bbox: 0.5861, d1.loss_cls: 0.4228, d1.loss_bbox: 0.5565, d2.loss_cls: 0.4155, d2.loss_bbox: 0.5447, d3.loss_cls: 0.4125, d3.loss_bbox: 0.5397, d4.loss_cls: 0.4096, d4.loss_bbox: 0.5382, d5.loss_cls: 0.4099, d5.loss_bbox: 0.5370, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2689, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1170, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0938, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.0981, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.0996, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.1048, d0.loss_map_cls_all: 0.3570, d0.loss_map_pts_all: 2.1887, d0.loss_map_dir_all: 0.0220, d0.loss_map_cls: 0.3570, d0.loss_map_pts: 2.1887, d0.loss_map_dir: 0.0220, d1.loss_map_cls: 0.3394, d1.loss_map_pts: 1.5175, d1.loss_map_dir: 0.0223, d2.loss_map_cls: 0.3178, d2.loss_map_pts: 1.3633, d2.loss_map_dir: 0.0227, d3.loss_map_cls: 0.3086, d3.loss_map_pts: 1.3184, d3.loss_map_dir: 0.0230, d4.loss_map_cls: 0.3043, d4.loss_map_pts: 1.3114, d4.loss_map_dir: 0.0234, d5.loss_map_cls: 0.3025, d5.loss_map_pts: 1.3086, d5.loss_map_dir: 0.0238, loss: 47.1743, grad_norm: 146.0412 +2026-02-24 20:27:36,665 - DriveTransformer - INFO - Epoch [3][3050/39528] lr: 9.831e-05, eta: 7 days, 23:57:32, time: 0.819, data_time: 0.035, memory: 19865, loss_cls: 0.3854, loss_bbox: 0.5630, loss_traj: 1.3787, loss_traj_cls: 0.0005, loss_map_cls: 0.2981, loss_map_pts: 1.3757, loss_map_dir: 0.0225, d0.loss_plan_l1_fix_time: 2.9145, d0.loss_plan_l1_fix_dist: 0.3836, d1.loss_plan_l1_fix_time: 1.9972, d1.loss_plan_l1_fix_dist: 0.2978, d2.loss_plan_l1_fix_time: 1.9610, d2.loss_plan_l1_fix_dist: 0.3138, d3.loss_plan_l1_fix_time: 1.9570, d3.loss_plan_l1_fix_dist: 0.3377, d4.loss_plan_l1_fix_time: 1.9596, d4.loss_plan_l1_fix_dist: 0.3638, d5.loss_plan_l1_fix_time: 1.9633, d5.loss_plan_l1_fix_dist: 0.3904, d6.loss_plan_l1_fix_time: 1.9679, d6.loss_plan_l1_fix_dist: 0.4137, d0.loss_cls_all: 0.4013, d0.loss_bbox_all: 0.6049, d0.loss_cls: 0.4013, d0.loss_bbox: 0.6049, d1.loss_cls: 0.3914, d1.loss_bbox: 0.5820, d2.loss_cls: 0.3873, d2.loss_bbox: 0.5724, d3.loss_cls: 0.3871, d3.loss_bbox: 0.5678, d4.loss_cls: 0.3863, d4.loss_bbox: 0.5648, d5.loss_cls: 0.3864, d5.loss_bbox: 0.5629, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5829, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.4090, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3719, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.3756, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3742, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3748, d0.loss_map_cls_all: 0.3604, d0.loss_map_pts_all: 2.1272, d0.loss_map_dir_all: 0.0210, d0.loss_map_cls: 0.3604, d0.loss_map_pts: 2.1272, d0.loss_map_dir: 0.0210, d1.loss_map_cls: 0.3320, d1.loss_map_pts: 1.5411, d1.loss_map_dir: 0.0211, d2.loss_map_cls: 0.3133, d2.loss_map_pts: 1.4146, d2.loss_map_dir: 0.0215, d3.loss_map_cls: 0.3031, d3.loss_map_pts: 1.3784, d3.loss_map_dir: 0.0219, d4.loss_map_cls: 0.2985, d4.loss_map_pts: 1.3685, d4.loss_map_dir: 0.0222, d5.loss_map_cls: 0.2982, d5.loss_map_pts: 1.3709, d5.loss_map_dir: 0.0224, loss: 50.2844, grad_norm: 145.4698 +2026-02-24 20:28:16,944 - DriveTransformer - INFO - Epoch [3][3100/39528] lr: 9.831e-05, eta: 7 days, 23:56:56, time: 0.806, data_time: 0.040, memory: 19865, loss_cls: 0.4124, loss_bbox: 0.5662, loss_traj: 1.3583, loss_traj_cls: 0.0005, loss_map_cls: 0.3231, loss_map_pts: 1.4703, loss_map_dir: 0.0246, d0.loss_plan_l1_fix_time: 2.6060, d0.loss_plan_l1_fix_dist: 0.4538, d1.loss_plan_l1_fix_time: 1.7715, d1.loss_plan_l1_fix_dist: 0.3406, d2.loss_plan_l1_fix_time: 1.7422, d2.loss_plan_l1_fix_dist: 0.3441, d3.loss_plan_l1_fix_time: 1.7412, d3.loss_plan_l1_fix_dist: 0.3587, d4.loss_plan_l1_fix_time: 1.7459, d4.loss_plan_l1_fix_dist: 0.3824, d5.loss_plan_l1_fix_time: 1.7520, d5.loss_plan_l1_fix_dist: 0.4052, d6.loss_plan_l1_fix_time: 1.7598, d6.loss_plan_l1_fix_dist: 0.4271, d0.loss_cls_all: 0.4232, d0.loss_bbox_all: 0.6117, d0.loss_cls: 0.4232, d0.loss_bbox: 0.6117, d1.loss_cls: 0.4188, d1.loss_bbox: 0.5879, d2.loss_cls: 0.4122, d2.loss_bbox: 0.5797, d3.loss_cls: 0.4091, d3.loss_bbox: 0.5764, d4.loss_cls: 0.4074, d4.loss_bbox: 0.5739, d5.loss_cls: 0.4105, d5.loss_bbox: 0.5699, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5688, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.4232, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3846, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.3709, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3628, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3552, d0.loss_map_cls_all: 0.3799, d0.loss_map_pts_all: 2.3434, d0.loss_map_dir_all: 0.0228, d0.loss_map_cls: 0.3799, d0.loss_map_pts: 2.3434, d0.loss_map_dir: 0.0228, d1.loss_map_cls: 0.3514, d1.loss_map_pts: 1.6863, d1.loss_map_dir: 0.0231, d2.loss_map_cls: 0.3382, d2.loss_map_pts: 1.5292, d2.loss_map_dir: 0.0235, d3.loss_map_cls: 0.3283, d3.loss_map_pts: 1.4841, d3.loss_map_dir: 0.0239, d4.loss_map_cls: 0.3254, d4.loss_map_pts: 1.4719, d4.loss_map_dir: 0.0243, d5.loss_map_cls: 0.3228, d5.loss_map_pts: 1.4685, d5.loss_map_dir: 0.0246, loss: 50.3897, grad_norm: 143.6343 +2026-02-24 20:28:57,965 - DriveTransformer - INFO - Epoch [3][3150/39528] lr: 9.831e-05, eta: 7 days, 23:56:28, time: 0.820, data_time: 0.041, memory: 19865, loss_cls: 0.4380, loss_bbox: 0.5894, loss_traj: 1.2536, loss_traj_cls: 0.0005, loss_map_cls: 0.3257, loss_map_pts: 1.4471, loss_map_dir: 0.0284, d0.loss_plan_l1_fix_time: 2.5027, d0.loss_plan_l1_fix_dist: 0.4199, d1.loss_plan_l1_fix_time: 1.9874, d1.loss_plan_l1_fix_dist: 0.3488, d2.loss_plan_l1_fix_time: 1.9735, d2.loss_plan_l1_fix_dist: 0.3612, d3.loss_plan_l1_fix_time: 1.9770, d3.loss_plan_l1_fix_dist: 0.3764, d4.loss_plan_l1_fix_time: 1.9836, d4.loss_plan_l1_fix_dist: 0.3945, d5.loss_plan_l1_fix_time: 1.9909, d5.loss_plan_l1_fix_dist: 0.4160, d6.loss_plan_l1_fix_time: 1.9992, d6.loss_plan_l1_fix_dist: 0.4444, d0.loss_cls_all: 0.4455, d0.loss_bbox_all: 0.6274, d0.loss_cls: 0.4455, d0.loss_bbox: 0.6274, d1.loss_cls: 0.4432, d1.loss_bbox: 0.5997, d2.loss_cls: 0.4370, d2.loss_bbox: 0.5940, d3.loss_cls: 0.4366, d3.loss_bbox: 0.5872, d4.loss_cls: 0.4362, d4.loss_bbox: 0.5867, d5.loss_cls: 0.4349, d5.loss_bbox: 0.5892, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4568, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2749, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2452, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.2407, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2434, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2477, d0.loss_map_cls_all: 0.3778, d0.loss_map_pts_all: 2.3851, d0.loss_map_dir_all: 0.0264, d0.loss_map_cls: 0.3778, d0.loss_map_pts: 2.3851, d0.loss_map_dir: 0.0264, d1.loss_map_cls: 0.3536, d1.loss_map_pts: 1.6622, d1.loss_map_dir: 0.0269, d2.loss_map_cls: 0.3409, d2.loss_map_pts: 1.5134, d2.loss_map_dir: 0.0272, d3.loss_map_cls: 0.3346, d3.loss_map_pts: 1.4682, d3.loss_map_dir: 0.0276, d4.loss_map_cls: 0.3296, d4.loss_map_pts: 1.4554, d4.loss_map_dir: 0.0279, d5.loss_map_cls: 0.3280, d5.loss_map_pts: 1.4482, d5.loss_map_dir: 0.0282, loss: 51.2128, grad_norm: 143.9906 +2026-02-24 20:29:37,137 - DriveTransformer - INFO - Epoch [3][3200/39528] lr: 9.831e-05, eta: 7 days, 23:55:41, time: 0.783, data_time: 0.039, memory: 19865, loss_cls: 0.4264, loss_bbox: 0.5977, loss_traj: 1.2655, loss_traj_cls: 0.0005, loss_map_cls: 0.3062, loss_map_pts: 1.2866, loss_map_dir: 0.0234, d0.loss_plan_l1_fix_time: 3.0115, d0.loss_plan_l1_fix_dist: 0.5036, d1.loss_plan_l1_fix_time: 2.1455, d1.loss_plan_l1_fix_dist: 0.4004, d2.loss_plan_l1_fix_time: 2.1215, d2.loss_plan_l1_fix_dist: 0.4169, d3.loss_plan_l1_fix_time: 2.1191, d3.loss_plan_l1_fix_dist: 0.4337, d4.loss_plan_l1_fix_time: 2.1240, d4.loss_plan_l1_fix_dist: 0.4493, d5.loss_plan_l1_fix_time: 2.1303, d5.loss_plan_l1_fix_dist: 0.4692, d6.loss_plan_l1_fix_time: 2.1372, d6.loss_plan_l1_fix_dist: 0.4924, d0.loss_cls_all: 0.4359, d0.loss_bbox_all: 0.6282, d0.loss_cls: 0.4359, d0.loss_bbox: 0.6282, d1.loss_cls: 0.4288, d1.loss_bbox: 0.6050, d2.loss_cls: 0.4246, d2.loss_bbox: 0.5962, d3.loss_cls: 0.4229, d3.loss_bbox: 0.5940, d4.loss_cls: 0.4202, d4.loss_bbox: 0.5949, d5.loss_cls: 0.4238, d5.loss_bbox: 0.5958, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3997, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2652, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2496, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.2463, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.2522, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.2657, d0.loss_map_cls_all: 0.3778, d0.loss_map_pts_all: 2.1011, d0.loss_map_dir_all: 0.0219, d0.loss_map_cls: 0.3778, d0.loss_map_pts: 2.1011, d0.loss_map_dir: 0.0219, d1.loss_map_cls: 0.3417, d1.loss_map_pts: 1.4769, d1.loss_map_dir: 0.0218, d2.loss_map_cls: 0.3257, d2.loss_map_pts: 1.3391, d2.loss_map_dir: 0.0222, d3.loss_map_cls: 0.3148, d3.loss_map_pts: 1.2908, d3.loss_map_dir: 0.0226, d4.loss_map_cls: 0.3094, d4.loss_map_pts: 1.2839, d4.loss_map_dir: 0.0229, d5.loss_map_cls: 0.3064, d5.loss_map_pts: 1.2828, d5.loss_map_dir: 0.0233, loss: 51.1652, grad_norm: 144.8337 +2026-02-24 20:30:19,191 - DriveTransformer - INFO - Epoch [3][3250/39528] lr: 9.831e-05, eta: 7 days, 23:55:24, time: 0.841, data_time: 0.040, memory: 19865, loss_cls: 0.4432, loss_bbox: 0.6309, loss_traj: 1.3307, loss_traj_cls: 0.0006, loss_map_cls: 0.3069, loss_map_pts: 1.3808, loss_map_dir: 0.0239, d0.loss_plan_l1_fix_time: 2.8939, d0.loss_plan_l1_fix_dist: 0.4361, d1.loss_plan_l1_fix_time: 2.1382, d1.loss_plan_l1_fix_dist: 0.3422, d2.loss_plan_l1_fix_time: 2.1119, d2.loss_plan_l1_fix_dist: 0.3534, d3.loss_plan_l1_fix_time: 2.1078, d3.loss_plan_l1_fix_dist: 0.3696, d4.loss_plan_l1_fix_time: 2.1102, d4.loss_plan_l1_fix_dist: 0.3875, d5.loss_plan_l1_fix_time: 2.1136, d5.loss_plan_l1_fix_dist: 0.4075, d6.loss_plan_l1_fix_time: 2.1178, d6.loss_plan_l1_fix_dist: 0.4257, d0.loss_cls_all: 0.4542, d0.loss_bbox_all: 0.6534, d0.loss_cls: 0.4542, d0.loss_bbox: 0.6534, d1.loss_cls: 0.4397, d1.loss_bbox: 0.6331, d2.loss_cls: 0.4386, d2.loss_bbox: 0.6239, d3.loss_cls: 0.4407, d3.loss_bbox: 0.6264, d4.loss_cls: 0.4401, d4.loss_bbox: 0.6298, d5.loss_cls: 0.4413, d5.loss_bbox: 0.6292, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5681, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3449, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.3068, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.3166, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.3188, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.3185, d0.loss_map_cls_all: 0.3586, d0.loss_map_pts_all: 2.3058, d0.loss_map_dir_all: 0.0227, d0.loss_map_cls: 0.3586, d0.loss_map_pts: 2.3058, d0.loss_map_dir: 0.0227, d1.loss_map_cls: 0.3315, d1.loss_map_pts: 1.6072, d1.loss_map_dir: 0.0225, d2.loss_map_cls: 0.3207, d2.loss_map_pts: 1.4618, d2.loss_map_dir: 0.0227, d3.loss_map_cls: 0.3114, d3.loss_map_pts: 1.4078, d3.loss_map_dir: 0.0232, d4.loss_map_cls: 0.3065, d4.loss_map_pts: 1.3912, d4.loss_map_dir: 0.0235, d5.loss_map_cls: 0.3070, d5.loss_map_pts: 1.3836, d5.loss_map_dir: 0.0237, loss: 52.4874, grad_norm: 146.2862 +2026-02-24 20:30:59,870 - DriveTransformer - INFO - Epoch [3][3300/39528] lr: 9.831e-05, eta: 7 days, 23:54:53, time: 0.814, data_time: 0.042, memory: 19865, loss_cls: 0.3955, loss_bbox: 0.5732, loss_traj: 1.4862, loss_traj_cls: 0.0005, loss_map_cls: 0.3332, loss_map_pts: 1.3953, loss_map_dir: 0.0224, d0.loss_plan_l1_fix_time: 2.8274, d0.loss_plan_l1_fix_dist: 0.4442, d1.loss_plan_l1_fix_time: 1.9861, d1.loss_plan_l1_fix_dist: 0.3129, d2.loss_plan_l1_fix_time: 1.9645, d2.loss_plan_l1_fix_dist: 0.3191, d3.loss_plan_l1_fix_time: 1.9628, d3.loss_plan_l1_fix_dist: 0.3330, d4.loss_plan_l1_fix_time: 1.9662, d4.loss_plan_l1_fix_dist: 0.3511, d5.loss_plan_l1_fix_time: 1.9711, d5.loss_plan_l1_fix_dist: 0.3692, d6.loss_plan_l1_fix_time: 1.9771, d6.loss_plan_l1_fix_dist: 0.3863, d0.loss_cls_all: 0.4151, d0.loss_bbox_all: 0.6058, d0.loss_cls: 0.4151, d0.loss_bbox: 0.6058, d1.loss_cls: 0.4047, d1.loss_bbox: 0.5818, d2.loss_cls: 0.3995, d2.loss_bbox: 0.5729, d3.loss_cls: 0.3954, d3.loss_bbox: 0.5722, d4.loss_cls: 0.3961, d4.loss_bbox: 0.5702, d5.loss_cls: 0.3950, d5.loss_bbox: 0.5712, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6170, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.4317, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.4471, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.4555, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.4692, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.4772, d0.loss_map_cls_all: 0.3667, d0.loss_map_pts_all: 2.2383, d0.loss_map_dir_all: 0.0213, d0.loss_map_cls: 0.3667, d0.loss_map_pts: 2.2383, d0.loss_map_dir: 0.0213, d1.loss_map_cls: 0.3455, d1.loss_map_pts: 1.6386, d1.loss_map_dir: 0.0210, d2.loss_map_cls: 0.3396, d2.loss_map_pts: 1.4890, d2.loss_map_dir: 0.0213, d3.loss_map_cls: 0.3339, d3.loss_map_pts: 1.4268, d3.loss_map_dir: 0.0217, d4.loss_map_cls: 0.3309, d4.loss_map_pts: 1.4044, d4.loss_map_dir: 0.0220, d5.loss_map_cls: 0.3330, d5.loss_map_pts: 1.3985, d5.loss_map_dir: 0.0222, loss: 51.5814, grad_norm: 145.9410 +2026-02-24 20:31:41,191 - DriveTransformer - INFO - Epoch [3][3350/39528] lr: 9.831e-05, eta: 7 days, 23:54:28, time: 0.826, data_time: 0.042, memory: 19865, loss_cls: 0.3911, loss_bbox: 0.5531, loss_traj: 1.1952, loss_traj_cls: 0.0006, loss_map_cls: 0.2975, loss_map_pts: 1.2730, loss_map_dir: 0.0228, d0.loss_plan_l1_fix_time: 2.2497, d0.loss_plan_l1_fix_dist: 0.4745, d1.loss_plan_l1_fix_time: 1.7592, d1.loss_plan_l1_fix_dist: 0.2872, d2.loss_plan_l1_fix_time: 1.7382, d2.loss_plan_l1_fix_dist: 0.2979, d3.loss_plan_l1_fix_time: 1.7401, d3.loss_plan_l1_fix_dist: 0.3141, d4.loss_plan_l1_fix_time: 1.7460, d4.loss_plan_l1_fix_dist: 0.3319, d5.loss_plan_l1_fix_time: 1.7524, d5.loss_plan_l1_fix_dist: 0.3533, d6.loss_plan_l1_fix_time: 1.7595, d6.loss_plan_l1_fix_dist: 0.3766, d0.loss_cls_all: 0.4057, d0.loss_bbox_all: 0.5875, d0.loss_cls: 0.4057, d0.loss_bbox: 0.5875, d1.loss_cls: 0.3974, d1.loss_bbox: 0.5650, d2.loss_cls: 0.3916, d2.loss_bbox: 0.5516, d3.loss_cls: 0.3902, d3.loss_bbox: 0.5498, d4.loss_cls: 0.3887, d4.loss_bbox: 0.5487, d5.loss_cls: 0.3904, d5.loss_bbox: 0.5485, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2723, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1874, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1800, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1824, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1824, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1892, d0.loss_map_cls_all: 0.3390, d0.loss_map_pts_all: 2.0920, d0.loss_map_dir_all: 0.0214, d0.loss_map_cls: 0.3390, d0.loss_map_pts: 2.0920, d0.loss_map_dir: 0.0214, d1.loss_map_cls: 0.3192, d1.loss_map_pts: 1.4851, d1.loss_map_dir: 0.0214, d2.loss_map_cls: 0.3059, d2.loss_map_pts: 1.3375, d2.loss_map_dir: 0.0219, d3.loss_map_cls: 0.2971, d3.loss_map_pts: 1.2874, d3.loss_map_dir: 0.0221, d4.loss_map_cls: 0.2948, d4.loss_map_pts: 1.2721, d4.loss_map_dir: 0.0224, d5.loss_map_cls: 0.2968, d5.loss_map_pts: 1.2716, d5.loss_map_dir: 0.0226, loss: 46.0039, grad_norm: 145.8799 +2026-02-24 20:32:19,270 - DriveTransformer - INFO - Epoch [3][3400/39528] lr: 9.831e-05, eta: 7 days, 23:53:29, time: 0.762, data_time: 0.037, memory: 19865, loss_cls: 0.4178, loss_bbox: 0.5695, loss_traj: 1.3247, loss_traj_cls: 0.0006, loss_map_cls: 0.3259, loss_map_pts: 1.3127, loss_map_dir: 0.0228, d0.loss_plan_l1_fix_time: 2.8691, d0.loss_plan_l1_fix_dist: 0.4748, d1.loss_plan_l1_fix_time: 1.8474, d1.loss_plan_l1_fix_dist: 0.2980, d2.loss_plan_l1_fix_time: 1.8137, d2.loss_plan_l1_fix_dist: 0.3014, d3.loss_plan_l1_fix_time: 1.8101, d3.loss_plan_l1_fix_dist: 0.3110, d4.loss_plan_l1_fix_time: 1.8123, d4.loss_plan_l1_fix_dist: 0.3244, d5.loss_plan_l1_fix_time: 1.8156, d5.loss_plan_l1_fix_dist: 0.3409, d6.loss_plan_l1_fix_time: 1.8195, d6.loss_plan_l1_fix_dist: 0.3621, d0.loss_cls_all: 0.4365, d0.loss_bbox_all: 0.6082, d0.loss_cls: 0.4365, d0.loss_bbox: 0.6082, d1.loss_cls: 0.4271, d1.loss_bbox: 0.5805, d2.loss_cls: 0.4192, d2.loss_bbox: 0.5709, d3.loss_cls: 0.4166, d3.loss_bbox: 0.5670, d4.loss_cls: 0.4159, d4.loss_bbox: 0.5666, d5.loss_cls: 0.4169, d5.loss_bbox: 0.5661, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5182, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3172, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2886, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.3009, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3045, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.3103, d0.loss_map_cls_all: 0.3580, d0.loss_map_pts_all: 2.1300, d0.loss_map_dir_all: 0.0211, d0.loss_map_cls: 0.3580, d0.loss_map_pts: 2.1300, d0.loss_map_dir: 0.0211, d1.loss_map_cls: 0.3419, d1.loss_map_pts: 1.5499, d1.loss_map_dir: 0.0212, d2.loss_map_cls: 0.3290, d2.loss_map_pts: 1.4013, d2.loss_map_dir: 0.0217, d3.loss_map_cls: 0.3233, d3.loss_map_pts: 1.3427, d3.loss_map_dir: 0.0221, d4.loss_map_cls: 0.3209, d4.loss_map_pts: 1.3220, d4.loss_map_dir: 0.0224, d5.loss_map_cls: 0.3220, d5.loss_map_pts: 1.3143, d5.loss_map_dir: 0.0226, loss: 48.9509, grad_norm: 145.3997 +2026-02-24 20:33:01,716 - DriveTransformer - INFO - Epoch [3][3450/39528] lr: 9.831e-05, eta: 7 days, 23:53:16, time: 0.849, data_time: 0.037, memory: 19865, loss_cls: 0.4253, loss_bbox: 0.5840, loss_traj: 1.1341, loss_traj_cls: 0.0006, loss_map_cls: 0.2869, loss_map_pts: 1.3877, loss_map_dir: 0.0247, d0.loss_plan_l1_fix_time: 2.4753, d0.loss_plan_l1_fix_dist: 0.4824, d1.loss_plan_l1_fix_time: 1.8471, d1.loss_plan_l1_fix_dist: 0.3161, d2.loss_plan_l1_fix_time: 1.8390, d2.loss_plan_l1_fix_dist: 0.3242, d3.loss_plan_l1_fix_time: 1.8458, d3.loss_plan_l1_fix_dist: 0.3371, d4.loss_plan_l1_fix_time: 1.8526, d4.loss_plan_l1_fix_dist: 0.3537, d5.loss_plan_l1_fix_time: 1.8591, d5.loss_plan_l1_fix_dist: 0.3719, d6.loss_plan_l1_fix_time: 1.8655, d6.loss_plan_l1_fix_dist: 0.3933, d0.loss_cls_all: 0.4279, d0.loss_bbox_all: 0.6046, d0.loss_cls: 0.4279, d0.loss_bbox: 0.6046, d1.loss_cls: 0.4309, d1.loss_bbox: 0.5820, d2.loss_cls: 0.4251, d2.loss_bbox: 0.5744, d3.loss_cls: 0.4238, d3.loss_bbox: 0.5728, d4.loss_cls: 0.4242, d4.loss_bbox: 0.5755, d5.loss_cls: 0.4241, d5.loss_bbox: 0.5786, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2149, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1245, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1010, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1082, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1180, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1239, d0.loss_map_cls_all: 0.3365, d0.loss_map_pts_all: 2.3969, d0.loss_map_dir_all: 0.0236, d0.loss_map_cls: 0.3365, d0.loss_map_pts: 2.3969, d0.loss_map_dir: 0.0236, d1.loss_map_cls: 0.3099, d1.loss_map_pts: 1.6335, d1.loss_map_dir: 0.0234, d2.loss_map_cls: 0.2986, d2.loss_map_pts: 1.4796, d2.loss_map_dir: 0.0237, d3.loss_map_cls: 0.2923, d3.loss_map_pts: 1.4221, d3.loss_map_dir: 0.0240, d4.loss_map_cls: 0.2879, d4.loss_map_pts: 1.4002, d4.loss_map_dir: 0.0244, d5.loss_map_cls: 0.2853, d5.loss_map_pts: 1.3910, d5.loss_map_dir: 0.0246, loss: 48.3133, grad_norm: 147.1970 +2026-02-24 20:33:43,480 - DriveTransformer - INFO - Epoch [3][3500/39528] lr: 9.831e-05, eta: 7 days, 23:52:56, time: 0.835, data_time: 0.039, memory: 19865, loss_cls: 0.4600, loss_bbox: 0.6009, loss_traj: 1.2510, loss_traj_cls: 0.0007, loss_map_cls: 0.3278, loss_map_pts: 1.5180, loss_map_dir: 0.0272, d0.loss_plan_l1_fix_time: 2.7084, d0.loss_plan_l1_fix_dist: 0.4388, d1.loss_plan_l1_fix_time: 2.0143, d1.loss_plan_l1_fix_dist: 0.3085, d2.loss_plan_l1_fix_time: 2.0078, d2.loss_plan_l1_fix_dist: 0.3147, d3.loss_plan_l1_fix_time: 2.0101, d3.loss_plan_l1_fix_dist: 0.3274, d4.loss_plan_l1_fix_time: 2.0141, d4.loss_plan_l1_fix_dist: 0.3415, d5.loss_plan_l1_fix_time: 2.0185, d5.loss_plan_l1_fix_dist: 0.3564, d6.loss_plan_l1_fix_time: 2.0237, d6.loss_plan_l1_fix_dist: 0.3726, d0.loss_cls_all: 0.4774, d0.loss_bbox_all: 0.6295, d0.loss_cls: 0.4774, d0.loss_bbox: 0.6295, d1.loss_cls: 0.4732, d1.loss_bbox: 0.6088, d2.loss_cls: 0.4652, d2.loss_bbox: 0.5981, d3.loss_cls: 0.4611, d3.loss_bbox: 0.5964, d4.loss_cls: 0.4605, d4.loss_bbox: 0.5951, d5.loss_cls: 0.4599, d5.loss_bbox: 0.5974, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3664, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2648, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2360, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2436, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.2393, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2445, d0.loss_map_cls_all: 0.3689, d0.loss_map_pts_all: 2.5867, d0.loss_map_dir_all: 0.0255, d0.loss_map_cls: 0.3689, d0.loss_map_pts: 2.5867, d0.loss_map_dir: 0.0255, d1.loss_map_cls: 0.3485, d1.loss_map_pts: 1.7712, d1.loss_map_dir: 0.0255, d2.loss_map_cls: 0.3351, d2.loss_map_pts: 1.6056, d2.loss_map_dir: 0.0258, d3.loss_map_cls: 0.3329, d3.loss_map_pts: 1.5425, d3.loss_map_dir: 0.0264, d4.loss_map_cls: 0.3275, d4.loss_map_pts: 1.5228, d4.loss_map_dir: 0.0268, d5.loss_map_cls: 0.3277, d5.loss_map_pts: 1.5182, d5.loss_map_dir: 0.0270, loss: 52.2982, grad_norm: 146.4130 +2026-02-24 20:34:24,236 - DriveTransformer - INFO - Epoch [3][3550/39528] lr: 9.831e-05, eta: 7 days, 23:52:26, time: 0.815, data_time: 0.041, memory: 19865, loss_cls: 0.4337, loss_bbox: 0.5854, loss_traj: 1.3995, loss_traj_cls: 0.0006, loss_map_cls: 0.3082, loss_map_pts: 1.5020, loss_map_dir: 0.0247, d0.loss_plan_l1_fix_time: 2.5690, d0.loss_plan_l1_fix_dist: 0.4441, d1.loss_plan_l1_fix_time: 1.8345, d1.loss_plan_l1_fix_dist: 0.3400, d2.loss_plan_l1_fix_time: 1.7920, d2.loss_plan_l1_fix_dist: 0.3534, d3.loss_plan_l1_fix_time: 1.7902, d3.loss_plan_l1_fix_dist: 0.3686, d4.loss_plan_l1_fix_time: 1.7945, d4.loss_plan_l1_fix_dist: 0.3858, d5.loss_plan_l1_fix_time: 1.8003, d5.loss_plan_l1_fix_dist: 0.4070, d6.loss_plan_l1_fix_time: 1.8077, d6.loss_plan_l1_fix_dist: 0.4302, d0.loss_cls_all: 0.4466, d0.loss_bbox_all: 0.6188, d0.loss_cls: 0.4466, d0.loss_bbox: 0.6188, d1.loss_cls: 0.4423, d1.loss_bbox: 0.5950, d2.loss_cls: 0.4376, d2.loss_bbox: 0.5874, d3.loss_cls: 0.4363, d3.loss_bbox: 0.5806, d4.loss_cls: 0.4352, d4.loss_bbox: 0.5813, d5.loss_cls: 0.4339, d5.loss_bbox: 0.5843, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5699, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.4194, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3912, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.3896, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.3838, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.3893, d0.loss_map_cls_all: 0.3662, d0.loss_map_pts_all: 2.4069, d0.loss_map_dir_all: 0.0233, d0.loss_map_cls: 0.3662, d0.loss_map_pts: 2.4069, d0.loss_map_dir: 0.0233, d1.loss_map_cls: 0.3395, d1.loss_map_pts: 1.7110, d1.loss_map_dir: 0.0234, d2.loss_map_cls: 0.3229, d2.loss_map_pts: 1.5718, d2.loss_map_dir: 0.0238, d3.loss_map_cls: 0.3129, d3.loss_map_pts: 1.5205, d3.loss_map_dir: 0.0240, d4.loss_map_cls: 0.3081, d4.loss_map_pts: 1.5034, d4.loss_map_dir: 0.0244, d5.loss_map_cls: 0.3076, d5.loss_map_pts: 1.5012, d5.loss_map_dir: 0.0245, loss: 51.2766, grad_norm: 146.8249 +2026-02-24 20:35:03,176 - DriveTransformer - INFO - Epoch [3][3600/39528] lr: 9.831e-05, eta: 7 days, 23:51:37, time: 0.780, data_time: 0.037, memory: 19865, loss_cls: 0.4006, loss_bbox: 0.5448, loss_traj: 1.3514, loss_traj_cls: 0.0006, loss_map_cls: 0.2903, loss_map_pts: 1.2681, loss_map_dir: 0.0190, d0.loss_plan_l1_fix_time: 2.5841, d0.loss_plan_l1_fix_dist: 0.4428, d1.loss_plan_l1_fix_time: 1.8866, d1.loss_plan_l1_fix_dist: 0.2988, d2.loss_plan_l1_fix_time: 1.8595, d2.loss_plan_l1_fix_dist: 0.3083, d3.loss_plan_l1_fix_time: 1.8552, d3.loss_plan_l1_fix_dist: 0.3225, d4.loss_plan_l1_fix_time: 1.8577, d4.loss_plan_l1_fix_dist: 0.3409, d5.loss_plan_l1_fix_time: 1.8615, d5.loss_plan_l1_fix_dist: 0.3621, d6.loss_plan_l1_fix_time: 1.8662, d6.loss_plan_l1_fix_dist: 0.3853, d0.loss_cls_all: 0.4097, d0.loss_bbox_all: 0.5782, d0.loss_cls: 0.4097, d0.loss_bbox: 0.5782, d1.loss_cls: 0.4076, d1.loss_bbox: 0.5580, d2.loss_cls: 0.4070, d2.loss_bbox: 0.5462, d3.loss_cls: 0.4040, d3.loss_bbox: 0.5412, d4.loss_cls: 0.4034, d4.loss_bbox: 0.5401, d5.loss_cls: 0.4030, d5.loss_bbox: 0.5411, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4436, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3148, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3205, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.3312, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3377, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.3431, d0.loss_map_cls_all: 0.3396, d0.loss_map_pts_all: 1.9301, d0.loss_map_dir_all: 0.0174, d0.loss_map_cls: 0.3396, d0.loss_map_pts: 1.9301, d0.loss_map_dir: 0.0174, d1.loss_map_cls: 0.3183, d1.loss_map_pts: 1.4486, d1.loss_map_dir: 0.0177, d2.loss_map_cls: 0.3060, d2.loss_map_pts: 1.3220, d2.loss_map_dir: 0.0181, d3.loss_map_cls: 0.2993, d3.loss_map_pts: 1.2804, d3.loss_map_dir: 0.0185, d4.loss_map_cls: 0.2931, d4.loss_map_pts: 1.2681, d4.loss_map_dir: 0.0187, d5.loss_map_cls: 0.2903, d5.loss_map_pts: 1.2703, d5.loss_map_dir: 0.0190, loss: 47.6923, grad_norm: 145.5683 +2026-02-24 20:35:41,526 - DriveTransformer - INFO - Epoch [3][3650/39528] lr: 9.831e-05, eta: 7 days, 23:50:40, time: 0.766, data_time: 0.039, memory: 19865, loss_cls: 0.4075, loss_bbox: 0.5685, loss_traj: 1.2766, loss_traj_cls: 0.0006, loss_map_cls: 0.3507, loss_map_pts: 1.4311, loss_map_dir: 0.0205, d0.loss_plan_l1_fix_time: 2.6603, d0.loss_plan_l1_fix_dist: 0.4137, d1.loss_plan_l1_fix_time: 1.9067, d1.loss_plan_l1_fix_dist: 0.3086, d2.loss_plan_l1_fix_time: 1.8678, d2.loss_plan_l1_fix_dist: 0.3256, d3.loss_plan_l1_fix_time: 1.8655, d3.loss_plan_l1_fix_dist: 0.3451, d4.loss_plan_l1_fix_time: 1.8696, d4.loss_plan_l1_fix_dist: 0.3647, d5.loss_plan_l1_fix_time: 1.8739, d5.loss_plan_l1_fix_dist: 0.3829, d6.loss_plan_l1_fix_time: 1.8789, d6.loss_plan_l1_fix_dist: 0.4000, d0.loss_cls_all: 0.4088, d0.loss_bbox_all: 0.6060, d0.loss_cls: 0.4088, d0.loss_bbox: 0.6060, d1.loss_cls: 0.4071, d1.loss_bbox: 0.5817, d2.loss_cls: 0.4074, d2.loss_bbox: 0.5681, d3.loss_cls: 0.4039, d3.loss_bbox: 0.5641, d4.loss_cls: 0.4059, d4.loss_bbox: 0.5609, d5.loss_cls: 0.4063, d5.loss_bbox: 0.5615, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4212, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2836, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2581, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2619, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2554, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2664, d0.loss_map_cls_all: 0.3940, d0.loss_map_pts_all: 2.0409, d0.loss_map_dir_all: 0.0191, d0.loss_map_cls: 0.3940, d0.loss_map_pts: 2.0409, d0.loss_map_dir: 0.0191, d1.loss_map_cls: 0.3752, d1.loss_map_pts: 1.5931, d1.loss_map_dir: 0.0194, d2.loss_map_cls: 0.3634, d2.loss_map_pts: 1.4702, d2.loss_map_dir: 0.0196, d3.loss_map_cls: 0.3549, d3.loss_map_pts: 1.4324, d3.loss_map_dir: 0.0198, d4.loss_map_cls: 0.3503, d4.loss_map_pts: 1.4213, d4.loss_map_dir: 0.0202, d5.loss_map_cls: 0.3506, d5.loss_map_pts: 1.4266, d5.loss_map_dir: 0.0203, loss: 49.3126, grad_norm: 144.6507 +2026-02-24 20:36:23,467 - DriveTransformer - INFO - Epoch [3][3700/39528] lr: 9.831e-05, eta: 7 days, 23:50:22, time: 0.839, data_time: 0.044, memory: 19865, loss_cls: 0.4717, loss_bbox: 0.6236, loss_traj: 1.1470, loss_traj_cls: 0.0006, loss_map_cls: 0.3470, loss_map_pts: 1.6093, loss_map_dir: 0.0296, d0.loss_plan_l1_fix_time: 3.3158, d0.loss_plan_l1_fix_dist: 0.3780, d1.loss_plan_l1_fix_time: 2.1744, d1.loss_plan_l1_fix_dist: 0.3096, d2.loss_plan_l1_fix_time: 2.1447, d2.loss_plan_l1_fix_dist: 0.3149, d3.loss_plan_l1_fix_time: 2.1455, d3.loss_plan_l1_fix_dist: 0.3271, d4.loss_plan_l1_fix_time: 2.1491, d4.loss_plan_l1_fix_dist: 0.3408, d5.loss_plan_l1_fix_time: 2.1526, d5.loss_plan_l1_fix_dist: 0.3565, d6.loss_plan_l1_fix_time: 2.1575, d6.loss_plan_l1_fix_dist: 0.3750, d0.loss_cls_all: 0.4714, d0.loss_bbox_all: 0.6447, d0.loss_cls: 0.4714, d0.loss_bbox: 0.6447, d1.loss_cls: 0.4706, d1.loss_bbox: 0.6216, d2.loss_cls: 0.4724, d2.loss_bbox: 0.6149, d3.loss_cls: 0.4691, d3.loss_bbox: 0.6118, d4.loss_cls: 0.4690, d4.loss_bbox: 0.6149, d5.loss_cls: 0.4727, d5.loss_bbox: 0.6177, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3047, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1498, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1284, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1230, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1284, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1400, d0.loss_map_cls_all: 0.3889, d0.loss_map_pts_all: 2.7071, d0.loss_map_dir_all: 0.0281, d0.loss_map_cls: 0.3889, d0.loss_map_pts: 2.7071, d0.loss_map_dir: 0.0281, d1.loss_map_cls: 0.3729, d1.loss_map_pts: 1.8645, d1.loss_map_dir: 0.0279, d2.loss_map_cls: 0.3578, d2.loss_map_pts: 1.6976, d2.loss_map_dir: 0.0283, d3.loss_map_cls: 0.3508, d3.loss_map_pts: 1.6335, d3.loss_map_dir: 0.0287, d4.loss_map_cls: 0.3463, d4.loss_map_pts: 1.6136, d4.loss_map_dir: 0.0292, d5.loss_map_cls: 0.3461, d5.loss_map_pts: 1.6105, d5.loss_map_dir: 0.0295, loss: 54.1024, grad_norm: 146.2182 +2026-02-24 20:37:02,912 - DriveTransformer - INFO - Epoch [3][3750/39528] lr: 9.831e-05, eta: 7 days, 23:49:37, time: 0.789, data_time: 0.037, memory: 19865, loss_cls: 0.4078, loss_bbox: 0.5630, loss_traj: 1.2187, loss_traj_cls: 0.0006, loss_map_cls: 0.2939, loss_map_pts: 1.2498, loss_map_dir: 0.0239, d0.loss_plan_l1_fix_time: 2.5109, d0.loss_plan_l1_fix_dist: 0.3917, d1.loss_plan_l1_fix_time: 1.7500, d1.loss_plan_l1_fix_dist: 0.3131, d2.loss_plan_l1_fix_time: 1.7381, d2.loss_plan_l1_fix_dist: 0.3235, d3.loss_plan_l1_fix_time: 1.7436, d3.loss_plan_l1_fix_dist: 0.3374, d4.loss_plan_l1_fix_time: 1.7490, d4.loss_plan_l1_fix_dist: 0.3551, d5.loss_plan_l1_fix_time: 1.7548, d5.loss_plan_l1_fix_dist: 0.3727, d6.loss_plan_l1_fix_time: 1.7617, d6.loss_plan_l1_fix_dist: 0.3918, d0.loss_cls_all: 0.4166, d0.loss_bbox_all: 0.5775, d0.loss_cls: 0.4166, d0.loss_bbox: 0.5775, d1.loss_cls: 0.4117, d1.loss_bbox: 0.5566, d2.loss_cls: 0.4108, d2.loss_bbox: 0.5513, d3.loss_cls: 0.4049, d3.loss_bbox: 0.5507, d4.loss_cls: 0.4044, d4.loss_bbox: 0.5527, d5.loss_cls: 0.4083, d5.loss_bbox: 0.5559, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4313, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2236, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1886, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1914, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1978, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2111, d0.loss_map_cls_all: 0.3512, d0.loss_map_pts_all: 2.1846, d0.loss_map_dir_all: 0.0225, d0.loss_map_cls: 0.3512, d0.loss_map_pts: 2.1846, d0.loss_map_dir: 0.0225, d1.loss_map_cls: 0.3257, d1.loss_map_pts: 1.4854, d1.loss_map_dir: 0.0225, d2.loss_map_cls: 0.3082, d2.loss_map_pts: 1.3367, d2.loss_map_dir: 0.0228, d3.loss_map_cls: 0.2990, d3.loss_map_pts: 1.2786, d3.loss_map_dir: 0.0232, d4.loss_map_cls: 0.2944, d4.loss_map_pts: 1.2571, d4.loss_map_dir: 0.0236, d5.loss_map_cls: 0.2950, d5.loss_map_pts: 1.2516, d5.loss_map_dir: 0.0237, loss: 46.8602, grad_norm: 146.8284 +2026-02-24 20:37:44,284 - DriveTransformer - INFO - Epoch [3][3800/39528] lr: 9.831e-05, eta: 7 days, 23:49:13, time: 0.827, data_time: 0.036, memory: 19865, loss_cls: 0.4427, loss_bbox: 0.5910, loss_traj: 1.3303, loss_traj_cls: 0.0006, loss_map_cls: 0.2964, loss_map_pts: 1.4928, loss_map_dir: 0.0252, d0.loss_plan_l1_fix_time: 2.6270, d0.loss_plan_l1_fix_dist: 0.4190, d1.loss_plan_l1_fix_time: 2.1244, d1.loss_plan_l1_fix_dist: 0.3141, d2.loss_plan_l1_fix_time: 2.1189, d2.loss_plan_l1_fix_dist: 0.3281, d3.loss_plan_l1_fix_time: 2.1258, d3.loss_plan_l1_fix_dist: 0.3451, d4.loss_plan_l1_fix_time: 2.1313, d4.loss_plan_l1_fix_dist: 0.3648, d5.loss_plan_l1_fix_time: 2.1374, d5.loss_plan_l1_fix_dist: 0.3879, d6.loss_plan_l1_fix_time: 2.1436, d6.loss_plan_l1_fix_dist: 0.4104, d0.loss_cls_all: 0.4422, d0.loss_bbox_all: 0.6264, d0.loss_cls: 0.4422, d0.loss_bbox: 0.6264, d1.loss_cls: 0.4371, d1.loss_bbox: 0.6055, d2.loss_cls: 0.4312, d2.loss_bbox: 0.5952, d3.loss_cls: 0.4336, d3.loss_bbox: 0.5922, d4.loss_cls: 0.4363, d4.loss_bbox: 0.5901, d5.loss_cls: 0.4385, d5.loss_bbox: 0.5914, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5046, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3559, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3180, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.3170, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3178, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.3201, d0.loss_map_cls_all: 0.3382, d0.loss_map_pts_all: 2.3272, d0.loss_map_dir_all: 0.0236, d0.loss_map_cls: 0.3382, d0.loss_map_pts: 2.3272, d0.loss_map_dir: 0.0236, d1.loss_map_cls: 0.3197, d1.loss_map_pts: 1.6917, d1.loss_map_dir: 0.0239, d2.loss_map_cls: 0.3075, d2.loss_map_pts: 1.5583, d2.loss_map_dir: 0.0243, d3.loss_map_cls: 0.3012, d3.loss_map_pts: 1.5118, d3.loss_map_dir: 0.0247, d4.loss_map_cls: 0.2962, d4.loss_map_pts: 1.4985, d4.loss_map_dir: 0.0250, d5.loss_map_cls: 0.2968, d5.loss_map_pts: 1.4935, d5.loss_map_dir: 0.0251, loss: 52.3599, grad_norm: 146.6387 +2026-02-24 20:38:23,509 - DriveTransformer - INFO - Epoch [3][3850/39528] lr: 9.831e-05, eta: 7 days, 23:48:26, time: 0.785, data_time: 0.043, memory: 19865, loss_cls: 0.4089, loss_bbox: 0.5680, loss_traj: 1.2165, loss_traj_cls: 0.0006, loss_map_cls: 0.2874, loss_map_pts: 1.1573, loss_map_dir: 0.0198, d0.loss_plan_l1_fix_time: 2.6923, d0.loss_plan_l1_fix_dist: 0.3652, d1.loss_plan_l1_fix_time: 1.9122, d1.loss_plan_l1_fix_dist: 0.2946, d2.loss_plan_l1_fix_time: 1.8816, d2.loss_plan_l1_fix_dist: 0.3062, d3.loss_plan_l1_fix_time: 1.8790, d3.loss_plan_l1_fix_dist: 0.3239, d4.loss_plan_l1_fix_time: 1.8830, d4.loss_plan_l1_fix_dist: 0.3457, d5.loss_plan_l1_fix_time: 1.8883, d5.loss_plan_l1_fix_dist: 0.3702, d6.loss_plan_l1_fix_time: 1.8950, d6.loss_plan_l1_fix_dist: 0.3999, d0.loss_cls_all: 0.4102, d0.loss_bbox_all: 0.6126, d0.loss_cls: 0.4102, d0.loss_bbox: 0.6126, d1.loss_cls: 0.4063, d1.loss_bbox: 0.5862, d2.loss_cls: 0.4030, d2.loss_bbox: 0.5742, d3.loss_cls: 0.4045, d3.loss_bbox: 0.5696, d4.loss_cls: 0.4055, d4.loss_bbox: 0.5662, d5.loss_cls: 0.4074, d5.loss_bbox: 0.5674, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3496, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2455, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2127, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2137, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.2128, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2132, d0.loss_map_cls_all: 0.3380, d0.loss_map_pts_all: 1.8826, d0.loss_map_dir_all: 0.0186, d0.loss_map_cls: 0.3380, d0.loss_map_pts: 1.8826, d0.loss_map_dir: 0.0186, d1.loss_map_cls: 0.3148, d1.loss_map_pts: 1.3482, d1.loss_map_dir: 0.0186, d2.loss_map_cls: 0.3016, d2.loss_map_pts: 1.2200, d2.loss_map_dir: 0.0188, d3.loss_map_cls: 0.2889, d3.loss_map_pts: 1.1745, d3.loss_map_dir: 0.0192, d4.loss_map_cls: 0.2880, d4.loss_map_pts: 1.1584, d4.loss_map_dir: 0.0196, d5.loss_map_cls: 0.2875, d5.loss_map_pts: 1.1569, d5.loss_map_dir: 0.0197, loss: 46.5974, grad_norm: 145.9100 +2026-02-24 20:39:03,676 - DriveTransformer - INFO - Epoch [3][3900/39528] lr: 9.831e-05, eta: 7 days, 23:47:50, time: 0.803, data_time: 0.045, memory: 19865, loss_cls: 0.4236, loss_bbox: 0.6046, loss_traj: 1.1652, loss_traj_cls: 0.0006, loss_map_cls: 0.3120, loss_map_pts: 1.4241, loss_map_dir: 0.0257, d0.loss_plan_l1_fix_time: 2.6772, d0.loss_plan_l1_fix_dist: 0.3721, d1.loss_plan_l1_fix_time: 1.9967, d1.loss_plan_l1_fix_dist: 0.3287, d2.loss_plan_l1_fix_time: 1.9899, d2.loss_plan_l1_fix_dist: 0.3502, d3.loss_plan_l1_fix_time: 1.9927, d3.loss_plan_l1_fix_dist: 0.3780, d4.loss_plan_l1_fix_time: 1.9971, d4.loss_plan_l1_fix_dist: 0.4074, d5.loss_plan_l1_fix_time: 2.0019, d5.loss_plan_l1_fix_dist: 0.4368, d6.loss_plan_l1_fix_time: 2.0083, d6.loss_plan_l1_fix_dist: 0.4678, d0.loss_cls_all: 0.4252, d0.loss_bbox_all: 0.6297, d0.loss_cls: 0.4252, d0.loss_bbox: 0.6297, d1.loss_cls: 0.4207, d1.loss_bbox: 0.6136, d2.loss_cls: 0.4154, d2.loss_bbox: 0.6065, d3.loss_cls: 0.4171, d3.loss_bbox: 0.6039, d4.loss_cls: 0.4189, d4.loss_bbox: 0.6026, d5.loss_cls: 0.4226, d5.loss_bbox: 0.6057, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2989, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1713, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1345, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1389, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1385, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1486, d0.loss_map_cls_all: 0.3600, d0.loss_map_pts_all: 2.3467, d0.loss_map_dir_all: 0.0242, d0.loss_map_cls: 0.3600, d0.loss_map_pts: 2.3467, d0.loss_map_dir: 0.0242, d1.loss_map_cls: 0.3416, d1.loss_map_pts: 1.6245, d1.loss_map_dir: 0.0242, d2.loss_map_cls: 0.3258, d2.loss_map_pts: 1.4921, d2.loss_map_dir: 0.0246, d3.loss_map_cls: 0.3186, d3.loss_map_pts: 1.4451, d3.loss_map_dir: 0.0251, d4.loss_map_cls: 0.3125, d4.loss_map_pts: 1.4256, d4.loss_map_dir: 0.0255, d5.loss_map_cls: 0.3113, d5.loss_map_pts: 1.4212, d5.loss_map_dir: 0.0256, loss: 50.2383, grad_norm: 146.9049 +2026-02-24 20:39:45,844 - DriveTransformer - INFO - Epoch [3][3950/39528] lr: 9.831e-05, eta: 7 days, 23:47:34, time: 0.843, data_time: 0.036, memory: 19865, loss_cls: 0.4541, loss_bbox: 0.6217, loss_traj: 1.1262, loss_traj_cls: 0.0006, loss_map_cls: 0.3282, loss_map_pts: 1.3763, loss_map_dir: 0.0298, d0.loss_plan_l1_fix_time: 2.6191, d0.loss_plan_l1_fix_dist: 0.4156, d1.loss_plan_l1_fix_time: 2.0359, d1.loss_plan_l1_fix_dist: 0.3414, d2.loss_plan_l1_fix_time: 2.0171, d2.loss_plan_l1_fix_dist: 0.3562, d3.loss_plan_l1_fix_time: 2.0127, d3.loss_plan_l1_fix_dist: 0.3738, d4.loss_plan_l1_fix_time: 2.0145, d4.loss_plan_l1_fix_dist: 0.3955, d5.loss_plan_l1_fix_time: 2.0183, d5.loss_plan_l1_fix_dist: 0.4181, d6.loss_plan_l1_fix_time: 2.0240, d6.loss_plan_l1_fix_dist: 0.4458, d0.loss_cls_all: 0.4568, d0.loss_bbox_all: 0.6502, d0.loss_cls: 0.4568, d0.loss_bbox: 0.6502, d1.loss_cls: 0.4506, d1.loss_bbox: 0.6308, d2.loss_cls: 0.4513, d2.loss_bbox: 0.6174, d3.loss_cls: 0.4523, d3.loss_bbox: 0.6156, d4.loss_cls: 0.4522, d4.loss_bbox: 0.6169, d5.loss_cls: 0.4551, d5.loss_bbox: 0.6187, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2187, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1459, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1084, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1048, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1037, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1153, d0.loss_map_cls_all: 0.3767, d0.loss_map_pts_all: 2.4694, d0.loss_map_dir_all: 0.0279, d0.loss_map_cls: 0.3767, d0.loss_map_pts: 2.4694, d0.loss_map_dir: 0.0279, d1.loss_map_cls: 0.3596, d1.loss_map_pts: 1.5944, d1.loss_map_dir: 0.0279, d2.loss_map_cls: 0.3423, d2.loss_map_pts: 1.4431, d2.loss_map_dir: 0.0285, d3.loss_map_cls: 0.3322, d3.loss_map_pts: 1.3939, d3.loss_map_dir: 0.0291, d4.loss_map_cls: 0.3261, d4.loss_map_pts: 1.3788, d4.loss_map_dir: 0.0294, d5.loss_map_cls: 0.3255, d5.loss_map_pts: 1.3740, d5.loss_map_dir: 0.0297, loss: 50.5650, grad_norm: 146.7058 +2026-02-24 20:40:24,020 - DriveTransformer - INFO - Epoch [3][4000/39528] lr: 9.831e-05, eta: 7 days, 23:46:36, time: 0.763, data_time: 0.045, memory: 19865, loss_cls: 0.4285, loss_bbox: 0.5904, loss_traj: 1.2839, loss_traj_cls: 0.0006, loss_map_cls: 0.3131, loss_map_pts: 1.3095, loss_map_dir: 0.0227, d0.loss_plan_l1_fix_time: 2.7007, d0.loss_plan_l1_fix_dist: 0.4318, d1.loss_plan_l1_fix_time: 1.9649, d1.loss_plan_l1_fix_dist: 0.3251, d2.loss_plan_l1_fix_time: 1.9352, d2.loss_plan_l1_fix_dist: 0.3423, d3.loss_plan_l1_fix_time: 1.9340, d3.loss_plan_l1_fix_dist: 0.3633, d4.loss_plan_l1_fix_time: 1.9369, d4.loss_plan_l1_fix_dist: 0.3908, d5.loss_plan_l1_fix_time: 1.9413, d5.loss_plan_l1_fix_dist: 0.4201, d6.loss_plan_l1_fix_time: 1.9467, d6.loss_plan_l1_fix_dist: 0.4544, d0.loss_cls_all: 0.4366, d0.loss_bbox_all: 0.6252, d0.loss_cls: 0.4366, d0.loss_bbox: 0.6252, d1.loss_cls: 0.4291, d1.loss_bbox: 0.6050, d2.loss_cls: 0.4313, d2.loss_bbox: 0.5951, d3.loss_cls: 0.4261, d3.loss_bbox: 0.5895, d4.loss_cls: 0.4258, d4.loss_bbox: 0.5868, d5.loss_cls: 0.4274, d5.loss_bbox: 0.5867, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4144, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2705, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2614, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2692, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2733, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2797, d0.loss_map_cls_all: 0.3597, d0.loss_map_pts_all: 2.0240, d0.loss_map_dir_all: 0.0209, d0.loss_map_cls: 0.3597, d0.loss_map_pts: 2.0240, d0.loss_map_dir: 0.0209, d1.loss_map_cls: 0.3360, d1.loss_map_pts: 1.4848, d1.loss_map_dir: 0.0214, d2.loss_map_cls: 0.3237, d2.loss_map_pts: 1.3730, d2.loss_map_dir: 0.0217, d3.loss_map_cls: 0.3202, d3.loss_map_pts: 1.3269, d3.loss_map_dir: 0.0221, d4.loss_map_cls: 0.3149, d4.loss_map_pts: 1.3128, d4.loss_map_dir: 0.0224, d5.loss_map_cls: 0.3144, d5.loss_map_pts: 1.3093, d5.loss_map_dir: 0.0227, loss: 49.3716, grad_norm: 148.3555 +2026-02-24 20:41:03,501 - DriveTransformer - INFO - Epoch [3][4050/39528] lr: 9.831e-05, eta: 7 days, 23:45:52, time: 0.790, data_time: 0.044, memory: 19865, loss_cls: 0.4170, loss_bbox: 0.5618, loss_traj: 1.2264, loss_traj_cls: 0.0006, loss_map_cls: 0.3172, loss_map_pts: 1.3156, loss_map_dir: 0.0206, d0.loss_plan_l1_fix_time: 2.4648, d0.loss_plan_l1_fix_dist: 0.4665, d1.loss_plan_l1_fix_time: 1.8701, d1.loss_plan_l1_fix_dist: 0.3421, d2.loss_plan_l1_fix_time: 1.8563, d2.loss_plan_l1_fix_dist: 0.3566, d3.loss_plan_l1_fix_time: 1.8567, d3.loss_plan_l1_fix_dist: 0.3760, d4.loss_plan_l1_fix_time: 1.8608, d4.loss_plan_l1_fix_dist: 0.3980, d5.loss_plan_l1_fix_time: 1.8653, d5.loss_plan_l1_fix_dist: 0.4214, d6.loss_plan_l1_fix_time: 1.8709, d6.loss_plan_l1_fix_dist: 0.4424, d0.loss_cls_all: 0.4271, d0.loss_bbox_all: 0.5916, d0.loss_cls: 0.4271, d0.loss_bbox: 0.5916, d1.loss_cls: 0.4185, d1.loss_bbox: 0.5668, d2.loss_cls: 0.4187, d2.loss_bbox: 0.5553, d3.loss_cls: 0.4156, d3.loss_bbox: 0.5519, d4.loss_cls: 0.4136, d4.loss_bbox: 0.5524, d5.loss_cls: 0.4164, d5.loss_bbox: 0.5545, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3474, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2330, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2072, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2142, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.2136, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2169, d0.loss_map_cls_all: 0.3611, d0.loss_map_pts_all: 2.0062, d0.loss_map_dir_all: 0.0195, d0.loss_map_cls: 0.3611, d0.loss_map_pts: 2.0062, d0.loss_map_dir: 0.0195, d1.loss_map_cls: 0.3419, d1.loss_map_pts: 1.4875, d1.loss_map_dir: 0.0192, d2.loss_map_cls: 0.3280, d2.loss_map_pts: 1.3723, d2.loss_map_dir: 0.0196, d3.loss_map_cls: 0.3209, d3.loss_map_pts: 1.3239, d3.loss_map_dir: 0.0200, d4.loss_map_cls: 0.3171, d4.loss_map_pts: 1.3146, d4.loss_map_dir: 0.0204, d5.loss_map_cls: 0.3168, d5.loss_map_pts: 1.3131, d5.loss_map_dir: 0.0205, loss: 47.9554, grad_norm: 150.2316 +2026-02-24 20:41:43,977 - DriveTransformer - INFO - Epoch [3][4100/39528] lr: 9.831e-05, eta: 7 days, 23:45:18, time: 0.810, data_time: 0.039, memory: 19865, loss_cls: 0.3938, loss_bbox: 0.5674, loss_traj: 1.1440, loss_traj_cls: 0.0006, loss_map_cls: 0.2366, loss_map_pts: 1.1384, loss_map_dir: 0.0209, d0.loss_plan_l1_fix_time: 2.6851, d0.loss_plan_l1_fix_dist: 0.4589, d1.loss_plan_l1_fix_time: 1.9238, d1.loss_plan_l1_fix_dist: 0.3284, d2.loss_plan_l1_fix_time: 1.8937, d2.loss_plan_l1_fix_dist: 0.3422, d3.loss_plan_l1_fix_time: 1.8964, d3.loss_plan_l1_fix_dist: 0.3616, d4.loss_plan_l1_fix_time: 1.9015, d4.loss_plan_l1_fix_dist: 0.3824, d5.loss_plan_l1_fix_time: 1.9075, d5.loss_plan_l1_fix_dist: 0.4054, d6.loss_plan_l1_fix_time: 1.9142, d6.loss_plan_l1_fix_dist: 0.4266, d0.loss_cls_all: 0.3895, d0.loss_bbox_all: 0.5972, d0.loss_cls: 0.3895, d0.loss_bbox: 0.5972, d1.loss_cls: 0.3863, d1.loss_bbox: 0.5715, d2.loss_cls: 0.3842, d2.loss_bbox: 0.5584, d3.loss_cls: 0.3858, d3.loss_bbox: 0.5547, d4.loss_cls: 0.3873, d4.loss_bbox: 0.5544, d5.loss_cls: 0.3896, d5.loss_bbox: 0.5592, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2565, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1582, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1467, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1416, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1373, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1371, d0.loss_map_cls_all: 0.2899, d0.loss_map_pts_all: 1.9457, d0.loss_map_dir_all: 0.0193, d0.loss_map_cls: 0.2899, d0.loss_map_pts: 1.9457, d0.loss_map_dir: 0.0193, d1.loss_map_cls: 0.2644, d1.loss_map_pts: 1.2836, d1.loss_map_dir: 0.0195, d2.loss_map_cls: 0.2489, d2.loss_map_pts: 1.1767, d2.loss_map_dir: 0.0199, d3.loss_map_cls: 0.2414, d3.loss_map_pts: 1.1444, d3.loss_map_dir: 0.0202, d4.loss_map_cls: 0.2367, d4.loss_map_pts: 1.1363, d4.loss_map_dir: 0.0206, d5.loss_map_cls: 0.2352, d5.loss_map_pts: 1.1358, d5.loss_map_dir: 0.0208, loss: 45.7315, grad_norm: 149.5840 +2026-02-24 20:42:25,921 - DriveTransformer - INFO - Epoch [3][4150/39528] lr: 9.831e-05, eta: 7 days, 23:45:00, time: 0.839, data_time: 0.040, memory: 19865, loss_cls: 0.4013, loss_bbox: 0.5549, loss_traj: 0.9551, loss_traj_cls: 0.0006, loss_map_cls: 0.3045, loss_map_pts: 1.3744, loss_map_dir: 0.0261, d0.loss_plan_l1_fix_time: 2.5654, d0.loss_plan_l1_fix_dist: 0.5257, d1.loss_plan_l1_fix_time: 1.9026, d1.loss_plan_l1_fix_dist: 0.3359, d2.loss_plan_l1_fix_time: 1.9002, d2.loss_plan_l1_fix_dist: 0.3462, d3.loss_plan_l1_fix_time: 1.9058, d3.loss_plan_l1_fix_dist: 0.3639, d4.loss_plan_l1_fix_time: 1.9125, d4.loss_plan_l1_fix_dist: 0.3849, d5.loss_plan_l1_fix_time: 1.9198, d5.loss_plan_l1_fix_dist: 0.4063, d6.loss_plan_l1_fix_time: 1.9277, d6.loss_plan_l1_fix_dist: 0.4316, d0.loss_cls_all: 0.4169, d0.loss_bbox_all: 0.5961, d0.loss_cls: 0.4169, d0.loss_bbox: 0.5961, d1.loss_cls: 0.4111, d1.loss_bbox: 0.5694, d2.loss_cls: 0.4096, d2.loss_bbox: 0.5588, d3.loss_cls: 0.4049, d3.loss_bbox: 0.5507, d4.loss_cls: 0.4007, d4.loss_bbox: 0.5496, d5.loss_cls: 0.4016, d5.loss_bbox: 0.5492, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1125, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.9660, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9659, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9623, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.9459, d5.loss_traj_cls: 0.0008, d5.loss_traj: 0.9495, d0.loss_map_cls_all: 0.3380, d0.loss_map_pts_all: 2.2759, d0.loss_map_dir_all: 0.0247, d0.loss_map_cls: 0.3380, d0.loss_map_pts: 2.2759, d0.loss_map_dir: 0.0247, d1.loss_map_cls: 0.3234, d1.loss_map_pts: 1.5435, d1.loss_map_dir: 0.0245, d2.loss_map_cls: 0.3154, d2.loss_map_pts: 1.4049, d2.loss_map_dir: 0.0250, d3.loss_map_cls: 0.3081, d3.loss_map_pts: 1.3647, d3.loss_map_dir: 0.0255, d4.loss_map_cls: 0.3045, d4.loss_map_pts: 1.3583, d4.loss_map_dir: 0.0259, d5.loss_map_cls: 0.3021, d5.loss_map_pts: 1.3669, d5.loss_map_dir: 0.0259, loss: 47.1804, grad_norm: 150.2858 +2026-02-24 20:43:05,514 - DriveTransformer - INFO - Epoch [3][4200/39528] lr: 9.831e-05, eta: 7 days, 23:44:17, time: 0.792, data_time: 0.038, memory: 19865, loss_cls: 0.4522, loss_bbox: 0.6060, loss_traj: 1.1121, loss_traj_cls: 0.0006, loss_map_cls: 0.3247, loss_map_pts: 1.3451, loss_map_dir: 0.0264, d0.loss_plan_l1_fix_time: 2.9556, d0.loss_plan_l1_fix_dist: 0.4229, d1.loss_plan_l1_fix_time: 2.0732, d1.loss_plan_l1_fix_dist: 0.3483, d2.loss_plan_l1_fix_time: 2.0291, d2.loss_plan_l1_fix_dist: 0.3634, d3.loss_plan_l1_fix_time: 2.0204, d3.loss_plan_l1_fix_dist: 0.3894, d4.loss_plan_l1_fix_time: 2.0212, d4.loss_plan_l1_fix_dist: 0.4184, d5.loss_plan_l1_fix_time: 2.0249, d5.loss_plan_l1_fix_dist: 0.4462, d6.loss_plan_l1_fix_time: 2.0314, d6.loss_plan_l1_fix_dist: 0.4780, d0.loss_cls_all: 0.4690, d0.loss_bbox_all: 0.6393, d0.loss_cls: 0.4690, d0.loss_bbox: 0.6393, d1.loss_cls: 0.4645, d1.loss_bbox: 0.6100, d2.loss_cls: 0.4668, d2.loss_bbox: 0.6024, d3.loss_cls: 0.4580, d3.loss_bbox: 0.5996, d4.loss_cls: 0.4532, d4.loss_bbox: 0.5998, d5.loss_cls: 0.4524, d5.loss_bbox: 0.6009, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2631, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1173, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0939, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0930, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0960, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0989, d0.loss_map_cls_all: 0.3681, d0.loss_map_pts_all: 2.2436, d0.loss_map_dir_all: 0.0247, d0.loss_map_cls: 0.3681, d0.loss_map_pts: 2.2436, d0.loss_map_dir: 0.0247, d1.loss_map_cls: 0.3552, d1.loss_map_pts: 1.5349, d1.loss_map_dir: 0.0248, d2.loss_map_cls: 0.3434, d2.loss_map_pts: 1.4010, d2.loss_map_dir: 0.0253, d3.loss_map_cls: 0.3338, d3.loss_map_pts: 1.3575, d3.loss_map_dir: 0.0258, d4.loss_map_cls: 0.3277, d4.loss_map_pts: 1.3478, d4.loss_map_dir: 0.0262, d5.loss_map_cls: 0.3258, d5.loss_map_pts: 1.3465, d5.loss_map_dir: 0.0263, loss: 50.2564, grad_norm: 151.7919 +2026-02-24 20:43:44,824 - DriveTransformer - INFO - Epoch [3][4250/39528] lr: 9.831e-05, eta: 7 days, 23:43:31, time: 0.786, data_time: 0.046, memory: 19865, loss_cls: 0.4378, loss_bbox: 0.5661, loss_traj: 1.1763, loss_traj_cls: 0.0006, loss_map_cls: 0.3266, loss_map_pts: 1.4541, loss_map_dir: 0.0238, d0.loss_plan_l1_fix_time: 2.6276, d0.loss_plan_l1_fix_dist: 0.3965, d1.loss_plan_l1_fix_time: 1.8507, d1.loss_plan_l1_fix_dist: 0.2944, d2.loss_plan_l1_fix_time: 1.8257, d2.loss_plan_l1_fix_dist: 0.3067, d3.loss_plan_l1_fix_time: 1.8247, d3.loss_plan_l1_fix_dist: 0.3281, d4.loss_plan_l1_fix_time: 1.8295, d4.loss_plan_l1_fix_dist: 0.3527, d5.loss_plan_l1_fix_time: 1.8360, d5.loss_plan_l1_fix_dist: 0.3806, d6.loss_plan_l1_fix_time: 1.8452, d6.loss_plan_l1_fix_dist: 0.4095, d0.loss_cls_all: 0.4554, d0.loss_bbox_all: 0.6039, d0.loss_cls: 0.4554, d0.loss_bbox: 0.6039, d1.loss_cls: 0.4432, d1.loss_bbox: 0.5754, d2.loss_cls: 0.4454, d2.loss_bbox: 0.5610, d3.loss_cls: 0.4418, d3.loss_bbox: 0.5583, d4.loss_cls: 0.4393, d4.loss_bbox: 0.5578, d5.loss_cls: 0.4379, d5.loss_bbox: 0.5602, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3701, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2256, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1790, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1772, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1724, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1735, d0.loss_map_cls_all: 0.3846, d0.loss_map_pts_all: 2.1162, d0.loss_map_dir_all: 0.0224, d0.loss_map_cls: 0.3846, d0.loss_map_pts: 2.1162, d0.loss_map_dir: 0.0224, d1.loss_map_cls: 0.3622, d1.loss_map_pts: 1.6102, d1.loss_map_dir: 0.0223, d2.loss_map_cls: 0.3430, d2.loss_map_pts: 1.5107, d2.loss_map_dir: 0.0227, d3.loss_map_cls: 0.3333, d3.loss_map_pts: 1.4711, d3.loss_map_dir: 0.0231, d4.loss_map_cls: 0.3293, d4.loss_map_pts: 1.4578, d4.loss_map_dir: 0.0234, d5.loss_map_cls: 0.3278, d5.loss_map_pts: 1.4553, d5.loss_map_dir: 0.0237, loss: 48.8973, grad_norm: 155.8416 +2026-02-24 20:44:26,521 - DriveTransformer - INFO - Epoch [3][4300/39528] lr: 9.831e-05, eta: 7 days, 23:43:10, time: 0.834, data_time: 0.040, memory: 19865, loss_cls: 0.4653, loss_bbox: 0.5843, loss_traj: 1.0517, loss_traj_cls: 0.0006, loss_map_cls: 0.3015, loss_map_pts: 1.4810, loss_map_dir: 0.0287, d0.loss_plan_l1_fix_time: 2.8351, d0.loss_plan_l1_fix_dist: 0.4756, d1.loss_plan_l1_fix_time: 2.1457, d1.loss_plan_l1_fix_dist: 0.3711, d2.loss_plan_l1_fix_time: 2.1125, d2.loss_plan_l1_fix_dist: 0.3817, d3.loss_plan_l1_fix_time: 2.1103, d3.loss_plan_l1_fix_dist: 0.3965, d4.loss_plan_l1_fix_time: 2.1166, d4.loss_plan_l1_fix_dist: 0.4138, d5.loss_plan_l1_fix_time: 2.1243, d5.loss_plan_l1_fix_dist: 0.4362, d6.loss_plan_l1_fix_time: 2.1333, d6.loss_plan_l1_fix_dist: 0.4594, d0.loss_cls_all: 0.4740, d0.loss_bbox_all: 0.6153, d0.loss_cls: 0.4740, d0.loss_bbox: 0.6153, d1.loss_cls: 0.4663, d1.loss_bbox: 0.5933, d2.loss_cls: 0.4678, d2.loss_bbox: 0.5799, d3.loss_cls: 0.4669, d3.loss_bbox: 0.5788, d4.loss_cls: 0.4658, d4.loss_bbox: 0.5795, d5.loss_cls: 0.4656, d5.loss_bbox: 0.5773, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2012, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.0619, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0389, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0404, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0356, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0462, d0.loss_map_cls_all: 0.3527, d0.loss_map_pts_all: 2.5084, d0.loss_map_dir_all: 0.0273, d0.loss_map_cls: 0.3527, d0.loss_map_pts: 2.5084, d0.loss_map_dir: 0.0273, d1.loss_map_cls: 0.3330, d1.loss_map_pts: 1.6964, d1.loss_map_dir: 0.0273, d2.loss_map_cls: 0.3145, d2.loss_map_pts: 1.5475, d2.loss_map_dir: 0.0277, d3.loss_map_cls: 0.3097, d3.loss_map_pts: 1.4997, d3.loss_map_dir: 0.0281, d4.loss_map_cls: 0.3031, d4.loss_map_pts: 1.4853, d4.loss_map_dir: 0.0284, d5.loss_map_cls: 0.3021, d5.loss_map_pts: 1.4819, d5.loss_map_dir: 0.0285, loss: 51.4644, grad_norm: 155.0226 +2026-02-24 20:45:06,009 - DriveTransformer - INFO - Epoch [3][4350/39528] lr: 9.831e-05, eta: 7 days, 23:42:26, time: 0.790, data_time: 0.044, memory: 19865, loss_cls: 0.4411, loss_bbox: 0.5497, loss_traj: 1.2762, loss_traj_cls: 0.0007, loss_map_cls: 0.3228, loss_map_pts: 1.4087, loss_map_dir: 0.0232, d0.loss_plan_l1_fix_time: 2.6980, d0.loss_plan_l1_fix_dist: 0.4847, d1.loss_plan_l1_fix_time: 2.1300, d1.loss_plan_l1_fix_dist: 0.3645, d2.loss_plan_l1_fix_time: 2.1226, d2.loss_plan_l1_fix_dist: 0.3794, d3.loss_plan_l1_fix_time: 2.1250, d3.loss_plan_l1_fix_dist: 0.3946, d4.loss_plan_l1_fix_time: 2.1299, d4.loss_plan_l1_fix_dist: 0.4108, d5.loss_plan_l1_fix_time: 2.1352, d5.loss_plan_l1_fix_dist: 0.4258, d6.loss_plan_l1_fix_time: 2.1415, d6.loss_plan_l1_fix_dist: 0.4425, d0.loss_cls_all: 0.4347, d0.loss_bbox_all: 0.5953, d0.loss_cls: 0.4347, d0.loss_bbox: 0.5953, d1.loss_cls: 0.4399, d1.loss_bbox: 0.5655, d2.loss_cls: 0.4396, d2.loss_bbox: 0.5557, d3.loss_cls: 0.4467, d3.loss_bbox: 0.5504, d4.loss_cls: 0.4428, d4.loss_bbox: 0.5490, d5.loss_cls: 0.4414, d5.loss_bbox: 0.5466, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4033, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2975, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2689, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2701, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.2625, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.2718, d0.loss_map_cls_all: 0.3634, d0.loss_map_pts_all: 2.2085, d0.loss_map_dir_all: 0.0220, d0.loss_map_cls: 0.3634, d0.loss_map_pts: 2.2085, d0.loss_map_dir: 0.0220, d1.loss_map_cls: 0.3468, d1.loss_map_pts: 1.5734, d1.loss_map_dir: 0.0220, d2.loss_map_cls: 0.3325, d2.loss_map_pts: 1.4473, d2.loss_map_dir: 0.0223, d3.loss_map_cls: 0.3293, d3.loss_map_pts: 1.4053, d3.loss_map_dir: 0.0227, d4.loss_map_cls: 0.3208, d4.loss_map_pts: 1.4030, d4.loss_map_dir: 0.0229, d5.loss_map_cls: 0.3224, d5.loss_map_pts: 1.4055, d5.loss_map_dir: 0.0231, loss: 51.4113, grad_norm: 153.7388 +2026-02-24 20:45:47,945 - DriveTransformer - INFO - Epoch [3][4400/39528] lr: 9.831e-05, eta: 7 days, 23:42:08, time: 0.840, data_time: 0.042, memory: 19865, loss_cls: 0.4400, loss_bbox: 0.5806, loss_traj: 1.1126, loss_traj_cls: 0.0007, loss_map_cls: 0.3178, loss_map_pts: 1.4604, loss_map_dir: 0.0265, d0.loss_plan_l1_fix_time: 2.8278, d0.loss_plan_l1_fix_dist: 0.4279, d1.loss_plan_l1_fix_time: 2.0331, d1.loss_plan_l1_fix_dist: 0.3584, d2.loss_plan_l1_fix_time: 1.9889, d2.loss_plan_l1_fix_dist: 0.3743, d3.loss_plan_l1_fix_time: 1.9828, d3.loss_plan_l1_fix_dist: 0.3921, d4.loss_plan_l1_fix_time: 1.9854, d4.loss_plan_l1_fix_dist: 0.4095, d5.loss_plan_l1_fix_time: 1.9904, d5.loss_plan_l1_fix_dist: 0.4217, d6.loss_plan_l1_fix_time: 1.9969, d6.loss_plan_l1_fix_dist: 0.4350, d0.loss_cls_all: 0.4475, d0.loss_bbox_all: 0.6083, d0.loss_cls: 0.4475, d0.loss_bbox: 0.6083, d1.loss_cls: 0.4465, d1.loss_bbox: 0.5883, d2.loss_cls: 0.4441, d2.loss_bbox: 0.5789, d3.loss_cls: 0.4419, d3.loss_bbox: 0.5763, d4.loss_cls: 0.4381, d4.loss_bbox: 0.5774, d5.loss_cls: 0.4397, d5.loss_bbox: 0.5767, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2827, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1255, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0947, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0993, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0894, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0998, d0.loss_map_cls_all: 0.3654, d0.loss_map_pts_all: 2.4779, d0.loss_map_dir_all: 0.0252, d0.loss_map_cls: 0.3654, d0.loss_map_pts: 2.4779, d0.loss_map_dir: 0.0252, d1.loss_map_cls: 0.3489, d1.loss_map_pts: 1.6659, d1.loss_map_dir: 0.0251, d2.loss_map_cls: 0.3348, d2.loss_map_pts: 1.5235, d2.loss_map_dir: 0.0254, d3.loss_map_cls: 0.3250, d3.loss_map_pts: 1.4774, d3.loss_map_dir: 0.0258, d4.loss_map_cls: 0.3189, d4.loss_map_pts: 1.4658, d4.loss_map_dir: 0.0262, d5.loss_map_cls: 0.3190, d5.loss_map_pts: 1.4622, d5.loss_map_dir: 0.0264, loss: 50.6865, grad_norm: 155.9079 +2026-02-24 20:46:25,599 - DriveTransformer - INFO - Epoch [3][4450/39528] lr: 9.831e-05, eta: 7 days, 23:41:05, time: 0.752, data_time: 0.036, memory: 19865, loss_cls: 0.4363, loss_bbox: 0.5553, loss_traj: 1.1257, loss_traj_cls: 0.0006, loss_map_cls: 0.3089, loss_map_pts: 1.2298, loss_map_dir: 0.0225, d0.loss_plan_l1_fix_time: 2.5179, d0.loss_plan_l1_fix_dist: 0.5202, d1.loss_plan_l1_fix_time: 1.6319, d1.loss_plan_l1_fix_dist: 0.2957, d2.loss_plan_l1_fix_time: 1.5921, d2.loss_plan_l1_fix_dist: 0.3003, d3.loss_plan_l1_fix_time: 1.5916, d3.loss_plan_l1_fix_dist: 0.3138, d4.loss_plan_l1_fix_time: 1.5974, d4.loss_plan_l1_fix_dist: 0.3320, d5.loss_plan_l1_fix_time: 1.6045, d5.loss_plan_l1_fix_dist: 0.3530, d6.loss_plan_l1_fix_time: 1.6128, d6.loss_plan_l1_fix_dist: 0.3747, d0.loss_cls_all: 0.4349, d0.loss_bbox_all: 0.5856, d0.loss_cls: 0.4349, d0.loss_bbox: 0.5856, d1.loss_cls: 0.4232, d1.loss_bbox: 0.5620, d2.loss_cls: 0.4205, d2.loss_bbox: 0.5517, d3.loss_cls: 0.4221, d3.loss_bbox: 0.5503, d4.loss_cls: 0.4258, d4.loss_bbox: 0.5498, d5.loss_cls: 0.4291, d5.loss_bbox: 0.5509, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3355, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1572, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1219, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1214, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1202, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1179, d0.loss_map_cls_all: 0.3464, d0.loss_map_pts_all: 2.0682, d0.loss_map_dir_all: 0.0218, d0.loss_map_cls: 0.3464, d0.loss_map_pts: 2.0682, d0.loss_map_dir: 0.0218, d1.loss_map_cls: 0.3378, d1.loss_map_pts: 1.3988, d1.loss_map_dir: 0.0214, d2.loss_map_cls: 0.3241, d2.loss_map_pts: 1.2832, d2.loss_map_dir: 0.0216, d3.loss_map_cls: 0.3125, d3.loss_map_pts: 1.2369, d3.loss_map_dir: 0.0220, d4.loss_map_cls: 0.3101, d4.loss_map_pts: 1.2228, d4.loss_map_dir: 0.0222, d5.loss_map_cls: 0.3101, d5.loss_map_pts: 1.2234, d5.loss_map_dir: 0.0224, loss: 45.1650, grad_norm: 155.5710 +2026-02-24 20:47:07,314 - DriveTransformer - INFO - Epoch [3][4500/39528] lr: 9.831e-05, eta: 7 days, 23:40:44, time: 0.834, data_time: 0.042, memory: 19865, loss_cls: 0.4762, loss_bbox: 0.6067, loss_traj: 1.2798, loss_traj_cls: 0.0007, loss_map_cls: 0.3256, loss_map_pts: 1.5312, loss_map_dir: 0.0264, d0.loss_plan_l1_fix_time: 2.9581, d0.loss_plan_l1_fix_dist: 0.4864, d1.loss_plan_l1_fix_time: 1.9476, d1.loss_plan_l1_fix_dist: 0.3606, d2.loss_plan_l1_fix_time: 1.9138, d2.loss_plan_l1_fix_dist: 0.3653, d3.loss_plan_l1_fix_time: 1.9137, d3.loss_plan_l1_fix_dist: 0.3754, d4.loss_plan_l1_fix_time: 1.9178, d4.loss_plan_l1_fix_dist: 0.3875, d5.loss_plan_l1_fix_time: 1.9229, d5.loss_plan_l1_fix_dist: 0.4021, d6.loss_plan_l1_fix_time: 1.9293, d6.loss_plan_l1_fix_dist: 0.4192, d0.loss_cls_all: 0.4664, d0.loss_bbox_all: 0.6367, d0.loss_cls: 0.4664, d0.loss_bbox: 0.6367, d1.loss_cls: 0.4648, d1.loss_bbox: 0.6131, d2.loss_cls: 0.4657, d2.loss_bbox: 0.6010, d3.loss_cls: 0.4727, d3.loss_bbox: 0.5983, d4.loss_cls: 0.4752, d4.loss_bbox: 0.5986, d5.loss_cls: 0.4734, d5.loss_bbox: 0.6000, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4972, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3012, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.2706, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2698, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.2677, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2757, d0.loss_map_cls_all: 0.3674, d0.loss_map_pts_all: 2.4895, d0.loss_map_dir_all: 0.0241, d0.loss_map_cls: 0.3674, d0.loss_map_pts: 2.4895, d0.loss_map_dir: 0.0241, d1.loss_map_cls: 0.3463, d1.loss_map_pts: 1.7038, d1.loss_map_dir: 0.0248, d2.loss_map_cls: 0.3346, d2.loss_map_pts: 1.5709, d2.loss_map_dir: 0.0251, d3.loss_map_cls: 0.3280, d3.loss_map_pts: 1.5346, d3.loss_map_dir: 0.0256, d4.loss_map_cls: 0.3250, d4.loss_map_pts: 1.5273, d4.loss_map_dir: 0.0259, d5.loss_map_cls: 0.3244, d5.loss_map_pts: 1.5256, d5.loss_map_dir: 0.0262, loss: 52.4132, grad_norm: 156.3859 +2026-02-24 20:47:48,098 - DriveTransformer - INFO - Epoch [3][4550/39528] lr: 9.831e-05, eta: 7 days, 23:40:13, time: 0.816, data_time: 0.042, memory: 19865, loss_cls: 0.4512, loss_bbox: 0.5884, loss_traj: 1.1636, loss_traj_cls: 0.0007, loss_map_cls: 0.3179, loss_map_pts: 1.4201, loss_map_dir: 0.0269, d0.loss_plan_l1_fix_time: 2.7224, d0.loss_plan_l1_fix_dist: 0.3692, d1.loss_plan_l1_fix_time: 1.8748, d1.loss_plan_l1_fix_dist: 0.3127, d2.loss_plan_l1_fix_time: 1.8740, d2.loss_plan_l1_fix_dist: 0.3243, d3.loss_plan_l1_fix_time: 1.8768, d3.loss_plan_l1_fix_dist: 0.3402, d4.loss_plan_l1_fix_time: 1.8811, d4.loss_plan_l1_fix_dist: 0.3585, d5.loss_plan_l1_fix_time: 1.8854, d5.loss_plan_l1_fix_dist: 0.3785, d6.loss_plan_l1_fix_time: 1.8909, d6.loss_plan_l1_fix_dist: 0.4012, d0.loss_cls_all: 0.4657, d0.loss_bbox_all: 0.6274, d0.loss_cls: 0.4657, d0.loss_bbox: 0.6274, d1.loss_cls: 0.4600, d1.loss_bbox: 0.5997, d2.loss_cls: 0.4533, d2.loss_bbox: 0.5896, d3.loss_cls: 0.4535, d3.loss_bbox: 0.5864, d4.loss_cls: 0.4529, d4.loss_bbox: 0.5836, d5.loss_cls: 0.4516, d5.loss_bbox: 0.5850, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3321, d1.loss_traj_cls: 0.0013, d1.loss_traj: 1.2065, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1721, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1621, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1549, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1612, d0.loss_map_cls_all: 0.3581, d0.loss_map_pts_all: 2.3919, d0.loss_map_dir_all: 0.0249, d0.loss_map_cls: 0.3581, d0.loss_map_pts: 2.3919, d0.loss_map_dir: 0.0249, d1.loss_map_cls: 0.3414, d1.loss_map_pts: 1.6205, d1.loss_map_dir: 0.0255, d2.loss_map_cls: 0.3309, d2.loss_map_pts: 1.4780, d2.loss_map_dir: 0.0259, d3.loss_map_cls: 0.3231, d3.loss_map_pts: 1.4335, d3.loss_map_dir: 0.0263, d4.loss_map_cls: 0.3183, d4.loss_map_pts: 1.4219, d4.loss_map_dir: 0.0267, d5.loss_map_cls: 0.3172, d5.loss_map_pts: 1.4187, d5.loss_map_dir: 0.0268, loss: 49.7398, grad_norm: 156.2006 +2026-02-24 20:48:27,186 - DriveTransformer - INFO - Epoch [3][4600/39528] lr: 9.831e-05, eta: 7 days, 23:39:25, time: 0.782, data_time: 0.036, memory: 19865, loss_cls: 0.4644, loss_bbox: 0.5862, loss_traj: 1.5512, loss_traj_cls: 0.0006, loss_map_cls: 0.3295, loss_map_pts: 1.4037, loss_map_dir: 0.0232, d0.loss_plan_l1_fix_time: 3.0240, d0.loss_plan_l1_fix_dist: 0.4678, d1.loss_plan_l1_fix_time: 2.2243, d1.loss_plan_l1_fix_dist: 0.3348, d2.loss_plan_l1_fix_time: 2.2074, d2.loss_plan_l1_fix_dist: 0.3355, d3.loss_plan_l1_fix_time: 2.2139, d3.loss_plan_l1_fix_dist: 0.3465, d4.loss_plan_l1_fix_time: 2.2198, d4.loss_plan_l1_fix_dist: 0.3598, d5.loss_plan_l1_fix_time: 2.2256, d5.loss_plan_l1_fix_dist: 0.3724, d6.loss_plan_l1_fix_time: 2.2317, d6.loss_plan_l1_fix_dist: 0.3854, d0.loss_cls_all: 0.4696, d0.loss_bbox_all: 0.6077, d0.loss_cls: 0.4696, d0.loss_bbox: 0.6077, d1.loss_cls: 0.4562, d1.loss_bbox: 0.5930, d2.loss_cls: 0.4515, d2.loss_bbox: 0.5829, d3.loss_cls: 0.4512, d3.loss_bbox: 0.5819, d4.loss_cls: 0.4560, d4.loss_bbox: 0.5795, d5.loss_cls: 0.4602, d5.loss_bbox: 0.5808, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7045, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.5803, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.5493, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.5567, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.5494, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.5576, d0.loss_map_cls_all: 0.3732, d0.loss_map_pts_all: 2.0814, d0.loss_map_dir_all: 0.0213, d0.loss_map_cls: 0.3732, d0.loss_map_pts: 2.0814, d0.loss_map_dir: 0.0213, d1.loss_map_cls: 0.3555, d1.loss_map_pts: 1.5579, d1.loss_map_dir: 0.0216, d2.loss_map_cls: 0.3425, d2.loss_map_pts: 1.4523, d2.loss_map_dir: 0.0222, d3.loss_map_cls: 0.3332, d3.loss_map_pts: 1.4135, d3.loss_map_dir: 0.0226, d4.loss_map_cls: 0.3285, d4.loss_map_pts: 1.4042, d4.loss_map_dir: 0.0228, d5.loss_map_cls: 0.3303, d5.loss_map_pts: 1.4018, d5.loss_map_dir: 0.0230, loss: 54.1426, grad_norm: 155.3648 +2026-02-24 20:49:07,252 - DriveTransformer - INFO - Epoch [3][4650/39528] lr: 9.831e-05, eta: 7 days, 23:38:47, time: 0.801, data_time: 0.039, memory: 19865, loss_cls: 0.3875, loss_bbox: 0.5400, loss_traj: 1.1911, loss_traj_cls: 0.0006, loss_map_cls: 0.2785, loss_map_pts: 1.3485, loss_map_dir: 0.0244, d0.loss_plan_l1_fix_time: 2.4694, d0.loss_plan_l1_fix_dist: 0.5148, d1.loss_plan_l1_fix_time: 1.8948, d1.loss_plan_l1_fix_dist: 0.3847, d2.loss_plan_l1_fix_time: 1.8712, d2.loss_plan_l1_fix_dist: 0.3930, d3.loss_plan_l1_fix_time: 1.8685, d3.loss_plan_l1_fix_dist: 0.4029, d4.loss_plan_l1_fix_time: 1.8722, d4.loss_plan_l1_fix_dist: 0.4150, d5.loss_plan_l1_fix_time: 1.8771, d5.loss_plan_l1_fix_dist: 0.4293, d6.loss_plan_l1_fix_time: 1.8827, d6.loss_plan_l1_fix_dist: 0.4453, d0.loss_cls_all: 0.3965, d0.loss_bbox_all: 0.5776, d0.loss_cls: 0.3965, d0.loss_bbox: 0.5776, d1.loss_cls: 0.3862, d1.loss_bbox: 0.5522, d2.loss_cls: 0.3837, d2.loss_bbox: 0.5417, d3.loss_cls: 0.3848, d3.loss_bbox: 0.5351, d4.loss_cls: 0.3846, d4.loss_bbox: 0.5343, d5.loss_cls: 0.3854, d5.loss_bbox: 0.5354, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3919, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2073, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1849, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1846, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1820, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1863, d0.loss_map_cls_all: 0.3286, d0.loss_map_pts_all: 2.3081, d0.loss_map_dir_all: 0.0230, d0.loss_map_cls: 0.3286, d0.loss_map_pts: 2.3081, d0.loss_map_dir: 0.0230, d1.loss_map_cls: 0.3092, d1.loss_map_pts: 1.5542, d1.loss_map_dir: 0.0234, d2.loss_map_cls: 0.2929, d2.loss_map_pts: 1.4214, d2.loss_map_dir: 0.0236, d3.loss_map_cls: 0.2830, d3.loss_map_pts: 1.3697, d3.loss_map_dir: 0.0239, d4.loss_map_cls: 0.2795, d4.loss_map_pts: 1.3521, d4.loss_map_dir: 0.0242, d5.loss_map_cls: 0.2773, d5.loss_map_pts: 1.3458, d5.loss_map_dir: 0.0243, loss: 48.3296, grad_norm: 155.4780 +2026-02-24 20:49:46,534 - DriveTransformer - INFO - Epoch [3][4700/39528] lr: 9.831e-05, eta: 7 days, 23:38:01, time: 0.786, data_time: 0.037, memory: 19865, loss_cls: 0.4285, loss_bbox: 0.5755, loss_traj: 1.1866, loss_traj_cls: 0.0006, loss_map_cls: 0.2977, loss_map_pts: 1.2779, loss_map_dir: 0.0205, d0.loss_plan_l1_fix_time: 2.8405, d0.loss_plan_l1_fix_dist: 0.4034, d1.loss_plan_l1_fix_time: 1.9720, d1.loss_plan_l1_fix_dist: 0.3068, d2.loss_plan_l1_fix_time: 1.9383, d2.loss_plan_l1_fix_dist: 0.3160, d3.loss_plan_l1_fix_time: 1.9314, d3.loss_plan_l1_fix_dist: 0.3303, d4.loss_plan_l1_fix_time: 1.9335, d4.loss_plan_l1_fix_dist: 0.3455, d5.loss_plan_l1_fix_time: 1.9373, d5.loss_plan_l1_fix_dist: 0.3624, d6.loss_plan_l1_fix_time: 1.9425, d6.loss_plan_l1_fix_dist: 0.3827, d0.loss_cls_all: 0.4394, d0.loss_bbox_all: 0.6198, d0.loss_cls: 0.4394, d0.loss_bbox: 0.6198, d1.loss_cls: 0.4287, d1.loss_bbox: 0.5914, d2.loss_cls: 0.4228, d2.loss_bbox: 0.5792, d3.loss_cls: 0.4221, d3.loss_bbox: 0.5741, d4.loss_cls: 0.4237, d4.loss_bbox: 0.5725, d5.loss_cls: 0.4259, d5.loss_bbox: 0.5725, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4227, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2087, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1915, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2015, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1962, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1862, d0.loss_map_cls_all: 0.3520, d0.loss_map_pts_all: 2.0629, d0.loss_map_dir_all: 0.0191, d0.loss_map_cls: 0.3520, d0.loss_map_pts: 2.0629, d0.loss_map_dir: 0.0191, d1.loss_map_cls: 0.3300, d1.loss_map_pts: 1.4637, d1.loss_map_dir: 0.0193, d2.loss_map_cls: 0.3166, d2.loss_map_pts: 1.3407, d2.loss_map_dir: 0.0196, d3.loss_map_cls: 0.3052, d3.loss_map_pts: 1.2953, d3.loss_map_dir: 0.0200, d4.loss_map_cls: 0.2985, d4.loss_map_pts: 1.2825, d4.loss_map_dir: 0.0202, d5.loss_map_cls: 0.2972, d5.loss_map_pts: 1.2775, d5.loss_map_dir: 0.0204, loss: 48.4481, grad_norm: 154.2259 +2026-02-24 20:50:26,671 - DriveTransformer - INFO - Epoch [3][4750/39528] lr: 9.831e-05, eta: 7 days, 23:37:24, time: 0.803, data_time: 0.042, memory: 19865, loss_cls: 0.4513, loss_bbox: 0.5745, loss_traj: 1.2197, loss_traj_cls: 0.0006, loss_map_cls: 0.2873, loss_map_pts: 1.3295, loss_map_dir: 0.0216, d0.loss_plan_l1_fix_time: 2.6759, d0.loss_plan_l1_fix_dist: 0.4257, d1.loss_plan_l1_fix_time: 1.9848, d1.loss_plan_l1_fix_dist: 0.3012, d2.loss_plan_l1_fix_time: 1.9566, d2.loss_plan_l1_fix_dist: 0.3019, d3.loss_plan_l1_fix_time: 1.9531, d3.loss_plan_l1_fix_dist: 0.3116, d4.loss_plan_l1_fix_time: 1.9559, d4.loss_plan_l1_fix_dist: 0.3259, d5.loss_plan_l1_fix_time: 1.9602, d5.loss_plan_l1_fix_dist: 0.3429, d6.loss_plan_l1_fix_time: 1.9653, d6.loss_plan_l1_fix_dist: 0.3611, d0.loss_cls_all: 0.4504, d0.loss_bbox_all: 0.6053, d0.loss_cls: 0.4504, d0.loss_bbox: 0.6053, d1.loss_cls: 0.4453, d1.loss_bbox: 0.5869, d2.loss_cls: 0.4365, d2.loss_bbox: 0.5780, d3.loss_cls: 0.4376, d3.loss_bbox: 0.5739, d4.loss_cls: 0.4400, d4.loss_bbox: 0.5734, d5.loss_cls: 0.4461, d5.loss_bbox: 0.5716, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4911, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2554, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2116, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2191, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.2156, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2151, d0.loss_map_cls_all: 0.3296, d0.loss_map_pts_all: 2.1557, d0.loss_map_dir_all: 0.0205, d0.loss_map_cls: 0.3296, d0.loss_map_pts: 2.1557, d0.loss_map_dir: 0.0205, d1.loss_map_cls: 0.3085, d1.loss_map_pts: 1.5102, d1.loss_map_dir: 0.0204, d2.loss_map_cls: 0.3008, d2.loss_map_pts: 1.3921, d2.loss_map_dir: 0.0208, d3.loss_map_cls: 0.2902, d3.loss_map_pts: 1.3489, d3.loss_map_dir: 0.0211, d4.loss_map_cls: 0.2866, d4.loss_map_pts: 1.3339, d4.loss_map_dir: 0.0214, d5.loss_map_cls: 0.2870, d5.loss_map_pts: 1.3308, d5.loss_map_dir: 0.0216, loss: 49.0263, grad_norm: 153.7286 +2026-02-24 20:51:07,183 - DriveTransformer - INFO - Epoch [3][4800/39528] lr: 9.831e-05, eta: 7 days, 23:36:50, time: 0.810, data_time: 0.039, memory: 19865, loss_cls: 0.4554, loss_bbox: 0.5641, loss_traj: 1.0305, loss_traj_cls: 0.0006, loss_map_cls: 0.3381, loss_map_pts: 1.4163, loss_map_dir: 0.0252, d0.loss_plan_l1_fix_time: 2.7485, d0.loss_plan_l1_fix_dist: 0.4062, d1.loss_plan_l1_fix_time: 1.9257, d1.loss_plan_l1_fix_dist: 0.2991, d2.loss_plan_l1_fix_time: 1.9009, d2.loss_plan_l1_fix_dist: 0.3019, d3.loss_plan_l1_fix_time: 1.9048, d3.loss_plan_l1_fix_dist: 0.3119, d4.loss_plan_l1_fix_time: 1.9101, d4.loss_plan_l1_fix_dist: 0.3240, d5.loss_plan_l1_fix_time: 1.9158, d5.loss_plan_l1_fix_dist: 0.3367, d6.loss_plan_l1_fix_time: 1.9215, d6.loss_plan_l1_fix_dist: 0.3517, d0.loss_cls_all: 0.4754, d0.loss_bbox_all: 0.6064, d0.loss_cls: 0.4754, d0.loss_bbox: 0.6064, d1.loss_cls: 0.4637, d1.loss_bbox: 0.5800, d2.loss_cls: 0.4588, d2.loss_bbox: 0.5698, d3.loss_cls: 0.4550, d3.loss_bbox: 0.5654, d4.loss_cls: 0.4524, d4.loss_bbox: 0.5643, d5.loss_cls: 0.4553, d5.loss_bbox: 0.5626, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1759, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.0435, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0141, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0141, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0178, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0287, d0.loss_map_cls_all: 0.3750, d0.loss_map_pts_all: 2.3733, d0.loss_map_dir_all: 0.0237, d0.loss_map_cls: 0.3750, d0.loss_map_pts: 2.3733, d0.loss_map_dir: 0.0237, d1.loss_map_cls: 0.3658, d1.loss_map_pts: 1.6231, d1.loss_map_dir: 0.0238, d2.loss_map_cls: 0.3569, d2.loss_map_pts: 1.4902, d2.loss_map_dir: 0.0241, d3.loss_map_cls: 0.3426, d3.loss_map_pts: 1.4400, d3.loss_map_dir: 0.0245, d4.loss_map_cls: 0.3389, d4.loss_map_pts: 1.4234, d4.loss_map_dir: 0.0248, d5.loss_map_cls: 0.3378, d5.loss_map_pts: 1.4178, d5.loss_map_dir: 0.0250, loss: 48.7824, grad_norm: 153.6030 +2026-02-24 20:51:48,362 - DriveTransformer - INFO - Epoch [3][4850/39528] lr: 9.831e-05, eta: 7 days, 23:36:24, time: 0.824, data_time: 0.040, memory: 19865, loss_cls: 0.4109, loss_bbox: 0.5571, loss_traj: 1.4733, loss_traj_cls: 0.0006, loss_map_cls: 0.2959, loss_map_pts: 1.3201, loss_map_dir: 0.0244, d0.loss_plan_l1_fix_time: 2.9678, d0.loss_plan_l1_fix_dist: 0.5071, d1.loss_plan_l1_fix_time: 2.1567, d1.loss_plan_l1_fix_dist: 0.3203, d2.loss_plan_l1_fix_time: 2.1430, d2.loss_plan_l1_fix_dist: 0.3370, d3.loss_plan_l1_fix_time: 2.1488, d3.loss_plan_l1_fix_dist: 0.3530, d4.loss_plan_l1_fix_time: 2.1555, d4.loss_plan_l1_fix_dist: 0.3648, d5.loss_plan_l1_fix_time: 2.1627, d5.loss_plan_l1_fix_dist: 0.3769, d6.loss_plan_l1_fix_time: 2.1715, d6.loss_plan_l1_fix_dist: 0.3930, d0.loss_cls_all: 0.4324, d0.loss_bbox_all: 0.5976, d0.loss_cls: 0.4324, d0.loss_bbox: 0.5976, d1.loss_cls: 0.4229, d1.loss_bbox: 0.5735, d2.loss_cls: 0.4182, d2.loss_bbox: 0.5623, d3.loss_cls: 0.4146, d3.loss_bbox: 0.5588, d4.loss_cls: 0.4101, d4.loss_bbox: 0.5584, d5.loss_cls: 0.4112, d5.loss_bbox: 0.5565, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6106, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.4847, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.4533, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.4593, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.4623, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.4713, d0.loss_map_cls_all: 0.3375, d0.loss_map_pts_all: 2.2254, d0.loss_map_dir_all: 0.0222, d0.loss_map_cls: 0.3375, d0.loss_map_pts: 2.2254, d0.loss_map_dir: 0.0222, d1.loss_map_cls: 0.3253, d1.loss_map_pts: 1.5353, d1.loss_map_dir: 0.0225, d2.loss_map_cls: 0.3123, d2.loss_map_pts: 1.3974, d2.loss_map_dir: 0.0232, d3.loss_map_cls: 0.3011, d3.loss_map_pts: 1.3459, d3.loss_map_dir: 0.0236, d4.loss_map_cls: 0.2982, d4.loss_map_pts: 1.3244, d4.loss_map_dir: 0.0240, d5.loss_map_cls: 0.2971, d5.loss_map_pts: 1.3209, d5.loss_map_dir: 0.0243, loss: 52.2799, grad_norm: 152.0358 +2026-02-24 20:52:28,737 - DriveTransformer - INFO - Epoch [3][4900/39528] lr: 9.831e-05, eta: 7 days, 23:35:49, time: 0.808, data_time: 0.048, memory: 19865, loss_cls: 0.4143, loss_bbox: 0.5556, loss_traj: 1.0121, loss_traj_cls: 0.0006, loss_map_cls: 0.2885, loss_map_pts: 1.2166, loss_map_dir: 0.0221, d0.loss_plan_l1_fix_time: 2.4640, d0.loss_plan_l1_fix_dist: 0.3957, d1.loss_plan_l1_fix_time: 1.7220, d1.loss_plan_l1_fix_dist: 0.2563, d2.loss_plan_l1_fix_time: 1.6921, d2.loss_plan_l1_fix_dist: 0.2673, d3.loss_plan_l1_fix_time: 1.6946, d3.loss_plan_l1_fix_dist: 0.2825, d4.loss_plan_l1_fix_time: 1.7019, d4.loss_plan_l1_fix_dist: 0.3012, d5.loss_plan_l1_fix_time: 1.7107, d5.loss_plan_l1_fix_dist: 0.3265, d6.loss_plan_l1_fix_time: 1.7213, d6.loss_plan_l1_fix_dist: 0.3538, d0.loss_cls_all: 0.4113, d0.loss_bbox_all: 0.5905, d0.loss_cls: 0.4113, d0.loss_bbox: 0.5905, d1.loss_cls: 0.4102, d1.loss_bbox: 0.5713, d2.loss_cls: 0.4074, d2.loss_bbox: 0.5593, d3.loss_cls: 0.4074, d3.loss_bbox: 0.5535, d4.loss_cls: 0.4071, d4.loss_bbox: 0.5519, d5.loss_cls: 0.4097, d5.loss_bbox: 0.5545, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1770, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.0128, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9943, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9918, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.9957, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0027, d0.loss_map_cls_all: 0.3359, d0.loss_map_pts_all: 2.0569, d0.loss_map_dir_all: 0.0208, d0.loss_map_cls: 0.3359, d0.loss_map_pts: 2.0569, d0.loss_map_dir: 0.0208, d1.loss_map_cls: 0.3161, d1.loss_map_pts: 1.4153, d1.loss_map_dir: 0.0210, d2.loss_map_cls: 0.3052, d2.loss_map_pts: 1.2827, d2.loss_map_dir: 0.0213, d3.loss_map_cls: 0.2982, d3.loss_map_pts: 1.2371, d3.loss_map_dir: 0.0215, d4.loss_map_cls: 0.2917, d4.loss_map_pts: 1.2229, d4.loss_map_dir: 0.0218, d5.loss_map_cls: 0.2894, d5.loss_map_pts: 1.2213, d5.loss_map_dir: 0.0219, loss: 44.2302, grad_norm: 152.5026 +2026-02-24 20:53:10,903 - DriveTransformer - INFO - Epoch [3][4950/39528] lr: 9.831e-05, eta: 7 days, 23:35:33, time: 0.843, data_time: 0.038, memory: 19865, loss_cls: 0.4740, loss_bbox: 0.5701, loss_traj: 1.1473, loss_traj_cls: 0.0007, loss_map_cls: 0.3377, loss_map_pts: 1.3832, loss_map_dir: 0.0272, d0.loss_plan_l1_fix_time: 2.8442, d0.loss_plan_l1_fix_dist: 0.4013, d1.loss_plan_l1_fix_time: 2.0825, d1.loss_plan_l1_fix_dist: 0.3122, d2.loss_plan_l1_fix_time: 2.0532, d2.loss_plan_l1_fix_dist: 0.3176, d3.loss_plan_l1_fix_time: 2.0515, d3.loss_plan_l1_fix_dist: 0.3281, d4.loss_plan_l1_fix_time: 2.0556, d4.loss_plan_l1_fix_dist: 0.3440, d5.loss_plan_l1_fix_time: 2.0602, d5.loss_plan_l1_fix_dist: 0.3609, d6.loss_plan_l1_fix_time: 2.0656, d6.loss_plan_l1_fix_dist: 0.3788, d0.loss_cls_all: 0.4815, d0.loss_bbox_all: 0.6125, d0.loss_cls: 0.4815, d0.loss_bbox: 0.6125, d1.loss_cls: 0.4793, d1.loss_bbox: 0.5868, d2.loss_cls: 0.4727, d2.loss_bbox: 0.5741, d3.loss_cls: 0.4701, d3.loss_bbox: 0.5685, d4.loss_cls: 0.4682, d4.loss_bbox: 0.5670, d5.loss_cls: 0.4716, d5.loss_bbox: 0.5693, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2861, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1459, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1323, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1350, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1340, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1333, d0.loss_map_cls_all: 0.3694, d0.loss_map_pts_all: 2.4721, d0.loss_map_dir_all: 0.0249, d0.loss_map_cls: 0.3694, d0.loss_map_pts: 2.4721, d0.loss_map_dir: 0.0249, d1.loss_map_cls: 0.3599, d1.loss_map_pts: 1.6084, d1.loss_map_dir: 0.0252, d2.loss_map_cls: 0.3532, d2.loss_map_pts: 1.4533, d2.loss_map_dir: 0.0258, d3.loss_map_cls: 0.3436, d3.loss_map_pts: 1.4061, d3.loss_map_dir: 0.0263, d4.loss_map_cls: 0.3384, d4.loss_map_pts: 1.3913, d4.loss_map_dir: 0.0267, d5.loss_map_cls: 0.3365, d5.loss_map_pts: 1.3881, d5.loss_map_dir: 0.0270, loss: 50.8265, grad_norm: 152.0315 +2026-02-24 20:53:51,162 - DriveTransformer - INFO - Epoch [3][5000/39528] lr: 9.831e-05, eta: 7 days, 23:34:57, time: 0.805, data_time: 0.045, memory: 19865, loss_cls: 0.4205, loss_bbox: 0.5439, loss_traj: 1.2747, loss_traj_cls: 0.0007, loss_map_cls: 0.3129, loss_map_pts: 1.2786, loss_map_dir: 0.0222, d0.loss_plan_l1_fix_time: 2.9284, d0.loss_plan_l1_fix_dist: 0.4300, d1.loss_plan_l1_fix_time: 1.9814, d1.loss_plan_l1_fix_dist: 0.2908, d2.loss_plan_l1_fix_time: 1.9462, d2.loss_plan_l1_fix_dist: 0.3047, d3.loss_plan_l1_fix_time: 1.9383, d3.loss_plan_l1_fix_dist: 0.3158, d4.loss_plan_l1_fix_time: 1.9396, d4.loss_plan_l1_fix_dist: 0.3290, d5.loss_plan_l1_fix_time: 1.9422, d5.loss_plan_l1_fix_dist: 0.3414, d6.loss_plan_l1_fix_time: 1.9465, d6.loss_plan_l1_fix_dist: 0.3598, d0.loss_cls_all: 0.4379, d0.loss_bbox_all: 0.5974, d0.loss_cls: 0.4379, d0.loss_bbox: 0.5974, d1.loss_cls: 0.4287, d1.loss_bbox: 0.5678, d2.loss_cls: 0.4205, d2.loss_bbox: 0.5549, d3.loss_cls: 0.4205, d3.loss_bbox: 0.5474, d4.loss_cls: 0.4190, d4.loss_bbox: 0.5437, d5.loss_cls: 0.4203, d5.loss_bbox: 0.5432, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4971, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3083, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.2869, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2827, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.2742, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2729, d0.loss_map_cls_all: 0.3489, d0.loss_map_pts_all: 2.1190, d0.loss_map_dir_all: 0.0208, d0.loss_map_cls: 0.3489, d0.loss_map_pts: 2.1190, d0.loss_map_dir: 0.0208, d1.loss_map_cls: 0.3369, d1.loss_map_pts: 1.4620, d1.loss_map_dir: 0.0209, d2.loss_map_cls: 0.3229, d2.loss_map_pts: 1.3354, d2.loss_map_dir: 0.0212, d3.loss_map_cls: 0.3169, d3.loss_map_pts: 1.2977, d3.loss_map_dir: 0.0216, d4.loss_map_cls: 0.3141, d4.loss_map_pts: 1.2841, d4.loss_map_dir: 0.0218, d5.loss_map_cls: 0.3122, d5.loss_map_pts: 1.2794, d5.loss_map_dir: 0.0220, loss: 49.0589, grad_norm: 152.5348 +2026-02-24 20:54:29,196 - DriveTransformer - INFO - Epoch [3][5050/39528] lr: 9.831e-05, eta: 7 days, 23:33:58, time: 0.761, data_time: 0.043, memory: 19865, loss_cls: 0.3888, loss_bbox: 0.5190, loss_traj: 1.3845, loss_traj_cls: 0.0006, loss_map_cls: 0.2777, loss_map_pts: 1.1370, loss_map_dir: 0.0156, d0.loss_plan_l1_fix_time: 2.7442, d0.loss_plan_l1_fix_dist: 0.4999, d1.loss_plan_l1_fix_time: 1.9049, d1.loss_plan_l1_fix_dist: 0.2780, d2.loss_plan_l1_fix_time: 1.8844, d2.loss_plan_l1_fix_dist: 0.2801, d3.loss_plan_l1_fix_time: 1.8864, d3.loss_plan_l1_fix_dist: 0.2929, d4.loss_plan_l1_fix_time: 1.8906, d4.loss_plan_l1_fix_dist: 0.3066, d5.loss_plan_l1_fix_time: 1.8957, d5.loss_plan_l1_fix_dist: 0.3218, d6.loss_plan_l1_fix_time: 1.9007, d6.loss_plan_l1_fix_dist: 0.3324, d0.loss_cls_all: 0.3935, d0.loss_bbox_all: 0.5677, d0.loss_cls: 0.3935, d0.loss_bbox: 0.5677, d1.loss_cls: 0.3879, d1.loss_bbox: 0.5432, d2.loss_cls: 0.3892, d2.loss_bbox: 0.5320, d3.loss_cls: 0.3886, d3.loss_bbox: 0.5256, d4.loss_cls: 0.3867, d4.loss_bbox: 0.5214, d5.loss_cls: 0.3878, d5.loss_bbox: 0.5186, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5586, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.4177, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3997, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.3817, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.3789, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.3762, d0.loss_map_cls_all: 0.3022, d0.loss_map_pts_all: 1.6706, d0.loss_map_dir_all: 0.0142, d0.loss_map_cls: 0.3022, d0.loss_map_pts: 1.6706, d0.loss_map_dir: 0.0142, d1.loss_map_cls: 0.2919, d1.loss_map_pts: 1.2734, d1.loss_map_dir: 0.0146, d2.loss_map_cls: 0.2856, d2.loss_map_pts: 1.1707, d2.loss_map_dir: 0.0149, d3.loss_map_cls: 0.2796, d3.loss_map_pts: 1.1439, d3.loss_map_dir: 0.0152, d4.loss_map_cls: 0.2768, d4.loss_map_pts: 1.1330, d4.loss_map_dir: 0.0153, d5.loss_map_cls: 0.2783, d5.loss_map_pts: 1.1287, d5.loss_map_dir: 0.0155, loss: 46.4749, grad_norm: 151.7645 +2026-02-24 20:55:09,524 - DriveTransformer - INFO - Epoch [3][5100/39528] lr: 9.831e-05, eta: 7 days, 23:33:22, time: 0.807, data_time: 0.042, memory: 19865, loss_cls: 0.4496, loss_bbox: 0.6111, loss_traj: 1.2235, loss_traj_cls: 0.0007, loss_map_cls: 0.3246, loss_map_pts: 1.3993, loss_map_dir: 0.0243, d0.loss_plan_l1_fix_time: 2.9032, d0.loss_plan_l1_fix_dist: 0.4673, d1.loss_plan_l1_fix_time: 2.0855, d1.loss_plan_l1_fix_dist: 0.3277, d2.loss_plan_l1_fix_time: 2.0487, d2.loss_plan_l1_fix_dist: 0.3320, d3.loss_plan_l1_fix_time: 2.0362, d3.loss_plan_l1_fix_dist: 0.3378, d4.loss_plan_l1_fix_time: 2.0365, d4.loss_plan_l1_fix_dist: 0.3475, d5.loss_plan_l1_fix_time: 2.0391, d5.loss_plan_l1_fix_dist: 0.3606, d6.loss_plan_l1_fix_time: 2.0424, d6.loss_plan_l1_fix_dist: 0.3787, d0.loss_cls_all: 0.4636, d0.loss_bbox_all: 0.6450, d0.loss_cls: 0.4636, d0.loss_bbox: 0.6450, d1.loss_cls: 0.4557, d1.loss_bbox: 0.6221, d2.loss_cls: 0.4532, d2.loss_bbox: 0.6134, d3.loss_cls: 0.4525, d3.loss_bbox: 0.6100, d4.loss_cls: 0.4504, d4.loss_bbox: 0.6079, d5.loss_cls: 0.4506, d5.loss_bbox: 0.6088, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3367, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2184, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.2030, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2102, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.2103, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2154, d0.loss_map_cls_all: 0.3630, d0.loss_map_pts_all: 2.2538, d0.loss_map_dir_all: 0.0222, d0.loss_map_cls: 0.3630, d0.loss_map_pts: 2.2538, d0.loss_map_dir: 0.0222, d1.loss_map_cls: 0.3456, d1.loss_map_pts: 1.5875, d1.loss_map_dir: 0.0225, d2.loss_map_cls: 0.3326, d2.loss_map_pts: 1.4567, d2.loss_map_dir: 0.0231, d3.loss_map_cls: 0.3286, d3.loss_map_pts: 1.4166, d3.loss_map_dir: 0.0235, d4.loss_map_cls: 0.3258, d4.loss_map_pts: 1.4048, d4.loss_map_dir: 0.0239, d5.loss_map_cls: 0.3248, d5.loss_map_pts: 1.3993, d5.loss_map_dir: 0.0241, loss: 51.0350, grad_norm: 152.9751 +2026-02-24 20:55:48,562 - DriveTransformer - INFO - Epoch [3][5150/39528] lr: 9.831e-05, eta: 7 days, 23:32:34, time: 0.781, data_time: 0.038, memory: 19865, loss_cls: 0.4272, loss_bbox: 0.5431, loss_traj: 1.1662, loss_traj_cls: 0.0007, loss_map_cls: 0.3030, loss_map_pts: 1.2812, loss_map_dir: 0.0226, d0.loss_plan_l1_fix_time: 2.8579, d0.loss_plan_l1_fix_dist: 0.4216, d1.loss_plan_l1_fix_time: 2.0287, d1.loss_plan_l1_fix_dist: 0.2695, d2.loss_plan_l1_fix_time: 1.9962, d2.loss_plan_l1_fix_dist: 0.2722, d3.loss_plan_l1_fix_time: 1.9947, d3.loss_plan_l1_fix_dist: 0.2797, d4.loss_plan_l1_fix_time: 1.9994, d4.loss_plan_l1_fix_dist: 0.2868, d5.loss_plan_l1_fix_time: 2.0046, d5.loss_plan_l1_fix_dist: 0.2944, d6.loss_plan_l1_fix_time: 2.0110, d6.loss_plan_l1_fix_dist: 0.3057, d0.loss_cls_all: 0.4396, d0.loss_bbox_all: 0.5791, d0.loss_cls: 0.4396, d0.loss_bbox: 0.5791, d1.loss_cls: 0.4370, d1.loss_bbox: 0.5538, d2.loss_cls: 0.4342, d2.loss_bbox: 0.5433, d3.loss_cls: 0.4307, d3.loss_bbox: 0.5376, d4.loss_cls: 0.4294, d4.loss_bbox: 0.5380, d5.loss_cls: 0.4305, d5.loss_bbox: 0.5384, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3220, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1969, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1555, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1553, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1572, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1577, d0.loss_map_cls_all: 0.3506, d0.loss_map_pts_all: 2.1091, d0.loss_map_dir_all: 0.0207, d0.loss_map_cls: 0.3506, d0.loss_map_pts: 2.1091, d0.loss_map_dir: 0.0207, d1.loss_map_cls: 0.3340, d1.loss_map_pts: 1.4502, d1.loss_map_dir: 0.0210, d2.loss_map_cls: 0.3194, d2.loss_map_pts: 1.3337, d2.loss_map_dir: 0.0214, d3.loss_map_cls: 0.3069, d3.loss_map_pts: 1.2954, d3.loss_map_dir: 0.0218, d4.loss_map_cls: 0.3024, d4.loss_map_pts: 1.2868, d4.loss_map_dir: 0.0222, d5.loss_map_cls: 0.3025, d5.loss_map_pts: 1.2832, d5.loss_map_dir: 0.0223, loss: 48.1104, grad_norm: 153.3387 +2026-02-24 20:56:29,532 - DriveTransformer - INFO - Epoch [3][5200/39528] lr: 9.831e-05, eta: 7 days, 23:32:06, time: 0.821, data_time: 0.039, memory: 19865, loss_cls: 0.4412, loss_bbox: 0.5650, loss_traj: 1.0857, loss_traj_cls: 0.0007, loss_map_cls: 0.3154, loss_map_pts: 1.3373, loss_map_dir: 0.0249, d0.loss_plan_l1_fix_time: 2.5668, d0.loss_plan_l1_fix_dist: 0.5072, d1.loss_plan_l1_fix_time: 1.7639, d1.loss_plan_l1_fix_dist: 0.2759, d2.loss_plan_l1_fix_time: 1.7586, d2.loss_plan_l1_fix_dist: 0.2775, d3.loss_plan_l1_fix_time: 1.7682, d3.loss_plan_l1_fix_dist: 0.2846, d4.loss_plan_l1_fix_time: 1.7757, d4.loss_plan_l1_fix_dist: 0.2937, d5.loss_plan_l1_fix_time: 1.7827, d5.loss_plan_l1_fix_dist: 0.3033, d6.loss_plan_l1_fix_time: 1.7907, d6.loss_plan_l1_fix_dist: 0.3138, d0.loss_cls_all: 0.4420, d0.loss_bbox_all: 0.6012, d0.loss_cls: 0.4420, d0.loss_bbox: 0.6012, d1.loss_cls: 0.4402, d1.loss_bbox: 0.5764, d2.loss_cls: 0.4395, d2.loss_bbox: 0.5680, d3.loss_cls: 0.4392, d3.loss_bbox: 0.5632, d4.loss_cls: 0.4371, d4.loss_bbox: 0.5640, d5.loss_cls: 0.4391, d5.loss_bbox: 0.5636, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1753, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.0815, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0676, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0679, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0728, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0795, d0.loss_map_cls_all: 0.3438, d0.loss_map_pts_all: 2.2265, d0.loss_map_dir_all: 0.0229, d0.loss_map_cls: 0.3438, d0.loss_map_pts: 2.2265, d0.loss_map_dir: 0.0229, d1.loss_map_cls: 0.3306, d1.loss_map_pts: 1.5354, d1.loss_map_dir: 0.0232, d2.loss_map_cls: 0.3219, d2.loss_map_pts: 1.3985, d2.loss_map_dir: 0.0237, d3.loss_map_cls: 0.3161, d3.loss_map_pts: 1.3498, d3.loss_map_dir: 0.0241, d4.loss_map_cls: 0.3137, d4.loss_map_pts: 1.3360, d4.loss_map_dir: 0.0245, d5.loss_map_cls: 0.3139, d5.loss_map_pts: 1.3366, d5.loss_map_dir: 0.0247, loss: 46.7589, grad_norm: 154.5050 +2026-02-24 20:57:10,704 - DriveTransformer - INFO - Epoch [3][5250/39528] lr: 9.831e-05, eta: 7 days, 23:31:38, time: 0.822, data_time: 0.040, memory: 19865, loss_cls: 0.4312, loss_bbox: 0.5772, loss_traj: 1.0408, loss_traj_cls: 0.0006, loss_map_cls: 0.3281, loss_map_pts: 1.4250, loss_map_dir: 0.0271, d0.loss_plan_l1_fix_time: 2.4264, d0.loss_plan_l1_fix_dist: 0.3984, d1.loss_plan_l1_fix_time: 1.8238, d1.loss_plan_l1_fix_dist: 0.2900, d2.loss_plan_l1_fix_time: 1.8006, d2.loss_plan_l1_fix_dist: 0.2960, d3.loss_plan_l1_fix_time: 1.7999, d3.loss_plan_l1_fix_dist: 0.3026, d4.loss_plan_l1_fix_time: 1.8053, d4.loss_plan_l1_fix_dist: 0.3119, d5.loss_plan_l1_fix_time: 1.8122, d5.loss_plan_l1_fix_dist: 0.3228, d6.loss_plan_l1_fix_time: 1.8191, d6.loss_plan_l1_fix_dist: 0.3359, d0.loss_cls_all: 0.4413, d0.loss_bbox_all: 0.6191, d0.loss_cls: 0.4413, d0.loss_bbox: 0.6191, d1.loss_cls: 0.4358, d1.loss_bbox: 0.5893, d2.loss_cls: 0.4343, d2.loss_bbox: 0.5790, d3.loss_cls: 0.4344, d3.loss_bbox: 0.5754, d4.loss_cls: 0.4337, d4.loss_bbox: 0.5744, d5.loss_cls: 0.4326, d5.loss_bbox: 0.5775, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1891, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0804, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0436, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0406, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.0391, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0427, d0.loss_map_cls_all: 0.3612, d0.loss_map_pts_all: 2.3740, d0.loss_map_dir_all: 0.0248, d0.loss_map_cls: 0.3612, d0.loss_map_pts: 2.3740, d0.loss_map_dir: 0.0248, d1.loss_map_cls: 0.3470, d1.loss_map_pts: 1.6535, d1.loss_map_dir: 0.0252, d2.loss_map_cls: 0.3385, d2.loss_map_pts: 1.4963, d2.loss_map_dir: 0.0257, d3.loss_map_cls: 0.3307, d3.loss_map_pts: 1.4448, d3.loss_map_dir: 0.0263, d4.loss_map_cls: 0.3270, d4.loss_map_pts: 1.4293, d4.loss_map_dir: 0.0267, d5.loss_map_cls: 0.3271, d5.loss_map_pts: 1.4261, d5.loss_map_dir: 0.0270, loss: 47.7745, grad_norm: 155.2575 +2026-02-24 20:57:51,623 - DriveTransformer - INFO - Epoch [3][5300/39528] lr: 9.831e-05, eta: 7 days, 23:31:09, time: 0.818, data_time: 0.040, memory: 19865, loss_cls: 0.4144, loss_bbox: 0.5742, loss_traj: 1.1667, loss_traj_cls: 0.0006, loss_map_cls: 0.2966, loss_map_pts: 1.3144, loss_map_dir: 0.0223, d0.loss_plan_l1_fix_time: 2.8444, d0.loss_plan_l1_fix_dist: 0.5169, d1.loss_plan_l1_fix_time: 2.1239, d1.loss_plan_l1_fix_dist: 0.2912, d2.loss_plan_l1_fix_time: 2.0940, d2.loss_plan_l1_fix_dist: 0.2940, d3.loss_plan_l1_fix_time: 2.0942, d3.loss_plan_l1_fix_dist: 0.3027, d4.loss_plan_l1_fix_time: 2.0989, d4.loss_plan_l1_fix_dist: 0.3128, d5.loss_plan_l1_fix_time: 2.1051, d5.loss_plan_l1_fix_dist: 0.3240, d6.loss_plan_l1_fix_time: 2.1119, d6.loss_plan_l1_fix_dist: 0.3424, d0.loss_cls_all: 0.4325, d0.loss_bbox_all: 0.6075, d0.loss_cls: 0.4325, d0.loss_bbox: 0.6075, d1.loss_cls: 0.4240, d1.loss_bbox: 0.5855, d2.loss_cls: 0.4190, d2.loss_bbox: 0.5776, d3.loss_cls: 0.4158, d3.loss_bbox: 0.5714, d4.loss_cls: 0.4137, d4.loss_bbox: 0.5691, d5.loss_cls: 0.4169, d5.loss_bbox: 0.5700, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4338, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2007, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1557, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1531, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1569, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1615, d0.loss_map_cls_all: 0.3432, d0.loss_map_pts_all: 2.1371, d0.loss_map_dir_all: 0.0209, d0.loss_map_cls: 0.3432, d0.loss_map_pts: 2.1371, d0.loss_map_dir: 0.0209, d1.loss_map_cls: 0.3282, d1.loss_map_pts: 1.5243, d1.loss_map_dir: 0.0211, d2.loss_map_cls: 0.3175, d2.loss_map_pts: 1.3816, d2.loss_map_dir: 0.0214, d3.loss_map_cls: 0.3027, d3.loss_map_pts: 1.3335, d3.loss_map_dir: 0.0217, d4.loss_map_cls: 0.2969, d4.loss_map_pts: 1.3205, d4.loss_map_dir: 0.0221, d5.loss_map_cls: 0.2954, d5.loss_map_pts: 1.3156, d5.loss_map_dir: 0.0222, loss: 49.4831, grad_norm: 154.6462 +2026-02-24 20:58:32,751 - DriveTransformer - INFO - Epoch [3][5350/39528] lr: 9.831e-05, eta: 7 days, 23:30:42, time: 0.823, data_time: 0.042, memory: 19865, loss_cls: 0.4204, loss_bbox: 0.5586, loss_traj: 1.4351, loss_traj_cls: 0.0007, loss_map_cls: 0.3258, loss_map_pts: 1.3083, loss_map_dir: 0.0211, d0.loss_plan_l1_fix_time: 3.3832, d0.loss_plan_l1_fix_dist: 0.4538, d1.loss_plan_l1_fix_time: 2.2264, d1.loss_plan_l1_fix_dist: 0.2844, d2.loss_plan_l1_fix_time: 2.1988, d2.loss_plan_l1_fix_dist: 0.2927, d3.loss_plan_l1_fix_time: 2.1970, d3.loss_plan_l1_fix_dist: 0.3018, d4.loss_plan_l1_fix_time: 2.2033, d4.loss_plan_l1_fix_dist: 0.3118, d5.loss_plan_l1_fix_time: 2.2119, d5.loss_plan_l1_fix_dist: 0.3224, d6.loss_plan_l1_fix_time: 2.2234, d6.loss_plan_l1_fix_dist: 0.3316, d0.loss_cls_all: 0.4414, d0.loss_bbox_all: 0.6065, d0.loss_cls: 0.4414, d0.loss_bbox: 0.6065, d1.loss_cls: 0.4337, d1.loss_bbox: 0.5787, d2.loss_cls: 0.4264, d2.loss_bbox: 0.5673, d3.loss_cls: 0.4234, d3.loss_bbox: 0.5611, d4.loss_cls: 0.4208, d4.loss_bbox: 0.5568, d5.loss_cls: 0.4205, d5.loss_bbox: 0.5574, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5931, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.4415, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.4227, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.4145, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.4163, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.4253, d0.loss_map_cls_all: 0.3641, d0.loss_map_pts_all: 2.1616, d0.loss_map_dir_all: 0.0195, d0.loss_map_cls: 0.3641, d0.loss_map_pts: 2.1616, d0.loss_map_dir: 0.0195, d1.loss_map_cls: 0.3453, d1.loss_map_pts: 1.5149, d1.loss_map_dir: 0.0199, d2.loss_map_cls: 0.3342, d2.loss_map_pts: 1.3817, d2.loss_map_dir: 0.0201, d3.loss_map_cls: 0.3273, d3.loss_map_pts: 1.3305, d3.loss_map_dir: 0.0205, d4.loss_map_cls: 0.3231, d4.loss_map_pts: 1.3164, d4.loss_map_dir: 0.0209, d5.loss_map_cls: 0.3247, d5.loss_map_pts: 1.3105, d5.loss_map_dir: 0.0210, loss: 52.4747, grad_norm: 154.6728 +2026-02-24 20:59:13,438 - DriveTransformer - INFO - Epoch [3][5400/39528] lr: 9.831e-05, eta: 7 days, 23:30:10, time: 0.814, data_time: 0.041, memory: 19865, loss_cls: 0.3736, loss_bbox: 0.5395, loss_traj: 1.4070, loss_traj_cls: 0.0007, loss_map_cls: 0.3209, loss_map_pts: 1.3010, loss_map_dir: 0.0219, d0.loss_plan_l1_fix_time: 2.6840, d0.loss_plan_l1_fix_dist: 0.3479, d1.loss_plan_l1_fix_time: 1.7811, d1.loss_plan_l1_fix_dist: 0.2498, d2.loss_plan_l1_fix_time: 1.7584, d2.loss_plan_l1_fix_dist: 0.2556, d3.loss_plan_l1_fix_time: 1.7564, d3.loss_plan_l1_fix_dist: 0.2639, d4.loss_plan_l1_fix_time: 1.7592, d4.loss_plan_l1_fix_dist: 0.2770, d5.loss_plan_l1_fix_time: 1.7642, d5.loss_plan_l1_fix_dist: 0.2910, d6.loss_plan_l1_fix_time: 1.7718, d6.loss_plan_l1_fix_dist: 0.3031, d0.loss_cls_all: 0.3862, d0.loss_bbox_all: 0.5859, d0.loss_cls: 0.3862, d0.loss_bbox: 0.5859, d1.loss_cls: 0.3824, d1.loss_bbox: 0.5546, d2.loss_cls: 0.3766, d2.loss_bbox: 0.5422, d3.loss_cls: 0.3756, d3.loss_bbox: 0.5366, d4.loss_cls: 0.3705, d4.loss_bbox: 0.5367, d5.loss_cls: 0.3719, d5.loss_bbox: 0.5376, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6281, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.4233, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.4103, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.4145, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.4043, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.4150, d0.loss_map_cls_all: 0.3612, d0.loss_map_pts_all: 2.1067, d0.loss_map_dir_all: 0.0195, d0.loss_map_cls: 0.3612, d0.loss_map_pts: 2.1067, d0.loss_map_dir: 0.0195, d1.loss_map_cls: 0.3373, d1.loss_map_pts: 1.5127, d1.loss_map_dir: 0.0203, d2.loss_map_cls: 0.3279, d2.loss_map_pts: 1.3751, d2.loss_map_dir: 0.0208, d3.loss_map_cls: 0.3240, d3.loss_map_pts: 1.3253, d3.loss_map_dir: 0.0212, d4.loss_map_cls: 0.3202, d4.loss_map_pts: 1.3095, d4.loss_map_dir: 0.0216, d5.loss_map_cls: 0.3213, d5.loss_map_pts: 1.3036, d5.loss_map_dir: 0.0217, loss: 47.9955, grad_norm: 154.2897 +2026-02-24 20:59:52,230 - DriveTransformer - INFO - Epoch [3][5450/39528] lr: 9.831e-05, eta: 7 days, 23:29:19, time: 0.776, data_time: 0.041, memory: 19865, loss_cls: 0.4221, loss_bbox: 0.5861, loss_traj: 1.4341, loss_traj_cls: 0.0007, loss_map_cls: 0.3268, loss_map_pts: 1.4529, loss_map_dir: 0.0218, d0.loss_plan_l1_fix_time: 2.6573, d0.loss_plan_l1_fix_dist: 0.3874, d1.loss_plan_l1_fix_time: 2.2446, d1.loss_plan_l1_fix_dist: 0.3406, d2.loss_plan_l1_fix_time: 2.2369, d2.loss_plan_l1_fix_dist: 0.3479, d3.loss_plan_l1_fix_time: 2.2453, d3.loss_plan_l1_fix_dist: 0.3573, d4.loss_plan_l1_fix_time: 2.2513, d4.loss_plan_l1_fix_dist: 0.3663, d5.loss_plan_l1_fix_time: 2.2569, d5.loss_plan_l1_fix_dist: 0.3769, d6.loss_plan_l1_fix_time: 2.2624, d6.loss_plan_l1_fix_dist: 0.3920, d0.loss_cls_all: 0.4335, d0.loss_bbox_all: 0.6319, d0.loss_cls: 0.4335, d0.loss_bbox: 0.6319, d1.loss_cls: 0.4283, d1.loss_bbox: 0.6026, d2.loss_cls: 0.4225, d2.loss_bbox: 0.5918, d3.loss_cls: 0.4226, d3.loss_bbox: 0.5879, d4.loss_cls: 0.4209, d4.loss_bbox: 0.5848, d5.loss_cls: 0.4230, d5.loss_bbox: 0.5833, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6940, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.4622, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.4035, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.4005, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.4003, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.4211, d0.loss_map_cls_all: 0.3723, d0.loss_map_pts_all: 2.2493, d0.loss_map_dir_all: 0.0201, d0.loss_map_cls: 0.3723, d0.loss_map_pts: 2.2493, d0.loss_map_dir: 0.0201, d1.loss_map_cls: 0.3459, d1.loss_map_pts: 1.6624, d1.loss_map_dir: 0.0203, d2.loss_map_cls: 0.3371, d2.loss_map_pts: 1.5342, d2.loss_map_dir: 0.0208, d3.loss_map_cls: 0.3294, d3.loss_map_pts: 1.4847, d3.loss_map_dir: 0.0211, d4.loss_map_cls: 0.3288, d4.loss_map_pts: 1.4635, d4.loss_map_dir: 0.0216, d5.loss_map_cls: 0.3267, d5.loss_map_pts: 1.4568, d5.loss_map_dir: 0.0217, loss: 53.6119, grad_norm: 155.1785 +2026-02-24 21:00:33,549 - DriveTransformer - INFO - Epoch [3][5500/39528] lr: 9.831e-05, eta: 7 days, 23:28:54, time: 0.826, data_time: 0.037, memory: 19865, loss_cls: 0.4061, loss_bbox: 0.5759, loss_traj: 1.1212, loss_traj_cls: 0.0007, loss_map_cls: 0.3286, loss_map_pts: 1.4573, loss_map_dir: 0.0235, d0.loss_plan_l1_fix_time: 2.6737, d0.loss_plan_l1_fix_dist: 0.4089, d1.loss_plan_l1_fix_time: 1.8385, d1.loss_plan_l1_fix_dist: 0.2705, d2.loss_plan_l1_fix_time: 1.8171, d2.loss_plan_l1_fix_dist: 0.2748, d3.loss_plan_l1_fix_time: 1.8200, d3.loss_plan_l1_fix_dist: 0.2850, d4.loss_plan_l1_fix_time: 1.8250, d4.loss_plan_l1_fix_dist: 0.2945, d5.loss_plan_l1_fix_time: 1.8300, d5.loss_plan_l1_fix_dist: 0.3083, d6.loss_plan_l1_fix_time: 1.8349, d6.loss_plan_l1_fix_dist: 0.3233, d0.loss_cls_all: 0.4274, d0.loss_bbox_all: 0.5943, d0.loss_cls: 0.4274, d0.loss_bbox: 0.5943, d1.loss_cls: 0.4184, d1.loss_bbox: 0.5755, d2.loss_cls: 0.4108, d2.loss_bbox: 0.5706, d3.loss_cls: 0.4073, d3.loss_bbox: 0.5677, d4.loss_cls: 0.4047, d4.loss_bbox: 0.5704, d5.loss_cls: 0.4053, d5.loss_bbox: 0.5731, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3541, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1790, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1308, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1285, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1283, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1248, d0.loss_map_cls_all: 0.3744, d0.loss_map_pts_all: 2.4687, d0.loss_map_dir_all: 0.0222, d0.loss_map_cls: 0.3744, d0.loss_map_pts: 2.4687, d0.loss_map_dir: 0.0222, d1.loss_map_cls: 0.3532, d1.loss_map_pts: 1.6977, d1.loss_map_dir: 0.0220, d2.loss_map_cls: 0.3405, d2.loss_map_pts: 1.5487, d2.loss_map_dir: 0.0225, d3.loss_map_cls: 0.3329, d3.loss_map_pts: 1.4905, d3.loss_map_dir: 0.0228, d4.loss_map_cls: 0.3296, d4.loss_map_pts: 1.4663, d4.loss_map_dir: 0.0232, d5.loss_map_cls: 0.3282, d5.loss_map_pts: 1.4610, d5.loss_map_dir: 0.0234, loss: 48.9092, grad_norm: 153.9872 +2026-02-24 21:01:13,192 - DriveTransformer - INFO - Epoch [3][5550/39528] lr: 9.831e-05, eta: 7 days, 23:28:11, time: 0.793, data_time: 0.041, memory: 19865, loss_cls: 0.3916, loss_bbox: 0.5469, loss_traj: 1.0993, loss_traj_cls: 0.0007, loss_map_cls: 0.2909, loss_map_pts: 1.2263, loss_map_dir: 0.0228, d0.loss_plan_l1_fix_time: 2.5951, d0.loss_plan_l1_fix_dist: 0.4232, d1.loss_plan_l1_fix_time: 1.8388, d1.loss_plan_l1_fix_dist: 0.2806, d2.loss_plan_l1_fix_time: 1.8237, d2.loss_plan_l1_fix_dist: 0.2887, d3.loss_plan_l1_fix_time: 1.8316, d3.loss_plan_l1_fix_dist: 0.3000, d4.loss_plan_l1_fix_time: 1.8410, d4.loss_plan_l1_fix_dist: 0.3146, d5.loss_plan_l1_fix_time: 1.8502, d5.loss_plan_l1_fix_dist: 0.3296, d6.loss_plan_l1_fix_time: 1.8601, d6.loss_plan_l1_fix_dist: 0.3427, d0.loss_cls_all: 0.4079, d0.loss_bbox_all: 0.5820, d0.loss_cls: 0.4079, d0.loss_bbox: 0.5820, d1.loss_cls: 0.3982, d1.loss_bbox: 0.5589, d2.loss_cls: 0.3945, d2.loss_bbox: 0.5468, d3.loss_cls: 0.3935, d3.loss_bbox: 0.5419, d4.loss_cls: 0.3911, d4.loss_bbox: 0.5454, d5.loss_cls: 0.3903, d5.loss_bbox: 0.5456, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2212, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1084, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0780, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0840, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0823, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0854, d0.loss_map_cls_all: 0.3360, d0.loss_map_pts_all: 2.0780, d0.loss_map_dir_all: 0.0210, d0.loss_map_cls: 0.3360, d0.loss_map_pts: 2.0780, d0.loss_map_dir: 0.0210, d1.loss_map_cls: 0.3193, d1.loss_map_pts: 1.4355, d1.loss_map_dir: 0.0211, d2.loss_map_cls: 0.2996, d2.loss_map_pts: 1.3011, d2.loss_map_dir: 0.0218, d3.loss_map_cls: 0.2899, d3.loss_map_pts: 1.2555, d3.loss_map_dir: 0.0221, d4.loss_map_cls: 0.2873, d4.loss_map_pts: 1.2336, d4.loss_map_dir: 0.0225, d5.loss_map_cls: 0.2886, d5.loss_map_pts: 1.2292, d5.loss_map_dir: 0.0227, loss: 45.7690, grad_norm: 153.9527 +2026-02-24 21:01:54,109 - DriveTransformer - INFO - Epoch [3][5600/39528] lr: 9.831e-05, eta: 7 days, 23:27:42, time: 0.818, data_time: 0.043, memory: 19865, loss_cls: 0.4164, loss_bbox: 0.5917, loss_traj: 1.0373, loss_traj_cls: 0.0006, loss_map_cls: 0.3194, loss_map_pts: 1.5140, loss_map_dir: 0.0259, d0.loss_plan_l1_fix_time: 2.7836, d0.loss_plan_l1_fix_dist: 0.5234, d1.loss_plan_l1_fix_time: 1.9045, d1.loss_plan_l1_fix_dist: 0.2942, d2.loss_plan_l1_fix_time: 1.8823, d2.loss_plan_l1_fix_dist: 0.2993, d3.loss_plan_l1_fix_time: 1.8858, d3.loss_plan_l1_fix_dist: 0.3076, d4.loss_plan_l1_fix_time: 1.8946, d4.loss_plan_l1_fix_dist: 0.3174, d5.loss_plan_l1_fix_time: 1.9044, d5.loss_plan_l1_fix_dist: 0.3297, d6.loss_plan_l1_fix_time: 1.9152, d6.loss_plan_l1_fix_dist: 0.3442, d0.loss_cls_all: 0.4338, d0.loss_bbox_all: 0.6154, d0.loss_cls: 0.4338, d0.loss_bbox: 0.6154, d1.loss_cls: 0.4297, d1.loss_bbox: 0.5948, d2.loss_cls: 0.4248, d2.loss_bbox: 0.5881, d3.loss_cls: 0.4207, d3.loss_bbox: 0.5861, d4.loss_cls: 0.4201, d4.loss_bbox: 0.5863, d5.loss_cls: 0.4189, d5.loss_bbox: 0.5876, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1734, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.0480, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0202, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0223, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0182, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0332, d0.loss_map_cls_all: 0.3550, d0.loss_map_pts_all: 2.3970, d0.loss_map_dir_all: 0.0237, d0.loss_map_cls: 0.3550, d0.loss_map_pts: 2.3970, d0.loss_map_dir: 0.0237, d1.loss_map_cls: 0.3390, d1.loss_map_pts: 1.7150, d1.loss_map_dir: 0.0239, d2.loss_map_cls: 0.3275, d2.loss_map_pts: 1.5786, d2.loss_map_dir: 0.0247, d3.loss_map_cls: 0.3216, d3.loss_map_pts: 1.5380, d3.loss_map_dir: 0.0251, d4.loss_map_cls: 0.3184, d4.loss_map_pts: 1.5209, d4.loss_map_dir: 0.0255, d5.loss_map_cls: 0.3181, d5.loss_map_pts: 1.5183, d5.loss_map_dir: 0.0257, loss: 49.1393, grad_norm: 151.8161 +2026-02-24 21:02:34,721 - DriveTransformer - INFO - Epoch [3][5650/39528] lr: 9.831e-05, eta: 7 days, 23:27:10, time: 0.812, data_time: 0.043, memory: 19865, loss_cls: 0.4020, loss_bbox: 0.5568, loss_traj: 1.1164, loss_traj_cls: 0.0006, loss_map_cls: 0.2621, loss_map_pts: 1.3243, loss_map_dir: 0.0233, d0.loss_plan_l1_fix_time: 2.8152, d0.loss_plan_l1_fix_dist: 0.5319, d1.loss_plan_l1_fix_time: 2.1470, d1.loss_plan_l1_fix_dist: 0.3148, d2.loss_plan_l1_fix_time: 2.1110, d2.loss_plan_l1_fix_dist: 0.3199, d3.loss_plan_l1_fix_time: 2.1082, d3.loss_plan_l1_fix_dist: 0.3289, d4.loss_plan_l1_fix_time: 2.1117, d4.loss_plan_l1_fix_dist: 0.3398, d5.loss_plan_l1_fix_time: 2.1171, d5.loss_plan_l1_fix_dist: 0.3517, d6.loss_plan_l1_fix_time: 2.1230, d6.loss_plan_l1_fix_dist: 0.3672, d0.loss_cls_all: 0.4252, d0.loss_bbox_all: 0.5948, d0.loss_cls: 0.4252, d0.loss_bbox: 0.5948, d1.loss_cls: 0.4153, d1.loss_bbox: 0.5728, d2.loss_cls: 0.4115, d2.loss_bbox: 0.5596, d3.loss_cls: 0.4077, d3.loss_bbox: 0.5541, d4.loss_cls: 0.4047, d4.loss_bbox: 0.5525, d5.loss_cls: 0.4038, d5.loss_bbox: 0.5549, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2932, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1224, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0969, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1055, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1094, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1181, d0.loss_map_cls_all: 0.3037, d0.loss_map_pts_all: 2.1912, d0.loss_map_dir_all: 0.0222, d0.loss_map_cls: 0.3037, d0.loss_map_pts: 2.1912, d0.loss_map_dir: 0.0222, d1.loss_map_cls: 0.2838, d1.loss_map_pts: 1.5083, d1.loss_map_dir: 0.0221, d2.loss_map_cls: 0.2749, d2.loss_map_pts: 1.3792, d2.loss_map_dir: 0.0224, d3.loss_map_cls: 0.2640, d3.loss_map_pts: 1.3444, d3.loss_map_dir: 0.0228, d4.loss_map_cls: 0.2638, d4.loss_map_pts: 1.3279, d4.loss_map_dir: 0.0231, d5.loss_map_cls: 0.2628, d5.loss_map_pts: 1.3242, d5.loss_map_dir: 0.0232, loss: 48.8817, grad_norm: 151.5704 +2026-02-24 21:03:14,119 - DriveTransformer - INFO - Epoch [3][5700/39528] lr: 9.831e-05, eta: 7 days, 23:26:25, time: 0.788, data_time: 0.044, memory: 19865, loss_cls: 0.4203, loss_bbox: 0.5362, loss_traj: 1.1427, loss_traj_cls: 0.0007, loss_map_cls: 0.2782, loss_map_pts: 1.1906, loss_map_dir: 0.0203, d0.loss_plan_l1_fix_time: 2.7869, d0.loss_plan_l1_fix_dist: 0.4375, d1.loss_plan_l1_fix_time: 2.0345, d1.loss_plan_l1_fix_dist: 0.3166, d2.loss_plan_l1_fix_time: 2.0179, d2.loss_plan_l1_fix_dist: 0.3245, d3.loss_plan_l1_fix_time: 2.0236, d3.loss_plan_l1_fix_dist: 0.3395, d4.loss_plan_l1_fix_time: 2.0305, d4.loss_plan_l1_fix_dist: 0.3590, d5.loss_plan_l1_fix_time: 2.0385, d5.loss_plan_l1_fix_dist: 0.3809, d6.loss_plan_l1_fix_time: 2.0473, d6.loss_plan_l1_fix_dist: 0.4019, d0.loss_cls_all: 0.4290, d0.loss_bbox_all: 0.5802, d0.loss_cls: 0.4290, d0.loss_bbox: 0.5802, d1.loss_cls: 0.4241, d1.loss_bbox: 0.5553, d2.loss_cls: 0.4168, d2.loss_bbox: 0.5433, d3.loss_cls: 0.4185, d3.loss_bbox: 0.5367, d4.loss_cls: 0.4185, d4.loss_bbox: 0.5341, d5.loss_cls: 0.4191, d5.loss_bbox: 0.5358, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3062, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1509, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1238, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1314, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1274, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1292, d0.loss_map_cls_all: 0.3075, d0.loss_map_pts_all: 1.9389, d0.loss_map_dir_all: 0.0186, d0.loss_map_cls: 0.3075, d0.loss_map_pts: 1.9389, d0.loss_map_dir: 0.0186, d1.loss_map_cls: 0.2938, d1.loss_map_pts: 1.3706, d1.loss_map_dir: 0.0189, d2.loss_map_cls: 0.2862, d2.loss_map_pts: 1.2485, d2.loss_map_dir: 0.0193, d3.loss_map_cls: 0.2809, d3.loss_map_pts: 1.2077, d3.loss_map_dir: 0.0196, d4.loss_map_cls: 0.2775, d4.loss_map_pts: 1.1914, d4.loss_map_dir: 0.0200, d5.loss_map_cls: 0.2767, d5.loss_map_pts: 1.1901, d5.loss_map_dir: 0.0201, loss: 47.1744, grad_norm: 152.3410 +2026-02-24 21:03:53,346 - DriveTransformer - INFO - Epoch [3][5750/39528] lr: 9.831e-05, eta: 7 days, 23:25:38, time: 0.784, data_time: 0.045, memory: 19865, loss_cls: 0.3571, loss_bbox: 0.5351, loss_traj: 1.2038, loss_traj_cls: 0.0006, loss_map_cls: 0.2427, loss_map_pts: 1.0900, loss_map_dir: 0.0182, d0.loss_plan_l1_fix_time: 2.6521, d0.loss_plan_l1_fix_dist: 0.4765, d1.loss_plan_l1_fix_time: 2.0809, d1.loss_plan_l1_fix_dist: 0.3128, d2.loss_plan_l1_fix_time: 2.0594, d2.loss_plan_l1_fix_dist: 0.3217, d3.loss_plan_l1_fix_time: 2.0571, d3.loss_plan_l1_fix_dist: 0.3389, d4.loss_plan_l1_fix_time: 2.0600, d4.loss_plan_l1_fix_dist: 0.3598, d5.loss_plan_l1_fix_time: 2.0645, d5.loss_plan_l1_fix_dist: 0.3849, d6.loss_plan_l1_fix_time: 2.0707, d6.loss_plan_l1_fix_dist: 0.4098, d0.loss_cls_all: 0.3649, d0.loss_bbox_all: 0.5778, d0.loss_cls: 0.3649, d0.loss_bbox: 0.5778, d1.loss_cls: 0.3603, d1.loss_bbox: 0.5493, d2.loss_cls: 0.3576, d2.loss_bbox: 0.5391, d3.loss_cls: 0.3589, d3.loss_bbox: 0.5349, d4.loss_cls: 0.3566, d4.loss_bbox: 0.5341, d5.loss_cls: 0.3552, d5.loss_bbox: 0.5342, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4658, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2507, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2045, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2013, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2010, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2049, d0.loss_map_cls_all: 0.2918, d0.loss_map_pts_all: 1.8467, d0.loss_map_dir_all: 0.0171, d0.loss_map_cls: 0.2918, d0.loss_map_pts: 1.8467, d0.loss_map_dir: 0.0171, d1.loss_map_cls: 0.2725, d1.loss_map_pts: 1.2720, d1.loss_map_dir: 0.0172, d2.loss_map_cls: 0.2595, d2.loss_map_pts: 1.1497, d2.loss_map_dir: 0.0173, d3.loss_map_cls: 0.2520, d3.loss_map_pts: 1.1052, d3.loss_map_dir: 0.0176, d4.loss_map_cls: 0.2456, d4.loss_map_pts: 1.0904, d4.loss_map_dir: 0.0179, d5.loss_map_cls: 0.2426, d5.loss_map_pts: 1.0870, d5.loss_map_dir: 0.0181, loss: 46.3716, grad_norm: 150.5002 +2026-02-24 21:04:32,676 - DriveTransformer - INFO - Epoch [3][5800/39528] lr: 9.831e-05, eta: 7 days, 23:24:53, time: 0.787, data_time: 0.036, memory: 19865, loss_cls: 0.4132, loss_bbox: 0.5595, loss_traj: 1.0582, loss_traj_cls: 0.0007, loss_map_cls: 0.3031, loss_map_pts: 1.3101, loss_map_dir: 0.0234, d0.loss_plan_l1_fix_time: 2.5401, d0.loss_plan_l1_fix_dist: 0.5082, d1.loss_plan_l1_fix_time: 1.8791, d1.loss_plan_l1_fix_dist: 0.3279, d2.loss_plan_l1_fix_time: 1.8574, d2.loss_plan_l1_fix_dist: 0.3349, d3.loss_plan_l1_fix_time: 1.8589, d3.loss_plan_l1_fix_dist: 0.3469, d4.loss_plan_l1_fix_time: 1.8632, d4.loss_plan_l1_fix_dist: 0.3614, d5.loss_plan_l1_fix_time: 1.8678, d5.loss_plan_l1_fix_dist: 0.3756, d6.loss_plan_l1_fix_time: 1.8727, d6.loss_plan_l1_fix_dist: 0.3940, d0.loss_cls_all: 0.4258, d0.loss_bbox_all: 0.6120, d0.loss_cls: 0.4258, d0.loss_bbox: 0.6120, d1.loss_cls: 0.4178, d1.loss_bbox: 0.5839, d2.loss_cls: 0.4133, d2.loss_bbox: 0.5675, d3.loss_cls: 0.4132, d3.loss_bbox: 0.5615, d4.loss_cls: 0.4087, d4.loss_bbox: 0.5604, d5.loss_cls: 0.4087, d5.loss_bbox: 0.5606, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2184, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.0653, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0418, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0414, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.0454, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.0502, d0.loss_map_cls_all: 0.3504, d0.loss_map_pts_all: 2.1239, d0.loss_map_dir_all: 0.0213, d0.loss_map_cls: 0.3504, d0.loss_map_pts: 2.1239, d0.loss_map_dir: 0.0213, d1.loss_map_cls: 0.3309, d1.loss_map_pts: 1.5235, d1.loss_map_dir: 0.0218, d2.loss_map_cls: 0.3174, d2.loss_map_pts: 1.3793, d2.loss_map_dir: 0.0223, d3.loss_map_cls: 0.3088, d3.loss_map_pts: 1.3330, d3.loss_map_dir: 0.0227, d4.loss_map_cls: 0.3048, d4.loss_map_pts: 1.3152, d4.loss_map_dir: 0.0231, d5.loss_map_cls: 0.3035, d5.loss_map_pts: 1.3108, d5.loss_map_dir: 0.0233, loss: 47.0266, grad_norm: 148.5465 +2026-02-24 21:05:13,098 - DriveTransformer - INFO - Epoch [3][5850/39528] lr: 9.831e-05, eta: 7 days, 23:24:18, time: 0.808, data_time: 0.042, memory: 19865, loss_cls: 0.4082, loss_bbox: 0.5504, loss_traj: 1.1662, loss_traj_cls: 0.0006, loss_map_cls: 0.2802, loss_map_pts: 1.2817, loss_map_dir: 0.0221, d0.loss_plan_l1_fix_time: 2.6980, d0.loss_plan_l1_fix_dist: 0.4799, d1.loss_plan_l1_fix_time: 1.9197, d1.loss_plan_l1_fix_dist: 0.3207, d2.loss_plan_l1_fix_time: 1.8804, d2.loss_plan_l1_fix_dist: 0.3250, d3.loss_plan_l1_fix_time: 1.8787, d3.loss_plan_l1_fix_dist: 0.3376, d4.loss_plan_l1_fix_time: 1.8818, d4.loss_plan_l1_fix_dist: 0.3498, d5.loss_plan_l1_fix_time: 1.8866, d5.loss_plan_l1_fix_dist: 0.3625, d6.loss_plan_l1_fix_time: 1.8929, d6.loss_plan_l1_fix_dist: 0.3776, d0.loss_cls_all: 0.4024, d0.loss_bbox_all: 0.5908, d0.loss_cls: 0.4024, d0.loss_bbox: 0.5908, d1.loss_cls: 0.4006, d1.loss_bbox: 0.5667, d2.loss_cls: 0.3993, d2.loss_bbox: 0.5553, d3.loss_cls: 0.4006, d3.loss_bbox: 0.5511, d4.loss_cls: 0.4024, d4.loss_bbox: 0.5486, d5.loss_cls: 0.4051, d5.loss_bbox: 0.5474, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3338, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1567, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1394, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1440, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1423, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1489, d0.loss_map_cls_all: 0.3181, d0.loss_map_pts_all: 2.2239, d0.loss_map_dir_all: 0.0210, d0.loss_map_cls: 0.3181, d0.loss_map_pts: 2.2239, d0.loss_map_dir: 0.0210, d1.loss_map_cls: 0.3020, d1.loss_map_pts: 1.4839, d1.loss_map_dir: 0.0209, d2.loss_map_cls: 0.2882, d2.loss_map_pts: 1.3448, d2.loss_map_dir: 0.0212, d3.loss_map_cls: 0.2824, d3.loss_map_pts: 1.3001, d3.loss_map_dir: 0.0216, d4.loss_map_cls: 0.2804, d4.loss_map_pts: 1.2870, d4.loss_map_dir: 0.0218, d5.loss_map_cls: 0.2785, d5.loss_map_pts: 1.2815, d5.loss_map_dir: 0.0220, loss: 47.4965, grad_norm: 143.0177 +2026-02-24 21:05:55,645 - DriveTransformer - INFO - Epoch [3][5900/39528] lr: 9.831e-05, eta: 7 days, 23:24:05, time: 0.851, data_time: 0.042, memory: 19865, loss_cls: 0.4225, loss_bbox: 0.5741, loss_traj: 1.2575, loss_traj_cls: 0.0007, loss_map_cls: 0.3022, loss_map_pts: 1.4122, loss_map_dir: 0.0241, d0.loss_plan_l1_fix_time: 2.5641, d0.loss_plan_l1_fix_dist: 0.4827, d1.loss_plan_l1_fix_time: 1.8575, d1.loss_plan_l1_fix_dist: 0.3348, d2.loss_plan_l1_fix_time: 1.8347, d2.loss_plan_l1_fix_dist: 0.3445, d3.loss_plan_l1_fix_time: 1.8320, d3.loss_plan_l1_fix_dist: 0.3593, d4.loss_plan_l1_fix_time: 1.8362, d4.loss_plan_l1_fix_dist: 0.3789, d5.loss_plan_l1_fix_time: 1.8425, d5.loss_plan_l1_fix_dist: 0.4012, d6.loss_plan_l1_fix_time: 1.8503, d6.loss_plan_l1_fix_dist: 0.4264, d0.loss_cls_all: 0.4407, d0.loss_bbox_all: 0.6183, d0.loss_cls: 0.4407, d0.loss_bbox: 0.6183, d1.loss_cls: 0.4297, d1.loss_bbox: 0.5922, d2.loss_cls: 0.4247, d2.loss_bbox: 0.5817, d3.loss_cls: 0.4211, d3.loss_bbox: 0.5757, d4.loss_cls: 0.4193, d4.loss_bbox: 0.5749, d5.loss_cls: 0.4191, d5.loss_bbox: 0.5749, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3899, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2487, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2238, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2325, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.2464, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2476, d0.loss_map_cls_all: 0.3469, d0.loss_map_pts_all: 2.3764, d0.loss_map_dir_all: 0.0229, d0.loss_map_cls: 0.3469, d0.loss_map_pts: 2.3764, d0.loss_map_dir: 0.0229, d1.loss_map_cls: 0.3265, d1.loss_map_pts: 1.6097, d1.loss_map_dir: 0.0227, d2.loss_map_cls: 0.3119, d2.loss_map_pts: 1.4694, d2.loss_map_dir: 0.0232, d3.loss_map_cls: 0.3056, d3.loss_map_pts: 1.4280, d3.loss_map_dir: 0.0237, d4.loss_map_cls: 0.3034, d4.loss_map_pts: 1.4134, d4.loss_map_dir: 0.0239, d5.loss_map_cls: 0.3024, d5.loss_map_pts: 1.4117, d5.loss_map_dir: 0.0239, loss: 49.5558, grad_norm: 142.0839 +2026-02-24 21:06:35,614 - DriveTransformer - INFO - Epoch [3][5950/39528] lr: 9.831e-05, eta: 7 days, 23:23:26, time: 0.800, data_time: 0.046, memory: 19865, loss_cls: 0.4466, loss_bbox: 0.5573, loss_traj: 1.2582, loss_traj_cls: 0.0007, loss_map_cls: 0.3334, loss_map_pts: 1.3297, loss_map_dir: 0.0241, d0.loss_plan_l1_fix_time: 2.8982, d0.loss_plan_l1_fix_dist: 0.4491, d1.loss_plan_l1_fix_time: 1.9850, d1.loss_plan_l1_fix_dist: 0.2794, d2.loss_plan_l1_fix_time: 1.9469, d2.loss_plan_l1_fix_dist: 0.2927, d3.loss_plan_l1_fix_time: 1.9437, d3.loss_plan_l1_fix_dist: 0.3096, d4.loss_plan_l1_fix_time: 1.9475, d4.loss_plan_l1_fix_dist: 0.3285, d5.loss_plan_l1_fix_time: 1.9530, d5.loss_plan_l1_fix_dist: 0.3508, d6.loss_plan_l1_fix_time: 1.9597, d6.loss_plan_l1_fix_dist: 0.3768, d0.loss_cls_all: 0.4404, d0.loss_bbox_all: 0.5928, d0.loss_cls: 0.4404, d0.loss_bbox: 0.5928, d1.loss_cls: 0.4331, d1.loss_bbox: 0.5700, d2.loss_cls: 0.4329, d2.loss_bbox: 0.5616, d3.loss_cls: 0.4354, d3.loss_bbox: 0.5557, d4.loss_cls: 0.4364, d4.loss_bbox: 0.5552, d5.loss_cls: 0.4413, d5.loss_bbox: 0.5552, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4416, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3073, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2629, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2617, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.2560, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2575, d0.loss_map_cls_all: 0.3748, d0.loss_map_pts_all: 2.2336, d0.loss_map_dir_all: 0.0226, d0.loss_map_cls: 0.3748, d0.loss_map_pts: 2.2336, d0.loss_map_dir: 0.0226, d1.loss_map_cls: 0.3561, d1.loss_map_pts: 1.5296, d1.loss_map_dir: 0.0224, d2.loss_map_cls: 0.3444, d2.loss_map_pts: 1.3962, d2.loss_map_dir: 0.0229, d3.loss_map_cls: 0.3373, d3.loss_map_pts: 1.3529, d3.loss_map_dir: 0.0234, d4.loss_map_cls: 0.3351, d4.loss_map_pts: 1.3362, d4.loss_map_dir: 0.0238, d5.loss_map_cls: 0.3336, d5.loss_map_pts: 1.3306, d5.loss_map_dir: 0.0239, loss: 49.8373, grad_norm: 141.3918 +2026-02-24 21:07:17,050 - DriveTransformer - INFO - Epoch [3][6000/39528] lr: 9.831e-05, eta: 7 days, 23:23:03, time: 0.830, data_time: 0.047, memory: 19865, loss_cls: 0.4325, loss_bbox: 0.5618, loss_traj: 1.3469, loss_traj_cls: 0.0007, loss_map_cls: 0.2975, loss_map_pts: 1.2835, loss_map_dir: 0.0234, d0.loss_plan_l1_fix_time: 3.1119, d0.loss_plan_l1_fix_dist: 0.5008, d1.loss_plan_l1_fix_time: 2.0241, d1.loss_plan_l1_fix_dist: 0.3249, d2.loss_plan_l1_fix_time: 1.9765, d2.loss_plan_l1_fix_dist: 0.3361, d3.loss_plan_l1_fix_time: 1.9726, d3.loss_plan_l1_fix_dist: 0.3514, d4.loss_plan_l1_fix_time: 1.9778, d4.loss_plan_l1_fix_dist: 0.3684, d5.loss_plan_l1_fix_time: 1.9838, d5.loss_plan_l1_fix_dist: 0.3856, d6.loss_plan_l1_fix_time: 1.9908, d6.loss_plan_l1_fix_dist: 0.3998, d0.loss_cls_all: 0.4360, d0.loss_bbox_all: 0.5985, d0.loss_cls: 0.4360, d0.loss_bbox: 0.5985, d1.loss_cls: 0.4339, d1.loss_bbox: 0.5727, d2.loss_cls: 0.4283, d2.loss_bbox: 0.5622, d3.loss_cls: 0.4264, d3.loss_bbox: 0.5582, d4.loss_cls: 0.4261, d4.loss_bbox: 0.5564, d5.loss_cls: 0.4264, d5.loss_bbox: 0.5588, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4816, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3952, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.3534, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.3505, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.3436, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.3421, d0.loss_map_cls_all: 0.3556, d0.loss_map_pts_all: 2.2028, d0.loss_map_dir_all: 0.0213, d0.loss_map_cls: 0.3556, d0.loss_map_pts: 2.2028, d0.loss_map_dir: 0.0213, d1.loss_map_cls: 0.3327, d1.loss_map_pts: 1.4763, d1.loss_map_dir: 0.0216, d2.loss_map_cls: 0.3138, d2.loss_map_pts: 1.3432, d2.loss_map_dir: 0.0223, d3.loss_map_cls: 0.3028, d3.loss_map_pts: 1.3009, d3.loss_map_dir: 0.0228, d4.loss_map_cls: 0.2998, d4.loss_map_pts: 1.2859, d4.loss_map_dir: 0.0232, d5.loss_map_cls: 0.2970, d5.loss_map_pts: 1.2844, d5.loss_map_dir: 0.0234, loss: 50.4507, grad_norm: 138.6760 +2026-02-24 21:07:56,320 - DriveTransformer - INFO - Epoch [3][6050/39528] lr: 9.831e-05, eta: 7 days, 23:22:16, time: 0.784, data_time: 0.048, memory: 19865, loss_cls: 0.4205, loss_bbox: 0.5815, loss_traj: 1.3895, loss_traj_cls: 0.0007, loss_map_cls: 0.3087, loss_map_pts: 1.3028, loss_map_dir: 0.0242, d0.loss_plan_l1_fix_time: 2.7008, d0.loss_plan_l1_fix_dist: 0.4657, d1.loss_plan_l1_fix_time: 1.8535, d1.loss_plan_l1_fix_dist: 0.3328, d2.loss_plan_l1_fix_time: 1.8114, d2.loss_plan_l1_fix_dist: 0.3424, d3.loss_plan_l1_fix_time: 1.8127, d3.loss_plan_l1_fix_dist: 0.3568, d4.loss_plan_l1_fix_time: 1.8170, d4.loss_plan_l1_fix_dist: 0.3725, d5.loss_plan_l1_fix_time: 1.8219, d5.loss_plan_l1_fix_dist: 0.3897, d6.loss_plan_l1_fix_time: 1.8273, d6.loss_plan_l1_fix_dist: 0.4115, d0.loss_cls_all: 0.4199, d0.loss_bbox_all: 0.6243, d0.loss_cls: 0.4199, d0.loss_bbox: 0.6243, d1.loss_cls: 0.4234, d1.loss_bbox: 0.5939, d2.loss_cls: 0.4209, d2.loss_bbox: 0.5834, d3.loss_cls: 0.4209, d3.loss_bbox: 0.5789, d4.loss_cls: 0.4182, d4.loss_bbox: 0.5768, d5.loss_cls: 0.4182, d5.loss_bbox: 0.5773, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5677, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.4273, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.3858, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.3857, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.3811, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.3832, d0.loss_map_cls_all: 0.3544, d0.loss_map_pts_all: 2.2623, d0.loss_map_dir_all: 0.0222, d0.loss_map_cls: 0.3544, d0.loss_map_pts: 2.2623, d0.loss_map_dir: 0.0222, d1.loss_map_cls: 0.3348, d1.loss_map_pts: 1.4997, d1.loss_map_dir: 0.0223, d2.loss_map_cls: 0.3225, d2.loss_map_pts: 1.3624, d2.loss_map_dir: 0.0229, d3.loss_map_cls: 0.3134, d3.loss_map_pts: 1.3223, d3.loss_map_dir: 0.0236, d4.loss_map_cls: 0.3108, d4.loss_map_pts: 1.3056, d4.loss_map_dir: 0.0239, d5.loss_map_cls: 0.3086, d5.loss_map_pts: 1.3029, d5.loss_map_dir: 0.0240, loss: 49.7581, grad_norm: 138.3433 +2026-02-24 21:08:38,040 - DriveTransformer - INFO - Epoch [3][6100/39528] lr: 9.831e-05, eta: 7 days, 23:21:55, time: 0.835, data_time: 0.046, memory: 19865, loss_cls: 0.4234, loss_bbox: 0.5982, loss_traj: 1.0190, loss_traj_cls: 0.0007, loss_map_cls: 0.2883, loss_map_pts: 1.4418, loss_map_dir: 0.0259, d0.loss_plan_l1_fix_time: 2.8001, d0.loss_plan_l1_fix_dist: 0.3778, d1.loss_plan_l1_fix_time: 2.0793, d1.loss_plan_l1_fix_dist: 0.3098, d2.loss_plan_l1_fix_time: 2.0943, d2.loss_plan_l1_fix_dist: 0.3210, d3.loss_plan_l1_fix_time: 2.1050, d3.loss_plan_l1_fix_dist: 0.3337, d4.loss_plan_l1_fix_time: 2.1129, d4.loss_plan_l1_fix_dist: 0.3496, d5.loss_plan_l1_fix_time: 2.1203, d5.loss_plan_l1_fix_dist: 0.3676, d6.loss_plan_l1_fix_time: 2.1283, d6.loss_plan_l1_fix_dist: 0.3880, d0.loss_cls_all: 0.4326, d0.loss_bbox_all: 0.6404, d0.loss_cls: 0.4326, d0.loss_bbox: 0.6404, d1.loss_cls: 0.4279, d1.loss_bbox: 0.6160, d2.loss_cls: 0.4256, d2.loss_bbox: 0.6069, d3.loss_cls: 0.4241, d3.loss_bbox: 0.6007, d4.loss_cls: 0.4213, d4.loss_bbox: 0.5996, d5.loss_cls: 0.4231, d5.loss_bbox: 0.5976, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1747, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.0517, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0190, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0134, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0091, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.0099, d0.loss_map_cls_all: 0.3416, d0.loss_map_pts_all: 2.5047, d0.loss_map_dir_all: 0.0239, d0.loss_map_cls: 0.3416, d0.loss_map_pts: 2.5047, d0.loss_map_dir: 0.0239, d1.loss_map_cls: 0.3221, d1.loss_map_pts: 1.6715, d1.loss_map_dir: 0.0241, d2.loss_map_cls: 0.3040, d2.loss_map_pts: 1.5184, d2.loss_map_dir: 0.0247, d3.loss_map_cls: 0.2946, d3.loss_map_pts: 1.4645, d3.loss_map_dir: 0.0252, d4.loss_map_cls: 0.2919, d4.loss_map_pts: 1.4461, d4.loss_map_dir: 0.0256, d5.loss_map_cls: 0.2883, d5.loss_map_pts: 1.4407, d5.loss_map_dir: 0.0257, loss: 50.1650, grad_norm: 138.6859 +2026-02-24 21:09:19,243 - DriveTransformer - INFO - Epoch [3][6150/39528] lr: 9.831e-05, eta: 7 days, 23:21:28, time: 0.824, data_time: 0.043, memory: 19865, loss_cls: 0.4609, loss_bbox: 0.6008, loss_traj: 1.0877, loss_traj_cls: 0.0007, loss_map_cls: 0.3344, loss_map_pts: 1.4786, loss_map_dir: 0.0252, d0.loss_plan_l1_fix_time: 2.9895, d0.loss_plan_l1_fix_dist: 0.4994, d1.loss_plan_l1_fix_time: 1.9646, d1.loss_plan_l1_fix_dist: 0.3470, d2.loss_plan_l1_fix_time: 1.9250, d2.loss_plan_l1_fix_dist: 0.3536, d3.loss_plan_l1_fix_time: 1.9235, d3.loss_plan_l1_fix_dist: 0.3669, d4.loss_plan_l1_fix_time: 1.9285, d4.loss_plan_l1_fix_dist: 0.3853, d5.loss_plan_l1_fix_time: 1.9351, d5.loss_plan_l1_fix_dist: 0.4023, d6.loss_plan_l1_fix_time: 1.9433, d6.loss_plan_l1_fix_dist: 0.4210, d0.loss_cls_all: 0.4728, d0.loss_bbox_all: 0.6484, d0.loss_cls: 0.4728, d0.loss_bbox: 0.6484, d1.loss_cls: 0.4642, d1.loss_bbox: 0.6225, d2.loss_cls: 0.4638, d2.loss_bbox: 0.6091, d3.loss_cls: 0.4611, d3.loss_bbox: 0.6055, d4.loss_cls: 0.4603, d4.loss_bbox: 0.6041, d5.loss_cls: 0.4612, d5.loss_bbox: 0.6011, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3165, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1342, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0997, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0883, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0812, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.0864, d0.loss_map_cls_all: 0.3722, d0.loss_map_pts_all: 2.3799, d0.loss_map_dir_all: 0.0225, d0.loss_map_cls: 0.3722, d0.loss_map_pts: 2.3799, d0.loss_map_dir: 0.0225, d1.loss_map_cls: 0.3591, d1.loss_map_pts: 1.6912, d1.loss_map_dir: 0.0232, d2.loss_map_cls: 0.3447, d2.loss_map_pts: 1.5486, d2.loss_map_dir: 0.0239, d3.loss_map_cls: 0.3369, d3.loss_map_pts: 1.4993, d3.loss_map_dir: 0.0243, d4.loss_map_cls: 0.3346, d4.loss_map_pts: 1.4819, d4.loss_map_dir: 0.0249, d5.loss_map_cls: 0.3344, d5.loss_map_pts: 1.4772, d5.loss_map_dir: 0.0251, loss: 50.8589, grad_norm: 138.3253 +2026-02-24 21:09:58,436 - DriveTransformer - INFO - Epoch [3][6200/39528] lr: 9.831e-05, eta: 7 days, 23:20:41, time: 0.784, data_time: 0.040, memory: 19865, loss_cls: 0.3670, loss_bbox: 0.5050, loss_traj: 1.1435, loss_traj_cls: 0.0007, loss_map_cls: 0.2425, loss_map_pts: 1.1372, loss_map_dir: 0.0181, d0.loss_plan_l1_fix_time: 2.6872, d0.loss_plan_l1_fix_dist: 0.5748, d1.loss_plan_l1_fix_time: 1.9646, d1.loss_plan_l1_fix_dist: 0.3215, d2.loss_plan_l1_fix_time: 1.9418, d2.loss_plan_l1_fix_dist: 0.3336, d3.loss_plan_l1_fix_time: 1.9461, d3.loss_plan_l1_fix_dist: 0.3461, d4.loss_plan_l1_fix_time: 1.9518, d4.loss_plan_l1_fix_dist: 0.3590, d5.loss_plan_l1_fix_time: 1.9583, d5.loss_plan_l1_fix_dist: 0.3730, d6.loss_plan_l1_fix_time: 1.9657, d6.loss_plan_l1_fix_dist: 0.3862, d0.loss_cls_all: 0.3813, d0.loss_bbox_all: 0.5400, d0.loss_cls: 0.3813, d0.loss_bbox: 0.5400, d1.loss_cls: 0.3793, d1.loss_bbox: 0.5128, d2.loss_cls: 0.3747, d2.loss_bbox: 0.5060, d3.loss_cls: 0.3702, d3.loss_bbox: 0.5034, d4.loss_cls: 0.3675, d4.loss_bbox: 0.5030, d5.loss_cls: 0.3665, d5.loss_bbox: 0.5043, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3606, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1832, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1540, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1465, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1432, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1485, d0.loss_map_cls_all: 0.2889, d0.loss_map_pts_all: 1.7877, d0.loss_map_dir_all: 0.0166, d0.loss_map_cls: 0.2889, d0.loss_map_pts: 1.7877, d0.loss_map_dir: 0.0166, d1.loss_map_cls: 0.2695, d1.loss_map_pts: 1.2872, d1.loss_map_dir: 0.0168, d2.loss_map_cls: 0.2555, d2.loss_map_pts: 1.1791, d2.loss_map_dir: 0.0173, d3.loss_map_cls: 0.2469, d3.loss_map_pts: 1.1487, d3.loss_map_dir: 0.0176, d4.loss_map_cls: 0.2431, d4.loss_map_pts: 1.1365, d4.loss_map_dir: 0.0179, d5.loss_map_cls: 0.2430, d5.loss_map_pts: 1.1361, d5.loss_map_dir: 0.0180, loss: 45.3151, grad_norm: 138.3935 +2026-02-24 21:10:38,619 - DriveTransformer - INFO - Epoch [3][6250/39528] lr: 9.831e-05, eta: 7 days, 23:20:04, time: 0.804, data_time: 0.039, memory: 19865, loss_cls: 0.4228, loss_bbox: 0.5518, loss_traj: 1.1630, loss_traj_cls: 0.0007, loss_map_cls: 0.3340, loss_map_pts: 1.3853, loss_map_dir: 0.0267, d0.loss_plan_l1_fix_time: 2.5425, d0.loss_plan_l1_fix_dist: 0.4387, d1.loss_plan_l1_fix_time: 1.8679, d1.loss_plan_l1_fix_dist: 0.3099, d2.loss_plan_l1_fix_time: 1.8416, d2.loss_plan_l1_fix_dist: 0.3217, d3.loss_plan_l1_fix_time: 1.8437, d3.loss_plan_l1_fix_dist: 0.3363, d4.loss_plan_l1_fix_time: 1.8465, d4.loss_plan_l1_fix_dist: 0.3522, d5.loss_plan_l1_fix_time: 1.8497, d5.loss_plan_l1_fix_dist: 0.3721, d6.loss_plan_l1_fix_time: 1.8539, d6.loss_plan_l1_fix_dist: 0.3930, d0.loss_cls_all: 0.4261, d0.loss_bbox_all: 0.6052, d0.loss_cls: 0.4261, d0.loss_bbox: 0.6052, d1.loss_cls: 0.4248, d1.loss_bbox: 0.5743, d2.loss_cls: 0.4238, d2.loss_bbox: 0.5600, d3.loss_cls: 0.4209, d3.loss_bbox: 0.5541, d4.loss_cls: 0.4197, d4.loss_bbox: 0.5523, d5.loss_cls: 0.4211, d5.loss_bbox: 0.5514, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4290, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1981, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1965, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1825, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1748, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1678, d0.loss_map_cls_all: 0.3786, d0.loss_map_pts_all: 2.3178, d0.loss_map_dir_all: 0.0244, d0.loss_map_cls: 0.3786, d0.loss_map_pts: 2.3178, d0.loss_map_dir: 0.0244, d1.loss_map_cls: 0.3560, d1.loss_map_pts: 1.5929, d1.loss_map_dir: 0.0247, d2.loss_map_cls: 0.3465, d2.loss_map_pts: 1.4497, d2.loss_map_dir: 0.0254, d3.loss_map_cls: 0.3392, d3.loss_map_pts: 1.4020, d3.loss_map_dir: 0.0259, d4.loss_map_cls: 0.3336, d4.loss_map_pts: 1.3904, d4.loss_map_dir: 0.0264, d5.loss_map_cls: 0.3337, d5.loss_map_pts: 1.3860, d5.loss_map_dir: 0.0265, loss: 48.8745, grad_norm: 138.8535 +2026-02-24 21:11:18,394 - DriveTransformer - INFO - Epoch [3][6300/39528] lr: 9.831e-05, eta: 7 days, 23:19:23, time: 0.795, data_time: 0.042, memory: 19865, loss_cls: 0.4159, loss_bbox: 0.5648, loss_traj: 1.2578, loss_traj_cls: 0.0007, loss_map_cls: 0.2686, loss_map_pts: 1.2283, loss_map_dir: 0.0239, d0.loss_plan_l1_fix_time: 2.8534, d0.loss_plan_l1_fix_dist: 0.3983, d1.loss_plan_l1_fix_time: 1.9332, d1.loss_plan_l1_fix_dist: 0.2754, d2.loss_plan_l1_fix_time: 1.9074, d2.loss_plan_l1_fix_dist: 0.2848, d3.loss_plan_l1_fix_time: 1.9099, d3.loss_plan_l1_fix_dist: 0.3024, d4.loss_plan_l1_fix_time: 1.9146, d4.loss_plan_l1_fix_dist: 0.3230, d5.loss_plan_l1_fix_time: 1.9195, d5.loss_plan_l1_fix_dist: 0.3442, d6.loss_plan_l1_fix_time: 1.9241, d6.loss_plan_l1_fix_dist: 0.3686, d0.loss_cls_all: 0.4256, d0.loss_bbox_all: 0.6129, d0.loss_cls: 0.4256, d0.loss_bbox: 0.6129, d1.loss_cls: 0.4153, d1.loss_bbox: 0.5853, d2.loss_cls: 0.4131, d2.loss_bbox: 0.5723, d3.loss_cls: 0.4147, d3.loss_bbox: 0.5670, d4.loss_cls: 0.4156, d4.loss_bbox: 0.5664, d5.loss_cls: 0.4151, d5.loss_bbox: 0.5652, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4431, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2666, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2492, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.2503, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.2521, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2516, d0.loss_map_cls_all: 0.3128, d0.loss_map_pts_all: 2.0760, d0.loss_map_dir_all: 0.0218, d0.loss_map_cls: 0.3128, d0.loss_map_pts: 2.0760, d0.loss_map_dir: 0.0218, d1.loss_map_cls: 0.2926, d1.loss_map_pts: 1.4179, d1.loss_map_dir: 0.0221, d2.loss_map_cls: 0.2794, d2.loss_map_pts: 1.2864, d2.loss_map_dir: 0.0227, d3.loss_map_cls: 0.2724, d3.loss_map_pts: 1.2448, d3.loss_map_dir: 0.0232, d4.loss_map_cls: 0.2693, d4.loss_map_pts: 1.2333, d4.loss_map_dir: 0.0237, d5.loss_map_cls: 0.2682, d5.loss_map_pts: 1.2293, d5.loss_map_dir: 0.0238, loss: 47.8747, grad_norm: 139.5429 +2026-02-24 21:11:59,384 - DriveTransformer - INFO - Epoch [3][6350/39528] lr: 9.831e-05, eta: 7 days, 23:18:54, time: 0.820, data_time: 0.039, memory: 19865, loss_cls: 0.3969, loss_bbox: 0.5488, loss_traj: 1.0930, loss_traj_cls: 0.0007, loss_map_cls: 0.2887, loss_map_pts: 1.2567, loss_map_dir: 0.0249, d0.loss_plan_l1_fix_time: 2.2827, d0.loss_plan_l1_fix_dist: 0.4662, d1.loss_plan_l1_fix_time: 1.7276, d1.loss_plan_l1_fix_dist: 0.3369, d2.loss_plan_l1_fix_time: 1.6942, d2.loss_plan_l1_fix_dist: 0.3514, d3.loss_plan_l1_fix_time: 1.6919, d3.loss_plan_l1_fix_dist: 0.3672, d4.loss_plan_l1_fix_time: 1.6949, d4.loss_plan_l1_fix_dist: 0.3874, d5.loss_plan_l1_fix_time: 1.6988, d5.loss_plan_l1_fix_dist: 0.4086, d6.loss_plan_l1_fix_time: 1.7036, d6.loss_plan_l1_fix_dist: 0.4337, d0.loss_cls_all: 0.4125, d0.loss_bbox_all: 0.5863, d0.loss_cls: 0.4125, d0.loss_bbox: 0.5863, d1.loss_cls: 0.4094, d1.loss_bbox: 0.5562, d2.loss_cls: 0.4046, d2.loss_bbox: 0.5501, d3.loss_cls: 0.4009, d3.loss_bbox: 0.5441, d4.loss_cls: 0.3988, d4.loss_bbox: 0.5446, d5.loss_cls: 0.3978, d5.loss_bbox: 0.5468, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1503, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.0818, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0582, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0672, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0776, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0802, d0.loss_map_cls_all: 0.3328, d0.loss_map_pts_all: 2.2400, d0.loss_map_dir_all: 0.0227, d0.loss_map_cls: 0.3328, d0.loss_map_pts: 2.2400, d0.loss_map_dir: 0.0227, d1.loss_map_cls: 0.3146, d1.loss_map_pts: 1.4625, d1.loss_map_dir: 0.0230, d2.loss_map_cls: 0.3025, d2.loss_map_pts: 1.3275, d2.loss_map_dir: 0.0236, d3.loss_map_cls: 0.2945, d3.loss_map_pts: 1.2813, d3.loss_map_dir: 0.0241, d4.loss_map_cls: 0.2878, d4.loss_map_pts: 1.2648, d4.loss_map_dir: 0.0246, d5.loss_map_cls: 0.2876, d5.loss_map_pts: 1.2592, d5.loss_map_dir: 0.0247, loss: 45.5197, grad_norm: 140.6831 +2026-02-24 21:12:42,118 - DriveTransformer - INFO - Epoch [3][6400/39528] lr: 9.831e-05, eta: 7 days, 23:18:43, time: 0.855, data_time: 0.039, memory: 19865, loss_cls: 0.4256, loss_bbox: 0.5464, loss_traj: 0.9266, loss_traj_cls: 0.0007, loss_map_cls: 0.2667, loss_map_pts: 1.4007, loss_map_dir: 0.0283, d0.loss_plan_l1_fix_time: 2.6809, d0.loss_plan_l1_fix_dist: 0.4251, d1.loss_plan_l1_fix_time: 1.9794, d1.loss_plan_l1_fix_dist: 0.2589, d2.loss_plan_l1_fix_time: 1.9571, d2.loss_plan_l1_fix_dist: 0.2693, d3.loss_plan_l1_fix_time: 1.9612, d3.loss_plan_l1_fix_dist: 0.2820, d4.loss_plan_l1_fix_time: 1.9659, d4.loss_plan_l1_fix_dist: 0.2942, d5.loss_plan_l1_fix_time: 1.9713, d5.loss_plan_l1_fix_dist: 0.3072, d6.loss_plan_l1_fix_time: 1.9786, d6.loss_plan_l1_fix_dist: 0.3229, d0.loss_cls_all: 0.4306, d0.loss_bbox_all: 0.5714, d0.loss_cls: 0.4306, d0.loss_bbox: 0.5714, d1.loss_cls: 0.4265, d1.loss_bbox: 0.5532, d2.loss_cls: 0.4217, d2.loss_bbox: 0.5467, d3.loss_cls: 0.4208, d3.loss_bbox: 0.5443, d4.loss_cls: 0.4202, d4.loss_bbox: 0.5449, d5.loss_cls: 0.4243, d5.loss_bbox: 0.5447, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0255, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9144, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.8985, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9070, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.9125, d5.loss_traj_cls: 0.0009, d5.loss_traj: 0.9140, d0.loss_map_cls_all: 0.3033, d0.loss_map_pts_all: 2.5026, d0.loss_map_dir_all: 0.0264, d0.loss_map_cls: 0.3033, d0.loss_map_pts: 2.5026, d0.loss_map_dir: 0.0264, d1.loss_map_cls: 0.2912, d1.loss_map_pts: 1.6115, d1.loss_map_dir: 0.0263, d2.loss_map_cls: 0.2756, d2.loss_map_pts: 1.4610, d2.loss_map_dir: 0.0270, d3.loss_map_cls: 0.2717, d3.loss_map_pts: 1.4190, d3.loss_map_dir: 0.0275, d4.loss_map_cls: 0.2684, d4.loss_map_pts: 1.4066, d4.loss_map_dir: 0.0279, d5.loss_map_cls: 0.2662, d5.loss_map_pts: 1.4015, d5.loss_map_dir: 0.0281, loss: 47.1515, grad_norm: 139.3886 +2026-02-24 21:13:21,856 - DriveTransformer - INFO - Epoch [3][6450/39528] lr: 9.831e-05, eta: 7 days, 23:18:02, time: 0.795, data_time: 0.046, memory: 19865, loss_cls: 0.4458, loss_bbox: 0.5714, loss_traj: 1.0522, loss_traj_cls: 0.0007, loss_map_cls: 0.3327, loss_map_pts: 1.4638, loss_map_dir: 0.0238, d0.loss_plan_l1_fix_time: 2.9956, d0.loss_plan_l1_fix_dist: 0.3869, d1.loss_plan_l1_fix_time: 2.0332, d1.loss_plan_l1_fix_dist: 0.2724, d2.loss_plan_l1_fix_time: 1.9990, d2.loss_plan_l1_fix_dist: 0.2843, d3.loss_plan_l1_fix_time: 1.9902, d3.loss_plan_l1_fix_dist: 0.2975, d4.loss_plan_l1_fix_time: 1.9913, d4.loss_plan_l1_fix_dist: 0.3135, d5.loss_plan_l1_fix_time: 1.9943, d5.loss_plan_l1_fix_dist: 0.3311, d6.loss_plan_l1_fix_time: 1.9992, d6.loss_plan_l1_fix_dist: 0.3486, d0.loss_cls_all: 0.4613, d0.loss_bbox_all: 0.6142, d0.loss_cls: 0.4613, d0.loss_bbox: 0.6142, d1.loss_cls: 0.4527, d1.loss_bbox: 0.5933, d2.loss_cls: 0.4494, d2.loss_bbox: 0.5829, d3.loss_cls: 0.4477, d3.loss_bbox: 0.5719, d4.loss_cls: 0.4465, d4.loss_bbox: 0.5691, d5.loss_cls: 0.4465, d5.loss_bbox: 0.5685, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1904, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0342, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0137, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0188, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.0266, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0395, d0.loss_map_cls_all: 0.3807, d0.loss_map_pts_all: 2.1953, d0.loss_map_dir_all: 0.0213, d0.loss_map_cls: 0.3807, d0.loss_map_pts: 2.1953, d0.loss_map_dir: 0.0213, d1.loss_map_cls: 0.3588, d1.loss_map_pts: 1.6069, d1.loss_map_dir: 0.0219, d2.loss_map_cls: 0.3473, d2.loss_map_pts: 1.4913, d2.loss_map_dir: 0.0225, d3.loss_map_cls: 0.3371, d3.loss_map_pts: 1.4649, d3.loss_map_dir: 0.0230, d4.loss_map_cls: 0.3303, d4.loss_map_pts: 1.4631, d4.loss_map_dir: 0.0234, d5.loss_map_cls: 0.3304, d5.loss_map_pts: 1.4635, d5.loss_map_dir: 0.0237, loss: 49.2382, grad_norm: 139.4010 +2026-02-24 21:14:01,324 - DriveTransformer - INFO - Epoch [3][6500/39528] lr: 9.831e-05, eta: 7 days, 23:17:17, time: 0.789, data_time: 0.038, memory: 19865, loss_cls: 0.4112, loss_bbox: 0.5931, loss_traj: 1.2135, loss_traj_cls: 0.0007, loss_map_cls: 0.3045, loss_map_pts: 1.2972, loss_map_dir: 0.0214, d0.loss_plan_l1_fix_time: 2.8746, d0.loss_plan_l1_fix_dist: 0.5395, d1.loss_plan_l1_fix_time: 1.9920, d1.loss_plan_l1_fix_dist: 0.3613, d2.loss_plan_l1_fix_time: 1.9833, d2.loss_plan_l1_fix_dist: 0.3685, d3.loss_plan_l1_fix_time: 1.9885, d3.loss_plan_l1_fix_dist: 0.3769, d4.loss_plan_l1_fix_time: 1.9942, d4.loss_plan_l1_fix_dist: 0.3895, d5.loss_plan_l1_fix_time: 2.0001, d5.loss_plan_l1_fix_dist: 0.4037, d6.loss_plan_l1_fix_time: 2.0062, d6.loss_plan_l1_fix_dist: 0.4224, d0.loss_cls_all: 0.4324, d0.loss_bbox_all: 0.6335, d0.loss_cls: 0.4324, d0.loss_bbox: 0.6335, d1.loss_cls: 0.4251, d1.loss_bbox: 0.6138, d2.loss_cls: 0.4161, d2.loss_bbox: 0.5988, d3.loss_cls: 0.4119, d3.loss_bbox: 0.5901, d4.loss_cls: 0.4093, d4.loss_bbox: 0.5892, d5.loss_cls: 0.4105, d5.loss_bbox: 0.5907, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3151, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2130, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1703, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1792, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.2009, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2054, d0.loss_map_cls_all: 0.3614, d0.loss_map_pts_all: 2.1252, d0.loss_map_dir_all: 0.0199, d0.loss_map_cls: 0.3614, d0.loss_map_pts: 2.1252, d0.loss_map_dir: 0.0199, d1.loss_map_cls: 0.3366, d1.loss_map_pts: 1.4658, d1.loss_map_dir: 0.0200, d2.loss_map_cls: 0.3141, d2.loss_map_pts: 1.3456, d2.loss_map_dir: 0.0204, d3.loss_map_cls: 0.3070, d3.loss_map_pts: 1.3093, d3.loss_map_dir: 0.0207, d4.loss_map_cls: 0.3030, d4.loss_map_pts: 1.2969, d4.loss_map_dir: 0.0211, d5.loss_map_cls: 0.3042, d5.loss_map_pts: 1.2971, d5.loss_map_dir: 0.0212, loss: 49.4150, grad_norm: 139.2750 +2026-02-24 21:14:40,525 - DriveTransformer - INFO - Epoch [3][6550/39528] lr: 9.831e-05, eta: 7 days, 23:16:30, time: 0.784, data_time: 0.042, memory: 19865, loss_cls: 0.4306, loss_bbox: 0.5874, loss_traj: 1.2992, loss_traj_cls: 0.0007, loss_map_cls: 0.2982, loss_map_pts: 1.3047, loss_map_dir: 0.0225, d0.loss_plan_l1_fix_time: 3.1450, d0.loss_plan_l1_fix_dist: 0.5373, d1.loss_plan_l1_fix_time: 2.3733, d1.loss_plan_l1_fix_dist: 0.3582, d2.loss_plan_l1_fix_time: 2.3756, d2.loss_plan_l1_fix_dist: 0.3639, d3.loss_plan_l1_fix_time: 2.3815, d3.loss_plan_l1_fix_dist: 0.3727, d4.loss_plan_l1_fix_time: 2.3865, d4.loss_plan_l1_fix_dist: 0.3850, d5.loss_plan_l1_fix_time: 2.3916, d5.loss_plan_l1_fix_dist: 0.4010, d6.loss_plan_l1_fix_time: 2.3966, d6.loss_plan_l1_fix_dist: 0.4195, d0.loss_cls_all: 0.4403, d0.loss_bbox_all: 0.6406, d0.loss_cls: 0.4403, d0.loss_bbox: 0.6406, d1.loss_cls: 0.4326, d1.loss_bbox: 0.6158, d2.loss_cls: 0.4298, d2.loss_bbox: 0.6015, d3.loss_cls: 0.4320, d3.loss_bbox: 0.5909, d4.loss_cls: 0.4300, d4.loss_bbox: 0.5877, d5.loss_cls: 0.4292, d5.loss_bbox: 0.5872, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4985, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3106, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2835, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2790, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.2850, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2929, d0.loss_map_cls_all: 0.3414, d0.loss_map_pts_all: 2.1550, d0.loss_map_dir_all: 0.0209, d0.loss_map_cls: 0.3414, d0.loss_map_pts: 2.1550, d0.loss_map_dir: 0.0209, d1.loss_map_cls: 0.3235, d1.loss_map_pts: 1.5210, d1.loss_map_dir: 0.0211, d2.loss_map_cls: 0.3125, d2.loss_map_pts: 1.3837, d2.loss_map_dir: 0.0216, d3.loss_map_cls: 0.3020, d3.loss_map_pts: 1.3336, d3.loss_map_dir: 0.0219, d4.loss_map_cls: 0.2996, d4.loss_map_pts: 1.3144, d4.loss_map_dir: 0.0222, d5.loss_map_cls: 0.2980, d5.loss_map_pts: 1.3053, d5.loss_map_dir: 0.0224, loss: 53.0222, grad_norm: 137.7568 +2026-02-24 21:15:21,994 - DriveTransformer - INFO - Epoch [3][6600/39528] lr: 9.831e-05, eta: 7 days, 23:16:06, time: 0.829, data_time: 0.040, memory: 19865, loss_cls: 0.4152, loss_bbox: 0.5609, loss_traj: 1.1555, loss_traj_cls: 0.0007, loss_map_cls: 0.2948, loss_map_pts: 1.3712, loss_map_dir: 0.0252, d0.loss_plan_l1_fix_time: 2.6760, d0.loss_plan_l1_fix_dist: 0.5226, d1.loss_plan_l1_fix_time: 1.7041, d1.loss_plan_l1_fix_dist: 0.3241, d2.loss_plan_l1_fix_time: 1.6786, d2.loss_plan_l1_fix_dist: 0.3284, d3.loss_plan_l1_fix_time: 1.6785, d3.loss_plan_l1_fix_dist: 0.3384, d4.loss_plan_l1_fix_time: 1.6819, d4.loss_plan_l1_fix_dist: 0.3484, d5.loss_plan_l1_fix_time: 1.6866, d5.loss_plan_l1_fix_dist: 0.3586, d6.loss_plan_l1_fix_time: 1.6929, d6.loss_plan_l1_fix_dist: 0.3711, d0.loss_cls_all: 0.4297, d0.loss_bbox_all: 0.6038, d0.loss_cls: 0.4297, d0.loss_bbox: 0.6038, d1.loss_cls: 0.4239, d1.loss_bbox: 0.5777, d2.loss_cls: 0.4200, d2.loss_bbox: 0.5672, d3.loss_cls: 0.4153, d3.loss_bbox: 0.5639, d4.loss_cls: 0.4153, d4.loss_bbox: 0.5606, d5.loss_cls: 0.4129, d5.loss_bbox: 0.5611, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2707, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1460, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1317, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1372, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1399, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1518, d0.loss_map_cls_all: 0.3414, d0.loss_map_pts_all: 2.4522, d0.loss_map_dir_all: 0.0239, d0.loss_map_cls: 0.3414, d0.loss_map_pts: 2.4522, d0.loss_map_dir: 0.0239, d1.loss_map_cls: 0.3213, d1.loss_map_pts: 1.6194, d1.loss_map_dir: 0.0237, d2.loss_map_cls: 0.3076, d2.loss_map_pts: 1.4632, d2.loss_map_dir: 0.0242, d3.loss_map_cls: 0.3002, d3.loss_map_pts: 1.4051, d3.loss_map_dir: 0.0246, d4.loss_map_cls: 0.2953, d4.loss_map_pts: 1.3836, d4.loss_map_dir: 0.0250, d5.loss_map_cls: 0.2937, d5.loss_map_pts: 1.3747, d5.loss_map_dir: 0.0251, loss: 47.7028, grad_norm: 137.5573 +2026-02-24 21:16:02,690 - DriveTransformer - INFO - Epoch [3][6650/39528] lr: 9.831e-05, eta: 7 days, 23:15:35, time: 0.814, data_time: 0.047, memory: 19865, loss_cls: 0.4166, loss_bbox: 0.5543, loss_traj: 1.1929, loss_traj_cls: 0.0007, loss_map_cls: 0.3097, loss_map_pts: 1.3114, loss_map_dir: 0.0243, d0.loss_plan_l1_fix_time: 2.8881, d0.loss_plan_l1_fix_dist: 0.5225, d1.loss_plan_l1_fix_time: 1.9842, d1.loss_plan_l1_fix_dist: 0.3613, d2.loss_plan_l1_fix_time: 1.9534, d2.loss_plan_l1_fix_dist: 0.3708, d3.loss_plan_l1_fix_time: 1.9502, d3.loss_plan_l1_fix_dist: 0.3857, d4.loss_plan_l1_fix_time: 1.9520, d4.loss_plan_l1_fix_dist: 0.4060, d5.loss_plan_l1_fix_time: 1.9546, d5.loss_plan_l1_fix_dist: 0.4304, d6.loss_plan_l1_fix_time: 1.9583, d6.loss_plan_l1_fix_dist: 0.4558, d0.loss_cls_all: 0.4335, d0.loss_bbox_all: 0.6060, d0.loss_cls: 0.4335, d0.loss_bbox: 0.6060, d1.loss_cls: 0.4273, d1.loss_bbox: 0.5790, d2.loss_cls: 0.4232, d2.loss_bbox: 0.5663, d3.loss_cls: 0.4194, d3.loss_bbox: 0.5596, d4.loss_cls: 0.4185, d4.loss_bbox: 0.5549, d5.loss_cls: 0.4151, d5.loss_bbox: 0.5537, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3326, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2157, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1782, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1768, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1784, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1863, d0.loss_map_cls_all: 0.3551, d0.loss_map_pts_all: 2.2914, d0.loss_map_dir_all: 0.0227, d0.loss_map_cls: 0.3551, d0.loss_map_pts: 2.2914, d0.loss_map_dir: 0.0227, d1.loss_map_cls: 0.3343, d1.loss_map_pts: 1.5496, d1.loss_map_dir: 0.0229, d2.loss_map_cls: 0.3193, d2.loss_map_pts: 1.3942, d2.loss_map_dir: 0.0233, d3.loss_map_cls: 0.3117, d3.loss_map_pts: 1.3412, d3.loss_map_dir: 0.0237, d4.loss_map_cls: 0.3101, d4.loss_map_pts: 1.3172, d4.loss_map_dir: 0.0240, d5.loss_map_cls: 0.3087, d5.loss_map_pts: 1.3135, d5.loss_map_dir: 0.0242, loss: 49.6093, grad_norm: 137.0410 +2026-02-24 21:16:43,428 - DriveTransformer - INFO - Epoch [3][6700/39528] lr: 9.831e-05, eta: 7 days, 23:15:03, time: 0.815, data_time: 0.041, memory: 19865, loss_cls: 0.4178, loss_bbox: 0.5284, loss_traj: 0.9813, loss_traj_cls: 0.0007, loss_map_cls: 0.3236, loss_map_pts: 1.3642, loss_map_dir: 0.0247, d0.loss_plan_l1_fix_time: 2.6917, d0.loss_plan_l1_fix_dist: 0.4013, d1.loss_plan_l1_fix_time: 1.9821, d1.loss_plan_l1_fix_dist: 0.3149, d2.loss_plan_l1_fix_time: 1.9772, d2.loss_plan_l1_fix_dist: 0.3180, d3.loss_plan_l1_fix_time: 1.9838, d3.loss_plan_l1_fix_dist: 0.3278, d4.loss_plan_l1_fix_time: 1.9888, d4.loss_plan_l1_fix_dist: 0.3394, d5.loss_plan_l1_fix_time: 1.9940, d5.loss_plan_l1_fix_dist: 0.3546, d6.loss_plan_l1_fix_time: 1.9992, d6.loss_plan_l1_fix_dist: 0.3716, d0.loss_cls_all: 0.4372, d0.loss_bbox_all: 0.5713, d0.loss_cls: 0.4372, d0.loss_bbox: 0.5713, d1.loss_cls: 0.4303, d1.loss_bbox: 0.5429, d2.loss_cls: 0.4239, d2.loss_bbox: 0.5307, d3.loss_cls: 0.4190, d3.loss_bbox: 0.5280, d4.loss_cls: 0.4172, d4.loss_bbox: 0.5262, d5.loss_cls: 0.4157, d5.loss_bbox: 0.5264, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2341, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0153, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9892, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9904, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.9837, d5.loss_traj_cls: 0.0009, d5.loss_traj: 0.9825, d0.loss_map_cls_all: 0.3668, d0.loss_map_pts_all: 2.3224, d0.loss_map_dir_all: 0.0230, d0.loss_map_cls: 0.3668, d0.loss_map_pts: 2.3224, d0.loss_map_dir: 0.0230, d1.loss_map_cls: 0.3525, d1.loss_map_pts: 1.5871, d1.loss_map_dir: 0.0230, d2.loss_map_cls: 0.3374, d2.loss_map_pts: 1.4420, d2.loss_map_dir: 0.0234, d3.loss_map_cls: 0.3288, d3.loss_map_pts: 1.3882, d3.loss_map_dir: 0.0240, d4.loss_map_cls: 0.3242, d4.loss_map_pts: 1.3672, d4.loss_map_dir: 0.0244, d5.loss_map_cls: 0.3229, d5.loss_map_pts: 1.3642, d5.loss_map_dir: 0.0246, loss: 48.0210, grad_norm: 136.8793 +2026-02-24 21:17:22,948 - DriveTransformer - INFO - Epoch [3][6750/39528] lr: 9.831e-05, eta: 7 days, 23:14:20, time: 0.790, data_time: 0.039, memory: 19865, loss_cls: 0.4074, loss_bbox: 0.5182, loss_traj: 1.2284, loss_traj_cls: 0.0007, loss_map_cls: 0.3269, loss_map_pts: 1.4047, loss_map_dir: 0.0260, d0.loss_plan_l1_fix_time: 2.8248, d0.loss_plan_l1_fix_dist: 0.4433, d1.loss_plan_l1_fix_time: 1.9528, d1.loss_plan_l1_fix_dist: 0.2958, d2.loss_plan_l1_fix_time: 1.9299, d2.loss_plan_l1_fix_dist: 0.2989, d3.loss_plan_l1_fix_time: 1.9357, d3.loss_plan_l1_fix_dist: 0.3095, d4.loss_plan_l1_fix_time: 1.9423, d4.loss_plan_l1_fix_dist: 0.3213, d5.loss_plan_l1_fix_time: 1.9491, d5.loss_plan_l1_fix_dist: 0.3339, d6.loss_plan_l1_fix_time: 1.9560, d6.loss_plan_l1_fix_dist: 0.3485, d0.loss_cls_all: 0.4177, d0.loss_bbox_all: 0.5690, d0.loss_cls: 0.4177, d0.loss_bbox: 0.5690, d1.loss_cls: 0.4139, d1.loss_bbox: 0.5353, d2.loss_cls: 0.4121, d2.loss_bbox: 0.5234, d3.loss_cls: 0.4108, d3.loss_bbox: 0.5186, d4.loss_cls: 0.4116, d4.loss_bbox: 0.5159, d5.loss_cls: 0.4099, d5.loss_bbox: 0.5164, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4448, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2490, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2220, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2291, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.2342, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2283, d0.loss_map_cls_all: 0.3541, d0.loss_map_pts_all: 2.3514, d0.loss_map_dir_all: 0.0240, d0.loss_map_cls: 0.3541, d0.loss_map_pts: 2.3514, d0.loss_map_dir: 0.0240, d1.loss_map_cls: 0.3460, d1.loss_map_pts: 1.6377, d1.loss_map_dir: 0.0244, d2.loss_map_cls: 0.3354, d2.loss_map_pts: 1.4794, d2.loss_map_dir: 0.0248, d3.loss_map_cls: 0.3303, d3.loss_map_pts: 1.4263, d3.loss_map_dir: 0.0253, d4.loss_map_cls: 0.3273, d4.loss_map_pts: 1.4069, d4.loss_map_dir: 0.0256, d5.loss_map_cls: 0.3259, d5.loss_map_pts: 1.4034, d5.loss_map_dir: 0.0258, loss: 49.6119, grad_norm: 138.9162 +2026-02-24 21:18:04,457 - DriveTransformer - INFO - Epoch [3][6800/39528] lr: 9.831e-05, eta: 7 days, 23:13:57, time: 0.832, data_time: 0.040, memory: 19865, loss_cls: 0.4069, loss_bbox: 0.5252, loss_traj: 0.9644, loss_traj_cls: 0.0007, loss_map_cls: 0.2903, loss_map_pts: 1.2732, loss_map_dir: 0.0217, d0.loss_plan_l1_fix_time: 2.5179, d0.loss_plan_l1_fix_dist: 0.4498, d1.loss_plan_l1_fix_time: 1.7312, d1.loss_plan_l1_fix_dist: 0.3369, d2.loss_plan_l1_fix_time: 1.6921, d2.loss_plan_l1_fix_dist: 0.3410, d3.loss_plan_l1_fix_time: 1.6846, d3.loss_plan_l1_fix_dist: 0.3522, d4.loss_plan_l1_fix_time: 1.6863, d4.loss_plan_l1_fix_dist: 0.3647, d5.loss_plan_l1_fix_time: 1.6892, d5.loss_plan_l1_fix_dist: 0.3770, d6.loss_plan_l1_fix_time: 1.6932, d6.loss_plan_l1_fix_dist: 0.3910, d0.loss_cls_all: 0.4111, d0.loss_bbox_all: 0.5718, d0.loss_cls: 0.4111, d0.loss_bbox: 0.5718, d1.loss_cls: 0.4091, d1.loss_bbox: 0.5398, d2.loss_cls: 0.4053, d2.loss_bbox: 0.5303, d3.loss_cls: 0.4044, d3.loss_bbox: 0.5271, d4.loss_cls: 0.4041, d4.loss_bbox: 0.5235, d5.loss_cls: 0.4054, d5.loss_bbox: 0.5244, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0681, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9700, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9556, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9554, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.9413, d5.loss_traj_cls: 0.0009, d5.loss_traj: 0.9498, d0.loss_map_cls_all: 0.3284, d0.loss_map_pts_all: 2.2465, d0.loss_map_dir_all: 0.0201, d0.loss_map_cls: 0.3284, d0.loss_map_pts: 2.2465, d0.loss_map_dir: 0.0201, d1.loss_map_cls: 0.3099, d1.loss_map_pts: 1.4978, d1.loss_map_dir: 0.0202, d2.loss_map_cls: 0.2992, d2.loss_map_pts: 1.3441, d2.loss_map_dir: 0.0204, d3.loss_map_cls: 0.2944, d3.loss_map_pts: 1.2898, d3.loss_map_dir: 0.0209, d4.loss_map_cls: 0.2896, d4.loss_map_pts: 1.2744, d4.loss_map_dir: 0.0213, d5.loss_map_cls: 0.2892, d5.loss_map_pts: 1.2718, d5.loss_map_dir: 0.0214, loss: 44.7286, grad_norm: 138.8114 +2026-02-24 21:18:44,490 - DriveTransformer - INFO - Epoch [3][6850/39528] lr: 9.831e-05, eta: 7 days, 23:13:17, time: 0.799, data_time: 0.043, memory: 19865, loss_cls: 0.4188, loss_bbox: 0.5439, loss_traj: 1.3628, loss_traj_cls: 0.0007, loss_map_cls: 0.2978, loss_map_pts: 1.2991, loss_map_dir: 0.0220, d0.loss_plan_l1_fix_time: 3.1666, d0.loss_plan_l1_fix_dist: 0.4464, d1.loss_plan_l1_fix_time: 2.3289, d1.loss_plan_l1_fix_dist: 0.3376, d2.loss_plan_l1_fix_time: 2.2939, d2.loss_plan_l1_fix_dist: 0.3420, d3.loss_plan_l1_fix_time: 2.2899, d3.loss_plan_l1_fix_dist: 0.3514, d4.loss_plan_l1_fix_time: 2.2925, d4.loss_plan_l1_fix_dist: 0.3643, d5.loss_plan_l1_fix_time: 2.2963, d5.loss_plan_l1_fix_dist: 0.3806, d6.loss_plan_l1_fix_time: 2.3018, d6.loss_plan_l1_fix_dist: 0.4015, d0.loss_cls_all: 0.4377, d0.loss_bbox_all: 0.5869, d0.loss_cls: 0.4377, d0.loss_bbox: 0.5869, d1.loss_cls: 0.4303, d1.loss_bbox: 0.5608, d2.loss_cls: 0.4254, d2.loss_bbox: 0.5465, d3.loss_cls: 0.4225, d3.loss_bbox: 0.5427, d4.loss_cls: 0.4196, d4.loss_bbox: 0.5410, d5.loss_cls: 0.4192, d5.loss_bbox: 0.5400, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5366, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.3342, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3187, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.3385, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.3450, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.3536, d0.loss_map_cls_all: 0.3522, d0.loss_map_pts_all: 2.1758, d0.loss_map_dir_all: 0.0206, d0.loss_map_cls: 0.3522, d0.loss_map_pts: 2.1758, d0.loss_map_dir: 0.0206, d1.loss_map_cls: 0.3259, d1.loss_map_pts: 1.5207, d1.loss_map_dir: 0.0205, d2.loss_map_cls: 0.3121, d2.loss_map_pts: 1.3746, d2.loss_map_dir: 0.0210, d3.loss_map_cls: 0.3026, d3.loss_map_pts: 1.3225, d3.loss_map_dir: 0.0215, d4.loss_map_cls: 0.2986, d4.loss_map_pts: 1.3043, d4.loss_map_dir: 0.0217, d5.loss_map_cls: 0.2966, d5.loss_map_pts: 1.2989, d5.loss_map_dir: 0.0219, loss: 52.2284, grad_norm: 138.3842 +2026-02-24 21:19:24,294 - DriveTransformer - INFO - Epoch [3][6900/39528] lr: 9.831e-05, eta: 7 days, 23:12:37, time: 0.796, data_time: 0.044, memory: 19865, loss_cls: 0.3765, loss_bbox: 0.5147, loss_traj: 1.2234, loss_traj_cls: 0.0007, loss_map_cls: 0.2710, loss_map_pts: 1.1457, loss_map_dir: 0.0187, d0.loss_plan_l1_fix_time: 2.5065, d0.loss_plan_l1_fix_dist: 0.4913, d1.loss_plan_l1_fix_time: 1.7538, d1.loss_plan_l1_fix_dist: 0.3092, d2.loss_plan_l1_fix_time: 1.7349, d2.loss_plan_l1_fix_dist: 0.3137, d3.loss_plan_l1_fix_time: 1.7368, d3.loss_plan_l1_fix_dist: 0.3232, d4.loss_plan_l1_fix_time: 1.7409, d4.loss_plan_l1_fix_dist: 0.3366, d5.loss_plan_l1_fix_time: 1.7460, d5.loss_plan_l1_fix_dist: 0.3520, d6.loss_plan_l1_fix_time: 1.7514, d6.loss_plan_l1_fix_dist: 0.3697, d0.loss_cls_all: 0.3882, d0.loss_bbox_all: 0.5664, d0.loss_cls: 0.3882, d0.loss_bbox: 0.5664, d1.loss_cls: 0.3833, d1.loss_bbox: 0.5403, d2.loss_cls: 0.3796, d2.loss_bbox: 0.5252, d3.loss_cls: 0.3773, d3.loss_bbox: 0.5178, d4.loss_cls: 0.3764, d4.loss_bbox: 0.5152, d5.loss_cls: 0.3756, d5.loss_bbox: 0.5145, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3722, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2454, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2257, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2202, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.2151, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2228, d0.loss_map_cls_all: 0.3176, d0.loss_map_pts_all: 1.9623, d0.loss_map_dir_all: 0.0173, d0.loss_map_cls: 0.3176, d0.loss_map_pts: 1.9623, d0.loss_map_dir: 0.0173, d1.loss_map_cls: 0.2961, d1.loss_map_pts: 1.3328, d1.loss_map_dir: 0.0172, d2.loss_map_cls: 0.2834, d2.loss_map_pts: 1.2017, d2.loss_map_dir: 0.0177, d3.loss_map_cls: 0.2752, d3.loss_map_pts: 1.1642, d3.loss_map_dir: 0.0181, d4.loss_map_cls: 0.2708, d4.loss_map_pts: 1.1523, d4.loss_map_dir: 0.0184, d5.loss_map_cls: 0.2698, d5.loss_map_pts: 1.1490, d5.loss_map_dir: 0.0186, loss: 45.0172, grad_norm: 138.1083 +2026-02-24 21:20:05,560 - DriveTransformer - INFO - Epoch [3][6950/39528] lr: 9.831e-05, eta: 7 days, 23:12:10, time: 0.825, data_time: 0.043, memory: 19865, loss_cls: 0.4232, loss_bbox: 0.5504, loss_traj: 1.1340, loss_traj_cls: 0.0007, loss_map_cls: 0.3103, loss_map_pts: 1.3682, loss_map_dir: 0.0257, d0.loss_plan_l1_fix_time: 2.2119, d0.loss_plan_l1_fix_dist: 0.3731, d1.loss_plan_l1_fix_time: 1.7837, d1.loss_plan_l1_fix_dist: 0.2857, d2.loss_plan_l1_fix_time: 1.7919, d2.loss_plan_l1_fix_dist: 0.2942, d3.loss_plan_l1_fix_time: 1.8011, d3.loss_plan_l1_fix_dist: 0.3077, d4.loss_plan_l1_fix_time: 1.8075, d4.loss_plan_l1_fix_dist: 0.3203, d5.loss_plan_l1_fix_time: 1.8139, d5.loss_plan_l1_fix_dist: 0.3356, d6.loss_plan_l1_fix_time: 1.8211, d6.loss_plan_l1_fix_dist: 0.3527, d0.loss_cls_all: 0.4271, d0.loss_bbox_all: 0.5890, d0.loss_cls: 0.4271, d0.loss_bbox: 0.5890, d1.loss_cls: 0.4249, d1.loss_bbox: 0.5652, d2.loss_cls: 0.4253, d2.loss_bbox: 0.5565, d3.loss_cls: 0.4259, d3.loss_bbox: 0.5501, d4.loss_cls: 0.4240, d4.loss_bbox: 0.5495, d5.loss_cls: 0.4243, d5.loss_bbox: 0.5490, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2640, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1409, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1228, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1247, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1242, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1283, d0.loss_map_cls_all: 0.3459, d0.loss_map_pts_all: 2.4036, d0.loss_map_dir_all: 0.0233, d0.loss_map_cls: 0.3459, d0.loss_map_pts: 2.4036, d0.loss_map_dir: 0.0233, d1.loss_map_cls: 0.3309, d1.loss_map_pts: 1.6078, d1.loss_map_dir: 0.0237, d2.loss_map_cls: 0.3187, d2.loss_map_pts: 1.4502, d2.loss_map_dir: 0.0243, d3.loss_map_cls: 0.3150, d3.loss_map_pts: 1.3959, d3.loss_map_dir: 0.0249, d4.loss_map_cls: 0.3113, d4.loss_map_pts: 1.3785, d4.loss_map_dir: 0.0253, d5.loss_map_cls: 0.3117, d5.loss_map_pts: 1.3734, d5.loss_map_dir: 0.0256, loss: 47.4133, grad_norm: 138.2701 +2026-02-24 21:20:54,654 - DriveTransformer - INFO - Epoch [3][7000/39528] lr: 9.831e-05, eta: 7 days, 23:13:03, time: 0.982, data_time: 0.054, memory: 19865, loss_cls: 0.3743, loss_bbox: 0.5094, loss_traj: 1.1405, loss_traj_cls: 0.0007, loss_map_cls: 0.2556, loss_map_pts: 1.0941, loss_map_dir: 0.0187, d0.loss_plan_l1_fix_time: 2.7583, d0.loss_plan_l1_fix_dist: 0.5525, d1.loss_plan_l1_fix_time: 2.0100, d1.loss_plan_l1_fix_dist: 0.2801, d2.loss_plan_l1_fix_time: 2.0015, d2.loss_plan_l1_fix_dist: 0.2911, d3.loss_plan_l1_fix_time: 2.0064, d3.loss_plan_l1_fix_dist: 0.3089, d4.loss_plan_l1_fix_time: 2.0127, d4.loss_plan_l1_fix_dist: 0.3274, d5.loss_plan_l1_fix_time: 2.0197, d5.loss_plan_l1_fix_dist: 0.3431, d6.loss_plan_l1_fix_time: 2.0280, d6.loss_plan_l1_fix_dist: 0.3594, d0.loss_cls_all: 0.3873, d0.loss_bbox_all: 0.5533, d0.loss_cls: 0.3873, d0.loss_bbox: 0.5533, d1.loss_cls: 0.3848, d1.loss_bbox: 0.5312, d2.loss_cls: 0.3830, d2.loss_bbox: 0.5198, d3.loss_cls: 0.3773, d3.loss_bbox: 0.5123, d4.loss_cls: 0.3748, d4.loss_bbox: 0.5095, d5.loss_cls: 0.3752, d5.loss_bbox: 0.5077, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3530, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1859, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1391, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1309, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1296, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1388, d0.loss_map_cls_all: 0.2971, d0.loss_map_pts_all: 1.8808, d0.loss_map_dir_all: 0.0172, d0.loss_map_cls: 0.2971, d0.loss_map_pts: 1.8808, d0.loss_map_dir: 0.0172, d1.loss_map_cls: 0.2770, d1.loss_map_pts: 1.2983, d1.loss_map_dir: 0.0173, d2.loss_map_cls: 0.2670, d2.loss_map_pts: 1.1583, d2.loss_map_dir: 0.0177, d3.loss_map_cls: 0.2612, d3.loss_map_pts: 1.1142, d3.loss_map_dir: 0.0181, d4.loss_map_cls: 0.2555, d4.loss_map_pts: 1.0975, d4.loss_map_dir: 0.0184, d5.loss_map_cls: 0.2564, d5.loss_map_pts: 1.0942, d5.loss_map_dir: 0.0186, loss: 45.6920, grad_norm: 137.8320 +2026-02-24 21:21:35,799 - DriveTransformer - INFO - Epoch [3][7050/39528] lr: 9.831e-05, eta: 7 days, 23:12:35, time: 0.822, data_time: 0.051, memory: 19865, loss_cls: 0.3779, loss_bbox: 0.5548, loss_traj: 1.4843, loss_traj_cls: 0.0007, loss_map_cls: 0.2911, loss_map_pts: 1.2531, loss_map_dir: 0.0195, d0.loss_plan_l1_fix_time: 2.6305, d0.loss_plan_l1_fix_dist: 0.4935, d1.loss_plan_l1_fix_time: 2.0287, d1.loss_plan_l1_fix_dist: 0.3089, d2.loss_plan_l1_fix_time: 2.0013, d2.loss_plan_l1_fix_dist: 0.3144, d3.loss_plan_l1_fix_time: 2.0011, d3.loss_plan_l1_fix_dist: 0.3242, d4.loss_plan_l1_fix_time: 2.0063, d4.loss_plan_l1_fix_dist: 0.3379, d5.loss_plan_l1_fix_time: 2.0131, d5.loss_plan_l1_fix_dist: 0.3545, d6.loss_plan_l1_fix_time: 2.0212, d6.loss_plan_l1_fix_dist: 0.3743, d0.loss_cls_all: 0.3952, d0.loss_bbox_all: 0.5911, d0.loss_cls: 0.3952, d0.loss_bbox: 0.5911, d1.loss_cls: 0.3886, d1.loss_bbox: 0.5680, d2.loss_cls: 0.3843, d2.loss_bbox: 0.5568, d3.loss_cls: 0.3799, d3.loss_bbox: 0.5509, d4.loss_cls: 0.3784, d4.loss_bbox: 0.5498, d5.loss_cls: 0.3794, d5.loss_bbox: 0.5506, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6594, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.4747, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.4546, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.4631, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.4655, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.4647, d0.loss_map_cls_all: 0.3528, d0.loss_map_pts_all: 2.0633, d0.loss_map_dir_all: 0.0175, d0.loss_map_cls: 0.3528, d0.loss_map_pts: 2.0633, d0.loss_map_dir: 0.0175, d1.loss_map_cls: 0.3276, d1.loss_map_pts: 1.4606, d1.loss_map_dir: 0.0179, d2.loss_map_cls: 0.3083, d2.loss_map_pts: 1.3235, d2.loss_map_dir: 0.0184, d3.loss_map_cls: 0.2986, d3.loss_map_pts: 1.2765, d3.loss_map_dir: 0.0189, d4.loss_map_cls: 0.2932, d4.loss_map_pts: 1.2597, d4.loss_map_dir: 0.0192, d5.loss_map_cls: 0.2904, d5.loss_map_pts: 1.2554, d5.loss_map_dir: 0.0194, loss: 49.8924, grad_norm: 138.0838 +2026-02-24 21:22:15,426 - DriveTransformer - INFO - Epoch [3][7100/39528] lr: 9.831e-05, eta: 7 days, 23:11:53, time: 0.793, data_time: 0.041, memory: 19865, loss_cls: 0.4075, loss_bbox: 0.5811, loss_traj: 1.2442, loss_traj_cls: 0.0007, loss_map_cls: 0.3299, loss_map_pts: 1.3420, loss_map_dir: 0.0204, d0.loss_plan_l1_fix_time: 2.9951, d0.loss_plan_l1_fix_dist: 0.4414, d1.loss_plan_l1_fix_time: 2.0242, d1.loss_plan_l1_fix_dist: 0.2984, d2.loss_plan_l1_fix_time: 1.9870, d2.loss_plan_l1_fix_dist: 0.3053, d3.loss_plan_l1_fix_time: 1.9866, d3.loss_plan_l1_fix_dist: 0.3128, d4.loss_plan_l1_fix_time: 1.9922, d4.loss_plan_l1_fix_dist: 0.3243, d5.loss_plan_l1_fix_time: 1.9983, d5.loss_plan_l1_fix_dist: 0.3442, d6.loss_plan_l1_fix_time: 2.0053, d6.loss_plan_l1_fix_dist: 0.3673, d0.loss_cls_all: 0.4219, d0.loss_bbox_all: 0.6036, d0.loss_cls: 0.4219, d0.loss_bbox: 0.6036, d1.loss_cls: 0.4135, d1.loss_bbox: 0.5817, d2.loss_cls: 0.4091, d2.loss_bbox: 0.5736, d3.loss_cls: 0.4103, d3.loss_bbox: 0.5683, d4.loss_cls: 0.4085, d4.loss_bbox: 0.5699, d5.loss_cls: 0.4075, d5.loss_bbox: 0.5757, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4412, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2704, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2482, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2422, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.2450, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2469, d0.loss_map_cls_all: 0.3708, d0.loss_map_pts_all: 2.1472, d0.loss_map_dir_all: 0.0187, d0.loss_map_cls: 0.3708, d0.loss_map_pts: 2.1472, d0.loss_map_dir: 0.0187, d1.loss_map_cls: 0.3523, d1.loss_map_pts: 1.5241, d1.loss_map_dir: 0.0188, d2.loss_map_cls: 0.3396, d2.loss_map_pts: 1.3934, d2.loss_map_dir: 0.0193, d3.loss_map_cls: 0.3317, d3.loss_map_pts: 1.3514, d3.loss_map_dir: 0.0197, d4.loss_map_cls: 0.3294, d4.loss_map_pts: 1.3427, d4.loss_map_dir: 0.0200, d5.loss_map_cls: 0.3298, d5.loss_map_pts: 1.3384, d5.loss_map_dir: 0.0203, loss: 49.7810, grad_norm: 139.3326 +2026-02-24 21:22:56,640 - DriveTransformer - INFO - Epoch [3][7150/39528] lr: 9.831e-05, eta: 7 days, 23:11:26, time: 0.824, data_time: 0.049, memory: 19865, loss_cls: 0.4450, loss_bbox: 0.5813, loss_traj: 1.1467, loss_traj_cls: 0.0007, loss_map_cls: 0.2771, loss_map_pts: 1.3511, loss_map_dir: 0.0229, d0.loss_plan_l1_fix_time: 2.9158, d0.loss_plan_l1_fix_dist: 0.5519, d1.loss_plan_l1_fix_time: 2.0559, d1.loss_plan_l1_fix_dist: 0.3730, d2.loss_plan_l1_fix_time: 2.0483, d2.loss_plan_l1_fix_dist: 0.3794, d3.loss_plan_l1_fix_time: 2.0559, d3.loss_plan_l1_fix_dist: 0.3851, d4.loss_plan_l1_fix_time: 2.0629, d4.loss_plan_l1_fix_dist: 0.3933, d5.loss_plan_l1_fix_time: 2.0699, d5.loss_plan_l1_fix_dist: 0.4052, d6.loss_plan_l1_fix_time: 2.0767, d6.loss_plan_l1_fix_dist: 0.4195, d0.loss_cls_all: 0.4522, d0.loss_bbox_all: 0.6055, d0.loss_cls: 0.4522, d0.loss_bbox: 0.6055, d1.loss_cls: 0.4483, d1.loss_bbox: 0.5854, d2.loss_cls: 0.4482, d2.loss_bbox: 0.5777, d3.loss_cls: 0.4449, d3.loss_bbox: 0.5763, d4.loss_cls: 0.4393, d4.loss_bbox: 0.5793, d5.loss_cls: 0.4419, d5.loss_bbox: 0.5783, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3183, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1823, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1461, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1409, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1443, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1455, d0.loss_map_cls_all: 0.3250, d0.loss_map_pts_all: 2.2610, d0.loss_map_dir_all: 0.0215, d0.loss_map_cls: 0.3250, d0.loss_map_pts: 2.2610, d0.loss_map_dir: 0.0215, d1.loss_map_cls: 0.3050, d1.loss_map_pts: 1.5603, d1.loss_map_dir: 0.0216, d2.loss_map_cls: 0.2888, d2.loss_map_pts: 1.4174, d2.loss_map_dir: 0.0219, d3.loss_map_cls: 0.2816, d3.loss_map_pts: 1.3696, d3.loss_map_dir: 0.0223, d4.loss_map_cls: 0.2773, d4.loss_map_pts: 1.3556, d4.loss_map_dir: 0.0226, d5.loss_map_cls: 0.2769, d5.loss_map_pts: 1.3521, d5.loss_map_dir: 0.0228, loss: 50.1460, grad_norm: 140.3106 +2026-02-24 21:23:34,825 - DriveTransformer - INFO - Epoch [3][7200/39528] lr: 9.831e-05, eta: 7 days, 23:10:29, time: 0.764, data_time: 0.043, memory: 19865, loss_cls: 0.4212, loss_bbox: 0.5510, loss_traj: 1.2804, loss_traj_cls: 0.0007, loss_map_cls: 0.3305, loss_map_pts: 1.2439, loss_map_dir: 0.0181, d0.loss_plan_l1_fix_time: 2.9353, d0.loss_plan_l1_fix_dist: 0.4623, d1.loss_plan_l1_fix_time: 1.9555, d1.loss_plan_l1_fix_dist: 0.2754, d2.loss_plan_l1_fix_time: 1.9370, d2.loss_plan_l1_fix_dist: 0.2807, d3.loss_plan_l1_fix_time: 1.9433, d3.loss_plan_l1_fix_dist: 0.2974, d4.loss_plan_l1_fix_time: 1.9489, d4.loss_plan_l1_fix_dist: 0.3140, d5.loss_plan_l1_fix_time: 1.9551, d5.loss_plan_l1_fix_dist: 0.3267, d6.loss_plan_l1_fix_time: 1.9619, d6.loss_plan_l1_fix_dist: 0.3432, d0.loss_cls_all: 0.4408, d0.loss_bbox_all: 0.5955, d0.loss_cls: 0.4408, d0.loss_bbox: 0.5955, d1.loss_cls: 0.4335, d1.loss_bbox: 0.5739, d2.loss_cls: 0.4319, d2.loss_bbox: 0.5601, d3.loss_cls: 0.4284, d3.loss_bbox: 0.5526, d4.loss_cls: 0.4236, d4.loss_bbox: 0.5508, d5.loss_cls: 0.4204, d5.loss_bbox: 0.5509, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4133, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2998, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2701, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.2818, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.2822, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2815, d0.loss_map_cls_all: 0.3797, d0.loss_map_pts_all: 1.9942, d0.loss_map_dir_all: 0.0165, d0.loss_map_cls: 0.3797, d0.loss_map_pts: 1.9942, d0.loss_map_dir: 0.0165, d1.loss_map_cls: 0.3574, d1.loss_map_pts: 1.4552, d1.loss_map_dir: 0.0169, d2.loss_map_cls: 0.3383, d2.loss_map_pts: 1.3261, d2.loss_map_dir: 0.0172, d3.loss_map_cls: 0.3325, d3.loss_map_pts: 1.2746, d3.loss_map_dir: 0.0175, d4.loss_map_cls: 0.3319, d4.loss_map_pts: 1.2545, d4.loss_map_dir: 0.0178, d5.loss_map_cls: 0.3321, d5.loss_map_pts: 1.2475, d5.loss_map_dir: 0.0179, loss: 48.7341, grad_norm: 140.4564 +2026-02-24 21:24:14,392 - DriveTransformer - INFO - Epoch [3][7250/39528] lr: 9.831e-05, eta: 7 days, 23:09:46, time: 0.791, data_time: 0.040, memory: 19865, loss_cls: 0.4326, loss_bbox: 0.5865, loss_traj: 1.5244, loss_traj_cls: 0.0008, loss_map_cls: 0.3099, loss_map_pts: 1.4355, loss_map_dir: 0.0219, d0.loss_plan_l1_fix_time: 3.1445, d0.loss_plan_l1_fix_dist: 0.4274, d1.loss_plan_l1_fix_time: 2.4292, d1.loss_plan_l1_fix_dist: 0.2968, d2.loss_plan_l1_fix_time: 2.4109, d2.loss_plan_l1_fix_dist: 0.3033, d3.loss_plan_l1_fix_time: 2.4084, d3.loss_plan_l1_fix_dist: 0.3148, d4.loss_plan_l1_fix_time: 2.4133, d4.loss_plan_l1_fix_dist: 0.3280, d5.loss_plan_l1_fix_time: 2.4196, d5.loss_plan_l1_fix_dist: 0.3442, d6.loss_plan_l1_fix_time: 2.4271, d6.loss_plan_l1_fix_dist: 0.3648, d0.loss_cls_all: 0.4324, d0.loss_bbox_all: 0.6290, d0.loss_cls: 0.4324, d0.loss_bbox: 0.6290, d1.loss_cls: 0.4289, d1.loss_bbox: 0.6036, d2.loss_cls: 0.4242, d2.loss_bbox: 0.5935, d3.loss_cls: 0.4244, d3.loss_bbox: 0.5900, d4.loss_cls: 0.4261, d4.loss_bbox: 0.5847, d5.loss_cls: 0.4291, d5.loss_bbox: 0.5870, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6712, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.5455, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.5381, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.5394, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.5329, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.5272, d0.loss_map_cls_all: 0.3663, d0.loss_map_pts_all: 2.2663, d0.loss_map_dir_all: 0.0204, d0.loss_map_cls: 0.3663, d0.loss_map_pts: 2.2663, d0.loss_map_dir: 0.0204, d1.loss_map_cls: 0.3398, d1.loss_map_pts: 1.6607, d1.loss_map_dir: 0.0205, d2.loss_map_cls: 0.3240, d2.loss_map_pts: 1.5221, d2.loss_map_dir: 0.0209, d3.loss_map_cls: 0.3163, d3.loss_map_pts: 1.4679, d3.loss_map_dir: 0.0213, d4.loss_map_cls: 0.3097, d4.loss_map_pts: 1.4472, d4.loss_map_dir: 0.0216, d5.loss_map_cls: 0.3089, d5.loss_map_pts: 1.4412, d5.loss_map_dir: 0.0217, loss: 55.4678, grad_norm: 141.1761 +2026-02-24 21:24:56,291 - DriveTransformer - INFO - Epoch [3][7300/39528] lr: 9.831e-05, eta: 7 days, 23:09:26, time: 0.838, data_time: 0.043, memory: 19865, loss_cls: 0.4307, loss_bbox: 0.5483, loss_traj: 1.1522, loss_traj_cls: 0.0007, loss_map_cls: 0.2965, loss_map_pts: 1.2974, loss_map_dir: 0.0258, d0.loss_plan_l1_fix_time: 2.8201, d0.loss_plan_l1_fix_dist: 0.4762, d1.loss_plan_l1_fix_time: 1.8984, d1.loss_plan_l1_fix_dist: 0.3498, d2.loss_plan_l1_fix_time: 1.8750, d2.loss_plan_l1_fix_dist: 0.3478, d3.loss_plan_l1_fix_time: 1.8809, d3.loss_plan_l1_fix_dist: 0.3540, d4.loss_plan_l1_fix_time: 1.8905, d4.loss_plan_l1_fix_dist: 0.3641, d5.loss_plan_l1_fix_time: 1.9006, d5.loss_plan_l1_fix_dist: 0.3799, d6.loss_plan_l1_fix_time: 1.9114, d6.loss_plan_l1_fix_dist: 0.3971, d0.loss_cls_all: 0.4366, d0.loss_bbox_all: 0.5963, d0.loss_cls: 0.4366, d0.loss_bbox: 0.5963, d1.loss_cls: 0.4322, d1.loss_bbox: 0.5694, d2.loss_cls: 0.4287, d2.loss_bbox: 0.5583, d3.loss_cls: 0.4310, d3.loss_bbox: 0.5506, d4.loss_cls: 0.4278, d4.loss_bbox: 0.5479, d5.loss_cls: 0.4289, d5.loss_bbox: 0.5486, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3595, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2040, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1633, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1591, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1523, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1476, d0.loss_map_cls_all: 0.3365, d0.loss_map_pts_all: 2.3930, d0.loss_map_dir_all: 0.0240, d0.loss_map_cls: 0.3365, d0.loss_map_pts: 2.3930, d0.loss_map_dir: 0.0240, d1.loss_map_cls: 0.3176, d1.loss_map_pts: 1.5438, d1.loss_map_dir: 0.0242, d2.loss_map_cls: 0.3034, d2.loss_map_pts: 1.3835, d2.loss_map_dir: 0.0247, d3.loss_map_cls: 0.2970, d3.loss_map_pts: 1.3256, d3.loss_map_dir: 0.0251, d4.loss_map_cls: 0.2930, d4.loss_map_pts: 1.3071, d4.loss_map_dir: 0.0255, d5.loss_map_cls: 0.2926, d5.loss_map_pts: 1.3000, d5.loss_map_dir: 0.0257, loss: 48.7739, grad_norm: 141.3244 +2026-02-24 21:25:37,478 - DriveTransformer - INFO - Epoch [3][7350/39528] lr: 9.831e-05, eta: 7 days, 23:08:59, time: 0.824, data_time: 0.046, memory: 19865, loss_cls: 0.3695, loss_bbox: 0.5167, loss_traj: 1.1016, loss_traj_cls: 0.0007, loss_map_cls: 0.3087, loss_map_pts: 1.2993, loss_map_dir: 0.0239, d0.loss_plan_l1_fix_time: 2.3770, d0.loss_plan_l1_fix_dist: 0.5078, d1.loss_plan_l1_fix_time: 1.5297, d1.loss_plan_l1_fix_dist: 0.2975, d2.loss_plan_l1_fix_time: 1.4975, d2.loss_plan_l1_fix_dist: 0.3008, d3.loss_plan_l1_fix_time: 1.4996, d3.loss_plan_l1_fix_dist: 0.3080, d4.loss_plan_l1_fix_time: 1.5054, d4.loss_plan_l1_fix_dist: 0.3163, d5.loss_plan_l1_fix_time: 1.5127, d5.loss_plan_l1_fix_dist: 0.3251, d6.loss_plan_l1_fix_time: 1.5221, d6.loss_plan_l1_fix_dist: 0.3386, d0.loss_cls_all: 0.3814, d0.loss_bbox_all: 0.5571, d0.loss_cls: 0.3814, d0.loss_bbox: 0.5571, d1.loss_cls: 0.3726, d1.loss_bbox: 0.5346, d2.loss_cls: 0.3692, d2.loss_bbox: 0.5241, d3.loss_cls: 0.3695, d3.loss_bbox: 0.5177, d4.loss_cls: 0.3686, d4.loss_bbox: 0.5145, d5.loss_cls: 0.3693, d5.loss_bbox: 0.5147, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2983, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1092, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0888, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0951, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0895, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0952, d0.loss_map_cls_all: 0.3554, d0.loss_map_pts_all: 2.2716, d0.loss_map_dir_all: 0.0220, d0.loss_map_cls: 0.3554, d0.loss_map_pts: 2.2716, d0.loss_map_dir: 0.0220, d1.loss_map_cls: 0.3338, d1.loss_map_pts: 1.5461, d1.loss_map_dir: 0.0221, d2.loss_map_cls: 0.3186, d2.loss_map_pts: 1.3871, d2.loss_map_dir: 0.0227, d3.loss_map_cls: 0.3137, d3.loss_map_pts: 1.3296, d3.loss_map_dir: 0.0231, d4.loss_map_cls: 0.3080, d4.loss_map_pts: 1.3104, d4.loss_map_dir: 0.0236, d5.loss_map_cls: 0.3064, d5.loss_map_pts: 1.3002, d5.loss_map_dir: 0.0237, loss: 44.4392, grad_norm: 141.8739 +2026-02-24 21:26:18,169 - DriveTransformer - INFO - Epoch [3][7400/39528] lr: 9.831e-05, eta: 7 days, 23:08:27, time: 0.814, data_time: 0.052, memory: 19865, loss_cls: 0.3864, loss_bbox: 0.5382, loss_traj: 1.2088, loss_traj_cls: 0.0007, loss_map_cls: 0.2838, loss_map_pts: 1.2128, loss_map_dir: 0.0186, d0.loss_plan_l1_fix_time: 2.7154, d0.loss_plan_l1_fix_dist: 0.4435, d1.loss_plan_l1_fix_time: 1.8666, d1.loss_plan_l1_fix_dist: 0.3037, d2.loss_plan_l1_fix_time: 1.8502, d2.loss_plan_l1_fix_dist: 0.3161, d3.loss_plan_l1_fix_time: 1.8526, d3.loss_plan_l1_fix_dist: 0.3250, d4.loss_plan_l1_fix_time: 1.8576, d4.loss_plan_l1_fix_dist: 0.3333, d5.loss_plan_l1_fix_time: 1.8645, d5.loss_plan_l1_fix_dist: 0.3433, d6.loss_plan_l1_fix_time: 1.8723, d6.loss_plan_l1_fix_dist: 0.3569, d0.loss_cls_all: 0.4034, d0.loss_bbox_all: 0.5684, d0.loss_cls: 0.4034, d0.loss_bbox: 0.5684, d1.loss_cls: 0.3978, d1.loss_bbox: 0.5443, d2.loss_cls: 0.3904, d2.loss_bbox: 0.5328, d3.loss_cls: 0.3876, d3.loss_bbox: 0.5297, d4.loss_cls: 0.3850, d4.loss_bbox: 0.5305, d5.loss_cls: 0.3863, d5.loss_bbox: 0.5336, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3969, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2175, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1956, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1879, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1906, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1933, d0.loss_map_cls_all: 0.3332, d0.loss_map_pts_all: 1.9499, d0.loss_map_dir_all: 0.0173, d0.loss_map_cls: 0.3332, d0.loss_map_pts: 1.9499, d0.loss_map_dir: 0.0173, d1.loss_map_cls: 0.3105, d1.loss_map_pts: 1.4143, d1.loss_map_dir: 0.0173, d2.loss_map_cls: 0.2938, d2.loss_map_pts: 1.2865, d2.loss_map_dir: 0.0177, d3.loss_map_cls: 0.2865, d3.loss_map_pts: 1.2372, d3.loss_map_dir: 0.0181, d4.loss_map_cls: 0.2825, d4.loss_map_pts: 1.2202, d4.loss_map_dir: 0.0183, d5.loss_map_cls: 0.2832, d5.loss_map_pts: 1.2115, d5.loss_map_dir: 0.0185, loss: 46.4162, grad_norm: 144.1741 +2026-02-24 21:27:00,293 - DriveTransformer - INFO - Epoch [3][7450/39528] lr: 9.831e-05, eta: 7 days, 23:08:09, time: 0.842, data_time: 0.046, memory: 19865, loss_cls: 0.3956, loss_bbox: 0.5424, loss_traj: 1.0501, loss_traj_cls: 0.0007, loss_map_cls: 0.2732, loss_map_pts: 1.2064, loss_map_dir: 0.0220, d0.loss_plan_l1_fix_time: 2.3631, d0.loss_plan_l1_fix_dist: 0.3659, d1.loss_plan_l1_fix_time: 1.4478, d1.loss_plan_l1_fix_dist: 0.2556, d2.loss_plan_l1_fix_time: 1.4379, d2.loss_plan_l1_fix_dist: 0.2581, d3.loss_plan_l1_fix_time: 1.4431, d3.loss_plan_l1_fix_dist: 0.2638, d4.loss_plan_l1_fix_time: 1.4489, d4.loss_plan_l1_fix_dist: 0.2734, d5.loss_plan_l1_fix_time: 1.4557, d5.loss_plan_l1_fix_dist: 0.2845, d6.loss_plan_l1_fix_time: 1.4635, d6.loss_plan_l1_fix_dist: 0.3011, d0.loss_cls_all: 0.4020, d0.loss_bbox_all: 0.5786, d0.loss_cls: 0.4020, d0.loss_bbox: 0.5786, d1.loss_cls: 0.4006, d1.loss_bbox: 0.5491, d2.loss_cls: 0.3935, d2.loss_bbox: 0.5408, d3.loss_cls: 0.3923, d3.loss_bbox: 0.5382, d4.loss_cls: 0.3910, d4.loss_bbox: 0.5384, d5.loss_cls: 0.3940, d5.loss_bbox: 0.5395, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1856, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0506, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0393, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0381, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0368, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.0419, d0.loss_map_cls_all: 0.3163, d0.loss_map_pts_all: 2.1648, d0.loss_map_dir_all: 0.0207, d0.loss_map_cls: 0.3163, d0.loss_map_pts: 2.1648, d0.loss_map_dir: 0.0207, d1.loss_map_cls: 0.2973, d1.loss_map_pts: 1.4300, d1.loss_map_dir: 0.0205, d2.loss_map_cls: 0.2845, d2.loss_map_pts: 1.2875, d2.loss_map_dir: 0.0209, d3.loss_map_cls: 0.2792, d3.loss_map_pts: 1.2339, d3.loss_map_dir: 0.0213, d4.loss_map_cls: 0.2750, d4.loss_map_pts: 1.2129, d4.loss_map_dir: 0.0217, d5.loss_map_cls: 0.2747, d5.loss_map_pts: 1.2065, d5.loss_map_dir: 0.0219, loss: 42.4805, grad_norm: 144.0182 +2026-02-24 21:27:41,614 - DriveTransformer - INFO - Epoch [3][7500/39528] lr: 9.831e-05, eta: 7 days, 23:07:43, time: 0.826, data_time: 0.044, memory: 19865, loss_cls: 0.3634, loss_bbox: 0.5405, loss_traj: 1.0432, loss_traj_cls: 0.0007, loss_map_cls: 0.2807, loss_map_pts: 1.1971, loss_map_dir: 0.0218, d0.loss_plan_l1_fix_time: 2.6684, d0.loss_plan_l1_fix_dist: 0.4932, d1.loss_plan_l1_fix_time: 1.7659, d1.loss_plan_l1_fix_dist: 0.2766, d2.loss_plan_l1_fix_time: 1.7568, d2.loss_plan_l1_fix_dist: 0.2752, d3.loss_plan_l1_fix_time: 1.7585, d3.loss_plan_l1_fix_dist: 0.2783, d4.loss_plan_l1_fix_time: 1.7636, d4.loss_plan_l1_fix_dist: 0.2850, d5.loss_plan_l1_fix_time: 1.7705, d5.loss_plan_l1_fix_dist: 0.2929, d6.loss_plan_l1_fix_time: 1.7784, d6.loss_plan_l1_fix_dist: 0.3031, d0.loss_cls_all: 0.3687, d0.loss_bbox_all: 0.5862, d0.loss_cls: 0.3687, d0.loss_bbox: 0.5862, d1.loss_cls: 0.3642, d1.loss_bbox: 0.5628, d2.loss_cls: 0.3657, d2.loss_bbox: 0.5475, d3.loss_cls: 0.3650, d3.loss_bbox: 0.5430, d4.loss_cls: 0.3621, d4.loss_bbox: 0.5411, d5.loss_cls: 0.3628, d5.loss_bbox: 0.5403, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2318, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0783, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0398, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0358, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0361, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0355, d0.loss_map_cls_all: 0.3183, d0.loss_map_pts_all: 2.1723, d0.loss_map_dir_all: 0.0203, d0.loss_map_cls: 0.3183, d0.loss_map_pts: 2.1723, d0.loss_map_dir: 0.0203, d1.loss_map_cls: 0.3055, d1.loss_map_pts: 1.4418, d1.loss_map_dir: 0.0203, d2.loss_map_cls: 0.2897, d2.loss_map_pts: 1.2841, d2.loss_map_dir: 0.0207, d3.loss_map_cls: 0.2852, d3.loss_map_pts: 1.2243, d3.loss_map_dir: 0.0213, d4.loss_map_cls: 0.2817, d4.loss_map_pts: 1.2058, d4.loss_map_dir: 0.0216, d5.loss_map_cls: 0.2819, d5.loss_map_pts: 1.1972, d5.loss_map_dir: 0.0217, loss: 44.7658, grad_norm: 144.5284 +2026-02-24 21:28:20,300 - DriveTransformer - INFO - Epoch [3][7550/39528] lr: 9.831e-05, eta: 7 days, 23:06:51, time: 0.774, data_time: 0.038, memory: 19865, loss_cls: 0.3997, loss_bbox: 0.5590, loss_traj: 1.0117, loss_traj_cls: 0.0007, loss_map_cls: 0.2864, loss_map_pts: 1.2512, loss_map_dir: 0.0210, d0.loss_plan_l1_fix_time: 2.9117, d0.loss_plan_l1_fix_dist: 0.4985, d1.loss_plan_l1_fix_time: 2.0607, d1.loss_plan_l1_fix_dist: 0.2576, d2.loss_plan_l1_fix_time: 2.0494, d2.loss_plan_l1_fix_dist: 0.2640, d3.loss_plan_l1_fix_time: 2.0587, d3.loss_plan_l1_fix_dist: 0.2757, d4.loss_plan_l1_fix_time: 2.0668, d4.loss_plan_l1_fix_dist: 0.2901, d5.loss_plan_l1_fix_time: 2.0746, d5.loss_plan_l1_fix_dist: 0.3083, d6.loss_plan_l1_fix_time: 2.0826, d6.loss_plan_l1_fix_dist: 0.3316, d0.loss_cls_all: 0.4043, d0.loss_bbox_all: 0.6016, d0.loss_cls: 0.4043, d0.loss_bbox: 0.6016, d1.loss_cls: 0.4018, d1.loss_bbox: 0.5752, d2.loss_cls: 0.4036, d2.loss_bbox: 0.5634, d3.loss_cls: 0.4012, d3.loss_bbox: 0.5578, d4.loss_cls: 0.3974, d4.loss_bbox: 0.5584, d5.loss_cls: 0.3981, d5.loss_bbox: 0.5582, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1537, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.0301, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0002, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0001, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0008, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0058, d0.loss_map_cls_all: 0.3287, d0.loss_map_pts_all: 2.0665, d0.loss_map_dir_all: 0.0197, d0.loss_map_cls: 0.3287, d0.loss_map_pts: 2.0665, d0.loss_map_dir: 0.0197, d1.loss_map_cls: 0.3130, d1.loss_map_pts: 1.4568, d1.loss_map_dir: 0.0197, d2.loss_map_cls: 0.3009, d2.loss_map_pts: 1.3215, d2.loss_map_dir: 0.0201, d3.loss_map_cls: 0.2922, d3.loss_map_pts: 1.2693, d3.loss_map_dir: 0.0204, d4.loss_map_cls: 0.2861, d4.loss_map_pts: 1.2563, d4.loss_map_dir: 0.0207, d5.loss_map_cls: 0.2850, d5.loss_map_pts: 1.2526, d5.loss_map_dir: 0.0208, loss: 47.0484, grad_norm: 143.3862 +2026-02-24 21:29:02,896 - DriveTransformer - INFO - Epoch [3][7600/39528] lr: 9.831e-05, eta: 7 days, 23:06:38, time: 0.853, data_time: 0.042, memory: 19865, loss_cls: 0.4049, loss_bbox: 0.5276, loss_traj: 1.0440, loss_traj_cls: 0.0007, loss_map_cls: 0.3015, loss_map_pts: 1.3583, loss_map_dir: 0.0245, d0.loss_plan_l1_fix_time: 2.9699, d0.loss_plan_l1_fix_dist: 0.5249, d1.loss_plan_l1_fix_time: 2.0661, d1.loss_plan_l1_fix_dist: 0.2979, d2.loss_plan_l1_fix_time: 2.0388, d2.loss_plan_l1_fix_dist: 0.3107, d3.loss_plan_l1_fix_time: 2.0404, d3.loss_plan_l1_fix_dist: 0.3243, d4.loss_plan_l1_fix_time: 2.0467, d4.loss_plan_l1_fix_dist: 0.3367, d5.loss_plan_l1_fix_time: 2.0538, d5.loss_plan_l1_fix_dist: 0.3487, d6.loss_plan_l1_fix_time: 2.0618, d6.loss_plan_l1_fix_dist: 0.3645, d0.loss_cls_all: 0.4106, d0.loss_bbox_all: 0.5764, d0.loss_cls: 0.4106, d0.loss_bbox: 0.5764, d1.loss_cls: 0.3986, d1.loss_bbox: 0.5452, d2.loss_cls: 0.3970, d2.loss_bbox: 0.5304, d3.loss_cls: 0.3964, d3.loss_bbox: 0.5273, d4.loss_cls: 0.3986, d4.loss_bbox: 0.5243, d5.loss_cls: 0.3998, d5.loss_bbox: 0.5245, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1968, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.0695, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0526, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0539, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0456, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.0440, d0.loss_map_cls_all: 0.3409, d0.loss_map_pts_all: 2.2435, d0.loss_map_dir_all: 0.0224, d0.loss_map_cls: 0.3409, d0.loss_map_pts: 2.2435, d0.loss_map_dir: 0.0224, d1.loss_map_cls: 0.3204, d1.loss_map_pts: 1.5944, d1.loss_map_dir: 0.0225, d2.loss_map_cls: 0.3104, d2.loss_map_pts: 1.4402, d2.loss_map_dir: 0.0233, d3.loss_map_cls: 0.3037, d3.loss_map_pts: 1.3818, d3.loss_map_dir: 0.0237, d4.loss_map_cls: 0.2999, d4.loss_map_pts: 1.3655, d4.loss_map_dir: 0.0241, d5.loss_map_cls: 0.3003, d5.loss_map_pts: 1.3602, d5.loss_map_dir: 0.0242, loss: 48.5385, grad_norm: 144.0006 +2026-02-24 21:29:43,077 - DriveTransformer - INFO - Epoch [3][7650/39528] lr: 9.831e-05, eta: 7 days, 23:06:01, time: 0.802, data_time: 0.042, memory: 19865, loss_cls: 0.4264, loss_bbox: 0.5807, loss_traj: 1.4446, loss_traj_cls: 0.0008, loss_map_cls: 0.2962, loss_map_pts: 1.2790, loss_map_dir: 0.0211, d0.loss_plan_l1_fix_time: 3.0705, d0.loss_plan_l1_fix_dist: 0.5687, d1.loss_plan_l1_fix_time: 2.1412, d1.loss_plan_l1_fix_dist: 0.3850, d2.loss_plan_l1_fix_time: 2.1080, d2.loss_plan_l1_fix_dist: 0.3887, d3.loss_plan_l1_fix_time: 2.0966, d3.loss_plan_l1_fix_dist: 0.3981, d4.loss_plan_l1_fix_time: 2.0972, d4.loss_plan_l1_fix_dist: 0.4079, d5.loss_plan_l1_fix_time: 2.0995, d5.loss_plan_l1_fix_dist: 0.4184, d6.loss_plan_l1_fix_time: 2.1038, d6.loss_plan_l1_fix_dist: 0.4305, d0.loss_cls_all: 0.4315, d0.loss_bbox_all: 0.6250, d0.loss_cls: 0.4315, d0.loss_bbox: 0.6250, d1.loss_cls: 0.4216, d1.loss_bbox: 0.6007, d2.loss_cls: 0.4179, d2.loss_bbox: 0.5906, d3.loss_cls: 0.4176, d3.loss_bbox: 0.5855, d4.loss_cls: 0.4220, d4.loss_bbox: 0.5842, d5.loss_cls: 0.4259, d5.loss_bbox: 0.5812, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6169, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.4649, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.4410, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.4290, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.4332, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.4356, d0.loss_map_cls_all: 0.3401, d0.loss_map_pts_all: 2.1270, d0.loss_map_dir_all: 0.0201, d0.loss_map_cls: 0.3401, d0.loss_map_pts: 2.1270, d0.loss_map_dir: 0.0201, d1.loss_map_cls: 0.3242, d1.loss_map_pts: 1.4846, d1.loss_map_dir: 0.0199, d2.loss_map_cls: 0.3074, d2.loss_map_pts: 1.3500, d2.loss_map_dir: 0.0203, d3.loss_map_cls: 0.2983, d3.loss_map_pts: 1.2984, d3.loss_map_dir: 0.0205, d4.loss_map_cls: 0.2943, d4.loss_map_pts: 1.2801, d4.loss_map_dir: 0.0207, d5.loss_map_cls: 0.2959, d5.loss_map_pts: 1.2788, d5.loss_map_dir: 0.0209, loss: 52.0379, grad_norm: 144.2837 +2026-02-24 21:30:23,500 - DriveTransformer - INFO - Epoch [3][7700/39528] lr: 9.831e-05, eta: 7 days, 23:05:26, time: 0.808, data_time: 0.043, memory: 19865, loss_cls: 0.3814, loss_bbox: 0.5486, loss_traj: 1.1274, loss_traj_cls: 0.0008, loss_map_cls: 0.2964, loss_map_pts: 1.2844, loss_map_dir: 0.0231, d0.loss_plan_l1_fix_time: 2.7752, d0.loss_plan_l1_fix_dist: 0.4141, d1.loss_plan_l1_fix_time: 1.8908, d1.loss_plan_l1_fix_dist: 0.2845, d2.loss_plan_l1_fix_time: 1.8618, d2.loss_plan_l1_fix_dist: 0.2901, d3.loss_plan_l1_fix_time: 1.8604, d3.loss_plan_l1_fix_dist: 0.3022, d4.loss_plan_l1_fix_time: 1.8642, d4.loss_plan_l1_fix_dist: 0.3209, d5.loss_plan_l1_fix_time: 1.8691, d5.loss_plan_l1_fix_dist: 0.3437, d6.loss_plan_l1_fix_time: 1.8760, d6.loss_plan_l1_fix_dist: 0.3699, d0.loss_cls_all: 0.3956, d0.loss_bbox_all: 0.5868, d0.loss_cls: 0.3956, d0.loss_bbox: 0.5868, d1.loss_cls: 0.3900, d1.loss_bbox: 0.5578, d2.loss_cls: 0.3857, d2.loss_bbox: 0.5491, d3.loss_cls: 0.3826, d3.loss_bbox: 0.5438, d4.loss_cls: 0.3818, d4.loss_bbox: 0.5458, d5.loss_cls: 0.3801, d5.loss_bbox: 0.5467, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3437, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1540, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1335, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1236, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1223, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.1246, d0.loss_map_cls_all: 0.3384, d0.loss_map_pts_all: 2.1487, d0.loss_map_dir_all: 0.0218, d0.loss_map_cls: 0.3384, d0.loss_map_pts: 2.1487, d0.loss_map_dir: 0.0218, d1.loss_map_cls: 0.3240, d1.loss_map_pts: 1.4800, d1.loss_map_dir: 0.0217, d2.loss_map_cls: 0.3081, d2.loss_map_pts: 1.3513, d2.loss_map_dir: 0.0221, d3.loss_map_cls: 0.3019, d3.loss_map_pts: 1.3083, d3.loss_map_dir: 0.0224, d4.loss_map_cls: 0.2978, d4.loss_map_pts: 1.2909, d4.loss_map_dir: 0.0227, d5.loss_map_cls: 0.2969, d5.loss_map_pts: 1.2857, d5.loss_map_dir: 0.0228, loss: 46.9950, grad_norm: 143.9571 +2026-02-24 21:31:04,187 - DriveTransformer - INFO - Epoch [3][7750/39528] lr: 9.831e-05, eta: 7 days, 23:04:54, time: 0.814, data_time: 0.038, memory: 19865, loss_cls: 0.4081, loss_bbox: 0.5750, loss_traj: 1.1753, loss_traj_cls: 0.0008, loss_map_cls: 0.2847, loss_map_pts: 1.2125, loss_map_dir: 0.0205, d0.loss_plan_l1_fix_time: 2.9402, d0.loss_plan_l1_fix_dist: 0.3882, d1.loss_plan_l1_fix_time: 2.0502, d1.loss_plan_l1_fix_dist: 0.2468, d2.loss_plan_l1_fix_time: 2.0233, d2.loss_plan_l1_fix_dist: 0.2615, d3.loss_plan_l1_fix_time: 2.0147, d3.loss_plan_l1_fix_dist: 0.2797, d4.loss_plan_l1_fix_time: 2.0165, d4.loss_plan_l1_fix_dist: 0.2964, d5.loss_plan_l1_fix_time: 2.0197, d5.loss_plan_l1_fix_dist: 0.3172, d6.loss_plan_l1_fix_time: 2.0234, d6.loss_plan_l1_fix_dist: 0.3410, d0.loss_cls_all: 0.4183, d0.loss_bbox_all: 0.6064, d0.loss_cls: 0.4183, d0.loss_bbox: 0.6064, d1.loss_cls: 0.4115, d1.loss_bbox: 0.5786, d2.loss_cls: 0.4054, d2.loss_bbox: 0.5695, d3.loss_cls: 0.4060, d3.loss_bbox: 0.5671, d4.loss_cls: 0.4061, d4.loss_bbox: 0.5685, d5.loss_cls: 0.4080, d5.loss_bbox: 0.5693, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3646, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.2101, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1805, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1739, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1708, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1717, d0.loss_map_cls_all: 0.3267, d0.loss_map_pts_all: 1.9510, d0.loss_map_dir_all: 0.0191, d0.loss_map_cls: 0.3267, d0.loss_map_pts: 1.9510, d0.loss_map_dir: 0.0191, d1.loss_map_cls: 0.3069, d1.loss_map_pts: 1.3774, d1.loss_map_dir: 0.0192, d2.loss_map_cls: 0.2948, d2.loss_map_pts: 1.2548, d2.loss_map_dir: 0.0195, d3.loss_map_cls: 0.2873, d3.loss_map_pts: 1.2098, d3.loss_map_dir: 0.0198, d4.loss_map_cls: 0.2843, d4.loss_map_pts: 1.2006, d4.loss_map_dir: 0.0202, d5.loss_map_cls: 0.2836, d5.loss_map_pts: 1.2054, d5.loss_map_dir: 0.0203, loss: 47.5102, grad_norm: 143.6969 +2026-02-24 21:31:44,445 - DriveTransformer - INFO - Epoch [3][7800/39528] lr: 9.831e-05, eta: 7 days, 23:04:17, time: 0.805, data_time: 0.038, memory: 19865, loss_cls: 0.4276, loss_bbox: 0.5816, loss_traj: 0.9973, loss_traj_cls: 0.0007, loss_map_cls: 0.3203, loss_map_pts: 1.4220, loss_map_dir: 0.0259, d0.loss_plan_l1_fix_time: 2.6000, d0.loss_plan_l1_fix_dist: 0.3290, d1.loss_plan_l1_fix_time: 1.8911, d1.loss_plan_l1_fix_dist: 0.2737, d2.loss_plan_l1_fix_time: 1.8718, d2.loss_plan_l1_fix_dist: 0.2839, d3.loss_plan_l1_fix_time: 1.8676, d3.loss_plan_l1_fix_dist: 0.2984, d4.loss_plan_l1_fix_time: 1.8718, d4.loss_plan_l1_fix_dist: 0.3138, d5.loss_plan_l1_fix_time: 1.8767, d5.loss_plan_l1_fix_dist: 0.3324, d6.loss_plan_l1_fix_time: 1.8819, d6.loss_plan_l1_fix_dist: 0.3561, d0.loss_cls_all: 0.4265, d0.loss_bbox_all: 0.6199, d0.loss_cls: 0.4265, d0.loss_bbox: 0.6199, d1.loss_cls: 0.4279, d1.loss_bbox: 0.5857, d2.loss_cls: 0.4278, d2.loss_bbox: 0.5740, d3.loss_cls: 0.4250, d3.loss_bbox: 0.5733, d4.loss_cls: 0.4247, d4.loss_bbox: 0.5745, d5.loss_cls: 0.4262, d5.loss_bbox: 0.5766, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1803, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.0373, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9938, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9968, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.9943, d5.loss_traj_cls: 0.0008, d5.loss_traj: 0.9982, d0.loss_map_cls_all: 0.3673, d0.loss_map_pts_all: 2.4063, d0.loss_map_dir_all: 0.0239, d0.loss_map_cls: 0.3673, d0.loss_map_pts: 2.4063, d0.loss_map_dir: 0.0239, d1.loss_map_cls: 0.3448, d1.loss_map_pts: 1.6512, d1.loss_map_dir: 0.0239, d2.loss_map_cls: 0.3283, d2.loss_map_pts: 1.4927, d2.loss_map_dir: 0.0244, d3.loss_map_cls: 0.3209, d3.loss_map_pts: 1.4410, d3.loss_map_dir: 0.0250, d4.loss_map_cls: 0.3188, d4.loss_map_pts: 1.4248, d4.loss_map_dir: 0.0254, d5.loss_map_cls: 0.3184, d5.loss_map_pts: 1.4214, d5.loss_map_dir: 0.0257, loss: 47.9198, grad_norm: 145.7942 +2026-02-24 21:32:26,318 - DriveTransformer - INFO - Epoch [3][7850/39528] lr: 9.831e-05, eta: 7 days, 23:03:57, time: 0.837, data_time: 0.048, memory: 19865, loss_cls: 0.4008, loss_bbox: 0.5888, loss_traj: 1.1233, loss_traj_cls: 0.0007, loss_map_cls: 0.3219, loss_map_pts: 1.4897, loss_map_dir: 0.0245, d0.loss_plan_l1_fix_time: 2.7027, d0.loss_plan_l1_fix_dist: 0.3606, d1.loss_plan_l1_fix_time: 2.0053, d1.loss_plan_l1_fix_dist: 0.2714, d2.loss_plan_l1_fix_time: 1.9764, d2.loss_plan_l1_fix_dist: 0.2815, d3.loss_plan_l1_fix_time: 1.9695, d3.loss_plan_l1_fix_dist: 0.2910, d4.loss_plan_l1_fix_time: 1.9722, d4.loss_plan_l1_fix_dist: 0.3064, d5.loss_plan_l1_fix_time: 1.9769, d5.loss_plan_l1_fix_dist: 0.3230, d6.loss_plan_l1_fix_time: 1.9829, d6.loss_plan_l1_fix_dist: 0.3432, d0.loss_cls_all: 0.4187, d0.loss_bbox_all: 0.6348, d0.loss_cls: 0.4187, d0.loss_bbox: 0.6348, d1.loss_cls: 0.4095, d1.loss_bbox: 0.6023, d2.loss_cls: 0.4036, d2.loss_bbox: 0.5904, d3.loss_cls: 0.4034, d3.loss_bbox: 0.5856, d4.loss_cls: 0.3991, d4.loss_bbox: 0.5860, d5.loss_cls: 0.3999, d5.loss_bbox: 0.5867, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2802, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1555, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1222, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1162, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1137, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1206, d0.loss_map_cls_all: 0.3639, d0.loss_map_pts_all: 2.4857, d0.loss_map_dir_all: 0.0223, d0.loss_map_cls: 0.3639, d0.loss_map_pts: 2.4857, d0.loss_map_dir: 0.0223, d1.loss_map_cls: 0.3394, d1.loss_map_pts: 1.7259, d1.loss_map_dir: 0.0226, d2.loss_map_cls: 0.3295, d2.loss_map_pts: 1.5658, d2.loss_map_dir: 0.0232, d3.loss_map_cls: 0.3224, d3.loss_map_pts: 1.5152, d3.loss_map_dir: 0.0237, d4.loss_map_cls: 0.3190, d4.loss_map_pts: 1.4990, d4.loss_map_dir: 0.0242, d5.loss_map_cls: 0.3185, d5.loss_map_pts: 1.4958, d5.loss_map_dir: 0.0244, loss: 49.9924, grad_norm: 145.2447 +2026-02-24 21:33:06,132 - DriveTransformer - INFO - Epoch [3][7900/39528] lr: 9.831e-05, eta: 7 days, 23:03:16, time: 0.797, data_time: 0.038, memory: 19865, loss_cls: 0.4267, loss_bbox: 0.5543, loss_traj: 1.0568, loss_traj_cls: 0.0007, loss_map_cls: 0.2937, loss_map_pts: 1.2478, loss_map_dir: 0.0220, d0.loss_plan_l1_fix_time: 2.9331, d0.loss_plan_l1_fix_dist: 0.4353, d1.loss_plan_l1_fix_time: 2.0790, d1.loss_plan_l1_fix_dist: 0.2485, d2.loss_plan_l1_fix_time: 2.0593, d2.loss_plan_l1_fix_dist: 0.2594, d3.loss_plan_l1_fix_time: 2.0551, d3.loss_plan_l1_fix_dist: 0.2749, d4.loss_plan_l1_fix_time: 2.0566, d4.loss_plan_l1_fix_dist: 0.2920, d5.loss_plan_l1_fix_time: 2.0599, d5.loss_plan_l1_fix_dist: 0.3092, d6.loss_plan_l1_fix_time: 2.0652, d6.loss_plan_l1_fix_dist: 0.3281, d0.loss_cls_all: 0.4377, d0.loss_bbox_all: 0.5981, d0.loss_cls: 0.4377, d0.loss_bbox: 0.5981, d1.loss_cls: 0.4358, d1.loss_bbox: 0.5714, d2.loss_cls: 0.4290, d2.loss_bbox: 0.5600, d3.loss_cls: 0.4309, d3.loss_bbox: 0.5562, d4.loss_cls: 0.4275, d4.loss_bbox: 0.5542, d5.loss_cls: 0.4262, d5.loss_bbox: 0.5524, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1031, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.0609, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0472, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0518, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0514, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0562, d0.loss_map_cls_all: 0.3409, d0.loss_map_pts_all: 2.1379, d0.loss_map_dir_all: 0.0209, d0.loss_map_cls: 0.3409, d0.loss_map_pts: 2.1379, d0.loss_map_dir: 0.0209, d1.loss_map_cls: 0.3231, d1.loss_map_pts: 1.4648, d1.loss_map_dir: 0.0205, d2.loss_map_cls: 0.3098, d2.loss_map_pts: 1.3215, d2.loss_map_dir: 0.0209, d3.loss_map_cls: 0.2959, d3.loss_map_pts: 1.2655, d3.loss_map_dir: 0.0212, d4.loss_map_cls: 0.2929, d4.loss_map_pts: 1.2507, d4.loss_map_dir: 0.0216, d5.loss_map_cls: 0.2937, d5.loss_map_pts: 1.2447, d5.loss_map_dir: 0.0218, loss: 47.6169, grad_norm: 144.8040 +2026-02-24 21:33:47,123 - DriveTransformer - INFO - Epoch [3][7950/39528] lr: 9.831e-05, eta: 7 days, 23:02:47, time: 0.819, data_time: 0.038, memory: 19865, loss_cls: 0.4181, loss_bbox: 0.6129, loss_traj: 1.1566, loss_traj_cls: 0.0007, loss_map_cls: 0.3280, loss_map_pts: 1.4899, loss_map_dir: 0.0260, d0.loss_plan_l1_fix_time: 3.0464, d0.loss_plan_l1_fix_dist: 0.4798, d1.loss_plan_l1_fix_time: 2.2246, d1.loss_plan_l1_fix_dist: 0.3069, d2.loss_plan_l1_fix_time: 2.2262, d2.loss_plan_l1_fix_dist: 0.3128, d3.loss_plan_l1_fix_time: 2.2359, d3.loss_plan_l1_fix_dist: 0.3277, d4.loss_plan_l1_fix_time: 2.2419, d4.loss_plan_l1_fix_dist: 0.3446, d5.loss_plan_l1_fix_time: 2.2466, d5.loss_plan_l1_fix_dist: 0.3639, d6.loss_plan_l1_fix_time: 2.2507, d6.loss_plan_l1_fix_dist: 0.3839, d0.loss_cls_all: 0.4208, d0.loss_bbox_all: 0.6524, d0.loss_cls: 0.4208, d0.loss_bbox: 0.6524, d1.loss_cls: 0.4212, d1.loss_bbox: 0.6293, d2.loss_cls: 0.4175, d2.loss_bbox: 0.6189, d3.loss_cls: 0.4218, d3.loss_bbox: 0.6115, d4.loss_cls: 0.4202, d4.loss_bbox: 0.6103, d5.loss_cls: 0.4190, d5.loss_bbox: 0.6122, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2444, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1545, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1265, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1313, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1317, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1363, d0.loss_map_cls_all: 0.3616, d0.loss_map_pts_all: 2.5263, d0.loss_map_dir_all: 0.0239, d0.loss_map_cls: 0.3616, d0.loss_map_pts: 2.5263, d0.loss_map_dir: 0.0239, d1.loss_map_cls: 0.3454, d1.loss_map_pts: 1.7334, d1.loss_map_dir: 0.0241, d2.loss_map_cls: 0.3354, d2.loss_map_pts: 1.5728, d2.loss_map_dir: 0.0246, d3.loss_map_cls: 0.3333, d3.loss_map_pts: 1.5172, d3.loss_map_dir: 0.0251, d4.loss_map_cls: 0.3295, d4.loss_map_pts: 1.4974, d4.loss_map_dir: 0.0255, d5.loss_map_cls: 0.3280, d5.loss_map_pts: 1.4907, d5.loss_map_dir: 0.0257, loss: 52.7142, grad_norm: 143.7304 +2026-02-24 21:34:27,510 - DriveTransformer - INFO - Epoch [3][8000/39528] lr: 9.831e-05, eta: 7 days, 23:02:11, time: 0.808, data_time: 0.041, memory: 19865, loss_cls: 0.3871, loss_bbox: 0.5406, loss_traj: 1.1768, loss_traj_cls: 0.0007, loss_map_cls: 0.3094, loss_map_pts: 1.2538, loss_map_dir: 0.0205, d0.loss_plan_l1_fix_time: 2.5703, d0.loss_plan_l1_fix_dist: 0.4068, d1.loss_plan_l1_fix_time: 2.0788, d1.loss_plan_l1_fix_dist: 0.3107, d2.loss_plan_l1_fix_time: 2.0669, d2.loss_plan_l1_fix_dist: 0.3163, d3.loss_plan_l1_fix_time: 2.0698, d3.loss_plan_l1_fix_dist: 0.3280, d4.loss_plan_l1_fix_time: 2.0758, d4.loss_plan_l1_fix_dist: 0.3444, d5.loss_plan_l1_fix_time: 2.0829, d5.loss_plan_l1_fix_dist: 0.3664, d6.loss_plan_l1_fix_time: 2.0905, d6.loss_plan_l1_fix_dist: 0.3952, d0.loss_cls_all: 0.3991, d0.loss_bbox_all: 0.5783, d0.loss_cls: 0.3991, d0.loss_bbox: 0.5783, d1.loss_cls: 0.3925, d1.loss_bbox: 0.5519, d2.loss_cls: 0.3881, d2.loss_bbox: 0.5381, d3.loss_cls: 0.3882, d3.loss_bbox: 0.5355, d4.loss_cls: 0.3881, d4.loss_bbox: 0.5347, d5.loss_cls: 0.3870, d5.loss_bbox: 0.5373, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3548, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2003, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1611, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1619, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1639, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1624, d0.loss_map_cls_all: 0.3491, d0.loss_map_pts_all: 2.0427, d0.loss_map_dir_all: 0.0191, d0.loss_map_cls: 0.3491, d0.loss_map_pts: 2.0427, d0.loss_map_dir: 0.0191, d1.loss_map_cls: 0.3275, d1.loss_map_pts: 1.4487, d1.loss_map_dir: 0.0191, d2.loss_map_cls: 0.3131, d2.loss_map_pts: 1.3198, d2.loss_map_dir: 0.0196, d3.loss_map_cls: 0.3081, d3.loss_map_pts: 1.2729, d3.loss_map_dir: 0.0200, d4.loss_map_cls: 0.3055, d4.loss_map_pts: 1.2572, d4.loss_map_dir: 0.0203, d5.loss_map_cls: 0.3066, d5.loss_map_pts: 1.2546, d5.loss_map_dir: 0.0204, loss: 48.0328, grad_norm: 146.9452 +2026-02-24 21:35:09,151 - DriveTransformer - INFO - Epoch [3][8050/39528] lr: 9.831e-05, eta: 7 days, 23:01:49, time: 0.833, data_time: 0.040, memory: 19865, loss_cls: 0.4049, loss_bbox: 0.5552, loss_traj: 1.1893, loss_traj_cls: 0.0007, loss_map_cls: 0.3009, loss_map_pts: 1.3122, loss_map_dir: 0.0224, d0.loss_plan_l1_fix_time: 3.0466, d0.loss_plan_l1_fix_dist: 0.4149, d1.loss_plan_l1_fix_time: 1.9631, d1.loss_plan_l1_fix_dist: 0.2735, d2.loss_plan_l1_fix_time: 1.9515, d2.loss_plan_l1_fix_dist: 0.2776, d3.loss_plan_l1_fix_time: 1.9565, d3.loss_plan_l1_fix_dist: 0.2874, d4.loss_plan_l1_fix_time: 1.9629, d4.loss_plan_l1_fix_dist: 0.3025, d5.loss_plan_l1_fix_time: 1.9706, d5.loss_plan_l1_fix_dist: 0.3192, d6.loss_plan_l1_fix_time: 1.9796, d6.loss_plan_l1_fix_dist: 0.3390, d0.loss_cls_all: 0.4099, d0.loss_bbox_all: 0.5878, d0.loss_cls: 0.4099, d0.loss_bbox: 0.5878, d1.loss_cls: 0.4081, d1.loss_bbox: 0.5596, d2.loss_cls: 0.4040, d2.loss_bbox: 0.5518, d3.loss_cls: 0.4011, d3.loss_bbox: 0.5491, d4.loss_cls: 0.4013, d4.loss_bbox: 0.5509, d5.loss_cls: 0.4023, d5.loss_bbox: 0.5531, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3452, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2211, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2087, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2059, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.2029, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1983, d0.loss_map_cls_all: 0.3528, d0.loss_map_pts_all: 2.2815, d0.loss_map_dir_all: 0.0210, d0.loss_map_cls: 0.3528, d0.loss_map_pts: 2.2815, d0.loss_map_dir: 0.0210, d1.loss_map_cls: 0.3302, d1.loss_map_pts: 1.5247, d1.loss_map_dir: 0.0209, d2.loss_map_cls: 0.3118, d2.loss_map_pts: 1.3789, d2.loss_map_dir: 0.0213, d3.loss_map_cls: 0.3023, d3.loss_map_pts: 1.3258, d3.loss_map_dir: 0.0216, d4.loss_map_cls: 0.3002, d4.loss_map_pts: 1.3111, d4.loss_map_dir: 0.0220, d5.loss_map_cls: 0.2999, d5.loss_map_pts: 1.3126, d5.loss_map_dir: 0.0222, loss: 48.8109, grad_norm: 147.0281 +2026-02-24 21:35:48,267 - DriveTransformer - INFO - Epoch [3][8100/39528] lr: 9.831e-05, eta: 7 days, 23:01:01, time: 0.782, data_time: 0.040, memory: 19865, loss_cls: 0.3937, loss_bbox: 0.5403, loss_traj: 1.0694, loss_traj_cls: 0.0007, loss_map_cls: 0.2888, loss_map_pts: 1.2927, loss_map_dir: 0.0203, d0.loss_plan_l1_fix_time: 2.5996, d0.loss_plan_l1_fix_dist: 0.4467, d1.loss_plan_l1_fix_time: 1.7809, d1.loss_plan_l1_fix_dist: 0.3069, d2.loss_plan_l1_fix_time: 1.7533, d2.loss_plan_l1_fix_dist: 0.3150, d3.loss_plan_l1_fix_time: 1.7566, d3.loss_plan_l1_fix_dist: 0.3273, d4.loss_plan_l1_fix_time: 1.7623, d4.loss_plan_l1_fix_dist: 0.3425, d5.loss_plan_l1_fix_time: 1.7688, d5.loss_plan_l1_fix_dist: 0.3582, d6.loss_plan_l1_fix_time: 1.7771, d6.loss_plan_l1_fix_dist: 0.3772, d0.loss_cls_all: 0.3985, d0.loss_bbox_all: 0.5845, d0.loss_cls: 0.3985, d0.loss_bbox: 0.5845, d1.loss_cls: 0.3952, d1.loss_bbox: 0.5525, d2.loss_cls: 0.3933, d2.loss_bbox: 0.5433, d3.loss_cls: 0.3929, d3.loss_bbox: 0.5396, d4.loss_cls: 0.3939, d4.loss_bbox: 0.5391, d5.loss_cls: 0.3955, d5.loss_bbox: 0.5386, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1962, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0667, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0472, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0507, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0532, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0561, d0.loss_map_cls_all: 0.3430, d0.loss_map_pts_all: 2.1326, d0.loss_map_dir_all: 0.0190, d0.loss_map_cls: 0.3430, d0.loss_map_pts: 2.1326, d0.loss_map_dir: 0.0190, d1.loss_map_cls: 0.3140, d1.loss_map_pts: 1.5113, d1.loss_map_dir: 0.0190, d2.loss_map_cls: 0.2963, d2.loss_map_pts: 1.3769, d2.loss_map_dir: 0.0193, d3.loss_map_cls: 0.2896, d3.loss_map_pts: 1.3226, d3.loss_map_dir: 0.0197, d4.loss_map_cls: 0.2871, d4.loss_map_pts: 1.3001, d4.loss_map_dir: 0.0200, d5.loss_map_cls: 0.2868, d5.loss_map_pts: 1.2946, d5.loss_map_dir: 0.0201, loss: 45.7703, grad_norm: 145.6305 +2026-02-24 21:36:29,504 - DriveTransformer - INFO - Epoch [3][8150/39528] lr: 9.831e-05, eta: 7 days, 23:00:34, time: 0.825, data_time: 0.039, memory: 19865, loss_cls: 0.3919, loss_bbox: 0.5079, loss_traj: 0.9220, loss_traj_cls: 0.0007, loss_map_cls: 0.2610, loss_map_pts: 1.2623, loss_map_dir: 0.0212, d0.loss_plan_l1_fix_time: 2.7748, d0.loss_plan_l1_fix_dist: 0.4551, d1.loss_plan_l1_fix_time: 1.9063, d1.loss_plan_l1_fix_dist: 0.2901, d2.loss_plan_l1_fix_time: 1.8795, d2.loss_plan_l1_fix_dist: 0.2971, d3.loss_plan_l1_fix_time: 1.8723, d3.loss_plan_l1_fix_dist: 0.3128, d4.loss_plan_l1_fix_time: 1.8745, d4.loss_plan_l1_fix_dist: 0.3297, d5.loss_plan_l1_fix_time: 1.8785, d5.loss_plan_l1_fix_dist: 0.3499, d6.loss_plan_l1_fix_time: 1.8842, d6.loss_plan_l1_fix_dist: 0.3663, d0.loss_cls_all: 0.4145, d0.loss_bbox_all: 0.5371, d0.loss_cls: 0.4145, d0.loss_bbox: 0.5371, d1.loss_cls: 0.4033, d1.loss_bbox: 0.5148, d2.loss_cls: 0.3996, d2.loss_bbox: 0.5058, d3.loss_cls: 0.3952, d3.loss_bbox: 0.5027, d4.loss_cls: 0.3930, d4.loss_bbox: 0.5040, d5.loss_cls: 0.3933, d5.loss_bbox: 0.5044, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0376, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9211, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8941, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9038, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.9075, d5.loss_traj_cls: 0.0009, d5.loss_traj: 0.9198, d0.loss_map_cls_all: 0.3055, d0.loss_map_pts_all: 2.1881, d0.loss_map_dir_all: 0.0202, d0.loss_map_cls: 0.3055, d0.loss_map_pts: 2.1881, d0.loss_map_dir: 0.0202, d1.loss_map_cls: 0.2860, d1.loss_map_pts: 1.4953, d1.loss_map_dir: 0.0201, d2.loss_map_cls: 0.2691, d2.loss_map_pts: 1.3490, d2.loss_map_dir: 0.0205, d3.loss_map_cls: 0.2634, d3.loss_map_pts: 1.2942, d3.loss_map_dir: 0.0207, d4.loss_map_cls: 0.2602, d4.loss_map_pts: 1.2729, d4.loss_map_dir: 0.0209, d5.loss_map_cls: 0.2600, d5.loss_map_pts: 1.2659, d5.loss_map_dir: 0.0211, loss: 44.9937, grad_norm: 147.7890 +2026-02-24 21:37:10,362 - DriveTransformer - INFO - Epoch [3][8200/39528] lr: 9.831e-05, eta: 7 days, 23:00:04, time: 0.817, data_time: 0.045, memory: 19865, loss_cls: 0.4076, loss_bbox: 0.5512, loss_traj: 1.2340, loss_traj_cls: 0.0007, loss_map_cls: 0.3141, loss_map_pts: 1.2295, loss_map_dir: 0.0213, d0.loss_plan_l1_fix_time: 2.8299, d0.loss_plan_l1_fix_dist: 0.4508, d1.loss_plan_l1_fix_time: 2.0904, d1.loss_plan_l1_fix_dist: 0.3137, d2.loss_plan_l1_fix_time: 2.0680, d2.loss_plan_l1_fix_dist: 0.3218, d3.loss_plan_l1_fix_time: 2.0759, d3.loss_plan_l1_fix_dist: 0.3358, d4.loss_plan_l1_fix_time: 2.0848, d4.loss_plan_l1_fix_dist: 0.3517, d5.loss_plan_l1_fix_time: 2.0938, d5.loss_plan_l1_fix_dist: 0.3700, d6.loss_plan_l1_fix_time: 2.1025, d6.loss_plan_l1_fix_dist: 0.3908, d0.loss_cls_all: 0.4171, d0.loss_bbox_all: 0.5890, d0.loss_cls: 0.4171, d0.loss_bbox: 0.5890, d1.loss_cls: 0.4156, d1.loss_bbox: 0.5628, d2.loss_cls: 0.4096, d2.loss_bbox: 0.5550, d3.loss_cls: 0.4095, d3.loss_bbox: 0.5502, d4.loss_cls: 0.4087, d4.loss_bbox: 0.5501, d5.loss_cls: 0.4096, d5.loss_bbox: 0.5496, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3863, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2416, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2229, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.2249, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.2243, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2324, d0.loss_map_cls_all: 0.3550, d0.loss_map_pts_all: 2.0091, d0.loss_map_dir_all: 0.0193, d0.loss_map_cls: 0.3550, d0.loss_map_pts: 2.0091, d0.loss_map_dir: 0.0193, d1.loss_map_cls: 0.3349, d1.loss_map_pts: 1.4201, d1.loss_map_dir: 0.0197, d2.loss_map_cls: 0.3233, d2.loss_map_pts: 1.2872, d2.loss_map_dir: 0.0201, d3.loss_map_cls: 0.3153, d3.loss_map_pts: 1.2466, d3.loss_map_dir: 0.0206, d4.loss_map_cls: 0.3139, d4.loss_map_pts: 1.2317, d4.loss_map_dir: 0.0210, d5.loss_map_cls: 0.3132, d5.loss_map_pts: 1.2290, d5.loss_map_dir: 0.0212, loss: 48.8937, grad_norm: 147.9397 +2026-02-24 21:37:51,040 - DriveTransformer - INFO - Epoch [3][8250/39528] lr: 9.831e-05, eta: 7 days, 22:59:31, time: 0.814, data_time: 0.037, memory: 19865, loss_cls: 0.3905, loss_bbox: 0.5409, loss_traj: 1.1207, loss_traj_cls: 0.0007, loss_map_cls: 0.2961, loss_map_pts: 1.3951, loss_map_dir: 0.0235, d0.loss_plan_l1_fix_time: 2.5598, d0.loss_plan_l1_fix_dist: 0.4673, d1.loss_plan_l1_fix_time: 1.7513, d1.loss_plan_l1_fix_dist: 0.2932, d2.loss_plan_l1_fix_time: 1.7356, d2.loss_plan_l1_fix_dist: 0.3066, d3.loss_plan_l1_fix_time: 1.7393, d3.loss_plan_l1_fix_dist: 0.3177, d4.loss_plan_l1_fix_time: 1.7456, d4.loss_plan_l1_fix_dist: 0.3311, d5.loss_plan_l1_fix_time: 1.7525, d5.loss_plan_l1_fix_dist: 0.3469, d6.loss_plan_l1_fix_time: 1.7596, d6.loss_plan_l1_fix_dist: 0.3699, d0.loss_cls_all: 0.4033, d0.loss_bbox_all: 0.5701, d0.loss_cls: 0.4033, d0.loss_bbox: 0.5701, d1.loss_cls: 0.3967, d1.loss_bbox: 0.5480, d2.loss_cls: 0.3936, d2.loss_bbox: 0.5386, d3.loss_cls: 0.3910, d3.loss_bbox: 0.5395, d4.loss_cls: 0.3899, d4.loss_bbox: 0.5411, d5.loss_cls: 0.3887, d5.loss_bbox: 0.5408, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3013, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1395, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1117, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1118, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1055, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1169, d0.loss_map_cls_all: 0.3328, d0.loss_map_pts_all: 2.3033, d0.loss_map_dir_all: 0.0225, d0.loss_map_cls: 0.3328, d0.loss_map_pts: 2.3033, d0.loss_map_dir: 0.0225, d1.loss_map_cls: 0.3215, d1.loss_map_pts: 1.6239, d1.loss_map_dir: 0.0222, d2.loss_map_cls: 0.3068, d2.loss_map_pts: 1.4692, d2.loss_map_dir: 0.0226, d3.loss_map_cls: 0.2978, d3.loss_map_pts: 1.4162, d3.loss_map_dir: 0.0230, d4.loss_map_cls: 0.2938, d4.loss_map_pts: 1.3974, d4.loss_map_dir: 0.0232, d5.loss_map_cls: 0.2930, d5.loss_map_pts: 1.3942, d5.loss_map_dir: 0.0233, loss: 46.9957, grad_norm: 148.2829 +2026-02-24 21:38:30,543 - DriveTransformer - INFO - Epoch [3][8300/39528] lr: 9.831e-05, eta: 7 days, 22:58:47, time: 0.790, data_time: 0.041, memory: 19865, loss_cls: 0.3794, loss_bbox: 0.5532, loss_traj: 1.0887, loss_traj_cls: 0.0007, loss_map_cls: 0.2413, loss_map_pts: 1.1630, loss_map_dir: 0.0194, d0.loss_plan_l1_fix_time: 2.5669, d0.loss_plan_l1_fix_dist: 0.4745, d1.loss_plan_l1_fix_time: 1.6494, d1.loss_plan_l1_fix_dist: 0.2985, d2.loss_plan_l1_fix_time: 1.6291, d2.loss_plan_l1_fix_dist: 0.3119, d3.loss_plan_l1_fix_time: 1.6297, d3.loss_plan_l1_fix_dist: 0.3264, d4.loss_plan_l1_fix_time: 1.6355, d4.loss_plan_l1_fix_dist: 0.3423, d5.loss_plan_l1_fix_time: 1.6426, d5.loss_plan_l1_fix_dist: 0.3584, d6.loss_plan_l1_fix_time: 1.6521, d6.loss_plan_l1_fix_dist: 0.3728, d0.loss_cls_all: 0.3954, d0.loss_bbox_all: 0.5909, d0.loss_cls: 0.3954, d0.loss_bbox: 0.5909, d1.loss_cls: 0.3890, d1.loss_bbox: 0.5657, d2.loss_cls: 0.3861, d2.loss_bbox: 0.5514, d3.loss_cls: 0.3803, d3.loss_bbox: 0.5516, d4.loss_cls: 0.3784, d4.loss_bbox: 0.5528, d5.loss_cls: 0.3773, d5.loss_bbox: 0.5532, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1664, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0731, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0673, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0787, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0817, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.0909, d0.loss_map_cls_all: 0.3078, d0.loss_map_pts_all: 1.9390, d0.loss_map_dir_all: 0.0183, d0.loss_map_cls: 0.3078, d0.loss_map_pts: 1.9390, d0.loss_map_dir: 0.0183, d1.loss_map_cls: 0.2790, d1.loss_map_pts: 1.3420, d1.loss_map_dir: 0.0182, d2.loss_map_cls: 0.2588, d2.loss_map_pts: 1.2222, d2.loss_map_dir: 0.0184, d3.loss_map_cls: 0.2449, d3.loss_map_pts: 1.1820, d3.loss_map_dir: 0.0188, d4.loss_map_cls: 0.2410, d4.loss_map_pts: 1.1662, d4.loss_map_dir: 0.0190, d5.loss_map_cls: 0.2398, d5.loss_map_pts: 1.1618, d5.loss_map_dir: 0.0192, loss: 43.5194, grad_norm: 148.6947 +2026-02-24 21:39:10,240 - DriveTransformer - INFO - Epoch [3][8350/39528] lr: 9.831e-05, eta: 7 days, 22:58:05, time: 0.794, data_time: 0.039, memory: 19865, loss_cls: 0.3839, loss_bbox: 0.5438, loss_traj: 1.1571, loss_traj_cls: 0.0007, loss_map_cls: 0.3201, loss_map_pts: 1.3130, loss_map_dir: 0.0219, d0.loss_plan_l1_fix_time: 2.4724, d0.loss_plan_l1_fix_dist: 0.4357, d1.loss_plan_l1_fix_time: 1.6583, d1.loss_plan_l1_fix_dist: 0.2731, d2.loss_plan_l1_fix_time: 1.6272, d2.loss_plan_l1_fix_dist: 0.2794, d3.loss_plan_l1_fix_time: 1.6366, d3.loss_plan_l1_fix_dist: 0.2904, d4.loss_plan_l1_fix_time: 1.6454, d4.loss_plan_l1_fix_dist: 0.3031, d5.loss_plan_l1_fix_time: 1.6554, d5.loss_plan_l1_fix_dist: 0.3177, d6.loss_plan_l1_fix_time: 1.6669, d6.loss_plan_l1_fix_dist: 0.3325, d0.loss_cls_all: 0.3919, d0.loss_bbox_all: 0.5745, d0.loss_cls: 0.3919, d0.loss_bbox: 0.5745, d1.loss_cls: 0.3882, d1.loss_bbox: 0.5481, d2.loss_cls: 0.3869, d2.loss_bbox: 0.5393, d3.loss_cls: 0.3822, d3.loss_bbox: 0.5398, d4.loss_cls: 0.3841, d4.loss_bbox: 0.5383, d5.loss_cls: 0.3832, d5.loss_bbox: 0.5400, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2472, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1470, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1309, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1425, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1446, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1469, d0.loss_map_cls_all: 0.3674, d0.loss_map_pts_all: 2.0589, d0.loss_map_dir_all: 0.0198, d0.loss_map_cls: 0.3674, d0.loss_map_pts: 2.0589, d0.loss_map_dir: 0.0198, d1.loss_map_cls: 0.3519, d1.loss_map_pts: 1.4716, d1.loss_map_dir: 0.0200, d2.loss_map_cls: 0.3381, d2.loss_map_pts: 1.3575, d2.loss_map_dir: 0.0207, d3.loss_map_cls: 0.3254, d3.loss_map_pts: 1.3273, d3.loss_map_dir: 0.0212, d4.loss_map_cls: 0.3209, d4.loss_map_pts: 1.3140, d4.loss_map_dir: 0.0216, d5.loss_map_cls: 0.3189, d5.loss_map_pts: 1.3124, d5.loss_map_dir: 0.0217, loss: 45.2973, grad_norm: 147.7781 +2026-02-24 21:39:49,551 - DriveTransformer - INFO - Epoch [3][8400/39528] lr: 9.831e-05, eta: 7 days, 22:57:20, time: 0.788, data_time: 0.040, memory: 19865, loss_cls: 0.4078, loss_bbox: 0.5522, loss_traj: 1.3319, loss_traj_cls: 0.0006, loss_map_cls: 0.3194, loss_map_pts: 1.2540, loss_map_dir: 0.0226, d0.loss_plan_l1_fix_time: 3.1019, d0.loss_plan_l1_fix_dist: 0.3901, d1.loss_plan_l1_fix_time: 2.0873, d1.loss_plan_l1_fix_dist: 0.2961, d2.loss_plan_l1_fix_time: 2.0568, d2.loss_plan_l1_fix_dist: 0.3021, d3.loss_plan_l1_fix_time: 2.0512, d3.loss_plan_l1_fix_dist: 0.3129, d4.loss_plan_l1_fix_time: 2.0538, d4.loss_plan_l1_fix_dist: 0.3257, d5.loss_plan_l1_fix_time: 2.0580, d5.loss_plan_l1_fix_dist: 0.3391, d6.loss_plan_l1_fix_time: 2.0634, d6.loss_plan_l1_fix_dist: 0.3549, d0.loss_cls_all: 0.4148, d0.loss_bbox_all: 0.5935, d0.loss_cls: 0.4148, d0.loss_bbox: 0.5935, d1.loss_cls: 0.4117, d1.loss_bbox: 0.5626, d2.loss_cls: 0.4103, d2.loss_bbox: 0.5514, d3.loss_cls: 0.4057, d3.loss_bbox: 0.5515, d4.loss_cls: 0.4048, d4.loss_bbox: 0.5502, d5.loss_cls: 0.4069, d5.loss_bbox: 0.5488, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5311, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.3554, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3368, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.3313, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.3367, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.3321, d0.loss_map_cls_all: 0.3629, d0.loss_map_pts_all: 2.1130, d0.loss_map_dir_all: 0.0211, d0.loss_map_cls: 0.3629, d0.loss_map_pts: 2.1130, d0.loss_map_dir: 0.0211, d1.loss_map_cls: 0.3380, d1.loss_map_pts: 1.4462, d1.loss_map_dir: 0.0209, d2.loss_map_cls: 0.3276, d2.loss_map_pts: 1.3171, d2.loss_map_dir: 0.0214, d3.loss_map_cls: 0.3221, d3.loss_map_pts: 1.2745, d3.loss_map_dir: 0.0218, d4.loss_map_cls: 0.3168, d4.loss_map_pts: 1.2591, d4.loss_map_dir: 0.0222, d5.loss_map_cls: 0.3178, d5.loss_map_pts: 1.2552, d5.loss_map_dir: 0.0224, loss: 50.0078, grad_norm: 147.0882 +2026-02-24 21:40:30,661 - DriveTransformer - INFO - Epoch [3][8450/39528] lr: 9.831e-05, eta: 7 days, 22:56:51, time: 0.821, data_time: 0.043, memory: 19865, loss_cls: 0.3890, loss_bbox: 0.5404, loss_traj: 0.9514, loss_traj_cls: 0.0007, loss_map_cls: 0.3236, loss_map_pts: 1.3797, loss_map_dir: 0.0272, d0.loss_plan_l1_fix_time: 2.3893, d0.loss_plan_l1_fix_dist: 0.4040, d1.loss_plan_l1_fix_time: 1.6749, d1.loss_plan_l1_fix_dist: 0.2793, d2.loss_plan_l1_fix_time: 1.6563, d2.loss_plan_l1_fix_dist: 0.2854, d3.loss_plan_l1_fix_time: 1.6609, d3.loss_plan_l1_fix_dist: 0.2971, d4.loss_plan_l1_fix_time: 1.6656, d4.loss_plan_l1_fix_dist: 0.3096, d5.loss_plan_l1_fix_time: 1.6705, d5.loss_plan_l1_fix_dist: 0.3229, d6.loss_plan_l1_fix_time: 1.6756, d6.loss_plan_l1_fix_dist: 0.3398, d0.loss_cls_all: 0.4081, d0.loss_bbox_all: 0.5713, d0.loss_cls: 0.4081, d0.loss_bbox: 0.5713, d1.loss_cls: 0.3997, d1.loss_bbox: 0.5457, d2.loss_cls: 0.3936, d2.loss_bbox: 0.5363, d3.loss_cls: 0.3895, d3.loss_bbox: 0.5351, d4.loss_cls: 0.3883, d4.loss_bbox: 0.5363, d5.loss_cls: 0.3869, d5.loss_bbox: 0.5376, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0574, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9488, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9239, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9262, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.9334, d5.loss_traj_cls: 0.0008, d5.loss_traj: 0.9426, d0.loss_map_cls_all: 0.3738, d0.loss_map_pts_all: 2.4566, d0.loss_map_dir_all: 0.0257, d0.loss_map_cls: 0.3738, d0.loss_map_pts: 2.4566, d0.loss_map_dir: 0.0257, d1.loss_map_cls: 0.3562, d1.loss_map_pts: 1.6282, d1.loss_map_dir: 0.0254, d2.loss_map_cls: 0.3385, d2.loss_map_pts: 1.4579, d2.loss_map_dir: 0.0259, d3.loss_map_cls: 0.3300, d3.loss_map_pts: 1.4015, d3.loss_map_dir: 0.0265, d4.loss_map_cls: 0.3246, d4.loss_map_pts: 1.3858, d4.loss_map_dir: 0.0268, d5.loss_map_cls: 0.3218, d5.loss_map_pts: 1.3805, d5.loss_map_dir: 0.0270, loss: 45.3575, grad_norm: 147.3287 +2026-02-24 21:41:10,527 - DriveTransformer - INFO - Epoch [3][8500/39528] lr: 9.831e-05, eta: 7 days, 22:56:11, time: 0.797, data_time: 0.045, memory: 19865, loss_cls: 0.3988, loss_bbox: 0.5383, loss_traj: 1.0255, loss_traj_cls: 0.0007, loss_map_cls: 0.3023, loss_map_pts: 1.3881, loss_map_dir: 0.0236, d0.loss_plan_l1_fix_time: 2.7376, d0.loss_plan_l1_fix_dist: 0.4258, d1.loss_plan_l1_fix_time: 1.7927, d1.loss_plan_l1_fix_dist: 0.2914, d2.loss_plan_l1_fix_time: 1.7450, d2.loss_plan_l1_fix_dist: 0.2981, d3.loss_plan_l1_fix_time: 1.7382, d3.loss_plan_l1_fix_dist: 0.3077, d4.loss_plan_l1_fix_time: 1.7409, d4.loss_plan_l1_fix_dist: 0.3201, d5.loss_plan_l1_fix_time: 1.7451, d5.loss_plan_l1_fix_dist: 0.3322, d6.loss_plan_l1_fix_time: 1.7508, d6.loss_plan_l1_fix_dist: 0.3440, d0.loss_cls_all: 0.4138, d0.loss_bbox_all: 0.5774, d0.loss_cls: 0.4138, d0.loss_bbox: 0.5774, d1.loss_cls: 0.4057, d1.loss_bbox: 0.5463, d2.loss_cls: 0.4057, d2.loss_bbox: 0.5293, d3.loss_cls: 0.4010, d3.loss_bbox: 0.5301, d4.loss_cls: 0.3979, d4.loss_bbox: 0.5316, d5.loss_cls: 0.4006, d5.loss_bbox: 0.5310, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3025, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0553, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0118, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0127, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.0110, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.0092, d0.loss_map_cls_all: 0.3464, d0.loss_map_pts_all: 2.2306, d0.loss_map_dir_all: 0.0228, d0.loss_map_cls: 0.3464, d0.loss_map_pts: 2.2306, d0.loss_map_dir: 0.0228, d1.loss_map_cls: 0.3307, d1.loss_map_pts: 1.5967, d1.loss_map_dir: 0.0228, d2.loss_map_cls: 0.3195, d2.loss_map_pts: 1.4616, d2.loss_map_dir: 0.0230, d3.loss_map_cls: 0.3078, d3.loss_map_pts: 1.4091, d3.loss_map_dir: 0.0232, d4.loss_map_cls: 0.3045, d4.loss_map_pts: 1.3933, d4.loss_map_dir: 0.0235, d5.loss_map_cls: 0.3021, d5.loss_map_pts: 1.3891, d5.loss_map_dir: 0.0235, loss: 46.4458, grad_norm: 148.5866 +2026-02-24 21:41:52,785 - DriveTransformer - INFO - Epoch [3][8550/39528] lr: 9.831e-05, eta: 7 days, 22:55:54, time: 0.845, data_time: 0.045, memory: 19865, loss_cls: 0.3561, loss_bbox: 0.5198, loss_traj: 0.9550, loss_traj_cls: 0.0006, loss_map_cls: 0.2711, loss_map_pts: 1.3017, loss_map_dir: 0.0238, d0.loss_plan_l1_fix_time: 2.3241, d0.loss_plan_l1_fix_dist: 0.4652, d1.loss_plan_l1_fix_time: 1.5713, d1.loss_plan_l1_fix_dist: 0.2860, d2.loss_plan_l1_fix_time: 1.5412, d2.loss_plan_l1_fix_dist: 0.2904, d3.loss_plan_l1_fix_time: 1.5445, d3.loss_plan_l1_fix_dist: 0.3004, d4.loss_plan_l1_fix_time: 1.5518, d4.loss_plan_l1_fix_dist: 0.3118, d5.loss_plan_l1_fix_time: 1.5598, d5.loss_plan_l1_fix_dist: 0.3250, d6.loss_plan_l1_fix_time: 1.5680, d6.loss_plan_l1_fix_dist: 0.3427, d0.loss_cls_all: 0.3784, d0.loss_bbox_all: 0.5552, d0.loss_cls: 0.3784, d0.loss_bbox: 0.5552, d1.loss_cls: 0.3652, d1.loss_bbox: 0.5323, d2.loss_cls: 0.3603, d2.loss_bbox: 0.5184, d3.loss_cls: 0.3573, d3.loss_bbox: 0.5170, d4.loss_cls: 0.3564, d4.loss_bbox: 0.5161, d5.loss_cls: 0.3550, d5.loss_bbox: 0.5184, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0872, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9759, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9483, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9559, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.9505, d5.loss_traj_cls: 0.0008, d5.loss_traj: 0.9411, d0.loss_map_cls_all: 0.3233, d0.loss_map_pts_all: 2.1055, d0.loss_map_dir_all: 0.0225, d0.loss_map_cls: 0.3233, d0.loss_map_pts: 2.1055, d0.loss_map_dir: 0.0225, d1.loss_map_cls: 0.3045, d1.loss_map_pts: 1.4929, d1.loss_map_dir: 0.0224, d2.loss_map_cls: 0.2860, d2.loss_map_pts: 1.3640, d2.loss_map_dir: 0.0228, d3.loss_map_cls: 0.2751, d3.loss_map_pts: 1.3180, d3.loss_map_dir: 0.0232, d4.loss_map_cls: 0.2706, d4.loss_map_pts: 1.3054, d4.loss_map_dir: 0.0235, d5.loss_map_cls: 0.2697, d5.loss_map_pts: 1.3013, d5.loss_map_dir: 0.0237, loss: 42.7439, grad_norm: 148.0536 +2026-02-24 21:42:30,739 - DriveTransformer - INFO - Epoch [3][8600/39528] lr: 9.831e-05, eta: 7 days, 22:54:55, time: 0.759, data_time: 0.045, memory: 19865, loss_cls: 0.3973, loss_bbox: 0.5605, loss_traj: 1.1439, loss_traj_cls: 0.0006, loss_map_cls: 0.3252, loss_map_pts: 1.3241, loss_map_dir: 0.0226, d0.loss_plan_l1_fix_time: 2.6676, d0.loss_plan_l1_fix_dist: 0.4178, d1.loss_plan_l1_fix_time: 1.8801, d1.loss_plan_l1_fix_dist: 0.2818, d2.loss_plan_l1_fix_time: 1.8706, d2.loss_plan_l1_fix_dist: 0.2848, d3.loss_plan_l1_fix_time: 1.8744, d3.loss_plan_l1_fix_dist: 0.2925, d4.loss_plan_l1_fix_time: 1.8801, d4.loss_plan_l1_fix_dist: 0.3032, d5.loss_plan_l1_fix_time: 1.8858, d5.loss_plan_l1_fix_dist: 0.3164, d6.loss_plan_l1_fix_time: 1.8924, d6.loss_plan_l1_fix_dist: 0.3292, d0.loss_cls_all: 0.4122, d0.loss_bbox_all: 0.5954, d0.loss_cls: 0.4122, d0.loss_bbox: 0.5954, d1.loss_cls: 0.4010, d1.loss_bbox: 0.5696, d2.loss_cls: 0.3992, d2.loss_bbox: 0.5580, d3.loss_cls: 0.3982, d3.loss_bbox: 0.5544, d4.loss_cls: 0.3964, d4.loss_bbox: 0.5568, d5.loss_cls: 0.3972, d5.loss_bbox: 0.5572, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3462, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1668, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1560, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1499, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.1412, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1383, d0.loss_map_cls_all: 0.3697, d0.loss_map_pts_all: 2.1363, d0.loss_map_dir_all: 0.0215, d0.loss_map_cls: 0.3697, d0.loss_map_pts: 2.1363, d0.loss_map_dir: 0.0215, d1.loss_map_cls: 0.3479, d1.loss_map_pts: 1.5323, d1.loss_map_dir: 0.0214, d2.loss_map_cls: 0.3370, d2.loss_map_pts: 1.3973, d2.loss_map_dir: 0.0217, d3.loss_map_cls: 0.3277, d3.loss_map_pts: 1.3514, d3.loss_map_dir: 0.0221, d4.loss_map_cls: 0.3246, d4.loss_map_pts: 1.3333, d4.loss_map_dir: 0.0224, d5.loss_map_cls: 0.3238, d5.loss_map_pts: 1.3275, d5.loss_map_dir: 0.0225, loss: 47.6260, grad_norm: 149.6884 +2026-02-24 21:43:12,842 - DriveTransformer - INFO - Epoch [3][8650/39528] lr: 9.831e-05, eta: 7 days, 22:54:36, time: 0.842, data_time: 0.039, memory: 19865, loss_cls: 0.3698, loss_bbox: 0.5534, loss_traj: 1.0513, loss_traj_cls: 0.0006, loss_map_cls: 0.2911, loss_map_pts: 1.4005, loss_map_dir: 0.0250, d0.loss_plan_l1_fix_time: 2.4061, d0.loss_plan_l1_fix_dist: 0.4233, d1.loss_plan_l1_fix_time: 1.9406, d1.loss_plan_l1_fix_dist: 0.2986, d2.loss_plan_l1_fix_time: 1.9202, d2.loss_plan_l1_fix_dist: 0.3085, d3.loss_plan_l1_fix_time: 1.9212, d3.loss_plan_l1_fix_dist: 0.3193, d4.loss_plan_l1_fix_time: 1.9260, d4.loss_plan_l1_fix_dist: 0.3316, d5.loss_plan_l1_fix_time: 1.9334, d5.loss_plan_l1_fix_dist: 0.3452, d6.loss_plan_l1_fix_time: 1.9428, d6.loss_plan_l1_fix_dist: 0.3564, d0.loss_cls_all: 0.3741, d0.loss_bbox_all: 0.5857, d0.loss_cls: 0.3741, d0.loss_bbox: 0.5857, d1.loss_cls: 0.3734, d1.loss_bbox: 0.5569, d2.loss_cls: 0.3691, d2.loss_bbox: 0.5526, d3.loss_cls: 0.3714, d3.loss_bbox: 0.5475, d4.loss_cls: 0.3700, d4.loss_bbox: 0.5477, d5.loss_cls: 0.3701, d5.loss_bbox: 0.5497, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2110, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0826, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0574, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0617, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.0549, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.0485, d0.loss_map_cls_all: 0.3253, d0.loss_map_pts_all: 2.3783, d0.loss_map_dir_all: 0.0244, d0.loss_map_cls: 0.3253, d0.loss_map_pts: 2.3783, d0.loss_map_dir: 0.0244, d1.loss_map_cls: 0.3145, d1.loss_map_pts: 1.6130, d1.loss_map_dir: 0.0240, d2.loss_map_cls: 0.3052, d2.loss_map_pts: 1.4716, d2.loss_map_dir: 0.0241, d3.loss_map_cls: 0.2975, d3.loss_map_pts: 1.4228, d3.loss_map_dir: 0.0245, d4.loss_map_cls: 0.2945, d4.loss_map_pts: 1.4052, d4.loss_map_dir: 0.0248, d5.loss_map_cls: 0.2904, d5.loss_map_pts: 1.4000, d5.loss_map_dir: 0.0249, loss: 47.5071, grad_norm: 150.2557 +2026-02-24 21:43:53,187 - DriveTransformer - INFO - Epoch [3][8700/39528] lr: 9.831e-05, eta: 7 days, 22:54:01, time: 0.807, data_time: 0.039, memory: 19865, loss_cls: 0.4165, loss_bbox: 0.5492, loss_traj: 1.0339, loss_traj_cls: 0.0007, loss_map_cls: 0.3152, loss_map_pts: 1.4141, loss_map_dir: 0.0261, d0.loss_plan_l1_fix_time: 2.9563, d0.loss_plan_l1_fix_dist: 0.3872, d1.loss_plan_l1_fix_time: 2.1220, d1.loss_plan_l1_fix_dist: 0.2901, d2.loss_plan_l1_fix_time: 2.0935, d2.loss_plan_l1_fix_dist: 0.2982, d3.loss_plan_l1_fix_time: 2.0908, d3.loss_plan_l1_fix_dist: 0.3060, d4.loss_plan_l1_fix_time: 2.0938, d4.loss_plan_l1_fix_dist: 0.3128, d5.loss_plan_l1_fix_time: 2.0987, d5.loss_plan_l1_fix_dist: 0.3217, d6.loss_plan_l1_fix_time: 2.1054, d6.loss_plan_l1_fix_dist: 0.3340, d0.loss_cls_all: 0.4275, d0.loss_bbox_all: 0.5742, d0.loss_cls: 0.4275, d0.loss_bbox: 0.5742, d1.loss_cls: 0.4212, d1.loss_bbox: 0.5549, d2.loss_cls: 0.4173, d2.loss_bbox: 0.5505, d3.loss_cls: 0.4156, d3.loss_bbox: 0.5448, d4.loss_cls: 0.4160, d4.loss_bbox: 0.5448, d5.loss_cls: 0.4163, d5.loss_bbox: 0.5458, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1241, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0407, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0173, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0157, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0171, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.0241, d0.loss_map_cls_all: 0.3478, d0.loss_map_pts_all: 2.3575, d0.loss_map_dir_all: 0.0250, d0.loss_map_cls: 0.3478, d0.loss_map_pts: 2.3575, d0.loss_map_dir: 0.0250, d1.loss_map_cls: 0.3331, d1.loss_map_pts: 1.6369, d1.loss_map_dir: 0.0248, d2.loss_map_cls: 0.3248, d2.loss_map_pts: 1.4856, d2.loss_map_dir: 0.0250, d3.loss_map_cls: 0.3182, d3.loss_map_pts: 1.4322, d3.loss_map_dir: 0.0255, d4.loss_map_cls: 0.3165, d4.loss_map_pts: 1.4180, d4.loss_map_dir: 0.0259, d5.loss_map_cls: 0.3145, d5.loss_map_pts: 1.4145, d5.loss_map_dir: 0.0260, loss: 49.2237, grad_norm: 150.0730 +2026-02-24 21:44:32,468 - DriveTransformer - INFO - Epoch [3][8750/39528] lr: 9.831e-05, eta: 7 days, 22:53:15, time: 0.786, data_time: 0.039, memory: 19865, loss_cls: 0.3764, loss_bbox: 0.5403, loss_traj: 1.1725, loss_traj_cls: 0.0007, loss_map_cls: 0.2730, loss_map_pts: 1.1715, loss_map_dir: 0.0238, d0.loss_plan_l1_fix_time: 2.6710, d0.loss_plan_l1_fix_dist: 0.4695, d1.loss_plan_l1_fix_time: 1.9663, d1.loss_plan_l1_fix_dist: 0.3127, d2.loss_plan_l1_fix_time: 1.9696, d2.loss_plan_l1_fix_dist: 0.3195, d3.loss_plan_l1_fix_time: 1.9750, d3.loss_plan_l1_fix_dist: 0.3299, d4.loss_plan_l1_fix_time: 1.9796, d4.loss_plan_l1_fix_dist: 0.3415, d5.loss_plan_l1_fix_time: 1.9829, d5.loss_plan_l1_fix_dist: 0.3544, d6.loss_plan_l1_fix_time: 1.9857, d6.loss_plan_l1_fix_dist: 0.3713, d0.loss_cls_all: 0.3886, d0.loss_bbox_all: 0.5662, d0.loss_cls: 0.3886, d0.loss_bbox: 0.5662, d1.loss_cls: 0.3806, d1.loss_bbox: 0.5460, d2.loss_cls: 0.3799, d2.loss_bbox: 0.5377, d3.loss_cls: 0.3787, d3.loss_bbox: 0.5341, d4.loss_cls: 0.3755, d4.loss_bbox: 0.5345, d5.loss_cls: 0.3767, d5.loss_bbox: 0.5365, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2971, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1432, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1345, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1519, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1651, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1741, d0.loss_map_cls_all: 0.3206, d0.loss_map_pts_all: 2.1062, d0.loss_map_dir_all: 0.0228, d0.loss_map_cls: 0.3206, d0.loss_map_pts: 2.1062, d0.loss_map_dir: 0.0228, d1.loss_map_cls: 0.3057, d1.loss_map_pts: 1.3772, d1.loss_map_dir: 0.0223, d2.loss_map_cls: 0.2919, d2.loss_map_pts: 1.2378, d2.loss_map_dir: 0.0228, d3.loss_map_cls: 0.2811, d3.loss_map_pts: 1.1910, d3.loss_map_dir: 0.0232, d4.loss_map_cls: 0.2757, d4.loss_map_pts: 1.1747, d4.loss_map_dir: 0.0235, d5.loss_map_cls: 0.2729, d5.loss_map_pts: 1.1718, d5.loss_map_dir: 0.0236, loss: 46.7427, grad_norm: 148.9767 +2026-02-24 21:45:13,189 - DriveTransformer - INFO - Epoch [3][8800/39528] lr: 9.831e-05, eta: 7 days, 22:52:43, time: 0.814, data_time: 0.042, memory: 19865, loss_cls: 0.3893, loss_bbox: 0.5645, loss_traj: 1.2070, loss_traj_cls: 0.0008, loss_map_cls: 0.2997, loss_map_pts: 1.4049, loss_map_dir: 0.0250, d0.loss_plan_l1_fix_time: 2.8201, d0.loss_plan_l1_fix_dist: 0.4411, d1.loss_plan_l1_fix_time: 2.0081, d1.loss_plan_l1_fix_dist: 0.2824, d2.loss_plan_l1_fix_time: 1.9973, d2.loss_plan_l1_fix_dist: 0.2878, d3.loss_plan_l1_fix_time: 1.9995, d3.loss_plan_l1_fix_dist: 0.2976, d4.loss_plan_l1_fix_time: 2.0042, d4.loss_plan_l1_fix_dist: 0.3096, d5.loss_plan_l1_fix_time: 2.0084, d5.loss_plan_l1_fix_dist: 0.3239, d6.loss_plan_l1_fix_time: 2.0128, d6.loss_plan_l1_fix_dist: 0.3373, d0.loss_cls_all: 0.4130, d0.loss_bbox_all: 0.5947, d0.loss_cls: 0.4130, d0.loss_bbox: 0.5947, d1.loss_cls: 0.3999, d1.loss_bbox: 0.5754, d2.loss_cls: 0.3963, d2.loss_bbox: 0.5636, d3.loss_cls: 0.3970, d3.loss_bbox: 0.5572, d4.loss_cls: 0.3952, d4.loss_bbox: 0.5559, d5.loss_cls: 0.3920, d5.loss_bbox: 0.5609, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3526, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1821, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1844, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1868, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1945, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2003, d0.loss_map_cls_all: 0.3432, d0.loss_map_pts_all: 2.3225, d0.loss_map_dir_all: 0.0235, d0.loss_map_cls: 0.3432, d0.loss_map_pts: 2.3225, d0.loss_map_dir: 0.0235, d1.loss_map_cls: 0.3289, d1.loss_map_pts: 1.6166, d1.loss_map_dir: 0.0237, d2.loss_map_cls: 0.3134, d2.loss_map_pts: 1.4835, d2.loss_map_dir: 0.0239, d3.loss_map_cls: 0.3061, d3.loss_map_pts: 1.4327, d3.loss_map_dir: 0.0244, d4.loss_map_cls: 0.3018, d4.loss_map_pts: 1.4135, d4.loss_map_dir: 0.0248, d5.loss_map_cls: 0.3000, d5.loss_map_pts: 1.4079, d5.loss_map_dir: 0.0249, loss: 49.5408, grad_norm: 147.2574 +2026-02-24 21:45:54,063 - DriveTransformer - INFO - Epoch [3][8850/39528] lr: 9.831e-05, eta: 7 days, 22:52:12, time: 0.817, data_time: 0.040, memory: 19865, loss_cls: 0.3693, loss_bbox: 0.5514, loss_traj: 1.1697, loss_traj_cls: 0.0007, loss_map_cls: 0.2868, loss_map_pts: 1.2439, loss_map_dir: 0.0230, d0.loss_plan_l1_fix_time: 2.5010, d0.loss_plan_l1_fix_dist: 0.4292, d1.loss_plan_l1_fix_time: 1.8014, d1.loss_plan_l1_fix_dist: 0.3194, d2.loss_plan_l1_fix_time: 1.7774, d2.loss_plan_l1_fix_dist: 0.3305, d3.loss_plan_l1_fix_time: 1.7792, d3.loss_plan_l1_fix_dist: 0.3449, d4.loss_plan_l1_fix_time: 1.7853, d4.loss_plan_l1_fix_dist: 0.3624, d5.loss_plan_l1_fix_time: 1.7937, d5.loss_plan_l1_fix_dist: 0.3821, d6.loss_plan_l1_fix_time: 1.8034, d6.loss_plan_l1_fix_dist: 0.4022, d0.loss_cls_all: 0.3893, d0.loss_bbox_all: 0.5763, d0.loss_cls: 0.3893, d0.loss_bbox: 0.5763, d1.loss_cls: 0.3810, d1.loss_bbox: 0.5515, d2.loss_cls: 0.3766, d2.loss_bbox: 0.5420, d3.loss_cls: 0.3746, d3.loss_bbox: 0.5406, d4.loss_cls: 0.3712, d4.loss_bbox: 0.5437, d5.loss_cls: 0.3688, d5.loss_bbox: 0.5478, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3185, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2260, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1780, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1809, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1867, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1813, d0.loss_map_cls_all: 0.3341, d0.loss_map_pts_all: 2.1598, d0.loss_map_dir_all: 0.0217, d0.loss_map_cls: 0.3341, d0.loss_map_pts: 2.1598, d0.loss_map_dir: 0.0217, d1.loss_map_cls: 0.3143, d1.loss_map_pts: 1.4291, d1.loss_map_dir: 0.0215, d2.loss_map_cls: 0.3003, d2.loss_map_pts: 1.2995, d2.loss_map_dir: 0.0220, d3.loss_map_cls: 0.2911, d3.loss_map_pts: 1.2630, d3.loss_map_dir: 0.0224, d4.loss_map_cls: 0.2890, d4.loss_map_pts: 1.2479, d4.loss_map_dir: 0.0227, d5.loss_map_cls: 0.2867, d5.loss_map_pts: 1.2462, d5.loss_map_dir: 0.0228, loss: 46.3724, grad_norm: 147.6609 +2026-02-24 21:46:33,460 - DriveTransformer - INFO - Epoch [3][8900/39528] lr: 9.831e-05, eta: 7 days, 22:51:27, time: 0.788, data_time: 0.040, memory: 19865, loss_cls: 0.3707, loss_bbox: 0.5348, loss_traj: 1.1215, loss_traj_cls: 0.0008, loss_map_cls: 0.2695, loss_map_pts: 1.1692, loss_map_dir: 0.0199, d0.loss_plan_l1_fix_time: 2.6174, d0.loss_plan_l1_fix_dist: 0.5135, d1.loss_plan_l1_fix_time: 1.7748, d1.loss_plan_l1_fix_dist: 0.2705, d2.loss_plan_l1_fix_time: 1.7599, d2.loss_plan_l1_fix_dist: 0.2748, d3.loss_plan_l1_fix_time: 1.7713, d3.loss_plan_l1_fix_dist: 0.2838, d4.loss_plan_l1_fix_time: 1.7785, d4.loss_plan_l1_fix_dist: 0.2952, d5.loss_plan_l1_fix_time: 1.7865, d5.loss_plan_l1_fix_dist: 0.3088, d6.loss_plan_l1_fix_time: 1.7959, d6.loss_plan_l1_fix_dist: 0.3253, d0.loss_cls_all: 0.3867, d0.loss_bbox_all: 0.5690, d0.loss_cls: 0.3867, d0.loss_bbox: 0.5690, d1.loss_cls: 0.3808, d1.loss_bbox: 0.5471, d2.loss_cls: 0.3709, d2.loss_bbox: 0.5379, d3.loss_cls: 0.3700, d3.loss_bbox: 0.5316, d4.loss_cls: 0.3684, d4.loss_bbox: 0.5320, d5.loss_cls: 0.3693, d5.loss_bbox: 0.5322, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2860, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1520, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1310, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1374, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1392, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1327, d0.loss_map_cls_all: 0.3127, d0.loss_map_pts_all: 1.9453, d0.loss_map_dir_all: 0.0186, d0.loss_map_cls: 0.3127, d0.loss_map_pts: 1.9453, d0.loss_map_dir: 0.0186, d1.loss_map_cls: 0.2935, d1.loss_map_pts: 1.3647, d1.loss_map_dir: 0.0183, d2.loss_map_cls: 0.2841, d2.loss_map_pts: 1.2369, d2.loss_map_dir: 0.0187, d3.loss_map_cls: 0.2750, d3.loss_map_pts: 1.1924, d3.loss_map_dir: 0.0193, d4.loss_map_cls: 0.2716, d4.loss_map_pts: 1.1747, d4.loss_map_dir: 0.0195, d5.loss_map_cls: 0.2695, d5.loss_map_pts: 1.1696, d5.loss_map_dir: 0.0197, loss: 44.6586, grad_norm: 146.6278 +2026-02-24 21:47:13,672 - DriveTransformer - INFO - Epoch [3][8950/39528] lr: 9.831e-05, eta: 7 days, 22:50:50, time: 0.804, data_time: 0.037, memory: 19865, loss_cls: 0.3835, loss_bbox: 0.5530, loss_traj: 1.0597, loss_traj_cls: 0.0007, loss_map_cls: 0.2705, loss_map_pts: 1.2797, loss_map_dir: 0.0216, d0.loss_plan_l1_fix_time: 2.8339, d0.loss_plan_l1_fix_dist: 0.4058, d1.loss_plan_l1_fix_time: 1.8736, d1.loss_plan_l1_fix_dist: 0.3062, d2.loss_plan_l1_fix_time: 1.8494, d2.loss_plan_l1_fix_dist: 0.3102, d3.loss_plan_l1_fix_time: 1.8523, d3.loss_plan_l1_fix_dist: 0.3223, d4.loss_plan_l1_fix_time: 1.8572, d4.loss_plan_l1_fix_dist: 0.3390, d5.loss_plan_l1_fix_time: 1.8620, d5.loss_plan_l1_fix_dist: 0.3552, d6.loss_plan_l1_fix_time: 1.8684, d6.loss_plan_l1_fix_dist: 0.3725, d0.loss_cls_all: 0.3943, d0.loss_bbox_all: 0.5823, d0.loss_cls: 0.3943, d0.loss_bbox: 0.5823, d1.loss_cls: 0.3868, d1.loss_bbox: 0.5602, d2.loss_cls: 0.3845, d2.loss_bbox: 0.5503, d3.loss_cls: 0.3820, d3.loss_bbox: 0.5472, d4.loss_cls: 0.3815, d4.loss_bbox: 0.5457, d5.loss_cls: 0.3830, d5.loss_bbox: 0.5492, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2317, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1123, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0652, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0644, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0498, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.0521, d0.loss_map_cls_all: 0.3233, d0.loss_map_pts_all: 2.1104, d0.loss_map_dir_all: 0.0203, d0.loss_map_cls: 0.3233, d0.loss_map_pts: 2.1104, d0.loss_map_dir: 0.0203, d1.loss_map_cls: 0.3088, d1.loss_map_pts: 1.4593, d1.loss_map_dir: 0.0202, d2.loss_map_cls: 0.2949, d2.loss_map_pts: 1.3334, d2.loss_map_dir: 0.0206, d3.loss_map_cls: 0.2806, d3.loss_map_pts: 1.2864, d3.loss_map_dir: 0.0210, d4.loss_map_cls: 0.2749, d4.loss_map_pts: 1.2721, d4.loss_map_dir: 0.0214, d5.loss_map_cls: 0.2715, d5.loss_map_pts: 1.2717, d5.loss_map_dir: 0.0215, loss: 46.2473, grad_norm: 146.5144 +2026-02-24 21:47:53,721 - DriveTransformer - INFO - Epoch [3][9000/39528] lr: 9.831e-05, eta: 7 days, 22:50:12, time: 0.801, data_time: 0.036, memory: 19865, loss_cls: 0.4121, loss_bbox: 0.5653, loss_traj: 1.0691, loss_traj_cls: 0.0007, loss_map_cls: 0.3083, loss_map_pts: 1.3687, loss_map_dir: 0.0213, d0.loss_plan_l1_fix_time: 3.0629, d0.loss_plan_l1_fix_dist: 0.4211, d1.loss_plan_l1_fix_time: 2.0921, d1.loss_plan_l1_fix_dist: 0.2910, d2.loss_plan_l1_fix_time: 2.0989, d2.loss_plan_l1_fix_dist: 0.3005, d3.loss_plan_l1_fix_time: 2.1123, d3.loss_plan_l1_fix_dist: 0.3131, d4.loss_plan_l1_fix_time: 2.1196, d4.loss_plan_l1_fix_dist: 0.3262, d5.loss_plan_l1_fix_time: 2.1258, d5.loss_plan_l1_fix_dist: 0.3408, d6.loss_plan_l1_fix_time: 2.1329, d6.loss_plan_l1_fix_dist: 0.3619, d0.loss_cls_all: 0.4211, d0.loss_bbox_all: 0.5966, d0.loss_cls: 0.4211, d0.loss_bbox: 0.5966, d1.loss_cls: 0.4204, d1.loss_bbox: 0.5689, d2.loss_cls: 0.4154, d2.loss_bbox: 0.5595, d3.loss_cls: 0.4137, d3.loss_bbox: 0.5566, d4.loss_cls: 0.4120, d4.loss_bbox: 0.5588, d5.loss_cls: 0.4118, d5.loss_bbox: 0.5600, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2541, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0766, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0708, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0773, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0714, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.0756, d0.loss_map_cls_all: 0.3579, d0.loss_map_pts_all: 2.2076, d0.loss_map_dir_all: 0.0203, d0.loss_map_cls: 0.3579, d0.loss_map_pts: 2.2076, d0.loss_map_dir: 0.0203, d1.loss_map_cls: 0.3357, d1.loss_map_pts: 1.5550, d1.loss_map_dir: 0.0201, d2.loss_map_cls: 0.3210, d2.loss_map_pts: 1.4229, d2.loss_map_dir: 0.0205, d3.loss_map_cls: 0.3141, d3.loss_map_pts: 1.3840, d3.loss_map_dir: 0.0208, d4.loss_map_cls: 0.3106, d4.loss_map_pts: 1.3728, d4.loss_map_dir: 0.0210, d5.loss_map_cls: 0.3084, d5.loss_map_pts: 1.3705, d5.loss_map_dir: 0.0212, loss: 49.3582, grad_norm: 145.9328 +2026-02-24 21:48:33,404 - DriveTransformer - INFO - Epoch [3][9050/39528] lr: 9.831e-05, eta: 7 days, 22:49:29, time: 0.794, data_time: 0.038, memory: 19865, loss_cls: 0.3912, loss_bbox: 0.5511, loss_traj: 1.0782, loss_traj_cls: 0.0007, loss_map_cls: 0.2905, loss_map_pts: 1.3262, loss_map_dir: 0.0240, d0.loss_plan_l1_fix_time: 2.5299, d0.loss_plan_l1_fix_dist: 0.4710, d1.loss_plan_l1_fix_time: 1.5681, d1.loss_plan_l1_fix_dist: 0.2795, d2.loss_plan_l1_fix_time: 1.5571, d2.loss_plan_l1_fix_dist: 0.2884, d3.loss_plan_l1_fix_time: 1.5613, d3.loss_plan_l1_fix_dist: 0.2995, d4.loss_plan_l1_fix_time: 1.5667, d4.loss_plan_l1_fix_dist: 0.3126, d5.loss_plan_l1_fix_time: 1.5724, d5.loss_plan_l1_fix_dist: 0.3282, d6.loss_plan_l1_fix_time: 1.5781, d6.loss_plan_l1_fix_dist: 0.3430, d0.loss_cls_all: 0.4033, d0.loss_bbox_all: 0.5759, d0.loss_cls: 0.4033, d0.loss_bbox: 0.5759, d1.loss_cls: 0.3938, d1.loss_bbox: 0.5596, d2.loss_cls: 0.3936, d2.loss_bbox: 0.5512, d3.loss_cls: 0.3904, d3.loss_bbox: 0.5494, d4.loss_cls: 0.3891, d4.loss_bbox: 0.5470, d5.loss_cls: 0.3900, d5.loss_bbox: 0.5474, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2700, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1158, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0851, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0776, d4.loss_traj_cls: 0.0008, d4.loss_traj: 1.0740, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.0736, d0.loss_map_cls_all: 0.3426, d0.loss_map_pts_all: 2.2655, d0.loss_map_dir_all: 0.0226, d0.loss_map_cls: 0.3426, d0.loss_map_pts: 2.2655, d0.loss_map_dir: 0.0226, d1.loss_map_cls: 0.3208, d1.loss_map_pts: 1.5487, d1.loss_map_dir: 0.0222, d2.loss_map_cls: 0.3047, d2.loss_map_pts: 1.3929, d2.loss_map_dir: 0.0227, d3.loss_map_cls: 0.2972, d3.loss_map_pts: 1.3458, d3.loss_map_dir: 0.0233, d4.loss_map_cls: 0.2925, d4.loss_map_pts: 1.3291, d4.loss_map_dir: 0.0236, d5.loss_map_cls: 0.2901, d5.loss_map_pts: 1.3278, d5.loss_map_dir: 0.0238, loss: 45.1155, grad_norm: 145.7472 +2026-02-24 21:49:13,760 - DriveTransformer - INFO - Epoch [3][9100/39528] lr: 9.831e-05, eta: 7 days, 22:48:54, time: 0.807, data_time: 0.042, memory: 19865, loss_cls: 0.3770, loss_bbox: 0.5392, loss_traj: 1.0336, loss_traj_cls: 0.0007, loss_map_cls: 0.3023, loss_map_pts: 1.3523, loss_map_dir: 0.0227, d0.loss_plan_l1_fix_time: 2.6427, d0.loss_plan_l1_fix_dist: 0.4285, d1.loss_plan_l1_fix_time: 1.8329, d1.loss_plan_l1_fix_dist: 0.2989, d2.loss_plan_l1_fix_time: 1.8152, d2.loss_plan_l1_fix_dist: 0.3073, d3.loss_plan_l1_fix_time: 1.8181, d3.loss_plan_l1_fix_dist: 0.3190, d4.loss_plan_l1_fix_time: 1.8231, d4.loss_plan_l1_fix_dist: 0.3322, d5.loss_plan_l1_fix_time: 1.8289, d5.loss_plan_l1_fix_dist: 0.3469, d6.loss_plan_l1_fix_time: 1.8350, d6.loss_plan_l1_fix_dist: 0.3644, d0.loss_cls_all: 0.3871, d0.loss_bbox_all: 0.5665, d0.loss_cls: 0.3871, d0.loss_bbox: 0.5665, d1.loss_cls: 0.3839, d1.loss_bbox: 0.5472, d2.loss_cls: 0.3793, d2.loss_bbox: 0.5415, d3.loss_cls: 0.3785, d3.loss_bbox: 0.5362, d4.loss_cls: 0.3752, d4.loss_bbox: 0.5369, d5.loss_cls: 0.3769, d5.loss_bbox: 0.5373, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1493, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0601, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0375, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0358, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0272, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.0233, d0.loss_map_cls_all: 0.3420, d0.loss_map_pts_all: 2.1759, d0.loss_map_dir_all: 0.0216, d0.loss_map_cls: 0.3420, d0.loss_map_pts: 2.1759, d0.loss_map_dir: 0.0216, d1.loss_map_cls: 0.3254, d1.loss_map_pts: 1.5802, d1.loss_map_dir: 0.0215, d2.loss_map_cls: 0.3126, d2.loss_map_pts: 1.4327, d2.loss_map_dir: 0.0218, d3.loss_map_cls: 0.3051, d3.loss_map_pts: 1.3796, d3.loss_map_dir: 0.0223, d4.loss_map_cls: 0.3029, d4.loss_map_pts: 1.3606, d4.loss_map_dir: 0.0225, d5.loss_map_cls: 0.3017, d5.loss_map_pts: 1.3540, d5.loss_map_dir: 0.0227, loss: 46.3045, grad_norm: 145.3503 +2026-02-24 21:49:55,444 - DriveTransformer - INFO - Epoch [3][9150/39528] lr: 9.831e-05, eta: 7 days, 22:48:31, time: 0.833, data_time: 0.043, memory: 19865, loss_cls: 0.4110, loss_bbox: 0.5686, loss_traj: 1.0806, loss_traj_cls: 0.0008, loss_map_cls: 0.2876, loss_map_pts: 1.3037, loss_map_dir: 0.0236, d0.loss_plan_l1_fix_time: 2.7139, d0.loss_plan_l1_fix_dist: 0.4880, d1.loss_plan_l1_fix_time: 2.0526, d1.loss_plan_l1_fix_dist: 0.3278, d2.loss_plan_l1_fix_time: 2.0394, d2.loss_plan_l1_fix_dist: 0.3337, d3.loss_plan_l1_fix_time: 2.0407, d3.loss_plan_l1_fix_dist: 0.3433, d4.loss_plan_l1_fix_time: 2.0457, d4.loss_plan_l1_fix_dist: 0.3559, d5.loss_plan_l1_fix_time: 2.0517, d5.loss_plan_l1_fix_dist: 0.3702, d6.loss_plan_l1_fix_time: 2.0578, d6.loss_plan_l1_fix_dist: 0.3873, d0.loss_cls_all: 0.4229, d0.loss_bbox_all: 0.6020, d0.loss_cls: 0.4229, d0.loss_bbox: 0.6020, d1.loss_cls: 0.4165, d1.loss_bbox: 0.5856, d2.loss_cls: 0.4148, d2.loss_bbox: 0.5740, d3.loss_cls: 0.4134, d3.loss_bbox: 0.5681, d4.loss_cls: 0.4097, d4.loss_bbox: 0.5673, d5.loss_cls: 0.4109, d5.loss_bbox: 0.5694, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2397, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0994, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0733, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0793, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0708, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0855, d0.loss_map_cls_all: 0.3350, d0.loss_map_pts_all: 2.2244, d0.loss_map_dir_all: 0.0224, d0.loss_map_cls: 0.3350, d0.loss_map_pts: 2.2244, d0.loss_map_dir: 0.0224, d1.loss_map_cls: 0.3199, d1.loss_map_pts: 1.5227, d1.loss_map_dir: 0.0221, d2.loss_map_cls: 0.3041, d2.loss_map_pts: 1.3784, d2.loss_map_dir: 0.0226, d3.loss_map_cls: 0.2950, d3.loss_map_pts: 1.3269, d3.loss_map_dir: 0.0231, d4.loss_map_cls: 0.2883, d4.loss_map_pts: 1.3115, d4.loss_map_dir: 0.0235, d5.loss_map_cls: 0.2875, d5.loss_map_pts: 1.3051, d5.loss_map_dir: 0.0236, loss: 48.5349, grad_norm: 146.6725 +2026-02-24 21:50:37,887 - DriveTransformer - INFO - Epoch [3][9200/39528] lr: 9.831e-05, eta: 7 days, 22:48:17, time: 0.850, data_time: 0.047, memory: 19865, loss_cls: 0.3924, loss_bbox: 0.5548, loss_traj: 1.0722, loss_traj_cls: 0.0007, loss_map_cls: 0.3328, loss_map_pts: 1.5116, loss_map_dir: 0.0287, d0.loss_plan_l1_fix_time: 2.3215, d0.loss_plan_l1_fix_dist: 0.5182, d1.loss_plan_l1_fix_time: 1.8155, d1.loss_plan_l1_fix_dist: 0.3513, d2.loss_plan_l1_fix_time: 1.8124, d2.loss_plan_l1_fix_dist: 0.3489, d3.loss_plan_l1_fix_time: 1.8190, d3.loss_plan_l1_fix_dist: 0.3539, d4.loss_plan_l1_fix_time: 1.8250, d4.loss_plan_l1_fix_dist: 0.3605, d5.loss_plan_l1_fix_time: 1.8317, d5.loss_plan_l1_fix_dist: 0.3680, d6.loss_plan_l1_fix_time: 1.8400, d6.loss_plan_l1_fix_dist: 0.3771, d0.loss_cls_all: 0.4013, d0.loss_bbox_all: 0.6012, d0.loss_cls: 0.4013, d0.loss_bbox: 0.6012, d1.loss_cls: 0.3942, d1.loss_bbox: 0.5759, d2.loss_cls: 0.3928, d2.loss_bbox: 0.5644, d3.loss_cls: 0.3903, d3.loss_bbox: 0.5583, d4.loss_cls: 0.3890, d4.loss_bbox: 0.5571, d5.loss_cls: 0.3884, d5.loss_bbox: 0.5571, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1454, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1130, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0754, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0640, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0614, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.0615, d0.loss_map_cls_all: 0.3609, d0.loss_map_pts_all: 2.6903, d0.loss_map_dir_all: 0.0270, d0.loss_map_cls: 0.3609, d0.loss_map_pts: 2.6903, d0.loss_map_dir: 0.0270, d1.loss_map_cls: 0.3514, d1.loss_map_pts: 1.7526, d1.loss_map_dir: 0.0268, d2.loss_map_cls: 0.3427, d2.loss_map_pts: 1.5885, d2.loss_map_dir: 0.0272, d3.loss_map_cls: 0.3384, d3.loss_map_pts: 1.5327, d3.loss_map_dir: 0.0279, d4.loss_map_cls: 0.3343, d4.loss_map_pts: 1.5188, d4.loss_map_dir: 0.0283, d5.loss_map_cls: 0.3325, d5.loss_map_pts: 1.5121, d5.loss_map_dir: 0.0286, loss: 49.0340, grad_norm: 146.7864 +2026-02-24 21:51:20,540 - DriveTransformer - INFO - Epoch [3][9250/39528] lr: 9.831e-05, eta: 7 days, 22:48:03, time: 0.852, data_time: 0.040, memory: 19865, loss_cls: 0.4211, loss_bbox: 0.5761, loss_traj: 1.0681, loss_traj_cls: 0.0007, loss_map_cls: 0.3033, loss_map_pts: 1.3563, loss_map_dir: 0.0227, d0.loss_plan_l1_fix_time: 2.5984, d0.loss_plan_l1_fix_dist: 0.4184, d1.loss_plan_l1_fix_time: 1.8367, d1.loss_plan_l1_fix_dist: 0.3038, d2.loss_plan_l1_fix_time: 1.8295, d2.loss_plan_l1_fix_dist: 0.3159, d3.loss_plan_l1_fix_time: 1.8325, d3.loss_plan_l1_fix_dist: 0.3260, d4.loss_plan_l1_fix_time: 1.8374, d4.loss_plan_l1_fix_dist: 0.3397, d5.loss_plan_l1_fix_time: 1.8427, d5.loss_plan_l1_fix_dist: 0.3559, d6.loss_plan_l1_fix_time: 1.8509, d6.loss_plan_l1_fix_dist: 0.3703, d0.loss_cls_all: 0.4244, d0.loss_bbox_all: 0.6159, d0.loss_cls: 0.4244, d0.loss_bbox: 0.6159, d1.loss_cls: 0.4183, d1.loss_bbox: 0.5934, d2.loss_cls: 0.4168, d2.loss_bbox: 0.5823, d3.loss_cls: 0.4181, d3.loss_bbox: 0.5778, d4.loss_cls: 0.4162, d4.loss_bbox: 0.5767, d5.loss_cls: 0.4180, d5.loss_bbox: 0.5760, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1637, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0687, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0428, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0410, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0462, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.0552, d0.loss_map_cls_all: 0.3533, d0.loss_map_pts_all: 2.2005, d0.loss_map_dir_all: 0.0208, d0.loss_map_cls: 0.3533, d0.loss_map_pts: 2.2005, d0.loss_map_dir: 0.0208, d1.loss_map_cls: 0.3357, d1.loss_map_pts: 1.5701, d1.loss_map_dir: 0.0209, d2.loss_map_cls: 0.3179, d2.loss_map_pts: 1.4247, d2.loss_map_dir: 0.0213, d3.loss_map_cls: 0.3064, d3.loss_map_pts: 1.3757, d3.loss_map_dir: 0.0220, d4.loss_map_cls: 0.3045, d4.loss_map_pts: 1.3612, d4.loss_map_dir: 0.0224, d5.loss_map_cls: 0.3030, d5.loss_map_pts: 1.3584, d5.loss_map_dir: 0.0226, loss: 47.2200, grad_norm: 146.8655 +2026-02-24 21:51:58,977 - DriveTransformer - INFO - Epoch [3][9300/39528] lr: 9.831e-05, eta: 7 days, 22:47:08, time: 0.768, data_time: 0.039, memory: 19865, loss_cls: 0.3971, loss_bbox: 0.5474, loss_traj: 1.1968, loss_traj_cls: 0.0008, loss_map_cls: 0.3141, loss_map_pts: 1.2735, loss_map_dir: 0.0198, d0.loss_plan_l1_fix_time: 2.8602, d0.loss_plan_l1_fix_dist: 0.4440, d1.loss_plan_l1_fix_time: 2.1860, d1.loss_plan_l1_fix_dist: 0.3129, d2.loss_plan_l1_fix_time: 2.1617, d2.loss_plan_l1_fix_dist: 0.3177, d3.loss_plan_l1_fix_time: 2.1599, d3.loss_plan_l1_fix_dist: 0.3281, d4.loss_plan_l1_fix_time: 2.1634, d4.loss_plan_l1_fix_dist: 0.3393, d5.loss_plan_l1_fix_time: 2.1684, d5.loss_plan_l1_fix_dist: 0.3523, d6.loss_plan_l1_fix_time: 2.1748, d6.loss_plan_l1_fix_dist: 0.3694, d0.loss_cls_all: 0.4064, d0.loss_bbox_all: 0.5982, d0.loss_cls: 0.4064, d0.loss_bbox: 0.5982, d1.loss_cls: 0.4075, d1.loss_bbox: 0.5678, d2.loss_cls: 0.4045, d2.loss_bbox: 0.5554, d3.loss_cls: 0.4025, d3.loss_bbox: 0.5490, d4.loss_cls: 0.3983, d4.loss_bbox: 0.5472, d5.loss_cls: 0.3979, d5.loss_bbox: 0.5473, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3337, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2225, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1943, d3.loss_traj_cls: 0.0014, d3.loss_traj: 1.1936, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1947, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1956, d0.loss_map_cls_all: 0.3624, d0.loss_map_pts_all: 1.9390, d0.loss_map_dir_all: 0.0181, d0.loss_map_cls: 0.3624, d0.loss_map_pts: 1.9390, d0.loss_map_dir: 0.0181, d1.loss_map_cls: 0.3422, d1.loss_map_pts: 1.4529, d1.loss_map_dir: 0.0184, d2.loss_map_cls: 0.3265, d2.loss_map_pts: 1.3288, d2.loss_map_dir: 0.0188, d3.loss_map_cls: 0.3170, d3.loss_map_pts: 1.2837, d3.loss_map_dir: 0.0193, d4.loss_map_cls: 0.3137, d4.loss_map_pts: 1.2692, d4.loss_map_dir: 0.0195, d5.loss_map_cls: 0.3124, d5.loss_map_pts: 1.2703, d5.loss_map_dir: 0.0196, loss: 49.1657, grad_norm: 148.5975 +2026-02-24 21:52:38,525 - DriveTransformer - INFO - Epoch [3][9350/39528] lr: 9.831e-05, eta: 7 days, 22:46:25, time: 0.791, data_time: 0.037, memory: 19865, loss_cls: 0.3942, loss_bbox: 0.5599, loss_traj: 1.1229, loss_traj_cls: 0.0008, loss_map_cls: 0.2858, loss_map_pts: 1.2772, loss_map_dir: 0.0232, d0.loss_plan_l1_fix_time: 2.8131, d0.loss_plan_l1_fix_dist: 0.4649, d1.loss_plan_l1_fix_time: 1.9614, d1.loss_plan_l1_fix_dist: 0.3447, d2.loss_plan_l1_fix_time: 1.9175, d2.loss_plan_l1_fix_dist: 0.3474, d3.loss_plan_l1_fix_time: 1.9163, d3.loss_plan_l1_fix_dist: 0.3538, d4.loss_plan_l1_fix_time: 1.9210, d4.loss_plan_l1_fix_dist: 0.3610, d5.loss_plan_l1_fix_time: 1.9265, d5.loss_plan_l1_fix_dist: 0.3714, d6.loss_plan_l1_fix_time: 1.9322, d6.loss_plan_l1_fix_dist: 0.3893, d0.loss_cls_all: 0.4091, d0.loss_bbox_all: 0.5941, d0.loss_cls: 0.4091, d0.loss_bbox: 0.5941, d1.loss_cls: 0.4024, d1.loss_bbox: 0.5711, d2.loss_cls: 0.3982, d2.loss_bbox: 0.5593, d3.loss_cls: 0.3978, d3.loss_bbox: 0.5544, d4.loss_cls: 0.3949, d4.loss_bbox: 0.5564, d5.loss_cls: 0.3934, d5.loss_bbox: 0.5577, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2542, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1243, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1016, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1049, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1078, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1093, d0.loss_map_cls_all: 0.3264, d0.loss_map_pts_all: 2.1773, d0.loss_map_dir_all: 0.0212, d0.loss_map_cls: 0.3264, d0.loss_map_pts: 2.1773, d0.loss_map_dir: 0.0212, d1.loss_map_cls: 0.3133, d1.loss_map_pts: 1.4936, d1.loss_map_dir: 0.0213, d2.loss_map_cls: 0.3017, d2.loss_map_pts: 1.3443, d2.loss_map_dir: 0.0219, d3.loss_map_cls: 0.2931, d3.loss_map_pts: 1.2894, d3.loss_map_dir: 0.0225, d4.loss_map_cls: 0.2849, d4.loss_map_pts: 1.2740, d4.loss_map_dir: 0.0228, d5.loss_map_cls: 0.2837, d5.loss_map_pts: 1.2749, d5.loss_map_dir: 0.0230, loss: 47.5981, grad_norm: 149.3217 +2026-02-24 21:53:19,114 - DriveTransformer - INFO - Epoch [3][9400/39528] lr: 9.831e-05, eta: 7 days, 22:45:51, time: 0.812, data_time: 0.044, memory: 19865, loss_cls: 0.3697, loss_bbox: 0.5019, loss_traj: 1.3183, loss_traj_cls: 0.0008, loss_map_cls: 0.2750, loss_map_pts: 1.1210, loss_map_dir: 0.0204, d0.loss_plan_l1_fix_time: 2.6208, d0.loss_plan_l1_fix_dist: 0.4132, d1.loss_plan_l1_fix_time: 1.6968, d1.loss_plan_l1_fix_dist: 0.2669, d2.loss_plan_l1_fix_time: 1.6656, d2.loss_plan_l1_fix_dist: 0.2708, d3.loss_plan_l1_fix_time: 1.6676, d3.loss_plan_l1_fix_dist: 0.2786, d4.loss_plan_l1_fix_time: 1.6721, d4.loss_plan_l1_fix_dist: 0.2895, d5.loss_plan_l1_fix_time: 1.6769, d5.loss_plan_l1_fix_dist: 0.3025, d6.loss_plan_l1_fix_time: 1.6812, d6.loss_plan_l1_fix_dist: 0.3137, d0.loss_cls_all: 0.3801, d0.loss_bbox_all: 0.5534, d0.loss_cls: 0.3801, d0.loss_bbox: 0.5534, d1.loss_cls: 0.3684, d1.loss_bbox: 0.5254, d2.loss_cls: 0.3637, d2.loss_bbox: 0.5156, d3.loss_cls: 0.3640, d3.loss_bbox: 0.5087, d4.loss_cls: 0.3667, d4.loss_bbox: 0.5056, d5.loss_cls: 0.3678, d5.loss_bbox: 0.5027, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.5351, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.3441, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3293, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.3314, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.3239, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.3216, d0.loss_map_cls_all: 0.3341, d0.loss_map_pts_all: 2.0386, d0.loss_map_dir_all: 0.0194, d0.loss_map_cls: 0.3341, d0.loss_map_pts: 2.0386, d0.loss_map_dir: 0.0194, d1.loss_map_cls: 0.3090, d1.loss_map_pts: 1.3439, d1.loss_map_dir: 0.0191, d2.loss_map_cls: 0.2862, d2.loss_map_pts: 1.1979, d2.loss_map_dir: 0.0194, d3.loss_map_cls: 0.2779, d3.loss_map_pts: 1.1436, d3.loss_map_dir: 0.0198, d4.loss_map_cls: 0.2739, d4.loss_map_pts: 1.1272, d4.loss_map_dir: 0.0201, d5.loss_map_cls: 0.2717, d5.loss_map_pts: 1.1243, d5.loss_map_dir: 0.0203, loss: 45.1087, grad_norm: 148.1751 +2026-02-24 21:53:59,008 - DriveTransformer - INFO - Epoch [3][9450/39528] lr: 9.831e-05, eta: 7 days, 22:45:11, time: 0.798, data_time: 0.039, memory: 19865, loss_cls: 0.4123, loss_bbox: 0.5425, loss_traj: 1.1782, loss_traj_cls: 0.0008, loss_map_cls: 0.2932, loss_map_pts: 1.3326, loss_map_dir: 0.0199, d0.loss_plan_l1_fix_time: 2.8840, d0.loss_plan_l1_fix_dist: 0.4263, d1.loss_plan_l1_fix_time: 2.0412, d1.loss_plan_l1_fix_dist: 0.3086, d2.loss_plan_l1_fix_time: 2.0427, d2.loss_plan_l1_fix_dist: 0.3152, d3.loss_plan_l1_fix_time: 2.0645, d3.loss_plan_l1_fix_dist: 0.3239, d4.loss_plan_l1_fix_time: 2.0782, d4.loss_plan_l1_fix_dist: 0.3332, d5.loss_plan_l1_fix_time: 2.0909, d5.loss_plan_l1_fix_dist: 0.3431, d6.loss_plan_l1_fix_time: 2.1035, d6.loss_plan_l1_fix_dist: 0.3546, d0.loss_cls_all: 0.4201, d0.loss_bbox_all: 0.5842, d0.loss_cls: 0.4201, d0.loss_bbox: 0.5842, d1.loss_cls: 0.4133, d1.loss_bbox: 0.5623, d2.loss_cls: 0.4130, d2.loss_bbox: 0.5491, d3.loss_cls: 0.4109, d3.loss_bbox: 0.5414, d4.loss_cls: 0.4109, d4.loss_bbox: 0.5396, d5.loss_cls: 0.4113, d5.loss_bbox: 0.5397, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4682, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2207, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1901, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1868, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1856, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1762, d0.loss_map_cls_all: 0.3461, d0.loss_map_pts_all: 2.0608, d0.loss_map_dir_all: 0.0180, d0.loss_map_cls: 0.3461, d0.loss_map_pts: 2.0608, d0.loss_map_dir: 0.0180, d1.loss_map_cls: 0.3225, d1.loss_map_pts: 1.5211, d1.loss_map_dir: 0.0183, d2.loss_map_cls: 0.3042, d2.loss_map_pts: 1.4056, d2.loss_map_dir: 0.0189, d3.loss_map_cls: 0.2967, d3.loss_map_pts: 1.3569, d3.loss_map_dir: 0.0194, d4.loss_map_cls: 0.2945, d4.loss_map_pts: 1.3434, d4.loss_map_dir: 0.0196, d5.loss_map_cls: 0.2928, d5.loss_map_pts: 1.3358, d5.loss_map_dir: 0.0199, loss: 49.1419, grad_norm: 149.6867 +2026-02-24 21:54:40,559 - DriveTransformer - INFO - Epoch [3][9500/39528] lr: 9.831e-05, eta: 7 days, 22:44:47, time: 0.831, data_time: 0.039, memory: 19865, loss_cls: 0.4323, loss_bbox: 0.5745, loss_traj: 1.2540, loss_traj_cls: 0.0008, loss_map_cls: 0.3207, loss_map_pts: 1.3591, loss_map_dir: 0.0215, d0.loss_plan_l1_fix_time: 2.6310, d0.loss_plan_l1_fix_dist: 0.4001, d1.loss_plan_l1_fix_time: 1.9985, d1.loss_plan_l1_fix_dist: 0.3129, d2.loss_plan_l1_fix_time: 1.9940, d2.loss_plan_l1_fix_dist: 0.3159, d3.loss_plan_l1_fix_time: 1.9966, d3.loss_plan_l1_fix_dist: 0.3247, d4.loss_plan_l1_fix_time: 2.0021, d4.loss_plan_l1_fix_dist: 0.3341, d5.loss_plan_l1_fix_time: 2.0080, d5.loss_plan_l1_fix_dist: 0.3424, d6.loss_plan_l1_fix_time: 2.0147, d6.loss_plan_l1_fix_dist: 0.3525, d0.loss_cls_all: 0.4427, d0.loss_bbox_all: 0.6235, d0.loss_cls: 0.4427, d0.loss_bbox: 0.6235, d1.loss_cls: 0.4366, d1.loss_bbox: 0.5979, d2.loss_cls: 0.4332, d2.loss_bbox: 0.5827, d3.loss_cls: 0.4317, d3.loss_bbox: 0.5747, d4.loss_cls: 0.4324, d4.loss_bbox: 0.5719, d5.loss_cls: 0.4328, d5.loss_bbox: 0.5713, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4989, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2907, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2465, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.2348, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.2447, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2477, d0.loss_map_cls_all: 0.3572, d0.loss_map_pts_all: 2.1988, d0.loss_map_dir_all: 0.0195, d0.loss_map_cls: 0.3572, d0.loss_map_pts: 2.1988, d0.loss_map_dir: 0.0195, d1.loss_map_cls: 0.3447, d1.loss_map_pts: 1.5429, d1.loss_map_dir: 0.0197, d2.loss_map_cls: 0.3308, d2.loss_map_pts: 1.4228, d2.loss_map_dir: 0.0204, d3.loss_map_cls: 0.3234, d3.loss_map_pts: 1.3815, d3.loss_map_dir: 0.0209, d4.loss_map_cls: 0.3204, d4.loss_map_pts: 1.3695, d4.loss_map_dir: 0.0212, d5.loss_map_cls: 0.3198, d5.loss_map_pts: 1.3637, d5.loss_map_dir: 0.0213, loss: 49.9305, grad_norm: 150.8151 +2026-02-24 21:55:21,009 - DriveTransformer - INFO - Epoch [3][9550/39528] lr: 9.831e-05, eta: 7 days, 22:44:12, time: 0.809, data_time: 0.037, memory: 19865, loss_cls: 0.3452, loss_bbox: 0.4689, loss_traj: 1.0941, loss_traj_cls: 0.0008, loss_map_cls: 0.2378, loss_map_pts: 1.0401, loss_map_dir: 0.0185, d0.loss_plan_l1_fix_time: 2.2100, d0.loss_plan_l1_fix_dist: 0.4823, d1.loss_plan_l1_fix_time: 1.5577, d1.loss_plan_l1_fix_dist: 0.2811, d2.loss_plan_l1_fix_time: 1.5405, d2.loss_plan_l1_fix_dist: 0.2846, d3.loss_plan_l1_fix_time: 1.5388, d3.loss_plan_l1_fix_dist: 0.2930, d4.loss_plan_l1_fix_time: 1.5434, d4.loss_plan_l1_fix_dist: 0.3032, d5.loss_plan_l1_fix_time: 1.5495, d5.loss_plan_l1_fix_dist: 0.3154, d6.loss_plan_l1_fix_time: 1.5575, d6.loss_plan_l1_fix_dist: 0.3329, d0.loss_cls_all: 0.3538, d0.loss_bbox_all: 0.5035, d0.loss_cls: 0.3538, d0.loss_bbox: 0.5035, d1.loss_cls: 0.3454, d1.loss_bbox: 0.4798, d2.loss_cls: 0.3414, d2.loss_bbox: 0.4700, d3.loss_cls: 0.3438, d3.loss_bbox: 0.4654, d4.loss_cls: 0.3436, d4.loss_bbox: 0.4633, d5.loss_cls: 0.3458, d5.loss_bbox: 0.4638, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3841, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1295, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0987, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0928, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0890, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0856, d0.loss_map_cls_all: 0.2842, d0.loss_map_pts_all: 1.8672, d0.loss_map_dir_all: 0.0169, d0.loss_map_cls: 0.2842, d0.loss_map_pts: 1.8672, d0.loss_map_dir: 0.0169, d1.loss_map_cls: 0.2623, d1.loss_map_pts: 1.2392, d1.loss_map_dir: 0.0171, d2.loss_map_cls: 0.2488, d2.loss_map_pts: 1.1112, d2.loss_map_dir: 0.0175, d3.loss_map_cls: 0.2418, d3.loss_map_pts: 1.0634, d3.loss_map_dir: 0.0179, d4.loss_map_cls: 0.2379, d4.loss_map_pts: 1.0437, d4.loss_map_dir: 0.0183, d5.loss_map_cls: 0.2354, d5.loss_map_pts: 1.0416, d5.loss_map_dir: 0.0184, loss: 40.8086, grad_norm: 150.8708 +2026-02-24 21:56:01,729 - DriveTransformer - INFO - Epoch [3][9600/39528] lr: 9.831e-05, eta: 7 days, 22:43:40, time: 0.814, data_time: 0.040, memory: 19865, loss_cls: 0.3672, loss_bbox: 0.5094, loss_traj: 1.1792, loss_traj_cls: 0.0008, loss_map_cls: 0.2495, loss_map_pts: 1.1273, loss_map_dir: 0.0208, d0.loss_plan_l1_fix_time: 2.9071, d0.loss_plan_l1_fix_dist: 0.4639, d1.loss_plan_l1_fix_time: 1.9420, d1.loss_plan_l1_fix_dist: 0.3058, d2.loss_plan_l1_fix_time: 1.9079, d2.loss_plan_l1_fix_dist: 0.3123, d3.loss_plan_l1_fix_time: 1.8999, d3.loss_plan_l1_fix_dist: 0.3249, d4.loss_plan_l1_fix_time: 1.9016, d4.loss_plan_l1_fix_dist: 0.3408, d5.loss_plan_l1_fix_time: 1.9057, d5.loss_plan_l1_fix_dist: 0.3578, d6.loss_plan_l1_fix_time: 1.9120, d6.loss_plan_l1_fix_dist: 0.3737, d0.loss_cls_all: 0.3692, d0.loss_bbox_all: 0.5458, d0.loss_cls: 0.3692, d0.loss_bbox: 0.5458, d1.loss_cls: 0.3660, d1.loss_bbox: 0.5198, d2.loss_cls: 0.3648, d2.loss_bbox: 0.5097, d3.loss_cls: 0.3656, d3.loss_bbox: 0.5037, d4.loss_cls: 0.3654, d4.loss_bbox: 0.5033, d5.loss_cls: 0.3660, d5.loss_bbox: 0.5048, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3425, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1951, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1762, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1746, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1731, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1769, d0.loss_map_cls_all: 0.3026, d0.loss_map_pts_all: 2.1072, d0.loss_map_dir_all: 0.0198, d0.loss_map_cls: 0.3026, d0.loss_map_pts: 2.1072, d0.loss_map_dir: 0.0198, d1.loss_map_cls: 0.2820, d1.loss_map_pts: 1.3379, d1.loss_map_dir: 0.0197, d2.loss_map_cls: 0.2667, d2.loss_map_pts: 1.1907, d2.loss_map_dir: 0.0200, d3.loss_map_cls: 0.2566, d3.loss_map_pts: 1.1447, d3.loss_map_dir: 0.0205, d4.loss_map_cls: 0.2509, d4.loss_map_pts: 1.1288, d4.loss_map_dir: 0.0206, d5.loss_map_cls: 0.2483, d5.loss_map_pts: 1.1284, d5.loss_map_dir: 0.0208, loss: 45.9489, grad_norm: 146.8383 +2026-02-24 21:56:43,940 - DriveTransformer - INFO - Epoch [3][9650/39528] lr: 9.831e-05, eta: 7 days, 22:43:23, time: 0.844, data_time: 0.037, memory: 19865, loss_cls: 0.3848, loss_bbox: 0.5409, loss_traj: 1.0523, loss_traj_cls: 0.0008, loss_map_cls: 0.2815, loss_map_pts: 1.2576, loss_map_dir: 0.0259, d0.loss_plan_l1_fix_time: 2.4319, d0.loss_plan_l1_fix_dist: 0.5670, d1.loss_plan_l1_fix_time: 1.6405, d1.loss_plan_l1_fix_dist: 0.3617, d2.loss_plan_l1_fix_time: 1.6312, d2.loss_plan_l1_fix_dist: 0.3725, d3.loss_plan_l1_fix_time: 1.6384, d3.loss_plan_l1_fix_dist: 0.3883, d4.loss_plan_l1_fix_time: 1.6462, d4.loss_plan_l1_fix_dist: 0.4060, d5.loss_plan_l1_fix_time: 1.6545, d5.loss_plan_l1_fix_dist: 0.4289, d6.loss_plan_l1_fix_time: 1.6641, d6.loss_plan_l1_fix_dist: 0.4556, d0.loss_cls_all: 0.4033, d0.loss_bbox_all: 0.5668, d0.loss_cls: 0.4033, d0.loss_bbox: 0.5668, d1.loss_cls: 0.3989, d1.loss_bbox: 0.5465, d2.loss_cls: 0.3930, d2.loss_bbox: 0.5383, d3.loss_cls: 0.3902, d3.loss_bbox: 0.5334, d4.loss_cls: 0.3871, d4.loss_bbox: 0.5353, d5.loss_cls: 0.3872, d5.loss_bbox: 0.5371, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1741, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0493, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0284, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0281, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0249, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0349, d0.loss_map_cls_all: 0.3247, d0.loss_map_pts_all: 2.4330, d0.loss_map_dir_all: 0.0241, d0.loss_map_cls: 0.3247, d0.loss_map_pts: 2.4330, d0.loss_map_dir: 0.0241, d1.loss_map_cls: 0.3119, d1.loss_map_pts: 1.5015, d1.loss_map_dir: 0.0240, d2.loss_map_cls: 0.2938, d2.loss_map_pts: 1.3354, d2.loss_map_dir: 0.0247, d3.loss_map_cls: 0.2878, d3.loss_map_pts: 1.2807, d3.loss_map_dir: 0.0253, d4.loss_map_cls: 0.2835, d4.loss_map_pts: 1.2640, d4.loss_map_dir: 0.0256, d5.loss_map_cls: 0.2816, d5.loss_map_pts: 1.2578, d5.loss_map_dir: 0.0257, loss: 45.5502, grad_norm: 147.5990 +2026-02-24 21:57:23,297 - DriveTransformer - INFO - Epoch [3][9700/39528] lr: 9.831e-05, eta: 7 days, 22:42:37, time: 0.787, data_time: 0.037, memory: 19865, loss_cls: 0.4252, loss_bbox: 0.5842, loss_traj: 1.0925, loss_traj_cls: 0.0008, loss_map_cls: 0.3028, loss_map_pts: 1.3368, loss_map_dir: 0.0229, d0.loss_plan_l1_fix_time: 2.8049, d0.loss_plan_l1_fix_dist: 0.4855, d1.loss_plan_l1_fix_time: 2.0329, d1.loss_plan_l1_fix_dist: 0.3152, d2.loss_plan_l1_fix_time: 2.0019, d2.loss_plan_l1_fix_dist: 0.3230, d3.loss_plan_l1_fix_time: 2.0002, d3.loss_plan_l1_fix_dist: 0.3353, d4.loss_plan_l1_fix_time: 2.0024, d4.loss_plan_l1_fix_dist: 0.3476, d5.loss_plan_l1_fix_time: 2.0056, d5.loss_plan_l1_fix_dist: 0.3586, d6.loss_plan_l1_fix_time: 2.0097, d6.loss_plan_l1_fix_dist: 0.3707, d0.loss_cls_all: 0.4340, d0.loss_bbox_all: 0.6250, d0.loss_cls: 0.4340, d0.loss_bbox: 0.6250, d1.loss_cls: 0.4290, d1.loss_bbox: 0.6016, d2.loss_cls: 0.4239, d2.loss_bbox: 0.5911, d3.loss_cls: 0.4216, d3.loss_bbox: 0.5845, d4.loss_cls: 0.4222, d4.loss_bbox: 0.5818, d5.loss_cls: 0.4249, d5.loss_bbox: 0.5805, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2017, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1027, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0884, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0936, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0927, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1000, d0.loss_map_cls_all: 0.3395, d0.loss_map_pts_all: 2.1025, d0.loss_map_dir_all: 0.0214, d0.loss_map_cls: 0.3395, d0.loss_map_pts: 2.1025, d0.loss_map_dir: 0.0214, d1.loss_map_cls: 0.3229, d1.loss_map_pts: 1.5354, d1.loss_map_dir: 0.0216, d2.loss_map_cls: 0.3102, d2.loss_map_pts: 1.4082, d2.loss_map_dir: 0.0220, d3.loss_map_cls: 0.3045, d3.loss_map_pts: 1.3591, d3.loss_map_dir: 0.0224, d4.loss_map_cls: 0.3011, d4.loss_map_pts: 1.3431, d4.loss_map_dir: 0.0227, d5.loss_map_cls: 0.3019, d5.loss_map_pts: 1.3397, d5.loss_map_dir: 0.0229, loss: 48.5878, grad_norm: 147.8078 +2026-02-24 21:58:04,066 - DriveTransformer - INFO - Epoch [3][9750/39528] lr: 9.831e-05, eta: 7 days, 22:42:05, time: 0.815, data_time: 0.044, memory: 19865, loss_cls: 0.4174, loss_bbox: 0.5702, loss_traj: 1.0250, loss_traj_cls: 0.0008, loss_map_cls: 0.3321, loss_map_pts: 1.4253, loss_map_dir: 0.0239, d0.loss_plan_l1_fix_time: 2.8761, d0.loss_plan_l1_fix_dist: 0.4308, d1.loss_plan_l1_fix_time: 2.0346, d1.loss_plan_l1_fix_dist: 0.3070, d2.loss_plan_l1_fix_time: 2.0153, d2.loss_plan_l1_fix_dist: 0.3157, d3.loss_plan_l1_fix_time: 2.0175, d3.loss_plan_l1_fix_dist: 0.3280, d4.loss_plan_l1_fix_time: 2.0214, d4.loss_plan_l1_fix_dist: 0.3418, d5.loss_plan_l1_fix_time: 2.0256, d5.loss_plan_l1_fix_dist: 0.3586, d6.loss_plan_l1_fix_time: 2.0295, d6.loss_plan_l1_fix_dist: 0.3786, d0.loss_cls_all: 0.4308, d0.loss_bbox_all: 0.6266, d0.loss_cls: 0.4308, d0.loss_bbox: 0.6266, d1.loss_cls: 0.4252, d1.loss_bbox: 0.5991, d2.loss_cls: 0.4239, d2.loss_bbox: 0.5822, d3.loss_cls: 0.4220, d3.loss_bbox: 0.5757, d4.loss_cls: 0.4188, d4.loss_bbox: 0.5706, d5.loss_cls: 0.4187, d5.loss_bbox: 0.5665, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1101, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0268, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0183, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0172, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0168, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0171, d0.loss_map_cls_all: 0.3810, d0.loss_map_pts_all: 2.3389, d0.loss_map_dir_all: 0.0224, d0.loss_map_cls: 0.3810, d0.loss_map_pts: 2.3389, d0.loss_map_dir: 0.0224, d1.loss_map_cls: 0.3670, d1.loss_map_pts: 1.6563, d1.loss_map_dir: 0.0225, d2.loss_map_cls: 0.3494, d2.loss_map_pts: 1.5057, d2.loss_map_dir: 0.0229, d3.loss_map_cls: 0.3357, d3.loss_map_pts: 1.4570, d3.loss_map_dir: 0.0233, d4.loss_map_cls: 0.3307, d4.loss_map_pts: 1.4358, d4.loss_map_dir: 0.0236, d5.loss_map_cls: 0.3311, d5.loss_map_pts: 1.4293, d5.loss_map_dir: 0.0238, loss: 49.4037, grad_norm: 146.1140 +2026-02-24 21:58:46,059 - DriveTransformer - INFO - Epoch [3][9800/39528] lr: 9.831e-05, eta: 7 days, 22:41:46, time: 0.840, data_time: 0.037, memory: 19865, loss_cls: 0.4147, loss_bbox: 0.5884, loss_traj: 1.1420, loss_traj_cls: 0.0008, loss_map_cls: 0.3108, loss_map_pts: 1.4684, loss_map_dir: 0.0256, d0.loss_plan_l1_fix_time: 2.7051, d0.loss_plan_l1_fix_dist: 0.4453, d1.loss_plan_l1_fix_time: 1.9987, d1.loss_plan_l1_fix_dist: 0.3371, d2.loss_plan_l1_fix_time: 1.9777, d2.loss_plan_l1_fix_dist: 0.3493, d3.loss_plan_l1_fix_time: 1.9789, d3.loss_plan_l1_fix_dist: 0.3617, d4.loss_plan_l1_fix_time: 1.9837, d4.loss_plan_l1_fix_dist: 0.3762, d5.loss_plan_l1_fix_time: 1.9887, d5.loss_plan_l1_fix_dist: 0.3953, d6.loss_plan_l1_fix_time: 1.9937, d6.loss_plan_l1_fix_dist: 0.4147, d0.loss_cls_all: 0.4227, d0.loss_bbox_all: 0.6404, d0.loss_cls: 0.4227, d0.loss_bbox: 0.6404, d1.loss_cls: 0.4232, d1.loss_bbox: 0.6071, d2.loss_cls: 0.4213, d2.loss_bbox: 0.5955, d3.loss_cls: 0.4175, d3.loss_bbox: 0.5914, d4.loss_cls: 0.4127, d4.loss_bbox: 0.5902, d5.loss_cls: 0.4134, d5.loss_bbox: 0.5885, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3994, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1707, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1372, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1382, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1343, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1298, d0.loss_map_cls_all: 0.3599, d0.loss_map_pts_all: 2.4947, d0.loss_map_dir_all: 0.0234, d0.loss_map_cls: 0.3599, d0.loss_map_pts: 2.4947, d0.loss_map_dir: 0.0234, d1.loss_map_cls: 0.3414, d1.loss_map_pts: 1.6976, d1.loss_map_dir: 0.0241, d2.loss_map_cls: 0.3250, d2.loss_map_pts: 1.5431, d2.loss_map_dir: 0.0245, d3.loss_map_cls: 0.3176, d3.loss_map_pts: 1.4928, d3.loss_map_dir: 0.0249, d4.loss_map_cls: 0.3114, d4.loss_map_pts: 1.4752, d4.loss_map_dir: 0.0253, d5.loss_map_cls: 0.3110, d5.loss_map_pts: 1.4708, d5.loss_map_dir: 0.0255, loss: 50.7254, grad_norm: 146.5914 +2026-02-24 21:59:25,042 - DriveTransformer - INFO - Epoch [3][9850/39528] lr: 9.831e-05, eta: 7 days, 22:40:57, time: 0.780, data_time: 0.037, memory: 19865, loss_cls: 0.3964, loss_bbox: 0.5582, loss_traj: 1.0672, loss_traj_cls: 0.0008, loss_map_cls: 0.3360, loss_map_pts: 1.2913, loss_map_dir: 0.0234, d0.loss_plan_l1_fix_time: 2.5781, d0.loss_plan_l1_fix_dist: 0.4185, d1.loss_plan_l1_fix_time: 1.8922, d1.loss_plan_l1_fix_dist: 0.2556, d2.loss_plan_l1_fix_time: 1.8683, d2.loss_plan_l1_fix_dist: 0.2650, d3.loss_plan_l1_fix_time: 1.8704, d3.loss_plan_l1_fix_dist: 0.2790, d4.loss_plan_l1_fix_time: 1.8752, d4.loss_plan_l1_fix_dist: 0.2958, d5.loss_plan_l1_fix_time: 1.8810, d5.loss_plan_l1_fix_dist: 0.3144, d6.loss_plan_l1_fix_time: 1.8883, d6.loss_plan_l1_fix_dist: 0.3405, d0.loss_cls_all: 0.4105, d0.loss_bbox_all: 0.5894, d0.loss_cls: 0.4105, d0.loss_bbox: 0.5894, d1.loss_cls: 0.4096, d1.loss_bbox: 0.5673, d2.loss_cls: 0.4046, d2.loss_bbox: 0.5609, d3.loss_cls: 0.3987, d3.loss_bbox: 0.5547, d4.loss_cls: 0.3963, d4.loss_bbox: 0.5519, d5.loss_cls: 0.3960, d5.loss_bbox: 0.5546, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2354, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0669, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0582, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0599, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0637, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0644, d0.loss_map_cls_all: 0.3657, d0.loss_map_pts_all: 2.1570, d0.loss_map_dir_all: 0.0224, d0.loss_map_cls: 0.3657, d0.loss_map_pts: 2.1570, d0.loss_map_dir: 0.0224, d1.loss_map_cls: 0.3549, d1.loss_map_pts: 1.5052, d1.loss_map_dir: 0.0223, d2.loss_map_cls: 0.3455, d2.loss_map_pts: 1.3620, d2.loss_map_dir: 0.0226, d3.loss_map_cls: 0.3416, d3.loss_map_pts: 1.3084, d3.loss_map_dir: 0.0230, d4.loss_map_cls: 0.3368, d4.loss_map_pts: 1.2910, d4.loss_map_dir: 0.0232, d5.loss_map_cls: 0.3365, d5.loss_map_pts: 1.2873, d5.loss_map_dir: 0.0233, loss: 46.7179, grad_norm: 146.1704 +2026-02-24 22:00:05,387 - DriveTransformer - INFO - Epoch [3][9900/39528] lr: 9.831e-05, eta: 7 days, 22:40:21, time: 0.807, data_time: 0.044, memory: 19865, loss_cls: 0.3776, loss_bbox: 0.5404, loss_traj: 0.9052, loss_traj_cls: 0.0007, loss_map_cls: 0.3011, loss_map_pts: 1.2388, loss_map_dir: 0.0224, d0.loss_plan_l1_fix_time: 2.6466, d0.loss_plan_l1_fix_dist: 0.4275, d1.loss_plan_l1_fix_time: 1.6465, d1.loss_plan_l1_fix_dist: 0.2847, d2.loss_plan_l1_fix_time: 1.6126, d2.loss_plan_l1_fix_dist: 0.2936, d3.loss_plan_l1_fix_time: 1.6132, d3.loss_plan_l1_fix_dist: 0.3090, d4.loss_plan_l1_fix_time: 1.6183, d4.loss_plan_l1_fix_dist: 0.3257, d5.loss_plan_l1_fix_time: 1.6251, d5.loss_plan_l1_fix_dist: 0.3427, d6.loss_plan_l1_fix_time: 1.6334, d6.loss_plan_l1_fix_dist: 0.3607, d0.loss_cls_all: 0.3932, d0.loss_bbox_all: 0.5753, d0.loss_cls: 0.3932, d0.loss_bbox: 0.5753, d1.loss_cls: 0.3866, d1.loss_bbox: 0.5522, d2.loss_cls: 0.3828, d2.loss_bbox: 0.5431, d3.loss_cls: 0.3786, d3.loss_bbox: 0.5368, d4.loss_cls: 0.3775, d4.loss_bbox: 0.5363, d5.loss_cls: 0.3770, d5.loss_bbox: 0.5370, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0142, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8927, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8795, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8804, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.8944, d5.loss_traj_cls: 0.0008, d5.loss_traj: 0.8963, d0.loss_map_cls_all: 0.3599, d0.loss_map_pts_all: 2.1707, d0.loss_map_dir_all: 0.0210, d0.loss_map_cls: 0.3599, d0.loss_map_pts: 2.1707, d0.loss_map_dir: 0.0210, d1.loss_map_cls: 0.3415, d1.loss_map_pts: 1.4427, d1.loss_map_dir: 0.0210, d2.loss_map_cls: 0.3228, d2.loss_map_pts: 1.3098, d2.loss_map_dir: 0.0215, d3.loss_map_cls: 0.3083, d3.loss_map_pts: 1.2547, d3.loss_map_dir: 0.0218, d4.loss_map_cls: 0.3035, d4.loss_map_pts: 1.2395, d4.loss_map_dir: 0.0222, d5.loss_map_cls: 0.3027, d5.loss_map_pts: 1.2350, d5.loss_map_dir: 0.0223, loss: 43.4060, grad_norm: 145.2997 +2026-02-24 22:00:46,178 - DriveTransformer - INFO - Epoch [3][9950/39528] lr: 9.831e-05, eta: 7 days, 22:39:49, time: 0.816, data_time: 0.036, memory: 19865, loss_cls: 0.4243, loss_bbox: 0.5813, loss_traj: 1.1515, loss_traj_cls: 0.0008, loss_map_cls: 0.3074, loss_map_pts: 1.3590, loss_map_dir: 0.0246, d0.loss_plan_l1_fix_time: 2.5937, d0.loss_plan_l1_fix_dist: 0.3690, d1.loss_plan_l1_fix_time: 1.6917, d1.loss_plan_l1_fix_dist: 0.2766, d2.loss_plan_l1_fix_time: 1.6939, d2.loss_plan_l1_fix_dist: 0.2808, d3.loss_plan_l1_fix_time: 1.7023, d3.loss_plan_l1_fix_dist: 0.2885, d4.loss_plan_l1_fix_time: 1.7093, d4.loss_plan_l1_fix_dist: 0.2998, d5.loss_plan_l1_fix_time: 1.7165, d5.loss_plan_l1_fix_dist: 0.3144, d6.loss_plan_l1_fix_time: 1.7235, d6.loss_plan_l1_fix_dist: 0.3270, d0.loss_cls_all: 0.4333, d0.loss_bbox_all: 0.6227, d0.loss_cls: 0.4333, d0.loss_bbox: 0.6227, d1.loss_cls: 0.4284, d1.loss_bbox: 0.5940, d2.loss_cls: 0.4272, d2.loss_bbox: 0.5846, d3.loss_cls: 0.4246, d3.loss_bbox: 0.5800, d4.loss_cls: 0.4256, d4.loss_bbox: 0.5799, d5.loss_cls: 0.4253, d5.loss_bbox: 0.5783, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3150, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1667, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1398, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1422, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1432, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1454, d0.loss_map_cls_all: 0.3599, d0.loss_map_pts_all: 2.2942, d0.loss_map_dir_all: 0.0230, d0.loss_map_cls: 0.3599, d0.loss_map_pts: 2.2942, d0.loss_map_dir: 0.0230, d1.loss_map_cls: 0.3420, d1.loss_map_pts: 1.5661, d1.loss_map_dir: 0.0233, d2.loss_map_cls: 0.3273, d2.loss_map_pts: 1.4328, d2.loss_map_dir: 0.0237, d3.loss_map_cls: 0.3126, d3.loss_map_pts: 1.3834, d3.loss_map_dir: 0.0241, d4.loss_map_cls: 0.3082, d4.loss_map_pts: 1.3652, d4.loss_map_dir: 0.0243, d5.loss_map_cls: 0.3066, d5.loss_map_pts: 1.3596, d5.loss_map_dir: 0.0244, loss: 47.2315, grad_norm: 144.3993 +2026-02-24 22:01:26,082 - DriveTransformer - INFO - Epoch [3][10000/39528] lr: 9.831e-05, eta: 7 days, 22:39:10, time: 0.799, data_time: 0.041, memory: 19865, loss_cls: 0.4120, loss_bbox: 0.5714, loss_traj: 1.3554, loss_traj_cls: 0.0007, loss_map_cls: 0.3026, loss_map_pts: 1.2645, loss_map_dir: 0.0202, d0.loss_plan_l1_fix_time: 2.8618, d0.loss_plan_l1_fix_dist: 0.4852, d1.loss_plan_l1_fix_time: 1.9847, d1.loss_plan_l1_fix_dist: 0.3149, d2.loss_plan_l1_fix_time: 1.9814, d2.loss_plan_l1_fix_dist: 0.3227, d3.loss_plan_l1_fix_time: 1.9836, d3.loss_plan_l1_fix_dist: 0.3378, d4.loss_plan_l1_fix_time: 1.9886, d4.loss_plan_l1_fix_dist: 0.3552, d5.loss_plan_l1_fix_time: 1.9938, d5.loss_plan_l1_fix_dist: 0.3717, d6.loss_plan_l1_fix_time: 1.9999, d6.loss_plan_l1_fix_dist: 0.3934, d0.loss_cls_all: 0.4269, d0.loss_bbox_all: 0.6072, d0.loss_cls: 0.4269, d0.loss_bbox: 0.6072, d1.loss_cls: 0.4220, d1.loss_bbox: 0.5822, d2.loss_cls: 0.4228, d2.loss_bbox: 0.5709, d3.loss_cls: 0.4176, d3.loss_bbox: 0.5688, d4.loss_cls: 0.4145, d4.loss_bbox: 0.5686, d5.loss_cls: 0.4134, d5.loss_bbox: 0.5664, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5654, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3869, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3574, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.3518, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.3547, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.3513, d0.loss_map_cls_all: 0.3594, d0.loss_map_pts_all: 2.0600, d0.loss_map_dir_all: 0.0189, d0.loss_map_cls: 0.3594, d0.loss_map_pts: 2.0600, d0.loss_map_dir: 0.0189, d1.loss_map_cls: 0.3340, d1.loss_map_pts: 1.4682, d1.loss_map_dir: 0.0190, d2.loss_map_cls: 0.3196, d2.loss_map_pts: 1.3342, d2.loss_map_dir: 0.0194, d3.loss_map_cls: 0.3098, d3.loss_map_pts: 1.2896, d3.loss_map_dir: 0.0198, d4.loss_map_cls: 0.3063, d4.loss_map_pts: 1.2719, d4.loss_map_dir: 0.0200, d5.loss_map_cls: 0.3030, d5.loss_map_pts: 1.2654, d5.loss_map_dir: 0.0201, loss: 49.8668, grad_norm: 143.3474 +2026-02-24 22:02:06,324 - DriveTransformer - INFO - Epoch [3][10050/39528] lr: 9.831e-05, eta: 7 days, 22:38:32, time: 0.803, data_time: 0.040, memory: 19865, loss_cls: 0.4386, loss_bbox: 0.5640, loss_traj: 1.3098, loss_traj_cls: 0.0008, loss_map_cls: 0.3142, loss_map_pts: 1.3390, loss_map_dir: 0.0239, d0.loss_plan_l1_fix_time: 3.0637, d0.loss_plan_l1_fix_dist: 0.3681, d1.loss_plan_l1_fix_time: 1.9043, d1.loss_plan_l1_fix_dist: 0.2558, d2.loss_plan_l1_fix_time: 1.8675, d2.loss_plan_l1_fix_dist: 0.2649, d3.loss_plan_l1_fix_time: 1.8616, d3.loss_plan_l1_fix_dist: 0.2811, d4.loss_plan_l1_fix_time: 1.8634, d4.loss_plan_l1_fix_dist: 0.2993, d5.loss_plan_l1_fix_time: 1.8672, d5.loss_plan_l1_fix_dist: 0.3214, d6.loss_plan_l1_fix_time: 1.8720, d6.loss_plan_l1_fix_dist: 0.3457, d0.loss_cls_all: 0.4326, d0.loss_bbox_all: 0.6118, d0.loss_cls: 0.4326, d0.loss_bbox: 0.6118, d1.loss_cls: 0.4314, d1.loss_bbox: 0.5814, d2.loss_cls: 0.4296, d2.loss_bbox: 0.5709, d3.loss_cls: 0.4318, d3.loss_bbox: 0.5649, d4.loss_cls: 0.4362, d4.loss_bbox: 0.5628, d5.loss_cls: 0.4377, d5.loss_bbox: 0.5608, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6257, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.3721, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3170, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.3114, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.3047, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.3077, d0.loss_map_cls_all: 0.3598, d0.loss_map_pts_all: 2.1788, d0.loss_map_dir_all: 0.0222, d0.loss_map_cls: 0.3598, d0.loss_map_pts: 2.1788, d0.loss_map_dir: 0.0222, d1.loss_map_cls: 0.3452, d1.loss_map_pts: 1.5403, d1.loss_map_dir: 0.0227, d2.loss_map_cls: 0.3267, d2.loss_map_pts: 1.4070, d2.loss_map_dir: 0.0230, d3.loss_map_cls: 0.3186, d3.loss_map_pts: 1.3617, d3.loss_map_dir: 0.0234, d4.loss_map_cls: 0.3158, d4.loss_map_pts: 1.3405, d4.loss_map_dir: 0.0237, d5.loss_map_cls: 0.3142, d5.loss_map_pts: 1.3379, d5.loss_map_dir: 0.0239, loss: 49.6129, grad_norm: 144.6470 +2026-02-24 22:02:47,307 - DriveTransformer - INFO - Epoch [3][10100/39528] lr: 9.831e-05, eta: 7 days, 22:38:03, time: 0.820, data_time: 0.038, memory: 19865, loss_cls: 0.4072, loss_bbox: 0.5688, loss_traj: 1.0614, loss_traj_cls: 0.0008, loss_map_cls: 0.3063, loss_map_pts: 1.2437, loss_map_dir: 0.0236, d0.loss_plan_l1_fix_time: 2.6786, d0.loss_plan_l1_fix_dist: 0.4638, d1.loss_plan_l1_fix_time: 1.8408, d1.loss_plan_l1_fix_dist: 0.3075, d2.loss_plan_l1_fix_time: 1.8140, d2.loss_plan_l1_fix_dist: 0.3111, d3.loss_plan_l1_fix_time: 1.8107, d3.loss_plan_l1_fix_dist: 0.3213, d4.loss_plan_l1_fix_time: 1.8138, d4.loss_plan_l1_fix_dist: 0.3382, d5.loss_plan_l1_fix_time: 1.8184, d5.loss_plan_l1_fix_dist: 0.3614, d6.loss_plan_l1_fix_time: 1.8238, d6.loss_plan_l1_fix_dist: 0.3835, d0.loss_cls_all: 0.4092, d0.loss_bbox_all: 0.6031, d0.loss_cls: 0.4092, d0.loss_bbox: 0.6031, d1.loss_cls: 0.4032, d1.loss_bbox: 0.5777, d2.loss_cls: 0.4035, d2.loss_bbox: 0.5672, d3.loss_cls: 0.4053, d3.loss_bbox: 0.5624, d4.loss_cls: 0.4083, d4.loss_bbox: 0.5645, d5.loss_cls: 0.4074, d5.loss_bbox: 0.5651, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2468, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0734, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0611, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0530, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0527, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0593, d0.loss_map_cls_all: 0.3445, d0.loss_map_pts_all: 2.1612, d0.loss_map_dir_all: 0.0219, d0.loss_map_cls: 0.3445, d0.loss_map_pts: 2.1612, d0.loss_map_dir: 0.0219, d1.loss_map_cls: 0.3303, d1.loss_map_pts: 1.4162, d1.loss_map_dir: 0.0222, d2.loss_map_cls: 0.3156, d2.loss_map_pts: 1.2803, d2.loss_map_dir: 0.0226, d3.loss_map_cls: 0.3091, d3.loss_map_pts: 1.2453, d3.loss_map_dir: 0.0231, d4.loss_map_cls: 0.3068, d4.loss_map_pts: 1.2352, d4.loss_map_dir: 0.0233, d5.loss_map_cls: 0.3058, d5.loss_map_pts: 1.2411, d5.loss_map_dir: 0.0235, loss: 46.2957, grad_norm: 145.8595 +2026-02-24 22:03:25,949 - DriveTransformer - INFO - Epoch [3][10150/39528] lr: 9.831e-05, eta: 7 days, 22:37:10, time: 0.773, data_time: 0.045, memory: 19865, loss_cls: 0.3858, loss_bbox: 0.5126, loss_traj: 1.2073, loss_traj_cls: 0.0008, loss_map_cls: 0.2532, loss_map_pts: 1.0476, loss_map_dir: 0.0190, d0.loss_plan_l1_fix_time: 2.5199, d0.loss_plan_l1_fix_dist: 0.4836, d1.loss_plan_l1_fix_time: 1.8439, d1.loss_plan_l1_fix_dist: 0.3162, d2.loss_plan_l1_fix_time: 1.8239, d2.loss_plan_l1_fix_dist: 0.3277, d3.loss_plan_l1_fix_time: 1.8297, d3.loss_plan_l1_fix_dist: 0.3388, d4.loss_plan_l1_fix_time: 1.8356, d4.loss_plan_l1_fix_dist: 0.3486, d5.loss_plan_l1_fix_time: 1.8414, d5.loss_plan_l1_fix_dist: 0.3574, d6.loss_plan_l1_fix_time: 1.8472, d6.loss_plan_l1_fix_dist: 0.3707, d0.loss_cls_all: 0.3919, d0.loss_bbox_all: 0.5497, d0.loss_cls: 0.3919, d0.loss_bbox: 0.5497, d1.loss_cls: 0.3860, d1.loss_bbox: 0.5200, d2.loss_cls: 0.3844, d2.loss_bbox: 0.5115, d3.loss_cls: 0.3867, d3.loss_bbox: 0.5094, d4.loss_cls: 0.3872, d4.loss_bbox: 0.5111, d5.loss_cls: 0.3870, d5.loss_bbox: 0.5086, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4465, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2479, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2224, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.2166, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.2094, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2134, d0.loss_map_cls_all: 0.3007, d0.loss_map_pts_all: 1.7921, d0.loss_map_dir_all: 0.0182, d0.loss_map_cls: 0.3007, d0.loss_map_pts: 1.7921, d0.loss_map_dir: 0.0182, d1.loss_map_cls: 0.2824, d1.loss_map_pts: 1.2376, d1.loss_map_dir: 0.0179, d2.loss_map_cls: 0.2650, d2.loss_map_pts: 1.1163, d2.loss_map_dir: 0.0182, d3.loss_map_cls: 0.2558, d3.loss_map_pts: 1.0752, d3.loss_map_dir: 0.0185, d4.loss_map_cls: 0.2528, d4.loss_map_pts: 1.0563, d4.loss_map_dir: 0.0188, d5.loss_map_cls: 0.2514, d5.loss_map_pts: 1.0496, d5.loss_map_dir: 0.0189, loss: 44.6047, grad_norm: 146.4795 +2026-02-24 22:04:05,818 - DriveTransformer - INFO - Epoch [3][10200/39528] lr: 9.831e-05, eta: 7 days, 22:36:30, time: 0.797, data_time: 0.037, memory: 19865, loss_cls: 0.4184, loss_bbox: 0.5761, loss_traj: 1.2182, loss_traj_cls: 0.0008, loss_map_cls: 0.3058, loss_map_pts: 1.4685, loss_map_dir: 0.0234, d0.loss_plan_l1_fix_time: 2.6543, d0.loss_plan_l1_fix_dist: 0.4295, d1.loss_plan_l1_fix_time: 1.9643, d1.loss_plan_l1_fix_dist: 0.3110, d2.loss_plan_l1_fix_time: 1.9517, d2.loss_plan_l1_fix_dist: 0.3251, d3.loss_plan_l1_fix_time: 1.9536, d3.loss_plan_l1_fix_dist: 0.3385, d4.loss_plan_l1_fix_time: 1.9585, d4.loss_plan_l1_fix_dist: 0.3534, d5.loss_plan_l1_fix_time: 1.9643, d5.loss_plan_l1_fix_dist: 0.3679, d6.loss_plan_l1_fix_time: 1.9717, d6.loss_plan_l1_fix_dist: 0.3820, d0.loss_cls_all: 0.4273, d0.loss_bbox_all: 0.6141, d0.loss_cls: 0.4273, d0.loss_bbox: 0.6141, d1.loss_cls: 0.4167, d1.loss_bbox: 0.5886, d2.loss_cls: 0.4125, d2.loss_bbox: 0.5792, d3.loss_cls: 0.4127, d3.loss_bbox: 0.5742, d4.loss_cls: 0.4162, d4.loss_bbox: 0.5723, d5.loss_cls: 0.4180, d5.loss_bbox: 0.5739, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2854, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2349, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2041, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.2020, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1996, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2040, d0.loss_map_cls_all: 0.3467, d0.loss_map_pts_all: 2.3945, d0.loss_map_dir_all: 0.0213, d0.loss_map_cls: 0.3467, d0.loss_map_pts: 2.3945, d0.loss_map_dir: 0.0213, d1.loss_map_cls: 0.3294, d1.loss_map_pts: 1.6906, d1.loss_map_dir: 0.0218, d2.loss_map_cls: 0.3162, d2.loss_map_pts: 1.5467, d2.loss_map_dir: 0.0224, d3.loss_map_cls: 0.3074, d3.loss_map_pts: 1.4972, d3.loss_map_dir: 0.0229, d4.loss_map_cls: 0.3051, d4.loss_map_pts: 1.4796, d4.loss_map_dir: 0.0233, d5.loss_map_cls: 0.3034, d5.loss_map_pts: 1.4755, d5.loss_map_dir: 0.0234, loss: 50.2094, grad_norm: 145.6026 +2026-02-24 22:04:47,409 - DriveTransformer - INFO - Epoch [3][10250/39528] lr: 9.831e-05, eta: 7 days, 22:36:06, time: 0.832, data_time: 0.039, memory: 19865, loss_cls: 0.4148, loss_bbox: 0.5535, loss_traj: 0.9871, loss_traj_cls: 0.0007, loss_map_cls: 0.3286, loss_map_pts: 1.4652, loss_map_dir: 0.0246, d0.loss_plan_l1_fix_time: 2.9184, d0.loss_plan_l1_fix_dist: 0.4187, d1.loss_plan_l1_fix_time: 1.9301, d1.loss_plan_l1_fix_dist: 0.3035, d2.loss_plan_l1_fix_time: 1.9040, d2.loss_plan_l1_fix_dist: 0.3154, d3.loss_plan_l1_fix_time: 1.9033, d3.loss_plan_l1_fix_dist: 0.3327, d4.loss_plan_l1_fix_time: 1.9071, d4.loss_plan_l1_fix_dist: 0.3528, d5.loss_plan_l1_fix_time: 1.9127, d5.loss_plan_l1_fix_dist: 0.3737, d6.loss_plan_l1_fix_time: 1.9202, d6.loss_plan_l1_fix_dist: 0.3999, d0.loss_cls_all: 0.4158, d0.loss_bbox_all: 0.5784, d0.loss_cls: 0.4158, d0.loss_bbox: 0.5784, d1.loss_cls: 0.4142, d1.loss_bbox: 0.5550, d2.loss_cls: 0.4093, d2.loss_bbox: 0.5487, d3.loss_cls: 0.4076, d3.loss_bbox: 0.5488, d4.loss_cls: 0.4104, d4.loss_bbox: 0.5513, d5.loss_cls: 0.4125, d5.loss_bbox: 0.5519, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1686, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9922, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9767, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9869, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.9832, d5.loss_traj_cls: 0.0008, d5.loss_traj: 0.9839, d0.loss_map_cls_all: 0.3674, d0.loss_map_pts_all: 2.3731, d0.loss_map_dir_all: 0.0230, d0.loss_map_cls: 0.3674, d0.loss_map_pts: 2.3731, d0.loss_map_dir: 0.0230, d1.loss_map_cls: 0.3510, d1.loss_map_pts: 1.6876, d1.loss_map_dir: 0.0230, d2.loss_map_cls: 0.3398, d2.loss_map_pts: 1.5361, d2.loss_map_dir: 0.0236, d3.loss_map_cls: 0.3324, d3.loss_map_pts: 1.4869, d3.loss_map_dir: 0.0240, d4.loss_map_cls: 0.3281, d4.loss_map_pts: 1.4732, d4.loss_map_dir: 0.0243, d5.loss_map_cls: 0.3277, d5.loss_map_pts: 1.4689, d5.loss_map_dir: 0.0245, loss: 48.5404, grad_norm: 144.9811 +2026-02-24 22:05:25,921 - DriveTransformer - INFO - Epoch [3][10300/39528] lr: 9.831e-05, eta: 7 days, 22:35:13, time: 0.770, data_time: 0.043, memory: 19865, loss_cls: 0.4217, loss_bbox: 0.5910, loss_traj: 1.1354, loss_traj_cls: 0.0007, loss_map_cls: 0.2917, loss_map_pts: 1.3185, loss_map_dir: 0.0200, d0.loss_plan_l1_fix_time: 2.4463, d0.loss_plan_l1_fix_dist: 0.3979, d1.loss_plan_l1_fix_time: 1.7474, d1.loss_plan_l1_fix_dist: 0.3118, d2.loss_plan_l1_fix_time: 1.7434, d2.loss_plan_l1_fix_dist: 0.3340, d3.loss_plan_l1_fix_time: 1.7510, d3.loss_plan_l1_fix_dist: 0.3677, d4.loss_plan_l1_fix_time: 1.7612, d4.loss_plan_l1_fix_dist: 0.4070, d5.loss_plan_l1_fix_time: 1.7707, d5.loss_plan_l1_fix_dist: 0.4547, d6.loss_plan_l1_fix_time: 1.7808, d6.loss_plan_l1_fix_dist: 0.5115, d0.loss_cls_all: 0.4272, d0.loss_bbox_all: 0.6261, d0.loss_cls: 0.4272, d0.loss_bbox: 0.6261, d1.loss_cls: 0.4192, d1.loss_bbox: 0.6002, d2.loss_cls: 0.4212, d2.loss_bbox: 0.5888, d3.loss_cls: 0.4224, d3.loss_bbox: 0.5860, d4.loss_cls: 0.4224, d4.loss_bbox: 0.5856, d5.loss_cls: 0.4204, d5.loss_bbox: 0.5870, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3411, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1271, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1223, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1297, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1277, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1318, d0.loss_map_cls_all: 0.3450, d0.loss_map_pts_all: 2.0652, d0.loss_map_dir_all: 0.0189, d0.loss_map_cls: 0.3450, d0.loss_map_pts: 2.0652, d0.loss_map_dir: 0.0189, d1.loss_map_cls: 0.3338, d1.loss_map_pts: 1.5086, d1.loss_map_dir: 0.0187, d2.loss_map_cls: 0.3126, d2.loss_map_pts: 1.3821, d2.loss_map_dir: 0.0192, d3.loss_map_cls: 0.2971, d3.loss_map_pts: 1.3395, d3.loss_map_dir: 0.0195, d4.loss_map_cls: 0.2945, d4.loss_map_pts: 1.3221, d4.loss_map_dir: 0.0198, d5.loss_map_cls: 0.2918, d5.loss_map_pts: 1.3185, d5.loss_map_dir: 0.0199, loss: 47.0651, grad_norm: 183.6292 +2026-02-24 22:06:06,522 - DriveTransformer - INFO - Epoch [3][10350/39528] lr: 9.831e-05, eta: 7 days, 22:34:39, time: 0.812, data_time: 0.040, memory: 19865, loss_cls: 0.3707, loss_bbox: 0.5493, loss_traj: 1.0512, loss_traj_cls: 0.0007, loss_map_cls: 0.2478, loss_map_pts: 1.2054, loss_map_dir: 0.0199, d0.loss_plan_l1_fix_time: 2.8627, d0.loss_plan_l1_fix_dist: 0.5337, d1.loss_plan_l1_fix_time: 2.0200, d1.loss_plan_l1_fix_dist: 0.3004, d2.loss_plan_l1_fix_time: 2.0040, d2.loss_plan_l1_fix_dist: 0.3129, d3.loss_plan_l1_fix_time: 2.0044, d3.loss_plan_l1_fix_dist: 0.3302, d4.loss_plan_l1_fix_time: 2.0098, d4.loss_plan_l1_fix_dist: 0.3511, d5.loss_plan_l1_fix_time: 2.0165, d5.loss_plan_l1_fix_dist: 0.3778, d6.loss_plan_l1_fix_time: 2.0245, d6.loss_plan_l1_fix_dist: 0.4140, d0.loss_cls_all: 0.3782, d0.loss_bbox_all: 0.5613, d0.loss_cls: 0.3782, d0.loss_bbox: 0.5613, d1.loss_cls: 0.3707, d1.loss_bbox: 0.5446, d2.loss_cls: 0.3674, d2.loss_bbox: 0.5385, d3.loss_cls: 0.3679, d3.loss_bbox: 0.5392, d4.loss_cls: 0.3703, d4.loss_bbox: 0.5411, d5.loss_cls: 0.3701, d5.loss_bbox: 0.5422, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1152, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0667, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0403, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0417, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0434, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.0435, d0.loss_map_cls_all: 0.2940, d0.loss_map_pts_all: 1.9931, d0.loss_map_dir_all: 0.0190, d0.loss_map_cls: 0.2940, d0.loss_map_pts: 1.9931, d0.loss_map_dir: 0.0190, d1.loss_map_cls: 0.2797, d1.loss_map_pts: 1.3737, d1.loss_map_dir: 0.0185, d2.loss_map_cls: 0.2600, d2.loss_map_pts: 1.2573, d2.loss_map_dir: 0.0189, d3.loss_map_cls: 0.2528, d3.loss_map_pts: 1.2114, d3.loss_map_dir: 0.0194, d4.loss_map_cls: 0.2485, d4.loss_map_pts: 1.2031, d4.loss_map_dir: 0.0197, d5.loss_map_cls: 0.2481, d5.loss_map_pts: 1.2006, d5.loss_map_dir: 0.0198, loss: 46.0382, grad_norm: 184.6858 +2026-02-24 22:06:47,954 - DriveTransformer - INFO - Epoch [3][10400/39528] lr: 9.831e-05, eta: 7 days, 22:34:14, time: 0.829, data_time: 0.040, memory: 19865, loss_cls: 0.3937, loss_bbox: 0.5340, loss_traj: 0.9792, loss_traj_cls: 0.0007, loss_map_cls: 0.2767, loss_map_pts: 1.3888, loss_map_dir: 0.0234, d0.loss_plan_l1_fix_time: 2.4802, d0.loss_plan_l1_fix_dist: 0.4994, d1.loss_plan_l1_fix_time: 1.8533, d1.loss_plan_l1_fix_dist: 0.3421, d2.loss_plan_l1_fix_time: 1.8350, d2.loss_plan_l1_fix_dist: 0.3608, d3.loss_plan_l1_fix_time: 1.8338, d3.loss_plan_l1_fix_dist: 0.3776, d4.loss_plan_l1_fix_time: 1.8376, d4.loss_plan_l1_fix_dist: 0.3929, d5.loss_plan_l1_fix_time: 1.8432, d5.loss_plan_l1_fix_dist: 0.4073, d6.loss_plan_l1_fix_time: 1.8493, d6.loss_plan_l1_fix_dist: 0.4195, d0.loss_cls_all: 0.3987, d0.loss_bbox_all: 0.5665, d0.loss_cls: 0.3987, d0.loss_bbox: 0.5665, d1.loss_cls: 0.3976, d1.loss_bbox: 0.5433, d2.loss_cls: 0.3927, d2.loss_bbox: 0.5346, d3.loss_cls: 0.3908, d3.loss_bbox: 0.5319, d4.loss_cls: 0.3902, d4.loss_bbox: 0.5304, d5.loss_cls: 0.3923, d5.loss_bbox: 0.5320, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2005, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0285, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9917, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9936, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.9853, d5.loss_traj_cls: 0.0008, d5.loss_traj: 0.9791, d0.loss_map_cls_all: 0.3220, d0.loss_map_pts_all: 2.2805, d0.loss_map_dir_all: 0.0223, d0.loss_map_cls: 0.3220, d0.loss_map_pts: 2.2805, d0.loss_map_dir: 0.0223, d1.loss_map_cls: 0.3023, d1.loss_map_pts: 1.5891, d1.loss_map_dir: 0.0222, d2.loss_map_cls: 0.2863, d2.loss_map_pts: 1.4546, d2.loss_map_dir: 0.0226, d3.loss_map_cls: 0.2792, d3.loss_map_pts: 1.4042, d3.loss_map_dir: 0.0230, d4.loss_map_cls: 0.2762, d4.loss_map_pts: 1.3894, d4.loss_map_dir: 0.0233, d5.loss_map_cls: 0.2756, d5.loss_map_pts: 1.3853, d5.loss_map_dir: 0.0234, loss: 46.6853, grad_norm: 185.2605 +2026-02-24 22:07:29,611 - DriveTransformer - INFO - Epoch [3][10450/39528] lr: 9.831e-05, eta: 7 days, 22:33:50, time: 0.833, data_time: 0.041, memory: 19865, loss_cls: 0.4151, loss_bbox: 0.5798, loss_traj: 0.9444, loss_traj_cls: 0.0008, loss_map_cls: 0.3151, loss_map_pts: 1.4568, loss_map_dir: 0.0296, d0.loss_plan_l1_fix_time: 2.9320, d0.loss_plan_l1_fix_dist: 0.4564, d1.loss_plan_l1_fix_time: 1.8901, d1.loss_plan_l1_fix_dist: 0.3445, d2.loss_plan_l1_fix_time: 1.8671, d2.loss_plan_l1_fix_dist: 0.3557, d3.loss_plan_l1_fix_time: 1.8691, d3.loss_plan_l1_fix_dist: 0.3716, d4.loss_plan_l1_fix_time: 1.8747, d4.loss_plan_l1_fix_dist: 0.3923, d5.loss_plan_l1_fix_time: 1.8807, d5.loss_plan_l1_fix_dist: 0.4125, d6.loss_plan_l1_fix_time: 1.8874, d6.loss_plan_l1_fix_dist: 0.4345, d0.loss_cls_all: 0.4316, d0.loss_bbox_all: 0.5993, d0.loss_cls: 0.4316, d0.loss_bbox: 0.5993, d1.loss_cls: 0.4216, d1.loss_bbox: 0.5843, d2.loss_cls: 0.4175, d2.loss_bbox: 0.5761, d3.loss_cls: 0.4170, d3.loss_bbox: 0.5738, d4.loss_cls: 0.4167, d4.loss_bbox: 0.5726, d5.loss_cls: 0.4180, d5.loss_bbox: 0.5757, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0914, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9667, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9317, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9368, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.9386, d5.loss_traj_cls: 0.0008, d5.loss_traj: 0.9377, d0.loss_map_cls_all: 0.3543, d0.loss_map_pts_all: 2.6042, d0.loss_map_dir_all: 0.0282, d0.loss_map_cls: 0.3543, d0.loss_map_pts: 2.6042, d0.loss_map_dir: 0.0282, d1.loss_map_cls: 0.3369, d1.loss_map_pts: 1.6800, d1.loss_map_dir: 0.0281, d2.loss_map_cls: 0.3248, d2.loss_map_pts: 1.5327, d2.loss_map_dir: 0.0285, d3.loss_map_cls: 0.3198, d3.loss_map_pts: 1.4802, d3.loss_map_dir: 0.0290, d4.loss_map_cls: 0.3152, d4.loss_map_pts: 1.4572, d4.loss_map_dir: 0.0294, d5.loss_map_cls: 0.3146, d5.loss_map_pts: 1.4558, d5.loss_map_dir: 0.0295, loss: 48.8886, grad_norm: 183.4713 +2026-02-24 22:08:08,887 - DriveTransformer - INFO - Epoch [3][10500/39528] lr: 9.831e-05, eta: 7 days, 22:33:04, time: 0.785, data_time: 0.044, memory: 19865, loss_cls: 0.3811, loss_bbox: 0.5528, loss_traj: 1.3092, loss_traj_cls: 0.0008, loss_map_cls: 0.3113, loss_map_pts: 1.2779, loss_map_dir: 0.0207, d0.loss_plan_l1_fix_time: 2.5960, d0.loss_plan_l1_fix_dist: 0.4799, d1.loss_plan_l1_fix_time: 1.9323, d1.loss_plan_l1_fix_dist: 0.3026, d2.loss_plan_l1_fix_time: 1.8983, d2.loss_plan_l1_fix_dist: 0.3069, d3.loss_plan_l1_fix_time: 1.8945, d3.loss_plan_l1_fix_dist: 0.3186, d4.loss_plan_l1_fix_time: 1.8967, d4.loss_plan_l1_fix_dist: 0.3339, d5.loss_plan_l1_fix_time: 1.9001, d5.loss_plan_l1_fix_dist: 0.3522, d6.loss_plan_l1_fix_time: 1.9044, d6.loss_plan_l1_fix_dist: 0.3767, d0.loss_cls_all: 0.3852, d0.loss_bbox_all: 0.5906, d0.loss_cls: 0.3852, d0.loss_bbox: 0.5906, d1.loss_cls: 0.3790, d1.loss_bbox: 0.5646, d2.loss_cls: 0.3787, d2.loss_bbox: 0.5514, d3.loss_cls: 0.3797, d3.loss_bbox: 0.5476, d4.loss_cls: 0.3792, d4.loss_bbox: 0.5462, d5.loss_cls: 0.3818, d5.loss_bbox: 0.5472, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4275, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.3168, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3032, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.3118, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.3031, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.3089, d0.loss_map_cls_all: 0.3327, d0.loss_map_pts_all: 2.0093, d0.loss_map_dir_all: 0.0192, d0.loss_map_cls: 0.3327, d0.loss_map_pts: 2.0093, d0.loss_map_dir: 0.0192, d1.loss_map_cls: 0.3247, d1.loss_map_pts: 1.4693, d1.loss_map_dir: 0.0194, d2.loss_map_cls: 0.3114, d2.loss_map_pts: 1.3398, d2.loss_map_dir: 0.0198, d3.loss_map_cls: 0.3062, d3.loss_map_pts: 1.2996, d3.loss_map_dir: 0.0201, d4.loss_map_cls: 0.3072, d4.loss_map_pts: 1.2820, d4.loss_map_dir: 0.0204, d5.loss_map_cls: 0.3092, d5.loss_map_pts: 1.2768, d5.loss_map_dir: 0.0205, loss: 47.9803, grad_norm: 183.9172 +2026-02-24 22:08:47,698 - DriveTransformer - INFO - Epoch [3][10550/39528] lr: 9.831e-05, eta: 7 days, 22:32:14, time: 0.776, data_time: 0.040, memory: 19865, loss_cls: 0.3926, loss_bbox: 0.5502, loss_traj: 0.9656, loss_traj_cls: 0.0008, loss_map_cls: 0.2765, loss_map_pts: 1.2880, loss_map_dir: 0.0227, d0.loss_plan_l1_fix_time: 2.4450, d0.loss_plan_l1_fix_dist: 0.3981, d1.loss_plan_l1_fix_time: 1.8613, d1.loss_plan_l1_fix_dist: 0.2636, d2.loss_plan_l1_fix_time: 1.8353, d2.loss_plan_l1_fix_dist: 0.2825, d3.loss_plan_l1_fix_time: 1.8388, d3.loss_plan_l1_fix_dist: 0.3060, d4.loss_plan_l1_fix_time: 1.8436, d4.loss_plan_l1_fix_dist: 0.3336, d5.loss_plan_l1_fix_time: 1.8493, d5.loss_plan_l1_fix_dist: 0.3668, d6.loss_plan_l1_fix_time: 1.8553, d6.loss_plan_l1_fix_dist: 0.4071, d0.loss_cls_all: 0.4070, d0.loss_bbox_all: 0.5870, d0.loss_cls: 0.4070, d0.loss_bbox: 0.5870, d1.loss_cls: 0.4002, d1.loss_bbox: 0.5602, d2.loss_cls: 0.3974, d2.loss_bbox: 0.5474, d3.loss_cls: 0.3958, d3.loss_bbox: 0.5457, d4.loss_cls: 0.3949, d4.loss_bbox: 0.5434, d5.loss_cls: 0.3934, d5.loss_bbox: 0.5474, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2415, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0105, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9688, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9678, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.9547, d5.loss_traj_cls: 0.0009, d5.loss_traj: 0.9692, d0.loss_map_cls_all: 0.3263, d0.loss_map_pts_all: 1.9910, d0.loss_map_dir_all: 0.0213, d0.loss_map_cls: 0.3263, d0.loss_map_pts: 1.9910, d0.loss_map_dir: 0.0213, d1.loss_map_cls: 0.3130, d1.loss_map_pts: 1.4518, d1.loss_map_dir: 0.0215, d2.loss_map_cls: 0.2960, d2.loss_map_pts: 1.3345, d2.loss_map_dir: 0.0219, d3.loss_map_cls: 0.2795, d3.loss_map_pts: 1.3047, d3.loss_map_dir: 0.0222, d4.loss_map_cls: 0.2774, d4.loss_map_pts: 1.2893, d4.loss_map_dir: 0.0225, d5.loss_map_cls: 0.2749, d5.loss_map_pts: 1.2859, d5.loss_map_dir: 0.0226, loss: 45.1094, grad_norm: 186.4360 +2026-02-24 22:09:28,633 - DriveTransformer - INFO - Epoch [3][10600/39528] lr: 9.831e-05, eta: 7 days, 22:31:43, time: 0.819, data_time: 0.045, memory: 19865, loss_cls: 0.3849, loss_bbox: 0.5366, loss_traj: 1.1961, loss_traj_cls: 0.0009, loss_map_cls: 0.2674, loss_map_pts: 1.1754, loss_map_dir: 0.0224, d0.loss_plan_l1_fix_time: 3.0281, d0.loss_plan_l1_fix_dist: 0.4360, d1.loss_plan_l1_fix_time: 2.1905, d1.loss_plan_l1_fix_dist: 0.3010, d2.loss_plan_l1_fix_time: 2.1618, d2.loss_plan_l1_fix_dist: 0.3103, d3.loss_plan_l1_fix_time: 2.1635, d3.loss_plan_l1_fix_dist: 0.3237, d4.loss_plan_l1_fix_time: 2.1689, d4.loss_plan_l1_fix_dist: 0.3387, d5.loss_plan_l1_fix_time: 2.1751, d5.loss_plan_l1_fix_dist: 0.3540, d6.loss_plan_l1_fix_time: 2.1826, d6.loss_plan_l1_fix_dist: 0.3681, d0.loss_cls_all: 0.3995, d0.loss_bbox_all: 0.5833, d0.loss_cls: 0.3995, d0.loss_bbox: 0.5833, d1.loss_cls: 0.3992, d1.loss_bbox: 0.5570, d2.loss_cls: 0.3889, d2.loss_bbox: 0.5433, d3.loss_cls: 0.3872, d3.loss_bbox: 0.5393, d4.loss_cls: 0.3851, d4.loss_bbox: 0.5368, d5.loss_cls: 0.3858, d5.loss_bbox: 0.5360, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3768, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2297, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2030, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1960, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1962, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1927, d0.loss_map_cls_all: 0.3128, d0.loss_map_pts_all: 1.9517, d0.loss_map_dir_all: 0.0208, d0.loss_map_cls: 0.3128, d0.loss_map_pts: 1.9517, d0.loss_map_dir: 0.0208, d1.loss_map_cls: 0.2931, d1.loss_map_pts: 1.3652, d1.loss_map_dir: 0.0210, d2.loss_map_cls: 0.2781, d2.loss_map_pts: 1.2389, d2.loss_map_dir: 0.0215, d3.loss_map_cls: 0.2731, d3.loss_map_pts: 1.1952, d3.loss_map_dir: 0.0219, d4.loss_map_cls: 0.2682, d4.loss_map_pts: 1.1819, d4.loss_map_dir: 0.0221, d5.loss_map_cls: 0.2667, d5.loss_map_pts: 1.1758, d5.loss_map_dir: 0.0223, loss: 48.3258, grad_norm: 185.5004 +2026-02-24 22:10:07,408 - DriveTransformer - INFO - Epoch [3][10650/39528] lr: 9.831e-05, eta: 7 days, 22:30:53, time: 0.775, data_time: 0.037, memory: 19865, loss_cls: 0.4071, loss_bbox: 0.5773, loss_traj: 1.0715, loss_traj_cls: 0.0008, loss_map_cls: 0.3142, loss_map_pts: 1.2852, loss_map_dir: 0.0205, d0.loss_plan_l1_fix_time: 2.3807, d0.loss_plan_l1_fix_dist: 0.4601, d1.loss_plan_l1_fix_time: 1.6285, d1.loss_plan_l1_fix_dist: 0.2845, d2.loss_plan_l1_fix_time: 1.6041, d2.loss_plan_l1_fix_dist: 0.2949, d3.loss_plan_l1_fix_time: 1.6021, d3.loss_plan_l1_fix_dist: 0.3095, d4.loss_plan_l1_fix_time: 1.6055, d4.loss_plan_l1_fix_dist: 0.3259, d5.loss_plan_l1_fix_time: 1.6103, d5.loss_plan_l1_fix_dist: 0.3421, d6.loss_plan_l1_fix_time: 1.6166, d6.loss_plan_l1_fix_dist: 0.3570, d0.loss_cls_all: 0.4196, d0.loss_bbox_all: 0.6171, d0.loss_cls: 0.4196, d0.loss_bbox: 0.6171, d1.loss_cls: 0.4109, d1.loss_bbox: 0.5887, d2.loss_cls: 0.4069, d2.loss_bbox: 0.5768, d3.loss_cls: 0.4082, d3.loss_bbox: 0.5721, d4.loss_cls: 0.4065, d4.loss_bbox: 0.5727, d5.loss_cls: 0.4079, d5.loss_bbox: 0.5719, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2040, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1114, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0781, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0775, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0790, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0756, d0.loss_map_cls_all: 0.3620, d0.loss_map_pts_all: 2.0454, d0.loss_map_dir_all: 0.0197, d0.loss_map_cls: 0.3620, d0.loss_map_pts: 2.0454, d0.loss_map_dir: 0.0197, d1.loss_map_cls: 0.3426, d1.loss_map_pts: 1.4725, d1.loss_map_dir: 0.0196, d2.loss_map_cls: 0.3284, d2.loss_map_pts: 1.3547, d2.loss_map_dir: 0.0199, d3.loss_map_cls: 0.3157, d3.loss_map_pts: 1.3132, d3.loss_map_dir: 0.0202, d4.loss_map_cls: 0.3142, d4.loss_map_pts: 1.2946, d4.loss_map_dir: 0.0204, d5.loss_map_cls: 0.3148, d5.loss_map_pts: 1.2862, d5.loss_map_dir: 0.0205, loss: 45.0179, grad_norm: 185.6090 +2026-02-24 22:10:48,465 - DriveTransformer - INFO - Epoch [3][10700/39528] lr: 9.831e-05, eta: 7 days, 22:30:23, time: 0.821, data_time: 0.041, memory: 19865, loss_cls: 0.4028, loss_bbox: 0.5552, loss_traj: 1.1576, loss_traj_cls: 0.0008, loss_map_cls: 0.3164, loss_map_pts: 1.3838, loss_map_dir: 0.0253, d0.loss_plan_l1_fix_time: 2.9079, d0.loss_plan_l1_fix_dist: 0.4217, d1.loss_plan_l1_fix_time: 1.9599, d1.loss_plan_l1_fix_dist: 0.2798, d2.loss_plan_l1_fix_time: 1.9275, d2.loss_plan_l1_fix_dist: 0.2864, d3.loss_plan_l1_fix_time: 1.9268, d3.loss_plan_l1_fix_dist: 0.3006, d4.loss_plan_l1_fix_time: 1.9322, d4.loss_plan_l1_fix_dist: 0.3168, d5.loss_plan_l1_fix_time: 1.9394, d5.loss_plan_l1_fix_dist: 0.3363, d6.loss_plan_l1_fix_time: 1.9476, d6.loss_plan_l1_fix_dist: 0.3632, d0.loss_cls_all: 0.4165, d0.loss_bbox_all: 0.6016, d0.loss_cls: 0.4165, d0.loss_bbox: 0.6016, d1.loss_cls: 0.4148, d1.loss_bbox: 0.5752, d2.loss_cls: 0.4099, d2.loss_bbox: 0.5631, d3.loss_cls: 0.4090, d3.loss_bbox: 0.5562, d4.loss_cls: 0.4063, d4.loss_bbox: 0.5561, d5.loss_cls: 0.4049, d5.loss_bbox: 0.5561, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3900, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1676, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1418, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1404, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1480, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1512, d0.loss_map_cls_all: 0.3628, d0.loss_map_pts_all: 2.3297, d0.loss_map_dir_all: 0.0235, d0.loss_map_cls: 0.3628, d0.loss_map_pts: 2.3297, d0.loss_map_dir: 0.0235, d1.loss_map_cls: 0.3395, d1.loss_map_pts: 1.6004, d1.loss_map_dir: 0.0234, d2.loss_map_cls: 0.3266, d2.loss_map_pts: 1.4626, d2.loss_map_dir: 0.0240, d3.loss_map_cls: 0.3179, d3.loss_map_pts: 1.4068, d3.loss_map_dir: 0.0246, d4.loss_map_cls: 0.3151, d4.loss_map_pts: 1.3901, d4.loss_map_dir: 0.0250, d5.loss_map_cls: 0.3160, d5.loss_map_pts: 1.3837, d5.loss_map_dir: 0.0252, loss: 49.1334, grad_norm: 186.0317 +2026-02-24 22:11:27,295 - DriveTransformer - INFO - Epoch [3][10750/39528] lr: 9.831e-05, eta: 7 days, 22:29:33, time: 0.777, data_time: 0.037, memory: 19865, loss_cls: 0.3908, loss_bbox: 0.5472, loss_traj: 1.0279, loss_traj_cls: 0.0008, loss_map_cls: 0.2877, loss_map_pts: 1.2390, loss_map_dir: 0.0229, d0.loss_plan_l1_fix_time: 2.3129, d0.loss_plan_l1_fix_dist: 0.4577, d1.loss_plan_l1_fix_time: 1.6832, d1.loss_plan_l1_fix_dist: 0.2663, d2.loss_plan_l1_fix_time: 1.6565, d2.loss_plan_l1_fix_dist: 0.2717, d3.loss_plan_l1_fix_time: 1.6575, d3.loss_plan_l1_fix_dist: 0.2853, d4.loss_plan_l1_fix_time: 1.6631, d4.loss_plan_l1_fix_dist: 0.3029, d5.loss_plan_l1_fix_time: 1.6701, d5.loss_plan_l1_fix_dist: 0.3249, d6.loss_plan_l1_fix_time: 1.6782, d6.loss_plan_l1_fix_dist: 0.3507, d0.loss_cls_all: 0.4001, d0.loss_bbox_all: 0.5805, d0.loss_cls: 0.4001, d0.loss_bbox: 0.5805, d1.loss_cls: 0.3913, d1.loss_bbox: 0.5617, d2.loss_cls: 0.3876, d2.loss_bbox: 0.5503, d3.loss_cls: 0.3842, d3.loss_bbox: 0.5479, d4.loss_cls: 0.3857, d4.loss_bbox: 0.5439, d5.loss_cls: 0.3900, d5.loss_bbox: 0.5459, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2387, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1100, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0562, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0411, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0245, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.0291, d0.loss_map_cls_all: 0.3419, d0.loss_map_pts_all: 2.0819, d0.loss_map_dir_all: 0.0218, d0.loss_map_cls: 0.3419, d0.loss_map_pts: 2.0819, d0.loss_map_dir: 0.0218, d1.loss_map_cls: 0.3229, d1.loss_map_pts: 1.4158, d1.loss_map_dir: 0.0219, d2.loss_map_cls: 0.3076, d2.loss_map_pts: 1.2959, d2.loss_map_dir: 0.0221, d3.loss_map_cls: 0.2935, d3.loss_map_pts: 1.2544, d3.loss_map_dir: 0.0225, d4.loss_map_cls: 0.2883, d4.loss_map_pts: 1.2416, d4.loss_map_dir: 0.0228, d5.loss_map_cls: 0.2866, d5.loss_map_pts: 1.2386, d5.loss_map_dir: 0.0228, loss: 44.2005, grad_norm: 185.4513 +2026-02-24 22:12:07,239 - DriveTransformer - INFO - Epoch [3][10800/39528] lr: 9.831e-05, eta: 7 days, 22:28:54, time: 0.800, data_time: 0.041, memory: 19865, loss_cls: 0.4043, loss_bbox: 0.5630, loss_traj: 1.1844, loss_traj_cls: 0.0007, loss_map_cls: 0.3247, loss_map_pts: 1.4201, loss_map_dir: 0.0244, d0.loss_plan_l1_fix_time: 2.6330, d0.loss_plan_l1_fix_dist: 0.4160, d1.loss_plan_l1_fix_time: 1.9656, d1.loss_plan_l1_fix_dist: 0.3185, d2.loss_plan_l1_fix_time: 1.9578, d2.loss_plan_l1_fix_dist: 0.3288, d3.loss_plan_l1_fix_time: 1.9613, d3.loss_plan_l1_fix_dist: 0.3454, d4.loss_plan_l1_fix_time: 1.9656, d4.loss_plan_l1_fix_dist: 0.3665, d5.loss_plan_l1_fix_time: 1.9701, d5.loss_plan_l1_fix_dist: 0.3911, d6.loss_plan_l1_fix_time: 1.9747, d6.loss_plan_l1_fix_dist: 0.4187, d0.loss_cls_all: 0.4192, d0.loss_bbox_all: 0.5946, d0.loss_cls: 0.4192, d0.loss_bbox: 0.5946, d1.loss_cls: 0.4113, d1.loss_bbox: 0.5723, d2.loss_cls: 0.4085, d2.loss_bbox: 0.5640, d3.loss_cls: 0.4058, d3.loss_bbox: 0.5587, d4.loss_cls: 0.4041, d4.loss_bbox: 0.5576, d5.loss_cls: 0.4026, d5.loss_bbox: 0.5616, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3750, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1832, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1630, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1570, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1534, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1670, d0.loss_map_cls_all: 0.3780, d0.loss_map_pts_all: 2.3027, d0.loss_map_dir_all: 0.0228, d0.loss_map_cls: 0.3780, d0.loss_map_pts: 2.3027, d0.loss_map_dir: 0.0228, d1.loss_map_cls: 0.3512, d1.loss_map_pts: 1.6120, d1.loss_map_dir: 0.0227, d2.loss_map_cls: 0.3371, d2.loss_map_pts: 1.4783, d2.loss_map_dir: 0.0233, d3.loss_map_cls: 0.3255, d3.loss_map_pts: 1.4341, d3.loss_map_dir: 0.0239, d4.loss_map_cls: 0.3230, d4.loss_map_pts: 1.4214, d4.loss_map_dir: 0.0242, d5.loss_map_cls: 0.3231, d5.loss_map_pts: 1.4213, d5.loss_map_dir: 0.0244, loss: 49.5652, grad_norm: 185.1001 +2026-02-24 22:12:47,841 - DriveTransformer - INFO - Epoch [3][10850/39528] lr: 9.831e-05, eta: 7 days, 22:28:20, time: 0.811, data_time: 0.038, memory: 19865, loss_cls: 0.3733, loss_bbox: 0.4984, loss_traj: 1.1216, loss_traj_cls: 0.0008, loss_map_cls: 0.2619, loss_map_pts: 1.0899, loss_map_dir: 0.0221, d0.loss_plan_l1_fix_time: 2.5234, d0.loss_plan_l1_fix_dist: 0.4758, d1.loss_plan_l1_fix_time: 1.7385, d1.loss_plan_l1_fix_dist: 0.2827, d2.loss_plan_l1_fix_time: 1.7389, d2.loss_plan_l1_fix_dist: 0.2905, d3.loss_plan_l1_fix_time: 1.7469, d3.loss_plan_l1_fix_dist: 0.3051, d4.loss_plan_l1_fix_time: 1.7537, d4.loss_plan_l1_fix_dist: 0.3220, d5.loss_plan_l1_fix_time: 1.7600, d5.loss_plan_l1_fix_dist: 0.3409, d6.loss_plan_l1_fix_time: 1.7656, d6.loss_plan_l1_fix_dist: 0.3628, d0.loss_cls_all: 0.3833, d0.loss_bbox_all: 0.5250, d0.loss_cls: 0.3833, d0.loss_bbox: 0.5250, d1.loss_cls: 0.3804, d1.loss_bbox: 0.5032, d2.loss_cls: 0.3754, d2.loss_bbox: 0.4957, d3.loss_cls: 0.3725, d3.loss_bbox: 0.4933, d4.loss_cls: 0.3722, d4.loss_bbox: 0.4934, d5.loss_cls: 0.3728, d5.loss_bbox: 0.4954, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3026, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1369, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1152, d3.loss_traj_cls: 0.0014, d3.loss_traj: 1.1104, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1076, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1095, d0.loss_map_cls_all: 0.3092, d0.loss_map_pts_all: 1.9452, d0.loss_map_dir_all: 0.0208, d0.loss_map_cls: 0.3092, d0.loss_map_pts: 1.9452, d0.loss_map_dir: 0.0208, d1.loss_map_cls: 0.2842, d1.loss_map_pts: 1.2749, d1.loss_map_dir: 0.0206, d2.loss_map_cls: 0.2743, d2.loss_map_pts: 1.1493, d2.loss_map_dir: 0.0211, d3.loss_map_cls: 0.2666, d3.loss_map_pts: 1.1095, d3.loss_map_dir: 0.0215, d4.loss_map_cls: 0.2619, d4.loss_map_pts: 1.0959, d4.loss_map_dir: 0.0219, d5.loss_map_cls: 0.2613, d5.loss_map_pts: 1.0929, d5.loss_map_dir: 0.0219, loss: 43.5623, grad_norm: 185.3102 +2026-02-24 22:13:27,308 - DriveTransformer - INFO - Epoch [3][10900/39528] lr: 9.831e-05, eta: 7 days, 22:27:36, time: 0.789, data_time: 0.040, memory: 19865, loss_cls: 0.3971, loss_bbox: 0.5332, loss_traj: 1.0226, loss_traj_cls: 0.0008, loss_map_cls: 0.2709, loss_map_pts: 1.1500, loss_map_dir: 0.0230, d0.loss_plan_l1_fix_time: 2.4089, d0.loss_plan_l1_fix_dist: 0.4667, d1.loss_plan_l1_fix_time: 1.6724, d1.loss_plan_l1_fix_dist: 0.3034, d2.loss_plan_l1_fix_time: 1.6499, d2.loss_plan_l1_fix_dist: 0.3159, d3.loss_plan_l1_fix_time: 1.6499, d3.loss_plan_l1_fix_dist: 0.3309, d4.loss_plan_l1_fix_time: 1.6540, d4.loss_plan_l1_fix_dist: 0.3447, d5.loss_plan_l1_fix_time: 1.6589, d5.loss_plan_l1_fix_dist: 0.3561, d6.loss_plan_l1_fix_time: 1.6644, d6.loss_plan_l1_fix_dist: 0.3640, d0.loss_cls_all: 0.4089, d0.loss_bbox_all: 0.5607, d0.loss_cls: 0.4089, d0.loss_bbox: 0.5607, d1.loss_cls: 0.4006, d1.loss_bbox: 0.5393, d2.loss_cls: 0.3963, d2.loss_bbox: 0.5282, d3.loss_cls: 0.3941, d3.loss_bbox: 0.5286, d4.loss_cls: 0.3943, d4.loss_bbox: 0.5278, d5.loss_cls: 0.3939, d5.loss_bbox: 0.5300, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1956, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0423, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0116, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0201, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0133, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0170, d0.loss_map_cls_all: 0.3279, d0.loss_map_pts_all: 2.0619, d0.loss_map_dir_all: 0.0219, d0.loss_map_cls: 0.3279, d0.loss_map_pts: 2.0619, d0.loss_map_dir: 0.0219, d1.loss_map_cls: 0.3030, d1.loss_map_pts: 1.3527, d1.loss_map_dir: 0.0214, d2.loss_map_cls: 0.2858, d2.loss_map_pts: 1.2127, d2.loss_map_dir: 0.0219, d3.loss_map_cls: 0.2768, d3.loss_map_pts: 1.1663, d3.loss_map_dir: 0.0224, d4.loss_map_cls: 0.2727, d4.loss_map_pts: 1.1522, d4.loss_map_dir: 0.0226, d5.loss_map_cls: 0.2713, d5.loss_map_pts: 1.1505, d5.loss_map_dir: 0.0227, loss: 43.4939, grad_norm: 185.0607 +2026-02-24 22:14:08,847 - DriveTransformer - INFO - Epoch [3][10950/39528] lr: 9.831e-05, eta: 7 days, 22:27:11, time: 0.831, data_time: 0.043, memory: 19865, loss_cls: 0.4104, loss_bbox: 0.5588, loss_traj: 1.1758, loss_traj_cls: 0.0009, loss_map_cls: 0.3152, loss_map_pts: 1.2219, loss_map_dir: 0.0237, d0.loss_plan_l1_fix_time: 2.9024, d0.loss_plan_l1_fix_dist: 0.4319, d1.loss_plan_l1_fix_time: 1.8524, d1.loss_plan_l1_fix_dist: 0.3051, d2.loss_plan_l1_fix_time: 1.8236, d2.loss_plan_l1_fix_dist: 0.3129, d3.loss_plan_l1_fix_time: 1.8221, d3.loss_plan_l1_fix_dist: 0.3242, d4.loss_plan_l1_fix_time: 1.8252, d4.loss_plan_l1_fix_dist: 0.3377, d5.loss_plan_l1_fix_time: 1.8298, d5.loss_plan_l1_fix_dist: 0.3552, d6.loss_plan_l1_fix_time: 1.8362, d6.loss_plan_l1_fix_dist: 0.3747, d0.loss_cls_all: 0.4209, d0.loss_bbox_all: 0.5997, d0.loss_cls: 0.4209, d0.loss_bbox: 0.5997, d1.loss_cls: 0.4168, d1.loss_bbox: 0.5733, d2.loss_cls: 0.4118, d2.loss_bbox: 0.5619, d3.loss_cls: 0.4107, d3.loss_bbox: 0.5601, d4.loss_cls: 0.4094, d4.loss_bbox: 0.5580, d5.loss_cls: 0.4086, d5.loss_bbox: 0.5586, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2838, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1954, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1671, d3.loss_traj_cls: 0.0014, d3.loss_traj: 1.1739, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1701, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.1730, d0.loss_map_cls_all: 0.3602, d0.loss_map_pts_all: 2.0389, d0.loss_map_dir_all: 0.0220, d0.loss_map_cls: 0.3602, d0.loss_map_pts: 2.0389, d0.loss_map_dir: 0.0220, d1.loss_map_cls: 0.3375, d1.loss_map_pts: 1.3968, d1.loss_map_dir: 0.0220, d2.loss_map_cls: 0.3235, d2.loss_map_pts: 1.2715, d2.loss_map_dir: 0.0226, d3.loss_map_cls: 0.3182, d3.loss_map_pts: 1.2307, d3.loss_map_dir: 0.0232, d4.loss_map_cls: 0.3160, d4.loss_map_pts: 1.2211, d4.loss_map_dir: 0.0236, d5.loss_map_cls: 0.3158, d5.loss_map_pts: 1.2218, d5.loss_map_dir: 0.0237, loss: 47.0298, grad_norm: 184.6629 +2026-02-24 22:14:48,096 - DriveTransformer - INFO - Epoch [3][11000/39528] lr: 9.831e-05, eta: 7 days, 22:26:25, time: 0.785, data_time: 0.037, memory: 19865, loss_cls: 0.3691, loss_bbox: 0.5433, loss_traj: 1.1957, loss_traj_cls: 0.0009, loss_map_cls: 0.2951, loss_map_pts: 1.2340, loss_map_dir: 0.0227, d0.loss_plan_l1_fix_time: 2.5949, d0.loss_plan_l1_fix_dist: 0.4435, d1.loss_plan_l1_fix_time: 1.8005, d1.loss_plan_l1_fix_dist: 0.2862, d2.loss_plan_l1_fix_time: 1.7769, d2.loss_plan_l1_fix_dist: 0.2925, d3.loss_plan_l1_fix_time: 1.7760, d3.loss_plan_l1_fix_dist: 0.3034, d4.loss_plan_l1_fix_time: 1.7799, d4.loss_plan_l1_fix_dist: 0.3183, d5.loss_plan_l1_fix_time: 1.7848, d5.loss_plan_l1_fix_dist: 0.3358, d6.loss_plan_l1_fix_time: 1.7917, d6.loss_plan_l1_fix_dist: 0.3577, d0.loss_cls_all: 0.3820, d0.loss_bbox_all: 0.5753, d0.loss_cls: 0.3820, d0.loss_bbox: 0.5753, d1.loss_cls: 0.3772, d1.loss_bbox: 0.5521, d2.loss_cls: 0.3717, d2.loss_bbox: 0.5427, d3.loss_cls: 0.3723, d3.loss_bbox: 0.5397, d4.loss_cls: 0.3685, d4.loss_bbox: 0.5415, d5.loss_cls: 0.3681, d5.loss_bbox: 0.5412, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3899, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2253, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1926, d3.loss_traj_cls: 0.0014, d3.loss_traj: 1.1938, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1911, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1928, d0.loss_map_cls_all: 0.3337, d0.loss_map_pts_all: 2.1513, d0.loss_map_dir_all: 0.0213, d0.loss_map_cls: 0.3337, d0.loss_map_pts: 2.1513, d0.loss_map_dir: 0.0213, d1.loss_map_cls: 0.3170, d1.loss_map_pts: 1.4348, d1.loss_map_dir: 0.0210, d2.loss_map_cls: 0.3046, d2.loss_map_pts: 1.3006, d2.loss_map_dir: 0.0216, d3.loss_map_cls: 0.2972, d3.loss_map_pts: 1.2494, d3.loss_map_dir: 0.0221, d4.loss_map_cls: 0.2959, d4.loss_map_pts: 1.2352, d4.loss_map_dir: 0.0224, d5.loss_map_cls: 0.2938, d5.loss_map_pts: 1.2317, d5.loss_map_dir: 0.0226, loss: 46.2663, grad_norm: 185.8542 +2026-02-24 22:15:28,481 - DriveTransformer - INFO - Epoch [3][11050/39528] lr: 9.831e-05, eta: 7 days, 22:25:49, time: 0.808, data_time: 0.042, memory: 19865, loss_cls: 0.4200, loss_bbox: 0.5881, loss_traj: 1.2806, loss_traj_cls: 0.0009, loss_map_cls: 0.2948, loss_map_pts: 1.2814, loss_map_dir: 0.0221, d0.loss_plan_l1_fix_time: 2.9823, d0.loss_plan_l1_fix_dist: 0.4226, d1.loss_plan_l1_fix_time: 2.0617, d1.loss_plan_l1_fix_dist: 0.2958, d2.loss_plan_l1_fix_time: 2.0591, d2.loss_plan_l1_fix_dist: 0.3006, d3.loss_plan_l1_fix_time: 2.0655, d3.loss_plan_l1_fix_dist: 0.3113, d4.loss_plan_l1_fix_time: 2.0707, d4.loss_plan_l1_fix_dist: 0.3237, d5.loss_plan_l1_fix_time: 2.0762, d5.loss_plan_l1_fix_dist: 0.3371, d6.loss_plan_l1_fix_time: 2.0833, d6.loss_plan_l1_fix_dist: 0.3549, d0.loss_cls_all: 0.4413, d0.loss_bbox_all: 0.6247, d0.loss_cls: 0.4413, d0.loss_bbox: 0.6247, d1.loss_cls: 0.4372, d1.loss_bbox: 0.6006, d2.loss_cls: 0.4295, d2.loss_bbox: 0.5899, d3.loss_cls: 0.4227, d3.loss_bbox: 0.5862, d4.loss_cls: 0.4205, d4.loss_bbox: 0.5860, d5.loss_cls: 0.4202, d5.loss_bbox: 0.5874, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5660, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.3186, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.2845, d3.loss_traj_cls: 0.0014, d3.loss_traj: 1.2836, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.2792, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.2763, d0.loss_map_cls_all: 0.3463, d0.loss_map_pts_all: 2.0600, d0.loss_map_dir_all: 0.0208, d0.loss_map_cls: 0.3463, d0.loss_map_pts: 2.0600, d0.loss_map_dir: 0.0208, d1.loss_map_cls: 0.3228, d1.loss_map_pts: 1.4902, d1.loss_map_dir: 0.0206, d2.loss_map_cls: 0.3070, d2.loss_map_pts: 1.3584, d2.loss_map_dir: 0.0212, d3.loss_map_cls: 0.2985, d3.loss_map_pts: 1.3070, d3.loss_map_dir: 0.0216, d4.loss_map_cls: 0.2956, d4.loss_map_pts: 1.2896, d4.loss_map_dir: 0.0219, d5.loss_map_cls: 0.2946, d5.loss_map_pts: 1.2809, d5.loss_map_dir: 0.0221, loss: 50.0655, grad_norm: 184.9520 +2026-02-24 22:16:09,716 - DriveTransformer - INFO - Epoch [3][11100/39528] lr: 9.831e-05, eta: 7 days, 22:25:22, time: 0.825, data_time: 0.039, memory: 19865, loss_cls: 0.3914, loss_bbox: 0.5539, loss_traj: 1.1096, loss_traj_cls: 0.0008, loss_map_cls: 0.3023, loss_map_pts: 1.4226, loss_map_dir: 0.0259, d0.loss_plan_l1_fix_time: 2.6425, d0.loss_plan_l1_fix_dist: 0.4706, d1.loss_plan_l1_fix_time: 2.0310, d1.loss_plan_l1_fix_dist: 0.3227, d2.loss_plan_l1_fix_time: 2.0305, d2.loss_plan_l1_fix_dist: 0.3293, d3.loss_plan_l1_fix_time: 2.0352, d3.loss_plan_l1_fix_dist: 0.3412, d4.loss_plan_l1_fix_time: 2.0406, d4.loss_plan_l1_fix_dist: 0.3553, d5.loss_plan_l1_fix_time: 2.0459, d5.loss_plan_l1_fix_dist: 0.3718, d6.loss_plan_l1_fix_time: 2.0524, d6.loss_plan_l1_fix_dist: 0.3877, d0.loss_cls_all: 0.4021, d0.loss_bbox_all: 0.5838, d0.loss_cls: 0.4021, d0.loss_bbox: 0.5838, d1.loss_cls: 0.3917, d1.loss_bbox: 0.5589, d2.loss_cls: 0.3904, d2.loss_bbox: 0.5491, d3.loss_cls: 0.3893, d3.loss_bbox: 0.5482, d4.loss_cls: 0.3919, d4.loss_bbox: 0.5476, d5.loss_cls: 0.3926, d5.loss_bbox: 0.5513, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1510, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0883, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0643, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0729, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0833, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0977, d0.loss_map_cls_all: 0.3425, d0.loss_map_pts_all: 2.3999, d0.loss_map_dir_all: 0.0239, d0.loss_map_cls: 0.3425, d0.loss_map_pts: 2.3999, d0.loss_map_dir: 0.0239, d1.loss_map_cls: 0.3306, d1.loss_map_pts: 1.6426, d1.loss_map_dir: 0.0237, d2.loss_map_cls: 0.3118, d2.loss_map_pts: 1.5072, d2.loss_map_dir: 0.0247, d3.loss_map_cls: 0.3053, d3.loss_map_pts: 1.4510, d3.loss_map_dir: 0.0251, d4.loss_map_cls: 0.3029, d4.loss_map_pts: 1.4314, d4.loss_map_dir: 0.0256, d5.loss_map_cls: 0.3007, d5.loss_map_pts: 1.4243, d5.loss_map_dir: 0.0257, loss: 49.1744, grad_norm: 184.7059 +2026-02-24 22:16:48,105 - DriveTransformer - INFO - Epoch [3][11150/39528] lr: 9.831e-05, eta: 7 days, 22:24:27, time: 0.768, data_time: 0.039, memory: 19865, loss_cls: 0.4062, loss_bbox: 0.5736, loss_traj: 1.4138, loss_traj_cls: 0.0008, loss_map_cls: 0.3146, loss_map_pts: 1.2917, loss_map_dir: 0.0204, d0.loss_plan_l1_fix_time: 3.1611, d0.loss_plan_l1_fix_dist: 0.4368, d1.loss_plan_l1_fix_time: 2.2037, d1.loss_plan_l1_fix_dist: 0.3119, d2.loss_plan_l1_fix_time: 2.1925, d2.loss_plan_l1_fix_dist: 0.3176, d3.loss_plan_l1_fix_time: 2.1928, d3.loss_plan_l1_fix_dist: 0.3267, d4.loss_plan_l1_fix_time: 2.1980, d4.loss_plan_l1_fix_dist: 0.3363, d5.loss_plan_l1_fix_time: 2.2037, d5.loss_plan_l1_fix_dist: 0.3470, d6.loss_plan_l1_fix_time: 2.2099, d6.loss_plan_l1_fix_dist: 0.3590, d0.loss_cls_all: 0.4082, d0.loss_bbox_all: 0.6050, d0.loss_cls: 0.4082, d0.loss_bbox: 0.6050, d1.loss_cls: 0.4067, d1.loss_bbox: 0.5769, d2.loss_cls: 0.4089, d2.loss_bbox: 0.5646, d3.loss_cls: 0.4138, d3.loss_bbox: 0.5640, d4.loss_cls: 0.4103, d4.loss_bbox: 0.5639, d5.loss_cls: 0.4099, d5.loss_bbox: 0.5689, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6344, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.4306, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3971, d3.loss_traj_cls: 0.0014, d3.loss_traj: 1.3971, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.3967, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.4139, d0.loss_map_cls_all: 0.3744, d0.loss_map_pts_all: 2.1510, d0.loss_map_dir_all: 0.0194, d0.loss_map_cls: 0.3744, d0.loss_map_pts: 2.1510, d0.loss_map_dir: 0.0194, d1.loss_map_cls: 0.3530, d1.loss_map_pts: 1.5261, d1.loss_map_dir: 0.0192, d2.loss_map_cls: 0.3350, d2.loss_map_pts: 1.3860, d2.loss_map_dir: 0.0196, d3.loss_map_cls: 0.3236, d3.loss_map_pts: 1.3295, d3.loss_map_dir: 0.0199, d4.loss_map_cls: 0.3164, d4.loss_map_pts: 1.3058, d4.loss_map_dir: 0.0202, d5.loss_map_cls: 0.3143, d5.loss_map_pts: 1.2928, d5.loss_map_dir: 0.0203, loss: 52.0795, grad_norm: 185.9655 +2026-02-24 22:17:30,045 - DriveTransformer - INFO - Epoch [3][11200/39528] lr: 9.831e-05, eta: 7 days, 22:24:06, time: 0.839, data_time: 0.044, memory: 19865, loss_cls: 0.3966, loss_bbox: 0.5446, loss_traj: 0.9461, loss_traj_cls: 0.0008, loss_map_cls: 0.2767, loss_map_pts: 1.3523, loss_map_dir: 0.0218, d0.loss_plan_l1_fix_time: 2.6169, d0.loss_plan_l1_fix_dist: 0.4784, d1.loss_plan_l1_fix_time: 1.7443, d1.loss_plan_l1_fix_dist: 0.2922, d2.loss_plan_l1_fix_time: 1.7183, d2.loss_plan_l1_fix_dist: 0.2972, d3.loss_plan_l1_fix_time: 1.7176, d3.loss_plan_l1_fix_dist: 0.3070, d4.loss_plan_l1_fix_time: 1.7204, d4.loss_plan_l1_fix_dist: 0.3169, d5.loss_plan_l1_fix_time: 1.7240, d5.loss_plan_l1_fix_dist: 0.3265, d6.loss_plan_l1_fix_time: 1.7282, d6.loss_plan_l1_fix_dist: 0.3380, d0.loss_cls_all: 0.4040, d0.loss_bbox_all: 0.5826, d0.loss_cls: 0.4040, d0.loss_bbox: 0.5826, d1.loss_cls: 0.4009, d1.loss_bbox: 0.5589, d2.loss_cls: 0.4004, d2.loss_bbox: 0.5458, d3.loss_cls: 0.4022, d3.loss_bbox: 0.5415, d4.loss_cls: 0.3983, d4.loss_bbox: 0.5413, d5.loss_cls: 0.3975, d5.loss_bbox: 0.5408, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0531, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9535, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9256, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9322, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.9385, d5.loss_traj_cls: 0.0009, d5.loss_traj: 0.9401, d0.loss_map_cls_all: 0.3253, d0.loss_map_pts_all: 2.1945, d0.loss_map_dir_all: 0.0206, d0.loss_map_cls: 0.3253, d0.loss_map_pts: 2.1945, d0.loss_map_dir: 0.0206, d1.loss_map_cls: 0.3062, d1.loss_map_pts: 1.5596, d1.loss_map_dir: 0.0203, d2.loss_map_cls: 0.2923, d2.loss_map_pts: 1.4283, d2.loss_map_dir: 0.0208, d3.loss_map_cls: 0.2824, d3.loss_map_pts: 1.3796, d3.loss_map_dir: 0.0213, d4.loss_map_cls: 0.2767, d4.loss_map_pts: 1.3594, d4.loss_map_dir: 0.0216, d5.loss_map_cls: 0.2758, d5.loss_map_pts: 1.3529, d5.loss_map_dir: 0.0218, loss: 45.0138, grad_norm: 186.2511 +2026-02-24 22:18:11,968 - DriveTransformer - INFO - Epoch [3][11250/39528] lr: 9.831e-05, eta: 7 days, 22:23:45, time: 0.838, data_time: 0.044, memory: 19865, loss_cls: 0.4234, loss_bbox: 0.5871, loss_traj: 1.0988, loss_traj_cls: 0.0008, loss_map_cls: 0.3229, loss_map_pts: 1.4898, loss_map_dir: 0.0256, d0.loss_plan_l1_fix_time: 2.8514, d0.loss_plan_l1_fix_dist: 0.4263, d1.loss_plan_l1_fix_time: 1.8869, d1.loss_plan_l1_fix_dist: 0.2846, d2.loss_plan_l1_fix_time: 1.8679, d2.loss_plan_l1_fix_dist: 0.2912, d3.loss_plan_l1_fix_time: 1.8663, d3.loss_plan_l1_fix_dist: 0.2981, d4.loss_plan_l1_fix_time: 1.8703, d4.loss_plan_l1_fix_dist: 0.3093, d5.loss_plan_l1_fix_time: 1.8754, d5.loss_plan_l1_fix_dist: 0.3221, d6.loss_plan_l1_fix_time: 1.8804, d6.loss_plan_l1_fix_dist: 0.3352, d0.loss_cls_all: 0.4347, d0.loss_bbox_all: 0.6277, d0.loss_cls: 0.4347, d0.loss_bbox: 0.6277, d1.loss_cls: 0.4241, d1.loss_bbox: 0.6017, d2.loss_cls: 0.4178, d2.loss_bbox: 0.5892, d3.loss_cls: 0.4165, d3.loss_bbox: 0.5863, d4.loss_cls: 0.4178, d4.loss_bbox: 0.5874, d5.loss_cls: 0.4189, d5.loss_bbox: 0.5858, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2050, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1105, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0797, d3.loss_traj_cls: 0.0014, d3.loss_traj: 1.0797, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0895, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0973, d0.loss_map_cls_all: 0.3568, d0.loss_map_pts_all: 2.5500, d0.loss_map_dir_all: 0.0243, d0.loss_map_cls: 0.3568, d0.loss_map_pts: 2.5500, d0.loss_map_dir: 0.0243, d1.loss_map_cls: 0.3449, d1.loss_map_pts: 1.7236, d1.loss_map_dir: 0.0241, d2.loss_map_cls: 0.3331, d2.loss_map_pts: 1.5671, d2.loss_map_dir: 0.0246, d3.loss_map_cls: 0.3269, d3.loss_map_pts: 1.5101, d3.loss_map_dir: 0.0250, d4.loss_map_cls: 0.3235, d4.loss_map_pts: 1.4917, d4.loss_map_dir: 0.0254, d5.loss_map_cls: 0.3235, d5.loss_map_pts: 1.4863, d5.loss_map_dir: 0.0256, loss: 49.5690, grad_norm: 186.1866 +2026-02-24 22:18:53,055 - DriveTransformer - INFO - Epoch [3][11300/39528] lr: 9.831e-05, eta: 7 days, 22:23:17, time: 0.822, data_time: 0.041, memory: 19865, loss_cls: 0.4103, loss_bbox: 0.5972, loss_traj: 1.2440, loss_traj_cls: 0.0008, loss_map_cls: 0.2592, loss_map_pts: 1.1759, loss_map_dir: 0.0228, d0.loss_plan_l1_fix_time: 2.8722, d0.loss_plan_l1_fix_dist: 0.4002, d1.loss_plan_l1_fix_time: 1.8380, d1.loss_plan_l1_fix_dist: 0.2768, d2.loss_plan_l1_fix_time: 1.7841, d2.loss_plan_l1_fix_dist: 0.2791, d3.loss_plan_l1_fix_time: 1.7767, d3.loss_plan_l1_fix_dist: 0.2863, d4.loss_plan_l1_fix_time: 1.7775, d4.loss_plan_l1_fix_dist: 0.2978, d5.loss_plan_l1_fix_time: 1.7808, d5.loss_plan_l1_fix_dist: 0.3122, d6.loss_plan_l1_fix_time: 1.7855, d6.loss_plan_l1_fix_dist: 0.3304, d0.loss_cls_all: 0.4131, d0.loss_bbox_all: 0.6215, d0.loss_cls: 0.4131, d0.loss_bbox: 0.6215, d1.loss_cls: 0.4141, d1.loss_bbox: 0.5944, d2.loss_cls: 0.4087, d2.loss_bbox: 0.5868, d3.loss_cls: 0.4098, d3.loss_bbox: 0.5857, d4.loss_cls: 0.4077, d4.loss_bbox: 0.5895, d5.loss_cls: 0.4101, d5.loss_bbox: 0.5934, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3717, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2214, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2072, d3.loss_traj_cls: 0.0014, d3.loss_traj: 1.2185, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.2297, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2424, d0.loss_map_cls_all: 0.3130, d0.loss_map_pts_all: 2.0929, d0.loss_map_dir_all: 0.0220, d0.loss_map_cls: 0.3130, d0.loss_map_pts: 2.0929, d0.loss_map_dir: 0.0220, d1.loss_map_cls: 0.2963, d1.loss_map_pts: 1.3670, d1.loss_map_dir: 0.0215, d2.loss_map_cls: 0.2836, d2.loss_map_pts: 1.2300, d2.loss_map_dir: 0.0219, d3.loss_map_cls: 0.2688, d3.loss_map_pts: 1.1863, d3.loss_map_dir: 0.0223, d4.loss_map_cls: 0.2624, d4.loss_map_pts: 1.1760, d4.loss_map_dir: 0.0226, d5.loss_map_cls: 0.2590, d5.loss_map_pts: 1.1718, d5.loss_map_dir: 0.0228, loss: 46.5417, grad_norm: 185.8928 +2026-02-24 22:19:34,822 - DriveTransformer - INFO - Epoch [3][11350/39528] lr: 9.831e-05, eta: 7 days, 22:22:54, time: 0.835, data_time: 0.040, memory: 19865, loss_cls: 0.4352, loss_bbox: 0.5626, loss_traj: 0.9582, loss_traj_cls: 0.0008, loss_map_cls: 0.3377, loss_map_pts: 1.4727, loss_map_dir: 0.0297, d0.loss_plan_l1_fix_time: 2.4480, d0.loss_plan_l1_fix_dist: 0.4408, d1.loss_plan_l1_fix_time: 1.6924, d1.loss_plan_l1_fix_dist: 0.3029, d2.loss_plan_l1_fix_time: 1.6555, d2.loss_plan_l1_fix_dist: 0.3131, d3.loss_plan_l1_fix_time: 1.6544, d3.loss_plan_l1_fix_dist: 0.3245, d4.loss_plan_l1_fix_time: 1.6581, d4.loss_plan_l1_fix_dist: 0.3361, d5.loss_plan_l1_fix_time: 1.6627, d5.loss_plan_l1_fix_dist: 0.3479, d6.loss_plan_l1_fix_time: 1.6695, d6.loss_plan_l1_fix_dist: 0.3597, d0.loss_cls_all: 0.4314, d0.loss_bbox_all: 0.5804, d0.loss_cls: 0.4314, d0.loss_bbox: 0.5804, d1.loss_cls: 0.4275, d1.loss_bbox: 0.5605, d2.loss_cls: 0.4290, d2.loss_bbox: 0.5516, d3.loss_cls: 0.4295, d3.loss_bbox: 0.5505, d4.loss_cls: 0.4313, d4.loss_bbox: 0.5507, d5.loss_cls: 0.4339, d5.loss_bbox: 0.5560, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0398, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9636, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9441, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.9487, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9438, d5.loss_traj_cls: 0.0009, d5.loss_traj: 0.9508, d0.loss_map_cls_all: 0.3821, d0.loss_map_pts_all: 2.5188, d0.loss_map_dir_all: 0.0277, d0.loss_map_cls: 0.3821, d0.loss_map_pts: 2.5188, d0.loss_map_dir: 0.0277, d1.loss_map_cls: 0.3630, d1.loss_map_pts: 1.7168, d1.loss_map_dir: 0.0277, d2.loss_map_cls: 0.3509, d2.loss_map_pts: 1.5549, d2.loss_map_dir: 0.0284, d3.loss_map_cls: 0.3401, d3.loss_map_pts: 1.4943, d3.loss_map_dir: 0.0289, d4.loss_map_cls: 0.3396, d4.loss_map_pts: 1.4761, d4.loss_map_dir: 0.0294, d5.loss_map_cls: 0.3377, d5.loss_map_pts: 1.4740, d5.loss_map_dir: 0.0296, loss: 46.8511, grad_norm: 185.9465 +2026-02-24 22:20:15,680 - DriveTransformer - INFO - Epoch [3][11400/39528] lr: 9.831e-05, eta: 7 days, 22:22:23, time: 0.817, data_time: 0.039, memory: 19865, loss_cls: 0.4218, loss_bbox: 0.5493, loss_traj: 1.1599, loss_traj_cls: 0.0008, loss_map_cls: 0.3184, loss_map_pts: 1.4088, loss_map_dir: 0.0237, d0.loss_plan_l1_fix_time: 2.4070, d0.loss_plan_l1_fix_dist: 0.4385, d1.loss_plan_l1_fix_time: 1.7123, d1.loss_plan_l1_fix_dist: 0.3040, d2.loss_plan_l1_fix_time: 1.6776, d2.loss_plan_l1_fix_dist: 0.3037, d3.loss_plan_l1_fix_time: 1.6712, d3.loss_plan_l1_fix_dist: 0.3101, d4.loss_plan_l1_fix_time: 1.6744, d4.loss_plan_l1_fix_dist: 0.3224, d5.loss_plan_l1_fix_time: 1.6790, d5.loss_plan_l1_fix_dist: 0.3391, d6.loss_plan_l1_fix_time: 1.6845, d6.loss_plan_l1_fix_dist: 0.3589, d0.loss_cls_all: 0.4163, d0.loss_bbox_all: 0.5916, d0.loss_cls: 0.4163, d0.loss_bbox: 0.5916, d1.loss_cls: 0.4115, d1.loss_bbox: 0.5623, d2.loss_cls: 0.4110, d2.loss_bbox: 0.5520, d3.loss_cls: 0.4124, d3.loss_bbox: 0.5451, d4.loss_cls: 0.4125, d4.loss_bbox: 0.5460, d5.loss_cls: 0.4166, d5.loss_bbox: 0.5475, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3929, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1693, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1389, d3.loss_traj_cls: 0.0014, d3.loss_traj: 1.1424, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1423, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1534, d0.loss_map_cls_all: 0.3659, d0.loss_map_pts_all: 2.3062, d0.loss_map_dir_all: 0.0218, d0.loss_map_cls: 0.3659, d0.loss_map_pts: 2.3062, d0.loss_map_dir: 0.0218, d1.loss_map_cls: 0.3473, d1.loss_map_pts: 1.6161, d1.loss_map_dir: 0.0219, d2.loss_map_cls: 0.3351, d2.loss_map_pts: 1.4785, d2.loss_map_dir: 0.0226, d3.loss_map_cls: 0.3301, d3.loss_map_pts: 1.4290, d3.loss_map_dir: 0.0231, d4.loss_map_cls: 0.3250, d4.loss_map_pts: 1.4121, d4.loss_map_dir: 0.0234, d5.loss_map_cls: 0.3216, d5.loss_map_pts: 1.4111, d5.loss_map_dir: 0.0236, loss: 47.2512, grad_norm: 186.0512 +2026-02-24 22:20:56,071 - DriveTransformer - INFO - Epoch [3][11450/39528] lr: 9.831e-05, eta: 7 days, 22:21:47, time: 0.808, data_time: 0.035, memory: 19865, loss_cls: 0.4241, loss_bbox: 0.5303, loss_traj: 1.1169, loss_traj_cls: 0.0009, loss_map_cls: 0.2978, loss_map_pts: 1.1839, loss_map_dir: 0.0227, d0.loss_plan_l1_fix_time: 2.5746, d0.loss_plan_l1_fix_dist: 0.4045, d1.loss_plan_l1_fix_time: 1.7402, d1.loss_plan_l1_fix_dist: 0.2625, d2.loss_plan_l1_fix_time: 1.7289, d2.loss_plan_l1_fix_dist: 0.2697, d3.loss_plan_l1_fix_time: 1.7346, d3.loss_plan_l1_fix_dist: 0.2789, d4.loss_plan_l1_fix_time: 1.7403, d4.loss_plan_l1_fix_dist: 0.2878, d5.loss_plan_l1_fix_time: 1.7456, d5.loss_plan_l1_fix_dist: 0.2987, d6.loss_plan_l1_fix_time: 1.7507, d6.loss_plan_l1_fix_dist: 0.3139, d0.loss_cls_all: 0.4116, d0.loss_bbox_all: 0.5829, d0.loss_cls: 0.4116, d0.loss_bbox: 0.5829, d1.loss_cls: 0.4042, d1.loss_bbox: 0.5509, d2.loss_cls: 0.4038, d2.loss_bbox: 0.5355, d3.loss_cls: 0.4030, d3.loss_bbox: 0.5282, d4.loss_cls: 0.4078, d4.loss_bbox: 0.5277, d5.loss_cls: 0.4151, d5.loss_bbox: 0.5283, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3103, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1484, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1168, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1051, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0964, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1066, d0.loss_map_cls_all: 0.3657, d0.loss_map_pts_all: 2.0421, d0.loss_map_dir_all: 0.0210, d0.loss_map_cls: 0.3657, d0.loss_map_pts: 2.0421, d0.loss_map_dir: 0.0210, d1.loss_map_cls: 0.3303, d1.loss_map_pts: 1.4075, d1.loss_map_dir: 0.0210, d2.loss_map_cls: 0.3161, d2.loss_map_pts: 1.2611, d2.loss_map_dir: 0.0216, d3.loss_map_cls: 0.3075, d3.loss_map_pts: 1.2037, d3.loss_map_dir: 0.0220, d4.loss_map_cls: 0.3004, d4.loss_map_pts: 1.1872, d4.loss_map_dir: 0.0224, d5.loss_map_cls: 0.2980, d5.loss_map_pts: 1.1834, d5.loss_map_dir: 0.0226, loss: 45.0525, grad_norm: 187.8416 +2026-02-24 22:21:38,114 - DriveTransformer - INFO - Epoch [3][11500/39528] lr: 9.831e-05, eta: 7 days, 22:21:28, time: 0.841, data_time: 0.042, memory: 19865, loss_cls: 0.3923, loss_bbox: 0.5510, loss_traj: 1.1135, loss_traj_cls: 0.0008, loss_map_cls: 0.2990, loss_map_pts: 1.3456, loss_map_dir: 0.0276, d0.loss_plan_l1_fix_time: 2.5041, d0.loss_plan_l1_fix_dist: 0.3869, d1.loss_plan_l1_fix_time: 1.8565, d1.loss_plan_l1_fix_dist: 0.2902, d2.loss_plan_l1_fix_time: 1.8352, d2.loss_plan_l1_fix_dist: 0.2981, d3.loss_plan_l1_fix_time: 1.8359, d3.loss_plan_l1_fix_dist: 0.3085, d4.loss_plan_l1_fix_time: 1.8410, d4.loss_plan_l1_fix_dist: 0.3220, d5.loss_plan_l1_fix_time: 1.8473, d5.loss_plan_l1_fix_dist: 0.3362, d6.loss_plan_l1_fix_time: 1.8541, d6.loss_plan_l1_fix_dist: 0.3524, d0.loss_cls_all: 0.3947, d0.loss_bbox_all: 0.5884, d0.loss_cls: 0.3947, d0.loss_bbox: 0.5884, d1.loss_cls: 0.3871, d1.loss_bbox: 0.5620, d2.loss_cls: 0.3860, d2.loss_bbox: 0.5482, d3.loss_cls: 0.3877, d3.loss_bbox: 0.5428, d4.loss_cls: 0.3888, d4.loss_bbox: 0.5423, d5.loss_cls: 0.3908, d5.loss_bbox: 0.5467, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3526, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1424, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1107, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1111, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1097, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1093, d0.loss_map_cls_all: 0.3399, d0.loss_map_pts_all: 2.4363, d0.loss_map_dir_all: 0.0261, d0.loss_map_cls: 0.3399, d0.loss_map_pts: 2.4363, d0.loss_map_dir: 0.0261, d1.loss_map_cls: 0.3203, d1.loss_map_pts: 1.6098, d1.loss_map_dir: 0.0259, d2.loss_map_cls: 0.3094, d2.loss_map_pts: 1.4381, d2.loss_map_dir: 0.0266, d3.loss_map_cls: 0.3064, d3.loss_map_pts: 1.3743, d3.loss_map_dir: 0.0270, d4.loss_map_cls: 0.3015, d4.loss_map_pts: 1.3556, d4.loss_map_dir: 0.0274, d5.loss_map_cls: 0.2997, d5.loss_map_pts: 1.3476, d5.loss_map_dir: 0.0275, loss: 47.5899, grad_norm: 187.6374 +2026-02-24 22:22:18,588 - DriveTransformer - INFO - Epoch [3][11550/39528] lr: 9.831e-05, eta: 7 days, 22:20:53, time: 0.809, data_time: 0.042, memory: 19865, loss_cls: 0.4216, loss_bbox: 0.5607, loss_traj: 1.0752, loss_traj_cls: 0.0008, loss_map_cls: 0.3069, loss_map_pts: 1.3522, loss_map_dir: 0.0255, d0.loss_plan_l1_fix_time: 2.7476, d0.loss_plan_l1_fix_dist: 0.4100, d1.loss_plan_l1_fix_time: 1.8562, d1.loss_plan_l1_fix_dist: 0.2680, d2.loss_plan_l1_fix_time: 1.8363, d2.loss_plan_l1_fix_dist: 0.2745, d3.loss_plan_l1_fix_time: 1.8405, d3.loss_plan_l1_fix_dist: 0.2862, d4.loss_plan_l1_fix_time: 1.8462, d4.loss_plan_l1_fix_dist: 0.3031, d5.loss_plan_l1_fix_time: 1.8524, d5.loss_plan_l1_fix_dist: 0.3225, d6.loss_plan_l1_fix_time: 1.8602, d6.loss_plan_l1_fix_dist: 0.3419, d0.loss_cls_all: 0.4229, d0.loss_bbox_all: 0.5970, d0.loss_cls: 0.4229, d0.loss_bbox: 0.5970, d1.loss_cls: 0.4208, d1.loss_bbox: 0.5772, d2.loss_cls: 0.4173, d2.loss_bbox: 0.5661, d3.loss_cls: 0.4195, d3.loss_bbox: 0.5611, d4.loss_cls: 0.4185, d4.loss_bbox: 0.5593, d5.loss_cls: 0.4197, d5.loss_bbox: 0.5589, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1733, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0861, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0576, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0607, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0601, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.0614, d0.loss_map_cls_all: 0.3361, d0.loss_map_pts_all: 2.4345, d0.loss_map_dir_all: 0.0244, d0.loss_map_cls: 0.3361, d0.loss_map_pts: 2.4345, d0.loss_map_dir: 0.0244, d1.loss_map_cls: 0.3221, d1.loss_map_pts: 1.6099, d1.loss_map_dir: 0.0239, d2.loss_map_cls: 0.3178, d2.loss_map_pts: 1.4398, d2.loss_map_dir: 0.0244, d3.loss_map_cls: 0.3099, d3.loss_map_pts: 1.3807, d3.loss_map_dir: 0.0249, d4.loss_map_cls: 0.3068, d4.loss_map_pts: 1.3596, d4.loss_map_dir: 0.0252, d5.loss_map_cls: 0.3044, d5.loss_map_pts: 1.3563, d5.loss_map_dir: 0.0253, loss: 47.6730, grad_norm: 187.6202 +2026-02-24 22:23:00,155 - DriveTransformer - INFO - Epoch [3][11600/39528] lr: 9.831e-05, eta: 7 days, 22:20:29, time: 0.833, data_time: 0.044, memory: 19865, loss_cls: 0.4045, loss_bbox: 0.5661, loss_traj: 1.1785, loss_traj_cls: 0.0008, loss_map_cls: 0.3083, loss_map_pts: 1.3566, loss_map_dir: 0.0269, d0.loss_plan_l1_fix_time: 3.0554, d0.loss_plan_l1_fix_dist: 0.4196, d1.loss_plan_l1_fix_time: 2.1018, d1.loss_plan_l1_fix_dist: 0.3120, d2.loss_plan_l1_fix_time: 2.0788, d2.loss_plan_l1_fix_dist: 0.3170, d3.loss_plan_l1_fix_time: 2.0804, d3.loss_plan_l1_fix_dist: 0.3262, d4.loss_plan_l1_fix_time: 2.0848, d4.loss_plan_l1_fix_dist: 0.3368, d5.loss_plan_l1_fix_time: 2.0899, d5.loss_plan_l1_fix_dist: 0.3514, d6.loss_plan_l1_fix_time: 2.0964, d6.loss_plan_l1_fix_dist: 0.3697, d0.loss_cls_all: 0.4155, d0.loss_bbox_all: 0.5934, d0.loss_cls: 0.4155, d0.loss_bbox: 0.5934, d1.loss_cls: 0.4069, d1.loss_bbox: 0.5725, d2.loss_cls: 0.4011, d2.loss_bbox: 0.5654, d3.loss_cls: 0.3980, d3.loss_bbox: 0.5622, d4.loss_cls: 0.3967, d4.loss_bbox: 0.5609, d5.loss_cls: 0.3992, d5.loss_bbox: 0.5619, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3568, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1917, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1686, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1695, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1696, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1733, d0.loss_map_cls_all: 0.3638, d0.loss_map_pts_all: 2.3562, d0.loss_map_dir_all: 0.0252, d0.loss_map_cls: 0.3638, d0.loss_map_pts: 2.3562, d0.loss_map_dir: 0.0252, d1.loss_map_cls: 0.3395, d1.loss_map_pts: 1.5722, d1.loss_map_dir: 0.0251, d2.loss_map_cls: 0.3295, d2.loss_map_pts: 1.4192, d2.loss_map_dir: 0.0257, d3.loss_map_cls: 0.3167, d3.loss_map_pts: 1.3720, d3.loss_map_dir: 0.0262, d4.loss_map_cls: 0.3118, d4.loss_map_pts: 1.3570, d4.loss_map_dir: 0.0266, d5.loss_map_cls: 0.3085, d5.loss_map_pts: 1.3568, d5.loss_map_dir: 0.0268, loss: 50.2434, grad_norm: 189.0928 +2026-02-24 22:23:39,512 - DriveTransformer - INFO - Epoch [3][11650/39528] lr: 9.831e-05, eta: 7 days, 22:19:43, time: 0.786, data_time: 0.038, memory: 19865, loss_cls: 0.3700, loss_bbox: 0.5476, loss_traj: 1.2374, loss_traj_cls: 0.0008, loss_map_cls: 0.2746, loss_map_pts: 1.3085, loss_map_dir: 0.0230, d0.loss_plan_l1_fix_time: 2.6764, d0.loss_plan_l1_fix_dist: 0.4742, d1.loss_plan_l1_fix_time: 1.9333, d1.loss_plan_l1_fix_dist: 0.2836, d2.loss_plan_l1_fix_time: 1.9356, d2.loss_plan_l1_fix_dist: 0.2921, d3.loss_plan_l1_fix_time: 1.9415, d3.loss_plan_l1_fix_dist: 0.3013, d4.loss_plan_l1_fix_time: 1.9478, d4.loss_plan_l1_fix_dist: 0.3107, d5.loss_plan_l1_fix_time: 1.9534, d5.loss_plan_l1_fix_dist: 0.3199, d6.loss_plan_l1_fix_time: 1.9599, d6.loss_plan_l1_fix_dist: 0.3326, d0.loss_cls_all: 0.3905, d0.loss_bbox_all: 0.5804, d0.loss_cls: 0.3905, d0.loss_bbox: 0.5804, d1.loss_cls: 0.3739, d1.loss_bbox: 0.5590, d2.loss_cls: 0.3646, d2.loss_bbox: 0.5507, d3.loss_cls: 0.3659, d3.loss_bbox: 0.5439, d4.loss_cls: 0.3659, d4.loss_bbox: 0.5424, d5.loss_cls: 0.3677, d5.loss_bbox: 0.5436, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4599, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2557, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2321, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.2308, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.2292, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2359, d0.loss_map_cls_all: 0.3402, d0.loss_map_pts_all: 2.2108, d0.loss_map_dir_all: 0.0220, d0.loss_map_cls: 0.3402, d0.loss_map_pts: 2.2108, d0.loss_map_dir: 0.0220, d1.loss_map_cls: 0.3122, d1.loss_map_pts: 1.4906, d1.loss_map_dir: 0.0216, d2.loss_map_cls: 0.2933, d2.loss_map_pts: 1.3585, d2.loss_map_dir: 0.0220, d3.loss_map_cls: 0.2795, d3.loss_map_pts: 1.3189, d3.loss_map_dir: 0.0224, d4.loss_map_cls: 0.2762, d4.loss_map_pts: 1.3103, d4.loss_map_dir: 0.0227, d5.loss_map_cls: 0.2748, d5.loss_map_pts: 1.3071, d5.loss_map_dir: 0.0229, loss: 48.0714, grad_norm: 188.4923 +2026-02-24 22:24:18,950 - DriveTransformer - INFO - Epoch [3][11700/39528] lr: 9.831e-05, eta: 7 days, 22:18:58, time: 0.789, data_time: 0.039, memory: 19865, loss_cls: 0.4290, loss_bbox: 0.5776, loss_traj: 1.1440, loss_traj_cls: 0.0008, loss_map_cls: 0.3372, loss_map_pts: 1.4961, loss_map_dir: 0.0251, d0.loss_plan_l1_fix_time: 3.0723, d0.loss_plan_l1_fix_dist: 0.4434, d1.loss_plan_l1_fix_time: 2.0281, d1.loss_plan_l1_fix_dist: 0.3191, d2.loss_plan_l1_fix_time: 1.9882, d2.loss_plan_l1_fix_dist: 0.3230, d3.loss_plan_l1_fix_time: 1.9881, d3.loss_plan_l1_fix_dist: 0.3313, d4.loss_plan_l1_fix_time: 1.9909, d4.loss_plan_l1_fix_dist: 0.3423, d5.loss_plan_l1_fix_time: 1.9941, d5.loss_plan_l1_fix_dist: 0.3535, d6.loss_plan_l1_fix_time: 1.9973, d6.loss_plan_l1_fix_dist: 0.3654, d0.loss_cls_all: 0.4474, d0.loss_bbox_all: 0.6201, d0.loss_cls: 0.4474, d0.loss_bbox: 0.6201, d1.loss_cls: 0.4346, d1.loss_bbox: 0.5944, d2.loss_cls: 0.4352, d2.loss_bbox: 0.5829, d3.loss_cls: 0.4345, d3.loss_bbox: 0.5798, d4.loss_cls: 0.4308, d4.loss_bbox: 0.5777, d5.loss_cls: 0.4319, d5.loss_bbox: 0.5770, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3326, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1571, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1329, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1351, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1403, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1433, d0.loss_map_cls_all: 0.3828, d0.loss_map_pts_all: 2.2639, d0.loss_map_dir_all: 0.0230, d0.loss_map_cls: 0.3828, d0.loss_map_pts: 2.2639, d0.loss_map_dir: 0.0230, d1.loss_map_cls: 0.3666, d1.loss_map_pts: 1.6928, d1.loss_map_dir: 0.0235, d2.loss_map_cls: 0.3481, d2.loss_map_pts: 1.5615, d2.loss_map_dir: 0.0242, d3.loss_map_cls: 0.3402, d3.loss_map_pts: 1.5136, d3.loss_map_dir: 0.0246, d4.loss_map_cls: 0.3371, d4.loss_map_pts: 1.4970, d4.loss_map_dir: 0.0248, d5.loss_map_cls: 0.3381, d5.loss_map_pts: 1.4949, d5.loss_map_dir: 0.0250, loss: 50.7590, grad_norm: 187.7352 +2026-02-24 22:24:59,250 - DriveTransformer - INFO - Epoch [3][11750/39528] lr: 9.831e-05, eta: 7 days, 22:18:22, time: 0.806, data_time: 0.035, memory: 19865, loss_cls: 0.3635, loss_bbox: 0.5161, loss_traj: 0.9209, loss_traj_cls: 0.0009, loss_map_cls: 0.2954, loss_map_pts: 1.2275, loss_map_dir: 0.0253, d0.loss_plan_l1_fix_time: 2.6075, d0.loss_plan_l1_fix_dist: 0.4132, d1.loss_plan_l1_fix_time: 1.8634, d1.loss_plan_l1_fix_dist: 0.2948, d2.loss_plan_l1_fix_time: 1.8505, d2.loss_plan_l1_fix_dist: 0.3039, d3.loss_plan_l1_fix_time: 1.8587, d3.loss_plan_l1_fix_dist: 0.3166, d4.loss_plan_l1_fix_time: 1.8661, d4.loss_plan_l1_fix_dist: 0.3306, d5.loss_plan_l1_fix_time: 1.8732, d5.loss_plan_l1_fix_dist: 0.3465, d6.loss_plan_l1_fix_time: 1.8792, d6.loss_plan_l1_fix_dist: 0.3656, d0.loss_cls_all: 0.3730, d0.loss_bbox_all: 0.5629, d0.loss_cls: 0.3730, d0.loss_bbox: 0.5629, d1.loss_cls: 0.3714, d1.loss_bbox: 0.5347, d2.loss_cls: 0.3670, d2.loss_bbox: 0.5262, d3.loss_cls: 0.3657, d3.loss_bbox: 0.5198, d4.loss_cls: 0.3629, d4.loss_bbox: 0.5166, d5.loss_cls: 0.3622, d5.loss_bbox: 0.5153, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0846, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9624, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9343, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9265, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9254, d5.loss_traj_cls: 0.0009, d5.loss_traj: 0.9212, d0.loss_map_cls_all: 0.3338, d0.loss_map_pts_all: 2.2440, d0.loss_map_dir_all: 0.0241, d0.loss_map_cls: 0.3338, d0.loss_map_pts: 2.2440, d0.loss_map_dir: 0.0241, d1.loss_map_cls: 0.3204, d1.loss_map_pts: 1.4580, d1.loss_map_dir: 0.0234, d2.loss_map_cls: 0.3075, d2.loss_map_pts: 1.3041, d2.loss_map_dir: 0.0241, d3.loss_map_cls: 0.2953, d3.loss_map_pts: 1.2492, d3.loss_map_dir: 0.0245, d4.loss_map_cls: 0.2922, d4.loss_map_pts: 1.2329, d4.loss_map_dir: 0.0249, d5.loss_map_cls: 0.2936, d5.loss_map_pts: 1.2276, d5.loss_map_dir: 0.0251, loss: 44.8998, grad_norm: 187.6958 +2026-02-24 22:25:39,880 - DriveTransformer - INFO - Epoch [3][11800/39528] lr: 9.831e-05, eta: 7 days, 22:17:49, time: 0.813, data_time: 0.045, memory: 19865, loss_cls: 0.4200, loss_bbox: 0.5727, loss_traj: 1.1268, loss_traj_cls: 0.0009, loss_map_cls: 0.3091, loss_map_pts: 1.2290, loss_map_dir: 0.0235, d0.loss_plan_l1_fix_time: 2.9623, d0.loss_plan_l1_fix_dist: 0.4961, d1.loss_plan_l1_fix_time: 1.8816, d1.loss_plan_l1_fix_dist: 0.3027, d2.loss_plan_l1_fix_time: 1.8508, d2.loss_plan_l1_fix_dist: 0.3087, d3.loss_plan_l1_fix_time: 1.8530, d3.loss_plan_l1_fix_dist: 0.3178, d4.loss_plan_l1_fix_time: 1.8565, d4.loss_plan_l1_fix_dist: 0.3277, d5.loss_plan_l1_fix_time: 1.8608, d5.loss_plan_l1_fix_dist: 0.3405, d6.loss_plan_l1_fix_time: 1.8656, d6.loss_plan_l1_fix_dist: 0.3555, d0.loss_cls_all: 0.4233, d0.loss_bbox_all: 0.5937, d0.loss_cls: 0.4233, d0.loss_bbox: 0.5937, d1.loss_cls: 0.4205, d1.loss_bbox: 0.5694, d2.loss_cls: 0.4181, d2.loss_bbox: 0.5604, d3.loss_cls: 0.4140, d3.loss_bbox: 0.5625, d4.loss_cls: 0.4144, d4.loss_bbox: 0.5613, d5.loss_cls: 0.4168, d5.loss_bbox: 0.5652, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2603, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1426, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1165, d3.loss_traj_cls: 0.0014, d3.loss_traj: 1.1148, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1137, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1223, d0.loss_map_cls_all: 0.3429, d0.loss_map_pts_all: 2.2715, d0.loss_map_dir_all: 0.0224, d0.loss_map_cls: 0.3429, d0.loss_map_pts: 2.2715, d0.loss_map_dir: 0.0224, d1.loss_map_cls: 0.3315, d1.loss_map_pts: 1.4361, d1.loss_map_dir: 0.0220, d2.loss_map_cls: 0.3233, d2.loss_map_pts: 1.2876, d2.loss_map_dir: 0.0225, d3.loss_map_cls: 0.3098, d3.loss_map_pts: 1.2416, d3.loss_map_dir: 0.0230, d4.loss_map_cls: 0.3084, d4.loss_map_pts: 1.2318, d4.loss_map_dir: 0.0233, d5.loss_map_cls: 0.3088, d5.loss_map_pts: 1.2274, d5.loss_map_dir: 0.0235, loss: 47.4681, grad_norm: 189.1612 +2026-02-24 22:26:21,024 - DriveTransformer - INFO - Epoch [3][11850/39528] lr: 9.831e-05, eta: 7 days, 22:17:20, time: 0.823, data_time: 0.047, memory: 19865, loss_cls: 0.4118, loss_bbox: 0.5793, loss_traj: 1.0334, loss_traj_cls: 0.0009, loss_map_cls: 0.3065, loss_map_pts: 1.2903, loss_map_dir: 0.0231, d0.loss_plan_l1_fix_time: 3.1951, d0.loss_plan_l1_fix_dist: 0.4065, d1.loss_plan_l1_fix_time: 2.1933, d1.loss_plan_l1_fix_dist: 0.2751, d2.loss_plan_l1_fix_time: 2.1731, d2.loss_plan_l1_fix_dist: 0.2797, d3.loss_plan_l1_fix_time: 2.1773, d3.loss_plan_l1_fix_dist: 0.2886, d4.loss_plan_l1_fix_time: 2.1829, d4.loss_plan_l1_fix_dist: 0.2998, d5.loss_plan_l1_fix_time: 2.1887, d5.loss_plan_l1_fix_dist: 0.3101, d6.loss_plan_l1_fix_time: 2.1954, d6.loss_plan_l1_fix_dist: 0.3196, d0.loss_cls_all: 0.4175, d0.loss_bbox_all: 0.6157, d0.loss_cls: 0.4175, d0.loss_bbox: 0.6157, d1.loss_cls: 0.4120, d1.loss_bbox: 0.5879, d2.loss_cls: 0.4096, d2.loss_bbox: 0.5754, d3.loss_cls: 0.4115, d3.loss_bbox: 0.5723, d4.loss_cls: 0.4097, d4.loss_bbox: 0.5712, d5.loss_cls: 0.4092, d5.loss_bbox: 0.5742, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1771, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0638, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0440, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0386, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0320, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0320, d0.loss_map_cls_all: 0.3468, d0.loss_map_pts_all: 2.2279, d0.loss_map_dir_all: 0.0214, d0.loss_map_cls: 0.3468, d0.loss_map_pts: 2.2279, d0.loss_map_dir: 0.0214, d1.loss_map_cls: 0.3326, d1.loss_map_pts: 1.5270, d1.loss_map_dir: 0.0213, d2.loss_map_cls: 0.3161, d2.loss_map_pts: 1.3752, d2.loss_map_dir: 0.0219, d3.loss_map_cls: 0.3084, d3.loss_map_pts: 1.3167, d3.loss_map_dir: 0.0223, d4.loss_map_cls: 0.3056, d4.loss_map_pts: 1.2972, d4.loss_map_dir: 0.0227, d5.loss_map_cls: 0.3062, d5.loss_map_pts: 1.2919, d5.loss_map_dir: 0.0229, loss: 49.2033, grad_norm: 189.0631 +2026-02-24 22:27:01,841 - DriveTransformer - INFO - Epoch [3][11900/39528] lr: 9.831e-05, eta: 7 days, 22:16:49, time: 0.816, data_time: 0.045, memory: 19865, loss_cls: 0.3752, loss_bbox: 0.5159, loss_traj: 1.2423, loss_traj_cls: 0.0009, loss_map_cls: 0.2798, loss_map_pts: 1.1015, loss_map_dir: 0.0184, d0.loss_plan_l1_fix_time: 2.6853, d0.loss_plan_l1_fix_dist: 0.3827, d1.loss_plan_l1_fix_time: 1.9422, d1.loss_plan_l1_fix_dist: 0.2772, d2.loss_plan_l1_fix_time: 1.9181, d2.loss_plan_l1_fix_dist: 0.2812, d3.loss_plan_l1_fix_time: 1.9233, d3.loss_plan_l1_fix_dist: 0.2932, d4.loss_plan_l1_fix_time: 1.9314, d4.loss_plan_l1_fix_dist: 0.3054, d5.loss_plan_l1_fix_time: 1.9398, d5.loss_plan_l1_fix_dist: 0.3207, d6.loss_plan_l1_fix_time: 1.9485, d6.loss_plan_l1_fix_dist: 0.3372, d0.loss_cls_all: 0.3894, d0.loss_bbox_all: 0.5632, d0.loss_cls: 0.3894, d0.loss_bbox: 0.5632, d1.loss_cls: 0.3784, d1.loss_bbox: 0.5337, d2.loss_cls: 0.3754, d2.loss_bbox: 0.5229, d3.loss_cls: 0.3734, d3.loss_bbox: 0.5189, d4.loss_cls: 0.3732, d4.loss_bbox: 0.5150, d5.loss_cls: 0.3739, d5.loss_bbox: 0.5141, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4956, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2854, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2624, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.2532, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.2413, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2385, d0.loss_map_cls_all: 0.3223, d0.loss_map_pts_all: 1.9081, d0.loss_map_dir_all: 0.0170, d0.loss_map_cls: 0.3223, d0.loss_map_pts: 1.9081, d0.loss_map_dir: 0.0170, d1.loss_map_cls: 0.2994, d1.loss_map_pts: 1.3099, d1.loss_map_dir: 0.0168, d2.loss_map_cls: 0.2865, d2.loss_map_pts: 1.1769, d2.loss_map_dir: 0.0175, d3.loss_map_cls: 0.2768, d3.loss_map_pts: 1.1259, d3.loss_map_dir: 0.0179, d4.loss_map_cls: 0.2764, d4.loss_map_pts: 1.1093, d4.loss_map_dir: 0.0182, d5.loss_map_cls: 0.2780, d5.loss_map_pts: 1.1034, d5.loss_map_dir: 0.0184, loss: 46.0123, grad_norm: 151.6831 +2026-02-24 22:27:40,771 - DriveTransformer - INFO - Epoch [3][11950/39528] lr: 9.831e-05, eta: 7 days, 22:15:59, time: 0.779, data_time: 0.040, memory: 19865, loss_cls: 0.3813, loss_bbox: 0.5546, loss_traj: 1.1623, loss_traj_cls: 0.0009, loss_map_cls: 0.3285, loss_map_pts: 1.3076, loss_map_dir: 0.0189, d0.loss_plan_l1_fix_time: 2.2067, d0.loss_plan_l1_fix_dist: 0.4317, d1.loss_plan_l1_fix_time: 1.7446, d1.loss_plan_l1_fix_dist: 0.2484, d2.loss_plan_l1_fix_time: 1.7402, d2.loss_plan_l1_fix_dist: 0.2498, d3.loss_plan_l1_fix_time: 1.7456, d3.loss_plan_l1_fix_dist: 0.2570, d4.loss_plan_l1_fix_time: 1.7527, d4.loss_plan_l1_fix_dist: 0.2655, d5.loss_plan_l1_fix_time: 1.7602, d5.loss_plan_l1_fix_dist: 0.2751, d6.loss_plan_l1_fix_time: 1.7682, d6.loss_plan_l1_fix_dist: 0.2859, d0.loss_cls_all: 0.3992, d0.loss_bbox_all: 0.5987, d0.loss_cls: 0.3992, d0.loss_bbox: 0.5987, d1.loss_cls: 0.3855, d1.loss_bbox: 0.5753, d2.loss_cls: 0.3793, d2.loss_bbox: 0.5679, d3.loss_cls: 0.3827, d3.loss_bbox: 0.5601, d4.loss_cls: 0.3811, d4.loss_bbox: 0.5588, d5.loss_cls: 0.3811, d5.loss_bbox: 0.5552, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3430, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1974, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1686, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1641, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1568, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1538, d0.loss_map_cls_all: 0.3758, d0.loss_map_pts_all: 2.0798, d0.loss_map_dir_all: 0.0173, d0.loss_map_cls: 0.3758, d0.loss_map_pts: 2.0798, d0.loss_map_dir: 0.0173, d1.loss_map_cls: 0.3570, d1.loss_map_pts: 1.5213, d1.loss_map_dir: 0.0175, d2.loss_map_cls: 0.3420, d2.loss_map_pts: 1.3855, d2.loss_map_dir: 0.0181, d3.loss_map_cls: 0.3289, d3.loss_map_pts: 1.3337, d3.loss_map_dir: 0.0184, d4.loss_map_cls: 0.3284, d4.loss_map_pts: 1.3145, d4.loss_map_dir: 0.0187, d5.loss_map_cls: 0.3300, d5.loss_map_pts: 1.3077, d5.loss_map_dir: 0.0188, loss: 45.9839, grad_norm: 150.9556 +2026-02-24 22:28:20,756 - DriveTransformer - INFO - Epoch [3][12000/39528] lr: 9.831e-05, eta: 7 days, 22:15:20, time: 0.800, data_time: 0.046, memory: 19865, loss_cls: 0.3719, loss_bbox: 0.5402, loss_traj: 1.1250, loss_traj_cls: 0.0009, loss_map_cls: 0.2912, loss_map_pts: 1.1982, loss_map_dir: 0.0231, d0.loss_plan_l1_fix_time: 2.4608, d0.loss_plan_l1_fix_dist: 0.5145, d1.loss_plan_l1_fix_time: 1.8112, d1.loss_plan_l1_fix_dist: 0.3184, d2.loss_plan_l1_fix_time: 1.7872, d2.loss_plan_l1_fix_dist: 0.3217, d3.loss_plan_l1_fix_time: 1.7899, d3.loss_plan_l1_fix_dist: 0.3299, d4.loss_plan_l1_fix_time: 1.7962, d4.loss_plan_l1_fix_dist: 0.3411, d5.loss_plan_l1_fix_time: 1.8032, d5.loss_plan_l1_fix_dist: 0.3558, d6.loss_plan_l1_fix_time: 1.8113, d6.loss_plan_l1_fix_dist: 0.3730, d0.loss_cls_all: 0.3902, d0.loss_bbox_all: 0.5808, d0.loss_cls: 0.3902, d0.loss_bbox: 0.5808, d1.loss_cls: 0.3776, d1.loss_bbox: 0.5603, d2.loss_cls: 0.3730, d2.loss_bbox: 0.5450, d3.loss_cls: 0.3691, d3.loss_bbox: 0.5409, d4.loss_cls: 0.3680, d4.loss_bbox: 0.5380, d5.loss_cls: 0.3676, d5.loss_bbox: 0.5398, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3037, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1586, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1327, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1283, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1266, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1224, d0.loss_map_cls_all: 0.3289, d0.loss_map_pts_all: 2.0559, d0.loss_map_dir_all: 0.0214, d0.loss_map_cls: 0.3289, d0.loss_map_pts: 2.0559, d0.loss_map_dir: 0.0214, d1.loss_map_cls: 0.3151, d1.loss_map_pts: 1.4160, d1.loss_map_dir: 0.0214, d2.loss_map_cls: 0.3027, d2.loss_map_pts: 1.2732, d2.loss_map_dir: 0.0220, d3.loss_map_cls: 0.2911, d3.loss_map_pts: 1.2185, d3.loss_map_dir: 0.0224, d4.loss_map_cls: 0.2894, d4.loss_map_pts: 1.2043, d4.loss_map_dir: 0.0227, d5.loss_map_cls: 0.2906, d5.loss_map_pts: 1.1978, d5.loss_map_dir: 0.0229, loss: 45.5865, grad_norm: 149.6810 +2026-02-24 22:29:00,655 - DriveTransformer - INFO - Epoch [3][12050/39528] lr: 9.831e-05, eta: 7 days, 22:14:39, time: 0.798, data_time: 0.041, memory: 19865, loss_cls: 0.3748, loss_bbox: 0.5376, loss_traj: 1.0703, loss_traj_cls: 0.0009, loss_map_cls: 0.2855, loss_map_pts: 1.1556, loss_map_dir: 0.0219, d0.loss_plan_l1_fix_time: 3.1520, d0.loss_plan_l1_fix_dist: 0.4372, d1.loss_plan_l1_fix_time: 2.2718, d1.loss_plan_l1_fix_dist: 0.2921, d2.loss_plan_l1_fix_time: 2.2594, d2.loss_plan_l1_fix_dist: 0.2934, d3.loss_plan_l1_fix_time: 2.2649, d3.loss_plan_l1_fix_dist: 0.2998, d4.loss_plan_l1_fix_time: 2.2731, d4.loss_plan_l1_fix_dist: 0.3091, d5.loss_plan_l1_fix_time: 2.2819, d5.loss_plan_l1_fix_dist: 0.3204, d6.loss_plan_l1_fix_time: 2.2911, d6.loss_plan_l1_fix_dist: 0.3347, d0.loss_cls_all: 0.3836, d0.loss_bbox_all: 0.5888, d0.loss_cls: 0.3836, d0.loss_bbox: 0.5888, d1.loss_cls: 0.3783, d1.loss_bbox: 0.5584, d2.loss_cls: 0.3739, d2.loss_bbox: 0.5436, d3.loss_cls: 0.3714, d3.loss_bbox: 0.5403, d4.loss_cls: 0.3719, d4.loss_bbox: 0.5362, d5.loss_cls: 0.3733, d5.loss_bbox: 0.5377, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2201, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0905, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0777, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0705, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0632, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0716, d0.loss_map_cls_all: 0.3387, d0.loss_map_pts_all: 2.1761, d0.loss_map_dir_all: 0.0208, d0.loss_map_cls: 0.3387, d0.loss_map_pts: 2.1761, d0.loss_map_dir: 0.0208, d1.loss_map_cls: 0.3162, d1.loss_map_pts: 1.3901, d1.loss_map_dir: 0.0199, d2.loss_map_cls: 0.2996, d2.loss_map_pts: 1.2297, d2.loss_map_dir: 0.0207, d3.loss_map_cls: 0.2872, d3.loss_map_pts: 1.1782, d3.loss_map_dir: 0.0213, d4.loss_map_cls: 0.2847, d4.loss_map_pts: 1.1612, d4.loss_map_dir: 0.0216, d5.loss_map_cls: 0.2837, d5.loss_map_pts: 1.1582, d5.loss_map_dir: 0.0218, loss: 48.4214, grad_norm: 151.3215 +2026-02-24 22:29:41,519 - DriveTransformer - INFO - Epoch [3][12100/39528] lr: 9.831e-05, eta: 7 days, 22:14:08, time: 0.817, data_time: 0.040, memory: 19865, loss_cls: 0.4052, loss_bbox: 0.5635, loss_traj: 1.0296, loss_traj_cls: 0.0009, loss_map_cls: 0.2866, loss_map_pts: 1.1884, loss_map_dir: 0.0231, d0.loss_plan_l1_fix_time: 3.0975, d0.loss_plan_l1_fix_dist: 0.4663, d1.loss_plan_l1_fix_time: 2.4157, d1.loss_plan_l1_fix_dist: 0.3263, d2.loss_plan_l1_fix_time: 2.4021, d2.loss_plan_l1_fix_dist: 0.3326, d3.loss_plan_l1_fix_time: 2.4059, d3.loss_plan_l1_fix_dist: 0.3429, d4.loss_plan_l1_fix_time: 2.4115, d4.loss_plan_l1_fix_dist: 0.3536, d5.loss_plan_l1_fix_time: 2.4179, d5.loss_plan_l1_fix_dist: 0.3659, d6.loss_plan_l1_fix_time: 2.4249, d6.loss_plan_l1_fix_dist: 0.3814, d0.loss_cls_all: 0.4171, d0.loss_bbox_all: 0.5968, d0.loss_cls: 0.4171, d0.loss_bbox: 0.5968, d1.loss_cls: 0.4079, d1.loss_bbox: 0.5782, d2.loss_cls: 0.4062, d2.loss_bbox: 0.5656, d3.loss_cls: 0.4039, d3.loss_bbox: 0.5634, d4.loss_cls: 0.4051, d4.loss_bbox: 0.5600, d5.loss_cls: 0.4050, d5.loss_bbox: 0.5615, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1786, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0606, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0415, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0445, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0312, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0288, d0.loss_map_cls_all: 0.3235, d0.loss_map_pts_all: 2.1546, d0.loss_map_dir_all: 0.0213, d0.loss_map_cls: 0.3235, d0.loss_map_pts: 2.1546, d0.loss_map_dir: 0.0213, d1.loss_map_cls: 0.3015, d1.loss_map_pts: 1.4144, d1.loss_map_dir: 0.0213, d2.loss_map_cls: 0.2872, d2.loss_map_pts: 1.2654, d2.loss_map_dir: 0.0219, d3.loss_map_cls: 0.2810, d3.loss_map_pts: 1.2153, d3.loss_map_dir: 0.0225, d4.loss_map_cls: 0.2811, d4.loss_map_pts: 1.1960, d4.loss_map_dir: 0.0228, d5.loss_map_cls: 0.2841, d5.loss_map_pts: 1.1888, d5.loss_map_dir: 0.0230, loss: 49.7418, grad_norm: 151.9515 +2026-02-24 22:30:23,499 - DriveTransformer - INFO - Epoch [3][12150/39528] lr: 9.831e-05, eta: 7 days, 22:13:48, time: 0.840, data_time: 0.039, memory: 19865, loss_cls: 0.4026, loss_bbox: 0.5500, loss_traj: 1.1584, loss_traj_cls: 0.0009, loss_map_cls: 0.2796, loss_map_pts: 1.3932, loss_map_dir: 0.0264, d0.loss_plan_l1_fix_time: 2.6608, d0.loss_plan_l1_fix_dist: 0.3931, d1.loss_plan_l1_fix_time: 1.8566, d1.loss_plan_l1_fix_dist: 0.2887, d2.loss_plan_l1_fix_time: 1.8312, d2.loss_plan_l1_fix_dist: 0.2927, d3.loss_plan_l1_fix_time: 1.8399, d3.loss_plan_l1_fix_dist: 0.3009, d4.loss_plan_l1_fix_time: 1.8507, d4.loss_plan_l1_fix_dist: 0.3109, d5.loss_plan_l1_fix_time: 1.8620, d5.loss_plan_l1_fix_dist: 0.3206, d6.loss_plan_l1_fix_time: 1.8736, d6.loss_plan_l1_fix_dist: 0.3300, d0.loss_cls_all: 0.4080, d0.loss_bbox_all: 0.5873, d0.loss_cls: 0.4080, d0.loss_bbox: 0.5873, d1.loss_cls: 0.4025, d1.loss_bbox: 0.5636, d2.loss_cls: 0.4000, d2.loss_bbox: 0.5543, d3.loss_cls: 0.3993, d3.loss_bbox: 0.5510, d4.loss_cls: 0.4010, d4.loss_bbox: 0.5478, d5.loss_cls: 0.4030, d5.loss_bbox: 0.5491, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3423, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2083, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1711, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1671, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1586, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1559, d0.loss_map_cls_all: 0.3328, d0.loss_map_pts_all: 2.5413, d0.loss_map_dir_all: 0.0246, d0.loss_map_cls: 0.3328, d0.loss_map_pts: 2.5413, d0.loss_map_dir: 0.0246, d1.loss_map_cls: 0.3156, d1.loss_map_pts: 1.6319, d1.loss_map_dir: 0.0245, d2.loss_map_cls: 0.2942, d2.loss_map_pts: 1.4687, d2.loss_map_dir: 0.0253, d3.loss_map_cls: 0.2851, d3.loss_map_pts: 1.4174, d3.loss_map_dir: 0.0258, d4.loss_map_cls: 0.2797, d4.loss_map_pts: 1.4014, d4.loss_map_dir: 0.0262, d5.loss_map_cls: 0.2803, d5.loss_map_pts: 1.3932, d5.loss_map_dir: 0.0264, loss: 48.4872, grad_norm: 149.9317 +2026-02-24 22:31:03,783 - DriveTransformer - INFO - Epoch [3][12200/39528] lr: 9.831e-05, eta: 7 days, 22:13:11, time: 0.806, data_time: 0.047, memory: 19865, loss_cls: 0.3983, loss_bbox: 0.5322, loss_traj: 1.3129, loss_traj_cls: 0.0009, loss_map_cls: 0.2915, loss_map_pts: 1.1864, loss_map_dir: 0.0187, d0.loss_plan_l1_fix_time: 3.2035, d0.loss_plan_l1_fix_dist: 0.3603, d1.loss_plan_l1_fix_time: 2.2403, d1.loss_plan_l1_fix_dist: 0.2687, d2.loss_plan_l1_fix_time: 2.2429, d2.loss_plan_l1_fix_dist: 0.2773, d3.loss_plan_l1_fix_time: 2.2657, d3.loss_plan_l1_fix_dist: 0.2884, d4.loss_plan_l1_fix_time: 2.2832, d4.loss_plan_l1_fix_dist: 0.3031, d5.loss_plan_l1_fix_time: 2.3004, d5.loss_plan_l1_fix_dist: 0.3171, d6.loss_plan_l1_fix_time: 2.3157, d6.loss_plan_l1_fix_dist: 0.3324, d0.loss_cls_all: 0.4003, d0.loss_bbox_all: 0.5717, d0.loss_cls: 0.4003, d0.loss_bbox: 0.5717, d1.loss_cls: 0.3989, d1.loss_bbox: 0.5447, d2.loss_cls: 0.3960, d2.loss_bbox: 0.5342, d3.loss_cls: 0.3962, d3.loss_bbox: 0.5307, d4.loss_cls: 0.3958, d4.loss_bbox: 0.5312, d5.loss_cls: 0.3977, d5.loss_bbox: 0.5314, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5380, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2994, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2854, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.2880, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.2958, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.3053, d0.loss_map_cls_all: 0.3449, d0.loss_map_pts_all: 1.9661, d0.loss_map_dir_all: 0.0170, d0.loss_map_cls: 0.3449, d0.loss_map_pts: 1.9661, d0.loss_map_dir: 0.0170, d1.loss_map_cls: 0.3223, d1.loss_map_pts: 1.3578, d1.loss_map_dir: 0.0171, d2.loss_map_cls: 0.3065, d2.loss_map_pts: 1.2389, d2.loss_map_dir: 0.0177, d3.loss_map_cls: 0.2963, d3.loss_map_pts: 1.1969, d3.loss_map_dir: 0.0181, d4.loss_map_cls: 0.2922, d4.loss_map_pts: 1.1861, d4.loss_map_dir: 0.0184, d5.loss_map_cls: 0.2920, d5.loss_map_pts: 1.1849, d5.loss_map_dir: 0.0186, loss: 49.7783, grad_norm: 153.7709 +2026-02-24 22:31:44,769 - DriveTransformer - INFO - Epoch [3][12250/39528] lr: 9.831e-05, eta: 7 days, 22:12:41, time: 0.820, data_time: 0.037, memory: 19865, loss_cls: 0.4210, loss_bbox: 0.6051, loss_traj: 1.1904, loss_traj_cls: 0.0009, loss_map_cls: 0.3100, loss_map_pts: 1.4194, loss_map_dir: 0.0220, d0.loss_plan_l1_fix_time: 2.8725, d0.loss_plan_l1_fix_dist: 0.5013, d1.loss_plan_l1_fix_time: 1.9723, d1.loss_plan_l1_fix_dist: 0.3230, d2.loss_plan_l1_fix_time: 1.9641, d2.loss_plan_l1_fix_dist: 0.3333, d3.loss_plan_l1_fix_time: 1.9793, d3.loss_plan_l1_fix_dist: 0.3434, d4.loss_plan_l1_fix_time: 1.9938, d4.loss_plan_l1_fix_dist: 0.3556, d5.loss_plan_l1_fix_time: 2.0084, d5.loss_plan_l1_fix_dist: 0.3678, d6.loss_plan_l1_fix_time: 2.0226, d6.loss_plan_l1_fix_dist: 0.3830, d0.loss_cls_all: 0.4321, d0.loss_bbox_all: 0.6473, d0.loss_cls: 0.4321, d0.loss_bbox: 0.6473, d1.loss_cls: 0.4243, d1.loss_bbox: 0.6195, d2.loss_cls: 0.4230, d2.loss_bbox: 0.6075, d3.loss_cls: 0.4222, d3.loss_bbox: 0.6033, d4.loss_cls: 0.4190, d4.loss_bbox: 0.6004, d5.loss_cls: 0.4199, d5.loss_bbox: 0.6032, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3881, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2252, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1984, d3.loss_traj_cls: 0.0014, d3.loss_traj: 1.1953, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1903, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1883, d0.loss_map_cls_all: 0.3459, d0.loss_map_pts_all: 2.2511, d0.loss_map_dir_all: 0.0198, d0.loss_map_cls: 0.3459, d0.loss_map_pts: 2.2511, d0.loss_map_dir: 0.0198, d1.loss_map_cls: 0.3311, d1.loss_map_pts: 1.6383, d1.loss_map_dir: 0.0198, d2.loss_map_cls: 0.3243, d2.loss_map_pts: 1.5042, d2.loss_map_dir: 0.0207, d3.loss_map_cls: 0.3139, d3.loss_map_pts: 1.4490, d3.loss_map_dir: 0.0212, d4.loss_map_cls: 0.3094, d4.loss_map_pts: 1.4294, d4.loss_map_dir: 0.0216, d5.loss_map_cls: 0.3113, d5.loss_map_pts: 1.4199, d5.loss_map_dir: 0.0219, loss: 50.4511, grad_norm: 155.5522 +2026-02-24 22:32:25,139 - DriveTransformer - INFO - Epoch [3][12300/39528] lr: 9.831e-05, eta: 7 days, 22:12:05, time: 0.807, data_time: 0.037, memory: 19865, loss_cls: 0.3891, loss_bbox: 0.5565, loss_traj: 1.1780, loss_traj_cls: 0.0009, loss_map_cls: 0.2730, loss_map_pts: 1.1868, loss_map_dir: 0.0206, d0.loss_plan_l1_fix_time: 3.1932, d0.loss_plan_l1_fix_dist: 0.3981, d1.loss_plan_l1_fix_time: 1.9490, d1.loss_plan_l1_fix_dist: 0.2602, d2.loss_plan_l1_fix_time: 1.9083, d2.loss_plan_l1_fix_dist: 0.2661, d3.loss_plan_l1_fix_time: 1.9060, d3.loss_plan_l1_fix_dist: 0.2779, d4.loss_plan_l1_fix_time: 1.9118, d4.loss_plan_l1_fix_dist: 0.2898, d5.loss_plan_l1_fix_time: 1.9195, d5.loss_plan_l1_fix_dist: 0.3031, d6.loss_plan_l1_fix_time: 1.9290, d6.loss_plan_l1_fix_dist: 0.3179, d0.loss_cls_all: 0.4028, d0.loss_bbox_all: 0.6093, d0.loss_cls: 0.4028, d0.loss_bbox: 0.6093, d1.loss_cls: 0.3904, d1.loss_bbox: 0.5750, d2.loss_cls: 0.3865, d2.loss_bbox: 0.5643, d3.loss_cls: 0.3884, d3.loss_bbox: 0.5580, d4.loss_cls: 0.3852, d4.loss_bbox: 0.5559, d5.loss_cls: 0.3869, d5.loss_bbox: 0.5551, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3866, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2131, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1823, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1735, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1676, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1708, d0.loss_map_cls_all: 0.3224, d0.loss_map_pts_all: 1.9971, d0.loss_map_dir_all: 0.0180, d0.loss_map_cls: 0.3224, d0.loss_map_pts: 1.9971, d0.loss_map_dir: 0.0180, d1.loss_map_cls: 0.3009, d1.loss_map_pts: 1.3970, d1.loss_map_dir: 0.0184, d2.loss_map_cls: 0.2870, d2.loss_map_pts: 1.2572, d2.loss_map_dir: 0.0194, d3.loss_map_cls: 0.2779, d3.loss_map_pts: 1.2106, d3.loss_map_dir: 0.0198, d4.loss_map_cls: 0.2737, d4.loss_map_pts: 1.1927, d4.loss_map_dir: 0.0203, d5.loss_map_cls: 0.2742, d5.loss_map_pts: 1.1872, d5.loss_map_dir: 0.0205, loss: 46.9357, grad_norm: 155.0894 +2026-02-24 22:33:04,301 - DriveTransformer - INFO - Epoch [3][12350/39528] lr: 9.831e-05, eta: 7 days, 22:11:18, time: 0.783, data_time: 0.039, memory: 19865, loss_cls: 0.3666, loss_bbox: 0.5088, loss_traj: 0.9911, loss_traj_cls: 0.0009, loss_map_cls: 0.2957, loss_map_pts: 1.1898, loss_map_dir: 0.0219, d0.loss_plan_l1_fix_time: 2.5876, d0.loss_plan_l1_fix_dist: 0.4107, d1.loss_plan_l1_fix_time: 1.7934, d1.loss_plan_l1_fix_dist: 0.2756, d2.loss_plan_l1_fix_time: 1.7907, d2.loss_plan_l1_fix_dist: 0.2797, d3.loss_plan_l1_fix_time: 1.8032, d3.loss_plan_l1_fix_dist: 0.2904, d4.loss_plan_l1_fix_time: 1.8144, d4.loss_plan_l1_fix_dist: 0.3028, d5.loss_plan_l1_fix_time: 1.8256, d5.loss_plan_l1_fix_dist: 0.3202, d6.loss_plan_l1_fix_time: 1.8388, d6.loss_plan_l1_fix_dist: 0.3400, d0.loss_cls_all: 0.3768, d0.loss_bbox_all: 0.5531, d0.loss_cls: 0.3768, d0.loss_bbox: 0.5531, d1.loss_cls: 0.3680, d1.loss_bbox: 0.5278, d2.loss_cls: 0.3636, d2.loss_bbox: 0.5178, d3.loss_cls: 0.3616, d3.loss_bbox: 0.5153, d4.loss_cls: 0.3623, d4.loss_bbox: 0.5111, d5.loss_cls: 0.3652, d5.loss_bbox: 0.5106, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0621, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9959, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9717, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9762, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.9738, d5.loss_traj_cls: 0.0009, d5.loss_traj: 0.9820, d0.loss_map_cls_all: 0.3431, d0.loss_map_pts_all: 2.1045, d0.loss_map_dir_all: 0.0199, d0.loss_map_cls: 0.3431, d0.loss_map_pts: 2.1045, d0.loss_map_dir: 0.0199, d1.loss_map_cls: 0.3194, d1.loss_map_pts: 1.3924, d1.loss_map_dir: 0.0198, d2.loss_map_cls: 0.3088, d2.loss_map_pts: 1.2529, d2.loss_map_dir: 0.0205, d3.loss_map_cls: 0.3002, d3.loss_map_pts: 1.2106, d3.loss_map_dir: 0.0210, d4.loss_map_cls: 0.2964, d4.loss_map_pts: 1.1942, d4.loss_map_dir: 0.0215, d5.loss_map_cls: 0.2946, d5.loss_map_pts: 1.1911, d5.loss_map_dir: 0.0218, loss: 44.0786, grad_norm: 156.8726 +2026-02-24 22:33:46,663 - DriveTransformer - INFO - Epoch [3][12400/39528] lr: 9.831e-05, eta: 7 days, 22:11:01, time: 0.849, data_time: 0.047, memory: 19865, loss_cls: 0.3804, loss_bbox: 0.5109, loss_traj: 0.9065, loss_traj_cls: 0.0009, loss_map_cls: 0.2733, loss_map_pts: 1.2274, loss_map_dir: 0.0255, d0.loss_plan_l1_fix_time: 2.3345, d0.loss_plan_l1_fix_dist: 0.4093, d1.loss_plan_l1_fix_time: 1.7438, d1.loss_plan_l1_fix_dist: 0.2672, d2.loss_plan_l1_fix_time: 1.7460, d2.loss_plan_l1_fix_dist: 0.2761, d3.loss_plan_l1_fix_time: 1.7541, d3.loss_plan_l1_fix_dist: 0.2856, d4.loss_plan_l1_fix_time: 1.7624, d4.loss_plan_l1_fix_dist: 0.2967, d5.loss_plan_l1_fix_time: 1.7713, d5.loss_plan_l1_fix_dist: 0.3070, d6.loss_plan_l1_fix_time: 1.7820, d6.loss_plan_l1_fix_dist: 0.3205, d0.loss_cls_all: 0.3940, d0.loss_bbox_all: 0.5455, d0.loss_cls: 0.3940, d0.loss_bbox: 0.5455, d1.loss_cls: 0.3856, d1.loss_bbox: 0.5245, d2.loss_cls: 0.3807, d2.loss_bbox: 0.5146, d3.loss_cls: 0.3795, d3.loss_bbox: 0.5094, d4.loss_cls: 0.3767, d4.loss_bbox: 0.5090, d5.loss_cls: 0.3789, d5.loss_bbox: 0.5113, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0071, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8950, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9070, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9091, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.9041, d5.loss_traj_cls: 0.0008, d5.loss_traj: 0.9036, d0.loss_map_cls_all: 0.3099, d0.loss_map_pts_all: 2.3884, d0.loss_map_dir_all: 0.0227, d0.loss_map_cls: 0.3099, d0.loss_map_pts: 2.3884, d0.loss_map_dir: 0.0227, d1.loss_map_cls: 0.2934, d1.loss_map_pts: 1.4801, d1.loss_map_dir: 0.0230, d2.loss_map_cls: 0.2820, d2.loss_map_pts: 1.3012, d2.loss_map_dir: 0.0240, d3.loss_map_cls: 0.2758, d3.loss_map_pts: 1.2487, d3.loss_map_dir: 0.0246, d4.loss_map_cls: 0.2738, d4.loss_map_pts: 1.2317, d4.loss_map_dir: 0.0250, d5.loss_map_cls: 0.2716, d5.loss_map_pts: 1.2284, d5.loss_map_dir: 0.0253, loss: 43.7125, grad_norm: 157.1511 +2026-02-24 22:34:27,113 - DriveTransformer - INFO - Epoch [3][12450/39528] lr: 9.831e-05, eta: 7 days, 22:10:26, time: 0.808, data_time: 0.035, memory: 19865, loss_cls: 0.3916, loss_bbox: 0.5359, loss_traj: 1.0723, loss_traj_cls: 0.0009, loss_map_cls: 0.3195, loss_map_pts: 1.4402, loss_map_dir: 0.0255, d0.loss_plan_l1_fix_time: 2.4508, d0.loss_plan_l1_fix_dist: 0.4471, d1.loss_plan_l1_fix_time: 2.1419, d1.loss_plan_l1_fix_dist: 0.3021, d2.loss_plan_l1_fix_time: 2.1285, d2.loss_plan_l1_fix_dist: 0.3115, d3.loss_plan_l1_fix_time: 2.1308, d3.loss_plan_l1_fix_dist: 0.3287, d4.loss_plan_l1_fix_time: 2.1382, d4.loss_plan_l1_fix_dist: 0.3491, d5.loss_plan_l1_fix_time: 2.1459, d5.loss_plan_l1_fix_dist: 0.3738, d6.loss_plan_l1_fix_time: 2.1530, d6.loss_plan_l1_fix_dist: 0.3957, d0.loss_cls_all: 0.4108, d0.loss_bbox_all: 0.5735, d0.loss_cls: 0.4108, d0.loss_bbox: 0.5735, d1.loss_cls: 0.4029, d1.loss_bbox: 0.5497, d2.loss_cls: 0.4008, d2.loss_bbox: 0.5377, d3.loss_cls: 0.3979, d3.loss_bbox: 0.5333, d4.loss_cls: 0.3952, d4.loss_bbox: 0.5324, d5.loss_cls: 0.3920, d5.loss_bbox: 0.5364, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2096, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0770, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0738, d3.loss_traj_cls: 0.0014, d3.loss_traj: 1.0654, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0680, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0761, d0.loss_map_cls_all: 0.3580, d0.loss_map_pts_all: 2.4569, d0.loss_map_dir_all: 0.0233, d0.loss_map_cls: 0.3580, d0.loss_map_pts: 2.4569, d0.loss_map_dir: 0.0233, d1.loss_map_cls: 0.3462, d1.loss_map_pts: 1.6886, d1.loss_map_dir: 0.0231, d2.loss_map_cls: 0.3285, d2.loss_map_pts: 1.5248, d2.loss_map_dir: 0.0241, d3.loss_map_cls: 0.3208, d3.loss_map_pts: 1.4682, d3.loss_map_dir: 0.0248, d4.loss_map_cls: 0.3184, d4.loss_map_pts: 1.4501, d4.loss_map_dir: 0.0251, d5.loss_map_cls: 0.3184, d5.loss_map_pts: 1.4412, d5.loss_map_dir: 0.0254, loss: 49.8096, grad_norm: 157.0144 +2026-02-24 22:35:06,185 - DriveTransformer - INFO - Epoch [3][12500/39528] lr: 9.831e-05, eta: 7 days, 22:09:38, time: 0.781, data_time: 0.040, memory: 19865, loss_cls: 0.3936, loss_bbox: 0.5393, loss_traj: 0.9922, loss_traj_cls: 0.0009, loss_map_cls: 0.2912, loss_map_pts: 1.3474, loss_map_dir: 0.0216, d0.loss_plan_l1_fix_time: 2.4629, d0.loss_plan_l1_fix_dist: 0.5133, d1.loss_plan_l1_fix_time: 1.9539, d1.loss_plan_l1_fix_dist: 0.3222, d2.loss_plan_l1_fix_time: 1.9375, d2.loss_plan_l1_fix_dist: 0.3272, d3.loss_plan_l1_fix_time: 1.9400, d3.loss_plan_l1_fix_dist: 0.3359, d4.loss_plan_l1_fix_time: 1.9505, d4.loss_plan_l1_fix_dist: 0.3470, d5.loss_plan_l1_fix_time: 1.9618, d5.loss_plan_l1_fix_dist: 0.3595, d6.loss_plan_l1_fix_time: 1.9721, d6.loss_plan_l1_fix_dist: 0.3745, d0.loss_cls_all: 0.3998, d0.loss_bbox_all: 0.5796, d0.loss_cls: 0.3998, d0.loss_bbox: 0.5796, d1.loss_cls: 0.3992, d1.loss_bbox: 0.5517, d2.loss_cls: 0.3939, d2.loss_bbox: 0.5444, d3.loss_cls: 0.3933, d3.loss_bbox: 0.5398, d4.loss_cls: 0.3925, d4.loss_bbox: 0.5394, d5.loss_cls: 0.3940, d5.loss_bbox: 0.5397, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1261, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0051, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9912, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9964, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9968, d5.loss_traj_cls: 0.0009, d5.loss_traj: 0.9895, d0.loss_map_cls_all: 0.3454, d0.loss_map_pts_all: 2.2516, d0.loss_map_dir_all: 0.0193, d0.loss_map_cls: 0.3454, d0.loss_map_pts: 2.2516, d0.loss_map_dir: 0.0193, d1.loss_map_cls: 0.3136, d1.loss_map_pts: 1.5746, d1.loss_map_dir: 0.0196, d2.loss_map_cls: 0.3001, d2.loss_map_pts: 1.4297, d2.loss_map_dir: 0.0205, d3.loss_map_cls: 0.2922, d3.loss_map_pts: 1.3754, d3.loss_map_dir: 0.0210, d4.loss_map_cls: 0.2878, d4.loss_map_pts: 1.3567, d4.loss_map_dir: 0.0214, d5.loss_map_cls: 0.2899, d5.loss_map_pts: 1.3488, d5.loss_map_dir: 0.0215, loss: 47.0072, grad_norm: 156.9055 +2026-02-24 22:35:47,592 - DriveTransformer - INFO - Epoch [3][12550/39528] lr: 9.831e-05, eta: 7 days, 22:09:11, time: 0.828, data_time: 0.038, memory: 19865, loss_cls: 0.3723, loss_bbox: 0.5282, loss_traj: 0.9990, loss_traj_cls: 0.0009, loss_map_cls: 0.3060, loss_map_pts: 1.4689, loss_map_dir: 0.0258, d0.loss_plan_l1_fix_time: 2.2464, d0.loss_plan_l1_fix_dist: 0.4917, d1.loss_plan_l1_fix_time: 1.7036, d1.loss_plan_l1_fix_dist: 0.3009, d2.loss_plan_l1_fix_time: 1.7083, d2.loss_plan_l1_fix_dist: 0.3066, d3.loss_plan_l1_fix_time: 1.7189, d3.loss_plan_l1_fix_dist: 0.3157, d4.loss_plan_l1_fix_time: 1.7325, d4.loss_plan_l1_fix_dist: 0.3262, d5.loss_plan_l1_fix_time: 1.7457, d5.loss_plan_l1_fix_dist: 0.3372, d6.loss_plan_l1_fix_time: 1.7587, d6.loss_plan_l1_fix_dist: 0.3519, d0.loss_cls_all: 0.3926, d0.loss_bbox_all: 0.5607, d0.loss_cls: 0.3926, d0.loss_bbox: 0.5607, d1.loss_cls: 0.3872, d1.loss_bbox: 0.5379, d2.loss_cls: 0.3829, d2.loss_bbox: 0.5263, d3.loss_cls: 0.3802, d3.loss_bbox: 0.5225, d4.loss_cls: 0.3746, d4.loss_bbox: 0.5236, d5.loss_cls: 0.3727, d5.loss_bbox: 0.5259, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1500, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0075, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9818, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9895, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9923, d5.loss_traj_cls: 0.0009, d5.loss_traj: 0.9891, d0.loss_map_cls_all: 0.3444, d0.loss_map_pts_all: 2.5884, d0.loss_map_dir_all: 0.0234, d0.loss_map_cls: 0.3444, d0.loss_map_pts: 2.5884, d0.loss_map_dir: 0.0234, d1.loss_map_cls: 0.3295, d1.loss_map_pts: 1.7268, d1.loss_map_dir: 0.0235, d2.loss_map_cls: 0.3162, d2.loss_map_pts: 1.5569, d2.loss_map_dir: 0.0243, d3.loss_map_cls: 0.3075, d3.loss_map_pts: 1.4929, d3.loss_map_dir: 0.0250, d4.loss_map_cls: 0.3065, d4.loss_map_pts: 1.4758, d4.loss_map_dir: 0.0254, d5.loss_map_cls: 0.3059, d5.loss_map_pts: 1.4674, d5.loss_map_dir: 0.0256, loss: 46.6231, grad_norm: 157.3238 +2026-02-24 22:36:28,071 - DriveTransformer - INFO - Epoch [3][12600/39528] lr: 9.831e-05, eta: 7 days, 22:08:37, time: 0.810, data_time: 0.048, memory: 19865, loss_cls: 0.4026, loss_bbox: 0.5628, loss_traj: 1.3016, loss_traj_cls: 0.0009, loss_map_cls: 0.3050, loss_map_pts: 1.3184, loss_map_dir: 0.0222, d0.loss_plan_l1_fix_time: 3.0432, d0.loss_plan_l1_fix_dist: 0.4504, d1.loss_plan_l1_fix_time: 2.2329, d1.loss_plan_l1_fix_dist: 0.3153, d2.loss_plan_l1_fix_time: 2.2203, d2.loss_plan_l1_fix_dist: 0.3241, d3.loss_plan_l1_fix_time: 2.2265, d3.loss_plan_l1_fix_dist: 0.3387, d4.loss_plan_l1_fix_time: 2.2341, d4.loss_plan_l1_fix_dist: 0.3527, d5.loss_plan_l1_fix_time: 2.2423, d5.loss_plan_l1_fix_dist: 0.3669, d6.loss_plan_l1_fix_time: 2.2513, d6.loss_plan_l1_fix_dist: 0.3802, d0.loss_cls_all: 0.4167, d0.loss_bbox_all: 0.6065, d0.loss_cls: 0.4167, d0.loss_bbox: 0.6065, d1.loss_cls: 0.4098, d1.loss_bbox: 0.5832, d2.loss_cls: 0.4066, d2.loss_bbox: 0.5682, d3.loss_cls: 0.4037, d3.loss_bbox: 0.5608, d4.loss_cls: 0.4031, d4.loss_bbox: 0.5594, d5.loss_cls: 0.4013, d5.loss_bbox: 0.5603, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4988, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.3271, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3061, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.3013, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.2938, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2927, d0.loss_map_cls_all: 0.3457, d0.loss_map_pts_all: 2.1589, d0.loss_map_dir_all: 0.0200, d0.loss_map_cls: 0.3457, d0.loss_map_pts: 2.1589, d0.loss_map_dir: 0.0200, d1.loss_map_cls: 0.3276, d1.loss_map_pts: 1.5206, d1.loss_map_dir: 0.0203, d2.loss_map_cls: 0.3143, d2.loss_map_pts: 1.3949, d2.loss_map_dir: 0.0211, d3.loss_map_cls: 0.3077, d3.loss_map_pts: 1.3444, d3.loss_map_dir: 0.0215, d4.loss_map_cls: 0.3048, d4.loss_map_pts: 1.3240, d4.loss_map_dir: 0.0219, d5.loss_map_cls: 0.3024, d5.loss_map_pts: 1.3203, d5.loss_map_dir: 0.0219, loss: 51.4374, grad_norm: 155.9272 +2026-02-24 22:37:07,788 - DriveTransformer - INFO - Epoch [3][12650/39528] lr: 9.831e-05, eta: 7 days, 22:07:55, time: 0.794, data_time: 0.037, memory: 19865, loss_cls: 0.3870, loss_bbox: 0.5378, loss_traj: 1.0482, loss_traj_cls: 0.0009, loss_map_cls: 0.2830, loss_map_pts: 1.2717, loss_map_dir: 0.0220, d0.loss_plan_l1_fix_time: 2.6439, d0.loss_plan_l1_fix_dist: 0.4363, d1.loss_plan_l1_fix_time: 1.8256, d1.loss_plan_l1_fix_dist: 0.3103, d2.loss_plan_l1_fix_time: 1.7899, d2.loss_plan_l1_fix_dist: 0.3136, d3.loss_plan_l1_fix_time: 1.7899, d3.loss_plan_l1_fix_dist: 0.3229, d4.loss_plan_l1_fix_time: 1.7969, d4.loss_plan_l1_fix_dist: 0.3358, d5.loss_plan_l1_fix_time: 1.8056, d5.loss_plan_l1_fix_dist: 0.3514, d6.loss_plan_l1_fix_time: 1.8159, d6.loss_plan_l1_fix_dist: 0.3715, d0.loss_cls_all: 0.4042, d0.loss_bbox_all: 0.5779, d0.loss_cls: 0.4042, d0.loss_bbox: 0.5779, d1.loss_cls: 0.3896, d1.loss_bbox: 0.5473, d2.loss_cls: 0.3860, d2.loss_bbox: 0.5355, d3.loss_cls: 0.3880, d3.loss_bbox: 0.5320, d4.loss_cls: 0.3883, d4.loss_bbox: 0.5313, d5.loss_cls: 0.3878, d5.loss_bbox: 0.5338, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2068, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0634, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0435, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0502, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0515, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0479, d0.loss_map_cls_all: 0.3275, d0.loss_map_pts_all: 2.1388, d0.loss_map_dir_all: 0.0193, d0.loss_map_cls: 0.3275, d0.loss_map_pts: 2.1388, d0.loss_map_dir: 0.0193, d1.loss_map_cls: 0.3092, d1.loss_map_pts: 1.4723, d1.loss_map_dir: 0.0197, d2.loss_map_cls: 0.2928, d2.loss_map_pts: 1.3372, d2.loss_map_dir: 0.0207, d3.loss_map_cls: 0.2852, d3.loss_map_pts: 1.2910, d3.loss_map_dir: 0.0213, d4.loss_map_cls: 0.2837, d4.loss_map_pts: 1.2744, d4.loss_map_dir: 0.0217, d5.loss_map_cls: 0.2819, d5.loss_map_pts: 1.2716, d5.loss_map_dir: 0.0218, loss: 45.6886, grad_norm: 155.9684 +2026-02-24 22:37:46,186 - DriveTransformer - INFO - Epoch [3][12700/39528] lr: 9.831e-05, eta: 7 days, 22:07:00, time: 0.768, data_time: 0.042, memory: 19865, loss_cls: 0.3597, loss_bbox: 0.5151, loss_traj: 1.0950, loss_traj_cls: 0.0009, loss_map_cls: 0.2478, loss_map_pts: 1.0722, loss_map_dir: 0.0176, d0.loss_plan_l1_fix_time: 2.6588, d0.loss_plan_l1_fix_dist: 0.5068, d1.loss_plan_l1_fix_time: 1.8716, d1.loss_plan_l1_fix_dist: 0.2876, d2.loss_plan_l1_fix_time: 1.8478, d2.loss_plan_l1_fix_dist: 0.2990, d3.loss_plan_l1_fix_time: 1.8562, d3.loss_plan_l1_fix_dist: 0.3094, d4.loss_plan_l1_fix_time: 1.8655, d4.loss_plan_l1_fix_dist: 0.3211, d5.loss_plan_l1_fix_time: 1.8758, d5.loss_plan_l1_fix_dist: 0.3332, d6.loss_plan_l1_fix_time: 1.8875, d6.loss_plan_l1_fix_dist: 0.3486, d0.loss_cls_all: 0.3652, d0.loss_bbox_all: 0.5600, d0.loss_cls: 0.3652, d0.loss_bbox: 0.5600, d1.loss_cls: 0.3615, d1.loss_bbox: 0.5294, d2.loss_cls: 0.3582, d2.loss_bbox: 0.5190, d3.loss_cls: 0.3603, d3.loss_bbox: 0.5128, d4.loss_cls: 0.3590, d4.loss_bbox: 0.5133, d5.loss_cls: 0.3600, d5.loss_bbox: 0.5136, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2949, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1193, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1094, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1006, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0892, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.0900, d0.loss_map_cls_all: 0.2974, d0.loss_map_pts_all: 1.7479, d0.loss_map_dir_all: 0.0160, d0.loss_map_cls: 0.2974, d0.loss_map_pts: 1.7479, d0.loss_map_dir: 0.0160, d1.loss_map_cls: 0.2696, d1.loss_map_pts: 1.2320, d1.loss_map_dir: 0.0159, d2.loss_map_cls: 0.2607, d2.loss_map_pts: 1.1125, d2.loss_map_dir: 0.0167, d3.loss_map_cls: 0.2507, d3.loss_map_pts: 1.0803, d3.loss_map_dir: 0.0170, d4.loss_map_cls: 0.2489, d4.loss_map_pts: 1.0690, d4.loss_map_dir: 0.0173, d5.loss_map_cls: 0.2470, d5.loss_map_pts: 1.0701, d5.loss_map_dir: 0.0174, loss: 43.6714, grad_norm: 155.9590 +2026-02-24 22:38:25,360 - DriveTransformer - INFO - Epoch [3][12750/39528] lr: 9.831e-05, eta: 7 days, 22:06:13, time: 0.783, data_time: 0.040, memory: 19865, loss_cls: 0.3745, loss_bbox: 0.5290, loss_traj: 1.2271, loss_traj_cls: 0.0009, loss_map_cls: 0.2936, loss_map_pts: 1.3027, loss_map_dir: 0.0232, d0.loss_plan_l1_fix_time: 3.2627, d0.loss_plan_l1_fix_dist: 0.4678, d1.loss_plan_l1_fix_time: 2.2290, d1.loss_plan_l1_fix_dist: 0.3448, d2.loss_plan_l1_fix_time: 2.2148, d2.loss_plan_l1_fix_dist: 0.3544, d3.loss_plan_l1_fix_time: 2.2239, d3.loss_plan_l1_fix_dist: 0.3663, d4.loss_plan_l1_fix_time: 2.2328, d4.loss_plan_l1_fix_dist: 0.3787, d5.loss_plan_l1_fix_time: 2.2421, d5.loss_plan_l1_fix_dist: 0.3897, d6.loss_plan_l1_fix_time: 2.2525, d6.loss_plan_l1_fix_dist: 0.4021, d0.loss_cls_all: 0.3853, d0.loss_bbox_all: 0.5720, d0.loss_cls: 0.3853, d0.loss_bbox: 0.5720, d1.loss_cls: 0.3848, d1.loss_bbox: 0.5439, d2.loss_cls: 0.3803, d2.loss_bbox: 0.5311, d3.loss_cls: 0.3754, d3.loss_bbox: 0.5284, d4.loss_cls: 0.3725, d4.loss_bbox: 0.5277, d5.loss_cls: 0.3740, d5.loss_bbox: 0.5271, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3123, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2111, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2114, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.2057, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.2064, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2244, d0.loss_map_cls_all: 0.3384, d0.loss_map_pts_all: 2.2013, d0.loss_map_dir_all: 0.0216, d0.loss_map_cls: 0.3384, d0.loss_map_pts: 2.2013, d0.loss_map_dir: 0.0216, d1.loss_map_cls: 0.3229, d1.loss_map_pts: 1.5164, d1.loss_map_dir: 0.0214, d2.loss_map_cls: 0.3113, d2.loss_map_pts: 1.3566, d2.loss_map_dir: 0.0221, d3.loss_map_cls: 0.2994, d3.loss_map_pts: 1.3084, d3.loss_map_dir: 0.0226, d4.loss_map_cls: 0.2962, d4.loss_map_pts: 1.2964, d4.loss_map_dir: 0.0229, d5.loss_map_cls: 0.2941, d5.loss_map_pts: 1.2992, d5.loss_map_dir: 0.0231, loss: 50.4846, grad_norm: 156.1835 +2026-02-24 22:39:04,949 - DriveTransformer - INFO - Epoch [3][12800/39528] lr: 9.831e-05, eta: 7 days, 22:05:30, time: 0.792, data_time: 0.044, memory: 19865, loss_cls: 0.3709, loss_bbox: 0.5048, loss_traj: 1.2808, loss_traj_cls: 0.0009, loss_map_cls: 0.2793, loss_map_pts: 1.0820, loss_map_dir: 0.0193, d0.loss_plan_l1_fix_time: 2.5823, d0.loss_plan_l1_fix_dist: 0.4266, d1.loss_plan_l1_fix_time: 1.7389, d1.loss_plan_l1_fix_dist: 0.2758, d2.loss_plan_l1_fix_time: 1.7424, d2.loss_plan_l1_fix_dist: 0.2831, d3.loss_plan_l1_fix_time: 1.7525, d3.loss_plan_l1_fix_dist: 0.2909, d4.loss_plan_l1_fix_time: 1.7615, d4.loss_plan_l1_fix_dist: 0.3005, d5.loss_plan_l1_fix_time: 1.7710, d5.loss_plan_l1_fix_dist: 0.3109, d6.loss_plan_l1_fix_time: 1.7813, d6.loss_plan_l1_fix_dist: 0.3247, d0.loss_cls_all: 0.3753, d0.loss_bbox_all: 0.5549, d0.loss_cls: 0.3753, d0.loss_bbox: 0.5549, d1.loss_cls: 0.3747, d1.loss_bbox: 0.5209, d2.loss_cls: 0.3706, d2.loss_bbox: 0.5099, d3.loss_cls: 0.3724, d3.loss_bbox: 0.5054, d4.loss_cls: 0.3700, d4.loss_bbox: 0.5035, d5.loss_cls: 0.3693, d5.loss_bbox: 0.5050, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4175, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2856, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2704, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.2692, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.2726, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.2909, d0.loss_map_cls_all: 0.3271, d0.loss_map_pts_all: 1.8882, d0.loss_map_dir_all: 0.0172, d0.loss_map_cls: 0.3271, d0.loss_map_pts: 1.8882, d0.loss_map_dir: 0.0172, d1.loss_map_cls: 0.3056, d1.loss_map_pts: 1.2959, d1.loss_map_dir: 0.0174, d2.loss_map_cls: 0.2952, d2.loss_map_pts: 1.1575, d2.loss_map_dir: 0.0183, d3.loss_map_cls: 0.2859, d3.loss_map_pts: 1.1065, d3.loss_map_dir: 0.0187, d4.loss_map_cls: 0.2819, d4.loss_map_pts: 1.0888, d4.loss_map_dir: 0.0191, d5.loss_map_cls: 0.2796, d5.loss_map_pts: 1.0842, d5.loss_map_dir: 0.0192, loss: 44.6929, grad_norm: 157.7638 +2026-02-24 22:39:47,184 - DriveTransformer - INFO - Epoch [3][12850/39528] lr: 9.831e-05, eta: 7 days, 22:05:12, time: 0.845, data_time: 0.045, memory: 19865, loss_cls: 0.3929, loss_bbox: 0.5361, loss_traj: 0.9060, loss_traj_cls: 0.0009, loss_map_cls: 0.3273, loss_map_pts: 1.3354, loss_map_dir: 0.0253, d0.loss_plan_l1_fix_time: 2.3045, d0.loss_plan_l1_fix_dist: 0.3926, d1.loss_plan_l1_fix_time: 1.5823, d1.loss_plan_l1_fix_dist: 0.2981, d2.loss_plan_l1_fix_time: 1.5750, d2.loss_plan_l1_fix_dist: 0.3037, d3.loss_plan_l1_fix_time: 1.5799, d3.loss_plan_l1_fix_dist: 0.3108, d4.loss_plan_l1_fix_time: 1.5868, d4.loss_plan_l1_fix_dist: 0.3215, d5.loss_plan_l1_fix_time: 1.5949, d5.loss_plan_l1_fix_dist: 0.3319, d6.loss_plan_l1_fix_time: 1.6041, d6.loss_plan_l1_fix_dist: 0.3463, d0.loss_cls_all: 0.4058, d0.loss_bbox_all: 0.5610, d0.loss_cls: 0.4058, d0.loss_bbox: 0.5610, d1.loss_cls: 0.3941, d1.loss_bbox: 0.5401, d2.loss_cls: 0.3941, d2.loss_bbox: 0.5304, d3.loss_cls: 0.3892, d3.loss_bbox: 0.5313, d4.loss_cls: 0.3887, d4.loss_bbox: 0.5304, d5.loss_cls: 0.3927, d5.loss_bbox: 0.5330, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1707, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9815, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9340, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9186, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.9098, d5.loss_traj_cls: 0.0008, d5.loss_traj: 0.9056, d0.loss_map_cls_all: 0.3693, d0.loss_map_pts_all: 2.4290, d0.loss_map_dir_all: 0.0235, d0.loss_map_cls: 0.3693, d0.loss_map_pts: 2.4290, d0.loss_map_dir: 0.0235, d1.loss_map_cls: 0.3508, d1.loss_map_pts: 1.5796, d1.loss_map_dir: 0.0234, d2.loss_map_cls: 0.3404, d2.loss_map_pts: 1.4113, d2.loss_map_dir: 0.0242, d3.loss_map_cls: 0.3339, d3.loss_map_pts: 1.3630, d3.loss_map_dir: 0.0247, d4.loss_map_cls: 0.3257, d4.loss_map_pts: 1.3464, d4.loss_map_dir: 0.0250, d5.loss_map_cls: 0.3270, d5.loss_map_pts: 1.3373, d5.loss_map_dir: 0.0252, loss: 44.5210, grad_norm: 157.1904 +2026-02-24 22:40:27,982 - DriveTransformer - INFO - Epoch [3][12900/39528] lr: 9.831e-05, eta: 7 days, 22:04:40, time: 0.816, data_time: 0.037, memory: 19865, loss_cls: 0.4142, loss_bbox: 0.5731, loss_traj: 1.1878, loss_traj_cls: 0.0009, loss_map_cls: 0.3184, loss_map_pts: 1.3579, loss_map_dir: 0.0208, d0.loss_plan_l1_fix_time: 3.0964, d0.loss_plan_l1_fix_dist: 0.4190, d1.loss_plan_l1_fix_time: 2.0575, d1.loss_plan_l1_fix_dist: 0.3147, d2.loss_plan_l1_fix_time: 2.0574, d2.loss_plan_l1_fix_dist: 0.3235, d3.loss_plan_l1_fix_time: 2.0621, d3.loss_plan_l1_fix_dist: 0.3390, d4.loss_plan_l1_fix_time: 2.0709, d4.loss_plan_l1_fix_dist: 0.3571, d5.loss_plan_l1_fix_time: 2.0801, d5.loss_plan_l1_fix_dist: 0.3759, d6.loss_plan_l1_fix_time: 2.0897, d6.loss_plan_l1_fix_dist: 0.3946, d0.loss_cls_all: 0.4239, d0.loss_bbox_all: 0.6223, d0.loss_cls: 0.4239, d0.loss_bbox: 0.6223, d1.loss_cls: 0.4200, d1.loss_bbox: 0.5905, d2.loss_cls: 0.4179, d2.loss_bbox: 0.5804, d3.loss_cls: 0.4135, d3.loss_bbox: 0.5719, d4.loss_cls: 0.4144, d4.loss_bbox: 0.5686, d5.loss_cls: 0.4145, d5.loss_bbox: 0.5709, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3786, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2135, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1818, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1767, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1804, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1801, d0.loss_map_cls_all: 0.3640, d0.loss_map_pts_all: 2.1620, d0.loss_map_dir_all: 0.0190, d0.loss_map_cls: 0.3640, d0.loss_map_pts: 2.1620, d0.loss_map_dir: 0.0190, d1.loss_map_cls: 0.3478, d1.loss_map_pts: 1.5592, d1.loss_map_dir: 0.0190, d2.loss_map_cls: 0.3326, d2.loss_map_pts: 1.4291, d2.loss_map_dir: 0.0197, d3.loss_map_cls: 0.3234, d3.loss_map_pts: 1.3778, d3.loss_map_dir: 0.0201, d4.loss_map_cls: 0.3198, d4.loss_map_pts: 1.3584, d4.loss_map_dir: 0.0205, d5.loss_map_cls: 0.3185, d5.loss_map_pts: 1.3559, d5.loss_map_dir: 0.0207, loss: 50.1948, grad_norm: 158.9165 +2026-02-24 22:41:09,998 - DriveTransformer - INFO - Epoch [3][12950/39528] lr: 9.831e-05, eta: 7 days, 22:04:19, time: 0.840, data_time: 0.044, memory: 19865, loss_cls: 0.4037, loss_bbox: 0.5520, loss_traj: 1.1311, loss_traj_cls: 0.0009, loss_map_cls: 0.2629, loss_map_pts: 1.1739, loss_map_dir: 0.0214, d0.loss_plan_l1_fix_time: 2.6714, d0.loss_plan_l1_fix_dist: 0.4026, d1.loss_plan_l1_fix_time: 1.8337, d1.loss_plan_l1_fix_dist: 0.3189, d2.loss_plan_l1_fix_time: 1.8277, d2.loss_plan_l1_fix_dist: 0.3257, d3.loss_plan_l1_fix_time: 1.8405, d3.loss_plan_l1_fix_dist: 0.3388, d4.loss_plan_l1_fix_time: 1.8528, d4.loss_plan_l1_fix_dist: 0.3540, d5.loss_plan_l1_fix_time: 1.8654, d5.loss_plan_l1_fix_dist: 0.3731, d6.loss_plan_l1_fix_time: 1.8788, d6.loss_plan_l1_fix_dist: 0.3968, d0.loss_cls_all: 0.4004, d0.loss_bbox_all: 0.5870, d0.loss_cls: 0.4004, d0.loss_bbox: 0.5870, d1.loss_cls: 0.3987, d1.loss_bbox: 0.5567, d2.loss_cls: 0.3996, d2.loss_bbox: 0.5477, d3.loss_cls: 0.3956, d3.loss_bbox: 0.5453, d4.loss_cls: 0.3956, d4.loss_bbox: 0.5481, d5.loss_cls: 0.4004, d5.loss_bbox: 0.5494, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2631, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1652, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1336, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1251, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1270, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1285, d0.loss_map_cls_all: 0.3061, d0.loss_map_pts_all: 2.1805, d0.loss_map_dir_all: 0.0199, d0.loss_map_cls: 0.3061, d0.loss_map_pts: 2.1805, d0.loss_map_dir: 0.0199, d1.loss_map_cls: 0.2882, d1.loss_map_pts: 1.4012, d1.loss_map_dir: 0.0196, d2.loss_map_cls: 0.2745, d2.loss_map_pts: 1.2511, d2.loss_map_dir: 0.0202, d3.loss_map_cls: 0.2678, d3.loss_map_pts: 1.1956, d3.loss_map_dir: 0.0206, d4.loss_map_cls: 0.2651, d4.loss_map_pts: 1.1795, d4.loss_map_dir: 0.0210, d5.loss_map_cls: 0.2619, d5.loss_map_pts: 1.1733, d5.loss_map_dir: 0.0212, loss: 46.1603, grad_norm: 160.6785 +2026-02-24 22:41:50,064 - DriveTransformer - INFO - Epoch [3][13000/39528] lr: 9.831e-05, eta: 7 days, 22:03:40, time: 0.801, data_time: 0.037, memory: 19865, loss_cls: 0.4006, loss_bbox: 0.5698, loss_traj: 0.9570, loss_traj_cls: 0.0009, loss_map_cls: 0.2840, loss_map_pts: 1.3120, loss_map_dir: 0.0213, d0.loss_plan_l1_fix_time: 3.1571, d0.loss_plan_l1_fix_dist: 0.4221, d1.loss_plan_l1_fix_time: 2.1417, d1.loss_plan_l1_fix_dist: 0.2960, d2.loss_plan_l1_fix_time: 2.1120, d2.loss_plan_l1_fix_dist: 0.3007, d3.loss_plan_l1_fix_time: 2.1099, d3.loss_plan_l1_fix_dist: 0.3115, d4.loss_plan_l1_fix_time: 2.1148, d4.loss_plan_l1_fix_dist: 0.3249, d5.loss_plan_l1_fix_time: 2.1213, d5.loss_plan_l1_fix_dist: 0.3404, d6.loss_plan_l1_fix_time: 2.1291, d6.loss_plan_l1_fix_dist: 0.3586, d0.loss_cls_all: 0.4054, d0.loss_bbox_all: 0.6083, d0.loss_cls: 0.4054, d0.loss_bbox: 0.6083, d1.loss_cls: 0.4020, d1.loss_bbox: 0.5789, d2.loss_cls: 0.3968, d2.loss_bbox: 0.5687, d3.loss_cls: 0.3951, d3.loss_bbox: 0.5665, d4.loss_cls: 0.3938, d4.loss_bbox: 0.5688, d5.loss_cls: 0.3972, d5.loss_bbox: 0.5703, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1060, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9946, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9549, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9594, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.9552, d5.loss_traj_cls: 0.0009, d5.loss_traj: 0.9519, d0.loss_map_cls_all: 0.3318, d0.loss_map_pts_all: 2.1814, d0.loss_map_dir_all: 0.0196, d0.loss_map_cls: 0.3318, d0.loss_map_pts: 2.1814, d0.loss_map_dir: 0.0196, d1.loss_map_cls: 0.3133, d1.loss_map_pts: 1.5264, d1.loss_map_dir: 0.0196, d2.loss_map_cls: 0.2933, d2.loss_map_pts: 1.3783, d2.loss_map_dir: 0.0203, d3.loss_map_cls: 0.2844, d3.loss_map_pts: 1.3270, d3.loss_map_dir: 0.0206, d4.loss_map_cls: 0.2833, d4.loss_map_pts: 1.3129, d4.loss_map_dir: 0.0210, d5.loss_map_cls: 0.2834, d5.loss_map_pts: 1.3104, d5.loss_map_dir: 0.0211, loss: 48.0596, grad_norm: 159.9179 +2026-02-24 22:42:32,629 - DriveTransformer - INFO - Epoch [3][13050/39528] lr: 9.831e-05, eta: 7 days, 22:03:25, time: 0.851, data_time: 0.039, memory: 19865, loss_cls: 0.4235, loss_bbox: 0.5672, loss_traj: 0.9665, loss_traj_cls: 0.0009, loss_map_cls: 0.3119, loss_map_pts: 1.3642, loss_map_dir: 0.0257, d0.loss_plan_l1_fix_time: 3.0552, d0.loss_plan_l1_fix_dist: 0.3674, d1.loss_plan_l1_fix_time: 2.1299, d1.loss_plan_l1_fix_dist: 0.2766, d2.loss_plan_l1_fix_time: 2.1164, d2.loss_plan_l1_fix_dist: 0.2920, d3.loss_plan_l1_fix_time: 2.1109, d3.loss_plan_l1_fix_dist: 0.3077, d4.loss_plan_l1_fix_time: 2.1148, d4.loss_plan_l1_fix_dist: 0.3255, d5.loss_plan_l1_fix_time: 2.1205, d5.loss_plan_l1_fix_dist: 0.3448, d6.loss_plan_l1_fix_time: 2.1272, d6.loss_plan_l1_fix_dist: 0.3619, d0.loss_cls_all: 0.4395, d0.loss_bbox_all: 0.5989, d0.loss_cls: 0.4395, d0.loss_bbox: 0.5989, d1.loss_cls: 0.4275, d1.loss_bbox: 0.5799, d2.loss_cls: 0.4238, d2.loss_bbox: 0.5724, d3.loss_cls: 0.4240, d3.loss_bbox: 0.5683, d4.loss_cls: 0.4241, d4.loss_bbox: 0.5668, d5.loss_cls: 0.4232, d5.loss_bbox: 0.5663, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1244, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9784, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9470, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9522, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9576, d5.loss_traj_cls: 0.0009, d5.loss_traj: 0.9629, d0.loss_map_cls_all: 0.3417, d0.loss_map_pts_all: 2.4090, d0.loss_map_dir_all: 0.0236, d0.loss_map_cls: 0.3417, d0.loss_map_pts: 2.4090, d0.loss_map_dir: 0.0236, d1.loss_map_cls: 0.3320, d1.loss_map_pts: 1.5933, d1.loss_map_dir: 0.0237, d2.loss_map_cls: 0.3214, d2.loss_map_pts: 1.4393, d2.loss_map_dir: 0.0244, d3.loss_map_cls: 0.3155, d3.loss_map_pts: 1.3842, d3.loss_map_dir: 0.0248, d4.loss_map_cls: 0.3118, d4.loss_map_pts: 1.3676, d4.loss_map_dir: 0.0253, d5.loss_map_cls: 0.3112, d5.loss_map_pts: 1.3630, d5.loss_map_dir: 0.0255, loss: 49.1042, grad_norm: 158.7962 +2026-02-24 22:43:12,024 - DriveTransformer - INFO - Epoch [3][13100/39528] lr: 9.831e-05, eta: 7 days, 22:02:40, time: 0.788, data_time: 0.037, memory: 19865, loss_cls: 0.3778, loss_bbox: 0.5354, loss_traj: 1.0237, loss_traj_cls: 0.0010, loss_map_cls: 0.3236, loss_map_pts: 1.2911, loss_map_dir: 0.0219, d0.loss_plan_l1_fix_time: 2.4856, d0.loss_plan_l1_fix_dist: 0.4968, d1.loss_plan_l1_fix_time: 1.7632, d1.loss_plan_l1_fix_dist: 0.3454, d2.loss_plan_l1_fix_time: 1.7420, d2.loss_plan_l1_fix_dist: 0.3544, d3.loss_plan_l1_fix_time: 1.7483, d3.loss_plan_l1_fix_dist: 0.3695, d4.loss_plan_l1_fix_time: 1.7559, d4.loss_plan_l1_fix_dist: 0.3891, d5.loss_plan_l1_fix_time: 1.7633, d5.loss_plan_l1_fix_dist: 0.4136, d6.loss_plan_l1_fix_time: 1.7712, d6.loss_plan_l1_fix_dist: 0.4397, d0.loss_cls_all: 0.3877, d0.loss_bbox_all: 0.5771, d0.loss_cls: 0.3877, d0.loss_bbox: 0.5771, d1.loss_cls: 0.3807, d1.loss_bbox: 0.5533, d2.loss_cls: 0.3777, d2.loss_bbox: 0.5413, d3.loss_cls: 0.3766, d3.loss_bbox: 0.5362, d4.loss_cls: 0.3739, d4.loss_bbox: 0.5353, d5.loss_cls: 0.3745, d5.loss_bbox: 0.5346, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2045, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0578, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0219, d3.loss_traj_cls: 0.0014, d3.loss_traj: 1.0169, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0191, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0181, d0.loss_map_cls_all: 0.3627, d0.loss_map_pts_all: 2.1562, d0.loss_map_dir_all: 0.0195, d0.loss_map_cls: 0.3627, d0.loss_map_pts: 2.1562, d0.loss_map_dir: 0.0195, d1.loss_map_cls: 0.3483, d1.loss_map_pts: 1.5208, d1.loss_map_dir: 0.0196, d2.loss_map_cls: 0.3349, d2.loss_map_pts: 1.3659, d2.loss_map_dir: 0.0205, d3.loss_map_cls: 0.3261, d3.loss_map_pts: 1.3141, d3.loss_map_dir: 0.0210, d4.loss_map_cls: 0.3226, d4.loss_map_pts: 1.2971, d4.loss_map_dir: 0.0215, d5.loss_map_cls: 0.3231, d5.loss_map_pts: 1.2914, d5.loss_map_dir: 0.0218, loss: 45.8955, grad_norm: 160.3657 +2026-02-24 22:43:51,558 - DriveTransformer - INFO - Epoch [3][13150/39528] lr: 9.831e-05, eta: 7 days, 22:01:56, time: 0.791, data_time: 0.038, memory: 19865, loss_cls: 0.4135, loss_bbox: 0.5142, loss_traj: 1.1954, loss_traj_cls: 0.0010, loss_map_cls: 0.2935, loss_map_pts: 1.1768, loss_map_dir: 0.0216, d0.loss_plan_l1_fix_time: 2.6234, d0.loss_plan_l1_fix_dist: 0.3825, d1.loss_plan_l1_fix_time: 1.8823, d1.loss_plan_l1_fix_dist: 0.2934, d2.loss_plan_l1_fix_time: 1.8567, d2.loss_plan_l1_fix_dist: 0.3005, d3.loss_plan_l1_fix_time: 1.8615, d3.loss_plan_l1_fix_dist: 0.3156, d4.loss_plan_l1_fix_time: 1.8675, d4.loss_plan_l1_fix_dist: 0.3308, d5.loss_plan_l1_fix_time: 1.8737, d5.loss_plan_l1_fix_dist: 0.3500, d6.loss_plan_l1_fix_time: 1.8812, d6.loss_plan_l1_fix_dist: 0.3811, d0.loss_cls_all: 0.4210, d0.loss_bbox_all: 0.5532, d0.loss_cls: 0.4210, d0.loss_bbox: 0.5532, d1.loss_cls: 0.4149, d1.loss_bbox: 0.5230, d2.loss_cls: 0.4122, d2.loss_bbox: 0.5139, d3.loss_cls: 0.4127, d3.loss_bbox: 0.5085, d4.loss_cls: 0.4081, d4.loss_bbox: 0.5111, d5.loss_cls: 0.4101, d5.loss_bbox: 0.5113, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3929, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1893, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1659, d3.loss_traj_cls: 0.0014, d3.loss_traj: 1.1742, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1808, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.1850, d0.loss_map_cls_all: 0.3346, d0.loss_map_pts_all: 2.0545, d0.loss_map_dir_all: 0.0201, d0.loss_map_cls: 0.3346, d0.loss_map_pts: 2.0545, d0.loss_map_dir: 0.0201, d1.loss_map_cls: 0.3162, d1.loss_map_pts: 1.3957, d1.loss_map_dir: 0.0198, d2.loss_map_cls: 0.2979, d2.loss_map_pts: 1.2439, d2.loss_map_dir: 0.0206, d3.loss_map_cls: 0.2929, d3.loss_map_pts: 1.1930, d3.loss_map_dir: 0.0209, d4.loss_map_cls: 0.2930, d4.loss_map_pts: 1.1784, d4.loss_map_dir: 0.0214, d5.loss_map_cls: 0.2925, d5.loss_map_pts: 1.1761, d5.loss_map_dir: 0.0215, loss: 46.2864, grad_norm: 160.9761 +2026-02-24 22:44:31,049 - DriveTransformer - INFO - Epoch [3][13200/39528] lr: 9.831e-05, eta: 7 days, 22:01:13, time: 0.791, data_time: 0.044, memory: 19865, loss_cls: 0.4151, loss_bbox: 0.5956, loss_traj: 1.2723, loss_traj_cls: 0.0010, loss_map_cls: 0.3239, loss_map_pts: 1.3399, loss_map_dir: 0.0226, d0.loss_plan_l1_fix_time: 3.1343, d0.loss_plan_l1_fix_dist: 0.4539, d1.loss_plan_l1_fix_time: 2.0592, d1.loss_plan_l1_fix_dist: 0.3409, d2.loss_plan_l1_fix_time: 2.0219, d2.loss_plan_l1_fix_dist: 0.3549, d3.loss_plan_l1_fix_time: 2.0229, d3.loss_plan_l1_fix_dist: 0.3718, d4.loss_plan_l1_fix_time: 2.0269, d4.loss_plan_l1_fix_dist: 0.3892, d5.loss_plan_l1_fix_time: 2.0319, d5.loss_plan_l1_fix_dist: 0.4050, d6.loss_plan_l1_fix_time: 2.0386, d6.loss_plan_l1_fix_dist: 0.4193, d0.loss_cls_all: 0.4235, d0.loss_bbox_all: 0.6290, d0.loss_cls: 0.4235, d0.loss_bbox: 0.6290, d1.loss_cls: 0.4179, d1.loss_bbox: 0.6065, d2.loss_cls: 0.4150, d2.loss_bbox: 0.5968, d3.loss_cls: 0.4156, d3.loss_bbox: 0.5927, d4.loss_cls: 0.4141, d4.loss_bbox: 0.5934, d5.loss_cls: 0.4145, d5.loss_bbox: 0.5938, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3970, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2790, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2653, d3.loss_traj_cls: 0.0014, d3.loss_traj: 1.2634, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.2565, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2687, d0.loss_map_cls_all: 0.3745, d0.loss_map_pts_all: 2.2133, d0.loss_map_dir_all: 0.0209, d0.loss_map_cls: 0.3745, d0.loss_map_pts: 2.2133, d0.loss_map_dir: 0.0209, d1.loss_map_cls: 0.3511, d1.loss_map_pts: 1.5218, d1.loss_map_dir: 0.0210, d2.loss_map_cls: 0.3377, d2.loss_map_pts: 1.3914, d2.loss_map_dir: 0.0216, d3.loss_map_cls: 0.3276, d3.loss_map_pts: 1.3496, d3.loss_map_dir: 0.0221, d4.loss_map_cls: 0.3257, d4.loss_map_pts: 1.3383, d4.loss_map_dir: 0.0224, d5.loss_map_cls: 0.3239, d5.loss_map_pts: 1.3385, d5.loss_map_dir: 0.0225, loss: 50.8748, grad_norm: 160.2295 +2026-02-24 22:45:10,211 - DriveTransformer - INFO - Epoch [3][13250/39528] lr: 9.831e-05, eta: 7 days, 22:00:25, time: 0.782, data_time: 0.043, memory: 19865, loss_cls: 0.3788, loss_bbox: 0.5188, loss_traj: 1.1577, loss_traj_cls: 0.0009, loss_map_cls: 0.3298, loss_map_pts: 1.1853, loss_map_dir: 0.0190, d0.loss_plan_l1_fix_time: 2.7324, d0.loss_plan_l1_fix_dist: 0.4294, d1.loss_plan_l1_fix_time: 1.7132, d1.loss_plan_l1_fix_dist: 0.2984, d2.loss_plan_l1_fix_time: 1.7046, d2.loss_plan_l1_fix_dist: 0.3176, d3.loss_plan_l1_fix_time: 1.7199, d3.loss_plan_l1_fix_dist: 0.3396, d4.loss_plan_l1_fix_time: 1.7303, d4.loss_plan_l1_fix_dist: 0.3643, d5.loss_plan_l1_fix_time: 1.7399, d5.loss_plan_l1_fix_dist: 0.3901, d6.loss_plan_l1_fix_time: 1.7500, d6.loss_plan_l1_fix_dist: 0.4176, d0.loss_cls_all: 0.3810, d0.loss_bbox_all: 0.5640, d0.loss_cls: 0.3810, d0.loss_bbox: 0.5640, d1.loss_cls: 0.3775, d1.loss_bbox: 0.5423, d2.loss_cls: 0.3764, d2.loss_bbox: 0.5303, d3.loss_cls: 0.3761, d3.loss_bbox: 0.5234, d4.loss_cls: 0.3754, d4.loss_bbox: 0.5211, d5.loss_cls: 0.3783, d5.loss_bbox: 0.5171, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3833, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1727, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1592, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1583, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1534, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1571, d0.loss_map_cls_all: 0.3627, d0.loss_map_pts_all: 1.9178, d0.loss_map_dir_all: 0.0174, d0.loss_map_cls: 0.3627, d0.loss_map_pts: 1.9178, d0.loss_map_dir: 0.0174, d1.loss_map_cls: 0.3480, d1.loss_map_pts: 1.3781, d1.loss_map_dir: 0.0171, d2.loss_map_cls: 0.3440, d2.loss_map_pts: 1.2450, d2.loss_map_dir: 0.0177, d3.loss_map_cls: 0.3351, d3.loss_map_pts: 1.2017, d3.loss_map_dir: 0.0183, d4.loss_map_cls: 0.3296, d4.loss_map_pts: 1.1904, d4.loss_map_dir: 0.0188, d5.loss_map_cls: 0.3299, d5.loss_map_pts: 1.1836, d5.loss_map_dir: 0.0189, loss: 45.4069, grad_norm: 159.4566 +2026-02-24 22:45:50,142 - DriveTransformer - INFO - Epoch [3][13300/39528] lr: 9.831e-05, eta: 7 days, 21:59:45, time: 0.799, data_time: 0.043, memory: 19865, loss_cls: 0.4095, loss_bbox: 0.5569, loss_traj: 1.0651, loss_traj_cls: 0.0009, loss_map_cls: 0.2758, loss_map_pts: 1.2326, loss_map_dir: 0.0209, d0.loss_plan_l1_fix_time: 2.7391, d0.loss_plan_l1_fix_dist: 0.4005, d1.loss_plan_l1_fix_time: 1.8785, d1.loss_plan_l1_fix_dist: 0.3181, d2.loss_plan_l1_fix_time: 1.8693, d2.loss_plan_l1_fix_dist: 0.3325, d3.loss_plan_l1_fix_time: 1.8783, d3.loss_plan_l1_fix_dist: 0.3565, d4.loss_plan_l1_fix_time: 1.8874, d4.loss_plan_l1_fix_dist: 0.3813, d5.loss_plan_l1_fix_time: 1.8974, d5.loss_plan_l1_fix_dist: 0.4093, d6.loss_plan_l1_fix_time: 1.9082, d6.loss_plan_l1_fix_dist: 0.4402, d0.loss_cls_all: 0.4182, d0.loss_bbox_all: 0.6110, d0.loss_cls: 0.4182, d0.loss_bbox: 0.6110, d1.loss_cls: 0.4163, d1.loss_bbox: 0.5849, d2.loss_cls: 0.4147, d2.loss_bbox: 0.5686, d3.loss_cls: 0.4100, d3.loss_bbox: 0.5642, d4.loss_cls: 0.4091, d4.loss_bbox: 0.5601, d5.loss_cls: 0.4097, d5.loss_bbox: 0.5573, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2110, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0830, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0632, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0596, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0605, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0608, d0.loss_map_cls_all: 0.3287, d0.loss_map_pts_all: 2.0567, d0.loss_map_dir_all: 0.0186, d0.loss_map_cls: 0.3287, d0.loss_map_pts: 2.0567, d0.loss_map_dir: 0.0186, d1.loss_map_cls: 0.3067, d1.loss_map_pts: 1.4461, d1.loss_map_dir: 0.0191, d2.loss_map_cls: 0.2916, d2.loss_map_pts: 1.3056, d2.loss_map_dir: 0.0198, d3.loss_map_cls: 0.2808, d3.loss_map_pts: 1.2536, d3.loss_map_dir: 0.0203, d4.loss_map_cls: 0.2768, d4.loss_map_pts: 1.2377, d4.loss_map_dir: 0.0206, d5.loss_map_cls: 0.2759, d5.loss_map_pts: 1.2315, d5.loss_map_dir: 0.0207, loss: 46.5701, grad_norm: 161.6733 +2026-02-24 22:46:32,011 - DriveTransformer - INFO - Epoch [3][13350/39528] lr: 9.831e-05, eta: 7 days, 21:59:23, time: 0.837, data_time: 0.049, memory: 19865, loss_cls: 0.3956, loss_bbox: 0.5425, loss_traj: 1.0924, loss_traj_cls: 0.0010, loss_map_cls: 0.2875, loss_map_pts: 1.1986, loss_map_dir: 0.0197, d0.loss_plan_l1_fix_time: 3.0437, d0.loss_plan_l1_fix_dist: 0.4374, d1.loss_plan_l1_fix_time: 2.0044, d1.loss_plan_l1_fix_dist: 0.2955, d2.loss_plan_l1_fix_time: 1.9891, d2.loss_plan_l1_fix_dist: 0.3061, d3.loss_plan_l1_fix_time: 1.9906, d3.loss_plan_l1_fix_dist: 0.3209, d4.loss_plan_l1_fix_time: 1.9962, d4.loss_plan_l1_fix_dist: 0.3397, d5.loss_plan_l1_fix_time: 2.0032, d5.loss_plan_l1_fix_dist: 0.3617, d6.loss_plan_l1_fix_time: 2.0108, d6.loss_plan_l1_fix_dist: 0.3879, d0.loss_cls_all: 0.4011, d0.loss_bbox_all: 0.5992, d0.loss_cls: 0.4011, d0.loss_bbox: 0.5992, d1.loss_cls: 0.4030, d1.loss_bbox: 0.5633, d2.loss_cls: 0.3970, d2.loss_bbox: 0.5515, d3.loss_cls: 0.3953, d3.loss_bbox: 0.5469, d4.loss_cls: 0.3931, d4.loss_bbox: 0.5444, d5.loss_cls: 0.3969, d5.loss_bbox: 0.5421, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2670, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1189, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0891, d3.loss_traj_cls: 0.0014, d3.loss_traj: 1.0767, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0853, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0861, d0.loss_map_cls_all: 0.3433, d0.loss_map_pts_all: 2.0353, d0.loss_map_dir_all: 0.0181, d0.loss_map_cls: 0.3433, d0.loss_map_pts: 2.0353, d0.loss_map_dir: 0.0181, d1.loss_map_cls: 0.3169, d1.loss_map_pts: 1.4232, d1.loss_map_dir: 0.0182, d2.loss_map_cls: 0.3036, d2.loss_map_pts: 1.2795, d2.loss_map_dir: 0.0189, d3.loss_map_cls: 0.2914, d3.loss_map_pts: 1.2237, d3.loss_map_dir: 0.0192, d4.loss_map_cls: 0.2892, d4.loss_map_pts: 1.2044, d4.loss_map_dir: 0.0195, d5.loss_map_cls: 0.2876, d5.loss_map_pts: 1.2014, d5.loss_map_dir: 0.0197, loss: 47.1976, grad_norm: 161.1422 +2026-02-24 22:47:12,991 - DriveTransformer - INFO - Epoch [3][13400/39528] lr: 9.831e-05, eta: 7 days, 21:58:53, time: 0.820, data_time: 0.037, memory: 19865, loss_cls: 0.3794, loss_bbox: 0.5232, loss_traj: 1.1985, loss_traj_cls: 0.0010, loss_map_cls: 0.2861, loss_map_pts: 1.2944, loss_map_dir: 0.0234, d0.loss_plan_l1_fix_time: 2.4137, d0.loss_plan_l1_fix_dist: 0.4306, d1.loss_plan_l1_fix_time: 1.8103, d1.loss_plan_l1_fix_dist: 0.3162, d2.loss_plan_l1_fix_time: 1.8068, d2.loss_plan_l1_fix_dist: 0.3276, d3.loss_plan_l1_fix_time: 1.8095, d3.loss_plan_l1_fix_dist: 0.3450, d4.loss_plan_l1_fix_time: 1.8143, d4.loss_plan_l1_fix_dist: 0.3663, d5.loss_plan_l1_fix_time: 1.8198, d5.loss_plan_l1_fix_dist: 0.3906, d6.loss_plan_l1_fix_time: 1.8262, d6.loss_plan_l1_fix_dist: 0.4218, d0.loss_cls_all: 0.3878, d0.loss_bbox_all: 0.5731, d0.loss_cls: 0.3878, d0.loss_bbox: 0.5731, d1.loss_cls: 0.3818, d1.loss_bbox: 0.5451, d2.loss_cls: 0.3801, d2.loss_bbox: 0.5327, d3.loss_cls: 0.3807, d3.loss_bbox: 0.5272, d4.loss_cls: 0.3791, d4.loss_bbox: 0.5238, d5.loss_cls: 0.3793, d5.loss_bbox: 0.5236, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3283, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1936, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1632, d3.loss_traj_cls: 0.0014, d3.loss_traj: 1.1709, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1900, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1883, d0.loss_map_cls_all: 0.3379, d0.loss_map_pts_all: 2.3635, d0.loss_map_dir_all: 0.0219, d0.loss_map_cls: 0.3379, d0.loss_map_pts: 2.3635, d0.loss_map_dir: 0.0219, d1.loss_map_cls: 0.3173, d1.loss_map_pts: 1.5513, d1.loss_map_dir: 0.0218, d2.loss_map_cls: 0.3043, d2.loss_map_pts: 1.3879, d2.loss_map_dir: 0.0224, d3.loss_map_cls: 0.2926, d3.loss_map_pts: 1.3290, d3.loss_map_dir: 0.0228, d4.loss_map_cls: 0.2879, d4.loss_map_pts: 1.3071, d4.loss_map_dir: 0.0232, d5.loss_map_cls: 0.2856, d5.loss_map_pts: 1.2979, d5.loss_map_dir: 0.0233, loss: 47.2409, grad_norm: 160.8697 +2026-02-24 22:47:53,727 - DriveTransformer - INFO - Epoch [3][13450/39528] lr: 9.831e-05, eta: 7 days, 21:58:20, time: 0.815, data_time: 0.038, memory: 19865, loss_cls: 0.3759, loss_bbox: 0.5292, loss_traj: 1.2552, loss_traj_cls: 0.0010, loss_map_cls: 0.2913, loss_map_pts: 1.2932, loss_map_dir: 0.0225, d0.loss_plan_l1_fix_time: 2.6203, d0.loss_plan_l1_fix_dist: 0.4961, d1.loss_plan_l1_fix_time: 1.9238, d1.loss_plan_l1_fix_dist: 0.3123, d2.loss_plan_l1_fix_time: 1.8975, d2.loss_plan_l1_fix_dist: 0.3224, d3.loss_plan_l1_fix_time: 1.8951, d3.loss_plan_l1_fix_dist: 0.3390, d4.loss_plan_l1_fix_time: 1.8999, d4.loss_plan_l1_fix_dist: 0.3538, d5.loss_plan_l1_fix_time: 1.9063, d5.loss_plan_l1_fix_dist: 0.3718, d6.loss_plan_l1_fix_time: 1.9145, d6.loss_plan_l1_fix_dist: 0.3959, d0.loss_cls_all: 0.3872, d0.loss_bbox_all: 0.5724, d0.loss_cls: 0.3872, d0.loss_bbox: 0.5724, d1.loss_cls: 0.3787, d1.loss_bbox: 0.5494, d2.loss_cls: 0.3762, d2.loss_bbox: 0.5365, d3.loss_cls: 0.3749, d3.loss_bbox: 0.5318, d4.loss_cls: 0.3731, d4.loss_bbox: 0.5297, d5.loss_cls: 0.3755, d5.loss_bbox: 0.5274, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4260, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2725, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2507, d3.loss_traj_cls: 0.0014, d3.loss_traj: 1.2519, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.2542, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2537, d0.loss_map_cls_all: 0.3326, d0.loss_map_pts_all: 2.2959, d0.loss_map_dir_all: 0.0206, d0.loss_map_cls: 0.3326, d0.loss_map_pts: 2.2959, d0.loss_map_dir: 0.0206, d1.loss_map_cls: 0.3207, d1.loss_map_pts: 1.5458, d1.loss_map_dir: 0.0208, d2.loss_map_cls: 0.3040, d2.loss_map_pts: 1.3831, d2.loss_map_dir: 0.0215, d3.loss_map_cls: 0.2973, d3.loss_map_pts: 1.3211, d3.loss_map_dir: 0.0219, d4.loss_map_cls: 0.2926, d4.loss_map_pts: 1.3018, d4.loss_map_dir: 0.0223, d5.loss_map_cls: 0.2923, d5.loss_map_pts: 1.2947, d5.loss_map_dir: 0.0225, loss: 48.3649, grad_norm: 163.5020 +2026-02-24 22:48:33,570 - DriveTransformer - INFO - Epoch [3][13500/39528] lr: 9.831e-05, eta: 7 days, 21:57:39, time: 0.797, data_time: 0.040, memory: 19865, loss_cls: 0.3502, loss_bbox: 0.5218, loss_traj: 1.1642, loss_traj_cls: 0.0010, loss_map_cls: 0.2633, loss_map_pts: 1.1314, loss_map_dir: 0.0176, d0.loss_plan_l1_fix_time: 2.9166, d0.loss_plan_l1_fix_dist: 0.5543, d1.loss_plan_l1_fix_time: 1.9494, d1.loss_plan_l1_fix_dist: 0.3205, d2.loss_plan_l1_fix_time: 1.9099, d2.loss_plan_l1_fix_dist: 0.3316, d3.loss_plan_l1_fix_time: 1.9005, d3.loss_plan_l1_fix_dist: 0.3496, d4.loss_plan_l1_fix_time: 1.9034, d4.loss_plan_l1_fix_dist: 0.3703, d5.loss_plan_l1_fix_time: 1.9092, d5.loss_plan_l1_fix_dist: 0.3939, d6.loss_plan_l1_fix_time: 1.9169, d6.loss_plan_l1_fix_dist: 0.4168, d0.loss_cls_all: 0.3599, d0.loss_bbox_all: 0.5647, d0.loss_cls: 0.3599, d0.loss_bbox: 0.5647, d1.loss_cls: 0.3544, d1.loss_bbox: 0.5415, d2.loss_cls: 0.3527, d2.loss_bbox: 0.5289, d3.loss_cls: 0.3513, d3.loss_bbox: 0.5226, d4.loss_cls: 0.3507, d4.loss_bbox: 0.5205, d5.loss_cls: 0.3493, d5.loss_bbox: 0.5205, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3371, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1890, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1605, d3.loss_traj_cls: 0.0014, d3.loss_traj: 1.1546, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1569, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1584, d0.loss_map_cls_all: 0.3226, d0.loss_map_pts_all: 1.8835, d0.loss_map_dir_all: 0.0157, d0.loss_map_cls: 0.3226, d0.loss_map_pts: 1.8835, d0.loss_map_dir: 0.0157, d1.loss_map_cls: 0.2976, d1.loss_map_pts: 1.3412, d1.loss_map_dir: 0.0160, d2.loss_map_cls: 0.2775, d2.loss_map_pts: 1.1984, d2.loss_map_dir: 0.0166, d3.loss_map_cls: 0.2653, d3.loss_map_pts: 1.1518, d3.loss_map_dir: 0.0170, d4.loss_map_cls: 0.2636, d4.loss_map_pts: 1.1364, d4.loss_map_dir: 0.0174, d5.loss_map_cls: 0.2635, d5.loss_map_pts: 1.1320, d5.loss_map_dir: 0.0175, loss: 45.8519, grad_norm: 161.2933 +2026-02-24 22:49:15,001 - DriveTransformer - INFO - Epoch [3][13550/39528] lr: 9.831e-05, eta: 7 days, 21:57:13, time: 0.829, data_time: 0.041, memory: 19865, loss_cls: 0.4103, loss_bbox: 0.5637, loss_traj: 1.0660, loss_traj_cls: 0.0009, loss_map_cls: 0.3078, loss_map_pts: 1.3486, loss_map_dir: 0.0250, d0.loss_plan_l1_fix_time: 2.8777, d0.loss_plan_l1_fix_dist: 0.4629, d1.loss_plan_l1_fix_time: 1.9946, d1.loss_plan_l1_fix_dist: 0.3306, d2.loss_plan_l1_fix_time: 1.9531, d2.loss_plan_l1_fix_dist: 0.3429, d3.loss_plan_l1_fix_time: 1.9428, d3.loss_plan_l1_fix_dist: 0.3603, d4.loss_plan_l1_fix_time: 1.9445, d4.loss_plan_l1_fix_dist: 0.3834, d5.loss_plan_l1_fix_time: 1.9490, d5.loss_plan_l1_fix_dist: 0.4055, d6.loss_plan_l1_fix_time: 1.9549, d6.loss_plan_l1_fix_dist: 0.4296, d0.loss_cls_all: 0.4248, d0.loss_bbox_all: 0.6156, d0.loss_cls: 0.4248, d0.loss_bbox: 0.6156, d1.loss_cls: 0.4156, d1.loss_bbox: 0.5826, d2.loss_cls: 0.4123, d2.loss_bbox: 0.5689, d3.loss_cls: 0.4077, d3.loss_bbox: 0.5652, d4.loss_cls: 0.4063, d4.loss_bbox: 0.5621, d5.loss_cls: 0.4095, d5.loss_bbox: 0.5612, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2007, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0978, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0654, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0610, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0570, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0544, d0.loss_map_cls_all: 0.3538, d0.loss_map_pts_all: 2.3755, d0.loss_map_dir_all: 0.0221, d0.loss_map_cls: 0.3538, d0.loss_map_pts: 2.3755, d0.loss_map_dir: 0.0221, d1.loss_map_cls: 0.3368, d1.loss_map_pts: 1.5943, d1.loss_map_dir: 0.0226, d2.loss_map_cls: 0.3235, d2.loss_map_pts: 1.4274, d2.loss_map_dir: 0.0237, d3.loss_map_cls: 0.3153, d3.loss_map_pts: 1.3736, d3.loss_map_dir: 0.0243, d4.loss_map_cls: 0.3115, d4.loss_map_pts: 1.3554, d4.loss_map_dir: 0.0247, d5.loss_map_cls: 0.3092, d5.loss_map_pts: 1.3502, d5.loss_map_dir: 0.0249, loss: 48.8884, grad_norm: 161.5392 +2026-02-24 22:49:55,732 - DriveTransformer - INFO - Epoch [3][13600/39528] lr: 9.831e-05, eta: 7 days, 21:56:40, time: 0.815, data_time: 0.039, memory: 19865, loss_cls: 0.3384, loss_bbox: 0.5014, loss_traj: 0.9123, loss_traj_cls: 0.0010, loss_map_cls: 0.2570, loss_map_pts: 1.1603, loss_map_dir: 0.0215, d0.loss_plan_l1_fix_time: 2.3145, d0.loss_plan_l1_fix_dist: 0.4395, d1.loss_plan_l1_fix_time: 1.5639, d1.loss_plan_l1_fix_dist: 0.2859, d2.loss_plan_l1_fix_time: 1.5184, d2.loss_plan_l1_fix_dist: 0.2989, d3.loss_plan_l1_fix_time: 1.5210, d3.loss_plan_l1_fix_dist: 0.3132, d4.loss_plan_l1_fix_time: 1.5266, d4.loss_plan_l1_fix_dist: 0.3264, d5.loss_plan_l1_fix_time: 1.5335, d5.loss_plan_l1_fix_dist: 0.3416, d6.loss_plan_l1_fix_time: 1.5411, d6.loss_plan_l1_fix_dist: 0.3581, d0.loss_cls_all: 0.3533, d0.loss_bbox_all: 0.5427, d0.loss_cls: 0.3533, d0.loss_bbox: 0.5427, d1.loss_cls: 0.3458, d1.loss_bbox: 0.5181, d2.loss_cls: 0.3423, d2.loss_bbox: 0.5058, d3.loss_cls: 0.3405, d3.loss_bbox: 0.5016, d4.loss_cls: 0.3390, d4.loss_bbox: 0.4983, d5.loss_cls: 0.3398, d5.loss_bbox: 0.5002, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0662, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9222, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.8960, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9048, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.9032, d5.loss_traj_cls: 0.0009, d5.loss_traj: 0.9072, d0.loss_map_cls_all: 0.3114, d0.loss_map_pts_all: 2.1940, d0.loss_map_dir_all: 0.0201, d0.loss_map_cls: 0.3114, d0.loss_map_pts: 2.1940, d0.loss_map_dir: 0.0201, d1.loss_map_cls: 0.2884, d1.loss_map_pts: 1.4098, d1.loss_map_dir: 0.0199, d2.loss_map_cls: 0.2746, d2.loss_map_pts: 1.2399, d2.loss_map_dir: 0.0203, d3.loss_map_cls: 0.2606, d3.loss_map_pts: 1.1845, d3.loss_map_dir: 0.0209, d4.loss_map_cls: 0.2549, d4.loss_map_pts: 1.1679, d4.loss_map_dir: 0.0212, d5.loss_map_cls: 0.2549, d5.loss_map_pts: 1.1620, d5.loss_map_dir: 0.0214, loss: 41.3554, grad_norm: 162.3175 +2026-02-24 22:50:37,664 - DriveTransformer - INFO - Epoch [3][13650/39528] lr: 9.831e-05, eta: 7 days, 21:56:19, time: 0.839, data_time: 0.041, memory: 19865, loss_cls: 0.3680, loss_bbox: 0.5665, loss_traj: 1.4860, loss_traj_cls: 0.0010, loss_map_cls: 0.2908, loss_map_pts: 1.3350, loss_map_dir: 0.0238, d0.loss_plan_l1_fix_time: 3.4240, d0.loss_plan_l1_fix_dist: 0.4451, d1.loss_plan_l1_fix_time: 2.3892, d1.loss_plan_l1_fix_dist: 0.3316, d2.loss_plan_l1_fix_time: 2.3740, d2.loss_plan_l1_fix_dist: 0.3398, d3.loss_plan_l1_fix_time: 2.3786, d3.loss_plan_l1_fix_dist: 0.3533, d4.loss_plan_l1_fix_time: 2.3844, d4.loss_plan_l1_fix_dist: 0.3690, d5.loss_plan_l1_fix_time: 2.3894, d5.loss_plan_l1_fix_dist: 0.3876, d6.loss_plan_l1_fix_time: 2.3944, d6.loss_plan_l1_fix_dist: 0.4100, d0.loss_cls_all: 0.3821, d0.loss_bbox_all: 0.6080, d0.loss_cls: 0.3821, d0.loss_bbox: 0.6080, d1.loss_cls: 0.3721, d1.loss_bbox: 0.5816, d2.loss_cls: 0.3702, d2.loss_bbox: 0.5695, d3.loss_cls: 0.3697, d3.loss_bbox: 0.5642, d4.loss_cls: 0.3701, d4.loss_bbox: 0.5637, d5.loss_cls: 0.3695, d5.loss_bbox: 0.5652, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.6698, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4898, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.4575, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.4658, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.4647, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.4736, d0.loss_map_cls_all: 0.3363, d0.loss_map_pts_all: 2.2015, d0.loss_map_dir_all: 0.0211, d0.loss_map_cls: 0.3363, d0.loss_map_pts: 2.2015, d0.loss_map_dir: 0.0211, d1.loss_map_cls: 0.3140, d1.loss_map_pts: 1.5298, d1.loss_map_dir: 0.0217, d2.loss_map_cls: 0.2977, d2.loss_map_pts: 1.3926, d2.loss_map_dir: 0.0227, d3.loss_map_cls: 0.2923, d3.loss_map_pts: 1.3481, d3.loss_map_dir: 0.0231, d4.loss_map_cls: 0.2904, d4.loss_map_pts: 1.3341, d4.loss_map_dir: 0.0234, d5.loss_map_cls: 0.2891, d5.loss_map_pts: 1.3360, d5.loss_map_dir: 0.0236, loss: 53.8001, grad_norm: 161.2945 +2026-02-24 22:51:19,392 - DriveTransformer - INFO - Epoch [3][13700/39528] lr: 9.831e-05, eta: 7 days, 21:55:55, time: 0.835, data_time: 0.041, memory: 19865, loss_cls: 0.3819, loss_bbox: 0.5362, loss_traj: 1.0905, loss_traj_cls: 0.0010, loss_map_cls: 0.2979, loss_map_pts: 1.3661, loss_map_dir: 0.0212, d0.loss_plan_l1_fix_time: 2.9158, d0.loss_plan_l1_fix_dist: 0.4431, d1.loss_plan_l1_fix_time: 2.0052, d1.loss_plan_l1_fix_dist: 0.2994, d2.loss_plan_l1_fix_time: 1.9952, d2.loss_plan_l1_fix_dist: 0.3146, d3.loss_plan_l1_fix_time: 1.9968, d3.loss_plan_l1_fix_dist: 0.3324, d4.loss_plan_l1_fix_time: 2.0010, d4.loss_plan_l1_fix_dist: 0.3530, d5.loss_plan_l1_fix_time: 2.0058, d5.loss_plan_l1_fix_dist: 0.3747, d6.loss_plan_l1_fix_time: 2.0115, d6.loss_plan_l1_fix_dist: 0.4008, d0.loss_cls_all: 0.3962, d0.loss_bbox_all: 0.5786, d0.loss_cls: 0.3962, d0.loss_bbox: 0.5786, d1.loss_cls: 0.3897, d1.loss_bbox: 0.5555, d2.loss_cls: 0.3840, d2.loss_bbox: 0.5420, d3.loss_cls: 0.3832, d3.loss_bbox: 0.5360, d4.loss_cls: 0.3804, d4.loss_bbox: 0.5376, d5.loss_cls: 0.3812, d5.loss_bbox: 0.5355, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3008, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1261, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1058, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0966, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0946, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0839, d0.loss_map_cls_all: 0.3413, d0.loss_map_pts_all: 2.2558, d0.loss_map_dir_all: 0.0190, d0.loss_map_cls: 0.3413, d0.loss_map_pts: 2.2558, d0.loss_map_dir: 0.0190, d1.loss_map_cls: 0.3234, d1.loss_map_pts: 1.5874, d1.loss_map_dir: 0.0191, d2.loss_map_cls: 0.3067, d2.loss_map_pts: 1.4415, d2.loss_map_dir: 0.0202, d3.loss_map_cls: 0.3032, d3.loss_map_pts: 1.3863, d3.loss_map_dir: 0.0205, d4.loss_map_cls: 0.2972, d4.loss_map_pts: 1.3687, d4.loss_map_dir: 0.0209, d5.loss_map_cls: 0.2978, d5.loss_map_pts: 1.3651, d5.loss_map_dir: 0.0211, loss: 48.5432, grad_norm: 160.0267 +2026-02-24 22:51:59,168 - DriveTransformer - INFO - Epoch [3][13750/39528] lr: 9.831e-05, eta: 7 days, 21:55:14, time: 0.796, data_time: 0.041, memory: 19865, loss_cls: 0.4089, loss_bbox: 0.5525, loss_traj: 1.0917, loss_traj_cls: 0.0010, loss_map_cls: 0.3162, loss_map_pts: 1.2911, loss_map_dir: 0.0238, d0.loss_plan_l1_fix_time: 2.5071, d0.loss_plan_l1_fix_dist: 0.4091, d1.loss_plan_l1_fix_time: 1.6924, d1.loss_plan_l1_fix_dist: 0.2530, d2.loss_plan_l1_fix_time: 1.6958, d2.loss_plan_l1_fix_dist: 0.2720, d3.loss_plan_l1_fix_time: 1.7007, d3.loss_plan_l1_fix_dist: 0.2983, d4.loss_plan_l1_fix_time: 1.7062, d4.loss_plan_l1_fix_dist: 0.3279, d5.loss_plan_l1_fix_time: 1.7127, d5.loss_plan_l1_fix_dist: 0.3623, d6.loss_plan_l1_fix_time: 1.7204, d6.loss_plan_l1_fix_dist: 0.3957, d0.loss_cls_all: 0.4293, d0.loss_bbox_all: 0.5889, d0.loss_cls: 0.4293, d0.loss_bbox: 0.5889, d1.loss_cls: 0.4222, d1.loss_bbox: 0.5643, d2.loss_cls: 0.4172, d2.loss_bbox: 0.5525, d3.loss_cls: 0.4132, d3.loss_bbox: 0.5492, d4.loss_cls: 0.4102, d4.loss_bbox: 0.5497, d5.loss_cls: 0.4091, d5.loss_bbox: 0.5522, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2793, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1204, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0932, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0873, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0857, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0856, d0.loss_map_cls_all: 0.3606, d0.loss_map_pts_all: 2.1995, d0.loss_map_dir_all: 0.0215, d0.loss_map_cls: 0.3606, d0.loss_map_pts: 2.1995, d0.loss_map_dir: 0.0215, d1.loss_map_cls: 0.3399, d1.loss_map_pts: 1.4898, d1.loss_map_dir: 0.0221, d2.loss_map_cls: 0.3271, d2.loss_map_pts: 1.3547, d2.loss_map_dir: 0.0227, d3.loss_map_cls: 0.3175, d3.loss_map_pts: 1.3085, d3.loss_map_dir: 0.0231, d4.loss_map_cls: 0.3142, d4.loss_map_pts: 1.2938, d4.loss_map_dir: 0.0234, d5.loss_map_cls: 0.3150, d5.loss_map_pts: 1.2915, d5.loss_map_dir: 0.0236, loss: 46.0021, grad_norm: 159.5870 +2026-02-24 22:52:37,587 - DriveTransformer - INFO - Epoch [3][13800/39528] lr: 9.831e-05, eta: 7 days, 21:54:20, time: 0.768, data_time: 0.038, memory: 19865, loss_cls: 0.3578, loss_bbox: 0.5250, loss_traj: 1.0346, loss_traj_cls: 0.0010, loss_map_cls: 0.2952, loss_map_pts: 1.1508, loss_map_dir: 0.0191, d0.loss_plan_l1_fix_time: 2.7820, d0.loss_plan_l1_fix_dist: 0.3924, d1.loss_plan_l1_fix_time: 1.9091, d1.loss_plan_l1_fix_dist: 0.2544, d2.loss_plan_l1_fix_time: 1.8938, d2.loss_plan_l1_fix_dist: 0.2672, d3.loss_plan_l1_fix_time: 1.9031, d3.loss_plan_l1_fix_dist: 0.2834, d4.loss_plan_l1_fix_time: 1.9092, d4.loss_plan_l1_fix_dist: 0.3025, d5.loss_plan_l1_fix_time: 1.9159, d5.loss_plan_l1_fix_dist: 0.3224, d6.loss_plan_l1_fix_time: 1.9234, d6.loss_plan_l1_fix_dist: 0.3437, d0.loss_cls_all: 0.3755, d0.loss_bbox_all: 0.5612, d0.loss_cls: 0.3755, d0.loss_bbox: 0.5612, d1.loss_cls: 0.3685, d1.loss_bbox: 0.5369, d2.loss_cls: 0.3621, d2.loss_bbox: 0.5289, d3.loss_cls: 0.3579, d3.loss_bbox: 0.5272, d4.loss_cls: 0.3550, d4.loss_bbox: 0.5269, d5.loss_cls: 0.3580, d5.loss_bbox: 0.5243, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1150, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0379, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0213, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0209, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0202, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0264, d0.loss_map_cls_all: 0.3334, d0.loss_map_pts_all: 1.9349, d0.loss_map_dir_all: 0.0172, d0.loss_map_cls: 0.3334, d0.loss_map_pts: 1.9349, d0.loss_map_dir: 0.0172, d1.loss_map_cls: 0.3180, d1.loss_map_pts: 1.3407, d1.loss_map_dir: 0.0173, d2.loss_map_cls: 0.3063, d2.loss_map_pts: 1.2128, d2.loss_map_dir: 0.0179, d3.loss_map_cls: 0.3004, d3.loss_map_pts: 1.1677, d3.loss_map_dir: 0.0184, d4.loss_map_cls: 0.2978, d4.loss_map_pts: 1.1539, d4.loss_map_dir: 0.0187, d5.loss_map_cls: 0.2960, d5.loss_map_pts: 1.1486, d5.loss_map_dir: 0.0189, loss: 44.5570, grad_norm: 155.8004 +2026-02-24 22:53:20,293 - DriveTransformer - INFO - Epoch [3][13850/39528] lr: 9.831e-05, eta: 7 days, 21:54:05, time: 0.854, data_time: 0.041, memory: 19865, loss_cls: 0.3877, loss_bbox: 0.5727, loss_traj: 1.1473, loss_traj_cls: 0.0010, loss_map_cls: 0.2909, loss_map_pts: 1.3823, loss_map_dir: 0.0249, d0.loss_plan_l1_fix_time: 2.4021, d0.loss_plan_l1_fix_dist: 0.4458, d1.loss_plan_l1_fix_time: 1.7441, d1.loss_plan_l1_fix_dist: 0.3087, d2.loss_plan_l1_fix_time: 1.7231, d2.loss_plan_l1_fix_dist: 0.3268, d3.loss_plan_l1_fix_time: 1.7249, d3.loss_plan_l1_fix_dist: 0.3505, d4.loss_plan_l1_fix_time: 1.7291, d4.loss_plan_l1_fix_dist: 0.3803, d5.loss_plan_l1_fix_time: 1.7349, d5.loss_plan_l1_fix_dist: 0.4105, d6.loss_plan_l1_fix_time: 1.7417, d6.loss_plan_l1_fix_dist: 0.4420, d0.loss_cls_all: 0.4045, d0.loss_bbox_all: 0.6187, d0.loss_cls: 0.4045, d0.loss_bbox: 0.6187, d1.loss_cls: 0.3961, d1.loss_bbox: 0.5944, d2.loss_cls: 0.3882, d2.loss_bbox: 0.5795, d3.loss_cls: 0.3885, d3.loss_bbox: 0.5729, d4.loss_cls: 0.3881, d4.loss_bbox: 0.5707, d5.loss_cls: 0.3877, d5.loss_bbox: 0.5710, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3095, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1465, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1337, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1412, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1376, d5.loss_traj_cls: 0.0008, d5.loss_traj: 1.1443, d0.loss_map_cls_all: 0.3279, d0.loss_map_pts_all: 2.4156, d0.loss_map_dir_all: 0.0226, d0.loss_map_cls: 0.3279, d0.loss_map_pts: 2.4156, d0.loss_map_dir: 0.0226, d1.loss_map_cls: 0.3096, d1.loss_map_pts: 1.6348, d1.loss_map_dir: 0.0228, d2.loss_map_cls: 0.2990, d2.loss_map_pts: 1.4674, d2.loss_map_dir: 0.0237, d3.loss_map_cls: 0.2948, d3.loss_map_pts: 1.4144, d3.loss_map_dir: 0.0242, d4.loss_map_cls: 0.2923, d4.loss_map_pts: 1.3932, d4.loss_map_dir: 0.0246, d5.loss_map_cls: 0.2906, d5.loss_map_pts: 1.3863, d5.loss_map_dir: 0.0247, loss: 47.6077, grad_norm: 158.9421 +2026-02-24 22:54:00,880 - DriveTransformer - INFO - Epoch [3][13900/39528] lr: 9.831e-05, eta: 7 days, 21:53:31, time: 0.812, data_time: 0.041, memory: 19865, loss_cls: 0.3589, loss_bbox: 0.5286, loss_traj: 1.2437, loss_traj_cls: 0.0010, loss_map_cls: 0.2706, loss_map_pts: 1.1127, loss_map_dir: 0.0198, d0.loss_plan_l1_fix_time: 2.6368, d0.loss_plan_l1_fix_dist: 0.3992, d1.loss_plan_l1_fix_time: 1.9281, d1.loss_plan_l1_fix_dist: 0.2834, d2.loss_plan_l1_fix_time: 1.8929, d2.loss_plan_l1_fix_dist: 0.3001, d3.loss_plan_l1_fix_time: 1.8922, d3.loss_plan_l1_fix_dist: 0.3193, d4.loss_plan_l1_fix_time: 1.8963, d4.loss_plan_l1_fix_dist: 0.3398, d5.loss_plan_l1_fix_time: 1.9019, d5.loss_plan_l1_fix_dist: 0.3612, d6.loss_plan_l1_fix_time: 1.9090, d6.loss_plan_l1_fix_dist: 0.3840, d0.loss_cls_all: 0.3734, d0.loss_bbox_all: 0.5699, d0.loss_cls: 0.3734, d0.loss_bbox: 0.5699, d1.loss_cls: 0.3650, d1.loss_bbox: 0.5461, d2.loss_cls: 0.3605, d2.loss_bbox: 0.5330, d3.loss_cls: 0.3589, d3.loss_bbox: 0.5298, d4.loss_cls: 0.3588, d4.loss_bbox: 0.5261, d5.loss_cls: 0.3585, d5.loss_bbox: 0.5267, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3078, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2211, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2126, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.2251, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.2291, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2350, d0.loss_map_cls_all: 0.3232, d0.loss_map_pts_all: 1.8890, d0.loss_map_dir_all: 0.0176, d0.loss_map_cls: 0.3232, d0.loss_map_pts: 1.8890, d0.loss_map_dir: 0.0176, d1.loss_map_cls: 0.3036, d1.loss_map_pts: 1.3084, d1.loss_map_dir: 0.0178, d2.loss_map_cls: 0.2855, d2.loss_map_pts: 1.1757, d2.loss_map_dir: 0.0187, d3.loss_map_cls: 0.2757, d3.loss_map_pts: 1.1339, d3.loss_map_dir: 0.0192, d4.loss_map_cls: 0.2723, d4.loss_map_pts: 1.1162, d4.loss_map_dir: 0.0195, d5.loss_map_cls: 0.2714, d5.loss_map_pts: 1.1144, d5.loss_map_dir: 0.0197, loss: 45.5771, grad_norm: 159.7149 +2026-02-24 22:54:41,003 - DriveTransformer - INFO - Epoch [3][13950/39528] lr: 9.831e-05, eta: 7 days, 21:52:53, time: 0.802, data_time: 0.039, memory: 19865, loss_cls: 0.3538, loss_bbox: 0.5312, loss_traj: 1.2060, loss_traj_cls: 0.0010, loss_map_cls: 0.2718, loss_map_pts: 1.2067, loss_map_dir: 0.0227, d0.loss_plan_l1_fix_time: 2.8049, d0.loss_plan_l1_fix_dist: 0.4472, d1.loss_plan_l1_fix_time: 1.9603, d1.loss_plan_l1_fix_dist: 0.3200, d2.loss_plan_l1_fix_time: 1.9469, d2.loss_plan_l1_fix_dist: 0.3347, d3.loss_plan_l1_fix_time: 1.9443, d3.loss_plan_l1_fix_dist: 0.3544, d4.loss_plan_l1_fix_time: 1.9471, d4.loss_plan_l1_fix_dist: 0.3757, d5.loss_plan_l1_fix_time: 1.9516, d5.loss_plan_l1_fix_dist: 0.3986, d6.loss_plan_l1_fix_time: 1.9571, d6.loss_plan_l1_fix_dist: 0.4253, d0.loss_cls_all: 0.3713, d0.loss_bbox_all: 0.5655, d0.loss_cls: 0.3713, d0.loss_bbox: 0.5655, d1.loss_cls: 0.3638, d1.loss_bbox: 0.5413, d2.loss_cls: 0.3603, d2.loss_bbox: 0.5320, d3.loss_cls: 0.3562, d3.loss_bbox: 0.5289, d4.loss_cls: 0.3540, d4.loss_bbox: 0.5289, d5.loss_cls: 0.3531, d5.loss_bbox: 0.5304, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4037, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2185, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1943, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1934, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1943, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1973, d0.loss_map_cls_all: 0.3324, d0.loss_map_pts_all: 2.1911, d0.loss_map_dir_all: 0.0209, d0.loss_map_cls: 0.3324, d0.loss_map_pts: 2.1911, d0.loss_map_dir: 0.0209, d1.loss_map_cls: 0.3052, d1.loss_map_pts: 1.4186, d1.loss_map_dir: 0.0207, d2.loss_map_cls: 0.2884, d2.loss_map_pts: 1.2727, d2.loss_map_dir: 0.0215, d3.loss_map_cls: 0.2782, d3.loss_map_pts: 1.2242, d3.loss_map_dir: 0.0221, d4.loss_map_cls: 0.2758, d4.loss_map_pts: 1.2088, d4.loss_map_dir: 0.0225, d5.loss_map_cls: 0.2729, d5.loss_map_pts: 1.2057, d5.loss_map_dir: 0.0226, loss: 47.4393, grad_norm: 157.5804 +2026-02-24 22:55:20,224 - DriveTransformer - INFO - Epoch [3][14000/39528] lr: 9.831e-05, eta: 7 days, 21:52:07, time: 0.786, data_time: 0.040, memory: 19865, loss_cls: 0.3434, loss_bbox: 0.5180, loss_traj: 1.1198, loss_traj_cls: 0.0010, loss_map_cls: 0.2797, loss_map_pts: 1.1860, loss_map_dir: 0.0194, d0.loss_plan_l1_fix_time: 2.7880, d0.loss_plan_l1_fix_dist: 0.4700, d1.loss_plan_l1_fix_time: 2.0779, d1.loss_plan_l1_fix_dist: 0.2894, d2.loss_plan_l1_fix_time: 2.0566, d2.loss_plan_l1_fix_dist: 0.2992, d3.loss_plan_l1_fix_time: 2.0537, d3.loss_plan_l1_fix_dist: 0.3168, d4.loss_plan_l1_fix_time: 2.0579, d4.loss_plan_l1_fix_dist: 0.3385, d5.loss_plan_l1_fix_time: 2.0638, d5.loss_plan_l1_fix_dist: 0.3629, d6.loss_plan_l1_fix_time: 2.0704, d6.loss_plan_l1_fix_dist: 0.3897, d0.loss_cls_all: 0.3657, d0.loss_bbox_all: 0.5607, d0.loss_cls: 0.3657, d0.loss_bbox: 0.5607, d1.loss_cls: 0.3612, d1.loss_bbox: 0.5351, d2.loss_cls: 0.3514, d2.loss_bbox: 0.5252, d3.loss_cls: 0.3482, d3.loss_bbox: 0.5189, d4.loss_cls: 0.3462, d4.loss_bbox: 0.5181, d5.loss_cls: 0.3442, d5.loss_bbox: 0.5184, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2640, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1534, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1373, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1339, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1347, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1320, d0.loss_map_cls_all: 0.3216, d0.loss_map_pts_all: 1.9845, d0.loss_map_dir_all: 0.0178, d0.loss_map_cls: 0.3216, d0.loss_map_pts: 1.9845, d0.loss_map_dir: 0.0178, d1.loss_map_cls: 0.3018, d1.loss_map_pts: 1.3986, d1.loss_map_dir: 0.0178, d2.loss_map_cls: 0.2889, d2.loss_map_pts: 1.2470, d2.loss_map_dir: 0.0185, d3.loss_map_cls: 0.2833, d3.loss_map_pts: 1.2020, d3.loss_map_dir: 0.0189, d4.loss_map_cls: 0.2803, d4.loss_map_pts: 1.1892, d4.loss_map_dir: 0.0192, d5.loss_map_cls: 0.2791, d5.loss_map_pts: 1.1858, d5.loss_map_dir: 0.0194, loss: 46.6801, grad_norm: 159.4990 +2026-02-24 22:55:58,352 - DriveTransformer - INFO - Epoch [3][14050/39528] lr: 9.831e-05, eta: 7 days, 21:51:10, time: 0.761, data_time: 0.036, memory: 19865, loss_cls: 0.3675, loss_bbox: 0.5242, loss_traj: 1.1935, loss_traj_cls: 0.0011, loss_map_cls: 0.2529, loss_map_pts: 1.0983, loss_map_dir: 0.0177, d0.loss_plan_l1_fix_time: 2.8901, d0.loss_plan_l1_fix_dist: 0.4402, d1.loss_plan_l1_fix_time: 2.1313, d1.loss_plan_l1_fix_dist: 0.2604, d2.loss_plan_l1_fix_time: 2.1188, d2.loss_plan_l1_fix_dist: 0.2681, d3.loss_plan_l1_fix_time: 2.1232, d3.loss_plan_l1_fix_dist: 0.2811, d4.loss_plan_l1_fix_time: 2.1279, d4.loss_plan_l1_fix_dist: 0.2987, d5.loss_plan_l1_fix_time: 2.1334, d5.loss_plan_l1_fix_dist: 0.3166, d6.loss_plan_l1_fix_time: 2.1390, d6.loss_plan_l1_fix_dist: 0.3335, d0.loss_cls_all: 0.3816, d0.loss_bbox_all: 0.5602, d0.loss_cls: 0.3816, d0.loss_bbox: 0.5602, d1.loss_cls: 0.3810, d1.loss_bbox: 0.5371, d2.loss_cls: 0.3717, d2.loss_bbox: 0.5272, d3.loss_cls: 0.3688, d3.loss_bbox: 0.5237, d4.loss_cls: 0.3683, d4.loss_bbox: 0.5219, d5.loss_cls: 0.3676, d5.loss_bbox: 0.5226, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3151, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1977, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1765, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1750, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1807, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1961, d0.loss_map_cls_all: 0.3124, d0.loss_map_pts_all: 1.8314, d0.loss_map_dir_all: 0.0156, d0.loss_map_cls: 0.3124, d0.loss_map_pts: 1.8314, d0.loss_map_dir: 0.0156, d1.loss_map_cls: 0.2849, d1.loss_map_pts: 1.2982, d1.loss_map_dir: 0.0158, d2.loss_map_cls: 0.2667, d2.loss_map_pts: 1.1657, d2.loss_map_dir: 0.0166, d3.loss_map_cls: 0.2605, d3.loss_map_pts: 1.1181, d3.loss_map_dir: 0.0171, d4.loss_map_cls: 0.2558, d4.loss_map_pts: 1.1033, d4.loss_map_dir: 0.0174, d5.loss_map_cls: 0.2530, d5.loss_map_pts: 1.0976, d5.loss_map_dir: 0.0176, loss: 46.4444, grad_norm: 159.5535 +2026-02-24 22:56:39,941 - DriveTransformer - INFO - Epoch [3][14100/39528] lr: 9.831e-05, eta: 7 days, 21:50:45, time: 0.832, data_time: 0.049, memory: 19865, loss_cls: 0.3931, loss_bbox: 0.5692, loss_traj: 1.2007, loss_traj_cls: 0.0012, loss_map_cls: 0.2951, loss_map_pts: 1.3074, loss_map_dir: 0.0238, d0.loss_plan_l1_fix_time: 2.6333, d0.loss_plan_l1_fix_dist: 0.4674, d1.loss_plan_l1_fix_time: 1.8043, d1.loss_plan_l1_fix_dist: 0.2977, d2.loss_plan_l1_fix_time: 1.7909, d2.loss_plan_l1_fix_dist: 0.3133, d3.loss_plan_l1_fix_time: 1.7963, d3.loss_plan_l1_fix_dist: 0.3331, d4.loss_plan_l1_fix_time: 1.8034, d4.loss_plan_l1_fix_dist: 0.3570, d5.loss_plan_l1_fix_time: 1.8105, d5.loss_plan_l1_fix_dist: 0.3821, d6.loss_plan_l1_fix_time: 1.8184, d6.loss_plan_l1_fix_dist: 0.4121, d0.loss_cls_all: 0.4027, d0.loss_bbox_all: 0.6063, d0.loss_cls: 0.4027, d0.loss_bbox: 0.6063, d1.loss_cls: 0.3951, d1.loss_bbox: 0.5847, d2.loss_cls: 0.3911, d2.loss_bbox: 0.5742, d3.loss_cls: 0.3921, d3.loss_bbox: 0.5685, d4.loss_cls: 0.3927, d4.loss_bbox: 0.5647, d5.loss_cls: 0.3940, d5.loss_bbox: 0.5658, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2740, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1909, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1903, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1793, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1838, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1916, d0.loss_map_cls_all: 0.3338, d0.loss_map_pts_all: 2.2629, d0.loss_map_dir_all: 0.0218, d0.loss_map_cls: 0.3338, d0.loss_map_pts: 2.2629, d0.loss_map_dir: 0.0218, d1.loss_map_cls: 0.3172, d1.loss_map_pts: 1.5282, d1.loss_map_dir: 0.0219, d2.loss_map_cls: 0.3026, d2.loss_map_pts: 1.3783, d2.loss_map_dir: 0.0227, d3.loss_map_cls: 0.2975, d3.loss_map_pts: 1.3256, d3.loss_map_dir: 0.0232, d4.loss_map_cls: 0.2944, d4.loss_map_pts: 1.3100, d4.loss_map_dir: 0.0235, d5.loss_map_cls: 0.2930, d5.loss_map_pts: 1.3061, d5.loss_map_dir: 0.0237, loss: 47.5716, grad_norm: 160.8072 +2026-02-24 22:57:21,980 - DriveTransformer - INFO - Epoch [3][14150/39528] lr: 9.831e-05, eta: 7 days, 21:50:24, time: 0.841, data_time: 0.038, memory: 19865, loss_cls: 0.4016, loss_bbox: 0.5722, loss_traj: 1.1034, loss_traj_cls: 0.0011, loss_map_cls: 0.2833, loss_map_pts: 1.2548, loss_map_dir: 0.0238, d0.loss_plan_l1_fix_time: 3.1345, d0.loss_plan_l1_fix_dist: 0.4285, d1.loss_plan_l1_fix_time: 2.1240, d1.loss_plan_l1_fix_dist: 0.2919, d2.loss_plan_l1_fix_time: 2.1089, d2.loss_plan_l1_fix_dist: 0.3008, d3.loss_plan_l1_fix_time: 2.1121, d3.loss_plan_l1_fix_dist: 0.3144, d4.loss_plan_l1_fix_time: 2.1194, d4.loss_plan_l1_fix_dist: 0.3274, d5.loss_plan_l1_fix_time: 2.1267, d5.loss_plan_l1_fix_dist: 0.3422, d6.loss_plan_l1_fix_time: 2.1342, d6.loss_plan_l1_fix_dist: 0.3582, d0.loss_cls_all: 0.4178, d0.loss_bbox_all: 0.6162, d0.loss_cls: 0.4178, d0.loss_bbox: 0.6162, d1.loss_cls: 0.4172, d1.loss_bbox: 0.5843, d2.loss_cls: 0.4086, d2.loss_bbox: 0.5711, d3.loss_cls: 0.4036, d3.loss_bbox: 0.5662, d4.loss_cls: 0.4019, d4.loss_bbox: 0.5656, d5.loss_cls: 0.4027, d5.loss_bbox: 0.5671, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3371, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1404, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1165, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1095, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1019, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1076, d0.loss_map_cls_all: 0.3228, d0.loss_map_pts_all: 2.2092, d0.loss_map_dir_all: 0.0218, d0.loss_map_cls: 0.3228, d0.loss_map_pts: 2.2092, d0.loss_map_dir: 0.0218, d1.loss_map_cls: 0.3075, d1.loss_map_pts: 1.4719, d1.loss_map_dir: 0.0217, d2.loss_map_cls: 0.2946, d2.loss_map_pts: 1.3204, d2.loss_map_dir: 0.0225, d3.loss_map_cls: 0.2912, d3.loss_map_pts: 1.2749, d3.loss_map_dir: 0.0231, d4.loss_map_cls: 0.2837, d4.loss_map_pts: 1.2599, d4.loss_map_dir: 0.0235, d5.loss_map_cls: 0.2833, d5.loss_map_pts: 1.2556, d5.loss_map_dir: 0.0236, loss: 49.0029, grad_norm: 161.0875 +2026-02-24 22:58:00,709 - DriveTransformer - INFO - Epoch [3][14200/39528] lr: 9.831e-05, eta: 7 days, 21:49:33, time: 0.775, data_time: 0.040, memory: 19865, loss_cls: 0.3701, loss_bbox: 0.5175, loss_traj: 0.9411, loss_traj_cls: 0.0010, loss_map_cls: 0.2589, loss_map_pts: 1.0676, loss_map_dir: 0.0189, d0.loss_plan_l1_fix_time: 2.4644, d0.loss_plan_l1_fix_dist: 0.4259, d1.loss_plan_l1_fix_time: 1.6496, d1.loss_plan_l1_fix_dist: 0.2819, d2.loss_plan_l1_fix_time: 1.6347, d2.loss_plan_l1_fix_dist: 0.2929, d3.loss_plan_l1_fix_time: 1.6342, d3.loss_plan_l1_fix_dist: 0.3081, d4.loss_plan_l1_fix_time: 1.6406, d4.loss_plan_l1_fix_dist: 0.3236, d5.loss_plan_l1_fix_time: 1.6476, d5.loss_plan_l1_fix_dist: 0.3404, d6.loss_plan_l1_fix_time: 1.6554, d6.loss_plan_l1_fix_dist: 0.3588, d0.loss_cls_all: 0.3921, d0.loss_bbox_all: 0.5577, d0.loss_cls: 0.3921, d0.loss_bbox: 0.5577, d1.loss_cls: 0.3823, d1.loss_bbox: 0.5355, d2.loss_cls: 0.3766, d2.loss_bbox: 0.5244, d3.loss_cls: 0.3723, d3.loss_bbox: 0.5174, d4.loss_cls: 0.3693, d4.loss_bbox: 0.5159, d5.loss_cls: 0.3698, d5.loss_bbox: 0.5160, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1153, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9615, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.9370, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9324, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9328, d5.loss_traj_cls: 0.0009, d5.loss_traj: 0.9363, d0.loss_map_cls_all: 0.3047, d0.loss_map_pts_all: 1.8690, d0.loss_map_dir_all: 0.0175, d0.loss_map_cls: 0.3047, d0.loss_map_pts: 1.8690, d0.loss_map_dir: 0.0175, d1.loss_map_cls: 0.2929, d1.loss_map_pts: 1.2549, d1.loss_map_dir: 0.0176, d2.loss_map_cls: 0.2789, d2.loss_map_pts: 1.1332, d2.loss_map_dir: 0.0184, d3.loss_map_cls: 0.2668, d3.loss_map_pts: 1.0900, d3.loss_map_dir: 0.0186, d4.loss_map_cls: 0.2630, d4.loss_map_pts: 1.0720, d4.loss_map_dir: 0.0188, d5.loss_map_cls: 0.2604, d5.loss_map_pts: 1.0672, d5.loss_map_dir: 0.0189, loss: 41.4875, grad_norm: 160.4031 +2026-02-24 22:58:39,841 - DriveTransformer - INFO - Epoch [3][14250/39528] lr: 9.831e-05, eta: 7 days, 21:48:46, time: 0.783, data_time: 0.041, memory: 19865, loss_cls: 0.3521, loss_bbox: 0.4836, loss_traj: 0.8895, loss_traj_cls: 0.0011, loss_map_cls: 0.2485, loss_map_pts: 1.1622, loss_map_dir: 0.0212, d0.loss_plan_l1_fix_time: 2.3777, d0.loss_plan_l1_fix_dist: 0.4478, d1.loss_plan_l1_fix_time: 1.6492, d1.loss_plan_l1_fix_dist: 0.2734, d2.loss_plan_l1_fix_time: 1.6295, d2.loss_plan_l1_fix_dist: 0.2794, d3.loss_plan_l1_fix_time: 1.6395, d3.loss_plan_l1_fix_dist: 0.2915, d4.loss_plan_l1_fix_time: 1.6478, d4.loss_plan_l1_fix_dist: 0.3108, d5.loss_plan_l1_fix_time: 1.6578, d5.loss_plan_l1_fix_dist: 0.3320, d6.loss_plan_l1_fix_time: 1.6689, d6.loss_plan_l1_fix_dist: 0.3550, d0.loss_cls_all: 0.3637, d0.loss_bbox_all: 0.5186, d0.loss_cls: 0.3637, d0.loss_bbox: 0.5186, d1.loss_cls: 0.3611, d1.loss_bbox: 0.4939, d2.loss_cls: 0.3552, d2.loss_bbox: 0.4859, d3.loss_cls: 0.3543, d3.loss_bbox: 0.4831, d4.loss_cls: 0.3533, d4.loss_bbox: 0.4799, d5.loss_cls: 0.3514, d5.loss_bbox: 0.4816, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0626, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9192, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.8919, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8856, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8813, d5.loss_traj_cls: 0.0009, d5.loss_traj: 0.8797, d0.loss_map_cls_all: 0.2995, d0.loss_map_pts_all: 2.1434, d0.loss_map_dir_all: 0.0199, d0.loss_map_cls: 0.2995, d0.loss_map_pts: 2.1434, d0.loss_map_dir: 0.0199, d1.loss_map_cls: 0.2781, d1.loss_map_pts: 1.3819, d1.loss_map_dir: 0.0197, d2.loss_map_cls: 0.2634, d2.loss_map_pts: 1.2403, d2.loss_map_dir: 0.0203, d3.loss_map_cls: 0.2541, d3.loss_map_pts: 1.1873, d3.loss_map_dir: 0.0207, d4.loss_map_cls: 0.2497, d4.loss_map_pts: 1.1704, d4.loss_map_dir: 0.0209, d5.loss_map_cls: 0.2495, d5.loss_map_pts: 1.1627, d5.loss_map_dir: 0.0211, loss: 41.6740, grad_norm: 159.8411 +2026-02-24 22:59:21,612 - DriveTransformer - INFO - Epoch [3][14300/39528] lr: 9.831e-05, eta: 7 days, 21:48:23, time: 0.835, data_time: 0.040, memory: 19865, loss_cls: 0.4117, loss_bbox: 0.5836, loss_traj: 1.2270, loss_traj_cls: 0.0011, loss_map_cls: 0.3216, loss_map_pts: 1.3959, loss_map_dir: 0.0246, d0.loss_plan_l1_fix_time: 3.2280, d0.loss_plan_l1_fix_dist: 0.4650, d1.loss_plan_l1_fix_time: 2.1154, d1.loss_plan_l1_fix_dist: 0.2754, d2.loss_plan_l1_fix_time: 2.0965, d2.loss_plan_l1_fix_dist: 0.2826, d3.loss_plan_l1_fix_time: 2.0994, d3.loss_plan_l1_fix_dist: 0.2974, d4.loss_plan_l1_fix_time: 2.1043, d4.loss_plan_l1_fix_dist: 0.3156, d5.loss_plan_l1_fix_time: 2.1091, d5.loss_plan_l1_fix_dist: 0.3367, d6.loss_plan_l1_fix_time: 2.1146, d6.loss_plan_l1_fix_dist: 0.3583, d0.loss_cls_all: 0.4295, d0.loss_bbox_all: 0.6361, d0.loss_cls: 0.4295, d0.loss_bbox: 0.6361, d1.loss_cls: 0.4235, d1.loss_bbox: 0.6075, d2.loss_cls: 0.4182, d2.loss_bbox: 0.5931, d3.loss_cls: 0.4165, d3.loss_bbox: 0.5881, d4.loss_cls: 0.4126, d4.loss_bbox: 0.5856, d5.loss_cls: 0.4116, d5.loss_bbox: 0.5846, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3986, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2627, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2429, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.2296, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.2193, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2200, d0.loss_map_cls_all: 0.3611, d0.loss_map_pts_all: 2.4323, d0.loss_map_dir_all: 0.0225, d0.loss_map_cls: 0.3611, d0.loss_map_pts: 2.4323, d0.loss_map_dir: 0.0225, d1.loss_map_cls: 0.3462, d1.loss_map_pts: 1.6468, d1.loss_map_dir: 0.0227, d2.loss_map_cls: 0.3309, d2.loss_map_pts: 1.4834, d2.loss_map_dir: 0.0234, d3.loss_map_cls: 0.3251, d3.loss_map_pts: 1.4247, d3.loss_map_dir: 0.0239, d4.loss_map_cls: 0.3224, d4.loss_map_pts: 1.4029, d4.loss_map_dir: 0.0242, d5.loss_map_cls: 0.3215, d5.loss_map_pts: 1.3987, d5.loss_map_dir: 0.0244, loss: 51.6677, grad_norm: 158.9416 +2026-02-24 23:00:02,476 - DriveTransformer - INFO - Epoch [3][14350/39528] lr: 9.831e-05, eta: 7 days, 21:47:51, time: 0.817, data_time: 0.044, memory: 19865, loss_cls: 0.4033, loss_bbox: 0.5608, loss_traj: 1.2154, loss_traj_cls: 0.0011, loss_map_cls: 0.3077, loss_map_pts: 1.2606, loss_map_dir: 0.0212, d0.loss_plan_l1_fix_time: 2.8497, d0.loss_plan_l1_fix_dist: 0.3503, d1.loss_plan_l1_fix_time: 1.9159, d1.loss_plan_l1_fix_dist: 0.2633, d2.loss_plan_l1_fix_time: 1.9042, d2.loss_plan_l1_fix_dist: 0.2749, d3.loss_plan_l1_fix_time: 1.9111, d3.loss_plan_l1_fix_dist: 0.2902, d4.loss_plan_l1_fix_time: 1.9182, d4.loss_plan_l1_fix_dist: 0.3108, d5.loss_plan_l1_fix_time: 1.9251, d5.loss_plan_l1_fix_dist: 0.3307, d6.loss_plan_l1_fix_time: 1.9324, d6.loss_plan_l1_fix_dist: 0.3547, d0.loss_cls_all: 0.4200, d0.loss_bbox_all: 0.6082, d0.loss_cls: 0.4200, d0.loss_bbox: 0.6082, d1.loss_cls: 0.4098, d1.loss_bbox: 0.5855, d2.loss_cls: 0.4044, d2.loss_bbox: 0.5748, d3.loss_cls: 0.4024, d3.loss_bbox: 0.5683, d4.loss_cls: 0.4009, d4.loss_bbox: 0.5657, d5.loss_cls: 0.4007, d5.loss_bbox: 0.5633, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3465, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2417, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2186, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.2164, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.2154, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2163, d0.loss_map_cls_all: 0.3382, d0.loss_map_pts_all: 2.0792, d0.loss_map_dir_all: 0.0191, d0.loss_map_cls: 0.3382, d0.loss_map_pts: 2.0792, d0.loss_map_dir: 0.0191, d1.loss_map_cls: 0.3269, d1.loss_map_pts: 1.4401, d1.loss_map_dir: 0.0192, d2.loss_map_cls: 0.3222, d2.loss_map_pts: 1.3128, d2.loss_map_dir: 0.0201, d3.loss_map_cls: 0.3137, d3.loss_map_pts: 1.2748, d3.loss_map_dir: 0.0206, d4.loss_map_cls: 0.3094, d4.loss_map_pts: 1.2634, d4.loss_map_dir: 0.0210, d5.loss_map_cls: 0.3075, d5.loss_map_pts: 1.2602, d5.loss_map_dir: 0.0212, loss: 47.7998, grad_norm: 158.4225 +2026-02-24 23:00:44,641 - DriveTransformer - INFO - Epoch [3][14400/39528] lr: 9.831e-05, eta: 7 days, 21:47:31, time: 0.843, data_time: 0.040, memory: 19865, loss_cls: 0.3590, loss_bbox: 0.5288, loss_traj: 0.8802, loss_traj_cls: 0.0011, loss_map_cls: 0.2711, loss_map_pts: 1.2426, loss_map_dir: 0.0252, d0.loss_plan_l1_fix_time: 2.0515, d0.loss_plan_l1_fix_dist: 0.4251, d1.loss_plan_l1_fix_time: 1.5644, d1.loss_plan_l1_fix_dist: 0.3125, d2.loss_plan_l1_fix_time: 1.5537, d2.loss_plan_l1_fix_dist: 0.3209, d3.loss_plan_l1_fix_time: 1.5592, d3.loss_plan_l1_fix_dist: 0.3355, d4.loss_plan_l1_fix_time: 1.5657, d4.loss_plan_l1_fix_dist: 0.3514, d5.loss_plan_l1_fix_time: 1.5725, d5.loss_plan_l1_fix_dist: 0.3690, d6.loss_plan_l1_fix_time: 1.5802, d6.loss_plan_l1_fix_dist: 0.3856, d0.loss_cls_all: 0.3633, d0.loss_bbox_all: 0.5682, d0.loss_cls: 0.3633, d0.loss_bbox: 0.5682, d1.loss_cls: 0.3624, d1.loss_bbox: 0.5435, d2.loss_cls: 0.3567, d2.loss_bbox: 0.5366, d3.loss_cls: 0.3555, d3.loss_bbox: 0.5315, d4.loss_cls: 0.3570, d4.loss_bbox: 0.5285, d5.loss_cls: 0.3561, d5.loss_bbox: 0.5292, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0350, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9003, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.8795, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8865, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.8804, d5.loss_traj_cls: 0.0008, d5.loss_traj: 0.8795, d0.loss_map_cls_all: 0.3076, d0.loss_map_pts_all: 2.2734, d0.loss_map_dir_all: 0.0234, d0.loss_map_cls: 0.3076, d0.loss_map_pts: 2.2734, d0.loss_map_dir: 0.0234, d1.loss_map_cls: 0.2968, d1.loss_map_pts: 1.4635, d1.loss_map_dir: 0.0233, d2.loss_map_cls: 0.2856, d2.loss_map_pts: 1.3009, d2.loss_map_dir: 0.0241, d3.loss_map_cls: 0.2781, d3.loss_map_pts: 1.2562, d3.loss_map_dir: 0.0247, d4.loss_map_cls: 0.2718, d4.loss_map_pts: 1.2422, d4.loss_map_dir: 0.0250, d5.loss_map_cls: 0.2702, d5.loss_map_pts: 1.2392, d5.loss_map_dir: 0.0251, loss: 42.2773, grad_norm: 157.6721 +2026-02-24 23:01:24,321 - DriveTransformer - INFO - Epoch [3][14450/39528] lr: 9.831e-05, eta: 7 days, 21:46:49, time: 0.794, data_time: 0.035, memory: 19865, loss_cls: 0.3992, loss_bbox: 0.5449, loss_traj: 1.1436, loss_traj_cls: 0.0011, loss_map_cls: 0.3017, loss_map_pts: 1.3592, loss_map_dir: 0.0238, d0.loss_plan_l1_fix_time: 3.2242, d0.loss_plan_l1_fix_dist: 0.4911, d1.loss_plan_l1_fix_time: 2.0240, d1.loss_plan_l1_fix_dist: 0.3064, d2.loss_plan_l1_fix_time: 1.9997, d2.loss_plan_l1_fix_dist: 0.3243, d3.loss_plan_l1_fix_time: 2.0032, d3.loss_plan_l1_fix_dist: 0.3462, d4.loss_plan_l1_fix_time: 2.0084, d4.loss_plan_l1_fix_dist: 0.3730, d5.loss_plan_l1_fix_time: 2.0145, d5.loss_plan_l1_fix_dist: 0.4024, d6.loss_plan_l1_fix_time: 2.0211, d6.loss_plan_l1_fix_dist: 0.4315, d0.loss_cls_all: 0.4051, d0.loss_bbox_all: 0.5981, d0.loss_cls: 0.4051, d0.loss_bbox: 0.5981, d1.loss_cls: 0.4033, d1.loss_bbox: 0.5670, d2.loss_cls: 0.4025, d2.loss_bbox: 0.5540, d3.loss_cls: 0.4009, d3.loss_bbox: 0.5460, d4.loss_cls: 0.3974, d4.loss_bbox: 0.5440, d5.loss_cls: 0.3974, d5.loss_bbox: 0.5440, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3093, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1382, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1375, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1427, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1432, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1452, d0.loss_map_cls_all: 0.3452, d0.loss_map_pts_all: 2.2297, d0.loss_map_dir_all: 0.0213, d0.loss_map_cls: 0.3452, d0.loss_map_pts: 2.2297, d0.loss_map_dir: 0.0213, d1.loss_map_cls: 0.3274, d1.loss_map_pts: 1.5845, d1.loss_map_dir: 0.0217, d2.loss_map_cls: 0.3158, d2.loss_map_pts: 1.4314, d2.loss_map_dir: 0.0226, d3.loss_map_cls: 0.3044, d3.loss_map_pts: 1.3796, d3.loss_map_dir: 0.0231, d4.loss_map_cls: 0.3031, d4.loss_map_pts: 1.3624, d4.loss_map_dir: 0.0235, d5.loss_map_cls: 0.3016, d5.loss_map_pts: 1.3605, d5.loss_map_dir: 0.0237, loss: 49.5052, grad_norm: 157.3583 +2026-02-24 23:02:03,630 - DriveTransformer - INFO - Epoch [3][14500/39528] lr: 9.831e-05, eta: 7 days, 21:46:03, time: 0.786, data_time: 0.042, memory: 19865, loss_cls: 0.3964, loss_bbox: 0.5140, loss_traj: 1.2723, loss_traj_cls: 0.0012, loss_map_cls: 0.3213, loss_map_pts: 1.3424, loss_map_dir: 0.0234, d0.loss_plan_l1_fix_time: 2.8559, d0.loss_plan_l1_fix_dist: 0.4585, d1.loss_plan_l1_fix_time: 1.8754, d1.loss_plan_l1_fix_dist: 0.2679, d2.loss_plan_l1_fix_time: 1.8596, d2.loss_plan_l1_fix_dist: 0.2791, d3.loss_plan_l1_fix_time: 1.8597, d3.loss_plan_l1_fix_dist: 0.2988, d4.loss_plan_l1_fix_time: 1.8638, d4.loss_plan_l1_fix_dist: 0.3222, d5.loss_plan_l1_fix_time: 1.8686, d5.loss_plan_l1_fix_dist: 0.3475, d6.loss_plan_l1_fix_time: 1.8738, d6.loss_plan_l1_fix_dist: 0.3810, d0.loss_cls_all: 0.3947, d0.loss_bbox_all: 0.5580, d0.loss_cls: 0.3947, d0.loss_bbox: 0.5580, d1.loss_cls: 0.3916, d1.loss_bbox: 0.5359, d2.loss_cls: 0.3931, d2.loss_bbox: 0.5225, d3.loss_cls: 0.3928, d3.loss_bbox: 0.5150, d4.loss_cls: 0.3956, d4.loss_bbox: 0.5138, d5.loss_cls: 0.3960, d5.loss_bbox: 0.5124, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4252, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2487, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2463, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.2583, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.2587, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2713, d0.loss_map_cls_all: 0.3670, d0.loss_map_pts_all: 2.1714, d0.loss_map_dir_all: 0.0217, d0.loss_map_cls: 0.3670, d0.loss_map_pts: 2.1714, d0.loss_map_dir: 0.0217, d1.loss_map_cls: 0.3445, d1.loss_map_pts: 1.5562, d1.loss_map_dir: 0.0218, d2.loss_map_cls: 0.3333, d2.loss_map_pts: 1.4103, d2.loss_map_dir: 0.0224, d3.loss_map_cls: 0.3245, d3.loss_map_pts: 1.3611, d3.loss_map_dir: 0.0228, d4.loss_map_cls: 0.3217, d4.loss_map_pts: 1.3466, d4.loss_map_dir: 0.0231, d5.loss_map_cls: 0.3214, d5.loss_map_pts: 1.3405, d5.loss_map_dir: 0.0233, loss: 48.3645, grad_norm: 156.0765 +2026-02-24 23:02:44,120 - DriveTransformer - INFO - Epoch [3][14550/39528] lr: 9.831e-05, eta: 7 days, 21:45:28, time: 0.810, data_time: 0.046, memory: 19865, loss_cls: 0.3753, loss_bbox: 0.5472, loss_traj: 1.0459, loss_traj_cls: 0.0012, loss_map_cls: 0.2498, loss_map_pts: 1.1354, loss_map_dir: 0.0198, d0.loss_plan_l1_fix_time: 2.8609, d0.loss_plan_l1_fix_dist: 0.4580, d1.loss_plan_l1_fix_time: 1.5835, d1.loss_plan_l1_fix_dist: 0.2774, d2.loss_plan_l1_fix_time: 1.5723, d2.loss_plan_l1_fix_dist: 0.2954, d3.loss_plan_l1_fix_time: 1.5716, d3.loss_plan_l1_fix_dist: 0.3141, d4.loss_plan_l1_fix_time: 1.5748, d4.loss_plan_l1_fix_dist: 0.3351, d5.loss_plan_l1_fix_time: 1.5790, d5.loss_plan_l1_fix_dist: 0.3578, d6.loss_plan_l1_fix_time: 1.5843, d6.loss_plan_l1_fix_dist: 0.3803, d0.loss_cls_all: 0.3881, d0.loss_bbox_all: 0.5905, d0.loss_cls: 0.3881, d0.loss_bbox: 0.5905, d1.loss_cls: 0.3830, d1.loss_bbox: 0.5606, d2.loss_cls: 0.3802, d2.loss_bbox: 0.5488, d3.loss_cls: 0.3757, d3.loss_bbox: 0.5468, d4.loss_cls: 0.3725, d4.loss_bbox: 0.5469, d5.loss_cls: 0.3733, d5.loss_bbox: 0.5469, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1882, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0535, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0424, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0476, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0445, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.0500, d0.loss_map_cls_all: 0.2932, d0.loss_map_pts_all: 1.9243, d0.loss_map_dir_all: 0.0185, d0.loss_map_cls: 0.2932, d0.loss_map_pts: 1.9243, d0.loss_map_dir: 0.0185, d1.loss_map_cls: 0.2753, d1.loss_map_pts: 1.3017, d1.loss_map_dir: 0.0185, d2.loss_map_cls: 0.2642, d2.loss_map_pts: 1.1781, d2.loss_map_dir: 0.0191, d3.loss_map_cls: 0.2559, d3.loss_map_pts: 1.1433, d3.loss_map_dir: 0.0194, d4.loss_map_cls: 0.2519, d4.loss_map_pts: 1.1350, d4.loss_map_dir: 0.0196, d5.loss_map_cls: 0.2502, d5.loss_map_pts: 1.1326, d5.loss_map_dir: 0.0198, loss: 42.8993, grad_norm: 154.4916 +2026-02-24 23:03:24,385 - DriveTransformer - INFO - Epoch [3][14600/39528] lr: 9.831e-05, eta: 7 days, 21:44:51, time: 0.805, data_time: 0.042, memory: 19865, loss_cls: 0.3889, loss_bbox: 0.5319, loss_traj: 1.2673, loss_traj_cls: 0.0012, loss_map_cls: 0.2775, loss_map_pts: 1.0973, loss_map_dir: 0.0203, d0.loss_plan_l1_fix_time: 2.5566, d0.loss_plan_l1_fix_dist: 0.4334, d1.loss_plan_l1_fix_time: 1.6085, d1.loss_plan_l1_fix_dist: 0.2754, d2.loss_plan_l1_fix_time: 1.5953, d2.loss_plan_l1_fix_dist: 0.2940, d3.loss_plan_l1_fix_time: 1.6032, d3.loss_plan_l1_fix_dist: 0.3183, d4.loss_plan_l1_fix_time: 1.6097, d4.loss_plan_l1_fix_dist: 0.3466, d5.loss_plan_l1_fix_time: 1.6166, d5.loss_plan_l1_fix_dist: 0.3750, d6.loss_plan_l1_fix_time: 1.6245, d6.loss_plan_l1_fix_dist: 0.4016, d0.loss_cls_all: 0.4012, d0.loss_bbox_all: 0.5838, d0.loss_cls: 0.4012, d0.loss_bbox: 0.5838, d1.loss_cls: 0.3902, d1.loss_bbox: 0.5566, d2.loss_cls: 0.3864, d2.loss_bbox: 0.5380, d3.loss_cls: 0.3868, d3.loss_bbox: 0.5337, d4.loss_cls: 0.3849, d4.loss_bbox: 0.5340, d5.loss_cls: 0.3877, d5.loss_bbox: 0.5331, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5186, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2741, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2457, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.2463, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.2492, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.2598, d0.loss_map_cls_all: 0.3303, d0.loss_map_pts_all: 1.9261, d0.loss_map_dir_all: 0.0188, d0.loss_map_cls: 0.3303, d0.loss_map_pts: 1.9261, d0.loss_map_dir: 0.0188, d1.loss_map_cls: 0.3041, d1.loss_map_pts: 1.3160, d1.loss_map_dir: 0.0191, d2.loss_map_cls: 0.2910, d2.loss_map_pts: 1.1718, d2.loss_map_dir: 0.0197, d3.loss_map_cls: 0.2833, d3.loss_map_pts: 1.1176, d3.loss_map_dir: 0.0200, d4.loss_map_cls: 0.2798, d4.loss_map_pts: 1.1041, d4.loss_map_dir: 0.0202, d5.loss_map_cls: 0.2764, d5.loss_map_pts: 1.0963, d5.loss_map_dir: 0.0203, loss: 44.5335, grad_norm: 156.5564 +2026-02-24 23:04:05,885 - DriveTransformer - INFO - Epoch [3][14650/39528] lr: 9.831e-05, eta: 7 days, 21:44:25, time: 0.830, data_time: 0.042, memory: 19865, loss_cls: 0.3807, loss_bbox: 0.5271, loss_traj: 1.1270, loss_traj_cls: 0.0011, loss_map_cls: 0.2874, loss_map_pts: 1.2850, loss_map_dir: 0.0253, d0.loss_plan_l1_fix_time: 2.7015, d0.loss_plan_l1_fix_dist: 0.4470, d1.loss_plan_l1_fix_time: 1.9420, d1.loss_plan_l1_fix_dist: 0.3184, d2.loss_plan_l1_fix_time: 1.9362, d2.loss_plan_l1_fix_dist: 0.3291, d3.loss_plan_l1_fix_time: 1.9402, d3.loss_plan_l1_fix_dist: 0.3479, d4.loss_plan_l1_fix_time: 1.9448, d4.loss_plan_l1_fix_dist: 0.3676, d5.loss_plan_l1_fix_time: 1.9494, d5.loss_plan_l1_fix_dist: 0.3880, d6.loss_plan_l1_fix_time: 1.9550, d6.loss_plan_l1_fix_dist: 0.4093, d0.loss_cls_all: 0.3916, d0.loss_bbox_all: 0.5689, d0.loss_cls: 0.3916, d0.loss_bbox: 0.5689, d1.loss_cls: 0.3853, d1.loss_bbox: 0.5392, d2.loss_cls: 0.3784, d2.loss_bbox: 0.5288, d3.loss_cls: 0.3768, d3.loss_bbox: 0.5244, d4.loss_cls: 0.3766, d4.loss_bbox: 0.5246, d5.loss_cls: 0.3795, d5.loss_bbox: 0.5248, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3819, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1413, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1281, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1271, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1196, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1215, d0.loss_map_cls_all: 0.3303, d0.loss_map_pts_all: 2.3221, d0.loss_map_dir_all: 0.0232, d0.loss_map_cls: 0.3303, d0.loss_map_pts: 2.3221, d0.loss_map_dir: 0.0232, d1.loss_map_cls: 0.3099, d1.loss_map_pts: 1.5304, d1.loss_map_dir: 0.0234, d2.loss_map_cls: 0.2989, d2.loss_map_pts: 1.3727, d2.loss_map_dir: 0.0243, d3.loss_map_cls: 0.2945, d3.loss_map_pts: 1.3138, d3.loss_map_dir: 0.0249, d4.loss_map_cls: 0.2899, d4.loss_map_pts: 1.2970, d4.loss_map_dir: 0.0251, d5.loss_map_cls: 0.2871, d5.loss_map_pts: 1.2878, d5.loss_map_dir: 0.0253, loss: 47.8506, grad_norm: 156.7268 +2026-02-24 23:04:45,539 - DriveTransformer - INFO - Epoch [3][14700/39528] lr: 9.831e-05, eta: 7 days, 21:43:43, time: 0.793, data_time: 0.036, memory: 19865, loss_cls: 0.3579, loss_bbox: 0.5286, loss_traj: 1.3112, loss_traj_cls: 0.0011, loss_map_cls: 0.2675, loss_map_pts: 1.1578, loss_map_dir: 0.0203, d0.loss_plan_l1_fix_time: 2.5424, d0.loss_plan_l1_fix_dist: 0.4196, d1.loss_plan_l1_fix_time: 1.7143, d1.loss_plan_l1_fix_dist: 0.3266, d2.loss_plan_l1_fix_time: 1.6943, d2.loss_plan_l1_fix_dist: 0.3426, d3.loss_plan_l1_fix_time: 1.6951, d3.loss_plan_l1_fix_dist: 0.3649, d4.loss_plan_l1_fix_time: 1.6987, d4.loss_plan_l1_fix_dist: 0.3878, d5.loss_plan_l1_fix_time: 1.7029, d5.loss_plan_l1_fix_dist: 0.4117, d6.loss_plan_l1_fix_time: 1.7076, d6.loss_plan_l1_fix_dist: 0.4406, d0.loss_cls_all: 0.3695, d0.loss_bbox_all: 0.5558, d0.loss_cls: 0.3695, d0.loss_bbox: 0.5558, d1.loss_cls: 0.3598, d1.loss_bbox: 0.5370, d2.loss_cls: 0.3571, d2.loss_bbox: 0.5293, d3.loss_cls: 0.3544, d3.loss_bbox: 0.5273, d4.loss_cls: 0.3546, d4.loss_bbox: 0.5267, d5.loss_cls: 0.3570, d5.loss_bbox: 0.5282, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4993, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3108, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2894, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.3028, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.3005, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.3045, d0.loss_map_cls_all: 0.3076, d0.loss_map_pts_all: 1.9590, d0.loss_map_dir_all: 0.0188, d0.loss_map_cls: 0.3076, d0.loss_map_pts: 1.9590, d0.loss_map_dir: 0.0188, d1.loss_map_cls: 0.2853, d1.loss_map_pts: 1.3506, d1.loss_map_dir: 0.0188, d2.loss_map_cls: 0.2751, d2.loss_map_pts: 1.2167, d2.loss_map_dir: 0.0196, d3.loss_map_cls: 0.2710, d3.loss_map_pts: 1.1708, d3.loss_map_dir: 0.0200, d4.loss_map_cls: 0.2686, d4.loss_map_pts: 1.1613, d4.loss_map_dir: 0.0202, d5.loss_map_cls: 0.2668, d5.loss_map_pts: 1.1585, d5.loss_map_dir: 0.0203, loss: 45.4823, grad_norm: 156.2724 +2026-02-24 23:05:24,191 - DriveTransformer - INFO - Epoch [3][14750/39528] lr: 9.831e-05, eta: 7 days, 21:42:51, time: 0.773, data_time: 0.049, memory: 19865, loss_cls: 0.3735, loss_bbox: 0.5233, loss_traj: 1.1392, loss_traj_cls: 0.0011, loss_map_cls: 0.2619, loss_map_pts: 1.0820, loss_map_dir: 0.0200, d0.loss_plan_l1_fix_time: 2.5847, d0.loss_plan_l1_fix_dist: 0.3296, d1.loss_plan_l1_fix_time: 1.7324, d1.loss_plan_l1_fix_dist: 0.2499, d2.loss_plan_l1_fix_time: 1.6983, d2.loss_plan_l1_fix_dist: 0.2679, d3.loss_plan_l1_fix_time: 1.6927, d3.loss_plan_l1_fix_dist: 0.2915, d4.loss_plan_l1_fix_time: 1.6934, d4.loss_plan_l1_fix_dist: 0.3197, d5.loss_plan_l1_fix_time: 1.6957, d5.loss_plan_l1_fix_dist: 0.3504, d6.loss_plan_l1_fix_time: 1.6995, d6.loss_plan_l1_fix_dist: 0.3822, d0.loss_cls_all: 0.3833, d0.loss_bbox_all: 0.5656, d0.loss_cls: 0.3833, d0.loss_bbox: 0.5656, d1.loss_cls: 0.3798, d1.loss_bbox: 0.5417, d2.loss_cls: 0.3732, d2.loss_bbox: 0.5295, d3.loss_cls: 0.3727, d3.loss_bbox: 0.5225, d4.loss_cls: 0.3695, d4.loss_bbox: 0.5247, d5.loss_cls: 0.3715, d5.loss_bbox: 0.5255, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3062, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1635, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1392, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1282, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1288, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1315, d0.loss_map_cls_all: 0.3084, d0.loss_map_pts_all: 1.8220, d0.loss_map_dir_all: 0.0186, d0.loss_map_cls: 0.3084, d0.loss_map_pts: 1.8220, d0.loss_map_dir: 0.0186, d1.loss_map_cls: 0.2861, d1.loss_map_pts: 1.2483, d1.loss_map_dir: 0.0190, d2.loss_map_cls: 0.2725, d2.loss_map_pts: 1.1313, d2.loss_map_dir: 0.0193, d3.loss_map_cls: 0.2662, d3.loss_map_pts: 1.0955, d3.loss_map_dir: 0.0196, d4.loss_map_cls: 0.2627, d4.loss_map_pts: 1.0824, d4.loss_map_dir: 0.0199, d5.loss_map_cls: 0.2605, d5.loss_map_pts: 1.0811, d5.loss_map_dir: 0.0200, loss: 43.1828, grad_norm: 155.6992 +2026-02-24 23:06:03,195 - DriveTransformer - INFO - Epoch [3][14800/39528] lr: 9.831e-05, eta: 7 days, 21:42:03, time: 0.781, data_time: 0.043, memory: 19865, loss_cls: 0.3512, loss_bbox: 0.5191, loss_traj: 1.0658, loss_traj_cls: 0.0012, loss_map_cls: 0.2810, loss_map_pts: 1.1915, loss_map_dir: 0.0203, d0.loss_plan_l1_fix_time: 2.5339, d0.loss_plan_l1_fix_dist: 0.4064, d1.loss_plan_l1_fix_time: 1.7509, d1.loss_plan_l1_fix_dist: 0.2766, d2.loss_plan_l1_fix_time: 1.7164, d2.loss_plan_l1_fix_dist: 0.2988, d3.loss_plan_l1_fix_time: 1.7142, d3.loss_plan_l1_fix_dist: 0.3278, d4.loss_plan_l1_fix_time: 1.7177, d4.loss_plan_l1_fix_dist: 0.3595, d5.loss_plan_l1_fix_time: 1.7222, d5.loss_plan_l1_fix_dist: 0.3944, d6.loss_plan_l1_fix_time: 1.7275, d6.loss_plan_l1_fix_dist: 0.4298, d0.loss_cls_all: 0.3646, d0.loss_bbox_all: 0.5514, d0.loss_cls: 0.3646, d0.loss_bbox: 0.5514, d1.loss_cls: 0.3562, d1.loss_bbox: 0.5247, d2.loss_cls: 0.3505, d2.loss_bbox: 0.5127, d3.loss_cls: 0.3515, d3.loss_bbox: 0.5081, d4.loss_cls: 0.3474, d4.loss_bbox: 0.5120, d5.loss_cls: 0.3488, d5.loss_bbox: 0.5153, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3143, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1343, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0911, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0807, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0657, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0657, d0.loss_map_cls_all: 0.3244, d0.loss_map_pts_all: 2.0411, d0.loss_map_dir_all: 0.0188, d0.loss_map_cls: 0.3244, d0.loss_map_pts: 2.0411, d0.loss_map_dir: 0.0188, d1.loss_map_cls: 0.3083, d1.loss_map_pts: 1.3954, d1.loss_map_dir: 0.0188, d2.loss_map_cls: 0.2933, d2.loss_map_pts: 1.2583, d2.loss_map_dir: 0.0195, d3.loss_map_cls: 0.2859, d3.loss_map_pts: 1.2143, d3.loss_map_dir: 0.0199, d4.loss_map_cls: 0.2815, d4.loss_map_pts: 1.1977, d4.loss_map_dir: 0.0200, d5.loss_map_cls: 0.2802, d5.loss_map_pts: 1.1924, d5.loss_map_dir: 0.0202, loss: 44.2967, grad_norm: 157.6814 +2026-02-24 23:06:45,152 - DriveTransformer - INFO - Epoch [3][14850/39528] lr: 9.831e-05, eta: 7 days, 21:41:41, time: 0.838, data_time: 0.035, memory: 19865, loss_cls: 0.4025, loss_bbox: 0.5875, loss_traj: 0.9533, loss_traj_cls: 0.0012, loss_map_cls: 0.3297, loss_map_pts: 1.5811, loss_map_dir: 0.0303, d0.loss_plan_l1_fix_time: 2.6165, d0.loss_plan_l1_fix_dist: 0.4307, d1.loss_plan_l1_fix_time: 1.8304, d1.loss_plan_l1_fix_dist: 0.3259, d2.loss_plan_l1_fix_time: 1.8091, d2.loss_plan_l1_fix_dist: 0.3414, d3.loss_plan_l1_fix_time: 1.8061, d3.loss_plan_l1_fix_dist: 0.3607, d4.loss_plan_l1_fix_time: 1.8092, d4.loss_plan_l1_fix_dist: 0.3801, d5.loss_plan_l1_fix_time: 1.8130, d5.loss_plan_l1_fix_dist: 0.3986, d6.loss_plan_l1_fix_time: 1.8173, d6.loss_plan_l1_fix_dist: 0.4169, d0.loss_cls_all: 0.4182, d0.loss_bbox_all: 0.6054, d0.loss_cls: 0.4182, d0.loss_bbox: 0.6054, d1.loss_cls: 0.4081, d1.loss_bbox: 0.5832, d2.loss_cls: 0.4024, d2.loss_bbox: 0.5747, d3.loss_cls: 0.4030, d3.loss_bbox: 0.5698, d4.loss_cls: 0.4006, d4.loss_bbox: 0.5756, d5.loss_cls: 0.4028, d5.loss_bbox: 0.5797, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0753, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9593, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.9305, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9366, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9385, d5.loss_traj_cls: 0.0009, d5.loss_traj: 0.9559, d0.loss_map_cls_all: 0.3570, d0.loss_map_pts_all: 2.7477, d0.loss_map_dir_all: 0.0270, d0.loss_map_cls: 0.3570, d0.loss_map_pts: 2.7477, d0.loss_map_dir: 0.0270, d1.loss_map_cls: 0.3444, d1.loss_map_pts: 1.8416, d1.loss_map_dir: 0.0276, d2.loss_map_cls: 0.3323, d2.loss_map_pts: 1.6688, d2.loss_map_dir: 0.0288, d3.loss_map_cls: 0.3321, d3.loss_map_pts: 1.6108, d3.loss_map_dir: 0.0295, d4.loss_map_cls: 0.3302, d4.loss_map_pts: 1.5903, d4.loss_map_dir: 0.0299, d5.loss_map_cls: 0.3274, d5.loss_map_pts: 1.5842, d5.loss_map_dir: 0.0301, loss: 49.1614, grad_norm: 157.8370 +2026-02-24 23:07:25,234 - DriveTransformer - INFO - Epoch [3][14900/39528] lr: 9.831e-05, eta: 7 days, 21:41:02, time: 0.802, data_time: 0.042, memory: 19865, loss_cls: 0.3473, loss_bbox: 0.4984, loss_traj: 1.0025, loss_traj_cls: 0.0012, loss_map_cls: 0.2650, loss_map_pts: 1.2181, loss_map_dir: 0.0206, d0.loss_plan_l1_fix_time: 2.4991, d0.loss_plan_l1_fix_dist: 0.5063, d1.loss_plan_l1_fix_time: 1.5673, d1.loss_plan_l1_fix_dist: 0.3191, d2.loss_plan_l1_fix_time: 1.5213, d2.loss_plan_l1_fix_dist: 0.3314, d3.loss_plan_l1_fix_time: 1.5135, d3.loss_plan_l1_fix_dist: 0.3521, d4.loss_plan_l1_fix_time: 1.5147, d4.loss_plan_l1_fix_dist: 0.3765, d5.loss_plan_l1_fix_time: 1.5177, d5.loss_plan_l1_fix_dist: 0.4030, d6.loss_plan_l1_fix_time: 1.5225, d6.loss_plan_l1_fix_dist: 0.4320, d0.loss_cls_all: 0.3574, d0.loss_bbox_all: 0.5293, d0.loss_cls: 0.3574, d0.loss_bbox: 0.5293, d1.loss_cls: 0.3523, d1.loss_bbox: 0.4995, d2.loss_cls: 0.3502, d2.loss_bbox: 0.4890, d3.loss_cls: 0.3479, d3.loss_bbox: 0.4872, d4.loss_cls: 0.3458, d4.loss_bbox: 0.4899, d5.loss_cls: 0.3471, d5.loss_bbox: 0.4929, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1942, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0327, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0016, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0020, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9994, d5.loss_traj_cls: 0.0009, d5.loss_traj: 0.9990, d0.loss_map_cls_all: 0.3076, d0.loss_map_pts_all: 2.0051, d0.loss_map_dir_all: 0.0190, d0.loss_map_cls: 0.3076, d0.loss_map_pts: 2.0051, d0.loss_map_dir: 0.0190, d1.loss_map_cls: 0.2879, d1.loss_map_pts: 1.3991, d1.loss_map_dir: 0.0192, d2.loss_map_cls: 0.2772, d2.loss_map_pts: 1.2642, d2.loss_map_dir: 0.0200, d3.loss_map_cls: 0.2704, d3.loss_map_pts: 1.2280, d3.loss_map_dir: 0.0203, d4.loss_map_cls: 0.2669, d4.loss_map_pts: 1.2178, d4.loss_map_dir: 0.0205, d5.loss_map_cls: 0.2650, d5.loss_map_pts: 1.2191, d5.loss_map_dir: 0.0205, loss: 42.3985, grad_norm: 155.4816 +2026-02-24 23:08:06,303 - DriveTransformer - INFO - Epoch [3][14950/39528] lr: 9.831e-05, eta: 7 days, 21:40:32, time: 0.821, data_time: 0.042, memory: 19865, loss_cls: 0.3798, loss_bbox: 0.5395, loss_traj: 1.0969, loss_traj_cls: 0.0012, loss_map_cls: 0.3025, loss_map_pts: 1.2758, loss_map_dir: 0.0238, d0.loss_plan_l1_fix_time: 2.5810, d0.loss_plan_l1_fix_dist: 0.5129, d1.loss_plan_l1_fix_time: 1.8027, d1.loss_plan_l1_fix_dist: 0.2991, d2.loss_plan_l1_fix_time: 1.7696, d2.loss_plan_l1_fix_dist: 0.3096, d3.loss_plan_l1_fix_time: 1.7644, d3.loss_plan_l1_fix_dist: 0.3268, d4.loss_plan_l1_fix_time: 1.7658, d4.loss_plan_l1_fix_dist: 0.3478, d5.loss_plan_l1_fix_time: 1.7693, d5.loss_plan_l1_fix_dist: 0.3719, d6.loss_plan_l1_fix_time: 1.7738, d6.loss_plan_l1_fix_dist: 0.3984, d0.loss_cls_all: 0.3945, d0.loss_bbox_all: 0.5892, d0.loss_cls: 0.3945, d0.loss_bbox: 0.5892, d1.loss_cls: 0.3828, d1.loss_bbox: 0.5634, d2.loss_cls: 0.3836, d2.loss_bbox: 0.5509, d3.loss_cls: 0.3801, d3.loss_bbox: 0.5439, d4.loss_cls: 0.3777, d4.loss_bbox: 0.5430, d5.loss_cls: 0.3776, d5.loss_bbox: 0.5412, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3049, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1099, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0712, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0705, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0864, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0869, d0.loss_map_cls_all: 0.3510, d0.loss_map_pts_all: 2.1689, d0.loss_map_dir_all: 0.0215, d0.loss_map_cls: 0.3510, d0.loss_map_pts: 2.1689, d0.loss_map_dir: 0.0215, d1.loss_map_cls: 0.3267, d1.loss_map_pts: 1.4901, d1.loss_map_dir: 0.0217, d2.loss_map_cls: 0.3105, d2.loss_map_pts: 1.3422, d2.loss_map_dir: 0.0228, d3.loss_map_cls: 0.3062, d3.loss_map_pts: 1.2909, d3.loss_map_dir: 0.0234, d4.loss_map_cls: 0.3045, d4.loss_map_pts: 1.2762, d4.loss_map_dir: 0.0236, d5.loss_map_cls: 0.3023, d5.loss_map_pts: 1.2764, d5.loss_map_dir: 0.0238, loss: 46.1837, grad_norm: 155.9405 +2026-02-24 23:08:45,314 - DriveTransformer - INFO - Epoch [3][15000/39528] lr: 9.831e-05, eta: 7 days, 21:39:44, time: 0.780, data_time: 0.042, memory: 19865, loss_cls: 0.3411, loss_bbox: 0.4901, loss_traj: 1.1150, loss_traj_cls: 0.0012, loss_map_cls: 0.2276, loss_map_pts: 1.0600, loss_map_dir: 0.0166, d0.loss_plan_l1_fix_time: 2.6082, d0.loss_plan_l1_fix_dist: 0.5165, d1.loss_plan_l1_fix_time: 1.8615, d1.loss_plan_l1_fix_dist: 0.2982, d2.loss_plan_l1_fix_time: 1.8404, d2.loss_plan_l1_fix_dist: 0.3102, d3.loss_plan_l1_fix_time: 1.8398, d3.loss_plan_l1_fix_dist: 0.3302, d4.loss_plan_l1_fix_time: 1.8429, d4.loss_plan_l1_fix_dist: 0.3527, d5.loss_plan_l1_fix_time: 1.8468, d5.loss_plan_l1_fix_dist: 0.3775, d6.loss_plan_l1_fix_time: 1.8508, d6.loss_plan_l1_fix_dist: 0.4042, d0.loss_cls_all: 0.3577, d0.loss_bbox_all: 0.5363, d0.loss_cls: 0.3577, d0.loss_bbox: 0.5363, d1.loss_cls: 0.3528, d1.loss_bbox: 0.5104, d2.loss_cls: 0.3505, d2.loss_bbox: 0.4951, d3.loss_cls: 0.3456, d3.loss_bbox: 0.4906, d4.loss_cls: 0.3428, d4.loss_bbox: 0.4875, d5.loss_cls: 0.3417, d5.loss_bbox: 0.4897, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3106, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1464, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1178, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1152, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1106, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.1104, d0.loss_map_cls_all: 0.2799, d0.loss_map_pts_all: 1.7034, d0.loss_map_dir_all: 0.0150, d0.loss_map_cls: 0.2799, d0.loss_map_pts: 1.7034, d0.loss_map_dir: 0.0150, d1.loss_map_cls: 0.2536, d1.loss_map_pts: 1.2103, d1.loss_map_dir: 0.0152, d2.loss_map_cls: 0.2444, d2.loss_map_pts: 1.0973, d2.loss_map_dir: 0.0159, d3.loss_map_cls: 0.2373, d3.loss_map_pts: 1.0675, d3.loss_map_dir: 0.0163, d4.loss_map_cls: 0.2320, d4.loss_map_pts: 1.0608, d4.loss_map_dir: 0.0166, d5.loss_map_cls: 0.2279, d5.loss_map_pts: 1.0587, d5.loss_map_dir: 0.0166, loss: 43.2100, grad_norm: 155.2100 +2026-02-24 23:09:25,653 - DriveTransformer - INFO - Epoch [3][15050/39528] lr: 9.831e-05, eta: 7 days, 21:39:08, time: 0.807, data_time: 0.039, memory: 19865, loss_cls: 0.3549, loss_bbox: 0.5151, loss_traj: 0.9115, loss_traj_cls: 0.0013, loss_map_cls: 0.2489, loss_map_pts: 1.1418, loss_map_dir: 0.0237, d0.loss_plan_l1_fix_time: 2.3907, d0.loss_plan_l1_fix_dist: 0.4414, d1.loss_plan_l1_fix_time: 1.4404, d1.loss_plan_l1_fix_dist: 0.2792, d2.loss_plan_l1_fix_time: 1.4186, d2.loss_plan_l1_fix_dist: 0.3000, d3.loss_plan_l1_fix_time: 1.4160, d3.loss_plan_l1_fix_dist: 0.3284, d4.loss_plan_l1_fix_time: 1.4178, d4.loss_plan_l1_fix_dist: 0.3581, d5.loss_plan_l1_fix_time: 1.4209, d5.loss_plan_l1_fix_dist: 0.3891, d6.loss_plan_l1_fix_time: 1.4254, d6.loss_plan_l1_fix_dist: 0.4226, d0.loss_cls_all: 0.3761, d0.loss_bbox_all: 0.5459, d0.loss_cls: 0.3761, d0.loss_bbox: 0.5459, d1.loss_cls: 0.3638, d1.loss_bbox: 0.5216, d2.loss_cls: 0.3579, d2.loss_bbox: 0.5105, d3.loss_cls: 0.3563, d3.loss_bbox: 0.5064, d4.loss_cls: 0.3529, d4.loss_bbox: 0.5081, d5.loss_cls: 0.3545, d5.loss_bbox: 0.5119, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0393, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9710, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9235, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9168, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9147, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.9060, d0.loss_map_cls_all: 0.2944, d0.loss_map_pts_all: 2.1475, d0.loss_map_dir_all: 0.0217, d0.loss_map_cls: 0.2944, d0.loss_map_pts: 2.1475, d0.loss_map_dir: 0.0217, d1.loss_map_cls: 0.2726, d1.loss_map_pts: 1.3482, d1.loss_map_dir: 0.0217, d2.loss_map_cls: 0.2634, d2.loss_map_pts: 1.1922, d2.loss_map_dir: 0.0225, d3.loss_map_cls: 0.2561, d3.loss_map_pts: 1.1516, d3.loss_map_dir: 0.0230, d4.loss_map_cls: 0.2502, d4.loss_map_pts: 1.1438, d4.loss_map_dir: 0.0234, d5.loss_map_cls: 0.2491, d5.loss_map_pts: 1.1386, d5.loss_map_dir: 0.0236, loss: 40.8181, grad_norm: 154.9226 +2026-02-24 23:10:05,094 - DriveTransformer - INFO - Epoch [3][15100/39528] lr: 9.831e-05, eta: 7 days, 21:38:23, time: 0.789, data_time: 0.044, memory: 19865, loss_cls: 0.3497, loss_bbox: 0.5359, loss_traj: 1.0673, loss_traj_cls: 0.0012, loss_map_cls: 0.2848, loss_map_pts: 1.1730, loss_map_dir: 0.0228, d0.loss_plan_l1_fix_time: 2.5547, d0.loss_plan_l1_fix_dist: 0.5622, d1.loss_plan_l1_fix_time: 1.7613, d1.loss_plan_l1_fix_dist: 0.3018, d2.loss_plan_l1_fix_time: 1.7430, d2.loss_plan_l1_fix_dist: 0.3137, d3.loss_plan_l1_fix_time: 1.7488, d3.loss_plan_l1_fix_dist: 0.3329, d4.loss_plan_l1_fix_time: 1.7538, d4.loss_plan_l1_fix_dist: 0.3554, d5.loss_plan_l1_fix_time: 1.7587, d5.loss_plan_l1_fix_dist: 0.3805, d6.loss_plan_l1_fix_time: 1.7638, d6.loss_plan_l1_fix_dist: 0.4063, d0.loss_cls_all: 0.3709, d0.loss_bbox_all: 0.5647, d0.loss_cls: 0.3709, d0.loss_bbox: 0.5647, d1.loss_cls: 0.3656, d1.loss_bbox: 0.5413, d2.loss_cls: 0.3596, d2.loss_bbox: 0.5312, d3.loss_cls: 0.3512, d3.loss_bbox: 0.5305, d4.loss_cls: 0.3480, d4.loss_bbox: 0.5324, d5.loss_cls: 0.3492, d5.loss_bbox: 0.5343, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1975, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0896, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0611, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0735, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0720, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.0710, d0.loss_map_cls_all: 0.3371, d0.loss_map_pts_all: 2.0870, d0.loss_map_dir_all: 0.0209, d0.loss_map_cls: 0.3371, d0.loss_map_pts: 2.0870, d0.loss_map_dir: 0.0209, d1.loss_map_cls: 0.3105, d1.loss_map_pts: 1.3671, d1.loss_map_dir: 0.0209, d2.loss_map_cls: 0.2968, d2.loss_map_pts: 1.2170, d2.loss_map_dir: 0.0216, d3.loss_map_cls: 0.2889, d3.loss_map_pts: 1.1764, d3.loss_map_dir: 0.0221, d4.loss_map_cls: 0.2841, d4.loss_map_pts: 1.1685, d4.loss_map_dir: 0.0224, d5.loss_map_cls: 0.2848, d5.loss_map_pts: 1.1698, d5.loss_map_dir: 0.0226, loss: 44.6198, grad_norm: 155.3521 +2026-02-24 23:10:44,537 - DriveTransformer - INFO - Epoch [3][15150/39528] lr: 9.831e-05, eta: 7 days, 21:37:39, time: 0.789, data_time: 0.038, memory: 19865, loss_cls: 0.3636, loss_bbox: 0.5272, loss_traj: 1.4922, loss_traj_cls: 0.0012, loss_map_cls: 0.2441, loss_map_pts: 1.0679, loss_map_dir: 0.0158, d0.loss_plan_l1_fix_time: 2.7541, d0.loss_plan_l1_fix_dist: 0.4693, d1.loss_plan_l1_fix_time: 1.8960, d1.loss_plan_l1_fix_dist: 0.2882, d2.loss_plan_l1_fix_time: 1.8616, d2.loss_plan_l1_fix_dist: 0.3067, d3.loss_plan_l1_fix_time: 1.8551, d3.loss_plan_l1_fix_dist: 0.3318, d4.loss_plan_l1_fix_time: 1.8564, d4.loss_plan_l1_fix_dist: 0.3598, d5.loss_plan_l1_fix_time: 1.8593, d5.loss_plan_l1_fix_dist: 0.3905, d6.loss_plan_l1_fix_time: 1.8630, d6.loss_plan_l1_fix_dist: 0.4234, d0.loss_cls_all: 0.3816, d0.loss_bbox_all: 0.5812, d0.loss_cls: 0.3816, d0.loss_bbox: 0.5812, d1.loss_cls: 0.3733, d1.loss_bbox: 0.5442, d2.loss_cls: 0.3693, d2.loss_bbox: 0.5346, d3.loss_cls: 0.3681, d3.loss_bbox: 0.5281, d4.loss_cls: 0.3643, d4.loss_bbox: 0.5274, d5.loss_cls: 0.3638, d5.loss_bbox: 0.5273, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7512, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5172, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.4917, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.4875, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.4862, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.4892, d0.loss_map_cls_all: 0.2956, d0.loss_map_pts_all: 1.7571, d0.loss_map_dir_all: 0.0145, d0.loss_map_cls: 0.2956, d0.loss_map_pts: 1.7571, d0.loss_map_dir: 0.0145, d1.loss_map_cls: 0.2743, d1.loss_map_pts: 1.2568, d1.loss_map_dir: 0.0145, d2.loss_map_cls: 0.2557, d2.loss_map_pts: 1.1364, d2.loss_map_dir: 0.0151, d3.loss_map_cls: 0.2503, d3.loss_map_pts: 1.0917, d3.loss_map_dir: 0.0154, d4.loss_map_cls: 0.2457, d4.loss_map_pts: 1.0733, d4.loss_map_dir: 0.0155, d5.loss_map_cls: 0.2447, d5.loss_map_pts: 1.0680, d5.loss_map_dir: 0.0157, loss: 46.9897, grad_norm: 155.6216 +2026-02-24 23:11:25,606 - DriveTransformer - INFO - Epoch [3][15200/39528] lr: 9.831e-05, eta: 7 days, 21:37:09, time: 0.821, data_time: 0.042, memory: 19865, loss_cls: 0.3728, loss_bbox: 0.5473, loss_traj: 1.0243, loss_traj_cls: 0.0012, loss_map_cls: 0.3007, loss_map_pts: 1.2815, loss_map_dir: 0.0233, d0.loss_plan_l1_fix_time: 2.5431, d0.loss_plan_l1_fix_dist: 0.3419, d1.loss_plan_l1_fix_time: 1.7572, d1.loss_plan_l1_fix_dist: 0.2535, d2.loss_plan_l1_fix_time: 1.7421, d2.loss_plan_l1_fix_dist: 0.2689, d3.loss_plan_l1_fix_time: 1.7367, d3.loss_plan_l1_fix_dist: 0.2863, d4.loss_plan_l1_fix_time: 1.7389, d4.loss_plan_l1_fix_dist: 0.3073, d5.loss_plan_l1_fix_time: 1.7421, d5.loss_plan_l1_fix_dist: 0.3308, d6.loss_plan_l1_fix_time: 1.7457, d6.loss_plan_l1_fix_dist: 0.3554, d0.loss_cls_all: 0.3889, d0.loss_bbox_all: 0.5853, d0.loss_cls: 0.3889, d0.loss_bbox: 0.5853, d1.loss_cls: 0.3850, d1.loss_bbox: 0.5580, d2.loss_cls: 0.3793, d2.loss_bbox: 0.5466, d3.loss_cls: 0.3780, d3.loss_bbox: 0.5434, d4.loss_cls: 0.3738, d4.loss_bbox: 0.5431, d5.loss_cls: 0.3738, d5.loss_bbox: 0.5442, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2143, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0536, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0285, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0246, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0264, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0275, d0.loss_map_cls_all: 0.3567, d0.loss_map_pts_all: 2.1968, d0.loss_map_dir_all: 0.0217, d0.loss_map_cls: 0.3567, d0.loss_map_pts: 2.1968, d0.loss_map_dir: 0.0217, d1.loss_map_cls: 0.3300, d1.loss_map_pts: 1.4833, d1.loss_map_dir: 0.0215, d2.loss_map_cls: 0.3166, d2.loss_map_pts: 1.3442, d2.loss_map_dir: 0.0224, d3.loss_map_cls: 0.3080, d3.loss_map_pts: 1.3004, d3.loss_map_dir: 0.0228, d4.loss_map_cls: 0.3002, d4.loss_map_pts: 1.2834, d4.loss_map_dir: 0.0230, d5.loss_map_cls: 0.3002, d5.loss_map_pts: 1.2814, d5.loss_map_dir: 0.0232, loss: 45.1659, grad_norm: 155.8887 +2026-02-24 23:12:05,665 - DriveTransformer - INFO - Epoch [3][15250/39528] lr: 9.831e-05, eta: 7 days, 21:36:30, time: 0.801, data_time: 0.043, memory: 19865, loss_cls: 0.3748, loss_bbox: 0.5275, loss_traj: 1.1998, loss_traj_cls: 0.0012, loss_map_cls: 0.2889, loss_map_pts: 1.1589, loss_map_dir: 0.0196, d0.loss_plan_l1_fix_time: 2.8077, d0.loss_plan_l1_fix_dist: 0.5150, d1.loss_plan_l1_fix_time: 1.7680, d1.loss_plan_l1_fix_dist: 0.3008, d2.loss_plan_l1_fix_time: 1.7620, d2.loss_plan_l1_fix_dist: 0.3160, d3.loss_plan_l1_fix_time: 1.7775, d3.loss_plan_l1_fix_dist: 0.3346, d4.loss_plan_l1_fix_time: 1.7879, d4.loss_plan_l1_fix_dist: 0.3557, d5.loss_plan_l1_fix_time: 1.7959, d5.loss_plan_l1_fix_dist: 0.3752, d6.loss_plan_l1_fix_time: 1.8033, d6.loss_plan_l1_fix_dist: 0.3944, d0.loss_cls_all: 0.3919, d0.loss_bbox_all: 0.5759, d0.loss_cls: 0.3919, d0.loss_bbox: 0.5759, d1.loss_cls: 0.3804, d1.loss_bbox: 0.5496, d2.loss_cls: 0.3737, d2.loss_bbox: 0.5416, d3.loss_cls: 0.3729, d3.loss_bbox: 0.5352, d4.loss_cls: 0.3719, d4.loss_bbox: 0.5315, d5.loss_cls: 0.3740, d5.loss_bbox: 0.5281, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4391, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2393, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2015, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2020, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.2020, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.2013, d0.loss_map_cls_all: 0.3359, d0.loss_map_pts_all: 1.9422, d0.loss_map_dir_all: 0.0180, d0.loss_map_cls: 0.3359, d0.loss_map_pts: 1.9422, d0.loss_map_dir: 0.0180, d1.loss_map_cls: 0.3153, d1.loss_map_pts: 1.3793, d1.loss_map_dir: 0.0180, d2.loss_map_cls: 0.3013, d2.loss_map_pts: 1.2361, d2.loss_map_dir: 0.0188, d3.loss_map_cls: 0.2962, d3.loss_map_pts: 1.1816, d3.loss_map_dir: 0.0192, d4.loss_map_cls: 0.2886, d4.loss_map_pts: 1.1616, d4.loss_map_dir: 0.0194, d5.loss_map_cls: 0.2865, d5.loss_map_pts: 1.1589, d5.loss_map_dir: 0.0195, loss: 45.9420, grad_norm: 155.8164 +2026-02-24 23:12:44,463 - DriveTransformer - INFO - Epoch [3][15300/39528] lr: 9.831e-05, eta: 7 days, 21:35:39, time: 0.776, data_time: 0.039, memory: 19865, loss_cls: 0.3382, loss_bbox: 0.4915, loss_traj: 1.0792, loss_traj_cls: 0.0013, loss_map_cls: 0.2580, loss_map_pts: 1.0983, loss_map_dir: 0.0194, d0.loss_plan_l1_fix_time: 2.4814, d0.loss_plan_l1_fix_dist: 0.4018, d1.loss_plan_l1_fix_time: 1.6999, d1.loss_plan_l1_fix_dist: 0.2572, d2.loss_plan_l1_fix_time: 1.6881, d2.loss_plan_l1_fix_dist: 0.2674, d3.loss_plan_l1_fix_time: 1.6953, d3.loss_plan_l1_fix_dist: 0.2882, d4.loss_plan_l1_fix_time: 1.7014, d4.loss_plan_l1_fix_dist: 0.3105, d5.loss_plan_l1_fix_time: 1.7073, d5.loss_plan_l1_fix_dist: 0.3352, d6.loss_plan_l1_fix_time: 1.7138, d6.loss_plan_l1_fix_dist: 0.3608, d0.loss_cls_all: 0.3530, d0.loss_bbox_all: 0.5352, d0.loss_cls: 0.3530, d0.loss_bbox: 0.5352, d1.loss_cls: 0.3484, d1.loss_bbox: 0.5053, d2.loss_cls: 0.3428, d2.loss_bbox: 0.4960, d3.loss_cls: 0.3405, d3.loss_bbox: 0.4913, d4.loss_cls: 0.3397, d4.loss_bbox: 0.4896, d5.loss_cls: 0.3382, d5.loss_bbox: 0.4913, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2375, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1028, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0762, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0762, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0754, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0770, d0.loss_map_cls_all: 0.3053, d0.loss_map_pts_all: 1.9101, d0.loss_map_dir_all: 0.0173, d0.loss_map_cls: 0.3053, d0.loss_map_pts: 1.9101, d0.loss_map_dir: 0.0173, d1.loss_map_cls: 0.2886, d1.loss_map_pts: 1.2963, d1.loss_map_dir: 0.0177, d2.loss_map_cls: 0.2721, d2.loss_map_pts: 1.1640, d2.loss_map_dir: 0.0185, d3.loss_map_cls: 0.2636, d3.loss_map_pts: 1.1137, d3.loss_map_dir: 0.0188, d4.loss_map_cls: 0.2581, d4.loss_map_pts: 1.1001, d4.loss_map_dir: 0.0191, d5.loss_map_cls: 0.2579, d5.loss_map_pts: 1.0964, d5.loss_map_dir: 0.0192, loss: 42.4736, grad_norm: 155.6964 +2026-02-24 23:13:25,797 - DriveTransformer - INFO - Epoch [3][15350/39528] lr: 9.831e-05, eta: 7 days, 21:35:12, time: 0.827, data_time: 0.041, memory: 19865, loss_cls: 0.3629, loss_bbox: 0.5265, loss_traj: 1.0573, loss_traj_cls: 0.0012, loss_map_cls: 0.2960, loss_map_pts: 1.3214, loss_map_dir: 0.0243, d0.loss_plan_l1_fix_time: 2.7731, d0.loss_plan_l1_fix_dist: 0.4771, d1.loss_plan_l1_fix_time: 1.7442, d1.loss_plan_l1_fix_dist: 0.2936, d2.loss_plan_l1_fix_time: 1.7458, d2.loss_plan_l1_fix_dist: 0.3146, d3.loss_plan_l1_fix_time: 1.7492, d3.loss_plan_l1_fix_dist: 0.3405, d4.loss_plan_l1_fix_time: 1.7542, d4.loss_plan_l1_fix_dist: 0.3720, d5.loss_plan_l1_fix_time: 1.7603, d5.loss_plan_l1_fix_dist: 0.4071, d6.loss_plan_l1_fix_time: 1.7662, d6.loss_plan_l1_fix_dist: 0.4436, d0.loss_cls_all: 0.3772, d0.loss_bbox_all: 0.5637, d0.loss_cls: 0.3772, d0.loss_bbox: 0.5637, d1.loss_cls: 0.3710, d1.loss_bbox: 0.5381, d2.loss_cls: 0.3674, d2.loss_bbox: 0.5272, d3.loss_cls: 0.3656, d3.loss_bbox: 0.5232, d4.loss_cls: 0.3648, d4.loss_bbox: 0.5216, d5.loss_cls: 0.3628, d5.loss_bbox: 0.5228, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2444, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0957, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0701, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0587, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0597, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0539, d0.loss_map_cls_all: 0.3439, d0.loss_map_pts_all: 2.2415, d0.loss_map_dir_all: 0.0225, d0.loss_map_cls: 0.3439, d0.loss_map_pts: 2.2415, d0.loss_map_dir: 0.0225, d1.loss_map_cls: 0.3221, d1.loss_map_pts: 1.5294, d1.loss_map_dir: 0.0220, d2.loss_map_cls: 0.3057, d2.loss_map_pts: 1.3817, d2.loss_map_dir: 0.0230, d3.loss_map_cls: 0.3014, d3.loss_map_pts: 1.3396, d3.loss_map_dir: 0.0236, d4.loss_map_cls: 0.2988, d4.loss_map_pts: 1.3262, d4.loss_map_dir: 0.0239, d5.loss_map_cls: 0.2954, d5.loss_map_pts: 1.3233, d5.loss_map_dir: 0.0241, loss: 46.2210, grad_norm: 156.1866 +2026-02-24 23:14:05,560 - DriveTransformer - INFO - Epoch [3][15400/39528] lr: 9.831e-05, eta: 7 days, 21:34:30, time: 0.795, data_time: 0.044, memory: 19865, loss_cls: 0.3762, loss_bbox: 0.5536, loss_traj: 1.1557, loss_traj_cls: 0.0012, loss_map_cls: 0.2925, loss_map_pts: 1.2102, loss_map_dir: 0.0235, d0.loss_plan_l1_fix_time: 3.0634, d0.loss_plan_l1_fix_dist: 0.4885, d1.loss_plan_l1_fix_time: 2.0745, d1.loss_plan_l1_fix_dist: 0.3013, d2.loss_plan_l1_fix_time: 2.0544, d2.loss_plan_l1_fix_dist: 0.3106, d3.loss_plan_l1_fix_time: 2.0576, d3.loss_plan_l1_fix_dist: 0.3248, d4.loss_plan_l1_fix_time: 2.0625, d4.loss_plan_l1_fix_dist: 0.3451, d5.loss_plan_l1_fix_time: 2.0691, d5.loss_plan_l1_fix_dist: 0.3666, d6.loss_plan_l1_fix_time: 2.0767, d6.loss_plan_l1_fix_dist: 0.3948, d0.loss_cls_all: 0.3898, d0.loss_bbox_all: 0.5937, d0.loss_cls: 0.3898, d0.loss_bbox: 0.5937, d1.loss_cls: 0.3856, d1.loss_bbox: 0.5711, d2.loss_cls: 0.3834, d2.loss_bbox: 0.5600, d3.loss_cls: 0.3766, d3.loss_bbox: 0.5542, d4.loss_cls: 0.3756, d4.loss_bbox: 0.5541, d5.loss_cls: 0.3750, d5.loss_bbox: 0.5511, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3542, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1948, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1553, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1518, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1541, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1536, d0.loss_map_cls_all: 0.3404, d0.loss_map_pts_all: 2.1901, d0.loss_map_dir_all: 0.0216, d0.loss_map_cls: 0.3404, d0.loss_map_pts: 2.1901, d0.loss_map_dir: 0.0216, d1.loss_map_cls: 0.3227, d1.loss_map_pts: 1.4408, d1.loss_map_dir: 0.0218, d2.loss_map_cls: 0.3061, d2.loss_map_pts: 1.2872, d2.loss_map_dir: 0.0225, d3.loss_map_cls: 0.2978, d3.loss_map_pts: 1.2364, d3.loss_map_dir: 0.0229, d4.loss_map_cls: 0.2937, d4.loss_map_pts: 1.2205, d4.loss_map_dir: 0.0231, d5.loss_map_cls: 0.2908, d5.loss_map_pts: 1.2140, d5.loss_map_dir: 0.0234, loss: 48.5539, grad_norm: 158.3663 +2026-02-24 23:14:45,988 - DriveTransformer - INFO - Epoch [3][15450/39528] lr: 9.831e-05, eta: 7 days, 21:33:55, time: 0.809, data_time: 0.038, memory: 19865, loss_cls: 0.4007, loss_bbox: 0.5293, loss_traj: 1.0645, loss_traj_cls: 0.0012, loss_map_cls: 0.2752, loss_map_pts: 1.2574, loss_map_dir: 0.0218, d0.loss_plan_l1_fix_time: 2.6500, d0.loss_plan_l1_fix_dist: 0.4711, d1.loss_plan_l1_fix_time: 1.9077, d1.loss_plan_l1_fix_dist: 0.2792, d2.loss_plan_l1_fix_time: 1.8803, d2.loss_plan_l1_fix_dist: 0.2931, d3.loss_plan_l1_fix_time: 1.8795, d3.loss_plan_l1_fix_dist: 0.3126, d4.loss_plan_l1_fix_time: 1.8831, d4.loss_plan_l1_fix_dist: 0.3294, d5.loss_plan_l1_fix_time: 1.8878, d5.loss_plan_l1_fix_dist: 0.3464, d6.loss_plan_l1_fix_time: 1.8938, d6.loss_plan_l1_fix_dist: 0.3638, d0.loss_cls_all: 0.4172, d0.loss_bbox_all: 0.5711, d0.loss_cls: 0.4172, d0.loss_bbox: 0.5711, d1.loss_cls: 0.4138, d1.loss_bbox: 0.5458, d2.loss_cls: 0.4096, d2.loss_bbox: 0.5360, d3.loss_cls: 0.4045, d3.loss_bbox: 0.5316, d4.loss_cls: 0.4007, d4.loss_bbox: 0.5304, d5.loss_cls: 0.3993, d5.loss_bbox: 0.5287, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1991, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0627, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0453, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0504, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0560, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.0612, d0.loss_map_cls_all: 0.3099, d0.loss_map_pts_all: 2.2164, d0.loss_map_dir_all: 0.0202, d0.loss_map_cls: 0.3099, d0.loss_map_pts: 2.2164, d0.loss_map_dir: 0.0202, d1.loss_map_cls: 0.2964, d1.loss_map_pts: 1.4703, d1.loss_map_dir: 0.0202, d2.loss_map_cls: 0.2843, d2.loss_map_pts: 1.3297, d2.loss_map_dir: 0.0209, d3.loss_map_cls: 0.2790, d3.loss_map_pts: 1.2830, d3.loss_map_dir: 0.0213, d4.loss_map_cls: 0.2763, d4.loss_map_pts: 1.2647, d4.loss_map_dir: 0.0215, d5.loss_map_cls: 0.2762, d5.loss_map_pts: 1.2578, d5.loss_map_dir: 0.0217, loss: 46.3015, grad_norm: 154.4395 +2026-02-24 23:15:26,970 - DriveTransformer - INFO - Epoch [3][15500/39528] lr: 9.831e-05, eta: 7 days, 21:33:24, time: 0.820, data_time: 0.041, memory: 19865, loss_cls: 0.3924, loss_bbox: 0.5546, loss_traj: 1.1797, loss_traj_cls: 0.0013, loss_map_cls: 0.2689, loss_map_pts: 1.2561, loss_map_dir: 0.0214, d0.loss_plan_l1_fix_time: 2.8152, d0.loss_plan_l1_fix_dist: 0.4578, d1.loss_plan_l1_fix_time: 1.8277, d1.loss_plan_l1_fix_dist: 0.3070, d2.loss_plan_l1_fix_time: 1.7966, d2.loss_plan_l1_fix_dist: 0.3234, d3.loss_plan_l1_fix_time: 1.7907, d3.loss_plan_l1_fix_dist: 0.3394, d4.loss_plan_l1_fix_time: 1.7925, d4.loss_plan_l1_fix_dist: 0.3570, d5.loss_plan_l1_fix_time: 1.7957, d5.loss_plan_l1_fix_dist: 0.3774, d6.loss_plan_l1_fix_time: 1.7994, d6.loss_plan_l1_fix_dist: 0.3994, d0.loss_cls_all: 0.4051, d0.loss_bbox_all: 0.6028, d0.loss_cls: 0.4051, d0.loss_bbox: 0.6028, d1.loss_cls: 0.3980, d1.loss_bbox: 0.5749, d2.loss_cls: 0.3928, d2.loss_bbox: 0.5650, d3.loss_cls: 0.3901, d3.loss_bbox: 0.5610, d4.loss_cls: 0.3911, d4.loss_bbox: 0.5550, d5.loss_cls: 0.3904, d5.loss_bbox: 0.5545, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3821, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2145, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1814, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1751, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1739, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.1746, d0.loss_map_cls_all: 0.3209, d0.loss_map_pts_all: 2.1816, d0.loss_map_dir_all: 0.0199, d0.loss_map_cls: 0.3209, d0.loss_map_pts: 2.1816, d0.loss_map_dir: 0.0199, d1.loss_map_cls: 0.2991, d1.loss_map_pts: 1.4962, d1.loss_map_dir: 0.0199, d2.loss_map_cls: 0.2827, d2.loss_map_pts: 1.3408, d2.loss_map_dir: 0.0205, d3.loss_map_cls: 0.2744, d3.loss_map_pts: 1.2875, d3.loss_map_dir: 0.0209, d4.loss_map_cls: 0.2687, d4.loss_map_pts: 1.2668, d4.loss_map_dir: 0.0212, d5.loss_map_cls: 0.2666, d5.loss_map_pts: 1.2583, d5.loss_map_dir: 0.0213, loss: 47.1393, grad_norm: 154.4309 +2026-02-24 23:16:06,126 - DriveTransformer - INFO - Epoch [3][15550/39528] lr: 9.831e-05, eta: 7 days, 21:32:37, time: 0.783, data_time: 0.040, memory: 19865, loss_cls: 0.4160, loss_bbox: 0.5385, loss_traj: 1.2953, loss_traj_cls: 0.0013, loss_map_cls: 0.2899, loss_map_pts: 1.2274, loss_map_dir: 0.0194, d0.loss_plan_l1_fix_time: 2.5201, d0.loss_plan_l1_fix_dist: 0.3857, d1.loss_plan_l1_fix_time: 1.8353, d1.loss_plan_l1_fix_dist: 0.2561, d2.loss_plan_l1_fix_time: 1.8304, d2.loss_plan_l1_fix_dist: 0.2657, d3.loss_plan_l1_fix_time: 1.8345, d3.loss_plan_l1_fix_dist: 0.2790, d4.loss_plan_l1_fix_time: 1.8412, d4.loss_plan_l1_fix_dist: 0.2968, d5.loss_plan_l1_fix_time: 1.8474, d5.loss_plan_l1_fix_dist: 0.3145, d6.loss_plan_l1_fix_time: 1.8534, d6.loss_plan_l1_fix_dist: 0.3335, d0.loss_cls_all: 0.4244, d0.loss_bbox_all: 0.5860, d0.loss_cls: 0.4244, d0.loss_bbox: 0.5860, d1.loss_cls: 0.4235, d1.loss_bbox: 0.5556, d2.loss_cls: 0.4192, d2.loss_bbox: 0.5424, d3.loss_cls: 0.4194, d3.loss_bbox: 0.5381, d4.loss_cls: 0.4203, d4.loss_bbox: 0.5369, d5.loss_cls: 0.4191, d5.loss_bbox: 0.5360, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5702, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.3369, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2962, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.2914, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.2858, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.2896, d0.loss_map_cls_all: 0.3481, d0.loss_map_pts_all: 2.0037, d0.loss_map_dir_all: 0.0178, d0.loss_map_cls: 0.3481, d0.loss_map_pts: 2.0037, d0.loss_map_dir: 0.0178, d1.loss_map_cls: 0.3259, d1.loss_map_pts: 1.4323, d1.loss_map_dir: 0.0180, d2.loss_map_cls: 0.3080, d2.loss_map_pts: 1.2966, d2.loss_map_dir: 0.0186, d3.loss_map_cls: 0.2961, d3.loss_map_pts: 1.2557, d3.loss_map_dir: 0.0190, d4.loss_map_cls: 0.2923, d4.loss_map_pts: 1.2374, d4.loss_map_dir: 0.0192, d5.loss_map_cls: 0.2886, d5.loss_map_pts: 1.2300, d5.loss_map_dir: 0.0193, loss: 47.1849, grad_norm: 156.0365 +2026-02-24 23:16:45,239 - DriveTransformer - INFO - Epoch [3][15600/39528] lr: 9.831e-05, eta: 7 days, 21:31:50, time: 0.784, data_time: 0.045, memory: 19865, loss_cls: 0.3902, loss_bbox: 0.5288, loss_traj: 1.1161, loss_traj_cls: 0.0012, loss_map_cls: 0.2656, loss_map_pts: 1.1306, loss_map_dir: 0.0188, d0.loss_plan_l1_fix_time: 2.8313, d0.loss_plan_l1_fix_dist: 0.4351, d1.loss_plan_l1_fix_time: 1.7653, d1.loss_plan_l1_fix_dist: 0.3042, d2.loss_plan_l1_fix_time: 1.7503, d2.loss_plan_l1_fix_dist: 0.3121, d3.loss_plan_l1_fix_time: 1.7581, d3.loss_plan_l1_fix_dist: 0.3241, d4.loss_plan_l1_fix_time: 1.7642, d4.loss_plan_l1_fix_dist: 0.3363, d5.loss_plan_l1_fix_time: 1.7702, d5.loss_plan_l1_fix_dist: 0.3531, d6.loss_plan_l1_fix_time: 1.7767, d6.loss_plan_l1_fix_dist: 0.3743, d0.loss_cls_all: 0.4013, d0.loss_bbox_all: 0.5703, d0.loss_cls: 0.4013, d0.loss_bbox: 0.5703, d1.loss_cls: 0.3935, d1.loss_bbox: 0.5470, d2.loss_cls: 0.3875, d2.loss_bbox: 0.5372, d3.loss_cls: 0.3861, d3.loss_bbox: 0.5320, d4.loss_cls: 0.3868, d4.loss_bbox: 0.5279, d5.loss_cls: 0.3883, d5.loss_bbox: 0.5278, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2922, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1503, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1081, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1076, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1081, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1097, d0.loss_map_cls_all: 0.3205, d0.loss_map_pts_all: 1.8916, d0.loss_map_dir_all: 0.0171, d0.loss_map_cls: 0.3205, d0.loss_map_pts: 1.8916, d0.loss_map_dir: 0.0171, d1.loss_map_cls: 0.2973, d1.loss_map_pts: 1.3324, d1.loss_map_dir: 0.0173, d2.loss_map_cls: 0.2814, d2.loss_map_pts: 1.2041, d2.loss_map_dir: 0.0180, d3.loss_map_cls: 0.2690, d3.loss_map_pts: 1.1582, d3.loss_map_dir: 0.0183, d4.loss_map_cls: 0.2656, d4.loss_map_pts: 1.1409, d4.loss_map_dir: 0.0185, d5.loss_map_cls: 0.2654, d5.loss_map_pts: 1.1339, d5.loss_map_dir: 0.0187, loss: 44.6430, grad_norm: 154.5784 +2026-02-24 23:17:24,805 - DriveTransformer - INFO - Epoch [3][15650/39528] lr: 9.831e-05, eta: 7 days, 21:31:06, time: 0.790, data_time: 0.038, memory: 19865, loss_cls: 0.3471, loss_bbox: 0.4858, loss_traj: 1.1701, loss_traj_cls: 0.0013, loss_map_cls: 0.2709, loss_map_pts: 1.1204, loss_map_dir: 0.0176, d0.loss_plan_l1_fix_time: 2.5919, d0.loss_plan_l1_fix_dist: 0.5174, d1.loss_plan_l1_fix_time: 2.0387, d1.loss_plan_l1_fix_dist: 0.2942, d2.loss_plan_l1_fix_time: 2.0248, d2.loss_plan_l1_fix_dist: 0.2971, d3.loss_plan_l1_fix_time: 2.0331, d3.loss_plan_l1_fix_dist: 0.3087, d4.loss_plan_l1_fix_time: 2.0431, d4.loss_plan_l1_fix_dist: 0.3253, d5.loss_plan_l1_fix_time: 2.0542, d5.loss_plan_l1_fix_dist: 0.3451, d6.loss_plan_l1_fix_time: 2.0663, d6.loss_plan_l1_fix_dist: 0.3676, d0.loss_cls_all: 0.3470, d0.loss_bbox_all: 0.5281, d0.loss_cls: 0.3470, d0.loss_bbox: 0.5281, d1.loss_cls: 0.3473, d1.loss_bbox: 0.5001, d2.loss_cls: 0.3413, d2.loss_bbox: 0.4921, d3.loss_cls: 0.3399, d3.loss_bbox: 0.4865, d4.loss_cls: 0.3420, d4.loss_bbox: 0.4840, d5.loss_cls: 0.3438, d5.loss_bbox: 0.4843, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2847, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1567, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1504, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1506, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1484, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1630, d0.loss_map_cls_all: 0.3336, d0.loss_map_pts_all: 1.8553, d0.loss_map_dir_all: 0.0161, d0.loss_map_cls: 0.3336, d0.loss_map_pts: 1.8553, d0.loss_map_dir: 0.0161, d1.loss_map_cls: 0.3054, d1.loss_map_pts: 1.3068, d1.loss_map_dir: 0.0163, d2.loss_map_cls: 0.2868, d2.loss_map_pts: 1.1790, d2.loss_map_dir: 0.0168, d3.loss_map_cls: 0.2784, d3.loss_map_pts: 1.1338, d3.loss_map_dir: 0.0172, d4.loss_map_cls: 0.2744, d4.loss_map_pts: 1.1209, d4.loss_map_dir: 0.0174, d5.loss_map_cls: 0.2710, d5.loss_map_pts: 1.1182, d5.loss_map_dir: 0.0175, loss: 45.4615, grad_norm: 154.4274 +2026-02-24 23:18:05,953 - DriveTransformer - INFO - Epoch [3][15700/39528] lr: 9.831e-05, eta: 7 days, 21:30:37, time: 0.823, data_time: 0.048, memory: 19865, loss_cls: 0.3817, loss_bbox: 0.5131, loss_traj: 1.1750, loss_traj_cls: 0.0013, loss_map_cls: 0.3063, loss_map_pts: 1.3751, loss_map_dir: 0.0239, d0.loss_plan_l1_fix_time: 2.6343, d0.loss_plan_l1_fix_dist: 0.4272, d1.loss_plan_l1_fix_time: 1.7205, d1.loss_plan_l1_fix_dist: 0.2752, d2.loss_plan_l1_fix_time: 1.7002, d2.loss_plan_l1_fix_dist: 0.2764, d3.loss_plan_l1_fix_time: 1.7049, d3.loss_plan_l1_fix_dist: 0.2860, d4.loss_plan_l1_fix_time: 1.7116, d4.loss_plan_l1_fix_dist: 0.3009, d5.loss_plan_l1_fix_time: 1.7190, d5.loss_plan_l1_fix_dist: 0.3167, d6.loss_plan_l1_fix_time: 1.7270, d6.loss_plan_l1_fix_dist: 0.3318, d0.loss_cls_all: 0.3894, d0.loss_bbox_all: 0.5507, d0.loss_cls: 0.3894, d0.loss_bbox: 0.5507, d1.loss_cls: 0.3820, d1.loss_bbox: 0.5290, d2.loss_cls: 0.3777, d2.loss_bbox: 0.5171, d3.loss_cls: 0.3773, d3.loss_bbox: 0.5125, d4.loss_cls: 0.3775, d4.loss_bbox: 0.5115, d5.loss_cls: 0.3769, d5.loss_bbox: 0.5117, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3347, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1851, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1678, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1692, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1663, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1705, d0.loss_map_cls_all: 0.3501, d0.loss_map_pts_all: 2.4177, d0.loss_map_dir_all: 0.0222, d0.loss_map_cls: 0.3501, d0.loss_map_pts: 2.4177, d0.loss_map_dir: 0.0222, d1.loss_map_cls: 0.3347, d1.loss_map_pts: 1.6350, d1.loss_map_dir: 0.0222, d2.loss_map_cls: 0.3158, d2.loss_map_pts: 1.4656, d2.loss_map_dir: 0.0229, d3.loss_map_cls: 0.3106, d3.loss_map_pts: 1.4008, d3.loss_map_dir: 0.0234, d4.loss_map_cls: 0.3051, d4.loss_map_pts: 1.3832, d4.loss_map_dir: 0.0236, d5.loss_map_cls: 0.3045, d5.loss_map_pts: 1.3764, d5.loss_map_dir: 0.0238, loss: 46.9884, grad_norm: 151.6570 +2026-02-24 23:18:46,363 - DriveTransformer - INFO - Epoch [3][15750/39528] lr: 9.831e-05, eta: 7 days, 21:30:02, time: 0.809, data_time: 0.043, memory: 19865, loss_cls: 0.3664, loss_bbox: 0.5073, loss_traj: 0.9674, loss_traj_cls: 0.0013, loss_map_cls: 0.3050, loss_map_pts: 1.3717, loss_map_dir: 0.0229, d0.loss_plan_l1_fix_time: 2.7332, d0.loss_plan_l1_fix_dist: 0.3608, d1.loss_plan_l1_fix_time: 1.7277, d1.loss_plan_l1_fix_dist: 0.2642, d2.loss_plan_l1_fix_time: 1.7060, d2.loss_plan_l1_fix_dist: 0.2807, d3.loss_plan_l1_fix_time: 1.7103, d3.loss_plan_l1_fix_dist: 0.2966, d4.loss_plan_l1_fix_time: 1.7150, d4.loss_plan_l1_fix_dist: 0.3092, d5.loss_plan_l1_fix_time: 1.7200, d5.loss_plan_l1_fix_dist: 0.3258, d6.loss_plan_l1_fix_time: 1.7255, d6.loss_plan_l1_fix_dist: 0.3457, d0.loss_cls_all: 0.3870, d0.loss_bbox_all: 0.5472, d0.loss_cls: 0.3870, d0.loss_bbox: 0.5472, d1.loss_cls: 0.3789, d1.loss_bbox: 0.5227, d2.loss_cls: 0.3708, d2.loss_bbox: 0.5122, d3.loss_cls: 0.3663, d3.loss_bbox: 0.5078, d4.loss_cls: 0.3659, d4.loss_bbox: 0.5067, d5.loss_cls: 0.3636, d5.loss_bbox: 0.5074, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1190, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9855, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9652, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9611, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.9662, d5.loss_traj_cls: 0.0009, d5.loss_traj: 0.9661, d0.loss_map_cls_all: 0.3464, d0.loss_map_pts_all: 2.2995, d0.loss_map_dir_all: 0.0208, d0.loss_map_cls: 0.3464, d0.loss_map_pts: 2.2995, d0.loss_map_dir: 0.0208, d1.loss_map_cls: 0.3315, d1.loss_map_pts: 1.5839, d1.loss_map_dir: 0.0210, d2.loss_map_cls: 0.3171, d2.loss_map_pts: 1.4451, d2.loss_map_dir: 0.0217, d3.loss_map_cls: 0.3106, d3.loss_map_pts: 1.3962, d3.loss_map_dir: 0.0222, d4.loss_map_cls: 0.3068, d4.loss_map_pts: 1.3771, d4.loss_map_dir: 0.0227, d5.loss_map_cls: 0.3046, d5.loss_map_pts: 1.3718, d5.loss_map_dir: 0.0228, loss: 45.1906, grad_norm: 151.0976 +2026-02-24 23:19:26,337 - DriveTransformer - INFO - Epoch [3][15800/39528] lr: 9.831e-05, eta: 7 days, 21:29:22, time: 0.799, data_time: 0.044, memory: 19865, loss_cls: 0.3639, loss_bbox: 0.5265, loss_traj: 0.9294, loss_traj_cls: 0.0013, loss_map_cls: 0.2667, loss_map_pts: 1.2200, loss_map_dir: 0.0243, d0.loss_plan_l1_fix_time: 2.6550, d0.loss_plan_l1_fix_dist: 0.4531, d1.loss_plan_l1_fix_time: 1.9321, d1.loss_plan_l1_fix_dist: 0.3096, d2.loss_plan_l1_fix_time: 1.9165, d2.loss_plan_l1_fix_dist: 0.3188, d3.loss_plan_l1_fix_time: 1.9197, d3.loss_plan_l1_fix_dist: 0.3301, d4.loss_plan_l1_fix_time: 1.9249, d4.loss_plan_l1_fix_dist: 0.3419, d5.loss_plan_l1_fix_time: 1.9314, d5.loss_plan_l1_fix_dist: 0.3546, d6.loss_plan_l1_fix_time: 1.9391, d6.loss_plan_l1_fix_dist: 0.3717, d0.loss_cls_all: 0.3778, d0.loss_bbox_all: 0.5629, d0.loss_cls: 0.3778, d0.loss_bbox: 0.5629, d1.loss_cls: 0.3728, d1.loss_bbox: 0.5414, d2.loss_cls: 0.3662, d2.loss_bbox: 0.5324, d3.loss_cls: 0.3638, d3.loss_bbox: 0.5274, d4.loss_cls: 0.3619, d4.loss_bbox: 0.5257, d5.loss_cls: 0.3617, d5.loss_bbox: 0.5262, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0275, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9439, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9180, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9182, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9201, d5.loss_traj_cls: 0.0009, d5.loss_traj: 0.9260, d0.loss_map_cls_all: 0.3137, d0.loss_map_pts_all: 2.3530, d0.loss_map_dir_all: 0.0227, d0.loss_map_cls: 0.3137, d0.loss_map_pts: 2.3530, d0.loss_map_dir: 0.0227, d1.loss_map_cls: 0.2924, d1.loss_map_pts: 1.4769, d1.loss_map_dir: 0.0226, d2.loss_map_cls: 0.2784, d2.loss_map_pts: 1.3091, d2.loss_map_dir: 0.0232, d3.loss_map_cls: 0.2709, d3.loss_map_pts: 1.2501, d3.loss_map_dir: 0.0236, d4.loss_map_cls: 0.2665, d4.loss_map_pts: 1.2301, d4.loss_map_dir: 0.0239, d5.loss_map_cls: 0.2650, d5.loss_map_pts: 1.2218, d5.loss_map_dir: 0.0241, loss: 45.4084, grad_norm: 151.2281 +2026-02-24 23:20:05,342 - DriveTransformer - INFO - Epoch [3][15850/39528] lr: 9.831e-05, eta: 7 days, 21:28:33, time: 0.780, data_time: 0.037, memory: 19865, loss_cls: 0.4091, loss_bbox: 0.5784, loss_traj: 1.3912, loss_traj_cls: 0.0013, loss_map_cls: 0.3279, loss_map_pts: 1.3733, loss_map_dir: 0.0216, d0.loss_plan_l1_fix_time: 3.3861, d0.loss_plan_l1_fix_dist: 0.4692, d1.loss_plan_l1_fix_time: 2.3715, d1.loss_plan_l1_fix_dist: 0.2989, d2.loss_plan_l1_fix_time: 2.3498, d2.loss_plan_l1_fix_dist: 0.3049, d3.loss_plan_l1_fix_time: 2.3468, d3.loss_plan_l1_fix_dist: 0.3158, d4.loss_plan_l1_fix_time: 2.3495, d4.loss_plan_l1_fix_dist: 0.3311, d5.loss_plan_l1_fix_time: 2.3532, d5.loss_plan_l1_fix_dist: 0.3478, d6.loss_plan_l1_fix_time: 2.3582, d6.loss_plan_l1_fix_dist: 0.3642, d0.loss_cls_all: 0.4225, d0.loss_bbox_all: 0.6222, d0.loss_cls: 0.4225, d0.loss_bbox: 0.6222, d1.loss_cls: 0.4162, d1.loss_bbox: 0.5962, d2.loss_cls: 0.4118, d2.loss_bbox: 0.5844, d3.loss_cls: 0.4082, d3.loss_bbox: 0.5799, d4.loss_cls: 0.4066, d4.loss_bbox: 0.5795, d5.loss_cls: 0.4076, d5.loss_bbox: 0.5780, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6816, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.4305, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3887, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.3848, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.3779, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.3860, d0.loss_map_cls_all: 0.3880, d0.loss_map_pts_all: 2.1535, d0.loss_map_dir_all: 0.0199, d0.loss_map_cls: 0.3880, d0.loss_map_pts: 2.1535, d0.loss_map_dir: 0.0199, d1.loss_map_cls: 0.3651, d1.loss_map_pts: 1.5732, d1.loss_map_dir: 0.0201, d2.loss_map_cls: 0.3386, d2.loss_map_pts: 1.4380, d2.loss_map_dir: 0.0206, d3.loss_map_cls: 0.3321, d3.loss_map_pts: 1.3908, d3.loss_map_dir: 0.0209, d4.loss_map_cls: 0.3270, d4.loss_map_pts: 1.3784, d4.loss_map_dir: 0.0212, d5.loss_map_cls: 0.3279, d5.loss_map_pts: 1.3732, d5.loss_map_dir: 0.0214, loss: 53.8340, grad_norm: 151.3755 +2026-02-24 23:20:45,810 - DriveTransformer - INFO - Epoch [3][15900/39528] lr: 9.831e-05, eta: 7 days, 21:27:58, time: 0.809, data_time: 0.045, memory: 19865, loss_cls: 0.3425, loss_bbox: 0.4885, loss_traj: 1.0335, loss_traj_cls: 0.0014, loss_map_cls: 0.2445, loss_map_pts: 1.1145, loss_map_dir: 0.0183, d0.loss_plan_l1_fix_time: 2.5906, d0.loss_plan_l1_fix_dist: 0.4708, d1.loss_plan_l1_fix_time: 1.7095, d1.loss_plan_l1_fix_dist: 0.2668, d2.loss_plan_l1_fix_time: 1.6768, d2.loss_plan_l1_fix_dist: 0.2684, d3.loss_plan_l1_fix_time: 1.6754, d3.loss_plan_l1_fix_dist: 0.2776, d4.loss_plan_l1_fix_time: 1.6791, d4.loss_plan_l1_fix_dist: 0.2913, d5.loss_plan_l1_fix_time: 1.6832, d5.loss_plan_l1_fix_dist: 0.3048, d6.loss_plan_l1_fix_time: 1.6881, d6.loss_plan_l1_fix_dist: 0.3182, d0.loss_cls_all: 0.3599, d0.loss_bbox_all: 0.5373, d0.loss_cls: 0.3599, d0.loss_bbox: 0.5373, d1.loss_cls: 0.3527, d1.loss_bbox: 0.5080, d2.loss_cls: 0.3434, d2.loss_bbox: 0.4985, d3.loss_cls: 0.3403, d3.loss_bbox: 0.4914, d4.loss_cls: 0.3413, d4.loss_bbox: 0.4899, d5.loss_cls: 0.3418, d5.loss_bbox: 0.4870, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1985, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0569, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0413, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0392, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0375, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.0350, d0.loss_map_cls_all: 0.2970, d0.loss_map_pts_all: 1.8046, d0.loss_map_dir_all: 0.0167, d0.loss_map_cls: 0.2970, d0.loss_map_pts: 1.8046, d0.loss_map_dir: 0.0167, d1.loss_map_cls: 0.2744, d1.loss_map_pts: 1.2783, d1.loss_map_dir: 0.0171, d2.loss_map_cls: 0.2581, d2.loss_map_pts: 1.1630, d2.loss_map_dir: 0.0172, d3.loss_map_cls: 0.2487, d3.loss_map_pts: 1.1293, d3.loss_map_dir: 0.0176, d4.loss_map_cls: 0.2448, d4.loss_map_pts: 1.1193, d4.loss_map_dir: 0.0180, d5.loss_map_cls: 0.2444, d5.loss_map_pts: 1.1135, d5.loss_map_dir: 0.0181, loss: 41.9451, grad_norm: 151.5902 +2026-02-24 23:21:26,273 - DriveTransformer - INFO - Epoch [3][15950/39528] lr: 9.831e-05, eta: 7 days, 21:27:23, time: 0.809, data_time: 0.038, memory: 19865, loss_cls: 0.3892, loss_bbox: 0.5441, loss_traj: 1.0988, loss_traj_cls: 0.0014, loss_map_cls: 0.3087, loss_map_pts: 1.3748, loss_map_dir: 0.0243, d0.loss_plan_l1_fix_time: 2.7758, d0.loss_plan_l1_fix_dist: 0.4059, d1.loss_plan_l1_fix_time: 1.7289, d1.loss_plan_l1_fix_dist: 0.2851, d2.loss_plan_l1_fix_time: 1.7200, d2.loss_plan_l1_fix_dist: 0.2945, d3.loss_plan_l1_fix_time: 1.7232, d3.loss_plan_l1_fix_dist: 0.3070, d4.loss_plan_l1_fix_time: 1.7274, d4.loss_plan_l1_fix_dist: 0.3213, d5.loss_plan_l1_fix_time: 1.7322, d5.loss_plan_l1_fix_dist: 0.3389, d6.loss_plan_l1_fix_time: 1.7366, d6.loss_plan_l1_fix_dist: 0.3621, d0.loss_cls_all: 0.3977, d0.loss_bbox_all: 0.5860, d0.loss_cls: 0.3977, d0.loss_bbox: 0.5860, d1.loss_cls: 0.3931, d1.loss_bbox: 0.5580, d2.loss_cls: 0.3878, d2.loss_bbox: 0.5486, d3.loss_cls: 0.3859, d3.loss_bbox: 0.5445, d4.loss_cls: 0.3864, d4.loss_bbox: 0.5433, d5.loss_cls: 0.3850, d5.loss_bbox: 0.5453, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2370, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1082, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1008, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0982, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1008, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0964, d0.loss_map_cls_all: 0.3511, d0.loss_map_pts_all: 2.3052, d0.loss_map_dir_all: 0.0217, d0.loss_map_cls: 0.3511, d0.loss_map_pts: 2.3052, d0.loss_map_dir: 0.0217, d1.loss_map_cls: 0.3255, d1.loss_map_pts: 1.6021, d1.loss_map_dir: 0.0220, d2.loss_map_cls: 0.3131, d2.loss_map_pts: 1.4503, d2.loss_map_dir: 0.0229, d3.loss_map_cls: 0.3094, d3.loss_map_pts: 1.3988, d3.loss_map_dir: 0.0235, d4.loss_map_cls: 0.3068, d4.loss_map_pts: 1.3825, d4.loss_map_dir: 0.0238, d5.loss_map_cls: 0.3065, d5.loss_map_pts: 1.3780, d5.loss_map_dir: 0.0241, loss: 46.8378, grad_norm: 150.3364 +2026-02-24 23:22:07,440 - DriveTransformer - INFO - Epoch [3][16000/39528] lr: 9.831e-05, eta: 7 days, 21:26:54, time: 0.823, data_time: 0.045, memory: 19865, loss_cls: 0.3981, loss_bbox: 0.5472, loss_traj: 0.9722, loss_traj_cls: 0.0015, loss_map_cls: 0.2838, loss_map_pts: 1.2312, loss_map_dir: 0.0239, d0.loss_plan_l1_fix_time: 2.5907, d0.loss_plan_l1_fix_dist: 0.3904, d1.loss_plan_l1_fix_time: 1.8490, d1.loss_plan_l1_fix_dist: 0.2591, d2.loss_plan_l1_fix_time: 1.8475, d2.loss_plan_l1_fix_dist: 0.2691, d3.loss_plan_l1_fix_time: 1.8499, d3.loss_plan_l1_fix_dist: 0.2813, d4.loss_plan_l1_fix_time: 1.8539, d4.loss_plan_l1_fix_dist: 0.2947, d5.loss_plan_l1_fix_time: 1.8588, d5.loss_plan_l1_fix_dist: 0.3073, d6.loss_plan_l1_fix_time: 1.8638, d6.loss_plan_l1_fix_dist: 0.3226, d0.loss_cls_all: 0.4071, d0.loss_bbox_all: 0.5929, d0.loss_cls: 0.4071, d0.loss_bbox: 0.5929, d1.loss_cls: 0.4055, d1.loss_bbox: 0.5646, d2.loss_cls: 0.4023, d2.loss_bbox: 0.5533, d3.loss_cls: 0.4002, d3.loss_bbox: 0.5482, d4.loss_cls: 0.4013, d4.loss_bbox: 0.5471, d5.loss_cls: 0.4003, d5.loss_bbox: 0.5446, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1008, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9997, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9743, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9717, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9652, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.9637, d0.loss_map_cls_all: 0.3476, d0.loss_map_pts_all: 2.1466, d0.loss_map_dir_all: 0.0217, d0.loss_map_cls: 0.3476, d0.loss_map_pts: 2.1466, d0.loss_map_dir: 0.0217, d1.loss_map_cls: 0.3175, d1.loss_map_pts: 1.4286, d1.loss_map_dir: 0.0223, d2.loss_map_cls: 0.2973, d2.loss_map_pts: 1.2881, d2.loss_map_dir: 0.0229, d3.loss_map_cls: 0.2885, d3.loss_map_pts: 1.2440, d3.loss_map_dir: 0.0234, d4.loss_map_cls: 0.2855, d4.loss_map_pts: 1.2304, d4.loss_map_dir: 0.0237, d5.loss_map_cls: 0.2851, d5.loss_map_pts: 1.2285, d5.loss_map_dir: 0.0238, loss: 45.0862, grad_norm: 151.2101 +2026-02-24 23:22:46,780 - DriveTransformer - INFO - Epoch [3][16050/39528] lr: 9.831e-05, eta: 7 days, 21:26:08, time: 0.787, data_time: 0.039, memory: 19865, loss_cls: 0.3909, loss_bbox: 0.5601, loss_traj: 1.1734, loss_traj_cls: 0.0014, loss_map_cls: 0.3055, loss_map_pts: 1.2727, loss_map_dir: 0.0212, d0.loss_plan_l1_fix_time: 2.7080, d0.loss_plan_l1_fix_dist: 0.4673, d1.loss_plan_l1_fix_time: 1.7424, d1.loss_plan_l1_fix_dist: 0.3036, d2.loss_plan_l1_fix_time: 1.7258, d2.loss_plan_l1_fix_dist: 0.3066, d3.loss_plan_l1_fix_time: 1.7271, d3.loss_plan_l1_fix_dist: 0.3146, d4.loss_plan_l1_fix_time: 1.7319, d4.loss_plan_l1_fix_dist: 0.3250, d5.loss_plan_l1_fix_time: 1.7384, d5.loss_plan_l1_fix_dist: 0.3349, d6.loss_plan_l1_fix_time: 1.7458, d6.loss_plan_l1_fix_dist: 0.3440, d0.loss_cls_all: 0.3971, d0.loss_bbox_all: 0.6106, d0.loss_cls: 0.3971, d0.loss_bbox: 0.6106, d1.loss_cls: 0.3933, d1.loss_bbox: 0.5745, d2.loss_cls: 0.3894, d2.loss_bbox: 0.5626, d3.loss_cls: 0.3889, d3.loss_bbox: 0.5587, d4.loss_cls: 0.3887, d4.loss_bbox: 0.5590, d5.loss_cls: 0.3879, d5.loss_bbox: 0.5595, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3954, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2166, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1848, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1777, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1783, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.1727, d0.loss_map_cls_all: 0.3539, d0.loss_map_pts_all: 2.0238, d0.loss_map_dir_all: 0.0193, d0.loss_map_cls: 0.3539, d0.loss_map_pts: 2.0238, d0.loss_map_dir: 0.0193, d1.loss_map_cls: 0.3333, d1.loss_map_pts: 1.4515, d1.loss_map_dir: 0.0196, d2.loss_map_cls: 0.3166, d2.loss_map_pts: 1.3245, d2.loss_map_dir: 0.0202, d3.loss_map_cls: 0.3059, d3.loss_map_pts: 1.2804, d3.loss_map_dir: 0.0207, d4.loss_map_cls: 0.3041, d4.loss_map_pts: 1.2698, d4.loss_map_dir: 0.0209, d5.loss_map_cls: 0.3044, d5.loss_map_pts: 1.2695, d5.loss_map_dir: 0.0211, loss: 46.4063, grad_norm: 152.7270 +2026-02-24 23:23:25,054 - DriveTransformer - INFO - Epoch [3][16100/39528] lr: 9.831e-05, eta: 7 days, 21:25:13, time: 0.766, data_time: 0.036, memory: 19865, loss_cls: 0.3798, loss_bbox: 0.5441, loss_traj: 1.1539, loss_traj_cls: 0.0014, loss_map_cls: 0.2767, loss_map_pts: 1.1093, loss_map_dir: 0.0207, d0.loss_plan_l1_fix_time: 2.8161, d0.loss_plan_l1_fix_dist: 0.3632, d1.loss_plan_l1_fix_time: 1.8566, d1.loss_plan_l1_fix_dist: 0.2499, d2.loss_plan_l1_fix_time: 1.8318, d2.loss_plan_l1_fix_dist: 0.2572, d3.loss_plan_l1_fix_time: 1.8354, d3.loss_plan_l1_fix_dist: 0.2666, d4.loss_plan_l1_fix_time: 1.8446, d4.loss_plan_l1_fix_dist: 0.2796, d5.loss_plan_l1_fix_time: 1.8556, d5.loss_plan_l1_fix_dist: 0.2938, d6.loss_plan_l1_fix_time: 1.8683, d6.loss_plan_l1_fix_dist: 0.3068, d0.loss_cls_all: 0.3993, d0.loss_bbox_all: 0.5854, d0.loss_cls: 0.3993, d0.loss_bbox: 0.5854, d1.loss_cls: 0.3895, d1.loss_bbox: 0.5568, d2.loss_cls: 0.3817, d2.loss_bbox: 0.5438, d3.loss_cls: 0.3814, d3.loss_bbox: 0.5383, d4.loss_cls: 0.3785, d4.loss_bbox: 0.5403, d5.loss_cls: 0.3791, d5.loss_bbox: 0.5416, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4642, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2077, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1560, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1487, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1489, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1502, d0.loss_map_cls_all: 0.3230, d0.loss_map_pts_all: 1.8887, d0.loss_map_dir_all: 0.0186, d0.loss_map_cls: 0.3230, d0.loss_map_pts: 1.8887, d0.loss_map_dir: 0.0186, d1.loss_map_cls: 0.2979, d1.loss_map_pts: 1.2847, d1.loss_map_dir: 0.0191, d2.loss_map_cls: 0.2819, d2.loss_map_pts: 1.1571, d2.loss_map_dir: 0.0198, d3.loss_map_cls: 0.2774, d3.loss_map_pts: 1.1131, d3.loss_map_dir: 0.0201, d4.loss_map_cls: 0.2746, d4.loss_map_pts: 1.1025, d4.loss_map_dir: 0.0204, d5.loss_map_cls: 0.2749, d5.loss_map_pts: 1.1034, d5.loss_map_dir: 0.0206, loss: 45.0210, grad_norm: 153.7266 +2026-02-24 23:24:05,714 - DriveTransformer - INFO - Epoch [3][16150/39528] lr: 9.831e-05, eta: 7 days, 21:24:40, time: 0.813, data_time: 0.042, memory: 19865, loss_cls: 0.3723, loss_bbox: 0.5296, loss_traj: 1.1091, loss_traj_cls: 0.0014, loss_map_cls: 0.2725, loss_map_pts: 1.2060, loss_map_dir: 0.0210, d0.loss_plan_l1_fix_time: 2.9473, d0.loss_plan_l1_fix_dist: 0.3583, d1.loss_plan_l1_fix_time: 2.0762, d1.loss_plan_l1_fix_dist: 0.2530, d2.loss_plan_l1_fix_time: 2.0429, d2.loss_plan_l1_fix_dist: 0.2527, d3.loss_plan_l1_fix_time: 2.0419, d3.loss_plan_l1_fix_dist: 0.2585, d4.loss_plan_l1_fix_time: 2.0468, d4.loss_plan_l1_fix_dist: 0.2677, d5.loss_plan_l1_fix_time: 2.0530, d5.loss_plan_l1_fix_dist: 0.2797, d6.loss_plan_l1_fix_time: 2.0608, d6.loss_plan_l1_fix_dist: 0.2954, d0.loss_cls_all: 0.3940, d0.loss_bbox_all: 0.5680, d0.loss_cls: 0.3940, d0.loss_bbox: 0.5680, d1.loss_cls: 0.3852, d1.loss_bbox: 0.5451, d2.loss_cls: 0.3799, d2.loss_bbox: 0.5359, d3.loss_cls: 0.3768, d3.loss_bbox: 0.5312, d4.loss_cls: 0.3751, d4.loss_bbox: 0.5307, d5.loss_cls: 0.3706, d5.loss_bbox: 0.5307, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2642, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1078, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1032, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0980, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0961, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1012, d0.loss_map_cls_all: 0.3362, d0.loss_map_pts_all: 2.0997, d0.loss_map_dir_all: 0.0192, d0.loss_map_cls: 0.3362, d0.loss_map_pts: 2.0997, d0.loss_map_dir: 0.0192, d1.loss_map_cls: 0.3048, d1.loss_map_pts: 1.4140, d1.loss_map_dir: 0.0195, d2.loss_map_cls: 0.2894, d2.loss_map_pts: 1.2771, d2.loss_map_dir: 0.0200, d3.loss_map_cls: 0.2810, d3.loss_map_pts: 1.2315, d3.loss_map_dir: 0.0203, d4.loss_map_cls: 0.2741, d4.loss_map_pts: 1.2129, d4.loss_map_dir: 0.0206, d5.loss_map_cls: 0.2727, d5.loss_map_pts: 1.2066, d5.loss_map_dir: 0.0208, loss: 46.7828, grad_norm: 154.3192 +2026-02-24 23:24:45,218 - DriveTransformer - INFO - Epoch [3][16200/39528] lr: 9.831e-05, eta: 7 days, 21:23:56, time: 0.790, data_time: 0.039, memory: 19865, loss_cls: 0.4075, loss_bbox: 0.5494, loss_traj: 1.1269, loss_traj_cls: 0.0014, loss_map_cls: 0.3083, loss_map_pts: 1.2783, loss_map_dir: 0.0219, d0.loss_plan_l1_fix_time: 2.6247, d0.loss_plan_l1_fix_dist: 0.4230, d1.loss_plan_l1_fix_time: 1.9518, d1.loss_plan_l1_fix_dist: 0.2873, d2.loss_plan_l1_fix_time: 1.9246, d2.loss_plan_l1_fix_dist: 0.2878, d3.loss_plan_l1_fix_time: 1.9291, d3.loss_plan_l1_fix_dist: 0.2914, d4.loss_plan_l1_fix_time: 1.9341, d4.loss_plan_l1_fix_dist: 0.2975, d5.loss_plan_l1_fix_time: 1.9392, d5.loss_plan_l1_fix_dist: 0.3054, d6.loss_plan_l1_fix_time: 1.9446, d6.loss_plan_l1_fix_dist: 0.3157, d0.loss_cls_all: 0.4192, d0.loss_bbox_all: 0.5937, d0.loss_cls: 0.4192, d0.loss_bbox: 0.5937, d1.loss_cls: 0.4165, d1.loss_bbox: 0.5656, d2.loss_cls: 0.4155, d2.loss_bbox: 0.5497, d3.loss_cls: 0.4144, d3.loss_bbox: 0.5454, d4.loss_cls: 0.4091, d4.loss_bbox: 0.5485, d5.loss_cls: 0.4065, d5.loss_bbox: 0.5499, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2702, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1645, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1297, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1252, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1202, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1230, d0.loss_map_cls_all: 0.3530, d0.loss_map_pts_all: 2.1999, d0.loss_map_dir_all: 0.0208, d0.loss_map_cls: 0.3530, d0.loss_map_pts: 2.1999, d0.loss_map_dir: 0.0208, d1.loss_map_cls: 0.3283, d1.loss_map_pts: 1.5017, d1.loss_map_dir: 0.0205, d2.loss_map_cls: 0.3156, d2.loss_map_pts: 1.3621, d2.loss_map_dir: 0.0211, d3.loss_map_cls: 0.3113, d3.loss_map_pts: 1.3063, d3.loss_map_dir: 0.0214, d4.loss_map_cls: 0.3091, d4.loss_map_pts: 1.2861, d4.loss_map_dir: 0.0217, d5.loss_map_cls: 0.3067, d5.loss_map_pts: 1.2805, d5.loss_map_dir: 0.0218, loss: 47.4965, grad_norm: 152.7426 +2026-02-24 23:25:26,189 - DriveTransformer - INFO - Epoch [3][16250/39528] lr: 9.831e-05, eta: 7 days, 21:23:25, time: 0.819, data_time: 0.036, memory: 19865, loss_cls: 0.3547, loss_bbox: 0.5061, loss_traj: 1.0361, loss_traj_cls: 0.0015, loss_map_cls: 0.2669, loss_map_pts: 1.2658, loss_map_dir: 0.0243, d0.loss_plan_l1_fix_time: 2.4428, d0.loss_plan_l1_fix_dist: 0.4905, d1.loss_plan_l1_fix_time: 1.7342, d1.loss_plan_l1_fix_dist: 0.3071, d2.loss_plan_l1_fix_time: 1.7376, d2.loss_plan_l1_fix_dist: 0.3047, d3.loss_plan_l1_fix_time: 1.7491, d3.loss_plan_l1_fix_dist: 0.3088, d4.loss_plan_l1_fix_time: 1.7580, d4.loss_plan_l1_fix_dist: 0.3178, d5.loss_plan_l1_fix_time: 1.7661, d5.loss_plan_l1_fix_dist: 0.3265, d6.loss_plan_l1_fix_time: 1.7740, d6.loss_plan_l1_fix_dist: 0.3334, d0.loss_cls_all: 0.3704, d0.loss_bbox_all: 0.5479, d0.loss_cls: 0.3704, d0.loss_bbox: 0.5479, d1.loss_cls: 0.3620, d1.loss_bbox: 0.5181, d2.loss_cls: 0.3579, d2.loss_bbox: 0.5060, d3.loss_cls: 0.3580, d3.loss_bbox: 0.5013, d4.loss_cls: 0.3535, d4.loss_bbox: 0.5020, d5.loss_cls: 0.3540, d5.loss_bbox: 0.5039, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2709, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1045, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0543, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0446, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0346, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0345, d0.loss_map_cls_all: 0.3286, d0.loss_map_pts_all: 2.3490, d0.loss_map_dir_all: 0.0225, d0.loss_map_cls: 0.3286, d0.loss_map_pts: 2.3490, d0.loss_map_dir: 0.0225, d1.loss_map_cls: 0.3020, d1.loss_map_pts: 1.5036, d1.loss_map_dir: 0.0225, d2.loss_map_cls: 0.2847, d2.loss_map_pts: 1.3441, d2.loss_map_dir: 0.0233, d3.loss_map_cls: 0.2740, d3.loss_map_pts: 1.2911, d3.loss_map_dir: 0.0237, d4.loss_map_cls: 0.2670, d4.loss_map_pts: 1.2737, d4.loss_map_dir: 0.0240, d5.loss_map_cls: 0.2655, d5.loss_map_pts: 1.2665, d5.loss_map_dir: 0.0241, loss: 45.0981, grad_norm: 154.3165 +2026-02-24 23:26:04,962 - DriveTransformer - INFO - Epoch [3][16300/39528] lr: 9.831e-05, eta: 7 days, 21:22:34, time: 0.775, data_time: 0.041, memory: 19865, loss_cls: 0.3635, loss_bbox: 0.5130, loss_traj: 1.2725, loss_traj_cls: 0.0016, loss_map_cls: 0.2557, loss_map_pts: 0.9268, loss_map_dir: 0.0168, d0.loss_plan_l1_fix_time: 2.8967, d0.loss_plan_l1_fix_dist: 0.3417, d1.loss_plan_l1_fix_time: 1.8027, d1.loss_plan_l1_fix_dist: 0.2353, d2.loss_plan_l1_fix_time: 1.7710, d2.loss_plan_l1_fix_dist: 0.2336, d3.loss_plan_l1_fix_time: 1.7759, d3.loss_plan_l1_fix_dist: 0.2401, d4.loss_plan_l1_fix_time: 1.7820, d4.loss_plan_l1_fix_dist: 0.2473, d5.loss_plan_l1_fix_time: 1.7886, d5.loss_plan_l1_fix_dist: 0.2566, d6.loss_plan_l1_fix_time: 1.7959, d6.loss_plan_l1_fix_dist: 0.2689, d0.loss_cls_all: 0.3747, d0.loss_bbox_all: 0.5588, d0.loss_cls: 0.3747, d0.loss_bbox: 0.5588, d1.loss_cls: 0.3672, d1.loss_bbox: 0.5298, d2.loss_cls: 0.3630, d2.loss_bbox: 0.5175, d3.loss_cls: 0.3642, d3.loss_bbox: 0.5102, d4.loss_cls: 0.3609, d4.loss_bbox: 0.5086, d5.loss_cls: 0.3629, d5.loss_bbox: 0.5093, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4217, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2735, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2603, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.2651, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.2647, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.2676, d0.loss_map_cls_all: 0.3067, d0.loss_map_pts_all: 1.6662, d0.loss_map_dir_all: 0.0157, d0.loss_map_cls: 0.3067, d0.loss_map_pts: 1.6662, d0.loss_map_dir: 0.0157, d1.loss_map_cls: 0.2774, d1.loss_map_pts: 1.1058, d1.loss_map_dir: 0.0159, d2.loss_map_cls: 0.2664, d2.loss_map_pts: 0.9798, d2.loss_map_dir: 0.0161, d3.loss_map_cls: 0.2563, d3.loss_map_pts: 0.9384, d3.loss_map_dir: 0.0164, d4.loss_map_cls: 0.2554, d4.loss_map_pts: 0.9310, d4.loss_map_dir: 0.0167, d5.loss_map_cls: 0.2551, d5.loss_map_pts: 0.9264, d5.loss_map_dir: 0.0168, loss: 43.0564, grad_norm: 154.0280 +2026-02-24 23:26:48,243 - DriveTransformer - INFO - Epoch [3][16350/39528] lr: 9.831e-05, eta: 7 days, 21:22:24, time: 0.866, data_time: 0.044, memory: 19865, loss_cls: 0.3826, loss_bbox: 0.5710, loss_traj: 1.0400, loss_traj_cls: 0.0015, loss_map_cls: 0.3078, loss_map_pts: 1.5185, loss_map_dir: 0.0281, d0.loss_plan_l1_fix_time: 2.3007, d0.loss_plan_l1_fix_dist: 0.4327, d1.loss_plan_l1_fix_time: 1.7542, d1.loss_plan_l1_fix_dist: 0.3309, d2.loss_plan_l1_fix_time: 1.7399, d2.loss_plan_l1_fix_dist: 0.3297, d3.loss_plan_l1_fix_time: 1.7479, d3.loss_plan_l1_fix_dist: 0.3353, d4.loss_plan_l1_fix_time: 1.7578, d4.loss_plan_l1_fix_dist: 0.3442, d5.loss_plan_l1_fix_time: 1.7678, d5.loss_plan_l1_fix_dist: 0.3559, d6.loss_plan_l1_fix_time: 1.7787, d6.loss_plan_l1_fix_dist: 0.3689, d0.loss_cls_all: 0.4028, d0.loss_bbox_all: 0.6151, d0.loss_cls: 0.4028, d0.loss_bbox: 0.6151, d1.loss_cls: 0.3928, d1.loss_bbox: 0.5869, d2.loss_cls: 0.3910, d2.loss_bbox: 0.5733, d3.loss_cls: 0.3907, d3.loss_bbox: 0.5679, d4.loss_cls: 0.3870, d4.loss_bbox: 0.5664, d5.loss_cls: 0.3838, d5.loss_bbox: 0.5680, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1840, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0601, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0421, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0381, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0399, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0451, d0.loss_map_cls_all: 0.3516, d0.loss_map_pts_all: 2.7850, d0.loss_map_dir_all: 0.0265, d0.loss_map_cls: 0.3516, d0.loss_map_pts: 2.7850, d0.loss_map_dir: 0.0265, d1.loss_map_cls: 0.3317, d1.loss_map_pts: 1.7801, d1.loss_map_dir: 0.0263, d2.loss_map_cls: 0.3190, d2.loss_map_pts: 1.6119, d2.loss_map_dir: 0.0268, d3.loss_map_cls: 0.3113, d3.loss_map_pts: 1.5515, d3.loss_map_dir: 0.0273, d4.loss_map_cls: 0.3096, d4.loss_map_pts: 1.5325, d4.loss_map_dir: 0.0278, d5.loss_map_cls: 0.3070, d5.loss_map_pts: 1.5237, d5.loss_map_dir: 0.0280, loss: 48.4931, grad_norm: 153.2997 +2026-02-24 23:27:25,171 - DriveTransformer - INFO - Epoch [3][16400/39528] lr: 9.831e-05, eta: 7 days, 21:21:18, time: 0.740, data_time: 0.042, memory: 19865, loss_cls: 0.4061, loss_bbox: 0.5670, loss_traj: 1.3702, loss_traj_cls: 0.0015, loss_map_cls: 0.3170, loss_map_pts: 1.2511, loss_map_dir: 0.0186, d0.loss_plan_l1_fix_time: 2.8349, d0.loss_plan_l1_fix_dist: 0.4898, d1.loss_plan_l1_fix_time: 1.8282, d1.loss_plan_l1_fix_dist: 0.2992, d2.loss_plan_l1_fix_time: 1.8130, d2.loss_plan_l1_fix_dist: 0.3062, d3.loss_plan_l1_fix_time: 1.8154, d3.loss_plan_l1_fix_dist: 0.3172, d4.loss_plan_l1_fix_time: 1.8216, d4.loss_plan_l1_fix_dist: 0.3289, d5.loss_plan_l1_fix_time: 1.8280, d5.loss_plan_l1_fix_dist: 0.3420, d6.loss_plan_l1_fix_time: 1.8345, d6.loss_plan_l1_fix_dist: 0.3576, d0.loss_cls_all: 0.4169, d0.loss_bbox_all: 0.6153, d0.loss_cls: 0.4169, d0.loss_bbox: 0.6153, d1.loss_cls: 0.4099, d1.loss_bbox: 0.5855, d2.loss_cls: 0.4078, d2.loss_bbox: 0.5749, d3.loss_cls: 0.4071, d3.loss_bbox: 0.5690, d4.loss_cls: 0.4083, d4.loss_bbox: 0.5654, d5.loss_cls: 0.4085, d5.loss_bbox: 0.5635, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.6809, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4395, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3825, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.3740, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.3686, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.3575, d0.loss_map_cls_all: 0.3764, d0.loss_map_pts_all: 1.9329, d0.loss_map_dir_all: 0.0172, d0.loss_map_cls: 0.3764, d0.loss_map_pts: 1.9329, d0.loss_map_dir: 0.0172, d1.loss_map_cls: 0.3473, d1.loss_map_pts: 1.4658, d1.loss_map_dir: 0.0176, d2.loss_map_cls: 0.3301, d2.loss_map_pts: 1.3270, d2.loss_map_dir: 0.0179, d3.loss_map_cls: 0.3206, d3.loss_map_pts: 1.2785, d3.loss_map_dir: 0.0181, d4.loss_map_cls: 0.3186, d4.loss_map_pts: 1.2616, d4.loss_map_dir: 0.0183, d5.loss_map_cls: 0.3179, d5.loss_map_pts: 1.2546, d5.loss_map_dir: 0.0185, loss: 48.6863, grad_norm: 153.5408 +2026-02-24 23:28:06,077 - DriveTransformer - INFO - Epoch [3][16450/39528] lr: 9.831e-05, eta: 7 days, 21:20:46, time: 0.817, data_time: 0.037, memory: 19865, loss_cls: 0.3872, loss_bbox: 0.5269, loss_traj: 1.0107, loss_traj_cls: 0.0015, loss_map_cls: 0.2887, loss_map_pts: 1.2537, loss_map_dir: 0.0201, d0.loss_plan_l1_fix_time: 2.6910, d0.loss_plan_l1_fix_dist: 0.4031, d1.loss_plan_l1_fix_time: 1.9375, d1.loss_plan_l1_fix_dist: 0.2615, d2.loss_plan_l1_fix_time: 1.9404, d2.loss_plan_l1_fix_dist: 0.2654, d3.loss_plan_l1_fix_time: 1.9429, d3.loss_plan_l1_fix_dist: 0.2710, d4.loss_plan_l1_fix_time: 1.9489, d4.loss_plan_l1_fix_dist: 0.2791, d5.loss_plan_l1_fix_time: 1.9557, d5.loss_plan_l1_fix_dist: 0.2903, d6.loss_plan_l1_fix_time: 1.9628, d6.loss_plan_l1_fix_dist: 0.3037, d0.loss_cls_all: 0.4043, d0.loss_bbox_all: 0.5849, d0.loss_cls: 0.4043, d0.loss_bbox: 0.5849, d1.loss_cls: 0.4040, d1.loss_bbox: 0.5509, d2.loss_cls: 0.3948, d2.loss_bbox: 0.5363, d3.loss_cls: 0.3929, d3.loss_bbox: 0.5253, d4.loss_cls: 0.3892, d4.loss_bbox: 0.5254, d5.loss_cls: 0.3875, d5.loss_bbox: 0.5255, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2261, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0243, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0106, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9995, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9988, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.0043, d0.loss_map_cls_all: 0.3415, d0.loss_map_pts_all: 2.1810, d0.loss_map_dir_all: 0.0191, d0.loss_map_cls: 0.3415, d0.loss_map_pts: 2.1810, d0.loss_map_dir: 0.0191, d1.loss_map_cls: 0.3143, d1.loss_map_pts: 1.4548, d1.loss_map_dir: 0.0189, d2.loss_map_cls: 0.2984, d2.loss_map_pts: 1.3256, d2.loss_map_dir: 0.0193, d3.loss_map_cls: 0.2932, d3.loss_map_pts: 1.2750, d3.loss_map_dir: 0.0197, d4.loss_map_cls: 0.2912, d4.loss_map_pts: 1.2551, d4.loss_map_dir: 0.0198, d5.loss_map_cls: 0.2904, d5.loss_map_pts: 1.2540, d5.loss_map_dir: 0.0200, loss: 46.0542, grad_norm: 153.5658 +2026-02-24 23:28:46,867 - DriveTransformer - INFO - Epoch [3][16500/39528] lr: 9.831e-05, eta: 7 days, 21:20:14, time: 0.816, data_time: 0.038, memory: 19865, loss_cls: 0.4090, loss_bbox: 0.5414, loss_traj: 1.0249, loss_traj_cls: 0.0016, loss_map_cls: 0.2510, loss_map_pts: 1.2660, loss_map_dir: 0.0203, d0.loss_plan_l1_fix_time: 3.3189, d0.loss_plan_l1_fix_dist: 0.5277, d1.loss_plan_l1_fix_time: 1.9686, d1.loss_plan_l1_fix_dist: 0.2475, d2.loss_plan_l1_fix_time: 1.9461, d2.loss_plan_l1_fix_dist: 0.2607, d3.loss_plan_l1_fix_time: 1.9468, d3.loss_plan_l1_fix_dist: 0.2792, d4.loss_plan_l1_fix_time: 1.9512, d4.loss_plan_l1_fix_dist: 0.2985, d5.loss_plan_l1_fix_time: 1.9567, d5.loss_plan_l1_fix_dist: 0.3171, d6.loss_plan_l1_fix_time: 1.9630, d6.loss_plan_l1_fix_dist: 0.3359, d0.loss_cls_all: 0.4170, d0.loss_bbox_all: 0.5801, d0.loss_cls: 0.4170, d0.loss_bbox: 0.5801, d1.loss_cls: 0.4120, d1.loss_bbox: 0.5566, d2.loss_cls: 0.4084, d2.loss_bbox: 0.5457, d3.loss_cls: 0.4098, d3.loss_bbox: 0.5377, d4.loss_cls: 0.4083, d4.loss_bbox: 0.5369, d5.loss_cls: 0.4101, d5.loss_bbox: 0.5369, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1877, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0363, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0098, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0132, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0171, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.0183, d0.loss_map_cls_all: 0.2932, d0.loss_map_pts_all: 2.0903, d0.loss_map_dir_all: 0.0186, d0.loss_map_cls: 0.2932, d0.loss_map_pts: 2.0903, d0.loss_map_dir: 0.0186, d1.loss_map_cls: 0.2697, d1.loss_map_pts: 1.4643, d1.loss_map_dir: 0.0190, d2.loss_map_cls: 0.2578, d2.loss_map_pts: 1.3327, d2.loss_map_dir: 0.0194, d3.loss_map_cls: 0.2536, d3.loss_map_pts: 1.2801, d3.loss_map_dir: 0.0199, d4.loss_map_cls: 0.2503, d4.loss_map_pts: 1.2704, d4.loss_map_dir: 0.0200, d5.loss_map_cls: 0.2502, d5.loss_map_pts: 1.2634, d5.loss_map_dir: 0.0202, loss: 46.6721, grad_norm: 153.5517 +2026-02-24 23:29:29,321 - DriveTransformer - INFO - Epoch [3][16550/39528] lr: 9.831e-05, eta: 7 days, 21:19:56, time: 0.849, data_time: 0.043, memory: 19865, loss_cls: 0.3662, loss_bbox: 0.5403, loss_traj: 1.0224, loss_traj_cls: 0.0017, loss_map_cls: 0.2854, loss_map_pts: 1.3126, loss_map_dir: 0.0245, d0.loss_plan_l1_fix_time: 2.6304, d0.loss_plan_l1_fix_dist: 0.4713, d1.loss_plan_l1_fix_time: 1.9017, d1.loss_plan_l1_fix_dist: 0.2749, d2.loss_plan_l1_fix_time: 1.8936, d2.loss_plan_l1_fix_dist: 0.2843, d3.loss_plan_l1_fix_time: 1.8946, d3.loss_plan_l1_fix_dist: 0.3006, d4.loss_plan_l1_fix_time: 1.8986, d4.loss_plan_l1_fix_dist: 0.3176, d5.loss_plan_l1_fix_time: 1.9044, d5.loss_plan_l1_fix_dist: 0.3348, d6.loss_plan_l1_fix_time: 1.9119, d6.loss_plan_l1_fix_dist: 0.3566, d0.loss_cls_all: 0.3744, d0.loss_bbox_all: 0.5858, d0.loss_cls: 0.3744, d0.loss_bbox: 0.5858, d1.loss_cls: 0.3707, d1.loss_bbox: 0.5575, d2.loss_cls: 0.3678, d2.loss_bbox: 0.5484, d3.loss_cls: 0.3685, d3.loss_bbox: 0.5433, d4.loss_cls: 0.3650, d4.loss_bbox: 0.5401, d5.loss_cls: 0.3651, d5.loss_bbox: 0.5388, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2171, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0569, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0224, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0226, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0134, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.0167, d0.loss_map_cls_all: 0.3382, d0.loss_map_pts_all: 2.3514, d0.loss_map_dir_all: 0.0227, d0.loss_map_cls: 0.3382, d0.loss_map_pts: 2.3514, d0.loss_map_dir: 0.0227, d1.loss_map_cls: 0.3115, d1.loss_map_pts: 1.5413, d1.loss_map_dir: 0.0229, d2.loss_map_cls: 0.2971, d2.loss_map_pts: 1.3859, d2.loss_map_dir: 0.0234, d3.loss_map_cls: 0.2904, d3.loss_map_pts: 1.3279, d3.loss_map_dir: 0.0238, d4.loss_map_cls: 0.2873, d4.loss_map_pts: 1.3106, d4.loss_map_dir: 0.0242, d5.loss_map_cls: 0.2859, d5.loss_map_pts: 1.3073, d5.loss_map_dir: 0.0244, loss: 46.6568, grad_norm: 152.9303 +2026-02-24 23:30:12,481 - DriveTransformer - INFO - Epoch [3][16600/39528] lr: 9.831e-05, eta: 7 days, 21:19:45, time: 0.863, data_time: 0.036, memory: 19865, loss_cls: 0.3784, loss_bbox: 0.5398, loss_traj: 0.8924, loss_traj_cls: 0.0017, loss_map_cls: 0.2991, loss_map_pts: 1.3094, loss_map_dir: 0.0252, d0.loss_plan_l1_fix_time: 2.2413, d0.loss_plan_l1_fix_dist: 0.3950, d1.loss_plan_l1_fix_time: 1.4999, d1.loss_plan_l1_fix_dist: 0.2741, d2.loss_plan_l1_fix_time: 1.4917, d2.loss_plan_l1_fix_dist: 0.2837, d3.loss_plan_l1_fix_time: 1.4935, d3.loss_plan_l1_fix_dist: 0.2994, d4.loss_plan_l1_fix_time: 1.4986, d4.loss_plan_l1_fix_dist: 0.3197, d5.loss_plan_l1_fix_time: 1.5045, d5.loss_plan_l1_fix_dist: 0.3414, d6.loss_plan_l1_fix_time: 1.5119, d6.loss_plan_l1_fix_dist: 0.3589, d0.loss_cls_all: 0.3885, d0.loss_bbox_all: 0.5778, d0.loss_cls: 0.3885, d0.loss_bbox: 0.5778, d1.loss_cls: 0.3820, d1.loss_bbox: 0.5563, d2.loss_cls: 0.3786, d2.loss_bbox: 0.5468, d3.loss_cls: 0.3773, d3.loss_bbox: 0.5411, d4.loss_cls: 0.3769, d4.loss_bbox: 0.5371, d5.loss_cls: 0.3786, d5.loss_bbox: 0.5364, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0426, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9248, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.9008, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8973, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9003, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8959, d0.loss_map_cls_all: 0.3420, d0.loss_map_pts_all: 2.4017, d0.loss_map_dir_all: 0.0233, d0.loss_map_cls: 0.3420, d0.loss_map_pts: 2.4017, d0.loss_map_dir: 0.0233, d1.loss_map_cls: 0.3178, d1.loss_map_pts: 1.5429, d1.loss_map_dir: 0.0231, d2.loss_map_cls: 0.3083, d2.loss_map_pts: 1.3802, d2.loss_map_dir: 0.0239, d3.loss_map_cls: 0.3019, d3.loss_map_pts: 1.3308, d3.loss_map_dir: 0.0246, d4.loss_map_cls: 0.2990, d4.loss_map_pts: 1.3139, d4.loss_map_dir: 0.0249, d5.loss_map_cls: 0.2976, d5.loss_map_pts: 1.3084, d5.loss_map_dir: 0.0251, loss: 43.1267, grad_norm: 152.5078 +2026-02-24 23:30:52,827 - DriveTransformer - INFO - Epoch [3][16650/39528] lr: 9.831e-05, eta: 7 days, 21:19:08, time: 0.807, data_time: 0.040, memory: 19865, loss_cls: 0.3461, loss_bbox: 0.5013, loss_traj: 1.0660, loss_traj_cls: 0.0018, loss_map_cls: 0.2461, loss_map_pts: 1.0717, loss_map_dir: 0.0194, d0.loss_plan_l1_fix_time: 2.3799, d0.loss_plan_l1_fix_dist: 0.4740, d1.loss_plan_l1_fix_time: 1.6388, d1.loss_plan_l1_fix_dist: 0.2912, d2.loss_plan_l1_fix_time: 1.6109, d2.loss_plan_l1_fix_dist: 0.2969, d3.loss_plan_l1_fix_time: 1.6105, d3.loss_plan_l1_fix_dist: 0.3094, d4.loss_plan_l1_fix_time: 1.6146, d4.loss_plan_l1_fix_dist: 0.3236, d5.loss_plan_l1_fix_time: 1.6196, d5.loss_plan_l1_fix_dist: 0.3398, d6.loss_plan_l1_fix_time: 1.6248, d6.loss_plan_l1_fix_dist: 0.3597, d0.loss_cls_all: 0.3555, d0.loss_bbox_all: 0.5338, d0.loss_cls: 0.3555, d0.loss_bbox: 0.5338, d1.loss_cls: 0.3468, d1.loss_bbox: 0.5129, d2.loss_cls: 0.3464, d2.loss_bbox: 0.5021, d3.loss_cls: 0.3420, d3.loss_bbox: 0.5011, d4.loss_cls: 0.3405, d4.loss_bbox: 0.5013, d5.loss_cls: 0.3440, d5.loss_bbox: 0.4994, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2667, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1054, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0831, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0856, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0780, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.0722, d0.loss_map_cls_all: 0.3012, d0.loss_map_pts_all: 1.9254, d0.loss_map_dir_all: 0.0183, d0.loss_map_cls: 0.3012, d0.loss_map_pts: 1.9254, d0.loss_map_dir: 0.0183, d1.loss_map_cls: 0.2773, d1.loss_map_pts: 1.2807, d1.loss_map_dir: 0.0182, d2.loss_map_cls: 0.2588, d2.loss_map_pts: 1.1414, d2.loss_map_dir: 0.0185, d3.loss_map_cls: 0.2537, d3.loss_map_pts: 1.0898, d3.loss_map_dir: 0.0190, d4.loss_map_cls: 0.2491, d4.loss_map_pts: 1.0742, d4.loss_map_dir: 0.0192, d5.loss_map_cls: 0.2485, d5.loss_map_pts: 1.0704, d5.loss_map_dir: 0.0193, loss: 41.9858, grad_norm: 149.5558 +2026-02-24 23:31:33,623 - DriveTransformer - INFO - Epoch [3][16700/39528] lr: 9.831e-05, eta: 7 days, 21:18:36, time: 0.816, data_time: 0.041, memory: 19865, loss_cls: 0.3701, loss_bbox: 0.5236, loss_traj: 1.1162, loss_traj_cls: 0.0017, loss_map_cls: 0.2838, loss_map_pts: 1.2459, loss_map_dir: 0.0188, d0.loss_plan_l1_fix_time: 2.9443, d0.loss_plan_l1_fix_dist: 0.3948, d1.loss_plan_l1_fix_time: 1.8711, d1.loss_plan_l1_fix_dist: 0.2274, d2.loss_plan_l1_fix_time: 1.8347, d2.loss_plan_l1_fix_dist: 0.2340, d3.loss_plan_l1_fix_time: 1.8324, d3.loss_plan_l1_fix_dist: 0.2473, d4.loss_plan_l1_fix_time: 1.8354, d4.loss_plan_l1_fix_dist: 0.2630, d5.loss_plan_l1_fix_time: 1.8391, d5.loss_plan_l1_fix_dist: 0.2790, d6.loss_plan_l1_fix_time: 1.8429, d6.loss_plan_l1_fix_dist: 0.2982, d0.loss_cls_all: 0.3838, d0.loss_bbox_all: 0.5667, d0.loss_cls: 0.3838, d0.loss_bbox: 0.5667, d1.loss_cls: 0.3783, d1.loss_bbox: 0.5410, d2.loss_cls: 0.3709, d2.loss_bbox: 0.5313, d3.loss_cls: 0.3718, d3.loss_bbox: 0.5240, d4.loss_cls: 0.3693, d4.loss_bbox: 0.5216, d5.loss_cls: 0.3702, d5.loss_bbox: 0.5201, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2907, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1464, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1268, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1171, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1148, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.1167, d0.loss_map_cls_all: 0.3368, d0.loss_map_pts_all: 1.9913, d0.loss_map_dir_all: 0.0170, d0.loss_map_cls: 0.3368, d0.loss_map_pts: 1.9913, d0.loss_map_dir: 0.0170, d1.loss_map_cls: 0.3102, d1.loss_map_pts: 1.4591, d1.loss_map_dir: 0.0173, d2.loss_map_cls: 0.2974, d2.loss_map_pts: 1.3217, d2.loss_map_dir: 0.0177, d3.loss_map_cls: 0.2889, d3.loss_map_pts: 1.2657, d3.loss_map_dir: 0.0183, d4.loss_map_cls: 0.2863, d4.loss_map_pts: 1.2520, d4.loss_map_dir: 0.0185, d5.loss_map_cls: 0.2837, d5.loss_map_pts: 1.2466, d5.loss_map_dir: 0.0187, loss: 45.6132, grad_norm: 149.5746 +2026-02-24 23:32:16,924 - DriveTransformer - INFO - Epoch [3][16750/39528] lr: 9.831e-05, eta: 7 days, 21:18:26, time: 0.866, data_time: 0.038, memory: 19865, loss_cls: 0.3451, loss_bbox: 0.5001, loss_traj: 1.2592, loss_traj_cls: 0.0018, loss_map_cls: 0.2723, loss_map_pts: 1.1319, loss_map_dir: 0.0193, d0.loss_plan_l1_fix_time: 3.1378, d0.loss_plan_l1_fix_dist: 0.3901, d1.loss_plan_l1_fix_time: 2.0836, d1.loss_plan_l1_fix_dist: 0.2389, d2.loss_plan_l1_fix_time: 2.0708, d2.loss_plan_l1_fix_dist: 0.2479, d3.loss_plan_l1_fix_time: 2.0747, d3.loss_plan_l1_fix_dist: 0.2597, d4.loss_plan_l1_fix_time: 2.0803, d4.loss_plan_l1_fix_dist: 0.2768, d5.loss_plan_l1_fix_time: 2.0861, d5.loss_plan_l1_fix_dist: 0.2972, d6.loss_plan_l1_fix_time: 2.0920, d6.loss_plan_l1_fix_dist: 0.3168, d0.loss_cls_all: 0.3582, d0.loss_bbox_all: 0.5410, d0.loss_cls: 0.3582, d0.loss_bbox: 0.5410, d1.loss_cls: 0.3538, d1.loss_bbox: 0.5117, d2.loss_cls: 0.3471, d2.loss_bbox: 0.5019, d3.loss_cls: 0.3496, d3.loss_bbox: 0.4959, d4.loss_cls: 0.3451, d4.loss_bbox: 0.4954, d5.loss_cls: 0.3461, d5.loss_bbox: 0.4955, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.5275, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3098, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.2643, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2611, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.2554, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.2517, d0.loss_map_cls_all: 0.3172, d0.loss_map_pts_all: 1.9684, d0.loss_map_dir_all: 0.0177, d0.loss_map_cls: 0.3172, d0.loss_map_pts: 1.9684, d0.loss_map_dir: 0.0177, d1.loss_map_cls: 0.2921, d1.loss_map_pts: 1.3208, d1.loss_map_dir: 0.0180, d2.loss_map_cls: 0.2794, d2.loss_map_pts: 1.1868, d2.loss_map_dir: 0.0185, d3.loss_map_cls: 0.2734, d3.loss_map_pts: 1.1435, d3.loss_map_dir: 0.0188, d4.loss_map_cls: 0.2706, d4.loss_map_pts: 1.1362, d4.loss_map_dir: 0.0191, d5.loss_map_cls: 0.2708, d5.loss_map_pts: 1.1296, d5.loss_map_dir: 0.0192, loss: 47.1016, grad_norm: 150.5869 +2026-02-24 23:33:01,532 - DriveTransformer - INFO - Epoch [3][16800/39528] lr: 9.831e-05, eta: 7 days, 21:18:27, time: 0.892, data_time: 0.050, memory: 19865, loss_cls: 0.3784, loss_bbox: 0.5690, loss_traj: 1.0446, loss_traj_cls: 0.0018, loss_map_cls: 0.2919, loss_map_pts: 1.3044, loss_map_dir: 0.0229, d0.loss_plan_l1_fix_time: 3.1785, d0.loss_plan_l1_fix_dist: 0.4780, d1.loss_plan_l1_fix_time: 1.9981, d1.loss_plan_l1_fix_dist: 0.2834, d2.loss_plan_l1_fix_time: 1.9655, d2.loss_plan_l1_fix_dist: 0.2916, d3.loss_plan_l1_fix_time: 1.9618, d3.loss_plan_l1_fix_dist: 0.3043, d4.loss_plan_l1_fix_time: 1.9632, d4.loss_plan_l1_fix_dist: 0.3204, d5.loss_plan_l1_fix_time: 1.9663, d5.loss_plan_l1_fix_dist: 0.3391, d6.loss_plan_l1_fix_time: 1.9707, d6.loss_plan_l1_fix_dist: 0.3612, d0.loss_cls_all: 0.3911, d0.loss_bbox_all: 0.6088, d0.loss_cls: 0.3911, d0.loss_bbox: 0.6088, d1.loss_cls: 0.3848, d1.loss_bbox: 0.5837, d2.loss_cls: 0.3782, d2.loss_bbox: 0.5723, d3.loss_cls: 0.3755, d3.loss_bbox: 0.5679, d4.loss_cls: 0.3743, d4.loss_bbox: 0.5689, d5.loss_cls: 0.3753, d5.loss_bbox: 0.5677, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2198, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0995, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0631, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0480, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0421, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.0450, d0.loss_map_cls_all: 0.3351, d0.loss_map_pts_all: 2.3289, d0.loss_map_dir_all: 0.0213, d0.loss_map_cls: 0.3351, d0.loss_map_pts: 2.3289, d0.loss_map_dir: 0.0213, d1.loss_map_cls: 0.3180, d1.loss_map_pts: 1.5432, d1.loss_map_dir: 0.0210, d2.loss_map_cls: 0.2996, d2.loss_map_pts: 1.3908, d2.loss_map_dir: 0.0217, d3.loss_map_cls: 0.2949, d3.loss_map_pts: 1.3294, d3.loss_map_dir: 0.0222, d4.loss_map_cls: 0.2926, d4.loss_map_pts: 1.3133, d4.loss_map_dir: 0.0226, d5.loss_map_cls: 0.2909, d5.loss_map_pts: 1.3049, d5.loss_map_dir: 0.0228, loss: 48.1249, grad_norm: 150.1004 +2026-02-24 23:33:43,388 - DriveTransformer - INFO - Epoch [3][16850/39528] lr: 9.831e-05, eta: 7 days, 21:18:04, time: 0.837, data_time: 0.041, memory: 19865, loss_cls: 0.3944, loss_bbox: 0.5614, loss_traj: 1.1610, loss_traj_cls: 0.0018, loss_map_cls: 0.2814, loss_map_pts: 1.2591, loss_map_dir: 0.0216, d0.loss_plan_l1_fix_time: 2.5380, d0.loss_plan_l1_fix_dist: 0.4171, d1.loss_plan_l1_fix_time: 1.6590, d1.loss_plan_l1_fix_dist: 0.2690, d2.loss_plan_l1_fix_time: 1.6270, d2.loss_plan_l1_fix_dist: 0.2772, d3.loss_plan_l1_fix_time: 1.6251, d3.loss_plan_l1_fix_dist: 0.2890, d4.loss_plan_l1_fix_time: 1.6284, d4.loss_plan_l1_fix_dist: 0.3025, d5.loss_plan_l1_fix_time: 1.6339, d5.loss_plan_l1_fix_dist: 0.3180, d6.loss_plan_l1_fix_time: 1.6416, d6.loss_plan_l1_fix_dist: 0.3336, d0.loss_cls_all: 0.4050, d0.loss_bbox_all: 0.6095, d0.loss_cls: 0.4050, d0.loss_bbox: 0.6095, d1.loss_cls: 0.4024, d1.loss_bbox: 0.5844, d2.loss_cls: 0.3950, d2.loss_bbox: 0.5702, d3.loss_cls: 0.3921, d3.loss_bbox: 0.5655, d4.loss_cls: 0.3901, d4.loss_bbox: 0.5632, d5.loss_cls: 0.3914, d5.loss_bbox: 0.5607, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3905, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2126, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1924, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1893, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1841, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.1662, d0.loss_map_cls_all: 0.3298, d0.loss_map_pts_all: 2.1315, d0.loss_map_dir_all: 0.0197, d0.loss_map_cls: 0.3298, d0.loss_map_pts: 2.1315, d0.loss_map_dir: 0.0197, d1.loss_map_cls: 0.3114, d1.loss_map_pts: 1.4833, d1.loss_map_dir: 0.0198, d2.loss_map_cls: 0.2920, d2.loss_map_pts: 1.3403, d2.loss_map_dir: 0.0204, d3.loss_map_cls: 0.2874, d3.loss_map_pts: 1.2836, d3.loss_map_dir: 0.0209, d4.loss_map_cls: 0.2823, d4.loss_map_pts: 1.2654, d4.loss_map_dir: 0.0212, d5.loss_map_cls: 0.2820, d5.loss_map_pts: 1.2609, d5.loss_map_dir: 0.0215, loss: 45.5786, grad_norm: 150.0221 +2026-02-24 23:34:27,079 - DriveTransformer - INFO - Epoch [3][16900/39528] lr: 9.831e-05, eta: 7 days, 21:17:57, time: 0.874, data_time: 0.036, memory: 19865, loss_cls: 0.3930, loss_bbox: 0.5561, loss_traj: 1.1785, loss_traj_cls: 0.0018, loss_map_cls: 0.2997, loss_map_pts: 1.3239, loss_map_dir: 0.0235, d0.loss_plan_l1_fix_time: 2.8622, d0.loss_plan_l1_fix_dist: 0.4347, d1.loss_plan_l1_fix_time: 1.9047, d1.loss_plan_l1_fix_dist: 0.2978, d2.loss_plan_l1_fix_time: 1.8847, d2.loss_plan_l1_fix_dist: 0.3080, d3.loss_plan_l1_fix_time: 1.8840, d3.loss_plan_l1_fix_dist: 0.3220, d4.loss_plan_l1_fix_time: 1.8876, d4.loss_plan_l1_fix_dist: 0.3386, d5.loss_plan_l1_fix_time: 1.8927, d5.loss_plan_l1_fix_dist: 0.3552, d6.loss_plan_l1_fix_time: 1.8993, d6.loss_plan_l1_fix_dist: 0.3734, d0.loss_cls_all: 0.4080, d0.loss_bbox_all: 0.6003, d0.loss_cls: 0.4080, d0.loss_bbox: 0.6003, d1.loss_cls: 0.4031, d1.loss_bbox: 0.5750, d2.loss_cls: 0.3980, d2.loss_bbox: 0.5610, d3.loss_cls: 0.3957, d3.loss_bbox: 0.5574, d4.loss_cls: 0.3925, d4.loss_bbox: 0.5549, d5.loss_cls: 0.3917, d5.loss_bbox: 0.5531, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4620, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2357, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1895, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1834, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1742, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.1719, d0.loss_map_cls_all: 0.3512, d0.loss_map_pts_all: 2.3041, d0.loss_map_dir_all: 0.0212, d0.loss_map_cls: 0.3512, d0.loss_map_pts: 2.3041, d0.loss_map_dir: 0.0212, d1.loss_map_cls: 0.3310, d1.loss_map_pts: 1.5494, d1.loss_map_dir: 0.0214, d2.loss_map_cls: 0.3154, d2.loss_map_pts: 1.3877, d2.loss_map_dir: 0.0223, d3.loss_map_cls: 0.3064, d3.loss_map_pts: 1.3385, d3.loss_map_dir: 0.0227, d4.loss_map_cls: 0.2996, d4.loss_map_pts: 1.3253, d4.loss_map_dir: 0.0231, d5.loss_map_cls: 0.2999, d5.loss_map_pts: 1.3221, d5.loss_map_dir: 0.0233, loss: 48.5834, grad_norm: 151.1697 +2026-02-24 23:35:09,175 - DriveTransformer - INFO - Epoch [3][16950/39528] lr: 9.831e-05, eta: 7 days, 21:17:36, time: 0.842, data_time: 0.039, memory: 19865, loss_cls: 0.3593, loss_bbox: 0.5276, loss_traj: 1.1634, loss_traj_cls: 0.0018, loss_map_cls: 0.3169, loss_map_pts: 1.1975, loss_map_dir: 0.0204, d0.loss_plan_l1_fix_time: 2.5175, d0.loss_plan_l1_fix_dist: 0.3972, d1.loss_plan_l1_fix_time: 1.5995, d1.loss_plan_l1_fix_dist: 0.2473, d2.loss_plan_l1_fix_time: 1.5979, d2.loss_plan_l1_fix_dist: 0.2550, d3.loss_plan_l1_fix_time: 1.6063, d3.loss_plan_l1_fix_dist: 0.2660, d4.loss_plan_l1_fix_time: 1.6119, d4.loss_plan_l1_fix_dist: 0.2804, d5.loss_plan_l1_fix_time: 1.6171, d5.loss_plan_l1_fix_dist: 0.2971, d6.loss_plan_l1_fix_time: 1.6225, d6.loss_plan_l1_fix_dist: 0.3144, d0.loss_cls_all: 0.3772, d0.loss_bbox_all: 0.5703, d0.loss_cls: 0.3772, d0.loss_bbox: 0.5703, d1.loss_cls: 0.3660, d1.loss_bbox: 0.5433, d2.loss_cls: 0.3644, d2.loss_bbox: 0.5284, d3.loss_cls: 0.3645, d3.loss_bbox: 0.5223, d4.loss_cls: 0.3604, d4.loss_bbox: 0.5223, d5.loss_cls: 0.3595, d5.loss_bbox: 0.5241, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4162, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1969, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1548, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1504, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1556, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1594, d0.loss_map_cls_all: 0.3668, d0.loss_map_pts_all: 2.2061, d0.loss_map_dir_all: 0.0188, d0.loss_map_cls: 0.3668, d0.loss_map_pts: 2.2061, d0.loss_map_dir: 0.0188, d1.loss_map_cls: 0.3391, d1.loss_map_pts: 1.4538, d1.loss_map_dir: 0.0187, d2.loss_map_cls: 0.3281, d2.loss_map_pts: 1.2828, d2.loss_map_dir: 0.0193, d3.loss_map_cls: 0.3186, d3.loss_map_pts: 1.2214, d3.loss_map_dir: 0.0198, d4.loss_map_cls: 0.3161, d4.loss_map_pts: 1.2030, d4.loss_map_dir: 0.0201, d5.loss_map_cls: 0.3160, d5.loss_map_pts: 1.1973, d5.loss_map_dir: 0.0203, loss: 44.6634, grad_norm: 150.1540 +2026-02-24 23:35:51,280 - DriveTransformer - INFO - Epoch [3][17000/39528] lr: 9.831e-05, eta: 7 days, 21:17:15, time: 0.842, data_time: 0.043, memory: 19865, loss_cls: 0.3642, loss_bbox: 0.5352, loss_traj: 0.9666, loss_traj_cls: 0.0019, loss_map_cls: 0.3109, loss_map_pts: 1.3365, loss_map_dir: 0.0247, d0.loss_plan_l1_fix_time: 2.4698, d0.loss_plan_l1_fix_dist: 0.4013, d1.loss_plan_l1_fix_time: 1.7393, d1.loss_plan_l1_fix_dist: 0.2980, d2.loss_plan_l1_fix_time: 1.7283, d2.loss_plan_l1_fix_dist: 0.3074, d3.loss_plan_l1_fix_time: 1.7365, d3.loss_plan_l1_fix_dist: 0.3162, d4.loss_plan_l1_fix_time: 1.7413, d4.loss_plan_l1_fix_dist: 0.3269, d5.loss_plan_l1_fix_time: 1.7456, d5.loss_plan_l1_fix_dist: 0.3408, d6.loss_plan_l1_fix_time: 1.7498, d6.loss_plan_l1_fix_dist: 0.3591, d0.loss_cls_all: 0.3769, d0.loss_bbox_all: 0.5843, d0.loss_cls: 0.3769, d0.loss_bbox: 0.5843, d1.loss_cls: 0.3692, d1.loss_bbox: 0.5569, d2.loss_cls: 0.3658, d2.loss_bbox: 0.5462, d3.loss_cls: 0.3642, d3.loss_bbox: 0.5399, d4.loss_cls: 0.3635, d4.loss_bbox: 0.5356, d5.loss_cls: 0.3631, d5.loss_bbox: 0.5349, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0487, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9865, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.9632, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9528, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.9552, d5.loss_traj_cls: 0.0009, d5.loss_traj: 0.9590, d0.loss_map_cls_all: 0.3635, d0.loss_map_pts_all: 2.3753, d0.loss_map_dir_all: 0.0227, d0.loss_map_cls: 0.3635, d0.loss_map_pts: 2.3753, d0.loss_map_dir: 0.0227, d1.loss_map_cls: 0.3414, d1.loss_map_pts: 1.6042, d1.loss_map_dir: 0.0227, d2.loss_map_cls: 0.3256, d2.loss_map_pts: 1.4292, d2.loss_map_dir: 0.0234, d3.loss_map_cls: 0.3182, d3.loss_map_pts: 1.3678, d3.loss_map_dir: 0.0240, d4.loss_map_cls: 0.3124, d4.loss_map_pts: 1.3477, d4.loss_map_dir: 0.0244, d5.loss_map_cls: 0.3115, d5.loss_map_pts: 1.3369, d5.loss_map_dir: 0.0245, loss: 45.4695, grad_norm: 148.2133 +2026-02-24 23:36:34,138 - DriveTransformer - INFO - Epoch [3][17050/39528] lr: 9.831e-05, eta: 7 days, 21:17:01, time: 0.857, data_time: 0.042, memory: 19865, loss_cls: 0.3866, loss_bbox: 0.5505, loss_traj: 1.1135, loss_traj_cls: 0.0019, loss_map_cls: 0.2648, loss_map_pts: 1.3239, loss_map_dir: 0.0247, d0.loss_plan_l1_fix_time: 2.4293, d0.loss_plan_l1_fix_dist: 0.4708, d1.loss_plan_l1_fix_time: 1.7078, d1.loss_plan_l1_fix_dist: 0.3363, d2.loss_plan_l1_fix_time: 1.7012, d2.loss_plan_l1_fix_dist: 0.3433, d3.loss_plan_l1_fix_time: 1.7001, d3.loss_plan_l1_fix_dist: 0.3528, d4.loss_plan_l1_fix_time: 1.7023, d4.loss_plan_l1_fix_dist: 0.3636, d5.loss_plan_l1_fix_time: 1.7052, d5.loss_plan_l1_fix_dist: 0.3740, d6.loss_plan_l1_fix_time: 1.7088, d6.loss_plan_l1_fix_dist: 0.3855, d0.loss_cls_all: 0.3995, d0.loss_bbox_all: 0.5935, d0.loss_cls: 0.3995, d0.loss_bbox: 0.5935, d1.loss_cls: 0.3959, d1.loss_bbox: 0.5692, d2.loss_cls: 0.3940, d2.loss_bbox: 0.5545, d3.loss_cls: 0.3909, d3.loss_bbox: 0.5523, d4.loss_cls: 0.3886, d4.loss_bbox: 0.5490, d5.loss_cls: 0.3864, d5.loss_bbox: 0.5477, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3222, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1269, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1064, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1030, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1048, d5.loss_traj_cls: 0.0009, d5.loss_traj: 1.1053, d0.loss_map_cls_all: 0.3186, d0.loss_map_pts_all: 2.3552, d0.loss_map_dir_all: 0.0224, d0.loss_map_cls: 0.3186, d0.loss_map_pts: 2.3552, d0.loss_map_dir: 0.0224, d1.loss_map_cls: 0.2956, d1.loss_map_pts: 1.5542, d1.loss_map_dir: 0.0228, d2.loss_map_cls: 0.2813, d2.loss_map_pts: 1.3996, d2.loss_map_dir: 0.0237, d3.loss_map_cls: 0.2734, d3.loss_map_pts: 1.3456, d3.loss_map_dir: 0.0242, d4.loss_map_cls: 0.2672, d4.loss_map_pts: 1.3280, d4.loss_map_dir: 0.0244, d5.loss_map_cls: 0.2657, d5.loss_map_pts: 1.3231, d5.loss_map_dir: 0.0246, loss: 46.3812, grad_norm: 147.6902 +2026-02-24 23:37:16,366 - DriveTransformer - INFO - Epoch [3][17100/39528] lr: 9.831e-05, eta: 7 days, 21:16:41, time: 0.844, data_time: 0.042, memory: 19865, loss_cls: 0.3518, loss_bbox: 0.5290, loss_traj: 1.0405, loss_traj_cls: 0.0019, loss_map_cls: 0.2811, loss_map_pts: 1.2496, loss_map_dir: 0.0238, d0.loss_plan_l1_fix_time: 2.5909, d0.loss_plan_l1_fix_dist: 0.4801, d1.loss_plan_l1_fix_time: 1.6780, d1.loss_plan_l1_fix_dist: 0.2879, d2.loss_plan_l1_fix_time: 1.6382, d2.loss_plan_l1_fix_dist: 0.2907, d3.loss_plan_l1_fix_time: 1.6337, d3.loss_plan_l1_fix_dist: 0.3012, d4.loss_plan_l1_fix_time: 1.6365, d4.loss_plan_l1_fix_dist: 0.3137, d5.loss_plan_l1_fix_time: 1.6410, d5.loss_plan_l1_fix_dist: 0.3261, d6.loss_plan_l1_fix_time: 1.6477, d6.loss_plan_l1_fix_dist: 0.3366, d0.loss_cls_all: 0.3708, d0.loss_bbox_all: 0.5624, d0.loss_cls: 0.3708, d0.loss_bbox: 0.5624, d1.loss_cls: 0.3604, d1.loss_bbox: 0.5420, d2.loss_cls: 0.3560, d2.loss_bbox: 0.5313, d3.loss_cls: 0.3539, d3.loss_bbox: 0.5280, d4.loss_cls: 0.3505, d4.loss_bbox: 0.5272, d5.loss_cls: 0.3499, d5.loss_bbox: 0.5279, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1950, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0467, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0276, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0351, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0424, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.0404, d0.loss_map_cls_all: 0.3283, d0.loss_map_pts_all: 2.2913, d0.loss_map_dir_all: 0.0218, d0.loss_map_cls: 0.3283, d0.loss_map_pts: 2.2913, d0.loss_map_dir: 0.0218, d1.loss_map_cls: 0.3061, d1.loss_map_pts: 1.4918, d1.loss_map_dir: 0.0217, d2.loss_map_cls: 0.2968, d2.loss_map_pts: 1.3276, d2.loss_map_dir: 0.0226, d3.loss_map_cls: 0.2907, d3.loss_map_pts: 1.2678, d3.loss_map_dir: 0.0230, d4.loss_map_cls: 0.2851, d4.loss_map_pts: 1.2523, d4.loss_map_dir: 0.0235, d5.loss_map_cls: 0.2825, d5.loss_map_pts: 1.2487, d5.loss_map_dir: 0.0238, loss: 44.4129, grad_norm: 147.3326 +2026-02-24 23:38:00,868 - DriveTransformer - INFO - Epoch [3][17150/39528] lr: 9.831e-05, eta: 7 days, 21:16:41, time: 0.890, data_time: 0.041, memory: 19865, loss_cls: 0.3659, loss_bbox: 0.5259, loss_traj: 0.9524, loss_traj_cls: 0.0019, loss_map_cls: 0.2989, loss_map_pts: 1.3604, loss_map_dir: 0.0272, d0.loss_plan_l1_fix_time: 2.7601, d0.loss_plan_l1_fix_dist: 0.4569, d1.loss_plan_l1_fix_time: 1.8411, d1.loss_plan_l1_fix_dist: 0.2824, d2.loss_plan_l1_fix_time: 1.8163, d2.loss_plan_l1_fix_dist: 0.2865, d3.loss_plan_l1_fix_time: 1.8193, d3.loss_plan_l1_fix_dist: 0.2989, d4.loss_plan_l1_fix_time: 1.8245, d4.loss_plan_l1_fix_dist: 0.3167, d5.loss_plan_l1_fix_time: 1.8299, d5.loss_plan_l1_fix_dist: 0.3396, d6.loss_plan_l1_fix_time: 1.8362, d6.loss_plan_l1_fix_dist: 0.3660, d0.loss_cls_all: 0.3743, d0.loss_bbox_all: 0.5803, d0.loss_cls: 0.3743, d0.loss_bbox: 0.5803, d1.loss_cls: 0.3699, d1.loss_bbox: 0.5498, d2.loss_cls: 0.3643, d2.loss_bbox: 0.5337, d3.loss_cls: 0.3609, d3.loss_bbox: 0.5313, d4.loss_cls: 0.3600, d4.loss_bbox: 0.5285, d5.loss_cls: 0.3633, d5.loss_bbox: 0.5253, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0637, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9681, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.9407, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9429, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9438, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.9565, d0.loss_map_cls_all: 0.3463, d0.loss_map_pts_all: 2.3921, d0.loss_map_dir_all: 0.0247, d0.loss_map_cls: 0.3463, d0.loss_map_pts: 2.3921, d0.loss_map_dir: 0.0247, d1.loss_map_cls: 0.3259, d1.loss_map_pts: 1.6200, d1.loss_map_dir: 0.0249, d2.loss_map_cls: 0.3175, d2.loss_map_pts: 1.4419, d2.loss_map_dir: 0.0258, d3.loss_map_cls: 0.3074, d3.loss_map_pts: 1.3769, d3.loss_map_dir: 0.0264, d4.loss_map_cls: 0.3017, d4.loss_map_pts: 1.3642, d4.loss_map_dir: 0.0269, d5.loss_map_cls: 0.3000, d5.loss_map_pts: 1.3601, d5.loss_map_dir: 0.0271, loss: 46.1971, grad_norm: 148.1142 +2026-02-24 23:38:41,842 - DriveTransformer - INFO - Epoch [3][17200/39528] lr: 9.831e-05, eta: 7 days, 21:16:11, time: 0.821, data_time: 0.036, memory: 19865, loss_cls: 0.3959, loss_bbox: 0.5591, loss_traj: 0.9796, loss_traj_cls: 0.0020, loss_map_cls: 0.2888, loss_map_pts: 1.3089, loss_map_dir: 0.0220, d0.loss_plan_l1_fix_time: 2.6872, d0.loss_plan_l1_fix_dist: 0.5040, d1.loss_plan_l1_fix_time: 1.8269, d1.loss_plan_l1_fix_dist: 0.3217, d2.loss_plan_l1_fix_time: 1.8126, d2.loss_plan_l1_fix_dist: 0.3286, d3.loss_plan_l1_fix_time: 1.8130, d3.loss_plan_l1_fix_dist: 0.3406, d4.loss_plan_l1_fix_time: 1.8163, d4.loss_plan_l1_fix_dist: 0.3554, d5.loss_plan_l1_fix_time: 1.8203, d5.loss_plan_l1_fix_dist: 0.3748, d6.loss_plan_l1_fix_time: 1.8249, d6.loss_plan_l1_fix_dist: 0.3970, d0.loss_cls_all: 0.3965, d0.loss_bbox_all: 0.5949, d0.loss_cls: 0.3965, d0.loss_bbox: 0.5949, d1.loss_cls: 0.3957, d1.loss_bbox: 0.5720, d2.loss_cls: 0.3955, d2.loss_bbox: 0.5597, d3.loss_cls: 0.3938, d3.loss_bbox: 0.5581, d4.loss_cls: 0.3922, d4.loss_bbox: 0.5584, d5.loss_cls: 0.3949, d5.loss_bbox: 0.5558, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1273, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9969, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9890, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9831, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9784, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.9760, d0.loss_map_cls_all: 0.3322, d0.loss_map_pts_all: 2.1451, d0.loss_map_dir_all: 0.0196, d0.loss_map_cls: 0.3322, d0.loss_map_pts: 2.1451, d0.loss_map_dir: 0.0196, d1.loss_map_cls: 0.3158, d1.loss_map_pts: 1.4976, d1.loss_map_dir: 0.0199, d2.loss_map_cls: 0.3045, d2.loss_map_pts: 1.3634, d2.loss_map_dir: 0.0208, d3.loss_map_cls: 0.2956, d3.loss_map_pts: 1.3174, d3.loss_map_dir: 0.0213, d4.loss_map_cls: 0.2927, d4.loss_map_pts: 1.3063, d4.loss_map_dir: 0.0217, d5.loss_map_cls: 0.2904, d5.loss_map_pts: 1.3068, d5.loss_map_dir: 0.0219, loss: 45.9848, grad_norm: 151.2049 +2026-02-24 23:39:21,225 - DriveTransformer - INFO - Epoch [3][17250/39528] lr: 9.831e-05, eta: 7 days, 21:15:25, time: 0.786, data_time: 0.036, memory: 19865, loss_cls: 0.4363, loss_bbox: 0.6044, loss_traj: 1.1748, loss_traj_cls: 0.0021, loss_map_cls: 0.3125, loss_map_pts: 1.2969, loss_map_dir: 0.0194, d0.loss_plan_l1_fix_time: 3.1133, d0.loss_plan_l1_fix_dist: 0.5088, d1.loss_plan_l1_fix_time: 2.0344, d1.loss_plan_l1_fix_dist: 0.3392, d2.loss_plan_l1_fix_time: 1.9947, d2.loss_plan_l1_fix_dist: 0.3505, d3.loss_plan_l1_fix_time: 1.9901, d3.loss_plan_l1_fix_dist: 0.3640, d4.loss_plan_l1_fix_time: 1.9917, d4.loss_plan_l1_fix_dist: 0.3765, d5.loss_plan_l1_fix_time: 1.9951, d5.loss_plan_l1_fix_dist: 0.3869, d6.loss_plan_l1_fix_time: 1.9994, d6.loss_plan_l1_fix_dist: 0.4000, d0.loss_cls_all: 0.4596, d0.loss_bbox_all: 0.6522, d0.loss_cls: 0.4596, d0.loss_bbox: 0.6522, d1.loss_cls: 0.4518, d1.loss_bbox: 0.6249, d2.loss_cls: 0.4444, d2.loss_bbox: 0.6116, d3.loss_cls: 0.4391, d3.loss_bbox: 0.6062, d4.loss_cls: 0.4365, d4.loss_bbox: 0.6036, d5.loss_cls: 0.4361, d5.loss_bbox: 0.6022, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3851, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2128, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1832, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1867, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.1775, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.1762, d0.loss_map_cls_all: 0.3568, d0.loss_map_pts_all: 2.1133, d0.loss_map_dir_all: 0.0175, d0.loss_map_cls: 0.3568, d0.loss_map_pts: 2.1133, d0.loss_map_dir: 0.0175, d1.loss_map_cls: 0.3364, d1.loss_map_pts: 1.5107, d1.loss_map_dir: 0.0176, d2.loss_map_cls: 0.3264, d2.loss_map_pts: 1.3653, d2.loss_map_dir: 0.0183, d3.loss_map_cls: 0.3183, d3.loss_map_pts: 1.3183, d3.loss_map_dir: 0.0187, d4.loss_map_cls: 0.3131, d4.loss_map_pts: 1.2992, d4.loss_map_dir: 0.0190, d5.loss_map_cls: 0.3144, d5.loss_map_pts: 1.2948, d5.loss_map_dir: 0.0192, loss: 49.9629, grad_norm: 150.1214 +2026-02-24 23:40:02,910 - DriveTransformer - INFO - Epoch [3][17300/39528] lr: 9.831e-05, eta: 7 days, 21:15:00, time: 0.834, data_time: 0.040, memory: 19865, loss_cls: 0.3493, loss_bbox: 0.5106, loss_traj: 1.0738, loss_traj_cls: 0.0021, loss_map_cls: 0.2802, loss_map_pts: 1.1397, loss_map_dir: 0.0211, d0.loss_plan_l1_fix_time: 2.6788, d0.loss_plan_l1_fix_dist: 0.4405, d1.loss_plan_l1_fix_time: 1.8767, d1.loss_plan_l1_fix_dist: 0.3171, d2.loss_plan_l1_fix_time: 1.8595, d2.loss_plan_l1_fix_dist: 0.3314, d3.loss_plan_l1_fix_time: 1.8610, d3.loss_plan_l1_fix_dist: 0.3493, d4.loss_plan_l1_fix_time: 1.8658, d4.loss_plan_l1_fix_dist: 0.3709, d5.loss_plan_l1_fix_time: 1.8712, d5.loss_plan_l1_fix_dist: 0.3911, d6.loss_plan_l1_fix_time: 1.8762, d6.loss_plan_l1_fix_dist: 0.4110, d0.loss_cls_all: 0.3675, d0.loss_bbox_all: 0.5438, d0.loss_cls: 0.3675, d0.loss_bbox: 0.5438, d1.loss_cls: 0.3586, d1.loss_bbox: 0.5171, d2.loss_cls: 0.3524, d2.loss_bbox: 0.5075, d3.loss_cls: 0.3541, d3.loss_bbox: 0.5043, d4.loss_cls: 0.3511, d4.loss_bbox: 0.5056, d5.loss_cls: 0.3481, d5.loss_bbox: 0.5078, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2276, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1077, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0808, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0741, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0699, d5.loss_traj_cls: 0.0011, d5.loss_traj: 1.0734, d0.loss_map_cls_all: 0.3362, d0.loss_map_pts_all: 2.0720, d0.loss_map_dir_all: 0.0193, d0.loss_map_cls: 0.3362, d0.loss_map_pts: 2.0720, d0.loss_map_dir: 0.0193, d1.loss_map_cls: 0.3091, d1.loss_map_pts: 1.3320, d1.loss_map_dir: 0.0195, d2.loss_map_cls: 0.2991, d2.loss_map_pts: 1.1830, d2.loss_map_dir: 0.0201, d3.loss_map_cls: 0.2887, d3.loss_map_pts: 1.1453, d3.loss_map_dir: 0.0206, d4.loss_map_cls: 0.2800, d4.loss_map_pts: 1.1335, d4.loss_map_dir: 0.0208, d5.loss_map_cls: 0.2797, d5.loss_map_pts: 1.1366, d5.loss_map_dir: 0.0209, loss: 44.9895, grad_norm: 152.8610 +2026-02-24 23:40:44,576 - DriveTransformer - INFO - Epoch [3][17350/39528] lr: 9.831e-05, eta: 7 days, 21:14:36, time: 0.833, data_time: 0.047, memory: 19865, loss_cls: 0.3751, loss_bbox: 0.5149, loss_traj: 0.9827, loss_traj_cls: 0.0021, loss_map_cls: 0.2725, loss_map_pts: 1.2219, loss_map_dir: 0.0211, d0.loss_plan_l1_fix_time: 2.5049, d0.loss_plan_l1_fix_dist: 0.5362, d1.loss_plan_l1_fix_time: 1.7205, d1.loss_plan_l1_fix_dist: 0.3520, d2.loss_plan_l1_fix_time: 1.7108, d2.loss_plan_l1_fix_dist: 0.3632, d3.loss_plan_l1_fix_time: 1.7141, d3.loss_plan_l1_fix_dist: 0.3782, d4.loss_plan_l1_fix_time: 1.7190, d4.loss_plan_l1_fix_dist: 0.3946, d5.loss_plan_l1_fix_time: 1.7238, d5.loss_plan_l1_fix_dist: 0.4125, d6.loss_plan_l1_fix_time: 1.7283, d6.loss_plan_l1_fix_dist: 0.4289, d0.loss_cls_all: 0.3872, d0.loss_bbox_all: 0.5514, d0.loss_cls: 0.3872, d0.loss_bbox: 0.5514, d1.loss_cls: 0.3864, d1.loss_bbox: 0.5244, d2.loss_cls: 0.3797, d2.loss_bbox: 0.5149, d3.loss_cls: 0.3816, d3.loss_bbox: 0.5087, d4.loss_cls: 0.3796, d4.loss_bbox: 0.5107, d5.loss_cls: 0.3755, d5.loss_bbox: 0.5113, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2397, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0220, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9783, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9782, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9734, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.9799, d0.loss_map_cls_all: 0.3302, d0.loss_map_pts_all: 2.1309, d0.loss_map_dir_all: 0.0192, d0.loss_map_cls: 0.3302, d0.loss_map_pts: 2.1309, d0.loss_map_dir: 0.0192, d1.loss_map_cls: 0.3129, d1.loss_map_pts: 1.4253, d1.loss_map_dir: 0.0196, d2.loss_map_cls: 0.2940, d2.loss_map_pts: 1.2865, d2.loss_map_dir: 0.0200, d3.loss_map_cls: 0.2838, d3.loss_map_pts: 1.2399, d3.loss_map_dir: 0.0204, d4.loss_map_cls: 0.2755, d4.loss_map_pts: 1.2277, d4.loss_map_dir: 0.0207, d5.loss_map_cls: 0.2735, d5.loss_map_pts: 1.2209, d5.loss_map_dir: 0.0209, loss: 44.5075, grad_norm: 153.7619 +2026-02-24 23:41:25,093 - DriveTransformer - INFO - Epoch [3][17400/39528] lr: 9.831e-05, eta: 7 days, 21:14:00, time: 0.810, data_time: 0.039, memory: 19865, loss_cls: 0.3762, loss_bbox: 0.5214, loss_traj: 1.2587, loss_traj_cls: 0.0022, loss_map_cls: 0.3091, loss_map_pts: 1.2224, loss_map_dir: 0.0184, d0.loss_plan_l1_fix_time: 2.7673, d0.loss_plan_l1_fix_dist: 0.4103, d1.loss_plan_l1_fix_time: 1.7137, d1.loss_plan_l1_fix_dist: 0.2915, d2.loss_plan_l1_fix_time: 1.7069, d2.loss_plan_l1_fix_dist: 0.3067, d3.loss_plan_l1_fix_time: 1.7115, d3.loss_plan_l1_fix_dist: 0.3258, d4.loss_plan_l1_fix_time: 1.7159, d4.loss_plan_l1_fix_dist: 0.3484, d5.loss_plan_l1_fix_time: 1.7208, d5.loss_plan_l1_fix_dist: 0.3723, d6.loss_plan_l1_fix_time: 1.7263, d6.loss_plan_l1_fix_dist: 0.3997, d0.loss_cls_all: 0.3871, d0.loss_bbox_all: 0.5674, d0.loss_cls: 0.3871, d0.loss_bbox: 0.5674, d1.loss_cls: 0.3903, d1.loss_bbox: 0.5381, d2.loss_cls: 0.3801, d2.loss_bbox: 0.5265, d3.loss_cls: 0.3745, d3.loss_bbox: 0.5221, d4.loss_cls: 0.3750, d4.loss_bbox: 0.5208, d5.loss_cls: 0.3763, d5.loss_bbox: 0.5200, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4805, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2937, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2559, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.2553, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.2557, d5.loss_traj_cls: 0.0011, d5.loss_traj: 1.2586, d0.loss_map_cls_all: 0.3720, d0.loss_map_pts_all: 1.9166, d0.loss_map_dir_all: 0.0161, d0.loss_map_cls: 0.3720, d0.loss_map_pts: 1.9166, d0.loss_map_dir: 0.0161, d1.loss_map_cls: 0.3509, d1.loss_map_pts: 1.4150, d1.loss_map_dir: 0.0165, d2.loss_map_cls: 0.3307, d2.loss_map_pts: 1.2946, d2.loss_map_dir: 0.0172, d3.loss_map_cls: 0.3209, d3.loss_map_pts: 1.2406, d3.loss_map_dir: 0.0177, d4.loss_map_cls: 0.3145, d4.loss_map_pts: 1.2265, d4.loss_map_dir: 0.0180, d5.loss_map_cls: 0.3123, d5.loss_map_pts: 1.2220, d5.loss_map_dir: 0.0182, loss: 46.1887, grad_norm: 154.3755 +2026-02-24 23:42:08,183 - DriveTransformer - INFO - Epoch [3][17450/39528] lr: 9.831e-05, eta: 7 days, 21:13:48, time: 0.862, data_time: 0.042, memory: 19865, loss_cls: 0.3883, loss_bbox: 0.5218, loss_traj: 1.0502, loss_traj_cls: 0.0022, loss_map_cls: 0.2850, loss_map_pts: 1.2625, loss_map_dir: 0.0230, d0.loss_plan_l1_fix_time: 2.9413, d0.loss_plan_l1_fix_dist: 0.4429, d1.loss_plan_l1_fix_time: 1.7565, d1.loss_plan_l1_fix_dist: 0.3239, d2.loss_plan_l1_fix_time: 1.7185, d2.loss_plan_l1_fix_dist: 0.3361, d3.loss_plan_l1_fix_time: 1.7196, d3.loss_plan_l1_fix_dist: 0.3558, d4.loss_plan_l1_fix_time: 1.7244, d4.loss_plan_l1_fix_dist: 0.3801, d5.loss_plan_l1_fix_time: 1.7303, d5.loss_plan_l1_fix_dist: 0.4103, d6.loss_plan_l1_fix_time: 1.7372, d6.loss_plan_l1_fix_dist: 0.4465, d0.loss_cls_all: 0.4123, d0.loss_bbox_all: 0.5654, d0.loss_cls: 0.4123, d0.loss_bbox: 0.5654, d1.loss_cls: 0.4042, d1.loss_bbox: 0.5404, d2.loss_cls: 0.3943, d2.loss_bbox: 0.5291, d3.loss_cls: 0.3877, d3.loss_bbox: 0.5243, d4.loss_cls: 0.3898, d4.loss_bbox: 0.5214, d5.loss_cls: 0.3882, d5.loss_bbox: 0.5208, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2268, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0473, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0382, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0444, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0441, d5.loss_traj_cls: 0.0011, d5.loss_traj: 1.0465, d0.loss_map_cls_all: 0.3368, d0.loss_map_pts_all: 2.3405, d0.loss_map_dir_all: 0.0211, d0.loss_map_cls: 0.3368, d0.loss_map_pts: 2.3405, d0.loss_map_dir: 0.0211, d1.loss_map_cls: 0.3136, d1.loss_map_pts: 1.5025, d1.loss_map_dir: 0.0211, d2.loss_map_cls: 0.3027, d2.loss_map_pts: 1.3339, d2.loss_map_dir: 0.0217, d3.loss_map_cls: 0.2935, d3.loss_map_pts: 1.2814, d3.loss_map_dir: 0.0222, d4.loss_map_cls: 0.2853, d4.loss_map_pts: 1.2640, d4.loss_map_dir: 0.0226, d5.loss_map_cls: 0.2841, d5.loss_map_pts: 1.2616, d5.loss_map_dir: 0.0229, loss: 46.1948, grad_norm: 155.4647 +2026-02-24 23:42:51,354 - DriveTransformer - INFO - Epoch [3][17500/39528] lr: 9.831e-05, eta: 7 days, 21:13:36, time: 0.863, data_time: 0.048, memory: 19865, loss_cls: 0.3933, loss_bbox: 0.5532, loss_traj: 1.3420, loss_traj_cls: 0.0022, loss_map_cls: 0.2945, loss_map_pts: 1.3018, loss_map_dir: 0.0202, d0.loss_plan_l1_fix_time: 2.7233, d0.loss_plan_l1_fix_dist: 0.4554, d1.loss_plan_l1_fix_time: 1.8125, d1.loss_plan_l1_fix_dist: 0.3018, d2.loss_plan_l1_fix_time: 1.7930, d2.loss_plan_l1_fix_dist: 0.3160, d3.loss_plan_l1_fix_time: 1.7933, d3.loss_plan_l1_fix_dist: 0.3385, d4.loss_plan_l1_fix_time: 1.7981, d4.loss_plan_l1_fix_dist: 0.3646, d5.loss_plan_l1_fix_time: 1.8041, d5.loss_plan_l1_fix_dist: 0.3972, d6.loss_plan_l1_fix_time: 1.8120, d6.loss_plan_l1_fix_dist: 0.4324, d0.loss_cls_all: 0.4087, d0.loss_bbox_all: 0.6062, d0.loss_cls: 0.4087, d0.loss_bbox: 0.6062, d1.loss_cls: 0.3949, d1.loss_bbox: 0.5780, d2.loss_cls: 0.3946, d2.loss_bbox: 0.5634, d3.loss_cls: 0.3967, d3.loss_bbox: 0.5574, d4.loss_cls: 0.3932, d4.loss_bbox: 0.5549, d5.loss_cls: 0.3929, d5.loss_bbox: 0.5541, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.5339, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.3695, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3370, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.3471, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.3395, d5.loss_traj_cls: 0.0011, d5.loss_traj: 1.3409, d0.loss_map_cls_all: 0.3511, d0.loss_map_pts_all: 2.2169, d0.loss_map_dir_all: 0.0184, d0.loss_map_cls: 0.3511, d0.loss_map_pts: 2.2169, d0.loss_map_dir: 0.0184, d1.loss_map_cls: 0.3191, d1.loss_map_pts: 1.5255, d1.loss_map_dir: 0.0184, d2.loss_map_cls: 0.3074, d2.loss_map_pts: 1.3746, d2.loss_map_dir: 0.0191, d3.loss_map_cls: 0.3024, d3.loss_map_pts: 1.3261, d3.loss_map_dir: 0.0195, d4.loss_map_cls: 0.2959, d4.loss_map_pts: 1.3062, d4.loss_map_dir: 0.0199, d5.loss_map_cls: 0.2941, d5.loss_map_pts: 1.3028, d5.loss_map_dir: 0.0201, loss: 48.7565, grad_norm: 158.2994 +2026-02-24 23:43:33,542 - DriveTransformer - INFO - Epoch [3][17550/39528] lr: 9.831e-05, eta: 7 days, 21:13:16, time: 0.844, data_time: 0.035, memory: 19865, loss_cls: 0.4007, loss_bbox: 0.5556, loss_traj: 0.9764, loss_traj_cls: 0.0022, loss_map_cls: 0.2990, loss_map_pts: 1.3892, loss_map_dir: 0.0237, d0.loss_plan_l1_fix_time: 2.9610, d0.loss_plan_l1_fix_dist: 0.5388, d1.loss_plan_l1_fix_time: 1.8922, d1.loss_plan_l1_fix_dist: 0.3437, d2.loss_plan_l1_fix_time: 1.8775, d2.loss_plan_l1_fix_dist: 0.3578, d3.loss_plan_l1_fix_time: 1.8795, d3.loss_plan_l1_fix_dist: 0.3740, d4.loss_plan_l1_fix_time: 1.8851, d4.loss_plan_l1_fix_dist: 0.3903, d5.loss_plan_l1_fix_time: 1.8918, d5.loss_plan_l1_fix_dist: 0.4064, d6.loss_plan_l1_fix_time: 1.9000, d6.loss_plan_l1_fix_dist: 0.4233, d0.loss_cls_all: 0.4076, d0.loss_bbox_all: 0.6001, d0.loss_cls: 0.4076, d0.loss_bbox: 0.6001, d1.loss_cls: 0.4041, d1.loss_bbox: 0.5706, d2.loss_cls: 0.4050, d2.loss_bbox: 0.5576, d3.loss_cls: 0.4042, d3.loss_bbox: 0.5553, d4.loss_cls: 0.4023, d4.loss_bbox: 0.5536, d5.loss_cls: 0.4016, d5.loss_bbox: 0.5545, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2187, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0190, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9839, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9808, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9688, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9737, d0.loss_map_cls_all: 0.3507, d0.loss_map_pts_all: 2.3571, d0.loss_map_dir_all: 0.0214, d0.loss_map_cls: 0.3507, d0.loss_map_pts: 2.3571, d0.loss_map_dir: 0.0214, d1.loss_map_cls: 0.3285, d1.loss_map_pts: 1.6382, d1.loss_map_dir: 0.0216, d2.loss_map_cls: 0.3108, d2.loss_map_pts: 1.4783, d2.loss_map_dir: 0.0224, d3.loss_map_cls: 0.3058, d3.loss_map_pts: 1.4194, d3.loss_map_dir: 0.0230, d4.loss_map_cls: 0.2989, d4.loss_map_pts: 1.4007, d4.loss_map_dir: 0.0233, d5.loss_map_cls: 0.2985, d5.loss_map_pts: 1.3915, d5.loss_map_dir: 0.0236, loss: 48.1858, grad_norm: 159.6390 +2026-02-24 23:44:14,425 - DriveTransformer - INFO - Epoch [3][17600/39528] lr: 9.831e-05, eta: 7 days, 21:12:44, time: 0.818, data_time: 0.036, memory: 19865, loss_cls: 0.3986, loss_bbox: 0.5469, loss_traj: 0.9873, loss_traj_cls: 0.0023, loss_map_cls: 0.3129, loss_map_pts: 1.4082, loss_map_dir: 0.0262, d0.loss_plan_l1_fix_time: 3.1460, d0.loss_plan_l1_fix_dist: 0.3854, d1.loss_plan_l1_fix_time: 1.9180, d1.loss_plan_l1_fix_dist: 0.2713, d2.loss_plan_l1_fix_time: 1.8890, d2.loss_plan_l1_fix_dist: 0.2853, d3.loss_plan_l1_fix_time: 1.8843, d3.loss_plan_l1_fix_dist: 0.3051, d4.loss_plan_l1_fix_time: 1.8862, d4.loss_plan_l1_fix_dist: 0.3294, d5.loss_plan_l1_fix_time: 1.8896, d5.loss_plan_l1_fix_dist: 0.3544, d6.loss_plan_l1_fix_time: 1.8944, d6.loss_plan_l1_fix_dist: 0.3789, d0.loss_cls_all: 0.4076, d0.loss_bbox_all: 0.5871, d0.loss_cls: 0.4076, d0.loss_bbox: 0.5871, d1.loss_cls: 0.4058, d1.loss_bbox: 0.5609, d2.loss_cls: 0.4021, d2.loss_bbox: 0.5488, d3.loss_cls: 0.3973, d3.loss_bbox: 0.5452, d4.loss_cls: 0.3961, d4.loss_bbox: 0.5437, d5.loss_cls: 0.3989, d5.loss_bbox: 0.5446, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1827, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0117, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9942, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9915, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9878, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9856, d0.loss_map_cls_all: 0.3471, d0.loss_map_pts_all: 2.5058, d0.loss_map_dir_all: 0.0239, d0.loss_map_cls: 0.3471, d0.loss_map_pts: 2.5058, d0.loss_map_dir: 0.0239, d1.loss_map_cls: 0.3327, d1.loss_map_pts: 1.6750, d1.loss_map_dir: 0.0240, d2.loss_map_cls: 0.3236, d2.loss_map_pts: 1.4981, d2.loss_map_dir: 0.0248, d3.loss_map_cls: 0.3183, d3.loss_map_pts: 1.4350, d3.loss_map_dir: 0.0255, d4.loss_map_cls: 0.3133, d4.loss_map_pts: 1.4167, d4.loss_map_dir: 0.0259, d5.loss_map_cls: 0.3131, d5.loss_map_pts: 1.4103, d5.loss_map_dir: 0.0261, loss: 48.3087, grad_norm: 158.6595 +2026-02-24 23:44:56,996 - DriveTransformer - INFO - Epoch [3][17650/39528] lr: 9.831e-05, eta: 7 days, 21:12:27, time: 0.851, data_time: 0.050, memory: 19865, loss_cls: 0.3710, loss_bbox: 0.5215, loss_traj: 1.0453, loss_traj_cls: 0.0024, loss_map_cls: 0.2886, loss_map_pts: 1.2522, loss_map_dir: 0.0225, d0.loss_plan_l1_fix_time: 2.6370, d0.loss_plan_l1_fix_dist: 0.4428, d1.loss_plan_l1_fix_time: 1.6766, d1.loss_plan_l1_fix_dist: 0.3183, d2.loss_plan_l1_fix_time: 1.6520, d2.loss_plan_l1_fix_dist: 0.3334, d3.loss_plan_l1_fix_time: 1.6537, d3.loss_plan_l1_fix_dist: 0.3567, d4.loss_plan_l1_fix_time: 1.6581, d4.loss_plan_l1_fix_dist: 0.3849, d5.loss_plan_l1_fix_time: 1.6631, d5.loss_plan_l1_fix_dist: 0.4135, d6.loss_plan_l1_fix_time: 1.6684, d6.loss_plan_l1_fix_dist: 0.4459, d0.loss_cls_all: 0.3859, d0.loss_bbox_all: 0.5704, d0.loss_cls: 0.3859, d0.loss_bbox: 0.5704, d1.loss_cls: 0.3830, d1.loss_bbox: 0.5411, d2.loss_cls: 0.3755, d2.loss_bbox: 0.5272, d3.loss_cls: 0.3755, d3.loss_bbox: 0.5190, d4.loss_cls: 0.3716, d4.loss_bbox: 0.5194, d5.loss_cls: 0.3706, d5.loss_bbox: 0.5207, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2257, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0831, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0554, d3.loss_traj_cls: 0.0014, d3.loss_traj: 1.0491, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0507, d5.loss_traj_cls: 0.0011, d5.loss_traj: 1.0497, d0.loss_map_cls_all: 0.3311, d0.loss_map_pts_all: 2.1884, d0.loss_map_dir_all: 0.0207, d0.loss_map_cls: 0.3311, d0.loss_map_pts: 2.1884, d0.loss_map_dir: 0.0207, d1.loss_map_cls: 0.3133, d1.loss_map_pts: 1.4675, d1.loss_map_dir: 0.0206, d2.loss_map_cls: 0.2990, d2.loss_map_pts: 1.3188, d2.loss_map_dir: 0.0211, d3.loss_map_cls: 0.2954, d3.loss_map_pts: 1.2686, d3.loss_map_dir: 0.0217, d4.loss_map_cls: 0.2900, d4.loss_map_pts: 1.2536, d4.loss_map_dir: 0.0221, d5.loss_map_cls: 0.2895, d5.loss_map_pts: 1.2535, d5.loss_map_dir: 0.0223, loss: 44.9813, grad_norm: 159.0616 +2026-02-24 23:45:39,483 - DriveTransformer - INFO - Epoch [3][17700/39528] lr: 9.831e-05, eta: 7 days, 21:12:09, time: 0.850, data_time: 0.038, memory: 19865, loss_cls: 0.3620, loss_bbox: 0.5171, loss_traj: 1.0160, loss_traj_cls: 0.0023, loss_map_cls: 0.2731, loss_map_pts: 1.2461, loss_map_dir: 0.0215, d0.loss_plan_l1_fix_time: 2.4391, d0.loss_plan_l1_fix_dist: 0.4008, d1.loss_plan_l1_fix_time: 1.7090, d1.loss_plan_l1_fix_dist: 0.2827, d2.loss_plan_l1_fix_time: 1.6872, d2.loss_plan_l1_fix_dist: 0.2980, d3.loss_plan_l1_fix_time: 1.6897, d3.loss_plan_l1_fix_dist: 0.3181, d4.loss_plan_l1_fix_time: 1.6943, d4.loss_plan_l1_fix_dist: 0.3433, d5.loss_plan_l1_fix_time: 1.6993, d5.loss_plan_l1_fix_dist: 0.3736, d6.loss_plan_l1_fix_time: 1.7053, d6.loss_plan_l1_fix_dist: 0.4112, d0.loss_cls_all: 0.3726, d0.loss_bbox_all: 0.5567, d0.loss_cls: 0.3726, d0.loss_bbox: 0.5567, d1.loss_cls: 0.3687, d1.loss_bbox: 0.5300, d2.loss_cls: 0.3619, d2.loss_bbox: 0.5185, d3.loss_cls: 0.3613, d3.loss_bbox: 0.5154, d4.loss_cls: 0.3601, d4.loss_bbox: 0.5139, d5.loss_cls: 0.3607, d5.loss_bbox: 0.5152, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1466, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0387, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0136, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0150, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0178, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.0124, d0.loss_map_cls_all: 0.3232, d0.loss_map_pts_all: 2.2326, d0.loss_map_dir_all: 0.0197, d0.loss_map_cls: 0.3232, d0.loss_map_pts: 2.2326, d0.loss_map_dir: 0.0197, d1.loss_map_cls: 0.3031, d1.loss_map_pts: 1.4833, d1.loss_map_dir: 0.0199, d2.loss_map_cls: 0.2881, d2.loss_map_pts: 1.3328, d2.loss_map_dir: 0.0204, d3.loss_map_cls: 0.2807, d3.loss_map_pts: 1.2739, d3.loss_map_dir: 0.0208, d4.loss_map_cls: 0.2737, d4.loss_map_pts: 1.2511, d4.loss_map_dir: 0.0211, d5.loss_map_cls: 0.2727, d5.loss_map_pts: 1.2453, d5.loss_map_dir: 0.0213, loss: 44.2636, grad_norm: 158.2762 +2026-02-24 23:46:20,278 - DriveTransformer - INFO - Epoch [3][17750/39528] lr: 9.831e-05, eta: 7 days, 21:11:36, time: 0.816, data_time: 0.046, memory: 19865, loss_cls: 0.3869, loss_bbox: 0.5517, loss_traj: 1.0768, loss_traj_cls: 0.0023, loss_map_cls: 0.2964, loss_map_pts: 1.2837, loss_map_dir: 0.0216, d0.loss_plan_l1_fix_time: 2.5200, d0.loss_plan_l1_fix_dist: 0.4043, d1.loss_plan_l1_fix_time: 1.8268, d1.loss_plan_l1_fix_dist: 0.2988, d2.loss_plan_l1_fix_time: 1.8011, d2.loss_plan_l1_fix_dist: 0.3184, d3.loss_plan_l1_fix_time: 1.8006, d3.loss_plan_l1_fix_dist: 0.3434, d4.loss_plan_l1_fix_time: 1.8034, d4.loss_plan_l1_fix_dist: 0.3718, d5.loss_plan_l1_fix_time: 1.8073, d5.loss_plan_l1_fix_dist: 0.4056, d6.loss_plan_l1_fix_time: 1.8119, d6.loss_plan_l1_fix_dist: 0.4392, d0.loss_cls_all: 0.3944, d0.loss_bbox_all: 0.5934, d0.loss_cls: 0.3944, d0.loss_bbox: 0.5934, d1.loss_cls: 0.3918, d1.loss_bbox: 0.5671, d2.loss_cls: 0.3884, d2.loss_bbox: 0.5550, d3.loss_cls: 0.3865, d3.loss_bbox: 0.5509, d4.loss_cls: 0.3856, d4.loss_bbox: 0.5503, d5.loss_cls: 0.3852, d5.loss_bbox: 0.5502, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2195, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0944, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0728, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0662, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0689, d5.loss_traj_cls: 0.0011, d5.loss_traj: 1.0734, d0.loss_map_cls_all: 0.3523, d0.loss_map_pts_all: 2.3129, d0.loss_map_dir_all: 0.0203, d0.loss_map_cls: 0.3523, d0.loss_map_pts: 2.3129, d0.loss_map_dir: 0.0203, d1.loss_map_cls: 0.3306, d1.loss_map_pts: 1.5454, d1.loss_map_dir: 0.0201, d2.loss_map_cls: 0.3140, d2.loss_map_pts: 1.3755, d2.loss_map_dir: 0.0206, d3.loss_map_cls: 0.3037, d3.loss_map_pts: 1.3158, d3.loss_map_dir: 0.0210, d4.loss_map_cls: 0.2989, d4.loss_map_pts: 1.2918, d4.loss_map_dir: 0.0213, d5.loss_map_cls: 0.2967, d5.loss_map_pts: 1.2851, d5.loss_map_dir: 0.0215, loss: 46.6927, grad_norm: 158.9731 +2026-02-24 23:47:03,481 - DriveTransformer - INFO - Epoch [3][17800/39528] lr: 9.831e-05, eta: 7 days, 21:11:24, time: 0.864, data_time: 0.044, memory: 19865, loss_cls: 0.3781, loss_bbox: 0.5158, loss_traj: 0.9532, loss_traj_cls: 0.0022, loss_map_cls: 0.3077, loss_map_pts: 1.2899, loss_map_dir: 0.0216, d0.loss_plan_l1_fix_time: 2.3706, d0.loss_plan_l1_fix_dist: 0.4001, d1.loss_plan_l1_fix_time: 1.4952, d1.loss_plan_l1_fix_dist: 0.2579, d2.loss_plan_l1_fix_time: 1.4697, d2.loss_plan_l1_fix_dist: 0.2721, d3.loss_plan_l1_fix_time: 1.4715, d3.loss_plan_l1_fix_dist: 0.2912, d4.loss_plan_l1_fix_time: 1.4749, d4.loss_plan_l1_fix_dist: 0.3130, d5.loss_plan_l1_fix_time: 1.4795, d5.loss_plan_l1_fix_dist: 0.3341, d6.loss_plan_l1_fix_time: 1.4842, d6.loss_plan_l1_fix_dist: 0.3580, d0.loss_cls_all: 0.3928, d0.loss_bbox_all: 0.5499, d0.loss_cls: 0.3928, d0.loss_bbox: 0.5499, d1.loss_cls: 0.3869, d1.loss_bbox: 0.5310, d2.loss_cls: 0.3828, d2.loss_bbox: 0.5194, d3.loss_cls: 0.3798, d3.loss_bbox: 0.5130, d4.loss_cls: 0.3755, d4.loss_bbox: 0.5119, d5.loss_cls: 0.3757, d5.loss_bbox: 0.5134, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1005, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9660, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9571, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9571, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9555, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.9544, d0.loss_map_cls_all: 0.3513, d0.loss_map_pts_all: 2.2371, d0.loss_map_dir_all: 0.0192, d0.loss_map_cls: 0.3513, d0.loss_map_pts: 2.2371, d0.loss_map_dir: 0.0192, d1.loss_map_cls: 0.3288, d1.loss_map_pts: 1.5367, d1.loss_map_dir: 0.0197, d2.loss_map_cls: 0.3154, d2.loss_map_pts: 1.3705, d2.loss_map_dir: 0.0203, d3.loss_map_cls: 0.3112, d3.loss_map_pts: 1.3147, d3.loss_map_dir: 0.0207, d4.loss_map_cls: 0.3093, d4.loss_map_pts: 1.2963, d4.loss_map_dir: 0.0212, d5.loss_map_cls: 0.3085, d5.loss_map_pts: 1.2902, d5.loss_map_dir: 0.0213, loss: 42.9118, grad_norm: 158.8222 +2026-02-24 23:47:46,723 - DriveTransformer - INFO - Epoch [3][17850/39528] lr: 9.831e-05, eta: 7 days, 21:11:13, time: 0.865, data_time: 0.047, memory: 19865, loss_cls: 0.3448, loss_bbox: 0.4742, loss_traj: 1.0891, loss_traj_cls: 0.0024, loss_map_cls: 0.2503, loss_map_pts: 1.1431, loss_map_dir: 0.0198, d0.loss_plan_l1_fix_time: 2.8828, d0.loss_plan_l1_fix_dist: 0.4868, d1.loss_plan_l1_fix_time: 1.8501, d1.loss_plan_l1_fix_dist: 0.2910, d2.loss_plan_l1_fix_time: 1.8105, d2.loss_plan_l1_fix_dist: 0.3084, d3.loss_plan_l1_fix_time: 1.8053, d3.loss_plan_l1_fix_dist: 0.3317, d4.loss_plan_l1_fix_time: 1.8071, d4.loss_plan_l1_fix_dist: 0.3603, d5.loss_plan_l1_fix_time: 1.8105, d5.loss_plan_l1_fix_dist: 0.3924, d6.loss_plan_l1_fix_time: 1.8146, d6.loss_plan_l1_fix_dist: 0.4230, d0.loss_cls_all: 0.3538, d0.loss_bbox_all: 0.5096, d0.loss_cls: 0.3538, d0.loss_bbox: 0.5096, d1.loss_cls: 0.3472, d1.loss_bbox: 0.4837, d2.loss_cls: 0.3472, d2.loss_bbox: 0.4719, d3.loss_cls: 0.3479, d3.loss_bbox: 0.4668, d4.loss_cls: 0.3462, d4.loss_bbox: 0.4675, d5.loss_cls: 0.3443, d5.loss_bbox: 0.4692, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3083, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1194, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0874, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0892, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0836, d5.loss_traj_cls: 0.0011, d5.loss_traj: 1.0823, d0.loss_map_cls_all: 0.3008, d0.loss_map_pts_all: 2.0692, d0.loss_map_dir_all: 0.0182, d0.loss_map_cls: 0.3008, d0.loss_map_pts: 2.0692, d0.loss_map_dir: 0.0182, d1.loss_map_cls: 0.2800, d1.loss_map_pts: 1.3407, d1.loss_map_dir: 0.0184, d2.loss_map_cls: 0.2661, d2.loss_map_pts: 1.2045, d2.loss_map_dir: 0.0187, d3.loss_map_cls: 0.2575, d3.loss_map_pts: 1.1553, d3.loss_map_dir: 0.0191, d4.loss_map_cls: 0.2530, d4.loss_map_pts: 1.1457, d4.loss_map_dir: 0.0194, d5.loss_map_cls: 0.2511, d5.loss_map_pts: 1.1438, d5.loss_map_dir: 0.0196, loss: 44.4625, grad_norm: 156.2788 +2026-02-24 23:48:29,809 - DriveTransformer - INFO - Epoch [3][17900/39528] lr: 9.831e-05, eta: 7 days, 21:11:00, time: 0.862, data_time: 0.038, memory: 19865, loss_cls: 0.3943, loss_bbox: 0.5229, loss_traj: 0.9124, loss_traj_cls: 0.0025, loss_map_cls: 0.2718, loss_map_pts: 1.2032, loss_map_dir: 0.0212, d0.loss_plan_l1_fix_time: 2.6426, d0.loss_plan_l1_fix_dist: 0.4220, d1.loss_plan_l1_fix_time: 1.7415, d1.loss_plan_l1_fix_dist: 0.2826, d2.loss_plan_l1_fix_time: 1.7207, d2.loss_plan_l1_fix_dist: 0.3014, d3.loss_plan_l1_fix_time: 1.7200, d3.loss_plan_l1_fix_dist: 0.3234, d4.loss_plan_l1_fix_time: 1.7233, d4.loss_plan_l1_fix_dist: 0.3477, d5.loss_plan_l1_fix_time: 1.7276, d5.loss_plan_l1_fix_dist: 0.3753, d6.loss_plan_l1_fix_time: 1.7319, d6.loss_plan_l1_fix_dist: 0.4039, d0.loss_cls_all: 0.3973, d0.loss_bbox_all: 0.5770, d0.loss_cls: 0.3973, d0.loss_bbox: 0.5770, d1.loss_cls: 0.3951, d1.loss_bbox: 0.5501, d2.loss_cls: 0.3964, d2.loss_bbox: 0.5335, d3.loss_cls: 0.3967, d3.loss_bbox: 0.5277, d4.loss_cls: 0.3972, d4.loss_bbox: 0.5242, d5.loss_cls: 0.3954, d5.loss_bbox: 0.5230, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0332, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9311, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9020, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9018, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9051, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9103, d0.loss_map_cls_all: 0.3119, d0.loss_map_pts_all: 2.1805, d0.loss_map_dir_all: 0.0198, d0.loss_map_cls: 0.3119, d0.loss_map_pts: 2.1805, d0.loss_map_dir: 0.0198, d1.loss_map_cls: 0.2970, d1.loss_map_pts: 1.4502, d1.loss_map_dir: 0.0194, d2.loss_map_cls: 0.2785, d2.loss_map_pts: 1.2914, d2.loss_map_dir: 0.0201, d3.loss_map_cls: 0.2744, d3.loss_map_pts: 1.2322, d3.loss_map_dir: 0.0205, d4.loss_map_cls: 0.2733, d4.loss_map_pts: 1.2144, d4.loss_map_dir: 0.0208, d5.loss_map_cls: 0.2720, d5.loss_map_pts: 1.2062, d5.loss_map_dir: 0.0210, loss: 43.8847, grad_norm: 155.8217 +2026-02-24 23:49:11,873 - DriveTransformer - INFO - Epoch [3][17950/39528] lr: 9.831e-05, eta: 7 days, 21:10:39, time: 0.841, data_time: 0.040, memory: 19865, loss_cls: 0.3761, loss_bbox: 0.5096, loss_traj: 1.0414, loss_traj_cls: 0.0025, loss_map_cls: 0.3051, loss_map_pts: 1.4108, loss_map_dir: 0.0243, d0.loss_plan_l1_fix_time: 2.5912, d0.loss_plan_l1_fix_dist: 0.4314, d1.loss_plan_l1_fix_time: 1.7199, d1.loss_plan_l1_fix_dist: 0.3016, d2.loss_plan_l1_fix_time: 1.6941, d2.loss_plan_l1_fix_dist: 0.3149, d3.loss_plan_l1_fix_time: 1.6953, d3.loss_plan_l1_fix_dist: 0.3368, d4.loss_plan_l1_fix_time: 1.6990, d4.loss_plan_l1_fix_dist: 0.3622, d5.loss_plan_l1_fix_time: 1.7031, d5.loss_plan_l1_fix_dist: 0.3898, d6.loss_plan_l1_fix_time: 1.7080, d6.loss_plan_l1_fix_dist: 0.4226, d0.loss_cls_all: 0.3871, d0.loss_bbox_all: 0.5622, d0.loss_cls: 0.3871, d0.loss_bbox: 0.5622, d1.loss_cls: 0.3816, d1.loss_bbox: 0.5360, d2.loss_cls: 0.3808, d2.loss_bbox: 0.5189, d3.loss_cls: 0.3791, d3.loss_bbox: 0.5141, d4.loss_cls: 0.3770, d4.loss_bbox: 0.5122, d5.loss_cls: 0.3750, d5.loss_bbox: 0.5102, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2454, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0801, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0701, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0610, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0512, d5.loss_traj_cls: 0.0011, d5.loss_traj: 1.0439, d0.loss_map_cls_all: 0.3564, d0.loss_map_pts_all: 2.4352, d0.loss_map_dir_all: 0.0223, d0.loss_map_cls: 0.3564, d0.loss_map_pts: 2.4352, d0.loss_map_dir: 0.0223, d1.loss_map_cls: 0.3284, d1.loss_map_pts: 1.6670, d1.loss_map_dir: 0.0223, d2.loss_map_cls: 0.3094, d2.loss_map_pts: 1.4895, d2.loss_map_dir: 0.0232, d3.loss_map_cls: 0.3057, d3.loss_map_pts: 1.4358, d3.loss_map_dir: 0.0237, d4.loss_map_cls: 0.3010, d4.loss_map_pts: 1.4190, d4.loss_map_dir: 0.0239, d5.loss_map_cls: 0.3014, d5.loss_map_pts: 1.4116, d5.loss_map_dir: 0.0241, loss: 46.6941, grad_norm: 156.4138 +2026-02-24 23:49:53,100 - DriveTransformer - INFO - Epoch [3][18000/39528] lr: 9.831e-05, eta: 7 days, 21:10:10, time: 0.826, data_time: 0.040, memory: 19865, loss_cls: 0.3521, loss_bbox: 0.4985, loss_traj: 1.0482, loss_traj_cls: 0.0025, loss_map_cls: 0.2778, loss_map_pts: 1.2252, loss_map_dir: 0.0223, d0.loss_plan_l1_fix_time: 2.8273, d0.loss_plan_l1_fix_dist: 0.3840, d1.loss_plan_l1_fix_time: 1.7170, d1.loss_plan_l1_fix_dist: 0.2405, d2.loss_plan_l1_fix_time: 1.6908, d2.loss_plan_l1_fix_dist: 0.2514, d3.loss_plan_l1_fix_time: 1.6857, d3.loss_plan_l1_fix_dist: 0.2715, d4.loss_plan_l1_fix_time: 1.6866, d4.loss_plan_l1_fix_dist: 0.2938, d5.loss_plan_l1_fix_time: 1.6886, d5.loss_plan_l1_fix_dist: 0.3170, d6.loss_plan_l1_fix_time: 1.6919, d6.loss_plan_l1_fix_dist: 0.3419, d0.loss_cls_all: 0.3631, d0.loss_bbox_all: 0.5348, d0.loss_cls: 0.3631, d0.loss_bbox: 0.5348, d1.loss_cls: 0.3554, d1.loss_bbox: 0.5088, d2.loss_cls: 0.3526, d2.loss_bbox: 0.4997, d3.loss_cls: 0.3500, d3.loss_bbox: 0.4986, d4.loss_cls: 0.3495, d4.loss_bbox: 0.4959, d5.loss_cls: 0.3502, d5.loss_bbox: 0.4968, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2818, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0962, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0601, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0573, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0517, d5.loss_traj_cls: 0.0011, d5.loss_traj: 1.0496, d0.loss_map_cls_all: 0.3283, d0.loss_map_pts_all: 2.2653, d0.loss_map_dir_all: 0.0206, d0.loss_map_cls: 0.3283, d0.loss_map_pts: 2.2653, d0.loss_map_dir: 0.0206, d1.loss_map_cls: 0.3120, d1.loss_map_pts: 1.4794, d1.loss_map_dir: 0.0204, d2.loss_map_cls: 0.2956, d2.loss_map_pts: 1.3071, d2.loss_map_dir: 0.0211, d3.loss_map_cls: 0.2885, d3.loss_map_pts: 1.2485, d3.loss_map_dir: 0.0215, d4.loss_map_cls: 0.2811, d4.loss_map_pts: 1.2328, d4.loss_map_dir: 0.0218, d5.loss_map_cls: 0.2784, d5.loss_map_pts: 1.2263, d5.loss_map_dir: 0.0221, loss: 44.4556, grad_norm: 158.4048 +2026-02-24 23:50:38,129 - DriveTransformer - INFO - Epoch [3][18050/39528] lr: 9.831e-05, eta: 7 days, 21:10:14, time: 0.899, data_time: 0.045, memory: 19865, loss_cls: 0.3880, loss_bbox: 0.5325, loss_traj: 1.0784, loss_traj_cls: 0.0024, loss_map_cls: 0.3000, loss_map_pts: 1.3509, loss_map_dir: 0.0238, d0.loss_plan_l1_fix_time: 3.2054, d0.loss_plan_l1_fix_dist: 0.3588, d1.loss_plan_l1_fix_time: 1.9556, d1.loss_plan_l1_fix_dist: 0.2797, d2.loss_plan_l1_fix_time: 1.9443, d2.loss_plan_l1_fix_dist: 0.2923, d3.loss_plan_l1_fix_time: 1.9424, d3.loss_plan_l1_fix_dist: 0.3068, d4.loss_plan_l1_fix_time: 1.9458, d4.loss_plan_l1_fix_dist: 0.3239, d5.loss_plan_l1_fix_time: 1.9502, d5.loss_plan_l1_fix_dist: 0.3441, d6.loss_plan_l1_fix_time: 1.9552, d6.loss_plan_l1_fix_dist: 0.3636, d0.loss_cls_all: 0.4074, d0.loss_bbox_all: 0.5700, d0.loss_cls: 0.4074, d0.loss_bbox: 0.5700, d1.loss_cls: 0.3985, d1.loss_bbox: 0.5479, d2.loss_cls: 0.3910, d2.loss_bbox: 0.5378, d3.loss_cls: 0.3877, d3.loss_bbox: 0.5329, d4.loss_cls: 0.3869, d4.loss_bbox: 0.5321, d5.loss_cls: 0.3870, d5.loss_bbox: 0.5306, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3085, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1033, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0770, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0822, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0772, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.0760, d0.loss_map_cls_all: 0.3344, d0.loss_map_pts_all: 2.3969, d0.loss_map_dir_all: 0.0217, d0.loss_map_cls: 0.3344, d0.loss_map_pts: 2.3969, d0.loss_map_dir: 0.0217, d1.loss_map_cls: 0.3219, d1.loss_map_pts: 1.6035, d1.loss_map_dir: 0.0217, d2.loss_map_cls: 0.3131, d2.loss_map_pts: 1.4358, d2.loss_map_dir: 0.0223, d3.loss_map_cls: 0.3056, d3.loss_map_pts: 1.3777, d3.loss_map_dir: 0.0229, d4.loss_map_cls: 0.3014, d4.loss_map_pts: 1.3635, d4.loss_map_dir: 0.0234, d5.loss_map_cls: 0.2985, d5.loss_map_pts: 1.3525, d5.loss_map_dir: 0.0235, loss: 48.4542, grad_norm: 158.4417 +2026-02-24 23:51:20,573 - DriveTransformer - INFO - Epoch [3][18100/39528] lr: 9.831e-05, eta: 7 days, 21:09:56, time: 0.849, data_time: 0.039, memory: 19865, loss_cls: 0.3425, loss_bbox: 0.4959, loss_traj: 1.0766, loss_traj_cls: 0.0025, loss_map_cls: 0.2733, loss_map_pts: 1.2105, loss_map_dir: 0.0170, d0.loss_plan_l1_fix_time: 2.6761, d0.loss_plan_l1_fix_dist: 0.4552, d1.loss_plan_l1_fix_time: 1.7904, d1.loss_plan_l1_fix_dist: 0.2928, d2.loss_plan_l1_fix_time: 1.7807, d2.loss_plan_l1_fix_dist: 0.3031, d3.loss_plan_l1_fix_time: 1.7856, d3.loss_plan_l1_fix_dist: 0.3163, d4.loss_plan_l1_fix_time: 1.7907, d4.loss_plan_l1_fix_dist: 0.3326, d5.loss_plan_l1_fix_time: 1.7964, d5.loss_plan_l1_fix_dist: 0.3498, d6.loss_plan_l1_fix_time: 1.8030, d6.loss_plan_l1_fix_dist: 0.3685, d0.loss_cls_all: 0.3512, d0.loss_bbox_all: 0.5433, d0.loss_cls: 0.3512, d0.loss_bbox: 0.5433, d1.loss_cls: 0.3501, d1.loss_bbox: 0.5152, d2.loss_cls: 0.3444, d2.loss_bbox: 0.5051, d3.loss_cls: 0.3446, d3.loss_bbox: 0.4991, d4.loss_cls: 0.3426, d4.loss_bbox: 0.4977, d5.loss_cls: 0.3416, d5.loss_bbox: 0.4960, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3177, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1338, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0965, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0822, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0722, d5.loss_traj_cls: 0.0011, d5.loss_traj: 1.0692, d0.loss_map_cls_all: 0.3173, d0.loss_map_pts_all: 2.0207, d0.loss_map_dir_all: 0.0153, d0.loss_map_cls: 0.3173, d0.loss_map_pts: 2.0207, d0.loss_map_dir: 0.0153, d1.loss_map_cls: 0.3023, d1.loss_map_pts: 1.4353, d1.loss_map_dir: 0.0154, d2.loss_map_cls: 0.2904, d2.loss_map_pts: 1.2853, d2.loss_map_dir: 0.0160, d3.loss_map_cls: 0.2792, d3.loss_map_pts: 1.2336, d3.loss_map_dir: 0.0164, d4.loss_map_cls: 0.2749, d4.loss_map_pts: 1.2180, d4.loss_map_dir: 0.0168, d5.loss_map_cls: 0.2726, d5.loss_map_pts: 1.2106, d5.loss_map_dir: 0.0169, loss: 44.6529, grad_norm: 158.1869 +2026-02-24 23:52:02,270 - DriveTransformer - INFO - Epoch [3][18150/39528] lr: 9.831e-05, eta: 7 days, 21:09:30, time: 0.834, data_time: 0.045, memory: 19865, loss_cls: 0.3652, loss_bbox: 0.5507, loss_traj: 1.2577, loss_traj_cls: 0.0026, loss_map_cls: 0.2540, loss_map_pts: 1.2120, loss_map_dir: 0.0204, d0.loss_plan_l1_fix_time: 2.7930, d0.loss_plan_l1_fix_dist: 0.4476, d1.loss_plan_l1_fix_time: 1.7962, d1.loss_plan_l1_fix_dist: 0.2733, d2.loss_plan_l1_fix_time: 1.7651, d2.loss_plan_l1_fix_dist: 0.2847, d3.loss_plan_l1_fix_time: 1.7657, d3.loss_plan_l1_fix_dist: 0.3020, d4.loss_plan_l1_fix_time: 1.7698, d4.loss_plan_l1_fix_dist: 0.3217, d5.loss_plan_l1_fix_time: 1.7738, d5.loss_plan_l1_fix_dist: 0.3419, d6.loss_plan_l1_fix_time: 1.7783, d6.loss_plan_l1_fix_dist: 0.3654, d0.loss_cls_all: 0.3826, d0.loss_bbox_all: 0.5810, d0.loss_cls: 0.3826, d0.loss_bbox: 0.5810, d1.loss_cls: 0.3771, d1.loss_bbox: 0.5569, d2.loss_cls: 0.3698, d2.loss_bbox: 0.5504, d3.loss_cls: 0.3686, d3.loss_bbox: 0.5475, d4.loss_cls: 0.3677, d4.loss_bbox: 0.5469, d5.loss_cls: 0.3650, d5.loss_bbox: 0.5473, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4438, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2799, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2580, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.2590, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.2557, d5.loss_traj_cls: 0.0011, d5.loss_traj: 1.2586, d0.loss_map_cls_all: 0.2976, d0.loss_map_pts_all: 2.1431, d0.loss_map_dir_all: 0.0189, d0.loss_map_cls: 0.2976, d0.loss_map_pts: 2.1431, d0.loss_map_dir: 0.0189, d1.loss_map_cls: 0.2811, d1.loss_map_pts: 1.4433, d1.loss_map_dir: 0.0189, d2.loss_map_cls: 0.2686, d2.loss_map_pts: 1.2871, d2.loss_map_dir: 0.0194, d3.loss_map_cls: 0.2651, d3.loss_map_pts: 1.2307, d3.loss_map_dir: 0.0198, d4.loss_map_cls: 0.2559, d4.loss_map_pts: 1.2162, d4.loss_map_dir: 0.0201, d5.loss_map_cls: 0.2531, d5.loss_map_pts: 1.2126, d5.loss_map_dir: 0.0203, loss: 46.4576, grad_norm: 158.4635 +2026-02-24 23:52:43,743 - DriveTransformer - INFO - Epoch [3][18200/39528] lr: 9.831e-05, eta: 7 days, 21:09:03, time: 0.829, data_time: 0.041, memory: 19865, loss_cls: 0.4061, loss_bbox: 0.5648, loss_traj: 1.1143, loss_traj_cls: 0.0026, loss_map_cls: 0.2849, loss_map_pts: 1.2487, loss_map_dir: 0.0177, d0.loss_plan_l1_fix_time: 2.9704, d0.loss_plan_l1_fix_dist: 0.4625, d1.loss_plan_l1_fix_time: 2.0565, d1.loss_plan_l1_fix_dist: 0.3161, d2.loss_plan_l1_fix_time: 2.0497, d2.loss_plan_l1_fix_dist: 0.3281, d3.loss_plan_l1_fix_time: 2.0527, d3.loss_plan_l1_fix_dist: 0.3406, d4.loss_plan_l1_fix_time: 2.0566, d4.loss_plan_l1_fix_dist: 0.3567, d5.loss_plan_l1_fix_time: 2.0604, d5.loss_plan_l1_fix_dist: 0.3746, d6.loss_plan_l1_fix_time: 2.0647, d6.loss_plan_l1_fix_dist: 0.3935, d0.loss_cls_all: 0.4243, d0.loss_bbox_all: 0.6175, d0.loss_cls: 0.4243, d0.loss_bbox: 0.6175, d1.loss_cls: 0.4208, d1.loss_bbox: 0.5903, d2.loss_cls: 0.4150, d2.loss_bbox: 0.5771, d3.loss_cls: 0.4080, d3.loss_bbox: 0.5729, d4.loss_cls: 0.4043, d4.loss_bbox: 0.5687, d5.loss_cls: 0.4053, d5.loss_bbox: 0.5649, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3200, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1555, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1166, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1089, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1131, d5.loss_traj_cls: 0.0011, d5.loss_traj: 1.1143, d0.loss_map_cls_all: 0.3407, d0.loss_map_pts_all: 2.0817, d0.loss_map_dir_all: 0.0161, d0.loss_map_cls: 0.3407, d0.loss_map_pts: 2.0817, d0.loss_map_dir: 0.0161, d1.loss_map_cls: 0.3147, d1.loss_map_pts: 1.4899, d1.loss_map_dir: 0.0162, d2.loss_map_cls: 0.3006, d2.loss_map_pts: 1.3388, d2.loss_map_dir: 0.0168, d3.loss_map_cls: 0.2938, d3.loss_map_pts: 1.2741, d3.loss_map_dir: 0.0172, d4.loss_map_cls: 0.2867, d4.loss_map_pts: 1.2580, d4.loss_map_dir: 0.0174, d5.loss_map_cls: 0.2859, d5.loss_map_pts: 1.2504, d5.loss_map_dir: 0.0176, loss: 48.5224, grad_norm: 157.6896 +2026-02-24 23:53:25,882 - DriveTransformer - INFO - Epoch [3][18250/39528] lr: 9.831e-05, eta: 7 days, 21:08:42, time: 0.843, data_time: 0.046, memory: 19865, loss_cls: 0.3544, loss_bbox: 0.5431, loss_traj: 1.0783, loss_traj_cls: 0.0025, loss_map_cls: 0.2958, loss_map_pts: 1.2938, loss_map_dir: 0.0191, d0.loss_plan_l1_fix_time: 2.9248, d0.loss_plan_l1_fix_dist: 0.4160, d1.loss_plan_l1_fix_time: 1.9105, d1.loss_plan_l1_fix_dist: 0.2641, d2.loss_plan_l1_fix_time: 1.8939, d2.loss_plan_l1_fix_dist: 0.2750, d3.loss_plan_l1_fix_time: 1.8943, d3.loss_plan_l1_fix_dist: 0.2929, d4.loss_plan_l1_fix_time: 1.8985, d4.loss_plan_l1_fix_dist: 0.3120, d5.loss_plan_l1_fix_time: 1.9034, d5.loss_plan_l1_fix_dist: 0.3326, d6.loss_plan_l1_fix_time: 1.9094, d6.loss_plan_l1_fix_dist: 0.3546, d0.loss_cls_all: 0.3692, d0.loss_bbox_all: 0.5933, d0.loss_cls: 0.3692, d0.loss_bbox: 0.5933, d1.loss_cls: 0.3677, d1.loss_bbox: 0.5668, d2.loss_cls: 0.3619, d2.loss_bbox: 0.5527, d3.loss_cls: 0.3581, d3.loss_bbox: 0.5450, d4.loss_cls: 0.3552, d4.loss_bbox: 0.5417, d5.loss_cls: 0.3536, d5.loss_bbox: 0.5426, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2066, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0919, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0681, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0667, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0734, d5.loss_traj_cls: 0.0010, d5.loss_traj: 1.0739, d0.loss_map_cls_all: 0.3505, d0.loss_map_pts_all: 2.2122, d0.loss_map_dir_all: 0.0181, d0.loss_map_cls: 0.3505, d0.loss_map_pts: 2.2122, d0.loss_map_dir: 0.0181, d1.loss_map_cls: 0.3292, d1.loss_map_pts: 1.5252, d1.loss_map_dir: 0.0180, d2.loss_map_cls: 0.3134, d2.loss_map_pts: 1.3679, d2.loss_map_dir: 0.0183, d3.loss_map_cls: 0.3041, d3.loss_map_pts: 1.3174, d3.loss_map_dir: 0.0187, d4.loss_map_cls: 0.2964, d4.loss_map_pts: 1.3015, d4.loss_map_dir: 0.0189, d5.loss_map_cls: 0.2950, d5.loss_map_pts: 1.2967, d5.loss_map_dir: 0.0191, loss: 46.8265, grad_norm: 158.0909 +2026-02-24 23:54:06,688 - DriveTransformer - INFO - Epoch [3][18300/39528] lr: 9.831e-05, eta: 7 days, 21:08:09, time: 0.816, data_time: 0.038, memory: 19865, loss_cls: 0.3669, loss_bbox: 0.5496, loss_traj: 1.4588, loss_traj_cls: 0.0027, loss_map_cls: 0.2712, loss_map_pts: 1.1717, loss_map_dir: 0.0188, d0.loss_plan_l1_fix_time: 2.9183, d0.loss_plan_l1_fix_dist: 0.4625, d1.loss_plan_l1_fix_time: 1.8255, d1.loss_plan_l1_fix_dist: 0.2873, d2.loss_plan_l1_fix_time: 1.7932, d2.loss_plan_l1_fix_dist: 0.2955, d3.loss_plan_l1_fix_time: 1.7889, d3.loss_plan_l1_fix_dist: 0.3082, d4.loss_plan_l1_fix_time: 1.7903, d4.loss_plan_l1_fix_dist: 0.3223, d5.loss_plan_l1_fix_time: 1.7928, d5.loss_plan_l1_fix_dist: 0.3390, d6.loss_plan_l1_fix_time: 1.7964, d6.loss_plan_l1_fix_dist: 0.3557, d0.loss_cls_all: 0.3747, d0.loss_bbox_all: 0.5948, d0.loss_cls: 0.3747, d0.loss_bbox: 0.5948, d1.loss_cls: 0.3701, d1.loss_bbox: 0.5641, d2.loss_cls: 0.3688, d2.loss_bbox: 0.5506, d3.loss_cls: 0.3675, d3.loss_bbox: 0.5464, d4.loss_cls: 0.3665, d4.loss_bbox: 0.5462, d5.loss_cls: 0.3660, d5.loss_bbox: 0.5469, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7331, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.5162, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.4690, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.4634, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.4571, d5.loss_traj_cls: 0.0011, d5.loss_traj: 1.4511, d0.loss_map_cls_all: 0.3257, d0.loss_map_pts_all: 1.9794, d0.loss_map_dir_all: 0.0177, d0.loss_map_cls: 0.3257, d0.loss_map_pts: 1.9794, d0.loss_map_dir: 0.0177, d1.loss_map_cls: 0.3034, d1.loss_map_pts: 1.3648, d1.loss_map_dir: 0.0176, d2.loss_map_cls: 0.2887, d2.loss_map_pts: 1.2359, d2.loss_map_dir: 0.0179, d3.loss_map_cls: 0.2786, d3.loss_map_pts: 1.1925, d3.loss_map_dir: 0.0183, d4.loss_map_cls: 0.2712, d4.loss_map_pts: 1.1743, d4.loss_map_dir: 0.0186, d5.loss_map_cls: 0.2704, d5.loss_map_pts: 1.1722, d5.loss_map_dir: 0.0187, loss: 47.8326, grad_norm: 157.9686 +2026-02-24 23:54:47,690 - DriveTransformer - INFO - Epoch [3][18350/39528] lr: 9.831e-05, eta: 7 days, 21:07:38, time: 0.820, data_time: 0.046, memory: 19865, loss_cls: 0.3444, loss_bbox: 0.5199, loss_traj: 1.1295, loss_traj_cls: 0.0029, loss_map_cls: 0.2395, loss_map_pts: 0.9950, loss_map_dir: 0.0166, d0.loss_plan_l1_fix_time: 2.8532, d0.loss_plan_l1_fix_dist: 0.4432, d1.loss_plan_l1_fix_time: 1.7685, d1.loss_plan_l1_fix_dist: 0.2627, d2.loss_plan_l1_fix_time: 1.7618, d2.loss_plan_l1_fix_dist: 0.2717, d3.loss_plan_l1_fix_time: 1.7659, d3.loss_plan_l1_fix_dist: 0.2833, d4.loss_plan_l1_fix_time: 1.7706, d4.loss_plan_l1_fix_dist: 0.2978, d5.loss_plan_l1_fix_time: 1.7748, d5.loss_plan_l1_fix_dist: 0.3136, d6.loss_plan_l1_fix_time: 1.7796, d6.loss_plan_l1_fix_dist: 0.3280, d0.loss_cls_all: 0.3547, d0.loss_bbox_all: 0.5491, d0.loss_cls: 0.3547, d0.loss_bbox: 0.5491, d1.loss_cls: 0.3503, d1.loss_bbox: 0.5238, d2.loss_cls: 0.3459, d2.loss_bbox: 0.5166, d3.loss_cls: 0.3454, d3.loss_bbox: 0.5147, d4.loss_cls: 0.3441, d4.loss_bbox: 0.5144, d5.loss_cls: 0.3445, d5.loss_bbox: 0.5154, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3515, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1344, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1216, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1228, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.1310, d5.loss_traj_cls: 0.0012, d5.loss_traj: 1.1245, d0.loss_map_cls_all: 0.2861, d0.loss_map_pts_all: 1.7877, d0.loss_map_dir_all: 0.0154, d0.loss_map_cls: 0.2861, d0.loss_map_pts: 1.7877, d0.loss_map_dir: 0.0154, d1.loss_map_cls: 0.2663, d1.loss_map_pts: 1.1988, d1.loss_map_dir: 0.0151, d2.loss_map_cls: 0.2525, d2.loss_map_pts: 1.0609, d2.loss_map_dir: 0.0157, d3.loss_map_cls: 0.2429, d3.loss_map_pts: 1.0136, d3.loss_map_dir: 0.0161, d4.loss_map_cls: 0.2414, d4.loss_map_pts: 0.9967, d4.loss_map_dir: 0.0164, d5.loss_map_cls: 0.2394, d5.loss_map_pts: 0.9912, d5.loss_map_dir: 0.0165, loss: 42.7990, grad_norm: 157.2700 +2026-02-24 23:55:28,807 - DriveTransformer - INFO - Epoch [3][18400/39528] lr: 9.831e-05, eta: 7 days, 21:07:08, time: 0.822, data_time: 0.040, memory: 19865, loss_cls: 0.3829, loss_bbox: 0.5467, loss_traj: 1.0390, loss_traj_cls: 0.0028, loss_map_cls: 0.3076, loss_map_pts: 1.2683, loss_map_dir: 0.0216, d0.loss_plan_l1_fix_time: 2.6709, d0.loss_plan_l1_fix_dist: 0.4991, d1.loss_plan_l1_fix_time: 1.8828, d1.loss_plan_l1_fix_dist: 0.3368, d2.loss_plan_l1_fix_time: 1.8573, d2.loss_plan_l1_fix_dist: 0.3414, d3.loss_plan_l1_fix_time: 1.8606, d3.loss_plan_l1_fix_dist: 0.3503, d4.loss_plan_l1_fix_time: 1.8633, d4.loss_plan_l1_fix_dist: 0.3618, d5.loss_plan_l1_fix_time: 1.8664, d5.loss_plan_l1_fix_dist: 0.3753, d6.loss_plan_l1_fix_time: 1.8704, d6.loss_plan_l1_fix_dist: 0.3910, d0.loss_cls_all: 0.3941, d0.loss_bbox_all: 0.5894, d0.loss_cls: 0.3941, d0.loss_bbox: 0.5894, d1.loss_cls: 0.3895, d1.loss_bbox: 0.5608, d2.loss_cls: 0.3866, d2.loss_bbox: 0.5491, d3.loss_cls: 0.3847, d3.loss_bbox: 0.5466, d4.loss_cls: 0.3827, d4.loss_bbox: 0.5457, d5.loss_cls: 0.3833, d5.loss_bbox: 0.5443, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2114, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0719, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0211, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0242, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0251, d5.loss_traj_cls: 0.0011, d5.loss_traj: 1.0325, d0.loss_map_cls_all: 0.3403, d0.loss_map_pts_all: 2.2059, d0.loss_map_dir_all: 0.0199, d0.loss_map_cls: 0.3403, d0.loss_map_pts: 2.2059, d0.loss_map_dir: 0.0199, d1.loss_map_cls: 0.3307, d1.loss_map_pts: 1.4853, d1.loss_map_dir: 0.0197, d2.loss_map_cls: 0.3213, d2.loss_map_pts: 1.3298, d2.loss_map_dir: 0.0205, d3.loss_map_cls: 0.3124, d3.loss_map_pts: 1.2856, d3.loss_map_dir: 0.0208, d4.loss_map_cls: 0.3080, d4.loss_map_pts: 1.2719, d4.loss_map_dir: 0.0213, d5.loss_map_cls: 0.3081, d5.loss_map_pts: 1.2674, d5.loss_map_dir: 0.0216, loss: 46.5855, grad_norm: 157.3931 +2026-02-24 23:56:10,038 - DriveTransformer - INFO - Epoch [3][18450/39528] lr: 9.831e-05, eta: 7 days, 21:06:39, time: 0.825, data_time: 0.044, memory: 19865, loss_cls: 0.3524, loss_bbox: 0.5043, loss_traj: 1.1074, loss_traj_cls: 0.0029, loss_map_cls: 0.2704, loss_map_pts: 1.2283, loss_map_dir: 0.0211, d0.loss_plan_l1_fix_time: 2.4357, d0.loss_plan_l1_fix_dist: 0.4658, d1.loss_plan_l1_fix_time: 1.7019, d1.loss_plan_l1_fix_dist: 0.2987, d2.loss_plan_l1_fix_time: 1.6945, d2.loss_plan_l1_fix_dist: 0.3079, d3.loss_plan_l1_fix_time: 1.6982, d3.loss_plan_l1_fix_dist: 0.3265, d4.loss_plan_l1_fix_time: 1.7013, d4.loss_plan_l1_fix_dist: 0.3479, d5.loss_plan_l1_fix_time: 1.7051, d5.loss_plan_l1_fix_dist: 0.3701, d6.loss_plan_l1_fix_time: 1.7098, d6.loss_plan_l1_fix_dist: 0.3943, d0.loss_cls_all: 0.3697, d0.loss_bbox_all: 0.5457, d0.loss_cls: 0.3697, d0.loss_bbox: 0.5457, d1.loss_cls: 0.3659, d1.loss_bbox: 0.5229, d2.loss_cls: 0.3575, d2.loss_bbox: 0.5102, d3.loss_cls: 0.3543, d3.loss_bbox: 0.5076, d4.loss_cls: 0.3513, d4.loss_bbox: 0.5047, d5.loss_cls: 0.3517, d5.loss_bbox: 0.5032, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2728, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1164, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1038, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0971, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.1029, d5.loss_traj_cls: 0.0012, d5.loss_traj: 1.1030, d0.loss_map_cls_all: 0.3279, d0.loss_map_pts_all: 2.1199, d0.loss_map_dir_all: 0.0192, d0.loss_map_cls: 0.3279, d0.loss_map_pts: 2.1199, d0.loss_map_dir: 0.0192, d1.loss_map_cls: 0.3035, d1.loss_map_pts: 1.4636, d1.loss_map_dir: 0.0194, d2.loss_map_cls: 0.2853, d2.loss_map_pts: 1.3103, d2.loss_map_dir: 0.0201, d3.loss_map_cls: 0.2754, d3.loss_map_pts: 1.2554, d3.loss_map_dir: 0.0205, d4.loss_map_cls: 0.2705, d4.loss_map_pts: 1.2387, d4.loss_map_dir: 0.0208, d5.loss_map_cls: 0.2698, d5.loss_map_pts: 1.2321, d5.loss_map_dir: 0.0211, loss: 44.5472, grad_norm: 157.1886 +2026-02-24 23:56:50,027 - DriveTransformer - INFO - Epoch [3][18500/39528] lr: 9.831e-05, eta: 7 days, 21:05:59, time: 0.800, data_time: 0.036, memory: 19865, loss_cls: 0.3738, loss_bbox: 0.5115, loss_traj: 1.0445, loss_traj_cls: 0.0030, loss_map_cls: 0.2856, loss_map_pts: 1.1775, loss_map_dir: 0.0187, d0.loss_plan_l1_fix_time: 2.5240, d0.loss_plan_l1_fix_dist: 0.4247, d1.loss_plan_l1_fix_time: 1.7220, d1.loss_plan_l1_fix_dist: 0.2839, d2.loss_plan_l1_fix_time: 1.7098, d2.loss_plan_l1_fix_dist: 0.2873, d3.loss_plan_l1_fix_time: 1.7117, d3.loss_plan_l1_fix_dist: 0.2987, d4.loss_plan_l1_fix_time: 1.7155, d4.loss_plan_l1_fix_dist: 0.3142, d5.loss_plan_l1_fix_time: 1.7198, d5.loss_plan_l1_fix_dist: 0.3330, d6.loss_plan_l1_fix_time: 1.7243, d6.loss_plan_l1_fix_dist: 0.3529, d0.loss_cls_all: 0.3991, d0.loss_bbox_all: 0.5550, d0.loss_cls: 0.3991, d0.loss_bbox: 0.5550, d1.loss_cls: 0.3865, d1.loss_bbox: 0.5273, d2.loss_cls: 0.3819, d2.loss_bbox: 0.5143, d3.loss_cls: 0.3769, d3.loss_bbox: 0.5099, d4.loss_cls: 0.3722, d4.loss_bbox: 0.5097, d5.loss_cls: 0.3744, d5.loss_bbox: 0.5086, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2173, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0777, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0573, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0463, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0446, d5.loss_traj_cls: 0.0012, d5.loss_traj: 1.0384, d0.loss_map_cls_all: 0.3310, d0.loss_map_pts_all: 1.9550, d0.loss_map_dir_all: 0.0175, d0.loss_map_cls: 0.3310, d0.loss_map_pts: 1.9550, d0.loss_map_dir: 0.0175, d1.loss_map_cls: 0.3122, d1.loss_map_pts: 1.3787, d1.loss_map_dir: 0.0174, d2.loss_map_cls: 0.2977, d2.loss_map_pts: 1.2439, d2.loss_map_dir: 0.0178, d3.loss_map_cls: 0.2864, d3.loss_map_pts: 1.1963, d3.loss_map_dir: 0.0182, d4.loss_map_cls: 0.2855, d4.loss_map_pts: 1.1831, d4.loss_map_dir: 0.0184, d5.loss_map_cls: 0.2844, d5.loss_map_pts: 1.1801, d5.loss_map_dir: 0.0186, loss: 43.7397, grad_norm: 156.3833 +2026-02-24 23:57:30,771 - DriveTransformer - INFO - Epoch [3][18550/39528] lr: 9.831e-05, eta: 7 days, 21:05:25, time: 0.815, data_time: 0.035, memory: 19865, loss_cls: 0.3917, loss_bbox: 0.5567, loss_traj: 1.1664, loss_traj_cls: 0.0030, loss_map_cls: 0.2855, loss_map_pts: 1.3756, loss_map_dir: 0.0221, d0.loss_plan_l1_fix_time: 2.5794, d0.loss_plan_l1_fix_dist: 0.4275, d1.loss_plan_l1_fix_time: 1.9491, d1.loss_plan_l1_fix_dist: 0.2886, d2.loss_plan_l1_fix_time: 1.9175, d2.loss_plan_l1_fix_dist: 0.2987, d3.loss_plan_l1_fix_time: 1.9113, d3.loss_plan_l1_fix_dist: 0.3118, d4.loss_plan_l1_fix_time: 1.9124, d4.loss_plan_l1_fix_dist: 0.3284, d5.loss_plan_l1_fix_time: 1.9155, d5.loss_plan_l1_fix_dist: 0.3472, d6.loss_plan_l1_fix_time: 1.9200, d6.loss_plan_l1_fix_dist: 0.3676, d0.loss_cls_all: 0.4106, d0.loss_bbox_all: 0.6043, d0.loss_cls: 0.4106, d0.loss_bbox: 0.6043, d1.loss_cls: 0.4045, d1.loss_bbox: 0.5783, d2.loss_cls: 0.3975, d2.loss_bbox: 0.5633, d3.loss_cls: 0.3938, d3.loss_bbox: 0.5584, d4.loss_cls: 0.3913, d4.loss_bbox: 0.5579, d5.loss_cls: 0.3911, d5.loss_bbox: 0.5584, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2867, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2160, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1817, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1771, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.1613, d5.loss_traj_cls: 0.0012, d5.loss_traj: 1.1606, d0.loss_map_cls_all: 0.3329, d0.loss_map_pts_all: 2.3106, d0.loss_map_dir_all: 0.0201, d0.loss_map_cls: 0.3329, d0.loss_map_pts: 2.3106, d0.loss_map_dir: 0.0201, d1.loss_map_cls: 0.3115, d1.loss_map_pts: 1.6069, d1.loss_map_dir: 0.0203, d2.loss_map_cls: 0.2996, d2.loss_map_pts: 1.4521, d2.loss_map_dir: 0.0210, d3.loss_map_cls: 0.2930, d3.loss_map_pts: 1.3966, d3.loss_map_dir: 0.0214, d4.loss_map_cls: 0.2873, d4.loss_map_pts: 1.3843, d4.loss_map_dir: 0.0218, d5.loss_map_cls: 0.2862, d5.loss_map_pts: 1.3765, d5.loss_map_dir: 0.0220, loss: 48.4172, grad_norm: 155.9694 +2026-02-24 23:58:11,269 - DriveTransformer - INFO - Epoch [3][18600/39528] lr: 9.831e-05, eta: 7 days, 21:04:50, time: 0.810, data_time: 0.037, memory: 19865, loss_cls: 0.3663, loss_bbox: 0.5207, loss_traj: 1.2504, loss_traj_cls: 0.0031, loss_map_cls: 0.2799, loss_map_pts: 1.1620, loss_map_dir: 0.0191, d0.loss_plan_l1_fix_time: 2.4283, d0.loss_plan_l1_fix_dist: 0.4412, d1.loss_plan_l1_fix_time: 1.8475, d1.loss_plan_l1_fix_dist: 0.2759, d2.loss_plan_l1_fix_time: 1.8285, d2.loss_plan_l1_fix_dist: 0.2878, d3.loss_plan_l1_fix_time: 1.8279, d3.loss_plan_l1_fix_dist: 0.3005, d4.loss_plan_l1_fix_time: 1.8326, d4.loss_plan_l1_fix_dist: 0.3113, d5.loss_plan_l1_fix_time: 1.8373, d5.loss_plan_l1_fix_dist: 0.3221, d6.loss_plan_l1_fix_time: 1.8427, d6.loss_plan_l1_fix_dist: 0.3348, d0.loss_cls_all: 0.3819, d0.loss_bbox_all: 0.5628, d0.loss_cls: 0.3819, d0.loss_bbox: 0.5628, d1.loss_cls: 0.3771, d1.loss_bbox: 0.5330, d2.loss_cls: 0.3723, d2.loss_bbox: 0.5193, d3.loss_cls: 0.3746, d3.loss_bbox: 0.5139, d4.loss_cls: 0.3674, d4.loss_bbox: 0.5174, d5.loss_cls: 0.3671, d5.loss_bbox: 0.5186, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4892, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2926, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.2626, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.2597, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.2544, d5.loss_traj_cls: 0.0012, d5.loss_traj: 1.2534, d0.loss_map_cls_all: 0.3424, d0.loss_map_pts_all: 1.9312, d0.loss_map_dir_all: 0.0179, d0.loss_map_cls: 0.3424, d0.loss_map_pts: 1.9312, d0.loss_map_dir: 0.0179, d1.loss_map_cls: 0.3116, d1.loss_map_pts: 1.3696, d1.loss_map_dir: 0.0177, d2.loss_map_cls: 0.2986, d2.loss_map_pts: 1.2335, d2.loss_map_dir: 0.0182, d3.loss_map_cls: 0.2896, d3.loss_map_pts: 1.1829, d3.loss_map_dir: 0.0186, d4.loss_map_cls: 0.2839, d4.loss_map_pts: 1.1663, d4.loss_map_dir: 0.0189, d5.loss_map_cls: 0.2810, d5.loss_map_pts: 1.1618, d5.loss_map_dir: 0.0190, loss: 45.7425, grad_norm: 155.3809 +2026-02-24 23:58:51,067 - DriveTransformer - INFO - Epoch [3][18650/39528] lr: 9.831e-05, eta: 7 days, 21:04:08, time: 0.796, data_time: 0.040, memory: 19865, loss_cls: 0.3159, loss_bbox: 0.5074, loss_traj: 1.1273, loss_traj_cls: 0.0032, loss_map_cls: 0.2351, loss_map_pts: 1.0777, loss_map_dir: 0.0182, d0.loss_plan_l1_fix_time: 2.5926, d0.loss_plan_l1_fix_dist: 0.4580, d1.loss_plan_l1_fix_time: 1.6985, d1.loss_plan_l1_fix_dist: 0.2946, d2.loss_plan_l1_fix_time: 1.6716, d2.loss_plan_l1_fix_dist: 0.3001, d3.loss_plan_l1_fix_time: 1.6701, d3.loss_plan_l1_fix_dist: 0.3095, d4.loss_plan_l1_fix_time: 1.6742, d4.loss_plan_l1_fix_dist: 0.3198, d5.loss_plan_l1_fix_time: 1.6792, d5.loss_plan_l1_fix_dist: 0.3313, d6.loss_plan_l1_fix_time: 1.6847, d6.loss_plan_l1_fix_dist: 0.3474, d0.loss_cls_all: 0.3423, d0.loss_bbox_all: 0.5448, d0.loss_cls: 0.3423, d0.loss_bbox: 0.5448, d1.loss_cls: 0.3331, d1.loss_bbox: 0.5191, d2.loss_cls: 0.3258, d2.loss_bbox: 0.5060, d3.loss_cls: 0.3228, d3.loss_bbox: 0.5019, d4.loss_cls: 0.3195, d4.loss_bbox: 0.5013, d5.loss_cls: 0.3187, d5.loss_bbox: 0.5040, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3561, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1701, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1320, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1261, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.1225, d5.loss_traj_cls: 0.0012, d5.loss_traj: 1.1267, d0.loss_map_cls_all: 0.2874, d0.loss_map_pts_all: 1.9075, d0.loss_map_dir_all: 0.0176, d0.loss_map_cls: 0.2874, d0.loss_map_pts: 1.9075, d0.loss_map_dir: 0.0176, d1.loss_map_cls: 0.2623, d1.loss_map_pts: 1.2715, d1.loss_map_dir: 0.0172, d2.loss_map_cls: 0.2519, d2.loss_map_pts: 1.1336, d2.loss_map_dir: 0.0174, d3.loss_map_cls: 0.2435, d3.loss_map_pts: 1.0905, d3.loss_map_dir: 0.0178, d4.loss_map_cls: 0.2373, d4.loss_map_pts: 1.0777, d4.loss_map_dir: 0.0180, d5.loss_map_cls: 0.2346, d5.loss_map_pts: 1.0756, d5.loss_map_dir: 0.0182, loss: 42.6746, grad_norm: 154.7894 +2026-02-24 23:59:32,091 - DriveTransformer - INFO - Epoch [3][18700/39528] lr: 9.831e-05, eta: 7 days, 21:03:37, time: 0.820, data_time: 0.039, memory: 19865, loss_cls: 0.3960, loss_bbox: 0.5553, loss_traj: 0.9640, loss_traj_cls: 0.0031, loss_map_cls: 0.3306, loss_map_pts: 1.3839, loss_map_dir: 0.0262, d0.loss_plan_l1_fix_time: 2.6273, d0.loss_plan_l1_fix_dist: 0.3627, d1.loss_plan_l1_fix_time: 1.9065, d1.loss_plan_l1_fix_dist: 0.2677, d2.loss_plan_l1_fix_time: 1.9026, d2.loss_plan_l1_fix_dist: 0.2786, d3.loss_plan_l1_fix_time: 1.9009, d3.loss_plan_l1_fix_dist: 0.2955, d4.loss_plan_l1_fix_time: 1.9032, d4.loss_plan_l1_fix_dist: 0.3175, d5.loss_plan_l1_fix_time: 1.9069, d5.loss_plan_l1_fix_dist: 0.3380, d6.loss_plan_l1_fix_time: 1.9109, d6.loss_plan_l1_fix_dist: 0.3572, d0.loss_cls_all: 0.4140, d0.loss_bbox_all: 0.5957, d0.loss_cls: 0.4140, d0.loss_bbox: 0.5957, d1.loss_cls: 0.4050, d1.loss_bbox: 0.5737, d2.loss_cls: 0.4038, d2.loss_bbox: 0.5606, d3.loss_cls: 0.4031, d3.loss_bbox: 0.5550, d4.loss_cls: 0.4009, d4.loss_bbox: 0.5541, d5.loss_cls: 0.3996, d5.loss_bbox: 0.5529, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1708, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9836, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9465, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9503, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9540, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9603, d0.loss_map_cls_all: 0.3601, d0.loss_map_pts_all: 2.3354, d0.loss_map_dir_all: 0.0247, d0.loss_map_cls: 0.3601, d0.loss_map_pts: 2.3354, d0.loss_map_dir: 0.0247, d1.loss_map_cls: 0.3507, d1.loss_map_pts: 1.6394, d1.loss_map_dir: 0.0247, d2.loss_map_cls: 0.3414, d2.loss_map_pts: 1.4757, d2.loss_map_dir: 0.0251, d3.loss_map_cls: 0.3356, d3.loss_map_pts: 1.4143, d3.loss_map_dir: 0.0255, d4.loss_map_cls: 0.3320, d4.loss_map_pts: 1.3939, d4.loss_map_dir: 0.0259, d5.loss_map_cls: 0.3309, d5.loss_map_pts: 1.3865, d5.loss_map_dir: 0.0261, loss: 47.3027, grad_norm: 155.6926 +2026-02-25 00:00:12,471 - DriveTransformer - INFO - Epoch [3][18750/39528] lr: 9.831e-05, eta: 7 days, 21:03:01, time: 0.808, data_time: 0.043, memory: 19865, loss_cls: 0.3936, loss_bbox: 0.5654, loss_traj: 1.2241, loss_traj_cls: 0.0031, loss_map_cls: 0.3364, loss_map_pts: 1.4382, loss_map_dir: 0.0213, d0.loss_plan_l1_fix_time: 2.7914, d0.loss_plan_l1_fix_dist: 0.3900, d1.loss_plan_l1_fix_time: 1.8844, d1.loss_plan_l1_fix_dist: 0.3106, d2.loss_plan_l1_fix_time: 1.8529, d2.loss_plan_l1_fix_dist: 0.3137, d3.loss_plan_l1_fix_time: 1.8510, d3.loss_plan_l1_fix_dist: 0.3237, d4.loss_plan_l1_fix_time: 1.8537, d4.loss_plan_l1_fix_dist: 0.3360, d5.loss_plan_l1_fix_time: 1.8577, d5.loss_plan_l1_fix_dist: 0.3517, d6.loss_plan_l1_fix_time: 1.8627, d6.loss_plan_l1_fix_dist: 0.3723, d0.loss_cls_all: 0.4027, d0.loss_bbox_all: 0.6069, d0.loss_cls: 0.4027, d0.loss_bbox: 0.6069, d1.loss_cls: 0.3994, d1.loss_bbox: 0.5747, d2.loss_cls: 0.3981, d2.loss_bbox: 0.5621, d3.loss_cls: 0.3970, d3.loss_bbox: 0.5603, d4.loss_cls: 0.3948, d4.loss_bbox: 0.5625, d5.loss_cls: 0.3944, d5.loss_bbox: 0.5624, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4227, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2482, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.2134, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.2160, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.2158, d5.loss_traj_cls: 0.0012, d5.loss_traj: 1.2263, d0.loss_map_cls_all: 0.3795, d0.loss_map_pts_all: 2.2561, d0.loss_map_dir_all: 0.0197, d0.loss_map_cls: 0.3795, d0.loss_map_pts: 2.2561, d0.loss_map_dir: 0.0197, d1.loss_map_cls: 0.3640, d1.loss_map_pts: 1.6465, d1.loss_map_dir: 0.0197, d2.loss_map_cls: 0.3509, d2.loss_map_pts: 1.5113, d2.loss_map_dir: 0.0204, d3.loss_map_cls: 0.3458, d3.loss_map_pts: 1.4602, d3.loss_map_dir: 0.0209, d4.loss_map_cls: 0.3426, d4.loss_map_pts: 1.4446, d4.loss_map_dir: 0.0211, d5.loss_map_cls: 0.3394, d5.loss_map_pts: 1.4416, d5.loss_map_dir: 0.0213, loss: 49.3683, grad_norm: 154.9051 +2026-02-25 00:00:54,279 - DriveTransformer - INFO - Epoch [3][18800/39528] lr: 9.831e-05, eta: 7 days, 21:02:37, time: 0.837, data_time: 0.038, memory: 19865, loss_cls: 0.3603, loss_bbox: 0.5260, loss_traj: 1.1930, loss_traj_cls: 0.0033, loss_map_cls: 0.2464, loss_map_pts: 1.1085, loss_map_dir: 0.0189, d0.loss_plan_l1_fix_time: 2.7288, d0.loss_plan_l1_fix_dist: 0.4104, d1.loss_plan_l1_fix_time: 1.6741, d1.loss_plan_l1_fix_dist: 0.2962, d2.loss_plan_l1_fix_time: 1.6467, d2.loss_plan_l1_fix_dist: 0.2997, d3.loss_plan_l1_fix_time: 1.6501, d3.loss_plan_l1_fix_dist: 0.3097, d4.loss_plan_l1_fix_time: 1.6541, d4.loss_plan_l1_fix_dist: 0.3231, d5.loss_plan_l1_fix_time: 1.6587, d5.loss_plan_l1_fix_dist: 0.3424, d6.loss_plan_l1_fix_time: 1.6641, d6.loss_plan_l1_fix_dist: 0.3706, d0.loss_cls_all: 0.3661, d0.loss_bbox_all: 0.5675, d0.loss_cls: 0.3661, d0.loss_bbox: 0.5675, d1.loss_cls: 0.3603, d1.loss_bbox: 0.5346, d2.loss_cls: 0.3575, d2.loss_bbox: 0.5224, d3.loss_cls: 0.3560, d3.loss_bbox: 0.5202, d4.loss_cls: 0.3566, d4.loss_bbox: 0.5201, d5.loss_cls: 0.3594, d5.loss_bbox: 0.5200, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.5106, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2566, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.2114, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.2032, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.2021, d5.loss_traj_cls: 0.0013, d5.loss_traj: 1.1983, d0.loss_map_cls_all: 0.3008, d0.loss_map_pts_all: 1.9458, d0.loss_map_dir_all: 0.0182, d0.loss_map_cls: 0.3008, d0.loss_map_pts: 1.9458, d0.loss_map_dir: 0.0182, d1.loss_map_cls: 0.2805, d1.loss_map_pts: 1.3015, d1.loss_map_dir: 0.0177, d2.loss_map_cls: 0.2681, d2.loss_map_pts: 1.1741, d2.loss_map_dir: 0.0180, d3.loss_map_cls: 0.2566, d3.loss_map_pts: 1.1301, d3.loss_map_dir: 0.0184, d4.loss_map_cls: 0.2508, d4.loss_map_pts: 1.1127, d4.loss_map_dir: 0.0187, d5.loss_map_cls: 0.2477, d5.loss_map_pts: 1.1106, d5.loss_map_dir: 0.0189, loss: 44.1016, grad_norm: 150.9115 +2026-02-25 00:01:35,248 - DriveTransformer - INFO - Epoch [3][18850/39528] lr: 9.831e-05, eta: 7 days, 21:02:05, time: 0.818, data_time: 0.039, memory: 19865, loss_cls: 0.3448, loss_bbox: 0.5228, loss_traj: 1.1373, loss_traj_cls: 0.0035, loss_map_cls: 0.2635, loss_map_pts: 1.1437, loss_map_dir: 0.0189, d0.loss_plan_l1_fix_time: 2.5382, d0.loss_plan_l1_fix_dist: 0.4308, d1.loss_plan_l1_fix_time: 1.7113, d1.loss_plan_l1_fix_dist: 0.2724, d2.loss_plan_l1_fix_time: 1.6921, d2.loss_plan_l1_fix_dist: 0.2848, d3.loss_plan_l1_fix_time: 1.6945, d3.loss_plan_l1_fix_dist: 0.3013, d4.loss_plan_l1_fix_time: 1.6977, d4.loss_plan_l1_fix_dist: 0.3226, d5.loss_plan_l1_fix_time: 1.7017, d5.loss_plan_l1_fix_dist: 0.3412, d6.loss_plan_l1_fix_time: 1.7072, d6.loss_plan_l1_fix_dist: 0.3583, d0.loss_cls_all: 0.3542, d0.loss_bbox_all: 0.5722, d0.loss_cls: 0.3542, d0.loss_bbox: 0.5722, d1.loss_cls: 0.3527, d1.loss_bbox: 0.5412, d2.loss_cls: 0.3461, d2.loss_bbox: 0.5279, d3.loss_cls: 0.3439, d3.loss_bbox: 0.5214, d4.loss_cls: 0.3418, d4.loss_bbox: 0.5218, d5.loss_cls: 0.3426, d5.loss_bbox: 0.5221, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3285, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1760, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1311, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1294, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.1272, d5.loss_traj_cls: 0.0013, d5.loss_traj: 1.1350, d0.loss_map_cls_all: 0.3164, d0.loss_map_pts_all: 1.9684, d0.loss_map_dir_all: 0.0177, d0.loss_map_cls: 0.3164, d0.loss_map_pts: 1.9684, d0.loss_map_dir: 0.0177, d1.loss_map_cls: 0.2913, d1.loss_map_pts: 1.3494, d1.loss_map_dir: 0.0176, d2.loss_map_cls: 0.2741, d2.loss_map_pts: 1.2129, d2.loss_map_dir: 0.0179, d3.loss_map_cls: 0.2676, d3.loss_map_pts: 1.1622, d3.loss_map_dir: 0.0184, d4.loss_map_cls: 0.2649, d4.loss_map_pts: 1.1487, d4.loss_map_dir: 0.0187, d5.loss_map_cls: 0.2631, d5.loss_map_pts: 1.1421, d5.loss_map_dir: 0.0188, loss: 43.8088, grad_norm: 152.8378 +2026-02-25 00:02:16,547 - DriveTransformer - INFO - Epoch [3][18900/39528] lr: 9.831e-05, eta: 7 days, 21:01:36, time: 0.826, data_time: 0.045, memory: 19865, loss_cls: 0.3440, loss_bbox: 0.5128, loss_traj: 0.9219, loss_traj_cls: 0.0035, loss_map_cls: 0.2671, loss_map_pts: 1.1805, loss_map_dir: 0.0210, d0.loss_plan_l1_fix_time: 2.6211, d0.loss_plan_l1_fix_dist: 0.6277, d1.loss_plan_l1_fix_time: 1.6038, d1.loss_plan_l1_fix_dist: 0.3323, d2.loss_plan_l1_fix_time: 1.5878, d2.loss_plan_l1_fix_dist: 0.3381, d3.loss_plan_l1_fix_time: 1.5917, d3.loss_plan_l1_fix_dist: 0.3525, d4.loss_plan_l1_fix_time: 1.5956, d4.loss_plan_l1_fix_dist: 0.3694, d5.loss_plan_l1_fix_time: 1.5997, d5.loss_plan_l1_fix_dist: 0.3871, d6.loss_plan_l1_fix_time: 1.6037, d6.loss_plan_l1_fix_dist: 0.4061, d0.loss_cls_all: 0.3532, d0.loss_bbox_all: 0.5544, d0.loss_cls: 0.3532, d0.loss_bbox: 0.5544, d1.loss_cls: 0.3484, d1.loss_bbox: 0.5281, d2.loss_cls: 0.3435, d2.loss_bbox: 0.5188, d3.loss_cls: 0.3414, d3.loss_bbox: 0.5153, d4.loss_cls: 0.3420, d4.loss_bbox: 0.5146, d5.loss_cls: 0.3424, d5.loss_bbox: 0.5142, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1158, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9481, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9276, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9262, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9230, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.9202, d0.loss_map_cls_all: 0.2977, d0.loss_map_pts_all: 2.0538, d0.loss_map_dir_all: 0.0202, d0.loss_map_cls: 0.2977, d0.loss_map_pts: 2.0538, d0.loss_map_dir: 0.0202, d1.loss_map_cls: 0.2862, d1.loss_map_pts: 1.3896, d1.loss_map_dir: 0.0200, d2.loss_map_cls: 0.2762, d2.loss_map_pts: 1.2479, d2.loss_map_dir: 0.0203, d3.loss_map_cls: 0.2714, d3.loss_map_pts: 1.1997, d3.loss_map_dir: 0.0206, d4.loss_map_cls: 0.2687, d4.loss_map_pts: 1.1834, d4.loss_map_dir: 0.0208, d5.loss_map_cls: 0.2668, d5.loss_map_pts: 1.1806, d5.loss_map_dir: 0.0210, loss: 42.5750, grad_norm: 150.5844 +2026-02-25 00:02:57,834 - DriveTransformer - INFO - Epoch [3][18950/39528] lr: 9.831e-05, eta: 7 days, 21:01:07, time: 0.826, data_time: 0.038, memory: 19865, loss_cls: 0.3774, loss_bbox: 0.5114, loss_traj: 1.0514, loss_traj_cls: 0.0033, loss_map_cls: 0.2474, loss_map_pts: 1.1475, loss_map_dir: 0.0190, d0.loss_plan_l1_fix_time: 2.9543, d0.loss_plan_l1_fix_dist: 0.4084, d1.loss_plan_l1_fix_time: 1.7739, d1.loss_plan_l1_fix_dist: 0.2923, d2.loss_plan_l1_fix_time: 1.7518, d2.loss_plan_l1_fix_dist: 0.3068, d3.loss_plan_l1_fix_time: 1.7512, d3.loss_plan_l1_fix_dist: 0.3239, d4.loss_plan_l1_fix_time: 1.7538, d4.loss_plan_l1_fix_dist: 0.3423, d5.loss_plan_l1_fix_time: 1.7576, d5.loss_plan_l1_fix_dist: 0.3635, d6.loss_plan_l1_fix_time: 1.7624, d6.loss_plan_l1_fix_dist: 0.3889, d0.loss_cls_all: 0.3909, d0.loss_bbox_all: 0.5559, d0.loss_cls: 0.3909, d0.loss_bbox: 0.5559, d1.loss_cls: 0.3927, d1.loss_bbox: 0.5257, d2.loss_cls: 0.3865, d2.loss_bbox: 0.5142, d3.loss_cls: 0.3825, d3.loss_bbox: 0.5112, d4.loss_cls: 0.3794, d4.loss_bbox: 0.5104, d5.loss_cls: 0.3779, d5.loss_bbox: 0.5083, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2882, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0727, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0537, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0529, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0528, d5.loss_traj_cls: 0.0013, d5.loss_traj: 1.0490, d0.loss_map_cls_all: 0.2802, d0.loss_map_pts_all: 1.9060, d0.loss_map_dir_all: 0.0172, d0.loss_map_cls: 0.2802, d0.loss_map_pts: 1.9060, d0.loss_map_dir: 0.0172, d1.loss_map_cls: 0.2666, d1.loss_map_pts: 1.3333, d1.loss_map_dir: 0.0175, d2.loss_map_cls: 0.2606, d2.loss_map_pts: 1.2126, d2.loss_map_dir: 0.0181, d3.loss_map_cls: 0.2533, d3.loss_map_pts: 1.1602, d3.loss_map_dir: 0.0185, d4.loss_map_cls: 0.2501, d4.loss_map_pts: 1.1466, d4.loss_map_dir: 0.0188, d5.loss_map_cls: 0.2482, d5.loss_map_pts: 1.1484, d5.loss_map_dir: 0.0189, loss: 44.0243, grad_norm: 150.4999 +2026-02-25 00:03:38,309 - DriveTransformer - INFO - Epoch [3][19000/39528] lr: 9.831e-05, eta: 7 days, 21:00:31, time: 0.809, data_time: 0.040, memory: 19865, loss_cls: 0.3766, loss_bbox: 0.5598, loss_traj: 1.2667, loss_traj_cls: 0.0033, loss_map_cls: 0.2472, loss_map_pts: 1.0344, loss_map_dir: 0.0184, d0.loss_plan_l1_fix_time: 2.3832, d0.loss_plan_l1_fix_dist: 0.4536, d1.loss_plan_l1_fix_time: 1.5625, d1.loss_plan_l1_fix_dist: 0.3139, d2.loss_plan_l1_fix_time: 1.5340, d2.loss_plan_l1_fix_dist: 0.3226, d3.loss_plan_l1_fix_time: 1.5323, d3.loss_plan_l1_fix_dist: 0.3352, d4.loss_plan_l1_fix_time: 1.5338, d4.loss_plan_l1_fix_dist: 0.3507, d5.loss_plan_l1_fix_time: 1.5363, d5.loss_plan_l1_fix_dist: 0.3679, d6.loss_plan_l1_fix_time: 1.5398, d6.loss_plan_l1_fix_dist: 0.3886, d0.loss_cls_all: 0.3877, d0.loss_bbox_all: 0.5966, d0.loss_cls: 0.3877, d0.loss_bbox: 0.5966, d1.loss_cls: 0.3810, d1.loss_bbox: 0.5695, d2.loss_cls: 0.3773, d2.loss_bbox: 0.5605, d3.loss_cls: 0.3751, d3.loss_bbox: 0.5576, d4.loss_cls: 0.3764, d4.loss_bbox: 0.5561, d5.loss_cls: 0.3759, d5.loss_bbox: 0.5562, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4655, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2942, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2512, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2497, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.2465, d5.loss_traj_cls: 0.0013, d5.loss_traj: 1.2570, d0.loss_map_cls_all: 0.2887, d0.loss_map_pts_all: 1.7719, d0.loss_map_dir_all: 0.0174, d0.loss_map_cls: 0.2887, d0.loss_map_pts: 1.7719, d0.loss_map_dir: 0.0174, d1.loss_map_cls: 0.2744, d1.loss_map_pts: 1.2094, d1.loss_map_dir: 0.0174, d2.loss_map_cls: 0.2570, d2.loss_map_pts: 1.0886, d2.loss_map_dir: 0.0177, d3.loss_map_cls: 0.2511, d3.loss_map_pts: 1.0496, d3.loss_map_dir: 0.0179, d4.loss_map_cls: 0.2470, d4.loss_map_pts: 1.0387, d4.loss_map_dir: 0.0181, d5.loss_map_cls: 0.2466, d5.loss_map_pts: 1.0364, d5.loss_map_dir: 0.0182, loss: 43.0289, grad_norm: 150.0427 +2026-02-25 00:04:17,550 - DriveTransformer - INFO - Epoch [3][19050/39528] lr: 9.831e-05, eta: 7 days, 20:59:45, time: 0.785, data_time: 0.043, memory: 19865, loss_cls: 0.3716, loss_bbox: 0.5291, loss_traj: 1.4736, loss_traj_cls: 0.0036, loss_map_cls: 0.2792, loss_map_pts: 1.0917, loss_map_dir: 0.0178, d0.loss_plan_l1_fix_time: 3.1065, d0.loss_plan_l1_fix_dist: 0.4966, d1.loss_plan_l1_fix_time: 1.8359, d1.loss_plan_l1_fix_dist: 0.3057, d2.loss_plan_l1_fix_time: 1.8101, d2.loss_plan_l1_fix_dist: 0.3278, d3.loss_plan_l1_fix_time: 1.8070, d3.loss_plan_l1_fix_dist: 0.3484, d4.loss_plan_l1_fix_time: 1.8095, d4.loss_plan_l1_fix_dist: 0.3707, d5.loss_plan_l1_fix_time: 1.8121, d5.loss_plan_l1_fix_dist: 0.3936, d6.loss_plan_l1_fix_time: 1.8156, d6.loss_plan_l1_fix_dist: 0.4218, d0.loss_cls_all: 0.3730, d0.loss_bbox_all: 0.5738, d0.loss_cls: 0.3730, d0.loss_bbox: 0.5738, d1.loss_cls: 0.3682, d1.loss_bbox: 0.5447, d2.loss_cls: 0.3680, d2.loss_bbox: 0.5354, d3.loss_cls: 0.3681, d3.loss_bbox: 0.5285, d4.loss_cls: 0.3685, d4.loss_bbox: 0.5278, d5.loss_cls: 0.3694, d5.loss_bbox: 0.5278, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.7247, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.4888, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.4698, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.4664, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.4596, d5.loss_traj_cls: 0.0013, d5.loss_traj: 1.4567, d0.loss_map_cls_all: 0.3151, d0.loss_map_pts_all: 1.8083, d0.loss_map_dir_all: 0.0163, d0.loss_map_cls: 0.3151, d0.loss_map_pts: 1.8083, d0.loss_map_dir: 0.0163, d1.loss_map_cls: 0.3057, d1.loss_map_pts: 1.2598, d1.loss_map_dir: 0.0167, d2.loss_map_cls: 0.2908, d2.loss_map_pts: 1.1464, d2.loss_map_dir: 0.0171, d3.loss_map_cls: 0.2844, d3.loss_map_pts: 1.1049, d3.loss_map_dir: 0.0174, d4.loss_map_cls: 0.2802, d4.loss_map_pts: 1.0966, d4.loss_map_dir: 0.0177, d5.loss_map_cls: 0.2787, d5.loss_map_pts: 1.0901, d5.loss_map_dir: 0.0178, loss: 47.4043, grad_norm: 149.0250 +2026-02-25 00:04:58,059 - DriveTransformer - INFO - Epoch [3][19100/39528] lr: 9.831e-05, eta: 7 days, 20:59:09, time: 0.810, data_time: 0.044, memory: 19865, loss_cls: 0.3538, loss_bbox: 0.5161, loss_traj: 1.0614, loss_traj_cls: 0.0037, loss_map_cls: 0.2632, loss_map_pts: 1.1833, loss_map_dir: 0.0194, d0.loss_plan_l1_fix_time: 3.0968, d0.loss_plan_l1_fix_dist: 0.5126, d1.loss_plan_l1_fix_time: 1.8082, d1.loss_plan_l1_fix_dist: 0.2760, d2.loss_plan_l1_fix_time: 1.7745, d2.loss_plan_l1_fix_dist: 0.2906, d3.loss_plan_l1_fix_time: 1.7741, d3.loss_plan_l1_fix_dist: 0.3133, d4.loss_plan_l1_fix_time: 1.7769, d4.loss_plan_l1_fix_dist: 0.3401, d5.loss_plan_l1_fix_time: 1.7807, d5.loss_plan_l1_fix_dist: 0.3713, d6.loss_plan_l1_fix_time: 1.7848, d6.loss_plan_l1_fix_dist: 0.4065, d0.loss_cls_all: 0.3592, d0.loss_bbox_all: 0.5653, d0.loss_cls: 0.3592, d0.loss_bbox: 0.5653, d1.loss_cls: 0.3571, d1.loss_bbox: 0.5309, d2.loss_cls: 0.3537, d2.loss_bbox: 0.5180, d3.loss_cls: 0.3548, d3.loss_bbox: 0.5157, d4.loss_cls: 0.3543, d4.loss_bbox: 0.5132, d5.loss_cls: 0.3533, d5.loss_bbox: 0.5163, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4316, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1311, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0718, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0610, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0608, d5.loss_traj_cls: 0.0014, d5.loss_traj: 1.0563, d0.loss_map_cls_all: 0.3059, d0.loss_map_pts_all: 1.9842, d0.loss_map_dir_all: 0.0184, d0.loss_map_cls: 0.3059, d0.loss_map_pts: 1.9842, d0.loss_map_dir: 0.0184, d1.loss_map_cls: 0.2926, d1.loss_map_pts: 1.3839, d1.loss_map_dir: 0.0184, d2.loss_map_cls: 0.2719, d2.loss_map_pts: 1.2582, d2.loss_map_dir: 0.0188, d3.loss_map_cls: 0.2678, d3.loss_map_pts: 1.2084, d3.loss_map_dir: 0.0190, d4.loss_map_cls: 0.2646, d4.loss_map_pts: 1.1914, d4.loss_map_dir: 0.0193, d5.loss_map_cls: 0.2624, d5.loss_map_pts: 1.1845, d5.loss_map_dir: 0.0194, loss: 45.0397, grad_norm: 147.1308 +2026-02-25 00:05:36,930 - DriveTransformer - INFO - Epoch [3][19150/39528] lr: 9.831e-05, eta: 7 days, 20:58:20, time: 0.777, data_time: 0.040, memory: 19865, loss_cls: 0.3407, loss_bbox: 0.5234, loss_traj: 1.0664, loss_traj_cls: 0.0037, loss_map_cls: 0.2593, loss_map_pts: 1.1421, loss_map_dir: 0.0206, d0.loss_plan_l1_fix_time: 2.9616, d0.loss_plan_l1_fix_dist: 0.4397, d1.loss_plan_l1_fix_time: 1.9506, d1.loss_plan_l1_fix_dist: 0.3058, d2.loss_plan_l1_fix_time: 1.9330, d2.loss_plan_l1_fix_dist: 0.3206, d3.loss_plan_l1_fix_time: 1.9313, d3.loss_plan_l1_fix_dist: 0.3393, d4.loss_plan_l1_fix_time: 1.9340, d4.loss_plan_l1_fix_dist: 0.3612, d5.loss_plan_l1_fix_time: 1.9384, d5.loss_plan_l1_fix_dist: 0.3839, d6.loss_plan_l1_fix_time: 1.9434, d6.loss_plan_l1_fix_dist: 0.4069, d0.loss_cls_all: 0.3481, d0.loss_bbox_all: 0.5572, d0.loss_cls: 0.3481, d0.loss_bbox: 0.5572, d1.loss_cls: 0.3402, d1.loss_bbox: 0.5302, d2.loss_cls: 0.3391, d2.loss_bbox: 0.5208, d3.loss_cls: 0.3428, d3.loss_bbox: 0.5166, d4.loss_cls: 0.3401, d4.loss_bbox: 0.5190, d5.loss_cls: 0.3414, d5.loss_bbox: 0.5201, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3248, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1287, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0999, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0897, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0762, d5.loss_traj_cls: 0.0013, d5.loss_traj: 1.0752, d0.loss_map_cls_all: 0.3111, d0.loss_map_pts_all: 1.9712, d0.loss_map_dir_all: 0.0187, d0.loss_map_cls: 0.3111, d0.loss_map_pts: 1.9712, d0.loss_map_dir: 0.0187, d1.loss_map_cls: 0.2884, d1.loss_map_pts: 1.3369, d1.loss_map_dir: 0.0191, d2.loss_map_cls: 0.2740, d2.loss_map_pts: 1.1984, d2.loss_map_dir: 0.0196, d3.loss_map_cls: 0.2648, d3.loss_map_pts: 1.1525, d3.loss_map_dir: 0.0202, d4.loss_map_cls: 0.2605, d4.loss_map_pts: 1.1400, d4.loss_map_dir: 0.0204, d5.loss_map_cls: 0.2595, d5.loss_map_pts: 1.1409, d5.loss_map_dir: 0.0206, loss: 45.4453, grad_norm: 146.7465 +2026-02-25 00:06:16,464 - DriveTransformer - INFO - Epoch [3][19200/39528] lr: 9.831e-05, eta: 7 days, 20:57:36, time: 0.791, data_time: 0.044, memory: 19865, loss_cls: 0.3369, loss_bbox: 0.4984, loss_traj: 0.9556, loss_traj_cls: 0.0037, loss_map_cls: 0.2668, loss_map_pts: 1.1557, loss_map_dir: 0.0216, d0.loss_plan_l1_fix_time: 2.3870, d0.loss_plan_l1_fix_dist: 0.4894, d1.loss_plan_l1_fix_time: 1.6188, d1.loss_plan_l1_fix_dist: 0.3083, d2.loss_plan_l1_fix_time: 1.6043, d2.loss_plan_l1_fix_dist: 0.3167, d3.loss_plan_l1_fix_time: 1.6139, d3.loss_plan_l1_fix_dist: 0.3296, d4.loss_plan_l1_fix_time: 1.6204, d4.loss_plan_l1_fix_dist: 0.3455, d5.loss_plan_l1_fix_time: 1.6273, d5.loss_plan_l1_fix_dist: 0.3640, d6.loss_plan_l1_fix_time: 1.6345, d6.loss_plan_l1_fix_dist: 0.3836, d0.loss_cls_all: 0.3449, d0.loss_bbox_all: 0.5368, d0.loss_cls: 0.3449, d0.loss_bbox: 0.5368, d1.loss_cls: 0.3429, d1.loss_bbox: 0.5120, d2.loss_cls: 0.3442, d2.loss_bbox: 0.4959, d3.loss_cls: 0.3408, d3.loss_bbox: 0.4975, d4.loss_cls: 0.3393, d4.loss_bbox: 0.4940, d5.loss_cls: 0.3375, d5.loss_bbox: 0.4957, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2513, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0270, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9794, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9665, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9608, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.9610, d0.loss_map_cls_all: 0.3109, d0.loss_map_pts_all: 2.1146, d0.loss_map_dir_all: 0.0202, d0.loss_map_cls: 0.3109, d0.loss_map_pts: 2.1146, d0.loss_map_dir: 0.0202, d1.loss_map_cls: 0.2921, d1.loss_map_pts: 1.3676, d1.loss_map_dir: 0.0200, d2.loss_map_cls: 0.2785, d2.loss_map_pts: 1.2215, d2.loss_map_dir: 0.0206, d3.loss_map_cls: 0.2725, d3.loss_map_pts: 1.1725, d3.loss_map_dir: 0.0211, d4.loss_map_cls: 0.2681, d4.loss_map_pts: 1.1576, d4.loss_map_dir: 0.0213, d5.loss_map_cls: 0.2665, d5.loss_map_pts: 1.1543, d5.loss_map_dir: 0.0216, loss: 42.4445, grad_norm: 147.3272 +2026-02-25 00:06:55,529 - DriveTransformer - INFO - Epoch [3][19250/39528] lr: 9.831e-05, eta: 7 days, 20:56:48, time: 0.781, data_time: 0.036, memory: 19865, loss_cls: 0.3822, loss_bbox: 0.5304, loss_traj: 1.0940, loss_traj_cls: 0.0036, loss_map_cls: 0.3177, loss_map_pts: 1.2537, loss_map_dir: 0.0214, d0.loss_plan_l1_fix_time: 2.6303, d0.loss_plan_l1_fix_dist: 0.3505, d1.loss_plan_l1_fix_time: 1.7541, d1.loss_plan_l1_fix_dist: 0.2255, d2.loss_plan_l1_fix_time: 1.7334, d2.loss_plan_l1_fix_dist: 0.2352, d3.loss_plan_l1_fix_time: 1.7362, d3.loss_plan_l1_fix_dist: 0.2499, d4.loss_plan_l1_fix_time: 1.7400, d4.loss_plan_l1_fix_dist: 0.2630, d5.loss_plan_l1_fix_time: 1.7449, d5.loss_plan_l1_fix_dist: 0.2759, d6.loss_plan_l1_fix_time: 1.7505, d6.loss_plan_l1_fix_dist: 0.2886, d0.loss_cls_all: 0.3987, d0.loss_bbox_all: 0.5732, d0.loss_cls: 0.3987, d0.loss_bbox: 0.5732, d1.loss_cls: 0.3901, d1.loss_bbox: 0.5464, d2.loss_cls: 0.3847, d2.loss_bbox: 0.5337, d3.loss_cls: 0.3856, d3.loss_bbox: 0.5307, d4.loss_cls: 0.3828, d4.loss_bbox: 0.5292, d5.loss_cls: 0.3831, d5.loss_bbox: 0.5286, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3100, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1548, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1137, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1111, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1026, d5.loss_traj_cls: 0.0013, d5.loss_traj: 1.0986, d0.loss_map_cls_all: 0.3559, d0.loss_map_pts_all: 1.9934, d0.loss_map_dir_all: 0.0191, d0.loss_map_cls: 0.3559, d0.loss_map_pts: 1.9934, d0.loss_map_dir: 0.0191, d1.loss_map_cls: 0.3395, d1.loss_map_pts: 1.4328, d1.loss_map_dir: 0.0197, d2.loss_map_cls: 0.3252, d2.loss_map_pts: 1.3135, d2.loss_map_dir: 0.0205, d3.loss_map_cls: 0.3212, d3.loss_map_pts: 1.2677, d3.loss_map_dir: 0.0208, d4.loss_map_cls: 0.3175, d4.loss_map_pts: 1.2514, d4.loss_map_dir: 0.0211, d5.loss_map_cls: 0.3183, d5.loss_map_pts: 1.2489, d5.loss_map_dir: 0.0213, loss: 44.9927, grad_norm: 145.5347 +2026-02-25 00:07:33,865 - DriveTransformer - INFO - Epoch [3][19300/39528] lr: 9.831e-05, eta: 7 days, 20:55:53, time: 0.767, data_time: 0.039, memory: 19865, loss_cls: 0.3764, loss_bbox: 0.5650, loss_traj: 1.4809, loss_traj_cls: 0.0038, loss_map_cls: 0.2694, loss_map_pts: 1.2415, loss_map_dir: 0.0182, d0.loss_plan_l1_fix_time: 3.0008, d0.loss_plan_l1_fix_dist: 0.4365, d1.loss_plan_l1_fix_time: 2.1104, d1.loss_plan_l1_fix_dist: 0.2849, d2.loss_plan_l1_fix_time: 2.0716, d2.loss_plan_l1_fix_dist: 0.2897, d3.loss_plan_l1_fix_time: 2.0673, d3.loss_plan_l1_fix_dist: 0.3069, d4.loss_plan_l1_fix_time: 2.0698, d4.loss_plan_l1_fix_dist: 0.3336, d5.loss_plan_l1_fix_time: 2.0736, d5.loss_plan_l1_fix_dist: 0.3666, d6.loss_plan_l1_fix_time: 2.0785, d6.loss_plan_l1_fix_dist: 0.4036, d0.loss_cls_all: 0.3918, d0.loss_bbox_all: 0.6012, d0.loss_cls: 0.3918, d0.loss_bbox: 0.6012, d1.loss_cls: 0.3868, d1.loss_bbox: 0.5739, d2.loss_cls: 0.3808, d2.loss_bbox: 0.5673, d3.loss_cls: 0.3790, d3.loss_bbox: 0.5640, d4.loss_cls: 0.3775, d4.loss_bbox: 0.5608, d5.loss_cls: 0.3763, d5.loss_bbox: 0.5622, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.7379, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.5270, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.4998, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.5006, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.4828, d5.loss_traj_cls: 0.0014, d5.loss_traj: 1.4843, d0.loss_map_cls_all: 0.3046, d0.loss_map_pts_all: 1.9506, d0.loss_map_dir_all: 0.0159, d0.loss_map_cls: 0.3046, d0.loss_map_pts: 1.9506, d0.loss_map_dir: 0.0159, d1.loss_map_cls: 0.2961, d1.loss_map_pts: 1.4372, d1.loss_map_dir: 0.0164, d2.loss_map_cls: 0.2799, d2.loss_map_pts: 1.3115, d2.loss_map_dir: 0.0173, d3.loss_map_cls: 0.2719, d3.loss_map_pts: 1.2617, d3.loss_map_dir: 0.0177, d4.loss_map_cls: 0.2690, d4.loss_map_pts: 1.2469, d4.loss_map_dir: 0.0179, d5.loss_map_cls: 0.2682, d5.loss_map_pts: 1.2420, d5.loss_map_dir: 0.0182, loss: 50.3160, grad_norm: 146.0806 +2026-02-25 00:08:13,881 - DriveTransformer - INFO - Epoch [3][19350/39528] lr: 9.831e-05, eta: 7 days, 20:55:13, time: 0.800, data_time: 0.043, memory: 19865, loss_cls: 0.3477, loss_bbox: 0.5305, loss_traj: 1.1173, loss_traj_cls: 0.0040, loss_map_cls: 0.2866, loss_map_pts: 1.1883, loss_map_dir: 0.0217, d0.loss_plan_l1_fix_time: 2.7128, d0.loss_plan_l1_fix_dist: 0.3933, d1.loss_plan_l1_fix_time: 1.8932, d1.loss_plan_l1_fix_dist: 0.2568, d2.loss_plan_l1_fix_time: 1.8690, d2.loss_plan_l1_fix_dist: 0.2618, d3.loss_plan_l1_fix_time: 1.8677, d3.loss_plan_l1_fix_dist: 0.2740, d4.loss_plan_l1_fix_time: 1.8718, d4.loss_plan_l1_fix_dist: 0.2880, d5.loss_plan_l1_fix_time: 1.8772, d5.loss_plan_l1_fix_dist: 0.3084, d6.loss_plan_l1_fix_time: 1.8842, d6.loss_plan_l1_fix_dist: 0.3337, d0.loss_cls_all: 0.3618, d0.loss_bbox_all: 0.5532, d0.loss_cls: 0.3618, d0.loss_bbox: 0.5532, d1.loss_cls: 0.3540, d1.loss_bbox: 0.5256, d2.loss_cls: 0.3471, d2.loss_bbox: 0.5203, d3.loss_cls: 0.3455, d3.loss_bbox: 0.5197, d4.loss_cls: 0.3476, d4.loss_bbox: 0.5197, d5.loss_cls: 0.3479, d5.loss_bbox: 0.5224, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2714, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1428, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1117, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1131, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.1151, d5.loss_traj_cls: 0.0015, d5.loss_traj: 1.1124, d0.loss_map_cls_all: 0.3257, d0.loss_map_pts_all: 2.1382, d0.loss_map_dir_all: 0.0201, d0.loss_map_cls: 0.3257, d0.loss_map_pts: 2.1382, d0.loss_map_dir: 0.0201, d1.loss_map_cls: 0.3118, d1.loss_map_pts: 1.4238, d1.loss_map_dir: 0.0205, d2.loss_map_cls: 0.2966, d2.loss_map_pts: 1.2647, d2.loss_map_dir: 0.0209, d3.loss_map_cls: 0.2896, d3.loss_map_pts: 1.2104, d3.loss_map_dir: 0.0212, d4.loss_map_cls: 0.2845, d4.loss_map_pts: 1.1987, d4.loss_map_dir: 0.0214, d5.loss_map_cls: 0.2863, d5.loss_map_pts: 1.1894, d5.loss_map_dir: 0.0215, loss: 45.4700, grad_norm: 145.7578 +2026-02-25 00:08:53,281 - DriveTransformer - INFO - Epoch [3][19400/39528] lr: 9.831e-05, eta: 7 days, 20:54:28, time: 0.788, data_time: 0.041, memory: 19865, loss_cls: 0.3876, loss_bbox: 0.5638, loss_traj: 0.9944, loss_traj_cls: 0.0041, loss_map_cls: 0.2963, loss_map_pts: 1.3000, loss_map_dir: 0.0235, d0.loss_plan_l1_fix_time: 2.8357, d0.loss_plan_l1_fix_dist: 0.5026, d1.loss_plan_l1_fix_time: 1.8991, d1.loss_plan_l1_fix_dist: 0.3096, d2.loss_plan_l1_fix_time: 1.8758, d2.loss_plan_l1_fix_dist: 0.3211, d3.loss_plan_l1_fix_time: 1.8769, d3.loss_plan_l1_fix_dist: 0.3359, d4.loss_plan_l1_fix_time: 1.8808, d4.loss_plan_l1_fix_dist: 0.3491, d5.loss_plan_l1_fix_time: 1.8851, d5.loss_plan_l1_fix_dist: 0.3631, d6.loss_plan_l1_fix_time: 1.8900, d6.loss_plan_l1_fix_dist: 0.3795, d0.loss_cls_all: 0.3945, d0.loss_bbox_all: 0.6046, d0.loss_cls: 0.3945, d0.loss_bbox: 0.6046, d1.loss_cls: 0.3906, d1.loss_bbox: 0.5770, d2.loss_cls: 0.3920, d2.loss_bbox: 0.5642, d3.loss_cls: 0.3892, d3.loss_bbox: 0.5606, d4.loss_cls: 0.3872, d4.loss_bbox: 0.5615, d5.loss_cls: 0.3866, d5.loss_bbox: 0.5616, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1245, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0289, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9880, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9850, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9874, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.9910, d0.loss_map_cls_all: 0.3368, d0.loss_map_pts_all: 2.2532, d0.loss_map_dir_all: 0.0215, d0.loss_map_cls: 0.3368, d0.loss_map_pts: 2.2532, d0.loss_map_dir: 0.0215, d1.loss_map_cls: 0.3220, d1.loss_map_pts: 1.4919, d1.loss_map_dir: 0.0219, d2.loss_map_cls: 0.3092, d2.loss_map_pts: 1.3522, d2.loss_map_dir: 0.0225, d3.loss_map_cls: 0.3012, d3.loss_map_pts: 1.3099, d3.loss_map_dir: 0.0229, d4.loss_map_cls: 0.2981, d4.loss_map_pts: 1.2966, d4.loss_map_dir: 0.0233, d5.loss_map_cls: 0.2980, d5.loss_map_pts: 1.2963, d5.loss_map_dir: 0.0235, loss: 46.7667, grad_norm: 145.2667 +2026-02-25 00:09:33,929 - DriveTransformer - INFO - Epoch [3][19450/39528] lr: 9.831e-05, eta: 7 days, 20:53:54, time: 0.813, data_time: 0.040, memory: 19865, loss_cls: 0.3507, loss_bbox: 0.5436, loss_traj: 0.9483, loss_traj_cls: 0.0040, loss_map_cls: 0.2714, loss_map_pts: 1.1744, loss_map_dir: 0.0205, d0.loss_plan_l1_fix_time: 2.9849, d0.loss_plan_l1_fix_dist: 0.4030, d1.loss_plan_l1_fix_time: 1.7654, d1.loss_plan_l1_fix_dist: 0.2890, d2.loss_plan_l1_fix_time: 1.7307, d2.loss_plan_l1_fix_dist: 0.3038, d3.loss_plan_l1_fix_time: 1.7329, d3.loss_plan_l1_fix_dist: 0.3245, d4.loss_plan_l1_fix_time: 1.7368, d4.loss_plan_l1_fix_dist: 0.3460, d5.loss_plan_l1_fix_time: 1.7403, d5.loss_plan_l1_fix_dist: 0.3667, d6.loss_plan_l1_fix_time: 1.7442, d6.loss_plan_l1_fix_dist: 0.3834, d0.loss_cls_all: 0.3660, d0.loss_bbox_all: 0.5887, d0.loss_cls: 0.3660, d0.loss_bbox: 0.5887, d1.loss_cls: 0.3597, d1.loss_bbox: 0.5577, d2.loss_cls: 0.3557, d2.loss_bbox: 0.5457, d3.loss_cls: 0.3519, d3.loss_bbox: 0.5435, d4.loss_cls: 0.3515, d4.loss_bbox: 0.5414, d5.loss_cls: 0.3503, d5.loss_bbox: 0.5427, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1139, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9865, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9654, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9711, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9455, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.9490, d0.loss_map_cls_all: 0.3243, d0.loss_map_pts_all: 2.0844, d0.loss_map_dir_all: 0.0189, d0.loss_map_cls: 0.3243, d0.loss_map_pts: 2.0844, d0.loss_map_dir: 0.0189, d1.loss_map_cls: 0.3037, d1.loss_map_pts: 1.3841, d1.loss_map_dir: 0.0189, d2.loss_map_cls: 0.2882, d2.loss_map_pts: 1.2285, d2.loss_map_dir: 0.0195, d3.loss_map_cls: 0.2762, d3.loss_map_pts: 1.1791, d3.loss_map_dir: 0.0200, d4.loss_map_cls: 0.2711, d4.loss_map_pts: 1.1706, d4.loss_map_dir: 0.0203, d5.loss_map_cls: 0.2714, d5.loss_map_pts: 1.1709, d5.loss_map_dir: 0.0205, loss: 44.0099, grad_norm: 147.7195 +2026-02-25 00:10:12,882 - DriveTransformer - INFO - Epoch [3][19500/39528] lr: 9.831e-05, eta: 7 days, 20:53:05, time: 0.779, data_time: 0.040, memory: 19865, loss_cls: 0.3372, loss_bbox: 0.4698, loss_traj: 0.9766, loss_traj_cls: 0.0041, loss_map_cls: 0.2464, loss_map_pts: 1.1648, loss_map_dir: 0.0210, d0.loss_plan_l1_fix_time: 2.5287, d0.loss_plan_l1_fix_dist: 0.4373, d1.loss_plan_l1_fix_time: 1.5461, d1.loss_plan_l1_fix_dist: 0.2291, d2.loss_plan_l1_fix_time: 1.5273, d2.loss_plan_l1_fix_dist: 0.2363, d3.loss_plan_l1_fix_time: 1.5338, d3.loss_plan_l1_fix_dist: 0.2515, d4.loss_plan_l1_fix_time: 1.5389, d4.loss_plan_l1_fix_dist: 0.2678, d5.loss_plan_l1_fix_time: 1.5439, d5.loss_plan_l1_fix_dist: 0.2849, d6.loss_plan_l1_fix_time: 1.5496, d6.loss_plan_l1_fix_dist: 0.3026, d0.loss_cls_all: 0.3552, d0.loss_bbox_all: 0.5176, d0.loss_cls: 0.3552, d0.loss_bbox: 0.5176, d1.loss_cls: 0.3473, d1.loss_bbox: 0.4911, d2.loss_cls: 0.3446, d2.loss_bbox: 0.4779, d3.loss_cls: 0.3405, d3.loss_bbox: 0.4729, d4.loss_cls: 0.3387, d4.loss_bbox: 0.4711, d5.loss_cls: 0.3372, d5.loss_bbox: 0.4701, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0902, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9847, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9713, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9765, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9715, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.9772, d0.loss_map_cls_all: 0.2986, d0.loss_map_pts_all: 2.1190, d0.loss_map_dir_all: 0.0189, d0.loss_map_cls: 0.2986, d0.loss_map_pts: 2.1190, d0.loss_map_dir: 0.0189, d1.loss_map_cls: 0.2797, d1.loss_map_pts: 1.3866, d1.loss_map_dir: 0.0188, d2.loss_map_cls: 0.2655, d2.loss_map_pts: 1.2287, d2.loss_map_dir: 0.0196, d3.loss_map_cls: 0.2529, d3.loss_map_pts: 1.1805, d3.loss_map_dir: 0.0203, d4.loss_map_cls: 0.2474, d4.loss_map_pts: 1.1649, d4.loss_map_dir: 0.0206, d5.loss_map_cls: 0.2452, d5.loss_map_pts: 1.1638, d5.loss_map_dir: 0.0208, loss: 41.2009, grad_norm: 148.1784 +2026-02-25 00:10:53,413 - DriveTransformer - INFO - Epoch [3][19550/39528] lr: 9.831e-05, eta: 7 days, 20:52:30, time: 0.811, data_time: 0.041, memory: 19865, loss_cls: 0.3352, loss_bbox: 0.5019, loss_traj: 0.8384, loss_traj_cls: 0.0042, loss_map_cls: 0.2592, loss_map_pts: 1.2142, loss_map_dir: 0.0199, d0.loss_plan_l1_fix_time: 2.4266, d0.loss_plan_l1_fix_dist: 0.4822, d1.loss_plan_l1_fix_time: 1.5666, d1.loss_plan_l1_fix_dist: 0.2523, d2.loss_plan_l1_fix_time: 1.5462, d2.loss_plan_l1_fix_dist: 0.2595, d3.loss_plan_l1_fix_time: 1.5454, d3.loss_plan_l1_fix_dist: 0.2721, d4.loss_plan_l1_fix_time: 1.5493, d4.loss_plan_l1_fix_dist: 0.2911, d5.loss_plan_l1_fix_time: 1.5549, d5.loss_plan_l1_fix_dist: 0.3165, d6.loss_plan_l1_fix_time: 1.5611, d6.loss_plan_l1_fix_dist: 0.3476, d0.loss_cls_all: 0.3538, d0.loss_bbox_all: 0.5423, d0.loss_cls: 0.3538, d0.loss_bbox: 0.5423, d1.loss_cls: 0.3453, d1.loss_bbox: 0.5163, d2.loss_cls: 0.3436, d2.loss_bbox: 0.5026, d3.loss_cls: 0.3401, d3.loss_bbox: 0.4994, d4.loss_cls: 0.3389, d4.loss_bbox: 0.4978, d5.loss_cls: 0.3373, d5.loss_bbox: 0.4986, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0122, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8935, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8549, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8453, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8365, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.8368, d0.loss_map_cls_all: 0.3027, d0.loss_map_pts_all: 2.0395, d0.loss_map_dir_all: 0.0184, d0.loss_map_cls: 0.3027, d0.loss_map_pts: 2.0395, d0.loss_map_dir: 0.0184, d1.loss_map_cls: 0.2856, d1.loss_map_pts: 1.4060, d1.loss_map_dir: 0.0185, d2.loss_map_cls: 0.2687, d2.loss_map_pts: 1.2659, d2.loss_map_dir: 0.0189, d3.loss_map_cls: 0.2602, d3.loss_map_pts: 1.2270, d3.loss_map_dir: 0.0194, d4.loss_map_cls: 0.2576, d4.loss_map_pts: 1.2148, d4.loss_map_dir: 0.0197, d5.loss_map_cls: 0.2595, d5.loss_map_pts: 1.2097, d5.loss_map_dir: 0.0199, loss: 40.9151, grad_norm: 149.5381 +2026-02-25 00:11:33,242 - DriveTransformer - INFO - Epoch [3][19600/39528] lr: 9.831e-05, eta: 7 days, 20:51:49, time: 0.798, data_time: 0.039, memory: 19865, loss_cls: 0.3591, loss_bbox: 0.5288, loss_traj: 1.0026, loss_traj_cls: 0.0043, loss_map_cls: 0.2693, loss_map_pts: 1.2294, loss_map_dir: 0.0203, d0.loss_plan_l1_fix_time: 2.4046, d0.loss_plan_l1_fix_dist: 0.4586, d1.loss_plan_l1_fix_time: 1.6475, d1.loss_plan_l1_fix_dist: 0.2985, d2.loss_plan_l1_fix_time: 1.6329, d2.loss_plan_l1_fix_dist: 0.3012, d3.loss_plan_l1_fix_time: 1.6359, d3.loss_plan_l1_fix_dist: 0.3090, d4.loss_plan_l1_fix_time: 1.6410, d4.loss_plan_l1_fix_dist: 0.3219, d5.loss_plan_l1_fix_time: 1.6475, d5.loss_plan_l1_fix_dist: 0.3364, d6.loss_plan_l1_fix_time: 1.6546, d6.loss_plan_l1_fix_dist: 0.3552, d0.loss_cls_all: 0.3791, d0.loss_bbox_all: 0.5660, d0.loss_cls: 0.3791, d0.loss_bbox: 0.5660, d1.loss_cls: 0.3719, d1.loss_bbox: 0.5379, d2.loss_cls: 0.3648, d2.loss_bbox: 0.5272, d3.loss_cls: 0.3617, d3.loss_bbox: 0.5252, d4.loss_cls: 0.3599, d4.loss_bbox: 0.5264, d5.loss_cls: 0.3591, d5.loss_bbox: 0.5270, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2891, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0639, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0286, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0118, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0107, d5.loss_traj_cls: 0.0017, d5.loss_traj: 1.0010, d0.loss_map_cls_all: 0.3169, d0.loss_map_pts_all: 2.1162, d0.loss_map_dir_all: 0.0190, d0.loss_map_cls: 0.3169, d0.loss_map_pts: 2.1162, d0.loss_map_dir: 0.0190, d1.loss_map_cls: 0.3019, d1.loss_map_pts: 1.4525, d1.loss_map_dir: 0.0188, d2.loss_map_cls: 0.2841, d2.loss_map_pts: 1.2991, d2.loss_map_dir: 0.0193, d3.loss_map_cls: 0.2744, d3.loss_map_pts: 1.2465, d3.loss_map_dir: 0.0197, d4.loss_map_cls: 0.2705, d4.loss_map_pts: 1.2315, d4.loss_map_dir: 0.0199, d5.loss_map_cls: 0.2699, d5.loss_map_pts: 1.2273, d5.loss_map_dir: 0.0202, loss: 43.6817, grad_norm: 146.5573 +2026-02-25 00:12:12,279 - DriveTransformer - INFO - Epoch [3][19650/39528] lr: 9.831e-05, eta: 7 days, 20:51:00, time: 0.780, data_time: 0.038, memory: 19865, loss_cls: 0.3624, loss_bbox: 0.5477, loss_traj: 1.0928, loss_traj_cls: 0.0044, loss_map_cls: 0.3137, loss_map_pts: 1.2699, loss_map_dir: 0.0231, d0.loss_plan_l1_fix_time: 2.8045, d0.loss_plan_l1_fix_dist: 0.3710, d1.loss_plan_l1_fix_time: 1.7822, d1.loss_plan_l1_fix_dist: 0.2362, d2.loss_plan_l1_fix_time: 1.7544, d2.loss_plan_l1_fix_dist: 0.2444, d3.loss_plan_l1_fix_time: 1.7577, d3.loss_plan_l1_fix_dist: 0.2575, d4.loss_plan_l1_fix_time: 1.7625, d4.loss_plan_l1_fix_dist: 0.2707, d5.loss_plan_l1_fix_time: 1.7680, d5.loss_plan_l1_fix_dist: 0.2842, d6.loss_plan_l1_fix_time: 1.7753, d6.loss_plan_l1_fix_dist: 0.2974, d0.loss_cls_all: 0.3889, d0.loss_bbox_all: 0.5930, d0.loss_cls: 0.3889, d0.loss_bbox: 0.5930, d1.loss_cls: 0.3822, d1.loss_bbox: 0.5600, d2.loss_cls: 0.3719, d2.loss_bbox: 0.5470, d3.loss_cls: 0.3666, d3.loss_bbox: 0.5399, d4.loss_cls: 0.3629, d4.loss_bbox: 0.5405, d5.loss_cls: 0.3610, d5.loss_bbox: 0.5445, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3428, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1343, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0811, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0793, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0730, d5.loss_traj_cls: 0.0017, d5.loss_traj: 1.0878, d0.loss_map_cls_all: 0.3669, d0.loss_map_pts_all: 2.1657, d0.loss_map_dir_all: 0.0212, d0.loss_map_cls: 0.3669, d0.loss_map_pts: 2.1657, d0.loss_map_dir: 0.0212, d1.loss_map_cls: 0.3480, d1.loss_map_pts: 1.4976, d1.loss_map_dir: 0.0212, d2.loss_map_cls: 0.3275, d2.loss_map_pts: 1.3466, d2.loss_map_dir: 0.0219, d3.loss_map_cls: 0.3192, d3.loss_map_pts: 1.2900, d3.loss_map_dir: 0.0224, d4.loss_map_cls: 0.3139, d4.loss_map_pts: 1.2770, d4.loss_map_dir: 0.0227, d5.loss_map_cls: 0.3137, d5.loss_map_pts: 1.2687, d5.loss_map_dir: 0.0228, loss: 45.8462, grad_norm: 145.8429 +2026-02-25 00:12:53,619 - DriveTransformer - INFO - Epoch [3][19700/39528] lr: 9.831e-05, eta: 7 days, 20:50:32, time: 0.826, data_time: 0.043, memory: 19865, loss_cls: 0.3601, loss_bbox: 0.5039, loss_traj: 1.0424, loss_traj_cls: 0.0045, loss_map_cls: 0.2904, loss_map_pts: 1.3227, loss_map_dir: 0.0232, d0.loss_plan_l1_fix_time: 2.5323, d0.loss_plan_l1_fix_dist: 0.4625, d1.loss_plan_l1_fix_time: 1.7939, d1.loss_plan_l1_fix_dist: 0.2998, d2.loss_plan_l1_fix_time: 1.7752, d2.loss_plan_l1_fix_dist: 0.3060, d3.loss_plan_l1_fix_time: 1.7790, d3.loss_plan_l1_fix_dist: 0.3174, d4.loss_plan_l1_fix_time: 1.7830, d4.loss_plan_l1_fix_dist: 0.3310, d5.loss_plan_l1_fix_time: 1.7873, d5.loss_plan_l1_fix_dist: 0.3466, d6.loss_plan_l1_fix_time: 1.7926, d6.loss_plan_l1_fix_dist: 0.3596, d0.loss_cls_all: 0.3752, d0.loss_bbox_all: 0.5407, d0.loss_cls: 0.3752, d0.loss_bbox: 0.5407, d1.loss_cls: 0.3644, d1.loss_bbox: 0.5122, d2.loss_cls: 0.3601, d2.loss_bbox: 0.5038, d3.loss_cls: 0.3578, d3.loss_bbox: 0.5002, d4.loss_cls: 0.3562, d4.loss_bbox: 0.5005, d5.loss_cls: 0.3580, d5.loss_bbox: 0.5018, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1121, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0488, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0283, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0350, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0417, d5.loss_traj_cls: 0.0017, d5.loss_traj: 1.0394, d0.loss_map_cls_all: 0.3386, d0.loss_map_pts_all: 2.2127, d0.loss_map_dir_all: 0.0216, d0.loss_map_cls: 0.3386, d0.loss_map_pts: 2.2127, d0.loss_map_dir: 0.0216, d1.loss_map_cls: 0.3172, d1.loss_map_pts: 1.5349, d1.loss_map_dir: 0.0215, d2.loss_map_cls: 0.3032, d2.loss_map_pts: 1.3912, d2.loss_map_dir: 0.0221, d3.loss_map_cls: 0.2985, d3.loss_map_pts: 1.3481, d3.loss_map_dir: 0.0226, d4.loss_map_cls: 0.2935, d4.loss_map_pts: 1.3277, d4.loss_map_dir: 0.0229, d5.loss_map_cls: 0.2910, d5.loss_map_pts: 1.3244, d5.loss_map_dir: 0.0231, loss: 45.3601, grad_norm: 145.0382 +2026-02-25 00:13:33,430 - DriveTransformer - INFO - Epoch [3][19750/39528] lr: 9.831e-05, eta: 7 days, 20:49:50, time: 0.796, data_time: 0.045, memory: 19865, loss_cls: 0.3489, loss_bbox: 0.5202, loss_traj: 1.3497, loss_traj_cls: 0.0045, loss_map_cls: 0.2704, loss_map_pts: 1.1726, loss_map_dir: 0.0171, d0.loss_plan_l1_fix_time: 2.9092, d0.loss_plan_l1_fix_dist: 0.4523, d1.loss_plan_l1_fix_time: 2.2008, d1.loss_plan_l1_fix_dist: 0.2827, d2.loss_plan_l1_fix_time: 2.1885, d2.loss_plan_l1_fix_dist: 0.2897, d3.loss_plan_l1_fix_time: 2.1906, d3.loss_plan_l1_fix_dist: 0.3021, d4.loss_plan_l1_fix_time: 2.1940, d4.loss_plan_l1_fix_dist: 0.3169, d5.loss_plan_l1_fix_time: 2.1978, d5.loss_plan_l1_fix_dist: 0.3351, d6.loss_plan_l1_fix_time: 2.2027, d6.loss_plan_l1_fix_dist: 0.3580, d0.loss_cls_all: 0.3645, d0.loss_bbox_all: 0.5679, d0.loss_cls: 0.3645, d0.loss_bbox: 0.5679, d1.loss_cls: 0.3544, d1.loss_bbox: 0.5420, d2.loss_cls: 0.3497, d2.loss_bbox: 0.5296, d3.loss_cls: 0.3480, d3.loss_bbox: 0.5235, d4.loss_cls: 0.3468, d4.loss_bbox: 0.5204, d5.loss_cls: 0.3469, d5.loss_bbox: 0.5196, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5449, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.3947, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.3482, d3.loss_traj_cls: 0.0014, d3.loss_traj: 1.3450, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.3431, d5.loss_traj_cls: 0.0017, d5.loss_traj: 1.3457, d0.loss_map_cls_all: 0.3249, d0.loss_map_pts_all: 1.8662, d0.loss_map_dir_all: 0.0164, d0.loss_map_cls: 0.3249, d0.loss_map_pts: 1.8662, d0.loss_map_dir: 0.0164, d1.loss_map_cls: 0.2984, d1.loss_map_pts: 1.3583, d1.loss_map_dir: 0.0160, d2.loss_map_cls: 0.2786, d2.loss_map_pts: 1.2379, d2.loss_map_dir: 0.0163, d3.loss_map_cls: 0.2729, d3.loss_map_pts: 1.1925, d3.loss_map_dir: 0.0167, d4.loss_map_cls: 0.2702, d4.loss_map_pts: 1.1757, d4.loss_map_dir: 0.0169, d5.loss_map_cls: 0.2702, d5.loss_map_pts: 1.1723, d5.loss_map_dir: 0.0170, loss: 48.7029, grad_norm: 145.4511 +2026-02-25 00:14:15,082 - DriveTransformer - INFO - Epoch [3][19800/39528] lr: 9.831e-05, eta: 7 days, 20:49:24, time: 0.833, data_time: 0.039, memory: 19865, loss_cls: 0.3604, loss_bbox: 0.5250, loss_traj: 0.9922, loss_traj_cls: 0.0047, loss_map_cls: 0.2551, loss_map_pts: 1.2294, loss_map_dir: 0.0240, d0.loss_plan_l1_fix_time: 2.7313, d0.loss_plan_l1_fix_dist: 0.3664, d1.loss_plan_l1_fix_time: 1.8503, d1.loss_plan_l1_fix_dist: 0.2725, d2.loss_plan_l1_fix_time: 1.8101, d2.loss_plan_l1_fix_dist: 0.2798, d3.loss_plan_l1_fix_time: 1.8124, d3.loss_plan_l1_fix_dist: 0.2902, d4.loss_plan_l1_fix_time: 1.8172, d4.loss_plan_l1_fix_dist: 0.3024, d5.loss_plan_l1_fix_time: 1.8228, d5.loss_plan_l1_fix_dist: 0.3154, d6.loss_plan_l1_fix_time: 1.8294, d6.loss_plan_l1_fix_dist: 0.3307, d0.loss_cls_all: 0.3852, d0.loss_bbox_all: 0.5528, d0.loss_cls: 0.3852, d0.loss_bbox: 0.5528, d1.loss_cls: 0.3721, d1.loss_bbox: 0.5336, d2.loss_cls: 0.3639, d2.loss_bbox: 0.5254, d3.loss_cls: 0.3634, d3.loss_bbox: 0.5222, d4.loss_cls: 0.3608, d4.loss_bbox: 0.5193, d5.loss_cls: 0.3612, d5.loss_bbox: 0.5208, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1045, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9915, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9744, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9778, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9760, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.9849, d0.loss_map_cls_all: 0.3027, d0.loss_map_pts_all: 2.3657, d0.loss_map_dir_all: 0.0231, d0.loss_map_cls: 0.3027, d0.loss_map_pts: 2.3657, d0.loss_map_dir: 0.0231, d1.loss_map_cls: 0.2814, d1.loss_map_pts: 1.4835, d1.loss_map_dir: 0.0227, d2.loss_map_cls: 0.2641, d2.loss_map_pts: 1.3147, d2.loss_map_dir: 0.0229, d3.loss_map_cls: 0.2573, d3.loss_map_pts: 1.2520, d3.loss_map_dir: 0.0234, d4.loss_map_cls: 0.2552, d4.loss_map_pts: 1.2348, d4.loss_map_dir: 0.0237, d5.loss_map_cls: 0.2557, d5.loss_map_pts: 1.2318, d5.loss_map_dir: 0.0239, loss: 44.8866, grad_norm: 146.3709 +2026-02-25 00:14:56,178 - DriveTransformer - INFO - Epoch [3][19850/39528] lr: 9.831e-05, eta: 7 days, 20:48:54, time: 0.822, data_time: 0.043, memory: 19865, loss_cls: 0.3575, loss_bbox: 0.5150, loss_traj: 0.9756, loss_traj_cls: 0.0047, loss_map_cls: 0.2764, loss_map_pts: 1.3095, loss_map_dir: 0.0257, d0.loss_plan_l1_fix_time: 2.6180, d0.loss_plan_l1_fix_dist: 0.4942, d1.loss_plan_l1_fix_time: 1.6972, d1.loss_plan_l1_fix_dist: 0.3349, d2.loss_plan_l1_fix_time: 1.6699, d2.loss_plan_l1_fix_dist: 0.3396, d3.loss_plan_l1_fix_time: 1.6674, d3.loss_plan_l1_fix_dist: 0.3483, d4.loss_plan_l1_fix_time: 1.6713, d4.loss_plan_l1_fix_dist: 0.3567, d5.loss_plan_l1_fix_time: 1.6766, d5.loss_plan_l1_fix_dist: 0.3663, d6.loss_plan_l1_fix_time: 1.6826, d6.loss_plan_l1_fix_dist: 0.3757, d0.loss_cls_all: 0.3712, d0.loss_bbox_all: 0.5581, d0.loss_cls: 0.3712, d0.loss_bbox: 0.5581, d1.loss_cls: 0.3627, d1.loss_bbox: 0.5317, d2.loss_cls: 0.3582, d2.loss_bbox: 0.5177, d3.loss_cls: 0.3560, d3.loss_bbox: 0.5147, d4.loss_cls: 0.3555, d4.loss_bbox: 0.5126, d5.loss_cls: 0.3563, d5.loss_bbox: 0.5115, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1642, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0361, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9749, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9747, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9742, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.9753, d0.loss_map_cls_all: 0.3227, d0.loss_map_pts_all: 2.3761, d0.loss_map_dir_all: 0.0246, d0.loss_map_cls: 0.3227, d0.loss_map_pts: 2.3761, d0.loss_map_dir: 0.0246, d1.loss_map_cls: 0.3034, d1.loss_map_pts: 1.5372, d1.loss_map_dir: 0.0241, d2.loss_map_cls: 0.2893, d2.loss_map_pts: 1.3766, d2.loss_map_dir: 0.0246, d3.loss_map_cls: 0.2834, d3.loss_map_pts: 1.3225, d3.loss_map_dir: 0.0250, d4.loss_map_cls: 0.2791, d4.loss_map_pts: 1.3083, d4.loss_map_dir: 0.0254, d5.loss_map_cls: 0.2765, d5.loss_map_pts: 1.3085, d5.loss_map_dir: 0.0257, loss: 44.9610, grad_norm: 146.0998 +2026-02-25 00:15:35,726 - DriveTransformer - INFO - Epoch [3][19900/39528] lr: 9.831e-05, eta: 7 days, 20:48:10, time: 0.791, data_time: 0.043, memory: 19865, loss_cls: 0.3832, loss_bbox: 0.5356, loss_traj: 1.1061, loss_traj_cls: 0.0047, loss_map_cls: 0.3168, loss_map_pts: 1.3207, loss_map_dir: 0.0218, d0.loss_plan_l1_fix_time: 2.5282, d0.loss_plan_l1_fix_dist: 0.4071, d1.loss_plan_l1_fix_time: 1.7244, d1.loss_plan_l1_fix_dist: 0.2633, d2.loss_plan_l1_fix_time: 1.7130, d2.loss_plan_l1_fix_dist: 0.2692, d3.loss_plan_l1_fix_time: 1.7127, d3.loss_plan_l1_fix_dist: 0.2817, d4.loss_plan_l1_fix_time: 1.7175, d4.loss_plan_l1_fix_dist: 0.2952, d5.loss_plan_l1_fix_time: 1.7232, d5.loss_plan_l1_fix_dist: 0.3100, d6.loss_plan_l1_fix_time: 1.7296, d6.loss_plan_l1_fix_dist: 0.3218, d0.loss_cls_all: 0.4061, d0.loss_bbox_all: 0.5813, d0.loss_cls: 0.4061, d0.loss_bbox: 0.5813, d1.loss_cls: 0.3920, d1.loss_bbox: 0.5491, d2.loss_cls: 0.3877, d2.loss_bbox: 0.5368, d3.loss_cls: 0.3841, d3.loss_bbox: 0.5342, d4.loss_cls: 0.3828, d4.loss_bbox: 0.5311, d5.loss_cls: 0.3822, d5.loss_bbox: 0.5326, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2920, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1480, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1164, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1123, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.1060, d5.loss_traj_cls: 0.0017, d5.loss_traj: 1.1094, d0.loss_map_cls_all: 0.3709, d0.loss_map_pts_all: 2.1727, d0.loss_map_dir_all: 0.0201, d0.loss_map_cls: 0.3709, d0.loss_map_pts: 2.1727, d0.loss_map_dir: 0.0201, d1.loss_map_cls: 0.3443, d1.loss_map_pts: 1.4991, d1.loss_map_dir: 0.0198, d2.loss_map_cls: 0.3311, d2.loss_map_pts: 1.3655, d2.loss_map_dir: 0.0204, d3.loss_map_cls: 0.3231, d3.loss_map_pts: 1.3300, d3.loss_map_dir: 0.0211, d4.loss_map_cls: 0.3171, d4.loss_map_pts: 1.3202, d4.loss_map_dir: 0.0214, d5.loss_map_cls: 0.3160, d5.loss_map_pts: 1.3186, d5.loss_map_dir: 0.0217, loss: 45.8605, grad_norm: 147.3392 +2026-02-25 00:16:16,751 - DriveTransformer - INFO - Epoch [3][19950/39528] lr: 9.831e-05, eta: 7 days, 20:47:39, time: 0.821, data_time: 0.041, memory: 19865, loss_cls: 0.3875, loss_bbox: 0.5516, loss_traj: 1.0234, loss_traj_cls: 0.0047, loss_map_cls: 0.2841, loss_map_pts: 1.3199, loss_map_dir: 0.0236, d0.loss_plan_l1_fix_time: 2.6212, d0.loss_plan_l1_fix_dist: 0.3704, d1.loss_plan_l1_fix_time: 1.6803, d1.loss_plan_l1_fix_dist: 0.2734, d2.loss_plan_l1_fix_time: 1.6580, d2.loss_plan_l1_fix_dist: 0.2773, d3.loss_plan_l1_fix_time: 1.6593, d3.loss_plan_l1_fix_dist: 0.2869, d4.loss_plan_l1_fix_time: 1.6646, d4.loss_plan_l1_fix_dist: 0.2982, d5.loss_plan_l1_fix_time: 1.6711, d5.loss_plan_l1_fix_dist: 0.3108, d6.loss_plan_l1_fix_time: 1.6787, d6.loss_plan_l1_fix_dist: 0.3276, d0.loss_cls_all: 0.3962, d0.loss_bbox_all: 0.5812, d0.loss_cls: 0.3962, d0.loss_bbox: 0.5812, d1.loss_cls: 0.3889, d1.loss_bbox: 0.5596, d2.loss_cls: 0.3828, d2.loss_bbox: 0.5451, d3.loss_cls: 0.3825, d3.loss_bbox: 0.5434, d4.loss_cls: 0.3791, d4.loss_bbox: 0.5445, d5.loss_cls: 0.3822, d5.loss_bbox: 0.5470, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1412, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0523, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0136, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0132, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0333, d5.loss_traj_cls: 0.0017, d5.loss_traj: 1.0365, d0.loss_map_cls_all: 0.3327, d0.loss_map_pts_all: 2.3495, d0.loss_map_dir_all: 0.0221, d0.loss_map_cls: 0.3327, d0.loss_map_pts: 2.3495, d0.loss_map_dir: 0.0221, d1.loss_map_cls: 0.3171, d1.loss_map_pts: 1.5246, d1.loss_map_dir: 0.0223, d2.loss_map_cls: 0.3024, d2.loss_map_pts: 1.3750, d2.loss_map_dir: 0.0225, d3.loss_map_cls: 0.2933, d3.loss_map_pts: 1.3366, d3.loss_map_dir: 0.0231, d4.loss_map_cls: 0.2876, d4.loss_map_pts: 1.3233, d4.loss_map_dir: 0.0233, d5.loss_map_cls: 0.2858, d5.loss_map_pts: 1.3212, d5.loss_map_dir: 0.0236, loss: 45.1693, grad_norm: 147.0204 +2026-02-25 00:16:56,657 - DriveTransformer - INFO - Epoch [3][20000/39528] lr: 9.831e-05, eta: 7 days, 20:46:58, time: 0.798, data_time: 0.038, memory: 19865, loss_cls: 0.3528, loss_bbox: 0.5369, loss_traj: 1.0169, loss_traj_cls: 0.0047, loss_map_cls: 0.2806, loss_map_pts: 1.1894, loss_map_dir: 0.0206, d0.loss_plan_l1_fix_time: 2.8151, d0.loss_plan_l1_fix_dist: 0.4413, d1.loss_plan_l1_fix_time: 1.7217, d1.loss_plan_l1_fix_dist: 0.3054, d2.loss_plan_l1_fix_time: 1.7059, d2.loss_plan_l1_fix_dist: 0.3155, d3.loss_plan_l1_fix_time: 1.7064, d3.loss_plan_l1_fix_dist: 0.3264, d4.loss_plan_l1_fix_time: 1.7107, d4.loss_plan_l1_fix_dist: 0.3401, d5.loss_plan_l1_fix_time: 1.7160, d5.loss_plan_l1_fix_dist: 0.3573, d6.loss_plan_l1_fix_time: 1.7227, d6.loss_plan_l1_fix_dist: 0.3821, d0.loss_cls_all: 0.3755, d0.loss_bbox_all: 0.5775, d0.loss_cls: 0.3755, d0.loss_bbox: 0.5775, d1.loss_cls: 0.3640, d1.loss_bbox: 0.5489, d2.loss_cls: 0.3575, d2.loss_bbox: 0.5356, d3.loss_cls: 0.3561, d3.loss_bbox: 0.5311, d4.loss_cls: 0.3550, d4.loss_bbox: 0.5297, d5.loss_cls: 0.3531, d5.loss_bbox: 0.5308, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1434, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0619, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0379, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0288, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0243, d5.loss_traj_cls: 0.0017, d5.loss_traj: 1.0155, d0.loss_map_cls_all: 0.3367, d0.loss_map_pts_all: 2.0217, d0.loss_map_dir_all: 0.0193, d0.loss_map_cls: 0.3367, d0.loss_map_pts: 2.0217, d0.loss_map_dir: 0.0193, d1.loss_map_cls: 0.3167, d1.loss_map_pts: 1.3732, d1.loss_map_dir: 0.0190, d2.loss_map_cls: 0.2986, d2.loss_map_pts: 1.2433, d2.loss_map_dir: 0.0195, d3.loss_map_cls: 0.2866, d3.loss_map_pts: 1.2077, d3.loss_map_dir: 0.0199, d4.loss_map_cls: 0.2809, d4.loss_map_pts: 1.1974, d4.loss_map_dir: 0.0203, d5.loss_map_cls: 0.2797, d5.loss_map_pts: 1.1919, d5.loss_map_dir: 0.0205, loss: 44.1851, grad_norm: 148.4791 +2026-02-25 00:17:35,850 - DriveTransformer - INFO - Epoch [3][20050/39528] lr: 9.831e-05, eta: 7 days, 20:46:11, time: 0.784, data_time: 0.038, memory: 19865, loss_cls: 0.3838, loss_bbox: 0.5437, loss_traj: 1.0129, loss_traj_cls: 0.0048, loss_map_cls: 0.3331, loss_map_pts: 1.2944, loss_map_dir: 0.0216, d0.loss_plan_l1_fix_time: 2.7717, d0.loss_plan_l1_fix_dist: 0.3970, d1.loss_plan_l1_fix_time: 1.8220, d1.loss_plan_l1_fix_dist: 0.2547, d2.loss_plan_l1_fix_time: 1.8151, d2.loss_plan_l1_fix_dist: 0.2597, d3.loss_plan_l1_fix_time: 1.8187, d3.loss_plan_l1_fix_dist: 0.2696, d4.loss_plan_l1_fix_time: 1.8222, d4.loss_plan_l1_fix_dist: 0.2811, d5.loss_plan_l1_fix_time: 1.8263, d5.loss_plan_l1_fix_dist: 0.2936, d6.loss_plan_l1_fix_time: 1.8306, d6.loss_plan_l1_fix_dist: 0.3061, d0.loss_cls_all: 0.3975, d0.loss_bbox_all: 0.6018, d0.loss_cls: 0.3975, d0.loss_bbox: 0.6018, d1.loss_cls: 0.3873, d1.loss_bbox: 0.5706, d2.loss_cls: 0.3857, d2.loss_bbox: 0.5557, d3.loss_cls: 0.3854, d3.loss_bbox: 0.5473, d4.loss_cls: 0.3826, d4.loss_bbox: 0.5468, d5.loss_cls: 0.3823, d5.loss_bbox: 0.5447, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2010, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0693, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0248, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0212, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0158, d5.loss_traj_cls: 0.0018, d5.loss_traj: 1.0167, d0.loss_map_cls_all: 0.3747, d0.loss_map_pts_all: 2.0923, d0.loss_map_dir_all: 0.0202, d0.loss_map_cls: 0.3747, d0.loss_map_pts: 2.0923, d0.loss_map_dir: 0.0202, d1.loss_map_cls: 0.3553, d1.loss_map_pts: 1.4883, d1.loss_map_dir: 0.0200, d2.loss_map_cls: 0.3438, d2.loss_map_pts: 1.3550, d2.loss_map_dir: 0.0206, d3.loss_map_cls: 0.3339, d3.loss_map_pts: 1.3113, d3.loss_map_dir: 0.0210, d4.loss_map_cls: 0.3310, d4.loss_map_pts: 1.3001, d4.loss_map_dir: 0.0213, d5.loss_map_cls: 0.3318, d5.loss_map_pts: 1.2934, d5.loss_map_dir: 0.0216, loss: 45.9284, grad_norm: 149.0351 +2026-02-25 00:18:16,166 - DriveTransformer - INFO - Epoch [3][20100/39528] lr: 9.831e-05, eta: 7 days, 20:45:34, time: 0.806, data_time: 0.036, memory: 19865, loss_cls: 0.3777, loss_bbox: 0.5406, loss_traj: 0.9711, loss_traj_cls: 0.0048, loss_map_cls: 0.2746, loss_map_pts: 1.2228, loss_map_dir: 0.0234, d0.loss_plan_l1_fix_time: 2.9916, d0.loss_plan_l1_fix_dist: 0.4601, d1.loss_plan_l1_fix_time: 2.0173, d1.loss_plan_l1_fix_dist: 0.3097, d2.loss_plan_l1_fix_time: 1.9851, d2.loss_plan_l1_fix_dist: 0.3144, d3.loss_plan_l1_fix_time: 1.9845, d3.loss_plan_l1_fix_dist: 0.3266, d4.loss_plan_l1_fix_time: 1.9878, d4.loss_plan_l1_fix_dist: 0.3413, d5.loss_plan_l1_fix_time: 1.9916, d5.loss_plan_l1_fix_dist: 0.3574, d6.loss_plan_l1_fix_time: 1.9953, d6.loss_plan_l1_fix_dist: 0.3756, d0.loss_cls_all: 0.3985, d0.loss_bbox_all: 0.5839, d0.loss_cls: 0.3985, d0.loss_bbox: 0.5839, d1.loss_cls: 0.3917, d1.loss_bbox: 0.5607, d2.loss_cls: 0.3883, d2.loss_bbox: 0.5479, d3.loss_cls: 0.3831, d3.loss_bbox: 0.5415, d4.loss_cls: 0.3804, d4.loss_bbox: 0.5410, d5.loss_cls: 0.3789, d5.loss_bbox: 0.5397, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1019, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9987, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9629, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9634, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9623, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.9677, d0.loss_map_cls_all: 0.3164, d0.loss_map_pts_all: 2.0457, d0.loss_map_dir_all: 0.0216, d0.loss_map_cls: 0.3164, d0.loss_map_pts: 2.0457, d0.loss_map_dir: 0.0216, d1.loss_map_cls: 0.2991, d1.loss_map_pts: 1.4270, d1.loss_map_dir: 0.0217, d2.loss_map_cls: 0.2866, d2.loss_map_pts: 1.2903, d2.loss_map_dir: 0.0223, d3.loss_map_cls: 0.2802, d3.loss_map_pts: 1.2410, d3.loss_map_dir: 0.0228, d4.loss_map_cls: 0.2762, d4.loss_map_pts: 1.2328, d4.loss_map_dir: 0.0231, d5.loss_map_cls: 0.2743, d5.loss_map_pts: 1.2216, d5.loss_map_dir: 0.0233, loss: 46.1447, grad_norm: 148.7537 +2026-02-25 00:18:57,141 - DriveTransformer - INFO - Epoch [3][20150/39528] lr: 9.831e-05, eta: 7 days, 20:45:02, time: 0.820, data_time: 0.036, memory: 19865, loss_cls: 0.3483, loss_bbox: 0.4940, loss_traj: 0.9255, loss_traj_cls: 0.0048, loss_map_cls: 0.2552, loss_map_pts: 1.2108, loss_map_dir: 0.0195, d0.loss_plan_l1_fix_time: 2.5872, d0.loss_plan_l1_fix_dist: 0.4929, d1.loss_plan_l1_fix_time: 1.7636, d1.loss_plan_l1_fix_dist: 0.2992, d2.loss_plan_l1_fix_time: 1.7574, d2.loss_plan_l1_fix_dist: 0.3147, d3.loss_plan_l1_fix_time: 1.7580, d3.loss_plan_l1_fix_dist: 0.3312, d4.loss_plan_l1_fix_time: 1.7610, d4.loss_plan_l1_fix_dist: 0.3508, d5.loss_plan_l1_fix_time: 1.7646, d5.loss_plan_l1_fix_dist: 0.3716, d6.loss_plan_l1_fix_time: 1.7686, d6.loss_plan_l1_fix_dist: 0.3930, d0.loss_cls_all: 0.3670, d0.loss_bbox_all: 0.5368, d0.loss_cls: 0.3670, d0.loss_bbox: 0.5368, d1.loss_cls: 0.3601, d1.loss_bbox: 0.5110, d2.loss_cls: 0.3531, d2.loss_bbox: 0.4992, d3.loss_cls: 0.3511, d3.loss_bbox: 0.4941, d4.loss_cls: 0.3501, d4.loss_bbox: 0.4931, d5.loss_cls: 0.3465, d5.loss_bbox: 0.4930, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0840, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9624, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9413, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9278, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9263, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.9244, d0.loss_map_cls_all: 0.2988, d0.loss_map_pts_all: 1.9811, d0.loss_map_dir_all: 0.0180, d0.loss_map_cls: 0.2988, d0.loss_map_pts: 1.9811, d0.loss_map_dir: 0.0180, d1.loss_map_cls: 0.2760, d1.loss_map_pts: 1.3895, d1.loss_map_dir: 0.0181, d2.loss_map_cls: 0.2659, d2.loss_map_pts: 1.2696, d2.loss_map_dir: 0.0186, d3.loss_map_cls: 0.2584, d3.loss_map_pts: 1.2289, d3.loss_map_dir: 0.0190, d4.loss_map_cls: 0.2555, d4.loss_map_pts: 1.2173, d4.loss_map_dir: 0.0192, d5.loss_map_cls: 0.2546, d5.loss_map_pts: 1.2109, d5.loss_map_dir: 0.0194, loss: 43.1203, grad_norm: 151.6680 +2026-02-25 00:19:37,188 - DriveTransformer - INFO - Epoch [3][20200/39528] lr: 9.831e-05, eta: 7 days, 20:44:23, time: 0.801, data_time: 0.042, memory: 19865, loss_cls: 0.3579, loss_bbox: 0.5194, loss_traj: 0.8884, loss_traj_cls: 0.0050, loss_map_cls: 0.2558, loss_map_pts: 1.1783, loss_map_dir: 0.0231, d0.loss_plan_l1_fix_time: 2.6660, d0.loss_plan_l1_fix_dist: 0.4141, d1.loss_plan_l1_fix_time: 1.7908, d1.loss_plan_l1_fix_dist: 0.2522, d2.loss_plan_l1_fix_time: 1.7846, d2.loss_plan_l1_fix_dist: 0.2625, d3.loss_plan_l1_fix_time: 1.7943, d3.loss_plan_l1_fix_dist: 0.2745, d4.loss_plan_l1_fix_time: 1.8010, d4.loss_plan_l1_fix_dist: 0.2887, d5.loss_plan_l1_fix_time: 1.8073, d5.loss_plan_l1_fix_dist: 0.3035, d6.loss_plan_l1_fix_time: 1.8146, d6.loss_plan_l1_fix_dist: 0.3201, d0.loss_cls_all: 0.3728, d0.loss_bbox_all: 0.5655, d0.loss_cls: 0.3728, d0.loss_bbox: 0.5655, d1.loss_cls: 0.3651, d1.loss_bbox: 0.5392, d2.loss_cls: 0.3587, d2.loss_bbox: 0.5277, d3.loss_cls: 0.3595, d3.loss_bbox: 0.5212, d4.loss_cls: 0.3587, d4.loss_bbox: 0.5197, d5.loss_cls: 0.3593, d5.loss_bbox: 0.5188, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0637, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9082, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8856, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8825, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8867, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.8883, d0.loss_map_cls_all: 0.2910, d0.loss_map_pts_all: 2.0484, d0.loss_map_dir_all: 0.0217, d0.loss_map_cls: 0.2910, d0.loss_map_pts: 2.0484, d0.loss_map_dir: 0.0217, d1.loss_map_cls: 0.2829, d1.loss_map_pts: 1.3756, d1.loss_map_dir: 0.0219, d2.loss_map_cls: 0.2709, d2.loss_map_pts: 1.2362, d2.loss_map_dir: 0.0223, d3.loss_map_cls: 0.2626, d3.loss_map_pts: 1.1929, d3.loss_map_dir: 0.0226, d4.loss_map_cls: 0.2570, d4.loss_map_pts: 1.1767, d4.loss_map_dir: 0.0229, d5.loss_map_cls: 0.2562, d5.loss_map_pts: 1.1754, d5.loss_map_dir: 0.0230, loss: 42.9493, grad_norm: 152.5108 +2026-02-25 00:20:16,837 - DriveTransformer - INFO - Epoch [3][20250/39528] lr: 9.831e-05, eta: 7 days, 20:43:40, time: 0.793, data_time: 0.042, memory: 19865, loss_cls: 0.3643, loss_bbox: 0.4883, loss_traj: 1.1010, loss_traj_cls: 0.0051, loss_map_cls: 0.2271, loss_map_pts: 1.0275, loss_map_dir: 0.0193, d0.loss_plan_l1_fix_time: 2.5397, d0.loss_plan_l1_fix_dist: 0.4283, d1.loss_plan_l1_fix_time: 1.6215, d1.loss_plan_l1_fix_dist: 0.2696, d2.loss_plan_l1_fix_time: 1.5961, d2.loss_plan_l1_fix_dist: 0.2785, d3.loss_plan_l1_fix_time: 1.5995, d3.loss_plan_l1_fix_dist: 0.2925, d4.loss_plan_l1_fix_time: 1.6038, d4.loss_plan_l1_fix_dist: 0.3102, d5.loss_plan_l1_fix_time: 1.6087, d5.loss_plan_l1_fix_dist: 0.3293, d6.loss_plan_l1_fix_time: 1.6145, d6.loss_plan_l1_fix_dist: 0.3489, d0.loss_cls_all: 0.3766, d0.loss_bbox_all: 0.5388, d0.loss_cls: 0.3766, d0.loss_bbox: 0.5388, d1.loss_cls: 0.3709, d1.loss_bbox: 0.5079, d2.loss_cls: 0.3663, d2.loss_bbox: 0.4949, d3.loss_cls: 0.3658, d3.loss_bbox: 0.4904, d4.loss_cls: 0.3634, d4.loss_bbox: 0.4897, d5.loss_cls: 0.3647, d5.loss_bbox: 0.4881, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2835, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1267, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1070, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1062, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.1004, d5.loss_traj_cls: 0.0018, d5.loss_traj: 1.1015, d0.loss_map_cls_all: 0.2893, d0.loss_map_pts_all: 1.9265, d0.loss_map_dir_all: 0.0183, d0.loss_map_cls: 0.2893, d0.loss_map_pts: 1.9265, d0.loss_map_dir: 0.0183, d1.loss_map_cls: 0.2555, d1.loss_map_pts: 1.2163, d1.loss_map_dir: 0.0183, d2.loss_map_cls: 0.2384, d2.loss_map_pts: 1.0882, d2.loss_map_dir: 0.0185, d3.loss_map_cls: 0.2327, d3.loss_map_pts: 1.0462, d3.loss_map_dir: 0.0188, d4.loss_map_cls: 0.2289, d4.loss_map_pts: 1.0269, d4.loss_map_dir: 0.0191, d5.loss_map_cls: 0.2270, d5.loss_map_pts: 1.0247, d5.loss_map_dir: 0.0192, loss: 41.7851, grad_norm: 153.5839 +2026-02-25 00:20:57,600 - DriveTransformer - INFO - Epoch [3][20300/39528] lr: 9.831e-05, eta: 7 days, 20:43:06, time: 0.815, data_time: 0.045, memory: 19865, loss_cls: 0.3731, loss_bbox: 0.5515, loss_traj: 0.9046, loss_traj_cls: 0.0051, loss_map_cls: 0.2903, loss_map_pts: 1.3161, loss_map_dir: 0.0228, d0.loss_plan_l1_fix_time: 2.5932, d0.loss_plan_l1_fix_dist: 0.4193, d1.loss_plan_l1_fix_time: 1.6369, d1.loss_plan_l1_fix_dist: 0.2829, d2.loss_plan_l1_fix_time: 1.6234, d2.loss_plan_l1_fix_dist: 0.2921, d3.loss_plan_l1_fix_time: 1.6240, d3.loss_plan_l1_fix_dist: 0.3054, d4.loss_plan_l1_fix_time: 1.6276, d4.loss_plan_l1_fix_dist: 0.3224, d5.loss_plan_l1_fix_time: 1.6317, d5.loss_plan_l1_fix_dist: 0.3418, d6.loss_plan_l1_fix_time: 1.6367, d6.loss_plan_l1_fix_dist: 0.3663, d0.loss_cls_all: 0.3837, d0.loss_bbox_all: 0.5811, d0.loss_cls: 0.3837, d0.loss_bbox: 0.5811, d1.loss_cls: 0.3771, d1.loss_bbox: 0.5590, d2.loss_cls: 0.3738, d2.loss_bbox: 0.5491, d3.loss_cls: 0.3740, d3.loss_bbox: 0.5444, d4.loss_cls: 0.3735, d4.loss_bbox: 0.5451, d5.loss_cls: 0.3754, d5.loss_bbox: 0.5454, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1343, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9329, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9092, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9114, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9074, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.9053, d0.loss_map_cls_all: 0.3476, d0.loss_map_pts_all: 2.3525, d0.loss_map_dir_all: 0.0216, d0.loss_map_cls: 0.3476, d0.loss_map_pts: 2.3525, d0.loss_map_dir: 0.0216, d1.loss_map_cls: 0.3225, d1.loss_map_pts: 1.5563, d1.loss_map_dir: 0.0211, d2.loss_map_cls: 0.3045, d2.loss_map_pts: 1.4006, d2.loss_map_dir: 0.0218, d3.loss_map_cls: 0.2981, d3.loss_map_pts: 1.3430, d3.loss_map_dir: 0.0222, d4.loss_map_cls: 0.2930, d4.loss_map_pts: 1.3267, d4.loss_map_dir: 0.0225, d5.loss_map_cls: 0.2906, d5.loss_map_pts: 1.3183, d5.loss_map_dir: 0.0228, loss: 44.4284, grad_norm: 152.9269 +2026-02-25 00:21:38,798 - DriveTransformer - INFO - Epoch [3][20350/39528] lr: 9.831e-05, eta: 7 days, 20:42:36, time: 0.824, data_time: 0.040, memory: 19865, loss_cls: 0.3673, loss_bbox: 0.5065, loss_traj: 0.9862, loss_traj_cls: 0.0051, loss_map_cls: 0.3064, loss_map_pts: 1.3276, loss_map_dir: 0.0228, d0.loss_plan_l1_fix_time: 2.5217, d0.loss_plan_l1_fix_dist: 0.4462, d1.loss_plan_l1_fix_time: 1.6302, d1.loss_plan_l1_fix_dist: 0.3118, d2.loss_plan_l1_fix_time: 1.6083, d2.loss_plan_l1_fix_dist: 0.3140, d3.loss_plan_l1_fix_time: 1.6075, d3.loss_plan_l1_fix_dist: 0.3242, d4.loss_plan_l1_fix_time: 1.6111, d4.loss_plan_l1_fix_dist: 0.3378, d5.loss_plan_l1_fix_time: 1.6159, d5.loss_plan_l1_fix_dist: 0.3541, d6.loss_plan_l1_fix_time: 1.6214, d6.loss_plan_l1_fix_dist: 0.3705, d0.loss_cls_all: 0.3784, d0.loss_bbox_all: 0.5496, d0.loss_cls: 0.3784, d0.loss_bbox: 0.5496, d1.loss_cls: 0.3755, d1.loss_bbox: 0.5210, d2.loss_cls: 0.3741, d2.loss_bbox: 0.5086, d3.loss_cls: 0.3723, d3.loss_bbox: 0.5025, d4.loss_cls: 0.3682, d4.loss_bbox: 0.5023, d5.loss_cls: 0.3664, d5.loss_bbox: 0.5043, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1310, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0171, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9824, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9798, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9831, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.9844, d0.loss_map_cls_all: 0.3562, d0.loss_map_pts_all: 2.2986, d0.loss_map_dir_all: 0.0217, d0.loss_map_cls: 0.3562, d0.loss_map_pts: 2.2986, d0.loss_map_dir: 0.0217, d1.loss_map_cls: 0.3419, d1.loss_map_pts: 1.5637, d1.loss_map_dir: 0.0214, d2.loss_map_cls: 0.3257, d2.loss_map_pts: 1.4204, d2.loss_map_dir: 0.0218, d3.loss_map_cls: 0.3136, d3.loss_map_pts: 1.3637, d3.loss_map_dir: 0.0223, d4.loss_map_cls: 0.3086, d4.loss_map_pts: 1.3445, d4.loss_map_dir: 0.0225, d5.loss_map_cls: 0.3061, d5.loss_map_pts: 1.3341, d5.loss_map_dir: 0.0227, loss: 44.6184, grad_norm: 151.9307 +2026-02-25 00:22:21,283 - DriveTransformer - INFO - Epoch [3][20400/39528] lr: 9.831e-05, eta: 7 days, 20:42:18, time: 0.851, data_time: 0.040, memory: 19865, loss_cls: 0.3486, loss_bbox: 0.5322, loss_traj: 0.8788, loss_traj_cls: 0.0051, loss_map_cls: 0.3031, loss_map_pts: 1.3944, loss_map_dir: 0.0247, d0.loss_plan_l1_fix_time: 2.3636, d0.loss_plan_l1_fix_dist: 0.4265, d1.loss_plan_l1_fix_time: 1.8149, d1.loss_plan_l1_fix_dist: 0.2903, d2.loss_plan_l1_fix_time: 1.8037, d2.loss_plan_l1_fix_dist: 0.2983, d3.loss_plan_l1_fix_time: 1.8063, d3.loss_plan_l1_fix_dist: 0.3107, d4.loss_plan_l1_fix_time: 1.8113, d4.loss_plan_l1_fix_dist: 0.3231, d5.loss_plan_l1_fix_time: 1.8168, d5.loss_plan_l1_fix_dist: 0.3364, d6.loss_plan_l1_fix_time: 1.8224, d6.loss_plan_l1_fix_dist: 0.3488, d0.loss_cls_all: 0.3715, d0.loss_bbox_all: 0.5682, d0.loss_cls: 0.3715, d0.loss_bbox: 0.5682, d1.loss_cls: 0.3640, d1.loss_bbox: 0.5431, d2.loss_cls: 0.3541, d2.loss_bbox: 0.5329, d3.loss_cls: 0.3510, d3.loss_bbox: 0.5284, d4.loss_cls: 0.3491, d4.loss_bbox: 0.5288, d5.loss_cls: 0.3476, d5.loss_bbox: 0.5290, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9957, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9034, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8778, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8784, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8876, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.8818, d0.loss_map_cls_all: 0.3535, d0.loss_map_pts_all: 2.5047, d0.loss_map_dir_all: 0.0237, d0.loss_map_cls: 0.3535, d0.loss_map_pts: 2.5047, d0.loss_map_dir: 0.0237, d1.loss_map_cls: 0.3298, d1.loss_map_pts: 1.6331, d1.loss_map_dir: 0.0229, d2.loss_map_cls: 0.3178, d2.loss_map_pts: 1.4814, d2.loss_map_dir: 0.0235, d3.loss_map_cls: 0.3096, d3.loss_map_pts: 1.4229, d3.loss_map_dir: 0.0239, d4.loss_map_cls: 0.3041, d4.loss_map_pts: 1.4052, d4.loss_map_dir: 0.0243, d5.loss_map_cls: 0.3030, d5.loss_map_pts: 1.3973, d5.loss_map_dir: 0.0246, loss: 45.5859, grad_norm: 152.7368 +2026-02-25 00:22:59,395 - DriveTransformer - INFO - Epoch [3][20450/39528] lr: 9.831e-05, eta: 7 days, 20:41:22, time: 0.761, data_time: 0.044, memory: 19865, loss_cls: 0.3301, loss_bbox: 0.5075, loss_traj: 1.3243, loss_traj_cls: 0.0053, loss_map_cls: 0.2631, loss_map_pts: 1.0715, loss_map_dir: 0.0158, d0.loss_plan_l1_fix_time: 2.8262, d0.loss_plan_l1_fix_dist: 0.4898, d1.loss_plan_l1_fix_time: 1.9643, d1.loss_plan_l1_fix_dist: 0.2835, d2.loss_plan_l1_fix_time: 1.9443, d2.loss_plan_l1_fix_dist: 0.2898, d3.loss_plan_l1_fix_time: 1.9421, d3.loss_plan_l1_fix_dist: 0.3038, d4.loss_plan_l1_fix_time: 1.9436, d4.loss_plan_l1_fix_dist: 0.3190, d5.loss_plan_l1_fix_time: 1.9454, d5.loss_plan_l1_fix_dist: 0.3351, d6.loss_plan_l1_fix_time: 1.9475, d6.loss_plan_l1_fix_dist: 0.3522, d0.loss_cls_all: 0.3555, d0.loss_bbox_all: 0.5426, d0.loss_cls: 0.3555, d0.loss_bbox: 0.5426, d1.loss_cls: 0.3444, d1.loss_bbox: 0.5195, d2.loss_cls: 0.3375, d2.loss_bbox: 0.5094, d3.loss_cls: 0.3349, d3.loss_bbox: 0.5038, d4.loss_cls: 0.3338, d4.loss_bbox: 0.5045, d5.loss_cls: 0.3316, d5.loss_bbox: 0.5053, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.5382, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3619, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3294, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.3253, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.3343, d5.loss_traj_cls: 0.0020, d5.loss_traj: 1.3277, d0.loss_map_cls_all: 0.3153, d0.loss_map_pts_all: 1.7527, d0.loss_map_dir_all: 0.0147, d0.loss_map_cls: 0.3153, d0.loss_map_pts: 1.7527, d0.loss_map_dir: 0.0147, d1.loss_map_cls: 0.2860, d1.loss_map_pts: 1.2496, d1.loss_map_dir: 0.0146, d2.loss_map_cls: 0.2772, d2.loss_map_pts: 1.1312, d2.loss_map_dir: 0.0149, d3.loss_map_cls: 0.2710, d3.loss_map_pts: 1.0853, d3.loss_map_dir: 0.0152, d4.loss_map_cls: 0.2676, d4.loss_map_pts: 1.0711, d4.loss_map_dir: 0.0155, d5.loss_map_cls: 0.2656, d5.loss_map_pts: 1.0685, d5.loss_map_dir: 0.0157, loss: 45.8632, grad_norm: 151.7855 +2026-02-25 00:23:38,885 - DriveTransformer - INFO - Epoch [3][20500/39528] lr: 9.831e-05, eta: 7 days, 20:40:37, time: 0.789, data_time: 0.048, memory: 19865, loss_cls: 0.3916, loss_bbox: 0.5600, loss_traj: 1.2188, loss_traj_cls: 0.0053, loss_map_cls: 0.2806, loss_map_pts: 1.3260, loss_map_dir: 0.0214, d0.loss_plan_l1_fix_time: 2.6439, d0.loss_plan_l1_fix_dist: 0.5116, d1.loss_plan_l1_fix_time: 1.8354, d1.loss_plan_l1_fix_dist: 0.2851, d2.loss_plan_l1_fix_time: 1.7992, d2.loss_plan_l1_fix_dist: 0.2991, d3.loss_plan_l1_fix_time: 1.7975, d3.loss_plan_l1_fix_dist: 0.3167, d4.loss_plan_l1_fix_time: 1.7996, d4.loss_plan_l1_fix_dist: 0.3361, d5.loss_plan_l1_fix_time: 1.8029, d5.loss_plan_l1_fix_dist: 0.3562, d6.loss_plan_l1_fix_time: 1.8072, d6.loss_plan_l1_fix_dist: 0.3771, d0.loss_cls_all: 0.4054, d0.loss_bbox_all: 0.6088, d0.loss_cls: 0.4054, d0.loss_bbox: 0.6088, d1.loss_cls: 0.4018, d1.loss_bbox: 0.5792, d2.loss_cls: 0.3973, d2.loss_bbox: 0.5628, d3.loss_cls: 0.3985, d3.loss_bbox: 0.5566, d4.loss_cls: 0.3964, d4.loss_bbox: 0.5567, d5.loss_cls: 0.3922, d5.loss_bbox: 0.5586, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3661, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2486, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2179, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2122, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.2116, d5.loss_traj_cls: 0.0020, d5.loss_traj: 1.2144, d0.loss_map_cls_all: 0.3228, d0.loss_map_pts_all: 2.1501, d0.loss_map_dir_all: 0.0195, d0.loss_map_cls: 0.3228, d0.loss_map_pts: 2.1501, d0.loss_map_dir: 0.0195, d1.loss_map_cls: 0.3005, d1.loss_map_pts: 1.5078, d1.loss_map_dir: 0.0200, d2.loss_map_cls: 0.2935, d2.loss_map_pts: 1.3710, d2.loss_map_dir: 0.0205, d3.loss_map_cls: 0.2897, d3.loss_map_pts: 1.3357, d3.loss_map_dir: 0.0209, d4.loss_map_cls: 0.2848, d4.loss_map_pts: 1.3224, d4.loss_map_dir: 0.0212, d5.loss_map_cls: 0.2818, d5.loss_map_pts: 1.3234, d5.loss_map_dir: 0.0214, loss: 47.4766, grad_norm: 152.4144 +2026-02-25 00:24:17,672 - DriveTransformer - INFO - Epoch [3][20550/39528] lr: 9.831e-05, eta: 7 days, 20:39:47, time: 0.776, data_time: 0.038, memory: 19865, loss_cls: 0.3659, loss_bbox: 0.5415, loss_traj: 1.0598, loss_traj_cls: 0.0053, loss_map_cls: 0.2852, loss_map_pts: 1.2471, loss_map_dir: 0.0167, d0.loss_plan_l1_fix_time: 2.7722, d0.loss_plan_l1_fix_dist: 0.4007, d1.loss_plan_l1_fix_time: 1.8386, d1.loss_plan_l1_fix_dist: 0.3148, d2.loss_plan_l1_fix_time: 1.8016, d2.loss_plan_l1_fix_dist: 0.3249, d3.loss_plan_l1_fix_time: 1.7989, d3.loss_plan_l1_fix_dist: 0.3403, d4.loss_plan_l1_fix_time: 1.8017, d4.loss_plan_l1_fix_dist: 0.3616, d5.loss_plan_l1_fix_time: 1.8056, d5.loss_plan_l1_fix_dist: 0.3844, d6.loss_plan_l1_fix_time: 1.8105, d6.loss_plan_l1_fix_dist: 0.4105, d0.loss_cls_all: 0.3816, d0.loss_bbox_all: 0.5847, d0.loss_cls: 0.3816, d0.loss_bbox: 0.5847, d1.loss_cls: 0.3760, d1.loss_bbox: 0.5612, d2.loss_cls: 0.3688, d2.loss_bbox: 0.5498, d3.loss_cls: 0.3674, d3.loss_bbox: 0.5421, d4.loss_cls: 0.3639, d4.loss_bbox: 0.5417, d5.loss_cls: 0.3646, d5.loss_bbox: 0.5404, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1831, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0820, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0517, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0613, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0618, d5.loss_traj_cls: 0.0019, d5.loss_traj: 1.0562, d0.loss_map_cls_all: 0.3531, d0.loss_map_pts_all: 1.9769, d0.loss_map_dir_all: 0.0156, d0.loss_map_cls: 0.3531, d0.loss_map_pts: 1.9769, d0.loss_map_dir: 0.0156, d1.loss_map_cls: 0.3185, d1.loss_map_pts: 1.4590, d1.loss_map_dir: 0.0156, d2.loss_map_cls: 0.3027, d2.loss_map_pts: 1.3241, d2.loss_map_dir: 0.0161, d3.loss_map_cls: 0.2921, d3.loss_map_pts: 1.2761, d3.loss_map_dir: 0.0163, d4.loss_map_cls: 0.2861, d4.loss_map_pts: 1.2541, d4.loss_map_dir: 0.0165, d5.loss_map_cls: 0.2854, d5.loss_map_pts: 1.2481, d5.loss_map_dir: 0.0167, loss: 45.5178, grad_norm: 152.2845 +2026-02-25 00:24:58,306 - DriveTransformer - INFO - Epoch [3][20600/39528] lr: 9.831e-05, eta: 7 days, 20:39:12, time: 0.813, data_time: 0.036, memory: 19865, loss_cls: 0.3884, loss_bbox: 0.5359, loss_traj: 1.1534, loss_traj_cls: 0.0054, loss_map_cls: 0.2695, loss_map_pts: 1.2843, loss_map_dir: 0.0203, d0.loss_plan_l1_fix_time: 2.8300, d0.loss_plan_l1_fix_dist: 0.4360, d1.loss_plan_l1_fix_time: 1.9751, d1.loss_plan_l1_fix_dist: 0.2865, d2.loss_plan_l1_fix_time: 1.9493, d2.loss_plan_l1_fix_dist: 0.2942, d3.loss_plan_l1_fix_time: 1.9520, d3.loss_plan_l1_fix_dist: 0.3067, d4.loss_plan_l1_fix_time: 1.9584, d4.loss_plan_l1_fix_dist: 0.3234, d5.loss_plan_l1_fix_time: 1.9657, d5.loss_plan_l1_fix_dist: 0.3414, d6.loss_plan_l1_fix_time: 1.9743, d6.loss_plan_l1_fix_dist: 0.3618, d0.loss_cls_all: 0.3916, d0.loss_bbox_all: 0.5854, d0.loss_cls: 0.3916, d0.loss_bbox: 0.5854, d1.loss_cls: 0.3927, d1.loss_bbox: 0.5609, d2.loss_cls: 0.3878, d2.loss_bbox: 0.5493, d3.loss_cls: 0.3890, d3.loss_bbox: 0.5380, d4.loss_cls: 0.3880, d4.loss_bbox: 0.5365, d5.loss_cls: 0.3895, d5.loss_bbox: 0.5352, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3299, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1863, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1604, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1618, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.1535, d5.loss_traj_cls: 0.0020, d5.loss_traj: 1.1517, d0.loss_map_cls_all: 0.3294, d0.loss_map_pts_all: 2.0337, d0.loss_map_dir_all: 0.0186, d0.loss_map_cls: 0.3294, d0.loss_map_pts: 2.0337, d0.loss_map_dir: 0.0186, d1.loss_map_cls: 0.2976, d1.loss_map_pts: 1.4808, d1.loss_map_dir: 0.0190, d2.loss_map_cls: 0.2837, d2.loss_map_pts: 1.3595, d2.loss_map_dir: 0.0194, d3.loss_map_cls: 0.2743, d3.loss_map_pts: 1.3096, d3.loss_map_dir: 0.0198, d4.loss_map_cls: 0.2715, d4.loss_map_pts: 1.2923, d4.loss_map_dir: 0.0200, d5.loss_map_cls: 0.2703, d5.loss_map_pts: 1.2862, d5.loss_map_dir: 0.0202, loss: 47.3711, grad_norm: 153.0092 +2026-02-25 00:25:38,266 - DriveTransformer - INFO - Epoch [3][20650/39528] lr: 9.831e-05, eta: 7 days, 20:38:32, time: 0.799, data_time: 0.042, memory: 19865, loss_cls: 0.3567, loss_bbox: 0.5279, loss_traj: 1.0893, loss_traj_cls: 0.0055, loss_map_cls: 0.2978, loss_map_pts: 1.2763, loss_map_dir: 0.0220, d0.loss_plan_l1_fix_time: 2.7954, d0.loss_plan_l1_fix_dist: 0.3805, d1.loss_plan_l1_fix_time: 1.7737, d1.loss_plan_l1_fix_dist: 0.2635, d2.loss_plan_l1_fix_time: 1.7584, d2.loss_plan_l1_fix_dist: 0.2799, d3.loss_plan_l1_fix_time: 1.7646, d3.loss_plan_l1_fix_dist: 0.3002, d4.loss_plan_l1_fix_time: 1.7706, d4.loss_plan_l1_fix_dist: 0.3199, d5.loss_plan_l1_fix_time: 1.7772, d5.loss_plan_l1_fix_dist: 0.3413, d6.loss_plan_l1_fix_time: 1.7843, d6.loss_plan_l1_fix_dist: 0.3621, d0.loss_cls_all: 0.3682, d0.loss_bbox_all: 0.5785, d0.loss_cls: 0.3682, d0.loss_bbox: 0.5785, d1.loss_cls: 0.3665, d1.loss_bbox: 0.5516, d2.loss_cls: 0.3614, d2.loss_bbox: 0.5374, d3.loss_cls: 0.3598, d3.loss_bbox: 0.5286, d4.loss_cls: 0.3558, d4.loss_bbox: 0.5284, d5.loss_cls: 0.3553, d5.loss_bbox: 0.5268, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2699, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1146, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0786, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0723, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0732, d5.loss_traj_cls: 0.0019, d5.loss_traj: 1.0791, d0.loss_map_cls_all: 0.3435, d0.loss_map_pts_all: 2.3938, d0.loss_map_dir_all: 0.0210, d0.loss_map_cls: 0.3435, d0.loss_map_pts: 2.3938, d0.loss_map_dir: 0.0210, d1.loss_map_cls: 0.3263, d1.loss_map_pts: 1.5358, d1.loss_map_dir: 0.0207, d2.loss_map_cls: 0.3104, d2.loss_map_pts: 1.3746, d2.loss_map_dir: 0.0210, d3.loss_map_cls: 0.3026, d3.loss_map_pts: 1.3077, d3.loss_map_dir: 0.0214, d4.loss_map_cls: 0.2962, d4.loss_map_pts: 1.2877, d4.loss_map_dir: 0.0217, d5.loss_map_cls: 0.2974, d5.loss_map_pts: 1.2784, d5.loss_map_dir: 0.0219, loss: 46.2469, grad_norm: 153.3285 +2026-02-25 00:26:17,145 - DriveTransformer - INFO - Epoch [3][20700/39528] lr: 9.831e-05, eta: 7 days, 20:37:43, time: 0.778, data_time: 0.040, memory: 19865, loss_cls: 0.3538, loss_bbox: 0.5199, loss_traj: 1.1267, loss_traj_cls: 0.0055, loss_map_cls: 0.2728, loss_map_pts: 1.1793, loss_map_dir: 0.0175, d0.loss_plan_l1_fix_time: 2.5530, d0.loss_plan_l1_fix_dist: 0.5096, d1.loss_plan_l1_fix_time: 1.7863, d1.loss_plan_l1_fix_dist: 0.3162, d2.loss_plan_l1_fix_time: 1.7812, d2.loss_plan_l1_fix_dist: 0.3226, d3.loss_plan_l1_fix_time: 1.7886, d3.loss_plan_l1_fix_dist: 0.3326, d4.loss_plan_l1_fix_time: 1.7965, d4.loss_plan_l1_fix_dist: 0.3453, d5.loss_plan_l1_fix_time: 1.8044, d5.loss_plan_l1_fix_dist: 0.3591, d6.loss_plan_l1_fix_time: 1.8126, d6.loss_plan_l1_fix_dist: 0.3736, d0.loss_cls_all: 0.3652, d0.loss_bbox_all: 0.5657, d0.loss_cls: 0.3652, d0.loss_bbox: 0.5657, d1.loss_cls: 0.3604, d1.loss_bbox: 0.5415, d2.loss_cls: 0.3554, d2.loss_bbox: 0.5271, d3.loss_cls: 0.3532, d3.loss_bbox: 0.5206, d4.loss_cls: 0.3516, d4.loss_bbox: 0.5201, d5.loss_cls: 0.3518, d5.loss_bbox: 0.5207, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3029, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1443, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1280, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1235, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.1259, d5.loss_traj_cls: 0.0021, d5.loss_traj: 1.1253, d0.loss_map_cls_all: 0.3372, d0.loss_map_pts_all: 1.8299, d0.loss_map_dir_all: 0.0162, d0.loss_map_cls: 0.3372, d0.loss_map_pts: 1.8299, d0.loss_map_dir: 0.0162, d1.loss_map_cls: 0.3058, d1.loss_map_pts: 1.3796, d1.loss_map_dir: 0.0163, d2.loss_map_cls: 0.2874, d2.loss_map_pts: 1.2596, d2.loss_map_dir: 0.0167, d3.loss_map_cls: 0.2777, d3.loss_map_pts: 1.2085, d3.loss_map_dir: 0.0171, d4.loss_map_cls: 0.2732, d4.loss_map_pts: 1.1900, d4.loss_map_dir: 0.0173, d5.loss_map_cls: 0.2727, d5.loss_map_pts: 1.1836, d5.loss_map_dir: 0.0175, loss: 44.6679, grad_norm: 154.1199 +2026-02-25 00:26:57,788 - DriveTransformer - INFO - Epoch [3][20750/39528] lr: 9.831e-05, eta: 7 days, 20:37:08, time: 0.813, data_time: 0.036, memory: 19865, loss_cls: 0.3356, loss_bbox: 0.4874, loss_traj: 1.0770, loss_traj_cls: 0.0056, loss_map_cls: 0.2598, loss_map_pts: 1.1968, loss_map_dir: 0.0217, d0.loss_plan_l1_fix_time: 2.4533, d0.loss_plan_l1_fix_dist: 0.4407, d1.loss_plan_l1_fix_time: 1.7111, d1.loss_plan_l1_fix_dist: 0.2653, d2.loss_plan_l1_fix_time: 1.6958, d2.loss_plan_l1_fix_dist: 0.2754, d3.loss_plan_l1_fix_time: 1.7001, d3.loss_plan_l1_fix_dist: 0.2913, d4.loss_plan_l1_fix_time: 1.7058, d4.loss_plan_l1_fix_dist: 0.3112, d5.loss_plan_l1_fix_time: 1.7125, d5.loss_plan_l1_fix_dist: 0.3317, d6.loss_plan_l1_fix_time: 1.7216, d6.loss_plan_l1_fix_dist: 0.3555, d0.loss_cls_all: 0.3457, d0.loss_bbox_all: 0.5322, d0.loss_cls: 0.3457, d0.loss_bbox: 0.5322, d1.loss_cls: 0.3439, d1.loss_bbox: 0.5032, d2.loss_cls: 0.3369, d2.loss_bbox: 0.4912, d3.loss_cls: 0.3351, d3.loss_bbox: 0.4853, d4.loss_cls: 0.3340, d4.loss_bbox: 0.4855, d5.loss_cls: 0.3358, d5.loss_bbox: 0.4849, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2095, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0893, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0625, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0718, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0695, d5.loss_traj_cls: 0.0020, d5.loss_traj: 1.0773, d0.loss_map_cls_all: 0.3069, d0.loss_map_pts_all: 2.2329, d0.loss_map_dir_all: 0.0208, d0.loss_map_cls: 0.3069, d0.loss_map_pts: 2.2329, d0.loss_map_dir: 0.0208, d1.loss_map_cls: 0.2867, d1.loss_map_pts: 1.4515, d1.loss_map_dir: 0.0202, d2.loss_map_cls: 0.2731, d2.loss_map_pts: 1.2833, d2.loss_map_dir: 0.0207, d3.loss_map_cls: 0.2661, d3.loss_map_pts: 1.2248, d3.loss_map_dir: 0.0212, d4.loss_map_cls: 0.2628, d4.loss_map_pts: 1.2020, d4.loss_map_dir: 0.0214, d5.loss_map_cls: 0.2609, d5.loss_map_pts: 1.1977, d5.loss_map_dir: 0.0216, loss: 43.7688, grad_norm: 153.5063 +2026-02-25 00:27:37,105 - DriveTransformer - INFO - Epoch [3][20800/39528] lr: 9.831e-05, eta: 7 days, 20:36:22, time: 0.786, data_time: 0.038, memory: 19865, loss_cls: 0.3610, loss_bbox: 0.5190, loss_traj: 1.0695, loss_traj_cls: 0.0057, loss_map_cls: 0.2798, loss_map_pts: 1.1870, loss_map_dir: 0.0214, d0.loss_plan_l1_fix_time: 2.7341, d0.loss_plan_l1_fix_dist: 0.4414, d1.loss_plan_l1_fix_time: 1.5113, d1.loss_plan_l1_fix_dist: 0.2811, d2.loss_plan_l1_fix_time: 1.4874, d2.loss_plan_l1_fix_dist: 0.2909, d3.loss_plan_l1_fix_time: 1.4894, d3.loss_plan_l1_fix_dist: 0.3083, d4.loss_plan_l1_fix_time: 1.4955, d4.loss_plan_l1_fix_dist: 0.3289, d5.loss_plan_l1_fix_time: 1.5028, d5.loss_plan_l1_fix_dist: 0.3537, d6.loss_plan_l1_fix_time: 1.5112, d6.loss_plan_l1_fix_dist: 0.3776, d0.loss_cls_all: 0.3750, d0.loss_bbox_all: 0.5601, d0.loss_cls: 0.3750, d0.loss_bbox: 0.5601, d1.loss_cls: 0.3703, d1.loss_bbox: 0.5323, d2.loss_cls: 0.3628, d2.loss_bbox: 0.5221, d3.loss_cls: 0.3595, d3.loss_bbox: 0.5193, d4.loss_cls: 0.3602, d4.loss_bbox: 0.5177, d5.loss_cls: 0.3601, d5.loss_bbox: 0.5170, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2619, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0910, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0664, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0705, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0678, d5.loss_traj_cls: 0.0021, d5.loss_traj: 1.0656, d0.loss_map_cls_all: 0.3202, d0.loss_map_pts_all: 1.9374, d0.loss_map_dir_all: 0.0202, d0.loss_map_cls: 0.3202, d0.loss_map_pts: 1.9374, d0.loss_map_dir: 0.0202, d1.loss_map_cls: 0.3060, d1.loss_map_pts: 1.4004, d1.loss_map_dir: 0.0201, d2.loss_map_cls: 0.2933, d2.loss_map_pts: 1.2688, d2.loss_map_dir: 0.0206, d3.loss_map_cls: 0.2843, d3.loss_map_pts: 1.2142, d3.loss_map_dir: 0.0209, d4.loss_map_cls: 0.2797, d4.loss_map_pts: 1.1959, d4.loss_map_dir: 0.0211, d5.loss_map_cls: 0.2808, d5.loss_map_pts: 1.1900, d5.loss_map_dir: 0.0214, loss: 42.8517, grad_norm: 153.7066 +2026-02-25 00:28:17,651 - DriveTransformer - INFO - Epoch [3][20850/39528] lr: 9.831e-05, eta: 7 days, 20:35:47, time: 0.811, data_time: 0.050, memory: 19865, loss_cls: 0.3552, loss_bbox: 0.5374, loss_traj: 1.0554, loss_traj_cls: 0.0057, loss_map_cls: 0.2853, loss_map_pts: 1.2731, loss_map_dir: 0.0216, d0.loss_plan_l1_fix_time: 2.9340, d0.loss_plan_l1_fix_dist: 0.4159, d1.loss_plan_l1_fix_time: 1.9591, d1.loss_plan_l1_fix_dist: 0.3129, d2.loss_plan_l1_fix_time: 1.9554, d2.loss_plan_l1_fix_dist: 0.3263, d3.loss_plan_l1_fix_time: 1.9553, d3.loss_plan_l1_fix_dist: 0.3440, d4.loss_plan_l1_fix_time: 1.9597, d4.loss_plan_l1_fix_dist: 0.3647, d5.loss_plan_l1_fix_time: 1.9648, d5.loss_plan_l1_fix_dist: 0.3876, d6.loss_plan_l1_fix_time: 1.9707, d6.loss_plan_l1_fix_dist: 0.4094, d0.loss_cls_all: 0.3707, d0.loss_bbox_all: 0.5712, d0.loss_cls: 0.3707, d0.loss_bbox: 0.5712, d1.loss_cls: 0.3651, d1.loss_bbox: 0.5485, d2.loss_cls: 0.3591, d2.loss_bbox: 0.5384, d3.loss_cls: 0.3567, d3.loss_bbox: 0.5377, d4.loss_cls: 0.3534, d4.loss_bbox: 0.5354, d5.loss_cls: 0.3541, d5.loss_bbox: 0.5347, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2519, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0794, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0585, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0490, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0481, d5.loss_traj_cls: 0.0020, d5.loss_traj: 1.0498, d0.loss_map_cls_all: 0.3332, d0.loss_map_pts_all: 2.2046, d0.loss_map_dir_all: 0.0205, d0.loss_map_cls: 0.3332, d0.loss_map_pts: 2.2046, d0.loss_map_dir: 0.0205, d1.loss_map_cls: 0.3193, d1.loss_map_pts: 1.5087, d1.loss_map_dir: 0.0200, d2.loss_map_cls: 0.3042, d2.loss_map_pts: 1.3592, d2.loss_map_dir: 0.0205, d3.loss_map_cls: 0.2932, d3.loss_map_pts: 1.3013, d3.loss_map_dir: 0.0210, d4.loss_map_cls: 0.2864, d4.loss_map_pts: 1.2809, d4.loss_map_dir: 0.0213, d5.loss_map_cls: 0.2862, d5.loss_map_pts: 1.2727, d5.loss_map_dir: 0.0214, loss: 47.1368, grad_norm: 154.2224 +2026-02-25 00:28:56,694 - DriveTransformer - INFO - Epoch [3][20900/39528] lr: 9.831e-05, eta: 7 days, 20:34:59, time: 0.780, data_time: 0.043, memory: 19865, loss_cls: 0.3783, loss_bbox: 0.5255, loss_traj: 1.1084, loss_traj_cls: 0.0058, loss_map_cls: 0.2797, loss_map_pts: 1.2716, loss_map_dir: 0.0229, d0.loss_plan_l1_fix_time: 2.5369, d0.loss_plan_l1_fix_dist: 0.3961, d1.loss_plan_l1_fix_time: 1.7216, d1.loss_plan_l1_fix_dist: 0.2848, d2.loss_plan_l1_fix_time: 1.6949, d2.loss_plan_l1_fix_dist: 0.3087, d3.loss_plan_l1_fix_time: 1.6961, d3.loss_plan_l1_fix_dist: 0.3355, d4.loss_plan_l1_fix_time: 1.7001, d4.loss_plan_l1_fix_dist: 0.3647, d5.loss_plan_l1_fix_time: 1.7050, d5.loss_plan_l1_fix_dist: 0.3942, d6.loss_plan_l1_fix_time: 1.7107, d6.loss_plan_l1_fix_dist: 0.4298, d0.loss_cls_all: 0.3892, d0.loss_bbox_all: 0.5598, d0.loss_cls: 0.3892, d0.loss_bbox: 0.5598, d1.loss_cls: 0.3824, d1.loss_bbox: 0.5360, d2.loss_cls: 0.3819, d2.loss_bbox: 0.5274, d3.loss_cls: 0.3823, d3.loss_bbox: 0.5218, d4.loss_cls: 0.3766, d4.loss_bbox: 0.5236, d5.loss_cls: 0.3767, d5.loss_bbox: 0.5225, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3529, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1444, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1119, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1101, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.1020, d5.loss_traj_cls: 0.0021, d5.loss_traj: 1.1037, d0.loss_map_cls_all: 0.3203, d0.loss_map_pts_all: 2.2846, d0.loss_map_dir_all: 0.0222, d0.loss_map_cls: 0.3203, d0.loss_map_pts: 2.2846, d0.loss_map_dir: 0.0222, d1.loss_map_cls: 0.3075, d1.loss_map_pts: 1.5267, d1.loss_map_dir: 0.0216, d2.loss_map_cls: 0.2909, d2.loss_map_pts: 1.3641, d2.loss_map_dir: 0.0220, d3.loss_map_cls: 0.2852, d3.loss_map_pts: 1.3028, d3.loss_map_dir: 0.0224, d4.loss_map_cls: 0.2803, d4.loss_map_pts: 1.2829, d4.loss_map_dir: 0.0227, d5.loss_map_cls: 0.2799, d5.loss_map_pts: 1.2751, d5.loss_map_dir: 0.0228, loss: 45.7933, grad_norm: 153.6820 +2026-02-25 00:29:36,199 - DriveTransformer - INFO - Epoch [3][20950/39528] lr: 9.831e-05, eta: 7 days, 20:34:15, time: 0.790, data_time: 0.041, memory: 19865, loss_cls: 0.3137, loss_bbox: 0.4995, loss_traj: 1.0848, loss_traj_cls: 0.0060, loss_map_cls: 0.2540, loss_map_pts: 1.1522, loss_map_dir: 0.0195, d0.loss_plan_l1_fix_time: 2.5717, d0.loss_plan_l1_fix_dist: 0.5061, d1.loss_plan_l1_fix_time: 1.7318, d1.loss_plan_l1_fix_dist: 0.2927, d2.loss_plan_l1_fix_time: 1.7082, d2.loss_plan_l1_fix_dist: 0.3095, d3.loss_plan_l1_fix_time: 1.7089, d3.loss_plan_l1_fix_dist: 0.3323, d4.loss_plan_l1_fix_time: 1.7133, d4.loss_plan_l1_fix_dist: 0.3569, d5.loss_plan_l1_fix_time: 1.7189, d5.loss_plan_l1_fix_dist: 0.3823, d6.loss_plan_l1_fix_time: 1.7264, d6.loss_plan_l1_fix_dist: 0.4110, d0.loss_cls_all: 0.3349, d0.loss_bbox_all: 0.5447, d0.loss_cls: 0.3349, d0.loss_bbox: 0.5447, d1.loss_cls: 0.3283, d1.loss_bbox: 0.5164, d2.loss_cls: 0.3239, d2.loss_bbox: 0.5035, d3.loss_cls: 0.3203, d3.loss_bbox: 0.5004, d4.loss_cls: 0.3156, d4.loss_bbox: 0.4996, d5.loss_cls: 0.3140, d5.loss_bbox: 0.4982, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3227, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1112, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0766, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0814, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0783, d5.loss_traj_cls: 0.0022, d5.loss_traj: 1.0826, d0.loss_map_cls_all: 0.2985, d0.loss_map_pts_all: 2.0451, d0.loss_map_dir_all: 0.0186, d0.loss_map_cls: 0.2985, d0.loss_map_pts: 2.0451, d0.loss_map_dir: 0.0186, d1.loss_map_cls: 0.2787, d1.loss_map_pts: 1.3859, d1.loss_map_dir: 0.0181, d2.loss_map_cls: 0.2666, d2.loss_map_pts: 1.2381, d2.loss_map_dir: 0.0185, d3.loss_map_cls: 0.2589, d3.loss_map_pts: 1.1771, d3.loss_map_dir: 0.0189, d4.loss_map_cls: 0.2556, d4.loss_map_pts: 1.1601, d4.loss_map_dir: 0.0192, d5.loss_map_cls: 0.2538, d5.loss_map_pts: 1.1533, d5.loss_map_dir: 0.0193, loss: 43.6852, grad_norm: 152.6324 +2026-02-25 00:30:17,058 - DriveTransformer - INFO - Epoch [3][21000/39528] lr: 9.831e-05, eta: 7 days, 20:33:42, time: 0.817, data_time: 0.039, memory: 19865, loss_cls: 0.3772, loss_bbox: 0.5693, loss_traj: 1.1584, loss_traj_cls: 0.0059, loss_map_cls: 0.3034, loss_map_pts: 1.3297, loss_map_dir: 0.0223, d0.loss_plan_l1_fix_time: 2.8280, d0.loss_plan_l1_fix_dist: 0.4439, d1.loss_plan_l1_fix_time: 1.8454, d1.loss_plan_l1_fix_dist: 0.2875, d2.loss_plan_l1_fix_time: 1.8062, d2.loss_plan_l1_fix_dist: 0.3066, d3.loss_plan_l1_fix_time: 1.8038, d3.loss_plan_l1_fix_dist: 0.3343, d4.loss_plan_l1_fix_time: 1.8075, d4.loss_plan_l1_fix_dist: 0.3650, d5.loss_plan_l1_fix_time: 1.8118, d5.loss_plan_l1_fix_dist: 0.3969, d6.loss_plan_l1_fix_time: 1.8168, d6.loss_plan_l1_fix_dist: 0.4256, d0.loss_cls_all: 0.3882, d0.loss_bbox_all: 0.6073, d0.loss_cls: 0.3882, d0.loss_bbox: 0.6073, d1.loss_cls: 0.3842, d1.loss_bbox: 0.5771, d2.loss_cls: 0.3821, d2.loss_bbox: 0.5652, d3.loss_cls: 0.3798, d3.loss_bbox: 0.5622, d4.loss_cls: 0.3757, d4.loss_bbox: 0.5632, d5.loss_cls: 0.3754, d5.loss_bbox: 0.5646, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3112, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2130, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.1754, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1647, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.1559, d5.loss_traj_cls: 0.0022, d5.loss_traj: 1.1588, d0.loss_map_cls_all: 0.3351, d0.loss_map_pts_all: 2.1527, d0.loss_map_dir_all: 0.0212, d0.loss_map_cls: 0.3351, d0.loss_map_pts: 2.1527, d0.loss_map_dir: 0.0212, d1.loss_map_cls: 0.3215, d1.loss_map_pts: 1.5455, d1.loss_map_dir: 0.0208, d2.loss_map_cls: 0.3120, d2.loss_map_pts: 1.4035, d2.loss_map_dir: 0.0212, d3.loss_map_cls: 0.3057, d3.loss_map_pts: 1.3520, d3.loss_map_dir: 0.0217, d4.loss_map_cls: 0.3030, d4.loss_map_pts: 1.3326, d4.loss_map_dir: 0.0220, d5.loss_map_cls: 0.3032, d5.loss_map_pts: 1.3293, d5.loss_map_dir: 0.0221, loss: 47.5865, grad_norm: 153.5859 +2026-02-25 00:30:59,784 - DriveTransformer - INFO - Epoch [3][21050/39528] lr: 9.831e-05, eta: 7 days, 20:33:25, time: 0.854, data_time: 0.045, memory: 19865, loss_cls: 0.3328, loss_bbox: 0.5214, loss_traj: 0.9319, loss_traj_cls: 0.0060, loss_map_cls: 0.2802, loss_map_pts: 1.3023, loss_map_dir: 0.0249, d0.loss_plan_l1_fix_time: 2.1875, d0.loss_plan_l1_fix_dist: 0.3720, d1.loss_plan_l1_fix_time: 1.5562, d1.loss_plan_l1_fix_dist: 0.3038, d2.loss_plan_l1_fix_time: 1.5471, d2.loss_plan_l1_fix_dist: 0.3268, d3.loss_plan_l1_fix_time: 1.5536, d3.loss_plan_l1_fix_dist: 0.3615, d4.loss_plan_l1_fix_time: 1.5598, d4.loss_plan_l1_fix_dist: 0.4020, d5.loss_plan_l1_fix_time: 1.5658, d5.loss_plan_l1_fix_dist: 0.4441, d6.loss_plan_l1_fix_time: 1.5716, d6.loss_plan_l1_fix_dist: 0.4878, d0.loss_cls_all: 0.3429, d0.loss_bbox_all: 0.5300, d0.loss_cls: 0.3429, d0.loss_bbox: 0.5300, d1.loss_cls: 0.3356, d1.loss_bbox: 0.5094, d2.loss_cls: 0.3344, d2.loss_bbox: 0.5021, d3.loss_cls: 0.3355, d3.loss_bbox: 0.5055, d4.loss_cls: 0.3303, d4.loss_bbox: 0.5093, d5.loss_cls: 0.3318, d5.loss_bbox: 0.5133, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1393, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9809, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.9502, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9404, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9274, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.9268, d0.loss_map_cls_all: 0.3255, d0.loss_map_pts_all: 2.3500, d0.loss_map_dir_all: 0.0233, d0.loss_map_cls: 0.3255, d0.loss_map_pts: 2.3500, d0.loss_map_dir: 0.0233, d1.loss_map_cls: 0.3091, d1.loss_map_pts: 1.5485, d1.loss_map_dir: 0.0232, d2.loss_map_cls: 0.2947, d2.loss_map_pts: 1.3849, d2.loss_map_dir: 0.0237, d3.loss_map_cls: 0.2880, d3.loss_map_pts: 1.3286, d3.loss_map_dir: 0.0242, d4.loss_map_cls: 0.2824, d4.loss_map_pts: 1.3076, d4.loss_map_dir: 0.0245, d5.loss_map_cls: 0.2797, d5.loss_map_pts: 1.3039, d5.loss_map_dir: 0.0247, loss: 43.3090, grad_norm: 153.1211 +2026-02-25 00:31:39,699 - DriveTransformer - INFO - Epoch [3][21100/39528] lr: 9.831e-05, eta: 7 days, 20:32:45, time: 0.798, data_time: 0.039, memory: 19865, loss_cls: 0.3451, loss_bbox: 0.5212, loss_traj: 1.0107, loss_traj_cls: 0.0061, loss_map_cls: 0.2837, loss_map_pts: 1.2143, loss_map_dir: 0.0234, d0.loss_plan_l1_fix_time: 2.7900, d0.loss_plan_l1_fix_dist: 0.4241, d1.loss_plan_l1_fix_time: 1.8315, d1.loss_plan_l1_fix_dist: 0.2877, d2.loss_plan_l1_fix_time: 1.8017, d2.loss_plan_l1_fix_dist: 0.3055, d3.loss_plan_l1_fix_time: 1.7971, d3.loss_plan_l1_fix_dist: 0.3250, d4.loss_plan_l1_fix_time: 1.8001, d4.loss_plan_l1_fix_dist: 0.3470, d5.loss_plan_l1_fix_time: 1.8054, d5.loss_plan_l1_fix_dist: 0.3702, d6.loss_plan_l1_fix_time: 1.8122, d6.loss_plan_l1_fix_dist: 0.3964, d0.loss_cls_all: 0.3614, d0.loss_bbox_all: 0.5437, d0.loss_cls: 0.3614, d0.loss_bbox: 0.5437, d1.loss_cls: 0.3537, d1.loss_bbox: 0.5226, d2.loss_cls: 0.3525, d2.loss_bbox: 0.5130, d3.loss_cls: 0.3525, d3.loss_bbox: 0.5116, d4.loss_cls: 0.3475, d4.loss_bbox: 0.5158, d5.loss_cls: 0.3457, d5.loss_bbox: 0.5153, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1724, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0362, d2.loss_traj_cls: 0.0011, d2.loss_traj: 1.0083, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0095, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0137, d5.loss_traj_cls: 0.0022, d5.loss_traj: 1.0090, d0.loss_map_cls_all: 0.3230, d0.loss_map_pts_all: 2.2567, d0.loss_map_dir_all: 0.0222, d0.loss_map_cls: 0.3230, d0.loss_map_pts: 2.2567, d0.loss_map_dir: 0.0222, d1.loss_map_cls: 0.3039, d1.loss_map_pts: 1.4630, d1.loss_map_dir: 0.0217, d2.loss_map_cls: 0.2957, d2.loss_map_pts: 1.2936, d2.loss_map_dir: 0.0222, d3.loss_map_cls: 0.2881, d3.loss_map_pts: 1.2384, d3.loss_map_dir: 0.0227, d4.loss_map_cls: 0.2840, d4.loss_map_pts: 1.2218, d4.loss_map_dir: 0.0231, d5.loss_map_cls: 0.2829, d5.loss_map_pts: 1.2180, d5.loss_map_dir: 0.0233, loss: 45.1009, grad_norm: 152.6624 +2026-02-25 00:32:19,809 - DriveTransformer - INFO - Epoch [3][21150/39528] lr: 9.831e-05, eta: 7 days, 20:32:05, time: 0.802, data_time: 0.039, memory: 19865, loss_cls: 0.3265, loss_bbox: 0.5237, loss_traj: 0.9498, loss_traj_cls: 0.0062, loss_map_cls: 0.2558, loss_map_pts: 1.0945, loss_map_dir: 0.0198, d0.loss_plan_l1_fix_time: 2.7671, d0.loss_plan_l1_fix_dist: 0.5502, d1.loss_plan_l1_fix_time: 1.7116, d1.loss_plan_l1_fix_dist: 0.3310, d2.loss_plan_l1_fix_time: 1.6881, d2.loss_plan_l1_fix_dist: 0.3536, d3.loss_plan_l1_fix_time: 1.6890, d3.loss_plan_l1_fix_dist: 0.3788, d4.loss_plan_l1_fix_time: 1.6957, d4.loss_plan_l1_fix_dist: 0.4068, d5.loss_plan_l1_fix_time: 1.7036, d5.loss_plan_l1_fix_dist: 0.4403, d6.loss_plan_l1_fix_time: 1.7138, d6.loss_plan_l1_fix_dist: 0.4763, d0.loss_cls_all: 0.3451, d0.loss_bbox_all: 0.5527, d0.loss_cls: 0.3451, d0.loss_bbox: 0.5527, d1.loss_cls: 0.3359, d1.loss_bbox: 0.5312, d2.loss_cls: 0.3290, d2.loss_bbox: 0.5217, d3.loss_cls: 0.3273, d3.loss_bbox: 0.5157, d4.loss_cls: 0.3252, d4.loss_bbox: 0.5159, d5.loss_cls: 0.3245, d5.loss_bbox: 0.5187, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1798, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0031, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9573, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9479, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9436, d5.loss_traj_cls: 0.0023, d5.loss_traj: 0.9491, d0.loss_map_cls_all: 0.3049, d0.loss_map_pts_all: 1.8844, d0.loss_map_dir_all: 0.0188, d0.loss_map_cls: 0.3049, d0.loss_map_pts: 1.8844, d0.loss_map_dir: 0.0188, d1.loss_map_cls: 0.2819, d1.loss_map_pts: 1.2932, d1.loss_map_dir: 0.0184, d2.loss_map_cls: 0.2690, d2.loss_map_pts: 1.1654, d2.loss_map_dir: 0.0188, d3.loss_map_cls: 0.2641, d3.loss_map_pts: 1.1169, d3.loss_map_dir: 0.0192, d4.loss_map_cls: 0.2572, d4.loss_map_pts: 1.1036, d4.loss_map_dir: 0.0195, d5.loss_map_cls: 0.2556, d5.loss_map_pts: 1.0962, d5.loss_map_dir: 0.0197, loss: 42.7259, grad_norm: 152.6265 +2026-02-25 00:32:59,686 - DriveTransformer - INFO - Epoch [3][21200/39528] lr: 9.831e-05, eta: 7 days, 20:31:25, time: 0.799, data_time: 0.041, memory: 19865, loss_cls: 0.3759, loss_bbox: 0.5525, loss_traj: 1.2085, loss_traj_cls: 0.0062, loss_map_cls: 0.2846, loss_map_pts: 1.3451, loss_map_dir: 0.0239, d0.loss_plan_l1_fix_time: 3.1050, d0.loss_plan_l1_fix_dist: 0.3891, d1.loss_plan_l1_fix_time: 1.9804, d1.loss_plan_l1_fix_dist: 0.2923, d2.loss_plan_l1_fix_time: 1.9521, d2.loss_plan_l1_fix_dist: 0.3020, d3.loss_plan_l1_fix_time: 1.9498, d3.loss_plan_l1_fix_dist: 0.3209, d4.loss_plan_l1_fix_time: 1.9544, d4.loss_plan_l1_fix_dist: 0.3427, d5.loss_plan_l1_fix_time: 1.9603, d5.loss_plan_l1_fix_dist: 0.3651, d6.loss_plan_l1_fix_time: 1.9667, d6.loss_plan_l1_fix_dist: 0.3889, d0.loss_cls_all: 0.3857, d0.loss_bbox_all: 0.5873, d0.loss_cls: 0.3857, d0.loss_bbox: 0.5873, d1.loss_cls: 0.3760, d1.loss_bbox: 0.5620, d2.loss_cls: 0.3761, d2.loss_bbox: 0.5498, d3.loss_cls: 0.3750, d3.loss_bbox: 0.5466, d4.loss_cls: 0.3772, d4.loss_bbox: 0.5454, d5.loss_cls: 0.3759, d5.loss_bbox: 0.5488, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3633, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2301, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2092, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2175, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.2040, d5.loss_traj_cls: 0.0023, d5.loss_traj: 1.2070, d0.loss_map_cls_all: 0.3305, d0.loss_map_pts_all: 2.2884, d0.loss_map_dir_all: 0.0222, d0.loss_map_cls: 0.3305, d0.loss_map_pts: 2.2884, d0.loss_map_dir: 0.0222, d1.loss_map_cls: 0.3072, d1.loss_map_pts: 1.5643, d1.loss_map_dir: 0.0221, d2.loss_map_cls: 0.2953, d2.loss_map_pts: 1.4123, d2.loss_map_dir: 0.0226, d3.loss_map_cls: 0.2908, d3.loss_map_pts: 1.3607, d3.loss_map_dir: 0.0232, d4.loss_map_cls: 0.2864, d4.loss_map_pts: 1.3515, d4.loss_map_dir: 0.0235, d5.loss_map_cls: 0.2850, d5.loss_map_pts: 1.3465, d5.loss_map_dir: 0.0237, loss: 48.9810, grad_norm: 152.3845 +2026-02-25 00:33:38,797 - DriveTransformer - INFO - Epoch [3][21250/39528] lr: 9.831e-05, eta: 7 days, 20:30:37, time: 0.781, data_time: 0.045, memory: 19865, loss_cls: 0.3844, loss_bbox: 0.5436, loss_traj: 0.9947, loss_traj_cls: 0.0063, loss_map_cls: 0.2649, loss_map_pts: 1.1553, loss_map_dir: 0.0195, d0.loss_plan_l1_fix_time: 2.5795, d0.loss_plan_l1_fix_dist: 0.4311, d1.loss_plan_l1_fix_time: 1.8632, d1.loss_plan_l1_fix_dist: 0.3068, d2.loss_plan_l1_fix_time: 1.8706, d2.loss_plan_l1_fix_dist: 0.3297, d3.loss_plan_l1_fix_time: 1.8868, d3.loss_plan_l1_fix_dist: 0.3606, d4.loss_plan_l1_fix_time: 1.8968, d4.loss_plan_l1_fix_dist: 0.3903, d5.loss_plan_l1_fix_time: 1.9057, d5.loss_plan_l1_fix_dist: 0.4198, d6.loss_plan_l1_fix_time: 1.9138, d6.loss_plan_l1_fix_dist: 0.4503, d0.loss_cls_all: 0.3953, d0.loss_bbox_all: 0.5804, d0.loss_cls: 0.3953, d0.loss_bbox: 0.5804, d1.loss_cls: 0.3905, d1.loss_bbox: 0.5569, d2.loss_cls: 0.3850, d2.loss_bbox: 0.5477, d3.loss_cls: 0.3849, d3.loss_bbox: 0.5449, d4.loss_cls: 0.3822, d4.loss_bbox: 0.5433, d5.loss_cls: 0.3830, d5.loss_bbox: 0.5419, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1676, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0074, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9923, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9882, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9867, d5.loss_traj_cls: 0.0024, d5.loss_traj: 0.9865, d0.loss_map_cls_all: 0.3212, d0.loss_map_pts_all: 1.9884, d0.loss_map_dir_all: 0.0183, d0.loss_map_cls: 0.3212, d0.loss_map_pts: 1.9884, d0.loss_map_dir: 0.0183, d1.loss_map_cls: 0.2990, d1.loss_map_pts: 1.3485, d1.loss_map_dir: 0.0182, d2.loss_map_cls: 0.2800, d2.loss_map_pts: 1.2213, d2.loss_map_dir: 0.0186, d3.loss_map_cls: 0.2717, d3.loss_map_pts: 1.1745, d3.loss_map_dir: 0.0189, d4.loss_map_cls: 0.2670, d4.loss_map_pts: 1.1595, d4.loss_map_dir: 0.0192, d5.loss_map_cls: 0.2648, d5.loss_map_pts: 1.1575, d5.loss_map_dir: 0.0193, loss: 44.9150, grad_norm: 153.2971 +2026-02-25 00:34:16,878 - DriveTransformer - INFO - Epoch [3][21300/39528] lr: 9.831e-05, eta: 7 days, 20:29:41, time: 0.762, data_time: 0.040, memory: 19865, loss_cls: 0.3882, loss_bbox: 0.5404, loss_traj: 1.0972, loss_traj_cls: 0.0063, loss_map_cls: 0.3006, loss_map_pts: 1.1718, loss_map_dir: 0.0184, d0.loss_plan_l1_fix_time: 2.7825, d0.loss_plan_l1_fix_dist: 0.4399, d1.loss_plan_l1_fix_time: 1.9276, d1.loss_plan_l1_fix_dist: 0.2909, d2.loss_plan_l1_fix_time: 1.9031, d2.loss_plan_l1_fix_dist: 0.3084, d3.loss_plan_l1_fix_time: 1.9064, d3.loss_plan_l1_fix_dist: 0.3314, d4.loss_plan_l1_fix_time: 1.9121, d4.loss_plan_l1_fix_dist: 0.3568, d5.loss_plan_l1_fix_time: 1.9183, d5.loss_plan_l1_fix_dist: 0.3828, d6.loss_plan_l1_fix_time: 1.9248, d6.loss_plan_l1_fix_dist: 0.4106, d0.loss_cls_all: 0.4019, d0.loss_bbox_all: 0.5847, d0.loss_cls: 0.4019, d0.loss_bbox: 0.5847, d1.loss_cls: 0.3929, d1.loss_bbox: 0.5591, d2.loss_cls: 0.3856, d2.loss_bbox: 0.5469, d3.loss_cls: 0.3851, d3.loss_bbox: 0.5429, d4.loss_cls: 0.3829, d4.loss_bbox: 0.5395, d5.loss_cls: 0.3864, d5.loss_bbox: 0.5386, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2955, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1381, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0989, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0933, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0895, d5.loss_traj_cls: 0.0023, d5.loss_traj: 1.0916, d0.loss_map_cls_all: 0.3465, d0.loss_map_pts_all: 1.8801, d0.loss_map_dir_all: 0.0170, d0.loss_map_cls: 0.3465, d0.loss_map_pts: 1.8801, d0.loss_map_dir: 0.0170, d1.loss_map_cls: 0.3275, d1.loss_map_pts: 1.3710, d1.loss_map_dir: 0.0169, d2.loss_map_cls: 0.3091, d2.loss_map_pts: 1.2406, d2.loss_map_dir: 0.0176, d3.loss_map_cls: 0.3069, d3.loss_map_pts: 1.1904, d3.loss_map_dir: 0.0180, d4.loss_map_cls: 0.3022, d4.loss_map_pts: 1.1751, d4.loss_map_dir: 0.0182, d5.loss_map_cls: 0.3003, d5.loss_map_pts: 1.1706, d5.loss_map_dir: 0.0183, loss: 46.0356, grad_norm: 153.6371 +2026-02-25 00:34:57,178 - DriveTransformer - INFO - Epoch [3][21350/39528] lr: 9.831e-05, eta: 7 days, 20:29:03, time: 0.806, data_time: 0.038, memory: 19865, loss_cls: 0.3824, loss_bbox: 0.5325, loss_traj: 1.1943, loss_traj_cls: 0.0064, loss_map_cls: 0.2884, loss_map_pts: 1.2384, loss_map_dir: 0.0222, d0.loss_plan_l1_fix_time: 2.6327, d0.loss_plan_l1_fix_dist: 0.4039, d1.loss_plan_l1_fix_time: 1.7848, d1.loss_plan_l1_fix_dist: 0.2943, d2.loss_plan_l1_fix_time: 1.7653, d2.loss_plan_l1_fix_dist: 0.3167, d3.loss_plan_l1_fix_time: 1.7713, d3.loss_plan_l1_fix_dist: 0.3448, d4.loss_plan_l1_fix_time: 1.7836, d4.loss_plan_l1_fix_dist: 0.3811, d5.loss_plan_l1_fix_time: 1.7980, d5.loss_plan_l1_fix_dist: 0.4204, d6.loss_plan_l1_fix_time: 1.8138, d6.loss_plan_l1_fix_dist: 0.4612, d0.loss_cls_all: 0.3736, d0.loss_bbox_all: 0.5662, d0.loss_cls: 0.3736, d0.loss_bbox: 0.5662, d1.loss_cls: 0.3752, d1.loss_bbox: 0.5407, d2.loss_cls: 0.3753, d2.loss_bbox: 0.5320, d3.loss_cls: 0.3735, d3.loss_bbox: 0.5278, d4.loss_cls: 0.3755, d4.loss_bbox: 0.5276, d5.loss_cls: 0.3805, d5.loss_bbox: 0.5288, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3094, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2317, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1959, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1926, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.1907, d5.loss_traj_cls: 0.0024, d5.loss_traj: 1.1885, d0.loss_map_cls_all: 0.3497, d0.loss_map_pts_all: 2.1727, d0.loss_map_dir_all: 0.0204, d0.loss_map_cls: 0.3497, d0.loss_map_pts: 2.1727, d0.loss_map_dir: 0.0204, d1.loss_map_cls: 0.3207, d1.loss_map_pts: 1.4661, d1.loss_map_dir: 0.0204, d2.loss_map_cls: 0.3024, d2.loss_map_pts: 1.3159, d2.loss_map_dir: 0.0209, d3.loss_map_cls: 0.2957, d3.loss_map_pts: 1.2590, d3.loss_map_dir: 0.0215, d4.loss_map_cls: 0.2908, d4.loss_map_pts: 1.2419, d4.loss_map_dir: 0.0218, d5.loss_map_cls: 0.2876, d5.loss_map_pts: 1.2355, d5.loss_map_dir: 0.0221, loss: 46.5769, grad_norm: 155.7839 +2026-02-25 00:35:39,789 - DriveTransformer - INFO - Epoch [3][21400/39528] lr: 9.831e-05, eta: 7 days, 20:28:45, time: 0.852, data_time: 0.041, memory: 19865, loss_cls: 0.3822, loss_bbox: 0.5153, loss_traj: 0.9572, loss_traj_cls: 0.0065, loss_map_cls: 0.2888, loss_map_pts: 1.3654, loss_map_dir: 0.0247, d0.loss_plan_l1_fix_time: 2.9012, d0.loss_plan_l1_fix_dist: 0.4153, d1.loss_plan_l1_fix_time: 2.0302, d1.loss_plan_l1_fix_dist: 0.2843, d2.loss_plan_l1_fix_time: 2.0229, d2.loss_plan_l1_fix_dist: 0.3006, d3.loss_plan_l1_fix_time: 2.0281, d3.loss_plan_l1_fix_dist: 0.3226, d4.loss_plan_l1_fix_time: 2.0389, d4.loss_plan_l1_fix_dist: 0.3491, d5.loss_plan_l1_fix_time: 2.0516, d5.loss_plan_l1_fix_dist: 0.3787, d6.loss_plan_l1_fix_time: 2.0653, d6.loss_plan_l1_fix_dist: 0.4087, d0.loss_cls_all: 0.3902, d0.loss_bbox_all: 0.5583, d0.loss_cls: 0.3902, d0.loss_bbox: 0.5583, d1.loss_cls: 0.3823, d1.loss_bbox: 0.5308, d2.loss_cls: 0.3809, d2.loss_bbox: 0.5193, d3.loss_cls: 0.3789, d3.loss_bbox: 0.5136, d4.loss_cls: 0.3791, d4.loss_bbox: 0.5115, d5.loss_cls: 0.3810, d5.loss_bbox: 0.5115, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0360, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9672, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9523, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9519, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9473, d5.loss_traj_cls: 0.0025, d5.loss_traj: 0.9539, d0.loss_map_cls_all: 0.3270, d0.loss_map_pts_all: 2.3161, d0.loss_map_dir_all: 0.0225, d0.loss_map_cls: 0.3270, d0.loss_map_pts: 2.3161, d0.loss_map_dir: 0.0225, d1.loss_map_cls: 0.3068, d1.loss_map_pts: 1.5886, d1.loss_map_dir: 0.0226, d2.loss_map_cls: 0.2985, d2.loss_map_pts: 1.4420, d2.loss_map_dir: 0.0233, d3.loss_map_cls: 0.2938, d3.loss_map_pts: 1.3889, d3.loss_map_dir: 0.0240, d4.loss_map_cls: 0.2878, d4.loss_map_pts: 1.3709, d4.loss_map_dir: 0.0243, d5.loss_map_cls: 0.2880, d5.loss_map_pts: 1.3670, d5.loss_map_dir: 0.0245, loss: 47.4214, grad_norm: 156.7346 +2026-02-25 00:36:20,691 - DriveTransformer - INFO - Epoch [3][21450/39528] lr: 9.831e-05, eta: 7 days, 20:28:13, time: 0.818, data_time: 0.040, memory: 19865, loss_cls: 0.3480, loss_bbox: 0.5094, loss_traj: 1.2331, loss_traj_cls: 0.0066, loss_map_cls: 0.2942, loss_map_pts: 1.2348, loss_map_dir: 0.0211, d0.loss_plan_l1_fix_time: 3.0130, d0.loss_plan_l1_fix_dist: 0.4917, d1.loss_plan_l1_fix_time: 1.8735, d1.loss_plan_l1_fix_dist: 0.2860, d2.loss_plan_l1_fix_time: 1.8439, d2.loss_plan_l1_fix_dist: 0.3013, d3.loss_plan_l1_fix_time: 1.8442, d3.loss_plan_l1_fix_dist: 0.3211, d4.loss_plan_l1_fix_time: 1.8501, d4.loss_plan_l1_fix_dist: 0.3410, d5.loss_plan_l1_fix_time: 1.8571, d5.loss_plan_l1_fix_dist: 0.3604, d6.loss_plan_l1_fix_time: 1.8657, d6.loss_plan_l1_fix_dist: 0.3822, d0.loss_cls_all: 0.3538, d0.loss_bbox_all: 0.5634, d0.loss_cls: 0.3538, d0.loss_bbox: 0.5634, d1.loss_cls: 0.3479, d1.loss_bbox: 0.5334, d2.loss_cls: 0.3483, d2.loss_bbox: 0.5167, d3.loss_cls: 0.3483, d3.loss_bbox: 0.5103, d4.loss_cls: 0.3472, d4.loss_bbox: 0.5091, d5.loss_cls: 0.3475, d5.loss_bbox: 0.5077, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.5268, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2821, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2532, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.2419, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.2356, d5.loss_traj_cls: 0.0025, d5.loss_traj: 1.2349, d0.loss_map_cls_all: 0.3374, d0.loss_map_pts_all: 2.1823, d0.loss_map_dir_all: 0.0204, d0.loss_map_cls: 0.3374, d0.loss_map_pts: 2.1823, d0.loss_map_dir: 0.0204, d1.loss_map_cls: 0.3150, d1.loss_map_pts: 1.4613, d1.loss_map_dir: 0.0196, d2.loss_map_cls: 0.3042, d2.loss_map_pts: 1.3155, d2.loss_map_dir: 0.0201, d3.loss_map_cls: 0.3011, d3.loss_map_pts: 1.2623, d3.loss_map_dir: 0.0207, d4.loss_map_cls: 0.2959, d4.loss_map_pts: 1.2409, d4.loss_map_dir: 0.0209, d5.loss_map_cls: 0.2943, d5.loss_map_pts: 1.2362, d5.loss_map_dir: 0.0211, loss: 47.4203, grad_norm: 156.8718 +2026-02-25 00:37:01,559 - DriveTransformer - INFO - Epoch [3][21500/39528] lr: 9.831e-05, eta: 7 days, 20:27:40, time: 0.817, data_time: 0.044, memory: 19865, loss_cls: 0.3698, loss_bbox: 0.5058, loss_traj: 1.1110, loss_traj_cls: 0.0065, loss_map_cls: 0.2961, loss_map_pts: 1.2897, loss_map_dir: 0.0218, d0.loss_plan_l1_fix_time: 2.5787, d0.loss_plan_l1_fix_dist: 0.3862, d1.loss_plan_l1_fix_time: 1.8976, d1.loss_plan_l1_fix_dist: 0.2872, d2.loss_plan_l1_fix_time: 1.9037, d2.loss_plan_l1_fix_dist: 0.3084, d3.loss_plan_l1_fix_time: 1.9118, d3.loss_plan_l1_fix_dist: 0.3321, d4.loss_plan_l1_fix_time: 1.9182, d4.loss_plan_l1_fix_dist: 0.3578, d5.loss_plan_l1_fix_time: 1.9238, d5.loss_plan_l1_fix_dist: 0.3852, d6.loss_plan_l1_fix_time: 1.9305, d6.loss_plan_l1_fix_dist: 0.4180, d0.loss_cls_all: 0.3725, d0.loss_bbox_all: 0.5503, d0.loss_cls: 0.3725, d0.loss_bbox: 0.5503, d1.loss_cls: 0.3693, d1.loss_bbox: 0.5233, d2.loss_cls: 0.3677, d2.loss_bbox: 0.5111, d3.loss_cls: 0.3668, d3.loss_bbox: 0.5058, d4.loss_cls: 0.3658, d4.loss_bbox: 0.5042, d5.loss_cls: 0.3666, d5.loss_bbox: 0.5034, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3050, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1536, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1142, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1203, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.1119, d5.loss_traj_cls: 0.0024, d5.loss_traj: 1.1121, d0.loss_map_cls_all: 0.3572, d0.loss_map_pts_all: 2.2565, d0.loss_map_dir_all: 0.0201, d0.loss_map_cls: 0.3572, d0.loss_map_pts: 2.2565, d0.loss_map_dir: 0.0201, d1.loss_map_cls: 0.3257, d1.loss_map_pts: 1.5205, d1.loss_map_dir: 0.0198, d2.loss_map_cls: 0.3065, d2.loss_map_pts: 1.3700, d2.loss_map_dir: 0.0204, d3.loss_map_cls: 0.3005, d3.loss_map_pts: 1.3096, d3.loss_map_dir: 0.0210, d4.loss_map_cls: 0.2962, d4.loss_map_pts: 1.2906, d4.loss_map_dir: 0.0213, d5.loss_map_cls: 0.2950, d5.loss_map_pts: 1.2887, d5.loss_map_dir: 0.0216, loss: 46.9690, grad_norm: 156.6098 +2026-02-25 00:37:40,838 - DriveTransformer - INFO - Epoch [3][21550/39528] lr: 9.831e-05, eta: 7 days, 20:26:54, time: 0.786, data_time: 0.037, memory: 19865, loss_cls: 0.3582, loss_bbox: 0.5167, loss_traj: 1.1130, loss_traj_cls: 0.0066, loss_map_cls: 0.2532, loss_map_pts: 1.1178, loss_map_dir: 0.0189, d0.loss_plan_l1_fix_time: 2.6495, d0.loss_plan_l1_fix_dist: 0.4117, d1.loss_plan_l1_fix_time: 1.9876, d1.loss_plan_l1_fix_dist: 0.2825, d2.loss_plan_l1_fix_time: 1.9601, d2.loss_plan_l1_fix_dist: 0.2896, d3.loss_plan_l1_fix_time: 1.9573, d3.loss_plan_l1_fix_dist: 0.3037, d4.loss_plan_l1_fix_time: 1.9614, d4.loss_plan_l1_fix_dist: 0.3191, d5.loss_plan_l1_fix_time: 1.9664, d5.loss_plan_l1_fix_dist: 0.3367, d6.loss_plan_l1_fix_time: 1.9718, d6.loss_plan_l1_fix_dist: 0.3562, d0.loss_cls_all: 0.3695, d0.loss_bbox_all: 0.5583, d0.loss_cls: 0.3695, d0.loss_bbox: 0.5583, d1.loss_cls: 0.3635, d1.loss_bbox: 0.5328, d2.loss_cls: 0.3593, d2.loss_bbox: 0.5220, d3.loss_cls: 0.3567, d3.loss_bbox: 0.5179, d4.loss_cls: 0.3549, d4.loss_bbox: 0.5164, d5.loss_cls: 0.3569, d5.loss_bbox: 0.5150, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2611, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1337, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1120, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1200, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.1130, d5.loss_traj_cls: 0.0025, d5.loss_traj: 1.1112, d0.loss_map_cls_all: 0.3044, d0.loss_map_pts_all: 1.9862, d0.loss_map_dir_all: 0.0179, d0.loss_map_cls: 0.3044, d0.loss_map_pts: 1.9862, d0.loss_map_dir: 0.0179, d1.loss_map_cls: 0.2829, d1.loss_map_pts: 1.3316, d1.loss_map_dir: 0.0174, d2.loss_map_cls: 0.2647, d2.loss_map_pts: 1.1869, d2.loss_map_dir: 0.0180, d3.loss_map_cls: 0.2586, d3.loss_map_pts: 1.1358, d3.loss_map_dir: 0.0184, d4.loss_map_cls: 0.2546, d4.loss_map_pts: 1.1206, d4.loss_map_dir: 0.0187, d5.loss_map_cls: 0.2533, d5.loss_map_pts: 1.1172, d5.loss_map_dir: 0.0188, loss: 45.1615, grad_norm: 155.4262 +2026-02-25 00:38:19,829 - DriveTransformer - INFO - Epoch [3][21600/39528] lr: 9.831e-05, eta: 7 days, 20:26:06, time: 0.780, data_time: 0.039, memory: 19865, loss_cls: 0.3568, loss_bbox: 0.5139, loss_traj: 1.1956, loss_traj_cls: 0.0066, loss_map_cls: 0.2652, loss_map_pts: 1.1663, loss_map_dir: 0.0186, d0.loss_plan_l1_fix_time: 2.7687, d0.loss_plan_l1_fix_dist: 0.4526, d1.loss_plan_l1_fix_time: 1.8980, d1.loss_plan_l1_fix_dist: 0.3402, d2.loss_plan_l1_fix_time: 1.8577, d2.loss_plan_l1_fix_dist: 0.3592, d3.loss_plan_l1_fix_time: 1.8519, d3.loss_plan_l1_fix_dist: 0.3832, d4.loss_plan_l1_fix_time: 1.8545, d4.loss_plan_l1_fix_dist: 0.4108, d5.loss_plan_l1_fix_time: 1.8590, d5.loss_plan_l1_fix_dist: 0.4375, d6.loss_plan_l1_fix_time: 1.8634, d6.loss_plan_l1_fix_dist: 0.4615, d0.loss_cls_all: 0.3723, d0.loss_bbox_all: 0.5583, d0.loss_cls: 0.3723, d0.loss_bbox: 0.5583, d1.loss_cls: 0.3669, d1.loss_bbox: 0.5338, d2.loss_cls: 0.3608, d2.loss_bbox: 0.5221, d3.loss_cls: 0.3583, d3.loss_bbox: 0.5181, d4.loss_cls: 0.3562, d4.loss_bbox: 0.5158, d5.loss_cls: 0.3564, d5.loss_bbox: 0.5128, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3972, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2473, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2023, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1883, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.1920, d5.loss_traj_cls: 0.0025, d5.loss_traj: 1.1894, d0.loss_map_cls_all: 0.3198, d0.loss_map_pts_all: 2.0296, d0.loss_map_dir_all: 0.0179, d0.loss_map_cls: 0.3198, d0.loss_map_pts: 2.0296, d0.loss_map_dir: 0.0179, d1.loss_map_cls: 0.3026, d1.loss_map_pts: 1.3675, d1.loss_map_dir: 0.0172, d2.loss_map_cls: 0.2820, d2.loss_map_pts: 1.2397, d2.loss_map_dir: 0.0176, d3.loss_map_cls: 0.2732, d3.loss_map_pts: 1.1919, d3.loss_map_dir: 0.0180, d4.loss_map_cls: 0.2695, d4.loss_map_pts: 1.1753, d4.loss_map_dir: 0.0183, d5.loss_map_cls: 0.2677, d5.loss_map_pts: 1.1684, d5.loss_map_dir: 0.0185, loss: 46.3696, grad_norm: 153.6609 +2026-02-25 00:38:58,161 - DriveTransformer - INFO - Epoch [3][21650/39528] lr: 9.831e-05, eta: 7 days, 20:25:12, time: 0.767, data_time: 0.039, memory: 19865, loss_cls: 0.3749, loss_bbox: 0.5050, loss_traj: 1.1110, loss_traj_cls: 0.0066, loss_map_cls: 0.3127, loss_map_pts: 1.2931, loss_map_dir: 0.0222, d0.loss_plan_l1_fix_time: 2.3854, d0.loss_plan_l1_fix_dist: 0.4081, d1.loss_plan_l1_fix_time: 1.8421, d1.loss_plan_l1_fix_dist: 0.2997, d2.loss_plan_l1_fix_time: 1.8420, d2.loss_plan_l1_fix_dist: 0.3130, d3.loss_plan_l1_fix_time: 1.8523, d3.loss_plan_l1_fix_dist: 0.3324, d4.loss_plan_l1_fix_time: 1.8616, d4.loss_plan_l1_fix_dist: 0.3558, d5.loss_plan_l1_fix_time: 1.8711, d5.loss_plan_l1_fix_dist: 0.3810, d6.loss_plan_l1_fix_time: 1.8808, d6.loss_plan_l1_fix_dist: 0.4068, d0.loss_cls_all: 0.3890, d0.loss_bbox_all: 0.5576, d0.loss_cls: 0.3890, d0.loss_bbox: 0.5576, d1.loss_cls: 0.3837, d1.loss_bbox: 0.5274, d2.loss_cls: 0.3783, d2.loss_bbox: 0.5133, d3.loss_cls: 0.3752, d3.loss_bbox: 0.5075, d4.loss_cls: 0.3737, d4.loss_bbox: 0.5046, d5.loss_cls: 0.3740, d5.loss_bbox: 0.5038, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3451, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1237, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1076, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1157, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.1176, d5.loss_traj_cls: 0.0025, d5.loss_traj: 1.1168, d0.loss_map_cls_all: 0.3608, d0.loss_map_pts_all: 2.2338, d0.loss_map_dir_all: 0.0207, d0.loss_map_cls: 0.3608, d0.loss_map_pts: 2.2338, d0.loss_map_dir: 0.0207, d1.loss_map_cls: 0.3440, d1.loss_map_pts: 1.5342, d1.loss_map_dir: 0.0207, d2.loss_map_cls: 0.3282, d2.loss_map_pts: 1.3791, d2.loss_map_dir: 0.0213, d3.loss_map_cls: 0.3194, d3.loss_map_pts: 1.3210, d3.loss_map_dir: 0.0217, d4.loss_map_cls: 0.3134, d4.loss_map_pts: 1.3034, d4.loss_map_dir: 0.0219, d5.loss_map_cls: 0.3131, d5.loss_map_pts: 1.2948, d5.loss_map_dir: 0.0221, loss: 46.7154, grad_norm: 152.5001 +2026-02-25 00:39:38,029 - DriveTransformer - INFO - Epoch [3][21700/39528] lr: 9.831e-05, eta: 7 days, 20:24:31, time: 0.797, data_time: 0.040, memory: 19865, loss_cls: 0.3348, loss_bbox: 0.4678, loss_traj: 0.9304, loss_traj_cls: 0.0066, loss_map_cls: 0.2614, loss_map_pts: 1.0854, loss_map_dir: 0.0178, d0.loss_plan_l1_fix_time: 2.8040, d0.loss_plan_l1_fix_dist: 0.3961, d1.loss_plan_l1_fix_time: 1.7306, d1.loss_plan_l1_fix_dist: 0.2598, d2.loss_plan_l1_fix_time: 1.7049, d2.loss_plan_l1_fix_dist: 0.2709, d3.loss_plan_l1_fix_time: 1.7095, d3.loss_plan_l1_fix_dist: 0.2912, d4.loss_plan_l1_fix_time: 1.7189, d4.loss_plan_l1_fix_dist: 0.3168, d5.loss_plan_l1_fix_time: 1.7300, d5.loss_plan_l1_fix_dist: 0.3468, d6.loss_plan_l1_fix_time: 1.7419, d6.loss_plan_l1_fix_dist: 0.3835, d0.loss_cls_all: 0.3481, d0.loss_bbox_all: 0.5150, d0.loss_cls: 0.3481, d0.loss_bbox: 0.5150, d1.loss_cls: 0.3422, d1.loss_bbox: 0.4917, d2.loss_cls: 0.3381, d2.loss_bbox: 0.4786, d3.loss_cls: 0.3360, d3.loss_bbox: 0.4724, d4.loss_cls: 0.3343, d4.loss_bbox: 0.4692, d5.loss_cls: 0.3346, d5.loss_bbox: 0.4677, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0784, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9569, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9418, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9383, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9360, d5.loss_traj_cls: 0.0026, d5.loss_traj: 0.9312, d0.loss_map_cls_all: 0.3091, d0.loss_map_pts_all: 1.8064, d0.loss_map_dir_all: 0.0171, d0.loss_map_cls: 0.3091, d0.loss_map_pts: 1.8064, d0.loss_map_dir: 0.0171, d1.loss_map_cls: 0.2921, d1.loss_map_pts: 1.2575, d1.loss_map_dir: 0.0164, d2.loss_map_cls: 0.2773, d2.loss_map_pts: 1.1411, d2.loss_map_dir: 0.0168, d3.loss_map_cls: 0.2680, d3.loss_map_pts: 1.1070, d3.loss_map_dir: 0.0173, d4.loss_map_cls: 0.2643, d4.loss_map_pts: 1.0918, d4.loss_map_dir: 0.0175, d5.loss_map_cls: 0.2617, d5.loss_map_pts: 1.0865, d5.loss_map_dir: 0.0176, loss: 41.4883, grad_norm: 153.3364 +2026-02-25 00:40:19,714 - DriveTransformer - INFO - Epoch [3][21750/39528] lr: 9.831e-05, eta: 7 days, 20:24:05, time: 0.834, data_time: 0.038, memory: 19865, loss_cls: 0.4014, loss_bbox: 0.5560, loss_traj: 1.1296, loss_traj_cls: 0.0065, loss_map_cls: 0.3241, loss_map_pts: 1.4273, loss_map_dir: 0.0224, d0.loss_plan_l1_fix_time: 2.9245, d0.loss_plan_l1_fix_dist: 0.4547, d1.loss_plan_l1_fix_time: 1.7150, d1.loss_plan_l1_fix_dist: 0.2899, d2.loss_plan_l1_fix_time: 1.7243, d2.loss_plan_l1_fix_dist: 0.3066, d3.loss_plan_l1_fix_time: 1.7362, d3.loss_plan_l1_fix_dist: 0.3305, d4.loss_plan_l1_fix_time: 1.7447, d4.loss_plan_l1_fix_dist: 0.3611, d5.loss_plan_l1_fix_time: 1.7536, d5.loss_plan_l1_fix_dist: 0.3960, d6.loss_plan_l1_fix_time: 1.7636, d6.loss_plan_l1_fix_dist: 0.4393, d0.loss_cls_all: 0.4198, d0.loss_bbox_all: 0.6129, d0.loss_cls: 0.4198, d0.loss_bbox: 0.6129, d1.loss_cls: 0.4102, d1.loss_bbox: 0.5827, d2.loss_cls: 0.4057, d2.loss_bbox: 0.5683, d3.loss_cls: 0.4020, d3.loss_bbox: 0.5616, d4.loss_cls: 0.4013, d4.loss_bbox: 0.5578, d5.loss_cls: 0.4020, d5.loss_bbox: 0.5551, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3297, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1789, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1373, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1327, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.1340, d5.loss_traj_cls: 0.0025, d5.loss_traj: 1.1316, d0.loss_map_cls_all: 0.3630, d0.loss_map_pts_all: 2.2725, d0.loss_map_dir_all: 0.0213, d0.loss_map_cls: 0.3630, d0.loss_map_pts: 2.2725, d0.loss_map_dir: 0.0213, d1.loss_map_cls: 0.3504, d1.loss_map_pts: 1.6436, d1.loss_map_dir: 0.0208, d2.loss_map_cls: 0.3412, d2.loss_map_pts: 1.5037, d2.loss_map_dir: 0.0214, d3.loss_map_cls: 0.3327, d3.loss_map_pts: 1.4484, d3.loss_map_dir: 0.0219, d4.loss_map_cls: 0.3261, d4.loss_map_pts: 1.4299, d4.loss_map_dir: 0.0221, d5.loss_map_cls: 0.3236, d5.loss_map_pts: 1.4271, d5.loss_map_dir: 0.0224, loss: 48.3199, grad_norm: 153.9564 +2026-02-25 00:41:00,280 - DriveTransformer - INFO - Epoch [3][21800/39528] lr: 9.831e-05, eta: 7 days, 20:23:30, time: 0.811, data_time: 0.043, memory: 19865, loss_cls: 0.3695, loss_bbox: 0.5321, loss_traj: 0.9221, loss_traj_cls: 0.0067, loss_map_cls: 0.2660, loss_map_pts: 1.2009, loss_map_dir: 0.0227, d0.loss_plan_l1_fix_time: 2.7168, d0.loss_plan_l1_fix_dist: 0.4055, d1.loss_plan_l1_fix_time: 1.8536, d1.loss_plan_l1_fix_dist: 0.3065, d2.loss_plan_l1_fix_time: 1.8523, d2.loss_plan_l1_fix_dist: 0.3183, d3.loss_plan_l1_fix_time: 1.8618, d3.loss_plan_l1_fix_dist: 0.3360, d4.loss_plan_l1_fix_time: 1.8707, d4.loss_plan_l1_fix_dist: 0.3564, d5.loss_plan_l1_fix_time: 1.8801, d5.loss_plan_l1_fix_dist: 0.3797, d6.loss_plan_l1_fix_time: 1.8901, d6.loss_plan_l1_fix_dist: 0.4056, d0.loss_cls_all: 0.3842, d0.loss_bbox_all: 0.5743, d0.loss_cls: 0.3842, d0.loss_bbox: 0.5743, d1.loss_cls: 0.3820, d1.loss_bbox: 0.5460, d2.loss_cls: 0.3753, d2.loss_bbox: 0.5341, d3.loss_cls: 0.3705, d3.loss_bbox: 0.5309, d4.loss_cls: 0.3687, d4.loss_bbox: 0.5292, d5.loss_cls: 0.3698, d5.loss_bbox: 0.5293, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0455, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9275, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9090, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9109, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9194, d5.loss_traj_cls: 0.0026, d5.loss_traj: 0.9260, d0.loss_map_cls_all: 0.3144, d0.loss_map_pts_all: 2.1859, d0.loss_map_dir_all: 0.0220, d0.loss_map_cls: 0.3144, d0.loss_map_pts: 2.1859, d0.loss_map_dir: 0.0220, d1.loss_map_cls: 0.2982, d1.loss_map_pts: 1.4135, d1.loss_map_dir: 0.0212, d2.loss_map_cls: 0.2824, d2.loss_map_pts: 1.2686, d2.loss_map_dir: 0.0218, d3.loss_map_cls: 0.2761, d3.loss_map_pts: 1.2198, d3.loss_map_dir: 0.0223, d4.loss_map_cls: 0.2683, d4.loss_map_pts: 1.2057, d4.loss_map_dir: 0.0225, d5.loss_map_cls: 0.2660, d5.loss_map_pts: 1.2033, d5.loss_map_dir: 0.0227, loss: 44.7097, grad_norm: 152.9582 +2026-02-25 00:41:39,680 - DriveTransformer - INFO - Epoch [3][21850/39528] lr: 9.831e-05, eta: 7 days, 20:22:45, time: 0.788, data_time: 0.044, memory: 19865, loss_cls: 0.3633, loss_bbox: 0.5142, loss_traj: 1.0825, loss_traj_cls: 0.0068, loss_map_cls: 0.2694, loss_map_pts: 1.1198, loss_map_dir: 0.0165, d0.loss_plan_l1_fix_time: 2.6557, d0.loss_plan_l1_fix_dist: 0.4443, d1.loss_plan_l1_fix_time: 1.6699, d1.loss_plan_l1_fix_dist: 0.2653, d2.loss_plan_l1_fix_time: 1.6642, d2.loss_plan_l1_fix_dist: 0.2862, d3.loss_plan_l1_fix_time: 1.6751, d3.loss_plan_l1_fix_dist: 0.3138, d4.loss_plan_l1_fix_time: 1.6834, d4.loss_plan_l1_fix_dist: 0.3422, d5.loss_plan_l1_fix_time: 1.6915, d5.loss_plan_l1_fix_dist: 0.3704, d6.loss_plan_l1_fix_time: 1.6994, d6.loss_plan_l1_fix_dist: 0.3921, d0.loss_cls_all: 0.3783, d0.loss_bbox_all: 0.5548, d0.loss_cls: 0.3783, d0.loss_bbox: 0.5548, d1.loss_cls: 0.3723, d1.loss_bbox: 0.5286, d2.loss_cls: 0.3711, d2.loss_bbox: 0.5135, d3.loss_cls: 0.3665, d3.loss_bbox: 0.5120, d4.loss_cls: 0.3619, d4.loss_bbox: 0.5100, d5.loss_cls: 0.3626, d5.loss_bbox: 0.5109, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2917, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0982, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0764, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0764, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.0763, d5.loss_traj_cls: 0.0027, d5.loss_traj: 1.0757, d0.loss_map_cls_all: 0.3182, d0.loss_map_pts_all: 1.7732, d0.loss_map_dir_all: 0.0160, d0.loss_map_cls: 0.3182, d0.loss_map_pts: 1.7732, d0.loss_map_dir: 0.0160, d1.loss_map_cls: 0.2943, d1.loss_map_pts: 1.3110, d1.loss_map_dir: 0.0155, d2.loss_map_cls: 0.2826, d2.loss_map_pts: 1.1912, d2.loss_map_dir: 0.0158, d3.loss_map_cls: 0.2766, d3.loss_map_pts: 1.1446, d3.loss_map_dir: 0.0161, d4.loss_map_cls: 0.2715, d4.loss_map_pts: 1.1266, d4.loss_map_dir: 0.0163, d5.loss_map_cls: 0.2697, d5.loss_map_pts: 1.1224, d5.loss_map_dir: 0.0165, loss: 43.0895, grad_norm: 153.7490 +2026-02-25 00:42:20,404 - DriveTransformer - INFO - Epoch [3][21900/39528] lr: 9.831e-05, eta: 7 days, 20:22:11, time: 0.814, data_time: 0.040, memory: 19865, loss_cls: 0.3796, loss_bbox: 0.5258, loss_traj: 1.0860, loss_traj_cls: 0.0068, loss_map_cls: 0.2632, loss_map_pts: 1.1491, loss_map_dir: 0.0214, d0.loss_plan_l1_fix_time: 2.9380, d0.loss_plan_l1_fix_dist: 0.4107, d1.loss_plan_l1_fix_time: 1.8390, d1.loss_plan_l1_fix_dist: 0.2515, d2.loss_plan_l1_fix_time: 1.8293, d2.loss_plan_l1_fix_dist: 0.2618, d3.loss_plan_l1_fix_time: 1.8373, d3.loss_plan_l1_fix_dist: 0.2863, d4.loss_plan_l1_fix_time: 1.8461, d4.loss_plan_l1_fix_dist: 0.3104, d5.loss_plan_l1_fix_time: 1.8555, d5.loss_plan_l1_fix_dist: 0.3351, d6.loss_plan_l1_fix_time: 1.8654, d6.loss_plan_l1_fix_dist: 0.3579, d0.loss_cls_all: 0.3837, d0.loss_bbox_all: 0.5623, d0.loss_cls: 0.3837, d0.loss_bbox: 0.5623, d1.loss_cls: 0.3849, d1.loss_bbox: 0.5368, d2.loss_cls: 0.3804, d2.loss_bbox: 0.5263, d3.loss_cls: 0.3776, d3.loss_bbox: 0.5246, d4.loss_cls: 0.3750, d4.loss_bbox: 0.5243, d5.loss_cls: 0.3779, d5.loss_bbox: 0.5240, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2263, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0919, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0778, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0779, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.0761, d5.loss_traj_cls: 0.0026, d5.loss_traj: 1.0765, d0.loss_map_cls_all: 0.3132, d0.loss_map_pts_all: 2.1282, d0.loss_map_dir_all: 0.0214, d0.loss_map_cls: 0.3132, d0.loss_map_pts: 2.1282, d0.loss_map_dir: 0.0214, d1.loss_map_cls: 0.2984, d1.loss_map_pts: 1.3880, d1.loss_map_dir: 0.0204, d2.loss_map_cls: 0.2799, d2.loss_map_pts: 1.2359, d2.loss_map_dir: 0.0206, d3.loss_map_cls: 0.2709, d3.loss_map_pts: 1.1761, d3.loss_map_dir: 0.0209, d4.loss_map_cls: 0.2665, d4.loss_map_pts: 1.1582, d4.loss_map_dir: 0.0212, d5.loss_map_cls: 0.2650, d5.loss_map_pts: 1.1531, d5.loss_map_dir: 0.0213, loss: 45.2357, grad_norm: 152.9545 +2026-02-25 00:43:00,183 - DriveTransformer - INFO - Epoch [3][21950/39528] lr: 9.831e-05, eta: 7 days, 20:21:29, time: 0.796, data_time: 0.045, memory: 19865, loss_cls: 0.3512, loss_bbox: 0.5281, loss_traj: 1.0127, loss_traj_cls: 0.0068, loss_map_cls: 0.2869, loss_map_pts: 1.1980, loss_map_dir: 0.0198, d0.loss_plan_l1_fix_time: 2.3925, d0.loss_plan_l1_fix_dist: 0.4095, d1.loss_plan_l1_fix_time: 1.6893, d1.loss_plan_l1_fix_dist: 0.3071, d2.loss_plan_l1_fix_time: 1.6494, d2.loss_plan_l1_fix_dist: 0.3339, d3.loss_plan_l1_fix_time: 1.6498, d3.loss_plan_l1_fix_dist: 0.3629, d4.loss_plan_l1_fix_time: 1.6564, d4.loss_plan_l1_fix_dist: 0.4014, d5.loss_plan_l1_fix_time: 1.6645, d5.loss_plan_l1_fix_dist: 0.4471, d6.loss_plan_l1_fix_time: 1.6735, d6.loss_plan_l1_fix_dist: 0.5001, d0.loss_cls_all: 0.3597, d0.loss_bbox_all: 0.5663, d0.loss_cls: 0.3597, d0.loss_bbox: 0.5663, d1.loss_cls: 0.3549, d1.loss_bbox: 0.5413, d2.loss_cls: 0.3502, d2.loss_bbox: 0.5281, d3.loss_cls: 0.3496, d3.loss_bbox: 0.5244, d4.loss_cls: 0.3482, d4.loss_bbox: 0.5233, d5.loss_cls: 0.3491, d5.loss_bbox: 0.5252, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1610, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0354, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9946, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9895, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9957, d5.loss_traj_cls: 0.0027, d5.loss_traj: 1.0046, d0.loss_map_cls_all: 0.3422, d0.loss_map_pts_all: 2.0818, d0.loss_map_dir_all: 0.0197, d0.loss_map_cls: 0.3422, d0.loss_map_pts: 2.0818, d0.loss_map_dir: 0.0197, d1.loss_map_cls: 0.3129, d1.loss_map_pts: 1.4135, d1.loss_map_dir: 0.0188, d2.loss_map_cls: 0.2982, d2.loss_map_pts: 1.2783, d2.loss_map_dir: 0.0190, d3.loss_map_cls: 0.2941, d3.loss_map_pts: 1.2241, d3.loss_map_dir: 0.0194, d4.loss_map_cls: 0.2887, d4.loss_map_pts: 1.2036, d4.loss_map_dir: 0.0196, d5.loss_map_cls: 0.2873, d5.loss_map_pts: 1.1988, d5.loss_map_dir: 0.0198, loss: 43.7588, grad_norm: 153.6880 +2026-02-25 00:43:38,421 - DriveTransformer - INFO - Epoch [3][22000/39528] lr: 9.831e-05, eta: 7 days, 20:20:35, time: 0.766, data_time: 0.045, memory: 19865, loss_cls: 0.3439, loss_bbox: 0.5196, loss_traj: 1.2831, loss_traj_cls: 0.0069, loss_map_cls: 0.2752, loss_map_pts: 1.1935, loss_map_dir: 0.0170, d0.loss_plan_l1_fix_time: 2.9021, d0.loss_plan_l1_fix_dist: 0.3923, d1.loss_plan_l1_fix_time: 1.8629, d1.loss_plan_l1_fix_dist: 0.2718, d2.loss_plan_l1_fix_time: 1.8342, d2.loss_plan_l1_fix_dist: 0.3005, d3.loss_plan_l1_fix_time: 1.8389, d3.loss_plan_l1_fix_dist: 0.3285, d4.loss_plan_l1_fix_time: 1.8461, d4.loss_plan_l1_fix_dist: 0.3627, d5.loss_plan_l1_fix_time: 1.8536, d5.loss_plan_l1_fix_dist: 0.3990, d6.loss_plan_l1_fix_time: 1.8624, d6.loss_plan_l1_fix_dist: 0.4396, d0.loss_cls_all: 0.3492, d0.loss_bbox_all: 0.5609, d0.loss_cls: 0.3492, d0.loss_bbox: 0.5609, d1.loss_cls: 0.3387, d1.loss_bbox: 0.5381, d2.loss_cls: 0.3367, d2.loss_bbox: 0.5245, d3.loss_cls: 0.3393, d3.loss_bbox: 0.5178, d4.loss_cls: 0.3390, d4.loss_bbox: 0.5163, d5.loss_cls: 0.3403, d5.loss_bbox: 0.5168, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4530, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2970, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2646, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2684, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.2736, d5.loss_traj_cls: 0.0028, d5.loss_traj: 1.2819, d0.loss_map_cls_all: 0.3240, d0.loss_map_pts_all: 1.8266, d0.loss_map_dir_all: 0.0164, d0.loss_map_cls: 0.3240, d0.loss_map_pts: 1.8266, d0.loss_map_dir: 0.0164, d1.loss_map_cls: 0.2977, d1.loss_map_pts: 1.3694, d1.loss_map_dir: 0.0160, d2.loss_map_cls: 0.2871, d2.loss_map_pts: 1.2599, d2.loss_map_dir: 0.0163, d3.loss_map_cls: 0.2788, d3.loss_map_pts: 1.2183, d3.loss_map_dir: 0.0167, d4.loss_map_cls: 0.2764, d4.loss_map_pts: 1.1995, d4.loss_map_dir: 0.0168, d5.loss_map_cls: 0.2774, d5.loss_map_pts: 1.1915, d5.loss_map_dir: 0.0169, loss: 46.1803, grad_norm: 154.0529 +2026-02-25 00:44:20,183 - DriveTransformer - INFO - Epoch [3][22050/39528] lr: 9.831e-05, eta: 7 days, 20:20:09, time: 0.834, data_time: 0.040, memory: 19865, loss_cls: 0.3598, loss_bbox: 0.4925, loss_traj: 1.0360, loss_traj_cls: 0.0071, loss_map_cls: 0.2779, loss_map_pts: 1.1463, loss_map_dir: 0.0206, d0.loss_plan_l1_fix_time: 2.7833, d0.loss_plan_l1_fix_dist: 0.4387, d1.loss_plan_l1_fix_time: 1.7534, d1.loss_plan_l1_fix_dist: 0.3122, d2.loss_plan_l1_fix_time: 1.7168, d2.loss_plan_l1_fix_dist: 0.3403, d3.loss_plan_l1_fix_time: 1.7163, d3.loss_plan_l1_fix_dist: 0.3764, d4.loss_plan_l1_fix_time: 1.7209, d4.loss_plan_l1_fix_dist: 0.4111, d5.loss_plan_l1_fix_time: 1.7273, d5.loss_plan_l1_fix_dist: 0.4390, d6.loss_plan_l1_fix_time: 1.7353, d6.loss_plan_l1_fix_dist: 0.4597, d0.loss_cls_all: 0.3593, d0.loss_bbox_all: 0.5321, d0.loss_cls: 0.3593, d0.loss_bbox: 0.5321, d1.loss_cls: 0.3522, d1.loss_bbox: 0.5044, d2.loss_cls: 0.3524, d2.loss_bbox: 0.4955, d3.loss_cls: 0.3544, d3.loss_bbox: 0.4894, d4.loss_cls: 0.3541, d4.loss_bbox: 0.4899, d5.loss_cls: 0.3574, d5.loss_bbox: 0.4902, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2747, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0545, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0026, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9998, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0052, d5.loss_traj_cls: 0.0029, d5.loss_traj: 1.0163, d0.loss_map_cls_all: 0.3175, d0.loss_map_pts_all: 1.9901, d0.loss_map_dir_all: 0.0197, d0.loss_map_cls: 0.3175, d0.loss_map_pts: 1.9901, d0.loss_map_dir: 0.0197, d1.loss_map_cls: 0.2996, d1.loss_map_pts: 1.3519, d1.loss_map_dir: 0.0193, d2.loss_map_cls: 0.2875, d2.loss_map_pts: 1.2182, d2.loss_map_dir: 0.0197, d3.loss_map_cls: 0.2830, d3.loss_map_pts: 1.1694, d3.loss_map_dir: 0.0200, d4.loss_map_cls: 0.2789, d4.loss_map_pts: 1.1537, d4.loss_map_dir: 0.0203, d5.loss_map_cls: 0.2772, d5.loss_map_pts: 1.1479, d5.loss_map_dir: 0.0205, loss: 43.8760, grad_norm: 154.2174 +2026-02-25 00:45:00,938 - DriveTransformer - INFO - Epoch [3][22100/39528] lr: 9.831e-05, eta: 7 days, 20:19:35, time: 0.815, data_time: 0.041, memory: 19865, loss_cls: 0.3408, loss_bbox: 0.4952, loss_traj: 0.9892, loss_traj_cls: 0.0072, loss_map_cls: 0.2676, loss_map_pts: 1.1624, loss_map_dir: 0.0209, d0.loss_plan_l1_fix_time: 2.5111, d0.loss_plan_l1_fix_dist: 0.4407, d1.loss_plan_l1_fix_time: 1.9671, d1.loss_plan_l1_fix_dist: 0.2791, d2.loss_plan_l1_fix_time: 1.9542, d2.loss_plan_l1_fix_dist: 0.3029, d3.loss_plan_l1_fix_time: 1.9583, d3.loss_plan_l1_fix_dist: 0.3347, d4.loss_plan_l1_fix_time: 1.9633, d4.loss_plan_l1_fix_dist: 0.3684, d5.loss_plan_l1_fix_time: 1.9693, d5.loss_plan_l1_fix_dist: 0.4076, d6.loss_plan_l1_fix_time: 1.9756, d6.loss_plan_l1_fix_dist: 0.4512, d0.loss_cls_all: 0.3551, d0.loss_bbox_all: 0.5261, d0.loss_cls: 0.3551, d0.loss_bbox: 0.5261, d1.loss_cls: 0.3496, d1.loss_bbox: 0.5038, d2.loss_cls: 0.3448, d2.loss_bbox: 0.4963, d3.loss_cls: 0.3407, d3.loss_bbox: 0.4952, d4.loss_cls: 0.3389, d4.loss_bbox: 0.4944, d5.loss_cls: 0.3414, d5.loss_bbox: 0.4936, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1433, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0108, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9798, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9735, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9713, d5.loss_traj_cls: 0.0030, d5.loss_traj: 0.9731, d0.loss_map_cls_all: 0.3009, d0.loss_map_pts_all: 2.0552, d0.loss_map_dir_all: 0.0204, d0.loss_map_cls: 0.3009, d0.loss_map_pts: 2.0552, d0.loss_map_dir: 0.0204, d1.loss_map_cls: 0.2868, d1.loss_map_pts: 1.3723, d1.loss_map_dir: 0.0194, d2.loss_map_cls: 0.2763, d2.loss_map_pts: 1.2387, d2.loss_map_dir: 0.0198, d3.loss_map_cls: 0.2704, d3.loss_map_pts: 1.1870, d3.loss_map_dir: 0.0203, d4.loss_map_cls: 0.2679, d4.loss_map_pts: 1.1712, d4.loss_map_dir: 0.0207, d5.loss_map_cls: 0.2665, d5.loss_map_pts: 1.1638, d5.loss_map_dir: 0.0208, loss: 44.5426, grad_norm: 152.9380 +2026-02-25 00:45:42,652 - DriveTransformer - INFO - Epoch [3][22150/39528] lr: 9.831e-05, eta: 7 days, 20:19:10, time: 0.834, data_time: 0.043, memory: 19865, loss_cls: 0.3477, loss_bbox: 0.4895, loss_traj: 0.8444, loss_traj_cls: 0.0072, loss_map_cls: 0.2677, loss_map_pts: 1.2006, loss_map_dir: 0.0252, d0.loss_plan_l1_fix_time: 2.5574, d0.loss_plan_l1_fix_dist: 0.3827, d1.loss_plan_l1_fix_time: 1.4443, d1.loss_plan_l1_fix_dist: 0.2674, d2.loss_plan_l1_fix_time: 1.4040, d2.loss_plan_l1_fix_dist: 0.2877, d3.loss_plan_l1_fix_time: 1.3988, d3.loss_plan_l1_fix_dist: 0.3140, d4.loss_plan_l1_fix_time: 1.4016, d4.loss_plan_l1_fix_dist: 0.3446, d5.loss_plan_l1_fix_time: 1.4062, d5.loss_plan_l1_fix_dist: 0.3774, d6.loss_plan_l1_fix_time: 1.4121, d6.loss_plan_l1_fix_dist: 0.4147, d0.loss_cls_all: 0.3590, d0.loss_bbox_all: 0.5376, d0.loss_cls: 0.3590, d0.loss_bbox: 0.5376, d1.loss_cls: 0.3487, d1.loss_bbox: 0.5143, d2.loss_cls: 0.3463, d2.loss_bbox: 0.5004, d3.loss_cls: 0.3488, d3.loss_bbox: 0.4932, d4.loss_cls: 0.3478, d4.loss_bbox: 0.4888, d5.loss_cls: 0.3474, d5.loss_bbox: 0.4882, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0299, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8798, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8538, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8478, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8396, d5.loss_traj_cls: 0.0030, d5.loss_traj: 0.8426, d0.loss_map_cls_all: 0.3142, d0.loss_map_pts_all: 2.2432, d0.loss_map_dir_all: 0.0244, d0.loss_map_cls: 0.3142, d0.loss_map_pts: 2.2432, d0.loss_map_dir: 0.0244, d1.loss_map_cls: 0.2947, d1.loss_map_pts: 1.4411, d1.loss_map_dir: 0.0236, d2.loss_map_cls: 0.2795, d2.loss_map_pts: 1.2839, d2.loss_map_dir: 0.0241, d3.loss_map_cls: 0.2750, d3.loss_map_pts: 1.2267, d3.loss_map_dir: 0.0245, d4.loss_map_cls: 0.2710, d4.loss_map_pts: 1.2065, d4.loss_map_dir: 0.0249, d5.loss_map_cls: 0.2683, d5.loss_map_pts: 1.1998, d5.loss_map_dir: 0.0251, loss: 40.9460, grad_norm: 152.0635 +2026-02-25 00:46:21,262 - DriveTransformer - INFO - Epoch [3][22200/39528] lr: 9.831e-05, eta: 7 days, 20:18:18, time: 0.772, data_time: 0.042, memory: 19865, loss_cls: 0.3812, loss_bbox: 0.5534, loss_traj: 1.1099, loss_traj_cls: 0.0071, loss_map_cls: 0.2874, loss_map_pts: 1.2345, loss_map_dir: 0.0207, d0.loss_plan_l1_fix_time: 3.0271, d0.loss_plan_l1_fix_dist: 0.4801, d1.loss_plan_l1_fix_time: 1.9251, d1.loss_plan_l1_fix_dist: 0.2761, d2.loss_plan_l1_fix_time: 1.8970, d2.loss_plan_l1_fix_dist: 0.2947, d3.loss_plan_l1_fix_time: 1.8978, d3.loss_plan_l1_fix_dist: 0.3227, d4.loss_plan_l1_fix_time: 1.9030, d4.loss_plan_l1_fix_dist: 0.3576, d5.loss_plan_l1_fix_time: 1.9090, d5.loss_plan_l1_fix_dist: 0.3930, d6.loss_plan_l1_fix_time: 1.9166, d6.loss_plan_l1_fix_dist: 0.4311, d0.loss_cls_all: 0.3954, d0.loss_bbox_all: 0.6029, d0.loss_cls: 0.3954, d0.loss_bbox: 0.6029, d1.loss_cls: 0.3868, d1.loss_bbox: 0.5806, d2.loss_cls: 0.3811, d2.loss_bbox: 0.5666, d3.loss_cls: 0.3782, d3.loss_bbox: 0.5604, d4.loss_cls: 0.3799, d4.loss_bbox: 0.5553, d5.loss_cls: 0.3802, d5.loss_bbox: 0.5553, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2482, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0988, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0875, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0897, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.0949, d5.loss_traj_cls: 0.0030, d5.loss_traj: 1.1008, d0.loss_map_cls_all: 0.3241, d0.loss_map_pts_all: 1.8885, d0.loss_map_dir_all: 0.0192, d0.loss_map_cls: 0.3241, d0.loss_map_pts: 1.8885, d0.loss_map_dir: 0.0192, d1.loss_map_cls: 0.3069, d1.loss_map_pts: 1.4191, d1.loss_map_dir: 0.0194, d2.loss_map_cls: 0.2942, d2.loss_map_pts: 1.3024, d2.loss_map_dir: 0.0198, d3.loss_map_cls: 0.2908, d3.loss_map_pts: 1.2555, d3.loss_map_dir: 0.0203, d4.loss_map_cls: 0.2877, d4.loss_map_pts: 1.2395, d4.loss_map_dir: 0.0205, d5.loss_map_cls: 0.2870, d5.loss_map_pts: 1.2366, d5.loss_map_dir: 0.0205, loss: 46.5578, grad_norm: 151.4316 +2026-02-25 00:47:01,728 - DriveTransformer - INFO - Epoch [3][22250/39528] lr: 9.831e-05, eta: 7 days, 20:17:42, time: 0.810, data_time: 0.038, memory: 19865, loss_cls: 0.4078, loss_bbox: 0.5577, loss_traj: 1.1717, loss_traj_cls: 0.0070, loss_map_cls: 0.2871, loss_map_pts: 1.3776, loss_map_dir: 0.0253, d0.loss_plan_l1_fix_time: 2.8469, d0.loss_plan_l1_fix_dist: 0.4276, d1.loss_plan_l1_fix_time: 1.9422, d1.loss_plan_l1_fix_dist: 0.3221, d2.loss_plan_l1_fix_time: 1.9219, d2.loss_plan_l1_fix_dist: 0.3340, d3.loss_plan_l1_fix_time: 1.9186, d3.loss_plan_l1_fix_dist: 0.3564, d4.loss_plan_l1_fix_time: 1.9218, d4.loss_plan_l1_fix_dist: 0.3838, d5.loss_plan_l1_fix_time: 1.9262, d5.loss_plan_l1_fix_dist: 0.4086, d6.loss_plan_l1_fix_time: 1.9324, d6.loss_plan_l1_fix_dist: 0.4318, d0.loss_cls_all: 0.4208, d0.loss_bbox_all: 0.6115, d0.loss_cls: 0.4208, d0.loss_bbox: 0.6115, d1.loss_cls: 0.4099, d1.loss_bbox: 0.5861, d2.loss_cls: 0.4054, d2.loss_bbox: 0.5705, d3.loss_cls: 0.4027, d3.loss_bbox: 0.5638, d4.loss_cls: 0.4055, d4.loss_bbox: 0.5574, d5.loss_cls: 0.4061, d5.loss_bbox: 0.5574, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3477, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1986, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1668, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1662, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.1613, d5.loss_traj_cls: 0.0029, d5.loss_traj: 1.1676, d0.loss_map_cls_all: 0.3286, d0.loss_map_pts_all: 2.4153, d0.loss_map_dir_all: 0.0244, d0.loss_map_cls: 0.3286, d0.loss_map_pts: 2.4153, d0.loss_map_dir: 0.0244, d1.loss_map_cls: 0.3119, d1.loss_map_pts: 1.5836, d1.loss_map_dir: 0.0238, d2.loss_map_cls: 0.2976, d2.loss_map_pts: 1.4411, d2.loss_map_dir: 0.0242, d3.loss_map_cls: 0.2903, d3.loss_map_pts: 1.3941, d3.loss_map_dir: 0.0246, d4.loss_map_cls: 0.2863, d4.loss_map_pts: 1.3802, d4.loss_map_dir: 0.0250, d5.loss_map_cls: 0.2854, d5.loss_map_pts: 1.3794, d5.loss_map_dir: 0.0252, loss: 49.3634, grad_norm: 152.1433 +2026-02-25 00:47:41,890 - DriveTransformer - INFO - Epoch [3][22300/39528] lr: 9.831e-05, eta: 7 days, 20:17:03, time: 0.803, data_time: 0.046, memory: 19865, loss_cls: 0.3449, loss_bbox: 0.5180, loss_traj: 1.1817, loss_traj_cls: 0.0072, loss_map_cls: 0.2656, loss_map_pts: 1.1001, loss_map_dir: 0.0189, d0.loss_plan_l1_fix_time: 2.9405, d0.loss_plan_l1_fix_dist: 0.4455, d1.loss_plan_l1_fix_time: 1.9660, d1.loss_plan_l1_fix_dist: 0.2705, d2.loss_plan_l1_fix_time: 1.9411, d2.loss_plan_l1_fix_dist: 0.2860, d3.loss_plan_l1_fix_time: 1.9413, d3.loss_plan_l1_fix_dist: 0.3067, d4.loss_plan_l1_fix_time: 1.9465, d4.loss_plan_l1_fix_dist: 0.3280, d5.loss_plan_l1_fix_time: 1.9531, d5.loss_plan_l1_fix_dist: 0.3534, d6.loss_plan_l1_fix_time: 1.9609, d6.loss_plan_l1_fix_dist: 0.3813, d0.loss_cls_all: 0.3572, d0.loss_bbox_all: 0.5653, d0.loss_cls: 0.3572, d0.loss_bbox: 0.5653, d1.loss_cls: 0.3488, d1.loss_bbox: 0.5378, d2.loss_cls: 0.3436, d2.loss_bbox: 0.5252, d3.loss_cls: 0.3416, d3.loss_bbox: 0.5209, d4.loss_cls: 0.3413, d4.loss_bbox: 0.5173, d5.loss_cls: 0.3413, d5.loss_bbox: 0.5178, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3418, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2098, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1934, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1974, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.1923, d5.loss_traj_cls: 0.0031, d5.loss_traj: 1.1908, d0.loss_map_cls_all: 0.3076, d0.loss_map_pts_all: 1.8473, d0.loss_map_dir_all: 0.0181, d0.loss_map_cls: 0.3076, d0.loss_map_pts: 1.8473, d0.loss_map_dir: 0.0181, d1.loss_map_cls: 0.2899, d1.loss_map_pts: 1.3064, d1.loss_map_dir: 0.0177, d2.loss_map_cls: 0.2763, d2.loss_map_pts: 1.1797, d2.loss_map_dir: 0.0180, d3.loss_map_cls: 0.2685, d3.loss_map_pts: 1.1236, d3.loss_map_dir: 0.0184, d4.loss_map_cls: 0.2656, d4.loss_map_pts: 1.1064, d4.loss_map_dir: 0.0187, d5.loss_map_cls: 0.2649, d5.loss_map_pts: 1.1023, d5.loss_map_dir: 0.0188, loss: 45.5925, grad_norm: 151.9777 +2026-02-25 00:48:22,218 - DriveTransformer - INFO - Epoch [3][22350/39528] lr: 9.831e-05, eta: 7 days, 20:16:26, time: 0.807, data_time: 0.041, memory: 19865, loss_cls: 0.3647, loss_bbox: 0.5428, loss_traj: 1.0540, loss_traj_cls: 0.0073, loss_map_cls: 0.2527, loss_map_pts: 1.1711, loss_map_dir: 0.0222, d0.loss_plan_l1_fix_time: 2.9472, d0.loss_plan_l1_fix_dist: 0.5388, d1.loss_plan_l1_fix_time: 2.0068, d1.loss_plan_l1_fix_dist: 0.3099, d2.loss_plan_l1_fix_time: 2.0120, d2.loss_plan_l1_fix_dist: 0.3302, d3.loss_plan_l1_fix_time: 2.0175, d3.loss_plan_l1_fix_dist: 0.3453, d4.loss_plan_l1_fix_time: 2.0222, d4.loss_plan_l1_fix_dist: 0.3609, d5.loss_plan_l1_fix_time: 2.0281, d5.loss_plan_l1_fix_dist: 0.3814, d6.loss_plan_l1_fix_time: 2.0356, d6.loss_plan_l1_fix_dist: 0.4066, d0.loss_cls_all: 0.3836, d0.loss_bbox_all: 0.5853, d0.loss_cls: 0.3836, d0.loss_bbox: 0.5853, d1.loss_cls: 0.3756, d1.loss_bbox: 0.5593, d2.loss_cls: 0.3694, d2.loss_bbox: 0.5479, d3.loss_cls: 0.3646, d3.loss_bbox: 0.5417, d4.loss_cls: 0.3615, d4.loss_bbox: 0.5418, d5.loss_cls: 0.3626, d5.loss_bbox: 0.5410, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2186, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0653, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0515, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0578, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0538, d5.loss_traj_cls: 0.0032, d5.loss_traj: 1.0529, d0.loss_map_cls_all: 0.3009, d0.loss_map_pts_all: 2.1363, d0.loss_map_dir_all: 0.0212, d0.loss_map_cls: 0.3009, d0.loss_map_pts: 2.1363, d0.loss_map_dir: 0.0212, d1.loss_map_cls: 0.2822, d1.loss_map_pts: 1.3947, d1.loss_map_dir: 0.0206, d2.loss_map_cls: 0.2711, d2.loss_map_pts: 1.2451, d2.loss_map_dir: 0.0211, d3.loss_map_cls: 0.2615, d3.loss_map_pts: 1.1907, d3.loss_map_dir: 0.0215, d4.loss_map_cls: 0.2562, d4.loss_map_pts: 1.1765, d4.loss_map_dir: 0.0218, d5.loss_map_cls: 0.2530, d5.loss_map_pts: 1.1722, d5.loss_map_dir: 0.0220, loss: 46.6959, grad_norm: 153.9077 +2026-02-25 00:49:02,576 - DriveTransformer - INFO - Epoch [3][22400/39528] lr: 9.831e-05, eta: 7 days, 20:15:49, time: 0.807, data_time: 0.043, memory: 19865, loss_cls: 0.3553, loss_bbox: 0.5433, loss_traj: 0.9810, loss_traj_cls: 0.0074, loss_map_cls: 0.2907, loss_map_pts: 1.2844, loss_map_dir: 0.0214, d0.loss_plan_l1_fix_time: 2.8084, d0.loss_plan_l1_fix_dist: 0.4148, d1.loss_plan_l1_fix_time: 1.8137, d1.loss_plan_l1_fix_dist: 0.2683, d2.loss_plan_l1_fix_time: 1.7949, d2.loss_plan_l1_fix_dist: 0.2770, d3.loss_plan_l1_fix_time: 1.7936, d3.loss_plan_l1_fix_dist: 0.2920, d4.loss_plan_l1_fix_time: 1.7957, d4.loss_plan_l1_fix_dist: 0.3115, d5.loss_plan_l1_fix_time: 1.7994, d5.loss_plan_l1_fix_dist: 0.3301, d6.loss_plan_l1_fix_time: 1.8045, d6.loss_plan_l1_fix_dist: 0.3470, d0.loss_cls_all: 0.3723, d0.loss_bbox_all: 0.5865, d0.loss_cls: 0.3723, d0.loss_bbox: 0.5865, d1.loss_cls: 0.3610, d1.loss_bbox: 0.5615, d2.loss_cls: 0.3588, d2.loss_bbox: 0.5465, d3.loss_cls: 0.3571, d3.loss_bbox: 0.5425, d4.loss_cls: 0.3557, d4.loss_bbox: 0.5410, d5.loss_cls: 0.3552, d5.loss_bbox: 0.5401, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2343, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0288, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.9891, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9837, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9809, d5.loss_traj_cls: 0.0032, d5.loss_traj: 0.9767, d0.loss_map_cls_all: 0.3361, d0.loss_map_pts_all: 2.1990, d0.loss_map_dir_all: 0.0205, d0.loss_map_cls: 0.3361, d0.loss_map_pts: 2.1990, d0.loss_map_dir: 0.0205, d1.loss_map_cls: 0.3180, d1.loss_map_pts: 1.5204, d1.loss_map_dir: 0.0197, d2.loss_map_cls: 0.3044, d2.loss_map_pts: 1.3612, d2.loss_map_dir: 0.0203, d3.loss_map_cls: 0.3019, d3.loss_map_pts: 1.3059, d3.loss_map_dir: 0.0209, d4.loss_map_cls: 0.2947, d4.loss_map_pts: 1.2945, d4.loss_map_dir: 0.0213, d5.loss_map_cls: 0.2912, d5.loss_map_pts: 1.2867, d5.loss_map_dir: 0.0214, loss: 45.4665, grad_norm: 152.2582 +2026-02-25 00:49:40,491 - DriveTransformer - INFO - Epoch [3][22450/39528] lr: 9.831e-05, eta: 7 days, 20:14:52, time: 0.758, data_time: 0.036, memory: 19865, loss_cls: 0.3475, loss_bbox: 0.4756, loss_traj: 1.1153, loss_traj_cls: 0.0074, loss_map_cls: 0.2757, loss_map_pts: 1.1436, loss_map_dir: 0.0198, d0.loss_plan_l1_fix_time: 2.8482, d0.loss_plan_l1_fix_dist: 0.4551, d1.loss_plan_l1_fix_time: 1.7576, d1.loss_plan_l1_fix_dist: 0.2836, d2.loss_plan_l1_fix_time: 1.7512, d2.loss_plan_l1_fix_dist: 0.2888, d3.loss_plan_l1_fix_time: 1.7567, d3.loss_plan_l1_fix_dist: 0.3052, d4.loss_plan_l1_fix_time: 1.7628, d4.loss_plan_l1_fix_dist: 0.3249, d5.loss_plan_l1_fix_time: 1.7698, d5.loss_plan_l1_fix_dist: 0.3453, d6.loss_plan_l1_fix_time: 1.7775, d6.loss_plan_l1_fix_dist: 0.3662, d0.loss_cls_all: 0.3514, d0.loss_bbox_all: 0.5277, d0.loss_cls: 0.3514, d0.loss_bbox: 0.5277, d1.loss_cls: 0.3485, d1.loss_bbox: 0.4953, d2.loss_cls: 0.3443, d2.loss_bbox: 0.4830, d3.loss_cls: 0.3458, d3.loss_bbox: 0.4767, d4.loss_cls: 0.3442, d4.loss_bbox: 0.4759, d5.loss_cls: 0.3454, d5.loss_bbox: 0.4747, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4901, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1594, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1340, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1316, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.1197, d5.loss_traj_cls: 0.0032, d5.loss_traj: 1.1204, d0.loss_map_cls_all: 0.3212, d0.loss_map_pts_all: 1.9793, d0.loss_map_dir_all: 0.0195, d0.loss_map_cls: 0.3212, d0.loss_map_pts: 1.9793, d0.loss_map_dir: 0.0195, d1.loss_map_cls: 0.3020, d1.loss_map_pts: 1.3508, d1.loss_map_dir: 0.0188, d2.loss_map_cls: 0.2873, d2.loss_map_pts: 1.2198, d2.loss_map_dir: 0.0191, d3.loss_map_cls: 0.2831, d3.loss_map_pts: 1.1657, d3.loss_map_dir: 0.0194, d4.loss_map_cls: 0.2793, d4.loss_map_pts: 1.1486, d4.loss_map_dir: 0.0196, d5.loss_map_cls: 0.2756, d5.loss_map_pts: 1.1451, d5.loss_map_dir: 0.0198, loss: 44.4268, grad_norm: 152.5763 +2026-02-25 00:50:20,698 - DriveTransformer - INFO - Epoch [3][22500/39528] lr: 9.831e-05, eta: 7 days, 20:14:13, time: 0.804, data_time: 0.037, memory: 19865, loss_cls: 0.3646, loss_bbox: 0.5475, loss_traj: 0.9704, loss_traj_cls: 0.0074, loss_map_cls: 0.2872, loss_map_pts: 1.3158, loss_map_dir: 0.0213, d0.loss_plan_l1_fix_time: 2.5692, d0.loss_plan_l1_fix_dist: 0.5736, d1.loss_plan_l1_fix_time: 1.8321, d1.loss_plan_l1_fix_dist: 0.3223, d2.loss_plan_l1_fix_time: 1.8241, d2.loss_plan_l1_fix_dist: 0.3329, d3.loss_plan_l1_fix_time: 1.8333, d3.loss_plan_l1_fix_dist: 0.3469, d4.loss_plan_l1_fix_time: 1.8404, d4.loss_plan_l1_fix_dist: 0.3660, d5.loss_plan_l1_fix_time: 1.8482, d5.loss_plan_l1_fix_dist: 0.3921, d6.loss_plan_l1_fix_time: 1.8561, d6.loss_plan_l1_fix_dist: 0.4277, d0.loss_cls_all: 0.3818, d0.loss_bbox_all: 0.5971, d0.loss_cls: 0.3818, d0.loss_bbox: 0.5971, d1.loss_cls: 0.3793, d1.loss_bbox: 0.5662, d2.loss_cls: 0.3731, d2.loss_bbox: 0.5538, d3.loss_cls: 0.3703, d3.loss_bbox: 0.5486, d4.loss_cls: 0.3675, d4.loss_bbox: 0.5467, d5.loss_cls: 0.3652, d5.loss_bbox: 0.5462, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1371, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9940, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9701, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9666, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9560, d5.loss_traj_cls: 0.0033, d5.loss_traj: 0.9599, d0.loss_map_cls_all: 0.3295, d0.loss_map_pts_all: 2.1757, d0.loss_map_dir_all: 0.0202, d0.loss_map_cls: 0.3295, d0.loss_map_pts: 2.1757, d0.loss_map_dir: 0.0202, d1.loss_map_cls: 0.3127, d1.loss_map_pts: 1.5134, d1.loss_map_dir: 0.0198, d2.loss_map_cls: 0.2984, d2.loss_map_pts: 1.3834, d2.loss_map_dir: 0.0203, d3.loss_map_cls: 0.2930, d3.loss_map_pts: 1.3358, d3.loss_map_dir: 0.0208, d4.loss_map_cls: 0.2871, d4.loss_map_pts: 1.3200, d4.loss_map_dir: 0.0211, d5.loss_map_cls: 0.2874, d5.loss_map_pts: 1.3143, d5.loss_map_dir: 0.0212, loss: 45.9452, grad_norm: 153.8428 +2026-02-25 00:51:00,437 - DriveTransformer - INFO - Epoch [3][22550/39528] lr: 9.831e-05, eta: 7 days, 20:13:31, time: 0.795, data_time: 0.042, memory: 19865, loss_cls: 0.3519, loss_bbox: 0.4965, loss_traj: 0.9387, loss_traj_cls: 0.0074, loss_map_cls: 0.2768, loss_map_pts: 1.2878, loss_map_dir: 0.0215, d0.loss_plan_l1_fix_time: 2.6710, d0.loss_plan_l1_fix_dist: 0.3520, d1.loss_plan_l1_fix_time: 1.6392, d1.loss_plan_l1_fix_dist: 0.2695, d2.loss_plan_l1_fix_time: 1.6129, d2.loss_plan_l1_fix_dist: 0.2846, d3.loss_plan_l1_fix_time: 1.6131, d3.loss_plan_l1_fix_dist: 0.3001, d4.loss_plan_l1_fix_time: 1.6167, d4.loss_plan_l1_fix_dist: 0.3130, d5.loss_plan_l1_fix_time: 1.6211, d5.loss_plan_l1_fix_dist: 0.3245, d6.loss_plan_l1_fix_time: 1.6270, d6.loss_plan_l1_fix_dist: 0.3394, d0.loss_cls_all: 0.3694, d0.loss_bbox_all: 0.5445, d0.loss_cls: 0.3694, d0.loss_bbox: 0.5445, d1.loss_cls: 0.3616, d1.loss_bbox: 0.5175, d2.loss_cls: 0.3551, d2.loss_bbox: 0.5052, d3.loss_cls: 0.3543, d3.loss_bbox: 0.4979, d4.loss_cls: 0.3511, d4.loss_bbox: 0.4951, d5.loss_cls: 0.3507, d5.loss_bbox: 0.4955, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1346, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9599, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9327, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9359, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9294, d5.loss_traj_cls: 0.0033, d5.loss_traj: 0.9320, d0.loss_map_cls_all: 0.3268, d0.loss_map_pts_all: 2.0325, d0.loss_map_dir_all: 0.0205, d0.loss_map_cls: 0.3268, d0.loss_map_pts: 2.0325, d0.loss_map_dir: 0.0205, d1.loss_map_cls: 0.3055, d1.loss_map_pts: 1.4902, d1.loss_map_dir: 0.0202, d2.loss_map_cls: 0.2889, d2.loss_map_pts: 1.3578, d2.loss_map_dir: 0.0206, d3.loss_map_cls: 0.2864, d3.loss_map_pts: 1.3053, d3.loss_map_dir: 0.0209, d4.loss_map_cls: 0.2785, d4.loss_map_pts: 1.2925, d4.loss_map_dir: 0.0212, d5.loss_map_cls: 0.2784, d5.loss_map_pts: 1.2884, d5.loss_map_dir: 0.0214, loss: 42.9453, grad_norm: 154.5264 +2026-02-25 00:51:41,819 - DriveTransformer - INFO - Epoch [3][22600/39528] lr: 9.831e-05, eta: 7 days, 20:13:03, time: 0.827, data_time: 0.040, memory: 19865, loss_cls: 0.3985, loss_bbox: 0.5353, loss_traj: 1.1814, loss_traj_cls: 0.0074, loss_map_cls: 0.3066, loss_map_pts: 1.2462, loss_map_dir: 0.0240, d0.loss_plan_l1_fix_time: 3.0333, d0.loss_plan_l1_fix_dist: 0.4438, d1.loss_plan_l1_fix_time: 1.9497, d1.loss_plan_l1_fix_dist: 0.3037, d2.loss_plan_l1_fix_time: 1.9225, d2.loss_plan_l1_fix_dist: 0.3140, d3.loss_plan_l1_fix_time: 1.9244, d3.loss_plan_l1_fix_dist: 0.3317, d4.loss_plan_l1_fix_time: 1.9294, d4.loss_plan_l1_fix_dist: 0.3510, d5.loss_plan_l1_fix_time: 1.9349, d5.loss_plan_l1_fix_dist: 0.3714, d6.loss_plan_l1_fix_time: 1.9427, d6.loss_plan_l1_fix_dist: 0.3852, d0.loss_cls_all: 0.4055, d0.loss_bbox_all: 0.5774, d0.loss_cls: 0.4055, d0.loss_bbox: 0.5774, d1.loss_cls: 0.4030, d1.loss_bbox: 0.5465, d2.loss_cls: 0.4021, d2.loss_bbox: 0.5357, d3.loss_cls: 0.4033, d3.loss_bbox: 0.5311, d4.loss_cls: 0.3986, d4.loss_bbox: 0.5329, d5.loss_cls: 0.3986, d5.loss_bbox: 0.5342, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4178, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2381, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2075, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.2043, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.1879, d5.loss_traj_cls: 0.0034, d5.loss_traj: 1.1830, d0.loss_map_cls_all: 0.3512, d0.loss_map_pts_all: 2.1427, d0.loss_map_dir_all: 0.0228, d0.loss_map_cls: 0.3512, d0.loss_map_pts: 2.1427, d0.loss_map_dir: 0.0228, d1.loss_map_cls: 0.3314, d1.loss_map_pts: 1.4626, d1.loss_map_dir: 0.0224, d2.loss_map_cls: 0.3184, d2.loss_map_pts: 1.3112, d2.loss_map_dir: 0.0228, d3.loss_map_cls: 0.3131, d3.loss_map_pts: 1.2632, d3.loss_map_dir: 0.0234, d4.loss_map_cls: 0.3080, d4.loss_map_pts: 1.2493, d4.loss_map_dir: 0.0237, d5.loss_map_cls: 0.3073, d5.loss_map_pts: 1.2464, d5.loss_map_dir: 0.0239, loss: 48.1965, grad_norm: 154.1954 +2026-02-25 00:52:22,200 - DriveTransformer - INFO - Epoch [3][22650/39528] lr: 9.831e-05, eta: 7 days, 20:12:26, time: 0.808, data_time: 0.040, memory: 19865, loss_cls: 0.3516, loss_bbox: 0.5146, loss_traj: 0.9664, loss_traj_cls: 0.0075, loss_map_cls: 0.2658, loss_map_pts: 1.3308, loss_map_dir: 0.0231, d0.loss_plan_l1_fix_time: 2.7300, d0.loss_plan_l1_fix_dist: 0.4707, d1.loss_plan_l1_fix_time: 1.7788, d1.loss_plan_l1_fix_dist: 0.2933, d2.loss_plan_l1_fix_time: 1.7426, d2.loss_plan_l1_fix_dist: 0.2970, d3.loss_plan_l1_fix_time: 1.7409, d3.loss_plan_l1_fix_dist: 0.3098, d4.loss_plan_l1_fix_time: 1.7448, d4.loss_plan_l1_fix_dist: 0.3273, d5.loss_plan_l1_fix_time: 1.7492, d5.loss_plan_l1_fix_dist: 0.3489, d6.loss_plan_l1_fix_time: 1.7537, d6.loss_plan_l1_fix_dist: 0.3695, d0.loss_cls_all: 0.3586, d0.loss_bbox_all: 0.5591, d0.loss_cls: 0.3586, d0.loss_bbox: 0.5591, d1.loss_cls: 0.3556, d1.loss_bbox: 0.5324, d2.loss_cls: 0.3519, d2.loss_bbox: 0.5214, d3.loss_cls: 0.3522, d3.loss_bbox: 0.5147, d4.loss_cls: 0.3497, d4.loss_bbox: 0.5139, d5.loss_cls: 0.3495, d5.loss_bbox: 0.5141, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1273, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9807, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9575, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9568, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9546, d5.loss_traj_cls: 0.0035, d5.loss_traj: 0.9563, d0.loss_map_cls_all: 0.3158, d0.loss_map_pts_all: 2.2163, d0.loss_map_dir_all: 0.0220, d0.loss_map_cls: 0.3158, d0.loss_map_pts: 2.2163, d0.loss_map_dir: 0.0220, d1.loss_map_cls: 0.2972, d1.loss_map_pts: 1.5688, d1.loss_map_dir: 0.0216, d2.loss_map_cls: 0.2796, d2.loss_map_pts: 1.4150, d2.loss_map_dir: 0.0221, d3.loss_map_cls: 0.2717, d3.loss_map_pts: 1.3582, d3.loss_map_dir: 0.0225, d4.loss_map_cls: 0.2676, d4.loss_map_pts: 1.3397, d4.loss_map_dir: 0.0228, d5.loss_map_cls: 0.2668, d5.loss_map_pts: 1.3319, d5.loss_map_dir: 0.0230, loss: 44.8653, grad_norm: 152.6373 +2026-02-25 00:53:02,597 - DriveTransformer - INFO - Epoch [3][22700/39528] lr: 9.831e-05, eta: 7 days, 20:11:49, time: 0.808, data_time: 0.042, memory: 19865, loss_cls: 0.3719, loss_bbox: 0.5229, loss_traj: 0.9827, loss_traj_cls: 0.0076, loss_map_cls: 0.3194, loss_map_pts: 1.2843, loss_map_dir: 0.0251, d0.loss_plan_l1_fix_time: 2.8583, d0.loss_plan_l1_fix_dist: 0.4777, d1.loss_plan_l1_fix_time: 2.0506, d1.loss_plan_l1_fix_dist: 0.2970, d2.loss_plan_l1_fix_time: 2.0244, d2.loss_plan_l1_fix_dist: 0.3032, d3.loss_plan_l1_fix_time: 2.0294, d3.loss_plan_l1_fix_dist: 0.3142, d4.loss_plan_l1_fix_time: 2.0352, d4.loss_plan_l1_fix_dist: 0.3270, d5.loss_plan_l1_fix_time: 2.0409, d5.loss_plan_l1_fix_dist: 0.3430, d6.loss_plan_l1_fix_time: 2.0467, d6.loss_plan_l1_fix_dist: 0.3696, d0.loss_cls_all: 0.3774, d0.loss_bbox_all: 0.5767, d0.loss_cls: 0.3774, d0.loss_bbox: 0.5767, d1.loss_cls: 0.3741, d1.loss_bbox: 0.5466, d2.loss_cls: 0.3668, d2.loss_bbox: 0.5296, d3.loss_cls: 0.3667, d3.loss_bbox: 0.5255, d4.loss_cls: 0.3665, d4.loss_bbox: 0.5224, d5.loss_cls: 0.3677, d5.loss_bbox: 0.5220, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2014, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0312, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9864, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9803, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9797, d5.loss_traj_cls: 0.0035, d5.loss_traj: 0.9885, d0.loss_map_cls_all: 0.3619, d0.loss_map_pts_all: 2.3675, d0.loss_map_dir_all: 0.0240, d0.loss_map_cls: 0.3619, d0.loss_map_pts: 2.3675, d0.loss_map_dir: 0.0240, d1.loss_map_cls: 0.3470, d1.loss_map_pts: 1.5237, d1.loss_map_dir: 0.0233, d2.loss_map_cls: 0.3376, d2.loss_map_pts: 1.3621, d2.loss_map_dir: 0.0239, d3.loss_map_cls: 0.3274, d3.loss_map_pts: 1.3094, d3.loss_map_dir: 0.0244, d4.loss_map_cls: 0.3204, d4.loss_map_pts: 1.2919, d4.loss_map_dir: 0.0248, d5.loss_map_cls: 0.3200, d5.loss_map_pts: 1.2858, d5.loss_map_dir: 0.0250, loss: 47.6566, grad_norm: 151.9417 +2026-02-25 00:53:42,578 - DriveTransformer - INFO - Epoch [3][22750/39528] lr: 9.831e-05, eta: 7 days, 20:11:09, time: 0.800, data_time: 0.041, memory: 19865, loss_cls: 0.3709, loss_bbox: 0.5170, loss_traj: 0.9682, loss_traj_cls: 0.0076, loss_map_cls: 0.2580, loss_map_pts: 1.0845, loss_map_dir: 0.0199, d0.loss_plan_l1_fix_time: 2.5799, d0.loss_plan_l1_fix_dist: 0.4848, d1.loss_plan_l1_fix_time: 1.6913, d1.loss_plan_l1_fix_dist: 0.2695, d2.loss_plan_l1_fix_time: 1.6678, d2.loss_plan_l1_fix_dist: 0.2805, d3.loss_plan_l1_fix_time: 1.6745, d3.loss_plan_l1_fix_dist: 0.2971, d4.loss_plan_l1_fix_time: 1.6800, d4.loss_plan_l1_fix_dist: 0.3175, d5.loss_plan_l1_fix_time: 1.6859, d5.loss_plan_l1_fix_dist: 0.3389, d6.loss_plan_l1_fix_time: 1.6926, d6.loss_plan_l1_fix_dist: 0.3624, d0.loss_cls_all: 0.3675, d0.loss_bbox_all: 0.5605, d0.loss_cls: 0.3675, d0.loss_bbox: 0.5605, d1.loss_cls: 0.3670, d1.loss_bbox: 0.5310, d2.loss_cls: 0.3601, d2.loss_bbox: 0.5205, d3.loss_cls: 0.3659, d3.loss_bbox: 0.5165, d4.loss_cls: 0.3669, d4.loss_bbox: 0.5162, d5.loss_cls: 0.3694, d5.loss_bbox: 0.5138, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1341, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0019, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9685, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9687, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9686, d5.loss_traj_cls: 0.0035, d5.loss_traj: 0.9663, d0.loss_map_cls_all: 0.3083, d0.loss_map_pts_all: 2.0016, d0.loss_map_dir_all: 0.0192, d0.loss_map_cls: 0.3083, d0.loss_map_pts: 2.0016, d0.loss_map_dir: 0.0192, d1.loss_map_cls: 0.2825, d1.loss_map_pts: 1.2877, d1.loss_map_dir: 0.0187, d2.loss_map_cls: 0.2684, d2.loss_map_pts: 1.1584, d2.loss_map_dir: 0.0191, d3.loss_map_cls: 0.2614, d3.loss_map_pts: 1.1088, d3.loss_map_dir: 0.0195, d4.loss_map_cls: 0.2561, d4.loss_map_pts: 1.0911, d4.loss_map_dir: 0.0197, d5.loss_map_cls: 0.2563, d5.loss_map_pts: 1.0857, d5.loss_map_dir: 0.0198, loss: 42.3600, grad_norm: 150.7995 +2026-02-25 00:54:22,610 - DriveTransformer - INFO - Epoch [3][22800/39528] lr: 9.831e-05, eta: 7 days, 20:10:30, time: 0.802, data_time: 0.043, memory: 19865, loss_cls: 0.3707, loss_bbox: 0.5461, loss_traj: 0.9312, loss_traj_cls: 0.0075, loss_map_cls: 0.3157, loss_map_pts: 1.2825, loss_map_dir: 0.0213, d0.loss_plan_l1_fix_time: 2.9108, d0.loss_plan_l1_fix_dist: 0.4924, d1.loss_plan_l1_fix_time: 1.7383, d1.loss_plan_l1_fix_dist: 0.2812, d2.loss_plan_l1_fix_time: 1.7199, d2.loss_plan_l1_fix_dist: 0.2926, d3.loss_plan_l1_fix_time: 1.7237, d3.loss_plan_l1_fix_dist: 0.3064, d4.loss_plan_l1_fix_time: 1.7290, d4.loss_plan_l1_fix_dist: 0.3220, d5.loss_plan_l1_fix_time: 1.7353, d5.loss_plan_l1_fix_dist: 0.3378, d6.loss_plan_l1_fix_time: 1.7433, d6.loss_plan_l1_fix_dist: 0.3497, d0.loss_cls_all: 0.3884, d0.loss_bbox_all: 0.5990, d0.loss_cls: 0.3884, d0.loss_bbox: 0.5990, d1.loss_cls: 0.3770, d1.loss_bbox: 0.5690, d2.loss_cls: 0.3772, d2.loss_bbox: 0.5517, d3.loss_cls: 0.3760, d3.loss_bbox: 0.5446, d4.loss_cls: 0.3734, d4.loss_bbox: 0.5445, d5.loss_cls: 0.3719, d5.loss_bbox: 0.5445, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1021, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9517, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9239, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9223, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9169, d5.loss_traj_cls: 0.0035, d5.loss_traj: 0.9183, d0.loss_map_cls_all: 0.3661, d0.loss_map_pts_all: 2.0965, d0.loss_map_dir_all: 0.0203, d0.loss_map_cls: 0.3661, d0.loss_map_pts: 2.0965, d0.loss_map_dir: 0.0203, d1.loss_map_cls: 0.3486, d1.loss_map_pts: 1.4798, d1.loss_map_dir: 0.0199, d2.loss_map_cls: 0.3273, d2.loss_map_pts: 1.3495, d2.loss_map_dir: 0.0203, d3.loss_map_cls: 0.3192, d3.loss_map_pts: 1.3031, d3.loss_map_dir: 0.0208, d4.loss_map_cls: 0.3167, d4.loss_map_pts: 1.2887, d4.loss_map_dir: 0.0210, d5.loss_map_cls: 0.3162, d5.loss_map_pts: 1.2840, d5.loss_map_dir: 0.0212, loss: 44.9077, grad_norm: 150.8703 +2026-02-25 00:55:03,102 - DriveTransformer - INFO - Epoch [3][22850/39528] lr: 9.831e-05, eta: 7 days, 20:09:54, time: 0.808, data_time: 0.041, memory: 19865, loss_cls: 0.3515, loss_bbox: 0.4794, loss_traj: 0.8905, loss_traj_cls: 0.0075, loss_map_cls: 0.2724, loss_map_pts: 1.2145, loss_map_dir: 0.0225, d0.loss_plan_l1_fix_time: 2.3357, d0.loss_plan_l1_fix_dist: 0.4314, d1.loss_plan_l1_fix_time: 1.4581, d1.loss_plan_l1_fix_dist: 0.2880, d2.loss_plan_l1_fix_time: 1.4382, d2.loss_plan_l1_fix_dist: 0.2922, d3.loss_plan_l1_fix_time: 1.4341, d3.loss_plan_l1_fix_dist: 0.3040, d4.loss_plan_l1_fix_time: 1.4354, d4.loss_plan_l1_fix_dist: 0.3178, d5.loss_plan_l1_fix_time: 1.4381, d5.loss_plan_l1_fix_dist: 0.3314, d6.loss_plan_l1_fix_time: 1.4428, d6.loss_plan_l1_fix_dist: 0.3459, d0.loss_cls_all: 0.3483, d0.loss_bbox_all: 0.5315, d0.loss_cls: 0.3483, d0.loss_bbox: 0.5315, d1.loss_cls: 0.3482, d1.loss_bbox: 0.5031, d2.loss_cls: 0.3439, d2.loss_bbox: 0.4913, d3.loss_cls: 0.3445, d3.loss_bbox: 0.4847, d4.loss_cls: 0.3456, d4.loss_bbox: 0.4808, d5.loss_cls: 0.3479, d5.loss_bbox: 0.4805, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0098, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9077, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8939, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8927, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8902, d5.loss_traj_cls: 0.0036, d5.loss_traj: 0.8872, d0.loss_map_cls_all: 0.3159, d0.loss_map_pts_all: 2.1896, d0.loss_map_dir_all: 0.0212, d0.loss_map_cls: 0.3159, d0.loss_map_pts: 2.1896, d0.loss_map_dir: 0.0212, d1.loss_map_cls: 0.2984, d1.loss_map_pts: 1.4465, d1.loss_map_dir: 0.0209, d2.loss_map_cls: 0.2861, d2.loss_map_pts: 1.2897, d2.loss_map_dir: 0.0213, d3.loss_map_cls: 0.2770, d3.loss_map_pts: 1.2341, d3.loss_map_dir: 0.0219, d4.loss_map_cls: 0.2733, d4.loss_map_pts: 1.2214, d4.loss_map_dir: 0.0222, d5.loss_map_cls: 0.2723, d5.loss_map_pts: 1.2155, d5.loss_map_dir: 0.0224, loss: 40.9278, grad_norm: 152.3528 +2026-02-25 00:55:42,416 - DriveTransformer - INFO - Epoch [3][22900/39528] lr: 9.831e-05, eta: 7 days, 20:09:08, time: 0.786, data_time: 0.040, memory: 19865, loss_cls: 0.3523, loss_bbox: 0.5209, loss_traj: 1.1326, loss_traj_cls: 0.0076, loss_map_cls: 0.2768, loss_map_pts: 1.0608, loss_map_dir: 0.0158, d0.loss_plan_l1_fix_time: 2.8956, d0.loss_plan_l1_fix_dist: 0.3948, d1.loss_plan_l1_fix_time: 1.7078, d1.loss_plan_l1_fix_dist: 0.2710, d2.loss_plan_l1_fix_time: 1.6882, d2.loss_plan_l1_fix_dist: 0.2756, d3.loss_plan_l1_fix_time: 1.6861, d3.loss_plan_l1_fix_dist: 0.2856, d4.loss_plan_l1_fix_time: 1.6881, d4.loss_plan_l1_fix_dist: 0.2994, d5.loss_plan_l1_fix_time: 1.6918, d5.loss_plan_l1_fix_dist: 0.3185, d6.loss_plan_l1_fix_time: 1.6972, d6.loss_plan_l1_fix_dist: 0.3456, d0.loss_cls_all: 0.3591, d0.loss_bbox_all: 0.5694, d0.loss_cls: 0.3591, d0.loss_bbox: 0.5694, d1.loss_cls: 0.3560, d1.loss_bbox: 0.5395, d2.loss_cls: 0.3524, d2.loss_bbox: 0.5256, d3.loss_cls: 0.3531, d3.loss_bbox: 0.5194, d4.loss_cls: 0.3527, d4.loss_bbox: 0.5176, d5.loss_cls: 0.3530, d5.loss_bbox: 0.5173, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3950, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1701, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1303, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1238, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.1217, d5.loss_traj_cls: 0.0037, d5.loss_traj: 1.1302, d0.loss_map_cls_all: 0.3194, d0.loss_map_pts_all: 1.6824, d0.loss_map_dir_all: 0.0143, d0.loss_map_cls: 0.3194, d0.loss_map_pts: 1.6824, d0.loss_map_dir: 0.0143, d1.loss_map_cls: 0.2979, d1.loss_map_pts: 1.2380, d1.loss_map_dir: 0.0142, d2.loss_map_cls: 0.2899, d2.loss_map_pts: 1.1184, d2.loss_map_dir: 0.0148, d3.loss_map_cls: 0.2827, d3.loss_map_pts: 1.0813, d3.loss_map_dir: 0.0153, d4.loss_map_cls: 0.2786, d4.loss_map_pts: 1.0673, d4.loss_map_dir: 0.0155, d5.loss_map_cls: 0.2785, d5.loss_map_pts: 1.0624, d5.loss_map_dir: 0.0157, loss: 43.0383, grad_norm: 153.2721 +2026-02-25 00:56:21,963 - DriveTransformer - INFO - Epoch [3][22950/39528] lr: 9.831e-05, eta: 7 days, 20:08:24, time: 0.791, data_time: 0.037, memory: 19865, loss_cls: 0.3770, loss_bbox: 0.5194, loss_traj: 1.0801, loss_traj_cls: 0.0077, loss_map_cls: 0.2838, loss_map_pts: 1.1097, loss_map_dir: 0.0200, d0.loss_plan_l1_fix_time: 2.7286, d0.loss_plan_l1_fix_dist: 0.4391, d1.loss_plan_l1_fix_time: 1.8453, d1.loss_plan_l1_fix_dist: 0.2551, d2.loss_plan_l1_fix_time: 1.8283, d2.loss_plan_l1_fix_dist: 0.2647, d3.loss_plan_l1_fix_time: 1.8311, d3.loss_plan_l1_fix_dist: 0.2765, d4.loss_plan_l1_fix_time: 1.8350, d4.loss_plan_l1_fix_dist: 0.2895, d5.loss_plan_l1_fix_time: 1.8390, d5.loss_plan_l1_fix_dist: 0.3045, d6.loss_plan_l1_fix_time: 1.8435, d6.loss_plan_l1_fix_dist: 0.3209, d0.loss_cls_all: 0.3840, d0.loss_bbox_all: 0.5650, d0.loss_cls: 0.3840, d0.loss_bbox: 0.5650, d1.loss_cls: 0.3789, d1.loss_bbox: 0.5353, d2.loss_cls: 0.3762, d2.loss_bbox: 0.5237, d3.loss_cls: 0.3727, d3.loss_bbox: 0.5201, d4.loss_cls: 0.3737, d4.loss_bbox: 0.5180, d5.loss_cls: 0.3771, d5.loss_bbox: 0.5172, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2451, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0812, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0682, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0671, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0680, d5.loss_traj_cls: 0.0038, d5.loss_traj: 1.0748, d0.loss_map_cls_all: 0.3287, d0.loss_map_pts_all: 1.9325, d0.loss_map_dir_all: 0.0182, d0.loss_map_cls: 0.3287, d0.loss_map_pts: 1.9325, d0.loss_map_dir: 0.0182, d1.loss_map_cls: 0.3094, d1.loss_map_pts: 1.3006, d1.loss_map_dir: 0.0181, d2.loss_map_cls: 0.2966, d2.loss_map_pts: 1.1637, d2.loss_map_dir: 0.0188, d3.loss_map_cls: 0.2867, d3.loss_map_pts: 1.1198, d3.loss_map_dir: 0.0193, d4.loss_map_cls: 0.2823, d4.loss_map_pts: 1.1088, d4.loss_map_dir: 0.0197, d5.loss_map_cls: 0.2841, d5.loss_map_pts: 1.1057, d5.loss_map_dir: 0.0199, loss: 44.2153, grad_norm: 149.9477 +2026-02-25 00:57:02,801 - DriveTransformer - INFO - Epoch [3][23000/39528] lr: 9.831e-05, eta: 7 days, 20:07:51, time: 0.817, data_time: 0.045, memory: 19865, loss_cls: 0.3349, loss_bbox: 0.5110, loss_traj: 1.0204, loss_traj_cls: 0.0079, loss_map_cls: 0.2716, loss_map_pts: 1.1177, loss_map_dir: 0.0199, d0.loss_plan_l1_fix_time: 3.0048, d0.loss_plan_l1_fix_dist: 0.4699, d1.loss_plan_l1_fix_time: 1.9424, d1.loss_plan_l1_fix_dist: 0.2878, d2.loss_plan_l1_fix_time: 1.9303, d2.loss_plan_l1_fix_dist: 0.2973, d3.loss_plan_l1_fix_time: 1.9317, d3.loss_plan_l1_fix_dist: 0.3098, d4.loss_plan_l1_fix_time: 1.9365, d4.loss_plan_l1_fix_dist: 0.3235, d5.loss_plan_l1_fix_time: 1.9407, d5.loss_plan_l1_fix_dist: 0.3379, d6.loss_plan_l1_fix_time: 1.9455, d6.loss_plan_l1_fix_dist: 0.3536, d0.loss_cls_all: 0.3366, d0.loss_bbox_all: 0.5542, d0.loss_cls: 0.3366, d0.loss_bbox: 0.5542, d1.loss_cls: 0.3321, d1.loss_bbox: 0.5271, d2.loss_cls: 0.3305, d2.loss_bbox: 0.5143, d3.loss_cls: 0.3304, d3.loss_bbox: 0.5104, d4.loss_cls: 0.3305, d4.loss_bbox: 0.5102, d5.loss_cls: 0.3316, d5.loss_bbox: 0.5105, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2543, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0668, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0173, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0127, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0238, d5.loss_traj_cls: 0.0039, d5.loss_traj: 1.0241, d0.loss_map_cls_all: 0.3065, d0.loss_map_pts_all: 1.9302, d0.loss_map_dir_all: 0.0184, d0.loss_map_cls: 0.3065, d0.loss_map_pts: 1.9302, d0.loss_map_dir: 0.0184, d1.loss_map_cls: 0.2891, d1.loss_map_pts: 1.3122, d1.loss_map_dir: 0.0181, d2.loss_map_cls: 0.2774, d2.loss_map_pts: 1.1794, d2.loss_map_dir: 0.0187, d3.loss_map_cls: 0.2709, d3.loss_map_pts: 1.1324, d3.loss_map_dir: 0.0192, d4.loss_map_cls: 0.2690, d4.loss_map_pts: 1.1187, d4.loss_map_dir: 0.0195, d5.loss_map_cls: 0.2722, d5.loss_map_pts: 1.1142, d5.loss_map_dir: 0.0197, loss: 44.5532, grad_norm: 149.4742 +2026-02-25 00:57:43,395 - DriveTransformer - INFO - Epoch [3][23050/39528] lr: 9.831e-05, eta: 7 days, 20:07:16, time: 0.812, data_time: 0.044, memory: 19865, loss_cls: 0.3501, loss_bbox: 0.5313, loss_traj: 1.0181, loss_traj_cls: 0.0080, loss_map_cls: 0.2645, loss_map_pts: 1.1651, loss_map_dir: 0.0195, d0.loss_plan_l1_fix_time: 2.7496, d0.loss_plan_l1_fix_dist: 0.5637, d1.loss_plan_l1_fix_time: 1.7326, d1.loss_plan_l1_fix_dist: 0.3461, d2.loss_plan_l1_fix_time: 1.7286, d2.loss_plan_l1_fix_dist: 0.3506, d3.loss_plan_l1_fix_time: 1.7323, d3.loss_plan_l1_fix_dist: 0.3605, d4.loss_plan_l1_fix_time: 1.7376, d4.loss_plan_l1_fix_dist: 0.3715, d5.loss_plan_l1_fix_time: 1.7429, d5.loss_plan_l1_fix_dist: 0.3835, d6.loss_plan_l1_fix_time: 1.7485, d6.loss_plan_l1_fix_dist: 0.3920, d0.loss_cls_all: 0.3452, d0.loss_bbox_all: 0.5672, d0.loss_cls: 0.3452, d0.loss_bbox: 0.5672, d1.loss_cls: 0.3377, d1.loss_bbox: 0.5461, d2.loss_cls: 0.3360, d2.loss_bbox: 0.5339, d3.loss_cls: 0.3372, d3.loss_bbox: 0.5308, d4.loss_cls: 0.3377, d4.loss_bbox: 0.5303, d5.loss_cls: 0.3446, d5.loss_bbox: 0.5307, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2286, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0416, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0141, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0114, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0153, d5.loss_traj_cls: 0.0040, d5.loss_traj: 1.0139, d0.loss_map_cls_all: 0.3184, d0.loss_map_pts_all: 2.0403, d0.loss_map_dir_all: 0.0182, d0.loss_map_cls: 0.3184, d0.loss_map_pts: 2.0403, d0.loss_map_dir: 0.0182, d1.loss_map_cls: 0.2944, d1.loss_map_pts: 1.3901, d1.loss_map_dir: 0.0179, d2.loss_map_cls: 0.2787, d2.loss_map_pts: 1.2516, d2.loss_map_dir: 0.0184, d3.loss_map_cls: 0.2708, d3.loss_map_pts: 1.1940, d3.loss_map_dir: 0.0189, d4.loss_map_cls: 0.2649, d4.loss_map_pts: 1.1731, d4.loss_map_dir: 0.0192, d5.loss_map_cls: 0.2640, d5.loss_map_pts: 1.1659, d5.loss_map_dir: 0.0194, loss: 44.2158, grad_norm: 150.1381 +2026-02-25 00:58:24,125 - DriveTransformer - INFO - Epoch [3][23100/39528] lr: 9.831e-05, eta: 7 days, 20:06:42, time: 0.815, data_time: 0.038, memory: 19865, loss_cls: 0.3943, loss_bbox: 0.5629, loss_traj: 0.9363, loss_traj_cls: 0.0080, loss_map_cls: 0.3069, loss_map_pts: 1.2045, loss_map_dir: 0.0233, d0.loss_plan_l1_fix_time: 2.7668, d0.loss_plan_l1_fix_dist: 0.3337, d1.loss_plan_l1_fix_time: 1.7294, d1.loss_plan_l1_fix_dist: 0.2361, d2.loss_plan_l1_fix_time: 1.7160, d2.loss_plan_l1_fix_dist: 0.2409, d3.loss_plan_l1_fix_time: 1.7238, d3.loss_plan_l1_fix_dist: 0.2514, d4.loss_plan_l1_fix_time: 1.7289, d4.loss_plan_l1_fix_dist: 0.2623, d5.loss_plan_l1_fix_time: 1.7338, d5.loss_plan_l1_fix_dist: 0.2758, d6.loss_plan_l1_fix_time: 1.7403, d6.loss_plan_l1_fix_dist: 0.2925, d0.loss_cls_all: 0.4015, d0.loss_bbox_all: 0.6090, d0.loss_cls: 0.4015, d0.loss_bbox: 0.6090, d1.loss_cls: 0.3977, d1.loss_bbox: 0.5832, d2.loss_cls: 0.3922, d2.loss_bbox: 0.5720, d3.loss_cls: 0.3913, d3.loss_bbox: 0.5655, d4.loss_cls: 0.3890, d4.loss_bbox: 0.5636, d5.loss_cls: 0.3925, d5.loss_bbox: 0.5650, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0465, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9407, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9244, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9252, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9265, d5.loss_traj_cls: 0.0040, d5.loss_traj: 0.9277, d0.loss_map_cls_all: 0.3471, d0.loss_map_pts_all: 2.0729, d0.loss_map_dir_all: 0.0220, d0.loss_map_cls: 0.3471, d0.loss_map_pts: 2.0729, d0.loss_map_dir: 0.0220, d1.loss_map_cls: 0.3295, d1.loss_map_pts: 1.4427, d1.loss_map_dir: 0.0217, d2.loss_map_cls: 0.3155, d2.loss_map_pts: 1.2843, d2.loss_map_dir: 0.0223, d3.loss_map_cls: 0.3083, d3.loss_map_pts: 1.2310, d3.loss_map_dir: 0.0228, d4.loss_map_cls: 0.3063, d4.loss_map_pts: 1.2100, d4.loss_map_dir: 0.0231, d5.loss_map_cls: 0.3065, d5.loss_map_pts: 1.2067, d5.loss_map_dir: 0.0232, loss: 43.9391, grad_norm: 148.8496 +2026-02-25 00:59:04,424 - DriveTransformer - INFO - Epoch [3][23150/39528] lr: 9.831e-05, eta: 7 days, 20:06:05, time: 0.806, data_time: 0.041, memory: 19865, loss_cls: 0.3429, loss_bbox: 0.5131, loss_traj: 1.0019, loss_traj_cls: 0.0081, loss_map_cls: 0.2298, loss_map_pts: 1.0472, loss_map_dir: 0.0199, d0.loss_plan_l1_fix_time: 2.6592, d0.loss_plan_l1_fix_dist: 0.4914, d1.loss_plan_l1_fix_time: 1.5667, d1.loss_plan_l1_fix_dist: 0.2598, d2.loss_plan_l1_fix_time: 1.5237, d2.loss_plan_l1_fix_dist: 0.2612, d3.loss_plan_l1_fix_time: 1.5202, d3.loss_plan_l1_fix_dist: 0.2691, d4.loss_plan_l1_fix_time: 1.5248, d4.loss_plan_l1_fix_dist: 0.2813, d5.loss_plan_l1_fix_time: 1.5321, d5.loss_plan_l1_fix_dist: 0.2954, d6.loss_plan_l1_fix_time: 1.5411, d6.loss_plan_l1_fix_dist: 0.3146, d0.loss_cls_all: 0.3548, d0.loss_bbox_all: 0.5402, d0.loss_cls: 0.3548, d0.loss_bbox: 0.5402, d1.loss_cls: 0.3496, d1.loss_bbox: 0.5169, d2.loss_cls: 0.3434, d2.loss_bbox: 0.5049, d3.loss_cls: 0.3409, d3.loss_bbox: 0.5046, d4.loss_cls: 0.3401, d4.loss_bbox: 0.5039, d5.loss_cls: 0.3403, d5.loss_bbox: 0.5083, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1321, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0078, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9836, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.9897, d4.loss_traj_cls: 0.0015, d4.loss_traj: 0.9972, d5.loss_traj_cls: 0.0042, d5.loss_traj: 0.9951, d0.loss_map_cls_all: 0.2720, d0.loss_map_pts_all: 2.0482, d0.loss_map_dir_all: 0.0189, d0.loss_map_cls: 0.2720, d0.loss_map_pts: 2.0482, d0.loss_map_dir: 0.0189, d1.loss_map_cls: 0.2526, d1.loss_map_pts: 1.2885, d1.loss_map_dir: 0.0183, d2.loss_map_cls: 0.2400, d2.loss_map_pts: 1.1285, d2.loss_map_dir: 0.0187, d3.loss_map_cls: 0.2325, d3.loss_map_pts: 1.0722, d3.loss_map_dir: 0.0192, d4.loss_map_cls: 0.2278, d4.loss_map_pts: 1.0530, d4.loss_map_dir: 0.0196, d5.loss_map_cls: 0.2294, d5.loss_map_pts: 1.0484, d5.loss_map_dir: 0.0198, loss: 40.9079, grad_norm: 150.2421 +2026-02-25 00:59:46,198 - DriveTransformer - INFO - Epoch [3][23200/39528] lr: 9.831e-05, eta: 7 days, 20:05:39, time: 0.835, data_time: 0.043, memory: 19865, loss_cls: 0.3348, loss_bbox: 0.5146, loss_traj: 0.9381, loss_traj_cls: 0.0080, loss_map_cls: 0.2679, loss_map_pts: 1.2045, loss_map_dir: 0.0212, d0.loss_plan_l1_fix_time: 2.6813, d0.loss_plan_l1_fix_dist: 0.4530, d1.loss_plan_l1_fix_time: 1.7552, d1.loss_plan_l1_fix_dist: 0.2602, d2.loss_plan_l1_fix_time: 1.7267, d2.loss_plan_l1_fix_dist: 0.2626, d3.loss_plan_l1_fix_time: 1.7225, d3.loss_plan_l1_fix_dist: 0.2709, d4.loss_plan_l1_fix_time: 1.7270, d4.loss_plan_l1_fix_dist: 0.2828, d5.loss_plan_l1_fix_time: 1.7337, d5.loss_plan_l1_fix_dist: 0.2948, d6.loss_plan_l1_fix_time: 1.7419, d6.loss_plan_l1_fix_dist: 0.3064, d0.loss_cls_all: 0.3470, d0.loss_bbox_all: 0.5430, d0.loss_cls: 0.3470, d0.loss_bbox: 0.5430, d1.loss_cls: 0.3366, d1.loss_bbox: 0.5148, d2.loss_cls: 0.3313, d2.loss_bbox: 0.5048, d3.loss_cls: 0.3296, d3.loss_bbox: 0.5034, d4.loss_cls: 0.3287, d4.loss_bbox: 0.5047, d5.loss_cls: 0.3310, d5.loss_bbox: 0.5079, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1269, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9920, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9583, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.9454, d4.loss_traj_cls: 0.0015, d4.loss_traj: 0.9356, d5.loss_traj_cls: 0.0042, d5.loss_traj: 0.9360, d0.loss_map_cls_all: 0.3078, d0.loss_map_pts_all: 2.2069, d0.loss_map_dir_all: 0.0201, d0.loss_map_cls: 0.3078, d0.loss_map_pts: 2.2069, d0.loss_map_dir: 0.0201, d1.loss_map_cls: 0.2868, d1.loss_map_pts: 1.4450, d1.loss_map_dir: 0.0195, d2.loss_map_cls: 0.2742, d2.loss_map_pts: 1.2805, d2.loss_map_dir: 0.0202, d3.loss_map_cls: 0.2683, d3.loss_map_pts: 1.2317, d3.loss_map_dir: 0.0207, d4.loss_map_cls: 0.2649, d4.loss_map_pts: 1.2086, d4.loss_map_dir: 0.0210, d5.loss_map_cls: 0.2668, d5.loss_map_pts: 1.2049, d5.loss_map_dir: 0.0212, loss: 43.2887, grad_norm: 151.0160 +2026-02-25 01:00:27,524 - DriveTransformer - INFO - Epoch [3][23250/39528] lr: 9.831e-05, eta: 7 days, 20:05:10, time: 0.826, data_time: 0.036, memory: 19865, loss_cls: 0.3861, loss_bbox: 0.5353, loss_traj: 0.8494, loss_traj_cls: 0.0080, loss_map_cls: 0.2821, loss_map_pts: 1.3588, loss_map_dir: 0.0256, d0.loss_plan_l1_fix_time: 2.3945, d0.loss_plan_l1_fix_dist: 0.5133, d1.loss_plan_l1_fix_time: 1.5588, d1.loss_plan_l1_fix_dist: 0.2925, d2.loss_plan_l1_fix_time: 1.5353, d2.loss_plan_l1_fix_dist: 0.2946, d3.loss_plan_l1_fix_time: 1.5357, d3.loss_plan_l1_fix_dist: 0.3056, d4.loss_plan_l1_fix_time: 1.5385, d4.loss_plan_l1_fix_dist: 0.3204, d5.loss_plan_l1_fix_time: 1.5421, d5.loss_plan_l1_fix_dist: 0.3388, d6.loss_plan_l1_fix_time: 1.5470, d6.loss_plan_l1_fix_dist: 0.3585, d0.loss_cls_all: 0.3953, d0.loss_bbox_all: 0.5722, d0.loss_cls: 0.3953, d0.loss_bbox: 0.5722, d1.loss_cls: 0.3914, d1.loss_bbox: 0.5452, d2.loss_cls: 0.3864, d2.loss_bbox: 0.5334, d3.loss_cls: 0.3846, d3.loss_bbox: 0.5304, d4.loss_cls: 0.3825, d4.loss_bbox: 0.5317, d5.loss_cls: 0.3856, d5.loss_bbox: 0.5305, d0.loss_traj_cls: 0.0002, d0.loss_traj: 0.9654, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8742, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8539, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8551, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.8528, d5.loss_traj_cls: 0.0042, d5.loss_traj: 0.8430, d0.loss_map_cls_all: 0.3279, d0.loss_map_pts_all: 2.3378, d0.loss_map_dir_all: 0.0242, d0.loss_map_cls: 0.3279, d0.loss_map_pts: 2.3378, d0.loss_map_dir: 0.0242, d1.loss_map_cls: 0.3102, d1.loss_map_pts: 1.5924, d1.loss_map_dir: 0.0238, d2.loss_map_cls: 0.2949, d2.loss_map_pts: 1.4384, d2.loss_map_dir: 0.0244, d3.loss_map_cls: 0.2854, d3.loss_map_pts: 1.3850, d3.loss_map_dir: 0.0250, d4.loss_map_cls: 0.2815, d4.loss_map_pts: 1.3622, d4.loss_map_dir: 0.0253, d5.loss_map_cls: 0.2808, d5.loss_map_pts: 1.3598, d5.loss_map_dir: 0.0255, loss: 43.4058, grad_norm: 149.4223 +2026-02-25 01:01:07,173 - DriveTransformer - INFO - Epoch [3][23300/39528] lr: 9.831e-05, eta: 7 days, 20:04:27, time: 0.793, data_time: 0.039, memory: 19865, loss_cls: 0.3334, loss_bbox: 0.4898, loss_traj: 0.9635, loss_traj_cls: 0.0080, loss_map_cls: 0.2858, loss_map_pts: 1.0838, loss_map_dir: 0.0196, d0.loss_plan_l1_fix_time: 2.5428, d0.loss_plan_l1_fix_dist: 0.4278, d1.loss_plan_l1_fix_time: 1.5373, d1.loss_plan_l1_fix_dist: 0.2372, d2.loss_plan_l1_fix_time: 1.5062, d2.loss_plan_l1_fix_dist: 0.2477, d3.loss_plan_l1_fix_time: 1.5005, d3.loss_plan_l1_fix_dist: 0.2643, d4.loss_plan_l1_fix_time: 1.5025, d4.loss_plan_l1_fix_dist: 0.2811, d5.loss_plan_l1_fix_time: 1.5058, d5.loss_plan_l1_fix_dist: 0.2969, d6.loss_plan_l1_fix_time: 1.5100, d6.loss_plan_l1_fix_dist: 0.3202, d0.loss_cls_all: 0.3466, d0.loss_bbox_all: 0.5285, d0.loss_cls: 0.3466, d0.loss_bbox: 0.5285, d1.loss_cls: 0.3396, d1.loss_bbox: 0.5015, d2.loss_cls: 0.3346, d2.loss_bbox: 0.4920, d3.loss_cls: 0.3337, d3.loss_bbox: 0.4874, d4.loss_cls: 0.3303, d4.loss_bbox: 0.4886, d5.loss_cls: 0.3303, d5.loss_bbox: 0.4893, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1690, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0254, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9807, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9724, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9643, d5.loss_traj_cls: 0.0043, d5.loss_traj: 0.9609, d0.loss_map_cls_all: 0.3288, d0.loss_map_pts_all: 1.8967, d0.loss_map_dir_all: 0.0186, d0.loss_map_cls: 0.3288, d0.loss_map_pts: 1.8967, d0.loss_map_dir: 0.0186, d1.loss_map_cls: 0.3150, d1.loss_map_pts: 1.2847, d1.loss_map_dir: 0.0181, d2.loss_map_cls: 0.3012, d2.loss_map_pts: 1.1534, d2.loss_map_dir: 0.0186, d3.loss_map_cls: 0.2902, d3.loss_map_pts: 1.1080, d3.loss_map_dir: 0.0191, d4.loss_map_cls: 0.2895, d4.loss_map_pts: 1.0889, d4.loss_map_dir: 0.0194, d5.loss_map_cls: 0.2860, d5.loss_map_pts: 1.0845, d5.loss_map_dir: 0.0195, loss: 40.6083, grad_norm: 149.4187 +2026-02-25 01:01:49,113 - DriveTransformer - INFO - Epoch [3][23350/39528] lr: 9.831e-05, eta: 7 days, 20:04:03, time: 0.838, data_time: 0.040, memory: 19865, loss_cls: 0.3458, loss_bbox: 0.5260, loss_traj: 0.9807, loss_traj_cls: 0.0081, loss_map_cls: 0.2872, loss_map_pts: 1.2740, loss_map_dir: 0.0250, d0.loss_plan_l1_fix_time: 2.6743, d0.loss_plan_l1_fix_dist: 0.4775, d1.loss_plan_l1_fix_time: 1.7150, d1.loss_plan_l1_fix_dist: 0.2442, d2.loss_plan_l1_fix_time: 1.6952, d2.loss_plan_l1_fix_dist: 0.2547, d3.loss_plan_l1_fix_time: 1.7012, d3.loss_plan_l1_fix_dist: 0.2710, d4.loss_plan_l1_fix_time: 1.7080, d4.loss_plan_l1_fix_dist: 0.2929, d5.loss_plan_l1_fix_time: 1.7142, d5.loss_plan_l1_fix_dist: 0.3147, d6.loss_plan_l1_fix_time: 1.7205, d6.loss_plan_l1_fix_dist: 0.3348, d0.loss_cls_all: 0.3608, d0.loss_bbox_all: 0.5496, d0.loss_cls: 0.3608, d0.loss_bbox: 0.5496, d1.loss_cls: 0.3522, d1.loss_bbox: 0.5266, d2.loss_cls: 0.3490, d2.loss_bbox: 0.5176, d3.loss_cls: 0.3450, d3.loss_bbox: 0.5166, d4.loss_cls: 0.3422, d4.loss_bbox: 0.5206, d5.loss_cls: 0.3433, d5.loss_bbox: 0.5242, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1422, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0097, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9784, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9835, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9781, d5.loss_traj_cls: 0.0043, d5.loss_traj: 0.9808, d0.loss_map_cls_all: 0.3220, d0.loss_map_pts_all: 2.2688, d0.loss_map_dir_all: 0.0235, d0.loss_map_cls: 0.3220, d0.loss_map_pts: 2.2688, d0.loss_map_dir: 0.0235, d1.loss_map_cls: 0.3050, d1.loss_map_pts: 1.5086, d1.loss_map_dir: 0.0231, d2.loss_map_cls: 0.2934, d2.loss_map_pts: 1.3390, d2.loss_map_dir: 0.0237, d3.loss_map_cls: 0.2894, d3.loss_map_pts: 1.2859, d3.loss_map_dir: 0.0242, d4.loss_map_cls: 0.2884, d4.loss_map_pts: 1.2760, d4.loss_map_dir: 0.0247, d5.loss_map_cls: 0.2870, d5.loss_map_pts: 1.2722, d5.loss_map_dir: 0.0248, loss: 44.2988, grad_norm: 148.8298 +2026-02-25 01:02:26,968 - DriveTransformer - INFO - Epoch [3][23400/39528] lr: 9.831e-05, eta: 7 days, 20:03:06, time: 0.757, data_time: 0.041, memory: 19865, loss_cls: 0.3504, loss_bbox: 0.5194, loss_traj: 1.1816, loss_traj_cls: 0.0081, loss_map_cls: 0.2569, loss_map_pts: 1.0244, loss_map_dir: 0.0187, d0.loss_plan_l1_fix_time: 2.5003, d0.loss_plan_l1_fix_dist: 0.4152, d1.loss_plan_l1_fix_time: 1.5904, d1.loss_plan_l1_fix_dist: 0.2451, d2.loss_plan_l1_fix_time: 1.5858, d2.loss_plan_l1_fix_dist: 0.2539, d3.loss_plan_l1_fix_time: 1.5962, d3.loss_plan_l1_fix_dist: 0.2672, d4.loss_plan_l1_fix_time: 1.6031, d4.loss_plan_l1_fix_dist: 0.2841, d5.loss_plan_l1_fix_time: 1.6089, d5.loss_plan_l1_fix_dist: 0.3061, d6.loss_plan_l1_fix_time: 1.6145, d6.loss_plan_l1_fix_dist: 0.3271, d0.loss_cls_all: 0.3614, d0.loss_bbox_all: 0.5517, d0.loss_cls: 0.3614, d0.loss_bbox: 0.5517, d1.loss_cls: 0.3514, d1.loss_bbox: 0.5249, d2.loss_cls: 0.3481, d2.loss_bbox: 0.5111, d3.loss_cls: 0.3485, d3.loss_bbox: 0.5081, d4.loss_cls: 0.3451, d4.loss_bbox: 0.5134, d5.loss_cls: 0.3477, d5.loss_bbox: 0.5156, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4435, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2267, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1764, d3.loss_traj_cls: 0.0014, d3.loss_traj: 1.1773, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.1751, d5.loss_traj_cls: 0.0045, d5.loss_traj: 1.1795, d0.loss_map_cls_all: 0.3179, d0.loss_map_pts_all: 1.7485, d0.loss_map_dir_all: 0.0178, d0.loss_map_cls: 0.3179, d0.loss_map_pts: 1.7485, d0.loss_map_dir: 0.0178, d1.loss_map_cls: 0.2940, d1.loss_map_pts: 1.2111, d1.loss_map_dir: 0.0175, d2.loss_map_cls: 0.2770, d2.loss_map_pts: 1.0765, d2.loss_map_dir: 0.0179, d3.loss_map_cls: 0.2637, d3.loss_map_pts: 1.0351, d3.loss_map_dir: 0.0182, d4.loss_map_cls: 0.2583, d4.loss_map_pts: 1.0224, d4.loss_map_dir: 0.0184, d5.loss_map_cls: 0.2560, d5.loss_map_pts: 1.0216, d5.loss_map_dir: 0.0186, loss: 42.0609, grad_norm: 150.1776 +2026-02-25 01:03:06,579 - DriveTransformer - INFO - Epoch [3][23450/39528] lr: 9.831e-05, eta: 7 days, 20:02:22, time: 0.792, data_time: 0.045, memory: 19865, loss_cls: 0.3268, loss_bbox: 0.4836, loss_traj: 1.1168, loss_traj_cls: 0.0079, loss_map_cls: 0.2131, loss_map_pts: 0.9864, loss_map_dir: 0.0163, d0.loss_plan_l1_fix_time: 2.2743, d0.loss_plan_l1_fix_dist: 0.4840, d1.loss_plan_l1_fix_time: 1.4213, d1.loss_plan_l1_fix_dist: 0.2590, d2.loss_plan_l1_fix_time: 1.4015, d2.loss_plan_l1_fix_dist: 0.2689, d3.loss_plan_l1_fix_time: 1.3991, d3.loss_plan_l1_fix_dist: 0.2880, d4.loss_plan_l1_fix_time: 1.4021, d4.loss_plan_l1_fix_dist: 0.3112, d5.loss_plan_l1_fix_time: 1.4066, d5.loss_plan_l1_fix_dist: 0.3334, d6.loss_plan_l1_fix_time: 1.4118, d6.loss_plan_l1_fix_dist: 0.3585, d0.loss_cls_all: 0.3280, d0.loss_bbox_all: 0.5278, d0.loss_cls: 0.3280, d0.loss_bbox: 0.5278, d1.loss_cls: 0.3291, d1.loss_bbox: 0.4956, d2.loss_cls: 0.3273, d2.loss_bbox: 0.4831, d3.loss_cls: 0.3254, d3.loss_bbox: 0.4801, d4.loss_cls: 0.3234, d4.loss_bbox: 0.4801, d5.loss_cls: 0.3260, d5.loss_bbox: 0.4806, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2801, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.1309, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.1062, d3.loss_traj_cls: 0.0014, d3.loss_traj: 1.1092, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.1079, d5.loss_traj_cls: 0.0045, d5.loss_traj: 1.1138, d0.loss_map_cls_all: 0.2690, d0.loss_map_pts_all: 1.7399, d0.loss_map_dir_all: 0.0154, d0.loss_map_cls: 0.2690, d0.loss_map_pts: 1.7399, d0.loss_map_dir: 0.0154, d1.loss_map_cls: 0.2537, d1.loss_map_pts: 1.1836, d1.loss_map_dir: 0.0150, d2.loss_map_cls: 0.2365, d2.loss_map_pts: 1.0537, d2.loss_map_dir: 0.0154, d3.loss_map_cls: 0.2206, d3.loss_map_pts: 1.0071, d3.loss_map_dir: 0.0157, d4.loss_map_cls: 0.2157, d4.loss_map_pts: 0.9892, d4.loss_map_dir: 0.0160, d5.loss_map_cls: 0.2130, d5.loss_map_pts: 0.9861, d5.loss_map_dir: 0.0162, loss: 39.2771, grad_norm: 148.2058 +2026-02-25 01:03:47,874 - DriveTransformer - INFO - Epoch [3][23500/39528] lr: 9.831e-05, eta: 7 days, 20:01:53, time: 0.826, data_time: 0.042, memory: 19865, loss_cls: 0.3238, loss_bbox: 0.4829, loss_traj: 0.9427, loss_traj_cls: 0.0078, loss_map_cls: 0.2565, loss_map_pts: 1.1698, loss_map_dir: 0.0233, d0.loss_plan_l1_fix_time: 2.4627, d0.loss_plan_l1_fix_dist: 0.4445, d1.loss_plan_l1_fix_time: 1.4647, d1.loss_plan_l1_fix_dist: 0.2607, d2.loss_plan_l1_fix_time: 1.4656, d2.loss_plan_l1_fix_dist: 0.2761, d3.loss_plan_l1_fix_time: 1.4722, d3.loss_plan_l1_fix_dist: 0.2946, d4.loss_plan_l1_fix_time: 1.4787, d4.loss_plan_l1_fix_dist: 0.3141, d5.loss_plan_l1_fix_time: 1.4867, d5.loss_plan_l1_fix_dist: 0.3324, d6.loss_plan_l1_fix_time: 1.4964, d6.loss_plan_l1_fix_dist: 0.3546, d0.loss_cls_all: 0.3322, d0.loss_bbox_all: 0.5164, d0.loss_cls: 0.3322, d0.loss_bbox: 0.5164, d1.loss_cls: 0.3323, d1.loss_bbox: 0.4894, d2.loss_cls: 0.3249, d2.loss_bbox: 0.4805, d3.loss_cls: 0.3241, d3.loss_bbox: 0.4783, d4.loss_cls: 0.3229, d4.loss_bbox: 0.4794, d5.loss_cls: 0.3246, d5.loss_bbox: 0.4808, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1559, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.9826, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9463, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.9460, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9450, d5.loss_traj_cls: 0.0045, d5.loss_traj: 0.9460, d0.loss_map_cls_all: 0.2892, d0.loss_map_pts_all: 2.2434, d0.loss_map_dir_all: 0.0222, d0.loss_map_cls: 0.2892, d0.loss_map_pts: 2.2434, d0.loss_map_dir: 0.0222, d1.loss_map_cls: 0.2776, d1.loss_map_pts: 1.4085, d1.loss_map_dir: 0.0215, d2.loss_map_cls: 0.2675, d2.loss_map_pts: 1.2398, d2.loss_map_dir: 0.0221, d3.loss_map_cls: 0.2598, d3.loss_map_pts: 1.1907, d3.loss_map_dir: 0.0226, d4.loss_map_cls: 0.2590, d4.loss_map_pts: 1.1726, d4.loss_map_dir: 0.0230, d5.loss_map_cls: 0.2565, d5.loss_map_pts: 1.1709, d5.loss_map_dir: 0.0232, loss: 41.2017, grad_norm: 149.1932 +2026-02-25 01:04:27,985 - DriveTransformer - INFO - Epoch [3][23550/39528] lr: 9.831e-05, eta: 7 days, 20:01:14, time: 0.802, data_time: 0.041, memory: 19865, loss_cls: 0.3772, loss_bbox: 0.5337, loss_traj: 1.0363, loss_traj_cls: 0.0078, loss_map_cls: 0.2802, loss_map_pts: 1.2635, loss_map_dir: 0.0225, d0.loss_plan_l1_fix_time: 2.8293, d0.loss_plan_l1_fix_dist: 0.5772, d1.loss_plan_l1_fix_time: 1.8638, d1.loss_plan_l1_fix_dist: 0.3035, d2.loss_plan_l1_fix_time: 1.8501, d2.loss_plan_l1_fix_dist: 0.3146, d3.loss_plan_l1_fix_time: 1.8522, d3.loss_plan_l1_fix_dist: 0.3336, d4.loss_plan_l1_fix_time: 1.8577, d4.loss_plan_l1_fix_dist: 0.3534, d5.loss_plan_l1_fix_time: 1.8649, d5.loss_plan_l1_fix_dist: 0.3751, d6.loss_plan_l1_fix_time: 1.8731, d6.loss_plan_l1_fix_dist: 0.3986, d0.loss_cls_all: 0.3847, d0.loss_bbox_all: 0.5752, d0.loss_cls: 0.3847, d0.loss_bbox: 0.5752, d1.loss_cls: 0.3767, d1.loss_bbox: 0.5486, d2.loss_cls: 0.3726, d2.loss_bbox: 0.5354, d3.loss_cls: 0.3730, d3.loss_bbox: 0.5303, d4.loss_cls: 0.3732, d4.loss_bbox: 0.5307, d5.loss_cls: 0.3763, d5.loss_bbox: 0.5307, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2644, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.0639, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0250, d3.loss_traj_cls: 0.0014, d3.loss_traj: 1.0178, d4.loss_traj_cls: 0.0015, d4.loss_traj: 1.0352, d5.loss_traj_cls: 0.0046, d5.loss_traj: 1.0340, d0.loss_map_cls_all: 0.3233, d0.loss_map_pts_all: 2.1396, d0.loss_map_dir_all: 0.0210, d0.loss_map_cls: 0.3233, d0.loss_map_pts: 2.1396, d0.loss_map_dir: 0.0210, d1.loss_map_cls: 0.3033, d1.loss_map_pts: 1.4780, d1.loss_map_dir: 0.0209, d2.loss_map_cls: 0.2944, d2.loss_map_pts: 1.3321, d2.loss_map_dir: 0.0213, d3.loss_map_cls: 0.2844, d3.loss_map_pts: 1.2871, d3.loss_map_dir: 0.0218, d4.loss_map_cls: 0.2818, d4.loss_map_pts: 1.2693, d4.loss_map_dir: 0.0221, d5.loss_map_cls: 0.2792, d5.loss_map_pts: 1.2653, d5.loss_map_dir: 0.0223, loss: 46.2376, grad_norm: 149.3243 +2026-02-25 01:05:07,088 - DriveTransformer - INFO - Epoch [3][23600/39528] lr: 9.831e-05, eta: 7 days, 20:00:27, time: 0.783, data_time: 0.038, memory: 19865, loss_cls: 0.4165, loss_bbox: 0.5873, loss_traj: 1.3060, loss_traj_cls: 0.0077, loss_map_cls: 0.3170, loss_map_pts: 1.3892, loss_map_dir: 0.0213, d0.loss_plan_l1_fix_time: 3.2602, d0.loss_plan_l1_fix_dist: 0.3705, d1.loss_plan_l1_fix_time: 2.0328, d1.loss_plan_l1_fix_dist: 0.3047, d2.loss_plan_l1_fix_time: 2.0247, d2.loss_plan_l1_fix_dist: 0.3133, d3.loss_plan_l1_fix_time: 2.0293, d3.loss_plan_l1_fix_dist: 0.3267, d4.loss_plan_l1_fix_time: 2.0336, d4.loss_plan_l1_fix_dist: 0.3417, d5.loss_plan_l1_fix_time: 2.0380, d5.loss_plan_l1_fix_dist: 0.3597, d6.loss_plan_l1_fix_time: 2.0434, d6.loss_plan_l1_fix_dist: 0.3743, d0.loss_cls_all: 0.4280, d0.loss_bbox_all: 0.6231, d0.loss_cls: 0.4280, d0.loss_bbox: 0.6231, d1.loss_cls: 0.4242, d1.loss_bbox: 0.5973, d2.loss_cls: 0.4176, d2.loss_bbox: 0.5878, d3.loss_cls: 0.4135, d3.loss_bbox: 0.5866, d4.loss_cls: 0.4142, d4.loss_bbox: 0.5840, d5.loss_cls: 0.4156, d5.loss_bbox: 0.5851, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5098, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3341, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.3081, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.3040, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.3004, d5.loss_traj_cls: 0.0046, d5.loss_traj: 1.2958, d0.loss_map_cls_all: 0.3667, d0.loss_map_pts_all: 2.3152, d0.loss_map_dir_all: 0.0194, d0.loss_map_cls: 0.3667, d0.loss_map_pts: 2.3152, d0.loss_map_dir: 0.0194, d1.loss_map_cls: 0.3444, d1.loss_map_pts: 1.6186, d1.loss_map_dir: 0.0196, d2.loss_map_cls: 0.3281, d2.loss_map_pts: 1.4748, d2.loss_map_dir: 0.0202, d3.loss_map_cls: 0.3219, d3.loss_map_pts: 1.4188, d3.loss_map_dir: 0.0206, d4.loss_map_cls: 0.3177, d4.loss_map_pts: 1.4016, d4.loss_map_dir: 0.0210, d5.loss_map_cls: 0.3160, d5.loss_map_pts: 1.3919, d5.loss_map_dir: 0.0211, loss: 51.5267, grad_norm: 148.2903 +2026-02-25 01:05:47,253 - DriveTransformer - INFO - Epoch [3][23650/39528] lr: 9.831e-05, eta: 7 days, 19:59:48, time: 0.802, data_time: 0.037, memory: 19865, loss_cls: 0.3594, loss_bbox: 0.5453, loss_traj: 1.0318, loss_traj_cls: 0.0080, loss_map_cls: 0.2857, loss_map_pts: 1.2441, loss_map_dir: 0.0196, d0.loss_plan_l1_fix_time: 2.6723, d0.loss_plan_l1_fix_dist: 0.4170, d1.loss_plan_l1_fix_time: 1.9230, d1.loss_plan_l1_fix_dist: 0.3116, d2.loss_plan_l1_fix_time: 1.9059, d2.loss_plan_l1_fix_dist: 0.3260, d3.loss_plan_l1_fix_time: 1.9032, d3.loss_plan_l1_fix_dist: 0.3385, d4.loss_plan_l1_fix_time: 1.9062, d4.loss_plan_l1_fix_dist: 0.3544, d5.loss_plan_l1_fix_time: 1.9100, d5.loss_plan_l1_fix_dist: 0.3723, d6.loss_plan_l1_fix_time: 1.9153, d6.loss_plan_l1_fix_dist: 0.3956, d0.loss_cls_all: 0.3743, d0.loss_bbox_all: 0.5887, d0.loss_cls: 0.3743, d0.loss_bbox: 0.5887, d1.loss_cls: 0.3708, d1.loss_bbox: 0.5604, d2.loss_cls: 0.3612, d2.loss_bbox: 0.5487, d3.loss_cls: 0.3618, d3.loss_bbox: 0.5412, d4.loss_cls: 0.3598, d4.loss_bbox: 0.5412, d5.loss_cls: 0.3609, d5.loss_bbox: 0.5411, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2335, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0552, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0336, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0253, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.0285, d5.loss_traj_cls: 0.0049, d5.loss_traj: 1.0303, d0.loss_map_cls_all: 0.3381, d0.loss_map_pts_all: 2.0536, d0.loss_map_dir_all: 0.0183, d0.loss_map_cls: 0.3381, d0.loss_map_pts: 2.0536, d0.loss_map_dir: 0.0183, d1.loss_map_cls: 0.3195, d1.loss_map_pts: 1.4300, d1.loss_map_dir: 0.0183, d2.loss_map_cls: 0.3091, d2.loss_map_pts: 1.3090, d2.loss_map_dir: 0.0188, d3.loss_map_cls: 0.2965, d3.loss_map_pts: 1.2629, d3.loss_map_dir: 0.0192, d4.loss_map_cls: 0.2870, d4.loss_map_pts: 1.2485, d4.loss_map_dir: 0.0194, d5.loss_map_cls: 0.2856, d5.loss_map_pts: 1.2440, d5.loss_map_dir: 0.0196, loss: 45.9422, grad_norm: 148.6288 +2026-02-25 01:06:28,300 - DriveTransformer - INFO - Epoch [3][23700/39528] lr: 9.831e-05, eta: 7 days, 19:59:16, time: 0.821, data_time: 0.044, memory: 19865, loss_cls: 0.3774, loss_bbox: 0.5382, loss_traj: 1.0694, loss_traj_cls: 0.0080, loss_map_cls: 0.3067, loss_map_pts: 1.2425, loss_map_dir: 0.0198, d0.loss_plan_l1_fix_time: 3.2196, d0.loss_plan_l1_fix_dist: 0.5522, d1.loss_plan_l1_fix_time: 1.9078, d1.loss_plan_l1_fix_dist: 0.3306, d2.loss_plan_l1_fix_time: 1.8649, d2.loss_plan_l1_fix_dist: 0.3439, d3.loss_plan_l1_fix_time: 1.8585, d3.loss_plan_l1_fix_dist: 0.3603, d4.loss_plan_l1_fix_time: 1.8600, d4.loss_plan_l1_fix_dist: 0.3797, d5.loss_plan_l1_fix_time: 1.8633, d5.loss_plan_l1_fix_dist: 0.4006, d6.loss_plan_l1_fix_time: 1.8676, d6.loss_plan_l1_fix_dist: 0.4275, d0.loss_cls_all: 0.3941, d0.loss_bbox_all: 0.5793, d0.loss_cls: 0.3941, d0.loss_bbox: 0.5793, d1.loss_cls: 0.3846, d1.loss_bbox: 0.5551, d2.loss_cls: 0.3810, d2.loss_bbox: 0.5425, d3.loss_cls: 0.3770, d3.loss_bbox: 0.5362, d4.loss_cls: 0.3770, d4.loss_bbox: 0.5339, d5.loss_cls: 0.3764, d5.loss_bbox: 0.5344, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2598, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1023, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0643, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0673, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.0601, d5.loss_traj_cls: 0.0049, d5.loss_traj: 1.0599, d0.loss_map_cls_all: 0.3465, d0.loss_map_pts_all: 2.0913, d0.loss_map_dir_all: 0.0185, d0.loss_map_cls: 0.3465, d0.loss_map_pts: 2.0913, d0.loss_map_dir: 0.0185, d1.loss_map_cls: 0.3307, d1.loss_map_pts: 1.4599, d1.loss_map_dir: 0.0182, d2.loss_map_cls: 0.3189, d2.loss_map_pts: 1.3161, d2.loss_map_dir: 0.0187, d3.loss_map_cls: 0.3091, d3.loss_map_pts: 1.2677, d3.loss_map_dir: 0.0193, d4.loss_map_cls: 0.3053, d4.loss_map_pts: 1.2485, d4.loss_map_dir: 0.0196, d5.loss_map_cls: 0.3052, d5.loss_map_pts: 1.2438, d5.loss_map_dir: 0.0198, loss: 47.0803, grad_norm: 149.3793 +2026-02-25 01:07:08,831 - DriveTransformer - INFO - Epoch [3][23750/39528] lr: 9.831e-05, eta: 7 days, 19:58:41, time: 0.811, data_time: 0.040, memory: 19865, loss_cls: 0.3395, loss_bbox: 0.5045, loss_traj: 1.0085, loss_traj_cls: 0.0079, loss_map_cls: 0.2673, loss_map_pts: 1.1540, loss_map_dir: 0.0203, d0.loss_plan_l1_fix_time: 2.0209, d0.loss_plan_l1_fix_dist: 0.4868, d1.loss_plan_l1_fix_time: 1.2613, d1.loss_plan_l1_fix_dist: 0.2837, d2.loss_plan_l1_fix_time: 1.2304, d2.loss_plan_l1_fix_dist: 0.2989, d3.loss_plan_l1_fix_time: 1.2308, d3.loss_plan_l1_fix_dist: 0.3194, d4.loss_plan_l1_fix_time: 1.2346, d4.loss_plan_l1_fix_dist: 0.3421, d5.loss_plan_l1_fix_time: 1.2398, d5.loss_plan_l1_fix_dist: 0.3649, d6.loss_plan_l1_fix_time: 1.2457, d6.loss_plan_l1_fix_dist: 0.3844, d0.loss_cls_all: 0.3555, d0.loss_bbox_all: 0.5313, d0.loss_cls: 0.3555, d0.loss_bbox: 0.5313, d1.loss_cls: 0.3483, d1.loss_bbox: 0.5104, d2.loss_cls: 0.3437, d2.loss_bbox: 0.4954, d3.loss_cls: 0.3383, d3.loss_bbox: 0.4943, d4.loss_cls: 0.3383, d4.loss_bbox: 0.4954, d5.loss_cls: 0.3388, d5.loss_bbox: 0.4997, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2623, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0437, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0127, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0085, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0067, d5.loss_traj_cls: 0.0049, d5.loss_traj: 1.0067, d0.loss_map_cls_all: 0.3182, d0.loss_map_pts_all: 2.1274, d0.loss_map_dir_all: 0.0192, d0.loss_map_cls: 0.3182, d0.loss_map_pts: 2.1274, d0.loss_map_dir: 0.0192, d1.loss_map_cls: 0.2975, d1.loss_map_pts: 1.4130, d1.loss_map_dir: 0.0188, d2.loss_map_cls: 0.2820, d2.loss_map_pts: 1.2467, d2.loss_map_dir: 0.0192, d3.loss_map_cls: 0.2711, d3.loss_map_pts: 1.1823, d3.loss_map_dir: 0.0197, d4.loss_map_cls: 0.2687, d4.loss_map_pts: 1.1621, d4.loss_map_dir: 0.0200, d5.loss_map_cls: 0.2681, d5.loss_map_pts: 1.1568, d5.loss_map_dir: 0.0202, loss: 40.1485, grad_norm: 149.4446 +2026-02-25 01:07:49,386 - DriveTransformer - INFO - Epoch [3][23800/39528] lr: 9.831e-05, eta: 7 days, 19:58:05, time: 0.811, data_time: 0.053, memory: 19865, loss_cls: 0.3771, loss_bbox: 0.5521, loss_traj: 1.1312, loss_traj_cls: 0.0078, loss_map_cls: 0.3172, loss_map_pts: 1.3262, loss_map_dir: 0.0203, d0.loss_plan_l1_fix_time: 3.4597, d0.loss_plan_l1_fix_dist: 0.4492, d1.loss_plan_l1_fix_time: 2.1441, d1.loss_plan_l1_fix_dist: 0.2977, d2.loss_plan_l1_fix_time: 2.1289, d2.loss_plan_l1_fix_dist: 0.3072, d3.loss_plan_l1_fix_time: 2.1323, d3.loss_plan_l1_fix_dist: 0.3224, d4.loss_plan_l1_fix_time: 2.1356, d4.loss_plan_l1_fix_dist: 0.3417, d5.loss_plan_l1_fix_time: 2.1392, d5.loss_plan_l1_fix_dist: 0.3647, d6.loss_plan_l1_fix_time: 2.1436, d6.loss_plan_l1_fix_dist: 0.3905, d0.loss_cls_all: 0.3930, d0.loss_bbox_all: 0.5962, d0.loss_cls: 0.3930, d0.loss_bbox: 0.5962, d1.loss_cls: 0.3882, d1.loss_bbox: 0.5684, d2.loss_cls: 0.3840, d2.loss_bbox: 0.5543, d3.loss_cls: 0.3805, d3.loss_bbox: 0.5500, d4.loss_cls: 0.3779, d4.loss_bbox: 0.5488, d5.loss_cls: 0.3794, d5.loss_bbox: 0.5484, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3182, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1700, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1317, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1243, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.1242, d5.loss_traj_cls: 0.0049, d5.loss_traj: 1.1282, d0.loss_map_cls_all: 0.3578, d0.loss_map_pts_all: 2.2331, d0.loss_map_dir_all: 0.0189, d0.loss_map_cls: 0.3578, d0.loss_map_pts: 2.2331, d0.loss_map_dir: 0.0189, d1.loss_map_cls: 0.3453, d1.loss_map_pts: 1.5823, d1.loss_map_dir: 0.0185, d2.loss_map_cls: 0.3288, d2.loss_map_pts: 1.4176, d2.loss_map_dir: 0.0190, d3.loss_map_cls: 0.3228, d3.loss_map_pts: 1.3530, d3.loss_map_dir: 0.0196, d4.loss_map_cls: 0.3181, d4.loss_map_pts: 1.3317, d4.loss_map_dir: 0.0199, d5.loss_map_cls: 0.3159, d5.loss_map_pts: 1.3276, d5.loss_map_dir: 0.0201, loss: 50.1133, grad_norm: 149.2806 +2026-02-25 01:08:29,703 - DriveTransformer - INFO - Epoch [3][23850/39528] lr: 9.831e-05, eta: 7 days, 19:57:28, time: 0.806, data_time: 0.039, memory: 19865, loss_cls: 0.3419, loss_bbox: 0.4792, loss_traj: 1.0789, loss_traj_cls: 0.0077, loss_map_cls: 0.2428, loss_map_pts: 1.0989, loss_map_dir: 0.0206, d0.loss_plan_l1_fix_time: 2.4945, d0.loss_plan_l1_fix_dist: 0.4818, d1.loss_plan_l1_fix_time: 1.3718, d1.loss_plan_l1_fix_dist: 0.2989, d2.loss_plan_l1_fix_time: 1.3469, d2.loss_plan_l1_fix_dist: 0.3058, d3.loss_plan_l1_fix_time: 1.3491, d3.loss_plan_l1_fix_dist: 0.3197, d4.loss_plan_l1_fix_time: 1.3537, d4.loss_plan_l1_fix_dist: 0.3385, d5.loss_plan_l1_fix_time: 1.3585, d5.loss_plan_l1_fix_dist: 0.3620, d6.loss_plan_l1_fix_time: 1.3638, d6.loss_plan_l1_fix_dist: 0.3892, d0.loss_cls_all: 0.3578, d0.loss_bbox_all: 0.5173, d0.loss_cls: 0.3578, d0.loss_bbox: 0.5173, d1.loss_cls: 0.3477, d1.loss_bbox: 0.4937, d2.loss_cls: 0.3460, d2.loss_bbox: 0.4813, d3.loss_cls: 0.3440, d3.loss_bbox: 0.4777, d4.loss_cls: 0.3424, d4.loss_bbox: 0.4773, d5.loss_cls: 0.3418, d5.loss_bbox: 0.4772, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2830, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1128, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0709, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0782, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0715, d5.loss_traj_cls: 0.0050, d5.loss_traj: 1.0743, d0.loss_map_cls_all: 0.2987, d0.loss_map_pts_all: 2.0954, d0.loss_map_dir_all: 0.0191, d0.loss_map_cls: 0.2987, d0.loss_map_pts: 2.0954, d0.loss_map_dir: 0.0191, d1.loss_map_cls: 0.2771, d1.loss_map_pts: 1.3595, d1.loss_map_dir: 0.0188, d2.loss_map_cls: 0.2574, d2.loss_map_pts: 1.1945, d2.loss_map_dir: 0.0192, d3.loss_map_cls: 0.2487, d3.loss_map_pts: 1.1319, d3.loss_map_dir: 0.0199, d4.loss_map_cls: 0.2428, d4.loss_map_pts: 1.1081, d4.loss_map_dir: 0.0202, d5.loss_map_cls: 0.2430, d5.loss_map_pts: 1.1011, d5.loss_map_dir: 0.0204, loss: 41.0736, grad_norm: 148.7388 +2026-02-25 01:09:10,514 - DriveTransformer - INFO - Epoch [3][23900/39528] lr: 9.831e-05, eta: 7 days, 19:56:55, time: 0.816, data_time: 0.042, memory: 19865, loss_cls: 0.3251, loss_bbox: 0.5164, loss_traj: 1.0714, loss_traj_cls: 0.0077, loss_map_cls: 0.2467, loss_map_pts: 1.0841, loss_map_dir: 0.0189, d0.loss_plan_l1_fix_time: 2.4902, d0.loss_plan_l1_fix_dist: 0.4509, d1.loss_plan_l1_fix_time: 1.4959, d1.loss_plan_l1_fix_dist: 0.3146, d2.loss_plan_l1_fix_time: 1.4624, d2.loss_plan_l1_fix_dist: 0.3208, d3.loss_plan_l1_fix_time: 1.4591, d3.loss_plan_l1_fix_dist: 0.3324, d4.loss_plan_l1_fix_time: 1.4611, d4.loss_plan_l1_fix_dist: 0.3443, d5.loss_plan_l1_fix_time: 1.4644, d5.loss_plan_l1_fix_dist: 0.3556, d6.loss_plan_l1_fix_time: 1.4689, d6.loss_plan_l1_fix_dist: 0.3684, d0.loss_cls_all: 0.3324, d0.loss_bbox_all: 0.5539, d0.loss_cls: 0.3324, d0.loss_bbox: 0.5539, d1.loss_cls: 0.3284, d1.loss_bbox: 0.5317, d2.loss_cls: 0.3245, d2.loss_bbox: 0.5201, d3.loss_cls: 0.3258, d3.loss_bbox: 0.5159, d4.loss_cls: 0.3262, d4.loss_bbox: 0.5136, d5.loss_cls: 0.3252, d5.loss_bbox: 0.5150, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3195, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1319, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0735, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0620, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0622, d5.loss_traj_cls: 0.0052, d5.loss_traj: 1.0688, d0.loss_map_cls_all: 0.3129, d0.loss_map_pts_all: 2.0295, d0.loss_map_dir_all: 0.0180, d0.loss_map_cls: 0.3129, d0.loss_map_pts: 2.0295, d0.loss_map_dir: 0.0180, d1.loss_map_cls: 0.2852, d1.loss_map_pts: 1.3409, d1.loss_map_dir: 0.0173, d2.loss_map_cls: 0.2641, d2.loss_map_pts: 1.1837, d2.loss_map_dir: 0.0177, d3.loss_map_cls: 0.2544, d3.loss_map_pts: 1.1193, d3.loss_map_dir: 0.0182, d4.loss_map_cls: 0.2477, d4.loss_map_pts: 1.0968, d4.loss_map_dir: 0.0186, d5.loss_map_cls: 0.2459, d5.loss_map_pts: 1.0872, d5.loss_map_dir: 0.0188, loss: 41.7230, grad_norm: 147.0529 +2026-02-25 01:09:53,124 - DriveTransformer - INFO - Epoch [3][23950/39528] lr: 9.831e-05, eta: 7 days, 19:56:36, time: 0.852, data_time: 0.045, memory: 19865, loss_cls: 0.3359, loss_bbox: 0.5149, loss_traj: 1.1778, loss_traj_cls: 0.0078, loss_map_cls: 0.2705, loss_map_pts: 1.1885, loss_map_dir: 0.0208, d0.loss_plan_l1_fix_time: 3.1517, d0.loss_plan_l1_fix_dist: 0.4087, d1.loss_plan_l1_fix_time: 1.7886, d1.loss_plan_l1_fix_dist: 0.2881, d2.loss_plan_l1_fix_time: 1.7696, d2.loss_plan_l1_fix_dist: 0.3033, d3.loss_plan_l1_fix_time: 1.7712, d3.loss_plan_l1_fix_dist: 0.3216, d4.loss_plan_l1_fix_time: 1.7742, d4.loss_plan_l1_fix_dist: 0.3431, d5.loss_plan_l1_fix_time: 1.7782, d5.loss_plan_l1_fix_dist: 0.3640, d6.loss_plan_l1_fix_time: 1.7826, d6.loss_plan_l1_fix_dist: 0.3862, d0.loss_cls_all: 0.3447, d0.loss_bbox_all: 0.5575, d0.loss_cls: 0.3447, d0.loss_bbox: 0.5575, d1.loss_cls: 0.3402, d1.loss_bbox: 0.5322, d2.loss_cls: 0.3411, d2.loss_bbox: 0.5182, d3.loss_cls: 0.3378, d3.loss_bbox: 0.5164, d4.loss_cls: 0.3362, d4.loss_bbox: 0.5157, d5.loss_cls: 0.3359, d5.loss_bbox: 0.5132, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4053, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1859, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1628, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1673, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.1593, d5.loss_traj_cls: 0.0053, d5.loss_traj: 1.1660, d0.loss_map_cls_all: 0.3278, d0.loss_map_pts_all: 2.2055, d0.loss_map_dir_all: 0.0196, d0.loss_map_cls: 0.3278, d0.loss_map_pts: 2.2055, d0.loss_map_dir: 0.0196, d1.loss_map_cls: 0.3023, d1.loss_map_pts: 1.4414, d1.loss_map_dir: 0.0190, d2.loss_map_cls: 0.2855, d2.loss_map_pts: 1.2741, d2.loss_map_dir: 0.0197, d3.loss_map_cls: 0.2749, d3.loss_map_pts: 1.2117, d3.loss_map_dir: 0.0202, d4.loss_map_cls: 0.2702, d4.loss_map_pts: 1.1971, d4.loss_map_dir: 0.0205, d5.loss_map_cls: 0.2700, d5.loss_map_pts: 1.1889, d5.loss_map_dir: 0.0206, loss: 46.0181, grad_norm: 148.0276 +2026-02-25 01:10:35,037 - DriveTransformer - INFO - Epoch [3][24000/39528] lr: 9.831e-05, eta: 7 days, 19:56:12, time: 0.838, data_time: 0.039, memory: 19865, loss_cls: 0.3765, loss_bbox: 0.5412, loss_traj: 1.0369, loss_traj_cls: 0.0078, loss_map_cls: 0.2900, loss_map_pts: 1.2132, loss_map_dir: 0.0224, d0.loss_plan_l1_fix_time: 2.5106, d0.loss_plan_l1_fix_dist: 0.3546, d1.loss_plan_l1_fix_time: 1.7118, d1.loss_plan_l1_fix_dist: 0.2617, d2.loss_plan_l1_fix_time: 1.7091, d2.loss_plan_l1_fix_dist: 0.2715, d3.loss_plan_l1_fix_time: 1.7129, d3.loss_plan_l1_fix_dist: 0.2843, d4.loss_plan_l1_fix_time: 1.7169, d4.loss_plan_l1_fix_dist: 0.3011, d5.loss_plan_l1_fix_time: 1.7222, d5.loss_plan_l1_fix_dist: 0.3210, d6.loss_plan_l1_fix_time: 1.7275, d6.loss_plan_l1_fix_dist: 0.3447, d0.loss_cls_all: 0.3835, d0.loss_bbox_all: 0.5713, d0.loss_cls: 0.3835, d0.loss_bbox: 0.5713, d1.loss_cls: 0.3812, d1.loss_bbox: 0.5461, d2.loss_cls: 0.3809, d2.loss_bbox: 0.5360, d3.loss_cls: 0.3768, d3.loss_bbox: 0.5345, d4.loss_cls: 0.3739, d4.loss_bbox: 0.5359, d5.loss_cls: 0.3742, d5.loss_bbox: 0.5360, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1182, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0278, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0230, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0219, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0245, d5.loss_traj_cls: 0.0053, d5.loss_traj: 1.0327, d0.loss_map_cls_all: 0.3357, d0.loss_map_pts_all: 2.2953, d0.loss_map_dir_all: 0.0209, d0.loss_map_cls: 0.3357, d0.loss_map_pts: 2.2953, d0.loss_map_dir: 0.0209, d1.loss_map_cls: 0.3148, d1.loss_map_pts: 1.4802, d1.loss_map_dir: 0.0205, d2.loss_map_cls: 0.3010, d2.loss_map_pts: 1.3095, d2.loss_map_dir: 0.0211, d3.loss_map_cls: 0.2961, d3.loss_map_pts: 1.2459, d3.loss_map_dir: 0.0217, d4.loss_map_cls: 0.2914, d4.loss_map_pts: 1.2228, d4.loss_map_dir: 0.0221, d5.loss_map_cls: 0.2896, d5.loss_map_pts: 1.2157, d5.loss_map_dir: 0.0223, loss: 44.5599, grad_norm: 150.8782 +2026-02-25 01:11:17,545 - DriveTransformer - INFO - Epoch [3][24050/39528] lr: 9.831e-05, eta: 7 days, 19:55:52, time: 0.850, data_time: 0.037, memory: 19865, loss_cls: 0.3845, loss_bbox: 0.5641, loss_traj: 1.3096, loss_traj_cls: 0.0079, loss_map_cls: 0.3097, loss_map_pts: 1.3787, loss_map_dir: 0.0246, d0.loss_plan_l1_fix_time: 2.7628, d0.loss_plan_l1_fix_dist: 0.3540, d1.loss_plan_l1_fix_time: 1.9426, d1.loss_plan_l1_fix_dist: 0.2430, d2.loss_plan_l1_fix_time: 1.9242, d2.loss_plan_l1_fix_dist: 0.2533, d3.loss_plan_l1_fix_time: 1.9243, d3.loss_plan_l1_fix_dist: 0.2688, d4.loss_plan_l1_fix_time: 1.9268, d4.loss_plan_l1_fix_dist: 0.2863, d5.loss_plan_l1_fix_time: 1.9299, d5.loss_plan_l1_fix_dist: 0.3065, d6.loss_plan_l1_fix_time: 1.9338, d6.loss_plan_l1_fix_dist: 0.3315, d0.loss_cls_all: 0.3904, d0.loss_bbox_all: 0.6001, d0.loss_cls: 0.3904, d0.loss_bbox: 0.6001, d1.loss_cls: 0.3891, d1.loss_bbox: 0.5669, d2.loss_cls: 0.3865, d2.loss_bbox: 0.5546, d3.loss_cls: 0.3837, d3.loss_bbox: 0.5520, d4.loss_cls: 0.3801, d4.loss_bbox: 0.5563, d5.loss_cls: 0.3808, d5.loss_bbox: 0.5592, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3582, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3216, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3067, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.3007, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.3035, d5.loss_traj_cls: 0.0053, d5.loss_traj: 1.3100, d0.loss_map_cls_all: 0.3543, d0.loss_map_pts_all: 2.5106, d0.loss_map_dir_all: 0.0224, d0.loss_map_cls: 0.3543, d0.loss_map_pts: 2.5106, d0.loss_map_dir: 0.0224, d1.loss_map_cls: 0.3318, d1.loss_map_pts: 1.6229, d1.loss_map_dir: 0.0222, d2.loss_map_cls: 0.3180, d2.loss_map_pts: 1.4598, d2.loss_map_dir: 0.0230, d3.loss_map_cls: 0.3134, d3.loss_map_pts: 1.4007, d3.loss_map_dir: 0.0238, d4.loss_map_cls: 0.3086, d4.loss_map_pts: 1.3834, d4.loss_map_dir: 0.0243, d5.loss_map_cls: 0.3074, d5.loss_map_pts: 1.3794, d5.loss_map_dir: 0.0244, loss: 49.6859, grad_norm: 150.2829 +2026-02-25 01:11:58,176 - DriveTransformer - INFO - Epoch [3][24100/39528] lr: 9.831e-05, eta: 7 days, 19:55:17, time: 0.813, data_time: 0.047, memory: 19865, loss_cls: 0.3308, loss_bbox: 0.5078, loss_traj: 1.0434, loss_traj_cls: 0.0079, loss_map_cls: 0.2834, loss_map_pts: 1.1773, loss_map_dir: 0.0222, d0.loss_plan_l1_fix_time: 2.5640, d0.loss_plan_l1_fix_dist: 0.4901, d1.loss_plan_l1_fix_time: 1.7438, d1.loss_plan_l1_fix_dist: 0.3328, d2.loss_plan_l1_fix_time: 1.7396, d2.loss_plan_l1_fix_dist: 0.3390, d3.loss_plan_l1_fix_time: 1.7420, d3.loss_plan_l1_fix_dist: 0.3481, d4.loss_plan_l1_fix_time: 1.7452, d4.loss_plan_l1_fix_dist: 0.3597, d5.loss_plan_l1_fix_time: 1.7487, d5.loss_plan_l1_fix_dist: 0.3724, d6.loss_plan_l1_fix_time: 1.7535, d6.loss_plan_l1_fix_dist: 0.3891, d0.loss_cls_all: 0.3476, d0.loss_bbox_all: 0.5520, d0.loss_cls: 0.3476, d0.loss_bbox: 0.5520, d1.loss_cls: 0.3372, d1.loss_bbox: 0.5226, d2.loss_cls: 0.3345, d2.loss_bbox: 0.5137, d3.loss_cls: 0.3336, d3.loss_bbox: 0.5057, d4.loss_cls: 0.3312, d4.loss_bbox: 0.5053, d5.loss_cls: 0.3312, d5.loss_bbox: 0.5048, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1776, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0802, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0640, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0535, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0450, d5.loss_traj_cls: 0.0054, d5.loss_traj: 1.0409, d0.loss_map_cls_all: 0.3292, d0.loss_map_pts_all: 2.2191, d0.loss_map_dir_all: 0.0208, d0.loss_map_cls: 0.3292, d0.loss_map_pts: 2.2191, d0.loss_map_dir: 0.0208, d1.loss_map_cls: 0.3193, d1.loss_map_pts: 1.4294, d1.loss_map_dir: 0.0201, d2.loss_map_cls: 0.3011, d2.loss_map_pts: 1.2660, d2.loss_map_dir: 0.0206, d3.loss_map_cls: 0.2914, d3.loss_map_pts: 1.2062, d3.loss_map_dir: 0.0213, d4.loss_map_cls: 0.2865, d4.loss_map_pts: 1.1866, d4.loss_map_dir: 0.0217, d5.loss_map_cls: 0.2839, d5.loss_map_pts: 1.1805, d5.loss_map_dir: 0.0220, loss: 44.5260, grad_norm: 148.8494 +2026-02-25 01:12:36,917 - DriveTransformer - INFO - Epoch [3][24150/39528] lr: 9.831e-05, eta: 7 days, 19:54:27, time: 0.775, data_time: 0.042, memory: 19865, loss_cls: 0.3441, loss_bbox: 0.4898, loss_traj: 1.1966, loss_traj_cls: 0.0078, loss_map_cls: 0.2599, loss_map_pts: 0.9417, loss_map_dir: 0.0154, d0.loss_plan_l1_fix_time: 2.9249, d0.loss_plan_l1_fix_dist: 0.4167, d1.loss_plan_l1_fix_time: 1.8194, d1.loss_plan_l1_fix_dist: 0.2842, d2.loss_plan_l1_fix_time: 1.7862, d2.loss_plan_l1_fix_dist: 0.2975, d3.loss_plan_l1_fix_time: 1.7824, d3.loss_plan_l1_fix_dist: 0.3130, d4.loss_plan_l1_fix_time: 1.7837, d4.loss_plan_l1_fix_dist: 0.3319, d5.loss_plan_l1_fix_time: 1.7860, d5.loss_plan_l1_fix_dist: 0.3527, d6.loss_plan_l1_fix_time: 1.7891, d6.loss_plan_l1_fix_dist: 0.3731, d0.loss_cls_all: 0.3617, d0.loss_bbox_all: 0.5256, d0.loss_cls: 0.3617, d0.loss_bbox: 0.5256, d1.loss_cls: 0.3529, d1.loss_bbox: 0.5036, d2.loss_cls: 0.3474, d2.loss_bbox: 0.4928, d3.loss_cls: 0.3453, d3.loss_bbox: 0.4902, d4.loss_cls: 0.3407, d4.loss_bbox: 0.4903, d5.loss_cls: 0.3424, d5.loss_bbox: 0.4883, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4990, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2671, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2156, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2059, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.2014, d5.loss_traj_cls: 0.0056, d5.loss_traj: 1.2044, d0.loss_map_cls_all: 0.3100, d0.loss_map_pts_all: 1.7815, d0.loss_map_dir_all: 0.0148, d0.loss_map_cls: 0.3100, d0.loss_map_pts: 1.7815, d0.loss_map_dir: 0.0148, d1.loss_map_cls: 0.2876, d1.loss_map_pts: 1.1611, d1.loss_map_dir: 0.0142, d2.loss_map_cls: 0.2716, d2.loss_map_pts: 1.0156, d2.loss_map_dir: 0.0145, d3.loss_map_cls: 0.2687, d3.loss_map_pts: 0.9580, d3.loss_map_dir: 0.0149, d4.loss_map_cls: 0.2628, d4.loss_map_pts: 0.9425, d4.loss_map_dir: 0.0151, d5.loss_map_cls: 0.2603, d5.loss_map_pts: 0.9397, d5.loss_map_dir: 0.0153, loss: 43.5229, grad_norm: 148.2901 +2026-02-25 01:13:18,346 - DriveTransformer - INFO - Epoch [3][24200/39528] lr: 9.831e-05, eta: 7 days, 19:53:59, time: 0.829, data_time: 0.040, memory: 19865, loss_cls: 0.3652, loss_bbox: 0.5176, loss_traj: 0.8708, loss_traj_cls: 0.0077, loss_map_cls: 0.2702, loss_map_pts: 1.1769, loss_map_dir: 0.0210, d0.loss_plan_l1_fix_time: 2.4130, d0.loss_plan_l1_fix_dist: 0.3584, d1.loss_plan_l1_fix_time: 1.4736, d1.loss_plan_l1_fix_dist: 0.2354, d2.loss_plan_l1_fix_time: 1.4422, d2.loss_plan_l1_fix_dist: 0.2473, d3.loss_plan_l1_fix_time: 1.4426, d3.loss_plan_l1_fix_dist: 0.2669, d4.loss_plan_l1_fix_time: 1.4454, d4.loss_plan_l1_fix_dist: 0.2895, d5.loss_plan_l1_fix_time: 1.4485, d5.loss_plan_l1_fix_dist: 0.3161, d6.loss_plan_l1_fix_time: 1.4525, d6.loss_plan_l1_fix_dist: 0.3500, d0.loss_cls_all: 0.3664, d0.loss_bbox_all: 0.5595, d0.loss_cls: 0.3664, d0.loss_bbox: 0.5595, d1.loss_cls: 0.3685, d1.loss_bbox: 0.5306, d2.loss_cls: 0.3625, d2.loss_bbox: 0.5208, d3.loss_cls: 0.3641, d3.loss_bbox: 0.5180, d4.loss_cls: 0.3595, d4.loss_bbox: 0.5156, d5.loss_cls: 0.3628, d5.loss_bbox: 0.5152, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0199, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8839, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8720, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8811, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.8759, d5.loss_traj_cls: 0.0055, d5.loss_traj: 0.8687, d0.loss_map_cls_all: 0.3211, d0.loss_map_pts_all: 2.1585, d0.loss_map_dir_all: 0.0196, d0.loss_map_cls: 0.3211, d0.loss_map_pts: 2.1585, d0.loss_map_dir: 0.0196, d1.loss_map_cls: 0.3007, d1.loss_map_pts: 1.4446, d1.loss_map_dir: 0.0192, d2.loss_map_cls: 0.2880, d2.loss_map_pts: 1.2769, d2.loss_map_dir: 0.0197, d3.loss_map_cls: 0.2774, d3.loss_map_pts: 1.2126, d3.loss_map_dir: 0.0202, d4.loss_map_cls: 0.2721, d4.loss_map_pts: 1.1880, d4.loss_map_dir: 0.0206, d5.loss_map_cls: 0.2704, d5.loss_map_pts: 1.1786, d5.loss_map_dir: 0.0208, loss: 40.9005, grad_norm: 148.6809 +2026-02-25 01:14:00,366 - DriveTransformer - INFO - Epoch [3][24250/39528] lr: 9.831e-05, eta: 7 days, 19:53:35, time: 0.840, data_time: 0.037, memory: 19865, loss_cls: 0.3636, loss_bbox: 0.5250, loss_traj: 0.8120, loss_traj_cls: 0.0076, loss_map_cls: 0.2798, loss_map_pts: 1.3350, loss_map_dir: 0.0257, d0.loss_plan_l1_fix_time: 2.8588, d0.loss_plan_l1_fix_dist: 0.5175, d1.loss_plan_l1_fix_time: 1.7797, d1.loss_plan_l1_fix_dist: 0.3080, d2.loss_plan_l1_fix_time: 1.7625, d2.loss_plan_l1_fix_dist: 0.3160, d3.loss_plan_l1_fix_time: 1.7666, d3.loss_plan_l1_fix_dist: 0.3288, d4.loss_plan_l1_fix_time: 1.7721, d4.loss_plan_l1_fix_dist: 0.3431, d5.loss_plan_l1_fix_time: 1.7777, d5.loss_plan_l1_fix_dist: 0.3595, d6.loss_plan_l1_fix_time: 1.7838, d6.loss_plan_l1_fix_dist: 0.3799, d0.loss_cls_all: 0.3726, d0.loss_bbox_all: 0.5621, d0.loss_cls: 0.3726, d0.loss_bbox: 0.5621, d1.loss_cls: 0.3656, d1.loss_bbox: 0.5382, d2.loss_cls: 0.3624, d2.loss_bbox: 0.5261, d3.loss_cls: 0.3622, d3.loss_bbox: 0.5213, d4.loss_cls: 0.3609, d4.loss_bbox: 0.5199, d5.loss_cls: 0.3620, d5.loss_bbox: 0.5219, d0.loss_traj_cls: 0.0002, d0.loss_traj: 0.9637, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8420, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8203, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8279, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.8171, d5.loss_traj_cls: 0.0055, d5.loss_traj: 0.8130, d0.loss_map_cls_all: 0.3261, d0.loss_map_pts_all: 2.4882, d0.loss_map_dir_all: 0.0239, d0.loss_map_cls: 0.3261, d0.loss_map_pts: 2.4882, d0.loss_map_dir: 0.0239, d1.loss_map_cls: 0.3084, d1.loss_map_pts: 1.5977, d1.loss_map_dir: 0.0236, d2.loss_map_cls: 0.2911, d2.loss_map_pts: 1.4156, d2.loss_map_dir: 0.0241, d3.loss_map_cls: 0.2865, d3.loss_map_pts: 1.3572, d3.loss_map_dir: 0.0248, d4.loss_map_cls: 0.2809, d4.loss_map_pts: 1.3390, d4.loss_map_dir: 0.0252, d5.loss_map_cls: 0.2795, d5.loss_map_pts: 1.3329, d5.loss_map_dir: 0.0255, loss: 45.0956, grad_norm: 149.4458 +2026-02-25 01:14:40,153 - DriveTransformer - INFO - Epoch [3][24300/39528] lr: 9.831e-05, eta: 7 days, 19:52:53, time: 0.796, data_time: 0.038, memory: 19865, loss_cls: 0.3728, loss_bbox: 0.5050, loss_traj: 1.1334, loss_traj_cls: 0.0076, loss_map_cls: 0.2625, loss_map_pts: 1.1110, loss_map_dir: 0.0204, d0.loss_plan_l1_fix_time: 2.6360, d0.loss_plan_l1_fix_dist: 0.3763, d1.loss_plan_l1_fix_time: 1.7028, d1.loss_plan_l1_fix_dist: 0.2829, d2.loss_plan_l1_fix_time: 1.6957, d2.loss_plan_l1_fix_dist: 0.2936, d3.loss_plan_l1_fix_time: 1.7077, d3.loss_plan_l1_fix_dist: 0.3069, d4.loss_plan_l1_fix_time: 1.7135, d4.loss_plan_l1_fix_dist: 0.3237, d5.loss_plan_l1_fix_time: 1.7187, d5.loss_plan_l1_fix_dist: 0.3418, d6.loss_plan_l1_fix_time: 1.7232, d6.loss_plan_l1_fix_dist: 0.3597, d0.loss_cls_all: 0.3738, d0.loss_bbox_all: 0.5400, d0.loss_cls: 0.3738, d0.loss_bbox: 0.5400, d1.loss_cls: 0.3692, d1.loss_bbox: 0.5182, d2.loss_cls: 0.3674, d2.loss_bbox: 0.5093, d3.loss_cls: 0.3671, d3.loss_bbox: 0.5045, d4.loss_cls: 0.3680, d4.loss_bbox: 0.5024, d5.loss_cls: 0.3678, d5.loss_bbox: 0.5039, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3676, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1744, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1534, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1491, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.1418, d5.loss_traj_cls: 0.0056, d5.loss_traj: 1.1398, d0.loss_map_cls_all: 0.3038, d0.loss_map_pts_all: 1.9974, d0.loss_map_dir_all: 0.0186, d0.loss_map_cls: 0.3038, d0.loss_map_pts: 1.9974, d0.loss_map_dir: 0.0186, d1.loss_map_cls: 0.2901, d1.loss_map_pts: 1.3475, d1.loss_map_dir: 0.0184, d2.loss_map_cls: 0.2737, d2.loss_map_pts: 1.1895, d2.loss_map_dir: 0.0190, d3.loss_map_cls: 0.2682, d3.loss_map_pts: 1.1347, d3.loss_map_dir: 0.0197, d4.loss_map_cls: 0.2618, d4.loss_map_pts: 1.1171, d4.loss_map_dir: 0.0200, d5.loss_map_cls: 0.2629, d5.loss_map_pts: 1.1111, d5.loss_map_dir: 0.0202, loss: 43.9304, grad_norm: 149.5098 +2026-02-25 01:15:20,434 - DriveTransformer - INFO - Epoch [3][24350/39528] lr: 9.831e-05, eta: 7 days, 19:52:15, time: 0.806, data_time: 0.046, memory: 19865, loss_cls: 0.3570, loss_bbox: 0.5221, loss_traj: 0.9967, loss_traj_cls: 0.0076, loss_map_cls: 0.2894, loss_map_pts: 1.2693, loss_map_dir: 0.0208, d0.loss_plan_l1_fix_time: 2.7139, d0.loss_plan_l1_fix_dist: 0.4943, d1.loss_plan_l1_fix_time: 1.8522, d1.loss_plan_l1_fix_dist: 0.2568, d2.loss_plan_l1_fix_time: 1.8469, d2.loss_plan_l1_fix_dist: 0.2711, d3.loss_plan_l1_fix_time: 1.8555, d3.loss_plan_l1_fix_dist: 0.2878, d4.loss_plan_l1_fix_time: 1.8606, d4.loss_plan_l1_fix_dist: 0.3118, d5.loss_plan_l1_fix_time: 1.8654, d5.loss_plan_l1_fix_dist: 0.3387, d6.loss_plan_l1_fix_time: 1.8702, d6.loss_plan_l1_fix_dist: 0.3682, d0.loss_cls_all: 0.3616, d0.loss_bbox_all: 0.5526, d0.loss_cls: 0.3616, d0.loss_bbox: 0.5526, d1.loss_cls: 0.3562, d1.loss_bbox: 0.5291, d2.loss_cls: 0.3546, d2.loss_bbox: 0.5198, d3.loss_cls: 0.3541, d3.loss_bbox: 0.5173, d4.loss_cls: 0.3543, d4.loss_bbox: 0.5172, d5.loss_cls: 0.3542, d5.loss_bbox: 0.5185, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1763, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0216, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9915, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9922, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9992, d5.loss_traj_cls: 0.0057, d5.loss_traj: 0.9954, d0.loss_map_cls_all: 0.3288, d0.loss_map_pts_all: 2.1175, d0.loss_map_dir_all: 0.0188, d0.loss_map_cls: 0.3288, d0.loss_map_pts: 2.1175, d0.loss_map_dir: 0.0188, d1.loss_map_cls: 0.3126, d1.loss_map_pts: 1.5039, d1.loss_map_dir: 0.0188, d2.loss_map_cls: 0.3051, d2.loss_map_pts: 1.3419, d2.loss_map_dir: 0.0194, d3.loss_map_cls: 0.2971, d3.loss_map_pts: 1.2919, d3.loss_map_dir: 0.0201, d4.loss_map_cls: 0.2925, d4.loss_map_pts: 1.2748, d4.loss_map_dir: 0.0204, d5.loss_map_cls: 0.2911, d5.loss_map_pts: 1.2726, d5.loss_map_dir: 0.0206, loss: 45.2600, grad_norm: 151.8357 +2026-02-25 01:16:00,319 - DriveTransformer - INFO - Epoch [3][24400/39528] lr: 9.831e-05, eta: 7 days, 19:51:35, time: 0.799, data_time: 0.040, memory: 19865, loss_cls: 0.3701, loss_bbox: 0.5311, loss_traj: 0.9670, loss_traj_cls: 0.0077, loss_map_cls: 0.2622, loss_map_pts: 1.1925, loss_map_dir: 0.0212, d0.loss_plan_l1_fix_time: 2.9716, d0.loss_plan_l1_fix_dist: 0.4790, d1.loss_plan_l1_fix_time: 1.7612, d1.loss_plan_l1_fix_dist: 0.2713, d2.loss_plan_l1_fix_time: 1.7195, d2.loss_plan_l1_fix_dist: 0.2814, d3.loss_plan_l1_fix_time: 1.7145, d3.loss_plan_l1_fix_dist: 0.2990, d4.loss_plan_l1_fix_time: 1.7166, d4.loss_plan_l1_fix_dist: 0.3183, d5.loss_plan_l1_fix_time: 1.7205, d5.loss_plan_l1_fix_dist: 0.3359, d6.loss_plan_l1_fix_time: 1.7258, d6.loss_plan_l1_fix_dist: 0.3560, d0.loss_cls_all: 0.3759, d0.loss_bbox_all: 0.5758, d0.loss_cls: 0.3759, d0.loss_bbox: 0.5758, d1.loss_cls: 0.3742, d1.loss_bbox: 0.5484, d2.loss_cls: 0.3700, d2.loss_bbox: 0.5374, d3.loss_cls: 0.3736, d3.loss_bbox: 0.5309, d4.loss_cls: 0.3683, d4.loss_bbox: 0.5297, d5.loss_cls: 0.3690, d5.loss_bbox: 0.5282, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1555, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9979, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9651, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9695, d4.loss_traj_cls: 0.0015, d4.loss_traj: 0.9642, d5.loss_traj_cls: 0.0058, d5.loss_traj: 0.9634, d0.loss_map_cls_all: 0.3159, d0.loss_map_pts_all: 2.1116, d0.loss_map_dir_all: 0.0193, d0.loss_map_cls: 0.3159, d0.loss_map_pts: 2.1116, d0.loss_map_dir: 0.0193, d1.loss_map_cls: 0.2917, d1.loss_map_pts: 1.4304, d1.loss_map_dir: 0.0193, d2.loss_map_cls: 0.2771, d2.loss_map_pts: 1.2695, d2.loss_map_dir: 0.0199, d3.loss_map_cls: 0.2693, d3.loss_map_pts: 1.2129, d3.loss_map_dir: 0.0207, d4.loss_map_cls: 0.2640, d4.loss_map_pts: 1.1950, d4.loss_map_dir: 0.0209, d5.loss_map_cls: 0.2628, d5.loss_map_pts: 1.1897, d5.loss_map_dir: 0.0211, loss: 44.1401, grad_norm: 151.9778 +2026-02-25 01:16:39,848 - DriveTransformer - INFO - Epoch [3][24450/39528] lr: 9.831e-05, eta: 7 days, 19:50:51, time: 0.789, data_time: 0.039, memory: 19865, loss_cls: 0.3229, loss_bbox: 0.4897, loss_traj: 1.0409, loss_traj_cls: 0.0077, loss_map_cls: 0.2508, loss_map_pts: 1.0716, loss_map_dir: 0.0181, d0.loss_plan_l1_fix_time: 2.6023, d0.loss_plan_l1_fix_dist: 0.5494, d1.loss_plan_l1_fix_time: 1.6724, d1.loss_plan_l1_fix_dist: 0.2747, d2.loss_plan_l1_fix_time: 1.6373, d2.loss_plan_l1_fix_dist: 0.2880, d3.loss_plan_l1_fix_time: 1.6335, d3.loss_plan_l1_fix_dist: 0.3063, d4.loss_plan_l1_fix_time: 1.6366, d4.loss_plan_l1_fix_dist: 0.3289, d5.loss_plan_l1_fix_time: 1.6413, d5.loss_plan_l1_fix_dist: 0.3543, d6.loss_plan_l1_fix_time: 1.6475, d6.loss_plan_l1_fix_dist: 0.3841, d0.loss_cls_all: 0.3378, d0.loss_bbox_all: 0.5300, d0.loss_cls: 0.3378, d0.loss_bbox: 0.5300, d1.loss_cls: 0.3304, d1.loss_bbox: 0.5059, d2.loss_cls: 0.3257, d2.loss_bbox: 0.4945, d3.loss_cls: 0.3230, d3.loss_bbox: 0.4898, d4.loss_cls: 0.3212, d4.loss_bbox: 0.4909, d5.loss_cls: 0.3228, d5.loss_bbox: 0.4883, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2399, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0324, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0121, d3.loss_traj_cls: 0.0014, d3.loss_traj: 1.0009, d4.loss_traj_cls: 0.0015, d4.loss_traj: 1.0217, d5.loss_traj_cls: 0.0060, d5.loss_traj: 1.0293, d0.loss_map_cls_all: 0.2886, d0.loss_map_pts_all: 1.9613, d0.loss_map_dir_all: 0.0167, d0.loss_map_cls: 0.2886, d0.loss_map_pts: 1.9613, d0.loss_map_dir: 0.0167, d1.loss_map_cls: 0.2742, d1.loss_map_pts: 1.3319, d1.loss_map_dir: 0.0167, d2.loss_map_cls: 0.2626, d2.loss_map_pts: 1.1653, d2.loss_map_dir: 0.0171, d3.loss_map_cls: 0.2557, d3.loss_map_pts: 1.1026, d3.loss_map_dir: 0.0176, d4.loss_map_cls: 0.2528, d4.loss_map_pts: 1.0785, d4.loss_map_dir: 0.0179, d5.loss_map_cls: 0.2511, d5.loss_map_pts: 1.0727, d5.loss_map_dir: 0.0180, loss: 42.0017, grad_norm: 151.2879 +2026-02-25 01:17:17,959 - DriveTransformer - INFO - Epoch [3][24500/39528] lr: 9.831e-05, eta: 7 days, 19:49:55, time: 0.762, data_time: 0.044, memory: 19865, loss_cls: 0.3383, loss_bbox: 0.4999, loss_traj: 1.1987, loss_traj_cls: 0.0076, loss_map_cls: 0.2644, loss_map_pts: 1.0844, loss_map_dir: 0.0168, d0.loss_plan_l1_fix_time: 2.9090, d0.loss_plan_l1_fix_dist: 0.4908, d1.loss_plan_l1_fix_time: 1.6633, d1.loss_plan_l1_fix_dist: 0.2796, d2.loss_plan_l1_fix_time: 1.6368, d2.loss_plan_l1_fix_dist: 0.2865, d3.loss_plan_l1_fix_time: 1.6392, d3.loss_plan_l1_fix_dist: 0.3003, d4.loss_plan_l1_fix_time: 1.6434, d4.loss_plan_l1_fix_dist: 0.3176, d5.loss_plan_l1_fix_time: 1.6481, d5.loss_plan_l1_fix_dist: 0.3369, d6.loss_plan_l1_fix_time: 1.6538, d6.loss_plan_l1_fix_dist: 0.3530, d0.loss_cls_all: 0.3443, d0.loss_bbox_all: 0.5405, d0.loss_cls: 0.3443, d0.loss_bbox: 0.5405, d1.loss_cls: 0.3418, d1.loss_bbox: 0.5137, d2.loss_cls: 0.3381, d2.loss_bbox: 0.5045, d3.loss_cls: 0.3385, d3.loss_bbox: 0.4973, d4.loss_cls: 0.3377, d4.loss_bbox: 0.4988, d5.loss_cls: 0.3379, d5.loss_bbox: 0.4990, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3608, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1985, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1796, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1762, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.1837, d5.loss_traj_cls: 0.0059, d5.loss_traj: 1.1848, d0.loss_map_cls_all: 0.3070, d0.loss_map_pts_all: 1.8467, d0.loss_map_dir_all: 0.0155, d0.loss_map_cls: 0.3070, d0.loss_map_pts: 1.8467, d0.loss_map_dir: 0.0155, d1.loss_map_cls: 0.2964, d1.loss_map_pts: 1.3247, d1.loss_map_dir: 0.0152, d2.loss_map_cls: 0.2782, d2.loss_map_pts: 1.1774, d2.loss_map_dir: 0.0157, d3.loss_map_cls: 0.2699, d3.loss_map_pts: 1.1156, d3.loss_map_dir: 0.0162, d4.loss_map_cls: 0.2652, d4.loss_map_pts: 1.0955, d4.loss_map_dir: 0.0165, d5.loss_map_cls: 0.2645, d5.loss_map_pts: 1.0892, d5.loss_map_dir: 0.0166, loss: 43.4351, grad_norm: 151.5298 +2026-02-25 01:17:57,077 - DriveTransformer - INFO - Epoch [3][24550/39528] lr: 9.831e-05, eta: 7 days, 19:49:08, time: 0.783, data_time: 0.041, memory: 19865, loss_cls: 0.3351, loss_bbox: 0.4905, loss_traj: 1.0259, loss_traj_cls: 0.0074, loss_map_cls: 0.2603, loss_map_pts: 1.1143, loss_map_dir: 0.0163, d0.loss_plan_l1_fix_time: 2.6936, d0.loss_plan_l1_fix_dist: 0.4611, d1.loss_plan_l1_fix_time: 1.5232, d1.loss_plan_l1_fix_dist: 0.2737, d2.loss_plan_l1_fix_time: 1.5105, d2.loss_plan_l1_fix_dist: 0.2825, d3.loss_plan_l1_fix_time: 1.5120, d3.loss_plan_l1_fix_dist: 0.3011, d4.loss_plan_l1_fix_time: 1.5150, d4.loss_plan_l1_fix_dist: 0.3199, d5.loss_plan_l1_fix_time: 1.5192, d5.loss_plan_l1_fix_dist: 0.3381, d6.loss_plan_l1_fix_time: 1.5239, d6.loss_plan_l1_fix_dist: 0.3587, d0.loss_cls_all: 0.3452, d0.loss_bbox_all: 0.5161, d0.loss_cls: 0.3452, d0.loss_bbox: 0.5161, d1.loss_cls: 0.3417, d1.loss_bbox: 0.4904, d2.loss_cls: 0.3337, d2.loss_bbox: 0.4837, d3.loss_cls: 0.3323, d3.loss_bbox: 0.4814, d4.loss_cls: 0.3318, d4.loss_bbox: 0.4851, d5.loss_cls: 0.3334, d5.loss_bbox: 0.4873, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2024, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0464, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0174, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0063, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0096, d5.loss_traj_cls: 0.0059, d5.loss_traj: 1.0108, d0.loss_map_cls_all: 0.3044, d0.loss_map_pts_all: 1.9378, d0.loss_map_dir_all: 0.0153, d0.loss_map_cls: 0.3044, d0.loss_map_pts: 1.9378, d0.loss_map_dir: 0.0153, d1.loss_map_cls: 0.2904, d1.loss_map_pts: 1.3675, d1.loss_map_dir: 0.0149, d2.loss_map_cls: 0.2744, d2.loss_map_pts: 1.2049, d2.loss_map_dir: 0.0153, d3.loss_map_cls: 0.2644, d3.loss_map_pts: 1.1438, d3.loss_map_dir: 0.0157, d4.loss_map_cls: 0.2600, d4.loss_map_pts: 1.1236, d4.loss_map_dir: 0.0160, d5.loss_map_cls: 0.2592, d5.loss_map_pts: 1.1152, d5.loss_map_dir: 0.0162, loss: 41.4066, grad_norm: 152.4455 +2026-02-25 01:18:38,378 - DriveTransformer - INFO - Epoch [3][24600/39528] lr: 9.831e-05, eta: 7 days, 19:48:38, time: 0.826, data_time: 0.040, memory: 19865, loss_cls: 0.3473, loss_bbox: 0.5139, loss_traj: 0.9948, loss_traj_cls: 0.0074, loss_map_cls: 0.2879, loss_map_pts: 1.2571, loss_map_dir: 0.0207, d0.loss_plan_l1_fix_time: 2.5424, d0.loss_plan_l1_fix_dist: 0.3856, d1.loss_plan_l1_fix_time: 1.7346, d1.loss_plan_l1_fix_dist: 0.2529, d2.loss_plan_l1_fix_time: 1.7207, d2.loss_plan_l1_fix_dist: 0.2649, d3.loss_plan_l1_fix_time: 1.7240, d3.loss_plan_l1_fix_dist: 0.2821, d4.loss_plan_l1_fix_time: 1.7276, d4.loss_plan_l1_fix_dist: 0.3036, d5.loss_plan_l1_fix_time: 1.7315, d5.loss_plan_l1_fix_dist: 0.3282, d6.loss_plan_l1_fix_time: 1.7356, d6.loss_plan_l1_fix_dist: 0.3546, d0.loss_cls_all: 0.3643, d0.loss_bbox_all: 0.5518, d0.loss_cls: 0.3643, d0.loss_bbox: 0.5518, d1.loss_cls: 0.3560, d1.loss_bbox: 0.5280, d2.loss_cls: 0.3491, d2.loss_bbox: 0.5173, d3.loss_cls: 0.3465, d3.loss_bbox: 0.5147, d4.loss_cls: 0.3461, d4.loss_bbox: 0.5122, d5.loss_cls: 0.3454, d5.loss_bbox: 0.5121, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1928, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0275, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9993, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9903, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9796, d5.loss_traj_cls: 0.0060, d5.loss_traj: 0.9842, d0.loss_map_cls_all: 0.3361, d0.loss_map_pts_all: 2.3993, d0.loss_map_dir_all: 0.0194, d0.loss_map_cls: 0.3361, d0.loss_map_pts: 2.3993, d0.loss_map_dir: 0.0194, d1.loss_map_cls: 0.3193, d1.loss_map_pts: 1.5576, d1.loss_map_dir: 0.0189, d2.loss_map_cls: 0.3023, d2.loss_map_pts: 1.3675, d2.loss_map_dir: 0.0193, d3.loss_map_cls: 0.2940, d3.loss_map_pts: 1.2955, d3.loss_map_dir: 0.0199, d4.loss_map_cls: 0.2868, d4.loss_map_pts: 1.2705, d4.loss_map_dir: 0.0202, d5.loss_map_cls: 0.2869, d5.loss_map_pts: 1.2593, d5.loss_map_dir: 0.0205, loss: 44.7098, grad_norm: 151.1543 +2026-02-25 01:19:18,317 - DriveTransformer - INFO - Epoch [3][24650/39528] lr: 9.831e-05, eta: 7 days, 19:47:58, time: 0.799, data_time: 0.043, memory: 19865, loss_cls: 0.2994, loss_bbox: 0.4592, loss_traj: 0.8698, loss_traj_cls: 0.0075, loss_map_cls: 0.2177, loss_map_pts: 1.0412, loss_map_dir: 0.0164, d0.loss_plan_l1_fix_time: 2.4258, d0.loss_plan_l1_fix_dist: 0.4718, d1.loss_plan_l1_fix_time: 1.3830, d1.loss_plan_l1_fix_dist: 0.2654, d2.loss_plan_l1_fix_time: 1.3547, d2.loss_plan_l1_fix_dist: 0.2754, d3.loss_plan_l1_fix_time: 1.3566, d3.loss_plan_l1_fix_dist: 0.2927, d4.loss_plan_l1_fix_time: 1.3602, d4.loss_plan_l1_fix_dist: 0.3132, d5.loss_plan_l1_fix_time: 1.3639, d5.loss_plan_l1_fix_dist: 0.3365, d6.loss_plan_l1_fix_time: 1.3680, d6.loss_plan_l1_fix_dist: 0.3585, d0.loss_cls_all: 0.3144, d0.loss_bbox_all: 0.5011, d0.loss_cls: 0.3144, d0.loss_bbox: 0.5011, d1.loss_cls: 0.3060, d1.loss_bbox: 0.4760, d2.loss_cls: 0.3012, d2.loss_bbox: 0.4633, d3.loss_cls: 0.2995, d3.loss_bbox: 0.4592, d4.loss_cls: 0.2977, d4.loss_bbox: 0.4575, d5.loss_cls: 0.2985, d5.loss_bbox: 0.4574, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0184, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8993, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8659, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8614, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8653, d5.loss_traj_cls: 0.0062, d5.loss_traj: 0.8672, d0.loss_map_cls_all: 0.2863, d0.loss_map_pts_all: 1.8824, d0.loss_map_dir_all: 0.0157, d0.loss_map_cls: 0.2863, d0.loss_map_pts: 1.8824, d0.loss_map_dir: 0.0157, d1.loss_map_cls: 0.2604, d1.loss_map_pts: 1.2933, d1.loss_map_dir: 0.0153, d2.loss_map_cls: 0.2423, d2.loss_map_pts: 1.1280, d2.loss_map_dir: 0.0155, d3.loss_map_cls: 0.2279, d3.loss_map_pts: 1.0694, d3.loss_map_dir: 0.0158, d4.loss_map_cls: 0.2209, d4.loss_map_pts: 1.0492, d4.loss_map_dir: 0.0161, d5.loss_map_cls: 0.2185, d5.loss_map_pts: 1.0429, d5.loss_map_dir: 0.0162, loss: 37.8733, grad_norm: 150.3700 +2026-02-25 01:19:58,483 - DriveTransformer - INFO - Epoch [3][24700/39528] lr: 9.831e-05, eta: 7 days, 19:47:19, time: 0.803, data_time: 0.039, memory: 19865, loss_cls: 0.3404, loss_bbox: 0.5182, loss_traj: 0.9881, loss_traj_cls: 0.0075, loss_map_cls: 0.2679, loss_map_pts: 1.1836, loss_map_dir: 0.0158, d0.loss_plan_l1_fix_time: 2.4468, d0.loss_plan_l1_fix_dist: 0.4871, d1.loss_plan_l1_fix_time: 1.6184, d1.loss_plan_l1_fix_dist: 0.2907, d2.loss_plan_l1_fix_time: 1.5975, d2.loss_plan_l1_fix_dist: 0.2986, d3.loss_plan_l1_fix_time: 1.5959, d3.loss_plan_l1_fix_dist: 0.3131, d4.loss_plan_l1_fix_time: 1.5977, d4.loss_plan_l1_fix_dist: 0.3293, d5.loss_plan_l1_fix_time: 1.6008, d5.loss_plan_l1_fix_dist: 0.3463, d6.loss_plan_l1_fix_time: 1.6048, d6.loss_plan_l1_fix_dist: 0.3680, d0.loss_cls_all: 0.3528, d0.loss_bbox_all: 0.5594, d0.loss_cls: 0.3528, d0.loss_bbox: 0.5594, d1.loss_cls: 0.3495, d1.loss_bbox: 0.5334, d2.loss_cls: 0.3425, d2.loss_bbox: 0.5207, d3.loss_cls: 0.3404, d3.loss_bbox: 0.5157, d4.loss_cls: 0.3387, d4.loss_bbox: 0.5162, d5.loss_cls: 0.3387, d5.loss_bbox: 0.5163, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1528, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0096, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9747, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9631, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9693, d5.loss_traj_cls: 0.0062, d5.loss_traj: 0.9737, d0.loss_map_cls_all: 0.3188, d0.loss_map_pts_all: 2.0006, d0.loss_map_dir_all: 0.0145, d0.loss_map_cls: 0.3188, d0.loss_map_pts: 2.0006, d0.loss_map_dir: 0.0145, d1.loss_map_cls: 0.2982, d1.loss_map_pts: 1.4215, d1.loss_map_dir: 0.0142, d2.loss_map_cls: 0.2798, d2.loss_map_pts: 1.2717, d2.loss_map_dir: 0.0147, d3.loss_map_cls: 0.2701, d3.loss_map_pts: 1.2133, d3.loss_map_dir: 0.0152, d4.loss_map_cls: 0.2675, d4.loss_map_pts: 1.1940, d4.loss_map_dir: 0.0156, d5.loss_map_cls: 0.2666, d5.loss_map_pts: 1.1872, d5.loss_map_dir: 0.0157, loss: 42.4202, grad_norm: 150.7842 +2026-02-25 01:20:37,694 - DriveTransformer - INFO - Epoch [3][24750/39528] lr: 9.831e-05, eta: 7 days, 19:46:33, time: 0.784, data_time: 0.040, memory: 19865, loss_cls: 0.3234, loss_bbox: 0.4875, loss_traj: 1.0837, loss_traj_cls: 0.0075, loss_map_cls: 0.2930, loss_map_pts: 1.2382, loss_map_dir: 0.0190, d0.loss_plan_l1_fix_time: 2.4454, d0.loss_plan_l1_fix_dist: 0.4214, d1.loss_plan_l1_fix_time: 1.5311, d1.loss_plan_l1_fix_dist: 0.2404, d2.loss_plan_l1_fix_time: 1.4964, d2.loss_plan_l1_fix_dist: 0.2471, d3.loss_plan_l1_fix_time: 1.4918, d3.loss_plan_l1_fix_dist: 0.2583, d4.loss_plan_l1_fix_time: 1.4933, d4.loss_plan_l1_fix_dist: 0.2725, d5.loss_plan_l1_fix_time: 1.4958, d5.loss_plan_l1_fix_dist: 0.2899, d6.loss_plan_l1_fix_time: 1.4995, d6.loss_plan_l1_fix_dist: 0.3100, d0.loss_cls_all: 0.3372, d0.loss_bbox_all: 0.5260, d0.loss_cls: 0.3372, d0.loss_bbox: 0.5260, d1.loss_cls: 0.3348, d1.loss_bbox: 0.4969, d2.loss_cls: 0.3260, d2.loss_bbox: 0.4870, d3.loss_cls: 0.3243, d3.loss_bbox: 0.4826, d4.loss_cls: 0.3220, d4.loss_bbox: 0.4838, d5.loss_cls: 0.3218, d5.loss_bbox: 0.4852, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3018, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1051, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0793, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0751, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.0751, d5.loss_traj_cls: 0.0062, d5.loss_traj: 1.0778, d0.loss_map_cls_all: 0.3382, d0.loss_map_pts_all: 2.0545, d0.loss_map_dir_all: 0.0178, d0.loss_map_cls: 0.3382, d0.loss_map_pts: 2.0545, d0.loss_map_dir: 0.0178, d1.loss_map_cls: 0.3189, d1.loss_map_pts: 1.4956, d1.loss_map_dir: 0.0176, d2.loss_map_cls: 0.3008, d2.loss_map_pts: 1.3309, d2.loss_map_dir: 0.0181, d3.loss_map_cls: 0.2942, d3.loss_map_pts: 1.2654, d3.loss_map_dir: 0.0185, d4.loss_map_cls: 0.2915, d4.loss_map_pts: 1.2484, d4.loss_map_dir: 0.0187, d5.loss_map_cls: 0.2905, d5.loss_map_pts: 1.2409, d5.loss_map_dir: 0.0189, loss: 42.4515, grad_norm: 150.9330 +2026-02-25 01:21:17,519 - DriveTransformer - INFO - Epoch [3][24800/39528] lr: 9.831e-05, eta: 7 days, 19:45:51, time: 0.796, data_time: 0.038, memory: 19865, loss_cls: 0.3331, loss_bbox: 0.5252, loss_traj: 1.0647, loss_traj_cls: 0.0074, loss_map_cls: 0.2574, loss_map_pts: 1.1753, loss_map_dir: 0.0188, d0.loss_plan_l1_fix_time: 2.7517, d0.loss_plan_l1_fix_dist: 0.4101, d1.loss_plan_l1_fix_time: 1.8585, d1.loss_plan_l1_fix_dist: 0.2653, d2.loss_plan_l1_fix_time: 1.8237, d2.loss_plan_l1_fix_dist: 0.2699, d3.loss_plan_l1_fix_time: 1.8205, d3.loss_plan_l1_fix_dist: 0.2785, d4.loss_plan_l1_fix_time: 1.8234, d4.loss_plan_l1_fix_dist: 0.2882, d5.loss_plan_l1_fix_time: 1.8271, d5.loss_plan_l1_fix_dist: 0.3005, d6.loss_plan_l1_fix_time: 1.8306, d6.loss_plan_l1_fix_dist: 0.3153, d0.loss_cls_all: 0.3523, d0.loss_bbox_all: 0.5725, d0.loss_cls: 0.3523, d0.loss_bbox: 0.5725, d1.loss_cls: 0.3463, d1.loss_bbox: 0.5452, d2.loss_cls: 0.3362, d2.loss_bbox: 0.5318, d3.loss_cls: 0.3342, d3.loss_bbox: 0.5285, d4.loss_cls: 0.3339, d4.loss_bbox: 0.5273, d5.loss_cls: 0.3333, d5.loss_bbox: 0.5256, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2548, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1063, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0693, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0679, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.0634, d5.loss_traj_cls: 0.0062, d5.loss_traj: 1.0722, d0.loss_map_cls_all: 0.2979, d0.loss_map_pts_all: 2.0314, d0.loss_map_dir_all: 0.0173, d0.loss_map_cls: 0.2979, d0.loss_map_pts: 2.0314, d0.loss_map_dir: 0.0173, d1.loss_map_cls: 0.2812, d1.loss_map_pts: 1.4130, d1.loss_map_dir: 0.0170, d2.loss_map_cls: 0.2684, d2.loss_map_pts: 1.2588, d2.loss_map_dir: 0.0174, d3.loss_map_cls: 0.2604, d3.loss_map_pts: 1.2038, d3.loss_map_dir: 0.0181, d4.loss_map_cls: 0.2546, d4.loss_map_pts: 1.1818, d4.loss_map_dir: 0.0184, d5.loss_map_cls: 0.2554, d5.loss_map_pts: 1.1760, d5.loss_map_dir: 0.0187, loss: 44.4191, grad_norm: 150.2858 +2026-02-25 01:21:57,853 - DriveTransformer - INFO - Epoch [3][24850/39528] lr: 9.831e-05, eta: 7 days, 19:45:14, time: 0.807, data_time: 0.040, memory: 19865, loss_cls: 0.3623, loss_bbox: 0.5068, loss_traj: 1.0015, loss_traj_cls: 0.0073, loss_map_cls: 0.2877, loss_map_pts: 1.3216, loss_map_dir: 0.0225, d0.loss_plan_l1_fix_time: 2.5313, d0.loss_plan_l1_fix_dist: 0.4053, d1.loss_plan_l1_fix_time: 1.5975, d1.loss_plan_l1_fix_dist: 0.3174, d2.loss_plan_l1_fix_time: 1.5840, d2.loss_plan_l1_fix_dist: 0.3246, d3.loss_plan_l1_fix_time: 1.5901, d3.loss_plan_l1_fix_dist: 0.3341, d4.loss_plan_l1_fix_time: 1.5951, d4.loss_plan_l1_fix_dist: 0.3456, d5.loss_plan_l1_fix_time: 1.6000, d5.loss_plan_l1_fix_dist: 0.3582, d6.loss_plan_l1_fix_time: 1.6052, d6.loss_plan_l1_fix_dist: 0.3726, d0.loss_cls_all: 0.3769, d0.loss_bbox_all: 0.5536, d0.loss_cls: 0.3769, d0.loss_bbox: 0.5536, d1.loss_cls: 0.3656, d1.loss_bbox: 0.5241, d2.loss_cls: 0.3633, d2.loss_bbox: 0.5123, d3.loss_cls: 0.3645, d3.loss_bbox: 0.5071, d4.loss_cls: 0.3590, d4.loss_bbox: 0.5072, d5.loss_cls: 0.3600, d5.loss_bbox: 0.5060, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1774, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0257, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0070, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0014, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9929, d5.loss_traj_cls: 0.0063, d5.loss_traj: 0.9989, d0.loss_map_cls_all: 0.3398, d0.loss_map_pts_all: 2.3730, d0.loss_map_dir_all: 0.0213, d0.loss_map_cls: 0.3398, d0.loss_map_pts: 2.3730, d0.loss_map_dir: 0.0213, d1.loss_map_cls: 0.3197, d1.loss_map_pts: 1.5791, d1.loss_map_dir: 0.0207, d2.loss_map_cls: 0.3017, d2.loss_map_pts: 1.4064, d2.loss_map_dir: 0.0212, d3.loss_map_cls: 0.2920, d3.loss_map_pts: 1.3462, d3.loss_map_dir: 0.0218, d4.loss_map_cls: 0.2886, d4.loss_map_pts: 1.3280, d4.loss_map_dir: 0.0220, d5.loss_map_cls: 0.2876, d5.loss_map_pts: 1.3209, d5.loss_map_dir: 0.0223, loss: 44.5616, grad_norm: 151.7624 +2026-02-25 01:22:37,330 - DriveTransformer - INFO - Epoch [3][24900/39528] lr: 9.831e-05, eta: 7 days, 19:44:29, time: 0.790, data_time: 0.042, memory: 19865, loss_cls: 0.3705, loss_bbox: 0.5200, loss_traj: 0.9415, loss_traj_cls: 0.0072, loss_map_cls: 0.3057, loss_map_pts: 1.3101, loss_map_dir: 0.0229, d0.loss_plan_l1_fix_time: 2.4807, d0.loss_plan_l1_fix_dist: 0.4559, d1.loss_plan_l1_fix_time: 1.7192, d1.loss_plan_l1_fix_dist: 0.2726, d2.loss_plan_l1_fix_time: 1.7179, d2.loss_plan_l1_fix_dist: 0.2821, d3.loss_plan_l1_fix_time: 1.7206, d3.loss_plan_l1_fix_dist: 0.2977, d4.loss_plan_l1_fix_time: 1.7243, d4.loss_plan_l1_fix_dist: 0.3148, d5.loss_plan_l1_fix_time: 1.7291, d5.loss_plan_l1_fix_dist: 0.3310, d6.loss_plan_l1_fix_time: 1.7356, d6.loss_plan_l1_fix_dist: 0.3452, d0.loss_cls_all: 0.3902, d0.loss_bbox_all: 0.5651, d0.loss_cls: 0.3902, d0.loss_bbox: 0.5651, d1.loss_cls: 0.3875, d1.loss_bbox: 0.5384, d2.loss_cls: 0.3795, d2.loss_bbox: 0.5284, d3.loss_cls: 0.3770, d3.loss_bbox: 0.5236, d4.loss_cls: 0.3702, d4.loss_bbox: 0.5217, d5.loss_cls: 0.3701, d5.loss_bbox: 0.5179, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1047, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9576, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9400, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9355, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9298, d5.loss_traj_cls: 0.0064, d5.loss_traj: 0.9285, d0.loss_map_cls_all: 0.3632, d0.loss_map_pts_all: 2.2862, d0.loss_map_dir_all: 0.0214, d0.loss_map_cls: 0.3632, d0.loss_map_pts: 2.2862, d0.loss_map_dir: 0.0214, d1.loss_map_cls: 0.3422, d1.loss_map_pts: 1.5331, d1.loss_map_dir: 0.0209, d2.loss_map_cls: 0.3230, d2.loss_map_pts: 1.3778, d2.loss_map_dir: 0.0215, d3.loss_map_cls: 0.3137, d3.loss_map_pts: 1.3278, d3.loss_map_dir: 0.0222, d4.loss_map_cls: 0.3081, d4.loss_map_pts: 1.3157, d4.loss_map_dir: 0.0225, d5.loss_map_cls: 0.3059, d5.loss_map_pts: 1.3112, d5.loss_map_dir: 0.0227, loss: 44.7468, grad_norm: 152.4941 +2026-02-25 01:23:20,136 - DriveTransformer - INFO - Epoch [3][24950/39528] lr: 9.831e-05, eta: 7 days, 19:44:12, time: 0.856, data_time: 0.039, memory: 19865, loss_cls: 0.4123, loss_bbox: 0.6028, loss_traj: 1.1950, loss_traj_cls: 0.0073, loss_map_cls: 0.3489, loss_map_pts: 1.5456, loss_map_dir: 0.0275, d0.loss_plan_l1_fix_time: 2.9981, d0.loss_plan_l1_fix_dist: 0.3913, d1.loss_plan_l1_fix_time: 2.0451, d1.loss_plan_l1_fix_dist: 0.3001, d2.loss_plan_l1_fix_time: 2.0428, d2.loss_plan_l1_fix_dist: 0.3079, d3.loss_plan_l1_fix_time: 2.0465, d3.loss_plan_l1_fix_dist: 0.3195, d4.loss_plan_l1_fix_time: 2.0504, d4.loss_plan_l1_fix_dist: 0.3324, d5.loss_plan_l1_fix_time: 2.0551, d5.loss_plan_l1_fix_dist: 0.3470, d6.loss_plan_l1_fix_time: 2.0603, d6.loss_plan_l1_fix_dist: 0.3623, d0.loss_cls_all: 0.4302, d0.loss_bbox_all: 0.6471, d0.loss_cls: 0.4302, d0.loss_bbox: 0.6471, d1.loss_cls: 0.4220, d1.loss_bbox: 0.6198, d2.loss_cls: 0.4179, d2.loss_bbox: 0.6062, d3.loss_cls: 0.4112, d3.loss_bbox: 0.6037, d4.loss_cls: 0.4103, d4.loss_bbox: 0.5999, d5.loss_cls: 0.4120, d5.loss_bbox: 0.5983, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3688, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2160, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1760, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1841, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.1773, d5.loss_traj_cls: 0.0066, d5.loss_traj: 1.1705, d0.loss_map_cls_all: 0.3856, d0.loss_map_pts_all: 2.6863, d0.loss_map_dir_all: 0.0256, d0.loss_map_cls: 0.3856, d0.loss_map_pts: 2.6863, d0.loss_map_dir: 0.0256, d1.loss_map_cls: 0.3759, d1.loss_map_pts: 1.8454, d1.loss_map_dir: 0.0251, d2.loss_map_cls: 0.3627, d2.loss_map_pts: 1.6463, d2.loss_map_dir: 0.0258, d3.loss_map_cls: 0.3513, d3.loss_map_pts: 1.5784, d3.loss_map_dir: 0.0265, d4.loss_map_cls: 0.3473, d4.loss_map_pts: 1.5579, d4.loss_map_dir: 0.0270, d5.loss_map_cls: 0.3469, d5.loss_map_pts: 1.5495, d5.loss_map_dir: 0.0273, loss: 52.6469, grad_norm: 150.6419 +2026-02-25 01:23:59,518 - DriveTransformer - INFO - Epoch [3][25000/39528] lr: 9.831e-05, eta: 7 days, 19:43:27, time: 0.788, data_time: 0.037, memory: 19865, loss_cls: 0.3744, loss_bbox: 0.5405, loss_traj: 1.0244, loss_traj_cls: 0.0070, loss_map_cls: 0.3082, loss_map_pts: 1.2278, loss_map_dir: 0.0217, d0.loss_plan_l1_fix_time: 3.1957, d0.loss_plan_l1_fix_dist: 0.4829, d1.loss_plan_l1_fix_time: 1.9565, d1.loss_plan_l1_fix_dist: 0.2783, d2.loss_plan_l1_fix_time: 1.9545, d2.loss_plan_l1_fix_dist: 0.2869, d3.loss_plan_l1_fix_time: 1.9587, d3.loss_plan_l1_fix_dist: 0.3003, d4.loss_plan_l1_fix_time: 1.9637, d4.loss_plan_l1_fix_dist: 0.3194, d5.loss_plan_l1_fix_time: 1.9688, d5.loss_plan_l1_fix_dist: 0.3452, d6.loss_plan_l1_fix_time: 1.9737, d6.loss_plan_l1_fix_dist: 0.3789, d0.loss_cls_all: 0.3860, d0.loss_bbox_all: 0.5754, d0.loss_cls: 0.3860, d0.loss_bbox: 0.5754, d1.loss_cls: 0.3747, d1.loss_bbox: 0.5526, d2.loss_cls: 0.3726, d2.loss_bbox: 0.5413, d3.loss_cls: 0.3725, d3.loss_bbox: 0.5383, d4.loss_cls: 0.3691, d4.loss_bbox: 0.5406, d5.loss_cls: 0.3721, d5.loss_bbox: 0.5408, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1591, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0323, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0187, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0150, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0174, d5.loss_traj_cls: 0.0065, d5.loss_traj: 1.0193, d0.loss_map_cls_all: 0.3317, d0.loss_map_pts_all: 2.0257, d0.loss_map_dir_all: 0.0201, d0.loss_map_cls: 0.3317, d0.loss_map_pts: 2.0257, d0.loss_map_dir: 0.0201, d1.loss_map_cls: 0.3245, d1.loss_map_pts: 1.4409, d1.loss_map_dir: 0.0200, d2.loss_map_cls: 0.3152, d2.loss_map_pts: 1.2876, d2.loss_map_dir: 0.0206, d3.loss_map_cls: 0.3091, d3.loss_map_pts: 1.2368, d3.loss_map_dir: 0.0211, d4.loss_map_cls: 0.3065, d4.loss_map_pts: 1.2255, d4.loss_map_dir: 0.0214, d5.loss_map_cls: 0.3083, d5.loss_map_pts: 1.2238, d5.loss_map_dir: 0.0215, loss: 46.4759, grad_norm: 150.5496 +2026-02-25 01:24:40,835 - DriveTransformer - INFO - Epoch [3][25050/39528] lr: 9.831e-05, eta: 7 days, 19:42:58, time: 0.826, data_time: 0.039, memory: 19865, loss_cls: 0.3447, loss_bbox: 0.5407, loss_traj: 1.2075, loss_traj_cls: 0.0069, loss_map_cls: 0.2572, loss_map_pts: 1.2286, loss_map_dir: 0.0210, d0.loss_plan_l1_fix_time: 2.7248, d0.loss_plan_l1_fix_dist: 0.4621, d1.loss_plan_l1_fix_time: 1.9140, d1.loss_plan_l1_fix_dist: 0.2686, d2.loss_plan_l1_fix_time: 1.8892, d2.loss_plan_l1_fix_dist: 0.2751, d3.loss_plan_l1_fix_time: 1.8858, d3.loss_plan_l1_fix_dist: 0.2870, d4.loss_plan_l1_fix_time: 1.8880, d4.loss_plan_l1_fix_dist: 0.3002, d5.loss_plan_l1_fix_time: 1.8916, d5.loss_plan_l1_fix_dist: 0.3181, d6.loss_plan_l1_fix_time: 1.8965, d6.loss_plan_l1_fix_dist: 0.3421, d0.loss_cls_all: 0.3661, d0.loss_bbox_all: 0.5810, d0.loss_cls: 0.3661, d0.loss_bbox: 0.5810, d1.loss_cls: 0.3607, d1.loss_bbox: 0.5574, d2.loss_cls: 0.3493, d2.loss_bbox: 0.5465, d3.loss_cls: 0.3496, d3.loss_bbox: 0.5410, d4.loss_cls: 0.3460, d4.loss_bbox: 0.5393, d5.loss_cls: 0.3463, d5.loss_bbox: 0.5374, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4086, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2296, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2028, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2044, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.2079, d5.loss_traj_cls: 0.0064, d5.loss_traj: 1.1991, d0.loss_map_cls_all: 0.3124, d0.loss_map_pts_all: 2.1144, d0.loss_map_dir_all: 0.0195, d0.loss_map_cls: 0.3124, d0.loss_map_pts: 2.1144, d0.loss_map_dir: 0.0195, d1.loss_map_cls: 0.2894, d1.loss_map_pts: 1.4441, d1.loss_map_dir: 0.0192, d2.loss_map_cls: 0.2747, d2.loss_map_pts: 1.2967, d2.loss_map_dir: 0.0198, d3.loss_map_cls: 0.2630, d3.loss_map_pts: 1.2523, d3.loss_map_dir: 0.0204, d4.loss_map_cls: 0.2583, d4.loss_map_pts: 1.2330, d4.loss_map_dir: 0.0207, d5.loss_map_cls: 0.2574, d5.loss_map_pts: 1.2295, d5.loss_map_dir: 0.0209, loss: 46.5735, grad_norm: 151.0673 +2026-02-25 01:25:21,565 - DriveTransformer - INFO - Epoch [3][25100/39528] lr: 9.831e-05, eta: 7 days, 19:42:24, time: 0.815, data_time: 0.042, memory: 19865, loss_cls: 0.3513, loss_bbox: 0.5032, loss_traj: 0.9097, loss_traj_cls: 0.0070, loss_map_cls: 0.2578, loss_map_pts: 1.0787, loss_map_dir: 0.0191, d0.loss_plan_l1_fix_time: 2.4923, d0.loss_plan_l1_fix_dist: 0.5041, d1.loss_plan_l1_fix_time: 1.4901, d1.loss_plan_l1_fix_dist: 0.2691, d2.loss_plan_l1_fix_time: 1.4707, d2.loss_plan_l1_fix_dist: 0.2849, d3.loss_plan_l1_fix_time: 1.4705, d3.loss_plan_l1_fix_dist: 0.3048, d4.loss_plan_l1_fix_time: 1.4734, d4.loss_plan_l1_fix_dist: 0.3250, d5.loss_plan_l1_fix_time: 1.4773, d5.loss_plan_l1_fix_dist: 0.3413, d6.loss_plan_l1_fix_time: 1.4819, d6.loss_plan_l1_fix_dist: 0.3543, d0.loss_cls_all: 0.3647, d0.loss_bbox_all: 0.5379, d0.loss_cls: 0.3647, d0.loss_bbox: 0.5379, d1.loss_cls: 0.3556, d1.loss_bbox: 0.5138, d2.loss_cls: 0.3499, d2.loss_bbox: 0.5018, d3.loss_cls: 0.3475, d3.loss_bbox: 0.4964, d4.loss_cls: 0.3465, d4.loss_bbox: 0.4980, d5.loss_cls: 0.3485, d5.loss_bbox: 0.5002, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0904, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9362, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9065, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8976, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9080, d5.loss_traj_cls: 0.0065, d5.loss_traj: 0.9168, d0.loss_map_cls_all: 0.2932, d0.loss_map_pts_all: 1.9772, d0.loss_map_dir_all: 0.0182, d0.loss_map_cls: 0.2932, d0.loss_map_pts: 1.9772, d0.loss_map_dir: 0.0182, d1.loss_map_cls: 0.2793, d1.loss_map_pts: 1.3101, d1.loss_map_dir: 0.0176, d2.loss_map_cls: 0.2656, d2.loss_map_pts: 1.1529, d2.loss_map_dir: 0.0181, d3.loss_map_cls: 0.2608, d3.loss_map_pts: 1.1003, d3.loss_map_dir: 0.0186, d4.loss_map_cls: 0.2590, d4.loss_map_pts: 1.0844, d4.loss_map_dir: 0.0188, d5.loss_map_cls: 0.2578, d5.loss_map_pts: 1.0801, d5.loss_map_dir: 0.0190, loss: 40.3162, grad_norm: 151.7147 +2026-02-25 01:26:00,757 - DriveTransformer - INFO - Epoch [3][25150/39528] lr: 9.831e-05, eta: 7 days, 19:41:37, time: 0.784, data_time: 0.039, memory: 19865, loss_cls: 0.3322, loss_bbox: 0.5054, loss_traj: 0.8386, loss_traj_cls: 0.0069, loss_map_cls: 0.2791, loss_map_pts: 1.1335, loss_map_dir: 0.0201, d0.loss_plan_l1_fix_time: 2.7279, d0.loss_plan_l1_fix_dist: 0.5197, d1.loss_plan_l1_fix_time: 1.8412, d1.loss_plan_l1_fix_dist: 0.2600, d2.loss_plan_l1_fix_time: 1.8174, d2.loss_plan_l1_fix_dist: 0.2677, d3.loss_plan_l1_fix_time: 1.8195, d3.loss_plan_l1_fix_dist: 0.2801, d4.loss_plan_l1_fix_time: 1.8240, d4.loss_plan_l1_fix_dist: 0.2968, d5.loss_plan_l1_fix_time: 1.8287, d5.loss_plan_l1_fix_dist: 0.3120, d6.loss_plan_l1_fix_time: 1.8333, d6.loss_plan_l1_fix_dist: 0.3251, d0.loss_cls_all: 0.3392, d0.loss_bbox_all: 0.5383, d0.loss_cls: 0.3392, d0.loss_bbox: 0.5383, d1.loss_cls: 0.3267, d1.loss_bbox: 0.5189, d2.loss_cls: 0.3241, d2.loss_bbox: 0.5085, d3.loss_cls: 0.3272, d3.loss_bbox: 0.5000, d4.loss_cls: 0.3270, d4.loss_bbox: 0.5021, d5.loss_cls: 0.3297, d5.loss_bbox: 0.5040, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9204, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8633, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8508, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8431, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8406, d5.loss_traj_cls: 0.0066, d5.loss_traj: 0.8449, d0.loss_map_cls_all: 0.3189, d0.loss_map_pts_all: 1.8916, d0.loss_map_dir_all: 0.0177, d0.loss_map_cls: 0.3189, d0.loss_map_pts: 1.8916, d0.loss_map_dir: 0.0177, d1.loss_map_cls: 0.2952, d1.loss_map_pts: 1.3339, d1.loss_map_dir: 0.0178, d2.loss_map_cls: 0.2860, d2.loss_map_pts: 1.2002, d2.loss_map_dir: 0.0188, d3.loss_map_cls: 0.2822, d3.loss_map_pts: 1.1554, d3.loss_map_dir: 0.0195, d4.loss_map_cls: 0.2784, d4.loss_map_pts: 1.1400, d4.loss_map_dir: 0.0198, d5.loss_map_cls: 0.2793, d5.loss_map_pts: 1.1361, d5.loss_map_dir: 0.0200, loss: 42.1063, grad_norm: 149.9608 +2026-02-25 01:26:39,395 - DriveTransformer - INFO - Epoch [3][25200/39528] lr: 9.831e-05, eta: 7 days, 19:40:46, time: 0.774, data_time: 0.041, memory: 19865, loss_cls: 0.3482, loss_bbox: 0.4873, loss_traj: 1.1091, loss_traj_cls: 0.0070, loss_map_cls: 0.2879, loss_map_pts: 1.1684, loss_map_dir: 0.0198, d0.loss_plan_l1_fix_time: 2.7290, d0.loss_plan_l1_fix_dist: 0.3850, d1.loss_plan_l1_fix_time: 1.7861, d1.loss_plan_l1_fix_dist: 0.2293, d2.loss_plan_l1_fix_time: 1.7557, d2.loss_plan_l1_fix_dist: 0.2387, d3.loss_plan_l1_fix_time: 1.7554, d3.loss_plan_l1_fix_dist: 0.2507, d4.loss_plan_l1_fix_time: 1.7596, d4.loss_plan_l1_fix_dist: 0.2658, d5.loss_plan_l1_fix_time: 1.7648, d5.loss_plan_l1_fix_dist: 0.2831, d6.loss_plan_l1_fix_time: 1.7704, d6.loss_plan_l1_fix_dist: 0.3052, d0.loss_cls_all: 0.3528, d0.loss_bbox_all: 0.5306, d0.loss_cls: 0.3528, d0.loss_bbox: 0.5306, d1.loss_cls: 0.3490, d1.loss_bbox: 0.5038, d2.loss_cls: 0.3471, d2.loss_bbox: 0.4901, d3.loss_cls: 0.3457, d3.loss_bbox: 0.4861, d4.loss_cls: 0.3457, d4.loss_bbox: 0.4843, d5.loss_cls: 0.3475, d5.loss_bbox: 0.4858, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3046, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1350, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1149, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1160, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.1130, d5.loss_traj_cls: 0.0067, d5.loss_traj: 1.1088, d0.loss_map_cls_all: 0.3294, d0.loss_map_pts_all: 1.9734, d0.loss_map_dir_all: 0.0182, d0.loss_map_cls: 0.3294, d0.loss_map_pts: 1.9734, d0.loss_map_dir: 0.0182, d1.loss_map_cls: 0.3108, d1.loss_map_pts: 1.3835, d1.loss_map_dir: 0.0181, d2.loss_map_cls: 0.2957, d2.loss_map_pts: 1.2412, d2.loss_map_dir: 0.0187, d3.loss_map_cls: 0.2902, d3.loss_map_pts: 1.1903, d3.loss_map_dir: 0.0191, d4.loss_map_cls: 0.2859, d4.loss_map_pts: 1.1766, d4.loss_map_dir: 0.0195, d5.loss_map_cls: 0.2864, d5.loss_map_pts: 1.1713, d5.loss_map_dir: 0.0195, loss: 43.9309, grad_norm: 150.1049 +2026-02-25 01:27:19,423 - DriveTransformer - INFO - Epoch [3][25250/39528] lr: 9.831e-05, eta: 7 days, 19:40:06, time: 0.799, data_time: 0.043, memory: 19865, loss_cls: 0.3544, loss_bbox: 0.5107, loss_traj: 0.9695, loss_traj_cls: 0.0069, loss_map_cls: 0.2884, loss_map_pts: 1.1395, loss_map_dir: 0.0211, d0.loss_plan_l1_fix_time: 2.4942, d0.loss_plan_l1_fix_dist: 0.3791, d1.loss_plan_l1_fix_time: 1.5104, d1.loss_plan_l1_fix_dist: 0.2535, d2.loss_plan_l1_fix_time: 1.5096, d2.loss_plan_l1_fix_dist: 0.2582, d3.loss_plan_l1_fix_time: 1.5149, d3.loss_plan_l1_fix_dist: 0.2698, d4.loss_plan_l1_fix_time: 1.5190, d4.loss_plan_l1_fix_dist: 0.2852, d5.loss_plan_l1_fix_time: 1.5241, d5.loss_plan_l1_fix_dist: 0.3036, d6.loss_plan_l1_fix_time: 1.5299, d6.loss_plan_l1_fix_dist: 0.3267, d0.loss_cls_all: 0.3671, d0.loss_bbox_all: 0.5563, d0.loss_cls: 0.3671, d0.loss_bbox: 0.5563, d1.loss_cls: 0.3643, d1.loss_bbox: 0.5317, d2.loss_cls: 0.3542, d2.loss_bbox: 0.5208, d3.loss_cls: 0.3521, d3.loss_bbox: 0.5139, d4.loss_cls: 0.3509, d4.loss_bbox: 0.5104, d5.loss_cls: 0.3535, d5.loss_bbox: 0.5098, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1236, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0001, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9834, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9763, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9718, d5.loss_traj_cls: 0.0067, d5.loss_traj: 0.9707, d0.loss_map_cls_all: 0.3311, d0.loss_map_pts_all: 2.1579, d0.loss_map_dir_all: 0.0199, d0.loss_map_cls: 0.3311, d0.loss_map_pts: 2.1579, d0.loss_map_dir: 0.0199, d1.loss_map_cls: 0.3156, d1.loss_map_pts: 1.4045, d1.loss_map_dir: 0.0194, d2.loss_map_cls: 0.3022, d2.loss_map_pts: 1.2355, d2.loss_map_dir: 0.0199, d3.loss_map_cls: 0.2974, d3.loss_map_pts: 1.1728, d3.loss_map_dir: 0.0205, d4.loss_map_cls: 0.2904, d4.loss_map_pts: 1.1488, d4.loss_map_dir: 0.0208, d5.loss_map_cls: 0.2883, d5.loss_map_pts: 1.1408, d5.loss_map_dir: 0.0209, loss: 41.9300, grad_norm: 148.7497 +2026-02-25 01:28:00,869 - DriveTransformer - INFO - Epoch [3][25300/39528] lr: 9.831e-05, eta: 7 days, 19:39:38, time: 0.829, data_time: 0.045, memory: 19865, loss_cls: 0.3513, loss_bbox: 0.5101, loss_traj: 1.0802, loss_traj_cls: 0.0068, loss_map_cls: 0.2874, loss_map_pts: 1.2683, loss_map_dir: 0.0237, d0.loss_plan_l1_fix_time: 2.3739, d0.loss_plan_l1_fix_dist: 0.4770, d1.loss_plan_l1_fix_time: 1.7931, d1.loss_plan_l1_fix_dist: 0.3106, d2.loss_plan_l1_fix_time: 1.7762, d2.loss_plan_l1_fix_dist: 0.3182, d3.loss_plan_l1_fix_time: 1.7762, d3.loss_plan_l1_fix_dist: 0.3309, d4.loss_plan_l1_fix_time: 1.7790, d4.loss_plan_l1_fix_dist: 0.3471, d5.loss_plan_l1_fix_time: 1.7838, d5.loss_plan_l1_fix_dist: 0.3635, d6.loss_plan_l1_fix_time: 1.7903, d6.loss_plan_l1_fix_dist: 0.3806, d0.loss_cls_all: 0.3681, d0.loss_bbox_all: 0.5641, d0.loss_cls: 0.3681, d0.loss_bbox: 0.5641, d1.loss_cls: 0.3601, d1.loss_bbox: 0.5337, d2.loss_cls: 0.3551, d2.loss_bbox: 0.5204, d3.loss_cls: 0.3496, d3.loss_bbox: 0.5133, d4.loss_cls: 0.3483, d4.loss_bbox: 0.5089, d5.loss_cls: 0.3487, d5.loss_bbox: 0.5096, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2365, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0862, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0708, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0795, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.0755, d5.loss_traj_cls: 0.0067, d5.loss_traj: 1.0894, d0.loss_map_cls_all: 0.3342, d0.loss_map_pts_all: 2.3189, d0.loss_map_dir_all: 0.0226, d0.loss_map_cls: 0.3342, d0.loss_map_pts: 2.3189, d0.loss_map_dir: 0.0226, d1.loss_map_cls: 0.3157, d1.loss_map_pts: 1.5220, d1.loss_map_dir: 0.0218, d2.loss_map_cls: 0.2980, d2.loss_map_pts: 1.3531, d2.loss_map_dir: 0.0224, d3.loss_map_cls: 0.2876, d3.loss_map_pts: 1.2956, d3.loss_map_dir: 0.0230, d4.loss_map_cls: 0.2847, d4.loss_map_pts: 1.2771, d4.loss_map_dir: 0.0233, d5.loss_map_cls: 0.2852, d5.loss_map_pts: 1.2693, d5.loss_map_dir: 0.0235, loss: 45.6434, grad_norm: 148.6274 +2026-02-25 01:28:40,574 - DriveTransformer - INFO - Epoch [3][25350/39528] lr: 9.831e-05, eta: 7 days, 19:38:55, time: 0.794, data_time: 0.040, memory: 19865, loss_cls: 0.3178, loss_bbox: 0.5108, loss_traj: 1.1102, loss_traj_cls: 0.0068, loss_map_cls: 0.2637, loss_map_pts: 1.0942, loss_map_dir: 0.0179, d0.loss_plan_l1_fix_time: 2.7424, d0.loss_plan_l1_fix_dist: 0.4807, d1.loss_plan_l1_fix_time: 1.7738, d1.loss_plan_l1_fix_dist: 0.3040, d2.loss_plan_l1_fix_time: 1.7422, d2.loss_plan_l1_fix_dist: 0.3097, d3.loss_plan_l1_fix_time: 1.7433, d3.loss_plan_l1_fix_dist: 0.3221, d4.loss_plan_l1_fix_time: 1.7479, d4.loss_plan_l1_fix_dist: 0.3361, d5.loss_plan_l1_fix_time: 1.7529, d5.loss_plan_l1_fix_dist: 0.3525, d6.loss_plan_l1_fix_time: 1.7587, d6.loss_plan_l1_fix_dist: 0.3702, d0.loss_cls_all: 0.3356, d0.loss_bbox_all: 0.5455, d0.loss_cls: 0.3356, d0.loss_bbox: 0.5455, d1.loss_cls: 0.3311, d1.loss_bbox: 0.5241, d2.loss_cls: 0.3235, d2.loss_bbox: 0.5139, d3.loss_cls: 0.3191, d3.loss_bbox: 0.5091, d4.loss_cls: 0.3162, d4.loss_bbox: 0.5101, d5.loss_cls: 0.3168, d5.loss_bbox: 0.5104, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3033, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1378, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1155, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1087, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.1107, d5.loss_traj_cls: 0.0069, d5.loss_traj: 1.1059, d0.loss_map_cls_all: 0.3182, d0.loss_map_pts_all: 1.9941, d0.loss_map_dir_all: 0.0170, d0.loss_map_cls: 0.3182, d0.loss_map_pts: 1.9941, d0.loss_map_dir: 0.0170, d1.loss_map_cls: 0.2951, d1.loss_map_pts: 1.3412, d1.loss_map_dir: 0.0164, d2.loss_map_cls: 0.2757, d2.loss_map_pts: 1.1767, d2.loss_map_dir: 0.0168, d3.loss_map_cls: 0.2671, d3.loss_map_pts: 1.1174, d3.loss_map_dir: 0.0172, d4.loss_map_cls: 0.2633, d4.loss_map_pts: 1.0992, d4.loss_map_dir: 0.0175, d5.loss_map_cls: 0.2640, d5.loss_map_pts: 1.0934, d5.loss_map_dir: 0.0176, loss: 43.8254, grad_norm: 148.5783 +2026-02-25 01:29:22,185 - DriveTransformer - INFO - Epoch [3][25400/39528] lr: 9.831e-05, eta: 7 days, 19:38:28, time: 0.832, data_time: 0.043, memory: 19865, loss_cls: 0.3427, loss_bbox: 0.5043, loss_traj: 1.0582, loss_traj_cls: 0.0068, loss_map_cls: 0.3030, loss_map_pts: 1.3782, loss_map_dir: 0.0228, d0.loss_plan_l1_fix_time: 2.8111, d0.loss_plan_l1_fix_dist: 0.4297, d1.loss_plan_l1_fix_time: 1.7553, d1.loss_plan_l1_fix_dist: 0.2497, d2.loss_plan_l1_fix_time: 1.7172, d2.loss_plan_l1_fix_dist: 0.2550, d3.loss_plan_l1_fix_time: 1.7160, d3.loss_plan_l1_fix_dist: 0.2687, d4.loss_plan_l1_fix_time: 1.7192, d4.loss_plan_l1_fix_dist: 0.2837, d5.loss_plan_l1_fix_time: 1.7224, d5.loss_plan_l1_fix_dist: 0.3010, d6.loss_plan_l1_fix_time: 1.7281, d6.loss_plan_l1_fix_dist: 0.3225, d0.loss_cls_all: 0.3630, d0.loss_bbox_all: 0.5455, d0.loss_cls: 0.3630, d0.loss_bbox: 0.5455, d1.loss_cls: 0.3584, d1.loss_bbox: 0.5178, d2.loss_cls: 0.3533, d2.loss_bbox: 0.5061, d3.loss_cls: 0.3474, d3.loss_bbox: 0.5015, d4.loss_cls: 0.3441, d4.loss_bbox: 0.5021, d5.loss_cls: 0.3437, d5.loss_bbox: 0.5011, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2744, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1083, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0743, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0689, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.0610, d5.loss_traj_cls: 0.0070, d5.loss_traj: 1.0552, d0.loss_map_cls_all: 0.3548, d0.loss_map_pts_all: 2.3776, d0.loss_map_dir_all: 0.0213, d0.loss_map_cls: 0.3548, d0.loss_map_pts: 2.3776, d0.loss_map_dir: 0.0213, d1.loss_map_cls: 0.3297, d1.loss_map_pts: 1.6370, d1.loss_map_dir: 0.0206, d2.loss_map_cls: 0.3144, d2.loss_map_pts: 1.4595, d2.loss_map_dir: 0.0212, d3.loss_map_cls: 0.3053, d3.loss_map_pts: 1.4000, d3.loss_map_dir: 0.0218, d4.loss_map_cls: 0.3032, d4.loss_map_pts: 1.3810, d4.loss_map_dir: 0.0223, d5.loss_map_cls: 0.3035, d5.loss_map_pts: 1.3768, d5.loss_map_dir: 0.0226, loss: 46.0680, grad_norm: 148.6701 +2026-02-25 01:30:00,891 - DriveTransformer - INFO - Epoch [3][25450/39528] lr: 9.831e-05, eta: 7 days, 19:37:38, time: 0.774, data_time: 0.042, memory: 19865, loss_cls: 0.3482, loss_bbox: 0.5187, loss_traj: 1.2381, loss_traj_cls: 0.0069, loss_map_cls: 0.2764, loss_map_pts: 1.0908, loss_map_dir: 0.0164, d0.loss_plan_l1_fix_time: 2.7436, d0.loss_plan_l1_fix_dist: 0.4282, d1.loss_plan_l1_fix_time: 1.8258, d1.loss_plan_l1_fix_dist: 0.2312, d2.loss_plan_l1_fix_time: 1.7976, d2.loss_plan_l1_fix_dist: 0.2376, d3.loss_plan_l1_fix_time: 1.7968, d3.loss_plan_l1_fix_dist: 0.2486, d4.loss_plan_l1_fix_time: 1.7999, d4.loss_plan_l1_fix_dist: 0.2622, d5.loss_plan_l1_fix_time: 1.8046, d5.loss_plan_l1_fix_dist: 0.2771, d6.loss_plan_l1_fix_time: 1.8102, d6.loss_plan_l1_fix_dist: 0.2946, d0.loss_cls_all: 0.3613, d0.loss_bbox_all: 0.5706, d0.loss_cls: 0.3613, d0.loss_bbox: 0.5706, d1.loss_cls: 0.3551, d1.loss_bbox: 0.5411, d2.loss_cls: 0.3481, d2.loss_bbox: 0.5278, d3.loss_cls: 0.3466, d3.loss_bbox: 0.5206, d4.loss_cls: 0.3466, d4.loss_bbox: 0.5192, d5.loss_cls: 0.3460, d5.loss_bbox: 0.5183, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4753, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2882, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2420, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2378, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.2463, d5.loss_traj_cls: 0.0072, d5.loss_traj: 1.2377, d0.loss_map_cls_all: 0.3289, d0.loss_map_pts_all: 1.8135, d0.loss_map_dir_all: 0.0142, d0.loss_map_cls: 0.3289, d0.loss_map_pts: 1.8135, d0.loss_map_dir: 0.0142, d1.loss_map_cls: 0.3079, d1.loss_map_pts: 1.2971, d1.loss_map_dir: 0.0144, d2.loss_map_cls: 0.2946, d2.loss_map_pts: 1.1524, d2.loss_map_dir: 0.0151, d3.loss_map_cls: 0.2851, d3.loss_map_pts: 1.1068, d3.loss_map_dir: 0.0156, d4.loss_map_cls: 0.2785, d4.loss_map_pts: 1.0942, d4.loss_map_dir: 0.0161, d5.loss_map_cls: 0.2785, d5.loss_map_pts: 1.0893, d5.loss_map_dir: 0.0162, loss: 44.6016, grad_norm: 148.1374 +2026-02-25 01:30:42,016 - DriveTransformer - INFO - Epoch [3][25500/39528] lr: 9.831e-05, eta: 7 days, 19:37:07, time: 0.822, data_time: 0.043, memory: 19865, loss_cls: 0.3950, loss_bbox: 0.5371, loss_traj: 1.1052, loss_traj_cls: 0.0069, loss_map_cls: 0.3199, loss_map_pts: 1.4468, loss_map_dir: 0.0230, d0.loss_plan_l1_fix_time: 2.9618, d0.loss_plan_l1_fix_dist: 0.4189, d1.loss_plan_l1_fix_time: 1.9295, d1.loss_plan_l1_fix_dist: 0.2731, d2.loss_plan_l1_fix_time: 1.9128, d2.loss_plan_l1_fix_dist: 0.2797, d3.loss_plan_l1_fix_time: 1.9144, d3.loss_plan_l1_fix_dist: 0.2926, d4.loss_plan_l1_fix_time: 1.9188, d4.loss_plan_l1_fix_dist: 0.3083, d5.loss_plan_l1_fix_time: 1.9238, d5.loss_plan_l1_fix_dist: 0.3232, d6.loss_plan_l1_fix_time: 1.9285, d6.loss_plan_l1_fix_dist: 0.3364, d0.loss_cls_all: 0.4057, d0.loss_bbox_all: 0.5685, d0.loss_cls: 0.4057, d0.loss_bbox: 0.5685, d1.loss_cls: 0.3994, d1.loss_bbox: 0.5421, d2.loss_cls: 0.3966, d2.loss_bbox: 0.5331, d3.loss_cls: 0.3922, d3.loss_bbox: 0.5315, d4.loss_cls: 0.3939, d4.loss_bbox: 0.5324, d5.loss_cls: 0.3939, d5.loss_bbox: 0.5342, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3501, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1487, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1210, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1142, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.1068, d5.loss_traj_cls: 0.0072, d5.loss_traj: 1.1031, d0.loss_map_cls_all: 0.3529, d0.loss_map_pts_all: 2.4391, d0.loss_map_dir_all: 0.0204, d0.loss_map_cls: 0.3529, d0.loss_map_pts: 2.4391, d0.loss_map_dir: 0.0204, d1.loss_map_cls: 0.3347, d1.loss_map_pts: 1.6754, d1.loss_map_dir: 0.0204, d2.loss_map_cls: 0.3261, d2.loss_map_pts: 1.5160, d2.loss_map_dir: 0.0214, d3.loss_map_cls: 0.3217, d3.loss_map_pts: 1.4676, d3.loss_map_dir: 0.0221, d4.loss_map_cls: 0.3210, d4.loss_map_pts: 1.4534, d4.loss_map_dir: 0.0225, d5.loss_map_cls: 0.3194, d5.loss_map_pts: 1.4480, d5.loss_map_dir: 0.0228, loss: 49.0268, grad_norm: 148.8089 +2026-02-25 01:31:23,555 - DriveTransformer - INFO - Epoch [3][25550/39528] lr: 9.831e-05, eta: 7 days, 19:36:39, time: 0.831, data_time: 0.045, memory: 19865, loss_cls: 0.3695, loss_bbox: 0.5202, loss_traj: 0.8864, loss_traj_cls: 0.0068, loss_map_cls: 0.3060, loss_map_pts: 1.3282, loss_map_dir: 0.0252, d0.loss_plan_l1_fix_time: 3.0411, d0.loss_plan_l1_fix_dist: 0.4915, d1.loss_plan_l1_fix_time: 1.6383, d1.loss_plan_l1_fix_dist: 0.2909, d2.loss_plan_l1_fix_time: 1.6087, d2.loss_plan_l1_fix_dist: 0.2976, d3.loss_plan_l1_fix_time: 1.6048, d3.loss_plan_l1_fix_dist: 0.3086, d4.loss_plan_l1_fix_time: 1.6070, d4.loss_plan_l1_fix_dist: 0.3217, d5.loss_plan_l1_fix_time: 1.6100, d5.loss_plan_l1_fix_dist: 0.3382, d6.loss_plan_l1_fix_time: 1.6134, d6.loss_plan_l1_fix_dist: 0.3578, d0.loss_cls_all: 0.3876, d0.loss_bbox_all: 0.5636, d0.loss_cls: 0.3876, d0.loss_bbox: 0.5636, d1.loss_cls: 0.3829, d1.loss_bbox: 0.5371, d2.loss_cls: 0.3749, d2.loss_bbox: 0.5260, d3.loss_cls: 0.3708, d3.loss_bbox: 0.5197, d4.loss_cls: 0.3685, d4.loss_bbox: 0.5177, d5.loss_cls: 0.3690, d5.loss_bbox: 0.5181, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0211, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9246, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8910, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8839, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8814, d5.loss_traj_cls: 0.0073, d5.loss_traj: 0.8798, d0.loss_map_cls_all: 0.3551, d0.loss_map_pts_all: 2.4108, d0.loss_map_dir_all: 0.0228, d0.loss_map_cls: 0.3551, d0.loss_map_pts: 2.4108, d0.loss_map_dir: 0.0228, d1.loss_map_cls: 0.3330, d1.loss_map_pts: 1.5816, d1.loss_map_dir: 0.0229, d2.loss_map_cls: 0.3184, d2.loss_map_pts: 1.4069, d2.loss_map_dir: 0.0237, d3.loss_map_cls: 0.3080, d3.loss_map_pts: 1.3550, d3.loss_map_dir: 0.0244, d4.loss_map_cls: 0.3055, d4.loss_map_pts: 1.3320, d4.loss_map_dir: 0.0248, d5.loss_map_cls: 0.3040, d5.loss_map_pts: 1.3265, d5.loss_map_dir: 0.0250, loss: 44.7219, grad_norm: 146.2505 +2026-02-25 01:32:03,962 - DriveTransformer - INFO - Epoch [3][25600/39528] lr: 9.831e-05, eta: 7 days, 19:36:02, time: 0.808, data_time: 0.037, memory: 19865, loss_cls: 0.3963, loss_bbox: 0.5448, loss_traj: 0.9597, loss_traj_cls: 0.0068, loss_map_cls: 0.2889, loss_map_pts: 1.2621, loss_map_dir: 0.0239, d0.loss_plan_l1_fix_time: 2.9244, d0.loss_plan_l1_fix_dist: 0.3489, d1.loss_plan_l1_fix_time: 1.7416, d1.loss_plan_l1_fix_dist: 0.2475, d2.loss_plan_l1_fix_time: 1.7381, d2.loss_plan_l1_fix_dist: 0.2574, d3.loss_plan_l1_fix_time: 1.7426, d3.loss_plan_l1_fix_dist: 0.2694, d4.loss_plan_l1_fix_time: 1.7469, d4.loss_plan_l1_fix_dist: 0.2822, d5.loss_plan_l1_fix_time: 1.7517, d5.loss_plan_l1_fix_dist: 0.2984, d6.loss_plan_l1_fix_time: 1.7576, d6.loss_plan_l1_fix_dist: 0.3196, d0.loss_cls_all: 0.4014, d0.loss_bbox_all: 0.5905, d0.loss_cls: 0.4014, d0.loss_bbox: 0.5905, d1.loss_cls: 0.3895, d1.loss_bbox: 0.5654, d2.loss_cls: 0.3893, d2.loss_bbox: 0.5503, d3.loss_cls: 0.3893, d3.loss_bbox: 0.5446, d4.loss_cls: 0.3900, d4.loss_bbox: 0.5440, d5.loss_cls: 0.3962, d5.loss_bbox: 0.5433, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1999, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0156, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9880, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9724, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9660, d5.loss_traj_cls: 0.0074, d5.loss_traj: 0.9578, d0.loss_map_cls_all: 0.3371, d0.loss_map_pts_all: 2.2654, d0.loss_map_dir_all: 0.0216, d0.loss_map_cls: 0.3371, d0.loss_map_pts: 2.2654, d0.loss_map_dir: 0.0216, d1.loss_map_cls: 0.3168, d1.loss_map_pts: 1.5136, d1.loss_map_dir: 0.0218, d2.loss_map_cls: 0.3041, d2.loss_map_pts: 1.3461, d2.loss_map_dir: 0.0224, d3.loss_map_cls: 0.2932, d3.loss_map_pts: 1.2900, d3.loss_map_dir: 0.0230, d4.loss_map_cls: 0.2899, d4.loss_map_pts: 1.2691, d4.loss_map_dir: 0.0234, d5.loss_map_cls: 0.2897, d5.loss_map_pts: 1.2648, d5.loss_map_dir: 0.0237, loss: 45.2460, grad_norm: 145.2818 +2026-02-25 01:32:42,173 - DriveTransformer - INFO - Epoch [3][25650/39528] lr: 9.831e-05, eta: 7 days, 19:35:08, time: 0.764, data_time: 0.041, memory: 19865, loss_cls: 0.3548, loss_bbox: 0.5353, loss_traj: 1.1596, loss_traj_cls: 0.0069, loss_map_cls: 0.2809, loss_map_pts: 1.1527, loss_map_dir: 0.0188, d0.loss_plan_l1_fix_time: 2.7382, d0.loss_plan_l1_fix_dist: 0.4976, d1.loss_plan_l1_fix_time: 1.7158, d1.loss_plan_l1_fix_dist: 0.2773, d2.loss_plan_l1_fix_time: 1.6925, d2.loss_plan_l1_fix_dist: 0.2910, d3.loss_plan_l1_fix_time: 1.6941, d3.loss_plan_l1_fix_dist: 0.3143, d4.loss_plan_l1_fix_time: 1.6990, d4.loss_plan_l1_fix_dist: 0.3390, d5.loss_plan_l1_fix_time: 1.7048, d5.loss_plan_l1_fix_dist: 0.3629, d6.loss_plan_l1_fix_time: 1.7119, d6.loss_plan_l1_fix_dist: 0.3883, d0.loss_cls_all: 0.3672, d0.loss_bbox_all: 0.5809, d0.loss_cls: 0.3672, d0.loss_bbox: 0.5809, d1.loss_cls: 0.3627, d1.loss_bbox: 0.5478, d2.loss_cls: 0.3555, d2.loss_bbox: 0.5361, d3.loss_cls: 0.3543, d3.loss_bbox: 0.5312, d4.loss_cls: 0.3540, d4.loss_bbox: 0.5306, d5.loss_cls: 0.3526, d5.loss_bbox: 0.5322, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3889, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2049, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1760, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1673, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.1624, d5.loss_traj_cls: 0.0075, d5.loss_traj: 1.1614, d0.loss_map_cls_all: 0.3297, d0.loss_map_pts_all: 1.8951, d0.loss_map_dir_all: 0.0172, d0.loss_map_cls: 0.3297, d0.loss_map_pts: 1.8951, d0.loss_map_dir: 0.0172, d1.loss_map_cls: 0.3087, d1.loss_map_pts: 1.3658, d1.loss_map_dir: 0.0171, d2.loss_map_cls: 0.2953, d2.loss_map_pts: 1.2214, d2.loss_map_dir: 0.0176, d3.loss_map_cls: 0.2815, d3.loss_map_pts: 1.1750, d3.loss_map_dir: 0.0181, d4.loss_map_cls: 0.2804, d4.loss_map_pts: 1.1595, d4.loss_map_dir: 0.0183, d5.loss_map_cls: 0.2800, d5.loss_map_pts: 1.1525, d5.loss_map_dir: 0.0186, loss: 44.6559, grad_norm: 148.9104 +2026-02-25 01:33:22,130 - DriveTransformer - INFO - Epoch [3][25700/39528] lr: 9.831e-05, eta: 7 days, 19:34:27, time: 0.799, data_time: 0.040, memory: 19865, loss_cls: 0.3275, loss_bbox: 0.4806, loss_traj: 1.0516, loss_traj_cls: 0.0068, loss_map_cls: 0.2474, loss_map_pts: 1.0654, loss_map_dir: 0.0180, d0.loss_plan_l1_fix_time: 2.7717, d0.loss_plan_l1_fix_dist: 0.4118, d1.loss_plan_l1_fix_time: 1.7382, d1.loss_plan_l1_fix_dist: 0.2661, d2.loss_plan_l1_fix_time: 1.7336, d2.loss_plan_l1_fix_dist: 0.2796, d3.loss_plan_l1_fix_time: 1.7397, d3.loss_plan_l1_fix_dist: 0.2958, d4.loss_plan_l1_fix_time: 1.7458, d4.loss_plan_l1_fix_dist: 0.3134, d5.loss_plan_l1_fix_time: 1.7512, d5.loss_plan_l1_fix_dist: 0.3320, d6.loss_plan_l1_fix_time: 1.7575, d6.loss_plan_l1_fix_dist: 0.3502, d0.loss_cls_all: 0.3496, d0.loss_bbox_all: 0.5270, d0.loss_cls: 0.3496, d0.loss_bbox: 0.5270, d1.loss_cls: 0.3381, d1.loss_bbox: 0.5030, d2.loss_cls: 0.3316, d2.loss_bbox: 0.4904, d3.loss_cls: 0.3283, d3.loss_bbox: 0.4811, d4.loss_cls: 0.3284, d4.loss_bbox: 0.4783, d5.loss_cls: 0.3274, d5.loss_bbox: 0.4787, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2033, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0935, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0622, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0509, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0590, d5.loss_traj_cls: 0.0076, d5.loss_traj: 1.0550, d0.loss_map_cls_all: 0.2913, d0.loss_map_pts_all: 1.8500, d0.loss_map_dir_all: 0.0167, d0.loss_map_cls: 0.2913, d0.loss_map_pts: 1.8500, d0.loss_map_dir: 0.0167, d1.loss_map_cls: 0.2689, d1.loss_map_pts: 1.2858, d1.loss_map_dir: 0.0167, d2.loss_map_cls: 0.2584, d2.loss_map_pts: 1.1409, d2.loss_map_dir: 0.0171, d3.loss_map_cls: 0.2493, d3.loss_map_pts: 1.0885, d3.loss_map_dir: 0.0176, d4.loss_map_cls: 0.2479, d4.loss_map_pts: 1.0700, d4.loss_map_dir: 0.0178, d5.loss_map_cls: 0.2461, d5.loss_map_pts: 1.0676, d5.loss_map_dir: 0.0179, loss: 42.3855, grad_norm: 149.0924 +2026-02-25 01:34:02,128 - DriveTransformer - INFO - Epoch [3][25750/39528] lr: 9.831e-05, eta: 7 days, 19:33:47, time: 0.800, data_time: 0.039, memory: 19865, loss_cls: 0.3564, loss_bbox: 0.5256, loss_traj: 1.2280, loss_traj_cls: 0.0068, loss_map_cls: 0.2462, loss_map_pts: 1.0442, loss_map_dir: 0.0193, d0.loss_plan_l1_fix_time: 2.9846, d0.loss_plan_l1_fix_dist: 0.4496, d1.loss_plan_l1_fix_time: 2.1635, d1.loss_plan_l1_fix_dist: 0.3145, d2.loss_plan_l1_fix_time: 2.1554, d2.loss_plan_l1_fix_dist: 0.3272, d3.loss_plan_l1_fix_time: 2.1573, d3.loss_plan_l1_fix_dist: 0.3436, d4.loss_plan_l1_fix_time: 2.1621, d4.loss_plan_l1_fix_dist: 0.3611, d5.loss_plan_l1_fix_time: 2.1678, d5.loss_plan_l1_fix_dist: 0.3811, d6.loss_plan_l1_fix_time: 2.1743, d6.loss_plan_l1_fix_dist: 0.4009, d0.loss_cls_all: 0.3695, d0.loss_bbox_all: 0.5822, d0.loss_cls: 0.3695, d0.loss_bbox: 0.5822, d1.loss_cls: 0.3624, d1.loss_bbox: 0.5490, d2.loss_cls: 0.3584, d2.loss_bbox: 0.5355, d3.loss_cls: 0.3558, d3.loss_bbox: 0.5258, d4.loss_cls: 0.3538, d4.loss_bbox: 0.5248, d5.loss_cls: 0.3556, d5.loss_bbox: 0.5242, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4316, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2486, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2288, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2272, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.2230, d5.loss_traj_cls: 0.0076, d5.loss_traj: 1.2263, d0.loss_map_cls_all: 0.2989, d0.loss_map_pts_all: 1.8842, d0.loss_map_dir_all: 0.0179, d0.loss_map_cls: 0.2989, d0.loss_map_pts: 1.8842, d0.loss_map_dir: 0.0179, d1.loss_map_cls: 0.2801, d1.loss_map_pts: 1.2552, d1.loss_map_dir: 0.0177, d2.loss_map_cls: 0.2638, d2.loss_map_pts: 1.1147, d2.loss_map_dir: 0.0182, d3.loss_map_cls: 0.2521, d3.loss_map_pts: 1.0698, d3.loss_map_dir: 0.0187, d4.loss_map_cls: 0.2465, d4.loss_map_pts: 1.0490, d4.loss_map_dir: 0.0189, d5.loss_map_cls: 0.2462, d5.loss_map_pts: 1.0457, d5.loss_map_dir: 0.0191, loss: 47.2343, grad_norm: 150.4001 +2026-02-25 01:34:43,785 - DriveTransformer - INFO - Epoch [3][25800/39528] lr: 9.831e-05, eta: 7 days, 19:33:20, time: 0.833, data_time: 0.038, memory: 19865, loss_cls: 0.3504, loss_bbox: 0.5149, loss_traj: 0.9784, loss_traj_cls: 0.0067, loss_map_cls: 0.2765, loss_map_pts: 1.3088, loss_map_dir: 0.0251, d0.loss_plan_l1_fix_time: 2.3690, d0.loss_plan_l1_fix_dist: 0.4963, d1.loss_plan_l1_fix_time: 1.7054, d1.loss_plan_l1_fix_dist: 0.2821, d2.loss_plan_l1_fix_time: 1.6663, d2.loss_plan_l1_fix_dist: 0.2923, d3.loss_plan_l1_fix_time: 1.6661, d3.loss_plan_l1_fix_dist: 0.3059, d4.loss_plan_l1_fix_time: 1.6719, d4.loss_plan_l1_fix_dist: 0.3217, d5.loss_plan_l1_fix_time: 1.6789, d5.loss_plan_l1_fix_dist: 0.3391, d6.loss_plan_l1_fix_time: 1.6861, d6.loss_plan_l1_fix_dist: 0.3608, d0.loss_cls_all: 0.3691, d0.loss_bbox_all: 0.5684, d0.loss_cls: 0.3691, d0.loss_bbox: 0.5684, d1.loss_cls: 0.3590, d1.loss_bbox: 0.5377, d2.loss_cls: 0.3544, d2.loss_bbox: 0.5218, d3.loss_cls: 0.3508, d3.loss_bbox: 0.5163, d4.loss_cls: 0.3477, d4.loss_bbox: 0.5161, d5.loss_cls: 0.3506, d5.loss_bbox: 0.5154, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2115, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0057, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9805, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9757, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9709, d5.loss_traj_cls: 0.0076, d5.loss_traj: 0.9808, d0.loss_map_cls_all: 0.3128, d0.loss_map_pts_all: 2.3269, d0.loss_map_dir_all: 0.0235, d0.loss_map_cls: 0.3128, d0.loss_map_pts: 2.3269, d0.loss_map_dir: 0.0235, d1.loss_map_cls: 0.3032, d1.loss_map_pts: 1.5798, d1.loss_map_dir: 0.0231, d2.loss_map_cls: 0.2878, d2.loss_map_pts: 1.4001, d2.loss_map_dir: 0.0238, d3.loss_map_cls: 0.2807, d3.loss_map_pts: 1.3370, d3.loss_map_dir: 0.0244, d4.loss_map_cls: 0.2761, d4.loss_map_pts: 1.3167, d4.loss_map_dir: 0.0248, d5.loss_map_cls: 0.2757, d5.loss_map_pts: 1.3108, d5.loss_map_dir: 0.0250, loss: 44.5007, grad_norm: 150.0207 +2026-02-25 01:35:23,614 - DriveTransformer - INFO - Epoch [3][25850/39528] lr: 9.831e-05, eta: 7 days, 19:32:39, time: 0.797, data_time: 0.041, memory: 19865, loss_cls: 0.3501, loss_bbox: 0.5185, loss_traj: 1.0369, loss_traj_cls: 0.0067, loss_map_cls: 0.2712, loss_map_pts: 1.2550, loss_map_dir: 0.0218, d0.loss_plan_l1_fix_time: 2.6144, d0.loss_plan_l1_fix_dist: 0.4267, d1.loss_plan_l1_fix_time: 1.7327, d1.loss_plan_l1_fix_dist: 0.2751, d2.loss_plan_l1_fix_time: 1.6974, d2.loss_plan_l1_fix_dist: 0.2859, d3.loss_plan_l1_fix_time: 1.6989, d3.loss_plan_l1_fix_dist: 0.3025, d4.loss_plan_l1_fix_time: 1.7045, d4.loss_plan_l1_fix_dist: 0.3234, d5.loss_plan_l1_fix_time: 1.7113, d5.loss_plan_l1_fix_dist: 0.3476, d6.loss_plan_l1_fix_time: 1.7181, d6.loss_plan_l1_fix_dist: 0.3790, d0.loss_cls_all: 0.3688, d0.loss_bbox_all: 0.5674, d0.loss_cls: 0.3688, d0.loss_bbox: 0.5674, d1.loss_cls: 0.3575, d1.loss_bbox: 0.5417, d2.loss_cls: 0.3509, d2.loss_bbox: 0.5272, d3.loss_cls: 0.3498, d3.loss_bbox: 0.5209, d4.loss_cls: 0.3481, d4.loss_bbox: 0.5188, d5.loss_cls: 0.3494, d5.loss_bbox: 0.5172, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2363, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0866, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0559, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0471, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0370, d5.loss_traj_cls: 0.0076, d5.loss_traj: 1.0353, d0.loss_map_cls_all: 0.3280, d0.loss_map_pts_all: 2.2474, d0.loss_map_dir_all: 0.0205, d0.loss_map_cls: 0.3280, d0.loss_map_pts: 2.2474, d0.loss_map_dir: 0.0205, d1.loss_map_cls: 0.3048, d1.loss_map_pts: 1.5030, d1.loss_map_dir: 0.0200, d2.loss_map_cls: 0.2880, d2.loss_map_pts: 1.3303, d2.loss_map_dir: 0.0206, d3.loss_map_cls: 0.2797, d3.loss_map_pts: 1.2728, d3.loss_map_dir: 0.0211, d4.loss_map_cls: 0.2736, d4.loss_map_pts: 1.2569, d4.loss_map_dir: 0.0214, d5.loss_map_cls: 0.2726, d5.loss_map_pts: 1.2534, d5.loss_map_dir: 0.0216, loss: 44.7738, grad_norm: 150.1515 +2026-02-25 01:36:04,029 - DriveTransformer - INFO - Epoch [3][25900/39528] lr: 9.831e-05, eta: 7 days, 19:32:02, time: 0.808, data_time: 0.046, memory: 19865, loss_cls: 0.3477, loss_bbox: 0.5107, loss_traj: 1.0567, loss_traj_cls: 0.0067, loss_map_cls: 0.2434, loss_map_pts: 1.0899, loss_map_dir: 0.0167, d0.loss_plan_l1_fix_time: 2.7301, d0.loss_plan_l1_fix_dist: 0.4637, d1.loss_plan_l1_fix_time: 1.6153, d1.loss_plan_l1_fix_dist: 0.2863, d2.loss_plan_l1_fix_time: 1.5971, d2.loss_plan_l1_fix_dist: 0.2918, d3.loss_plan_l1_fix_time: 1.6006, d3.loss_plan_l1_fix_dist: 0.3048, d4.loss_plan_l1_fix_time: 1.6053, d4.loss_plan_l1_fix_dist: 0.3218, d5.loss_plan_l1_fix_time: 1.6104, d5.loss_plan_l1_fix_dist: 0.3387, d6.loss_plan_l1_fix_time: 1.6162, d6.loss_plan_l1_fix_dist: 0.3563, d0.loss_cls_all: 0.3691, d0.loss_bbox_all: 0.5515, d0.loss_cls: 0.3691, d0.loss_bbox: 0.5515, d1.loss_cls: 0.3569, d1.loss_bbox: 0.5283, d2.loss_cls: 0.3479, d2.loss_bbox: 0.5191, d3.loss_cls: 0.3496, d3.loss_bbox: 0.5116, d4.loss_cls: 0.3486, d4.loss_bbox: 0.5100, d5.loss_cls: 0.3474, d5.loss_bbox: 0.5105, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3292, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1222, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0614, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0546, d4.loss_traj_cls: 0.0015, d4.loss_traj: 1.0488, d5.loss_traj_cls: 0.0077, d5.loss_traj: 1.0559, d0.loss_map_cls_all: 0.2882, d0.loss_map_pts_all: 1.8045, d0.loss_map_dir_all: 0.0151, d0.loss_map_cls: 0.2882, d0.loss_map_pts: 1.8045, d0.loss_map_dir: 0.0151, d1.loss_map_cls: 0.2691, d1.loss_map_pts: 1.2851, d1.loss_map_dir: 0.0152, d2.loss_map_cls: 0.2539, d2.loss_map_pts: 1.1494, d2.loss_map_dir: 0.0158, d3.loss_map_cls: 0.2473, d3.loss_map_pts: 1.1057, d3.loss_map_dir: 0.0162, d4.loss_map_cls: 0.2424, d4.loss_map_pts: 1.0925, d4.loss_map_dir: 0.0165, d5.loss_map_cls: 0.2418, d5.loss_map_pts: 1.0907, d5.loss_map_dir: 0.0166, loss: 42.1400, grad_norm: 151.0824 +2026-02-25 01:36:44,466 - DriveTransformer - INFO - Epoch [3][25950/39528] lr: 9.831e-05, eta: 7 days, 19:31:26, time: 0.809, data_time: 0.039, memory: 19865, loss_cls: 0.3614, loss_bbox: 0.5007, loss_traj: 1.1097, loss_traj_cls: 0.0068, loss_map_cls: 0.2602, loss_map_pts: 1.1061, loss_map_dir: 0.0181, d0.loss_plan_l1_fix_time: 3.1049, d0.loss_plan_l1_fix_dist: 0.4436, d1.loss_plan_l1_fix_time: 1.8083, d1.loss_plan_l1_fix_dist: 0.2641, d2.loss_plan_l1_fix_time: 1.7926, d2.loss_plan_l1_fix_dist: 0.2753, d3.loss_plan_l1_fix_time: 1.7985, d3.loss_plan_l1_fix_dist: 0.2898, d4.loss_plan_l1_fix_time: 1.8027, d4.loss_plan_l1_fix_dist: 0.3065, d5.loss_plan_l1_fix_time: 1.8068, d5.loss_plan_l1_fix_dist: 0.3244, d6.loss_plan_l1_fix_time: 1.8120, d6.loss_plan_l1_fix_dist: 0.3397, d0.loss_cls_all: 0.3684, d0.loss_bbox_all: 0.5451, d0.loss_cls: 0.3684, d0.loss_bbox: 0.5451, d1.loss_cls: 0.3705, d1.loss_bbox: 0.5166, d2.loss_cls: 0.3647, d2.loss_bbox: 0.5037, d3.loss_cls: 0.3615, d3.loss_bbox: 0.5009, d4.loss_cls: 0.3617, d4.loss_bbox: 0.4984, d5.loss_cls: 0.3612, d5.loss_bbox: 0.4993, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2849, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1225, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0898, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1024, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0955, d5.loss_traj_cls: 0.0078, d5.loss_traj: 1.1116, d0.loss_map_cls_all: 0.2972, d0.loss_map_pts_all: 1.9415, d0.loss_map_dir_all: 0.0172, d0.loss_map_cls: 0.2972, d0.loss_map_pts: 1.9415, d0.loss_map_dir: 0.0172, d1.loss_map_cls: 0.2840, d1.loss_map_pts: 1.3598, d1.loss_map_dir: 0.0165, d2.loss_map_cls: 0.2734, d2.loss_map_pts: 1.1952, d2.loss_map_dir: 0.0171, d3.loss_map_cls: 0.2673, d3.loss_map_pts: 1.1333, d3.loss_map_dir: 0.0174, d4.loss_map_cls: 0.2613, d4.loss_map_pts: 1.1126, d4.loss_map_dir: 0.0178, d5.loss_map_cls: 0.2605, d5.loss_map_pts: 1.1054, d5.loss_map_dir: 0.0180, loss: 44.3682, grad_norm: 149.1855 +2026-02-25 01:37:27,559 - DriveTransformer - INFO - Epoch [3][26000/39528] lr: 9.831e-05, eta: 7 days, 19:31:11, time: 0.862, data_time: 0.042, memory: 19865, loss_cls: 0.3597, loss_bbox: 0.5378, loss_traj: 0.9998, loss_traj_cls: 0.0065, loss_map_cls: 0.3060, loss_map_pts: 1.3728, loss_map_dir: 0.0245, d0.loss_plan_l1_fix_time: 2.7604, d0.loss_plan_l1_fix_dist: 0.4481, d1.loss_plan_l1_fix_time: 1.7923, d1.loss_plan_l1_fix_dist: 0.3005, d2.loss_plan_l1_fix_time: 1.7813, d2.loss_plan_l1_fix_dist: 0.3044, d3.loss_plan_l1_fix_time: 1.7850, d3.loss_plan_l1_fix_dist: 0.3152, d4.loss_plan_l1_fix_time: 1.7900, d4.loss_plan_l1_fix_dist: 0.3272, d5.loss_plan_l1_fix_time: 1.7953, d5.loss_plan_l1_fix_dist: 0.3409, d6.loss_plan_l1_fix_time: 1.8014, d6.loss_plan_l1_fix_dist: 0.3569, d0.loss_cls_all: 0.3771, d0.loss_bbox_all: 0.5954, d0.loss_cls: 0.3771, d0.loss_bbox: 0.5954, d1.loss_cls: 0.3669, d1.loss_bbox: 0.5679, d2.loss_cls: 0.3627, d2.loss_bbox: 0.5512, d3.loss_cls: 0.3610, d3.loss_bbox: 0.5451, d4.loss_cls: 0.3571, d4.loss_bbox: 0.5439, d5.loss_cls: 0.3589, d5.loss_bbox: 0.5399, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1803, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0507, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0197, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0082, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0052, d5.loss_traj_cls: 0.0077, d5.loss_traj: 0.9993, d0.loss_map_cls_all: 0.3498, d0.loss_map_pts_all: 2.4530, d0.loss_map_dir_all: 0.0225, d0.loss_map_cls: 0.3498, d0.loss_map_pts: 2.4530, d0.loss_map_dir: 0.0225, d1.loss_map_cls: 0.3324, d1.loss_map_pts: 1.6760, d1.loss_map_dir: 0.0223, d2.loss_map_cls: 0.3200, d2.loss_map_pts: 1.4816, d2.loss_map_dir: 0.0231, d3.loss_map_cls: 0.3130, d3.loss_map_pts: 1.4102, d3.loss_map_dir: 0.0238, d4.loss_map_cls: 0.3093, d4.loss_map_pts: 1.3827, d4.loss_map_dir: 0.0242, d5.loss_map_cls: 0.3066, d5.loss_map_pts: 1.3767, d5.loss_map_dir: 0.0244, loss: 46.9586, grad_norm: 150.1589 +2026-02-25 01:38:06,680 - DriveTransformer - INFO - Epoch [3][26050/39528] lr: 9.831e-05, eta: 7 days, 19:30:23, time: 0.781, data_time: 0.042, memory: 19865, loss_cls: 0.3531, loss_bbox: 0.5017, loss_traj: 1.0631, loss_traj_cls: 0.0064, loss_map_cls: 0.2691, loss_map_pts: 1.1537, loss_map_dir: 0.0180, d0.loss_plan_l1_fix_time: 3.2506, d0.loss_plan_l1_fix_dist: 0.4181, d1.loss_plan_l1_fix_time: 1.9991, d1.loss_plan_l1_fix_dist: 0.3013, d2.loss_plan_l1_fix_time: 1.9733, d2.loss_plan_l1_fix_dist: 0.3115, d3.loss_plan_l1_fix_time: 1.9724, d3.loss_plan_l1_fix_dist: 0.3258, d4.loss_plan_l1_fix_time: 1.9770, d4.loss_plan_l1_fix_dist: 0.3436, d5.loss_plan_l1_fix_time: 1.9828, d5.loss_plan_l1_fix_dist: 0.3658, d6.loss_plan_l1_fix_time: 1.9892, d6.loss_plan_l1_fix_dist: 0.3942, d0.loss_cls_all: 0.3674, d0.loss_bbox_all: 0.5507, d0.loss_cls: 0.3674, d0.loss_bbox: 0.5507, d1.loss_cls: 0.3631, d1.loss_bbox: 0.5215, d2.loss_cls: 0.3562, d2.loss_bbox: 0.5118, d3.loss_cls: 0.3554, d3.loss_bbox: 0.5035, d4.loss_cls: 0.3531, d4.loss_bbox: 0.5012, d5.loss_cls: 0.3525, d5.loss_bbox: 0.5001, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2536, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1041, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0639, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0569, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0511, d5.loss_traj_cls: 0.0078, d5.loss_traj: 1.0500, d0.loss_map_cls_all: 0.3285, d0.loss_map_pts_all: 2.0339, d0.loss_map_dir_all: 0.0167, d0.loss_map_cls: 0.3285, d0.loss_map_pts: 2.0339, d0.loss_map_dir: 0.0167, d1.loss_map_cls: 0.3032, d1.loss_map_pts: 1.3829, d1.loss_map_dir: 0.0162, d2.loss_map_cls: 0.2892, d2.loss_map_pts: 1.2270, d2.loss_map_dir: 0.0168, d3.loss_map_cls: 0.2765, d3.loss_map_pts: 1.1744, d3.loss_map_dir: 0.0173, d4.loss_map_cls: 0.2709, d4.loss_map_pts: 1.1584, d4.loss_map_dir: 0.0176, d5.loss_map_cls: 0.2689, d5.loss_map_pts: 1.1539, d5.loss_map_dir: 0.0179, loss: 46.0661, grad_norm: 149.9581 +2026-02-25 01:38:47,394 - DriveTransformer - INFO - Epoch [3][26100/39528] lr: 9.831e-05, eta: 7 days, 19:29:49, time: 0.814, data_time: 0.039, memory: 19865, loss_cls: 0.3700, loss_bbox: 0.5293, loss_traj: 1.0435, loss_traj_cls: 0.0064, loss_map_cls: 0.2809, loss_map_pts: 1.1796, loss_map_dir: 0.0220, d0.loss_plan_l1_fix_time: 2.4312, d0.loss_plan_l1_fix_dist: 0.4784, d1.loss_plan_l1_fix_time: 1.5735, d1.loss_plan_l1_fix_dist: 0.3081, d2.loss_plan_l1_fix_time: 1.5610, d2.loss_plan_l1_fix_dist: 0.3169, d3.loss_plan_l1_fix_time: 1.5664, d3.loss_plan_l1_fix_dist: 0.3331, d4.loss_plan_l1_fix_time: 1.5711, d4.loss_plan_l1_fix_dist: 0.3491, d5.loss_plan_l1_fix_time: 1.5765, d5.loss_plan_l1_fix_dist: 0.3654, d6.loss_plan_l1_fix_time: 1.5818, d6.loss_plan_l1_fix_dist: 0.3832, d0.loss_cls_all: 0.3807, d0.loss_bbox_all: 0.5745, d0.loss_cls: 0.3807, d0.loss_bbox: 0.5745, d1.loss_cls: 0.3754, d1.loss_bbox: 0.5504, d2.loss_cls: 0.3713, d2.loss_bbox: 0.5367, d3.loss_cls: 0.3707, d3.loss_bbox: 0.5300, d4.loss_cls: 0.3702, d4.loss_bbox: 0.5273, d5.loss_cls: 0.3685, d5.loss_bbox: 0.5277, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2417, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0767, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0507, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0415, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0401, d5.loss_traj_cls: 0.0078, d5.loss_traj: 1.0393, d0.loss_map_cls_all: 0.3316, d0.loss_map_pts_all: 2.1102, d0.loss_map_dir_all: 0.0201, d0.loss_map_cls: 0.3316, d0.loss_map_pts: 2.1102, d0.loss_map_dir: 0.0201, d1.loss_map_cls: 0.3101, d1.loss_map_pts: 1.4227, d1.loss_map_dir: 0.0200, d2.loss_map_cls: 0.2943, d2.loss_map_pts: 1.2555, d2.loss_map_dir: 0.0206, d3.loss_map_cls: 0.2857, d3.loss_map_pts: 1.2018, d3.loss_map_dir: 0.0212, d4.loss_map_cls: 0.2820, d4.loss_map_pts: 1.1838, d4.loss_map_dir: 0.0216, d5.loss_map_cls: 0.2799, d5.loss_map_pts: 1.1802, d5.loss_map_dir: 0.0218, loss: 43.4938, grad_norm: 149.1105 +2026-02-25 01:39:27,775 - DriveTransformer - INFO - Epoch [3][26150/39528] lr: 9.831e-05, eta: 7 days, 19:29:12, time: 0.808, data_time: 0.039, memory: 19865, loss_cls: 0.3266, loss_bbox: 0.4814, loss_traj: 0.9555, loss_traj_cls: 0.0064, loss_map_cls: 0.2400, loss_map_pts: 0.9608, loss_map_dir: 0.0170, d0.loss_plan_l1_fix_time: 2.6152, d0.loss_plan_l1_fix_dist: 0.4574, d1.loss_plan_l1_fix_time: 1.6683, d1.loss_plan_l1_fix_dist: 0.2730, d2.loss_plan_l1_fix_time: 1.6479, d2.loss_plan_l1_fix_dist: 0.2795, d3.loss_plan_l1_fix_time: 1.6502, d3.loss_plan_l1_fix_dist: 0.2920, d4.loss_plan_l1_fix_time: 1.6539, d4.loss_plan_l1_fix_dist: 0.3083, d5.loss_plan_l1_fix_time: 1.6582, d5.loss_plan_l1_fix_dist: 0.3267, d6.loss_plan_l1_fix_time: 1.6637, d6.loss_plan_l1_fix_dist: 0.3429, d0.loss_cls_all: 0.3463, d0.loss_bbox_all: 0.5268, d0.loss_cls: 0.3463, d0.loss_bbox: 0.5268, d1.loss_cls: 0.3369, d1.loss_bbox: 0.5014, d2.loss_cls: 0.3298, d2.loss_bbox: 0.4873, d3.loss_cls: 0.3283, d3.loss_bbox: 0.4823, d4.loss_cls: 0.3273, d4.loss_bbox: 0.4805, d5.loss_cls: 0.3282, d5.loss_bbox: 0.4793, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1103, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9824, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9563, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9537, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9534, d5.loss_traj_cls: 0.0078, d5.loss_traj: 0.9491, d0.loss_map_cls_all: 0.2813, d0.loss_map_pts_all: 1.8130, d0.loss_map_dir_all: 0.0155, d0.loss_map_cls: 0.2813, d0.loss_map_pts: 1.8130, d0.loss_map_dir: 0.0155, d1.loss_map_cls: 0.2663, d1.loss_map_pts: 1.1950, d1.loss_map_dir: 0.0153, d2.loss_map_cls: 0.2518, d2.loss_map_pts: 1.0325, d2.loss_map_dir: 0.0157, d3.loss_map_cls: 0.2445, d3.loss_map_pts: 0.9826, d3.loss_map_dir: 0.0163, d4.loss_map_cls: 0.2397, d4.loss_map_pts: 0.9670, d4.loss_map_dir: 0.0166, d5.loss_map_cls: 0.2397, d5.loss_map_pts: 0.9608, d5.loss_map_dir: 0.0167, loss: 40.2506, grad_norm: 148.7005 +2026-02-25 01:40:07,704 - DriveTransformer - INFO - Epoch [3][26200/39528] lr: 9.831e-05, eta: 7 days, 19:28:31, time: 0.799, data_time: 0.038, memory: 19865, loss_cls: 0.3418, loss_bbox: 0.5012, loss_traj: 0.8947, loss_traj_cls: 0.0063, loss_map_cls: 0.2522, loss_map_pts: 1.0886, loss_map_dir: 0.0204, d0.loss_plan_l1_fix_time: 2.3776, d0.loss_plan_l1_fix_dist: 0.4820, d1.loss_plan_l1_fix_time: 1.6203, d1.loss_plan_l1_fix_dist: 0.2714, d2.loss_plan_l1_fix_time: 1.6075, d2.loss_plan_l1_fix_dist: 0.2756, d3.loss_plan_l1_fix_time: 1.6129, d3.loss_plan_l1_fix_dist: 0.2866, d4.loss_plan_l1_fix_time: 1.6178, d4.loss_plan_l1_fix_dist: 0.3011, d5.loss_plan_l1_fix_time: 1.6229, d5.loss_plan_l1_fix_dist: 0.3181, d6.loss_plan_l1_fix_time: 1.6287, d6.loss_plan_l1_fix_dist: 0.3380, d0.loss_cls_all: 0.3536, d0.loss_bbox_all: 0.5410, d0.loss_cls: 0.3536, d0.loss_bbox: 0.5410, d1.loss_cls: 0.3457, d1.loss_bbox: 0.5169, d2.loss_cls: 0.3442, d2.loss_bbox: 0.5051, d3.loss_cls: 0.3446, d3.loss_bbox: 0.4983, d4.loss_cls: 0.3422, d4.loss_bbox: 0.4975, d5.loss_cls: 0.3407, d5.loss_bbox: 0.4995, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0399, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9044, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8694, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8729, d4.loss_traj_cls: 0.0015, d4.loss_traj: 0.8770, d5.loss_traj_cls: 0.0078, d5.loss_traj: 0.8832, d0.loss_map_cls_all: 0.3027, d0.loss_map_pts_all: 2.1302, d0.loss_map_dir_all: 0.0190, d0.loss_map_cls: 0.3027, d0.loss_map_pts: 2.1302, d0.loss_map_dir: 0.0190, d1.loss_map_cls: 0.2831, d1.loss_map_pts: 1.3595, d1.loss_map_dir: 0.0186, d2.loss_map_cls: 0.2662, d2.loss_map_pts: 1.1773, d2.loss_map_dir: 0.0192, d3.loss_map_cls: 0.2577, d3.loss_map_pts: 1.1197, d3.loss_map_dir: 0.0197, d4.loss_map_cls: 0.2534, d4.loss_map_pts: 1.0974, d4.loss_map_dir: 0.0200, d5.loss_map_cls: 0.2512, d5.loss_map_pts: 1.0925, d5.loss_map_dir: 0.0202, loss: 41.1081, grad_norm: 149.0101 +2026-02-25 01:40:47,796 - DriveTransformer - INFO - Epoch [3][26250/39528] lr: 9.831e-05, eta: 7 days, 19:27:52, time: 0.802, data_time: 0.038, memory: 19865, loss_cls: 0.3547, loss_bbox: 0.5265, loss_traj: 0.9771, loss_traj_cls: 0.0061, loss_map_cls: 0.3308, loss_map_pts: 1.4090, loss_map_dir: 0.0211, d0.loss_plan_l1_fix_time: 2.7518, d0.loss_plan_l1_fix_dist: 0.4503, d1.loss_plan_l1_fix_time: 1.7154, d1.loss_plan_l1_fix_dist: 0.2764, d2.loss_plan_l1_fix_time: 1.7075, d2.loss_plan_l1_fix_dist: 0.2833, d3.loss_plan_l1_fix_time: 1.7089, d3.loss_plan_l1_fix_dist: 0.2972, d4.loss_plan_l1_fix_time: 1.7115, d4.loss_plan_l1_fix_dist: 0.3129, d5.loss_plan_l1_fix_time: 1.7149, d5.loss_plan_l1_fix_dist: 0.3287, d6.loss_plan_l1_fix_time: 1.7185, d6.loss_plan_l1_fix_dist: 0.3454, d0.loss_cls_all: 0.3656, d0.loss_bbox_all: 0.5637, d0.loss_cls: 0.3656, d0.loss_bbox: 0.5637, d1.loss_cls: 0.3707, d1.loss_bbox: 0.5340, d2.loss_cls: 0.3620, d2.loss_bbox: 0.5248, d3.loss_cls: 0.3580, d3.loss_bbox: 0.5229, d4.loss_cls: 0.3564, d4.loss_bbox: 0.5214, d5.loss_cls: 0.3556, d5.loss_bbox: 0.5229, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2662, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0334, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0025, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9918, d4.loss_traj_cls: 0.0015, d4.loss_traj: 0.9832, d5.loss_traj_cls: 0.0078, d5.loss_traj: 0.9818, d0.loss_map_cls_all: 0.3661, d0.loss_map_pts_all: 2.2636, d0.loss_map_dir_all: 0.0190, d0.loss_map_cls: 0.3661, d0.loss_map_pts: 2.2636, d0.loss_map_dir: 0.0190, d1.loss_map_cls: 0.3495, d1.loss_map_pts: 1.6538, d1.loss_map_dir: 0.0191, d2.loss_map_cls: 0.3402, d2.loss_map_pts: 1.4893, d2.loss_map_dir: 0.0198, d3.loss_map_cls: 0.3314, d3.loss_map_pts: 1.4314, d3.loss_map_dir: 0.0204, d4.loss_map_cls: 0.3307, d4.loss_map_pts: 1.4158, d4.loss_map_dir: 0.0207, d5.loss_map_cls: 0.3311, d5.loss_map_pts: 1.4112, d5.loss_map_dir: 0.0209, loss: 45.9894, grad_norm: 149.1782 +2026-02-25 01:41:28,683 - DriveTransformer - INFO - Epoch [3][26300/39528] lr: 9.831e-05, eta: 7 days, 19:27:19, time: 0.818, data_time: 0.037, memory: 19865, loss_cls: 0.3526, loss_bbox: 0.5212, loss_traj: 0.9783, loss_traj_cls: 0.0061, loss_map_cls: 0.3068, loss_map_pts: 1.3268, loss_map_dir: 0.0239, d0.loss_plan_l1_fix_time: 2.5164, d0.loss_plan_l1_fix_dist: 0.4108, d1.loss_plan_l1_fix_time: 1.7264, d1.loss_plan_l1_fix_dist: 0.2754, d2.loss_plan_l1_fix_time: 1.6979, d2.loss_plan_l1_fix_dist: 0.2808, d3.loss_plan_l1_fix_time: 1.6960, d3.loss_plan_l1_fix_dist: 0.2926, d4.loss_plan_l1_fix_time: 1.6985, d4.loss_plan_l1_fix_dist: 0.3078, d5.loss_plan_l1_fix_time: 1.7027, d5.loss_plan_l1_fix_dist: 0.3273, d6.loss_plan_l1_fix_time: 1.7076, d6.loss_plan_l1_fix_dist: 0.3477, d0.loss_cls_all: 0.3758, d0.loss_bbox_all: 0.5681, d0.loss_cls: 0.3758, d0.loss_bbox: 0.5681, d1.loss_cls: 0.3674, d1.loss_bbox: 0.5417, d2.loss_cls: 0.3580, d2.loss_bbox: 0.5296, d3.loss_cls: 0.3537, d3.loss_bbox: 0.5235, d4.loss_cls: 0.3520, d4.loss_bbox: 0.5195, d5.loss_cls: 0.3544, d5.loss_bbox: 0.5190, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1676, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0148, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9881, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9794, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9767, d5.loss_traj_cls: 0.0078, d5.loss_traj: 0.9774, d0.loss_map_cls_all: 0.3394, d0.loss_map_pts_all: 2.3281, d0.loss_map_dir_all: 0.0223, d0.loss_map_cls: 0.3394, d0.loss_map_pts: 2.3281, d0.loss_map_dir: 0.0223, d1.loss_map_cls: 0.3278, d1.loss_map_pts: 1.5756, d1.loss_map_dir: 0.0220, d2.loss_map_cls: 0.3138, d2.loss_map_pts: 1.4034, d2.loss_map_dir: 0.0225, d3.loss_map_cls: 0.3087, d3.loss_map_pts: 1.3469, d3.loss_map_dir: 0.0232, d4.loss_map_cls: 0.3050, d4.loss_map_pts: 1.3307, d4.loss_map_dir: 0.0235, d5.loss_map_cls: 0.3065, d5.loss_map_pts: 1.3268, d5.loss_map_dir: 0.0238, loss: 44.9668, grad_norm: 149.9189 +2026-02-25 01:42:09,090 - DriveTransformer - INFO - Epoch [3][26350/39528] lr: 9.831e-05, eta: 7 days, 19:26:42, time: 0.808, data_time: 0.043, memory: 19865, loss_cls: 0.3563, loss_bbox: 0.5196, loss_traj: 1.0830, loss_traj_cls: 0.0060, loss_map_cls: 0.3063, loss_map_pts: 1.2157, loss_map_dir: 0.0199, d0.loss_plan_l1_fix_time: 3.1298, d0.loss_plan_l1_fix_dist: 0.3975, d1.loss_plan_l1_fix_time: 2.0540, d1.loss_plan_l1_fix_dist: 0.2340, d2.loss_plan_l1_fix_time: 2.0215, d2.loss_plan_l1_fix_dist: 0.2423, d3.loss_plan_l1_fix_time: 2.0154, d3.loss_plan_l1_fix_dist: 0.2559, d4.loss_plan_l1_fix_time: 2.0173, d4.loss_plan_l1_fix_dist: 0.2718, d5.loss_plan_l1_fix_time: 2.0204, d5.loss_plan_l1_fix_dist: 0.2880, d6.loss_plan_l1_fix_time: 2.0243, d6.loss_plan_l1_fix_dist: 0.3043, d0.loss_cls_all: 0.3728, d0.loss_bbox_all: 0.5676, d0.loss_cls: 0.3728, d0.loss_bbox: 0.5676, d1.loss_cls: 0.3689, d1.loss_bbox: 0.5356, d2.loss_cls: 0.3619, d2.loss_bbox: 0.5248, d3.loss_cls: 0.3568, d3.loss_bbox: 0.5236, d4.loss_cls: 0.3572, d4.loss_bbox: 0.5182, d5.loss_cls: 0.3579, d5.loss_bbox: 0.5178, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2360, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0960, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0819, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0803, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0809, d5.loss_traj_cls: 0.0079, d5.loss_traj: 1.0772, d0.loss_map_cls_all: 0.3480, d0.loss_map_pts_all: 2.1579, d0.loss_map_dir_all: 0.0187, d0.loss_map_cls: 0.3480, d0.loss_map_pts: 2.1579, d0.loss_map_dir: 0.0187, d1.loss_map_cls: 0.3350, d1.loss_map_pts: 1.4669, d1.loss_map_dir: 0.0183, d2.loss_map_cls: 0.3236, d2.loss_map_pts: 1.2955, d2.loss_map_dir: 0.0187, d3.loss_map_cls: 0.3128, d3.loss_map_pts: 1.2361, d3.loss_map_dir: 0.0193, d4.loss_map_cls: 0.3092, d4.loss_map_pts: 1.2210, d4.loss_map_dir: 0.0196, d5.loss_map_cls: 0.3074, d5.loss_map_pts: 1.2160, d5.loss_map_dir: 0.0198, loss: 46.9202, grad_norm: 148.3564 +2026-02-25 01:42:49,516 - DriveTransformer - INFO - Epoch [3][26400/39528] lr: 9.831e-05, eta: 7 days, 19:26:05, time: 0.809, data_time: 0.039, memory: 19865, loss_cls: 0.3206, loss_bbox: 0.4842, loss_traj: 0.9008, loss_traj_cls: 0.0060, loss_map_cls: 0.2609, loss_map_pts: 1.1245, loss_map_dir: 0.0175, d0.loss_plan_l1_fix_time: 2.4387, d0.loss_plan_l1_fix_dist: 0.5310, d1.loss_plan_l1_fix_time: 1.5450, d1.loss_plan_l1_fix_dist: 0.2739, d2.loss_plan_l1_fix_time: 1.5212, d2.loss_plan_l1_fix_dist: 0.2830, d3.loss_plan_l1_fix_time: 1.5230, d3.loss_plan_l1_fix_dist: 0.2985, d4.loss_plan_l1_fix_time: 1.5262, d4.loss_plan_l1_fix_dist: 0.3184, d5.loss_plan_l1_fix_time: 1.5297, d5.loss_plan_l1_fix_dist: 0.3400, d6.loss_plan_l1_fix_time: 1.5341, d6.loss_plan_l1_fix_dist: 0.3638, d0.loss_cls_all: 0.3412, d0.loss_bbox_all: 0.5272, d0.loss_cls: 0.3412, d0.loss_bbox: 0.5272, d1.loss_cls: 0.3318, d1.loss_bbox: 0.4987, d2.loss_cls: 0.3253, d2.loss_bbox: 0.4875, d3.loss_cls: 0.3230, d3.loss_bbox: 0.4834, d4.loss_cls: 0.3216, d4.loss_bbox: 0.4825, d5.loss_cls: 0.3204, d5.loss_bbox: 0.4817, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1106, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9512, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9094, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9045, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9006, d5.loss_traj_cls: 0.0079, d5.loss_traj: 0.8985, d0.loss_map_cls_all: 0.3079, d0.loss_map_pts_all: 1.9580, d0.loss_map_dir_all: 0.0159, d0.loss_map_cls: 0.3079, d0.loss_map_pts: 1.9580, d0.loss_map_dir: 0.0159, d1.loss_map_cls: 0.2865, d1.loss_map_pts: 1.3533, d1.loss_map_dir: 0.0155, d2.loss_map_cls: 0.2766, d2.loss_map_pts: 1.2050, d2.loss_map_dir: 0.0162, d3.loss_map_cls: 0.2700, d3.loss_map_pts: 1.1529, d3.loss_map_dir: 0.0169, d4.loss_map_cls: 0.2641, d4.loss_map_pts: 1.1344, d4.loss_map_dir: 0.0172, d5.loss_map_cls: 0.2632, d5.loss_map_pts: 1.1263, d5.loss_map_dir: 0.0175, loss: 40.6007, grad_norm: 148.6504 +2026-02-25 01:43:30,756 - DriveTransformer - INFO - Epoch [3][26450/39528] lr: 9.831e-05, eta: 7 days, 19:25:35, time: 0.824, data_time: 0.042, memory: 19865, loss_cls: 0.3171, loss_bbox: 0.4922, loss_traj: 0.9450, loss_traj_cls: 0.0059, loss_map_cls: 0.2792, loss_map_pts: 1.1206, loss_map_dir: 0.0210, d0.loss_plan_l1_fix_time: 2.5039, d0.loss_plan_l1_fix_dist: 0.3909, d1.loss_plan_l1_fix_time: 1.6421, d1.loss_plan_l1_fix_dist: 0.2323, d2.loss_plan_l1_fix_time: 1.6064, d2.loss_plan_l1_fix_dist: 0.2434, d3.loss_plan_l1_fix_time: 1.6061, d3.loss_plan_l1_fix_dist: 0.2589, d4.loss_plan_l1_fix_time: 1.6086, d4.loss_plan_l1_fix_dist: 0.2776, d5.loss_plan_l1_fix_time: 1.6120, d5.loss_plan_l1_fix_dist: 0.2968, d6.loss_plan_l1_fix_time: 1.6164, d6.loss_plan_l1_fix_dist: 0.3169, d0.loss_cls_all: 0.3355, d0.loss_bbox_all: 0.5341, d0.loss_cls: 0.3355, d0.loss_bbox: 0.5341, d1.loss_cls: 0.3269, d1.loss_bbox: 0.5060, d2.loss_cls: 0.3192, d2.loss_bbox: 0.4933, d3.loss_cls: 0.3148, d3.loss_bbox: 0.4894, d4.loss_cls: 0.3139, d4.loss_bbox: 0.4889, d5.loss_cls: 0.3162, d5.loss_bbox: 0.4885, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2088, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9792, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9336, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9296, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9351, d5.loss_traj_cls: 0.0080, d5.loss_traj: 0.9373, d0.loss_map_cls_all: 0.3305, d0.loss_map_pts_all: 2.0421, d0.loss_map_dir_all: 0.0187, d0.loss_map_cls: 0.3305, d0.loss_map_pts: 2.0421, d0.loss_map_dir: 0.0187, d1.loss_map_cls: 0.3052, d1.loss_map_pts: 1.3499, d1.loss_map_dir: 0.0186, d2.loss_map_cls: 0.2887, d2.loss_map_pts: 1.1926, d2.loss_map_dir: 0.0194, d3.loss_map_cls: 0.2833, d3.loss_map_pts: 1.1395, d3.loss_map_dir: 0.0201, d4.loss_map_cls: 0.2774, d4.loss_map_pts: 1.1235, d4.loss_map_dir: 0.0205, d5.loss_map_cls: 0.2784, d5.loss_map_pts: 1.1186, d5.loss_map_dir: 0.0208, loss: 41.3650, grad_norm: 148.7440 +2026-02-25 01:44:10,956 - DriveTransformer - INFO - Epoch [3][26500/39528] lr: 9.831e-05, eta: 7 days, 19:24:57, time: 0.804, data_time: 0.043, memory: 19865, loss_cls: 0.3581, loss_bbox: 0.5470, loss_traj: 0.9425, loss_traj_cls: 0.0060, loss_map_cls: 0.2802, loss_map_pts: 1.3668, loss_map_dir: 0.0252, d0.loss_plan_l1_fix_time: 2.5205, d0.loss_plan_l1_fix_dist: 0.4676, d1.loss_plan_l1_fix_time: 1.6326, d1.loss_plan_l1_fix_dist: 0.2925, d2.loss_plan_l1_fix_time: 1.6160, d2.loss_plan_l1_fix_dist: 0.3011, d3.loss_plan_l1_fix_time: 1.6182, d3.loss_plan_l1_fix_dist: 0.3150, d4.loss_plan_l1_fix_time: 1.6213, d4.loss_plan_l1_fix_dist: 0.3335, d5.loss_plan_l1_fix_time: 1.6244, d5.loss_plan_l1_fix_dist: 0.3541, d6.loss_plan_l1_fix_time: 1.6280, d6.loss_plan_l1_fix_dist: 0.3785, d0.loss_cls_all: 0.3749, d0.loss_bbox_all: 0.5710, d0.loss_cls: 0.3749, d0.loss_bbox: 0.5710, d1.loss_cls: 0.3716, d1.loss_bbox: 0.5535, d2.loss_cls: 0.3668, d2.loss_bbox: 0.5447, d3.loss_cls: 0.3640, d3.loss_bbox: 0.5446, d4.loss_cls: 0.3599, d4.loss_bbox: 0.5431, d5.loss_cls: 0.3580, d5.loss_bbox: 0.5446, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1174, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9768, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9383, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9351, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9352, d5.loss_traj_cls: 0.0081, d5.loss_traj: 0.9390, d0.loss_map_cls_all: 0.3221, d0.loss_map_pts_all: 2.5053, d0.loss_map_dir_all: 0.0238, d0.loss_map_cls: 0.3221, d0.loss_map_pts: 2.5053, d0.loss_map_dir: 0.0238, d1.loss_map_cls: 0.3059, d1.loss_map_pts: 1.6893, d1.loss_map_dir: 0.0235, d2.loss_map_cls: 0.2937, d2.loss_map_pts: 1.4828, d2.loss_map_dir: 0.0239, d3.loss_map_cls: 0.2840, d3.loss_map_pts: 1.4065, d3.loss_map_dir: 0.0245, d4.loss_map_cls: 0.2799, d4.loss_map_pts: 1.3788, d4.loss_map_dir: 0.0248, d5.loss_map_cls: 0.2795, d5.loss_map_pts: 1.3687, d5.loss_map_dir: 0.0250, loss: 45.1202, grad_norm: 147.7533 +2026-02-25 01:44:50,194 - DriveTransformer - INFO - Epoch [3][26550/39528] lr: 9.831e-05, eta: 7 days, 19:24:10, time: 0.785, data_time: 0.040, memory: 19865, loss_cls: 0.3291, loss_bbox: 0.5029, loss_traj: 1.2071, loss_traj_cls: 0.0061, loss_map_cls: 0.2740, loss_map_pts: 1.1338, loss_map_dir: 0.0174, d0.loss_plan_l1_fix_time: 2.7555, d0.loss_plan_l1_fix_dist: 0.4280, d1.loss_plan_l1_fix_time: 1.7217, d1.loss_plan_l1_fix_dist: 0.2634, d2.loss_plan_l1_fix_time: 1.7260, d2.loss_plan_l1_fix_dist: 0.2757, d3.loss_plan_l1_fix_time: 1.7333, d3.loss_plan_l1_fix_dist: 0.2936, d4.loss_plan_l1_fix_time: 1.7393, d4.loss_plan_l1_fix_dist: 0.3169, d5.loss_plan_l1_fix_time: 1.7450, d5.loss_plan_l1_fix_dist: 0.3425, d6.loss_plan_l1_fix_time: 1.7505, d6.loss_plan_l1_fix_dist: 0.3636, d0.loss_cls_all: 0.3478, d0.loss_bbox_all: 0.5410, d0.loss_cls: 0.3478, d0.loss_bbox: 0.5410, d1.loss_cls: 0.3415, d1.loss_bbox: 0.5128, d2.loss_cls: 0.3334, d2.loss_bbox: 0.5033, d3.loss_cls: 0.3284, d3.loss_bbox: 0.4998, d4.loss_cls: 0.3285, d4.loss_bbox: 0.4997, d5.loss_cls: 0.3292, d5.loss_bbox: 0.4999, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4982, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2483, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2214, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2069, d4.loss_traj_cls: 0.0015, d4.loss_traj: 1.2025, d5.loss_traj_cls: 0.0083, d5.loss_traj: 1.2030, d0.loss_map_cls_all: 0.3252, d0.loss_map_pts_all: 1.7935, d0.loss_map_dir_all: 0.0152, d0.loss_map_cls: 0.3252, d0.loss_map_pts: 1.7935, d0.loss_map_dir: 0.0152, d1.loss_map_cls: 0.3013, d1.loss_map_pts: 1.3413, d1.loss_map_dir: 0.0152, d2.loss_map_cls: 0.2833, d2.loss_map_pts: 1.2103, d2.loss_map_dir: 0.0160, d3.loss_map_cls: 0.2774, d3.loss_map_pts: 1.1586, d3.loss_map_dir: 0.0167, d4.loss_map_cls: 0.2767, d4.loss_map_pts: 1.1366, d4.loss_map_dir: 0.0169, d5.loss_map_cls: 0.2758, d5.loss_map_pts: 1.1320, d5.loss_map_dir: 0.0171, loss: 44.2161, grad_norm: 151.0628 +2026-02-25 01:45:29,388 - DriveTransformer - INFO - Epoch [3][26600/39528] lr: 9.831e-05, eta: 7 days, 19:23:24, time: 0.784, data_time: 0.042, memory: 19865, loss_cls: 0.3525, loss_bbox: 0.5166, loss_traj: 1.3467, loss_traj_cls: 0.0059, loss_map_cls: 0.2660, loss_map_pts: 1.1300, loss_map_dir: 0.0163, d0.loss_plan_l1_fix_time: 3.2418, d0.loss_plan_l1_fix_dist: 0.4443, d1.loss_plan_l1_fix_time: 2.0872, d1.loss_plan_l1_fix_dist: 0.2819, d2.loss_plan_l1_fix_time: 2.0611, d2.loss_plan_l1_fix_dist: 0.2971, d3.loss_plan_l1_fix_time: 2.0590, d3.loss_plan_l1_fix_dist: 0.3177, d4.loss_plan_l1_fix_time: 2.0617, d4.loss_plan_l1_fix_dist: 0.3382, d5.loss_plan_l1_fix_time: 2.0658, d5.loss_plan_l1_fix_dist: 0.3620, d6.loss_plan_l1_fix_time: 2.0707, d6.loss_plan_l1_fix_dist: 0.3876, d0.loss_cls_all: 0.3640, d0.loss_bbox_all: 0.5627, d0.loss_cls: 0.3640, d0.loss_bbox: 0.5627, d1.loss_cls: 0.3559, d1.loss_bbox: 0.5362, d2.loss_cls: 0.3528, d2.loss_bbox: 0.5202, d3.loss_cls: 0.3512, d3.loss_bbox: 0.5155, d4.loss_cls: 0.3508, d4.loss_bbox: 0.5146, d5.loss_cls: 0.3493, d5.loss_bbox: 0.5172, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.6652, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.3964, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3605, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.3522, d4.loss_traj_cls: 0.0015, d4.loss_traj: 1.3480, d5.loss_traj_cls: 0.0082, d5.loss_traj: 1.3512, d0.loss_map_cls_all: 0.3167, d0.loss_map_pts_all: 1.8262, d0.loss_map_dir_all: 0.0149, d0.loss_map_cls: 0.3167, d0.loss_map_pts: 1.8262, d0.loss_map_dir: 0.0149, d1.loss_map_cls: 0.2927, d1.loss_map_pts: 1.3329, d1.loss_map_dir: 0.0146, d2.loss_map_cls: 0.2747, d2.loss_map_pts: 1.1967, d2.loss_map_dir: 0.0152, d3.loss_map_cls: 0.2695, d3.loss_map_pts: 1.1522, d3.loss_map_dir: 0.0157, d4.loss_map_cls: 0.2666, d4.loss_map_pts: 1.1328, d4.loss_map_dir: 0.0160, d5.loss_map_cls: 0.2650, d5.loss_map_pts: 1.1295, d5.loss_map_dir: 0.0162, loss: 48.1204, grad_norm: 150.9750 +2026-02-25 01:46:09,870 - DriveTransformer - INFO - Epoch [3][26650/39528] lr: 9.831e-05, eta: 7 days, 19:22:48, time: 0.810, data_time: 0.043, memory: 19865, loss_cls: 0.3596, loss_bbox: 0.5582, loss_traj: 1.1448, loss_traj_cls: 0.0059, loss_map_cls: 0.2918, loss_map_pts: 1.2100, loss_map_dir: 0.0199, d0.loss_plan_l1_fix_time: 2.6221, d0.loss_plan_l1_fix_dist: 0.3913, d1.loss_plan_l1_fix_time: 1.7727, d1.loss_plan_l1_fix_dist: 0.2774, d2.loss_plan_l1_fix_time: 1.7576, d2.loss_plan_l1_fix_dist: 0.2887, d3.loss_plan_l1_fix_time: 1.7594, d3.loss_plan_l1_fix_dist: 0.3022, d4.loss_plan_l1_fix_time: 1.7625, d4.loss_plan_l1_fix_dist: 0.3182, d5.loss_plan_l1_fix_time: 1.7664, d5.loss_plan_l1_fix_dist: 0.3368, d6.loss_plan_l1_fix_time: 1.7711, d6.loss_plan_l1_fix_dist: 0.3625, d0.loss_cls_all: 0.3800, d0.loss_bbox_all: 0.5836, d0.loss_cls: 0.3800, d0.loss_bbox: 0.5836, d1.loss_cls: 0.3730, d1.loss_bbox: 0.5587, d2.loss_cls: 0.3660, d2.loss_bbox: 0.5492, d3.loss_cls: 0.3606, d3.loss_bbox: 0.5501, d4.loss_cls: 0.3598, d4.loss_bbox: 0.5514, d5.loss_cls: 0.3598, d5.loss_bbox: 0.5543, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3413, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1903, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1575, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1536, d4.loss_traj_cls: 0.0015, d4.loss_traj: 1.1449, d5.loss_traj_cls: 0.0083, d5.loss_traj: 1.1474, d0.loss_map_cls_all: 0.3416, d0.loss_map_pts_all: 2.1851, d0.loss_map_dir_all: 0.0183, d0.loss_map_cls: 0.3416, d0.loss_map_pts: 2.1851, d0.loss_map_dir: 0.0183, d1.loss_map_cls: 0.3182, d1.loss_map_pts: 1.4842, d1.loss_map_dir: 0.0178, d2.loss_map_cls: 0.3036, d2.loss_map_pts: 1.3049, d2.loss_map_dir: 0.0185, d3.loss_map_cls: 0.2958, d3.loss_map_pts: 1.2371, d3.loss_map_dir: 0.0193, d4.loss_map_cls: 0.2913, d4.loss_map_pts: 1.2131, d4.loss_map_dir: 0.0195, d5.loss_map_cls: 0.2922, d5.loss_map_pts: 1.2086, d5.loss_map_dir: 0.0198, loss: 45.8719, grad_norm: 151.7220 +2026-02-25 01:46:49,143 - DriveTransformer - INFO - Epoch [3][26700/39528] lr: 9.831e-05, eta: 7 days, 19:22:02, time: 0.785, data_time: 0.044, memory: 19865, loss_cls: 0.3489, loss_bbox: 0.5404, loss_traj: 1.1523, loss_traj_cls: 0.0059, loss_map_cls: 0.2554, loss_map_pts: 1.1252, loss_map_dir: 0.0180, d0.loss_plan_l1_fix_time: 2.8835, d0.loss_plan_l1_fix_dist: 0.5458, d1.loss_plan_l1_fix_time: 1.9259, d1.loss_plan_l1_fix_dist: 0.3241, d2.loss_plan_l1_fix_time: 1.9060, d2.loss_plan_l1_fix_dist: 0.3332, d3.loss_plan_l1_fix_time: 1.9073, d3.loss_plan_l1_fix_dist: 0.3464, d4.loss_plan_l1_fix_time: 1.9101, d4.loss_plan_l1_fix_dist: 0.3642, d5.loss_plan_l1_fix_time: 1.9126, d5.loss_plan_l1_fix_dist: 0.3823, d6.loss_plan_l1_fix_time: 1.9161, d6.loss_plan_l1_fix_dist: 0.4009, d0.loss_cls_all: 0.3687, d0.loss_bbox_all: 0.5760, d0.loss_cls: 0.3687, d0.loss_bbox: 0.5760, d1.loss_cls: 0.3608, d1.loss_bbox: 0.5484, d2.loss_cls: 0.3536, d2.loss_bbox: 0.5385, d3.loss_cls: 0.3505, d3.loss_bbox: 0.5344, d4.loss_cls: 0.3487, d4.loss_bbox: 0.5343, d5.loss_cls: 0.3478, d5.loss_bbox: 0.5375, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3419, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1879, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1536, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1472, d4.loss_traj_cls: 0.0015, d4.loss_traj: 1.1464, d5.loss_traj_cls: 0.0084, d5.loss_traj: 1.1534, d0.loss_map_cls_all: 0.3134, d0.loss_map_pts_all: 1.8507, d0.loss_map_dir_all: 0.0160, d0.loss_map_cls: 0.3134, d0.loss_map_pts: 1.8507, d0.loss_map_dir: 0.0160, d1.loss_map_cls: 0.2957, d1.loss_map_pts: 1.3225, d1.loss_map_dir: 0.0163, d2.loss_map_cls: 0.2805, d2.loss_map_pts: 1.1892, d2.loss_map_dir: 0.0169, d3.loss_map_cls: 0.2665, d3.loss_map_pts: 1.1410, d3.loss_map_dir: 0.0175, d4.loss_map_cls: 0.2592, d4.loss_map_pts: 1.1292, d4.loss_map_dir: 0.0176, d5.loss_map_cls: 0.2563, d5.loss_map_pts: 1.1244, d5.loss_map_dir: 0.0178, loss: 45.7037, grad_norm: 151.1948 +2026-02-25 01:47:28,998 - DriveTransformer - INFO - Epoch [3][26750/39528] lr: 9.831e-05, eta: 7 days, 19:21:20, time: 0.797, data_time: 0.042, memory: 19865, loss_cls: 0.3661, loss_bbox: 0.5280, loss_traj: 1.1547, loss_traj_cls: 0.0056, loss_map_cls: 0.2829, loss_map_pts: 1.1789, loss_map_dir: 0.0204, d0.loss_plan_l1_fix_time: 2.7921, d0.loss_plan_l1_fix_dist: 0.3837, d1.loss_plan_l1_fix_time: 1.8539, d1.loss_plan_l1_fix_dist: 0.2801, d2.loss_plan_l1_fix_time: 1.8605, d2.loss_plan_l1_fix_dist: 0.2936, d3.loss_plan_l1_fix_time: 1.8664, d3.loss_plan_l1_fix_dist: 0.3147, d4.loss_plan_l1_fix_time: 1.8726, d4.loss_plan_l1_fix_dist: 0.3369, d5.loss_plan_l1_fix_time: 1.8791, d5.loss_plan_l1_fix_dist: 0.3635, d6.loss_plan_l1_fix_time: 1.8873, d6.loss_plan_l1_fix_dist: 0.3914, d0.loss_cls_all: 0.3813, d0.loss_bbox_all: 0.5644, d0.loss_cls: 0.3813, d0.loss_bbox: 0.5644, d1.loss_cls: 0.3790, d1.loss_bbox: 0.5402, d2.loss_cls: 0.3701, d2.loss_bbox: 0.5309, d3.loss_cls: 0.3693, d3.loss_bbox: 0.5253, d4.loss_cls: 0.3651, d4.loss_bbox: 0.5261, d5.loss_cls: 0.3668, d5.loss_bbox: 0.5242, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3108, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1958, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1631, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1575, d4.loss_traj_cls: 0.0015, d4.loss_traj: 1.1592, d5.loss_traj_cls: 0.0084, d5.loss_traj: 1.1594, d0.loss_map_cls_all: 0.3287, d0.loss_map_pts_all: 2.0075, d0.loss_map_dir_all: 0.0188, d0.loss_map_cls: 0.3287, d0.loss_map_pts: 2.0075, d0.loss_map_dir: 0.0188, d1.loss_map_cls: 0.3086, d1.loss_map_pts: 1.4046, d1.loss_map_dir: 0.0185, d2.loss_map_cls: 0.2900, d2.loss_map_pts: 1.2532, d2.loss_map_dir: 0.0190, d3.loss_map_cls: 0.2874, d3.loss_map_pts: 1.1993, d3.loss_map_dir: 0.0196, d4.loss_map_cls: 0.2827, d4.loss_map_pts: 1.1852, d4.loss_map_dir: 0.0200, d5.loss_map_cls: 0.2828, d5.loss_map_pts: 1.1791, d5.loss_map_dir: 0.0202, loss: 45.9400, grad_norm: 153.8128 +2026-02-25 01:48:08,524 - DriveTransformer - INFO - Epoch [3][26800/39528] lr: 9.831e-05, eta: 7 days, 19:20:37, time: 0.792, data_time: 0.051, memory: 19865, loss_cls: 0.3594, loss_bbox: 0.5079, loss_traj: 1.1308, loss_traj_cls: 0.0054, loss_map_cls: 0.2847, loss_map_pts: 1.0806, loss_map_dir: 0.0169, d0.loss_plan_l1_fix_time: 2.7595, d0.loss_plan_l1_fix_dist: 0.4152, d1.loss_plan_l1_fix_time: 1.7416, d1.loss_plan_l1_fix_dist: 0.2863, d2.loss_plan_l1_fix_time: 1.7095, d2.loss_plan_l1_fix_dist: 0.2944, d3.loss_plan_l1_fix_time: 1.7082, d3.loss_plan_l1_fix_dist: 0.3102, d4.loss_plan_l1_fix_time: 1.7103, d4.loss_plan_l1_fix_dist: 0.3285, d5.loss_plan_l1_fix_time: 1.7135, d5.loss_plan_l1_fix_dist: 0.3463, d6.loss_plan_l1_fix_time: 1.7184, d6.loss_plan_l1_fix_dist: 0.3641, d0.loss_cls_all: 0.3755, d0.loss_bbox_all: 0.5563, d0.loss_cls: 0.3755, d0.loss_bbox: 0.5563, d1.loss_cls: 0.3714, d1.loss_bbox: 0.5260, d2.loss_cls: 0.3634, d2.loss_bbox: 0.5168, d3.loss_cls: 0.3631, d3.loss_bbox: 0.5075, d4.loss_cls: 0.3594, d4.loss_bbox: 0.5073, d5.loss_cls: 0.3593, d5.loss_bbox: 0.5060, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3801, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1788, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1380, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1297, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.1305, d5.loss_traj_cls: 0.0084, d5.loss_traj: 1.1296, d0.loss_map_cls_all: 0.3239, d0.loss_map_pts_all: 1.8495, d0.loss_map_dir_all: 0.0153, d0.loss_map_cls: 0.3239, d0.loss_map_pts: 1.8495, d0.loss_map_dir: 0.0153, d1.loss_map_cls: 0.3061, d1.loss_map_pts: 1.2983, d1.loss_map_dir: 0.0153, d2.loss_map_cls: 0.2920, d2.loss_map_pts: 1.1584, d2.loss_map_dir: 0.0158, d3.loss_map_cls: 0.2865, d3.loss_map_pts: 1.1033, d3.loss_map_dir: 0.0163, d4.loss_map_cls: 0.2825, d4.loss_map_pts: 1.0883, d4.loss_map_dir: 0.0165, d5.loss_map_cls: 0.2854, d5.loss_map_pts: 1.0825, d5.loss_map_dir: 0.0167, loss: 43.7772, grad_norm: 155.1741 +2026-02-25 01:48:49,551 - DriveTransformer - INFO - Epoch [3][26850/39528] lr: 9.831e-05, eta: 7 days, 19:20:05, time: 0.819, data_time: 0.041, memory: 19865, loss_cls: 0.3683, loss_bbox: 0.5261, loss_traj: 1.0129, loss_traj_cls: 0.0053, loss_map_cls: 0.2882, loss_map_pts: 1.3023, loss_map_dir: 0.0218, d0.loss_plan_l1_fix_time: 3.0640, d0.loss_plan_l1_fix_dist: 0.4277, d1.loss_plan_l1_fix_time: 1.7829, d1.loss_plan_l1_fix_dist: 0.2607, d2.loss_plan_l1_fix_time: 1.7581, d2.loss_plan_l1_fix_dist: 0.2726, d3.loss_plan_l1_fix_time: 1.7614, d3.loss_plan_l1_fix_dist: 0.2905, d4.loss_plan_l1_fix_time: 1.7668, d4.loss_plan_l1_fix_dist: 0.3122, d5.loss_plan_l1_fix_time: 1.7731, d5.loss_plan_l1_fix_dist: 0.3338, d6.loss_plan_l1_fix_time: 1.7798, d6.loss_plan_l1_fix_dist: 0.3549, d0.loss_cls_all: 0.3738, d0.loss_bbox_all: 0.5746, d0.loss_cls: 0.3738, d0.loss_bbox: 0.5746, d1.loss_cls: 0.3660, d1.loss_bbox: 0.5487, d2.loss_cls: 0.3627, d2.loss_bbox: 0.5342, d3.loss_cls: 0.3638, d3.loss_bbox: 0.5288, d4.loss_cls: 0.3655, d4.loss_bbox: 0.5260, d5.loss_cls: 0.3679, d5.loss_bbox: 0.5248, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2250, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0501, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0141, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0089, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0102, d5.loss_traj_cls: 0.0083, d5.loss_traj: 1.0115, d0.loss_map_cls_all: 0.3327, d0.loss_map_pts_all: 2.2349, d0.loss_map_dir_all: 0.0197, d0.loss_map_cls: 0.3327, d0.loss_map_pts: 2.2349, d0.loss_map_dir: 0.0197, d1.loss_map_cls: 0.3149, d1.loss_map_pts: 1.5568, d1.loss_map_dir: 0.0195, d2.loss_map_cls: 0.3020, d2.loss_map_pts: 1.3946, d2.loss_map_dir: 0.0203, d3.loss_map_cls: 0.2942, d3.loss_map_pts: 1.3298, d3.loss_map_dir: 0.0210, d4.loss_map_cls: 0.2917, d4.loss_map_pts: 1.3079, d4.loss_map_dir: 0.0213, d5.loss_map_cls: 0.2894, d5.loss_map_pts: 1.3013, d5.loss_map_dir: 0.0216, loss: 45.8424, grad_norm: 156.0241 +2026-02-25 01:49:29,675 - DriveTransformer - INFO - Epoch [3][26900/39528] lr: 9.831e-05, eta: 7 days, 19:19:25, time: 0.803, data_time: 0.048, memory: 19865, loss_cls: 0.3239, loss_bbox: 0.5029, loss_traj: 1.0025, loss_traj_cls: 0.0053, loss_map_cls: 0.2670, loss_map_pts: 1.1755, loss_map_dir: 0.0196, d0.loss_plan_l1_fix_time: 2.7215, d0.loss_plan_l1_fix_dist: 0.4319, d1.loss_plan_l1_fix_time: 1.6496, d1.loss_plan_l1_fix_dist: 0.2595, d2.loss_plan_l1_fix_time: 1.6272, d2.loss_plan_l1_fix_dist: 0.2713, d3.loss_plan_l1_fix_time: 1.6332, d3.loss_plan_l1_fix_dist: 0.2862, d4.loss_plan_l1_fix_time: 1.6390, d4.loss_plan_l1_fix_dist: 0.3039, d5.loss_plan_l1_fix_time: 1.6455, d5.loss_plan_l1_fix_dist: 0.3259, d6.loss_plan_l1_fix_time: 1.6522, d6.loss_plan_l1_fix_dist: 0.3506, d0.loss_cls_all: 0.3492, d0.loss_bbox_all: 0.5437, d0.loss_cls: 0.3492, d0.loss_bbox: 0.5437, d1.loss_cls: 0.3374, d1.loss_bbox: 0.5186, d2.loss_cls: 0.3308, d2.loss_bbox: 0.5070, d3.loss_cls: 0.3279, d3.loss_bbox: 0.5006, d4.loss_cls: 0.3256, d4.loss_bbox: 0.4995, d5.loss_cls: 0.3241, d5.loss_bbox: 0.5013, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2047, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0557, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0291, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0194, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0160, d5.loss_traj_cls: 0.0083, d5.loss_traj: 1.0029, d0.loss_map_cls_all: 0.3066, d0.loss_map_pts_all: 1.9520, d0.loss_map_dir_all: 0.0176, d0.loss_map_cls: 0.3066, d0.loss_map_pts: 1.9520, d0.loss_map_dir: 0.0176, d1.loss_map_cls: 0.2900, d1.loss_map_pts: 1.3897, d1.loss_map_dir: 0.0177, d2.loss_map_cls: 0.2784, d2.loss_map_pts: 1.2578, d2.loss_map_dir: 0.0184, d3.loss_map_cls: 0.2710, d3.loss_map_pts: 1.2009, d3.loss_map_dir: 0.0190, d4.loss_map_cls: 0.2677, d4.loss_map_pts: 1.1787, d4.loss_map_dir: 0.0193, d5.loss_map_cls: 0.2668, d5.loss_map_pts: 1.1740, d5.loss_map_dir: 0.0195, loss: 42.6151, grad_norm: 156.3746 +2026-02-25 01:50:11,529 - DriveTransformer - INFO - Epoch [3][26950/39528] lr: 9.831e-05, eta: 7 days, 19:19:00, time: 0.837, data_time: 0.046, memory: 19865, loss_cls: 0.3108, loss_bbox: 0.4624, loss_traj: 0.9189, loss_traj_cls: 0.0055, loss_map_cls: 0.2510, loss_map_pts: 1.0771, loss_map_dir: 0.0205, d0.loss_plan_l1_fix_time: 2.2668, d0.loss_plan_l1_fix_dist: 0.4133, d1.loss_plan_l1_fix_time: 1.5384, d1.loss_plan_l1_fix_dist: 0.2483, d2.loss_plan_l1_fix_time: 1.5390, d2.loss_plan_l1_fix_dist: 0.2576, d3.loss_plan_l1_fix_time: 1.5480, d3.loss_plan_l1_fix_dist: 0.2713, d4.loss_plan_l1_fix_time: 1.5570, d4.loss_plan_l1_fix_dist: 0.2883, d5.loss_plan_l1_fix_time: 1.5662, d5.loss_plan_l1_fix_dist: 0.3069, d6.loss_plan_l1_fix_time: 1.5762, d6.loss_plan_l1_fix_dist: 0.3268, d0.loss_cls_all: 0.3221, d0.loss_bbox_all: 0.5155, d0.loss_cls: 0.3221, d0.loss_bbox: 0.5155, d1.loss_cls: 0.3199, d1.loss_bbox: 0.4827, d2.loss_cls: 0.3174, d2.loss_bbox: 0.4666, d3.loss_cls: 0.3132, d3.loss_bbox: 0.4614, d4.loss_cls: 0.3104, d4.loss_bbox: 0.4624, d5.loss_cls: 0.3108, d5.loss_bbox: 0.4616, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0559, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9487, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9178, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9171, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9132, d5.loss_traj_cls: 0.0083, d5.loss_traj: 0.9143, d0.loss_map_cls_all: 0.3039, d0.loss_map_pts_all: 2.1225, d0.loss_map_dir_all: 0.0190, d0.loss_map_cls: 0.3039, d0.loss_map_pts: 2.1225, d0.loss_map_dir: 0.0190, d1.loss_map_cls: 0.2816, d1.loss_map_pts: 1.3296, d1.loss_map_dir: 0.0186, d2.loss_map_cls: 0.2664, d2.loss_map_pts: 1.1652, d2.loss_map_dir: 0.0192, d3.loss_map_cls: 0.2585, d3.loss_map_pts: 1.1070, d3.loss_map_dir: 0.0199, d4.loss_map_cls: 0.2534, d4.loss_map_pts: 1.0906, d4.loss_map_dir: 0.0201, d5.loss_map_cls: 0.2523, d5.loss_map_pts: 1.0805, d5.loss_map_dir: 0.0204, loss: 40.0863, grad_norm: 157.1139 +2026-02-25 01:50:51,602 - DriveTransformer - INFO - Epoch [3][27000/39528] lr: 9.831e-05, eta: 7 days, 19:18:21, time: 0.801, data_time: 0.041, memory: 19865, loss_cls: 0.3294, loss_bbox: 0.4766, loss_traj: 1.0889, loss_traj_cls: 0.0057, loss_map_cls: 0.2479, loss_map_pts: 1.1558, loss_map_dir: 0.0197, d0.loss_plan_l1_fix_time: 2.6231, d0.loss_plan_l1_fix_dist: 0.4224, d1.loss_plan_l1_fix_time: 1.7033, d1.loss_plan_l1_fix_dist: 0.2663, d2.loss_plan_l1_fix_time: 1.6765, d2.loss_plan_l1_fix_dist: 0.2772, d3.loss_plan_l1_fix_time: 1.6778, d3.loss_plan_l1_fix_dist: 0.2986, d4.loss_plan_l1_fix_time: 1.6851, d4.loss_plan_l1_fix_dist: 0.3216, d5.loss_plan_l1_fix_time: 1.6939, d5.loss_plan_l1_fix_dist: 0.3469, d6.loss_plan_l1_fix_time: 1.7039, d6.loss_plan_l1_fix_dist: 0.3730, d0.loss_cls_all: 0.3434, d0.loss_bbox_all: 0.5176, d0.loss_cls: 0.3434, d0.loss_bbox: 0.5176, d1.loss_cls: 0.3332, d1.loss_bbox: 0.4924, d2.loss_cls: 0.3255, d2.loss_bbox: 0.4844, d3.loss_cls: 0.3238, d3.loss_bbox: 0.4796, d4.loss_cls: 0.3240, d4.loss_bbox: 0.4775, d5.loss_cls: 0.3285, d5.loss_bbox: 0.4744, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2722, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0955, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0664, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0785, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0819, d5.loss_traj_cls: 0.0084, d5.loss_traj: 1.0833, d0.loss_map_cls_all: 0.2899, d0.loss_map_pts_all: 2.0928, d0.loss_map_dir_all: 0.0179, d0.loss_map_cls: 0.2899, d0.loss_map_pts: 2.0928, d0.loss_map_dir: 0.0179, d1.loss_map_cls: 0.2693, d1.loss_map_pts: 1.4193, d1.loss_map_dir: 0.0178, d2.loss_map_cls: 0.2555, d2.loss_map_pts: 1.2497, d2.loss_map_dir: 0.0184, d3.loss_map_cls: 0.2527, d3.loss_map_pts: 1.1890, d3.loss_map_dir: 0.0189, d4.loss_map_cls: 0.2486, d4.loss_map_pts: 1.1682, d4.loss_map_dir: 0.0193, d5.loss_map_cls: 0.2476, d5.loss_map_pts: 1.1595, d5.loss_map_dir: 0.0195, loss: 43.2046, grad_norm: 159.2493 +2026-02-25 01:51:31,399 - DriveTransformer - INFO - Epoch [3][27050/39528] lr: 9.831e-05, eta: 7 days, 19:17:39, time: 0.796, data_time: 0.038, memory: 19865, loss_cls: 0.3633, loss_bbox: 0.5307, loss_traj: 0.9443, loss_traj_cls: 0.0058, loss_map_cls: 0.2657, loss_map_pts: 1.1378, loss_map_dir: 0.0209, d0.loss_plan_l1_fix_time: 2.7392, d0.loss_plan_l1_fix_dist: 0.4216, d1.loss_plan_l1_fix_time: 1.6642, d1.loss_plan_l1_fix_dist: 0.2188, d2.loss_plan_l1_fix_time: 1.6501, d2.loss_plan_l1_fix_dist: 0.2263, d3.loss_plan_l1_fix_time: 1.6576, d3.loss_plan_l1_fix_dist: 0.2375, d4.loss_plan_l1_fix_time: 1.6666, d4.loss_plan_l1_fix_dist: 0.2523, d5.loss_plan_l1_fix_time: 1.6752, d5.loss_plan_l1_fix_dist: 0.2686, d6.loss_plan_l1_fix_time: 1.6838, d6.loss_plan_l1_fix_dist: 0.2897, d0.loss_cls_all: 0.3812, d0.loss_bbox_all: 0.5665, d0.loss_cls: 0.3812, d0.loss_bbox: 0.5665, d1.loss_cls: 0.3719, d1.loss_bbox: 0.5432, d2.loss_cls: 0.3652, d2.loss_bbox: 0.5351, d3.loss_cls: 0.3626, d3.loss_bbox: 0.5286, d4.loss_cls: 0.3634, d4.loss_bbox: 0.5260, d5.loss_cls: 0.3617, d5.loss_bbox: 0.5302, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0973, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9857, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9543, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9345, d4.loss_traj_cls: 0.0015, d4.loss_traj: 0.9401, d5.loss_traj_cls: 0.0085, d5.loss_traj: 0.9410, d0.loss_map_cls_all: 0.3178, d0.loss_map_pts_all: 2.1475, d0.loss_map_dir_all: 0.0193, d0.loss_map_cls: 0.3178, d0.loss_map_pts: 2.1475, d0.loss_map_dir: 0.0193, d1.loss_map_cls: 0.2939, d1.loss_map_pts: 1.3917, d1.loss_map_dir: 0.0190, d2.loss_map_cls: 0.2795, d2.loss_map_pts: 1.2246, d2.loss_map_dir: 0.0197, d3.loss_map_cls: 0.2717, d3.loss_map_pts: 1.1659, d3.loss_map_dir: 0.0202, d4.loss_map_cls: 0.2662, d4.loss_map_pts: 1.1447, d4.loss_map_dir: 0.0205, d5.loss_map_cls: 0.2653, d5.loss_map_pts: 1.1412, d5.loss_map_dir: 0.0207, loss: 42.6842, grad_norm: 163.0623 +2026-02-25 01:52:12,666 - DriveTransformer - INFO - Epoch [3][27100/39528] lr: 9.831e-05, eta: 7 days, 19:17:09, time: 0.825, data_time: 0.041, memory: 19865, loss_cls: 0.3459, loss_bbox: 0.5134, loss_traj: 0.9479, loss_traj_cls: 0.0057, loss_map_cls: 0.2797, loss_map_pts: 1.2501, loss_map_dir: 0.0208, d0.loss_plan_l1_fix_time: 2.5697, d0.loss_plan_l1_fix_dist: 0.3988, d1.loss_plan_l1_fix_time: 1.8120, d1.loss_plan_l1_fix_dist: 0.2847, d2.loss_plan_l1_fix_time: 1.7974, d2.loss_plan_l1_fix_dist: 0.2874, d3.loss_plan_l1_fix_time: 1.8056, d3.loss_plan_l1_fix_dist: 0.2966, d4.loss_plan_l1_fix_time: 1.8137, d4.loss_plan_l1_fix_dist: 0.3090, d5.loss_plan_l1_fix_time: 1.8211, d5.loss_plan_l1_fix_dist: 0.3220, d6.loss_plan_l1_fix_time: 1.8287, d6.loss_plan_l1_fix_dist: 0.3372, d0.loss_cls_all: 0.3598, d0.loss_bbox_all: 0.5545, d0.loss_cls: 0.3598, d0.loss_bbox: 0.5545, d1.loss_cls: 0.3548, d1.loss_bbox: 0.5245, d2.loss_cls: 0.3510, d2.loss_bbox: 0.5130, d3.loss_cls: 0.3502, d3.loss_bbox: 0.5078, d4.loss_cls: 0.3475, d4.loss_bbox: 0.5077, d5.loss_cls: 0.3447, d5.loss_bbox: 0.5115, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1672, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9833, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9339, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9282, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9261, d5.loss_traj_cls: 0.0085, d5.loss_traj: 0.9394, d0.loss_map_cls_all: 0.3381, d0.loss_map_pts_all: 2.2756, d0.loss_map_dir_all: 0.0194, d0.loss_map_cls: 0.3381, d0.loss_map_pts: 2.2756, d0.loss_map_dir: 0.0194, d1.loss_map_cls: 0.3103, d1.loss_map_pts: 1.5151, d1.loss_map_dir: 0.0189, d2.loss_map_cls: 0.2959, d2.loss_map_pts: 1.3466, d2.loss_map_dir: 0.0196, d3.loss_map_cls: 0.2892, d3.loss_map_pts: 1.2813, d3.loss_map_dir: 0.0201, d4.loss_map_cls: 0.2828, d4.loss_map_pts: 1.2592, d4.loss_map_dir: 0.0204, d5.loss_map_cls: 0.2806, d5.loss_map_pts: 1.2529, d5.loss_map_dir: 0.0208, loss: 44.5607, grad_norm: 164.2065 +2026-02-25 01:52:51,881 - DriveTransformer - INFO - Epoch [3][27150/39528] lr: 9.831e-05, eta: 7 days, 19:16:22, time: 0.784, data_time: 0.042, memory: 19865, loss_cls: 0.3509, loss_bbox: 0.5093, loss_traj: 1.3008, loss_traj_cls: 0.0056, loss_map_cls: 0.2543, loss_map_pts: 1.1403, loss_map_dir: 0.0199, d0.loss_plan_l1_fix_time: 2.6380, d0.loss_plan_l1_fix_dist: 0.4456, d1.loss_plan_l1_fix_time: 1.8704, d1.loss_plan_l1_fix_dist: 0.2771, d2.loss_plan_l1_fix_time: 1.8741, d2.loss_plan_l1_fix_dist: 0.2858, d3.loss_plan_l1_fix_time: 1.8819, d3.loss_plan_l1_fix_dist: 0.3025, d4.loss_plan_l1_fix_time: 1.8898, d4.loss_plan_l1_fix_dist: 0.3193, d5.loss_plan_l1_fix_time: 1.8978, d5.loss_plan_l1_fix_dist: 0.3393, d6.loss_plan_l1_fix_time: 1.9063, d6.loss_plan_l1_fix_dist: 0.3603, d0.loss_cls_all: 0.3637, d0.loss_bbox_all: 0.5602, d0.loss_cls: 0.3637, d0.loss_bbox: 0.5602, d1.loss_cls: 0.3576, d1.loss_bbox: 0.5263, d2.loss_cls: 0.3498, d2.loss_bbox: 0.5150, d3.loss_cls: 0.3508, d3.loss_bbox: 0.5075, d4.loss_cls: 0.3484, d4.loss_bbox: 0.5070, d5.loss_cls: 0.3484, d5.loss_bbox: 0.5080, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5342, d1.loss_traj_cls: 0.0012, d1.loss_traj: 1.3520, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.3147, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.3152, d4.loss_traj_cls: 0.0015, d4.loss_traj: 1.3010, d5.loss_traj_cls: 0.0085, d5.loss_traj: 1.2991, d0.loss_map_cls_all: 0.3316, d0.loss_map_pts_all: 2.0627, d0.loss_map_dir_all: 0.0184, d0.loss_map_cls: 0.3316, d0.loss_map_pts: 2.0627, d0.loss_map_dir: 0.0184, d1.loss_map_cls: 0.2933, d1.loss_map_pts: 1.3930, d1.loss_map_dir: 0.0180, d2.loss_map_cls: 0.2714, d2.loss_map_pts: 1.2275, d2.loss_map_dir: 0.0188, d3.loss_map_cls: 0.2638, d3.loss_map_pts: 1.1617, d3.loss_map_dir: 0.0193, d4.loss_map_cls: 0.2570, d4.loss_map_pts: 1.1420, d4.loss_map_dir: 0.0197, d5.loss_map_cls: 0.2562, d5.loss_map_pts: 1.1373, d5.loss_map_dir: 0.0199, loss: 46.4907, grad_norm: 165.8143 +2026-02-25 01:53:30,901 - DriveTransformer - INFO - Epoch [3][27200/39528] lr: 9.831e-05, eta: 7 days, 19:15:34, time: 0.780, data_time: 0.046, memory: 19865, loss_cls: 0.3380, loss_bbox: 0.5128, loss_traj: 1.1710, loss_traj_cls: 0.0056, loss_map_cls: 0.2798, loss_map_pts: 1.1176, loss_map_dir: 0.0180, d0.loss_plan_l1_fix_time: 2.5342, d0.loss_plan_l1_fix_dist: 0.4859, d1.loss_plan_l1_fix_time: 1.6440, d1.loss_plan_l1_fix_dist: 0.2676, d2.loss_plan_l1_fix_time: 1.6206, d2.loss_plan_l1_fix_dist: 0.2747, d3.loss_plan_l1_fix_time: 1.6280, d3.loss_plan_l1_fix_dist: 0.2874, d4.loss_plan_l1_fix_time: 1.6345, d4.loss_plan_l1_fix_dist: 0.3056, d5.loss_plan_l1_fix_time: 1.6413, d5.loss_plan_l1_fix_dist: 0.3262, d6.loss_plan_l1_fix_time: 1.6487, d6.loss_plan_l1_fix_dist: 0.3451, d0.loss_cls_all: 0.3485, d0.loss_bbox_all: 0.5544, d0.loss_cls: 0.3485, d0.loss_bbox: 0.5544, d1.loss_cls: 0.3442, d1.loss_bbox: 0.5217, d2.loss_cls: 0.3393, d2.loss_bbox: 0.5092, d3.loss_cls: 0.3377, d3.loss_bbox: 0.5066, d4.loss_cls: 0.3333, d4.loss_bbox: 0.5093, d5.loss_cls: 0.3349, d5.loss_bbox: 0.5103, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4458, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2182, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1837, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1699, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.1630, d5.loss_traj_cls: 0.0087, d5.loss_traj: 1.1602, d0.loss_map_cls_all: 0.3400, d0.loss_map_pts_all: 1.8872, d0.loss_map_dir_all: 0.0167, d0.loss_map_cls: 0.3400, d0.loss_map_pts: 1.8872, d0.loss_map_dir: 0.0167, d1.loss_map_cls: 0.3107, d1.loss_map_pts: 1.3180, d1.loss_map_dir: 0.0167, d2.loss_map_cls: 0.2938, d2.loss_map_pts: 1.1801, d2.loss_map_dir: 0.0171, d3.loss_map_cls: 0.2859, d3.loss_map_pts: 1.1347, d3.loss_map_dir: 0.0175, d4.loss_map_cls: 0.2799, d4.loss_map_pts: 1.1190, d4.loss_map_dir: 0.0177, d5.loss_map_cls: 0.2802, d5.loss_map_pts: 1.1154, d5.loss_map_dir: 0.0179, loss: 43.3860, grad_norm: 165.4857 +2026-02-25 01:54:11,671 - DriveTransformer - INFO - Epoch [3][27250/39528] lr: 9.831e-05, eta: 7 days, 19:15:01, time: 0.815, data_time: 0.041, memory: 19865, loss_cls: 0.3716, loss_bbox: 0.5333, loss_traj: 0.9114, loss_traj_cls: 0.0055, loss_map_cls: 0.2811, loss_map_pts: 1.2367, loss_map_dir: 0.0206, d0.loss_plan_l1_fix_time: 2.7978, d0.loss_plan_l1_fix_dist: 0.4080, d1.loss_plan_l1_fix_time: 1.7295, d1.loss_plan_l1_fix_dist: 0.2715, d2.loss_plan_l1_fix_time: 1.7103, d2.loss_plan_l1_fix_dist: 0.2818, d3.loss_plan_l1_fix_time: 1.7125, d3.loss_plan_l1_fix_dist: 0.2966, d4.loss_plan_l1_fix_time: 1.7173, d4.loss_plan_l1_fix_dist: 0.3117, d5.loss_plan_l1_fix_time: 1.7226, d5.loss_plan_l1_fix_dist: 0.3293, d6.loss_plan_l1_fix_time: 1.7278, d6.loss_plan_l1_fix_dist: 0.3525, d0.loss_cls_all: 0.3881, d0.loss_bbox_all: 0.5862, d0.loss_cls: 0.3881, d0.loss_bbox: 0.5862, d1.loss_cls: 0.3811, d1.loss_bbox: 0.5554, d2.loss_cls: 0.3732, d2.loss_bbox: 0.5434, d3.loss_cls: 0.3715, d3.loss_bbox: 0.5357, d4.loss_cls: 0.3709, d4.loss_bbox: 0.5327, d5.loss_cls: 0.3700, d5.loss_bbox: 0.5329, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0370, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9097, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8914, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8844, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.8871, d5.loss_traj_cls: 0.0087, d5.loss_traj: 0.9017, d0.loss_map_cls_all: 0.3369, d0.loss_map_pts_all: 2.2283, d0.loss_map_dir_all: 0.0196, d0.loss_map_cls: 0.3369, d0.loss_map_pts: 2.2283, d0.loss_map_dir: 0.0196, d1.loss_map_cls: 0.3099, d1.loss_map_pts: 1.5137, d1.loss_map_dir: 0.0191, d2.loss_map_cls: 0.2946, d2.loss_map_pts: 1.3365, d2.loss_map_dir: 0.0195, d3.loss_map_cls: 0.2870, d3.loss_map_pts: 1.2662, d3.loss_map_dir: 0.0201, d4.loss_map_cls: 0.2811, d4.loss_map_pts: 1.2438, d4.loss_map_dir: 0.0204, d5.loss_map_cls: 0.2811, d5.loss_map_pts: 1.2356, d5.loss_map_dir: 0.0206, loss: 44.0886, grad_norm: 160.8990 +2026-02-25 01:54:51,991 - DriveTransformer - INFO - Epoch [3][27300/39528] lr: 9.831e-05, eta: 7 days, 19:14:23, time: 0.806, data_time: 0.040, memory: 19865, loss_cls: 0.3137, loss_bbox: 0.4831, loss_traj: 1.0454, loss_traj_cls: 0.0052, loss_map_cls: 0.2780, loss_map_pts: 1.2724, loss_map_dir: 0.0189, d0.loss_plan_l1_fix_time: 2.9149, d0.loss_plan_l1_fix_dist: 0.4389, d1.loss_plan_l1_fix_time: 1.8329, d1.loss_plan_l1_fix_dist: 0.2486, d2.loss_plan_l1_fix_time: 1.8034, d2.loss_plan_l1_fix_dist: 0.2573, d3.loss_plan_l1_fix_time: 1.8017, d3.loss_plan_l1_fix_dist: 0.2754, d4.loss_plan_l1_fix_time: 1.8065, d4.loss_plan_l1_fix_dist: 0.2966, d5.loss_plan_l1_fix_time: 1.8123, d5.loss_plan_l1_fix_dist: 0.3172, d6.loss_plan_l1_fix_time: 1.8189, d6.loss_plan_l1_fix_dist: 0.3364, d0.loss_cls_all: 0.3339, d0.loss_bbox_all: 0.5240, d0.loss_cls: 0.3339, d0.loss_bbox: 0.5240, d1.loss_cls: 0.3313, d1.loss_bbox: 0.4979, d2.loss_cls: 0.3226, d2.loss_bbox: 0.4855, d3.loss_cls: 0.3192, d3.loss_bbox: 0.4802, d4.loss_cls: 0.3154, d4.loss_bbox: 0.4801, d5.loss_cls: 0.3147, d5.loss_bbox: 0.4811, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2735, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0963, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0626, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0460, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0426, d5.loss_traj_cls: 0.0086, d5.loss_traj: 1.0424, d0.loss_map_cls_all: 0.3375, d0.loss_map_pts_all: 2.1572, d0.loss_map_dir_all: 0.0166, d0.loss_map_cls: 0.3375, d0.loss_map_pts: 2.1572, d0.loss_map_dir: 0.0166, d1.loss_map_cls: 0.3084, d1.loss_map_pts: 1.4943, d1.loss_map_dir: 0.0167, d2.loss_map_cls: 0.2947, d2.loss_map_pts: 1.3461, d2.loss_map_dir: 0.0174, d3.loss_map_cls: 0.2845, d3.loss_map_pts: 1.2929, d3.loss_map_dir: 0.0181, d4.loss_map_cls: 0.2790, d4.loss_map_pts: 1.2773, d4.loss_map_dir: 0.0185, d5.loss_map_cls: 0.2788, d5.loss_map_pts: 1.2702, d5.loss_map_dir: 0.0187, loss: 44.9370, grad_norm: 160.3438 +2026-02-25 01:55:31,787 - DriveTransformer - INFO - Epoch [3][27350/39528] lr: 9.831e-05, eta: 7 days, 19:13:41, time: 0.796, data_time: 0.044, memory: 19865, loss_cls: 0.3678, loss_bbox: 0.5221, loss_traj: 1.1743, loss_traj_cls: 0.0052, loss_map_cls: 0.2974, loss_map_pts: 1.1731, loss_map_dir: 0.0197, d0.loss_plan_l1_fix_time: 3.4722, d0.loss_plan_l1_fix_dist: 0.4862, d1.loss_plan_l1_fix_time: 1.9101, d1.loss_plan_l1_fix_dist: 0.3036, d2.loss_plan_l1_fix_time: 1.8858, d2.loss_plan_l1_fix_dist: 0.3123, d3.loss_plan_l1_fix_time: 1.8838, d3.loss_plan_l1_fix_dist: 0.3274, d4.loss_plan_l1_fix_time: 1.8883, d4.loss_plan_l1_fix_dist: 0.3472, d5.loss_plan_l1_fix_time: 1.8939, d5.loss_plan_l1_fix_dist: 0.3684, d6.loss_plan_l1_fix_time: 1.9008, d6.loss_plan_l1_fix_dist: 0.3878, d0.loss_cls_all: 0.3841, d0.loss_bbox_all: 0.5760, d0.loss_cls: 0.3841, d0.loss_bbox: 0.5760, d1.loss_cls: 0.3790, d1.loss_bbox: 0.5427, d2.loss_cls: 0.3705, d2.loss_bbox: 0.5288, d3.loss_cls: 0.3676, d3.loss_bbox: 0.5228, d4.loss_cls: 0.3653, d4.loss_bbox: 0.5197, d5.loss_cls: 0.3649, d5.loss_bbox: 0.5209, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3722, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2059, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1746, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1596, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.1638, d5.loss_traj_cls: 0.0087, d5.loss_traj: 1.1709, d0.loss_map_cls_all: 0.3472, d0.loss_map_pts_all: 2.0349, d0.loss_map_dir_all: 0.0175, d0.loss_map_cls: 0.3472, d0.loss_map_pts: 2.0349, d0.loss_map_dir: 0.0175, d1.loss_map_cls: 0.3224, d1.loss_map_pts: 1.4354, d1.loss_map_dir: 0.0176, d2.loss_map_cls: 0.3086, d2.loss_map_pts: 1.2753, d2.loss_map_dir: 0.0183, d3.loss_map_cls: 0.2999, d3.loss_map_pts: 1.2092, d3.loss_map_dir: 0.0191, d4.loss_map_cls: 0.2965, d4.loss_map_pts: 1.1848, d4.loss_map_dir: 0.0193, d5.loss_map_cls: 0.2975, d5.loss_map_pts: 1.1754, d5.loss_map_dir: 0.0195, loss: 47.2886, grad_norm: 159.3903 +2026-02-25 01:56:10,571 - DriveTransformer - INFO - Epoch [3][27400/39528] lr: 9.831e-05, eta: 7 days, 19:12:51, time: 0.776, data_time: 0.038, memory: 19865, loss_cls: 0.3261, loss_bbox: 0.5113, loss_traj: 0.9862, loss_traj_cls: 0.0053, loss_map_cls: 0.2513, loss_map_pts: 1.0055, loss_map_dir: 0.0179, d0.loss_plan_l1_fix_time: 2.5475, d0.loss_plan_l1_fix_dist: 0.4823, d1.loss_plan_l1_fix_time: 1.5310, d1.loss_plan_l1_fix_dist: 0.2440, d2.loss_plan_l1_fix_time: 1.5208, d2.loss_plan_l1_fix_dist: 0.2555, d3.loss_plan_l1_fix_time: 1.5258, d3.loss_plan_l1_fix_dist: 0.2700, d4.loss_plan_l1_fix_time: 1.5322, d4.loss_plan_l1_fix_dist: 0.2837, d5.loss_plan_l1_fix_time: 1.5400, d5.loss_plan_l1_fix_dist: 0.3016, d6.loss_plan_l1_fix_time: 1.5484, d6.loss_plan_l1_fix_dist: 0.3262, d0.loss_cls_all: 0.3460, d0.loss_bbox_all: 0.5410, d0.loss_cls: 0.3460, d0.loss_bbox: 0.5410, d1.loss_cls: 0.3412, d1.loss_bbox: 0.5197, d2.loss_cls: 0.3347, d2.loss_bbox: 0.5111, d3.loss_cls: 0.3275, d3.loss_bbox: 0.5083, d4.loss_cls: 0.3255, d4.loss_bbox: 0.5060, d5.loss_cls: 0.3262, d5.loss_bbox: 0.5075, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1653, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0104, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9762, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9730, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9757, d5.loss_traj_cls: 0.0086, d5.loss_traj: 0.9790, d0.loss_map_cls_all: 0.2919, d0.loss_map_pts_all: 1.7736, d0.loss_map_dir_all: 0.0160, d0.loss_map_cls: 0.2919, d0.loss_map_pts: 1.7736, d0.loss_map_dir: 0.0160, d1.loss_map_cls: 0.2760, d1.loss_map_pts: 1.2206, d1.loss_map_dir: 0.0161, d2.loss_map_cls: 0.2632, d2.loss_map_pts: 1.0809, d2.loss_map_dir: 0.0168, d3.loss_map_cls: 0.2544, d3.loss_map_pts: 1.0280, d3.loss_map_dir: 0.0173, d4.loss_map_cls: 0.2488, d4.loss_map_pts: 1.0114, d4.loss_map_dir: 0.0176, d5.loss_map_cls: 0.2504, d5.loss_map_pts: 1.0060, d5.loss_map_dir: 0.0178, loss: 39.9758, grad_norm: 159.7762 +2026-02-25 01:56:53,253 - DriveTransformer - INFO - Epoch [3][27450/39528] lr: 9.831e-05, eta: 7 days, 19:12:33, time: 0.854, data_time: 0.045, memory: 19865, loss_cls: 0.3832, loss_bbox: 0.5617, loss_traj: 1.0346, loss_traj_cls: 0.0054, loss_map_cls: 0.2831, loss_map_pts: 1.2318, loss_map_dir: 0.0239, d0.loss_plan_l1_fix_time: 2.9797, d0.loss_plan_l1_fix_dist: 0.4420, d1.loss_plan_l1_fix_time: 1.7558, d1.loss_plan_l1_fix_dist: 0.2937, d2.loss_plan_l1_fix_time: 1.7542, d2.loss_plan_l1_fix_dist: 0.2979, d3.loss_plan_l1_fix_time: 1.7604, d3.loss_plan_l1_fix_dist: 0.3094, d4.loss_plan_l1_fix_time: 1.7658, d4.loss_plan_l1_fix_dist: 0.3244, d5.loss_plan_l1_fix_time: 1.7715, d5.loss_plan_l1_fix_dist: 0.3408, d6.loss_plan_l1_fix_time: 1.7777, d6.loss_plan_l1_fix_dist: 0.3607, d0.loss_cls_all: 0.3996, d0.loss_bbox_all: 0.6004, d0.loss_cls: 0.3996, d0.loss_bbox: 0.6004, d1.loss_cls: 0.3895, d1.loss_bbox: 0.5785, d2.loss_cls: 0.3857, d2.loss_bbox: 0.5663, d3.loss_cls: 0.3857, d3.loss_bbox: 0.5587, d4.loss_cls: 0.3842, d4.loss_bbox: 0.5557, d5.loss_cls: 0.3836, d5.loss_bbox: 0.5578, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1761, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0758, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0342, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0364, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0317, d5.loss_traj_cls: 0.0087, d5.loss_traj: 1.0322, d0.loss_map_cls_all: 0.3280, d0.loss_map_pts_all: 2.4075, d0.loss_map_dir_all: 0.0222, d0.loss_map_cls: 0.3280, d0.loss_map_pts: 2.4075, d0.loss_map_dir: 0.0222, d1.loss_map_cls: 0.3063, d1.loss_map_pts: 1.4926, d1.loss_map_dir: 0.0218, d2.loss_map_cls: 0.2930, d2.loss_map_pts: 1.3103, d2.loss_map_dir: 0.0226, d3.loss_map_cls: 0.2888, d3.loss_map_pts: 1.2521, d3.loss_map_dir: 0.0233, d4.loss_map_cls: 0.2844, d4.loss_map_pts: 1.2361, d4.loss_map_dir: 0.0236, d5.loss_map_cls: 0.2836, d5.loss_map_pts: 1.2302, d5.loss_map_dir: 0.0238, loss: 46.2115, grad_norm: 160.2309 +2026-02-25 01:57:32,036 - DriveTransformer - INFO - Epoch [3][27500/39528] lr: 9.831e-05, eta: 7 days, 19:11:43, time: 0.776, data_time: 0.038, memory: 19865, loss_cls: 0.3507, loss_bbox: 0.5007, loss_traj: 1.1877, loss_traj_cls: 0.0054, loss_map_cls: 0.2769, loss_map_pts: 1.1745, loss_map_dir: 0.0173, d0.loss_plan_l1_fix_time: 2.6699, d0.loss_plan_l1_fix_dist: 0.3854, d1.loss_plan_l1_fix_time: 1.7107, d1.loss_plan_l1_fix_dist: 0.2677, d2.loss_plan_l1_fix_time: 1.6912, d2.loss_plan_l1_fix_dist: 0.2735, d3.loss_plan_l1_fix_time: 1.6908, d3.loss_plan_l1_fix_dist: 0.2844, d4.loss_plan_l1_fix_time: 1.6946, d4.loss_plan_l1_fix_dist: 0.2988, d5.loss_plan_l1_fix_time: 1.6989, d5.loss_plan_l1_fix_dist: 0.3148, d6.loss_plan_l1_fix_time: 1.7041, d6.loss_plan_l1_fix_dist: 0.3283, d0.loss_cls_all: 0.3581, d0.loss_bbox_all: 0.5527, d0.loss_cls: 0.3581, d0.loss_bbox: 0.5527, d1.loss_cls: 0.3615, d1.loss_bbox: 0.5216, d2.loss_cls: 0.3602, d2.loss_bbox: 0.5093, d3.loss_cls: 0.3544, d3.loss_bbox: 0.5030, d4.loss_cls: 0.3520, d4.loss_bbox: 0.5008, d5.loss_cls: 0.3500, d5.loss_bbox: 0.5011, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4158, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2341, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2095, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2117, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.2062, d5.loss_traj_cls: 0.0087, d5.loss_traj: 1.1941, d0.loss_map_cls_all: 0.3244, d0.loss_map_pts_all: 1.9613, d0.loss_map_dir_all: 0.0155, d0.loss_map_cls: 0.3244, d0.loss_map_pts: 1.9613, d0.loss_map_dir: 0.0155, d1.loss_map_cls: 0.2986, d1.loss_map_pts: 1.4119, d1.loss_map_dir: 0.0157, d2.loss_map_cls: 0.2885, d2.loss_map_pts: 1.2687, d2.loss_map_dir: 0.0163, d3.loss_map_cls: 0.2814, d3.loss_map_pts: 1.2057, d3.loss_map_dir: 0.0168, d4.loss_map_cls: 0.2781, d4.loss_map_pts: 1.1860, d4.loss_map_dir: 0.0170, d5.loss_map_cls: 0.2774, d5.loss_map_pts: 1.1764, d5.loss_map_dir: 0.0173, loss: 44.5055, grad_norm: 160.1247 +2026-02-25 01:58:11,341 - DriveTransformer - INFO - Epoch [3][27550/39528] lr: 9.831e-05, eta: 7 days, 19:10:57, time: 0.786, data_time: 0.041, memory: 19865, loss_cls: 0.3248, loss_bbox: 0.5236, loss_traj: 1.2062, loss_traj_cls: 0.0051, loss_map_cls: 0.2244, loss_map_pts: 1.0519, loss_map_dir: 0.0146, d0.loss_plan_l1_fix_time: 2.6418, d0.loss_plan_l1_fix_dist: 0.5273, d1.loss_plan_l1_fix_time: 1.5753, d1.loss_plan_l1_fix_dist: 0.2711, d2.loss_plan_l1_fix_time: 1.5707, d2.loss_plan_l1_fix_dist: 0.2790, d3.loss_plan_l1_fix_time: 1.5820, d3.loss_plan_l1_fix_dist: 0.2913, d4.loss_plan_l1_fix_time: 1.5885, d4.loss_plan_l1_fix_dist: 0.3057, d5.loss_plan_l1_fix_time: 1.5953, d5.loss_plan_l1_fix_dist: 0.3213, d6.loss_plan_l1_fix_time: 1.6022, d6.loss_plan_l1_fix_dist: 0.3379, d0.loss_cls_all: 0.3406, d0.loss_bbox_all: 0.5772, d0.loss_cls: 0.3406, d0.loss_bbox: 0.5772, d1.loss_cls: 0.3345, d1.loss_bbox: 0.5461, d2.loss_cls: 0.3286, d2.loss_bbox: 0.5350, d3.loss_cls: 0.3284, d3.loss_bbox: 0.5260, d4.loss_cls: 0.3255, d4.loss_bbox: 0.5231, d5.loss_cls: 0.3244, d5.loss_bbox: 0.5216, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4640, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2422, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2056, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.2093, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.2135, d5.loss_traj_cls: 0.0086, d5.loss_traj: 1.2110, d0.loss_map_cls_all: 0.2889, d0.loss_map_pts_all: 1.6666, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.2889, d0.loss_map_pts: 1.6666, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.2618, d1.loss_map_pts: 1.2457, d1.loss_map_dir: 0.0135, d2.loss_map_cls: 0.2418, d2.loss_map_pts: 1.1273, d2.loss_map_dir: 0.0138, d3.loss_map_cls: 0.2306, d3.loss_map_pts: 1.0750, d3.loss_map_dir: 0.0141, d4.loss_map_cls: 0.2248, d4.loss_map_pts: 1.0610, d4.loss_map_dir: 0.0144, d5.loss_map_cls: 0.2250, d5.loss_map_pts: 1.0512, d5.loss_map_dir: 0.0146, loss: 42.2802, grad_norm: 159.3501 +2026-02-25 01:58:51,196 - DriveTransformer - INFO - Epoch [3][27600/39528] lr: 9.831e-05, eta: 7 days, 19:10:17, time: 0.798, data_time: 0.043, memory: 19865, loss_cls: 0.3821, loss_bbox: 0.5580, loss_traj: 1.3673, loss_traj_cls: 0.0051, loss_map_cls: 0.3169, loss_map_pts: 1.2976, loss_map_dir: 0.0214, d0.loss_plan_l1_fix_time: 2.9221, d0.loss_plan_l1_fix_dist: 0.4278, d1.loss_plan_l1_fix_time: 1.8786, d1.loss_plan_l1_fix_dist: 0.2781, d2.loss_plan_l1_fix_time: 1.8609, d2.loss_plan_l1_fix_dist: 0.2852, d3.loss_plan_l1_fix_time: 1.8621, d3.loss_plan_l1_fix_dist: 0.2979, d4.loss_plan_l1_fix_time: 1.8661, d4.loss_plan_l1_fix_dist: 0.3119, d5.loss_plan_l1_fix_time: 1.8709, d5.loss_plan_l1_fix_dist: 0.3258, d6.loss_plan_l1_fix_time: 1.8763, d6.loss_plan_l1_fix_dist: 0.3455, d0.loss_cls_all: 0.3948, d0.loss_bbox_all: 0.6036, d0.loss_cls: 0.3948, d0.loss_bbox: 0.6036, d1.loss_cls: 0.3907, d1.loss_bbox: 0.5729, d2.loss_cls: 0.3798, d2.loss_bbox: 0.5625, d3.loss_cls: 0.3785, d3.loss_bbox: 0.5578, d4.loss_cls: 0.3783, d4.loss_bbox: 0.5556, d5.loss_cls: 0.3807, d5.loss_bbox: 0.5552, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.5889, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.3916, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3814, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.3846, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.3759, d5.loss_traj_cls: 0.0088, d5.loss_traj: 1.3690, d0.loss_map_cls_all: 0.3721, d0.loss_map_pts_all: 2.2822, d0.loss_map_dir_all: 0.0192, d0.loss_map_cls: 0.3721, d0.loss_map_pts: 2.2822, d0.loss_map_dir: 0.0192, d1.loss_map_cls: 0.3447, d1.loss_map_pts: 1.5828, d1.loss_map_dir: 0.0196, d2.loss_map_cls: 0.3289, d2.loss_map_pts: 1.3971, d2.loss_map_dir: 0.0202, d3.loss_map_cls: 0.3207, d3.loss_map_pts: 1.3298, d3.loss_map_dir: 0.0209, d4.loss_map_cls: 0.3166, d4.loss_map_pts: 1.3080, d4.loss_map_dir: 0.0212, d5.loss_map_cls: 0.3168, d5.loss_map_pts: 1.2996, d5.loss_map_dir: 0.0213, loss: 49.5669, grad_norm: 157.3138 +2026-02-25 01:59:31,709 - DriveTransformer - INFO - Epoch [3][27650/39528] lr: 9.831e-05, eta: 7 days, 19:09:40, time: 0.809, data_time: 0.038, memory: 19865, loss_cls: 0.3162, loss_bbox: 0.4844, loss_traj: 1.1351, loss_traj_cls: 0.0051, loss_map_cls: 0.2493, loss_map_pts: 1.1423, loss_map_dir: 0.0189, d0.loss_plan_l1_fix_time: 2.8409, d0.loss_plan_l1_fix_dist: 0.4781, d1.loss_plan_l1_fix_time: 1.5844, d1.loss_plan_l1_fix_dist: 0.2775, d2.loss_plan_l1_fix_time: 1.5502, d2.loss_plan_l1_fix_dist: 0.2925, d3.loss_plan_l1_fix_time: 1.5498, d3.loss_plan_l1_fix_dist: 0.3111, d4.loss_plan_l1_fix_time: 1.5532, d4.loss_plan_l1_fix_dist: 0.3357, d5.loss_plan_l1_fix_time: 1.5574, d5.loss_plan_l1_fix_dist: 0.3639, d6.loss_plan_l1_fix_time: 1.5623, d6.loss_plan_l1_fix_dist: 0.3903, d0.loss_cls_all: 0.3329, d0.loss_bbox_all: 0.5356, d0.loss_cls: 0.3329, d0.loss_bbox: 0.5356, d1.loss_cls: 0.3253, d1.loss_bbox: 0.5059, d2.loss_cls: 0.3215, d2.loss_bbox: 0.4923, d3.loss_cls: 0.3175, d3.loss_bbox: 0.4848, d4.loss_cls: 0.3156, d4.loss_bbox: 0.4823, d5.loss_cls: 0.3153, d5.loss_bbox: 0.4824, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3699, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1859, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1451, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1435, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.1358, d5.loss_traj_cls: 0.0087, d5.loss_traj: 1.1320, d0.loss_map_cls_all: 0.2991, d0.loss_map_pts_all: 2.0239, d0.loss_map_dir_all: 0.0166, d0.loss_map_cls: 0.2991, d0.loss_map_pts: 2.0239, d0.loss_map_dir: 0.0166, d1.loss_map_cls: 0.2770, d1.loss_map_pts: 1.3691, d1.loss_map_dir: 0.0166, d2.loss_map_cls: 0.2623, d2.loss_map_pts: 1.2149, d2.loss_map_dir: 0.0174, d3.loss_map_cls: 0.2532, d3.loss_map_pts: 1.1589, d3.loss_map_dir: 0.0181, d4.loss_map_cls: 0.2482, d4.loss_map_pts: 1.1435, d4.loss_map_dir: 0.0184, d5.loss_map_cls: 0.2474, d5.loss_map_pts: 1.1403, d5.loss_map_dir: 0.0186, loss: 42.9877, grad_norm: 157.9949 +2026-02-25 02:00:12,450 - DriveTransformer - INFO - Epoch [3][27700/39528] lr: 9.831e-05, eta: 7 days, 19:09:06, time: 0.815, data_time: 0.039, memory: 19865, loss_cls: 0.3709, loss_bbox: 0.5393, loss_traj: 0.8565, loss_traj_cls: 0.0052, loss_map_cls: 0.2908, loss_map_pts: 1.2525, loss_map_dir: 0.0226, d0.loss_plan_l1_fix_time: 2.8899, d0.loss_plan_l1_fix_dist: 0.3678, d1.loss_plan_l1_fix_time: 1.8435, d1.loss_plan_l1_fix_dist: 0.2761, d2.loss_plan_l1_fix_time: 1.8144, d2.loss_plan_l1_fix_dist: 0.2842, d3.loss_plan_l1_fix_time: 1.8125, d3.loss_plan_l1_fix_dist: 0.3000, d4.loss_plan_l1_fix_time: 1.8159, d4.loss_plan_l1_fix_dist: 0.3184, d5.loss_plan_l1_fix_time: 1.8202, d5.loss_plan_l1_fix_dist: 0.3400, d6.loss_plan_l1_fix_time: 1.8256, d6.loss_plan_l1_fix_dist: 0.3624, d0.loss_cls_all: 0.3862, d0.loss_bbox_all: 0.5711, d0.loss_cls: 0.3862, d0.loss_bbox: 0.5711, d1.loss_cls: 0.3812, d1.loss_bbox: 0.5459, d2.loss_cls: 0.3773, d2.loss_bbox: 0.5365, d3.loss_cls: 0.3732, d3.loss_bbox: 0.5339, d4.loss_cls: 0.3692, d4.loss_bbox: 0.5344, d5.loss_cls: 0.3699, d5.loss_bbox: 0.5349, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0071, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8809, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8541, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8519, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.8519, d5.loss_traj_cls: 0.0086, d5.loss_traj: 0.8537, d0.loss_map_cls_all: 0.3330, d0.loss_map_pts_all: 2.2502, d0.loss_map_dir_all: 0.0203, d0.loss_map_cls: 0.3330, d0.loss_map_pts: 2.2502, d0.loss_map_dir: 0.0203, d1.loss_map_cls: 0.3160, d1.loss_map_pts: 1.4913, d1.loss_map_dir: 0.0202, d2.loss_map_cls: 0.3048, d2.loss_map_pts: 1.3279, d2.loss_map_dir: 0.0210, d3.loss_map_cls: 0.2954, d3.loss_map_pts: 1.2685, d3.loss_map_dir: 0.0218, d4.loss_map_cls: 0.2917, d4.loss_map_pts: 1.2549, d4.loss_map_dir: 0.0223, d5.loss_map_cls: 0.2901, d5.loss_map_pts: 1.2519, d5.loss_map_dir: 0.0225, loss: 44.6005, grad_norm: 157.0530 +2026-02-25 02:00:54,338 - DriveTransformer - INFO - Epoch [3][27750/39528] lr: 9.831e-05, eta: 7 days, 19:08:40, time: 0.838, data_time: 0.040, memory: 19865, loss_cls: 0.3119, loss_bbox: 0.5045, loss_traj: 1.1712, loss_traj_cls: 0.0052, loss_map_cls: 0.2277, loss_map_pts: 1.0602, loss_map_dir: 0.0198, d0.loss_plan_l1_fix_time: 2.6944, d0.loss_plan_l1_fix_dist: 0.5359, d1.loss_plan_l1_fix_time: 1.8379, d1.loss_plan_l1_fix_dist: 0.3440, d2.loss_plan_l1_fix_time: 1.8281, d2.loss_plan_l1_fix_dist: 0.3577, d3.loss_plan_l1_fix_time: 1.8324, d3.loss_plan_l1_fix_dist: 0.3786, d4.loss_plan_l1_fix_time: 1.8367, d4.loss_plan_l1_fix_dist: 0.3994, d5.loss_plan_l1_fix_time: 1.8412, d5.loss_plan_l1_fix_dist: 0.4190, d6.loss_plan_l1_fix_time: 1.8469, d6.loss_plan_l1_fix_dist: 0.4398, d0.loss_cls_all: 0.3300, d0.loss_bbox_all: 0.5307, d0.loss_cls: 0.3300, d0.loss_bbox: 0.5307, d1.loss_cls: 0.3237, d1.loss_bbox: 0.5073, d2.loss_cls: 0.3186, d2.loss_bbox: 0.5004, d3.loss_cls: 0.3166, d3.loss_bbox: 0.4955, d4.loss_cls: 0.3140, d4.loss_bbox: 0.4957, d5.loss_cls: 0.3124, d5.loss_bbox: 0.4982, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3218, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1969, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1737, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1837, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.1758, d5.loss_traj_cls: 0.0086, d5.loss_traj: 1.1727, d0.loss_map_cls_all: 0.2764, d0.loss_map_pts_all: 2.1351, d0.loss_map_dir_all: 0.0179, d0.loss_map_cls: 0.2764, d0.loss_map_pts: 2.1351, d0.loss_map_dir: 0.0179, d1.loss_map_cls: 0.2545, d1.loss_map_pts: 1.3344, d1.loss_map_dir: 0.0178, d2.loss_map_cls: 0.2396, d2.loss_map_pts: 1.1530, d2.loss_map_dir: 0.0183, d3.loss_map_cls: 0.2318, d3.loss_map_pts: 1.0870, d3.loss_map_dir: 0.0190, d4.loss_map_cls: 0.2288, d4.loss_map_pts: 1.0633, d4.loss_map_dir: 0.0194, d5.loss_map_cls: 0.2275, d5.loss_map_pts: 1.0609, d5.loss_map_dir: 0.0196, loss: 44.7682, grad_norm: 157.8310 +2026-02-25 02:01:34,125 - DriveTransformer - INFO - Epoch [3][27800/39528] lr: 9.831e-05, eta: 7 days, 19:07:59, time: 0.796, data_time: 0.043, memory: 19865, loss_cls: 0.3260, loss_bbox: 0.4850, loss_traj: 0.9139, loss_traj_cls: 0.0052, loss_map_cls: 0.2611, loss_map_pts: 1.0677, loss_map_dir: 0.0176, d0.loss_plan_l1_fix_time: 2.6118, d0.loss_plan_l1_fix_dist: 0.4624, d1.loss_plan_l1_fix_time: 1.4805, d1.loss_plan_l1_fix_dist: 0.2544, d2.loss_plan_l1_fix_time: 1.4453, d2.loss_plan_l1_fix_dist: 0.2640, d3.loss_plan_l1_fix_time: 1.4436, d3.loss_plan_l1_fix_dist: 0.2796, d4.loss_plan_l1_fix_time: 1.4470, d4.loss_plan_l1_fix_dist: 0.2994, d5.loss_plan_l1_fix_time: 1.4517, d5.loss_plan_l1_fix_dist: 0.3184, d6.loss_plan_l1_fix_time: 1.4574, d6.loss_plan_l1_fix_dist: 0.3365, d0.loss_cls_all: 0.3406, d0.loss_bbox_all: 0.5328, d0.loss_cls: 0.3406, d0.loss_bbox: 0.5328, d1.loss_cls: 0.3356, d1.loss_bbox: 0.5022, d2.loss_cls: 0.3320, d2.loss_bbox: 0.4916, d3.loss_cls: 0.3279, d3.loss_bbox: 0.4870, d4.loss_cls: 0.3246, d4.loss_bbox: 0.4851, d5.loss_cls: 0.3243, d5.loss_bbox: 0.4842, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0962, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9281, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9146, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9230, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9209, d5.loss_traj_cls: 0.0087, d5.loss_traj: 0.9165, d0.loss_map_cls_all: 0.3109, d0.loss_map_pts_all: 1.8470, d0.loss_map_dir_all: 0.0162, d0.loss_map_cls: 0.3109, d0.loss_map_pts: 1.8470, d0.loss_map_dir: 0.0162, d1.loss_map_cls: 0.2802, d1.loss_map_pts: 1.2708, d1.loss_map_dir: 0.0159, d2.loss_map_cls: 0.2687, d2.loss_map_pts: 1.1326, d2.loss_map_dir: 0.0165, d3.loss_map_cls: 0.2615, d3.loss_map_pts: 1.0860, d3.loss_map_dir: 0.0170, d4.loss_map_cls: 0.2606, d4.loss_map_pts: 1.0691, d4.loss_map_dir: 0.0173, d5.loss_map_cls: 0.2622, d5.loss_map_pts: 1.0662, d5.loss_map_dir: 0.0176, loss: 39.5736, grad_norm: 159.6963 +2026-02-25 02:02:15,306 - DriveTransformer - INFO - Epoch [3][27850/39528] lr: 9.831e-05, eta: 7 days, 19:07:28, time: 0.824, data_time: 0.040, memory: 19865, loss_cls: 0.3609, loss_bbox: 0.5170, loss_traj: 0.9616, loss_traj_cls: 0.0051, loss_map_cls: 0.2795, loss_map_pts: 1.2867, loss_map_dir: 0.0228, d0.loss_plan_l1_fix_time: 2.8518, d0.loss_plan_l1_fix_dist: 0.5545, d1.loss_plan_l1_fix_time: 1.7731, d1.loss_plan_l1_fix_dist: 0.3517, d2.loss_plan_l1_fix_time: 1.7488, d2.loss_plan_l1_fix_dist: 0.3592, d3.loss_plan_l1_fix_time: 1.7460, d3.loss_plan_l1_fix_dist: 0.3735, d4.loss_plan_l1_fix_time: 1.7491, d4.loss_plan_l1_fix_dist: 0.3901, d5.loss_plan_l1_fix_time: 1.7539, d5.loss_plan_l1_fix_dist: 0.4112, d6.loss_plan_l1_fix_time: 1.7591, d6.loss_plan_l1_fix_dist: 0.4355, d0.loss_cls_all: 0.3852, d0.loss_bbox_all: 0.5614, d0.loss_cls: 0.3852, d0.loss_bbox: 0.5614, d1.loss_cls: 0.3721, d1.loss_bbox: 0.5326, d2.loss_cls: 0.3651, d2.loss_bbox: 0.5235, d3.loss_cls: 0.3629, d3.loss_bbox: 0.5201, d4.loss_cls: 0.3595, d4.loss_bbox: 0.5162, d5.loss_cls: 0.3594, d5.loss_bbox: 0.5142, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1252, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9830, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9584, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9606, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9599, d5.loss_traj_cls: 0.0087, d5.loss_traj: 0.9655, d0.loss_map_cls_all: 0.3176, d0.loss_map_pts_all: 2.2317, d0.loss_map_dir_all: 0.0207, d0.loss_map_cls: 0.3176, d0.loss_map_pts: 2.2317, d0.loss_map_dir: 0.0207, d1.loss_map_cls: 0.3036, d1.loss_map_pts: 1.5472, d1.loss_map_dir: 0.0207, d2.loss_map_cls: 0.2909, d2.loss_map_pts: 1.3754, d2.loss_map_dir: 0.0214, d3.loss_map_cls: 0.2808, d3.loss_map_pts: 1.3158, d3.loss_map_dir: 0.0220, d4.loss_map_cls: 0.2782, d4.loss_map_pts: 1.2963, d4.loss_map_dir: 0.0224, d5.loss_map_cls: 0.2792, d5.loss_map_pts: 1.2892, d5.loss_map_dir: 0.0226, loss: 45.4820, grad_norm: 159.6691 +2026-02-25 02:02:56,392 - DriveTransformer - INFO - Epoch [3][27900/39528] lr: 9.831e-05, eta: 7 days, 19:06:56, time: 0.822, data_time: 0.046, memory: 19865, loss_cls: 0.3416, loss_bbox: 0.5164, loss_traj: 0.9863, loss_traj_cls: 0.0050, loss_map_cls: 0.2745, loss_map_pts: 1.1951, loss_map_dir: 0.0224, d0.loss_plan_l1_fix_time: 2.6623, d0.loss_plan_l1_fix_dist: 0.3683, d1.loss_plan_l1_fix_time: 1.7650, d1.loss_plan_l1_fix_dist: 0.2570, d2.loss_plan_l1_fix_time: 1.7701, d2.loss_plan_l1_fix_dist: 0.2715, d3.loss_plan_l1_fix_time: 1.7750, d3.loss_plan_l1_fix_dist: 0.2896, d4.loss_plan_l1_fix_time: 1.7805, d4.loss_plan_l1_fix_dist: 0.3086, d5.loss_plan_l1_fix_time: 1.7858, d5.loss_plan_l1_fix_dist: 0.3291, d6.loss_plan_l1_fix_time: 1.7914, d6.loss_plan_l1_fix_dist: 0.3525, d0.loss_cls_all: 0.3529, d0.loss_bbox_all: 0.5586, d0.loss_cls: 0.3529, d0.loss_bbox: 0.5586, d1.loss_cls: 0.3545, d1.loss_bbox: 0.5324, d2.loss_cls: 0.3501, d2.loss_bbox: 0.5221, d3.loss_cls: 0.3469, d3.loss_bbox: 0.5181, d4.loss_cls: 0.3445, d4.loss_bbox: 0.5152, d5.loss_cls: 0.3431, d5.loss_bbox: 0.5142, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1664, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0219, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9887, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9851, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9848, d5.loss_traj_cls: 0.0088, d5.loss_traj: 0.9855, d0.loss_map_cls_all: 0.3245, d0.loss_map_pts_all: 2.1888, d0.loss_map_dir_all: 0.0206, d0.loss_map_cls: 0.3245, d0.loss_map_pts: 2.1888, d0.loss_map_dir: 0.0206, d1.loss_map_cls: 0.2987, d1.loss_map_pts: 1.4550, d1.loss_map_dir: 0.0205, d2.loss_map_cls: 0.2855, d2.loss_map_pts: 1.2810, d2.loss_map_dir: 0.0210, d3.loss_map_cls: 0.2777, d3.loss_map_pts: 1.2199, d3.loss_map_dir: 0.0216, d4.loss_map_cls: 0.2748, d4.loss_map_pts: 1.1996, d4.loss_map_dir: 0.0220, d5.loss_map_cls: 0.2732, d5.loss_map_pts: 1.1956, d5.loss_map_dir: 0.0223, loss: 44.0944, grad_norm: 158.8921 +2026-02-25 02:03:37,830 - DriveTransformer - INFO - Epoch [3][27950/39528] lr: 9.831e-05, eta: 7 days, 19:06:27, time: 0.829, data_time: 0.040, memory: 19865, loss_cls: 0.3536, loss_bbox: 0.5355, loss_traj: 0.9513, loss_traj_cls: 0.0049, loss_map_cls: 0.2896, loss_map_pts: 1.3134, loss_map_dir: 0.0223, d0.loss_plan_l1_fix_time: 2.8509, d0.loss_plan_l1_fix_dist: 0.4133, d1.loss_plan_l1_fix_time: 1.6601, d1.loss_plan_l1_fix_dist: 0.2687, d2.loss_plan_l1_fix_time: 1.6255, d2.loss_plan_l1_fix_dist: 0.2755, d3.loss_plan_l1_fix_time: 1.6261, d3.loss_plan_l1_fix_dist: 0.2897, d4.loss_plan_l1_fix_time: 1.6298, d4.loss_plan_l1_fix_dist: 0.3082, d5.loss_plan_l1_fix_time: 1.6340, d5.loss_plan_l1_fix_dist: 0.3252, d6.loss_plan_l1_fix_time: 1.6390, d6.loss_plan_l1_fix_dist: 0.3401, d0.loss_cls_all: 0.3694, d0.loss_bbox_all: 0.5732, d0.loss_cls: 0.3694, d0.loss_bbox: 0.5732, d1.loss_cls: 0.3635, d1.loss_bbox: 0.5490, d2.loss_cls: 0.3623, d2.loss_bbox: 0.5360, d3.loss_cls: 0.3570, d3.loss_bbox: 0.5346, d4.loss_cls: 0.3552, d4.loss_bbox: 0.5322, d5.loss_cls: 0.3534, d5.loss_bbox: 0.5329, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1425, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9744, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9534, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9586, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9518, d5.loss_traj_cls: 0.0088, d5.loss_traj: 0.9541, d0.loss_map_cls_all: 0.3327, d0.loss_map_pts_all: 2.4344, d0.loss_map_dir_all: 0.0212, d0.loss_map_cls: 0.3327, d0.loss_map_pts: 2.4344, d0.loss_map_dir: 0.0212, d1.loss_map_cls: 0.3119, d1.loss_map_pts: 1.6197, d1.loss_map_dir: 0.0207, d2.loss_map_cls: 0.3009, d2.loss_map_pts: 1.4229, d2.loss_map_dir: 0.0211, d3.loss_map_cls: 0.2918, d3.loss_map_pts: 1.3504, d3.loss_map_dir: 0.0216, d4.loss_map_cls: 0.2889, d4.loss_map_pts: 1.3249, d4.loss_map_dir: 0.0220, d5.loss_map_cls: 0.2893, d5.loss_map_pts: 1.3165, d5.loss_map_dir: 0.0221, loss: 44.8680, grad_norm: 159.1889 +2026-02-25 02:04:18,387 - DriveTransformer - INFO - Epoch [3][28000/39528] lr: 9.831e-05, eta: 7 days, 19:05:52, time: 0.811, data_time: 0.039, memory: 19865, loss_cls: 0.3337, loss_bbox: 0.5032, loss_traj: 0.9798, loss_traj_cls: 0.0050, loss_map_cls: 0.2810, loss_map_pts: 1.1547, loss_map_dir: 0.0198, d0.loss_plan_l1_fix_time: 3.5084, d0.loss_plan_l1_fix_dist: 0.3639, d1.loss_plan_l1_fix_time: 1.9104, d1.loss_plan_l1_fix_dist: 0.2525, d2.loss_plan_l1_fix_time: 1.8951, d2.loss_plan_l1_fix_dist: 0.2693, d3.loss_plan_l1_fix_time: 1.9006, d3.loss_plan_l1_fix_dist: 0.2915, d4.loss_plan_l1_fix_time: 1.9044, d4.loss_plan_l1_fix_dist: 0.3149, d5.loss_plan_l1_fix_time: 1.9086, d5.loss_plan_l1_fix_dist: 0.3410, d6.loss_plan_l1_fix_time: 1.9131, d6.loss_plan_l1_fix_dist: 0.3691, d0.loss_cls_all: 0.3520, d0.loss_bbox_all: 0.5533, d0.loss_cls: 0.3520, d0.loss_bbox: 0.5533, d1.loss_cls: 0.3472, d1.loss_bbox: 0.5228, d2.loss_cls: 0.3398, d2.loss_bbox: 0.5144, d3.loss_cls: 0.3380, d3.loss_bbox: 0.5084, d4.loss_cls: 0.3346, d4.loss_bbox: 0.5055, d5.loss_cls: 0.3346, d5.loss_bbox: 0.5037, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1502, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0008, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9718, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9736, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9705, d5.loss_traj_cls: 0.0089, d5.loss_traj: 0.9734, d0.loss_map_cls_all: 0.3166, d0.loss_map_pts_all: 2.1102, d0.loss_map_dir_all: 0.0181, d0.loss_map_cls: 0.3166, d0.loss_map_pts: 2.1102, d0.loss_map_dir: 0.0181, d1.loss_map_cls: 0.2976, d1.loss_map_pts: 1.4303, d1.loss_map_dir: 0.0177, d2.loss_map_cls: 0.2874, d2.loss_map_pts: 1.2520, d2.loss_map_dir: 0.0185, d3.loss_map_cls: 0.2824, d3.loss_map_pts: 1.1840, d3.loss_map_dir: 0.0192, d4.loss_map_cls: 0.2801, d4.loss_map_pts: 1.1612, d4.loss_map_dir: 0.0195, d5.loss_map_cls: 0.2795, d5.loss_map_pts: 1.1581, d5.loss_map_dir: 0.0197, loss: 45.1313, grad_norm: 159.0968 +2026-02-25 02:04:57,632 - DriveTransformer - INFO - Epoch [3][28050/39528] lr: 9.831e-05, eta: 7 days, 19:05:06, time: 0.785, data_time: 0.040, memory: 19865, loss_cls: 0.3280, loss_bbox: 0.4895, loss_traj: 1.2211, loss_traj_cls: 0.0051, loss_map_cls: 0.2522, loss_map_pts: 1.0732, loss_map_dir: 0.0182, d0.loss_plan_l1_fix_time: 2.4930, d0.loss_plan_l1_fix_dist: 0.4625, d1.loss_plan_l1_fix_time: 1.6226, d1.loss_plan_l1_fix_dist: 0.2743, d2.loss_plan_l1_fix_time: 1.5875, d2.loss_plan_l1_fix_dist: 0.2899, d3.loss_plan_l1_fix_time: 1.5818, d3.loss_plan_l1_fix_dist: 0.3091, d4.loss_plan_l1_fix_time: 1.5838, d4.loss_plan_l1_fix_dist: 0.3315, d5.loss_plan_l1_fix_time: 1.5876, d5.loss_plan_l1_fix_dist: 0.3567, d6.loss_plan_l1_fix_time: 1.5922, d6.loss_plan_l1_fix_dist: 0.3881, d0.loss_cls_all: 0.3342, d0.loss_bbox_all: 0.5326, d0.loss_cls: 0.3342, d0.loss_bbox: 0.5326, d1.loss_cls: 0.3319, d1.loss_bbox: 0.5067, d2.loss_cls: 0.3265, d2.loss_bbox: 0.4993, d3.loss_cls: 0.3252, d3.loss_bbox: 0.4933, d4.loss_cls: 0.3273, d4.loss_bbox: 0.4888, d5.loss_cls: 0.3262, d5.loss_bbox: 0.4890, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4085, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2618, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2376, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2310, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.2087, d5.loss_traj_cls: 0.0089, d5.loss_traj: 1.2149, d0.loss_map_cls_all: 0.3042, d0.loss_map_pts_all: 1.8783, d0.loss_map_dir_all: 0.0160, d0.loss_map_cls: 0.3042, d0.loss_map_pts: 1.8783, d0.loss_map_dir: 0.0160, d1.loss_map_cls: 0.2785, d1.loss_map_pts: 1.2854, d1.loss_map_dir: 0.0164, d2.loss_map_cls: 0.2650, d2.loss_map_pts: 1.1393, d2.loss_map_dir: 0.0169, d3.loss_map_cls: 0.2545, d3.loss_map_pts: 1.0881, d3.loss_map_dir: 0.0175, d4.loss_map_cls: 0.2534, d4.loss_map_pts: 1.0736, d4.loss_map_dir: 0.0178, d5.loss_map_cls: 0.2530, d5.loss_map_pts: 1.0711, d5.loss_map_dir: 0.0181, loss: 42.7174, grad_norm: 159.7200 +2026-02-25 02:05:36,138 - DriveTransformer - INFO - Epoch [3][28100/39528] lr: 9.831e-05, eta: 7 days, 19:04:14, time: 0.770, data_time: 0.038, memory: 19865, loss_cls: 0.3577, loss_bbox: 0.5072, loss_traj: 0.9963, loss_traj_cls: 0.0052, loss_map_cls: 0.2945, loss_map_pts: 1.0970, loss_map_dir: 0.0192, d0.loss_plan_l1_fix_time: 2.6299, d0.loss_plan_l1_fix_dist: 0.3617, d1.loss_plan_l1_fix_time: 1.7226, d1.loss_plan_l1_fix_dist: 0.2394, d2.loss_plan_l1_fix_time: 1.7081, d2.loss_plan_l1_fix_dist: 0.2561, d3.loss_plan_l1_fix_time: 1.7116, d3.loss_plan_l1_fix_dist: 0.2773, d4.loss_plan_l1_fix_time: 1.7157, d4.loss_plan_l1_fix_dist: 0.3046, d5.loss_plan_l1_fix_time: 1.7201, d5.loss_plan_l1_fix_dist: 0.3327, d6.loss_plan_l1_fix_time: 1.7251, d6.loss_plan_l1_fix_dist: 0.3616, d0.loss_cls_all: 0.3662, d0.loss_bbox_all: 0.5557, d0.loss_cls: 0.3662, d0.loss_bbox: 0.5557, d1.loss_cls: 0.3593, d1.loss_bbox: 0.5287, d2.loss_cls: 0.3617, d2.loss_bbox: 0.5136, d3.loss_cls: 0.3594, d3.loss_bbox: 0.5077, d4.loss_cls: 0.3584, d4.loss_bbox: 0.5065, d5.loss_cls: 0.3592, d5.loss_bbox: 0.5038, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1247, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0146, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9890, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9865, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9861, d5.loss_traj_cls: 0.0090, d5.loss_traj: 0.9882, d0.loss_map_cls_all: 0.3360, d0.loss_map_pts_all: 1.8889, d0.loss_map_dir_all: 0.0173, d0.loss_map_cls: 0.3360, d0.loss_map_pts: 1.8889, d0.loss_map_dir: 0.0173, d1.loss_map_cls: 0.3196, d1.loss_map_pts: 1.3030, d1.loss_map_dir: 0.0175, d2.loss_map_cls: 0.3097, d2.loss_map_pts: 1.1494, d2.loss_map_dir: 0.0181, d3.loss_map_cls: 0.2968, d3.loss_map_pts: 1.1035, d3.loss_map_dir: 0.0185, d4.loss_map_cls: 0.2946, d4.loss_map_pts: 1.0928, d4.loss_map_dir: 0.0189, d5.loss_map_cls: 0.2930, d5.loss_map_pts: 1.0935, d5.loss_map_dir: 0.0190, loss: 42.4811, grad_norm: 159.9046 +2026-02-25 02:06:16,441 - DriveTransformer - INFO - Epoch [3][28150/39528] lr: 9.831e-05, eta: 7 days, 19:03:36, time: 0.806, data_time: 0.040, memory: 19865, loss_cls: 0.3466, loss_bbox: 0.5269, loss_traj: 1.0329, loss_traj_cls: 0.0052, loss_map_cls: 0.2991, loss_map_pts: 1.3316, loss_map_dir: 0.0209, d0.loss_plan_l1_fix_time: 2.7211, d0.loss_plan_l1_fix_dist: 0.3328, d1.loss_plan_l1_fix_time: 1.8225, d1.loss_plan_l1_fix_dist: 0.2488, d2.loss_plan_l1_fix_time: 1.8074, d2.loss_plan_l1_fix_dist: 0.2615, d3.loss_plan_l1_fix_time: 1.8089, d3.loss_plan_l1_fix_dist: 0.2775, d4.loss_plan_l1_fix_time: 1.8126, d4.loss_plan_l1_fix_dist: 0.2952, d5.loss_plan_l1_fix_time: 1.8165, d5.loss_plan_l1_fix_dist: 0.3160, d6.loss_plan_l1_fix_time: 1.8214, d6.loss_plan_l1_fix_dist: 0.3393, d0.loss_cls_all: 0.3678, d0.loss_bbox_all: 0.5746, d0.loss_cls: 0.3678, d0.loss_bbox: 0.5746, d1.loss_cls: 0.3564, d1.loss_bbox: 0.5457, d2.loss_cls: 0.3510, d2.loss_bbox: 0.5320, d3.loss_cls: 0.3481, d3.loss_bbox: 0.5272, d4.loss_cls: 0.3465, d4.loss_bbox: 0.5247, d5.loss_cls: 0.3465, d5.loss_bbox: 0.5246, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2085, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0634, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0349, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0306, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0255, d5.loss_traj_cls: 0.0090, d5.loss_traj: 1.0269, d0.loss_map_cls_all: 0.3584, d0.loss_map_pts_all: 2.2034, d0.loss_map_dir_all: 0.0189, d0.loss_map_cls: 0.3584, d0.loss_map_pts: 2.2034, d0.loss_map_dir: 0.0189, d1.loss_map_cls: 0.3261, d1.loss_map_pts: 1.5808, d1.loss_map_dir: 0.0187, d2.loss_map_cls: 0.3088, d2.loss_map_pts: 1.4256, d2.loss_map_dir: 0.0194, d3.loss_map_cls: 0.3022, d3.loss_map_pts: 1.3609, d3.loss_map_dir: 0.0202, d4.loss_map_cls: 0.2990, d4.loss_map_pts: 1.3393, d4.loss_map_dir: 0.0206, d5.loss_map_cls: 0.2995, d5.loss_map_pts: 1.3364, d5.loss_map_dir: 0.0207, loss: 45.7757, grad_norm: 159.2355 +2026-02-25 02:06:55,893 - DriveTransformer - INFO - Epoch [3][28200/39528] lr: 9.831e-05, eta: 7 days, 19:02:51, time: 0.789, data_time: 0.043, memory: 19865, loss_cls: 0.3306, loss_bbox: 0.4935, loss_traj: 0.9899, loss_traj_cls: 0.0053, loss_map_cls: 0.2433, loss_map_pts: 1.1905, loss_map_dir: 0.0176, d0.loss_plan_l1_fix_time: 2.6080, d0.loss_plan_l1_fix_dist: 0.4451, d1.loss_plan_l1_fix_time: 1.6301, d1.loss_plan_l1_fix_dist: 0.2687, d2.loss_plan_l1_fix_time: 1.6247, d2.loss_plan_l1_fix_dist: 0.2818, d3.loss_plan_l1_fix_time: 1.6312, d3.loss_plan_l1_fix_dist: 0.2962, d4.loss_plan_l1_fix_time: 1.6369, d4.loss_plan_l1_fix_dist: 0.3114, d5.loss_plan_l1_fix_time: 1.6428, d5.loss_plan_l1_fix_dist: 0.3271, d6.loss_plan_l1_fix_time: 1.6493, d6.loss_plan_l1_fix_dist: 0.3432, d0.loss_cls_all: 0.3462, d0.loss_bbox_all: 0.5377, d0.loss_cls: 0.3462, d0.loss_bbox: 0.5377, d1.loss_cls: 0.3434, d1.loss_bbox: 0.5035, d2.loss_cls: 0.3360, d2.loss_bbox: 0.4919, d3.loss_cls: 0.3323, d3.loss_bbox: 0.4895, d4.loss_cls: 0.3310, d4.loss_bbox: 0.4900, d5.loss_cls: 0.3303, d5.loss_bbox: 0.4915, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2266, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0212, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9820, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9718, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9751, d5.loss_traj_cls: 0.0090, d5.loss_traj: 0.9821, d0.loss_map_cls_all: 0.2960, d0.loss_map_pts_all: 2.0305, d0.loss_map_dir_all: 0.0164, d0.loss_map_cls: 0.2960, d0.loss_map_pts: 2.0305, d0.loss_map_dir: 0.0164, d1.loss_map_cls: 0.2756, d1.loss_map_pts: 1.4193, d1.loss_map_dir: 0.0158, d2.loss_map_cls: 0.2565, d2.loss_map_pts: 1.2685, d2.loss_map_dir: 0.0164, d3.loss_map_cls: 0.2500, d3.loss_map_pts: 1.2161, d3.loss_map_dir: 0.0169, d4.loss_map_cls: 0.2451, d4.loss_map_pts: 1.2001, d4.loss_map_dir: 0.0172, d5.loss_map_cls: 0.2437, d5.loss_map_pts: 1.1922, d5.loss_map_dir: 0.0173, loss: 42.3837, grad_norm: 159.8258 +2026-02-25 02:07:36,735 - DriveTransformer - INFO - Epoch [3][28250/39528] lr: 9.831e-05, eta: 7 days, 19:02:18, time: 0.817, data_time: 0.045, memory: 19865, loss_cls: 0.3252, loss_bbox: 0.4784, loss_traj: 0.9810, loss_traj_cls: 0.0051, loss_map_cls: 0.2389, loss_map_pts: 1.0899, loss_map_dir: 0.0197, d0.loss_plan_l1_fix_time: 2.5557, d0.loss_plan_l1_fix_dist: 0.4827, d1.loss_plan_l1_fix_time: 1.4231, d1.loss_plan_l1_fix_dist: 0.2983, d2.loss_plan_l1_fix_time: 1.4030, d2.loss_plan_l1_fix_dist: 0.3047, d3.loss_plan_l1_fix_time: 1.4059, d3.loss_plan_l1_fix_dist: 0.3173, d4.loss_plan_l1_fix_time: 1.4094, d4.loss_plan_l1_fix_dist: 0.3306, d5.loss_plan_l1_fix_time: 1.4140, d5.loss_plan_l1_fix_dist: 0.3437, d6.loss_plan_l1_fix_time: 1.4191, d6.loss_plan_l1_fix_dist: 0.3570, d0.loss_cls_all: 0.3349, d0.loss_bbox_all: 0.5264, d0.loss_cls: 0.3349, d0.loss_bbox: 0.5264, d1.loss_cls: 0.3295, d1.loss_bbox: 0.4985, d2.loss_cls: 0.3289, d2.loss_bbox: 0.4820, d3.loss_cls: 0.3264, d3.loss_bbox: 0.4782, d4.loss_cls: 0.3263, d4.loss_bbox: 0.4748, d5.loss_cls: 0.3261, d5.loss_bbox: 0.4756, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1020, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0104, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9836, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9805, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9763, d5.loss_traj_cls: 0.0090, d5.loss_traj: 0.9756, d0.loss_map_cls_all: 0.2879, d0.loss_map_pts_all: 2.1247, d0.loss_map_dir_all: 0.0182, d0.loss_map_cls: 0.2879, d0.loss_map_pts: 2.1247, d0.loss_map_dir: 0.0182, d1.loss_map_cls: 0.2714, d1.loss_map_pts: 1.3548, d1.loss_map_dir: 0.0177, d2.loss_map_cls: 0.2582, d2.loss_map_pts: 1.1823, d2.loss_map_dir: 0.0184, d3.loss_map_cls: 0.2485, d3.loss_map_pts: 1.1193, d3.loss_map_dir: 0.0190, d4.loss_map_cls: 0.2431, d4.loss_map_pts: 1.0973, d4.loss_map_dir: 0.0194, d5.loss_map_cls: 0.2387, d5.loss_map_pts: 1.0910, d5.loss_map_dir: 0.0196, loss: 40.4744, grad_norm: 158.3530 +2026-02-25 02:08:16,041 - DriveTransformer - INFO - Epoch [3][28300/39528] lr: 9.831e-05, eta: 7 days, 19:01:32, time: 0.786, data_time: 0.037, memory: 19865, loss_cls: 0.3078, loss_bbox: 0.4929, loss_traj: 1.0099, loss_traj_cls: 0.0050, loss_map_cls: 0.2550, loss_map_pts: 1.1610, loss_map_dir: 0.0153, d0.loss_plan_l1_fix_time: 2.4904, d0.loss_plan_l1_fix_dist: 0.4878, d1.loss_plan_l1_fix_time: 1.7196, d1.loss_plan_l1_fix_dist: 0.2417, d2.loss_plan_l1_fix_time: 1.7044, d2.loss_plan_l1_fix_dist: 0.2458, d3.loss_plan_l1_fix_time: 1.7070, d3.loss_plan_l1_fix_dist: 0.2577, d4.loss_plan_l1_fix_time: 1.7110, d4.loss_plan_l1_fix_dist: 0.2722, d5.loss_plan_l1_fix_time: 1.7155, d5.loss_plan_l1_fix_dist: 0.2924, d6.loss_plan_l1_fix_time: 1.7208, d6.loss_plan_l1_fix_dist: 0.3148, d0.loss_cls_all: 0.3309, d0.loss_bbox_all: 0.5290, d0.loss_cls: 0.3309, d0.loss_bbox: 0.5290, d1.loss_cls: 0.3189, d1.loss_bbox: 0.5098, d2.loss_cls: 0.3152, d2.loss_bbox: 0.4989, d3.loss_cls: 0.3109, d3.loss_bbox: 0.4948, d4.loss_cls: 0.3100, d4.loss_bbox: 0.4939, d5.loss_cls: 0.3081, d5.loss_bbox: 0.4921, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1579, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0307, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0013, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9977, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9948, d5.loss_traj_cls: 0.0091, d5.loss_traj: 1.0008, d0.loss_map_cls_all: 0.3087, d0.loss_map_pts_all: 1.9199, d0.loss_map_dir_all: 0.0144, d0.loss_map_cls: 0.3087, d0.loss_map_pts: 1.9199, d0.loss_map_dir: 0.0144, d1.loss_map_cls: 0.2793, d1.loss_map_pts: 1.3764, d1.loss_map_dir: 0.0141, d2.loss_map_cls: 0.2712, d2.loss_map_pts: 1.2238, d2.loss_map_dir: 0.0144, d3.loss_map_cls: 0.2604, d3.loss_map_pts: 1.1697, d3.loss_map_dir: 0.0148, d4.loss_map_cls: 0.2566, d4.loss_map_pts: 1.1567, d4.loss_map_dir: 0.0151, d5.loss_map_cls: 0.2549, d5.loss_map_pts: 1.1586, d5.loss_map_dir: 0.0153, loss: 42.0648, grad_norm: 158.0826 +2026-02-25 02:08:57,055 - DriveTransformer - INFO - Epoch [3][28350/39528] lr: 9.831e-05, eta: 7 days, 19:01:00, time: 0.820, data_time: 0.040, memory: 19865, loss_cls: 0.3391, loss_bbox: 0.5285, loss_traj: 0.9816, loss_traj_cls: 0.0048, loss_map_cls: 0.2989, loss_map_pts: 1.3212, loss_map_dir: 0.0195, d0.loss_plan_l1_fix_time: 2.3109, d0.loss_plan_l1_fix_dist: 0.4316, d1.loss_plan_l1_fix_time: 1.5938, d1.loss_plan_l1_fix_dist: 0.2601, d2.loss_plan_l1_fix_time: 1.5671, d2.loss_plan_l1_fix_dist: 0.2705, d3.loss_plan_l1_fix_time: 1.5681, d3.loss_plan_l1_fix_dist: 0.2905, d4.loss_plan_l1_fix_time: 1.5720, d4.loss_plan_l1_fix_dist: 0.3109, d5.loss_plan_l1_fix_time: 1.5765, d5.loss_plan_l1_fix_dist: 0.3316, d6.loss_plan_l1_fix_time: 1.5818, d6.loss_plan_l1_fix_dist: 0.3587, d0.loss_cls_all: 0.3586, d0.loss_bbox_all: 0.5789, d0.loss_cls: 0.3586, d0.loss_bbox: 0.5789, d1.loss_cls: 0.3474, d1.loss_bbox: 0.5487, d2.loss_cls: 0.3453, d2.loss_bbox: 0.5336, d3.loss_cls: 0.3406, d3.loss_bbox: 0.5290, d4.loss_cls: 0.3386, d4.loss_bbox: 0.5270, d5.loss_cls: 0.3387, d5.loss_bbox: 0.5269, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1620, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0314, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9943, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9883, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9826, d5.loss_traj_cls: 0.0091, d5.loss_traj: 0.9838, d0.loss_map_cls_all: 0.3579, d0.loss_map_pts_all: 2.1861, d0.loss_map_dir_all: 0.0186, d0.loss_map_cls: 0.3579, d0.loss_map_pts: 2.1861, d0.loss_map_dir: 0.0186, d1.loss_map_cls: 0.3362, d1.loss_map_pts: 1.5682, d1.loss_map_dir: 0.0177, d2.loss_map_cls: 0.3153, d2.loss_map_pts: 1.3912, d2.loss_map_dir: 0.0183, d3.loss_map_cls: 0.3085, d3.loss_map_pts: 1.3341, d3.loss_map_dir: 0.0187, d4.loss_map_cls: 0.3016, d4.loss_map_pts: 1.3205, d4.loss_map_dir: 0.0190, d5.loss_map_cls: 0.3005, d5.loss_map_pts: 1.3216, d5.loss_map_dir: 0.0194, loss: 43.6408, grad_norm: 158.4034 +2026-02-25 02:09:37,533 - DriveTransformer - INFO - Epoch [3][28400/39528] lr: 9.831e-05, eta: 7 days, 19:00:24, time: 0.811, data_time: 0.046, memory: 19865, loss_cls: 0.3256, loss_bbox: 0.4801, loss_traj: 0.9842, loss_traj_cls: 0.0049, loss_map_cls: 0.3149, loss_map_pts: 1.1957, loss_map_dir: 0.0191, d0.loss_plan_l1_fix_time: 2.5756, d0.loss_plan_l1_fix_dist: 0.4405, d1.loss_plan_l1_fix_time: 1.7043, d1.loss_plan_l1_fix_dist: 0.2745, d2.loss_plan_l1_fix_time: 1.6805, d2.loss_plan_l1_fix_dist: 0.2819, d3.loss_plan_l1_fix_time: 1.6812, d3.loss_plan_l1_fix_dist: 0.2975, d4.loss_plan_l1_fix_time: 1.6848, d4.loss_plan_l1_fix_dist: 0.3158, d5.loss_plan_l1_fix_time: 1.6890, d5.loss_plan_l1_fix_dist: 0.3367, d6.loss_plan_l1_fix_time: 1.6936, d6.loss_plan_l1_fix_dist: 0.3636, d0.loss_cls_all: 0.3399, d0.loss_bbox_all: 0.5165, d0.loss_cls: 0.3399, d0.loss_bbox: 0.5165, d1.loss_cls: 0.3293, d1.loss_bbox: 0.4933, d2.loss_cls: 0.3276, d2.loss_bbox: 0.4818, d3.loss_cls: 0.3227, d3.loss_bbox: 0.4793, d4.loss_cls: 0.3208, d4.loss_bbox: 0.4805, d5.loss_cls: 0.3217, d5.loss_bbox: 0.4802, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1779, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0044, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9810, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9797, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9780, d5.loss_traj_cls: 0.0093, d5.loss_traj: 0.9873, d0.loss_map_cls_all: 0.3768, d0.loss_map_pts_all: 2.0579, d0.loss_map_dir_all: 0.0176, d0.loss_map_cls: 0.3768, d0.loss_map_pts: 2.0579, d0.loss_map_dir: 0.0176, d1.loss_map_cls: 0.3653, d1.loss_map_pts: 1.4428, d1.loss_map_dir: 0.0176, d2.loss_map_cls: 0.3441, d2.loss_map_pts: 1.2756, d2.loss_map_dir: 0.0180, d3.loss_map_cls: 0.3308, d3.loss_map_pts: 1.2178, d3.loss_map_dir: 0.0184, d4.loss_map_cls: 0.3208, d4.loss_map_pts: 1.2007, d4.loss_map_dir: 0.0186, d5.loss_map_cls: 0.3165, d5.loss_map_pts: 1.1961, d5.loss_map_dir: 0.0189, loss: 43.2232, grad_norm: 156.7515 +2026-02-25 02:10:17,486 - DriveTransformer - INFO - Epoch [3][28450/39528] lr: 9.831e-05, eta: 7 days, 18:59:43, time: 0.798, data_time: 0.044, memory: 19865, loss_cls: 0.3080, loss_bbox: 0.4780, loss_traj: 0.9017, loss_traj_cls: 0.0051, loss_map_cls: 0.2382, loss_map_pts: 1.0608, loss_map_dir: 0.0169, d0.loss_plan_l1_fix_time: 2.8056, d0.loss_plan_l1_fix_dist: 0.5247, d1.loss_plan_l1_fix_time: 1.7699, d1.loss_plan_l1_fix_dist: 0.3172, d2.loss_plan_l1_fix_time: 1.7413, d2.loss_plan_l1_fix_dist: 0.3344, d3.loss_plan_l1_fix_time: 1.7410, d3.loss_plan_l1_fix_dist: 0.3583, d4.loss_plan_l1_fix_time: 1.7446, d4.loss_plan_l1_fix_dist: 0.3857, d5.loss_plan_l1_fix_time: 1.7489, d5.loss_plan_l1_fix_dist: 0.4162, d6.loss_plan_l1_fix_time: 1.7534, d6.loss_plan_l1_fix_dist: 0.4404, d0.loss_cls_all: 0.3201, d0.loss_bbox_all: 0.5218, d0.loss_cls: 0.3201, d0.loss_bbox: 0.5218, d1.loss_cls: 0.3150, d1.loss_bbox: 0.4982, d2.loss_cls: 0.3127, d2.loss_bbox: 0.4857, d3.loss_cls: 0.3106, d3.loss_bbox: 0.4800, d4.loss_cls: 0.3077, d4.loss_bbox: 0.4782, d5.loss_cls: 0.3075, d5.loss_bbox: 0.4767, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0858, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9466, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9147, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9115, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9015, d5.loss_traj_cls: 0.0094, d5.loss_traj: 0.9045, d0.loss_map_cls_all: 0.2830, d0.loss_map_pts_all: 1.9567, d0.loss_map_dir_all: 0.0160, d0.loss_map_cls: 0.2830, d0.loss_map_pts: 1.9567, d0.loss_map_dir: 0.0160, d1.loss_map_cls: 0.2628, d1.loss_map_pts: 1.3279, d1.loss_map_dir: 0.0155, d2.loss_map_cls: 0.2493, d2.loss_map_pts: 1.1691, d2.loss_map_dir: 0.0158, d3.loss_map_cls: 0.2419, d3.loss_map_pts: 1.0983, d3.loss_map_dir: 0.0162, d4.loss_map_cls: 0.2385, d4.loss_map_pts: 1.0708, d4.loss_map_dir: 0.0165, d5.loss_map_cls: 0.2381, d5.loss_map_pts: 1.0634, d5.loss_map_dir: 0.0167, loss: 41.9776, grad_norm: 156.5938 +2026-02-25 02:10:55,888 - DriveTransformer - INFO - Epoch [3][28500/39528] lr: 9.831e-05, eta: 7 days, 18:58:51, time: 0.768, data_time: 0.036, memory: 19865, loss_cls: 0.3302, loss_bbox: 0.5092, loss_traj: 1.0627, loss_traj_cls: 0.0053, loss_map_cls: 0.2923, loss_map_pts: 1.1106, loss_map_dir: 0.0166, d0.loss_plan_l1_fix_time: 2.6730, d0.loss_plan_l1_fix_dist: 0.3948, d1.loss_plan_l1_fix_time: 1.8413, d1.loss_plan_l1_fix_dist: 0.2599, d2.loss_plan_l1_fix_time: 1.8050, d2.loss_plan_l1_fix_dist: 0.2714, d3.loss_plan_l1_fix_time: 1.8016, d3.loss_plan_l1_fix_dist: 0.2910, d4.loss_plan_l1_fix_time: 1.8064, d4.loss_plan_l1_fix_dist: 0.3115, d5.loss_plan_l1_fix_time: 1.8132, d5.loss_plan_l1_fix_dist: 0.3310, d6.loss_plan_l1_fix_time: 1.8213, d6.loss_plan_l1_fix_dist: 0.3481, d0.loss_cls_all: 0.3493, d0.loss_bbox_all: 0.5545, d0.loss_cls: 0.3493, d0.loss_bbox: 0.5545, d1.loss_cls: 0.3414, d1.loss_bbox: 0.5246, d2.loss_cls: 0.3322, d2.loss_bbox: 0.5138, d3.loss_cls: 0.3313, d3.loss_bbox: 0.5093, d4.loss_cls: 0.3299, d4.loss_bbox: 0.5077, d5.loss_cls: 0.3308, d5.loss_bbox: 0.5067, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2617, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1183, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0751, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0638, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0660, d5.loss_traj_cls: 0.0095, d5.loss_traj: 1.0642, d0.loss_map_cls_all: 0.3477, d0.loss_map_pts_all: 1.8533, d0.loss_map_dir_all: 0.0154, d0.loss_map_cls: 0.3477, d0.loss_map_pts: 1.8533, d0.loss_map_dir: 0.0154, d1.loss_map_cls: 0.3186, d1.loss_map_pts: 1.3363, d1.loss_map_dir: 0.0151, d2.loss_map_cls: 0.2955, d2.loss_map_pts: 1.1999, d2.loss_map_dir: 0.0155, d3.loss_map_cls: 0.2909, d3.loss_map_pts: 1.1387, d3.loss_map_dir: 0.0160, d4.loss_map_cls: 0.2907, d4.loss_map_pts: 1.1157, d4.loss_map_dir: 0.0163, d5.loss_map_cls: 0.2911, d5.loss_map_pts: 1.1120, d5.loss_map_dir: 0.0165, loss: 43.6972, grad_norm: 157.6573 +2026-02-25 02:11:36,879 - DriveTransformer - INFO - Epoch [3][28550/39528] lr: 9.831e-05, eta: 7 days, 18:58:18, time: 0.820, data_time: 0.040, memory: 19865, loss_cls: 0.3641, loss_bbox: 0.5566, loss_traj: 0.8994, loss_traj_cls: 0.0054, loss_map_cls: 0.2840, loss_map_pts: 1.2226, loss_map_dir: 0.0203, d0.loss_plan_l1_fix_time: 3.3538, d0.loss_plan_l1_fix_dist: 0.4772, d1.loss_plan_l1_fix_time: 2.0617, d1.loss_plan_l1_fix_dist: 0.3192, d2.loss_plan_l1_fix_time: 2.0349, d2.loss_plan_l1_fix_dist: 0.3279, d3.loss_plan_l1_fix_time: 2.0350, d3.loss_plan_l1_fix_dist: 0.3412, d4.loss_plan_l1_fix_time: 2.0397, d4.loss_plan_l1_fix_dist: 0.3577, d5.loss_plan_l1_fix_time: 2.0459, d5.loss_plan_l1_fix_dist: 0.3749, d6.loss_plan_l1_fix_time: 2.0535, d6.loss_plan_l1_fix_dist: 0.4003, d0.loss_cls_all: 0.3795, d0.loss_bbox_all: 0.5931, d0.loss_cls: 0.3795, d0.loss_bbox: 0.5931, d1.loss_cls: 0.3761, d1.loss_bbox: 0.5667, d2.loss_cls: 0.3693, d2.loss_bbox: 0.5530, d3.loss_cls: 0.3657, d3.loss_bbox: 0.5488, d4.loss_cls: 0.3626, d4.loss_bbox: 0.5498, d5.loss_cls: 0.3619, d5.loss_bbox: 0.5532, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0635, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9510, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9113, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9050, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9007, d5.loss_traj_cls: 0.0095, d5.loss_traj: 0.8980, d0.loss_map_cls_all: 0.3261, d0.loss_map_pts_all: 2.1514, d0.loss_map_dir_all: 0.0191, d0.loss_map_cls: 0.3261, d0.loss_map_pts: 2.1514, d0.loss_map_dir: 0.0191, d1.loss_map_cls: 0.3051, d1.loss_map_pts: 1.4060, d1.loss_map_dir: 0.0186, d2.loss_map_cls: 0.2939, d2.loss_map_pts: 1.2560, d2.loss_map_dir: 0.0193, d3.loss_map_cls: 0.2912, d3.loss_map_pts: 1.2218, d3.loss_map_dir: 0.0197, d4.loss_map_cls: 0.2869, d4.loss_map_pts: 1.2143, d4.loss_map_dir: 0.0201, d5.loss_map_cls: 0.2840, d5.loss_map_pts: 1.2185, d5.loss_map_dir: 0.0202, loss: 46.6407, grad_norm: 157.8534 +2026-02-25 02:12:16,806 - DriveTransformer - INFO - Epoch [3][28600/39528] lr: 9.831e-05, eta: 7 days, 18:57:38, time: 0.799, data_time: 0.046, memory: 19865, loss_cls: 0.3551, loss_bbox: 0.5059, loss_traj: 1.0165, loss_traj_cls: 0.0053, loss_map_cls: 0.2815, loss_map_pts: 1.2344, loss_map_dir: 0.0198, d0.loss_plan_l1_fix_time: 2.6278, d0.loss_plan_l1_fix_dist: 0.4471, d1.loss_plan_l1_fix_time: 1.6711, d1.loss_plan_l1_fix_dist: 0.2979, d2.loss_plan_l1_fix_time: 1.6499, d2.loss_plan_l1_fix_dist: 0.3076, d3.loss_plan_l1_fix_time: 1.6518, d3.loss_plan_l1_fix_dist: 0.3224, d4.loss_plan_l1_fix_time: 1.6558, d4.loss_plan_l1_fix_dist: 0.3398, d5.loss_plan_l1_fix_time: 1.6606, d5.loss_plan_l1_fix_dist: 0.3607, d6.loss_plan_l1_fix_time: 1.6661, d6.loss_plan_l1_fix_dist: 0.3835, d0.loss_cls_all: 0.3566, d0.loss_bbox_all: 0.5516, d0.loss_cls: 0.3566, d0.loss_bbox: 0.5516, d1.loss_cls: 0.3519, d1.loss_bbox: 0.5233, d2.loss_cls: 0.3519, d2.loss_bbox: 0.5112, d3.loss_cls: 0.3495, d3.loss_bbox: 0.5045, d4.loss_cls: 0.3500, d4.loss_bbox: 0.5054, d5.loss_cls: 0.3518, d5.loss_bbox: 0.5049, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2277, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0765, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0402, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0289, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0240, d5.loss_traj_cls: 0.0093, d5.loss_traj: 1.0195, d0.loss_map_cls_all: 0.3308, d0.loss_map_pts_all: 2.0372, d0.loss_map_dir_all: 0.0182, d0.loss_map_cls: 0.3308, d0.loss_map_pts: 2.0372, d0.loss_map_dir: 0.0182, d1.loss_map_cls: 0.3090, d1.loss_map_pts: 1.4394, d1.loss_map_dir: 0.0177, d2.loss_map_cls: 0.2948, d2.loss_map_pts: 1.3055, d2.loss_map_dir: 0.0185, d3.loss_map_cls: 0.2886, d3.loss_map_pts: 1.2508, d3.loss_map_dir: 0.0190, d4.loss_map_cls: 0.2836, d4.loss_map_pts: 1.2369, d4.loss_map_dir: 0.0195, d5.loss_map_cls: 0.2814, d5.loss_map_pts: 1.2347, d5.loss_map_dir: 0.0197, loss: 43.8038, grad_norm: 155.4328 +2026-02-25 02:12:57,915 - DriveTransformer - INFO - Epoch [3][28650/39528] lr: 9.831e-05, eta: 7 days, 18:57:06, time: 0.822, data_time: 0.042, memory: 19865, loss_cls: 0.3002, loss_bbox: 0.4728, loss_traj: 0.9856, loss_traj_cls: 0.0051, loss_map_cls: 0.2678, loss_map_pts: 1.1959, loss_map_dir: 0.0171, d0.loss_plan_l1_fix_time: 2.4164, d0.loss_plan_l1_fix_dist: 0.4940, d1.loss_plan_l1_fix_time: 1.6387, d1.loss_plan_l1_fix_dist: 0.2675, d2.loss_plan_l1_fix_time: 1.6333, d2.loss_plan_l1_fix_dist: 0.2813, d3.loss_plan_l1_fix_time: 1.6346, d3.loss_plan_l1_fix_dist: 0.3040, d4.loss_plan_l1_fix_time: 1.6379, d4.loss_plan_l1_fix_dist: 0.3296, d5.loss_plan_l1_fix_time: 1.6416, d5.loss_plan_l1_fix_dist: 0.3536, d6.loss_plan_l1_fix_time: 1.6461, d6.loss_plan_l1_fix_dist: 0.3779, d0.loss_cls_all: 0.3110, d0.loss_bbox_all: 0.5211, d0.loss_cls: 0.3110, d0.loss_bbox: 0.5211, d1.loss_cls: 0.3117, d1.loss_bbox: 0.4898, d2.loss_cls: 0.3057, d2.loss_bbox: 0.4792, d3.loss_cls: 0.3030, d3.loss_bbox: 0.4715, d4.loss_cls: 0.3014, d4.loss_bbox: 0.4713, d5.loss_cls: 0.2994, d5.loss_bbox: 0.4714, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1656, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0401, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9921, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9879, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9817, d5.loss_traj_cls: 0.0093, d5.loss_traj: 0.9818, d0.loss_map_cls_all: 0.3240, d0.loss_map_pts_all: 2.0454, d0.loss_map_dir_all: 0.0161, d0.loss_map_cls: 0.3240, d0.loss_map_pts: 2.0454, d0.loss_map_dir: 0.0161, d1.loss_map_cls: 0.2921, d1.loss_map_pts: 1.4257, d1.loss_map_dir: 0.0154, d2.loss_map_cls: 0.2754, d2.loss_map_pts: 1.2848, d2.loss_map_dir: 0.0159, d3.loss_map_cls: 0.2665, d3.loss_map_pts: 1.2251, d3.loss_map_dir: 0.0163, d4.loss_map_cls: 0.2646, d4.loss_map_pts: 1.2027, d4.loss_map_dir: 0.0167, d5.loss_map_cls: 0.2656, d5.loss_map_pts: 1.1962, d5.loss_map_dir: 0.0170, loss: 42.1845, grad_norm: 152.1375 +2026-02-25 02:13:37,207 - DriveTransformer - INFO - Epoch [3][28700/39528] lr: 9.831e-05, eta: 7 days, 18:56:20, time: 0.786, data_time: 0.036, memory: 19865, loss_cls: 0.3500, loss_bbox: 0.5030, loss_traj: 1.0022, loss_traj_cls: 0.0049, loss_map_cls: 0.2888, loss_map_pts: 1.1748, loss_map_dir: 0.0169, d0.loss_plan_l1_fix_time: 2.3723, d0.loss_plan_l1_fix_dist: 0.4646, d1.loss_plan_l1_fix_time: 1.3960, d1.loss_plan_l1_fix_dist: 0.2797, d2.loss_plan_l1_fix_time: 1.3809, d2.loss_plan_l1_fix_dist: 0.2894, d3.loss_plan_l1_fix_time: 1.3804, d3.loss_plan_l1_fix_dist: 0.3049, d4.loss_plan_l1_fix_time: 1.3830, d4.loss_plan_l1_fix_dist: 0.3249, d5.loss_plan_l1_fix_time: 1.3866, d5.loss_plan_l1_fix_dist: 0.3464, d6.loss_plan_l1_fix_time: 1.3909, d6.loss_plan_l1_fix_dist: 0.3685, d0.loss_cls_all: 0.3600, d0.loss_bbox_all: 0.5516, d0.loss_cls: 0.3600, d0.loss_bbox: 0.5516, d1.loss_cls: 0.3550, d1.loss_bbox: 0.5189, d2.loss_cls: 0.3534, d2.loss_bbox: 0.5058, d3.loss_cls: 0.3522, d3.loss_bbox: 0.5012, d4.loss_cls: 0.3504, d4.loss_bbox: 0.5003, d5.loss_cls: 0.3521, d5.loss_bbox: 0.5002, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2236, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0685, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0161, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0077, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.0026, d5.loss_traj_cls: 0.0093, d5.loss_traj: 1.0022, d0.loss_map_cls_all: 0.3451, d0.loss_map_pts_all: 1.9773, d0.loss_map_dir_all: 0.0149, d0.loss_map_cls: 0.3451, d0.loss_map_pts: 1.9773, d0.loss_map_dir: 0.0149, d1.loss_map_cls: 0.3155, d1.loss_map_pts: 1.3933, d1.loss_map_dir: 0.0150, d2.loss_map_cls: 0.2995, d2.loss_map_pts: 1.2652, d2.loss_map_dir: 0.0156, d3.loss_map_cls: 0.2915, d3.loss_map_pts: 1.2048, d3.loss_map_dir: 0.0162, d4.loss_map_cls: 0.2908, d4.loss_map_pts: 1.1819, d4.loss_map_dir: 0.0166, d5.loss_map_cls: 0.2883, d5.loss_map_pts: 1.1743, d5.loss_map_dir: 0.0168, loss: 41.3162, grad_norm: 150.3664 +2026-02-25 02:14:16,506 - DriveTransformer - INFO - Epoch [3][28750/39528] lr: 9.831e-05, eta: 7 days, 18:55:35, time: 0.786, data_time: 0.043, memory: 19865, loss_cls: 0.3488, loss_bbox: 0.5270, loss_traj: 1.0496, loss_traj_cls: 0.0048, loss_map_cls: 0.2561, loss_map_pts: 1.1663, loss_map_dir: 0.0179, d0.loss_plan_l1_fix_time: 2.9386, d0.loss_plan_l1_fix_dist: 0.5043, d1.loss_plan_l1_fix_time: 1.9133, d1.loss_plan_l1_fix_dist: 0.2953, d2.loss_plan_l1_fix_time: 1.9009, d2.loss_plan_l1_fix_dist: 0.3086, d3.loss_plan_l1_fix_time: 1.8981, d3.loss_plan_l1_fix_dist: 0.3260, d4.loss_plan_l1_fix_time: 1.9005, d4.loss_plan_l1_fix_dist: 0.3458, d5.loss_plan_l1_fix_time: 1.9035, d5.loss_plan_l1_fix_dist: 0.3689, d6.loss_plan_l1_fix_time: 1.9070, d6.loss_plan_l1_fix_dist: 0.3915, d0.loss_cls_all: 0.3599, d0.loss_bbox_all: 0.5645, d0.loss_cls: 0.3599, d0.loss_bbox: 0.5645, d1.loss_cls: 0.3525, d1.loss_bbox: 0.5369, d2.loss_cls: 0.3503, d2.loss_bbox: 0.5256, d3.loss_cls: 0.3493, d3.loss_bbox: 0.5225, d4.loss_cls: 0.3483, d4.loss_bbox: 0.5223, d5.loss_cls: 0.3470, d5.loss_bbox: 0.5254, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1627, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0675, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0505, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0476, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.0523, d5.loss_traj_cls: 0.0093, d5.loss_traj: 1.0498, d0.loss_map_cls_all: 0.3208, d0.loss_map_pts_all: 2.0499, d0.loss_map_dir_all: 0.0164, d0.loss_map_cls: 0.3208, d0.loss_map_pts: 2.0499, d0.loss_map_dir: 0.0164, d1.loss_map_cls: 0.2855, d1.loss_map_pts: 1.3948, d1.loss_map_dir: 0.0163, d2.loss_map_cls: 0.2704, d2.loss_map_pts: 1.2518, d2.loss_map_dir: 0.0168, d3.loss_map_cls: 0.2649, d3.loss_map_pts: 1.1903, d3.loss_map_dir: 0.0173, d4.loss_map_cls: 0.2593, d4.loss_map_pts: 1.1674, d4.loss_map_dir: 0.0175, d5.loss_map_cls: 0.2559, d5.loss_map_pts: 1.1628, d5.loss_map_dir: 0.0177, loss: 45.3088, grad_norm: 148.8118 +2026-02-25 02:14:59,087 - DriveTransformer - INFO - Epoch [3][28800/39528] lr: 9.831e-05, eta: 7 days, 18:55:15, time: 0.852, data_time: 0.044, memory: 19865, loss_cls: 0.3591, loss_bbox: 0.5307, loss_traj: 0.9618, loss_traj_cls: 0.0049, loss_map_cls: 0.2564, loss_map_pts: 1.2549, loss_map_dir: 0.0201, d0.loss_plan_l1_fix_time: 2.7498, d0.loss_plan_l1_fix_dist: 0.3607, d1.loss_plan_l1_fix_time: 1.5918, d1.loss_plan_l1_fix_dist: 0.2518, d2.loss_plan_l1_fix_time: 1.5725, d2.loss_plan_l1_fix_dist: 0.2656, d3.loss_plan_l1_fix_time: 1.5735, d3.loss_plan_l1_fix_dist: 0.2812, d4.loss_plan_l1_fix_time: 1.5772, d4.loss_plan_l1_fix_dist: 0.2974, d5.loss_plan_l1_fix_time: 1.5813, d5.loss_plan_l1_fix_dist: 0.3129, d6.loss_plan_l1_fix_time: 1.5860, d6.loss_plan_l1_fix_dist: 0.3313, d0.loss_cls_all: 0.3727, d0.loss_bbox_all: 0.5715, d0.loss_cls: 0.3727, d0.loss_bbox: 0.5715, d1.loss_cls: 0.3644, d1.loss_bbox: 0.5474, d2.loss_cls: 0.3594, d2.loss_bbox: 0.5349, d3.loss_cls: 0.3574, d3.loss_bbox: 0.5266, d4.loss_cls: 0.3556, d4.loss_bbox: 0.5257, d5.loss_cls: 0.3574, d5.loss_bbox: 0.5274, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1667, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0100, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9705, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9580, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9543, d5.loss_traj_cls: 0.0094, d5.loss_traj: 0.9541, d0.loss_map_cls_all: 0.3071, d0.loss_map_pts_all: 2.2105, d0.loss_map_dir_all: 0.0183, d0.loss_map_cls: 0.3071, d0.loss_map_pts: 2.2105, d0.loss_map_dir: 0.0183, d1.loss_map_cls: 0.2854, d1.loss_map_pts: 1.4717, d1.loss_map_dir: 0.0181, d2.loss_map_cls: 0.2736, d2.loss_map_pts: 1.3288, d2.loss_map_dir: 0.0188, d3.loss_map_cls: 0.2644, d3.loss_map_pts: 1.2751, d3.loss_map_dir: 0.0194, d4.loss_map_cls: 0.2580, d4.loss_map_pts: 1.2588, d4.loss_map_dir: 0.0198, d5.loss_map_cls: 0.2549, d5.loss_map_pts: 1.2554, d5.loss_map_dir: 0.0200, loss: 43.1873, grad_norm: 149.7733 +2026-02-25 02:15:37,419 - DriveTransformer - INFO - Epoch [3][28850/39528] lr: 9.831e-05, eta: 7 days, 18:54:22, time: 0.767, data_time: 0.044, memory: 19865, loss_cls: 0.3481, loss_bbox: 0.4889, loss_traj: 1.0437, loss_traj_cls: 0.0049, loss_map_cls: 0.2715, loss_map_pts: 1.0483, loss_map_dir: 0.0160, d0.loss_plan_l1_fix_time: 2.7314, d0.loss_plan_l1_fix_dist: 0.4700, d1.loss_plan_l1_fix_time: 1.6838, d1.loss_plan_l1_fix_dist: 0.2565, d2.loss_plan_l1_fix_time: 1.6712, d2.loss_plan_l1_fix_dist: 0.2677, d3.loss_plan_l1_fix_time: 1.6772, d3.loss_plan_l1_fix_dist: 0.2856, d4.loss_plan_l1_fix_time: 1.6831, d4.loss_plan_l1_fix_dist: 0.3070, d5.loss_plan_l1_fix_time: 1.6892, d5.loss_plan_l1_fix_dist: 0.3284, d6.loss_plan_l1_fix_time: 1.6954, d6.loss_plan_l1_fix_dist: 0.3502, d0.loss_cls_all: 0.3624, d0.loss_bbox_all: 0.5355, d0.loss_cls: 0.3624, d0.loss_bbox: 0.5355, d1.loss_cls: 0.3600, d1.loss_bbox: 0.5093, d2.loss_cls: 0.3523, d2.loss_bbox: 0.4963, d3.loss_cls: 0.3511, d3.loss_bbox: 0.4899, d4.loss_cls: 0.3474, d4.loss_bbox: 0.4877, d5.loss_cls: 0.3476, d5.loss_bbox: 0.4874, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1663, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0524, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0326, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0340, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0360, d5.loss_traj_cls: 0.0093, d5.loss_traj: 1.0380, d0.loss_map_cls_all: 0.3209, d0.loss_map_pts_all: 1.7859, d0.loss_map_dir_all: 0.0149, d0.loss_map_cls: 0.3209, d0.loss_map_pts: 1.7859, d0.loss_map_dir: 0.0149, d1.loss_map_cls: 0.2961, d1.loss_map_pts: 1.2289, d1.loss_map_dir: 0.0145, d2.loss_map_cls: 0.2820, d2.loss_map_pts: 1.0997, d2.loss_map_dir: 0.0150, d3.loss_map_cls: 0.2760, d3.loss_map_pts: 1.0530, d3.loss_map_dir: 0.0154, d4.loss_map_cls: 0.2720, d4.loss_map_pts: 1.0409, d4.loss_map_dir: 0.0157, d5.loss_map_cls: 0.2716, d5.loss_map_pts: 1.0427, d5.loss_map_dir: 0.0159, loss: 41.8992, grad_norm: 149.9247 +2026-02-25 02:16:19,309 - DriveTransformer - INFO - Epoch [3][28900/39528] lr: 9.831e-05, eta: 7 days, 18:53:56, time: 0.838, data_time: 0.041, memory: 19865, loss_cls: 0.3379, loss_bbox: 0.4912, loss_traj: 0.9614, loss_traj_cls: 0.0050, loss_map_cls: 0.2419, loss_map_pts: 1.1267, loss_map_dir: 0.0192, d0.loss_plan_l1_fix_time: 2.5765, d0.loss_plan_l1_fix_dist: 0.4771, d1.loss_plan_l1_fix_time: 1.7783, d1.loss_plan_l1_fix_dist: 0.2737, d2.loss_plan_l1_fix_time: 1.7584, d2.loss_plan_l1_fix_dist: 0.2773, d3.loss_plan_l1_fix_time: 1.7601, d3.loss_plan_l1_fix_dist: 0.2887, d4.loss_plan_l1_fix_time: 1.7645, d4.loss_plan_l1_fix_dist: 0.3034, d5.loss_plan_l1_fix_time: 1.7699, d5.loss_plan_l1_fix_dist: 0.3205, d6.loss_plan_l1_fix_time: 1.7764, d6.loss_plan_l1_fix_dist: 0.3383, d0.loss_cls_all: 0.3500, d0.loss_bbox_all: 0.5240, d0.loss_cls: 0.3500, d0.loss_bbox: 0.5240, d1.loss_cls: 0.3491, d1.loss_bbox: 0.4976, d2.loss_cls: 0.3436, d2.loss_bbox: 0.4890, d3.loss_cls: 0.3406, d3.loss_bbox: 0.4869, d4.loss_cls: 0.3382, d4.loss_bbox: 0.4880, d5.loss_cls: 0.3376, d5.loss_bbox: 0.4888, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1120, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.9765, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9608, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9590, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9585, d5.loss_traj_cls: 0.0093, d5.loss_traj: 0.9532, d0.loss_map_cls_all: 0.2906, d0.loss_map_pts_all: 2.0548, d0.loss_map_dir_all: 0.0181, d0.loss_map_cls: 0.2906, d0.loss_map_pts: 2.0548, d0.loss_map_dir: 0.0181, d1.loss_map_cls: 0.2788, d1.loss_map_pts: 1.3316, d1.loss_map_dir: 0.0178, d2.loss_map_cls: 0.2616, d2.loss_map_pts: 1.1931, d2.loss_map_dir: 0.0182, d3.loss_map_cls: 0.2493, d3.loss_map_pts: 1.1404, d3.loss_map_dir: 0.0186, d4.loss_map_cls: 0.2442, d4.loss_map_pts: 1.1241, d4.loss_map_dir: 0.0189, d5.loss_map_cls: 0.2404, d5.loss_map_pts: 1.1225, d5.loss_map_dir: 0.0191, loss: 42.4939, grad_norm: 150.2391 +2026-02-25 02:16:59,490 - DriveTransformer - INFO - Epoch [3][28950/39528] lr: 9.831e-05, eta: 7 days, 18:53:18, time: 0.804, data_time: 0.039, memory: 19865, loss_cls: 0.3278, loss_bbox: 0.4659, loss_traj: 1.0769, loss_traj_cls: 0.0051, loss_map_cls: 0.2417, loss_map_pts: 1.0704, loss_map_dir: 0.0180, d0.loss_plan_l1_fix_time: 2.6020, d0.loss_plan_l1_fix_dist: 0.3661, d1.loss_plan_l1_fix_time: 1.5225, d1.loss_plan_l1_fix_dist: 0.2607, d2.loss_plan_l1_fix_time: 1.4919, d2.loss_plan_l1_fix_dist: 0.2739, d3.loss_plan_l1_fix_time: 1.4940, d3.loss_plan_l1_fix_dist: 0.2905, d4.loss_plan_l1_fix_time: 1.4973, d4.loss_plan_l1_fix_dist: 0.3105, d5.loss_plan_l1_fix_time: 1.5009, d5.loss_plan_l1_fix_dist: 0.3301, d6.loss_plan_l1_fix_time: 1.5060, d6.loss_plan_l1_fix_dist: 0.3531, d0.loss_cls_all: 0.3397, d0.loss_bbox_all: 0.5099, d0.loss_cls: 0.3397, d0.loss_bbox: 0.5099, d1.loss_cls: 0.3361, d1.loss_bbox: 0.4836, d2.loss_cls: 0.3332, d2.loss_bbox: 0.4708, d3.loss_cls: 0.3323, d3.loss_bbox: 0.4651, d4.loss_cls: 0.3309, d4.loss_bbox: 0.4647, d5.loss_cls: 0.3272, d5.loss_bbox: 0.4657, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2294, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0922, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0681, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0644, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.0708, d5.loss_traj_cls: 0.0093, d5.loss_traj: 1.0754, d0.loss_map_cls_all: 0.2939, d0.loss_map_pts_all: 1.9928, d0.loss_map_dir_all: 0.0174, d0.loss_map_cls: 0.2939, d0.loss_map_pts: 1.9928, d0.loss_map_dir: 0.0174, d1.loss_map_cls: 0.2698, d1.loss_map_pts: 1.2685, d1.loss_map_dir: 0.0167, d2.loss_map_cls: 0.2562, d2.loss_map_pts: 1.1386, d2.loss_map_dir: 0.0171, d3.loss_map_cls: 0.2444, d3.loss_map_pts: 1.0887, d3.loss_map_dir: 0.0174, d4.loss_map_cls: 0.2411, d4.loss_map_pts: 1.0695, d4.loss_map_dir: 0.0176, d5.loss_map_cls: 0.2414, d5.loss_map_pts: 1.0676, d5.loss_map_dir: 0.0179, loss: 40.9097, grad_norm: 152.6652 +2026-02-25 02:17:38,580 - DriveTransformer - INFO - Epoch [3][29000/39528] lr: 9.831e-05, eta: 7 days, 18:52:30, time: 0.782, data_time: 0.047, memory: 19865, loss_cls: 0.3374, loss_bbox: 0.5044, loss_traj: 0.8723, loss_traj_cls: 0.0051, loss_map_cls: 0.2772, loss_map_pts: 1.1988, loss_map_dir: 0.0212, d0.loss_plan_l1_fix_time: 2.7274, d0.loss_plan_l1_fix_dist: 0.4575, d1.loss_plan_l1_fix_time: 1.7776, d1.loss_plan_l1_fix_dist: 0.3233, d2.loss_plan_l1_fix_time: 1.7585, d2.loss_plan_l1_fix_dist: 0.3282, d3.loss_plan_l1_fix_time: 1.7608, d3.loss_plan_l1_fix_dist: 0.3390, d4.loss_plan_l1_fix_time: 1.7655, d4.loss_plan_l1_fix_dist: 0.3527, d5.loss_plan_l1_fix_time: 1.7710, d5.loss_plan_l1_fix_dist: 0.3692, d6.loss_plan_l1_fix_time: 1.7780, d6.loss_plan_l1_fix_dist: 0.3908, d0.loss_cls_all: 0.3484, d0.loss_bbox_all: 0.5522, d0.loss_cls: 0.3484, d0.loss_bbox: 0.5522, d1.loss_cls: 0.3456, d1.loss_bbox: 0.5262, d2.loss_cls: 0.3385, d2.loss_bbox: 0.5115, d3.loss_cls: 0.3378, d3.loss_bbox: 0.5048, d4.loss_cls: 0.3346, d4.loss_bbox: 0.5027, d5.loss_cls: 0.3344, d5.loss_bbox: 0.5042, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0311, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8994, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8765, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8752, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8688, d5.loss_traj_cls: 0.0093, d5.loss_traj: 0.8698, d0.loss_map_cls_all: 0.3244, d0.loss_map_pts_all: 2.0024, d0.loss_map_dir_all: 0.0201, d0.loss_map_cls: 0.3244, d0.loss_map_pts: 2.0024, d0.loss_map_dir: 0.0201, d1.loss_map_cls: 0.2993, d1.loss_map_pts: 1.4434, d1.loss_map_dir: 0.0197, d2.loss_map_cls: 0.2860, d2.loss_map_pts: 1.2923, d2.loss_map_dir: 0.0201, d3.loss_map_cls: 0.2818, d3.loss_map_pts: 1.2268, d3.loss_map_dir: 0.0205, d4.loss_map_cls: 0.2794, d4.loss_map_pts: 1.2024, d4.loss_map_dir: 0.0209, d5.loss_map_cls: 0.2774, d5.loss_map_pts: 1.1979, d5.loss_map_dir: 0.0210, loss: 43.1755, grad_norm: 152.9379 +2026-02-25 02:18:18,557 - DriveTransformer - INFO - Epoch [3][29050/39528] lr: 9.831e-05, eta: 7 days, 18:51:50, time: 0.800, data_time: 0.042, memory: 19865, loss_cls: 0.3434, loss_bbox: 0.5100, loss_traj: 1.0894, loss_traj_cls: 0.0050, loss_map_cls: 0.2745, loss_map_pts: 1.1542, loss_map_dir: 0.0183, d0.loss_plan_l1_fix_time: 2.7379, d0.loss_plan_l1_fix_dist: 0.4250, d1.loss_plan_l1_fix_time: 1.8203, d1.loss_plan_l1_fix_dist: 0.2753, d2.loss_plan_l1_fix_time: 1.8002, d2.loss_plan_l1_fix_dist: 0.2827, d3.loss_plan_l1_fix_time: 1.7978, d3.loss_plan_l1_fix_dist: 0.2979, d4.loss_plan_l1_fix_time: 1.8001, d4.loss_plan_l1_fix_dist: 0.3159, d5.loss_plan_l1_fix_time: 1.8036, d5.loss_plan_l1_fix_dist: 0.3360, d6.loss_plan_l1_fix_time: 1.8074, d6.loss_plan_l1_fix_dist: 0.3527, d0.loss_cls_all: 0.3471, d0.loss_bbox_all: 0.5486, d0.loss_cls: 0.3471, d0.loss_bbox: 0.5486, d1.loss_cls: 0.3420, d1.loss_bbox: 0.5257, d2.loss_cls: 0.3372, d2.loss_bbox: 0.5159, d3.loss_cls: 0.3379, d3.loss_bbox: 0.5103, d4.loss_cls: 0.3382, d4.loss_bbox: 0.5086, d5.loss_cls: 0.3397, d5.loss_bbox: 0.5092, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2711, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1138, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0832, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0836, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.0808, d5.loss_traj_cls: 0.0094, d5.loss_traj: 1.0836, d0.loss_map_cls_all: 0.3283, d0.loss_map_pts_all: 1.9051, d0.loss_map_dir_all: 0.0169, d0.loss_map_cls: 0.3283, d0.loss_map_pts: 1.9051, d0.loss_map_dir: 0.0169, d1.loss_map_cls: 0.3012, d1.loss_map_pts: 1.3695, d1.loss_map_dir: 0.0170, d2.loss_map_cls: 0.2874, d2.loss_map_pts: 1.2277, d2.loss_map_dir: 0.0175, d3.loss_map_cls: 0.2780, d3.loss_map_pts: 1.1754, d3.loss_map_dir: 0.0178, d4.loss_map_cls: 0.2727, d4.loss_map_pts: 1.1643, d4.loss_map_dir: 0.0180, d5.loss_map_cls: 0.2741, d5.loss_map_pts: 1.1590, d5.loss_map_dir: 0.0182, loss: 44.1323, grad_norm: 151.8089 +2026-02-25 02:18:59,461 - DriveTransformer - INFO - Epoch [3][29100/39528] lr: 9.831e-05, eta: 7 days, 18:51:17, time: 0.818, data_time: 0.046, memory: 19865, loss_cls: 0.3098, loss_bbox: 0.4532, loss_traj: 1.1184, loss_traj_cls: 0.0052, loss_map_cls: 0.2346, loss_map_pts: 1.0255, loss_map_dir: 0.0161, d0.loss_plan_l1_fix_time: 2.5396, d0.loss_plan_l1_fix_dist: 0.3476, d1.loss_plan_l1_fix_time: 1.5118, d1.loss_plan_l1_fix_dist: 0.2177, d2.loss_plan_l1_fix_time: 1.4915, d2.loss_plan_l1_fix_dist: 0.2266, d3.loss_plan_l1_fix_time: 1.4877, d3.loss_plan_l1_fix_dist: 0.2436, d4.loss_plan_l1_fix_time: 1.4902, d4.loss_plan_l1_fix_dist: 0.2649, d5.loss_plan_l1_fix_time: 1.4942, d5.loss_plan_l1_fix_dist: 0.2878, d6.loss_plan_l1_fix_time: 1.4992, d6.loss_plan_l1_fix_dist: 0.3127, d0.loss_cls_all: 0.3216, d0.loss_bbox_all: 0.4995, d0.loss_cls: 0.3216, d0.loss_bbox: 0.4995, d1.loss_cls: 0.3130, d1.loss_bbox: 0.4729, d2.loss_cls: 0.3110, d2.loss_bbox: 0.4617, d3.loss_cls: 0.3091, d3.loss_bbox: 0.4562, d4.loss_cls: 0.3073, d4.loss_bbox: 0.4536, d5.loss_cls: 0.3076, d5.loss_bbox: 0.4523, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3971, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1999, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1433, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1298, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.1213, d5.loss_traj_cls: 0.0096, d5.loss_traj: 1.1159, d0.loss_map_cls_all: 0.2828, d0.loss_map_pts_all: 1.7711, d0.loss_map_dir_all: 0.0149, d0.loss_map_cls: 0.2828, d0.loss_map_pts: 1.7711, d0.loss_map_dir: 0.0149, d1.loss_map_cls: 0.2603, d1.loss_map_pts: 1.2263, d1.loss_map_dir: 0.0147, d2.loss_map_cls: 0.2485, d2.loss_map_pts: 1.1098, d2.loss_map_dir: 0.0152, d3.loss_map_cls: 0.2395, d3.loss_map_pts: 1.0567, d3.loss_map_dir: 0.0156, d4.loss_map_cls: 0.2361, d4.loss_map_pts: 1.0351, d4.loss_map_dir: 0.0158, d5.loss_map_cls: 0.2338, d5.loss_map_pts: 1.0283, d5.loss_map_dir: 0.0160, loss: 40.0758, grad_norm: 150.8961 +2026-02-25 02:19:40,131 - DriveTransformer - INFO - Epoch [3][29150/39528] lr: 9.831e-05, eta: 7 days, 18:50:42, time: 0.813, data_time: 0.049, memory: 19865, loss_cls: 0.3362, loss_bbox: 0.5002, loss_traj: 0.9416, loss_traj_cls: 0.0051, loss_map_cls: 0.2757, loss_map_pts: 1.1354, loss_map_dir: 0.0216, d0.loss_plan_l1_fix_time: 2.9058, d0.loss_plan_l1_fix_dist: 0.3663, d1.loss_plan_l1_fix_time: 1.7438, d1.loss_plan_l1_fix_dist: 0.2374, d2.loss_plan_l1_fix_time: 1.7258, d2.loss_plan_l1_fix_dist: 0.2441, d3.loss_plan_l1_fix_time: 1.7259, d3.loss_plan_l1_fix_dist: 0.2570, d4.loss_plan_l1_fix_time: 1.7294, d4.loss_plan_l1_fix_dist: 0.2727, d5.loss_plan_l1_fix_time: 1.7338, d5.loss_plan_l1_fix_dist: 0.2910, d6.loss_plan_l1_fix_time: 1.7384, d6.loss_plan_l1_fix_dist: 0.3110, d0.loss_cls_all: 0.3484, d0.loss_bbox_all: 0.5364, d0.loss_cls: 0.3484, d0.loss_bbox: 0.5364, d1.loss_cls: 0.3389, d1.loss_bbox: 0.5120, d2.loss_cls: 0.3368, d2.loss_bbox: 0.4983, d3.loss_cls: 0.3380, d3.loss_bbox: 0.4935, d4.loss_cls: 0.3335, d4.loss_bbox: 0.4936, d5.loss_cls: 0.3352, d5.loss_bbox: 0.4951, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0753, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9595, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9350, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9344, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9364, d5.loss_traj_cls: 0.0095, d5.loss_traj: 0.9414, d0.loss_map_cls_all: 0.3223, d0.loss_map_pts_all: 2.1352, d0.loss_map_dir_all: 0.0203, d0.loss_map_cls: 0.3223, d0.loss_map_pts: 2.1352, d0.loss_map_dir: 0.0203, d1.loss_map_cls: 0.2991, d1.loss_map_pts: 1.3850, d1.loss_map_dir: 0.0198, d2.loss_map_cls: 0.2891, d2.loss_map_pts: 1.2260, d2.loss_map_dir: 0.0204, d3.loss_map_cls: 0.2819, d3.loss_map_pts: 1.1630, d3.loss_map_dir: 0.0210, d4.loss_map_cls: 0.2762, d4.loss_map_pts: 1.1425, d4.loss_map_dir: 0.0213, d5.loss_map_cls: 0.2749, d5.loss_map_pts: 1.1384, d5.loss_map_dir: 0.0215, loss: 42.7751, grad_norm: 149.7543 +2026-02-25 02:20:22,918 - DriveTransformer - INFO - Epoch [3][29200/39528] lr: 9.831e-05, eta: 7 days, 18:50:24, time: 0.857, data_time: 0.038, memory: 19865, loss_cls: 0.3363, loss_bbox: 0.5047, loss_traj: 0.9955, loss_traj_cls: 0.0051, loss_map_cls: 0.2680, loss_map_pts: 1.2241, loss_map_dir: 0.0216, d0.loss_plan_l1_fix_time: 2.7876, d0.loss_plan_l1_fix_dist: 0.4233, d1.loss_plan_l1_fix_time: 1.9135, d1.loss_plan_l1_fix_dist: 0.2858, d2.loss_plan_l1_fix_time: 1.8766, d2.loss_plan_l1_fix_dist: 0.2956, d3.loss_plan_l1_fix_time: 1.8738, d3.loss_plan_l1_fix_dist: 0.3093, d4.loss_plan_l1_fix_time: 1.8760, d4.loss_plan_l1_fix_dist: 0.3241, d5.loss_plan_l1_fix_time: 1.8795, d5.loss_plan_l1_fix_dist: 0.3426, d6.loss_plan_l1_fix_time: 1.8843, d6.loss_plan_l1_fix_dist: 0.3621, d0.loss_cls_all: 0.3574, d0.loss_bbox_all: 0.5524, d0.loss_cls: 0.3574, d0.loss_bbox: 0.5524, d1.loss_cls: 0.3462, d1.loss_bbox: 0.5219, d2.loss_cls: 0.3450, d2.loss_bbox: 0.5089, d3.loss_cls: 0.3434, d3.loss_bbox: 0.5037, d4.loss_cls: 0.3392, d4.loss_bbox: 0.5016, d5.loss_cls: 0.3379, d5.loss_bbox: 0.5022, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2620, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0602, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0213, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0109, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.0015, d5.loss_traj_cls: 0.0095, d5.loss_traj: 0.9994, d0.loss_map_cls_all: 0.3164, d0.loss_map_pts_all: 2.2196, d0.loss_map_dir_all: 0.0196, d0.loss_map_cls: 0.3164, d0.loss_map_pts: 2.2196, d0.loss_map_dir: 0.0196, d1.loss_map_cls: 0.2935, d1.loss_map_pts: 1.4737, d1.loss_map_dir: 0.0193, d2.loss_map_cls: 0.2831, d2.loss_map_pts: 1.3162, d2.loss_map_dir: 0.0201, d3.loss_map_cls: 0.2720, d3.loss_map_pts: 1.2568, d3.loss_map_dir: 0.0207, d4.loss_map_cls: 0.2685, d4.loss_map_pts: 1.2362, d4.loss_map_dir: 0.0213, d5.loss_map_cls: 0.2671, d5.loss_map_pts: 1.2279, d5.loss_map_dir: 0.0215, loss: 45.3380, grad_norm: 151.5329 +2026-02-25 02:21:03,743 - DriveTransformer - INFO - Epoch [3][29250/39528] lr: 9.831e-05, eta: 7 days, 18:49:50, time: 0.815, data_time: 0.038, memory: 19865, loss_cls: 0.3538, loss_bbox: 0.5224, loss_traj: 1.1522, loss_traj_cls: 0.0049, loss_map_cls: 0.2884, loss_map_pts: 1.2077, loss_map_dir: 0.0183, d0.loss_plan_l1_fix_time: 2.7033, d0.loss_plan_l1_fix_dist: 0.4461, d1.loss_plan_l1_fix_time: 1.9804, d1.loss_plan_l1_fix_dist: 0.2867, d2.loss_plan_l1_fix_time: 1.9543, d2.loss_plan_l1_fix_dist: 0.2908, d3.loss_plan_l1_fix_time: 1.9592, d3.loss_plan_l1_fix_dist: 0.3042, d4.loss_plan_l1_fix_time: 1.9648, d4.loss_plan_l1_fix_dist: 0.3209, d5.loss_plan_l1_fix_time: 1.9703, d5.loss_plan_l1_fix_dist: 0.3378, d6.loss_plan_l1_fix_time: 1.9758, d6.loss_plan_l1_fix_dist: 0.3532, d0.loss_cls_all: 0.3667, d0.loss_bbox_all: 0.5757, d0.loss_cls: 0.3667, d0.loss_bbox: 0.5757, d1.loss_cls: 0.3630, d1.loss_bbox: 0.5461, d2.loss_cls: 0.3569, d2.loss_bbox: 0.5309, d3.loss_cls: 0.3573, d3.loss_bbox: 0.5261, d4.loss_cls: 0.3548, d4.loss_bbox: 0.5234, d5.loss_cls: 0.3518, d5.loss_bbox: 0.5231, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3483, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1801, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1666, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.1606, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.1445, d5.loss_traj_cls: 0.0094, d5.loss_traj: 1.1487, d0.loss_map_cls_all: 0.3442, d0.loss_map_pts_all: 2.0781, d0.loss_map_dir_all: 0.0166, d0.loss_map_cls: 0.3442, d0.loss_map_pts: 2.0781, d0.loss_map_dir: 0.0166, d1.loss_map_cls: 0.3182, d1.loss_map_pts: 1.4655, d1.loss_map_dir: 0.0164, d2.loss_map_cls: 0.3010, d2.loss_map_pts: 1.3008, d2.loss_map_dir: 0.0169, d3.loss_map_cls: 0.2941, d3.loss_map_pts: 1.2411, d3.loss_map_dir: 0.0174, d4.loss_map_cls: 0.2869, d4.loss_map_pts: 1.2189, d4.loss_map_dir: 0.0179, d5.loss_map_cls: 0.2883, d5.loss_map_pts: 1.2099, d5.loss_map_dir: 0.0181, loss: 46.7660, grad_norm: 151.0761 +2026-02-25 02:21:45,284 - DriveTransformer - INFO - Epoch [3][29300/39528] lr: 9.831e-05, eta: 7 days, 18:49:21, time: 0.831, data_time: 0.042, memory: 19865, loss_cls: 0.3351, loss_bbox: 0.4998, loss_traj: 0.8860, loss_traj_cls: 0.0048, loss_map_cls: 0.2878, loss_map_pts: 1.2398, loss_map_dir: 0.0216, d0.loss_plan_l1_fix_time: 2.4930, d0.loss_plan_l1_fix_dist: 0.3827, d1.loss_plan_l1_fix_time: 1.5045, d1.loss_plan_l1_fix_dist: 0.2492, d2.loss_plan_l1_fix_time: 1.4906, d2.loss_plan_l1_fix_dist: 0.2559, d3.loss_plan_l1_fix_time: 1.4976, d3.loss_plan_l1_fix_dist: 0.2692, d4.loss_plan_l1_fix_time: 1.5041, d4.loss_plan_l1_fix_dist: 0.2838, d5.loss_plan_l1_fix_time: 1.5111, d5.loss_plan_l1_fix_dist: 0.2986, d6.loss_plan_l1_fix_time: 1.5194, d6.loss_plan_l1_fix_dist: 0.3177, d0.loss_cls_all: 0.3497, d0.loss_bbox_all: 0.5503, d0.loss_cls: 0.3497, d0.loss_bbox: 0.5503, d1.loss_cls: 0.3437, d1.loss_bbox: 0.5196, d2.loss_cls: 0.3385, d2.loss_bbox: 0.5055, d3.loss_cls: 0.3371, d3.loss_bbox: 0.5015, d4.loss_cls: 0.3324, d4.loss_bbox: 0.5014, d5.loss_cls: 0.3341, d5.loss_bbox: 0.4985, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1307, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9185, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8926, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8900, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8829, d5.loss_traj_cls: 0.0093, d5.loss_traj: 0.8817, d0.loss_map_cls_all: 0.3268, d0.loss_map_pts_all: 2.2119, d0.loss_map_dir_all: 0.0196, d0.loss_map_cls: 0.3268, d0.loss_map_pts: 2.2119, d0.loss_map_dir: 0.0196, d1.loss_map_cls: 0.3072, d1.loss_map_pts: 1.4842, d1.loss_map_dir: 0.0195, d2.loss_map_cls: 0.2988, d2.loss_map_pts: 1.3121, d2.loss_map_dir: 0.0203, d3.loss_map_cls: 0.2912, d3.loss_map_pts: 1.2564, d3.loss_map_dir: 0.0209, d4.loss_map_cls: 0.2881, d4.loss_map_pts: 1.2439, d4.loss_map_dir: 0.0213, d5.loss_map_cls: 0.2873, d5.loss_map_pts: 1.2423, d5.loss_map_dir: 0.0215, loss: 41.7068, grad_norm: 152.7436 +2026-02-25 02:22:23,880 - DriveTransformer - INFO - Epoch [3][29350/39528] lr: 9.831e-05, eta: 7 days, 18:48:30, time: 0.772, data_time: 0.040, memory: 19865, loss_cls: 0.3396, loss_bbox: 0.4985, loss_traj: 0.9868, loss_traj_cls: 0.0048, loss_map_cls: 0.2403, loss_map_pts: 0.9819, loss_map_dir: 0.0164, d0.loss_plan_l1_fix_time: 3.0601, d0.loss_plan_l1_fix_dist: 0.4264, d1.loss_plan_l1_fix_time: 1.7152, d1.loss_plan_l1_fix_dist: 0.2491, d2.loss_plan_l1_fix_time: 1.6925, d2.loss_plan_l1_fix_dist: 0.2648, d3.loss_plan_l1_fix_time: 1.6919, d3.loss_plan_l1_fix_dist: 0.2828, d4.loss_plan_l1_fix_time: 1.6945, d4.loss_plan_l1_fix_dist: 0.3023, d5.loss_plan_l1_fix_time: 1.6987, d5.loss_plan_l1_fix_dist: 0.3260, d6.loss_plan_l1_fix_time: 1.7042, d6.loss_plan_l1_fix_dist: 0.3496, d0.loss_cls_all: 0.3511, d0.loss_bbox_all: 0.5505, d0.loss_cls: 0.3511, d0.loss_bbox: 0.5505, d1.loss_cls: 0.3466, d1.loss_bbox: 0.5226, d2.loss_cls: 0.3429, d2.loss_bbox: 0.5069, d3.loss_cls: 0.3420, d3.loss_bbox: 0.5019, d4.loss_cls: 0.3379, d4.loss_bbox: 0.5013, d5.loss_cls: 0.3388, d5.loss_bbox: 0.4977, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2495, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0402, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9928, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9877, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9843, d5.loss_traj_cls: 0.0094, d5.loss_traj: 0.9820, d0.loss_map_cls_all: 0.2940, d0.loss_map_pts_all: 1.7176, d0.loss_map_dir_all: 0.0151, d0.loss_map_cls: 0.2940, d0.loss_map_pts: 1.7176, d0.loss_map_dir: 0.0151, d1.loss_map_cls: 0.2694, d1.loss_map_pts: 1.1643, d1.loss_map_dir: 0.0145, d2.loss_map_cls: 0.2571, d2.loss_map_pts: 1.0404, d2.loss_map_dir: 0.0152, d3.loss_map_cls: 0.2467, d3.loss_map_pts: 0.9980, d3.loss_map_dir: 0.0157, d4.loss_map_cls: 0.2417, d4.loss_map_pts: 0.9841, d4.loss_map_dir: 0.0161, d5.loss_map_cls: 0.2413, d5.loss_map_pts: 0.9836, d5.loss_map_dir: 0.0163, loss: 41.3767, grad_norm: 152.1621 +2026-02-25 02:23:04,799 - DriveTransformer - INFO - Epoch [3][29400/39528] lr: 9.831e-05, eta: 7 days, 18:47:57, time: 0.818, data_time: 0.037, memory: 19865, loss_cls: 0.4011, loss_bbox: 0.5467, loss_traj: 1.0097, loss_traj_cls: 0.0047, loss_map_cls: 0.2897, loss_map_pts: 1.3861, loss_map_dir: 0.0197, d0.loss_plan_l1_fix_time: 2.5006, d0.loss_plan_l1_fix_dist: 0.3836, d1.loss_plan_l1_fix_time: 1.7370, d1.loss_plan_l1_fix_dist: 0.2854, d2.loss_plan_l1_fix_time: 1.7200, d2.loss_plan_l1_fix_dist: 0.2921, d3.loss_plan_l1_fix_time: 1.7189, d3.loss_plan_l1_fix_dist: 0.3079, d4.loss_plan_l1_fix_time: 1.7216, d4.loss_plan_l1_fix_dist: 0.3268, d5.loss_plan_l1_fix_time: 1.7249, d5.loss_plan_l1_fix_dist: 0.3446, d6.loss_plan_l1_fix_time: 1.7289, d6.loss_plan_l1_fix_dist: 0.3638, d0.loss_cls_all: 0.4156, d0.loss_bbox_all: 0.5915, d0.loss_cls: 0.4156, d0.loss_bbox: 0.5915, d1.loss_cls: 0.4061, d1.loss_bbox: 0.5633, d2.loss_cls: 0.4046, d2.loss_bbox: 0.5521, d3.loss_cls: 0.4019, d3.loss_bbox: 0.5468, d4.loss_cls: 0.4003, d4.loss_bbox: 0.5455, d5.loss_cls: 0.4002, d5.loss_bbox: 0.5454, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2449, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0721, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0302, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0121, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.0103, d5.loss_traj_cls: 0.0094, d5.loss_traj: 1.0128, d0.loss_map_cls_all: 0.3404, d0.loss_map_pts_all: 2.1938, d0.loss_map_dir_all: 0.0177, d0.loss_map_cls: 0.3404, d0.loss_map_pts: 2.1938, d0.loss_map_dir: 0.0177, d1.loss_map_cls: 0.3118, d1.loss_map_pts: 1.5878, d1.loss_map_dir: 0.0176, d2.loss_map_cls: 0.3024, d2.loss_map_pts: 1.4397, d2.loss_map_dir: 0.0183, d3.loss_map_cls: 0.2946, d3.loss_map_pts: 1.3919, d3.loss_map_dir: 0.0189, d4.loss_map_cls: 0.2909, d4.loss_map_pts: 1.3822, d4.loss_map_dir: 0.0194, d5.loss_map_cls: 0.2893, d5.loss_map_pts: 1.3806, d5.loss_map_dir: 0.0196, loss: 45.8597, grad_norm: 149.8889 +2026-02-25 02:23:45,867 - DriveTransformer - INFO - Epoch [3][29450/39528] lr: 9.831e-05, eta: 7 days, 18:47:25, time: 0.821, data_time: 0.039, memory: 19865, loss_cls: 0.3491, loss_bbox: 0.4987, loss_traj: 0.9934, loss_traj_cls: 0.0048, loss_map_cls: 0.2673, loss_map_pts: 1.2567, loss_map_dir: 0.0213, d0.loss_plan_l1_fix_time: 3.1383, d0.loss_plan_l1_fix_dist: 0.4303, d1.loss_plan_l1_fix_time: 2.0303, d1.loss_plan_l1_fix_dist: 0.2893, d2.loss_plan_l1_fix_time: 2.0174, d2.loss_plan_l1_fix_dist: 0.2994, d3.loss_plan_l1_fix_time: 2.0208, d3.loss_plan_l1_fix_dist: 0.3166, d4.loss_plan_l1_fix_time: 2.0249, d4.loss_plan_l1_fix_dist: 0.3353, d5.loss_plan_l1_fix_time: 2.0284, d5.loss_plan_l1_fix_dist: 0.3547, d6.loss_plan_l1_fix_time: 2.0321, d6.loss_plan_l1_fix_dist: 0.3782, d0.loss_cls_all: 0.3606, d0.loss_bbox_all: 0.5466, d0.loss_cls: 0.3606, d0.loss_bbox: 0.5466, d1.loss_cls: 0.3532, d1.loss_bbox: 0.5189, d2.loss_cls: 0.3475, d2.loss_bbox: 0.5040, d3.loss_cls: 0.3453, d3.loss_bbox: 0.4978, d4.loss_cls: 0.3433, d4.loss_bbox: 0.4979, d5.loss_cls: 0.3472, d5.loss_bbox: 0.4968, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1453, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0422, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0001, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9989, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9965, d5.loss_traj_cls: 0.0094, d5.loss_traj: 0.9935, d0.loss_map_cls_all: 0.3076, d0.loss_map_pts_all: 2.1864, d0.loss_map_dir_all: 0.0200, d0.loss_map_cls: 0.3076, d0.loss_map_pts: 2.1864, d0.loss_map_dir: 0.0200, d1.loss_map_cls: 0.2892, d1.loss_map_pts: 1.4729, d1.loss_map_dir: 0.0193, d2.loss_map_cls: 0.2765, d2.loss_map_pts: 1.3207, d2.loss_map_dir: 0.0199, d3.loss_map_cls: 0.2708, d3.loss_map_pts: 1.2717, d3.loss_map_dir: 0.0205, d4.loss_map_cls: 0.2695, d4.loss_map_pts: 1.2579, d4.loss_map_dir: 0.0209, d5.loss_map_cls: 0.2666, d5.loss_map_pts: 1.2549, d5.loss_map_dir: 0.0211, loss: 46.4246, grad_norm: 150.1739 +2026-02-25 02:24:25,912 - DriveTransformer - INFO - Epoch [3][29500/39528] lr: 9.831e-05, eta: 7 days, 18:46:46, time: 0.801, data_time: 0.040, memory: 19865, loss_cls: 0.3527, loss_bbox: 0.5051, loss_traj: 1.0511, loss_traj_cls: 0.0047, loss_map_cls: 0.2925, loss_map_pts: 1.3340, loss_map_dir: 0.0215, d0.loss_plan_l1_fix_time: 2.8356, d0.loss_plan_l1_fix_dist: 0.4541, d1.loss_plan_l1_fix_time: 1.7970, d1.loss_plan_l1_fix_dist: 0.2891, d2.loss_plan_l1_fix_time: 1.7591, d2.loss_plan_l1_fix_dist: 0.2975, d3.loss_plan_l1_fix_time: 1.7521, d3.loss_plan_l1_fix_dist: 0.3120, d4.loss_plan_l1_fix_time: 1.7536, d4.loss_plan_l1_fix_dist: 0.3297, d5.loss_plan_l1_fix_time: 1.7561, d5.loss_plan_l1_fix_dist: 0.3538, d6.loss_plan_l1_fix_time: 1.7595, d6.loss_plan_l1_fix_dist: 0.3766, d0.loss_cls_all: 0.3631, d0.loss_bbox_all: 0.5524, d0.loss_cls: 0.3631, d0.loss_bbox: 0.5524, d1.loss_cls: 0.3601, d1.loss_bbox: 0.5232, d2.loss_cls: 0.3557, d2.loss_bbox: 0.5115, d3.loss_cls: 0.3563, d3.loss_bbox: 0.5014, d4.loss_cls: 0.3531, d4.loss_bbox: 0.5018, d5.loss_cls: 0.3541, d5.loss_bbox: 0.5025, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2382, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0829, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0480, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0500, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0476, d5.loss_traj_cls: 0.0094, d5.loss_traj: 1.0465, d0.loss_map_cls_all: 0.3390, d0.loss_map_pts_all: 2.2904, d0.loss_map_dir_all: 0.0202, d0.loss_map_cls: 0.3390, d0.loss_map_pts: 2.2904, d0.loss_map_dir: 0.0202, d1.loss_map_cls: 0.3188, d1.loss_map_pts: 1.5687, d1.loss_map_dir: 0.0199, d2.loss_map_cls: 0.3067, d2.loss_map_pts: 1.4109, d2.loss_map_dir: 0.0204, d3.loss_map_cls: 0.2978, d3.loss_map_pts: 1.3592, d3.loss_map_dir: 0.0208, d4.loss_map_cls: 0.2941, d4.loss_map_pts: 1.3389, d4.loss_map_dir: 0.0212, d5.loss_map_cls: 0.2917, d5.loss_map_pts: 1.3354, d5.loss_map_dir: 0.0214, loss: 45.9905, grad_norm: 151.0844 +2026-02-25 02:25:05,014 - DriveTransformer - INFO - Epoch [3][29550/39528] lr: 9.831e-05, eta: 7 days, 18:45:59, time: 0.782, data_time: 0.040, memory: 19865, loss_cls: 0.3225, loss_bbox: 0.4832, loss_traj: 1.0762, loss_traj_cls: 0.0048, loss_map_cls: 0.2410, loss_map_pts: 1.0861, loss_map_dir: 0.0166, d0.loss_plan_l1_fix_time: 3.1025, d0.loss_plan_l1_fix_dist: 0.5085, d1.loss_plan_l1_fix_time: 1.7824, d1.loss_plan_l1_fix_dist: 0.2754, d2.loss_plan_l1_fix_time: 1.7758, d2.loss_plan_l1_fix_dist: 0.2828, d3.loss_plan_l1_fix_time: 1.7816, d3.loss_plan_l1_fix_dist: 0.2955, d4.loss_plan_l1_fix_time: 1.7855, d4.loss_plan_l1_fix_dist: 0.3094, d5.loss_plan_l1_fix_time: 1.7895, d5.loss_plan_l1_fix_dist: 0.3240, d6.loss_plan_l1_fix_time: 1.7939, d6.loss_plan_l1_fix_dist: 0.3401, d0.loss_cls_all: 0.3422, d0.loss_bbox_all: 0.5273, d0.loss_cls: 0.3422, d0.loss_bbox: 0.5273, d1.loss_cls: 0.3355, d1.loss_bbox: 0.4978, d2.loss_cls: 0.3293, d2.loss_bbox: 0.4860, d3.loss_cls: 0.3278, d3.loss_bbox: 0.4812, d4.loss_cls: 0.3236, d4.loss_bbox: 0.4790, d5.loss_cls: 0.3234, d5.loss_bbox: 0.4806, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2684, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0722, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0616, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0616, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0615, d5.loss_traj_cls: 0.0093, d5.loss_traj: 1.0691, d0.loss_map_cls_all: 0.2801, d0.loss_map_pts_all: 1.8395, d0.loss_map_dir_all: 0.0148, d0.loss_map_cls: 0.2801, d0.loss_map_pts: 1.8395, d0.loss_map_dir: 0.0148, d1.loss_map_cls: 0.2631, d1.loss_map_pts: 1.3018, d1.loss_map_dir: 0.0148, d2.loss_map_cls: 0.2502, d2.loss_map_pts: 1.1622, d2.loss_map_dir: 0.0155, d3.loss_map_cls: 0.2438, d3.loss_map_pts: 1.1062, d3.loss_map_dir: 0.0160, d4.loss_map_cls: 0.2436, d4.loss_map_pts: 1.0889, d4.loss_map_dir: 0.0164, d5.loss_map_cls: 0.2417, d5.loss_map_pts: 1.0851, d5.loss_map_dir: 0.0165, loss: 43.1239, grad_norm: 151.4076 +2026-02-25 02:25:46,556 - DriveTransformer - INFO - Epoch [3][29600/39528] lr: 9.831e-05, eta: 7 days, 18:45:30, time: 0.831, data_time: 0.041, memory: 19865, loss_cls: 0.3598, loss_bbox: 0.5038, loss_traj: 0.8452, loss_traj_cls: 0.0048, loss_map_cls: 0.2786, loss_map_pts: 1.1276, loss_map_dir: 0.0226, d0.loss_plan_l1_fix_time: 2.5639, d0.loss_plan_l1_fix_dist: 0.4118, d1.loss_plan_l1_fix_time: 1.6680, d1.loss_plan_l1_fix_dist: 0.2681, d2.loss_plan_l1_fix_time: 1.6465, d2.loss_plan_l1_fix_dist: 0.2707, d3.loss_plan_l1_fix_time: 1.6435, d3.loss_plan_l1_fix_dist: 0.2813, d4.loss_plan_l1_fix_time: 1.6453, d4.loss_plan_l1_fix_dist: 0.2948, d5.loss_plan_l1_fix_time: 1.6484, d5.loss_plan_l1_fix_dist: 0.3097, d6.loss_plan_l1_fix_time: 1.6531, d6.loss_plan_l1_fix_dist: 0.3282, d0.loss_cls_all: 0.3715, d0.loss_bbox_all: 0.5566, d0.loss_cls: 0.3715, d0.loss_bbox: 0.5566, d1.loss_cls: 0.3708, d1.loss_bbox: 0.5256, d2.loss_cls: 0.3611, d2.loss_bbox: 0.5133, d3.loss_cls: 0.3605, d3.loss_bbox: 0.5072, d4.loss_cls: 0.3576, d4.loss_bbox: 0.5047, d5.loss_cls: 0.3582, d5.loss_bbox: 0.5038, d0.loss_traj_cls: 0.0002, d0.loss_traj: 0.9747, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8660, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8487, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8448, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.8407, d5.loss_traj_cls: 0.0093, d5.loss_traj: 0.8417, d0.loss_map_cls_all: 0.3189, d0.loss_map_pts_all: 2.1650, d0.loss_map_dir_all: 0.0207, d0.loss_map_cls: 0.3189, d0.loss_map_pts: 2.1650, d0.loss_map_dir: 0.0207, d1.loss_map_cls: 0.3039, d1.loss_map_pts: 1.4025, d1.loss_map_dir: 0.0206, d2.loss_map_cls: 0.2925, d2.loss_map_pts: 1.2234, d2.loss_map_dir: 0.0212, d3.loss_map_cls: 0.2868, d3.loss_map_pts: 1.1544, d3.loss_map_dir: 0.0218, d4.loss_map_cls: 0.2790, d4.loss_map_pts: 1.1346, d4.loss_map_dir: 0.0222, d5.loss_map_cls: 0.2788, d5.loss_map_pts: 1.1275, d5.loss_map_dir: 0.0223, loss: 41.8262, grad_norm: 150.5268 +2026-02-25 02:26:27,689 - DriveTransformer - INFO - Epoch [3][29650/39528] lr: 9.831e-05, eta: 7 days, 18:44:59, time: 0.823, data_time: 0.040, memory: 19865, loss_cls: 0.3440, loss_bbox: 0.5080, loss_traj: 0.9338, loss_traj_cls: 0.0049, loss_map_cls: 0.2582, loss_map_pts: 1.1291, loss_map_dir: 0.0197, d0.loss_plan_l1_fix_time: 2.5074, d0.loss_plan_l1_fix_dist: 0.5736, d1.loss_plan_l1_fix_time: 1.7392, d1.loss_plan_l1_fix_dist: 0.2894, d2.loss_plan_l1_fix_time: 1.7185, d2.loss_plan_l1_fix_dist: 0.2915, d3.loss_plan_l1_fix_time: 1.7208, d3.loss_plan_l1_fix_dist: 0.2986, d4.loss_plan_l1_fix_time: 1.7244, d4.loss_plan_l1_fix_dist: 0.3116, d5.loss_plan_l1_fix_time: 1.7287, d5.loss_plan_l1_fix_dist: 0.3249, d6.loss_plan_l1_fix_time: 1.7334, d6.loss_plan_l1_fix_dist: 0.3361, d0.loss_cls_all: 0.3578, d0.loss_bbox_all: 0.5592, d0.loss_cls: 0.3578, d0.loss_bbox: 0.5592, d1.loss_cls: 0.3541, d1.loss_bbox: 0.5308, d2.loss_cls: 0.3453, d2.loss_bbox: 0.5182, d3.loss_cls: 0.3431, d3.loss_bbox: 0.5130, d4.loss_cls: 0.3401, d4.loss_bbox: 0.5100, d5.loss_cls: 0.3421, d5.loss_bbox: 0.5083, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0942, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9633, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9444, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9379, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9354, d5.loss_traj_cls: 0.0094, d5.loss_traj: 0.9366, d0.loss_map_cls_all: 0.2996, d0.loss_map_pts_all: 2.0588, d0.loss_map_dir_all: 0.0182, d0.loss_map_cls: 0.2996, d0.loss_map_pts: 2.0588, d0.loss_map_dir: 0.0182, d1.loss_map_cls: 0.2797, d1.loss_map_pts: 1.3526, d1.loss_map_dir: 0.0178, d2.loss_map_cls: 0.2691, d2.loss_map_pts: 1.2029, d2.loss_map_dir: 0.0185, d3.loss_map_cls: 0.2627, d3.loss_map_pts: 1.1504, d3.loss_map_dir: 0.0190, d4.loss_map_cls: 0.2583, d4.loss_map_pts: 1.1366, d4.loss_map_dir: 0.0195, d5.loss_map_cls: 0.2570, d5.loss_map_pts: 1.1294, d5.loss_map_dir: 0.0196, loss: 42.6072, grad_norm: 148.9138 +2026-02-25 02:27:06,934 - DriveTransformer - INFO - Epoch [3][29700/39528] lr: 9.831e-05, eta: 7 days, 18:44:13, time: 0.785, data_time: 0.047, memory: 19865, loss_cls: 0.3208, loss_bbox: 0.4892, loss_traj: 0.9917, loss_traj_cls: 0.0049, loss_map_cls: 0.2380, loss_map_pts: 1.0191, loss_map_dir: 0.0163, d0.loss_plan_l1_fix_time: 2.6083, d0.loss_plan_l1_fix_dist: 0.4702, d1.loss_plan_l1_fix_time: 1.5785, d1.loss_plan_l1_fix_dist: 0.2849, d2.loss_plan_l1_fix_time: 1.5628, d2.loss_plan_l1_fix_dist: 0.2855, d3.loss_plan_l1_fix_time: 1.5669, d3.loss_plan_l1_fix_dist: 0.2964, d4.loss_plan_l1_fix_time: 1.5704, d4.loss_plan_l1_fix_dist: 0.3089, d5.loss_plan_l1_fix_time: 1.5748, d5.loss_plan_l1_fix_dist: 0.3250, d6.loss_plan_l1_fix_time: 1.5795, d6.loss_plan_l1_fix_dist: 0.3433, d0.loss_cls_all: 0.3380, d0.loss_bbox_all: 0.5346, d0.loss_cls: 0.3380, d0.loss_bbox: 0.5346, d1.loss_cls: 0.3359, d1.loss_bbox: 0.5062, d2.loss_cls: 0.3291, d2.loss_bbox: 0.4935, d3.loss_cls: 0.3272, d3.loss_bbox: 0.4871, d4.loss_cls: 0.3232, d4.loss_bbox: 0.4845, d5.loss_cls: 0.3218, d5.loss_bbox: 0.4865, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1662, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0246, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9998, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0034, d4.loss_traj_cls: 0.0015, d4.loss_traj: 0.9976, d5.loss_traj_cls: 0.0095, d5.loss_traj: 0.9945, d0.loss_map_cls_all: 0.2829, d0.loss_map_pts_all: 1.7476, d0.loss_map_dir_all: 0.0148, d0.loss_map_cls: 0.2829, d0.loss_map_pts: 1.7476, d0.loss_map_dir: 0.0148, d1.loss_map_cls: 0.2631, d1.loss_map_pts: 1.2243, d1.loss_map_dir: 0.0146, d2.loss_map_cls: 0.2512, d2.loss_map_pts: 1.0885, d2.loss_map_dir: 0.0153, d3.loss_map_cls: 0.2444, d3.loss_map_pts: 1.0403, d3.loss_map_dir: 0.0158, d4.loss_map_cls: 0.2406, d4.loss_map_pts: 1.0214, d4.loss_map_dir: 0.0161, d5.loss_map_cls: 0.2383, d5.loss_map_pts: 1.0188, d5.loss_map_dir: 0.0161, loss: 40.2759, grad_norm: 148.2776 +2026-02-25 02:27:48,079 - DriveTransformer - INFO - Epoch [3][29750/39528] lr: 9.831e-05, eta: 7 days, 18:43:42, time: 0.823, data_time: 0.045, memory: 19865, loss_cls: 0.3327, loss_bbox: 0.4957, loss_traj: 0.9874, loss_traj_cls: 0.0050, loss_map_cls: 0.2428, loss_map_pts: 1.1547, loss_map_dir: 0.0193, d0.loss_plan_l1_fix_time: 2.6383, d0.loss_plan_l1_fix_dist: 0.3939, d1.loss_plan_l1_fix_time: 1.6151, d1.loss_plan_l1_fix_dist: 0.2495, d2.loss_plan_l1_fix_time: 1.5841, d2.loss_plan_l1_fix_dist: 0.2563, d3.loss_plan_l1_fix_time: 1.5862, d3.loss_plan_l1_fix_dist: 0.2682, d4.loss_plan_l1_fix_time: 1.5903, d4.loss_plan_l1_fix_dist: 0.2838, d5.loss_plan_l1_fix_time: 1.5955, d5.loss_plan_l1_fix_dist: 0.3002, d6.loss_plan_l1_fix_time: 1.6020, d6.loss_plan_l1_fix_dist: 0.3211, d0.loss_cls_all: 0.3464, d0.loss_bbox_all: 0.5329, d0.loss_cls: 0.3464, d0.loss_bbox: 0.5329, d1.loss_cls: 0.3469, d1.loss_bbox: 0.5029, d2.loss_cls: 0.3371, d2.loss_bbox: 0.4927, d3.loss_cls: 0.3347, d3.loss_bbox: 0.4907, d4.loss_cls: 0.3313, d4.loss_bbox: 0.4902, d5.loss_cls: 0.3308, d5.loss_bbox: 0.4917, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1457, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9879, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9742, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9694, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9767, d5.loss_traj_cls: 0.0095, d5.loss_traj: 0.9779, d0.loss_map_cls_all: 0.2996, d0.loss_map_pts_all: 2.1121, d0.loss_map_dir_all: 0.0181, d0.loss_map_cls: 0.2996, d0.loss_map_pts: 2.1121, d0.loss_map_dir: 0.0181, d1.loss_map_cls: 0.2746, d1.loss_map_pts: 1.3759, d1.loss_map_dir: 0.0176, d2.loss_map_cls: 0.2624, d2.loss_map_pts: 1.2262, d2.loss_map_dir: 0.0182, d3.loss_map_cls: 0.2541, d3.loss_map_pts: 1.1715, d3.loss_map_dir: 0.0187, d4.loss_map_cls: 0.2459, d4.loss_map_pts: 1.1576, d4.loss_map_dir: 0.0191, d5.loss_map_cls: 0.2433, d5.loss_map_pts: 1.1556, d5.loss_map_dir: 0.0193, loss: 41.7957, grad_norm: 144.5547 +2026-02-25 02:28:27,779 - DriveTransformer - INFO - Epoch [3][29800/39528] lr: 9.831e-05, eta: 7 days, 18:42:59, time: 0.794, data_time: 0.045, memory: 19865, loss_cls: 0.3529, loss_bbox: 0.5179, loss_traj: 1.0136, loss_traj_cls: 0.0048, loss_map_cls: 0.2458, loss_map_pts: 1.1493, loss_map_dir: 0.0188, d0.loss_plan_l1_fix_time: 2.3468, d0.loss_plan_l1_fix_dist: 0.3756, d1.loss_plan_l1_fix_time: 1.5830, d1.loss_plan_l1_fix_dist: 0.2626, d2.loss_plan_l1_fix_time: 1.5670, d2.loss_plan_l1_fix_dist: 0.2776, d3.loss_plan_l1_fix_time: 1.5683, d3.loss_plan_l1_fix_dist: 0.3007, d4.loss_plan_l1_fix_time: 1.5711, d4.loss_plan_l1_fix_dist: 0.3257, d5.loss_plan_l1_fix_time: 1.5741, d5.loss_plan_l1_fix_dist: 0.3555, d6.loss_plan_l1_fix_time: 1.5782, d6.loss_plan_l1_fix_dist: 0.3854, d0.loss_cls_all: 0.3657, d0.loss_bbox_all: 0.5573, d0.loss_cls: 0.3657, d0.loss_bbox: 0.5573, d1.loss_cls: 0.3550, d1.loss_bbox: 0.5332, d2.loss_cls: 0.3543, d2.loss_bbox: 0.5181, d3.loss_cls: 0.3536, d3.loss_bbox: 0.5154, d4.loss_cls: 0.3503, d4.loss_bbox: 0.5163, d5.loss_cls: 0.3504, d5.loss_bbox: 0.5167, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1305, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0190, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9927, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0059, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0140, d5.loss_traj_cls: 0.0095, d5.loss_traj: 1.0101, d0.loss_map_cls_all: 0.3036, d0.loss_map_pts_all: 2.0712, d0.loss_map_dir_all: 0.0178, d0.loss_map_cls: 0.3036, d0.loss_map_pts: 2.0712, d0.loss_map_dir: 0.0178, d1.loss_map_cls: 0.2747, d1.loss_map_pts: 1.3897, d1.loss_map_dir: 0.0173, d2.loss_map_cls: 0.2595, d2.loss_map_pts: 1.2309, d2.loss_map_dir: 0.0176, d3.loss_map_cls: 0.2524, d3.loss_map_pts: 1.1732, d3.loss_map_dir: 0.0181, d4.loss_map_cls: 0.2475, d4.loss_map_pts: 1.1554, d4.loss_map_dir: 0.0185, d5.loss_map_cls: 0.2447, d5.loss_map_pts: 1.1500, d5.loss_map_dir: 0.0187, loss: 42.0243, grad_norm: 144.5736 +2026-02-25 02:29:05,888 - DriveTransformer - INFO - Epoch [3][29850/39528] lr: 9.831e-05, eta: 7 days, 18:42:04, time: 0.762, data_time: 0.039, memory: 19865, loss_cls: 0.3302, loss_bbox: 0.5073, loss_traj: 0.9867, loss_traj_cls: 0.0049, loss_map_cls: 0.2467, loss_map_pts: 1.1025, loss_map_dir: 0.0195, d0.loss_plan_l1_fix_time: 2.6483, d0.loss_plan_l1_fix_dist: 0.4776, d1.loss_plan_l1_fix_time: 1.6334, d1.loss_plan_l1_fix_dist: 0.2553, d2.loss_plan_l1_fix_time: 1.6088, d2.loss_plan_l1_fix_dist: 0.2662, d3.loss_plan_l1_fix_time: 1.6074, d3.loss_plan_l1_fix_dist: 0.2801, d4.loss_plan_l1_fix_time: 1.6101, d4.loss_plan_l1_fix_dist: 0.2958, d5.loss_plan_l1_fix_time: 1.6145, d5.loss_plan_l1_fix_dist: 0.3130, d6.loss_plan_l1_fix_time: 1.6205, d6.loss_plan_l1_fix_dist: 0.3316, d0.loss_cls_all: 0.3502, d0.loss_bbox_all: 0.5284, d0.loss_cls: 0.3502, d0.loss_bbox: 0.5284, d1.loss_cls: 0.3446, d1.loss_bbox: 0.5086, d2.loss_cls: 0.3359, d2.loss_bbox: 0.5010, d3.loss_cls: 0.3348, d3.loss_bbox: 0.4992, d4.loss_cls: 0.3290, d4.loss_bbox: 0.5008, d5.loss_cls: 0.3286, d5.loss_bbox: 0.5038, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1671, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0287, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9962, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9965, d4.loss_traj_cls: 0.0015, d4.loss_traj: 0.9897, d5.loss_traj_cls: 0.0095, d5.loss_traj: 0.9868, d0.loss_map_cls_all: 0.2947, d0.loss_map_pts_all: 1.9656, d0.loss_map_dir_all: 0.0177, d0.loss_map_cls: 0.2947, d0.loss_map_pts: 1.9656, d0.loss_map_dir: 0.0177, d1.loss_map_cls: 0.2754, d1.loss_map_pts: 1.3104, d1.loss_map_dir: 0.0178, d2.loss_map_cls: 0.2614, d2.loss_map_pts: 1.1607, d2.loss_map_dir: 0.0183, d3.loss_map_cls: 0.2549, d3.loss_map_pts: 1.1154, d3.loss_map_dir: 0.0189, d4.loss_map_cls: 0.2478, d4.loss_map_pts: 1.1028, d4.loss_map_dir: 0.0193, d5.loss_map_cls: 0.2478, d5.loss_map_pts: 1.0997, d5.loss_map_dir: 0.0194, loss: 41.6092, grad_norm: 145.1649 +2026-02-25 02:29:48,502 - DriveTransformer - INFO - Epoch [3][29900/39528] lr: 9.831e-05, eta: 7 days, 18:41:44, time: 0.852, data_time: 0.044, memory: 19865, loss_cls: 0.3673, loss_bbox: 0.5138, loss_traj: 0.9697, loss_traj_cls: 0.0048, loss_map_cls: 0.2599, loss_map_pts: 1.1521, loss_map_dir: 0.0213, d0.loss_plan_l1_fix_time: 2.7042, d0.loss_plan_l1_fix_dist: 0.4033, d1.loss_plan_l1_fix_time: 1.5991, d1.loss_plan_l1_fix_dist: 0.3159, d2.loss_plan_l1_fix_time: 1.5788, d2.loss_plan_l1_fix_dist: 0.3339, d3.loss_plan_l1_fix_time: 1.5763, d3.loss_plan_l1_fix_dist: 0.3550, d4.loss_plan_l1_fix_time: 1.5778, d4.loss_plan_l1_fix_dist: 0.3770, d5.loss_plan_l1_fix_time: 1.5803, d5.loss_plan_l1_fix_dist: 0.3957, d6.loss_plan_l1_fix_time: 1.5840, d6.loss_plan_l1_fix_dist: 0.4154, d0.loss_cls_all: 0.3779, d0.loss_bbox_all: 0.5543, d0.loss_cls: 0.3779, d0.loss_bbox: 0.5543, d1.loss_cls: 0.3723, d1.loss_bbox: 0.5321, d2.loss_cls: 0.3688, d2.loss_bbox: 0.5213, d3.loss_cls: 0.3687, d3.loss_bbox: 0.5166, d4.loss_cls: 0.3662, d4.loss_bbox: 0.5155, d5.loss_cls: 0.3668, d5.loss_bbox: 0.5136, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0917, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9813, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9511, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9581, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9640, d5.loss_traj_cls: 0.0094, d5.loss_traj: 0.9593, d0.loss_map_cls_all: 0.3163, d0.loss_map_pts_all: 2.2340, d0.loss_map_dir_all: 0.0196, d0.loss_map_cls: 0.3163, d0.loss_map_pts: 2.2340, d0.loss_map_dir: 0.0196, d1.loss_map_cls: 0.2913, d1.loss_map_pts: 1.3768, d1.loss_map_dir: 0.0192, d2.loss_map_cls: 0.2761, d2.loss_map_pts: 1.2137, d2.loss_map_dir: 0.0198, d3.loss_map_cls: 0.2655, d3.loss_map_pts: 1.1614, d3.loss_map_dir: 0.0206, d4.loss_map_cls: 0.2612, d4.loss_map_pts: 1.1517, d4.loss_map_dir: 0.0210, d5.loss_map_cls: 0.2599, d5.loss_map_pts: 1.1548, d5.loss_map_dir: 0.0211, loss: 42.9660, grad_norm: 144.8715 +2026-02-25 02:30:26,988 - DriveTransformer - INFO - Epoch [3][29950/39528] lr: 9.831e-05, eta: 7 days, 18:40:52, time: 0.770, data_time: 0.041, memory: 19865, loss_cls: 0.3440, loss_bbox: 0.5014, loss_traj: 1.0793, loss_traj_cls: 0.0047, loss_map_cls: 0.3011, loss_map_pts: 1.2641, loss_map_dir: 0.0218, d0.loss_plan_l1_fix_time: 2.7648, d0.loss_plan_l1_fix_dist: 0.3778, d1.loss_plan_l1_fix_time: 2.0798, d1.loss_plan_l1_fix_dist: 0.2661, d2.loss_plan_l1_fix_time: 2.0702, d2.loss_plan_l1_fix_dist: 0.2716, d3.loss_plan_l1_fix_time: 2.0700, d3.loss_plan_l1_fix_dist: 0.2834, d4.loss_plan_l1_fix_time: 2.0728, d4.loss_plan_l1_fix_dist: 0.2994, d5.loss_plan_l1_fix_time: 2.0752, d5.loss_plan_l1_fix_dist: 0.3176, d6.loss_plan_l1_fix_time: 2.0783, d6.loss_plan_l1_fix_dist: 0.3330, d0.loss_cls_all: 0.3530, d0.loss_bbox_all: 0.5486, d0.loss_cls: 0.3530, d0.loss_bbox: 0.5486, d1.loss_cls: 0.3449, d1.loss_bbox: 0.5246, d2.loss_cls: 0.3384, d2.loss_bbox: 0.5165, d3.loss_cls: 0.3388, d3.loss_bbox: 0.5087, d4.loss_cls: 0.3395, d4.loss_bbox: 0.5046, d5.loss_cls: 0.3405, d5.loss_bbox: 0.5017, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2511, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1036, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0608, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0542, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0623, d5.loss_traj_cls: 0.0095, d5.loss_traj: 1.0663, d0.loss_map_cls_all: 0.3627, d0.loss_map_pts_all: 2.1404, d0.loss_map_dir_all: 0.0197, d0.loss_map_cls: 0.3627, d0.loss_map_pts: 2.1404, d0.loss_map_dir: 0.0197, d1.loss_map_cls: 0.3345, d1.loss_map_pts: 1.4889, d1.loss_map_dir: 0.0197, d2.loss_map_cls: 0.3106, d2.loss_map_pts: 1.3405, d2.loss_map_dir: 0.0204, d3.loss_map_cls: 0.3034, d3.loss_map_pts: 1.2816, d3.loss_map_dir: 0.0210, d4.loss_map_cls: 0.3015, d4.loss_map_pts: 1.2678, d4.loss_map_dir: 0.0215, d5.loss_map_cls: 0.2993, d5.loss_map_pts: 1.2643, d5.loss_map_dir: 0.0217, loss: 46.8930, grad_norm: 143.3510 +2026-02-25 02:31:07,160 - DriveTransformer - INFO - Epoch [3][30000/39528] lr: 9.831e-05, eta: 7 days, 18:40:14, time: 0.805, data_time: 0.039, memory: 19865, loss_cls: 0.3548, loss_bbox: 0.5289, loss_traj: 1.0459, loss_traj_cls: 0.0049, loss_map_cls: 0.2916, loss_map_pts: 1.3019, loss_map_dir: 0.0195, d0.loss_plan_l1_fix_time: 2.7353, d0.loss_plan_l1_fix_dist: 0.4773, d1.loss_plan_l1_fix_time: 1.6010, d1.loss_plan_l1_fix_dist: 0.2821, d2.loss_plan_l1_fix_time: 1.5683, d2.loss_plan_l1_fix_dist: 0.2916, d3.loss_plan_l1_fix_time: 1.5623, d3.loss_plan_l1_fix_dist: 0.3046, d4.loss_plan_l1_fix_time: 1.5645, d4.loss_plan_l1_fix_dist: 0.3185, d5.loss_plan_l1_fix_time: 1.5678, d5.loss_plan_l1_fix_dist: 0.3373, d6.loss_plan_l1_fix_time: 1.5728, d6.loss_plan_l1_fix_dist: 0.3605, d0.loss_cls_all: 0.3725, d0.loss_bbox_all: 0.5707, d0.loss_cls: 0.3725, d0.loss_bbox: 0.5707, d1.loss_cls: 0.3636, d1.loss_bbox: 0.5495, d2.loss_cls: 0.3599, d2.loss_bbox: 0.5388, d3.loss_cls: 0.3588, d3.loss_bbox: 0.5332, d4.loss_cls: 0.3554, d4.loss_bbox: 0.5310, d5.loss_cls: 0.3555, d5.loss_bbox: 0.5291, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1967, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0652, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0427, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0404, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0341, d5.loss_traj_cls: 0.0096, d5.loss_traj: 1.0390, d0.loss_map_cls_all: 0.3372, d0.loss_map_pts_all: 2.1467, d0.loss_map_dir_all: 0.0170, d0.loss_map_cls: 0.3372, d0.loss_map_pts: 2.1467, d0.loss_map_dir: 0.0170, d1.loss_map_cls: 0.3121, d1.loss_map_pts: 1.5076, d1.loss_map_dir: 0.0171, d2.loss_map_cls: 0.3023, d2.loss_map_pts: 1.3694, d2.loss_map_dir: 0.0180, d3.loss_map_cls: 0.2957, d3.loss_map_pts: 1.3207, d3.loss_map_dir: 0.0187, d4.loss_map_cls: 0.2917, d4.loss_map_pts: 1.3067, d4.loss_map_dir: 0.0191, d5.loss_map_cls: 0.2917, d5.loss_map_pts: 1.3003, d5.loss_map_dir: 0.0194, loss: 44.2775, grad_norm: 145.6106 +2026-02-25 02:31:47,158 - DriveTransformer - INFO - Epoch [3][30050/39528] lr: 9.831e-05, eta: 7 days, 18:39:33, time: 0.799, data_time: 0.041, memory: 19865, loss_cls: 0.3526, loss_bbox: 0.5078, loss_traj: 0.9979, loss_traj_cls: 0.0050, loss_map_cls: 0.2909, loss_map_pts: 1.2034, loss_map_dir: 0.0203, d0.loss_plan_l1_fix_time: 2.7899, d0.loss_plan_l1_fix_dist: 0.4544, d1.loss_plan_l1_fix_time: 1.8771, d1.loss_plan_l1_fix_dist: 0.2520, d2.loss_plan_l1_fix_time: 1.8475, d2.loss_plan_l1_fix_dist: 0.2549, d3.loss_plan_l1_fix_time: 1.8472, d3.loss_plan_l1_fix_dist: 0.2657, d4.loss_plan_l1_fix_time: 1.8514, d4.loss_plan_l1_fix_dist: 0.2787, d5.loss_plan_l1_fix_time: 1.8567, d5.loss_plan_l1_fix_dist: 0.2948, d6.loss_plan_l1_fix_time: 1.8623, d6.loss_plan_l1_fix_dist: 0.3164, d0.loss_cls_all: 0.3687, d0.loss_bbox_all: 0.5399, d0.loss_cls: 0.3687, d0.loss_bbox: 0.5399, d1.loss_cls: 0.3591, d1.loss_bbox: 0.5230, d2.loss_cls: 0.3532, d2.loss_bbox: 0.5103, d3.loss_cls: 0.3509, d3.loss_bbox: 0.5038, d4.loss_cls: 0.3503, d4.loss_bbox: 0.5044, d5.loss_cls: 0.3511, d5.loss_bbox: 0.5050, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1645, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0396, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0044, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9982, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9899, d5.loss_traj_cls: 0.0097, d5.loss_traj: 0.9996, d0.loss_map_cls_all: 0.3307, d0.loss_map_pts_all: 2.1001, d0.loss_map_dir_all: 0.0186, d0.loss_map_cls: 0.3307, d0.loss_map_pts: 2.1001, d0.loss_map_dir: 0.0186, d1.loss_map_cls: 0.3129, d1.loss_map_pts: 1.4116, d1.loss_map_dir: 0.0182, d2.loss_map_cls: 0.3018, d2.loss_map_pts: 1.2623, d2.loss_map_dir: 0.0187, d3.loss_map_cls: 0.2947, d3.loss_map_pts: 1.2120, d3.loss_map_dir: 0.0193, d4.loss_map_cls: 0.2924, d4.loss_map_pts: 1.2025, d4.loss_map_dir: 0.0198, d5.loss_map_cls: 0.2920, d5.loss_map_pts: 1.2015, d5.loss_map_dir: 0.0201, loss: 44.5449, grad_norm: 147.1174 +2026-02-25 02:32:29,296 - DriveTransformer - INFO - Epoch [3][30100/39528] lr: 9.831e-05, eta: 7 days, 18:39:10, time: 0.843, data_time: 0.041, memory: 19865, loss_cls: 0.3895, loss_bbox: 0.5496, loss_traj: 1.1085, loss_traj_cls: 0.0049, loss_map_cls: 0.2808, loss_map_pts: 1.2473, loss_map_dir: 0.0199, d0.loss_plan_l1_fix_time: 3.1876, d0.loss_plan_l1_fix_dist: 0.3982, d1.loss_plan_l1_fix_time: 2.0797, d1.loss_plan_l1_fix_dist: 0.2520, d2.loss_plan_l1_fix_time: 2.0629, d2.loss_plan_l1_fix_dist: 0.2536, d3.loss_plan_l1_fix_time: 2.0660, d3.loss_plan_l1_fix_dist: 0.2630, d4.loss_plan_l1_fix_time: 2.0703, d4.loss_plan_l1_fix_dist: 0.2765, d5.loss_plan_l1_fix_time: 2.0750, d5.loss_plan_l1_fix_dist: 0.2889, d6.loss_plan_l1_fix_time: 2.0795, d6.loss_plan_l1_fix_dist: 0.3043, d0.loss_cls_all: 0.4002, d0.loss_bbox_all: 0.5853, d0.loss_cls: 0.4002, d0.loss_bbox: 0.5853, d1.loss_cls: 0.3927, d1.loss_bbox: 0.5650, d2.loss_cls: 0.3871, d2.loss_bbox: 0.5517, d3.loss_cls: 0.3846, d3.loss_bbox: 0.5478, d4.loss_cls: 0.3892, d4.loss_bbox: 0.5470, d5.loss_cls: 0.3894, d5.loss_bbox: 0.5453, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2755, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1374, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1119, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1002, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0952, d5.loss_traj_cls: 0.0097, d5.loss_traj: 1.0966, d0.loss_map_cls_all: 0.3232, d0.loss_map_pts_all: 2.2198, d0.loss_map_dir_all: 0.0174, d0.loss_map_cls: 0.3232, d0.loss_map_pts: 2.2198, d0.loss_map_dir: 0.0174, d1.loss_map_cls: 0.3069, d1.loss_map_pts: 1.4801, d1.loss_map_dir: 0.0174, d2.loss_map_cls: 0.2963, d2.loss_map_pts: 1.3208, d2.loss_map_dir: 0.0182, d3.loss_map_cls: 0.2872, d3.loss_map_pts: 1.2643, d3.loss_map_dir: 0.0189, d4.loss_map_cls: 0.2807, d4.loss_map_pts: 1.2498, d4.loss_map_dir: 0.0193, d5.loss_map_cls: 0.2819, d5.loss_map_pts: 1.2487, d5.loss_map_dir: 0.0196, loss: 47.9914, grad_norm: 146.5986 +2026-02-25 02:33:10,249 - DriveTransformer - INFO - Epoch [3][30150/39528] lr: 9.831e-05, eta: 7 days, 18:38:37, time: 0.819, data_time: 0.037, memory: 19865, loss_cls: 0.3364, loss_bbox: 0.4960, loss_traj: 1.0867, loss_traj_cls: 0.0051, loss_map_cls: 0.2887, loss_map_pts: 1.2009, loss_map_dir: 0.0202, d0.loss_plan_l1_fix_time: 2.6880, d0.loss_plan_l1_fix_dist: 0.5047, d1.loss_plan_l1_fix_time: 1.7483, d1.loss_plan_l1_fix_dist: 0.2992, d2.loss_plan_l1_fix_time: 1.7345, d2.loss_plan_l1_fix_dist: 0.3057, d3.loss_plan_l1_fix_time: 1.7419, d3.loss_plan_l1_fix_dist: 0.3115, d4.loss_plan_l1_fix_time: 1.7478, d4.loss_plan_l1_fix_dist: 0.3199, d5.loss_plan_l1_fix_time: 1.7529, d5.loss_plan_l1_fix_dist: 0.3314, d6.loss_plan_l1_fix_time: 1.7593, d6.loss_plan_l1_fix_dist: 0.3423, d0.loss_cls_all: 0.3539, d0.loss_bbox_all: 0.5295, d0.loss_cls: 0.3539, d0.loss_bbox: 0.5295, d1.loss_cls: 0.3479, d1.loss_bbox: 0.5070, d2.loss_cls: 0.3417, d2.loss_bbox: 0.4963, d3.loss_cls: 0.3412, d3.loss_bbox: 0.4933, d4.loss_cls: 0.3365, d4.loss_bbox: 0.4922, d5.loss_cls: 0.3373, d5.loss_bbox: 0.4925, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2936, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1324, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0860, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0863, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0803, d5.loss_traj_cls: 0.0098, d5.loss_traj: 1.0801, d0.loss_map_cls_all: 0.3250, d0.loss_map_pts_all: 2.1599, d0.loss_map_dir_all: 0.0186, d0.loss_map_cls: 0.3250, d0.loss_map_pts: 2.1599, d0.loss_map_dir: 0.0186, d1.loss_map_cls: 0.3122, d1.loss_map_pts: 1.4581, d1.loss_map_dir: 0.0184, d2.loss_map_cls: 0.3007, d2.loss_map_pts: 1.2915, d2.loss_map_dir: 0.0187, d3.loss_map_cls: 0.2943, d3.loss_map_pts: 1.2258, d3.loss_map_dir: 0.0194, d4.loss_map_cls: 0.2879, d4.loss_map_pts: 1.2067, d4.loss_map_dir: 0.0198, d5.loss_map_cls: 0.2890, d5.loss_map_pts: 1.2016, d5.loss_map_dir: 0.0201, loss: 44.7189, grad_norm: 145.7976 +2026-02-25 02:33:47,946 - DriveTransformer - INFO - Epoch [3][30200/39528] lr: 9.831e-05, eta: 7 days, 18:37:39, time: 0.754, data_time: 0.042, memory: 19865, loss_cls: 0.3596, loss_bbox: 0.5233, loss_traj: 1.0885, loss_traj_cls: 0.0052, loss_map_cls: 0.3014, loss_map_pts: 1.1288, loss_map_dir: 0.0153, d0.loss_plan_l1_fix_time: 3.3367, d0.loss_plan_l1_fix_dist: 0.3873, d1.loss_plan_l1_fix_time: 2.2409, d1.loss_plan_l1_fix_dist: 0.2315, d2.loss_plan_l1_fix_time: 2.2383, d2.loss_plan_l1_fix_dist: 0.2333, d3.loss_plan_l1_fix_time: 2.2471, d3.loss_plan_l1_fix_dist: 0.2428, d4.loss_plan_l1_fix_time: 2.2530, d4.loss_plan_l1_fix_dist: 0.2539, d5.loss_plan_l1_fix_time: 2.2585, d5.loss_plan_l1_fix_dist: 0.2694, d6.loss_plan_l1_fix_time: 2.2651, d6.loss_plan_l1_fix_dist: 0.2883, d0.loss_cls_all: 0.3807, d0.loss_bbox_all: 0.5616, d0.loss_cls: 0.3807, d0.loss_bbox: 0.5616, d1.loss_cls: 0.3660, d1.loss_bbox: 0.5369, d2.loss_cls: 0.3576, d2.loss_bbox: 0.5278, d3.loss_cls: 0.3597, d3.loss_bbox: 0.5233, d4.loss_cls: 0.3574, d4.loss_bbox: 0.5230, d5.loss_cls: 0.3595, d5.loss_bbox: 0.5225, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2873, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1289, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0870, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0889, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0791, d5.loss_traj_cls: 0.0098, d5.loss_traj: 1.0839, d0.loss_map_cls_all: 0.3463, d0.loss_map_pts_all: 1.8026, d0.loss_map_dir_all: 0.0134, d0.loss_map_cls: 0.3463, d0.loss_map_pts: 1.8026, d0.loss_map_dir: 0.0134, d1.loss_map_cls: 0.3301, d1.loss_map_pts: 1.3380, d1.loss_map_dir: 0.0136, d2.loss_map_cls: 0.3166, d2.loss_map_pts: 1.2107, d2.loss_map_dir: 0.0141, d3.loss_map_cls: 0.3073, d3.loss_map_pts: 1.1492, d3.loss_map_dir: 0.0148, d4.loss_map_cls: 0.3034, d4.loss_map_pts: 1.1330, d4.loss_map_dir: 0.0151, d5.loss_map_cls: 0.3042, d5.loss_map_pts: 1.1248, d5.loss_map_dir: 0.0152, loss: 47.1710, grad_norm: 147.8865 +2026-02-25 02:34:29,307 - DriveTransformer - INFO - Epoch [3][30250/39528] lr: 9.831e-05, eta: 7 days, 18:37:09, time: 0.827, data_time: 0.044, memory: 19865, loss_cls: 0.3664, loss_bbox: 0.5345, loss_traj: 1.1426, loss_traj_cls: 0.0051, loss_map_cls: 0.3001, loss_map_pts: 1.2969, loss_map_dir: 0.0207, d0.loss_plan_l1_fix_time: 3.1675, d0.loss_plan_l1_fix_dist: 0.3860, d1.loss_plan_l1_fix_time: 1.9098, d1.loss_plan_l1_fix_dist: 0.2494, d2.loss_plan_l1_fix_time: 1.8838, d2.loss_plan_l1_fix_dist: 0.2529, d3.loss_plan_l1_fix_time: 1.8810, d3.loss_plan_l1_fix_dist: 0.2599, d4.loss_plan_l1_fix_time: 1.8847, d4.loss_plan_l1_fix_dist: 0.2679, d5.loss_plan_l1_fix_time: 1.8894, d5.loss_plan_l1_fix_dist: 0.2755, d6.loss_plan_l1_fix_time: 1.8942, d6.loss_plan_l1_fix_dist: 0.2864, d0.loss_cls_all: 0.3720, d0.loss_bbox_all: 0.5651, d0.loss_cls: 0.3720, d0.loss_bbox: 0.5651, d1.loss_cls: 0.3680, d1.loss_bbox: 0.5493, d2.loss_cls: 0.3618, d2.loss_bbox: 0.5413, d3.loss_cls: 0.3657, d3.loss_bbox: 0.5345, d4.loss_cls: 0.3638, d4.loss_bbox: 0.5322, d5.loss_cls: 0.3634, d5.loss_bbox: 0.5336, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3018, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1887, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1425, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1426, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.1372, d5.loss_traj_cls: 0.0097, d5.loss_traj: 1.1358, d0.loss_map_cls_all: 0.3525, d0.loss_map_pts_all: 2.2952, d0.loss_map_dir_all: 0.0185, d0.loss_map_cls: 0.3525, d0.loss_map_pts: 2.2952, d0.loss_map_dir: 0.0185, d1.loss_map_cls: 0.3291, d1.loss_map_pts: 1.5636, d1.loss_map_dir: 0.0185, d2.loss_map_cls: 0.3190, d2.loss_map_pts: 1.3868, d2.loss_map_dir: 0.0190, d3.loss_map_cls: 0.3058, d3.loss_map_pts: 1.3210, d3.loss_map_dir: 0.0197, d4.loss_map_cls: 0.3017, d4.loss_map_pts: 1.3041, d4.loss_map_dir: 0.0201, d5.loss_map_cls: 0.3000, d5.loss_map_pts: 1.2983, d5.loss_map_dir: 0.0205, loss: 47.4648, grad_norm: 147.5149 +2026-02-25 02:35:08,956 - DriveTransformer - INFO - Epoch [3][30300/39528] lr: 9.831e-05, eta: 7 days, 18:36:26, time: 0.793, data_time: 0.040, memory: 19865, loss_cls: 0.2933, loss_bbox: 0.4893, loss_traj: 1.1903, loss_traj_cls: 0.0048, loss_map_cls: 0.2333, loss_map_pts: 0.9158, loss_map_dir: 0.0136, d0.loss_plan_l1_fix_time: 2.4277, d0.loss_plan_l1_fix_dist: 0.5701, d1.loss_plan_l1_fix_time: 1.5808, d1.loss_plan_l1_fix_dist: 0.2834, d2.loss_plan_l1_fix_time: 1.5452, d2.loss_plan_l1_fix_dist: 0.2880, d3.loss_plan_l1_fix_time: 1.5464, d3.loss_plan_l1_fix_dist: 0.2959, d4.loss_plan_l1_fix_time: 1.5519, d4.loss_plan_l1_fix_dist: 0.3063, d5.loss_plan_l1_fix_time: 1.5579, d5.loss_plan_l1_fix_dist: 0.3183, d6.loss_plan_l1_fix_time: 1.5641, d6.loss_plan_l1_fix_dist: 0.3315, d0.loss_cls_all: 0.3030, d0.loss_bbox_all: 0.5367, d0.loss_cls: 0.3030, d0.loss_bbox: 0.5367, d1.loss_cls: 0.2962, d1.loss_bbox: 0.5067, d2.loss_cls: 0.2923, d2.loss_bbox: 0.4943, d3.loss_cls: 0.2927, d3.loss_bbox: 0.4912, d4.loss_cls: 0.2892, d4.loss_bbox: 0.4906, d5.loss_cls: 0.2911, d5.loss_bbox: 0.4891, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3919, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2377, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1889, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1856, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.1815, d5.loss_traj_cls: 0.0094, d5.loss_traj: 1.1853, d0.loss_map_cls_all: 0.2857, d0.loss_map_pts_all: 1.6341, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2857, d0.loss_map_pts: 1.6341, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2578, d1.loss_map_pts: 1.0759, d1.loss_map_dir: 0.0122, d2.loss_map_cls: 0.2443, d2.loss_map_pts: 0.9637, d2.loss_map_dir: 0.0126, d3.loss_map_cls: 0.2383, d3.loss_map_pts: 0.9208, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2349, d4.loss_map_pts: 0.9121, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.2348, d5.loss_map_pts: 0.9123, d5.loss_map_dir: 0.0135, loss: 40.2296, grad_norm: 146.5892 +2026-02-25 02:35:47,307 - DriveTransformer - INFO - Epoch [3][30350/39528] lr: 9.831e-05, eta: 7 days, 18:35:34, time: 0.767, data_time: 0.040, memory: 19865, loss_cls: 0.3254, loss_bbox: 0.4717, loss_traj: 1.3246, loss_traj_cls: 0.0048, loss_map_cls: 0.2569, loss_map_pts: 1.1578, loss_map_dir: 0.0171, d0.loss_plan_l1_fix_time: 2.6856, d0.loss_plan_l1_fix_dist: 0.3852, d1.loss_plan_l1_fix_time: 1.7868, d1.loss_plan_l1_fix_dist: 0.2364, d2.loss_plan_l1_fix_time: 1.7665, d2.loss_plan_l1_fix_dist: 0.2482, d3.loss_plan_l1_fix_time: 1.7739, d3.loss_plan_l1_fix_dist: 0.2589, d4.loss_plan_l1_fix_time: 1.7805, d4.loss_plan_l1_fix_dist: 0.2692, d5.loss_plan_l1_fix_time: 1.7872, d5.loss_plan_l1_fix_dist: 0.2833, d6.loss_plan_l1_fix_time: 1.7945, d6.loss_plan_l1_fix_dist: 0.2996, d0.loss_cls_all: 0.3237, d0.loss_bbox_all: 0.5221, d0.loss_cls: 0.3237, d0.loss_bbox: 0.5221, d1.loss_cls: 0.3178, d1.loss_bbox: 0.4881, d2.loss_cls: 0.3144, d2.loss_bbox: 0.4753, d3.loss_cls: 0.3203, d3.loss_bbox: 0.4700, d4.loss_cls: 0.3169, d4.loss_bbox: 0.4697, d5.loss_cls: 0.3219, d5.loss_bbox: 0.4695, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.7243, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3706, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3265, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.3155, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.3069, d5.loss_traj_cls: 0.0095, d5.loss_traj: 1.3140, d0.loss_map_cls_all: 0.3000, d0.loss_map_pts_all: 1.9762, d0.loss_map_dir_all: 0.0144, d0.loss_map_cls: 0.3000, d0.loss_map_pts: 1.9762, d0.loss_map_dir: 0.0144, d1.loss_map_cls: 0.2807, d1.loss_map_pts: 1.3834, d1.loss_map_dir: 0.0145, d2.loss_map_cls: 0.2688, d2.loss_map_pts: 1.2479, d2.loss_map_dir: 0.0153, d3.loss_map_cls: 0.2621, d3.loss_map_pts: 1.1845, d3.loss_map_dir: 0.0160, d4.loss_map_cls: 0.2595, d4.loss_map_pts: 1.1696, d4.loss_map_dir: 0.0165, d5.loss_map_cls: 0.2581, d5.loss_map_pts: 1.1587, d5.loss_map_dir: 0.0167, loss: 45.0750, grad_norm: 147.2192 +2026-02-25 02:36:26,897 - DriveTransformer - INFO - Epoch [3][30400/39528] lr: 9.831e-05, eta: 7 days, 18:34:50, time: 0.792, data_time: 0.043, memory: 19865, loss_cls: 0.3472, loss_bbox: 0.5272, loss_traj: 0.9686, loss_traj_cls: 0.0047, loss_map_cls: 0.3047, loss_map_pts: 1.2592, loss_map_dir: 0.0200, d0.loss_plan_l1_fix_time: 2.8628, d0.loss_plan_l1_fix_dist: 0.4907, d1.loss_plan_l1_fix_time: 1.7495, d1.loss_plan_l1_fix_dist: 0.2793, d2.loss_plan_l1_fix_time: 1.7262, d2.loss_plan_l1_fix_dist: 0.2869, d3.loss_plan_l1_fix_time: 1.7263, d3.loss_plan_l1_fix_dist: 0.2962, d4.loss_plan_l1_fix_time: 1.7304, d4.loss_plan_l1_fix_dist: 0.3078, d5.loss_plan_l1_fix_time: 1.7365, d5.loss_plan_l1_fix_dist: 0.3179, d6.loss_plan_l1_fix_time: 1.7452, d6.loss_plan_l1_fix_dist: 0.3319, d0.loss_cls_all: 0.3539, d0.loss_bbox_all: 0.5836, d0.loss_cls: 0.3539, d0.loss_bbox: 0.5836, d1.loss_cls: 0.3524, d1.loss_bbox: 0.5498, d2.loss_cls: 0.3410, d2.loss_bbox: 0.5410, d3.loss_cls: 0.3424, d3.loss_bbox: 0.5319, d4.loss_cls: 0.3392, d4.loss_bbox: 0.5286, d5.loss_cls: 0.3430, d5.loss_bbox: 0.5279, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1890, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0124, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9797, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9686, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9608, d5.loss_traj_cls: 0.0094, d5.loss_traj: 0.9652, d0.loss_map_cls_all: 0.3429, d0.loss_map_pts_all: 2.0651, d0.loss_map_dir_all: 0.0173, d0.loss_map_cls: 0.3429, d0.loss_map_pts: 2.0651, d0.loss_map_dir: 0.0173, d1.loss_map_cls: 0.3257, d1.loss_map_pts: 1.4661, d1.loss_map_dir: 0.0175, d2.loss_map_cls: 0.3145, d2.loss_map_pts: 1.3285, d2.loss_map_dir: 0.0183, d3.loss_map_cls: 0.3077, d3.loss_map_pts: 1.2823, d3.loss_map_dir: 0.0191, d4.loss_map_cls: 0.3011, d4.loss_map_pts: 1.2656, d4.loss_map_dir: 0.0195, d5.loss_map_cls: 0.3028, d5.loss_map_pts: 1.2608, d5.loss_map_dir: 0.0198, loss: 44.4813, grad_norm: 147.3238 +2026-02-25 02:37:06,847 - DriveTransformer - INFO - Epoch [3][30450/39528] lr: 9.831e-05, eta: 7 days, 18:34:10, time: 0.799, data_time: 0.038, memory: 19865, loss_cls: 0.3483, loss_bbox: 0.4919, loss_traj: 0.9000, loss_traj_cls: 0.0046, loss_map_cls: 0.2925, loss_map_pts: 1.2579, loss_map_dir: 0.0209, d0.loss_plan_l1_fix_time: 2.4366, d0.loss_plan_l1_fix_dist: 0.5595, d1.loss_plan_l1_fix_time: 1.4323, d1.loss_plan_l1_fix_dist: 0.2929, d2.loss_plan_l1_fix_time: 1.4219, d2.loss_plan_l1_fix_dist: 0.2974, d3.loss_plan_l1_fix_time: 1.4272, d3.loss_plan_l1_fix_dist: 0.3078, d4.loss_plan_l1_fix_time: 1.4346, d4.loss_plan_l1_fix_dist: 0.3198, d5.loss_plan_l1_fix_time: 1.4443, d5.loss_plan_l1_fix_dist: 0.3317, d6.loss_plan_l1_fix_time: 1.4560, d6.loss_plan_l1_fix_dist: 0.3476, d0.loss_cls_all: 0.3584, d0.loss_bbox_all: 0.5369, d0.loss_cls: 0.3584, d0.loss_bbox: 0.5369, d1.loss_cls: 0.3545, d1.loss_bbox: 0.5091, d2.loss_cls: 0.3521, d2.loss_bbox: 0.4998, d3.loss_cls: 0.3495, d3.loss_bbox: 0.4951, d4.loss_cls: 0.3467, d4.loss_bbox: 0.4925, d5.loss_cls: 0.3496, d5.loss_bbox: 0.4901, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0156, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9332, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9132, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9099, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9080, d5.loss_traj_cls: 0.0094, d5.loss_traj: 0.9076, d0.loss_map_cls_all: 0.3293, d0.loss_map_pts_all: 2.1986, d0.loss_map_dir_all: 0.0182, d0.loss_map_cls: 0.3293, d0.loss_map_pts: 2.1986, d0.loss_map_dir: 0.0182, d1.loss_map_cls: 0.3140, d1.loss_map_pts: 1.4729, d1.loss_map_dir: 0.0187, d2.loss_map_cls: 0.3015, d2.loss_map_pts: 1.3187, d2.loss_map_dir: 0.0192, d3.loss_map_cls: 0.2986, d3.loss_map_pts: 1.2675, d3.loss_map_dir: 0.0199, d4.loss_map_cls: 0.2946, d4.loss_map_pts: 1.2561, d4.loss_map_dir: 0.0204, d5.loss_map_cls: 0.2923, d5.loss_map_pts: 1.2591, d5.loss_map_dir: 0.0207, loss: 41.7234, grad_norm: 148.9442 +2026-02-25 02:37:48,651 - DriveTransformer - INFO - Epoch [3][30500/39528] lr: 9.831e-05, eta: 7 days, 18:33:43, time: 0.836, data_time: 0.048, memory: 19865, loss_cls: 0.3208, loss_bbox: 0.4936, loss_traj: 0.9574, loss_traj_cls: 0.0046, loss_map_cls: 0.2723, loss_map_pts: 1.1663, loss_map_dir: 0.0195, d0.loss_plan_l1_fix_time: 2.9797, d0.loss_plan_l1_fix_dist: 0.4972, d1.loss_plan_l1_fix_time: 1.8579, d1.loss_plan_l1_fix_dist: 0.2608, d2.loss_plan_l1_fix_time: 1.8382, d2.loss_plan_l1_fix_dist: 0.2637, d3.loss_plan_l1_fix_time: 1.8365, d3.loss_plan_l1_fix_dist: 0.2715, d4.loss_plan_l1_fix_time: 1.8396, d4.loss_plan_l1_fix_dist: 0.2817, d5.loss_plan_l1_fix_time: 1.8431, d5.loss_plan_l1_fix_dist: 0.2946, d6.loss_plan_l1_fix_time: 1.8468, d6.loss_plan_l1_fix_dist: 0.3050, d0.loss_cls_all: 0.3320, d0.loss_bbox_all: 0.5457, d0.loss_cls: 0.3320, d0.loss_bbox: 0.5457, d1.loss_cls: 0.3245, d1.loss_bbox: 0.5154, d2.loss_cls: 0.3228, d2.loss_bbox: 0.5013, d3.loss_cls: 0.3223, d3.loss_bbox: 0.4960, d4.loss_cls: 0.3209, d4.loss_bbox: 0.4942, d5.loss_cls: 0.3188, d5.loss_bbox: 0.4951, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1807, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0003, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9600, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9567, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9586, d5.loss_traj_cls: 0.0093, d5.loss_traj: 0.9541, d0.loss_map_cls_all: 0.3197, d0.loss_map_pts_all: 2.1101, d0.loss_map_dir_all: 0.0168, d0.loss_map_cls: 0.3197, d0.loss_map_pts: 2.1101, d0.loss_map_dir: 0.0168, d1.loss_map_cls: 0.3033, d1.loss_map_pts: 1.4192, d1.loss_map_dir: 0.0171, d2.loss_map_cls: 0.2860, d2.loss_map_pts: 1.2603, d2.loss_map_dir: 0.0178, d3.loss_map_cls: 0.2749, d3.loss_map_pts: 1.1942, d3.loss_map_dir: 0.0186, d4.loss_map_cls: 0.2725, d4.loss_map_pts: 1.1717, d4.loss_map_dir: 0.0190, d5.loss_map_cls: 0.2712, d5.loss_map_pts: 1.1648, d5.loss_map_dir: 0.0193, loss: 43.9458, grad_norm: 149.5375 +2026-02-25 02:38:29,135 - DriveTransformer - INFO - Epoch [3][30550/39528] lr: 9.831e-05, eta: 7 days, 18:33:07, time: 0.810, data_time: 0.044, memory: 19865, loss_cls: 0.3640, loss_bbox: 0.5354, loss_traj: 1.0964, loss_traj_cls: 0.0047, loss_map_cls: 0.3106, loss_map_pts: 1.2808, loss_map_dir: 0.0203, d0.loss_plan_l1_fix_time: 2.8931, d0.loss_plan_l1_fix_dist: 0.3167, d1.loss_plan_l1_fix_time: 1.7275, d1.loss_plan_l1_fix_dist: 0.2266, d2.loss_plan_l1_fix_time: 1.7102, d2.loss_plan_l1_fix_dist: 0.2320, d3.loss_plan_l1_fix_time: 1.7103, d3.loss_plan_l1_fix_dist: 0.2421, d4.loss_plan_l1_fix_time: 1.7135, d4.loss_plan_l1_fix_dist: 0.2521, d5.loss_plan_l1_fix_time: 1.7174, d5.loss_plan_l1_fix_dist: 0.2637, d6.loss_plan_l1_fix_time: 1.7210, d6.loss_plan_l1_fix_dist: 0.2798, d0.loss_cls_all: 0.3781, d0.loss_bbox_all: 0.5825, d0.loss_cls: 0.3781, d0.loss_bbox: 0.5825, d1.loss_cls: 0.3644, d1.loss_bbox: 0.5550, d2.loss_cls: 0.3601, d2.loss_bbox: 0.5438, d3.loss_cls: 0.3600, d3.loss_bbox: 0.5393, d4.loss_cls: 0.3606, d4.loss_bbox: 0.5361, d5.loss_cls: 0.3620, d5.loss_bbox: 0.5343, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2422, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1323, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1056, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1082, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.1055, d5.loss_traj_cls: 0.0094, d5.loss_traj: 1.0924, d0.loss_map_cls_all: 0.3681, d0.loss_map_pts_all: 2.1529, d0.loss_map_dir_all: 0.0175, d0.loss_map_cls: 0.3681, d0.loss_map_pts: 2.1529, d0.loss_map_dir: 0.0175, d1.loss_map_cls: 0.3456, d1.loss_map_pts: 1.5091, d1.loss_map_dir: 0.0179, d2.loss_map_cls: 0.3250, d2.loss_map_pts: 1.3514, d2.loss_map_dir: 0.0186, d3.loss_map_cls: 0.3156, d3.loss_map_pts: 1.3015, d3.loss_map_dir: 0.0194, d4.loss_map_cls: 0.3105, d4.loss_map_pts: 1.2837, d4.loss_map_dir: 0.0199, d5.loss_map_cls: 0.3108, d5.loss_map_pts: 1.2811, d5.loss_map_dir: 0.0201, loss: 45.3629, grad_norm: 146.7100 +2026-02-25 02:39:09,787 - DriveTransformer - INFO - Epoch [3][30600/39528] lr: 9.831e-05, eta: 7 days, 18:32:32, time: 0.813, data_time: 0.038, memory: 19865, loss_cls: 0.3068, loss_bbox: 0.4768, loss_traj: 1.0823, loss_traj_cls: 0.0047, loss_map_cls: 0.2371, loss_map_pts: 1.0778, loss_map_dir: 0.0189, d0.loss_plan_l1_fix_time: 2.9049, d0.loss_plan_l1_fix_dist: 0.4430, d1.loss_plan_l1_fix_time: 1.7696, d1.loss_plan_l1_fix_dist: 0.2513, d2.loss_plan_l1_fix_time: 1.7573, d2.loss_plan_l1_fix_dist: 0.2543, d3.loss_plan_l1_fix_time: 1.7601, d3.loss_plan_l1_fix_dist: 0.2652, d4.loss_plan_l1_fix_time: 1.7644, d4.loss_plan_l1_fix_dist: 0.2792, d5.loss_plan_l1_fix_time: 1.7697, d5.loss_plan_l1_fix_dist: 0.2942, d6.loss_plan_l1_fix_time: 1.7762, d6.loss_plan_l1_fix_dist: 0.3107, d0.loss_cls_all: 0.3230, d0.loss_bbox_all: 0.5195, d0.loss_cls: 0.3230, d0.loss_bbox: 0.5195, d1.loss_cls: 0.3225, d1.loss_bbox: 0.4926, d2.loss_cls: 0.3143, d2.loss_bbox: 0.4826, d3.loss_cls: 0.3110, d3.loss_bbox: 0.4786, d4.loss_cls: 0.3082, d4.loss_bbox: 0.4772, d5.loss_cls: 0.3088, d5.loss_bbox: 0.4757, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2723, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1068, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0672, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0737, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.0748, d5.loss_traj_cls: 0.0093, d5.loss_traj: 1.0790, d0.loss_map_cls_all: 0.2921, d0.loss_map_pts_all: 2.0443, d0.loss_map_dir_all: 0.0170, d0.loss_map_cls: 0.2921, d0.loss_map_pts: 2.0443, d0.loss_map_dir: 0.0170, d1.loss_map_cls: 0.2651, d1.loss_map_pts: 1.2893, d1.loss_map_dir: 0.0169, d2.loss_map_cls: 0.2483, d2.loss_map_pts: 1.1486, d2.loss_map_dir: 0.0175, d3.loss_map_cls: 0.2430, d3.loss_map_pts: 1.1002, d3.loss_map_dir: 0.0182, d4.loss_map_cls: 0.2394, d4.loss_map_pts: 1.0839, d4.loss_map_dir: 0.0186, d5.loss_map_cls: 0.2376, d5.loss_map_pts: 1.0794, d5.loss_map_dir: 0.0189, loss: 42.8806, grad_norm: 145.2431 +2026-02-25 02:39:51,936 - DriveTransformer - INFO - Epoch [3][30650/39528] lr: 9.831e-05, eta: 7 days, 18:32:08, time: 0.843, data_time: 0.047, memory: 19865, loss_cls: 0.3344, loss_bbox: 0.5091, loss_traj: 0.9006, loss_traj_cls: 0.0047, loss_map_cls: 0.2813, loss_map_pts: 1.2251, loss_map_dir: 0.0225, d0.loss_plan_l1_fix_time: 2.5356, d0.loss_plan_l1_fix_dist: 0.3817, d1.loss_plan_l1_fix_time: 1.6705, d1.loss_plan_l1_fix_dist: 0.2521, d2.loss_plan_l1_fix_time: 1.6783, d2.loss_plan_l1_fix_dist: 0.2590, d3.loss_plan_l1_fix_time: 1.6813, d3.loss_plan_l1_fix_dist: 0.2688, d4.loss_plan_l1_fix_time: 1.6865, d4.loss_plan_l1_fix_dist: 0.2817, d5.loss_plan_l1_fix_time: 1.6919, d5.loss_plan_l1_fix_dist: 0.2946, d6.loss_plan_l1_fix_time: 1.6974, d6.loss_plan_l1_fix_dist: 0.3062, d0.loss_cls_all: 0.3536, d0.loss_bbox_all: 0.5622, d0.loss_cls: 0.3536, d0.loss_bbox: 0.5622, d1.loss_cls: 0.3472, d1.loss_bbox: 0.5314, d2.loss_cls: 0.3446, d2.loss_bbox: 0.5178, d3.loss_cls: 0.3379, d3.loss_bbox: 0.5145, d4.loss_cls: 0.3363, d4.loss_bbox: 0.5102, d5.loss_cls: 0.3335, d5.loss_bbox: 0.5113, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0614, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9249, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8982, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8943, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8891, d5.loss_traj_cls: 0.0092, d5.loss_traj: 0.8955, d0.loss_map_cls_all: 0.3291, d0.loss_map_pts_all: 2.3045, d0.loss_map_dir_all: 0.0203, d0.loss_map_cls: 0.3291, d0.loss_map_pts: 2.3045, d0.loss_map_dir: 0.0203, d1.loss_map_cls: 0.3090, d1.loss_map_pts: 1.4741, d1.loss_map_dir: 0.0201, d2.loss_map_cls: 0.2947, d2.loss_map_pts: 1.3057, d2.loss_map_dir: 0.0209, d3.loss_map_cls: 0.2877, d3.loss_map_pts: 1.2535, d3.loss_map_dir: 0.0217, d4.loss_map_cls: 0.2838, d4.loss_map_pts: 1.2322, d4.loss_map_dir: 0.0221, d5.loss_map_cls: 0.2817, d5.loss_map_pts: 1.2262, d5.loss_map_dir: 0.0224, loss: 43.0205, grad_norm: 145.0816 +2026-02-25 02:40:30,988 - DriveTransformer - INFO - Epoch [3][30700/39528] lr: 9.831e-05, eta: 7 days, 18:31:21, time: 0.781, data_time: 0.042, memory: 19865, loss_cls: 0.3350, loss_bbox: 0.4910, loss_traj: 1.0472, loss_traj_cls: 0.0047, loss_map_cls: 0.2745, loss_map_pts: 1.1383, loss_map_dir: 0.0189, d0.loss_plan_l1_fix_time: 2.2960, d0.loss_plan_l1_fix_dist: 0.4565, d1.loss_plan_l1_fix_time: 1.5087, d1.loss_plan_l1_fix_dist: 0.2394, d2.loss_plan_l1_fix_time: 1.4863, d2.loss_plan_l1_fix_dist: 0.2469, d3.loss_plan_l1_fix_time: 1.4898, d3.loss_plan_l1_fix_dist: 0.2567, d4.loss_plan_l1_fix_time: 1.4951, d4.loss_plan_l1_fix_dist: 0.2676, d5.loss_plan_l1_fix_time: 1.5017, d5.loss_plan_l1_fix_dist: 0.2808, d6.loss_plan_l1_fix_time: 1.5091, d6.loss_plan_l1_fix_dist: 0.2999, d0.loss_cls_all: 0.3489, d0.loss_bbox_all: 0.5330, d0.loss_cls: 0.3489, d0.loss_bbox: 0.5330, d1.loss_cls: 0.3414, d1.loss_bbox: 0.5104, d2.loss_cls: 0.3359, d2.loss_bbox: 0.4991, d3.loss_cls: 0.3308, d3.loss_bbox: 0.4941, d4.loss_cls: 0.3319, d4.loss_bbox: 0.4896, d5.loss_cls: 0.3331, d5.loss_bbox: 0.4905, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2077, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0875, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0554, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0558, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.0511, d5.loss_traj_cls: 0.0093, d5.loss_traj: 1.0506, d0.loss_map_cls_all: 0.3162, d0.loss_map_pts_all: 2.0090, d0.loss_map_dir_all: 0.0174, d0.loss_map_cls: 0.3162, d0.loss_map_pts: 2.0090, d0.loss_map_dir: 0.0174, d1.loss_map_cls: 0.2950, d1.loss_map_pts: 1.3896, d1.loss_map_dir: 0.0175, d2.loss_map_cls: 0.2832, d2.loss_map_pts: 1.2270, d2.loss_map_dir: 0.0178, d3.loss_map_cls: 0.2806, d3.loss_map_pts: 1.1611, d3.loss_map_dir: 0.0183, d4.loss_map_cls: 0.2758, d4.loss_map_pts: 1.1431, d4.loss_map_dir: 0.0186, d5.loss_map_cls: 0.2742, d5.loss_map_pts: 1.1361, d5.loss_map_dir: 0.0188, loss: 41.3291, grad_norm: 146.6414 +2026-02-25 02:41:11,558 - DriveTransformer - INFO - Epoch [3][30750/39528] lr: 9.831e-05, eta: 7 days, 18:30:45, time: 0.811, data_time: 0.037, memory: 19865, loss_cls: 0.3574, loss_bbox: 0.5276, loss_traj: 0.9938, loss_traj_cls: 0.0046, loss_map_cls: 0.2944, loss_map_pts: 1.1560, loss_map_dir: 0.0197, d0.loss_plan_l1_fix_time: 2.8529, d0.loss_plan_l1_fix_dist: 0.4443, d1.loss_plan_l1_fix_time: 2.0557, d1.loss_plan_l1_fix_dist: 0.2967, d2.loss_plan_l1_fix_time: 2.0479, d2.loss_plan_l1_fix_dist: 0.2989, d3.loss_plan_l1_fix_time: 2.0566, d3.loss_plan_l1_fix_dist: 0.3073, d4.loss_plan_l1_fix_time: 2.0641, d4.loss_plan_l1_fix_dist: 0.3189, d5.loss_plan_l1_fix_time: 2.0715, d5.loss_plan_l1_fix_dist: 0.3329, d6.loss_plan_l1_fix_time: 2.0797, d6.loss_plan_l1_fix_dist: 0.3496, d0.loss_cls_all: 0.3671, d0.loss_bbox_all: 0.5688, d0.loss_cls: 0.3671, d0.loss_bbox: 0.5688, d1.loss_cls: 0.3612, d1.loss_bbox: 0.5433, d2.loss_cls: 0.3572, d2.loss_bbox: 0.5316, d3.loss_cls: 0.3531, d3.loss_bbox: 0.5275, d4.loss_cls: 0.3526, d4.loss_bbox: 0.5273, d5.loss_cls: 0.3547, d5.loss_bbox: 0.5270, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1564, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0353, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9854, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9845, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9834, d5.loss_traj_cls: 0.0093, d5.loss_traj: 0.9888, d0.loss_map_cls_all: 0.3430, d0.loss_map_pts_all: 2.0897, d0.loss_map_dir_all: 0.0182, d0.loss_map_cls: 0.3430, d0.loss_map_pts: 2.0897, d0.loss_map_dir: 0.0182, d1.loss_map_cls: 0.3234, d1.loss_map_pts: 1.3837, d1.loss_map_dir: 0.0181, d2.loss_map_cls: 0.3083, d2.loss_map_pts: 1.2392, d2.loss_map_dir: 0.0185, d3.loss_map_cls: 0.3027, d3.loss_map_pts: 1.1754, d3.loss_map_dir: 0.0190, d4.loss_map_cls: 0.2979, d4.loss_map_pts: 1.1590, d4.loss_map_dir: 0.0193, d5.loss_map_cls: 0.2949, d5.loss_map_pts: 1.1551, d5.loss_map_dir: 0.0195, loss: 46.0216, grad_norm: 149.5642 +2026-02-25 02:41:51,711 - DriveTransformer - INFO - Epoch [3][30800/39528] lr: 9.831e-05, eta: 7 days, 18:30:06, time: 0.804, data_time: 0.038, memory: 19865, loss_cls: 0.3417, loss_bbox: 0.5159, loss_traj: 0.9301, loss_traj_cls: 0.0046, loss_map_cls: 0.2934, loss_map_pts: 1.1847, loss_map_dir: 0.0209, d0.loss_plan_l1_fix_time: 2.9420, d0.loss_plan_l1_fix_dist: 0.4363, d1.loss_plan_l1_fix_time: 1.7846, d1.loss_plan_l1_fix_dist: 0.2624, d2.loss_plan_l1_fix_time: 1.7642, d2.loss_plan_l1_fix_dist: 0.2684, d3.loss_plan_l1_fix_time: 1.7662, d3.loss_plan_l1_fix_dist: 0.2799, d4.loss_plan_l1_fix_time: 1.7713, d4.loss_plan_l1_fix_dist: 0.2945, d5.loss_plan_l1_fix_time: 1.7770, d5.loss_plan_l1_fix_dist: 0.3084, d6.loss_plan_l1_fix_time: 1.7840, d6.loss_plan_l1_fix_dist: 0.3225, d0.loss_cls_all: 0.3532, d0.loss_bbox_all: 0.5622, d0.loss_cls: 0.3532, d0.loss_bbox: 0.5622, d1.loss_cls: 0.3493, d1.loss_bbox: 0.5331, d2.loss_cls: 0.3475, d2.loss_bbox: 0.5231, d3.loss_cls: 0.3456, d3.loss_bbox: 0.5175, d4.loss_cls: 0.3429, d4.loss_bbox: 0.5161, d5.loss_cls: 0.3426, d5.loss_bbox: 0.5127, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0891, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9603, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9377, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9278, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9160, d5.loss_traj_cls: 0.0093, d5.loss_traj: 0.9196, d0.loss_map_cls_all: 0.3273, d0.loss_map_pts_all: 2.1136, d0.loss_map_dir_all: 0.0197, d0.loss_map_cls: 0.3273, d0.loss_map_pts: 2.1136, d0.loss_map_dir: 0.0197, d1.loss_map_cls: 0.3106, d1.loss_map_pts: 1.3988, d1.loss_map_dir: 0.0195, d2.loss_map_cls: 0.2998, d2.loss_map_pts: 1.2505, d2.loss_map_dir: 0.0198, d3.loss_map_cls: 0.2981, d3.loss_map_pts: 1.1975, d3.loss_map_dir: 0.0203, d4.loss_map_cls: 0.2945, d4.loss_map_pts: 1.1846, d4.loss_map_dir: 0.0207, d5.loss_map_cls: 0.2936, d5.loss_map_pts: 1.1824, d5.loss_map_dir: 0.0209, loss: 43.7121, grad_norm: 149.4161 +2026-02-25 02:42:33,925 - DriveTransformer - INFO - Epoch [3][30850/39528] lr: 9.831e-05, eta: 7 days, 18:29:42, time: 0.843, data_time: 0.040, memory: 19865, loss_cls: 0.3511, loss_bbox: 0.4799, loss_traj: 0.9758, loss_traj_cls: 0.0045, loss_map_cls: 0.2924, loss_map_pts: 1.3321, loss_map_dir: 0.0218, d0.loss_plan_l1_fix_time: 2.9676, d0.loss_plan_l1_fix_dist: 0.4252, d1.loss_plan_l1_fix_time: 1.8484, d1.loss_plan_l1_fix_dist: 0.2712, d2.loss_plan_l1_fix_time: 1.8350, d2.loss_plan_l1_fix_dist: 0.2775, d3.loss_plan_l1_fix_time: 1.8386, d3.loss_plan_l1_fix_dist: 0.2895, d4.loss_plan_l1_fix_time: 1.8446, d4.loss_plan_l1_fix_dist: 0.3030, d5.loss_plan_l1_fix_time: 1.8510, d5.loss_plan_l1_fix_dist: 0.3166, d6.loss_plan_l1_fix_time: 1.8575, d6.loss_plan_l1_fix_dist: 0.3326, d0.loss_cls_all: 0.3674, d0.loss_bbox_all: 0.5319, d0.loss_cls: 0.3674, d0.loss_bbox: 0.5319, d1.loss_cls: 0.3621, d1.loss_bbox: 0.5026, d2.loss_cls: 0.3571, d2.loss_bbox: 0.4902, d3.loss_cls: 0.3518, d3.loss_bbox: 0.4833, d4.loss_cls: 0.3495, d4.loss_bbox: 0.4806, d5.loss_cls: 0.3495, d5.loss_bbox: 0.4784, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1277, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9914, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9785, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9743, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9766, d5.loss_traj_cls: 0.0092, d5.loss_traj: 0.9787, d0.loss_map_cls_all: 0.3401, d0.loss_map_pts_all: 2.3409, d0.loss_map_dir_all: 0.0207, d0.loss_map_cls: 0.3401, d0.loss_map_pts: 2.3409, d0.loss_map_dir: 0.0207, d1.loss_map_cls: 0.3164, d1.loss_map_pts: 1.5925, d1.loss_map_dir: 0.0206, d2.loss_map_cls: 0.3051, d2.loss_map_pts: 1.4205, d2.loss_map_dir: 0.0209, d3.loss_map_cls: 0.2993, d3.loss_map_pts: 1.3633, d3.loss_map_dir: 0.0212, d4.loss_map_cls: 0.2934, d4.loss_map_pts: 1.3424, d4.loss_map_dir: 0.0216, d5.loss_map_cls: 0.2925, d5.loss_map_pts: 1.3349, d5.loss_map_dir: 0.0217, loss: 45.8305, grad_norm: 148.6779 +2026-02-25 02:43:15,006 - DriveTransformer - INFO - Epoch [3][30900/39528] lr: 9.831e-05, eta: 7 days, 18:29:10, time: 0.822, data_time: 0.040, memory: 19865, loss_cls: 0.3359, loss_bbox: 0.5201, loss_traj: 0.9794, loss_traj_cls: 0.0044, loss_map_cls: 0.3050, loss_map_pts: 1.3525, loss_map_dir: 0.0201, d0.loss_plan_l1_fix_time: 2.8676, d0.loss_plan_l1_fix_dist: 0.4007, d1.loss_plan_l1_fix_time: 1.8709, d1.loss_plan_l1_fix_dist: 0.2699, d2.loss_plan_l1_fix_time: 1.8815, d2.loss_plan_l1_fix_dist: 0.2739, d3.loss_plan_l1_fix_time: 1.8941, d3.loss_plan_l1_fix_dist: 0.2861, d4.loss_plan_l1_fix_time: 1.9023, d4.loss_plan_l1_fix_dist: 0.3000, d5.loss_plan_l1_fix_time: 1.9100, d5.loss_plan_l1_fix_dist: 0.3182, d6.loss_plan_l1_fix_time: 1.9171, d6.loss_plan_l1_fix_dist: 0.3378, d0.loss_cls_all: 0.3582, d0.loss_bbox_all: 0.5567, d0.loss_cls: 0.3582, d0.loss_bbox: 0.5567, d1.loss_cls: 0.3504, d1.loss_bbox: 0.5363, d2.loss_cls: 0.3421, d2.loss_bbox: 0.5251, d3.loss_cls: 0.3381, d3.loss_bbox: 0.5208, d4.loss_cls: 0.3361, d4.loss_bbox: 0.5184, d5.loss_cls: 0.3361, d5.loss_bbox: 0.5171, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1529, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9963, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9748, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9724, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9718, d5.loss_traj_cls: 0.0090, d5.loss_traj: 0.9729, d0.loss_map_cls_all: 0.3525, d0.loss_map_pts_all: 2.3878, d0.loss_map_dir_all: 0.0191, d0.loss_map_cls: 0.3525, d0.loss_map_pts: 2.3878, d0.loss_map_dir: 0.0191, d1.loss_map_cls: 0.3284, d1.loss_map_pts: 1.6219, d1.loss_map_dir: 0.0188, d2.loss_map_cls: 0.3169, d2.loss_map_pts: 1.4625, d2.loss_map_dir: 0.0190, d3.loss_map_cls: 0.3097, d3.loss_map_pts: 1.3974, d3.loss_map_dir: 0.0194, d4.loss_map_cls: 0.3059, d4.loss_map_pts: 1.3672, d4.loss_map_dir: 0.0197, d5.loss_map_cls: 0.3048, d5.loss_map_pts: 1.3566, d5.loss_map_dir: 0.0200, loss: 46.5402, grad_norm: 149.2697 +2026-02-25 02:43:55,653 - DriveTransformer - INFO - Epoch [3][30950/39528] lr: 9.831e-05, eta: 7 days, 18:28:35, time: 0.813, data_time: 0.043, memory: 19865, loss_cls: 0.3432, loss_bbox: 0.5371, loss_traj: 1.0405, loss_traj_cls: 0.0044, loss_map_cls: 0.2485, loss_map_pts: 1.2167, loss_map_dir: 0.0207, d0.loss_plan_l1_fix_time: 2.6310, d0.loss_plan_l1_fix_dist: 0.4039, d1.loss_plan_l1_fix_time: 1.9011, d1.loss_plan_l1_fix_dist: 0.2896, d2.loss_plan_l1_fix_time: 1.8921, d2.loss_plan_l1_fix_dist: 0.2902, d3.loss_plan_l1_fix_time: 1.8992, d3.loss_plan_l1_fix_dist: 0.2983, d4.loss_plan_l1_fix_time: 1.9069, d4.loss_plan_l1_fix_dist: 0.3089, d5.loss_plan_l1_fix_time: 1.9140, d5.loss_plan_l1_fix_dist: 0.3224, d6.loss_plan_l1_fix_time: 1.9220, d6.loss_plan_l1_fix_dist: 0.3375, d0.loss_cls_all: 0.3653, d0.loss_bbox_all: 0.5789, d0.loss_cls: 0.3653, d0.loss_bbox: 0.5789, d1.loss_cls: 0.3542, d1.loss_bbox: 0.5546, d2.loss_cls: 0.3494, d2.loss_bbox: 0.5437, d3.loss_cls: 0.3472, d3.loss_bbox: 0.5395, d4.loss_cls: 0.3439, d4.loss_bbox: 0.5372, d5.loss_cls: 0.3422, d5.loss_bbox: 0.5368, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2564, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0682, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0496, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0489, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.0403, d5.loss_traj_cls: 0.0088, d5.loss_traj: 1.0419, d0.loss_map_cls_all: 0.3060, d0.loss_map_pts_all: 2.1451, d0.loss_map_dir_all: 0.0187, d0.loss_map_cls: 0.3060, d0.loss_map_pts: 2.1451, d0.loss_map_dir: 0.0187, d1.loss_map_cls: 0.2852, d1.loss_map_pts: 1.4195, d1.loss_map_dir: 0.0190, d2.loss_map_cls: 0.2678, d2.loss_map_pts: 1.2795, d2.loss_map_dir: 0.0195, d3.loss_map_cls: 0.2584, d3.loss_map_pts: 1.2337, d3.loss_map_dir: 0.0200, d4.loss_map_cls: 0.2516, d4.loss_map_pts: 1.2193, d4.loss_map_dir: 0.0204, d5.loss_map_cls: 0.2508, d5.loss_map_pts: 1.2151, d5.loss_map_dir: 0.0207, loss: 45.3046, grad_norm: 149.1631 +2026-02-25 02:44:35,423 - DriveTransformer - INFO - Epoch [3][31000/39528] lr: 9.831e-05, eta: 7 days, 18:27:53, time: 0.795, data_time: 0.038, memory: 19865, loss_cls: 0.3389, loss_bbox: 0.5243, loss_traj: 1.1091, loss_traj_cls: 0.0044, loss_map_cls: 0.2845, loss_map_pts: 1.1208, loss_map_dir: 0.0187, d0.loss_plan_l1_fix_time: 2.9999, d0.loss_plan_l1_fix_dist: 0.3742, d1.loss_plan_l1_fix_time: 2.1789, d1.loss_plan_l1_fix_dist: 0.2596, d2.loss_plan_l1_fix_time: 2.1555, d2.loss_plan_l1_fix_dist: 0.2671, d3.loss_plan_l1_fix_time: 2.1639, d3.loss_plan_l1_fix_dist: 0.2767, d4.loss_plan_l1_fix_time: 2.1712, d4.loss_plan_l1_fix_dist: 0.2872, d5.loss_plan_l1_fix_time: 2.1801, d5.loss_plan_l1_fix_dist: 0.2986, d6.loss_plan_l1_fix_time: 2.1900, d6.loss_plan_l1_fix_dist: 0.3101, d0.loss_cls_all: 0.3580, d0.loss_bbox_all: 0.5726, d0.loss_cls: 0.3580, d0.loss_bbox: 0.5726, d1.loss_cls: 0.3556, d1.loss_bbox: 0.5441, d2.loss_cls: 0.3472, d2.loss_bbox: 0.5318, d3.loss_cls: 0.3442, d3.loss_bbox: 0.5282, d4.loss_cls: 0.3407, d4.loss_bbox: 0.5252, d5.loss_cls: 0.3385, d5.loss_bbox: 0.5235, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2900, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1373, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1048, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1065, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.0995, d5.loss_traj_cls: 0.0086, d5.loss_traj: 1.1040, d0.loss_map_cls_all: 0.3117, d0.loss_map_pts_all: 2.0845, d0.loss_map_dir_all: 0.0173, d0.loss_map_cls: 0.3117, d0.loss_map_pts: 2.0845, d0.loss_map_dir: 0.0173, d1.loss_map_cls: 0.3025, d1.loss_map_pts: 1.3674, d1.loss_map_dir: 0.0173, d2.loss_map_cls: 0.2935, d2.loss_map_pts: 1.1978, d2.loss_map_dir: 0.0176, d3.loss_map_cls: 0.2902, d3.loss_map_pts: 1.1371, d3.loss_map_dir: 0.0181, d4.loss_map_cls: 0.2860, d4.loss_map_pts: 1.1224, d4.loss_map_dir: 0.0184, d5.loss_map_cls: 0.2855, d5.loss_map_pts: 1.1201, d5.loss_map_dir: 0.0186, loss: 46.9288, grad_norm: 149.8235 +2026-02-25 02:45:15,803 - DriveTransformer - INFO - Epoch [3][31050/39528] lr: 9.831e-05, eta: 7 days, 18:27:16, time: 0.808, data_time: 0.039, memory: 19865, loss_cls: 0.3763, loss_bbox: 0.5386, loss_traj: 1.1014, loss_traj_cls: 0.0044, loss_map_cls: 0.3191, loss_map_pts: 1.4180, loss_map_dir: 0.0214, d0.loss_plan_l1_fix_time: 2.9176, d0.loss_plan_l1_fix_dist: 0.4681, d1.loss_plan_l1_fix_time: 1.8556, d1.loss_plan_l1_fix_dist: 0.2873, d2.loss_plan_l1_fix_time: 1.8454, d2.loss_plan_l1_fix_dist: 0.2886, d3.loss_plan_l1_fix_time: 1.8534, d3.loss_plan_l1_fix_dist: 0.2958, d4.loss_plan_l1_fix_time: 1.8616, d4.loss_plan_l1_fix_dist: 0.3049, d5.loss_plan_l1_fix_time: 1.8712, d5.loss_plan_l1_fix_dist: 0.3163, d6.loss_plan_l1_fix_time: 1.8815, d6.loss_plan_l1_fix_dist: 0.3309, d0.loss_cls_all: 0.3994, d0.loss_bbox_all: 0.5920, d0.loss_cls: 0.3994, d0.loss_bbox: 0.5920, d1.loss_cls: 0.3977, d1.loss_bbox: 0.5614, d2.loss_cls: 0.3848, d2.loss_bbox: 0.5519, d3.loss_cls: 0.3805, d3.loss_bbox: 0.5431, d4.loss_cls: 0.3764, d4.loss_bbox: 0.5409, d5.loss_cls: 0.3750, d5.loss_bbox: 0.5377, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2862, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1561, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1161, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0961, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.1007, d5.loss_traj_cls: 0.0087, d5.loss_traj: 1.0989, d0.loss_map_cls_all: 0.3571, d0.loss_map_pts_all: 2.2901, d0.loss_map_dir_all: 0.0194, d0.loss_map_cls: 0.3571, d0.loss_map_pts: 2.2901, d0.loss_map_dir: 0.0194, d1.loss_map_cls: 0.3419, d1.loss_map_pts: 1.6680, d1.loss_map_dir: 0.0196, d2.loss_map_cls: 0.3300, d2.loss_map_pts: 1.5094, d2.loss_map_dir: 0.0202, d3.loss_map_cls: 0.3222, d3.loss_map_pts: 1.4457, d3.loss_map_dir: 0.0207, d4.loss_map_cls: 0.3199, d4.loss_map_pts: 1.4264, d4.loss_map_dir: 0.0211, d5.loss_map_cls: 0.3192, d5.loss_map_pts: 1.4196, d5.loss_map_dir: 0.0213, loss: 48.1952, grad_norm: 150.8217 +2026-02-25 02:45:55,638 - DriveTransformer - INFO - Epoch [3][31100/39528] lr: 9.831e-05, eta: 7 days, 18:26:34, time: 0.797, data_time: 0.040, memory: 19865, loss_cls: 0.3292, loss_bbox: 0.4855, loss_traj: 1.0686, loss_traj_cls: 0.0044, loss_map_cls: 0.2922, loss_map_pts: 1.1259, loss_map_dir: 0.0162, d0.loss_plan_l1_fix_time: 2.8072, d0.loss_plan_l1_fix_dist: 0.4127, d1.loss_plan_l1_fix_time: 1.9155, d1.loss_plan_l1_fix_dist: 0.2468, d2.loss_plan_l1_fix_time: 1.8953, d2.loss_plan_l1_fix_dist: 0.2502, d3.loss_plan_l1_fix_time: 1.8958, d3.loss_plan_l1_fix_dist: 0.2603, d4.loss_plan_l1_fix_time: 1.9011, d4.loss_plan_l1_fix_dist: 0.2716, d5.loss_plan_l1_fix_time: 1.9074, d5.loss_plan_l1_fix_dist: 0.2860, d6.loss_plan_l1_fix_time: 1.9156, d6.loss_plan_l1_fix_dist: 0.3000, d0.loss_cls_all: 0.3431, d0.loss_bbox_all: 0.5395, d0.loss_cls: 0.3431, d0.loss_bbox: 0.5395, d1.loss_cls: 0.3364, d1.loss_bbox: 0.5097, d2.loss_cls: 0.3299, d2.loss_bbox: 0.4986, d3.loss_cls: 0.3281, d3.loss_bbox: 0.4923, d4.loss_cls: 0.3285, d4.loss_bbox: 0.4883, d5.loss_cls: 0.3271, d5.loss_bbox: 0.4871, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2958, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1265, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0811, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0846, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0754, d5.loss_traj_cls: 0.0085, d5.loss_traj: 1.0697, d0.loss_map_cls_all: 0.3396, d0.loss_map_pts_all: 1.8569, d0.loss_map_dir_all: 0.0149, d0.loss_map_cls: 0.3396, d0.loss_map_pts: 1.8569, d0.loss_map_dir: 0.0149, d1.loss_map_cls: 0.3184, d1.loss_map_pts: 1.3298, d1.loss_map_dir: 0.0147, d2.loss_map_cls: 0.3058, d2.loss_map_pts: 1.1999, d2.loss_map_dir: 0.0152, d3.loss_map_cls: 0.2976, d3.loss_map_pts: 1.1472, d3.loss_map_dir: 0.0157, d4.loss_map_cls: 0.2940, d4.loss_map_pts: 1.1301, d4.loss_map_dir: 0.0159, d5.loss_map_cls: 0.2917, d5.loss_map_pts: 1.1281, d5.loss_map_dir: 0.0160, loss: 44.1685, grad_norm: 150.8277 +2026-02-25 02:46:34,469 - DriveTransformer - INFO - Epoch [3][31150/39528] lr: 9.831e-05, eta: 7 days, 18:25:45, time: 0.777, data_time: 0.044, memory: 19865, loss_cls: 0.3369, loss_bbox: 0.4963, loss_traj: 0.9603, loss_traj_cls: 0.0045, loss_map_cls: 0.2497, loss_map_pts: 1.0630, loss_map_dir: 0.0188, d0.loss_plan_l1_fix_time: 2.8399, d0.loss_plan_l1_fix_dist: 0.4430, d1.loss_plan_l1_fix_time: 1.7888, d1.loss_plan_l1_fix_dist: 0.2438, d2.loss_plan_l1_fix_time: 1.7680, d2.loss_plan_l1_fix_dist: 0.2505, d3.loss_plan_l1_fix_time: 1.7656, d3.loss_plan_l1_fix_dist: 0.2611, d4.loss_plan_l1_fix_time: 1.7703, d4.loss_plan_l1_fix_dist: 0.2753, d5.loss_plan_l1_fix_time: 1.7761, d5.loss_plan_l1_fix_dist: 0.2927, d6.loss_plan_l1_fix_time: 1.7841, d6.loss_plan_l1_fix_dist: 0.3125, d0.loss_cls_all: 0.3515, d0.loss_bbox_all: 0.5316, d0.loss_cls: 0.3515, d0.loss_bbox: 0.5316, d1.loss_cls: 0.3468, d1.loss_bbox: 0.5092, d2.loss_cls: 0.3410, d2.loss_bbox: 0.4999, d3.loss_cls: 0.3408, d3.loss_bbox: 0.4943, d4.loss_cls: 0.3387, d4.loss_bbox: 0.4925, d5.loss_cls: 0.3390, d5.loss_bbox: 0.4940, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1397, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0159, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9794, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9633, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9634, d5.loss_traj_cls: 0.0085, d5.loss_traj: 0.9579, d0.loss_map_cls_all: 0.2882, d0.loss_map_pts_all: 1.9047, d0.loss_map_dir_all: 0.0172, d0.loss_map_cls: 0.2882, d0.loss_map_pts: 1.9047, d0.loss_map_dir: 0.0172, d1.loss_map_cls: 0.2744, d1.loss_map_pts: 1.2782, d1.loss_map_dir: 0.0176, d2.loss_map_cls: 0.2660, d2.loss_map_pts: 1.1418, d2.loss_map_dir: 0.0178, d3.loss_map_cls: 0.2549, d3.loss_map_pts: 1.0903, d3.loss_map_dir: 0.0183, d4.loss_map_cls: 0.2516, d4.loss_map_pts: 1.0704, d4.loss_map_dir: 0.0186, d5.loss_map_cls: 0.2495, d5.loss_map_pts: 1.0641, d5.loss_map_dir: 0.0187, loss: 42.1490, grad_norm: 150.9885 +2026-02-25 02:47:13,440 - DriveTransformer - INFO - Epoch [3][31200/39528] lr: 9.831e-05, eta: 7 days, 18:24:57, time: 0.779, data_time: 0.038, memory: 19865, loss_cls: 0.3377, loss_bbox: 0.5070, loss_traj: 1.0269, loss_traj_cls: 0.0046, loss_map_cls: 0.2834, loss_map_pts: 1.0396, loss_map_dir: 0.0177, d0.loss_plan_l1_fix_time: 2.6232, d0.loss_plan_l1_fix_dist: 0.3385, d1.loss_plan_l1_fix_time: 1.7567, d1.loss_plan_l1_fix_dist: 0.2206, d2.loss_plan_l1_fix_time: 1.7501, d2.loss_plan_l1_fix_dist: 0.2351, d3.loss_plan_l1_fix_time: 1.7512, d3.loss_plan_l1_fix_dist: 0.2565, d4.loss_plan_l1_fix_time: 1.7565, d4.loss_plan_l1_fix_dist: 0.2788, d5.loss_plan_l1_fix_time: 1.7616, d5.loss_plan_l1_fix_dist: 0.3025, d6.loss_plan_l1_fix_time: 1.7672, d6.loss_plan_l1_fix_dist: 0.3275, d0.loss_cls_all: 0.3566, d0.loss_bbox_all: 0.5504, d0.loss_cls: 0.3566, d0.loss_bbox: 0.5504, d1.loss_cls: 0.3527, d1.loss_bbox: 0.5245, d2.loss_cls: 0.3436, d2.loss_bbox: 0.5128, d3.loss_cls: 0.3393, d3.loss_bbox: 0.5077, d4.loss_cls: 0.3369, d4.loss_bbox: 0.5066, d5.loss_cls: 0.3386, d5.loss_bbox: 0.5059, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1763, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0560, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0279, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0197, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.0176, d5.loss_traj_cls: 0.0087, d5.loss_traj: 1.0158, d0.loss_map_cls_all: 0.3393, d0.loss_map_pts_all: 1.9246, d0.loss_map_dir_all: 0.0168, d0.loss_map_cls: 0.3393, d0.loss_map_pts: 1.9246, d0.loss_map_dir: 0.0168, d1.loss_map_cls: 0.3133, d1.loss_map_pts: 1.2611, d1.loss_map_dir: 0.0164, d2.loss_map_cls: 0.3013, d2.loss_map_pts: 1.1193, d2.loss_map_dir: 0.0167, d3.loss_map_cls: 0.2905, d3.loss_map_pts: 1.0651, d3.loss_map_dir: 0.0171, d4.loss_map_cls: 0.2867, d4.loss_map_pts: 1.0453, d4.loss_map_dir: 0.0173, d5.loss_map_cls: 0.2844, d5.loss_map_pts: 1.0398, d5.loss_map_dir: 0.0175, loss: 42.4053, grad_norm: 152.2956 +2026-02-25 02:47:53,326 - DriveTransformer - INFO - Epoch [3][31250/39528] lr: 9.831e-05, eta: 7 days, 18:24:16, time: 0.798, data_time: 0.047, memory: 19865, loss_cls: 0.3224, loss_bbox: 0.5044, loss_traj: 0.9905, loss_traj_cls: 0.0046, loss_map_cls: 0.2202, loss_map_pts: 0.9240, loss_map_dir: 0.0161, d0.loss_plan_l1_fix_time: 2.9037, d0.loss_plan_l1_fix_dist: 0.5051, d1.loss_plan_l1_fix_time: 1.9519, d1.loss_plan_l1_fix_dist: 0.2676, d2.loss_plan_l1_fix_time: 1.9389, d2.loss_plan_l1_fix_dist: 0.2802, d3.loss_plan_l1_fix_time: 1.9412, d3.loss_plan_l1_fix_dist: 0.2989, d4.loss_plan_l1_fix_time: 1.9453, d4.loss_plan_l1_fix_dist: 0.3182, d5.loss_plan_l1_fix_time: 1.9499, d5.loss_plan_l1_fix_dist: 0.3377, d6.loss_plan_l1_fix_time: 1.9550, d6.loss_plan_l1_fix_dist: 0.3581, d0.loss_cls_all: 0.3431, d0.loss_bbox_all: 0.5434, d0.loss_cls: 0.3431, d0.loss_bbox: 0.5434, d1.loss_cls: 0.3364, d1.loss_bbox: 0.5185, d2.loss_cls: 0.3283, d2.loss_bbox: 0.5083, d3.loss_cls: 0.3247, d3.loss_bbox: 0.5037, d4.loss_cls: 0.3225, d4.loss_bbox: 0.5036, d5.loss_cls: 0.3225, d5.loss_bbox: 0.5024, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1185, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9984, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9676, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9694, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9730, d5.loss_traj_cls: 0.0086, d5.loss_traj: 0.9788, d0.loss_map_cls_all: 0.2679, d0.loss_map_pts_all: 1.6695, d0.loss_map_dir_all: 0.0150, d0.loss_map_cls: 0.2679, d0.loss_map_pts: 1.6695, d0.loss_map_dir: 0.0150, d1.loss_map_cls: 0.2495, d1.loss_map_pts: 1.1228, d1.loss_map_dir: 0.0149, d2.loss_map_cls: 0.2370, d2.loss_map_pts: 0.9957, d2.loss_map_dir: 0.0152, d3.loss_map_cls: 0.2258, d3.loss_map_pts: 0.9475, d3.loss_map_dir: 0.0157, d4.loss_map_cls: 0.2222, d4.loss_map_pts: 0.9303, d4.loss_map_dir: 0.0159, d5.loss_map_cls: 0.2210, d5.loss_map_pts: 0.9245, d5.loss_map_dir: 0.0161, loss: 41.9562, grad_norm: 152.5931 +2026-02-25 02:48:33,262 - DriveTransformer - INFO - Epoch [3][31300/39528] lr: 9.831e-05, eta: 7 days, 18:23:36, time: 0.799, data_time: 0.038, memory: 19865, loss_cls: 0.3504, loss_bbox: 0.5711, loss_traj: 1.2016, loss_traj_cls: 0.0046, loss_map_cls: 0.2846, loss_map_pts: 1.2137, loss_map_dir: 0.0212, d0.loss_plan_l1_fix_time: 3.0353, d0.loss_plan_l1_fix_dist: 0.4141, d1.loss_plan_l1_fix_time: 1.8619, d1.loss_plan_l1_fix_dist: 0.3068, d2.loss_plan_l1_fix_time: 1.8273, d2.loss_plan_l1_fix_dist: 0.3212, d3.loss_plan_l1_fix_time: 1.8193, d3.loss_plan_l1_fix_dist: 0.3364, d4.loss_plan_l1_fix_time: 1.8201, d4.loss_plan_l1_fix_dist: 0.3576, d5.loss_plan_l1_fix_time: 1.8235, d5.loss_plan_l1_fix_dist: 0.3791, d6.loss_plan_l1_fix_time: 1.8281, d6.loss_plan_l1_fix_dist: 0.4005, d0.loss_cls_all: 0.3688, d0.loss_bbox_all: 0.6090, d0.loss_cls: 0.3688, d0.loss_bbox: 0.6090, d1.loss_cls: 0.3628, d1.loss_bbox: 0.5827, d2.loss_cls: 0.3543, d2.loss_bbox: 0.5733, d3.loss_cls: 0.3541, d3.loss_bbox: 0.5662, d4.loss_cls: 0.3507, d4.loss_bbox: 0.5680, d5.loss_cls: 0.3517, d5.loss_bbox: 0.5688, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3956, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1945, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1870, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1876, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.1849, d5.loss_traj_cls: 0.0086, d5.loss_traj: 1.1971, d0.loss_map_cls_all: 0.3214, d0.loss_map_pts_all: 2.2056, d0.loss_map_dir_all: 0.0193, d0.loss_map_cls: 0.3214, d0.loss_map_pts: 2.2056, d0.loss_map_dir: 0.0193, d1.loss_map_cls: 0.3071, d1.loss_map_pts: 1.4558, d1.loss_map_dir: 0.0192, d2.loss_map_cls: 0.2964, d2.loss_map_pts: 1.2956, d2.loss_map_dir: 0.0199, d3.loss_map_cls: 0.2894, d3.loss_map_pts: 1.2372, d3.loss_map_dir: 0.0205, d4.loss_map_cls: 0.2862, d4.loss_map_pts: 1.2181, d4.loss_map_dir: 0.0209, d5.loss_map_cls: 0.2823, d5.loss_map_pts: 1.2157, d5.loss_map_dir: 0.0211, loss: 47.2052, grad_norm: 153.5845 +2026-02-25 02:49:13,986 - DriveTransformer - INFO - Epoch [3][31350/39528] lr: 9.831e-05, eta: 7 days, 18:23:01, time: 0.815, data_time: 0.044, memory: 19865, loss_cls: 0.3244, loss_bbox: 0.5233, loss_traj: 1.1239, loss_traj_cls: 0.0046, loss_map_cls: 0.2364, loss_map_pts: 1.0751, loss_map_dir: 0.0194, d0.loss_plan_l1_fix_time: 3.0121, d0.loss_plan_l1_fix_dist: 0.4449, d1.loss_plan_l1_fix_time: 1.8968, d1.loss_plan_l1_fix_dist: 0.2876, d2.loss_plan_l1_fix_time: 1.8492, d2.loss_plan_l1_fix_dist: 0.2973, d3.loss_plan_l1_fix_time: 1.8453, d3.loss_plan_l1_fix_dist: 0.3126, d4.loss_plan_l1_fix_time: 1.8490, d4.loss_plan_l1_fix_dist: 0.3296, d5.loss_plan_l1_fix_time: 1.8551, d5.loss_plan_l1_fix_dist: 0.3491, d6.loss_plan_l1_fix_time: 1.8619, d6.loss_plan_l1_fix_dist: 0.3700, d0.loss_cls_all: 0.3306, d0.loss_bbox_all: 0.5610, d0.loss_cls: 0.3306, d0.loss_bbox: 0.5610, d1.loss_cls: 0.3295, d1.loss_bbox: 0.5325, d2.loss_cls: 0.3254, d2.loss_bbox: 0.5231, d3.loss_cls: 0.3217, d3.loss_bbox: 0.5223, d4.loss_cls: 0.3201, d4.loss_bbox: 0.5236, d5.loss_cls: 0.3203, d5.loss_bbox: 0.5268, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2732, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1398, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1188, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1146, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.1153, d5.loss_traj_cls: 0.0085, d5.loss_traj: 1.1149, d0.loss_map_cls_all: 0.2769, d0.loss_map_pts_all: 1.9874, d0.loss_map_dir_all: 0.0184, d0.loss_map_cls: 0.2769, d0.loss_map_pts: 1.9874, d0.loss_map_dir: 0.0184, d1.loss_map_cls: 0.2644, d1.loss_map_pts: 1.2815, d1.loss_map_dir: 0.0184, d2.loss_map_cls: 0.2480, d2.loss_map_pts: 1.1413, d2.loss_map_dir: 0.0187, d3.loss_map_cls: 0.2398, d3.loss_map_pts: 1.0972, d3.loss_map_dir: 0.0190, d4.loss_map_cls: 0.2375, d4.loss_map_pts: 1.0799, d4.loss_map_dir: 0.0192, d5.loss_map_cls: 0.2365, d5.loss_map_pts: 1.0743, d5.loss_map_dir: 0.0194, loss: 44.3465, grad_norm: 154.4802 +2026-02-25 02:49:55,935 - DriveTransformer - INFO - Epoch [3][31400/39528] lr: 9.831e-05, eta: 7 days, 18:22:36, time: 0.839, data_time: 0.042, memory: 19865, loss_cls: 0.3063, loss_bbox: 0.4872, loss_traj: 0.9976, loss_traj_cls: 0.0043, loss_map_cls: 0.2643, loss_map_pts: 1.0502, loss_map_dir: 0.0189, d0.loss_plan_l1_fix_time: 2.8636, d0.loss_plan_l1_fix_dist: 0.4434, d1.loss_plan_l1_fix_time: 1.8414, d1.loss_plan_l1_fix_dist: 0.2759, d2.loss_plan_l1_fix_time: 1.8284, d2.loss_plan_l1_fix_dist: 0.2852, d3.loss_plan_l1_fix_time: 1.8314, d3.loss_plan_l1_fix_dist: 0.2985, d4.loss_plan_l1_fix_time: 1.8357, d4.loss_plan_l1_fix_dist: 0.3148, d5.loss_plan_l1_fix_time: 1.8411, d5.loss_plan_l1_fix_dist: 0.3332, d6.loss_plan_l1_fix_time: 1.8471, d6.loss_plan_l1_fix_dist: 0.3550, d0.loss_cls_all: 0.3239, d0.loss_bbox_all: 0.5251, d0.loss_cls: 0.3239, d0.loss_bbox: 0.5251, d1.loss_cls: 0.3205, d1.loss_bbox: 0.4927, d2.loss_cls: 0.3123, d2.loss_bbox: 0.4825, d3.loss_cls: 0.3080, d3.loss_bbox: 0.4802, d4.loss_cls: 0.3041, d4.loss_bbox: 0.4810, d5.loss_cls: 0.3023, d5.loss_bbox: 0.4858, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1738, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0409, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0115, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0013, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9982, d5.loss_traj_cls: 0.0083, d5.loss_traj: 1.0013, d0.loss_map_cls_all: 0.3075, d0.loss_map_pts_all: 2.0161, d0.loss_map_dir_all: 0.0173, d0.loss_map_cls: 0.3075, d0.loss_map_pts: 2.0161, d0.loss_map_dir: 0.0173, d1.loss_map_cls: 0.2879, d1.loss_map_pts: 1.2699, d1.loss_map_dir: 0.0175, d2.loss_map_cls: 0.2751, d2.loss_map_pts: 1.1219, d2.loss_map_dir: 0.0180, d3.loss_map_cls: 0.2696, d3.loss_map_pts: 1.0748, d3.loss_map_dir: 0.0184, d4.loss_map_cls: 0.2640, d4.loss_map_pts: 1.0558, d4.loss_map_dir: 0.0186, d5.loss_map_cls: 0.2634, d5.loss_map_pts: 1.0509, d5.loss_map_dir: 0.0188, loss: 42.9378, grad_norm: 153.8303 +2026-02-25 02:50:35,301 - DriveTransformer - INFO - Epoch [3][31450/39528] lr: 9.831e-05, eta: 7 days, 18:21:51, time: 0.787, data_time: 0.038, memory: 19865, loss_cls: 0.3317, loss_bbox: 0.5158, loss_traj: 0.9496, loss_traj_cls: 0.0043, loss_map_cls: 0.2792, loss_map_pts: 1.2114, loss_map_dir: 0.0200, d0.loss_plan_l1_fix_time: 2.6075, d0.loss_plan_l1_fix_dist: 0.3738, d1.loss_plan_l1_fix_time: 1.6873, d1.loss_plan_l1_fix_dist: 0.2676, d2.loss_plan_l1_fix_time: 1.6710, d2.loss_plan_l1_fix_dist: 0.2742, d3.loss_plan_l1_fix_time: 1.6768, d3.loss_plan_l1_fix_dist: 0.2856, d4.loss_plan_l1_fix_time: 1.6827, d4.loss_plan_l1_fix_dist: 0.2984, d5.loss_plan_l1_fix_time: 1.6884, d5.loss_plan_l1_fix_dist: 0.3132, d6.loss_plan_l1_fix_time: 1.6945, d6.loss_plan_l1_fix_dist: 0.3292, d0.loss_cls_all: 0.3507, d0.loss_bbox_all: 0.5531, d0.loss_cls: 0.3507, d0.loss_bbox: 0.5531, d1.loss_cls: 0.3431, d1.loss_bbox: 0.5269, d2.loss_cls: 0.3386, d2.loss_bbox: 0.5157, d3.loss_cls: 0.3362, d3.loss_bbox: 0.5120, d4.loss_cls: 0.3321, d4.loss_bbox: 0.5111, d5.loss_cls: 0.3315, d5.loss_bbox: 0.5118, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1420, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9973, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9615, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9506, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9452, d5.loss_traj_cls: 0.0083, d5.loss_traj: 0.9521, d0.loss_map_cls_all: 0.3258, d0.loss_map_pts_all: 2.1531, d0.loss_map_dir_all: 0.0191, d0.loss_map_cls: 0.3258, d0.loss_map_pts: 2.1531, d0.loss_map_dir: 0.0191, d1.loss_map_cls: 0.3067, d1.loss_map_pts: 1.4560, d1.loss_map_dir: 0.0186, d2.loss_map_cls: 0.2927, d2.loss_map_pts: 1.2976, d2.loss_map_dir: 0.0189, d3.loss_map_cls: 0.2832, d3.loss_map_pts: 1.2384, d3.loss_map_dir: 0.0194, d4.loss_map_cls: 0.2810, d4.loss_map_pts: 1.2184, d4.loss_map_dir: 0.0197, d5.loss_map_cls: 0.2800, d5.loss_map_pts: 1.2120, d5.loss_map_dir: 0.0198, loss: 43.1494, grad_norm: 154.3620 +2026-02-25 02:51:13,539 - DriveTransformer - INFO - Epoch [3][31500/39528] lr: 9.831e-05, eta: 7 days, 18:20:57, time: 0.765, data_time: 0.041, memory: 19865, loss_cls: 0.3187, loss_bbox: 0.4821, loss_traj: 0.9514, loss_traj_cls: 0.0044, loss_map_cls: 0.2325, loss_map_pts: 0.9572, loss_map_dir: 0.0165, d0.loss_plan_l1_fix_time: 2.6918, d0.loss_plan_l1_fix_dist: 0.4763, d1.loss_plan_l1_fix_time: 1.7585, d1.loss_plan_l1_fix_dist: 0.2253, d2.loss_plan_l1_fix_time: 1.7407, d2.loss_plan_l1_fix_dist: 0.2322, d3.loss_plan_l1_fix_time: 1.7480, d3.loss_plan_l1_fix_dist: 0.2433, d4.loss_plan_l1_fix_time: 1.7538, d4.loss_plan_l1_fix_dist: 0.2558, d5.loss_plan_l1_fix_time: 1.7590, d5.loss_plan_l1_fix_dist: 0.2704, d6.loss_plan_l1_fix_time: 1.7644, d6.loss_plan_l1_fix_dist: 0.2863, d0.loss_cls_all: 0.3323, d0.loss_bbox_all: 0.5211, d0.loss_cls: 0.3323, d0.loss_bbox: 0.5211, d1.loss_cls: 0.3292, d1.loss_bbox: 0.4924, d2.loss_cls: 0.3214, d2.loss_bbox: 0.4812, d3.loss_cls: 0.3193, d3.loss_bbox: 0.4769, d4.loss_cls: 0.3183, d4.loss_bbox: 0.4776, d5.loss_cls: 0.3179, d5.loss_bbox: 0.4797, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1444, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0030, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9814, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9624, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9546, d5.loss_traj_cls: 0.0083, d5.loss_traj: 0.9559, d0.loss_map_cls_all: 0.2759, d0.loss_map_pts_all: 1.6900, d0.loss_map_dir_all: 0.0155, d0.loss_map_cls: 0.2759, d0.loss_map_pts: 1.6900, d0.loss_map_dir: 0.0155, d1.loss_map_cls: 0.2595, d1.loss_map_pts: 1.1552, d1.loss_map_dir: 0.0153, d2.loss_map_cls: 0.2466, d2.loss_map_pts: 1.0256, d2.loss_map_dir: 0.0157, d3.loss_map_cls: 0.2386, d3.loss_map_pts: 0.9785, d3.loss_map_dir: 0.0161, d4.loss_map_cls: 0.2340, d4.loss_map_pts: 0.9619, d4.loss_map_dir: 0.0163, d5.loss_map_cls: 0.2323, d5.loss_map_pts: 0.9573, d5.loss_map_dir: 0.0164, loss: 40.2363, grad_norm: 154.6054 +2026-02-25 02:51:53,857 - DriveTransformer - INFO - Epoch [3][31550/39528] lr: 9.831e-05, eta: 7 days, 18:20:19, time: 0.806, data_time: 0.036, memory: 19865, loss_cls: 0.3282, loss_bbox: 0.5058, loss_traj: 0.9233, loss_traj_cls: 0.0044, loss_map_cls: 0.2548, loss_map_pts: 1.1675, loss_map_dir: 0.0206, d0.loss_plan_l1_fix_time: 2.3946, d0.loss_plan_l1_fix_dist: 0.3772, d1.loss_plan_l1_fix_time: 1.6950, d1.loss_plan_l1_fix_dist: 0.2384, d2.loss_plan_l1_fix_time: 1.6743, d2.loss_plan_l1_fix_dist: 0.2459, d3.loss_plan_l1_fix_time: 1.6707, d3.loss_plan_l1_fix_dist: 0.2566, d4.loss_plan_l1_fix_time: 1.6739, d4.loss_plan_l1_fix_dist: 0.2720, d5.loss_plan_l1_fix_time: 1.6788, d5.loss_plan_l1_fix_dist: 0.2893, d6.loss_plan_l1_fix_time: 1.6838, d6.loss_plan_l1_fix_dist: 0.3081, d0.loss_cls_all: 0.3410, d0.loss_bbox_all: 0.5367, d0.loss_cls: 0.3410, d0.loss_bbox: 0.5367, d1.loss_cls: 0.3354, d1.loss_bbox: 0.5103, d2.loss_cls: 0.3319, d2.loss_bbox: 0.4997, d3.loss_cls: 0.3296, d3.loss_bbox: 0.4996, d4.loss_cls: 0.3259, d4.loss_bbox: 0.5017, d5.loss_cls: 0.3274, d5.loss_bbox: 0.5027, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0846, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9675, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9332, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9264, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9178, d5.loss_traj_cls: 0.0083, d5.loss_traj: 0.9230, d0.loss_map_cls_all: 0.3026, d0.loss_map_pts_all: 2.0732, d0.loss_map_dir_all: 0.0184, d0.loss_map_cls: 0.3026, d0.loss_map_pts: 2.0732, d0.loss_map_dir: 0.0184, d1.loss_map_cls: 0.2798, d1.loss_map_pts: 1.3999, d1.loss_map_dir: 0.0184, d2.loss_map_cls: 0.2671, d2.loss_map_pts: 1.2471, d2.loss_map_dir: 0.0194, d3.loss_map_cls: 0.2573, d3.loss_map_pts: 1.1921, d3.loss_map_dir: 0.0199, d4.loss_map_cls: 0.2548, d4.loss_map_pts: 1.1739, d4.loss_map_dir: 0.0203, d5.loss_map_cls: 0.2546, d5.loss_map_pts: 1.1693, d5.loss_map_dir: 0.0204, loss: 41.7315, grad_norm: 154.6634 +2026-02-25 02:52:34,409 - DriveTransformer - INFO - Epoch [3][31600/39528] lr: 9.831e-05, eta: 7 days, 18:19:44, time: 0.812, data_time: 0.043, memory: 19865, loss_cls: 0.2905, loss_bbox: 0.4803, loss_traj: 0.9274, loss_traj_cls: 0.0045, loss_map_cls: 0.2759, loss_map_pts: 1.2179, loss_map_dir: 0.0210, d0.loss_plan_l1_fix_time: 2.8436, d0.loss_plan_l1_fix_dist: 0.4476, d1.loss_plan_l1_fix_time: 1.6707, d1.loss_plan_l1_fix_dist: 0.2818, d2.loss_plan_l1_fix_time: 1.6360, d2.loss_plan_l1_fix_dist: 0.2896, d3.loss_plan_l1_fix_time: 1.6353, d3.loss_plan_l1_fix_dist: 0.3023, d4.loss_plan_l1_fix_time: 1.6411, d4.loss_plan_l1_fix_dist: 0.3182, d5.loss_plan_l1_fix_time: 1.6484, d5.loss_plan_l1_fix_dist: 0.3345, d6.loss_plan_l1_fix_time: 1.6558, d6.loss_plan_l1_fix_dist: 0.3538, d0.loss_cls_all: 0.3078, d0.loss_bbox_all: 0.5290, d0.loss_cls: 0.3078, d0.loss_bbox: 0.5290, d1.loss_cls: 0.3054, d1.loss_bbox: 0.4983, d2.loss_cls: 0.2947, d2.loss_bbox: 0.4871, d3.loss_cls: 0.2942, d3.loss_bbox: 0.4809, d4.loss_cls: 0.2909, d4.loss_bbox: 0.4795, d5.loss_cls: 0.2917, d5.loss_bbox: 0.4776, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1275, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9826, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9449, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9296, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9264, d5.loss_traj_cls: 0.0083, d5.loss_traj: 0.9250, d0.loss_map_cls_all: 0.3144, d0.loss_map_pts_all: 2.3235, d0.loss_map_dir_all: 0.0194, d0.loss_map_cls: 0.3144, d0.loss_map_pts: 2.3235, d0.loss_map_dir: 0.0194, d1.loss_map_cls: 0.2940, d1.loss_map_pts: 1.4996, d1.loss_map_dir: 0.0189, d2.loss_map_cls: 0.2836, d2.loss_map_pts: 1.3171, d2.loss_map_dir: 0.0195, d3.loss_map_cls: 0.2772, d3.loss_map_pts: 1.2500, d3.loss_map_dir: 0.0202, d4.loss_map_cls: 0.2753, d4.loss_map_pts: 1.2276, d4.loss_map_dir: 0.0205, d5.loss_map_cls: 0.2742, d5.loss_map_pts: 1.2209, d5.loss_map_dir: 0.0208, loss: 43.0334, grad_norm: 153.0439 +2026-02-25 02:53:15,088 - DriveTransformer - INFO - Epoch [3][31650/39528] lr: 9.831e-05, eta: 7 days, 18:19:08, time: 0.812, data_time: 0.038, memory: 19865, loss_cls: 0.3374, loss_bbox: 0.5067, loss_traj: 0.9746, loss_traj_cls: 0.0044, loss_map_cls: 0.2768, loss_map_pts: 1.3732, loss_map_dir: 0.0199, d0.loss_plan_l1_fix_time: 2.4027, d0.loss_plan_l1_fix_dist: 0.4374, d1.loss_plan_l1_fix_time: 1.5977, d1.loss_plan_l1_fix_dist: 0.3066, d2.loss_plan_l1_fix_time: 1.5815, d2.loss_plan_l1_fix_dist: 0.3153, d3.loss_plan_l1_fix_time: 1.5808, d3.loss_plan_l1_fix_dist: 0.3273, d4.loss_plan_l1_fix_time: 1.5848, d4.loss_plan_l1_fix_dist: 0.3417, d5.loss_plan_l1_fix_time: 1.5907, d5.loss_plan_l1_fix_dist: 0.3574, d6.loss_plan_l1_fix_time: 1.5988, d6.loss_plan_l1_fix_dist: 0.3763, d0.loss_cls_all: 0.3508, d0.loss_bbox_all: 0.5548, d0.loss_cls: 0.3508, d0.loss_bbox: 0.5548, d1.loss_cls: 0.3471, d1.loss_bbox: 0.5242, d2.loss_cls: 0.3397, d2.loss_bbox: 0.5144, d3.loss_cls: 0.3378, d3.loss_bbox: 0.5096, d4.loss_cls: 0.3378, d4.loss_bbox: 0.5072, d5.loss_cls: 0.3363, d5.loss_bbox: 0.5063, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1511, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0225, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9741, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9739, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9693, d5.loss_traj_cls: 0.0082, d5.loss_traj: 0.9722, d0.loss_map_cls_all: 0.3292, d0.loss_map_pts_all: 2.2877, d0.loss_map_dir_all: 0.0182, d0.loss_map_cls: 0.3292, d0.loss_map_pts: 2.2877, d0.loss_map_dir: 0.0182, d1.loss_map_cls: 0.3094, d1.loss_map_pts: 1.6125, d1.loss_map_dir: 0.0179, d2.loss_map_cls: 0.2951, d2.loss_map_pts: 1.4610, d2.loss_map_dir: 0.0187, d3.loss_map_cls: 0.2841, d3.loss_map_pts: 1.4017, d3.loss_map_dir: 0.0192, d4.loss_map_cls: 0.2788, d4.loss_map_pts: 1.3830, d4.loss_map_dir: 0.0196, d5.loss_map_cls: 0.2780, d5.loss_map_pts: 1.3748, d5.loss_map_dir: 0.0198, loss: 44.0839, grad_norm: 151.8974 +2026-02-25 02:53:56,493 - DriveTransformer - INFO - Epoch [3][31700/39528] lr: 9.831e-05, eta: 7 days, 18:18:39, time: 0.828, data_time: 0.045, memory: 19865, loss_cls: 0.3040, loss_bbox: 0.4813, loss_traj: 1.0621, loss_traj_cls: 0.0046, loss_map_cls: 0.2517, loss_map_pts: 1.0303, loss_map_dir: 0.0178, d0.loss_plan_l1_fix_time: 2.4615, d0.loss_plan_l1_fix_dist: 0.4628, d1.loss_plan_l1_fix_time: 1.5932, d1.loss_plan_l1_fix_dist: 0.2512, d2.loss_plan_l1_fix_time: 1.5752, d2.loss_plan_l1_fix_dist: 0.2587, d3.loss_plan_l1_fix_time: 1.5726, d3.loss_plan_l1_fix_dist: 0.2735, d4.loss_plan_l1_fix_time: 1.5758, d4.loss_plan_l1_fix_dist: 0.2868, d5.loss_plan_l1_fix_time: 1.5799, d5.loss_plan_l1_fix_dist: 0.2999, d6.loss_plan_l1_fix_time: 1.5864, d6.loss_plan_l1_fix_dist: 0.3143, d0.loss_cls_all: 0.3208, d0.loss_bbox_all: 0.5245, d0.loss_cls: 0.3208, d0.loss_bbox: 0.5245, d1.loss_cls: 0.3170, d1.loss_bbox: 0.4944, d2.loss_cls: 0.3115, d2.loss_bbox: 0.4812, d3.loss_cls: 0.3066, d3.loss_bbox: 0.4802, d4.loss_cls: 0.3035, d4.loss_bbox: 0.4791, d5.loss_cls: 0.3035, d5.loss_bbox: 0.4795, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2241, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1087, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0715, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0595, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0598, d5.loss_traj_cls: 0.0081, d5.loss_traj: 1.0609, d0.loss_map_cls_all: 0.3027, d0.loss_map_pts_all: 1.9395, d0.loss_map_dir_all: 0.0162, d0.loss_map_cls: 0.3027, d0.loss_map_pts: 1.9395, d0.loss_map_dir: 0.0162, d1.loss_map_cls: 0.2799, d1.loss_map_pts: 1.2863, d1.loss_map_dir: 0.0160, d2.loss_map_cls: 0.2705, d2.loss_map_pts: 1.1261, d2.loss_map_dir: 0.0166, d3.loss_map_cls: 0.2603, d3.loss_map_pts: 1.0640, d3.loss_map_dir: 0.0172, d4.loss_map_cls: 0.2551, d4.loss_map_pts: 1.0389, d4.loss_map_dir: 0.0175, d5.loss_map_cls: 0.2526, d5.loss_map_pts: 1.0317, d5.loss_map_dir: 0.0176, loss: 40.9554, grad_norm: 153.8617 +2026-02-25 02:54:36,510 - DriveTransformer - INFO - Epoch [3][31750/39528] lr: 9.831e-05, eta: 7 days, 18:17:58, time: 0.800, data_time: 0.040, memory: 19865, loss_cls: 0.3377, loss_bbox: 0.5476, loss_traj: 0.9798, loss_traj_cls: 0.0046, loss_map_cls: 0.3000, loss_map_pts: 1.2629, loss_map_dir: 0.0210, d0.loss_plan_l1_fix_time: 2.7019, d0.loss_plan_l1_fix_dist: 0.3518, d1.loss_plan_l1_fix_time: 1.8546, d1.loss_plan_l1_fix_dist: 0.2340, d2.loss_plan_l1_fix_time: 1.8654, d2.loss_plan_l1_fix_dist: 0.2427, d3.loss_plan_l1_fix_time: 1.8703, d3.loss_plan_l1_fix_dist: 0.2534, d4.loss_plan_l1_fix_time: 1.8752, d4.loss_plan_l1_fix_dist: 0.2684, d5.loss_plan_l1_fix_time: 1.8801, d5.loss_plan_l1_fix_dist: 0.2866, d6.loss_plan_l1_fix_time: 1.8868, d6.loss_plan_l1_fix_dist: 0.3057, d0.loss_cls_all: 0.3614, d0.loss_bbox_all: 0.5879, d0.loss_cls: 0.3614, d0.loss_bbox: 0.5879, d1.loss_cls: 0.3614, d1.loss_bbox: 0.5654, d2.loss_cls: 0.3490, d2.loss_bbox: 0.5546, d3.loss_cls: 0.3461, d3.loss_bbox: 0.5487, d4.loss_cls: 0.3420, d4.loss_bbox: 0.5463, d5.loss_cls: 0.3392, d5.loss_bbox: 0.5469, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1156, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0333, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9887, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9842, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9802, d5.loss_traj_cls: 0.0082, d5.loss_traj: 0.9810, d0.loss_map_cls_all: 0.3447, d0.loss_map_pts_all: 2.1651, d0.loss_map_dir_all: 0.0193, d0.loss_map_cls: 0.3447, d0.loss_map_pts: 2.1651, d0.loss_map_dir: 0.0193, d1.loss_map_cls: 0.3220, d1.loss_map_pts: 1.5093, d1.loss_map_dir: 0.0189, d2.loss_map_cls: 0.3107, d2.loss_map_pts: 1.3536, d2.loss_map_dir: 0.0197, d3.loss_map_cls: 0.3036, d3.loss_map_pts: 1.2886, d3.loss_map_dir: 0.0204, d4.loss_map_cls: 0.3010, d4.loss_map_pts: 1.2681, d4.loss_map_dir: 0.0207, d5.loss_map_cls: 0.2984, d5.loss_map_pts: 1.2639, d5.loss_map_dir: 0.0209, loss: 45.2030, grad_norm: 154.6230 +2026-02-25 02:55:18,227 - DriveTransformer - INFO - Epoch [3][31800/39528] lr: 9.831e-05, eta: 7 days, 18:17:31, time: 0.834, data_time: 0.040, memory: 19865, loss_cls: 0.2981, loss_bbox: 0.4928, loss_traj: 1.0011, loss_traj_cls: 0.0047, loss_map_cls: 0.2307, loss_map_pts: 0.9964, loss_map_dir: 0.0159, d0.loss_plan_l1_fix_time: 2.3559, d0.loss_plan_l1_fix_dist: 0.4237, d1.loss_plan_l1_fix_time: 1.5706, d1.loss_plan_l1_fix_dist: 0.2377, d2.loss_plan_l1_fix_time: 1.5365, d2.loss_plan_l1_fix_dist: 0.2433, d3.loss_plan_l1_fix_time: 1.5349, d3.loss_plan_l1_fix_dist: 0.2532, d4.loss_plan_l1_fix_time: 1.5366, d4.loss_plan_l1_fix_dist: 0.2680, d5.loss_plan_l1_fix_time: 1.5397, d5.loss_plan_l1_fix_dist: 0.2855, d6.loss_plan_l1_fix_time: 1.5444, d6.loss_plan_l1_fix_dist: 0.3044, d0.loss_cls_all: 0.3172, d0.loss_bbox_all: 0.5423, d0.loss_cls: 0.3172, d0.loss_bbox: 0.5423, d1.loss_cls: 0.3138, d1.loss_bbox: 0.5135, d2.loss_cls: 0.3030, d2.loss_bbox: 0.4997, d3.loss_cls: 0.3010, d3.loss_bbox: 0.4931, d4.loss_cls: 0.2974, d4.loss_bbox: 0.4914, d5.loss_cls: 0.2977, d5.loss_bbox: 0.4908, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1561, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0285, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0210, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0128, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0075, d5.loss_traj_cls: 0.0081, d5.loss_traj: 1.0058, d0.loss_map_cls_all: 0.2834, d0.loss_map_pts_all: 1.8342, d0.loss_map_dir_all: 0.0149, d0.loss_map_cls: 0.2834, d0.loss_map_pts: 1.8342, d0.loss_map_dir: 0.0149, d1.loss_map_cls: 0.2546, d1.loss_map_pts: 1.2131, d1.loss_map_dir: 0.0145, d2.loss_map_cls: 0.2384, d2.loss_map_pts: 1.0752, d2.loss_map_dir: 0.0149, d3.loss_map_cls: 0.2331, d3.loss_map_pts: 1.0268, d3.loss_map_dir: 0.0153, d4.loss_map_cls: 0.2305, d4.loss_map_pts: 1.0064, d4.loss_map_dir: 0.0156, d5.loss_map_cls: 0.2308, d5.loss_map_pts: 0.9970, d5.loss_map_dir: 0.0158, loss: 39.4862, grad_norm: 153.4373 +2026-02-25 02:55:59,206 - DriveTransformer - INFO - Epoch [3][31850/39528] lr: 9.831e-05, eta: 7 days, 18:16:58, time: 0.820, data_time: 0.046, memory: 19865, loss_cls: 0.3025, loss_bbox: 0.4698, loss_traj: 0.9021, loss_traj_cls: 0.0048, loss_map_cls: 0.2466, loss_map_pts: 0.9727, loss_map_dir: 0.0189, d0.loss_plan_l1_fix_time: 2.5816, d0.loss_plan_l1_fix_dist: 0.4684, d1.loss_plan_l1_fix_time: 1.5820, d1.loss_plan_l1_fix_dist: 0.2874, d2.loss_plan_l1_fix_time: 1.5601, d2.loss_plan_l1_fix_dist: 0.2990, d3.loss_plan_l1_fix_time: 1.5630, d3.loss_plan_l1_fix_dist: 0.3155, d4.loss_plan_l1_fix_time: 1.5679, d4.loss_plan_l1_fix_dist: 0.3305, d5.loss_plan_l1_fix_time: 1.5735, d5.loss_plan_l1_fix_dist: 0.3464, d6.loss_plan_l1_fix_time: 1.5801, d6.loss_plan_l1_fix_dist: 0.3665, d0.loss_cls_all: 0.3229, d0.loss_bbox_all: 0.5216, d0.loss_cls: 0.3229, d0.loss_bbox: 0.5216, d1.loss_cls: 0.3150, d1.loss_bbox: 0.4889, d2.loss_cls: 0.3067, d2.loss_bbox: 0.4772, d3.loss_cls: 0.3024, d3.loss_bbox: 0.4732, d4.loss_cls: 0.2997, d4.loss_bbox: 0.4713, d5.loss_cls: 0.3019, d5.loss_bbox: 0.4688, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0796, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9371, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9094, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9033, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9049, d5.loss_traj_cls: 0.0081, d5.loss_traj: 0.9030, d0.loss_map_cls_all: 0.2927, d0.loss_map_pts_all: 1.9066, d0.loss_map_dir_all: 0.0176, d0.loss_map_cls: 0.2927, d0.loss_map_pts: 1.9066, d0.loss_map_dir: 0.0176, d1.loss_map_cls: 0.2679, d1.loss_map_pts: 1.2188, d1.loss_map_dir: 0.0174, d2.loss_map_cls: 0.2578, d2.loss_map_pts: 1.0543, d2.loss_map_dir: 0.0179, d3.loss_map_cls: 0.2492, d3.loss_map_pts: 1.0012, d3.loss_map_dir: 0.0183, d4.loss_map_cls: 0.2463, d4.loss_map_pts: 0.9828, d4.loss_map_dir: 0.0186, d5.loss_map_cls: 0.2455, d5.loss_map_pts: 0.9737, d5.loss_map_dir: 0.0189, loss: 39.6062, grad_norm: 154.4731 +2026-02-25 02:56:38,720 - DriveTransformer - INFO - Epoch [3][31900/39528] lr: 9.831e-05, eta: 7 days, 18:16:15, time: 0.790, data_time: 0.041, memory: 19865, loss_cls: 0.3316, loss_bbox: 0.5336, loss_traj: 1.0899, loss_traj_cls: 0.0048, loss_map_cls: 0.2613, loss_map_pts: 1.1718, loss_map_dir: 0.0203, d0.loss_plan_l1_fix_time: 2.8029, d0.loss_plan_l1_fix_dist: 0.4892, d1.loss_plan_l1_fix_time: 1.7584, d1.loss_plan_l1_fix_dist: 0.2886, d2.loss_plan_l1_fix_time: 1.7303, d2.loss_plan_l1_fix_dist: 0.2924, d3.loss_plan_l1_fix_time: 1.7283, d3.loss_plan_l1_fix_dist: 0.3015, d4.loss_plan_l1_fix_time: 1.7318, d4.loss_plan_l1_fix_dist: 0.3118, d5.loss_plan_l1_fix_time: 1.7366, d5.loss_plan_l1_fix_dist: 0.3241, d6.loss_plan_l1_fix_time: 1.7424, d6.loss_plan_l1_fix_dist: 0.3376, d0.loss_cls_all: 0.3446, d0.loss_bbox_all: 0.5893, d0.loss_cls: 0.3446, d0.loss_bbox: 0.5893, d1.loss_cls: 0.3368, d1.loss_bbox: 0.5626, d2.loss_cls: 0.3313, d2.loss_bbox: 0.5485, d3.loss_cls: 0.3318, d3.loss_bbox: 0.5407, d4.loss_cls: 0.3301, d4.loss_bbox: 0.5394, d5.loss_cls: 0.3295, d5.loss_bbox: 0.5363, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2856, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1122, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0899, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0872, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0889, d5.loss_traj_cls: 0.0082, d5.loss_traj: 1.0906, d0.loss_map_cls_all: 0.3036, d0.loss_map_pts_all: 2.1777, d0.loss_map_dir_all: 0.0193, d0.loss_map_cls: 0.3036, d0.loss_map_pts: 2.1777, d0.loss_map_dir: 0.0193, d1.loss_map_cls: 0.2891, d1.loss_map_pts: 1.4365, d1.loss_map_dir: 0.0189, d2.loss_map_cls: 0.2721, d2.loss_map_pts: 1.2623, d2.loss_map_dir: 0.0192, d3.loss_map_cls: 0.2671, d3.loss_map_pts: 1.2025, d3.loss_map_dir: 0.0198, d4.loss_map_cls: 0.2640, d4.loss_map_pts: 1.1800, d4.loss_map_dir: 0.0200, d5.loss_map_cls: 0.2609, d5.loss_map_pts: 1.1724, d5.loss_map_dir: 0.0203, loss: 44.7176, grad_norm: 156.9846 +2026-02-25 02:57:18,293 - DriveTransformer - INFO - Epoch [3][31950/39528] lr: 9.831e-05, eta: 7 days, 18:15:31, time: 0.791, data_time: 0.042, memory: 19865, loss_cls: 0.3351, loss_bbox: 0.5112, loss_traj: 0.9169, loss_traj_cls: 0.0047, loss_map_cls: 0.2655, loss_map_pts: 1.1726, loss_map_dir: 0.0200, d0.loss_plan_l1_fix_time: 2.8559, d0.loss_plan_l1_fix_dist: 0.3819, d1.loss_plan_l1_fix_time: 1.7610, d1.loss_plan_l1_fix_dist: 0.2332, d2.loss_plan_l1_fix_time: 1.7293, d2.loss_plan_l1_fix_dist: 0.2387, d3.loss_plan_l1_fix_time: 1.7299, d3.loss_plan_l1_fix_dist: 0.2508, d4.loss_plan_l1_fix_time: 1.7347, d4.loss_plan_l1_fix_dist: 0.2667, d5.loss_plan_l1_fix_time: 1.7405, d5.loss_plan_l1_fix_dist: 0.2816, d6.loss_plan_l1_fix_time: 1.7470, d6.loss_plan_l1_fix_dist: 0.2964, d0.loss_cls_all: 0.3560, d0.loss_bbox_all: 0.5510, d0.loss_cls: 0.3560, d0.loss_bbox: 0.5510, d1.loss_cls: 0.3443, d1.loss_bbox: 0.5290, d2.loss_cls: 0.3403, d2.loss_bbox: 0.5165, d3.loss_cls: 0.3368, d3.loss_bbox: 0.5147, d4.loss_cls: 0.3348, d4.loss_bbox: 0.5131, d5.loss_cls: 0.3356, d5.loss_bbox: 0.5105, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1399, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9761, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9441, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9373, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.9288, d5.loss_traj_cls: 0.0081, d5.loss_traj: 0.9254, d0.loss_map_cls_all: 0.3028, d0.loss_map_pts_all: 2.1541, d0.loss_map_dir_all: 0.0185, d0.loss_map_cls: 0.3028, d0.loss_map_pts: 2.1541, d0.loss_map_dir: 0.0185, d1.loss_map_cls: 0.2850, d1.loss_map_pts: 1.4580, d1.loss_map_dir: 0.0181, d2.loss_map_cls: 0.2727, d2.loss_map_pts: 1.2777, d2.loss_map_dir: 0.0186, d3.loss_map_cls: 0.2683, d3.loss_map_pts: 1.2079, d3.loss_map_dir: 0.0192, d4.loss_map_cls: 0.2650, d4.loss_map_pts: 1.1843, d4.loss_map_dir: 0.0196, d5.loss_map_cls: 0.2655, d5.loss_map_pts: 1.1772, d5.loss_map_dir: 0.0198, loss: 43.1355, grad_norm: 155.8764 +2026-02-25 02:57:58,566 - DriveTransformer - INFO - Epoch [3][32000/39528] lr: 9.831e-05, eta: 7 days, 18:14:53, time: 0.806, data_time: 0.037, memory: 19865, loss_cls: 0.3469, loss_bbox: 0.5595, loss_traj: 1.2753, loss_traj_cls: 0.0046, loss_map_cls: 0.3331, loss_map_pts: 1.4481, loss_map_dir: 0.0194, d0.loss_plan_l1_fix_time: 2.9176, d0.loss_plan_l1_fix_dist: 0.5031, d1.loss_plan_l1_fix_time: 1.9174, d1.loss_plan_l1_fix_dist: 0.3089, d2.loss_plan_l1_fix_time: 1.9069, d2.loss_plan_l1_fix_dist: 0.3118, d3.loss_plan_l1_fix_time: 1.9071, d3.loss_plan_l1_fix_dist: 0.3219, d4.loss_plan_l1_fix_time: 1.9106, d4.loss_plan_l1_fix_dist: 0.3350, d5.loss_plan_l1_fix_time: 1.9146, d5.loss_plan_l1_fix_dist: 0.3514, d6.loss_plan_l1_fix_time: 1.9193, d6.loss_plan_l1_fix_dist: 0.3706, d0.loss_cls_all: 0.3635, d0.loss_bbox_all: 0.6037, d0.loss_cls: 0.3635, d0.loss_bbox: 0.6037, d1.loss_cls: 0.3597, d1.loss_bbox: 0.5785, d2.loss_cls: 0.3527, d2.loss_bbox: 0.5639, d3.loss_cls: 0.3535, d3.loss_bbox: 0.5556, d4.loss_cls: 0.3508, d4.loss_bbox: 0.5541, d5.loss_cls: 0.3481, d5.loss_bbox: 0.5566, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.5762, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.3242, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.3018, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2869, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.2831, d5.loss_traj_cls: 0.0081, d5.loss_traj: 1.2857, d0.loss_map_cls_all: 0.3769, d0.loss_map_pts_all: 2.2633, d0.loss_map_dir_all: 0.0167, d0.loss_map_cls: 0.3769, d0.loss_map_pts: 2.2633, d0.loss_map_dir: 0.0167, d1.loss_map_cls: 0.3573, d1.loss_map_pts: 1.7013, d1.loss_map_dir: 0.0171, d2.loss_map_cls: 0.3436, d2.loss_map_pts: 1.5363, d2.loss_map_dir: 0.0178, d3.loss_map_cls: 0.3351, d3.loss_map_pts: 1.4770, d3.loss_map_dir: 0.0185, d4.loss_map_cls: 0.3318, d4.loss_map_pts: 1.4544, d4.loss_map_dir: 0.0190, d5.loss_map_cls: 0.3331, d5.loss_map_pts: 1.4480, d5.loss_map_dir: 0.0191, loss: 50.1850, grad_norm: 153.3965 +2026-02-25 02:58:38,741 - DriveTransformer - INFO - Epoch [3][32050/39528] lr: 9.831e-05, eta: 7 days, 18:14:14, time: 0.803, data_time: 0.041, memory: 19865, loss_cls: 0.3435, loss_bbox: 0.4992, loss_traj: 1.0867, loss_traj_cls: 0.0046, loss_map_cls: 0.2533, loss_map_pts: 1.1538, loss_map_dir: 0.0192, d0.loss_plan_l1_fix_time: 2.6263, d0.loss_plan_l1_fix_dist: 0.4087, d1.loss_plan_l1_fix_time: 1.6613, d1.loss_plan_l1_fix_dist: 0.2436, d2.loss_plan_l1_fix_time: 1.6649, d2.loss_plan_l1_fix_dist: 0.2511, d3.loss_plan_l1_fix_time: 1.6686, d3.loss_plan_l1_fix_dist: 0.2660, d4.loss_plan_l1_fix_time: 1.6736, d4.loss_plan_l1_fix_dist: 0.2842, d5.loss_plan_l1_fix_time: 1.6790, d5.loss_plan_l1_fix_dist: 0.3062, d6.loss_plan_l1_fix_time: 1.6855, d6.loss_plan_l1_fix_dist: 0.3304, d0.loss_cls_all: 0.3665, d0.loss_bbox_all: 0.5468, d0.loss_cls: 0.3665, d0.loss_bbox: 0.5468, d1.loss_cls: 0.3563, d1.loss_bbox: 0.5176, d2.loss_cls: 0.3501, d2.loss_bbox: 0.5045, d3.loss_cls: 0.3485, d3.loss_bbox: 0.4979, d4.loss_cls: 0.3461, d4.loss_bbox: 0.4960, d5.loss_cls: 0.3440, d5.loss_bbox: 0.4972, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4321, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.1710, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1148, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1081, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.0953, d5.loss_traj_cls: 0.0080, d5.loss_traj: 1.0897, d0.loss_map_cls_all: 0.2917, d0.loss_map_pts_all: 2.1350, d0.loss_map_dir_all: 0.0176, d0.loss_map_cls: 0.2917, d0.loss_map_pts: 2.1350, d0.loss_map_dir: 0.0176, d1.loss_map_cls: 0.2711, d1.loss_map_pts: 1.4289, d1.loss_map_dir: 0.0173, d2.loss_map_cls: 0.2648, d2.loss_map_pts: 1.2586, d2.loss_map_dir: 0.0180, d3.loss_map_cls: 0.2569, d3.loss_map_pts: 1.1862, d3.loss_map_dir: 0.0186, d4.loss_map_cls: 0.2549, d4.loss_map_pts: 1.1579, d4.loss_map_dir: 0.0188, d5.loss_map_cls: 0.2525, d5.loss_map_pts: 1.1526, d5.loss_map_dir: 0.0190, loss: 43.6833, grad_norm: 153.1345 +2026-02-25 02:59:19,712 - DriveTransformer - INFO - Epoch [3][32100/39528] lr: 9.831e-05, eta: 7 days, 18:13:41, time: 0.819, data_time: 0.037, memory: 19865, loss_cls: 0.3253, loss_bbox: 0.5125, loss_traj: 0.8789, loss_traj_cls: 0.0046, loss_map_cls: 0.2319, loss_map_pts: 1.1192, loss_map_dir: 0.0194, d0.loss_plan_l1_fix_time: 2.5929, d0.loss_plan_l1_fix_dist: 0.4711, d1.loss_plan_l1_fix_time: 1.5914, d1.loss_plan_l1_fix_dist: 0.3037, d2.loss_plan_l1_fix_time: 1.5638, d2.loss_plan_l1_fix_dist: 0.3111, d3.loss_plan_l1_fix_time: 1.5674, d3.loss_plan_l1_fix_dist: 0.3265, d4.loss_plan_l1_fix_time: 1.5729, d4.loss_plan_l1_fix_dist: 0.3466, d5.loss_plan_l1_fix_time: 1.5794, d5.loss_plan_l1_fix_dist: 0.3659, d6.loss_plan_l1_fix_time: 1.5880, d6.loss_plan_l1_fix_dist: 0.3880, d0.loss_cls_all: 0.3520, d0.loss_bbox_all: 0.5542, d0.loss_cls: 0.3520, d0.loss_bbox: 0.5542, d1.loss_cls: 0.3437, d1.loss_bbox: 0.5246, d2.loss_cls: 0.3365, d2.loss_bbox: 0.5153, d3.loss_cls: 0.3325, d3.loss_bbox: 0.5096, d4.loss_cls: 0.3299, d4.loss_bbox: 0.5085, d5.loss_cls: 0.3266, d5.loss_bbox: 0.5097, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1008, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9189, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8904, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8904, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8829, d5.loss_traj_cls: 0.0079, d5.loss_traj: 0.8812, d0.loss_map_cls_all: 0.2848, d0.loss_map_pts_all: 2.0290, d0.loss_map_dir_all: 0.0181, d0.loss_map_cls: 0.2848, d0.loss_map_pts: 2.0290, d0.loss_map_dir: 0.0181, d1.loss_map_cls: 0.2626, d1.loss_map_pts: 1.3509, d1.loss_map_dir: 0.0178, d2.loss_map_cls: 0.2484, d2.loss_map_pts: 1.1960, d2.loss_map_dir: 0.0182, d3.loss_map_cls: 0.2357, d3.loss_map_pts: 1.1416, d3.loss_map_dir: 0.0188, d4.loss_map_cls: 0.2338, d4.loss_map_pts: 1.1253, d4.loss_map_dir: 0.0191, d5.loss_map_cls: 0.2318, d5.loss_map_pts: 1.1212, d5.loss_map_dir: 0.0193, loss: 41.1912, grad_norm: 153.1543 +2026-02-25 03:00:00,399 - DriveTransformer - INFO - Epoch [3][32150/39528] lr: 9.831e-05, eta: 7 days, 18:13:06, time: 0.814, data_time: 0.046, memory: 19865, loss_cls: 0.3082, loss_bbox: 0.4881, loss_traj: 0.9495, loss_traj_cls: 0.0046, loss_map_cls: 0.2730, loss_map_pts: 1.2272, loss_map_dir: 0.0209, d0.loss_plan_l1_fix_time: 2.5399, d0.loss_plan_l1_fix_dist: 0.3805, d1.loss_plan_l1_fix_time: 1.7277, d1.loss_plan_l1_fix_dist: 0.2748, d2.loss_plan_l1_fix_time: 1.7050, d2.loss_plan_l1_fix_dist: 0.2841, d3.loss_plan_l1_fix_time: 1.7044, d3.loss_plan_l1_fix_dist: 0.2985, d4.loss_plan_l1_fix_time: 1.7090, d4.loss_plan_l1_fix_dist: 0.3155, d5.loss_plan_l1_fix_time: 1.7152, d5.loss_plan_l1_fix_dist: 0.3336, d6.loss_plan_l1_fix_time: 1.7232, d6.loss_plan_l1_fix_dist: 0.3539, d0.loss_cls_all: 0.3291, d0.loss_bbox_all: 0.5298, d0.loss_cls: 0.3291, d0.loss_bbox: 0.5298, d1.loss_cls: 0.3228, d1.loss_bbox: 0.4990, d2.loss_cls: 0.3149, d2.loss_bbox: 0.4880, d3.loss_cls: 0.3133, d3.loss_bbox: 0.4839, d4.loss_cls: 0.3093, d4.loss_bbox: 0.4847, d5.loss_cls: 0.3078, d5.loss_bbox: 0.4853, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1101, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9823, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9492, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9490, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9458, d5.loss_traj_cls: 0.0080, d5.loss_traj: 0.9460, d0.loss_map_cls_all: 0.3226, d0.loss_map_pts_all: 2.1493, d0.loss_map_dir_all: 0.0191, d0.loss_map_cls: 0.3226, d0.loss_map_pts: 2.1493, d0.loss_map_dir: 0.0191, d1.loss_map_cls: 0.2960, d1.loss_map_pts: 1.4436, d1.loss_map_dir: 0.0191, d2.loss_map_cls: 0.2820, d2.loss_map_pts: 1.2946, d2.loss_map_dir: 0.0197, d3.loss_map_cls: 0.2757, d3.loss_map_pts: 1.2447, d3.loss_map_dir: 0.0202, d4.loss_map_cls: 0.2715, d4.loss_map_pts: 1.2298, d4.loss_map_dir: 0.0206, d5.loss_map_cls: 0.2728, d5.loss_map_pts: 1.2267, d5.loss_map_dir: 0.0208, loss: 42.8789, grad_norm: 154.9312 +2026-02-25 03:00:38,834 - DriveTransformer - INFO - Epoch [3][32200/39528] lr: 9.831e-05, eta: 7 days, 18:12:14, time: 0.768, data_time: 0.041, memory: 19865, loss_cls: 0.3142, loss_bbox: 0.5121, loss_traj: 1.2046, loss_traj_cls: 0.0045, loss_map_cls: 0.2361, loss_map_pts: 1.0320, loss_map_dir: 0.0166, d0.loss_plan_l1_fix_time: 3.1414, d0.loss_plan_l1_fix_dist: 0.4505, d1.loss_plan_l1_fix_time: 1.5556, d1.loss_plan_l1_fix_dist: 0.2734, d2.loss_plan_l1_fix_time: 1.5450, d2.loss_plan_l1_fix_dist: 0.2811, d3.loss_plan_l1_fix_time: 1.5489, d3.loss_plan_l1_fix_dist: 0.2912, d4.loss_plan_l1_fix_time: 1.5529, d4.loss_plan_l1_fix_dist: 0.3037, d5.loss_plan_l1_fix_time: 1.5573, d5.loss_plan_l1_fix_dist: 0.3188, d6.loss_plan_l1_fix_time: 1.5619, d6.loss_plan_l1_fix_dist: 0.3337, d0.loss_cls_all: 0.3332, d0.loss_bbox_all: 0.5518, d0.loss_cls: 0.3332, d0.loss_bbox: 0.5518, d1.loss_cls: 0.3242, d1.loss_bbox: 0.5278, d2.loss_cls: 0.3193, d2.loss_bbox: 0.5165, d3.loss_cls: 0.3163, d3.loss_bbox: 0.5118, d4.loss_cls: 0.3137, d4.loss_bbox: 0.5106, d5.loss_cls: 0.3134, d5.loss_bbox: 0.5099, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3524, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2118, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1859, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1796, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.1867, d5.loss_traj_cls: 0.0078, d5.loss_traj: 1.1954, d0.loss_map_cls_all: 0.2886, d0.loss_map_pts_all: 1.9129, d0.loss_map_dir_all: 0.0150, d0.loss_map_cls: 0.2886, d0.loss_map_pts: 1.9129, d0.loss_map_dir: 0.0150, d1.loss_map_cls: 0.2662, d1.loss_map_pts: 1.2531, d1.loss_map_dir: 0.0148, d2.loss_map_cls: 0.2515, d2.loss_map_pts: 1.1086, d2.loss_map_dir: 0.0155, d3.loss_map_cls: 0.2437, d3.loss_map_pts: 1.0475, d3.loss_map_dir: 0.0160, d4.loss_map_cls: 0.2374, d4.loss_map_pts: 1.0318, d4.loss_map_dir: 0.0162, d5.loss_map_cls: 0.2358, d5.loss_map_pts: 1.0295, d5.loss_map_dir: 0.0164, loss: 42.5108, grad_norm: 155.0592 +2026-02-25 03:01:18,425 - DriveTransformer - INFO - Epoch [3][32250/39528] lr: 9.831e-05, eta: 7 days, 18:11:31, time: 0.792, data_time: 0.045, memory: 19865, loss_cls: 0.2969, loss_bbox: 0.4695, loss_traj: 1.0523, loss_traj_cls: 0.0046, loss_map_cls: 0.2099, loss_map_pts: 0.8690, loss_map_dir: 0.0175, d0.loss_plan_l1_fix_time: 2.7598, d0.loss_plan_l1_fix_dist: 0.4463, d1.loss_plan_l1_fix_time: 1.6361, d1.loss_plan_l1_fix_dist: 0.2265, d2.loss_plan_l1_fix_time: 1.6157, d2.loss_plan_l1_fix_dist: 0.2335, d3.loss_plan_l1_fix_time: 1.6131, d3.loss_plan_l1_fix_dist: 0.2443, d4.loss_plan_l1_fix_time: 1.6156, d4.loss_plan_l1_fix_dist: 0.2593, d5.loss_plan_l1_fix_time: 1.6190, d5.loss_plan_l1_fix_dist: 0.2741, d6.loss_plan_l1_fix_time: 1.6230, d6.loss_plan_l1_fix_dist: 0.2907, d0.loss_cls_all: 0.3149, d0.loss_bbox_all: 0.5059, d0.loss_cls: 0.3149, d0.loss_bbox: 0.5059, d1.loss_cls: 0.3131, d1.loss_bbox: 0.4833, d2.loss_cls: 0.3054, d2.loss_bbox: 0.4758, d3.loss_cls: 0.3028, d3.loss_bbox: 0.4706, d4.loss_cls: 0.2989, d4.loss_bbox: 0.4696, d5.loss_cls: 0.2978, d5.loss_bbox: 0.4688, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1723, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0662, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0362, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0400, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.0444, d5.loss_traj_cls: 0.0077, d5.loss_traj: 1.0443, d0.loss_map_cls_all: 0.2619, d0.loss_map_pts_all: 1.6745, d0.loss_map_dir_all: 0.0164, d0.loss_map_cls: 0.2619, d0.loss_map_pts: 1.6745, d0.loss_map_dir: 0.0164, d1.loss_map_cls: 0.2377, d1.loss_map_pts: 1.0740, d1.loss_map_dir: 0.0159, d2.loss_map_cls: 0.2253, d2.loss_map_pts: 0.9358, d2.loss_map_dir: 0.0163, d3.loss_map_cls: 0.2187, d3.loss_map_pts: 0.8898, d3.loss_map_dir: 0.0169, d4.loss_map_cls: 0.2138, d4.loss_map_pts: 0.8747, d4.loss_map_dir: 0.0172, d5.loss_map_cls: 0.2098, d5.loss_map_pts: 0.8715, d5.loss_map_dir: 0.0173, loss: 39.0610, grad_norm: 154.0333 +2026-02-25 03:01:58,512 - DriveTransformer - INFO - Epoch [3][32300/39528] lr: 9.831e-05, eta: 7 days, 18:10:51, time: 0.802, data_time: 0.039, memory: 19865, loss_cls: 0.3281, loss_bbox: 0.5204, loss_traj: 1.2464, loss_traj_cls: 0.0045, loss_map_cls: 0.2406, loss_map_pts: 1.0786, loss_map_dir: 0.0167, d0.loss_plan_l1_fix_time: 2.8874, d0.loss_plan_l1_fix_dist: 0.3884, d1.loss_plan_l1_fix_time: 1.7016, d1.loss_plan_l1_fix_dist: 0.2318, d2.loss_plan_l1_fix_time: 1.6800, d2.loss_plan_l1_fix_dist: 0.2379, d3.loss_plan_l1_fix_time: 1.6796, d3.loss_plan_l1_fix_dist: 0.2475, d4.loss_plan_l1_fix_time: 1.6837, d4.loss_plan_l1_fix_dist: 0.2625, d5.loss_plan_l1_fix_time: 1.6889, d5.loss_plan_l1_fix_dist: 0.2812, d6.loss_plan_l1_fix_time: 1.6946, d6.loss_plan_l1_fix_dist: 0.3048, d0.loss_cls_all: 0.3456, d0.loss_bbox_all: 0.5679, d0.loss_cls: 0.3456, d0.loss_bbox: 0.5679, d1.loss_cls: 0.3456, d1.loss_bbox: 0.5370, d2.loss_cls: 0.3401, d2.loss_bbox: 0.5259, d3.loss_cls: 0.3345, d3.loss_bbox: 0.5221, d4.loss_cls: 0.3303, d4.loss_bbox: 0.5204, d5.loss_cls: 0.3283, d5.loss_bbox: 0.5195, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4748, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.2911, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.2605, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2475, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.2477, d5.loss_traj_cls: 0.0076, d5.loss_traj: 1.2430, d0.loss_map_cls_all: 0.3024, d0.loss_map_pts_all: 1.8434, d0.loss_map_dir_all: 0.0149, d0.loss_map_cls: 0.3024, d0.loss_map_pts: 1.8434, d0.loss_map_dir: 0.0149, d1.loss_map_cls: 0.2722, d1.loss_map_pts: 1.3092, d1.loss_map_dir: 0.0148, d2.loss_map_cls: 0.2574, d2.loss_map_pts: 1.1673, d2.loss_map_dir: 0.0154, d3.loss_map_cls: 0.2490, d3.loss_map_pts: 1.1046, d3.loss_map_dir: 0.0159, d4.loss_map_cls: 0.2435, d4.loss_map_pts: 1.0855, d4.loss_map_dir: 0.0162, d5.loss_map_cls: 0.2393, d5.loss_map_pts: 1.0800, d5.loss_map_dir: 0.0164, loss: 43.7212, grad_norm: 154.9022 +2026-02-25 03:02:40,052 - DriveTransformer - INFO - Epoch [3][32350/39528] lr: 9.831e-05, eta: 7 days, 18:10:23, time: 0.831, data_time: 0.049, memory: 19865, loss_cls: 0.3417, loss_bbox: 0.5223, loss_traj: 0.9004, loss_traj_cls: 0.0043, loss_map_cls: 0.2743, loss_map_pts: 1.2622, loss_map_dir: 0.0219, d0.loss_plan_l1_fix_time: 2.9249, d0.loss_plan_l1_fix_dist: 0.4318, d1.loss_plan_l1_fix_time: 2.0279, d1.loss_plan_l1_fix_dist: 0.2649, d2.loss_plan_l1_fix_time: 2.0014, d2.loss_plan_l1_fix_dist: 0.2746, d3.loss_plan_l1_fix_time: 2.0021, d3.loss_plan_l1_fix_dist: 0.2887, d4.loss_plan_l1_fix_time: 2.0057, d4.loss_plan_l1_fix_dist: 0.3011, d5.loss_plan_l1_fix_time: 2.0110, d5.loss_plan_l1_fix_dist: 0.3165, d6.loss_plan_l1_fix_time: 2.0173, d6.loss_plan_l1_fix_dist: 0.3337, d0.loss_cls_all: 0.3635, d0.loss_bbox_all: 0.5545, d0.loss_cls: 0.3635, d0.loss_bbox: 0.5545, d1.loss_cls: 0.3521, d1.loss_bbox: 0.5331, d2.loss_cls: 0.3459, d2.loss_bbox: 0.5247, d3.loss_cls: 0.3422, d3.loss_bbox: 0.5210, d4.loss_cls: 0.3389, d4.loss_bbox: 0.5205, d5.loss_cls: 0.3398, d5.loss_bbox: 0.5203, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0665, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9400, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9114, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9005, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8984, d5.loss_traj_cls: 0.0075, d5.loss_traj: 0.8989, d0.loss_map_cls_all: 0.3145, d0.loss_map_pts_all: 2.2693, d0.loss_map_dir_all: 0.0203, d0.loss_map_cls: 0.3145, d0.loss_map_pts: 2.2693, d0.loss_map_dir: 0.0203, d1.loss_map_cls: 0.2921, d1.loss_map_pts: 1.5117, d1.loss_map_dir: 0.0200, d2.loss_map_cls: 0.2832, d2.loss_map_pts: 1.3444, d2.loss_map_dir: 0.0205, d3.loss_map_cls: 0.2793, d3.loss_map_pts: 1.2804, d3.loss_map_dir: 0.0210, d4.loss_map_cls: 0.2751, d4.loss_map_pts: 1.2657, d4.loss_map_dir: 0.0214, d5.loss_map_cls: 0.2741, d5.loss_map_pts: 1.2615, d5.loss_map_dir: 0.0217, loss: 45.7115, grad_norm: 154.8948 +2026-02-25 03:03:20,196 - DriveTransformer - INFO - Epoch [3][32400/39528] lr: 9.831e-05, eta: 7 days, 18:09:44, time: 0.804, data_time: 0.041, memory: 19865, loss_cls: 0.3567, loss_bbox: 0.5094, loss_traj: 0.9309, loss_traj_cls: 0.0044, loss_map_cls: 0.2976, loss_map_pts: 1.2313, loss_map_dir: 0.0195, d0.loss_plan_l1_fix_time: 2.9884, d0.loss_plan_l1_fix_dist: 0.4153, d1.loss_plan_l1_fix_time: 1.7792, d1.loss_plan_l1_fix_dist: 0.2484, d2.loss_plan_l1_fix_time: 1.7350, d2.loss_plan_l1_fix_dist: 0.2517, d3.loss_plan_l1_fix_time: 1.7276, d3.loss_plan_l1_fix_dist: 0.2605, d4.loss_plan_l1_fix_time: 1.7290, d4.loss_plan_l1_fix_dist: 0.2731, d5.loss_plan_l1_fix_time: 1.7324, d5.loss_plan_l1_fix_dist: 0.2860, d6.loss_plan_l1_fix_time: 1.7375, d6.loss_plan_l1_fix_dist: 0.3011, d0.loss_cls_all: 0.3687, d0.loss_bbox_all: 0.5596, d0.loss_cls: 0.3687, d0.loss_bbox: 0.5596, d1.loss_cls: 0.3700, d1.loss_bbox: 0.5301, d2.loss_cls: 0.3607, d2.loss_bbox: 0.5179, d3.loss_cls: 0.3590, d3.loss_bbox: 0.5118, d4.loss_cls: 0.3567, d4.loss_bbox: 0.5073, d5.loss_cls: 0.3557, d5.loss_bbox: 0.5065, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1223, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9750, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9356, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9267, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9265, d5.loss_traj_cls: 0.0074, d5.loss_traj: 0.9260, d0.loss_map_cls_all: 0.3515, d0.loss_map_pts_all: 2.1292, d0.loss_map_dir_all: 0.0176, d0.loss_map_cls: 0.3515, d0.loss_map_pts: 2.1292, d0.loss_map_dir: 0.0176, d1.loss_map_cls: 0.3261, d1.loss_map_pts: 1.4550, d1.loss_map_dir: 0.0176, d2.loss_map_cls: 0.3112, d2.loss_map_pts: 1.3049, d2.loss_map_dir: 0.0182, d3.loss_map_cls: 0.3026, d3.loss_map_pts: 1.2483, d3.loss_map_dir: 0.0188, d4.loss_map_cls: 0.2970, d4.loss_map_pts: 1.2386, d4.loss_map_dir: 0.0191, d5.loss_map_cls: 0.2968, d5.loss_map_pts: 1.2354, d5.loss_map_dir: 0.0193, loss: 43.9766, grad_norm: 153.3286 +2026-02-25 03:04:00,392 - DriveTransformer - INFO - Epoch [3][32450/39528] lr: 9.831e-05, eta: 7 days, 18:09:05, time: 0.803, data_time: 0.040, memory: 19865, loss_cls: 0.3414, loss_bbox: 0.4678, loss_traj: 0.8653, loss_traj_cls: 0.0042, loss_map_cls: 0.3071, loss_map_pts: 1.1996, loss_map_dir: 0.0221, d0.loss_plan_l1_fix_time: 2.6543, d0.loss_plan_l1_fix_dist: 0.3957, d1.loss_plan_l1_fix_time: 1.6817, d1.loss_plan_l1_fix_dist: 0.2482, d2.loss_plan_l1_fix_time: 1.6639, d2.loss_plan_l1_fix_dist: 0.2558, d3.loss_plan_l1_fix_time: 1.6655, d3.loss_plan_l1_fix_dist: 0.2663, d4.loss_plan_l1_fix_time: 1.6690, d4.loss_plan_l1_fix_dist: 0.2771, d5.loss_plan_l1_fix_time: 1.6730, d5.loss_plan_l1_fix_dist: 0.2909, d6.loss_plan_l1_fix_time: 1.6790, d6.loss_plan_l1_fix_dist: 0.3059, d0.loss_cls_all: 0.3618, d0.loss_bbox_all: 0.5114, d0.loss_cls: 0.3618, d0.loss_bbox: 0.5114, d1.loss_cls: 0.3564, d1.loss_bbox: 0.4819, d2.loss_cls: 0.3473, d2.loss_bbox: 0.4738, d3.loss_cls: 0.3457, d3.loss_bbox: 0.4685, d4.loss_cls: 0.3419, d4.loss_bbox: 0.4658, d5.loss_cls: 0.3414, d5.loss_bbox: 0.4660, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0149, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8753, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8588, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8548, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8596, d5.loss_traj_cls: 0.0074, d5.loss_traj: 0.8643, d0.loss_map_cls_all: 0.3563, d0.loss_map_pts_all: 2.2540, d0.loss_map_dir_all: 0.0202, d0.loss_map_cls: 0.3563, d0.loss_map_pts: 2.2540, d0.loss_map_dir: 0.0202, d1.loss_map_cls: 0.3359, d1.loss_map_pts: 1.4799, d1.loss_map_dir: 0.0199, d2.loss_map_cls: 0.3246, d2.loss_map_pts: 1.2938, d2.loss_map_dir: 0.0206, d3.loss_map_cls: 0.3130, d3.loss_map_pts: 1.2293, d3.loss_map_dir: 0.0213, d4.loss_map_cls: 0.3091, d4.loss_map_pts: 1.2072, d4.loss_map_dir: 0.0216, d5.loss_map_cls: 0.3075, d5.loss_map_pts: 1.2010, d5.loss_map_dir: 0.0219, loss: 42.4764, grad_norm: 153.0227 +2026-02-25 03:04:41,725 - DriveTransformer - INFO - Epoch [3][32500/39528] lr: 9.831e-05, eta: 7 days, 18:08:35, time: 0.827, data_time: 0.046, memory: 19865, loss_cls: 0.3317, loss_bbox: 0.4916, loss_traj: 0.8970, loss_traj_cls: 0.0043, loss_map_cls: 0.2437, loss_map_pts: 1.0844, loss_map_dir: 0.0205, d0.loss_plan_l1_fix_time: 2.5083, d0.loss_plan_l1_fix_dist: 0.4124, d1.loss_plan_l1_fix_time: 1.6338, d1.loss_plan_l1_fix_dist: 0.2546, d2.loss_plan_l1_fix_time: 1.6111, d2.loss_plan_l1_fix_dist: 0.2577, d3.loss_plan_l1_fix_time: 1.6134, d3.loss_plan_l1_fix_dist: 0.2710, d4.loss_plan_l1_fix_time: 1.6161, d4.loss_plan_l1_fix_dist: 0.2860, d5.loss_plan_l1_fix_time: 1.6198, d5.loss_plan_l1_fix_dist: 0.2986, d6.loss_plan_l1_fix_time: 1.6253, d6.loss_plan_l1_fix_dist: 0.3094, d0.loss_cls_all: 0.3452, d0.loss_bbox_all: 0.5340, d0.loss_cls: 0.3452, d0.loss_bbox: 0.5340, d1.loss_cls: 0.3435, d1.loss_bbox: 0.5080, d2.loss_cls: 0.3370, d2.loss_bbox: 0.4964, d3.loss_cls: 0.3363, d3.loss_bbox: 0.4912, d4.loss_cls: 0.3314, d4.loss_bbox: 0.4907, d5.loss_cls: 0.3320, d5.loss_bbox: 0.4916, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0925, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9502, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9152, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9060, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8986, d5.loss_traj_cls: 0.0074, d5.loss_traj: 0.8969, d0.loss_map_cls_all: 0.2990, d0.loss_map_pts_all: 2.0804, d0.loss_map_dir_all: 0.0189, d0.loss_map_cls: 0.2990, d0.loss_map_pts: 2.0804, d0.loss_map_dir: 0.0189, d1.loss_map_cls: 0.2753, d1.loss_map_pts: 1.3431, d1.loss_map_dir: 0.0189, d2.loss_map_cls: 0.2624, d2.loss_map_pts: 1.1726, d2.loss_map_dir: 0.0193, d3.loss_map_cls: 0.2539, d3.loss_map_pts: 1.1110, d3.loss_map_dir: 0.0199, d4.loss_map_cls: 0.2476, d4.loss_map_pts: 1.0896, d4.loss_map_dir: 0.0202, d5.loss_map_cls: 0.2452, d5.loss_map_pts: 1.0827, d5.loss_map_dir: 0.0203, loss: 40.9571, grad_norm: 153.6907 +2026-02-25 03:05:22,705 - DriveTransformer - INFO - Epoch [3][32550/39528] lr: 9.831e-05, eta: 7 days, 18:08:02, time: 0.820, data_time: 0.044, memory: 19865, loss_cls: 0.3459, loss_bbox: 0.4948, loss_traj: 1.0923, loss_traj_cls: 0.0042, loss_map_cls: 0.2708, loss_map_pts: 1.2067, loss_map_dir: 0.0218, d0.loss_plan_l1_fix_time: 2.8243, d0.loss_plan_l1_fix_dist: 0.4040, d1.loss_plan_l1_fix_time: 1.9093, d1.loss_plan_l1_fix_dist: 0.2737, d2.loss_plan_l1_fix_time: 1.8892, d2.loss_plan_l1_fix_dist: 0.2769, d3.loss_plan_l1_fix_time: 1.8924, d3.loss_plan_l1_fix_dist: 0.2839, d4.loss_plan_l1_fix_time: 1.8969, d4.loss_plan_l1_fix_dist: 0.2933, d5.loss_plan_l1_fix_time: 1.9015, d5.loss_plan_l1_fix_dist: 0.3052, d6.loss_plan_l1_fix_time: 1.9068, d6.loss_plan_l1_fix_dist: 0.3213, d0.loss_cls_all: 0.3715, d0.loss_bbox_all: 0.5383, d0.loss_cls: 0.3715, d0.loss_bbox: 0.5383, d1.loss_cls: 0.3668, d1.loss_bbox: 0.5172, d2.loss_cls: 0.3570, d2.loss_bbox: 0.5021, d3.loss_cls: 0.3523, d3.loss_bbox: 0.4980, d4.loss_cls: 0.3450, d4.loss_bbox: 0.4941, d5.loss_cls: 0.3459, d5.loss_bbox: 0.4950, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2843, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1207, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0852, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0833, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.0838, d5.loss_traj_cls: 0.0075, d5.loss_traj: 1.0881, d0.loss_map_cls_all: 0.3259, d0.loss_map_pts_all: 2.2369, d0.loss_map_dir_all: 0.0202, d0.loss_map_cls: 0.3259, d0.loss_map_pts: 2.2369, d0.loss_map_dir: 0.0202, d1.loss_map_cls: 0.2978, d1.loss_map_pts: 1.4779, d1.loss_map_dir: 0.0200, d2.loss_map_cls: 0.2848, d2.loss_map_pts: 1.3009, d2.loss_map_dir: 0.0206, d3.loss_map_cls: 0.2778, d3.loss_map_pts: 1.2343, d3.loss_map_dir: 0.0212, d4.loss_map_cls: 0.2705, d4.loss_map_pts: 1.2144, d4.loss_map_dir: 0.0216, d5.loss_map_cls: 0.2707, d5.loss_map_pts: 1.2061, d5.loss_map_dir: 0.0216, loss: 45.7720, grad_norm: 154.5611 +2026-02-25 03:06:01,230 - DriveTransformer - INFO - Epoch [3][32600/39528] lr: 9.831e-05, eta: 7 days, 18:07:10, time: 0.770, data_time: 0.048, memory: 19865, loss_cls: 0.3186, loss_bbox: 0.4636, loss_traj: 0.9501, loss_traj_cls: 0.0044, loss_map_cls: 0.2456, loss_map_pts: 1.0026, loss_map_dir: 0.0172, d0.loss_plan_l1_fix_time: 2.3536, d0.loss_plan_l1_fix_dist: 0.3472, d1.loss_plan_l1_fix_time: 1.2856, d1.loss_plan_l1_fix_dist: 0.2332, d2.loss_plan_l1_fix_time: 1.2661, d2.loss_plan_l1_fix_dist: 0.2423, d3.loss_plan_l1_fix_time: 1.2661, d3.loss_plan_l1_fix_dist: 0.2550, d4.loss_plan_l1_fix_time: 1.2696, d4.loss_plan_l1_fix_dist: 0.2709, d5.loss_plan_l1_fix_time: 1.2732, d5.loss_plan_l1_fix_dist: 0.2892, d6.loss_plan_l1_fix_time: 1.2774, d6.loss_plan_l1_fix_dist: 0.3111, d0.loss_cls_all: 0.3361, d0.loss_bbox_all: 0.5050, d0.loss_cls: 0.3361, d0.loss_bbox: 0.5050, d1.loss_cls: 0.3278, d1.loss_bbox: 0.4767, d2.loss_cls: 0.3206, d2.loss_bbox: 0.4667, d3.loss_cls: 0.3205, d3.loss_bbox: 0.4615, d4.loss_cls: 0.3188, d4.loss_bbox: 0.4593, d5.loss_cls: 0.3186, d5.loss_bbox: 0.4607, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1982, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0205, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9592, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9511, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9490, d5.loss_traj_cls: 0.0075, d5.loss_traj: 0.9514, d0.loss_map_cls_all: 0.2834, d0.loss_map_pts_all: 1.7831, d0.loss_map_dir_all: 0.0154, d0.loss_map_cls: 0.2834, d0.loss_map_pts: 1.7831, d0.loss_map_dir: 0.0154, d1.loss_map_cls: 0.2672, d1.loss_map_pts: 1.2235, d1.loss_map_dir: 0.0156, d2.loss_map_cls: 0.2562, d2.loss_map_pts: 1.0766, d2.loss_map_dir: 0.0161, d3.loss_map_cls: 0.2492, d3.loss_map_pts: 1.0213, d3.loss_map_dir: 0.0166, d4.loss_map_cls: 0.2438, d4.loss_map_pts: 1.0070, d4.loss_map_dir: 0.0169, d5.loss_map_cls: 0.2447, d5.loss_map_pts: 1.0013, d5.loss_map_dir: 0.0170, loss: 37.4348, grad_norm: 157.1138 +2026-02-25 03:06:39,273 - DriveTransformer - INFO - Epoch [3][32650/39528] lr: 9.831e-05, eta: 7 days, 18:06:16, time: 0.761, data_time: 0.042, memory: 19865, loss_cls: 0.3655, loss_bbox: 0.5368, loss_traj: 0.9784, loss_traj_cls: 0.0042, loss_map_cls: 0.3081, loss_map_pts: 1.2418, loss_map_dir: 0.0182, d0.loss_plan_l1_fix_time: 2.6685, d0.loss_plan_l1_fix_dist: 0.4339, d1.loss_plan_l1_fix_time: 1.7219, d1.loss_plan_l1_fix_dist: 0.2538, d2.loss_plan_l1_fix_time: 1.7063, d2.loss_plan_l1_fix_dist: 0.2548, d3.loss_plan_l1_fix_time: 1.7103, d3.loss_plan_l1_fix_dist: 0.2641, d4.loss_plan_l1_fix_time: 1.7155, d4.loss_plan_l1_fix_dist: 0.2748, d5.loss_plan_l1_fix_time: 1.7210, d5.loss_plan_l1_fix_dist: 0.2855, d6.loss_plan_l1_fix_time: 1.7272, d6.loss_plan_l1_fix_dist: 0.3005, d0.loss_cls_all: 0.3744, d0.loss_bbox_all: 0.5795, d0.loss_cls: 0.3744, d0.loss_bbox: 0.5795, d1.loss_cls: 0.3700, d1.loss_bbox: 0.5567, d2.loss_cls: 0.3648, d2.loss_bbox: 0.5475, d3.loss_cls: 0.3627, d3.loss_bbox: 0.5405, d4.loss_cls: 0.3662, d4.loss_bbox: 0.5367, d5.loss_cls: 0.3648, d5.loss_bbox: 0.5364, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1504, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0138, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9554, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9656, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9698, d5.loss_traj_cls: 0.0074, d5.loss_traj: 0.9788, d0.loss_map_cls_all: 0.3582, d0.loss_map_pts_all: 1.9769, d0.loss_map_dir_all: 0.0163, d0.loss_map_cls: 0.3582, d0.loss_map_pts: 1.9769, d0.loss_map_dir: 0.0163, d1.loss_map_cls: 0.3378, d1.loss_map_pts: 1.4951, d1.loss_map_dir: 0.0166, d2.loss_map_cls: 0.3217, d2.loss_map_pts: 1.3306, d2.loss_map_dir: 0.0171, d3.loss_map_cls: 0.3108, d3.loss_map_pts: 1.2705, d3.loss_map_dir: 0.0176, d4.loss_map_cls: 0.3067, d4.loss_map_pts: 1.2518, d4.loss_map_dir: 0.0179, d5.loss_map_cls: 0.3066, d5.loss_map_pts: 1.2443, d5.loss_map_dir: 0.0181, loss: 43.9573, grad_norm: 156.0373 +2026-02-25 03:07:19,831 - DriveTransformer - INFO - Epoch [3][32700/39528] lr: 9.831e-05, eta: 7 days, 18:05:40, time: 0.811, data_time: 0.039, memory: 19865, loss_cls: 0.3277, loss_bbox: 0.4991, loss_traj: 1.1584, loss_traj_cls: 0.0042, loss_map_cls: 0.2667, loss_map_pts: 1.1713, loss_map_dir: 0.0186, d0.loss_plan_l1_fix_time: 2.7526, d0.loss_plan_l1_fix_dist: 0.4673, d1.loss_plan_l1_fix_time: 1.6888, d1.loss_plan_l1_fix_dist: 0.2874, d2.loss_plan_l1_fix_time: 1.6676, d2.loss_plan_l1_fix_dist: 0.3034, d3.loss_plan_l1_fix_time: 1.6703, d3.loss_plan_l1_fix_dist: 0.3197, d4.loss_plan_l1_fix_time: 1.6745, d4.loss_plan_l1_fix_dist: 0.3410, d5.loss_plan_l1_fix_time: 1.6792, d5.loss_plan_l1_fix_dist: 0.3654, d6.loss_plan_l1_fix_time: 1.6839, d6.loss_plan_l1_fix_dist: 0.3853, d0.loss_cls_all: 0.3383, d0.loss_bbox_all: 0.5437, d0.loss_cls: 0.3383, d0.loss_bbox: 0.5437, d1.loss_cls: 0.3375, d1.loss_bbox: 0.5124, d2.loss_cls: 0.3329, d2.loss_bbox: 0.5022, d3.loss_cls: 0.3308, d3.loss_bbox: 0.4976, d4.loss_cls: 0.3282, d4.loss_bbox: 0.4965, d5.loss_cls: 0.3259, d5.loss_bbox: 0.4972, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3845, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2344, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.2036, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1763, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.1665, d5.loss_traj_cls: 0.0072, d5.loss_traj: 1.1588, d0.loss_map_cls_all: 0.3226, d0.loss_map_pts_all: 2.0490, d0.loss_map_dir_all: 0.0182, d0.loss_map_cls: 0.3226, d0.loss_map_pts: 2.0490, d0.loss_map_dir: 0.0182, d1.loss_map_cls: 0.2932, d1.loss_map_pts: 1.4272, d1.loss_map_dir: 0.0175, d2.loss_map_cls: 0.2811, d2.loss_map_pts: 1.2603, d2.loss_map_dir: 0.0176, d3.loss_map_cls: 0.2741, d3.loss_map_pts: 1.1962, d3.loss_map_dir: 0.0180, d4.loss_map_cls: 0.2671, d4.loss_map_pts: 1.1780, d4.loss_map_dir: 0.0184, d5.loss_map_cls: 0.2677, d5.loss_map_pts: 1.1731, d5.loss_map_dir: 0.0185, loss: 44.4817, grad_norm: 156.3844 +2026-02-25 03:08:01,005 - DriveTransformer - INFO - Epoch [3][32750/39528] lr: 9.831e-05, eta: 7 days, 18:05:08, time: 0.823, data_time: 0.039, memory: 19865, loss_cls: 0.3644, loss_bbox: 0.5195, loss_traj: 1.1023, loss_traj_cls: 0.0041, loss_map_cls: 0.2900, loss_map_pts: 1.2545, loss_map_dir: 0.0218, d0.loss_plan_l1_fix_time: 2.7189, d0.loss_plan_l1_fix_dist: 0.4487, d1.loss_plan_l1_fix_time: 1.8092, d1.loss_plan_l1_fix_dist: 0.2691, d2.loss_plan_l1_fix_time: 1.7987, d2.loss_plan_l1_fix_dist: 0.2765, d3.loss_plan_l1_fix_time: 1.8020, d3.loss_plan_l1_fix_dist: 0.2874, d4.loss_plan_l1_fix_time: 1.8072, d4.loss_plan_l1_fix_dist: 0.2992, d5.loss_plan_l1_fix_time: 1.8125, d5.loss_plan_l1_fix_dist: 0.3135, d6.loss_plan_l1_fix_time: 1.8179, d6.loss_plan_l1_fix_dist: 0.3283, d0.loss_cls_all: 0.3720, d0.loss_bbox_all: 0.5709, d0.loss_cls: 0.3720, d0.loss_bbox: 0.5709, d1.loss_cls: 0.3696, d1.loss_bbox: 0.5367, d2.loss_cls: 0.3674, d2.loss_bbox: 0.5231, d3.loss_cls: 0.3644, d3.loss_bbox: 0.5199, d4.loss_cls: 0.3629, d4.loss_bbox: 0.5185, d5.loss_cls: 0.3631, d5.loss_bbox: 0.5182, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3743, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1677, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1077, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1036, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0951, d5.loss_traj_cls: 0.0070, d5.loss_traj: 1.0989, d0.loss_map_cls_all: 0.3374, d0.loss_map_pts_all: 2.2615, d0.loss_map_dir_all: 0.0201, d0.loss_map_cls: 0.3374, d0.loss_map_pts: 2.2615, d0.loss_map_dir: 0.0201, d1.loss_map_cls: 0.3172, d1.loss_map_pts: 1.5598, d1.loss_map_dir: 0.0198, d2.loss_map_cls: 0.3017, d2.loss_map_pts: 1.3690, d2.loss_map_dir: 0.0204, d3.loss_map_cls: 0.2966, d3.loss_map_pts: 1.2848, d3.loss_map_dir: 0.0211, d4.loss_map_cls: 0.2908, d4.loss_map_pts: 1.2633, d4.loss_map_dir: 0.0215, d5.loss_map_cls: 0.2913, d5.loss_map_pts: 1.2569, d5.loss_map_dir: 0.0217, loss: 46.2087, grad_norm: 156.7297 +2026-02-25 03:08:40,918 - DriveTransformer - INFO - Epoch [3][32800/39528] lr: 9.831e-05, eta: 7 days, 18:04:27, time: 0.798, data_time: 0.040, memory: 19865, loss_cls: 0.3173, loss_bbox: 0.4775, loss_traj: 0.8719, loss_traj_cls: 0.0043, loss_map_cls: 0.2690, loss_map_pts: 1.0978, loss_map_dir: 0.0179, d0.loss_plan_l1_fix_time: 2.6625, d0.loss_plan_l1_fix_dist: 0.4097, d1.loss_plan_l1_fix_time: 1.6116, d1.loss_plan_l1_fix_dist: 0.2376, d2.loss_plan_l1_fix_time: 1.5699, d2.loss_plan_l1_fix_dist: 0.2409, d3.loss_plan_l1_fix_time: 1.5667, d3.loss_plan_l1_fix_dist: 0.2497, d4.loss_plan_l1_fix_time: 1.5694, d4.loss_plan_l1_fix_dist: 0.2613, d5.loss_plan_l1_fix_time: 1.5739, d5.loss_plan_l1_fix_dist: 0.2724, d6.loss_plan_l1_fix_time: 1.5796, d6.loss_plan_l1_fix_dist: 0.2883, d0.loss_cls_all: 0.3377, d0.loss_bbox_all: 0.5214, d0.loss_cls: 0.3377, d0.loss_bbox: 0.5214, d1.loss_cls: 0.3291, d1.loss_bbox: 0.4943, d2.loss_cls: 0.3210, d2.loss_bbox: 0.4808, d3.loss_cls: 0.3200, d3.loss_bbox: 0.4771, d4.loss_cls: 0.3173, d4.loss_bbox: 0.4769, d5.loss_cls: 0.3162, d5.loss_bbox: 0.4771, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0723, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9231, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8951, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8822, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8754, d5.loss_traj_cls: 0.0071, d5.loss_traj: 0.8715, d0.loss_map_cls_all: 0.3283, d0.loss_map_pts_all: 1.9718, d0.loss_map_dir_all: 0.0171, d0.loss_map_cls: 0.3283, d0.loss_map_pts: 1.9718, d0.loss_map_dir: 0.0171, d1.loss_map_cls: 0.2972, d1.loss_map_pts: 1.3788, d1.loss_map_dir: 0.0165, d2.loss_map_cls: 0.2792, d2.loss_map_pts: 1.1990, d2.loss_map_dir: 0.0168, d3.loss_map_cls: 0.2737, d3.loss_map_pts: 1.1285, d3.loss_map_dir: 0.0172, d4.loss_map_cls: 0.2681, d4.loss_map_pts: 1.1068, d4.loss_map_dir: 0.0175, d5.loss_map_cls: 0.2687, d5.loss_map_pts: 1.0980, d5.loss_map_dir: 0.0177, loss: 40.4271, grad_norm: 155.4235 +2026-02-25 03:09:20,588 - DriveTransformer - INFO - Epoch [3][32850/39528] lr: 9.831e-05, eta: 7 days, 18:03:45, time: 0.793, data_time: 0.041, memory: 19865, loss_cls: 0.3683, loss_bbox: 0.5747, loss_traj: 1.2789, loss_traj_cls: 0.0045, loss_map_cls: 0.2781, loss_map_pts: 1.3193, loss_map_dir: 0.0209, d0.loss_plan_l1_fix_time: 2.9752, d0.loss_plan_l1_fix_dist: 0.4756, d1.loss_plan_l1_fix_time: 1.8327, d1.loss_plan_l1_fix_dist: 0.2885, d2.loss_plan_l1_fix_time: 1.7979, d2.loss_plan_l1_fix_dist: 0.2919, d3.loss_plan_l1_fix_time: 1.7956, d3.loss_plan_l1_fix_dist: 0.2996, d4.loss_plan_l1_fix_time: 1.7978, d4.loss_plan_l1_fix_dist: 0.3110, d5.loss_plan_l1_fix_time: 1.8013, d5.loss_plan_l1_fix_dist: 0.3251, d6.loss_plan_l1_fix_time: 1.8061, d6.loss_plan_l1_fix_dist: 0.3379, d0.loss_cls_all: 0.3781, d0.loss_bbox_all: 0.6221, d0.loss_cls: 0.3781, d0.loss_bbox: 0.6221, d1.loss_cls: 0.3752, d1.loss_bbox: 0.5930, d2.loss_cls: 0.3671, d2.loss_bbox: 0.5810, d3.loss_cls: 0.3678, d3.loss_bbox: 0.5741, d4.loss_cls: 0.3654, d4.loss_bbox: 0.5716, d5.loss_cls: 0.3650, d5.loss_bbox: 0.5731, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.5430, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.3121, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.2791, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2635, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.2748, d5.loss_traj_cls: 0.0073, d5.loss_traj: 1.2784, d0.loss_map_cls_all: 0.3376, d0.loss_map_pts_all: 2.1500, d0.loss_map_dir_all: 0.0192, d0.loss_map_cls: 0.3376, d0.loss_map_pts: 2.1500, d0.loss_map_dir: 0.0192, d1.loss_map_cls: 0.3052, d1.loss_map_pts: 1.5771, d1.loss_map_dir: 0.0191, d2.loss_map_cls: 0.2882, d2.loss_map_pts: 1.4130, d2.loss_map_dir: 0.0195, d3.loss_map_cls: 0.2819, d3.loss_map_pts: 1.3478, d3.loss_map_dir: 0.0201, d4.loss_map_cls: 0.2779, d4.loss_map_pts: 1.3251, d4.loss_map_dir: 0.0205, d5.loss_map_cls: 0.2775, d5.loss_map_pts: 1.3175, d5.loss_map_dir: 0.0207, loss: 48.2024, grad_norm: 156.3000 +2026-02-25 03:09:59,835 - DriveTransformer - INFO - Epoch [3][32900/39528] lr: 9.831e-05, eta: 7 days, 18:02:59, time: 0.785, data_time: 0.040, memory: 19865, loss_cls: 0.3541, loss_bbox: 0.5097, loss_traj: 1.1796, loss_traj_cls: 0.0045, loss_map_cls: 0.2811, loss_map_pts: 1.0368, loss_map_dir: 0.0167, d0.loss_plan_l1_fix_time: 3.1591, d0.loss_plan_l1_fix_dist: 0.3791, d1.loss_plan_l1_fix_time: 1.7930, d1.loss_plan_l1_fix_dist: 0.2603, d2.loss_plan_l1_fix_time: 1.7812, d2.loss_plan_l1_fix_dist: 0.2695, d3.loss_plan_l1_fix_time: 1.7815, d3.loss_plan_l1_fix_dist: 0.2821, d4.loss_plan_l1_fix_time: 1.7839, d4.loss_plan_l1_fix_dist: 0.2951, d5.loss_plan_l1_fix_time: 1.7860, d5.loss_plan_l1_fix_dist: 0.3108, d6.loss_plan_l1_fix_time: 1.7885, d6.loss_plan_l1_fix_dist: 0.3289, d0.loss_cls_all: 0.3613, d0.loss_bbox_all: 0.5577, d0.loss_cls: 0.3613, d0.loss_bbox: 0.5577, d1.loss_cls: 0.3579, d1.loss_bbox: 0.5300, d2.loss_cls: 0.3509, d2.loss_bbox: 0.5189, d3.loss_cls: 0.3487, d3.loss_bbox: 0.5140, d4.loss_cls: 0.3490, d4.loss_bbox: 0.5104, d5.loss_cls: 0.3510, d5.loss_bbox: 0.5103, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4224, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2174, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1829, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1953, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.1820, d5.loss_traj_cls: 0.0074, d5.loss_traj: 1.1821, d0.loss_map_cls_all: 0.3259, d0.loss_map_pts_all: 1.8647, d0.loss_map_dir_all: 0.0154, d0.loss_map_cls: 0.3259, d0.loss_map_pts: 1.8647, d0.loss_map_dir: 0.0154, d1.loss_map_cls: 0.3043, d1.loss_map_pts: 1.2603, d1.loss_map_dir: 0.0150, d2.loss_map_cls: 0.2928, d2.loss_map_pts: 1.1075, d2.loss_map_dir: 0.0155, d3.loss_map_cls: 0.2888, d3.loss_map_pts: 1.0537, d3.loss_map_dir: 0.0160, d4.loss_map_cls: 0.2836, d4.loss_map_pts: 1.0398, d4.loss_map_dir: 0.0163, d5.loss_map_cls: 0.2817, d5.loss_map_pts: 1.0347, d5.loss_map_dir: 0.0165, loss: 44.3938, grad_norm: 157.5207 +2026-02-25 03:10:41,957 - DriveTransformer - INFO - Epoch [3][32950/39528] lr: 9.831e-05, eta: 7 days, 18:02:34, time: 0.842, data_time: 0.044, memory: 19865, loss_cls: 0.3186, loss_bbox: 0.5002, loss_traj: 0.9638, loss_traj_cls: 0.0047, loss_map_cls: 0.2308, loss_map_pts: 1.1254, loss_map_dir: 0.0215, d0.loss_plan_l1_fix_time: 2.2564, d0.loss_plan_l1_fix_dist: 0.4165, d1.loss_plan_l1_fix_time: 1.5193, d1.loss_plan_l1_fix_dist: 0.2469, d2.loss_plan_l1_fix_time: 1.5246, d2.loss_plan_l1_fix_dist: 0.2518, d3.loss_plan_l1_fix_time: 1.5315, d3.loss_plan_l1_fix_dist: 0.2600, d4.loss_plan_l1_fix_time: 1.5370, d4.loss_plan_l1_fix_dist: 0.2686, d5.loss_plan_l1_fix_time: 1.5419, d5.loss_plan_l1_fix_dist: 0.2792, d6.loss_plan_l1_fix_time: 1.5469, d6.loss_plan_l1_fix_dist: 0.2929, d0.loss_cls_all: 0.3346, d0.loss_bbox_all: 0.5389, d0.loss_cls: 0.3346, d0.loss_bbox: 0.5389, d1.loss_cls: 0.3292, d1.loss_bbox: 0.5164, d2.loss_cls: 0.3241, d2.loss_bbox: 0.5035, d3.loss_cls: 0.3212, d3.loss_bbox: 0.5026, d4.loss_cls: 0.3194, d4.loss_bbox: 0.4988, d5.loss_cls: 0.3179, d5.loss_bbox: 0.4991, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1953, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0435, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9936, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9773, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9640, d5.loss_traj_cls: 0.0073, d5.loss_traj: 0.9656, d0.loss_map_cls_all: 0.2858, d0.loss_map_pts_all: 2.2712, d0.loss_map_dir_all: 0.0213, d0.loss_map_cls: 0.2858, d0.loss_map_pts: 2.2712, d0.loss_map_dir: 0.0213, d1.loss_map_cls: 0.2629, d1.loss_map_pts: 1.4037, d1.loss_map_dir: 0.0201, d2.loss_map_cls: 0.2500, d2.loss_map_pts: 1.2252, d2.loss_map_dir: 0.0205, d3.loss_map_cls: 0.2407, d3.loss_map_pts: 1.1608, d3.loss_map_dir: 0.0209, d4.loss_map_cls: 0.2345, d4.loss_map_pts: 1.1344, d4.loss_map_dir: 0.0212, d5.loss_map_cls: 0.2311, d5.loss_map_pts: 1.1284, d5.loss_map_dir: 0.0214, loss: 41.2018, grad_norm: 157.0334 +2026-02-25 03:11:21,687 - DriveTransformer - INFO - Epoch [3][33000/39528] lr: 9.831e-05, eta: 7 days, 18:01:52, time: 0.795, data_time: 0.046, memory: 19865, loss_cls: 0.3198, loss_bbox: 0.4814, loss_traj: 1.1149, loss_traj_cls: 0.0046, loss_map_cls: 0.2757, loss_map_pts: 1.1479, loss_map_dir: 0.0189, d0.loss_plan_l1_fix_time: 2.6284, d0.loss_plan_l1_fix_dist: 0.4016, d1.loss_plan_l1_fix_time: 1.8947, d1.loss_plan_l1_fix_dist: 0.2659, d2.loss_plan_l1_fix_time: 1.8897, d2.loss_plan_l1_fix_dist: 0.2760, d3.loss_plan_l1_fix_time: 1.8951, d3.loss_plan_l1_fix_dist: 0.2912, d4.loss_plan_l1_fix_time: 1.9001, d4.loss_plan_l1_fix_dist: 0.3083, d5.loss_plan_l1_fix_time: 1.9057, d5.loss_plan_l1_fix_dist: 0.3262, d6.loss_plan_l1_fix_time: 1.9117, d6.loss_plan_l1_fix_dist: 0.3455, d0.loss_cls_all: 0.3380, d0.loss_bbox_all: 0.5330, d0.loss_cls: 0.3380, d0.loss_bbox: 0.5330, d1.loss_cls: 0.3326, d1.loss_bbox: 0.5052, d2.loss_cls: 0.3232, d2.loss_bbox: 0.4919, d3.loss_cls: 0.3205, d3.loss_bbox: 0.4838, d4.loss_cls: 0.3186, d4.loss_bbox: 0.4809, d5.loss_cls: 0.3204, d5.loss_bbox: 0.4801, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3801, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1471, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1203, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1104, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.1163, d5.loss_traj_cls: 0.0074, d5.loss_traj: 1.1191, d0.loss_map_cls_all: 0.3284, d0.loss_map_pts_all: 2.0028, d0.loss_map_dir_all: 0.0179, d0.loss_map_cls: 0.3284, d0.loss_map_pts: 2.0028, d0.loss_map_dir: 0.0179, d1.loss_map_cls: 0.3022, d1.loss_map_pts: 1.4068, d1.loss_map_dir: 0.0172, d2.loss_map_cls: 0.2855, d2.loss_map_pts: 1.2545, d2.loss_map_dir: 0.0174, d3.loss_map_cls: 0.2794, d3.loss_map_pts: 1.1834, d3.loss_map_dir: 0.0181, d4.loss_map_cls: 0.2752, d4.loss_map_pts: 1.1582, d4.loss_map_dir: 0.0184, d5.loss_map_cls: 0.2750, d5.loss_map_pts: 1.1488, d5.loss_map_dir: 0.0188, loss: 44.7655, grad_norm: 157.8689 +2026-02-25 03:11:59,121 - DriveTransformer - INFO - Epoch [3][33050/39528] lr: 9.831e-05, eta: 7 days, 18:00:53, time: 0.749, data_time: 0.047, memory: 19865, loss_cls: 0.3473, loss_bbox: 0.5412, loss_traj: 1.0786, loss_traj_cls: 0.0045, loss_map_cls: 0.2843, loss_map_pts: 1.0700, loss_map_dir: 0.0163, d0.loss_plan_l1_fix_time: 2.8694, d0.loss_plan_l1_fix_dist: 0.3787, d1.loss_plan_l1_fix_time: 1.8868, d1.loss_plan_l1_fix_dist: 0.2818, d2.loss_plan_l1_fix_time: 1.8459, d2.loss_plan_l1_fix_dist: 0.2871, d3.loss_plan_l1_fix_time: 1.8388, d3.loss_plan_l1_fix_dist: 0.2975, d4.loss_plan_l1_fix_time: 1.8409, d4.loss_plan_l1_fix_dist: 0.3101, d5.loss_plan_l1_fix_time: 1.8447, d5.loss_plan_l1_fix_dist: 0.3232, d6.loss_plan_l1_fix_time: 1.8496, d6.loss_plan_l1_fix_dist: 0.3356, d0.loss_cls_all: 0.3687, d0.loss_bbox_all: 0.5798, d0.loss_cls: 0.3687, d0.loss_bbox: 0.5798, d1.loss_cls: 0.3616, d1.loss_bbox: 0.5537, d2.loss_cls: 0.3553, d2.loss_bbox: 0.5425, d3.loss_cls: 0.3524, d3.loss_bbox: 0.5391, d4.loss_cls: 0.3513, d4.loss_bbox: 0.5366, d5.loss_cls: 0.3474, d5.loss_bbox: 0.5397, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2409, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0991, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0649, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0671, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0755, d5.loss_traj_cls: 0.0073, d5.loss_traj: 1.0749, d0.loss_map_cls_all: 0.3455, d0.loss_map_pts_all: 1.7533, d0.loss_map_dir_all: 0.0149, d0.loss_map_cls: 0.3455, d0.loss_map_pts: 1.7533, d0.loss_map_dir: 0.0149, d1.loss_map_cls: 0.3097, d1.loss_map_pts: 1.2865, d1.loss_map_dir: 0.0148, d2.loss_map_cls: 0.2964, d2.loss_map_pts: 1.1443, d2.loss_map_dir: 0.0152, d3.loss_map_cls: 0.2901, d3.loss_map_pts: 1.0904, d3.loss_map_dir: 0.0158, d4.loss_map_cls: 0.2841, d4.loss_map_pts: 1.0741, d4.loss_map_dir: 0.0161, d5.loss_map_cls: 0.2830, d5.loss_map_pts: 1.0700, d5.loss_map_dir: 0.0162, loss: 43.9771, grad_norm: 158.4797 +2026-02-25 03:12:39,147 - DriveTransformer - INFO - Epoch [3][33100/39528] lr: 9.831e-05, eta: 7 days, 18:00:13, time: 0.801, data_time: 0.040, memory: 19865, loss_cls: 0.3311, loss_bbox: 0.5113, loss_traj: 1.1585, loss_traj_cls: 0.0045, loss_map_cls: 0.2594, loss_map_pts: 1.1211, loss_map_dir: 0.0196, d0.loss_plan_l1_fix_time: 3.0194, d0.loss_plan_l1_fix_dist: 0.4032, d1.loss_plan_l1_fix_time: 1.7626, d1.loss_plan_l1_fix_dist: 0.2959, d2.loss_plan_l1_fix_time: 1.7323, d2.loss_plan_l1_fix_dist: 0.3015, d3.loss_plan_l1_fix_time: 1.7360, d3.loss_plan_l1_fix_dist: 0.3144, d4.loss_plan_l1_fix_time: 1.7410, d4.loss_plan_l1_fix_dist: 0.3289, d5.loss_plan_l1_fix_time: 1.7463, d5.loss_plan_l1_fix_dist: 0.3429, d6.loss_plan_l1_fix_time: 1.7525, d6.loss_plan_l1_fix_dist: 0.3593, d0.loss_cls_all: 0.3542, d0.loss_bbox_all: 0.5563, d0.loss_cls: 0.3542, d0.loss_bbox: 0.5563, d1.loss_cls: 0.3455, d1.loss_bbox: 0.5266, d2.loss_cls: 0.3405, d2.loss_bbox: 0.5130, d3.loss_cls: 0.3395, d3.loss_bbox: 0.5064, d4.loss_cls: 0.3353, d4.loss_bbox: 0.5064, d5.loss_cls: 0.3319, d5.loss_bbox: 0.5098, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3631, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2038, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1629, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1587, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.1554, d5.loss_traj_cls: 0.0072, d5.loss_traj: 1.1546, d0.loss_map_cls_all: 0.3166, d0.loss_map_pts_all: 2.0841, d0.loss_map_dir_all: 0.0190, d0.loss_map_cls: 0.3166, d0.loss_map_pts: 2.0841, d0.loss_map_dir: 0.0190, d1.loss_map_cls: 0.2898, d1.loss_map_pts: 1.3852, d1.loss_map_dir: 0.0185, d2.loss_map_cls: 0.2753, d2.loss_map_pts: 1.2042, d2.loss_map_dir: 0.0186, d3.loss_map_cls: 0.2676, d3.loss_map_pts: 1.1423, d3.loss_map_dir: 0.0191, d4.loss_map_cls: 0.2615, d4.loss_map_pts: 1.1244, d4.loss_map_dir: 0.0193, d5.loss_map_cls: 0.2587, d5.loss_map_pts: 1.1208, d5.loss_map_dir: 0.0195, loss: 44.7923, grad_norm: 158.1281 +2026-02-25 03:13:20,278 - DriveTransformer - INFO - Epoch [3][33150/39528] lr: 9.831e-05, eta: 7 days, 17:59:41, time: 0.823, data_time: 0.040, memory: 19865, loss_cls: 0.3439, loss_bbox: 0.5127, loss_traj: 1.0351, loss_traj_cls: 0.0043, loss_map_cls: 0.2324, loss_map_pts: 1.0440, loss_map_dir: 0.0198, d0.loss_plan_l1_fix_time: 3.0135, d0.loss_plan_l1_fix_dist: 0.4582, d1.loss_plan_l1_fix_time: 1.6936, d1.loss_plan_l1_fix_dist: 0.3029, d2.loss_plan_l1_fix_time: 1.6611, d2.loss_plan_l1_fix_dist: 0.3097, d3.loss_plan_l1_fix_time: 1.6623, d3.loss_plan_l1_fix_dist: 0.3227, d4.loss_plan_l1_fix_time: 1.6662, d4.loss_plan_l1_fix_dist: 0.3374, d5.loss_plan_l1_fix_time: 1.6703, d5.loss_plan_l1_fix_dist: 0.3542, d6.loss_plan_l1_fix_time: 1.6757, d6.loss_plan_l1_fix_dist: 0.3763, d0.loss_cls_all: 0.3694, d0.loss_bbox_all: 0.5529, d0.loss_cls: 0.3694, d0.loss_bbox: 0.5529, d1.loss_cls: 0.3608, d1.loss_bbox: 0.5263, d2.loss_cls: 0.3524, d2.loss_bbox: 0.5161, d3.loss_cls: 0.3483, d3.loss_bbox: 0.5115, d4.loss_cls: 0.3448, d4.loss_bbox: 0.5084, d5.loss_cls: 0.3425, d5.loss_bbox: 0.5113, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2983, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0932, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0434, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0323, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.0275, d5.loss_traj_cls: 0.0071, d5.loss_traj: 1.0338, d0.loss_map_cls_all: 0.2847, d0.loss_map_pts_all: 1.9399, d0.loss_map_dir_all: 0.0185, d0.loss_map_cls: 0.2847, d0.loss_map_pts: 1.9399, d0.loss_map_dir: 0.0185, d1.loss_map_cls: 0.2606, d1.loss_map_pts: 1.3013, d1.loss_map_dir: 0.0182, d2.loss_map_cls: 0.2490, d2.loss_map_pts: 1.1419, d2.loss_map_dir: 0.0187, d3.loss_map_cls: 0.2437, d3.loss_map_pts: 1.0747, d3.loss_map_dir: 0.0192, d4.loss_map_cls: 0.2362, d4.loss_map_pts: 1.0488, d4.loss_map_dir: 0.0195, d5.loss_map_cls: 0.2328, d5.loss_map_pts: 1.0434, d5.loss_map_dir: 0.0198, loss: 42.8182, grad_norm: 158.9490 +2026-02-25 03:14:00,903 - DriveTransformer - INFO - Epoch [3][33200/39528] lr: 9.831e-05, eta: 7 days, 17:59:06, time: 0.814, data_time: 0.049, memory: 19865, loss_cls: 0.3107, loss_bbox: 0.4786, loss_traj: 0.9335, loss_traj_cls: 0.0043, loss_map_cls: 0.2172, loss_map_pts: 0.9773, loss_map_dir: 0.0198, d0.loss_plan_l1_fix_time: 2.1771, d0.loss_plan_l1_fix_dist: 0.4718, d1.loss_plan_l1_fix_time: 1.4660, d1.loss_plan_l1_fix_dist: 0.2739, d2.loss_plan_l1_fix_time: 1.4584, d2.loss_plan_l1_fix_dist: 0.2867, d3.loss_plan_l1_fix_time: 1.4599, d3.loss_plan_l1_fix_dist: 0.3013, d4.loss_plan_l1_fix_time: 1.4654, d4.loss_plan_l1_fix_dist: 0.3160, d5.loss_plan_l1_fix_time: 1.4710, d5.loss_plan_l1_fix_dist: 0.3365, d6.loss_plan_l1_fix_time: 1.4770, d6.loss_plan_l1_fix_dist: 0.3572, d0.loss_cls_all: 0.3309, d0.loss_bbox_all: 0.5150, d0.loss_cls: 0.3309, d0.loss_bbox: 0.5150, d1.loss_cls: 0.3247, d1.loss_bbox: 0.4898, d2.loss_cls: 0.3160, d2.loss_bbox: 0.4788, d3.loss_cls: 0.3141, d3.loss_bbox: 0.4735, d4.loss_cls: 0.3106, d4.loss_bbox: 0.4740, d5.loss_cls: 0.3120, d5.loss_bbox: 0.4748, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0347, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9495, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9295, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9292, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9284, d5.loss_traj_cls: 0.0070, d5.loss_traj: 0.9280, d0.loss_map_cls_all: 0.2680, d0.loss_map_pts_all: 1.8319, d0.loss_map_dir_all: 0.0187, d0.loss_map_cls: 0.2680, d0.loss_map_pts: 1.8319, d0.loss_map_dir: 0.0187, d1.loss_map_cls: 0.2469, d1.loss_map_pts: 1.2021, d1.loss_map_dir: 0.0181, d2.loss_map_cls: 0.2321, d2.loss_map_pts: 1.0428, d2.loss_map_dir: 0.0185, d3.loss_map_cls: 0.2252, d3.loss_map_pts: 0.9929, d3.loss_map_dir: 0.0191, d4.loss_map_cls: 0.2178, d4.loss_map_pts: 0.9773, d4.loss_map_dir: 0.0195, d5.loss_map_cls: 0.2169, d5.loss_map_pts: 0.9737, d5.loss_map_dir: 0.0197, loss: 38.2907, grad_norm: 158.9052 +2026-02-25 03:14:41,749 - DriveTransformer - INFO - Epoch [3][33250/39528] lr: 9.831e-05, eta: 7 days, 17:58:32, time: 0.816, data_time: 0.041, memory: 19865, loss_cls: 0.3333, loss_bbox: 0.4995, loss_traj: 1.2303, loss_traj_cls: 0.0043, loss_map_cls: 0.2849, loss_map_pts: 1.1280, loss_map_dir: 0.0199, d0.loss_plan_l1_fix_time: 2.8161, d0.loss_plan_l1_fix_dist: 0.4109, d1.loss_plan_l1_fix_time: 2.0511, d1.loss_plan_l1_fix_dist: 0.2751, d2.loss_plan_l1_fix_time: 2.0369, d2.loss_plan_l1_fix_dist: 0.2904, d3.loss_plan_l1_fix_time: 2.0513, d3.loss_plan_l1_fix_dist: 0.3169, d4.loss_plan_l1_fix_time: 2.0647, d4.loss_plan_l1_fix_dist: 0.3497, d5.loss_plan_l1_fix_time: 2.0784, d5.loss_plan_l1_fix_dist: 0.3824, d6.loss_plan_l1_fix_time: 2.0915, d6.loss_plan_l1_fix_dist: 0.4207, d0.loss_cls_all: 0.3490, d0.loss_bbox_all: 0.5432, d0.loss_cls: 0.3490, d0.loss_bbox: 0.5432, d1.loss_cls: 0.3431, d1.loss_bbox: 0.5167, d2.loss_cls: 0.3380, d2.loss_bbox: 0.5049, d3.loss_cls: 0.3346, d3.loss_bbox: 0.4998, d4.loss_cls: 0.3330, d4.loss_bbox: 0.4973, d5.loss_cls: 0.3350, d5.loss_bbox: 0.4966, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4556, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2778, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.2349, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2353, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.2305, d5.loss_traj_cls: 0.0072, d5.loss_traj: 1.2294, d0.loss_map_cls_all: 0.3320, d0.loss_map_pts_all: 2.0422, d0.loss_map_dir_all: 0.0184, d0.loss_map_cls: 0.3320, d0.loss_map_pts: 2.0422, d0.loss_map_dir: 0.0184, d1.loss_map_cls: 0.3103, d1.loss_map_pts: 1.3679, d1.loss_map_dir: 0.0179, d2.loss_map_cls: 0.2990, d2.loss_map_pts: 1.2021, d2.loss_map_dir: 0.0184, d3.loss_map_cls: 0.2896, d3.loss_map_pts: 1.1508, d3.loss_map_dir: 0.0190, d4.loss_map_cls: 0.2837, d4.loss_map_pts: 1.1321, d4.loss_map_dir: 0.0194, d5.loss_map_cls: 0.2832, d5.loss_map_pts: 1.1269, d5.loss_map_dir: 0.0197, loss: 47.1205, grad_norm: 158.6122 +2026-02-25 03:15:23,964 - DriveTransformer - INFO - Epoch [3][33300/39528] lr: 9.831e-05, eta: 7 days, 17:58:08, time: 0.844, data_time: 0.037, memory: 19865, loss_cls: 0.2880, loss_bbox: 0.4828, loss_traj: 0.9799, loss_traj_cls: 0.0044, loss_map_cls: 0.2584, loss_map_pts: 1.1602, loss_map_dir: 0.0240, d0.loss_plan_l1_fix_time: 2.4618, d0.loss_plan_l1_fix_dist: 0.4346, d1.loss_plan_l1_fix_time: 1.4220, d1.loss_plan_l1_fix_dist: 0.2706, d2.loss_plan_l1_fix_time: 1.4143, d2.loss_plan_l1_fix_dist: 0.2800, d3.loss_plan_l1_fix_time: 1.4270, d3.loss_plan_l1_fix_dist: 0.2930, d4.loss_plan_l1_fix_time: 1.4390, d4.loss_plan_l1_fix_dist: 0.3095, d5.loss_plan_l1_fix_time: 1.4516, d5.loss_plan_l1_fix_dist: 0.3249, d6.loss_plan_l1_fix_time: 1.4639, d6.loss_plan_l1_fix_dist: 0.3398, d0.loss_cls_all: 0.3154, d0.loss_bbox_all: 0.5200, d0.loss_cls: 0.3154, d0.loss_bbox: 0.5200, d1.loss_cls: 0.3029, d1.loss_bbox: 0.4955, d2.loss_cls: 0.2969, d2.loss_bbox: 0.4870, d3.loss_cls: 0.2932, d3.loss_bbox: 0.4811, d4.loss_cls: 0.2906, d4.loss_bbox: 0.4796, d5.loss_cls: 0.2902, d5.loss_bbox: 0.4804, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1046, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0046, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9908, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9852, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9886, d5.loss_traj_cls: 0.0071, d5.loss_traj: 0.9763, d0.loss_map_cls_all: 0.2984, d0.loss_map_pts_all: 2.3698, d0.loss_map_dir_all: 0.0234, d0.loss_map_cls: 0.2984, d0.loss_map_pts: 2.3698, d0.loss_map_dir: 0.0234, d1.loss_map_cls: 0.2803, d1.loss_map_pts: 1.4469, d1.loss_map_dir: 0.0222, d2.loss_map_cls: 0.2698, d2.loss_map_pts: 1.2516, d2.loss_map_dir: 0.0225, d3.loss_map_cls: 0.2645, d3.loss_map_pts: 1.1875, d3.loss_map_dir: 0.0232, d4.loss_map_cls: 0.2588, d4.loss_map_pts: 1.1685, d4.loss_map_dir: 0.0235, d5.loss_map_cls: 0.2582, d5.loss_map_pts: 1.1600, d5.loss_map_dir: 0.0238, loss: 41.2041, grad_norm: 157.3913 +2026-02-25 03:16:04,612 - DriveTransformer - INFO - Epoch [3][33350/39528] lr: 9.831e-05, eta: 7 days, 17:57:32, time: 0.813, data_time: 0.044, memory: 19865, loss_cls: 0.3148, loss_bbox: 0.4864, loss_traj: 0.9746, loss_traj_cls: 0.0044, loss_map_cls: 0.2479, loss_map_pts: 1.0531, loss_map_dir: 0.0181, d0.loss_plan_l1_fix_time: 2.1227, d0.loss_plan_l1_fix_dist: 0.5130, d1.loss_plan_l1_fix_time: 1.3657, d1.loss_plan_l1_fix_dist: 0.2610, d2.loss_plan_l1_fix_time: 1.3560, d2.loss_plan_l1_fix_dist: 0.2760, d3.loss_plan_l1_fix_time: 1.3600, d3.loss_plan_l1_fix_dist: 0.2902, d4.loss_plan_l1_fix_time: 1.3659, d4.loss_plan_l1_fix_dist: 0.3062, d5.loss_plan_l1_fix_time: 1.3719, d5.loss_plan_l1_fix_dist: 0.3270, d6.loss_plan_l1_fix_time: 1.3785, d6.loss_plan_l1_fix_dist: 0.3447, d0.loss_cls_all: 0.3312, d0.loss_bbox_all: 0.5226, d0.loss_cls: 0.3312, d0.loss_bbox: 0.5226, d1.loss_cls: 0.3236, d1.loss_bbox: 0.4954, d2.loss_cls: 0.3198, d2.loss_bbox: 0.4852, d3.loss_cls: 0.3165, d3.loss_bbox: 0.4807, d4.loss_cls: 0.3157, d4.loss_bbox: 0.4801, d5.loss_cls: 0.3152, d5.loss_bbox: 0.4821, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2100, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0018, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9699, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9779, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9698, d5.loss_traj_cls: 0.0072, d5.loss_traj: 0.9723, d0.loss_map_cls_all: 0.2820, d0.loss_map_pts_all: 1.8403, d0.loss_map_dir_all: 0.0165, d0.loss_map_cls: 0.2820, d0.loss_map_pts: 1.8403, d0.loss_map_dir: 0.0165, d1.loss_map_cls: 0.2658, d1.loss_map_pts: 1.2743, d1.loss_map_dir: 0.0163, d2.loss_map_cls: 0.2548, d2.loss_map_pts: 1.1285, d2.loss_map_dir: 0.0168, d3.loss_map_cls: 0.2492, d3.loss_map_pts: 1.0762, d3.loss_map_dir: 0.0174, d4.loss_map_cls: 0.2465, d4.loss_map_pts: 1.0614, d4.loss_map_dir: 0.0178, d5.loss_map_cls: 0.2466, d5.loss_map_pts: 1.0576, d5.loss_map_dir: 0.0179, loss: 38.7981, grad_norm: 157.0195 +2026-02-25 03:16:45,014 - DriveTransformer - INFO - Epoch [3][33400/39528] lr: 9.831e-05, eta: 7 days, 17:56:55, time: 0.808, data_time: 0.046, memory: 19865, loss_cls: 0.3344, loss_bbox: 0.5285, loss_traj: 0.8570, loss_traj_cls: 0.0044, loss_map_cls: 0.2711, loss_map_pts: 1.1265, loss_map_dir: 0.0226, d0.loss_plan_l1_fix_time: 2.8429, d0.loss_plan_l1_fix_dist: 0.3925, d1.loss_plan_l1_fix_time: 1.8407, d1.loss_plan_l1_fix_dist: 0.2612, d2.loss_plan_l1_fix_time: 1.8335, d2.loss_plan_l1_fix_dist: 0.2715, d3.loss_plan_l1_fix_time: 1.8414, d3.loss_plan_l1_fix_dist: 0.2917, d4.loss_plan_l1_fix_time: 1.8459, d4.loss_plan_l1_fix_dist: 0.3153, d5.loss_plan_l1_fix_time: 1.8509, d5.loss_plan_l1_fix_dist: 0.3410, d6.loss_plan_l1_fix_time: 1.8579, d6.loss_plan_l1_fix_dist: 0.3741, d0.loss_cls_all: 0.3620, d0.loss_bbox_all: 0.5680, d0.loss_cls: 0.3620, d0.loss_bbox: 0.5680, d1.loss_cls: 0.3514, d1.loss_bbox: 0.5430, d2.loss_cls: 0.3407, d2.loss_bbox: 0.5308, d3.loss_cls: 0.3387, d3.loss_bbox: 0.5252, d4.loss_cls: 0.3364, d4.loss_bbox: 0.5250, d5.loss_cls: 0.3367, d5.loss_bbox: 0.5237, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1008, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9011, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8706, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8642, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8584, d5.loss_traj_cls: 0.0072, d5.loss_traj: 0.8555, d0.loss_map_cls_all: 0.2992, d0.loss_map_pts_all: 2.0941, d0.loss_map_dir_all: 0.0205, d0.loss_map_cls: 0.2992, d0.loss_map_pts: 2.0941, d0.loss_map_dir: 0.0205, d1.loss_map_cls: 0.2867, d1.loss_map_pts: 1.3748, d1.loss_map_dir: 0.0203, d2.loss_map_cls: 0.2824, d2.loss_map_pts: 1.2120, d2.loss_map_dir: 0.0212, d3.loss_map_cls: 0.2727, d3.loss_map_pts: 1.1509, d3.loss_map_dir: 0.0218, d4.loss_map_cls: 0.2690, d4.loss_map_pts: 1.1327, d4.loss_map_dir: 0.0221, d5.loss_map_cls: 0.2694, d5.loss_map_pts: 1.1276, d5.loss_map_dir: 0.0225, loss: 43.2927, grad_norm: 157.2307 +2026-02-25 03:17:23,818 - DriveTransformer - INFO - Epoch [3][33450/39528] lr: 9.831e-05, eta: 7 days, 17:56:06, time: 0.776, data_time: 0.038, memory: 19865, loss_cls: 0.3162, loss_bbox: 0.5139, loss_traj: 1.1288, loss_traj_cls: 0.0044, loss_map_cls: 0.2816, loss_map_pts: 1.1141, loss_map_dir: 0.0190, d0.loss_plan_l1_fix_time: 3.2694, d0.loss_plan_l1_fix_dist: 0.4125, d1.loss_plan_l1_fix_time: 1.9263, d1.loss_plan_l1_fix_dist: 0.2656, d2.loss_plan_l1_fix_time: 1.8994, d2.loss_plan_l1_fix_dist: 0.2768, d3.loss_plan_l1_fix_time: 1.8974, d3.loss_plan_l1_fix_dist: 0.2932, d4.loss_plan_l1_fix_time: 1.9004, d4.loss_plan_l1_fix_dist: 0.3152, d5.loss_plan_l1_fix_time: 1.9047, d5.loss_plan_l1_fix_dist: 0.3398, d6.loss_plan_l1_fix_time: 1.9107, d6.loss_plan_l1_fix_dist: 0.3697, d0.loss_cls_all: 0.3325, d0.loss_bbox_all: 0.5619, d0.loss_cls: 0.3325, d0.loss_bbox: 0.5619, d1.loss_cls: 0.3272, d1.loss_bbox: 0.5314, d2.loss_cls: 0.3204, d2.loss_bbox: 0.5161, d3.loss_cls: 0.3187, d3.loss_bbox: 0.5109, d4.loss_cls: 0.3158, d4.loss_bbox: 0.5110, d5.loss_cls: 0.3154, d5.loss_bbox: 0.5107, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3638, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1539, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1258, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1214, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.1202, d5.loss_traj_cls: 0.0071, d5.loss_traj: 1.1258, d0.loss_map_cls_all: 0.3207, d0.loss_map_pts_all: 1.8918, d0.loss_map_dir_all: 0.0171, d0.loss_map_cls: 0.3207, d0.loss_map_pts: 1.8918, d0.loss_map_dir: 0.0171, d1.loss_map_cls: 0.3031, d1.loss_map_pts: 1.3352, d1.loss_map_dir: 0.0174, d2.loss_map_cls: 0.2936, d2.loss_map_pts: 1.1899, d2.loss_map_dir: 0.0178, d3.loss_map_cls: 0.2858, d3.loss_map_pts: 1.1339, d3.loss_map_dir: 0.0184, d4.loss_map_cls: 0.2814, d4.loss_map_pts: 1.1175, d4.loss_map_dir: 0.0188, d5.loss_map_cls: 0.2809, d5.loss_map_pts: 1.1151, d5.loss_map_dir: 0.0189, loss: 45.2354, grad_norm: 156.3113 +2026-02-25 03:18:04,186 - DriveTransformer - INFO - Epoch [3][33500/39528] lr: 9.831e-05, eta: 7 days, 17:55:29, time: 0.807, data_time: 0.037, memory: 19865, loss_cls: 0.2883, loss_bbox: 0.4607, loss_traj: 0.9529, loss_traj_cls: 0.0044, loss_map_cls: 0.2461, loss_map_pts: 1.0630, loss_map_dir: 0.0188, d0.loss_plan_l1_fix_time: 2.5988, d0.loss_plan_l1_fix_dist: 0.4426, d1.loss_plan_l1_fix_time: 1.8218, d1.loss_plan_l1_fix_dist: 0.2619, d2.loss_plan_l1_fix_time: 1.7782, d2.loss_plan_l1_fix_dist: 0.2758, d3.loss_plan_l1_fix_time: 1.7740, d3.loss_plan_l1_fix_dist: 0.2930, d4.loss_plan_l1_fix_time: 1.7770, d4.loss_plan_l1_fix_dist: 0.3127, d5.loss_plan_l1_fix_time: 1.7821, d5.loss_plan_l1_fix_dist: 0.3357, d6.loss_plan_l1_fix_time: 1.7878, d6.loss_plan_l1_fix_dist: 0.3565, d0.loss_cls_all: 0.3002, d0.loss_bbox_all: 0.4966, d0.loss_cls: 0.3002, d0.loss_bbox: 0.4966, d1.loss_cls: 0.2961, d1.loss_bbox: 0.4727, d2.loss_cls: 0.2880, d2.loss_bbox: 0.4632, d3.loss_cls: 0.2872, d3.loss_bbox: 0.4591, d4.loss_cls: 0.2846, d4.loss_bbox: 0.4604, d5.loss_cls: 0.2875, d5.loss_bbox: 0.4596, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0767, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9805, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9401, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9472, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9493, d5.loss_traj_cls: 0.0070, d5.loss_traj: 0.9471, d0.loss_map_cls_all: 0.2987, d0.loss_map_pts_all: 1.9399, d0.loss_map_dir_all: 0.0176, d0.loss_map_cls: 0.2987, d0.loss_map_pts: 1.9399, d0.loss_map_dir: 0.0176, d1.loss_map_cls: 0.2770, d1.loss_map_pts: 1.2825, d1.loss_map_dir: 0.0174, d2.loss_map_cls: 0.2635, d2.loss_map_pts: 1.1386, d2.loss_map_dir: 0.0176, d3.loss_map_cls: 0.2512, d3.loss_map_pts: 1.0859, d3.loss_map_dir: 0.0182, d4.loss_map_cls: 0.2487, d4.loss_map_pts: 1.0687, d4.loss_map_dir: 0.0184, d5.loss_map_cls: 0.2469, d5.loss_map_pts: 1.0633, d5.loss_map_dir: 0.0187, loss: 41.3661, grad_norm: 156.4970 +2026-02-25 03:18:42,949 - DriveTransformer - INFO - Epoch [3][33550/39528] lr: 9.831e-05, eta: 7 days, 17:54:39, time: 0.775, data_time: 0.038, memory: 19865, loss_cls: 0.3345, loss_bbox: 0.5248, loss_traj: 0.9067, loss_traj_cls: 0.0045, loss_map_cls: 0.2600, loss_map_pts: 1.1263, loss_map_dir: 0.0203, d0.loss_plan_l1_fix_time: 2.5589, d0.loss_plan_l1_fix_dist: 0.3738, d1.loss_plan_l1_fix_time: 1.8110, d1.loss_plan_l1_fix_dist: 0.2539, d2.loss_plan_l1_fix_time: 1.7913, d2.loss_plan_l1_fix_dist: 0.2615, d3.loss_plan_l1_fix_time: 1.7942, d3.loss_plan_l1_fix_dist: 0.2738, d4.loss_plan_l1_fix_time: 1.7990, d4.loss_plan_l1_fix_dist: 0.2884, d5.loss_plan_l1_fix_time: 1.8042, d5.loss_plan_l1_fix_dist: 0.3033, d6.loss_plan_l1_fix_time: 1.8080, d6.loss_plan_l1_fix_dist: 0.3175, d0.loss_cls_all: 0.3545, d0.loss_bbox_all: 0.5707, d0.loss_cls: 0.3545, d0.loss_bbox: 0.5707, d1.loss_cls: 0.3478, d1.loss_bbox: 0.5405, d2.loss_cls: 0.3408, d2.loss_bbox: 0.5281, d3.loss_cls: 0.3358, d3.loss_bbox: 0.5253, d4.loss_cls: 0.3342, d4.loss_bbox: 0.5237, d5.loss_cls: 0.3338, d5.loss_bbox: 0.5230, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0004, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9128, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8968, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9025, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9056, d5.loss_traj_cls: 0.0071, d5.loss_traj: 0.9046, d0.loss_map_cls_all: 0.2999, d0.loss_map_pts_all: 2.0372, d0.loss_map_dir_all: 0.0192, d0.loss_map_cls: 0.2999, d0.loss_map_pts: 2.0372, d0.loss_map_dir: 0.0192, d1.loss_map_cls: 0.2824, d1.loss_map_pts: 1.3503, d1.loss_map_dir: 0.0191, d2.loss_map_cls: 0.2695, d2.loss_map_pts: 1.1952, d2.loss_map_dir: 0.0193, d3.loss_map_cls: 0.2627, d3.loss_map_pts: 1.1357, d3.loss_map_dir: 0.0197, d4.loss_map_cls: 0.2600, d4.loss_map_pts: 1.1232, d4.loss_map_dir: 0.0200, d5.loss_map_cls: 0.2583, d5.loss_map_pts: 1.1217, d5.loss_map_dir: 0.0202, loss: 42.4041, grad_norm: 156.7140 +2026-02-25 03:19:23,214 - DriveTransformer - INFO - Epoch [3][33600/39528] lr: 9.831e-05, eta: 7 days, 17:54:01, time: 0.805, data_time: 0.040, memory: 19865, loss_cls: 0.3182, loss_bbox: 0.4843, loss_traj: 1.0074, loss_traj_cls: 0.0044, loss_map_cls: 0.2337, loss_map_pts: 1.1075, loss_map_dir: 0.0180, d0.loss_plan_l1_fix_time: 2.3730, d0.loss_plan_l1_fix_dist: 0.3978, d1.loss_plan_l1_fix_time: 1.5689, d1.loss_plan_l1_fix_dist: 0.2539, d2.loss_plan_l1_fix_time: 1.5474, d2.loss_plan_l1_fix_dist: 0.2653, d3.loss_plan_l1_fix_time: 1.5483, d3.loss_plan_l1_fix_dist: 0.2849, d4.loss_plan_l1_fix_time: 1.5519, d4.loss_plan_l1_fix_dist: 0.3066, d5.loss_plan_l1_fix_time: 1.5563, d5.loss_plan_l1_fix_dist: 0.3270, d6.loss_plan_l1_fix_time: 1.5606, d6.loss_plan_l1_fix_dist: 0.3485, d0.loss_cls_all: 0.3300, d0.loss_bbox_all: 0.5236, d0.loss_cls: 0.3300, d0.loss_bbox: 0.5236, d1.loss_cls: 0.3252, d1.loss_bbox: 0.5004, d2.loss_cls: 0.3194, d2.loss_bbox: 0.4892, d3.loss_cls: 0.3172, d3.loss_bbox: 0.4840, d4.loss_cls: 0.3172, d4.loss_bbox: 0.4832, d5.loss_cls: 0.3164, d5.loss_bbox: 0.4824, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2316, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0427, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0196, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0173, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0145, d5.loss_traj_cls: 0.0070, d5.loss_traj: 1.0104, d0.loss_map_cls_all: 0.2955, d0.loss_map_pts_all: 1.9020, d0.loss_map_dir_all: 0.0172, d0.loss_map_cls: 0.2955, d0.loss_map_pts: 1.9020, d0.loss_map_dir: 0.0172, d1.loss_map_cls: 0.2665, d1.loss_map_pts: 1.3213, d1.loss_map_dir: 0.0165, d2.loss_map_cls: 0.2485, d2.loss_map_pts: 1.1800, d2.loss_map_dir: 0.0168, d3.loss_map_cls: 0.2409, d3.loss_map_pts: 1.1267, d3.loss_map_dir: 0.0173, d4.loss_map_cls: 0.2348, d4.loss_map_pts: 1.1118, d4.loss_map_dir: 0.0176, d5.loss_map_cls: 0.2326, d5.loss_map_pts: 1.1088, d5.loss_map_dir: 0.0179, loss: 40.7414, grad_norm: 157.3444 +2026-02-25 03:20:03,819 - DriveTransformer - INFO - Epoch [3][33650/39528] lr: 9.831e-05, eta: 7 days, 17:53:25, time: 0.812, data_time: 0.037, memory: 19865, loss_cls: 0.3106, loss_bbox: 0.5071, loss_traj: 1.0760, loss_traj_cls: 0.0043, loss_map_cls: 0.2796, loss_map_pts: 1.2372, loss_map_dir: 0.0234, d0.loss_plan_l1_fix_time: 2.8705, d0.loss_plan_l1_fix_dist: 0.3645, d1.loss_plan_l1_fix_time: 1.7797, d1.loss_plan_l1_fix_dist: 0.2299, d2.loss_plan_l1_fix_time: 1.7624, d2.loss_plan_l1_fix_dist: 0.2392, d3.loss_plan_l1_fix_time: 1.7648, d3.loss_plan_l1_fix_dist: 0.2522, d4.loss_plan_l1_fix_time: 1.7704, d4.loss_plan_l1_fix_dist: 0.2692, d5.loss_plan_l1_fix_time: 1.7770, d5.loss_plan_l1_fix_dist: 0.2874, d6.loss_plan_l1_fix_time: 1.7851, d6.loss_plan_l1_fix_dist: 0.3054, d0.loss_cls_all: 0.3262, d0.loss_bbox_all: 0.5541, d0.loss_cls: 0.3262, d0.loss_bbox: 0.5541, d1.loss_cls: 0.3201, d1.loss_bbox: 0.5246, d2.loss_cls: 0.3127, d2.loss_bbox: 0.5154, d3.loss_cls: 0.3113, d3.loss_bbox: 0.5071, d4.loss_cls: 0.3108, d4.loss_bbox: 0.5059, d5.loss_cls: 0.3114, d5.loss_bbox: 0.5049, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2530, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1157, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0904, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0861, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0792, d5.loss_traj_cls: 0.0069, d5.loss_traj: 1.0729, d0.loss_map_cls_all: 0.3349, d0.loss_map_pts_all: 2.3255, d0.loss_map_dir_all: 0.0214, d0.loss_map_cls: 0.3349, d0.loss_map_pts: 2.3255, d0.loss_map_dir: 0.0214, d1.loss_map_cls: 0.3158, d1.loss_map_pts: 1.5118, d1.loss_map_dir: 0.0209, d2.loss_map_cls: 0.2980, d2.loss_map_pts: 1.3358, d2.loss_map_dir: 0.0216, d3.loss_map_cls: 0.2877, d3.loss_map_pts: 1.2673, d3.loss_map_dir: 0.0224, d4.loss_map_cls: 0.2802, d4.loss_map_pts: 1.2438, d4.loss_map_dir: 0.0230, d5.loss_map_cls: 0.2805, d5.loss_map_pts: 1.2385, d5.loss_map_dir: 0.0233, loss: 45.0239, grad_norm: 156.1067 +2026-02-25 03:20:43,060 - DriveTransformer - INFO - Epoch [3][33700/39528] lr: 9.831e-05, eta: 7 days, 17:52:39, time: 0.785, data_time: 0.041, memory: 19865, loss_cls: 0.3069, loss_bbox: 0.4761, loss_traj: 0.9963, loss_traj_cls: 0.0043, loss_map_cls: 0.2408, loss_map_pts: 0.9370, loss_map_dir: 0.0172, d0.loss_plan_l1_fix_time: 2.6443, d0.loss_plan_l1_fix_dist: 0.3993, d1.loss_plan_l1_fix_time: 1.6950, d1.loss_plan_l1_fix_dist: 0.2529, d2.loss_plan_l1_fix_time: 1.6647, d2.loss_plan_l1_fix_dist: 0.2657, d3.loss_plan_l1_fix_time: 1.6636, d3.loss_plan_l1_fix_dist: 0.2787, d4.loss_plan_l1_fix_time: 1.6677, d4.loss_plan_l1_fix_dist: 0.2956, d5.loss_plan_l1_fix_time: 1.6726, d5.loss_plan_l1_fix_dist: 0.3164, d6.loss_plan_l1_fix_time: 1.6788, d6.loss_plan_l1_fix_dist: 0.3428, d0.loss_cls_all: 0.3174, d0.loss_bbox_all: 0.5268, d0.loss_cls: 0.3174, d0.loss_bbox: 0.5268, d1.loss_cls: 0.3130, d1.loss_bbox: 0.5001, d2.loss_cls: 0.3109, d2.loss_bbox: 0.4853, d3.loss_cls: 0.3077, d3.loss_bbox: 0.4788, d4.loss_cls: 0.3070, d4.loss_bbox: 0.4755, d5.loss_cls: 0.3065, d5.loss_bbox: 0.4756, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2198, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0694, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0135, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9979, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9932, d5.loss_traj_cls: 0.0070, d5.loss_traj: 1.0002, d0.loss_map_cls_all: 0.2939, d0.loss_map_pts_all: 1.7703, d0.loss_map_dir_all: 0.0161, d0.loss_map_cls: 0.2939, d0.loss_map_pts: 1.7703, d0.loss_map_dir: 0.0161, d1.loss_map_cls: 0.2724, d1.loss_map_pts: 1.1346, d1.loss_map_dir: 0.0158, d2.loss_map_cls: 0.2551, d2.loss_map_pts: 0.9995, d2.loss_map_dir: 0.0161, d3.loss_map_cls: 0.2476, d3.loss_map_pts: 0.9567, d3.loss_map_dir: 0.0167, d4.loss_map_cls: 0.2421, d4.loss_map_pts: 0.9395, d4.loss_map_dir: 0.0170, d5.loss_map_cls: 0.2410, d5.loss_map_pts: 0.9369, d5.loss_map_dir: 0.0171, loss: 40.2401, grad_norm: 155.9213 +2026-02-25 03:21:23,884 - DriveTransformer - INFO - Epoch [3][33750/39528] lr: 9.831e-05, eta: 7 days, 17:52:05, time: 0.816, data_time: 0.044, memory: 19865, loss_cls: 0.3280, loss_bbox: 0.5027, loss_traj: 1.0990, loss_traj_cls: 0.0043, loss_map_cls: 0.2720, loss_map_pts: 1.1627, loss_map_dir: 0.0196, d0.loss_plan_l1_fix_time: 3.0303, d0.loss_plan_l1_fix_dist: 0.4046, d1.loss_plan_l1_fix_time: 1.7412, d1.loss_plan_l1_fix_dist: 0.2581, d2.loss_plan_l1_fix_time: 1.7049, d2.loss_plan_l1_fix_dist: 0.2626, d3.loss_plan_l1_fix_time: 1.7048, d3.loss_plan_l1_fix_dist: 0.2755, d4.loss_plan_l1_fix_time: 1.7095, d4.loss_plan_l1_fix_dist: 0.2919, d5.loss_plan_l1_fix_time: 1.7155, d5.loss_plan_l1_fix_dist: 0.3090, d6.loss_plan_l1_fix_time: 1.7221, d6.loss_plan_l1_fix_dist: 0.3245, d0.loss_cls_all: 0.3446, d0.loss_bbox_all: 0.5517, d0.loss_cls: 0.3446, d0.loss_bbox: 0.5517, d1.loss_cls: 0.3372, d1.loss_bbox: 0.5217, d2.loss_cls: 0.3295, d2.loss_bbox: 0.5072, d3.loss_cls: 0.3292, d3.loss_bbox: 0.5015, d4.loss_cls: 0.3272, d4.loss_bbox: 0.4999, d5.loss_cls: 0.3269, d5.loss_bbox: 0.5007, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2492, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1215, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1001, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1044, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.0981, d5.loss_traj_cls: 0.0071, d5.loss_traj: 1.1026, d0.loss_map_cls_all: 0.3163, d0.loss_map_pts_all: 1.9929, d0.loss_map_dir_all: 0.0188, d0.loss_map_cls: 0.3163, d0.loss_map_pts: 1.9929, d0.loss_map_dir: 0.0188, d1.loss_map_cls: 0.2989, d1.loss_map_pts: 1.3680, d1.loss_map_dir: 0.0185, d2.loss_map_cls: 0.2876, d2.loss_map_pts: 1.2318, d2.loss_map_dir: 0.0186, d3.loss_map_cls: 0.2786, d3.loss_map_pts: 1.1828, d3.loss_map_dir: 0.0190, d4.loss_map_cls: 0.2741, d4.loss_map_pts: 1.1670, d4.loss_map_dir: 0.0192, d5.loss_map_cls: 0.2731, d5.loss_map_pts: 1.1622, d5.loss_map_dir: 0.0194, loss: 43.8792, grad_norm: 156.2165 +2026-02-25 03:22:03,220 - DriveTransformer - INFO - Epoch [3][33800/39528] lr: 9.831e-05, eta: 7 days, 17:51:20, time: 0.787, data_time: 0.042, memory: 19865, loss_cls: 0.2981, loss_bbox: 0.4852, loss_traj: 0.9115, loss_traj_cls: 0.0043, loss_map_cls: 0.2525, loss_map_pts: 1.1582, loss_map_dir: 0.0173, d0.loss_plan_l1_fix_time: 2.7492, d0.loss_plan_l1_fix_dist: 0.5005, d1.loss_plan_l1_fix_time: 1.7121, d1.loss_plan_l1_fix_dist: 0.2856, d2.loss_plan_l1_fix_time: 1.6879, d2.loss_plan_l1_fix_dist: 0.2915, d3.loss_plan_l1_fix_time: 1.6951, d3.loss_plan_l1_fix_dist: 0.3089, d4.loss_plan_l1_fix_time: 1.7028, d4.loss_plan_l1_fix_dist: 0.3288, d5.loss_plan_l1_fix_time: 1.7116, d5.loss_plan_l1_fix_dist: 0.3494, d6.loss_plan_l1_fix_time: 1.7210, d6.loss_plan_l1_fix_dist: 0.3688, d0.loss_cls_all: 0.3153, d0.loss_bbox_all: 0.5315, d0.loss_cls: 0.3153, d0.loss_bbox: 0.5315, d1.loss_cls: 0.3060, d1.loss_bbox: 0.4966, d2.loss_cls: 0.3016, d2.loss_bbox: 0.4819, d3.loss_cls: 0.2996, d3.loss_bbox: 0.4770, d4.loss_cls: 0.3002, d4.loss_bbox: 0.4782, d5.loss_cls: 0.3001, d5.loss_bbox: 0.4809, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1314, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9579, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9281, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9232, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9162, d5.loss_traj_cls: 0.0071, d5.loss_traj: 0.9124, d0.loss_map_cls_all: 0.3001, d0.loss_map_pts_all: 2.0637, d0.loss_map_dir_all: 0.0159, d0.loss_map_cls: 0.3001, d0.loss_map_pts: 2.0637, d0.loss_map_dir: 0.0159, d1.loss_map_cls: 0.2761, d1.loss_map_pts: 1.4354, d1.loss_map_dir: 0.0155, d2.loss_map_cls: 0.2626, d2.loss_map_pts: 1.2754, d2.loss_map_dir: 0.0159, d3.loss_map_cls: 0.2563, d3.loss_map_pts: 1.1995, d3.loss_map_dir: 0.0165, d4.loss_map_cls: 0.2523, d4.loss_map_pts: 1.1718, d4.loss_map_dir: 0.0168, d5.loss_map_cls: 0.2514, d5.loss_map_pts: 1.1613, d5.loss_map_dir: 0.0171, loss: 42.3201, grad_norm: 157.9011 +2026-02-25 03:22:42,237 - DriveTransformer - INFO - Epoch [3][33850/39528] lr: 9.831e-05, eta: 7 days, 17:50:33, time: 0.780, data_time: 0.045, memory: 19865, loss_cls: 0.3016, loss_bbox: 0.4696, loss_traj: 1.0196, loss_traj_cls: 0.0042, loss_map_cls: 0.2340, loss_map_pts: 0.9653, loss_map_dir: 0.0155, d0.loss_plan_l1_fix_time: 2.5820, d0.loss_plan_l1_fix_dist: 0.4685, d1.loss_plan_l1_fix_time: 1.4377, d1.loss_plan_l1_fix_dist: 0.2406, d2.loss_plan_l1_fix_time: 1.4211, d2.loss_plan_l1_fix_dist: 0.2442, d3.loss_plan_l1_fix_time: 1.4268, d3.loss_plan_l1_fix_dist: 0.2554, d4.loss_plan_l1_fix_time: 1.4333, d4.loss_plan_l1_fix_dist: 0.2695, d5.loss_plan_l1_fix_time: 1.4406, d5.loss_plan_l1_fix_dist: 0.2861, d6.loss_plan_l1_fix_time: 1.4494, d6.loss_plan_l1_fix_dist: 0.3040, d0.loss_cls_all: 0.3137, d0.loss_bbox_all: 0.5129, d0.loss_cls: 0.3137, d0.loss_bbox: 0.5129, d1.loss_cls: 0.3041, d1.loss_bbox: 0.4805, d2.loss_cls: 0.3018, d2.loss_bbox: 0.4668, d3.loss_cls: 0.3021, d3.loss_bbox: 0.4645, d4.loss_cls: 0.3007, d4.loss_bbox: 0.4663, d5.loss_cls: 0.3021, d5.loss_bbox: 0.4672, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2702, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0812, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0287, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0233, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.0126, d5.loss_traj_cls: 0.0068, d5.loss_traj: 1.0182, d0.loss_map_cls_all: 0.2870, d0.loss_map_pts_all: 1.7119, d0.loss_map_dir_all: 0.0146, d0.loss_map_cls: 0.2870, d0.loss_map_pts: 1.7119, d0.loss_map_dir: 0.0146, d1.loss_map_cls: 0.2622, d1.loss_map_pts: 1.1764, d1.loss_map_dir: 0.0144, d2.loss_map_cls: 0.2470, d2.loss_map_pts: 1.0423, d2.loss_map_dir: 0.0145, d3.loss_map_cls: 0.2391, d3.loss_map_pts: 0.9879, d3.loss_map_dir: 0.0150, d4.loss_map_cls: 0.2348, d4.loss_map_pts: 0.9656, d4.loss_map_dir: 0.0152, d5.loss_map_cls: 0.2334, d5.loss_map_pts: 0.9629, d5.loss_map_dir: 0.0153, loss: 38.6768, grad_norm: 160.1233 +2026-02-25 03:23:21,722 - DriveTransformer - INFO - Epoch [3][33900/39528] lr: 9.831e-05, eta: 7 days, 17:49:49, time: 0.790, data_time: 0.042, memory: 19865, loss_cls: 0.3381, loss_bbox: 0.4879, loss_traj: 1.0073, loss_traj_cls: 0.0040, loss_map_cls: 0.2612, loss_map_pts: 1.0769, loss_map_dir: 0.0161, d0.loss_plan_l1_fix_time: 2.6420, d0.loss_plan_l1_fix_dist: 0.4192, d1.loss_plan_l1_fix_time: 1.6212, d1.loss_plan_l1_fix_dist: 0.2521, d2.loss_plan_l1_fix_time: 1.6018, d2.loss_plan_l1_fix_dist: 0.2601, d3.loss_plan_l1_fix_time: 1.6033, d3.loss_plan_l1_fix_dist: 0.2751, d4.loss_plan_l1_fix_time: 1.6052, d4.loss_plan_l1_fix_dist: 0.2930, d5.loss_plan_l1_fix_time: 1.6076, d5.loss_plan_l1_fix_dist: 0.3115, d6.loss_plan_l1_fix_time: 1.6114, d6.loss_plan_l1_fix_dist: 0.3319, d0.loss_cls_all: 0.3513, d0.loss_bbox_all: 0.5407, d0.loss_cls: 0.3513, d0.loss_bbox: 0.5407, d1.loss_cls: 0.3440, d1.loss_bbox: 0.5092, d2.loss_cls: 0.3419, d2.loss_bbox: 0.4927, d3.loss_cls: 0.3385, d3.loss_bbox: 0.4910, d4.loss_cls: 0.3359, d4.loss_bbox: 0.4883, d5.loss_cls: 0.3378, d5.loss_bbox: 0.4858, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1902, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0541, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0115, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0030, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.0000, d5.loss_traj_cls: 0.0066, d5.loss_traj: 1.0028, d0.loss_map_cls_all: 0.3017, d0.loss_map_pts_all: 1.8261, d0.loss_map_dir_all: 0.0147, d0.loss_map_cls: 0.3017, d0.loss_map_pts: 1.8261, d0.loss_map_dir: 0.0147, d1.loss_map_cls: 0.2842, d1.loss_map_pts: 1.2879, d1.loss_map_dir: 0.0148, d2.loss_map_cls: 0.2733, d2.loss_map_pts: 1.1513, d2.loss_map_dir: 0.0152, d3.loss_map_cls: 0.2664, d3.loss_map_pts: 1.1028, d3.loss_map_dir: 0.0155, d4.loss_map_cls: 0.2609, d4.loss_map_pts: 1.0852, d4.loss_map_dir: 0.0158, d5.loss_map_cls: 0.2609, d5.loss_map_pts: 1.0785, d5.loss_map_dir: 0.0160, loss: 41.2627, grad_norm: 158.1433 +2026-02-25 03:24:02,796 - DriveTransformer - INFO - Epoch [3][33950/39528] lr: 9.831e-05, eta: 7 days, 17:49:16, time: 0.821, data_time: 0.038, memory: 19865, loss_cls: 0.3513, loss_bbox: 0.4971, loss_traj: 0.9282, loss_traj_cls: 0.0039, loss_map_cls: 0.2901, loss_map_pts: 1.1838, loss_map_dir: 0.0218, d0.loss_plan_l1_fix_time: 2.5757, d0.loss_plan_l1_fix_dist: 0.4065, d1.loss_plan_l1_fix_time: 1.7576, d1.loss_plan_l1_fix_dist: 0.2433, d2.loss_plan_l1_fix_time: 1.7579, d2.loss_plan_l1_fix_dist: 0.2531, d3.loss_plan_l1_fix_time: 1.7631, d3.loss_plan_l1_fix_dist: 0.2654, d4.loss_plan_l1_fix_time: 1.7689, d4.loss_plan_l1_fix_dist: 0.2804, d5.loss_plan_l1_fix_time: 1.7749, d5.loss_plan_l1_fix_dist: 0.2955, d6.loss_plan_l1_fix_time: 1.7806, d6.loss_plan_l1_fix_dist: 0.3132, d0.loss_cls_all: 0.3515, d0.loss_bbox_all: 0.5393, d0.loss_cls: 0.3515, d0.loss_bbox: 0.5393, d1.loss_cls: 0.3441, d1.loss_bbox: 0.5113, d2.loss_cls: 0.3409, d2.loss_bbox: 0.4988, d3.loss_cls: 0.3423, d3.loss_bbox: 0.4961, d4.loss_cls: 0.3437, d4.loss_bbox: 0.4953, d5.loss_cls: 0.3472, d5.loss_bbox: 0.4976, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1015, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9595, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9257, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9279, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9263, d5.loss_traj_cls: 0.0063, d5.loss_traj: 0.9233, d0.loss_map_cls_all: 0.3337, d0.loss_map_pts_all: 2.1616, d0.loss_map_dir_all: 0.0212, d0.loss_map_cls: 0.3337, d0.loss_map_pts: 2.1616, d0.loss_map_dir: 0.0212, d1.loss_map_cls: 0.3018, d1.loss_map_pts: 1.4227, d1.loss_map_dir: 0.0206, d2.loss_map_cls: 0.2939, d2.loss_map_pts: 1.2646, d2.loss_map_dir: 0.0209, d3.loss_map_cls: 0.2916, d3.loss_map_pts: 1.2060, d3.loss_map_dir: 0.0212, d4.loss_map_cls: 0.2894, d4.loss_map_pts: 1.1872, d4.loss_map_dir: 0.0214, d5.loss_map_cls: 0.2899, d5.loss_map_pts: 1.1854, d5.loss_map_dir: 0.0216, loss: 43.1576, grad_norm: 157.5537 +2026-02-25 03:24:43,668 - DriveTransformer - INFO - Epoch [3][34000/39528] lr: 9.831e-05, eta: 7 days, 17:48:43, time: 0.819, data_time: 0.045, memory: 19865, loss_cls: 0.3398, loss_bbox: 0.5045, loss_traj: 0.8569, loss_traj_cls: 0.0038, loss_map_cls: 0.2814, loss_map_pts: 1.1352, loss_map_dir: 0.0200, d0.loss_plan_l1_fix_time: 2.4344, d0.loss_plan_l1_fix_dist: 0.4972, d1.loss_plan_l1_fix_time: 1.6108, d1.loss_plan_l1_fix_dist: 0.2605, d2.loss_plan_l1_fix_time: 1.6155, d2.loss_plan_l1_fix_dist: 0.2677, d3.loss_plan_l1_fix_time: 1.6210, d3.loss_plan_l1_fix_dist: 0.2790, d4.loss_plan_l1_fix_time: 1.6279, d4.loss_plan_l1_fix_dist: 0.2939, d5.loss_plan_l1_fix_time: 1.6348, d5.loss_plan_l1_fix_dist: 0.3131, d6.loss_plan_l1_fix_time: 1.6409, d6.loss_plan_l1_fix_dist: 0.3339, d0.loss_cls_all: 0.3458, d0.loss_bbox_all: 0.5536, d0.loss_cls: 0.3458, d0.loss_bbox: 0.5536, d1.loss_cls: 0.3378, d1.loss_bbox: 0.5249, d2.loss_cls: 0.3342, d2.loss_bbox: 0.5117, d3.loss_cls: 0.3347, d3.loss_bbox: 0.5052, d4.loss_cls: 0.3371, d4.loss_bbox: 0.5044, d5.loss_cls: 0.3402, d5.loss_bbox: 0.5026, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9423, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8801, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8591, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8587, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8501, d5.loss_traj_cls: 0.0061, d5.loss_traj: 0.8539, d0.loss_map_cls_all: 0.3253, d0.loss_map_pts_all: 2.1149, d0.loss_map_dir_all: 0.0194, d0.loss_map_cls: 0.3253, d0.loss_map_pts: 2.1149, d0.loss_map_dir: 0.0194, d1.loss_map_cls: 0.3029, d1.loss_map_pts: 1.3979, d1.loss_map_dir: 0.0183, d2.loss_map_cls: 0.2914, d2.loss_map_pts: 1.2347, d2.loss_map_dir: 0.0187, d3.loss_map_cls: 0.2846, d3.loss_map_pts: 1.1678, d3.loss_map_dir: 0.0193, d4.loss_map_cls: 0.2833, d4.loss_map_pts: 1.1448, d4.loss_map_dir: 0.0197, d5.loss_map_cls: 0.2798, d5.loss_map_pts: 1.1401, d5.loss_map_dir: 0.0198, loss: 41.4012, grad_norm: 158.3161 +2026-02-25 03:25:24,185 - DriveTransformer - INFO - Epoch [3][34050/39528] lr: 9.831e-05, eta: 7 days, 17:48:06, time: 0.809, data_time: 0.038, memory: 19865, loss_cls: 0.3091, loss_bbox: 0.4722, loss_traj: 0.8600, loss_traj_cls: 0.0037, loss_map_cls: 0.2798, loss_map_pts: 1.1345, loss_map_dir: 0.0184, d0.loss_plan_l1_fix_time: 2.4080, d0.loss_plan_l1_fix_dist: 0.4007, d1.loss_plan_l1_fix_time: 1.6009, d1.loss_plan_l1_fix_dist: 0.2385, d2.loss_plan_l1_fix_time: 1.5939, d2.loss_plan_l1_fix_dist: 0.2496, d3.loss_plan_l1_fix_time: 1.6033, d3.loss_plan_l1_fix_dist: 0.2636, d4.loss_plan_l1_fix_time: 1.6109, d4.loss_plan_l1_fix_dist: 0.2779, d5.loss_plan_l1_fix_time: 1.6194, d5.loss_plan_l1_fix_dist: 0.2946, d6.loss_plan_l1_fix_time: 1.6278, d6.loss_plan_l1_fix_dist: 0.3121, d0.loss_cls_all: 0.3162, d0.loss_bbox_all: 0.5185, d0.loss_cls: 0.3162, d0.loss_bbox: 0.5185, d1.loss_cls: 0.3133, d1.loss_bbox: 0.4943, d2.loss_cls: 0.3083, d2.loss_bbox: 0.4828, d3.loss_cls: 0.3100, d3.loss_bbox: 0.4751, d4.loss_cls: 0.3101, d4.loss_bbox: 0.4729, d5.loss_cls: 0.3098, d5.loss_bbox: 0.4710, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0690, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9053, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8609, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8567, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8614, d5.loss_traj_cls: 0.0060, d5.loss_traj: 0.8509, d0.loss_map_cls_all: 0.3221, d0.loss_map_pts_all: 2.0015, d0.loss_map_dir_all: 0.0170, d0.loss_map_cls: 0.3221, d0.loss_map_pts: 2.0015, d0.loss_map_dir: 0.0170, d1.loss_map_cls: 0.3004, d1.loss_map_pts: 1.3951, d1.loss_map_dir: 0.0168, d2.loss_map_cls: 0.2881, d2.loss_map_pts: 1.2412, d2.loss_map_dir: 0.0171, d3.loss_map_cls: 0.2818, d3.loss_map_pts: 1.1747, d3.loss_map_dir: 0.0176, d4.loss_map_cls: 0.2786, d4.loss_map_pts: 1.1492, d4.loss_map_dir: 0.0180, d5.loss_map_cls: 0.2779, d5.loss_map_pts: 1.1392, d5.loss_map_dir: 0.0181, loss: 40.5058, grad_norm: 158.3244 +2026-02-25 03:26:04,847 - DriveTransformer - INFO - Epoch [3][34100/39528] lr: 9.831e-05, eta: 7 days, 17:47:31, time: 0.813, data_time: 0.046, memory: 19865, loss_cls: 0.3621, loss_bbox: 0.5148, loss_traj: 1.0555, loss_traj_cls: 0.0037, loss_map_cls: 0.3140, loss_map_pts: 1.2244, loss_map_dir: 0.0198, d0.loss_plan_l1_fix_time: 3.0979, d0.loss_plan_l1_fix_dist: 0.3731, d1.loss_plan_l1_fix_time: 2.0611, d1.loss_plan_l1_fix_dist: 0.2350, d2.loss_plan_l1_fix_time: 2.0319, d2.loss_plan_l1_fix_dist: 0.2345, d3.loss_plan_l1_fix_time: 2.0330, d3.loss_plan_l1_fix_dist: 0.2452, d4.loss_plan_l1_fix_time: 2.0387, d4.loss_plan_l1_fix_dist: 0.2582, d5.loss_plan_l1_fix_time: 2.0464, d5.loss_plan_l1_fix_dist: 0.2718, d6.loss_plan_l1_fix_time: 2.0564, d6.loss_plan_l1_fix_dist: 0.2866, d0.loss_cls_all: 0.3707, d0.loss_bbox_all: 0.5614, d0.loss_cls: 0.3707, d0.loss_bbox: 0.5614, d1.loss_cls: 0.3647, d1.loss_bbox: 0.5350, d2.loss_cls: 0.3558, d2.loss_bbox: 0.5230, d3.loss_cls: 0.3569, d3.loss_bbox: 0.5171, d4.loss_cls: 0.3577, d4.loss_bbox: 0.5140, d5.loss_cls: 0.3586, d5.loss_bbox: 0.5149, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1716, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0830, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0594, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0553, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0568, d5.loss_traj_cls: 0.0060, d5.loss_traj: 1.0569, d0.loss_map_cls_all: 0.3604, d0.loss_map_pts_all: 2.1302, d0.loss_map_dir_all: 0.0189, d0.loss_map_cls: 0.3604, d0.loss_map_pts: 2.1302, d0.loss_map_dir: 0.0189, d1.loss_map_cls: 0.3390, d1.loss_map_pts: 1.4938, d1.loss_map_dir: 0.0183, d2.loss_map_cls: 0.3214, d2.loss_map_pts: 1.3348, d2.loss_map_dir: 0.0185, d3.loss_map_cls: 0.3182, d3.loss_map_pts: 1.2634, d3.loss_map_dir: 0.0190, d4.loss_map_cls: 0.3148, d4.loss_map_pts: 1.2345, d4.loss_map_dir: 0.0193, d5.loss_map_cls: 0.3128, d5.loss_map_pts: 1.2260, d5.loss_map_dir: 0.0195, loss: 46.7916, grad_norm: 156.6134 +2026-02-25 03:26:46,748 - DriveTransformer - INFO - Epoch [3][34150/39528] lr: 9.831e-05, eta: 7 days, 17:47:05, time: 0.838, data_time: 0.042, memory: 19865, loss_cls: 0.3457, loss_bbox: 0.5119, loss_traj: 0.9030, loss_traj_cls: 0.0037, loss_map_cls: 0.2976, loss_map_pts: 1.2558, loss_map_dir: 0.0215, d0.loss_plan_l1_fix_time: 2.5811, d0.loss_plan_l1_fix_dist: 0.4483, d1.loss_plan_l1_fix_time: 1.4295, d1.loss_plan_l1_fix_dist: 0.3199, d2.loss_plan_l1_fix_time: 1.4051, d2.loss_plan_l1_fix_dist: 0.3217, d3.loss_plan_l1_fix_time: 1.4102, d3.loss_plan_l1_fix_dist: 0.3276, d4.loss_plan_l1_fix_time: 1.4172, d4.loss_plan_l1_fix_dist: 0.3366, d5.loss_plan_l1_fix_time: 1.4250, d5.loss_plan_l1_fix_dist: 0.3473, d6.loss_plan_l1_fix_time: 1.4350, d6.loss_plan_l1_fix_dist: 0.3626, d0.loss_cls_all: 0.3567, d0.loss_bbox_all: 0.5503, d0.loss_cls: 0.3567, d0.loss_bbox: 0.5503, d1.loss_cls: 0.3471, d1.loss_bbox: 0.5287, d2.loss_cls: 0.3394, d2.loss_bbox: 0.5186, d3.loss_cls: 0.3385, d3.loss_bbox: 0.5132, d4.loss_cls: 0.3401, d4.loss_bbox: 0.5099, d5.loss_cls: 0.3434, d5.loss_bbox: 0.5093, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9847, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9025, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8975, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9043, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8989, d5.loss_traj_cls: 0.0061, d5.loss_traj: 0.9004, d0.loss_map_cls_all: 0.3410, d0.loss_map_pts_all: 2.3296, d0.loss_map_dir_all: 0.0205, d0.loss_map_cls: 0.3410, d0.loss_map_pts: 2.3296, d0.loss_map_dir: 0.0205, d1.loss_map_cls: 0.3222, d1.loss_map_pts: 1.5524, d1.loss_map_dir: 0.0200, d2.loss_map_cls: 0.3085, d2.loss_map_pts: 1.3674, d2.loss_map_dir: 0.0202, d3.loss_map_cls: 0.3017, d3.loss_map_pts: 1.2917, d3.loss_map_dir: 0.0208, d4.loss_map_cls: 0.2983, d4.loss_map_pts: 1.2654, d4.loss_map_dir: 0.0211, d5.loss_map_cls: 0.2962, d5.loss_map_pts: 1.2568, d5.loss_map_dir: 0.0214, loss: 42.2538, grad_norm: 155.2846 +2026-02-25 03:27:28,159 - DriveTransformer - INFO - Epoch [3][34200/39528] lr: 9.831e-05, eta: 7 days, 17:46:35, time: 0.828, data_time: 0.043, memory: 19865, loss_cls: 0.3135, loss_bbox: 0.4912, loss_traj: 1.1341, loss_traj_cls: 0.0037, loss_map_cls: 0.2650, loss_map_pts: 1.0765, loss_map_dir: 0.0193, d0.loss_plan_l1_fix_time: 2.5759, d0.loss_plan_l1_fix_dist: 0.3340, d1.loss_plan_l1_fix_time: 1.8395, d1.loss_plan_l1_fix_dist: 0.2187, d2.loss_plan_l1_fix_time: 1.8363, d2.loss_plan_l1_fix_dist: 0.2270, d3.loss_plan_l1_fix_time: 1.8469, d3.loss_plan_l1_fix_dist: 0.2397, d4.loss_plan_l1_fix_time: 1.8554, d4.loss_plan_l1_fix_dist: 0.2524, d5.loss_plan_l1_fix_time: 1.8637, d5.loss_plan_l1_fix_dist: 0.2645, d6.loss_plan_l1_fix_time: 1.8728, d6.loss_plan_l1_fix_dist: 0.2765, d0.loss_cls_all: 0.3309, d0.loss_bbox_all: 0.5337, d0.loss_cls: 0.3309, d0.loss_bbox: 0.5337, d1.loss_cls: 0.3245, d1.loss_bbox: 0.5047, d2.loss_cls: 0.3179, d2.loss_bbox: 0.4922, d3.loss_cls: 0.3156, d3.loss_bbox: 0.4872, d4.loss_cls: 0.3134, d4.loss_bbox: 0.4863, d5.loss_cls: 0.3133, d5.loss_bbox: 0.4891, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4882, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2159, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1582, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1458, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.1354, d5.loss_traj_cls: 0.0060, d5.loss_traj: 1.1359, d0.loss_map_cls_all: 0.3181, d0.loss_map_pts_all: 1.9901, d0.loss_map_dir_all: 0.0184, d0.loss_map_cls: 0.3181, d0.loss_map_pts: 1.9901, d0.loss_map_dir: 0.0184, d1.loss_map_cls: 0.2885, d1.loss_map_pts: 1.3307, d1.loss_map_dir: 0.0179, d2.loss_map_cls: 0.2736, d2.loss_map_pts: 1.1732, d2.loss_map_dir: 0.0182, d3.loss_map_cls: 0.2680, d3.loss_map_pts: 1.1087, d3.loss_map_dir: 0.0187, d4.loss_map_cls: 0.2642, d4.loss_map_pts: 1.0824, d4.loss_map_dir: 0.0190, d5.loss_map_cls: 0.2639, d5.loss_map_pts: 1.0802, d5.loss_map_dir: 0.0192, loss: 43.7497, grad_norm: 154.4458 +2026-02-25 03:28:08,650 - DriveTransformer - INFO - Epoch [3][34250/39528] lr: 9.831e-05, eta: 7 days, 17:45:58, time: 0.810, data_time: 0.037, memory: 19865, loss_cls: 0.3597, loss_bbox: 0.5350, loss_traj: 0.9933, loss_traj_cls: 0.0038, loss_map_cls: 0.3093, loss_map_pts: 1.2650, loss_map_dir: 0.0223, d0.loss_plan_l1_fix_time: 2.8482, d0.loss_plan_l1_fix_dist: 0.4155, d1.loss_plan_l1_fix_time: 1.8705, d1.loss_plan_l1_fix_dist: 0.2621, d2.loss_plan_l1_fix_time: 1.8591, d2.loss_plan_l1_fix_dist: 0.2637, d3.loss_plan_l1_fix_time: 1.8661, d3.loss_plan_l1_fix_dist: 0.2740, d4.loss_plan_l1_fix_time: 1.8735, d4.loss_plan_l1_fix_dist: 0.2841, d5.loss_plan_l1_fix_time: 1.8798, d5.loss_plan_l1_fix_dist: 0.2935, d6.loss_plan_l1_fix_time: 1.8860, d6.loss_plan_l1_fix_dist: 0.3011, d0.loss_cls_all: 0.3646, d0.loss_bbox_all: 0.5660, d0.loss_cls: 0.3646, d0.loss_bbox: 0.5660, d1.loss_cls: 0.3606, d1.loss_bbox: 0.5410, d2.loss_cls: 0.3553, d2.loss_bbox: 0.5335, d3.loss_cls: 0.3529, d3.loss_bbox: 0.5315, d4.loss_cls: 0.3522, d4.loss_bbox: 0.5313, d5.loss_cls: 0.3561, d5.loss_bbox: 0.5319, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1328, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0071, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9841, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9884, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9875, d5.loss_traj_cls: 0.0061, d5.loss_traj: 0.9941, d0.loss_map_cls_all: 0.3534, d0.loss_map_pts_all: 2.1292, d0.loss_map_dir_all: 0.0208, d0.loss_map_cls: 0.3534, d0.loss_map_pts: 2.1292, d0.loss_map_dir: 0.0208, d1.loss_map_cls: 0.3347, d1.loss_map_pts: 1.4909, d1.loss_map_dir: 0.0208, d2.loss_map_cls: 0.3196, d2.loss_map_pts: 1.3422, d2.loss_map_dir: 0.0209, d3.loss_map_cls: 0.3104, d3.loss_map_pts: 1.2874, d3.loss_map_dir: 0.0215, d4.loss_map_cls: 0.3084, d4.loss_map_pts: 1.2701, d4.loss_map_dir: 0.0218, d5.loss_map_cls: 0.3069, d5.loss_map_pts: 1.2657, d5.loss_map_dir: 0.0221, loss: 45.4281, grad_norm: 155.6362 +2026-02-25 03:28:47,600 - DriveTransformer - INFO - Epoch [3][34300/39528] lr: 9.831e-05, eta: 7 days, 17:45:10, time: 0.779, data_time: 0.038, memory: 19865, loss_cls: 0.3309, loss_bbox: 0.4888, loss_traj: 0.9529, loss_traj_cls: 0.0038, loss_map_cls: 0.2275, loss_map_pts: 0.9751, loss_map_dir: 0.0166, d0.loss_plan_l1_fix_time: 2.5066, d0.loss_plan_l1_fix_dist: 0.5515, d1.loss_plan_l1_fix_time: 1.5300, d1.loss_plan_l1_fix_dist: 0.2646, d2.loss_plan_l1_fix_time: 1.5102, d2.loss_plan_l1_fix_dist: 0.2675, d3.loss_plan_l1_fix_time: 1.5146, d3.loss_plan_l1_fix_dist: 0.2760, d4.loss_plan_l1_fix_time: 1.5203, d4.loss_plan_l1_fix_dist: 0.2886, d5.loss_plan_l1_fix_time: 1.5252, d5.loss_plan_l1_fix_dist: 0.3032, d6.loss_plan_l1_fix_time: 1.5303, d6.loss_plan_l1_fix_dist: 0.3210, d0.loss_cls_all: 0.3301, d0.loss_bbox_all: 0.5265, d0.loss_cls: 0.3301, d0.loss_bbox: 0.5265, d1.loss_cls: 0.3238, d1.loss_bbox: 0.5033, d2.loss_cls: 0.3203, d2.loss_bbox: 0.4924, d3.loss_cls: 0.3195, d3.loss_bbox: 0.4873, d4.loss_cls: 0.3201, d4.loss_bbox: 0.4843, d5.loss_cls: 0.3241, d5.loss_bbox: 0.4853, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0931, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9750, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9510, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9445, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9555, d5.loss_traj_cls: 0.0060, d5.loss_traj: 0.9520, d0.loss_map_cls_all: 0.2712, d0.loss_map_pts_all: 1.7492, d0.loss_map_dir_all: 0.0160, d0.loss_map_cls: 0.2712, d0.loss_map_pts: 1.7492, d0.loss_map_dir: 0.0160, d1.loss_map_cls: 0.2534, d1.loss_map_pts: 1.1777, d1.loss_map_dir: 0.0155, d2.loss_map_cls: 0.2413, d2.loss_map_pts: 1.0489, d2.loss_map_dir: 0.0158, d3.loss_map_cls: 0.2328, d3.loss_map_pts: 0.9978, d3.loss_map_dir: 0.0161, d4.loss_map_cls: 0.2282, d4.loss_map_pts: 0.9756, d4.loss_map_dir: 0.0163, d5.loss_map_cls: 0.2269, d5.loss_map_pts: 0.9740, d5.loss_map_dir: 0.0165, loss: 39.0704, grad_norm: 154.9635 +2026-02-25 03:29:27,824 - DriveTransformer - INFO - Epoch [3][34350/39528] lr: 9.831e-05, eta: 7 days, 17:44:32, time: 0.804, data_time: 0.048, memory: 19865, loss_cls: 0.3468, loss_bbox: 0.5181, loss_traj: 1.0596, loss_traj_cls: 0.0038, loss_map_cls: 0.2878, loss_map_pts: 1.1937, loss_map_dir: 0.0181, d0.loss_plan_l1_fix_time: 2.5533, d0.loss_plan_l1_fix_dist: 0.4459, d1.loss_plan_l1_fix_time: 1.9134, d1.loss_plan_l1_fix_dist: 0.2660, d2.loss_plan_l1_fix_time: 1.9015, d2.loss_plan_l1_fix_dist: 0.2678, d3.loss_plan_l1_fix_time: 1.9061, d3.loss_plan_l1_fix_dist: 0.2756, d4.loss_plan_l1_fix_time: 1.9112, d4.loss_plan_l1_fix_dist: 0.2869, d5.loss_plan_l1_fix_time: 1.9177, d5.loss_plan_l1_fix_dist: 0.2985, d6.loss_plan_l1_fix_time: 1.9249, d6.loss_plan_l1_fix_dist: 0.3132, d0.loss_cls_all: 0.3596, d0.loss_bbox_all: 0.5746, d0.loss_cls: 0.3596, d0.loss_bbox: 0.5746, d1.loss_cls: 0.3520, d1.loss_bbox: 0.5404, d2.loss_cls: 0.3478, d2.loss_bbox: 0.5265, d3.loss_cls: 0.3461, d3.loss_bbox: 0.5203, d4.loss_cls: 0.3442, d4.loss_bbox: 0.5180, d5.loss_cls: 0.3435, d5.loss_bbox: 0.5173, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3018, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1228, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0709, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0603, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.0555, d5.loss_traj_cls: 0.0060, d5.loss_traj: 1.0583, d0.loss_map_cls_all: 0.3416, d0.loss_map_pts_all: 2.0495, d0.loss_map_dir_all: 0.0166, d0.loss_map_cls: 0.3416, d0.loss_map_pts: 2.0495, d0.loss_map_dir: 0.0166, d1.loss_map_cls: 0.3180, d1.loss_map_pts: 1.4584, d1.loss_map_dir: 0.0166, d2.loss_map_cls: 0.3056, d2.loss_map_pts: 1.2928, d2.loss_map_dir: 0.0169, d3.loss_map_cls: 0.2939, d3.loss_map_pts: 1.2208, d3.loss_map_dir: 0.0174, d4.loss_map_cls: 0.2886, d4.loss_map_pts: 1.1984, d4.loss_map_dir: 0.0177, d5.loss_map_cls: 0.2881, d5.loss_map_pts: 1.1935, d5.loss_map_dir: 0.0179, loss: 45.2746, grad_norm: 155.3318 +2026-02-25 03:30:09,119 - DriveTransformer - INFO - Epoch [3][34400/39528] lr: 9.831e-05, eta: 7 days, 17:44:01, time: 0.826, data_time: 0.038, memory: 19865, loss_cls: 0.3317, loss_bbox: 0.5436, loss_traj: 0.9165, loss_traj_cls: 0.0039, loss_map_cls: 0.2953, loss_map_pts: 1.3113, loss_map_dir: 0.0221, d0.loss_plan_l1_fix_time: 2.6776, d0.loss_plan_l1_fix_dist: 0.3921, d1.loss_plan_l1_fix_time: 1.7089, d1.loss_plan_l1_fix_dist: 0.2369, d2.loss_plan_l1_fix_time: 1.6965, d2.loss_plan_l1_fix_dist: 0.2468, d3.loss_plan_l1_fix_time: 1.6998, d3.loss_plan_l1_fix_dist: 0.2603, d4.loss_plan_l1_fix_time: 1.7085, d4.loss_plan_l1_fix_dist: 0.2736, d5.loss_plan_l1_fix_time: 1.7192, d5.loss_plan_l1_fix_dist: 0.2864, d6.loss_plan_l1_fix_time: 1.7312, d6.loss_plan_l1_fix_dist: 0.3019, d0.loss_cls_all: 0.3520, d0.loss_bbox_all: 0.5699, d0.loss_cls: 0.3520, d0.loss_bbox: 0.5699, d1.loss_cls: 0.3463, d1.loss_bbox: 0.5473, d2.loss_cls: 0.3398, d2.loss_bbox: 0.5365, d3.loss_cls: 0.3351, d3.loss_bbox: 0.5348, d4.loss_cls: 0.3301, d4.loss_bbox: 0.5375, d5.loss_cls: 0.3308, d5.loss_bbox: 0.5391, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0447, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9645, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9139, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9156, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9053, d5.loss_traj_cls: 0.0060, d5.loss_traj: 0.9076, d0.loss_map_cls_all: 0.3360, d0.loss_map_pts_all: 2.4365, d0.loss_map_dir_all: 0.0206, d0.loss_map_cls: 0.3360, d0.loss_map_pts: 2.4365, d0.loss_map_dir: 0.0206, d1.loss_map_cls: 0.3209, d1.loss_map_pts: 1.6017, d1.loss_map_dir: 0.0203, d2.loss_map_cls: 0.3106, d2.loss_map_pts: 1.4172, d2.loss_map_dir: 0.0207, d3.loss_map_cls: 0.3006, d3.loss_map_pts: 1.3450, d3.loss_map_dir: 0.0213, d4.loss_map_cls: 0.2958, d4.loss_map_pts: 1.3203, d4.loss_map_dir: 0.0217, d5.loss_map_cls: 0.2949, d5.loss_map_pts: 1.3109, d5.loss_map_dir: 0.0219, loss: 44.4573, grad_norm: 157.8457 +2026-02-25 03:30:48,352 - DriveTransformer - INFO - Epoch [3][34450/39528] lr: 9.831e-05, eta: 7 days, 17:43:15, time: 0.785, data_time: 0.040, memory: 19865, loss_cls: 0.3108, loss_bbox: 0.4814, loss_traj: 1.1473, loss_traj_cls: 0.0040, loss_map_cls: 0.2406, loss_map_pts: 1.0030, loss_map_dir: 0.0151, d0.loss_plan_l1_fix_time: 2.7669, d0.loss_plan_l1_fix_dist: 0.4313, d1.loss_plan_l1_fix_time: 1.6992, d1.loss_plan_l1_fix_dist: 0.2677, d2.loss_plan_l1_fix_time: 1.6807, d2.loss_plan_l1_fix_dist: 0.2723, d3.loss_plan_l1_fix_time: 1.6851, d3.loss_plan_l1_fix_dist: 0.2802, d4.loss_plan_l1_fix_time: 1.6923, d4.loss_plan_l1_fix_dist: 0.2907, d5.loss_plan_l1_fix_time: 1.7007, d5.loss_plan_l1_fix_dist: 0.3031, d6.loss_plan_l1_fix_time: 1.7101, d6.loss_plan_l1_fix_dist: 0.3140, d0.loss_cls_all: 0.3171, d0.loss_bbox_all: 0.5328, d0.loss_cls: 0.3171, d0.loss_bbox: 0.5328, d1.loss_cls: 0.3111, d1.loss_bbox: 0.5021, d2.loss_cls: 0.3064, d2.loss_bbox: 0.4897, d3.loss_cls: 0.3061, d3.loss_bbox: 0.4833, d4.loss_cls: 0.3052, d4.loss_bbox: 0.4815, d5.loss_cls: 0.3067, d5.loss_bbox: 0.4803, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3134, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.1422, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1220, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1281, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.1347, d5.loss_traj_cls: 0.0059, d5.loss_traj: 1.1430, d0.loss_map_cls_all: 0.3032, d0.loss_map_pts_all: 1.7928, d0.loss_map_dir_all: 0.0142, d0.loss_map_cls: 0.3032, d0.loss_map_pts: 1.7928, d0.loss_map_dir: 0.0142, d1.loss_map_cls: 0.2719, d1.loss_map_pts: 1.2322, d1.loss_map_dir: 0.0139, d2.loss_map_cls: 0.2545, d2.loss_map_pts: 1.0956, d2.loss_map_dir: 0.0142, d3.loss_map_cls: 0.2470, d3.loss_map_pts: 1.0377, d3.loss_map_dir: 0.0146, d4.loss_map_cls: 0.2430, d4.loss_map_pts: 1.0153, d4.loss_map_dir: 0.0148, d5.loss_map_cls: 0.2412, d5.loss_map_pts: 1.0051, d5.loss_map_dir: 0.0149, loss: 41.8989, grad_norm: 157.9545 +2026-02-25 03:31:28,720 - DriveTransformer - INFO - Epoch [3][34500/39528] lr: 9.831e-05, eta: 7 days, 17:42:37, time: 0.807, data_time: 0.038, memory: 19865, loss_cls: 0.3393, loss_bbox: 0.5087, loss_traj: 0.9846, loss_traj_cls: 0.0041, loss_map_cls: 0.2849, loss_map_pts: 1.1471, loss_map_dir: 0.0194, d0.loss_plan_l1_fix_time: 2.7722, d0.loss_plan_l1_fix_dist: 0.3590, d1.loss_plan_l1_fix_time: 1.8066, d1.loss_plan_l1_fix_dist: 0.2547, d2.loss_plan_l1_fix_time: 1.7836, d2.loss_plan_l1_fix_dist: 0.2607, d3.loss_plan_l1_fix_time: 1.7826, d3.loss_plan_l1_fix_dist: 0.2710, d4.loss_plan_l1_fix_time: 1.7879, d4.loss_plan_l1_fix_dist: 0.2823, d5.loss_plan_l1_fix_time: 1.7939, d5.loss_plan_l1_fix_dist: 0.2957, d6.loss_plan_l1_fix_time: 1.8021, d6.loss_plan_l1_fix_dist: 0.3098, d0.loss_cls_all: 0.3475, d0.loss_bbox_all: 0.5547, d0.loss_cls: 0.3475, d0.loss_bbox: 0.5547, d1.loss_cls: 0.3412, d1.loss_bbox: 0.5227, d2.loss_cls: 0.3368, d2.loss_bbox: 0.5126, d3.loss_cls: 0.3356, d3.loss_bbox: 0.5074, d4.loss_cls: 0.3337, d4.loss_bbox: 0.5068, d5.loss_cls: 0.3347, d5.loss_bbox: 0.5075, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1792, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0459, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9991, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9875, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9767, d5.loss_traj_cls: 0.0060, d5.loss_traj: 0.9778, d0.loss_map_cls_all: 0.3384, d0.loss_map_pts_all: 2.1213, d0.loss_map_dir_all: 0.0184, d0.loss_map_cls: 0.3384, d0.loss_map_pts: 2.1213, d0.loss_map_dir: 0.0184, d1.loss_map_cls: 0.3167, d1.loss_map_pts: 1.3887, d1.loss_map_dir: 0.0180, d2.loss_map_cls: 0.3001, d2.loss_map_pts: 1.2366, d2.loss_map_dir: 0.0183, d3.loss_map_cls: 0.2922, d3.loss_map_pts: 1.1768, d3.loss_map_dir: 0.0188, d4.loss_map_cls: 0.2850, d4.loss_map_pts: 1.1514, d4.loss_map_dir: 0.0191, d5.loss_map_cls: 0.2851, d5.loss_map_pts: 1.1470, d5.loss_map_dir: 0.0193, loss: 43.6999, grad_norm: 156.6340 +2026-02-25 03:32:08,262 - DriveTransformer - INFO - Epoch [3][34550/39528] lr: 9.831e-05, eta: 7 days, 17:41:54, time: 0.791, data_time: 0.042, memory: 19865, loss_cls: 0.2979, loss_bbox: 0.4743, loss_traj: 1.1719, loss_traj_cls: 0.0041, loss_map_cls: 0.2390, loss_map_pts: 1.0728, loss_map_dir: 0.0159, d0.loss_plan_l1_fix_time: 2.4983, d0.loss_plan_l1_fix_dist: 0.4859, d1.loss_plan_l1_fix_time: 1.5787, d1.loss_plan_l1_fix_dist: 0.2806, d2.loss_plan_l1_fix_time: 1.5644, d2.loss_plan_l1_fix_dist: 0.2874, d3.loss_plan_l1_fix_time: 1.5701, d3.loss_plan_l1_fix_dist: 0.3012, d4.loss_plan_l1_fix_time: 1.5788, d4.loss_plan_l1_fix_dist: 0.3147, d5.loss_plan_l1_fix_time: 1.5883, d5.loss_plan_l1_fix_dist: 0.3275, d6.loss_plan_l1_fix_time: 1.5999, d6.loss_plan_l1_fix_dist: 0.3411, d0.loss_cls_all: 0.3136, d0.loss_bbox_all: 0.5200, d0.loss_cls: 0.3136, d0.loss_bbox: 0.5200, d1.loss_cls: 0.3035, d1.loss_bbox: 0.4935, d2.loss_cls: 0.2985, d2.loss_bbox: 0.4803, d3.loss_cls: 0.2970, d3.loss_bbox: 0.4756, d4.loss_cls: 0.2959, d4.loss_bbox: 0.4735, d5.loss_cls: 0.2954, d5.loss_bbox: 0.4752, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3873, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2217, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1745, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1670, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.1639, d5.loss_traj_cls: 0.0059, d5.loss_traj: 1.1633, d0.loss_map_cls_all: 0.2877, d0.loss_map_pts_all: 1.8140, d0.loss_map_dir_all: 0.0141, d0.loss_map_cls: 0.2877, d0.loss_map_pts: 1.8140, d0.loss_map_dir: 0.0141, d1.loss_map_cls: 0.2697, d1.loss_map_pts: 1.2865, d1.loss_map_dir: 0.0143, d2.loss_map_cls: 0.2554, d2.loss_map_pts: 1.1619, d2.loss_map_dir: 0.0147, d3.loss_map_cls: 0.2463, d3.loss_map_pts: 1.1047, d3.loss_map_dir: 0.0152, d4.loss_map_cls: 0.2427, d4.loss_map_pts: 1.0817, d4.loss_map_dir: 0.0156, d5.loss_map_cls: 0.2408, d5.loss_map_pts: 1.0745, d5.loss_map_dir: 0.0157, loss: 41.7086, grad_norm: 157.5504 +2026-02-25 03:32:47,800 - DriveTransformer - INFO - Epoch [3][34600/39528] lr: 9.831e-05, eta: 7 days, 17:41:10, time: 0.791, data_time: 0.041, memory: 19865, loss_cls: 0.2855, loss_bbox: 0.4679, loss_traj: 0.9553, loss_traj_cls: 0.0042, loss_map_cls: 0.2197, loss_map_pts: 0.9313, loss_map_dir: 0.0174, d0.loss_plan_l1_fix_time: 2.5296, d0.loss_plan_l1_fix_dist: 0.4285, d1.loss_plan_l1_fix_time: 1.6130, d1.loss_plan_l1_fix_dist: 0.2586, d2.loss_plan_l1_fix_time: 1.6117, d2.loss_plan_l1_fix_dist: 0.2594, d3.loss_plan_l1_fix_time: 1.6194, d3.loss_plan_l1_fix_dist: 0.2694, d4.loss_plan_l1_fix_time: 1.6277, d4.loss_plan_l1_fix_dist: 0.2816, d5.loss_plan_l1_fix_time: 1.6370, d5.loss_plan_l1_fix_dist: 0.2958, d6.loss_plan_l1_fix_time: 1.6479, d6.loss_plan_l1_fix_dist: 0.3128, d0.loss_cls_all: 0.2959, d0.loss_bbox_all: 0.5070, d0.loss_cls: 0.2959, d0.loss_bbox: 0.5070, d1.loss_cls: 0.2916, d1.loss_bbox: 0.4779, d2.loss_cls: 0.2849, d2.loss_bbox: 0.4648, d3.loss_cls: 0.2844, d3.loss_bbox: 0.4605, d4.loss_cls: 0.2840, d4.loss_bbox: 0.4591, d5.loss_cls: 0.2851, d5.loss_bbox: 0.4627, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1161, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9817, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9507, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9497, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9509, d5.loss_traj_cls: 0.0060, d5.loss_traj: 0.9501, d0.loss_map_cls_all: 0.2745, d0.loss_map_pts_all: 1.7846, d0.loss_map_dir_all: 0.0158, d0.loss_map_cls: 0.2745, d0.loss_map_pts: 1.7846, d0.loss_map_dir: 0.0158, d1.loss_map_cls: 0.2516, d1.loss_map_pts: 1.1443, d1.loss_map_dir: 0.0159, d2.loss_map_cls: 0.2371, d2.loss_map_pts: 1.0052, d2.loss_map_dir: 0.0163, d3.loss_map_cls: 0.2261, d3.loss_map_pts: 0.9539, d3.loss_map_dir: 0.0168, d4.loss_map_cls: 0.2216, d4.loss_map_pts: 0.9369, d4.loss_map_dir: 0.0171, d5.loss_map_cls: 0.2206, d5.loss_map_pts: 0.9315, d5.loss_map_dir: 0.0173, loss: 38.9064, grad_norm: 158.1850 +2026-02-25 03:33:27,067 - DriveTransformer - INFO - Epoch [3][34650/39528] lr: 9.831e-05, eta: 7 days, 17:40:25, time: 0.785, data_time: 0.041, memory: 19865, loss_cls: 0.3443, loss_bbox: 0.5139, loss_traj: 0.9091, loss_traj_cls: 0.0042, loss_map_cls: 0.2644, loss_map_pts: 1.1216, loss_map_dir: 0.0189, d0.loss_plan_l1_fix_time: 2.6958, d0.loss_plan_l1_fix_dist: 0.4449, d1.loss_plan_l1_fix_time: 1.7115, d1.loss_plan_l1_fix_dist: 0.2363, d2.loss_plan_l1_fix_time: 1.7001, d2.loss_plan_l1_fix_dist: 0.2419, d3.loss_plan_l1_fix_time: 1.7065, d3.loss_plan_l1_fix_dist: 0.2533, d4.loss_plan_l1_fix_time: 1.7143, d4.loss_plan_l1_fix_dist: 0.2677, d5.loss_plan_l1_fix_time: 1.7224, d5.loss_plan_l1_fix_dist: 0.2845, d6.loss_plan_l1_fix_time: 1.7315, d6.loss_plan_l1_fix_dist: 0.3052, d0.loss_cls_all: 0.3601, d0.loss_bbox_all: 0.5523, d0.loss_cls: 0.3601, d0.loss_bbox: 0.5523, d1.loss_cls: 0.3511, d1.loss_bbox: 0.5249, d2.loss_cls: 0.3440, d2.loss_bbox: 0.5122, d3.loss_cls: 0.3438, d3.loss_bbox: 0.5085, d4.loss_cls: 0.3412, d4.loss_bbox: 0.5074, d5.loss_cls: 0.3448, d5.loss_bbox: 0.5080, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1409, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9499, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9060, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8996, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8998, d5.loss_traj_cls: 0.0061, d5.loss_traj: 0.9042, d0.loss_map_cls_all: 0.3054, d0.loss_map_pts_all: 1.9913, d0.loss_map_dir_all: 0.0172, d0.loss_map_cls: 0.3054, d0.loss_map_pts: 1.9913, d0.loss_map_dir: 0.0172, d1.loss_map_cls: 0.2850, d1.loss_map_pts: 1.3599, d1.loss_map_dir: 0.0170, d2.loss_map_cls: 0.2729, d2.loss_map_pts: 1.2133, d2.loss_map_dir: 0.0175, d3.loss_map_cls: 0.2672, d3.loss_map_pts: 1.1520, d3.loss_map_dir: 0.0181, d4.loss_map_cls: 0.2654, d4.loss_map_pts: 1.1309, d4.loss_map_dir: 0.0184, d5.loss_map_cls: 0.2644, d5.loss_map_pts: 1.1230, d5.loss_map_dir: 0.0187, loss: 42.0663, grad_norm: 158.1513 +2026-02-25 03:34:06,447 - DriveTransformer - INFO - Epoch [3][34700/39528] lr: 9.831e-05, eta: 7 days, 17:39:40, time: 0.788, data_time: 0.042, memory: 19865, loss_cls: 0.3131, loss_bbox: 0.5009, loss_traj: 0.9787, loss_traj_cls: 0.0041, loss_map_cls: 0.2615, loss_map_pts: 1.1239, loss_map_dir: 0.0215, d0.loss_plan_l1_fix_time: 2.3335, d0.loss_plan_l1_fix_dist: 0.3364, d1.loss_plan_l1_fix_time: 1.5001, d1.loss_plan_l1_fix_dist: 0.2308, d2.loss_plan_l1_fix_time: 1.4990, d2.loss_plan_l1_fix_dist: 0.2405, d3.loss_plan_l1_fix_time: 1.5073, d3.loss_plan_l1_fix_dist: 0.2525, d4.loss_plan_l1_fix_time: 1.5162, d4.loss_plan_l1_fix_dist: 0.2666, d5.loss_plan_l1_fix_time: 1.5248, d5.loss_plan_l1_fix_dist: 0.2836, d6.loss_plan_l1_fix_time: 1.5344, d6.loss_plan_l1_fix_dist: 0.3000, d0.loss_cls_all: 0.3305, d0.loss_bbox_all: 0.5316, d0.loss_cls: 0.3305, d0.loss_bbox: 0.5316, d1.loss_cls: 0.3240, d1.loss_bbox: 0.5086, d2.loss_cls: 0.3168, d2.loss_bbox: 0.4992, d3.loss_cls: 0.3129, d3.loss_bbox: 0.4959, d4.loss_cls: 0.3094, d4.loss_bbox: 0.4970, d5.loss_cls: 0.3122, d5.loss_bbox: 0.4976, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1943, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0115, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9724, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9726, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9730, d5.loss_traj_cls: 0.0059, d5.loss_traj: 0.9769, d0.loss_map_cls_all: 0.3198, d0.loss_map_pts_all: 2.2349, d0.loss_map_dir_all: 0.0203, d0.loss_map_cls: 0.3198, d0.loss_map_pts: 2.2349, d0.loss_map_dir: 0.0203, d1.loss_map_cls: 0.2963, d1.loss_map_pts: 1.3649, d1.loss_map_dir: 0.0198, d2.loss_map_cls: 0.2781, d2.loss_map_pts: 1.2031, d2.loss_map_dir: 0.0201, d3.loss_map_cls: 0.2687, d3.loss_map_pts: 1.1459, d3.loss_map_dir: 0.0206, d4.loss_map_cls: 0.2626, d4.loss_map_pts: 1.1296, d4.loss_map_dir: 0.0210, d5.loss_map_cls: 0.2611, d5.loss_map_pts: 1.1252, d5.loss_map_dir: 0.0212, loss: 41.0271, grad_norm: 158.9352 +2026-02-25 03:34:46,434 - DriveTransformer - INFO - Epoch [3][34750/39528] lr: 9.831e-05, eta: 7 days, 17:39:00, time: 0.800, data_time: 0.046, memory: 19865, loss_cls: 0.3337, loss_bbox: 0.5262, loss_traj: 1.1226, loss_traj_cls: 0.0041, loss_map_cls: 0.2768, loss_map_pts: 1.1544, loss_map_dir: 0.0162, d0.loss_plan_l1_fix_time: 2.6489, d0.loss_plan_l1_fix_dist: 0.4383, d1.loss_plan_l1_fix_time: 1.5672, d1.loss_plan_l1_fix_dist: 0.2684, d2.loss_plan_l1_fix_time: 1.5518, d2.loss_plan_l1_fix_dist: 0.2741, d3.loss_plan_l1_fix_time: 1.5541, d3.loss_plan_l1_fix_dist: 0.2871, d4.loss_plan_l1_fix_time: 1.5590, d4.loss_plan_l1_fix_dist: 0.3015, d5.loss_plan_l1_fix_time: 1.5650, d5.loss_plan_l1_fix_dist: 0.3172, d6.loss_plan_l1_fix_time: 1.5718, d6.loss_plan_l1_fix_dist: 0.3333, d0.loss_cls_all: 0.3443, d0.loss_bbox_all: 0.5770, d0.loss_cls: 0.3443, d0.loss_bbox: 0.5770, d1.loss_cls: 0.3368, d1.loss_bbox: 0.5470, d2.loss_cls: 0.3323, d2.loss_bbox: 0.5349, d3.loss_cls: 0.3319, d3.loss_bbox: 0.5268, d4.loss_cls: 0.3320, d4.loss_bbox: 0.5261, d5.loss_cls: 0.3331, d5.loss_bbox: 0.5243, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3107, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1921, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1379, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1219, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.1220, d5.loss_traj_cls: 0.0060, d5.loss_traj: 1.1250, d0.loss_map_cls_all: 0.3258, d0.loss_map_pts_all: 1.9544, d0.loss_map_dir_all: 0.0147, d0.loss_map_cls: 0.3258, d0.loss_map_pts: 1.9544, d0.loss_map_dir: 0.0147, d1.loss_map_cls: 0.3072, d1.loss_map_pts: 1.3808, d1.loss_map_dir: 0.0147, d2.loss_map_cls: 0.2922, d2.loss_map_pts: 1.2391, d2.loss_map_dir: 0.0151, d3.loss_map_cls: 0.2816, d3.loss_map_pts: 1.1811, d3.loss_map_dir: 0.0156, d4.loss_map_cls: 0.2776, d4.loss_map_pts: 1.1612, d4.loss_map_dir: 0.0159, d5.loss_map_cls: 0.2758, d5.loss_map_pts: 1.1567, d5.loss_map_dir: 0.0161, loss: 43.0807, grad_norm: 157.6950 +2026-02-25 03:35:25,964 - DriveTransformer - INFO - Epoch [3][34800/39528] lr: 9.831e-05, eta: 7 days, 17:38:16, time: 0.792, data_time: 0.046, memory: 19865, loss_cls: 0.3129, loss_bbox: 0.4774, loss_traj: 0.8644, loss_traj_cls: 0.0041, loss_map_cls: 0.2490, loss_map_pts: 1.0335, loss_map_dir: 0.0161, d0.loss_plan_l1_fix_time: 2.4458, d0.loss_plan_l1_fix_dist: 0.3901, d1.loss_plan_l1_fix_time: 1.7757, d1.loss_plan_l1_fix_dist: 0.2743, d2.loss_plan_l1_fix_time: 1.7656, d2.loss_plan_l1_fix_dist: 0.2984, d3.loss_plan_l1_fix_time: 1.7715, d3.loss_plan_l1_fix_dist: 0.3285, d4.loss_plan_l1_fix_time: 1.7793, d4.loss_plan_l1_fix_dist: 0.3606, d5.loss_plan_l1_fix_time: 1.7876, d5.loss_plan_l1_fix_dist: 0.3930, d6.loss_plan_l1_fix_time: 1.7960, d6.loss_plan_l1_fix_dist: 0.4238, d0.loss_cls_all: 0.3219, d0.loss_bbox_all: 0.5290, d0.loss_cls: 0.3219, d0.loss_bbox: 0.5290, d1.loss_cls: 0.3162, d1.loss_bbox: 0.4976, d2.loss_cls: 0.3117, d2.loss_bbox: 0.4833, d3.loss_cls: 0.3105, d3.loss_bbox: 0.4765, d4.loss_cls: 0.3112, d4.loss_bbox: 0.4757, d5.loss_cls: 0.3085, d5.loss_bbox: 0.4776, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0345, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9207, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8745, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8663, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8614, d5.loss_traj_cls: 0.0060, d5.loss_traj: 0.8626, d0.loss_map_cls_all: 0.3085, d0.loss_map_pts_all: 1.8697, d0.loss_map_dir_all: 0.0148, d0.loss_map_cls: 0.3085, d0.loss_map_pts: 1.8697, d0.loss_map_dir: 0.0148, d1.loss_map_cls: 0.2822, d1.loss_map_pts: 1.2646, d1.loss_map_dir: 0.0148, d2.loss_map_cls: 0.2697, d2.loss_map_pts: 1.1188, d2.loss_map_dir: 0.0151, d3.loss_map_cls: 0.2581, d3.loss_map_pts: 1.0615, d3.loss_map_dir: 0.0156, d4.loss_map_cls: 0.2539, d4.loss_map_pts: 1.0379, d4.loss_map_dir: 0.0158, d5.loss_map_cls: 0.2505, d5.loss_map_pts: 1.0332, d5.loss_map_dir: 0.0160, loss: 40.9428, grad_norm: 158.4826 +2026-02-25 03:36:09,337 - DriveTransformer - INFO - Epoch [3][34850/39528] lr: 9.831e-05, eta: 7 days, 17:38:00, time: 0.866, data_time: 0.043, memory: 19865, loss_cls: 0.3222, loss_bbox: 0.5138, loss_traj: 0.8477, loss_traj_cls: 0.0039, loss_map_cls: 0.2751, loss_map_pts: 1.2585, loss_map_dir: 0.0214, d0.loss_plan_l1_fix_time: 2.1376, d0.loss_plan_l1_fix_dist: 0.4191, d1.loss_plan_l1_fix_time: 1.4030, d1.loss_plan_l1_fix_dist: 0.2899, d2.loss_plan_l1_fix_time: 1.3886, d2.loss_plan_l1_fix_dist: 0.2998, d3.loss_plan_l1_fix_time: 1.3928, d3.loss_plan_l1_fix_dist: 0.3152, d4.loss_plan_l1_fix_time: 1.3985, d4.loss_plan_l1_fix_dist: 0.3335, d5.loss_plan_l1_fix_time: 1.4051, d5.loss_plan_l1_fix_dist: 0.3540, d6.loss_plan_l1_fix_time: 1.4124, d6.loss_plan_l1_fix_dist: 0.3781, d0.loss_cls_all: 0.3390, d0.loss_bbox_all: 0.5577, d0.loss_cls: 0.3390, d0.loss_bbox: 0.5577, d1.loss_cls: 0.3315, d1.loss_bbox: 0.5320, d2.loss_cls: 0.3265, d2.loss_bbox: 0.5187, d3.loss_cls: 0.3249, d3.loss_bbox: 0.5121, d4.loss_cls: 0.3226, d4.loss_bbox: 0.5115, d5.loss_cls: 0.3233, d5.loss_bbox: 0.5121, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0475, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8745, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8586, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8470, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8468, d5.loss_traj_cls: 0.0057, d5.loss_traj: 0.8464, d0.loss_map_cls_all: 0.3264, d0.loss_map_pts_all: 2.2952, d0.loss_map_dir_all: 0.0201, d0.loss_map_cls: 0.3264, d0.loss_map_pts: 2.2952, d0.loss_map_dir: 0.0201, d1.loss_map_cls: 0.3056, d1.loss_map_pts: 1.4868, d1.loss_map_dir: 0.0190, d2.loss_map_cls: 0.2914, d2.loss_map_pts: 1.3252, d2.loss_map_dir: 0.0196, d3.loss_map_cls: 0.2834, d3.loss_map_pts: 1.2753, d3.loss_map_dir: 0.0205, d4.loss_map_cls: 0.2774, d4.loss_map_pts: 1.2584, d4.loss_map_dir: 0.0210, d5.loss_map_cls: 0.2757, d5.loss_map_pts: 1.2554, d5.loss_map_dir: 0.0211, loss: 40.9292, grad_norm: 158.5559 +2026-02-25 03:36:48,604 - DriveTransformer - INFO - Epoch [3][34900/39528] lr: 9.831e-05, eta: 7 days, 17:37:15, time: 0.785, data_time: 0.044, memory: 19865, loss_cls: 0.3129, loss_bbox: 0.4883, loss_traj: 0.9378, loss_traj_cls: 0.0040, loss_map_cls: 0.2581, loss_map_pts: 1.0001, loss_map_dir: 0.0169, d0.loss_plan_l1_fix_time: 2.6076, d0.loss_plan_l1_fix_dist: 0.3859, d1.loss_plan_l1_fix_time: 1.6710, d1.loss_plan_l1_fix_dist: 0.2937, d2.loss_plan_l1_fix_time: 1.6658, d2.loss_plan_l1_fix_dist: 0.3125, d3.loss_plan_l1_fix_time: 1.6711, d3.loss_plan_l1_fix_dist: 0.3364, d4.loss_plan_l1_fix_time: 1.6770, d4.loss_plan_l1_fix_dist: 0.3623, d5.loss_plan_l1_fix_time: 1.6831, d5.loss_plan_l1_fix_dist: 0.3895, d6.loss_plan_l1_fix_time: 1.6897, d6.loss_plan_l1_fix_dist: 0.4191, d0.loss_cls_all: 0.3294, d0.loss_bbox_all: 0.5500, d0.loss_cls: 0.3294, d0.loss_bbox: 0.5500, d1.loss_cls: 0.3276, d1.loss_bbox: 0.5126, d2.loss_cls: 0.3206, d2.loss_bbox: 0.5001, d3.loss_cls: 0.3201, d3.loss_bbox: 0.4928, d4.loss_cls: 0.3160, d4.loss_bbox: 0.4905, d5.loss_cls: 0.3136, d5.loss_bbox: 0.4893, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0686, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9593, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9429, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9378, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9372, d5.loss_traj_cls: 0.0058, d5.loss_traj: 0.9367, d0.loss_map_cls_all: 0.3259, d0.loss_map_pts_all: 1.8641, d0.loss_map_dir_all: 0.0161, d0.loss_map_cls: 0.3259, d0.loss_map_pts: 1.8641, d0.loss_map_dir: 0.0161, d1.loss_map_cls: 0.2916, d1.loss_map_pts: 1.2140, d1.loss_map_dir: 0.0158, d2.loss_map_cls: 0.2769, d2.loss_map_pts: 1.0705, d2.loss_map_dir: 0.0159, d3.loss_map_cls: 0.2678, d3.loss_map_pts: 1.0213, d3.loss_map_dir: 0.0164, d4.loss_map_cls: 0.2624, d4.loss_map_pts: 1.0052, d4.loss_map_dir: 0.0166, d5.loss_map_cls: 0.2599, d5.loss_map_pts: 0.9992, d5.loss_map_dir: 0.0167, loss: 40.9800, grad_norm: 157.2099 +2026-02-25 03:37:29,501 - DriveTransformer - INFO - Epoch [3][34950/39528] lr: 9.831e-05, eta: 7 days, 17:36:41, time: 0.818, data_time: 0.038, memory: 19865, loss_cls: 0.3069, loss_bbox: 0.4995, loss_traj: 1.0082, loss_traj_cls: 0.0039, loss_map_cls: 0.2546, loss_map_pts: 1.1731, loss_map_dir: 0.0178, d0.loss_plan_l1_fix_time: 2.7681, d0.loss_plan_l1_fix_dist: 0.4470, d1.loss_plan_l1_fix_time: 1.7341, d1.loss_plan_l1_fix_dist: 0.2911, d2.loss_plan_l1_fix_time: 1.7015, d2.loss_plan_l1_fix_dist: 0.3027, d3.loss_plan_l1_fix_time: 1.7021, d3.loss_plan_l1_fix_dist: 0.3209, d4.loss_plan_l1_fix_time: 1.7054, d4.loss_plan_l1_fix_dist: 0.3438, d5.loss_plan_l1_fix_time: 1.7094, d5.loss_plan_l1_fix_dist: 0.3657, d6.loss_plan_l1_fix_time: 1.7148, d6.loss_plan_l1_fix_dist: 0.3874, d0.loss_cls_all: 0.3168, d0.loss_bbox_all: 0.5544, d0.loss_cls: 0.3168, d0.loss_bbox: 0.5544, d1.loss_cls: 0.3121, d1.loss_bbox: 0.5251, d2.loss_cls: 0.3090, d2.loss_bbox: 0.5105, d3.loss_cls: 0.3086, d3.loss_bbox: 0.5042, d4.loss_cls: 0.3070, d4.loss_bbox: 0.5015, d5.loss_cls: 0.3058, d5.loss_bbox: 0.5000, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1972, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0772, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0247, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0093, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0091, d5.loss_traj_cls: 0.0058, d5.loss_traj: 1.0070, d0.loss_map_cls_all: 0.3094, d0.loss_map_pts_all: 2.1193, d0.loss_map_dir_all: 0.0165, d0.loss_map_cls: 0.3094, d0.loss_map_pts: 2.1193, d0.loss_map_dir: 0.0165, d1.loss_map_cls: 0.2795, d1.loss_map_pts: 1.4368, d1.loss_map_dir: 0.0162, d2.loss_map_cls: 0.2660, d2.loss_map_pts: 1.2710, d2.loss_map_dir: 0.0166, d3.loss_map_cls: 0.2598, d3.loss_map_pts: 1.2054, d3.loss_map_dir: 0.0172, d4.loss_map_cls: 0.2551, d4.loss_map_pts: 1.1806, d4.loss_map_dir: 0.0175, d5.loss_map_cls: 0.2531, d5.loss_map_pts: 1.1741, d5.loss_map_dir: 0.0176, loss: 43.4758, grad_norm: 157.1672 +2026-02-25 03:38:10,353 - DriveTransformer - INFO - Epoch [3][35000/39528] lr: 9.831e-05, eta: 7 days, 17:36:07, time: 0.817, data_time: 0.047, memory: 19865, loss_cls: 0.3458, loss_bbox: 0.4770, loss_traj: 0.8876, loss_traj_cls: 0.0041, loss_map_cls: 0.2279, loss_map_pts: 0.9587, loss_map_dir: 0.0167, d0.loss_plan_l1_fix_time: 2.7885, d0.loss_plan_l1_fix_dist: 0.4482, d1.loss_plan_l1_fix_time: 1.8807, d1.loss_plan_l1_fix_dist: 0.2362, d2.loss_plan_l1_fix_time: 1.8412, d2.loss_plan_l1_fix_dist: 0.2488, d3.loss_plan_l1_fix_time: 1.8365, d3.loss_plan_l1_fix_dist: 0.2656, d4.loss_plan_l1_fix_time: 1.8398, d4.loss_plan_l1_fix_dist: 0.2848, d5.loss_plan_l1_fix_time: 1.8448, d5.loss_plan_l1_fix_dist: 0.3059, d6.loss_plan_l1_fix_time: 1.8510, d6.loss_plan_l1_fix_dist: 0.3265, d0.loss_cls_all: 0.3672, d0.loss_bbox_all: 0.5256, d0.loss_cls: 0.3672, d0.loss_bbox: 0.5256, d1.loss_cls: 0.3630, d1.loss_bbox: 0.4953, d2.loss_cls: 0.3552, d2.loss_bbox: 0.4834, d3.loss_cls: 0.3481, d3.loss_bbox: 0.4800, d4.loss_cls: 0.3463, d4.loss_bbox: 0.4767, d5.loss_cls: 0.3456, d5.loss_bbox: 0.4761, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0646, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9360, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8868, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8889, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8862, d5.loss_traj_cls: 0.0059, d5.loss_traj: 0.8812, d0.loss_map_cls_all: 0.2815, d0.loss_map_pts_all: 1.8327, d0.loss_map_dir_all: 0.0161, d0.loss_map_cls: 0.2815, d0.loss_map_pts: 1.8327, d0.loss_map_dir: 0.0161, d1.loss_map_cls: 0.2644, d1.loss_map_pts: 1.1756, d1.loss_map_dir: 0.0154, d2.loss_map_cls: 0.2498, d2.loss_map_pts: 1.0313, d2.loss_map_dir: 0.0157, d3.loss_map_cls: 0.2385, d3.loss_map_pts: 0.9769, d3.loss_map_dir: 0.0161, d4.loss_map_cls: 0.2325, d4.loss_map_pts: 0.9613, d4.loss_map_dir: 0.0164, d5.loss_map_cls: 0.2299, d5.loss_map_pts: 0.9576, d5.loss_map_dir: 0.0165, loss: 41.0841, grad_norm: 157.2298 +2026-02-25 03:38:50,190 - DriveTransformer - INFO - Epoch [3][35050/39528] lr: 9.831e-05, eta: 7 days, 17:35:26, time: 0.797, data_time: 0.037, memory: 19865, loss_cls: 0.2981, loss_bbox: 0.4856, loss_traj: 0.9933, loss_traj_cls: 0.0040, loss_map_cls: 0.2884, loss_map_pts: 1.2353, loss_map_dir: 0.0205, d0.loss_plan_l1_fix_time: 2.6497, d0.loss_plan_l1_fix_dist: 0.3966, d1.loss_plan_l1_fix_time: 1.7182, d1.loss_plan_l1_fix_dist: 0.2700, d2.loss_plan_l1_fix_time: 1.7034, d2.loss_plan_l1_fix_dist: 0.2779, d3.loss_plan_l1_fix_time: 1.7065, d3.loss_plan_l1_fix_dist: 0.2905, d4.loss_plan_l1_fix_time: 1.7112, d4.loss_plan_l1_fix_dist: 0.3061, d5.loss_plan_l1_fix_time: 1.7165, d5.loss_plan_l1_fix_dist: 0.3234, d6.loss_plan_l1_fix_time: 1.7220, d6.loss_plan_l1_fix_dist: 0.3425, d0.loss_cls_all: 0.3208, d0.loss_bbox_all: 0.5390, d0.loss_cls: 0.3208, d0.loss_bbox: 0.5390, d1.loss_cls: 0.3156, d1.loss_bbox: 0.5013, d2.loss_cls: 0.3095, d2.loss_bbox: 0.4903, d3.loss_cls: 0.3047, d3.loss_bbox: 0.4880, d4.loss_cls: 0.3015, d4.loss_bbox: 0.4856, d5.loss_cls: 0.2991, d5.loss_bbox: 0.4859, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1764, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0488, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0116, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0047, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9963, d5.loss_traj_cls: 0.0059, d5.loss_traj: 0.9904, d0.loss_map_cls_all: 0.3337, d0.loss_map_pts_all: 2.1539, d0.loss_map_dir_all: 0.0178, d0.loss_map_cls: 0.3337, d0.loss_map_pts: 2.1539, d0.loss_map_dir: 0.0178, d1.loss_map_cls: 0.3097, d1.loss_map_pts: 1.4854, d1.loss_map_dir: 0.0182, d2.loss_map_cls: 0.3017, d2.loss_map_pts: 1.3233, d2.loss_map_dir: 0.0189, d3.loss_map_cls: 0.2926, d3.loss_map_pts: 1.2617, d3.loss_map_dir: 0.0195, d4.loss_map_cls: 0.2908, d4.loss_map_pts: 1.2431, d4.loss_map_dir: 0.0200, d5.loss_map_cls: 0.2894, d5.loss_map_pts: 1.2380, d5.loss_map_dir: 0.0202, loss: 43.5427, grad_norm: 157.8612 +2026-02-25 03:39:31,191 - DriveTransformer - INFO - Epoch [3][35100/39528] lr: 9.831e-05, eta: 7 days, 17:34:53, time: 0.820, data_time: 0.039, memory: 19865, loss_cls: 0.2672, loss_bbox: 0.4324, loss_traj: 0.7857, loss_traj_cls: 0.0041, loss_map_cls: 0.2109, loss_map_pts: 0.8673, loss_map_dir: 0.0156, d0.loss_plan_l1_fix_time: 2.1630, d0.loss_plan_l1_fix_dist: 0.4181, d1.loss_plan_l1_fix_time: 1.3891, d1.loss_plan_l1_fix_dist: 0.2646, d2.loss_plan_l1_fix_time: 1.3825, d2.loss_plan_l1_fix_dist: 0.2704, d3.loss_plan_l1_fix_time: 1.3884, d3.loss_plan_l1_fix_dist: 0.2806, d4.loss_plan_l1_fix_time: 1.3935, d4.loss_plan_l1_fix_dist: 0.2936, d5.loss_plan_l1_fix_time: 1.3991, d5.loss_plan_l1_fix_dist: 0.3093, d6.loss_plan_l1_fix_time: 1.4062, d6.loss_plan_l1_fix_dist: 0.3285, d0.loss_cls_all: 0.2860, d0.loss_bbox_all: 0.4686, d0.loss_cls: 0.2860, d0.loss_bbox: 0.4686, d1.loss_cls: 0.2762, d1.loss_bbox: 0.4475, d2.loss_cls: 0.2716, d2.loss_bbox: 0.4360, d3.loss_cls: 0.2685, d3.loss_bbox: 0.4312, d4.loss_cls: 0.2645, d4.loss_bbox: 0.4325, d5.loss_cls: 0.2667, d5.loss_bbox: 0.4315, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9241, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8188, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7968, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7943, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7908, d5.loss_traj_cls: 0.0059, d5.loss_traj: 0.7855, d0.loss_map_cls_all: 0.2537, d0.loss_map_pts_all: 1.7247, d0.loss_map_dir_all: 0.0147, d0.loss_map_cls: 0.2537, d0.loss_map_pts: 1.7247, d0.loss_map_dir: 0.0147, d1.loss_map_cls: 0.2330, d1.loss_map_pts: 1.0848, d1.loss_map_dir: 0.0140, d2.loss_map_cls: 0.2223, d2.loss_map_pts: 0.9404, d2.loss_map_dir: 0.0143, d3.loss_map_cls: 0.2163, d3.loss_map_pts: 0.8889, d3.loss_map_dir: 0.0148, d4.loss_map_cls: 0.2126, d4.loss_map_pts: 0.8728, d4.loss_map_dir: 0.0152, d5.loss_map_cls: 0.2108, d5.loss_map_pts: 0.8680, d5.loss_map_dir: 0.0154, loss: 35.0360, grad_norm: 156.4043 +2026-02-25 03:40:12,526 - DriveTransformer - INFO - Epoch [3][35150/39528] lr: 9.831e-05, eta: 7 days, 17:34:22, time: 0.827, data_time: 0.043, memory: 19865, loss_cls: 0.3282, loss_bbox: 0.4876, loss_traj: 0.9601, loss_traj_cls: 0.0040, loss_map_cls: 0.2599, loss_map_pts: 1.1243, loss_map_dir: 0.0185, d0.loss_plan_l1_fix_time: 2.9433, d0.loss_plan_l1_fix_dist: 0.4258, d1.loss_plan_l1_fix_time: 1.7368, d1.loss_plan_l1_fix_dist: 0.2794, d2.loss_plan_l1_fix_time: 1.7204, d2.loss_plan_l1_fix_dist: 0.2884, d3.loss_plan_l1_fix_time: 1.7216, d3.loss_plan_l1_fix_dist: 0.3045, d4.loss_plan_l1_fix_time: 1.7249, d4.loss_plan_l1_fix_dist: 0.3206, d5.loss_plan_l1_fix_time: 1.7290, d5.loss_plan_l1_fix_dist: 0.3375, d6.loss_plan_l1_fix_time: 1.7342, d6.loss_plan_l1_fix_dist: 0.3535, d0.loss_cls_all: 0.3469, d0.loss_bbox_all: 0.5329, d0.loss_cls: 0.3469, d0.loss_bbox: 0.5329, d1.loss_cls: 0.3383, d1.loss_bbox: 0.5091, d2.loss_cls: 0.3326, d2.loss_bbox: 0.4963, d3.loss_cls: 0.3313, d3.loss_bbox: 0.4904, d4.loss_cls: 0.3291, d4.loss_bbox: 0.4881, d5.loss_cls: 0.3281, d5.loss_bbox: 0.4878, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0778, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9883, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9695, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9598, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9480, d5.loss_traj_cls: 0.0059, d5.loss_traj: 0.9513, d0.loss_map_cls_all: 0.3162, d0.loss_map_pts_all: 2.1025, d0.loss_map_dir_all: 0.0175, d0.loss_map_cls: 0.3162, d0.loss_map_pts: 2.1025, d0.loss_map_dir: 0.0175, d1.loss_map_cls: 0.2945, d1.loss_map_pts: 1.3517, d1.loss_map_dir: 0.0172, d2.loss_map_cls: 0.2804, d2.loss_map_pts: 1.2067, d2.loss_map_dir: 0.0176, d3.loss_map_cls: 0.2707, d3.loss_map_pts: 1.1534, d3.loss_map_dir: 0.0181, d4.loss_map_cls: 0.2656, d4.loss_map_pts: 1.1321, d4.loss_map_dir: 0.0183, d5.loss_map_cls: 0.2622, d5.loss_map_pts: 1.1252, d5.loss_map_dir: 0.0184, loss: 42.9026, grad_norm: 156.9150 +2026-02-25 03:40:51,876 - DriveTransformer - INFO - Epoch [3][35200/39528] lr: 9.831e-05, eta: 7 days, 17:33:37, time: 0.787, data_time: 0.039, memory: 19865, loss_cls: 0.3126, loss_bbox: 0.5156, loss_traj: 0.9077, loss_traj_cls: 0.0040, loss_map_cls: 0.2427, loss_map_pts: 0.9987, loss_map_dir: 0.0163, d0.loss_plan_l1_fix_time: 2.9548, d0.loss_plan_l1_fix_dist: 0.4742, d1.loss_plan_l1_fix_time: 1.6500, d1.loss_plan_l1_fix_dist: 0.2894, d2.loss_plan_l1_fix_time: 1.6200, d2.loss_plan_l1_fix_dist: 0.3049, d3.loss_plan_l1_fix_time: 1.6156, d3.loss_plan_l1_fix_dist: 0.3257, d4.loss_plan_l1_fix_time: 1.6172, d4.loss_plan_l1_fix_dist: 0.3509, d5.loss_plan_l1_fix_time: 1.6199, d5.loss_plan_l1_fix_dist: 0.3764, d6.loss_plan_l1_fix_time: 1.6229, d6.loss_plan_l1_fix_dist: 0.4020, d0.loss_cls_all: 0.3214, d0.loss_bbox_all: 0.5696, d0.loss_cls: 0.3214, d0.loss_bbox: 0.5696, d1.loss_cls: 0.3183, d1.loss_bbox: 0.5336, d2.loss_cls: 0.3149, d2.loss_bbox: 0.5177, d3.loss_cls: 0.3139, d3.loss_bbox: 0.5155, d4.loss_cls: 0.3099, d4.loss_bbox: 0.5159, d5.loss_cls: 0.3090, d5.loss_bbox: 0.5168, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9989, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8985, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8952, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8980, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8985, d5.loss_traj_cls: 0.0057, d5.loss_traj: 0.8996, d0.loss_map_cls_all: 0.2844, d0.loss_map_pts_all: 1.7746, d0.loss_map_dir_all: 0.0148, d0.loss_map_cls: 0.2844, d0.loss_map_pts: 1.7746, d0.loss_map_dir: 0.0148, d1.loss_map_cls: 0.2682, d1.loss_map_pts: 1.1913, d1.loss_map_dir: 0.0149, d2.loss_map_cls: 0.2549, d2.loss_map_pts: 1.0528, d2.loss_map_dir: 0.0153, d3.loss_map_cls: 0.2500, d3.loss_map_pts: 1.0084, d3.loss_map_dir: 0.0157, d4.loss_map_cls: 0.2459, d4.loss_map_pts: 0.9988, d4.loss_map_dir: 0.0160, d5.loss_map_cls: 0.2420, d5.loss_map_pts: 0.9987, d5.loss_map_dir: 0.0162, loss: 40.4051, grad_norm: 157.2699 +2026-02-25 03:41:31,289 - DriveTransformer - INFO - Epoch [3][35250/39528] lr: 9.831e-05, eta: 7 days, 17:32:53, time: 0.789, data_time: 0.038, memory: 19865, loss_cls: 0.3216, loss_bbox: 0.5042, loss_traj: 1.1023, loss_traj_cls: 0.0038, loss_map_cls: 0.2750, loss_map_pts: 1.1882, loss_map_dir: 0.0190, d0.loss_plan_l1_fix_time: 2.6655, d0.loss_plan_l1_fix_dist: 0.4642, d1.loss_plan_l1_fix_time: 1.3700, d1.loss_plan_l1_fix_dist: 0.2797, d2.loss_plan_l1_fix_time: 1.3591, d2.loss_plan_l1_fix_dist: 0.2953, d3.loss_plan_l1_fix_time: 1.3650, d3.loss_plan_l1_fix_dist: 0.3191, d4.loss_plan_l1_fix_time: 1.3698, d4.loss_plan_l1_fix_dist: 0.3500, d5.loss_plan_l1_fix_time: 1.3749, d5.loss_plan_l1_fix_dist: 0.3835, d6.loss_plan_l1_fix_time: 1.3806, d6.loss_plan_l1_fix_dist: 0.4157, d0.loss_cls_all: 0.3408, d0.loss_bbox_all: 0.5465, d0.loss_cls: 0.3408, d0.loss_bbox: 0.5465, d1.loss_cls: 0.3288, d1.loss_bbox: 0.5178, d2.loss_cls: 0.3233, d2.loss_bbox: 0.5065, d3.loss_cls: 0.3212, d3.loss_bbox: 0.5028, d4.loss_cls: 0.3200, d4.loss_bbox: 0.5018, d5.loss_cls: 0.3177, d5.loss_bbox: 0.5042, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3347, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1347, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1114, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1072, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0946, d5.loss_traj_cls: 0.0055, d5.loss_traj: 1.1001, d0.loss_map_cls_all: 0.3229, d0.loss_map_pts_all: 2.1292, d0.loss_map_dir_all: 0.0170, d0.loss_map_cls: 0.3229, d0.loss_map_pts: 2.1292, d0.loss_map_dir: 0.0170, d1.loss_map_cls: 0.3008, d1.loss_map_pts: 1.4300, d1.loss_map_dir: 0.0173, d2.loss_map_cls: 0.2900, d2.loss_map_pts: 1.2686, d2.loss_map_dir: 0.0178, d3.loss_map_cls: 0.2820, d3.loss_map_pts: 1.2101, d3.loss_map_dir: 0.0183, d4.loss_map_cls: 0.2776, d4.loss_map_pts: 1.1927, d4.loss_map_dir: 0.0186, d5.loss_map_cls: 0.2749, d5.loss_map_pts: 1.1898, d5.loss_map_dir: 0.0188, loss: 42.3634, grad_norm: 159.7788 +2026-02-25 03:42:11,094 - DriveTransformer - INFO - Epoch [3][35300/39528] lr: 9.831e-05, eta: 7 days, 17:32:11, time: 0.796, data_time: 0.043, memory: 19865, loss_cls: 0.3568, loss_bbox: 0.5340, loss_traj: 1.0392, loss_traj_cls: 0.0036, loss_map_cls: 0.2780, loss_map_pts: 1.1925, loss_map_dir: 0.0182, d0.loss_plan_l1_fix_time: 3.1112, d0.loss_plan_l1_fix_dist: 0.4594, d1.loss_plan_l1_fix_time: 1.9813, d1.loss_plan_l1_fix_dist: 0.2755, d2.loss_plan_l1_fix_time: 1.9723, d2.loss_plan_l1_fix_dist: 0.2845, d3.loss_plan_l1_fix_time: 1.9748, d3.loss_plan_l1_fix_dist: 0.2976, d4.loss_plan_l1_fix_time: 1.9779, d4.loss_plan_l1_fix_dist: 0.3121, d5.loss_plan_l1_fix_time: 1.9815, d5.loss_plan_l1_fix_dist: 0.3295, d6.loss_plan_l1_fix_time: 1.9855, d6.loss_plan_l1_fix_dist: 0.3532, d0.loss_cls_all: 0.3722, d0.loss_bbox_all: 0.5741, d0.loss_cls: 0.3722, d0.loss_bbox: 0.5741, d1.loss_cls: 0.3646, d1.loss_bbox: 0.5501, d2.loss_cls: 0.3612, d2.loss_bbox: 0.5390, d3.loss_cls: 0.3581, d3.loss_bbox: 0.5334, d4.loss_cls: 0.3566, d4.loss_bbox: 0.5320, d5.loss_cls: 0.3558, d5.loss_bbox: 0.5318, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2278, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0834, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0425, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0349, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0355, d5.loss_traj_cls: 0.0055, d5.loss_traj: 1.0347, d0.loss_map_cls_all: 0.3221, d0.loss_map_pts_all: 2.0549, d0.loss_map_dir_all: 0.0167, d0.loss_map_cls: 0.3221, d0.loss_map_pts: 2.0549, d0.loss_map_dir: 0.0167, d1.loss_map_cls: 0.3034, d1.loss_map_pts: 1.4314, d1.loss_map_dir: 0.0166, d2.loss_map_cls: 0.2917, d2.loss_map_pts: 1.2813, d2.loss_map_dir: 0.0170, d3.loss_map_cls: 0.2855, d3.loss_map_pts: 1.2202, d3.loss_map_dir: 0.0176, d4.loss_map_cls: 0.2796, d4.loss_map_pts: 1.1990, d4.loss_map_dir: 0.0179, d5.loss_map_cls: 0.2772, d5.loss_map_pts: 1.1942, d5.loss_map_dir: 0.0180, loss: 46.2008, grad_norm: 159.6544 +2026-02-25 03:42:52,545 - DriveTransformer - INFO - Epoch [3][35350/39528] lr: 9.831e-05, eta: 7 days, 17:31:41, time: 0.829, data_time: 0.045, memory: 19865, loss_cls: 0.2972, loss_bbox: 0.4654, loss_traj: 0.8298, loss_traj_cls: 0.0038, loss_map_cls: 0.2417, loss_map_pts: 1.0460, loss_map_dir: 0.0190, d0.loss_plan_l1_fix_time: 2.4599, d0.loss_plan_l1_fix_dist: 0.5001, d1.loss_plan_l1_fix_time: 1.6102, d1.loss_plan_l1_fix_dist: 0.2466, d2.loss_plan_l1_fix_time: 1.5966, d2.loss_plan_l1_fix_dist: 0.2620, d3.loss_plan_l1_fix_time: 1.5986, d3.loss_plan_l1_fix_dist: 0.2802, d4.loss_plan_l1_fix_time: 1.6023, d4.loss_plan_l1_fix_dist: 0.2986, d5.loss_plan_l1_fix_time: 1.6068, d5.loss_plan_l1_fix_dist: 0.3165, d6.loss_plan_l1_fix_time: 1.6121, d6.loss_plan_l1_fix_dist: 0.3355, d0.loss_cls_all: 0.3098, d0.loss_bbox_all: 0.5052, d0.loss_cls: 0.3098, d0.loss_bbox: 0.5052, d1.loss_cls: 0.3032, d1.loss_bbox: 0.4827, d2.loss_cls: 0.2999, d2.loss_bbox: 0.4725, d3.loss_cls: 0.2994, d3.loss_bbox: 0.4678, d4.loss_cls: 0.2952, d4.loss_bbox: 0.4651, d5.loss_cls: 0.2938, d5.loss_bbox: 0.4651, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9641, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8383, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8192, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8176, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8218, d5.loss_traj_cls: 0.0055, d5.loss_traj: 0.8253, d0.loss_map_cls_all: 0.2834, d0.loss_map_pts_all: 2.0283, d0.loss_map_dir_all: 0.0185, d0.loss_map_cls: 0.2834, d0.loss_map_pts: 2.0283, d0.loss_map_dir: 0.0185, d1.loss_map_cls: 0.2667, d1.loss_map_pts: 1.2950, d1.loss_map_dir: 0.0179, d2.loss_map_cls: 0.2549, d2.loss_map_pts: 1.1301, d2.loss_map_dir: 0.0179, d3.loss_map_cls: 0.2482, d3.loss_map_pts: 1.0754, d3.loss_map_dir: 0.0184, d4.loss_map_cls: 0.2414, d4.loss_map_pts: 1.0551, d4.loss_map_dir: 0.0187, d5.loss_map_cls: 0.2407, d5.loss_map_pts: 1.0494, d5.loss_map_dir: 0.0188, loss: 39.4094, grad_norm: 157.9487 +2026-02-25 03:43:31,778 - DriveTransformer - INFO - Epoch [3][35400/39528] lr: 9.831e-05, eta: 7 days, 17:30:56, time: 0.785, data_time: 0.040, memory: 19865, loss_cls: 0.2904, loss_bbox: 0.4577, loss_traj: 0.9582, loss_traj_cls: 0.0038, loss_map_cls: 0.2653, loss_map_pts: 1.0988, loss_map_dir: 0.0153, d0.loss_plan_l1_fix_time: 2.3585, d0.loss_plan_l1_fix_dist: 0.4504, d1.loss_plan_l1_fix_time: 1.5608, d1.loss_plan_l1_fix_dist: 0.2824, d2.loss_plan_l1_fix_time: 1.5463, d2.loss_plan_l1_fix_dist: 0.2905, d3.loss_plan_l1_fix_time: 1.5477, d3.loss_plan_l1_fix_dist: 0.3066, d4.loss_plan_l1_fix_time: 1.5513, d4.loss_plan_l1_fix_dist: 0.3257, d5.loss_plan_l1_fix_time: 1.5557, d5.loss_plan_l1_fix_dist: 0.3468, d6.loss_plan_l1_fix_time: 1.5607, d6.loss_plan_l1_fix_dist: 0.3668, d0.loss_cls_all: 0.3040, d0.loss_bbox_all: 0.5153, d0.loss_cls: 0.3040, d0.loss_bbox: 0.5153, d1.loss_cls: 0.3028, d1.loss_bbox: 0.4829, d2.loss_cls: 0.2972, d2.loss_bbox: 0.4692, d3.loss_cls: 0.2957, d3.loss_bbox: 0.4618, d4.loss_cls: 0.2924, d4.loss_bbox: 0.4596, d5.loss_cls: 0.2895, d5.loss_bbox: 0.4598, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0932, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9576, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9395, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9331, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9388, d5.loss_traj_cls: 0.0056, d5.loss_traj: 0.9536, d0.loss_map_cls_all: 0.3260, d0.loss_map_pts_all: 1.8906, d0.loss_map_dir_all: 0.0140, d0.loss_map_cls: 0.3260, d0.loss_map_pts: 1.8906, d0.loss_map_dir: 0.0140, d1.loss_map_cls: 0.2998, d1.loss_map_pts: 1.3240, d1.loss_map_dir: 0.0139, d2.loss_map_cls: 0.2805, d2.loss_map_pts: 1.1736, d2.loss_map_dir: 0.0143, d3.loss_map_cls: 0.2712, d3.loss_map_pts: 1.1168, d3.loss_map_dir: 0.0147, d4.loss_map_cls: 0.2655, d4.loss_map_pts: 1.1009, d4.loss_map_dir: 0.0150, d5.loss_map_cls: 0.2653, d5.loss_map_pts: 1.0980, d5.loss_map_dir: 0.0152, loss: 40.1458, grad_norm: 156.2116 +2026-02-25 03:44:14,018 - DriveTransformer - INFO - Epoch [3][35450/39528] lr: 9.831e-05, eta: 7 days, 17:30:32, time: 0.845, data_time: 0.045, memory: 19865, loss_cls: 0.3285, loss_bbox: 0.4970, loss_traj: 0.8494, loss_traj_cls: 0.0038, loss_map_cls: 0.2698, loss_map_pts: 1.2653, loss_map_dir: 0.0216, d0.loss_plan_l1_fix_time: 2.5839, d0.loss_plan_l1_fix_dist: 0.4305, d1.loss_plan_l1_fix_time: 1.5918, d1.loss_plan_l1_fix_dist: 0.2326, d2.loss_plan_l1_fix_time: 1.5617, d2.loss_plan_l1_fix_dist: 0.2415, d3.loss_plan_l1_fix_time: 1.5604, d3.loss_plan_l1_fix_dist: 0.2538, d4.loss_plan_l1_fix_time: 1.5623, d4.loss_plan_l1_fix_dist: 0.2688, d5.loss_plan_l1_fix_time: 1.5649, d5.loss_plan_l1_fix_dist: 0.2855, d6.loss_plan_l1_fix_time: 1.5684, d6.loss_plan_l1_fix_dist: 0.3087, d0.loss_cls_all: 0.3383, d0.loss_bbox_all: 0.5459, d0.loss_cls: 0.3383, d0.loss_bbox: 0.5459, d1.loss_cls: 0.3322, d1.loss_bbox: 0.5169, d2.loss_cls: 0.3318, d2.loss_bbox: 0.5043, d3.loss_cls: 0.3288, d3.loss_bbox: 0.4991, d4.loss_cls: 0.3271, d4.loss_bbox: 0.4980, d5.loss_cls: 0.3278, d5.loss_bbox: 0.4953, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9788, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8750, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8520, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8497, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8441, d5.loss_traj_cls: 0.0055, d5.loss_traj: 0.8484, d0.loss_map_cls_all: 0.3298, d0.loss_map_pts_all: 2.3863, d0.loss_map_dir_all: 0.0203, d0.loss_map_cls: 0.3298, d0.loss_map_pts: 2.3863, d0.loss_map_dir: 0.0203, d1.loss_map_cls: 0.3064, d1.loss_map_pts: 1.5198, d1.loss_map_dir: 0.0198, d2.loss_map_cls: 0.2920, d2.loss_map_pts: 1.3567, d2.loss_map_dir: 0.0204, d3.loss_map_cls: 0.2784, d3.loss_map_pts: 1.2959, d3.loss_map_dir: 0.0210, d4.loss_map_cls: 0.2727, d4.loss_map_pts: 1.2739, d4.loss_map_dir: 0.0213, d5.loss_map_cls: 0.2709, d5.loss_map_pts: 1.2679, d5.loss_map_dir: 0.0216, loss: 42.1498, grad_norm: 153.9110 +2026-02-25 03:44:52,652 - DriveTransformer - INFO - Epoch [3][35500/39528] lr: 9.831e-05, eta: 7 days, 17:29:41, time: 0.773, data_time: 0.040, memory: 19865, loss_cls: 0.3198, loss_bbox: 0.4821, loss_traj: 1.0355, loss_traj_cls: 0.0039, loss_map_cls: 0.2734, loss_map_pts: 1.0723, loss_map_dir: 0.0179, d0.loss_plan_l1_fix_time: 2.5444, d0.loss_plan_l1_fix_dist: 0.3618, d1.loss_plan_l1_fix_time: 1.5779, d1.loss_plan_l1_fix_dist: 0.2278, d2.loss_plan_l1_fix_time: 1.5518, d2.loss_plan_l1_fix_dist: 0.2392, d3.loss_plan_l1_fix_time: 1.5504, d3.loss_plan_l1_fix_dist: 0.2586, d4.loss_plan_l1_fix_time: 1.5532, d4.loss_plan_l1_fix_dist: 0.2816, d5.loss_plan_l1_fix_time: 1.5567, d5.loss_plan_l1_fix_dist: 0.3035, d6.loss_plan_l1_fix_time: 1.5602, d6.loss_plan_l1_fix_dist: 0.3271, d0.loss_cls_all: 0.3158, d0.loss_bbox_all: 0.5226, d0.loss_cls: 0.3158, d0.loss_bbox: 0.5226, d1.loss_cls: 0.3185, d1.loss_bbox: 0.4939, d2.loss_cls: 0.3195, d2.loss_bbox: 0.4831, d3.loss_cls: 0.3192, d3.loss_bbox: 0.4806, d4.loss_cls: 0.3185, d4.loss_bbox: 0.4793, d5.loss_cls: 0.3198, d5.loss_bbox: 0.4792, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2078, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0542, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0298, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0295, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.0328, d5.loss_traj_cls: 0.0057, d5.loss_traj: 1.0320, d0.loss_map_cls_all: 0.3409, d0.loss_map_pts_all: 1.9738, d0.loss_map_dir_all: 0.0166, d0.loss_map_cls: 0.3409, d0.loss_map_pts: 1.9738, d0.loss_map_dir: 0.0166, d1.loss_map_cls: 0.3201, d1.loss_map_pts: 1.2759, d1.loss_map_dir: 0.0161, d2.loss_map_cls: 0.3014, d2.loss_map_pts: 1.1381, d2.loss_map_dir: 0.0167, d3.loss_map_cls: 0.2820, d3.loss_map_pts: 1.0884, d3.loss_map_dir: 0.0173, d4.loss_map_cls: 0.2760, d4.loss_map_pts: 1.0686, d4.loss_map_dir: 0.0175, d5.loss_map_cls: 0.2743, d5.loss_map_pts: 1.0714, d5.loss_map_dir: 0.0177, loss: 41.0282, grad_norm: 158.3110 +2026-02-25 03:45:32,426 - DriveTransformer - INFO - Epoch [3][35550/39528] lr: 9.831e-05, eta: 7 days, 17:29:00, time: 0.796, data_time: 0.039, memory: 19865, loss_cls: 0.3259, loss_bbox: 0.4895, loss_traj: 1.0038, loss_traj_cls: 0.0039, loss_map_cls: 0.2720, loss_map_pts: 1.1202, loss_map_dir: 0.0171, d0.loss_plan_l1_fix_time: 2.6869, d0.loss_plan_l1_fix_dist: 0.3826, d1.loss_plan_l1_fix_time: 1.7029, d1.loss_plan_l1_fix_dist: 0.2702, d2.loss_plan_l1_fix_time: 1.7047, d2.loss_plan_l1_fix_dist: 0.2798, d3.loss_plan_l1_fix_time: 1.7095, d3.loss_plan_l1_fix_dist: 0.2932, d4.loss_plan_l1_fix_time: 1.7128, d4.loss_plan_l1_fix_dist: 0.3079, d5.loss_plan_l1_fix_time: 1.7161, d5.loss_plan_l1_fix_dist: 0.3257, d6.loss_plan_l1_fix_time: 1.7208, d6.loss_plan_l1_fix_dist: 0.3436, d0.loss_cls_all: 0.3330, d0.loss_bbox_all: 0.5424, d0.loss_cls: 0.3330, d0.loss_bbox: 0.5424, d1.loss_cls: 0.3330, d1.loss_bbox: 0.5124, d2.loss_cls: 0.3281, d2.loss_bbox: 0.5022, d3.loss_cls: 0.3257, d3.loss_bbox: 0.4943, d4.loss_cls: 0.3248, d4.loss_bbox: 0.4904, d5.loss_cls: 0.3263, d5.loss_bbox: 0.4894, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2060, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0430, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0217, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0141, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0023, d5.loss_traj_cls: 0.0059, d5.loss_traj: 1.0004, d0.loss_map_cls_all: 0.3254, d0.loss_map_pts_all: 1.8850, d0.loss_map_dir_all: 0.0154, d0.loss_map_cls: 0.3254, d0.loss_map_pts: 1.8850, d0.loss_map_dir: 0.0154, d1.loss_map_cls: 0.2953, d1.loss_map_pts: 1.3248, d1.loss_map_dir: 0.0154, d2.loss_map_cls: 0.2865, d2.loss_map_pts: 1.1932, d2.loss_map_dir: 0.0159, d3.loss_map_cls: 0.2779, d3.loss_map_pts: 1.1406, d3.loss_map_dir: 0.0166, d4.loss_map_cls: 0.2740, d4.loss_map_pts: 1.1217, d4.loss_map_dir: 0.0168, d5.loss_map_cls: 0.2732, d5.loss_map_pts: 1.1205, d5.loss_map_dir: 0.0171, loss: 42.4059, grad_norm: 156.6123 +2026-02-25 03:46:11,263 - DriveTransformer - INFO - Epoch [3][35600/39528] lr: 9.831e-05, eta: 7 days, 17:28:11, time: 0.778, data_time: 0.046, memory: 19865, loss_cls: 0.3104, loss_bbox: 0.4772, loss_traj: 1.0430, loss_traj_cls: 0.0040, loss_map_cls: 0.2870, loss_map_pts: 1.0768, loss_map_dir: 0.0161, d0.loss_plan_l1_fix_time: 2.7441, d0.loss_plan_l1_fix_dist: 0.4248, d1.loss_plan_l1_fix_time: 1.5887, d1.loss_plan_l1_fix_dist: 0.2785, d2.loss_plan_l1_fix_time: 1.5704, d2.loss_plan_l1_fix_dist: 0.2933, d3.loss_plan_l1_fix_time: 1.5715, d3.loss_plan_l1_fix_dist: 0.3125, d4.loss_plan_l1_fix_time: 1.5746, d4.loss_plan_l1_fix_dist: 0.3316, d5.loss_plan_l1_fix_time: 1.5782, d5.loss_plan_l1_fix_dist: 0.3533, d6.loss_plan_l1_fix_time: 1.5825, d6.loss_plan_l1_fix_dist: 0.3731, d0.loss_cls_all: 0.3187, d0.loss_bbox_all: 0.5270, d0.loss_cls: 0.3187, d0.loss_bbox: 0.5270, d1.loss_cls: 0.3105, d1.loss_bbox: 0.5029, d2.loss_cls: 0.3039, d2.loss_bbox: 0.4892, d3.loss_cls: 0.3047, d3.loss_bbox: 0.4807, d4.loss_cls: 0.3052, d4.loss_bbox: 0.4794, d5.loss_cls: 0.3080, d5.loss_bbox: 0.4784, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2455, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0793, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0544, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0427, d4.loss_traj_cls: 0.0014, d4.loss_traj: 1.0423, d5.loss_traj_cls: 0.0058, d5.loss_traj: 1.0381, d0.loss_map_cls_all: 0.3295, d0.loss_map_pts_all: 1.8744, d0.loss_map_dir_all: 0.0149, d0.loss_map_cls: 0.3295, d0.loss_map_pts: 1.8744, d0.loss_map_dir: 0.0149, d1.loss_map_cls: 0.3115, d1.loss_map_pts: 1.2715, d1.loss_map_dir: 0.0146, d2.loss_map_cls: 0.2959, d2.loss_map_pts: 1.1378, d2.loss_map_dir: 0.0150, d3.loss_map_cls: 0.2886, d3.loss_map_pts: 1.0951, d3.loss_map_dir: 0.0155, d4.loss_map_cls: 0.2853, d4.loss_map_pts: 1.0829, d4.loss_map_dir: 0.0157, d5.loss_map_cls: 0.2856, d5.loss_map_pts: 1.0777, d5.loss_map_dir: 0.0160, loss: 41.6053, grad_norm: 155.6492 +2026-02-25 03:46:52,233 - DriveTransformer - INFO - Epoch [3][35650/39528] lr: 9.831e-05, eta: 7 days, 17:27:38, time: 0.818, data_time: 0.043, memory: 19865, loss_cls: 0.3294, loss_bbox: 0.4839, loss_traj: 0.9623, loss_traj_cls: 0.0038, loss_map_cls: 0.2686, loss_map_pts: 1.1860, loss_map_dir: 0.0189, d0.loss_plan_l1_fix_time: 2.4918, d0.loss_plan_l1_fix_dist: 0.3863, d1.loss_plan_l1_fix_time: 1.5064, d1.loss_plan_l1_fix_dist: 0.2630, d2.loss_plan_l1_fix_time: 1.4977, d2.loss_plan_l1_fix_dist: 0.2718, d3.loss_plan_l1_fix_time: 1.5055, d3.loss_plan_l1_fix_dist: 0.2864, d4.loss_plan_l1_fix_time: 1.5120, d4.loss_plan_l1_fix_dist: 0.3028, d5.loss_plan_l1_fix_time: 1.5184, d5.loss_plan_l1_fix_dist: 0.3195, d6.loss_plan_l1_fix_time: 1.5243, d6.loss_plan_l1_fix_dist: 0.3409, d0.loss_cls_all: 0.3358, d0.loss_bbox_all: 0.5306, d0.loss_cls: 0.3358, d0.loss_bbox: 0.5306, d1.loss_cls: 0.3301, d1.loss_bbox: 0.5039, d2.loss_cls: 0.3267, d2.loss_bbox: 0.4911, d3.loss_cls: 0.3279, d3.loss_bbox: 0.4854, d4.loss_cls: 0.3252, d4.loss_bbox: 0.4847, d5.loss_cls: 0.3291, d5.loss_bbox: 0.4830, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1587, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9953, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9616, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9559, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9561, d5.loss_traj_cls: 0.0056, d5.loss_traj: 0.9571, d0.loss_map_cls_all: 0.3264, d0.loss_map_pts_all: 2.0214, d0.loss_map_dir_all: 0.0170, d0.loss_map_cls: 0.3264, d0.loss_map_pts: 2.0214, d0.loss_map_dir: 0.0170, d1.loss_map_cls: 0.3018, d1.loss_map_pts: 1.3760, d1.loss_map_dir: 0.0174, d2.loss_map_cls: 0.2824, d2.loss_map_pts: 1.2390, d2.loss_map_dir: 0.0178, d3.loss_map_cls: 0.2741, d3.loss_map_pts: 1.1925, d3.loss_map_dir: 0.0184, d4.loss_map_cls: 0.2694, d4.loss_map_pts: 1.1787, d4.loss_map_dir: 0.0187, d5.loss_map_cls: 0.2696, d5.loss_map_pts: 1.1792, d5.loss_map_dir: 0.0188, loss: 41.1784, grad_norm: 155.4018 +2026-02-25 03:47:32,526 - DriveTransformer - INFO - Epoch [3][35700/39528] lr: 9.831e-05, eta: 7 days, 17:27:00, time: 0.806, data_time: 0.047, memory: 19865, loss_cls: 0.3424, loss_bbox: 0.5199, loss_traj: 0.9662, loss_traj_cls: 0.0038, loss_map_cls: 0.2531, loss_map_pts: 1.1092, loss_map_dir: 0.0207, d0.loss_plan_l1_fix_time: 2.7337, d0.loss_plan_l1_fix_dist: 0.5262, d1.loss_plan_l1_fix_time: 1.4916, d1.loss_plan_l1_fix_dist: 0.3230, d2.loss_plan_l1_fix_time: 1.4754, d2.loss_plan_l1_fix_dist: 0.3299, d3.loss_plan_l1_fix_time: 1.4809, d3.loss_plan_l1_fix_dist: 0.3423, d4.loss_plan_l1_fix_time: 1.4873, d4.loss_plan_l1_fix_dist: 0.3584, d5.loss_plan_l1_fix_time: 1.4935, d5.loss_plan_l1_fix_dist: 0.3770, d6.loss_plan_l1_fix_time: 1.5001, d6.loss_plan_l1_fix_dist: 0.3997, d0.loss_cls_all: 0.3626, d0.loss_bbox_all: 0.5684, d0.loss_cls: 0.3626, d0.loss_bbox: 0.5684, d1.loss_cls: 0.3513, d1.loss_bbox: 0.5389, d2.loss_cls: 0.3442, d2.loss_bbox: 0.5269, d3.loss_cls: 0.3409, d3.loss_bbox: 0.5216, d4.loss_cls: 0.3387, d4.loss_bbox: 0.5184, d5.loss_cls: 0.3428, d5.loss_bbox: 0.5178, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2045, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0327, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9789, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9642, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9572, d5.loss_traj_cls: 0.0054, d5.loss_traj: 0.9559, d0.loss_map_cls_all: 0.3007, d0.loss_map_pts_all: 1.9762, d0.loss_map_dir_all: 0.0192, d0.loss_map_cls: 0.3007, d0.loss_map_pts: 1.9762, d0.loss_map_dir: 0.0192, d1.loss_map_cls: 0.2809, d1.loss_map_pts: 1.2976, d1.loss_map_dir: 0.0192, d2.loss_map_cls: 0.2680, d2.loss_map_pts: 1.1618, d2.loss_map_dir: 0.0195, d3.loss_map_cls: 0.2608, d3.loss_map_pts: 1.1185, d3.loss_map_dir: 0.0201, d4.loss_map_cls: 0.2544, d4.loss_map_pts: 1.1104, d4.loss_map_dir: 0.0204, d5.loss_map_cls: 0.2536, d5.loss_map_pts: 1.1073, d5.loss_map_dir: 0.0205, loss: 41.6465, grad_norm: 154.3449 +2026-02-25 03:48:13,419 - DriveTransformer - INFO - Epoch [3][35750/39528] lr: 9.831e-05, eta: 7 days, 17:26:26, time: 0.818, data_time: 0.039, memory: 19865, loss_cls: 0.3409, loss_bbox: 0.5083, loss_traj: 1.0796, loss_traj_cls: 0.0037, loss_map_cls: 0.2757, loss_map_pts: 1.1310, loss_map_dir: 0.0196, d0.loss_plan_l1_fix_time: 2.8358, d0.loss_plan_l1_fix_dist: 0.3380, d1.loss_plan_l1_fix_time: 1.8505, d1.loss_plan_l1_fix_dist: 0.2399, d2.loss_plan_l1_fix_time: 1.8494, d2.loss_plan_l1_fix_dist: 0.2526, d3.loss_plan_l1_fix_time: 1.8545, d3.loss_plan_l1_fix_dist: 0.2721, d4.loss_plan_l1_fix_time: 1.8596, d4.loss_plan_l1_fix_dist: 0.2963, d5.loss_plan_l1_fix_time: 1.8651, d5.loss_plan_l1_fix_dist: 0.3231, d6.loss_plan_l1_fix_time: 1.8707, d6.loss_plan_l1_fix_dist: 0.3512, d0.loss_cls_all: 0.3576, d0.loss_bbox_all: 0.5656, d0.loss_cls: 0.3576, d0.loss_bbox: 0.5656, d1.loss_cls: 0.3540, d1.loss_bbox: 0.5326, d2.loss_cls: 0.3487, d2.loss_bbox: 0.5182, d3.loss_cls: 0.3471, d3.loss_bbox: 0.5127, d4.loss_cls: 0.3438, d4.loss_bbox: 0.5105, d5.loss_cls: 0.3430, d5.loss_bbox: 0.5086, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2950, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1148, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0857, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0758, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0770, d5.loss_traj_cls: 0.0052, d5.loss_traj: 1.0720, d0.loss_map_cls_all: 0.3261, d0.loss_map_pts_all: 2.0497, d0.loss_map_dir_all: 0.0185, d0.loss_map_cls: 0.3261, d0.loss_map_pts: 2.0497, d0.loss_map_dir: 0.0185, d1.loss_map_cls: 0.3110, d1.loss_map_pts: 1.3585, d1.loss_map_dir: 0.0182, d2.loss_map_cls: 0.2963, d2.loss_map_pts: 1.2181, d2.loss_map_dir: 0.0187, d3.loss_map_cls: 0.2857, d3.loss_map_pts: 1.1597, d3.loss_map_dir: 0.0191, d4.loss_map_cls: 0.2807, d4.loss_map_pts: 1.1420, d4.loss_map_dir: 0.0194, d5.loss_map_cls: 0.2777, d5.loss_map_pts: 1.1370, d5.loss_map_dir: 0.0195, loss: 44.6638, grad_norm: 155.0525 +2026-02-25 03:48:54,927 - DriveTransformer - INFO - Epoch [3][35800/39528] lr: 9.831e-05, eta: 7 days, 17:25:56, time: 0.830, data_time: 0.043, memory: 19865, loss_cls: 0.3208, loss_bbox: 0.4928, loss_traj: 0.8928, loss_traj_cls: 0.0036, loss_map_cls: 0.2522, loss_map_pts: 1.0628, loss_map_dir: 0.0189, d0.loss_plan_l1_fix_time: 2.9039, d0.loss_plan_l1_fix_dist: 0.4465, d1.loss_plan_l1_fix_time: 1.6585, d1.loss_plan_l1_fix_dist: 0.2906, d2.loss_plan_l1_fix_time: 1.6259, d2.loss_plan_l1_fix_dist: 0.2988, d3.loss_plan_l1_fix_time: 1.6269, d3.loss_plan_l1_fix_dist: 0.3129, d4.loss_plan_l1_fix_time: 1.6303, d4.loss_plan_l1_fix_dist: 0.3323, d5.loss_plan_l1_fix_time: 1.6350, d5.loss_plan_l1_fix_dist: 0.3536, d6.loss_plan_l1_fix_time: 1.6404, d6.loss_plan_l1_fix_dist: 0.3770, d0.loss_cls_all: 0.3323, d0.loss_bbox_all: 0.5419, d0.loss_cls: 0.3323, d0.loss_bbox: 0.5419, d1.loss_cls: 0.3221, d1.loss_bbox: 0.5142, d2.loss_cls: 0.3163, d2.loss_bbox: 0.5021, d3.loss_cls: 0.3193, d3.loss_bbox: 0.4947, d4.loss_cls: 0.3182, d4.loss_bbox: 0.4930, d5.loss_cls: 0.3190, d5.loss_bbox: 0.4917, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1258, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9325, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8989, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8939, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8896, d5.loss_traj_cls: 0.0050, d5.loss_traj: 0.8881, d0.loss_map_cls_all: 0.3078, d0.loss_map_pts_all: 1.9139, d0.loss_map_dir_all: 0.0182, d0.loss_map_cls: 0.3078, d0.loss_map_pts: 1.9139, d0.loss_map_dir: 0.0182, d1.loss_map_cls: 0.2838, d1.loss_map_pts: 1.2659, d1.loss_map_dir: 0.0177, d2.loss_map_cls: 0.2641, d2.loss_map_pts: 1.1332, d2.loss_map_dir: 0.0181, d3.loss_map_cls: 0.2557, d3.loss_map_pts: 1.0861, d3.loss_map_dir: 0.0186, d4.loss_map_cls: 0.2516, d4.loss_map_pts: 1.0653, d4.loss_map_dir: 0.0188, d5.loss_map_cls: 0.2506, d5.loss_map_pts: 1.0636, d5.loss_map_dir: 0.0190, loss: 41.1461, grad_norm: 154.1843 +2026-02-25 03:49:35,454 - DriveTransformer - INFO - Epoch [3][35850/39528] lr: 9.831e-05, eta: 7 days, 17:25:20, time: 0.811, data_time: 0.039, memory: 19865, loss_cls: 0.3025, loss_bbox: 0.4807, loss_traj: 0.9768, loss_traj_cls: 0.0036, loss_map_cls: 0.2564, loss_map_pts: 1.1616, loss_map_dir: 0.0198, d0.loss_plan_l1_fix_time: 2.9088, d0.loss_plan_l1_fix_dist: 0.5612, d1.loss_plan_l1_fix_time: 1.5074, d1.loss_plan_l1_fix_dist: 0.3189, d2.loss_plan_l1_fix_time: 1.4817, d2.loss_plan_l1_fix_dist: 0.3306, d3.loss_plan_l1_fix_time: 1.4836, d3.loss_plan_l1_fix_dist: 0.3453, d4.loss_plan_l1_fix_time: 1.4874, d4.loss_plan_l1_fix_dist: 0.3604, d5.loss_plan_l1_fix_time: 1.4920, d5.loss_plan_l1_fix_dist: 0.3786, d6.loss_plan_l1_fix_time: 1.4972, d6.loss_plan_l1_fix_dist: 0.3973, d0.loss_cls_all: 0.3160, d0.loss_bbox_all: 0.5275, d0.loss_cls: 0.3160, d0.loss_bbox: 0.5275, d1.loss_cls: 0.3076, d1.loss_bbox: 0.4997, d2.loss_cls: 0.3036, d2.loss_bbox: 0.4827, d3.loss_cls: 0.3032, d3.loss_bbox: 0.4794, d4.loss_cls: 0.3017, d4.loss_bbox: 0.4784, d5.loss_cls: 0.3018, d5.loss_bbox: 0.4788, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1494, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0176, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9752, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9677, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9757, d5.loss_traj_cls: 0.0050, d5.loss_traj: 0.9762, d0.loss_map_cls_all: 0.3102, d0.loss_map_pts_all: 2.1072, d0.loss_map_dir_all: 0.0192, d0.loss_map_cls: 0.3102, d0.loss_map_pts: 2.1072, d0.loss_map_dir: 0.0192, d1.loss_map_cls: 0.2887, d1.loss_map_pts: 1.3946, d1.loss_map_dir: 0.0184, d2.loss_map_cls: 0.2720, d2.loss_map_pts: 1.2392, d2.loss_map_dir: 0.0188, d3.loss_map_cls: 0.2640, d3.loss_map_pts: 1.1863, d3.loss_map_dir: 0.0192, d4.loss_map_cls: 0.2583, d4.loss_map_pts: 1.1705, d4.loss_map_dir: 0.0196, d5.loss_map_cls: 0.2570, d5.loss_map_pts: 1.1635, d5.loss_map_dir: 0.0197, loss: 41.9102, grad_norm: 152.7853 +2026-02-25 03:50:16,565 - DriveTransformer - INFO - Epoch [3][35900/39528] lr: 9.831e-05, eta: 7 days, 17:24:48, time: 0.822, data_time: 0.039, memory: 19865, loss_cls: 0.3091, loss_bbox: 0.4476, loss_traj: 0.9054, loss_traj_cls: 0.0037, loss_map_cls: 0.2538, loss_map_pts: 1.0598, loss_map_dir: 0.0197, d0.loss_plan_l1_fix_time: 2.5406, d0.loss_plan_l1_fix_dist: 0.5269, d1.loss_plan_l1_fix_time: 1.5670, d1.loss_plan_l1_fix_dist: 0.2950, d2.loss_plan_l1_fix_time: 1.5537, d2.loss_plan_l1_fix_dist: 0.3031, d3.loss_plan_l1_fix_time: 1.5556, d3.loss_plan_l1_fix_dist: 0.3174, d4.loss_plan_l1_fix_time: 1.5601, d4.loss_plan_l1_fix_dist: 0.3362, d5.loss_plan_l1_fix_time: 1.5653, d5.loss_plan_l1_fix_dist: 0.3551, d6.loss_plan_l1_fix_time: 1.5720, d6.loss_plan_l1_fix_dist: 0.3744, d0.loss_cls_all: 0.3264, d0.loss_bbox_all: 0.5051, d0.loss_cls: 0.3264, d0.loss_bbox: 0.5051, d1.loss_cls: 0.3225, d1.loss_bbox: 0.4763, d2.loss_cls: 0.3146, d2.loss_bbox: 0.4599, d3.loss_cls: 0.3109, d3.loss_bbox: 0.4537, d4.loss_cls: 0.3102, d4.loss_bbox: 0.4501, d5.loss_cls: 0.3088, d5.loss_bbox: 0.4476, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0600, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9375, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9026, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8946, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8985, d5.loss_traj_cls: 0.0051, d5.loss_traj: 0.9016, d0.loss_map_cls_all: 0.3103, d0.loss_map_pts_all: 1.8582, d0.loss_map_dir_all: 0.0190, d0.loss_map_cls: 0.3103, d0.loss_map_pts: 1.8582, d0.loss_map_dir: 0.0190, d1.loss_map_cls: 0.2841, d1.loss_map_pts: 1.2607, d1.loss_map_dir: 0.0188, d2.loss_map_cls: 0.2653, d2.loss_map_pts: 1.1278, d2.loss_map_dir: 0.0188, d3.loss_map_cls: 0.2592, d3.loss_map_pts: 1.0774, d3.loss_map_dir: 0.0193, d4.loss_map_cls: 0.2550, d4.loss_map_pts: 1.0619, d4.loss_map_dir: 0.0195, d5.loss_map_cls: 0.2544, d5.loss_map_pts: 1.0564, d5.loss_map_dir: 0.0196, loss: 39.9174, grad_norm: 150.9367 +2026-02-25 03:50:56,280 - DriveTransformer - INFO - Epoch [3][35950/39528] lr: 9.831e-05, eta: 7 days, 17:24:05, time: 0.794, data_time: 0.044, memory: 19865, loss_cls: 0.2951, loss_bbox: 0.4514, loss_traj: 0.9454, loss_traj_cls: 0.0038, loss_map_cls: 0.2531, loss_map_pts: 1.0186, loss_map_dir: 0.0162, d0.loss_plan_l1_fix_time: 2.7970, d0.loss_plan_l1_fix_dist: 0.4350, d1.loss_plan_l1_fix_time: 1.6568, d1.loss_plan_l1_fix_dist: 0.2716, d2.loss_plan_l1_fix_time: 1.6464, d2.loss_plan_l1_fix_dist: 0.2830, d3.loss_plan_l1_fix_time: 1.6492, d3.loss_plan_l1_fix_dist: 0.2998, d4.loss_plan_l1_fix_time: 1.6542, d4.loss_plan_l1_fix_dist: 0.3208, d5.loss_plan_l1_fix_time: 1.6595, d5.loss_plan_l1_fix_dist: 0.3445, d6.loss_plan_l1_fix_time: 1.6653, d6.loss_plan_l1_fix_dist: 0.3706, d0.loss_cls_all: 0.3170, d0.loss_bbox_all: 0.4984, d0.loss_cls: 0.3170, d0.loss_bbox: 0.4984, d1.loss_cls: 0.3115, d1.loss_bbox: 0.4737, d2.loss_cls: 0.3047, d2.loss_bbox: 0.4590, d3.loss_cls: 0.3002, d3.loss_bbox: 0.4538, d4.loss_cls: 0.2997, d4.loss_bbox: 0.4493, d5.loss_cls: 0.2970, d5.loss_bbox: 0.4488, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0591, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9757, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9445, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9405, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9401, d5.loss_traj_cls: 0.0052, d5.loss_traj: 0.9429, d0.loss_map_cls_all: 0.3166, d0.loss_map_pts_all: 1.7669, d0.loss_map_dir_all: 0.0147, d0.loss_map_cls: 0.3166, d0.loss_map_pts: 1.7669, d0.loss_map_dir: 0.0147, d1.loss_map_cls: 0.2835, d1.loss_map_pts: 1.1940, d1.loss_map_dir: 0.0145, d2.loss_map_cls: 0.2611, d2.loss_map_pts: 1.0802, d2.loss_map_dir: 0.0148, d3.loss_map_cls: 0.2578, d3.loss_map_pts: 1.0354, d3.loss_map_dir: 0.0156, d4.loss_map_cls: 0.2533, d4.loss_map_pts: 1.0200, d4.loss_map_dir: 0.0159, d5.loss_map_cls: 0.2507, d5.loss_map_pts: 1.0193, d5.loss_map_dir: 0.0161, loss: 40.2075, grad_norm: 150.3100 +2026-02-25 03:51:36,995 - DriveTransformer - INFO - Epoch [3][36000/39528] lr: 9.831e-05, eta: 7 days, 17:23:30, time: 0.814, data_time: 0.044, memory: 19865, loss_cls: 0.3079, loss_bbox: 0.5033, loss_traj: 1.1384, loss_traj_cls: 0.0039, loss_map_cls: 0.2846, loss_map_pts: 1.1657, loss_map_dir: 0.0206, d0.loss_plan_l1_fix_time: 2.4974, d0.loss_plan_l1_fix_dist: 0.4198, d1.loss_plan_l1_fix_time: 1.6741, d1.loss_plan_l1_fix_dist: 0.2695, d2.loss_plan_l1_fix_time: 1.6461, d2.loss_plan_l1_fix_dist: 0.2807, d3.loss_plan_l1_fix_time: 1.6473, d3.loss_plan_l1_fix_dist: 0.2969, d4.loss_plan_l1_fix_time: 1.6509, d4.loss_plan_l1_fix_dist: 0.3149, d5.loss_plan_l1_fix_time: 1.6558, d5.loss_plan_l1_fix_dist: 0.3366, d6.loss_plan_l1_fix_time: 1.6622, d6.loss_plan_l1_fix_dist: 0.3615, d0.loss_cls_all: 0.3253, d0.loss_bbox_all: 0.5491, d0.loss_cls: 0.3253, d0.loss_bbox: 0.5491, d1.loss_cls: 0.3185, d1.loss_bbox: 0.5241, d2.loss_cls: 0.3087, d2.loss_bbox: 0.5115, d3.loss_cls: 0.3061, d3.loss_bbox: 0.5063, d4.loss_cls: 0.3062, d4.loss_bbox: 0.5035, d5.loss_cls: 0.3057, d5.loss_bbox: 0.5028, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3300, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.1839, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1436, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1376, d4.loss_traj_cls: 0.0013, d4.loss_traj: 1.1388, d5.loss_traj_cls: 0.0052, d5.loss_traj: 1.1326, d0.loss_map_cls_all: 0.3469, d0.loss_map_pts_all: 2.1202, d0.loss_map_dir_all: 0.0189, d0.loss_map_cls: 0.3469, d0.loss_map_pts: 2.1202, d0.loss_map_dir: 0.0189, d1.loss_map_cls: 0.3203, d1.loss_map_pts: 1.4154, d1.loss_map_dir: 0.0187, d2.loss_map_cls: 0.2975, d2.loss_map_pts: 1.2543, d2.loss_map_dir: 0.0193, d3.loss_map_cls: 0.2910, d3.loss_map_pts: 1.1962, d3.loss_map_dir: 0.0200, d4.loss_map_cls: 0.2860, d4.loss_map_pts: 1.1734, d4.loss_map_dir: 0.0203, d5.loss_map_cls: 0.2831, d5.loss_map_pts: 1.1662, d5.loss_map_dir: 0.0206, loss: 43.8114, grad_norm: 149.3075 +2026-02-25 03:52:18,120 - DriveTransformer - INFO - Epoch [3][36050/39528] lr: 9.831e-05, eta: 7 days, 17:22:58, time: 0.822, data_time: 0.040, memory: 19865, loss_cls: 0.3265, loss_bbox: 0.4861, loss_traj: 1.0194, loss_traj_cls: 0.0039, loss_map_cls: 0.2623, loss_map_pts: 0.9965, loss_map_dir: 0.0158, d0.loss_plan_l1_fix_time: 2.9003, d0.loss_plan_l1_fix_dist: 0.4364, d1.loss_plan_l1_fix_time: 1.9330, d1.loss_plan_l1_fix_dist: 0.2760, d2.loss_plan_l1_fix_time: 1.9316, d2.loss_plan_l1_fix_dist: 0.2938, d3.loss_plan_l1_fix_time: 1.9393, d3.loss_plan_l1_fix_dist: 0.3154, d4.loss_plan_l1_fix_time: 1.9439, d4.loss_plan_l1_fix_dist: 0.3376, d5.loss_plan_l1_fix_time: 1.9482, d5.loss_plan_l1_fix_dist: 0.3607, d6.loss_plan_l1_fix_time: 1.9537, d6.loss_plan_l1_fix_dist: 0.3870, d0.loss_cls_all: 0.3407, d0.loss_bbox_all: 0.5408, d0.loss_cls: 0.3407, d0.loss_bbox: 0.5408, d1.loss_cls: 0.3299, d1.loss_bbox: 0.5117, d2.loss_cls: 0.3276, d2.loss_bbox: 0.4942, d3.loss_cls: 0.3255, d3.loss_bbox: 0.4879, d4.loss_cls: 0.3245, d4.loss_bbox: 0.4870, d5.loss_cls: 0.3242, d5.loss_bbox: 0.4856, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1956, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0428, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0065, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0164, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0095, d5.loss_traj_cls: 0.0053, d5.loss_traj: 1.0153, d0.loss_map_cls_all: 0.3070, d0.loss_map_pts_all: 1.7838, d0.loss_map_dir_all: 0.0145, d0.loss_map_cls: 0.3070, d0.loss_map_pts: 1.7838, d0.loss_map_dir: 0.0145, d1.loss_map_cls: 0.2840, d1.loss_map_pts: 1.2003, d1.loss_map_dir: 0.0148, d2.loss_map_cls: 0.2731, d2.loss_map_pts: 1.0581, d2.loss_map_dir: 0.0150, d3.loss_map_cls: 0.2664, d3.loss_map_pts: 1.0070, d3.loss_map_dir: 0.0154, d4.loss_map_cls: 0.2638, d4.loss_map_pts: 0.9957, d4.loss_map_dir: 0.0156, d5.loss_map_cls: 0.2613, d5.loss_map_pts: 0.9928, d5.loss_map_dir: 0.0158, loss: 43.1146, grad_norm: 149.8854 +2026-02-25 03:52:58,433 - DriveTransformer - INFO - Epoch [3][36100/39528] lr: 9.831e-05, eta: 7 days, 17:22:20, time: 0.806, data_time: 0.041, memory: 19865, loss_cls: 0.2979, loss_bbox: 0.4823, loss_traj: 0.9447, loss_traj_cls: 0.0040, loss_map_cls: 0.2593, loss_map_pts: 1.1029, loss_map_dir: 0.0194, d0.loss_plan_l1_fix_time: 2.8416, d0.loss_plan_l1_fix_dist: 0.3775, d1.loss_plan_l1_fix_time: 1.7697, d1.loss_plan_l1_fix_dist: 0.2563, d2.loss_plan_l1_fix_time: 1.7590, d2.loss_plan_l1_fix_dist: 0.2666, d3.loss_plan_l1_fix_time: 1.7599, d3.loss_plan_l1_fix_dist: 0.2834, d4.loss_plan_l1_fix_time: 1.7645, d4.loss_plan_l1_fix_dist: 0.3083, d5.loss_plan_l1_fix_time: 1.7701, d5.loss_plan_l1_fix_dist: 0.3384, d6.loss_plan_l1_fix_time: 1.7771, d6.loss_plan_l1_fix_dist: 0.3703, d0.loss_cls_all: 0.3074, d0.loss_bbox_all: 0.5360, d0.loss_cls: 0.3074, d0.loss_bbox: 0.5360, d1.loss_cls: 0.3062, d1.loss_bbox: 0.5004, d2.loss_cls: 0.2994, d2.loss_bbox: 0.4876, d3.loss_cls: 0.2998, d3.loss_bbox: 0.4786, d4.loss_cls: 0.2978, d4.loss_bbox: 0.4805, d5.loss_cls: 0.2976, d5.loss_bbox: 0.4809, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1262, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9955, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9606, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9572, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9454, d5.loss_traj_cls: 0.0052, d5.loss_traj: 0.9437, d0.loss_map_cls_all: 0.3015, d0.loss_map_pts_all: 2.1367, d0.loss_map_dir_all: 0.0188, d0.loss_map_cls: 0.3015, d0.loss_map_pts: 2.1367, d0.loss_map_dir: 0.0188, d1.loss_map_cls: 0.2788, d1.loss_map_pts: 1.3814, d1.loss_map_dir: 0.0179, d2.loss_map_cls: 0.2705, d2.loss_map_pts: 1.2050, d2.loss_map_dir: 0.0182, d3.loss_map_cls: 0.2633, d3.loss_map_pts: 1.1384, d3.loss_map_dir: 0.0187, d4.loss_map_cls: 0.2579, d4.loss_map_pts: 1.1152, d4.loss_map_dir: 0.0191, d5.loss_map_cls: 0.2573, d5.loss_map_pts: 1.1079, d5.loss_map_dir: 0.0192, loss: 42.5900, grad_norm: 151.5386 +2026-02-25 03:53:39,794 - DriveTransformer - INFO - Epoch [3][36150/39528] lr: 9.831e-05, eta: 7 days, 17:21:50, time: 0.827, data_time: 0.042, memory: 19865, loss_cls: 0.2901, loss_bbox: 0.4675, loss_traj: 1.0390, loss_traj_cls: 0.0040, loss_map_cls: 0.2353, loss_map_pts: 0.9869, loss_map_dir: 0.0177, d0.loss_plan_l1_fix_time: 2.7365, d0.loss_plan_l1_fix_dist: 0.4901, d1.loss_plan_l1_fix_time: 1.7140, d1.loss_plan_l1_fix_dist: 0.2685, d2.loss_plan_l1_fix_time: 1.6891, d2.loss_plan_l1_fix_dist: 0.2784, d3.loss_plan_l1_fix_time: 1.6893, d3.loss_plan_l1_fix_dist: 0.2917, d4.loss_plan_l1_fix_time: 1.6936, d4.loss_plan_l1_fix_dist: 0.3091, d5.loss_plan_l1_fix_time: 1.6994, d5.loss_plan_l1_fix_dist: 0.3298, d6.loss_plan_l1_fix_time: 1.7057, d6.loss_plan_l1_fix_dist: 0.3526, d0.loss_cls_all: 0.2956, d0.loss_bbox_all: 0.5153, d0.loss_cls: 0.2956, d0.loss_bbox: 0.5153, d1.loss_cls: 0.2959, d1.loss_bbox: 0.4835, d2.loss_cls: 0.2943, d2.loss_bbox: 0.4695, d3.loss_cls: 0.2915, d3.loss_bbox: 0.4634, d4.loss_cls: 0.2920, d4.loss_bbox: 0.4634, d5.loss_cls: 0.2911, d5.loss_bbox: 0.4650, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1968, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0826, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0478, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0437, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0381, d5.loss_traj_cls: 0.0052, d5.loss_traj: 1.0437, d0.loss_map_cls_all: 0.2880, d0.loss_map_pts_all: 1.8544, d0.loss_map_dir_all: 0.0165, d0.loss_map_cls: 0.2880, d0.loss_map_pts: 1.8544, d0.loss_map_dir: 0.0165, d1.loss_map_cls: 0.2581, d1.loss_map_pts: 1.2253, d1.loss_map_dir: 0.0162, d2.loss_map_cls: 0.2449, d2.loss_map_pts: 1.0785, d2.loss_map_dir: 0.0166, d3.loss_map_cls: 0.2384, d3.loss_map_pts: 1.0192, d3.loss_map_dir: 0.0171, d4.loss_map_cls: 0.2363, d4.loss_map_pts: 0.9987, d4.loss_map_dir: 0.0174, d5.loss_map_cls: 0.2351, d5.loss_map_pts: 0.9909, d5.loss_map_dir: 0.0176, loss: 41.1106, grad_norm: 151.8000 +2026-02-25 03:54:20,513 - DriveTransformer - INFO - Epoch [3][36200/39528] lr: 9.831e-05, eta: 7 days, 17:21:15, time: 0.814, data_time: 0.039, memory: 19865, loss_cls: 0.3038, loss_bbox: 0.4780, loss_traj: 1.1006, loss_traj_cls: 0.0041, loss_map_cls: 0.2450, loss_map_pts: 1.0570, loss_map_dir: 0.0182, d0.loss_plan_l1_fix_time: 2.6750, d0.loss_plan_l1_fix_dist: 0.4949, d1.loss_plan_l1_fix_time: 1.7235, d1.loss_plan_l1_fix_dist: 0.2974, d2.loss_plan_l1_fix_time: 1.6989, d2.loss_plan_l1_fix_dist: 0.3023, d3.loss_plan_l1_fix_time: 1.6958, d3.loss_plan_l1_fix_dist: 0.3160, d4.loss_plan_l1_fix_time: 1.6980, d4.loss_plan_l1_fix_dist: 0.3309, d5.loss_plan_l1_fix_time: 1.7015, d5.loss_plan_l1_fix_dist: 0.3488, d6.loss_plan_l1_fix_time: 1.7056, d6.loss_plan_l1_fix_dist: 0.3682, d0.loss_cls_all: 0.3186, d0.loss_bbox_all: 0.5313, d0.loss_cls: 0.3186, d0.loss_bbox: 0.5313, d1.loss_cls: 0.3184, d1.loss_bbox: 0.4992, d2.loss_cls: 0.3087, d2.loss_bbox: 0.4850, d3.loss_cls: 0.3046, d3.loss_bbox: 0.4789, d4.loss_cls: 0.3026, d4.loss_bbox: 0.4768, d5.loss_cls: 0.3029, d5.loss_bbox: 0.4771, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3397, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1612, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1214, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1073, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.1002, d5.loss_traj_cls: 0.0052, d5.loss_traj: 1.0973, d0.loss_map_cls_all: 0.3083, d0.loss_map_pts_all: 2.0649, d0.loss_map_dir_all: 0.0176, d0.loss_map_cls: 0.3083, d0.loss_map_pts: 2.0649, d0.loss_map_dir: 0.0176, d1.loss_map_cls: 0.2758, d1.loss_map_pts: 1.3285, d1.loss_map_dir: 0.0170, d2.loss_map_cls: 0.2595, d2.loss_map_pts: 1.1618, d2.loss_map_dir: 0.0172, d3.loss_map_cls: 0.2533, d3.loss_map_pts: 1.0936, d3.loss_map_dir: 0.0175, d4.loss_map_cls: 0.2475, d4.loss_map_pts: 1.0674, d4.loss_map_dir: 0.0178, d5.loss_map_cls: 0.2438, d5.loss_map_pts: 1.0604, d5.loss_map_dir: 0.0180, loss: 43.0153, grad_norm: 149.6001 +2026-02-25 03:55:01,517 - DriveTransformer - INFO - Epoch [3][36250/39528] lr: 9.831e-05, eta: 7 days, 17:20:42, time: 0.820, data_time: 0.038, memory: 19865, loss_cls: 0.2841, loss_bbox: 0.4634, loss_traj: 0.8436, loss_traj_cls: 0.0040, loss_map_cls: 0.2158, loss_map_pts: 0.9761, loss_map_dir: 0.0171, d0.loss_plan_l1_fix_time: 2.5844, d0.loss_plan_l1_fix_dist: 0.4154, d1.loss_plan_l1_fix_time: 1.4111, d1.loss_plan_l1_fix_dist: 0.2132, d2.loss_plan_l1_fix_time: 1.3874, d2.loss_plan_l1_fix_dist: 0.2205, d3.loss_plan_l1_fix_time: 1.3880, d3.loss_plan_l1_fix_dist: 0.2353, d4.loss_plan_l1_fix_time: 1.3919, d4.loss_plan_l1_fix_dist: 0.2519, d5.loss_plan_l1_fix_time: 1.3966, d5.loss_plan_l1_fix_dist: 0.2699, d6.loss_plan_l1_fix_time: 1.4023, d6.loss_plan_l1_fix_dist: 0.2923, d0.loss_cls_all: 0.2987, d0.loss_bbox_all: 0.5144, d0.loss_cls: 0.2987, d0.loss_bbox: 0.5144, d1.loss_cls: 0.2920, d1.loss_bbox: 0.4863, d2.loss_cls: 0.2844, d2.loss_bbox: 0.4704, d3.loss_cls: 0.2826, d3.loss_bbox: 0.4633, d4.loss_cls: 0.2823, d4.loss_bbox: 0.4624, d5.loss_cls: 0.2846, d5.loss_bbox: 0.4601, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0327, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8921, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8506, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8447, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8471, d5.loss_traj_cls: 0.0051, d5.loss_traj: 0.8444, d0.loss_map_cls_all: 0.2654, d0.loss_map_pts_all: 1.8699, d0.loss_map_dir_all: 0.0159, d0.loss_map_cls: 0.2654, d0.loss_map_pts: 1.8699, d0.loss_map_dir: 0.0159, d1.loss_map_cls: 0.2429, d1.loss_map_pts: 1.2235, d1.loss_map_dir: 0.0157, d2.loss_map_cls: 0.2279, d2.loss_map_pts: 1.0644, d2.loss_map_dir: 0.0159, d3.loss_map_cls: 0.2201, d3.loss_map_pts: 1.0027, d3.loss_map_dir: 0.0163, d4.loss_map_cls: 0.2155, d4.loss_map_pts: 0.9814, d4.loss_map_dir: 0.0168, d5.loss_map_cls: 0.2154, d5.loss_map_pts: 0.9752, d5.loss_map_dir: 0.0170, loss: 37.1337, grad_norm: 148.3170 +2026-02-25 03:55:41,988 - DriveTransformer - INFO - Epoch [3][36300/39528] lr: 9.831e-05, eta: 7 days, 17:20:05, time: 0.810, data_time: 0.048, memory: 19865, loss_cls: 0.3109, loss_bbox: 0.4936, loss_traj: 0.9115, loss_traj_cls: 0.0040, loss_map_cls: 0.2768, loss_map_pts: 1.1433, loss_map_dir: 0.0194, d0.loss_plan_l1_fix_time: 2.5173, d0.loss_plan_l1_fix_dist: 0.4251, d1.loss_plan_l1_fix_time: 1.7066, d1.loss_plan_l1_fix_dist: 0.2664, d2.loss_plan_l1_fix_time: 1.6756, d2.loss_plan_l1_fix_dist: 0.2697, d3.loss_plan_l1_fix_time: 1.6734, d3.loss_plan_l1_fix_dist: 0.2798, d4.loss_plan_l1_fix_time: 1.6751, d4.loss_plan_l1_fix_dist: 0.2934, d5.loss_plan_l1_fix_time: 1.6783, d5.loss_plan_l1_fix_dist: 0.3079, d6.loss_plan_l1_fix_time: 1.6831, d6.loss_plan_l1_fix_dist: 0.3237, d0.loss_cls_all: 0.3244, d0.loss_bbox_all: 0.5464, d0.loss_cls: 0.3244, d0.loss_bbox: 0.5464, d1.loss_cls: 0.3199, d1.loss_bbox: 0.5142, d2.loss_cls: 0.3148, d2.loss_bbox: 0.5030, d3.loss_cls: 0.3137, d3.loss_bbox: 0.4958, d4.loss_cls: 0.3098, d4.loss_bbox: 0.4929, d5.loss_cls: 0.3094, d5.loss_bbox: 0.4933, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1193, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9647, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9313, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9170, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9094, d5.loss_traj_cls: 0.0052, d5.loss_traj: 0.9098, d0.loss_map_cls_all: 0.3375, d0.loss_map_pts_all: 2.0940, d0.loss_map_dir_all: 0.0187, d0.loss_map_cls: 0.3375, d0.loss_map_pts: 2.0940, d0.loss_map_dir: 0.0187, d1.loss_map_cls: 0.3016, d1.loss_map_pts: 1.3943, d1.loss_map_dir: 0.0180, d2.loss_map_cls: 0.2891, d2.loss_map_pts: 1.2290, d2.loss_map_dir: 0.0183, d3.loss_map_cls: 0.2794, d3.loss_map_pts: 1.1674, d3.loss_map_dir: 0.0188, d4.loss_map_cls: 0.2772, d4.loss_map_pts: 1.1475, d4.loss_map_dir: 0.0191, d5.loss_map_cls: 0.2753, d5.loss_map_pts: 1.1429, d5.loss_map_dir: 0.0193, loss: 42.0023, grad_norm: 147.0232 +2026-02-25 03:56:23,096 - DriveTransformer - INFO - Epoch [3][36350/39528] lr: 9.831e-05, eta: 7 days, 17:19:33, time: 0.822, data_time: 0.053, memory: 19865, loss_cls: 0.3143, loss_bbox: 0.4843, loss_traj: 1.1021, loss_traj_cls: 0.0039, loss_map_cls: 0.2301, loss_map_pts: 1.0458, loss_map_dir: 0.0183, d0.loss_plan_l1_fix_time: 2.9183, d0.loss_plan_l1_fix_dist: 0.4324, d1.loss_plan_l1_fix_time: 1.5435, d1.loss_plan_l1_fix_dist: 0.2474, d2.loss_plan_l1_fix_time: 1.5257, d2.loss_plan_l1_fix_dist: 0.2553, d3.loss_plan_l1_fix_time: 1.5312, d3.loss_plan_l1_fix_dist: 0.2674, d4.loss_plan_l1_fix_time: 1.5386, d4.loss_plan_l1_fix_dist: 0.2835, d5.loss_plan_l1_fix_time: 1.5463, d5.loss_plan_l1_fix_dist: 0.3036, d6.loss_plan_l1_fix_time: 1.5544, d6.loss_plan_l1_fix_dist: 0.3266, d0.loss_cls_all: 0.3313, d0.loss_bbox_all: 0.5362, d0.loss_cls: 0.3313, d0.loss_bbox: 0.5362, d1.loss_cls: 0.3290, d1.loss_bbox: 0.5051, d2.loss_cls: 0.3225, d2.loss_bbox: 0.4921, d3.loss_cls: 0.3213, d3.loss_bbox: 0.4845, d4.loss_cls: 0.3161, d4.loss_bbox: 0.4840, d5.loss_cls: 0.3170, d5.loss_bbox: 0.4825, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3241, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.1622, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1228, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1132, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.1046, d5.loss_traj_cls: 0.0050, d5.loss_traj: 1.1039, d0.loss_map_cls_all: 0.2789, d0.loss_map_pts_all: 1.9677, d0.loss_map_dir_all: 0.0179, d0.loss_map_cls: 0.2789, d0.loss_map_pts: 1.9677, d0.loss_map_dir: 0.0179, d1.loss_map_cls: 0.2570, d1.loss_map_pts: 1.2721, d1.loss_map_dir: 0.0172, d2.loss_map_cls: 0.2431, d2.loss_map_pts: 1.1303, d2.loss_map_dir: 0.0175, d3.loss_map_cls: 0.2335, d3.loss_map_pts: 1.0715, d3.loss_map_dir: 0.0179, d4.loss_map_cls: 0.2328, d4.loss_map_pts: 1.0496, d4.loss_map_dir: 0.0181, d5.loss_map_cls: 0.2287, d5.loss_map_pts: 1.0433, d5.loss_map_dir: 0.0182, loss: 41.5819, grad_norm: 147.3941 +2026-02-25 03:57:04,607 - DriveTransformer - INFO - Epoch [3][36400/39528] lr: 9.831e-05, eta: 7 days, 17:19:04, time: 0.832, data_time: 0.044, memory: 19865, loss_cls: 0.2908, loss_bbox: 0.4728, loss_traj: 0.9840, loss_traj_cls: 0.0038, loss_map_cls: 0.2321, loss_map_pts: 1.0486, loss_map_dir: 0.0201, d0.loss_plan_l1_fix_time: 2.7303, d0.loss_plan_l1_fix_dist: 0.5601, d1.loss_plan_l1_fix_time: 1.7248, d1.loss_plan_l1_fix_dist: 0.2886, d2.loss_plan_l1_fix_time: 1.6967, d2.loss_plan_l1_fix_dist: 0.2969, d3.loss_plan_l1_fix_time: 1.7018, d3.loss_plan_l1_fix_dist: 0.3082, d4.loss_plan_l1_fix_time: 1.7103, d4.loss_plan_l1_fix_dist: 0.3221, d5.loss_plan_l1_fix_time: 1.7194, d5.loss_plan_l1_fix_dist: 0.3373, d6.loss_plan_l1_fix_time: 1.7293, d6.loss_plan_l1_fix_dist: 0.3579, d0.loss_cls_all: 0.3082, d0.loss_bbox_all: 0.5023, d0.loss_cls: 0.3082, d0.loss_bbox: 0.5023, d1.loss_cls: 0.3013, d1.loss_bbox: 0.4804, d2.loss_cls: 0.2917, d2.loss_bbox: 0.4714, d3.loss_cls: 0.2910, d3.loss_bbox: 0.4668, d4.loss_cls: 0.2892, d4.loss_bbox: 0.4677, d5.loss_cls: 0.2889, d5.loss_bbox: 0.4713, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1162, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0048, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9861, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9831, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9752, d5.loss_traj_cls: 0.0049, d5.loss_traj: 0.9826, d0.loss_map_cls_all: 0.2713, d0.loss_map_pts_all: 2.0817, d0.loss_map_dir_all: 0.0191, d0.loss_map_cls: 0.2713, d0.loss_map_pts: 2.0817, d0.loss_map_dir: 0.0191, d1.loss_map_cls: 0.2573, d1.loss_map_pts: 1.2999, d1.loss_map_dir: 0.0186, d2.loss_map_cls: 0.2447, d2.loss_map_pts: 1.1339, d2.loss_map_dir: 0.0190, d3.loss_map_cls: 0.2370, d3.loss_map_pts: 1.0786, d3.loss_map_dir: 0.0195, d4.loss_map_cls: 0.2330, d4.loss_map_pts: 1.0569, d4.loss_map_dir: 0.0198, d5.loss_map_cls: 0.2305, d5.loss_map_pts: 1.0500, d5.loss_map_dir: 0.0200, loss: 41.6970, grad_norm: 146.9968 +2026-02-25 03:57:45,626 - DriveTransformer - INFO - Epoch [3][36450/39528] lr: 9.831e-05, eta: 7 days, 17:18:30, time: 0.819, data_time: 0.048, memory: 19865, loss_cls: 0.3290, loss_bbox: 0.5141, loss_traj: 1.0284, loss_traj_cls: 0.0037, loss_map_cls: 0.2822, loss_map_pts: 1.2308, loss_map_dir: 0.0203, d0.loss_plan_l1_fix_time: 2.6760, d0.loss_plan_l1_fix_dist: 0.4184, d1.loss_plan_l1_fix_time: 1.9313, d1.loss_plan_l1_fix_dist: 0.2735, d2.loss_plan_l1_fix_time: 1.9355, d2.loss_plan_l1_fix_dist: 0.2784, d3.loss_plan_l1_fix_time: 1.9447, d3.loss_plan_l1_fix_dist: 0.2889, d4.loss_plan_l1_fix_time: 1.9517, d4.loss_plan_l1_fix_dist: 0.3018, d5.loss_plan_l1_fix_time: 1.9582, d5.loss_plan_l1_fix_dist: 0.3147, d6.loss_plan_l1_fix_time: 1.9658, d6.loss_plan_l1_fix_dist: 0.3277, d0.loss_cls_all: 0.3452, d0.loss_bbox_all: 0.5579, d0.loss_cls: 0.3452, d0.loss_bbox: 0.5579, d1.loss_cls: 0.3414, d1.loss_bbox: 0.5274, d2.loss_cls: 0.3344, d2.loss_bbox: 0.5148, d3.loss_cls: 0.3327, d3.loss_bbox: 0.5116, d4.loss_cls: 0.3287, d4.loss_bbox: 0.5113, d5.loss_cls: 0.3288, d5.loss_bbox: 0.5145, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1940, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0542, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0262, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0246, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0312, d5.loss_traj_cls: 0.0047, d5.loss_traj: 1.0289, d0.loss_map_cls_all: 0.3252, d0.loss_map_pts_all: 2.2257, d0.loss_map_dir_all: 0.0188, d0.loss_map_cls: 0.3252, d0.loss_map_pts: 2.2257, d0.loss_map_dir: 0.0188, d1.loss_map_cls: 0.3084, d1.loss_map_pts: 1.5007, d1.loss_map_dir: 0.0183, d2.loss_map_cls: 0.2935, d2.loss_map_pts: 1.3362, d2.loss_map_dir: 0.0189, d3.loss_map_cls: 0.2878, d3.loss_map_pts: 1.2690, d3.loss_map_dir: 0.0196, d4.loss_map_cls: 0.2829, d4.loss_map_pts: 1.2444, d4.loss_map_dir: 0.0200, d5.loss_map_cls: 0.2817, d5.loss_map_pts: 1.2344, d5.loss_map_dir: 0.0201, loss: 45.6709, grad_norm: 146.6323 +2026-02-25 03:58:25,878 - DriveTransformer - INFO - Epoch [3][36500/39528] lr: 9.831e-05, eta: 7 days, 17:17:52, time: 0.805, data_time: 0.040, memory: 19865, loss_cls: 0.3475, loss_bbox: 0.5322, loss_traj: 0.9640, loss_traj_cls: 0.0037, loss_map_cls: 0.3131, loss_map_pts: 1.3153, loss_map_dir: 0.0208, d0.loss_plan_l1_fix_time: 3.0918, d0.loss_plan_l1_fix_dist: 0.4408, d1.loss_plan_l1_fix_time: 1.7698, d1.loss_plan_l1_fix_dist: 0.2917, d2.loss_plan_l1_fix_time: 1.7688, d2.loss_plan_l1_fix_dist: 0.2999, d3.loss_plan_l1_fix_time: 1.7784, d3.loss_plan_l1_fix_dist: 0.3096, d4.loss_plan_l1_fix_time: 1.7867, d4.loss_plan_l1_fix_dist: 0.3229, d5.loss_plan_l1_fix_time: 1.7950, d5.loss_plan_l1_fix_dist: 0.3392, d6.loss_plan_l1_fix_time: 1.8030, d6.loss_plan_l1_fix_dist: 0.3539, d0.loss_cls_all: 0.3625, d0.loss_bbox_all: 0.5816, d0.loss_cls: 0.3625, d0.loss_bbox: 0.5816, d1.loss_cls: 0.3594, d1.loss_bbox: 0.5490, d2.loss_cls: 0.3517, d2.loss_bbox: 0.5396, d3.loss_cls: 0.3499, d3.loss_bbox: 0.5320, d4.loss_cls: 0.3478, d4.loss_bbox: 0.5292, d5.loss_cls: 0.3497, d5.loss_bbox: 0.5292, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1169, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9987, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9681, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9643, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9668, d5.loss_traj_cls: 0.0048, d5.loss_traj: 0.9643, d0.loss_map_cls_all: 0.3663, d0.loss_map_pts_all: 2.1390, d0.loss_map_dir_all: 0.0191, d0.loss_map_cls: 0.3663, d0.loss_map_pts: 2.1390, d0.loss_map_dir: 0.0191, d1.loss_map_cls: 0.3403, d1.loss_map_pts: 1.5278, d1.loss_map_dir: 0.0191, d2.loss_map_cls: 0.3246, d2.loss_map_pts: 1.3818, d2.loss_map_dir: 0.0196, d3.loss_map_cls: 0.3170, d3.loss_map_pts: 1.3328, d3.loss_map_dir: 0.0202, d4.loss_map_cls: 0.3149, d4.loss_map_pts: 1.3209, d4.loss_map_dir: 0.0205, d5.loss_map_cls: 0.3142, d5.loss_map_pts: 1.3150, d5.loss_map_dir: 0.0206, loss: 45.6006, grad_norm: 148.1220 +2026-02-25 03:59:07,474 - DriveTransformer - INFO - Epoch [3][36550/39528] lr: 9.831e-05, eta: 7 days, 17:17:23, time: 0.832, data_time: 0.042, memory: 19865, loss_cls: 0.3149, loss_bbox: 0.5101, loss_traj: 1.0876, loss_traj_cls: 0.0038, loss_map_cls: 0.2554, loss_map_pts: 1.1885, loss_map_dir: 0.0216, d0.loss_plan_l1_fix_time: 2.2657, d0.loss_plan_l1_fix_dist: 0.3905, d1.loss_plan_l1_fix_time: 1.5623, d1.loss_plan_l1_fix_dist: 0.2613, d2.loss_plan_l1_fix_time: 1.5662, d2.loss_plan_l1_fix_dist: 0.2716, d3.loss_plan_l1_fix_time: 1.5724, d3.loss_plan_l1_fix_dist: 0.2831, d4.loss_plan_l1_fix_time: 1.5800, d4.loss_plan_l1_fix_dist: 0.2962, d5.loss_plan_l1_fix_time: 1.5874, d5.loss_plan_l1_fix_dist: 0.3111, d6.loss_plan_l1_fix_time: 1.5946, d6.loss_plan_l1_fix_dist: 0.3321, d0.loss_cls_all: 0.3322, d0.loss_bbox_all: 0.5547, d0.loss_cls: 0.3322, d0.loss_bbox: 0.5547, d1.loss_cls: 0.3260, d1.loss_bbox: 0.5222, d2.loss_cls: 0.3202, d2.loss_bbox: 0.5090, d3.loss_cls: 0.3177, d3.loss_bbox: 0.5035, d4.loss_cls: 0.3135, d4.loss_bbox: 0.5034, d5.loss_cls: 0.3142, d5.loss_bbox: 0.5053, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2498, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1021, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0816, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0883, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0970, d5.loss_traj_cls: 0.0048, d5.loss_traj: 1.0932, d0.loss_map_cls_all: 0.3110, d0.loss_map_pts_all: 2.2684, d0.loss_map_dir_all: 0.0200, d0.loss_map_cls: 0.3110, d0.loss_map_pts: 2.2684, d0.loss_map_dir: 0.0200, d1.loss_map_cls: 0.2874, d1.loss_map_pts: 1.4496, d1.loss_map_dir: 0.0197, d2.loss_map_cls: 0.2735, d2.loss_map_pts: 1.2736, d2.loss_map_dir: 0.0203, d3.loss_map_cls: 0.2654, d3.loss_map_pts: 1.2089, d3.loss_map_dir: 0.0209, d4.loss_map_cls: 0.2573, d4.loss_map_pts: 1.1937, d4.loss_map_dir: 0.0214, d5.loss_map_cls: 0.2550, d5.loss_map_pts: 1.1898, d5.loss_map_dir: 0.0215, loss: 42.8431, grad_norm: 147.9979 +2026-02-25 03:59:48,204 - DriveTransformer - INFO - Epoch [3][36600/39528] lr: 9.831e-05, eta: 7 days, 17:16:48, time: 0.815, data_time: 0.040, memory: 19865, loss_cls: 0.3131, loss_bbox: 0.5003, loss_traj: 1.0221, loss_traj_cls: 0.0039, loss_map_cls: 0.2909, loss_map_pts: 1.2004, loss_map_dir: 0.0195, d0.loss_plan_l1_fix_time: 2.5609, d0.loss_plan_l1_fix_dist: 0.3718, d1.loss_plan_l1_fix_time: 1.5699, d1.loss_plan_l1_fix_dist: 0.2576, d2.loss_plan_l1_fix_time: 1.5694, d2.loss_plan_l1_fix_dist: 0.2674, d3.loss_plan_l1_fix_time: 1.5725, d3.loss_plan_l1_fix_dist: 0.2819, d4.loss_plan_l1_fix_time: 1.5773, d4.loss_plan_l1_fix_dist: 0.2957, d5.loss_plan_l1_fix_time: 1.5824, d5.loss_plan_l1_fix_dist: 0.3105, d6.loss_plan_l1_fix_time: 1.5876, d6.loss_plan_l1_fix_dist: 0.3292, d0.loss_cls_all: 0.3297, d0.loss_bbox_all: 0.5438, d0.loss_cls: 0.3297, d0.loss_bbox: 0.5438, d1.loss_cls: 0.3300, d1.loss_bbox: 0.5117, d2.loss_cls: 0.3181, d2.loss_bbox: 0.5008, d3.loss_cls: 0.3161, d3.loss_bbox: 0.4949, d4.loss_cls: 0.3132, d4.loss_bbox: 0.4955, d5.loss_cls: 0.3130, d5.loss_bbox: 0.4967, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1979, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0405, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0218, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0189, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0203, d5.loss_traj_cls: 0.0050, d5.loss_traj: 1.0214, d0.loss_map_cls_all: 0.3464, d0.loss_map_pts_all: 2.2023, d0.loss_map_dir_all: 0.0179, d0.loss_map_cls: 0.3464, d0.loss_map_pts: 2.2023, d0.loss_map_dir: 0.0179, d1.loss_map_cls: 0.3214, d1.loss_map_pts: 1.4655, d1.loss_map_dir: 0.0178, d2.loss_map_cls: 0.3067, d2.loss_map_pts: 1.3025, d2.loss_map_dir: 0.0183, d3.loss_map_cls: 0.2967, d3.loss_map_pts: 1.2352, d3.loss_map_dir: 0.0188, d4.loss_map_cls: 0.2922, d4.loss_map_pts: 1.2105, d4.loss_map_dir: 0.0191, d5.loss_map_cls: 0.2916, d5.loss_map_pts: 1.2046, d5.loss_map_dir: 0.0194, loss: 42.8051, grad_norm: 147.2403 +2026-02-25 04:00:30,985 - DriveTransformer - INFO - Epoch [3][36650/39528] lr: 9.831e-05, eta: 7 days, 17:16:28, time: 0.856, data_time: 0.041, memory: 19865, loss_cls: 0.2696, loss_bbox: 0.4505, loss_traj: 0.7889, loss_traj_cls: 0.0040, loss_map_cls: 0.2128, loss_map_pts: 0.9874, loss_map_dir: 0.0181, d0.loss_plan_l1_fix_time: 2.6700, d0.loss_plan_l1_fix_dist: 0.4455, d1.loss_plan_l1_fix_time: 1.4834, d1.loss_plan_l1_fix_dist: 0.2759, d2.loss_plan_l1_fix_time: 1.4623, d2.loss_plan_l1_fix_dist: 0.2845, d3.loss_plan_l1_fix_time: 1.4647, d3.loss_plan_l1_fix_dist: 0.2980, d4.loss_plan_l1_fix_time: 1.4704, d4.loss_plan_l1_fix_dist: 0.3156, d5.loss_plan_l1_fix_time: 1.4774, d5.loss_plan_l1_fix_dist: 0.3340, d6.loss_plan_l1_fix_time: 1.4851, d6.loss_plan_l1_fix_dist: 0.3480, d0.loss_cls_all: 0.2900, d0.loss_bbox_all: 0.4899, d0.loss_cls: 0.2900, d0.loss_bbox: 0.4899, d1.loss_cls: 0.2850, d1.loss_bbox: 0.4650, d2.loss_cls: 0.2767, d2.loss_bbox: 0.4511, d3.loss_cls: 0.2732, d3.loss_bbox: 0.4476, d4.loss_cls: 0.2697, d4.loss_bbox: 0.4475, d5.loss_cls: 0.2688, d5.loss_bbox: 0.4483, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8943, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7997, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7710, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7752, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7821, d5.loss_traj_cls: 0.0050, d5.loss_traj: 0.7852, d0.loss_map_cls_all: 0.2588, d0.loss_map_pts_all: 1.9587, d0.loss_map_dir_all: 0.0164, d0.loss_map_cls: 0.2588, d0.loss_map_pts: 1.9587, d0.loss_map_dir: 0.0164, d1.loss_map_cls: 0.2372, d1.loss_map_pts: 1.2344, d1.loss_map_dir: 0.0162, d2.loss_map_cls: 0.2259, d2.loss_map_pts: 1.0810, d2.loss_map_dir: 0.0168, d3.loss_map_cls: 0.2208, d3.loss_map_pts: 1.0177, d3.loss_map_dir: 0.0175, d4.loss_map_cls: 0.2148, d4.loss_map_pts: 0.9952, d4.loss_map_dir: 0.0178, d5.loss_map_cls: 0.2134, d5.loss_map_pts: 0.9874, d5.loss_map_dir: 0.0180, loss: 37.5381, grad_norm: 146.3693 +2026-02-25 04:01:11,947 - DriveTransformer - INFO - Epoch [3][36700/39528] lr: 9.831e-05, eta: 7 days, 17:15:54, time: 0.819, data_time: 0.043, memory: 19865, loss_cls: 0.3329, loss_bbox: 0.5259, loss_traj: 0.9356, loss_traj_cls: 0.0039, loss_map_cls: 0.2863, loss_map_pts: 1.3345, loss_map_dir: 0.0216, d0.loss_plan_l1_fix_time: 2.8517, d0.loss_plan_l1_fix_dist: 0.5014, d1.loss_plan_l1_fix_time: 1.7760, d1.loss_plan_l1_fix_dist: 0.2999, d2.loss_plan_l1_fix_time: 1.7477, d2.loss_plan_l1_fix_dist: 0.3060, d3.loss_plan_l1_fix_time: 1.7480, d3.loss_plan_l1_fix_dist: 0.3173, d4.loss_plan_l1_fix_time: 1.7527, d4.loss_plan_l1_fix_dist: 0.3311, d5.loss_plan_l1_fix_time: 1.7583, d5.loss_plan_l1_fix_dist: 0.3461, d6.loss_plan_l1_fix_time: 1.7648, d6.loss_plan_l1_fix_dist: 0.3648, d0.loss_cls_all: 0.3468, d0.loss_bbox_all: 0.5712, d0.loss_cls: 0.3468, d0.loss_bbox: 0.5712, d1.loss_cls: 0.3371, d1.loss_bbox: 0.5486, d2.loss_cls: 0.3305, d2.loss_bbox: 0.5337, d3.loss_cls: 0.3302, d3.loss_bbox: 0.5272, d4.loss_cls: 0.3305, d4.loss_bbox: 0.5256, d5.loss_cls: 0.3310, d5.loss_bbox: 0.5255, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2066, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0192, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9587, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9461, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9375, d5.loss_traj_cls: 0.0049, d5.loss_traj: 0.9339, d0.loss_map_cls_all: 0.3292, d0.loss_map_pts_all: 2.2947, d0.loss_map_dir_all: 0.0197, d0.loss_map_cls: 0.3292, d0.loss_map_pts: 2.2947, d0.loss_map_dir: 0.0197, d1.loss_map_cls: 0.3070, d1.loss_map_pts: 1.5860, d1.loss_map_dir: 0.0197, d2.loss_map_cls: 0.2935, d2.loss_map_pts: 1.4175, d2.loss_map_dir: 0.0203, d3.loss_map_cls: 0.2898, d3.loss_map_pts: 1.3604, d3.loss_map_dir: 0.0209, d4.loss_map_cls: 0.2870, d4.loss_map_pts: 1.3397, d4.loss_map_dir: 0.0212, d5.loss_map_cls: 0.2855, d5.loss_map_pts: 1.3340, d5.loss_map_dir: 0.0215, loss: 45.3652, grad_norm: 147.0818 +2026-02-25 04:01:51,418 - DriveTransformer - INFO - Epoch [3][36750/39528] lr: 9.831e-05, eta: 7 days, 17:15:10, time: 0.789, data_time: 0.037, memory: 19865, loss_cls: 0.3246, loss_bbox: 0.4884, loss_traj: 1.0977, loss_traj_cls: 0.0039, loss_map_cls: 0.2654, loss_map_pts: 1.1199, loss_map_dir: 0.0173, d0.loss_plan_l1_fix_time: 2.6195, d0.loss_plan_l1_fix_dist: 0.3691, d1.loss_plan_l1_fix_time: 1.5663, d1.loss_plan_l1_fix_dist: 0.2117, d2.loss_plan_l1_fix_time: 1.5457, d2.loss_plan_l1_fix_dist: 0.2216, d3.loss_plan_l1_fix_time: 1.5489, d3.loss_plan_l1_fix_dist: 0.2328, d4.loss_plan_l1_fix_time: 1.5560, d4.loss_plan_l1_fix_dist: 0.2449, d5.loss_plan_l1_fix_time: 1.5635, d5.loss_plan_l1_fix_dist: 0.2605, d6.loss_plan_l1_fix_time: 1.5717, d6.loss_plan_l1_fix_dist: 0.2817, d0.loss_cls_all: 0.3418, d0.loss_bbox_all: 0.5406, d0.loss_cls: 0.3418, d0.loss_bbox: 0.5406, d1.loss_cls: 0.3349, d1.loss_bbox: 0.5130, d2.loss_cls: 0.3260, d2.loss_bbox: 0.5012, d3.loss_cls: 0.3227, d3.loss_bbox: 0.4981, d4.loss_cls: 0.3230, d4.loss_bbox: 0.4940, d5.loss_cls: 0.3238, d5.loss_bbox: 0.4912, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3063, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.1165, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0889, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0930, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0935, d5.loss_traj_cls: 0.0050, d5.loss_traj: 1.0957, d0.loss_map_cls_all: 0.3156, d0.loss_map_pts_all: 1.9016, d0.loss_map_dir_all: 0.0154, d0.loss_map_cls: 0.3156, d0.loss_map_pts: 1.9016, d0.loss_map_dir: 0.0154, d1.loss_map_cls: 0.2903, d1.loss_map_pts: 1.3434, d1.loss_map_dir: 0.0156, d2.loss_map_cls: 0.2786, d2.loss_map_pts: 1.1968, d2.loss_map_dir: 0.0162, d3.loss_map_cls: 0.2711, d3.loss_map_pts: 1.1416, d3.loss_map_dir: 0.0167, d4.loss_map_cls: 0.2671, d4.loss_map_pts: 1.1224, d4.loss_map_dir: 0.0170, d5.loss_map_cls: 0.2656, d5.loss_map_pts: 1.1191, d5.loss_map_dir: 0.0171, loss: 41.6512, grad_norm: 146.6746 +2026-02-25 04:02:32,414 - DriveTransformer - INFO - Epoch [3][36800/39528] lr: 9.831e-05, eta: 7 days, 17:14:37, time: 0.820, data_time: 0.041, memory: 19865, loss_cls: 0.3006, loss_bbox: 0.4930, loss_traj: 0.8253, loss_traj_cls: 0.0039, loss_map_cls: 0.2372, loss_map_pts: 1.0687, loss_map_dir: 0.0173, d0.loss_plan_l1_fix_time: 2.7634, d0.loss_plan_l1_fix_dist: 0.4529, d1.loss_plan_l1_fix_time: 1.7575, d1.loss_plan_l1_fix_dist: 0.2712, d2.loss_plan_l1_fix_time: 1.7458, d2.loss_plan_l1_fix_dist: 0.2805, d3.loss_plan_l1_fix_time: 1.7570, d3.loss_plan_l1_fix_dist: 0.2943, d4.loss_plan_l1_fix_time: 1.7664, d4.loss_plan_l1_fix_dist: 0.3110, d5.loss_plan_l1_fix_time: 1.7751, d5.loss_plan_l1_fix_dist: 0.3285, d6.loss_plan_l1_fix_time: 1.7848, d6.loss_plan_l1_fix_dist: 0.3480, d0.loss_cls_all: 0.3295, d0.loss_bbox_all: 0.5242, d0.loss_cls: 0.3295, d0.loss_bbox: 0.5242, d1.loss_cls: 0.3174, d1.loss_bbox: 0.5003, d2.loss_cls: 0.3069, d2.loss_bbox: 0.4914, d3.loss_cls: 0.3027, d3.loss_bbox: 0.4879, d4.loss_cls: 0.3006, d4.loss_bbox: 0.4860, d5.loss_cls: 0.3010, d5.loss_bbox: 0.4881, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0255, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8525, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8327, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8236, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8263, d5.loss_traj_cls: 0.0049, d5.loss_traj: 0.8269, d0.loss_map_cls_all: 0.2940, d0.loss_map_pts_all: 1.8553, d0.loss_map_dir_all: 0.0160, d0.loss_map_cls: 0.2940, d0.loss_map_pts: 1.8553, d0.loss_map_dir: 0.0160, d1.loss_map_cls: 0.2668, d1.loss_map_pts: 1.2858, d1.loss_map_dir: 0.0161, d2.loss_map_cls: 0.2538, d2.loss_map_pts: 1.1406, d2.loss_map_dir: 0.0164, d3.loss_map_cls: 0.2449, d3.loss_map_pts: 1.0872, d3.loss_map_dir: 0.0168, d4.loss_map_cls: 0.2401, d4.loss_map_pts: 1.0720, d4.loss_map_dir: 0.0171, d5.loss_map_cls: 0.2387, d5.loss_map_pts: 1.0683, d5.loss_map_dir: 0.0172, loss: 40.7816, grad_norm: 148.3018 +2026-02-25 04:03:13,782 - DriveTransformer - INFO - Epoch [3][36850/39528] lr: 9.831e-05, eta: 7 days, 17:14:07, time: 0.827, data_time: 0.043, memory: 19865, loss_cls: 0.3243, loss_bbox: 0.4909, loss_traj: 1.1899, loss_traj_cls: 0.0037, loss_map_cls: 0.2594, loss_map_pts: 0.9705, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 2.8765, d0.loss_plan_l1_fix_dist: 0.3911, d1.loss_plan_l1_fix_time: 2.0105, d1.loss_plan_l1_fix_dist: 0.2516, d2.loss_plan_l1_fix_time: 1.9940, d2.loss_plan_l1_fix_dist: 0.2578, d3.loss_plan_l1_fix_time: 1.9926, d3.loss_plan_l1_fix_dist: 0.2687, d4.loss_plan_l1_fix_time: 1.9954, d4.loss_plan_l1_fix_dist: 0.2846, d5.loss_plan_l1_fix_time: 2.0000, d5.loss_plan_l1_fix_dist: 0.3012, d6.loss_plan_l1_fix_time: 2.0061, d6.loss_plan_l1_fix_dist: 0.3171, d0.loss_cls_all: 0.3352, d0.loss_bbox_all: 0.5451, d0.loss_cls: 0.3352, d0.loss_bbox: 0.5451, d1.loss_cls: 0.3314, d1.loss_bbox: 0.5063, d2.loss_cls: 0.3263, d2.loss_bbox: 0.4941, d3.loss_cls: 0.3244, d3.loss_bbox: 0.4891, d4.loss_cls: 0.3241, d4.loss_bbox: 0.4877, d5.loss_cls: 0.3230, d5.loss_bbox: 0.4915, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4306, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.2297, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1900, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1892, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.1873, d5.loss_traj_cls: 0.0047, d5.loss_traj: 1.1883, d0.loss_map_cls_all: 0.3226, d0.loss_map_pts_all: 1.6803, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.3226, d0.loss_map_pts: 1.6803, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2902, d1.loss_map_pts: 1.1856, d1.loss_map_dir: 0.0129, d2.loss_map_cls: 0.2759, d2.loss_map_pts: 1.0496, d2.loss_map_dir: 0.0133, d3.loss_map_cls: 0.2669, d3.loss_map_pts: 0.9933, d3.loss_map_dir: 0.0138, d4.loss_map_cls: 0.2624, d4.loss_map_pts: 0.9722, d4.loss_map_dir: 0.0141, d5.loss_map_cls: 0.2599, d5.loss_map_pts: 0.9704, d5.loss_map_dir: 0.0142, loss: 44.1093, grad_norm: 145.7804 +2026-02-25 04:03:52,836 - DriveTransformer - INFO - Epoch [3][36900/39528] lr: 9.831e-05, eta: 7 days, 17:13:20, time: 0.781, data_time: 0.039, memory: 19865, loss_cls: 0.3128, loss_bbox: 0.4807, loss_traj: 0.9263, loss_traj_cls: 0.0038, loss_map_cls: 0.2473, loss_map_pts: 0.9466, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 3.1933, d0.loss_plan_l1_fix_dist: 0.4441, d1.loss_plan_l1_fix_time: 1.7372, d1.loss_plan_l1_fix_dist: 0.2387, d2.loss_plan_l1_fix_time: 1.7044, d2.loss_plan_l1_fix_dist: 0.2483, d3.loss_plan_l1_fix_time: 1.7015, d3.loss_plan_l1_fix_dist: 0.2641, d4.loss_plan_l1_fix_time: 1.7041, d4.loss_plan_l1_fix_dist: 0.2800, d5.loss_plan_l1_fix_time: 1.7079, d5.loss_plan_l1_fix_dist: 0.2952, d6.loss_plan_l1_fix_time: 1.7125, d6.loss_plan_l1_fix_dist: 0.3120, d0.loss_cls_all: 0.3308, d0.loss_bbox_all: 0.5382, d0.loss_cls: 0.3308, d0.loss_bbox: 0.5382, d1.loss_cls: 0.3215, d1.loss_bbox: 0.5071, d2.loss_cls: 0.3151, d2.loss_bbox: 0.4942, d3.loss_cls: 0.3116, d3.loss_bbox: 0.4867, d4.loss_cls: 0.3081, d4.loss_bbox: 0.4842, d5.loss_cls: 0.3095, d5.loss_bbox: 0.4806, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1758, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9854, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9528, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9347, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9261, d5.loss_traj_cls: 0.0048, d5.loss_traj: 0.9235, d0.loss_map_cls_all: 0.2972, d0.loss_map_pts_all: 1.6728, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.2972, d0.loss_map_pts: 1.6728, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2711, d1.loss_map_pts: 1.1598, d1.loss_map_dir: 0.0135, d2.loss_map_cls: 0.2590, d2.loss_map_pts: 1.0262, d2.loss_map_dir: 0.0140, d3.loss_map_cls: 0.2527, d3.loss_map_pts: 0.9726, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2478, d4.loss_map_pts: 0.9548, d4.loss_map_dir: 0.0147, d5.loss_map_cls: 0.2480, d5.loss_map_pts: 0.9468, d5.loss_map_dir: 0.0148, loss: 40.5168, grad_norm: 145.1192 +2026-02-25 04:04:32,106 - DriveTransformer - INFO - Epoch [3][36950/39528] lr: 9.831e-05, eta: 7 days, 17:12:34, time: 0.785, data_time: 0.043, memory: 19865, loss_cls: 0.3030, loss_bbox: 0.4541, loss_traj: 1.0062, loss_traj_cls: 0.0038, loss_map_cls: 0.2299, loss_map_pts: 0.9538, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.2901, d0.loss_plan_l1_fix_dist: 0.4584, d1.loss_plan_l1_fix_time: 1.4538, d1.loss_plan_l1_fix_dist: 0.2270, d2.loss_plan_l1_fix_time: 1.4446, d2.loss_plan_l1_fix_dist: 0.2413, d3.loss_plan_l1_fix_time: 1.4471, d3.loss_plan_l1_fix_dist: 0.2567, d4.loss_plan_l1_fix_time: 1.4526, d4.loss_plan_l1_fix_dist: 0.2704, d5.loss_plan_l1_fix_time: 1.4582, d5.loss_plan_l1_fix_dist: 0.2855, d6.loss_plan_l1_fix_time: 1.4642, d6.loss_plan_l1_fix_dist: 0.3009, d0.loss_cls_all: 0.3221, d0.loss_bbox_all: 0.5081, d0.loss_cls: 0.3221, d0.loss_bbox: 0.5081, d1.loss_cls: 0.3171, d1.loss_bbox: 0.4726, d2.loss_cls: 0.3107, d2.loss_bbox: 0.4562, d3.loss_cls: 0.3078, d3.loss_bbox: 0.4521, d4.loss_cls: 0.3052, d4.loss_bbox: 0.4501, d5.loss_cls: 0.3036, d5.loss_bbox: 0.4518, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2311, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0752, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0243, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0151, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0126, d5.loss_traj_cls: 0.0046, d5.loss_traj: 1.0022, d0.loss_map_cls_all: 0.2864, d0.loss_map_pts_all: 1.7592, d0.loss_map_dir_all: 0.0140, d0.loss_map_cls: 0.2864, d0.loss_map_pts: 1.7592, d0.loss_map_dir: 0.0140, d1.loss_map_cls: 0.2566, d1.loss_map_pts: 1.1475, d1.loss_map_dir: 0.0138, d2.loss_map_cls: 0.2441, d2.loss_map_pts: 1.0145, d2.loss_map_dir: 0.0140, d3.loss_map_cls: 0.2355, d3.loss_map_pts: 0.9679, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2317, d4.loss_map_pts: 0.9523, d4.loss_map_dir: 0.0147, d5.loss_map_cls: 0.2297, d5.loss_map_pts: 0.9504, d5.loss_map_dir: 0.0148, loss: 38.2951, grad_norm: 144.7075 +2026-02-25 04:05:11,803 - DriveTransformer - INFO - Epoch [3][37000/39528] lr: 9.831e-05, eta: 7 days, 17:11:52, time: 0.794, data_time: 0.044, memory: 19865, loss_cls: 0.3160, loss_bbox: 0.5189, loss_traj: 0.9888, loss_traj_cls: 0.0038, loss_map_cls: 0.2658, loss_map_pts: 1.1099, loss_map_dir: 0.0156, d0.loss_plan_l1_fix_time: 2.6965, d0.loss_plan_l1_fix_dist: 0.3947, d1.loss_plan_l1_fix_time: 1.7042, d1.loss_plan_l1_fix_dist: 0.2422, d2.loss_plan_l1_fix_time: 1.6794, d2.loss_plan_l1_fix_dist: 0.2520, d3.loss_plan_l1_fix_time: 1.6773, d3.loss_plan_l1_fix_dist: 0.2670, d4.loss_plan_l1_fix_time: 1.6786, d4.loss_plan_l1_fix_dist: 0.2843, d5.loss_plan_l1_fix_time: 1.6811, d5.loss_plan_l1_fix_dist: 0.3042, d6.loss_plan_l1_fix_time: 1.6841, d6.loss_plan_l1_fix_dist: 0.3230, d0.loss_cls_all: 0.3432, d0.loss_bbox_all: 0.5610, d0.loss_cls: 0.3432, d0.loss_bbox: 0.5610, d1.loss_cls: 0.3322, d1.loss_bbox: 0.5323, d2.loss_cls: 0.3244, d2.loss_bbox: 0.5205, d3.loss_cls: 0.3215, d3.loss_bbox: 0.5168, d4.loss_cls: 0.3184, d4.loss_bbox: 0.5160, d5.loss_cls: 0.3168, d5.loss_bbox: 0.5168, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1979, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0463, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0043, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9947, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9927, d5.loss_traj_cls: 0.0047, d5.loss_traj: 0.9853, d0.loss_map_cls_all: 0.3200, d0.loss_map_pts_all: 1.8856, d0.loss_map_dir_all: 0.0142, d0.loss_map_cls: 0.3200, d0.loss_map_pts: 1.8856, d0.loss_map_dir: 0.0142, d1.loss_map_cls: 0.2977, d1.loss_map_pts: 1.2888, d1.loss_map_dir: 0.0139, d2.loss_map_cls: 0.2843, d2.loss_map_pts: 1.1619, d2.loss_map_dir: 0.0145, d3.loss_map_cls: 0.2768, d3.loss_map_pts: 1.1191, d3.loss_map_dir: 0.0152, d4.loss_map_cls: 0.2702, d4.loss_map_pts: 1.1070, d4.loss_map_dir: 0.0153, d5.loss_map_cls: 0.2680, d5.loss_map_pts: 1.1055, d5.loss_map_dir: 0.0155, loss: 42.0359, grad_norm: 145.2799 +2026-02-25 04:05:52,051 - DriveTransformer - INFO - Epoch [3][37050/39528] lr: 9.831e-05, eta: 7 days, 17:11:13, time: 0.805, data_time: 0.044, memory: 19865, loss_cls: 0.3230, loss_bbox: 0.4893, loss_traj: 0.9121, loss_traj_cls: 0.0037, loss_map_cls: 0.2575, loss_map_pts: 1.0377, loss_map_dir: 0.0197, d0.loss_plan_l1_fix_time: 2.7355, d0.loss_plan_l1_fix_dist: 0.3891, d1.loss_plan_l1_fix_time: 1.8218, d1.loss_plan_l1_fix_dist: 0.2369, d2.loss_plan_l1_fix_time: 1.8037, d2.loss_plan_l1_fix_dist: 0.2473, d3.loss_plan_l1_fix_time: 1.8054, d3.loss_plan_l1_fix_dist: 0.2620, d4.loss_plan_l1_fix_time: 1.8100, d4.loss_plan_l1_fix_dist: 0.2786, d5.loss_plan_l1_fix_time: 1.8154, d5.loss_plan_l1_fix_dist: 0.2976, d6.loss_plan_l1_fix_time: 1.8210, d6.loss_plan_l1_fix_dist: 0.3199, d0.loss_cls_all: 0.3479, d0.loss_bbox_all: 0.5328, d0.loss_cls: 0.3479, d0.loss_bbox: 0.5328, d1.loss_cls: 0.3392, d1.loss_bbox: 0.5043, d2.loss_cls: 0.3336, d2.loss_bbox: 0.4904, d3.loss_cls: 0.3286, d3.loss_bbox: 0.4870, d4.loss_cls: 0.3231, d4.loss_bbox: 0.4879, d5.loss_cls: 0.3240, d5.loss_bbox: 0.4867, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1103, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9734, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9250, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9108, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9144, d5.loss_traj_cls: 0.0045, d5.loss_traj: 0.9144, d0.loss_map_cls_all: 0.3066, d0.loss_map_pts_all: 1.9099, d0.loss_map_dir_all: 0.0181, d0.loss_map_cls: 0.3066, d0.loss_map_pts: 1.9099, d0.loss_map_dir: 0.0181, d1.loss_map_cls: 0.2859, d1.loss_map_pts: 1.2583, d1.loss_map_dir: 0.0178, d2.loss_map_cls: 0.2741, d2.loss_map_pts: 1.1118, d2.loss_map_dir: 0.0185, d3.loss_map_cls: 0.2639, d3.loss_map_pts: 1.0572, d3.loss_map_dir: 0.0190, d4.loss_map_cls: 0.2597, d4.loss_map_pts: 1.0425, d4.loss_map_dir: 0.0194, d5.loss_map_cls: 0.2574, d5.loss_map_pts: 1.0386, d5.loss_map_dir: 0.0195, loss: 41.7235, grad_norm: 146.7452 +2026-02-25 04:06:31,975 - DriveTransformer - INFO - Epoch [3][37100/39528] lr: 9.831e-05, eta: 7 days, 17:10:32, time: 0.798, data_time: 0.041, memory: 19865, loss_cls: 0.3220, loss_bbox: 0.4935, loss_traj: 1.0138, loss_traj_cls: 0.0036, loss_map_cls: 0.2624, loss_map_pts: 1.1032, loss_map_dir: 0.0203, d0.loss_plan_l1_fix_time: 2.5536, d0.loss_plan_l1_fix_dist: 0.4646, d1.loss_plan_l1_fix_time: 1.7543, d1.loss_plan_l1_fix_dist: 0.3054, d2.loss_plan_l1_fix_time: 1.7527, d2.loss_plan_l1_fix_dist: 0.3156, d3.loss_plan_l1_fix_time: 1.7611, d3.loss_plan_l1_fix_dist: 0.3309, d4.loss_plan_l1_fix_time: 1.7676, d4.loss_plan_l1_fix_dist: 0.3492, d5.loss_plan_l1_fix_time: 1.7740, d5.loss_plan_l1_fix_dist: 0.3740, d6.loss_plan_l1_fix_time: 1.7807, d6.loss_plan_l1_fix_dist: 0.4012, d0.loss_cls_all: 0.3412, d0.loss_bbox_all: 0.5396, d0.loss_cls: 0.3412, d0.loss_bbox: 0.5396, d1.loss_cls: 0.3347, d1.loss_bbox: 0.5081, d2.loss_cls: 0.3261, d2.loss_bbox: 0.4934, d3.loss_cls: 0.3249, d3.loss_bbox: 0.4884, d4.loss_cls: 0.3203, d4.loss_bbox: 0.4907, d5.loss_cls: 0.3213, d5.loss_bbox: 0.4917, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1966, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0605, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0139, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0017, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0066, d5.loss_traj_cls: 0.0045, d5.loss_traj: 1.0086, d0.loss_map_cls_all: 0.3223, d0.loss_map_pts_all: 2.0471, d0.loss_map_dir_all: 0.0189, d0.loss_map_cls: 0.3223, d0.loss_map_pts: 2.0471, d0.loss_map_dir: 0.0189, d1.loss_map_cls: 0.2946, d1.loss_map_pts: 1.3465, d1.loss_map_dir: 0.0186, d2.loss_map_cls: 0.2810, d2.loss_map_pts: 1.1954, d2.loss_map_dir: 0.0191, d3.loss_map_cls: 0.2744, d3.loss_map_pts: 1.1365, d3.loss_map_dir: 0.0197, d4.loss_map_cls: 0.2673, d4.loss_map_pts: 1.1156, d4.loss_map_dir: 0.0199, d5.loss_map_cls: 0.2626, d5.loss_map_pts: 1.1078, d5.loss_map_dir: 0.0201, loss: 43.2174, grad_norm: 143.1829 +2026-02-25 04:07:14,161 - DriveTransformer - INFO - Epoch [3][37150/39528] lr: 9.831e-05, eta: 7 days, 17:10:07, time: 0.844, data_time: 0.048, memory: 19865, loss_cls: 0.3528, loss_bbox: 0.5237, loss_traj: 1.2364, loss_traj_cls: 0.0036, loss_map_cls: 0.2716, loss_map_pts: 1.2539, loss_map_dir: 0.0193, d0.loss_plan_l1_fix_time: 2.7474, d0.loss_plan_l1_fix_dist: 0.4662, d1.loss_plan_l1_fix_time: 2.0674, d1.loss_plan_l1_fix_dist: 0.3228, d2.loss_plan_l1_fix_time: 2.0491, d2.loss_plan_l1_fix_dist: 0.3257, d3.loss_plan_l1_fix_time: 2.0486, d3.loss_plan_l1_fix_dist: 0.3346, d4.loss_plan_l1_fix_time: 2.0517, d4.loss_plan_l1_fix_dist: 0.3468, d5.loss_plan_l1_fix_time: 2.0556, d5.loss_plan_l1_fix_dist: 0.3614, d6.loss_plan_l1_fix_time: 2.0611, d6.loss_plan_l1_fix_dist: 0.3799, d0.loss_cls_all: 0.3658, d0.loss_bbox_all: 0.5845, d0.loss_cls: 0.3658, d0.loss_bbox: 0.5845, d1.loss_cls: 0.3627, d1.loss_bbox: 0.5510, d2.loss_cls: 0.3567, d2.loss_bbox: 0.5387, d3.loss_cls: 0.3530, d3.loss_bbox: 0.5322, d4.loss_cls: 0.3515, d4.loss_bbox: 0.5267, d5.loss_cls: 0.3525, d5.loss_bbox: 0.5254, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.4627, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2700, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.2387, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2255, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.2442, d5.loss_traj_cls: 0.0044, d5.loss_traj: 1.2427, d0.loss_map_cls_all: 0.3440, d0.loss_map_pts_all: 2.0923, d0.loss_map_dir_all: 0.0176, d0.loss_map_cls: 0.3440, d0.loss_map_pts: 2.0923, d0.loss_map_dir: 0.0176, d1.loss_map_cls: 0.3087, d1.loss_map_pts: 1.4871, d1.loss_map_dir: 0.0178, d2.loss_map_cls: 0.2904, d2.loss_map_pts: 1.3366, d2.loss_map_dir: 0.0183, d3.loss_map_cls: 0.2808, d3.loss_map_pts: 1.2825, d3.loss_map_dir: 0.0188, d4.loss_map_cls: 0.2739, d4.loss_map_pts: 1.2627, d4.loss_map_dir: 0.0191, d5.loss_map_cls: 0.2727, d5.loss_map_pts: 1.2557, d5.loss_map_dir: 0.0193, loss: 48.3761, grad_norm: 143.9317 +2026-02-25 04:07:53,721 - DriveTransformer - INFO - Epoch [3][37200/39528] lr: 9.831e-05, eta: 7 days, 17:09:25, time: 0.793, data_time: 0.048, memory: 19865, loss_cls: 0.3063, loss_bbox: 0.5001, loss_traj: 1.1734, loss_traj_cls: 0.0036, loss_map_cls: 0.2622, loss_map_pts: 1.0593, loss_map_dir: 0.0180, d0.loss_plan_l1_fix_time: 2.7674, d0.loss_plan_l1_fix_dist: 0.4759, d1.loss_plan_l1_fix_time: 1.9753, d1.loss_plan_l1_fix_dist: 0.3047, d2.loss_plan_l1_fix_time: 1.9627, d2.loss_plan_l1_fix_dist: 0.3159, d3.loss_plan_l1_fix_time: 1.9597, d3.loss_plan_l1_fix_dist: 0.3315, d4.loss_plan_l1_fix_time: 1.9625, d4.loss_plan_l1_fix_dist: 0.3476, d5.loss_plan_l1_fix_time: 1.9665, d5.loss_plan_l1_fix_dist: 0.3654, d6.loss_plan_l1_fix_time: 1.9717, d6.loss_plan_l1_fix_dist: 0.3835, d0.loss_cls_all: 0.3290, d0.loss_bbox_all: 0.5542, d0.loss_cls: 0.3290, d0.loss_bbox: 0.5542, d1.loss_cls: 0.3222, d1.loss_bbox: 0.5215, d2.loss_cls: 0.3117, d2.loss_bbox: 0.5083, d3.loss_cls: 0.3089, d3.loss_bbox: 0.5015, d4.loss_cls: 0.3084, d4.loss_bbox: 0.4973, d5.loss_cls: 0.3063, d5.loss_bbox: 0.4992, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4105, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.2345, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1814, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1694, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.1811, d5.loss_traj_cls: 0.0043, d5.loss_traj: 1.1777, d0.loss_map_cls_all: 0.3115, d0.loss_map_pts_all: 1.8969, d0.loss_map_dir_all: 0.0172, d0.loss_map_cls: 0.3115, d0.loss_map_pts: 1.8969, d0.loss_map_dir: 0.0172, d1.loss_map_cls: 0.2873, d1.loss_map_pts: 1.2557, d1.loss_map_dir: 0.0165, d2.loss_map_cls: 0.2763, d2.loss_map_pts: 1.1200, d2.loss_map_dir: 0.0169, d3.loss_map_cls: 0.2703, d3.loss_map_pts: 1.0705, d3.loss_map_dir: 0.0175, d4.loss_map_cls: 0.2634, d4.loss_map_pts: 1.0595, d4.loss_map_dir: 0.0178, d5.loss_map_cls: 0.2636, d5.loss_map_pts: 1.0583, d5.loss_map_dir: 0.0179, loss: 45.0912, grad_norm: 144.8611 +2026-02-25 04:08:33,620 - DriveTransformer - INFO - Epoch [3][37250/39528] lr: 9.831e-05, eta: 7 days, 17:08:43, time: 0.797, data_time: 0.038, memory: 19865, loss_cls: 0.3238, loss_bbox: 0.4999, loss_traj: 0.9703, loss_traj_cls: 0.0034, loss_map_cls: 0.2500, loss_map_pts: 1.0467, loss_map_dir: 0.0183, d0.loss_plan_l1_fix_time: 2.5258, d0.loss_plan_l1_fix_dist: 0.4007, d1.loss_plan_l1_fix_time: 1.5463, d1.loss_plan_l1_fix_dist: 0.2589, d2.loss_plan_l1_fix_time: 1.5393, d2.loss_plan_l1_fix_dist: 0.2685, d3.loss_plan_l1_fix_time: 1.5406, d3.loss_plan_l1_fix_dist: 0.2814, d4.loss_plan_l1_fix_time: 1.5448, d4.loss_plan_l1_fix_dist: 0.2976, d5.loss_plan_l1_fix_time: 1.5492, d5.loss_plan_l1_fix_dist: 0.3163, d6.loss_plan_l1_fix_time: 1.5541, d6.loss_plan_l1_fix_dist: 0.3351, d0.loss_cls_all: 0.3336, d0.loss_bbox_all: 0.5427, d0.loss_cls: 0.3336, d0.loss_bbox: 0.5427, d1.loss_cls: 0.3319, d1.loss_bbox: 0.5126, d2.loss_cls: 0.3252, d2.loss_bbox: 0.5033, d3.loss_cls: 0.3235, d3.loss_bbox: 0.4966, d4.loss_cls: 0.3229, d4.loss_bbox: 0.4940, d5.loss_cls: 0.3251, d5.loss_bbox: 0.4950, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0870, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9801, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9471, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9612, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9678, d5.loss_traj_cls: 0.0042, d5.loss_traj: 0.9681, d0.loss_map_cls_all: 0.3095, d0.loss_map_pts_all: 1.8433, d0.loss_map_dir_all: 0.0167, d0.loss_map_cls: 0.3095, d0.loss_map_pts: 1.8433, d0.loss_map_dir: 0.0167, d1.loss_map_cls: 0.2820, d1.loss_map_pts: 1.2351, d1.loss_map_dir: 0.0168, d2.loss_map_cls: 0.2681, d2.loss_map_pts: 1.1038, d2.loss_map_dir: 0.0172, d3.loss_map_cls: 0.2581, d3.loss_map_pts: 1.0559, d3.loss_map_dir: 0.0177, d4.loss_map_cls: 0.2532, d4.loss_map_pts: 1.0460, d4.loss_map_dir: 0.0180, d5.loss_map_cls: 0.2514, d5.loss_map_pts: 1.0480, d5.loss_map_dir: 0.0181, loss: 40.1027, grad_norm: 146.9372 +2026-02-25 04:09:16,061 - DriveTransformer - INFO - Epoch [3][37300/39528] lr: 9.831e-05, eta: 7 days, 17:08:20, time: 0.849, data_time: 0.045, memory: 19865, loss_cls: 0.3127, loss_bbox: 0.4836, loss_traj: 0.8914, loss_traj_cls: 0.0034, loss_map_cls: 0.2512, loss_map_pts: 1.2000, loss_map_dir: 0.0199, d0.loss_plan_l1_fix_time: 2.5885, d0.loss_plan_l1_fix_dist: 0.5326, d1.loss_plan_l1_fix_time: 1.7560, d1.loss_plan_l1_fix_dist: 0.3110, d2.loss_plan_l1_fix_time: 1.7336, d2.loss_plan_l1_fix_dist: 0.3157, d3.loss_plan_l1_fix_time: 1.7344, d3.loss_plan_l1_fix_dist: 0.3253, d4.loss_plan_l1_fix_time: 1.7384, d4.loss_plan_l1_fix_dist: 0.3374, d5.loss_plan_l1_fix_time: 1.7433, d5.loss_plan_l1_fix_dist: 0.3504, d6.loss_plan_l1_fix_time: 1.7484, d6.loss_plan_l1_fix_dist: 0.3637, d0.loss_cls_all: 0.3231, d0.loss_bbox_all: 0.5269, d0.loss_cls: 0.3231, d0.loss_bbox: 0.5269, d1.loss_cls: 0.3190, d1.loss_bbox: 0.5015, d2.loss_cls: 0.3127, d2.loss_bbox: 0.4903, d3.loss_cls: 0.3107, d3.loss_bbox: 0.4837, d4.loss_cls: 0.3103, d4.loss_bbox: 0.4821, d5.loss_cls: 0.3119, d5.loss_bbox: 0.4804, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9697, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8970, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8739, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8827, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8865, d5.loss_traj_cls: 0.0041, d5.loss_traj: 0.8894, d0.loss_map_cls_all: 0.3024, d0.loss_map_pts_all: 2.1711, d0.loss_map_dir_all: 0.0184, d0.loss_map_cls: 0.3024, d0.loss_map_pts: 2.1711, d0.loss_map_dir: 0.0184, d1.loss_map_cls: 0.2790, d1.loss_map_pts: 1.4329, d1.loss_map_dir: 0.0183, d2.loss_map_cls: 0.2673, d2.loss_map_pts: 1.2837, d2.loss_map_dir: 0.0186, d3.loss_map_cls: 0.2603, d3.loss_map_pts: 1.2196, d3.loss_map_dir: 0.0192, d4.loss_map_cls: 0.2543, d4.loss_map_pts: 1.2021, d4.loss_map_dir: 0.0195, d5.loss_map_cls: 0.2512, d5.loss_map_pts: 1.2004, d5.loss_map_dir: 0.0196, loss: 42.5808, grad_norm: 146.7170 +2026-02-25 04:09:57,999 - DriveTransformer - INFO - Epoch [3][37350/39528] lr: 9.831e-05, eta: 7 days, 17:07:54, time: 0.839, data_time: 0.038, memory: 19865, loss_cls: 0.3122, loss_bbox: 0.4971, loss_traj: 0.7584, loss_traj_cls: 0.0035, loss_map_cls: 0.2561, loss_map_pts: 1.0897, loss_map_dir: 0.0198, d0.loss_plan_l1_fix_time: 2.5387, d0.loss_plan_l1_fix_dist: 0.4518, d1.loss_plan_l1_fix_time: 1.5242, d1.loss_plan_l1_fix_dist: 0.2776, d2.loss_plan_l1_fix_time: 1.4946, d2.loss_plan_l1_fix_dist: 0.2890, d3.loss_plan_l1_fix_time: 1.4936, d3.loss_plan_l1_fix_dist: 0.3026, d4.loss_plan_l1_fix_time: 1.4952, d4.loss_plan_l1_fix_dist: 0.3173, d5.loss_plan_l1_fix_time: 1.4980, d5.loss_plan_l1_fix_dist: 0.3328, d6.loss_plan_l1_fix_time: 1.5019, d6.loss_plan_l1_fix_dist: 0.3519, d0.loss_cls_all: 0.3266, d0.loss_bbox_all: 0.5572, d0.loss_cls: 0.3266, d0.loss_bbox: 0.5572, d1.loss_cls: 0.3220, d1.loss_bbox: 0.5250, d2.loss_cls: 0.3146, d2.loss_bbox: 0.5092, d3.loss_cls: 0.3165, d3.loss_bbox: 0.5019, d4.loss_cls: 0.3123, d4.loss_bbox: 0.4971, d5.loss_cls: 0.3114, d5.loss_bbox: 0.4968, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8647, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7783, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7600, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7602, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7585, d5.loss_traj_cls: 0.0043, d5.loss_traj: 0.7561, d0.loss_map_cls_all: 0.3195, d0.loss_map_pts_all: 1.9813, d0.loss_map_dir_all: 0.0185, d0.loss_map_cls: 0.3195, d0.loss_map_pts: 1.9813, d0.loss_map_dir: 0.0185, d1.loss_map_cls: 0.2975, d1.loss_map_pts: 1.3000, d1.loss_map_dir: 0.0183, d2.loss_map_cls: 0.2795, d2.loss_map_pts: 1.1664, d2.loss_map_dir: 0.0188, d3.loss_map_cls: 0.2670, d3.loss_map_pts: 1.1110, d3.loss_map_dir: 0.0193, d4.loss_map_cls: 0.2607, d4.loss_map_pts: 1.0896, d4.loss_map_dir: 0.0195, d5.loss_map_cls: 0.2571, d5.loss_map_pts: 1.0872, d5.loss_map_dir: 0.0197, loss: 39.2174, grad_norm: 145.9723 +2026-02-25 04:10:38,759 - DriveTransformer - INFO - Epoch [3][37400/39528] lr: 9.831e-05, eta: 7 days, 17:07:19, time: 0.815, data_time: 0.049, memory: 19865, loss_cls: 0.3301, loss_bbox: 0.5116, loss_traj: 1.0387, loss_traj_cls: 0.0034, loss_map_cls: 0.2621, loss_map_pts: 1.0662, loss_map_dir: 0.0173, d0.loss_plan_l1_fix_time: 2.6851, d0.loss_plan_l1_fix_dist: 0.3973, d1.loss_plan_l1_fix_time: 1.6977, d1.loss_plan_l1_fix_dist: 0.2480, d2.loss_plan_l1_fix_time: 1.6768, d2.loss_plan_l1_fix_dist: 0.2559, d3.loss_plan_l1_fix_time: 1.6771, d3.loss_plan_l1_fix_dist: 0.2711, d4.loss_plan_l1_fix_time: 1.6798, d4.loss_plan_l1_fix_dist: 0.2881, d5.loss_plan_l1_fix_time: 1.6838, d5.loss_plan_l1_fix_dist: 0.3098, d6.loss_plan_l1_fix_time: 1.6882, d6.loss_plan_l1_fix_dist: 0.3330, d0.loss_cls_all: 0.3454, d0.loss_bbox_all: 0.5635, d0.loss_cls: 0.3454, d0.loss_bbox: 0.5635, d1.loss_cls: 0.3405, d1.loss_bbox: 0.5332, d2.loss_cls: 0.3310, d2.loss_bbox: 0.5215, d3.loss_cls: 0.3312, d3.loss_bbox: 0.5164, d4.loss_cls: 0.3274, d4.loss_bbox: 0.5157, d5.loss_cls: 0.3288, d5.loss_bbox: 0.5114, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2084, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0667, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0286, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0245, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0236, d5.loss_traj_cls: 0.0042, d5.loss_traj: 1.0254, d0.loss_map_cls_all: 0.3202, d0.loss_map_pts_all: 1.9563, d0.loss_map_dir_all: 0.0165, d0.loss_map_cls: 0.3202, d0.loss_map_pts: 1.9563, d0.loss_map_dir: 0.0165, d1.loss_map_cls: 0.2925, d1.loss_map_pts: 1.2789, d1.loss_map_dir: 0.0162, d2.loss_map_cls: 0.2770, d2.loss_map_pts: 1.1405, d2.loss_map_dir: 0.0166, d3.loss_map_cls: 0.2699, d3.loss_map_pts: 1.0887, d3.loss_map_dir: 0.0170, d4.loss_map_cls: 0.2641, d4.loss_map_pts: 1.0721, d4.loss_map_dir: 0.0171, d5.loss_map_cls: 0.2626, d5.loss_map_pts: 1.0663, d5.loss_map_dir: 0.0173, loss: 42.2646, grad_norm: 145.3767 +2026-02-25 04:11:17,767 - DriveTransformer - INFO - Epoch [3][37450/39528] lr: 9.831e-05, eta: 7 days, 17:06:32, time: 0.781, data_time: 0.048, memory: 19865, loss_cls: 0.3020, loss_bbox: 0.4900, loss_traj: 0.9525, loss_traj_cls: 0.0035, loss_map_cls: 0.2505, loss_map_pts: 1.0797, loss_map_dir: 0.0186, d0.loss_plan_l1_fix_time: 2.6860, d0.loss_plan_l1_fix_dist: 0.4164, d1.loss_plan_l1_fix_time: 1.7532, d1.loss_plan_l1_fix_dist: 0.2602, d2.loss_plan_l1_fix_time: 1.7331, d2.loss_plan_l1_fix_dist: 0.2678, d3.loss_plan_l1_fix_time: 1.7344, d3.loss_plan_l1_fix_dist: 0.2809, d4.loss_plan_l1_fix_time: 1.7375, d4.loss_plan_l1_fix_dist: 0.2978, d5.loss_plan_l1_fix_time: 1.7411, d5.loss_plan_l1_fix_dist: 0.3161, d6.loss_plan_l1_fix_time: 1.7453, d6.loss_plan_l1_fix_dist: 0.3377, d0.loss_cls_all: 0.3205, d0.loss_bbox_all: 0.5242, d0.loss_cls: 0.3205, d0.loss_bbox: 0.5242, d1.loss_cls: 0.3146, d1.loss_bbox: 0.4988, d2.loss_cls: 0.3066, d2.loss_bbox: 0.4882, d3.loss_cls: 0.3052, d3.loss_bbox: 0.4860, d4.loss_cls: 0.3021, d4.loss_bbox: 0.4859, d5.loss_cls: 0.3021, d5.loss_bbox: 0.4855, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1663, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9492, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9287, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9301, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9348, d5.loss_traj_cls: 0.0043, d5.loss_traj: 0.9412, d0.loss_map_cls_all: 0.3066, d0.loss_map_pts_all: 2.0108, d0.loss_map_dir_all: 0.0177, d0.loss_map_cls: 0.3066, d0.loss_map_pts: 2.0108, d0.loss_map_dir: 0.0177, d1.loss_map_cls: 0.2830, d1.loss_map_pts: 1.3177, d1.loss_map_dir: 0.0175, d2.loss_map_cls: 0.2693, d2.loss_map_pts: 1.1622, d2.loss_map_dir: 0.0177, d3.loss_map_cls: 0.2584, d3.loss_map_pts: 1.1078, d3.loss_map_dir: 0.0181, d4.loss_map_cls: 0.2520, d4.loss_map_pts: 1.0871, d4.loss_map_dir: 0.0184, d5.loss_map_cls: 0.2503, d5.loss_map_pts: 1.0809, d5.loss_map_dir: 0.0186, loss: 41.7572, grad_norm: 144.9994 +2026-02-25 04:12:00,727 - DriveTransformer - INFO - Epoch [3][37500/39528] lr: 9.831e-05, eta: 7 days, 17:06:12, time: 0.859, data_time: 0.046, memory: 19865, loss_cls: 0.3088, loss_bbox: 0.4858, loss_traj: 0.8593, loss_traj_cls: 0.0034, loss_map_cls: 0.2387, loss_map_pts: 1.2068, loss_map_dir: 0.0206, d0.loss_plan_l1_fix_time: 2.5574, d0.loss_plan_l1_fix_dist: 0.4356, d1.loss_plan_l1_fix_time: 1.5256, d1.loss_plan_l1_fix_dist: 0.2802, d2.loss_plan_l1_fix_time: 1.5036, d2.loss_plan_l1_fix_dist: 0.2937, d3.loss_plan_l1_fix_time: 1.5060, d3.loss_plan_l1_fix_dist: 0.3135, d4.loss_plan_l1_fix_time: 1.5093, d4.loss_plan_l1_fix_dist: 0.3341, d5.loss_plan_l1_fix_time: 1.5131, d5.loss_plan_l1_fix_dist: 0.3539, d6.loss_plan_l1_fix_time: 1.5181, d6.loss_plan_l1_fix_dist: 0.3740, d0.loss_cls_all: 0.3263, d0.loss_bbox_all: 0.5311, d0.loss_cls: 0.3263, d0.loss_bbox: 0.5311, d1.loss_cls: 0.3200, d1.loss_bbox: 0.4973, d2.loss_cls: 0.3148, d2.loss_bbox: 0.4840, d3.loss_cls: 0.3124, d3.loss_bbox: 0.4793, d4.loss_cls: 0.3103, d4.loss_bbox: 0.4805, d5.loss_cls: 0.3099, d5.loss_bbox: 0.4827, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9798, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8702, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8433, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8380, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8448, d5.loss_traj_cls: 0.0040, d5.loss_traj: 0.8517, d0.loss_map_cls_all: 0.2975, d0.loss_map_pts_all: 2.2588, d0.loss_map_dir_all: 0.0198, d0.loss_map_cls: 0.2975, d0.loss_map_pts: 2.2588, d0.loss_map_dir: 0.0198, d1.loss_map_cls: 0.2713, d1.loss_map_pts: 1.4595, d1.loss_map_dir: 0.0196, d2.loss_map_cls: 0.2564, d2.loss_map_pts: 1.2987, d2.loss_map_dir: 0.0197, d3.loss_map_cls: 0.2461, d3.loss_map_pts: 1.2399, d3.loss_map_dir: 0.0202, d4.loss_map_cls: 0.2394, d4.loss_map_pts: 1.2204, d4.loss_map_dir: 0.0204, d5.loss_map_cls: 0.2384, d5.loss_map_pts: 1.2122, d5.loss_map_dir: 0.0206, loss: 41.0189, grad_norm: 146.1287 +2026-02-25 04:12:39,890 - DriveTransformer - INFO - Epoch [3][37550/39528] lr: 9.831e-05, eta: 7 days, 17:05:26, time: 0.783, data_time: 0.046, memory: 19865, loss_cls: 0.3085, loss_bbox: 0.5089, loss_traj: 1.1503, loss_traj_cls: 0.0035, loss_map_cls: 0.2758, loss_map_pts: 1.0561, loss_map_dir: 0.0147, d0.loss_plan_l1_fix_time: 2.6701, d0.loss_plan_l1_fix_dist: 0.4091, d1.loss_plan_l1_fix_time: 1.6679, d1.loss_plan_l1_fix_dist: 0.2755, d2.loss_plan_l1_fix_time: 1.6469, d2.loss_plan_l1_fix_dist: 0.2825, d3.loss_plan_l1_fix_time: 1.6429, d3.loss_plan_l1_fix_dist: 0.2942, d4.loss_plan_l1_fix_time: 1.6446, d4.loss_plan_l1_fix_dist: 0.3070, d5.loss_plan_l1_fix_time: 1.6474, d5.loss_plan_l1_fix_dist: 0.3229, d6.loss_plan_l1_fix_time: 1.6514, d6.loss_plan_l1_fix_dist: 0.3400, d0.loss_cls_all: 0.3304, d0.loss_bbox_all: 0.5496, d0.loss_cls: 0.3304, d0.loss_bbox: 0.5496, d1.loss_cls: 0.3284, d1.loss_bbox: 0.5221, d2.loss_cls: 0.3138, d2.loss_bbox: 0.5124, d3.loss_cls: 0.3108, d3.loss_bbox: 0.5113, d4.loss_cls: 0.3101, d4.loss_bbox: 0.5082, d5.loss_cls: 0.3083, d5.loss_bbox: 0.5077, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3333, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.1828, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1360, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1361, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.1334, d5.loss_traj_cls: 0.0041, d5.loss_traj: 1.1439, d0.loss_map_cls_all: 0.3205, d0.loss_map_pts_all: 1.8098, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.3205, d0.loss_map_pts: 1.8098, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.3018, d1.loss_map_pts: 1.2661, d1.loss_map_dir: 0.0133, d2.loss_map_cls: 0.2859, d2.loss_map_pts: 1.1333, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2798, d3.loss_map_pts: 1.0822, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.2738, d4.loss_map_pts: 1.0642, d4.loss_map_dir: 0.0144, d5.loss_map_cls: 0.2746, d5.loss_map_pts: 1.0551, d5.loss_map_dir: 0.0146, loss: 42.4618, grad_norm: 146.2629 +2026-02-25 04:13:22,344 - DriveTransformer - INFO - Epoch [3][37600/39528] lr: 9.831e-05, eta: 7 days, 17:05:03, time: 0.849, data_time: 0.039, memory: 19865, loss_cls: 0.3299, loss_bbox: 0.5229, loss_traj: 1.1447, loss_traj_cls: 0.0034, loss_map_cls: 0.2459, loss_map_pts: 1.1843, loss_map_dir: 0.0197, d0.loss_plan_l1_fix_time: 2.8641, d0.loss_plan_l1_fix_dist: 0.4295, d1.loss_plan_l1_fix_time: 1.8667, d1.loss_plan_l1_fix_dist: 0.2850, d2.loss_plan_l1_fix_time: 1.8500, d2.loss_plan_l1_fix_dist: 0.2903, d3.loss_plan_l1_fix_time: 1.8479, d3.loss_plan_l1_fix_dist: 0.3000, d4.loss_plan_l1_fix_time: 1.8494, d4.loss_plan_l1_fix_dist: 0.3138, d5.loss_plan_l1_fix_time: 1.8514, d5.loss_plan_l1_fix_dist: 0.3297, d6.loss_plan_l1_fix_time: 1.8553, d6.loss_plan_l1_fix_dist: 0.3495, d0.loss_cls_all: 0.3516, d0.loss_bbox_all: 0.5767, d0.loss_cls: 0.3516, d0.loss_bbox: 0.5767, d1.loss_cls: 0.3419, d1.loss_bbox: 0.5409, d2.loss_cls: 0.3358, d2.loss_bbox: 0.5269, d3.loss_cls: 0.3338, d3.loss_bbox: 0.5214, d4.loss_cls: 0.3304, d4.loss_bbox: 0.5219, d5.loss_cls: 0.3306, d5.loss_bbox: 0.5207, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.3202, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.1943, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1651, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1553, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.1460, d5.loss_traj_cls: 0.0040, d5.loss_traj: 1.1399, d0.loss_map_cls_all: 0.3076, d0.loss_map_pts_all: 2.1302, d0.loss_map_dir_all: 0.0183, d0.loss_map_cls: 0.3076, d0.loss_map_pts: 2.1302, d0.loss_map_dir: 0.0183, d1.loss_map_cls: 0.2755, d1.loss_map_pts: 1.4144, d1.loss_map_dir: 0.0183, d2.loss_map_cls: 0.2616, d2.loss_map_pts: 1.2697, d2.loss_map_dir: 0.0188, d3.loss_map_cls: 0.2504, d3.loss_map_pts: 1.2072, d3.loss_map_dir: 0.0192, d4.loss_map_cls: 0.2450, d4.loss_map_pts: 1.1894, d4.loss_map_dir: 0.0194, d5.loss_map_cls: 0.2454, d5.loss_map_pts: 1.1850, d5.loss_map_dir: 0.0197, loss: 45.5750, grad_norm: 146.8119 +2026-02-25 04:14:03,574 - DriveTransformer - INFO - Epoch [3][37650/39528] lr: 9.831e-05, eta: 7 days, 17:04:31, time: 0.825, data_time: 0.044, memory: 19865, loss_cls: 0.2792, loss_bbox: 0.4658, loss_traj: 0.8475, loss_traj_cls: 0.0035, loss_map_cls: 0.2125, loss_map_pts: 0.9688, loss_map_dir: 0.0196, d0.loss_plan_l1_fix_time: 2.7823, d0.loss_plan_l1_fix_dist: 0.5261, d1.loss_plan_l1_fix_time: 1.5373, d1.loss_plan_l1_fix_dist: 0.2817, d2.loss_plan_l1_fix_time: 1.5178, d2.loss_plan_l1_fix_dist: 0.2835, d3.loss_plan_l1_fix_time: 1.5200, d3.loss_plan_l1_fix_dist: 0.2945, d4.loss_plan_l1_fix_time: 1.5256, d4.loss_plan_l1_fix_dist: 0.3071, d5.loss_plan_l1_fix_time: 1.5317, d5.loss_plan_l1_fix_dist: 0.3228, d6.loss_plan_l1_fix_time: 1.5387, d6.loss_plan_l1_fix_dist: 0.3431, d0.loss_cls_all: 0.3021, d0.loss_bbox_all: 0.4977, d0.loss_cls: 0.3021, d0.loss_bbox: 0.4977, d1.loss_cls: 0.2920, d1.loss_bbox: 0.4747, d2.loss_cls: 0.2877, d2.loss_bbox: 0.4629, d3.loss_cls: 0.2823, d3.loss_bbox: 0.4604, d4.loss_cls: 0.2794, d4.loss_bbox: 0.4616, d5.loss_cls: 0.2791, d5.loss_bbox: 0.4622, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9496, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8790, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8575, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8508, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8487, d5.loss_traj_cls: 0.0041, d5.loss_traj: 0.8466, d0.loss_map_cls_all: 0.2635, d0.loss_map_pts_all: 1.9241, d0.loss_map_dir_all: 0.0184, d0.loss_map_cls: 0.2635, d0.loss_map_pts: 1.9241, d0.loss_map_dir: 0.0184, d1.loss_map_cls: 0.2379, d1.loss_map_pts: 1.1781, d1.loss_map_dir: 0.0181, d2.loss_map_cls: 0.2249, d2.loss_map_pts: 1.0285, d2.loss_map_dir: 0.0185, d3.loss_map_cls: 0.2172, d3.loss_map_pts: 0.9747, d3.loss_map_dir: 0.0190, d4.loss_map_cls: 0.2121, d4.loss_map_pts: 0.9672, d4.loss_map_dir: 0.0193, d5.loss_map_cls: 0.2118, d5.loss_map_pts: 0.9664, d5.loss_map_dir: 0.0195, loss: 38.4176, grad_norm: 147.7569 +2026-02-25 04:14:42,195 - DriveTransformer - INFO - Epoch [3][37700/39528] lr: 9.831e-05, eta: 7 days, 17:03:41, time: 0.772, data_time: 0.043, memory: 19865, loss_cls: 0.3342, loss_bbox: 0.5057, loss_traj: 1.0508, loss_traj_cls: 0.0035, loss_map_cls: 0.2767, loss_map_pts: 1.0939, loss_map_dir: 0.0187, d0.loss_plan_l1_fix_time: 2.6175, d0.loss_plan_l1_fix_dist: 0.3654, d1.loss_plan_l1_fix_time: 1.6924, d1.loss_plan_l1_fix_dist: 0.2711, d2.loss_plan_l1_fix_time: 1.6785, d2.loss_plan_l1_fix_dist: 0.2741, d3.loss_plan_l1_fix_time: 1.6856, d3.loss_plan_l1_fix_dist: 0.2830, d4.loss_plan_l1_fix_time: 1.6939, d4.loss_plan_l1_fix_dist: 0.2945, d5.loss_plan_l1_fix_time: 1.7029, d5.loss_plan_l1_fix_dist: 0.3065, d6.loss_plan_l1_fix_time: 1.7119, d6.loss_plan_l1_fix_dist: 0.3193, d0.loss_cls_all: 0.3539, d0.loss_bbox_all: 0.5470, d0.loss_cls: 0.3539, d0.loss_bbox: 0.5470, d1.loss_cls: 0.3459, d1.loss_bbox: 0.5221, d2.loss_cls: 0.3405, d2.loss_bbox: 0.5072, d3.loss_cls: 0.3373, d3.loss_bbox: 0.5021, d4.loss_cls: 0.3328, d4.loss_bbox: 0.5024, d5.loss_cls: 0.3325, d5.loss_bbox: 0.5031, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1989, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0734, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0462, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0456, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0510, d5.loss_traj_cls: 0.0042, d5.loss_traj: 1.0480, d0.loss_map_cls_all: 0.3425, d0.loss_map_pts_all: 2.0164, d0.loss_map_dir_all: 0.0178, d0.loss_map_cls: 0.3425, d0.loss_map_pts: 2.0164, d0.loss_map_dir: 0.0178, d1.loss_map_cls: 0.3160, d1.loss_map_pts: 1.3324, d1.loss_map_dir: 0.0176, d2.loss_map_cls: 0.2991, d2.loss_map_pts: 1.1847, d2.loss_map_dir: 0.0179, d3.loss_map_cls: 0.2843, d3.loss_map_pts: 1.1218, d3.loss_map_dir: 0.0183, d4.loss_map_cls: 0.2774, d4.loss_map_pts: 1.1007, d4.loss_map_dir: 0.0185, d5.loss_map_cls: 0.2766, d5.loss_map_pts: 1.0941, d5.loss_map_dir: 0.0186, loss: 42.8113, grad_norm: 147.6944 +2026-02-25 04:15:24,763 - DriveTransformer - INFO - Epoch [3][37750/39528] lr: 9.831e-05, eta: 7 days, 17:03:19, time: 0.851, data_time: 0.039, memory: 19865, loss_cls: 0.3535, loss_bbox: 0.5461, loss_traj: 0.9409, loss_traj_cls: 0.0035, loss_map_cls: 0.3306, loss_map_pts: 1.4340, loss_map_dir: 0.0219, d0.loss_plan_l1_fix_time: 3.0295, d0.loss_plan_l1_fix_dist: 0.3994, d1.loss_plan_l1_fix_time: 2.2564, d1.loss_plan_l1_fix_dist: 0.2691, d2.loss_plan_l1_fix_time: 2.2427, d2.loss_plan_l1_fix_dist: 0.2701, d3.loss_plan_l1_fix_time: 2.2473, d3.loss_plan_l1_fix_dist: 0.2799, d4.loss_plan_l1_fix_time: 2.2528, d4.loss_plan_l1_fix_dist: 0.2925, d5.loss_plan_l1_fix_time: 2.2592, d5.loss_plan_l1_fix_dist: 0.3047, d6.loss_plan_l1_fix_time: 2.2663, d6.loss_plan_l1_fix_dist: 0.3176, d0.loss_cls_all: 0.3714, d0.loss_bbox_all: 0.5974, d0.loss_cls: 0.3714, d0.loss_bbox: 0.5974, d1.loss_cls: 0.3684, d1.loss_bbox: 0.5690, d2.loss_cls: 0.3626, d2.loss_bbox: 0.5520, d3.loss_cls: 0.3599, d3.loss_bbox: 0.5441, d4.loss_cls: 0.3551, d4.loss_bbox: 0.5444, d5.loss_cls: 0.3540, d5.loss_bbox: 0.5441, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0148, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9394, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9145, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9186, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9177, d5.loss_traj_cls: 0.0041, d5.loss_traj: 0.9259, d0.loss_map_cls_all: 0.3921, d0.loss_map_pts_all: 2.4649, d0.loss_map_dir_all: 0.0202, d0.loss_map_cls: 0.3921, d0.loss_map_pts: 2.4649, d0.loss_map_dir: 0.0202, d1.loss_map_cls: 0.3707, d1.loss_map_pts: 1.7127, d1.loss_map_dir: 0.0201, d2.loss_map_cls: 0.3539, d2.loss_map_pts: 1.5316, d2.loss_map_dir: 0.0207, d3.loss_map_cls: 0.3396, d3.loss_map_pts: 1.4583, d3.loss_map_dir: 0.0213, d4.loss_map_cls: 0.3332, d4.loss_map_pts: 1.4376, d4.loss_map_dir: 0.0216, d5.loss_map_cls: 0.3309, d5.loss_map_pts: 1.4338, d5.loss_map_dir: 0.0220, loss: 49.6112, grad_norm: 147.2589 +2026-02-25 04:16:04,433 - DriveTransformer - INFO - Epoch [3][37800/39528] lr: 9.831e-05, eta: 7 days, 17:02:37, time: 0.793, data_time: 0.037, memory: 19865, loss_cls: 0.3271, loss_bbox: 0.5245, loss_traj: 1.0455, loss_traj_cls: 0.0035, loss_map_cls: 0.2776, loss_map_pts: 1.2675, loss_map_dir: 0.0190, d0.loss_plan_l1_fix_time: 2.7275, d0.loss_plan_l1_fix_dist: 0.4491, d1.loss_plan_l1_fix_time: 1.7123, d1.loss_plan_l1_fix_dist: 0.3263, d2.loss_plan_l1_fix_time: 1.6946, d2.loss_plan_l1_fix_dist: 0.3305, d3.loss_plan_l1_fix_time: 1.6964, d3.loss_plan_l1_fix_dist: 0.3388, d4.loss_plan_l1_fix_time: 1.7002, d4.loss_plan_l1_fix_dist: 0.3483, d5.loss_plan_l1_fix_time: 1.7052, d5.loss_plan_l1_fix_dist: 0.3619, d6.loss_plan_l1_fix_time: 1.7115, d6.loss_plan_l1_fix_dist: 0.3796, d0.loss_cls_all: 0.3563, d0.loss_bbox_all: 0.5670, d0.loss_cls: 0.3563, d0.loss_bbox: 0.5670, d1.loss_cls: 0.3467, d1.loss_bbox: 0.5431, d2.loss_cls: 0.3380, d2.loss_bbox: 0.5291, d3.loss_cls: 0.3343, d3.loss_bbox: 0.5227, d4.loss_cls: 0.3303, d4.loss_bbox: 0.5217, d5.loss_cls: 0.3282, d5.loss_bbox: 0.5212, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3172, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.1061, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0466, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0380, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0349, d5.loss_traj_cls: 0.0041, d5.loss_traj: 1.0360, d0.loss_map_cls_all: 0.3387, d0.loss_map_pts_all: 2.1957, d0.loss_map_dir_all: 0.0174, d0.loss_map_cls: 0.3387, d0.loss_map_pts: 2.1957, d0.loss_map_dir: 0.0174, d1.loss_map_cls: 0.3162, d1.loss_map_pts: 1.5072, d1.loss_map_dir: 0.0176, d2.loss_map_cls: 0.2936, d2.loss_map_pts: 1.3536, d2.loss_map_dir: 0.0181, d3.loss_map_cls: 0.2869, d3.loss_map_pts: 1.2965, d3.loss_map_dir: 0.0185, d4.loss_map_cls: 0.2798, d4.loss_map_pts: 1.2773, d4.loss_map_dir: 0.0187, d5.loss_map_cls: 0.2784, d5.loss_map_pts: 1.2687, d5.loss_map_dir: 0.0189, loss: 45.0501, grad_norm: 147.6803 +2026-02-25 04:16:45,485 - DriveTransformer - INFO - Epoch [3][37850/39528] lr: 9.831e-05, eta: 7 days, 17:02:04, time: 0.821, data_time: 0.043, memory: 19865, loss_cls: 0.3278, loss_bbox: 0.5088, loss_traj: 0.9304, loss_traj_cls: 0.0035, loss_map_cls: 0.2912, loss_map_pts: 1.2340, loss_map_dir: 0.0195, d0.loss_plan_l1_fix_time: 2.6429, d0.loss_plan_l1_fix_dist: 0.3320, d1.loss_plan_l1_fix_time: 1.6485, d1.loss_plan_l1_fix_dist: 0.2284, d2.loss_plan_l1_fix_time: 1.6368, d2.loss_plan_l1_fix_dist: 0.2382, d3.loss_plan_l1_fix_time: 1.6384, d3.loss_plan_l1_fix_dist: 0.2506, d4.loss_plan_l1_fix_time: 1.6426, d4.loss_plan_l1_fix_dist: 0.2663, d5.loss_plan_l1_fix_time: 1.6469, d5.loss_plan_l1_fix_dist: 0.2832, d6.loss_plan_l1_fix_time: 1.6518, d6.loss_plan_l1_fix_dist: 0.3055, d0.loss_cls_all: 0.3467, d0.loss_bbox_all: 0.5616, d0.loss_cls: 0.3467, d0.loss_bbox: 0.5616, d1.loss_cls: 0.3393, d1.loss_bbox: 0.5285, d2.loss_cls: 0.3356, d2.loss_bbox: 0.5140, d3.loss_cls: 0.3300, d3.loss_bbox: 0.5090, d4.loss_cls: 0.3283, d4.loss_bbox: 0.5057, d5.loss_cls: 0.3278, d5.loss_bbox: 0.5052, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1231, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9917, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9478, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9377, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9304, d5.loss_traj_cls: 0.0041, d5.loss_traj: 0.9265, d0.loss_map_cls_all: 0.3562, d0.loss_map_pts_all: 2.1304, d0.loss_map_dir_all: 0.0173, d0.loss_map_cls: 0.3562, d0.loss_map_pts: 2.1304, d0.loss_map_dir: 0.0173, d1.loss_map_cls: 0.3233, d1.loss_map_pts: 1.4693, d1.loss_map_dir: 0.0176, d2.loss_map_cls: 0.3063, d2.loss_map_pts: 1.3176, d2.loss_map_dir: 0.0184, d3.loss_map_cls: 0.3000, d3.loss_map_pts: 1.2598, d3.loss_map_dir: 0.0189, d4.loss_map_cls: 0.2938, d4.loss_map_pts: 1.2391, d4.loss_map_dir: 0.0192, d5.loss_map_cls: 0.2910, d5.loss_map_pts: 1.2345, d5.loss_map_dir: 0.0195, loss: 42.7693, grad_norm: 150.9454 +2026-02-25 04:17:24,567 - DriveTransformer - INFO - Epoch [3][37900/39528] lr: 9.831e-05, eta: 7 days, 17:01:17, time: 0.781, data_time: 0.043, memory: 19865, loss_cls: 0.3100, loss_bbox: 0.4807, loss_traj: 0.9599, loss_traj_cls: 0.0034, loss_map_cls: 0.3014, loss_map_pts: 1.0755, loss_map_dir: 0.0176, d0.loss_plan_l1_fix_time: 2.7517, d0.loss_plan_l1_fix_dist: 0.4158, d1.loss_plan_l1_fix_time: 1.7821, d1.loss_plan_l1_fix_dist: 0.2698, d2.loss_plan_l1_fix_time: 1.7601, d2.loss_plan_l1_fix_dist: 0.2746, d3.loss_plan_l1_fix_time: 1.7610, d3.loss_plan_l1_fix_dist: 0.2852, d4.loss_plan_l1_fix_time: 1.7652, d4.loss_plan_l1_fix_dist: 0.2971, d5.loss_plan_l1_fix_time: 1.7696, d5.loss_plan_l1_fix_dist: 0.3088, d6.loss_plan_l1_fix_time: 1.7747, d6.loss_plan_l1_fix_dist: 0.3226, d0.loss_cls_all: 0.3230, d0.loss_bbox_all: 0.5263, d0.loss_cls: 0.3230, d0.loss_bbox: 0.5263, d1.loss_cls: 0.3174, d1.loss_bbox: 0.5009, d2.loss_cls: 0.3155, d2.loss_bbox: 0.4890, d3.loss_cls: 0.3123, d3.loss_bbox: 0.4837, d4.loss_cls: 0.3095, d4.loss_bbox: 0.4828, d5.loss_cls: 0.3100, d5.loss_bbox: 0.4803, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0785, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9835, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9659, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9591, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9575, d5.loss_traj_cls: 0.0040, d5.loss_traj: 0.9581, d0.loss_map_cls_all: 0.3494, d0.loss_map_pts_all: 1.8581, d0.loss_map_dir_all: 0.0166, d0.loss_map_cls: 0.3494, d0.loss_map_pts: 1.8581, d0.loss_map_dir: 0.0166, d1.loss_map_cls: 0.3180, d1.loss_map_pts: 1.2790, d1.loss_map_dir: 0.0165, d2.loss_map_cls: 0.3072, d2.loss_map_pts: 1.1513, d2.loss_map_dir: 0.0167, d3.loss_map_cls: 0.3031, d3.loss_map_pts: 1.0917, d3.loss_map_dir: 0.0172, d4.loss_map_cls: 0.2993, d4.loss_map_pts: 1.0756, d4.loss_map_dir: 0.0174, d5.loss_map_cls: 0.3006, d5.loss_map_pts: 1.0740, d5.loss_map_dir: 0.0175, loss: 42.0311, grad_norm: 152.1447 +2026-02-25 04:18:05,908 - DriveTransformer - INFO - Epoch [3][37950/39528] lr: 9.831e-05, eta: 7 days, 17:00:46, time: 0.827, data_time: 0.044, memory: 19865, loss_cls: 0.3154, loss_bbox: 0.5048, loss_traj: 1.0037, loss_traj_cls: 0.0033, loss_map_cls: 0.2434, loss_map_pts: 1.0775, loss_map_dir: 0.0198, d0.loss_plan_l1_fix_time: 2.6825, d0.loss_plan_l1_fix_dist: 0.4104, d1.loss_plan_l1_fix_time: 1.5570, d1.loss_plan_l1_fix_dist: 0.2630, d2.loss_plan_l1_fix_time: 1.5365, d2.loss_plan_l1_fix_dist: 0.2667, d3.loss_plan_l1_fix_time: 1.5351, d3.loss_plan_l1_fix_dist: 0.2760, d4.loss_plan_l1_fix_time: 1.5386, d4.loss_plan_l1_fix_dist: 0.2870, d5.loss_plan_l1_fix_time: 1.5428, d5.loss_plan_l1_fix_dist: 0.2973, d6.loss_plan_l1_fix_time: 1.5469, d6.loss_plan_l1_fix_dist: 0.3066, d0.loss_cls_all: 0.3278, d0.loss_bbox_all: 0.5492, d0.loss_cls: 0.3278, d0.loss_bbox: 0.5492, d1.loss_cls: 0.3226, d1.loss_bbox: 0.5230, d2.loss_cls: 0.3174, d2.loss_bbox: 0.5099, d3.loss_cls: 0.3177, d3.loss_bbox: 0.5038, d4.loss_cls: 0.3153, d4.loss_bbox: 0.5028, d5.loss_cls: 0.3149, d5.loss_bbox: 0.5024, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2194, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0745, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0244, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.0162, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0080, d5.loss_traj_cls: 0.0037, d5.loss_traj: 1.0064, d0.loss_map_cls_all: 0.2886, d0.loss_map_pts_all: 2.1237, d0.loss_map_dir_all: 0.0191, d0.loss_map_cls: 0.2886, d0.loss_map_pts: 2.1237, d0.loss_map_dir: 0.0191, d1.loss_map_cls: 0.2658, d1.loss_map_pts: 1.3147, d1.loss_map_dir: 0.0190, d2.loss_map_cls: 0.2538, d2.loss_map_pts: 1.1563, d2.loss_map_dir: 0.0189, d3.loss_map_cls: 0.2474, d3.loss_map_pts: 1.1027, d3.loss_map_dir: 0.0193, d4.loss_map_cls: 0.2422, d4.loss_map_pts: 1.0837, d4.loss_map_dir: 0.0195, d5.loss_map_cls: 0.2422, d5.loss_map_pts: 1.0790, d5.loss_map_dir: 0.0197, loss: 41.4025, grad_norm: 151.3138 +2026-02-25 04:18:46,805 - DriveTransformer - INFO - Epoch [3][38000/39528] lr: 9.831e-05, eta: 7 days, 17:00:12, time: 0.819, data_time: 0.041, memory: 19865, loss_cls: 0.3183, loss_bbox: 0.5012, loss_traj: 0.8773, loss_traj_cls: 0.0032, loss_map_cls: 0.2864, loss_map_pts: 1.1086, loss_map_dir: 0.0185, d0.loss_plan_l1_fix_time: 2.5323, d0.loss_plan_l1_fix_dist: 0.4481, d1.loss_plan_l1_fix_time: 1.4928, d1.loss_plan_l1_fix_dist: 0.2899, d2.loss_plan_l1_fix_time: 1.4624, d2.loss_plan_l1_fix_dist: 0.2921, d3.loss_plan_l1_fix_time: 1.4635, d3.loss_plan_l1_fix_dist: 0.2953, d4.loss_plan_l1_fix_time: 1.4680, d4.loss_plan_l1_fix_dist: 0.3017, d5.loss_plan_l1_fix_time: 1.4739, d5.loss_plan_l1_fix_dist: 0.3118, d6.loss_plan_l1_fix_time: 1.4814, d6.loss_plan_l1_fix_dist: 0.3250, d0.loss_cls_all: 0.3368, d0.loss_bbox_all: 0.5349, d0.loss_cls: 0.3368, d0.loss_bbox: 0.5349, d1.loss_cls: 0.3315, d1.loss_bbox: 0.5068, d2.loss_cls: 0.3272, d2.loss_bbox: 0.4948, d3.loss_cls: 0.3219, d3.loss_bbox: 0.4926, d4.loss_cls: 0.3185, d4.loss_bbox: 0.4940, d5.loss_cls: 0.3189, d5.loss_bbox: 0.4962, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0078, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9034, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8676, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8692, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8784, d5.loss_traj_cls: 0.0038, d5.loss_traj: 0.8769, d0.loss_map_cls_all: 0.3294, d0.loss_map_pts_all: 1.9326, d0.loss_map_dir_all: 0.0167, d0.loss_map_cls: 0.3294, d0.loss_map_pts: 1.9326, d0.loss_map_dir: 0.0167, d1.loss_map_cls: 0.3029, d1.loss_map_pts: 1.3256, d1.loss_map_dir: 0.0172, d2.loss_map_cls: 0.2964, d2.loss_map_pts: 1.1681, d2.loss_map_dir: 0.0176, d3.loss_map_cls: 0.2920, d3.loss_map_pts: 1.1254, d3.loss_map_dir: 0.0179, d4.loss_map_cls: 0.2865, d4.loss_map_pts: 1.1134, d4.loss_map_dir: 0.0182, d5.loss_map_cls: 0.2858, d5.loss_map_pts: 1.1093, d5.loss_map_dir: 0.0183, loss: 39.9609, grad_norm: 153.3806 +2026-02-25 04:19:27,050 - DriveTransformer - INFO - Epoch [3][38050/39528] lr: 9.831e-05, eta: 7 days, 16:59:33, time: 0.803, data_time: 0.039, memory: 19865, loss_cls: 0.3141, loss_bbox: 0.4944, loss_traj: 0.9588, loss_traj_cls: 0.0030, loss_map_cls: 0.2243, loss_map_pts: 0.9377, loss_map_dir: 0.0170, d0.loss_plan_l1_fix_time: 2.5084, d0.loss_plan_l1_fix_dist: 0.3885, d1.loss_plan_l1_fix_time: 1.6968, d1.loss_plan_l1_fix_dist: 0.2477, d2.loss_plan_l1_fix_time: 1.6897, d2.loss_plan_l1_fix_dist: 0.2538, d3.loss_plan_l1_fix_time: 1.6950, d3.loss_plan_l1_fix_dist: 0.2619, d4.loss_plan_l1_fix_time: 1.6998, d4.loss_plan_l1_fix_dist: 0.2700, d5.loss_plan_l1_fix_time: 1.7052, d5.loss_plan_l1_fix_dist: 0.2794, d6.loss_plan_l1_fix_time: 1.7114, d6.loss_plan_l1_fix_dist: 0.2915, d0.loss_cls_all: 0.3386, d0.loss_bbox_all: 0.5283, d0.loss_cls: 0.3386, d0.loss_bbox: 0.5283, d1.loss_cls: 0.3313, d1.loss_bbox: 0.5035, d2.loss_cls: 0.3253, d2.loss_bbox: 0.4896, d3.loss_cls: 0.3185, d3.loss_bbox: 0.4864, d4.loss_cls: 0.3144, d4.loss_bbox: 0.4875, d5.loss_cls: 0.3140, d5.loss_bbox: 0.4903, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1692, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0172, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9824, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9677, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9741, d5.loss_traj_cls: 0.0036, d5.loss_traj: 0.9666, d0.loss_map_cls_all: 0.2820, d0.loss_map_pts_all: 1.7183, d0.loss_map_dir_all: 0.0155, d0.loss_map_cls: 0.2820, d0.loss_map_pts: 1.7183, d0.loss_map_dir: 0.0155, d1.loss_map_cls: 0.2521, d1.loss_map_pts: 1.1250, d1.loss_map_dir: 0.0157, d2.loss_map_cls: 0.2369, d2.loss_map_pts: 0.9934, d2.loss_map_dir: 0.0161, d3.loss_map_cls: 0.2282, d3.loss_map_pts: 0.9597, d3.loss_map_dir: 0.0165, d4.loss_map_cls: 0.2258, d4.loss_map_pts: 0.9438, d4.loss_map_dir: 0.0167, d5.loss_map_cls: 0.2239, d5.loss_map_pts: 0.9390, d5.loss_map_dir: 0.0169, loss: 39.7697, grad_norm: 153.3731 +2026-02-25 04:20:07,027 - DriveTransformer - INFO - Epoch [3][38100/39528] lr: 9.831e-05, eta: 7 days, 16:58:53, time: 0.800, data_time: 0.038, memory: 19865, loss_cls: 0.3326, loss_bbox: 0.5000, loss_traj: 1.0628, loss_traj_cls: 0.0031, loss_map_cls: 0.2785, loss_map_pts: 1.0888, loss_map_dir: 0.0188, d0.loss_plan_l1_fix_time: 2.6585, d0.loss_plan_l1_fix_dist: 0.4238, d1.loss_plan_l1_fix_time: 1.6682, d1.loss_plan_l1_fix_dist: 0.2483, d2.loss_plan_l1_fix_time: 1.6522, d2.loss_plan_l1_fix_dist: 0.2478, d3.loss_plan_l1_fix_time: 1.6561, d3.loss_plan_l1_fix_dist: 0.2542, d4.loss_plan_l1_fix_time: 1.6602, d4.loss_plan_l1_fix_dist: 0.2625, d5.loss_plan_l1_fix_time: 1.6638, d5.loss_plan_l1_fix_dist: 0.2717, d6.loss_plan_l1_fix_time: 1.6672, d6.loss_plan_l1_fix_dist: 0.2795, d0.loss_cls_all: 0.3481, d0.loss_bbox_all: 0.5496, d0.loss_cls: 0.3481, d0.loss_bbox: 0.5496, d1.loss_cls: 0.3422, d1.loss_bbox: 0.5202, d2.loss_cls: 0.3379, d2.loss_bbox: 0.5030, d3.loss_cls: 0.3355, d3.loss_bbox: 0.4989, d4.loss_cls: 0.3332, d4.loss_bbox: 0.4984, d5.loss_cls: 0.3321, d5.loss_bbox: 0.4978, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2445, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.1168, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0635, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0643, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0585, d5.loss_traj_cls: 0.0037, d5.loss_traj: 1.0570, d0.loss_map_cls_all: 0.3344, d0.loss_map_pts_all: 1.9647, d0.loss_map_dir_all: 0.0172, d0.loss_map_cls: 0.3344, d0.loss_map_pts: 1.9647, d0.loss_map_dir: 0.0172, d1.loss_map_cls: 0.3021, d1.loss_map_pts: 1.2972, d1.loss_map_dir: 0.0173, d2.loss_map_cls: 0.2907, d2.loss_map_pts: 1.1507, d2.loss_map_dir: 0.0177, d3.loss_map_cls: 0.2835, d3.loss_map_pts: 1.1059, d3.loss_map_dir: 0.0182, d4.loss_map_cls: 0.2785, d4.loss_map_pts: 1.0947, d4.loss_map_dir: 0.0186, d5.loss_map_cls: 0.2779, d5.loss_map_pts: 1.0896, d5.loss_map_dir: 0.0187, loss: 42.3994, grad_norm: 151.3406 +2026-02-25 04:20:46,707 - DriveTransformer - INFO - Epoch [3][38150/39528] lr: 9.831e-05, eta: 7 days, 16:58:10, time: 0.794, data_time: 0.043, memory: 19865, loss_cls: 0.2994, loss_bbox: 0.4560, loss_traj: 0.9094, loss_traj_cls: 0.0031, loss_map_cls: 0.2479, loss_map_pts: 1.0916, loss_map_dir: 0.0181, d0.loss_plan_l1_fix_time: 2.6581, d0.loss_plan_l1_fix_dist: 0.4065, d1.loss_plan_l1_fix_time: 1.5858, d1.loss_plan_l1_fix_dist: 0.2375, d2.loss_plan_l1_fix_time: 1.5573, d2.loss_plan_l1_fix_dist: 0.2405, d3.loss_plan_l1_fix_time: 1.5555, d3.loss_plan_l1_fix_dist: 0.2465, d4.loss_plan_l1_fix_time: 1.5580, d4.loss_plan_l1_fix_dist: 0.2536, d5.loss_plan_l1_fix_time: 1.5610, d5.loss_plan_l1_fix_dist: 0.2635, d6.loss_plan_l1_fix_time: 1.5642, d6.loss_plan_l1_fix_dist: 0.2778, d0.loss_cls_all: 0.3232, d0.loss_bbox_all: 0.5022, d0.loss_cls: 0.3232, d0.loss_bbox: 0.5022, d1.loss_cls: 0.3193, d1.loss_bbox: 0.4748, d2.loss_cls: 0.3097, d2.loss_bbox: 0.4627, d3.loss_cls: 0.3088, d3.loss_bbox: 0.4571, d4.loss_cls: 0.3025, d4.loss_bbox: 0.4562, d5.loss_cls: 0.3000, d5.loss_bbox: 0.4568, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1160, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9469, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9041, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9061, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9077, d5.loss_traj_cls: 0.0037, d5.loss_traj: 0.9112, d0.loss_map_cls_all: 0.2958, d0.loss_map_pts_all: 1.9832, d0.loss_map_dir_all: 0.0166, d0.loss_map_cls: 0.2958, d0.loss_map_pts: 1.9832, d0.loss_map_dir: 0.0166, d1.loss_map_cls: 0.2734, d1.loss_map_pts: 1.2967, d1.loss_map_dir: 0.0170, d2.loss_map_cls: 0.2601, d2.loss_map_pts: 1.1546, d2.loss_map_dir: 0.0173, d3.loss_map_cls: 0.2557, d3.loss_map_pts: 1.1069, d3.loss_map_dir: 0.0176, d4.loss_map_cls: 0.2514, d4.loss_map_pts: 1.0919, d4.loss_map_dir: 0.0179, d5.loss_map_cls: 0.2492, d5.loss_map_pts: 1.0904, d5.loss_map_dir: 0.0179, loss: 39.8994, grad_norm: 151.5852 +2026-02-25 04:21:27,226 - DriveTransformer - INFO - Epoch [3][38200/39528] lr: 9.831e-05, eta: 7 days, 16:57:34, time: 0.810, data_time: 0.041, memory: 19865, loss_cls: 0.3380, loss_bbox: 0.5086, loss_traj: 1.0138, loss_traj_cls: 0.0032, loss_map_cls: 0.2975, loss_map_pts: 1.2441, loss_map_dir: 0.0202, d0.loss_plan_l1_fix_time: 2.8088, d0.loss_plan_l1_fix_dist: 0.3627, d1.loss_plan_l1_fix_time: 1.6592, d1.loss_plan_l1_fix_dist: 0.2541, d2.loss_plan_l1_fix_time: 1.6548, d2.loss_plan_l1_fix_dist: 0.2615, d3.loss_plan_l1_fix_time: 1.6550, d3.loss_plan_l1_fix_dist: 0.2720, d4.loss_plan_l1_fix_time: 1.6583, d4.loss_plan_l1_fix_dist: 0.2870, d5.loss_plan_l1_fix_time: 1.6622, d5.loss_plan_l1_fix_dist: 0.3030, d6.loss_plan_l1_fix_time: 1.6670, d6.loss_plan_l1_fix_dist: 0.3215, d0.loss_cls_all: 0.3655, d0.loss_bbox_all: 0.5528, d0.loss_cls: 0.3655, d0.loss_bbox: 0.5528, d1.loss_cls: 0.3528, d1.loss_bbox: 0.5292, d2.loss_cls: 0.3446, d2.loss_bbox: 0.5156, d3.loss_cls: 0.3400, d3.loss_bbox: 0.5095, d4.loss_cls: 0.3367, d4.loss_bbox: 0.5093, d5.loss_cls: 0.3370, d5.loss_bbox: 0.5088, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1692, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0473, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0110, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0135, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0123, d5.loss_traj_cls: 0.0038, d5.loss_traj: 1.0104, d0.loss_map_cls_all: 0.3508, d0.loss_map_pts_all: 2.1298, d0.loss_map_dir_all: 0.0174, d0.loss_map_cls: 0.3508, d0.loss_map_pts: 2.1298, d0.loss_map_dir: 0.0174, d1.loss_map_cls: 0.3297, d1.loss_map_pts: 1.4632, d1.loss_map_dir: 0.0180, d2.loss_map_cls: 0.3153, d2.loss_map_pts: 1.3254, d2.loss_map_dir: 0.0188, d3.loss_map_cls: 0.3051, d3.loss_map_pts: 1.2692, d3.loss_map_dir: 0.0194, d4.loss_map_cls: 0.2990, d4.loss_map_pts: 1.2547, d4.loss_map_dir: 0.0199, d5.loss_map_cls: 0.2969, d5.loss_map_pts: 1.2465, d5.loss_map_dir: 0.0201, loss: 43.8418, grad_norm: 152.9205 +2026-02-25 04:22:08,035 - DriveTransformer - INFO - Epoch [3][38250/39528] lr: 9.831e-05, eta: 7 days, 16:56:59, time: 0.816, data_time: 0.040, memory: 19865, loss_cls: 0.3132, loss_bbox: 0.5068, loss_traj: 1.1850, loss_traj_cls: 0.0031, loss_map_cls: 0.2850, loss_map_pts: 1.2809, loss_map_dir: 0.0200, d0.loss_plan_l1_fix_time: 2.8897, d0.loss_plan_l1_fix_dist: 0.4561, d1.loss_plan_l1_fix_time: 1.7472, d1.loss_plan_l1_fix_dist: 0.2988, d2.loss_plan_l1_fix_time: 1.7293, d2.loss_plan_l1_fix_dist: 0.2970, d3.loss_plan_l1_fix_time: 1.7324, d3.loss_plan_l1_fix_dist: 0.3022, d4.loss_plan_l1_fix_time: 1.7357, d4.loss_plan_l1_fix_dist: 0.3101, d5.loss_plan_l1_fix_time: 1.7395, d5.loss_plan_l1_fix_dist: 0.3209, d6.loss_plan_l1_fix_time: 1.7440, d6.loss_plan_l1_fix_dist: 0.3331, d0.loss_cls_all: 0.3356, d0.loss_bbox_all: 0.5592, d0.loss_cls: 0.3356, d0.loss_bbox: 0.5592, d1.loss_cls: 0.3300, d1.loss_bbox: 0.5249, d2.loss_cls: 0.3213, d2.loss_bbox: 0.5128, d3.loss_cls: 0.3143, d3.loss_bbox: 0.5060, d4.loss_cls: 0.3123, d4.loss_bbox: 0.5042, d5.loss_cls: 0.3114, d5.loss_bbox: 0.5049, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3874, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.2176, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1823, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1873, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.1805, d5.loss_traj_cls: 0.0037, d5.loss_traj: 1.1846, d0.loss_map_cls_all: 0.3515, d0.loss_map_pts_all: 2.1496, d0.loss_map_dir_all: 0.0189, d0.loss_map_cls: 0.3515, d0.loss_map_pts: 2.1496, d0.loss_map_dir: 0.0189, d1.loss_map_cls: 0.3168, d1.loss_map_pts: 1.5125, d1.loss_map_dir: 0.0192, d2.loss_map_cls: 0.3048, d2.loss_map_pts: 1.3665, d2.loss_map_dir: 0.0193, d3.loss_map_cls: 0.2951, d3.loss_map_pts: 1.3105, d3.loss_map_dir: 0.0196, d4.loss_map_cls: 0.2881, d4.loss_map_pts: 1.2898, d4.loss_map_dir: 0.0198, d5.loss_map_cls: 0.2867, d5.loss_map_pts: 1.2829, d5.loss_map_dir: 0.0199, loss: 45.9010, grad_norm: 153.4005 +2026-02-25 04:22:46,342 - DriveTransformer - INFO - Epoch [3][38300/39528] lr: 9.831e-05, eta: 7 days, 16:56:07, time: 0.766, data_time: 0.041, memory: 19865, loss_cls: 0.3284, loss_bbox: 0.4939, loss_traj: 0.9028, loss_traj_cls: 0.0031, loss_map_cls: 0.2766, loss_map_pts: 1.1290, loss_map_dir: 0.0168, d0.loss_plan_l1_fix_time: 2.6181, d0.loss_plan_l1_fix_dist: 0.4900, d1.loss_plan_l1_fix_time: 1.7039, d1.loss_plan_l1_fix_dist: 0.2591, d2.loss_plan_l1_fix_time: 1.6673, d2.loss_plan_l1_fix_dist: 0.2637, d3.loss_plan_l1_fix_time: 1.6646, d3.loss_plan_l1_fix_dist: 0.2759, d4.loss_plan_l1_fix_time: 1.6662, d4.loss_plan_l1_fix_dist: 0.2889, d5.loss_plan_l1_fix_time: 1.6690, d5.loss_plan_l1_fix_dist: 0.3017, d6.loss_plan_l1_fix_time: 1.6727, d6.loss_plan_l1_fix_dist: 0.3128, d0.loss_cls_all: 0.3421, d0.loss_bbox_all: 0.5463, d0.loss_cls: 0.3421, d0.loss_bbox: 0.5463, d1.loss_cls: 0.3355, d1.loss_bbox: 0.5149, d2.loss_cls: 0.3320, d2.loss_bbox: 0.4970, d3.loss_cls: 0.3293, d3.loss_bbox: 0.4942, d4.loss_cls: 0.3255, d4.loss_bbox: 0.4930, d5.loss_cls: 0.3274, d5.loss_bbox: 0.4932, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0964, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9295, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9035, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9015, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8988, d5.loss_traj_cls: 0.0037, d5.loss_traj: 0.9022, d0.loss_map_cls_all: 0.3380, d0.loss_map_pts_all: 1.8853, d0.loss_map_dir_all: 0.0155, d0.loss_map_cls: 0.3380, d0.loss_map_pts: 1.8853, d0.loss_map_dir: 0.0155, d1.loss_map_cls: 0.3109, d1.loss_map_pts: 1.3514, d1.loss_map_dir: 0.0158, d2.loss_map_cls: 0.2954, d2.loss_map_pts: 1.2064, d2.loss_map_dir: 0.0160, d3.loss_map_cls: 0.2878, d3.loss_map_pts: 1.1553, d3.loss_map_dir: 0.0163, d4.loss_map_cls: 0.2779, d4.loss_map_pts: 1.1375, d4.loss_map_dir: 0.0165, d5.loss_map_cls: 0.2770, d5.loss_map_pts: 1.1322, d5.loss_map_dir: 0.0167, loss: 41.5541, grad_norm: 151.9257 +2026-02-25 04:23:24,249 - DriveTransformer - INFO - Epoch [3][38350/39528] lr: 9.831e-05, eta: 7 days, 16:55:11, time: 0.758, data_time: 0.042, memory: 19865, loss_cls: 0.3631, loss_bbox: 0.5196, loss_traj: 1.0333, loss_traj_cls: 0.0031, loss_map_cls: 0.2674, loss_map_pts: 1.1059, loss_map_dir: 0.0189, d0.loss_plan_l1_fix_time: 3.0006, d0.loss_plan_l1_fix_dist: 0.3935, d1.loss_plan_l1_fix_time: 1.8191, d1.loss_plan_l1_fix_dist: 0.2761, d2.loss_plan_l1_fix_time: 1.7969, d2.loss_plan_l1_fix_dist: 0.2826, d3.loss_plan_l1_fix_time: 1.8003, d3.loss_plan_l1_fix_dist: 0.2933, d4.loss_plan_l1_fix_time: 1.8048, d4.loss_plan_l1_fix_dist: 0.3076, d5.loss_plan_l1_fix_time: 1.8095, d5.loss_plan_l1_fix_dist: 0.3257, d6.loss_plan_l1_fix_time: 1.8148, d6.loss_plan_l1_fix_dist: 0.3469, d0.loss_cls_all: 0.3820, d0.loss_bbox_all: 0.5618, d0.loss_cls: 0.3820, d0.loss_bbox: 0.5618, d1.loss_cls: 0.3732, d1.loss_bbox: 0.5355, d2.loss_cls: 0.3692, d2.loss_bbox: 0.5256, d3.loss_cls: 0.3673, d3.loss_bbox: 0.5209, d4.loss_cls: 0.3647, d4.loss_bbox: 0.5185, d5.loss_cls: 0.3636, d5.loss_bbox: 0.5187, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1814, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0710, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0333, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0304, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0268, d5.loss_traj_cls: 0.0037, d5.loss_traj: 1.0333, d0.loss_map_cls_all: 0.3279, d0.loss_map_pts_all: 1.9222, d0.loss_map_dir_all: 0.0176, d0.loss_map_cls: 0.3279, d0.loss_map_pts: 1.9222, d0.loss_map_dir: 0.0176, d1.loss_map_cls: 0.2952, d1.loss_map_pts: 1.3329, d1.loss_map_dir: 0.0177, d2.loss_map_cls: 0.2828, d2.loss_map_pts: 1.1933, d2.loss_map_dir: 0.0180, d3.loss_map_cls: 0.2717, d3.loss_map_pts: 1.1366, d3.loss_map_dir: 0.0184, d4.loss_map_cls: 0.2678, d4.loss_map_pts: 1.1124, d4.loss_map_dir: 0.0187, d5.loss_map_cls: 0.2672, d5.loss_map_pts: 1.1074, d5.loss_map_dir: 0.0188, loss: 44.0065, grad_norm: 151.0357 +2026-02-25 04:24:04,975 - DriveTransformer - INFO - Epoch [3][38400/39528] lr: 9.831e-05, eta: 7 days, 16:54:36, time: 0.814, data_time: 0.039, memory: 19865, loss_cls: 0.3566, loss_bbox: 0.5121, loss_traj: 1.0290, loss_traj_cls: 0.0031, loss_map_cls: 0.2884, loss_map_pts: 1.2516, loss_map_dir: 0.0202, d0.loss_plan_l1_fix_time: 2.6067, d0.loss_plan_l1_fix_dist: 0.4646, d1.loss_plan_l1_fix_time: 1.6693, d1.loss_plan_l1_fix_dist: 0.2890, d2.loss_plan_l1_fix_time: 1.6494, d2.loss_plan_l1_fix_dist: 0.3038, d3.loss_plan_l1_fix_time: 1.6508, d3.loss_plan_l1_fix_dist: 0.3304, d4.loss_plan_l1_fix_time: 1.6555, d4.loss_plan_l1_fix_dist: 0.3621, d5.loss_plan_l1_fix_time: 1.6607, d5.loss_plan_l1_fix_dist: 0.3960, d6.loss_plan_l1_fix_time: 1.6673, d6.loss_plan_l1_fix_dist: 0.4366, d0.loss_cls_all: 0.3655, d0.loss_bbox_all: 0.5493, d0.loss_cls: 0.3655, d0.loss_bbox: 0.5493, d1.loss_cls: 0.3574, d1.loss_bbox: 0.5226, d2.loss_cls: 0.3528, d2.loss_bbox: 0.5118, d3.loss_cls: 0.3507, d3.loss_bbox: 0.5081, d4.loss_cls: 0.3537, d4.loss_bbox: 0.5078, d5.loss_cls: 0.3534, d5.loss_bbox: 0.5113, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1443, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0555, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0077, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0145, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0145, d5.loss_traj_cls: 0.0036, d5.loss_traj: 1.0221, d0.loss_map_cls_all: 0.3428, d0.loss_map_pts_all: 2.2177, d0.loss_map_dir_all: 0.0187, d0.loss_map_cls: 0.3428, d0.loss_map_pts: 2.2177, d0.loss_map_dir: 0.0187, d1.loss_map_cls: 0.3142, d1.loss_map_pts: 1.5173, d1.loss_map_dir: 0.0189, d2.loss_map_cls: 0.2987, d2.loss_map_pts: 1.3497, d2.loss_map_dir: 0.0194, d3.loss_map_cls: 0.2895, d3.loss_map_pts: 1.2833, d3.loss_map_dir: 0.0199, d4.loss_map_cls: 0.2857, d4.loss_map_pts: 1.2586, d4.loss_map_dir: 0.0201, d5.loss_map_cls: 0.2887, d5.loss_map_pts: 1.2520, d5.loss_map_dir: 0.0202, loss: 44.4242, grad_norm: 152.9443 +2026-02-25 04:24:44,647 - DriveTransformer - INFO - Epoch [3][38450/39528] lr: 9.831e-05, eta: 7 days, 16:53:54, time: 0.793, data_time: 0.045, memory: 19865, loss_cls: 0.2893, loss_bbox: 0.4546, loss_traj: 1.0492, loss_traj_cls: 0.0032, loss_map_cls: 0.2519, loss_map_pts: 1.0873, loss_map_dir: 0.0157, d0.loss_plan_l1_fix_time: 2.3779, d0.loss_plan_l1_fix_dist: 0.4274, d1.loss_plan_l1_fix_time: 1.5087, d1.loss_plan_l1_fix_dist: 0.2417, d2.loss_plan_l1_fix_time: 1.4790, d2.loss_plan_l1_fix_dist: 0.2485, d3.loss_plan_l1_fix_time: 1.4722, d3.loss_plan_l1_fix_dist: 0.2628, d4.loss_plan_l1_fix_time: 1.4746, d4.loss_plan_l1_fix_dist: 0.2799, d5.loss_plan_l1_fix_time: 1.4781, d5.loss_plan_l1_fix_dist: 0.2982, d6.loss_plan_l1_fix_time: 1.4823, d6.loss_plan_l1_fix_dist: 0.3204, d0.loss_cls_all: 0.3020, d0.loss_bbox_all: 0.4909, d0.loss_cls: 0.3020, d0.loss_bbox: 0.4909, d1.loss_cls: 0.2886, d1.loss_bbox: 0.4671, d2.loss_cls: 0.2818, d2.loss_bbox: 0.4559, d3.loss_cls: 0.2824, d3.loss_bbox: 0.4528, d4.loss_cls: 0.2854, d4.loss_bbox: 0.4504, d5.loss_cls: 0.2862, d5.loss_bbox: 0.4523, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2021, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0692, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0500, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0510, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0472, d5.loss_traj_cls: 0.0037, d5.loss_traj: 1.0479, d0.loss_map_cls_all: 0.3087, d0.loss_map_pts_all: 1.9223, d0.loss_map_dir_all: 0.0145, d0.loss_map_cls: 0.3087, d0.loss_map_pts: 1.9223, d0.loss_map_dir: 0.0145, d1.loss_map_cls: 0.2689, d1.loss_map_pts: 1.3266, d1.loss_map_dir: 0.0145, d2.loss_map_cls: 0.2564, d2.loss_map_pts: 1.1708, d2.loss_map_dir: 0.0148, d3.loss_map_cls: 0.2537, d3.loss_map_pts: 1.1095, d3.loss_map_dir: 0.0152, d4.loss_map_cls: 0.2475, d4.loss_map_pts: 1.0934, d4.loss_map_dir: 0.0155, d5.loss_map_cls: 0.2506, d5.loss_map_pts: 1.0884, d5.loss_map_dir: 0.0156, loss: 39.8994, grad_norm: 154.7359 +2026-02-25 04:25:24,204 - DriveTransformer - INFO - Epoch [3][38500/39528] lr: 9.831e-05, eta: 7 days, 16:53:10, time: 0.791, data_time: 0.036, memory: 19865, loss_cls: 0.3452, loss_bbox: 0.5088, loss_traj: 1.1660, loss_traj_cls: 0.0032, loss_map_cls: 0.2499, loss_map_pts: 1.1090, loss_map_dir: 0.0169, d0.loss_plan_l1_fix_time: 2.8286, d0.loss_plan_l1_fix_dist: 0.3958, d1.loss_plan_l1_fix_time: 1.6311, d1.loss_plan_l1_fix_dist: 0.2620, d2.loss_plan_l1_fix_time: 1.6021, d2.loss_plan_l1_fix_dist: 0.2770, d3.loss_plan_l1_fix_time: 1.6000, d3.loss_plan_l1_fix_dist: 0.2956, d4.loss_plan_l1_fix_time: 1.6026, d4.loss_plan_l1_fix_dist: 0.3136, d5.loss_plan_l1_fix_time: 1.6059, d5.loss_plan_l1_fix_dist: 0.3325, d6.loss_plan_l1_fix_time: 1.6093, d6.loss_plan_l1_fix_dist: 0.3467, d0.loss_cls_all: 0.3532, d0.loss_bbox_all: 0.5487, d0.loss_cls: 0.3532, d0.loss_bbox: 0.5487, d1.loss_cls: 0.3483, d1.loss_bbox: 0.5223, d2.loss_cls: 0.3468, d2.loss_bbox: 0.5089, d3.loss_cls: 0.3442, d3.loss_bbox: 0.5064, d4.loss_cls: 0.3450, d4.loss_bbox: 0.5058, d5.loss_cls: 0.3454, d5.loss_bbox: 0.5060, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3697, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.1832, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1507, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1501, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.1503, d5.loss_traj_cls: 0.0037, d5.loss_traj: 1.1582, d0.loss_map_cls_all: 0.2980, d0.loss_map_pts_all: 1.9214, d0.loss_map_dir_all: 0.0160, d0.loss_map_cls: 0.2980, d0.loss_map_pts: 1.9214, d0.loss_map_dir: 0.0160, d1.loss_map_cls: 0.2749, d1.loss_map_pts: 1.3599, d1.loss_map_dir: 0.0157, d2.loss_map_cls: 0.2633, d2.loss_map_pts: 1.2048, d2.loss_map_dir: 0.0159, d3.loss_map_cls: 0.2581, d3.loss_map_pts: 1.1384, d3.loss_map_dir: 0.0163, d4.loss_map_cls: 0.2508, d4.loss_map_pts: 1.1160, d4.loss_map_dir: 0.0166, d5.loss_map_cls: 0.2492, d5.loss_map_pts: 1.1097, d5.loss_map_dir: 0.0167, loss: 43.1318, grad_norm: 155.4377 +2026-02-25 04:26:06,539 - DriveTransformer - INFO - Epoch [3][38550/39528] lr: 9.831e-05, eta: 7 days, 16:52:46, time: 0.847, data_time: 0.039, memory: 19865, loss_cls: 0.3183, loss_bbox: 0.4955, loss_traj: 0.7786, loss_traj_cls: 0.0031, loss_map_cls: 0.2530, loss_map_pts: 1.1862, loss_map_dir: 0.0206, d0.loss_plan_l1_fix_time: 2.5801, d0.loss_plan_l1_fix_dist: 0.4001, d1.loss_plan_l1_fix_time: 1.4953, d1.loss_plan_l1_fix_dist: 0.2570, d2.loss_plan_l1_fix_time: 1.4710, d2.loss_plan_l1_fix_dist: 0.2688, d3.loss_plan_l1_fix_time: 1.4721, d3.loss_plan_l1_fix_dist: 0.2850, d4.loss_plan_l1_fix_time: 1.4771, d4.loss_plan_l1_fix_dist: 0.3044, d5.loss_plan_l1_fix_time: 1.4829, d5.loss_plan_l1_fix_dist: 0.3248, d6.loss_plan_l1_fix_time: 1.4905, d6.loss_plan_l1_fix_dist: 0.3466, d0.loss_cls_all: 0.3361, d0.loss_bbox_all: 0.5316, d0.loss_cls: 0.3361, d0.loss_bbox: 0.5316, d1.loss_cls: 0.3249, d1.loss_bbox: 0.5087, d2.loss_cls: 0.3193, d2.loss_bbox: 0.4964, d3.loss_cls: 0.3179, d3.loss_bbox: 0.4943, d4.loss_cls: 0.3177, d4.loss_bbox: 0.4906, d5.loss_cls: 0.3174, d5.loss_bbox: 0.4912, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9426, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8254, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7847, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7777, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7706, d5.loss_traj_cls: 0.0035, d5.loss_traj: 0.7739, d0.loss_map_cls_all: 0.3072, d0.loss_map_pts_all: 2.1846, d0.loss_map_dir_all: 0.0192, d0.loss_map_cls: 0.3072, d0.loss_map_pts: 2.1846, d0.loss_map_dir: 0.0192, d1.loss_map_cls: 0.2819, d1.loss_map_pts: 1.4506, d1.loss_map_dir: 0.0189, d2.loss_map_cls: 0.2722, d2.loss_map_pts: 1.2767, d2.loss_map_dir: 0.0196, d3.loss_map_cls: 0.2638, d3.loss_map_pts: 1.2143, d3.loss_map_dir: 0.0200, d4.loss_map_cls: 0.2553, d4.loss_map_pts: 1.1962, d4.loss_map_dir: 0.0203, d5.loss_map_cls: 0.2534, d5.loss_map_pts: 1.1898, d5.loss_map_dir: 0.0205, loss: 40.1833, grad_norm: 155.9855 +2026-02-25 04:26:47,191 - DriveTransformer - INFO - Epoch [3][38600/39528] lr: 9.831e-05, eta: 7 days, 16:52:10, time: 0.813, data_time: 0.055, memory: 19865, loss_cls: 0.2971, loss_bbox: 0.4929, loss_traj: 0.9756, loss_traj_cls: 0.0031, loss_map_cls: 0.2363, loss_map_pts: 0.9751, loss_map_dir: 0.0145, d0.loss_plan_l1_fix_time: 3.0782, d0.loss_plan_l1_fix_dist: 0.5054, d1.loss_plan_l1_fix_time: 1.8208, d1.loss_plan_l1_fix_dist: 0.2758, d2.loss_plan_l1_fix_time: 1.7997, d2.loss_plan_l1_fix_dist: 0.2865, d3.loss_plan_l1_fix_time: 1.8041, d3.loss_plan_l1_fix_dist: 0.3018, d4.loss_plan_l1_fix_time: 1.8092, d4.loss_plan_l1_fix_dist: 0.3230, d5.loss_plan_l1_fix_time: 1.8146, d5.loss_plan_l1_fix_dist: 0.3483, d6.loss_plan_l1_fix_time: 1.8210, d6.loss_plan_l1_fix_dist: 0.3839, d0.loss_cls_all: 0.3123, d0.loss_bbox_all: 0.5323, d0.loss_cls: 0.3123, d0.loss_bbox: 0.5323, d1.loss_cls: 0.3039, d1.loss_bbox: 0.5131, d2.loss_cls: 0.2983, d2.loss_bbox: 0.4967, d3.loss_cls: 0.2974, d3.loss_bbox: 0.4913, d4.loss_cls: 0.2952, d4.loss_bbox: 0.4902, d5.loss_cls: 0.2969, d5.loss_bbox: 0.4903, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1568, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0059, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9778, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9764, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9702, d5.loss_traj_cls: 0.0036, d5.loss_traj: 0.9737, d0.loss_map_cls_all: 0.2878, d0.loss_map_pts_all: 1.6713, d0.loss_map_dir_all: 0.0136, d0.loss_map_cls: 0.2878, d0.loss_map_pts: 1.6713, d0.loss_map_dir: 0.0136, d1.loss_map_cls: 0.2618, d1.loss_map_pts: 1.1921, d1.loss_map_dir: 0.0136, d2.loss_map_cls: 0.2491, d2.loss_map_pts: 1.0546, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2414, d3.loss_map_pts: 1.0016, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.2382, d4.loss_map_pts: 0.9824, d4.loss_map_dir: 0.0144, d5.loss_map_cls: 0.2369, d5.loss_map_pts: 0.9765, d5.loss_map_dir: 0.0145, loss: 41.5493, grad_norm: 156.1930 +2026-02-25 04:27:28,761 - DriveTransformer - INFO - Epoch [3][38650/39528] lr: 9.831e-05, eta: 7 days, 16:51:41, time: 0.831, data_time: 0.047, memory: 19865, loss_cls: 0.3324, loss_bbox: 0.5020, loss_traj: 0.8653, loss_traj_cls: 0.0030, loss_map_cls: 0.2736, loss_map_pts: 1.1498, loss_map_dir: 0.0199, d0.loss_plan_l1_fix_time: 2.9225, d0.loss_plan_l1_fix_dist: 0.5312, d1.loss_plan_l1_fix_time: 1.8070, d1.loss_plan_l1_fix_dist: 0.3094, d2.loss_plan_l1_fix_time: 1.7884, d2.loss_plan_l1_fix_dist: 0.3226, d3.loss_plan_l1_fix_time: 1.7900, d3.loss_plan_l1_fix_dist: 0.3375, d4.loss_plan_l1_fix_time: 1.7954, d4.loss_plan_l1_fix_dist: 0.3533, d5.loss_plan_l1_fix_time: 1.8014, d5.loss_plan_l1_fix_dist: 0.3716, d6.loss_plan_l1_fix_time: 1.8078, d6.loss_plan_l1_fix_dist: 0.3924, d0.loss_cls_all: 0.3374, d0.loss_bbox_all: 0.5490, d0.loss_cls: 0.3374, d0.loss_bbox: 0.5490, d1.loss_cls: 0.3384, d1.loss_bbox: 0.5180, d2.loss_cls: 0.3338, d2.loss_bbox: 0.5045, d3.loss_cls: 0.3321, d3.loss_bbox: 0.4991, d4.loss_cls: 0.3330, d4.loss_bbox: 0.4974, d5.loss_cls: 0.3307, d5.loss_bbox: 0.4984, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0405, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9066, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8752, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8683, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8642, d5.loss_traj_cls: 0.0036, d5.loss_traj: 0.8620, d0.loss_map_cls_all: 0.3263, d0.loss_map_pts_all: 2.1181, d0.loss_map_dir_all: 0.0186, d0.loss_map_cls: 0.3263, d0.loss_map_pts: 2.1181, d0.loss_map_dir: 0.0186, d1.loss_map_cls: 0.3046, d1.loss_map_pts: 1.4044, d1.loss_map_dir: 0.0186, d2.loss_map_cls: 0.2887, d2.loss_map_pts: 1.2445, d2.loss_map_dir: 0.0190, d3.loss_map_cls: 0.2789, d3.loss_map_pts: 1.1833, d3.loss_map_dir: 0.0195, d4.loss_map_cls: 0.2736, d4.loss_map_pts: 1.1572, d4.loss_map_dir: 0.0196, d5.loss_map_cls: 0.2741, d5.loss_map_pts: 1.1520, d5.loss_map_dir: 0.0198, loss: 43.4434, grad_norm: 156.7554 +2026-02-25 04:28:10,610 - DriveTransformer - INFO - Epoch [3][38700/39528] lr: 9.831e-05, eta: 7 days, 16:51:14, time: 0.837, data_time: 0.044, memory: 19865, loss_cls: 0.3227, loss_bbox: 0.5004, loss_traj: 0.9070, loss_traj_cls: 0.0030, loss_map_cls: 0.2336, loss_map_pts: 1.0878, loss_map_dir: 0.0182, d0.loss_plan_l1_fix_time: 2.6854, d0.loss_plan_l1_fix_dist: 0.4614, d1.loss_plan_l1_fix_time: 1.6670, d1.loss_plan_l1_fix_dist: 0.2541, d2.loss_plan_l1_fix_time: 1.6377, d2.loss_plan_l1_fix_dist: 0.2749, d3.loss_plan_l1_fix_time: 1.6353, d3.loss_plan_l1_fix_dist: 0.2958, d4.loss_plan_l1_fix_time: 1.6376, d4.loss_plan_l1_fix_dist: 0.3172, d5.loss_plan_l1_fix_time: 1.6415, d5.loss_plan_l1_fix_dist: 0.3367, d6.loss_plan_l1_fix_time: 1.6458, d6.loss_plan_l1_fix_dist: 0.3503, d0.loss_cls_all: 0.3387, d0.loss_bbox_all: 0.5518, d0.loss_cls: 0.3387, d0.loss_bbox: 0.5518, d1.loss_cls: 0.3328, d1.loss_bbox: 0.5195, d2.loss_cls: 0.3262, d2.loss_bbox: 0.5057, d3.loss_cls: 0.3233, d3.loss_bbox: 0.5012, d4.loss_cls: 0.3217, d4.loss_bbox: 0.4986, d5.loss_cls: 0.3221, d5.loss_bbox: 0.4977, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0959, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9494, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9212, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9063, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9080, d5.loss_traj_cls: 0.0037, d5.loss_traj: 0.9092, d0.loss_map_cls_all: 0.2959, d0.loss_map_pts_all: 2.0428, d0.loss_map_dir_all: 0.0173, d0.loss_map_cls: 0.2959, d0.loss_map_pts: 2.0428, d0.loss_map_dir: 0.0173, d1.loss_map_cls: 0.2669, d1.loss_map_pts: 1.3161, d1.loss_map_dir: 0.0169, d2.loss_map_cls: 0.2565, d2.loss_map_pts: 1.1645, d2.loss_map_dir: 0.0173, d3.loss_map_cls: 0.2425, d3.loss_map_pts: 1.1119, d3.loss_map_dir: 0.0179, d4.loss_map_cls: 0.2362, d4.loss_map_pts: 1.0959, d4.loss_map_dir: 0.0180, d5.loss_map_cls: 0.2340, d5.loss_map_pts: 1.0883, d5.loss_map_dir: 0.0182, loss: 41.3547, grad_norm: 157.4169 +2026-02-25 04:28:49,732 - DriveTransformer - INFO - Epoch [3][38750/39528] lr: 9.831e-05, eta: 7 days, 16:50:28, time: 0.783, data_time: 0.037, memory: 19865, loss_cls: 0.2997, loss_bbox: 0.4623, loss_traj: 0.8813, loss_traj_cls: 0.0031, loss_map_cls: 0.2352, loss_map_pts: 1.0057, loss_map_dir: 0.0164, d0.loss_plan_l1_fix_time: 2.5837, d0.loss_plan_l1_fix_dist: 0.4977, d1.loss_plan_l1_fix_time: 1.5348, d1.loss_plan_l1_fix_dist: 0.2690, d2.loss_plan_l1_fix_time: 1.5138, d2.loss_plan_l1_fix_dist: 0.2773, d3.loss_plan_l1_fix_time: 1.5145, d3.loss_plan_l1_fix_dist: 0.2928, d4.loss_plan_l1_fix_time: 1.5173, d4.loss_plan_l1_fix_dist: 0.3115, d5.loss_plan_l1_fix_time: 1.5210, d5.loss_plan_l1_fix_dist: 0.3326, d6.loss_plan_l1_fix_time: 1.5258, d6.loss_plan_l1_fix_dist: 0.3554, d0.loss_cls_all: 0.3138, d0.loss_bbox_all: 0.5062, d0.loss_cls: 0.3138, d0.loss_bbox: 0.5062, d1.loss_cls: 0.3076, d1.loss_bbox: 0.4786, d2.loss_cls: 0.2987, d2.loss_bbox: 0.4683, d3.loss_cls: 0.3001, d3.loss_bbox: 0.4619, d4.loss_cls: 0.2985, d4.loss_bbox: 0.4607, d5.loss_cls: 0.2983, d5.loss_bbox: 0.4600, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0749, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8896, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8625, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8645, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8586, d5.loss_traj_cls: 0.0038, d5.loss_traj: 0.8654, d0.loss_map_cls_all: 0.2865, d0.loss_map_pts_all: 1.9129, d0.loss_map_dir_all: 0.0153, d0.loss_map_cls: 0.2865, d0.loss_map_pts: 1.9129, d0.loss_map_dir: 0.0153, d1.loss_map_cls: 0.2664, d1.loss_map_pts: 1.2485, d1.loss_map_dir: 0.0152, d2.loss_map_cls: 0.2480, d2.loss_map_pts: 1.0840, d2.loss_map_dir: 0.0155, d3.loss_map_cls: 0.2407, d3.loss_map_pts: 1.0279, d3.loss_map_dir: 0.0160, d4.loss_map_cls: 0.2360, d4.loss_map_pts: 1.0101, d4.loss_map_dir: 0.0162, d5.loss_map_cls: 0.2358, d5.loss_map_pts: 1.0062, d5.loss_map_dir: 0.0164, loss: 38.9593, grad_norm: 158.5847 +2026-02-25 04:29:31,384 - DriveTransformer - INFO - Epoch [3][38800/39528] lr: 9.831e-05, eta: 7 days, 16:49:59, time: 0.834, data_time: 0.050, memory: 19865, loss_cls: 0.3374, loss_bbox: 0.5160, loss_traj: 1.0870, loss_traj_cls: 0.0031, loss_map_cls: 0.2933, loss_map_pts: 1.2244, loss_map_dir: 0.0193, d0.loss_plan_l1_fix_time: 2.6742, d0.loss_plan_l1_fix_dist: 0.4145, d1.loss_plan_l1_fix_time: 1.9423, d1.loss_plan_l1_fix_dist: 0.2994, d2.loss_plan_l1_fix_time: 1.9346, d2.loss_plan_l1_fix_dist: 0.3162, d3.loss_plan_l1_fix_time: 1.9397, d3.loss_plan_l1_fix_dist: 0.3403, d4.loss_plan_l1_fix_time: 1.9448, d4.loss_plan_l1_fix_dist: 0.3685, d5.loss_plan_l1_fix_time: 1.9501, d5.loss_plan_l1_fix_dist: 0.3988, d6.loss_plan_l1_fix_time: 1.9557, d6.loss_plan_l1_fix_dist: 0.4319, d0.loss_cls_all: 0.3412, d0.loss_bbox_all: 0.5726, d0.loss_cls: 0.3412, d0.loss_bbox: 0.5726, d1.loss_cls: 0.3428, d1.loss_bbox: 0.5395, d2.loss_cls: 0.3407, d2.loss_bbox: 0.5256, d3.loss_cls: 0.3378, d3.loss_bbox: 0.5172, d4.loss_cls: 0.3354, d4.loss_bbox: 0.5145, d5.loss_cls: 0.3365, d5.loss_bbox: 0.5142, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2475, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.1112, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0849, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0828, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0822, d5.loss_traj_cls: 0.0038, d5.loss_traj: 1.0881, d0.loss_map_cls_all: 0.3361, d0.loss_map_pts_all: 2.1593, d0.loss_map_dir_all: 0.0180, d0.loss_map_cls: 0.3361, d0.loss_map_pts: 2.1593, d0.loss_map_dir: 0.0180, d1.loss_map_cls: 0.3158, d1.loss_map_pts: 1.4998, d1.loss_map_dir: 0.0177, d2.loss_map_cls: 0.3019, d2.loss_map_pts: 1.3225, d2.loss_map_dir: 0.0183, d3.loss_map_cls: 0.2971, d3.loss_map_pts: 1.2559, d3.loss_map_dir: 0.0187, d4.loss_map_cls: 0.2938, d4.loss_map_pts: 1.2317, d4.loss_map_dir: 0.0190, d5.loss_map_cls: 0.2936, d5.loss_map_pts: 1.2267, d5.loss_map_dir: 0.0192, loss: 46.3865, grad_norm: 160.7805 +2026-02-25 04:30:10,401 - DriveTransformer - INFO - Epoch [3][38850/39528] lr: 9.831e-05, eta: 7 days, 16:49:11, time: 0.779, data_time: 0.043, memory: 19865, loss_cls: 0.3099, loss_bbox: 0.4891, loss_traj: 0.9877, loss_traj_cls: 0.0031, loss_map_cls: 0.2686, loss_map_pts: 1.1213, loss_map_dir: 0.0164, d0.loss_plan_l1_fix_time: 2.4649, d0.loss_plan_l1_fix_dist: 0.4286, d1.loss_plan_l1_fix_time: 1.6357, d1.loss_plan_l1_fix_dist: 0.2662, d2.loss_plan_l1_fix_time: 1.6326, d2.loss_plan_l1_fix_dist: 0.2824, d3.loss_plan_l1_fix_time: 1.6369, d3.loss_plan_l1_fix_dist: 0.2995, d4.loss_plan_l1_fix_time: 1.6419, d4.loss_plan_l1_fix_dist: 0.3188, d5.loss_plan_l1_fix_time: 1.6471, d5.loss_plan_l1_fix_dist: 0.3406, d6.loss_plan_l1_fix_time: 1.6524, d6.loss_plan_l1_fix_dist: 0.3714, d0.loss_cls_all: 0.3277, d0.loss_bbox_all: 0.5374, d0.loss_cls: 0.3277, d0.loss_bbox: 0.5374, d1.loss_cls: 0.3217, d1.loss_bbox: 0.5044, d2.loss_cls: 0.3145, d2.loss_bbox: 0.4931, d3.loss_cls: 0.3085, d3.loss_bbox: 0.4874, d4.loss_cls: 0.3075, d4.loss_bbox: 0.4853, d5.loss_cls: 0.3091, d5.loss_bbox: 0.4847, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1125, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0103, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9926, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9925, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9864, d5.loss_traj_cls: 0.0038, d5.loss_traj: 0.9914, d0.loss_map_cls_all: 0.3183, d0.loss_map_pts_all: 1.9330, d0.loss_map_dir_all: 0.0153, d0.loss_map_cls: 0.3183, d0.loss_map_pts: 1.9330, d0.loss_map_dir: 0.0153, d1.loss_map_cls: 0.2951, d1.loss_map_pts: 1.3621, d1.loss_map_dir: 0.0153, d2.loss_map_cls: 0.2806, d2.loss_map_pts: 1.2116, d2.loss_map_dir: 0.0156, d3.loss_map_cls: 0.2753, d3.loss_map_pts: 1.1536, d3.loss_map_dir: 0.0159, d4.loss_map_cls: 0.2715, d4.loss_map_pts: 1.1304, d4.loss_map_dir: 0.0161, d5.loss_map_cls: 0.2707, d5.loss_map_pts: 1.1210, d5.loss_map_dir: 0.0162, loss: 41.6397, grad_norm: 160.0479 +2026-02-25 04:30:51,563 - DriveTransformer - INFO - Epoch [3][38900/39528] lr: 9.831e-05, eta: 7 days, 16:48:39, time: 0.823, data_time: 0.043, memory: 19865, loss_cls: 0.3221, loss_bbox: 0.5158, loss_traj: 0.9007, loss_traj_cls: 0.0032, loss_map_cls: 0.2630, loss_map_pts: 1.1066, loss_map_dir: 0.0180, d0.loss_plan_l1_fix_time: 2.6588, d0.loss_plan_l1_fix_dist: 0.5104, d1.loss_plan_l1_fix_time: 1.7449, d1.loss_plan_l1_fix_dist: 0.2882, d2.loss_plan_l1_fix_time: 1.7336, d2.loss_plan_l1_fix_dist: 0.3057, d3.loss_plan_l1_fix_time: 1.7423, d3.loss_plan_l1_fix_dist: 0.3238, d4.loss_plan_l1_fix_time: 1.7484, d4.loss_plan_l1_fix_dist: 0.3427, d5.loss_plan_l1_fix_time: 1.7538, d5.loss_plan_l1_fix_dist: 0.3631, d6.loss_plan_l1_fix_time: 1.7590, d6.loss_plan_l1_fix_dist: 0.3868, d0.loss_cls_all: 0.3393, d0.loss_bbox_all: 0.5565, d0.loss_cls: 0.3393, d0.loss_bbox: 0.5565, d1.loss_cls: 0.3383, d1.loss_bbox: 0.5296, d2.loss_cls: 0.3313, d2.loss_bbox: 0.5201, d3.loss_cls: 0.3270, d3.loss_bbox: 0.5117, d4.loss_cls: 0.3234, d4.loss_bbox: 0.5106, d5.loss_cls: 0.3221, d5.loss_bbox: 0.5132, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0801, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9332, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8970, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8842, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8926, d5.loss_traj_cls: 0.0038, d5.loss_traj: 0.8947, d0.loss_map_cls_all: 0.3155, d0.loss_map_pts_all: 1.9738, d0.loss_map_dir_all: 0.0165, d0.loss_map_cls: 0.3155, d0.loss_map_pts: 1.9738, d0.loss_map_dir: 0.0165, d1.loss_map_cls: 0.2875, d1.loss_map_pts: 1.3408, d1.loss_map_dir: 0.0163, d2.loss_map_cls: 0.2754, d2.loss_map_pts: 1.1932, d2.loss_map_dir: 0.0168, d3.loss_map_cls: 0.2698, d3.loss_map_pts: 1.1397, d3.loss_map_dir: 0.0173, d4.loss_map_cls: 0.2624, d4.loss_map_pts: 1.1171, d4.loss_map_dir: 0.0176, d5.loss_map_cls: 0.2621, d5.loss_map_pts: 1.1093, d5.loss_map_dir: 0.0178, loss: 42.3547, grad_norm: 162.6973 +2026-02-25 04:31:33,097 - DriveTransformer - INFO - Epoch [3][38950/39528] lr: 9.831e-05, eta: 7 days, 16:48:10, time: 0.831, data_time: 0.040, memory: 19865, loss_cls: 0.3224, loss_bbox: 0.4975, loss_traj: 1.0205, loss_traj_cls: 0.0033, loss_map_cls: 0.2555, loss_map_pts: 1.1384, loss_map_dir: 0.0198, d0.loss_plan_l1_fix_time: 2.9418, d0.loss_plan_l1_fix_dist: 0.4992, d1.loss_plan_l1_fix_time: 1.6489, d1.loss_plan_l1_fix_dist: 0.3011, d2.loss_plan_l1_fix_time: 1.6334, d2.loss_plan_l1_fix_dist: 0.3089, d3.loss_plan_l1_fix_time: 1.6350, d3.loss_plan_l1_fix_dist: 0.3251, d4.loss_plan_l1_fix_time: 1.6393, d4.loss_plan_l1_fix_dist: 0.3421, d5.loss_plan_l1_fix_time: 1.6441, d5.loss_plan_l1_fix_dist: 0.3562, d6.loss_plan_l1_fix_time: 1.6492, d6.loss_plan_l1_fix_dist: 0.3655, d0.loss_cls_all: 0.3353, d0.loss_bbox_all: 0.5507, d0.loss_cls: 0.3353, d0.loss_bbox: 0.5507, d1.loss_cls: 0.3283, d1.loss_bbox: 0.5214, d2.loss_cls: 0.3285, d2.loss_bbox: 0.5076, d3.loss_cls: 0.3268, d3.loss_bbox: 0.4995, d4.loss_cls: 0.3232, d4.loss_bbox: 0.4970, d5.loss_cls: 0.3215, d5.loss_bbox: 0.4965, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1591, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0501, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0228, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0195, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0179, d5.loss_traj_cls: 0.0039, d5.loss_traj: 1.0166, d0.loss_map_cls_all: 0.3082, d0.loss_map_pts_all: 2.1552, d0.loss_map_dir_all: 0.0184, d0.loss_map_cls: 0.3082, d0.loss_map_pts: 2.1552, d0.loss_map_dir: 0.0184, d1.loss_map_cls: 0.2795, d1.loss_map_pts: 1.4073, d1.loss_map_dir: 0.0179, d2.loss_map_cls: 0.2683, d2.loss_map_pts: 1.2369, d2.loss_map_dir: 0.0185, d3.loss_map_cls: 0.2615, d3.loss_map_pts: 1.1707, d3.loss_map_dir: 0.0191, d4.loss_map_cls: 0.2576, d4.loss_map_pts: 1.1454, d4.loss_map_dir: 0.0194, d5.loss_map_cls: 0.2565, d5.loss_map_pts: 1.1382, d5.loss_map_dir: 0.0197, loss: 43.2447, grad_norm: 164.3498 +2026-02-25 04:32:11,900 - DriveTransformer - INFO - Epoch [3][39000/39528] lr: 9.831e-05, eta: 7 days, 16:47:21, time: 0.776, data_time: 0.039, memory: 19865, loss_cls: 0.3325, loss_bbox: 0.5008, loss_traj: 1.0545, loss_traj_cls: 0.0033, loss_map_cls: 0.2959, loss_map_pts: 1.1853, loss_map_dir: 0.0178, d0.loss_plan_l1_fix_time: 2.9831, d0.loss_plan_l1_fix_dist: 0.5198, d1.loss_plan_l1_fix_time: 1.6447, d1.loss_plan_l1_fix_dist: 0.2602, d2.loss_plan_l1_fix_time: 1.6318, d2.loss_plan_l1_fix_dist: 0.2725, d3.loss_plan_l1_fix_time: 1.6372, d3.loss_plan_l1_fix_dist: 0.2906, d4.loss_plan_l1_fix_time: 1.6418, d4.loss_plan_l1_fix_dist: 0.3116, d5.loss_plan_l1_fix_time: 1.6458, d5.loss_plan_l1_fix_dist: 0.3358, d6.loss_plan_l1_fix_time: 1.6504, d6.loss_plan_l1_fix_dist: 0.3620, d0.loss_cls_all: 0.3477, d0.loss_bbox_all: 0.5585, d0.loss_cls: 0.3477, d0.loss_bbox: 0.5585, d1.loss_cls: 0.3455, d1.loss_bbox: 0.5250, d2.loss_cls: 0.3400, d2.loss_bbox: 0.5083, d3.loss_cls: 0.3370, d3.loss_bbox: 0.5006, d4.loss_cls: 0.3368, d4.loss_bbox: 0.4988, d5.loss_cls: 0.3342, d5.loss_bbox: 0.4990, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2711, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.1020, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0624, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0519, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0480, d5.loss_traj_cls: 0.0039, d5.loss_traj: 1.0452, d0.loss_map_cls_all: 0.3486, d0.loss_map_pts_all: 1.9639, d0.loss_map_dir_all: 0.0157, d0.loss_map_cls: 0.3486, d0.loss_map_pts: 1.9639, d0.loss_map_dir: 0.0157, d1.loss_map_cls: 0.3198, d1.loss_map_pts: 1.4174, d1.loss_map_dir: 0.0161, d2.loss_map_cls: 0.3079, d2.loss_map_pts: 1.2648, d2.loss_map_dir: 0.0167, d3.loss_map_cls: 0.3011, d3.loss_map_pts: 1.2108, d3.loss_map_dir: 0.0172, d4.loss_map_cls: 0.2966, d4.loss_map_pts: 1.1941, d4.loss_map_dir: 0.0176, d5.loss_map_cls: 0.2958, d5.loss_map_pts: 1.1874, d5.loss_map_dir: 0.0176, loss: 43.7415, grad_norm: 164.0395 +2026-02-25 04:32:53,174 - DriveTransformer - INFO - Epoch [3][39050/39528] lr: 9.831e-05, eta: 7 days, 16:46:49, time: 0.825, data_time: 0.043, memory: 19865, loss_cls: 0.3141, loss_bbox: 0.4946, loss_traj: 1.0054, loss_traj_cls: 0.0034, loss_map_cls: 0.2700, loss_map_pts: 1.1569, loss_map_dir: 0.0173, d0.loss_plan_l1_fix_time: 2.8905, d0.loss_plan_l1_fix_dist: 0.4454, d1.loss_plan_l1_fix_time: 1.9190, d1.loss_plan_l1_fix_dist: 0.2436, d2.loss_plan_l1_fix_time: 1.9149, d2.loss_plan_l1_fix_dist: 0.2593, d3.loss_plan_l1_fix_time: 1.9159, d3.loss_plan_l1_fix_dist: 0.2802, d4.loss_plan_l1_fix_time: 1.9195, d4.loss_plan_l1_fix_dist: 0.3048, d5.loss_plan_l1_fix_time: 1.9241, d5.loss_plan_l1_fix_dist: 0.3338, d6.loss_plan_l1_fix_time: 1.9294, d6.loss_plan_l1_fix_dist: 0.3683, d0.loss_cls_all: 0.3343, d0.loss_bbox_all: 0.5477, d0.loss_cls: 0.3343, d0.loss_bbox: 0.5477, d1.loss_cls: 0.3260, d1.loss_bbox: 0.5206, d2.loss_cls: 0.3189, d2.loss_bbox: 0.5060, d3.loss_cls: 0.3161, d3.loss_bbox: 0.4993, d4.loss_cls: 0.3154, d4.loss_bbox: 0.4960, d5.loss_cls: 0.3140, d5.loss_bbox: 0.4940, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1891, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0558, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0009, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0006, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0087, d5.loss_traj_cls: 0.0039, d5.loss_traj: 1.0061, d0.loss_map_cls_all: 0.3253, d0.loss_map_pts_all: 2.0069, d0.loss_map_dir_all: 0.0153, d0.loss_map_cls: 0.3253, d0.loss_map_pts: 2.0069, d0.loss_map_dir: 0.0153, d1.loss_map_cls: 0.2932, d1.loss_map_pts: 1.4169, d1.loss_map_dir: 0.0157, d2.loss_map_cls: 0.2783, d2.loss_map_pts: 1.2552, d2.loss_map_dir: 0.0163, d3.loss_map_cls: 0.2721, d3.loss_map_pts: 1.1918, d3.loss_map_dir: 0.0169, d4.loss_map_cls: 0.2691, d4.loss_map_pts: 1.1699, d4.loss_map_dir: 0.0171, d5.loss_map_cls: 0.2699, d5.loss_map_pts: 1.1596, d5.loss_map_dir: 0.0173, loss: 44.4049, grad_norm: 164.8924 +2026-02-25 04:33:31,732 - DriveTransformer - INFO - Epoch [3][39100/39528] lr: 9.831e-05, eta: 7 days, 16:45:59, time: 0.771, data_time: 0.042, memory: 19865, loss_cls: 0.3134, loss_bbox: 0.4883, loss_traj: 1.0499, loss_traj_cls: 0.0034, loss_map_cls: 0.2929, loss_map_pts: 1.1728, loss_map_dir: 0.0180, d0.loss_plan_l1_fix_time: 3.0108, d0.loss_plan_l1_fix_dist: 0.3969, d1.loss_plan_l1_fix_time: 1.8813, d1.loss_plan_l1_fix_dist: 0.2566, d2.loss_plan_l1_fix_time: 1.8457, d2.loss_plan_l1_fix_dist: 0.2629, d3.loss_plan_l1_fix_time: 1.8415, d3.loss_plan_l1_fix_dist: 0.2792, d4.loss_plan_l1_fix_time: 1.8437, d4.loss_plan_l1_fix_dist: 0.2994, d5.loss_plan_l1_fix_time: 1.8476, d5.loss_plan_l1_fix_dist: 0.3222, d6.loss_plan_l1_fix_time: 1.8528, d6.loss_plan_l1_fix_dist: 0.3486, d0.loss_cls_all: 0.3294, d0.loss_bbox_all: 0.5452, d0.loss_cls: 0.3294, d0.loss_bbox: 0.5452, d1.loss_cls: 0.3217, d1.loss_bbox: 0.5140, d2.loss_cls: 0.3195, d2.loss_bbox: 0.4990, d3.loss_cls: 0.3188, d3.loss_bbox: 0.4926, d4.loss_cls: 0.3159, d4.loss_bbox: 0.4898, d5.loss_cls: 0.3146, d5.loss_bbox: 0.4876, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3320, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.1046, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0530, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0486, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0494, d5.loss_traj_cls: 0.0040, d5.loss_traj: 1.0435, d0.loss_map_cls_all: 0.3365, d0.loss_map_pts_all: 2.0352, d0.loss_map_dir_all: 0.0169, d0.loss_map_cls: 0.3365, d0.loss_map_pts: 2.0352, d0.loss_map_dir: 0.0169, d1.loss_map_cls: 0.3141, d1.loss_map_pts: 1.4344, d1.loss_map_dir: 0.0166, d2.loss_map_cls: 0.3008, d2.loss_map_pts: 1.2690, d2.loss_map_dir: 0.0170, d3.loss_map_cls: 0.2961, d3.loss_map_pts: 1.2041, d3.loss_map_dir: 0.0175, d4.loss_map_cls: 0.2928, d4.loss_map_pts: 1.1822, d4.loss_map_dir: 0.0177, d5.loss_map_cls: 0.2920, d5.loss_map_pts: 1.1751, d5.loss_map_dir: 0.0178, loss: 44.7149, grad_norm: 164.6815 +2026-02-25 04:34:10,673 - DriveTransformer - INFO - Epoch [3][39150/39528] lr: 9.831e-05, eta: 7 days, 16:45:11, time: 0.779, data_time: 0.037, memory: 19865, loss_cls: 0.3107, loss_bbox: 0.4849, loss_traj: 0.9412, loss_traj_cls: 0.0033, loss_map_cls: 0.2721, loss_map_pts: 1.2531, loss_map_dir: 0.0189, d0.loss_plan_l1_fix_time: 2.6292, d0.loss_plan_l1_fix_dist: 0.4451, d1.loss_plan_l1_fix_time: 1.5195, d1.loss_plan_l1_fix_dist: 0.2770, d2.loss_plan_l1_fix_time: 1.4965, d2.loss_plan_l1_fix_dist: 0.2931, d3.loss_plan_l1_fix_time: 1.4979, d3.loss_plan_l1_fix_dist: 0.3127, d4.loss_plan_l1_fix_time: 1.5017, d4.loss_plan_l1_fix_dist: 0.3326, d5.loss_plan_l1_fix_time: 1.5064, d5.loss_plan_l1_fix_dist: 0.3550, d6.loss_plan_l1_fix_time: 1.5115, d6.loss_plan_l1_fix_dist: 0.3776, d0.loss_cls_all: 0.3316, d0.loss_bbox_all: 0.5312, d0.loss_cls: 0.3316, d0.loss_bbox: 0.5312, d1.loss_cls: 0.3212, d1.loss_bbox: 0.5060, d2.loss_cls: 0.3146, d2.loss_bbox: 0.4932, d3.loss_cls: 0.3130, d3.loss_bbox: 0.4855, d4.loss_cls: 0.3112, d4.loss_bbox: 0.4820, d5.loss_cls: 0.3091, d5.loss_bbox: 0.4823, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1335, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9854, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9442, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9329, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9279, d5.loss_traj_cls: 0.0038, d5.loss_traj: 0.9348, d0.loss_map_cls_all: 0.3317, d0.loss_map_pts_all: 2.1196, d0.loss_map_dir_all: 0.0173, d0.loss_map_cls: 0.3317, d0.loss_map_pts: 2.1196, d0.loss_map_dir: 0.0173, d1.loss_map_cls: 0.3028, d1.loss_map_pts: 1.5024, d1.loss_map_dir: 0.0172, d2.loss_map_cls: 0.2868, d2.loss_map_pts: 1.3517, d2.loss_map_dir: 0.0178, d3.loss_map_cls: 0.2808, d3.loss_map_pts: 1.2832, d3.loss_map_dir: 0.0183, d4.loss_map_cls: 0.2723, d4.loss_map_pts: 1.2646, d4.loss_map_dir: 0.0186, d5.loss_map_cls: 0.2707, d5.loss_map_pts: 1.2565, d5.loss_map_dir: 0.0187, loss: 42.0498, grad_norm: 164.3262 +2026-02-25 04:34:49,667 - DriveTransformer - INFO - Epoch [3][39200/39528] lr: 9.831e-05, eta: 7 days, 16:44:24, time: 0.780, data_time: 0.042, memory: 19865, loss_cls: 0.3140, loss_bbox: 0.4887, loss_traj: 1.1935, loss_traj_cls: 0.0034, loss_map_cls: 0.2377, loss_map_pts: 1.0039, loss_map_dir: 0.0150, d0.loss_plan_l1_fix_time: 3.0681, d0.loss_plan_l1_fix_dist: 0.3664, d1.loss_plan_l1_fix_time: 1.9551, d1.loss_plan_l1_fix_dist: 0.2462, d2.loss_plan_l1_fix_time: 1.9374, d2.loss_plan_l1_fix_dist: 0.2621, d3.loss_plan_l1_fix_time: 1.9375, d3.loss_plan_l1_fix_dist: 0.2818, d4.loss_plan_l1_fix_time: 1.9400, d4.loss_plan_l1_fix_dist: 0.3033, d5.loss_plan_l1_fix_time: 1.9435, d5.loss_plan_l1_fix_dist: 0.3233, d6.loss_plan_l1_fix_time: 1.9471, d6.loss_plan_l1_fix_dist: 0.3434, d0.loss_cls_all: 0.3366, d0.loss_bbox_all: 0.5410, d0.loss_cls: 0.3366, d0.loss_bbox: 0.5410, d1.loss_cls: 0.3282, d1.loss_bbox: 0.5119, d2.loss_cls: 0.3202, d2.loss_bbox: 0.4967, d3.loss_cls: 0.3164, d3.loss_bbox: 0.4891, d4.loss_cls: 0.3133, d4.loss_bbox: 0.4896, d5.loss_cls: 0.3129, d5.loss_bbox: 0.4886, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3524, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.2346, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.2108, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.2095, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.1982, d5.loss_traj_cls: 0.0040, d5.loss_traj: 1.1993, d0.loss_map_cls_all: 0.2925, d0.loss_map_pts_all: 1.8483, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.2925, d0.loss_map_pts: 1.8483, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2602, d1.loss_map_pts: 1.2277, d1.loss_map_dir: 0.0134, d2.loss_map_cls: 0.2513, d2.loss_map_pts: 1.0825, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2432, d3.loss_map_pts: 1.0265, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2388, d4.loss_map_pts: 1.0083, d4.loss_map_dir: 0.0147, d5.loss_map_cls: 0.2377, d5.loss_map_pts: 1.0052, d5.loss_map_dir: 0.0149, loss: 44.3073, grad_norm: 163.6504 +2026-02-25 04:35:30,585 - DriveTransformer - INFO - Epoch [3][39250/39528] lr: 9.831e-05, eta: 7 days, 16:43:50, time: 0.818, data_time: 0.036, memory: 19865, loss_cls: 0.3229, loss_bbox: 0.5227, loss_traj: 1.0197, loss_traj_cls: 0.0034, loss_map_cls: 0.2990, loss_map_pts: 1.3033, loss_map_dir: 0.0200, d0.loss_plan_l1_fix_time: 2.3762, d0.loss_plan_l1_fix_dist: 0.4432, d1.loss_plan_l1_fix_time: 1.5007, d1.loss_plan_l1_fix_dist: 0.3017, d2.loss_plan_l1_fix_time: 1.4682, d2.loss_plan_l1_fix_dist: 0.3204, d3.loss_plan_l1_fix_time: 1.4603, d3.loss_plan_l1_fix_dist: 0.3431, d4.loss_plan_l1_fix_time: 1.4617, d4.loss_plan_l1_fix_dist: 0.3647, d5.loss_plan_l1_fix_time: 1.4650, d5.loss_plan_l1_fix_dist: 0.3837, d6.loss_plan_l1_fix_time: 1.4696, d6.loss_plan_l1_fix_dist: 0.4052, d0.loss_cls_all: 0.3387, d0.loss_bbox_all: 0.5779, d0.loss_cls: 0.3387, d0.loss_bbox: 0.5779, d1.loss_cls: 0.3297, d1.loss_bbox: 0.5488, d2.loss_cls: 0.3252, d2.loss_bbox: 0.5342, d3.loss_cls: 0.3235, d3.loss_bbox: 0.5258, d4.loss_cls: 0.3224, d4.loss_bbox: 0.5220, d5.loss_cls: 0.3218, d5.loss_bbox: 0.5214, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2141, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0618, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0299, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0212, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0174, d5.loss_traj_cls: 0.0038, d5.loss_traj: 1.0226, d0.loss_map_cls_all: 0.3551, d0.loss_map_pts_all: 2.3380, d0.loss_map_dir_all: 0.0180, d0.loss_map_cls: 0.3551, d0.loss_map_pts: 2.3380, d0.loss_map_dir: 0.0180, d1.loss_map_cls: 0.3282, d1.loss_map_pts: 1.5808, d1.loss_map_dir: 0.0180, d2.loss_map_cls: 0.3132, d2.loss_map_pts: 1.4038, d2.loss_map_dir: 0.0188, d3.loss_map_cls: 0.3060, d3.loss_map_pts: 1.3350, d3.loss_map_dir: 0.0194, d4.loss_map_cls: 0.3005, d4.loss_map_pts: 1.3136, d4.loss_map_dir: 0.0197, d5.loss_map_cls: 0.2992, d5.loss_map_pts: 1.3069, d5.loss_map_dir: 0.0199, loss: 43.7438, grad_norm: 162.3115 +2026-02-25 04:36:09,852 - DriveTransformer - INFO - Epoch [3][39300/39528] lr: 9.831e-05, eta: 7 days, 16:43:04, time: 0.785, data_time: 0.049, memory: 19865, loss_cls: 0.3215, loss_bbox: 0.4870, loss_traj: 1.1170, loss_traj_cls: 0.0034, loss_map_cls: 0.2363, loss_map_pts: 1.0860, loss_map_dir: 0.0180, d0.loss_plan_l1_fix_time: 2.6187, d0.loss_plan_l1_fix_dist: 0.3501, d1.loss_plan_l1_fix_time: 1.6854, d1.loss_plan_l1_fix_dist: 0.2352, d2.loss_plan_l1_fix_time: 1.6594, d2.loss_plan_l1_fix_dist: 0.2432, d3.loss_plan_l1_fix_time: 1.6560, d3.loss_plan_l1_fix_dist: 0.2609, d4.loss_plan_l1_fix_time: 1.6585, d4.loss_plan_l1_fix_dist: 0.2842, d5.loss_plan_l1_fix_time: 1.6619, d5.loss_plan_l1_fix_dist: 0.3111, d6.loss_plan_l1_fix_time: 1.6662, d6.loss_plan_l1_fix_dist: 0.3401, d0.loss_cls_all: 0.3342, d0.loss_bbox_all: 0.5373, d0.loss_cls: 0.3342, d0.loss_bbox: 0.5373, d1.loss_cls: 0.3275, d1.loss_bbox: 0.5115, d2.loss_cls: 0.3254, d2.loss_bbox: 0.4974, d3.loss_cls: 0.3219, d3.loss_bbox: 0.4906, d4.loss_cls: 0.3194, d4.loss_bbox: 0.4878, d5.loss_cls: 0.3193, d5.loss_bbox: 0.4881, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3471, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.1714, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.1365, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1204, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.1152, d5.loss_traj_cls: 0.0039, d5.loss_traj: 1.1187, d0.loss_map_cls_all: 0.2874, d0.loss_map_pts_all: 1.9587, d0.loss_map_dir_all: 0.0163, d0.loss_map_cls: 0.2874, d0.loss_map_pts: 1.9587, d0.loss_map_dir: 0.0163, d1.loss_map_cls: 0.2596, d1.loss_map_pts: 1.3185, d1.loss_map_dir: 0.0163, d2.loss_map_cls: 0.2490, d2.loss_map_pts: 1.1607, d2.loss_map_dir: 0.0169, d3.loss_map_cls: 0.2415, d3.loss_map_pts: 1.1096, d3.loss_map_dir: 0.0174, d4.loss_map_cls: 0.2366, d4.loss_map_pts: 1.0932, d4.loss_map_dir: 0.0177, d5.loss_map_cls: 0.2353, d5.loss_map_pts: 1.0872, d5.loss_map_dir: 0.0179, loss: 42.3524, grad_norm: 160.1035 +2026-02-25 04:36:51,264 - DriveTransformer - INFO - Epoch [3][39350/39528] lr: 9.831e-05, eta: 7 days, 16:42:34, time: 0.828, data_time: 0.039, memory: 19865, loss_cls: 0.3045, loss_bbox: 0.4892, loss_traj: 0.9873, loss_traj_cls: 0.0034, loss_map_cls: 0.2720, loss_map_pts: 1.1775, loss_map_dir: 0.0225, d0.loss_plan_l1_fix_time: 2.7164, d0.loss_plan_l1_fix_dist: 0.3390, d1.loss_plan_l1_fix_time: 1.7529, d1.loss_plan_l1_fix_dist: 0.2510, d2.loss_plan_l1_fix_time: 1.7232, d2.loss_plan_l1_fix_dist: 0.2610, d3.loss_plan_l1_fix_time: 1.7259, d3.loss_plan_l1_fix_dist: 0.2767, d4.loss_plan_l1_fix_time: 1.7296, d4.loss_plan_l1_fix_dist: 0.2970, d5.loss_plan_l1_fix_time: 1.7334, d5.loss_plan_l1_fix_dist: 0.3186, d6.loss_plan_l1_fix_time: 1.7378, d6.loss_plan_l1_fix_dist: 0.3425, d0.loss_cls_all: 0.3257, d0.loss_bbox_all: 0.5356, d0.loss_cls: 0.3257, d0.loss_bbox: 0.5356, d1.loss_cls: 0.3199, d1.loss_bbox: 0.5053, d2.loss_cls: 0.3106, d2.loss_bbox: 0.4931, d3.loss_cls: 0.3054, d3.loss_bbox: 0.4904, d4.loss_cls: 0.3031, d4.loss_bbox: 0.4884, d5.loss_cls: 0.3021, d5.loss_bbox: 0.4886, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2135, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0116, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9831, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9773, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9845, d5.loss_traj_cls: 0.0039, d5.loss_traj: 0.9833, d0.loss_map_cls_all: 0.3158, d0.loss_map_pts_all: 2.1968, d0.loss_map_dir_all: 0.0205, d0.loss_map_cls: 0.3158, d0.loss_map_pts: 2.1968, d0.loss_map_dir: 0.0205, d1.loss_map_cls: 0.2981, d1.loss_map_pts: 1.4293, d1.loss_map_dir: 0.0205, d2.loss_map_cls: 0.2864, d2.loss_map_pts: 1.2569, d2.loss_map_dir: 0.0212, d3.loss_map_cls: 0.2781, d3.loss_map_pts: 1.2054, d3.loss_map_dir: 0.0217, d4.loss_map_cls: 0.2737, d4.loss_map_pts: 1.1853, d4.loss_map_dir: 0.0221, d5.loss_map_cls: 0.2722, d5.loss_map_pts: 1.1786, d5.loss_map_dir: 0.0222, loss: 43.1910, grad_norm: 161.1092 +2026-02-25 04:37:31,412 - DriveTransformer - INFO - Epoch [3][39400/39528] lr: 9.831e-05, eta: 7 days, 16:41:54, time: 0.803, data_time: 0.039, memory: 19865, loss_cls: 0.3257, loss_bbox: 0.5029, loss_traj: 0.9131, loss_traj_cls: 0.0033, loss_map_cls: 0.2962, loss_map_pts: 1.3260, loss_map_dir: 0.0208, d0.loss_plan_l1_fix_time: 2.4939, d0.loss_plan_l1_fix_dist: 0.5019, d1.loss_plan_l1_fix_time: 1.5829, d1.loss_plan_l1_fix_dist: 0.2826, d2.loss_plan_l1_fix_time: 1.5575, d2.loss_plan_l1_fix_dist: 0.2876, d3.loss_plan_l1_fix_time: 1.5652, d3.loss_plan_l1_fix_dist: 0.2990, d4.loss_plan_l1_fix_time: 1.5704, d4.loss_plan_l1_fix_dist: 0.3111, d5.loss_plan_l1_fix_time: 1.5757, d5.loss_plan_l1_fix_dist: 0.3243, d6.loss_plan_l1_fix_time: 1.5809, d6.loss_plan_l1_fix_dist: 0.3403, d0.loss_cls_all: 0.3400, d0.loss_bbox_all: 0.5549, d0.loss_cls: 0.3400, d0.loss_bbox: 0.5549, d1.loss_cls: 0.3339, d1.loss_bbox: 0.5203, d2.loss_cls: 0.3328, d2.loss_bbox: 0.5075, d3.loss_cls: 0.3280, d3.loss_bbox: 0.5036, d4.loss_cls: 0.3262, d4.loss_bbox: 0.5022, d5.loss_cls: 0.3265, d5.loss_bbox: 0.5006, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1697, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9428, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9190, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9070, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9071, d5.loss_traj_cls: 0.0038, d5.loss_traj: 0.9108, d0.loss_map_cls_all: 0.3423, d0.loss_map_pts_all: 2.2929, d0.loss_map_dir_all: 0.0192, d0.loss_map_cls: 0.3423, d0.loss_map_pts: 2.2929, d0.loss_map_dir: 0.0192, d1.loss_map_cls: 0.3238, d1.loss_map_pts: 1.5783, d1.loss_map_dir: 0.0191, d2.loss_map_cls: 0.3113, d2.loss_map_pts: 1.4105, d2.loss_map_dir: 0.0196, d3.loss_map_cls: 0.3032, d3.loss_map_pts: 1.3522, d3.loss_map_dir: 0.0202, d4.loss_map_cls: 0.2979, d4.loss_map_pts: 1.3294, d4.loss_map_dir: 0.0205, d5.loss_map_cls: 0.2962, d5.loss_map_pts: 1.3269, d5.loss_map_dir: 0.0206, loss: 43.3365, grad_norm: 161.3228 +2026-02-25 04:38:10,818 - DriveTransformer - INFO - Epoch [3][39450/39528] lr: 9.831e-05, eta: 7 days, 16:41:10, time: 0.788, data_time: 0.042, memory: 19865, loss_cls: 0.3029, loss_bbox: 0.4772, loss_traj: 1.0295, loss_traj_cls: 0.0033, loss_map_cls: 0.2292, loss_map_pts: 0.9851, loss_map_dir: 0.0153, d0.loss_plan_l1_fix_time: 2.6616, d0.loss_plan_l1_fix_dist: 0.3771, d1.loss_plan_l1_fix_time: 1.7157, d1.loss_plan_l1_fix_dist: 0.2316, d2.loss_plan_l1_fix_time: 1.6897, d2.loss_plan_l1_fix_dist: 0.2379, d3.loss_plan_l1_fix_time: 1.6875, d3.loss_plan_l1_fix_dist: 0.2509, d4.loss_plan_l1_fix_time: 1.6898, d4.loss_plan_l1_fix_dist: 0.2683, d5.loss_plan_l1_fix_time: 1.6935, d5.loss_plan_l1_fix_dist: 0.2861, d6.loss_plan_l1_fix_time: 1.6972, d6.loss_plan_l1_fix_dist: 0.3020, d0.loss_cls_all: 0.3168, d0.loss_bbox_all: 0.5183, d0.loss_cls: 0.3168, d0.loss_bbox: 0.5183, d1.loss_cls: 0.3135, d1.loss_bbox: 0.4913, d2.loss_cls: 0.3102, d2.loss_bbox: 0.4807, d3.loss_cls: 0.3076, d3.loss_bbox: 0.4773, d4.loss_cls: 0.3044, d4.loss_bbox: 0.4784, d5.loss_cls: 0.3025, d5.loss_bbox: 0.4767, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2038, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0670, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0302, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0282, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0186, d5.loss_traj_cls: 0.0038, d5.loss_traj: 1.0260, d0.loss_map_cls_all: 0.2872, d0.loss_map_pts_all: 1.7610, d0.loss_map_dir_all: 0.0146, d0.loss_map_cls: 0.2872, d0.loss_map_pts: 1.7610, d0.loss_map_dir: 0.0146, d1.loss_map_cls: 0.2621, d1.loss_map_pts: 1.2234, d1.loss_map_dir: 0.0143, d2.loss_map_cls: 0.2475, d2.loss_map_pts: 1.0729, d2.loss_map_dir: 0.0144, d3.loss_map_cls: 0.2396, d3.loss_map_pts: 1.0150, d3.loss_map_dir: 0.0147, d4.loss_map_cls: 0.2308, d4.loss_map_pts: 0.9938, d4.loss_map_dir: 0.0150, d5.loss_map_cls: 0.2287, d5.loss_map_pts: 0.9877, d5.loss_map_dir: 0.0151, loss: 40.5272, grad_norm: 160.0075 +2026-02-25 04:38:50,485 - DriveTransformer - INFO - Epoch [3][39500/39528] lr: 9.831e-05, eta: 7 days, 16:40:27, time: 0.793, data_time: 0.043, memory: 19865, loss_cls: 0.3196, loss_bbox: 0.5068, loss_traj: 1.0509, loss_traj_cls: 0.0034, loss_map_cls: 0.2782, loss_map_pts: 1.1365, loss_map_dir: 0.0190, d0.loss_plan_l1_fix_time: 2.7707, d0.loss_plan_l1_fix_dist: 0.4362, d1.loss_plan_l1_fix_time: 1.4883, d1.loss_plan_l1_fix_dist: 0.2742, d2.loss_plan_l1_fix_time: 1.4600, d2.loss_plan_l1_fix_dist: 0.2747, d3.loss_plan_l1_fix_time: 1.4605, d3.loss_plan_l1_fix_dist: 0.2808, d4.loss_plan_l1_fix_time: 1.4635, d4.loss_plan_l1_fix_dist: 0.2912, d5.loss_plan_l1_fix_time: 1.4669, d5.loss_plan_l1_fix_dist: 0.3029, d6.loss_plan_l1_fix_time: 1.4704, d6.loss_plan_l1_fix_dist: 0.3166, d0.loss_cls_all: 0.3335, d0.loss_bbox_all: 0.5554, d0.loss_cls: 0.3335, d0.loss_bbox: 0.5554, d1.loss_cls: 0.3286, d1.loss_bbox: 0.5286, d2.loss_cls: 0.3225, d2.loss_bbox: 0.5199, d3.loss_cls: 0.3205, d3.loss_bbox: 0.5134, d4.loss_cls: 0.3188, d4.loss_bbox: 0.5112, d5.loss_cls: 0.3179, d5.loss_bbox: 0.5079, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2719, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0873, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0472, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0438, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0450, d5.loss_traj_cls: 0.0040, d5.loss_traj: 1.0456, d0.loss_map_cls_all: 0.3188, d0.loss_map_pts_all: 2.0464, d0.loss_map_dir_all: 0.0173, d0.loss_map_cls: 0.3188, d0.loss_map_pts: 2.0464, d0.loss_map_dir: 0.0173, d1.loss_map_cls: 0.2969, d1.loss_map_pts: 1.3848, d1.loss_map_dir: 0.0170, d2.loss_map_cls: 0.2896, d2.loss_map_pts: 1.2133, d2.loss_map_dir: 0.0177, d3.loss_map_cls: 0.2827, d3.loss_map_pts: 1.1585, d3.loss_map_dir: 0.0183, d4.loss_map_cls: 0.2777, d4.loss_map_pts: 1.1431, d4.loss_map_dir: 0.0186, d5.loss_map_cls: 0.2783, d5.loss_map_pts: 1.1359, d5.loss_map_dir: 0.0188, loss: 41.9039, grad_norm: 159.7140 +2026-02-25 04:39:12,463 - DriveTransformer - INFO - Saving checkpoint at 3 epochs +2026-02-25 04:40:02,870 - DriveTransformer - INFO - Epoch [4][50/39528] lr: 9.623e-05, eta: 7 days, 16:37:45, time: 0.963, data_time: 0.149, memory: 19865, loss_cls: 0.2887, loss_bbox: 0.4324, loss_traj: 0.8680, loss_traj_cls: 0.0033, loss_map_cls: 0.2179, loss_map_pts: 0.9678, loss_map_dir: 0.0165, d0.loss_plan_l1_fix_time: 2.1607, d0.loss_plan_l1_fix_dist: 0.3948, d1.loss_plan_l1_fix_time: 1.3344, d1.loss_plan_l1_fix_dist: 0.2187, d2.loss_plan_l1_fix_time: 1.3159, d2.loss_plan_l1_fix_dist: 0.2261, d3.loss_plan_l1_fix_time: 1.3187, d3.loss_plan_l1_fix_dist: 0.2364, d4.loss_plan_l1_fix_time: 1.3241, d4.loss_plan_l1_fix_dist: 0.2497, d5.loss_plan_l1_fix_time: 1.3295, d5.loss_plan_l1_fix_dist: 0.2656, d6.loss_plan_l1_fix_time: 1.3352, d6.loss_plan_l1_fix_dist: 0.2832, d0.loss_cls_all: 0.3036, d0.loss_bbox_all: 0.4745, d0.loss_cls: 0.3036, d0.loss_bbox: 0.4745, d1.loss_cls: 0.2944, d1.loss_bbox: 0.4480, d2.loss_cls: 0.2899, d2.loss_bbox: 0.4347, d3.loss_cls: 0.2888, d3.loss_bbox: 0.4305, d4.loss_cls: 0.2869, d4.loss_bbox: 0.4311, d5.loss_cls: 0.2873, d5.loss_bbox: 0.4330, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0236, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8981, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8630, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8637, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8624, d5.loss_traj_cls: 0.0038, d5.loss_traj: 0.8613, d0.loss_map_cls_all: 0.2797, d0.loss_map_pts_all: 1.9805, d0.loss_map_dir_all: 0.0158, d0.loss_map_cls: 0.2797, d0.loss_map_pts: 1.9805, d0.loss_map_dir: 0.0158, d1.loss_map_cls: 0.2550, d1.loss_map_pts: 1.2310, d1.loss_map_dir: 0.0151, d2.loss_map_cls: 0.2379, d2.loss_map_pts: 1.0696, d2.loss_map_dir: 0.0155, d3.loss_map_cls: 0.2283, d3.loss_map_pts: 0.9987, d3.loss_map_dir: 0.0160, d4.loss_map_cls: 0.2213, d4.loss_map_pts: 0.9711, d4.loss_map_dir: 0.0163, d5.loss_map_cls: 0.2188, d5.loss_map_pts: 0.9675, d5.loss_map_dir: 0.0164, loss: 36.3793, grad_norm: 145.5634 +2026-02-25 04:40:44,770 - DriveTransformer - INFO - Epoch [4][100/39528] lr: 9.623e-05, eta: 7 days, 16:37:18, time: 0.838, data_time: 0.036, memory: 19865, loss_cls: 0.3003, loss_bbox: 0.5243, loss_traj: 0.9989, loss_traj_cls: 0.0032, loss_map_cls: 0.2750, loss_map_pts: 1.2211, loss_map_dir: 0.0213, d0.loss_plan_l1_fix_time: 2.7875, d0.loss_plan_l1_fix_dist: 0.3650, d1.loss_plan_l1_fix_time: 1.7240, d1.loss_plan_l1_fix_dist: 0.2446, d2.loss_plan_l1_fix_time: 1.6941, d2.loss_plan_l1_fix_dist: 0.2463, d3.loss_plan_l1_fix_time: 1.6908, d3.loss_plan_l1_fix_dist: 0.2571, d4.loss_plan_l1_fix_time: 1.6927, d4.loss_plan_l1_fix_dist: 0.2712, d5.loss_plan_l1_fix_time: 1.6961, d5.loss_plan_l1_fix_dist: 0.2866, d6.loss_plan_l1_fix_time: 1.7012, d6.loss_plan_l1_fix_dist: 0.3038, d0.loss_cls_all: 0.3177, d0.loss_bbox_all: 0.5611, d0.loss_cls: 0.3177, d0.loss_bbox: 0.5611, d1.loss_cls: 0.3090, d1.loss_bbox: 0.5366, d2.loss_cls: 0.3045, d2.loss_bbox: 0.5249, d3.loss_cls: 0.3042, d3.loss_bbox: 0.5212, d4.loss_cls: 0.3017, d4.loss_bbox: 0.5245, d5.loss_cls: 0.2998, d5.loss_bbox: 0.5245, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1610, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0471, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0168, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0013, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9951, d5.loss_traj_cls: 0.0037, d5.loss_traj: 0.9925, d0.loss_map_cls_all: 0.3300, d0.loss_map_pts_all: 2.2802, d0.loss_map_dir_all: 0.0199, d0.loss_map_cls: 0.3300, d0.loss_map_pts: 2.2802, d0.loss_map_dir: 0.0199, d1.loss_map_cls: 0.3084, d1.loss_map_pts: 1.4726, d1.loss_map_dir: 0.0194, d2.loss_map_cls: 0.2945, d2.loss_map_pts: 1.3027, d2.loss_map_dir: 0.0199, d3.loss_map_cls: 0.2830, d3.loss_map_pts: 1.2419, d3.loss_map_dir: 0.0205, d4.loss_map_cls: 0.2760, d4.loss_map_pts: 1.2258, d4.loss_map_dir: 0.0208, d5.loss_map_cls: 0.2746, d5.loss_map_pts: 1.2212, d5.loss_map_dir: 0.0210, loss: 43.6978, grad_norm: 146.3108 +2026-02-25 04:41:23,076 - DriveTransformer - INFO - Epoch [4][150/39528] lr: 9.623e-05, eta: 7 days, 16:36:25, time: 0.766, data_time: 0.035, memory: 19865, loss_cls: 0.3058, loss_bbox: 0.4841, loss_traj: 1.2046, loss_traj_cls: 0.0031, loss_map_cls: 0.2299, loss_map_pts: 0.9544, loss_map_dir: 0.0157, d0.loss_plan_l1_fix_time: 2.3968, d0.loss_plan_l1_fix_dist: 0.5142, d1.loss_plan_l1_fix_time: 1.8032, d1.loss_plan_l1_fix_dist: 0.2781, d2.loss_plan_l1_fix_time: 1.7851, d2.loss_plan_l1_fix_dist: 0.2836, d3.loss_plan_l1_fix_time: 1.7860, d3.loss_plan_l1_fix_dist: 0.2942, d4.loss_plan_l1_fix_time: 1.7901, d4.loss_plan_l1_fix_dist: 0.3067, d5.loss_plan_l1_fix_time: 1.7957, d5.loss_plan_l1_fix_dist: 0.3200, d6.loss_plan_l1_fix_time: 1.8027, d6.loss_plan_l1_fix_dist: 0.3355, d0.loss_cls_all: 0.3175, d0.loss_bbox_all: 0.5291, d0.loss_cls: 0.3175, d0.loss_bbox: 0.5291, d1.loss_cls: 0.3070, d1.loss_bbox: 0.4994, d2.loss_cls: 0.3024, d2.loss_bbox: 0.4896, d3.loss_cls: 0.3011, d3.loss_bbox: 0.4859, d4.loss_cls: 0.3033, d4.loss_bbox: 0.4847, d5.loss_cls: 0.3039, d5.loss_bbox: 0.4845, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4005, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.2428, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.2172, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2039, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.1991, d5.loss_traj_cls: 0.0036, d5.loss_traj: 1.1953, d0.loss_map_cls_all: 0.3118, d0.loss_map_pts_all: 1.8743, d0.loss_map_dir_all: 0.0148, d0.loss_map_cls: 0.3118, d0.loss_map_pts: 1.8743, d0.loss_map_dir: 0.0148, d1.loss_map_cls: 0.2731, d1.loss_map_pts: 1.1680, d1.loss_map_dir: 0.0143, d2.loss_map_cls: 0.2516, d2.loss_map_pts: 1.0201, d2.loss_map_dir: 0.0147, d3.loss_map_cls: 0.2412, d3.loss_map_pts: 0.9662, d3.loss_map_dir: 0.0151, d4.loss_map_cls: 0.2338, d4.loss_map_pts: 0.9522, d4.loss_map_dir: 0.0154, d5.loss_map_cls: 0.2315, d5.loss_map_pts: 0.9527, d5.loss_map_dir: 0.0156, loss: 42.5783, grad_norm: 157.7132 +2026-02-25 04:42:04,404 - DriveTransformer - INFO - Epoch [4][200/39528] lr: 9.623e-05, eta: 7 days, 16:35:55, time: 0.828, data_time: 0.043, memory: 19865, loss_cls: 0.3253, loss_bbox: 0.4757, loss_traj: 0.9855, loss_traj_cls: 0.0030, loss_map_cls: 0.2850, loss_map_pts: 1.1617, loss_map_dir: 0.0200, d0.loss_plan_l1_fix_time: 2.5782, d0.loss_plan_l1_fix_dist: 0.4759, d1.loss_plan_l1_fix_time: 1.6815, d1.loss_plan_l1_fix_dist: 0.2908, d2.loss_plan_l1_fix_time: 1.6642, d2.loss_plan_l1_fix_dist: 0.2952, d3.loss_plan_l1_fix_time: 1.6687, d3.loss_plan_l1_fix_dist: 0.3028, d4.loss_plan_l1_fix_time: 1.6737, d4.loss_plan_l1_fix_dist: 0.3151, d5.loss_plan_l1_fix_time: 1.6781, d5.loss_plan_l1_fix_dist: 0.3271, d6.loss_plan_l1_fix_time: 1.6830, d6.loss_plan_l1_fix_dist: 0.3374, d0.loss_cls_all: 0.3468, d0.loss_bbox_all: 0.5160, d0.loss_cls: 0.3468, d0.loss_bbox: 0.5160, d1.loss_cls: 0.3375, d1.loss_bbox: 0.4851, d2.loss_cls: 0.3265, d2.loss_bbox: 0.4757, d3.loss_cls: 0.3258, d3.loss_bbox: 0.4724, d4.loss_cls: 0.3252, d4.loss_bbox: 0.4726, d5.loss_cls: 0.3251, d5.loss_bbox: 0.4739, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1355, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0086, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9808, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9842, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9795, d5.loss_traj_cls: 0.0035, d5.loss_traj: 0.9825, d0.loss_map_cls_all: 0.3363, d0.loss_map_pts_all: 2.1746, d0.loss_map_dir_all: 0.0180, d0.loss_map_cls: 0.3363, d0.loss_map_pts: 2.1746, d0.loss_map_dir: 0.0180, d1.loss_map_cls: 0.3072, d1.loss_map_pts: 1.4528, d1.loss_map_dir: 0.0184, d2.loss_map_cls: 0.2956, d2.loss_map_pts: 1.2664, d2.loss_map_dir: 0.0188, d3.loss_map_cls: 0.2887, d3.loss_map_pts: 1.1965, d3.loss_map_dir: 0.0193, d4.loss_map_cls: 0.2841, d4.loss_map_pts: 1.1739, d4.loss_map_dir: 0.0196, d5.loss_map_cls: 0.2824, d5.loss_map_pts: 1.1662, d5.loss_map_dir: 0.0198, loss: 42.9199, grad_norm: 166.4349 +2026-02-25 04:42:45,636 - DriveTransformer - INFO - Epoch [4][250/39528] lr: 9.623e-05, eta: 7 days, 16:35:23, time: 0.823, data_time: 0.040, memory: 19865, loss_cls: 0.3215, loss_bbox: 0.4905, loss_traj: 0.9108, loss_traj_cls: 0.0031, loss_map_cls: 0.2245, loss_map_pts: 1.0973, loss_map_dir: 0.0180, d0.loss_plan_l1_fix_time: 3.0343, d0.loss_plan_l1_fix_dist: 0.4651, d1.loss_plan_l1_fix_time: 1.6034, d1.loss_plan_l1_fix_dist: 0.2651, d2.loss_plan_l1_fix_time: 1.5879, d2.loss_plan_l1_fix_dist: 0.2741, d3.loss_plan_l1_fix_time: 1.5915, d3.loss_plan_l1_fix_dist: 0.2860, d4.loss_plan_l1_fix_time: 1.5963, d4.loss_plan_l1_fix_dist: 0.2999, d5.loss_plan_l1_fix_time: 1.6009, d5.loss_plan_l1_fix_dist: 0.3154, d6.loss_plan_l1_fix_time: 1.6054, d6.loss_plan_l1_fix_dist: 0.3328, d0.loss_cls_all: 0.3307, d0.loss_bbox_all: 0.5305, d0.loss_cls: 0.3307, d0.loss_bbox: 0.5305, d1.loss_cls: 0.3249, d1.loss_bbox: 0.5069, d2.loss_cls: 0.3157, d2.loss_bbox: 0.4956, d3.loss_cls: 0.3180, d3.loss_bbox: 0.4896, d4.loss_cls: 0.3157, d4.loss_bbox: 0.4915, d5.loss_cls: 0.3186, d5.loss_bbox: 0.4923, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0769, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9699, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9226, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9159, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9093, d5.loss_traj_cls: 0.0035, d5.loss_traj: 0.9134, d0.loss_map_cls_all: 0.2753, d0.loss_map_pts_all: 2.0477, d0.loss_map_dir_all: 0.0169, d0.loss_map_cls: 0.2753, d0.loss_map_pts: 2.0477, d0.loss_map_dir: 0.0169, d1.loss_map_cls: 0.2462, d1.loss_map_pts: 1.3614, d1.loss_map_dir: 0.0164, d2.loss_map_cls: 0.2361, d2.loss_map_pts: 1.1938, d2.loss_map_dir: 0.0168, d3.loss_map_cls: 0.2302, d3.loss_map_pts: 1.1280, d3.loss_map_dir: 0.0174, d4.loss_map_cls: 0.2250, d4.loss_map_pts: 1.1045, d4.loss_map_dir: 0.0176, d5.loss_map_cls: 0.2246, d5.loss_map_pts: 1.0968, d5.loss_map_dir: 0.0178, loss: 41.2430, grad_norm: 159.5745 +2026-02-25 04:43:24,900 - DriveTransformer - INFO - Epoch [4][300/39528] lr: 9.623e-05, eta: 7 days, 16:34:37, time: 0.785, data_time: 0.040, memory: 19865, loss_cls: 0.3216, loss_bbox: 0.4708, loss_traj: 0.9738, loss_traj_cls: 0.0030, loss_map_cls: 0.2695, loss_map_pts: 1.1304, loss_map_dir: 0.0145, d0.loss_plan_l1_fix_time: 2.5344, d0.loss_plan_l1_fix_dist: 0.4221, d1.loss_plan_l1_fix_time: 1.5027, d1.loss_plan_l1_fix_dist: 0.2351, d2.loss_plan_l1_fix_time: 1.4870, d2.loss_plan_l1_fix_dist: 0.2427, d3.loss_plan_l1_fix_time: 1.4927, d3.loss_plan_l1_fix_dist: 0.2572, d4.loss_plan_l1_fix_time: 1.4973, d4.loss_plan_l1_fix_dist: 0.2761, d5.loss_plan_l1_fix_time: 1.5021, d5.loss_plan_l1_fix_dist: 0.2976, d6.loss_plan_l1_fix_time: 1.5073, d6.loss_plan_l1_fix_dist: 0.3203, d0.loss_cls_all: 0.3325, d0.loss_bbox_all: 0.5209, d0.loss_cls: 0.3325, d0.loss_bbox: 0.5209, d1.loss_cls: 0.3217, d1.loss_bbox: 0.4933, d2.loss_cls: 0.3165, d2.loss_bbox: 0.4778, d3.loss_cls: 0.3138, d3.loss_bbox: 0.4726, d4.loss_cls: 0.3151, d4.loss_bbox: 0.4698, d5.loss_cls: 0.3175, d5.loss_bbox: 0.4706, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1404, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0300, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9887, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9873, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9829, d5.loss_traj_cls: 0.0035, d5.loss_traj: 0.9763, d0.loss_map_cls_all: 0.3222, d0.loss_map_pts_all: 1.8039, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.3222, d0.loss_map_pts: 1.8039, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2944, d1.loss_map_pts: 1.3323, d1.loss_map_dir: 0.0126, d2.loss_map_cls: 0.2790, d2.loss_map_pts: 1.2058, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2725, d3.loss_map_pts: 1.1493, d3.loss_map_dir: 0.0139, d4.loss_map_cls: 0.2683, d4.loss_map_pts: 1.1303, d4.loss_map_dir: 0.0141, d5.loss_map_cls: 0.2684, d5.loss_map_pts: 1.1287, d5.loss_map_dir: 0.0143, loss: 40.2223, grad_norm: 166.5081 +2026-02-25 04:44:06,837 - DriveTransformer - INFO - Epoch [4][350/39528] lr: 9.623e-05, eta: 7 days, 16:34:10, time: 0.839, data_time: 0.044, memory: 19865, loss_cls: 0.3418, loss_bbox: 0.5021, loss_traj: 0.7358, loss_traj_cls: 0.0031, loss_map_cls: 0.2694, loss_map_pts: 1.2922, loss_map_dir: 0.0222, d0.loss_plan_l1_fix_time: 2.6072, d0.loss_plan_l1_fix_dist: 0.4438, d1.loss_plan_l1_fix_time: 1.5670, d1.loss_plan_l1_fix_dist: 0.2632, d2.loss_plan_l1_fix_time: 1.5387, d2.loss_plan_l1_fix_dist: 0.2650, d3.loss_plan_l1_fix_time: 1.5422, d3.loss_plan_l1_fix_dist: 0.2785, d4.loss_plan_l1_fix_time: 1.5486, d4.loss_plan_l1_fix_dist: 0.2991, d5.loss_plan_l1_fix_time: 1.5554, d5.loss_plan_l1_fix_dist: 0.3220, d6.loss_plan_l1_fix_time: 1.5631, d6.loss_plan_l1_fix_dist: 0.3477, d0.loss_cls_all: 0.3594, d0.loss_bbox_all: 0.5481, d0.loss_cls: 0.3594, d0.loss_bbox: 0.5481, d1.loss_cls: 0.3502, d1.loss_bbox: 0.5232, d2.loss_cls: 0.3420, d2.loss_bbox: 0.5103, d3.loss_cls: 0.3391, d3.loss_bbox: 0.5039, d4.loss_cls: 0.3343, d4.loss_bbox: 0.5018, d5.loss_cls: 0.3374, d5.loss_bbox: 0.5018, d0.loss_traj_cls: 0.0002, d0.loss_traj: 0.9202, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7770, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.7317, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7306, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7361, d5.loss_traj_cls: 0.0034, d5.loss_traj: 0.7377, d0.loss_map_cls_all: 0.3319, d0.loss_map_pts_all: 2.3693, d0.loss_map_dir_all: 0.0203, d0.loss_map_cls: 0.3319, d0.loss_map_pts: 2.3693, d0.loss_map_dir: 0.0203, d1.loss_map_cls: 0.3060, d1.loss_map_pts: 1.5527, d1.loss_map_dir: 0.0203, d2.loss_map_cls: 0.2892, d2.loss_map_pts: 1.3825, d2.loss_map_dir: 0.0208, d3.loss_map_cls: 0.2741, d3.loss_map_pts: 1.3203, d3.loss_map_dir: 0.0214, d4.loss_map_cls: 0.2699, d4.loss_map_pts: 1.3005, d4.loss_map_dir: 0.0218, d5.loss_map_cls: 0.2700, d5.loss_map_pts: 1.2940, d5.loss_map_dir: 0.0221, loss: 41.8165, grad_norm: 166.8201 +2026-02-25 04:44:48,289 - DriveTransformer - INFO - Epoch [4][400/39528] lr: 9.623e-05, eta: 7 days, 16:33:40, time: 0.829, data_time: 0.038, memory: 19865, loss_cls: 0.3186, loss_bbox: 0.4738, loss_traj: 0.8884, loss_traj_cls: 0.0030, loss_map_cls: 0.2817, loss_map_pts: 1.2721, loss_map_dir: 0.0192, d0.loss_plan_l1_fix_time: 3.0494, d0.loss_plan_l1_fix_dist: 0.4293, d1.loss_plan_l1_fix_time: 1.7310, d1.loss_plan_l1_fix_dist: 0.2582, d2.loss_plan_l1_fix_time: 1.7039, d2.loss_plan_l1_fix_dist: 0.2736, d3.loss_plan_l1_fix_time: 1.7051, d3.loss_plan_l1_fix_dist: 0.2889, d4.loss_plan_l1_fix_time: 1.7101, d4.loss_plan_l1_fix_dist: 0.3027, d5.loss_plan_l1_fix_time: 1.7153, d5.loss_plan_l1_fix_dist: 0.3179, d6.loss_plan_l1_fix_time: 1.7208, d6.loss_plan_l1_fix_dist: 0.3354, d0.loss_cls_all: 0.3431, d0.loss_bbox_all: 0.5155, d0.loss_cls: 0.3431, d0.loss_bbox: 0.5155, d1.loss_cls: 0.3298, d1.loss_bbox: 0.4929, d2.loss_cls: 0.3212, d2.loss_bbox: 0.4794, d3.loss_cls: 0.3195, d3.loss_bbox: 0.4749, d4.loss_cls: 0.3159, d4.loss_bbox: 0.4726, d5.loss_cls: 0.3176, d5.loss_bbox: 0.4727, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0340, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8957, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8791, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8749, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8774, d5.loss_traj_cls: 0.0034, d5.loss_traj: 0.8836, d0.loss_map_cls_all: 0.3344, d0.loss_map_pts_all: 2.1906, d0.loss_map_dir_all: 0.0180, d0.loss_map_cls: 0.3344, d0.loss_map_pts: 2.1906, d0.loss_map_dir: 0.0180, d1.loss_map_cls: 0.3131, d1.loss_map_pts: 1.5268, d1.loss_map_dir: 0.0175, d2.loss_map_cls: 0.3007, d2.loss_map_pts: 1.3612, d2.loss_map_dir: 0.0179, d3.loss_map_cls: 0.2888, d3.loss_map_pts: 1.2992, d3.loss_map_dir: 0.0184, d4.loss_map_cls: 0.2849, d4.loss_map_pts: 1.2807, d4.loss_map_dir: 0.0188, d5.loss_map_cls: 0.2833, d5.loss_map_pts: 1.2708, d5.loss_map_dir: 0.0191, loss: 43.3518, grad_norm: 163.2341 +2026-02-25 04:45:28,399 - DriveTransformer - INFO - Epoch [4][450/39528] lr: 9.623e-05, eta: 7 days, 16:33:01, time: 0.802, data_time: 0.037, memory: 19865, loss_cls: 0.2851, loss_bbox: 0.4571, loss_traj: 0.8482, loss_traj_cls: 0.0030, loss_map_cls: 0.2418, loss_map_pts: 1.0950, loss_map_dir: 0.0160, d0.loss_plan_l1_fix_time: 2.1558, d0.loss_plan_l1_fix_dist: 0.4298, d1.loss_plan_l1_fix_time: 1.2841, d1.loss_plan_l1_fix_dist: 0.2469, d2.loss_plan_l1_fix_time: 1.2698, d2.loss_plan_l1_fix_dist: 0.2605, d3.loss_plan_l1_fix_time: 1.2706, d3.loss_plan_l1_fix_dist: 0.2740, d4.loss_plan_l1_fix_time: 1.2750, d4.loss_plan_l1_fix_dist: 0.2890, d5.loss_plan_l1_fix_time: 1.2808, d5.loss_plan_l1_fix_dist: 0.3052, d6.loss_plan_l1_fix_time: 1.2883, d6.loss_plan_l1_fix_dist: 0.3234, d0.loss_cls_all: 0.2992, d0.loss_bbox_all: 0.4937, d0.loss_cls: 0.2992, d0.loss_bbox: 0.4937, d1.loss_cls: 0.2947, d1.loss_bbox: 0.4692, d2.loss_cls: 0.2880, d2.loss_bbox: 0.4583, d3.loss_cls: 0.2836, d3.loss_bbox: 0.4547, d4.loss_cls: 0.2823, d4.loss_bbox: 0.4552, d5.loss_cls: 0.2820, d5.loss_bbox: 0.4563, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9844, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8716, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8550, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8529, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8559, d5.loss_traj_cls: 0.0034, d5.loss_traj: 0.8481, d0.loss_map_cls_all: 0.2973, d0.loss_map_pts_all: 1.9459, d0.loss_map_dir_all: 0.0143, d0.loss_map_cls: 0.2973, d0.loss_map_pts: 1.9459, d0.loss_map_dir: 0.0143, d1.loss_map_cls: 0.2740, d1.loss_map_pts: 1.3368, d1.loss_map_dir: 0.0142, d2.loss_map_cls: 0.2566, d2.loss_map_pts: 1.1826, d2.loss_map_dir: 0.0150, d3.loss_map_cls: 0.2488, d3.loss_map_pts: 1.1209, d3.loss_map_dir: 0.0154, d4.loss_map_cls: 0.2449, d4.loss_map_pts: 1.0980, d4.loss_map_dir: 0.0156, d5.loss_map_cls: 0.2427, d5.loss_map_pts: 1.0951, d5.loss_map_dir: 0.0158, loss: 37.1768, grad_norm: 162.6767 +2026-02-25 04:46:10,180 - DriveTransformer - INFO - Epoch [4][500/39528] lr: 9.623e-05, eta: 7 days, 16:32:33, time: 0.835, data_time: 0.045, memory: 19865, loss_cls: 0.3028, loss_bbox: 0.4486, loss_traj: 0.8431, loss_traj_cls: 0.0031, loss_map_cls: 0.2577, loss_map_pts: 1.0615, loss_map_dir: 0.0188, d0.loss_plan_l1_fix_time: 2.4827, d0.loss_plan_l1_fix_dist: 0.3647, d1.loss_plan_l1_fix_time: 1.5481, d1.loss_plan_l1_fix_dist: 0.2436, d2.loss_plan_l1_fix_time: 1.5311, d2.loss_plan_l1_fix_dist: 0.2514, d3.loss_plan_l1_fix_time: 1.5351, d3.loss_plan_l1_fix_dist: 0.2689, d4.loss_plan_l1_fix_time: 1.5405, d4.loss_plan_l1_fix_dist: 0.2911, d5.loss_plan_l1_fix_time: 1.5474, d5.loss_plan_l1_fix_dist: 0.3137, d6.loss_plan_l1_fix_time: 1.5557, d6.loss_plan_l1_fix_dist: 0.3339, d0.loss_cls_all: 0.3166, d0.loss_bbox_all: 0.4886, d0.loss_cls: 0.3166, d0.loss_bbox: 0.4886, d1.loss_cls: 0.3113, d1.loss_bbox: 0.4634, d2.loss_cls: 0.3029, d2.loss_bbox: 0.4508, d3.loss_cls: 0.3022, d3.loss_bbox: 0.4453, d4.loss_cls: 0.3000, d4.loss_bbox: 0.4463, d5.loss_cls: 0.2986, d5.loss_bbox: 0.4473, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0130, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8806, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8552, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.8463, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8457, d5.loss_traj_cls: 0.0036, d5.loss_traj: 0.8413, d0.loss_map_cls_all: 0.3126, d0.loss_map_pts_all: 2.0175, d0.loss_map_dir_all: 0.0172, d0.loss_map_cls: 0.3126, d0.loss_map_pts: 2.0175, d0.loss_map_dir: 0.0172, d1.loss_map_cls: 0.2854, d1.loss_map_pts: 1.3274, d1.loss_map_dir: 0.0170, d2.loss_map_cls: 0.2697, d2.loss_map_pts: 1.1498, d2.loss_map_dir: 0.0174, d3.loss_map_cls: 0.2645, d3.loss_map_pts: 1.0840, d3.loss_map_dir: 0.0180, d4.loss_map_cls: 0.2579, d4.loss_map_pts: 1.0702, d4.loss_map_dir: 0.0184, d5.loss_map_cls: 0.2572, d5.loss_map_pts: 1.0649, d5.loss_map_dir: 0.0186, loss: 39.2268, grad_norm: 159.7352 +2026-02-25 04:46:50,146 - DriveTransformer - INFO - Epoch [4][550/39528] lr: 9.623e-05, eta: 7 days, 16:31:52, time: 0.799, data_time: 0.041, memory: 19865, loss_cls: 0.2874, loss_bbox: 0.4461, loss_traj: 1.3071, loss_traj_cls: 0.0031, loss_map_cls: 0.2306, loss_map_pts: 0.9243, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 2.8765, d0.loss_plan_l1_fix_dist: 0.4169, d1.loss_plan_l1_fix_time: 1.6848, d1.loss_plan_l1_fix_dist: 0.2514, d2.loss_plan_l1_fix_time: 1.6701, d2.loss_plan_l1_fix_dist: 0.2628, d3.loss_plan_l1_fix_time: 1.6733, d3.loss_plan_l1_fix_dist: 0.2775, d4.loss_plan_l1_fix_time: 1.6760, d4.loss_plan_l1_fix_dist: 0.2942, d5.loss_plan_l1_fix_time: 1.6791, d5.loss_plan_l1_fix_dist: 0.3136, d6.loss_plan_l1_fix_time: 1.6822, d6.loss_plan_l1_fix_dist: 0.3369, d0.loss_cls_all: 0.3054, d0.loss_bbox_all: 0.4963, d0.loss_cls: 0.3054, d0.loss_bbox: 0.4963, d1.loss_cls: 0.2948, d1.loss_bbox: 0.4701, d2.loss_cls: 0.2864, d2.loss_bbox: 0.4555, d3.loss_cls: 0.2842, d3.loss_bbox: 0.4511, d4.loss_cls: 0.2823, d4.loss_bbox: 0.4489, d5.loss_cls: 0.2852, d5.loss_bbox: 0.4453, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.5889, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.3959, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.3386, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.3171, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.3034, d5.loss_traj_cls: 0.0035, d5.loss_traj: 1.3052, d0.loss_map_cls_all: 0.3052, d0.loss_map_pts_all: 1.5694, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.3052, d0.loss_map_pts: 1.5694, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2702, d1.loss_map_pts: 1.1358, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2491, d2.loss_map_pts: 1.0019, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.2389, d3.loss_map_pts: 0.9503, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.2334, d4.loss_map_pts: 0.9325, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.2314, d5.loss_map_pts: 0.9260, d5.loss_map_dir: 0.0122, loss: 41.8702, grad_norm: 156.7084 +2026-02-25 04:47:29,943 - DriveTransformer - INFO - Epoch [4][600/39528] lr: 9.623e-05, eta: 7 days, 16:31:10, time: 0.796, data_time: 0.039, memory: 19865, loss_cls: 0.3269, loss_bbox: 0.5033, loss_traj: 1.0138, loss_traj_cls: 0.0032, loss_map_cls: 0.2745, loss_map_pts: 1.0634, loss_map_dir: 0.0165, d0.loss_plan_l1_fix_time: 2.6963, d0.loss_plan_l1_fix_dist: 0.3919, d1.loss_plan_l1_fix_time: 1.6332, d1.loss_plan_l1_fix_dist: 0.2606, d2.loss_plan_l1_fix_time: 1.6070, d2.loss_plan_l1_fix_dist: 0.2697, d3.loss_plan_l1_fix_time: 1.6049, d3.loss_plan_l1_fix_dist: 0.2851, d4.loss_plan_l1_fix_time: 1.6061, d4.loss_plan_l1_fix_dist: 0.3010, d5.loss_plan_l1_fix_time: 1.6078, d5.loss_plan_l1_fix_dist: 0.3193, d6.loss_plan_l1_fix_time: 1.6100, d6.loss_plan_l1_fix_dist: 0.3409, d0.loss_cls_all: 0.3420, d0.loss_bbox_all: 0.5588, d0.loss_cls: 0.3420, d0.loss_bbox: 0.5588, d1.loss_cls: 0.3414, d1.loss_bbox: 0.5293, d2.loss_cls: 0.3325, d2.loss_bbox: 0.5142, d3.loss_cls: 0.3271, d3.loss_bbox: 0.5087, d4.loss_cls: 0.3265, d4.loss_bbox: 0.5040, d5.loss_cls: 0.3250, d5.loss_bbox: 0.5040, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2084, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0583, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0107, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0100, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0070, d5.loss_traj_cls: 0.0037, d5.loss_traj: 1.0116, d0.loss_map_cls_all: 0.3303, d0.loss_map_pts_all: 1.9148, d0.loss_map_dir_all: 0.0157, d0.loss_map_cls: 0.3303, d0.loss_map_pts: 1.9148, d0.loss_map_dir: 0.0157, d1.loss_map_cls: 0.3085, d1.loss_map_pts: 1.2782, d1.loss_map_dir: 0.0154, d2.loss_map_cls: 0.2900, d2.loss_map_pts: 1.1328, d2.loss_map_dir: 0.0156, d3.loss_map_cls: 0.2798, d3.loss_map_pts: 1.0801, d3.loss_map_dir: 0.0160, d4.loss_map_cls: 0.2771, d4.loss_map_pts: 1.0650, d4.loss_map_dir: 0.0162, d5.loss_map_cls: 0.2744, d5.loss_map_pts: 1.0607, d5.loss_map_dir: 0.0164, loss: 41.7116, grad_norm: 155.5742 +2026-02-25 04:48:09,701 - DriveTransformer - INFO - Epoch [4][650/39528] lr: 9.623e-05, eta: 7 days, 16:30:28, time: 0.795, data_time: 0.051, memory: 19865, loss_cls: 0.3396, loss_bbox: 0.5060, loss_traj: 0.9633, loss_traj_cls: 0.0032, loss_map_cls: 0.3028, loss_map_pts: 1.2046, loss_map_dir: 0.0208, d0.loss_plan_l1_fix_time: 2.6189, d0.loss_plan_l1_fix_dist: 0.3631, d1.loss_plan_l1_fix_time: 1.5918, d1.loss_plan_l1_fix_dist: 0.2482, d2.loss_plan_l1_fix_time: 1.5705, d2.loss_plan_l1_fix_dist: 0.2600, d3.loss_plan_l1_fix_time: 1.5687, d3.loss_plan_l1_fix_dist: 0.2793, d4.loss_plan_l1_fix_time: 1.5715, d4.loss_plan_l1_fix_dist: 0.2997, d5.loss_plan_l1_fix_time: 1.5750, d5.loss_plan_l1_fix_dist: 0.3206, d6.loss_plan_l1_fix_time: 1.5796, d6.loss_plan_l1_fix_dist: 0.3403, d0.loss_cls_all: 0.3553, d0.loss_bbox_all: 0.5457, d0.loss_cls: 0.3553, d0.loss_bbox: 0.5457, d1.loss_cls: 0.3487, d1.loss_bbox: 0.5217, d2.loss_cls: 0.3425, d2.loss_bbox: 0.5081, d3.loss_cls: 0.3377, d3.loss_bbox: 0.5060, d4.loss_cls: 0.3374, d4.loss_bbox: 0.5062, d5.loss_cls: 0.3372, d5.loss_bbox: 0.5054, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1810, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9972, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9560, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9502, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9534, d5.loss_traj_cls: 0.0038, d5.loss_traj: 0.9523, d0.loss_map_cls_all: 0.3533, d0.loss_map_pts_all: 2.1423, d0.loss_map_dir_all: 0.0187, d0.loss_map_cls: 0.3533, d0.loss_map_pts: 2.1423, d0.loss_map_dir: 0.0187, d1.loss_map_cls: 0.3277, d1.loss_map_pts: 1.4651, d1.loss_map_dir: 0.0187, d2.loss_map_cls: 0.3120, d2.loss_map_pts: 1.2883, d2.loss_map_dir: 0.0193, d3.loss_map_cls: 0.3048, d3.loss_map_pts: 1.2273, d3.loss_map_dir: 0.0202, d4.loss_map_cls: 0.3013, d4.loss_map_pts: 1.2079, d4.loss_map_dir: 0.0204, d5.loss_map_cls: 0.3011, d5.loss_map_pts: 1.2054, d5.loss_map_dir: 0.0207, loss: 42.6477, grad_norm: 152.9320 +2026-02-25 04:48:51,745 - DriveTransformer - INFO - Epoch [4][700/39528] lr: 9.623e-05, eta: 7 days, 16:30:02, time: 0.841, data_time: 0.041, memory: 19865, loss_cls: 0.3320, loss_bbox: 0.5103, loss_traj: 0.8692, loss_traj_cls: 0.0032, loss_map_cls: 0.2619, loss_map_pts: 1.2043, loss_map_dir: 0.0191, d0.loss_plan_l1_fix_time: 2.5841, d0.loss_plan_l1_fix_dist: 0.4041, d1.loss_plan_l1_fix_time: 1.5210, d1.loss_plan_l1_fix_dist: 0.2533, d2.loss_plan_l1_fix_time: 1.5023, d2.loss_plan_l1_fix_dist: 0.2584, d3.loss_plan_l1_fix_time: 1.5049, d3.loss_plan_l1_fix_dist: 0.2719, d4.loss_plan_l1_fix_time: 1.5095, d4.loss_plan_l1_fix_dist: 0.2913, d5.loss_plan_l1_fix_time: 1.5156, d5.loss_plan_l1_fix_dist: 0.3132, d6.loss_plan_l1_fix_time: 1.5231, d6.loss_plan_l1_fix_dist: 0.3350, d0.loss_cls_all: 0.3443, d0.loss_bbox_all: 0.5557, d0.loss_cls: 0.3443, d0.loss_bbox: 0.5557, d1.loss_cls: 0.3395, d1.loss_bbox: 0.5289, d2.loss_cls: 0.3366, d2.loss_bbox: 0.5137, d3.loss_cls: 0.3335, d3.loss_bbox: 0.5061, d4.loss_cls: 0.3286, d4.loss_bbox: 0.5070, d5.loss_cls: 0.3286, d5.loss_bbox: 0.5084, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0255, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9089, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8758, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8735, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8588, d5.loss_traj_cls: 0.0038, d5.loss_traj: 0.8634, d0.loss_map_cls_all: 0.3247, d0.loss_map_pts_all: 2.1456, d0.loss_map_dir_all: 0.0171, d0.loss_map_cls: 0.3247, d0.loss_map_pts: 2.1456, d0.loss_map_dir: 0.0171, d1.loss_map_cls: 0.2940, d1.loss_map_pts: 1.4533, d1.loss_map_dir: 0.0174, d2.loss_map_cls: 0.2763, d2.loss_map_pts: 1.2885, d2.loss_map_dir: 0.0179, d3.loss_map_cls: 0.2647, d3.loss_map_pts: 1.2298, d3.loss_map_dir: 0.0184, d4.loss_map_cls: 0.2594, d4.loss_map_pts: 1.2105, d4.loss_map_dir: 0.0188, d5.loss_map_cls: 0.2608, d5.loss_map_pts: 1.2047, d5.loss_map_dir: 0.0190, loss: 41.2413, grad_norm: 159.6655 +2026-02-25 04:49:31,459 - DriveTransformer - INFO - Epoch [4][750/39528] lr: 9.623e-05, eta: 7 days, 16:29:20, time: 0.794, data_time: 0.045, memory: 19865, loss_cls: 0.3342, loss_bbox: 0.4794, loss_traj: 0.8753, loss_traj_cls: 0.0032, loss_map_cls: 0.2557, loss_map_pts: 1.1218, loss_map_dir: 0.0173, d0.loss_plan_l1_fix_time: 2.6386, d0.loss_plan_l1_fix_dist: 0.4392, d1.loss_plan_l1_fix_time: 1.4353, d1.loss_plan_l1_fix_dist: 0.2466, d2.loss_plan_l1_fix_time: 1.4093, d2.loss_plan_l1_fix_dist: 0.2534, d3.loss_plan_l1_fix_time: 1.4099, d3.loss_plan_l1_fix_dist: 0.2676, d4.loss_plan_l1_fix_time: 1.4138, d4.loss_plan_l1_fix_dist: 0.2839, d5.loss_plan_l1_fix_time: 1.4191, d5.loss_plan_l1_fix_dist: 0.3025, d6.loss_plan_l1_fix_time: 1.4252, d6.loss_plan_l1_fix_dist: 0.3232, d0.loss_cls_all: 0.3476, d0.loss_bbox_all: 0.5284, d0.loss_cls: 0.3476, d0.loss_bbox: 0.5284, d1.loss_cls: 0.3428, d1.loss_bbox: 0.5023, d2.loss_cls: 0.3381, d2.loss_bbox: 0.4875, d3.loss_cls: 0.3335, d3.loss_bbox: 0.4802, d4.loss_cls: 0.3307, d4.loss_bbox: 0.4772, d5.loss_cls: 0.3320, d5.loss_bbox: 0.4777, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0278, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9155, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8941, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8864, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8797, d5.loss_traj_cls: 0.0038, d5.loss_traj: 0.8712, d0.loss_map_cls_all: 0.3042, d0.loss_map_pts_all: 1.9169, d0.loss_map_dir_all: 0.0155, d0.loss_map_cls: 0.3042, d0.loss_map_pts: 1.9169, d0.loss_map_dir: 0.0155, d1.loss_map_cls: 0.2808, d1.loss_map_pts: 1.3347, d1.loss_map_dir: 0.0157, d2.loss_map_cls: 0.2689, d2.loss_map_pts: 1.1876, d2.loss_map_dir: 0.0160, d3.loss_map_cls: 0.2590, d3.loss_map_pts: 1.1412, d3.loss_map_dir: 0.0166, d4.loss_map_cls: 0.2546, d4.loss_map_pts: 1.1247, d4.loss_map_dir: 0.0169, d5.loss_map_cls: 0.2560, d5.loss_map_pts: 1.1208, d5.loss_map_dir: 0.0171, loss: 39.4753, grad_norm: 161.8699 +2026-02-25 04:50:11,871 - DriveTransformer - INFO - Epoch [4][800/39528] lr: 9.623e-05, eta: 7 days, 16:28:42, time: 0.808, data_time: 0.038, memory: 19865, loss_cls: 0.3198, loss_bbox: 0.5031, loss_traj: 1.0491, loss_traj_cls: 0.0031, loss_map_cls: 0.2931, loss_map_pts: 1.1903, loss_map_dir: 0.0167, d0.loss_plan_l1_fix_time: 3.2137, d0.loss_plan_l1_fix_dist: 0.4800, d1.loss_plan_l1_fix_time: 1.9101, d1.loss_plan_l1_fix_dist: 0.2624, d2.loss_plan_l1_fix_time: 1.8820, d2.loss_plan_l1_fix_dist: 0.2726, d3.loss_plan_l1_fix_time: 1.8763, d3.loss_plan_l1_fix_dist: 0.2824, d4.loss_plan_l1_fix_time: 1.8780, d4.loss_plan_l1_fix_dist: 0.2926, d5.loss_plan_l1_fix_time: 1.8807, d5.loss_plan_l1_fix_dist: 0.3040, d6.loss_plan_l1_fix_time: 1.8838, d6.loss_plan_l1_fix_dist: 0.3196, d0.loss_cls_all: 0.3411, d0.loss_bbox_all: 0.5578, d0.loss_cls: 0.3411, d0.loss_bbox: 0.5578, d1.loss_cls: 0.3309, d1.loss_bbox: 0.5247, d2.loss_cls: 0.3220, d2.loss_bbox: 0.5084, d3.loss_cls: 0.3204, d3.loss_bbox: 0.5020, d4.loss_cls: 0.3185, d4.loss_bbox: 0.4987, d5.loss_cls: 0.3192, d5.loss_bbox: 0.4987, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3237, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.1180, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0675, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0679, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0572, d5.loss_traj_cls: 0.0036, d5.loss_traj: 1.0482, d0.loss_map_cls_all: 0.3367, d0.loss_map_pts_all: 1.9790, d0.loss_map_dir_all: 0.0149, d0.loss_map_cls: 0.3367, d0.loss_map_pts: 1.9790, d0.loss_map_dir: 0.0149, d1.loss_map_cls: 0.3219, d1.loss_map_pts: 1.4074, d1.loss_map_dir: 0.0148, d2.loss_map_cls: 0.3107, d2.loss_map_pts: 1.2589, d2.loss_map_dir: 0.0153, d3.loss_map_cls: 0.3001, d3.loss_map_pts: 1.2125, d3.loss_map_dir: 0.0158, d4.loss_map_cls: 0.2953, d4.loss_map_pts: 1.1936, d4.loss_map_dir: 0.0163, d5.loss_map_cls: 0.2939, d5.loss_map_pts: 1.1895, d5.loss_map_dir: 0.0164, loss: 45.2691, grad_norm: 160.7265 +2026-02-25 04:50:52,096 - DriveTransformer - INFO - Epoch [4][850/39528] lr: 9.623e-05, eta: 7 days, 16:28:04, time: 0.805, data_time: 0.042, memory: 19865, loss_cls: 0.3381, loss_bbox: 0.5107, loss_traj: 0.8465, loss_traj_cls: 0.0032, loss_map_cls: 0.2937, loss_map_pts: 1.1881, loss_map_dir: 0.0170, d0.loss_plan_l1_fix_time: 2.9660, d0.loss_plan_l1_fix_dist: 0.3798, d1.loss_plan_l1_fix_time: 1.5739, d1.loss_plan_l1_fix_dist: 0.2118, d2.loss_plan_l1_fix_time: 1.5596, d2.loss_plan_l1_fix_dist: 0.2179, d3.loss_plan_l1_fix_time: 1.5600, d3.loss_plan_l1_fix_dist: 0.2289, d4.loss_plan_l1_fix_time: 1.5633, d4.loss_plan_l1_fix_dist: 0.2450, d5.loss_plan_l1_fix_time: 1.5665, d5.loss_plan_l1_fix_dist: 0.2623, d6.loss_plan_l1_fix_time: 1.5707, d6.loss_plan_l1_fix_dist: 0.2803, d0.loss_cls_all: 0.3544, d0.loss_bbox_all: 0.5558, d0.loss_cls: 0.3544, d0.loss_bbox: 0.5558, d1.loss_cls: 0.3488, d1.loss_bbox: 0.5239, d2.loss_cls: 0.3437, d2.loss_bbox: 0.5108, d3.loss_cls: 0.3417, d3.loss_bbox: 0.5078, d4.loss_cls: 0.3388, d4.loss_bbox: 0.5061, d5.loss_cls: 0.3382, d5.loss_bbox: 0.5091, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0574, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9130, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8568, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8526, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8405, d5.loss_traj_cls: 0.0037, d5.loss_traj: 0.8442, d0.loss_map_cls_all: 0.3464, d0.loss_map_pts_all: 1.9847, d0.loss_map_dir_all: 0.0152, d0.loss_map_cls: 0.3464, d0.loss_map_pts: 1.9847, d0.loss_map_dir: 0.0152, d1.loss_map_cls: 0.3241, d1.loss_map_pts: 1.4117, d1.loss_map_dir: 0.0152, d2.loss_map_cls: 0.3076, d2.loss_map_pts: 1.2628, d2.loss_map_dir: 0.0156, d3.loss_map_cls: 0.2995, d3.loss_map_pts: 1.2152, d3.loss_map_dir: 0.0163, d4.loss_map_cls: 0.2963, d4.loss_map_pts: 1.1968, d4.loss_map_dir: 0.0167, d5.loss_map_cls: 0.2951, d5.loss_map_pts: 1.1915, d5.loss_map_dir: 0.0170, loss: 41.4193, grad_norm: 157.6945 +2026-02-25 04:51:34,897 - DriveTransformer - INFO - Epoch [4][900/39528] lr: 9.623e-05, eta: 7 days, 16:27:43, time: 0.856, data_time: 0.043, memory: 19865, loss_cls: 0.3447, loss_bbox: 0.5004, loss_traj: 0.8139, loss_traj_cls: 0.0032, loss_map_cls: 0.3175, loss_map_pts: 1.4121, loss_map_dir: 0.0208, d0.loss_plan_l1_fix_time: 2.6059, d0.loss_plan_l1_fix_dist: 0.4573, d1.loss_plan_l1_fix_time: 1.6055, d1.loss_plan_l1_fix_dist: 0.2716, d2.loss_plan_l1_fix_time: 1.5937, d2.loss_plan_l1_fix_dist: 0.2804, d3.loss_plan_l1_fix_time: 1.5964, d3.loss_plan_l1_fix_dist: 0.2931, d4.loss_plan_l1_fix_time: 1.6008, d4.loss_plan_l1_fix_dist: 0.3058, d5.loss_plan_l1_fix_time: 1.6052, d5.loss_plan_l1_fix_dist: 0.3219, d6.loss_plan_l1_fix_time: 1.6107, d6.loss_plan_l1_fix_dist: 0.3408, d0.loss_cls_all: 0.3659, d0.loss_bbox_all: 0.5569, d0.loss_cls: 0.3659, d0.loss_bbox: 0.5569, d1.loss_cls: 0.3611, d1.loss_bbox: 0.5241, d2.loss_cls: 0.3536, d2.loss_bbox: 0.5105, d3.loss_cls: 0.3479, d3.loss_bbox: 0.5016, d4.loss_cls: 0.3435, d4.loss_bbox: 0.4994, d5.loss_cls: 0.3456, d5.loss_bbox: 0.4986, d0.loss_traj_cls: 0.0002, d0.loss_traj: 0.9869, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8595, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8202, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8114, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8078, d5.loss_traj_cls: 0.0037, d5.loss_traj: 0.8125, d0.loss_map_cls_all: 0.3632, d0.loss_map_pts_all: 2.2823, d0.loss_map_dir_all: 0.0186, d0.loss_map_cls: 0.3632, d0.loss_map_pts: 2.2823, d0.loss_map_dir: 0.0186, d1.loss_map_cls: 0.3385, d1.loss_map_pts: 1.6562, d1.loss_map_dir: 0.0186, d2.loss_map_cls: 0.3281, d2.loss_map_pts: 1.5004, d2.loss_map_dir: 0.0193, d3.loss_map_cls: 0.3211, d3.loss_map_pts: 1.4425, d3.loss_map_dir: 0.0200, d4.loss_map_cls: 0.3183, d4.loss_map_pts: 1.4211, d4.loss_map_dir: 0.0204, d5.loss_map_cls: 0.3173, d5.loss_map_pts: 1.4134, d5.loss_map_dir: 0.0205, loss: 43.6239, grad_norm: 158.5071 +2026-02-25 04:52:18,466 - DriveTransformer - INFO - Epoch [4][950/39528] lr: 9.623e-05, eta: 7 days, 16:27:27, time: 0.871, data_time: 0.040, memory: 19865, loss_cls: 0.3119, loss_bbox: 0.4990, loss_traj: 0.8533, loss_traj_cls: 0.0033, loss_map_cls: 0.2818, loss_map_pts: 1.2222, loss_map_dir: 0.0211, d0.loss_plan_l1_fix_time: 2.5212, d0.loss_plan_l1_fix_dist: 0.3700, d1.loss_plan_l1_fix_time: 1.3496, d1.loss_plan_l1_fix_dist: 0.2265, d2.loss_plan_l1_fix_time: 1.3371, d2.loss_plan_l1_fix_dist: 0.2389, d3.loss_plan_l1_fix_time: 1.3443, d3.loss_plan_l1_fix_dist: 0.2536, d4.loss_plan_l1_fix_time: 1.3496, d4.loss_plan_l1_fix_dist: 0.2684, d5.loss_plan_l1_fix_time: 1.3551, d5.loss_plan_l1_fix_dist: 0.2841, d6.loss_plan_l1_fix_time: 1.3608, d6.loss_plan_l1_fix_dist: 0.3031, d0.loss_cls_all: 0.3298, d0.loss_bbox_all: 0.5352, d0.loss_cls: 0.3298, d0.loss_bbox: 0.5352, d1.loss_cls: 0.3238, d1.loss_bbox: 0.5155, d2.loss_cls: 0.3210, d2.loss_bbox: 0.5008, d3.loss_cls: 0.3139, d3.loss_bbox: 0.4977, d4.loss_cls: 0.3113, d4.loss_bbox: 0.4964, d5.loss_cls: 0.3106, d5.loss_bbox: 0.4962, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9743, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8937, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8644, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8575, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8483, d5.loss_traj_cls: 0.0037, d5.loss_traj: 0.8511, d0.loss_map_cls_all: 0.3261, d0.loss_map_pts_all: 2.1620, d0.loss_map_dir_all: 0.0187, d0.loss_map_cls: 0.3261, d0.loss_map_pts: 2.1620, d0.loss_map_dir: 0.0187, d1.loss_map_cls: 0.3018, d1.loss_map_pts: 1.4852, d1.loss_map_dir: 0.0189, d2.loss_map_cls: 0.2902, d2.loss_map_pts: 1.3134, d2.loss_map_dir: 0.0196, d3.loss_map_cls: 0.2858, d3.loss_map_pts: 1.2504, d3.loss_map_dir: 0.0203, d4.loss_map_cls: 0.2811, d4.loss_map_pts: 1.2320, d4.loss_map_dir: 0.0207, d5.loss_map_cls: 0.2811, d5.loss_map_pts: 1.2244, d5.loss_map_dir: 0.0209, loss: 39.9289, grad_norm: 157.4491 +2026-02-25 04:52:58,780 - DriveTransformer - INFO - Epoch [4][1000/39528] lr: 9.623e-05, eta: 7 days, 16:26:50, time: 0.808, data_time: 0.043, memory: 19865, loss_cls: 0.3013, loss_bbox: 0.4795, loss_traj: 0.9316, loss_traj_cls: 0.0034, loss_map_cls: 0.2870, loss_map_pts: 1.1574, loss_map_dir: 0.0192, d0.loss_plan_l1_fix_time: 2.7921, d0.loss_plan_l1_fix_dist: 0.4000, d1.loss_plan_l1_fix_time: 1.6866, d1.loss_plan_l1_fix_dist: 0.2564, d2.loss_plan_l1_fix_time: 1.6781, d2.loss_plan_l1_fix_dist: 0.2636, d3.loss_plan_l1_fix_time: 1.6840, d3.loss_plan_l1_fix_dist: 0.2800, d4.loss_plan_l1_fix_time: 1.6890, d4.loss_plan_l1_fix_dist: 0.2973, d5.loss_plan_l1_fix_time: 1.6947, d5.loss_plan_l1_fix_dist: 0.3146, d6.loss_plan_l1_fix_time: 1.7004, d6.loss_plan_l1_fix_dist: 0.3348, d0.loss_cls_all: 0.3234, d0.loss_bbox_all: 0.5231, d0.loss_cls: 0.3234, d0.loss_bbox: 0.5231, d1.loss_cls: 0.3117, d1.loss_bbox: 0.4930, d2.loss_cls: 0.3097, d2.loss_bbox: 0.4782, d3.loss_cls: 0.3054, d3.loss_bbox: 0.4719, d4.loss_cls: 0.3021, d4.loss_bbox: 0.4712, d5.loss_cls: 0.3036, d5.loss_bbox: 0.4734, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1188, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9764, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9308, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9269, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9212, d5.loss_traj_cls: 0.0038, d5.loss_traj: 0.9240, d0.loss_map_cls_all: 0.3282, d0.loss_map_pts_all: 2.0624, d0.loss_map_dir_all: 0.0177, d0.loss_map_cls: 0.3282, d0.loss_map_pts: 2.0624, d0.loss_map_dir: 0.0177, d1.loss_map_cls: 0.3101, d1.loss_map_pts: 1.4050, d1.loss_map_dir: 0.0178, d2.loss_map_cls: 0.2992, d2.loss_map_pts: 1.2415, d2.loss_map_dir: 0.0181, d3.loss_map_cls: 0.2912, d3.loss_map_pts: 1.1820, d3.loss_map_dir: 0.0186, d4.loss_map_cls: 0.2891, d4.loss_map_pts: 1.1650, d4.loss_map_dir: 0.0189, d5.loss_map_cls: 0.2869, d5.loss_map_pts: 1.1599, d5.loss_map_dir: 0.0190, loss: 42.2095, grad_norm: 156.2391 +2026-02-25 04:53:39,754 - DriveTransformer - INFO - Epoch [4][1050/39528] lr: 9.623e-05, eta: 7 days, 16:26:15, time: 0.818, data_time: 0.037, memory: 19865, loss_cls: 0.2917, loss_bbox: 0.4927, loss_traj: 0.9727, loss_traj_cls: 0.0034, loss_map_cls: 0.2572, loss_map_pts: 1.1817, loss_map_dir: 0.0195, d0.loss_plan_l1_fix_time: 2.8049, d0.loss_plan_l1_fix_dist: 0.3809, d1.loss_plan_l1_fix_time: 1.4649, d1.loss_plan_l1_fix_dist: 0.2659, d2.loss_plan_l1_fix_time: 1.4508, d2.loss_plan_l1_fix_dist: 0.2711, d3.loss_plan_l1_fix_time: 1.4552, d3.loss_plan_l1_fix_dist: 0.2827, d4.loss_plan_l1_fix_time: 1.4594, d4.loss_plan_l1_fix_dist: 0.2991, d5.loss_plan_l1_fix_time: 1.4641, d5.loss_plan_l1_fix_dist: 0.3180, d6.loss_plan_l1_fix_time: 1.4693, d6.loss_plan_l1_fix_dist: 0.3376, d0.loss_cls_all: 0.3094, d0.loss_bbox_all: 0.5272, d0.loss_cls: 0.3094, d0.loss_bbox: 0.5272, d1.loss_cls: 0.3073, d1.loss_bbox: 0.4981, d2.loss_cls: 0.2988, d2.loss_bbox: 0.4899, d3.loss_cls: 0.2984, d3.loss_bbox: 0.4890, d4.loss_cls: 0.2930, d4.loss_bbox: 0.4888, d5.loss_cls: 0.2927, d5.loss_bbox: 0.4902, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1334, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9926, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9755, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9723, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9704, d5.loss_traj_cls: 0.0037, d5.loss_traj: 0.9685, d0.loss_map_cls_all: 0.3159, d0.loss_map_pts_all: 2.1152, d0.loss_map_dir_all: 0.0178, d0.loss_map_cls: 0.3159, d0.loss_map_pts: 2.1152, d0.loss_map_dir: 0.0178, d1.loss_map_cls: 0.2923, d1.loss_map_pts: 1.4551, d1.loss_map_dir: 0.0177, d2.loss_map_cls: 0.2765, d2.loss_map_pts: 1.2895, d2.loss_map_dir: 0.0182, d3.loss_map_cls: 0.2653, d3.loss_map_pts: 1.2168, d3.loss_map_dir: 0.0189, d4.loss_map_cls: 0.2612, d4.loss_map_pts: 1.1940, d4.loss_map_dir: 0.0193, d5.loss_map_cls: 0.2581, d5.loss_map_pts: 1.1850, d5.loss_map_dir: 0.0194, loss: 41.2685, grad_norm: 157.2950 +2026-02-25 04:54:19,778 - DriveTransformer - INFO - Epoch [4][1100/39528] lr: 9.623e-05, eta: 7 days, 16:25:35, time: 0.800, data_time: 0.049, memory: 19865, loss_cls: 0.3099, loss_bbox: 0.4863, loss_traj: 1.1303, loss_traj_cls: 0.0034, loss_map_cls: 0.2910, loss_map_pts: 1.2560, loss_map_dir: 0.0183, d0.loss_plan_l1_fix_time: 2.7306, d0.loss_plan_l1_fix_dist: 0.4463, d1.loss_plan_l1_fix_time: 1.7297, d1.loss_plan_l1_fix_dist: 0.2703, d2.loss_plan_l1_fix_time: 1.7077, d2.loss_plan_l1_fix_dist: 0.2778, d3.loss_plan_l1_fix_time: 1.7058, d3.loss_plan_l1_fix_dist: 0.2892, d4.loss_plan_l1_fix_time: 1.7078, d4.loss_plan_l1_fix_dist: 0.3023, d5.loss_plan_l1_fix_time: 1.7104, d5.loss_plan_l1_fix_dist: 0.3169, d6.loss_plan_l1_fix_time: 1.7136, d6.loss_plan_l1_fix_dist: 0.3317, d0.loss_cls_all: 0.3243, d0.loss_bbox_all: 0.5347, d0.loss_cls: 0.3243, d0.loss_bbox: 0.5347, d1.loss_cls: 0.3185, d1.loss_bbox: 0.5036, d2.loss_cls: 0.3130, d2.loss_bbox: 0.4911, d3.loss_cls: 0.3127, d3.loss_bbox: 0.4876, d4.loss_cls: 0.3081, d4.loss_bbox: 0.4867, d5.loss_cls: 0.3096, d5.loss_bbox: 0.4848, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3155, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.1617, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1538, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1314, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.1320, d5.loss_traj_cls: 0.0037, d5.loss_traj: 1.1296, d0.loss_map_cls_all: 0.3560, d0.loss_map_pts_all: 2.2702, d0.loss_map_dir_all: 0.0168, d0.loss_map_cls: 0.3560, d0.loss_map_pts: 2.2702, d0.loss_map_dir: 0.0168, d1.loss_map_cls: 0.3285, d1.loss_map_pts: 1.5463, d1.loss_map_dir: 0.0166, d2.loss_map_cls: 0.3098, d2.loss_map_pts: 1.3621, d2.loss_map_dir: 0.0171, d3.loss_map_cls: 0.3005, d3.loss_map_pts: 1.2916, d3.loss_map_dir: 0.0176, d4.loss_map_cls: 0.2937, d4.loss_map_pts: 1.2677, d4.loss_map_dir: 0.0179, d5.loss_map_cls: 0.2928, d5.loss_map_pts: 1.2597, d5.loss_map_dir: 0.0181, loss: 45.1272, grad_norm: 155.9824 +2026-02-25 04:55:01,911 - DriveTransformer - INFO - Epoch [4][1150/39528] lr: 9.623e-05, eta: 7 days, 16:25:10, time: 0.842, data_time: 0.043, memory: 19865, loss_cls: 0.3116, loss_bbox: 0.5182, loss_traj: 1.0180, loss_traj_cls: 0.0034, loss_map_cls: 0.2647, loss_map_pts: 1.2929, loss_map_dir: 0.0197, d0.loss_plan_l1_fix_time: 2.7134, d0.loss_plan_l1_fix_dist: 0.4777, d1.loss_plan_l1_fix_time: 1.7967, d1.loss_plan_l1_fix_dist: 0.2797, d2.loss_plan_l1_fix_time: 1.7808, d2.loss_plan_l1_fix_dist: 0.2895, d3.loss_plan_l1_fix_time: 1.7815, d3.loss_plan_l1_fix_dist: 0.3035, d4.loss_plan_l1_fix_time: 1.7847, d4.loss_plan_l1_fix_dist: 0.3183, d5.loss_plan_l1_fix_time: 1.7882, d5.loss_plan_l1_fix_dist: 0.3348, d6.loss_plan_l1_fix_time: 1.7927, d6.loss_plan_l1_fix_dist: 0.3545, d0.loss_cls_all: 0.3297, d0.loss_bbox_all: 0.5666, d0.loss_cls: 0.3297, d0.loss_bbox: 0.5666, d1.loss_cls: 0.3245, d1.loss_bbox: 0.5349, d2.loss_cls: 0.3185, d2.loss_bbox: 0.5222, d3.loss_cls: 0.3151, d3.loss_bbox: 0.5167, d4.loss_cls: 0.3108, d4.loss_bbox: 0.5169, d5.loss_cls: 0.3103, d5.loss_bbox: 0.5168, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2284, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0761, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0218, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0147, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0219, d5.loss_traj_cls: 0.0037, d5.loss_traj: 1.0178, d0.loss_map_cls_all: 0.3152, d0.loss_map_pts_all: 2.1193, d0.loss_map_dir_all: 0.0181, d0.loss_map_cls: 0.3152, d0.loss_map_pts: 2.1193, d0.loss_map_dir: 0.0181, d1.loss_map_cls: 0.2892, d1.loss_map_pts: 1.5258, d1.loss_map_dir: 0.0179, d2.loss_map_cls: 0.2774, d2.loss_map_pts: 1.3693, d2.loss_map_dir: 0.0184, d3.loss_map_cls: 0.2720, d3.loss_map_pts: 1.3189, d3.loss_map_dir: 0.0190, d4.loss_map_cls: 0.2671, d4.loss_map_pts: 1.2990, d4.loss_map_dir: 0.0194, d5.loss_map_cls: 0.2646, d5.loss_map_pts: 1.2951, d5.loss_map_dir: 0.0195, loss: 44.7710, grad_norm: 155.0835 +2026-02-25 04:55:43,185 - DriveTransformer - INFO - Epoch [4][1200/39528] lr: 9.623e-05, eta: 7 days, 16:24:38, time: 0.825, data_time: 0.045, memory: 19865, loss_cls: 0.3136, loss_bbox: 0.4685, loss_traj: 1.0149, loss_traj_cls: 0.0032, loss_map_cls: 0.2525, loss_map_pts: 1.0043, loss_map_dir: 0.0174, d0.loss_plan_l1_fix_time: 2.5285, d0.loss_plan_l1_fix_dist: 0.3691, d1.loss_plan_l1_fix_time: 1.5008, d1.loss_plan_l1_fix_dist: 0.2376, d2.loss_plan_l1_fix_time: 1.4921, d2.loss_plan_l1_fix_dist: 0.2476, d3.loss_plan_l1_fix_time: 1.4936, d3.loss_plan_l1_fix_dist: 0.2616, d4.loss_plan_l1_fix_time: 1.4976, d4.loss_plan_l1_fix_dist: 0.2797, d5.loss_plan_l1_fix_time: 1.5013, d5.loss_plan_l1_fix_dist: 0.3002, d6.loss_plan_l1_fix_time: 1.5060, d6.loss_plan_l1_fix_dist: 0.3201, d0.loss_cls_all: 0.3435, d0.loss_bbox_all: 0.5193, d0.loss_cls: 0.3435, d0.loss_bbox: 0.5193, d1.loss_cls: 0.3332, d1.loss_bbox: 0.4877, d2.loss_cls: 0.3204, d2.loss_bbox: 0.4768, d3.loss_cls: 0.3170, d3.loss_bbox: 0.4705, d4.loss_cls: 0.3127, d4.loss_bbox: 0.4666, d5.loss_cls: 0.3115, d5.loss_bbox: 0.4664, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2869, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0719, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0271, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0196, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0205, d5.loss_traj_cls: 0.0035, d5.loss_traj: 1.0136, d0.loss_map_cls_all: 0.2994, d0.loss_map_pts_all: 1.7926, d0.loss_map_dir_all: 0.0156, d0.loss_map_cls: 0.2994, d0.loss_map_pts: 1.7926, d0.loss_map_dir: 0.0156, d1.loss_map_cls: 0.2708, d1.loss_map_pts: 1.2262, d1.loss_map_dir: 0.0154, d2.loss_map_cls: 0.2627, d2.loss_map_pts: 1.0781, d2.loss_map_dir: 0.0160, d3.loss_map_cls: 0.2569, d3.loss_map_pts: 1.0262, d3.loss_map_dir: 0.0165, d4.loss_map_cls: 0.2525, d4.loss_map_pts: 1.0076, d4.loss_map_dir: 0.0170, d5.loss_map_cls: 0.2522, d5.loss_map_pts: 1.0027, d5.loss_map_dir: 0.0172, loss: 39.6797, grad_norm: 155.0993 +2026-02-25 04:56:24,157 - DriveTransformer - INFO - Epoch [4][1250/39528] lr: 9.623e-05, eta: 7 days, 16:24:04, time: 0.819, data_time: 0.035, memory: 19865, loss_cls: 0.3026, loss_bbox: 0.4962, loss_traj: 0.8157, loss_traj_cls: 0.0032, loss_map_cls: 0.2605, loss_map_pts: 1.1374, loss_map_dir: 0.0195, d0.loss_plan_l1_fix_time: 2.3906, d0.loss_plan_l1_fix_dist: 0.3916, d1.loss_plan_l1_fix_time: 1.5340, d1.loss_plan_l1_fix_dist: 0.2402, d2.loss_plan_l1_fix_time: 1.5242, d2.loss_plan_l1_fix_dist: 0.2486, d3.loss_plan_l1_fix_time: 1.5232, d3.loss_plan_l1_fix_dist: 0.2604, d4.loss_plan_l1_fix_time: 1.5252, d4.loss_plan_l1_fix_dist: 0.2755, d5.loss_plan_l1_fix_time: 1.5276, d5.loss_plan_l1_fix_dist: 0.2932, d6.loss_plan_l1_fix_time: 1.5314, d6.loss_plan_l1_fix_dist: 0.3142, d0.loss_cls_all: 0.3243, d0.loss_bbox_all: 0.5452, d0.loss_cls: 0.3243, d0.loss_bbox: 0.5452, d1.loss_cls: 0.3200, d1.loss_bbox: 0.5191, d2.loss_cls: 0.3076, d2.loss_bbox: 0.5080, d3.loss_cls: 0.3059, d3.loss_bbox: 0.5008, d4.loss_cls: 0.3031, d4.loss_bbox: 0.4974, d5.loss_cls: 0.3035, d5.loss_bbox: 0.4965, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0045, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8644, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8318, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8250, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8175, d5.loss_traj_cls: 0.0036, d5.loss_traj: 0.8144, d0.loss_map_cls_all: 0.3193, d0.loss_map_pts_all: 2.0243, d0.loss_map_dir_all: 0.0173, d0.loss_map_cls: 0.3193, d0.loss_map_pts: 2.0243, d0.loss_map_dir: 0.0173, d1.loss_map_cls: 0.2896, d1.loss_map_pts: 1.3866, d1.loss_map_dir: 0.0178, d2.loss_map_cls: 0.2753, d2.loss_map_pts: 1.2259, d2.loss_map_dir: 0.0183, d3.loss_map_cls: 0.2676, d3.loss_map_pts: 1.1664, d3.loss_map_dir: 0.0189, d4.loss_map_cls: 0.2625, d4.loss_map_pts: 1.1437, d4.loss_map_dir: 0.0192, d5.loss_map_cls: 0.2600, d5.loss_map_pts: 1.1388, d5.loss_map_dir: 0.0194, loss: 39.8132, grad_norm: 153.8765 +2026-02-25 04:57:03,131 - DriveTransformer - INFO - Epoch [4][1300/39528] lr: 9.623e-05, eta: 7 days, 16:23:17, time: 0.779, data_time: 0.040, memory: 19865, loss_cls: 0.3347, loss_bbox: 0.5422, loss_traj: 1.1101, loss_traj_cls: 0.0031, loss_map_cls: 0.2587, loss_map_pts: 1.1121, loss_map_dir: 0.0152, d0.loss_plan_l1_fix_time: 2.8222, d0.loss_plan_l1_fix_dist: 0.4555, d1.loss_plan_l1_fix_time: 1.7978, d1.loss_plan_l1_fix_dist: 0.2674, d2.loss_plan_l1_fix_time: 1.7867, d2.loss_plan_l1_fix_dist: 0.2788, d3.loss_plan_l1_fix_time: 1.7889, d3.loss_plan_l1_fix_dist: 0.2949, d4.loss_plan_l1_fix_time: 1.7920, d4.loss_plan_l1_fix_dist: 0.3142, d5.loss_plan_l1_fix_time: 1.7963, d5.loss_plan_l1_fix_dist: 0.3373, d6.loss_plan_l1_fix_time: 1.8010, d6.loss_plan_l1_fix_dist: 0.3654, d0.loss_cls_all: 0.3591, d0.loss_bbox_all: 0.5872, d0.loss_cls: 0.3591, d0.loss_bbox: 0.5872, d1.loss_cls: 0.3547, d1.loss_bbox: 0.5574, d2.loss_cls: 0.3469, d2.loss_bbox: 0.5460, d3.loss_cls: 0.3418, d3.loss_bbox: 0.5415, d4.loss_cls: 0.3351, d4.loss_bbox: 0.5413, d5.loss_cls: 0.3357, d5.loss_bbox: 0.5402, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1932, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0825, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0647, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0713, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0983, d5.loss_traj_cls: 0.0035, d5.loss_traj: 1.1112, d0.loss_map_cls_all: 0.3260, d0.loss_map_pts_all: 1.8611, d0.loss_map_dir_all: 0.0140, d0.loss_map_cls: 0.3260, d0.loss_map_pts: 1.8611, d0.loss_map_dir: 0.0140, d1.loss_map_cls: 0.2978, d1.loss_map_pts: 1.3271, d1.loss_map_dir: 0.0140, d2.loss_map_cls: 0.2793, d2.loss_map_pts: 1.1902, d2.loss_map_dir: 0.0142, d3.loss_map_cls: 0.2709, d3.loss_map_pts: 1.1341, d3.loss_map_dir: 0.0146, d4.loss_map_cls: 0.2628, d4.loss_map_pts: 1.1155, d4.loss_map_dir: 0.0148, d5.loss_map_cls: 0.2616, d5.loss_map_pts: 1.1109, d5.loss_map_dir: 0.0151, loss: 43.9619, grad_norm: 155.0874 +2026-02-25 04:57:43,745 - DriveTransformer - INFO - Epoch [4][1350/39528] lr: 9.623e-05, eta: 7 days, 16:22:41, time: 0.812, data_time: 0.043, memory: 19865, loss_cls: 0.3105, loss_bbox: 0.5017, loss_traj: 0.8660, loss_traj_cls: 0.0030, loss_map_cls: 0.2565, loss_map_pts: 1.2569, loss_map_dir: 0.0179, d0.loss_plan_l1_fix_time: 2.7005, d0.loss_plan_l1_fix_dist: 0.4041, d1.loss_plan_l1_fix_time: 1.8195, d1.loss_plan_l1_fix_dist: 0.2911, d2.loss_plan_l1_fix_time: 1.8059, d2.loss_plan_l1_fix_dist: 0.3031, d3.loss_plan_l1_fix_time: 1.8063, d3.loss_plan_l1_fix_dist: 0.3200, d4.loss_plan_l1_fix_time: 1.8095, d4.loss_plan_l1_fix_dist: 0.3374, d5.loss_plan_l1_fix_time: 1.8136, d5.loss_plan_l1_fix_dist: 0.3530, d6.loss_plan_l1_fix_time: 1.8183, d6.loss_plan_l1_fix_dist: 0.3697, d0.loss_cls_all: 0.3393, d0.loss_bbox_all: 0.5528, d0.loss_cls: 0.3393, d0.loss_bbox: 0.5528, d1.loss_cls: 0.3330, d1.loss_bbox: 0.5192, d2.loss_cls: 0.3210, d2.loss_bbox: 0.5066, d3.loss_cls: 0.3156, d3.loss_bbox: 0.5020, d4.loss_cls: 0.3107, d4.loss_bbox: 0.5016, d5.loss_cls: 0.3095, d5.loss_bbox: 0.5003, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9919, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8707, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8517, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8522, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8642, d5.loss_traj_cls: 0.0034, d5.loss_traj: 0.8698, d0.loss_map_cls_all: 0.3023, d0.loss_map_pts_all: 2.1523, d0.loss_map_dir_all: 0.0172, d0.loss_map_cls: 0.3023, d0.loss_map_pts: 2.1523, d0.loss_map_dir: 0.0172, d1.loss_map_cls: 0.2815, d1.loss_map_pts: 1.5120, d1.loss_map_dir: 0.0168, d2.loss_map_cls: 0.2698, d2.loss_map_pts: 1.3539, d2.loss_map_dir: 0.0170, d3.loss_map_cls: 0.2640, d3.loss_map_pts: 1.2907, d3.loss_map_dir: 0.0175, d4.loss_map_cls: 0.2597, d4.loss_map_pts: 1.2629, d4.loss_map_dir: 0.0177, d5.loss_map_cls: 0.2577, d5.loss_map_pts: 1.2574, d5.loss_map_dir: 0.0178, loss: 43.4167, grad_norm: 153.9849 +2026-02-25 04:58:25,700 - DriveTransformer - INFO - Epoch [4][1400/39528] lr: 9.623e-05, eta: 7 days, 16:22:14, time: 0.839, data_time: 0.047, memory: 19865, loss_cls: 0.3361, loss_bbox: 0.5107, loss_traj: 0.9744, loss_traj_cls: 0.0030, loss_map_cls: 0.2748, loss_map_pts: 1.2139, loss_map_dir: 0.0183, d0.loss_plan_l1_fix_time: 2.7092, d0.loss_plan_l1_fix_dist: 0.4142, d1.loss_plan_l1_fix_time: 1.6426, d1.loss_plan_l1_fix_dist: 0.2764, d2.loss_plan_l1_fix_time: 1.6151, d2.loss_plan_l1_fix_dist: 0.2934, d3.loss_plan_l1_fix_time: 1.6137, d3.loss_plan_l1_fix_dist: 0.3166, d4.loss_plan_l1_fix_time: 1.6159, d4.loss_plan_l1_fix_dist: 0.3438, d5.loss_plan_l1_fix_time: 1.6186, d5.loss_plan_l1_fix_dist: 0.3723, d6.loss_plan_l1_fix_time: 1.6217, d6.loss_plan_l1_fix_dist: 0.4017, d0.loss_cls_all: 0.3668, d0.loss_bbox_all: 0.5671, d0.loss_cls: 0.3668, d0.loss_bbox: 0.5671, d1.loss_cls: 0.3537, d1.loss_bbox: 0.5352, d2.loss_cls: 0.3417, d2.loss_bbox: 0.5232, d3.loss_cls: 0.3380, d3.loss_bbox: 0.5152, d4.loss_cls: 0.3376, d4.loss_bbox: 0.5119, d5.loss_cls: 0.3375, d5.loss_bbox: 0.5104, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1439, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0148, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9735, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.9755, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9723, d5.loss_traj_cls: 0.0034, d5.loss_traj: 0.9727, d0.loss_map_cls_all: 0.3253, d0.loss_map_pts_all: 2.1560, d0.loss_map_dir_all: 0.0167, d0.loss_map_cls: 0.3253, d0.loss_map_pts: 2.1560, d0.loss_map_dir: 0.0167, d1.loss_map_cls: 0.3062, d1.loss_map_pts: 1.4809, d1.loss_map_dir: 0.0167, d2.loss_map_cls: 0.2928, d2.loss_map_pts: 1.3174, d2.loss_map_dir: 0.0170, d3.loss_map_cls: 0.2857, d3.loss_map_pts: 1.2540, d3.loss_map_dir: 0.0177, d4.loss_map_cls: 0.2795, d4.loss_map_pts: 1.2274, d4.loss_map_dir: 0.0180, d5.loss_map_cls: 0.2771, d5.loss_map_pts: 1.2183, d5.loss_map_dir: 0.0181, loss: 43.4418, grad_norm: 153.8193 +2026-02-25 04:59:04,735 - DriveTransformer - INFO - Epoch [4][1450/39528] lr: 9.623e-05, eta: 7 days, 16:21:27, time: 0.781, data_time: 0.052, memory: 19865, loss_cls: 0.2963, loss_bbox: 0.4554, loss_traj: 0.9257, loss_traj_cls: 0.0030, loss_map_cls: 0.2435, loss_map_pts: 0.9406, loss_map_dir: 0.0139, d0.loss_plan_l1_fix_time: 2.4767, d0.loss_plan_l1_fix_dist: 0.4043, d1.loss_plan_l1_fix_time: 1.4066, d1.loss_plan_l1_fix_dist: 0.2068, d2.loss_plan_l1_fix_time: 1.4066, d2.loss_plan_l1_fix_dist: 0.2154, d3.loss_plan_l1_fix_time: 1.4034, d3.loss_plan_l1_fix_dist: 0.2286, d4.loss_plan_l1_fix_time: 1.4060, d4.loss_plan_l1_fix_dist: 0.2491, d5.loss_plan_l1_fix_time: 1.4097, d5.loss_plan_l1_fix_dist: 0.2765, d6.loss_plan_l1_fix_time: 1.4141, d6.loss_plan_l1_fix_dist: 0.3073, d0.loss_cls_all: 0.2960, d0.loss_bbox_all: 0.5069, d0.loss_cls: 0.2960, d0.loss_bbox: 0.5069, d1.loss_cls: 0.2991, d1.loss_bbox: 0.4726, d2.loss_cls: 0.2974, d2.loss_bbox: 0.4596, d3.loss_cls: 0.2937, d3.loss_bbox: 0.4520, d4.loss_cls: 0.2934, d4.loss_bbox: 0.4503, d5.loss_cls: 0.2963, d5.loss_bbox: 0.4529, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0616, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9285, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9021, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.9174, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9195, d5.loss_traj_cls: 0.0034, d5.loss_traj: 0.9214, d0.loss_map_cls_all: 0.2929, d0.loss_map_pts_all: 1.7199, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2929, d0.loss_map_pts: 1.7199, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2709, d1.loss_map_pts: 1.1881, d1.loss_map_dir: 0.0129, d2.loss_map_cls: 0.2578, d2.loss_map_pts: 1.0343, d2.loss_map_dir: 0.0130, d3.loss_map_cls: 0.2502, d3.loss_map_pts: 0.9728, d3.loss_map_dir: 0.0133, d4.loss_map_cls: 0.2449, d4.loss_map_pts: 0.9507, d4.loss_map_dir: 0.0136, d5.loss_map_cls: 0.2441, d5.loss_map_pts: 0.9443, d5.loss_map_dir: 0.0138, loss: 37.1965, grad_norm: 155.9201 +2026-02-25 04:59:45,974 - DriveTransformer - INFO - Epoch [4][1500/39528] lr: 9.623e-05, eta: 7 days, 16:20:55, time: 0.825, data_time: 0.046, memory: 19865, loss_cls: 0.3131, loss_bbox: 0.4691, loss_traj: 0.8666, loss_traj_cls: 0.0030, loss_map_cls: 0.2395, loss_map_pts: 1.0161, loss_map_dir: 0.0181, d0.loss_plan_l1_fix_time: 2.6084, d0.loss_plan_l1_fix_dist: 0.4870, d1.loss_plan_l1_fix_time: 1.4157, d1.loss_plan_l1_fix_dist: 0.2616, d2.loss_plan_l1_fix_time: 1.3971, d2.loss_plan_l1_fix_dist: 0.2745, d3.loss_plan_l1_fix_time: 1.3999, d3.loss_plan_l1_fix_dist: 0.2946, d4.loss_plan_l1_fix_time: 1.4034, d4.loss_plan_l1_fix_dist: 0.3125, d5.loss_plan_l1_fix_time: 1.4072, d5.loss_plan_l1_fix_dist: 0.3303, d6.loss_plan_l1_fix_time: 1.4115, d6.loss_plan_l1_fix_dist: 0.3490, d0.loss_cls_all: 0.3365, d0.loss_bbox_all: 0.5070, d0.loss_cls: 0.3365, d0.loss_bbox: 0.5070, d1.loss_cls: 0.3335, d1.loss_bbox: 0.4822, d2.loss_cls: 0.3236, d2.loss_bbox: 0.4678, d3.loss_cls: 0.3177, d3.loss_bbox: 0.4656, d4.loss_cls: 0.3132, d4.loss_bbox: 0.4662, d5.loss_cls: 0.3143, d5.loss_bbox: 0.4674, d0.loss_traj_cls: 0.0002, d0.loss_traj: 0.9748, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8626, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8470, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.8531, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8594, d5.loss_traj_cls: 0.0033, d5.loss_traj: 0.8648, d0.loss_map_cls_all: 0.2924, d0.loss_map_pts_all: 2.0007, d0.loss_map_dir_all: 0.0161, d0.loss_map_cls: 0.2924, d0.loss_map_pts: 2.0007, d0.loss_map_dir: 0.0161, d1.loss_map_cls: 0.2730, d1.loss_map_pts: 1.2817, d1.loss_map_dir: 0.0163, d2.loss_map_cls: 0.2598, d2.loss_map_pts: 1.1041, d2.loss_map_dir: 0.0168, d3.loss_map_cls: 0.2508, d3.loss_map_pts: 1.0458, d3.loss_map_dir: 0.0173, d4.loss_map_cls: 0.2449, d4.loss_map_pts: 1.0242, d4.loss_map_dir: 0.0177, d5.loss_map_cls: 0.2415, d5.loss_map_pts: 1.0175, d5.loss_map_dir: 0.0179, loss: 38.6340, grad_norm: 155.1537 +2026-02-25 05:00:25,865 - DriveTransformer - INFO - Epoch [4][1550/39528] lr: 9.623e-05, eta: 7 days, 16:20:14, time: 0.798, data_time: 0.043, memory: 19865, loss_cls: 0.3021, loss_bbox: 0.4658, loss_traj: 1.0943, loss_traj_cls: 0.0030, loss_map_cls: 0.1916, loss_map_pts: 0.8847, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 2.7205, d0.loss_plan_l1_fix_dist: 0.4706, d1.loss_plan_l1_fix_time: 1.5110, d1.loss_plan_l1_fix_dist: 0.2428, d2.loss_plan_l1_fix_time: 1.4899, d2.loss_plan_l1_fix_dist: 0.2459, d3.loss_plan_l1_fix_time: 1.4908, d3.loss_plan_l1_fix_dist: 0.2569, d4.loss_plan_l1_fix_time: 1.4947, d4.loss_plan_l1_fix_dist: 0.2708, d5.loss_plan_l1_fix_time: 1.4993, d5.loss_plan_l1_fix_dist: 0.2854, d6.loss_plan_l1_fix_time: 1.5052, d6.loss_plan_l1_fix_dist: 0.2991, d0.loss_cls_all: 0.3175, d0.loss_bbox_all: 0.5055, d0.loss_cls: 0.3175, d0.loss_bbox: 0.5055, d1.loss_cls: 0.3194, d1.loss_bbox: 0.4818, d2.loss_cls: 0.3095, d2.loss_bbox: 0.4703, d3.loss_cls: 0.3050, d3.loss_bbox: 0.4657, d4.loss_cls: 0.3021, d4.loss_bbox: 0.4642, d5.loss_cls: 0.3021, d5.loss_bbox: 0.4650, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2999, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.1573, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1261, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.1173, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0988, d5.loss_traj_cls: 0.0033, d5.loss_traj: 1.0973, d0.loss_map_cls_all: 0.2554, d0.loss_map_pts_all: 1.6704, d0.loss_map_dir_all: 0.0132, d0.loss_map_cls: 0.2554, d0.loss_map_pts: 1.6704, d0.loss_map_dir: 0.0132, d1.loss_map_cls: 0.2237, d1.loss_map_pts: 1.1118, d1.loss_map_dir: 0.0131, d2.loss_map_cls: 0.2043, d2.loss_map_pts: 0.9680, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.1978, d3.loss_map_pts: 0.9076, d3.loss_map_dir: 0.0137, d4.loss_map_cls: 0.1926, d4.loss_map_pts: 0.8888, d4.loss_map_dir: 0.0140, d5.loss_map_cls: 0.1921, d5.loss_map_pts: 0.8849, d5.loss_map_dir: 0.0141, loss: 38.8919, grad_norm: 154.9766 +2026-02-25 05:01:08,114 - DriveTransformer - INFO - Epoch [4][1600/39528] lr: 9.623e-05, eta: 7 days, 16:19:49, time: 0.845, data_time: 0.039, memory: 19865, loss_cls: 0.3473, loss_bbox: 0.5041, loss_traj: 0.7807, loss_traj_cls: 0.0030, loss_map_cls: 0.2750, loss_map_pts: 1.2720, loss_map_dir: 0.0211, d0.loss_plan_l1_fix_time: 2.8623, d0.loss_plan_l1_fix_dist: 0.4216, d1.loss_plan_l1_fix_time: 1.4957, d1.loss_plan_l1_fix_dist: 0.2545, d2.loss_plan_l1_fix_time: 1.4691, d2.loss_plan_l1_fix_dist: 0.2615, d3.loss_plan_l1_fix_time: 1.4670, d3.loss_plan_l1_fix_dist: 0.2742, d4.loss_plan_l1_fix_time: 1.4695, d4.loss_plan_l1_fix_dist: 0.2889, d5.loss_plan_l1_fix_time: 1.4736, d5.loss_plan_l1_fix_dist: 0.3051, d6.loss_plan_l1_fix_time: 1.4783, d6.loss_plan_l1_fix_dist: 0.3208, d0.loss_cls_all: 0.3393, d0.loss_bbox_all: 0.5497, d0.loss_cls: 0.3393, d0.loss_bbox: 0.5497, d1.loss_cls: 0.3412, d1.loss_bbox: 0.5216, d2.loss_cls: 0.3400, d2.loss_bbox: 0.5094, d3.loss_cls: 0.3419, d3.loss_bbox: 0.5041, d4.loss_cls: 0.3399, d4.loss_bbox: 0.5042, d5.loss_cls: 0.3450, d5.loss_bbox: 0.5038, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8883, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8005, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.7705, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.7760, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7752, d5.loss_traj_cls: 0.0032, d5.loss_traj: 0.7757, d0.loss_map_cls_all: 0.3159, d0.loss_map_pts_all: 2.3505, d0.loss_map_dir_all: 0.0191, d0.loss_map_cls: 0.3159, d0.loss_map_pts: 2.3505, d0.loss_map_dir: 0.0191, d1.loss_map_cls: 0.2998, d1.loss_map_pts: 1.5495, d1.loss_map_dir: 0.0192, d2.loss_map_cls: 0.2874, d2.loss_map_pts: 1.3660, d2.loss_map_dir: 0.0197, d3.loss_map_cls: 0.2823, d3.loss_map_pts: 1.2984, d3.loss_map_dir: 0.0204, d4.loss_map_cls: 0.2774, d4.loss_map_pts: 1.2779, d4.loss_map_dir: 0.0209, d5.loss_map_cls: 0.2759, d5.loss_map_pts: 1.2724, d5.loss_map_dir: 0.0211, loss: 41.5270, grad_norm: 154.7299 +2026-02-25 05:01:47,375 - DriveTransformer - INFO - Epoch [4][1650/39528] lr: 9.623e-05, eta: 7 days, 16:19:04, time: 0.785, data_time: 0.045, memory: 19865, loss_cls: 0.3201, loss_bbox: 0.5117, loss_traj: 0.9419, loss_traj_cls: 0.0030, loss_map_cls: 0.2808, loss_map_pts: 1.1550, loss_map_dir: 0.0173, d0.loss_plan_l1_fix_time: 2.9140, d0.loss_plan_l1_fix_dist: 0.4725, d1.loss_plan_l1_fix_time: 1.7583, d1.loss_plan_l1_fix_dist: 0.2697, d2.loss_plan_l1_fix_time: 1.7464, d2.loss_plan_l1_fix_dist: 0.2732, d3.loss_plan_l1_fix_time: 1.7502, d3.loss_plan_l1_fix_dist: 0.2838, d4.loss_plan_l1_fix_time: 1.7544, d4.loss_plan_l1_fix_dist: 0.2971, d5.loss_plan_l1_fix_time: 1.7593, d5.loss_plan_l1_fix_dist: 0.3165, d6.loss_plan_l1_fix_time: 1.7641, d6.loss_plan_l1_fix_dist: 0.3425, d0.loss_cls_all: 0.3311, d0.loss_bbox_all: 0.5604, d0.loss_cls: 0.3311, d0.loss_bbox: 0.5604, d1.loss_cls: 0.3245, d1.loss_bbox: 0.5308, d2.loss_cls: 0.3220, d2.loss_bbox: 0.5189, d3.loss_cls: 0.3179, d3.loss_bbox: 0.5156, d4.loss_cls: 0.3170, d4.loss_bbox: 0.5128, d5.loss_cls: 0.3216, d5.loss_bbox: 0.5119, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1134, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9784, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9433, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.9430, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9406, d5.loss_traj_cls: 0.0033, d5.loss_traj: 0.9427, d0.loss_map_cls_all: 0.3260, d0.loss_map_pts_all: 1.9445, d0.loss_map_dir_all: 0.0161, d0.loss_map_cls: 0.3260, d0.loss_map_pts: 1.9445, d0.loss_map_dir: 0.0161, d1.loss_map_cls: 0.3075, d1.loss_map_pts: 1.3903, d1.loss_map_dir: 0.0160, d2.loss_map_cls: 0.2939, d2.loss_map_pts: 1.2443, d2.loss_map_dir: 0.0163, d3.loss_map_cls: 0.2850, d3.loss_map_pts: 1.1838, d3.loss_map_dir: 0.0167, d4.loss_map_cls: 0.2807, d4.loss_map_pts: 1.1638, d4.loss_map_dir: 0.0171, d5.loss_map_cls: 0.2784, d5.loss_map_pts: 1.1573, d5.loss_map_dir: 0.0172, loss: 43.0186, grad_norm: 155.7577 +2026-02-25 05:02:28,346 - DriveTransformer - INFO - Epoch [4][1700/39528] lr: 9.623e-05, eta: 7 days, 16:18:30, time: 0.819, data_time: 0.039, memory: 19865, loss_cls: 0.2865, loss_bbox: 0.4599, loss_traj: 0.9226, loss_traj_cls: 0.0031, loss_map_cls: 0.2452, loss_map_pts: 1.0533, loss_map_dir: 0.0174, d0.loss_plan_l1_fix_time: 2.3092, d0.loss_plan_l1_fix_dist: 0.3918, d1.loss_plan_l1_fix_time: 1.3900, d1.loss_plan_l1_fix_dist: 0.2291, d2.loss_plan_l1_fix_time: 1.3687, d2.loss_plan_l1_fix_dist: 0.2338, d3.loss_plan_l1_fix_time: 1.3636, d3.loss_plan_l1_fix_dist: 0.2432, d4.loss_plan_l1_fix_time: 1.3655, d4.loss_plan_l1_fix_dist: 0.2556, d5.loss_plan_l1_fix_time: 1.3685, d5.loss_plan_l1_fix_dist: 0.2682, d6.loss_plan_l1_fix_time: 1.3728, d6.loss_plan_l1_fix_dist: 0.2832, d0.loss_cls_all: 0.2989, d0.loss_bbox_all: 0.5103, d0.loss_cls: 0.2989, d0.loss_bbox: 0.5103, d1.loss_cls: 0.2952, d1.loss_bbox: 0.4811, d2.loss_cls: 0.2899, d2.loss_bbox: 0.4709, d3.loss_cls: 0.2887, d3.loss_bbox: 0.4633, d4.loss_cls: 0.2857, d4.loss_bbox: 0.4594, d5.loss_cls: 0.2860, d5.loss_bbox: 0.4585, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1092, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9825, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9409, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.9312, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9225, d5.loss_traj_cls: 0.0034, d5.loss_traj: 0.9168, d0.loss_map_cls_all: 0.3097, d0.loss_map_pts_all: 1.9264, d0.loss_map_dir_all: 0.0163, d0.loss_map_cls: 0.3097, d0.loss_map_pts: 1.9264, d0.loss_map_dir: 0.0163, d1.loss_map_cls: 0.2810, d1.loss_map_pts: 1.2930, d1.loss_map_dir: 0.0158, d2.loss_map_cls: 0.2616, d2.loss_map_pts: 1.1435, d2.loss_map_dir: 0.0161, d3.loss_map_cls: 0.2529, d3.loss_map_pts: 1.0809, d3.loss_map_dir: 0.0167, d4.loss_map_cls: 0.2491, d4.loss_map_pts: 1.0603, d4.loss_map_dir: 0.0170, d5.loss_map_cls: 0.2467, d5.loss_map_pts: 1.0547, d5.loss_map_dir: 0.0173, loss: 38.1503, grad_norm: 155.3713 +2026-02-25 05:03:08,480 - DriveTransformer - INFO - Epoch [4][1750/39528] lr: 9.623e-05, eta: 7 days, 16:17:50, time: 0.803, data_time: 0.037, memory: 19865, loss_cls: 0.3365, loss_bbox: 0.4943, loss_traj: 0.9509, loss_traj_cls: 0.0032, loss_map_cls: 0.2678, loss_map_pts: 1.1843, loss_map_dir: 0.0193, d0.loss_plan_l1_fix_time: 2.7397, d0.loss_plan_l1_fix_dist: 0.4391, d1.loss_plan_l1_fix_time: 1.8191, d1.loss_plan_l1_fix_dist: 0.2546, d2.loss_plan_l1_fix_time: 1.8006, d2.loss_plan_l1_fix_dist: 0.2571, d3.loss_plan_l1_fix_time: 1.8010, d3.loss_plan_l1_fix_dist: 0.2664, d4.loss_plan_l1_fix_time: 1.8050, d4.loss_plan_l1_fix_dist: 0.2794, d5.loss_plan_l1_fix_time: 1.8100, d5.loss_plan_l1_fix_dist: 0.2921, d6.loss_plan_l1_fix_time: 1.8166, d6.loss_plan_l1_fix_dist: 0.3063, d0.loss_cls_all: 0.3455, d0.loss_bbox_all: 0.5451, d0.loss_cls: 0.3455, d0.loss_bbox: 0.5451, d1.loss_cls: 0.3420, d1.loss_bbox: 0.5176, d2.loss_cls: 0.3334, d2.loss_bbox: 0.5033, d3.loss_cls: 0.3333, d3.loss_bbox: 0.4956, d4.loss_cls: 0.3341, d4.loss_bbox: 0.4929, d5.loss_cls: 0.3328, d5.loss_bbox: 0.4923, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1004, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9585, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9322, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9341, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9392, d5.loss_traj_cls: 0.0035, d5.loss_traj: 0.9447, d0.loss_map_cls_all: 0.3180, d0.loss_map_pts_all: 2.0328, d0.loss_map_dir_all: 0.0176, d0.loss_map_cls: 0.3180, d0.loss_map_pts: 2.0328, d0.loss_map_dir: 0.0176, d1.loss_map_cls: 0.2983, d1.loss_map_pts: 1.4179, d1.loss_map_dir: 0.0173, d2.loss_map_cls: 0.2863, d2.loss_map_pts: 1.2625, d2.loss_map_dir: 0.0179, d3.loss_map_cls: 0.2761, d3.loss_map_pts: 1.2024, d3.loss_map_dir: 0.0185, d4.loss_map_cls: 0.2709, d4.loss_map_pts: 1.1863, d4.loss_map_dir: 0.0189, d5.loss_map_cls: 0.2684, d5.loss_map_pts: 1.1840, d5.loss_map_dir: 0.0191, loss: 43.2000, grad_norm: 153.7521 +2026-02-25 05:03:46,465 - DriveTransformer - INFO - Epoch [4][1800/39528] lr: 9.623e-05, eta: 7 days, 16:16:57, time: 0.761, data_time: 0.050, memory: 19865, loss_cls: 0.3204, loss_bbox: 0.4936, loss_traj: 1.0829, loss_traj_cls: 0.0032, loss_map_cls: 0.2314, loss_map_pts: 0.9393, loss_map_dir: 0.0140, d0.loss_plan_l1_fix_time: 3.2737, d0.loss_plan_l1_fix_dist: 0.3933, d1.loss_plan_l1_fix_time: 1.8244, d1.loss_plan_l1_fix_dist: 0.2228, d2.loss_plan_l1_fix_time: 1.8041, d2.loss_plan_l1_fix_dist: 0.2332, d3.loss_plan_l1_fix_time: 1.8063, d3.loss_plan_l1_fix_dist: 0.2490, d4.loss_plan_l1_fix_time: 1.8106, d4.loss_plan_l1_fix_dist: 0.2666, d5.loss_plan_l1_fix_time: 1.8159, d5.loss_plan_l1_fix_dist: 0.2868, d6.loss_plan_l1_fix_time: 1.8216, d6.loss_plan_l1_fix_dist: 0.3061, d0.loss_cls_all: 0.3325, d0.loss_bbox_all: 0.5342, d0.loss_cls: 0.3325, d0.loss_bbox: 0.5342, d1.loss_cls: 0.3266, d1.loss_bbox: 0.5080, d2.loss_cls: 0.3228, d2.loss_bbox: 0.4967, d3.loss_cls: 0.3195, d3.loss_bbox: 0.4931, d4.loss_cls: 0.3192, d4.loss_bbox: 0.4909, d5.loss_cls: 0.3195, d5.loss_bbox: 0.4920, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2581, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.1133, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0697, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0835, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0823, d5.loss_traj_cls: 0.0036, d5.loss_traj: 1.0762, d0.loss_map_cls_all: 0.2953, d0.loss_map_pts_all: 1.5628, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2953, d0.loss_map_pts: 1.5628, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2698, d1.loss_map_pts: 1.1178, d1.loss_map_dir: 0.0130, d2.loss_map_cls: 0.2484, d2.loss_map_pts: 1.0069, d2.loss_map_dir: 0.0132, d3.loss_map_cls: 0.2409, d3.loss_map_pts: 0.9589, d3.loss_map_dir: 0.0135, d4.loss_map_cls: 0.2355, d4.loss_map_pts: 0.9410, d4.loss_map_dir: 0.0137, d5.loss_map_cls: 0.2324, d5.loss_map_pts: 0.9386, d5.loss_map_dir: 0.0139, loss: 41.7114, grad_norm: 155.5612 +2026-02-25 05:04:25,290 - DriveTransformer - INFO - Epoch [4][1850/39528] lr: 9.623e-05, eta: 7 days, 16:16:08, time: 0.775, data_time: 0.041, memory: 19865, loss_cls: 0.3209, loss_bbox: 0.5033, loss_traj: 1.1097, loss_traj_cls: 0.0032, loss_map_cls: 0.2854, loss_map_pts: 1.1005, loss_map_dir: 0.0176, d0.loss_plan_l1_fix_time: 2.5877, d0.loss_plan_l1_fix_dist: 0.4502, d1.loss_plan_l1_fix_time: 1.5277, d1.loss_plan_l1_fix_dist: 0.2600, d2.loss_plan_l1_fix_time: 1.5153, d2.loss_plan_l1_fix_dist: 0.2675, d3.loss_plan_l1_fix_time: 1.5152, d3.loss_plan_l1_fix_dist: 0.2765, d4.loss_plan_l1_fix_time: 1.5178, d4.loss_plan_l1_fix_dist: 0.2877, d5.loss_plan_l1_fix_time: 1.5214, d5.loss_plan_l1_fix_dist: 0.2983, d6.loss_plan_l1_fix_time: 1.5253, d6.loss_plan_l1_fix_dist: 0.3107, d0.loss_cls_all: 0.3359, d0.loss_bbox_all: 0.5495, d0.loss_cls: 0.3359, d0.loss_bbox: 0.5495, d1.loss_cls: 0.3269, d1.loss_bbox: 0.5175, d2.loss_cls: 0.3194, d2.loss_bbox: 0.5062, d3.loss_cls: 0.3223, d3.loss_bbox: 0.4968, d4.loss_cls: 0.3200, d4.loss_bbox: 0.4976, d5.loss_cls: 0.3194, d5.loss_bbox: 0.5009, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3801, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.1629, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1249, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1172, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.1194, d5.loss_traj_cls: 0.0036, d5.loss_traj: 1.1088, d0.loss_map_cls_all: 0.3485, d0.loss_map_pts_all: 1.9592, d0.loss_map_dir_all: 0.0165, d0.loss_map_cls: 0.3485, d0.loss_map_pts: 1.9592, d0.loss_map_dir: 0.0165, d1.loss_map_cls: 0.3158, d1.loss_map_pts: 1.3389, d1.loss_map_dir: 0.0161, d2.loss_map_cls: 0.3020, d2.loss_map_pts: 1.1862, d2.loss_map_dir: 0.0165, d3.loss_map_cls: 0.2941, d3.loss_map_pts: 1.1252, d3.loss_map_dir: 0.0170, d4.loss_map_cls: 0.2901, d4.loss_map_pts: 1.1034, d4.loss_map_dir: 0.0173, d5.loss_map_cls: 0.2866, d5.loss_map_pts: 1.1027, d5.loss_map_dir: 0.0175, loss: 42.1988, grad_norm: 156.8173 +2026-02-25 05:05:04,929 - DriveTransformer - INFO - Epoch [4][1900/39528] lr: 9.623e-05, eta: 7 days, 16:15:25, time: 0.793, data_time: 0.042, memory: 19865, loss_cls: 0.3471, loss_bbox: 0.5224, loss_traj: 0.9638, loss_traj_cls: 0.0030, loss_map_cls: 0.2858, loss_map_pts: 1.1940, loss_map_dir: 0.0170, d0.loss_plan_l1_fix_time: 3.2997, d0.loss_plan_l1_fix_dist: 0.4630, d1.loss_plan_l1_fix_time: 1.8764, d1.loss_plan_l1_fix_dist: 0.2560, d2.loss_plan_l1_fix_time: 1.8543, d2.loss_plan_l1_fix_dist: 0.2614, d3.loss_plan_l1_fix_time: 1.8536, d3.loss_plan_l1_fix_dist: 0.2716, d4.loss_plan_l1_fix_time: 1.8556, d4.loss_plan_l1_fix_dist: 0.2863, d5.loss_plan_l1_fix_time: 1.8587, d5.loss_plan_l1_fix_dist: 0.3017, d6.loss_plan_l1_fix_time: 1.8629, d6.loss_plan_l1_fix_dist: 0.3234, d0.loss_cls_all: 0.3591, d0.loss_bbox_all: 0.5710, d0.loss_cls: 0.3591, d0.loss_bbox: 0.5710, d1.loss_cls: 0.3584, d1.loss_bbox: 0.5420, d2.loss_cls: 0.3488, d2.loss_bbox: 0.5289, d3.loss_cls: 0.3442, d3.loss_bbox: 0.5241, d4.loss_cls: 0.3423, d4.loss_bbox: 0.5230, d5.loss_cls: 0.3426, d5.loss_bbox: 0.5226, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1470, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9991, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9826, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9803, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9721, d5.loss_traj_cls: 0.0033, d5.loss_traj: 0.9634, d0.loss_map_cls_all: 0.3310, d0.loss_map_pts_all: 1.9845, d0.loss_map_dir_all: 0.0154, d0.loss_map_cls: 0.3310, d0.loss_map_pts: 1.9845, d0.loss_map_dir: 0.0154, d1.loss_map_cls: 0.3092, d1.loss_map_pts: 1.4431, d1.loss_map_dir: 0.0155, d2.loss_map_cls: 0.2955, d2.loss_map_pts: 1.2837, d2.loss_map_dir: 0.0161, d3.loss_map_cls: 0.2918, d3.loss_map_pts: 1.2208, d3.loss_map_dir: 0.0164, d4.loss_map_cls: 0.2877, d4.loss_map_pts: 1.1979, d4.loss_map_dir: 0.0168, d5.loss_map_cls: 0.2846, d5.loss_map_pts: 1.1954, d5.loss_map_dir: 0.0169, loss: 44.8004, grad_norm: 155.7005 +2026-02-25 05:05:44,694 - DriveTransformer - INFO - Epoch [4][1950/39528] lr: 9.623e-05, eta: 7 days, 16:14:43, time: 0.795, data_time: 0.047, memory: 19865, loss_cls: 0.3641, loss_bbox: 0.5601, loss_traj: 1.0644, loss_traj_cls: 0.0029, loss_map_cls: 0.2609, loss_map_pts: 1.1165, loss_map_dir: 0.0171, d0.loss_plan_l1_fix_time: 3.3390, d0.loss_plan_l1_fix_dist: 0.5028, d1.loss_plan_l1_fix_time: 1.9552, d1.loss_plan_l1_fix_dist: 0.3072, d2.loss_plan_l1_fix_time: 1.9264, d2.loss_plan_l1_fix_dist: 0.3096, d3.loss_plan_l1_fix_time: 1.9263, d3.loss_plan_l1_fix_dist: 0.3163, d4.loss_plan_l1_fix_time: 1.9286, d4.loss_plan_l1_fix_dist: 0.3251, d5.loss_plan_l1_fix_time: 1.9314, d5.loss_plan_l1_fix_dist: 0.3348, d6.loss_plan_l1_fix_time: 1.9348, d6.loss_plan_l1_fix_dist: 0.3452, d0.loss_cls_all: 0.3798, d0.loss_bbox_all: 0.6163, d0.loss_cls: 0.3798, d0.loss_bbox: 0.6163, d1.loss_cls: 0.3739, d1.loss_bbox: 0.5823, d2.loss_cls: 0.3660, d2.loss_bbox: 0.5661, d3.loss_cls: 0.3627, d3.loss_bbox: 0.5597, d4.loss_cls: 0.3629, d4.loss_bbox: 0.5580, d5.loss_cls: 0.3637, d5.loss_bbox: 0.5571, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2443, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.1075, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0675, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0547, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0583, d5.loss_traj_cls: 0.0032, d5.loss_traj: 1.0590, d0.loss_map_cls_all: 0.3251, d0.loss_map_pts_all: 1.8261, d0.loss_map_dir_all: 0.0153, d0.loss_map_cls: 0.3251, d0.loss_map_pts: 1.8261, d0.loss_map_dir: 0.0153, d1.loss_map_cls: 0.2984, d1.loss_map_pts: 1.3327, d1.loss_map_dir: 0.0158, d2.loss_map_cls: 0.2794, d2.loss_map_pts: 1.1925, d2.loss_map_dir: 0.0161, d3.loss_map_cls: 0.2694, d3.loss_map_pts: 1.1419, d3.loss_map_dir: 0.0166, d4.loss_map_cls: 0.2638, d4.loss_map_pts: 1.1207, d4.loss_map_dir: 0.0168, d5.loss_map_cls: 0.2615, d5.loss_map_pts: 1.1155, d5.loss_map_dir: 0.0169, loss: 45.7032, grad_norm: 154.9150 +2026-02-25 05:06:24,501 - DriveTransformer - INFO - Epoch [4][2000/39528] lr: 9.623e-05, eta: 7 days, 16:14:01, time: 0.796, data_time: 0.037, memory: 19865, loss_cls: 0.3031, loss_bbox: 0.4911, loss_traj: 0.8775, loss_traj_cls: 0.0031, loss_map_cls: 0.2268, loss_map_pts: 1.0215, loss_map_dir: 0.0153, d0.loss_plan_l1_fix_time: 2.8484, d0.loss_plan_l1_fix_dist: 0.5601, d1.loss_plan_l1_fix_time: 1.6631, d1.loss_plan_l1_fix_dist: 0.2521, d2.loss_plan_l1_fix_time: 1.6573, d2.loss_plan_l1_fix_dist: 0.2568, d3.loss_plan_l1_fix_time: 1.6627, d3.loss_plan_l1_fix_dist: 0.2634, d4.loss_plan_l1_fix_time: 1.6674, d4.loss_plan_l1_fix_dist: 0.2737, d5.loss_plan_l1_fix_time: 1.6719, d5.loss_plan_l1_fix_dist: 0.2860, d6.loss_plan_l1_fix_time: 1.6763, d6.loss_plan_l1_fix_dist: 0.2977, d0.loss_cls_all: 0.3229, d0.loss_bbox_all: 0.5397, d0.loss_cls: 0.3229, d0.loss_bbox: 0.5397, d1.loss_cls: 0.3163, d1.loss_bbox: 0.5110, d2.loss_cls: 0.3080, d2.loss_bbox: 0.4984, d3.loss_cls: 0.3041, d3.loss_bbox: 0.4920, d4.loss_cls: 0.3030, d4.loss_bbox: 0.4900, d5.loss_cls: 0.3027, d5.loss_bbox: 0.4913, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0211, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9221, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8869, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8778, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8720, d5.loss_traj_cls: 0.0033, d5.loss_traj: 0.8727, d0.loss_map_cls_all: 0.2667, d0.loss_map_pts_all: 1.7736, d0.loss_map_dir_all: 0.0142, d0.loss_map_cls: 0.2667, d0.loss_map_pts: 1.7736, d0.loss_map_dir: 0.0142, d1.loss_map_cls: 0.2485, d1.loss_map_pts: 1.2485, d1.loss_map_dir: 0.0139, d2.loss_map_cls: 0.2382, d2.loss_map_pts: 1.1058, d2.loss_map_dir: 0.0142, d3.loss_map_cls: 0.2305, d3.loss_map_pts: 1.0477, d3.loss_map_dir: 0.0147, d4.loss_map_cls: 0.2277, d4.loss_map_pts: 1.0284, d4.loss_map_dir: 0.0150, d5.loss_map_cls: 0.2270, d5.loss_map_pts: 1.0232, d5.loss_map_dir: 0.0152, loss: 39.9856, grad_norm: 154.3846 +2026-02-25 05:07:05,150 - DriveTransformer - INFO - Epoch [4][2050/39528] lr: 9.623e-05, eta: 7 days, 16:13:25, time: 0.813, data_time: 0.044, memory: 19865, loss_cls: 0.3349, loss_bbox: 0.5045, loss_traj: 1.1217, loss_traj_cls: 0.0030, loss_map_cls: 0.2912, loss_map_pts: 1.2978, loss_map_dir: 0.0199, d0.loss_plan_l1_fix_time: 2.9081, d0.loss_plan_l1_fix_dist: 0.3940, d1.loss_plan_l1_fix_time: 1.7988, d1.loss_plan_l1_fix_dist: 0.2511, d2.loss_plan_l1_fix_time: 1.7776, d2.loss_plan_l1_fix_dist: 0.2571, d3.loss_plan_l1_fix_time: 1.7757, d3.loss_plan_l1_fix_dist: 0.2680, d4.loss_plan_l1_fix_time: 1.7777, d4.loss_plan_l1_fix_dist: 0.2812, d5.loss_plan_l1_fix_time: 1.7803, d5.loss_plan_l1_fix_dist: 0.2958, d6.loss_plan_l1_fix_time: 1.7841, d6.loss_plan_l1_fix_dist: 0.3122, d0.loss_cls_all: 0.3413, d0.loss_bbox_all: 0.5483, d0.loss_cls: 0.3413, d0.loss_bbox: 0.5483, d1.loss_cls: 0.3382, d1.loss_bbox: 0.5225, d2.loss_cls: 0.3337, d2.loss_bbox: 0.5092, d3.loss_cls: 0.3316, d3.loss_bbox: 0.5037, d4.loss_cls: 0.3303, d4.loss_bbox: 0.5022, d5.loss_cls: 0.3317, d5.loss_bbox: 0.5029, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3087, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.1548, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1161, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1191, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.1184, d5.loss_traj_cls: 0.0032, d5.loss_traj: 1.1190, d0.loss_map_cls_all: 0.3461, d0.loss_map_pts_all: 2.1176, d0.loss_map_dir_all: 0.0186, d0.loss_map_cls: 0.3461, d0.loss_map_pts: 2.1176, d0.loss_map_dir: 0.0186, d1.loss_map_cls: 0.3223, d1.loss_map_pts: 1.5438, d1.loss_map_dir: 0.0182, d2.loss_map_cls: 0.3036, d2.loss_map_pts: 1.3815, d2.loss_map_dir: 0.0188, d3.loss_map_cls: 0.2986, d3.loss_map_pts: 1.3243, d3.loss_map_dir: 0.0192, d4.loss_map_cls: 0.2944, d4.loss_map_pts: 1.3002, d4.loss_map_dir: 0.0196, d5.loss_map_cls: 0.2911, d5.loss_map_pts: 1.2975, d5.loss_map_dir: 0.0198, loss: 45.5809, grad_norm: 154.2061 +2026-02-25 05:07:46,074 - DriveTransformer - INFO - Epoch [4][2100/39528] lr: 9.623e-05, eta: 7 days, 16:12:51, time: 0.818, data_time: 0.039, memory: 19865, loss_cls: 0.3641, loss_bbox: 0.5218, loss_traj: 0.8671, loss_traj_cls: 0.0030, loss_map_cls: 0.2842, loss_map_pts: 1.3107, loss_map_dir: 0.0207, d0.loss_plan_l1_fix_time: 2.9439, d0.loss_plan_l1_fix_dist: 0.5065, d1.loss_plan_l1_fix_time: 1.8223, d1.loss_plan_l1_fix_dist: 0.3040, d2.loss_plan_l1_fix_time: 1.7955, d2.loss_plan_l1_fix_dist: 0.3042, d3.loss_plan_l1_fix_time: 1.7959, d3.loss_plan_l1_fix_dist: 0.3122, d4.loss_plan_l1_fix_time: 1.7997, d4.loss_plan_l1_fix_dist: 0.3237, d5.loss_plan_l1_fix_time: 1.8041, d5.loss_plan_l1_fix_dist: 0.3377, d6.loss_plan_l1_fix_time: 1.8091, d6.loss_plan_l1_fix_dist: 0.3540, d0.loss_cls_all: 0.3914, d0.loss_bbox_all: 0.5764, d0.loss_cls: 0.3914, d0.loss_bbox: 0.5764, d1.loss_cls: 0.3865, d1.loss_bbox: 0.5416, d2.loss_cls: 0.3768, d2.loss_bbox: 0.5271, d3.loss_cls: 0.3682, d3.loss_bbox: 0.5244, d4.loss_cls: 0.3635, d4.loss_bbox: 0.5208, d5.loss_cls: 0.3632, d5.loss_bbox: 0.5205, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0424, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9127, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8752, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8708, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8649, d5.loss_traj_cls: 0.0032, d5.loss_traj: 0.8684, d0.loss_map_cls_all: 0.3302, d0.loss_map_pts_all: 2.2107, d0.loss_map_dir_all: 0.0189, d0.loss_map_cls: 0.3302, d0.loss_map_pts: 2.2107, d0.loss_map_dir: 0.0189, d1.loss_map_cls: 0.3138, d1.loss_map_pts: 1.5895, d1.loss_map_dir: 0.0187, d2.loss_map_cls: 0.2954, d2.loss_map_pts: 1.4227, d2.loss_map_dir: 0.0193, d3.loss_map_cls: 0.2885, d3.loss_map_pts: 1.3540, d3.loss_map_dir: 0.0199, d4.loss_map_cls: 0.2857, d4.loss_map_pts: 1.3228, d4.loss_map_dir: 0.0203, d5.loss_map_cls: 0.2847, d5.loss_map_pts: 1.3148, d5.loss_map_dir: 0.0205, loss: 45.1451, grad_norm: 154.6557 +2026-02-25 05:08:28,911 - DriveTransformer - INFO - Epoch [4][2150/39528] lr: 9.623e-05, eta: 7 days, 16:12:30, time: 0.857, data_time: 0.050, memory: 19865, loss_cls: 0.3058, loss_bbox: 0.4846, loss_traj: 0.8082, loss_traj_cls: 0.0030, loss_map_cls: 0.2791, loss_map_pts: 1.2177, loss_map_dir: 0.0198, d0.loss_plan_l1_fix_time: 2.3110, d0.loss_plan_l1_fix_dist: 0.4577, d1.loss_plan_l1_fix_time: 1.4758, d1.loss_plan_l1_fix_dist: 0.2420, d2.loss_plan_l1_fix_time: 1.4502, d2.loss_plan_l1_fix_dist: 0.2468, d3.loss_plan_l1_fix_time: 1.4437, d3.loss_plan_l1_fix_dist: 0.2551, d4.loss_plan_l1_fix_time: 1.4461, d4.loss_plan_l1_fix_dist: 0.2642, d5.loss_plan_l1_fix_time: 1.4496, d5.loss_plan_l1_fix_dist: 0.2751, d6.loss_plan_l1_fix_time: 1.4539, d6.loss_plan_l1_fix_dist: 0.2887, d0.loss_cls_all: 0.3324, d0.loss_bbox_all: 0.5378, d0.loss_cls: 0.3324, d0.loss_bbox: 0.5378, d1.loss_cls: 0.3289, d1.loss_bbox: 0.5098, d2.loss_cls: 0.3166, d2.loss_bbox: 0.4939, d3.loss_cls: 0.3096, d3.loss_bbox: 0.4885, d4.loss_cls: 0.3061, d4.loss_bbox: 0.4864, d5.loss_cls: 0.3051, d5.loss_bbox: 0.4836, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9528, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8387, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8157, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8134, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8030, d5.loss_traj_cls: 0.0032, d5.loss_traj: 0.8078, d0.loss_map_cls_all: 0.3278, d0.loss_map_pts_all: 2.1807, d0.loss_map_dir_all: 0.0183, d0.loss_map_cls: 0.3278, d0.loss_map_pts: 2.1807, d0.loss_map_dir: 0.0183, d1.loss_map_cls: 0.3083, d1.loss_map_pts: 1.4828, d1.loss_map_dir: 0.0182, d2.loss_map_cls: 0.2938, d2.loss_map_pts: 1.3114, d2.loss_map_dir: 0.0186, d3.loss_map_cls: 0.2862, d3.loss_map_pts: 1.2514, d3.loss_map_dir: 0.0193, d4.loss_map_cls: 0.2822, d4.loss_map_pts: 1.2258, d4.loss_map_dir: 0.0196, d5.loss_map_cls: 0.2791, d5.loss_map_pts: 1.2197, d5.loss_map_dir: 0.0197, loss: 40.0763, grad_norm: 155.0318 +2026-02-25 05:09:08,947 - DriveTransformer - INFO - Epoch [4][2200/39528] lr: 9.623e-05, eta: 7 days, 16:11:50, time: 0.801, data_time: 0.039, memory: 19865, loss_cls: 0.3038, loss_bbox: 0.4504, loss_traj: 0.9085, loss_traj_cls: 0.0029, loss_map_cls: 0.2434, loss_map_pts: 1.0437, loss_map_dir: 0.0171, d0.loss_plan_l1_fix_time: 2.2826, d0.loss_plan_l1_fix_dist: 0.3991, d1.loss_plan_l1_fix_time: 1.3558, d1.loss_plan_l1_fix_dist: 0.2067, d2.loss_plan_l1_fix_time: 1.3223, d2.loss_plan_l1_fix_dist: 0.2131, d3.loss_plan_l1_fix_time: 1.3150, d3.loss_plan_l1_fix_dist: 0.2251, d4.loss_plan_l1_fix_time: 1.3157, d4.loss_plan_l1_fix_dist: 0.2403, d5.loss_plan_l1_fix_time: 1.3186, d5.loss_plan_l1_fix_dist: 0.2588, d6.loss_plan_l1_fix_time: 1.3237, d6.loss_plan_l1_fix_dist: 0.2771, d0.loss_cls_all: 0.3241, d0.loss_bbox_all: 0.4961, d0.loss_cls: 0.3241, d0.loss_bbox: 0.4961, d1.loss_cls: 0.3158, d1.loss_bbox: 0.4713, d2.loss_cls: 0.3083, d2.loss_bbox: 0.4578, d3.loss_cls: 0.3042, d3.loss_bbox: 0.4504, d4.loss_cls: 0.3019, d4.loss_bbox: 0.4468, d5.loss_cls: 0.3028, d5.loss_bbox: 0.4479, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0777, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9460, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9131, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9041, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8997, d5.loss_traj_cls: 0.0031, d5.loss_traj: 0.9007, d0.loss_map_cls_all: 0.2946, d0.loss_map_pts_all: 1.8844, d0.loss_map_dir_all: 0.0160, d0.loss_map_cls: 0.2946, d0.loss_map_pts: 1.8844, d0.loss_map_dir: 0.0160, d1.loss_map_cls: 0.2750, d1.loss_map_pts: 1.2857, d1.loss_map_dir: 0.0160, d2.loss_map_cls: 0.2609, d2.loss_map_pts: 1.1293, d2.loss_map_dir: 0.0162, d3.loss_map_cls: 0.2504, d3.loss_map_pts: 1.0729, d3.loss_map_dir: 0.0166, d4.loss_map_cls: 0.2456, d4.loss_map_pts: 1.0487, d4.loss_map_dir: 0.0169, d5.loss_map_cls: 0.2448, d5.loss_map_pts: 1.0451, d5.loss_map_dir: 0.0170, loss: 37.4511, grad_norm: 154.7960 +2026-02-25 05:09:50,107 - DriveTransformer - INFO - Epoch [4][2250/39528] lr: 9.623e-05, eta: 7 days, 16:11:18, time: 0.823, data_time: 0.039, memory: 19865, loss_cls: 0.3373, loss_bbox: 0.4775, loss_traj: 0.9584, loss_traj_cls: 0.0030, loss_map_cls: 0.2672, loss_map_pts: 1.0952, loss_map_dir: 0.0174, d0.loss_plan_l1_fix_time: 2.7038, d0.loss_plan_l1_fix_dist: 0.4550, d1.loss_plan_l1_fix_time: 1.6718, d1.loss_plan_l1_fix_dist: 0.2565, d2.loss_plan_l1_fix_time: 1.6543, d2.loss_plan_l1_fix_dist: 0.2647, d3.loss_plan_l1_fix_time: 1.6619, d3.loss_plan_l1_fix_dist: 0.2750, d4.loss_plan_l1_fix_time: 1.6657, d4.loss_plan_l1_fix_dist: 0.2846, d5.loss_plan_l1_fix_time: 1.6695, d5.loss_plan_l1_fix_dist: 0.2963, d6.loss_plan_l1_fix_time: 1.6738, d6.loss_plan_l1_fix_dist: 0.3099, d0.loss_cls_all: 0.3579, d0.loss_bbox_all: 0.5284, d0.loss_cls: 0.3579, d0.loss_bbox: 0.5284, d1.loss_cls: 0.3532, d1.loss_bbox: 0.4979, d2.loss_cls: 0.3466, d2.loss_bbox: 0.4843, d3.loss_cls: 0.3416, d3.loss_bbox: 0.4772, d4.loss_cls: 0.3364, d4.loss_bbox: 0.4750, d5.loss_cls: 0.3372, d5.loss_bbox: 0.4746, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0849, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9895, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9676, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9596, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9561, d5.loss_traj_cls: 0.0032, d5.loss_traj: 0.9532, d0.loss_map_cls_all: 0.3189, d0.loss_map_pts_all: 1.9571, d0.loss_map_dir_all: 0.0165, d0.loss_map_cls: 0.3189, d0.loss_map_pts: 1.9571, d0.loss_map_dir: 0.0165, d1.loss_map_cls: 0.2956, d1.loss_map_pts: 1.3560, d1.loss_map_dir: 0.0159, d2.loss_map_cls: 0.2793, d2.loss_map_pts: 1.1905, d2.loss_map_dir: 0.0163, d3.loss_map_cls: 0.2730, d3.loss_map_pts: 1.1241, d3.loss_map_dir: 0.0167, d4.loss_map_cls: 0.2687, d4.loss_map_pts: 1.1023, d4.loss_map_dir: 0.0171, d5.loss_map_cls: 0.2668, d5.loss_map_pts: 1.0963, d5.loss_map_dir: 0.0172, loss: 41.7352, grad_norm: 154.8349 +2026-02-25 05:10:32,152 - DriveTransformer - INFO - Epoch [4][2300/39528] lr: 9.623e-05, eta: 7 days, 16:10:51, time: 0.841, data_time: 0.042, memory: 19865, loss_cls: 0.3635, loss_bbox: 0.5182, loss_traj: 0.8207, loss_traj_cls: 0.0030, loss_map_cls: 0.3135, loss_map_pts: 1.2700, loss_map_dir: 0.0207, d0.loss_plan_l1_fix_time: 2.6270, d0.loss_plan_l1_fix_dist: 0.3253, d1.loss_plan_l1_fix_time: 1.7435, d1.loss_plan_l1_fix_dist: 0.2467, d2.loss_plan_l1_fix_time: 1.7381, d2.loss_plan_l1_fix_dist: 0.2573, d3.loss_plan_l1_fix_time: 1.7424, d3.loss_plan_l1_fix_dist: 0.2725, d4.loss_plan_l1_fix_time: 1.7464, d4.loss_plan_l1_fix_dist: 0.2890, d5.loss_plan_l1_fix_time: 1.7500, d5.loss_plan_l1_fix_dist: 0.3048, d6.loss_plan_l1_fix_time: 1.7531, d6.loss_plan_l1_fix_dist: 0.3204, d0.loss_cls_all: 0.3846, d0.loss_bbox_all: 0.5690, d0.loss_cls: 0.3846, d0.loss_bbox: 0.5690, d1.loss_cls: 0.3788, d1.loss_bbox: 0.5360, d2.loss_cls: 0.3762, d2.loss_bbox: 0.5215, d3.loss_cls: 0.3706, d3.loss_bbox: 0.5184, d4.loss_cls: 0.3652, d4.loss_bbox: 0.5187, d5.loss_cls: 0.3644, d5.loss_bbox: 0.5169, d0.loss_traj_cls: 0.0002, d0.loss_traj: 0.9602, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8437, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8305, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8257, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8229, d5.loss_traj_cls: 0.0033, d5.loss_traj: 0.8223, d0.loss_map_cls_all: 0.3717, d0.loss_map_pts_all: 2.3336, d0.loss_map_dir_all: 0.0192, d0.loss_map_cls: 0.3717, d0.loss_map_pts: 2.3336, d0.loss_map_dir: 0.0192, d1.loss_map_cls: 0.3498, d1.loss_map_pts: 1.5853, d1.loss_map_dir: 0.0190, d2.loss_map_cls: 0.3337, d2.loss_map_pts: 1.3868, d2.loss_map_dir: 0.0195, d3.loss_map_cls: 0.3237, d3.loss_map_pts: 1.3086, d3.loss_map_dir: 0.0201, d4.loss_map_cls: 0.3161, d4.loss_map_pts: 1.2825, d4.loss_map_dir: 0.0204, d5.loss_map_cls: 0.3138, d5.loss_map_pts: 1.2727, d5.loss_map_dir: 0.0205, loss: 43.9345, grad_norm: 151.3568 +2026-02-25 05:11:13,198 - DriveTransformer - INFO - Epoch [4][2350/39528] lr: 9.623e-05, eta: 7 days, 16:10:18, time: 0.821, data_time: 0.042, memory: 19865, loss_cls: 0.3075, loss_bbox: 0.4822, loss_traj: 0.9330, loss_traj_cls: 0.0031, loss_map_cls: 0.2640, loss_map_pts: 1.1579, loss_map_dir: 0.0181, d0.loss_plan_l1_fix_time: 2.7322, d0.loss_plan_l1_fix_dist: 0.3659, d1.loss_plan_l1_fix_time: 1.5759, d1.loss_plan_l1_fix_dist: 0.2182, d2.loss_plan_l1_fix_time: 1.5592, d2.loss_plan_l1_fix_dist: 0.2290, d3.loss_plan_l1_fix_time: 1.5642, d3.loss_plan_l1_fix_dist: 0.2478, d4.loss_plan_l1_fix_time: 1.5686, d4.loss_plan_l1_fix_dist: 0.2690, d5.loss_plan_l1_fix_time: 1.5726, d5.loss_plan_l1_fix_dist: 0.2917, d6.loss_plan_l1_fix_time: 1.5773, d6.loss_plan_l1_fix_dist: 0.3144, d0.loss_cls_all: 0.3264, d0.loss_bbox_all: 0.5334, d0.loss_cls: 0.3264, d0.loss_bbox: 0.5334, d1.loss_cls: 0.3205, d1.loss_bbox: 0.5045, d2.loss_cls: 0.3167, d2.loss_bbox: 0.4892, d3.loss_cls: 0.3120, d3.loss_bbox: 0.4853, d4.loss_cls: 0.3078, d4.loss_bbox: 0.4828, d5.loss_cls: 0.3078, d5.loss_bbox: 0.4816, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0680, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9722, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9384, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9301, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9254, d5.loss_traj_cls: 0.0033, d5.loss_traj: 0.9326, d0.loss_map_cls_all: 0.3214, d0.loss_map_pts_all: 2.1179, d0.loss_map_dir_all: 0.0170, d0.loss_map_cls: 0.3214, d0.loss_map_pts: 2.1179, d0.loss_map_dir: 0.0170, d1.loss_map_cls: 0.2928, d1.loss_map_pts: 1.4575, d1.loss_map_dir: 0.0167, d2.loss_map_cls: 0.2801, d2.loss_map_pts: 1.2702, d2.loss_map_dir: 0.0171, d3.loss_map_cls: 0.2700, d3.loss_map_pts: 1.1932, d3.loss_map_dir: 0.0175, d4.loss_map_cls: 0.2655, d4.loss_map_pts: 1.1685, d4.loss_map_dir: 0.0178, d5.loss_map_cls: 0.2638, d5.loss_map_pts: 1.1608, d5.loss_map_dir: 0.0180, loss: 41.3760, grad_norm: 150.0403 +2026-02-25 05:11:55,575 - DriveTransformer - INFO - Epoch [4][2400/39528] lr: 9.623e-05, eta: 7 days, 16:09:54, time: 0.848, data_time: 0.043, memory: 19865, loss_cls: 0.2768, loss_bbox: 0.4506, loss_traj: 0.8218, loss_traj_cls: 0.0031, loss_map_cls: 0.2131, loss_map_pts: 1.0078, loss_map_dir: 0.0189, d0.loss_plan_l1_fix_time: 2.6305, d0.loss_plan_l1_fix_dist: 0.5848, d1.loss_plan_l1_fix_time: 1.4272, d1.loss_plan_l1_fix_dist: 0.3171, d2.loss_plan_l1_fix_time: 1.3976, d2.loss_plan_l1_fix_dist: 0.3191, d3.loss_plan_l1_fix_time: 1.4001, d3.loss_plan_l1_fix_dist: 0.3285, d4.loss_plan_l1_fix_time: 1.4044, d4.loss_plan_l1_fix_dist: 0.3410, d5.loss_plan_l1_fix_time: 1.4099, d5.loss_plan_l1_fix_dist: 0.3554, d6.loss_plan_l1_fix_time: 1.4158, d6.loss_plan_l1_fix_dist: 0.3742, d0.loss_cls_all: 0.2956, d0.loss_bbox_all: 0.4969, d0.loss_cls: 0.2956, d0.loss_bbox: 0.4969, d1.loss_cls: 0.2865, d1.loss_bbox: 0.4738, d2.loss_cls: 0.2806, d2.loss_bbox: 0.4614, d3.loss_cls: 0.2793, d3.loss_bbox: 0.4553, d4.loss_cls: 0.2768, d4.loss_bbox: 0.4508, d5.loss_cls: 0.2765, d5.loss_bbox: 0.4495, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9568, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8546, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8214, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8179, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8171, d5.loss_traj_cls: 0.0032, d5.loss_traj: 0.8196, d0.loss_map_cls_all: 0.2662, d0.loss_map_pts_all: 2.0594, d0.loss_map_dir_all: 0.0183, d0.loss_map_cls: 0.2662, d0.loss_map_pts: 2.0594, d0.loss_map_dir: 0.0183, d1.loss_map_cls: 0.2425, d1.loss_map_pts: 1.3081, d1.loss_map_dir: 0.0173, d2.loss_map_cls: 0.2292, d2.loss_map_pts: 1.1128, d2.loss_map_dir: 0.0176, d3.loss_map_cls: 0.2218, d3.loss_map_pts: 1.0376, d3.loss_map_dir: 0.0183, d4.loss_map_cls: 0.2163, d4.loss_map_pts: 1.0159, d4.loss_map_dir: 0.0186, d5.loss_map_cls: 0.2129, d5.loss_map_pts: 1.0103, d5.loss_map_dir: 0.0188, loss: 38.2539, grad_norm: 150.4624 +2026-02-25 05:12:36,086 - DriveTransformer - INFO - Epoch [4][2450/39528] lr: 9.623e-05, eta: 7 days, 16:09:17, time: 0.810, data_time: 0.042, memory: 19865, loss_cls: 0.3497, loss_bbox: 0.5143, loss_traj: 0.9268, loss_traj_cls: 0.0030, loss_map_cls: 0.2885, loss_map_pts: 1.1961, loss_map_dir: 0.0198, d0.loss_plan_l1_fix_time: 3.0650, d0.loss_plan_l1_fix_dist: 0.4430, d1.loss_plan_l1_fix_time: 1.8067, d1.loss_plan_l1_fix_dist: 0.2639, d2.loss_plan_l1_fix_time: 1.7964, d2.loss_plan_l1_fix_dist: 0.2678, d3.loss_plan_l1_fix_time: 1.7979, d3.loss_plan_l1_fix_dist: 0.2793, d4.loss_plan_l1_fix_time: 1.8004, d4.loss_plan_l1_fix_dist: 0.2922, d5.loss_plan_l1_fix_time: 1.8038, d5.loss_plan_l1_fix_dist: 0.3067, d6.loss_plan_l1_fix_time: 1.8082, d6.loss_plan_l1_fix_dist: 0.3228, d0.loss_cls_all: 0.3656, d0.loss_bbox_all: 0.5677, d0.loss_cls: 0.3656, d0.loss_bbox: 0.5677, d1.loss_cls: 0.3591, d1.loss_bbox: 0.5395, d2.loss_cls: 0.3569, d2.loss_bbox: 0.5266, d3.loss_cls: 0.3510, d3.loss_bbox: 0.5185, d4.loss_cls: 0.3493, d4.loss_bbox: 0.5144, d5.loss_cls: 0.3490, d5.loss_bbox: 0.5127, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0936, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9530, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9356, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9361, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9342, d5.loss_traj_cls: 0.0032, d5.loss_traj: 0.9307, d0.loss_map_cls_all: 0.3411, d0.loss_map_pts_all: 2.0557, d0.loss_map_dir_all: 0.0185, d0.loss_map_cls: 0.3411, d0.loss_map_pts: 2.0557, d0.loss_map_dir: 0.0185, d1.loss_map_cls: 0.3141, d1.loss_map_pts: 1.4557, d1.loss_map_dir: 0.0181, d2.loss_map_cls: 0.3014, d2.loss_map_pts: 1.2907, d2.loss_map_dir: 0.0185, d3.loss_map_cls: 0.2964, d3.loss_map_pts: 1.2268, d3.loss_map_dir: 0.0190, d4.loss_map_cls: 0.2919, d4.loss_map_pts: 1.2065, d4.loss_map_dir: 0.0194, d5.loss_map_cls: 0.2896, d5.loss_map_pts: 1.2003, d5.loss_map_dir: 0.0196, loss: 44.1853, grad_norm: 151.1662 +2026-02-25 05:13:15,591 - DriveTransformer - INFO - Epoch [4][2500/39528] lr: 9.623e-05, eta: 7 days, 16:08:33, time: 0.790, data_time: 0.042, memory: 19865, loss_cls: 0.2960, loss_bbox: 0.4685, loss_traj: 0.9841, loss_traj_cls: 0.0030, loss_map_cls: 0.2297, loss_map_pts: 1.0126, loss_map_dir: 0.0164, d0.loss_plan_l1_fix_time: 2.7661, d0.loss_plan_l1_fix_dist: 0.4885, d1.loss_plan_l1_fix_time: 1.5692, d1.loss_plan_l1_fix_dist: 0.2849, d2.loss_plan_l1_fix_time: 1.5547, d2.loss_plan_l1_fix_dist: 0.2952, d3.loss_plan_l1_fix_time: 1.5558, d3.loss_plan_l1_fix_dist: 0.3084, d4.loss_plan_l1_fix_time: 1.5596, d4.loss_plan_l1_fix_dist: 0.3231, d5.loss_plan_l1_fix_time: 1.5642, d5.loss_plan_l1_fix_dist: 0.3380, d6.loss_plan_l1_fix_time: 1.5698, d6.loss_plan_l1_fix_dist: 0.3517, d0.loss_cls_all: 0.3104, d0.loss_bbox_all: 0.5120, d0.loss_cls: 0.3104, d0.loss_bbox: 0.5120, d1.loss_cls: 0.3067, d1.loss_bbox: 0.4846, d2.loss_cls: 0.3000, d2.loss_bbox: 0.4745, d3.loss_cls: 0.2985, d3.loss_bbox: 0.4682, d4.loss_cls: 0.2962, d4.loss_bbox: 0.4671, d5.loss_cls: 0.2955, d5.loss_bbox: 0.4671, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1074, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9948, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9701, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9719, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9761, d5.loss_traj_cls: 0.0031, d5.loss_traj: 0.9833, d0.loss_map_cls_all: 0.2754, d0.loss_map_pts_all: 1.8410, d0.loss_map_dir_all: 0.0153, d0.loss_map_cls: 0.2754, d0.loss_map_pts: 1.8410, d0.loss_map_dir: 0.0153, d1.loss_map_cls: 0.2509, d1.loss_map_pts: 1.2536, d1.loss_map_dir: 0.0150, d2.loss_map_cls: 0.2386, d2.loss_map_pts: 1.0960, d2.loss_map_dir: 0.0154, d3.loss_map_cls: 0.2323, d3.loss_map_pts: 1.0393, d3.loss_map_dir: 0.0158, d4.loss_map_cls: 0.2290, d4.loss_map_pts: 1.0198, d4.loss_map_dir: 0.0162, d5.loss_map_cls: 0.2290, d5.loss_map_pts: 1.0136, d5.loss_map_dir: 0.0163, loss: 39.9978, grad_norm: 150.2609 +2026-02-25 05:13:55,374 - DriveTransformer - INFO - Epoch [4][2550/39528] lr: 9.623e-05, eta: 7 days, 16:07:51, time: 0.796, data_time: 0.041, memory: 19865, loss_cls: 0.3151, loss_bbox: 0.4918, loss_traj: 1.0586, loss_traj_cls: 0.0029, loss_map_cls: 0.2519, loss_map_pts: 1.1059, loss_map_dir: 0.0173, d0.loss_plan_l1_fix_time: 2.5402, d0.loss_plan_l1_fix_dist: 0.3246, d1.loss_plan_l1_fix_time: 1.5017, d1.loss_plan_l1_fix_dist: 0.2411, d2.loss_plan_l1_fix_time: 1.4870, d2.loss_plan_l1_fix_dist: 0.2504, d3.loss_plan_l1_fix_time: 1.4878, d3.loss_plan_l1_fix_dist: 0.2630, d4.loss_plan_l1_fix_time: 1.4921, d4.loss_plan_l1_fix_dist: 0.2780, d5.loss_plan_l1_fix_time: 1.4958, d5.loss_plan_l1_fix_dist: 0.2953, d6.loss_plan_l1_fix_time: 1.5002, d6.loss_plan_l1_fix_dist: 0.3177, d0.loss_cls_all: 0.3352, d0.loss_bbox_all: 0.5351, d0.loss_cls: 0.3352, d0.loss_bbox: 0.5351, d1.loss_cls: 0.3303, d1.loss_bbox: 0.5100, d2.loss_cls: 0.3212, d2.loss_bbox: 0.4960, d3.loss_cls: 0.3213, d3.loss_bbox: 0.4895, d4.loss_cls: 0.3172, d4.loss_bbox: 0.4887, d5.loss_cls: 0.3153, d5.loss_bbox: 0.4886, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2482, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0928, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0506, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0481, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0474, d5.loss_traj_cls: 0.0031, d5.loss_traj: 1.0578, d0.loss_map_cls_all: 0.3044, d0.loss_map_pts_all: 1.9877, d0.loss_map_dir_all: 0.0156, d0.loss_map_cls: 0.3044, d0.loss_map_pts: 1.9877, d0.loss_map_dir: 0.0156, d1.loss_map_cls: 0.2807, d1.loss_map_pts: 1.3458, d1.loss_map_dir: 0.0152, d2.loss_map_cls: 0.2673, d2.loss_map_pts: 1.1831, d2.loss_map_dir: 0.0157, d3.loss_map_cls: 0.2551, d3.loss_map_pts: 1.1276, d3.loss_map_dir: 0.0165, d4.loss_map_cls: 0.2518, d4.loss_map_pts: 1.1087, d4.loss_map_dir: 0.0169, d5.loss_map_cls: 0.2527, d5.loss_map_pts: 1.1071, d5.loss_map_dir: 0.0171, loss: 40.9659, grad_norm: 151.0289 +2026-02-25 05:14:37,036 - DriveTransformer - INFO - Epoch [4][2600/39528] lr: 9.623e-05, eta: 7 days, 16:07:23, time: 0.835, data_time: 0.045, memory: 19865, loss_cls: 0.2934, loss_bbox: 0.4891, loss_traj: 1.0269, loss_traj_cls: 0.0029, loss_map_cls: 0.2546, loss_map_pts: 1.0858, loss_map_dir: 0.0187, d0.loss_plan_l1_fix_time: 2.2278, d0.loss_plan_l1_fix_dist: 0.4056, d1.loss_plan_l1_fix_time: 1.5190, d1.loss_plan_l1_fix_dist: 0.2746, d2.loss_plan_l1_fix_time: 1.5038, d2.loss_plan_l1_fix_dist: 0.2878, d3.loss_plan_l1_fix_time: 1.5021, d3.loss_plan_l1_fix_dist: 0.3044, d4.loss_plan_l1_fix_time: 1.5058, d4.loss_plan_l1_fix_dist: 0.3211, d5.loss_plan_l1_fix_time: 1.5101, d5.loss_plan_l1_fix_dist: 0.3390, d6.loss_plan_l1_fix_time: 1.5150, d6.loss_plan_l1_fix_dist: 0.3565, d0.loss_cls_all: 0.3195, d0.loss_bbox_all: 0.5420, d0.loss_cls: 0.3195, d0.loss_bbox: 0.5420, d1.loss_cls: 0.3117, d1.loss_bbox: 0.5126, d2.loss_cls: 0.3031, d2.loss_bbox: 0.4952, d3.loss_cls: 0.2979, d3.loss_bbox: 0.4903, d4.loss_cls: 0.2926, d4.loss_bbox: 0.4894, d5.loss_cls: 0.2933, d5.loss_bbox: 0.4887, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2511, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0843, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0284, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0205, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0238, d5.loss_traj_cls: 0.0031, d5.loss_traj: 1.0262, d0.loss_map_cls_all: 0.3029, d0.loss_map_pts_all: 2.0439, d0.loss_map_dir_all: 0.0167, d0.loss_map_cls: 0.3029, d0.loss_map_pts: 2.0439, d0.loss_map_dir: 0.0167, d1.loss_map_cls: 0.2844, d1.loss_map_pts: 1.3317, d1.loss_map_dir: 0.0166, d2.loss_map_cls: 0.2682, d2.loss_map_pts: 1.1611, d2.loss_map_dir: 0.0173, d3.loss_map_cls: 0.2613, d3.loss_map_pts: 1.1033, d3.loss_map_dir: 0.0180, d4.loss_map_cls: 0.2554, d4.loss_map_pts: 1.0869, d4.loss_map_dir: 0.0183, d5.loss_map_cls: 0.2556, d5.loss_map_pts: 1.0842, d5.loss_map_dir: 0.0185, loss: 40.7915, grad_norm: 150.6135 +2026-02-25 05:15:16,966 - DriveTransformer - INFO - Epoch [4][2650/39528] lr: 9.623e-05, eta: 7 days, 16:06:41, time: 0.797, data_time: 0.040, memory: 19865, loss_cls: 0.3369, loss_bbox: 0.5004, loss_traj: 0.8930, loss_traj_cls: 0.0029, loss_map_cls: 0.2650, loss_map_pts: 1.1996, loss_map_dir: 0.0168, d0.loss_plan_l1_fix_time: 2.6004, d0.loss_plan_l1_fix_dist: 0.4100, d1.loss_plan_l1_fix_time: 1.5504, d1.loss_plan_l1_fix_dist: 0.2364, d2.loss_plan_l1_fix_time: 1.5309, d2.loss_plan_l1_fix_dist: 0.2477, d3.loss_plan_l1_fix_time: 1.5304, d3.loss_plan_l1_fix_dist: 0.2608, d4.loss_plan_l1_fix_time: 1.5332, d4.loss_plan_l1_fix_dist: 0.2790, d5.loss_plan_l1_fix_time: 1.5368, d5.loss_plan_l1_fix_dist: 0.2980, d6.loss_plan_l1_fix_time: 1.5407, d6.loss_plan_l1_fix_dist: 0.3206, d0.loss_cls_all: 0.3548, d0.loss_bbox_all: 0.5569, d0.loss_cls: 0.3548, d0.loss_bbox: 0.5569, d1.loss_cls: 0.3456, d1.loss_bbox: 0.5237, d2.loss_cls: 0.3406, d2.loss_bbox: 0.5083, d3.loss_cls: 0.3346, d3.loss_bbox: 0.5015, d4.loss_cls: 0.3346, d4.loss_bbox: 0.5000, d5.loss_cls: 0.3347, d5.loss_bbox: 0.4987, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0177, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9121, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8890, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8850, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8811, d5.loss_traj_cls: 0.0030, d5.loss_traj: 0.8857, d0.loss_map_cls_all: 0.3087, d0.loss_map_pts_all: 2.0728, d0.loss_map_dir_all: 0.0154, d0.loss_map_cls: 0.3087, d0.loss_map_pts: 2.0728, d0.loss_map_dir: 0.0154, d1.loss_map_cls: 0.2962, d1.loss_map_pts: 1.4687, d1.loss_map_dir: 0.0149, d2.loss_map_cls: 0.2787, d2.loss_map_pts: 1.2895, d2.loss_map_dir: 0.0153, d3.loss_map_cls: 0.2701, d3.loss_map_pts: 1.2209, d3.loss_map_dir: 0.0161, d4.loss_map_cls: 0.2655, d4.loss_map_pts: 1.2029, d4.loss_map_dir: 0.0164, d5.loss_map_cls: 0.2658, d5.loss_map_pts: 1.1984, d5.loss_map_dir: 0.0166, loss: 41.2436, grad_norm: 150.4569 +2026-02-25 05:15:58,920 - DriveTransformer - INFO - Epoch [4][2700/39528] lr: 9.623e-05, eta: 7 days, 16:06:14, time: 0.839, data_time: 0.044, memory: 19865, loss_cls: 0.2709, loss_bbox: 0.4483, loss_traj: 0.9455, loss_traj_cls: 0.0029, loss_map_cls: 0.2442, loss_map_pts: 1.0530, loss_map_dir: 0.0174, d0.loss_plan_l1_fix_time: 2.7232, d0.loss_plan_l1_fix_dist: 0.4301, d1.loss_plan_l1_fix_time: 1.7113, d1.loss_plan_l1_fix_dist: 0.2522, d2.loss_plan_l1_fix_time: 1.6882, d2.loss_plan_l1_fix_dist: 0.2568, d3.loss_plan_l1_fix_time: 1.6856, d3.loss_plan_l1_fix_dist: 0.2659, d4.loss_plan_l1_fix_time: 1.6876, d4.loss_plan_l1_fix_dist: 0.2775, d5.loss_plan_l1_fix_time: 1.6910, d5.loss_plan_l1_fix_dist: 0.2912, d6.loss_plan_l1_fix_time: 1.6953, d6.loss_plan_l1_fix_dist: 0.3084, d0.loss_cls_all: 0.2864, d0.loss_bbox_all: 0.4903, d0.loss_cls: 0.2864, d0.loss_bbox: 0.4903, d1.loss_cls: 0.2813, d1.loss_bbox: 0.4607, d2.loss_cls: 0.2728, d2.loss_bbox: 0.4498, d3.loss_cls: 0.2719, d3.loss_bbox: 0.4450, d4.loss_cls: 0.2709, d4.loss_bbox: 0.4436, d5.loss_cls: 0.2707, d5.loss_bbox: 0.4433, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1276, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9798, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9496, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9364, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9354, d5.loss_traj_cls: 0.0030, d5.loss_traj: 0.9401, d0.loss_map_cls_all: 0.2889, d0.loss_map_pts_all: 1.9799, d0.loss_map_dir_all: 0.0154, d0.loss_map_cls: 0.2889, d0.loss_map_pts: 1.9799, d0.loss_map_dir: 0.0154, d1.loss_map_cls: 0.2669, d1.loss_map_pts: 1.3181, d1.loss_map_dir: 0.0155, d2.loss_map_cls: 0.2558, d2.loss_map_pts: 1.1385, d2.loss_map_dir: 0.0160, d3.loss_map_cls: 0.2476, d3.loss_map_pts: 1.0739, d3.loss_map_dir: 0.0167, d4.loss_map_cls: 0.2440, d4.loss_map_pts: 1.0563, d4.loss_map_dir: 0.0170, d5.loss_map_cls: 0.2442, d5.loss_map_pts: 1.0520, d5.loss_map_dir: 0.0173, loss: 40.5345, grad_norm: 150.7513 +2026-02-25 05:16:38,557 - DriveTransformer - INFO - Epoch [4][2750/39528] lr: 9.623e-05, eta: 7 days, 16:05:31, time: 0.793, data_time: 0.043, memory: 19865, loss_cls: 0.3022, loss_bbox: 0.5090, loss_traj: 0.9939, loss_traj_cls: 0.0028, loss_map_cls: 0.2968, loss_map_pts: 1.1813, loss_map_dir: 0.0178, d0.loss_plan_l1_fix_time: 2.3045, d0.loss_plan_l1_fix_dist: 0.3386, d1.loss_plan_l1_fix_time: 1.6455, d1.loss_plan_l1_fix_dist: 0.2407, d2.loss_plan_l1_fix_time: 1.6191, d2.loss_plan_l1_fix_dist: 0.2544, d3.loss_plan_l1_fix_time: 1.6166, d3.loss_plan_l1_fix_dist: 0.2682, d4.loss_plan_l1_fix_time: 1.6183, d4.loss_plan_l1_fix_dist: 0.2826, d5.loss_plan_l1_fix_time: 1.6210, d5.loss_plan_l1_fix_dist: 0.2959, d6.loss_plan_l1_fix_time: 1.6247, d6.loss_plan_l1_fix_dist: 0.3117, d0.loss_cls_all: 0.3176, d0.loss_bbox_all: 0.5561, d0.loss_cls: 0.3176, d0.loss_bbox: 0.5561, d1.loss_cls: 0.3148, d1.loss_bbox: 0.5248, d2.loss_cls: 0.3063, d2.loss_bbox: 0.5122, d3.loss_cls: 0.3031, d3.loss_bbox: 0.5064, d4.loss_cls: 0.2995, d4.loss_bbox: 0.5049, d5.loss_cls: 0.3010, d5.loss_bbox: 0.5070, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2153, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0267, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9969, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9909, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9898, d5.loss_traj_cls: 0.0030, d5.loss_traj: 0.9873, d0.loss_map_cls_all: 0.3487, d0.loss_map_pts_all: 2.1086, d0.loss_map_dir_all: 0.0156, d0.loss_map_cls: 0.3487, d0.loss_map_pts: 2.1086, d0.loss_map_dir: 0.0156, d1.loss_map_cls: 0.3248, d1.loss_map_pts: 1.4350, d1.loss_map_dir: 0.0159, d2.loss_map_cls: 0.3113, d2.loss_map_pts: 1.2644, d2.loss_map_dir: 0.0165, d3.loss_map_cls: 0.3050, d3.loss_map_pts: 1.2096, d3.loss_map_dir: 0.0170, d4.loss_map_cls: 0.2983, d4.loss_map_pts: 1.1891, d4.loss_map_dir: 0.0174, d5.loss_map_cls: 0.2973, d5.loss_map_pts: 1.1840, d5.loss_map_dir: 0.0177, loss: 42.2364, grad_norm: 150.7947 +2026-02-25 05:17:18,385 - DriveTransformer - INFO - Epoch [4][2800/39528] lr: 9.623e-05, eta: 7 days, 16:04:50, time: 0.797, data_time: 0.043, memory: 19865, loss_cls: 0.3061, loss_bbox: 0.4674, loss_traj: 0.8629, loss_traj_cls: 0.0028, loss_map_cls: 0.2776, loss_map_pts: 1.1578, loss_map_dir: 0.0172, d0.loss_plan_l1_fix_time: 2.5181, d0.loss_plan_l1_fix_dist: 0.3916, d1.loss_plan_l1_fix_time: 1.4495, d1.loss_plan_l1_fix_dist: 0.2439, d2.loss_plan_l1_fix_time: 1.4301, d2.loss_plan_l1_fix_dist: 0.2519, d3.loss_plan_l1_fix_time: 1.4326, d3.loss_plan_l1_fix_dist: 0.2638, d4.loss_plan_l1_fix_time: 1.4367, d4.loss_plan_l1_fix_dist: 0.2779, d5.loss_plan_l1_fix_time: 1.4408, d5.loss_plan_l1_fix_dist: 0.2932, d6.loss_plan_l1_fix_time: 1.4457, d6.loss_plan_l1_fix_dist: 0.3080, d0.loss_cls_all: 0.3174, d0.loss_bbox_all: 0.5124, d0.loss_cls: 0.3174, d0.loss_bbox: 0.5124, d1.loss_cls: 0.3142, d1.loss_bbox: 0.4804, d2.loss_cls: 0.3077, d2.loss_bbox: 0.4664, d3.loss_cls: 0.3070, d3.loss_bbox: 0.4632, d4.loss_cls: 0.3026, d4.loss_bbox: 0.4629, d5.loss_cls: 0.3035, d5.loss_bbox: 0.4645, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0932, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9311, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8864, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8711, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8599, d5.loss_traj_cls: 0.0029, d5.loss_traj: 0.8583, d0.loss_map_cls_all: 0.3290, d0.loss_map_pts_all: 2.0247, d0.loss_map_dir_all: 0.0153, d0.loss_map_cls: 0.3290, d0.loss_map_pts: 2.0247, d0.loss_map_dir: 0.0153, d1.loss_map_cls: 0.3051, d1.loss_map_pts: 1.4063, d1.loss_map_dir: 0.0154, d2.loss_map_cls: 0.2919, d2.loss_map_pts: 1.2357, d2.loss_map_dir: 0.0160, d3.loss_map_cls: 0.2808, d3.loss_map_pts: 1.1760, d3.loss_map_dir: 0.0165, d4.loss_map_cls: 0.2776, d4.loss_map_pts: 1.1596, d4.loss_map_dir: 0.0169, d5.loss_map_cls: 0.2781, d5.loss_map_pts: 1.1552, d5.loss_map_dir: 0.0170, loss: 39.7011, grad_norm: 150.1034 +2026-02-25 05:17:58,445 - DriveTransformer - INFO - Epoch [4][2850/39528] lr: 9.623e-05, eta: 7 days, 16:04:10, time: 0.801, data_time: 0.049, memory: 19865, loss_cls: 0.3085, loss_bbox: 0.4877, loss_traj: 1.0539, loss_traj_cls: 0.0028, loss_map_cls: 0.2597, loss_map_pts: 0.9727, loss_map_dir: 0.0132, d0.loss_plan_l1_fix_time: 2.9363, d0.loss_plan_l1_fix_dist: 0.4284, d1.loss_plan_l1_fix_time: 1.7591, d1.loss_plan_l1_fix_dist: 0.2618, d2.loss_plan_l1_fix_time: 1.7371, d2.loss_plan_l1_fix_dist: 0.2702, d3.loss_plan_l1_fix_time: 1.7392, d3.loss_plan_l1_fix_dist: 0.2826, d4.loss_plan_l1_fix_time: 1.7434, d4.loss_plan_l1_fix_dist: 0.2979, d5.loss_plan_l1_fix_time: 1.7479, d5.loss_plan_l1_fix_dist: 0.3154, d6.loss_plan_l1_fix_time: 1.7527, d6.loss_plan_l1_fix_dist: 0.3351, d0.loss_cls_all: 0.3383, d0.loss_bbox_all: 0.5358, d0.loss_cls: 0.3383, d0.loss_bbox: 0.5358, d1.loss_cls: 0.3249, d1.loss_bbox: 0.5044, d2.loss_cls: 0.3176, d2.loss_bbox: 0.4923, d3.loss_cls: 0.3130, d3.loss_bbox: 0.4876, d4.loss_cls: 0.3084, d4.loss_bbox: 0.4865, d5.loss_cls: 0.3089, d5.loss_bbox: 0.4863, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2452, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0702, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0446, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0566, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0556, d5.loss_traj_cls: 0.0029, d5.loss_traj: 1.0524, d0.loss_map_cls_all: 0.3099, d0.loss_map_pts_all: 1.6371, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.3099, d0.loss_map_pts: 1.6371, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2861, d1.loss_map_pts: 1.1758, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2708, d2.loss_map_pts: 1.0479, d2.loss_map_dir: 0.0123, d3.loss_map_cls: 0.2637, d3.loss_map_pts: 0.9938, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.2600, d4.loss_map_pts: 0.9784, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.2594, d5.loss_map_pts: 0.9713, d5.loss_map_dir: 0.0131, loss: 41.5047, grad_norm: 151.0114 +2026-02-25 05:18:37,878 - DriveTransformer - INFO - Epoch [4][2900/39528] lr: 9.623e-05, eta: 7 days, 16:03:26, time: 0.789, data_time: 0.039, memory: 19865, loss_cls: 0.2997, loss_bbox: 0.4880, loss_traj: 0.9389, loss_traj_cls: 0.0028, loss_map_cls: 0.2318, loss_map_pts: 1.0093, loss_map_dir: 0.0178, d0.loss_plan_l1_fix_time: 2.5079, d0.loss_plan_l1_fix_dist: 0.4837, d1.loss_plan_l1_fix_time: 1.4264, d1.loss_plan_l1_fix_dist: 0.2493, d2.loss_plan_l1_fix_time: 1.3926, d2.loss_plan_l1_fix_dist: 0.2522, d3.loss_plan_l1_fix_time: 1.3889, d3.loss_plan_l1_fix_dist: 0.2610, d4.loss_plan_l1_fix_time: 1.3916, d4.loss_plan_l1_fix_dist: 0.2724, d5.loss_plan_l1_fix_time: 1.3954, d5.loss_plan_l1_fix_dist: 0.2863, d6.loss_plan_l1_fix_time: 1.4002, d6.loss_plan_l1_fix_dist: 0.3019, d0.loss_cls_all: 0.3090, d0.loss_bbox_all: 0.5402, d0.loss_cls: 0.3090, d0.loss_bbox: 0.5402, d1.loss_cls: 0.3039, d1.loss_bbox: 0.5097, d2.loss_cls: 0.3019, d2.loss_bbox: 0.4965, d3.loss_cls: 0.3012, d3.loss_bbox: 0.4908, d4.loss_cls: 0.2985, d4.loss_bbox: 0.4891, d5.loss_cls: 0.2980, d5.loss_bbox: 0.4882, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1496, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9748, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9386, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9381, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9331, d5.loss_traj_cls: 0.0029, d5.loss_traj: 0.9407, d0.loss_map_cls_all: 0.2717, d0.loss_map_pts_all: 1.8137, d0.loss_map_dir_all: 0.0158, d0.loss_map_cls: 0.2717, d0.loss_map_pts: 1.8137, d0.loss_map_dir: 0.0158, d1.loss_map_cls: 0.2586, d1.loss_map_pts: 1.2136, d1.loss_map_dir: 0.0158, d2.loss_map_cls: 0.2471, d2.loss_map_pts: 1.0838, d2.loss_map_dir: 0.0165, d3.loss_map_cls: 0.2383, d3.loss_map_pts: 1.0356, d3.loss_map_dir: 0.0171, d4.loss_map_cls: 0.2354, d4.loss_map_pts: 1.0170, d4.loss_map_dir: 0.0175, d5.loss_map_cls: 0.2324, d5.loss_map_pts: 1.0123, d5.loss_map_dir: 0.0177, loss: 38.4178, grad_norm: 149.8526 +2026-02-25 05:19:20,438 - DriveTransformer - INFO - Epoch [4][2950/39528] lr: 9.623e-05, eta: 7 days, 16:03:03, time: 0.851, data_time: 0.040, memory: 19865, loss_cls: 0.2782, loss_bbox: 0.4423, loss_traj: 0.8179, loss_traj_cls: 0.0029, loss_map_cls: 0.2155, loss_map_pts: 1.0042, loss_map_dir: 0.0179, d0.loss_plan_l1_fix_time: 2.7582, d0.loss_plan_l1_fix_dist: 0.4738, d1.loss_plan_l1_fix_time: 1.5216, d1.loss_plan_l1_fix_dist: 0.2473, d2.loss_plan_l1_fix_time: 1.4982, d2.loss_plan_l1_fix_dist: 0.2570, d3.loss_plan_l1_fix_time: 1.4975, d3.loss_plan_l1_fix_dist: 0.2703, d4.loss_plan_l1_fix_time: 1.5002, d4.loss_plan_l1_fix_dist: 0.2847, d5.loss_plan_l1_fix_time: 1.5048, d5.loss_plan_l1_fix_dist: 0.2989, d6.loss_plan_l1_fix_time: 1.5107, d6.loss_plan_l1_fix_dist: 0.3130, d0.loss_cls_all: 0.2973, d0.loss_bbox_all: 0.4904, d0.loss_cls: 0.2973, d0.loss_bbox: 0.4904, d1.loss_cls: 0.2920, d1.loss_bbox: 0.4616, d2.loss_cls: 0.2871, d2.loss_bbox: 0.4490, d3.loss_cls: 0.2831, d3.loss_bbox: 0.4441, d4.loss_cls: 0.2800, d4.loss_bbox: 0.4419, d5.loss_cls: 0.2782, d5.loss_bbox: 0.4413, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0044, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8619, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8233, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8229, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8173, d5.loss_traj_cls: 0.0029, d5.loss_traj: 0.8189, d0.loss_map_cls_all: 0.2653, d0.loss_map_pts_all: 1.9057, d0.loss_map_dir_all: 0.0162, d0.loss_map_cls: 0.2653, d0.loss_map_pts: 1.9057, d0.loss_map_dir: 0.0162, d1.loss_map_cls: 0.2424, d1.loss_map_pts: 1.2370, d1.loss_map_dir: 0.0160, d2.loss_map_cls: 0.2301, d2.loss_map_pts: 1.0751, d2.loss_map_dir: 0.0166, d3.loss_map_cls: 0.2218, d3.loss_map_pts: 1.0225, d3.loss_map_dir: 0.0171, d4.loss_map_cls: 0.2167, d4.loss_map_pts: 1.0059, d4.loss_map_dir: 0.0175, d5.loss_map_cls: 0.2159, d5.loss_map_pts: 1.0043, d5.loss_map_dir: 0.0176, loss: 38.0360, grad_norm: 150.4229 +2026-02-25 05:20:01,813 - DriveTransformer - INFO - Epoch [4][3000/39528] lr: 9.623e-05, eta: 7 days, 16:02:32, time: 0.827, data_time: 0.040, memory: 19865, loss_cls: 0.3214, loss_bbox: 0.5245, loss_traj: 1.0385, loss_traj_cls: 0.0029, loss_map_cls: 0.2698, loss_map_pts: 1.1596, loss_map_dir: 0.0195, d0.loss_plan_l1_fix_time: 2.8913, d0.loss_plan_l1_fix_dist: 0.4595, d1.loss_plan_l1_fix_time: 1.6884, d1.loss_plan_l1_fix_dist: 0.2923, d2.loss_plan_l1_fix_time: 1.6842, d2.loss_plan_l1_fix_dist: 0.2956, d3.loss_plan_l1_fix_time: 1.6856, d3.loss_plan_l1_fix_dist: 0.3043, d4.loss_plan_l1_fix_time: 1.6891, d4.loss_plan_l1_fix_dist: 0.3155, d5.loss_plan_l1_fix_time: 1.6931, d5.loss_plan_l1_fix_dist: 0.3301, d6.loss_plan_l1_fix_time: 1.6977, d6.loss_plan_l1_fix_dist: 0.3493, d0.loss_cls_all: 0.3443, d0.loss_bbox_all: 0.5803, d0.loss_cls: 0.3443, d0.loss_bbox: 0.5803, d1.loss_cls: 0.3365, d1.loss_bbox: 0.5470, d2.loss_cls: 0.3301, d2.loss_bbox: 0.5316, d3.loss_cls: 0.3248, d3.loss_bbox: 0.5262, d4.loss_cls: 0.3209, d4.loss_bbox: 0.5255, d5.loss_cls: 0.3218, d5.loss_bbox: 0.5238, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2437, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0643, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0356, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0360, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0350, d5.loss_traj_cls: 0.0030, d5.loss_traj: 1.0373, d0.loss_map_cls_all: 0.3194, d0.loss_map_pts_all: 2.0919, d0.loss_map_dir_all: 0.0173, d0.loss_map_cls: 0.3194, d0.loss_map_pts: 2.0919, d0.loss_map_dir: 0.0173, d1.loss_map_cls: 0.3001, d1.loss_map_pts: 1.4109, d1.loss_map_dir: 0.0171, d2.loss_map_cls: 0.2868, d2.loss_map_pts: 1.2356, d2.loss_map_dir: 0.0178, d3.loss_map_cls: 0.2756, d3.loss_map_pts: 1.1792, d3.loss_map_dir: 0.0185, d4.loss_map_cls: 0.2716, d4.loss_map_pts: 1.1632, d4.loss_map_dir: 0.0191, d5.loss_map_cls: 0.2706, d5.loss_map_pts: 1.1597, d5.loss_map_dir: 0.0193, loss: 43.8113, grad_norm: 150.2720 +2026-02-25 05:20:41,895 - DriveTransformer - INFO - Epoch [4][3050/39528] lr: 9.623e-05, eta: 7 days, 16:01:52, time: 0.802, data_time: 0.048, memory: 19865, loss_cls: 0.3146, loss_bbox: 0.4852, loss_traj: 0.9705, loss_traj_cls: 0.0029, loss_map_cls: 0.2469, loss_map_pts: 0.9595, loss_map_dir: 0.0154, d0.loss_plan_l1_fix_time: 2.8784, d0.loss_plan_l1_fix_dist: 0.3857, d1.loss_plan_l1_fix_time: 1.6357, d1.loss_plan_l1_fix_dist: 0.2396, d2.loss_plan_l1_fix_time: 1.6387, d2.loss_plan_l1_fix_dist: 0.2439, d3.loss_plan_l1_fix_time: 1.6405, d3.loss_plan_l1_fix_dist: 0.2539, d4.loss_plan_l1_fix_time: 1.6441, d4.loss_plan_l1_fix_dist: 0.2660, d5.loss_plan_l1_fix_time: 1.6473, d5.loss_plan_l1_fix_dist: 0.2806, d6.loss_plan_l1_fix_time: 1.6513, d6.loss_plan_l1_fix_dist: 0.2964, d0.loss_cls_all: 0.3329, d0.loss_bbox_all: 0.5363, d0.loss_cls: 0.3329, d0.loss_bbox: 0.5363, d1.loss_cls: 0.3264, d1.loss_bbox: 0.5089, d2.loss_cls: 0.3242, d2.loss_bbox: 0.4945, d3.loss_cls: 0.3204, d3.loss_bbox: 0.4885, d4.loss_cls: 0.3174, d4.loss_bbox: 0.4858, d5.loss_cls: 0.3139, d5.loss_bbox: 0.4851, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1853, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0149, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9699, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9631, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9656, d5.loss_traj_cls: 0.0029, d5.loss_traj: 0.9666, d0.loss_map_cls_all: 0.2952, d0.loss_map_pts_all: 1.7087, d0.loss_map_dir_all: 0.0136, d0.loss_map_cls: 0.2952, d0.loss_map_pts: 1.7087, d0.loss_map_dir: 0.0136, d1.loss_map_cls: 0.2684, d1.loss_map_pts: 1.1944, d1.loss_map_dir: 0.0137, d2.loss_map_cls: 0.2592, d2.loss_map_pts: 1.0426, d2.loss_map_dir: 0.0141, d3.loss_map_cls: 0.2519, d3.loss_map_pts: 0.9813, d3.loss_map_dir: 0.0147, d4.loss_map_cls: 0.2478, d4.loss_map_pts: 0.9648, d4.loss_map_dir: 0.0150, d5.loss_map_cls: 0.2475, d5.loss_map_pts: 0.9581, d5.loss_map_dir: 0.0152, loss: 40.0972, grad_norm: 146.8672 +2026-02-25 05:21:23,563 - DriveTransformer - INFO - Epoch [4][3100/39528] lr: 9.623e-05, eta: 7 days, 16:01:23, time: 0.833, data_time: 0.042, memory: 19865, loss_cls: 0.3008, loss_bbox: 0.4704, loss_traj: 0.8272, loss_traj_cls: 0.0029, loss_map_cls: 0.2491, loss_map_pts: 1.1364, loss_map_dir: 0.0180, d0.loss_plan_l1_fix_time: 2.7269, d0.loss_plan_l1_fix_dist: 0.5102, d1.loss_plan_l1_fix_time: 1.6362, d1.loss_plan_l1_fix_dist: 0.2624, d2.loss_plan_l1_fix_time: 1.6265, d2.loss_plan_l1_fix_dist: 0.2673, d3.loss_plan_l1_fix_time: 1.6236, d3.loss_plan_l1_fix_dist: 0.2780, d4.loss_plan_l1_fix_time: 1.6252, d4.loss_plan_l1_fix_dist: 0.2912, d5.loss_plan_l1_fix_time: 1.6274, d5.loss_plan_l1_fix_dist: 0.3045, d6.loss_plan_l1_fix_time: 1.6307, d6.loss_plan_l1_fix_dist: 0.3227, d0.loss_cls_all: 0.3142, d0.loss_bbox_all: 0.5247, d0.loss_cls: 0.3142, d0.loss_bbox: 0.5247, d1.loss_cls: 0.3102, d1.loss_bbox: 0.4985, d2.loss_cls: 0.3065, d2.loss_bbox: 0.4805, d3.loss_cls: 0.3027, d3.loss_bbox: 0.4756, d4.loss_cls: 0.3005, d4.loss_bbox: 0.4718, d5.loss_cls: 0.2997, d5.loss_bbox: 0.4705, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0248, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8718, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8415, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8360, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8339, d5.loss_traj_cls: 0.0028, d5.loss_traj: 0.8247, d0.loss_map_cls_all: 0.2965, d0.loss_map_pts_all: 1.9572, d0.loss_map_dir_all: 0.0161, d0.loss_map_cls: 0.2965, d0.loss_map_pts: 1.9572, d0.loss_map_dir: 0.0161, d1.loss_map_cls: 0.2715, d1.loss_map_pts: 1.3977, d1.loss_map_dir: 0.0162, d2.loss_map_cls: 0.2599, d2.loss_map_pts: 1.2307, d2.loss_map_dir: 0.0168, d3.loss_map_cls: 0.2534, d3.loss_map_pts: 1.1653, d3.loss_map_dir: 0.0175, d4.loss_map_cls: 0.2500, d4.loss_map_pts: 1.1419, d4.loss_map_dir: 0.0178, d5.loss_map_cls: 0.2475, d5.loss_map_pts: 1.1366, d5.loss_map_dir: 0.0179, loss: 40.5523, grad_norm: 148.2668 +2026-02-25 05:22:04,606 - DriveTransformer - INFO - Epoch [4][3150/39528] lr: 9.623e-05, eta: 7 days, 16:00:49, time: 0.821, data_time: 0.050, memory: 19865, loss_cls: 0.3111, loss_bbox: 0.4744, loss_traj: 1.0752, loss_traj_cls: 0.0028, loss_map_cls: 0.2722, loss_map_pts: 1.0691, loss_map_dir: 0.0161, d0.loss_plan_l1_fix_time: 3.0804, d0.loss_plan_l1_fix_dist: 0.4165, d1.loss_plan_l1_fix_time: 1.9090, d1.loss_plan_l1_fix_dist: 0.2473, d2.loss_plan_l1_fix_time: 1.8919, d2.loss_plan_l1_fix_dist: 0.2470, d3.loss_plan_l1_fix_time: 1.8907, d3.loss_plan_l1_fix_dist: 0.2546, d4.loss_plan_l1_fix_time: 1.8925, d4.loss_plan_l1_fix_dist: 0.2640, d5.loss_plan_l1_fix_time: 1.8955, d5.loss_plan_l1_fix_dist: 0.2737, d6.loss_plan_l1_fix_time: 1.8992, d6.loss_plan_l1_fix_dist: 0.2854, d0.loss_cls_all: 0.3239, d0.loss_bbox_all: 0.5220, d0.loss_cls: 0.3239, d0.loss_bbox: 0.5220, d1.loss_cls: 0.3196, d1.loss_bbox: 0.4948, d2.loss_cls: 0.3157, d2.loss_bbox: 0.4787, d3.loss_cls: 0.3139, d3.loss_bbox: 0.4723, d4.loss_cls: 0.3116, d4.loss_bbox: 0.4714, d5.loss_cls: 0.3107, d5.loss_bbox: 0.4723, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3409, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.1144, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0755, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0757, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0732, d5.loss_traj_cls: 0.0028, d5.loss_traj: 1.0732, d0.loss_map_cls_all: 0.3287, d0.loss_map_pts_all: 1.8524, d0.loss_map_dir_all: 0.0156, d0.loss_map_cls: 0.3287, d0.loss_map_pts: 1.8524, d0.loss_map_dir: 0.0156, d1.loss_map_cls: 0.2966, d1.loss_map_pts: 1.3022, d1.loss_map_dir: 0.0150, d2.loss_map_cls: 0.2848, d2.loss_map_pts: 1.1385, d2.loss_map_dir: 0.0153, d3.loss_map_cls: 0.2754, d3.loss_map_pts: 1.0850, d3.loss_map_dir: 0.0157, d4.loss_map_cls: 0.2727, d4.loss_map_pts: 1.0714, d4.loss_map_dir: 0.0159, d5.loss_map_cls: 0.2717, d5.loss_map_pts: 1.0688, d5.loss_map_dir: 0.0160, loss: 43.6200, grad_norm: 147.4631 +2026-02-25 05:22:45,856 - DriveTransformer - INFO - Epoch [4][3200/39528] lr: 9.623e-05, eta: 7 days, 16:00:17, time: 0.825, data_time: 0.045, memory: 19865, loss_cls: 0.2746, loss_bbox: 0.4670, loss_traj: 0.8032, loss_traj_cls: 0.0030, loss_map_cls: 0.2316, loss_map_pts: 0.9728, loss_map_dir: 0.0181, d0.loss_plan_l1_fix_time: 2.1663, d0.loss_plan_l1_fix_dist: 0.4623, d1.loss_plan_l1_fix_time: 1.2453, d1.loss_plan_l1_fix_dist: 0.2771, d2.loss_plan_l1_fix_time: 1.2361, d2.loss_plan_l1_fix_dist: 0.2852, d3.loss_plan_l1_fix_time: 1.2438, d3.loss_plan_l1_fix_dist: 0.3004, d4.loss_plan_l1_fix_time: 1.2488, d4.loss_plan_l1_fix_dist: 0.3190, d5.loss_plan_l1_fix_time: 1.2538, d5.loss_plan_l1_fix_dist: 0.3403, d6.loss_plan_l1_fix_time: 1.2587, d6.loss_plan_l1_fix_dist: 0.3609, d0.loss_cls_all: 0.2973, d0.loss_bbox_all: 0.5225, d0.loss_cls: 0.2973, d0.loss_bbox: 0.5225, d1.loss_cls: 0.2927, d1.loss_bbox: 0.4906, d2.loss_cls: 0.2861, d2.loss_bbox: 0.4763, d3.loss_cls: 0.2805, d3.loss_bbox: 0.4682, d4.loss_cls: 0.2753, d4.loss_bbox: 0.4675, d5.loss_cls: 0.2744, d5.loss_bbox: 0.4664, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9729, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8445, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8116, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8060, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8032, d5.loss_traj_cls: 0.0028, d5.loss_traj: 0.8012, d0.loss_map_cls_all: 0.2936, d0.loss_map_pts_all: 1.9974, d0.loss_map_dir_all: 0.0175, d0.loss_map_cls: 0.2936, d0.loss_map_pts: 1.9974, d0.loss_map_dir: 0.0175, d1.loss_map_cls: 0.2639, d1.loss_map_pts: 1.2188, d1.loss_map_dir: 0.0170, d2.loss_map_cls: 0.2467, d2.loss_map_pts: 1.0437, d2.loss_map_dir: 0.0171, d3.loss_map_cls: 0.2395, d3.loss_map_pts: 0.9919, d3.loss_map_dir: 0.0174, d4.loss_map_cls: 0.2335, d4.loss_map_pts: 0.9766, d4.loss_map_dir: 0.0179, d5.loss_map_cls: 0.2310, d5.loss_map_pts: 0.9714, d5.loss_map_dir: 0.0179, loss: 36.3538, grad_norm: 147.4921 +2026-02-25 05:23:27,599 - DriveTransformer - INFO - Epoch [4][3250/39528] lr: 9.623e-05, eta: 7 days, 15:59:49, time: 0.835, data_time: 0.045, memory: 19865, loss_cls: 0.3225, loss_bbox: 0.5157, loss_traj: 1.0688, loss_traj_cls: 0.0029, loss_map_cls: 0.3058, loss_map_pts: 1.2805, loss_map_dir: 0.0184, d0.loss_plan_l1_fix_time: 3.2974, d0.loss_plan_l1_fix_dist: 0.4020, d1.loss_plan_l1_fix_time: 1.8394, d1.loss_plan_l1_fix_dist: 0.2621, d2.loss_plan_l1_fix_time: 1.8014, d2.loss_plan_l1_fix_dist: 0.2692, d3.loss_plan_l1_fix_time: 1.7994, d3.loss_plan_l1_fix_dist: 0.2845, d4.loss_plan_l1_fix_time: 1.8027, d4.loss_plan_l1_fix_dist: 0.3020, d5.loss_plan_l1_fix_time: 1.8070, d5.loss_plan_l1_fix_dist: 0.3230, d6.loss_plan_l1_fix_time: 1.8120, d6.loss_plan_l1_fix_dist: 0.3488, d0.loss_cls_all: 0.3333, d0.loss_bbox_all: 0.5634, d0.loss_cls: 0.3333, d0.loss_bbox: 0.5634, d1.loss_cls: 0.3268, d1.loss_bbox: 0.5316, d2.loss_cls: 0.3209, d2.loss_bbox: 0.5164, d3.loss_cls: 0.3234, d3.loss_bbox: 0.5117, d4.loss_cls: 0.3217, d4.loss_bbox: 0.5106, d5.loss_cls: 0.3226, d5.loss_bbox: 0.5115, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3556, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.1445, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0963, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.0891, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0774, d5.loss_traj_cls: 0.0028, d5.loss_traj: 1.0724, d0.loss_map_cls_all: 0.3525, d0.loss_map_pts_all: 2.0963, d0.loss_map_dir_all: 0.0166, d0.loss_map_cls: 0.3525, d0.loss_map_pts: 2.0963, d0.loss_map_dir: 0.0166, d1.loss_map_cls: 0.3308, d1.loss_map_pts: 1.5408, d1.loss_map_dir: 0.0168, d2.loss_map_cls: 0.3214, d2.loss_map_pts: 1.3725, d2.loss_map_dir: 0.0172, d3.loss_map_cls: 0.3146, d3.loss_map_pts: 1.3099, d3.loss_map_dir: 0.0178, d4.loss_map_cls: 0.3083, d4.loss_map_pts: 1.2902, d4.loss_map_dir: 0.0182, d5.loss_map_cls: 0.3058, d5.loss_map_pts: 1.2850, d5.loss_map_dir: 0.0182, loss: 46.0969, grad_norm: 146.3499 +2026-02-25 05:24:06,827 - DriveTransformer - INFO - Epoch [4][3300/39528] lr: 9.623e-05, eta: 7 days, 15:59:03, time: 0.785, data_time: 0.043, memory: 19865, loss_cls: 0.3196, loss_bbox: 0.5039, loss_traj: 1.0455, loss_traj_cls: 0.0030, loss_map_cls: 0.2693, loss_map_pts: 1.0821, loss_map_dir: 0.0148, d0.loss_plan_l1_fix_time: 3.0718, d0.loss_plan_l1_fix_dist: 0.4413, d1.loss_plan_l1_fix_time: 1.7219, d1.loss_plan_l1_fix_dist: 0.2249, d2.loss_plan_l1_fix_time: 1.6944, d2.loss_plan_l1_fix_dist: 0.2306, d3.loss_plan_l1_fix_time: 1.6974, d3.loss_plan_l1_fix_dist: 0.2416, d4.loss_plan_l1_fix_time: 1.7021, d4.loss_plan_l1_fix_dist: 0.2584, d5.loss_plan_l1_fix_time: 1.7073, d5.loss_plan_l1_fix_dist: 0.2777, d6.loss_plan_l1_fix_time: 1.7134, d6.loss_plan_l1_fix_dist: 0.2957, d0.loss_cls_all: 0.3338, d0.loss_bbox_all: 0.5470, d0.loss_cls: 0.3338, d0.loss_bbox: 0.5470, d1.loss_cls: 0.3337, d1.loss_bbox: 0.5132, d2.loss_cls: 0.3259, d2.loss_bbox: 0.5021, d3.loss_cls: 0.3219, d3.loss_bbox: 0.4989, d4.loss_cls: 0.3194, d4.loss_bbox: 0.4986, d5.loss_cls: 0.3206, d5.loss_bbox: 0.4992, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2259, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0767, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0234, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0263, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0275, d5.loss_traj_cls: 0.0029, d5.loss_traj: 1.0327, d0.loss_map_cls_all: 0.3235, d0.loss_map_pts_all: 1.7906, d0.loss_map_dir_all: 0.0139, d0.loss_map_cls: 0.3235, d0.loss_map_pts: 1.7906, d0.loss_map_dir: 0.0139, d1.loss_map_cls: 0.2927, d1.loss_map_pts: 1.2958, d1.loss_map_dir: 0.0137, d2.loss_map_cls: 0.2844, d2.loss_map_pts: 1.1477, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2753, d3.loss_map_pts: 1.0998, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2683, d4.loss_map_pts: 1.0862, d4.loss_map_dir: 0.0145, d5.loss_map_cls: 0.2681, d5.loss_map_pts: 1.0825, d5.loss_map_dir: 0.0146, loss: 42.2591, grad_norm: 146.7126 +2026-02-25 05:24:47,488 - DriveTransformer - INFO - Epoch [4][3350/39528] lr: 9.623e-05, eta: 7 days, 15:58:27, time: 0.813, data_time: 0.047, memory: 19865, loss_cls: 0.3312, loss_bbox: 0.4955, loss_traj: 0.9632, loss_traj_cls: 0.0029, loss_map_cls: 0.2770, loss_map_pts: 1.1591, loss_map_dir: 0.0189, d0.loss_plan_l1_fix_time: 2.6187, d0.loss_plan_l1_fix_dist: 0.3780, d1.loss_plan_l1_fix_time: 1.7425, d1.loss_plan_l1_fix_dist: 0.2329, d2.loss_plan_l1_fix_time: 1.7244, d2.loss_plan_l1_fix_dist: 0.2437, d3.loss_plan_l1_fix_time: 1.7249, d3.loss_plan_l1_fix_dist: 0.2590, d4.loss_plan_l1_fix_time: 1.7279, d4.loss_plan_l1_fix_dist: 0.2752, d5.loss_plan_l1_fix_time: 1.7321, d5.loss_plan_l1_fix_dist: 0.2914, d6.loss_plan_l1_fix_time: 1.7372, d6.loss_plan_l1_fix_dist: 0.3109, d0.loss_cls_all: 0.3427, d0.loss_bbox_all: 0.5405, d0.loss_cls: 0.3427, d0.loss_bbox: 0.5405, d1.loss_cls: 0.3381, d1.loss_bbox: 0.5070, d2.loss_cls: 0.3354, d2.loss_bbox: 0.4957, d3.loss_cls: 0.3328, d3.loss_bbox: 0.4907, d4.loss_cls: 0.3292, d4.loss_bbox: 0.4922, d5.loss_cls: 0.3315, d5.loss_bbox: 0.4911, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1317, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0114, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9659, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.9570, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9546, d5.loss_traj_cls: 0.0028, d5.loss_traj: 0.9567, d0.loss_map_cls_all: 0.3373, d0.loss_map_pts_all: 2.0860, d0.loss_map_dir_all: 0.0170, d0.loss_map_cls: 0.3373, d0.loss_map_pts: 2.0860, d0.loss_map_dir: 0.0170, d1.loss_map_cls: 0.3067, d1.loss_map_pts: 1.4322, d1.loss_map_dir: 0.0169, d2.loss_map_cls: 0.2960, d2.loss_map_pts: 1.2499, d2.loss_map_dir: 0.0175, d3.loss_map_cls: 0.2840, d3.loss_map_pts: 1.1865, d3.loss_map_dir: 0.0181, d4.loss_map_cls: 0.2787, d4.loss_map_pts: 1.1641, d4.loss_map_dir: 0.0185, d5.loss_map_cls: 0.2769, d5.loss_map_pts: 1.1599, d5.loss_map_dir: 0.0187, loss: 42.7465, grad_norm: 148.0887 +2026-02-25 05:25:28,121 - DriveTransformer - INFO - Epoch [4][3400/39528] lr: 9.623e-05, eta: 7 days, 15:57:51, time: 0.814, data_time: 0.043, memory: 19865, loss_cls: 0.3262, loss_bbox: 0.4859, loss_traj: 0.9226, loss_traj_cls: 0.0028, loss_map_cls: 0.2450, loss_map_pts: 0.9990, loss_map_dir: 0.0170, d0.loss_plan_l1_fix_time: 2.7651, d0.loss_plan_l1_fix_dist: 0.4231, d1.loss_plan_l1_fix_time: 1.6245, d1.loss_plan_l1_fix_dist: 0.2459, d2.loss_plan_l1_fix_time: 1.6051, d2.loss_plan_l1_fix_dist: 0.2538, d3.loss_plan_l1_fix_time: 1.5997, d3.loss_plan_l1_fix_dist: 0.2666, d4.loss_plan_l1_fix_time: 1.6015, d4.loss_plan_l1_fix_dist: 0.2816, d5.loss_plan_l1_fix_time: 1.6050, d5.loss_plan_l1_fix_dist: 0.2958, d6.loss_plan_l1_fix_time: 1.6093, d6.loss_plan_l1_fix_dist: 0.3106, d0.loss_cls_all: 0.3383, d0.loss_bbox_all: 0.5224, d0.loss_cls: 0.3383, d0.loss_bbox: 0.5224, d1.loss_cls: 0.3351, d1.loss_bbox: 0.4932, d2.loss_cls: 0.3296, d2.loss_bbox: 0.4851, d3.loss_cls: 0.3266, d3.loss_bbox: 0.4812, d4.loss_cls: 0.3238, d4.loss_bbox: 0.4808, d5.loss_cls: 0.3257, d5.loss_bbox: 0.4809, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0969, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9600, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9202, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9115, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9170, d5.loss_traj_cls: 0.0027, d5.loss_traj: 0.9153, d0.loss_map_cls_all: 0.3143, d0.loss_map_pts_all: 1.9592, d0.loss_map_dir_all: 0.0160, d0.loss_map_cls: 0.3143, d0.loss_map_pts: 1.9592, d0.loss_map_dir: 0.0160, d1.loss_map_cls: 0.2884, d1.loss_map_pts: 1.2581, d1.loss_map_dir: 0.0157, d2.loss_map_cls: 0.2672, d2.loss_map_pts: 1.0817, d2.loss_map_dir: 0.0157, d3.loss_map_cls: 0.2545, d3.loss_map_pts: 1.0238, d3.loss_map_dir: 0.0162, d4.loss_map_cls: 0.2468, d4.loss_map_pts: 1.0048, d4.loss_map_dir: 0.0166, d5.loss_map_cls: 0.2444, d5.loss_map_pts: 0.9990, d5.loss_map_dir: 0.0168, loss: 40.3264, grad_norm: 144.4034 +2026-02-25 05:26:07,963 - DriveTransformer - INFO - Epoch [4][3450/39528] lr: 9.623e-05, eta: 7 days, 15:57:09, time: 0.795, data_time: 0.035, memory: 19865, loss_cls: 0.3044, loss_bbox: 0.5075, loss_traj: 0.8716, loss_traj_cls: 0.0028, loss_map_cls: 0.2507, loss_map_pts: 1.0889, loss_map_dir: 0.0164, d0.loss_plan_l1_fix_time: 2.6453, d0.loss_plan_l1_fix_dist: 0.4369, d1.loss_plan_l1_fix_time: 1.4481, d1.loss_plan_l1_fix_dist: 0.2279, d2.loss_plan_l1_fix_time: 1.4256, d2.loss_plan_l1_fix_dist: 0.2372, d3.loss_plan_l1_fix_time: 1.4260, d3.loss_plan_l1_fix_dist: 0.2517, d4.loss_plan_l1_fix_time: 1.4289, d4.loss_plan_l1_fix_dist: 0.2708, d5.loss_plan_l1_fix_time: 1.4318, d5.loss_plan_l1_fix_dist: 0.2948, d6.loss_plan_l1_fix_time: 1.4355, d6.loss_plan_l1_fix_dist: 0.3185, d0.loss_cls_all: 0.3175, d0.loss_bbox_all: 0.5539, d0.loss_cls: 0.3175, d0.loss_bbox: 0.5539, d1.loss_cls: 0.3127, d1.loss_bbox: 0.5258, d2.loss_cls: 0.3099, d2.loss_bbox: 0.5111, d3.loss_cls: 0.3073, d3.loss_bbox: 0.5042, d4.loss_cls: 0.3040, d4.loss_bbox: 0.5027, d5.loss_cls: 0.3022, d5.loss_bbox: 0.5047, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0180, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9243, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8815, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8771, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8749, d5.loss_traj_cls: 0.0026, d5.loss_traj: 0.8740, d0.loss_map_cls_all: 0.3038, d0.loss_map_pts_all: 1.9393, d0.loss_map_dir_all: 0.0144, d0.loss_map_cls: 0.3038, d0.loss_map_pts: 1.9393, d0.loss_map_dir: 0.0144, d1.loss_map_cls: 0.2820, d1.loss_map_pts: 1.3225, d1.loss_map_dir: 0.0145, d2.loss_map_cls: 0.2665, d2.loss_map_pts: 1.1588, d2.loss_map_dir: 0.0150, d3.loss_map_cls: 0.2606, d3.loss_map_pts: 1.1030, d3.loss_map_dir: 0.0157, d4.loss_map_cls: 0.2551, d4.loss_map_pts: 1.0885, d4.loss_map_dir: 0.0160, d5.loss_map_cls: 0.2514, d5.loss_map_pts: 1.0882, d5.loss_map_dir: 0.0163, loss: 39.2746, grad_norm: 144.2579 +2026-02-25 05:26:49,625 - DriveTransformer - INFO - Epoch [4][3500/39528] lr: 9.623e-05, eta: 7 days, 15:56:40, time: 0.833, data_time: 0.045, memory: 19865, loss_cls: 0.2903, loss_bbox: 0.4761, loss_traj: 0.9874, loss_traj_cls: 0.0029, loss_map_cls: 0.2278, loss_map_pts: 1.1823, loss_map_dir: 0.0166, d0.loss_plan_l1_fix_time: 2.7363, d0.loss_plan_l1_fix_dist: 0.4855, d1.loss_plan_l1_fix_time: 1.5201, d1.loss_plan_l1_fix_dist: 0.2604, d2.loss_plan_l1_fix_time: 1.4962, d2.loss_plan_l1_fix_dist: 0.2735, d3.loss_plan_l1_fix_time: 1.4963, d3.loss_plan_l1_fix_dist: 0.2876, d4.loss_plan_l1_fix_time: 1.4990, d4.loss_plan_l1_fix_dist: 0.3029, d5.loss_plan_l1_fix_time: 1.5020, d5.loss_plan_l1_fix_dist: 0.3200, d6.loss_plan_l1_fix_time: 1.5054, d6.loss_plan_l1_fix_dist: 0.3416, d0.loss_cls_all: 0.3094, d0.loss_bbox_all: 0.5174, d0.loss_cls: 0.3094, d0.loss_bbox: 0.5174, d1.loss_cls: 0.2999, d1.loss_bbox: 0.4910, d2.loss_cls: 0.2951, d2.loss_bbox: 0.4778, d3.loss_cls: 0.2917, d3.loss_bbox: 0.4738, d4.loss_cls: 0.2894, d4.loss_bbox: 0.4730, d5.loss_cls: 0.2899, d5.loss_bbox: 0.4737, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1236, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0178, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9922, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9876, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9867, d5.loss_traj_cls: 0.0026, d5.loss_traj: 0.9865, d0.loss_map_cls_all: 0.2932, d0.loss_map_pts_all: 2.0661, d0.loss_map_dir_all: 0.0158, d0.loss_map_cls: 0.2932, d0.loss_map_pts: 2.0661, d0.loss_map_dir: 0.0158, d1.loss_map_cls: 0.2557, d1.loss_map_pts: 1.4084, d1.loss_map_dir: 0.0149, d2.loss_map_cls: 0.2420, d2.loss_map_pts: 1.2567, d2.loss_map_dir: 0.0152, d3.loss_map_cls: 0.2375, d3.loss_map_pts: 1.2043, d3.loss_map_dir: 0.0158, d4.loss_map_cls: 0.2315, d4.loss_map_pts: 1.1844, d4.loss_map_dir: 0.0162, d5.loss_map_cls: 0.2289, d5.loss_map_pts: 1.1803, d5.loss_map_dir: 0.0163, loss: 41.0788, grad_norm: 142.8624 +2026-02-25 05:27:30,425 - DriveTransformer - INFO - Epoch [4][3550/39528] lr: 9.623e-05, eta: 7 days, 15:56:05, time: 0.816, data_time: 0.048, memory: 19865, loss_cls: 0.3075, loss_bbox: 0.4665, loss_traj: 1.1257, loss_traj_cls: 0.0029, loss_map_cls: 0.2547, loss_map_pts: 1.0150, loss_map_dir: 0.0133, d0.loss_plan_l1_fix_time: 3.1912, d0.loss_plan_l1_fix_dist: 0.4941, d1.loss_plan_l1_fix_time: 1.6470, d1.loss_plan_l1_fix_dist: 0.2795, d2.loss_plan_l1_fix_time: 1.6296, d2.loss_plan_l1_fix_dist: 0.2939, d3.loss_plan_l1_fix_time: 1.6328, d3.loss_plan_l1_fix_dist: 0.3147, d4.loss_plan_l1_fix_time: 1.6367, d4.loss_plan_l1_fix_dist: 0.3359, d5.loss_plan_l1_fix_time: 1.6402, d5.loss_plan_l1_fix_dist: 0.3587, d6.loss_plan_l1_fix_time: 1.6443, d6.loss_plan_l1_fix_dist: 0.3854, d0.loss_cls_all: 0.3148, d0.loss_bbox_all: 0.5221, d0.loss_cls: 0.3148, d0.loss_bbox: 0.5221, d1.loss_cls: 0.3099, d1.loss_bbox: 0.4927, d2.loss_cls: 0.3069, d2.loss_bbox: 0.4774, d3.loss_cls: 0.3047, d3.loss_bbox: 0.4718, d4.loss_cls: 0.3038, d4.loss_bbox: 0.4695, d5.loss_cls: 0.3052, d5.loss_bbox: 0.4662, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2871, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.1284, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1015, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1105, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.1203, d5.loss_traj_cls: 0.0027, d5.loss_traj: 1.1275, d0.loss_map_cls_all: 0.3036, d0.loss_map_pts_all: 1.7141, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.3036, d0.loss_map_pts: 1.7141, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2756, d1.loss_map_pts: 1.2253, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.2630, d2.loss_map_pts: 1.0834, d2.loss_map_dir: 0.0123, d3.loss_map_cls: 0.2577, d3.loss_map_pts: 1.0341, d3.loss_map_dir: 0.0129, d4.loss_map_cls: 0.2525, d4.loss_map_pts: 1.0196, d4.loss_map_dir: 0.0131, d5.loss_map_cls: 0.2549, d5.loss_map_pts: 1.0138, d5.loss_map_dir: 0.0133, loss: 41.9356, grad_norm: 143.1470 +2026-02-25 05:28:10,867 - DriveTransformer - INFO - Epoch [4][3600/39528] lr: 9.623e-05, eta: 7 days, 15:55:28, time: 0.809, data_time: 0.047, memory: 19865, loss_cls: 0.2967, loss_bbox: 0.4534, loss_traj: 0.9575, loss_traj_cls: 0.0028, loss_map_cls: 0.2636, loss_map_pts: 1.1385, loss_map_dir: 0.0158, d0.loss_plan_l1_fix_time: 2.3538, d0.loss_plan_l1_fix_dist: 0.4293, d1.loss_plan_l1_fix_time: 1.2697, d1.loss_plan_l1_fix_dist: 0.2298, d2.loss_plan_l1_fix_time: 1.2559, d2.loss_plan_l1_fix_dist: 0.2422, d3.loss_plan_l1_fix_time: 1.2620, d3.loss_plan_l1_fix_dist: 0.2624, d4.loss_plan_l1_fix_time: 1.2676, d4.loss_plan_l1_fix_dist: 0.2851, d5.loss_plan_l1_fix_time: 1.2729, d5.loss_plan_l1_fix_dist: 0.3091, d6.loss_plan_l1_fix_time: 1.2786, d6.loss_plan_l1_fix_dist: 0.3329, d0.loss_cls_all: 0.3162, d0.loss_bbox_all: 0.5018, d0.loss_cls: 0.3162, d0.loss_bbox: 0.5018, d1.loss_cls: 0.3053, d1.loss_bbox: 0.4703, d2.loss_cls: 0.3005, d2.loss_bbox: 0.4582, d3.loss_cls: 0.2953, d3.loss_bbox: 0.4517, d4.loss_cls: 0.2948, d4.loss_bbox: 0.4505, d5.loss_cls: 0.2953, d5.loss_bbox: 0.4505, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1198, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9927, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9549, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9478, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9473, d5.loss_traj_cls: 0.0026, d5.loss_traj: 0.9481, d0.loss_map_cls_all: 0.3107, d0.loss_map_pts_all: 1.8573, d0.loss_map_dir_all: 0.0136, d0.loss_map_cls: 0.3107, d0.loss_map_pts: 1.8573, d0.loss_map_dir: 0.0136, d1.loss_map_cls: 0.2860, d1.loss_map_pts: 1.3688, d1.loss_map_dir: 0.0139, d2.loss_map_cls: 0.2710, d2.loss_map_pts: 1.2186, d2.loss_map_dir: 0.0145, d3.loss_map_cls: 0.2674, d3.loss_map_pts: 1.1607, d3.loss_map_dir: 0.0151, d4.loss_map_cls: 0.2638, d4.loss_map_pts: 1.1395, d4.loss_map_dir: 0.0155, d5.loss_map_cls: 0.2648, d5.loss_map_pts: 1.1384, d5.loss_map_dir: 0.0155, loss: 38.3220, grad_norm: 144.5109 +2026-02-25 05:28:50,367 - DriveTransformer - INFO - Epoch [4][3650/39528] lr: 9.623e-05, eta: 7 days, 15:54:44, time: 0.790, data_time: 0.043, memory: 19865, loss_cls: 0.2767, loss_bbox: 0.4595, loss_traj: 1.1107, loss_traj_cls: 0.0029, loss_map_cls: 0.2155, loss_map_pts: 0.9746, loss_map_dir: 0.0146, d0.loss_plan_l1_fix_time: 2.8452, d0.loss_plan_l1_fix_dist: 0.3788, d1.loss_plan_l1_fix_time: 1.8518, d1.loss_plan_l1_fix_dist: 0.2436, d2.loss_plan_l1_fix_time: 1.8481, d2.loss_plan_l1_fix_dist: 0.2642, d3.loss_plan_l1_fix_time: 1.8514, d3.loss_plan_l1_fix_dist: 0.2900, d4.loss_plan_l1_fix_time: 1.8557, d4.loss_plan_l1_fix_dist: 0.3179, d5.loss_plan_l1_fix_time: 1.8612, d5.loss_plan_l1_fix_dist: 0.3459, d6.loss_plan_l1_fix_time: 1.8674, d6.loss_plan_l1_fix_dist: 0.3713, d0.loss_cls_all: 0.2936, d0.loss_bbox_all: 0.5009, d0.loss_cls: 0.2936, d0.loss_bbox: 0.5009, d1.loss_cls: 0.2888, d1.loss_bbox: 0.4704, d2.loss_cls: 0.2795, d2.loss_bbox: 0.4612, d3.loss_cls: 0.2776, d3.loss_bbox: 0.4548, d4.loss_cls: 0.2752, d4.loss_bbox: 0.4543, d5.loss_cls: 0.2772, d5.loss_bbox: 0.4545, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3214, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.1664, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1165, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1047, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.1031, d5.loss_traj_cls: 0.0026, d5.loss_traj: 1.1051, d0.loss_map_cls_all: 0.2664, d0.loss_map_pts_all: 1.7062, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.2664, d0.loss_map_pts: 1.7062, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2471, d1.loss_map_pts: 1.1926, d1.loss_map_dir: 0.0132, d2.loss_map_cls: 0.2284, d2.loss_map_pts: 1.0545, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2220, d3.loss_map_pts: 0.9995, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.2177, d4.loss_map_pts: 0.9800, d4.loss_map_dir: 0.0144, d5.loss_map_cls: 0.2160, d5.loss_map_pts: 0.9749, d5.loss_map_dir: 0.0144, loss: 41.8277, grad_norm: 144.7040 +2026-02-25 05:29:30,824 - DriveTransformer - INFO - Epoch [4][3700/39528] lr: 9.623e-05, eta: 7 days, 15:54:07, time: 0.809, data_time: 0.044, memory: 19865, loss_cls: 0.2871, loss_bbox: 0.4744, loss_traj: 0.8997, loss_traj_cls: 0.0029, loss_map_cls: 0.2429, loss_map_pts: 1.1125, loss_map_dir: 0.0176, d0.loss_plan_l1_fix_time: 2.7712, d0.loss_plan_l1_fix_dist: 0.4219, d1.loss_plan_l1_fix_time: 1.6292, d1.loss_plan_l1_fix_dist: 0.2317, d2.loss_plan_l1_fix_time: 1.6112, d2.loss_plan_l1_fix_dist: 0.2444, d3.loss_plan_l1_fix_time: 1.6128, d3.loss_plan_l1_fix_dist: 0.2617, d4.loss_plan_l1_fix_time: 1.6164, d4.loss_plan_l1_fix_dist: 0.2849, d5.loss_plan_l1_fix_time: 1.6215, d5.loss_plan_l1_fix_dist: 0.3100, d6.loss_plan_l1_fix_time: 1.6283, d6.loss_plan_l1_fix_dist: 0.3357, d0.loss_cls_all: 0.3020, d0.loss_bbox_all: 0.5273, d0.loss_cls: 0.3020, d0.loss_bbox: 0.5273, d1.loss_cls: 0.2906, d1.loss_bbox: 0.5018, d2.loss_cls: 0.2892, d2.loss_bbox: 0.4851, d3.loss_cls: 0.2865, d3.loss_bbox: 0.4791, d4.loss_cls: 0.2867, d4.loss_bbox: 0.4732, d5.loss_cls: 0.2878, d5.loss_bbox: 0.4728, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1373, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9664, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9222, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9032, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8987, d5.loss_traj_cls: 0.0026, d5.loss_traj: 0.8967, d0.loss_map_cls_all: 0.2922, d0.loss_map_pts_all: 2.1053, d0.loss_map_dir_all: 0.0168, d0.loss_map_cls: 0.2922, d0.loss_map_pts: 2.1053, d0.loss_map_dir: 0.0168, d1.loss_map_cls: 0.2732, d1.loss_map_pts: 1.3915, d1.loss_map_dir: 0.0163, d2.loss_map_cls: 0.2584, d2.loss_map_pts: 1.2049, d2.loss_map_dir: 0.0166, d3.loss_map_cls: 0.2504, d3.loss_map_pts: 1.1405, d3.loss_map_dir: 0.0171, d4.loss_map_cls: 0.2447, d4.loss_map_pts: 1.1221, d4.loss_map_dir: 0.0173, d5.loss_map_cls: 0.2425, d5.loss_map_pts: 1.1144, d5.loss_map_dir: 0.0175, loss: 41.0165, grad_norm: 144.1096 +2026-02-25 05:30:11,286 - DriveTransformer - INFO - Epoch [4][3750/39528] lr: 9.623e-05, eta: 7 days, 15:53:29, time: 0.809, data_time: 0.045, memory: 19865, loss_cls: 0.2896, loss_bbox: 0.4850, loss_traj: 1.1018, loss_traj_cls: 0.0029, loss_map_cls: 0.2447, loss_map_pts: 1.0181, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.9100, d0.loss_plan_l1_fix_dist: 0.4377, d1.loss_plan_l1_fix_time: 1.6842, d1.loss_plan_l1_fix_dist: 0.2700, d2.loss_plan_l1_fix_time: 1.6695, d2.loss_plan_l1_fix_dist: 0.2812, d3.loss_plan_l1_fix_time: 1.6729, d3.loss_plan_l1_fix_dist: 0.3003, d4.loss_plan_l1_fix_time: 1.6758, d4.loss_plan_l1_fix_dist: 0.3238, d5.loss_plan_l1_fix_time: 1.6789, d5.loss_plan_l1_fix_dist: 0.3503, d6.loss_plan_l1_fix_time: 1.6831, d6.loss_plan_l1_fix_dist: 0.3799, d0.loss_cls_all: 0.3013, d0.loss_bbox_all: 0.5303, d0.loss_cls: 0.3013, d0.loss_bbox: 0.5303, d1.loss_cls: 0.2977, d1.loss_bbox: 0.4986, d2.loss_cls: 0.2949, d2.loss_bbox: 0.4893, d3.loss_cls: 0.2910, d3.loss_bbox: 0.4838, d4.loss_cls: 0.2880, d4.loss_bbox: 0.4814, d5.loss_cls: 0.2894, d5.loss_bbox: 0.4816, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3100, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.1530, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1191, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1173, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1012, d5.loss_traj_cls: 0.0027, d5.loss_traj: 1.1000, d0.loss_map_cls_all: 0.3045, d0.loss_map_pts_all: 1.7496, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.3045, d0.loss_map_pts: 1.7496, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2780, d1.loss_map_pts: 1.2493, d1.loss_map_dir: 0.0126, d2.loss_map_cls: 0.2613, d2.loss_map_pts: 1.1120, d2.loss_map_dir: 0.0127, d3.loss_map_cls: 0.2543, d3.loss_map_pts: 1.0494, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2485, d4.loss_map_pts: 1.0267, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.2467, d5.loss_map_pts: 1.0187, d5.loss_map_dir: 0.0136, loss: 41.8841, grad_norm: 145.1100 +2026-02-25 05:30:51,309 - DriveTransformer - INFO - Epoch [4][3800/39528] lr: 9.623e-05, eta: 7 days, 15:52:49, time: 0.800, data_time: 0.040, memory: 19865, loss_cls: 0.2822, loss_bbox: 0.4696, loss_traj: 0.8583, loss_traj_cls: 0.0029, loss_map_cls: 0.2129, loss_map_pts: 0.9460, loss_map_dir: 0.0145, d0.loss_plan_l1_fix_time: 2.7232, d0.loss_plan_l1_fix_dist: 0.3526, d1.loss_plan_l1_fix_time: 1.4603, d1.loss_plan_l1_fix_dist: 0.2080, d2.loss_plan_l1_fix_time: 1.4443, d2.loss_plan_l1_fix_dist: 0.2233, d3.loss_plan_l1_fix_time: 1.4475, d3.loss_plan_l1_fix_dist: 0.2449, d4.loss_plan_l1_fix_time: 1.4514, d4.loss_plan_l1_fix_dist: 0.2680, d5.loss_plan_l1_fix_time: 1.4549, d5.loss_plan_l1_fix_dist: 0.2928, d6.loss_plan_l1_fix_time: 1.4585, d6.loss_plan_l1_fix_dist: 0.3225, d0.loss_cls_all: 0.3059, d0.loss_bbox_all: 0.5144, d0.loss_cls: 0.3059, d0.loss_bbox: 0.5144, d1.loss_cls: 0.3022, d1.loss_bbox: 0.4844, d2.loss_cls: 0.2910, d2.loss_bbox: 0.4697, d3.loss_cls: 0.2881, d3.loss_bbox: 0.4640, d4.loss_cls: 0.2829, d4.loss_bbox: 0.4629, d5.loss_cls: 0.2815, d5.loss_bbox: 0.4658, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0109, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8807, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8626, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8637, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8562, d5.loss_traj_cls: 0.0027, d5.loss_traj: 0.8558, d0.loss_map_cls_all: 0.2646, d0.loss_map_pts_all: 1.7914, d0.loss_map_dir_all: 0.0136, d0.loss_map_cls: 0.2646, d0.loss_map_pts: 1.7914, d0.loss_map_dir: 0.0136, d1.loss_map_cls: 0.2409, d1.loss_map_pts: 1.1855, d1.loss_map_dir: 0.0133, d2.loss_map_cls: 0.2272, d2.loss_map_pts: 1.0218, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2178, d3.loss_map_pts: 0.9677, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.2129, d4.loss_map_pts: 0.9486, d4.loss_map_dir: 0.0143, d5.loss_map_cls: 0.2119, d5.loss_map_pts: 0.9463, d5.loss_map_dir: 0.0145, loss: 37.2993, grad_norm: 145.5574 +2026-02-25 05:31:29,094 - DriveTransformer - INFO - Epoch [4][3850/39528] lr: 9.623e-05, eta: 7 days, 15:51:54, time: 0.756, data_time: 0.045, memory: 19865, loss_cls: 0.2982, loss_bbox: 0.5167, loss_traj: 1.1884, loss_traj_cls: 0.0029, loss_map_cls: 0.2777, loss_map_pts: 1.1547, loss_map_dir: 0.0175, d0.loss_plan_l1_fix_time: 2.6858, d0.loss_plan_l1_fix_dist: 0.3842, d1.loss_plan_l1_fix_time: 1.7299, d1.loss_plan_l1_fix_dist: 0.2849, d2.loss_plan_l1_fix_time: 1.7047, d2.loss_plan_l1_fix_dist: 0.3036, d3.loss_plan_l1_fix_time: 1.7050, d3.loss_plan_l1_fix_dist: 0.3288, d4.loss_plan_l1_fix_time: 1.7076, d4.loss_plan_l1_fix_dist: 0.3589, d5.loss_plan_l1_fix_time: 1.7105, d5.loss_plan_l1_fix_dist: 0.3913, d6.loss_plan_l1_fix_time: 1.7139, d6.loss_plan_l1_fix_dist: 0.4240, d0.loss_cls_all: 0.3173, d0.loss_bbox_all: 0.5595, d0.loss_cls: 0.3173, d0.loss_bbox: 0.5595, d1.loss_cls: 0.3090, d1.loss_bbox: 0.5332, d2.loss_cls: 0.3015, d2.loss_bbox: 0.5217, d3.loss_cls: 0.3011, d3.loss_bbox: 0.5155, d4.loss_cls: 0.2985, d4.loss_bbox: 0.5129, d5.loss_cls: 0.2976, d5.loss_bbox: 0.5145, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3405, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.2207, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.2090, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2061, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.2003, d5.loss_traj_cls: 0.0027, d5.loss_traj: 1.1941, d0.loss_map_cls_all: 0.3516, d0.loss_map_pts_all: 2.0698, d0.loss_map_dir_all: 0.0168, d0.loss_map_cls: 0.3516, d0.loss_map_pts: 2.0698, d0.loss_map_dir: 0.0168, d1.loss_map_cls: 0.3230, d1.loss_map_pts: 1.3919, d1.loss_map_dir: 0.0166, d2.loss_map_cls: 0.2969, d2.loss_map_pts: 1.2298, d2.loss_map_dir: 0.0167, d3.loss_map_cls: 0.2861, d3.loss_map_pts: 1.1718, d3.loss_map_dir: 0.0170, d4.loss_map_cls: 0.2796, d4.loss_map_pts: 1.1582, d4.loss_map_dir: 0.0172, d5.loss_map_cls: 0.2781, d5.loss_map_pts: 1.1547, d5.loss_map_dir: 0.0174, loss: 44.6578, grad_norm: 147.0518 +2026-02-25 05:32:09,186 - DriveTransformer - INFO - Epoch [4][3900/39528] lr: 9.623e-05, eta: 7 days, 15:51:14, time: 0.802, data_time: 0.039, memory: 19865, loss_cls: 0.3030, loss_bbox: 0.4666, loss_traj: 0.8083, loss_traj_cls: 0.0029, loss_map_cls: 0.2432, loss_map_pts: 1.0017, loss_map_dir: 0.0188, d0.loss_plan_l1_fix_time: 2.9751, d0.loss_plan_l1_fix_dist: 0.4663, d1.loss_plan_l1_fix_time: 1.5788, d1.loss_plan_l1_fix_dist: 0.2840, d2.loss_plan_l1_fix_time: 1.5716, d2.loss_plan_l1_fix_dist: 0.2922, d3.loss_plan_l1_fix_time: 1.5744, d3.loss_plan_l1_fix_dist: 0.3083, d4.loss_plan_l1_fix_time: 1.5775, d4.loss_plan_l1_fix_dist: 0.3286, d5.loss_plan_l1_fix_time: 1.5808, d5.loss_plan_l1_fix_dist: 0.3498, d6.loss_plan_l1_fix_time: 1.5843, d6.loss_plan_l1_fix_dist: 0.3700, d0.loss_cls_all: 0.3294, d0.loss_bbox_all: 0.5060, d0.loss_cls: 0.3294, d0.loss_bbox: 0.5060, d1.loss_cls: 0.3187, d1.loss_bbox: 0.4804, d2.loss_cls: 0.3110, d2.loss_bbox: 0.4678, d3.loss_cls: 0.3100, d3.loss_bbox: 0.4606, d4.loss_cls: 0.3034, d4.loss_bbox: 0.4620, d5.loss_cls: 0.3024, d5.loss_bbox: 0.4629, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0025, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8457, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8134, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8095, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8065, d5.loss_traj_cls: 0.0027, d5.loss_traj: 0.8070, d0.loss_map_cls_all: 0.2905, d0.loss_map_pts_all: 1.8705, d0.loss_map_dir_all: 0.0176, d0.loss_map_cls: 0.2905, d0.loss_map_pts: 1.8705, d0.loss_map_dir: 0.0176, d1.loss_map_cls: 0.2682, d1.loss_map_pts: 1.2530, d1.loss_map_dir: 0.0175, d2.loss_map_cls: 0.2532, d2.loss_map_pts: 1.0885, d2.loss_map_dir: 0.0177, d3.loss_map_cls: 0.2477, d3.loss_map_pts: 1.0255, d3.loss_map_dir: 0.0183, d4.loss_map_cls: 0.2439, d4.loss_map_pts: 1.0083, d4.loss_map_dir: 0.0187, d5.loss_map_cls: 0.2441, d5.loss_map_pts: 1.0037, d5.loss_map_dir: 0.0188, loss: 39.4123, grad_norm: 146.9140 +2026-02-25 05:32:50,621 - DriveTransformer - INFO - Epoch [4][3950/39528] lr: 9.623e-05, eta: 7 days, 15:50:43, time: 0.829, data_time: 0.041, memory: 19865, loss_cls: 0.2892, loss_bbox: 0.4839, loss_traj: 1.0582, loss_traj_cls: 0.0029, loss_map_cls: 0.2368, loss_map_pts: 1.1952, loss_map_dir: 0.0172, d0.loss_plan_l1_fix_time: 2.3338, d0.loss_plan_l1_fix_dist: 0.4306, d1.loss_plan_l1_fix_time: 1.4140, d1.loss_plan_l1_fix_dist: 0.2618, d2.loss_plan_l1_fix_time: 1.3945, d2.loss_plan_l1_fix_dist: 0.2820, d3.loss_plan_l1_fix_time: 1.3970, d3.loss_plan_l1_fix_dist: 0.3069, d4.loss_plan_l1_fix_time: 1.4016, d4.loss_plan_l1_fix_dist: 0.3335, d5.loss_plan_l1_fix_time: 1.4069, d5.loss_plan_l1_fix_dist: 0.3612, d6.loss_plan_l1_fix_time: 1.4128, d6.loss_plan_l1_fix_dist: 0.3933, d0.loss_cls_all: 0.3002, d0.loss_bbox_all: 0.5261, d0.loss_cls: 0.3002, d0.loss_bbox: 0.5261, d1.loss_cls: 0.2948, d1.loss_bbox: 0.5006, d2.loss_cls: 0.2899, d2.loss_bbox: 0.4885, d3.loss_cls: 0.2889, d3.loss_bbox: 0.4836, d4.loss_cls: 0.2858, d4.loss_bbox: 0.4820, d5.loss_cls: 0.2884, d5.loss_bbox: 0.4818, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2469, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.1005, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0586, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0515, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0510, d5.loss_traj_cls: 0.0026, d5.loss_traj: 1.0534, d0.loss_map_cls_all: 0.3029, d0.loss_map_pts_all: 2.0253, d0.loss_map_dir_all: 0.0157, d0.loss_map_cls: 0.3029, d0.loss_map_pts: 2.0253, d0.loss_map_dir: 0.0157, d1.loss_map_cls: 0.2700, d1.loss_map_pts: 1.4643, d1.loss_map_dir: 0.0154, d2.loss_map_cls: 0.2550, d2.loss_map_pts: 1.2845, d2.loss_map_dir: 0.0159, d3.loss_map_cls: 0.2472, d3.loss_map_pts: 1.2235, d3.loss_map_dir: 0.0166, d4.loss_map_cls: 0.2416, d4.loss_map_pts: 1.2034, d4.loss_map_dir: 0.0168, d5.loss_map_cls: 0.2393, d5.loss_map_pts: 1.1931, d5.loss_map_dir: 0.0170, loss: 40.9102, grad_norm: 147.7131 +2026-02-25 05:33:32,133 - DriveTransformer - INFO - Epoch [4][4000/39528] lr: 9.623e-05, eta: 7 days, 15:50:13, time: 0.830, data_time: 0.041, memory: 19865, loss_cls: 0.3073, loss_bbox: 0.4806, loss_traj: 0.8869, loss_traj_cls: 0.0028, loss_map_cls: 0.2474, loss_map_pts: 1.0742, loss_map_dir: 0.0193, d0.loss_plan_l1_fix_time: 2.7300, d0.loss_plan_l1_fix_dist: 0.5390, d1.loss_plan_l1_fix_time: 1.5535, d1.loss_plan_l1_fix_dist: 0.2774, d2.loss_plan_l1_fix_time: 1.5464, d2.loss_plan_l1_fix_dist: 0.2867, d3.loss_plan_l1_fix_time: 1.5506, d3.loss_plan_l1_fix_dist: 0.3042, d4.loss_plan_l1_fix_time: 1.5558, d4.loss_plan_l1_fix_dist: 0.3264, d5.loss_plan_l1_fix_time: 1.5609, d5.loss_plan_l1_fix_dist: 0.3510, d6.loss_plan_l1_fix_time: 1.5667, d6.loss_plan_l1_fix_dist: 0.3801, d0.loss_cls_all: 0.3264, d0.loss_bbox_all: 0.5264, d0.loss_cls: 0.3264, d0.loss_bbox: 0.5264, d1.loss_cls: 0.3163, d1.loss_bbox: 0.5002, d2.loss_cls: 0.3115, d2.loss_bbox: 0.4867, d3.loss_cls: 0.3103, d3.loss_bbox: 0.4811, d4.loss_cls: 0.3092, d4.loss_bbox: 0.4793, d5.loss_cls: 0.3076, d5.loss_bbox: 0.4796, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0600, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9214, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8914, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8854, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8762, d5.loss_traj_cls: 0.0026, d5.loss_traj: 0.8816, d0.loss_map_cls_all: 0.2869, d0.loss_map_pts_all: 2.0024, d0.loss_map_dir_all: 0.0178, d0.loss_map_cls: 0.2869, d0.loss_map_pts: 2.0024, d0.loss_map_dir: 0.0178, d1.loss_map_cls: 0.2692, d1.loss_map_pts: 1.3359, d1.loss_map_dir: 0.0177, d2.loss_map_cls: 0.2578, d2.loss_map_pts: 1.1640, d2.loss_map_dir: 0.0180, d3.loss_map_cls: 0.2538, d3.loss_map_pts: 1.1022, d3.loss_map_dir: 0.0186, d4.loss_map_cls: 0.2510, d4.loss_map_pts: 1.0838, d4.loss_map_dir: 0.0189, d5.loss_map_cls: 0.2486, d5.loss_map_pts: 1.0768, d5.loss_map_dir: 0.0190, loss: 40.5075, grad_norm: 147.5616 +2026-02-25 05:34:12,101 - DriveTransformer - INFO - Epoch [4][4050/39528] lr: 9.623e-05, eta: 7 days, 15:49:32, time: 0.799, data_time: 0.042, memory: 19865, loss_cls: 0.2741, loss_bbox: 0.4906, loss_traj: 1.0474, loss_traj_cls: 0.0029, loss_map_cls: 0.2228, loss_map_pts: 1.0588, loss_map_dir: 0.0163, d0.loss_plan_l1_fix_time: 2.9323, d0.loss_plan_l1_fix_dist: 0.5172, d1.loss_plan_l1_fix_time: 1.6059, d1.loss_plan_l1_fix_dist: 0.2450, d2.loss_plan_l1_fix_time: 1.5870, d2.loss_plan_l1_fix_dist: 0.2550, d3.loss_plan_l1_fix_time: 1.5862, d3.loss_plan_l1_fix_dist: 0.2736, d4.loss_plan_l1_fix_time: 1.5883, d4.loss_plan_l1_fix_dist: 0.2947, d5.loss_plan_l1_fix_time: 1.5915, d5.loss_plan_l1_fix_dist: 0.3165, d6.loss_plan_l1_fix_time: 1.5953, d6.loss_plan_l1_fix_dist: 0.3373, d0.loss_cls_all: 0.2913, d0.loss_bbox_all: 0.5480, d0.loss_cls: 0.2913, d0.loss_bbox: 0.5480, d1.loss_cls: 0.2831, d1.loss_bbox: 0.5166, d2.loss_cls: 0.2788, d2.loss_bbox: 0.5016, d3.loss_cls: 0.2768, d3.loss_bbox: 0.4964, d4.loss_cls: 0.2745, d4.loss_bbox: 0.4926, d5.loss_cls: 0.2740, d5.loss_bbox: 0.4919, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1913, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0825, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0498, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0441, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0407, d5.loss_traj_cls: 0.0027, d5.loss_traj: 1.0429, d0.loss_map_cls_all: 0.2759, d0.loss_map_pts_all: 1.8438, d0.loss_map_dir_all: 0.0146, d0.loss_map_cls: 0.2759, d0.loss_map_pts: 1.8438, d0.loss_map_dir: 0.0146, d1.loss_map_cls: 0.2537, d1.loss_map_pts: 1.2923, d1.loss_map_dir: 0.0149, d2.loss_map_cls: 0.2377, d2.loss_map_pts: 1.1442, d2.loss_map_dir: 0.0154, d3.loss_map_cls: 0.2294, d3.loss_map_pts: 1.0854, d3.loss_map_dir: 0.0158, d4.loss_map_cls: 0.2260, d4.loss_map_pts: 1.0664, d4.loss_map_dir: 0.0160, d5.loss_map_cls: 0.2234, d5.loss_map_pts: 1.0623, d5.loss_map_dir: 0.0161, loss: 41.0294, grad_norm: 147.4608 +2026-02-25 05:34:51,932 - DriveTransformer - INFO - Epoch [4][4100/39528] lr: 9.623e-05, eta: 7 days, 15:48:51, time: 0.797, data_time: 0.044, memory: 19865, loss_cls: 0.3058, loss_bbox: 0.4855, loss_traj: 0.9640, loss_traj_cls: 0.0028, loss_map_cls: 0.2563, loss_map_pts: 1.1044, loss_map_dir: 0.0172, d0.loss_plan_l1_fix_time: 2.2488, d0.loss_plan_l1_fix_dist: 0.4437, d1.loss_plan_l1_fix_time: 1.5017, d1.loss_plan_l1_fix_dist: 0.2382, d2.loss_plan_l1_fix_time: 1.4903, d2.loss_plan_l1_fix_dist: 0.2487, d3.loss_plan_l1_fix_time: 1.4920, d3.loss_plan_l1_fix_dist: 0.2673, d4.loss_plan_l1_fix_time: 1.4957, d4.loss_plan_l1_fix_dist: 0.2902, d5.loss_plan_l1_fix_time: 1.5005, d5.loss_plan_l1_fix_dist: 0.3154, d6.loss_plan_l1_fix_time: 1.5070, d6.loss_plan_l1_fix_dist: 0.3426, d0.loss_cls_all: 0.3269, d0.loss_bbox_all: 0.5402, d0.loss_cls: 0.3269, d0.loss_bbox: 0.5402, d1.loss_cls: 0.3190, d1.loss_bbox: 0.5120, d2.loss_cls: 0.3112, d2.loss_bbox: 0.4979, d3.loss_cls: 0.3073, d3.loss_bbox: 0.4919, d4.loss_cls: 0.3037, d4.loss_bbox: 0.4878, d5.loss_cls: 0.3041, d5.loss_bbox: 0.4858, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1713, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0055, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9692, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9575, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9544, d5.loss_traj_cls: 0.0026, d5.loss_traj: 0.9581, d0.loss_map_cls_all: 0.3018, d0.loss_map_pts_all: 1.9624, d0.loss_map_dir_all: 0.0157, d0.loss_map_cls: 0.3018, d0.loss_map_pts: 1.9624, d0.loss_map_dir: 0.0157, d1.loss_map_cls: 0.2803, d1.loss_map_pts: 1.3828, d1.loss_map_dir: 0.0153, d2.loss_map_cls: 0.2701, d2.loss_map_pts: 1.2052, d2.loss_map_dir: 0.0159, d3.loss_map_cls: 0.2642, d3.loss_map_pts: 1.1444, d3.loss_map_dir: 0.0166, d4.loss_map_cls: 0.2589, d4.loss_map_pts: 1.1151, d4.loss_map_dir: 0.0168, d5.loss_map_cls: 0.2577, d5.loss_map_pts: 1.1052, d5.loss_map_dir: 0.0170, loss: 40.2211, grad_norm: 148.6930 +2026-02-25 05:35:33,103 - DriveTransformer - INFO - Epoch [4][4150/39528] lr: 9.623e-05, eta: 7 days, 15:48:18, time: 0.823, data_time: 0.042, memory: 19865, loss_cls: 0.2953, loss_bbox: 0.4521, loss_traj: 0.8651, loss_traj_cls: 0.0029, loss_map_cls: 0.2342, loss_map_pts: 0.9861, loss_map_dir: 0.0180, d0.loss_plan_l1_fix_time: 2.6601, d0.loss_plan_l1_fix_dist: 0.4924, d1.loss_plan_l1_fix_time: 1.4783, d1.loss_plan_l1_fix_dist: 0.2783, d2.loss_plan_l1_fix_time: 1.4457, d2.loss_plan_l1_fix_dist: 0.2895, d3.loss_plan_l1_fix_time: 1.4430, d3.loss_plan_l1_fix_dist: 0.3014, d4.loss_plan_l1_fix_time: 1.4450, d4.loss_plan_l1_fix_dist: 0.3158, d5.loss_plan_l1_fix_time: 1.4479, d5.loss_plan_l1_fix_dist: 0.3304, d6.loss_plan_l1_fix_time: 1.4516, d6.loss_plan_l1_fix_dist: 0.3446, d0.loss_cls_all: 0.3221, d0.loss_bbox_all: 0.4909, d0.loss_cls: 0.3221, d0.loss_bbox: 0.4909, d1.loss_cls: 0.3151, d1.loss_bbox: 0.4655, d2.loss_cls: 0.3062, d2.loss_bbox: 0.4534, d3.loss_cls: 0.3001, d3.loss_bbox: 0.4490, d4.loss_cls: 0.2969, d4.loss_bbox: 0.4485, d5.loss_cls: 0.2974, d5.loss_bbox: 0.4489, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9861, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8995, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8791, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8757, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8709, d5.loss_traj_cls: 0.0025, d5.loss_traj: 0.8702, d0.loss_map_cls_all: 0.2861, d0.loss_map_pts_all: 1.9278, d0.loss_map_dir_all: 0.0168, d0.loss_map_cls: 0.2861, d0.loss_map_pts: 1.9278, d0.loss_map_dir: 0.0168, d1.loss_map_cls: 0.2620, d1.loss_map_pts: 1.2226, d1.loss_map_dir: 0.0165, d2.loss_map_cls: 0.2469, d2.loss_map_pts: 1.0638, d2.loss_map_dir: 0.0169, d3.loss_map_cls: 0.2382, d3.loss_map_pts: 1.0084, d3.loss_map_dir: 0.0173, d4.loss_map_cls: 0.2356, d4.loss_map_pts: 0.9910, d4.loss_map_dir: 0.0177, d5.loss_map_cls: 0.2341, d5.loss_map_pts: 0.9876, d5.loss_map_dir: 0.0179, loss: 38.4106, grad_norm: 146.5993 +2026-02-25 05:36:13,660 - DriveTransformer - INFO - Epoch [4][4200/39528] lr: 9.623e-05, eta: 7 days, 15:47:42, time: 0.813, data_time: 0.042, memory: 19865, loss_cls: 0.3038, loss_bbox: 0.5093, loss_traj: 0.9946, loss_traj_cls: 0.0028, loss_map_cls: 0.2603, loss_map_pts: 1.1038, loss_map_dir: 0.0166, d0.loss_plan_l1_fix_time: 2.6701, d0.loss_plan_l1_fix_dist: 0.4016, d1.loss_plan_l1_fix_time: 1.5512, d1.loss_plan_l1_fix_dist: 0.2537, d2.loss_plan_l1_fix_time: 1.5298, d2.loss_plan_l1_fix_dist: 0.2614, d3.loss_plan_l1_fix_time: 1.5312, d3.loss_plan_l1_fix_dist: 0.2724, d4.loss_plan_l1_fix_time: 1.5349, d4.loss_plan_l1_fix_dist: 0.2882, d5.loss_plan_l1_fix_time: 1.5386, d5.loss_plan_l1_fix_dist: 0.3066, d6.loss_plan_l1_fix_time: 1.5429, d6.loss_plan_l1_fix_dist: 0.3270, d0.loss_cls_all: 0.3222, d0.loss_bbox_all: 0.5620, d0.loss_cls: 0.3222, d0.loss_bbox: 0.5620, d1.loss_cls: 0.3174, d1.loss_bbox: 0.5311, d2.loss_cls: 0.3109, d2.loss_bbox: 0.5206, d3.loss_cls: 0.3072, d3.loss_bbox: 0.5131, d4.loss_cls: 0.3065, d4.loss_bbox: 0.5094, d5.loss_cls: 0.3058, d5.loss_bbox: 0.5083, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1574, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0357, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9895, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9898, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9924, d5.loss_traj_cls: 0.0024, d5.loss_traj: 0.9932, d0.loss_map_cls_all: 0.3110, d0.loss_map_pts_all: 1.9799, d0.loss_map_dir_all: 0.0148, d0.loss_map_cls: 0.3110, d0.loss_map_pts: 1.9799, d0.loss_map_dir: 0.0148, d1.loss_map_cls: 0.2930, d1.loss_map_pts: 1.3669, d1.loss_map_dir: 0.0149, d2.loss_map_cls: 0.2787, d2.loss_map_pts: 1.1972, d2.loss_map_dir: 0.0155, d3.loss_map_cls: 0.2669, d3.loss_map_pts: 1.1353, d3.loss_map_dir: 0.0161, d4.loss_map_cls: 0.2635, d4.loss_map_pts: 1.1106, d4.loss_map_dir: 0.0163, d5.loss_map_cls: 0.2616, d5.loss_map_pts: 1.1049, d5.loss_map_dir: 0.0164, loss: 41.2336, grad_norm: 148.8893 +2026-02-25 05:36:54,562 - DriveTransformer - INFO - Epoch [4][4250/39528] lr: 9.623e-05, eta: 7 days, 15:47:07, time: 0.817, data_time: 0.043, memory: 19865, loss_cls: 0.3199, loss_bbox: 0.5095, loss_traj: 0.9476, loss_traj_cls: 0.0028, loss_map_cls: 0.2760, loss_map_pts: 1.2884, loss_map_dir: 0.0190, d0.loss_plan_l1_fix_time: 2.4703, d0.loss_plan_l1_fix_dist: 0.4372, d1.loss_plan_l1_fix_time: 1.5668, d1.loss_plan_l1_fix_dist: 0.2413, d2.loss_plan_l1_fix_time: 1.5353, d2.loss_plan_l1_fix_dist: 0.2497, d3.loss_plan_l1_fix_time: 1.5323, d3.loss_plan_l1_fix_dist: 0.2638, d4.loss_plan_l1_fix_time: 1.5347, d4.loss_plan_l1_fix_dist: 0.2795, d5.loss_plan_l1_fix_time: 1.5378, d5.loss_plan_l1_fix_dist: 0.2981, d6.loss_plan_l1_fix_time: 1.5417, d6.loss_plan_l1_fix_dist: 0.3211, d0.loss_cls_all: 0.3367, d0.loss_bbox_all: 0.5504, d0.loss_cls: 0.3367, d0.loss_bbox: 0.5504, d1.loss_cls: 0.3248, d1.loss_bbox: 0.5254, d2.loss_cls: 0.3233, d2.loss_bbox: 0.5109, d3.loss_cls: 0.3200, d3.loss_bbox: 0.5063, d4.loss_cls: 0.3191, d4.loss_bbox: 0.5047, d5.loss_cls: 0.3176, d5.loss_bbox: 0.5053, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0945, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9775, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9499, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.9387, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9417, d5.loss_traj_cls: 0.0024, d5.loss_traj: 0.9439, d0.loss_map_cls_all: 0.3346, d0.loss_map_pts_all: 2.2810, d0.loss_map_dir_all: 0.0175, d0.loss_map_cls: 0.3346, d0.loss_map_pts: 2.2810, d0.loss_map_dir: 0.0175, d1.loss_map_cls: 0.3068, d1.loss_map_pts: 1.5649, d1.loss_map_dir: 0.0172, d2.loss_map_cls: 0.2913, d2.loss_map_pts: 1.3876, d2.loss_map_dir: 0.0178, d3.loss_map_cls: 0.2818, d3.loss_map_pts: 1.3217, d3.loss_map_dir: 0.0182, d4.loss_map_cls: 0.2776, d4.loss_map_pts: 1.2985, d4.loss_map_dir: 0.0186, d5.loss_map_cls: 0.2769, d5.loss_map_pts: 1.2912, d5.loss_map_dir: 0.0188, loss: 42.6119, grad_norm: 148.0171 +2026-02-25 05:37:35,725 - DriveTransformer - INFO - Epoch [4][4300/39528] lr: 9.623e-05, eta: 7 days, 15:46:34, time: 0.823, data_time: 0.045, memory: 19865, loss_cls: 0.3127, loss_bbox: 0.5001, loss_traj: 0.9809, loss_traj_cls: 0.0028, loss_map_cls: 0.2287, loss_map_pts: 1.0583, loss_map_dir: 0.0171, d0.loss_plan_l1_fix_time: 2.8610, d0.loss_plan_l1_fix_dist: 0.4453, d1.loss_plan_l1_fix_time: 1.6069, d1.loss_plan_l1_fix_dist: 0.2527, d2.loss_plan_l1_fix_time: 1.5829, d2.loss_plan_l1_fix_dist: 0.2552, d3.loss_plan_l1_fix_time: 1.5803, d3.loss_plan_l1_fix_dist: 0.2653, d4.loss_plan_l1_fix_time: 1.5818, d4.loss_plan_l1_fix_dist: 0.2805, d5.loss_plan_l1_fix_time: 1.5845, d5.loss_plan_l1_fix_dist: 0.2960, d6.loss_plan_l1_fix_time: 1.5878, d6.loss_plan_l1_fix_dist: 0.3112, d0.loss_cls_all: 0.3256, d0.loss_bbox_all: 0.5417, d0.loss_cls: 0.3256, d0.loss_bbox: 0.5417, d1.loss_cls: 0.3180, d1.loss_bbox: 0.5155, d2.loss_cls: 0.3108, d2.loss_bbox: 0.5045, d3.loss_cls: 0.3115, d3.loss_bbox: 0.4981, d4.loss_cls: 0.3094, d4.loss_bbox: 0.4979, d5.loss_cls: 0.3106, d5.loss_bbox: 0.4978, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2075, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0408, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9970, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.9835, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9779, d5.loss_traj_cls: 0.0024, d5.loss_traj: 0.9772, d0.loss_map_cls_all: 0.2762, d0.loss_map_pts_all: 1.9030, d0.loss_map_dir_all: 0.0155, d0.loss_map_cls: 0.2762, d0.loss_map_pts: 1.9030, d0.loss_map_dir: 0.0155, d1.loss_map_cls: 0.2539, d1.loss_map_pts: 1.2986, d1.loss_map_dir: 0.0154, d2.loss_map_cls: 0.2378, d2.loss_map_pts: 1.1383, d2.loss_map_dir: 0.0159, d3.loss_map_cls: 0.2318, d3.loss_map_pts: 1.0831, d3.loss_map_dir: 0.0165, d4.loss_map_cls: 0.2286, d4.loss_map_pts: 1.0635, d4.loss_map_dir: 0.0167, d5.loss_map_cls: 0.2293, d5.loss_map_pts: 1.0591, d5.loss_map_dir: 0.0169, loss: 40.8860, grad_norm: 147.5378 +2026-02-25 05:38:15,789 - DriveTransformer - INFO - Epoch [4][4350/39528] lr: 9.623e-05, eta: 7 days, 15:45:54, time: 0.801, data_time: 0.041, memory: 19865, loss_cls: 0.2894, loss_bbox: 0.4600, loss_traj: 1.1108, loss_traj_cls: 0.0028, loss_map_cls: 0.2528, loss_map_pts: 0.9771, loss_map_dir: 0.0148, d0.loss_plan_l1_fix_time: 2.7275, d0.loss_plan_l1_fix_dist: 0.3730, d1.loss_plan_l1_fix_time: 1.6655, d1.loss_plan_l1_fix_dist: 0.2217, d2.loss_plan_l1_fix_time: 1.6521, d2.loss_plan_l1_fix_dist: 0.2286, d3.loss_plan_l1_fix_time: 1.6513, d3.loss_plan_l1_fix_dist: 0.2408, d4.loss_plan_l1_fix_time: 1.6535, d4.loss_plan_l1_fix_dist: 0.2556, d5.loss_plan_l1_fix_time: 1.6564, d5.loss_plan_l1_fix_dist: 0.2739, d6.loss_plan_l1_fix_time: 1.6602, d6.loss_plan_l1_fix_dist: 0.2925, d0.loss_cls_all: 0.3166, d0.loss_bbox_all: 0.5170, d0.loss_cls: 0.3166, d0.loss_bbox: 0.5170, d1.loss_cls: 0.3110, d1.loss_bbox: 0.4817, d2.loss_cls: 0.2993, d2.loss_bbox: 0.4702, d3.loss_cls: 0.2953, d3.loss_bbox: 0.4630, d4.loss_cls: 0.2888, d4.loss_bbox: 0.4617, d5.loss_cls: 0.2866, d5.loss_bbox: 0.4611, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3787, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.1637, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1239, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1084, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1021, d5.loss_traj_cls: 0.0025, d5.loss_traj: 1.1060, d0.loss_map_cls_all: 0.2975, d0.loss_map_pts_all: 1.6963, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.2975, d0.loss_map_pts: 1.6963, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2810, d1.loss_map_pts: 1.1950, d1.loss_map_dir: 0.0134, d2.loss_map_cls: 0.2683, d2.loss_map_pts: 1.0484, d2.loss_map_dir: 0.0138, d3.loss_map_cls: 0.2589, d3.loss_map_pts: 1.0000, d3.loss_map_dir: 0.0143, d4.loss_map_cls: 0.2552, d4.loss_map_pts: 0.9832, d4.loss_map_dir: 0.0145, d5.loss_map_cls: 0.2529, d5.loss_map_pts: 0.9781, d5.loss_map_dir: 0.0147, loss: 40.7415, grad_norm: 147.9720 +2026-02-25 05:38:56,716 - DriveTransformer - INFO - Epoch [4][4400/39528] lr: 9.623e-05, eta: 7 days, 15:45:20, time: 0.819, data_time: 0.045, memory: 19865, loss_cls: 0.3109, loss_bbox: 0.4824, loss_traj: 0.8538, loss_traj_cls: 0.0028, loss_map_cls: 0.2479, loss_map_pts: 1.0589, loss_map_dir: 0.0169, d0.loss_plan_l1_fix_time: 2.5177, d0.loss_plan_l1_fix_dist: 0.4316, d1.loss_plan_l1_fix_time: 1.5431, d1.loss_plan_l1_fix_dist: 0.2263, d2.loss_plan_l1_fix_time: 1.5412, d2.loss_plan_l1_fix_dist: 0.2360, d3.loss_plan_l1_fix_time: 1.5435, d3.loss_plan_l1_fix_dist: 0.2475, d4.loss_plan_l1_fix_time: 1.5467, d4.loss_plan_l1_fix_dist: 0.2578, d5.loss_plan_l1_fix_time: 1.5503, d5.loss_plan_l1_fix_dist: 0.2694, d6.loss_plan_l1_fix_time: 1.5543, d6.loss_plan_l1_fix_dist: 0.2830, d0.loss_cls_all: 0.3276, d0.loss_bbox_all: 0.5392, d0.loss_cls: 0.3276, d0.loss_bbox: 0.5392, d1.loss_cls: 0.3209, d1.loss_bbox: 0.5044, d2.loss_cls: 0.3162, d2.loss_bbox: 0.4903, d3.loss_cls: 0.3122, d3.loss_bbox: 0.4839, d4.loss_cls: 0.3093, d4.loss_bbox: 0.4819, d5.loss_cls: 0.3111, d5.loss_bbox: 0.4812, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0213, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8901, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8704, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.8577, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8550, d5.loss_traj_cls: 0.0025, d5.loss_traj: 0.8514, d0.loss_map_cls_all: 0.3002, d0.loss_map_pts_all: 1.9618, d0.loss_map_dir_all: 0.0152, d0.loss_map_cls: 0.3002, d0.loss_map_pts: 1.9618, d0.loss_map_dir: 0.0152, d1.loss_map_cls: 0.2816, d1.loss_map_pts: 1.3161, d1.loss_map_dir: 0.0153, d2.loss_map_cls: 0.2682, d2.loss_map_pts: 1.1449, d2.loss_map_dir: 0.0158, d3.loss_map_cls: 0.2562, d3.loss_map_pts: 1.0831, d3.loss_map_dir: 0.0164, d4.loss_map_cls: 0.2499, d4.loss_map_pts: 1.0645, d4.loss_map_dir: 0.0168, d5.loss_map_cls: 0.2485, d5.loss_map_pts: 1.0591, d5.loss_map_dir: 0.0169, loss: 39.4277, grad_norm: 147.8316 +2026-02-25 05:39:38,780 - DriveTransformer - INFO - Epoch [4][4450/39528] lr: 9.623e-05, eta: 7 days, 15:44:53, time: 0.841, data_time: 0.054, memory: 19865, loss_cls: 0.3265, loss_bbox: 0.5107, loss_traj: 0.9397, loss_traj_cls: 0.0028, loss_map_cls: 0.2831, loss_map_pts: 1.2421, loss_map_dir: 0.0171, d0.loss_plan_l1_fix_time: 2.6558, d0.loss_plan_l1_fix_dist: 0.3993, d1.loss_plan_l1_fix_time: 1.6223, d1.loss_plan_l1_fix_dist: 0.2489, d2.loss_plan_l1_fix_time: 1.5897, d2.loss_plan_l1_fix_dist: 0.2555, d3.loss_plan_l1_fix_time: 1.5857, d3.loss_plan_l1_fix_dist: 0.2667, d4.loss_plan_l1_fix_time: 1.5872, d4.loss_plan_l1_fix_dist: 0.2807, d5.loss_plan_l1_fix_time: 1.5904, d5.loss_plan_l1_fix_dist: 0.2955, d6.loss_plan_l1_fix_time: 1.5944, d6.loss_plan_l1_fix_dist: 0.3092, d0.loss_cls_all: 0.3483, d0.loss_bbox_all: 0.5672, d0.loss_cls: 0.3483, d0.loss_bbox: 0.5672, d1.loss_cls: 0.3393, d1.loss_bbox: 0.5363, d2.loss_cls: 0.3346, d2.loss_bbox: 0.5214, d3.loss_cls: 0.3312, d3.loss_bbox: 0.5146, d4.loss_cls: 0.3277, d4.loss_bbox: 0.5122, d5.loss_cls: 0.3270, d5.loss_bbox: 0.5101, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2103, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9848, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9504, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9514, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9428, d5.loss_traj_cls: 0.0025, d5.loss_traj: 0.9381, d0.loss_map_cls_all: 0.3387, d0.loss_map_pts_all: 2.0959, d0.loss_map_dir_all: 0.0151, d0.loss_map_cls: 0.3387, d0.loss_map_pts: 2.0959, d0.loss_map_dir: 0.0151, d1.loss_map_cls: 0.3123, d1.loss_map_pts: 1.4889, d1.loss_map_dir: 0.0153, d2.loss_map_cls: 0.2995, d2.loss_map_pts: 1.3211, d2.loss_map_dir: 0.0157, d3.loss_map_cls: 0.2888, d3.loss_map_pts: 1.2648, d3.loss_map_dir: 0.0165, d4.loss_map_cls: 0.2847, d4.loss_map_pts: 1.2474, d4.loss_map_dir: 0.0168, d5.loss_map_cls: 0.2828, d5.loss_map_pts: 1.2428, d5.loss_map_dir: 0.0169, loss: 42.6866, grad_norm: 147.0216 +2026-02-25 05:40:20,217 - DriveTransformer - INFO - Epoch [4][4500/39528] lr: 9.623e-05, eta: 7 days, 15:44:23, time: 0.829, data_time: 0.043, memory: 19865, loss_cls: 0.3135, loss_bbox: 0.4837, loss_traj: 0.8672, loss_traj_cls: 0.0029, loss_map_cls: 0.2456, loss_map_pts: 1.0877, loss_map_dir: 0.0159, d0.loss_plan_l1_fix_time: 2.5995, d0.loss_plan_l1_fix_dist: 0.4737, d1.loss_plan_l1_fix_time: 1.6222, d1.loss_plan_l1_fix_dist: 0.2729, d2.loss_plan_l1_fix_time: 1.5901, d2.loss_plan_l1_fix_dist: 0.2750, d3.loss_plan_l1_fix_time: 1.5881, d3.loss_plan_l1_fix_dist: 0.2831, d4.loss_plan_l1_fix_time: 1.5902, d4.loss_plan_l1_fix_dist: 0.2934, d5.loss_plan_l1_fix_time: 1.5937, d5.loss_plan_l1_fix_dist: 0.3063, d6.loss_plan_l1_fix_time: 1.5988, d6.loss_plan_l1_fix_dist: 0.3217, d0.loss_cls_all: 0.3351, d0.loss_bbox_all: 0.5383, d0.loss_cls: 0.3351, d0.loss_bbox: 0.5383, d1.loss_cls: 0.3300, d1.loss_bbox: 0.5103, d2.loss_cls: 0.3195, d2.loss_bbox: 0.4954, d3.loss_cls: 0.3166, d3.loss_bbox: 0.4909, d4.loss_cls: 0.3152, d4.loss_bbox: 0.4876, d5.loss_cls: 0.3152, d5.loss_bbox: 0.4855, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0399, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9059, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8793, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8733, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8678, d5.loss_traj_cls: 0.0026, d5.loss_traj: 0.8646, d0.loss_map_cls_all: 0.3131, d0.loss_map_pts_all: 2.0354, d0.loss_map_dir_all: 0.0143, d0.loss_map_cls: 0.3131, d0.loss_map_pts: 2.0354, d0.loss_map_dir: 0.0143, d1.loss_map_cls: 0.2844, d1.loss_map_pts: 1.3878, d1.loss_map_dir: 0.0138, d2.loss_map_cls: 0.2684, d2.loss_map_pts: 1.1984, d2.loss_map_dir: 0.0145, d3.loss_map_cls: 0.2524, d3.loss_map_pts: 1.1262, d3.loss_map_dir: 0.0151, d4.loss_map_cls: 0.2473, d4.loss_map_pts: 1.0977, d4.loss_map_dir: 0.0156, d5.loss_map_cls: 0.2454, d5.loss_map_pts: 1.0899, d5.loss_map_dir: 0.0157, loss: 40.6741, grad_norm: 146.5329 +2026-02-25 05:40:59,495 - DriveTransformer - INFO - Epoch [4][4550/39528] lr: 9.623e-05, eta: 7 days, 15:43:37, time: 0.786, data_time: 0.048, memory: 19865, loss_cls: 0.3175, loss_bbox: 0.4892, loss_traj: 0.9851, loss_traj_cls: 0.0028, loss_map_cls: 0.2631, loss_map_pts: 1.1027, loss_map_dir: 0.0150, d0.loss_plan_l1_fix_time: 2.6198, d0.loss_plan_l1_fix_dist: 0.4957, d1.loss_plan_l1_fix_time: 1.6851, d1.loss_plan_l1_fix_dist: 0.2463, d2.loss_plan_l1_fix_time: 1.6550, d2.loss_plan_l1_fix_dist: 0.2511, d3.loss_plan_l1_fix_time: 1.6563, d3.loss_plan_l1_fix_dist: 0.2602, d4.loss_plan_l1_fix_time: 1.6606, d4.loss_plan_l1_fix_dist: 0.2695, d5.loss_plan_l1_fix_time: 1.6654, d5.loss_plan_l1_fix_dist: 0.2814, d6.loss_plan_l1_fix_time: 1.6709, d6.loss_plan_l1_fix_dist: 0.3007, d0.loss_cls_all: 0.3391, d0.loss_bbox_all: 0.5394, d0.loss_cls: 0.3391, d0.loss_bbox: 0.5394, d1.loss_cls: 0.3316, d1.loss_bbox: 0.5153, d2.loss_cls: 0.3266, d2.loss_bbox: 0.5017, d3.loss_cls: 0.3213, d3.loss_bbox: 0.4974, d4.loss_cls: 0.3175, d4.loss_bbox: 0.4942, d5.loss_cls: 0.3171, d5.loss_bbox: 0.4913, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1732, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0352, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9909, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9881, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9855, d5.loss_traj_cls: 0.0026, d5.loss_traj: 0.9843, d0.loss_map_cls_all: 0.3107, d0.loss_map_pts_all: 1.9286, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.3107, d0.loss_map_pts: 1.9286, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2963, d1.loss_map_pts: 1.3409, d1.loss_map_dir: 0.0133, d2.loss_map_cls: 0.2851, d2.loss_map_pts: 1.1871, d2.loss_map_dir: 0.0138, d3.loss_map_cls: 0.2741, d3.loss_map_pts: 1.1299, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2659, d4.loss_map_pts: 1.1075, d4.loss_map_dir: 0.0148, d5.loss_map_cls: 0.2644, d5.loss_map_pts: 1.1031, d5.loss_map_dir: 0.0149, loss: 41.7595, grad_norm: 147.3166 +2026-02-25 05:41:41,021 - DriveTransformer - INFO - Epoch [4][4600/39528] lr: 9.623e-05, eta: 7 days, 15:43:07, time: 0.831, data_time: 0.042, memory: 19865, loss_cls: 0.3405, loss_bbox: 0.4938, loss_traj: 1.0191, loss_traj_cls: 0.0029, loss_map_cls: 0.2673, loss_map_pts: 1.1469, loss_map_dir: 0.0173, d0.loss_plan_l1_fix_time: 2.9678, d0.loss_plan_l1_fix_dist: 0.3823, d1.loss_plan_l1_fix_time: 1.6950, d1.loss_plan_l1_fix_dist: 0.2351, d2.loss_plan_l1_fix_time: 1.6737, d2.loss_plan_l1_fix_dist: 0.2360, d3.loss_plan_l1_fix_time: 1.6764, d3.loss_plan_l1_fix_dist: 0.2431, d4.loss_plan_l1_fix_time: 1.6797, d4.loss_plan_l1_fix_dist: 0.2542, d5.loss_plan_l1_fix_time: 1.6835, d5.loss_plan_l1_fix_dist: 0.2650, d6.loss_plan_l1_fix_time: 1.6882, d6.loss_plan_l1_fix_dist: 0.2750, d0.loss_cls_all: 0.3593, d0.loss_bbox_all: 0.5347, d0.loss_cls: 0.3593, d0.loss_bbox: 0.5347, d1.loss_cls: 0.3481, d1.loss_bbox: 0.5125, d2.loss_cls: 0.3441, d2.loss_bbox: 0.4980, d3.loss_cls: 0.3414, d3.loss_bbox: 0.4925, d4.loss_cls: 0.3392, d4.loss_bbox: 0.4897, d5.loss_cls: 0.3400, d5.loss_bbox: 0.4907, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1617, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0448, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0229, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0226, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0156, d5.loss_traj_cls: 0.0027, d5.loss_traj: 1.0214, d0.loss_map_cls_all: 0.3205, d0.loss_map_pts_all: 1.9682, d0.loss_map_dir_all: 0.0151, d0.loss_map_cls: 0.3205, d0.loss_map_pts: 1.9682, d0.loss_map_dir: 0.0151, d1.loss_map_cls: 0.2965, d1.loss_map_pts: 1.4106, d1.loss_map_dir: 0.0152, d2.loss_map_cls: 0.2831, d2.loss_map_pts: 1.2427, d2.loss_map_dir: 0.0159, d3.loss_map_cls: 0.2757, d3.loss_map_pts: 1.1786, d3.loss_map_dir: 0.0165, d4.loss_map_cls: 0.2673, d4.loss_map_pts: 1.1565, d4.loss_map_dir: 0.0168, d5.loss_map_cls: 0.2688, d5.loss_map_pts: 1.1495, d5.loss_map_dir: 0.0171, loss: 42.7418, grad_norm: 147.2607 +2026-02-25 05:42:21,163 - DriveTransformer - INFO - Epoch [4][4650/39528] lr: 9.623e-05, eta: 7 days, 15:42:27, time: 0.803, data_time: 0.036, memory: 19865, loss_cls: 0.3105, loss_bbox: 0.4914, loss_traj: 0.9662, loss_traj_cls: 0.0029, loss_map_cls: 0.2580, loss_map_pts: 1.1708, loss_map_dir: 0.0158, d0.loss_plan_l1_fix_time: 2.5735, d0.loss_plan_l1_fix_dist: 0.5253, d1.loss_plan_l1_fix_time: 1.5736, d1.loss_plan_l1_fix_dist: 0.3023, d2.loss_plan_l1_fix_time: 1.5519, d2.loss_plan_l1_fix_dist: 0.3068, d3.loss_plan_l1_fix_time: 1.5518, d3.loss_plan_l1_fix_dist: 0.3140, d4.loss_plan_l1_fix_time: 1.5549, d4.loss_plan_l1_fix_dist: 0.3237, d5.loss_plan_l1_fix_time: 1.5589, d5.loss_plan_l1_fix_dist: 0.3343, d6.loss_plan_l1_fix_time: 1.5633, d6.loss_plan_l1_fix_dist: 0.3459, d0.loss_cls_all: 0.3323, d0.loss_bbox_all: 0.5473, d0.loss_cls: 0.3323, d0.loss_bbox: 0.5473, d1.loss_cls: 0.3274, d1.loss_bbox: 0.5139, d2.loss_cls: 0.3175, d2.loss_bbox: 0.4977, d3.loss_cls: 0.3161, d3.loss_bbox: 0.4906, d4.loss_cls: 0.3122, d4.loss_bbox: 0.4889, d5.loss_cls: 0.3112, d5.loss_bbox: 0.4894, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1151, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0109, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9761, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9671, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9612, d5.loss_traj_cls: 0.0026, d5.loss_traj: 0.9658, d0.loss_map_cls_all: 0.2904, d0.loss_map_pts_all: 1.9994, d0.loss_map_dir_all: 0.0140, d0.loss_map_cls: 0.2904, d0.loss_map_pts: 1.9994, d0.loss_map_dir: 0.0140, d1.loss_map_cls: 0.2785, d1.loss_map_pts: 1.4187, d1.loss_map_dir: 0.0141, d2.loss_map_cls: 0.2685, d2.loss_map_pts: 1.2541, d2.loss_map_dir: 0.0147, d3.loss_map_cls: 0.2630, d3.loss_map_pts: 1.1966, d3.loss_map_dir: 0.0153, d4.loss_map_cls: 0.2591, d4.loss_map_pts: 1.1797, d4.loss_map_dir: 0.0156, d5.loss_map_cls: 0.2589, d5.loss_map_pts: 1.1731, d5.loss_map_dir: 0.0157, loss: 41.6561, grad_norm: 148.0757 +2026-02-25 05:43:03,134 - DriveTransformer - INFO - Epoch [4][4700/39528] lr: 9.623e-05, eta: 7 days, 15:42:00, time: 0.839, data_time: 0.041, memory: 19865, loss_cls: 0.3223, loss_bbox: 0.4882, loss_traj: 0.9126, loss_traj_cls: 0.0029, loss_map_cls: 0.2741, loss_map_pts: 1.2445, loss_map_dir: 0.0186, d0.loss_plan_l1_fix_time: 2.6637, d0.loss_plan_l1_fix_dist: 0.4153, d1.loss_plan_l1_fix_time: 1.8713, d1.loss_plan_l1_fix_dist: 0.2776, d2.loss_plan_l1_fix_time: 1.8700, d2.loss_plan_l1_fix_dist: 0.2833, d3.loss_plan_l1_fix_time: 1.8841, d3.loss_plan_l1_fix_dist: 0.2930, d4.loss_plan_l1_fix_time: 1.8934, d4.loss_plan_l1_fix_dist: 0.3020, d5.loss_plan_l1_fix_time: 1.9028, d5.loss_plan_l1_fix_dist: 0.3138, d6.loss_plan_l1_fix_time: 1.9123, d6.loss_plan_l1_fix_dist: 0.3269, d0.loss_cls_all: 0.3500, d0.loss_bbox_all: 0.5447, d0.loss_cls: 0.3500, d0.loss_bbox: 0.5447, d1.loss_cls: 0.3426, d1.loss_bbox: 0.5118, d2.loss_cls: 0.3333, d2.loss_bbox: 0.4990, d3.loss_cls: 0.3273, d3.loss_bbox: 0.4900, d4.loss_cls: 0.3218, d4.loss_bbox: 0.4896, d5.loss_cls: 0.3213, d5.loss_bbox: 0.4883, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0496, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9438, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9159, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9091, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9030, d5.loss_traj_cls: 0.0027, d5.loss_traj: 0.9033, d0.loss_map_cls_all: 0.3185, d0.loss_map_pts_all: 2.1767, d0.loss_map_dir_all: 0.0163, d0.loss_map_cls: 0.3185, d0.loss_map_pts: 2.1767, d0.loss_map_dir: 0.0163, d1.loss_map_cls: 0.3024, d1.loss_map_pts: 1.5377, d1.loss_map_dir: 0.0162, d2.loss_map_cls: 0.2855, d2.loss_map_pts: 1.3453, d2.loss_map_dir: 0.0170, d3.loss_map_cls: 0.2813, d3.loss_map_pts: 1.2753, d3.loss_map_dir: 0.0177, d4.loss_map_cls: 0.2740, d4.loss_map_pts: 1.2556, d4.loss_map_dir: 0.0182, d5.loss_map_cls: 0.2734, d5.loss_map_pts: 1.2477, d5.loss_map_dir: 0.0183, loss: 44.2078, grad_norm: 149.6738 +2026-02-25 05:43:42,946 - DriveTransformer - INFO - Epoch [4][4750/39528] lr: 9.623e-05, eta: 7 days, 15:41:19, time: 0.796, data_time: 0.040, memory: 19865, loss_cls: 0.2835, loss_bbox: 0.4480, loss_traj: 0.9404, loss_traj_cls: 0.0030, loss_map_cls: 0.2274, loss_map_pts: 0.9210, loss_map_dir: 0.0156, d0.loss_plan_l1_fix_time: 2.5750, d0.loss_plan_l1_fix_dist: 0.4851, d1.loss_plan_l1_fix_time: 1.7562, d1.loss_plan_l1_fix_dist: 0.2797, d2.loss_plan_l1_fix_time: 1.7599, d2.loss_plan_l1_fix_dist: 0.2837, d3.loss_plan_l1_fix_time: 1.7752, d3.loss_plan_l1_fix_dist: 0.2908, d4.loss_plan_l1_fix_time: 1.7858, d4.loss_plan_l1_fix_dist: 0.3001, d5.loss_plan_l1_fix_time: 1.7961, d5.loss_plan_l1_fix_dist: 0.3111, d6.loss_plan_l1_fix_time: 1.8064, d6.loss_plan_l1_fix_dist: 0.3247, d0.loss_cls_all: 0.3173, d0.loss_bbox_all: 0.5014, d0.loss_cls: 0.3173, d0.loss_bbox: 0.5014, d1.loss_cls: 0.3038, d1.loss_bbox: 0.4693, d2.loss_cls: 0.2908, d2.loss_bbox: 0.4556, d3.loss_cls: 0.2848, d3.loss_bbox: 0.4511, d4.loss_cls: 0.2836, d4.loss_bbox: 0.4479, d5.loss_cls: 0.2827, d5.loss_bbox: 0.4480, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1429, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9650, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9325, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9320, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9214, d5.loss_traj_cls: 0.0027, d5.loss_traj: 0.9290, d0.loss_map_cls_all: 0.2730, d0.loss_map_pts_all: 1.7808, d0.loss_map_dir_all: 0.0139, d0.loss_map_cls: 0.2730, d0.loss_map_pts: 1.7808, d0.loss_map_dir: 0.0139, d1.loss_map_cls: 0.2539, d1.loss_map_pts: 1.1532, d1.loss_map_dir: 0.0138, d2.loss_map_cls: 0.2402, d2.loss_map_pts: 0.9934, d2.loss_map_dir: 0.0143, d3.loss_map_cls: 0.2350, d3.loss_map_pts: 0.9405, d3.loss_map_dir: 0.0150, d4.loss_map_cls: 0.2280, d4.loss_map_pts: 0.9237, d4.loss_map_dir: 0.0152, d5.loss_map_cls: 0.2272, d5.loss_map_pts: 0.9211, d5.loss_map_dir: 0.0154, loss: 39.8793, grad_norm: 154.1766 +2026-02-25 05:44:24,140 - DriveTransformer - INFO - Epoch [4][4800/39528] lr: 9.623e-05, eta: 7 days, 15:40:46, time: 0.824, data_time: 0.044, memory: 19865, loss_cls: 0.2994, loss_bbox: 0.5113, loss_traj: 0.9471, loss_traj_cls: 0.0029, loss_map_cls: 0.2706, loss_map_pts: 1.1127, loss_map_dir: 0.0168, d0.loss_plan_l1_fix_time: 2.7596, d0.loss_plan_l1_fix_dist: 0.4779, d1.loss_plan_l1_fix_time: 1.6332, d1.loss_plan_l1_fix_dist: 0.2932, d2.loss_plan_l1_fix_time: 1.6146, d2.loss_plan_l1_fix_dist: 0.2952, d3.loss_plan_l1_fix_time: 1.6176, d3.loss_plan_l1_fix_dist: 0.3019, d4.loss_plan_l1_fix_time: 1.6244, d4.loss_plan_l1_fix_dist: 0.3117, d5.loss_plan_l1_fix_time: 1.6314, d5.loss_plan_l1_fix_dist: 0.3231, d6.loss_plan_l1_fix_time: 1.6391, d6.loss_plan_l1_fix_dist: 0.3420, d0.loss_cls_all: 0.3265, d0.loss_bbox_all: 0.5760, d0.loss_cls: 0.3265, d0.loss_bbox: 0.5760, d1.loss_cls: 0.3156, d1.loss_bbox: 0.5456, d2.loss_cls: 0.3051, d2.loss_bbox: 0.5259, d3.loss_cls: 0.3018, d3.loss_bbox: 0.5166, d4.loss_cls: 0.2993, d4.loss_bbox: 0.5148, d5.loss_cls: 0.2991, d5.loss_bbox: 0.5129, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0820, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9894, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9482, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9450, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9377, d5.loss_traj_cls: 0.0028, d5.loss_traj: 0.9464, d0.loss_map_cls_all: 0.3230, d0.loss_map_pts_all: 1.9245, d0.loss_map_dir_all: 0.0144, d0.loss_map_cls: 0.3230, d0.loss_map_pts: 1.9245, d0.loss_map_dir: 0.0144, d1.loss_map_cls: 0.2950, d1.loss_map_pts: 1.3823, d1.loss_map_dir: 0.0147, d2.loss_map_cls: 0.2816, d2.loss_map_pts: 1.2138, d2.loss_map_dir: 0.0154, d3.loss_map_cls: 0.2735, d3.loss_map_pts: 1.1453, d3.loss_map_dir: 0.0160, d4.loss_map_cls: 0.2695, d4.loss_map_pts: 1.1208, d4.loss_map_dir: 0.0164, d5.loss_map_cls: 0.2712, d5.loss_map_pts: 1.1150, d5.loss_map_dir: 0.0166, loss: 41.7944, grad_norm: 155.1101 +2026-02-25 05:45:03,589 - DriveTransformer - INFO - Epoch [4][4850/39528] lr: 9.623e-05, eta: 7 days, 15:40:02, time: 0.789, data_time: 0.047, memory: 19865, loss_cls: 0.3353, loss_bbox: 0.5229, loss_traj: 1.0063, loss_traj_cls: 0.0028, loss_map_cls: 0.2906, loss_map_pts: 1.1646, loss_map_dir: 0.0174, d0.loss_plan_l1_fix_time: 3.3618, d0.loss_plan_l1_fix_dist: 0.3097, d1.loss_plan_l1_fix_time: 1.9886, d1.loss_plan_l1_fix_dist: 0.2268, d2.loss_plan_l1_fix_time: 1.9805, d2.loss_plan_l1_fix_dist: 0.2295, d3.loss_plan_l1_fix_time: 1.9866, d3.loss_plan_l1_fix_dist: 0.2389, d4.loss_plan_l1_fix_time: 1.9931, d4.loss_plan_l1_fix_dist: 0.2493, d5.loss_plan_l1_fix_time: 1.9993, d5.loss_plan_l1_fix_dist: 0.2610, d6.loss_plan_l1_fix_time: 2.0059, d6.loss_plan_l1_fix_dist: 0.2711, d0.loss_cls_all: 0.3617, d0.loss_bbox_all: 0.5721, d0.loss_cls: 0.3617, d0.loss_bbox: 0.5721, d1.loss_cls: 0.3545, d1.loss_bbox: 0.5452, d2.loss_cls: 0.3440, d2.loss_bbox: 0.5293, d3.loss_cls: 0.3396, d3.loss_bbox: 0.5249, d4.loss_cls: 0.3367, d4.loss_bbox: 0.5221, d5.loss_cls: 0.3362, d5.loss_bbox: 0.5220, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.1990, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0453, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0122, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0087, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0016, d5.loss_traj_cls: 0.0027, d5.loss_traj: 1.0059, d0.loss_map_cls_all: 0.3362, d0.loss_map_pts_all: 2.1290, d0.loss_map_dir_all: 0.0154, d0.loss_map_cls: 0.3362, d0.loss_map_pts: 2.1290, d0.loss_map_dir: 0.0154, d1.loss_map_cls: 0.3143, d1.loss_map_pts: 1.4577, d1.loss_map_dir: 0.0152, d2.loss_map_cls: 0.3016, d2.loss_map_pts: 1.2692, d2.loss_map_dir: 0.0158, d3.loss_map_cls: 0.2968, d3.loss_map_pts: 1.1957, d3.loss_map_dir: 0.0165, d4.loss_map_cls: 0.2914, d4.loss_map_pts: 1.1724, d4.loss_map_dir: 0.0169, d5.loss_map_cls: 0.2903, d5.loss_map_pts: 1.1672, d5.loss_map_dir: 0.0171, loss: 45.7429, grad_norm: 156.7938 +2026-02-25 05:45:43,450 - DriveTransformer - INFO - Epoch [4][4900/39528] lr: 9.623e-05, eta: 7 days, 15:39:20, time: 0.797, data_time: 0.042, memory: 19865, loss_cls: 0.2943, loss_bbox: 0.4724, loss_traj: 0.7285, loss_traj_cls: 0.0028, loss_map_cls: 0.2608, loss_map_pts: 1.1041, loss_map_dir: 0.0173, d0.loss_plan_l1_fix_time: 2.4853, d0.loss_plan_l1_fix_dist: 0.4537, d1.loss_plan_l1_fix_time: 1.5607, d1.loss_plan_l1_fix_dist: 0.2436, d2.loss_plan_l1_fix_time: 1.5455, d2.loss_plan_l1_fix_dist: 0.2422, d3.loss_plan_l1_fix_time: 1.5502, d3.loss_plan_l1_fix_dist: 0.2480, d4.loss_plan_l1_fix_time: 1.5558, d4.loss_plan_l1_fix_dist: 0.2573, d5.loss_plan_l1_fix_time: 1.5616, d5.loss_plan_l1_fix_dist: 0.2680, d6.loss_plan_l1_fix_time: 1.5682, d6.loss_plan_l1_fix_dist: 0.2750, d0.loss_cls_all: 0.3104, d0.loss_bbox_all: 0.5140, d0.loss_cls: 0.3104, d0.loss_bbox: 0.5140, d1.loss_cls: 0.3060, d1.loss_bbox: 0.4911, d2.loss_cls: 0.3022, d2.loss_bbox: 0.4772, d3.loss_cls: 0.2957, d3.loss_bbox: 0.4723, d4.loss_cls: 0.2921, d4.loss_bbox: 0.4692, d5.loss_cls: 0.2917, d5.loss_bbox: 0.4689, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8943, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7639, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7251, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7197, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7206, d5.loss_traj_cls: 0.0027, d5.loss_traj: 0.7226, d0.loss_map_cls_all: 0.3207, d0.loss_map_pts_all: 2.1682, d0.loss_map_dir_all: 0.0162, d0.loss_map_cls: 0.3207, d0.loss_map_pts: 2.1682, d0.loss_map_dir: 0.0162, d1.loss_map_cls: 0.3006, d1.loss_map_pts: 1.4141, d1.loss_map_dir: 0.0157, d2.loss_map_cls: 0.2797, d2.loss_map_pts: 1.2163, d2.loss_map_dir: 0.0160, d3.loss_map_cls: 0.2714, d3.loss_map_pts: 1.1372, d3.loss_map_dir: 0.0167, d4.loss_map_cls: 0.2655, d4.loss_map_pts: 1.1145, d4.loss_map_dir: 0.0171, d5.loss_map_cls: 0.2610, d5.loss_map_pts: 1.1083, d5.loss_map_dir: 0.0172, loss: 39.2252, grad_norm: 157.0660 +2026-02-25 05:46:25,692 - DriveTransformer - INFO - Epoch [4][4950/39528] lr: 9.623e-05, eta: 7 days, 15:38:55, time: 0.845, data_time: 0.044, memory: 19865, loss_cls: 0.2858, loss_bbox: 0.4584, loss_traj: 0.8538, loss_traj_cls: 0.0028, loss_map_cls: 0.2031, loss_map_pts: 0.9801, loss_map_dir: 0.0148, d0.loss_plan_l1_fix_time: 2.2130, d0.loss_plan_l1_fix_dist: 0.4769, d1.loss_plan_l1_fix_time: 1.3453, d1.loss_plan_l1_fix_dist: 0.2697, d2.loss_plan_l1_fix_time: 1.3395, d2.loss_plan_l1_fix_dist: 0.2715, d3.loss_plan_l1_fix_time: 1.3468, d3.loss_plan_l1_fix_dist: 0.2782, d4.loss_plan_l1_fix_time: 1.3558, d4.loss_plan_l1_fix_dist: 0.2859, d5.loss_plan_l1_fix_time: 1.3659, d5.loss_plan_l1_fix_dist: 0.2957, d6.loss_plan_l1_fix_time: 1.3756, d6.loss_plan_l1_fix_dist: 0.3087, d0.loss_cls_all: 0.3100, d0.loss_bbox_all: 0.5023, d0.loss_cls: 0.3100, d0.loss_bbox: 0.5023, d1.loss_cls: 0.3057, d1.loss_bbox: 0.4722, d2.loss_cls: 0.2943, d2.loss_bbox: 0.4568, d3.loss_cls: 0.2917, d3.loss_bbox: 0.4522, d4.loss_cls: 0.2873, d4.loss_bbox: 0.4504, d5.loss_cls: 0.2857, d5.loss_bbox: 0.4535, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0020, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8761, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8440, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8396, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8397, d5.loss_traj_cls: 0.0026, d5.loss_traj: 0.8447, d0.loss_map_cls_all: 0.2674, d0.loss_map_pts_all: 1.9863, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.2674, d0.loss_map_pts: 1.9863, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2371, d1.loss_map_pts: 1.2692, d1.loss_map_dir: 0.0132, d2.loss_map_cls: 0.2212, d2.loss_map_pts: 1.0871, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2126, d3.loss_map_pts: 1.0132, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.2039, d4.loss_map_pts: 0.9901, d4.loss_map_dir: 0.0144, d5.loss_map_cls: 0.2027, d5.loss_map_pts: 0.9834, d5.loss_map_dir: 0.0146, loss: 36.9795, grad_norm: 156.4259 +2026-02-25 05:47:06,856 - DriveTransformer - INFO - Epoch [4][5000/39528] lr: 9.623e-05, eta: 7 days, 15:38:23, time: 0.825, data_time: 0.045, memory: 19865, loss_cls: 0.3300, loss_bbox: 0.5376, loss_traj: 0.8982, loss_traj_cls: 0.0027, loss_map_cls: 0.2664, loss_map_pts: 1.1782, loss_map_dir: 0.0176, d0.loss_plan_l1_fix_time: 2.7517, d0.loss_plan_l1_fix_dist: 0.3964, d1.loss_plan_l1_fix_time: 1.7393, d1.loss_plan_l1_fix_dist: 0.2379, d2.loss_plan_l1_fix_time: 1.7377, d2.loss_plan_l1_fix_dist: 0.2437, d3.loss_plan_l1_fix_time: 1.7451, d3.loss_plan_l1_fix_dist: 0.2522, d4.loss_plan_l1_fix_time: 1.7523, d4.loss_plan_l1_fix_dist: 0.2609, d5.loss_plan_l1_fix_time: 1.7599, d5.loss_plan_l1_fix_dist: 0.2706, d6.loss_plan_l1_fix_time: 1.7672, d6.loss_plan_l1_fix_dist: 0.2820, d0.loss_cls_all: 0.3519, d0.loss_bbox_all: 0.5822, d0.loss_cls: 0.3519, d0.loss_bbox: 0.5822, d1.loss_cls: 0.3441, d1.loss_bbox: 0.5528, d2.loss_cls: 0.3353, d2.loss_bbox: 0.5423, d3.loss_cls: 0.3295, d3.loss_bbox: 0.5375, d4.loss_cls: 0.3279, d4.loss_bbox: 0.5350, d5.loss_cls: 0.3287, d5.loss_bbox: 0.5360, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0269, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9329, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8900, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8875, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8983, d5.loss_traj_cls: 0.0026, d5.loss_traj: 0.8939, d0.loss_map_cls_all: 0.3263, d0.loss_map_pts_all: 2.2565, d0.loss_map_dir_all: 0.0161, d0.loss_map_cls: 0.3263, d0.loss_map_pts: 2.2565, d0.loss_map_dir: 0.0161, d1.loss_map_cls: 0.2977, d1.loss_map_pts: 1.4826, d1.loss_map_dir: 0.0158, d2.loss_map_cls: 0.2810, d2.loss_map_pts: 1.2851, d2.loss_map_dir: 0.0163, d3.loss_map_cls: 0.2736, d3.loss_map_pts: 1.2116, d3.loss_map_dir: 0.0170, d4.loss_map_cls: 0.2677, d4.loss_map_pts: 1.1873, d4.loss_map_dir: 0.0173, d5.loss_map_cls: 0.2673, d5.loss_map_pts: 1.1810, d5.loss_map_dir: 0.0175, loss: 43.2180, grad_norm: 157.2981 +2026-02-25 05:47:48,296 - DriveTransformer - INFO - Epoch [4][5050/39528] lr: 9.623e-05, eta: 7 days, 15:37:51, time: 0.827, data_time: 0.042, memory: 19865, loss_cls: 0.3546, loss_bbox: 0.5194, loss_traj: 1.0489, loss_traj_cls: 0.0027, loss_map_cls: 0.2652, loss_map_pts: 1.1723, loss_map_dir: 0.0178, d0.loss_plan_l1_fix_time: 3.0158, d0.loss_plan_l1_fix_dist: 0.4334, d1.loss_plan_l1_fix_time: 1.8217, d1.loss_plan_l1_fix_dist: 0.2928, d2.loss_plan_l1_fix_time: 1.8012, d2.loss_plan_l1_fix_dist: 0.2968, d3.loss_plan_l1_fix_time: 1.8027, d3.loss_plan_l1_fix_dist: 0.3047, d4.loss_plan_l1_fix_time: 1.8075, d4.loss_plan_l1_fix_dist: 0.3143, d5.loss_plan_l1_fix_time: 1.8124, d5.loss_plan_l1_fix_dist: 0.3245, d6.loss_plan_l1_fix_time: 1.8181, d6.loss_plan_l1_fix_dist: 0.3360, d0.loss_cls_all: 0.3810, d0.loss_bbox_all: 0.5662, d0.loss_cls: 0.3810, d0.loss_bbox: 0.5662, d1.loss_cls: 0.3695, d1.loss_bbox: 0.5412, d2.loss_cls: 0.3622, d2.loss_bbox: 0.5306, d3.loss_cls: 0.3595, d3.loss_bbox: 0.5229, d4.loss_cls: 0.3548, d4.loss_bbox: 0.5197, d5.loss_cls: 0.3554, d5.loss_bbox: 0.5179, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2353, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0986, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0543, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0453, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0493, d5.loss_traj_cls: 0.0025, d5.loss_traj: 1.0498, d0.loss_map_cls_all: 0.3150, d0.loss_map_pts_all: 2.1118, d0.loss_map_dir_all: 0.0160, d0.loss_map_cls: 0.3150, d0.loss_map_pts: 2.1118, d0.loss_map_dir: 0.0160, d1.loss_map_cls: 0.2870, d1.loss_map_pts: 1.4599, d1.loss_map_dir: 0.0160, d2.loss_map_cls: 0.2767, d2.loss_map_pts: 1.2766, d2.loss_map_dir: 0.0166, d3.loss_map_cls: 0.2718, d3.loss_map_pts: 1.2047, d3.loss_map_dir: 0.0171, d4.loss_map_cls: 0.2642, d4.loss_map_pts: 1.1844, d4.loss_map_dir: 0.0175, d5.loss_map_cls: 0.2642, d5.loss_map_pts: 1.1767, d5.loss_map_dir: 0.0177, loss: 45.0666, grad_norm: 155.9732 +2026-02-25 05:48:29,511 - DriveTransformer - INFO - Epoch [4][5100/39528] lr: 9.623e-05, eta: 7 days, 15:37:19, time: 0.824, data_time: 0.044, memory: 19865, loss_cls: 0.3274, loss_bbox: 0.4823, loss_traj: 0.9791, loss_traj_cls: 0.0027, loss_map_cls: 0.2721, loss_map_pts: 1.0926, loss_map_dir: 0.0145, d0.loss_plan_l1_fix_time: 2.6347, d0.loss_plan_l1_fix_dist: 0.4194, d1.loss_plan_l1_fix_time: 1.7837, d1.loss_plan_l1_fix_dist: 0.2663, d2.loss_plan_l1_fix_time: 1.7577, d2.loss_plan_l1_fix_dist: 0.2723, d3.loss_plan_l1_fix_time: 1.7621, d3.loss_plan_l1_fix_dist: 0.2819, d4.loss_plan_l1_fix_time: 1.7694, d4.loss_plan_l1_fix_dist: 0.2929, d5.loss_plan_l1_fix_time: 1.7765, d5.loss_plan_l1_fix_dist: 0.3056, d6.loss_plan_l1_fix_time: 1.7854, d6.loss_plan_l1_fix_dist: 0.3200, d0.loss_cls_all: 0.3430, d0.loss_bbox_all: 0.5322, d0.loss_cls: 0.3430, d0.loss_bbox: 0.5322, d1.loss_cls: 0.3331, d1.loss_bbox: 0.5024, d2.loss_cls: 0.3302, d2.loss_bbox: 0.4888, d3.loss_cls: 0.3321, d3.loss_bbox: 0.4808, d4.loss_cls: 0.3297, d4.loss_bbox: 0.4798, d5.loss_cls: 0.3262, d5.loss_bbox: 0.4810, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2140, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0333, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9965, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9830, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9808, d5.loss_traj_cls: 0.0025, d5.loss_traj: 0.9782, d0.loss_map_cls_all: 0.3238, d0.loss_map_pts_all: 1.8875, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.3238, d0.loss_map_pts: 1.8875, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2965, d1.loss_map_pts: 1.3362, d1.loss_map_dir: 0.0126, d2.loss_map_cls: 0.2879, d2.loss_map_pts: 1.1773, d2.loss_map_dir: 0.0133, d3.loss_map_cls: 0.2784, d3.loss_map_pts: 1.1157, d3.loss_map_dir: 0.0139, d4.loss_map_cls: 0.2738, d4.loss_map_pts: 1.0975, d4.loss_map_dir: 0.0142, d5.loss_map_cls: 0.2731, d5.loss_map_pts: 1.0916, d5.loss_map_dir: 0.0143, loss: 42.3701, grad_norm: 157.0653 +2026-02-25 05:49:09,834 - DriveTransformer - INFO - Epoch [4][5150/39528] lr: 9.623e-05, eta: 7 days, 15:36:41, time: 0.806, data_time: 0.044, memory: 19865, loss_cls: 0.3178, loss_bbox: 0.4778, loss_traj: 0.9185, loss_traj_cls: 0.0027, loss_map_cls: 0.2403, loss_map_pts: 1.0917, loss_map_dir: 0.0181, d0.loss_plan_l1_fix_time: 2.7883, d0.loss_plan_l1_fix_dist: 0.4588, d1.loss_plan_l1_fix_time: 1.7369, d1.loss_plan_l1_fix_dist: 0.2685, d2.loss_plan_l1_fix_time: 1.7186, d2.loss_plan_l1_fix_dist: 0.2691, d3.loss_plan_l1_fix_time: 1.7211, d3.loss_plan_l1_fix_dist: 0.2760, d4.loss_plan_l1_fix_time: 1.7261, d4.loss_plan_l1_fix_dist: 0.2855, d5.loss_plan_l1_fix_time: 1.7323, d5.loss_plan_l1_fix_dist: 0.2960, d6.loss_plan_l1_fix_time: 1.7397, d6.loss_plan_l1_fix_dist: 0.3098, d0.loss_cls_all: 0.3329, d0.loss_bbox_all: 0.5300, d0.loss_cls: 0.3329, d0.loss_bbox: 0.5300, d1.loss_cls: 0.3310, d1.loss_bbox: 0.4960, d2.loss_cls: 0.3232, d2.loss_bbox: 0.4842, d3.loss_cls: 0.3194, d3.loss_bbox: 0.4807, d4.loss_cls: 0.3160, d4.loss_bbox: 0.4759, d5.loss_cls: 0.3180, d5.loss_bbox: 0.4750, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0545, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9444, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9229, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.9168, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9145, d5.loss_traj_cls: 0.0024, d5.loss_traj: 0.9205, d0.loss_map_cls_all: 0.2948, d0.loss_map_pts_all: 2.0801, d0.loss_map_dir_all: 0.0162, d0.loss_map_cls: 0.2948, d0.loss_map_pts: 2.0801, d0.loss_map_dir: 0.0162, d1.loss_map_cls: 0.2691, d1.loss_map_pts: 1.3618, d1.loss_map_dir: 0.0162, d2.loss_map_cls: 0.2557, d2.loss_map_pts: 1.1791, d2.loss_map_dir: 0.0168, d3.loss_map_cls: 0.2461, d3.loss_map_pts: 1.1182, d3.loss_map_dir: 0.0174, d4.loss_map_cls: 0.2394, d4.loss_map_pts: 1.0974, d4.loss_map_dir: 0.0177, d5.loss_map_cls: 0.2405, d5.loss_map_pts: 1.0906, d5.loss_map_dir: 0.0181, loss: 41.7856, grad_norm: 156.5783 +2026-02-25 05:49:51,239 - DriveTransformer - INFO - Epoch [4][5200/39528] lr: 9.623e-05, eta: 7 days, 15:36:10, time: 0.828, data_time: 0.047, memory: 19865, loss_cls: 0.3340, loss_bbox: 0.5135, loss_traj: 0.8881, loss_traj_cls: 0.0026, loss_map_cls: 0.2858, loss_map_pts: 1.1467, loss_map_dir: 0.0172, d0.loss_plan_l1_fix_time: 3.0816, d0.loss_plan_l1_fix_dist: 0.4338, d1.loss_plan_l1_fix_time: 1.7357, d1.loss_plan_l1_fix_dist: 0.2381, d2.loss_plan_l1_fix_time: 1.7169, d2.loss_plan_l1_fix_dist: 0.2405, d3.loss_plan_l1_fix_time: 1.7227, d3.loss_plan_l1_fix_dist: 0.2475, d4.loss_plan_l1_fix_time: 1.7280, d4.loss_plan_l1_fix_dist: 0.2567, d5.loss_plan_l1_fix_time: 1.7338, d5.loss_plan_l1_fix_dist: 0.2674, d6.loss_plan_l1_fix_time: 1.7399, d6.loss_plan_l1_fix_dist: 0.2798, d0.loss_cls_all: 0.3553, d0.loss_bbox_all: 0.5624, d0.loss_cls: 0.3553, d0.loss_bbox: 0.5624, d1.loss_cls: 0.3495, d1.loss_bbox: 0.5372, d2.loss_cls: 0.3435, d2.loss_bbox: 0.5217, d3.loss_cls: 0.3402, d3.loss_bbox: 0.5143, d4.loss_cls: 0.3362, d4.loss_bbox: 0.5103, d5.loss_cls: 0.3338, d5.loss_bbox: 0.5115, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0385, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9218, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8895, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.8841, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8863, d5.loss_traj_cls: 0.0024, d5.loss_traj: 0.8876, d0.loss_map_cls_all: 0.3202, d0.loss_map_pts_all: 2.0368, d0.loss_map_dir_all: 0.0145, d0.loss_map_cls: 0.3202, d0.loss_map_pts: 2.0368, d0.loss_map_dir: 0.0145, d1.loss_map_cls: 0.3020, d1.loss_map_pts: 1.4402, d1.loss_map_dir: 0.0146, d2.loss_map_cls: 0.2953, d2.loss_map_pts: 1.2531, d2.loss_map_dir: 0.0154, d3.loss_map_cls: 0.2884, d3.loss_map_pts: 1.1779, d3.loss_map_dir: 0.0162, d4.loss_map_cls: 0.2851, d4.loss_map_pts: 1.1530, d4.loss_map_dir: 0.0167, d5.loss_map_cls: 0.2852, d5.loss_map_pts: 1.1462, d5.loss_map_dir: 0.0168, loss: 42.7074, grad_norm: 155.2230 +2026-02-25 05:50:31,799 - DriveTransformer - INFO - Epoch [4][5250/39528] lr: 9.623e-05, eta: 7 days, 15:35:33, time: 0.811, data_time: 0.045, memory: 19865, loss_cls: 0.3037, loss_bbox: 0.4916, loss_traj: 0.8672, loss_traj_cls: 0.0028, loss_map_cls: 0.2735, loss_map_pts: 1.1576, loss_map_dir: 0.0176, d0.loss_plan_l1_fix_time: 2.8579, d0.loss_plan_l1_fix_dist: 0.4373, d1.loss_plan_l1_fix_time: 1.7494, d1.loss_plan_l1_fix_dist: 0.2594, d2.loss_plan_l1_fix_time: 1.7292, d2.loss_plan_l1_fix_dist: 0.2633, d3.loss_plan_l1_fix_time: 1.7294, d3.loss_plan_l1_fix_dist: 0.2686, d4.loss_plan_l1_fix_time: 1.7326, d4.loss_plan_l1_fix_dist: 0.2758, d5.loss_plan_l1_fix_time: 1.7367, d5.loss_plan_l1_fix_dist: 0.2837, d6.loss_plan_l1_fix_time: 1.7414, d6.loss_plan_l1_fix_dist: 0.2934, d0.loss_cls_all: 0.3287, d0.loss_bbox_all: 0.5357, d0.loss_cls: 0.3287, d0.loss_bbox: 0.5357, d1.loss_cls: 0.3197, d1.loss_bbox: 0.5099, d2.loss_cls: 0.3119, d2.loss_bbox: 0.4968, d3.loss_cls: 0.3081, d3.loss_bbox: 0.4919, d4.loss_cls: 0.3032, d4.loss_bbox: 0.4905, d5.loss_cls: 0.3040, d5.loss_bbox: 0.4899, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0390, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9160, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8630, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.8657, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8677, d5.loss_traj_cls: 0.0024, d5.loss_traj: 0.8680, d0.loss_map_cls_all: 0.3132, d0.loss_map_pts_all: 2.1394, d0.loss_map_dir_all: 0.0161, d0.loss_map_cls: 0.3132, d0.loss_map_pts: 2.1394, d0.loss_map_dir: 0.0161, d1.loss_map_cls: 0.2941, d1.loss_map_pts: 1.4306, d1.loss_map_dir: 0.0159, d2.loss_map_cls: 0.2808, d2.loss_map_pts: 1.2494, d2.loss_map_dir: 0.0164, d3.loss_map_cls: 0.2729, d3.loss_map_pts: 1.1840, d3.loss_map_dir: 0.0170, d4.loss_map_cls: 0.2714, d4.loss_map_pts: 1.1655, d4.loss_map_dir: 0.0173, d5.loss_map_cls: 0.2708, d5.loss_map_pts: 1.1610, d5.loss_map_dir: 0.0175, loss: 42.2546, grad_norm: 154.2521 +2026-02-25 05:51:11,500 - DriveTransformer - INFO - Epoch [4][5300/39528] lr: 9.623e-05, eta: 7 days, 15:34:50, time: 0.794, data_time: 0.041, memory: 19865, loss_cls: 0.3046, loss_bbox: 0.4748, loss_traj: 1.0187, loss_traj_cls: 0.0028, loss_map_cls: 0.2465, loss_map_pts: 1.0623, loss_map_dir: 0.0148, d0.loss_plan_l1_fix_time: 2.7345, d0.loss_plan_l1_fix_dist: 0.4904, d1.loss_plan_l1_fix_time: 1.5390, d1.loss_plan_l1_fix_dist: 0.2385, d2.loss_plan_l1_fix_time: 1.5205, d2.loss_plan_l1_fix_dist: 0.2396, d3.loss_plan_l1_fix_time: 1.5222, d3.loss_plan_l1_fix_dist: 0.2458, d4.loss_plan_l1_fix_time: 1.5254, d4.loss_plan_l1_fix_dist: 0.2531, d5.loss_plan_l1_fix_time: 1.5297, d5.loss_plan_l1_fix_dist: 0.2607, d6.loss_plan_l1_fix_time: 1.5354, d6.loss_plan_l1_fix_dist: 0.2680, d0.loss_cls_all: 0.3256, d0.loss_bbox_all: 0.5256, d0.loss_cls: 0.3256, d0.loss_bbox: 0.5256, d1.loss_cls: 0.3226, d1.loss_bbox: 0.4942, d2.loss_cls: 0.3152, d2.loss_bbox: 0.4813, d3.loss_cls: 0.3110, d3.loss_bbox: 0.4766, d4.loss_cls: 0.3055, d4.loss_bbox: 0.4733, d5.loss_cls: 0.3035, d5.loss_bbox: 0.4720, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1885, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0414, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0075, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0083, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0074, d5.loss_traj_cls: 0.0025, d5.loss_traj: 1.0151, d0.loss_map_cls_all: 0.2999, d0.loss_map_pts_all: 1.8747, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.2999, d0.loss_map_pts: 1.8747, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2740, d1.loss_map_pts: 1.2930, d1.loss_map_dir: 0.0130, d2.loss_map_cls: 0.2554, d2.loss_map_pts: 1.1456, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2487, d3.loss_map_pts: 1.0882, d3.loss_map_dir: 0.0140, d4.loss_map_cls: 0.2460, d4.loss_map_pts: 1.0678, d4.loss_map_dir: 0.0144, d5.loss_map_cls: 0.2473, d5.loss_map_pts: 1.0636, d5.loss_map_dir: 0.0145, loss: 40.3339, grad_norm: 153.8999 +2026-02-25 05:51:51,913 - DriveTransformer - INFO - Epoch [4][5350/39528] lr: 9.623e-05, eta: 7 days, 15:34:13, time: 0.808, data_time: 0.042, memory: 19865, loss_cls: 0.3025, loss_bbox: 0.4756, loss_traj: 1.0604, loss_traj_cls: 0.0028, loss_map_cls: 0.2478, loss_map_pts: 1.0246, loss_map_dir: 0.0151, d0.loss_plan_l1_fix_time: 2.5233, d0.loss_plan_l1_fix_dist: 0.4495, d1.loss_plan_l1_fix_time: 1.5712, d1.loss_plan_l1_fix_dist: 0.2288, d2.loss_plan_l1_fix_time: 1.5648, d2.loss_plan_l1_fix_dist: 0.2314, d3.loss_plan_l1_fix_time: 1.5683, d3.loss_plan_l1_fix_dist: 0.2386, d4.loss_plan_l1_fix_time: 1.5718, d4.loss_plan_l1_fix_dist: 0.2475, d5.loss_plan_l1_fix_time: 1.5754, d5.loss_plan_l1_fix_dist: 0.2578, d6.loss_plan_l1_fix_time: 1.5798, d6.loss_plan_l1_fix_dist: 0.2692, d0.loss_cls_all: 0.3272, d0.loss_bbox_all: 0.5179, d0.loss_cls: 0.3272, d0.loss_bbox: 0.5179, d1.loss_cls: 0.3211, d1.loss_bbox: 0.4940, d2.loss_cls: 0.3129, d2.loss_bbox: 0.4805, d3.loss_cls: 0.3076, d3.loss_bbox: 0.4750, d4.loss_cls: 0.3028, d4.loss_bbox: 0.4726, d5.loss_cls: 0.3014, d5.loss_bbox: 0.4726, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3381, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.1075, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0665, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.0611, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0608, d5.loss_traj_cls: 0.0025, d5.loss_traj: 1.0585, d0.loss_map_cls_all: 0.2944, d0.loss_map_pts_all: 1.8317, d0.loss_map_dir_all: 0.0134, d0.loss_map_cls: 0.2944, d0.loss_map_pts: 1.8317, d0.loss_map_dir: 0.0134, d1.loss_map_cls: 0.2683, d1.loss_map_pts: 1.2585, d1.loss_map_dir: 0.0135, d2.loss_map_cls: 0.2556, d2.loss_map_pts: 1.0967, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2466, d3.loss_map_pts: 1.0435, d3.loss_map_dir: 0.0146, d4.loss_map_cls: 0.2448, d4.loss_map_pts: 1.0283, d4.loss_map_dir: 0.0148, d5.loss_map_cls: 0.2468, d5.loss_map_pts: 1.0231, d5.loss_map_dir: 0.0150, loss: 40.3989, grad_norm: 152.4326 +2026-02-25 05:52:32,902 - DriveTransformer - INFO - Epoch [4][5400/39528] lr: 9.623e-05, eta: 7 days, 15:33:39, time: 0.820, data_time: 0.039, memory: 19865, loss_cls: 0.3093, loss_bbox: 0.4922, loss_traj: 0.7648, loss_traj_cls: 0.0029, loss_map_cls: 0.3106, loss_map_pts: 1.2326, loss_map_dir: 0.0202, d0.loss_plan_l1_fix_time: 2.8338, d0.loss_plan_l1_fix_dist: 0.3661, d1.loss_plan_l1_fix_time: 1.4919, d1.loss_plan_l1_fix_dist: 0.2390, d2.loss_plan_l1_fix_time: 1.4781, d2.loss_plan_l1_fix_dist: 0.2461, d3.loss_plan_l1_fix_time: 1.4794, d3.loss_plan_l1_fix_dist: 0.2563, d4.loss_plan_l1_fix_time: 1.4842, d4.loss_plan_l1_fix_dist: 0.2686, d5.loss_plan_l1_fix_time: 1.4898, d5.loss_plan_l1_fix_dist: 0.2824, d6.loss_plan_l1_fix_time: 1.4959, d6.loss_plan_l1_fix_dist: 0.2963, d0.loss_cls_all: 0.3311, d0.loss_bbox_all: 0.5315, d0.loss_cls: 0.3311, d0.loss_bbox: 0.5315, d1.loss_cls: 0.3261, d1.loss_bbox: 0.5061, d2.loss_cls: 0.3176, d2.loss_bbox: 0.4948, d3.loss_cls: 0.3128, d3.loss_bbox: 0.4934, d4.loss_cls: 0.3070, d4.loss_bbox: 0.4915, d5.loss_cls: 0.3072, d5.loss_bbox: 0.4905, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9183, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7929, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.7758, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.7712, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7631, d5.loss_traj_cls: 0.0026, d5.loss_traj: 0.7665, d0.loss_map_cls_all: 0.3559, d0.loss_map_pts_all: 2.2116, d0.loss_map_dir_all: 0.0177, d0.loss_map_cls: 0.3559, d0.loss_map_pts: 2.2116, d0.loss_map_dir: 0.0177, d1.loss_map_cls: 0.3364, d1.loss_map_pts: 1.4882, d1.loss_map_dir: 0.0178, d2.loss_map_cls: 0.3215, d2.loss_map_pts: 1.3087, d2.loss_map_dir: 0.0185, d3.loss_map_cls: 0.3156, d3.loss_map_pts: 1.2535, d3.loss_map_dir: 0.0194, d4.loss_map_cls: 0.3119, d4.loss_map_pts: 1.2367, d4.loss_map_dir: 0.0198, d5.loss_map_cls: 0.3112, d5.loss_map_pts: 1.2340, d5.loss_map_dir: 0.0200, loss: 40.7906, grad_norm: 153.3031 +2026-02-25 05:53:14,923 - DriveTransformer - INFO - Epoch [4][5450/39528] lr: 9.623e-05, eta: 7 days, 15:33:12, time: 0.840, data_time: 0.040, memory: 19865, loss_cls: 0.3331, loss_bbox: 0.5133, loss_traj: 1.0251, loss_traj_cls: 0.0028, loss_map_cls: 0.2596, loss_map_pts: 1.1507, loss_map_dir: 0.0180, d0.loss_plan_l1_fix_time: 3.1148, d0.loss_plan_l1_fix_dist: 0.3922, d1.loss_plan_l1_fix_time: 1.8820, d1.loss_plan_l1_fix_dist: 0.2492, d2.loss_plan_l1_fix_time: 1.8738, d2.loss_plan_l1_fix_dist: 0.2545, d3.loss_plan_l1_fix_time: 1.8740, d3.loss_plan_l1_fix_dist: 0.2603, d4.loss_plan_l1_fix_time: 1.8770, d4.loss_plan_l1_fix_dist: 0.2675, d5.loss_plan_l1_fix_time: 1.8810, d5.loss_plan_l1_fix_dist: 0.2763, d6.loss_plan_l1_fix_time: 1.8855, d6.loss_plan_l1_fix_dist: 0.2895, d0.loss_cls_all: 0.3426, d0.loss_bbox_all: 0.5543, d0.loss_cls: 0.3426, d0.loss_bbox: 0.5543, d1.loss_cls: 0.3398, d1.loss_bbox: 0.5255, d2.loss_cls: 0.3377, d2.loss_bbox: 0.5137, d3.loss_cls: 0.3368, d3.loss_bbox: 0.5108, d4.loss_cls: 0.3328, d4.loss_bbox: 0.5095, d5.loss_cls: 0.3325, d5.loss_bbox: 0.5098, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2005, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0504, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0238, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.0229, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0208, d5.loss_traj_cls: 0.0025, d5.loss_traj: 1.0217, d0.loss_map_cls_all: 0.3070, d0.loss_map_pts_all: 2.0860, d0.loss_map_dir_all: 0.0158, d0.loss_map_cls: 0.3070, d0.loss_map_pts: 2.0860, d0.loss_map_dir: 0.0158, d1.loss_map_cls: 0.2783, d1.loss_map_pts: 1.4161, d1.loss_map_dir: 0.0156, d2.loss_map_cls: 0.2684, d2.loss_map_pts: 1.2450, d2.loss_map_dir: 0.0165, d3.loss_map_cls: 0.2603, d3.loss_map_pts: 1.1791, d3.loss_map_dir: 0.0172, d4.loss_map_cls: 0.2569, d4.loss_map_pts: 1.1564, d4.loss_map_dir: 0.0176, d5.loss_map_cls: 0.2578, d5.loss_map_pts: 1.1528, d5.loss_map_dir: 0.0178, loss: 44.4432, grad_norm: 151.5893 +2026-02-25 05:53:56,641 - DriveTransformer - INFO - Epoch [4][5500/39528] lr: 9.623e-05, eta: 7 days, 15:32:42, time: 0.834, data_time: 0.045, memory: 19865, loss_cls: 0.3257, loss_bbox: 0.5085, loss_traj: 0.8197, loss_traj_cls: 0.0027, loss_map_cls: 0.2853, loss_map_pts: 1.2936, loss_map_dir: 0.0204, d0.loss_plan_l1_fix_time: 2.7093, d0.loss_plan_l1_fix_dist: 0.3542, d1.loss_plan_l1_fix_time: 1.6193, d1.loss_plan_l1_fix_dist: 0.2169, d2.loss_plan_l1_fix_time: 1.5977, d2.loss_plan_l1_fix_dist: 0.2223, d3.loss_plan_l1_fix_time: 1.5961, d3.loss_plan_l1_fix_dist: 0.2325, d4.loss_plan_l1_fix_time: 1.5994, d4.loss_plan_l1_fix_dist: 0.2438, d5.loss_plan_l1_fix_time: 1.6046, d5.loss_plan_l1_fix_dist: 0.2552, d6.loss_plan_l1_fix_time: 1.6110, d6.loss_plan_l1_fix_dist: 0.2661, d0.loss_cls_all: 0.3477, d0.loss_bbox_all: 0.5384, d0.loss_cls: 0.3477, d0.loss_bbox: 0.5384, d1.loss_cls: 0.3369, d1.loss_bbox: 0.5175, d2.loss_cls: 0.3326, d2.loss_bbox: 0.5071, d3.loss_cls: 0.3311, d3.loss_bbox: 0.5049, d4.loss_cls: 0.3299, d4.loss_bbox: 0.5014, d5.loss_cls: 0.3280, d5.loss_bbox: 0.5045, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9576, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8639, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8231, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.8183, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.8133, d5.loss_traj_cls: 0.0024, d5.loss_traj: 0.8200, d0.loss_map_cls_all: 0.3442, d0.loss_map_pts_all: 2.3161, d0.loss_map_dir_all: 0.0180, d0.loss_map_cls: 0.3442, d0.loss_map_pts: 2.3161, d0.loss_map_dir: 0.0180, d1.loss_map_cls: 0.3186, d1.loss_map_pts: 1.5737, d1.loss_map_dir: 0.0178, d2.loss_map_cls: 0.3011, d2.loss_map_pts: 1.3927, d2.loss_map_dir: 0.0187, d3.loss_map_cls: 0.2921, d3.loss_map_pts: 1.3188, d3.loss_map_dir: 0.0197, d4.loss_map_cls: 0.2857, d4.loss_map_pts: 1.2997, d4.loss_map_dir: 0.0201, d5.loss_map_cls: 0.2858, d5.loss_map_pts: 1.2921, d5.loss_map_dir: 0.0203, loss: 42.2669, grad_norm: 152.5509 +2026-02-25 05:54:35,347 - DriveTransformer - INFO - Epoch [4][5550/39528] lr: 9.623e-05, eta: 7 days, 15:31:53, time: 0.774, data_time: 0.045, memory: 19865, loss_cls: 0.2808, loss_bbox: 0.4708, loss_traj: 1.0326, loss_traj_cls: 0.0028, loss_map_cls: 0.2110, loss_map_pts: 0.7954, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.5525, d0.loss_plan_l1_fix_dist: 0.4678, d1.loss_plan_l1_fix_time: 1.5315, d1.loss_plan_l1_fix_dist: 0.2305, d2.loss_plan_l1_fix_time: 1.5063, d2.loss_plan_l1_fix_dist: 0.2321, d3.loss_plan_l1_fix_time: 1.5059, d3.loss_plan_l1_fix_dist: 0.2399, d4.loss_plan_l1_fix_time: 1.5092, d4.loss_plan_l1_fix_dist: 0.2494, d5.loss_plan_l1_fix_time: 1.5130, d5.loss_plan_l1_fix_dist: 0.2583, d6.loss_plan_l1_fix_time: 1.5178, d6.loss_plan_l1_fix_dist: 0.2691, d0.loss_cls_all: 0.2932, d0.loss_bbox_all: 0.5082, d0.loss_cls: 0.2932, d0.loss_bbox: 0.5082, d1.loss_cls: 0.2887, d1.loss_bbox: 0.4845, d2.loss_cls: 0.2822, d2.loss_bbox: 0.4770, d3.loss_cls: 0.2801, d3.loss_bbox: 0.4716, d4.loss_cls: 0.2779, d4.loss_bbox: 0.4690, d5.loss_cls: 0.2807, d5.loss_bbox: 0.4682, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2102, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0697, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0383, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0328, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0268, d5.loss_traj_cls: 0.0024, d5.loss_traj: 1.0298, d0.loss_map_cls_all: 0.2477, d0.loss_map_pts_all: 1.4387, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2477, d0.loss_map_pts: 1.4387, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2183, d1.loss_map_pts: 0.9838, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.2083, d2.loss_map_pts: 0.8651, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.2066, d3.loss_map_pts: 0.8098, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.2062, d4.loss_map_pts: 0.7938, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.2096, d5.loss_map_pts: 0.7933, d5.loss_map_dir: 0.0110, loss: 36.9247, grad_norm: 150.7630 +2026-02-25 05:55:14,164 - DriveTransformer - INFO - Epoch [4][5600/39528] lr: 9.623e-05, eta: 7 days, 15:31:05, time: 0.776, data_time: 0.043, memory: 19865, loss_cls: 0.3247, loss_bbox: 0.5001, loss_traj: 0.8790, loss_traj_cls: 0.0027, loss_map_cls: 0.2933, loss_map_pts: 1.0722, loss_map_dir: 0.0153, d0.loss_plan_l1_fix_time: 2.9707, d0.loss_plan_l1_fix_dist: 0.4017, d1.loss_plan_l1_fix_time: 1.5647, d1.loss_plan_l1_fix_dist: 0.2324, d2.loss_plan_l1_fix_time: 1.5283, d2.loss_plan_l1_fix_dist: 0.2388, d3.loss_plan_l1_fix_time: 1.5250, d3.loss_plan_l1_fix_dist: 0.2459, d4.loss_plan_l1_fix_time: 1.5269, d4.loss_plan_l1_fix_dist: 0.2547, d5.loss_plan_l1_fix_time: 1.5292, d5.loss_plan_l1_fix_dist: 0.2647, d6.loss_plan_l1_fix_time: 1.5324, d6.loss_plan_l1_fix_dist: 0.2771, d0.loss_cls_all: 0.3452, d0.loss_bbox_all: 0.5499, d0.loss_cls: 0.3452, d0.loss_bbox: 0.5499, d1.loss_cls: 0.3374, d1.loss_bbox: 0.5181, d2.loss_cls: 0.3324, d2.loss_bbox: 0.5035, d3.loss_cls: 0.3281, d3.loss_bbox: 0.5006, d4.loss_cls: 0.3227, d4.loss_bbox: 0.5000, d5.loss_cls: 0.3238, d5.loss_bbox: 0.4984, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0408, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9174, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8898, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8766, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8780, d5.loss_traj_cls: 0.0024, d5.loss_traj: 0.8743, d0.loss_map_cls_all: 0.3497, d0.loss_map_pts_all: 1.7974, d0.loss_map_dir_all: 0.0130, d0.loss_map_cls: 0.3497, d0.loss_map_pts: 1.7974, d0.loss_map_dir: 0.0130, d1.loss_map_cls: 0.3272, d1.loss_map_pts: 1.2715, d1.loss_map_dir: 0.0131, d2.loss_map_cls: 0.3126, d2.loss_map_pts: 1.1416, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.3008, d3.loss_map_pts: 1.0969, d3.loss_map_dir: 0.0147, d4.loss_map_cls: 0.2947, d4.loss_map_pts: 1.0775, d4.loss_map_dir: 0.0150, d5.loss_map_cls: 0.2943, d5.loss_map_pts: 1.0741, d5.loss_map_dir: 0.0151, loss: 40.2020, grad_norm: 150.8131 +2026-02-25 05:55:55,105 - DriveTransformer - INFO - Epoch [4][5650/39528] lr: 9.623e-05, eta: 7 days, 15:30:31, time: 0.819, data_time: 0.041, memory: 19865, loss_cls: 0.2914, loss_bbox: 0.4790, loss_traj: 1.1757, loss_traj_cls: 0.0027, loss_map_cls: 0.2776, loss_map_pts: 1.2036, loss_map_dir: 0.0154, d0.loss_plan_l1_fix_time: 2.7115, d0.loss_plan_l1_fix_dist: 0.3447, d1.loss_plan_l1_fix_time: 1.8207, d1.loss_plan_l1_fix_dist: 0.2244, d2.loss_plan_l1_fix_time: 1.8006, d2.loss_plan_l1_fix_dist: 0.2286, d3.loss_plan_l1_fix_time: 1.8019, d3.loss_plan_l1_fix_dist: 0.2367, d4.loss_plan_l1_fix_time: 1.8049, d4.loss_plan_l1_fix_dist: 0.2458, d5.loss_plan_l1_fix_time: 1.8078, d5.loss_plan_l1_fix_dist: 0.2570, d6.loss_plan_l1_fix_time: 1.8105, d6.loss_plan_l1_fix_dist: 0.2665, d0.loss_cls_all: 0.3124, d0.loss_bbox_all: 0.5205, d0.loss_cls: 0.3124, d0.loss_bbox: 0.5205, d1.loss_cls: 0.3036, d1.loss_bbox: 0.4912, d2.loss_cls: 0.2961, d2.loss_bbox: 0.4770, d3.loss_cls: 0.2937, d3.loss_bbox: 0.4758, d4.loss_cls: 0.2904, d4.loss_bbox: 0.4754, d5.loss_cls: 0.2906, d5.loss_bbox: 0.4776, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3678, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.2099, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1710, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1698, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1667, d5.loss_traj_cls: 0.0024, d5.loss_traj: 1.1712, d0.loss_map_cls_all: 0.3325, d0.loss_map_pts_all: 2.0159, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.3325, d0.loss_map_pts: 2.0159, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.3040, d1.loss_map_pts: 1.4603, d1.loss_map_dir: 0.0137, d2.loss_map_cls: 0.2936, d2.loss_map_pts: 1.3010, d2.loss_map_dir: 0.0142, d3.loss_map_cls: 0.2818, d3.loss_map_pts: 1.2406, d3.loss_map_dir: 0.0148, d4.loss_map_cls: 0.2775, d4.loss_map_pts: 1.2165, d4.loss_map_dir: 0.0150, d5.loss_map_cls: 0.2762, d5.loss_map_pts: 1.2089, d5.loss_map_dir: 0.0153, loss: 44.2648, grad_norm: 151.6489 +2026-02-25 05:56:35,009 - DriveTransformer - INFO - Epoch [4][5700/39528] lr: 9.623e-05, eta: 7 days, 15:29:50, time: 0.798, data_time: 0.043, memory: 19865, loss_cls: 0.2919, loss_bbox: 0.4687, loss_traj: 0.9818, loss_traj_cls: 0.0028, loss_map_cls: 0.2514, loss_map_pts: 1.0760, loss_map_dir: 0.0156, d0.loss_plan_l1_fix_time: 2.7142, d0.loss_plan_l1_fix_dist: 0.4218, d1.loss_plan_l1_fix_time: 1.5807, d1.loss_plan_l1_fix_dist: 0.2258, d2.loss_plan_l1_fix_time: 1.5542, d2.loss_plan_l1_fix_dist: 0.2324, d3.loss_plan_l1_fix_time: 1.5579, d3.loss_plan_l1_fix_dist: 0.2417, d4.loss_plan_l1_fix_time: 1.5627, d4.loss_plan_l1_fix_dist: 0.2520, d5.loss_plan_l1_fix_time: 1.5672, d5.loss_plan_l1_fix_dist: 0.2617, d6.loss_plan_l1_fix_time: 1.5718, d6.loss_plan_l1_fix_dist: 0.2723, d0.loss_cls_all: 0.3082, d0.loss_bbox_all: 0.5050, d0.loss_cls: 0.3082, d0.loss_bbox: 0.5050, d1.loss_cls: 0.3020, d1.loss_bbox: 0.4836, d2.loss_cls: 0.2911, d2.loss_bbox: 0.4734, d3.loss_cls: 0.2895, d3.loss_bbox: 0.4687, d4.loss_cls: 0.2892, d4.loss_bbox: 0.4678, d5.loss_cls: 0.2895, d5.loss_bbox: 0.4697, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2120, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0225, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9985, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9858, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9820, d5.loss_traj_cls: 0.0024, d5.loss_traj: 0.9819, d0.loss_map_cls_all: 0.3135, d0.loss_map_pts_all: 1.8892, d0.loss_map_dir_all: 0.0143, d0.loss_map_cls: 0.3135, d0.loss_map_pts: 1.8892, d0.loss_map_dir: 0.0143, d1.loss_map_cls: 0.2865, d1.loss_map_pts: 1.3044, d1.loss_map_dir: 0.0140, d2.loss_map_cls: 0.2633, d2.loss_map_pts: 1.1547, d2.loss_map_dir: 0.0145, d3.loss_map_cls: 0.2543, d3.loss_map_pts: 1.1018, d3.loss_map_dir: 0.0150, d4.loss_map_cls: 0.2507, d4.loss_map_pts: 1.0884, d4.loss_map_dir: 0.0153, d5.loss_map_cls: 0.2506, d5.loss_map_pts: 1.0829, d5.loss_map_dir: 0.0154, loss: 40.2906, grad_norm: 151.7118 +2026-02-25 05:57:15,391 - DriveTransformer - INFO - Epoch [4][5750/39528] lr: 9.623e-05, eta: 7 days, 15:29:12, time: 0.808, data_time: 0.044, memory: 19865, loss_cls: 0.3409, loss_bbox: 0.4960, loss_traj: 1.1336, loss_traj_cls: 0.0027, loss_map_cls: 0.2587, loss_map_pts: 1.1502, loss_map_dir: 0.0187, d0.loss_plan_l1_fix_time: 2.8054, d0.loss_plan_l1_fix_dist: 0.4090, d1.loss_plan_l1_fix_time: 1.6619, d1.loss_plan_l1_fix_dist: 0.2333, d2.loss_plan_l1_fix_time: 1.6579, d2.loss_plan_l1_fix_dist: 0.2381, d3.loss_plan_l1_fix_time: 1.6655, d3.loss_plan_l1_fix_dist: 0.2460, d4.loss_plan_l1_fix_time: 1.6709, d4.loss_plan_l1_fix_dist: 0.2570, d5.loss_plan_l1_fix_time: 1.6758, d5.loss_plan_l1_fix_dist: 0.2699, d6.loss_plan_l1_fix_time: 1.6809, d6.loss_plan_l1_fix_dist: 0.2885, d0.loss_cls_all: 0.3545, d0.loss_bbox_all: 0.5532, d0.loss_cls: 0.3545, d0.loss_bbox: 0.5532, d1.loss_cls: 0.3467, d1.loss_bbox: 0.5197, d2.loss_cls: 0.3382, d2.loss_bbox: 0.5066, d3.loss_cls: 0.3389, d3.loss_bbox: 0.5000, d4.loss_cls: 0.3377, d4.loss_bbox: 0.4973, d5.loss_cls: 0.3385, d5.loss_bbox: 0.4965, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3595, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.1897, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1393, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1269, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1260, d5.loss_traj_cls: 0.0025, d5.loss_traj: 1.1353, d0.loss_map_cls_all: 0.3038, d0.loss_map_pts_all: 2.0241, d0.loss_map_dir_all: 0.0170, d0.loss_map_cls: 0.3038, d0.loss_map_pts: 2.0241, d0.loss_map_dir: 0.0170, d1.loss_map_cls: 0.2850, d1.loss_map_pts: 1.4158, d1.loss_map_dir: 0.0167, d2.loss_map_cls: 0.2703, d2.loss_map_pts: 1.2406, d2.loss_map_dir: 0.0174, d3.loss_map_cls: 0.2627, d3.loss_map_pts: 1.1817, d3.loss_map_dir: 0.0180, d4.loss_map_cls: 0.2587, d4.loss_map_pts: 1.1601, d4.loss_map_dir: 0.0184, d5.loss_map_cls: 0.2579, d5.loss_map_pts: 1.1536, d5.loss_map_dir: 0.0186, loss: 43.5452, grad_norm: 155.1254 +2026-02-25 05:57:53,380 - DriveTransformer - INFO - Epoch [4][5800/39528] lr: 9.623e-05, eta: 7 days, 15:28:18, time: 0.761, data_time: 0.036, memory: 19865, loss_cls: 0.3051, loss_bbox: 0.4856, loss_traj: 1.0091, loss_traj_cls: 0.0027, loss_map_cls: 0.2596, loss_map_pts: 1.1480, loss_map_dir: 0.0179, d0.loss_plan_l1_fix_time: 2.7217, d0.loss_plan_l1_fix_dist: 0.4277, d1.loss_plan_l1_fix_time: 1.6397, d1.loss_plan_l1_fix_dist: 0.2572, d2.loss_plan_l1_fix_time: 1.6170, d2.loss_plan_l1_fix_dist: 0.2603, d3.loss_plan_l1_fix_time: 1.6160, d3.loss_plan_l1_fix_dist: 0.2667, d4.loss_plan_l1_fix_time: 1.6188, d4.loss_plan_l1_fix_dist: 0.2755, d5.loss_plan_l1_fix_time: 1.6230, d5.loss_plan_l1_fix_dist: 0.2873, d6.loss_plan_l1_fix_time: 1.6282, d6.loss_plan_l1_fix_dist: 0.2961, d0.loss_cls_all: 0.3187, d0.loss_bbox_all: 0.5294, d0.loss_cls: 0.3187, d0.loss_bbox: 0.5294, d1.loss_cls: 0.3109, d1.loss_bbox: 0.4997, d2.loss_cls: 0.3060, d2.loss_bbox: 0.4893, d3.loss_cls: 0.3030, d3.loss_bbox: 0.4848, d4.loss_cls: 0.3006, d4.loss_bbox: 0.4836, d5.loss_cls: 0.3016, d5.loss_bbox: 0.4852, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3323, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0997, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0351, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.0129, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0100, d5.loss_traj_cls: 0.0024, d5.loss_traj: 1.0107, d0.loss_map_cls_all: 0.3165, d0.loss_map_pts_all: 1.9081, d0.loss_map_dir_all: 0.0159, d0.loss_map_cls: 0.3165, d0.loss_map_pts: 1.9081, d0.loss_map_dir: 0.0159, d1.loss_map_cls: 0.2919, d1.loss_map_pts: 1.4016, d1.loss_map_dir: 0.0161, d2.loss_map_cls: 0.2782, d2.loss_map_pts: 1.2415, d2.loss_map_dir: 0.0168, d3.loss_map_cls: 0.2680, d3.loss_map_pts: 1.1745, d3.loss_map_dir: 0.0173, d4.loss_map_cls: 0.2614, d4.loss_map_pts: 1.1523, d4.loss_map_dir: 0.0176, d5.loss_map_cls: 0.2602, d5.loss_map_pts: 1.1487, d5.loss_map_dir: 0.0177, loss: 41.9764, grad_norm: 154.8962 +2026-02-25 05:58:35,063 - DriveTransformer - INFO - Epoch [4][5850/39528] lr: 9.623e-05, eta: 7 days, 15:27:48, time: 0.832, data_time: 0.039, memory: 19865, loss_cls: 0.3168, loss_bbox: 0.4927, loss_traj: 0.7774, loss_traj_cls: 0.0026, loss_map_cls: 0.2945, loss_map_pts: 1.3248, loss_map_dir: 0.0195, d0.loss_plan_l1_fix_time: 2.6414, d0.loss_plan_l1_fix_dist: 0.3825, d1.loss_plan_l1_fix_time: 1.7372, d1.loss_plan_l1_fix_dist: 0.2478, d2.loss_plan_l1_fix_time: 1.7149, d2.loss_plan_l1_fix_dist: 0.2540, d3.loss_plan_l1_fix_time: 1.7145, d3.loss_plan_l1_fix_dist: 0.2617, d4.loss_plan_l1_fix_time: 1.7177, d4.loss_plan_l1_fix_dist: 0.2707, d5.loss_plan_l1_fix_time: 1.7216, d5.loss_plan_l1_fix_dist: 0.2811, d6.loss_plan_l1_fix_time: 1.7269, d6.loss_plan_l1_fix_dist: 0.2954, d0.loss_cls_all: 0.3361, d0.loss_bbox_all: 0.5336, d0.loss_cls: 0.3361, d0.loss_bbox: 0.5336, d1.loss_cls: 0.3303, d1.loss_bbox: 0.5057, d2.loss_cls: 0.3206, d2.loss_bbox: 0.4983, d3.loss_cls: 0.3195, d3.loss_bbox: 0.4917, d4.loss_cls: 0.3159, d4.loss_bbox: 0.4887, d5.loss_cls: 0.3171, d5.loss_bbox: 0.4893, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9707, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8346, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7931, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7903, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7884, d5.loss_traj_cls: 0.0024, d5.loss_traj: 0.7831, d0.loss_map_cls_all: 0.3459, d0.loss_map_pts_all: 2.2478, d0.loss_map_dir_all: 0.0177, d0.loss_map_cls: 0.3459, d0.loss_map_pts: 2.2478, d0.loss_map_dir: 0.0177, d1.loss_map_cls: 0.3266, d1.loss_map_pts: 1.5958, d1.loss_map_dir: 0.0175, d2.loss_map_cls: 0.3117, d2.loss_map_pts: 1.4187, d2.loss_map_dir: 0.0182, d3.loss_map_cls: 0.3023, d3.loss_map_pts: 1.3491, d3.loss_map_dir: 0.0188, d4.loss_map_cls: 0.2955, d4.loss_map_pts: 1.3261, d4.loss_map_dir: 0.0191, d5.loss_map_cls: 0.2940, d5.loss_map_pts: 1.3240, d5.loss_map_dir: 0.0192, loss: 42.8385, grad_norm: 155.3673 +2026-02-25 05:59:16,297 - DriveTransformer - INFO - Epoch [4][5900/39528] lr: 9.623e-05, eta: 7 days, 15:27:16, time: 0.825, data_time: 0.037, memory: 19865, loss_cls: 0.2897, loss_bbox: 0.4472, loss_traj: 0.9583, loss_traj_cls: 0.0026, loss_map_cls: 0.2828, loss_map_pts: 1.1605, loss_map_dir: 0.0171, d0.loss_plan_l1_fix_time: 2.4162, d0.loss_plan_l1_fix_dist: 0.4344, d1.loss_plan_l1_fix_time: 1.4166, d1.loss_plan_l1_fix_dist: 0.2837, d2.loss_plan_l1_fix_time: 1.4088, d2.loss_plan_l1_fix_dist: 0.2885, d3.loss_plan_l1_fix_time: 1.4107, d3.loss_plan_l1_fix_dist: 0.2970, d4.loss_plan_l1_fix_time: 1.4140, d4.loss_plan_l1_fix_dist: 0.3069, d5.loss_plan_l1_fix_time: 1.4173, d5.loss_plan_l1_fix_dist: 0.3180, d6.loss_plan_l1_fix_time: 1.4218, d6.loss_plan_l1_fix_dist: 0.3301, d0.loss_cls_all: 0.3050, d0.loss_bbox_all: 0.4990, d0.loss_cls: 0.3050, d0.loss_bbox: 0.4990, d1.loss_cls: 0.2970, d1.loss_bbox: 0.4682, d2.loss_cls: 0.2911, d2.loss_bbox: 0.4550, d3.loss_cls: 0.2891, d3.loss_bbox: 0.4488, d4.loss_cls: 0.2863, d4.loss_bbox: 0.4465, d5.loss_cls: 0.2875, d5.loss_bbox: 0.4446, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1418, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9930, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9606, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9629, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9613, d5.loss_traj_cls: 0.0024, d5.loss_traj: 0.9600, d0.loss_map_cls_all: 0.3423, d0.loss_map_pts_all: 2.0449, d0.loss_map_dir_all: 0.0157, d0.loss_map_cls: 0.3423, d0.loss_map_pts: 2.0449, d0.loss_map_dir: 0.0157, d1.loss_map_cls: 0.3153, d1.loss_map_pts: 1.4583, d1.loss_map_dir: 0.0156, d2.loss_map_cls: 0.2972, d2.loss_map_pts: 1.2770, d2.loss_map_dir: 0.0160, d3.loss_map_cls: 0.2857, d3.loss_map_pts: 1.2018, d3.loss_map_dir: 0.0165, d4.loss_map_cls: 0.2839, d4.loss_map_pts: 1.1690, d4.loss_map_dir: 0.0169, d5.loss_map_cls: 0.2822, d5.loss_map_pts: 1.1619, d5.loss_map_dir: 0.0170, loss: 40.2509, grad_norm: 156.1945 +2026-02-25 05:59:57,466 - DriveTransformer - INFO - Epoch [4][5950/39528] lr: 9.623e-05, eta: 7 days, 15:26:43, time: 0.823, data_time: 0.049, memory: 19865, loss_cls: 0.3052, loss_bbox: 0.4779, loss_traj: 0.9397, loss_traj_cls: 0.0025, loss_map_cls: 0.2526, loss_map_pts: 1.1911, loss_map_dir: 0.0192, d0.loss_plan_l1_fix_time: 2.8551, d0.loss_plan_l1_fix_dist: 0.4197, d1.loss_plan_l1_fix_time: 1.7177, d1.loss_plan_l1_fix_dist: 0.2651, d2.loss_plan_l1_fix_time: 1.6807, d2.loss_plan_l1_fix_dist: 0.2683, d3.loss_plan_l1_fix_time: 1.6784, d3.loss_plan_l1_fix_dist: 0.2787, d4.loss_plan_l1_fix_time: 1.6804, d4.loss_plan_l1_fix_dist: 0.2922, d5.loss_plan_l1_fix_time: 1.6834, d5.loss_plan_l1_fix_dist: 0.3054, d6.loss_plan_l1_fix_time: 1.6870, d6.loss_plan_l1_fix_dist: 0.3189, d0.loss_cls_all: 0.3352, d0.loss_bbox_all: 0.5279, d0.loss_cls: 0.3352, d0.loss_bbox: 0.5279, d1.loss_cls: 0.3254, d1.loss_bbox: 0.4970, d2.loss_cls: 0.3150, d2.loss_bbox: 0.4858, d3.loss_cls: 0.3096, d3.loss_bbox: 0.4810, d4.loss_cls: 0.3082, d4.loss_bbox: 0.4774, d5.loss_cls: 0.3060, d5.loss_bbox: 0.4775, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1257, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9844, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9506, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9494, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9465, d5.loss_traj_cls: 0.0022, d5.loss_traj: 0.9455, d0.loss_map_cls_all: 0.3111, d0.loss_map_pts_all: 2.1548, d0.loss_map_dir_all: 0.0172, d0.loss_map_cls: 0.3111, d0.loss_map_pts: 2.1548, d0.loss_map_dir: 0.0172, d1.loss_map_cls: 0.2842, d1.loss_map_pts: 1.4859, d1.loss_map_dir: 0.0172, d2.loss_map_cls: 0.2659, d2.loss_map_pts: 1.2934, d2.loss_map_dir: 0.0178, d3.loss_map_cls: 0.2569, d3.loss_map_pts: 1.2275, d3.loss_map_dir: 0.0185, d4.loss_map_cls: 0.2524, d4.loss_map_pts: 1.2050, d4.loss_map_dir: 0.0188, d5.loss_map_cls: 0.2534, d5.loss_map_pts: 1.1953, d5.loss_map_dir: 0.0190, loss: 42.7142, grad_norm: 155.6802 +2026-02-25 06:00:35,523 - DriveTransformer - INFO - Epoch [4][6000/39528] lr: 9.623e-05, eta: 7 days, 15:25:50, time: 0.761, data_time: 0.042, memory: 19865, loss_cls: 0.3262, loss_bbox: 0.4698, loss_traj: 1.0804, loss_traj_cls: 0.0025, loss_map_cls: 0.2550, loss_map_pts: 1.0020, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 3.0107, d0.loss_plan_l1_fix_dist: 0.3728, d1.loss_plan_l1_fix_time: 1.6179, d1.loss_plan_l1_fix_dist: 0.2641, d2.loss_plan_l1_fix_time: 1.5840, d2.loss_plan_l1_fix_dist: 0.2707, d3.loss_plan_l1_fix_time: 1.5861, d3.loss_plan_l1_fix_dist: 0.2820, d4.loss_plan_l1_fix_time: 1.5888, d4.loss_plan_l1_fix_dist: 0.2959, d5.loss_plan_l1_fix_time: 1.5921, d5.loss_plan_l1_fix_dist: 0.3120, d6.loss_plan_l1_fix_time: 1.5959, d6.loss_plan_l1_fix_dist: 0.3302, d0.loss_cls_all: 0.3485, d0.loss_bbox_all: 0.5399, d0.loss_cls: 0.3485, d0.loss_bbox: 0.5399, d1.loss_cls: 0.3338, d1.loss_bbox: 0.5062, d2.loss_cls: 0.3270, d2.loss_bbox: 0.4877, d3.loss_cls: 0.3249, d3.loss_bbox: 0.4804, d4.loss_cls: 0.3249, d4.loss_bbox: 0.4732, d5.loss_cls: 0.3264, d5.loss_bbox: 0.4698, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3843, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.1450, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1021, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.0937, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0790, d5.loss_traj_cls: 0.0021, d5.loss_traj: 1.0859, d0.loss_map_cls_all: 0.2969, d0.loss_map_pts_all: 1.7287, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.2969, d0.loss_map_pts: 1.7287, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2754, d1.loss_map_pts: 1.2334, d1.loss_map_dir: 0.0132, d2.loss_map_cls: 0.2645, d2.loss_map_pts: 1.0845, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2599, d3.loss_map_pts: 1.0298, d3.loss_map_dir: 0.0143, d4.loss_map_cls: 0.2545, d4.loss_map_pts: 1.0115, d4.loss_map_dir: 0.0147, d5.loss_map_cls: 0.2553, d5.loss_map_pts: 1.0060, d5.loss_map_dir: 0.0148, loss: 41.4046, grad_norm: 156.2860 +2026-02-25 06:01:17,908 - DriveTransformer - INFO - Epoch [4][6050/39528] lr: 9.623e-05, eta: 7 days, 15:25:25, time: 0.848, data_time: 0.045, memory: 19865, loss_cls: 0.2922, loss_bbox: 0.4714, loss_traj: 0.8331, loss_traj_cls: 0.0024, loss_map_cls: 0.2697, loss_map_pts: 1.0710, loss_map_dir: 0.0214, d0.loss_plan_l1_fix_time: 2.5361, d0.loss_plan_l1_fix_dist: 0.4267, d1.loss_plan_l1_fix_time: 1.4230, d1.loss_plan_l1_fix_dist: 0.2705, d2.loss_plan_l1_fix_time: 1.3949, d2.loss_plan_l1_fix_dist: 0.2784, d3.loss_plan_l1_fix_time: 1.3958, d3.loss_plan_l1_fix_dist: 0.2933, d4.loss_plan_l1_fix_time: 1.3996, d4.loss_plan_l1_fix_dist: 0.3085, d5.loss_plan_l1_fix_time: 1.4044, d5.loss_plan_l1_fix_dist: 0.3256, d6.loss_plan_l1_fix_time: 1.4101, d6.loss_plan_l1_fix_dist: 0.3442, d0.loss_cls_all: 0.3069, d0.loss_bbox_all: 0.5272, d0.loss_cls: 0.3069, d0.loss_bbox: 0.5272, d1.loss_cls: 0.2985, d1.loss_bbox: 0.5013, d2.loss_cls: 0.2920, d2.loss_bbox: 0.4838, d3.loss_cls: 0.2919, d3.loss_bbox: 0.4775, d4.loss_cls: 0.2893, d4.loss_bbox: 0.4743, d5.loss_cls: 0.2923, d5.loss_bbox: 0.4713, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9918, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8652, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8426, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.8379, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.8327, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.8324, d0.loss_map_cls_all: 0.3314, d0.loss_map_pts_all: 2.0724, d0.loss_map_dir_all: 0.0198, d0.loss_map_cls: 0.3314, d0.loss_map_pts: 2.0724, d0.loss_map_dir: 0.0198, d1.loss_map_cls: 0.3059, d1.loss_map_pts: 1.3535, d1.loss_map_dir: 0.0195, d2.loss_map_cls: 0.2863, d2.loss_map_pts: 1.1675, d2.loss_map_dir: 0.0199, d3.loss_map_cls: 0.2773, d3.loss_map_pts: 1.0983, d3.loss_map_dir: 0.0205, d4.loss_map_cls: 0.2717, d4.loss_map_pts: 1.0776, d4.loss_map_dir: 0.0209, d5.loss_map_cls: 0.2711, d5.loss_map_pts: 1.0723, d5.loss_map_dir: 0.0211, loss: 39.0519, grad_norm: 157.2470 +2026-02-25 06:01:56,689 - DriveTransformer - INFO - Epoch [4][6100/39528] lr: 9.623e-05, eta: 7 days, 15:24:37, time: 0.776, data_time: 0.044, memory: 19865, loss_cls: 0.3156, loss_bbox: 0.4702, loss_traj: 0.9022, loss_traj_cls: 0.0024, loss_map_cls: 0.2397, loss_map_pts: 0.9355, loss_map_dir: 0.0143, d0.loss_plan_l1_fix_time: 2.4736, d0.loss_plan_l1_fix_dist: 0.4233, d1.loss_plan_l1_fix_time: 1.5172, d1.loss_plan_l1_fix_dist: 0.2521, d2.loss_plan_l1_fix_time: 1.4918, d2.loss_plan_l1_fix_dist: 0.2689, d3.loss_plan_l1_fix_time: 1.4936, d3.loss_plan_l1_fix_dist: 0.2884, d4.loss_plan_l1_fix_time: 1.4961, d4.loss_plan_l1_fix_dist: 0.3100, d5.loss_plan_l1_fix_time: 1.4995, d5.loss_plan_l1_fix_dist: 0.3299, d6.loss_plan_l1_fix_time: 1.5036, d6.loss_plan_l1_fix_dist: 0.3517, d0.loss_cls_all: 0.3307, d0.loss_bbox_all: 0.5117, d0.loss_cls: 0.3307, d0.loss_bbox: 0.5117, d1.loss_cls: 0.3345, d1.loss_bbox: 0.4814, d2.loss_cls: 0.3231, d2.loss_bbox: 0.4694, d3.loss_cls: 0.3173, d3.loss_bbox: 0.4649, d4.loss_cls: 0.3129, d4.loss_bbox: 0.4674, d5.loss_cls: 0.3161, d5.loss_bbox: 0.4654, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1652, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9907, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9336, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.9153, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.9141, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.9035, d0.loss_map_cls_all: 0.2900, d0.loss_map_pts_all: 1.6323, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2900, d0.loss_map_pts: 1.6323, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2628, d1.loss_map_pts: 1.1471, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2509, d2.loss_map_pts: 1.0078, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2451, d3.loss_map_pts: 0.9563, d3.loss_map_dir: 0.0136, d4.loss_map_cls: 0.2397, d4.loss_map_pts: 0.9414, d4.loss_map_dir: 0.0140, d5.loss_map_cls: 0.2402, d5.loss_map_pts: 0.9362, d5.loss_map_dir: 0.0141, loss: 38.2079, grad_norm: 157.6638 +2026-02-25 06:02:38,237 - DriveTransformer - INFO - Epoch [4][6150/39528] lr: 9.623e-05, eta: 7 days, 15:24:06, time: 0.831, data_time: 0.045, memory: 19865, loss_cls: 0.3134, loss_bbox: 0.5190, loss_traj: 0.9127, loss_traj_cls: 0.0024, loss_map_cls: 0.2579, loss_map_pts: 1.2508, loss_map_dir: 0.0198, d0.loss_plan_l1_fix_time: 2.3884, d0.loss_plan_l1_fix_dist: 0.5094, d1.loss_plan_l1_fix_time: 1.4628, d1.loss_plan_l1_fix_dist: 0.2794, d2.loss_plan_l1_fix_time: 1.4419, d2.loss_plan_l1_fix_dist: 0.2869, d3.loss_plan_l1_fix_time: 1.4368, d3.loss_plan_l1_fix_dist: 0.3032, d4.loss_plan_l1_fix_time: 1.4377, d4.loss_plan_l1_fix_dist: 0.3217, d5.loss_plan_l1_fix_time: 1.4398, d5.loss_plan_l1_fix_dist: 0.3450, d6.loss_plan_l1_fix_time: 1.4430, d6.loss_plan_l1_fix_dist: 0.3693, d0.loss_cls_all: 0.3422, d0.loss_bbox_all: 0.5693, d0.loss_cls: 0.3422, d0.loss_bbox: 0.5693, d1.loss_cls: 0.3424, d1.loss_bbox: 0.5385, d2.loss_cls: 0.3288, d2.loss_bbox: 0.5258, d3.loss_cls: 0.3227, d3.loss_bbox: 0.5191, d4.loss_cls: 0.3180, d4.loss_bbox: 0.5168, d5.loss_cls: 0.3141, d5.loss_bbox: 0.5182, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0828, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9634, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9292, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.9188, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.9129, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.9157, d0.loss_map_cls_all: 0.3022, d0.loss_map_pts_all: 2.0401, d0.loss_map_dir_all: 0.0175, d0.loss_map_cls: 0.3022, d0.loss_map_pts: 2.0401, d0.loss_map_dir: 0.0175, d1.loss_map_cls: 0.2805, d1.loss_map_pts: 1.4650, d1.loss_map_dir: 0.0174, d2.loss_map_cls: 0.2717, d2.loss_map_pts: 1.3116, d2.loss_map_dir: 0.0182, d3.loss_map_cls: 0.2647, d3.loss_map_pts: 1.2591, d3.loss_map_dir: 0.0189, d4.loss_map_cls: 0.2601, d4.loss_map_pts: 1.2464, d4.loss_map_dir: 0.0195, d5.loss_map_cls: 0.2579, d5.loss_map_pts: 1.2448, d5.loss_map_dir: 0.0196, loss: 41.2122, grad_norm: 157.6448 +2026-02-25 06:03:19,559 - DriveTransformer - INFO - Epoch [4][6200/39528] lr: 9.623e-05, eta: 7 days, 15:23:35, time: 0.826, data_time: 0.046, memory: 19865, loss_cls: 0.3403, loss_bbox: 0.5356, loss_traj: 0.7701, loss_traj_cls: 0.0024, loss_map_cls: 0.2507, loss_map_pts: 1.1778, loss_map_dir: 0.0201, d0.loss_plan_l1_fix_time: 2.8044, d0.loss_plan_l1_fix_dist: 0.4384, d1.loss_plan_l1_fix_time: 1.6062, d1.loss_plan_l1_fix_dist: 0.2552, d2.loss_plan_l1_fix_time: 1.5819, d2.loss_plan_l1_fix_dist: 0.2669, d3.loss_plan_l1_fix_time: 1.5872, d3.loss_plan_l1_fix_dist: 0.2867, d4.loss_plan_l1_fix_time: 1.5917, d4.loss_plan_l1_fix_dist: 0.3097, d5.loss_plan_l1_fix_time: 1.5963, d5.loss_plan_l1_fix_dist: 0.3365, d6.loss_plan_l1_fix_time: 1.6017, d6.loss_plan_l1_fix_dist: 0.3629, d0.loss_cls_all: 0.3474, d0.loss_bbox_all: 0.5973, d0.loss_cls: 0.3474, d0.loss_bbox: 0.5973, d1.loss_cls: 0.3432, d1.loss_bbox: 0.5592, d2.loss_cls: 0.3327, d2.loss_bbox: 0.5487, d3.loss_cls: 0.3341, d3.loss_bbox: 0.5397, d4.loss_cls: 0.3337, d4.loss_bbox: 0.5362, d5.loss_cls: 0.3381, d5.loss_bbox: 0.5362, d0.loss_traj_cls: 0.0002, d0.loss_traj: 0.9268, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8076, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.7742, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.7691, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.7635, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.7684, d0.loss_map_cls_all: 0.2987, d0.loss_map_pts_all: 2.0353, d0.loss_map_dir_all: 0.0172, d0.loss_map_cls: 0.2987, d0.loss_map_pts: 2.0353, d0.loss_map_dir: 0.0172, d1.loss_map_cls: 0.2799, d1.loss_map_pts: 1.3973, d1.loss_map_dir: 0.0177, d2.loss_map_cls: 0.2641, d2.loss_map_pts: 1.2511, d2.loss_map_dir: 0.0185, d3.loss_map_cls: 0.2569, d3.loss_map_pts: 1.1967, d3.loss_map_dir: 0.0194, d4.loss_map_cls: 0.2520, d4.loss_map_pts: 1.1792, d4.loss_map_dir: 0.0197, d5.loss_map_cls: 0.2514, d5.loss_map_pts: 1.1743, d5.loss_map_dir: 0.0199, loss: 41.1305, grad_norm: 158.9910 +2026-02-25 06:04:01,471 - DriveTransformer - INFO - Epoch [4][6250/39528] lr: 9.623e-05, eta: 7 days, 15:23:07, time: 0.838, data_time: 0.053, memory: 19865, loss_cls: 0.2981, loss_bbox: 0.4698, loss_traj: 1.1504, loss_traj_cls: 0.0023, loss_map_cls: 0.2597, loss_map_pts: 1.0993, loss_map_dir: 0.0163, d0.loss_plan_l1_fix_time: 2.7858, d0.loss_plan_l1_fix_dist: 0.4334, d1.loss_plan_l1_fix_time: 1.7352, d1.loss_plan_l1_fix_dist: 0.2601, d2.loss_plan_l1_fix_time: 1.7207, d2.loss_plan_l1_fix_dist: 0.2685, d3.loss_plan_l1_fix_time: 1.7225, d3.loss_plan_l1_fix_dist: 0.2813, d4.loss_plan_l1_fix_time: 1.7265, d4.loss_plan_l1_fix_dist: 0.2986, d5.loss_plan_l1_fix_time: 1.7314, d5.loss_plan_l1_fix_dist: 0.3147, d6.loss_plan_l1_fix_time: 1.7373, d6.loss_plan_l1_fix_dist: 0.3342, d0.loss_cls_all: 0.3071, d0.loss_bbox_all: 0.5166, d0.loss_cls: 0.3071, d0.loss_bbox: 0.5166, d1.loss_cls: 0.3030, d1.loss_bbox: 0.4907, d2.loss_cls: 0.2998, d2.loss_bbox: 0.4759, d3.loss_cls: 0.2976, d3.loss_bbox: 0.4724, d4.loss_cls: 0.2967, d4.loss_bbox: 0.4694, d5.loss_cls: 0.2977, d5.loss_bbox: 0.4715, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4185, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.2390, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1850, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.1731, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1424, d5.loss_traj_cls: 0.0019, d5.loss_traj: 1.1459, d0.loss_map_cls_all: 0.3086, d0.loss_map_pts_all: 1.9039, d0.loss_map_dir_all: 0.0137, d0.loss_map_cls: 0.3086, d0.loss_map_pts: 1.9039, d0.loss_map_dir: 0.0137, d1.loss_map_cls: 0.2871, d1.loss_map_pts: 1.3578, d1.loss_map_dir: 0.0141, d2.loss_map_cls: 0.2759, d2.loss_map_pts: 1.1863, d2.loss_map_dir: 0.0147, d3.loss_map_cls: 0.2612, d3.loss_map_pts: 1.1259, d3.loss_map_dir: 0.0156, d4.loss_map_cls: 0.2579, d4.loss_map_pts: 1.1031, d4.loss_map_dir: 0.0159, d5.loss_map_cls: 0.2580, d5.loss_map_pts: 1.0986, d5.loss_map_dir: 0.0161, loss: 43.2186, grad_norm: 159.7527 +2026-02-25 06:04:41,701 - DriveTransformer - INFO - Epoch [4][6300/39528] lr: 9.623e-05, eta: 7 days, 15:22:28, time: 0.805, data_time: 0.047, memory: 19865, loss_cls: 0.2747, loss_bbox: 0.4771, loss_traj: 0.8150, loss_traj_cls: 0.0024, loss_map_cls: 0.2592, loss_map_pts: 1.0584, loss_map_dir: 0.0181, d0.loss_plan_l1_fix_time: 2.3191, d0.loss_plan_l1_fix_dist: 0.5511, d1.loss_plan_l1_fix_time: 1.3784, d1.loss_plan_l1_fix_dist: 0.2729, d2.loss_plan_l1_fix_time: 1.3506, d2.loss_plan_l1_fix_dist: 0.2844, d3.loss_plan_l1_fix_time: 1.3513, d3.loss_plan_l1_fix_dist: 0.3008, d4.loss_plan_l1_fix_time: 1.3550, d4.loss_plan_l1_fix_dist: 0.3175, d5.loss_plan_l1_fix_time: 1.3592, d5.loss_plan_l1_fix_dist: 0.3353, d6.loss_plan_l1_fix_time: 1.3643, d6.loss_plan_l1_fix_dist: 0.3572, d0.loss_cls_all: 0.3010, d0.loss_bbox_all: 0.5223, d0.loss_cls: 0.3010, d0.loss_bbox: 0.5223, d1.loss_cls: 0.2879, d1.loss_bbox: 0.4974, d2.loss_cls: 0.2793, d2.loss_bbox: 0.4841, d3.loss_cls: 0.2749, d3.loss_bbox: 0.4775, d4.loss_cls: 0.2727, d4.loss_bbox: 0.4750, d5.loss_cls: 0.2743, d5.loss_bbox: 0.4742, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9447, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8384, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8166, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.8092, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8153, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.8129, d0.loss_map_cls_all: 0.3088, d0.loss_map_pts_all: 1.9918, d0.loss_map_dir_all: 0.0160, d0.loss_map_cls: 0.3088, d0.loss_map_pts: 1.9918, d0.loss_map_dir: 0.0160, d1.loss_map_cls: 0.2834, d1.loss_map_pts: 1.3511, d1.loss_map_dir: 0.0162, d2.loss_map_cls: 0.2743, d2.loss_map_pts: 1.1565, d2.loss_map_dir: 0.0168, d3.loss_map_cls: 0.2663, d3.loss_map_pts: 1.0886, d3.loss_map_dir: 0.0174, d4.loss_map_cls: 0.2607, d4.loss_map_pts: 1.0671, d4.loss_map_dir: 0.0178, d5.loss_map_cls: 0.2597, d5.loss_map_pts: 1.0618, d5.loss_map_dir: 0.0179, loss: 38.0779, grad_norm: 157.2435 +2026-02-25 06:05:21,462 - DriveTransformer - INFO - Epoch [4][6350/39528] lr: 9.623e-05, eta: 7 days, 15:21:46, time: 0.795, data_time: 0.040, memory: 19865, loss_cls: 0.3212, loss_bbox: 0.4966, loss_traj: 1.0718, loss_traj_cls: 0.0024, loss_map_cls: 0.2416, loss_map_pts: 0.9981, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 2.6198, d0.loss_plan_l1_fix_dist: 0.4808, d1.loss_plan_l1_fix_time: 1.5764, d1.loss_plan_l1_fix_dist: 0.2444, d2.loss_plan_l1_fix_time: 1.5574, d2.loss_plan_l1_fix_dist: 0.2544, d3.loss_plan_l1_fix_time: 1.5637, d3.loss_plan_l1_fix_dist: 0.2708, d4.loss_plan_l1_fix_time: 1.5678, d4.loss_plan_l1_fix_dist: 0.2870, d5.loss_plan_l1_fix_time: 1.5711, d5.loss_plan_l1_fix_dist: 0.3058, d6.loss_plan_l1_fix_time: 1.5742, d6.loss_plan_l1_fix_dist: 0.3224, d0.loss_cls_all: 0.3347, d0.loss_bbox_all: 0.5476, d0.loss_cls: 0.3347, d0.loss_bbox: 0.5476, d1.loss_cls: 0.3237, d1.loss_bbox: 0.5165, d2.loss_cls: 0.3184, d2.loss_bbox: 0.5052, d3.loss_cls: 0.3181, d3.loss_bbox: 0.4985, d4.loss_cls: 0.3156, d4.loss_bbox: 0.4954, d5.loss_cls: 0.3174, d5.loss_bbox: 0.4960, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2133, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0992, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0775, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0671, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0698, d5.loss_traj_cls: 0.0019, d5.loss_traj: 1.0669, d0.loss_map_cls_all: 0.2897, d0.loss_map_pts_all: 1.7240, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.2897, d0.loss_map_pts: 1.7240, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2677, d1.loss_map_pts: 1.2337, d1.loss_map_dir: 0.0129, d2.loss_map_cls: 0.2530, d2.loss_map_pts: 1.0907, d2.loss_map_dir: 0.0132, d3.loss_map_cls: 0.2496, d3.loss_map_pts: 1.0296, d3.loss_map_dir: 0.0137, d4.loss_map_cls: 0.2421, d4.loss_map_pts: 1.0049, d4.loss_map_dir: 0.0140, d5.loss_map_cls: 0.2410, d5.loss_map_pts: 0.9994, d5.loss_map_dir: 0.0141, loss: 40.5448, grad_norm: 153.9767 +2026-02-25 06:06:01,241 - DriveTransformer - INFO - Epoch [4][6400/39528] lr: 9.623e-05, eta: 7 days, 15:21:04, time: 0.796, data_time: 0.041, memory: 19865, loss_cls: 0.3310, loss_bbox: 0.4892, loss_traj: 1.0356, loss_traj_cls: 0.0025, loss_map_cls: 0.2596, loss_map_pts: 1.0192, loss_map_dir: 0.0136, d0.loss_plan_l1_fix_time: 2.9104, d0.loss_plan_l1_fix_dist: 0.3831, d1.loss_plan_l1_fix_time: 1.7063, d1.loss_plan_l1_fix_dist: 0.2365, d2.loss_plan_l1_fix_time: 1.6917, d2.loss_plan_l1_fix_dist: 0.2440, d3.loss_plan_l1_fix_time: 1.6971, d3.loss_plan_l1_fix_dist: 0.2558, d4.loss_plan_l1_fix_time: 1.7011, d4.loss_plan_l1_fix_dist: 0.2713, d5.loss_plan_l1_fix_time: 1.7049, d5.loss_plan_l1_fix_dist: 0.2883, d6.loss_plan_l1_fix_time: 1.7081, d6.loss_plan_l1_fix_dist: 0.3092, d0.loss_cls_all: 0.3406, d0.loss_bbox_all: 0.5530, d0.loss_cls: 0.3406, d0.loss_bbox: 0.5530, d1.loss_cls: 0.3336, d1.loss_bbox: 0.5179, d2.loss_cls: 0.3247, d2.loss_bbox: 0.5003, d3.loss_cls: 0.3255, d3.loss_bbox: 0.4934, d4.loss_cls: 0.3229, d4.loss_bbox: 0.4902, d5.loss_cls: 0.3270, d5.loss_bbox: 0.4887, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2195, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0750, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0466, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0326, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0324, d5.loss_traj_cls: 0.0020, d5.loss_traj: 1.0332, d0.loss_map_cls_all: 0.3036, d0.loss_map_pts_all: 1.7360, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.3036, d0.loss_map_pts: 1.7360, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2780, d1.loss_map_pts: 1.2542, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2692, d2.loss_map_pts: 1.1047, d2.loss_map_dir: 0.0127, d3.loss_map_cls: 0.2631, d3.loss_map_pts: 1.0473, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2591, d4.loss_map_pts: 1.0272, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.2596, d5.loss_map_pts: 1.0198, d5.loss_map_dir: 0.0135, loss: 41.5667, grad_norm: 153.4075 +2026-02-25 06:06:41,990 - DriveTransformer - INFO - Epoch [4][6450/39528] lr: 9.623e-05, eta: 7 days, 15:20:28, time: 0.815, data_time: 0.043, memory: 19865, loss_cls: 0.2771, loss_bbox: 0.4662, loss_traj: 0.6971, loss_traj_cls: 0.0026, loss_map_cls: 0.2012, loss_map_pts: 0.8975, loss_map_dir: 0.0163, d0.loss_plan_l1_fix_time: 2.0337, d0.loss_plan_l1_fix_dist: 0.4522, d1.loss_plan_l1_fix_time: 1.2688, d1.loss_plan_l1_fix_dist: 0.2083, d2.loss_plan_l1_fix_time: 1.2426, d2.loss_plan_l1_fix_dist: 0.2159, d3.loss_plan_l1_fix_time: 1.2437, d3.loss_plan_l1_fix_dist: 0.2294, d4.loss_plan_l1_fix_time: 1.2481, d4.loss_plan_l1_fix_dist: 0.2459, d5.loss_plan_l1_fix_time: 1.2537, d5.loss_plan_l1_fix_dist: 0.2636, d6.loss_plan_l1_fix_time: 1.2602, d6.loss_plan_l1_fix_dist: 0.2825, d0.loss_cls_all: 0.3000, d0.loss_bbox_all: 0.5090, d0.loss_cls: 0.3000, d0.loss_bbox: 0.5090, d1.loss_cls: 0.2955, d1.loss_bbox: 0.4817, d2.loss_cls: 0.2877, d2.loss_bbox: 0.4697, d3.loss_cls: 0.2842, d3.loss_bbox: 0.4641, d4.loss_cls: 0.2798, d4.loss_bbox: 0.4635, d5.loss_cls: 0.2770, d5.loss_bbox: 0.4664, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8352, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7249, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7103, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7033, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6949, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.6987, d0.loss_map_cls_all: 0.2391, d0.loss_map_pts_all: 1.7534, d0.loss_map_dir_all: 0.0155, d0.loss_map_cls: 0.2391, d0.loss_map_pts: 1.7534, d0.loss_map_dir: 0.0155, d1.loss_map_cls: 0.2232, d1.loss_map_pts: 1.1317, d1.loss_map_dir: 0.0150, d2.loss_map_cls: 0.2107, d2.loss_map_pts: 0.9737, d2.loss_map_dir: 0.0154, d3.loss_map_cls: 0.2068, d3.loss_map_pts: 0.9195, d3.loss_map_dir: 0.0158, d4.loss_map_cls: 0.2032, d4.loss_map_pts: 0.9073, d4.loss_map_dir: 0.0161, d5.loss_map_cls: 0.2019, d5.loss_map_pts: 0.8995, d5.loss_map_dir: 0.0162, loss: 33.7397, grad_norm: 151.5413 +2026-02-25 06:07:22,114 - DriveTransformer - INFO - Epoch [4][6500/39528] lr: 9.623e-05, eta: 7 days, 15:19:48, time: 0.802, data_time: 0.038, memory: 19865, loss_cls: 0.2838, loss_bbox: 0.4678, loss_traj: 0.8907, loss_traj_cls: 0.0026, loss_map_cls: 0.2220, loss_map_pts: 1.0198, loss_map_dir: 0.0150, d0.loss_plan_l1_fix_time: 2.7316, d0.loss_plan_l1_fix_dist: 0.4770, d1.loss_plan_l1_fix_time: 1.5446, d1.loss_plan_l1_fix_dist: 0.2304, d2.loss_plan_l1_fix_time: 1.5206, d2.loss_plan_l1_fix_dist: 0.2404, d3.loss_plan_l1_fix_time: 1.5179, d3.loss_plan_l1_fix_dist: 0.2540, d4.loss_plan_l1_fix_time: 1.5211, d4.loss_plan_l1_fix_dist: 0.2672, d5.loss_plan_l1_fix_time: 1.5256, d5.loss_plan_l1_fix_dist: 0.2800, d6.loss_plan_l1_fix_time: 1.5318, d6.loss_plan_l1_fix_dist: 0.2939, d0.loss_cls_all: 0.3021, d0.loss_bbox_all: 0.5132, d0.loss_cls: 0.3021, d0.loss_bbox: 0.5132, d1.loss_cls: 0.2958, d1.loss_bbox: 0.4826, d2.loss_cls: 0.2878, d2.loss_bbox: 0.4693, d3.loss_cls: 0.2838, d3.loss_bbox: 0.4646, d4.loss_cls: 0.2824, d4.loss_bbox: 0.4643, d5.loss_cls: 0.2823, d5.loss_bbox: 0.4657, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0524, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9149, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8917, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8927, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8907, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.8912, d0.loss_map_cls_all: 0.2687, d0.loss_map_pts_all: 1.8467, d0.loss_map_dir_all: 0.0139, d0.loss_map_cls: 0.2687, d0.loss_map_pts: 1.8467, d0.loss_map_dir: 0.0139, d1.loss_map_cls: 0.2486, d1.loss_map_pts: 1.2604, d1.loss_map_dir: 0.0136, d2.loss_map_cls: 0.2368, d2.loss_map_pts: 1.1021, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2279, d3.loss_map_pts: 1.0445, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2236, d4.loss_map_pts: 1.0298, d4.loss_map_dir: 0.0147, d5.loss_map_cls: 0.2232, d5.loss_map_pts: 1.0223, d5.loss_map_dir: 0.0148, loss: 38.7357, grad_norm: 151.6928 +2026-02-25 06:08:03,670 - DriveTransformer - INFO - Epoch [4][6550/39528] lr: 9.623e-05, eta: 7 days, 15:19:18, time: 0.831, data_time: 0.040, memory: 19865, loss_cls: 0.2969, loss_bbox: 0.4819, loss_traj: 0.9332, loss_traj_cls: 0.0026, loss_map_cls: 0.2623, loss_map_pts: 1.1783, loss_map_dir: 0.0185, d0.loss_plan_l1_fix_time: 2.8862, d0.loss_plan_l1_fix_dist: 0.4386, d1.loss_plan_l1_fix_time: 1.8495, d1.loss_plan_l1_fix_dist: 0.2755, d2.loss_plan_l1_fix_time: 1.8189, d2.loss_plan_l1_fix_dist: 0.2845, d3.loss_plan_l1_fix_time: 1.8164, d3.loss_plan_l1_fix_dist: 0.2959, d4.loss_plan_l1_fix_time: 1.8182, d4.loss_plan_l1_fix_dist: 0.3080, d5.loss_plan_l1_fix_time: 1.8212, d5.loss_plan_l1_fix_dist: 0.3192, d6.loss_plan_l1_fix_time: 1.8255, d6.loss_plan_l1_fix_dist: 0.3306, d0.loss_cls_all: 0.3013, d0.loss_bbox_all: 0.5338, d0.loss_cls: 0.3013, d0.loss_bbox: 0.5338, d1.loss_cls: 0.2954, d1.loss_bbox: 0.5009, d2.loss_cls: 0.2926, d2.loss_bbox: 0.4867, d3.loss_cls: 0.2899, d3.loss_bbox: 0.4822, d4.loss_cls: 0.2920, d4.loss_bbox: 0.4798, d5.loss_cls: 0.2930, d5.loss_bbox: 0.4805, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1505, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9595, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9214, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9201, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9244, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.9257, d0.loss_map_cls_all: 0.3177, d0.loss_map_pts_all: 2.0933, d0.loss_map_dir_all: 0.0173, d0.loss_map_cls: 0.3177, d0.loss_map_pts: 2.0933, d0.loss_map_dir: 0.0173, d1.loss_map_cls: 0.2925, d1.loss_map_pts: 1.4663, d1.loss_map_dir: 0.0166, d2.loss_map_cls: 0.2760, d2.loss_map_pts: 1.2757, d2.loss_map_dir: 0.0170, d3.loss_map_cls: 0.2679, d3.loss_map_pts: 1.2089, d3.loss_map_dir: 0.0178, d4.loss_map_cls: 0.2616, d4.loss_map_pts: 1.1866, d4.loss_map_dir: 0.0182, d5.loss_map_cls: 0.2611, d5.loss_map_pts: 1.1815, d5.loss_map_dir: 0.0184, loss: 43.2556, grad_norm: 153.1794 +2026-02-25 06:08:45,389 - DriveTransformer - INFO - Epoch [4][6600/39528] lr: 9.623e-05, eta: 7 days, 15:18:49, time: 0.836, data_time: 0.037, memory: 19865, loss_cls: 0.2737, loss_bbox: 0.4293, loss_traj: 0.7483, loss_traj_cls: 0.0026, loss_map_cls: 0.2182, loss_map_pts: 0.9175, loss_map_dir: 0.0160, d0.loss_plan_l1_fix_time: 2.4825, d0.loss_plan_l1_fix_dist: 0.4018, d1.loss_plan_l1_fix_time: 1.5479, d1.loss_plan_l1_fix_dist: 0.2009, d2.loss_plan_l1_fix_time: 1.5317, d2.loss_plan_l1_fix_dist: 0.2093, d3.loss_plan_l1_fix_time: 1.5296, d3.loss_plan_l1_fix_dist: 0.2197, d4.loss_plan_l1_fix_time: 1.5314, d4.loss_plan_l1_fix_dist: 0.2340, d5.loss_plan_l1_fix_time: 1.5337, d5.loss_plan_l1_fix_dist: 0.2516, d6.loss_plan_l1_fix_time: 1.5372, d6.loss_plan_l1_fix_dist: 0.2730, d0.loss_cls_all: 0.2836, d0.loss_bbox_all: 0.4778, d0.loss_cls: 0.2836, d0.loss_bbox: 0.4778, d1.loss_cls: 0.2794, d1.loss_bbox: 0.4517, d2.loss_cls: 0.2746, d2.loss_bbox: 0.4372, d3.loss_cls: 0.2715, d3.loss_bbox: 0.4305, d4.loss_cls: 0.2701, d4.loss_bbox: 0.4282, d5.loss_cls: 0.2715, d5.loss_bbox: 0.4280, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9053, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7817, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7550, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7542, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7494, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.7460, d0.loss_map_cls_all: 0.2709, d0.loss_map_pts_all: 1.7479, d0.loss_map_dir_all: 0.0150, d0.loss_map_cls: 0.2709, d0.loss_map_pts: 1.7479, d0.loss_map_dir: 0.0150, d1.loss_map_cls: 0.2436, d1.loss_map_pts: 1.1783, d1.loss_map_dir: 0.0147, d2.loss_map_cls: 0.2306, d2.loss_map_pts: 1.0113, d2.loss_map_dir: 0.0148, d3.loss_map_cls: 0.2239, d3.loss_map_pts: 0.9468, d3.loss_map_dir: 0.0154, d4.loss_map_cls: 0.2185, d4.loss_map_pts: 0.9261, d4.loss_map_dir: 0.0157, d5.loss_map_cls: 0.2179, d5.loss_map_pts: 0.9196, d5.loss_map_dir: 0.0159, loss: 36.1139, grad_norm: 151.0183 +2026-02-25 06:09:25,086 - DriveTransformer - INFO - Epoch [4][6650/39528] lr: 9.623e-05, eta: 7 days, 15:18:06, time: 0.793, data_time: 0.039, memory: 19865, loss_cls: 0.2969, loss_bbox: 0.4707, loss_traj: 1.0357, loss_traj_cls: 0.0024, loss_map_cls: 0.2390, loss_map_pts: 1.0769, loss_map_dir: 0.0173, d0.loss_plan_l1_fix_time: 2.4620, d0.loss_plan_l1_fix_dist: 0.4294, d1.loss_plan_l1_fix_time: 1.7387, d1.loss_plan_l1_fix_dist: 0.2431, d2.loss_plan_l1_fix_time: 1.7181, d2.loss_plan_l1_fix_dist: 0.2478, d3.loss_plan_l1_fix_time: 1.7178, d3.loss_plan_l1_fix_dist: 0.2550, d4.loss_plan_l1_fix_time: 1.7216, d4.loss_plan_l1_fix_dist: 0.2646, d5.loss_plan_l1_fix_time: 1.7261, d5.loss_plan_l1_fix_dist: 0.2760, d6.loss_plan_l1_fix_time: 1.7317, d6.loss_plan_l1_fix_dist: 0.2899, d0.loss_cls_all: 0.3127, d0.loss_bbox_all: 0.5166, d0.loss_cls: 0.3127, d0.loss_bbox: 0.5166, d1.loss_cls: 0.3086, d1.loss_bbox: 0.4896, d2.loss_cls: 0.2989, d2.loss_bbox: 0.4777, d3.loss_cls: 0.2967, d3.loss_bbox: 0.4720, d4.loss_cls: 0.2958, d4.loss_bbox: 0.4690, d5.loss_cls: 0.2973, d5.loss_bbox: 0.4680, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2519, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0977, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0560, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0429, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0420, d5.loss_traj_cls: 0.0019, d5.loss_traj: 1.0429, d0.loss_map_cls_all: 0.3050, d0.loss_map_pts_all: 1.8688, d0.loss_map_dir_all: 0.0161, d0.loss_map_cls: 0.3050, d0.loss_map_pts: 1.8688, d0.loss_map_dir: 0.0161, d1.loss_map_cls: 0.2734, d1.loss_map_pts: 1.3362, d1.loss_map_dir: 0.0157, d2.loss_map_cls: 0.2551, d2.loss_map_pts: 1.1782, d2.loss_map_dir: 0.0159, d3.loss_map_cls: 0.2444, d3.loss_map_pts: 1.1078, d3.loss_map_dir: 0.0165, d4.loss_map_cls: 0.2396, d4.loss_map_pts: 1.0873, d4.loss_map_dir: 0.0169, d5.loss_map_cls: 0.2392, d5.loss_map_pts: 1.0792, d5.loss_map_dir: 0.0171, loss: 41.5348, grad_norm: 153.1450 +2026-02-25 06:10:05,443 - DriveTransformer - INFO - Epoch [4][6700/39528] lr: 9.623e-05, eta: 7 days, 15:17:28, time: 0.807, data_time: 0.043, memory: 19865, loss_cls: 0.3162, loss_bbox: 0.4913, loss_traj: 0.9058, loss_traj_cls: 0.0025, loss_map_cls: 0.2336, loss_map_pts: 1.0083, loss_map_dir: 0.0164, d0.loss_plan_l1_fix_time: 2.6832, d0.loss_plan_l1_fix_dist: 0.4728, d1.loss_plan_l1_fix_time: 1.6229, d1.loss_plan_l1_fix_dist: 0.2585, d2.loss_plan_l1_fix_time: 1.6055, d2.loss_plan_l1_fix_dist: 0.2651, d3.loss_plan_l1_fix_time: 1.6071, d3.loss_plan_l1_fix_dist: 0.2731, d4.loss_plan_l1_fix_time: 1.6106, d4.loss_plan_l1_fix_dist: 0.2835, d5.loss_plan_l1_fix_time: 1.6144, d5.loss_plan_l1_fix_dist: 0.2950, d6.loss_plan_l1_fix_time: 1.6184, d6.loss_plan_l1_fix_dist: 0.3091, d0.loss_cls_all: 0.3149, d0.loss_bbox_all: 0.5416, d0.loss_cls: 0.3149, d0.loss_bbox: 0.5416, d1.loss_cls: 0.3148, d1.loss_bbox: 0.5120, d2.loss_cls: 0.3089, d2.loss_bbox: 0.4964, d3.loss_cls: 0.3081, d3.loss_bbox: 0.4925, d4.loss_cls: 0.3107, d4.loss_bbox: 0.4875, d5.loss_cls: 0.3127, d5.loss_bbox: 0.4888, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0710, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9288, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8994, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9018, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8955, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.9002, d0.loss_map_cls_all: 0.2935, d0.loss_map_pts_all: 1.8005, d0.loss_map_dir_all: 0.0156, d0.loss_map_cls: 0.2935, d0.loss_map_pts: 1.8005, d0.loss_map_dir: 0.0156, d1.loss_map_cls: 0.2656, d1.loss_map_pts: 1.2523, d1.loss_map_dir: 0.0149, d2.loss_map_cls: 0.2505, d2.loss_map_pts: 1.0919, d2.loss_map_dir: 0.0151, d3.loss_map_cls: 0.2408, d3.loss_map_pts: 1.0281, d3.loss_map_dir: 0.0157, d4.loss_map_cls: 0.2370, d4.loss_map_pts: 1.0117, d4.loss_map_dir: 0.0161, d5.loss_map_cls: 0.2351, d5.loss_map_pts: 1.0088, d5.loss_map_dir: 0.0162, loss: 39.7605, grad_norm: 152.3425 +2026-02-25 06:10:45,334 - DriveTransformer - INFO - Epoch [4][6750/39528] lr: 9.623e-05, eta: 7 days, 15:16:47, time: 0.798, data_time: 0.037, memory: 19865, loss_cls: 0.2766, loss_bbox: 0.4609, loss_traj: 0.9741, loss_traj_cls: 0.0026, loss_map_cls: 0.2350, loss_map_pts: 0.9954, loss_map_dir: 0.0150, d0.loss_plan_l1_fix_time: 2.4747, d0.loss_plan_l1_fix_dist: 0.4245, d1.loss_plan_l1_fix_time: 1.6220, d1.loss_plan_l1_fix_dist: 0.2235, d2.loss_plan_l1_fix_time: 1.6201, d2.loss_plan_l1_fix_dist: 0.2273, d3.loss_plan_l1_fix_time: 1.6237, d3.loss_plan_l1_fix_dist: 0.2349, d4.loss_plan_l1_fix_time: 1.6293, d4.loss_plan_l1_fix_dist: 0.2437, d5.loss_plan_l1_fix_time: 1.6354, d5.loss_plan_l1_fix_dist: 0.2532, d6.loss_plan_l1_fix_time: 1.6417, d6.loss_plan_l1_fix_dist: 0.2632, d0.loss_cls_all: 0.2895, d0.loss_bbox_all: 0.4975, d0.loss_cls: 0.2895, d0.loss_bbox: 0.4975, d1.loss_cls: 0.2854, d1.loss_bbox: 0.4728, d2.loss_cls: 0.2778, d2.loss_bbox: 0.4614, d3.loss_cls: 0.2780, d3.loss_bbox: 0.4564, d4.loss_cls: 0.2759, d4.loss_bbox: 0.4567, d5.loss_cls: 0.2758, d5.loss_bbox: 0.4578, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1356, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0170, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9831, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9790, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9749, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.9716, d0.loss_map_cls_all: 0.2821, d0.loss_map_pts_all: 1.7586, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.2821, d0.loss_map_pts: 1.7586, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2599, d1.loss_map_pts: 1.2532, d1.loss_map_dir: 0.0129, d2.loss_map_cls: 0.2494, d2.loss_map_pts: 1.0868, d2.loss_map_dir: 0.0135, d3.loss_map_cls: 0.2390, d3.loss_map_pts: 1.0222, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.2359, d4.loss_map_pts: 1.0018, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.2344, d5.loss_map_pts: 0.9963, d5.loss_map_dir: 0.0148, loss: 39.1733, grad_norm: 152.3734 +2026-02-25 06:11:25,712 - DriveTransformer - INFO - Epoch [4][6800/39528] lr: 9.623e-05, eta: 7 days, 15:16:09, time: 0.808, data_time: 0.046, memory: 19865, loss_cls: 0.3006, loss_bbox: 0.4611, loss_traj: 0.8730, loss_traj_cls: 0.0026, loss_map_cls: 0.2288, loss_map_pts: 1.0728, loss_map_dir: 0.0198, d0.loss_plan_l1_fix_time: 2.5919, d0.loss_plan_l1_fix_dist: 0.4212, d1.loss_plan_l1_fix_time: 1.4444, d1.loss_plan_l1_fix_dist: 0.2270, d2.loss_plan_l1_fix_time: 1.4230, d2.loss_plan_l1_fix_dist: 0.2320, d3.loss_plan_l1_fix_time: 1.4158, d3.loss_plan_l1_fix_dist: 0.2428, d4.loss_plan_l1_fix_time: 1.4173, d4.loss_plan_l1_fix_dist: 0.2551, d5.loss_plan_l1_fix_time: 1.4201, d5.loss_plan_l1_fix_dist: 0.2674, d6.loss_plan_l1_fix_time: 1.4245, d6.loss_plan_l1_fix_dist: 0.2782, d0.loss_cls_all: 0.3165, d0.loss_bbox_all: 0.4948, d0.loss_cls: 0.3165, d0.loss_bbox: 0.4948, d1.loss_cls: 0.3082, d1.loss_bbox: 0.4713, d2.loss_cls: 0.3049, d2.loss_bbox: 0.4626, d3.loss_cls: 0.3029, d3.loss_bbox: 0.4600, d4.loss_cls: 0.2997, d4.loss_bbox: 0.4590, d5.loss_cls: 0.3004, d5.loss_bbox: 0.4584, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0463, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9143, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8891, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8825, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8770, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.8720, d0.loss_map_cls_all: 0.2920, d0.loss_map_pts_all: 1.9970, d0.loss_map_dir_all: 0.0183, d0.loss_map_cls: 0.2920, d0.loss_map_pts: 1.9970, d0.loss_map_dir: 0.0183, d1.loss_map_cls: 0.2615, d1.loss_map_pts: 1.2941, d1.loss_map_dir: 0.0183, d2.loss_map_cls: 0.2437, d2.loss_map_pts: 1.1366, d2.loss_map_dir: 0.0186, d3.loss_map_cls: 0.2352, d3.loss_map_pts: 1.0861, d3.loss_map_dir: 0.0192, d4.loss_map_cls: 0.2298, d4.loss_map_pts: 1.0706, d4.loss_map_dir: 0.0196, d5.loss_map_cls: 0.2281, d5.loss_map_pts: 1.0696, d5.loss_map_dir: 0.0198, loss: 38.5223, grad_norm: 153.0604 +2026-02-25 06:12:07,914 - DriveTransformer - INFO - Epoch [4][6850/39528] lr: 9.623e-05, eta: 7 days, 15:15:43, time: 0.844, data_time: 0.043, memory: 19865, loss_cls: 0.3124, loss_bbox: 0.4896, loss_traj: 0.9478, loss_traj_cls: 0.0027, loss_map_cls: 0.2537, loss_map_pts: 1.1357, loss_map_dir: 0.0189, d0.loss_plan_l1_fix_time: 2.9896, d0.loss_plan_l1_fix_dist: 0.4225, d1.loss_plan_l1_fix_time: 1.7122, d1.loss_plan_l1_fix_dist: 0.2768, d2.loss_plan_l1_fix_time: 1.6905, d2.loss_plan_l1_fix_dist: 0.2791, d3.loss_plan_l1_fix_time: 1.6895, d3.loss_plan_l1_fix_dist: 0.2861, d4.loss_plan_l1_fix_time: 1.6936, d4.loss_plan_l1_fix_dist: 0.2962, d5.loss_plan_l1_fix_time: 1.6984, d5.loss_plan_l1_fix_dist: 0.3089, d6.loss_plan_l1_fix_time: 1.7042, d6.loss_plan_l1_fix_dist: 0.3254, d0.loss_cls_all: 0.3297, d0.loss_bbox_all: 0.5367, d0.loss_cls: 0.3297, d0.loss_bbox: 0.5367, d1.loss_cls: 0.3198, d1.loss_bbox: 0.5098, d2.loss_cls: 0.3132, d2.loss_bbox: 0.4968, d3.loss_cls: 0.3115, d3.loss_bbox: 0.4910, d4.loss_cls: 0.3101, d4.loss_bbox: 0.4885, d5.loss_cls: 0.3105, d5.loss_bbox: 0.4872, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1552, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0038, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9497, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9494, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9534, d5.loss_traj_cls: 0.0022, d5.loss_traj: 0.9493, d0.loss_map_cls_all: 0.3104, d0.loss_map_pts_all: 2.0224, d0.loss_map_dir_all: 0.0172, d0.loss_map_cls: 0.3104, d0.loss_map_pts: 2.0224, d0.loss_map_dir: 0.0172, d1.loss_map_cls: 0.2862, d1.loss_map_pts: 1.4047, d1.loss_map_dir: 0.0169, d2.loss_map_cls: 0.2729, d2.loss_map_pts: 1.2297, d2.loss_map_dir: 0.0174, d3.loss_map_cls: 0.2646, d3.loss_map_pts: 1.1670, d3.loss_map_dir: 0.0181, d4.loss_map_cls: 0.2575, d4.loss_map_pts: 1.1433, d4.loss_map_dir: 0.0185, d5.loss_map_cls: 0.2531, d5.loss_map_pts: 1.1368, d5.loss_map_dir: 0.0187, loss: 42.4782, grad_norm: 154.0557 +2026-02-25 06:12:47,942 - DriveTransformer - INFO - Epoch [4][6900/39528] lr: 9.623e-05, eta: 7 days, 15:15:02, time: 0.801, data_time: 0.043, memory: 19865, loss_cls: 0.2936, loss_bbox: 0.4750, loss_traj: 0.8494, loss_traj_cls: 0.0027, loss_map_cls: 0.2298, loss_map_pts: 0.9661, loss_map_dir: 0.0170, d0.loss_plan_l1_fix_time: 2.5927, d0.loss_plan_l1_fix_dist: 0.3045, d1.loss_plan_l1_fix_time: 1.5675, d1.loss_plan_l1_fix_dist: 0.2026, d2.loss_plan_l1_fix_time: 1.5382, d2.loss_plan_l1_fix_dist: 0.2042, d3.loss_plan_l1_fix_time: 1.5348, d3.loss_plan_l1_fix_dist: 0.2096, d4.loss_plan_l1_fix_time: 1.5380, d4.loss_plan_l1_fix_dist: 0.2171, d5.loss_plan_l1_fix_time: 1.5425, d5.loss_plan_l1_fix_dist: 0.2265, d6.loss_plan_l1_fix_time: 1.5487, d6.loss_plan_l1_fix_dist: 0.2376, d0.loss_cls_all: 0.3006, d0.loss_bbox_all: 0.5228, d0.loss_cls: 0.3006, d0.loss_bbox: 0.5228, d1.loss_cls: 0.2975, d1.loss_bbox: 0.4918, d2.loss_cls: 0.2920, d2.loss_bbox: 0.4787, d3.loss_cls: 0.2922, d3.loss_bbox: 0.4724, d4.loss_cls: 0.2910, d4.loss_bbox: 0.4730, d5.loss_cls: 0.2918, d5.loss_bbox: 0.4730, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0092, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8712, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8484, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8468, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8441, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.8475, d0.loss_map_cls_all: 0.2910, d0.loss_map_pts_all: 1.9058, d0.loss_map_dir_all: 0.0153, d0.loss_map_cls: 0.2910, d0.loss_map_pts: 1.9058, d0.loss_map_dir: 0.0153, d1.loss_map_cls: 0.2675, d1.loss_map_pts: 1.2439, d1.loss_map_dir: 0.0153, d2.loss_map_cls: 0.2540, d2.loss_map_pts: 1.0554, d2.loss_map_dir: 0.0157, d3.loss_map_cls: 0.2407, d3.loss_map_pts: 0.9980, d3.loss_map_dir: 0.0163, d4.loss_map_cls: 0.2320, d4.loss_map_pts: 0.9765, d4.loss_map_dir: 0.0167, d5.loss_map_cls: 0.2303, d5.loss_map_pts: 0.9674, d5.loss_map_dir: 0.0169, loss: 38.0432, grad_norm: 154.4157 +2026-02-25 06:13:28,117 - DriveTransformer - INFO - Epoch [4][6950/39528] lr: 9.623e-05, eta: 7 days, 15:14:23, time: 0.803, data_time: 0.041, memory: 19865, loss_cls: 0.2999, loss_bbox: 0.4830, loss_traj: 0.8509, loss_traj_cls: 0.0027, loss_map_cls: 0.2548, loss_map_pts: 1.1123, loss_map_dir: 0.0179, d0.loss_plan_l1_fix_time: 2.8192, d0.loss_plan_l1_fix_dist: 0.4588, d1.loss_plan_l1_fix_time: 1.7195, d1.loss_plan_l1_fix_dist: 0.2845, d2.loss_plan_l1_fix_time: 1.6915, d2.loss_plan_l1_fix_dist: 0.2865, d3.loss_plan_l1_fix_time: 1.6968, d3.loss_plan_l1_fix_dist: 0.2930, d4.loss_plan_l1_fix_time: 1.7016, d4.loss_plan_l1_fix_dist: 0.3012, d5.loss_plan_l1_fix_time: 1.7066, d5.loss_plan_l1_fix_dist: 0.3113, d6.loss_plan_l1_fix_time: 1.7128, d6.loss_plan_l1_fix_dist: 0.3237, d0.loss_cls_all: 0.3194, d0.loss_bbox_all: 0.5221, d0.loss_cls: 0.3194, d0.loss_bbox: 0.5221, d1.loss_cls: 0.3092, d1.loss_bbox: 0.5005, d2.loss_cls: 0.3029, d2.loss_bbox: 0.4865, d3.loss_cls: 0.2989, d3.loss_bbox: 0.4819, d4.loss_cls: 0.2977, d4.loss_bbox: 0.4785, d5.loss_cls: 0.2990, d5.loss_bbox: 0.4799, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0136, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9061, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8706, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8549, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8580, d5.loss_traj_cls: 0.0022, d5.loss_traj: 0.8532, d0.loss_map_cls_all: 0.3237, d0.loss_map_pts_all: 1.9764, d0.loss_map_dir_all: 0.0161, d0.loss_map_cls: 0.3237, d0.loss_map_pts: 1.9764, d0.loss_map_dir: 0.0161, d1.loss_map_cls: 0.2937, d1.loss_map_pts: 1.3541, d1.loss_map_dir: 0.0161, d2.loss_map_cls: 0.2732, d2.loss_map_pts: 1.1917, d2.loss_map_dir: 0.0166, d3.loss_map_cls: 0.2624, d3.loss_map_pts: 1.1360, d3.loss_map_dir: 0.0172, d4.loss_map_cls: 0.2566, d4.loss_map_pts: 1.1190, d4.loss_map_dir: 0.0175, d5.loss_map_cls: 0.2560, d5.loss_map_pts: 1.1126, d5.loss_map_dir: 0.0176, loss: 41.2820, grad_norm: 156.2265 +2026-02-25 06:14:09,044 - DriveTransformer - INFO - Epoch [4][7000/39528] lr: 9.623e-05, eta: 7 days, 15:13:49, time: 0.819, data_time: 0.045, memory: 19865, loss_cls: 0.2715, loss_bbox: 0.4467, loss_traj: 0.9966, loss_traj_cls: 0.0027, loss_map_cls: 0.2553, loss_map_pts: 1.0133, loss_map_dir: 0.0162, d0.loss_plan_l1_fix_time: 3.0236, d0.loss_plan_l1_fix_dist: 0.4459, d1.loss_plan_l1_fix_time: 1.5911, d1.loss_plan_l1_fix_dist: 0.2445, d2.loss_plan_l1_fix_time: 1.5829, d2.loss_plan_l1_fix_dist: 0.2466, d3.loss_plan_l1_fix_time: 1.5934, d3.loss_plan_l1_fix_dist: 0.2524, d4.loss_plan_l1_fix_time: 1.5995, d4.loss_plan_l1_fix_dist: 0.2597, d5.loss_plan_l1_fix_time: 1.6043, d5.loss_plan_l1_fix_dist: 0.2682, d6.loss_plan_l1_fix_time: 1.6103, d6.loss_plan_l1_fix_dist: 0.2779, d0.loss_cls_all: 0.2864, d0.loss_bbox_all: 0.4860, d0.loss_cls: 0.2864, d0.loss_bbox: 0.4860, d1.loss_cls: 0.2812, d1.loss_bbox: 0.4602, d2.loss_cls: 0.2776, d2.loss_bbox: 0.4466, d3.loss_cls: 0.2727, d3.loss_bbox: 0.4427, d4.loss_cls: 0.2715, d4.loss_bbox: 0.4421, d5.loss_cls: 0.2709, d5.loss_bbox: 0.4443, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1642, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0306, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9995, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9962, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9965, d5.loss_traj_cls: 0.0022, d5.loss_traj: 0.9964, d0.loss_map_cls_all: 0.3141, d0.loss_map_pts_all: 1.8888, d0.loss_map_dir_all: 0.0145, d0.loss_map_cls: 0.3141, d0.loss_map_pts: 1.8888, d0.loss_map_dir: 0.0145, d1.loss_map_cls: 0.2889, d1.loss_map_pts: 1.3028, d1.loss_map_dir: 0.0140, d2.loss_map_cls: 0.2748, d2.loss_map_pts: 1.1199, d2.loss_map_dir: 0.0145, d3.loss_map_cls: 0.2634, d3.loss_map_pts: 1.0459, d3.loss_map_dir: 0.0153, d4.loss_map_cls: 0.2594, d4.loss_map_pts: 1.0241, d4.loss_map_dir: 0.0158, d5.loss_map_cls: 0.2553, d5.loss_map_pts: 1.0169, d5.loss_map_dir: 0.0159, loss: 40.3090, grad_norm: 157.3318 +2026-02-25 06:14:49,645 - DriveTransformer - INFO - Epoch [4][7050/39528] lr: 9.623e-05, eta: 7 days, 15:13:12, time: 0.812, data_time: 0.045, memory: 19865, loss_cls: 0.2942, loss_bbox: 0.4713, loss_traj: 0.9505, loss_traj_cls: 0.0027, loss_map_cls: 0.2518, loss_map_pts: 1.1448, loss_map_dir: 0.0159, d0.loss_plan_l1_fix_time: 2.3974, d0.loss_plan_l1_fix_dist: 0.4809, d1.loss_plan_l1_fix_time: 1.5618, d1.loss_plan_l1_fix_dist: 0.2602, d2.loss_plan_l1_fix_time: 1.5575, d2.loss_plan_l1_fix_dist: 0.2630, d3.loss_plan_l1_fix_time: 1.5676, d3.loss_plan_l1_fix_dist: 0.2694, d4.loss_plan_l1_fix_time: 1.5721, d4.loss_plan_l1_fix_dist: 0.2776, d5.loss_plan_l1_fix_time: 1.5757, d5.loss_plan_l1_fix_dist: 0.2873, d6.loss_plan_l1_fix_time: 1.5795, d6.loss_plan_l1_fix_dist: 0.2990, d0.loss_cls_all: 0.3169, d0.loss_bbox_all: 0.5186, d0.loss_cls: 0.3169, d0.loss_bbox: 0.5186, d1.loss_cls: 0.3098, d1.loss_bbox: 0.4931, d2.loss_cls: 0.3012, d2.loss_bbox: 0.4801, d3.loss_cls: 0.2957, d3.loss_bbox: 0.4728, d4.loss_cls: 0.2941, d4.loss_bbox: 0.4691, d5.loss_cls: 0.2951, d5.loss_bbox: 0.4667, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1077, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9738, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9472, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9492, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9485, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.9505, d0.loss_map_cls_all: 0.3119, d0.loss_map_pts_all: 1.9548, d0.loss_map_dir_all: 0.0148, d0.loss_map_cls: 0.3119, d0.loss_map_pts: 1.9548, d0.loss_map_dir: 0.0148, d1.loss_map_cls: 0.2846, d1.loss_map_pts: 1.3867, d1.loss_map_dir: 0.0144, d2.loss_map_cls: 0.2710, d2.loss_map_pts: 1.2307, d2.loss_map_dir: 0.0148, d3.loss_map_cls: 0.2597, d3.loss_map_pts: 1.1728, d3.loss_map_dir: 0.0154, d4.loss_map_cls: 0.2549, d4.loss_map_pts: 1.1519, d4.loss_map_dir: 0.0157, d5.loss_map_cls: 0.2540, d5.loss_map_pts: 1.1489, d5.loss_map_dir: 0.0158, loss: 40.5660, grad_norm: 158.1425 +2026-02-25 06:15:31,920 - DriveTransformer - INFO - Epoch [4][7100/39528] lr: 9.623e-05, eta: 7 days, 15:12:46, time: 0.845, data_time: 0.043, memory: 19865, loss_cls: 0.3035, loss_bbox: 0.4905, loss_traj: 0.7527, loss_traj_cls: 0.0028, loss_map_cls: 0.2615, loss_map_pts: 1.1263, loss_map_dir: 0.0192, d0.loss_plan_l1_fix_time: 2.8437, d0.loss_plan_l1_fix_dist: 0.4609, d1.loss_plan_l1_fix_time: 1.6279, d1.loss_plan_l1_fix_dist: 0.2633, d2.loss_plan_l1_fix_time: 1.6145, d2.loss_plan_l1_fix_dist: 0.2647, d3.loss_plan_l1_fix_time: 1.6174, d3.loss_plan_l1_fix_dist: 0.2706, d4.loss_plan_l1_fix_time: 1.6202, d4.loss_plan_l1_fix_dist: 0.2782, d5.loss_plan_l1_fix_time: 1.6235, d5.loss_plan_l1_fix_dist: 0.2866, d6.loss_plan_l1_fix_time: 1.6270, d6.loss_plan_l1_fix_dist: 0.2969, d0.loss_cls_all: 0.3260, d0.loss_bbox_all: 0.5376, d0.loss_cls: 0.3260, d0.loss_bbox: 0.5376, d1.loss_cls: 0.3229, d1.loss_bbox: 0.5090, d2.loss_cls: 0.3113, d2.loss_bbox: 0.4989, d3.loss_cls: 0.3079, d3.loss_bbox: 0.4918, d4.loss_cls: 0.3055, d4.loss_bbox: 0.4892, d5.loss_cls: 0.3042, d5.loss_bbox: 0.4881, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8851, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7930, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7654, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7624, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7530, d5.loss_traj_cls: 0.0022, d5.loss_traj: 0.7520, d0.loss_map_cls_all: 0.3172, d0.loss_map_pts_all: 2.0097, d0.loss_map_dir_all: 0.0173, d0.loss_map_cls: 0.3172, d0.loss_map_pts: 2.0097, d0.loss_map_dir: 0.0173, d1.loss_map_cls: 0.2912, d1.loss_map_pts: 1.3604, d1.loss_map_dir: 0.0170, d2.loss_map_cls: 0.2789, d2.loss_map_pts: 1.2026, d2.loss_map_dir: 0.0175, d3.loss_map_cls: 0.2706, d3.loss_map_pts: 1.1475, d3.loss_map_dir: 0.0184, d4.loss_map_cls: 0.2636, d4.loss_map_pts: 1.1336, d4.loss_map_dir: 0.0188, d5.loss_map_cls: 0.2611, d5.loss_map_pts: 1.1311, d5.loss_map_dir: 0.0191, loss: 40.2450, grad_norm: 157.5762 +2026-02-25 06:16:11,762 - DriveTransformer - INFO - Epoch [4][7150/39528] lr: 9.623e-05, eta: 7 days, 15:12:05, time: 0.797, data_time: 0.040, memory: 19865, loss_cls: 0.2547, loss_bbox: 0.4428, loss_traj: 0.7761, loss_traj_cls: 0.0029, loss_map_cls: 0.2168, loss_map_pts: 0.8499, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.2926, d0.loss_plan_l1_fix_dist: 0.4150, d1.loss_plan_l1_fix_time: 1.3838, d1.loss_plan_l1_fix_dist: 0.2182, d2.loss_plan_l1_fix_time: 1.3757, d2.loss_plan_l1_fix_dist: 0.2180, d3.loss_plan_l1_fix_time: 1.3756, d3.loss_plan_l1_fix_dist: 0.2254, d4.loss_plan_l1_fix_time: 1.3796, d4.loss_plan_l1_fix_dist: 0.2357, d5.loss_plan_l1_fix_time: 1.3847, d5.loss_plan_l1_fix_dist: 0.2453, d6.loss_plan_l1_fix_time: 1.3897, d6.loss_plan_l1_fix_dist: 0.2554, d0.loss_cls_all: 0.2775, d0.loss_bbox_all: 0.4913, d0.loss_cls: 0.2775, d0.loss_bbox: 0.4913, d1.loss_cls: 0.2690, d1.loss_bbox: 0.4635, d2.loss_cls: 0.2615, d2.loss_bbox: 0.4489, d3.loss_cls: 0.2556, d3.loss_bbox: 0.4465, d4.loss_cls: 0.2546, d4.loss_bbox: 0.4420, d5.loss_cls: 0.2542, d5.loss_bbox: 0.4404, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8959, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8040, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7885, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7860, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7740, d5.loss_traj_cls: 0.0022, d5.loss_traj: 0.7746, d0.loss_map_cls_all: 0.2823, d0.loss_map_pts_all: 1.6020, d0.loss_map_dir_all: 0.0138, d0.loss_map_cls: 0.2823, d0.loss_map_pts: 1.6020, d0.loss_map_dir: 0.0138, d1.loss_map_cls: 0.2512, d1.loss_map_pts: 1.0780, d1.loss_map_dir: 0.0134, d2.loss_map_cls: 0.2333, d2.loss_map_pts: 0.9259, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2226, d3.loss_map_pts: 0.8710, d3.loss_map_dir: 0.0143, d4.loss_map_cls: 0.2182, d4.loss_map_pts: 0.8555, d4.loss_map_dir: 0.0145, d5.loss_map_cls: 0.2167, d5.loss_map_pts: 0.8490, d5.loss_map_dir: 0.0147, loss: 34.4442, grad_norm: 158.1748 +2026-02-25 06:16:51,183 - DriveTransformer - INFO - Epoch [4][7200/39528] lr: 9.623e-05, eta: 7 days, 15:11:20, time: 0.788, data_time: 0.045, memory: 19865, loss_cls: 0.2820, loss_bbox: 0.4568, loss_traj: 0.8784, loss_traj_cls: 0.0028, loss_map_cls: 0.2545, loss_map_pts: 1.0915, loss_map_dir: 0.0177, d0.loss_plan_l1_fix_time: 2.6860, d0.loss_plan_l1_fix_dist: 0.4056, d1.loss_plan_l1_fix_time: 1.5861, d1.loss_plan_l1_fix_dist: 0.2639, d2.loss_plan_l1_fix_time: 1.5706, d2.loss_plan_l1_fix_dist: 0.2678, d3.loss_plan_l1_fix_time: 1.5672, d3.loss_plan_l1_fix_dist: 0.2754, d4.loss_plan_l1_fix_time: 1.5701, d4.loss_plan_l1_fix_dist: 0.2845, d5.loss_plan_l1_fix_time: 1.5740, d5.loss_plan_l1_fix_dist: 0.2961, d6.loss_plan_l1_fix_time: 1.5781, d6.loss_plan_l1_fix_dist: 0.3098, d0.loss_cls_all: 0.3081, d0.loss_bbox_all: 0.5097, d0.loss_cls: 0.3081, d0.loss_bbox: 0.5097, d1.loss_cls: 0.2993, d1.loss_bbox: 0.4794, d2.loss_cls: 0.2890, d2.loss_bbox: 0.4677, d3.loss_cls: 0.2854, d3.loss_bbox: 0.4597, d4.loss_cls: 0.2825, d4.loss_bbox: 0.4563, d5.loss_cls: 0.2807, d5.loss_bbox: 0.4558, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0399, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9140, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8844, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8800, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8771, d5.loss_traj_cls: 0.0022, d5.loss_traj: 0.8772, d0.loss_map_cls_all: 0.3244, d0.loss_map_pts_all: 1.9714, d0.loss_map_dir_all: 0.0164, d0.loss_map_cls: 0.3244, d0.loss_map_pts: 1.9714, d0.loss_map_dir: 0.0164, d1.loss_map_cls: 0.2927, d1.loss_map_pts: 1.3512, d1.loss_map_dir: 0.0159, d2.loss_map_cls: 0.2724, d2.loss_map_pts: 1.1792, d2.loss_map_dir: 0.0162, d3.loss_map_cls: 0.2614, d3.loss_map_pts: 1.1212, d3.loss_map_dir: 0.0169, d4.loss_map_cls: 0.2574, d4.loss_map_pts: 1.0977, d4.loss_map_dir: 0.0173, d5.loss_map_cls: 0.2539, d5.loss_map_pts: 1.0901, d5.loss_map_dir: 0.0175, loss: 39.9750, grad_norm: 158.3643 +2026-02-25 06:17:32,253 - DriveTransformer - INFO - Epoch [4][7250/39528] lr: 9.623e-05, eta: 7 days, 15:10:47, time: 0.821, data_time: 0.039, memory: 19865, loss_cls: 0.3220, loss_bbox: 0.4960, loss_traj: 1.0279, loss_traj_cls: 0.0027, loss_map_cls: 0.2528, loss_map_pts: 1.1942, loss_map_dir: 0.0178, d0.loss_plan_l1_fix_time: 2.6086, d0.loss_plan_l1_fix_dist: 0.3889, d1.loss_plan_l1_fix_time: 1.6682, d1.loss_plan_l1_fix_dist: 0.2394, d2.loss_plan_l1_fix_time: 1.6477, d2.loss_plan_l1_fix_dist: 0.2491, d3.loss_plan_l1_fix_time: 1.6486, d3.loss_plan_l1_fix_dist: 0.2599, d4.loss_plan_l1_fix_time: 1.6510, d4.loss_plan_l1_fix_dist: 0.2737, d5.loss_plan_l1_fix_time: 1.6539, d5.loss_plan_l1_fix_dist: 0.2869, d6.loss_plan_l1_fix_time: 1.6579, d6.loss_plan_l1_fix_dist: 0.3009, d0.loss_cls_all: 0.3356, d0.loss_bbox_all: 0.5499, d0.loss_cls: 0.3356, d0.loss_bbox: 0.5499, d1.loss_cls: 0.3314, d1.loss_bbox: 0.5174, d2.loss_cls: 0.3246, d2.loss_bbox: 0.5035, d3.loss_cls: 0.3209, d3.loss_bbox: 0.4975, d4.loss_cls: 0.3188, d4.loss_bbox: 0.4968, d5.loss_cls: 0.3182, d5.loss_bbox: 0.4953, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1622, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0737, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0453, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0369, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0284, d5.loss_traj_cls: 0.0021, d5.loss_traj: 1.0276, d0.loss_map_cls_all: 0.3121, d0.loss_map_pts_all: 2.0262, d0.loss_map_dir_all: 0.0164, d0.loss_map_cls: 0.3121, d0.loss_map_pts: 2.0262, d0.loss_map_dir: 0.0164, d1.loss_map_cls: 0.2774, d1.loss_map_pts: 1.4625, d1.loss_map_dir: 0.0160, d2.loss_map_cls: 0.2639, d2.loss_map_pts: 1.3006, d2.loss_map_dir: 0.0164, d3.loss_map_cls: 0.2580, d3.loss_map_pts: 1.2353, d3.loss_map_dir: 0.0171, d4.loss_map_cls: 0.2534, d4.loss_map_pts: 1.2051, d4.loss_map_dir: 0.0174, d5.loss_map_cls: 0.2531, d5.loss_map_pts: 1.1948, d5.loss_map_dir: 0.0176, loss: 42.6225, grad_norm: 158.4093 +2026-02-25 06:18:11,809 - DriveTransformer - INFO - Epoch [4][7300/39528] lr: 9.623e-05, eta: 7 days, 15:10:03, time: 0.791, data_time: 0.043, memory: 19865, loss_cls: 0.3123, loss_bbox: 0.4974, loss_traj: 0.9827, loss_traj_cls: 0.0026, loss_map_cls: 0.2548, loss_map_pts: 1.1202, loss_map_dir: 0.0177, d0.loss_plan_l1_fix_time: 2.6175, d0.loss_plan_l1_fix_dist: 0.4054, d1.loss_plan_l1_fix_time: 1.6563, d1.loss_plan_l1_fix_dist: 0.2312, d2.loss_plan_l1_fix_time: 1.6196, d2.loss_plan_l1_fix_dist: 0.2341, d3.loss_plan_l1_fix_time: 1.6141, d3.loss_plan_l1_fix_dist: 0.2418, d4.loss_plan_l1_fix_time: 1.6143, d4.loss_plan_l1_fix_dist: 0.2519, d5.loss_plan_l1_fix_time: 1.6159, d5.loss_plan_l1_fix_dist: 0.2655, d6.loss_plan_l1_fix_time: 1.6187, d6.loss_plan_l1_fix_dist: 0.2840, d0.loss_cls_all: 0.3355, d0.loss_bbox_all: 0.5352, d0.loss_cls: 0.3355, d0.loss_bbox: 0.5352, d1.loss_cls: 0.3259, d1.loss_bbox: 0.5098, d2.loss_cls: 0.3188, d2.loss_bbox: 0.5001, d3.loss_cls: 0.3180, d3.loss_bbox: 0.4952, d4.loss_cls: 0.3156, d4.loss_bbox: 0.4942, d5.loss_cls: 0.3123, d5.loss_bbox: 0.4942, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1283, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0186, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9976, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9904, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9842, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.9843, d0.loss_map_cls_all: 0.3051, d0.loss_map_pts_all: 1.9810, d0.loss_map_dir_all: 0.0167, d0.loss_map_cls: 0.3051, d0.loss_map_pts: 1.9810, d0.loss_map_dir: 0.0167, d1.loss_map_cls: 0.2806, d1.loss_map_pts: 1.3774, d1.loss_map_dir: 0.0161, d2.loss_map_cls: 0.2664, d2.loss_map_pts: 1.2156, d2.loss_map_dir: 0.0165, d3.loss_map_cls: 0.2609, d3.loss_map_pts: 1.1519, d3.loss_map_dir: 0.0170, d4.loss_map_cls: 0.2576, d4.loss_map_pts: 1.1269, d4.loss_map_dir: 0.0173, d5.loss_map_cls: 0.2547, d5.loss_map_pts: 1.1224, d5.loss_map_dir: 0.0174, loss: 41.3975, grad_norm: 157.8179 +2026-02-25 06:18:52,796 - DriveTransformer - INFO - Epoch [4][7350/39528] lr: 9.623e-05, eta: 7 days, 15:09:29, time: 0.820, data_time: 0.044, memory: 19865, loss_cls: 0.3186, loss_bbox: 0.4965, loss_traj: 0.9035, loss_traj_cls: 0.0027, loss_map_cls: 0.2463, loss_map_pts: 1.1222, loss_map_dir: 0.0179, d0.loss_plan_l1_fix_time: 2.7330, d0.loss_plan_l1_fix_dist: 0.5245, d1.loss_plan_l1_fix_time: 1.6687, d1.loss_plan_l1_fix_dist: 0.2407, d2.loss_plan_l1_fix_time: 1.6249, d2.loss_plan_l1_fix_dist: 0.2444, d3.loss_plan_l1_fix_time: 1.6212, d3.loss_plan_l1_fix_dist: 0.2511, d4.loss_plan_l1_fix_time: 1.6224, d4.loss_plan_l1_fix_dist: 0.2603, d5.loss_plan_l1_fix_time: 1.6248, d5.loss_plan_l1_fix_dist: 0.2701, d6.loss_plan_l1_fix_time: 1.6278, d6.loss_plan_l1_fix_dist: 0.2810, d0.loss_cls_all: 0.3410, d0.loss_bbox_all: 0.5544, d0.loss_cls: 0.3410, d0.loss_bbox: 0.5544, d1.loss_cls: 0.3333, d1.loss_bbox: 0.5206, d2.loss_cls: 0.3263, d2.loss_bbox: 0.5063, d3.loss_cls: 0.3233, d3.loss_bbox: 0.4984, d4.loss_cls: 0.3200, d4.loss_bbox: 0.4970, d5.loss_cls: 0.3186, d5.loss_bbox: 0.4966, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0630, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9303, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9100, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9057, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8996, d5.loss_traj_cls: 0.0022, d5.loss_traj: 0.9011, d0.loss_map_cls_all: 0.3125, d0.loss_map_pts_all: 1.9178, d0.loss_map_dir_all: 0.0170, d0.loss_map_cls: 0.3125, d0.loss_map_pts: 1.9178, d0.loss_map_dir: 0.0170, d1.loss_map_cls: 0.2830, d1.loss_map_pts: 1.3391, d1.loss_map_dir: 0.0166, d2.loss_map_cls: 0.2664, d2.loss_map_pts: 1.1914, d2.loss_map_dir: 0.0168, d3.loss_map_cls: 0.2542, d3.loss_map_pts: 1.1375, d3.loss_map_dir: 0.0174, d4.loss_map_cls: 0.2475, d4.loss_map_pts: 1.1234, d4.loss_map_dir: 0.0176, d5.loss_map_cls: 0.2445, d5.loss_map_pts: 1.1216, d5.loss_map_dir: 0.0178, loss: 41.0397, grad_norm: 155.1857 +2026-02-25 06:19:32,756 - DriveTransformer - INFO - Epoch [4][7400/39528] lr: 9.623e-05, eta: 7 days, 15:08:49, time: 0.801, data_time: 0.041, memory: 19865, loss_cls: 0.3203, loss_bbox: 0.4875, loss_traj: 0.9855, loss_traj_cls: 0.0027, loss_map_cls: 0.2349, loss_map_pts: 0.9968, loss_map_dir: 0.0155, d0.loss_plan_l1_fix_time: 2.4904, d0.loss_plan_l1_fix_dist: 0.4089, d1.loss_plan_l1_fix_time: 1.4299, d1.loss_plan_l1_fix_dist: 0.2373, d2.loss_plan_l1_fix_time: 1.4137, d2.loss_plan_l1_fix_dist: 0.2400, d3.loss_plan_l1_fix_time: 1.4154, d3.loss_plan_l1_fix_dist: 0.2472, d4.loss_plan_l1_fix_time: 1.4191, d4.loss_plan_l1_fix_dist: 0.2592, d5.loss_plan_l1_fix_time: 1.4229, d5.loss_plan_l1_fix_dist: 0.2734, d6.loss_plan_l1_fix_time: 1.4269, d6.loss_plan_l1_fix_dist: 0.2911, d0.loss_cls_all: 0.3352, d0.loss_bbox_all: 0.5418, d0.loss_cls: 0.3352, d0.loss_bbox: 0.5418, d1.loss_cls: 0.3308, d1.loss_bbox: 0.5078, d2.loss_cls: 0.3251, d2.loss_bbox: 0.4953, d3.loss_cls: 0.3212, d3.loss_bbox: 0.4890, d4.loss_cls: 0.3195, d4.loss_bbox: 0.4857, d5.loss_cls: 0.3205, d5.loss_bbox: 0.4853, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1679, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0221, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9736, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9782, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9794, d5.loss_traj_cls: 0.0022, d5.loss_traj: 0.9821, d0.loss_map_cls_all: 0.2912, d0.loss_map_pts_all: 1.7365, d0.loss_map_dir_all: 0.0137, d0.loss_map_cls: 0.2912, d0.loss_map_pts: 1.7365, d0.loss_map_dir: 0.0137, d1.loss_map_cls: 0.2634, d1.loss_map_pts: 1.2274, d1.loss_map_dir: 0.0139, d2.loss_map_cls: 0.2471, d2.loss_map_pts: 1.0818, d2.loss_map_dir: 0.0144, d3.loss_map_cls: 0.2416, d3.loss_map_pts: 1.0234, d3.loss_map_dir: 0.0150, d4.loss_map_cls: 0.2381, d4.loss_map_pts: 1.0038, d4.loss_map_dir: 0.0152, d5.loss_map_cls: 0.2371, d5.loss_map_pts: 0.9976, d5.loss_map_dir: 0.0153, loss: 38.6806, grad_norm: 154.1430 +2026-02-25 06:20:13,143 - DriveTransformer - INFO - Epoch [4][7450/39528] lr: 9.623e-05, eta: 7 days, 15:08:11, time: 0.806, data_time: 0.042, memory: 19865, loss_cls: 0.3525, loss_bbox: 0.5462, loss_traj: 1.1010, loss_traj_cls: 0.0026, loss_map_cls: 0.3378, loss_map_pts: 1.5165, loss_map_dir: 0.0208, d0.loss_plan_l1_fix_time: 3.2394, d0.loss_plan_l1_fix_dist: 0.3230, d1.loss_plan_l1_fix_time: 1.9426, d1.loss_plan_l1_fix_dist: 0.2387, d2.loss_plan_l1_fix_time: 1.9059, d2.loss_plan_l1_fix_dist: 0.2452, d3.loss_plan_l1_fix_time: 1.9024, d3.loss_plan_l1_fix_dist: 0.2554, d4.loss_plan_l1_fix_time: 1.9052, d4.loss_plan_l1_fix_dist: 0.2647, d5.loss_plan_l1_fix_time: 1.9086, d5.loss_plan_l1_fix_dist: 0.2768, d6.loss_plan_l1_fix_time: 1.9130, d6.loss_plan_l1_fix_dist: 0.2894, d0.loss_cls_all: 0.3660, d0.loss_bbox_all: 0.6102, d0.loss_cls: 0.3660, d0.loss_bbox: 0.6102, d1.loss_cls: 0.3630, d1.loss_bbox: 0.5779, d2.loss_cls: 0.3612, d2.loss_bbox: 0.5605, d3.loss_cls: 0.3555, d3.loss_bbox: 0.5522, d4.loss_cls: 0.3538, d4.loss_bbox: 0.5466, d5.loss_cls: 0.3535, d5.loss_bbox: 0.5445, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2920, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.1365, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0996, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0941, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0906, d5.loss_traj_cls: 0.0023, d5.loss_traj: 1.0903, d0.loss_map_cls_all: 0.3915, d0.loss_map_pts_all: 2.4120, d0.loss_map_dir_all: 0.0191, d0.loss_map_cls: 0.3915, d0.loss_map_pts: 2.4120, d0.loss_map_dir: 0.0191, d1.loss_map_cls: 0.3636, d1.loss_map_pts: 1.8186, d1.loss_map_dir: 0.0188, d2.loss_map_cls: 0.3528, d2.loss_map_pts: 1.6321, d2.loss_map_dir: 0.0193, d3.loss_map_cls: 0.3422, d3.loss_map_pts: 1.5554, d3.loss_map_dir: 0.0201, d4.loss_map_cls: 0.3383, d4.loss_map_pts: 1.5286, d4.loss_map_dir: 0.0204, d5.loss_map_cls: 0.3371, d5.loss_map_pts: 1.5206, d5.loss_map_dir: 0.0206, loss: 49.3524, grad_norm: 154.5267 +2026-02-25 06:20:53,513 - DriveTransformer - INFO - Epoch [4][7500/39528] lr: 9.623e-05, eta: 7 days, 15:07:32, time: 0.807, data_time: 0.041, memory: 19865, loss_cls: 0.2823, loss_bbox: 0.4642, loss_traj: 0.9369, loss_traj_cls: 0.0028, loss_map_cls: 0.2190, loss_map_pts: 0.9890, loss_map_dir: 0.0165, d0.loss_plan_l1_fix_time: 2.5849, d0.loss_plan_l1_fix_dist: 0.4270, d1.loss_plan_l1_fix_time: 1.3807, d1.loss_plan_l1_fix_dist: 0.2491, d2.loss_plan_l1_fix_time: 1.3552, d2.loss_plan_l1_fix_dist: 0.2545, d3.loss_plan_l1_fix_time: 1.3552, d3.loss_plan_l1_fix_dist: 0.2642, d4.loss_plan_l1_fix_time: 1.3579, d4.loss_plan_l1_fix_dist: 0.2756, d5.loss_plan_l1_fix_time: 1.3615, d5.loss_plan_l1_fix_dist: 0.2888, d6.loss_plan_l1_fix_time: 1.3666, d6.loss_plan_l1_fix_dist: 0.3016, d0.loss_cls_all: 0.3047, d0.loss_bbox_all: 0.5174, d0.loss_cls: 0.3047, d0.loss_bbox: 0.5174, d1.loss_cls: 0.3011, d1.loss_bbox: 0.4854, d2.loss_cls: 0.2916, d2.loss_bbox: 0.4693, d3.loss_cls: 0.2881, d3.loss_bbox: 0.4640, d4.loss_cls: 0.2834, d4.loss_bbox: 0.4629, d5.loss_cls: 0.2844, d5.loss_bbox: 0.4616, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0960, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9745, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9388, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9308, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9316, d5.loss_traj_cls: 0.0023, d5.loss_traj: 0.9338, d0.loss_map_cls_all: 0.2631, d0.loss_map_pts_all: 1.8478, d0.loss_map_dir_all: 0.0154, d0.loss_map_cls: 0.2631, d0.loss_map_pts: 1.8478, d0.loss_map_dir: 0.0154, d1.loss_map_cls: 0.2409, d1.loss_map_pts: 1.2644, d1.loss_map_dir: 0.0150, d2.loss_map_cls: 0.2306, d2.loss_map_pts: 1.0978, d2.loss_map_dir: 0.0153, d3.loss_map_cls: 0.2239, d3.loss_map_pts: 1.0201, d3.loss_map_dir: 0.0159, d4.loss_map_cls: 0.2192, d4.loss_map_pts: 0.9960, d4.loss_map_dir: 0.0161, d5.loss_map_cls: 0.2186, d5.loss_map_pts: 0.9899, d5.loss_map_dir: 0.0163, loss: 37.8140, grad_norm: 154.6580 +2026-02-25 06:21:36,323 - DriveTransformer - INFO - Epoch [4][7550/39528] lr: 9.623e-05, eta: 7 days, 15:07:10, time: 0.856, data_time: 0.041, memory: 19865, loss_cls: 0.3057, loss_bbox: 0.4945, loss_traj: 1.0136, loss_traj_cls: 0.0027, loss_map_cls: 0.2617, loss_map_pts: 1.1955, loss_map_dir: 0.0211, d0.loss_plan_l1_fix_time: 2.5421, d0.loss_plan_l1_fix_dist: 0.4014, d1.loss_plan_l1_fix_time: 1.5869, d1.loss_plan_l1_fix_dist: 0.2493, d2.loss_plan_l1_fix_time: 1.5687, d2.loss_plan_l1_fix_dist: 0.2512, d3.loss_plan_l1_fix_time: 1.5680, d3.loss_plan_l1_fix_dist: 0.2612, d4.loss_plan_l1_fix_time: 1.5705, d4.loss_plan_l1_fix_dist: 0.2751, d5.loss_plan_l1_fix_time: 1.5745, d5.loss_plan_l1_fix_dist: 0.2889, d6.loss_plan_l1_fix_time: 1.5796, d6.loss_plan_l1_fix_dist: 0.3059, d0.loss_cls_all: 0.3296, d0.loss_bbox_all: 0.5361, d0.loss_cls: 0.3296, d0.loss_bbox: 0.5361, d1.loss_cls: 0.3246, d1.loss_bbox: 0.5067, d2.loss_cls: 0.3157, d2.loss_bbox: 0.4909, d3.loss_cls: 0.3090, d3.loss_bbox: 0.4879, d4.loss_cls: 0.3041, d4.loss_bbox: 0.4895, d5.loss_cls: 0.3048, d5.loss_bbox: 0.4918, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1468, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0349, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0108, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0110, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0154, d5.loss_traj_cls: 0.0022, d5.loss_traj: 1.0156, d0.loss_map_cls_all: 0.3140, d0.loss_map_pts_all: 2.3360, d0.loss_map_dir_all: 0.0192, d0.loss_map_cls: 0.3140, d0.loss_map_pts: 2.3360, d0.loss_map_dir: 0.0192, d1.loss_map_cls: 0.2932, d1.loss_map_pts: 1.5092, d1.loss_map_dir: 0.0187, d2.loss_map_cls: 0.2765, d2.loss_map_pts: 1.3034, d2.loss_map_dir: 0.0194, d3.loss_map_cls: 0.2717, d3.loss_map_pts: 1.2286, d3.loss_map_dir: 0.0202, d4.loss_map_cls: 0.2655, d4.loss_map_pts: 1.2055, d4.loss_map_dir: 0.0207, d5.loss_map_cls: 0.2611, d5.loss_map_pts: 1.1996, d5.loss_map_dir: 0.0208, loss: 42.5675, grad_norm: 155.2666 +2026-02-25 06:22:17,574 - DriveTransformer - INFO - Epoch [4][7600/39528] lr: 9.623e-05, eta: 7 days, 15:06:38, time: 0.825, data_time: 0.049, memory: 19865, loss_cls: 0.2772, loss_bbox: 0.4793, loss_traj: 0.9952, loss_traj_cls: 0.0028, loss_map_cls: 0.2410, loss_map_pts: 1.0088, loss_map_dir: 0.0169, d0.loss_plan_l1_fix_time: 2.3747, d0.loss_plan_l1_fix_dist: 0.4720, d1.loss_plan_l1_fix_time: 1.5020, d1.loss_plan_l1_fix_dist: 0.2295, d2.loss_plan_l1_fix_time: 1.5141, d2.loss_plan_l1_fix_dist: 0.2394, d3.loss_plan_l1_fix_time: 1.5206, d3.loss_plan_l1_fix_dist: 0.2495, d4.loss_plan_l1_fix_time: 1.5255, d4.loss_plan_l1_fix_dist: 0.2604, d5.loss_plan_l1_fix_time: 1.5308, d5.loss_plan_l1_fix_dist: 0.2744, d6.loss_plan_l1_fix_time: 1.5366, d6.loss_plan_l1_fix_dist: 0.2920, d0.loss_cls_all: 0.2939, d0.loss_bbox_all: 0.5321, d0.loss_cls: 0.2939, d0.loss_bbox: 0.5321, d1.loss_cls: 0.2881, d1.loss_bbox: 0.5039, d2.loss_cls: 0.2808, d2.loss_bbox: 0.4889, d3.loss_cls: 0.2775, d3.loss_bbox: 0.4825, d4.loss_cls: 0.2781, d4.loss_bbox: 0.4771, d5.loss_cls: 0.2765, d5.loss_bbox: 0.4793, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1791, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0242, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9873, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9877, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9947, d5.loss_traj_cls: 0.0022, d5.loss_traj: 0.9965, d0.loss_map_cls_all: 0.2865, d0.loss_map_pts_all: 1.9340, d0.loss_map_dir_all: 0.0153, d0.loss_map_cls: 0.2865, d0.loss_map_pts: 1.9340, d0.loss_map_dir: 0.0153, d1.loss_map_cls: 0.2706, d1.loss_map_pts: 1.2892, d1.loss_map_dir: 0.0150, d2.loss_map_cls: 0.2520, d2.loss_map_pts: 1.1077, d2.loss_map_dir: 0.0156, d3.loss_map_cls: 0.2455, d3.loss_map_pts: 1.0358, d3.loss_map_dir: 0.0164, d4.loss_map_cls: 0.2433, d4.loss_map_pts: 1.0158, d4.loss_map_dir: 0.0166, d5.loss_map_cls: 0.2415, d5.loss_map_pts: 1.0129, d5.loss_map_dir: 0.0168, loss: 39.4700, grad_norm: 155.8219 +2026-02-25 06:22:57,345 - DriveTransformer - INFO - Epoch [4][7650/39528] lr: 9.623e-05, eta: 7 days, 15:05:56, time: 0.795, data_time: 0.042, memory: 19865, loss_cls: 0.2883, loss_bbox: 0.4753, loss_traj: 1.0289, loss_traj_cls: 0.0028, loss_map_cls: 0.2420, loss_map_pts: 0.9947, loss_map_dir: 0.0153, d0.loss_plan_l1_fix_time: 2.3665, d0.loss_plan_l1_fix_dist: 0.3633, d1.loss_plan_l1_fix_time: 1.4728, d1.loss_plan_l1_fix_dist: 0.2490, d2.loss_plan_l1_fix_time: 1.4566, d2.loss_plan_l1_fix_dist: 0.2528, d3.loss_plan_l1_fix_time: 1.4551, d3.loss_plan_l1_fix_dist: 0.2598, d4.loss_plan_l1_fix_time: 1.4571, d4.loss_plan_l1_fix_dist: 0.2688, d5.loss_plan_l1_fix_time: 1.4602, d5.loss_plan_l1_fix_dist: 0.2804, d6.loss_plan_l1_fix_time: 1.4645, d6.loss_plan_l1_fix_dist: 0.2946, d0.loss_cls_all: 0.3087, d0.loss_bbox_all: 0.5275, d0.loss_cls: 0.3087, d0.loss_bbox: 0.5275, d1.loss_cls: 0.3039, d1.loss_bbox: 0.4989, d2.loss_cls: 0.2957, d2.loss_bbox: 0.4870, d3.loss_cls: 0.2909, d3.loss_bbox: 0.4818, d4.loss_cls: 0.2884, d4.loss_bbox: 0.4783, d5.loss_cls: 0.2892, d5.loss_bbox: 0.4765, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2515, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0664, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0456, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0386, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0324, d5.loss_traj_cls: 0.0022, d5.loss_traj: 1.0284, d0.loss_map_cls_all: 0.2957, d0.loss_map_pts_all: 1.7802, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.2957, d0.loss_map_pts: 1.7802, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.2683, d1.loss_map_pts: 1.2321, d1.loss_map_dir: 0.0135, d2.loss_map_cls: 0.2520, d2.loss_map_pts: 1.0823, d2.loss_map_dir: 0.0141, d3.loss_map_cls: 0.2441, d3.loss_map_pts: 1.0204, d3.loss_map_dir: 0.0147, d4.loss_map_cls: 0.2430, d4.loss_map_pts: 1.0013, d4.loss_map_dir: 0.0150, d5.loss_map_cls: 0.2426, d5.loss_map_pts: 0.9938, d5.loss_map_dir: 0.0151, loss: 39.0122, grad_norm: 155.6128 +2026-02-25 06:23:38,942 - DriveTransformer - INFO - Epoch [4][7700/39528] lr: 9.623e-05, eta: 7 days, 15:05:26, time: 0.832, data_time: 0.049, memory: 19865, loss_cls: 0.2819, loss_bbox: 0.4721, loss_traj: 1.0468, loss_traj_cls: 0.0030, loss_map_cls: 0.2460, loss_map_pts: 1.0347, loss_map_dir: 0.0150, d0.loss_plan_l1_fix_time: 2.8622, d0.loss_plan_l1_fix_dist: 0.5686, d1.loss_plan_l1_fix_time: 1.6681, d1.loss_plan_l1_fix_dist: 0.2830, d2.loss_plan_l1_fix_time: 1.6533, d2.loss_plan_l1_fix_dist: 0.2876, d3.loss_plan_l1_fix_time: 1.6581, d3.loss_plan_l1_fix_dist: 0.2960, d4.loss_plan_l1_fix_time: 1.6630, d4.loss_plan_l1_fix_dist: 0.3060, d5.loss_plan_l1_fix_time: 1.6678, d5.loss_plan_l1_fix_dist: 0.3164, d6.loss_plan_l1_fix_time: 1.6731, d6.loss_plan_l1_fix_dist: 0.3270, d0.loss_cls_all: 0.2995, d0.loss_bbox_all: 0.5151, d0.loss_cls: 0.2995, d0.loss_bbox: 0.5151, d1.loss_cls: 0.2932, d1.loss_bbox: 0.4902, d2.loss_cls: 0.2877, d2.loss_bbox: 0.4779, d3.loss_cls: 0.2815, d3.loss_bbox: 0.4729, d4.loss_cls: 0.2808, d4.loss_bbox: 0.4690, d5.loss_cls: 0.2799, d5.loss_bbox: 0.4716, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2225, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0853, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0486, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0405, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0417, d5.loss_traj_cls: 0.0023, d5.loss_traj: 1.0447, d0.loss_map_cls_all: 0.2981, d0.loss_map_pts_all: 1.9124, d0.loss_map_dir_all: 0.0144, d0.loss_map_cls: 0.2981, d0.loss_map_pts: 1.9124, d0.loss_map_dir: 0.0144, d1.loss_map_cls: 0.2766, d1.loss_map_pts: 1.2911, d1.loss_map_dir: 0.0137, d2.loss_map_cls: 0.2619, d2.loss_map_pts: 1.1301, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2525, d3.loss_map_pts: 1.0653, d3.loss_map_dir: 0.0146, d4.loss_map_cls: 0.2464, d4.loss_map_pts: 1.0435, d4.loss_map_dir: 0.0148, d5.loss_map_cls: 0.2460, d5.loss_map_pts: 1.0379, d5.loss_map_dir: 0.0149, loss: 41.6266, grad_norm: 155.6782 +2026-02-25 06:24:20,905 - DriveTransformer - INFO - Epoch [4][7750/39528] lr: 9.623e-05, eta: 7 days, 15:04:58, time: 0.839, data_time: 0.046, memory: 19865, loss_cls: 0.2833, loss_bbox: 0.4750, loss_traj: 0.8368, loss_traj_cls: 0.0030, loss_map_cls: 0.2375, loss_map_pts: 1.0861, loss_map_dir: 0.0176, d0.loss_plan_l1_fix_time: 2.5196, d0.loss_plan_l1_fix_dist: 0.4129, d1.loss_plan_l1_fix_time: 1.4270, d1.loss_plan_l1_fix_dist: 0.2485, d2.loss_plan_l1_fix_time: 1.4091, d2.loss_plan_l1_fix_dist: 0.2505, d3.loss_plan_l1_fix_time: 1.4077, d3.loss_plan_l1_fix_dist: 0.2580, d4.loss_plan_l1_fix_time: 1.4100, d4.loss_plan_l1_fix_dist: 0.2673, d5.loss_plan_l1_fix_time: 1.4126, d5.loss_plan_l1_fix_dist: 0.2768, d6.loss_plan_l1_fix_time: 1.4157, d6.loss_plan_l1_fix_dist: 0.2873, d0.loss_cls_all: 0.3062, d0.loss_bbox_all: 0.5259, d0.loss_cls: 0.3062, d0.loss_bbox: 0.5259, d1.loss_cls: 0.2970, d1.loss_bbox: 0.4919, d2.loss_cls: 0.2894, d2.loss_bbox: 0.4835, d3.loss_cls: 0.2857, d3.loss_bbox: 0.4777, d4.loss_cls: 0.2816, d4.loss_bbox: 0.4763, d5.loss_cls: 0.2813, d5.loss_bbox: 0.4775, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0281, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8847, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8294, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8279, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8345, d5.loss_traj_cls: 0.0023, d5.loss_traj: 0.8336, d0.loss_map_cls_all: 0.2925, d0.loss_map_pts_all: 2.1051, d0.loss_map_dir_all: 0.0163, d0.loss_map_cls: 0.2925, d0.loss_map_pts: 2.1051, d0.loss_map_dir: 0.0163, d1.loss_map_cls: 0.2662, d1.loss_map_pts: 1.3756, d1.loss_map_dir: 0.0158, d2.loss_map_cls: 0.2514, d2.loss_map_pts: 1.1824, d2.loss_map_dir: 0.0162, d3.loss_map_cls: 0.2438, d3.loss_map_pts: 1.1176, d3.loss_map_dir: 0.0168, d4.loss_map_cls: 0.2402, d4.loss_map_pts: 1.0923, d4.loss_map_dir: 0.0172, d5.loss_map_cls: 0.2375, d5.loss_map_pts: 1.0890, d5.loss_map_dir: 0.0173, loss: 38.7003, grad_norm: 154.9168 +2026-02-25 06:25:00,595 - DriveTransformer - INFO - Epoch [4][7800/39528] lr: 9.623e-05, eta: 7 days, 15:04:15, time: 0.794, data_time: 0.041, memory: 19865, loss_cls: 0.3075, loss_bbox: 0.4910, loss_traj: 0.8540, loss_traj_cls: 0.0029, loss_map_cls: 0.2338, loss_map_pts: 0.9578, loss_map_dir: 0.0140, d0.loss_plan_l1_fix_time: 2.6059, d0.loss_plan_l1_fix_dist: 0.4314, d1.loss_plan_l1_fix_time: 1.5250, d1.loss_plan_l1_fix_dist: 0.2357, d2.loss_plan_l1_fix_time: 1.5073, d2.loss_plan_l1_fix_dist: 0.2423, d3.loss_plan_l1_fix_time: 1.5081, d3.loss_plan_l1_fix_dist: 0.2500, d4.loss_plan_l1_fix_time: 1.5112, d4.loss_plan_l1_fix_dist: 0.2592, d5.loss_plan_l1_fix_time: 1.5151, d5.loss_plan_l1_fix_dist: 0.2703, d6.loss_plan_l1_fix_time: 1.5189, d6.loss_plan_l1_fix_dist: 0.2833, d0.loss_cls_all: 0.3251, d0.loss_bbox_all: 0.5356, d0.loss_cls: 0.3251, d0.loss_bbox: 0.5356, d1.loss_cls: 0.3173, d1.loss_bbox: 0.5129, d2.loss_cls: 0.3126, d2.loss_bbox: 0.4987, d3.loss_cls: 0.3098, d3.loss_bbox: 0.4924, d4.loss_cls: 0.3067, d4.loss_bbox: 0.4907, d5.loss_cls: 0.3071, d5.loss_bbox: 0.4886, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0590, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8939, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8544, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8527, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8491, d5.loss_traj_cls: 0.0023, d5.loss_traj: 0.8476, d0.loss_map_cls_all: 0.2869, d0.loss_map_pts_all: 1.7259, d0.loss_map_dir_all: 0.0134, d0.loss_map_cls: 0.2869, d0.loss_map_pts: 1.7259, d0.loss_map_dir: 0.0134, d1.loss_map_cls: 0.2698, d1.loss_map_pts: 1.1962, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2560, d2.loss_map_pts: 1.0393, d2.loss_map_dir: 0.0130, d3.loss_map_cls: 0.2432, d3.loss_map_pts: 0.9833, d3.loss_map_dir: 0.0135, d4.loss_map_cls: 0.2363, d4.loss_map_pts: 0.9682, d4.loss_map_dir: 0.0138, d5.loss_map_cls: 0.2345, d5.loss_map_pts: 0.9603, d5.loss_map_dir: 0.0139, loss: 38.1530, grad_norm: 151.9219 +2026-02-25 06:25:41,025 - DriveTransformer - INFO - Epoch [4][7850/39528] lr: 9.623e-05, eta: 7 days, 15:03:38, time: 0.809, data_time: 0.046, memory: 19865, loss_cls: 0.3099, loss_bbox: 0.4961, loss_traj: 1.0375, loss_traj_cls: 0.0028, loss_map_cls: 0.2924, loss_map_pts: 1.1488, loss_map_dir: 0.0169, d0.loss_plan_l1_fix_time: 3.0390, d0.loss_plan_l1_fix_dist: 0.3827, d1.loss_plan_l1_fix_time: 1.8622, d1.loss_plan_l1_fix_dist: 0.2355, d2.loss_plan_l1_fix_time: 1.8439, d2.loss_plan_l1_fix_dist: 0.2393, d3.loss_plan_l1_fix_time: 1.8445, d3.loss_plan_l1_fix_dist: 0.2471, d4.loss_plan_l1_fix_time: 1.8478, d4.loss_plan_l1_fix_dist: 0.2578, d5.loss_plan_l1_fix_time: 1.8514, d5.loss_plan_l1_fix_dist: 0.2692, d6.loss_plan_l1_fix_time: 1.8562, d6.loss_plan_l1_fix_dist: 0.2817, d0.loss_cls_all: 0.3348, d0.loss_bbox_all: 0.5463, d0.loss_cls: 0.3348, d0.loss_bbox: 0.5463, d1.loss_cls: 0.3315, d1.loss_bbox: 0.5144, d2.loss_cls: 0.3217, d2.loss_bbox: 0.5014, d3.loss_cls: 0.3143, d3.loss_bbox: 0.4988, d4.loss_cls: 0.3104, d4.loss_bbox: 0.4960, d5.loss_cls: 0.3090, d5.loss_bbox: 0.4954, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3365, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.1001, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0602, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0439, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0390, d5.loss_traj_cls: 0.0023, d5.loss_traj: 1.0376, d0.loss_map_cls_all: 0.3433, d0.loss_map_pts_all: 2.0469, d0.loss_map_dir_all: 0.0152, d0.loss_map_cls: 0.3433, d0.loss_map_pts: 2.0469, d0.loss_map_dir: 0.0152, d1.loss_map_cls: 0.3163, d1.loss_map_pts: 1.4321, d1.loss_map_dir: 0.0149, d2.loss_map_cls: 0.3063, d2.loss_map_pts: 1.2558, d2.loss_map_dir: 0.0156, d3.loss_map_cls: 0.2964, d3.loss_map_pts: 1.1859, d3.loss_map_dir: 0.0163, d4.loss_map_cls: 0.2925, d4.loss_map_pts: 1.1623, d4.loss_map_dir: 0.0165, d5.loss_map_cls: 0.2923, d5.loss_map_pts: 1.1529, d5.loss_map_dir: 0.0167, loss: 44.4251, grad_norm: 151.4460 +2026-02-25 06:26:21,842 - DriveTransformer - INFO - Epoch [4][7900/39528] lr: 9.623e-05, eta: 7 days, 15:03:02, time: 0.816, data_time: 0.036, memory: 19865, loss_cls: 0.3183, loss_bbox: 0.5125, loss_traj: 0.9864, loss_traj_cls: 0.0028, loss_map_cls: 0.2483, loss_map_pts: 1.1400, loss_map_dir: 0.0182, d0.loss_plan_l1_fix_time: 2.9318, d0.loss_plan_l1_fix_dist: 0.4534, d1.loss_plan_l1_fix_time: 1.7920, d1.loss_plan_l1_fix_dist: 0.2656, d2.loss_plan_l1_fix_time: 1.7698, d2.loss_plan_l1_fix_dist: 0.2733, d3.loss_plan_l1_fix_time: 1.7713, d3.loss_plan_l1_fix_dist: 0.2871, d4.loss_plan_l1_fix_time: 1.7736, d4.loss_plan_l1_fix_dist: 0.3041, d5.loss_plan_l1_fix_time: 1.7765, d5.loss_plan_l1_fix_dist: 0.3225, d6.loss_plan_l1_fix_time: 1.7801, d6.loss_plan_l1_fix_dist: 0.3429, d0.loss_cls_all: 0.3383, d0.loss_bbox_all: 0.5659, d0.loss_cls: 0.3383, d0.loss_bbox: 0.5659, d1.loss_cls: 0.3344, d1.loss_bbox: 0.5353, d2.loss_cls: 0.3242, d2.loss_bbox: 0.5209, d3.loss_cls: 0.3209, d3.loss_bbox: 0.5141, d4.loss_cls: 0.3170, d4.loss_bbox: 0.5116, d5.loss_cls: 0.3182, d5.loss_bbox: 0.5106, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1740, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0357, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9973, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9975, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9862, d5.loss_traj_cls: 0.0023, d5.loss_traj: 0.9849, d0.loss_map_cls_all: 0.3009, d0.loss_map_pts_all: 2.1501, d0.loss_map_dir_all: 0.0172, d0.loss_map_cls: 0.3009, d0.loss_map_pts: 2.1501, d0.loss_map_dir: 0.0172, d1.loss_map_cls: 0.2750, d1.loss_map_pts: 1.4157, d1.loss_map_dir: 0.0168, d2.loss_map_cls: 0.2621, d2.loss_map_pts: 1.2338, d2.loss_map_dir: 0.0170, d3.loss_map_cls: 0.2556, d3.loss_map_pts: 1.1678, d3.loss_map_dir: 0.0176, d4.loss_map_cls: 0.2517, d4.loss_map_pts: 1.1486, d4.loss_map_dir: 0.0179, d5.loss_map_cls: 0.2500, d5.loss_map_pts: 1.1416, d5.loss_map_dir: 0.0180, loss: 43.6936, grad_norm: 151.4798 +2026-02-25 06:27:02,163 - DriveTransformer - INFO - Epoch [4][7950/39528] lr: 9.623e-05, eta: 7 days, 15:02:24, time: 0.806, data_time: 0.043, memory: 19865, loss_cls: 0.2598, loss_bbox: 0.4475, loss_traj: 1.0389, loss_traj_cls: 0.0028, loss_map_cls: 0.2099, loss_map_pts: 0.8629, loss_map_dir: 0.0135, d0.loss_plan_l1_fix_time: 2.4206, d0.loss_plan_l1_fix_dist: 0.5092, d1.loss_plan_l1_fix_time: 1.5121, d1.loss_plan_l1_fix_dist: 0.2650, d2.loss_plan_l1_fix_time: 1.4901, d2.loss_plan_l1_fix_dist: 0.2716, d3.loss_plan_l1_fix_time: 1.4873, d3.loss_plan_l1_fix_dist: 0.2834, d4.loss_plan_l1_fix_time: 1.4895, d4.loss_plan_l1_fix_dist: 0.2985, d5.loss_plan_l1_fix_time: 1.4921, d5.loss_plan_l1_fix_dist: 0.3166, d6.loss_plan_l1_fix_time: 1.4956, d6.loss_plan_l1_fix_dist: 0.3383, d0.loss_cls_all: 0.2767, d0.loss_bbox_all: 0.4979, d0.loss_cls: 0.2767, d0.loss_bbox: 0.4979, d1.loss_cls: 0.2746, d1.loss_bbox: 0.4662, d2.loss_cls: 0.2661, d2.loss_bbox: 0.4526, d3.loss_cls: 0.2617, d3.loss_bbox: 0.4465, d4.loss_cls: 0.2606, d4.loss_bbox: 0.4447, d5.loss_cls: 0.2607, d5.loss_bbox: 0.4453, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2106, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0751, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0477, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0484, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0397, d5.loss_traj_cls: 0.0022, d5.loss_traj: 1.0348, d0.loss_map_cls_all: 0.2705, d0.loss_map_pts_all: 1.7254, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.2705, d0.loss_map_pts: 1.7254, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2520, d1.loss_map_pts: 1.1098, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2295, d2.loss_map_pts: 0.9502, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2174, d3.loss_map_pts: 0.8919, d3.loss_map_dir: 0.0129, d4.loss_map_cls: 0.2123, d4.loss_map_pts: 0.8710, d4.loss_map_dir: 0.0131, d5.loss_map_cls: 0.2107, d5.loss_map_pts: 0.8643, d5.loss_map_dir: 0.0133, loss: 37.9878, grad_norm: 150.2277 +2026-02-25 06:27:44,674 - DriveTransformer - INFO - Epoch [4][8000/39528] lr: 9.623e-05, eta: 7 days, 15:02:00, time: 0.850, data_time: 0.039, memory: 19865, loss_cls: 0.2735, loss_bbox: 0.4786, loss_traj: 0.9714, loss_traj_cls: 0.0027, loss_map_cls: 0.2462, loss_map_pts: 1.0503, loss_map_dir: 0.0156, d0.loss_plan_l1_fix_time: 2.9388, d0.loss_plan_l1_fix_dist: 0.4203, d1.loss_plan_l1_fix_time: 1.7679, d1.loss_plan_l1_fix_dist: 0.2572, d2.loss_plan_l1_fix_time: 1.7384, d2.loss_plan_l1_fix_dist: 0.2684, d3.loss_plan_l1_fix_time: 1.7389, d3.loss_plan_l1_fix_dist: 0.2797, d4.loss_plan_l1_fix_time: 1.7412, d4.loss_plan_l1_fix_dist: 0.2925, d5.loss_plan_l1_fix_time: 1.7443, d5.loss_plan_l1_fix_dist: 0.3064, d6.loss_plan_l1_fix_time: 1.7479, d6.loss_plan_l1_fix_dist: 0.3220, d0.loss_cls_all: 0.2859, d0.loss_bbox_all: 0.5192, d0.loss_cls: 0.2859, d0.loss_bbox: 0.5192, d1.loss_cls: 0.2823, d1.loss_bbox: 0.4958, d2.loss_cls: 0.2778, d2.loss_bbox: 0.4835, d3.loss_cls: 0.2745, d3.loss_bbox: 0.4767, d4.loss_cls: 0.2734, d4.loss_bbox: 0.4756, d5.loss_cls: 0.2741, d5.loss_bbox: 0.4752, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1380, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9742, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9568, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9629, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9644, d5.loss_traj_cls: 0.0022, d5.loss_traj: 0.9682, d0.loss_map_cls_all: 0.2944, d0.loss_map_pts_all: 1.9411, d0.loss_map_dir_all: 0.0134, d0.loss_map_cls: 0.2944, d0.loss_map_pts: 1.9411, d0.loss_map_dir: 0.0134, d1.loss_map_cls: 0.2707, d1.loss_map_pts: 1.3137, d1.loss_map_dir: 0.0134, d2.loss_map_cls: 0.2579, d2.loss_map_pts: 1.1354, d2.loss_map_dir: 0.0140, d3.loss_map_cls: 0.2503, d3.loss_map_pts: 1.0704, d3.loss_map_dir: 0.0147, d4.loss_map_cls: 0.2471, d4.loss_map_pts: 1.0533, d4.loss_map_dir: 0.0152, d5.loss_map_cls: 0.2464, d5.loss_map_pts: 1.0486, d5.loss_map_dir: 0.0154, loss: 41.4369, grad_norm: 148.9519 +2026-02-25 06:28:26,455 - DriveTransformer - INFO - Epoch [4][8050/39528] lr: 9.623e-05, eta: 7 days, 15:01:30, time: 0.836, data_time: 0.042, memory: 19865, loss_cls: 0.2907, loss_bbox: 0.4665, loss_traj: 0.8699, loss_traj_cls: 0.0027, loss_map_cls: 0.2907, loss_map_pts: 1.2291, loss_map_dir: 0.0195, d0.loss_plan_l1_fix_time: 2.6312, d0.loss_plan_l1_fix_dist: 0.3807, d1.loss_plan_l1_fix_time: 1.4220, d1.loss_plan_l1_fix_dist: 0.2160, d2.loss_plan_l1_fix_time: 1.3916, d2.loss_plan_l1_fix_dist: 0.2259, d3.loss_plan_l1_fix_time: 1.3867, d3.loss_plan_l1_fix_dist: 0.2412, d4.loss_plan_l1_fix_time: 1.3884, d4.loss_plan_l1_fix_dist: 0.2611, d5.loss_plan_l1_fix_time: 1.3914, d5.loss_plan_l1_fix_dist: 0.2826, d6.loss_plan_l1_fix_time: 1.3952, d6.loss_plan_l1_fix_dist: 0.3082, d0.loss_cls_all: 0.3117, d0.loss_bbox_all: 0.5203, d0.loss_cls: 0.3117, d0.loss_bbox: 0.5203, d1.loss_cls: 0.3081, d1.loss_bbox: 0.4900, d2.loss_cls: 0.3000, d2.loss_bbox: 0.4731, d3.loss_cls: 0.2961, d3.loss_bbox: 0.4665, d4.loss_cls: 0.2921, d4.loss_bbox: 0.4640, d5.loss_cls: 0.2913, d5.loss_bbox: 0.4645, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9969, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8715, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8541, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8584, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8588, d5.loss_traj_cls: 0.0022, d5.loss_traj: 0.8713, d0.loss_map_cls_all: 0.3353, d0.loss_map_pts_all: 2.3031, d0.loss_map_dir_all: 0.0174, d0.loss_map_cls: 0.3353, d0.loss_map_pts: 2.3031, d0.loss_map_dir: 0.0174, d1.loss_map_cls: 0.3140, d1.loss_map_pts: 1.5503, d1.loss_map_dir: 0.0176, d2.loss_map_cls: 0.3025, d2.loss_map_pts: 1.3423, d2.loss_map_dir: 0.0178, d3.loss_map_cls: 0.2951, d3.loss_map_pts: 1.2665, d3.loss_map_dir: 0.0186, d4.loss_map_cls: 0.2901, d4.loss_map_pts: 1.2403, d4.loss_map_dir: 0.0191, d5.loss_map_cls: 0.2897, d5.loss_map_pts: 1.2323, d5.loss_map_dir: 0.0193, loss: 40.4458, grad_norm: 149.6107 +2026-02-25 06:29:10,598 - DriveTransformer - INFO - Epoch [4][8100/39528] lr: 9.623e-05, eta: 7 days, 15:01:17, time: 0.883, data_time: 0.039, memory: 19865, loss_cls: 0.2913, loss_bbox: 0.4697, loss_traj: 0.7722, loss_traj_cls: 0.0026, loss_map_cls: 0.2264, loss_map_pts: 1.1058, loss_map_dir: 0.0209, d0.loss_plan_l1_fix_time: 2.7459, d0.loss_plan_l1_fix_dist: 0.4241, d1.loss_plan_l1_fix_time: 1.8172, d1.loss_plan_l1_fix_dist: 0.2562, d2.loss_plan_l1_fix_time: 1.7936, d2.loss_plan_l1_fix_dist: 0.2617, d3.loss_plan_l1_fix_time: 1.7947, d3.loss_plan_l1_fix_dist: 0.2738, d4.loss_plan_l1_fix_time: 1.7970, d4.loss_plan_l1_fix_dist: 0.2887, d5.loss_plan_l1_fix_time: 1.7997, d5.loss_plan_l1_fix_dist: 0.3054, d6.loss_plan_l1_fix_time: 1.8033, d6.loss_plan_l1_fix_dist: 0.3225, d0.loss_cls_all: 0.3079, d0.loss_bbox_all: 0.5161, d0.loss_cls: 0.3079, d0.loss_bbox: 0.5161, d1.loss_cls: 0.3024, d1.loss_bbox: 0.4939, d2.loss_cls: 0.2959, d2.loss_bbox: 0.4795, d3.loss_cls: 0.2949, d3.loss_bbox: 0.4722, d4.loss_cls: 0.2899, d4.loss_bbox: 0.4706, d5.loss_cls: 0.2904, d5.loss_bbox: 0.4689, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8774, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7906, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7614, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7660, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7668, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.7678, d0.loss_map_cls_all: 0.2817, d0.loss_map_pts_all: 2.2209, d0.loss_map_dir_all: 0.0192, d0.loss_map_cls: 0.2817, d0.loss_map_pts: 2.2209, d0.loss_map_dir: 0.0192, d1.loss_map_cls: 0.2543, d1.loss_map_pts: 1.4190, d1.loss_map_dir: 0.0188, d2.loss_map_cls: 0.2426, d2.loss_map_pts: 1.2119, d2.loss_map_dir: 0.0195, d3.loss_map_cls: 0.2350, d3.loss_map_pts: 1.1353, d3.loss_map_dir: 0.0202, d4.loss_map_cls: 0.2281, d4.loss_map_pts: 1.1164, d4.loss_map_dir: 0.0206, d5.loss_map_cls: 0.2260, d5.loss_map_pts: 1.1100, d5.loss_map_dir: 0.0206, loss: 41.1377, grad_norm: 148.3164 +2026-02-25 06:29:52,304 - DriveTransformer - INFO - Epoch [4][8150/39528] lr: 9.623e-05, eta: 7 days, 15:00:47, time: 0.834, data_time: 0.039, memory: 19865, loss_cls: 0.3076, loss_bbox: 0.5048, loss_traj: 0.8431, loss_traj_cls: 0.0027, loss_map_cls: 0.2458, loss_map_pts: 1.0750, loss_map_dir: 0.0189, d0.loss_plan_l1_fix_time: 2.6076, d0.loss_plan_l1_fix_dist: 0.4204, d1.loss_plan_l1_fix_time: 1.5873, d1.loss_plan_l1_fix_dist: 0.2408, d2.loss_plan_l1_fix_time: 1.5751, d2.loss_plan_l1_fix_dist: 0.2485, d3.loss_plan_l1_fix_time: 1.5795, d3.loss_plan_l1_fix_dist: 0.2606, d4.loss_plan_l1_fix_time: 1.5831, d4.loss_plan_l1_fix_dist: 0.2741, d5.loss_plan_l1_fix_time: 1.5870, d5.loss_plan_l1_fix_dist: 0.2904, d6.loss_plan_l1_fix_time: 1.5910, d6.loss_plan_l1_fix_dist: 0.3067, d0.loss_cls_all: 0.3277, d0.loss_bbox_all: 0.5554, d0.loss_cls: 0.3277, d0.loss_bbox: 0.5554, d1.loss_cls: 0.3205, d1.loss_bbox: 0.5258, d2.loss_cls: 0.3137, d2.loss_bbox: 0.5084, d3.loss_cls: 0.3095, d3.loss_bbox: 0.5054, d4.loss_cls: 0.3057, d4.loss_bbox: 0.5046, d5.loss_cls: 0.3082, d5.loss_bbox: 0.5038, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0133, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8817, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8384, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8387, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8380, d5.loss_traj_cls: 0.0022, d5.loss_traj: 0.8358, d0.loss_map_cls_all: 0.2971, d0.loss_map_pts_all: 1.9944, d0.loss_map_dir_all: 0.0173, d0.loss_map_cls: 0.2971, d0.loss_map_pts: 1.9944, d0.loss_map_dir: 0.0173, d1.loss_map_cls: 0.2769, d1.loss_map_pts: 1.3316, d1.loss_map_dir: 0.0168, d2.loss_map_cls: 0.2620, d2.loss_map_pts: 1.1562, d2.loss_map_dir: 0.0174, d3.loss_map_cls: 0.2522, d3.loss_map_pts: 1.1023, d3.loss_map_dir: 0.0182, d4.loss_map_cls: 0.2492, d4.loss_map_pts: 1.0853, d4.loss_map_dir: 0.0186, d5.loss_map_cls: 0.2464, d5.loss_map_pts: 1.0792, d5.loss_map_dir: 0.0187, loss: 40.0226, grad_norm: 146.5213 +2026-02-25 06:30:33,322 - DriveTransformer - INFO - Epoch [4][8200/39528] lr: 9.623e-05, eta: 7 days, 15:00:14, time: 0.822, data_time: 0.051, memory: 19865, loss_cls: 0.3146, loss_bbox: 0.5164, loss_traj: 1.2010, loss_traj_cls: 0.0027, loss_map_cls: 0.2720, loss_map_pts: 1.1398, loss_map_dir: 0.0170, d0.loss_plan_l1_fix_time: 2.9314, d0.loss_plan_l1_fix_dist: 0.4084, d1.loss_plan_l1_fix_time: 1.8404, d1.loss_plan_l1_fix_dist: 0.2589, d2.loss_plan_l1_fix_time: 1.8332, d2.loss_plan_l1_fix_dist: 0.2687, d3.loss_plan_l1_fix_time: 1.8390, d3.loss_plan_l1_fix_dist: 0.2801, d4.loss_plan_l1_fix_time: 1.8446, d4.loss_plan_l1_fix_dist: 0.2916, d5.loss_plan_l1_fix_time: 1.8496, d5.loss_plan_l1_fix_dist: 0.3059, d6.loss_plan_l1_fix_time: 1.8541, d6.loss_plan_l1_fix_dist: 0.3222, d0.loss_cls_all: 0.3323, d0.loss_bbox_all: 0.5686, d0.loss_cls: 0.3323, d0.loss_bbox: 0.5686, d1.loss_cls: 0.3276, d1.loss_bbox: 0.5412, d2.loss_cls: 0.3207, d2.loss_bbox: 0.5261, d3.loss_cls: 0.3165, d3.loss_bbox: 0.5193, d4.loss_cls: 0.3142, d4.loss_bbox: 0.5170, d5.loss_cls: 0.3141, d5.loss_bbox: 0.5157, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3612, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.2197, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1836, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1802, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.2014, d5.loss_traj_cls: 0.0023, d5.loss_traj: 1.2007, d0.loss_map_cls_all: 0.3301, d0.loss_map_pts_all: 1.9530, d0.loss_map_dir_all: 0.0151, d0.loss_map_cls: 0.3301, d0.loss_map_pts: 1.9530, d0.loss_map_dir: 0.0151, d1.loss_map_cls: 0.3016, d1.loss_map_pts: 1.3829, d1.loss_map_dir: 0.0148, d2.loss_map_cls: 0.2864, d2.loss_map_pts: 1.2174, d2.loss_map_dir: 0.0154, d3.loss_map_cls: 0.2792, d3.loss_map_pts: 1.1636, d3.loss_map_dir: 0.0162, d4.loss_map_cls: 0.2727, d4.loss_map_pts: 1.1422, d4.loss_map_dir: 0.0165, d5.loss_map_cls: 0.2710, d5.loss_map_pts: 1.1377, d5.loss_map_dir: 0.0167, loss: 45.0901, grad_norm: 150.7544 +2026-02-25 06:31:14,193 - DriveTransformer - INFO - Epoch [4][8250/39528] lr: 9.623e-05, eta: 7 days, 14:59:38, time: 0.816, data_time: 0.037, memory: 19865, loss_cls: 0.3087, loss_bbox: 0.4810, loss_traj: 0.9429, loss_traj_cls: 0.0027, loss_map_cls: 0.2598, loss_map_pts: 1.1318, loss_map_dir: 0.0185, d0.loss_plan_l1_fix_time: 2.8469, d0.loss_plan_l1_fix_dist: 0.4272, d1.loss_plan_l1_fix_time: 1.6733, d1.loss_plan_l1_fix_dist: 0.2566, d2.loss_plan_l1_fix_time: 1.6538, d2.loss_plan_l1_fix_dist: 0.2598, d3.loss_plan_l1_fix_time: 1.6559, d3.loss_plan_l1_fix_dist: 0.2673, d4.loss_plan_l1_fix_time: 1.6600, d4.loss_plan_l1_fix_dist: 0.2766, d5.loss_plan_l1_fix_time: 1.6647, d5.loss_plan_l1_fix_dist: 0.2875, d6.loss_plan_l1_fix_time: 1.6704, d6.loss_plan_l1_fix_dist: 0.2988, d0.loss_cls_all: 0.3303, d0.loss_bbox_all: 0.5329, d0.loss_cls: 0.3303, d0.loss_bbox: 0.5329, d1.loss_cls: 0.3209, d1.loss_bbox: 0.4984, d2.loss_cls: 0.3136, d2.loss_bbox: 0.4869, d3.loss_cls: 0.3126, d3.loss_bbox: 0.4795, d4.loss_cls: 0.3090, d4.loss_bbox: 0.4776, d5.loss_cls: 0.3087, d5.loss_bbox: 0.4780, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1506, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9571, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9168, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9240, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9253, d5.loss_traj_cls: 0.0023, d5.loss_traj: 0.9319, d0.loss_map_cls_all: 0.3134, d0.loss_map_pts_all: 2.0674, d0.loss_map_dir_all: 0.0162, d0.loss_map_cls: 0.3134, d0.loss_map_pts: 2.0674, d0.loss_map_dir: 0.0162, d1.loss_map_cls: 0.2863, d1.loss_map_pts: 1.3994, d1.loss_map_dir: 0.0161, d2.loss_map_cls: 0.2730, d2.loss_map_pts: 1.2162, d2.loss_map_dir: 0.0168, d3.loss_map_cls: 0.2653, d3.loss_map_pts: 1.1566, d3.loss_map_dir: 0.0177, d4.loss_map_cls: 0.2606, d4.loss_map_pts: 1.1382, d4.loss_map_dir: 0.0180, d5.loss_map_cls: 0.2593, d5.loss_map_pts: 1.1308, d5.loss_map_dir: 0.0182, loss: 41.8344, grad_norm: 149.8283 +2026-02-25 06:31:54,442 - DriveTransformer - INFO - Epoch [4][8300/39528] lr: 9.623e-05, eta: 7 days, 14:58:59, time: 0.805, data_time: 0.043, memory: 19865, loss_cls: 0.2616, loss_bbox: 0.4587, loss_traj: 0.9288, loss_traj_cls: 0.0028, loss_map_cls: 0.2503, loss_map_pts: 1.0557, loss_map_dir: 0.0180, d0.loss_plan_l1_fix_time: 2.4023, d0.loss_plan_l1_fix_dist: 0.4253, d1.loss_plan_l1_fix_time: 1.2571, d1.loss_plan_l1_fix_dist: 0.2268, d2.loss_plan_l1_fix_time: 1.2231, d2.loss_plan_l1_fix_dist: 0.2315, d3.loss_plan_l1_fix_time: 1.2220, d3.loss_plan_l1_fix_dist: 0.2435, d4.loss_plan_l1_fix_time: 1.2244, d4.loss_plan_l1_fix_dist: 0.2573, d5.loss_plan_l1_fix_time: 1.2286, d5.loss_plan_l1_fix_dist: 0.2725, d6.loss_plan_l1_fix_time: 1.2342, d6.loss_plan_l1_fix_dist: 0.2887, d0.loss_cls_all: 0.2904, d0.loss_bbox_all: 0.4994, d0.loss_cls: 0.2904, d0.loss_bbox: 0.4994, d1.loss_cls: 0.2774, d1.loss_bbox: 0.4713, d2.loss_cls: 0.2712, d2.loss_bbox: 0.4558, d3.loss_cls: 0.2666, d3.loss_bbox: 0.4502, d4.loss_cls: 0.2619, d4.loss_bbox: 0.4522, d5.loss_cls: 0.2589, d5.loss_bbox: 0.4570, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1394, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9603, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9275, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9303, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9319, d5.loss_traj_cls: 0.0023, d5.loss_traj: 0.9346, d0.loss_map_cls_all: 0.3010, d0.loss_map_pts_all: 1.9692, d0.loss_map_dir_all: 0.0159, d0.loss_map_cls: 0.3010, d0.loss_map_pts: 1.9692, d0.loss_map_dir: 0.0159, d1.loss_map_cls: 0.2757, d1.loss_map_pts: 1.3508, d1.loss_map_dir: 0.0158, d2.loss_map_cls: 0.2605, d2.loss_map_pts: 1.1675, d2.loss_map_dir: 0.0164, d3.loss_map_cls: 0.2545, d3.loss_map_pts: 1.0928, d3.loss_map_dir: 0.0171, d4.loss_map_cls: 0.2480, d4.loss_map_pts: 1.0688, d4.loss_map_dir: 0.0174, d5.loss_map_cls: 0.2479, d5.loss_map_pts: 1.0610, d5.loss_map_dir: 0.0176, loss: 37.4299, grad_norm: 149.2823 +2026-02-25 06:32:36,623 - DriveTransformer - INFO - Epoch [4][8350/39528] lr: 9.623e-05, eta: 7 days, 14:58:33, time: 0.844, data_time: 0.050, memory: 19865, loss_cls: 0.2871, loss_bbox: 0.4939, loss_traj: 1.0040, loss_traj_cls: 0.0028, loss_map_cls: 0.2827, loss_map_pts: 1.1553, loss_map_dir: 0.0197, d0.loss_plan_l1_fix_time: 2.7665, d0.loss_plan_l1_fix_dist: 0.3569, d1.loss_plan_l1_fix_time: 1.5398, d1.loss_plan_l1_fix_dist: 0.2527, d2.loss_plan_l1_fix_time: 1.5198, d2.loss_plan_l1_fix_dist: 0.2604, d3.loss_plan_l1_fix_time: 1.5227, d3.loss_plan_l1_fix_dist: 0.2774, d4.loss_plan_l1_fix_time: 1.5271, d4.loss_plan_l1_fix_dist: 0.2975, d5.loss_plan_l1_fix_time: 1.5314, d5.loss_plan_l1_fix_dist: 0.3236, d6.loss_plan_l1_fix_time: 1.5360, d6.loss_plan_l1_fix_dist: 0.3529, d0.loss_cls_all: 0.3080, d0.loss_bbox_all: 0.5412, d0.loss_cls: 0.3080, d0.loss_bbox: 0.5412, d1.loss_cls: 0.3006, d1.loss_bbox: 0.5125, d2.loss_cls: 0.2933, d2.loss_bbox: 0.4973, d3.loss_cls: 0.2891, d3.loss_bbox: 0.4924, d4.loss_cls: 0.2868, d4.loss_bbox: 0.4905, d5.loss_cls: 0.2860, d5.loss_bbox: 0.4922, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1600, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0102, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9721, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9921, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9914, d5.loss_traj_cls: 0.0024, d5.loss_traj: 0.9910, d0.loss_map_cls_all: 0.3334, d0.loss_map_pts_all: 2.1643, d0.loss_map_dir_all: 0.0183, d0.loss_map_cls: 0.3334, d0.loss_map_pts: 2.1643, d0.loss_map_dir: 0.0183, d1.loss_map_cls: 0.3126, d1.loss_map_pts: 1.4626, d1.loss_map_dir: 0.0178, d2.loss_map_cls: 0.2974, d2.loss_map_pts: 1.2593, d2.loss_map_dir: 0.0184, d3.loss_map_cls: 0.2878, d3.loss_map_pts: 1.1838, d3.loss_map_dir: 0.0190, d4.loss_map_cls: 0.2837, d4.loss_map_pts: 1.1628, d4.loss_map_dir: 0.0192, d5.loss_map_cls: 0.2831, d5.loss_map_pts: 1.1592, d5.loss_map_dir: 0.0195, loss: 41.8911, grad_norm: 151.3259 +2026-02-25 06:33:17,137 - DriveTransformer - INFO - Epoch [4][8400/39528] lr: 9.623e-05, eta: 7 days, 14:57:56, time: 0.810, data_time: 0.046, memory: 19865, loss_cls: 0.2874, loss_bbox: 0.5087, loss_traj: 1.1399, loss_traj_cls: 0.0027, loss_map_cls: 0.2401, loss_map_pts: 1.0549, loss_map_dir: 0.0150, d0.loss_plan_l1_fix_time: 2.5837, d0.loss_plan_l1_fix_dist: 0.3967, d1.loss_plan_l1_fix_time: 1.8561, d1.loss_plan_l1_fix_dist: 0.2566, d2.loss_plan_l1_fix_time: 1.8457, d2.loss_plan_l1_fix_dist: 0.2637, d3.loss_plan_l1_fix_time: 1.8492, d3.loss_plan_l1_fix_dist: 0.2769, d4.loss_plan_l1_fix_time: 1.8532, d4.loss_plan_l1_fix_dist: 0.2931, d5.loss_plan_l1_fix_time: 1.8577, d5.loss_plan_l1_fix_dist: 0.3132, d6.loss_plan_l1_fix_time: 1.8625, d6.loss_plan_l1_fix_dist: 0.3380, d0.loss_cls_all: 0.3012, d0.loss_bbox_all: 0.5463, d0.loss_cls: 0.3012, d0.loss_bbox: 0.5463, d1.loss_cls: 0.2966, d1.loss_bbox: 0.5193, d2.loss_cls: 0.2907, d2.loss_bbox: 0.5056, d3.loss_cls: 0.2888, d3.loss_bbox: 0.5036, d4.loss_cls: 0.2850, d4.loss_bbox: 0.5056, d5.loss_cls: 0.2859, d5.loss_bbox: 0.5063, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3418, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.1503, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.1056, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1128, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.1250, d5.loss_traj_cls: 0.0023, d5.loss_traj: 1.1318, d0.loss_map_cls_all: 0.2915, d0.loss_map_pts_all: 1.8681, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.2915, d0.loss_map_pts: 1.8681, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.2723, d1.loss_map_pts: 1.2980, d1.loss_map_dir: 0.0133, d2.loss_map_cls: 0.2636, d2.loss_map_pts: 1.1356, d2.loss_map_dir: 0.0138, d3.loss_map_cls: 0.2498, d3.loss_map_pts: 1.0799, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2433, d4.loss_map_pts: 1.0646, d4.loss_map_dir: 0.0147, d5.loss_map_cls: 0.2417, d5.loss_map_pts: 1.0588, d5.loss_map_dir: 0.0149, loss: 43.0762, grad_norm: 152.3234 +2026-02-25 06:33:56,947 - DriveTransformer - INFO - Epoch [4][8450/39528] lr: 9.623e-05, eta: 7 days, 14:57:14, time: 0.796, data_time: 0.043, memory: 19865, loss_cls: 0.2953, loss_bbox: 0.4727, loss_traj: 1.0121, loss_traj_cls: 0.0027, loss_map_cls: 0.2741, loss_map_pts: 1.0664, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 2.3664, d0.loss_plan_l1_fix_dist: 0.4073, d1.loss_plan_l1_fix_time: 1.4402, d1.loss_plan_l1_fix_dist: 0.2373, d2.loss_plan_l1_fix_time: 1.4235, d2.loss_plan_l1_fix_dist: 0.2499, d3.loss_plan_l1_fix_time: 1.4247, d3.loss_plan_l1_fix_dist: 0.2654, d4.loss_plan_l1_fix_time: 1.4275, d4.loss_plan_l1_fix_dist: 0.2816, d5.loss_plan_l1_fix_time: 1.4311, d5.loss_plan_l1_fix_dist: 0.2941, d6.loss_plan_l1_fix_time: 1.4357, d6.loss_plan_l1_fix_dist: 0.3067, d0.loss_cls_all: 0.3126, d0.loss_bbox_all: 0.5269, d0.loss_cls: 0.3126, d0.loss_bbox: 0.5269, d1.loss_cls: 0.3090, d1.loss_bbox: 0.4938, d2.loss_cls: 0.3014, d2.loss_bbox: 0.4768, d3.loss_cls: 0.2972, d3.loss_bbox: 0.4703, d4.loss_cls: 0.2951, d4.loss_bbox: 0.4704, d5.loss_cls: 0.2953, d5.loss_bbox: 0.4702, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3052, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0838, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0331, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0203, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0149, d5.loss_traj_cls: 0.0023, d5.loss_traj: 1.0099, d0.loss_map_cls_all: 0.3188, d0.loss_map_pts_all: 1.7195, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.3188, d0.loss_map_pts: 1.7195, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2974, d1.loss_map_pts: 1.2877, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2873, d2.loss_map_pts: 1.1404, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2805, d3.loss_map_pts: 1.0882, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.2735, d4.loss_map_pts: 1.0713, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.2725, d5.loss_map_pts: 1.0667, d5.loss_map_dir: 0.0122, loss: 39.3809, grad_norm: 153.0972 +2026-02-25 06:34:38,572 - DriveTransformer - INFO - Epoch [4][8500/39528] lr: 9.623e-05, eta: 7 days, 14:56:44, time: 0.832, data_time: 0.039, memory: 19865, loss_cls: 0.3005, loss_bbox: 0.4834, loss_traj: 0.8088, loss_traj_cls: 0.0026, loss_map_cls: 0.2428, loss_map_pts: 1.0908, loss_map_dir: 0.0172, d0.loss_plan_l1_fix_time: 2.7052, d0.loss_plan_l1_fix_dist: 0.4451, d1.loss_plan_l1_fix_time: 1.4944, d1.loss_plan_l1_fix_dist: 0.2553, d2.loss_plan_l1_fix_time: 1.4570, d2.loss_plan_l1_fix_dist: 0.2649, d3.loss_plan_l1_fix_time: 1.4519, d3.loss_plan_l1_fix_dist: 0.2772, d4.loss_plan_l1_fix_time: 1.4530, d4.loss_plan_l1_fix_dist: 0.2906, d5.loss_plan_l1_fix_time: 1.4550, d5.loss_plan_l1_fix_dist: 0.3037, d6.loss_plan_l1_fix_time: 1.4579, d6.loss_plan_l1_fix_dist: 0.3147, d0.loss_cls_all: 0.3234, d0.loss_bbox_all: 0.5172, d0.loss_cls: 0.3234, d0.loss_bbox: 0.5172, d1.loss_cls: 0.3160, d1.loss_bbox: 0.4907, d2.loss_cls: 0.3083, d2.loss_bbox: 0.4817, d3.loss_cls: 0.3040, d3.loss_bbox: 0.4789, d4.loss_cls: 0.3016, d4.loss_bbox: 0.4802, d5.loss_cls: 0.2985, d5.loss_bbox: 0.4830, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9572, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8353, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8151, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8021, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8012, d5.loss_traj_cls: 0.0022, d5.loss_traj: 0.8019, d0.loss_map_cls_all: 0.3001, d0.loss_map_pts_all: 1.9776, d0.loss_map_dir_all: 0.0158, d0.loss_map_cls: 0.3001, d0.loss_map_pts: 1.9776, d0.loss_map_dir: 0.0158, d1.loss_map_cls: 0.2774, d1.loss_map_pts: 1.3663, d1.loss_map_dir: 0.0156, d2.loss_map_cls: 0.2597, d2.loss_map_pts: 1.1868, d2.loss_map_dir: 0.0159, d3.loss_map_cls: 0.2480, d3.loss_map_pts: 1.1232, d3.loss_map_dir: 0.0166, d4.loss_map_cls: 0.2436, d4.loss_map_pts: 1.1008, d4.loss_map_dir: 0.0168, d5.loss_map_cls: 0.2433, d5.loss_map_pts: 1.0910, d5.loss_map_dir: 0.0170, loss: 39.0246, grad_norm: 153.9927 +2026-02-25 06:35:19,919 - DriveTransformer - INFO - Epoch [4][8550/39528] lr: 9.623e-05, eta: 7 days, 14:56:12, time: 0.827, data_time: 0.040, memory: 19865, loss_cls: 0.2888, loss_bbox: 0.4760, loss_traj: 0.9541, loss_traj_cls: 0.0026, loss_map_cls: 0.2425, loss_map_pts: 1.0479, loss_map_dir: 0.0151, d0.loss_plan_l1_fix_time: 2.8366, d0.loss_plan_l1_fix_dist: 0.5105, d1.loss_plan_l1_fix_time: 1.5845, d1.loss_plan_l1_fix_dist: 0.2614, d2.loss_plan_l1_fix_time: 1.5603, d2.loss_plan_l1_fix_dist: 0.2739, d3.loss_plan_l1_fix_time: 1.5606, d3.loss_plan_l1_fix_dist: 0.2929, d4.loss_plan_l1_fix_time: 1.5630, d4.loss_plan_l1_fix_dist: 0.3164, d5.loss_plan_l1_fix_time: 1.5657, d5.loss_plan_l1_fix_dist: 0.3440, d6.loss_plan_l1_fix_time: 1.5689, d6.loss_plan_l1_fix_dist: 0.3730, d0.loss_cls_all: 0.3143, d0.loss_bbox_all: 0.5247, d0.loss_cls: 0.3143, d0.loss_bbox: 0.5247, d1.loss_cls: 0.3069, d1.loss_bbox: 0.4940, d2.loss_cls: 0.2968, d2.loss_bbox: 0.4815, d3.loss_cls: 0.2936, d3.loss_bbox: 0.4770, d4.loss_cls: 0.2900, d4.loss_bbox: 0.4762, d5.loss_cls: 0.2890, d5.loss_bbox: 0.4749, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1446, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9880, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9376, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9439, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9456, d5.loss_traj_cls: 0.0022, d5.loss_traj: 0.9482, d0.loss_map_cls_all: 0.2926, d0.loss_map_pts_all: 1.8993, d0.loss_map_dir_all: 0.0137, d0.loss_map_cls: 0.2926, d0.loss_map_pts: 1.8993, d0.loss_map_dir: 0.0137, d1.loss_map_cls: 0.2736, d1.loss_map_pts: 1.3131, d1.loss_map_dir: 0.0136, d2.loss_map_cls: 0.2589, d2.loss_map_pts: 1.1389, d2.loss_map_dir: 0.0138, d3.loss_map_cls: 0.2478, d3.loss_map_pts: 1.0750, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2435, d4.loss_map_pts: 1.0576, d4.loss_map_dir: 0.0148, d5.loss_map_cls: 0.2430, d5.loss_map_pts: 1.0492, d5.loss_map_dir: 0.0149, loss: 40.4945, grad_norm: 153.0579 +2026-02-25 06:36:01,573 - DriveTransformer - INFO - Epoch [4][8600/39528] lr: 9.623e-05, eta: 7 days, 14:55:42, time: 0.833, data_time: 0.039, memory: 19865, loss_cls: 0.2664, loss_bbox: 0.4358, loss_traj: 0.8297, loss_traj_cls: 0.0025, loss_map_cls: 0.2322, loss_map_pts: 0.9408, loss_map_dir: 0.0171, d0.loss_plan_l1_fix_time: 2.1260, d0.loss_plan_l1_fix_dist: 0.4111, d1.loss_plan_l1_fix_time: 1.2845, d1.loss_plan_l1_fix_dist: 0.2351, d2.loss_plan_l1_fix_time: 1.2576, d2.loss_plan_l1_fix_dist: 0.2444, d3.loss_plan_l1_fix_time: 1.2555, d3.loss_plan_l1_fix_dist: 0.2609, d4.loss_plan_l1_fix_time: 1.2584, d4.loss_plan_l1_fix_dist: 0.2811, d5.loss_plan_l1_fix_time: 1.2620, d5.loss_plan_l1_fix_dist: 0.3027, d6.loss_plan_l1_fix_time: 1.2658, d6.loss_plan_l1_fix_dist: 0.3288, d0.loss_cls_all: 0.2825, d0.loss_bbox_all: 0.4853, d0.loss_cls: 0.2825, d0.loss_bbox: 0.4853, d1.loss_cls: 0.2779, d1.loss_bbox: 0.4577, d2.loss_cls: 0.2724, d2.loss_bbox: 0.4429, d3.loss_cls: 0.2708, d3.loss_bbox: 0.4367, d4.loss_cls: 0.2682, d4.loss_bbox: 0.4348, d5.loss_cls: 0.2671, d5.loss_bbox: 0.4340, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9737, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8602, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8307, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8253, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8248, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.8239, d0.loss_map_cls_all: 0.2922, d0.loss_map_pts_all: 2.0129, d0.loss_map_dir_all: 0.0168, d0.loss_map_cls: 0.2922, d0.loss_map_pts: 2.0129, d0.loss_map_dir: 0.0168, d1.loss_map_cls: 0.2678, d1.loss_map_pts: 1.2428, d1.loss_map_dir: 0.0158, d2.loss_map_cls: 0.2473, d2.loss_map_pts: 1.0429, d2.loss_map_dir: 0.0159, d3.loss_map_cls: 0.2386, d3.loss_map_pts: 0.9714, d3.loss_map_dir: 0.0164, d4.loss_map_cls: 0.2331, d4.loss_map_pts: 0.9504, d4.loss_map_dir: 0.0167, d5.loss_map_cls: 0.2316, d5.loss_map_pts: 0.9435, d5.loss_map_dir: 0.0170, loss: 35.8364, grad_norm: 149.9512 +2026-02-25 06:36:43,334 - DriveTransformer - INFO - Epoch [4][8650/39528] lr: 9.623e-05, eta: 7 days, 14:55:13, time: 0.835, data_time: 0.040, memory: 19865, loss_cls: 0.3159, loss_bbox: 0.5237, loss_traj: 0.8262, loss_traj_cls: 0.0024, loss_map_cls: 0.2678, loss_map_pts: 1.2569, loss_map_dir: 0.0199, d0.loss_plan_l1_fix_time: 2.8709, d0.loss_plan_l1_fix_dist: 0.4109, d1.loss_plan_l1_fix_time: 1.8261, d1.loss_plan_l1_fix_dist: 0.2700, d2.loss_plan_l1_fix_time: 1.8157, d2.loss_plan_l1_fix_dist: 0.2850, d3.loss_plan_l1_fix_time: 1.8136, d3.loss_plan_l1_fix_dist: 0.3085, d4.loss_plan_l1_fix_time: 1.8170, d4.loss_plan_l1_fix_dist: 0.3355, d5.loss_plan_l1_fix_time: 1.8212, d5.loss_plan_l1_fix_dist: 0.3640, d6.loss_plan_l1_fix_time: 1.8260, d6.loss_plan_l1_fix_dist: 0.3971, d0.loss_cls_all: 0.3391, d0.loss_bbox_all: 0.5763, d0.loss_cls: 0.3391, d0.loss_bbox: 0.5763, d1.loss_cls: 0.3330, d1.loss_bbox: 0.5463, d2.loss_cls: 0.3294, d2.loss_bbox: 0.5321, d3.loss_cls: 0.3227, d3.loss_bbox: 0.5262, d4.loss_cls: 0.3163, d4.loss_bbox: 0.5240, d5.loss_cls: 0.3163, d5.loss_bbox: 0.5226, d0.loss_traj_cls: 0.0002, d0.loss_traj: 0.9668, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8585, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8240, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8228, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8231, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.8223, d0.loss_map_cls_all: 0.3251, d0.loss_map_pts_all: 2.3800, d0.loss_map_dir_all: 0.0180, d0.loss_map_cls: 0.3251, d0.loss_map_pts: 2.3800, d0.loss_map_dir: 0.0180, d1.loss_map_cls: 0.2957, d1.loss_map_pts: 1.5759, d1.loss_map_dir: 0.0180, d2.loss_map_cls: 0.2829, d2.loss_map_pts: 1.3627, d2.loss_map_dir: 0.0183, d3.loss_map_cls: 0.2729, d3.loss_map_pts: 1.2905, d3.loss_map_dir: 0.0190, d4.loss_map_cls: 0.2665, d4.loss_map_pts: 1.2675, d4.loss_map_dir: 0.0194, d5.loss_map_cls: 0.2684, d5.loss_map_pts: 1.2599, d5.loss_map_dir: 0.0197, loss: 44.2810, grad_norm: 151.3609 +2026-02-25 06:37:26,047 - DriveTransformer - INFO - Epoch [4][8700/39528] lr: 9.623e-05, eta: 7 days, 14:54:49, time: 0.854, data_time: 0.047, memory: 19865, loss_cls: 0.3104, loss_bbox: 0.5075, loss_traj: 0.9153, loss_traj_cls: 0.0024, loss_map_cls: 0.2487, loss_map_pts: 1.2039, loss_map_dir: 0.0172, d0.loss_plan_l1_fix_time: 2.7566, d0.loss_plan_l1_fix_dist: 0.3869, d1.loss_plan_l1_fix_time: 1.7029, d1.loss_plan_l1_fix_dist: 0.2536, d2.loss_plan_l1_fix_time: 1.6974, d2.loss_plan_l1_fix_dist: 0.2631, d3.loss_plan_l1_fix_time: 1.7028, d3.loss_plan_l1_fix_dist: 0.2804, d4.loss_plan_l1_fix_time: 1.7075, d4.loss_plan_l1_fix_dist: 0.3009, d5.loss_plan_l1_fix_time: 1.7119, d5.loss_plan_l1_fix_dist: 0.3233, d6.loss_plan_l1_fix_time: 1.7165, d6.loss_plan_l1_fix_dist: 0.3474, d0.loss_cls_all: 0.3332, d0.loss_bbox_all: 0.5527, d0.loss_cls: 0.3332, d0.loss_bbox: 0.5527, d1.loss_cls: 0.3286, d1.loss_bbox: 0.5212, d2.loss_cls: 0.3174, d2.loss_bbox: 0.5099, d3.loss_cls: 0.3141, d3.loss_bbox: 0.5017, d4.loss_cls: 0.3118, d4.loss_bbox: 0.5012, d5.loss_cls: 0.3103, d5.loss_bbox: 0.5038, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1510, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9690, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9247, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9211, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9124, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.9125, d0.loss_map_cls_all: 0.2985, d0.loss_map_pts_all: 2.1480, d0.loss_map_dir_all: 0.0158, d0.loss_map_cls: 0.2985, d0.loss_map_pts: 2.1480, d0.loss_map_dir: 0.0158, d1.loss_map_cls: 0.2753, d1.loss_map_pts: 1.5296, d1.loss_map_dir: 0.0151, d2.loss_map_cls: 0.2636, d2.loss_map_pts: 1.3276, d2.loss_map_dir: 0.0157, d3.loss_map_cls: 0.2533, d3.loss_map_pts: 1.2453, d3.loss_map_dir: 0.0164, d4.loss_map_cls: 0.2514, d4.loss_map_pts: 1.2180, d4.loss_map_dir: 0.0168, d5.loss_map_cls: 0.2488, d5.loss_map_pts: 1.2071, d5.loss_map_dir: 0.0170, loss: 42.8708, grad_norm: 152.2611 +2026-02-25 06:38:07,137 - DriveTransformer - INFO - Epoch [4][8750/39528] lr: 9.623e-05, eta: 7 days, 14:54:16, time: 0.822, data_time: 0.041, memory: 19865, loss_cls: 0.2999, loss_bbox: 0.4812, loss_traj: 0.9134, loss_traj_cls: 0.0024, loss_map_cls: 0.2726, loss_map_pts: 1.1280, loss_map_dir: 0.0163, d0.loss_plan_l1_fix_time: 2.8422, d0.loss_plan_l1_fix_dist: 0.4514, d1.loss_plan_l1_fix_time: 1.6588, d1.loss_plan_l1_fix_dist: 0.2632, d2.loss_plan_l1_fix_time: 1.6365, d2.loss_plan_l1_fix_dist: 0.2772, d3.loss_plan_l1_fix_time: 1.6331, d3.loss_plan_l1_fix_dist: 0.2932, d4.loss_plan_l1_fix_time: 1.6359, d4.loss_plan_l1_fix_dist: 0.3101, d5.loss_plan_l1_fix_time: 1.6397, d5.loss_plan_l1_fix_dist: 0.3270, d6.loss_plan_l1_fix_time: 1.6448, d6.loss_plan_l1_fix_dist: 0.3423, d0.loss_cls_all: 0.3244, d0.loss_bbox_all: 0.5403, d0.loss_cls: 0.3244, d0.loss_bbox: 0.5403, d1.loss_cls: 0.3143, d1.loss_bbox: 0.5070, d2.loss_cls: 0.3049, d2.loss_bbox: 0.4942, d3.loss_cls: 0.3050, d3.loss_bbox: 0.4853, d4.loss_cls: 0.3001, d4.loss_bbox: 0.4839, d5.loss_cls: 0.2995, d5.loss_bbox: 0.4811, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1006, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9544, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9178, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9091, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9039, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.9097, d0.loss_map_cls_all: 0.3255, d0.loss_map_pts_all: 2.0795, d0.loss_map_dir_all: 0.0148, d0.loss_map_cls: 0.3255, d0.loss_map_pts: 2.0795, d0.loss_map_dir: 0.0148, d1.loss_map_cls: 0.3057, d1.loss_map_pts: 1.4375, d1.loss_map_dir: 0.0142, d2.loss_map_cls: 0.2916, d2.loss_map_pts: 1.2369, d2.loss_map_dir: 0.0147, d3.loss_map_cls: 0.2816, d3.loss_map_pts: 1.1606, d3.loss_map_dir: 0.0155, d4.loss_map_cls: 0.2764, d4.loss_map_pts: 1.1318, d4.loss_map_dir: 0.0159, d5.loss_map_cls: 0.2746, d5.loss_map_pts: 1.1266, d5.loss_map_dir: 0.0162, loss: 41.9150, grad_norm: 152.3048 +2026-02-25 06:38:45,961 - DriveTransformer - INFO - Epoch [4][8800/39528] lr: 9.623e-05, eta: 7 days, 14:53:28, time: 0.776, data_time: 0.040, memory: 19865, loss_cls: 0.2734, loss_bbox: 0.4813, loss_traj: 0.9833, loss_traj_cls: 0.0024, loss_map_cls: 0.2182, loss_map_pts: 0.8974, loss_map_dir: 0.0131, d0.loss_plan_l1_fix_time: 2.7381, d0.loss_plan_l1_fix_dist: 0.4732, d1.loss_plan_l1_fix_time: 1.4799, d1.loss_plan_l1_fix_dist: 0.2264, d2.loss_plan_l1_fix_time: 1.4593, d2.loss_plan_l1_fix_dist: 0.2430, d3.loss_plan_l1_fix_time: 1.4631, d3.loss_plan_l1_fix_dist: 0.2632, d4.loss_plan_l1_fix_time: 1.4677, d4.loss_plan_l1_fix_dist: 0.2874, d5.loss_plan_l1_fix_time: 1.4735, d5.loss_plan_l1_fix_dist: 0.3138, d6.loss_plan_l1_fix_time: 1.4801, d6.loss_plan_l1_fix_dist: 0.3453, d0.loss_cls_all: 0.2925, d0.loss_bbox_all: 0.5285, d0.loss_cls: 0.2925, d0.loss_bbox: 0.5285, d1.loss_cls: 0.2888, d1.loss_bbox: 0.4965, d2.loss_cls: 0.2815, d2.loss_bbox: 0.4849, d3.loss_cls: 0.2790, d3.loss_bbox: 0.4795, d4.loss_cls: 0.2756, d4.loss_bbox: 0.4772, d5.loss_cls: 0.2743, d5.loss_bbox: 0.4776, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1972, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0413, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9983, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9849, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9800, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.9766, d0.loss_map_cls_all: 0.2700, d0.loss_map_pts_all: 1.5972, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2700, d0.loss_map_pts: 1.5972, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2472, d1.loss_map_pts: 1.1149, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2323, d2.loss_map_pts: 0.9716, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2244, d3.loss_map_pts: 0.9186, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.2187, d4.loss_map_pts: 0.9002, d4.loss_map_dir: 0.0129, d5.loss_map_cls: 0.2181, d5.loss_map_pts: 0.8955, d5.loss_map_dir: 0.0131, loss: 37.9867, grad_norm: 153.0598 +2026-02-25 06:39:26,879 - DriveTransformer - INFO - Epoch [4][8850/39528] lr: 9.623e-05, eta: 7 days, 14:52:53, time: 0.819, data_time: 0.047, memory: 19865, loss_cls: 0.2574, loss_bbox: 0.4395, loss_traj: 1.0682, loss_traj_cls: 0.0024, loss_map_cls: 0.2094, loss_map_pts: 0.8775, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.8444, d0.loss_plan_l1_fix_dist: 0.4964, d1.loss_plan_l1_fix_time: 1.5414, d1.loss_plan_l1_fix_dist: 0.2412, d2.loss_plan_l1_fix_time: 1.5200, d2.loss_plan_l1_fix_dist: 0.2530, d3.loss_plan_l1_fix_time: 1.5256, d3.loss_plan_l1_fix_dist: 0.2716, d4.loss_plan_l1_fix_time: 1.5312, d4.loss_plan_l1_fix_dist: 0.2926, d5.loss_plan_l1_fix_time: 1.5373, d5.loss_plan_l1_fix_dist: 0.3168, d6.loss_plan_l1_fix_time: 1.5444, d6.loss_plan_l1_fix_dist: 0.3434, d0.loss_cls_all: 0.2791, d0.loss_bbox_all: 0.4868, d0.loss_cls: 0.2791, d0.loss_bbox: 0.4868, d1.loss_cls: 0.2745, d1.loss_bbox: 0.4593, d2.loss_cls: 0.2658, d2.loss_bbox: 0.4459, d3.loss_cls: 0.2609, d3.loss_bbox: 0.4400, d4.loss_cls: 0.2573, d4.loss_bbox: 0.4375, d5.loss_cls: 0.2568, d5.loss_bbox: 0.4375, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2588, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.1146, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0760, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0715, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0690, d5.loss_traj_cls: 0.0020, d5.loss_traj: 1.0668, d0.loss_map_cls_all: 0.2577, d0.loss_map_pts_all: 1.8003, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.2577, d0.loss_map_pts: 1.8003, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2365, d1.loss_map_pts: 1.1639, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2204, d2.loss_map_pts: 0.9849, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2154, d3.loss_map_pts: 0.9095, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.2096, d4.loss_map_pts: 0.8888, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.2083, d5.loss_map_pts: 0.8801, d5.loss_map_dir: 0.0135, loss: 38.9820, grad_norm: 151.6055 +2026-02-25 06:40:07,281 - DriveTransformer - INFO - Epoch [4][8900/39528] lr: 9.623e-05, eta: 7 days, 14:52:15, time: 0.808, data_time: 0.041, memory: 19865, loss_cls: 0.3176, loss_bbox: 0.4736, loss_traj: 0.8703, loss_traj_cls: 0.0023, loss_map_cls: 0.2554, loss_map_pts: 1.0958, loss_map_dir: 0.0165, d0.loss_plan_l1_fix_time: 2.8615, d0.loss_plan_l1_fix_dist: 0.4035, d1.loss_plan_l1_fix_time: 1.7473, d1.loss_plan_l1_fix_dist: 0.2558, d2.loss_plan_l1_fix_time: 1.7413, d2.loss_plan_l1_fix_dist: 0.2786, d3.loss_plan_l1_fix_time: 1.7417, d3.loss_plan_l1_fix_dist: 0.3046, d4.loss_plan_l1_fix_time: 1.7450, d4.loss_plan_l1_fix_dist: 0.3313, d5.loss_plan_l1_fix_time: 1.7484, d5.loss_plan_l1_fix_dist: 0.3627, d6.loss_plan_l1_fix_time: 1.7527, d6.loss_plan_l1_fix_dist: 0.3935, d0.loss_cls_all: 0.3373, d0.loss_bbox_all: 0.5290, d0.loss_cls: 0.3373, d0.loss_bbox: 0.5290, d1.loss_cls: 0.3310, d1.loss_bbox: 0.4969, d2.loss_cls: 0.3215, d2.loss_bbox: 0.4819, d3.loss_cls: 0.3199, d3.loss_bbox: 0.4755, d4.loss_cls: 0.3187, d4.loss_bbox: 0.4720, d5.loss_cls: 0.3174, d5.loss_bbox: 0.4728, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0268, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9241, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8843, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8774, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8753, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.8747, d0.loss_map_cls_all: 0.3127, d0.loss_map_pts_all: 1.9482, d0.loss_map_dir_all: 0.0151, d0.loss_map_cls: 0.3127, d0.loss_map_pts: 1.9482, d0.loss_map_dir: 0.0151, d1.loss_map_cls: 0.2871, d1.loss_map_pts: 1.3349, d1.loss_map_dir: 0.0150, d2.loss_map_cls: 0.2699, d2.loss_map_pts: 1.1673, d2.loss_map_dir: 0.0154, d3.loss_map_cls: 0.2620, d3.loss_map_pts: 1.1138, d3.loss_map_dir: 0.0159, d4.loss_map_cls: 0.2581, d4.loss_map_pts: 1.0978, d4.loss_map_dir: 0.0162, d5.loss_map_cls: 0.2554, d5.loss_map_pts: 1.0946, d5.loss_map_dir: 0.0163, loss: 41.6804, grad_norm: 151.7566 +2026-02-25 06:40:48,438 - DriveTransformer - INFO - Epoch [4][8950/39528] lr: 9.623e-05, eta: 7 days, 14:51:42, time: 0.823, data_time: 0.039, memory: 19865, loss_cls: 0.2673, loss_bbox: 0.4639, loss_traj: 1.0199, loss_traj_cls: 0.0024, loss_map_cls: 0.2374, loss_map_pts: 0.9831, loss_map_dir: 0.0159, d0.loss_plan_l1_fix_time: 2.3125, d0.loss_plan_l1_fix_dist: 0.4220, d1.loss_plan_l1_fix_time: 1.2729, d1.loss_plan_l1_fix_dist: 0.2538, d2.loss_plan_l1_fix_time: 1.2588, d2.loss_plan_l1_fix_dist: 0.2669, d3.loss_plan_l1_fix_time: 1.2624, d3.loss_plan_l1_fix_dist: 0.2826, d4.loss_plan_l1_fix_time: 1.2671, d4.loss_plan_l1_fix_dist: 0.3003, d5.loss_plan_l1_fix_time: 1.2716, d5.loss_plan_l1_fix_dist: 0.3184, d6.loss_plan_l1_fix_time: 1.2761, d6.loss_plan_l1_fix_dist: 0.3412, d0.loss_cls_all: 0.2882, d0.loss_bbox_all: 0.5121, d0.loss_cls: 0.2882, d0.loss_bbox: 0.5121, d1.loss_cls: 0.2804, d1.loss_bbox: 0.4831, d2.loss_cls: 0.2725, d2.loss_bbox: 0.4686, d3.loss_cls: 0.2679, d3.loss_bbox: 0.4636, d4.loss_cls: 0.2658, d4.loss_bbox: 0.4603, d5.loss_cls: 0.2662, d5.loss_bbox: 0.4610, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1833, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0576, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0193, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0231, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0201, d5.loss_traj_cls: 0.0020, d5.loss_traj: 1.0186, d0.loss_map_cls_all: 0.2974, d0.loss_map_pts_all: 1.8855, d0.loss_map_dir_all: 0.0145, d0.loss_map_cls: 0.2974, d0.loss_map_pts: 1.8855, d0.loss_map_dir: 0.0145, d1.loss_map_cls: 0.2642, d1.loss_map_pts: 1.2427, d1.loss_map_dir: 0.0140, d2.loss_map_cls: 0.2520, d2.loss_map_pts: 1.0691, d2.loss_map_dir: 0.0144, d3.loss_map_cls: 0.2432, d3.loss_map_pts: 1.0089, d3.loss_map_dir: 0.0150, d4.loss_map_cls: 0.2378, d4.loss_map_pts: 0.9900, d4.loss_map_dir: 0.0154, d5.loss_map_cls: 0.2382, d5.loss_map_pts: 0.9863, d5.loss_map_dir: 0.0155, loss: 37.7162, grad_norm: 151.5820 +2026-02-25 06:41:28,618 - DriveTransformer - INFO - Epoch [4][9000/39528] lr: 9.623e-05, eta: 7 days, 14:51:03, time: 0.805, data_time: 0.041, memory: 19865, loss_cls: 0.2954, loss_bbox: 0.4838, loss_traj: 0.9138, loss_traj_cls: 0.0024, loss_map_cls: 0.2856, loss_map_pts: 1.2041, loss_map_dir: 0.0152, d0.loss_plan_l1_fix_time: 2.4009, d0.loss_plan_l1_fix_dist: 0.4284, d1.loss_plan_l1_fix_time: 1.3430, d1.loss_plan_l1_fix_dist: 0.2550, d2.loss_plan_l1_fix_time: 1.3204, d2.loss_plan_l1_fix_dist: 0.2768, d3.loss_plan_l1_fix_time: 1.3226, d3.loss_plan_l1_fix_dist: 0.3058, d4.loss_plan_l1_fix_time: 1.3256, d4.loss_plan_l1_fix_dist: 0.3359, d5.loss_plan_l1_fix_time: 1.3294, d5.loss_plan_l1_fix_dist: 0.3651, d6.loss_plan_l1_fix_time: 1.3336, d6.loss_plan_l1_fix_dist: 0.3973, d0.loss_cls_all: 0.3101, d0.loss_bbox_all: 0.5458, d0.loss_cls: 0.3101, d0.loss_bbox: 0.5458, d1.loss_cls: 0.3032, d1.loss_bbox: 0.5084, d2.loss_cls: 0.2979, d2.loss_bbox: 0.4918, d3.loss_cls: 0.2965, d3.loss_bbox: 0.4853, d4.loss_cls: 0.2952, d4.loss_bbox: 0.4814, d5.loss_cls: 0.2948, d5.loss_bbox: 0.4822, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1480, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9625, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9149, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9141, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9143, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.9130, d0.loss_map_cls_all: 0.3373, d0.loss_map_pts_all: 2.1336, d0.loss_map_dir_all: 0.0138, d0.loss_map_cls: 0.3373, d0.loss_map_pts: 2.1336, d0.loss_map_dir: 0.0138, d1.loss_map_cls: 0.3125, d1.loss_map_pts: 1.4986, d1.loss_map_dir: 0.0132, d2.loss_map_cls: 0.2962, d2.loss_map_pts: 1.3058, d2.loss_map_dir: 0.0138, d3.loss_map_cls: 0.2916, d3.loss_map_pts: 1.2358, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2866, d4.loss_map_pts: 1.2140, d4.loss_map_dir: 0.0148, d5.loss_map_cls: 0.2846, d5.loss_map_pts: 1.2070, d5.loss_map_dir: 0.0149, loss: 40.3343, grad_norm: 154.6997 +2026-02-25 06:42:08,962 - DriveTransformer - INFO - Epoch [4][9050/39528] lr: 9.623e-05, eta: 7 days, 14:50:24, time: 0.805, data_time: 0.048, memory: 19865, loss_cls: 0.2925, loss_bbox: 0.4749, loss_traj: 1.0165, loss_traj_cls: 0.0025, loss_map_cls: 0.2424, loss_map_pts: 1.0524, loss_map_dir: 0.0158, d0.loss_plan_l1_fix_time: 2.9192, d0.loss_plan_l1_fix_dist: 0.4547, d1.loss_plan_l1_fix_time: 1.6374, d1.loss_plan_l1_fix_dist: 0.2597, d2.loss_plan_l1_fix_time: 1.6261, d2.loss_plan_l1_fix_dist: 0.2736, d3.loss_plan_l1_fix_time: 1.6292, d3.loss_plan_l1_fix_dist: 0.2951, d4.loss_plan_l1_fix_time: 1.6341, d4.loss_plan_l1_fix_dist: 0.3184, d5.loss_plan_l1_fix_time: 1.6400, d5.loss_plan_l1_fix_dist: 0.3419, d6.loss_plan_l1_fix_time: 1.6470, d6.loss_plan_l1_fix_dist: 0.3633, d0.loss_cls_all: 0.3136, d0.loss_bbox_all: 0.5152, d0.loss_cls: 0.3136, d0.loss_bbox: 0.5152, d1.loss_cls: 0.3044, d1.loss_bbox: 0.4887, d2.loss_cls: 0.2984, d2.loss_bbox: 0.4768, d3.loss_cls: 0.2971, d3.loss_bbox: 0.4719, d4.loss_cls: 0.2938, d4.loss_bbox: 0.4696, d5.loss_cls: 0.2931, d5.loss_bbox: 0.4718, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2000, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0462, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0241, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0174, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0169, d5.loss_traj_cls: 0.0021, d5.loss_traj: 1.0089, d0.loss_map_cls_all: 0.3125, d0.loss_map_pts_all: 1.9654, d0.loss_map_dir_all: 0.0149, d0.loss_map_cls: 0.3125, d0.loss_map_pts: 1.9654, d0.loss_map_dir: 0.0149, d1.loss_map_cls: 0.2739, d1.loss_map_pts: 1.3132, d1.loss_map_dir: 0.0143, d2.loss_map_cls: 0.2577, d2.loss_map_pts: 1.1349, d2.loss_map_dir: 0.0146, d3.loss_map_cls: 0.2479, d3.loss_map_pts: 1.0773, d3.loss_map_dir: 0.0151, d4.loss_map_cls: 0.2455, d4.loss_map_pts: 1.0569, d4.loss_map_dir: 0.0155, d5.loss_map_cls: 0.2453, d5.loss_map_pts: 1.0524, d5.loss_map_dir: 0.0156, loss: 41.5457, grad_norm: 154.9705 +2026-02-25 06:42:50,626 - DriveTransformer - INFO - Epoch [4][9100/39528] lr: 9.623e-05, eta: 7 days, 14:49:54, time: 0.833, data_time: 0.040, memory: 19865, loss_cls: 0.2912, loss_bbox: 0.5102, loss_traj: 0.8713, loss_traj_cls: 0.0024, loss_map_cls: 0.2708, loss_map_pts: 1.1427, loss_map_dir: 0.0166, d0.loss_plan_l1_fix_time: 3.0618, d0.loss_plan_l1_fix_dist: 0.4404, d1.loss_plan_l1_fix_time: 1.6966, d1.loss_plan_l1_fix_dist: 0.2481, d2.loss_plan_l1_fix_time: 1.6792, d2.loss_plan_l1_fix_dist: 0.2564, d3.loss_plan_l1_fix_time: 1.6817, d3.loss_plan_l1_fix_dist: 0.2711, d4.loss_plan_l1_fix_time: 1.6876, d4.loss_plan_l1_fix_dist: 0.2900, d5.loss_plan_l1_fix_time: 1.6945, d5.loss_plan_l1_fix_dist: 0.3113, d6.loss_plan_l1_fix_time: 1.7021, d6.loss_plan_l1_fix_dist: 0.3318, d0.loss_cls_all: 0.3104, d0.loss_bbox_all: 0.5616, d0.loss_cls: 0.3104, d0.loss_bbox: 0.5616, d1.loss_cls: 0.3035, d1.loss_bbox: 0.5290, d2.loss_cls: 0.2985, d2.loss_bbox: 0.5116, d3.loss_cls: 0.2956, d3.loss_bbox: 0.5075, d4.loss_cls: 0.2907, d4.loss_bbox: 0.5073, d5.loss_cls: 0.2898, d5.loss_bbox: 0.5085, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0602, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9092, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8831, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8761, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8708, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.8740, d0.loss_map_cls_all: 0.3416, d0.loss_map_pts_all: 2.0367, d0.loss_map_dir_all: 0.0155, d0.loss_map_cls: 0.3416, d0.loss_map_pts: 2.0367, d0.loss_map_dir: 0.0155, d1.loss_map_cls: 0.3104, d1.loss_map_pts: 1.4049, d1.loss_map_dir: 0.0151, d2.loss_map_cls: 0.2936, d2.loss_map_pts: 1.2370, d2.loss_map_dir: 0.0154, d3.loss_map_cls: 0.2819, d3.loss_map_pts: 1.1774, d3.loss_map_dir: 0.0159, d4.loss_map_cls: 0.2756, d4.loss_map_pts: 1.1525, d4.loss_map_dir: 0.0163, d5.loss_map_cls: 0.2732, d5.loss_map_pts: 1.1427, d5.loss_map_dir: 0.0164, loss: 42.1397, grad_norm: 158.5837 +2026-02-25 06:43:31,966 - DriveTransformer - INFO - Epoch [4][9150/39528] lr: 9.623e-05, eta: 7 days, 14:49:22, time: 0.827, data_time: 0.043, memory: 19865, loss_cls: 0.2878, loss_bbox: 0.4560, loss_traj: 0.7258, loss_traj_cls: 0.0024, loss_map_cls: 0.2408, loss_map_pts: 1.0069, loss_map_dir: 0.0188, d0.loss_plan_l1_fix_time: 2.4402, d0.loss_plan_l1_fix_dist: 0.4948, d1.loss_plan_l1_fix_time: 1.5525, d1.loss_plan_l1_fix_dist: 0.2700, d2.loss_plan_l1_fix_time: 1.5242, d2.loss_plan_l1_fix_dist: 0.2794, d3.loss_plan_l1_fix_time: 1.5195, d3.loss_plan_l1_fix_dist: 0.2924, d4.loss_plan_l1_fix_time: 1.5218, d4.loss_plan_l1_fix_dist: 0.3094, d5.loss_plan_l1_fix_time: 1.5260, d5.loss_plan_l1_fix_dist: 0.3311, d6.loss_plan_l1_fix_time: 1.5313, d6.loss_plan_l1_fix_dist: 0.3578, d0.loss_cls_all: 0.3098, d0.loss_bbox_all: 0.5108, d0.loss_cls: 0.3098, d0.loss_bbox: 0.5108, d1.loss_cls: 0.3099, d1.loss_bbox: 0.4767, d2.loss_cls: 0.2987, d2.loss_bbox: 0.4627, d3.loss_cls: 0.2903, d3.loss_bbox: 0.4596, d4.loss_cls: 0.2886, d4.loss_bbox: 0.4546, d5.loss_cls: 0.2867, d5.loss_bbox: 0.4547, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8618, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7675, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7339, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7312, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7205, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.7220, d0.loss_map_cls_all: 0.2963, d0.loss_map_pts_all: 2.0454, d0.loss_map_dir_all: 0.0176, d0.loss_map_cls: 0.2963, d0.loss_map_pts: 2.0454, d0.loss_map_dir: 0.0176, d1.loss_map_cls: 0.2725, d1.loss_map_pts: 1.3123, d1.loss_map_dir: 0.0168, d2.loss_map_cls: 0.2598, d2.loss_map_pts: 1.1117, d2.loss_map_dir: 0.0173, d3.loss_map_cls: 0.2516, d3.loss_map_pts: 1.0400, d3.loss_map_dir: 0.0180, d4.loss_map_cls: 0.2447, d4.loss_map_pts: 1.0186, d4.loss_map_dir: 0.0183, d5.loss_map_cls: 0.2418, d5.loss_map_pts: 1.0080, d5.loss_map_dir: 0.0186, loss: 38.2240, grad_norm: 159.2240 +2026-02-25 06:44:12,198 - DriveTransformer - INFO - Epoch [4][9200/39528] lr: 9.623e-05, eta: 7 days, 14:48:43, time: 0.805, data_time: 0.042, memory: 19865, loss_cls: 0.3039, loss_bbox: 0.4698, loss_traj: 0.9286, loss_traj_cls: 0.0024, loss_map_cls: 0.2558, loss_map_pts: 1.0604, loss_map_dir: 0.0155, d0.loss_plan_l1_fix_time: 3.0079, d0.loss_plan_l1_fix_dist: 0.4515, d1.loss_plan_l1_fix_time: 1.8474, d1.loss_plan_l1_fix_dist: 0.2727, d2.loss_plan_l1_fix_time: 1.8118, d2.loss_plan_l1_fix_dist: 0.2799, d3.loss_plan_l1_fix_time: 1.8124, d3.loss_plan_l1_fix_dist: 0.2912, d4.loss_plan_l1_fix_time: 1.8153, d4.loss_plan_l1_fix_dist: 0.3035, d5.loss_plan_l1_fix_time: 1.8182, d5.loss_plan_l1_fix_dist: 0.3172, d6.loss_plan_l1_fix_time: 1.8210, d6.loss_plan_l1_fix_dist: 0.3350, d0.loss_cls_all: 0.3196, d0.loss_bbox_all: 0.5186, d0.loss_cls: 0.3196, d0.loss_bbox: 0.5186, d1.loss_cls: 0.3124, d1.loss_bbox: 0.4921, d2.loss_cls: 0.3043, d2.loss_bbox: 0.4768, d3.loss_cls: 0.3043, d3.loss_bbox: 0.4720, d4.loss_cls: 0.3043, d4.loss_bbox: 0.4691, d5.loss_cls: 0.3026, d5.loss_bbox: 0.4702, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0534, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9474, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9139, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9090, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9136, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.9263, d0.loss_map_cls_all: 0.3148, d0.loss_map_pts_all: 1.9786, d0.loss_map_dir_all: 0.0144, d0.loss_map_cls: 0.3148, d0.loss_map_pts: 1.9786, d0.loss_map_dir: 0.0144, d1.loss_map_cls: 0.2852, d1.loss_map_pts: 1.3411, d1.loss_map_dir: 0.0138, d2.loss_map_cls: 0.2713, d2.loss_map_pts: 1.1562, d2.loss_map_dir: 0.0142, d3.loss_map_cls: 0.2629, d3.loss_map_pts: 1.0927, d3.loss_map_dir: 0.0147, d4.loss_map_cls: 0.2588, d4.loss_map_pts: 1.0710, d4.loss_map_dir: 0.0151, d5.loss_map_cls: 0.2565, d5.loss_map_pts: 1.0671, d5.loss_map_dir: 0.0152, loss: 42.2269, grad_norm: 158.1454 +2026-02-25 06:44:51,264 - DriveTransformer - INFO - Epoch [4][9250/39528] lr: 9.623e-05, eta: 7 days, 14:47:56, time: 0.782, data_time: 0.042, memory: 19865, loss_cls: 0.2916, loss_bbox: 0.4919, loss_traj: 1.1091, loss_traj_cls: 0.0023, loss_map_cls: 0.2171, loss_map_pts: 1.0104, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 2.6550, d0.loss_plan_l1_fix_dist: 0.4285, d1.loss_plan_l1_fix_time: 1.7460, d1.loss_plan_l1_fix_dist: 0.2329, d2.loss_plan_l1_fix_time: 1.7029, d2.loss_plan_l1_fix_dist: 0.2423, d3.loss_plan_l1_fix_time: 1.6967, d3.loss_plan_l1_fix_dist: 0.2599, d4.loss_plan_l1_fix_time: 1.6972, d4.loss_plan_l1_fix_dist: 0.2776, d5.loss_plan_l1_fix_time: 1.6992, d5.loss_plan_l1_fix_dist: 0.2957, d6.loss_plan_l1_fix_time: 1.7025, d6.loss_plan_l1_fix_dist: 0.3141, d0.loss_cls_all: 0.3148, d0.loss_bbox_all: 0.5309, d0.loss_cls: 0.3148, d0.loss_bbox: 0.5309, d1.loss_cls: 0.3131, d1.loss_bbox: 0.5055, d2.loss_cls: 0.3036, d2.loss_bbox: 0.4920, d3.loss_cls: 0.3021, d3.loss_bbox: 0.4878, d4.loss_cls: 0.2960, d4.loss_bbox: 0.4875, d5.loss_cls: 0.2941, d5.loss_bbox: 0.4878, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3298, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.1542, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1090, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1035, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1074, d5.loss_traj_cls: 0.0020, d5.loss_traj: 1.1091, d0.loss_map_cls_all: 0.2673, d0.loss_map_pts_all: 1.6825, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2673, d0.loss_map_pts: 1.6825, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2510, d1.loss_map_pts: 1.2658, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2342, d2.loss_map_pts: 1.1131, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.2268, d3.loss_map_pts: 1.0503, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.2210, d4.loss_map_pts: 1.0265, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.2190, d5.loss_map_pts: 1.0156, d5.loss_map_dir: 0.0124, loss: 41.2719, grad_norm: 157.2695 +2026-02-25 06:45:30,003 - DriveTransformer - INFO - Epoch [4][9300/39528] lr: 9.623e-05, eta: 7 days, 14:47:07, time: 0.774, data_time: 0.048, memory: 19865, loss_cls: 0.2929, loss_bbox: 0.4253, loss_traj: 0.9503, loss_traj_cls: 0.0022, loss_map_cls: 0.2171, loss_map_pts: 0.9297, loss_map_dir: 0.0135, d0.loss_plan_l1_fix_time: 2.9066, d0.loss_plan_l1_fix_dist: 0.4405, d1.loss_plan_l1_fix_time: 1.4749, d1.loss_plan_l1_fix_dist: 0.2218, d2.loss_plan_l1_fix_time: 1.4512, d2.loss_plan_l1_fix_dist: 0.2309, d3.loss_plan_l1_fix_time: 1.4516, d3.loss_plan_l1_fix_dist: 0.2462, d4.loss_plan_l1_fix_time: 1.4546, d4.loss_plan_l1_fix_dist: 0.2635, d5.loss_plan_l1_fix_time: 1.4580, d5.loss_plan_l1_fix_dist: 0.2798, d6.loss_plan_l1_fix_time: 1.4620, d6.loss_plan_l1_fix_dist: 0.2970, d0.loss_cls_all: 0.3104, d0.loss_bbox_all: 0.4779, d0.loss_cls: 0.3104, d0.loss_bbox: 0.4779, d1.loss_cls: 0.3034, d1.loss_bbox: 0.4503, d2.loss_cls: 0.2943, d2.loss_bbox: 0.4350, d3.loss_cls: 0.2885, d3.loss_bbox: 0.4292, d4.loss_cls: 0.2874, d4.loss_bbox: 0.4270, d5.loss_cls: 0.2900, d5.loss_bbox: 0.4239, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1216, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9803, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9649, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9577, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9517, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.9457, d0.loss_map_cls_all: 0.2629, d0.loss_map_pts_all: 1.6505, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.2629, d0.loss_map_pts: 1.6505, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2451, d1.loss_map_pts: 1.1487, d1.loss_map_dir: 0.0122, d2.loss_map_cls: 0.2331, d2.loss_map_pts: 1.0141, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2243, d3.loss_map_pts: 0.9599, d3.loss_map_dir: 0.0129, d4.loss_map_cls: 0.2180, d4.loss_map_pts: 0.9426, d4.loss_map_dir: 0.0132, d5.loss_map_cls: 0.2165, d5.loss_map_pts: 0.9329, d5.loss_map_dir: 0.0134, loss: 37.6552, grad_norm: 156.5714 +2026-02-25 06:46:10,868 - DriveTransformer - INFO - Epoch [4][9350/39528] lr: 9.623e-05, eta: 7 days, 14:46:32, time: 0.817, data_time: 0.041, memory: 19865, loss_cls: 0.2993, loss_bbox: 0.4792, loss_traj: 0.9204, loss_traj_cls: 0.0022, loss_map_cls: 0.2336, loss_map_pts: 1.1139, loss_map_dir: 0.0173, d0.loss_plan_l1_fix_time: 2.6461, d0.loss_plan_l1_fix_dist: 0.4652, d1.loss_plan_l1_fix_time: 1.5103, d1.loss_plan_l1_fix_dist: 0.2390, d2.loss_plan_l1_fix_time: 1.4929, d2.loss_plan_l1_fix_dist: 0.2493, d3.loss_plan_l1_fix_time: 1.4932, d3.loss_plan_l1_fix_dist: 0.2653, d4.loss_plan_l1_fix_time: 1.4960, d4.loss_plan_l1_fix_dist: 0.2850, d5.loss_plan_l1_fix_time: 1.4986, d5.loss_plan_l1_fix_dist: 0.3086, d6.loss_plan_l1_fix_time: 1.5020, d6.loss_plan_l1_fix_dist: 0.3362, d0.loss_cls_all: 0.3049, d0.loss_bbox_all: 0.5277, d0.loss_cls: 0.3049, d0.loss_bbox: 0.5277, d1.loss_cls: 0.2992, d1.loss_bbox: 0.4976, d2.loss_cls: 0.2916, d2.loss_bbox: 0.4857, d3.loss_cls: 0.2912, d3.loss_bbox: 0.4816, d4.loss_cls: 0.2945, d4.loss_bbox: 0.4786, d5.loss_cls: 0.2961, d5.loss_bbox: 0.4778, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0867, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9422, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9110, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9084, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.9178, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.9163, d0.loss_map_cls_all: 0.2935, d0.loss_map_pts_all: 2.0123, d0.loss_map_dir_all: 0.0160, d0.loss_map_cls: 0.2935, d0.loss_map_pts: 2.0123, d0.loss_map_dir: 0.0160, d1.loss_map_cls: 0.2686, d1.loss_map_pts: 1.3695, d1.loss_map_dir: 0.0156, d2.loss_map_cls: 0.2502, d2.loss_map_pts: 1.1967, d2.loss_map_dir: 0.0160, d3.loss_map_cls: 0.2398, d3.loss_map_pts: 1.1363, d3.loss_map_dir: 0.0165, d4.loss_map_cls: 0.2366, d4.loss_map_pts: 1.1188, d4.loss_map_dir: 0.0169, d5.loss_map_cls: 0.2333, d5.loss_map_pts: 1.1148, d5.loss_map_dir: 0.0170, loss: 39.9915, grad_norm: 158.2497 +2026-02-25 06:46:50,870 - DriveTransformer - INFO - Epoch [4][9400/39528] lr: 9.623e-05, eta: 7 days, 14:45:52, time: 0.800, data_time: 0.044, memory: 19865, loss_cls: 0.2788, loss_bbox: 0.4637, loss_traj: 1.0522, loss_traj_cls: 0.0021, loss_map_cls: 0.2134, loss_map_pts: 0.8945, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.2888, d0.loss_plan_l1_fix_dist: 0.4144, d1.loss_plan_l1_fix_time: 1.5592, d1.loss_plan_l1_fix_dist: 0.2437, d2.loss_plan_l1_fix_time: 1.5482, d2.loss_plan_l1_fix_dist: 0.2448, d3.loss_plan_l1_fix_time: 1.5473, d3.loss_plan_l1_fix_dist: 0.2546, d4.loss_plan_l1_fix_time: 1.5492, d4.loss_plan_l1_fix_dist: 0.2673, d5.loss_plan_l1_fix_time: 1.5519, d5.loss_plan_l1_fix_dist: 0.2818, d6.loss_plan_l1_fix_time: 1.5558, d6.loss_plan_l1_fix_dist: 0.3009, d0.loss_cls_all: 0.2961, d0.loss_bbox_all: 0.5086, d0.loss_cls: 0.2961, d0.loss_bbox: 0.5086, d1.loss_cls: 0.2844, d1.loss_bbox: 0.4789, d2.loss_cls: 0.2776, d2.loss_bbox: 0.4649, d3.loss_cls: 0.2773, d3.loss_bbox: 0.4600, d4.loss_cls: 0.2775, d4.loss_bbox: 0.4595, d5.loss_cls: 0.2786, d5.loss_bbox: 0.4597, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3024, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0943, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0689, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0655, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0668, d5.loss_traj_cls: 0.0018, d5.loss_traj: 1.0630, d0.loss_map_cls_all: 0.2688, d0.loss_map_pts_all: 1.6788, d0.loss_map_dir_all: 0.0122, d0.loss_map_cls: 0.2688, d0.loss_map_pts: 1.6788, d0.loss_map_dir: 0.0122, d1.loss_map_cls: 0.2442, d1.loss_map_pts: 1.1448, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2285, d2.loss_map_pts: 0.9966, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2199, d3.loss_map_pts: 0.9242, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2146, d4.loss_map_pts: 0.9016, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.2135, d5.loss_map_pts: 0.8950, d5.loss_map_dir: 0.0127, loss: 38.4834, grad_norm: 161.7293 +2026-02-25 06:47:31,439 - DriveTransformer - INFO - Epoch [4][9450/39528] lr: 9.623e-05, eta: 7 days, 14:45:15, time: 0.811, data_time: 0.038, memory: 19865, loss_cls: 0.3171, loss_bbox: 0.4833, loss_traj: 0.7751, loss_traj_cls: 0.0021, loss_map_cls: 0.2916, loss_map_pts: 1.2120, loss_map_dir: 0.0182, d0.loss_plan_l1_fix_time: 2.4526, d0.loss_plan_l1_fix_dist: 0.4259, d1.loss_plan_l1_fix_time: 1.4934, d1.loss_plan_l1_fix_dist: 0.2488, d2.loss_plan_l1_fix_time: 1.4922, d2.loss_plan_l1_fix_dist: 0.2599, d3.loss_plan_l1_fix_time: 1.4955, d3.loss_plan_l1_fix_dist: 0.2722, d4.loss_plan_l1_fix_time: 1.4987, d4.loss_plan_l1_fix_dist: 0.2827, d5.loss_plan_l1_fix_time: 1.5025, d5.loss_plan_l1_fix_dist: 0.2901, d6.loss_plan_l1_fix_time: 1.5071, d6.loss_plan_l1_fix_dist: 0.2980, d0.loss_cls_all: 0.3396, d0.loss_bbox_all: 0.5298, d0.loss_cls: 0.3396, d0.loss_bbox: 0.5298, d1.loss_cls: 0.3312, d1.loss_bbox: 0.4992, d2.loss_cls: 0.3233, d2.loss_bbox: 0.4888, d3.loss_cls: 0.3211, d3.loss_bbox: 0.4835, d4.loss_cls: 0.3194, d4.loss_bbox: 0.4813, d5.loss_cls: 0.3175, d5.loss_bbox: 0.4824, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9826, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8297, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.7820, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.7736, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.7716, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7758, d0.loss_map_cls_all: 0.3310, d0.loss_map_pts_all: 2.1488, d0.loss_map_dir_all: 0.0161, d0.loss_map_cls: 0.3310, d0.loss_map_pts: 2.1488, d0.loss_map_dir: 0.0161, d1.loss_map_cls: 0.3124, d1.loss_map_pts: 1.5312, d1.loss_map_dir: 0.0158, d2.loss_map_cls: 0.3015, d2.loss_map_pts: 1.3326, d2.loss_map_dir: 0.0164, d3.loss_map_cls: 0.2945, d3.loss_map_pts: 1.2525, d3.loss_map_dir: 0.0172, d4.loss_map_cls: 0.2925, d4.loss_map_pts: 1.2235, d4.loss_map_dir: 0.0176, d5.loss_map_cls: 0.2912, d5.loss_map_pts: 1.2131, d5.loss_map_dir: 0.0178, loss: 40.4477, grad_norm: 162.7944 +2026-02-25 06:48:11,973 - DriveTransformer - INFO - Epoch [4][9500/39528] lr: 9.623e-05, eta: 7 days, 14:44:37, time: 0.811, data_time: 0.052, memory: 19865, loss_cls: 0.2840, loss_bbox: 0.4546, loss_traj: 1.0157, loss_traj_cls: 0.0022, loss_map_cls: 0.2393, loss_map_pts: 0.9486, loss_map_dir: 0.0166, d0.loss_plan_l1_fix_time: 3.3018, d0.loss_plan_l1_fix_dist: 0.4443, d1.loss_plan_l1_fix_time: 1.9777, d1.loss_plan_l1_fix_dist: 0.2556, d2.loss_plan_l1_fix_time: 1.9520, d2.loss_plan_l1_fix_dist: 0.2578, d3.loss_plan_l1_fix_time: 1.9595, d3.loss_plan_l1_fix_dist: 0.2648, d4.loss_plan_l1_fix_time: 1.9680, d4.loss_plan_l1_fix_dist: 0.2752, d5.loss_plan_l1_fix_time: 1.9768, d5.loss_plan_l1_fix_dist: 0.2895, d6.loss_plan_l1_fix_time: 1.9860, d6.loss_plan_l1_fix_dist: 0.3075, d0.loss_cls_all: 0.2880, d0.loss_bbox_all: 0.5052, d0.loss_cls: 0.2880, d0.loss_bbox: 0.5052, d1.loss_cls: 0.2845, d1.loss_bbox: 0.4752, d2.loss_cls: 0.2763, d2.loss_bbox: 0.4626, d3.loss_cls: 0.2734, d3.loss_bbox: 0.4550, d4.loss_cls: 0.2734, d4.loss_bbox: 0.4538, d5.loss_cls: 0.2802, d5.loss_bbox: 0.4540, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1700, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0518, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0232, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0137, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0097, d5.loss_traj_cls: 0.0018, d5.loss_traj: 1.0067, d0.loss_map_cls_all: 0.2916, d0.loss_map_pts_all: 1.8285, d0.loss_map_dir_all: 0.0148, d0.loss_map_cls: 0.2916, d0.loss_map_pts: 1.8285, d0.loss_map_dir: 0.0148, d1.loss_map_cls: 0.2648, d1.loss_map_pts: 1.2122, d1.loss_map_dir: 0.0143, d2.loss_map_cls: 0.2498, d2.loss_map_pts: 1.0407, d2.loss_map_dir: 0.0151, d3.loss_map_cls: 0.2453, d3.loss_map_pts: 0.9751, d3.loss_map_dir: 0.0158, d4.loss_map_cls: 0.2398, d4.loss_map_pts: 0.9553, d4.loss_map_dir: 0.0161, d5.loss_map_cls: 0.2391, d5.loss_map_pts: 0.9516, d5.loss_map_dir: 0.0163, loss: 42.4542, grad_norm: 163.6015 +2026-02-25 06:48:52,841 - DriveTransformer - INFO - Epoch [4][9550/39528] lr: 9.623e-05, eta: 7 days, 14:44:02, time: 0.817, data_time: 0.042, memory: 19865, loss_cls: 0.3377, loss_bbox: 0.5187, loss_traj: 0.9668, loss_traj_cls: 0.0021, loss_map_cls: 0.2712, loss_map_pts: 1.2116, loss_map_dir: 0.0197, d0.loss_plan_l1_fix_time: 2.9907, d0.loss_plan_l1_fix_dist: 0.4679, d1.loss_plan_l1_fix_time: 1.6995, d1.loss_plan_l1_fix_dist: 0.2848, d2.loss_plan_l1_fix_time: 1.6781, d2.loss_plan_l1_fix_dist: 0.2911, d3.loss_plan_l1_fix_time: 1.6787, d3.loss_plan_l1_fix_dist: 0.2998, d4.loss_plan_l1_fix_time: 1.6823, d4.loss_plan_l1_fix_dist: 0.3113, d5.loss_plan_l1_fix_time: 1.6866, d5.loss_plan_l1_fix_dist: 0.3256, d6.loss_plan_l1_fix_time: 1.6911, d6.loss_plan_l1_fix_dist: 0.3401, d0.loss_cls_all: 0.3555, d0.loss_bbox_all: 0.5690, d0.loss_cls: 0.3555, d0.loss_bbox: 0.5690, d1.loss_cls: 0.3463, d1.loss_bbox: 0.5378, d2.loss_cls: 0.3373, d2.loss_bbox: 0.5279, d3.loss_cls: 0.3368, d3.loss_bbox: 0.5191, d4.loss_cls: 0.3347, d4.loss_bbox: 0.5187, d5.loss_cls: 0.3377, d5.loss_bbox: 0.5169, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1362, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0061, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9797, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9683, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9649, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.9616, d0.loss_map_cls_all: 0.3308, d0.loss_map_pts_all: 2.1486, d0.loss_map_dir_all: 0.0175, d0.loss_map_cls: 0.3308, d0.loss_map_pts: 2.1486, d0.loss_map_dir: 0.0175, d1.loss_map_cls: 0.3013, d1.loss_map_pts: 1.5027, d1.loss_map_dir: 0.0176, d2.loss_map_cls: 0.2861, d2.loss_map_pts: 1.3067, d2.loss_map_dir: 0.0183, d3.loss_map_cls: 0.2793, d3.loss_map_pts: 1.2416, d3.loss_map_dir: 0.0189, d4.loss_map_cls: 0.2751, d4.loss_map_pts: 1.2185, d4.loss_map_dir: 0.0192, d5.loss_map_cls: 0.2718, d5.loss_map_pts: 1.2146, d5.loss_map_dir: 0.0194, loss: 43.9249, grad_norm: 164.0487 +2026-02-25 06:49:34,660 - DriveTransformer - INFO - Epoch [4][9600/39528] lr: 9.623e-05, eta: 7 days, 14:43:33, time: 0.836, data_time: 0.044, memory: 19865, loss_cls: 0.3342, loss_bbox: 0.5035, loss_traj: 0.7516, loss_traj_cls: 0.0022, loss_map_cls: 0.2601, loss_map_pts: 1.1702, loss_map_dir: 0.0184, d0.loss_plan_l1_fix_time: 2.6087, d0.loss_plan_l1_fix_dist: 0.4422, d1.loss_plan_l1_fix_time: 1.6742, d1.loss_plan_l1_fix_dist: 0.2365, d2.loss_plan_l1_fix_time: 1.6571, d2.loss_plan_l1_fix_dist: 0.2392, d3.loss_plan_l1_fix_time: 1.6604, d3.loss_plan_l1_fix_dist: 0.2485, d4.loss_plan_l1_fix_time: 1.6647, d4.loss_plan_l1_fix_dist: 0.2598, d5.loss_plan_l1_fix_time: 1.6701, d5.loss_plan_l1_fix_dist: 0.2748, d6.loss_plan_l1_fix_time: 1.6766, d6.loss_plan_l1_fix_dist: 0.2959, d0.loss_cls_all: 0.3468, d0.loss_bbox_all: 0.5666, d0.loss_cls: 0.3468, d0.loss_bbox: 0.5666, d1.loss_cls: 0.3399, d1.loss_bbox: 0.5297, d2.loss_cls: 0.3351, d2.loss_bbox: 0.5123, d3.loss_cls: 0.3331, d3.loss_bbox: 0.5054, d4.loss_cls: 0.3323, d4.loss_bbox: 0.5036, d5.loss_cls: 0.3347, d5.loss_bbox: 0.5013, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9863, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8171, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.7814, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7632, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7544, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.7502, d0.loss_map_cls_all: 0.3126, d0.loss_map_pts_all: 2.1565, d0.loss_map_dir_all: 0.0167, d0.loss_map_cls: 0.3126, d0.loss_map_pts: 2.1565, d0.loss_map_dir: 0.0167, d1.loss_map_cls: 0.2891, d1.loss_map_pts: 1.4687, d1.loss_map_dir: 0.0163, d2.loss_map_cls: 0.2772, d2.loss_map_pts: 1.2738, d2.loss_map_dir: 0.0168, d3.loss_map_cls: 0.2663, d3.loss_map_pts: 1.2055, d3.loss_map_dir: 0.0175, d4.loss_map_cls: 0.2621, d4.loss_map_pts: 1.1782, d4.loss_map_dir: 0.0179, d5.loss_map_cls: 0.2599, d5.loss_map_pts: 1.1685, d5.loss_map_dir: 0.0181, loss: 41.2694, grad_norm: 165.7423 +2026-02-25 06:50:14,831 - DriveTransformer - INFO - Epoch [4][9650/39528] lr: 9.623e-05, eta: 7 days, 14:42:54, time: 0.803, data_time: 0.039, memory: 19865, loss_cls: 0.2948, loss_bbox: 0.4641, loss_traj: 0.9103, loss_traj_cls: 0.0022, loss_map_cls: 0.2200, loss_map_pts: 1.0170, loss_map_dir: 0.0157, d0.loss_plan_l1_fix_time: 2.4701, d0.loss_plan_l1_fix_dist: 0.3942, d1.loss_plan_l1_fix_time: 1.5535, d1.loss_plan_l1_fix_dist: 0.2323, d2.loss_plan_l1_fix_time: 1.5578, d2.loss_plan_l1_fix_dist: 0.2403, d3.loss_plan_l1_fix_time: 1.5688, d3.loss_plan_l1_fix_dist: 0.2491, d4.loss_plan_l1_fix_time: 1.5755, d4.loss_plan_l1_fix_dist: 0.2573, d5.loss_plan_l1_fix_time: 1.5824, d5.loss_plan_l1_fix_dist: 0.2656, d6.loss_plan_l1_fix_time: 1.5905, d6.loss_plan_l1_fix_dist: 0.2779, d0.loss_cls_all: 0.3070, d0.loss_bbox_all: 0.5258, d0.loss_cls: 0.3070, d0.loss_bbox: 0.5258, d1.loss_cls: 0.2986, d1.loss_bbox: 0.4895, d2.loss_cls: 0.2960, d2.loss_bbox: 0.4733, d3.loss_cls: 0.2933, d3.loss_bbox: 0.4684, d4.loss_cls: 0.2912, d4.loss_bbox: 0.4654, d5.loss_cls: 0.2923, d5.loss_bbox: 0.4634, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1127, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9651, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9345, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9264, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9192, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.9134, d0.loss_map_cls_all: 0.2817, d0.loss_map_pts_all: 1.8267, d0.loss_map_dir_all: 0.0148, d0.loss_map_cls: 0.2817, d0.loss_map_pts: 1.8267, d0.loss_map_dir: 0.0148, d1.loss_map_cls: 0.2498, d1.loss_map_pts: 1.2746, d1.loss_map_dir: 0.0142, d2.loss_map_cls: 0.2359, d2.loss_map_pts: 1.1083, d2.loss_map_dir: 0.0146, d3.loss_map_cls: 0.2271, d3.loss_map_pts: 1.0439, d3.loss_map_dir: 0.0151, d4.loss_map_cls: 0.2212, d4.loss_map_pts: 1.0218, d4.loss_map_dir: 0.0154, d5.loss_map_cls: 0.2200, d5.loss_map_pts: 1.0136, d5.loss_map_dir: 0.0156, loss: 38.9507, grad_norm: 167.4017 +2026-02-25 06:50:54,859 - DriveTransformer - INFO - Epoch [4][9700/39528] lr: 9.623e-05, eta: 7 days, 14:42:13, time: 0.801, data_time: 0.043, memory: 19865, loss_cls: 0.3368, loss_bbox: 0.4669, loss_traj: 0.8672, loss_traj_cls: 0.0023, loss_map_cls: 0.2534, loss_map_pts: 1.0650, loss_map_dir: 0.0177, d0.loss_plan_l1_fix_time: 2.8878, d0.loss_plan_l1_fix_dist: 0.3081, d1.loss_plan_l1_fix_time: 1.8326, d1.loss_plan_l1_fix_dist: 0.2391, d2.loss_plan_l1_fix_time: 1.8105, d2.loss_plan_l1_fix_dist: 0.2537, d3.loss_plan_l1_fix_time: 1.8132, d3.loss_plan_l1_fix_dist: 0.2668, d4.loss_plan_l1_fix_time: 1.8175, d4.loss_plan_l1_fix_dist: 0.2788, d5.loss_plan_l1_fix_time: 1.8221, d5.loss_plan_l1_fix_dist: 0.2853, d6.loss_plan_l1_fix_time: 1.8280, d6.loss_plan_l1_fix_dist: 0.2863, d0.loss_cls_all: 0.3484, d0.loss_bbox_all: 0.5163, d0.loss_cls: 0.3484, d0.loss_bbox: 0.5163, d1.loss_cls: 0.3435, d1.loss_bbox: 0.4863, d2.loss_cls: 0.3391, d2.loss_bbox: 0.4739, d3.loss_cls: 0.3309, d3.loss_bbox: 0.4690, d4.loss_cls: 0.3290, d4.loss_bbox: 0.4682, d5.loss_cls: 0.3326, d5.loss_bbox: 0.4669, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0626, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9193, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8809, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8789, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8696, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.8680, d0.loss_map_cls_all: 0.3129, d0.loss_map_pts_all: 1.9385, d0.loss_map_dir_all: 0.0159, d0.loss_map_cls: 0.3129, d0.loss_map_pts: 1.9385, d0.loss_map_dir: 0.0159, d1.loss_map_cls: 0.2839, d1.loss_map_pts: 1.3465, d1.loss_map_dir: 0.0158, d2.loss_map_cls: 0.2718, d2.loss_map_pts: 1.1593, d2.loss_map_dir: 0.0163, d3.loss_map_cls: 0.2623, d3.loss_map_pts: 1.0983, d3.loss_map_dir: 0.0170, d4.loss_map_cls: 0.2575, d4.loss_map_pts: 1.0730, d4.loss_map_dir: 0.0173, d5.loss_map_cls: 0.2538, d5.loss_map_pts: 1.0660, d5.loss_map_dir: 0.0176, loss: 41.6840, grad_norm: 172.5896 +2026-02-25 06:51:33,697 - DriveTransformer - INFO - Epoch [4][9750/39528] lr: 9.623e-05, eta: 7 days, 14:41:25, time: 0.777, data_time: 0.036, memory: 19865, loss_cls: 0.3042, loss_bbox: 0.4866, loss_traj: 1.0887, loss_traj_cls: 0.0024, loss_map_cls: 0.2384, loss_map_pts: 1.0012, loss_map_dir: 0.0154, d0.loss_plan_l1_fix_time: 2.8420, d0.loss_plan_l1_fix_dist: 0.4701, d1.loss_plan_l1_fix_time: 1.7214, d1.loss_plan_l1_fix_dist: 0.2894, d2.loss_plan_l1_fix_time: 1.6919, d2.loss_plan_l1_fix_dist: 0.2966, d3.loss_plan_l1_fix_time: 1.6851, d3.loss_plan_l1_fix_dist: 0.3082, d4.loss_plan_l1_fix_time: 1.6875, d4.loss_plan_l1_fix_dist: 0.3239, d5.loss_plan_l1_fix_time: 1.6907, d5.loss_plan_l1_fix_dist: 0.3417, d6.loss_plan_l1_fix_time: 1.6946, d6.loss_plan_l1_fix_dist: 0.3598, d0.loss_cls_all: 0.3209, d0.loss_bbox_all: 0.5402, d0.loss_cls: 0.3209, d0.loss_bbox: 0.5402, d1.loss_cls: 0.3133, d1.loss_bbox: 0.5059, d2.loss_cls: 0.3045, d2.loss_bbox: 0.4947, d3.loss_cls: 0.3002, d3.loss_bbox: 0.4891, d4.loss_cls: 0.2984, d4.loss_bbox: 0.4882, d5.loss_cls: 0.3024, d5.loss_bbox: 0.4865, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3065, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.1103, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0783, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0830, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0741, d5.loss_traj_cls: 0.0018, d5.loss_traj: 1.0807, d0.loss_map_cls_all: 0.2979, d0.loss_map_pts_all: 1.8269, d0.loss_map_dir_all: 0.0145, d0.loss_map_cls: 0.2979, d0.loss_map_pts: 1.8269, d0.loss_map_dir: 0.0145, d1.loss_map_cls: 0.2684, d1.loss_map_pts: 1.2518, d1.loss_map_dir: 0.0140, d2.loss_map_cls: 0.2526, d2.loss_map_pts: 1.0899, d2.loss_map_dir: 0.0144, d3.loss_map_cls: 0.2461, d3.loss_map_pts: 1.0327, d3.loss_map_dir: 0.0149, d4.loss_map_cls: 0.2403, d4.loss_map_pts: 1.0134, d4.loss_map_dir: 0.0151, d5.loss_map_cls: 0.2360, d5.loss_map_pts: 1.0065, d5.loss_map_dir: 0.0152, loss: 41.9741, grad_norm: 175.1111 +2026-02-25 06:52:14,003 - DriveTransformer - INFO - Epoch [4][9800/39528] lr: 9.623e-05, eta: 7 days, 14:40:47, time: 0.807, data_time: 0.044, memory: 19865, loss_cls: 0.2927, loss_bbox: 0.4627, loss_traj: 1.2067, loss_traj_cls: 0.0025, loss_map_cls: 0.2188, loss_map_pts: 0.9189, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.7954, d0.loss_plan_l1_fix_dist: 0.4557, d1.loss_plan_l1_fix_time: 1.8719, d1.loss_plan_l1_fix_dist: 0.2342, d2.loss_plan_l1_fix_time: 1.8489, d2.loss_plan_l1_fix_dist: 0.2397, d3.loss_plan_l1_fix_time: 1.8438, d3.loss_plan_l1_fix_dist: 0.2495, d4.loss_plan_l1_fix_time: 1.8461, d4.loss_plan_l1_fix_dist: 0.2627, d5.loss_plan_l1_fix_time: 1.8494, d5.loss_plan_l1_fix_dist: 0.2805, d6.loss_plan_l1_fix_time: 1.8533, d6.loss_plan_l1_fix_dist: 0.3044, d0.loss_cls_all: 0.3082, d0.loss_bbox_all: 0.5186, d0.loss_cls: 0.3082, d0.loss_bbox: 0.5186, d1.loss_cls: 0.3004, d1.loss_bbox: 0.4866, d2.loss_cls: 0.2969, d2.loss_bbox: 0.4682, d3.loss_cls: 0.2940, d3.loss_bbox: 0.4612, d4.loss_cls: 0.2906, d4.loss_bbox: 0.4620, d5.loss_cls: 0.2925, d5.loss_bbox: 0.4617, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4353, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.2585, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.2106, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2152, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.2069, d5.loss_traj_cls: 0.0019, d5.loss_traj: 1.2037, d0.loss_map_cls_all: 0.2729, d0.loss_map_pts_all: 1.6503, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2729, d0.loss_map_pts: 1.6503, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2466, d1.loss_map_pts: 1.1672, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2338, d2.loss_map_pts: 1.0129, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.2253, d3.loss_map_pts: 0.9491, d3.loss_map_dir: 0.0121, d4.loss_map_cls: 0.2200, d4.loss_map_pts: 0.9273, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.2196, d5.loss_map_pts: 0.9201, d5.loss_map_dir: 0.0124, loss: 42.1051, grad_norm: 172.4374 +2026-02-25 06:52:51,746 - DriveTransformer - INFO - Epoch [4][9850/39528] lr: 9.623e-05, eta: 7 days, 14:39:52, time: 0.753, data_time: 0.042, memory: 19865, loss_cls: 0.2832, loss_bbox: 0.4579, loss_traj: 1.1612, loss_traj_cls: 0.0024, loss_map_cls: 0.2652, loss_map_pts: 1.0289, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.5379, d0.loss_plan_l1_fix_dist: 0.4568, d1.loss_plan_l1_fix_time: 1.6045, d1.loss_plan_l1_fix_dist: 0.2482, d2.loss_plan_l1_fix_time: 1.5979, d2.loss_plan_l1_fix_dist: 0.2567, d3.loss_plan_l1_fix_time: 1.6077, d3.loss_plan_l1_fix_dist: 0.2688, d4.loss_plan_l1_fix_time: 1.6142, d4.loss_plan_l1_fix_dist: 0.2834, d5.loss_plan_l1_fix_time: 1.6209, d5.loss_plan_l1_fix_dist: 0.2997, d6.loss_plan_l1_fix_time: 1.6282, d6.loss_plan_l1_fix_dist: 0.3193, d0.loss_cls_all: 0.3015, d0.loss_bbox_all: 0.5096, d0.loss_cls: 0.3015, d0.loss_bbox: 0.5096, d1.loss_cls: 0.2951, d1.loss_bbox: 0.4825, d2.loss_cls: 0.2867, d2.loss_bbox: 0.4665, d3.loss_cls: 0.2849, d3.loss_bbox: 0.4587, d4.loss_cls: 0.2823, d4.loss_bbox: 0.4586, d5.loss_cls: 0.2827, d5.loss_bbox: 0.4576, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3650, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.2060, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1564, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1546, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1635, d5.loss_traj_cls: 0.0019, d5.loss_traj: 1.1636, d0.loss_map_cls_all: 0.3303, d0.loss_map_pts_all: 1.7288, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.3303, d0.loss_map_pts: 1.7288, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2972, d1.loss_map_pts: 1.2789, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2836, d2.loss_map_pts: 1.1197, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2738, d3.loss_map_pts: 1.0580, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.2668, d4.loss_map_pts: 1.0372, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.2649, d5.loss_map_pts: 1.0308, d5.loss_map_dir: 0.0121, loss: 41.2585, grad_norm: 172.4899 +2026-02-25 06:53:34,259 - DriveTransformer - INFO - Epoch [4][9900/39528] lr: 9.623e-05, eta: 7 days, 14:39:27, time: 0.850, data_time: 0.041, memory: 19865, loss_cls: 0.3032, loss_bbox: 0.4884, loss_traj: 1.0316, loss_traj_cls: 0.0024, loss_map_cls: 0.2481, loss_map_pts: 1.2618, loss_map_dir: 0.0195, d0.loss_plan_l1_fix_time: 2.6498, d0.loss_plan_l1_fix_dist: 0.4624, d1.loss_plan_l1_fix_time: 1.7075, d1.loss_plan_l1_fix_dist: 0.2789, d2.loss_plan_l1_fix_time: 1.6888, d2.loss_plan_l1_fix_dist: 0.2908, d3.loss_plan_l1_fix_time: 1.6905, d3.loss_plan_l1_fix_dist: 0.3060, d4.loss_plan_l1_fix_time: 1.6955, d4.loss_plan_l1_fix_dist: 0.3208, d5.loss_plan_l1_fix_time: 1.7014, d5.loss_plan_l1_fix_dist: 0.3342, d6.loss_plan_l1_fix_time: 1.7080, d6.loss_plan_l1_fix_dist: 0.3471, d0.loss_cls_all: 0.3183, d0.loss_bbox_all: 0.5492, d0.loss_cls: 0.3183, d0.loss_bbox: 0.5492, d1.loss_cls: 0.3115, d1.loss_bbox: 0.5171, d2.loss_cls: 0.3083, d2.loss_bbox: 0.5013, d3.loss_cls: 0.3058, d3.loss_bbox: 0.4936, d4.loss_cls: 0.3016, d4.loss_bbox: 0.4914, d5.loss_cls: 0.3015, d5.loss_bbox: 0.4894, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.2515, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0957, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0495, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0343, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0236, d5.loss_traj_cls: 0.0018, d5.loss_traj: 1.0259, d0.loss_map_cls_all: 0.2944, d0.loss_map_pts_all: 2.3234, d0.loss_map_dir_all: 0.0175, d0.loss_map_cls: 0.2944, d0.loss_map_pts: 2.3234, d0.loss_map_dir: 0.0175, d1.loss_map_cls: 0.2769, d1.loss_map_pts: 1.5858, d1.loss_map_dir: 0.0172, d2.loss_map_cls: 0.2660, d2.loss_map_pts: 1.3778, d2.loss_map_dir: 0.0181, d3.loss_map_cls: 0.2581, d3.loss_map_pts: 1.2989, d3.loss_map_dir: 0.0188, d4.loss_map_cls: 0.2516, d4.loss_map_pts: 1.2737, d4.loss_map_dir: 0.0191, d5.loss_map_cls: 0.2491, d5.loss_map_pts: 1.2656, d5.loss_map_dir: 0.0192, loss: 44.2462, grad_norm: 173.9813 +2026-02-25 06:54:14,224 - DriveTransformer - INFO - Epoch [4][9950/39528] lr: 9.623e-05, eta: 7 days, 14:38:46, time: 0.799, data_time: 0.047, memory: 19865, loss_cls: 0.3005, loss_bbox: 0.4917, loss_traj: 0.9225, loss_traj_cls: 0.0024, loss_map_cls: 0.2401, loss_map_pts: 1.0934, loss_map_dir: 0.0188, d0.loss_plan_l1_fix_time: 2.8354, d0.loss_plan_l1_fix_dist: 0.4120, d1.loss_plan_l1_fix_time: 1.6504, d1.loss_plan_l1_fix_dist: 0.2753, d2.loss_plan_l1_fix_time: 1.6337, d2.loss_plan_l1_fix_dist: 0.2927, d3.loss_plan_l1_fix_time: 1.6362, d3.loss_plan_l1_fix_dist: 0.3138, d4.loss_plan_l1_fix_time: 1.6419, d4.loss_plan_l1_fix_dist: 0.3336, d5.loss_plan_l1_fix_time: 1.6487, d5.loss_plan_l1_fix_dist: 0.3527, d6.loss_plan_l1_fix_time: 1.6566, d6.loss_plan_l1_fix_dist: 0.3703, d0.loss_cls_all: 0.3230, d0.loss_bbox_all: 0.5364, d0.loss_cls: 0.3230, d0.loss_bbox: 0.5364, d1.loss_cls: 0.3139, d1.loss_bbox: 0.5115, d2.loss_cls: 0.3091, d2.loss_bbox: 0.4958, d3.loss_cls: 0.3057, d3.loss_bbox: 0.4921, d4.loss_cls: 0.3018, d4.loss_bbox: 0.4902, d5.loss_cls: 0.3024, d5.loss_bbox: 0.4902, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0548, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9670, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9346, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9202, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9220, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.9230, d0.loss_map_cls_all: 0.3010, d0.loss_map_pts_all: 2.0739, d0.loss_map_dir_all: 0.0177, d0.loss_map_cls: 0.3010, d0.loss_map_pts: 2.0739, d0.loss_map_dir: 0.0177, d1.loss_map_cls: 0.2709, d1.loss_map_pts: 1.3494, d1.loss_map_dir: 0.0172, d2.loss_map_cls: 0.2549, d2.loss_map_pts: 1.1673, d2.loss_map_dir: 0.0176, d3.loss_map_cls: 0.2449, d3.loss_map_pts: 1.1092, d3.loss_map_dir: 0.0182, d4.loss_map_cls: 0.2419, d4.loss_map_pts: 1.0918, d4.loss_map_dir: 0.0185, d5.loss_map_cls: 0.2406, d5.loss_map_pts: 1.0874, d5.loss_map_dir: 0.0186, loss: 41.5150, grad_norm: 175.0738 +2026-02-25 06:54:55,539 - DriveTransformer - INFO - Epoch [4][10000/39528] lr: 9.623e-05, eta: 7 days, 14:38:14, time: 0.826, data_time: 0.044, memory: 19865, loss_cls: 0.2929, loss_bbox: 0.4619, loss_traj: 1.0253, loss_traj_cls: 0.0025, loss_map_cls: 0.2271, loss_map_pts: 0.9687, loss_map_dir: 0.0166, d0.loss_plan_l1_fix_time: 2.9059, d0.loss_plan_l1_fix_dist: 0.4664, d1.loss_plan_l1_fix_time: 1.4965, d1.loss_plan_l1_fix_dist: 0.2273, d2.loss_plan_l1_fix_time: 1.4697, d2.loss_plan_l1_fix_dist: 0.2370, d3.loss_plan_l1_fix_time: 1.4688, d3.loss_plan_l1_fix_dist: 0.2528, d4.loss_plan_l1_fix_time: 1.4746, d4.loss_plan_l1_fix_dist: 0.2718, d5.loss_plan_l1_fix_time: 1.4823, d5.loss_plan_l1_fix_dist: 0.2937, d6.loss_plan_l1_fix_time: 1.4919, d6.loss_plan_l1_fix_dist: 0.3157, d0.loss_cls_all: 0.3069, d0.loss_bbox_all: 0.5112, d0.loss_cls: 0.3069, d0.loss_bbox: 0.5112, d1.loss_cls: 0.3011, d1.loss_bbox: 0.4813, d2.loss_cls: 0.2935, d2.loss_bbox: 0.4681, d3.loss_cls: 0.2958, d3.loss_bbox: 0.4602, d4.loss_cls: 0.2930, d4.loss_bbox: 0.4594, d5.loss_cls: 0.2943, d5.loss_bbox: 0.4600, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3305, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.1049, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0442, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0290, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0242, d5.loss_traj_cls: 0.0019, d5.loss_traj: 1.0268, d0.loss_map_cls_all: 0.2756, d0.loss_map_pts_all: 1.8940, d0.loss_map_dir_all: 0.0149, d0.loss_map_cls: 0.2756, d0.loss_map_pts: 1.8940, d0.loss_map_dir: 0.0149, d1.loss_map_cls: 0.2507, d1.loss_map_pts: 1.2400, d1.loss_map_dir: 0.0149, d2.loss_map_cls: 0.2408, d2.loss_map_pts: 1.0517, d2.loss_map_dir: 0.0154, d3.loss_map_cls: 0.2305, d3.loss_map_pts: 0.9861, d3.loss_map_dir: 0.0160, d4.loss_map_cls: 0.2271, d4.loss_map_pts: 0.9648, d4.loss_map_dir: 0.0164, d5.loss_map_cls: 0.2271, d5.loss_map_pts: 0.9603, d5.loss_map_dir: 0.0165, loss: 39.6855, grad_norm: 181.1778 +2026-02-25 06:55:35,787 - DriveTransformer - INFO - Epoch [4][10050/39528] lr: 9.623e-05, eta: 7 days, 14:37:35, time: 0.805, data_time: 0.049, memory: 19865, loss_cls: 0.3115, loss_bbox: 0.4794, loss_traj: 0.9873, loss_traj_cls: 0.0024, loss_map_cls: 0.2612, loss_map_pts: 1.0717, loss_map_dir: 0.0173, d0.loss_plan_l1_fix_time: 2.8440, d0.loss_plan_l1_fix_dist: 0.4573, d1.loss_plan_l1_fix_time: 1.7512, d1.loss_plan_l1_fix_dist: 0.2745, d2.loss_plan_l1_fix_time: 1.7250, d2.loss_plan_l1_fix_dist: 0.2829, d3.loss_plan_l1_fix_time: 1.7228, d3.loss_plan_l1_fix_dist: 0.2978, d4.loss_plan_l1_fix_time: 1.7289, d4.loss_plan_l1_fix_dist: 0.3168, d5.loss_plan_l1_fix_time: 1.7373, d5.loss_plan_l1_fix_dist: 0.3399, d6.loss_plan_l1_fix_time: 1.7482, d6.loss_plan_l1_fix_dist: 0.3694, d0.loss_cls_all: 0.3352, d0.loss_bbox_all: 0.5363, d0.loss_cls: 0.3352, d0.loss_bbox: 0.5363, d1.loss_cls: 0.3288, d1.loss_bbox: 0.5060, d2.loss_cls: 0.3205, d2.loss_bbox: 0.4904, d3.loss_cls: 0.3215, d3.loss_bbox: 0.4805, d4.loss_cls: 0.3157, d4.loss_bbox: 0.4787, d5.loss_cls: 0.3146, d5.loss_bbox: 0.4788, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1348, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0243, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9903, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9924, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9808, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.9844, d0.loss_map_cls_all: 0.3200, d0.loss_map_pts_all: 1.9992, d0.loss_map_dir_all: 0.0158, d0.loss_map_cls: 0.3200, d0.loss_map_pts: 1.9992, d0.loss_map_dir: 0.0158, d1.loss_map_cls: 0.2966, d1.loss_map_pts: 1.3514, d1.loss_map_dir: 0.0156, d2.loss_map_cls: 0.2754, d2.loss_map_pts: 1.1648, d2.loss_map_dir: 0.0160, d3.loss_map_cls: 0.2677, d3.loss_map_pts: 1.0976, d3.loss_map_dir: 0.0167, d4.loss_map_cls: 0.2629, d4.loss_map_pts: 1.0802, d4.loss_map_dir: 0.0170, d5.loss_map_cls: 0.2606, d5.loss_map_pts: 1.0716, d5.loss_map_dir: 0.0171, loss: 42.4990, grad_norm: 182.6239 +2026-02-25 06:56:17,375 - DriveTransformer - INFO - Epoch [4][10100/39528] lr: 9.623e-05, eta: 7 days, 14:37:04, time: 0.832, data_time: 0.045, memory: 19865, loss_cls: 0.2897, loss_bbox: 0.4698, loss_traj: 1.0510, loss_traj_cls: 0.0024, loss_map_cls: 0.2408, loss_map_pts: 1.0319, loss_map_dir: 0.0168, d0.loss_plan_l1_fix_time: 2.7844, d0.loss_plan_l1_fix_dist: 0.4140, d1.loss_plan_l1_fix_time: 1.6509, d1.loss_plan_l1_fix_dist: 0.2568, d2.loss_plan_l1_fix_time: 1.6264, d2.loss_plan_l1_fix_dist: 0.2651, d3.loss_plan_l1_fix_time: 1.6250, d3.loss_plan_l1_fix_dist: 0.2781, d4.loss_plan_l1_fix_time: 1.6291, d4.loss_plan_l1_fix_dist: 0.2908, d5.loss_plan_l1_fix_time: 1.6343, d5.loss_plan_l1_fix_dist: 0.3058, d6.loss_plan_l1_fix_time: 1.6411, d6.loss_plan_l1_fix_dist: 0.3273, d0.loss_cls_all: 0.3062, d0.loss_bbox_all: 0.5153, d0.loss_cls: 0.3062, d0.loss_bbox: 0.5153, d1.loss_cls: 0.3032, d1.loss_bbox: 0.4867, d2.loss_cls: 0.2971, d2.loss_bbox: 0.4779, d3.loss_cls: 0.2948, d3.loss_bbox: 0.4717, d4.loss_cls: 0.2912, d4.loss_bbox: 0.4704, d5.loss_cls: 0.2893, d5.loss_bbox: 0.4702, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2626, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.1035, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0709, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0595, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0534, d5.loss_traj_cls: 0.0018, d5.loss_traj: 1.0500, d0.loss_map_cls_all: 0.2963, d0.loss_map_pts_all: 2.0193, d0.loss_map_dir_all: 0.0153, d0.loss_map_cls: 0.2963, d0.loss_map_pts: 2.0193, d0.loss_map_dir: 0.0153, d1.loss_map_cls: 0.2692, d1.loss_map_pts: 1.3443, d1.loss_map_dir: 0.0151, d2.loss_map_cls: 0.2545, d2.loss_map_pts: 1.1408, d2.loss_map_dir: 0.0154, d3.loss_map_cls: 0.2461, d3.loss_map_pts: 1.0694, d3.loss_map_dir: 0.0161, d4.loss_map_cls: 0.2407, d4.loss_map_pts: 1.0429, d4.loss_map_dir: 0.0164, d5.loss_map_cls: 0.2408, d5.loss_map_pts: 1.0368, d5.loss_map_dir: 0.0166, loss: 41.5599, grad_norm: 186.5115 +2026-02-25 06:56:57,881 - DriveTransformer - INFO - Epoch [4][10150/39528] lr: 9.623e-05, eta: 7 days, 14:36:27, time: 0.810, data_time: 0.037, memory: 19865, loss_cls: 0.2965, loss_bbox: 0.4679, loss_traj: 0.8593, loss_traj_cls: 0.0023, loss_map_cls: 0.2874, loss_map_pts: 1.1436, loss_map_dir: 0.0183, d0.loss_plan_l1_fix_time: 3.0377, d0.loss_plan_l1_fix_dist: 0.3615, d1.loss_plan_l1_fix_time: 1.6185, d1.loss_plan_l1_fix_dist: 0.2255, d2.loss_plan_l1_fix_time: 1.5982, d2.loss_plan_l1_fix_dist: 0.2314, d3.loss_plan_l1_fix_time: 1.5922, d3.loss_plan_l1_fix_dist: 0.2424, d4.loss_plan_l1_fix_time: 1.5935, d4.loss_plan_l1_fix_dist: 0.2551, d5.loss_plan_l1_fix_time: 1.5954, d5.loss_plan_l1_fix_dist: 0.2695, d6.loss_plan_l1_fix_time: 1.5977, d6.loss_plan_l1_fix_dist: 0.2853, d0.loss_cls_all: 0.3165, d0.loss_bbox_all: 0.5112, d0.loss_cls: 0.3165, d0.loss_bbox: 0.5112, d1.loss_cls: 0.3130, d1.loss_bbox: 0.4866, d2.loss_cls: 0.3043, d2.loss_bbox: 0.4749, d3.loss_cls: 0.2994, d3.loss_bbox: 0.4701, d4.loss_cls: 0.2969, d4.loss_bbox: 0.4668, d5.loss_cls: 0.2958, d5.loss_bbox: 0.4667, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0573, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9079, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8744, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8687, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8585, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.8579, d0.loss_map_cls_all: 0.3290, d0.loss_map_pts_all: 2.0919, d0.loss_map_dir_all: 0.0166, d0.loss_map_cls: 0.3290, d0.loss_map_pts: 2.0919, d0.loss_map_dir: 0.0166, d1.loss_map_cls: 0.3051, d1.loss_map_pts: 1.4576, d1.loss_map_dir: 0.0162, d2.loss_map_cls: 0.2956, d2.loss_map_pts: 1.2619, d2.loss_map_dir: 0.0169, d3.loss_map_cls: 0.2895, d3.loss_map_pts: 1.1867, d3.loss_map_dir: 0.0176, d4.loss_map_cls: 0.2878, d4.loss_map_pts: 1.1583, d4.loss_map_dir: 0.0179, d5.loss_map_cls: 0.2870, d5.loss_map_pts: 1.1493, d5.loss_map_dir: 0.0181, loss: 41.1798, grad_norm: 188.0476 +2026-02-25 06:57:37,205 - DriveTransformer - INFO - Epoch [4][10200/39528] lr: 9.623e-05, eta: 7 days, 14:35:42, time: 0.787, data_time: 0.042, memory: 19865, loss_cls: 0.2739, loss_bbox: 0.4477, loss_traj: 0.9674, loss_traj_cls: 0.0023, loss_map_cls: 0.2407, loss_map_pts: 0.9563, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.1620, d0.loss_plan_l1_fix_dist: 0.4281, d1.loss_plan_l1_fix_time: 1.1860, d1.loss_plan_l1_fix_dist: 0.2066, d2.loss_plan_l1_fix_time: 1.1615, d2.loss_plan_l1_fix_dist: 0.2116, d3.loss_plan_l1_fix_time: 1.1644, d3.loss_plan_l1_fix_dist: 0.2217, d4.loss_plan_l1_fix_time: 1.1688, d4.loss_plan_l1_fix_dist: 0.2327, d5.loss_plan_l1_fix_time: 1.1730, d5.loss_plan_l1_fix_dist: 0.2443, d6.loss_plan_l1_fix_time: 1.1775, d6.loss_plan_l1_fix_dist: 0.2553, d0.loss_cls_all: 0.2915, d0.loss_bbox_all: 0.5023, d0.loss_cls: 0.2915, d0.loss_bbox: 0.5023, d1.loss_cls: 0.2881, d1.loss_bbox: 0.4733, d2.loss_cls: 0.2778, d2.loss_bbox: 0.4577, d3.loss_cls: 0.2734, d3.loss_bbox: 0.4510, d4.loss_cls: 0.2715, d4.loss_bbox: 0.4486, d5.loss_cls: 0.2737, d5.loss_bbox: 0.4467, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1620, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9734, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9413, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9393, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9373, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.9676, d0.loss_map_cls_all: 0.2948, d0.loss_map_pts_all: 1.7811, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.2948, d0.loss_map_pts: 1.7811, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.2706, d1.loss_map_pts: 1.2394, d1.loss_map_dir: 0.0135, d2.loss_map_cls: 0.2536, d2.loss_map_pts: 1.0660, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2480, d3.loss_map_pts: 0.9935, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2462, d4.loss_map_pts: 0.9660, d4.loss_map_dir: 0.0147, d5.loss_map_cls: 0.2427, d5.loss_map_pts: 0.9590, d5.loss_map_dir: 0.0148, loss: 35.8083, grad_norm: 190.9746 +2026-02-25 06:58:18,419 - DriveTransformer - INFO - Epoch [4][10250/39528] lr: 9.623e-05, eta: 7 days, 14:35:09, time: 0.825, data_time: 0.043, memory: 19865, loss_cls: 0.2798, loss_bbox: 0.4723, loss_traj: 0.9022, loss_traj_cls: 0.0023, loss_map_cls: 0.2369, loss_map_pts: 1.1703, loss_map_dir: 0.0164, d0.loss_plan_l1_fix_time: 2.5230, d0.loss_plan_l1_fix_dist: 0.4749, d1.loss_plan_l1_fix_time: 1.5648, d1.loss_plan_l1_fix_dist: 0.2840, d2.loss_plan_l1_fix_time: 1.5623, d2.loss_plan_l1_fix_dist: 0.2882, d3.loss_plan_l1_fix_time: 1.5707, d3.loss_plan_l1_fix_dist: 0.2959, d4.loss_plan_l1_fix_time: 1.5754, d4.loss_plan_l1_fix_dist: 0.3035, d5.loss_plan_l1_fix_time: 1.5798, d5.loss_plan_l1_fix_dist: 0.3107, d6.loss_plan_l1_fix_time: 1.5839, d6.loss_plan_l1_fix_dist: 0.3174, d0.loss_cls_all: 0.2918, d0.loss_bbox_all: 0.5253, d0.loss_cls: 0.2918, d0.loss_bbox: 0.5253, d1.loss_cls: 0.2908, d1.loss_bbox: 0.4937, d2.loss_cls: 0.2852, d2.loss_bbox: 0.4786, d3.loss_cls: 0.2834, d3.loss_bbox: 0.4723, d4.loss_cls: 0.2796, d4.loss_bbox: 0.4707, d5.loss_cls: 0.2809, d5.loss_bbox: 0.4704, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0193, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9283, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9086, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9046, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9002, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.8973, d0.loss_map_cls_all: 0.2938, d0.loss_map_pts_all: 2.1443, d0.loss_map_dir_all: 0.0149, d0.loss_map_cls: 0.2938, d0.loss_map_pts: 2.1443, d0.loss_map_dir: 0.0149, d1.loss_map_cls: 0.2690, d1.loss_map_pts: 1.4810, d1.loss_map_dir: 0.0144, d2.loss_map_cls: 0.2532, d2.loss_map_pts: 1.2844, d2.loss_map_dir: 0.0150, d3.loss_map_cls: 0.2459, d3.loss_map_pts: 1.2083, d3.loss_map_dir: 0.0158, d4.loss_map_cls: 0.2390, d4.loss_map_pts: 1.1838, d4.loss_map_dir: 0.0161, d5.loss_map_cls: 0.2362, d5.loss_map_pts: 1.1764, d5.loss_map_dir: 0.0162, loss: 40.8798, grad_norm: 191.1062 +2026-02-25 06:59:02,040 - DriveTransformer - INFO - Epoch [4][10300/39528] lr: 9.623e-05, eta: 7 days, 14:34:51, time: 0.872, data_time: 0.046, memory: 19865, loss_cls: 0.2717, loss_bbox: 0.4702, loss_traj: 0.7692, loss_traj_cls: 0.0023, loss_map_cls: 0.2574, loss_map_pts: 1.1935, loss_map_dir: 0.0211, d0.loss_plan_l1_fix_time: 2.3324, d0.loss_plan_l1_fix_dist: 0.3839, d1.loss_plan_l1_fix_time: 1.5289, d1.loss_plan_l1_fix_dist: 0.2336, d2.loss_plan_l1_fix_time: 1.5063, d2.loss_plan_l1_fix_dist: 0.2401, d3.loss_plan_l1_fix_time: 1.5069, d3.loss_plan_l1_fix_dist: 0.2483, d4.loss_plan_l1_fix_time: 1.5096, d4.loss_plan_l1_fix_dist: 0.2598, d5.loss_plan_l1_fix_time: 1.5131, d5.loss_plan_l1_fix_dist: 0.2732, d6.loss_plan_l1_fix_time: 1.5173, d6.loss_plan_l1_fix_dist: 0.2914, d0.loss_cls_all: 0.2906, d0.loss_bbox_all: 0.5211, d0.loss_cls: 0.2906, d0.loss_bbox: 0.5211, d1.loss_cls: 0.2867, d1.loss_bbox: 0.4937, d2.loss_cls: 0.2803, d2.loss_bbox: 0.4793, d3.loss_cls: 0.2783, d3.loss_bbox: 0.4702, d4.loss_cls: 0.2731, d4.loss_bbox: 0.4698, d5.loss_cls: 0.2734, d5.loss_bbox: 0.4693, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8707, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7917, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.7669, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7663, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7675, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7642, d0.loss_map_cls_all: 0.3212, d0.loss_map_pts_all: 2.4371, d0.loss_map_dir_all: 0.0201, d0.loss_map_cls: 0.3212, d0.loss_map_pts: 2.4371, d0.loss_map_dir: 0.0201, d1.loss_map_cls: 0.2912, d1.loss_map_pts: 1.5888, d1.loss_map_dir: 0.0191, d2.loss_map_cls: 0.2736, d2.loss_map_pts: 1.3420, d2.loss_map_dir: 0.0198, d3.loss_map_cls: 0.2660, d3.loss_map_pts: 1.2460, d3.loss_map_dir: 0.0205, d4.loss_map_cls: 0.2610, d4.loss_map_pts: 1.2109, d4.loss_map_dir: 0.0209, d5.loss_map_cls: 0.2574, d5.loss_map_pts: 1.1991, d5.loss_map_dir: 0.0210, loss: 40.0551, grad_norm: 190.9428 +2026-02-25 06:59:42,615 - DriveTransformer - INFO - Epoch [4][10350/39528] lr: 9.623e-05, eta: 7 days, 14:34:15, time: 0.812, data_time: 0.040, memory: 19865, loss_cls: 0.2639, loss_bbox: 0.4553, loss_traj: 0.8344, loss_traj_cls: 0.0024, loss_map_cls: 0.2302, loss_map_pts: 1.0294, loss_map_dir: 0.0154, d0.loss_plan_l1_fix_time: 2.3591, d0.loss_plan_l1_fix_dist: 0.4301, d1.loss_plan_l1_fix_time: 1.3708, d1.loss_plan_l1_fix_dist: 0.2434, d2.loss_plan_l1_fix_time: 1.3649, d2.loss_plan_l1_fix_dist: 0.2474, d3.loss_plan_l1_fix_time: 1.3689, d3.loss_plan_l1_fix_dist: 0.2562, d4.loss_plan_l1_fix_time: 1.3730, d4.loss_plan_l1_fix_dist: 0.2674, d5.loss_plan_l1_fix_time: 1.3773, d5.loss_plan_l1_fix_dist: 0.2810, d6.loss_plan_l1_fix_time: 1.3826, d6.loss_plan_l1_fix_dist: 0.2976, d0.loss_cls_all: 0.2837, d0.loss_bbox_all: 0.5090, d0.loss_cls: 0.2837, d0.loss_bbox: 0.5090, d1.loss_cls: 0.2750, d1.loss_bbox: 0.4770, d2.loss_cls: 0.2691, d2.loss_bbox: 0.4636, d3.loss_cls: 0.2669, d3.loss_bbox: 0.4555, d4.loss_cls: 0.2635, d4.loss_bbox: 0.4557, d5.loss_cls: 0.2644, d5.loss_bbox: 0.4545, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0031, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8680, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8169, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8095, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8241, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.8325, d0.loss_map_cls_all: 0.2922, d0.loss_map_pts_all: 1.9398, d0.loss_map_dir_all: 0.0140, d0.loss_map_cls: 0.2922, d0.loss_map_pts: 1.9398, d0.loss_map_dir: 0.0140, d1.loss_map_cls: 0.2600, d1.loss_map_pts: 1.3382, d1.loss_map_dir: 0.0134, d2.loss_map_cls: 0.2452, d2.loss_map_pts: 1.1404, d2.loss_map_dir: 0.0141, d3.loss_map_cls: 0.2372, d3.loss_map_pts: 1.0650, d3.loss_map_dir: 0.0148, d4.loss_map_cls: 0.2323, d4.loss_map_pts: 1.0391, d4.loss_map_dir: 0.0150, d5.loss_map_cls: 0.2298, d5.loss_map_pts: 1.0327, d5.loss_map_dir: 0.0152, loss: 37.2258, grad_norm: 190.4154 +2026-02-25 07:00:22,540 - DriveTransformer - INFO - Epoch [4][10400/39528] lr: 9.623e-05, eta: 7 days, 14:33:33, time: 0.798, data_time: 0.046, memory: 19865, loss_cls: 0.2755, loss_bbox: 0.4664, loss_traj: 0.8849, loss_traj_cls: 0.0023, loss_map_cls: 0.2496, loss_map_pts: 1.0080, loss_map_dir: 0.0155, d0.loss_plan_l1_fix_time: 2.2992, d0.loss_plan_l1_fix_dist: 0.3822, d1.loss_plan_l1_fix_time: 1.3147, d1.loss_plan_l1_fix_dist: 0.2252, d2.loss_plan_l1_fix_time: 1.2923, d2.loss_plan_l1_fix_dist: 0.2301, d3.loss_plan_l1_fix_time: 1.2917, d3.loss_plan_l1_fix_dist: 0.2395, d4.loss_plan_l1_fix_time: 1.2951, d4.loss_plan_l1_fix_dist: 0.2507, d5.loss_plan_l1_fix_time: 1.2992, d5.loss_plan_l1_fix_dist: 0.2629, d6.loss_plan_l1_fix_time: 1.3041, d6.loss_plan_l1_fix_dist: 0.2774, d0.loss_cls_all: 0.2973, d0.loss_bbox_all: 0.5137, d0.loss_cls: 0.2973, d0.loss_bbox: 0.5137, d1.loss_cls: 0.2917, d1.loss_bbox: 0.4835, d2.loss_cls: 0.2834, d2.loss_bbox: 0.4708, d3.loss_cls: 0.2773, d3.loss_bbox: 0.4674, d4.loss_cls: 0.2750, d4.loss_bbox: 0.4664, d5.loss_cls: 0.2748, d5.loss_bbox: 0.4661, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1132, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9269, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8878, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8747, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8691, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.8837, d0.loss_map_cls_all: 0.3156, d0.loss_map_pts_all: 2.0021, d0.loss_map_dir_all: 0.0142, d0.loss_map_cls: 0.3156, d0.loss_map_pts: 2.0021, d0.loss_map_dir: 0.0142, d1.loss_map_cls: 0.2822, d1.loss_map_pts: 1.3281, d1.loss_map_dir: 0.0137, d2.loss_map_cls: 0.2670, d2.loss_map_pts: 1.1230, d2.loss_map_dir: 0.0142, d3.loss_map_cls: 0.2580, d3.loss_map_pts: 1.0443, d3.loss_map_dir: 0.0149, d4.loss_map_cls: 0.2528, d4.loss_map_pts: 1.0194, d4.loss_map_dir: 0.0152, d5.loss_map_cls: 0.2506, d5.loss_map_pts: 1.0094, d5.loss_map_dir: 0.0154, loss: 37.3781, grad_norm: 190.1919 +2026-02-25 07:01:01,916 - DriveTransformer - INFO - Epoch [4][10450/39528] lr: 9.623e-05, eta: 7 days, 14:32:49, time: 0.788, data_time: 0.044, memory: 19865, loss_cls: 0.2720, loss_bbox: 0.4800, loss_traj: 0.9651, loss_traj_cls: 0.0024, loss_map_cls: 0.2394, loss_map_pts: 0.9601, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.7492, d0.loss_plan_l1_fix_dist: 0.4497, d1.loss_plan_l1_fix_time: 1.4751, d1.loss_plan_l1_fix_dist: 0.2636, d2.loss_plan_l1_fix_time: 1.4603, d2.loss_plan_l1_fix_dist: 0.2675, d3.loss_plan_l1_fix_time: 1.4625, d3.loss_plan_l1_fix_dist: 0.2754, d4.loss_plan_l1_fix_time: 1.4657, d4.loss_plan_l1_fix_dist: 0.2859, d5.loss_plan_l1_fix_time: 1.4694, d5.loss_plan_l1_fix_dist: 0.2973, d6.loss_plan_l1_fix_time: 1.4734, d6.loss_plan_l1_fix_dist: 0.3087, d0.loss_cls_all: 0.2971, d0.loss_bbox_all: 0.5285, d0.loss_cls: 0.2971, d0.loss_bbox: 0.5285, d1.loss_cls: 0.2867, d1.loss_bbox: 0.5013, d2.loss_cls: 0.2773, d2.loss_bbox: 0.4881, d3.loss_cls: 0.2732, d3.loss_bbox: 0.4819, d4.loss_cls: 0.2719, d4.loss_bbox: 0.4802, d5.loss_cls: 0.2693, d5.loss_bbox: 0.4813, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2468, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0447, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9837, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9741, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9707, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.9640, d0.loss_map_cls_all: 0.2974, d0.loss_map_pts_all: 1.6961, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2974, d0.loss_map_pts: 1.6961, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2710, d1.loss_map_pts: 1.2400, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2560, d2.loss_map_pts: 1.0720, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.2457, d3.loss_map_pts: 1.0042, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2410, d4.loss_map_pts: 0.9759, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.2394, d5.loss_map_pts: 0.9650, d5.loss_map_dir: 0.0126, loss: 38.8684, grad_norm: 190.5774 +2026-02-25 07:01:42,682 - DriveTransformer - INFO - Epoch [4][10500/39528] lr: 9.623e-05, eta: 7 days, 14:32:13, time: 0.815, data_time: 0.047, memory: 19865, loss_cls: 0.2967, loss_bbox: 0.4675, loss_traj: 1.0763, loss_traj_cls: 0.0024, loss_map_cls: 0.2606, loss_map_pts: 1.0681, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 3.1037, d0.loss_plan_l1_fix_dist: 0.4161, d1.loss_plan_l1_fix_time: 1.6122, d1.loss_plan_l1_fix_dist: 0.2372, d2.loss_plan_l1_fix_time: 1.5922, d2.loss_plan_l1_fix_dist: 0.2422, d3.loss_plan_l1_fix_time: 1.5921, d3.loss_plan_l1_fix_dist: 0.2521, d4.loss_plan_l1_fix_time: 1.5952, d4.loss_plan_l1_fix_dist: 0.2636, d5.loss_plan_l1_fix_time: 1.5991, d5.loss_plan_l1_fix_dist: 0.2768, d6.loss_plan_l1_fix_time: 1.6032, d6.loss_plan_l1_fix_dist: 0.2908, d0.loss_cls_all: 0.3121, d0.loss_bbox_all: 0.5199, d0.loss_cls: 0.3121, d0.loss_bbox: 0.5199, d1.loss_cls: 0.3072, d1.loss_bbox: 0.4881, d2.loss_cls: 0.3028, d2.loss_bbox: 0.4713, d3.loss_cls: 0.3010, d3.loss_bbox: 0.4641, d4.loss_cls: 0.2970, d4.loss_bbox: 0.4632, d5.loss_cls: 0.2953, d5.loss_bbox: 0.4647, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2580, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.1145, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0862, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0710, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0702, d5.loss_traj_cls: 0.0018, d5.loss_traj: 1.0717, d0.loss_map_cls_all: 0.3149, d0.loss_map_pts_all: 1.8004, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.3149, d0.loss_map_pts: 1.8004, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2890, d1.loss_map_pts: 1.3522, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2771, d2.loss_map_pts: 1.1693, d2.loss_map_dir: 0.0131, d3.loss_map_cls: 0.2664, d3.loss_map_pts: 1.1050, d3.loss_map_dir: 0.0137, d4.loss_map_cls: 0.2631, d4.loss_map_pts: 1.0820, d4.loss_map_dir: 0.0140, d5.loss_map_cls: 0.2607, d5.loss_map_pts: 1.0707, d5.loss_map_dir: 0.0142, loss: 41.5170, grad_norm: 191.1089 +2026-02-25 07:02:24,126 - DriveTransformer - INFO - Epoch [4][10550/39528] lr: 9.623e-05, eta: 7 days, 14:31:41, time: 0.829, data_time: 0.040, memory: 19865, loss_cls: 0.2957, loss_bbox: 0.4767, loss_traj: 0.9880, loss_traj_cls: 0.0024, loss_map_cls: 0.2359, loss_map_pts: 1.1394, loss_map_dir: 0.0189, d0.loss_plan_l1_fix_time: 2.6740, d0.loss_plan_l1_fix_dist: 0.4207, d1.loss_plan_l1_fix_time: 1.4712, d1.loss_plan_l1_fix_dist: 0.2604, d2.loss_plan_l1_fix_time: 1.4620, d2.loss_plan_l1_fix_dist: 0.2651, d3.loss_plan_l1_fix_time: 1.4692, d3.loss_plan_l1_fix_dist: 0.2741, d4.loss_plan_l1_fix_time: 1.4736, d4.loss_plan_l1_fix_dist: 0.2856, d5.loss_plan_l1_fix_time: 1.4781, d5.loss_plan_l1_fix_dist: 0.2993, d6.loss_plan_l1_fix_time: 1.4834, d6.loss_plan_l1_fix_dist: 0.3161, d0.loss_cls_all: 0.3160, d0.loss_bbox_all: 0.5235, d0.loss_cls: 0.3160, d0.loss_bbox: 0.5235, d1.loss_cls: 0.3026, d1.loss_bbox: 0.5003, d2.loss_cls: 0.2983, d2.loss_bbox: 0.4827, d3.loss_cls: 0.2949, d3.loss_bbox: 0.4802, d4.loss_cls: 0.2915, d4.loss_bbox: 0.4781, d5.loss_cls: 0.2933, d5.loss_bbox: 0.4768, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1635, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0180, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9874, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9782, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9775, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.9860, d0.loss_map_cls_all: 0.2856, d0.loss_map_pts_all: 2.1793, d0.loss_map_dir_all: 0.0171, d0.loss_map_cls: 0.2856, d0.loss_map_pts: 2.1793, d0.loss_map_dir: 0.0171, d1.loss_map_cls: 0.2619, d1.loss_map_pts: 1.4715, d1.loss_map_dir: 0.0166, d2.loss_map_cls: 0.2508, d2.loss_map_pts: 1.2511, d2.loss_map_dir: 0.0174, d3.loss_map_cls: 0.2417, d3.loss_map_pts: 1.1768, d3.loss_map_dir: 0.0180, d4.loss_map_cls: 0.2391, d4.loss_map_pts: 1.1493, d4.loss_map_dir: 0.0185, d5.loss_map_cls: 0.2365, d5.loss_map_pts: 1.1429, d5.loss_map_dir: 0.0187, loss: 40.9587, grad_norm: 196.4954 +2026-02-25 07:03:04,405 - DriveTransformer - INFO - Epoch [4][10600/39528] lr: 9.623e-05, eta: 7 days, 14:31:03, time: 0.807, data_time: 0.038, memory: 19865, loss_cls: 0.3152, loss_bbox: 0.5153, loss_traj: 1.0683, loss_traj_cls: 0.0023, loss_map_cls: 0.2778, loss_map_pts: 1.1754, loss_map_dir: 0.0176, d0.loss_plan_l1_fix_time: 2.7418, d0.loss_plan_l1_fix_dist: 0.4555, d1.loss_plan_l1_fix_time: 1.7181, d1.loss_plan_l1_fix_dist: 0.2557, d2.loss_plan_l1_fix_time: 1.7220, d2.loss_plan_l1_fix_dist: 0.2655, d3.loss_plan_l1_fix_time: 1.7257, d3.loss_plan_l1_fix_dist: 0.2824, d4.loss_plan_l1_fix_time: 1.7295, d4.loss_plan_l1_fix_dist: 0.3009, d5.loss_plan_l1_fix_time: 1.7337, d5.loss_plan_l1_fix_dist: 0.3221, d6.loss_plan_l1_fix_time: 1.7388, d6.loss_plan_l1_fix_dist: 0.3492, d0.loss_cls_all: 0.3342, d0.loss_bbox_all: 0.5710, d0.loss_cls: 0.3342, d0.loss_bbox: 0.5710, d1.loss_cls: 0.3234, d1.loss_bbox: 0.5409, d2.loss_cls: 0.3189, d2.loss_bbox: 0.5261, d3.loss_cls: 0.3143, d3.loss_bbox: 0.5185, d4.loss_cls: 0.3103, d4.loss_bbox: 0.5179, d5.loss_cls: 0.3116, d5.loss_bbox: 0.5161, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2926, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.1135, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0895, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0818, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0727, d5.loss_traj_cls: 0.0017, d5.loss_traj: 1.0664, d0.loss_map_cls_all: 0.3376, d0.loss_map_pts_all: 2.1568, d0.loss_map_dir_all: 0.0156, d0.loss_map_cls: 0.3376, d0.loss_map_pts: 2.1568, d0.loss_map_dir: 0.0156, d1.loss_map_cls: 0.3096, d1.loss_map_pts: 1.4620, d1.loss_map_dir: 0.0151, d2.loss_map_cls: 0.2924, d2.loss_map_pts: 1.2671, d2.loss_map_dir: 0.0161, d3.loss_map_cls: 0.2853, d3.loss_map_pts: 1.2036, d3.loss_map_dir: 0.0168, d4.loss_map_cls: 0.2788, d4.loss_map_pts: 1.1833, d4.loss_map_dir: 0.0172, d5.loss_map_cls: 0.2778, d5.loss_map_pts: 1.1766, d5.loss_map_dir: 0.0173, loss: 44.2828, grad_norm: 201.5228 +2026-02-25 07:03:45,836 - DriveTransformer - INFO - Epoch [4][10650/39528] lr: 9.623e-05, eta: 7 days, 14:30:31, time: 0.827, data_time: 0.043, memory: 19865, loss_cls: 0.3319, loss_bbox: 0.4895, loss_traj: 0.8787, loss_traj_cls: 0.0024, loss_map_cls: 0.2648, loss_map_pts: 1.1619, loss_map_dir: 0.0183, d0.loss_plan_l1_fix_time: 2.7793, d0.loss_plan_l1_fix_dist: 0.4119, d1.loss_plan_l1_fix_time: 1.7492, d1.loss_plan_l1_fix_dist: 0.2609, d2.loss_plan_l1_fix_time: 1.7507, d2.loss_plan_l1_fix_dist: 0.2652, d3.loss_plan_l1_fix_time: 1.7540, d3.loss_plan_l1_fix_dist: 0.2739, d4.loss_plan_l1_fix_time: 1.7577, d4.loss_plan_l1_fix_dist: 0.2854, d5.loss_plan_l1_fix_time: 1.7617, d5.loss_plan_l1_fix_dist: 0.2984, d6.loss_plan_l1_fix_time: 1.7667, d6.loss_plan_l1_fix_dist: 0.3134, d0.loss_cls_all: 0.3476, d0.loss_bbox_all: 0.5553, d0.loss_cls: 0.3476, d0.loss_bbox: 0.5553, d1.loss_cls: 0.3489, d1.loss_bbox: 0.5231, d2.loss_cls: 0.3414, d2.loss_bbox: 0.5065, d3.loss_cls: 0.3340, d3.loss_bbox: 0.4994, d4.loss_cls: 0.3299, d4.loss_bbox: 0.4979, d5.loss_cls: 0.3297, d5.loss_bbox: 0.4945, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0501, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9213, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8884, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8716, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8771, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.8800, d0.loss_map_cls_all: 0.3177, d0.loss_map_pts_all: 2.0601, d0.loss_map_dir_all: 0.0166, d0.loss_map_cls: 0.3177, d0.loss_map_pts: 2.0601, d0.loss_map_dir: 0.0166, d1.loss_map_cls: 0.2927, d1.loss_map_pts: 1.4664, d1.loss_map_dir: 0.0165, d2.loss_map_cls: 0.2761, d2.loss_map_pts: 1.2654, d2.loss_map_dir: 0.0170, d3.loss_map_cls: 0.2709, d3.loss_map_pts: 1.1955, d3.loss_map_dir: 0.0176, d4.loss_map_cls: 0.2663, d4.loss_map_pts: 1.1716, d4.loss_map_dir: 0.0178, d5.loss_map_cls: 0.2656, d5.loss_map_pts: 1.1651, d5.loss_map_dir: 0.0180, loss: 42.5929, grad_norm: 200.1876 +2026-02-25 07:04:28,213 - DriveTransformer - INFO - Epoch [4][10700/39528] lr: 9.623e-05, eta: 7 days, 14:30:05, time: 0.848, data_time: 0.039, memory: 19865, loss_cls: 0.3180, loss_bbox: 0.4989, loss_traj: 0.7319, loss_traj_cls: 0.0025, loss_map_cls: 0.2491, loss_map_pts: 1.1604, loss_map_dir: 0.0205, d0.loss_plan_l1_fix_time: 3.3775, d0.loss_plan_l1_fix_dist: 0.4665, d1.loss_plan_l1_fix_time: 1.5934, d1.loss_plan_l1_fix_dist: 0.2582, d2.loss_plan_l1_fix_time: 1.5596, d2.loss_plan_l1_fix_dist: 0.2669, d3.loss_plan_l1_fix_time: 1.5581, d3.loss_plan_l1_fix_dist: 0.2796, d4.loss_plan_l1_fix_time: 1.5603, d4.loss_plan_l1_fix_dist: 0.2946, d5.loss_plan_l1_fix_time: 1.5629, d5.loss_plan_l1_fix_dist: 0.3096, d6.loss_plan_l1_fix_time: 1.5660, d6.loss_plan_l1_fix_dist: 0.3229, d0.loss_cls_all: 0.3340, d0.loss_bbox_all: 0.5416, d0.loss_cls: 0.3340, d0.loss_bbox: 0.5416, d1.loss_cls: 0.3292, d1.loss_bbox: 0.5206, d2.loss_cls: 0.3220, d2.loss_bbox: 0.5069, d3.loss_cls: 0.3197, d3.loss_bbox: 0.5020, d4.loss_cls: 0.3164, d4.loss_bbox: 0.5006, d5.loss_cls: 0.3153, d5.loss_bbox: 0.5006, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8516, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7525, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7273, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7266, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7260, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.7299, d0.loss_map_cls_all: 0.3036, d0.loss_map_pts_all: 2.3363, d0.loss_map_dir_all: 0.0189, d0.loss_map_cls: 0.3036, d0.loss_map_pts: 2.3363, d0.loss_map_dir: 0.0189, d1.loss_map_cls: 0.2817, d1.loss_map_pts: 1.5098, d1.loss_map_dir: 0.0181, d2.loss_map_cls: 0.2666, d2.loss_map_pts: 1.2721, d2.loss_map_dir: 0.0187, d3.loss_map_cls: 0.2588, d3.loss_map_pts: 1.1952, d3.loss_map_dir: 0.0196, d4.loss_map_cls: 0.2538, d4.loss_map_pts: 1.1698, d4.loss_map_dir: 0.0201, d5.loss_map_cls: 0.2490, d5.loss_map_pts: 1.1623, d5.loss_map_dir: 0.0203, loss: 41.3954, grad_norm: 197.0222 +2026-02-25 07:05:08,571 - DriveTransformer - INFO - Epoch [4][10750/39528] lr: 9.623e-05, eta: 7 days, 14:29:27, time: 0.807, data_time: 0.038, memory: 19865, loss_cls: 0.3033, loss_bbox: 0.4837, loss_traj: 0.9330, loss_traj_cls: 0.0025, loss_map_cls: 0.2389, loss_map_pts: 1.0298, loss_map_dir: 0.0183, d0.loss_plan_l1_fix_time: 2.8266, d0.loss_plan_l1_fix_dist: 0.3779, d1.loss_plan_l1_fix_time: 1.6286, d1.loss_plan_l1_fix_dist: 0.2177, d2.loss_plan_l1_fix_time: 1.6017, d2.loss_plan_l1_fix_dist: 0.2198, d3.loss_plan_l1_fix_time: 1.6025, d3.loss_plan_l1_fix_dist: 0.2254, d4.loss_plan_l1_fix_time: 1.6061, d4.loss_plan_l1_fix_dist: 0.2324, d5.loss_plan_l1_fix_time: 1.6100, d5.loss_plan_l1_fix_dist: 0.2399, d6.loss_plan_l1_fix_time: 1.6140, d6.loss_plan_l1_fix_dist: 0.2493, d0.loss_cls_all: 0.3202, d0.loss_bbox_all: 0.5300, d0.loss_cls: 0.3202, d0.loss_bbox: 0.5300, d1.loss_cls: 0.3091, d1.loss_bbox: 0.4998, d2.loss_cls: 0.3038, d2.loss_bbox: 0.4849, d3.loss_cls: 0.3049, d3.loss_bbox: 0.4804, d4.loss_cls: 0.3025, d4.loss_bbox: 0.4780, d5.loss_cls: 0.3033, d5.loss_bbox: 0.4803, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0674, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9695, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9325, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9221, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9279, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.9310, d0.loss_map_cls_all: 0.2917, d0.loss_map_pts_all: 2.0567, d0.loss_map_dir_all: 0.0170, d0.loss_map_cls: 0.2917, d0.loss_map_pts: 2.0567, d0.loss_map_dir: 0.0170, d1.loss_map_cls: 0.2747, d1.loss_map_pts: 1.3454, d1.loss_map_dir: 0.0164, d2.loss_map_cls: 0.2561, d2.loss_map_pts: 1.1355, d2.loss_map_dir: 0.0170, d3.loss_map_cls: 0.2470, d3.loss_map_pts: 1.0600, d3.loss_map_dir: 0.0178, d4.loss_map_cls: 0.2434, d4.loss_map_pts: 1.0367, d4.loss_map_dir: 0.0180, d5.loss_map_cls: 0.2395, d5.loss_map_pts: 1.0308, d5.loss_map_dir: 0.0181, loss: 40.3525, grad_norm: 197.1635 +2026-02-25 07:05:50,474 - DriveTransformer - INFO - Epoch [4][10800/39528] lr: 9.623e-05, eta: 7 days, 14:28:58, time: 0.838, data_time: 0.043, memory: 19865, loss_cls: 0.2590, loss_bbox: 0.4299, loss_traj: 0.9373, loss_traj_cls: 0.0026, loss_map_cls: 0.2208, loss_map_pts: 0.9418, loss_map_dir: 0.0133, d0.loss_plan_l1_fix_time: 2.6497, d0.loss_plan_l1_fix_dist: 0.4620, d1.loss_plan_l1_fix_time: 1.5179, d1.loss_plan_l1_fix_dist: 0.2409, d2.loss_plan_l1_fix_time: 1.5058, d2.loss_plan_l1_fix_dist: 0.2460, d3.loss_plan_l1_fix_time: 1.5092, d3.loss_plan_l1_fix_dist: 0.2533, d4.loss_plan_l1_fix_time: 1.5135, d4.loss_plan_l1_fix_dist: 0.2618, d5.loss_plan_l1_fix_time: 1.5174, d5.loss_plan_l1_fix_dist: 0.2738, d6.loss_plan_l1_fix_time: 1.5218, d6.loss_plan_l1_fix_dist: 0.2885, d0.loss_cls_all: 0.2764, d0.loss_bbox_all: 0.4828, d0.loss_cls: 0.2764, d0.loss_bbox: 0.4828, d1.loss_cls: 0.2721, d1.loss_bbox: 0.4512, d2.loss_cls: 0.2651, d2.loss_bbox: 0.4338, d3.loss_cls: 0.2624, d3.loss_bbox: 0.4298, d4.loss_cls: 0.2615, d4.loss_bbox: 0.4282, d5.loss_cls: 0.2594, d5.loss_bbox: 0.4290, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1182, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9927, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9397, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9317, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9319, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.9341, d0.loss_map_cls_all: 0.2758, d0.loss_map_pts_all: 1.7044, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2758, d0.loss_map_pts: 1.7044, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2525, d1.loss_map_pts: 1.2148, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2390, d2.loss_map_pts: 1.0413, d2.loss_map_dir: 0.0122, d3.loss_map_cls: 0.2303, d3.loss_map_pts: 0.9789, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.2246, d4.loss_map_pts: 0.9528, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.2212, d5.loss_map_pts: 0.9445, d5.loss_map_dir: 0.0131, loss: 37.7792, grad_norm: 200.0873 +2026-02-25 07:06:30,513 - DriveTransformer - INFO - Epoch [4][10850/39528] lr: 9.623e-05, eta: 7 days, 14:28:18, time: 0.801, data_time: 0.046, memory: 19865, loss_cls: 0.2646, loss_bbox: 0.4480, loss_traj: 0.9369, loss_traj_cls: 0.0025, loss_map_cls: 0.2189, loss_map_pts: 1.0037, loss_map_dir: 0.0166, d0.loss_plan_l1_fix_time: 2.5354, d0.loss_plan_l1_fix_dist: 0.5069, d1.loss_plan_l1_fix_time: 1.5256, d1.loss_plan_l1_fix_dist: 0.2647, d2.loss_plan_l1_fix_time: 1.4970, d2.loss_plan_l1_fix_dist: 0.2627, d3.loss_plan_l1_fix_time: 1.4962, d3.loss_plan_l1_fix_dist: 0.2665, d4.loss_plan_l1_fix_time: 1.4991, d4.loss_plan_l1_fix_dist: 0.2736, d5.loss_plan_l1_fix_time: 1.5027, d5.loss_plan_l1_fix_dist: 0.2833, d6.loss_plan_l1_fix_time: 1.5066, d6.loss_plan_l1_fix_dist: 0.2948, d0.loss_cls_all: 0.2865, d0.loss_bbox_all: 0.4975, d0.loss_cls: 0.2865, d0.loss_bbox: 0.4975, d1.loss_cls: 0.2770, d1.loss_bbox: 0.4689, d2.loss_cls: 0.2693, d2.loss_bbox: 0.4543, d3.loss_cls: 0.2656, d3.loss_bbox: 0.4509, d4.loss_cls: 0.2643, d4.loss_bbox: 0.4489, d5.loss_cls: 0.2657, d5.loss_bbox: 0.4463, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0995, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9802, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9391, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9330, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9335, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.9333, d0.loss_map_cls_all: 0.2727, d0.loss_map_pts_all: 1.9404, d0.loss_map_dir_all: 0.0153, d0.loss_map_cls: 0.2727, d0.loss_map_pts: 1.9404, d0.loss_map_dir: 0.0153, d1.loss_map_cls: 0.2516, d1.loss_map_pts: 1.3183, d1.loss_map_dir: 0.0149, d2.loss_map_cls: 0.2392, d2.loss_map_pts: 1.1177, d2.loss_map_dir: 0.0154, d3.loss_map_cls: 0.2304, d3.loss_map_pts: 1.0426, d3.loss_map_dir: 0.0159, d4.loss_map_cls: 0.2236, d4.loss_map_pts: 1.0175, d4.loss_map_dir: 0.0163, d5.loss_map_cls: 0.2187, d5.loss_map_pts: 1.0072, d5.loss_map_dir: 0.0164, loss: 38.8127, grad_norm: 201.4952 +2026-02-25 07:07:10,220 - DriveTransformer - INFO - Epoch [4][10900/39528] lr: 9.623e-05, eta: 7 days, 14:27:35, time: 0.795, data_time: 0.044, memory: 19865, loss_cls: 0.2833, loss_bbox: 0.4729, loss_traj: 0.8419, loss_traj_cls: 0.0024, loss_map_cls: 0.2452, loss_map_pts: 1.0211, loss_map_dir: 0.0158, d0.loss_plan_l1_fix_time: 2.5746, d0.loss_plan_l1_fix_dist: 0.3777, d1.loss_plan_l1_fix_time: 1.4643, d1.loss_plan_l1_fix_dist: 0.2148, d2.loss_plan_l1_fix_time: 1.4373, d2.loss_plan_l1_fix_dist: 0.2175, d3.loss_plan_l1_fix_time: 1.4353, d3.loss_plan_l1_fix_dist: 0.2237, d4.loss_plan_l1_fix_time: 1.4374, d4.loss_plan_l1_fix_dist: 0.2329, d5.loss_plan_l1_fix_time: 1.4403, d5.loss_plan_l1_fix_dist: 0.2437, d6.loss_plan_l1_fix_time: 1.4441, d6.loss_plan_l1_fix_dist: 0.2574, d0.loss_cls_all: 0.2956, d0.loss_bbox_all: 0.5303, d0.loss_cls: 0.2956, d0.loss_bbox: 0.5303, d1.loss_cls: 0.2902, d1.loss_bbox: 0.4980, d2.loss_cls: 0.2841, d2.loss_bbox: 0.4838, d3.loss_cls: 0.2808, d3.loss_bbox: 0.4795, d4.loss_cls: 0.2807, d4.loss_bbox: 0.4757, d5.loss_cls: 0.2816, d5.loss_bbox: 0.4737, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0558, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8957, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8497, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8501, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8445, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.8405, d0.loss_map_cls_all: 0.2976, d0.loss_map_pts_all: 1.9702, d0.loss_map_dir_all: 0.0148, d0.loss_map_cls: 0.2976, d0.loss_map_pts: 1.9702, d0.loss_map_dir: 0.0148, d1.loss_map_cls: 0.2707, d1.loss_map_pts: 1.3520, d1.loss_map_dir: 0.0140, d2.loss_map_cls: 0.2581, d2.loss_map_pts: 1.1404, d2.loss_map_dir: 0.0145, d3.loss_map_cls: 0.2509, d3.loss_map_pts: 1.0619, d3.loss_map_dir: 0.0151, d4.loss_map_cls: 0.2473, d4.loss_map_pts: 1.0329, d4.loss_map_dir: 0.0155, d5.loss_map_cls: 0.2450, d5.loss_map_pts: 1.0232, d5.loss_map_dir: 0.0156, loss: 38.2281, grad_norm: 202.2922 +2026-02-25 07:07:49,951 - DriveTransformer - INFO - Epoch [4][10950/39528] lr: 9.623e-05, eta: 7 days, 14:26:53, time: 0.794, data_time: 0.040, memory: 19865, loss_cls: 0.3438, loss_bbox: 0.5185, loss_traj: 0.8505, loss_traj_cls: 0.0023, loss_map_cls: 0.2925, loss_map_pts: 1.2438, loss_map_dir: 0.0176, d0.loss_plan_l1_fix_time: 2.8604, d0.loss_plan_l1_fix_dist: 0.3452, d1.loss_plan_l1_fix_time: 1.5781, d1.loss_plan_l1_fix_dist: 0.2265, d2.loss_plan_l1_fix_time: 1.5663, d2.loss_plan_l1_fix_dist: 0.2283, d3.loss_plan_l1_fix_time: 1.5696, d3.loss_plan_l1_fix_dist: 0.2328, d4.loss_plan_l1_fix_time: 1.5748, d4.loss_plan_l1_fix_dist: 0.2396, d5.loss_plan_l1_fix_time: 1.5804, d5.loss_plan_l1_fix_dist: 0.2499, d6.loss_plan_l1_fix_time: 1.5865, d6.loss_plan_l1_fix_dist: 0.2637, d0.loss_cls_all: 0.3660, d0.loss_bbox_all: 0.5731, d0.loss_cls: 0.3660, d0.loss_bbox: 0.5731, d1.loss_cls: 0.3578, d1.loss_bbox: 0.5464, d2.loss_cls: 0.3493, d2.loss_bbox: 0.5299, d3.loss_cls: 0.3425, d3.loss_bbox: 0.5240, d4.loss_cls: 0.3412, d4.loss_bbox: 0.5178, d5.loss_cls: 0.3412, d5.loss_bbox: 0.5180, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0117, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8875, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8539, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8469, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8488, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.8496, d0.loss_map_cls_all: 0.3450, d0.loss_map_pts_all: 2.1864, d0.loss_map_dir_all: 0.0168, d0.loss_map_cls: 0.3450, d0.loss_map_pts: 2.1864, d0.loss_map_dir: 0.0168, d1.loss_map_cls: 0.3222, d1.loss_map_pts: 1.5936, d1.loss_map_dir: 0.0158, d2.loss_map_cls: 0.3090, d2.loss_map_pts: 1.3733, d2.loss_map_dir: 0.0163, d3.loss_map_cls: 0.2994, d3.loss_map_pts: 1.2896, d3.loss_map_dir: 0.0169, d4.loss_map_cls: 0.2948, d4.loss_map_pts: 1.2602, d4.loss_map_dir: 0.0172, d5.loss_map_cls: 0.2926, d5.loss_map_pts: 1.2480, d5.loss_map_dir: 0.0174, loss: 42.3843, grad_norm: 202.9421 +2026-02-25 07:08:29,763 - DriveTransformer - INFO - Epoch [4][11000/39528] lr: 9.623e-05, eta: 7 days, 14:26:11, time: 0.796, data_time: 0.040, memory: 19865, loss_cls: 0.2867, loss_bbox: 0.4870, loss_traj: 1.1566, loss_traj_cls: 0.0023, loss_map_cls: 0.2210, loss_map_pts: 0.9826, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.6037, d0.loss_plan_l1_fix_dist: 0.3791, d1.loss_plan_l1_fix_time: 1.3681, d1.loss_plan_l1_fix_dist: 0.2390, d2.loss_plan_l1_fix_time: 1.3366, d2.loss_plan_l1_fix_dist: 0.2429, d3.loss_plan_l1_fix_time: 1.3357, d3.loss_plan_l1_fix_dist: 0.2505, d4.loss_plan_l1_fix_time: 1.3386, d4.loss_plan_l1_fix_dist: 0.2580, d5.loss_plan_l1_fix_time: 1.3432, d5.loss_plan_l1_fix_dist: 0.2662, d6.loss_plan_l1_fix_time: 1.3486, d6.loss_plan_l1_fix_dist: 0.2737, d0.loss_cls_all: 0.3105, d0.loss_bbox_all: 0.5265, d0.loss_cls: 0.3105, d0.loss_bbox: 0.5265, d1.loss_cls: 0.3018, d1.loss_bbox: 0.4998, d2.loss_cls: 0.2932, d2.loss_bbox: 0.4891, d3.loss_cls: 0.2905, d3.loss_bbox: 0.4819, d4.loss_cls: 0.2887, d4.loss_bbox: 0.4798, d5.loss_cls: 0.2886, d5.loss_bbox: 0.4816, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3134, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.2012, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1629, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1609, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1506, d5.loss_traj_cls: 0.0018, d5.loss_traj: 1.1495, d0.loss_map_cls_all: 0.2864, d0.loss_map_pts_all: 1.8149, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2864, d0.loss_map_pts: 1.8149, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2619, d1.loss_map_pts: 1.2980, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2438, d2.loss_map_pts: 1.1064, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.2316, d3.loss_map_pts: 1.0251, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.2256, d4.loss_map_pts: 0.9956, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.2211, d5.loss_map_pts: 0.9863, d5.loss_map_dir: 0.0123, loss: 39.3268, grad_norm: 201.0193 +2026-02-25 07:09:10,788 - DriveTransformer - INFO - Epoch [4][11050/39528] lr: 9.623e-05, eta: 7 days, 14:25:37, time: 0.821, data_time: 0.045, memory: 19865, loss_cls: 0.2712, loss_bbox: 0.4347, loss_traj: 0.7971, loss_traj_cls: 0.0025, loss_map_cls: 0.1809, loss_map_pts: 0.8345, loss_map_dir: 0.0151, d0.loss_plan_l1_fix_time: 2.1243, d0.loss_plan_l1_fix_dist: 0.4865, d1.loss_plan_l1_fix_time: 1.3172, d1.loss_plan_l1_fix_dist: 0.2245, d2.loss_plan_l1_fix_time: 1.2913, d2.loss_plan_l1_fix_dist: 0.2314, d3.loss_plan_l1_fix_time: 1.2918, d3.loss_plan_l1_fix_dist: 0.2419, d4.loss_plan_l1_fix_time: 1.2942, d4.loss_plan_l1_fix_dist: 0.2526, d5.loss_plan_l1_fix_time: 1.2974, d5.loss_plan_l1_fix_dist: 0.2634, d6.loss_plan_l1_fix_time: 1.3013, d6.loss_plan_l1_fix_dist: 0.2772, d0.loss_cls_all: 0.2859, d0.loss_bbox_all: 0.4738, d0.loss_cls: 0.2859, d0.loss_bbox: 0.4738, d1.loss_cls: 0.2798, d1.loss_bbox: 0.4486, d2.loss_cls: 0.2730, d2.loss_bbox: 0.4395, d3.loss_cls: 0.2723, d3.loss_bbox: 0.4317, d4.loss_cls: 0.2721, d4.loss_bbox: 0.4310, d5.loss_cls: 0.2704, d5.loss_bbox: 0.4318, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9150, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8222, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7986, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7887, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7909, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.7891, d0.loss_map_cls_all: 0.2406, d0.loss_map_pts_all: 1.7995, d0.loss_map_dir_all: 0.0141, d0.loss_map_cls: 0.2406, d0.loss_map_pts: 1.7995, d0.loss_map_dir: 0.0141, d1.loss_map_cls: 0.2169, d1.loss_map_pts: 1.1556, d1.loss_map_dir: 0.0133, d2.loss_map_cls: 0.2029, d2.loss_map_pts: 0.9486, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.1940, d3.loss_map_pts: 0.8691, d3.loss_map_dir: 0.0145, d4.loss_map_cls: 0.1861, d4.loss_map_pts: 0.8468, d4.loss_map_dir: 0.0148, d5.loss_map_cls: 0.1819, d5.loss_map_pts: 0.8384, d5.loss_map_dir: 0.0150, loss: 34.2312, grad_norm: 200.2043 +2026-02-25 07:09:52,567 - DriveTransformer - INFO - Epoch [4][11100/39528] lr: 9.623e-05, eta: 7 days, 14:25:07, time: 0.836, data_time: 0.038, memory: 19865, loss_cls: 0.2849, loss_bbox: 0.4806, loss_traj: 0.9584, loss_traj_cls: 0.0024, loss_map_cls: 0.2719, loss_map_pts: 1.2183, loss_map_dir: 0.0173, d0.loss_plan_l1_fix_time: 3.0270, d0.loss_plan_l1_fix_dist: 0.4807, d1.loss_plan_l1_fix_time: 1.7827, d1.loss_plan_l1_fix_dist: 0.2824, d2.loss_plan_l1_fix_time: 1.7570, d2.loss_plan_l1_fix_dist: 0.2830, d3.loss_plan_l1_fix_time: 1.7563, d3.loss_plan_l1_fix_dist: 0.2890, d4.loss_plan_l1_fix_time: 1.7584, d4.loss_plan_l1_fix_dist: 0.2979, d5.loss_plan_l1_fix_time: 1.7613, d5.loss_plan_l1_fix_dist: 0.3068, d6.loss_plan_l1_fix_time: 1.7647, d6.loss_plan_l1_fix_dist: 0.3156, d0.loss_cls_all: 0.3070, d0.loss_bbox_all: 0.5426, d0.loss_cls: 0.3070, d0.loss_bbox: 0.5426, d1.loss_cls: 0.2996, d1.loss_bbox: 0.5112, d2.loss_cls: 0.2931, d2.loss_bbox: 0.4943, d3.loss_cls: 0.2873, d3.loss_bbox: 0.4866, d4.loss_cls: 0.2849, d4.loss_bbox: 0.4821, d5.loss_cls: 0.2849, d5.loss_bbox: 0.4798, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1640, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9822, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9474, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9430, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9533, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.9565, d0.loss_map_cls_all: 0.3219, d0.loss_map_pts_all: 2.1789, d0.loss_map_dir_all: 0.0160, d0.loss_map_cls: 0.3219, d0.loss_map_pts: 2.1789, d0.loss_map_dir: 0.0160, d1.loss_map_cls: 0.2994, d1.loss_map_pts: 1.5500, d1.loss_map_dir: 0.0152, d2.loss_map_cls: 0.2874, d2.loss_map_pts: 1.3400, d2.loss_map_dir: 0.0156, d3.loss_map_cls: 0.2795, d3.loss_map_pts: 1.2584, d3.loss_map_dir: 0.0165, d4.loss_map_cls: 0.2764, d4.loss_map_pts: 1.2298, d4.loss_map_dir: 0.0170, d5.loss_map_cls: 0.2734, d5.loss_map_pts: 1.2209, d5.loss_map_dir: 0.0171, loss: 43.7821, grad_norm: 199.7268 +2026-02-25 07:10:31,023 - DriveTransformer - INFO - Epoch [4][11150/39528] lr: 9.623e-05, eta: 7 days, 14:24:17, time: 0.769, data_time: 0.043, memory: 19865, loss_cls: 0.3083, loss_bbox: 0.4716, loss_traj: 1.0176, loss_traj_cls: 0.0023, loss_map_cls: 0.2499, loss_map_pts: 1.0308, loss_map_dir: 0.0138, d0.loss_plan_l1_fix_time: 2.5820, d0.loss_plan_l1_fix_dist: 0.4263, d1.loss_plan_l1_fix_time: 1.5875, d1.loss_plan_l1_fix_dist: 0.2480, d2.loss_plan_l1_fix_time: 1.5840, d2.loss_plan_l1_fix_dist: 0.2471, d3.loss_plan_l1_fix_time: 1.5914, d3.loss_plan_l1_fix_dist: 0.2511, d4.loss_plan_l1_fix_time: 1.5966, d4.loss_plan_l1_fix_dist: 0.2579, d5.loss_plan_l1_fix_time: 1.6018, d5.loss_plan_l1_fix_dist: 0.2681, d6.loss_plan_l1_fix_time: 1.6071, d6.loss_plan_l1_fix_dist: 0.2798, d0.loss_cls_all: 0.3286, d0.loss_bbox_all: 0.5226, d0.loss_cls: 0.3286, d0.loss_bbox: 0.5226, d1.loss_cls: 0.3198, d1.loss_bbox: 0.4926, d2.loss_cls: 0.3143, d2.loss_bbox: 0.4757, d3.loss_cls: 0.3115, d3.loss_bbox: 0.4707, d4.loss_cls: 0.3105, d4.loss_bbox: 0.4676, d5.loss_cls: 0.3089, d5.loss_bbox: 0.4702, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2245, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0691, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0232, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0146, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0161, d5.loss_traj_cls: 0.0018, d5.loss_traj: 1.0170, d0.loss_map_cls_all: 0.3080, d0.loss_map_pts_all: 1.8505, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.3080, d0.loss_map_pts: 1.8505, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2826, d1.loss_map_pts: 1.3136, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2677, d2.loss_map_pts: 1.1351, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2577, d3.loss_map_pts: 1.0661, d3.loss_map_dir: 0.0133, d4.loss_map_cls: 0.2538, d4.loss_map_pts: 1.0401, d4.loss_map_dir: 0.0137, d5.loss_map_cls: 0.2511, d5.loss_map_pts: 1.0305, d5.loss_map_dir: 0.0137, loss: 40.5435, grad_norm: 201.7815 +2026-02-25 07:11:11,748 - DriveTransformer - INFO - Epoch [4][11200/39528] lr: 9.623e-05, eta: 7 days, 14:23:41, time: 0.815, data_time: 0.043, memory: 19865, loss_cls: 0.2869, loss_bbox: 0.4738, loss_traj: 1.2136, loss_traj_cls: 0.0024, loss_map_cls: 0.2279, loss_map_pts: 0.9451, loss_map_dir: 0.0151, d0.loss_plan_l1_fix_time: 2.7021, d0.loss_plan_l1_fix_dist: 0.3987, d1.loss_plan_l1_fix_time: 1.5905, d1.loss_plan_l1_fix_dist: 0.2338, d2.loss_plan_l1_fix_time: 1.5809, d2.loss_plan_l1_fix_dist: 0.2378, d3.loss_plan_l1_fix_time: 1.5854, d3.loss_plan_l1_fix_dist: 0.2441, d4.loss_plan_l1_fix_time: 1.5914, d4.loss_plan_l1_fix_dist: 0.2517, d5.loss_plan_l1_fix_time: 1.5974, d5.loss_plan_l1_fix_dist: 0.2604, d6.loss_plan_l1_fix_time: 1.6040, d6.loss_plan_l1_fix_dist: 0.2692, d0.loss_cls_all: 0.3045, d0.loss_bbox_all: 0.5161, d0.loss_cls: 0.3045, d0.loss_bbox: 0.5161, d1.loss_cls: 0.3015, d1.loss_bbox: 0.4834, d2.loss_cls: 0.2922, d2.loss_bbox: 0.4731, d3.loss_cls: 0.2899, d3.loss_bbox: 0.4680, d4.loss_cls: 0.2883, d4.loss_bbox: 0.4696, d5.loss_cls: 0.2875, d5.loss_bbox: 0.4709, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4568, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.2686, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.2121, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2114, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.2141, d5.loss_traj_cls: 0.0018, d5.loss_traj: 1.2105, d0.loss_map_cls_all: 0.2881, d0.loss_map_pts_all: 1.7615, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.2881, d0.loss_map_pts: 1.7615, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.2568, d1.loss_map_pts: 1.2171, d1.loss_map_dir: 0.0131, d2.loss_map_cls: 0.2436, d2.loss_map_pts: 1.0331, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2367, d3.loss_map_pts: 0.9694, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2321, d4.loss_map_pts: 0.9478, d4.loss_map_dir: 0.0147, d5.loss_map_cls: 0.2288, d5.loss_map_pts: 0.9426, d5.loss_map_dir: 0.0149, loss: 40.8622, grad_norm: 203.2606 +2026-02-25 07:11:52,748 - DriveTransformer - INFO - Epoch [4][11250/39528] lr: 9.623e-05, eta: 7 days, 14:23:06, time: 0.820, data_time: 0.036, memory: 19865, loss_cls: 0.2883, loss_bbox: 0.4610, loss_traj: 1.0099, loss_traj_cls: 0.0024, loss_map_cls: 0.2616, loss_map_pts: 1.1567, loss_map_dir: 0.0179, d0.loss_plan_l1_fix_time: 2.7255, d0.loss_plan_l1_fix_dist: 0.4398, d1.loss_plan_l1_fix_time: 1.5263, d1.loss_plan_l1_fix_dist: 0.2501, d2.loss_plan_l1_fix_time: 1.5208, d2.loss_plan_l1_fix_dist: 0.2497, d3.loss_plan_l1_fix_time: 1.5275, d3.loss_plan_l1_fix_dist: 0.2561, d4.loss_plan_l1_fix_time: 1.5323, d4.loss_plan_l1_fix_dist: 0.2636, d5.loss_plan_l1_fix_time: 1.5366, d5.loss_plan_l1_fix_dist: 0.2730, d6.loss_plan_l1_fix_time: 1.5417, d6.loss_plan_l1_fix_dist: 0.2833, d0.loss_cls_all: 0.3126, d0.loss_bbox_all: 0.5011, d0.loss_cls: 0.3126, d0.loss_bbox: 0.5011, d1.loss_cls: 0.3002, d1.loss_bbox: 0.4762, d2.loss_cls: 0.2942, d2.loss_bbox: 0.4677, d3.loss_cls: 0.2890, d3.loss_bbox: 0.4645, d4.loss_cls: 0.2875, d4.loss_bbox: 0.4628, d5.loss_cls: 0.2878, d5.loss_bbox: 0.4597, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1710, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0099, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0045, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9989, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0100, d5.loss_traj_cls: 0.0018, d5.loss_traj: 1.0111, d0.loss_map_cls_all: 0.3140, d0.loss_map_pts_all: 2.1153, d0.loss_map_dir_all: 0.0162, d0.loss_map_cls: 0.3140, d0.loss_map_pts: 2.1153, d0.loss_map_dir: 0.0162, d1.loss_map_cls: 0.2912, d1.loss_map_pts: 1.4684, d1.loss_map_dir: 0.0159, d2.loss_map_cls: 0.2809, d2.loss_map_pts: 1.2623, d2.loss_map_dir: 0.0166, d3.loss_map_cls: 0.2728, d3.loss_map_pts: 1.1913, d3.loss_map_dir: 0.0172, d4.loss_map_cls: 0.2651, d4.loss_map_pts: 1.1712, d4.loss_map_dir: 0.0176, d5.loss_map_cls: 0.2633, d5.loss_map_pts: 1.1622, d5.loss_map_dir: 0.0178, loss: 41.3570, grad_norm: 202.5845 +2026-02-25 07:12:31,926 - DriveTransformer - INFO - Epoch [4][11300/39528] lr: 9.623e-05, eta: 7 days, 14:22:21, time: 0.784, data_time: 0.042, memory: 19865, loss_cls: 0.2834, loss_bbox: 0.4480, loss_traj: 0.9025, loss_traj_cls: 0.0024, loss_map_cls: 0.2270, loss_map_pts: 0.9250, loss_map_dir: 0.0146, d0.loss_plan_l1_fix_time: 2.5523, d0.loss_plan_l1_fix_dist: 0.3608, d1.loss_plan_l1_fix_time: 1.3486, d1.loss_plan_l1_fix_dist: 0.2239, d2.loss_plan_l1_fix_time: 1.3189, d2.loss_plan_l1_fix_dist: 0.2257, d3.loss_plan_l1_fix_time: 1.3158, d3.loss_plan_l1_fix_dist: 0.2342, d4.loss_plan_l1_fix_time: 1.3186, d4.loss_plan_l1_fix_dist: 0.2443, d5.loss_plan_l1_fix_time: 1.3236, d5.loss_plan_l1_fix_dist: 0.2539, d6.loss_plan_l1_fix_time: 1.3303, d6.loss_plan_l1_fix_dist: 0.2634, d0.loss_cls_all: 0.3112, d0.loss_bbox_all: 0.4991, d0.loss_cls: 0.3112, d0.loss_bbox: 0.4991, d1.loss_cls: 0.2982, d1.loss_bbox: 0.4712, d2.loss_cls: 0.2888, d2.loss_bbox: 0.4565, d3.loss_cls: 0.2850, d3.loss_bbox: 0.4509, d4.loss_cls: 0.2837, d4.loss_bbox: 0.4499, d5.loss_cls: 0.2843, d5.loss_bbox: 0.4471, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0726, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9558, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9159, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8994, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9017, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.8999, d0.loss_map_cls_all: 0.2808, d0.loss_map_pts_all: 1.8183, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.2808, d0.loss_map_pts: 1.8183, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.2576, d1.loss_map_pts: 1.2217, d1.loss_map_dir: 0.0129, d2.loss_map_cls: 0.2453, d2.loss_map_pts: 1.0306, d2.loss_map_dir: 0.0133, d3.loss_map_cls: 0.2337, d3.loss_map_pts: 0.9594, d3.loss_map_dir: 0.0139, d4.loss_map_cls: 0.2282, d4.loss_map_pts: 0.9358, d4.loss_map_dir: 0.0141, d5.loss_map_cls: 0.2283, d5.loss_map_pts: 0.9292, d5.loss_map_dir: 0.0144, loss: 36.6681, grad_norm: 198.9236 +2026-02-25 07:13:13,786 - DriveTransformer - INFO - Epoch [4][11350/39528] lr: 9.623e-05, eta: 7 days, 14:21:52, time: 0.837, data_time: 0.040, memory: 19865, loss_cls: 0.3078, loss_bbox: 0.5084, loss_traj: 0.9359, loss_traj_cls: 0.0024, loss_map_cls: 0.2557, loss_map_pts: 1.1441, loss_map_dir: 0.0186, d0.loss_plan_l1_fix_time: 2.6030, d0.loss_plan_l1_fix_dist: 0.3929, d1.loss_plan_l1_fix_time: 1.4700, d1.loss_plan_l1_fix_dist: 0.2321, d2.loss_plan_l1_fix_time: 1.4517, d2.loss_plan_l1_fix_dist: 0.2405, d3.loss_plan_l1_fix_time: 1.4510, d3.loss_plan_l1_fix_dist: 0.2523, d4.loss_plan_l1_fix_time: 1.4550, d4.loss_plan_l1_fix_dist: 0.2646, d5.loss_plan_l1_fix_time: 1.4601, d5.loss_plan_l1_fix_dist: 0.2817, d6.loss_plan_l1_fix_time: 1.4656, d6.loss_plan_l1_fix_dist: 0.3004, d0.loss_cls_all: 0.3285, d0.loss_bbox_all: 0.5665, d0.loss_cls: 0.3285, d0.loss_bbox: 0.5665, d1.loss_cls: 0.3171, d1.loss_bbox: 0.5327, d2.loss_cls: 0.3111, d2.loss_bbox: 0.5161, d3.loss_cls: 0.3095, d3.loss_bbox: 0.5104, d4.loss_cls: 0.3078, d4.loss_bbox: 0.5075, d5.loss_cls: 0.3072, d5.loss_bbox: 0.5068, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1274, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9571, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9328, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9305, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9371, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.9376, d0.loss_map_cls_all: 0.3101, d0.loss_map_pts_all: 2.2718, d0.loss_map_dir_all: 0.0173, d0.loss_map_cls: 0.3101, d0.loss_map_pts: 2.2718, d0.loss_map_dir: 0.0173, d1.loss_map_cls: 0.2840, d1.loss_map_pts: 1.5106, d1.loss_map_dir: 0.0164, d2.loss_map_cls: 0.2706, d2.loss_map_pts: 1.2744, d2.loss_map_dir: 0.0170, d3.loss_map_cls: 0.2597, d3.loss_map_pts: 1.1862, d3.loss_map_dir: 0.0178, d4.loss_map_cls: 0.2568, d4.loss_map_pts: 1.1561, d4.loss_map_dir: 0.0182, d5.loss_map_cls: 0.2567, d5.loss_map_pts: 1.1453, d5.loss_map_dir: 0.0184, loss: 41.1254, grad_norm: 196.8969 +2026-02-25 07:13:53,613 - DriveTransformer - INFO - Epoch [4][11400/39528] lr: 9.623e-05, eta: 7 days, 14:21:10, time: 0.798, data_time: 0.045, memory: 19865, loss_cls: 0.2650, loss_bbox: 0.4625, loss_traj: 0.9162, loss_traj_cls: 0.0025, loss_map_cls: 0.2463, loss_map_pts: 1.0294, loss_map_dir: 0.0152, d0.loss_plan_l1_fix_time: 2.2409, d0.loss_plan_l1_fix_dist: 0.4388, d1.loss_plan_l1_fix_time: 1.3570, d1.loss_plan_l1_fix_dist: 0.2315, d2.loss_plan_l1_fix_time: 1.3323, d2.loss_plan_l1_fix_dist: 0.2352, d3.loss_plan_l1_fix_time: 1.3323, d3.loss_plan_l1_fix_dist: 0.2476, d4.loss_plan_l1_fix_time: 1.3359, d4.loss_plan_l1_fix_dist: 0.2626, d5.loss_plan_l1_fix_time: 1.3395, d5.loss_plan_l1_fix_dist: 0.2820, d6.loss_plan_l1_fix_time: 1.3432, d6.loss_plan_l1_fix_dist: 0.3055, d0.loss_cls_all: 0.2831, d0.loss_bbox_all: 0.5119, d0.loss_cls: 0.2831, d0.loss_bbox: 0.5119, d1.loss_cls: 0.2819, d1.loss_bbox: 0.4821, d2.loss_cls: 0.2704, d2.loss_bbox: 0.4708, d3.loss_cls: 0.2683, d3.loss_bbox: 0.4647, d4.loss_cls: 0.2667, d4.loss_bbox: 0.4644, d5.loss_cls: 0.2654, d5.loss_bbox: 0.4642, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1480, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9666, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9237, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9149, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9150, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.9185, d0.loss_map_cls_all: 0.3069, d0.loss_map_pts_all: 2.0533, d0.loss_map_dir_all: 0.0148, d0.loss_map_cls: 0.3069, d0.loss_map_pts: 2.0533, d0.loss_map_dir: 0.0148, d1.loss_map_cls: 0.2813, d1.loss_map_pts: 1.3875, d1.loss_map_dir: 0.0135, d2.loss_map_cls: 0.2656, d2.loss_map_pts: 1.1694, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2532, d3.loss_map_pts: 1.0784, d3.loss_map_dir: 0.0146, d4.loss_map_cls: 0.2482, d4.loss_map_pts: 1.0415, d4.loss_map_dir: 0.0149, d5.loss_map_cls: 0.2470, d5.loss_map_pts: 1.0312, d5.loss_map_dir: 0.0150, loss: 38.1282, grad_norm: 197.5403 +2026-02-25 07:14:35,190 - DriveTransformer - INFO - Epoch [4][11450/39528] lr: 9.623e-05, eta: 7 days, 14:20:39, time: 0.830, data_time: 0.037, memory: 19865, loss_cls: 0.2796, loss_bbox: 0.4454, loss_traj: 0.8016, loss_traj_cls: 0.0025, loss_map_cls: 0.2481, loss_map_pts: 1.0512, loss_map_dir: 0.0181, d0.loss_plan_l1_fix_time: 2.7466, d0.loss_plan_l1_fix_dist: 0.3976, d1.loss_plan_l1_fix_time: 1.6282, d1.loss_plan_l1_fix_dist: 0.2479, d2.loss_plan_l1_fix_time: 1.6104, d2.loss_plan_l1_fix_dist: 0.2558, d3.loss_plan_l1_fix_time: 1.6126, d3.loss_plan_l1_fix_dist: 0.2722, d4.loss_plan_l1_fix_time: 1.6166, d4.loss_plan_l1_fix_dist: 0.2923, d5.loss_plan_l1_fix_time: 1.6209, d5.loss_plan_l1_fix_dist: 0.3109, d6.loss_plan_l1_fix_time: 1.6266, d6.loss_plan_l1_fix_dist: 0.3340, d0.loss_cls_all: 0.2976, d0.loss_bbox_all: 0.5003, d0.loss_cls: 0.2976, d0.loss_bbox: 0.5003, d1.loss_cls: 0.2937, d1.loss_bbox: 0.4680, d2.loss_cls: 0.2843, d2.loss_bbox: 0.4552, d3.loss_cls: 0.2801, d3.loss_bbox: 0.4482, d4.loss_cls: 0.2786, d4.loss_bbox: 0.4465, d5.loss_cls: 0.2779, d5.loss_bbox: 0.4461, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9928, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8626, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8205, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8092, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8103, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.8045, d0.loss_map_cls_all: 0.3187, d0.loss_map_pts_all: 2.1749, d0.loss_map_dir_all: 0.0175, d0.loss_map_cls: 0.3187, d0.loss_map_pts: 2.1749, d0.loss_map_dir: 0.0175, d1.loss_map_cls: 0.2880, d1.loss_map_pts: 1.3979, d1.loss_map_dir: 0.0163, d2.loss_map_cls: 0.2734, d2.loss_map_pts: 1.1694, d2.loss_map_dir: 0.0166, d3.loss_map_cls: 0.2594, d3.loss_map_pts: 1.0870, d3.loss_map_dir: 0.0174, d4.loss_map_cls: 0.2534, d4.loss_map_pts: 1.0598, d4.loss_map_dir: 0.0177, d5.loss_map_cls: 0.2490, d5.loss_map_pts: 1.0544, d5.loss_map_dir: 0.0179, loss: 39.9996, grad_norm: 197.9510 +2026-02-25 07:15:15,244 - DriveTransformer - INFO - Epoch [4][11500/39528] lr: 9.623e-05, eta: 7 days, 14:19:59, time: 0.801, data_time: 0.039, memory: 19865, loss_cls: 0.2397, loss_bbox: 0.4214, loss_traj: 0.9320, loss_traj_cls: 0.0025, loss_map_cls: 0.2101, loss_map_pts: 0.9258, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.9329, d0.loss_plan_l1_fix_dist: 0.4343, d1.loss_plan_l1_fix_time: 1.6420, d1.loss_plan_l1_fix_dist: 0.2412, d2.loss_plan_l1_fix_time: 1.6206, d2.loss_plan_l1_fix_dist: 0.2509, d3.loss_plan_l1_fix_time: 1.6199, d3.loss_plan_l1_fix_dist: 0.2688, d4.loss_plan_l1_fix_time: 1.6237, d4.loss_plan_l1_fix_dist: 0.2907, d5.loss_plan_l1_fix_time: 1.6285, d5.loss_plan_l1_fix_dist: 0.3133, d6.loss_plan_l1_fix_time: 1.6345, d6.loss_plan_l1_fix_dist: 0.3386, d0.loss_cls_all: 0.2538, d0.loss_bbox_all: 0.4743, d0.loss_cls: 0.2538, d0.loss_bbox: 0.4743, d1.loss_cls: 0.2486, d1.loss_bbox: 0.4439, d2.loss_cls: 0.2416, d2.loss_bbox: 0.4304, d3.loss_cls: 0.2395, d3.loss_bbox: 0.4237, d4.loss_cls: 0.2415, d4.loss_bbox: 0.4194, d5.loss_cls: 0.2403, d5.loss_bbox: 0.4205, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1213, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9685, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9378, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9346, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9356, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.9429, d0.loss_map_cls_all: 0.2640, d0.loss_map_pts_all: 1.7149, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2640, d0.loss_map_pts: 1.7149, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2395, d1.loss_map_pts: 1.2033, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2300, d2.loss_map_pts: 1.0200, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.2174, d3.loss_map_pts: 0.9547, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2143, d4.loss_map_pts: 0.9362, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.2111, d5.loss_map_pts: 0.9295, d5.loss_map_dir: 0.0126, loss: 38.4339, grad_norm: 199.4262 +2026-02-25 07:15:57,017 - DriveTransformer - INFO - Epoch [4][11550/39528] lr: 9.623e-05, eta: 7 days, 14:19:29, time: 0.835, data_time: 0.038, memory: 19865, loss_cls: 0.2840, loss_bbox: 0.4494, loss_traj: 0.7782, loss_traj_cls: 0.0025, loss_map_cls: 0.2536, loss_map_pts: 1.1648, loss_map_dir: 0.0194, d0.loss_plan_l1_fix_time: 2.9618, d0.loss_plan_l1_fix_dist: 0.4023, d1.loss_plan_l1_fix_time: 1.4026, d1.loss_plan_l1_fix_dist: 0.2394, d2.loss_plan_l1_fix_time: 1.3784, d2.loss_plan_l1_fix_dist: 0.2457, d3.loss_plan_l1_fix_time: 1.3842, d3.loss_plan_l1_fix_dist: 0.2566, d4.loss_plan_l1_fix_time: 1.3896, d4.loss_plan_l1_fix_dist: 0.2700, d5.loss_plan_l1_fix_time: 1.3951, d5.loss_plan_l1_fix_dist: 0.2845, d6.loss_plan_l1_fix_time: 1.4000, d6.loss_plan_l1_fix_dist: 0.2982, d0.loss_cls_all: 0.3084, d0.loss_bbox_all: 0.4965, d0.loss_cls: 0.3084, d0.loss_bbox: 0.4965, d1.loss_cls: 0.2949, d1.loss_bbox: 0.4757, d2.loss_cls: 0.2865, d2.loss_bbox: 0.4612, d3.loss_cls: 0.2848, d3.loss_bbox: 0.4549, d4.loss_cls: 0.2829, d4.loss_bbox: 0.4500, d5.loss_cls: 0.2819, d5.loss_bbox: 0.4502, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9362, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8043, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7787, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7769, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7783, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.7797, d0.loss_map_cls_all: 0.3116, d0.loss_map_pts_all: 2.2945, d0.loss_map_dir_all: 0.0181, d0.loss_map_cls: 0.3116, d0.loss_map_pts: 2.2945, d0.loss_map_dir: 0.0181, d1.loss_map_cls: 0.2843, d1.loss_map_pts: 1.5514, d1.loss_map_dir: 0.0173, d2.loss_map_cls: 0.2744, d2.loss_map_pts: 1.3006, d2.loss_map_dir: 0.0178, d3.loss_map_cls: 0.2631, d3.loss_map_pts: 1.2087, d3.loss_map_dir: 0.0186, d4.loss_map_cls: 0.2593, d4.loss_map_pts: 1.1768, d4.loss_map_dir: 0.0191, d5.loss_map_cls: 0.2557, d5.loss_map_pts: 1.1687, d5.loss_map_dir: 0.0192, loss: 39.5364, grad_norm: 197.0056 +2026-02-25 07:16:38,813 - DriveTransformer - INFO - Epoch [4][11600/39528] lr: 9.623e-05, eta: 7 days, 14:19:00, time: 0.836, data_time: 0.046, memory: 19865, loss_cls: 0.2712, loss_bbox: 0.4260, loss_traj: 0.9346, loss_traj_cls: 0.0026, loss_map_cls: 0.2521, loss_map_pts: 1.0491, loss_map_dir: 0.0161, d0.loss_plan_l1_fix_time: 2.7736, d0.loss_plan_l1_fix_dist: 0.3777, d1.loss_plan_l1_fix_time: 1.3784, d1.loss_plan_l1_fix_dist: 0.2147, d2.loss_plan_l1_fix_time: 1.3633, d2.loss_plan_l1_fix_dist: 0.2237, d3.loss_plan_l1_fix_time: 1.3652, d3.loss_plan_l1_fix_dist: 0.2376, d4.loss_plan_l1_fix_time: 1.3692, d4.loss_plan_l1_fix_dist: 0.2513, d5.loss_plan_l1_fix_time: 1.3731, d5.loss_plan_l1_fix_dist: 0.2668, d6.loss_plan_l1_fix_time: 1.3767, d6.loss_plan_l1_fix_dist: 0.2823, d0.loss_cls_all: 0.2887, d0.loss_bbox_all: 0.4761, d0.loss_cls: 0.2887, d0.loss_bbox: 0.4761, d1.loss_cls: 0.2790, d1.loss_bbox: 0.4504, d2.loss_cls: 0.2740, d2.loss_bbox: 0.4359, d3.loss_cls: 0.2705, d3.loss_bbox: 0.4289, d4.loss_cls: 0.2697, d4.loss_bbox: 0.4259, d5.loss_cls: 0.2704, d5.loss_bbox: 0.4250, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1200, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9641, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9300, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9348, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9347, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.9336, d0.loss_map_cls_all: 0.2966, d0.loss_map_pts_all: 1.9683, d0.loss_map_dir_all: 0.0149, d0.loss_map_cls: 0.2966, d0.loss_map_pts: 1.9683, d0.loss_map_dir: 0.0149, d1.loss_map_cls: 0.2776, d1.loss_map_pts: 1.3653, d1.loss_map_dir: 0.0144, d2.loss_map_cls: 0.2677, d2.loss_map_pts: 1.1738, d2.loss_map_dir: 0.0148, d3.loss_map_cls: 0.2574, d3.loss_map_pts: 1.0953, d3.loss_map_dir: 0.0154, d4.loss_map_cls: 0.2536, d4.loss_map_pts: 1.0607, d4.loss_map_dir: 0.0159, d5.loss_map_cls: 0.2531, d5.loss_map_pts: 1.0499, d5.loss_map_dir: 0.0160, loss: 38.3787, grad_norm: 190.8380 +2026-02-25 07:17:20,169 - DriveTransformer - INFO - Epoch [4][11650/39528] lr: 9.623e-05, eta: 7 days, 14:18:28, time: 0.827, data_time: 0.049, memory: 19865, loss_cls: 0.3044, loss_bbox: 0.4676, loss_traj: 0.7810, loss_traj_cls: 0.0026, loss_map_cls: 0.2495, loss_map_pts: 1.1061, loss_map_dir: 0.0169, d0.loss_plan_l1_fix_time: 2.8212, d0.loss_plan_l1_fix_dist: 0.4128, d1.loss_plan_l1_fix_time: 1.6028, d1.loss_plan_l1_fix_dist: 0.2361, d2.loss_plan_l1_fix_time: 1.6069, d2.loss_plan_l1_fix_dist: 0.2455, d3.loss_plan_l1_fix_time: 1.6155, d3.loss_plan_l1_fix_dist: 0.2604, d4.loss_plan_l1_fix_time: 1.6210, d4.loss_plan_l1_fix_dist: 0.2772, d5.loss_plan_l1_fix_time: 1.6271, d5.loss_plan_l1_fix_dist: 0.2945, d6.loss_plan_l1_fix_time: 1.6346, d6.loss_plan_l1_fix_dist: 0.3153, d0.loss_cls_all: 0.3278, d0.loss_bbox_all: 0.5276, d0.loss_cls: 0.3278, d0.loss_bbox: 0.5276, d1.loss_cls: 0.3197, d1.loss_bbox: 0.4937, d2.loss_cls: 0.3093, d2.loss_bbox: 0.4803, d3.loss_cls: 0.3065, d3.loss_bbox: 0.4713, d4.loss_cls: 0.3065, d4.loss_bbox: 0.4656, d5.loss_cls: 0.3044, d5.loss_bbox: 0.4671, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9910, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8144, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7939, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7889, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7861, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.7839, d0.loss_map_cls_all: 0.2999, d0.loss_map_pts_all: 2.0802, d0.loss_map_dir_all: 0.0156, d0.loss_map_cls: 0.2999, d0.loss_map_pts: 2.0802, d0.loss_map_dir: 0.0156, d1.loss_map_cls: 0.2741, d1.loss_map_pts: 1.4467, d1.loss_map_dir: 0.0151, d2.loss_map_cls: 0.2641, d2.loss_map_pts: 1.2322, d2.loss_map_dir: 0.0156, d3.loss_map_cls: 0.2569, d3.loss_map_pts: 1.1479, d3.loss_map_dir: 0.0162, d4.loss_map_cls: 0.2510, d4.loss_map_pts: 1.1175, d4.loss_map_dir: 0.0165, d5.loss_map_cls: 0.2504, d5.loss_map_pts: 1.1047, d5.loss_map_dir: 0.0167, loss: 40.3161, grad_norm: 187.9207 +2026-02-25 07:18:01,959 - DriveTransformer - INFO - Epoch [4][11700/39528] lr: 9.623e-05, eta: 7 days, 14:17:58, time: 0.836, data_time: 0.041, memory: 19865, loss_cls: 0.2470, loss_bbox: 0.4188, loss_traj: 0.9254, loss_traj_cls: 0.0026, loss_map_cls: 0.2637, loss_map_pts: 1.0767, loss_map_dir: 0.0160, d0.loss_plan_l1_fix_time: 2.7886, d0.loss_plan_l1_fix_dist: 0.3186, d1.loss_plan_l1_fix_time: 1.5218, d1.loss_plan_l1_fix_dist: 0.2163, d2.loss_plan_l1_fix_time: 1.5061, d2.loss_plan_l1_fix_dist: 0.2233, d3.loss_plan_l1_fix_time: 1.5103, d3.loss_plan_l1_fix_dist: 0.2400, d4.loss_plan_l1_fix_time: 1.5155, d4.loss_plan_l1_fix_dist: 0.2626, d5.loss_plan_l1_fix_time: 1.5210, d5.loss_plan_l1_fix_dist: 0.2858, d6.loss_plan_l1_fix_time: 1.5274, d6.loss_plan_l1_fix_dist: 0.3089, d0.loss_cls_all: 0.2677, d0.loss_bbox_all: 0.4703, d0.loss_cls: 0.2677, d0.loss_bbox: 0.4703, d1.loss_cls: 0.2621, d1.loss_bbox: 0.4405, d2.loss_cls: 0.2537, d2.loss_bbox: 0.4244, d3.loss_cls: 0.2505, d3.loss_bbox: 0.4201, d4.loss_cls: 0.2472, d4.loss_bbox: 0.4180, d5.loss_cls: 0.2463, d5.loss_bbox: 0.4187, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1634, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9972, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9606, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9441, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9305, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.9278, d0.loss_map_cls_all: 0.3280, d0.loss_map_pts_all: 2.1294, d0.loss_map_dir_all: 0.0150, d0.loss_map_cls: 0.3280, d0.loss_map_pts: 2.1294, d0.loss_map_dir: 0.0150, d1.loss_map_cls: 0.2967, d1.loss_map_pts: 1.4101, d1.loss_map_dir: 0.0143, d2.loss_map_cls: 0.2803, d2.loss_map_pts: 1.1867, d2.loss_map_dir: 0.0148, d3.loss_map_cls: 0.2703, d3.loss_map_pts: 1.1125, d3.loss_map_dir: 0.0155, d4.loss_map_cls: 0.2660, d4.loss_map_pts: 1.0863, d4.loss_map_dir: 0.0157, d5.loss_map_cls: 0.2637, d5.loss_map_pts: 1.0801, d5.loss_map_dir: 0.0158, loss: 39.7571, grad_norm: 184.0779 +2026-02-25 07:18:42,562 - DriveTransformer - INFO - Epoch [4][11750/39528] lr: 9.623e-05, eta: 7 days, 14:17:21, time: 0.812, data_time: 0.044, memory: 19865, loss_cls: 0.2931, loss_bbox: 0.4830, loss_traj: 0.9217, loss_traj_cls: 0.0027, loss_map_cls: 0.2624, loss_map_pts: 1.0394, loss_map_dir: 0.0156, d0.loss_plan_l1_fix_time: 3.0697, d0.loss_plan_l1_fix_dist: 0.4064, d1.loss_plan_l1_fix_time: 1.7491, d1.loss_plan_l1_fix_dist: 0.2532, d2.loss_plan_l1_fix_time: 1.7433, d2.loss_plan_l1_fix_dist: 0.2591, d3.loss_plan_l1_fix_time: 1.7467, d3.loss_plan_l1_fix_dist: 0.2707, d4.loss_plan_l1_fix_time: 1.7505, d4.loss_plan_l1_fix_dist: 0.2861, d5.loss_plan_l1_fix_time: 1.7544, d5.loss_plan_l1_fix_dist: 0.3053, d6.loss_plan_l1_fix_time: 1.7591, d6.loss_plan_l1_fix_dist: 0.3246, d0.loss_cls_all: 0.3141, d0.loss_bbox_all: 0.5439, d0.loss_cls: 0.3141, d0.loss_bbox: 0.5439, d1.loss_cls: 0.3059, d1.loss_bbox: 0.5128, d2.loss_cls: 0.2992, d2.loss_bbox: 0.4941, d3.loss_cls: 0.2947, d3.loss_bbox: 0.4875, d4.loss_cls: 0.2925, d4.loss_bbox: 0.4852, d5.loss_cls: 0.2920, d5.loss_bbox: 0.4828, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1577, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9766, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9286, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9207, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9143, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.9217, d0.loss_map_cls_all: 0.3220, d0.loss_map_pts_all: 1.9083, d0.loss_map_dir_all: 0.0144, d0.loss_map_cls: 0.3220, d0.loss_map_pts: 1.9083, d0.loss_map_dir: 0.0144, d1.loss_map_cls: 0.2922, d1.loss_map_pts: 1.3147, d1.loss_map_dir: 0.0138, d2.loss_map_cls: 0.2817, d2.loss_map_pts: 1.1301, d2.loss_map_dir: 0.0142, d3.loss_map_cls: 0.2690, d3.loss_map_pts: 1.0646, d3.loss_map_dir: 0.0150, d4.loss_map_cls: 0.2631, d4.loss_map_pts: 1.0452, d4.loss_map_dir: 0.0153, d5.loss_map_cls: 0.2615, d5.loss_map_pts: 1.0385, d5.loss_map_dir: 0.0154, loss: 41.7088, grad_norm: 182.8842 +2026-02-25 07:19:23,822 - DriveTransformer - INFO - Epoch [4][11800/39528] lr: 9.623e-05, eta: 7 days, 14:16:48, time: 0.825, data_time: 0.039, memory: 19865, loss_cls: 0.2531, loss_bbox: 0.4373, loss_traj: 1.0355, loss_traj_cls: 0.0027, loss_map_cls: 0.2185, loss_map_pts: 0.9479, loss_map_dir: 0.0152, d0.loss_plan_l1_fix_time: 3.1535, d0.loss_plan_l1_fix_dist: 0.4614, d1.loss_plan_l1_fix_time: 1.9458, d1.loss_plan_l1_fix_dist: 0.2691, d2.loss_plan_l1_fix_time: 1.9389, d2.loss_plan_l1_fix_dist: 0.2902, d3.loss_plan_l1_fix_time: 1.9384, d3.loss_plan_l1_fix_dist: 0.3130, d4.loss_plan_l1_fix_time: 1.9416, d4.loss_plan_l1_fix_dist: 0.3343, d5.loss_plan_l1_fix_time: 1.9459, d5.loss_plan_l1_fix_dist: 0.3583, d6.loss_plan_l1_fix_time: 1.9510, d6.loss_plan_l1_fix_dist: 0.3843, d0.loss_cls_all: 0.2730, d0.loss_bbox_all: 0.4848, d0.loss_cls: 0.2730, d0.loss_bbox: 0.4848, d1.loss_cls: 0.2635, d1.loss_bbox: 0.4565, d2.loss_cls: 0.2568, d2.loss_bbox: 0.4465, d3.loss_cls: 0.2559, d3.loss_bbox: 0.4377, d4.loss_cls: 0.2555, d4.loss_bbox: 0.4349, d5.loss_cls: 0.2544, d5.loss_bbox: 0.4348, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3291, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.1199, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0541, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0450, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0363, d5.loss_traj_cls: 0.0020, d5.loss_traj: 1.0395, d0.loss_map_cls_all: 0.2729, d0.loss_map_pts_all: 1.8430, d0.loss_map_dir_all: 0.0134, d0.loss_map_cls: 0.2729, d0.loss_map_pts: 1.8430, d0.loss_map_dir: 0.0134, d1.loss_map_cls: 0.2475, d1.loss_map_pts: 1.2621, d1.loss_map_dir: 0.0130, d2.loss_map_cls: 0.2313, d2.loss_map_pts: 1.0530, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2203, d3.loss_map_pts: 0.9782, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2156, d4.loss_map_pts: 0.9552, d4.loss_map_dir: 0.0148, d5.loss_map_cls: 0.2165, d5.loss_map_pts: 0.9496, d5.loss_map_dir: 0.0150, loss: 42.4371, grad_norm: 184.9825 +2026-02-25 07:20:04,311 - DriveTransformer - INFO - Epoch [4][11850/39528] lr: 9.623e-05, eta: 7 days, 14:16:11, time: 0.810, data_time: 0.052, memory: 19865, loss_cls: 0.2745, loss_bbox: 0.4433, loss_traj: 0.8796, loss_traj_cls: 0.0028, loss_map_cls: 0.2517, loss_map_pts: 0.9919, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.8387, d0.loss_plan_l1_fix_dist: 0.4686, d1.loss_plan_l1_fix_time: 1.5800, d1.loss_plan_l1_fix_dist: 0.2602, d2.loss_plan_l1_fix_time: 1.5671, d2.loss_plan_l1_fix_dist: 0.2687, d3.loss_plan_l1_fix_time: 1.5692, d3.loss_plan_l1_fix_dist: 0.2834, d4.loss_plan_l1_fix_time: 1.5728, d4.loss_plan_l1_fix_dist: 0.2981, d5.loss_plan_l1_fix_time: 1.5769, d5.loss_plan_l1_fix_dist: 0.3129, d6.loss_plan_l1_fix_time: 1.5812, d6.loss_plan_l1_fix_dist: 0.3304, d0.loss_cls_all: 0.2892, d0.loss_bbox_all: 0.4875, d0.loss_cls: 0.2892, d0.loss_bbox: 0.4875, d1.loss_cls: 0.2881, d1.loss_bbox: 0.4644, d2.loss_cls: 0.2808, d2.loss_bbox: 0.4539, d3.loss_cls: 0.2819, d3.loss_bbox: 0.4478, d4.loss_cls: 0.2769, d4.loss_bbox: 0.4431, d5.loss_cls: 0.2757, d5.loss_bbox: 0.4409, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0660, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9207, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8816, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8772, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8742, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.8763, d0.loss_map_cls_all: 0.3059, d0.loss_map_pts_all: 1.9262, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.3059, d0.loss_map_pts: 1.9262, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.2736, d1.loss_map_pts: 1.3004, d1.loss_map_dir: 0.0129, d2.loss_map_cls: 0.2639, d2.loss_map_pts: 1.0924, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2558, d3.loss_map_pts: 1.0181, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.2520, d4.loss_map_pts: 0.9972, d4.loss_map_dir: 0.0145, d5.loss_map_cls: 0.2531, d5.loss_map_pts: 0.9926, d5.loss_map_dir: 0.0147, loss: 39.3364, grad_norm: 185.9210 +2026-02-25 07:20:44,713 - DriveTransformer - INFO - Epoch [4][11900/39528] lr: 9.623e-05, eta: 7 days, 14:15:33, time: 0.808, data_time: 0.041, memory: 19865, loss_cls: 0.2786, loss_bbox: 0.4451, loss_traj: 0.9916, loss_traj_cls: 0.0028, loss_map_cls: 0.2531, loss_map_pts: 1.0088, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 3.1112, d0.loss_plan_l1_fix_dist: 0.3901, d1.loss_plan_l1_fix_time: 1.7142, d1.loss_plan_l1_fix_dist: 0.2061, d2.loss_plan_l1_fix_time: 1.6860, d2.loss_plan_l1_fix_dist: 0.2091, d3.loss_plan_l1_fix_time: 1.6828, d3.loss_plan_l1_fix_dist: 0.2218, d4.loss_plan_l1_fix_time: 1.6847, d4.loss_plan_l1_fix_dist: 0.2379, d5.loss_plan_l1_fix_time: 1.6873, d5.loss_plan_l1_fix_dist: 0.2538, d6.loss_plan_l1_fix_time: 1.6904, d6.loss_plan_l1_fix_dist: 0.2691, d0.loss_cls_all: 0.3053, d0.loss_bbox_all: 0.4965, d0.loss_cls: 0.3053, d0.loss_bbox: 0.4965, d1.loss_cls: 0.2933, d1.loss_bbox: 0.4680, d2.loss_cls: 0.2849, d2.loss_bbox: 0.4539, d3.loss_cls: 0.2817, d3.loss_bbox: 0.4476, d4.loss_cls: 0.2781, d4.loss_bbox: 0.4454, d5.loss_cls: 0.2776, d5.loss_bbox: 0.4448, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1848, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0467, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0057, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9928, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9884, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.9956, d0.loss_map_cls_all: 0.3152, d0.loss_map_pts_all: 1.8921, d0.loss_map_dir_all: 0.0129, d0.loss_map_cls: 0.3152, d0.loss_map_pts: 1.8921, d0.loss_map_dir: 0.0129, d1.loss_map_cls: 0.2805, d1.loss_map_pts: 1.3238, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2644, d2.loss_map_pts: 1.1342, d2.loss_map_dir: 0.0131, d3.loss_map_cls: 0.2563, d3.loss_map_pts: 1.0539, d3.loss_map_dir: 0.0138, d4.loss_map_cls: 0.2525, d4.loss_map_pts: 1.0226, d4.loss_map_dir: 0.0142, d5.loss_map_cls: 0.2531, d5.loss_map_pts: 1.0115, d5.loss_map_dir: 0.0143, loss: 40.8998, grad_norm: 185.4546 +2026-02-25 07:21:25,766 - DriveTransformer - INFO - Epoch [4][11950/39528] lr: 9.623e-05, eta: 7 days, 14:14:59, time: 0.821, data_time: 0.052, memory: 19865, loss_cls: 0.2944, loss_bbox: 0.4593, loss_traj: 0.9042, loss_traj_cls: 0.0027, loss_map_cls: 0.2508, loss_map_pts: 1.0549, loss_map_dir: 0.0138, d0.loss_plan_l1_fix_time: 2.9141, d0.loss_plan_l1_fix_dist: 0.4025, d1.loss_plan_l1_fix_time: 1.7643, d1.loss_plan_l1_fix_dist: 0.2420, d2.loss_plan_l1_fix_time: 1.7366, d2.loss_plan_l1_fix_dist: 0.2502, d3.loss_plan_l1_fix_time: 1.7350, d3.loss_plan_l1_fix_dist: 0.2615, d4.loss_plan_l1_fix_time: 1.7372, d4.loss_plan_l1_fix_dist: 0.2740, d5.loss_plan_l1_fix_time: 1.7402, d5.loss_plan_l1_fix_dist: 0.2891, d6.loss_plan_l1_fix_time: 1.7441, d6.loss_plan_l1_fix_dist: 0.3049, d0.loss_cls_all: 0.3150, d0.loss_bbox_all: 0.5046, d0.loss_cls: 0.3150, d0.loss_bbox: 0.5046, d1.loss_cls: 0.3062, d1.loss_bbox: 0.4814, d2.loss_cls: 0.3003, d2.loss_bbox: 0.4653, d3.loss_cls: 0.2970, d3.loss_bbox: 0.4591, d4.loss_cls: 0.2954, d4.loss_bbox: 0.4564, d5.loss_cls: 0.2946, d5.loss_bbox: 0.4570, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1254, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9735, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9078, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9003, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8993, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.9010, d0.loss_map_cls_all: 0.3130, d0.loss_map_pts_all: 1.8807, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.3130, d0.loss_map_pts: 1.8807, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2841, d1.loss_map_pts: 1.3283, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2653, d2.loss_map_pts: 1.1535, d2.loss_map_dir: 0.0126, d3.loss_map_cls: 0.2552, d3.loss_map_pts: 1.0879, d3.loss_map_dir: 0.0132, d4.loss_map_cls: 0.2525, d4.loss_map_pts: 1.0657, d4.loss_map_dir: 0.0136, d5.loss_map_cls: 0.2519, d5.loss_map_pts: 1.0575, d5.loss_map_dir: 0.0137, loss: 41.0205, grad_norm: 187.2546 +2026-02-25 07:22:06,073 - DriveTransformer - INFO - Epoch [4][12000/39528] lr: 9.623e-05, eta: 7 days, 14:14:20, time: 0.806, data_time: 0.041, memory: 19865, loss_cls: 0.2783, loss_bbox: 0.4636, loss_traj: 0.9384, loss_traj_cls: 0.0027, loss_map_cls: 0.2456, loss_map_pts: 1.0418, loss_map_dir: 0.0138, d0.loss_plan_l1_fix_time: 2.9328, d0.loss_plan_l1_fix_dist: 0.4506, d1.loss_plan_l1_fix_time: 1.6191, d1.loss_plan_l1_fix_dist: 0.2155, d2.loss_plan_l1_fix_time: 1.5972, d2.loss_plan_l1_fix_dist: 0.2225, d3.loss_plan_l1_fix_time: 1.5955, d3.loss_plan_l1_fix_dist: 0.2326, d4.loss_plan_l1_fix_time: 1.5985, d4.loss_plan_l1_fix_dist: 0.2468, d5.loss_plan_l1_fix_time: 1.6017, d5.loss_plan_l1_fix_dist: 0.2618, d6.loss_plan_l1_fix_time: 1.6055, d6.loss_plan_l1_fix_dist: 0.2795, d0.loss_cls_all: 0.2924, d0.loss_bbox_all: 0.5162, d0.loss_cls: 0.2924, d0.loss_bbox: 0.5162, d1.loss_cls: 0.2909, d1.loss_bbox: 0.4854, d2.loss_cls: 0.2850, d2.loss_bbox: 0.4714, d3.loss_cls: 0.2827, d3.loss_bbox: 0.4654, d4.loss_cls: 0.2806, d4.loss_bbox: 0.4621, d5.loss_cls: 0.2798, d5.loss_bbox: 0.4630, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1816, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9995, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9476, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9328, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9313, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.9309, d0.loss_map_cls_all: 0.3001, d0.loss_map_pts_all: 1.8924, d0.loss_map_dir_all: 0.0126, d0.loss_map_cls: 0.3001, d0.loss_map_pts: 1.8924, d0.loss_map_dir: 0.0126, d1.loss_map_cls: 0.2778, d1.loss_map_pts: 1.3400, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2621, d2.loss_map_pts: 1.1514, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2520, d3.loss_map_pts: 1.0802, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2482, d4.loss_map_pts: 1.0540, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.2463, d5.loss_map_pts: 1.0440, d5.loss_map_dir: 0.0136, loss: 40.1877, grad_norm: 186.3991 +2026-02-25 07:22:46,961 - DriveTransformer - INFO - Epoch [4][12050/39528] lr: 9.623e-05, eta: 7 days, 14:13:45, time: 0.818, data_time: 0.042, memory: 19865, loss_cls: 0.2725, loss_bbox: 0.4388, loss_traj: 0.9890, loss_traj_cls: 0.0026, loss_map_cls: 0.2312, loss_map_pts: 0.9404, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 2.8432, d0.loss_plan_l1_fix_dist: 0.3828, d1.loss_plan_l1_fix_time: 1.7119, d1.loss_plan_l1_fix_dist: 0.2097, d2.loss_plan_l1_fix_time: 1.6953, d2.loss_plan_l1_fix_dist: 0.2178, d3.loss_plan_l1_fix_time: 1.6939, d3.loss_plan_l1_fix_dist: 0.2295, d4.loss_plan_l1_fix_time: 1.6959, d4.loss_plan_l1_fix_dist: 0.2440, d5.loss_plan_l1_fix_time: 1.6984, d5.loss_plan_l1_fix_dist: 0.2597, d6.loss_plan_l1_fix_time: 1.7016, d6.loss_plan_l1_fix_dist: 0.2765, d0.loss_cls_all: 0.2953, d0.loss_bbox_all: 0.4873, d0.loss_cls: 0.2953, d0.loss_bbox: 0.4873, d1.loss_cls: 0.2884, d1.loss_bbox: 0.4594, d2.loss_cls: 0.2822, d2.loss_bbox: 0.4454, d3.loss_cls: 0.2783, d3.loss_bbox: 0.4401, d4.loss_cls: 0.2746, d4.loss_bbox: 0.4376, d5.loss_cls: 0.2726, d5.loss_bbox: 0.4378, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2331, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0648, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0037, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9956, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9890, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.9886, d0.loss_map_cls_all: 0.2836, d0.loss_map_pts_all: 1.8333, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.2836, d0.loss_map_pts: 1.8333, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2569, d1.loss_map_pts: 1.2530, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2432, d2.loss_map_pts: 1.0592, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2381, d3.loss_map_pts: 0.9809, d3.loss_map_dir: 0.0135, d4.loss_map_cls: 0.2327, d4.loss_map_pts: 0.9541, d4.loss_map_dir: 0.0138, d5.loss_map_cls: 0.2312, d5.loss_map_pts: 0.9449, d5.loss_map_dir: 0.0140, loss: 39.9313, grad_norm: 186.6256 +2026-02-25 07:23:26,013 - DriveTransformer - INFO - Epoch [4][12100/39528] lr: 9.623e-05, eta: 7 days, 14:12:58, time: 0.781, data_time: 0.041, memory: 19865, loss_cls: 0.2783, loss_bbox: 0.4456, loss_traj: 0.8118, loss_traj_cls: 0.0027, loss_map_cls: 0.2041, loss_map_pts: 0.8031, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.3529, d0.loss_plan_l1_fix_dist: 0.4400, d1.loss_plan_l1_fix_time: 1.3053, d1.loss_plan_l1_fix_dist: 0.2353, d2.loss_plan_l1_fix_time: 1.2855, d2.loss_plan_l1_fix_dist: 0.2390, d3.loss_plan_l1_fix_time: 1.2868, d3.loss_plan_l1_fix_dist: 0.2468, d4.loss_plan_l1_fix_time: 1.2896, d4.loss_plan_l1_fix_dist: 0.2571, d5.loss_plan_l1_fix_time: 1.2933, d5.loss_plan_l1_fix_dist: 0.2671, d6.loss_plan_l1_fix_time: 1.2976, d6.loss_plan_l1_fix_dist: 0.2781, d0.loss_cls_all: 0.2925, d0.loss_bbox_all: 0.4930, d0.loss_cls: 0.2925, d0.loss_bbox: 0.4930, d1.loss_cls: 0.2919, d1.loss_bbox: 0.4610, d2.loss_cls: 0.2852, d2.loss_bbox: 0.4492, d3.loss_cls: 0.2804, d3.loss_bbox: 0.4465, d4.loss_cls: 0.2772, d4.loss_bbox: 0.4462, d5.loss_cls: 0.2780, d5.loss_bbox: 0.4445, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9983, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8689, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8261, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8216, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8143, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.8112, d0.loss_map_cls_all: 0.2584, d0.loss_map_pts_all: 1.6596, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.2584, d0.loss_map_pts: 1.6596, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2335, d1.loss_map_pts: 1.1096, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2174, d2.loss_map_pts: 0.9172, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2090, d3.loss_map_pts: 0.8365, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.2059, d4.loss_map_pts: 0.8122, d4.loss_map_dir: 0.0131, d5.loss_map_cls: 0.2035, d5.loss_map_pts: 0.8062, d5.loss_map_dir: 0.0133, loss: 34.4862, grad_norm: 185.1992 +2026-02-25 07:24:07,695 - DriveTransformer - INFO - Epoch [4][12150/39528] lr: 9.623e-05, eta: 7 days, 14:12:28, time: 0.834, data_time: 0.040, memory: 19865, loss_cls: 0.2940, loss_bbox: 0.4972, loss_traj: 0.9181, loss_traj_cls: 0.0025, loss_map_cls: 0.2895, loss_map_pts: 1.2171, loss_map_dir: 0.0183, d0.loss_plan_l1_fix_time: 2.6415, d0.loss_plan_l1_fix_dist: 0.3256, d1.loss_plan_l1_fix_time: 1.3941, d1.loss_plan_l1_fix_dist: 0.2180, d2.loss_plan_l1_fix_time: 1.3895, d2.loss_plan_l1_fix_dist: 0.2218, d3.loss_plan_l1_fix_time: 1.3943, d3.loss_plan_l1_fix_dist: 0.2336, d4.loss_plan_l1_fix_time: 1.3989, d4.loss_plan_l1_fix_dist: 0.2488, d5.loss_plan_l1_fix_time: 1.4028, d5.loss_plan_l1_fix_dist: 0.2693, d6.loss_plan_l1_fix_time: 1.4067, d6.loss_plan_l1_fix_dist: 0.2899, d0.loss_cls_all: 0.3165, d0.loss_bbox_all: 0.5514, d0.loss_cls: 0.3165, d0.loss_bbox: 0.5514, d1.loss_cls: 0.3100, d1.loss_bbox: 0.5203, d2.loss_cls: 0.3054, d2.loss_bbox: 0.5047, d3.loss_cls: 0.3009, d3.loss_bbox: 0.5001, d4.loss_cls: 0.2977, d4.loss_bbox: 0.4974, d5.loss_cls: 0.2966, d5.loss_bbox: 0.4960, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1130, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9576, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.9188, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9207, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.9149, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.9209, d0.loss_map_cls_all: 0.3505, d0.loss_map_pts_all: 2.3521, d0.loss_map_dir_all: 0.0163, d0.loss_map_cls: 0.3505, d0.loss_map_pts: 2.3521, d0.loss_map_dir: 0.0163, d1.loss_map_cls: 0.3239, d1.loss_map_pts: 1.5877, d1.loss_map_dir: 0.0156, d2.loss_map_cls: 0.3062, d2.loss_map_pts: 1.3597, d2.loss_map_dir: 0.0164, d3.loss_map_cls: 0.2994, d3.loss_map_pts: 1.2702, d3.loss_map_dir: 0.0174, d4.loss_map_cls: 0.2923, d4.loss_map_pts: 1.2352, d4.loss_map_dir: 0.0178, d5.loss_map_cls: 0.2894, d5.loss_map_pts: 1.2224, d5.loss_map_dir: 0.0181, loss: 41.2978, grad_norm: 181.2516 +2026-02-25 07:24:49,543 - DriveTransformer - INFO - Epoch [4][12200/39528] lr: 9.623e-05, eta: 7 days, 14:11:59, time: 0.838, data_time: 0.039, memory: 19865, loss_cls: 0.2868, loss_bbox: 0.4721, loss_traj: 0.9041, loss_traj_cls: 0.0025, loss_map_cls: 0.2722, loss_map_pts: 1.1085, loss_map_dir: 0.0181, d0.loss_plan_l1_fix_time: 2.8274, d0.loss_plan_l1_fix_dist: 0.3986, d1.loss_plan_l1_fix_time: 1.6386, d1.loss_plan_l1_fix_dist: 0.2219, d2.loss_plan_l1_fix_time: 1.6227, d2.loss_plan_l1_fix_dist: 0.2305, d3.loss_plan_l1_fix_time: 1.6308, d3.loss_plan_l1_fix_dist: 0.2465, d4.loss_plan_l1_fix_time: 1.6371, d4.loss_plan_l1_fix_dist: 0.2648, d5.loss_plan_l1_fix_time: 1.6431, d5.loss_plan_l1_fix_dist: 0.2875, d6.loss_plan_l1_fix_time: 1.6492, d6.loss_plan_l1_fix_dist: 0.3126, d0.loss_cls_all: 0.3087, d0.loss_bbox_all: 0.5143, d0.loss_cls: 0.3087, d0.loss_bbox: 0.5143, d1.loss_cls: 0.3015, d1.loss_bbox: 0.4845, d2.loss_cls: 0.2958, d2.loss_bbox: 0.4711, d3.loss_cls: 0.2923, d3.loss_bbox: 0.4679, d4.loss_cls: 0.2877, d4.loss_bbox: 0.4686, d5.loss_cls: 0.2862, d5.loss_bbox: 0.4711, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0117, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9537, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9258, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9101, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9085, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.9095, d0.loss_map_cls_all: 0.3177, d0.loss_map_pts_all: 2.0918, d0.loss_map_dir_all: 0.0157, d0.loss_map_cls: 0.3177, d0.loss_map_pts: 2.0918, d0.loss_map_dir: 0.0157, d1.loss_map_cls: 0.2905, d1.loss_map_pts: 1.4353, d1.loss_map_dir: 0.0153, d2.loss_map_cls: 0.2802, d2.loss_map_pts: 1.2153, d2.loss_map_dir: 0.0163, d3.loss_map_cls: 0.2740, d3.loss_map_pts: 1.1426, d3.loss_map_dir: 0.0172, d4.loss_map_cls: 0.2712, d4.loss_map_pts: 1.1176, d4.loss_map_dir: 0.0176, d5.loss_map_cls: 0.2705, d5.loss_map_pts: 1.1111, d5.loss_map_dir: 0.0179, loss: 41.1171, grad_norm: 175.8055 +2026-02-25 07:25:31,535 - DriveTransformer - INFO - Epoch [4][12250/39528] lr: 9.623e-05, eta: 7 days, 14:11:30, time: 0.838, data_time: 0.042, memory: 19865, loss_cls: 0.2910, loss_bbox: 0.4800, loss_traj: 0.8766, loss_traj_cls: 0.0025, loss_map_cls: 0.2631, loss_map_pts: 1.1794, loss_map_dir: 0.0179, d0.loss_plan_l1_fix_time: 2.4919, d0.loss_plan_l1_fix_dist: 0.4463, d1.loss_plan_l1_fix_time: 1.5447, d1.loss_plan_l1_fix_dist: 0.2565, d2.loss_plan_l1_fix_time: 1.5226, d2.loss_plan_l1_fix_dist: 0.2588, d3.loss_plan_l1_fix_time: 1.5261, d3.loss_plan_l1_fix_dist: 0.2664, d4.loss_plan_l1_fix_time: 1.5311, d4.loss_plan_l1_fix_dist: 0.2765, d5.loss_plan_l1_fix_time: 1.5356, d5.loss_plan_l1_fix_dist: 0.2853, d6.loss_plan_l1_fix_time: 1.5407, d6.loss_plan_l1_fix_dist: 0.2946, d0.loss_cls_all: 0.3150, d0.loss_bbox_all: 0.5328, d0.loss_cls: 0.3150, d0.loss_bbox: 0.5328, d1.loss_cls: 0.3067, d1.loss_bbox: 0.5030, d2.loss_cls: 0.2978, d2.loss_bbox: 0.4876, d3.loss_cls: 0.2947, d3.loss_bbox: 0.4802, d4.loss_cls: 0.2891, d4.loss_bbox: 0.4786, d5.loss_cls: 0.2892, d5.loss_bbox: 0.4796, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0591, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9542, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9166, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8971, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8875, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.8819, d0.loss_map_cls_all: 0.3190, d0.loss_map_pts_all: 2.3224, d0.loss_map_dir_all: 0.0162, d0.loss_map_cls: 0.3190, d0.loss_map_pts: 2.3224, d0.loss_map_dir: 0.0162, d1.loss_map_cls: 0.2938, d1.loss_map_pts: 1.5369, d1.loss_map_dir: 0.0153, d2.loss_map_cls: 0.2764, d2.loss_map_pts: 1.3039, d2.loss_map_dir: 0.0160, d3.loss_map_cls: 0.2711, d3.loss_map_pts: 1.2236, d3.loss_map_dir: 0.0170, d4.loss_map_cls: 0.2638, d4.loss_map_pts: 1.1940, d4.loss_map_dir: 0.0175, d5.loss_map_cls: 0.2622, d5.loss_map_pts: 1.1822, d5.loss_map_dir: 0.0177, loss: 41.2989, grad_norm: 176.3430 +2026-02-25 07:26:11,111 - DriveTransformer - INFO - Epoch [4][12300/39528] lr: 9.623e-05, eta: 7 days, 14:10:47, time: 0.792, data_time: 0.038, memory: 19865, loss_cls: 0.2929, loss_bbox: 0.4946, loss_traj: 1.0409, loss_traj_cls: 0.0024, loss_map_cls: 0.2558, loss_map_pts: 1.0254, loss_map_dir: 0.0164, d0.loss_plan_l1_fix_time: 2.9504, d0.loss_plan_l1_fix_dist: 0.4286, d1.loss_plan_l1_fix_time: 1.8127, d1.loss_plan_l1_fix_dist: 0.2334, d2.loss_plan_l1_fix_time: 1.7900, d2.loss_plan_l1_fix_dist: 0.2353, d3.loss_plan_l1_fix_time: 1.7892, d3.loss_plan_l1_fix_dist: 0.2440, d4.loss_plan_l1_fix_time: 1.7927, d4.loss_plan_l1_fix_dist: 0.2553, d5.loss_plan_l1_fix_time: 1.7975, d5.loss_plan_l1_fix_dist: 0.2680, d6.loss_plan_l1_fix_time: 1.8030, d6.loss_plan_l1_fix_dist: 0.2794, d0.loss_cls_all: 0.3140, d0.loss_bbox_all: 0.5510, d0.loss_cls: 0.3140, d0.loss_bbox: 0.5510, d1.loss_cls: 0.3074, d1.loss_bbox: 0.5170, d2.loss_cls: 0.3006, d2.loss_bbox: 0.5021, d3.loss_cls: 0.2967, d3.loss_bbox: 0.4958, d4.loss_cls: 0.2927, d4.loss_bbox: 0.4935, d5.loss_cls: 0.2925, d5.loss_bbox: 0.4935, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1952, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0823, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0553, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0448, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0428, d5.loss_traj_cls: 0.0018, d5.loss_traj: 1.0450, d0.loss_map_cls_all: 0.3146, d0.loss_map_pts_all: 1.9497, d0.loss_map_dir_all: 0.0146, d0.loss_map_cls: 0.3146, d0.loss_map_pts: 1.9497, d0.loss_map_dir: 0.0146, d1.loss_map_cls: 0.2904, d1.loss_map_pts: 1.3336, d1.loss_map_dir: 0.0141, d2.loss_map_cls: 0.2741, d2.loss_map_pts: 1.1296, d2.loss_map_dir: 0.0149, d3.loss_map_cls: 0.2633, d3.loss_map_pts: 1.0538, d3.loss_map_dir: 0.0156, d4.loss_map_cls: 0.2584, d4.loss_map_pts: 1.0316, d4.loss_map_dir: 0.0160, d5.loss_map_cls: 0.2563, d5.loss_map_pts: 1.0234, d5.loss_map_dir: 0.0162, loss: 42.5503, grad_norm: 177.9191 +2026-02-25 07:26:51,890 - DriveTransformer - INFO - Epoch [4][12350/39528] lr: 9.623e-05, eta: 7 days, 14:10:11, time: 0.816, data_time: 0.046, memory: 19865, loss_cls: 0.2761, loss_bbox: 0.4657, loss_traj: 1.2274, loss_traj_cls: 0.0024, loss_map_cls: 0.2381, loss_map_pts: 0.9491, loss_map_dir: 0.0154, d0.loss_plan_l1_fix_time: 2.9583, d0.loss_plan_l1_fix_dist: 0.3971, d1.loss_plan_l1_fix_time: 1.8260, d1.loss_plan_l1_fix_dist: 0.2473, d2.loss_plan_l1_fix_time: 1.8118, d2.loss_plan_l1_fix_dist: 0.2537, d3.loss_plan_l1_fix_time: 1.8244, d3.loss_plan_l1_fix_dist: 0.2633, d4.loss_plan_l1_fix_time: 1.8336, d4.loss_plan_l1_fix_dist: 0.2741, d5.loss_plan_l1_fix_time: 1.8434, d5.loss_plan_l1_fix_dist: 0.2889, d6.loss_plan_l1_fix_time: 1.8537, d6.loss_plan_l1_fix_dist: 0.3052, d0.loss_cls_all: 0.2964, d0.loss_bbox_all: 0.5093, d0.loss_cls: 0.2964, d0.loss_bbox: 0.5093, d1.loss_cls: 0.2936, d1.loss_bbox: 0.4817, d2.loss_cls: 0.2858, d2.loss_bbox: 0.4711, d3.loss_cls: 0.2831, d3.loss_bbox: 0.4661, d4.loss_cls: 0.2789, d4.loss_bbox: 0.4634, d5.loss_cls: 0.2768, d5.loss_bbox: 0.4640, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3734, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.2403, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.2310, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2311, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.2312, d5.loss_traj_cls: 0.0018, d5.loss_traj: 1.2310, d0.loss_map_cls_all: 0.2967, d0.loss_map_pts_all: 1.9856, d0.loss_map_dir_all: 0.0149, d0.loss_map_cls: 0.2967, d0.loss_map_pts: 1.9856, d0.loss_map_dir: 0.0149, d1.loss_map_cls: 0.2687, d1.loss_map_pts: 1.2462, d1.loss_map_dir: 0.0140, d2.loss_map_cls: 0.2521, d2.loss_map_pts: 1.0435, d2.loss_map_dir: 0.0142, d3.loss_map_cls: 0.2438, d3.loss_map_pts: 0.9718, d3.loss_map_dir: 0.0148, d4.loss_map_cls: 0.2391, d4.loss_map_pts: 0.9515, d4.loss_map_dir: 0.0152, d5.loss_map_cls: 0.2372, d5.loss_map_pts: 0.9459, d5.loss_map_dir: 0.0153, loss: 43.1426, grad_norm: 177.3933 +2026-02-25 07:27:31,152 - DriveTransformer - INFO - Epoch [4][12400/39528] lr: 9.623e-05, eta: 7 days, 14:09:26, time: 0.785, data_time: 0.042, memory: 19865, loss_cls: 0.2900, loss_bbox: 0.4694, loss_traj: 1.0885, loss_traj_cls: 0.0024, loss_map_cls: 0.2375, loss_map_pts: 0.9083, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.8840, d0.loss_plan_l1_fix_dist: 0.4014, d1.loss_plan_l1_fix_time: 1.5271, d1.loss_plan_l1_fix_dist: 0.2232, d2.loss_plan_l1_fix_time: 1.5033, d2.loss_plan_l1_fix_dist: 0.2268, d3.loss_plan_l1_fix_time: 1.5024, d3.loss_plan_l1_fix_dist: 0.2359, d4.loss_plan_l1_fix_time: 1.5062, d4.loss_plan_l1_fix_dist: 0.2464, d5.loss_plan_l1_fix_time: 1.5113, d5.loss_plan_l1_fix_dist: 0.2571, d6.loss_plan_l1_fix_time: 1.5172, d6.loss_plan_l1_fix_dist: 0.2693, d0.loss_cls_all: 0.3062, d0.loss_bbox_all: 0.5240, d0.loss_cls: 0.3062, d0.loss_bbox: 0.5240, d1.loss_cls: 0.3027, d1.loss_bbox: 0.4949, d2.loss_cls: 0.2955, d2.loss_bbox: 0.4818, d3.loss_cls: 0.2927, d3.loss_bbox: 0.4764, d4.loss_cls: 0.2908, d4.loss_bbox: 0.4708, d5.loss_cls: 0.2900, d5.loss_bbox: 0.4688, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2381, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.1125, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0910, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0968, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0850, d5.loss_traj_cls: 0.0019, d5.loss_traj: 1.0848, d0.loss_map_cls_all: 0.2921, d0.loss_map_pts_all: 1.7779, d0.loss_map_dir_all: 0.0122, d0.loss_map_cls: 0.2921, d0.loss_map_pts: 1.7779, d0.loss_map_dir: 0.0122, d1.loss_map_cls: 0.2601, d1.loss_map_pts: 1.2103, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2503, d2.loss_map_pts: 1.0172, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2474, d3.loss_map_pts: 0.9461, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2393, d4.loss_map_pts: 0.9237, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.2381, d5.loss_map_pts: 0.9105, d5.loss_map_dir: 0.0136, loss: 39.5315, grad_norm: 174.6553 +2026-02-25 07:28:10,609 - DriveTransformer - INFO - Epoch [4][12450/39528] lr: 9.623e-05, eta: 7 days, 14:08:42, time: 0.789, data_time: 0.050, memory: 19865, loss_cls: 0.2948, loss_bbox: 0.4946, loss_traj: 1.1000, loss_traj_cls: 0.0025, loss_map_cls: 0.2771, loss_map_pts: 1.0669, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 3.2481, d0.loss_plan_l1_fix_dist: 0.4874, d1.loss_plan_l1_fix_time: 1.7846, d1.loss_plan_l1_fix_dist: 0.2489, d2.loss_plan_l1_fix_time: 1.7640, d2.loss_plan_l1_fix_dist: 0.2493, d3.loss_plan_l1_fix_time: 1.7644, d3.loss_plan_l1_fix_dist: 0.2577, d4.loss_plan_l1_fix_time: 1.7664, d4.loss_plan_l1_fix_dist: 0.2690, d5.loss_plan_l1_fix_time: 1.7685, d5.loss_plan_l1_fix_dist: 0.2811, d6.loss_plan_l1_fix_time: 1.7717, d6.loss_plan_l1_fix_dist: 0.2956, d0.loss_cls_all: 0.3121, d0.loss_bbox_all: 0.5468, d0.loss_cls: 0.3121, d0.loss_bbox: 0.5468, d1.loss_cls: 0.3066, d1.loss_bbox: 0.5183, d2.loss_cls: 0.3011, d2.loss_bbox: 0.5044, d3.loss_cls: 0.2984, d3.loss_bbox: 0.4970, d4.loss_cls: 0.2949, d4.loss_bbox: 0.4942, d5.loss_cls: 0.2934, d5.loss_bbox: 0.4953, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3365, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.1403, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1110, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1019, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.1031, d5.loss_traj_cls: 0.0021, d5.loss_traj: 1.0977, d0.loss_map_cls_all: 0.3272, d0.loss_map_pts_all: 1.7653, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.3272, d0.loss_map_pts: 1.7653, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.3014, d1.loss_map_pts: 1.3160, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2911, d2.loss_map_pts: 1.1495, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.2877, d3.loss_map_pts: 1.0944, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2829, d4.loss_map_pts: 1.0742, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.2782, d5.loss_map_pts: 1.0698, d5.loss_map_dir: 0.0125, loss: 43.2348, grad_norm: 174.3036 +2026-02-25 07:28:50,069 - DriveTransformer - INFO - Epoch [4][12500/39528] lr: 9.623e-05, eta: 7 days, 14:07:58, time: 0.789, data_time: 0.045, memory: 19865, loss_cls: 0.3220, loss_bbox: 0.4915, loss_traj: 0.8530, loss_traj_cls: 0.0025, loss_map_cls: 0.2690, loss_map_pts: 1.0903, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.9176, d0.loss_plan_l1_fix_dist: 0.4019, d1.loss_plan_l1_fix_time: 1.7861, d1.loss_plan_l1_fix_dist: 0.2160, d2.loss_plan_l1_fix_time: 1.7767, d2.loss_plan_l1_fix_dist: 0.2221, d3.loss_plan_l1_fix_time: 1.7796, d3.loss_plan_l1_fix_dist: 0.2303, d4.loss_plan_l1_fix_time: 1.7831, d4.loss_plan_l1_fix_dist: 0.2401, d5.loss_plan_l1_fix_time: 1.7868, d5.loss_plan_l1_fix_dist: 0.2536, d6.loss_plan_l1_fix_time: 1.7903, d6.loss_plan_l1_fix_dist: 0.2671, d0.loss_cls_all: 0.3479, d0.loss_bbox_all: 0.5456, d0.loss_cls: 0.3479, d0.loss_bbox: 0.5456, d1.loss_cls: 0.3392, d1.loss_bbox: 0.5183, d2.loss_cls: 0.3324, d2.loss_bbox: 0.5037, d3.loss_cls: 0.3272, d3.loss_bbox: 0.4949, d4.loss_cls: 0.3221, d4.loss_bbox: 0.4931, d5.loss_cls: 0.3218, d5.loss_bbox: 0.4907, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9848, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8820, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8600, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8551, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8490, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.8502, d0.loss_map_cls_all: 0.3087, d0.loss_map_pts_all: 1.8709, d0.loss_map_dir_all: 0.0126, d0.loss_map_cls: 0.3087, d0.loss_map_pts: 1.8709, d0.loss_map_dir: 0.0126, d1.loss_map_cls: 0.2903, d1.loss_map_pts: 1.3427, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2808, d2.loss_map_pts: 1.1786, d2.loss_map_dir: 0.0133, d3.loss_map_cls: 0.2764, d3.loss_map_pts: 1.1162, d3.loss_map_dir: 0.0141, d4.loss_map_cls: 0.2738, d4.loss_map_pts: 1.0982, d4.loss_map_dir: 0.0145, d5.loss_map_cls: 0.2700, d5.loss_map_pts: 1.0952, d5.loss_map_dir: 0.0147, loss: 41.3879, grad_norm: 175.9367 +2026-02-25 07:29:31,647 - DriveTransformer - INFO - Epoch [4][12550/39528] lr: 9.623e-05, eta: 7 days, 14:07:27, time: 0.832, data_time: 0.045, memory: 19865, loss_cls: 0.2857, loss_bbox: 0.4707, loss_traj: 1.1216, loss_traj_cls: 0.0026, loss_map_cls: 0.2915, loss_map_pts: 1.0971, loss_map_dir: 0.0140, d0.loss_plan_l1_fix_time: 2.8260, d0.loss_plan_l1_fix_dist: 0.3864, d1.loss_plan_l1_fix_time: 1.5439, d1.loss_plan_l1_fix_dist: 0.2524, d2.loss_plan_l1_fix_time: 1.5535, d2.loss_plan_l1_fix_dist: 0.2559, d3.loss_plan_l1_fix_time: 1.5643, d3.loss_plan_l1_fix_dist: 0.2648, d4.loss_plan_l1_fix_time: 1.5697, d4.loss_plan_l1_fix_dist: 0.2737, d5.loss_plan_l1_fix_time: 1.5744, d5.loss_plan_l1_fix_dist: 0.2835, d6.loss_plan_l1_fix_time: 1.5782, d6.loss_plan_l1_fix_dist: 0.2967, d0.loss_cls_all: 0.3034, d0.loss_bbox_all: 0.5197, d0.loss_cls: 0.3034, d0.loss_bbox: 0.5197, d1.loss_cls: 0.2978, d1.loss_bbox: 0.4865, d2.loss_cls: 0.2919, d2.loss_bbox: 0.4732, d3.loss_cls: 0.2876, d3.loss_bbox: 0.4694, d4.loss_cls: 0.2853, d4.loss_bbox: 0.4698, d5.loss_cls: 0.2869, d5.loss_bbox: 0.4677, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3425, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.1440, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1101, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1038, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1046, d5.loss_traj_cls: 0.0021, d5.loss_traj: 1.1163, d0.loss_map_cls_all: 0.3344, d0.loss_map_pts_all: 1.9171, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.3344, d0.loss_map_pts: 1.9171, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.3124, d1.loss_map_pts: 1.3656, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.3033, d2.loss_map_pts: 1.1931, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2969, d3.loss_map_pts: 1.1280, d3.loss_map_dir: 0.0132, d4.loss_map_cls: 0.2936, d4.loss_map_pts: 1.1030, d4.loss_map_dir: 0.0136, d5.loss_map_cls: 0.2923, d5.loss_map_pts: 1.1014, d5.loss_map_dir: 0.0138, loss: 41.8776, grad_norm: 173.5731 +2026-02-25 07:30:12,653 - DriveTransformer - INFO - Epoch [4][12600/39528] lr: 9.623e-05, eta: 7 days, 14:06:52, time: 0.820, data_time: 0.041, memory: 19865, loss_cls: 0.2720, loss_bbox: 0.4720, loss_traj: 0.8237, loss_traj_cls: 0.0027, loss_map_cls: 0.2355, loss_map_pts: 0.9865, loss_map_dir: 0.0158, d0.loss_plan_l1_fix_time: 2.6907, d0.loss_plan_l1_fix_dist: 0.4310, d1.loss_plan_l1_fix_time: 1.5641, d1.loss_plan_l1_fix_dist: 0.2528, d2.loss_plan_l1_fix_time: 1.5628, d2.loss_plan_l1_fix_dist: 0.2550, d3.loss_plan_l1_fix_time: 1.5645, d3.loss_plan_l1_fix_dist: 0.2620, d4.loss_plan_l1_fix_time: 1.5677, d4.loss_plan_l1_fix_dist: 0.2727, d5.loss_plan_l1_fix_time: 1.5716, d5.loss_plan_l1_fix_dist: 0.2839, d6.loss_plan_l1_fix_time: 1.5765, d6.loss_plan_l1_fix_dist: 0.2942, d0.loss_cls_all: 0.2972, d0.loss_bbox_all: 0.5211, d0.loss_cls: 0.2972, d0.loss_bbox: 0.5211, d1.loss_cls: 0.2899, d1.loss_bbox: 0.4918, d2.loss_cls: 0.2871, d2.loss_bbox: 0.4742, d3.loss_cls: 0.2796, d3.loss_bbox: 0.4713, d4.loss_cls: 0.2743, d4.loss_bbox: 0.4717, d5.loss_cls: 0.2721, d5.loss_bbox: 0.4714, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9762, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8683, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8420, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8276, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8255, d5.loss_traj_cls: 0.0022, d5.loss_traj: 0.8231, d0.loss_map_cls_all: 0.2875, d0.loss_map_pts_all: 1.8798, d0.loss_map_dir_all: 0.0141, d0.loss_map_cls: 0.2875, d0.loss_map_pts: 1.8798, d0.loss_map_dir: 0.0141, d1.loss_map_cls: 0.2625, d1.loss_map_pts: 1.2363, d1.loss_map_dir: 0.0136, d2.loss_map_cls: 0.2470, d2.loss_map_pts: 1.0561, d2.loss_map_dir: 0.0142, d3.loss_map_cls: 0.2378, d3.loss_map_pts: 1.0013, d3.loss_map_dir: 0.0149, d4.loss_map_cls: 0.2365, d4.loss_map_pts: 0.9854, d4.loss_map_dir: 0.0153, d5.loss_map_cls: 0.2366, d5.loss_map_pts: 0.9856, d5.loss_map_dir: 0.0156, loss: 38.4685, grad_norm: 173.7558 +2026-02-25 07:30:52,593 - DriveTransformer - INFO - Epoch [4][12650/39528] lr: 9.623e-05, eta: 7 days, 14:06:11, time: 0.799, data_time: 0.042, memory: 19865, loss_cls: 0.3060, loss_bbox: 0.4768, loss_traj: 1.0001, loss_traj_cls: 0.0026, loss_map_cls: 0.2564, loss_map_pts: 1.0724, loss_map_dir: 0.0145, d0.loss_plan_l1_fix_time: 2.4768, d0.loss_plan_l1_fix_dist: 0.5016, d1.loss_plan_l1_fix_time: 1.5148, d1.loss_plan_l1_fix_dist: 0.2595, d2.loss_plan_l1_fix_time: 1.5069, d2.loss_plan_l1_fix_dist: 0.2628, d3.loss_plan_l1_fix_time: 1.5072, d3.loss_plan_l1_fix_dist: 0.2706, d4.loss_plan_l1_fix_time: 1.5114, d4.loss_plan_l1_fix_dist: 0.2805, d5.loss_plan_l1_fix_time: 1.5163, d5.loss_plan_l1_fix_dist: 0.2914, d6.loss_plan_l1_fix_time: 1.5227, d6.loss_plan_l1_fix_dist: 0.3027, d0.loss_cls_all: 0.3217, d0.loss_bbox_all: 0.5317, d0.loss_cls: 0.3217, d0.loss_bbox: 0.5317, d1.loss_cls: 0.3177, d1.loss_bbox: 0.4992, d2.loss_cls: 0.3149, d2.loss_bbox: 0.4831, d3.loss_cls: 0.3111, d3.loss_bbox: 0.4785, d4.loss_cls: 0.3087, d4.loss_bbox: 0.4756, d5.loss_cls: 0.3066, d5.loss_bbox: 0.4763, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1653, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0431, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0071, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9994, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9860, d5.loss_traj_cls: 0.0022, d5.loss_traj: 0.9922, d0.loss_map_cls_all: 0.2972, d0.loss_map_pts_all: 1.9814, d0.loss_map_dir_all: 0.0138, d0.loss_map_cls: 0.2972, d0.loss_map_pts: 1.9814, d0.loss_map_dir: 0.0138, d1.loss_map_cls: 0.2732, d1.loss_map_pts: 1.3350, d1.loss_map_dir: 0.0132, d2.loss_map_cls: 0.2634, d2.loss_map_pts: 1.1500, d2.loss_map_dir: 0.0133, d3.loss_map_cls: 0.2596, d3.loss_map_pts: 1.0903, d3.loss_map_dir: 0.0138, d4.loss_map_cls: 0.2579, d4.loss_map_pts: 1.0748, d4.loss_map_dir: 0.0141, d5.loss_map_cls: 0.2572, d5.loss_map_pts: 1.0698, d5.loss_map_dir: 0.0143, loss: 40.4170, grad_norm: 177.6646 +2026-02-25 07:31:33,196 - DriveTransformer - INFO - Epoch [4][12700/39528] lr: 9.623e-05, eta: 7 days, 14:05:34, time: 0.812, data_time: 0.042, memory: 19865, loss_cls: 0.3096, loss_bbox: 0.4876, loss_traj: 0.9016, loss_traj_cls: 0.0026, loss_map_cls: 0.2663, loss_map_pts: 1.1736, loss_map_dir: 0.0175, d0.loss_plan_l1_fix_time: 2.4470, d0.loss_plan_l1_fix_dist: 0.4289, d1.loss_plan_l1_fix_time: 1.3602, d1.loss_plan_l1_fix_dist: 0.2272, d2.loss_plan_l1_fix_time: 1.3458, d2.loss_plan_l1_fix_dist: 0.2310, d3.loss_plan_l1_fix_time: 1.3494, d3.loss_plan_l1_fix_dist: 0.2393, d4.loss_plan_l1_fix_time: 1.3528, d4.loss_plan_l1_fix_dist: 0.2479, d5.loss_plan_l1_fix_time: 1.3565, d5.loss_plan_l1_fix_dist: 0.2570, d6.loss_plan_l1_fix_time: 1.3611, d6.loss_plan_l1_fix_dist: 0.2673, d0.loss_cls_all: 0.3238, d0.loss_bbox_all: 0.5392, d0.loss_cls: 0.3238, d0.loss_bbox: 0.5392, d1.loss_cls: 0.3216, d1.loss_bbox: 0.5098, d2.loss_cls: 0.3135, d2.loss_bbox: 0.4982, d3.loss_cls: 0.3109, d3.loss_bbox: 0.4904, d4.loss_cls: 0.3067, d4.loss_bbox: 0.4885, d5.loss_cls: 0.3076, d5.loss_bbox: 0.4878, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1417, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9856, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9282, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9193, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9070, d5.loss_traj_cls: 0.0022, d5.loss_traj: 0.9036, d0.loss_map_cls_all: 0.3125, d0.loss_map_pts_all: 2.1106, d0.loss_map_dir_all: 0.0159, d0.loss_map_cls: 0.3125, d0.loss_map_pts: 2.1106, d0.loss_map_dir: 0.0159, d1.loss_map_cls: 0.2921, d1.loss_map_pts: 1.4475, d1.loss_map_dir: 0.0154, d2.loss_map_cls: 0.2791, d2.loss_map_pts: 1.2612, d2.loss_map_dir: 0.0160, d3.loss_map_cls: 0.2746, d3.loss_map_pts: 1.2001, d3.loss_map_dir: 0.0168, d4.loss_map_cls: 0.2700, d4.loss_map_pts: 1.1804, d4.loss_map_dir: 0.0172, d5.loss_map_cls: 0.2675, d5.loss_map_pts: 1.1748, d5.loss_map_dir: 0.0174, loss: 39.7912, grad_norm: 176.5115 +2026-02-25 07:32:12,347 - DriveTransformer - INFO - Epoch [4][12750/39528] lr: 9.623e-05, eta: 7 days, 14:04:48, time: 0.783, data_time: 0.047, memory: 19865, loss_cls: 0.3191, loss_bbox: 0.4945, loss_traj: 1.0041, loss_traj_cls: 0.0025, loss_map_cls: 0.3062, loss_map_pts: 1.1351, loss_map_dir: 0.0151, d0.loss_plan_l1_fix_time: 3.1074, d0.loss_plan_l1_fix_dist: 0.4379, d1.loss_plan_l1_fix_time: 1.6405, d1.loss_plan_l1_fix_dist: 0.2463, d2.loss_plan_l1_fix_time: 1.6235, d2.loss_plan_l1_fix_dist: 0.2485, d3.loss_plan_l1_fix_time: 1.6262, d3.loss_plan_l1_fix_dist: 0.2558, d4.loss_plan_l1_fix_time: 1.6291, d4.loss_plan_l1_fix_dist: 0.2650, d5.loss_plan_l1_fix_time: 1.6319, d5.loss_plan_l1_fix_dist: 0.2749, d6.loss_plan_l1_fix_time: 1.6355, d6.loss_plan_l1_fix_dist: 0.2847, d0.loss_cls_all: 0.3350, d0.loss_bbox_all: 0.5447, d0.loss_cls: 0.3350, d0.loss_bbox: 0.5447, d1.loss_cls: 0.3286, d1.loss_bbox: 0.5143, d2.loss_cls: 0.3233, d2.loss_bbox: 0.4998, d3.loss_cls: 0.3218, d3.loss_bbox: 0.4921, d4.loss_cls: 0.3190, d4.loss_bbox: 0.4917, d5.loss_cls: 0.3194, d5.loss_bbox: 0.4918, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2326, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0408, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0027, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9980, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9979, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.9982, d0.loss_map_cls_all: 0.3607, d0.loss_map_pts_all: 1.9969, d0.loss_map_dir_all: 0.0132, d0.loss_map_cls: 0.3607, d0.loss_map_pts: 1.9969, d0.loss_map_dir: 0.0132, d1.loss_map_cls: 0.3339, d1.loss_map_pts: 1.4325, d1.loss_map_dir: 0.0130, d2.loss_map_cls: 0.3213, d2.loss_map_pts: 1.2453, d2.loss_map_dir: 0.0136, d3.loss_map_cls: 0.3160, d3.loss_map_pts: 1.1744, d3.loss_map_dir: 0.0143, d4.loss_map_cls: 0.3110, d4.loss_map_pts: 1.1472, d4.loss_map_dir: 0.0148, d5.loss_map_cls: 0.3070, d5.loss_map_pts: 1.1393, d5.loss_map_dir: 0.0150, loss: 42.8616, grad_norm: 174.3154 +2026-02-25 07:32:54,833 - DriveTransformer - INFO - Epoch [4][12800/39528] lr: 9.623e-05, eta: 7 days, 14:04:23, time: 0.850, data_time: 0.042, memory: 19865, loss_cls: 0.2635, loss_bbox: 0.4352, loss_traj: 0.8093, loss_traj_cls: 0.0026, loss_map_cls: 0.2216, loss_map_pts: 0.9692, loss_map_dir: 0.0159, d0.loss_plan_l1_fix_time: 2.3283, d0.loss_plan_l1_fix_dist: 0.4334, d1.loss_plan_l1_fix_time: 1.3358, d1.loss_plan_l1_fix_dist: 0.2419, d2.loss_plan_l1_fix_time: 1.3251, d2.loss_plan_l1_fix_dist: 0.2429, d3.loss_plan_l1_fix_time: 1.3272, d3.loss_plan_l1_fix_dist: 0.2486, d4.loss_plan_l1_fix_time: 1.3326, d4.loss_plan_l1_fix_dist: 0.2555, d5.loss_plan_l1_fix_time: 1.3393, d5.loss_plan_l1_fix_dist: 0.2657, d6.loss_plan_l1_fix_time: 1.3475, d6.loss_plan_l1_fix_dist: 0.2806, d0.loss_cls_all: 0.2697, d0.loss_bbox_all: 0.4833, d0.loss_cls: 0.2697, d0.loss_bbox: 0.4833, d1.loss_cls: 0.2641, d1.loss_bbox: 0.4541, d2.loss_cls: 0.2622, d2.loss_bbox: 0.4408, d3.loss_cls: 0.2611, d3.loss_bbox: 0.4363, d4.loss_cls: 0.2625, d4.loss_bbox: 0.4324, d5.loss_cls: 0.2622, d5.loss_bbox: 0.4350, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0692, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8789, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8382, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8239, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8145, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.8087, d0.loss_map_cls_all: 0.2803, d0.loss_map_pts_all: 1.9069, d0.loss_map_dir_all: 0.0144, d0.loss_map_cls: 0.2803, d0.loss_map_pts: 1.9069, d0.loss_map_dir: 0.0144, d1.loss_map_cls: 0.2519, d1.loss_map_pts: 1.2222, d1.loss_map_dir: 0.0140, d2.loss_map_cls: 0.2362, d2.loss_map_pts: 1.0452, d2.loss_map_dir: 0.0146, d3.loss_map_cls: 0.2280, d3.loss_map_pts: 0.9911, d3.loss_map_dir: 0.0153, d4.loss_map_cls: 0.2236, d4.loss_map_pts: 0.9724, d4.loss_map_dir: 0.0157, d5.loss_map_cls: 0.2210, d5.loss_map_pts: 0.9697, d5.loss_map_dir: 0.0158, loss: 36.1179, grad_norm: 172.2290 +2026-02-25 07:33:35,606 - DriveTransformer - INFO - Epoch [4][12850/39528] lr: 9.623e-05, eta: 7 days, 14:03:47, time: 0.815, data_time: 0.046, memory: 19865, loss_cls: 0.2942, loss_bbox: 0.4650, loss_traj: 0.8422, loss_traj_cls: 0.0025, loss_map_cls: 0.2625, loss_map_pts: 1.0940, loss_map_dir: 0.0160, d0.loss_plan_l1_fix_time: 2.8207, d0.loss_plan_l1_fix_dist: 0.4979, d1.loss_plan_l1_fix_time: 1.7332, d1.loss_plan_l1_fix_dist: 0.2518, d2.loss_plan_l1_fix_time: 1.6988, d2.loss_plan_l1_fix_dist: 0.2562, d3.loss_plan_l1_fix_time: 1.6946, d3.loss_plan_l1_fix_dist: 0.2614, d4.loss_plan_l1_fix_time: 1.6964, d4.loss_plan_l1_fix_dist: 0.2681, d5.loss_plan_l1_fix_time: 1.6999, d5.loss_plan_l1_fix_dist: 0.2752, d6.loss_plan_l1_fix_time: 1.7053, d6.loss_plan_l1_fix_dist: 0.2849, d0.loss_cls_all: 0.3002, d0.loss_bbox_all: 0.5088, d0.loss_cls: 0.3002, d0.loss_bbox: 0.5088, d1.loss_cls: 0.2974, d1.loss_bbox: 0.4844, d2.loss_cls: 0.2920, d2.loss_bbox: 0.4708, d3.loss_cls: 0.2907, d3.loss_bbox: 0.4664, d4.loss_cls: 0.2912, d4.loss_bbox: 0.4637, d5.loss_cls: 0.2926, d5.loss_bbox: 0.4639, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0524, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8923, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8574, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8502, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8418, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.8402, d0.loss_map_cls_all: 0.3128, d0.loss_map_pts_all: 1.9841, d0.loss_map_dir_all: 0.0146, d0.loss_map_cls: 0.3128, d0.loss_map_pts: 1.9841, d0.loss_map_dir: 0.0146, d1.loss_map_cls: 0.2892, d1.loss_map_pts: 1.3912, d1.loss_map_dir: 0.0139, d2.loss_map_cls: 0.2757, d2.loss_map_pts: 1.2016, d2.loss_map_dir: 0.0145, d3.loss_map_cls: 0.2692, d3.loss_map_pts: 1.1296, d3.loss_map_dir: 0.0152, d4.loss_map_cls: 0.2637, d4.loss_map_pts: 1.1071, d4.loss_map_dir: 0.0157, d5.loss_map_cls: 0.2615, d5.loss_map_pts: 1.0973, d5.loss_map_dir: 0.0158, loss: 40.8765, grad_norm: 170.2875 +2026-02-25 07:34:15,606 - DriveTransformer - INFO - Epoch [4][12900/39528] lr: 9.623e-05, eta: 7 days, 14:03:06, time: 0.800, data_time: 0.039, memory: 19865, loss_cls: 0.3294, loss_bbox: 0.4899, loss_traj: 0.8408, loss_traj_cls: 0.0024, loss_map_cls: 0.2609, loss_map_pts: 1.0606, loss_map_dir: 0.0166, d0.loss_plan_l1_fix_time: 2.7674, d0.loss_plan_l1_fix_dist: 0.3868, d1.loss_plan_l1_fix_time: 1.4670, d1.loss_plan_l1_fix_dist: 0.2273, d2.loss_plan_l1_fix_time: 1.4414, d2.loss_plan_l1_fix_dist: 0.2310, d3.loss_plan_l1_fix_time: 1.4422, d3.loss_plan_l1_fix_dist: 0.2385, d4.loss_plan_l1_fix_time: 1.4463, d4.loss_plan_l1_fix_dist: 0.2477, d5.loss_plan_l1_fix_time: 1.4508, d5.loss_plan_l1_fix_dist: 0.2601, d6.loss_plan_l1_fix_time: 1.4550, d6.loss_plan_l1_fix_dist: 0.2741, d0.loss_cls_all: 0.3454, d0.loss_bbox_all: 0.5295, d0.loss_cls: 0.3454, d0.loss_bbox: 0.5295, d1.loss_cls: 0.3402, d1.loss_bbox: 0.5053, d2.loss_cls: 0.3321, d2.loss_bbox: 0.4915, d3.loss_cls: 0.3284, d3.loss_bbox: 0.4862, d4.loss_cls: 0.3266, d4.loss_bbox: 0.4871, d5.loss_cls: 0.3285, d5.loss_bbox: 0.4880, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9976, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8897, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8575, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8515, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8479, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.8463, d0.loss_map_cls_all: 0.3174, d0.loss_map_pts_all: 2.0448, d0.loss_map_dir_all: 0.0157, d0.loss_map_cls: 0.3174, d0.loss_map_pts: 2.0448, d0.loss_map_dir: 0.0157, d1.loss_map_cls: 0.2887, d1.loss_map_pts: 1.3437, d1.loss_map_dir: 0.0149, d2.loss_map_cls: 0.2760, d2.loss_map_pts: 1.1602, d2.loss_map_dir: 0.0153, d3.loss_map_cls: 0.2678, d3.loss_map_pts: 1.0976, d3.loss_map_dir: 0.0158, d4.loss_map_cls: 0.2626, d4.loss_map_pts: 1.0736, d4.loss_map_dir: 0.0162, d5.loss_map_cls: 0.2604, d5.loss_map_pts: 1.0651, d5.loss_map_dir: 0.0164, loss: 39.4272, grad_norm: 170.5439 +2026-02-25 07:34:56,325 - DriveTransformer - INFO - Epoch [4][12950/39528] lr: 9.623e-05, eta: 7 days, 14:02:30, time: 0.814, data_time: 0.047, memory: 19865, loss_cls: 0.2915, loss_bbox: 0.4597, loss_traj: 0.9047, loss_traj_cls: 0.0024, loss_map_cls: 0.2205, loss_map_pts: 1.0464, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 2.8389, d0.loss_plan_l1_fix_dist: 0.4807, d1.loss_plan_l1_fix_time: 1.5226, d1.loss_plan_l1_fix_dist: 0.2526, d2.loss_plan_l1_fix_time: 1.5079, d2.loss_plan_l1_fix_dist: 0.2529, d3.loss_plan_l1_fix_time: 1.5087, d3.loss_plan_l1_fix_dist: 0.2578, d4.loss_plan_l1_fix_time: 1.5128, d4.loss_plan_l1_fix_dist: 0.2651, d5.loss_plan_l1_fix_time: 1.5173, d5.loss_plan_l1_fix_dist: 0.2731, d6.loss_plan_l1_fix_time: 1.5217, d6.loss_plan_l1_fix_dist: 0.2823, d0.loss_cls_all: 0.2993, d0.loss_bbox_all: 0.5156, d0.loss_cls: 0.2993, d0.loss_bbox: 0.5156, d1.loss_cls: 0.2983, d1.loss_bbox: 0.4806, d2.loss_cls: 0.2884, d2.loss_bbox: 0.4630, d3.loss_cls: 0.2864, d3.loss_bbox: 0.4556, d4.loss_cls: 0.2866, d4.loss_bbox: 0.4556, d5.loss_cls: 0.2885, d5.loss_bbox: 0.4587, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0769, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9485, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9100, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9071, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9061, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.9035, d0.loss_map_cls_all: 0.2702, d0.loss_map_pts_all: 1.8577, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.2702, d0.loss_map_pts: 1.8577, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2434, d1.loss_map_pts: 1.3135, d1.loss_map_dir: 0.0129, d2.loss_map_cls: 0.2314, d2.loss_map_pts: 1.1429, d2.loss_map_dir: 0.0133, d3.loss_map_cls: 0.2254, d3.loss_map_pts: 1.0794, d3.loss_map_dir: 0.0138, d4.loss_map_cls: 0.2218, d4.loss_map_pts: 1.0540, d4.loss_map_dir: 0.0141, d5.loss_map_cls: 0.2193, d5.loss_map_pts: 1.0483, d5.loss_map_dir: 0.0141, loss: 39.1139, grad_norm: 170.0450 +2026-02-25 07:35:37,184 - DriveTransformer - INFO - Epoch [4][13000/39528] lr: 9.623e-05, eta: 7 days, 14:01:55, time: 0.819, data_time: 0.039, memory: 19865, loss_cls: 0.3012, loss_bbox: 0.4726, loss_traj: 1.0240, loss_traj_cls: 0.0023, loss_map_cls: 0.2743, loss_map_pts: 1.1205, loss_map_dir: 0.0164, d0.loss_plan_l1_fix_time: 2.5938, d0.loss_plan_l1_fix_dist: 0.3233, d1.loss_plan_l1_fix_time: 1.5883, d1.loss_plan_l1_fix_dist: 0.2067, d2.loss_plan_l1_fix_time: 1.5639, d2.loss_plan_l1_fix_dist: 0.2096, d3.loss_plan_l1_fix_time: 1.5656, d3.loss_plan_l1_fix_dist: 0.2174, d4.loss_plan_l1_fix_time: 1.5686, d4.loss_plan_l1_fix_dist: 0.2277, d5.loss_plan_l1_fix_time: 1.5721, d5.loss_plan_l1_fix_dist: 0.2407, d6.loss_plan_l1_fix_time: 1.5769, d6.loss_plan_l1_fix_dist: 0.2577, d0.loss_cls_all: 0.3117, d0.loss_bbox_all: 0.5309, d0.loss_cls: 0.3117, d0.loss_bbox: 0.5309, d1.loss_cls: 0.3049, d1.loss_bbox: 0.4993, d2.loss_cls: 0.2985, d2.loss_bbox: 0.4796, d3.loss_cls: 0.2984, d3.loss_bbox: 0.4715, d4.loss_cls: 0.2969, d4.loss_bbox: 0.4712, d5.loss_cls: 0.3002, d5.loss_bbox: 0.4703, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1487, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0666, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0363, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0267, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0231, d5.loss_traj_cls: 0.0020, d5.loss_traj: 1.0164, d0.loss_map_cls_all: 0.3311, d0.loss_map_pts_all: 2.0028, d0.loss_map_dir_all: 0.0145, d0.loss_map_cls: 0.3311, d0.loss_map_pts: 2.0028, d0.loss_map_dir: 0.0145, d1.loss_map_cls: 0.3061, d1.loss_map_pts: 1.3961, d1.loss_map_dir: 0.0144, d2.loss_map_cls: 0.2972, d2.loss_map_pts: 1.2148, d2.loss_map_dir: 0.0151, d3.loss_map_cls: 0.2842, d3.loss_map_pts: 1.1477, d3.loss_map_dir: 0.0157, d4.loss_map_cls: 0.2773, d4.loss_map_pts: 1.1253, d4.loss_map_dir: 0.0160, d5.loss_map_cls: 0.2758, d5.loss_map_pts: 1.1184, d5.loss_map_dir: 0.0162, loss: 41.0410, grad_norm: 169.3170 +2026-02-25 07:36:17,466 - DriveTransformer - INFO - Epoch [4][13050/39528] lr: 9.623e-05, eta: 7 days, 14:01:16, time: 0.804, data_time: 0.044, memory: 19865, loss_cls: 0.2995, loss_bbox: 0.4649, loss_traj: 1.0371, loss_traj_cls: 0.0024, loss_map_cls: 0.2357, loss_map_pts: 0.9469, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.7222, d0.loss_plan_l1_fix_dist: 0.4403, d1.loss_plan_l1_fix_time: 1.6853, d1.loss_plan_l1_fix_dist: 0.2382, d2.loss_plan_l1_fix_time: 1.6591, d2.loss_plan_l1_fix_dist: 0.2404, d3.loss_plan_l1_fix_time: 1.6566, d3.loss_plan_l1_fix_dist: 0.2468, d4.loss_plan_l1_fix_time: 1.6603, d4.loss_plan_l1_fix_dist: 0.2536, d5.loss_plan_l1_fix_time: 1.6652, d5.loss_plan_l1_fix_dist: 0.2617, d6.loss_plan_l1_fix_time: 1.6720, d6.loss_plan_l1_fix_dist: 0.2680, d0.loss_cls_all: 0.3138, d0.loss_bbox_all: 0.5177, d0.loss_cls: 0.3138, d0.loss_bbox: 0.5177, d1.loss_cls: 0.3053, d1.loss_bbox: 0.4910, d2.loss_cls: 0.2958, d2.loss_bbox: 0.4771, d3.loss_cls: 0.2974, d3.loss_bbox: 0.4696, d4.loss_cls: 0.2970, d4.loss_bbox: 0.4682, d5.loss_cls: 0.2964, d5.loss_bbox: 0.4659, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2341, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.1049, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0215, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0314, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0013, d5.loss_traj_cls: 0.0021, d5.loss_traj: 1.0023, d0.loss_map_cls_all: 0.2879, d0.loss_map_pts_all: 1.5978, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2879, d0.loss_map_pts: 1.5978, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2710, d1.loss_map_pts: 1.1912, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.2540, d2.loss_map_pts: 1.0402, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2452, d3.loss_map_pts: 0.9768, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.2382, d4.loss_map_pts: 0.9541, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.2369, d5.loss_map_pts: 0.9463, d5.loss_map_dir: 0.0113, loss: 39.7952, grad_norm: 169.1688 +2026-02-25 07:36:57,530 - DriveTransformer - INFO - Epoch [4][13100/39528] lr: 9.623e-05, eta: 7 days, 14:00:35, time: 0.801, data_time: 0.050, memory: 19865, loss_cls: 0.2946, loss_bbox: 0.4724, loss_traj: 0.8207, loss_traj_cls: 0.0024, loss_map_cls: 0.2508, loss_map_pts: 1.1081, loss_map_dir: 0.0186, d0.loss_plan_l1_fix_time: 2.3161, d0.loss_plan_l1_fix_dist: 0.2841, d1.loss_plan_l1_fix_time: 1.5501, d1.loss_plan_l1_fix_dist: 0.2044, d2.loss_plan_l1_fix_time: 1.5410, d2.loss_plan_l1_fix_dist: 0.2091, d3.loss_plan_l1_fix_time: 1.5458, d3.loss_plan_l1_fix_dist: 0.2163, d4.loss_plan_l1_fix_time: 1.5517, d4.loss_plan_l1_fix_dist: 0.2235, d5.loss_plan_l1_fix_time: 1.5585, d5.loss_plan_l1_fix_dist: 0.2325, d6.loss_plan_l1_fix_time: 1.5670, d6.loss_plan_l1_fix_dist: 0.2442, d0.loss_cls_all: 0.3096, d0.loss_bbox_all: 0.5268, d0.loss_cls: 0.3096, d0.loss_bbox: 0.5268, d1.loss_cls: 0.3137, d1.loss_bbox: 0.4895, d2.loss_cls: 0.2950, d2.loss_bbox: 0.4762, d3.loss_cls: 0.2937, d3.loss_bbox: 0.4732, d4.loss_cls: 0.2891, d4.loss_bbox: 0.4730, d5.loss_cls: 0.2938, d5.loss_bbox: 0.4707, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0289, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8727, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8198, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8210, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8108, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.8144, d0.loss_map_cls_all: 0.3090, d0.loss_map_pts_all: 2.1861, d0.loss_map_dir_all: 0.0173, d0.loss_map_cls: 0.3090, d0.loss_map_pts: 2.1861, d0.loss_map_dir: 0.0173, d1.loss_map_cls: 0.2838, d1.loss_map_pts: 1.4406, d1.loss_map_dir: 0.0166, d2.loss_map_cls: 0.2704, d2.loss_map_pts: 1.2133, d2.loss_map_dir: 0.0171, d3.loss_map_cls: 0.2610, d3.loss_map_pts: 1.1401, d3.loss_map_dir: 0.0178, d4.loss_map_cls: 0.2555, d4.loss_map_pts: 1.1181, d4.loss_map_dir: 0.0182, d5.loss_map_cls: 0.2509, d5.loss_map_pts: 1.1060, d5.loss_map_dir: 0.0185, loss: 39.3791, grad_norm: 169.8433 +2026-02-25 07:37:36,856 - DriveTransformer - INFO - Epoch [4][13150/39528] lr: 9.623e-05, eta: 7 days, 13:59:50, time: 0.787, data_time: 0.043, memory: 19865, loss_cls: 0.2841, loss_bbox: 0.4519, loss_traj: 0.8393, loss_traj_cls: 0.0025, loss_map_cls: 0.2312, loss_map_pts: 0.9389, loss_map_dir: 0.0147, d0.loss_plan_l1_fix_time: 2.7742, d0.loss_plan_l1_fix_dist: 0.3480, d1.loss_plan_l1_fix_time: 1.5033, d1.loss_plan_l1_fix_dist: 0.2183, d2.loss_plan_l1_fix_time: 1.4988, d2.loss_plan_l1_fix_dist: 0.2190, d3.loss_plan_l1_fix_time: 1.5028, d3.loss_plan_l1_fix_dist: 0.2244, d4.loss_plan_l1_fix_time: 1.5054, d4.loss_plan_l1_fix_dist: 0.2330, d5.loss_plan_l1_fix_time: 1.5085, d5.loss_plan_l1_fix_dist: 0.2414, d6.loss_plan_l1_fix_time: 1.5127, d6.loss_plan_l1_fix_dist: 0.2514, d0.loss_cls_all: 0.2967, d0.loss_bbox_all: 0.4971, d0.loss_cls: 0.2967, d0.loss_bbox: 0.4971, d1.loss_cls: 0.2905, d1.loss_bbox: 0.4691, d2.loss_cls: 0.2798, d2.loss_bbox: 0.4598, d3.loss_cls: 0.2809, d3.loss_bbox: 0.4526, d4.loss_cls: 0.2788, d4.loss_bbox: 0.4526, d5.loss_cls: 0.2818, d5.loss_bbox: 0.4518, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9774, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8654, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8450, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8407, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8351, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.8393, d0.loss_map_cls_all: 0.2845, d0.loss_map_pts_all: 1.7428, d0.loss_map_dir_all: 0.0134, d0.loss_map_cls: 0.2845, d0.loss_map_pts: 1.7428, d0.loss_map_dir: 0.0134, d1.loss_map_cls: 0.2622, d1.loss_map_pts: 1.2135, d1.loss_map_dir: 0.0129, d2.loss_map_cls: 0.2506, d2.loss_map_pts: 1.0332, d2.loss_map_dir: 0.0132, d3.loss_map_cls: 0.2437, d3.loss_map_pts: 0.9688, d3.loss_map_dir: 0.0139, d4.loss_map_cls: 0.2360, d4.loss_map_pts: 0.9491, d4.loss_map_dir: 0.0143, d5.loss_map_cls: 0.2325, d5.loss_map_pts: 0.9410, d5.loss_map_dir: 0.0145, loss: 37.2791, grad_norm: 170.4108 +2026-02-25 07:38:16,126 - DriveTransformer - INFO - Epoch [4][13200/39528] lr: 9.623e-05, eta: 7 days, 13:59:05, time: 0.785, data_time: 0.044, memory: 19865, loss_cls: 0.2923, loss_bbox: 0.4673, loss_traj: 1.0536, loss_traj_cls: 0.0025, loss_map_cls: 0.2346, loss_map_pts: 0.9783, loss_map_dir: 0.0140, d0.loss_plan_l1_fix_time: 2.7668, d0.loss_plan_l1_fix_dist: 0.4796, d1.loss_plan_l1_fix_time: 1.7501, d1.loss_plan_l1_fix_dist: 0.2621, d2.loss_plan_l1_fix_time: 1.7279, d2.loss_plan_l1_fix_dist: 0.2613, d3.loss_plan_l1_fix_time: 1.7296, d3.loss_plan_l1_fix_dist: 0.2651, d4.loss_plan_l1_fix_time: 1.7321, d4.loss_plan_l1_fix_dist: 0.2721, d5.loss_plan_l1_fix_time: 1.7358, d5.loss_plan_l1_fix_dist: 0.2793, d6.loss_plan_l1_fix_time: 1.7406, d6.loss_plan_l1_fix_dist: 0.2875, d0.loss_cls_all: 0.3024, d0.loss_bbox_all: 0.5223, d0.loss_cls: 0.3024, d0.loss_bbox: 0.5223, d1.loss_cls: 0.2953, d1.loss_bbox: 0.4983, d2.loss_cls: 0.2904, d2.loss_bbox: 0.4805, d3.loss_cls: 0.2907, d3.loss_bbox: 0.4736, d4.loss_cls: 0.2899, d4.loss_bbox: 0.4686, d5.loss_cls: 0.2906, d5.loss_bbox: 0.4668, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2426, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.1045, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0711, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0680, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0594, d5.loss_traj_cls: 0.0021, d5.loss_traj: 1.0554, d0.loss_map_cls_all: 0.2973, d0.loss_map_pts_all: 1.8011, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.2973, d0.loss_map_pts: 1.8011, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2701, d1.loss_map_pts: 1.2631, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2553, d2.loss_map_pts: 1.0761, d2.loss_map_dir: 0.0126, d3.loss_map_cls: 0.2424, d3.loss_map_pts: 1.0074, d3.loss_map_dir: 0.0133, d4.loss_map_cls: 0.2370, d4.loss_map_pts: 0.9837, d4.loss_map_dir: 0.0136, d5.loss_map_cls: 0.2358, d5.loss_map_pts: 0.9786, d5.loss_map_dir: 0.0138, loss: 41.2711, grad_norm: 169.4247 +2026-02-25 07:38:57,058 - DriveTransformer - INFO - Epoch [4][13250/39528] lr: 9.623e-05, eta: 7 days, 13:58:30, time: 0.819, data_time: 0.038, memory: 19865, loss_cls: 0.3051, loss_bbox: 0.4713, loss_traj: 0.8645, loss_traj_cls: 0.0027, loss_map_cls: 0.2302, loss_map_pts: 1.0823, loss_map_dir: 0.0151, d0.loss_plan_l1_fix_time: 2.4065, d0.loss_plan_l1_fix_dist: 0.4359, d1.loss_plan_l1_fix_time: 1.5168, d1.loss_plan_l1_fix_dist: 0.2304, d2.loss_plan_l1_fix_time: 1.4964, d2.loss_plan_l1_fix_dist: 0.2278, d3.loss_plan_l1_fix_time: 1.4978, d3.loss_plan_l1_fix_dist: 0.2304, d4.loss_plan_l1_fix_time: 1.5002, d4.loss_plan_l1_fix_dist: 0.2355, d5.loss_plan_l1_fix_time: 1.5031, d5.loss_plan_l1_fix_dist: 0.2443, d6.loss_plan_l1_fix_time: 1.5059, d6.loss_plan_l1_fix_dist: 0.2571, d0.loss_cls_all: 0.3228, d0.loss_bbox_all: 0.5206, d0.loss_cls: 0.3228, d0.loss_bbox: 0.5206, d1.loss_cls: 0.3115, d1.loss_bbox: 0.4939, d2.loss_cls: 0.3067, d2.loss_bbox: 0.4799, d3.loss_cls: 0.3055, d3.loss_bbox: 0.4710, d4.loss_cls: 0.3032, d4.loss_bbox: 0.4689, d5.loss_cls: 0.3020, d5.loss_bbox: 0.4693, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1260, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9174, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8749, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8604, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8649, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.8615, d0.loss_map_cls_all: 0.2829, d0.loss_map_pts_all: 1.9666, d0.loss_map_dir_all: 0.0141, d0.loss_map_cls: 0.2829, d0.loss_map_pts: 1.9666, d0.loss_map_dir: 0.0141, d1.loss_map_cls: 0.2564, d1.loss_map_pts: 1.3531, d1.loss_map_dir: 0.0134, d2.loss_map_cls: 0.2471, d2.loss_map_pts: 1.1855, d2.loss_map_dir: 0.0140, d3.loss_map_cls: 0.2374, d3.loss_map_pts: 1.1187, d3.loss_map_dir: 0.0145, d4.loss_map_cls: 0.2341, d4.loss_map_pts: 1.0921, d4.loss_map_dir: 0.0149, d5.loss_map_cls: 0.2314, d5.loss_map_pts: 1.0851, d5.loss_map_dir: 0.0149, loss: 39.0097, grad_norm: 169.5460 +2026-02-25 07:39:37,140 - DriveTransformer - INFO - Epoch [4][13300/39528] lr: 9.623e-05, eta: 7 days, 13:57:50, time: 0.802, data_time: 0.041, memory: 19865, loss_cls: 0.2902, loss_bbox: 0.4692, loss_traj: 0.9691, loss_traj_cls: 0.0027, loss_map_cls: 0.2497, loss_map_pts: 0.9618, loss_map_dir: 0.0141, d0.loss_plan_l1_fix_time: 3.0726, d0.loss_plan_l1_fix_dist: 0.3421, d1.loss_plan_l1_fix_time: 1.6726, d1.loss_plan_l1_fix_dist: 0.2114, d2.loss_plan_l1_fix_time: 1.6494, d2.loss_plan_l1_fix_dist: 0.2159, d3.loss_plan_l1_fix_time: 1.6501, d3.loss_plan_l1_fix_dist: 0.2217, d4.loss_plan_l1_fix_time: 1.6537, d4.loss_plan_l1_fix_dist: 0.2286, d5.loss_plan_l1_fix_time: 1.6577, d5.loss_plan_l1_fix_dist: 0.2338, d6.loss_plan_l1_fix_time: 1.6620, d6.loss_plan_l1_fix_dist: 0.2400, d0.loss_cls_all: 0.3056, d0.loss_bbox_all: 0.5163, d0.loss_cls: 0.3056, d0.loss_bbox: 0.5163, d1.loss_cls: 0.2923, d1.loss_bbox: 0.4876, d2.loss_cls: 0.2884, d2.loss_bbox: 0.4721, d3.loss_cls: 0.2850, d3.loss_bbox: 0.4659, d4.loss_cls: 0.2845, d4.loss_bbox: 0.4647, d5.loss_cls: 0.2844, d5.loss_bbox: 0.4669, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2580, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0574, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9939, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9772, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9693, d5.loss_traj_cls: 0.0022, d5.loss_traj: 0.9638, d0.loss_map_cls_all: 0.3238, d0.loss_map_pts_all: 1.8552, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.3238, d0.loss_map_pts: 1.8552, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2875, d1.loss_map_pts: 1.2643, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2697, d2.loss_map_pts: 1.0698, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2596, d3.loss_map_pts: 0.9970, d3.loss_map_dir: 0.0134, d4.loss_map_cls: 0.2529, d4.loss_map_pts: 0.9754, d4.loss_map_dir: 0.0138, d5.loss_map_cls: 0.2495, d5.loss_map_pts: 0.9643, d5.loss_map_dir: 0.0140, loss: 40.3686, grad_norm: 169.7798 +2026-02-25 07:40:15,769 - DriveTransformer - INFO - Epoch [4][13350/39528] lr: 9.623e-05, eta: 7 days, 13:57:01, time: 0.773, data_time: 0.036, memory: 19865, loss_cls: 0.2809, loss_bbox: 0.4504, loss_traj: 0.9693, loss_traj_cls: 0.0026, loss_map_cls: 0.2047, loss_map_pts: 0.8932, loss_map_dir: 0.0138, d0.loss_plan_l1_fix_time: 2.7654, d0.loss_plan_l1_fix_dist: 0.4462, d1.loss_plan_l1_fix_time: 1.6267, d1.loss_plan_l1_fix_dist: 0.2236, d2.loss_plan_l1_fix_time: 1.5930, d2.loss_plan_l1_fix_dist: 0.2274, d3.loss_plan_l1_fix_time: 1.5931, d3.loss_plan_l1_fix_dist: 0.2337, d4.loss_plan_l1_fix_time: 1.5978, d4.loss_plan_l1_fix_dist: 0.2406, d5.loss_plan_l1_fix_time: 1.6040, d5.loss_plan_l1_fix_dist: 0.2471, d6.loss_plan_l1_fix_time: 1.6112, d6.loss_plan_l1_fix_dist: 0.2526, d0.loss_cls_all: 0.3003, d0.loss_bbox_all: 0.5016, d0.loss_cls: 0.3003, d0.loss_bbox: 0.5016, d1.loss_cls: 0.2908, d1.loss_bbox: 0.4732, d2.loss_cls: 0.2839, d2.loss_bbox: 0.4590, d3.loss_cls: 0.2833, d3.loss_bbox: 0.4510, d4.loss_cls: 0.2810, d4.loss_bbox: 0.4490, d5.loss_cls: 0.2787, d5.loss_bbox: 0.4484, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1933, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0137, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9758, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9704, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9665, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.9642, d0.loss_map_cls_all: 0.2686, d0.loss_map_pts_all: 1.6359, d0.loss_map_dir_all: 0.0122, d0.loss_map_cls: 0.2686, d0.loss_map_pts: 1.6359, d0.loss_map_dir: 0.0122, d1.loss_map_cls: 0.2335, d1.loss_map_pts: 1.1454, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2204, d2.loss_map_pts: 0.9895, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2128, d3.loss_map_pts: 0.9254, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.2061, d4.loss_map_pts: 0.9069, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.2042, d5.loss_map_pts: 0.8962, d5.loss_map_dir: 0.0136, loss: 38.3084, grad_norm: 170.1969 +2026-02-25 07:40:58,018 - DriveTransformer - INFO - Epoch [4][13400/39528] lr: 9.623e-05, eta: 7 days, 13:56:34, time: 0.845, data_time: 0.037, memory: 19865, loss_cls: 0.3228, loss_bbox: 0.4833, loss_traj: 0.8136, loss_traj_cls: 0.0025, loss_map_cls: 0.2839, loss_map_pts: 1.2999, loss_map_dir: 0.0209, d0.loss_plan_l1_fix_time: 2.9284, d0.loss_plan_l1_fix_dist: 0.4419, d1.loss_plan_l1_fix_time: 1.8287, d1.loss_plan_l1_fix_dist: 0.2665, d2.loss_plan_l1_fix_time: 1.8056, d2.loss_plan_l1_fix_dist: 0.2668, d3.loss_plan_l1_fix_time: 1.7980, d3.loss_plan_l1_fix_dist: 0.2717, d4.loss_plan_l1_fix_time: 1.7977, d4.loss_plan_l1_fix_dist: 0.2768, d5.loss_plan_l1_fix_time: 1.7998, d5.loss_plan_l1_fix_dist: 0.2839, d6.loss_plan_l1_fix_time: 1.8031, d6.loss_plan_l1_fix_dist: 0.2936, d0.loss_cls_all: 0.3511, d0.loss_bbox_all: 0.5416, d0.loss_cls: 0.3511, d0.loss_bbox: 0.5416, d1.loss_cls: 0.3419, d1.loss_bbox: 0.5081, d2.loss_cls: 0.3335, d2.loss_bbox: 0.4913, d3.loss_cls: 0.3285, d3.loss_bbox: 0.4848, d4.loss_cls: 0.3249, d4.loss_bbox: 0.4834, d5.loss_cls: 0.3235, d5.loss_bbox: 0.4818, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9716, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8550, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8226, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8149, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8131, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.8108, d0.loss_map_cls_all: 0.3496, d0.loss_map_pts_all: 2.4400, d0.loss_map_dir_all: 0.0186, d0.loss_map_cls: 0.3496, d0.loss_map_pts: 2.4400, d0.loss_map_dir: 0.0186, d1.loss_map_cls: 0.3241, d1.loss_map_pts: 1.6702, d1.loss_map_dir: 0.0185, d2.loss_map_cls: 0.3072, d2.loss_map_pts: 1.4389, d2.loss_map_dir: 0.0193, d3.loss_map_cls: 0.2939, d3.loss_map_pts: 1.3476, d3.loss_map_dir: 0.0201, d4.loss_map_cls: 0.2890, d4.loss_map_pts: 1.3147, d4.loss_map_dir: 0.0206, d5.loss_map_cls: 0.2853, d5.loss_map_pts: 1.3045, d5.loss_map_dir: 0.0208, loss: 44.3623, grad_norm: 166.7930 +2026-02-25 07:41:40,081 - DriveTransformer - INFO - Epoch [4][13450/39528] lr: 9.623e-05, eta: 7 days, 13:56:06, time: 0.841, data_time: 0.051, memory: 19865, loss_cls: 0.2763, loss_bbox: 0.4531, loss_traj: 0.7976, loss_traj_cls: 0.0025, loss_map_cls: 0.2254, loss_map_pts: 0.9595, loss_map_dir: 0.0163, d0.loss_plan_l1_fix_time: 2.6655, d0.loss_plan_l1_fix_dist: 0.4513, d1.loss_plan_l1_fix_time: 1.6304, d1.loss_plan_l1_fix_dist: 0.2566, d2.loss_plan_l1_fix_time: 1.6208, d2.loss_plan_l1_fix_dist: 0.2598, d3.loss_plan_l1_fix_time: 1.6249, d3.loss_plan_l1_fix_dist: 0.2663, d4.loss_plan_l1_fix_time: 1.6280, d4.loss_plan_l1_fix_dist: 0.2739, d5.loss_plan_l1_fix_time: 1.6316, d5.loss_plan_l1_fix_dist: 0.2849, d6.loss_plan_l1_fix_time: 1.6362, d6.loss_plan_l1_fix_dist: 0.3002, d0.loss_cls_all: 0.2974, d0.loss_bbox_all: 0.4988, d0.loss_cls: 0.2974, d0.loss_bbox: 0.4988, d1.loss_cls: 0.2896, d1.loss_bbox: 0.4689, d2.loss_cls: 0.2802, d2.loss_bbox: 0.4594, d3.loss_cls: 0.2803, d3.loss_bbox: 0.4513, d4.loss_cls: 0.2776, d4.loss_bbox: 0.4491, d5.loss_cls: 0.2760, d5.loss_bbox: 0.4498, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9424, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8477, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8043, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7961, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7922, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.7950, d0.loss_map_cls_all: 0.2820, d0.loss_map_pts_all: 1.9405, d0.loss_map_dir_all: 0.0148, d0.loss_map_cls: 0.2820, d0.loss_map_pts: 1.9405, d0.loss_map_dir: 0.0148, d1.loss_map_cls: 0.2539, d1.loss_map_pts: 1.2556, d1.loss_map_dir: 0.0146, d2.loss_map_cls: 0.2383, d2.loss_map_pts: 1.0599, d2.loss_map_dir: 0.0150, d3.loss_map_cls: 0.2284, d3.loss_map_pts: 0.9924, d3.loss_map_dir: 0.0157, d4.loss_map_cls: 0.2247, d4.loss_map_pts: 0.9709, d4.loss_map_dir: 0.0161, d5.loss_map_cls: 0.2234, d5.loss_map_pts: 0.9636, d5.loss_map_dir: 0.0162, loss: 38.4831, grad_norm: 166.4777 +2026-02-25 07:42:22,342 - DriveTransformer - INFO - Epoch [4][13500/39528] lr: 9.623e-05, eta: 7 days, 13:55:39, time: 0.845, data_time: 0.042, memory: 19865, loss_cls: 0.3090, loss_bbox: 0.4558, loss_traj: 0.8292, loss_traj_cls: 0.0024, loss_map_cls: 0.2664, loss_map_pts: 1.1949, loss_map_dir: 0.0188, d0.loss_plan_l1_fix_time: 2.7570, d0.loss_plan_l1_fix_dist: 0.4366, d1.loss_plan_l1_fix_time: 1.7125, d1.loss_plan_l1_fix_dist: 0.2682, d2.loss_plan_l1_fix_time: 1.6945, d2.loss_plan_l1_fix_dist: 0.2731, d3.loss_plan_l1_fix_time: 1.6990, d3.loss_plan_l1_fix_dist: 0.2824, d4.loss_plan_l1_fix_time: 1.7028, d4.loss_plan_l1_fix_dist: 0.2925, d5.loss_plan_l1_fix_time: 1.7065, d5.loss_plan_l1_fix_dist: 0.2993, d6.loss_plan_l1_fix_time: 1.7113, d6.loss_plan_l1_fix_dist: 0.3054, d0.loss_cls_all: 0.3290, d0.loss_bbox_all: 0.5109, d0.loss_cls: 0.3290, d0.loss_bbox: 0.5109, d1.loss_cls: 0.3258, d1.loss_bbox: 0.4769, d2.loss_cls: 0.3180, d2.loss_bbox: 0.4619, d3.loss_cls: 0.3137, d3.loss_bbox: 0.4551, d4.loss_cls: 0.3092, d4.loss_bbox: 0.4548, d5.loss_cls: 0.3081, d5.loss_bbox: 0.4552, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0203, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8784, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8465, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8361, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8276, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.8287, d0.loss_map_cls_all: 0.3136, d0.loss_map_pts_all: 2.1896, d0.loss_map_dir_all: 0.0167, d0.loss_map_cls: 0.3136, d0.loss_map_pts: 2.1896, d0.loss_map_dir: 0.0167, d1.loss_map_cls: 0.2917, d1.loss_map_pts: 1.4987, d1.loss_map_dir: 0.0166, d2.loss_map_cls: 0.2791, d2.loss_map_pts: 1.3060, d2.loss_map_dir: 0.0172, d3.loss_map_cls: 0.2710, d3.loss_map_pts: 1.2301, d3.loss_map_dir: 0.0181, d4.loss_map_cls: 0.2673, d4.loss_map_pts: 1.2034, d4.loss_map_dir: 0.0184, d5.loss_map_cls: 0.2656, d5.loss_map_pts: 1.1982, d5.loss_map_dir: 0.0186, loss: 41.9597, grad_norm: 168.1380 +2026-02-25 07:43:02,425 - DriveTransformer - INFO - Epoch [4][13550/39528] lr: 9.623e-05, eta: 7 days, 13:54:59, time: 0.802, data_time: 0.043, memory: 19865, loss_cls: 0.2879, loss_bbox: 0.4583, loss_traj: 0.9508, loss_traj_cls: 0.0025, loss_map_cls: 0.2610, loss_map_pts: 1.0113, loss_map_dir: 0.0140, d0.loss_plan_l1_fix_time: 2.7389, d0.loss_plan_l1_fix_dist: 0.3631, d1.loss_plan_l1_fix_time: 1.4201, d1.loss_plan_l1_fix_dist: 0.2201, d2.loss_plan_l1_fix_time: 1.4123, d2.loss_plan_l1_fix_dist: 0.2259, d3.loss_plan_l1_fix_time: 1.4134, d3.loss_plan_l1_fix_dist: 0.2366, d4.loss_plan_l1_fix_time: 1.4165, d4.loss_plan_l1_fix_dist: 0.2460, d5.loss_plan_l1_fix_time: 1.4200, d5.loss_plan_l1_fix_dist: 0.2583, d6.loss_plan_l1_fix_time: 1.4242, d6.loss_plan_l1_fix_dist: 0.2733, d0.loss_cls_all: 0.3123, d0.loss_bbox_all: 0.5173, d0.loss_cls: 0.3123, d0.loss_bbox: 0.5173, d1.loss_cls: 0.3033, d1.loss_bbox: 0.4816, d2.loss_cls: 0.2925, d2.loss_bbox: 0.4699, d3.loss_cls: 0.2891, d3.loss_bbox: 0.4629, d4.loss_cls: 0.2850, d4.loss_bbox: 0.4623, d5.loss_cls: 0.2856, d5.loss_bbox: 0.4611, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1782, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9721, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9469, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9371, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9475, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.9505, d0.loss_map_cls_all: 0.3044, d0.loss_map_pts_all: 1.8699, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.3044, d0.loss_map_pts: 1.8699, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2828, d1.loss_map_pts: 1.2896, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2738, d2.loss_map_pts: 1.1169, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2658, d3.loss_map_pts: 1.0428, d3.loss_map_dir: 0.0134, d4.loss_map_cls: 0.2632, d4.loss_map_pts: 1.0201, d4.loss_map_dir: 0.0138, d5.loss_map_cls: 0.2610, d5.loss_map_pts: 1.0139, d5.loss_map_dir: 0.0139, loss: 38.7152, grad_norm: 171.5514 +2026-02-25 07:43:42,922 - DriveTransformer - INFO - Epoch [4][13600/39528] lr: 9.623e-05, eta: 7 days, 13:54:21, time: 0.810, data_time: 0.042, memory: 19865, loss_cls: 0.3063, loss_bbox: 0.4806, loss_traj: 0.8091, loss_traj_cls: 0.0024, loss_map_cls: 0.2568, loss_map_pts: 1.1048, loss_map_dir: 0.0153, d0.loss_plan_l1_fix_time: 2.7507, d0.loss_plan_l1_fix_dist: 0.3785, d1.loss_plan_l1_fix_time: 1.6246, d1.loss_plan_l1_fix_dist: 0.2179, d2.loss_plan_l1_fix_time: 1.6108, d2.loss_plan_l1_fix_dist: 0.2286, d3.loss_plan_l1_fix_time: 1.6103, d3.loss_plan_l1_fix_dist: 0.2400, d4.loss_plan_l1_fix_time: 1.6135, d4.loss_plan_l1_fix_dist: 0.2492, d5.loss_plan_l1_fix_time: 1.6182, d5.loss_plan_l1_fix_dist: 0.2620, d6.loss_plan_l1_fix_time: 1.6235, d6.loss_plan_l1_fix_dist: 0.2763, d0.loss_cls_all: 0.3336, d0.loss_bbox_all: 0.5279, d0.loss_cls: 0.3336, d0.loss_bbox: 0.5279, d1.loss_cls: 0.3249, d1.loss_bbox: 0.5060, d2.loss_cls: 0.3138, d2.loss_bbox: 0.4921, d3.loss_cls: 0.3095, d3.loss_bbox: 0.4851, d4.loss_cls: 0.3055, d4.loss_bbox: 0.4826, d5.loss_cls: 0.3060, d5.loss_bbox: 0.4811, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9984, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8392, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8098, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8026, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8040, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.8076, d0.loss_map_cls_all: 0.3058, d0.loss_map_pts_all: 1.9181, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.3058, d0.loss_map_pts: 1.9181, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.2862, d1.loss_map_pts: 1.3886, d1.loss_map_dir: 0.0134, d2.loss_map_cls: 0.2729, d2.loss_map_pts: 1.2054, d2.loss_map_dir: 0.0140, d3.loss_map_cls: 0.2636, d3.loss_map_pts: 1.1388, d3.loss_map_dir: 0.0146, d4.loss_map_cls: 0.2601, d4.loss_map_pts: 1.1131, d4.loss_map_dir: 0.0149, d5.loss_map_cls: 0.2577, d5.loss_map_pts: 1.1079, d5.loss_map_dir: 0.0152, loss: 39.9180, grad_norm: 172.4606 +2026-02-25 07:44:23,810 - DriveTransformer - INFO - Epoch [4][13650/39528] lr: 9.623e-05, eta: 7 days, 13:53:46, time: 0.818, data_time: 0.048, memory: 19865, loss_cls: 0.2813, loss_bbox: 0.4795, loss_traj: 1.0720, loss_traj_cls: 0.0023, loss_map_cls: 0.2351, loss_map_pts: 1.0088, loss_map_dir: 0.0152, d0.loss_plan_l1_fix_time: 2.9241, d0.loss_plan_l1_fix_dist: 0.4567, d1.loss_plan_l1_fix_time: 1.6017, d1.loss_plan_l1_fix_dist: 0.2923, d2.loss_plan_l1_fix_time: 1.5787, d2.loss_plan_l1_fix_dist: 0.2993, d3.loss_plan_l1_fix_time: 1.5825, d3.loss_plan_l1_fix_dist: 0.3136, d4.loss_plan_l1_fix_time: 1.5866, d4.loss_plan_l1_fix_dist: 0.3326, d5.loss_plan_l1_fix_time: 1.5915, d5.loss_plan_l1_fix_dist: 0.3518, d6.loss_plan_l1_fix_time: 1.5967, d6.loss_plan_l1_fix_dist: 0.3733, d0.loss_cls_all: 0.3029, d0.loss_bbox_all: 0.5396, d0.loss_cls: 0.3029, d0.loss_bbox: 0.5396, d1.loss_cls: 0.2969, d1.loss_bbox: 0.5070, d2.loss_cls: 0.2866, d2.loss_bbox: 0.4923, d3.loss_cls: 0.2832, d3.loss_bbox: 0.4866, d4.loss_cls: 0.2804, d4.loss_bbox: 0.4839, d5.loss_cls: 0.2806, d5.loss_bbox: 0.4814, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3317, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.1090, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0825, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0726, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0752, d5.loss_traj_cls: 0.0020, d5.loss_traj: 1.0709, d0.loss_map_cls_all: 0.2897, d0.loss_map_pts_all: 1.8868, d0.loss_map_dir_all: 0.0138, d0.loss_map_cls: 0.2897, d0.loss_map_pts: 1.8868, d0.loss_map_dir: 0.0138, d1.loss_map_cls: 0.2600, d1.loss_map_pts: 1.3317, d1.loss_map_dir: 0.0133, d2.loss_map_cls: 0.2503, d2.loss_map_pts: 1.1370, d2.loss_map_dir: 0.0138, d3.loss_map_cls: 0.2384, d3.loss_map_pts: 1.0584, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2357, d4.loss_map_pts: 1.0278, d4.loss_map_dir: 0.0148, d5.loss_map_cls: 0.2340, d5.loss_map_pts: 1.0142, d5.loss_map_dir: 0.0150, loss: 41.5267, grad_norm: 176.7729 +2026-02-25 07:45:07,808 - DriveTransformer - INFO - Epoch [4][13700/39528] lr: 9.623e-05, eta: 7 days, 13:53:30, time: 0.880, data_time: 0.040, memory: 19865, loss_cls: 0.3289, loss_bbox: 0.5012, loss_traj: 0.7509, loss_traj_cls: 0.0023, loss_map_cls: 0.2570, loss_map_pts: 1.1448, loss_map_dir: 0.0199, d0.loss_plan_l1_fix_time: 2.6675, d0.loss_plan_l1_fix_dist: 0.3826, d1.loss_plan_l1_fix_time: 1.5186, d1.loss_plan_l1_fix_dist: 0.2421, d2.loss_plan_l1_fix_time: 1.4991, d2.loss_plan_l1_fix_dist: 0.2491, d3.loss_plan_l1_fix_time: 1.5005, d3.loss_plan_l1_fix_dist: 0.2596, d4.loss_plan_l1_fix_time: 1.5036, d4.loss_plan_l1_fix_dist: 0.2748, d5.loss_plan_l1_fix_time: 1.5072, d5.loss_plan_l1_fix_dist: 0.2905, d6.loss_plan_l1_fix_time: 1.5118, d6.loss_plan_l1_fix_dist: 0.3094, d0.loss_cls_all: 0.3481, d0.loss_bbox_all: 0.5636, d0.loss_cls: 0.3481, d0.loss_bbox: 0.5636, d1.loss_cls: 0.3408, d1.loss_bbox: 0.5322, d2.loss_cls: 0.3336, d2.loss_bbox: 0.5167, d3.loss_cls: 0.3308, d3.loss_bbox: 0.5071, d4.loss_cls: 0.3274, d4.loss_bbox: 0.5041, d5.loss_cls: 0.3299, d5.loss_bbox: 0.5003, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9845, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8005, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7685, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7514, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7483, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.7524, d0.loss_map_cls_all: 0.3108, d0.loss_map_pts_all: 2.2539, d0.loss_map_dir_all: 0.0181, d0.loss_map_cls: 0.3108, d0.loss_map_pts: 2.2539, d0.loss_map_dir: 0.0181, d1.loss_map_cls: 0.2852, d1.loss_map_pts: 1.4864, d1.loss_map_dir: 0.0176, d2.loss_map_cls: 0.2749, d2.loss_map_pts: 1.2636, d2.loss_map_dir: 0.0183, d3.loss_map_cls: 0.2667, d3.loss_map_pts: 1.1837, d3.loss_map_dir: 0.0191, d4.loss_map_cls: 0.2613, d4.loss_map_pts: 1.1592, d4.loss_map_dir: 0.0196, d5.loss_map_cls: 0.2575, d5.loss_map_pts: 1.1479, d5.loss_map_dir: 0.0197, loss: 40.4257, grad_norm: 177.5062 +2026-02-25 07:45:47,422 - DriveTransformer - INFO - Epoch [4][13750/39528] lr: 9.623e-05, eta: 7 days, 13:52:47, time: 0.792, data_time: 0.042, memory: 19865, loss_cls: 0.2853, loss_bbox: 0.4432, loss_traj: 0.8237, loss_traj_cls: 0.0022, loss_map_cls: 0.2388, loss_map_pts: 0.9987, loss_map_dir: 0.0150, d0.loss_plan_l1_fix_time: 2.5225, d0.loss_plan_l1_fix_dist: 0.4888, d1.loss_plan_l1_fix_time: 1.4534, d1.loss_plan_l1_fix_dist: 0.2643, d2.loss_plan_l1_fix_time: 1.4393, d2.loss_plan_l1_fix_dist: 0.2687, d3.loss_plan_l1_fix_time: 1.4446, d3.loss_plan_l1_fix_dist: 0.2784, d4.loss_plan_l1_fix_time: 1.4484, d4.loss_plan_l1_fix_dist: 0.2880, d5.loss_plan_l1_fix_time: 1.4528, d5.loss_plan_l1_fix_dist: 0.3011, d6.loss_plan_l1_fix_time: 1.4585, d6.loss_plan_l1_fix_dist: 0.3138, d0.loss_cls_all: 0.3108, d0.loss_bbox_all: 0.4903, d0.loss_cls: 0.3108, d0.loss_bbox: 0.4903, d1.loss_cls: 0.3024, d1.loss_bbox: 0.4603, d2.loss_cls: 0.2923, d2.loss_bbox: 0.4491, d3.loss_cls: 0.2872, d3.loss_bbox: 0.4438, d4.loss_cls: 0.2848, d4.loss_bbox: 0.4415, d5.loss_cls: 0.2845, d5.loss_bbox: 0.4419, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9980, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8609, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8297, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8291, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8234, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.8223, d0.loss_map_cls_all: 0.2988, d0.loss_map_pts_all: 1.8219, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.2988, d0.loss_map_pts: 1.8219, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.2714, d1.loss_map_pts: 1.2791, d1.loss_map_dir: 0.0135, d2.loss_map_cls: 0.2589, d2.loss_map_pts: 1.1038, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2471, d3.loss_map_pts: 1.0323, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2399, d4.loss_map_pts: 1.0123, d4.loss_map_dir: 0.0147, d5.loss_map_cls: 0.2382, d5.loss_map_pts: 0.9992, d5.loss_map_dir: 0.0148, loss: 37.7109, grad_norm: 180.7504 +2026-02-25 07:46:28,799 - DriveTransformer - INFO - Epoch [4][13800/39528] lr: 9.623e-05, eta: 7 days, 13:52:15, time: 0.829, data_time: 0.041, memory: 19865, loss_cls: 0.3030, loss_bbox: 0.4747, loss_traj: 0.8697, loss_traj_cls: 0.0023, loss_map_cls: 0.2454, loss_map_pts: 1.0873, loss_map_dir: 0.0195, d0.loss_plan_l1_fix_time: 2.4881, d0.loss_plan_l1_fix_dist: 0.3789, d1.loss_plan_l1_fix_time: 1.6150, d1.loss_plan_l1_fix_dist: 0.2315, d2.loss_plan_l1_fix_time: 1.5920, d2.loss_plan_l1_fix_dist: 0.2381, d3.loss_plan_l1_fix_time: 1.5915, d3.loss_plan_l1_fix_dist: 0.2474, d4.loss_plan_l1_fix_time: 1.5944, d4.loss_plan_l1_fix_dist: 0.2588, d5.loss_plan_l1_fix_time: 1.5977, d5.loss_plan_l1_fix_dist: 0.2703, d6.loss_plan_l1_fix_time: 1.6021, d6.loss_plan_l1_fix_dist: 0.2832, d0.loss_cls_all: 0.3278, d0.loss_bbox_all: 0.5269, d0.loss_cls: 0.3278, d0.loss_bbox: 0.5269, d1.loss_cls: 0.3189, d1.loss_bbox: 0.4988, d2.loss_cls: 0.3118, d2.loss_bbox: 0.4841, d3.loss_cls: 0.3102, d3.loss_bbox: 0.4746, d4.loss_cls: 0.3041, d4.loss_bbox: 0.4730, d5.loss_cls: 0.3029, d5.loss_bbox: 0.4723, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9971, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8981, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8781, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8465, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8623, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.8652, d0.loss_map_cls_all: 0.2949, d0.loss_map_pts_all: 2.1288, d0.loss_map_dir_all: 0.0177, d0.loss_map_cls: 0.2949, d0.loss_map_pts: 2.1288, d0.loss_map_dir: 0.0177, d1.loss_map_cls: 0.2770, d1.loss_map_pts: 1.4179, d1.loss_map_dir: 0.0174, d2.loss_map_cls: 0.2632, d2.loss_map_pts: 1.1903, d2.loss_map_dir: 0.0180, d3.loss_map_cls: 0.2537, d3.loss_map_pts: 1.1157, d3.loss_map_dir: 0.0186, d4.loss_map_cls: 0.2480, d4.loss_map_pts: 1.0947, d4.loss_map_dir: 0.0191, d5.loss_map_cls: 0.2449, d5.loss_map_pts: 1.0904, d5.loss_map_dir: 0.0192, loss: 40.1752, grad_norm: 177.9417 +2026-02-25 07:47:08,989 - DriveTransformer - INFO - Epoch [4][13850/39528] lr: 9.623e-05, eta: 7 days, 13:51:35, time: 0.802, data_time: 0.041, memory: 19865, loss_cls: 0.2879, loss_bbox: 0.4674, loss_traj: 0.7906, loss_traj_cls: 0.0022, loss_map_cls: 0.2438, loss_map_pts: 0.9923, loss_map_dir: 0.0146, d0.loss_plan_l1_fix_time: 2.6216, d0.loss_plan_l1_fix_dist: 0.5066, d1.loss_plan_l1_fix_time: 1.4665, d1.loss_plan_l1_fix_dist: 0.2408, d2.loss_plan_l1_fix_time: 1.4358, d2.loss_plan_l1_fix_dist: 0.2441, d3.loss_plan_l1_fix_time: 1.4327, d3.loss_plan_l1_fix_dist: 0.2510, d4.loss_plan_l1_fix_time: 1.4338, d4.loss_plan_l1_fix_dist: 0.2606, d5.loss_plan_l1_fix_time: 1.4361, d5.loss_plan_l1_fix_dist: 0.2698, d6.loss_plan_l1_fix_time: 1.4387, d6.loss_plan_l1_fix_dist: 0.2821, d0.loss_cls_all: 0.3130, d0.loss_bbox_all: 0.5181, d0.loss_cls: 0.3130, d0.loss_bbox: 0.5181, d1.loss_cls: 0.3012, d1.loss_bbox: 0.4902, d2.loss_cls: 0.2935, d2.loss_bbox: 0.4756, d3.loss_cls: 0.2915, d3.loss_bbox: 0.4693, d4.loss_cls: 0.2869, d4.loss_bbox: 0.4683, d5.loss_cls: 0.2874, d5.loss_bbox: 0.4668, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0111, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8490, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8066, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7950, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7882, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.7902, d0.loss_map_cls_all: 0.2994, d0.loss_map_pts_all: 1.8693, d0.loss_map_dir_all: 0.0126, d0.loss_map_cls: 0.2994, d0.loss_map_pts: 1.8693, d0.loss_map_dir: 0.0126, d1.loss_map_cls: 0.2758, d1.loss_map_pts: 1.3158, d1.loss_map_dir: 0.0126, d2.loss_map_cls: 0.2612, d2.loss_map_pts: 1.1082, d2.loss_map_dir: 0.0132, d3.loss_map_cls: 0.2492, d3.loss_map_pts: 1.0309, d3.loss_map_dir: 0.0140, d4.loss_map_cls: 0.2448, d4.loss_map_pts: 1.0050, d4.loss_map_dir: 0.0144, d5.loss_map_cls: 0.2425, d5.loss_map_pts: 0.9966, d5.loss_map_dir: 0.0145, loss: 37.8194, grad_norm: 178.0460 +2026-02-25 07:47:50,066 - DriveTransformer - INFO - Epoch [4][13900/39528] lr: 9.623e-05, eta: 7 days, 13:51:01, time: 0.822, data_time: 0.042, memory: 19865, loss_cls: 0.2771, loss_bbox: 0.4515, loss_traj: 0.8424, loss_traj_cls: 0.0022, loss_map_cls: 0.2403, loss_map_pts: 0.9870, loss_map_dir: 0.0167, d0.loss_plan_l1_fix_time: 2.5769, d0.loss_plan_l1_fix_dist: 0.3913, d1.loss_plan_l1_fix_time: 1.3169, d1.loss_plan_l1_fix_dist: 0.2354, d2.loss_plan_l1_fix_time: 1.3002, d2.loss_plan_l1_fix_dist: 0.2367, d3.loss_plan_l1_fix_time: 1.3036, d3.loss_plan_l1_fix_dist: 0.2440, d4.loss_plan_l1_fix_time: 1.3081, d4.loss_plan_l1_fix_dist: 0.2542, d5.loss_plan_l1_fix_time: 1.3123, d5.loss_plan_l1_fix_dist: 0.2703, d6.loss_plan_l1_fix_time: 1.3163, d6.loss_plan_l1_fix_dist: 0.2878, d0.loss_cls_all: 0.2968, d0.loss_bbox_all: 0.4981, d0.loss_cls: 0.2968, d0.loss_bbox: 0.4981, d1.loss_cls: 0.2898, d1.loss_bbox: 0.4735, d2.loss_cls: 0.2843, d2.loss_bbox: 0.4584, d3.loss_cls: 0.2794, d3.loss_bbox: 0.4534, d4.loss_cls: 0.2768, d4.loss_bbox: 0.4519, d5.loss_cls: 0.2769, d5.loss_bbox: 0.4525, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9833, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8755, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8458, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8404, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8428, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.8420, d0.loss_map_cls_all: 0.2935, d0.loss_map_pts_all: 1.9316, d0.loss_map_dir_all: 0.0153, d0.loss_map_cls: 0.2935, d0.loss_map_pts: 1.9316, d0.loss_map_dir: 0.0153, d1.loss_map_cls: 0.2685, d1.loss_map_pts: 1.3089, d1.loss_map_dir: 0.0148, d2.loss_map_cls: 0.2542, d2.loss_map_pts: 1.1009, d2.loss_map_dir: 0.0153, d3.loss_map_cls: 0.2472, d3.loss_map_pts: 1.0215, d3.loss_map_dir: 0.0160, d4.loss_map_cls: 0.2422, d4.loss_map_pts: 0.9982, d4.loss_map_dir: 0.0164, d5.loss_map_cls: 0.2391, d5.loss_map_pts: 0.9891, d5.loss_map_dir: 0.0165, loss: 36.9234, grad_norm: 174.8619 +2026-02-25 07:48:29,559 - DriveTransformer - INFO - Epoch [4][13950/39528] lr: 9.623e-05, eta: 7 days, 13:50:17, time: 0.790, data_time: 0.040, memory: 19865, loss_cls: 0.2792, loss_bbox: 0.4422, loss_traj: 1.0314, loss_traj_cls: 0.0021, loss_map_cls: 0.2470, loss_map_pts: 1.0327, loss_map_dir: 0.0143, d0.loss_plan_l1_fix_time: 2.9004, d0.loss_plan_l1_fix_dist: 0.4089, d1.loss_plan_l1_fix_time: 1.5979, d1.loss_plan_l1_fix_dist: 0.2156, d2.loss_plan_l1_fix_time: 1.5882, d2.loss_plan_l1_fix_dist: 0.2252, d3.loss_plan_l1_fix_time: 1.5932, d3.loss_plan_l1_fix_dist: 0.2367, d4.loss_plan_l1_fix_time: 1.5971, d4.loss_plan_l1_fix_dist: 0.2478, d5.loss_plan_l1_fix_time: 1.6004, d5.loss_plan_l1_fix_dist: 0.2604, d6.loss_plan_l1_fix_time: 1.6042, d6.loss_plan_l1_fix_dist: 0.2790, d0.loss_cls_all: 0.2959, d0.loss_bbox_all: 0.4933, d0.loss_cls: 0.2959, d0.loss_bbox: 0.4933, d1.loss_cls: 0.2919, d1.loss_bbox: 0.4614, d2.loss_cls: 0.2836, d2.loss_bbox: 0.4475, d3.loss_cls: 0.2812, d3.loss_bbox: 0.4419, d4.loss_cls: 0.2779, d4.loss_bbox: 0.4400, d5.loss_cls: 0.2777, d5.loss_bbox: 0.4408, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2269, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.1072, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.0456, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0298, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0286, d5.loss_traj_cls: 0.0018, d5.loss_traj: 1.0315, d0.loss_map_cls_all: 0.3086, d0.loss_map_pts_all: 1.7757, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.3086, d0.loss_map_pts: 1.7757, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2875, d1.loss_map_pts: 1.3101, d1.loss_map_dir: 0.0126, d2.loss_map_cls: 0.2680, d2.loss_map_pts: 1.1241, d2.loss_map_dir: 0.0131, d3.loss_map_cls: 0.2565, d3.loss_map_pts: 1.0581, d3.loss_map_dir: 0.0137, d4.loss_map_cls: 0.2477, d4.loss_map_pts: 1.0390, d4.loss_map_dir: 0.0140, d5.loss_map_cls: 0.2472, d5.loss_map_pts: 1.0318, d5.loss_map_dir: 0.0141, loss: 40.2327, grad_norm: 174.9565 +2026-02-25 07:49:10,938 - DriveTransformer - INFO - Epoch [4][14000/39528] lr: 9.623e-05, eta: 7 days, 13:49:45, time: 0.828, data_time: 0.043, memory: 19865, loss_cls: 0.2685, loss_bbox: 0.4644, loss_traj: 0.8760, loss_traj_cls: 0.0021, loss_map_cls: 0.2371, loss_map_pts: 1.0215, loss_map_dir: 0.0160, d0.loss_plan_l1_fix_time: 2.5875, d0.loss_plan_l1_fix_dist: 0.3858, d1.loss_plan_l1_fix_time: 1.3664, d1.loss_plan_l1_fix_dist: 0.2290, d2.loss_plan_l1_fix_time: 1.3631, d2.loss_plan_l1_fix_dist: 0.2394, d3.loss_plan_l1_fix_time: 1.3695, d3.loss_plan_l1_fix_dist: 0.2533, d4.loss_plan_l1_fix_time: 1.3745, d4.loss_plan_l1_fix_dist: 0.2680, d5.loss_plan_l1_fix_time: 1.3795, d5.loss_plan_l1_fix_dist: 0.2820, d6.loss_plan_l1_fix_time: 1.3851, d6.loss_plan_l1_fix_dist: 0.2937, d0.loss_cls_all: 0.2936, d0.loss_bbox_all: 0.5075, d0.loss_cls: 0.2936, d0.loss_bbox: 0.5075, d1.loss_cls: 0.2882, d1.loss_bbox: 0.4822, d2.loss_cls: 0.2794, d2.loss_bbox: 0.4690, d3.loss_cls: 0.2733, d3.loss_bbox: 0.4613, d4.loss_cls: 0.2694, d4.loss_bbox: 0.4602, d5.loss_cls: 0.2682, d5.loss_bbox: 0.4615, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1328, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9355, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.8904, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.8750, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.8707, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.8699, d0.loss_map_cls_all: 0.3055, d0.loss_map_pts_all: 2.0786, d0.loss_map_dir_all: 0.0150, d0.loss_map_cls: 0.3055, d0.loss_map_pts: 2.0786, d0.loss_map_dir: 0.0150, d1.loss_map_cls: 0.2734, d1.loss_map_pts: 1.3584, d1.loss_map_dir: 0.0142, d2.loss_map_cls: 0.2549, d2.loss_map_pts: 1.1337, d2.loss_map_dir: 0.0145, d3.loss_map_cls: 0.2447, d3.loss_map_pts: 1.0545, d3.loss_map_dir: 0.0152, d4.loss_map_cls: 0.2394, d4.loss_map_pts: 1.0298, d4.loss_map_dir: 0.0156, d5.loss_map_cls: 0.2369, d5.loss_map_pts: 1.0206, d5.loss_map_dir: 0.0157, loss: 38.2771, grad_norm: 174.9085 +2026-02-25 07:49:50,228 - DriveTransformer - INFO - Epoch [4][14050/39528] lr: 9.623e-05, eta: 7 days, 13:49:00, time: 0.785, data_time: 0.048, memory: 19865, loss_cls: 0.2854, loss_bbox: 0.4713, loss_traj: 1.1555, loss_traj_cls: 0.0022, loss_map_cls: 0.2491, loss_map_pts: 1.0527, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.5080, d0.loss_plan_l1_fix_dist: 0.4368, d1.loss_plan_l1_fix_time: 1.3857, d1.loss_plan_l1_fix_dist: 0.2428, d2.loss_plan_l1_fix_time: 1.3682, d2.loss_plan_l1_fix_dist: 0.2528, d3.loss_plan_l1_fix_time: 1.3700, d3.loss_plan_l1_fix_dist: 0.2661, d4.loss_plan_l1_fix_time: 1.3741, d4.loss_plan_l1_fix_dist: 0.2797, d5.loss_plan_l1_fix_time: 1.3790, d5.loss_plan_l1_fix_dist: 0.2914, d6.loss_plan_l1_fix_time: 1.3854, d6.loss_plan_l1_fix_dist: 0.2994, d0.loss_cls_all: 0.3092, d0.loss_bbox_all: 0.5215, d0.loss_cls: 0.3092, d0.loss_bbox: 0.5215, d1.loss_cls: 0.3012, d1.loss_bbox: 0.4909, d2.loss_cls: 0.2942, d2.loss_bbox: 0.4774, d3.loss_cls: 0.2896, d3.loss_bbox: 0.4715, d4.loss_cls: 0.2871, d4.loss_bbox: 0.4693, d5.loss_cls: 0.2866, d5.loss_bbox: 0.4686, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4105, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.2197, d2.loss_traj_cls: 0.0012, d2.loss_traj: 1.1778, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1696, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.1495, d5.loss_traj_cls: 0.0018, d5.loss_traj: 1.1529, d0.loss_map_cls_all: 0.3044, d0.loss_map_pts_all: 1.9486, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.3044, d0.loss_map_pts: 1.9486, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2817, d1.loss_map_pts: 1.3448, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2667, d2.loss_map_pts: 1.1570, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2572, d3.loss_map_pts: 1.0891, d3.loss_map_dir: 0.0141, d4.loss_map_cls: 0.2498, d4.loss_map_pts: 1.0638, d4.loss_map_dir: 0.0145, d5.loss_map_cls: 0.2490, d5.loss_map_pts: 1.0521, d5.loss_map_dir: 0.0147, loss: 40.4666, grad_norm: 175.5245 +2026-02-25 07:50:31,256 - DriveTransformer - INFO - Epoch [4][14100/39528] lr: 9.623e-05, eta: 7 days, 13:48:25, time: 0.820, data_time: 0.041, memory: 19865, loss_cls: 0.2815, loss_bbox: 0.4672, loss_traj: 0.9678, loss_traj_cls: 0.0022, loss_map_cls: 0.2504, loss_map_pts: 1.0753, loss_map_dir: 0.0153, d0.loss_plan_l1_fix_time: 2.8584, d0.loss_plan_l1_fix_dist: 0.4984, d1.loss_plan_l1_fix_time: 1.5746, d1.loss_plan_l1_fix_dist: 0.2792, d2.loss_plan_l1_fix_time: 1.5560, d2.loss_plan_l1_fix_dist: 0.2884, d3.loss_plan_l1_fix_time: 1.5542, d3.loss_plan_l1_fix_dist: 0.3014, d4.loss_plan_l1_fix_time: 1.5559, d4.loss_plan_l1_fix_dist: 0.3174, d5.loss_plan_l1_fix_time: 1.5582, d5.loss_plan_l1_fix_dist: 0.3387, d6.loss_plan_l1_fix_time: 1.5623, d6.loss_plan_l1_fix_dist: 0.3642, d0.loss_cls_all: 0.3034, d0.loss_bbox_all: 0.5157, d0.loss_cls: 0.3034, d0.loss_bbox: 0.5157, d1.loss_cls: 0.2918, d1.loss_bbox: 0.4887, d2.loss_cls: 0.2836, d2.loss_bbox: 0.4725, d3.loss_cls: 0.2825, d3.loss_bbox: 0.4683, d4.loss_cls: 0.2786, d4.loss_bbox: 0.4667, d5.loss_cls: 0.2806, d5.loss_bbox: 0.4664, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1730, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0198, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9655, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9680, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.9623, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.9662, d0.loss_map_cls_all: 0.3018, d0.loss_map_pts_all: 2.0169, d0.loss_map_dir_all: 0.0134, d0.loss_map_cls: 0.3018, d0.loss_map_pts: 2.0169, d0.loss_map_dir: 0.0134, d1.loss_map_cls: 0.2796, d1.loss_map_pts: 1.3698, d1.loss_map_dir: 0.0133, d2.loss_map_cls: 0.2681, d2.loss_map_pts: 1.1832, d2.loss_map_dir: 0.0140, d3.loss_map_cls: 0.2587, d3.loss_map_pts: 1.1126, d3.loss_map_dir: 0.0147, d4.loss_map_cls: 0.2524, d4.loss_map_pts: 1.0859, d4.loss_map_dir: 0.0151, d5.loss_map_cls: 0.2504, d5.loss_map_pts: 1.0781, d5.loss_map_dir: 0.0152, loss: 41.0208, grad_norm: 173.9105 +2026-02-25 07:51:12,139 - DriveTransformer - INFO - Epoch [4][14150/39528] lr: 9.623e-05, eta: 7 days, 13:47:50, time: 0.818, data_time: 0.048, memory: 19865, loss_cls: 0.2718, loss_bbox: 0.4589, loss_traj: 1.0734, loss_traj_cls: 0.0022, loss_map_cls: 0.2357, loss_map_pts: 1.0643, loss_map_dir: 0.0145, d0.loss_plan_l1_fix_time: 2.8554, d0.loss_plan_l1_fix_dist: 0.5013, d1.loss_plan_l1_fix_time: 1.4239, d1.loss_plan_l1_fix_dist: 0.2423, d2.loss_plan_l1_fix_time: 1.4077, d2.loss_plan_l1_fix_dist: 0.2512, d3.loss_plan_l1_fix_time: 1.4092, d3.loss_plan_l1_fix_dist: 0.2634, d4.loss_plan_l1_fix_time: 1.4118, d4.loss_plan_l1_fix_dist: 0.2779, d5.loss_plan_l1_fix_time: 1.4145, d5.loss_plan_l1_fix_dist: 0.2977, d6.loss_plan_l1_fix_time: 1.4186, d6.loss_plan_l1_fix_dist: 0.3224, d0.loss_cls_all: 0.2965, d0.loss_bbox_all: 0.5142, d0.loss_cls: 0.2965, d0.loss_bbox: 0.5142, d1.loss_cls: 0.2887, d1.loss_bbox: 0.4864, d2.loss_cls: 0.2768, d2.loss_bbox: 0.4753, d3.loss_cls: 0.2740, d3.loss_bbox: 0.4684, d4.loss_cls: 0.2706, d4.loss_bbox: 0.4646, d5.loss_cls: 0.2703, d5.loss_bbox: 0.4612, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2609, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.1442, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1051, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0940, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0888, d5.loss_traj_cls: 0.0019, d5.loss_traj: 1.0804, d0.loss_map_cls_all: 0.3042, d0.loss_map_pts_all: 1.9547, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.3042, d0.loss_map_pts: 1.9547, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2780, d1.loss_map_pts: 1.3564, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2548, d2.loss_map_pts: 1.1708, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2434, d3.loss_map_pts: 1.1000, d3.loss_map_dir: 0.0136, d4.loss_map_cls: 0.2371, d4.loss_map_pts: 1.0725, d4.loss_map_dir: 0.0141, d5.loss_map_cls: 0.2351, d5.loss_map_pts: 1.0659, d5.loss_map_dir: 0.0143, loss: 40.3798, grad_norm: 174.4931 +2026-02-25 07:51:51,966 - DriveTransformer - INFO - Epoch [4][14200/39528] lr: 9.623e-05, eta: 7 days, 13:47:08, time: 0.797, data_time: 0.055, memory: 19865, loss_cls: 0.2482, loss_bbox: 0.4398, loss_traj: 1.0112, loss_traj_cls: 0.0023, loss_map_cls: 0.2037, loss_map_pts: 0.8704, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.8759, d0.loss_plan_l1_fix_dist: 0.3202, d1.loss_plan_l1_fix_time: 1.6082, d1.loss_plan_l1_fix_dist: 0.2151, d2.loss_plan_l1_fix_time: 1.5850, d2.loss_plan_l1_fix_dist: 0.2284, d3.loss_plan_l1_fix_time: 1.5847, d3.loss_plan_l1_fix_dist: 0.2456, d4.loss_plan_l1_fix_time: 1.5865, d4.loss_plan_l1_fix_dist: 0.2658, d5.loss_plan_l1_fix_time: 1.5888, d5.loss_plan_l1_fix_dist: 0.2828, d6.loss_plan_l1_fix_time: 1.5919, d6.loss_plan_l1_fix_dist: 0.3025, d0.loss_cls_all: 0.2732, d0.loss_bbox_all: 0.4856, d0.loss_cls: 0.2732, d0.loss_bbox: 0.4856, d1.loss_cls: 0.2666, d1.loss_bbox: 0.4566, d2.loss_cls: 0.2541, d2.loss_bbox: 0.4477, d3.loss_cls: 0.2497, d3.loss_bbox: 0.4437, d4.loss_cls: 0.2485, d4.loss_bbox: 0.4398, d5.loss_cls: 0.2481, d5.loss_bbox: 0.4402, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1554, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0356, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0051, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0031, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0027, d5.loss_traj_cls: 0.0019, d5.loss_traj: 1.0072, d0.loss_map_cls_all: 0.2748, d0.loss_map_pts_all: 1.6594, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2748, d0.loss_map_pts: 1.6594, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2465, d1.loss_map_pts: 1.1217, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2239, d2.loss_map_pts: 0.9493, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.2161, d3.loss_map_pts: 0.8867, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.2079, d4.loss_map_pts: 0.8729, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.2034, d5.loss_map_pts: 0.8705, d5.loss_map_dir: 0.0116, loss: 38.0409, grad_norm: 175.2148 +2026-02-25 07:52:31,839 - DriveTransformer - INFO - Epoch [4][14250/39528] lr: 9.623e-05, eta: 7 days, 13:46:27, time: 0.797, data_time: 0.041, memory: 19865, loss_cls: 0.3100, loss_bbox: 0.5028, loss_traj: 0.8494, loss_traj_cls: 0.0021, loss_map_cls: 0.2523, loss_map_pts: 1.0970, loss_map_dir: 0.0181, d0.loss_plan_l1_fix_time: 2.4588, d0.loss_plan_l1_fix_dist: 0.4404, d1.loss_plan_l1_fix_time: 1.6352, d1.loss_plan_l1_fix_dist: 0.2523, d2.loss_plan_l1_fix_time: 1.6165, d2.loss_plan_l1_fix_dist: 0.2606, d3.loss_plan_l1_fix_time: 1.6167, d3.loss_plan_l1_fix_dist: 0.2729, d4.loss_plan_l1_fix_time: 1.6188, d4.loss_plan_l1_fix_dist: 0.2857, d5.loss_plan_l1_fix_time: 1.6215, d5.loss_plan_l1_fix_dist: 0.2993, d6.loss_plan_l1_fix_time: 1.6246, d6.loss_plan_l1_fix_dist: 0.3126, d0.loss_cls_all: 0.3259, d0.loss_bbox_all: 0.5534, d0.loss_cls: 0.3259, d0.loss_bbox: 0.5534, d1.loss_cls: 0.3271, d1.loss_bbox: 0.5222, d2.loss_cls: 0.3161, d2.loss_bbox: 0.5096, d3.loss_cls: 0.3098, d3.loss_bbox: 0.5056, d4.loss_cls: 0.3098, d4.loss_bbox: 0.5015, d5.loss_cls: 0.3103, d5.loss_bbox: 0.5014, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9848, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8934, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8528, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8460, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.8431, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.8469, d0.loss_map_cls_all: 0.3104, d0.loss_map_pts_all: 2.0703, d0.loss_map_dir_all: 0.0159, d0.loss_map_cls: 0.3104, d0.loss_map_pts: 2.0703, d0.loss_map_dir: 0.0159, d1.loss_map_cls: 0.2825, d1.loss_map_pts: 1.3804, d1.loss_map_dir: 0.0156, d2.loss_map_cls: 0.2672, d2.loss_map_pts: 1.1940, d2.loss_map_dir: 0.0164, d3.loss_map_cls: 0.2603, d3.loss_map_pts: 1.1304, d3.loss_map_dir: 0.0172, d4.loss_map_cls: 0.2542, d4.loss_map_pts: 1.1091, d4.loss_map_dir: 0.0178, d5.loss_map_cls: 0.2524, d5.loss_map_pts: 1.1005, d5.loss_map_dir: 0.0179, loss: 40.6015, grad_norm: 171.6192 +2026-02-25 07:53:13,445 - DriveTransformer - INFO - Epoch [4][14300/39528] lr: 9.623e-05, eta: 7 days, 13:45:56, time: 0.832, data_time: 0.054, memory: 19865, loss_cls: 0.2724, loss_bbox: 0.4541, loss_traj: 0.9653, loss_traj_cls: 0.0022, loss_map_cls: 0.2801, loss_map_pts: 1.0957, loss_map_dir: 0.0164, d0.loss_plan_l1_fix_time: 2.6811, d0.loss_plan_l1_fix_dist: 0.4813, d1.loss_plan_l1_fix_time: 1.4905, d1.loss_plan_l1_fix_dist: 0.2560, d2.loss_plan_l1_fix_time: 1.4551, d2.loss_plan_l1_fix_dist: 0.2659, d3.loss_plan_l1_fix_time: 1.4489, d3.loss_plan_l1_fix_dist: 0.2817, d4.loss_plan_l1_fix_time: 1.4494, d4.loss_plan_l1_fix_dist: 0.2992, d5.loss_plan_l1_fix_time: 1.4514, d5.loss_plan_l1_fix_dist: 0.3187, d6.loss_plan_l1_fix_time: 1.4544, d6.loss_plan_l1_fix_dist: 0.3369, d0.loss_cls_all: 0.2902, d0.loss_bbox_all: 0.5021, d0.loss_cls: 0.2902, d0.loss_bbox: 0.5021, d1.loss_cls: 0.2835, d1.loss_bbox: 0.4770, d2.loss_cls: 0.2774, d2.loss_bbox: 0.4606, d3.loss_cls: 0.2735, d3.loss_bbox: 0.4559, d4.loss_cls: 0.2711, d4.loss_bbox: 0.4534, d5.loss_cls: 0.2718, d5.loss_bbox: 0.4521, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1808, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0301, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9839, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9722, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9661, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.9622, d0.loss_map_cls_all: 0.3301, d0.loss_map_pts_all: 2.0668, d0.loss_map_dir_all: 0.0139, d0.loss_map_cls: 0.3301, d0.loss_map_pts: 2.0668, d0.loss_map_dir: 0.0139, d1.loss_map_cls: 0.3096, d1.loss_map_pts: 1.4262, d1.loss_map_dir: 0.0139, d2.loss_map_cls: 0.2933, d2.loss_map_pts: 1.2160, d2.loss_map_dir: 0.0146, d3.loss_map_cls: 0.2860, d3.loss_map_pts: 1.1325, d3.loss_map_dir: 0.0155, d4.loss_map_cls: 0.2800, d4.loss_map_pts: 1.1058, d4.loss_map_dir: 0.0160, d5.loss_map_cls: 0.2781, d5.loss_map_pts: 1.0981, d5.loss_map_dir: 0.0163, loss: 40.4420, grad_norm: 173.8309 +2026-02-25 07:53:56,693 - DriveTransformer - INFO - Epoch [4][14350/39528] lr: 9.623e-05, eta: 7 days, 13:45:35, time: 0.865, data_time: 0.044, memory: 19865, loss_cls: 0.2791, loss_bbox: 0.4375, loss_traj: 0.7757, loss_traj_cls: 0.0021, loss_map_cls: 0.2231, loss_map_pts: 1.0075, loss_map_dir: 0.0186, d0.loss_plan_l1_fix_time: 2.4792, d0.loss_plan_l1_fix_dist: 0.4953, d1.loss_plan_l1_fix_time: 1.3770, d1.loss_plan_l1_fix_dist: 0.2195, d2.loss_plan_l1_fix_time: 1.3611, d2.loss_plan_l1_fix_dist: 0.2264, d3.loss_plan_l1_fix_time: 1.3624, d3.loss_plan_l1_fix_dist: 0.2381, d4.loss_plan_l1_fix_time: 1.3653, d4.loss_plan_l1_fix_dist: 0.2510, d5.loss_plan_l1_fix_time: 1.3689, d5.loss_plan_l1_fix_dist: 0.2657, d6.loss_plan_l1_fix_time: 1.3737, d6.loss_plan_l1_fix_dist: 0.2840, d0.loss_cls_all: 0.2953, d0.loss_bbox_all: 0.4785, d0.loss_cls: 0.2953, d0.loss_bbox: 0.4785, d1.loss_cls: 0.2878, d1.loss_bbox: 0.4540, d2.loss_cls: 0.2827, d2.loss_bbox: 0.4394, d3.loss_cls: 0.2776, d3.loss_bbox: 0.4367, d4.loss_cls: 0.2756, d4.loss_bbox: 0.4351, d5.loss_cls: 0.2784, d5.loss_bbox: 0.4361, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9238, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8217, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7865, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7844, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7820, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7760, d0.loss_map_cls_all: 0.2689, d0.loss_map_pts_all: 2.0558, d0.loss_map_dir_all: 0.0167, d0.loss_map_cls: 0.2689, d0.loss_map_pts: 2.0558, d0.loss_map_dir: 0.0167, d1.loss_map_cls: 0.2459, d1.loss_map_pts: 1.3480, d1.loss_map_dir: 0.0161, d2.loss_map_cls: 0.2386, d2.loss_map_pts: 1.1234, d2.loss_map_dir: 0.0168, d3.loss_map_cls: 0.2315, d3.loss_map_pts: 1.0382, d3.loss_map_dir: 0.0177, d4.loss_map_cls: 0.2244, d4.loss_map_pts: 1.0151, d4.loss_map_dir: 0.0182, d5.loss_map_cls: 0.2221, d5.loss_map_pts: 1.0088, d5.loss_map_dir: 0.0184, loss: 36.9086, grad_norm: 174.7259 +2026-02-25 07:54:37,697 - DriveTransformer - INFO - Epoch [4][14400/39528] lr: 9.623e-05, eta: 7 days, 13:45:00, time: 0.820, data_time: 0.043, memory: 19865, loss_cls: 0.2741, loss_bbox: 0.4673, loss_traj: 0.7541, loss_traj_cls: 0.0022, loss_map_cls: 0.2053, loss_map_pts: 0.9884, loss_map_dir: 0.0183, d0.loss_plan_l1_fix_time: 2.5583, d0.loss_plan_l1_fix_dist: 0.4415, d1.loss_plan_l1_fix_time: 1.5675, d1.loss_plan_l1_fix_dist: 0.2381, d2.loss_plan_l1_fix_time: 1.5678, d2.loss_plan_l1_fix_dist: 0.2449, d3.loss_plan_l1_fix_time: 1.5756, d3.loss_plan_l1_fix_dist: 0.2568, d4.loss_plan_l1_fix_time: 1.5799, d4.loss_plan_l1_fix_dist: 0.2714, d5.loss_plan_l1_fix_time: 1.5839, d5.loss_plan_l1_fix_dist: 0.2869, d6.loss_plan_l1_fix_time: 1.5884, d6.loss_plan_l1_fix_dist: 0.3060, d0.loss_cls_all: 0.2978, d0.loss_bbox_all: 0.5129, d0.loss_cls: 0.2978, d0.loss_bbox: 0.5129, d1.loss_cls: 0.2888, d1.loss_bbox: 0.4859, d2.loss_cls: 0.2805, d2.loss_bbox: 0.4732, d3.loss_cls: 0.2759, d3.loss_bbox: 0.4697, d4.loss_cls: 0.2734, d4.loss_bbox: 0.4672, d5.loss_cls: 0.2732, d5.loss_bbox: 0.4683, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8518, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7650, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7453, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7483, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7453, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7497, d0.loss_map_cls_all: 0.2653, d0.loss_map_pts_all: 2.0320, d0.loss_map_dir_all: 0.0163, d0.loss_map_cls: 0.2653, d0.loss_map_pts: 2.0320, d0.loss_map_dir: 0.0163, d1.loss_map_cls: 0.2385, d1.loss_map_pts: 1.2885, d1.loss_map_dir: 0.0161, d2.loss_map_cls: 0.2241, d2.loss_map_pts: 1.0926, d2.loss_map_dir: 0.0166, d3.loss_map_cls: 0.2150, d3.loss_map_pts: 1.0207, d3.loss_map_dir: 0.0173, d4.loss_map_cls: 0.2083, d4.loss_map_pts: 0.9946, d4.loss_map_dir: 0.0178, d5.loss_map_cls: 0.2047, d5.loss_map_pts: 0.9887, d5.loss_map_dir: 0.0180, loss: 37.9542, grad_norm: 174.1974 +2026-02-25 07:55:17,518 - DriveTransformer - INFO - Epoch [4][14450/39528] lr: 9.623e-05, eta: 7 days, 13:44:18, time: 0.796, data_time: 0.042, memory: 19865, loss_cls: 0.2748, loss_bbox: 0.4502, loss_traj: 0.8642, loss_traj_cls: 0.0021, loss_map_cls: 0.2572, loss_map_pts: 1.0242, loss_map_dir: 0.0152, d0.loss_plan_l1_fix_time: 2.5552, d0.loss_plan_l1_fix_dist: 0.4500, d1.loss_plan_l1_fix_time: 1.5559, d1.loss_plan_l1_fix_dist: 0.2216, d2.loss_plan_l1_fix_time: 1.5371, d2.loss_plan_l1_fix_dist: 0.2290, d3.loss_plan_l1_fix_time: 1.5368, d3.loss_plan_l1_fix_dist: 0.2398, d4.loss_plan_l1_fix_time: 1.5395, d4.loss_plan_l1_fix_dist: 0.2527, d5.loss_plan_l1_fix_time: 1.5431, d5.loss_plan_l1_fix_dist: 0.2677, d6.loss_plan_l1_fix_time: 1.5480, d6.loss_plan_l1_fix_dist: 0.2835, d0.loss_cls_all: 0.2954, d0.loss_bbox_all: 0.4993, d0.loss_cls: 0.2954, d0.loss_bbox: 0.4993, d1.loss_cls: 0.2863, d1.loss_bbox: 0.4723, d2.loss_cls: 0.2791, d2.loss_bbox: 0.4582, d3.loss_cls: 0.2768, d3.loss_bbox: 0.4518, d4.loss_cls: 0.2744, d4.loss_bbox: 0.4492, d5.loss_cls: 0.2742, d5.loss_bbox: 0.4491, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0614, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9006, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8638, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8561, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8525, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.8604, d0.loss_map_cls_all: 0.3070, d0.loss_map_pts_all: 1.9369, d0.loss_map_dir_all: 0.0132, d0.loss_map_cls: 0.3070, d0.loss_map_pts: 1.9369, d0.loss_map_dir: 0.0132, d1.loss_map_cls: 0.2851, d1.loss_map_pts: 1.3267, d1.loss_map_dir: 0.0130, d2.loss_map_cls: 0.2733, d2.loss_map_pts: 1.1426, d2.loss_map_dir: 0.0136, d3.loss_map_cls: 0.2636, d3.loss_map_pts: 1.0649, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2583, d4.loss_map_pts: 1.0355, d4.loss_map_dir: 0.0147, d5.loss_map_cls: 0.2570, d5.loss_map_pts: 1.0272, d5.loss_map_dir: 0.0149, loss: 38.8281, grad_norm: 175.9321 +2026-02-25 07:55:57,654 - DriveTransformer - INFO - Epoch [4][14500/39528] lr: 9.623e-05, eta: 7 days, 13:43:38, time: 0.803, data_time: 0.046, memory: 19865, loss_cls: 0.2911, loss_bbox: 0.4831, loss_traj: 0.8777, loss_traj_cls: 0.0021, loss_map_cls: 0.2059, loss_map_pts: 0.8784, loss_map_dir: 0.0132, d0.loss_plan_l1_fix_time: 2.7997, d0.loss_plan_l1_fix_dist: 0.3702, d1.loss_plan_l1_fix_time: 1.6507, d1.loss_plan_l1_fix_dist: 0.2450, d2.loss_plan_l1_fix_time: 1.6265, d2.loss_plan_l1_fix_dist: 0.2523, d3.loss_plan_l1_fix_time: 1.6270, d3.loss_plan_l1_fix_dist: 0.2638, d4.loss_plan_l1_fix_time: 1.6285, d4.loss_plan_l1_fix_dist: 0.2767, d5.loss_plan_l1_fix_time: 1.6313, d5.loss_plan_l1_fix_dist: 0.2922, d6.loss_plan_l1_fix_time: 1.6352, d6.loss_plan_l1_fix_dist: 0.3071, d0.loss_cls_all: 0.3141, d0.loss_bbox_all: 0.5337, d0.loss_cls: 0.3141, d0.loss_bbox: 0.5337, d1.loss_cls: 0.3056, d1.loss_bbox: 0.5064, d2.loss_cls: 0.2950, d2.loss_bbox: 0.4910, d3.loss_cls: 0.2907, d3.loss_bbox: 0.4860, d4.loss_cls: 0.2902, d4.loss_bbox: 0.4820, d5.loss_cls: 0.2909, d5.loss_bbox: 0.4820, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0156, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8928, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8720, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8653, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8670, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.8781, d0.loss_map_cls_all: 0.2736, d0.loss_map_pts_all: 1.7432, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.2736, d0.loss_map_pts: 1.7432, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2474, d1.loss_map_pts: 1.1453, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2275, d2.loss_map_pts: 0.9746, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2137, d3.loss_map_pts: 0.9106, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.2080, d4.loss_map_pts: 0.8894, d4.loss_map_dir: 0.0129, d5.loss_map_cls: 0.2057, d5.loss_map_pts: 0.8820, d5.loss_map_dir: 0.0130, loss: 38.3954, grad_norm: 175.7216 +2026-02-25 07:56:39,136 - DriveTransformer - INFO - Epoch [4][14550/39528] lr: 9.623e-05, eta: 7 days, 13:43:07, time: 0.830, data_time: 0.042, memory: 19865, loss_cls: 0.3036, loss_bbox: 0.4764, loss_traj: 0.8261, loss_traj_cls: 0.0021, loss_map_cls: 0.2537, loss_map_pts: 1.1149, loss_map_dir: 0.0177, d0.loss_plan_l1_fix_time: 2.5488, d0.loss_plan_l1_fix_dist: 0.3937, d1.loss_plan_l1_fix_time: 1.5558, d1.loss_plan_l1_fix_dist: 0.2565, d2.loss_plan_l1_fix_time: 1.5369, d2.loss_plan_l1_fix_dist: 0.2632, d3.loss_plan_l1_fix_time: 1.5372, d3.loss_plan_l1_fix_dist: 0.2759, d4.loss_plan_l1_fix_time: 1.5395, d4.loss_plan_l1_fix_dist: 0.2909, d5.loss_plan_l1_fix_time: 1.5422, d5.loss_plan_l1_fix_dist: 0.3049, d6.loss_plan_l1_fix_time: 1.5450, d6.loss_plan_l1_fix_dist: 0.3211, d0.loss_cls_all: 0.3248, d0.loss_bbox_all: 0.5239, d0.loss_cls: 0.3248, d0.loss_bbox: 0.5239, d1.loss_cls: 0.3193, d1.loss_bbox: 0.4925, d2.loss_cls: 0.3089, d2.loss_bbox: 0.4818, d3.loss_cls: 0.3083, d3.loss_bbox: 0.4753, d4.loss_cls: 0.3019, d4.loss_bbox: 0.4751, d5.loss_cls: 0.3027, d5.loss_bbox: 0.4745, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9959, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8743, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8381, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8322, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8275, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.8250, d0.loss_map_cls_all: 0.3137, d0.loss_map_pts_all: 2.0041, d0.loss_map_dir_all: 0.0161, d0.loss_map_cls: 0.3137, d0.loss_map_pts: 2.0041, d0.loss_map_dir: 0.0161, d1.loss_map_cls: 0.2919, d1.loss_map_pts: 1.3965, d1.loss_map_dir: 0.0159, d2.loss_map_cls: 0.2743, d2.loss_map_pts: 1.2143, d2.loss_map_dir: 0.0163, d3.loss_map_cls: 0.2635, d3.loss_map_pts: 1.1466, d3.loss_map_dir: 0.0169, d4.loss_map_cls: 0.2575, d4.loss_map_pts: 1.1240, d4.loss_map_dir: 0.0172, d5.loss_map_cls: 0.2531, d5.loss_map_pts: 1.1178, d5.loss_map_dir: 0.0175, loss: 39.8342, grad_norm: 174.8148 +2026-02-25 07:57:20,150 - DriveTransformer - INFO - Epoch [4][14600/39528] lr: 9.623e-05, eta: 7 days, 13:42:33, time: 0.822, data_time: 0.052, memory: 19865, loss_cls: 0.2428, loss_bbox: 0.4302, loss_traj: 0.8717, loss_traj_cls: 0.0021, loss_map_cls: 0.2232, loss_map_pts: 0.9723, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 2.6865, d0.loss_plan_l1_fix_dist: 0.4315, d1.loss_plan_l1_fix_time: 1.4341, d1.loss_plan_l1_fix_dist: 0.2304, d2.loss_plan_l1_fix_time: 1.4137, d2.loss_plan_l1_fix_dist: 0.2362, d3.loss_plan_l1_fix_time: 1.4169, d3.loss_plan_l1_fix_dist: 0.2475, d4.loss_plan_l1_fix_time: 1.4197, d4.loss_plan_l1_fix_dist: 0.2613, d5.loss_plan_l1_fix_time: 1.4223, d5.loss_plan_l1_fix_dist: 0.2761, d6.loss_plan_l1_fix_time: 1.4245, d6.loss_plan_l1_fix_dist: 0.2932, d0.loss_cls_all: 0.2701, d0.loss_bbox_all: 0.4813, d0.loss_cls: 0.2701, d0.loss_bbox: 0.4813, d1.loss_cls: 0.2570, d1.loss_bbox: 0.4560, d2.loss_cls: 0.2481, d2.loss_bbox: 0.4397, d3.loss_cls: 0.2456, d3.loss_bbox: 0.4318, d4.loss_cls: 0.2424, d4.loss_bbox: 0.4293, d5.loss_cls: 0.2429, d5.loss_bbox: 0.4290, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0857, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9212, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8903, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8824, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8741, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.8744, d0.loss_map_cls_all: 0.2710, d0.loss_map_pts_all: 1.8153, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.2710, d0.loss_map_pts: 1.8153, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2478, d1.loss_map_pts: 1.2582, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2364, d2.loss_map_pts: 1.0733, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2289, d3.loss_map_pts: 1.0033, d3.loss_map_dir: 0.0135, d4.loss_map_cls: 0.2264, d4.loss_map_pts: 0.9794, d4.loss_map_dir: 0.0138, d5.loss_map_cls: 0.2238, d5.loss_map_pts: 0.9741, d5.loss_map_dir: 0.0140, loss: 37.1249, grad_norm: 177.4459 +2026-02-25 07:58:01,032 - DriveTransformer - INFO - Epoch [4][14650/39528] lr: 9.623e-05, eta: 7 days, 13:41:57, time: 0.817, data_time: 0.038, memory: 19865, loss_cls: 0.2695, loss_bbox: 0.4760, loss_traj: 0.8180, loss_traj_cls: 0.0021, loss_map_cls: 0.2399, loss_map_pts: 1.0603, loss_map_dir: 0.0170, d0.loss_plan_l1_fix_time: 2.7686, d0.loss_plan_l1_fix_dist: 0.4363, d1.loss_plan_l1_fix_time: 1.2741, d1.loss_plan_l1_fix_dist: 0.2269, d2.loss_plan_l1_fix_time: 1.2692, d2.loss_plan_l1_fix_dist: 0.2445, d3.loss_plan_l1_fix_time: 1.2715, d3.loss_plan_l1_fix_dist: 0.2695, d4.loss_plan_l1_fix_time: 1.2741, d4.loss_plan_l1_fix_dist: 0.2951, d5.loss_plan_l1_fix_time: 1.2772, d5.loss_plan_l1_fix_dist: 0.3229, d6.loss_plan_l1_fix_time: 1.2804, d6.loss_plan_l1_fix_dist: 0.3475, d0.loss_cls_all: 0.2818, d0.loss_bbox_all: 0.5268, d0.loss_cls: 0.2818, d0.loss_bbox: 0.5268, d1.loss_cls: 0.2765, d1.loss_bbox: 0.4972, d2.loss_cls: 0.2691, d2.loss_bbox: 0.4817, d3.loss_cls: 0.2672, d3.loss_bbox: 0.4747, d4.loss_cls: 0.2673, d4.loss_bbox: 0.4725, d5.loss_cls: 0.2671, d5.loss_bbox: 0.4737, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9826, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8545, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8231, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8112, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8157, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.8150, d0.loss_map_cls_all: 0.2946, d0.loss_map_pts_all: 2.0125, d0.loss_map_dir_all: 0.0153, d0.loss_map_cls: 0.2946, d0.loss_map_pts: 2.0125, d0.loss_map_dir: 0.0153, d1.loss_map_cls: 0.2676, d1.loss_map_pts: 1.3512, d1.loss_map_dir: 0.0151, d2.loss_map_cls: 0.2530, d2.loss_map_pts: 1.1611, d2.loss_map_dir: 0.0156, d3.loss_map_cls: 0.2469, d3.loss_map_pts: 1.0892, d3.loss_map_dir: 0.0163, d4.loss_map_cls: 0.2403, d4.loss_map_pts: 1.0658, d4.loss_map_dir: 0.0167, d5.loss_map_cls: 0.2393, d5.loss_map_pts: 1.0605, d5.loss_map_dir: 0.0169, loss: 37.6130, grad_norm: 177.3371 +2026-02-25 07:58:41,117 - DriveTransformer - INFO - Epoch [4][14700/39528] lr: 9.623e-05, eta: 7 days, 13:41:17, time: 0.801, data_time: 0.044, memory: 19865, loss_cls: 0.2499, loss_bbox: 0.4422, loss_traj: 0.8094, loss_traj_cls: 0.0021, loss_map_cls: 0.2420, loss_map_pts: 1.0382, loss_map_dir: 0.0141, d0.loss_plan_l1_fix_time: 2.6232, d0.loss_plan_l1_fix_dist: 0.3956, d1.loss_plan_l1_fix_time: 1.3622, d1.loss_plan_l1_fix_dist: 0.2028, d2.loss_plan_l1_fix_time: 1.3374, d2.loss_plan_l1_fix_dist: 0.2139, d3.loss_plan_l1_fix_time: 1.3357, d3.loss_plan_l1_fix_dist: 0.2301, d4.loss_plan_l1_fix_time: 1.3377, d4.loss_plan_l1_fix_dist: 0.2483, d5.loss_plan_l1_fix_time: 1.3407, d5.loss_plan_l1_fix_dist: 0.2674, d6.loss_plan_l1_fix_time: 1.3445, d6.loss_plan_l1_fix_dist: 0.2864, d0.loss_cls_all: 0.2666, d0.loss_bbox_all: 0.4838, d0.loss_cls: 0.2666, d0.loss_bbox: 0.4838, d1.loss_cls: 0.2605, d1.loss_bbox: 0.4608, d2.loss_cls: 0.2520, d2.loss_bbox: 0.4458, d3.loss_cls: 0.2493, d3.loss_bbox: 0.4396, d4.loss_cls: 0.2472, d4.loss_bbox: 0.4391, d5.loss_cls: 0.2485, d5.loss_bbox: 0.4401, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0250, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8478, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8110, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7985, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8013, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.8037, d0.loss_map_cls_all: 0.2809, d0.loss_map_pts_all: 1.9195, d0.loss_map_dir_all: 0.0130, d0.loss_map_cls: 0.2809, d0.loss_map_pts: 1.9195, d0.loss_map_dir: 0.0130, d1.loss_map_cls: 0.2637, d1.loss_map_pts: 1.3258, d1.loss_map_dir: 0.0125, d2.loss_map_cls: 0.2490, d2.loss_map_pts: 1.1383, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2448, d3.loss_map_pts: 1.0659, d3.loss_map_dir: 0.0134, d4.loss_map_cls: 0.2434, d4.loss_map_pts: 1.0438, d4.loss_map_dir: 0.0137, d5.loss_map_cls: 0.2416, d5.loss_map_pts: 1.0387, d5.loss_map_dir: 0.0139, loss: 36.7491, grad_norm: 173.7667 +2026-02-25 07:59:21,986 - DriveTransformer - INFO - Epoch [4][14750/39528] lr: 9.623e-05, eta: 7 days, 13:40:41, time: 0.817, data_time: 0.042, memory: 19865, loss_cls: 0.2993, loss_bbox: 0.4900, loss_traj: 0.8352, loss_traj_cls: 0.0021, loss_map_cls: 0.2714, loss_map_pts: 1.1001, loss_map_dir: 0.0169, d0.loss_plan_l1_fix_time: 2.8010, d0.loss_plan_l1_fix_dist: 0.4224, d1.loss_plan_l1_fix_time: 1.6761, d1.loss_plan_l1_fix_dist: 0.2443, d2.loss_plan_l1_fix_time: 1.6552, d2.loss_plan_l1_fix_dist: 0.2592, d3.loss_plan_l1_fix_time: 1.6527, d3.loss_plan_l1_fix_dist: 0.2799, d4.loss_plan_l1_fix_time: 1.6538, d4.loss_plan_l1_fix_dist: 0.3059, d5.loss_plan_l1_fix_time: 1.6555, d5.loss_plan_l1_fix_dist: 0.3365, d6.loss_plan_l1_fix_time: 1.6581, d6.loss_plan_l1_fix_dist: 0.3732, d0.loss_cls_all: 0.3221, d0.loss_bbox_all: 0.5384, d0.loss_cls: 0.3221, d0.loss_bbox: 0.5384, d1.loss_cls: 0.3101, d1.loss_bbox: 0.5084, d2.loss_cls: 0.3055, d2.loss_bbox: 0.4938, d3.loss_cls: 0.3000, d3.loss_bbox: 0.4876, d4.loss_cls: 0.2979, d4.loss_bbox: 0.4875, d5.loss_cls: 0.2970, d5.loss_bbox: 0.4888, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9650, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8713, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8375, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8234, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8221, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.8311, d0.loss_map_cls_all: 0.3364, d0.loss_map_pts_all: 2.1020, d0.loss_map_dir_all: 0.0150, d0.loss_map_cls: 0.3364, d0.loss_map_pts: 2.1020, d0.loss_map_dir: 0.0150, d1.loss_map_cls: 0.3107, d1.loss_map_pts: 1.4324, d1.loss_map_dir: 0.0146, d2.loss_map_cls: 0.2912, d2.loss_map_pts: 1.2229, d2.loss_map_dir: 0.0153, d3.loss_map_cls: 0.2787, d3.loss_map_pts: 1.1442, d3.loss_map_dir: 0.0161, d4.loss_map_cls: 0.2730, d4.loss_map_pts: 1.1141, d4.loss_map_dir: 0.0165, d5.loss_map_cls: 0.2705, d5.loss_map_pts: 1.1037, d5.loss_map_dir: 0.0167, loss: 41.2698, grad_norm: 172.6250 +2026-02-25 08:00:03,033 - DriveTransformer - INFO - Epoch [4][14800/39528] lr: 9.623e-05, eta: 7 days, 13:40:07, time: 0.821, data_time: 0.044, memory: 19865, loss_cls: 0.2736, loss_bbox: 0.4822, loss_traj: 1.0171, loss_traj_cls: 0.0021, loss_map_cls: 0.2539, loss_map_pts: 1.0844, loss_map_dir: 0.0152, d0.loss_plan_l1_fix_time: 2.9293, d0.loss_plan_l1_fix_dist: 0.3817, d1.loss_plan_l1_fix_time: 1.5222, d1.loss_plan_l1_fix_dist: 0.2373, d2.loss_plan_l1_fix_time: 1.4987, d2.loss_plan_l1_fix_dist: 0.2489, d3.loss_plan_l1_fix_time: 1.4966, d3.loss_plan_l1_fix_dist: 0.2621, d4.loss_plan_l1_fix_time: 1.4990, d4.loss_plan_l1_fix_dist: 0.2780, d5.loss_plan_l1_fix_time: 1.5020, d5.loss_plan_l1_fix_dist: 0.2996, d6.loss_plan_l1_fix_time: 1.5058, d6.loss_plan_l1_fix_dist: 0.3241, d0.loss_cls_all: 0.2979, d0.loss_bbox_all: 0.5335, d0.loss_cls: 0.2979, d0.loss_bbox: 0.5335, d1.loss_cls: 0.2866, d1.loss_bbox: 0.5014, d2.loss_cls: 0.2774, d2.loss_bbox: 0.4898, d3.loss_cls: 0.2723, d3.loss_bbox: 0.4844, d4.loss_cls: 0.2697, d4.loss_bbox: 0.4829, d5.loss_cls: 0.2722, d5.loss_bbox: 0.4816, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2113, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0928, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0368, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0279, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0288, d5.loss_traj_cls: 0.0017, d5.loss_traj: 1.0268, d0.loss_map_cls_all: 0.2964, d0.loss_map_pts_all: 1.9515, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.2964, d0.loss_map_pts: 1.9515, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2738, d1.loss_map_pts: 1.3946, d1.loss_map_dir: 0.0132, d2.loss_map_cls: 0.2639, d2.loss_map_pts: 1.2002, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2569, d3.loss_map_pts: 1.1269, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2529, d4.loss_map_pts: 1.0975, d4.loss_map_dir: 0.0150, d5.loss_map_cls: 0.2525, d5.loss_map_pts: 1.0864, d5.loss_map_dir: 0.0152, loss: 40.8245, grad_norm: 174.3595 +2026-02-25 08:00:43,795 - DriveTransformer - INFO - Epoch [4][14850/39528] lr: 9.623e-05, eta: 7 days, 13:39:31, time: 0.815, data_time: 0.042, memory: 19865, loss_cls: 0.2769, loss_bbox: 0.4842, loss_traj: 0.8688, loss_traj_cls: 0.0021, loss_map_cls: 0.2394, loss_map_pts: 0.9346, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.7665, d0.loss_plan_l1_fix_dist: 0.3613, d1.loss_plan_l1_fix_time: 1.4207, d1.loss_plan_l1_fix_dist: 0.2205, d2.loss_plan_l1_fix_time: 1.4070, d2.loss_plan_l1_fix_dist: 0.2334, d3.loss_plan_l1_fix_time: 1.4127, d3.loss_plan_l1_fix_dist: 0.2466, d4.loss_plan_l1_fix_time: 1.4168, d4.loss_plan_l1_fix_dist: 0.2620, d5.loss_plan_l1_fix_time: 1.4205, d5.loss_plan_l1_fix_dist: 0.2736, d6.loss_plan_l1_fix_time: 1.4243, d6.loss_plan_l1_fix_dist: 0.2863, d0.loss_cls_all: 0.3001, d0.loss_bbox_all: 0.5364, d0.loss_cls: 0.3001, d0.loss_bbox: 0.5364, d1.loss_cls: 0.2936, d1.loss_bbox: 0.5103, d2.loss_cls: 0.2862, d2.loss_bbox: 0.4942, d3.loss_cls: 0.2807, d3.loss_bbox: 0.4877, d4.loss_cls: 0.2750, d4.loss_bbox: 0.4864, d5.loss_cls: 0.2770, d5.loss_bbox: 0.4836, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0018, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9051, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8676, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8702, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8676, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.8674, d0.loss_map_cls_all: 0.3033, d0.loss_map_pts_all: 1.7769, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.3033, d0.loss_map_pts: 1.7769, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2705, d1.loss_map_pts: 1.2447, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2584, d2.loss_map_pts: 1.0575, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.2455, d3.loss_map_pts: 0.9794, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.2383, d4.loss_map_pts: 0.9544, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.2365, d5.loss_map_pts: 0.9421, d5.loss_map_dir: 0.0125, loss: 37.5735, grad_norm: 174.7268 +2026-02-25 08:01:24,269 - DriveTransformer - INFO - Epoch [4][14900/39528] lr: 9.623e-05, eta: 7 days, 13:38:53, time: 0.809, data_time: 0.052, memory: 19865, loss_cls: 0.2675, loss_bbox: 0.4526, loss_traj: 1.0089, loss_traj_cls: 0.0022, loss_map_cls: 0.2431, loss_map_pts: 1.0015, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 2.4074, d0.loss_plan_l1_fix_dist: 0.4807, d1.loss_plan_l1_fix_time: 1.4959, d1.loss_plan_l1_fix_dist: 0.2487, d2.loss_plan_l1_fix_time: 1.4745, d2.loss_plan_l1_fix_dist: 0.2579, d3.loss_plan_l1_fix_time: 1.4713, d3.loss_plan_l1_fix_dist: 0.2732, d4.loss_plan_l1_fix_time: 1.4725, d4.loss_plan_l1_fix_dist: 0.2930, d5.loss_plan_l1_fix_time: 1.4748, d5.loss_plan_l1_fix_dist: 0.3148, d6.loss_plan_l1_fix_time: 1.4781, d6.loss_plan_l1_fix_dist: 0.3376, d0.loss_cls_all: 0.2792, d0.loss_bbox_all: 0.5084, d0.loss_cls: 0.2792, d0.loss_bbox: 0.5084, d1.loss_cls: 0.2717, d1.loss_bbox: 0.4811, d2.loss_cls: 0.2690, d2.loss_bbox: 0.4644, d3.loss_cls: 0.2671, d3.loss_bbox: 0.4557, d4.loss_cls: 0.2664, d4.loss_bbox: 0.4531, d5.loss_cls: 0.2659, d5.loss_bbox: 0.4530, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1983, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0713, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0350, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0263, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0218, d5.loss_traj_cls: 0.0017, d5.loss_traj: 1.0198, d0.loss_map_cls_all: 0.2903, d0.loss_map_pts_all: 1.7627, d0.loss_map_dir_all: 0.0126, d0.loss_map_cls: 0.2903, d0.loss_map_pts: 1.7627, d0.loss_map_dir: 0.0126, d1.loss_map_cls: 0.2661, d1.loss_map_pts: 1.2716, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2565, d2.loss_map_pts: 1.0966, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2468, d3.loss_map_pts: 1.0280, d3.loss_map_dir: 0.0135, d4.loss_map_cls: 0.2407, d4.loss_map_pts: 1.0088, d4.loss_map_dir: 0.0139, d5.loss_map_cls: 0.2415, d5.loss_map_pts: 0.9990, d5.loss_map_dir: 0.0141, loss: 38.9253, grad_norm: 173.6678 +2026-02-25 08:02:04,649 - DriveTransformer - INFO - Epoch [4][14950/39528] lr: 9.623e-05, eta: 7 days, 13:38:14, time: 0.808, data_time: 0.045, memory: 19865, loss_cls: 0.3126, loss_bbox: 0.4818, loss_traj: 0.8504, loss_traj_cls: 0.0021, loss_map_cls: 0.2586, loss_map_pts: 1.0948, loss_map_dir: 0.0173, d0.loss_plan_l1_fix_time: 3.2888, d0.loss_plan_l1_fix_dist: 0.4985, d1.loss_plan_l1_fix_time: 1.9876, d1.loss_plan_l1_fix_dist: 0.2951, d2.loss_plan_l1_fix_time: 1.9657, d2.loss_plan_l1_fix_dist: 0.3021, d3.loss_plan_l1_fix_time: 1.9626, d3.loss_plan_l1_fix_dist: 0.3164, d4.loss_plan_l1_fix_time: 1.9639, d4.loss_plan_l1_fix_dist: 0.3325, d5.loss_plan_l1_fix_time: 1.9666, d5.loss_plan_l1_fix_dist: 0.3524, d6.loss_plan_l1_fix_time: 1.9702, d6.loss_plan_l1_fix_dist: 0.3734, d0.loss_cls_all: 0.3317, d0.loss_bbox_all: 0.5432, d0.loss_cls: 0.3317, d0.loss_bbox: 0.5432, d1.loss_cls: 0.3238, d1.loss_bbox: 0.5123, d2.loss_cls: 0.3180, d2.loss_bbox: 0.4952, d3.loss_cls: 0.3145, d3.loss_bbox: 0.4863, d4.loss_cls: 0.3127, d4.loss_bbox: 0.4823, d5.loss_cls: 0.3123, d5.loss_bbox: 0.4806, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0099, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8934, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8563, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8534, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8469, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.8460, d0.loss_map_cls_all: 0.3166, d0.loss_map_pts_all: 2.0070, d0.loss_map_dir_all: 0.0154, d0.loss_map_cls: 0.3166, d0.loss_map_pts: 2.0070, d0.loss_map_dir: 0.0154, d1.loss_map_cls: 0.2891, d1.loss_map_pts: 1.3947, d1.loss_map_dir: 0.0149, d2.loss_map_cls: 0.2782, d2.loss_map_pts: 1.2015, d2.loss_map_dir: 0.0157, d3.loss_map_cls: 0.2665, d3.loss_map_pts: 1.1324, d3.loss_map_dir: 0.0163, d4.loss_map_cls: 0.2626, d4.loss_map_pts: 1.1089, d4.loss_map_dir: 0.0170, d5.loss_map_cls: 0.2597, d5.loss_map_pts: 1.0989, d5.loss_map_dir: 0.0172, loss: 43.7449, grad_norm: 172.5854 +2026-02-25 08:02:47,090 - DriveTransformer - INFO - Epoch [4][15000/39528] lr: 9.623e-05, eta: 7 days, 13:37:48, time: 0.849, data_time: 0.043, memory: 19865, loss_cls: 0.2854, loss_bbox: 0.4889, loss_traj: 0.7876, loss_traj_cls: 0.0022, loss_map_cls: 0.2505, loss_map_pts: 1.1714, loss_map_dir: 0.0193, d0.loss_plan_l1_fix_time: 2.3649, d0.loss_plan_l1_fix_dist: 0.4119, d1.loss_plan_l1_fix_time: 1.3750, d1.loss_plan_l1_fix_dist: 0.2599, d2.loss_plan_l1_fix_time: 1.3642, d2.loss_plan_l1_fix_dist: 0.2693, d3.loss_plan_l1_fix_time: 1.3675, d3.loss_plan_l1_fix_dist: 0.2834, d4.loss_plan_l1_fix_time: 1.3718, d4.loss_plan_l1_fix_dist: 0.2986, d5.loss_plan_l1_fix_time: 1.3762, d5.loss_plan_l1_fix_dist: 0.3178, d6.loss_plan_l1_fix_time: 1.3811, d6.loss_plan_l1_fix_dist: 0.3438, d0.loss_cls_all: 0.3058, d0.loss_bbox_all: 0.5374, d0.loss_cls: 0.3058, d0.loss_bbox: 0.5374, d1.loss_cls: 0.3004, d1.loss_bbox: 0.5112, d2.loss_cls: 0.2911, d2.loss_bbox: 0.4986, d3.loss_cls: 0.2894, d3.loss_bbox: 0.4908, d4.loss_cls: 0.2860, d4.loss_bbox: 0.4894, d5.loss_cls: 0.2848, d5.loss_bbox: 0.4899, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9809, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8360, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7997, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7868, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7869, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7841, d0.loss_map_cls_all: 0.3092, d0.loss_map_pts_all: 2.1714, d0.loss_map_dir_all: 0.0170, d0.loss_map_cls: 0.3092, d0.loss_map_pts: 2.1714, d0.loss_map_dir: 0.0170, d1.loss_map_cls: 0.2819, d1.loss_map_pts: 1.4834, d1.loss_map_dir: 0.0167, d2.loss_map_cls: 0.2687, d2.loss_map_pts: 1.2738, d2.loss_map_dir: 0.0176, d3.loss_map_cls: 0.2599, d3.loss_map_pts: 1.2023, d3.loss_map_dir: 0.0185, d4.loss_map_cls: 0.2544, d4.loss_map_pts: 1.1809, d4.loss_map_dir: 0.0190, d5.loss_map_cls: 0.2515, d5.loss_map_pts: 1.1730, d5.loss_map_dir: 0.0191, loss: 39.1048, grad_norm: 172.9647 +2026-02-25 08:03:28,192 - DriveTransformer - INFO - Epoch [4][15050/39528] lr: 9.623e-05, eta: 7 days, 13:37:14, time: 0.822, data_time: 0.044, memory: 19865, loss_cls: 0.2869, loss_bbox: 0.4539, loss_traj: 0.8213, loss_traj_cls: 0.0022, loss_map_cls: 0.2425, loss_map_pts: 1.0468, loss_map_dir: 0.0174, d0.loss_plan_l1_fix_time: 2.6929, d0.loss_plan_l1_fix_dist: 0.3955, d1.loss_plan_l1_fix_time: 1.5682, d1.loss_plan_l1_fix_dist: 0.2246, d2.loss_plan_l1_fix_time: 1.5556, d2.loss_plan_l1_fix_dist: 0.2341, d3.loss_plan_l1_fix_time: 1.5559, d3.loss_plan_l1_fix_dist: 0.2509, d4.loss_plan_l1_fix_time: 1.5594, d4.loss_plan_l1_fix_dist: 0.2730, d5.loss_plan_l1_fix_time: 1.5634, d5.loss_plan_l1_fix_dist: 0.2975, d6.loss_plan_l1_fix_time: 1.5680, d6.loss_plan_l1_fix_dist: 0.3260, d0.loss_cls_all: 0.3052, d0.loss_bbox_all: 0.5126, d0.loss_cls: 0.3052, d0.loss_bbox: 0.5126, d1.loss_cls: 0.3024, d1.loss_bbox: 0.4773, d2.loss_cls: 0.2928, d2.loss_bbox: 0.4614, d3.loss_cls: 0.2900, d3.loss_bbox: 0.4533, d4.loss_cls: 0.2844, d4.loss_bbox: 0.4547, d5.loss_cls: 0.2852, d5.loss_bbox: 0.4545, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0299, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8740, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8444, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8218, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8231, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.8228, d0.loss_map_cls_all: 0.2982, d0.loss_map_pts_all: 2.0411, d0.loss_map_dir_all: 0.0158, d0.loss_map_cls: 0.2982, d0.loss_map_pts: 2.0411, d0.loss_map_dir: 0.0158, d1.loss_map_cls: 0.2663, d1.loss_map_pts: 1.3581, d1.loss_map_dir: 0.0154, d2.loss_map_cls: 0.2524, d2.loss_map_pts: 1.1364, d2.loss_map_dir: 0.0158, d3.loss_map_cls: 0.2460, d3.loss_map_pts: 1.0678, d3.loss_map_dir: 0.0166, d4.loss_map_cls: 0.2433, d4.loss_map_pts: 1.0517, d4.loss_map_dir: 0.0171, d5.loss_map_cls: 0.2431, d5.loss_map_pts: 1.0461, d5.loss_map_dir: 0.0173, loss: 39.2533, grad_norm: 173.3486 +2026-02-25 08:04:09,264 - DriveTransformer - INFO - Epoch [4][15100/39528] lr: 9.623e-05, eta: 7 days, 13:36:40, time: 0.821, data_time: 0.045, memory: 19865, loss_cls: 0.3031, loss_bbox: 0.5067, loss_traj: 1.0206, loss_traj_cls: 0.0021, loss_map_cls: 0.2582, loss_map_pts: 1.1437, loss_map_dir: 0.0155, d0.loss_plan_l1_fix_time: 2.9717, d0.loss_plan_l1_fix_dist: 0.4604, d1.loss_plan_l1_fix_time: 1.8101, d1.loss_plan_l1_fix_dist: 0.2393, d2.loss_plan_l1_fix_time: 1.7900, d2.loss_plan_l1_fix_dist: 0.2490, d3.loss_plan_l1_fix_time: 1.7890, d3.loss_plan_l1_fix_dist: 0.2614, d4.loss_plan_l1_fix_time: 1.7913, d4.loss_plan_l1_fix_dist: 0.2752, d5.loss_plan_l1_fix_time: 1.7945, d5.loss_plan_l1_fix_dist: 0.2896, d6.loss_plan_l1_fix_time: 1.7986, d6.loss_plan_l1_fix_dist: 0.3050, d0.loss_cls_all: 0.3240, d0.loss_bbox_all: 0.5693, d0.loss_cls: 0.3240, d0.loss_bbox: 0.5693, d1.loss_cls: 0.3173, d1.loss_bbox: 0.5358, d2.loss_cls: 0.3104, d2.loss_bbox: 0.5169, d3.loss_cls: 0.3045, d3.loss_bbox: 0.5093, d4.loss_cls: 0.3010, d4.loss_bbox: 0.5071, d5.loss_cls: 0.3008, d5.loss_bbox: 0.5065, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2073, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0666, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0318, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0247, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0214, d5.loss_traj_cls: 0.0017, d5.loss_traj: 1.0246, d0.loss_map_cls_all: 0.3088, d0.loss_map_pts_all: 2.0090, d0.loss_map_dir_all: 0.0132, d0.loss_map_cls: 0.3088, d0.loss_map_pts: 2.0090, d0.loss_map_dir: 0.0132, d1.loss_map_cls: 0.2885, d1.loss_map_pts: 1.4416, d1.loss_map_dir: 0.0129, d2.loss_map_cls: 0.2722, d2.loss_map_pts: 1.2527, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2615, d3.loss_map_pts: 1.1850, d3.loss_map_dir: 0.0146, d4.loss_map_cls: 0.2561, d4.loss_map_pts: 1.1580, d4.loss_map_dir: 0.0151, d5.loss_map_cls: 0.2573, d5.loss_map_pts: 1.1471, d5.loss_map_dir: 0.0154, loss: 43.6076, grad_norm: 171.4083 +2026-02-25 08:04:48,007 - DriveTransformer - INFO - Epoch [4][15150/39528] lr: 9.623e-05, eta: 7 days, 13:35:52, time: 0.775, data_time: 0.038, memory: 19865, loss_cls: 0.2737, loss_bbox: 0.4618, loss_traj: 0.9198, loss_traj_cls: 0.0022, loss_map_cls: 0.2247, loss_map_pts: 0.9350, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 3.0495, d0.loss_plan_l1_fix_dist: 0.5560, d1.loss_plan_l1_fix_time: 1.6473, d1.loss_plan_l1_fix_dist: 0.2891, d2.loss_plan_l1_fix_time: 1.6143, d2.loss_plan_l1_fix_dist: 0.3026, d3.loss_plan_l1_fix_time: 1.6111, d3.loss_plan_l1_fix_dist: 0.3194, d4.loss_plan_l1_fix_time: 1.6137, d4.loss_plan_l1_fix_dist: 0.3374, d5.loss_plan_l1_fix_time: 1.6176, d5.loss_plan_l1_fix_dist: 0.3590, d6.loss_plan_l1_fix_time: 1.6221, d6.loss_plan_l1_fix_dist: 0.3829, d0.loss_cls_all: 0.2973, d0.loss_bbox_all: 0.5194, d0.loss_cls: 0.2973, d0.loss_bbox: 0.5194, d1.loss_cls: 0.2936, d1.loss_bbox: 0.4859, d2.loss_cls: 0.2830, d2.loss_bbox: 0.4734, d3.loss_cls: 0.2777, d3.loss_bbox: 0.4663, d4.loss_cls: 0.2738, d4.loss_bbox: 0.4629, d5.loss_cls: 0.2721, d5.loss_bbox: 0.4625, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1244, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9883, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9348, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9207, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9180, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.9164, d0.loss_map_cls_all: 0.2755, d0.loss_map_pts_all: 1.6974, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2755, d0.loss_map_pts: 1.6974, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2458, d1.loss_map_pts: 1.2002, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.2366, d2.loss_map_pts: 1.0308, d2.loss_map_dir: 0.0122, d3.loss_map_cls: 0.2283, d3.loss_map_pts: 0.9675, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.2242, d4.loss_map_pts: 0.9455, d4.loss_map_dir: 0.0132, d5.loss_map_cls: 0.2251, d5.loss_map_pts: 0.9369, d5.loss_map_dir: 0.0134, loss: 39.6199, grad_norm: 169.0961 +2026-02-25 08:05:28,321 - DriveTransformer - INFO - Epoch [4][15200/39528] lr: 9.623e-05, eta: 7 days, 13:35:13, time: 0.806, data_time: 0.041, memory: 19865, loss_cls: 0.2754, loss_bbox: 0.4585, loss_traj: 0.9834, loss_traj_cls: 0.0022, loss_map_cls: 0.2401, loss_map_pts: 1.0879, loss_map_dir: 0.0174, d0.loss_plan_l1_fix_time: 2.8465, d0.loss_plan_l1_fix_dist: 0.4546, d1.loss_plan_l1_fix_time: 1.6996, d1.loss_plan_l1_fix_dist: 0.2316, d2.loss_plan_l1_fix_time: 1.6731, d2.loss_plan_l1_fix_dist: 0.2409, d3.loss_plan_l1_fix_time: 1.6711, d3.loss_plan_l1_fix_dist: 0.2566, d4.loss_plan_l1_fix_time: 1.6737, d4.loss_plan_l1_fix_dist: 0.2726, d5.loss_plan_l1_fix_time: 1.6766, d5.loss_plan_l1_fix_dist: 0.2878, d6.loss_plan_l1_fix_time: 1.6801, d6.loss_plan_l1_fix_dist: 0.3026, d0.loss_cls_all: 0.2965, d0.loss_bbox_all: 0.5083, d0.loss_cls: 0.2965, d0.loss_bbox: 0.5083, d1.loss_cls: 0.2917, d1.loss_bbox: 0.4738, d2.loss_cls: 0.2837, d2.loss_bbox: 0.4640, d3.loss_cls: 0.2784, d3.loss_bbox: 0.4590, d4.loss_cls: 0.2758, d4.loss_bbox: 0.4576, d5.loss_cls: 0.2754, d5.loss_bbox: 0.4569, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2892, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0752, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0043, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9818, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9802, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.9798, d0.loss_map_cls_all: 0.2909, d0.loss_map_pts_all: 2.0546, d0.loss_map_dir_all: 0.0152, d0.loss_map_cls: 0.2909, d0.loss_map_pts: 2.0546, d0.loss_map_dir: 0.0152, d1.loss_map_cls: 0.2644, d1.loss_map_pts: 1.3907, d1.loss_map_dir: 0.0152, d2.loss_map_cls: 0.2558, d2.loss_map_pts: 1.1932, d2.loss_map_dir: 0.0159, d3.loss_map_cls: 0.2474, d3.loss_map_pts: 1.1206, d3.loss_map_dir: 0.0166, d4.loss_map_cls: 0.2419, d4.loss_map_pts: 1.0999, d4.loss_map_dir: 0.0170, d5.loss_map_cls: 0.2392, d5.loss_map_pts: 1.0924, d5.loss_map_dir: 0.0172, loss: 41.6236, grad_norm: 167.7353 +2026-02-25 08:06:09,577 - DriveTransformer - INFO - Epoch [4][15250/39528] lr: 9.623e-05, eta: 7 days, 13:34:40, time: 0.825, data_time: 0.040, memory: 19865, loss_cls: 0.2805, loss_bbox: 0.4632, loss_traj: 0.9616, loss_traj_cls: 0.0022, loss_map_cls: 0.2208, loss_map_pts: 1.0015, loss_map_dir: 0.0151, d0.loss_plan_l1_fix_time: 2.4835, d0.loss_plan_l1_fix_dist: 0.3773, d1.loss_plan_l1_fix_time: 1.3353, d1.loss_plan_l1_fix_dist: 0.2310, d2.loss_plan_l1_fix_time: 1.3215, d2.loss_plan_l1_fix_dist: 0.2449, d3.loss_plan_l1_fix_time: 1.3208, d3.loss_plan_l1_fix_dist: 0.2654, d4.loss_plan_l1_fix_time: 1.3239, d4.loss_plan_l1_fix_dist: 0.2907, d5.loss_plan_l1_fix_time: 1.3280, d5.loss_plan_l1_fix_dist: 0.3185, d6.loss_plan_l1_fix_time: 1.3335, d6.loss_plan_l1_fix_dist: 0.3514, d0.loss_cls_all: 0.3046, d0.loss_bbox_all: 0.5077, d0.loss_cls: 0.3046, d0.loss_bbox: 0.5077, d1.loss_cls: 0.2998, d1.loss_bbox: 0.4761, d2.loss_cls: 0.2881, d2.loss_bbox: 0.4657, d3.loss_cls: 0.2873, d3.loss_bbox: 0.4595, d4.loss_cls: 0.2822, d4.loss_bbox: 0.4600, d5.loss_cls: 0.2821, d5.loss_bbox: 0.4602, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2204, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0256, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9826, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9715, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9604, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.9615, d0.loss_map_cls_all: 0.2675, d0.loss_map_pts_all: 1.8052, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.2675, d0.loss_map_pts: 1.8052, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.2448, d1.loss_map_pts: 1.2714, d1.loss_map_dir: 0.0130, d2.loss_map_cls: 0.2285, d2.loss_map_pts: 1.0948, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2233, d3.loss_map_pts: 1.0325, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2212, d4.loss_map_pts: 1.0101, d4.loss_map_dir: 0.0147, d5.loss_map_cls: 0.2202, d5.loss_map_pts: 1.0021, d5.loss_map_dir: 0.0149, loss: 37.7762, grad_norm: 164.7382 +2026-02-25 08:06:50,512 - DriveTransformer - INFO - Epoch [4][15300/39528] lr: 9.623e-05, eta: 7 days, 13:34:05, time: 0.819, data_time: 0.047, memory: 19865, loss_cls: 0.2879, loss_bbox: 0.4939, loss_traj: 0.8547, loss_traj_cls: 0.0022, loss_map_cls: 0.2473, loss_map_pts: 1.0152, loss_map_dir: 0.0173, d0.loss_plan_l1_fix_time: 3.2692, d0.loss_plan_l1_fix_dist: 0.4703, d1.loss_plan_l1_fix_time: 1.7098, d1.loss_plan_l1_fix_dist: 0.2734, d2.loss_plan_l1_fix_time: 1.7083, d2.loss_plan_l1_fix_dist: 0.2856, d3.loss_plan_l1_fix_time: 1.7115, d3.loss_plan_l1_fix_dist: 0.3003, d4.loss_plan_l1_fix_time: 1.7156, d4.loss_plan_l1_fix_dist: 0.3184, d5.loss_plan_l1_fix_time: 1.7198, d5.loss_plan_l1_fix_dist: 0.3403, d6.loss_plan_l1_fix_time: 1.7250, d6.loss_plan_l1_fix_dist: 0.3643, d0.loss_cls_all: 0.3105, d0.loss_bbox_all: 0.5471, d0.loss_cls: 0.3105, d0.loss_bbox: 0.5471, d1.loss_cls: 0.3006, d1.loss_bbox: 0.5209, d2.loss_cls: 0.2913, d2.loss_bbox: 0.5044, d3.loss_cls: 0.2882, d3.loss_bbox: 0.4956, d4.loss_cls: 0.2861, d4.loss_bbox: 0.4932, d5.loss_cls: 0.2860, d5.loss_bbox: 0.4933, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0418, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9250, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8803, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8670, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8540, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.8493, d0.loss_map_cls_all: 0.2982, d0.loss_map_pts_all: 1.8904, d0.loss_map_dir_all: 0.0154, d0.loss_map_cls: 0.2982, d0.loss_map_pts: 1.8904, d0.loss_map_dir: 0.0154, d1.loss_map_cls: 0.2795, d1.loss_map_pts: 1.2922, d1.loss_map_dir: 0.0152, d2.loss_map_cls: 0.2611, d2.loss_map_pts: 1.1041, d2.loss_map_dir: 0.0157, d3.loss_map_cls: 0.2518, d3.loss_map_pts: 1.0429, d3.loss_map_dir: 0.0165, d4.loss_map_cls: 0.2479, d4.loss_map_pts: 1.0222, d4.loss_map_dir: 0.0170, d5.loss_map_cls: 0.2466, d5.loss_map_pts: 1.0162, d5.loss_map_dir: 0.0171, loss: 41.1823, grad_norm: 166.0925 +2026-02-25 08:07:31,840 - DriveTransformer - INFO - Epoch [4][15350/39528] lr: 9.623e-05, eta: 7 days, 13:33:32, time: 0.827, data_time: 0.050, memory: 19865, loss_cls: 0.2780, loss_bbox: 0.4480, loss_traj: 0.8764, loss_traj_cls: 0.0022, loss_map_cls: 0.2488, loss_map_pts: 1.0543, loss_map_dir: 0.0167, d0.loss_plan_l1_fix_time: 2.9524, d0.loss_plan_l1_fix_dist: 0.4447, d1.loss_plan_l1_fix_time: 1.6252, d1.loss_plan_l1_fix_dist: 0.2331, d2.loss_plan_l1_fix_time: 1.6120, d2.loss_plan_l1_fix_dist: 0.2396, d3.loss_plan_l1_fix_time: 1.6140, d3.loss_plan_l1_fix_dist: 0.2512, d4.loss_plan_l1_fix_time: 1.6165, d4.loss_plan_l1_fix_dist: 0.2663, d5.loss_plan_l1_fix_time: 1.6194, d5.loss_plan_l1_fix_dist: 0.2841, d6.loss_plan_l1_fix_time: 1.6232, d6.loss_plan_l1_fix_dist: 0.3045, d0.loss_cls_all: 0.3017, d0.loss_bbox_all: 0.5004, d0.loss_cls: 0.3017, d0.loss_bbox: 0.5004, d1.loss_cls: 0.2970, d1.loss_bbox: 0.4721, d2.loss_cls: 0.2898, d2.loss_bbox: 0.4591, d3.loss_cls: 0.2853, d3.loss_bbox: 0.4514, d4.loss_cls: 0.2814, d4.loss_bbox: 0.4489, d5.loss_cls: 0.2796, d5.loss_bbox: 0.4478, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0581, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9451, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9007, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8925, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8902, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.8797, d0.loss_map_cls_all: 0.2972, d0.loss_map_pts_all: 2.0634, d0.loss_map_dir_all: 0.0145, d0.loss_map_cls: 0.2972, d0.loss_map_pts: 2.0634, d0.loss_map_dir: 0.0145, d1.loss_map_cls: 0.2748, d1.loss_map_pts: 1.3773, d1.loss_map_dir: 0.0144, d2.loss_map_cls: 0.2648, d2.loss_map_pts: 1.1734, d2.loss_map_dir: 0.0151, d3.loss_map_cls: 0.2531, d3.loss_map_pts: 1.0962, d3.loss_map_dir: 0.0159, d4.loss_map_cls: 0.2487, d4.loss_map_pts: 1.0662, d4.loss_map_dir: 0.0163, d5.loss_map_cls: 0.2485, d5.loss_map_pts: 1.0565, d5.loss_map_dir: 0.0165, loss: 40.3872, grad_norm: 162.1122 +2026-02-25 08:08:10,989 - DriveTransformer - INFO - Epoch [4][15400/39528] lr: 9.623e-05, eta: 7 days, 13:32:46, time: 0.784, data_time: 0.057, memory: 19865, loss_cls: 0.2807, loss_bbox: 0.4873, loss_traj: 0.8814, loss_traj_cls: 0.0022, loss_map_cls: 0.2440, loss_map_pts: 1.0272, loss_map_dir: 0.0154, d0.loss_plan_l1_fix_time: 3.1699, d0.loss_plan_l1_fix_dist: 0.3701, d1.loss_plan_l1_fix_time: 1.6930, d1.loss_plan_l1_fix_dist: 0.2193, d2.loss_plan_l1_fix_time: 1.6576, d2.loss_plan_l1_fix_dist: 0.2309, d3.loss_plan_l1_fix_time: 1.6526, d3.loss_plan_l1_fix_dist: 0.2497, d4.loss_plan_l1_fix_time: 1.6531, d4.loss_plan_l1_fix_dist: 0.2718, d5.loss_plan_l1_fix_time: 1.6548, d5.loss_plan_l1_fix_dist: 0.2959, d6.loss_plan_l1_fix_time: 1.6575, d6.loss_plan_l1_fix_dist: 0.3238, d0.loss_cls_all: 0.3040, d0.loss_bbox_all: 0.5413, d0.loss_cls: 0.3040, d0.loss_bbox: 0.5413, d1.loss_cls: 0.3024, d1.loss_bbox: 0.5083, d2.loss_cls: 0.2925, d2.loss_bbox: 0.4951, d3.loss_cls: 0.2879, d3.loss_bbox: 0.4898, d4.loss_cls: 0.2845, d4.loss_bbox: 0.4864, d5.loss_cls: 0.2816, d5.loss_bbox: 0.4873, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0911, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9493, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8966, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8826, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8753, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.8745, d0.loss_map_cls_all: 0.2979, d0.loss_map_pts_all: 1.9272, d0.loss_map_dir_all: 0.0137, d0.loss_map_cls: 0.2979, d0.loss_map_pts: 1.9272, d0.loss_map_dir: 0.0137, d1.loss_map_cls: 0.2762, d1.loss_map_pts: 1.3057, d1.loss_map_dir: 0.0134, d2.loss_map_cls: 0.2615, d2.loss_map_pts: 1.1217, d2.loss_map_dir: 0.0140, d3.loss_map_cls: 0.2514, d3.loss_map_pts: 1.0592, d3.loss_map_dir: 0.0147, d4.loss_map_cls: 0.2455, d4.loss_map_pts: 1.0384, d4.loss_map_dir: 0.0151, d5.loss_map_cls: 0.2451, d5.loss_map_pts: 1.0302, d5.loss_map_dir: 0.0153, loss: 40.6048, grad_norm: 163.9083 +2026-02-25 08:08:52,407 - DriveTransformer - INFO - Epoch [4][15450/39528] lr: 9.623e-05, eta: 7 days, 13:32:14, time: 0.827, data_time: 0.040, memory: 19865, loss_cls: 0.2570, loss_bbox: 0.4794, loss_traj: 0.9253, loss_traj_cls: 0.0024, loss_map_cls: 0.2178, loss_map_pts: 0.9450, loss_map_dir: 0.0163, d0.loss_plan_l1_fix_time: 2.7037, d0.loss_plan_l1_fix_dist: 0.4209, d1.loss_plan_l1_fix_time: 1.3487, d1.loss_plan_l1_fix_dist: 0.2341, d2.loss_plan_l1_fix_time: 1.3200, d2.loss_plan_l1_fix_dist: 0.2463, d3.loss_plan_l1_fix_time: 1.3199, d3.loss_plan_l1_fix_dist: 0.2643, d4.loss_plan_l1_fix_time: 1.3232, d4.loss_plan_l1_fix_dist: 0.2838, d5.loss_plan_l1_fix_time: 1.3275, d5.loss_plan_l1_fix_dist: 0.3060, d6.loss_plan_l1_fix_time: 1.3324, d6.loss_plan_l1_fix_dist: 0.3290, d0.loss_cls_all: 0.2762, d0.loss_bbox_all: 0.5193, d0.loss_cls: 0.2762, d0.loss_bbox: 0.5193, d1.loss_cls: 0.2723, d1.loss_bbox: 0.4928, d2.loss_cls: 0.2636, d2.loss_bbox: 0.4799, d3.loss_cls: 0.2595, d3.loss_bbox: 0.4723, d4.loss_cls: 0.2567, d4.loss_bbox: 0.4717, d5.loss_cls: 0.2551, d5.loss_bbox: 0.4747, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1106, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9704, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9249, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9194, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9259, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.9196, d0.loss_map_cls_all: 0.2619, d0.loss_map_pts_all: 1.9589, d0.loss_map_dir_all: 0.0151, d0.loss_map_cls: 0.2619, d0.loss_map_pts: 1.9589, d0.loss_map_dir: 0.0151, d1.loss_map_cls: 0.2442, d1.loss_map_pts: 1.2522, d1.loss_map_dir: 0.0144, d2.loss_map_cls: 0.2303, d2.loss_map_pts: 1.0524, d2.loss_map_dir: 0.0149, d3.loss_map_cls: 0.2239, d3.loss_map_pts: 0.9781, d3.loss_map_dir: 0.0155, d4.loss_map_cls: 0.2184, d4.loss_map_pts: 0.9534, d4.loss_map_dir: 0.0159, d5.loss_map_cls: 0.2161, d5.loss_map_pts: 0.9484, d5.loss_map_dir: 0.0161, loss: 37.5356, grad_norm: 166.5721 +2026-02-25 08:09:32,517 - DriveTransformer - INFO - Epoch [4][15500/39528] lr: 9.623e-05, eta: 7 days, 13:31:34, time: 0.802, data_time: 0.041, memory: 19865, loss_cls: 0.2568, loss_bbox: 0.4680, loss_traj: 0.9398, loss_traj_cls: 0.0023, loss_map_cls: 0.2475, loss_map_pts: 0.9657, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 2.1563, d0.loss_plan_l1_fix_dist: 0.5388, d1.loss_plan_l1_fix_time: 1.4097, d1.loss_plan_l1_fix_dist: 0.2535, d2.loss_plan_l1_fix_time: 1.3924, d2.loss_plan_l1_fix_dist: 0.2593, d3.loss_plan_l1_fix_time: 1.3952, d3.loss_plan_l1_fix_dist: 0.2698, d4.loss_plan_l1_fix_time: 1.4009, d4.loss_plan_l1_fix_dist: 0.2833, d5.loss_plan_l1_fix_time: 1.4069, d5.loss_plan_l1_fix_dist: 0.2979, d6.loss_plan_l1_fix_time: 1.4128, d6.loss_plan_l1_fix_dist: 0.3111, d0.loss_cls_all: 0.2821, d0.loss_bbox_all: 0.5074, d0.loss_cls: 0.2821, d0.loss_bbox: 0.5074, d1.loss_cls: 0.2772, d1.loss_bbox: 0.4748, d2.loss_cls: 0.2697, d2.loss_bbox: 0.4629, d3.loss_cls: 0.2635, d3.loss_bbox: 0.4603, d4.loss_cls: 0.2592, d4.loss_bbox: 0.4597, d5.loss_cls: 0.2585, d5.loss_bbox: 0.4613, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1511, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0194, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9715, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9454, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9396, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.9421, d0.loss_map_cls_all: 0.2964, d0.loss_map_pts_all: 1.8759, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.2964, d0.loss_map_pts: 1.8759, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2784, d1.loss_map_pts: 1.2667, d1.loss_map_dir: 0.0128, d2.loss_map_cls: 0.2557, d2.loss_map_pts: 1.0717, d2.loss_map_dir: 0.0131, d3.loss_map_cls: 0.2509, d3.loss_map_pts: 0.9991, d3.loss_map_dir: 0.0138, d4.loss_map_cls: 0.2473, d4.loss_map_pts: 0.9755, d4.loss_map_dir: 0.0141, d5.loss_map_cls: 0.2467, d5.loss_map_pts: 0.9680, d5.loss_map_dir: 0.0143, loss: 37.8826, grad_norm: 167.3748 +2026-02-25 08:10:13,503 - DriveTransformer - INFO - Epoch [4][15550/39528] lr: 9.623e-05, eta: 7 days, 13:30:59, time: 0.820, data_time: 0.038, memory: 19865, loss_cls: 0.2801, loss_bbox: 0.4844, loss_traj: 0.8664, loss_traj_cls: 0.0022, loss_map_cls: 0.2615, loss_map_pts: 0.9986, loss_map_dir: 0.0132, d0.loss_plan_l1_fix_time: 2.7470, d0.loss_plan_l1_fix_dist: 0.4619, d1.loss_plan_l1_fix_time: 1.5923, d1.loss_plan_l1_fix_dist: 0.2506, d2.loss_plan_l1_fix_time: 1.5588, d2.loss_plan_l1_fix_dist: 0.2613, d3.loss_plan_l1_fix_time: 1.5531, d3.loss_plan_l1_fix_dist: 0.2757, d4.loss_plan_l1_fix_time: 1.5554, d4.loss_plan_l1_fix_dist: 0.2914, d5.loss_plan_l1_fix_time: 1.5587, d5.loss_plan_l1_fix_dist: 0.3109, d6.loss_plan_l1_fix_time: 1.5632, d6.loss_plan_l1_fix_dist: 0.3347, d0.loss_cls_all: 0.3098, d0.loss_bbox_all: 0.5413, d0.loss_cls: 0.3098, d0.loss_bbox: 0.5413, d1.loss_cls: 0.3012, d1.loss_bbox: 0.5113, d2.loss_cls: 0.2936, d2.loss_bbox: 0.4942, d3.loss_cls: 0.2867, d3.loss_bbox: 0.4868, d4.loss_cls: 0.2817, d4.loss_bbox: 0.4839, d5.loss_cls: 0.2811, d5.loss_bbox: 0.4817, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0735, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9243, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8660, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8657, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8675, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.8648, d0.loss_map_cls_all: 0.3309, d0.loss_map_pts_all: 1.8192, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.3309, d0.loss_map_pts: 1.8192, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.3062, d1.loss_map_pts: 1.2787, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.2868, d2.loss_map_pts: 1.1039, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2725, d3.loss_map_pts: 1.0406, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.2654, d4.loss_map_pts: 1.0133, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.2613, d5.loss_map_pts: 1.0045, d5.loss_map_dir: 0.0132, loss: 39.5133, grad_norm: 167.7599 +2026-02-25 08:10:53,709 - DriveTransformer - INFO - Epoch [4][15600/39528] lr: 9.623e-05, eta: 7 days, 13:30:19, time: 0.804, data_time: 0.045, memory: 19865, loss_cls: 0.2894, loss_bbox: 0.4783, loss_traj: 1.0678, loss_traj_cls: 0.0023, loss_map_cls: 0.2562, loss_map_pts: 1.0286, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.7684, d0.loss_plan_l1_fix_dist: 0.4605, d1.loss_plan_l1_fix_time: 1.4502, d1.loss_plan_l1_fix_dist: 0.2633, d2.loss_plan_l1_fix_time: 1.4325, d2.loss_plan_l1_fix_dist: 0.2695, d3.loss_plan_l1_fix_time: 1.4349, d3.loss_plan_l1_fix_dist: 0.2802, d4.loss_plan_l1_fix_time: 1.4393, d4.loss_plan_l1_fix_dist: 0.2908, d5.loss_plan_l1_fix_time: 1.4447, d5.loss_plan_l1_fix_dist: 0.3036, d6.loss_plan_l1_fix_time: 1.4523, d6.loss_plan_l1_fix_dist: 0.3190, d0.loss_cls_all: 0.3106, d0.loss_bbox_all: 0.5214, d0.loss_cls: 0.3106, d0.loss_bbox: 0.5214, d1.loss_cls: 0.3055, d1.loss_bbox: 0.4934, d2.loss_cls: 0.2959, d2.loss_bbox: 0.4809, d3.loss_cls: 0.2935, d3.loss_bbox: 0.4750, d4.loss_cls: 0.2901, d4.loss_bbox: 0.4761, d5.loss_cls: 0.2886, d5.loss_bbox: 0.4766, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2925, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.1125, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0754, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0690, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0711, d5.loss_traj_cls: 0.0017, d5.loss_traj: 1.0627, d0.loss_map_cls_all: 0.3109, d0.loss_map_pts_all: 1.9099, d0.loss_map_dir_all: 0.0126, d0.loss_map_cls: 0.3109, d0.loss_map_pts: 1.9099, d0.loss_map_dir: 0.0126, d1.loss_map_cls: 0.2830, d1.loss_map_pts: 1.3289, d1.loss_map_dir: 0.0121, d2.loss_map_cls: 0.2683, d2.loss_map_pts: 1.1438, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2620, d3.loss_map_pts: 1.0684, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.2575, d4.loss_map_pts: 1.0408, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.2562, d5.loss_map_pts: 1.0301, d5.loss_map_dir: 0.0136, loss: 40.4447, grad_norm: 168.9796 +2026-02-25 08:11:34,776 - DriveTransformer - INFO - Epoch [4][15650/39528] lr: 9.623e-05, eta: 7 days, 13:29:45, time: 0.821, data_time: 0.044, memory: 19865, loss_cls: 0.2724, loss_bbox: 0.4747, loss_traj: 0.9865, loss_traj_cls: 0.0022, loss_map_cls: 0.2578, loss_map_pts: 0.9699, loss_map_dir: 0.0151, d0.loss_plan_l1_fix_time: 2.7315, d0.loss_plan_l1_fix_dist: 0.3885, d1.loss_plan_l1_fix_time: 1.6118, d1.loss_plan_l1_fix_dist: 0.2297, d2.loss_plan_l1_fix_time: 1.5968, d2.loss_plan_l1_fix_dist: 0.2393, d3.loss_plan_l1_fix_time: 1.5974, d3.loss_plan_l1_fix_dist: 0.2550, d4.loss_plan_l1_fix_time: 1.6004, d4.loss_plan_l1_fix_dist: 0.2749, d5.loss_plan_l1_fix_time: 1.6051, d5.loss_plan_l1_fix_dist: 0.2960, d6.loss_plan_l1_fix_time: 1.6120, d6.loss_plan_l1_fix_dist: 0.3175, d0.loss_cls_all: 0.2960, d0.loss_bbox_all: 0.5216, d0.loss_cls: 0.2960, d0.loss_bbox: 0.5216, d1.loss_cls: 0.2888, d1.loss_bbox: 0.4945, d2.loss_cls: 0.2812, d2.loss_bbox: 0.4786, d3.loss_cls: 0.2759, d3.loss_bbox: 0.4720, d4.loss_cls: 0.2739, d4.loss_bbox: 0.4704, d5.loss_cls: 0.2728, d5.loss_bbox: 0.4719, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2060, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0364, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9882, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9803, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9812, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.9842, d0.loss_map_cls_all: 0.3045, d0.loss_map_pts_all: 1.8663, d0.loss_map_dir_all: 0.0138, d0.loss_map_cls: 0.3045, d0.loss_map_pts: 1.8663, d0.loss_map_dir: 0.0138, d1.loss_map_cls: 0.2779, d1.loss_map_pts: 1.2742, d1.loss_map_dir: 0.0134, d2.loss_map_cls: 0.2675, d2.loss_map_pts: 1.0786, d2.loss_map_dir: 0.0140, d3.loss_map_cls: 0.2634, d3.loss_map_pts: 1.0061, d3.loss_map_dir: 0.0145, d4.loss_map_cls: 0.2593, d4.loss_map_pts: 0.9801, d4.loss_map_dir: 0.0148, d5.loss_map_cls: 0.2573, d5.loss_map_pts: 0.9714, d5.loss_map_dir: 0.0151, loss: 40.0086, grad_norm: 169.9132 +2026-02-25 08:12:16,915 - DriveTransformer - INFO - Epoch [4][15700/39528] lr: 9.623e-05, eta: 7 days, 13:29:17, time: 0.843, data_time: 0.039, memory: 19865, loss_cls: 0.2503, loss_bbox: 0.4312, loss_traj: 0.7254, loss_traj_cls: 0.0023, loss_map_cls: 0.2467, loss_map_pts: 1.0526, loss_map_dir: 0.0170, d0.loss_plan_l1_fix_time: 2.4304, d0.loss_plan_l1_fix_dist: 0.4488, d1.loss_plan_l1_fix_time: 1.3436, d1.loss_plan_l1_fix_dist: 0.2276, d2.loss_plan_l1_fix_time: 1.3243, d2.loss_plan_l1_fix_dist: 0.2303, d3.loss_plan_l1_fix_time: 1.3240, d3.loss_plan_l1_fix_dist: 0.2390, d4.loss_plan_l1_fix_time: 1.3261, d4.loss_plan_l1_fix_dist: 0.2515, d5.loss_plan_l1_fix_time: 1.3288, d5.loss_plan_l1_fix_dist: 0.2660, d6.loss_plan_l1_fix_time: 1.3320, d6.loss_plan_l1_fix_dist: 0.2825, d0.loss_cls_all: 0.2833, d0.loss_bbox_all: 0.4842, d0.loss_cls: 0.2833, d0.loss_bbox: 0.4842, d1.loss_cls: 0.2728, d1.loss_bbox: 0.4552, d2.loss_cls: 0.2623, d2.loss_bbox: 0.4418, d3.loss_cls: 0.2540, d3.loss_bbox: 0.4349, d4.loss_cls: 0.2524, d4.loss_bbox: 0.4298, d5.loss_cls: 0.2502, d5.loss_bbox: 0.4301, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8816, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7542, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7248, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7283, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7260, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7274, d0.loss_map_cls_all: 0.2934, d0.loss_map_pts_all: 2.0434, d0.loss_map_dir_all: 0.0155, d0.loss_map_cls: 0.2934, d0.loss_map_pts: 2.0434, d0.loss_map_dir: 0.0155, d1.loss_map_cls: 0.2742, d1.loss_map_pts: 1.3876, d1.loss_map_dir: 0.0149, d2.loss_map_cls: 0.2609, d2.loss_map_pts: 1.1700, d2.loss_map_dir: 0.0154, d3.loss_map_cls: 0.2524, d3.loss_map_pts: 1.0937, d3.loss_map_dir: 0.0161, d4.loss_map_cls: 0.2480, d4.loss_map_pts: 1.0631, d4.loss_map_dir: 0.0166, d5.loss_map_cls: 0.2463, d5.loss_map_pts: 1.0532, d5.loss_map_dir: 0.0168, loss: 36.4805, grad_norm: 169.9775 +2026-02-25 08:12:57,869 - DriveTransformer - INFO - Epoch [4][15750/39528] lr: 9.623e-05, eta: 7 days, 13:28:42, time: 0.819, data_time: 0.042, memory: 19865, loss_cls: 0.2575, loss_bbox: 0.4390, loss_traj: 0.7653, loss_traj_cls: 0.0023, loss_map_cls: 0.2242, loss_map_pts: 0.9366, loss_map_dir: 0.0148, d0.loss_plan_l1_fix_time: 2.4157, d0.loss_plan_l1_fix_dist: 0.4314, d1.loss_plan_l1_fix_time: 1.3630, d1.loss_plan_l1_fix_dist: 0.2213, d2.loss_plan_l1_fix_time: 1.3504, d2.loss_plan_l1_fix_dist: 0.2273, d3.loss_plan_l1_fix_time: 1.3543, d3.loss_plan_l1_fix_dist: 0.2383, d4.loss_plan_l1_fix_time: 1.3581, d4.loss_plan_l1_fix_dist: 0.2491, d5.loss_plan_l1_fix_time: 1.3624, d5.loss_plan_l1_fix_dist: 0.2622, d6.loss_plan_l1_fix_time: 1.3670, d6.loss_plan_l1_fix_dist: 0.2774, d0.loss_cls_all: 0.2768, d0.loss_bbox_all: 0.4861, d0.loss_cls: 0.2768, d0.loss_bbox: 0.4861, d1.loss_cls: 0.2737, d1.loss_bbox: 0.4585, d2.loss_cls: 0.2663, d2.loss_bbox: 0.4448, d3.loss_cls: 0.2625, d3.loss_bbox: 0.4402, d4.loss_cls: 0.2591, d4.loss_bbox: 0.4382, d5.loss_cls: 0.2568, d5.loss_bbox: 0.4387, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9412, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7916, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7602, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7589, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7540, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7633, d0.loss_map_cls_all: 0.2764, d0.loss_map_pts_all: 1.9165, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.2764, d0.loss_map_pts: 1.9165, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.2561, d1.loss_map_pts: 1.2632, d1.loss_map_dir: 0.0131, d2.loss_map_cls: 0.2413, d2.loss_map_pts: 1.0564, d2.loss_map_dir: 0.0136, d3.loss_map_cls: 0.2308, d3.loss_map_pts: 0.9762, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.2260, d4.loss_map_pts: 0.9440, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.2232, d5.loss_map_pts: 0.9394, d5.loss_map_dir: 0.0147, loss: 35.7972, grad_norm: 169.8280 +2026-02-25 08:13:38,897 - DriveTransformer - INFO - Epoch [4][15800/39528] lr: 9.623e-05, eta: 7 days, 13:28:07, time: 0.821, data_time: 0.043, memory: 19865, loss_cls: 0.2888, loss_bbox: 0.4852, loss_traj: 0.9226, loss_traj_cls: 0.0022, loss_map_cls: 0.2494, loss_map_pts: 1.0219, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.8381, d0.loss_plan_l1_fix_dist: 0.5101, d1.loss_plan_l1_fix_time: 1.4565, d1.loss_plan_l1_fix_dist: 0.2176, d2.loss_plan_l1_fix_time: 1.4552, d2.loss_plan_l1_fix_dist: 0.2229, d3.loss_plan_l1_fix_time: 1.4626, d3.loss_plan_l1_fix_dist: 0.2325, d4.loss_plan_l1_fix_time: 1.4665, d4.loss_plan_l1_fix_dist: 0.2446, d5.loss_plan_l1_fix_time: 1.4708, d5.loss_plan_l1_fix_dist: 0.2571, d6.loss_plan_l1_fix_time: 1.4763, d6.loss_plan_l1_fix_dist: 0.2707, d0.loss_cls_all: 0.3087, d0.loss_bbox_all: 0.5409, d0.loss_cls: 0.3087, d0.loss_bbox: 0.5409, d1.loss_cls: 0.3025, d1.loss_bbox: 0.5108, d2.loss_cls: 0.2966, d2.loss_bbox: 0.4961, d3.loss_cls: 0.2937, d3.loss_bbox: 0.4889, d4.loss_cls: 0.2904, d4.loss_bbox: 0.4851, d5.loss_cls: 0.2912, d5.loss_bbox: 0.4837, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0930, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9676, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9314, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9232, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9220, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.9218, d0.loss_map_cls_all: 0.2929, d0.loss_map_pts_all: 1.9144, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2929, d0.loss_map_pts: 1.9144, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2675, d1.loss_map_pts: 1.3253, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2587, d2.loss_map_pts: 1.1374, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2469, d3.loss_map_pts: 1.0669, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2451, d4.loss_map_pts: 1.0378, d4.loss_map_dir: 0.0126, d5.loss_map_cls: 0.2467, d5.loss_map_pts: 1.0249, d5.loss_map_dir: 0.0128, loss: 39.3242, grad_norm: 168.1418 +2026-02-25 08:14:19,790 - DriveTransformer - INFO - Epoch [4][15850/39528] lr: 9.623e-05, eta: 7 days, 13:27:32, time: 0.818, data_time: 0.042, memory: 19865, loss_cls: 0.2857, loss_bbox: 0.4484, loss_traj: 0.7819, loss_traj_cls: 0.0023, loss_map_cls: 0.2569, loss_map_pts: 1.0922, loss_map_dir: 0.0161, d0.loss_plan_l1_fix_time: 2.6370, d0.loss_plan_l1_fix_dist: 0.4619, d1.loss_plan_l1_fix_time: 1.4200, d1.loss_plan_l1_fix_dist: 0.2308, d2.loss_plan_l1_fix_time: 1.4037, d2.loss_plan_l1_fix_dist: 0.2332, d3.loss_plan_l1_fix_time: 1.4056, d3.loss_plan_l1_fix_dist: 0.2411, d4.loss_plan_l1_fix_time: 1.4087, d4.loss_plan_l1_fix_dist: 0.2515, d5.loss_plan_l1_fix_time: 1.4123, d5.loss_plan_l1_fix_dist: 0.2637, d6.loss_plan_l1_fix_time: 1.4161, d6.loss_plan_l1_fix_dist: 0.2768, d0.loss_cls_all: 0.3052, d0.loss_bbox_all: 0.5015, d0.loss_cls: 0.3052, d0.loss_bbox: 0.5015, d1.loss_cls: 0.3017, d1.loss_bbox: 0.4704, d2.loss_cls: 0.2952, d2.loss_bbox: 0.4551, d3.loss_cls: 0.2889, d3.loss_bbox: 0.4487, d4.loss_cls: 0.2878, d4.loss_bbox: 0.4467, d5.loss_cls: 0.2866, d5.loss_bbox: 0.4474, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9883, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8294, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7812, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7806, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7743, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7790, d0.loss_map_cls_all: 0.3110, d0.loss_map_pts_all: 2.0943, d0.loss_map_dir_all: 0.0155, d0.loss_map_cls: 0.3110, d0.loss_map_pts: 2.0943, d0.loss_map_dir: 0.0155, d1.loss_map_cls: 0.2815, d1.loss_map_pts: 1.4049, d1.loss_map_dir: 0.0148, d2.loss_map_cls: 0.2689, d2.loss_map_pts: 1.2014, d2.loss_map_dir: 0.0152, d3.loss_map_cls: 0.2593, d3.loss_map_pts: 1.1296, d3.loss_map_dir: 0.0157, d4.loss_map_cls: 0.2558, d4.loss_map_pts: 1.1047, d4.loss_map_dir: 0.0159, d5.loss_map_cls: 0.2558, d5.loss_map_pts: 1.0949, d5.loss_map_dir: 0.0160, loss: 38.4029, grad_norm: 166.6643 +2026-02-25 08:15:01,756 - DriveTransformer - INFO - Epoch [4][15900/39528] lr: 9.623e-05, eta: 7 days, 13:27:03, time: 0.839, data_time: 0.043, memory: 19865, loss_cls: 0.2759, loss_bbox: 0.4309, loss_traj: 0.7244, loss_traj_cls: 0.0022, loss_map_cls: 0.2427, loss_map_pts: 1.0165, loss_map_dir: 0.0152, d0.loss_plan_l1_fix_time: 2.8175, d0.loss_plan_l1_fix_dist: 0.4860, d1.loss_plan_l1_fix_time: 1.2920, d1.loss_plan_l1_fix_dist: 0.2396, d2.loss_plan_l1_fix_time: 1.2820, d2.loss_plan_l1_fix_dist: 0.2439, d3.loss_plan_l1_fix_time: 1.2863, d3.loss_plan_l1_fix_dist: 0.2557, d4.loss_plan_l1_fix_time: 1.2892, d4.loss_plan_l1_fix_dist: 0.2701, d5.loss_plan_l1_fix_time: 1.2922, d5.loss_plan_l1_fix_dist: 0.2870, d6.loss_plan_l1_fix_time: 1.2960, d6.loss_plan_l1_fix_dist: 0.3053, d0.loss_cls_all: 0.2983, d0.loss_bbox_all: 0.4847, d0.loss_cls: 0.2983, d0.loss_bbox: 0.4847, d1.loss_cls: 0.2931, d1.loss_bbox: 0.4528, d2.loss_cls: 0.2884, d2.loss_bbox: 0.4396, d3.loss_cls: 0.2836, d3.loss_bbox: 0.4345, d4.loss_cls: 0.2788, d4.loss_bbox: 0.4323, d5.loss_cls: 0.2777, d5.loss_bbox: 0.4310, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8855, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7412, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7209, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7228, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7262, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7258, d0.loss_map_cls_all: 0.2863, d0.loss_map_pts_all: 1.9387, d0.loss_map_dir_all: 0.0138, d0.loss_map_cls: 0.2863, d0.loss_map_pts: 1.9387, d0.loss_map_dir: 0.0138, d1.loss_map_cls: 0.2647, d1.loss_map_pts: 1.3052, d1.loss_map_dir: 0.0133, d2.loss_map_cls: 0.2556, d2.loss_map_pts: 1.1101, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2497, d3.loss_map_pts: 1.0450, d3.loss_map_dir: 0.0146, d4.loss_map_cls: 0.2453, d4.loss_map_pts: 1.0262, d4.loss_map_dir: 0.0149, d5.loss_map_cls: 0.2425, d5.loss_map_pts: 1.0200, d5.loss_map_dir: 0.0151, loss: 36.3704, grad_norm: 165.0408 +2026-02-25 08:15:41,734 - DriveTransformer - INFO - Epoch [4][15950/39528] lr: 9.623e-05, eta: 7 days, 13:26:22, time: 0.800, data_time: 0.045, memory: 19865, loss_cls: 0.2522, loss_bbox: 0.4262, loss_traj: 0.9962, loss_traj_cls: 0.0023, loss_map_cls: 0.2318, loss_map_pts: 1.0576, loss_map_dir: 0.0163, d0.loss_plan_l1_fix_time: 2.7842, d0.loss_plan_l1_fix_dist: 0.3926, d1.loss_plan_l1_fix_time: 1.4445, d1.loss_plan_l1_fix_dist: 0.2333, d2.loss_plan_l1_fix_time: 1.4198, d2.loss_plan_l1_fix_dist: 0.2411, d3.loss_plan_l1_fix_time: 1.4211, d3.loss_plan_l1_fix_dist: 0.2549, d4.loss_plan_l1_fix_time: 1.4243, d4.loss_plan_l1_fix_dist: 0.2700, d5.loss_plan_l1_fix_time: 1.4283, d5.loss_plan_l1_fix_dist: 0.2846, d6.loss_plan_l1_fix_time: 1.4331, d6.loss_plan_l1_fix_dist: 0.3036, d0.loss_cls_all: 0.2714, d0.loss_bbox_all: 0.4686, d0.loss_cls: 0.2714, d0.loss_bbox: 0.4686, d1.loss_cls: 0.2675, d1.loss_bbox: 0.4440, d2.loss_cls: 0.2623, d2.loss_bbox: 0.4323, d3.loss_cls: 0.2579, d3.loss_bbox: 0.4274, d4.loss_cls: 0.2554, d4.loss_bbox: 0.4256, d5.loss_cls: 0.2529, d5.loss_bbox: 0.4248, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2482, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0657, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0190, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0111, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0001, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.9965, d0.loss_map_cls_all: 0.2898, d0.loss_map_pts_all: 1.9213, d0.loss_map_dir_all: 0.0156, d0.loss_map_cls: 0.2898, d0.loss_map_pts: 1.9213, d0.loss_map_dir: 0.0156, d1.loss_map_cls: 0.2633, d1.loss_map_pts: 1.3559, d1.loss_map_dir: 0.0150, d2.loss_map_cls: 0.2470, d2.loss_map_pts: 1.1577, d2.loss_map_dir: 0.0152, d3.loss_map_cls: 0.2407, d3.loss_map_pts: 1.0910, d3.loss_map_dir: 0.0157, d4.loss_map_cls: 0.2356, d4.loss_map_pts: 1.0650, d4.loss_map_dir: 0.0161, d5.loss_map_cls: 0.2329, d5.loss_map_pts: 1.0579, d5.loss_map_dir: 0.0162, loss: 39.0732, grad_norm: 164.8912 +2026-02-25 08:16:21,494 - DriveTransformer - INFO - Epoch [4][16000/39528] lr: 9.623e-05, eta: 7 days, 13:25:40, time: 0.795, data_time: 0.040, memory: 19865, loss_cls: 0.2987, loss_bbox: 0.4739, loss_traj: 0.8855, loss_traj_cls: 0.0022, loss_map_cls: 0.2553, loss_map_pts: 0.9959, loss_map_dir: 0.0132, d0.loss_plan_l1_fix_time: 3.0383, d0.loss_plan_l1_fix_dist: 0.4617, d1.loss_plan_l1_fix_time: 1.7027, d1.loss_plan_l1_fix_dist: 0.2644, d2.loss_plan_l1_fix_time: 1.6721, d2.loss_plan_l1_fix_dist: 0.2713, d3.loss_plan_l1_fix_time: 1.6661, d3.loss_plan_l1_fix_dist: 0.2840, d4.loss_plan_l1_fix_time: 1.6663, d4.loss_plan_l1_fix_dist: 0.2979, d5.loss_plan_l1_fix_time: 1.6680, d5.loss_plan_l1_fix_dist: 0.3118, d6.loss_plan_l1_fix_time: 1.6701, d6.loss_plan_l1_fix_dist: 0.3232, d0.loss_cls_all: 0.3205, d0.loss_bbox_all: 0.5297, d0.loss_cls: 0.3205, d0.loss_bbox: 0.5297, d1.loss_cls: 0.3112, d1.loss_bbox: 0.4993, d2.loss_cls: 0.3034, d2.loss_bbox: 0.4844, d3.loss_cls: 0.2990, d3.loss_bbox: 0.4795, d4.loss_cls: 0.2975, d4.loss_bbox: 0.4761, d5.loss_cls: 0.2966, d5.loss_bbox: 0.4751, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1079, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9558, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9056, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8970, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8887, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.8940, d0.loss_map_cls_all: 0.3019, d0.loss_map_pts_all: 1.7377, d0.loss_map_dir_all: 0.0122, d0.loss_map_cls: 0.3019, d0.loss_map_pts: 1.7377, d0.loss_map_dir: 0.0122, d1.loss_map_cls: 0.2804, d1.loss_map_pts: 1.2357, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.2693, d2.loss_map_pts: 1.0852, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.2607, d3.loss_map_pts: 1.0261, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.2558, d4.loss_map_pts: 1.0038, d4.loss_map_dir: 0.0129, d5.loss_map_cls: 0.2546, d5.loss_map_pts: 0.9955, d5.loss_map_dir: 0.0130, loss: 40.3330, grad_norm: 165.6496 +2026-02-25 08:17:03,650 - DriveTransformer - INFO - Epoch [4][16050/39528] lr: 9.623e-05, eta: 7 days, 13:25:12, time: 0.843, data_time: 0.044, memory: 19865, loss_cls: 0.2834, loss_bbox: 0.4888, loss_traj: 0.7693, loss_traj_cls: 0.0022, loss_map_cls: 0.2527, loss_map_pts: 1.0823, loss_map_dir: 0.0184, d0.loss_plan_l1_fix_time: 2.5512, d0.loss_plan_l1_fix_dist: 0.4662, d1.loss_plan_l1_fix_time: 1.8349, d1.loss_plan_l1_fix_dist: 0.2507, d2.loss_plan_l1_fix_time: 1.8199, d2.loss_plan_l1_fix_dist: 0.2582, d3.loss_plan_l1_fix_time: 1.8140, d3.loss_plan_l1_fix_dist: 0.2689, d4.loss_plan_l1_fix_time: 1.8157, d4.loss_plan_l1_fix_dist: 0.2845, d5.loss_plan_l1_fix_time: 1.8183, d5.loss_plan_l1_fix_dist: 0.3018, d6.loss_plan_l1_fix_time: 1.8217, d6.loss_plan_l1_fix_dist: 0.3206, d0.loss_cls_all: 0.3093, d0.loss_bbox_all: 0.5447, d0.loss_cls: 0.3093, d0.loss_bbox: 0.5447, d1.loss_cls: 0.3024, d1.loss_bbox: 0.5138, d2.loss_cls: 0.2922, d2.loss_bbox: 0.4986, d3.loss_cls: 0.2886, d3.loss_bbox: 0.4924, d4.loss_cls: 0.2833, d4.loss_bbox: 0.4914, d5.loss_cls: 0.2823, d5.loss_bbox: 0.4902, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8956, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8107, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7834, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7796, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7804, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7765, d0.loss_map_cls_all: 0.3018, d0.loss_map_pts_all: 2.1537, d0.loss_map_dir_all: 0.0170, d0.loss_map_cls: 0.3018, d0.loss_map_pts: 2.1537, d0.loss_map_dir: 0.0170, d1.loss_map_cls: 0.2804, d1.loss_map_pts: 1.4107, d1.loss_map_dir: 0.0164, d2.loss_map_cls: 0.2675, d2.loss_map_pts: 1.1880, d2.loss_map_dir: 0.0170, d3.loss_map_cls: 0.2569, d3.loss_map_pts: 1.1133, d3.loss_map_dir: 0.0177, d4.loss_map_cls: 0.2523, d4.loss_map_pts: 1.0901, d4.loss_map_dir: 0.0181, d5.loss_map_cls: 0.2519, d5.loss_map_pts: 1.0834, d5.loss_map_dir: 0.0184, loss: 41.2262, grad_norm: 165.2630 +2026-02-25 08:17:42,982 - DriveTransformer - INFO - Epoch [4][16100/39528] lr: 9.623e-05, eta: 7 days, 13:24:27, time: 0.787, data_time: 0.047, memory: 19865, loss_cls: 0.3021, loss_bbox: 0.4778, loss_traj: 0.9079, loss_traj_cls: 0.0021, loss_map_cls: 0.2865, loss_map_pts: 1.0749, loss_map_dir: 0.0154, d0.loss_plan_l1_fix_time: 3.3492, d0.loss_plan_l1_fix_dist: 0.3619, d1.loss_plan_l1_fix_time: 2.0155, d1.loss_plan_l1_fix_dist: 0.2108, d2.loss_plan_l1_fix_time: 1.9918, d2.loss_plan_l1_fix_dist: 0.2199, d3.loss_plan_l1_fix_time: 1.9859, d3.loss_plan_l1_fix_dist: 0.2327, d4.loss_plan_l1_fix_time: 1.9861, d4.loss_plan_l1_fix_dist: 0.2476, d5.loss_plan_l1_fix_time: 1.9880, d5.loss_plan_l1_fix_dist: 0.2633, d6.loss_plan_l1_fix_time: 1.9909, d6.loss_plan_l1_fix_dist: 0.2828, d0.loss_cls_all: 0.3238, d0.loss_bbox_all: 0.5301, d0.loss_cls: 0.3238, d0.loss_bbox: 0.5301, d1.loss_cls: 0.3181, d1.loss_bbox: 0.5040, d2.loss_cls: 0.3121, d2.loss_bbox: 0.4871, d3.loss_cls: 0.3056, d3.loss_bbox: 0.4823, d4.loss_cls: 0.3022, d4.loss_bbox: 0.4783, d5.loss_cls: 0.3017, d5.loss_bbox: 0.4775, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1115, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9612, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9239, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9169, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9167, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.9070, d0.loss_map_cls_all: 0.3313, d0.loss_map_pts_all: 1.9085, d0.loss_map_dir_all: 0.0139, d0.loss_map_cls: 0.3313, d0.loss_map_pts: 1.9085, d0.loss_map_dir: 0.0139, d1.loss_map_cls: 0.3103, d1.loss_map_pts: 1.3456, d1.loss_map_dir: 0.0137, d2.loss_map_cls: 0.3009, d2.loss_map_pts: 1.1646, d2.loss_map_dir: 0.0142, d3.loss_map_cls: 0.2925, d3.loss_map_pts: 1.0998, d3.loss_map_dir: 0.0148, d4.loss_map_cls: 0.2875, d4.loss_map_pts: 1.0799, d4.loss_map_dir: 0.0151, d5.loss_map_cls: 0.2861, d5.loss_map_pts: 1.0749, d5.loss_map_dir: 0.0153, loss: 43.4353, grad_norm: 164.5759 +2026-02-25 08:18:23,643 - DriveTransformer - INFO - Epoch [4][16150/39528] lr: 9.623e-05, eta: 7 days, 13:23:50, time: 0.813, data_time: 0.041, memory: 19865, loss_cls: 0.2588, loss_bbox: 0.4595, loss_traj: 0.9195, loss_traj_cls: 0.0022, loss_map_cls: 0.2583, loss_map_pts: 1.0091, loss_map_dir: 0.0140, d0.loss_plan_l1_fix_time: 2.6694, d0.loss_plan_l1_fix_dist: 0.4814, d1.loss_plan_l1_fix_time: 1.5720, d1.loss_plan_l1_fix_dist: 0.2203, d2.loss_plan_l1_fix_time: 1.5496, d2.loss_plan_l1_fix_dist: 0.2285, d3.loss_plan_l1_fix_time: 1.5521, d3.loss_plan_l1_fix_dist: 0.2401, d4.loss_plan_l1_fix_time: 1.5563, d4.loss_plan_l1_fix_dist: 0.2536, d5.loss_plan_l1_fix_time: 1.5607, d5.loss_plan_l1_fix_dist: 0.2686, d6.loss_plan_l1_fix_time: 1.5659, d6.loss_plan_l1_fix_dist: 0.2855, d0.loss_cls_all: 0.2825, d0.loss_bbox_all: 0.5014, d0.loss_cls: 0.2825, d0.loss_bbox: 0.5014, d1.loss_cls: 0.2744, d1.loss_bbox: 0.4763, d2.loss_cls: 0.2663, d2.loss_bbox: 0.4637, d3.loss_cls: 0.2623, d3.loss_bbox: 0.4571, d4.loss_cls: 0.2598, d4.loss_bbox: 0.4547, d5.loss_cls: 0.2590, d5.loss_bbox: 0.4566, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1271, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9642, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9273, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9240, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9175, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.9136, d0.loss_map_cls_all: 0.3065, d0.loss_map_pts_all: 1.8911, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.3065, d0.loss_map_pts: 1.8911, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2851, d1.loss_map_pts: 1.3051, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2739, d2.loss_map_pts: 1.1099, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2645, d3.loss_map_pts: 1.0374, d3.loss_map_dir: 0.0134, d4.loss_map_cls: 0.2618, d4.loss_map_pts: 1.0159, d4.loss_map_dir: 0.0137, d5.loss_map_cls: 0.2596, d5.loss_map_pts: 1.0113, d5.loss_map_dir: 0.0138, loss: 39.2146, grad_norm: 166.6639 +2026-02-25 08:19:03,210 - DriveTransformer - INFO - Epoch [4][16200/39528] lr: 9.623e-05, eta: 7 days, 13:23:07, time: 0.793, data_time: 0.041, memory: 19865, loss_cls: 0.2962, loss_bbox: 0.4933, loss_traj: 1.0671, loss_traj_cls: 0.0022, loss_map_cls: 0.2352, loss_map_pts: 0.9150, loss_map_dir: 0.0154, d0.loss_plan_l1_fix_time: 2.9250, d0.loss_plan_l1_fix_dist: 0.4691, d1.loss_plan_l1_fix_time: 1.6565, d1.loss_plan_l1_fix_dist: 0.2681, d2.loss_plan_l1_fix_time: 1.6407, d2.loss_plan_l1_fix_dist: 0.2721, d3.loss_plan_l1_fix_time: 1.6433, d3.loss_plan_l1_fix_dist: 0.2834, d4.loss_plan_l1_fix_time: 1.6465, d4.loss_plan_l1_fix_dist: 0.2981, d5.loss_plan_l1_fix_time: 1.6495, d5.loss_plan_l1_fix_dist: 0.3133, d6.loss_plan_l1_fix_time: 1.6533, d6.loss_plan_l1_fix_dist: 0.3290, d0.loss_cls_all: 0.3196, d0.loss_bbox_all: 0.5404, d0.loss_cls: 0.3196, d0.loss_bbox: 0.5404, d1.loss_cls: 0.3128, d1.loss_bbox: 0.5140, d2.loss_cls: 0.3056, d2.loss_bbox: 0.4993, d3.loss_cls: 0.2999, d3.loss_bbox: 0.4957, d4.loss_cls: 0.2972, d4.loss_bbox: 0.4922, d5.loss_cls: 0.2971, d5.loss_bbox: 0.4913, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1741, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0787, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0562, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0589, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0631, d5.loss_traj_cls: 0.0016, d5.loss_traj: 1.0582, d0.loss_map_cls_all: 0.2862, d0.loss_map_pts_all: 1.7249, d0.loss_map_dir_all: 0.0141, d0.loss_map_cls: 0.2862, d0.loss_map_pts: 1.7249, d0.loss_map_dir: 0.0141, d1.loss_map_cls: 0.2610, d1.loss_map_pts: 1.1805, d1.loss_map_dir: 0.0137, d2.loss_map_cls: 0.2496, d2.loss_map_pts: 1.0030, d2.loss_map_dir: 0.0141, d3.loss_map_cls: 0.2397, d3.loss_map_pts: 0.9417, d3.loss_map_dir: 0.0147, d4.loss_map_cls: 0.2342, d4.loss_map_pts: 0.9226, d4.loss_map_dir: 0.0150, d5.loss_map_cls: 0.2338, d5.loss_map_pts: 0.9154, d5.loss_map_dir: 0.0153, loss: 40.5971, grad_norm: 164.3590 +2026-02-25 08:19:46,382 - DriveTransformer - INFO - Epoch [4][16250/39528] lr: 9.623e-05, eta: 7 days, 13:22:45, time: 0.862, data_time: 0.039, memory: 19865, loss_cls: 0.3114, loss_bbox: 0.4889, loss_traj: 0.8673, loss_traj_cls: 0.0022, loss_map_cls: 0.2435, loss_map_pts: 1.1764, loss_map_dir: 0.0187, d0.loss_plan_l1_fix_time: 2.9458, d0.loss_plan_l1_fix_dist: 0.4126, d1.loss_plan_l1_fix_time: 1.6647, d1.loss_plan_l1_fix_dist: 0.2532, d2.loss_plan_l1_fix_time: 1.6382, d2.loss_plan_l1_fix_dist: 0.2624, d3.loss_plan_l1_fix_time: 1.6348, d3.loss_plan_l1_fix_dist: 0.2756, d4.loss_plan_l1_fix_time: 1.6363, d4.loss_plan_l1_fix_dist: 0.2916, d5.loss_plan_l1_fix_time: 1.6390, d5.loss_plan_l1_fix_dist: 0.3091, d6.loss_plan_l1_fix_time: 1.6427, d6.loss_plan_l1_fix_dist: 0.3283, d0.loss_cls_all: 0.3298, d0.loss_bbox_all: 0.5479, d0.loss_cls: 0.3298, d0.loss_bbox: 0.5479, d1.loss_cls: 0.3219, d1.loss_bbox: 0.5163, d2.loss_cls: 0.3145, d2.loss_bbox: 0.5021, d3.loss_cls: 0.3123, d3.loss_bbox: 0.4959, d4.loss_cls: 0.3105, d4.loss_bbox: 0.4916, d5.loss_cls: 0.3103, d5.loss_bbox: 0.4888, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0148, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9057, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8797, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8735, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8713, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.8692, d0.loss_map_cls_all: 0.2995, d0.loss_map_pts_all: 2.1915, d0.loss_map_dir_all: 0.0170, d0.loss_map_cls: 0.2995, d0.loss_map_pts: 2.1915, d0.loss_map_dir: 0.0170, d1.loss_map_cls: 0.2728, d1.loss_map_pts: 1.4796, d1.loss_map_dir: 0.0165, d2.loss_map_cls: 0.2608, d2.loss_map_pts: 1.2770, d2.loss_map_dir: 0.0172, d3.loss_map_cls: 0.2485, d3.loss_map_pts: 1.2046, d3.loss_map_dir: 0.0179, d4.loss_map_cls: 0.2431, d4.loss_map_pts: 1.1823, d4.loss_map_dir: 0.0183, d5.loss_map_cls: 0.2432, d5.loss_map_pts: 1.1784, d5.loss_map_dir: 0.0186, loss: 41.9767, grad_norm: 163.7133 +2026-02-25 08:20:28,683 - DriveTransformer - INFO - Epoch [4][16300/39528] lr: 9.623e-05, eta: 7 days, 13:22:18, time: 0.846, data_time: 0.043, memory: 19865, loss_cls: 0.2946, loss_bbox: 0.4848, loss_traj: 0.8377, loss_traj_cls: 0.0022, loss_map_cls: 0.2661, loss_map_pts: 1.1496, loss_map_dir: 0.0182, d0.loss_plan_l1_fix_time: 2.8018, d0.loss_plan_l1_fix_dist: 0.4701, d1.loss_plan_l1_fix_time: 1.5206, d1.loss_plan_l1_fix_dist: 0.2711, d2.loss_plan_l1_fix_time: 1.4877, d2.loss_plan_l1_fix_dist: 0.2777, d3.loss_plan_l1_fix_time: 1.4883, d3.loss_plan_l1_fix_dist: 0.2886, d4.loss_plan_l1_fix_time: 1.4911, d4.loss_plan_l1_fix_dist: 0.3023, d5.loss_plan_l1_fix_time: 1.4947, d5.loss_plan_l1_fix_dist: 0.3195, d6.loss_plan_l1_fix_time: 1.4988, d6.loss_plan_l1_fix_dist: 0.3402, d0.loss_cls_all: 0.3195, d0.loss_bbox_all: 0.5261, d0.loss_cls: 0.3195, d0.loss_bbox: 0.5261, d1.loss_cls: 0.3098, d1.loss_bbox: 0.5008, d2.loss_cls: 0.3035, d2.loss_bbox: 0.4867, d3.loss_cls: 0.2990, d3.loss_bbox: 0.4828, d4.loss_cls: 0.2970, d4.loss_bbox: 0.4822, d5.loss_cls: 0.2947, d5.loss_bbox: 0.4848, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0536, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8959, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8505, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8393, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8365, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.8369, d0.loss_map_cls_all: 0.3161, d0.loss_map_pts_all: 2.0920, d0.loss_map_dir_all: 0.0162, d0.loss_map_cls: 0.3161, d0.loss_map_pts: 2.0920, d0.loss_map_dir: 0.0162, d1.loss_map_cls: 0.2946, d1.loss_map_pts: 1.4282, d1.loss_map_dir: 0.0159, d2.loss_map_cls: 0.2806, d2.loss_map_pts: 1.2405, d2.loss_map_dir: 0.0165, d3.loss_map_cls: 0.2726, d3.loss_map_pts: 1.1765, d3.loss_map_dir: 0.0174, d4.loss_map_cls: 0.2694, d4.loss_map_pts: 1.1581, d4.loss_map_dir: 0.0178, d5.loss_map_cls: 0.2662, d5.loss_map_pts: 1.1527, d5.loss_map_dir: 0.0180, loss: 40.5303, grad_norm: 164.4654 +2026-02-25 08:21:07,075 - DriveTransformer - INFO - Epoch [4][16350/39528] lr: 9.623e-05, eta: 7 days, 13:21:28, time: 0.768, data_time: 0.045, memory: 19865, loss_cls: 0.2657, loss_bbox: 0.5128, loss_traj: 1.0168, loss_traj_cls: 0.0023, loss_map_cls: 0.2761, loss_map_pts: 1.0718, loss_map_dir: 0.0143, d0.loss_plan_l1_fix_time: 2.4759, d0.loss_plan_l1_fix_dist: 0.3643, d1.loss_plan_l1_fix_time: 1.4945, d1.loss_plan_l1_fix_dist: 0.2466, d2.loss_plan_l1_fix_time: 1.4756, d2.loss_plan_l1_fix_dist: 0.2553, d3.loss_plan_l1_fix_time: 1.4746, d3.loss_plan_l1_fix_dist: 0.2712, d4.loss_plan_l1_fix_time: 1.4770, d4.loss_plan_l1_fix_dist: 0.2871, d5.loss_plan_l1_fix_time: 1.4802, d5.loss_plan_l1_fix_dist: 0.3019, d6.loss_plan_l1_fix_time: 1.4838, d6.loss_plan_l1_fix_dist: 0.3150, d0.loss_cls_all: 0.2824, d0.loss_bbox_all: 0.5680, d0.loss_cls: 0.2824, d0.loss_bbox: 0.5680, d1.loss_cls: 0.2813, d1.loss_bbox: 0.5376, d2.loss_cls: 0.2738, d2.loss_bbox: 0.5225, d3.loss_cls: 0.2691, d3.loss_bbox: 0.5177, d4.loss_cls: 0.2680, d4.loss_bbox: 0.5144, d5.loss_cls: 0.2663, d5.loss_bbox: 0.5132, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2774, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.1003, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0283, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0182, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0160, d5.loss_traj_cls: 0.0017, d5.loss_traj: 1.0145, d0.loss_map_cls_all: 0.3220, d0.loss_map_pts_all: 1.8676, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.3220, d0.loss_map_pts: 1.8676, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.3021, d1.loss_map_pts: 1.3435, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2929, d2.loss_map_pts: 1.1670, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2850, d3.loss_map_pts: 1.1043, d3.loss_map_dir: 0.0136, d4.loss_map_cls: 0.2775, d4.loss_map_pts: 1.0823, d4.loss_map_dir: 0.0139, d5.loss_map_cls: 0.2773, d5.loss_map_pts: 1.0736, d5.loss_map_dir: 0.0142, loss: 40.3653, grad_norm: 164.3906 +2026-02-25 08:21:48,058 - DriveTransformer - INFO - Epoch [4][16400/39528] lr: 9.623e-05, eta: 7 days, 13:20:53, time: 0.820, data_time: 0.039, memory: 19865, loss_cls: 0.3178, loss_bbox: 0.4839, loss_traj: 0.8524, loss_traj_cls: 0.0023, loss_map_cls: 0.2769, loss_map_pts: 1.1717, loss_map_dir: 0.0178, d0.loss_plan_l1_fix_time: 2.9304, d0.loss_plan_l1_fix_dist: 0.3707, d1.loss_plan_l1_fix_time: 1.5151, d1.loss_plan_l1_fix_dist: 0.2458, d2.loss_plan_l1_fix_time: 1.5046, d2.loss_plan_l1_fix_dist: 0.2633, d3.loss_plan_l1_fix_time: 1.5087, d3.loss_plan_l1_fix_dist: 0.2835, d4.loss_plan_l1_fix_time: 1.5117, d4.loss_plan_l1_fix_dist: 0.3050, d5.loss_plan_l1_fix_time: 1.5149, d5.loss_plan_l1_fix_dist: 0.3247, d6.loss_plan_l1_fix_time: 1.5187, d6.loss_plan_l1_fix_dist: 0.3444, d0.loss_cls_all: 0.3341, d0.loss_bbox_all: 0.5490, d0.loss_cls: 0.3341, d0.loss_bbox: 0.5490, d1.loss_cls: 0.3246, d1.loss_bbox: 0.5160, d2.loss_cls: 0.3171, d2.loss_bbox: 0.4982, d3.loss_cls: 0.3146, d3.loss_bbox: 0.4914, d4.loss_cls: 0.3135, d4.loss_bbox: 0.4859, d5.loss_cls: 0.3159, d5.loss_bbox: 0.4849, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9676, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8630, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8390, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8333, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8378, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.8470, d0.loss_map_cls_all: 0.3355, d0.loss_map_pts_all: 2.2159, d0.loss_map_dir_all: 0.0166, d0.loss_map_cls: 0.3355, d0.loss_map_pts: 2.2159, d0.loss_map_dir: 0.0166, d1.loss_map_cls: 0.3053, d1.loss_map_pts: 1.4841, d1.loss_map_dir: 0.0157, d2.loss_map_cls: 0.2921, d2.loss_map_pts: 1.2849, d2.loss_map_dir: 0.0162, d3.loss_map_cls: 0.2835, d3.loss_map_pts: 1.2104, d3.loss_map_dir: 0.0170, d4.loss_map_cls: 0.2795, d4.loss_map_pts: 1.1835, d4.loss_map_dir: 0.0175, d5.loss_map_cls: 0.2773, d5.loss_map_pts: 1.1739, d5.loss_map_dir: 0.0177, loss: 41.2817, grad_norm: 164.5395 +2026-02-25 08:22:27,951 - DriveTransformer - INFO - Epoch [4][16450/39528] lr: 9.623e-05, eta: 7 days, 13:20:12, time: 0.798, data_time: 0.043, memory: 19865, loss_cls: 0.2549, loss_bbox: 0.4419, loss_traj: 1.0786, loss_traj_cls: 0.0024, loss_map_cls: 0.2454, loss_map_pts: 0.9820, loss_map_dir: 0.0148, d0.loss_plan_l1_fix_time: 2.6675, d0.loss_plan_l1_fix_dist: 0.4469, d1.loss_plan_l1_fix_time: 1.5045, d1.loss_plan_l1_fix_dist: 0.2325, d2.loss_plan_l1_fix_time: 1.4928, d2.loss_plan_l1_fix_dist: 0.2393, d3.loss_plan_l1_fix_time: 1.4985, d3.loss_plan_l1_fix_dist: 0.2513, d4.loss_plan_l1_fix_time: 1.5025, d4.loss_plan_l1_fix_dist: 0.2651, d5.loss_plan_l1_fix_time: 1.5067, d5.loss_plan_l1_fix_dist: 0.2830, d6.loss_plan_l1_fix_time: 1.5118, d6.loss_plan_l1_fix_dist: 0.3043, d0.loss_cls_all: 0.2792, d0.loss_bbox_all: 0.4874, d0.loss_cls: 0.2792, d0.loss_bbox: 0.4874, d1.loss_cls: 0.2704, d1.loss_bbox: 0.4603, d2.loss_cls: 0.2605, d2.loss_bbox: 0.4451, d3.loss_cls: 0.2559, d3.loss_bbox: 0.4399, d4.loss_cls: 0.2553, d4.loss_bbox: 0.4380, d5.loss_cls: 0.2552, d5.loss_bbox: 0.4387, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3160, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.1128, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0726, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0668, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0735, d5.loss_traj_cls: 0.0019, d5.loss_traj: 1.0815, d0.loss_map_cls_all: 0.2948, d0.loss_map_pts_all: 1.6895, d0.loss_map_dir_all: 0.0129, d0.loss_map_cls: 0.2948, d0.loss_map_pts: 1.6895, d0.loss_map_dir: 0.0129, d1.loss_map_cls: 0.2684, d1.loss_map_pts: 1.2122, d1.loss_map_dir: 0.0126, d2.loss_map_cls: 0.2588, d2.loss_map_pts: 1.0663, d2.loss_map_dir: 0.0133, d3.loss_map_cls: 0.2495, d3.loss_map_pts: 1.0102, d3.loss_map_dir: 0.0140, d4.loss_map_cls: 0.2450, d4.loss_map_pts: 0.9890, d4.loss_map_dir: 0.0144, d5.loss_map_cls: 0.2460, d5.loss_map_pts: 0.9831, d5.loss_map_dir: 0.0146, loss: 39.1000, grad_norm: 164.2206 +2026-02-25 08:23:09,084 - DriveTransformer - INFO - Epoch [4][16500/39528] lr: 9.623e-05, eta: 7 days, 13:19:38, time: 0.823, data_time: 0.037, memory: 19865, loss_cls: 0.2536, loss_bbox: 0.4676, loss_traj: 0.8662, loss_traj_cls: 0.0025, loss_map_cls: 0.2191, loss_map_pts: 0.9826, loss_map_dir: 0.0163, d0.loss_plan_l1_fix_time: 2.8855, d0.loss_plan_l1_fix_dist: 0.4968, d1.loss_plan_l1_fix_time: 1.4427, d1.loss_plan_l1_fix_dist: 0.2804, d2.loss_plan_l1_fix_time: 1.4191, d2.loss_plan_l1_fix_dist: 0.2905, d3.loss_plan_l1_fix_time: 1.4174, d3.loss_plan_l1_fix_dist: 0.3112, d4.loss_plan_l1_fix_time: 1.4203, d4.loss_plan_l1_fix_dist: 0.3390, d5.loss_plan_l1_fix_time: 1.4245, d5.loss_plan_l1_fix_dist: 0.3708, d6.loss_plan_l1_fix_time: 1.4301, d6.loss_plan_l1_fix_dist: 0.4030, d0.loss_cls_all: 0.2805, d0.loss_bbox_all: 0.5066, d0.loss_cls: 0.2805, d0.loss_bbox: 0.5066, d1.loss_cls: 0.2757, d1.loss_bbox: 0.4772, d2.loss_cls: 0.2667, d2.loss_bbox: 0.4646, d3.loss_cls: 0.2631, d3.loss_bbox: 0.4579, d4.loss_cls: 0.2572, d4.loss_bbox: 0.4604, d5.loss_cls: 0.2557, d5.loss_bbox: 0.4623, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9901, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8986, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8729, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8606, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8600, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.8633, d0.loss_map_cls_all: 0.2669, d0.loss_map_pts_all: 1.9599, d0.loss_map_dir_all: 0.0152, d0.loss_map_cls: 0.2669, d0.loss_map_pts: 1.9599, d0.loss_map_dir: 0.0152, d1.loss_map_cls: 0.2442, d1.loss_map_pts: 1.2886, d1.loss_map_dir: 0.0146, d2.loss_map_cls: 0.2347, d2.loss_map_pts: 1.0936, d2.loss_map_dir: 0.0150, d3.loss_map_cls: 0.2272, d3.loss_map_pts: 1.0195, d3.loss_map_dir: 0.0157, d4.loss_map_cls: 0.2218, d4.loss_map_pts: 0.9918, d4.loss_map_dir: 0.0161, d5.loss_map_cls: 0.2187, d5.loss_map_pts: 0.9854, d5.loss_map_dir: 0.0163, loss: 38.3924, grad_norm: 171.0868 +2026-02-25 08:23:47,411 - DriveTransformer - INFO - Epoch [4][16550/39528] lr: 9.623e-05, eta: 7 days, 13:18:47, time: 0.766, data_time: 0.038, memory: 19865, loss_cls: 0.2721, loss_bbox: 0.4848, loss_traj: 0.9761, loss_traj_cls: 0.0023, loss_map_cls: 0.2587, loss_map_pts: 1.0330, loss_map_dir: 0.0145, d0.loss_plan_l1_fix_time: 2.4978, d0.loss_plan_l1_fix_dist: 0.3308, d1.loss_plan_l1_fix_time: 1.3917, d1.loss_plan_l1_fix_dist: 0.2030, d2.loss_plan_l1_fix_time: 1.3759, d2.loss_plan_l1_fix_dist: 0.2158, d3.loss_plan_l1_fix_time: 1.3729, d3.loss_plan_l1_fix_dist: 0.2359, d4.loss_plan_l1_fix_time: 1.3749, d4.loss_plan_l1_fix_dist: 0.2613, d5.loss_plan_l1_fix_time: 1.3785, d5.loss_plan_l1_fix_dist: 0.2908, d6.loss_plan_l1_fix_time: 1.3835, d6.loss_plan_l1_fix_dist: 0.3201, d0.loss_cls_all: 0.2978, d0.loss_bbox_all: 0.5236, d0.loss_cls: 0.2978, d0.loss_bbox: 0.5236, d1.loss_cls: 0.2939, d1.loss_bbox: 0.4959, d2.loss_cls: 0.2840, d2.loss_bbox: 0.4844, d3.loss_cls: 0.2797, d3.loss_bbox: 0.4766, d4.loss_cls: 0.2736, d4.loss_bbox: 0.4782, d5.loss_cls: 0.2710, d5.loss_bbox: 0.4815, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1931, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0366, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9855, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9787, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9685, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.9726, d0.loss_map_cls_all: 0.3129, d0.loss_map_pts_all: 1.8449, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.3129, d0.loss_map_pts: 1.8449, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2895, d1.loss_map_pts: 1.3244, d1.loss_map_dir: 0.0126, d2.loss_map_cls: 0.2716, d2.loss_map_pts: 1.1376, d2.loss_map_dir: 0.0131, d3.loss_map_cls: 0.2645, d3.loss_map_pts: 1.0665, d3.loss_map_dir: 0.0138, d4.loss_map_cls: 0.2622, d4.loss_map_pts: 1.0440, d4.loss_map_dir: 0.0142, d5.loss_map_cls: 0.2607, d5.loss_map_pts: 1.0362, d5.loss_map_dir: 0.0143, loss: 38.6433, grad_norm: 171.6231 +2026-02-25 08:24:28,532 - DriveTransformer - INFO - Epoch [4][16600/39528] lr: 9.623e-05, eta: 7 days, 13:18:13, time: 0.822, data_time: 0.041, memory: 19865, loss_cls: 0.2761, loss_bbox: 0.4575, loss_traj: 0.8190, loss_traj_cls: 0.0023, loss_map_cls: 0.2519, loss_map_pts: 1.1148, loss_map_dir: 0.0162, d0.loss_plan_l1_fix_time: 2.6029, d0.loss_plan_l1_fix_dist: 0.4574, d1.loss_plan_l1_fix_time: 1.3295, d1.loss_plan_l1_fix_dist: 0.2435, d2.loss_plan_l1_fix_time: 1.3090, d2.loss_plan_l1_fix_dist: 0.2606, d3.loss_plan_l1_fix_time: 1.3107, d3.loss_plan_l1_fix_dist: 0.2808, d4.loss_plan_l1_fix_time: 1.3146, d4.loss_plan_l1_fix_dist: 0.3014, d5.loss_plan_l1_fix_time: 1.3179, d5.loss_plan_l1_fix_dist: 0.3224, d6.loss_plan_l1_fix_time: 1.3215, d6.loss_plan_l1_fix_dist: 0.3449, d0.loss_cls_all: 0.2938, d0.loss_bbox_all: 0.5169, d0.loss_cls: 0.2938, d0.loss_bbox: 0.5169, d1.loss_cls: 0.2878, d1.loss_bbox: 0.4859, d2.loss_cls: 0.2827, d2.loss_bbox: 0.4686, d3.loss_cls: 0.2790, d3.loss_bbox: 0.4590, d4.loss_cls: 0.2753, d4.loss_bbox: 0.4574, d5.loss_cls: 0.2755, d5.loss_bbox: 0.4569, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9487, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8492, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8189, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8118, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8127, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.8144, d0.loss_map_cls_all: 0.2914, d0.loss_map_pts_all: 1.9810, d0.loss_map_dir_all: 0.0144, d0.loss_map_cls: 0.2914, d0.loss_map_pts: 1.9810, d0.loss_map_dir: 0.0144, d1.loss_map_cls: 0.2721, d1.loss_map_pts: 1.4110, d1.loss_map_dir: 0.0139, d2.loss_map_cls: 0.2679, d2.loss_map_pts: 1.2176, d2.loss_map_dir: 0.0146, d3.loss_map_cls: 0.2596, d3.loss_map_pts: 1.1508, d3.loss_map_dir: 0.0154, d4.loss_map_cls: 0.2558, d4.loss_map_pts: 1.1312, d4.loss_map_dir: 0.0159, d5.loss_map_cls: 0.2519, d5.loss_map_pts: 1.1187, d5.loss_map_dir: 0.0159, loss: 38.0523, grad_norm: 171.2556 +2026-02-25 08:25:07,825 - DriveTransformer - INFO - Epoch [4][16650/39528] lr: 9.623e-05, eta: 7 days, 13:17:27, time: 0.786, data_time: 0.045, memory: 19865, loss_cls: 0.2691, loss_bbox: 0.4559, loss_traj: 0.9965, loss_traj_cls: 0.0023, loss_map_cls: 0.2491, loss_map_pts: 1.0181, loss_map_dir: 0.0131, d0.loss_plan_l1_fix_time: 2.8192, d0.loss_plan_l1_fix_dist: 0.3892, d1.loss_plan_l1_fix_time: 1.4914, d1.loss_plan_l1_fix_dist: 0.2256, d2.loss_plan_l1_fix_time: 1.4635, d2.loss_plan_l1_fix_dist: 0.2373, d3.loss_plan_l1_fix_time: 1.4605, d3.loss_plan_l1_fix_dist: 0.2541, d4.loss_plan_l1_fix_time: 1.4626, d4.loss_plan_l1_fix_dist: 0.2722, d5.loss_plan_l1_fix_time: 1.4646, d5.loss_plan_l1_fix_dist: 0.2912, d6.loss_plan_l1_fix_time: 1.4671, d6.loss_plan_l1_fix_dist: 0.3122, d0.loss_cls_all: 0.2933, d0.loss_bbox_all: 0.5092, d0.loss_cls: 0.2933, d0.loss_bbox: 0.5092, d1.loss_cls: 0.2879, d1.loss_bbox: 0.4761, d2.loss_cls: 0.2772, d2.loss_bbox: 0.4598, d3.loss_cls: 0.2739, d3.loss_bbox: 0.4549, d4.loss_cls: 0.2718, d4.loss_bbox: 0.4538, d5.loss_cls: 0.2706, d5.loss_bbox: 0.4544, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2233, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0286, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9894, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9855, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9821, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.9853, d0.loss_map_cls_all: 0.3013, d0.loss_map_pts_all: 1.7213, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.3013, d0.loss_map_pts: 1.7213, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2756, d1.loss_map_pts: 1.2807, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2583, d2.loss_map_pts: 1.1211, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.2522, d3.loss_map_pts: 1.0560, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.2482, d4.loss_map_pts: 1.0285, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.2489, d5.loss_map_pts: 1.0176, d5.loss_map_dir: 0.0131, loss: 39.0178, grad_norm: 168.8125 +2026-02-25 08:25:48,818 - DriveTransformer - INFO - Epoch [4][16700/39528] lr: 9.623e-05, eta: 7 days, 13:16:53, time: 0.820, data_time: 0.041, memory: 19865, loss_cls: 0.2958, loss_bbox: 0.4646, loss_traj: 1.0190, loss_traj_cls: 0.0023, loss_map_cls: 0.2532, loss_map_pts: 1.0564, loss_map_dir: 0.0145, d0.loss_plan_l1_fix_time: 2.8513, d0.loss_plan_l1_fix_dist: 0.4122, d1.loss_plan_l1_fix_time: 1.5159, d1.loss_plan_l1_fix_dist: 0.2470, d2.loss_plan_l1_fix_time: 1.4997, d2.loss_plan_l1_fix_dist: 0.2587, d3.loss_plan_l1_fix_time: 1.4996, d3.loss_plan_l1_fix_dist: 0.2759, d4.loss_plan_l1_fix_time: 1.5025, d4.loss_plan_l1_fix_dist: 0.2971, d5.loss_plan_l1_fix_time: 1.5060, d5.loss_plan_l1_fix_dist: 0.3201, d6.loss_plan_l1_fix_time: 1.5098, d6.loss_plan_l1_fix_dist: 0.3445, d0.loss_cls_all: 0.3212, d0.loss_bbox_all: 0.5076, d0.loss_cls: 0.3212, d0.loss_bbox: 0.5076, d1.loss_cls: 0.3111, d1.loss_bbox: 0.4813, d2.loss_cls: 0.3031, d2.loss_bbox: 0.4651, d3.loss_cls: 0.2981, d3.loss_bbox: 0.4626, d4.loss_cls: 0.2974, d4.loss_bbox: 0.4596, d5.loss_cls: 0.2948, d5.loss_bbox: 0.4629, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1994, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0733, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0291, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0145, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0122, d5.loss_traj_cls: 0.0019, d5.loss_traj: 1.0159, d0.loss_map_cls_all: 0.3127, d0.loss_map_pts_all: 1.8683, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.3127, d0.loss_map_pts: 1.8683, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2809, d1.loss_map_pts: 1.3308, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2683, d2.loss_map_pts: 1.1486, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2604, d3.loss_map_pts: 1.0868, d3.loss_map_dir: 0.0136, d4.loss_map_cls: 0.2549, d4.loss_map_pts: 1.0647, d4.loss_map_dir: 0.0142, d5.loss_map_cls: 0.2531, d5.loss_map_pts: 1.0565, d5.loss_map_dir: 0.0143, loss: 40.4501, grad_norm: 169.3844 +2026-02-25 08:26:29,694 - DriveTransformer - INFO - Epoch [4][16750/39528] lr: 9.623e-05, eta: 7 days, 13:16:17, time: 0.818, data_time: 0.048, memory: 19865, loss_cls: 0.2519, loss_bbox: 0.4333, loss_traj: 0.9492, loss_traj_cls: 0.0023, loss_map_cls: 0.2117, loss_map_pts: 1.0002, loss_map_dir: 0.0147, d0.loss_plan_l1_fix_time: 2.4563, d0.loss_plan_l1_fix_dist: 0.4603, d1.loss_plan_l1_fix_time: 1.4269, d1.loss_plan_l1_fix_dist: 0.2282, d2.loss_plan_l1_fix_time: 1.4087, d2.loss_plan_l1_fix_dist: 0.2331, d3.loss_plan_l1_fix_time: 1.4095, d3.loss_plan_l1_fix_dist: 0.2467, d4.loss_plan_l1_fix_time: 1.4127, d4.loss_plan_l1_fix_dist: 0.2646, d5.loss_plan_l1_fix_time: 1.4167, d5.loss_plan_l1_fix_dist: 0.2843, d6.loss_plan_l1_fix_time: 1.4210, d6.loss_plan_l1_fix_dist: 0.3030, d0.loss_cls_all: 0.2829, d0.loss_bbox_all: 0.4765, d0.loss_cls: 0.2829, d0.loss_bbox: 0.4765, d1.loss_cls: 0.2681, d1.loss_bbox: 0.4484, d2.loss_cls: 0.2611, d2.loss_bbox: 0.4348, d3.loss_cls: 0.2586, d3.loss_bbox: 0.4302, d4.loss_cls: 0.2511, d4.loss_bbox: 0.4309, d5.loss_cls: 0.2521, d5.loss_bbox: 0.4311, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1139, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9763, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9518, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9467, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9449, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.9405, d0.loss_map_cls_all: 0.2712, d0.loss_map_pts_all: 1.8206, d0.loss_map_dir_all: 0.0141, d0.loss_map_cls: 0.2712, d0.loss_map_pts: 1.8206, d0.loss_map_dir: 0.0141, d1.loss_map_cls: 0.2431, d1.loss_map_pts: 1.2375, d1.loss_map_dir: 0.0136, d2.loss_map_cls: 0.2297, d2.loss_map_pts: 1.0645, d2.loss_map_dir: 0.0135, d3.loss_map_cls: 0.2165, d3.loss_map_pts: 1.0073, d3.loss_map_dir: 0.0141, d4.loss_map_cls: 0.2125, d4.loss_map_pts: 0.9964, d4.loss_map_dir: 0.0144, d5.loss_map_cls: 0.2120, d5.loss_map_pts: 0.9951, d5.loss_map_dir: 0.0146, loss: 37.3974, grad_norm: 166.6555 +2026-02-25 08:27:10,896 - DriveTransformer - INFO - Epoch [4][16800/39528] lr: 9.623e-05, eta: 7 days, 13:15:43, time: 0.824, data_time: 0.042, memory: 19865, loss_cls: 0.2663, loss_bbox: 0.4551, loss_traj: 0.9459, loss_traj_cls: 0.0023, loss_map_cls: 0.2255, loss_map_pts: 0.9780, loss_map_dir: 0.0148, d0.loss_plan_l1_fix_time: 2.7728, d0.loss_plan_l1_fix_dist: 0.3911, d1.loss_plan_l1_fix_time: 1.7049, d1.loss_plan_l1_fix_dist: 0.2420, d2.loss_plan_l1_fix_time: 1.6822, d2.loss_plan_l1_fix_dist: 0.2511, d3.loss_plan_l1_fix_time: 1.6805, d3.loss_plan_l1_fix_dist: 0.2665, d4.loss_plan_l1_fix_time: 1.6830, d4.loss_plan_l1_fix_dist: 0.2837, d5.loss_plan_l1_fix_time: 1.6864, d5.loss_plan_l1_fix_dist: 0.3023, d6.loss_plan_l1_fix_time: 1.6907, d6.loss_plan_l1_fix_dist: 0.3240, d0.loss_cls_all: 0.2889, d0.loss_bbox_all: 0.5095, d0.loss_cls: 0.2889, d0.loss_bbox: 0.5095, d1.loss_cls: 0.2811, d1.loss_bbox: 0.4754, d2.loss_cls: 0.2747, d2.loss_bbox: 0.4615, d3.loss_cls: 0.2680, d3.loss_bbox: 0.4577, d4.loss_cls: 0.2644, d4.loss_bbox: 0.4556, d5.loss_cls: 0.2657, d5.loss_bbox: 0.4554, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1652, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9894, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9561, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9399, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9358, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.9421, d0.loss_map_cls_all: 0.2849, d0.loss_map_pts_all: 1.8350, d0.loss_map_dir_all: 0.0132, d0.loss_map_cls: 0.2849, d0.loss_map_pts: 1.8350, d0.loss_map_dir: 0.0132, d1.loss_map_cls: 0.2563, d1.loss_map_pts: 1.2754, d1.loss_map_dir: 0.0128, d2.loss_map_cls: 0.2454, d2.loss_map_pts: 1.0847, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2374, d3.loss_map_pts: 1.0102, d3.loss_map_dir: 0.0141, d4.loss_map_cls: 0.2314, d4.loss_map_pts: 0.9876, d4.loss_map_dir: 0.0145, d5.loss_map_cls: 0.2270, d5.loss_map_pts: 0.9794, d5.loss_map_dir: 0.0146, loss: 39.9100, grad_norm: 167.3787 +2026-02-25 08:27:51,493 - DriveTransformer - INFO - Epoch [4][16850/39528] lr: 9.623e-05, eta: 7 days, 13:15:06, time: 0.812, data_time: 0.043, memory: 19865, loss_cls: 0.3070, loss_bbox: 0.4980, loss_traj: 0.8826, loss_traj_cls: 0.0023, loss_map_cls: 0.2471, loss_map_pts: 1.0834, loss_map_dir: 0.0168, d0.loss_plan_l1_fix_time: 3.0438, d0.loss_plan_l1_fix_dist: 0.4673, d1.loss_plan_l1_fix_time: 1.7093, d1.loss_plan_l1_fix_dist: 0.2635, d2.loss_plan_l1_fix_time: 1.6748, d2.loss_plan_l1_fix_dist: 0.2693, d3.loss_plan_l1_fix_time: 1.6730, d3.loss_plan_l1_fix_dist: 0.2795, d4.loss_plan_l1_fix_time: 1.6751, d4.loss_plan_l1_fix_dist: 0.2934, d5.loss_plan_l1_fix_time: 1.6781, d5.loss_plan_l1_fix_dist: 0.3114, d6.loss_plan_l1_fix_time: 1.6821, d6.loss_plan_l1_fix_dist: 0.3315, d0.loss_cls_all: 0.3233, d0.loss_bbox_all: 0.5511, d0.loss_cls: 0.3233, d0.loss_bbox: 0.5511, d1.loss_cls: 0.3187, d1.loss_bbox: 0.5219, d2.loss_cls: 0.3156, d2.loss_bbox: 0.5054, d3.loss_cls: 0.3089, d3.loss_bbox: 0.5006, d4.loss_cls: 0.3064, d4.loss_bbox: 0.4988, d5.loss_cls: 0.3063, d5.loss_bbox: 0.4971, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0595, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9354, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8999, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8830, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8792, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.8785, d0.loss_map_cls_all: 0.3001, d0.loss_map_pts_all: 1.9789, d0.loss_map_dir_all: 0.0154, d0.loss_map_cls: 0.3001, d0.loss_map_pts: 1.9789, d0.loss_map_dir: 0.0154, d1.loss_map_cls: 0.2738, d1.loss_map_pts: 1.3911, d1.loss_map_dir: 0.0152, d2.loss_map_cls: 0.2602, d2.loss_map_pts: 1.1983, d2.loss_map_dir: 0.0156, d3.loss_map_cls: 0.2509, d3.loss_map_pts: 1.1206, d3.loss_map_dir: 0.0162, d4.loss_map_cls: 0.2470, d4.loss_map_pts: 1.0961, d4.loss_map_dir: 0.0165, d5.loss_map_cls: 0.2464, d5.loss_map_pts: 1.0856, d5.loss_map_dir: 0.0167, loss: 41.5983, grad_norm: 166.3542 +2026-02-25 08:28:32,946 - DriveTransformer - INFO - Epoch [4][16900/39528] lr: 9.623e-05, eta: 7 days, 13:14:34, time: 0.829, data_time: 0.047, memory: 19865, loss_cls: 0.2820, loss_bbox: 0.4596, loss_traj: 0.7140, loss_traj_cls: 0.0023, loss_map_cls: 0.2371, loss_map_pts: 1.0707, loss_map_dir: 0.0161, d0.loss_plan_l1_fix_time: 2.3218, d0.loss_plan_l1_fix_dist: 0.4621, d1.loss_plan_l1_fix_time: 1.4559, d1.loss_plan_l1_fix_dist: 0.2372, d2.loss_plan_l1_fix_time: 1.4304, d2.loss_plan_l1_fix_dist: 0.2568, d3.loss_plan_l1_fix_time: 1.4265, d3.loss_plan_l1_fix_dist: 0.2788, d4.loss_plan_l1_fix_time: 1.4289, d4.loss_plan_l1_fix_dist: 0.3030, d5.loss_plan_l1_fix_time: 1.4335, d5.loss_plan_l1_fix_dist: 0.3290, d6.loss_plan_l1_fix_time: 1.4394, d6.loss_plan_l1_fix_dist: 0.3549, d0.loss_cls_all: 0.3003, d0.loss_bbox_all: 0.5100, d0.loss_cls: 0.3003, d0.loss_bbox: 0.5100, d1.loss_cls: 0.2940, d1.loss_bbox: 0.4838, d2.loss_cls: 0.2869, d2.loss_bbox: 0.4721, d3.loss_cls: 0.2847, d3.loss_bbox: 0.4630, d4.loss_cls: 0.2808, d4.loss_bbox: 0.4621, d5.loss_cls: 0.2807, d5.loss_bbox: 0.4610, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8534, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7860, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7363, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7264, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7189, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.7180, d0.loss_map_cls_all: 0.2765, d0.loss_map_pts_all: 2.0739, d0.loss_map_dir_all: 0.0150, d0.loss_map_cls: 0.2765, d0.loss_map_pts: 2.0739, d0.loss_map_dir: 0.0150, d1.loss_map_cls: 0.2568, d1.loss_map_pts: 1.3877, d1.loss_map_dir: 0.0143, d2.loss_map_cls: 0.2484, d2.loss_map_pts: 1.1850, d2.loss_map_dir: 0.0147, d3.loss_map_cls: 0.2409, d3.loss_map_pts: 1.1119, d3.loss_map_dir: 0.0155, d4.loss_map_cls: 0.2353, d4.loss_map_pts: 1.0851, d4.loss_map_dir: 0.0158, d5.loss_map_cls: 0.2360, d5.loss_map_pts: 1.0727, d5.loss_map_dir: 0.0159, loss: 37.7419, grad_norm: 167.1182 +2026-02-25 08:29:12,298 - DriveTransformer - INFO - Epoch [4][16950/39528] lr: 9.623e-05, eta: 7 days, 13:13:49, time: 0.787, data_time: 0.042, memory: 19865, loss_cls: 0.2928, loss_bbox: 0.4680, loss_traj: 0.8697, loss_traj_cls: 0.0023, loss_map_cls: 0.2617, loss_map_pts: 1.0205, loss_map_dir: 0.0157, d0.loss_plan_l1_fix_time: 2.8982, d0.loss_plan_l1_fix_dist: 0.3096, d1.loss_plan_l1_fix_time: 1.6454, d1.loss_plan_l1_fix_dist: 0.2122, d2.loss_plan_l1_fix_time: 1.6250, d2.loss_plan_l1_fix_dist: 0.2270, d3.loss_plan_l1_fix_time: 1.6217, d3.loss_plan_l1_fix_dist: 0.2449, d4.loss_plan_l1_fix_time: 1.6247, d4.loss_plan_l1_fix_dist: 0.2624, d5.loss_plan_l1_fix_time: 1.6291, d5.loss_plan_l1_fix_dist: 0.2775, d6.loss_plan_l1_fix_time: 1.6345, d6.loss_plan_l1_fix_dist: 0.2907, d0.loss_cls_all: 0.3099, d0.loss_bbox_all: 0.5233, d0.loss_cls: 0.3099, d0.loss_bbox: 0.5233, d1.loss_cls: 0.3045, d1.loss_bbox: 0.4957, d2.loss_cls: 0.2985, d2.loss_bbox: 0.4807, d3.loss_cls: 0.2954, d3.loss_bbox: 0.4721, d4.loss_cls: 0.2911, d4.loss_bbox: 0.4698, d5.loss_cls: 0.2935, d5.loss_bbox: 0.4666, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0706, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9427, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9017, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8867, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8757, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.8703, d0.loss_map_cls_all: 0.3110, d0.loss_map_pts_all: 1.8816, d0.loss_map_dir_all: 0.0144, d0.loss_map_cls: 0.3110, d0.loss_map_pts: 1.8816, d0.loss_map_dir: 0.0144, d1.loss_map_cls: 0.2926, d1.loss_map_pts: 1.3060, d1.loss_map_dir: 0.0140, d2.loss_map_cls: 0.2724, d2.loss_map_pts: 1.1197, d2.loss_map_dir: 0.0144, d3.loss_map_cls: 0.2608, d3.loss_map_pts: 1.0553, d3.loss_map_dir: 0.0150, d4.loss_map_cls: 0.2579, d4.loss_map_pts: 1.0298, d4.loss_map_dir: 0.0153, d5.loss_map_cls: 0.2591, d5.loss_map_pts: 1.0244, d5.loss_map_dir: 0.0154, loss: 39.8879, grad_norm: 168.6934 +2026-02-25 08:29:53,342 - DriveTransformer - INFO - Epoch [4][17000/39528] lr: 9.623e-05, eta: 7 days, 13:13:15, time: 0.822, data_time: 0.047, memory: 19865, loss_cls: 0.2868, loss_bbox: 0.4686, loss_traj: 0.8588, loss_traj_cls: 0.0022, loss_map_cls: 0.2434, loss_map_pts: 1.0912, loss_map_dir: 0.0169, d0.loss_plan_l1_fix_time: 2.6679, d0.loss_plan_l1_fix_dist: 0.3968, d1.loss_plan_l1_fix_time: 1.3657, d1.loss_plan_l1_fix_dist: 0.2121, d2.loss_plan_l1_fix_time: 1.3401, d2.loss_plan_l1_fix_dist: 0.2211, d3.loss_plan_l1_fix_time: 1.3393, d3.loss_plan_l1_fix_dist: 0.2329, d4.loss_plan_l1_fix_time: 1.3424, d4.loss_plan_l1_fix_dist: 0.2476, d5.loss_plan_l1_fix_time: 1.3470, d5.loss_plan_l1_fix_dist: 0.2652, d6.loss_plan_l1_fix_time: 1.3532, d6.loss_plan_l1_fix_dist: 0.2859, d0.loss_cls_all: 0.3089, d0.loss_bbox_all: 0.5261, d0.loss_cls: 0.3089, d0.loss_bbox: 0.5261, d1.loss_cls: 0.3038, d1.loss_bbox: 0.4969, d2.loss_cls: 0.2937, d2.loss_bbox: 0.4821, d3.loss_cls: 0.2900, d3.loss_bbox: 0.4740, d4.loss_cls: 0.2854, d4.loss_bbox: 0.4715, d5.loss_cls: 0.2852, d5.loss_bbox: 0.4698, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0551, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9322, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8704, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8578, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8576, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.8554, d0.loss_map_cls_all: 0.2941, d0.loss_map_pts_all: 2.0687, d0.loss_map_dir_all: 0.0152, d0.loss_map_cls: 0.2941, d0.loss_map_pts: 2.0687, d0.loss_map_dir: 0.0152, d1.loss_map_cls: 0.2707, d1.loss_map_pts: 1.4236, d1.loss_map_dir: 0.0150, d2.loss_map_cls: 0.2584, d2.loss_map_pts: 1.2117, d2.loss_map_dir: 0.0154, d3.loss_map_cls: 0.2486, d3.loss_map_pts: 1.1308, d3.loss_map_dir: 0.0161, d4.loss_map_cls: 0.2442, d4.loss_map_pts: 1.1060, d4.loss_map_dir: 0.0166, d5.loss_map_cls: 0.2440, d5.loss_map_pts: 1.0959, d5.loss_map_dir: 0.0168, loss: 38.6117, grad_norm: 165.9713 +2026-02-25 08:30:33,819 - DriveTransformer - INFO - Epoch [4][17050/39528] lr: 9.623e-05, eta: 7 days, 13:12:37, time: 0.808, data_time: 0.043, memory: 19865, loss_cls: 0.2908, loss_bbox: 0.4652, loss_traj: 0.8920, loss_traj_cls: 0.0021, loss_map_cls: 0.2597, loss_map_pts: 1.0114, loss_map_dir: 0.0143, d0.loss_plan_l1_fix_time: 3.0483, d0.loss_plan_l1_fix_dist: 0.4563, d1.loss_plan_l1_fix_time: 1.5701, d1.loss_plan_l1_fix_dist: 0.2276, d2.loss_plan_l1_fix_time: 1.5588, d2.loss_plan_l1_fix_dist: 0.2355, d3.loss_plan_l1_fix_time: 1.5596, d3.loss_plan_l1_fix_dist: 0.2497, d4.loss_plan_l1_fix_time: 1.5620, d4.loss_plan_l1_fix_dist: 0.2681, d5.loss_plan_l1_fix_time: 1.5647, d5.loss_plan_l1_fix_dist: 0.2891, d6.loss_plan_l1_fix_time: 1.5680, d6.loss_plan_l1_fix_dist: 0.3137, d0.loss_cls_all: 0.3063, d0.loss_bbox_all: 0.5040, d0.loss_cls: 0.3063, d0.loss_bbox: 0.5040, d1.loss_cls: 0.3005, d1.loss_bbox: 0.4763, d2.loss_cls: 0.2960, d2.loss_bbox: 0.4633, d3.loss_cls: 0.2922, d3.loss_bbox: 0.4589, d4.loss_cls: 0.2903, d4.loss_bbox: 0.4594, d5.loss_cls: 0.2898, d5.loss_bbox: 0.4628, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0973, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9512, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9148, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9029, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8895, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.8893, d0.loss_map_cls_all: 0.3098, d0.loss_map_pts_all: 1.8165, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.3098, d0.loss_map_pts: 1.8165, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2919, d1.loss_map_pts: 1.2690, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2787, d2.loss_map_pts: 1.0941, d2.loss_map_dir: 0.0130, d3.loss_map_cls: 0.2690, d3.loss_map_pts: 1.0293, d3.loss_map_dir: 0.0136, d4.loss_map_cls: 0.2631, d4.loss_map_pts: 1.0142, d4.loss_map_dir: 0.0139, d5.loss_map_cls: 0.2625, d5.loss_map_pts: 1.0131, d5.loss_map_dir: 0.0141, loss: 39.5989, grad_norm: 163.3037 +2026-02-25 08:31:15,291 - DriveTransformer - INFO - Epoch [4][17100/39528] lr: 9.623e-05, eta: 7 days, 13:12:05, time: 0.829, data_time: 0.046, memory: 19865, loss_cls: 0.3263, loss_bbox: 0.4997, loss_traj: 1.1348, loss_traj_cls: 0.0020, loss_map_cls: 0.2449, loss_map_pts: 1.0624, loss_map_dir: 0.0159, d0.loss_plan_l1_fix_time: 2.9158, d0.loss_plan_l1_fix_dist: 0.4075, d1.loss_plan_l1_fix_time: 1.7766, d1.loss_plan_l1_fix_dist: 0.2442, d2.loss_plan_l1_fix_time: 1.7695, d2.loss_plan_l1_fix_dist: 0.2544, d3.loss_plan_l1_fix_time: 1.7708, d3.loss_plan_l1_fix_dist: 0.2693, d4.loss_plan_l1_fix_time: 1.7732, d4.loss_plan_l1_fix_dist: 0.2856, d5.loss_plan_l1_fix_time: 1.7763, d5.loss_plan_l1_fix_dist: 0.3025, d6.loss_plan_l1_fix_time: 1.7799, d6.loss_plan_l1_fix_dist: 0.3206, d0.loss_cls_all: 0.3453, d0.loss_bbox_all: 0.5518, d0.loss_cls: 0.3453, d0.loss_bbox: 0.5518, d1.loss_cls: 0.3424, d1.loss_bbox: 0.5173, d2.loss_cls: 0.3352, d2.loss_bbox: 0.5016, d3.loss_cls: 0.3282, d3.loss_bbox: 0.4972, d4.loss_cls: 0.3287, d4.loss_bbox: 0.4945, d5.loss_cls: 0.3271, d5.loss_bbox: 0.4975, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3557, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.1698, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1452, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.1341, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1323, d5.loss_traj_cls: 0.0017, d5.loss_traj: 1.1337, d0.loss_map_cls_all: 0.3012, d0.loss_map_pts_all: 1.9387, d0.loss_map_dir_all: 0.0136, d0.loss_map_cls: 0.3012, d0.loss_map_pts: 1.9387, d0.loss_map_dir: 0.0136, d1.loss_map_cls: 0.2746, d1.loss_map_pts: 1.3372, d1.loss_map_dir: 0.0136, d2.loss_map_cls: 0.2624, d2.loss_map_pts: 1.1601, d2.loss_map_dir: 0.0144, d3.loss_map_cls: 0.2520, d3.loss_map_pts: 1.0924, d3.loss_map_dir: 0.0151, d4.loss_map_cls: 0.2464, d4.loss_map_pts: 1.0712, d4.loss_map_dir: 0.0155, d5.loss_map_cls: 0.2450, d5.loss_map_pts: 1.0661, d5.loss_map_dir: 0.0156, loss: 43.5612, grad_norm: 163.8861 +2026-02-25 08:31:57,178 - DriveTransformer - INFO - Epoch [4][17150/39528] lr: 9.623e-05, eta: 7 days, 13:11:35, time: 0.838, data_time: 0.042, memory: 19865, loss_cls: 0.2466, loss_bbox: 0.4111, loss_traj: 0.8348, loss_traj_cls: 0.0021, loss_map_cls: 0.2029, loss_map_pts: 0.8869, loss_map_dir: 0.0159, d0.loss_plan_l1_fix_time: 2.5887, d0.loss_plan_l1_fix_dist: 0.4645, d1.loss_plan_l1_fix_time: 1.1841, d1.loss_plan_l1_fix_dist: 0.2669, d2.loss_plan_l1_fix_time: 1.1586, d2.loss_plan_l1_fix_dist: 0.2817, d3.loss_plan_l1_fix_time: 1.1605, d3.loss_plan_l1_fix_dist: 0.3047, d4.loss_plan_l1_fix_time: 1.1654, d4.loss_plan_l1_fix_dist: 0.3305, d5.loss_plan_l1_fix_time: 1.1704, d5.loss_plan_l1_fix_dist: 0.3596, d6.loss_plan_l1_fix_time: 1.1766, d6.loss_plan_l1_fix_dist: 0.3883, d0.loss_cls_all: 0.2578, d0.loss_bbox_all: 0.4606, d0.loss_cls: 0.2578, d0.loss_bbox: 0.4606, d1.loss_cls: 0.2522, d1.loss_bbox: 0.4312, d2.loss_cls: 0.2483, d2.loss_bbox: 0.4151, d3.loss_cls: 0.2450, d3.loss_bbox: 0.4095, d4.loss_cls: 0.2438, d4.loss_bbox: 0.4084, d5.loss_cls: 0.2450, d5.loss_bbox: 0.4081, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9862, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8429, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8273, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8304, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8341, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.8339, d0.loss_map_cls_all: 0.2521, d0.loss_map_pts_all: 1.9090, d0.loss_map_dir_all: 0.0142, d0.loss_map_cls: 0.2521, d0.loss_map_pts: 1.9090, d0.loss_map_dir: 0.0142, d1.loss_map_cls: 0.2344, d1.loss_map_pts: 1.1964, d1.loss_map_dir: 0.0138, d2.loss_map_cls: 0.2209, d2.loss_map_pts: 0.9872, d2.loss_map_dir: 0.0144, d3.loss_map_cls: 0.2086, d3.loss_map_pts: 0.9172, d3.loss_map_dir: 0.0152, d4.loss_map_cls: 0.2042, d4.loss_map_pts: 0.8946, d4.loss_map_dir: 0.0155, d5.loss_map_cls: 0.2022, d5.loss_map_pts: 0.8904, d5.loss_map_dir: 0.0158, loss: 34.8862, grad_norm: 163.6486 +2026-02-25 08:32:39,103 - DriveTransformer - INFO - Epoch [4][17200/39528] lr: 9.623e-05, eta: 7 days, 13:11:06, time: 0.838, data_time: 0.045, memory: 19865, loss_cls: 0.2763, loss_bbox: 0.4660, loss_traj: 0.9012, loss_traj_cls: 0.0020, loss_map_cls: 0.2540, loss_map_pts: 1.0252, loss_map_dir: 0.0152, d0.loss_plan_l1_fix_time: 2.6575, d0.loss_plan_l1_fix_dist: 0.3754, d1.loss_plan_l1_fix_time: 1.4514, d1.loss_plan_l1_fix_dist: 0.2214, d2.loss_plan_l1_fix_time: 1.4357, d2.loss_plan_l1_fix_dist: 0.2338, d3.loss_plan_l1_fix_time: 1.4378, d3.loss_plan_l1_fix_dist: 0.2492, d4.loss_plan_l1_fix_time: 1.4425, d4.loss_plan_l1_fix_dist: 0.2627, d5.loss_plan_l1_fix_time: 1.4477, d5.loss_plan_l1_fix_dist: 0.2760, d6.loss_plan_l1_fix_time: 1.4543, d6.loss_plan_l1_fix_dist: 0.2912, d0.loss_cls_all: 0.2887, d0.loss_bbox_all: 0.5057, d0.loss_cls: 0.2887, d0.loss_bbox: 0.5057, d1.loss_cls: 0.2812, d1.loss_bbox: 0.4810, d2.loss_cls: 0.2765, d2.loss_bbox: 0.4671, d3.loss_cls: 0.2745, d3.loss_bbox: 0.4626, d4.loss_cls: 0.2749, d4.loss_bbox: 0.4597, d5.loss_cls: 0.2755, d5.loss_bbox: 0.4611, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0692, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9534, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9147, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9095, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9092, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.8967, d0.loss_map_cls_all: 0.3094, d0.loss_map_pts_all: 1.9912, d0.loss_map_dir_all: 0.0139, d0.loss_map_cls: 0.3094, d0.loss_map_pts: 1.9912, d0.loss_map_dir: 0.0139, d1.loss_map_cls: 0.2856, d1.loss_map_pts: 1.3201, d1.loss_map_dir: 0.0132, d2.loss_map_cls: 0.2720, d2.loss_map_pts: 1.1282, d2.loss_map_dir: 0.0138, d3.loss_map_cls: 0.2609, d3.loss_map_pts: 1.0582, d3.loss_map_dir: 0.0146, d4.loss_map_cls: 0.2550, d4.loss_map_pts: 1.0378, d4.loss_map_dir: 0.0150, d5.loss_map_cls: 0.2546, d5.loss_map_pts: 1.0244, d5.loss_map_dir: 0.0151, loss: 38.7354, grad_norm: 164.0255 +2026-02-25 08:33:19,531 - DriveTransformer - INFO - Epoch [4][17250/39528] lr: 9.623e-05, eta: 7 days, 13:10:28, time: 0.809, data_time: 0.039, memory: 19865, loss_cls: 0.2742, loss_bbox: 0.4798, loss_traj: 0.9663, loss_traj_cls: 0.0020, loss_map_cls: 0.2869, loss_map_pts: 1.1207, loss_map_dir: 0.0140, d0.loss_plan_l1_fix_time: 2.5456, d0.loss_plan_l1_fix_dist: 0.3535, d1.loss_plan_l1_fix_time: 1.4022, d1.loss_plan_l1_fix_dist: 0.2029, d2.loss_plan_l1_fix_time: 1.3696, d2.loss_plan_l1_fix_dist: 0.2129, d3.loss_plan_l1_fix_time: 1.3689, d3.loss_plan_l1_fix_dist: 0.2309, d4.loss_plan_l1_fix_time: 1.3728, d4.loss_plan_l1_fix_dist: 0.2541, d5.loss_plan_l1_fix_time: 1.3779, d5.loss_plan_l1_fix_dist: 0.2761, d6.loss_plan_l1_fix_time: 1.3832, d6.loss_plan_l1_fix_dist: 0.2957, d0.loss_cls_all: 0.2932, d0.loss_bbox_all: 0.5329, d0.loss_cls: 0.2932, d0.loss_bbox: 0.5329, d1.loss_cls: 0.2899, d1.loss_bbox: 0.5039, d2.loss_cls: 0.2800, d2.loss_bbox: 0.4911, d3.loss_cls: 0.2745, d3.loss_bbox: 0.4842, d4.loss_cls: 0.2726, d4.loss_bbox: 0.4810, d5.loss_cls: 0.2717, d5.loss_bbox: 0.4800, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1786, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0050, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9626, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9595, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9533, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.9619, d0.loss_map_cls_all: 0.3374, d0.loss_map_pts_all: 1.9616, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.3374, d0.loss_map_pts: 1.9616, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.3160, d1.loss_map_pts: 1.3962, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.3032, d2.loss_map_pts: 1.2208, d2.loss_map_dir: 0.0127, d3.loss_map_cls: 0.2939, d3.loss_map_pts: 1.1590, d3.loss_map_dir: 0.0132, d4.loss_map_cls: 0.2900, d4.loss_map_pts: 1.1369, d4.loss_map_dir: 0.0137, d5.loss_map_cls: 0.2868, d5.loss_map_pts: 1.1217, d5.loss_map_dir: 0.0138, loss: 39.5101, grad_norm: 162.2009 +2026-02-25 08:34:00,070 - DriveTransformer - INFO - Epoch [4][17300/39528] lr: 9.623e-05, eta: 7 days, 13:09:50, time: 0.811, data_time: 0.040, memory: 19865, loss_cls: 0.2641, loss_bbox: 0.4256, loss_traj: 0.8458, loss_traj_cls: 0.0021, loss_map_cls: 0.2260, loss_map_pts: 0.9664, loss_map_dir: 0.0150, d0.loss_plan_l1_fix_time: 2.8211, d0.loss_plan_l1_fix_dist: 0.4622, d1.loss_plan_l1_fix_time: 1.6556, d1.loss_plan_l1_fix_dist: 0.2448, d2.loss_plan_l1_fix_time: 1.6354, d2.loss_plan_l1_fix_dist: 0.2526, d3.loss_plan_l1_fix_time: 1.6382, d3.loss_plan_l1_fix_dist: 0.2676, d4.loss_plan_l1_fix_time: 1.6444, d4.loss_plan_l1_fix_dist: 0.2865, d5.loss_plan_l1_fix_time: 1.6515, d5.loss_plan_l1_fix_dist: 0.3059, d6.loss_plan_l1_fix_time: 1.6590, d6.loss_plan_l1_fix_dist: 0.3273, d0.loss_cls_all: 0.2773, d0.loss_bbox_all: 0.4683, d0.loss_cls: 0.2773, d0.loss_bbox: 0.4683, d1.loss_cls: 0.2719, d1.loss_bbox: 0.4430, d2.loss_cls: 0.2680, d2.loss_bbox: 0.4285, d3.loss_cls: 0.2643, d3.loss_bbox: 0.4253, d4.loss_cls: 0.2627, d4.loss_bbox: 0.4233, d5.loss_cls: 0.2649, d5.loss_bbox: 0.4216, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0734, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9077, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8653, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8534, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8546, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.8502, d0.loss_map_cls_all: 0.2748, d0.loss_map_pts_all: 1.8481, d0.loss_map_dir_all: 0.0132, d0.loss_map_cls: 0.2748, d0.loss_map_pts: 1.8481, d0.loss_map_dir: 0.0132, d1.loss_map_cls: 0.2575, d1.loss_map_pts: 1.2633, d1.loss_map_dir: 0.0131, d2.loss_map_cls: 0.2415, d2.loss_map_pts: 1.0628, d2.loss_map_dir: 0.0135, d3.loss_map_cls: 0.2322, d3.loss_map_pts: 0.9933, d3.loss_map_dir: 0.0143, d4.loss_map_cls: 0.2276, d4.loss_map_pts: 0.9707, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.2257, d5.loss_map_pts: 0.9674, d5.loss_map_dir: 0.0149, loss: 38.7568, grad_norm: 164.0075 +2026-02-25 08:34:41,681 - DriveTransformer - INFO - Epoch [4][17350/39528] lr: 9.623e-05, eta: 7 days, 13:09:19, time: 0.832, data_time: 0.041, memory: 19865, loss_cls: 0.3129, loss_bbox: 0.5224, loss_traj: 1.0959, loss_traj_cls: 0.0019, loss_map_cls: 0.2865, loss_map_pts: 1.2724, loss_map_dir: 0.0151, d0.loss_plan_l1_fix_time: 3.2122, d0.loss_plan_l1_fix_dist: 0.3827, d1.loss_plan_l1_fix_time: 2.0005, d1.loss_plan_l1_fix_dist: 0.2675, d2.loss_plan_l1_fix_time: 1.9751, d2.loss_plan_l1_fix_dist: 0.2741, d3.loss_plan_l1_fix_time: 1.9799, d3.loss_plan_l1_fix_dist: 0.2856, d4.loss_plan_l1_fix_time: 1.9857, d4.loss_plan_l1_fix_dist: 0.2982, d5.loss_plan_l1_fix_time: 1.9921, d5.loss_plan_l1_fix_dist: 0.3158, d6.loss_plan_l1_fix_time: 1.9993, d6.loss_plan_l1_fix_dist: 0.3376, d0.loss_cls_all: 0.3304, d0.loss_bbox_all: 0.5779, d0.loss_cls: 0.3304, d0.loss_bbox: 0.5779, d1.loss_cls: 0.3205, d1.loss_bbox: 0.5475, d2.loss_cls: 0.3159, d2.loss_bbox: 0.5283, d3.loss_cls: 0.3094, d3.loss_bbox: 0.5223, d4.loss_cls: 0.3098, d4.loss_bbox: 0.5184, d5.loss_cls: 0.3116, d5.loss_bbox: 0.5190, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3138, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.1669, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1223, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1064, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1006, d5.loss_traj_cls: 0.0016, d5.loss_traj: 1.0947, d0.loss_map_cls_all: 0.3337, d0.loss_map_pts_all: 2.1840, d0.loss_map_dir_all: 0.0130, d0.loss_map_cls: 0.3337, d0.loss_map_pts: 2.1840, d0.loss_map_dir: 0.0130, d1.loss_map_cls: 0.3139, d1.loss_map_pts: 1.5915, d1.loss_map_dir: 0.0130, d2.loss_map_cls: 0.3026, d2.loss_map_pts: 1.3916, d2.loss_map_dir: 0.0136, d3.loss_map_cls: 0.2919, d3.loss_map_pts: 1.3148, d3.loss_map_dir: 0.0143, d4.loss_map_cls: 0.2868, d4.loss_map_pts: 1.2865, d4.loss_map_dir: 0.0147, d5.loss_map_cls: 0.2868, d5.loss_map_pts: 1.2750, d5.loss_map_dir: 0.0149, loss: 47.2166, grad_norm: 163.2355 +2026-02-25 08:35:24,506 - DriveTransformer - INFO - Epoch [4][17400/39528] lr: 9.623e-05, eta: 7 days, 13:08:55, time: 0.856, data_time: 0.039, memory: 19865, loss_cls: 0.2676, loss_bbox: 0.4419, loss_traj: 0.8403, loss_traj_cls: 0.0022, loss_map_cls: 0.2207, loss_map_pts: 0.9714, loss_map_dir: 0.0165, d0.loss_plan_l1_fix_time: 2.4982, d0.loss_plan_l1_fix_dist: 0.3855, d1.loss_plan_l1_fix_time: 1.4735, d1.loss_plan_l1_fix_dist: 0.2318, d2.loss_plan_l1_fix_time: 1.4658, d2.loss_plan_l1_fix_dist: 0.2420, d3.loss_plan_l1_fix_time: 1.4767, d3.loss_plan_l1_fix_dist: 0.2615, d4.loss_plan_l1_fix_time: 1.4845, d4.loss_plan_l1_fix_dist: 0.2875, d5.loss_plan_l1_fix_time: 1.4922, d5.loss_plan_l1_fix_dist: 0.3148, d6.loss_plan_l1_fix_time: 1.4998, d6.loss_plan_l1_fix_dist: 0.3415, d0.loss_cls_all: 0.2923, d0.loss_bbox_all: 0.4943, d0.loss_cls: 0.2923, d0.loss_bbox: 0.4943, d1.loss_cls: 0.2833, d1.loss_bbox: 0.4647, d2.loss_cls: 0.2751, d2.loss_bbox: 0.4505, d3.loss_cls: 0.2716, d3.loss_bbox: 0.4439, d4.loss_cls: 0.2684, d4.loss_bbox: 0.4430, d5.loss_cls: 0.2665, d5.loss_bbox: 0.4436, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0610, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8806, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8395, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8312, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8385, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.8376, d0.loss_map_cls_all: 0.2684, d0.loss_map_pts_all: 2.0057, d0.loss_map_dir_all: 0.0145, d0.loss_map_cls: 0.2684, d0.loss_map_pts: 2.0057, d0.loss_map_dir: 0.0145, d1.loss_map_cls: 0.2517, d1.loss_map_pts: 1.2875, d1.loss_map_dir: 0.0139, d2.loss_map_cls: 0.2398, d2.loss_map_pts: 1.0759, d2.loss_map_dir: 0.0147, d3.loss_map_cls: 0.2295, d3.loss_map_pts: 1.0057, d3.loss_map_dir: 0.0156, d4.loss_map_cls: 0.2242, d4.loss_map_pts: 0.9807, d4.loss_map_dir: 0.0161, d5.loss_map_cls: 0.2206, d5.loss_map_pts: 0.9721, d5.loss_map_dir: 0.0164, loss: 37.8354, grad_norm: 164.6948 +2026-02-25 08:36:04,540 - DriveTransformer - INFO - Epoch [4][17450/39528] lr: 9.623e-05, eta: 7 days, 13:08:14, time: 0.801, data_time: 0.042, memory: 19865, loss_cls: 0.2770, loss_bbox: 0.4541, loss_traj: 0.8499, loss_traj_cls: 0.0022, loss_map_cls: 0.2138, loss_map_pts: 0.8787, loss_map_dir: 0.0132, d0.loss_plan_l1_fix_time: 2.6636, d0.loss_plan_l1_fix_dist: 0.4892, d1.loss_plan_l1_fix_time: 1.5063, d1.loss_plan_l1_fix_dist: 0.2224, d2.loss_plan_l1_fix_time: 1.4834, d2.loss_plan_l1_fix_dist: 0.2301, d3.loss_plan_l1_fix_time: 1.4859, d3.loss_plan_l1_fix_dist: 0.2414, d4.loss_plan_l1_fix_time: 1.4905, d4.loss_plan_l1_fix_dist: 0.2552, d5.loss_plan_l1_fix_time: 1.4956, d5.loss_plan_l1_fix_dist: 0.2672, d6.loss_plan_l1_fix_time: 1.5021, d6.loss_plan_l1_fix_dist: 0.2792, d0.loss_cls_all: 0.2919, d0.loss_bbox_all: 0.4942, d0.loss_cls: 0.2919, d0.loss_bbox: 0.4942, d1.loss_cls: 0.2856, d1.loss_bbox: 0.4667, d2.loss_cls: 0.2810, d2.loss_bbox: 0.4563, d3.loss_cls: 0.2781, d3.loss_bbox: 0.4495, d4.loss_cls: 0.2772, d4.loss_bbox: 0.4491, d5.loss_cls: 0.2767, d5.loss_bbox: 0.4502, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0438, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8830, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8528, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8456, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8504, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.8559, d0.loss_map_cls_all: 0.2679, d0.loss_map_pts_all: 1.7023, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2679, d0.loss_map_pts: 1.7023, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2514, d1.loss_map_pts: 1.1346, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2353, d2.loss_map_pts: 0.9647, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2228, d3.loss_map_pts: 0.9056, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.2167, d4.loss_map_pts: 0.8862, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.2167, d5.loss_map_pts: 0.8775, d5.loss_map_dir: 0.0131, loss: 36.8193, grad_norm: 168.4054 +2026-02-25 08:36:44,422 - DriveTransformer - INFO - Epoch [4][17500/39528] lr: 9.623e-05, eta: 7 days, 13:07:33, time: 0.798, data_time: 0.042, memory: 19865, loss_cls: 0.2530, loss_bbox: 0.4389, loss_traj: 0.9236, loss_traj_cls: 0.0023, loss_map_cls: 0.1963, loss_map_pts: 0.8661, loss_map_dir: 0.0130, d0.loss_plan_l1_fix_time: 2.6365, d0.loss_plan_l1_fix_dist: 0.4060, d1.loss_plan_l1_fix_time: 1.5985, d1.loss_plan_l1_fix_dist: 0.2543, d2.loss_plan_l1_fix_time: 1.5881, d2.loss_plan_l1_fix_dist: 0.2670, d3.loss_plan_l1_fix_time: 1.5933, d3.loss_plan_l1_fix_dist: 0.2817, d4.loss_plan_l1_fix_time: 1.5988, d4.loss_plan_l1_fix_dist: 0.2946, d5.loss_plan_l1_fix_time: 1.6054, d5.loss_plan_l1_fix_dist: 0.3087, d6.loss_plan_l1_fix_time: 1.6134, d6.loss_plan_l1_fix_dist: 0.3277, d0.loss_cls_all: 0.2742, d0.loss_bbox_all: 0.4824, d0.loss_cls: 0.2742, d0.loss_bbox: 0.4824, d1.loss_cls: 0.2720, d1.loss_bbox: 0.4520, d2.loss_cls: 0.2621, d2.loss_bbox: 0.4369, d3.loss_cls: 0.2563, d3.loss_bbox: 0.4316, d4.loss_cls: 0.2537, d4.loss_bbox: 0.4326, d5.loss_cls: 0.2524, d5.loss_bbox: 0.4343, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0910, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9394, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9206, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9245, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9170, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.9252, d0.loss_map_cls_all: 0.2569, d0.loss_map_pts_all: 1.7560, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.2569, d0.loss_map_pts: 1.7560, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.2303, d1.loss_map_pts: 1.1573, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2133, d2.loss_map_pts: 0.9667, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2040, d3.loss_map_pts: 0.8984, d3.loss_map_dir: 0.0124, d4.loss_map_cls: 0.1990, d4.loss_map_pts: 0.8754, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.1975, d5.loss_map_pts: 0.8669, d5.loss_map_dir: 0.0129, loss: 37.7070, grad_norm: 168.7019 +2026-02-25 08:37:25,785 - DriveTransformer - INFO - Epoch [4][17550/39528] lr: 9.623e-05, eta: 7 days, 13:07:00, time: 0.827, data_time: 0.049, memory: 19865, loss_cls: 0.2695, loss_bbox: 0.4520, loss_traj: 0.7593, loss_traj_cls: 0.0023, loss_map_cls: 0.2608, loss_map_pts: 1.1422, loss_map_dir: 0.0161, d0.loss_plan_l1_fix_time: 2.2417, d0.loss_plan_l1_fix_dist: 0.4055, d1.loss_plan_l1_fix_time: 1.4643, d1.loss_plan_l1_fix_dist: 0.2273, d2.loss_plan_l1_fix_time: 1.4509, d2.loss_plan_l1_fix_dist: 0.2297, d3.loss_plan_l1_fix_time: 1.4556, d3.loss_plan_l1_fix_dist: 0.2399, d4.loss_plan_l1_fix_time: 1.4598, d4.loss_plan_l1_fix_dist: 0.2527, d5.loss_plan_l1_fix_time: 1.4646, d5.loss_plan_l1_fix_dist: 0.2666, d6.loss_plan_l1_fix_time: 1.4697, d6.loss_plan_l1_fix_dist: 0.2828, d0.loss_cls_all: 0.2934, d0.loss_bbox_all: 0.5063, d0.loss_cls: 0.2934, d0.loss_bbox: 0.5063, d1.loss_cls: 0.2896, d1.loss_bbox: 0.4731, d2.loss_cls: 0.2790, d2.loss_bbox: 0.4621, d3.loss_cls: 0.2730, d3.loss_bbox: 0.4569, d4.loss_cls: 0.2727, d4.loss_bbox: 0.4514, d5.loss_cls: 0.2705, d5.loss_bbox: 0.4520, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9181, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8039, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7669, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7582, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7562, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7626, d0.loss_map_cls_all: 0.3072, d0.loss_map_pts_all: 2.1343, d0.loss_map_dir_all: 0.0148, d0.loss_map_cls: 0.3072, d0.loss_map_pts: 2.1343, d0.loss_map_dir: 0.0148, d1.loss_map_cls: 0.2882, d1.loss_map_pts: 1.4887, d1.loss_map_dir: 0.0142, d2.loss_map_cls: 0.2770, d2.loss_map_pts: 1.2585, d2.loss_map_dir: 0.0147, d3.loss_map_cls: 0.2687, d3.loss_map_pts: 1.1754, d3.loss_map_dir: 0.0154, d4.loss_map_cls: 0.2622, d4.loss_map_pts: 1.1504, d4.loss_map_dir: 0.0158, d5.loss_map_cls: 0.2612, d5.loss_map_pts: 1.1429, d5.loss_map_dir: 0.0160, loss: 38.4266, grad_norm: 167.5014 +2026-02-25 08:38:06,620 - DriveTransformer - INFO - Epoch [4][17600/39528] lr: 9.623e-05, eta: 7 days, 13:06:24, time: 0.817, data_time: 0.043, memory: 19865, loss_cls: 0.2848, loss_bbox: 0.4636, loss_traj: 0.8405, loss_traj_cls: 0.0023, loss_map_cls: 0.2253, loss_map_pts: 0.9898, loss_map_dir: 0.0155, d0.loss_plan_l1_fix_time: 2.7199, d0.loss_plan_l1_fix_dist: 0.4956, d1.loss_plan_l1_fix_time: 1.6925, d1.loss_plan_l1_fix_dist: 0.2571, d2.loss_plan_l1_fix_time: 1.6887, d2.loss_plan_l1_fix_dist: 0.2696, d3.loss_plan_l1_fix_time: 1.6950, d3.loss_plan_l1_fix_dist: 0.2868, d4.loss_plan_l1_fix_time: 1.7018, d4.loss_plan_l1_fix_dist: 0.3047, d5.loss_plan_l1_fix_time: 1.7081, d5.loss_plan_l1_fix_dist: 0.3242, d6.loss_plan_l1_fix_time: 1.7143, d6.loss_plan_l1_fix_dist: 0.3427, d0.loss_cls_all: 0.3088, d0.loss_bbox_all: 0.5083, d0.loss_cls: 0.3088, d0.loss_bbox: 0.5083, d1.loss_cls: 0.3012, d1.loss_bbox: 0.4810, d2.loss_cls: 0.2955, d2.loss_bbox: 0.4707, d3.loss_cls: 0.2944, d3.loss_bbox: 0.4635, d4.loss_cls: 0.2896, d4.loss_bbox: 0.4619, d5.loss_cls: 0.2863, d5.loss_bbox: 0.4617, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0069, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8640, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8472, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8434, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8407, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.8469, d0.loss_map_cls_all: 0.2798, d0.loss_map_pts_all: 1.8662, d0.loss_map_dir_all: 0.0143, d0.loss_map_cls: 0.2798, d0.loss_map_pts: 1.8662, d0.loss_map_dir: 0.0143, d1.loss_map_cls: 0.2518, d1.loss_map_pts: 1.2555, d1.loss_map_dir: 0.0139, d2.loss_map_cls: 0.2394, d2.loss_map_pts: 1.0803, d2.loss_map_dir: 0.0143, d3.loss_map_cls: 0.2322, d3.loss_map_pts: 1.0180, d3.loss_map_dir: 0.0149, d4.loss_map_cls: 0.2276, d4.loss_map_pts: 0.9991, d4.loss_map_dir: 0.0153, d5.loss_map_cls: 0.2256, d5.loss_map_pts: 0.9920, d5.loss_map_dir: 0.0153, loss: 39.6334, grad_norm: 167.9166 +2026-02-25 08:38:47,119 - DriveTransformer - INFO - Epoch [4][17650/39528] lr: 9.623e-05, eta: 7 days, 13:05:46, time: 0.810, data_time: 0.045, memory: 19865, loss_cls: 0.2848, loss_bbox: 0.4825, loss_traj: 1.0276, loss_traj_cls: 0.0022, loss_map_cls: 0.2391, loss_map_pts: 0.9918, loss_map_dir: 0.0157, d0.loss_plan_l1_fix_time: 2.9691, d0.loss_plan_l1_fix_dist: 0.4440, d1.loss_plan_l1_fix_time: 1.7501, d1.loss_plan_l1_fix_dist: 0.2655, d2.loss_plan_l1_fix_time: 1.7400, d2.loss_plan_l1_fix_dist: 0.2739, d3.loss_plan_l1_fix_time: 1.7457, d3.loss_plan_l1_fix_dist: 0.2841, d4.loss_plan_l1_fix_time: 1.7518, d4.loss_plan_l1_fix_dist: 0.2943, d5.loss_plan_l1_fix_time: 1.7582, d5.loss_plan_l1_fix_dist: 0.3069, d6.loss_plan_l1_fix_time: 1.7648, d6.loss_plan_l1_fix_dist: 0.3227, d0.loss_cls_all: 0.3058, d0.loss_bbox_all: 0.5369, d0.loss_cls: 0.3058, d0.loss_bbox: 0.5369, d1.loss_cls: 0.2965, d1.loss_bbox: 0.5082, d2.loss_cls: 0.2907, d2.loss_bbox: 0.4916, d3.loss_cls: 0.2878, d3.loss_bbox: 0.4856, d4.loss_cls: 0.2872, d4.loss_bbox: 0.4816, d5.loss_cls: 0.2871, d5.loss_bbox: 0.4795, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2759, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0938, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0434, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0369, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0324, d5.loss_traj_cls: 0.0017, d5.loss_traj: 1.0274, d0.loss_map_cls_all: 0.2934, d0.loss_map_pts_all: 1.8718, d0.loss_map_dir_all: 0.0139, d0.loss_map_cls: 0.2934, d0.loss_map_pts: 1.8718, d0.loss_map_dir: 0.0139, d1.loss_map_cls: 0.2713, d1.loss_map_pts: 1.2616, d1.loss_map_dir: 0.0140, d2.loss_map_cls: 0.2570, d2.loss_map_pts: 1.0862, d2.loss_map_dir: 0.0145, d3.loss_map_cls: 0.2468, d3.loss_map_pts: 1.0240, d3.loss_map_dir: 0.0150, d4.loss_map_cls: 0.2409, d4.loss_map_pts: 1.0056, d4.loss_map_dir: 0.0154, d5.loss_map_cls: 0.2385, d5.loss_map_pts: 0.9929, d5.loss_map_dir: 0.0156, loss: 41.8690, grad_norm: 167.5227 +2026-02-25 08:39:26,408 - DriveTransformer - INFO - Epoch [4][17700/39528] lr: 9.623e-05, eta: 7 days, 13:05:01, time: 0.786, data_time: 0.044, memory: 19865, loss_cls: 0.2518, loss_bbox: 0.4274, loss_traj: 0.8781, loss_traj_cls: 0.0023, loss_map_cls: 0.2152, loss_map_pts: 0.8746, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.5059, d0.loss_plan_l1_fix_dist: 0.4199, d1.loss_plan_l1_fix_time: 1.3042, d1.loss_plan_l1_fix_dist: 0.2325, d2.loss_plan_l1_fix_time: 1.2806, d2.loss_plan_l1_fix_dist: 0.2426, d3.loss_plan_l1_fix_time: 1.2815, d3.loss_plan_l1_fix_dist: 0.2584, d4.loss_plan_l1_fix_time: 1.2870, d4.loss_plan_l1_fix_dist: 0.2775, d5.loss_plan_l1_fix_time: 1.2936, d5.loss_plan_l1_fix_dist: 0.2972, d6.loss_plan_l1_fix_time: 1.3002, d6.loss_plan_l1_fix_dist: 0.3180, d0.loss_cls_all: 0.2678, d0.loss_bbox_all: 0.4761, d0.loss_cls: 0.2678, d0.loss_bbox: 0.4761, d1.loss_cls: 0.2622, d1.loss_bbox: 0.4478, d2.loss_cls: 0.2556, d2.loss_bbox: 0.4351, d3.loss_cls: 0.2557, d3.loss_bbox: 0.4283, d4.loss_cls: 0.2534, d4.loss_bbox: 0.4235, d5.loss_cls: 0.2526, d5.loss_bbox: 0.4250, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0204, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9202, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8902, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8783, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8732, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.8753, d0.loss_map_cls_all: 0.2729, d0.loss_map_pts_all: 1.6912, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2729, d0.loss_map_pts: 1.6912, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2542, d1.loss_map_pts: 1.1372, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2337, d2.loss_map_pts: 0.9645, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2234, d3.loss_map_pts: 0.9047, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.2166, d4.loss_map_pts: 0.8851, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.2149, d5.loss_map_pts: 0.8760, d5.loss_map_dir: 0.0123, loss: 35.2700, grad_norm: 168.6321 +2026-02-25 08:40:07,835 - DriveTransformer - INFO - Epoch [4][17750/39528] lr: 9.623e-05, eta: 7 days, 13:04:29, time: 0.829, data_time: 0.047, memory: 19865, loss_cls: 0.2725, loss_bbox: 0.4689, loss_traj: 1.0138, loss_traj_cls: 0.0022, loss_map_cls: 0.2433, loss_map_pts: 0.9997, loss_map_dir: 0.0138, d0.loss_plan_l1_fix_time: 2.8281, d0.loss_plan_l1_fix_dist: 0.3658, d1.loss_plan_l1_fix_time: 1.4654, d1.loss_plan_l1_fix_dist: 0.2380, d2.loss_plan_l1_fix_time: 1.4541, d2.loss_plan_l1_fix_dist: 0.2440, d3.loss_plan_l1_fix_time: 1.4546, d3.loss_plan_l1_fix_dist: 0.2530, d4.loss_plan_l1_fix_time: 1.4585, d4.loss_plan_l1_fix_dist: 0.2650, d5.loss_plan_l1_fix_time: 1.4636, d5.loss_plan_l1_fix_dist: 0.2802, d6.loss_plan_l1_fix_time: 1.4705, d6.loss_plan_l1_fix_dist: 0.2984, d0.loss_cls_all: 0.2916, d0.loss_bbox_all: 0.5254, d0.loss_cls: 0.2916, d0.loss_bbox: 0.5254, d1.loss_cls: 0.2845, d1.loss_bbox: 0.4943, d2.loss_cls: 0.2773, d2.loss_bbox: 0.4798, d3.loss_cls: 0.2750, d3.loss_bbox: 0.4740, d4.loss_cls: 0.2741, d4.loss_bbox: 0.4705, d5.loss_cls: 0.2729, d5.loss_bbox: 0.4700, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1847, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0605, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0255, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0101, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0067, d5.loss_traj_cls: 0.0016, d5.loss_traj: 1.0103, d0.loss_map_cls_all: 0.3022, d0.loss_map_pts_all: 2.0033, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.3022, d0.loss_map_pts: 2.0033, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2825, d1.loss_map_pts: 1.3065, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2640, d2.loss_map_pts: 1.1053, d2.loss_map_dir: 0.0123, d3.loss_map_cls: 0.2543, d3.loss_map_pts: 1.0327, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.2483, d4.loss_map_pts: 1.0086, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.2439, d5.loss_map_pts: 1.0008, d5.loss_map_dir: 0.0136, loss: 39.7101, grad_norm: 169.2769 +2026-02-25 08:40:49,939 - DriveTransformer - INFO - Epoch [4][17800/39528] lr: 9.623e-05, eta: 7 days, 13:04:01, time: 0.843, data_time: 0.043, memory: 19865, loss_cls: 0.2728, loss_bbox: 0.4544, loss_traj: 0.7438, loss_traj_cls: 0.0023, loss_map_cls: 0.1970, loss_map_pts: 1.0238, loss_map_dir: 0.0168, d0.loss_plan_l1_fix_time: 2.6161, d0.loss_plan_l1_fix_dist: 0.5538, d1.loss_plan_l1_fix_time: 1.5507, d1.loss_plan_l1_fix_dist: 0.2687, d2.loss_plan_l1_fix_time: 1.5381, d2.loss_plan_l1_fix_dist: 0.2772, d3.loss_plan_l1_fix_time: 1.5429, d3.loss_plan_l1_fix_dist: 0.2877, d4.loss_plan_l1_fix_time: 1.5477, d4.loss_plan_l1_fix_dist: 0.2998, d5.loss_plan_l1_fix_time: 1.5533, d5.loss_plan_l1_fix_dist: 0.3148, d6.loss_plan_l1_fix_time: 1.5609, d6.loss_plan_l1_fix_dist: 0.3309, d0.loss_cls_all: 0.2933, d0.loss_bbox_all: 0.4946, d0.loss_cls: 0.2933, d0.loss_bbox: 0.4946, d1.loss_cls: 0.2831, d1.loss_bbox: 0.4733, d2.loss_cls: 0.2755, d2.loss_bbox: 0.4609, d3.loss_cls: 0.2723, d3.loss_bbox: 0.4543, d4.loss_cls: 0.2717, d4.loss_bbox: 0.4526, d5.loss_cls: 0.2729, d5.loss_bbox: 0.4533, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8775, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7698, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7452, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7471, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7450, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7476, d0.loss_map_cls_all: 0.2477, d0.loss_map_pts_all: 2.0267, d0.loss_map_dir_all: 0.0149, d0.loss_map_cls: 0.2477, d0.loss_map_pts: 2.0267, d0.loss_map_dir: 0.0149, d1.loss_map_cls: 0.2286, d1.loss_map_pts: 1.3247, d1.loss_map_dir: 0.0149, d2.loss_map_cls: 0.2153, d2.loss_map_pts: 1.1205, d2.loss_map_dir: 0.0154, d3.loss_map_cls: 0.2067, d3.loss_map_pts: 1.0503, d3.loss_map_dir: 0.0161, d4.loss_map_cls: 0.1985, d4.loss_map_pts: 1.0310, d4.loss_map_dir: 0.0165, d5.loss_map_cls: 0.1972, d5.loss_map_pts: 1.0279, d5.loss_map_dir: 0.0167, loss: 38.0962, grad_norm: 169.5390 +2026-02-25 08:41:31,482 - DriveTransformer - INFO - Epoch [4][17850/39528] lr: 9.623e-05, eta: 7 days, 13:03:29, time: 0.830, data_time: 0.042, memory: 19865, loss_cls: 0.2788, loss_bbox: 0.4450, loss_traj: 0.8196, loss_traj_cls: 0.0023, loss_map_cls: 0.2467, loss_map_pts: 1.0368, loss_map_dir: 0.0163, d0.loss_plan_l1_fix_time: 2.3093, d0.loss_plan_l1_fix_dist: 0.4619, d1.loss_plan_l1_fix_time: 1.2755, d1.loss_plan_l1_fix_dist: 0.2603, d2.loss_plan_l1_fix_time: 1.2568, d2.loss_plan_l1_fix_dist: 0.2727, d3.loss_plan_l1_fix_time: 1.2553, d3.loss_plan_l1_fix_dist: 0.2892, d4.loss_plan_l1_fix_time: 1.2578, d4.loss_plan_l1_fix_dist: 0.3024, d5.loss_plan_l1_fix_time: 1.2608, d5.loss_plan_l1_fix_dist: 0.3120, d6.loss_plan_l1_fix_time: 1.2649, d6.loss_plan_l1_fix_dist: 0.3252, d0.loss_cls_all: 0.2928, d0.loss_bbox_all: 0.4999, d0.loss_cls: 0.2928, d0.loss_bbox: 0.4999, d1.loss_cls: 0.2858, d1.loss_bbox: 0.4684, d2.loss_cls: 0.2811, d2.loss_bbox: 0.4555, d3.loss_cls: 0.2773, d3.loss_bbox: 0.4501, d4.loss_cls: 0.2770, d4.loss_bbox: 0.4461, d5.loss_cls: 0.2779, d5.loss_bbox: 0.4427, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0324, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8793, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8383, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8286, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8180, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.8157, d0.loss_map_cls_all: 0.2951, d0.loss_map_pts_all: 2.0649, d0.loss_map_dir_all: 0.0152, d0.loss_map_cls: 0.2951, d0.loss_map_pts: 2.0649, d0.loss_map_dir: 0.0152, d1.loss_map_cls: 0.2718, d1.loss_map_pts: 1.3474, d1.loss_map_dir: 0.0145, d2.loss_map_cls: 0.2573, d2.loss_map_pts: 1.1474, d2.loss_map_dir: 0.0150, d3.loss_map_cls: 0.2459, d3.loss_map_pts: 1.0773, d3.loss_map_dir: 0.0157, d4.loss_map_cls: 0.2452, d4.loss_map_pts: 1.0502, d4.loss_map_dir: 0.0160, d5.loss_map_cls: 0.2450, d5.loss_map_pts: 1.0370, d5.loss_map_dir: 0.0162, loss: 37.1673, grad_norm: 170.6495 +2026-02-25 08:42:10,003 - DriveTransformer - INFO - Epoch [4][17900/39528] lr: 9.623e-05, eta: 7 days, 13:02:39, time: 0.771, data_time: 0.046, memory: 19865, loss_cls: 0.2779, loss_bbox: 0.4607, loss_traj: 0.9672, loss_traj_cls: 0.0023, loss_map_cls: 0.2367, loss_map_pts: 0.9170, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.7589, d0.loss_plan_l1_fix_dist: 0.4033, d1.loss_plan_l1_fix_time: 1.5577, d1.loss_plan_l1_fix_dist: 0.2234, d2.loss_plan_l1_fix_time: 1.5378, d2.loss_plan_l1_fix_dist: 0.2310, d3.loss_plan_l1_fix_time: 1.5377, d3.loss_plan_l1_fix_dist: 0.2465, d4.loss_plan_l1_fix_time: 1.5396, d4.loss_plan_l1_fix_dist: 0.2664, d5.loss_plan_l1_fix_time: 1.5422, d5.loss_plan_l1_fix_dist: 0.2883, d6.loss_plan_l1_fix_time: 1.5458, d6.loss_plan_l1_fix_dist: 0.3117, d0.loss_cls_all: 0.3019, d0.loss_bbox_all: 0.5088, d0.loss_cls: 0.3019, d0.loss_bbox: 0.5088, d1.loss_cls: 0.2974, d1.loss_bbox: 0.4824, d2.loss_cls: 0.2880, d2.loss_bbox: 0.4681, d3.loss_cls: 0.2848, d3.loss_bbox: 0.4630, d4.loss_cls: 0.2816, d4.loss_bbox: 0.4602, d5.loss_cls: 0.2780, d5.loss_bbox: 0.4599, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1261, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9858, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9485, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9521, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9553, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.9587, d0.loss_map_cls_all: 0.2711, d0.loss_map_pts_all: 1.6591, d0.loss_map_dir_all: 0.0126, d0.loss_map_cls: 0.2711, d0.loss_map_pts: 1.6591, d0.loss_map_dir: 0.0126, d1.loss_map_cls: 0.2588, d1.loss_map_pts: 1.1445, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2510, d2.loss_map_pts: 0.9929, d2.loss_map_dir: 0.0126, d3.loss_map_cls: 0.2428, d3.loss_map_pts: 0.9423, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2377, d4.loss_map_pts: 0.9241, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.2378, d5.loss_map_pts: 0.9191, d5.loss_map_dir: 0.0136, loss: 38.2845, grad_norm: 170.4241 +2026-02-25 08:42:50,791 - DriveTransformer - INFO - Epoch [4][17950/39528] lr: 9.623e-05, eta: 7 days, 13:02:03, time: 0.815, data_time: 0.052, memory: 19865, loss_cls: 0.3013, loss_bbox: 0.4886, loss_traj: 0.8421, loss_traj_cls: 0.0023, loss_map_cls: 0.2838, loss_map_pts: 1.1666, loss_map_dir: 0.0168, d0.loss_plan_l1_fix_time: 2.9005, d0.loss_plan_l1_fix_dist: 0.4138, d1.loss_plan_l1_fix_time: 1.6333, d1.loss_plan_l1_fix_dist: 0.2551, d2.loss_plan_l1_fix_time: 1.6146, d2.loss_plan_l1_fix_dist: 0.2634, d3.loss_plan_l1_fix_time: 1.6212, d3.loss_plan_l1_fix_dist: 0.2777, d4.loss_plan_l1_fix_time: 1.6261, d4.loss_plan_l1_fix_dist: 0.2957, d5.loss_plan_l1_fix_time: 1.6316, d5.loss_plan_l1_fix_dist: 0.3162, d6.loss_plan_l1_fix_time: 1.6368, d6.loss_plan_l1_fix_dist: 0.3346, d0.loss_cls_all: 0.3299, d0.loss_bbox_all: 0.5403, d0.loss_cls: 0.3299, d0.loss_bbox: 0.5403, d1.loss_cls: 0.3205, d1.loss_bbox: 0.5109, d2.loss_cls: 0.3115, d2.loss_bbox: 0.4981, d3.loss_cls: 0.3090, d3.loss_bbox: 0.4907, d4.loss_cls: 0.3046, d4.loss_bbox: 0.4883, d5.loss_cls: 0.3034, d5.loss_bbox: 0.4880, d0.loss_traj_cls: 0.0002, d0.loss_traj: 1.0315, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8988, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8618, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8509, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8373, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.8378, d0.loss_map_cls_all: 0.3313, d0.loss_map_pts_all: 2.0870, d0.loss_map_dir_all: 0.0149, d0.loss_map_cls: 0.3313, d0.loss_map_pts: 2.0870, d0.loss_map_dir: 0.0149, d1.loss_map_cls: 0.3083, d1.loss_map_pts: 1.4579, d1.loss_map_dir: 0.0149, d2.loss_map_cls: 0.2946, d2.loss_map_pts: 1.2672, d2.loss_map_dir: 0.0155, d3.loss_map_cls: 0.2893, d3.loss_map_pts: 1.1988, d3.loss_map_dir: 0.0162, d4.loss_map_cls: 0.2832, d4.loss_map_pts: 1.1783, d4.loss_map_dir: 0.0164, d5.loss_map_cls: 0.2827, d5.loss_map_pts: 1.1694, d5.loss_map_dir: 0.0166, loss: 41.6872, grad_norm: 171.2960 +2026-02-25 08:43:33,197 - DriveTransformer - INFO - Epoch [4][18000/39528] lr: 9.623e-05, eta: 7 days, 13:01:36, time: 0.848, data_time: 0.051, memory: 19865, loss_cls: 0.2685, loss_bbox: 0.4337, loss_traj: 0.7803, loss_traj_cls: 0.0024, loss_map_cls: 0.2402, loss_map_pts: 1.1554, loss_map_dir: 0.0172, d0.loss_plan_l1_fix_time: 2.5225, d0.loss_plan_l1_fix_dist: 0.4907, d1.loss_plan_l1_fix_time: 1.2730, d1.loss_plan_l1_fix_dist: 0.2380, d2.loss_plan_l1_fix_time: 1.2468, d2.loss_plan_l1_fix_dist: 0.2456, d3.loss_plan_l1_fix_time: 1.2488, d3.loss_plan_l1_fix_dist: 0.2620, d4.loss_plan_l1_fix_time: 1.2531, d4.loss_plan_l1_fix_dist: 0.2778, d5.loss_plan_l1_fix_time: 1.2580, d5.loss_plan_l1_fix_dist: 0.2991, d6.loss_plan_l1_fix_time: 1.2630, d6.loss_plan_l1_fix_dist: 0.3270, d0.loss_cls_all: 0.2801, d0.loss_bbox_all: 0.4825, d0.loss_cls: 0.2801, d0.loss_bbox: 0.4825, d1.loss_cls: 0.2757, d1.loss_bbox: 0.4551, d2.loss_cls: 0.2676, d2.loss_bbox: 0.4448, d3.loss_cls: 0.2689, d3.loss_bbox: 0.4379, d4.loss_cls: 0.2686, d4.loss_bbox: 0.4336, d5.loss_cls: 0.2690, d5.loss_bbox: 0.4319, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9616, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8131, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7784, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7786, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7686, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.7727, d0.loss_map_cls_all: 0.2740, d0.loss_map_pts_all: 2.1426, d0.loss_map_dir_all: 0.0161, d0.loss_map_cls: 0.2740, d0.loss_map_pts: 2.1426, d0.loss_map_dir: 0.0161, d1.loss_map_cls: 0.2596, d1.loss_map_pts: 1.4864, d1.loss_map_dir: 0.0153, d2.loss_map_cls: 0.2495, d2.loss_map_pts: 1.2694, d2.loss_map_dir: 0.0158, d3.loss_map_cls: 0.2414, d3.loss_map_pts: 1.1913, d3.loss_map_dir: 0.0164, d4.loss_map_cls: 0.2389, d4.loss_map_pts: 1.1675, d4.loss_map_dir: 0.0168, d5.loss_map_cls: 0.2395, d5.loss_map_pts: 1.1591, d5.loss_map_dir: 0.0171, loss: 37.5102, grad_norm: 170.7607 +2026-02-25 08:44:12,539 - DriveTransformer - INFO - Epoch [4][18050/39528] lr: 9.623e-05, eta: 7 days, 13:00:52, time: 0.787, data_time: 0.042, memory: 19865, loss_cls: 0.2900, loss_bbox: 0.4566, loss_traj: 0.9757, loss_traj_cls: 0.0024, loss_map_cls: 0.2622, loss_map_pts: 1.0098, loss_map_dir: 0.0150, d0.loss_plan_l1_fix_time: 2.8143, d0.loss_plan_l1_fix_dist: 0.3906, d1.loss_plan_l1_fix_time: 1.6457, d1.loss_plan_l1_fix_dist: 0.2571, d2.loss_plan_l1_fix_time: 1.6304, d2.loss_plan_l1_fix_dist: 0.2653, d3.loss_plan_l1_fix_time: 1.6358, d3.loss_plan_l1_fix_dist: 0.2784, d4.loss_plan_l1_fix_time: 1.6408, d4.loss_plan_l1_fix_dist: 0.2940, d5.loss_plan_l1_fix_time: 1.6457, d5.loss_plan_l1_fix_dist: 0.3120, d6.loss_plan_l1_fix_time: 1.6512, d6.loss_plan_l1_fix_dist: 0.3358, d0.loss_cls_all: 0.3041, d0.loss_bbox_all: 0.5146, d0.loss_cls: 0.3041, d0.loss_bbox: 0.5146, d1.loss_cls: 0.3003, d1.loss_bbox: 0.4800, d2.loss_cls: 0.2948, d2.loss_bbox: 0.4639, d3.loss_cls: 0.2941, d3.loss_bbox: 0.4557, d4.loss_cls: 0.2865, d4.loss_bbox: 0.4558, d5.loss_cls: 0.2889, d5.loss_bbox: 0.4530, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1741, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0061, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9675, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9807, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9722, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.9741, d0.loss_map_cls_all: 0.3146, d0.loss_map_pts_all: 1.8178, d0.loss_map_dir_all: 0.0137, d0.loss_map_cls: 0.3146, d0.loss_map_pts: 1.8178, d0.loss_map_dir: 0.0137, d1.loss_map_cls: 0.2931, d1.loss_map_pts: 1.2982, d1.loss_map_dir: 0.0133, d2.loss_map_cls: 0.2774, d2.loss_map_pts: 1.1140, d2.loss_map_dir: 0.0138, d3.loss_map_cls: 0.2706, d3.loss_map_pts: 1.0458, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2639, d4.loss_map_pts: 1.0207, d4.loss_map_dir: 0.0148, d5.loss_map_cls: 0.2612, d5.loss_map_pts: 1.0121, d5.loss_map_dir: 0.0149, loss: 40.5207, grad_norm: 170.5579 +2026-02-25 08:44:51,059 - DriveTransformer - INFO - Epoch [4][18100/39528] lr: 9.623e-05, eta: 7 days, 13:00:02, time: 0.770, data_time: 0.045, memory: 19865, loss_cls: 0.2551, loss_bbox: 0.4547, loss_traj: 0.8409, loss_traj_cls: 0.0025, loss_map_cls: 0.2198, loss_map_pts: 0.9035, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.6460, d0.loss_plan_l1_fix_dist: 0.4660, d1.loss_plan_l1_fix_time: 1.4231, d1.loss_plan_l1_fix_dist: 0.2149, d2.loss_plan_l1_fix_time: 1.3960, d2.loss_plan_l1_fix_dist: 0.2301, d3.loss_plan_l1_fix_time: 1.3950, d3.loss_plan_l1_fix_dist: 0.2525, d4.loss_plan_l1_fix_time: 1.3972, d4.loss_plan_l1_fix_dist: 0.2758, d5.loss_plan_l1_fix_time: 1.3999, d5.loss_plan_l1_fix_dist: 0.2951, d6.loss_plan_l1_fix_time: 1.4037, d6.loss_plan_l1_fix_dist: 0.3099, d0.loss_cls_all: 0.2750, d0.loss_bbox_all: 0.4944, d0.loss_cls: 0.2750, d0.loss_bbox: 0.4944, d1.loss_cls: 0.2684, d1.loss_bbox: 0.4677, d2.loss_cls: 0.2606, d2.loss_bbox: 0.4537, d3.loss_cls: 0.2592, d3.loss_bbox: 0.4495, d4.loss_cls: 0.2563, d4.loss_bbox: 0.4489, d5.loss_cls: 0.2557, d5.loss_bbox: 0.4519, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9943, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8736, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8412, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8403, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8387, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.8398, d0.loss_map_cls_all: 0.2670, d0.loss_map_pts_all: 1.7091, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.2670, d0.loss_map_pts: 1.7091, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2439, d1.loss_map_pts: 1.1598, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2303, d2.loss_map_pts: 0.9920, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.2223, d3.loss_map_pts: 0.9288, d3.loss_map_dir: 0.0124, d4.loss_map_cls: 0.2196, d4.loss_map_pts: 0.9078, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.2173, d5.loss_map_pts: 0.9051, d5.loss_map_dir: 0.0128, loss: 36.2048, grad_norm: 167.7387 +2026-02-25 08:45:31,789 - DriveTransformer - INFO - Epoch [4][18150/39528] lr: 9.623e-05, eta: 7 days, 12:59:25, time: 0.815, data_time: 0.041, memory: 19865, loss_cls: 0.2554, loss_bbox: 0.4507, loss_traj: 0.8772, loss_traj_cls: 0.0024, loss_map_cls: 0.2581, loss_map_pts: 0.9454, loss_map_dir: 0.0155, d0.loss_plan_l1_fix_time: 2.2970, d0.loss_plan_l1_fix_dist: 0.3380, d1.loss_plan_l1_fix_time: 1.4357, d1.loss_plan_l1_fix_dist: 0.2273, d2.loss_plan_l1_fix_time: 1.4118, d2.loss_plan_l1_fix_dist: 0.2417, d3.loss_plan_l1_fix_time: 1.4090, d3.loss_plan_l1_fix_dist: 0.2584, d4.loss_plan_l1_fix_time: 1.4113, d4.loss_plan_l1_fix_dist: 0.2764, d5.loss_plan_l1_fix_time: 1.4145, d5.loss_plan_l1_fix_dist: 0.2932, d6.loss_plan_l1_fix_time: 1.4192, d6.loss_plan_l1_fix_dist: 0.3094, d0.loss_cls_all: 0.2753, d0.loss_bbox_all: 0.4801, d0.loss_cls: 0.2753, d0.loss_bbox: 0.4801, d1.loss_cls: 0.2687, d1.loss_bbox: 0.4554, d2.loss_cls: 0.2577, d2.loss_bbox: 0.4485, d3.loss_cls: 0.2566, d3.loss_bbox: 0.4450, d4.loss_cls: 0.2532, d4.loss_bbox: 0.4472, d5.loss_cls: 0.2555, d5.loss_bbox: 0.4481, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0501, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9136, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8876, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8806, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8795, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.8746, d0.loss_map_cls_all: 0.3042, d0.loss_map_pts_all: 1.8468, d0.loss_map_dir_all: 0.0145, d0.loss_map_cls: 0.3042, d0.loss_map_pts: 1.8468, d0.loss_map_dir: 0.0145, d1.loss_map_cls: 0.2841, d1.loss_map_pts: 1.2323, d1.loss_map_dir: 0.0139, d2.loss_map_cls: 0.2731, d2.loss_map_pts: 1.0404, d2.loss_map_dir: 0.0143, d3.loss_map_cls: 0.2647, d3.loss_map_pts: 0.9734, d3.loss_map_dir: 0.0148, d4.loss_map_cls: 0.2604, d4.loss_map_pts: 0.9549, d4.loss_map_dir: 0.0151, d5.loss_map_cls: 0.2583, d5.loss_map_pts: 0.9481, d5.loss_map_dir: 0.0153, loss: 36.9807, grad_norm: 167.4762 +2026-02-25 08:46:12,118 - DriveTransformer - INFO - Epoch [4][18200/39528] lr: 9.623e-05, eta: 7 days, 12:58:47, time: 0.807, data_time: 0.038, memory: 19865, loss_cls: 0.2578, loss_bbox: 0.4392, loss_traj: 0.8244, loss_traj_cls: 0.0024, loss_map_cls: 0.2417, loss_map_pts: 0.9811, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 2.7508, d0.loss_plan_l1_fix_dist: 0.4203, d1.loss_plan_l1_fix_time: 1.4452, d1.loss_plan_l1_fix_dist: 0.2603, d2.loss_plan_l1_fix_time: 1.4321, d2.loss_plan_l1_fix_dist: 0.2784, d3.loss_plan_l1_fix_time: 1.4300, d3.loss_plan_l1_fix_dist: 0.2999, d4.loss_plan_l1_fix_time: 1.4322, d4.loss_plan_l1_fix_dist: 0.3248, d5.loss_plan_l1_fix_time: 1.4352, d5.loss_plan_l1_fix_dist: 0.3560, d6.loss_plan_l1_fix_time: 1.4393, d6.loss_plan_l1_fix_dist: 0.3907, d0.loss_cls_all: 0.2718, d0.loss_bbox_all: 0.5033, d0.loss_cls: 0.2718, d0.loss_bbox: 0.5033, d1.loss_cls: 0.2633, d1.loss_bbox: 0.4684, d2.loss_cls: 0.2571, d2.loss_bbox: 0.4504, d3.loss_cls: 0.2589, d3.loss_bbox: 0.4416, d4.loss_cls: 0.2573, d4.loss_bbox: 0.4378, d5.loss_cls: 0.2564, d5.loss_bbox: 0.4386, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0265, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8700, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8429, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8404, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8287, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.8221, d0.loss_map_cls_all: 0.2991, d0.loss_map_pts_all: 1.9367, d0.loss_map_dir_all: 0.0136, d0.loss_map_cls: 0.2991, d0.loss_map_pts: 1.9367, d0.loss_map_dir: 0.0136, d1.loss_map_cls: 0.2739, d1.loss_map_pts: 1.2898, d1.loss_map_dir: 0.0128, d2.loss_map_cls: 0.2571, d2.loss_map_pts: 1.0993, d2.loss_map_dir: 0.0130, d3.loss_map_cls: 0.2503, d3.loss_map_pts: 1.0189, d3.loss_map_dir: 0.0137, d4.loss_map_cls: 0.2431, d4.loss_map_pts: 0.9956, d4.loss_map_dir: 0.0139, d5.loss_map_cls: 0.2419, d5.loss_map_pts: 0.9858, d5.loss_map_dir: 0.0141, loss: 37.9945, grad_norm: 167.5210 +2026-02-25 08:46:54,769 - DriveTransformer - INFO - Epoch [4][18250/39528] lr: 9.623e-05, eta: 7 days, 12:58:21, time: 0.853, data_time: 0.039, memory: 19865, loss_cls: 0.2770, loss_bbox: 0.4678, loss_traj: 0.6019, loss_traj_cls: 0.0022, loss_map_cls: 0.2206, loss_map_pts: 1.0186, loss_map_dir: 0.0186, d0.loss_plan_l1_fix_time: 2.6619, d0.loss_plan_l1_fix_dist: 0.5325, d1.loss_plan_l1_fix_time: 1.2736, d1.loss_plan_l1_fix_dist: 0.2448, d2.loss_plan_l1_fix_time: 1.2391, d2.loss_plan_l1_fix_dist: 0.2595, d3.loss_plan_l1_fix_time: 1.2367, d3.loss_plan_l1_fix_dist: 0.2795, d4.loss_plan_l1_fix_time: 1.2389, d4.loss_plan_l1_fix_dist: 0.3018, d5.loss_plan_l1_fix_time: 1.2423, d5.loss_plan_l1_fix_dist: 0.3279, d6.loss_plan_l1_fix_time: 1.2463, d6.loss_plan_l1_fix_dist: 0.3562, d0.loss_cls_all: 0.3042, d0.loss_bbox_all: 0.5158, d0.loss_cls: 0.3042, d0.loss_bbox: 0.5158, d1.loss_cls: 0.2936, d1.loss_bbox: 0.4890, d2.loss_cls: 0.2855, d2.loss_bbox: 0.4728, d3.loss_cls: 0.2835, d3.loss_bbox: 0.4652, d4.loss_cls: 0.2777, d4.loss_bbox: 0.4635, d5.loss_cls: 0.2757, d5.loss_bbox: 0.4661, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7258, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6459, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6227, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6138, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6089, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6032, d0.loss_map_cls_all: 0.2798, d0.loss_map_pts_all: 2.1610, d0.loss_map_dir_all: 0.0170, d0.loss_map_cls: 0.2798, d0.loss_map_pts: 2.1610, d0.loss_map_dir: 0.0170, d1.loss_map_cls: 0.2514, d1.loss_map_pts: 1.3570, d1.loss_map_dir: 0.0164, d2.loss_map_cls: 0.2347, d2.loss_map_pts: 1.1397, d2.loss_map_dir: 0.0171, d3.loss_map_cls: 0.2244, d3.loss_map_pts: 1.0591, d3.loss_map_dir: 0.0178, d4.loss_map_cls: 0.2191, d4.loss_map_pts: 1.0331, d4.loss_map_dir: 0.0183, d5.loss_map_cls: 0.2191, d5.loss_map_pts: 1.0229, d5.loss_map_dir: 0.0184, loss: 36.0506, grad_norm: 167.9840 +2026-02-25 08:47:34,681 - DriveTransformer - INFO - Epoch [4][18300/39528] lr: 9.623e-05, eta: 7 days, 12:57:40, time: 0.798, data_time: 0.037, memory: 19865, loss_cls: 0.2598, loss_bbox: 0.4518, loss_traj: 0.8797, loss_traj_cls: 0.0023, loss_map_cls: 0.2386, loss_map_pts: 0.9251, loss_map_dir: 0.0140, d0.loss_plan_l1_fix_time: 2.4339, d0.loss_plan_l1_fix_dist: 0.4078, d1.loss_plan_l1_fix_time: 1.4125, d1.loss_plan_l1_fix_dist: 0.2231, d2.loss_plan_l1_fix_time: 1.3955, d2.loss_plan_l1_fix_dist: 0.2379, d3.loss_plan_l1_fix_time: 1.3986, d3.loss_plan_l1_fix_dist: 0.2604, d4.loss_plan_l1_fix_time: 1.4029, d4.loss_plan_l1_fix_dist: 0.2876, d5.loss_plan_l1_fix_time: 1.4075, d5.loss_plan_l1_fix_dist: 0.3145, d6.loss_plan_l1_fix_time: 1.4121, d6.loss_plan_l1_fix_dist: 0.3432, d0.loss_cls_all: 0.2878, d0.loss_bbox_all: 0.4953, d0.loss_cls: 0.2878, d0.loss_bbox: 0.4953, d1.loss_cls: 0.2778, d1.loss_bbox: 0.4696, d2.loss_cls: 0.2679, d2.loss_bbox: 0.4566, d3.loss_cls: 0.2621, d3.loss_bbox: 0.4531, d4.loss_cls: 0.2595, d4.loss_bbox: 0.4499, d5.loss_cls: 0.2593, d5.loss_bbox: 0.4507, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0265, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9039, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8923, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8884, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8825, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.8809, d0.loss_map_cls_all: 0.2990, d0.loss_map_pts_all: 1.7422, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2990, d0.loss_map_pts: 1.7422, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2719, d1.loss_map_pts: 1.1883, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2514, d2.loss_map_pts: 1.0186, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2420, d3.loss_map_pts: 0.9529, d3.loss_map_dir: 0.0134, d4.loss_map_cls: 0.2372, d4.loss_map_pts: 0.9314, d4.loss_map_dir: 0.0137, d5.loss_map_cls: 0.2368, d5.loss_map_pts: 0.9285, d5.loss_map_dir: 0.0139, loss: 36.7950, grad_norm: 167.1841 +2026-02-25 08:48:16,130 - DriveTransformer - INFO - Epoch [4][18350/39528] lr: 9.623e-05, eta: 7 days, 12:57:08, time: 0.829, data_time: 0.040, memory: 19865, loss_cls: 0.2531, loss_bbox: 0.4326, loss_traj: 0.7446, loss_traj_cls: 0.0022, loss_map_cls: 0.2274, loss_map_pts: 0.9812, loss_map_dir: 0.0169, d0.loss_plan_l1_fix_time: 2.6274, d0.loss_plan_l1_fix_dist: 0.4457, d1.loss_plan_l1_fix_time: 1.3205, d1.loss_plan_l1_fix_dist: 0.2574, d2.loss_plan_l1_fix_time: 1.2916, d2.loss_plan_l1_fix_dist: 0.2697, d3.loss_plan_l1_fix_time: 1.2904, d3.loss_plan_l1_fix_dist: 0.2858, d4.loss_plan_l1_fix_time: 1.2930, d4.loss_plan_l1_fix_dist: 0.3036, d5.loss_plan_l1_fix_time: 1.2958, d5.loss_plan_l1_fix_dist: 0.3223, d6.loss_plan_l1_fix_time: 1.2993, d6.loss_plan_l1_fix_dist: 0.3433, d0.loss_cls_all: 0.2806, d0.loss_bbox_all: 0.4886, d0.loss_cls: 0.2806, d0.loss_bbox: 0.4886, d1.loss_cls: 0.2743, d1.loss_bbox: 0.4564, d2.loss_cls: 0.2594, d2.loss_bbox: 0.4435, d3.loss_cls: 0.2571, d3.loss_bbox: 0.4348, d4.loss_cls: 0.2547, d4.loss_bbox: 0.4306, d5.loss_cls: 0.2526, d5.loss_bbox: 0.4312, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9275, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7802, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7513, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7457, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7405, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7411, d0.loss_map_cls_all: 0.2802, d0.loss_map_pts_all: 1.9858, d0.loss_map_dir_all: 0.0153, d0.loss_map_cls: 0.2802, d0.loss_map_pts: 1.9858, d0.loss_map_dir: 0.0153, d1.loss_map_cls: 0.2539, d1.loss_map_pts: 1.2740, d1.loss_map_dir: 0.0148, d2.loss_map_cls: 0.2378, d2.loss_map_pts: 1.0779, d2.loss_map_dir: 0.0154, d3.loss_map_cls: 0.2346, d3.loss_map_pts: 1.0101, d3.loss_map_dir: 0.0162, d4.loss_map_cls: 0.2293, d4.loss_map_pts: 0.9845, d4.loss_map_dir: 0.0166, d5.loss_map_cls: 0.2275, d5.loss_map_pts: 0.9844, d5.loss_map_dir: 0.0168, loss: 36.1856, grad_norm: 169.8272 +2026-02-25 08:48:55,845 - DriveTransformer - INFO - Epoch [4][18400/39528] lr: 9.623e-05, eta: 7 days, 12:56:25, time: 0.794, data_time: 0.037, memory: 19865, loss_cls: 0.3140, loss_bbox: 0.4791, loss_traj: 0.9914, loss_traj_cls: 0.0022, loss_map_cls: 0.2447, loss_map_pts: 0.9872, loss_map_dir: 0.0146, d0.loss_plan_l1_fix_time: 2.7055, d0.loss_plan_l1_fix_dist: 0.4080, d1.loss_plan_l1_fix_time: 1.4776, d1.loss_plan_l1_fix_dist: 0.2285, d2.loss_plan_l1_fix_time: 1.4568, d2.loss_plan_l1_fix_dist: 0.2520, d3.loss_plan_l1_fix_time: 1.4592, d3.loss_plan_l1_fix_dist: 0.2775, d4.loss_plan_l1_fix_time: 1.4626, d4.loss_plan_l1_fix_dist: 0.3035, d5.loss_plan_l1_fix_time: 1.4665, d5.loss_plan_l1_fix_dist: 0.3342, d6.loss_plan_l1_fix_time: 1.4713, d6.loss_plan_l1_fix_dist: 0.3636, d0.loss_cls_all: 0.3322, d0.loss_bbox_all: 0.5340, d0.loss_cls: 0.3322, d0.loss_bbox: 0.5340, d1.loss_cls: 0.3271, d1.loss_bbox: 0.4999, d2.loss_cls: 0.3179, d2.loss_bbox: 0.4837, d3.loss_cls: 0.3154, d3.loss_bbox: 0.4779, d4.loss_cls: 0.3145, d4.loss_bbox: 0.4750, d5.loss_cls: 0.3123, d5.loss_bbox: 0.4769, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1707, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0395, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9963, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9853, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9795, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.9871, d0.loss_map_cls_all: 0.3005, d0.loss_map_pts_all: 1.8288, d0.loss_map_dir_all: 0.0134, d0.loss_map_cls: 0.3005, d0.loss_map_pts: 1.8288, d0.loss_map_dir: 0.0134, d1.loss_map_cls: 0.2690, d1.loss_map_pts: 1.2442, d1.loss_map_dir: 0.0132, d2.loss_map_cls: 0.2564, d2.loss_map_pts: 1.0719, d2.loss_map_dir: 0.0135, d3.loss_map_cls: 0.2483, d3.loss_map_pts: 1.0155, d3.loss_map_dir: 0.0141, d4.loss_map_cls: 0.2449, d4.loss_map_pts: 0.9939, d4.loss_map_dir: 0.0144, d5.loss_map_cls: 0.2430, d5.loss_map_pts: 0.9918, d5.loss_map_dir: 0.0146, loss: 39.5313, grad_norm: 170.0317 +2026-02-25 08:49:36,424 - DriveTransformer - INFO - Epoch [4][18450/39528] lr: 9.623e-05, eta: 7 days, 12:55:48, time: 0.812, data_time: 0.042, memory: 19865, loss_cls: 0.2557, loss_bbox: 0.4609, loss_traj: 0.6938, loss_traj_cls: 0.0022, loss_map_cls: 0.2331, loss_map_pts: 1.0975, loss_map_dir: 0.0172, d0.loss_plan_l1_fix_time: 2.6131, d0.loss_plan_l1_fix_dist: 0.4880, d1.loss_plan_l1_fix_time: 1.4955, d1.loss_plan_l1_fix_dist: 0.2349, d2.loss_plan_l1_fix_time: 1.4638, d2.loss_plan_l1_fix_dist: 0.2404, d3.loss_plan_l1_fix_time: 1.4600, d3.loss_plan_l1_fix_dist: 0.2540, d4.loss_plan_l1_fix_time: 1.4612, d4.loss_plan_l1_fix_dist: 0.2716, d5.loss_plan_l1_fix_time: 1.4643, d5.loss_plan_l1_fix_dist: 0.2908, d6.loss_plan_l1_fix_time: 1.4694, d6.loss_plan_l1_fix_dist: 0.3111, d0.loss_cls_all: 0.2796, d0.loss_bbox_all: 0.5028, d0.loss_cls: 0.2796, d0.loss_bbox: 0.5028, d1.loss_cls: 0.2670, d1.loss_bbox: 0.4791, d2.loss_cls: 0.2614, d2.loss_bbox: 0.4650, d3.loss_cls: 0.2592, d3.loss_bbox: 0.4570, d4.loss_cls: 0.2555, d4.loss_bbox: 0.4569, d5.loss_cls: 0.2552, d5.loss_bbox: 0.4566, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8506, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7320, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6993, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6893, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6973, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6872, d0.loss_map_cls_all: 0.2906, d0.loss_map_pts_all: 2.1355, d0.loss_map_dir_all: 0.0165, d0.loss_map_cls: 0.2906, d0.loss_map_pts: 2.1355, d0.loss_map_dir: 0.0165, d1.loss_map_cls: 0.2620, d1.loss_map_pts: 1.4225, d1.loss_map_dir: 0.0152, d2.loss_map_cls: 0.2459, d2.loss_map_pts: 1.2001, d2.loss_map_dir: 0.0157, d3.loss_map_cls: 0.2388, d3.loss_map_pts: 1.1268, d3.loss_map_dir: 0.0164, d4.loss_map_cls: 0.2326, d4.loss_map_pts: 1.1059, d4.loss_map_dir: 0.0169, d5.loss_map_cls: 0.2327, d5.loss_map_pts: 1.0979, d5.loss_map_dir: 0.0170, loss: 37.9497, grad_norm: 172.6281 +2026-02-25 08:50:15,352 - DriveTransformer - INFO - Epoch [4][18500/39528] lr: 9.623e-05, eta: 7 days, 12:55:00, time: 0.779, data_time: 0.038, memory: 19865, loss_cls: 0.2422, loss_bbox: 0.4217, loss_traj: 0.9807, loss_traj_cls: 0.0022, loss_map_cls: 0.2434, loss_map_pts: 0.9865, loss_map_dir: 0.0135, d0.loss_plan_l1_fix_time: 2.4085, d0.loss_plan_l1_fix_dist: 0.3754, d1.loss_plan_l1_fix_time: 1.4164, d1.loss_plan_l1_fix_dist: 0.1977, d2.loss_plan_l1_fix_time: 1.4010, d2.loss_plan_l1_fix_dist: 0.2013, d3.loss_plan_l1_fix_time: 1.3992, d3.loss_plan_l1_fix_dist: 0.2152, d4.loss_plan_l1_fix_time: 1.4010, d4.loss_plan_l1_fix_dist: 0.2334, d5.loss_plan_l1_fix_time: 1.4036, d5.loss_plan_l1_fix_dist: 0.2499, d6.loss_plan_l1_fix_time: 1.4078, d6.loss_plan_l1_fix_dist: 0.2689, d0.loss_cls_all: 0.2709, d0.loss_bbox_all: 0.4779, d0.loss_cls: 0.2709, d0.loss_bbox: 0.4779, d1.loss_cls: 0.2603, d1.loss_bbox: 0.4441, d2.loss_cls: 0.2506, d2.loss_bbox: 0.4326, d3.loss_cls: 0.2460, d3.loss_bbox: 0.4265, d4.loss_cls: 0.2436, d4.loss_bbox: 0.4240, d5.loss_cls: 0.2434, d5.loss_bbox: 0.4214, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1511, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0077, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9814, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9790, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9846, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.9855, d0.loss_map_cls_all: 0.2992, d0.loss_map_pts_all: 1.7295, d0.loss_map_dir_all: 0.0122, d0.loss_map_cls: 0.2992, d0.loss_map_pts: 1.7295, d0.loss_map_dir: 0.0122, d1.loss_map_cls: 0.2681, d1.loss_map_pts: 1.2630, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2556, d2.loss_map_pts: 1.0837, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2477, d3.loss_map_pts: 1.0180, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.2446, d4.loss_map_pts: 0.9977, d4.loss_map_dir: 0.0132, d5.loss_map_cls: 0.2448, d5.loss_map_pts: 0.9876, d5.loss_map_dir: 0.0134, loss: 37.2114, grad_norm: 170.8685 +2026-02-25 08:50:56,211 - DriveTransformer - INFO - Epoch [4][18550/39528] lr: 9.623e-05, eta: 7 days, 12:54:25, time: 0.817, data_time: 0.041, memory: 19865, loss_cls: 0.2824, loss_bbox: 0.4844, loss_traj: 0.8576, loss_traj_cls: 0.0021, loss_map_cls: 0.2580, loss_map_pts: 1.1473, loss_map_dir: 0.0147, d0.loss_plan_l1_fix_time: 2.7478, d0.loss_plan_l1_fix_dist: 0.3898, d1.loss_plan_l1_fix_time: 1.4642, d1.loss_plan_l1_fix_dist: 0.2273, d2.loss_plan_l1_fix_time: 1.4489, d2.loss_plan_l1_fix_dist: 0.2363, d3.loss_plan_l1_fix_time: 1.4480, d3.loss_plan_l1_fix_dist: 0.2454, d4.loss_plan_l1_fix_time: 1.4498, d4.loss_plan_l1_fix_dist: 0.2581, d5.loss_plan_l1_fix_time: 1.4521, d5.loss_plan_l1_fix_dist: 0.2764, d6.loss_plan_l1_fix_time: 1.4551, d6.loss_plan_l1_fix_dist: 0.2986, d0.loss_cls_all: 0.3049, d0.loss_bbox_all: 0.5406, d0.loss_cls: 0.3049, d0.loss_bbox: 0.5406, d1.loss_cls: 0.2982, d1.loss_bbox: 0.5107, d2.loss_cls: 0.2884, d2.loss_bbox: 0.4945, d3.loss_cls: 0.2845, d3.loss_bbox: 0.4897, d4.loss_cls: 0.2827, d4.loss_bbox: 0.4867, d5.loss_cls: 0.2801, d5.loss_bbox: 0.4855, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0662, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9140, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8666, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8573, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8553, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.8558, d0.loss_map_cls_all: 0.3111, d0.loss_map_pts_all: 1.9674, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.3111, d0.loss_map_pts: 1.9674, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2893, d1.loss_map_pts: 1.4466, d1.loss_map_dir: 0.0128, d2.loss_map_cls: 0.2710, d2.loss_map_pts: 1.2555, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2641, d3.loss_map_pts: 1.1825, d3.loss_map_dir: 0.0140, d4.loss_map_cls: 0.2589, d4.loss_map_pts: 1.1545, d4.loss_map_dir: 0.0144, d5.loss_map_cls: 0.2576, d5.loss_map_pts: 1.1458, d5.loss_map_dir: 0.0146, loss: 39.6355, grad_norm: 172.2944 +2026-02-25 08:51:38,429 - DriveTransformer - INFO - Epoch [4][18600/39528] lr: 9.623e-05, eta: 7 days, 12:53:57, time: 0.846, data_time: 0.042, memory: 19865, loss_cls: 0.2631, loss_bbox: 0.4444, loss_traj: 1.0032, loss_traj_cls: 0.0020, loss_map_cls: 0.2002, loss_map_pts: 0.9658, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.8631, d0.loss_plan_l1_fix_dist: 0.5136, d1.loss_plan_l1_fix_time: 1.6077, d1.loss_plan_l1_fix_dist: 0.2394, d2.loss_plan_l1_fix_time: 1.5796, d2.loss_plan_l1_fix_dist: 0.2488, d3.loss_plan_l1_fix_time: 1.5770, d3.loss_plan_l1_fix_dist: 0.2605, d4.loss_plan_l1_fix_time: 1.5788, d4.loss_plan_l1_fix_dist: 0.2735, d5.loss_plan_l1_fix_time: 1.5812, d5.loss_plan_l1_fix_dist: 0.2880, d6.loss_plan_l1_fix_time: 1.5841, d6.loss_plan_l1_fix_dist: 0.3044, d0.loss_cls_all: 0.2812, d0.loss_bbox_all: 0.4963, d0.loss_cls: 0.2812, d0.loss_bbox: 0.4963, d1.loss_cls: 0.2765, d1.loss_bbox: 0.4663, d2.loss_cls: 0.2709, d2.loss_bbox: 0.4540, d3.loss_cls: 0.2660, d3.loss_bbox: 0.4488, d4.loss_cls: 0.2631, d4.loss_bbox: 0.4476, d5.loss_cls: 0.2628, d5.loss_bbox: 0.4450, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1340, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0528, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0258, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0158, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0069, d5.loss_traj_cls: 0.0016, d5.loss_traj: 1.0027, d0.loss_map_cls_all: 0.2406, d0.loss_map_pts_all: 1.7066, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2406, d0.loss_map_pts: 1.7066, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2156, d1.loss_map_pts: 1.2043, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2089, d2.loss_map_pts: 1.0441, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.2019, d3.loss_map_pts: 0.9889, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.1983, d4.loss_map_pts: 0.9733, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.1998, d5.loss_map_pts: 0.9658, d5.loss_map_dir: 0.0126, loss: 38.9701, grad_norm: 173.1007 +2026-02-25 08:52:19,392 - DriveTransformer - INFO - Epoch [4][18650/39528] lr: 9.623e-05, eta: 7 days, 12:53:22, time: 0.818, data_time: 0.037, memory: 19865, loss_cls: 0.2786, loss_bbox: 0.4641, loss_traj: 0.8275, loss_traj_cls: 0.0019, loss_map_cls: 0.2504, loss_map_pts: 0.9763, loss_map_dir: 0.0160, d0.loss_plan_l1_fix_time: 2.6082, d0.loss_plan_l1_fix_dist: 0.4708, d1.loss_plan_l1_fix_time: 1.3772, d1.loss_plan_l1_fix_dist: 0.2801, d2.loss_plan_l1_fix_time: 1.3494, d2.loss_plan_l1_fix_dist: 0.2824, d3.loss_plan_l1_fix_time: 1.3499, d3.loss_plan_l1_fix_dist: 0.2934, d4.loss_plan_l1_fix_time: 1.3523, d4.loss_plan_l1_fix_dist: 0.3061, d5.loss_plan_l1_fix_time: 1.3554, d5.loss_plan_l1_fix_dist: 0.3170, d6.loss_plan_l1_fix_time: 1.3595, d6.loss_plan_l1_fix_dist: 0.3274, d0.loss_cls_all: 0.3043, d0.loss_bbox_all: 0.5204, d0.loss_cls: 0.3043, d0.loss_bbox: 0.5204, d1.loss_cls: 0.2957, d1.loss_bbox: 0.4876, d2.loss_cls: 0.2844, d2.loss_bbox: 0.4743, d3.loss_cls: 0.2822, d3.loss_bbox: 0.4653, d4.loss_cls: 0.2796, d4.loss_bbox: 0.4644, d5.loss_cls: 0.2783, d5.loss_bbox: 0.4641, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9845, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8801, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8385, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8367, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8340, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.8333, d0.loss_map_cls_all: 0.3042, d0.loss_map_pts_all: 1.9217, d0.loss_map_dir_all: 0.0151, d0.loss_map_cls: 0.3042, d0.loss_map_pts: 1.9217, d0.loss_map_dir: 0.0151, d1.loss_map_cls: 0.2795, d1.loss_map_pts: 1.2754, d1.loss_map_dir: 0.0144, d2.loss_map_cls: 0.2654, d2.loss_map_pts: 1.0732, d2.loss_map_dir: 0.0147, d3.loss_map_cls: 0.2574, d3.loss_map_pts: 1.0072, d3.loss_map_dir: 0.0154, d4.loss_map_cls: 0.2516, d4.loss_map_pts: 0.9864, d4.loss_map_dir: 0.0157, d5.loss_map_cls: 0.2497, d5.loss_map_pts: 0.9801, d5.loss_map_dir: 0.0158, loss: 37.6663, grad_norm: 172.4907 +2026-02-25 08:53:01,072 - DriveTransformer - INFO - Epoch [4][18700/39528] lr: 9.623e-05, eta: 7 days, 12:52:51, time: 0.834, data_time: 0.046, memory: 19865, loss_cls: 0.2527, loss_bbox: 0.4727, loss_traj: 0.9429, loss_traj_cls: 0.0020, loss_map_cls: 0.2184, loss_map_pts: 1.0257, loss_map_dir: 0.0145, d0.loss_plan_l1_fix_time: 2.3531, d0.loss_plan_l1_fix_dist: 0.4275, d1.loss_plan_l1_fix_time: 1.3939, d1.loss_plan_l1_fix_dist: 0.2263, d2.loss_plan_l1_fix_time: 1.3757, d2.loss_plan_l1_fix_dist: 0.2353, d3.loss_plan_l1_fix_time: 1.3804, d3.loss_plan_l1_fix_dist: 0.2460, d4.loss_plan_l1_fix_time: 1.3838, d4.loss_plan_l1_fix_dist: 0.2617, d5.loss_plan_l1_fix_time: 1.3878, d5.loss_plan_l1_fix_dist: 0.2814, d6.loss_plan_l1_fix_time: 1.3920, d6.loss_plan_l1_fix_dist: 0.3007, d0.loss_cls_all: 0.2775, d0.loss_bbox_all: 0.5243, d0.loss_cls: 0.2775, d0.loss_bbox: 0.5243, d1.loss_cls: 0.2660, d1.loss_bbox: 0.4967, d2.loss_cls: 0.2597, d2.loss_bbox: 0.4818, d3.loss_cls: 0.2561, d3.loss_bbox: 0.4753, d4.loss_cls: 0.2533, d4.loss_bbox: 0.4721, d5.loss_cls: 0.2522, d5.loss_bbox: 0.4712, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1938, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0161, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9660, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9553, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9517, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.9514, d0.loss_map_cls_all: 0.2699, d0.loss_map_pts_all: 1.9163, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.2699, d0.loss_map_pts: 1.9163, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.2478, d1.loss_map_pts: 1.3078, d1.loss_map_dir: 0.0130, d2.loss_map_cls: 0.2342, d2.loss_map_pts: 1.1245, d2.loss_map_dir: 0.0135, d3.loss_map_cls: 0.2240, d3.loss_map_pts: 1.0581, d3.loss_map_dir: 0.0139, d4.loss_map_cls: 0.2179, d4.loss_map_pts: 1.0378, d4.loss_map_dir: 0.0143, d5.loss_map_cls: 0.2177, d5.loss_map_pts: 1.0285, d5.loss_map_dir: 0.0145, loss: 38.0692, grad_norm: 172.2921 +2026-02-25 08:53:42,986 - DriveTransformer - INFO - Epoch [4][18750/39528] lr: 9.623e-05, eta: 7 days, 12:52:21, time: 0.838, data_time: 0.042, memory: 19865, loss_cls: 0.2855, loss_bbox: 0.4574, loss_traj: 0.7833, loss_traj_cls: 0.0020, loss_map_cls: 0.2517, loss_map_pts: 1.2629, loss_map_dir: 0.0175, d0.loss_plan_l1_fix_time: 2.3481, d0.loss_plan_l1_fix_dist: 0.4866, d1.loss_plan_l1_fix_time: 1.3861, d1.loss_plan_l1_fix_dist: 0.2778, d2.loss_plan_l1_fix_time: 1.3521, d2.loss_plan_l1_fix_dist: 0.2828, d3.loss_plan_l1_fix_time: 1.3521, d3.loss_plan_l1_fix_dist: 0.2929, d4.loss_plan_l1_fix_time: 1.3556, d4.loss_plan_l1_fix_dist: 0.3044, d5.loss_plan_l1_fix_time: 1.3594, d5.loss_plan_l1_fix_dist: 0.3162, d6.loss_plan_l1_fix_time: 1.3633, d6.loss_plan_l1_fix_dist: 0.3323, d0.loss_cls_all: 0.3093, d0.loss_bbox_all: 0.5137, d0.loss_cls: 0.3093, d0.loss_bbox: 0.5137, d1.loss_cls: 0.3010, d1.loss_bbox: 0.4827, d2.loss_cls: 0.2917, d2.loss_bbox: 0.4692, d3.loss_cls: 0.2896, d3.loss_bbox: 0.4604, d4.loss_cls: 0.2856, d4.loss_bbox: 0.4572, d5.loss_cls: 0.2868, d5.loss_bbox: 0.4563, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9721, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8222, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7910, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7893, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7853, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7859, d0.loss_map_cls_all: 0.3010, d0.loss_map_pts_all: 2.2697, d0.loss_map_dir_all: 0.0164, d0.loss_map_cls: 0.3010, d0.loss_map_pts: 2.2697, d0.loss_map_dir: 0.0164, d1.loss_map_cls: 0.2798, d1.loss_map_pts: 1.5907, d1.loss_map_dir: 0.0158, d2.loss_map_cls: 0.2688, d2.loss_map_pts: 1.3663, d2.loss_map_dir: 0.0162, d3.loss_map_cls: 0.2602, d3.loss_map_pts: 1.2939, d3.loss_map_dir: 0.0169, d4.loss_map_cls: 0.2534, d4.loss_map_pts: 1.2716, d4.loss_map_dir: 0.0172, d5.loss_map_cls: 0.2523, d5.loss_map_pts: 1.2648, d5.loss_map_dir: 0.0174, loss: 39.6075, grad_norm: 171.6937 +2026-02-25 08:54:24,412 - DriveTransformer - INFO - Epoch [4][18800/39528] lr: 9.623e-05, eta: 7 days, 12:51:49, time: 0.829, data_time: 0.044, memory: 19865, loss_cls: 0.2504, loss_bbox: 0.4081, loss_traj: 0.8257, loss_traj_cls: 0.0020, loss_map_cls: 0.2027, loss_map_pts: 0.8581, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.5090, d0.loss_plan_l1_fix_dist: 0.5193, d1.loss_plan_l1_fix_time: 1.2819, d1.loss_plan_l1_fix_dist: 0.2409, d2.loss_plan_l1_fix_time: 1.2571, d2.loss_plan_l1_fix_dist: 0.2496, d3.loss_plan_l1_fix_time: 1.2525, d3.loss_plan_l1_fix_dist: 0.2621, d4.loss_plan_l1_fix_time: 1.2550, d4.loss_plan_l1_fix_dist: 0.2753, d5.loss_plan_l1_fix_time: 1.2585, d5.loss_plan_l1_fix_dist: 0.2904, d6.loss_plan_l1_fix_time: 1.2628, d6.loss_plan_l1_fix_dist: 0.3039, d0.loss_cls_all: 0.2652, d0.loss_bbox_all: 0.4593, d0.loss_cls: 0.2652, d0.loss_bbox: 0.4593, d1.loss_cls: 0.2619, d1.loss_bbox: 0.4294, d2.loss_cls: 0.2540, d2.loss_bbox: 0.4154, d3.loss_cls: 0.2497, d3.loss_bbox: 0.4097, d4.loss_cls: 0.2473, d4.loss_bbox: 0.4078, d5.loss_cls: 0.2496, d5.loss_bbox: 0.4069, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0042, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8507, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8244, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8270, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8298, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.8298, d0.loss_map_cls_all: 0.2420, d0.loss_map_pts_all: 1.7221, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2420, d0.loss_map_pts: 1.7221, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2245, d1.loss_map_pts: 1.1370, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2137, d2.loss_map_pts: 0.9533, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.2068, d3.loss_map_pts: 0.8912, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.2035, d4.loss_map_pts: 0.8708, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.2020, d5.loss_map_pts: 0.8609, d5.loss_map_dir: 0.0121, loss: 34.5017, grad_norm: 170.4871 +2026-02-25 08:55:03,680 - DriveTransformer - INFO - Epoch [4][18850/39528] lr: 9.623e-05, eta: 7 days, 12:51:04, time: 0.785, data_time: 0.038, memory: 19865, loss_cls: 0.2666, loss_bbox: 0.4530, loss_traj: 0.9120, loss_traj_cls: 0.0020, loss_map_cls: 0.2484, loss_map_pts: 1.0491, loss_map_dir: 0.0135, d0.loss_plan_l1_fix_time: 2.7275, d0.loss_plan_l1_fix_dist: 0.5473, d1.loss_plan_l1_fix_time: 1.3634, d1.loss_plan_l1_fix_dist: 0.2320, d2.loss_plan_l1_fix_time: 1.3589, d2.loss_plan_l1_fix_dist: 0.2394, d3.loss_plan_l1_fix_time: 1.3606, d3.loss_plan_l1_fix_dist: 0.2534, d4.loss_plan_l1_fix_time: 1.3636, d4.loss_plan_l1_fix_dist: 0.2677, d5.loss_plan_l1_fix_time: 1.3675, d5.loss_plan_l1_fix_dist: 0.2828, d6.loss_plan_l1_fix_time: 1.3727, d6.loss_plan_l1_fix_dist: 0.3025, d0.loss_cls_all: 0.2853, d0.loss_bbox_all: 0.5102, d0.loss_cls: 0.2853, d0.loss_bbox: 0.5102, d1.loss_cls: 0.2799, d1.loss_bbox: 0.4784, d2.loss_cls: 0.2714, d2.loss_bbox: 0.4610, d3.loss_cls: 0.2689, d3.loss_bbox: 0.4543, d4.loss_cls: 0.2694, d4.loss_bbox: 0.4509, d5.loss_cls: 0.2660, d5.loss_bbox: 0.4512, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1141, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9471, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9064, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9064, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9074, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.9102, d0.loss_map_cls_all: 0.2971, d0.loss_map_pts_all: 1.8820, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.2971, d0.loss_map_pts: 1.8820, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2770, d1.loss_map_pts: 1.3652, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.2650, d2.loss_map_pts: 1.1694, d2.loss_map_dir: 0.0123, d3.loss_map_cls: 0.2575, d3.loss_map_pts: 1.0915, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.2507, d4.loss_map_pts: 1.0645, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.2501, d5.loss_map_pts: 1.0527, d5.loss_map_dir: 0.0134, loss: 38.4137, grad_norm: 170.2243 +2026-02-25 08:55:44,894 - DriveTransformer - INFO - Epoch [4][18900/39528] lr: 9.623e-05, eta: 7 days, 12:50:30, time: 0.824, data_time: 0.046, memory: 19865, loss_cls: 0.2862, loss_bbox: 0.4639, loss_traj: 0.9394, loss_traj_cls: 0.0020, loss_map_cls: 0.2361, loss_map_pts: 1.0819, loss_map_dir: 0.0170, d0.loss_plan_l1_fix_time: 2.7941, d0.loss_plan_l1_fix_dist: 0.4203, d1.loss_plan_l1_fix_time: 1.6688, d1.loss_plan_l1_fix_dist: 0.2355, d2.loss_plan_l1_fix_time: 1.6473, d2.loss_plan_l1_fix_dist: 0.2407, d3.loss_plan_l1_fix_time: 1.6474, d3.loss_plan_l1_fix_dist: 0.2512, d4.loss_plan_l1_fix_time: 1.6495, d4.loss_plan_l1_fix_dist: 0.2624, d5.loss_plan_l1_fix_time: 1.6516, d5.loss_plan_l1_fix_dist: 0.2762, d6.loss_plan_l1_fix_time: 1.6544, d6.loss_plan_l1_fix_dist: 0.2943, d0.loss_cls_all: 0.2998, d0.loss_bbox_all: 0.5153, d0.loss_cls: 0.2998, d0.loss_bbox: 0.5153, d1.loss_cls: 0.2989, d1.loss_bbox: 0.4820, d2.loss_cls: 0.2899, d2.loss_bbox: 0.4697, d3.loss_cls: 0.2859, d3.loss_bbox: 0.4669, d4.loss_cls: 0.2869, d4.loss_bbox: 0.4640, d5.loss_cls: 0.2860, d5.loss_bbox: 0.4620, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1099, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9819, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9456, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9387, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9455, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.9455, d0.loss_map_cls_all: 0.2919, d0.loss_map_pts_all: 1.9759, d0.loss_map_dir_all: 0.0150, d0.loss_map_cls: 0.2919, d0.loss_map_pts: 1.9759, d0.loss_map_dir: 0.0150, d1.loss_map_cls: 0.2641, d1.loss_map_pts: 1.4007, d1.loss_map_dir: 0.0146, d2.loss_map_cls: 0.2498, d2.loss_map_pts: 1.1944, d2.loss_map_dir: 0.0154, d3.loss_map_cls: 0.2419, d3.loss_map_pts: 1.1178, d3.loss_map_dir: 0.0162, d4.loss_map_cls: 0.2372, d4.loss_map_pts: 1.0934, d4.loss_map_dir: 0.0166, d5.loss_map_cls: 0.2365, d5.loss_map_pts: 1.0825, d5.loss_map_dir: 0.0169, loss: 40.7792, grad_norm: 167.3200 +2026-02-25 08:56:24,919 - DriveTransformer - INFO - Epoch [4][18950/39528] lr: 9.623e-05, eta: 7 days, 12:49:49, time: 0.800, data_time: 0.040, memory: 19865, loss_cls: 0.2940, loss_bbox: 0.4917, loss_traj: 0.9292, loss_traj_cls: 0.0020, loss_map_cls: 0.2457, loss_map_pts: 0.9526, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.8814, d0.loss_plan_l1_fix_dist: 0.4775, d1.loss_plan_l1_fix_time: 1.5809, d1.loss_plan_l1_fix_dist: 0.2498, d2.loss_plan_l1_fix_time: 1.5848, d2.loss_plan_l1_fix_dist: 0.2651, d3.loss_plan_l1_fix_time: 1.5893, d3.loss_plan_l1_fix_dist: 0.2843, d4.loss_plan_l1_fix_time: 1.5927, d4.loss_plan_l1_fix_dist: 0.3104, d5.loss_plan_l1_fix_time: 1.5958, d5.loss_plan_l1_fix_dist: 0.3352, d6.loss_plan_l1_fix_time: 1.5989, d6.loss_plan_l1_fix_dist: 0.3551, d0.loss_cls_all: 0.3074, d0.loss_bbox_all: 0.5447, d0.loss_cls: 0.3074, d0.loss_bbox: 0.5447, d1.loss_cls: 0.3047, d1.loss_bbox: 0.5158, d2.loss_cls: 0.3019, d2.loss_bbox: 0.5002, d3.loss_cls: 0.2981, d3.loss_bbox: 0.4935, d4.loss_cls: 0.2958, d4.loss_bbox: 0.4911, d5.loss_cls: 0.2947, d5.loss_bbox: 0.4897, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0382, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9478, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9304, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9310, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9285, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.9268, d0.loss_map_cls_all: 0.2963, d0.loss_map_pts_all: 1.8062, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.2963, d0.loss_map_pts: 1.8062, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2728, d1.loss_map_pts: 1.2158, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2600, d2.loss_map_pts: 1.0337, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2548, d3.loss_map_pts: 0.9768, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2501, d4.loss_map_pts: 0.9597, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.2473, d5.loss_map_pts: 0.9545, d5.loss_map_dir: 0.0137, loss: 39.7486, grad_norm: 167.4384 +2026-02-25 08:57:08,070 - DriveTransformer - INFO - Epoch [4][19000/39528] lr: 9.623e-05, eta: 7 days, 12:49:27, time: 0.863, data_time: 0.039, memory: 19865, loss_cls: 0.3039, loss_bbox: 0.4913, loss_traj: 0.8082, loss_traj_cls: 0.0020, loss_map_cls: 0.2379, loss_map_pts: 1.1248, loss_map_dir: 0.0178, d0.loss_plan_l1_fix_time: 2.8395, d0.loss_plan_l1_fix_dist: 0.3759, d1.loss_plan_l1_fix_time: 1.5294, d1.loss_plan_l1_fix_dist: 0.2526, d2.loss_plan_l1_fix_time: 1.5197, d2.loss_plan_l1_fix_dist: 0.2603, d3.loss_plan_l1_fix_time: 1.5246, d3.loss_plan_l1_fix_dist: 0.2708, d4.loss_plan_l1_fix_time: 1.5285, d4.loss_plan_l1_fix_dist: 0.2828, d5.loss_plan_l1_fix_time: 1.5326, d5.loss_plan_l1_fix_dist: 0.2993, d6.loss_plan_l1_fix_time: 1.5372, d6.loss_plan_l1_fix_dist: 0.3159, d0.loss_cls_all: 0.3260, d0.loss_bbox_all: 0.5444, d0.loss_cls: 0.3260, d0.loss_bbox: 0.5444, d1.loss_cls: 0.3217, d1.loss_bbox: 0.5162, d2.loss_cls: 0.3147, d2.loss_bbox: 0.5015, d3.loss_cls: 0.3057, d3.loss_bbox: 0.4964, d4.loss_cls: 0.3036, d4.loss_bbox: 0.4932, d5.loss_cls: 0.3036, d5.loss_bbox: 0.4923, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9552, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8201, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7986, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.8000, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7973, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.8011, d0.loss_map_cls_all: 0.3026, d0.loss_map_pts_all: 2.2188, d0.loss_map_dir_all: 0.0161, d0.loss_map_cls: 0.3026, d0.loss_map_pts: 2.2188, d0.loss_map_dir: 0.0161, d1.loss_map_cls: 0.2814, d1.loss_map_pts: 1.4601, d1.loss_map_dir: 0.0154, d2.loss_map_cls: 0.2645, d2.loss_map_pts: 1.2287, d2.loss_map_dir: 0.0162, d3.loss_map_cls: 0.2516, d3.loss_map_pts: 1.1586, d3.loss_map_dir: 0.0169, d4.loss_map_cls: 0.2415, d4.loss_map_pts: 1.1355, d4.loss_map_dir: 0.0174, d5.loss_map_cls: 0.2389, d5.loss_map_pts: 1.1275, d5.loss_map_dir: 0.0176, loss: 40.3697, grad_norm: 167.5725 +2026-02-25 08:57:48,099 - DriveTransformer - INFO - Epoch [4][19050/39528] lr: 9.623e-05, eta: 7 days, 12:48:46, time: 0.801, data_time: 0.044, memory: 19865, loss_cls: 0.2330, loss_bbox: 0.4226, loss_traj: 0.9194, loss_traj_cls: 0.0020, loss_map_cls: 0.2014, loss_map_pts: 0.8173, loss_map_dir: 0.0131, d0.loss_plan_l1_fix_time: 2.3789, d0.loss_plan_l1_fix_dist: 0.4226, d1.loss_plan_l1_fix_time: 1.4045, d1.loss_plan_l1_fix_dist: 0.2425, d2.loss_plan_l1_fix_time: 1.3814, d2.loss_plan_l1_fix_dist: 0.2479, d3.loss_plan_l1_fix_time: 1.3798, d3.loss_plan_l1_fix_dist: 0.2574, d4.loss_plan_l1_fix_time: 1.3820, d4.loss_plan_l1_fix_dist: 0.2684, d5.loss_plan_l1_fix_time: 1.3852, d5.loss_plan_l1_fix_dist: 0.2803, d6.loss_plan_l1_fix_time: 1.3901, d6.loss_plan_l1_fix_dist: 0.2973, d0.loss_cls_all: 0.2530, d0.loss_bbox_all: 0.4684, d0.loss_cls: 0.2530, d0.loss_bbox: 0.4684, d1.loss_cls: 0.2459, d1.loss_bbox: 0.4370, d2.loss_cls: 0.2424, d2.loss_bbox: 0.4231, d3.loss_cls: 0.2380, d3.loss_bbox: 0.4189, d4.loss_cls: 0.2348, d4.loss_bbox: 0.4188, d5.loss_cls: 0.2340, d5.loss_bbox: 0.4192, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0853, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9498, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9202, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9185, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9209, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.9195, d0.loss_map_cls_all: 0.2664, d0.loss_map_pts_all: 1.7095, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2664, d0.loss_map_pts: 1.7095, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2349, d1.loss_map_pts: 1.1220, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2219, d2.loss_map_pts: 0.9182, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.2121, d3.loss_map_pts: 0.8525, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2062, d4.loss_map_pts: 0.8294, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.2034, d5.loss_map_pts: 0.8193, d5.loss_map_dir: 0.0129, loss: 35.4584, grad_norm: 164.0108 +2026-02-25 08:58:29,718 - DriveTransformer - INFO - Epoch [4][19100/39528] lr: 9.623e-05, eta: 7 days, 12:48:15, time: 0.832, data_time: 0.049, memory: 19865, loss_cls: 0.2822, loss_bbox: 0.4575, loss_traj: 1.0213, loss_traj_cls: 0.0020, loss_map_cls: 0.2099, loss_map_pts: 0.9500, loss_map_dir: 0.0166, d0.loss_plan_l1_fix_time: 2.6515, d0.loss_plan_l1_fix_dist: 0.5404, d1.loss_plan_l1_fix_time: 1.4330, d1.loss_plan_l1_fix_dist: 0.2499, d2.loss_plan_l1_fix_time: 1.4037, d2.loss_plan_l1_fix_dist: 0.2535, d3.loss_plan_l1_fix_time: 1.4025, d3.loss_plan_l1_fix_dist: 0.2631, d4.loss_plan_l1_fix_time: 1.4042, d4.loss_plan_l1_fix_dist: 0.2748, d5.loss_plan_l1_fix_time: 1.4070, d5.loss_plan_l1_fix_dist: 0.2857, d6.loss_plan_l1_fix_time: 1.4103, d6.loss_plan_l1_fix_dist: 0.2991, d0.loss_cls_all: 0.3047, d0.loss_bbox_all: 0.5027, d0.loss_cls: 0.3047, d0.loss_bbox: 0.5027, d1.loss_cls: 0.2979, d1.loss_bbox: 0.4758, d2.loss_cls: 0.2886, d2.loss_bbox: 0.4646, d3.loss_cls: 0.2846, d3.loss_bbox: 0.4563, d4.loss_cls: 0.2833, d4.loss_bbox: 0.4554, d5.loss_cls: 0.2818, d5.loss_bbox: 0.4561, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2025, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0769, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0347, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0267, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0219, d5.loss_traj_cls: 0.0015, d5.loss_traj: 1.0227, d0.loss_map_cls_all: 0.2683, d0.loss_map_pts_all: 1.9557, d0.loss_map_dir_all: 0.0151, d0.loss_map_cls: 0.2683, d0.loss_map_pts: 1.9557, d0.loss_map_dir: 0.0151, d1.loss_map_cls: 0.2354, d1.loss_map_pts: 1.2930, d1.loss_map_dir: 0.0144, d2.loss_map_cls: 0.2259, d2.loss_map_pts: 1.0628, d2.loss_map_dir: 0.0150, d3.loss_map_cls: 0.2171, d3.loss_map_pts: 0.9859, d3.loss_map_dir: 0.0158, d4.loss_map_cls: 0.2106, d4.loss_map_pts: 0.9641, d4.loss_map_dir: 0.0161, d5.loss_map_cls: 0.2105, d5.loss_map_pts: 0.9542, d5.loss_map_dir: 0.0164, loss: 38.8844, grad_norm: 163.7346 +2026-02-25 08:59:10,082 - DriveTransformer - INFO - Epoch [4][19150/39528] lr: 9.623e-05, eta: 7 days, 12:47:36, time: 0.807, data_time: 0.041, memory: 19865, loss_cls: 0.2605, loss_bbox: 0.4252, loss_traj: 0.8201, loss_traj_cls: 0.0021, loss_map_cls: 0.1965, loss_map_pts: 0.8877, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.5252, d0.loss_plan_l1_fix_dist: 0.5018, d1.loss_plan_l1_fix_time: 1.3821, d1.loss_plan_l1_fix_dist: 0.2750, d2.loss_plan_l1_fix_time: 1.3502, d2.loss_plan_l1_fix_dist: 0.2823, d3.loss_plan_l1_fix_time: 1.3499, d3.loss_plan_l1_fix_dist: 0.2958, d4.loss_plan_l1_fix_time: 1.3516, d4.loss_plan_l1_fix_dist: 0.3120, d5.loss_plan_l1_fix_time: 1.3537, d5.loss_plan_l1_fix_dist: 0.3295, d6.loss_plan_l1_fix_time: 1.3563, d6.loss_plan_l1_fix_dist: 0.3455, d0.loss_cls_all: 0.2774, d0.loss_bbox_all: 0.4803, d0.loss_cls: 0.2774, d0.loss_bbox: 0.4803, d1.loss_cls: 0.2717, d1.loss_bbox: 0.4470, d2.loss_cls: 0.2661, d2.loss_bbox: 0.4336, d3.loss_cls: 0.2627, d3.loss_bbox: 0.4254, d4.loss_cls: 0.2594, d4.loss_bbox: 0.4228, d5.loss_cls: 0.2600, d5.loss_bbox: 0.4230, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9699, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8375, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8276, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8112, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8052, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.8152, d0.loss_map_cls_all: 0.2456, d0.loss_map_pts_all: 1.8470, d0.loss_map_dir_all: 0.0130, d0.loss_map_cls: 0.2456, d0.loss_map_pts: 1.8470, d0.loss_map_dir: 0.0130, d1.loss_map_cls: 0.2267, d1.loss_map_pts: 1.1999, d1.loss_map_dir: 0.0122, d2.loss_map_cls: 0.2136, d2.loss_map_pts: 0.9904, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2049, d3.loss_map_pts: 0.9199, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.1986, d4.loss_map_pts: 0.8967, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.1973, d5.loss_map_pts: 0.8903, d5.loss_map_dir: 0.0136, loss: 35.8910, grad_norm: 164.7346 +2026-02-25 08:59:50,298 - DriveTransformer - INFO - Epoch [4][19200/39528] lr: 9.623e-05, eta: 7 days, 12:46:56, time: 0.804, data_time: 0.039, memory: 19865, loss_cls: 0.2464, loss_bbox: 0.4273, loss_traj: 0.9129, loss_traj_cls: 0.0021, loss_map_cls: 0.1777, loss_map_pts: 0.8248, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.4710, d0.loss_plan_l1_fix_dist: 0.4074, d1.loss_plan_l1_fix_time: 1.3978, d1.loss_plan_l1_fix_dist: 0.2584, d2.loss_plan_l1_fix_time: 1.3575, d2.loss_plan_l1_fix_dist: 0.2715, d3.loss_plan_l1_fix_time: 1.3538, d3.loss_plan_l1_fix_dist: 0.2881, d4.loss_plan_l1_fix_time: 1.3544, d4.loss_plan_l1_fix_dist: 0.3059, d5.loss_plan_l1_fix_time: 1.3559, d5.loss_plan_l1_fix_dist: 0.3281, d6.loss_plan_l1_fix_time: 1.3584, d6.loss_plan_l1_fix_dist: 0.3556, d0.loss_cls_all: 0.2628, d0.loss_bbox_all: 0.4841, d0.loss_cls: 0.2628, d0.loss_bbox: 0.4841, d1.loss_cls: 0.2596, d1.loss_bbox: 0.4501, d2.loss_cls: 0.2534, d2.loss_bbox: 0.4323, d3.loss_cls: 0.2494, d3.loss_bbox: 0.4267, d4.loss_cls: 0.2476, d4.loss_bbox: 0.4242, d5.loss_cls: 0.2459, d5.loss_bbox: 0.4255, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1117, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9789, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9197, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9133, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9118, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.9122, d0.loss_map_cls_all: 0.2396, d0.loss_map_pts_all: 1.6783, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2396, d0.loss_map_pts: 1.6783, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2079, d1.loss_map_pts: 1.0892, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.1949, d2.loss_map_pts: 0.9158, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.1848, d3.loss_map_pts: 0.8582, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.1796, d4.loss_map_pts: 0.8332, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.1778, d5.loss_map_pts: 0.8256, d5.loss_map_dir: 0.0123, loss: 35.5145, grad_norm: 164.1549 +2026-02-25 09:00:30,186 - DriveTransformer - INFO - Epoch [4][19250/39528] lr: 9.623e-05, eta: 7 days, 12:46:15, time: 0.798, data_time: 0.042, memory: 19865, loss_cls: 0.2951, loss_bbox: 0.4609, loss_traj: 0.8118, loss_traj_cls: 0.0021, loss_map_cls: 0.2552, loss_map_pts: 1.0024, loss_map_dir: 0.0150, d0.loss_plan_l1_fix_time: 2.8689, d0.loss_plan_l1_fix_dist: 0.3807, d1.loss_plan_l1_fix_time: 1.7348, d1.loss_plan_l1_fix_dist: 0.2342, d2.loss_plan_l1_fix_time: 1.7118, d2.loss_plan_l1_fix_dist: 0.2444, d3.loss_plan_l1_fix_time: 1.7107, d3.loss_plan_l1_fix_dist: 0.2598, d4.loss_plan_l1_fix_time: 1.7129, d4.loss_plan_l1_fix_dist: 0.2754, d5.loss_plan_l1_fix_time: 1.7156, d5.loss_plan_l1_fix_dist: 0.2927, d6.loss_plan_l1_fix_time: 1.7188, d6.loss_plan_l1_fix_dist: 0.3102, d0.loss_cls_all: 0.3192, d0.loss_bbox_all: 0.5094, d0.loss_cls: 0.3192, d0.loss_bbox: 0.5094, d1.loss_cls: 0.3115, d1.loss_bbox: 0.4771, d2.loss_cls: 0.3021, d2.loss_bbox: 0.4676, d3.loss_cls: 0.3004, d3.loss_bbox: 0.4612, d4.loss_cls: 0.2981, d4.loss_bbox: 0.4587, d5.loss_cls: 0.2959, d5.loss_bbox: 0.4583, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0278, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8609, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8134, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8152, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8094, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.8104, d0.loss_map_cls_all: 0.3188, d0.loss_map_pts_all: 1.8284, d0.loss_map_dir_all: 0.0137, d0.loss_map_cls: 0.3188, d0.loss_map_pts: 1.8284, d0.loss_map_dir: 0.0137, d1.loss_map_cls: 0.2887, d1.loss_map_pts: 1.2779, d1.loss_map_dir: 0.0133, d2.loss_map_cls: 0.2767, d2.loss_map_pts: 1.1012, d2.loss_map_dir: 0.0138, d3.loss_map_cls: 0.2669, d3.loss_map_pts: 1.0341, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.2603, d4.loss_map_pts: 1.0110, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.2561, d5.loss_map_pts: 1.0018, d5.loss_map_dir: 0.0148, loss: 39.8119, grad_norm: 166.6748 +2026-02-25 09:01:09,037 - DriveTransformer - INFO - Epoch [4][19300/39528] lr: 9.623e-05, eta: 7 days, 12:45:27, time: 0.777, data_time: 0.045, memory: 19865, loss_cls: 0.2995, loss_bbox: 0.4727, loss_traj: 1.0535, loss_traj_cls: 0.0021, loss_map_cls: 0.2348, loss_map_pts: 0.9828, loss_map_dir: 0.0139, d0.loss_plan_l1_fix_time: 2.7412, d0.loss_plan_l1_fix_dist: 0.4201, d1.loss_plan_l1_fix_time: 1.6351, d1.loss_plan_l1_fix_dist: 0.2494, d2.loss_plan_l1_fix_time: 1.6246, d2.loss_plan_l1_fix_dist: 0.2566, d3.loss_plan_l1_fix_time: 1.6310, d3.loss_plan_l1_fix_dist: 0.2697, d4.loss_plan_l1_fix_time: 1.6367, d4.loss_plan_l1_fix_dist: 0.2862, d5.loss_plan_l1_fix_time: 1.6421, d5.loss_plan_l1_fix_dist: 0.3049, d6.loss_plan_l1_fix_time: 1.6472, d6.loss_plan_l1_fix_dist: 0.3268, d0.loss_cls_all: 0.3211, d0.loss_bbox_all: 0.5274, d0.loss_cls: 0.3211, d0.loss_bbox: 0.5274, d1.loss_cls: 0.3126, d1.loss_bbox: 0.4981, d2.loss_cls: 0.3053, d2.loss_bbox: 0.4832, d3.loss_cls: 0.3004, d3.loss_bbox: 0.4773, d4.loss_cls: 0.3005, d4.loss_bbox: 0.4739, d5.loss_cls: 0.3000, d5.loss_bbox: 0.4733, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2443, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0995, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0606, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0564, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0515, d5.loss_traj_cls: 0.0016, d5.loss_traj: 1.0512, d0.loss_map_cls_all: 0.2959, d0.loss_map_pts_all: 1.7829, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.2959, d0.loss_map_pts: 1.7829, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2716, d1.loss_map_pts: 1.2256, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2545, d2.loss_map_pts: 1.0728, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2436, d3.loss_map_pts: 1.0096, d3.loss_map_dir: 0.0134, d4.loss_map_cls: 0.2363, d4.loss_map_pts: 0.9913, d4.loss_map_dir: 0.0137, d5.loss_map_cls: 0.2346, d5.loss_map_pts: 0.9826, d5.loss_map_dir: 0.0139, loss: 40.6938, grad_norm: 165.3703 +2026-02-25 09:01:50,157 - DriveTransformer - INFO - Epoch [4][19350/39528] lr: 9.623e-05, eta: 7 days, 12:44:53, time: 0.822, data_time: 0.045, memory: 19865, loss_cls: 0.2918, loss_bbox: 0.4598, loss_traj: 0.8563, loss_traj_cls: 0.0020, loss_map_cls: 0.2868, loss_map_pts: 1.1866, loss_map_dir: 0.0172, d0.loss_plan_l1_fix_time: 2.8085, d0.loss_plan_l1_fix_dist: 0.3767, d1.loss_plan_l1_fix_time: 1.4926, d1.loss_plan_l1_fix_dist: 0.2286, d2.loss_plan_l1_fix_time: 1.4864, d2.loss_plan_l1_fix_dist: 0.2417, d3.loss_plan_l1_fix_time: 1.4929, d3.loss_plan_l1_fix_dist: 0.2583, d4.loss_plan_l1_fix_time: 1.4982, d4.loss_plan_l1_fix_dist: 0.2741, d5.loss_plan_l1_fix_time: 1.5037, d5.loss_plan_l1_fix_dist: 0.2909, d6.loss_plan_l1_fix_time: 1.5096, d6.loss_plan_l1_fix_dist: 0.3081, d0.loss_cls_all: 0.3147, d0.loss_bbox_all: 0.5202, d0.loss_cls: 0.3147, d0.loss_bbox: 0.5202, d1.loss_cls: 0.3047, d1.loss_bbox: 0.4879, d2.loss_cls: 0.2988, d2.loss_bbox: 0.4696, d3.loss_cls: 0.2954, d3.loss_bbox: 0.4643, d4.loss_cls: 0.2933, d4.loss_bbox: 0.4601, d5.loss_cls: 0.2916, d5.loss_bbox: 0.4599, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0771, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9114, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8676, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8652, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8627, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.8622, d0.loss_map_cls_all: 0.3382, d0.loss_map_pts_all: 2.1545, d0.loss_map_dir_all: 0.0160, d0.loss_map_cls: 0.3382, d0.loss_map_pts: 2.1545, d0.loss_map_dir: 0.0160, d1.loss_map_cls: 0.3119, d1.loss_map_pts: 1.5050, d1.loss_map_dir: 0.0152, d2.loss_map_cls: 0.3020, d2.loss_map_pts: 1.2897, d2.loss_map_dir: 0.0158, d3.loss_map_cls: 0.2952, d3.loss_map_pts: 1.2204, d3.loss_map_dir: 0.0165, d4.loss_map_cls: 0.2886, d4.loss_map_pts: 1.1983, d4.loss_map_dir: 0.0168, d5.loss_map_cls: 0.2868, d5.loss_map_pts: 1.1905, d5.loss_map_dir: 0.0171, loss: 40.8054, grad_norm: 163.0845 +2026-02-25 09:02:32,768 - DriveTransformer - INFO - Epoch [4][19400/39528] lr: 9.623e-05, eta: 7 days, 12:44:28, time: 0.854, data_time: 0.038, memory: 19865, loss_cls: 0.2940, loss_bbox: 0.4850, loss_traj: 0.9131, loss_traj_cls: 0.0020, loss_map_cls: 0.2716, loss_map_pts: 1.1837, loss_map_dir: 0.0182, d0.loss_plan_l1_fix_time: 2.8134, d0.loss_plan_l1_fix_dist: 0.4188, d1.loss_plan_l1_fix_time: 1.7181, d1.loss_plan_l1_fix_dist: 0.2634, d2.loss_plan_l1_fix_time: 1.7023, d2.loss_plan_l1_fix_dist: 0.2772, d3.loss_plan_l1_fix_time: 1.7059, d3.loss_plan_l1_fix_dist: 0.2931, d4.loss_plan_l1_fix_time: 1.7102, d4.loss_plan_l1_fix_dist: 0.3110, d5.loss_plan_l1_fix_time: 1.7153, d5.loss_plan_l1_fix_dist: 0.3302, d6.loss_plan_l1_fix_time: 1.7218, d6.loss_plan_l1_fix_dist: 0.3497, d0.loss_cls_all: 0.3103, d0.loss_bbox_all: 0.5403, d0.loss_cls: 0.3103, d0.loss_bbox: 0.5403, d1.loss_cls: 0.3049, d1.loss_bbox: 0.5089, d2.loss_cls: 0.2970, d2.loss_bbox: 0.4963, d3.loss_cls: 0.2961, d3.loss_bbox: 0.4883, d4.loss_cls: 0.2940, d4.loss_bbox: 0.4865, d5.loss_cls: 0.2937, d5.loss_bbox: 0.4841, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1507, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9562, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9156, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9116, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9115, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.9071, d0.loss_map_cls_all: 0.3335, d0.loss_map_pts_all: 2.2580, d0.loss_map_dir_all: 0.0172, d0.loss_map_cls: 0.3335, d0.loss_map_pts: 2.2580, d0.loss_map_dir: 0.0172, d1.loss_map_cls: 0.3048, d1.loss_map_pts: 1.5243, d1.loss_map_dir: 0.0162, d2.loss_map_cls: 0.2907, d2.loss_map_pts: 1.3019, d2.loss_map_dir: 0.0168, d3.loss_map_cls: 0.2818, d3.loss_map_pts: 1.2255, d3.loss_map_dir: 0.0175, d4.loss_map_cls: 0.2747, d4.loss_map_pts: 1.1950, d4.loss_map_dir: 0.0180, d5.loss_map_cls: 0.2723, d5.loss_map_pts: 1.1894, d5.loss_map_dir: 0.0181, loss: 43.0716, grad_norm: 162.7329 +2026-02-25 09:03:14,470 - DriveTransformer - INFO - Epoch [4][19450/39528] lr: 9.623e-05, eta: 7 days, 12:43:56, time: 0.833, data_time: 0.036, memory: 19865, loss_cls: 0.3091, loss_bbox: 0.4839, loss_traj: 1.0012, loss_traj_cls: 0.0020, loss_map_cls: 0.2564, loss_map_pts: 1.0961, loss_map_dir: 0.0164, d0.loss_plan_l1_fix_time: 2.8355, d0.loss_plan_l1_fix_dist: 0.3673, d1.loss_plan_l1_fix_time: 1.4830, d1.loss_plan_l1_fix_dist: 0.2692, d2.loss_plan_l1_fix_time: 1.4754, d2.loss_plan_l1_fix_dist: 0.2821, d3.loss_plan_l1_fix_time: 1.4818, d3.loss_plan_l1_fix_dist: 0.2995, d4.loss_plan_l1_fix_time: 1.4873, d4.loss_plan_l1_fix_dist: 0.3191, d5.loss_plan_l1_fix_time: 1.4934, d5.loss_plan_l1_fix_dist: 0.3386, d6.loss_plan_l1_fix_time: 1.5021, d6.loss_plan_l1_fix_dist: 0.3625, d0.loss_cls_all: 0.3248, d0.loss_bbox_all: 0.5372, d0.loss_cls: 0.3248, d0.loss_bbox: 0.5372, d1.loss_cls: 0.3212, d1.loss_bbox: 0.5066, d2.loss_cls: 0.3162, d2.loss_bbox: 0.4925, d3.loss_cls: 0.3149, d3.loss_bbox: 0.4838, d4.loss_cls: 0.3094, d4.loss_bbox: 0.4829, d5.loss_cls: 0.3096, d5.loss_bbox: 0.4816, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2296, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0502, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0033, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9971, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9920, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.9902, d0.loss_map_cls_all: 0.3166, d0.loss_map_pts_all: 1.9595, d0.loss_map_dir_all: 0.0153, d0.loss_map_cls: 0.3166, d0.loss_map_pts: 1.9595, d0.loss_map_dir: 0.0153, d1.loss_map_cls: 0.2862, d1.loss_map_pts: 1.3703, d1.loss_map_dir: 0.0148, d2.loss_map_cls: 0.2699, d2.loss_map_pts: 1.1897, d2.loss_map_dir: 0.0151, d3.loss_map_cls: 0.2612, d3.loss_map_pts: 1.1293, d3.loss_map_dir: 0.0157, d4.loss_map_cls: 0.2575, d4.loss_map_pts: 1.1072, d4.loss_map_dir: 0.0161, d5.loss_map_cls: 0.2554, d5.loss_map_pts: 1.0998, d5.loss_map_dir: 0.0164, loss: 41.0606, grad_norm: 164.3338 +2026-02-25 09:03:55,005 - DriveTransformer - INFO - Epoch [4][19500/39528] lr: 9.623e-05, eta: 7 days, 12:43:19, time: 0.811, data_time: 0.041, memory: 19865, loss_cls: 0.2633, loss_bbox: 0.4330, loss_traj: 0.9952, loss_traj_cls: 0.0021, loss_map_cls: 0.2519, loss_map_pts: 1.0752, loss_map_dir: 0.0132, d0.loss_plan_l1_fix_time: 2.5075, d0.loss_plan_l1_fix_dist: 0.3743, d1.loss_plan_l1_fix_time: 1.4345, d1.loss_plan_l1_fix_dist: 0.2263, d2.loss_plan_l1_fix_time: 1.4329, d2.loss_plan_l1_fix_dist: 0.2372, d3.loss_plan_l1_fix_time: 1.4409, d3.loss_plan_l1_fix_dist: 0.2521, d4.loss_plan_l1_fix_time: 1.4467, d4.loss_plan_l1_fix_dist: 0.2712, d5.loss_plan_l1_fix_time: 1.4528, d5.loss_plan_l1_fix_dist: 0.2930, d6.loss_plan_l1_fix_time: 1.4603, d6.loss_plan_l1_fix_dist: 0.3169, d0.loss_cls_all: 0.2778, d0.loss_bbox_all: 0.4842, d0.loss_cls: 0.2778, d0.loss_bbox: 0.4842, d1.loss_cls: 0.2763, d1.loss_bbox: 0.4488, d2.loss_cls: 0.2696, d2.loss_bbox: 0.4349, d3.loss_cls: 0.2660, d3.loss_bbox: 0.4323, d4.loss_cls: 0.2625, d4.loss_bbox: 0.4314, d5.loss_cls: 0.2630, d5.loss_bbox: 0.4317, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1929, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0440, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9984, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9986, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0029, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.9930, d0.loss_map_cls_all: 0.3169, d0.loss_map_pts_all: 1.9263, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.3169, d0.loss_map_pts: 1.9263, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2768, d1.loss_map_pts: 1.3768, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2644, d2.loss_map_pts: 1.1814, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2556, d3.loss_map_pts: 1.1083, d3.loss_map_dir: 0.0125, d4.loss_map_cls: 0.2527, d4.loss_map_pts: 1.0848, d4.loss_map_dir: 0.0128, d5.loss_map_cls: 0.2521, d5.loss_map_pts: 1.0785, d5.loss_map_dir: 0.0131, loss: 39.1600, grad_norm: 165.8054 +2026-02-25 09:04:35,541 - DriveTransformer - INFO - Epoch [4][19550/39528] lr: 9.623e-05, eta: 7 days, 12:42:41, time: 0.811, data_time: 0.046, memory: 19865, loss_cls: 0.2681, loss_bbox: 0.4251, loss_traj: 0.9601, loss_traj_cls: 0.0021, loss_map_cls: 0.2373, loss_map_pts: 1.0051, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 2.6553, d0.loss_plan_l1_fix_dist: 0.4556, d1.loss_plan_l1_fix_time: 1.5069, d1.loss_plan_l1_fix_dist: 0.2527, d2.loss_plan_l1_fix_time: 1.4982, d2.loss_plan_l1_fix_dist: 0.2600, d3.loss_plan_l1_fix_time: 1.5040, d3.loss_plan_l1_fix_dist: 0.2736, d4.loss_plan_l1_fix_time: 1.5086, d4.loss_plan_l1_fix_dist: 0.2907, d5.loss_plan_l1_fix_time: 1.5132, d5.loss_plan_l1_fix_dist: 0.3117, d6.loss_plan_l1_fix_time: 1.5174, d6.loss_plan_l1_fix_dist: 0.3329, d0.loss_cls_all: 0.2835, d0.loss_bbox_all: 0.4759, d0.loss_cls: 0.2835, d0.loss_bbox: 0.4759, d1.loss_cls: 0.2813, d1.loss_bbox: 0.4459, d2.loss_cls: 0.2724, d2.loss_bbox: 0.4347, d3.loss_cls: 0.2690, d3.loss_bbox: 0.4266, d4.loss_cls: 0.2659, d4.loss_bbox: 0.4249, d5.loss_cls: 0.2653, d5.loss_bbox: 0.4248, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1734, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0048, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9649, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9613, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9636, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.9602, d0.loss_map_cls_all: 0.3004, d0.loss_map_pts_all: 1.9084, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.3004, d0.loss_map_pts: 1.9084, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2696, d1.loss_map_pts: 1.3003, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2544, d2.loss_map_pts: 1.1129, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2439, d3.loss_map_pts: 1.0401, d3.loss_map_dir: 0.0135, d4.loss_map_cls: 0.2393, d4.loss_map_pts: 1.0172, d4.loss_map_dir: 0.0139, d5.loss_map_cls: 0.2373, d5.loss_map_pts: 1.0098, d5.loss_map_dir: 0.0141, loss: 39.0912, grad_norm: 166.8161 +2026-02-25 09:05:16,090 - DriveTransformer - INFO - Epoch [4][19600/39528] lr: 9.623e-05, eta: 7 days, 12:42:03, time: 0.811, data_time: 0.046, memory: 19865, loss_cls: 0.2660, loss_bbox: 0.4297, loss_traj: 0.8007, loss_traj_cls: 0.0020, loss_map_cls: 0.2260, loss_map_pts: 0.8602, loss_map_dir: 0.0146, d0.loss_plan_l1_fix_time: 2.7299, d0.loss_plan_l1_fix_dist: 0.4224, d1.loss_plan_l1_fix_time: 1.6051, d1.loss_plan_l1_fix_dist: 0.2461, d2.loss_plan_l1_fix_time: 1.5921, d2.loss_plan_l1_fix_dist: 0.2540, d3.loss_plan_l1_fix_time: 1.5926, d3.loss_plan_l1_fix_dist: 0.2686, d4.loss_plan_l1_fix_time: 1.5954, d4.loss_plan_l1_fix_dist: 0.2851, d5.loss_plan_l1_fix_time: 1.5986, d5.loss_plan_l1_fix_dist: 0.3041, d6.loss_plan_l1_fix_time: 1.6019, d6.loss_plan_l1_fix_dist: 0.3228, d0.loss_cls_all: 0.2797, d0.loss_bbox_all: 0.4694, d0.loss_cls: 0.2797, d0.loss_bbox: 0.4694, d1.loss_cls: 0.2751, d1.loss_bbox: 0.4439, d2.loss_cls: 0.2688, d2.loss_bbox: 0.4329, d3.loss_cls: 0.2669, d3.loss_bbox: 0.4278, d4.loss_cls: 0.2650, d4.loss_bbox: 0.4270, d5.loss_cls: 0.2641, d5.loss_bbox: 0.4280, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9544, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8140, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7946, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7915, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7942, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7950, d0.loss_map_cls_all: 0.2877, d0.loss_map_pts_all: 1.7143, d0.loss_map_dir_all: 0.0136, d0.loss_map_cls: 0.2877, d0.loss_map_pts: 1.7143, d0.loss_map_dir: 0.0136, d1.loss_map_cls: 0.2563, d1.loss_map_pts: 1.0974, d1.loss_map_dir: 0.0131, d2.loss_map_cls: 0.2421, d2.loss_map_pts: 0.9312, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2320, d3.loss_map_pts: 0.8777, d3.loss_map_dir: 0.0140, d4.loss_map_cls: 0.2271, d4.loss_map_pts: 0.8618, d4.loss_map_dir: 0.0143, d5.loss_map_cls: 0.2259, d5.loss_map_pts: 0.8598, d5.loss_map_dir: 0.0145, loss: 36.8764, grad_norm: 166.7930 +2026-02-25 09:05:57,567 - DriveTransformer - INFO - Epoch [4][19650/39528] lr: 9.623e-05, eta: 7 days, 12:41:31, time: 0.830, data_time: 0.041, memory: 19865, loss_cls: 0.2667, loss_bbox: 0.4314, loss_traj: 0.7444, loss_traj_cls: 0.0021, loss_map_cls: 0.2216, loss_map_pts: 0.9768, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.2277, d0.loss_plan_l1_fix_dist: 0.4367, d1.loss_plan_l1_fix_time: 1.3169, d1.loss_plan_l1_fix_dist: 0.2303, d2.loss_plan_l1_fix_time: 1.3027, d2.loss_plan_l1_fix_dist: 0.2370, d3.loss_plan_l1_fix_time: 1.3033, d3.loss_plan_l1_fix_dist: 0.2501, d4.loss_plan_l1_fix_time: 1.3058, d4.loss_plan_l1_fix_dist: 0.2670, d5.loss_plan_l1_fix_time: 1.3093, d5.loss_plan_l1_fix_dist: 0.2842, d6.loss_plan_l1_fix_time: 1.3133, d6.loss_plan_l1_fix_dist: 0.3059, d0.loss_cls_all: 0.2812, d0.loss_bbox_all: 0.4784, d0.loss_cls: 0.2812, d0.loss_bbox: 0.4784, d1.loss_cls: 0.2749, d1.loss_bbox: 0.4505, d2.loss_cls: 0.2712, d2.loss_bbox: 0.4354, d3.loss_cls: 0.2699, d3.loss_bbox: 0.4309, d4.loss_cls: 0.2663, d4.loss_bbox: 0.4296, d5.loss_cls: 0.2649, d5.loss_bbox: 0.4306, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9290, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7813, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7432, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7370, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7363, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7390, d0.loss_map_cls_all: 0.2825, d0.loss_map_pts_all: 1.8865, d0.loss_map_dir_all: 0.0142, d0.loss_map_cls: 0.2825, d0.loss_map_pts: 1.8865, d0.loss_map_dir: 0.0142, d1.loss_map_cls: 0.2554, d1.loss_map_pts: 1.2523, d1.loss_map_dir: 0.0134, d2.loss_map_cls: 0.2400, d2.loss_map_pts: 1.0649, d2.loss_map_dir: 0.0136, d3.loss_map_cls: 0.2286, d3.loss_map_pts: 0.9990, d3.loss_map_dir: 0.0141, d4.loss_map_cls: 0.2253, d4.loss_map_pts: 0.9770, d4.loss_map_dir: 0.0145, d5.loss_map_cls: 0.2226, d5.loss_map_pts: 0.9711, d5.loss_map_dir: 0.0147, loss: 35.3359, grad_norm: 167.4716 +2026-02-25 09:06:35,292 - DriveTransformer - INFO - Epoch [4][19700/39528] lr: 9.623e-05, eta: 7 days, 12:40:37, time: 0.755, data_time: 0.037, memory: 19865, loss_cls: 0.2862, loss_bbox: 0.4818, loss_traj: 0.9213, loss_traj_cls: 0.0021, loss_map_cls: 0.2536, loss_map_pts: 1.0432, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 3.0816, d0.loss_plan_l1_fix_dist: 0.3969, d1.loss_plan_l1_fix_time: 1.8538, d1.loss_plan_l1_fix_dist: 0.2355, d2.loss_plan_l1_fix_time: 1.8472, d2.loss_plan_l1_fix_dist: 0.2461, d3.loss_plan_l1_fix_time: 1.8513, d3.loss_plan_l1_fix_dist: 0.2631, d4.loss_plan_l1_fix_time: 1.8553, d4.loss_plan_l1_fix_dist: 0.2836, d5.loss_plan_l1_fix_time: 1.8599, d5.loss_plan_l1_fix_dist: 0.3055, d6.loss_plan_l1_fix_time: 1.8654, d6.loss_plan_l1_fix_dist: 0.3300, d0.loss_cls_all: 0.3097, d0.loss_bbox_all: 0.5393, d0.loss_cls: 0.3097, d0.loss_bbox: 0.5393, d1.loss_cls: 0.3030, d1.loss_bbox: 0.5094, d2.loss_cls: 0.2942, d2.loss_bbox: 0.4911, d3.loss_cls: 0.2875, d3.loss_bbox: 0.4865, d4.loss_cls: 0.2884, d4.loss_bbox: 0.4826, d5.loss_cls: 0.2841, d5.loss_bbox: 0.4840, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1771, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9849, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9243, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9181, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9129, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.9230, d0.loss_map_cls_all: 0.3073, d0.loss_map_pts_all: 1.7695, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.3073, d0.loss_map_pts: 1.7695, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2829, d1.loss_map_pts: 1.3226, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2731, d2.loss_map_pts: 1.1482, d2.loss_map_dir: 0.0122, d3.loss_map_cls: 0.2619, d3.loss_map_pts: 1.0783, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.2574, d4.loss_map_pts: 1.0536, d4.loss_map_dir: 0.0131, d5.loss_map_cls: 0.2556, d5.loss_map_pts: 1.0441, d5.loss_map_dir: 0.0133, loss: 41.9489, grad_norm: 165.1141 +2026-02-25 09:07:15,671 - DriveTransformer - INFO - Epoch [4][19750/39528] lr: 9.623e-05, eta: 7 days, 12:39:58, time: 0.808, data_time: 0.041, memory: 19865, loss_cls: 0.2976, loss_bbox: 0.4804, loss_traj: 0.9668, loss_traj_cls: 0.0020, loss_map_cls: 0.2679, loss_map_pts: 1.2361, loss_map_dir: 0.0178, d0.loss_plan_l1_fix_time: 2.4016, d0.loss_plan_l1_fix_dist: 0.3605, d1.loss_plan_l1_fix_time: 1.4934, d1.loss_plan_l1_fix_dist: 0.2291, d2.loss_plan_l1_fix_time: 1.4880, d2.loss_plan_l1_fix_dist: 0.2358, d3.loss_plan_l1_fix_time: 1.4912, d3.loss_plan_l1_fix_dist: 0.2475, d4.loss_plan_l1_fix_time: 1.4956, d4.loss_plan_l1_fix_dist: 0.2608, d5.loss_plan_l1_fix_time: 1.5005, d5.loss_plan_l1_fix_dist: 0.2764, d6.loss_plan_l1_fix_time: 1.5062, d6.loss_plan_l1_fix_dist: 0.2935, d0.loss_cls_all: 0.3168, d0.loss_bbox_all: 0.5347, d0.loss_cls: 0.3168, d0.loss_bbox: 0.5347, d1.loss_cls: 0.3128, d1.loss_bbox: 0.5023, d2.loss_cls: 0.3069, d2.loss_bbox: 0.4883, d3.loss_cls: 0.3014, d3.loss_bbox: 0.4837, d4.loss_cls: 0.2991, d4.loss_bbox: 0.4806, d5.loss_cls: 0.2978, d5.loss_bbox: 0.4808, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1586, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0072, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9836, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9751, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9676, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.9676, d0.loss_map_cls_all: 0.3316, d0.loss_map_pts_all: 2.2718, d0.loss_map_dir_all: 0.0159, d0.loss_map_cls: 0.3316, d0.loss_map_pts: 2.2718, d0.loss_map_dir: 0.0159, d1.loss_map_cls: 0.3045, d1.loss_map_pts: 1.5343, d1.loss_map_dir: 0.0156, d2.loss_map_cls: 0.2878, d2.loss_map_pts: 1.3349, d2.loss_map_dir: 0.0163, d3.loss_map_cls: 0.2759, d3.loss_map_pts: 1.2696, d3.loss_map_dir: 0.0170, d4.loss_map_cls: 0.2712, d4.loss_map_pts: 1.2452, d4.loss_map_dir: 0.0174, d5.loss_map_cls: 0.2685, d5.loss_map_pts: 1.2421, d5.loss_map_dir: 0.0176, loss: 41.6271, grad_norm: 164.5958 +2026-02-25 09:07:56,487 - DriveTransformer - INFO - Epoch [4][19800/39528] lr: 9.623e-05, eta: 7 days, 12:39:22, time: 0.816, data_time: 0.046, memory: 19865, loss_cls: 0.2598, loss_bbox: 0.4593, loss_traj: 0.9695, loss_traj_cls: 0.0020, loss_map_cls: 0.2294, loss_map_pts: 0.9902, loss_map_dir: 0.0141, d0.loss_plan_l1_fix_time: 2.8520, d0.loss_plan_l1_fix_dist: 0.3579, d1.loss_plan_l1_fix_time: 1.7319, d1.loss_plan_l1_fix_dist: 0.2442, d2.loss_plan_l1_fix_time: 1.7242, d2.loss_plan_l1_fix_dist: 0.2524, d3.loss_plan_l1_fix_time: 1.7291, d3.loss_plan_l1_fix_dist: 0.2647, d4.loss_plan_l1_fix_time: 1.7334, d4.loss_plan_l1_fix_dist: 0.2791, d5.loss_plan_l1_fix_time: 1.7379, d5.loss_plan_l1_fix_dist: 0.2940, d6.loss_plan_l1_fix_time: 1.7432, d6.loss_plan_l1_fix_dist: 0.3090, d0.loss_cls_all: 0.2816, d0.loss_bbox_all: 0.5024, d0.loss_cls: 0.2816, d0.loss_bbox: 0.5024, d1.loss_cls: 0.2713, d1.loss_bbox: 0.4732, d2.loss_cls: 0.2633, d2.loss_bbox: 0.4616, d3.loss_cls: 0.2610, d3.loss_bbox: 0.4571, d4.loss_cls: 0.2579, d4.loss_bbox: 0.4574, d5.loss_cls: 0.2586, d5.loss_bbox: 0.4576, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2904, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0462, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9829, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9714, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9690, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.9678, d0.loss_map_cls_all: 0.2889, d0.loss_map_pts_all: 1.8057, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.2889, d0.loss_map_pts: 1.8057, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2579, d1.loss_map_pts: 1.2350, d1.loss_map_dir: 0.0125, d2.loss_map_cls: 0.2469, d2.loss_map_pts: 1.0773, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2388, d3.loss_map_pts: 1.0216, d3.loss_map_dir: 0.0134, d4.loss_map_cls: 0.2317, d4.loss_map_pts: 0.9985, d4.loss_map_dir: 0.0137, d5.loss_map_cls: 0.2298, d5.loss_map_pts: 0.9917, d5.loss_map_dir: 0.0139, loss: 40.4091, grad_norm: 163.5888 +2026-02-25 09:08:38,041 - DriveTransformer - INFO - Epoch [4][19850/39528] lr: 9.623e-05, eta: 7 days, 12:38:50, time: 0.831, data_time: 0.051, memory: 19865, loss_cls: 0.2630, loss_bbox: 0.4670, loss_traj: 0.8439, loss_traj_cls: 0.0020, loss_map_cls: 0.1885, loss_map_pts: 0.9657, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 2.8425, d0.loss_plan_l1_fix_dist: 0.3956, d1.loss_plan_l1_fix_time: 1.6363, d1.loss_plan_l1_fix_dist: 0.2470, d2.loss_plan_l1_fix_time: 1.6162, d2.loss_plan_l1_fix_dist: 0.2530, d3.loss_plan_l1_fix_time: 1.6138, d3.loss_plan_l1_fix_dist: 0.2634, d4.loss_plan_l1_fix_time: 1.6162, d4.loss_plan_l1_fix_dist: 0.2757, d5.loss_plan_l1_fix_time: 1.6197, d5.loss_plan_l1_fix_dist: 0.2889, d6.loss_plan_l1_fix_time: 1.6240, d6.loss_plan_l1_fix_dist: 0.3038, d0.loss_cls_all: 0.2949, d0.loss_bbox_all: 0.5189, d0.loss_cls: 0.2949, d0.loss_bbox: 0.5189, d1.loss_cls: 0.2832, d1.loss_bbox: 0.4884, d2.loss_cls: 0.2728, d2.loss_bbox: 0.4740, d3.loss_cls: 0.2680, d3.loss_bbox: 0.4660, d4.loss_cls: 0.2651, d4.loss_bbox: 0.4642, d5.loss_cls: 0.2638, d5.loss_bbox: 0.4652, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0902, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9105, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8594, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8494, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8447, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.8418, d0.loss_map_cls_all: 0.2396, d0.loss_map_pts_all: 1.8100, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.2396, d0.loss_map_pts: 1.8100, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2176, d1.loss_map_pts: 1.2075, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2060, d2.loss_map_pts: 1.0426, d2.loss_map_dir: 0.0132, d3.loss_map_cls: 0.1948, d3.loss_map_pts: 0.9890, d3.loss_map_dir: 0.0138, d4.loss_map_cls: 0.1890, d4.loss_map_pts: 0.9714, d4.loss_map_dir: 0.0142, d5.loss_map_cls: 0.1876, d5.loss_map_pts: 0.9662, d5.loss_map_dir: 0.0143, loss: 38.4457, grad_norm: 163.2245 +2026-02-25 09:09:19,718 - DriveTransformer - INFO - Epoch [4][19900/39528] lr: 9.623e-05, eta: 7 days, 12:38:19, time: 0.834, data_time: 0.040, memory: 19865, loss_cls: 0.2739, loss_bbox: 0.4709, loss_traj: 0.8692, loss_traj_cls: 0.0020, loss_map_cls: 0.2519, loss_map_pts: 1.2188, loss_map_dir: 0.0176, d0.loss_plan_l1_fix_time: 2.9372, d0.loss_plan_l1_fix_dist: 0.3824, d1.loss_plan_l1_fix_time: 1.8395, d1.loss_plan_l1_fix_dist: 0.2601, d2.loss_plan_l1_fix_time: 1.8269, d2.loss_plan_l1_fix_dist: 0.2696, d3.loss_plan_l1_fix_time: 1.8311, d3.loss_plan_l1_fix_dist: 0.2861, d4.loss_plan_l1_fix_time: 1.8375, d4.loss_plan_l1_fix_dist: 0.3053, d5.loss_plan_l1_fix_time: 1.8443, d5.loss_plan_l1_fix_dist: 0.3273, d6.loss_plan_l1_fix_time: 1.8508, d6.loss_plan_l1_fix_dist: 0.3563, d0.loss_cls_all: 0.2960, d0.loss_bbox_all: 0.5243, d0.loss_cls: 0.2960, d0.loss_bbox: 0.5243, d1.loss_cls: 0.2914, d1.loss_bbox: 0.4867, d2.loss_cls: 0.2815, d2.loss_bbox: 0.4768, d3.loss_cls: 0.2785, d3.loss_bbox: 0.4725, d4.loss_cls: 0.2745, d4.loss_bbox: 0.4714, d5.loss_cls: 0.2756, d5.loss_bbox: 0.4701, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0870, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9294, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8917, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8806, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8697, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.8630, d0.loss_map_cls_all: 0.3067, d0.loss_map_pts_all: 2.3094, d0.loss_map_dir_all: 0.0160, d0.loss_map_cls: 0.3067, d0.loss_map_pts: 2.3094, d0.loss_map_dir: 0.0160, d1.loss_map_cls: 0.2798, d1.loss_map_pts: 1.5704, d1.loss_map_dir: 0.0154, d2.loss_map_cls: 0.2692, d2.loss_map_pts: 1.3442, d2.loss_map_dir: 0.0159, d3.loss_map_cls: 0.2599, d3.loss_map_pts: 1.2621, d3.loss_map_dir: 0.0167, d4.loss_map_cls: 0.2544, d4.loss_map_pts: 1.2327, d4.loss_map_dir: 0.0172, d5.loss_map_cls: 0.2525, d5.loss_map_pts: 1.2216, d5.loss_map_dir: 0.0174, loss: 43.4993, grad_norm: 164.5772 +2026-02-25 09:09:58,573 - DriveTransformer - INFO - Epoch [4][19950/39528] lr: 9.623e-05, eta: 7 days, 12:37:31, time: 0.777, data_time: 0.046, memory: 19865, loss_cls: 0.2847, loss_bbox: 0.4761, loss_traj: 0.7746, loss_traj_cls: 0.0021, loss_map_cls: 0.2611, loss_map_pts: 1.0314, loss_map_dir: 0.0146, d0.loss_plan_l1_fix_time: 2.5109, d0.loss_plan_l1_fix_dist: 0.3579, d1.loss_plan_l1_fix_time: 1.6785, d1.loss_plan_l1_fix_dist: 0.1988, d2.loss_plan_l1_fix_time: 1.6670, d2.loss_plan_l1_fix_dist: 0.2070, d3.loss_plan_l1_fix_time: 1.6697, d3.loss_plan_l1_fix_dist: 0.2179, d4.loss_plan_l1_fix_time: 1.6741, d4.loss_plan_l1_fix_dist: 0.2301, d5.loss_plan_l1_fix_time: 1.6790, d5.loss_plan_l1_fix_dist: 0.2436, d6.loss_plan_l1_fix_time: 1.6837, d6.loss_plan_l1_fix_dist: 0.2593, d0.loss_cls_all: 0.3065, d0.loss_bbox_all: 0.5258, d0.loss_cls: 0.3065, d0.loss_bbox: 0.5258, d1.loss_cls: 0.3000, d1.loss_bbox: 0.4963, d2.loss_cls: 0.2913, d2.loss_bbox: 0.4818, d3.loss_cls: 0.2871, d3.loss_bbox: 0.4785, d4.loss_cls: 0.2842, d4.loss_bbox: 0.4768, d5.loss_cls: 0.2855, d5.loss_bbox: 0.4756, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9286, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8059, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7817, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7781, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7742, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7770, d0.loss_map_cls_all: 0.3167, d0.loss_map_pts_all: 1.8120, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.3167, d0.loss_map_pts: 1.8120, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2840, d1.loss_map_pts: 1.2686, d1.loss_map_dir: 0.0125, d2.loss_map_cls: 0.2756, d2.loss_map_pts: 1.1131, d2.loss_map_dir: 0.0131, d3.loss_map_cls: 0.2685, d3.loss_map_pts: 1.0577, d3.loss_map_dir: 0.0138, d4.loss_map_cls: 0.2652, d4.loss_map_pts: 1.0385, d4.loss_map_dir: 0.0142, d5.loss_map_cls: 0.2636, d5.loss_map_pts: 1.0320, d5.loss_map_dir: 0.0144, loss: 38.7122, grad_norm: 162.7371 +2026-02-25 09:10:40,751 - DriveTransformer - INFO - Epoch [4][20000/39528] lr: 9.623e-05, eta: 7 days, 12:37:03, time: 0.843, data_time: 0.044, memory: 19865, loss_cls: 0.2725, loss_bbox: 0.4894, loss_traj: 0.8214, loss_traj_cls: 0.0021, loss_map_cls: 0.2257, loss_map_pts: 0.9522, loss_map_dir: 0.0145, d0.loss_plan_l1_fix_time: 3.0474, d0.loss_plan_l1_fix_dist: 0.4230, d1.loss_plan_l1_fix_time: 1.7056, d1.loss_plan_l1_fix_dist: 0.2239, d2.loss_plan_l1_fix_time: 1.6840, d2.loss_plan_l1_fix_dist: 0.2375, d3.loss_plan_l1_fix_time: 1.6867, d3.loss_plan_l1_fix_dist: 0.2573, d4.loss_plan_l1_fix_time: 1.6906, d4.loss_plan_l1_fix_dist: 0.2810, d5.loss_plan_l1_fix_time: 1.6955, d5.loss_plan_l1_fix_dist: 0.3081, d6.loss_plan_l1_fix_time: 1.7018, d6.loss_plan_l1_fix_dist: 0.3327, d0.loss_cls_all: 0.2925, d0.loss_bbox_all: 0.5404, d0.loss_cls: 0.2925, d0.loss_bbox: 0.5404, d1.loss_cls: 0.2858, d1.loss_bbox: 0.5097, d2.loss_cls: 0.2781, d2.loss_bbox: 0.4952, d3.loss_cls: 0.2739, d3.loss_bbox: 0.4893, d4.loss_cls: 0.2726, d4.loss_bbox: 0.4862, d5.loss_cls: 0.2728, d5.loss_bbox: 0.4868, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9806, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8533, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8357, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8280, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8204, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.8151, d0.loss_map_cls_all: 0.2716, d0.loss_map_pts_all: 1.8570, d0.loss_map_dir_all: 0.0136, d0.loss_map_cls: 0.2716, d0.loss_map_pts: 1.8570, d0.loss_map_dir: 0.0136, d1.loss_map_cls: 0.2503, d1.loss_map_pts: 1.2295, d1.loss_map_dir: 0.0130, d2.loss_map_cls: 0.2395, d2.loss_map_pts: 1.0472, d2.loss_map_dir: 0.0133, d3.loss_map_cls: 0.2308, d3.loss_map_pts: 0.9812, d3.loss_map_dir: 0.0139, d4.loss_map_cls: 0.2281, d4.loss_map_pts: 0.9598, d4.loss_map_dir: 0.0143, d5.loss_map_cls: 0.2267, d5.loss_map_pts: 0.9527, d5.loss_map_dir: 0.0144, loss: 39.4076, grad_norm: 162.9719 +2026-02-25 09:11:21,827 - DriveTransformer - INFO - Epoch [4][20050/39528] lr: 9.623e-05, eta: 7 days, 12:36:29, time: 0.822, data_time: 0.049, memory: 19865, loss_cls: 0.2703, loss_bbox: 0.4501, loss_traj: 0.8206, loss_traj_cls: 0.0021, loss_map_cls: 0.2385, loss_map_pts: 1.0334, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.4322, d0.loss_plan_l1_fix_dist: 0.4438, d1.loss_plan_l1_fix_time: 1.4490, d1.loss_plan_l1_fix_dist: 0.1872, d2.loss_plan_l1_fix_time: 1.4288, d2.loss_plan_l1_fix_dist: 0.1935, d3.loss_plan_l1_fix_time: 1.4291, d3.loss_plan_l1_fix_dist: 0.2072, d4.loss_plan_l1_fix_time: 1.4332, d4.loss_plan_l1_fix_dist: 0.2240, d5.loss_plan_l1_fix_time: 1.4394, d5.loss_plan_l1_fix_dist: 0.2437, d6.loss_plan_l1_fix_time: 1.4474, d6.loss_plan_l1_fix_dist: 0.2636, d0.loss_cls_all: 0.2933, d0.loss_bbox_all: 0.4964, d0.loss_cls: 0.2933, d0.loss_bbox: 0.4964, d1.loss_cls: 0.2819, d1.loss_bbox: 0.4697, d2.loss_cls: 0.2757, d2.loss_bbox: 0.4533, d3.loss_cls: 0.2699, d3.loss_bbox: 0.4494, d4.loss_cls: 0.2672, d4.loss_bbox: 0.4510, d5.loss_cls: 0.2693, d5.loss_bbox: 0.4501, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0403, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8874, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8376, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8220, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8229, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.8175, d0.loss_map_cls_all: 0.2812, d0.loss_map_pts_all: 2.0311, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.2812, d0.loss_map_pts: 2.0311, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2599, d1.loss_map_pts: 1.3390, d1.loss_map_dir: 0.0130, d2.loss_map_cls: 0.2520, d2.loss_map_pts: 1.1352, d2.loss_map_dir: 0.0135, d3.loss_map_cls: 0.2444, d3.loss_map_pts: 1.0617, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.2398, d4.loss_map_pts: 1.0428, d4.loss_map_dir: 0.0145, d5.loss_map_cls: 0.2387, d5.loss_map_pts: 1.0357, d5.loss_map_dir: 0.0147, loss: 37.6728, grad_norm: 162.6426 +2026-02-25 09:12:02,060 - DriveTransformer - INFO - Epoch [4][20100/39528] lr: 9.623e-05, eta: 7 days, 12:35:49, time: 0.805, data_time: 0.040, memory: 19865, loss_cls: 0.2728, loss_bbox: 0.4424, loss_traj: 0.9248, loss_traj_cls: 0.0020, loss_map_cls: 0.2408, loss_map_pts: 1.0184, loss_map_dir: 0.0130, d0.loss_plan_l1_fix_time: 3.0842, d0.loss_plan_l1_fix_dist: 0.4247, d1.loss_plan_l1_fix_time: 1.6071, d1.loss_plan_l1_fix_dist: 0.2183, d2.loss_plan_l1_fix_time: 1.5869, d2.loss_plan_l1_fix_dist: 0.2272, d3.loss_plan_l1_fix_time: 1.5865, d3.loss_plan_l1_fix_dist: 0.2409, d4.loss_plan_l1_fix_time: 1.5896, d4.loss_plan_l1_fix_dist: 0.2562, d5.loss_plan_l1_fix_time: 1.5934, d5.loss_plan_l1_fix_dist: 0.2719, d6.loss_plan_l1_fix_time: 1.5966, d6.loss_plan_l1_fix_dist: 0.2908, d0.loss_cls_all: 0.2917, d0.loss_bbox_all: 0.4894, d0.loss_cls: 0.2917, d0.loss_bbox: 0.4894, d1.loss_cls: 0.2866, d1.loss_bbox: 0.4612, d2.loss_cls: 0.2815, d2.loss_bbox: 0.4456, d3.loss_cls: 0.2764, d3.loss_bbox: 0.4422, d4.loss_cls: 0.2733, d4.loss_bbox: 0.4413, d5.loss_cls: 0.2729, d5.loss_bbox: 0.4409, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0869, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9683, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9228, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9242, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9237, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.9214, d0.loss_map_cls_all: 0.2829, d0.loss_map_pts_all: 1.8515, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2829, d0.loss_map_pts: 1.8515, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2640, d1.loss_map_pts: 1.3074, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2556, d2.loss_map_pts: 1.1200, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.2464, d3.loss_map_pts: 1.0520, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2426, d4.loss_map_pts: 1.0282, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.2417, d5.loss_map_pts: 1.0182, d5.loss_map_dir: 0.0127, loss: 39.5532, grad_norm: 161.0927 +2026-02-25 09:12:39,582 - DriveTransformer - INFO - Epoch [4][20150/39528] lr: 9.623e-05, eta: 7 days, 12:34:54, time: 0.750, data_time: 0.046, memory: 19865, loss_cls: 0.2817, loss_bbox: 0.4812, loss_traj: 1.1185, loss_traj_cls: 0.0020, loss_map_cls: 0.2392, loss_map_pts: 0.8824, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.8603, d0.loss_plan_l1_fix_dist: 0.3957, d1.loss_plan_l1_fix_time: 1.5467, d1.loss_plan_l1_fix_dist: 0.2313, d2.loss_plan_l1_fix_time: 1.5466, d2.loss_plan_l1_fix_dist: 0.2407, d3.loss_plan_l1_fix_time: 1.5559, d3.loss_plan_l1_fix_dist: 0.2560, d4.loss_plan_l1_fix_time: 1.5614, d4.loss_plan_l1_fix_dist: 0.2730, d5.loss_plan_l1_fix_time: 1.5655, d5.loss_plan_l1_fix_dist: 0.2910, d6.loss_plan_l1_fix_time: 1.5697, d6.loss_plan_l1_fix_dist: 0.3106, d0.loss_cls_all: 0.2985, d0.loss_bbox_all: 0.5249, d0.loss_cls: 0.2985, d0.loss_bbox: 0.5249, d1.loss_cls: 0.2925, d1.loss_bbox: 0.4966, d2.loss_cls: 0.2866, d2.loss_bbox: 0.4808, d3.loss_cls: 0.2857, d3.loss_bbox: 0.4748, d4.loss_cls: 0.2814, d4.loss_bbox: 0.4764, d5.loss_cls: 0.2811, d5.loss_bbox: 0.4768, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3431, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.1667, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.1392, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1301, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1222, d5.loss_traj_cls: 0.0016, d5.loss_traj: 1.1171, d0.loss_map_cls_all: 0.3070, d0.loss_map_pts_all: 1.6196, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.3070, d0.loss_map_pts: 1.6196, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2783, d1.loss_map_pts: 1.1279, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2570, d2.loss_map_pts: 0.9693, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2481, d3.loss_map_pts: 0.9112, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.2417, d4.loss_map_pts: 0.8876, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.2401, d5.loss_map_pts: 0.8841, d5.loss_map_dir: 0.0117, loss: 39.6993, grad_norm: 158.1449 +2026-02-25 09:13:19,429 - DriveTransformer - INFO - Epoch [4][20200/39528] lr: 9.623e-05, eta: 7 days, 12:34:12, time: 0.798, data_time: 0.048, memory: 19865, loss_cls: 0.3056, loss_bbox: 0.5160, loss_traj: 0.8765, loss_traj_cls: 0.0020, loss_map_cls: 0.2854, loss_map_pts: 1.1629, loss_map_dir: 0.0174, d0.loss_plan_l1_fix_time: 2.7120, d0.loss_plan_l1_fix_dist: 0.3668, d1.loss_plan_l1_fix_time: 1.5277, d1.loss_plan_l1_fix_dist: 0.2248, d2.loss_plan_l1_fix_time: 1.5123, d2.loss_plan_l1_fix_dist: 0.2314, d3.loss_plan_l1_fix_time: 1.5121, d3.loss_plan_l1_fix_dist: 0.2423, d4.loss_plan_l1_fix_time: 1.5150, d4.loss_plan_l1_fix_dist: 0.2542, d5.loss_plan_l1_fix_time: 1.5185, d5.loss_plan_l1_fix_dist: 0.2683, d6.loss_plan_l1_fix_time: 1.5235, d6.loss_plan_l1_fix_dist: 0.2844, d0.loss_cls_all: 0.3269, d0.loss_bbox_all: 0.5757, d0.loss_cls: 0.3269, d0.loss_bbox: 0.5757, d1.loss_cls: 0.3190, d1.loss_bbox: 0.5489, d2.loss_cls: 0.3124, d2.loss_bbox: 0.5319, d3.loss_cls: 0.3070, d3.loss_bbox: 0.5222, d4.loss_cls: 0.3057, d4.loss_bbox: 0.5188, d5.loss_cls: 0.3054, d5.loss_bbox: 0.5164, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1190, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9235, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8796, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8715, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8761, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.8771, d0.loss_map_cls_all: 0.3380, d0.loss_map_pts_all: 2.1410, d0.loss_map_dir_all: 0.0152, d0.loss_map_cls: 0.3380, d0.loss_map_pts: 2.1410, d0.loss_map_dir: 0.0152, d1.loss_map_cls: 0.3171, d1.loss_map_pts: 1.4936, d1.loss_map_dir: 0.0151, d2.loss_map_cls: 0.3015, d2.loss_map_pts: 1.2778, d2.loss_map_dir: 0.0157, d3.loss_map_cls: 0.2928, d3.loss_map_pts: 1.2023, d3.loss_map_dir: 0.0166, d4.loss_map_cls: 0.2880, d4.loss_map_pts: 1.1745, d4.loss_map_dir: 0.0170, d5.loss_map_cls: 0.2852, d5.loss_map_pts: 1.1650, d5.loss_map_dir: 0.0173, loss: 41.2727, grad_norm: 157.1479 +2026-02-25 09:14:00,839 - DriveTransformer - INFO - Epoch [4][20250/39528] lr: 9.623e-05, eta: 7 days, 12:33:39, time: 0.827, data_time: 0.039, memory: 19865, loss_cls: 0.2633, loss_bbox: 0.4763, loss_traj: 0.8608, loss_traj_cls: 0.0020, loss_map_cls: 0.2740, loss_map_pts: 1.1217, loss_map_dir: 0.0172, d0.loss_plan_l1_fix_time: 2.5561, d0.loss_plan_l1_fix_dist: 0.4834, d1.loss_plan_l1_fix_time: 1.4663, d1.loss_plan_l1_fix_dist: 0.2454, d2.loss_plan_l1_fix_time: 1.4536, d2.loss_plan_l1_fix_dist: 0.2526, d3.loss_plan_l1_fix_time: 1.4580, d3.loss_plan_l1_fix_dist: 0.2640, d4.loss_plan_l1_fix_time: 1.4635, d4.loss_plan_l1_fix_dist: 0.2764, d5.loss_plan_l1_fix_time: 1.4704, d5.loss_plan_l1_fix_dist: 0.2909, d6.loss_plan_l1_fix_time: 1.4781, d6.loss_plan_l1_fix_dist: 0.3077, d0.loss_cls_all: 0.2811, d0.loss_bbox_all: 0.5338, d0.loss_cls: 0.2811, d0.loss_bbox: 0.5338, d1.loss_cls: 0.2757, d1.loss_bbox: 0.5024, d2.loss_cls: 0.2695, d2.loss_bbox: 0.4851, d3.loss_cls: 0.2697, d3.loss_bbox: 0.4769, d4.loss_cls: 0.2663, d4.loss_bbox: 0.4752, d5.loss_cls: 0.2635, d5.loss_bbox: 0.4754, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0041, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8753, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8470, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8513, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8599, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.8604, d0.loss_map_cls_all: 0.3275, d0.loss_map_pts_all: 2.1069, d0.loss_map_dir_all: 0.0157, d0.loss_map_cls: 0.3275, d0.loss_map_pts: 2.1069, d0.loss_map_dir: 0.0157, d1.loss_map_cls: 0.3055, d1.loss_map_pts: 1.4325, d1.loss_map_dir: 0.0152, d2.loss_map_cls: 0.2919, d2.loss_map_pts: 1.2146, d2.loss_map_dir: 0.0156, d3.loss_map_cls: 0.2821, d3.loss_map_pts: 1.1487, d3.loss_map_dir: 0.0163, d4.loss_map_cls: 0.2766, d4.loss_map_pts: 1.1230, d4.loss_map_dir: 0.0167, d5.loss_map_cls: 0.2750, d5.loss_map_pts: 1.1190, d5.loss_map_dir: 0.0170, loss: 39.6247, grad_norm: 157.8953 +2026-02-25 09:14:42,679 - DriveTransformer - INFO - Epoch [4][20300/39528] lr: 9.623e-05, eta: 7 days, 12:33:09, time: 0.837, data_time: 0.045, memory: 19865, loss_cls: 0.2489, loss_bbox: 0.4503, loss_traj: 0.8941, loss_traj_cls: 0.0020, loss_map_cls: 0.2246, loss_map_pts: 0.9407, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.3609, d0.loss_plan_l1_fix_dist: 0.4168, d1.loss_plan_l1_fix_time: 1.4622, d1.loss_plan_l1_fix_dist: 0.2290, d2.loss_plan_l1_fix_time: 1.4474, d2.loss_plan_l1_fix_dist: 0.2357, d3.loss_plan_l1_fix_time: 1.4552, d3.loss_plan_l1_fix_dist: 0.2474, d4.loss_plan_l1_fix_time: 1.4626, d4.loss_plan_l1_fix_dist: 0.2595, d5.loss_plan_l1_fix_time: 1.4704, d5.loss_plan_l1_fix_dist: 0.2747, d6.loss_plan_l1_fix_time: 1.4780, d6.loss_plan_l1_fix_dist: 0.2920, d0.loss_cls_all: 0.2672, d0.loss_bbox_all: 0.4877, d0.loss_cls: 0.2672, d0.loss_bbox: 0.4877, d1.loss_cls: 0.2637, d1.loss_bbox: 0.4605, d2.loss_cls: 0.2561, d2.loss_bbox: 0.4489, d3.loss_cls: 0.2538, d3.loss_bbox: 0.4454, d4.loss_cls: 0.2501, d4.loss_bbox: 0.4459, d5.loss_cls: 0.2502, d5.loss_bbox: 0.4472, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0969, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9417, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9190, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9210, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9160, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.9084, d0.loss_map_cls_all: 0.2759, d0.loss_map_pts_all: 1.7848, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2759, d0.loss_map_pts: 1.7848, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2544, d1.loss_map_pts: 1.2144, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.2436, d2.loss_map_pts: 1.0222, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2337, d3.loss_map_pts: 0.9632, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2260, d4.loss_map_pts: 0.9475, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.2251, d5.loss_map_pts: 0.9400, d5.loss_map_dir: 0.0136, loss: 37.0858, grad_norm: 159.9429 +2026-02-25 09:15:25,001 - DriveTransformer - INFO - Epoch [4][20350/39528] lr: 9.623e-05, eta: 7 days, 12:32:42, time: 0.846, data_time: 0.046, memory: 19865, loss_cls: 0.2721, loss_bbox: 0.4633, loss_traj: 0.7932, loss_traj_cls: 0.0021, loss_map_cls: 0.2131, loss_map_pts: 0.9565, loss_map_dir: 0.0147, d0.loss_plan_l1_fix_time: 2.8222, d0.loss_plan_l1_fix_dist: 0.3957, d1.loss_plan_l1_fix_time: 1.5538, d1.loss_plan_l1_fix_dist: 0.2393, d2.loss_plan_l1_fix_time: 1.5469, d2.loss_plan_l1_fix_dist: 0.2425, d3.loss_plan_l1_fix_time: 1.5468, d3.loss_plan_l1_fix_dist: 0.2533, d4.loss_plan_l1_fix_time: 1.5503, d4.loss_plan_l1_fix_dist: 0.2672, d5.loss_plan_l1_fix_time: 1.5547, d5.loss_plan_l1_fix_dist: 0.2832, d6.loss_plan_l1_fix_time: 1.5598, d6.loss_plan_l1_fix_dist: 0.3022, d0.loss_cls_all: 0.2896, d0.loss_bbox_all: 0.5051, d0.loss_cls: 0.2896, d0.loss_bbox: 0.5051, d1.loss_cls: 0.2862, d1.loss_bbox: 0.4721, d2.loss_cls: 0.2783, d2.loss_bbox: 0.4606, d3.loss_cls: 0.2763, d3.loss_bbox: 0.4568, d4.loss_cls: 0.2738, d4.loss_bbox: 0.4570, d5.loss_cls: 0.2713, d5.loss_bbox: 0.4596, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0153, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8437, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8085, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7976, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7917, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7860, d0.loss_map_cls_all: 0.2734, d0.loss_map_pts_all: 1.8711, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.2734, d0.loss_map_pts: 1.8711, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2471, d1.loss_map_pts: 1.2433, d1.loss_map_dir: 0.0130, d2.loss_map_cls: 0.2319, d2.loss_map_pts: 1.0503, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2213, d3.loss_map_pts: 0.9871, d3.loss_map_dir: 0.0140, d4.loss_map_cls: 0.2169, d4.loss_map_pts: 0.9697, d4.loss_map_dir: 0.0144, d5.loss_map_cls: 0.2139, d5.loss_map_pts: 0.9576, d5.loss_map_dir: 0.0146, loss: 37.8869, grad_norm: 159.4650 +2026-02-25 09:16:05,234 - DriveTransformer - INFO - Epoch [4][20400/39528] lr: 9.623e-05, eta: 7 days, 12:32:02, time: 0.805, data_time: 0.043, memory: 19865, loss_cls: 0.3025, loss_bbox: 0.5079, loss_traj: 1.0382, loss_traj_cls: 0.0021, loss_map_cls: 0.2598, loss_map_pts: 1.0504, loss_map_dir: 0.0143, d0.loss_plan_l1_fix_time: 2.8746, d0.loss_plan_l1_fix_dist: 0.4127, d1.loss_plan_l1_fix_time: 1.6879, d1.loss_plan_l1_fix_dist: 0.2222, d2.loss_plan_l1_fix_time: 1.6827, d2.loss_plan_l1_fix_dist: 0.2296, d3.loss_plan_l1_fix_time: 1.6854, d3.loss_plan_l1_fix_dist: 0.2417, d4.loss_plan_l1_fix_time: 1.6912, d4.loss_plan_l1_fix_dist: 0.2552, d5.loss_plan_l1_fix_time: 1.6976, d5.loss_plan_l1_fix_dist: 0.2694, d6.loss_plan_l1_fix_time: 1.7059, d6.loss_plan_l1_fix_dist: 0.2830, d0.loss_cls_all: 0.3172, d0.loss_bbox_all: 0.5543, d0.loss_cls: 0.3172, d0.loss_bbox: 0.5543, d1.loss_cls: 0.3142, d1.loss_bbox: 0.5238, d2.loss_cls: 0.3049, d2.loss_bbox: 0.5102, d3.loss_cls: 0.3035, d3.loss_bbox: 0.5049, d4.loss_cls: 0.3034, d4.loss_bbox: 0.5059, d5.loss_cls: 0.3033, d5.loss_bbox: 0.5065, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2000, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0703, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0381, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0415, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0350, d5.loss_traj_cls: 0.0015, d5.loss_traj: 1.0322, d0.loss_map_cls_all: 0.3075, d0.loss_map_pts_all: 1.9241, d0.loss_map_dir_all: 0.0126, d0.loss_map_cls: 0.3075, d0.loss_map_pts: 1.9241, d0.loss_map_dir: 0.0126, d1.loss_map_cls: 0.2831, d1.loss_map_pts: 1.3434, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2708, d2.loss_map_pts: 1.1414, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2646, d3.loss_map_pts: 1.0789, d3.loss_map_dir: 0.0136, d4.loss_map_cls: 0.2595, d4.loss_map_pts: 1.0612, d4.loss_map_dir: 0.0141, d5.loss_map_cls: 0.2587, d5.loss_map_pts: 1.0532, d5.loss_map_dir: 0.0142, loss: 41.9309, grad_norm: 160.7462 +2026-02-25 09:16:44,624 - DriveTransformer - INFO - Epoch [4][20450/39528] lr: 9.623e-05, eta: 7 days, 12:31:18, time: 0.788, data_time: 0.039, memory: 19865, loss_cls: 0.2707, loss_bbox: 0.4796, loss_traj: 0.9154, loss_traj_cls: 0.0020, loss_map_cls: 0.2334, loss_map_pts: 0.9969, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 2.8274, d0.loss_plan_l1_fix_dist: 0.4284, d1.loss_plan_l1_fix_time: 1.4609, d1.loss_plan_l1_fix_dist: 0.2428, d2.loss_plan_l1_fix_time: 1.4411, d2.loss_plan_l1_fix_dist: 0.2444, d3.loss_plan_l1_fix_time: 1.4409, d3.loss_plan_l1_fix_dist: 0.2540, d4.loss_plan_l1_fix_time: 1.4439, d4.loss_plan_l1_fix_dist: 0.2651, d5.loss_plan_l1_fix_time: 1.4479, d5.loss_plan_l1_fix_dist: 0.2743, d6.loss_plan_l1_fix_time: 1.4534, d6.loss_plan_l1_fix_dist: 0.2824, d0.loss_cls_all: 0.2887, d0.loss_bbox_all: 0.5321, d0.loss_cls: 0.2887, d0.loss_bbox: 0.5321, d1.loss_cls: 0.2841, d1.loss_bbox: 0.4993, d2.loss_cls: 0.2792, d2.loss_bbox: 0.4827, d3.loss_cls: 0.2743, d3.loss_bbox: 0.4789, d4.loss_cls: 0.2712, d4.loss_bbox: 0.4781, d5.loss_cls: 0.2709, d5.loss_bbox: 0.4780, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1183, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9319, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8981, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8993, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8967, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.9032, d0.loss_map_cls_all: 0.2921, d0.loss_map_pts_all: 1.8854, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.2921, d0.loss_map_pts: 1.8854, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2616, d1.loss_map_pts: 1.2615, d1.loss_map_dir: 0.0126, d2.loss_map_cls: 0.2462, d2.loss_map_pts: 1.0824, d2.loss_map_dir: 0.0131, d3.loss_map_cls: 0.2377, d3.loss_map_pts: 1.0224, d3.loss_map_dir: 0.0137, d4.loss_map_cls: 0.2351, d4.loss_map_pts: 1.0043, d4.loss_map_dir: 0.0140, d5.loss_map_cls: 0.2337, d5.loss_map_pts: 0.9965, d5.loss_map_dir: 0.0143, loss: 38.5412, grad_norm: 161.2698 +2026-02-25 09:17:23,444 - DriveTransformer - INFO - Epoch [4][20500/39528] lr: 9.623e-05, eta: 7 days, 12:30:30, time: 0.776, data_time: 0.046, memory: 19865, loss_cls: 0.2687, loss_bbox: 0.4390, loss_traj: 0.8527, loss_traj_cls: 0.0019, loss_map_cls: 0.2617, loss_map_pts: 1.0783, loss_map_dir: 0.0156, d0.loss_plan_l1_fix_time: 3.0459, d0.loss_plan_l1_fix_dist: 0.3954, d1.loss_plan_l1_fix_time: 1.7437, d1.loss_plan_l1_fix_dist: 0.2419, d2.loss_plan_l1_fix_time: 1.7190, d2.loss_plan_l1_fix_dist: 0.2472, d3.loss_plan_l1_fix_time: 1.7278, d3.loss_plan_l1_fix_dist: 0.2563, d4.loss_plan_l1_fix_time: 1.7336, d4.loss_plan_l1_fix_dist: 0.2688, d5.loss_plan_l1_fix_time: 1.7398, d5.loss_plan_l1_fix_dist: 0.2858, d6.loss_plan_l1_fix_time: 1.7455, d6.loss_plan_l1_fix_dist: 0.3088, d0.loss_cls_all: 0.2844, d0.loss_bbox_all: 0.4908, d0.loss_cls: 0.2844, d0.loss_bbox: 0.4908, d1.loss_cls: 0.2773, d1.loss_bbox: 0.4617, d2.loss_cls: 0.2727, d2.loss_bbox: 0.4453, d3.loss_cls: 0.2686, d3.loss_bbox: 0.4416, d4.loss_cls: 0.2667, d4.loss_bbox: 0.4381, d5.loss_cls: 0.2670, d5.loss_bbox: 0.4384, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0679, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8972, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8552, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.8450, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.8441, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.8439, d0.loss_map_cls_all: 0.3096, d0.loss_map_pts_all: 1.9612, d0.loss_map_dir_all: 0.0136, d0.loss_map_cls: 0.3096, d0.loss_map_pts: 1.9612, d0.loss_map_dir: 0.0136, d1.loss_map_cls: 0.2860, d1.loss_map_pts: 1.3355, d1.loss_map_dir: 0.0135, d2.loss_map_cls: 0.2758, d2.loss_map_pts: 1.1508, d2.loss_map_dir: 0.0142, d3.loss_map_cls: 0.2689, d3.loss_map_pts: 1.0960, d3.loss_map_dir: 0.0149, d4.loss_map_cls: 0.2655, d4.loss_map_pts: 1.0794, d4.loss_map_dir: 0.0153, d5.loss_map_cls: 0.2627, d5.loss_map_pts: 1.0743, d5.loss_map_dir: 0.0155, loss: 40.6008, grad_norm: 162.5140 +2026-02-25 09:18:02,111 - DriveTransformer - INFO - Epoch [4][20550/39528] lr: 9.623e-05, eta: 7 days, 12:29:41, time: 0.773, data_time: 0.046, memory: 19865, loss_cls: 0.2834, loss_bbox: 0.4758, loss_traj: 1.0418, loss_traj_cls: 0.0019, loss_map_cls: 0.2404, loss_map_pts: 0.8853, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.6422, d0.loss_plan_l1_fix_dist: 0.3658, d1.loss_plan_l1_fix_time: 1.6181, d1.loss_plan_l1_fix_dist: 0.2091, d2.loss_plan_l1_fix_time: 1.6082, d2.loss_plan_l1_fix_dist: 0.2164, d3.loss_plan_l1_fix_time: 1.6190, d3.loss_plan_l1_fix_dist: 0.2254, d4.loss_plan_l1_fix_time: 1.6261, d4.loss_plan_l1_fix_dist: 0.2364, d5.loss_plan_l1_fix_time: 1.6329, d5.loss_plan_l1_fix_dist: 0.2511, d6.loss_plan_l1_fix_time: 1.6388, d6.loss_plan_l1_fix_dist: 0.2654, d0.loss_cls_all: 0.3015, d0.loss_bbox_all: 0.5228, d0.loss_cls: 0.3015, d0.loss_bbox: 0.5228, d1.loss_cls: 0.2919, d1.loss_bbox: 0.4904, d2.loss_cls: 0.2833, d2.loss_bbox: 0.4775, d3.loss_cls: 0.2824, d3.loss_bbox: 0.4739, d4.loss_cls: 0.2802, d4.loss_bbox: 0.4743, d5.loss_cls: 0.2823, d5.loss_bbox: 0.4733, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1364, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0293, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0009, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0020, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0131, d5.loss_traj_cls: 0.0015, d5.loss_traj: 1.0255, d0.loss_map_cls_all: 0.3066, d0.loss_map_pts_all: 1.6459, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.3066, d0.loss_map_pts: 1.6459, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2751, d1.loss_map_pts: 1.1508, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.2597, d2.loss_map_pts: 0.9828, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2471, d3.loss_map_pts: 0.9206, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.2425, d4.loss_map_pts: 0.8927, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.2412, d5.loss_map_pts: 0.8827, d5.loss_map_dir: 0.0118, loss: 38.8422, grad_norm: 164.6817 +2026-02-25 09:18:43,154 - DriveTransformer - INFO - Epoch [4][20600/39528] lr: 9.623e-05, eta: 7 days, 12:29:06, time: 0.821, data_time: 0.044, memory: 19865, loss_cls: 0.2797, loss_bbox: 0.4700, loss_traj: 1.0009, loss_traj_cls: 0.0018, loss_map_cls: 0.2639, loss_map_pts: 1.0762, loss_map_dir: 0.0159, d0.loss_plan_l1_fix_time: 2.2447, d0.loss_plan_l1_fix_dist: 0.3860, d1.loss_plan_l1_fix_time: 1.4689, d1.loss_plan_l1_fix_dist: 0.2137, d2.loss_plan_l1_fix_time: 1.4521, d2.loss_plan_l1_fix_dist: 0.2156, d3.loss_plan_l1_fix_time: 1.4493, d3.loss_plan_l1_fix_dist: 0.2219, d4.loss_plan_l1_fix_time: 1.4530, d4.loss_plan_l1_fix_dist: 0.2298, d5.loss_plan_l1_fix_time: 1.4577, d5.loss_plan_l1_fix_dist: 0.2380, d6.loss_plan_l1_fix_time: 1.4628, d6.loss_plan_l1_fix_dist: 0.2482, d0.loss_cls_all: 0.3075, d0.loss_bbox_all: 0.5157, d0.loss_cls: 0.3075, d0.loss_bbox: 0.5157, d1.loss_cls: 0.2946, d1.loss_bbox: 0.4893, d2.loss_cls: 0.2844, d2.loss_bbox: 0.4755, d3.loss_cls: 0.2823, d3.loss_bbox: 0.4699, d4.loss_cls: 0.2801, d4.loss_bbox: 0.4683, d5.loss_cls: 0.2768, d5.loss_bbox: 0.4697, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1785, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0370, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9962, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.9880, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9884, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.9975, d0.loss_map_cls_all: 0.3317, d0.loss_map_pts_all: 2.0571, d0.loss_map_dir_all: 0.0141, d0.loss_map_cls: 0.3317, d0.loss_map_pts: 2.0571, d0.loss_map_dir: 0.0141, d1.loss_map_cls: 0.2976, d1.loss_map_pts: 1.3772, d1.loss_map_dir: 0.0137, d2.loss_map_cls: 0.2802, d2.loss_map_pts: 1.1824, d2.loss_map_dir: 0.0145, d3.loss_map_cls: 0.2722, d3.loss_map_pts: 1.1167, d3.loss_map_dir: 0.0153, d4.loss_map_cls: 0.2658, d4.loss_map_pts: 1.0880, d4.loss_map_dir: 0.0155, d5.loss_map_cls: 0.2636, d5.loss_map_pts: 1.0790, d5.loss_map_dir: 0.0158, loss: 39.5816, grad_norm: 163.7949 +2026-02-25 09:19:21,692 - DriveTransformer - INFO - Epoch [4][20650/39528] lr: 9.623e-05, eta: 7 days, 12:28:17, time: 0.771, data_time: 0.045, memory: 19865, loss_cls: 0.3028, loss_bbox: 0.4853, loss_traj: 1.0081, loss_traj_cls: 0.0019, loss_map_cls: 0.2635, loss_map_pts: 1.0622, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 2.8081, d0.loss_plan_l1_fix_dist: 0.4274, d1.loss_plan_l1_fix_time: 1.4481, d1.loss_plan_l1_fix_dist: 0.2152, d2.loss_plan_l1_fix_time: 1.4318, d2.loss_plan_l1_fix_dist: 0.2228, d3.loss_plan_l1_fix_time: 1.4319, d3.loss_plan_l1_fix_dist: 0.2348, d4.loss_plan_l1_fix_time: 1.4373, d4.loss_plan_l1_fix_dist: 0.2475, d5.loss_plan_l1_fix_time: 1.4430, d5.loss_plan_l1_fix_dist: 0.2601, d6.loss_plan_l1_fix_time: 1.4501, d6.loss_plan_l1_fix_dist: 0.2702, d0.loss_cls_all: 0.3292, d0.loss_bbox_all: 0.5335, d0.loss_cls: 0.3292, d0.loss_bbox: 0.5335, d1.loss_cls: 0.3175, d1.loss_bbox: 0.5031, d2.loss_cls: 0.3108, d2.loss_bbox: 0.4858, d3.loss_cls: 0.3074, d3.loss_bbox: 0.4808, d4.loss_cls: 0.3029, d4.loss_bbox: 0.4814, d5.loss_cls: 0.3017, d5.loss_bbox: 0.4834, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2624, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0598, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0223, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0093, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0033, d5.loss_traj_cls: 0.0014, d5.loss_traj: 1.0046, d0.loss_map_cls_all: 0.3275, d0.loss_map_pts_all: 1.8369, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.3275, d0.loss_map_pts: 1.8369, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2915, d1.loss_map_pts: 1.3324, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2782, d2.loss_map_pts: 1.1603, d2.loss_map_dir: 0.0130, d3.loss_map_cls: 0.2666, d3.loss_map_pts: 1.0944, d3.loss_map_dir: 0.0138, d4.loss_map_cls: 0.2661, d4.loss_map_pts: 1.0711, d4.loss_map_dir: 0.0142, d5.loss_map_cls: 0.2649, d5.loss_map_pts: 1.0651, d5.loss_map_dir: 0.0144, loss: 40.0462, grad_norm: 165.1620 +2026-02-25 09:20:01,180 - DriveTransformer - INFO - Epoch [4][20700/39528] lr: 9.623e-05, eta: 7 days, 12:27:33, time: 0.790, data_time: 0.039, memory: 19865, loss_cls: 0.2569, loss_bbox: 0.4587, loss_traj: 0.9711, loss_traj_cls: 0.0020, loss_map_cls: 0.2128, loss_map_pts: 0.9364, loss_map_dir: 0.0139, d0.loss_plan_l1_fix_time: 2.7463, d0.loss_plan_l1_fix_dist: 0.5164, d1.loss_plan_l1_fix_time: 1.4614, d1.loss_plan_l1_fix_dist: 0.2395, d2.loss_plan_l1_fix_time: 1.4409, d2.loss_plan_l1_fix_dist: 0.2427, d3.loss_plan_l1_fix_time: 1.4396, d3.loss_plan_l1_fix_dist: 0.2482, d4.loss_plan_l1_fix_time: 1.4451, d4.loss_plan_l1_fix_dist: 0.2586, d5.loss_plan_l1_fix_time: 1.4515, d5.loss_plan_l1_fix_dist: 0.2731, d6.loss_plan_l1_fix_time: 1.4596, d6.loss_plan_l1_fix_dist: 0.2934, d0.loss_cls_all: 0.2803, d0.loss_bbox_all: 0.4988, d0.loss_cls: 0.2803, d0.loss_bbox: 0.4988, d1.loss_cls: 0.2715, d1.loss_bbox: 0.4704, d2.loss_cls: 0.2635, d2.loss_bbox: 0.4548, d3.loss_cls: 0.2594, d3.loss_bbox: 0.4522, d4.loss_cls: 0.2554, d4.loss_bbox: 0.4525, d5.loss_cls: 0.2538, d5.loss_bbox: 0.4562, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1174, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9857, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9482, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9465, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9584, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.9652, d0.loss_map_cls_all: 0.2736, d0.loss_map_pts_all: 1.8086, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.2736, d0.loss_map_pts: 1.8086, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2471, d1.loss_map_pts: 1.2240, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2312, d2.loss_map_pts: 1.0375, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2222, d3.loss_map_pts: 0.9709, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2151, d4.loss_map_pts: 0.9471, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.2129, d5.loss_map_pts: 0.9371, d5.loss_map_dir: 0.0137, loss: 37.9425, grad_norm: 165.5647 +2026-02-25 09:20:42,808 - DriveTransformer - INFO - Epoch [4][20750/39528] lr: 9.623e-05, eta: 7 days, 12:27:02, time: 0.832, data_time: 0.047, memory: 19865, loss_cls: 0.2592, loss_bbox: 0.4540, loss_traj: 0.9365, loss_traj_cls: 0.0020, loss_map_cls: 0.2426, loss_map_pts: 1.0621, loss_map_dir: 0.0151, d0.loss_plan_l1_fix_time: 2.5478, d0.loss_plan_l1_fix_dist: 0.4662, d1.loss_plan_l1_fix_time: 1.5096, d1.loss_plan_l1_fix_dist: 0.2454, d2.loss_plan_l1_fix_time: 1.4957, d2.loss_plan_l1_fix_dist: 0.2474, d3.loss_plan_l1_fix_time: 1.4917, d3.loss_plan_l1_fix_dist: 0.2543, d4.loss_plan_l1_fix_time: 1.4946, d4.loss_plan_l1_fix_dist: 0.2621, d5.loss_plan_l1_fix_time: 1.4992, d5.loss_plan_l1_fix_dist: 0.2727, d6.loss_plan_l1_fix_time: 1.5047, d6.loss_plan_l1_fix_dist: 0.2880, d0.loss_cls_all: 0.2748, d0.loss_bbox_all: 0.4968, d0.loss_cls: 0.2748, d0.loss_bbox: 0.4968, d1.loss_cls: 0.2727, d1.loss_bbox: 0.4675, d2.loss_cls: 0.2650, d2.loss_bbox: 0.4545, d3.loss_cls: 0.2629, d3.loss_bbox: 0.4499, d4.loss_cls: 0.2602, d4.loss_bbox: 0.4504, d5.loss_cls: 0.2605, d5.loss_bbox: 0.4496, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1072, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9408, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9054, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9037, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9321, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.9252, d0.loss_map_cls_all: 0.2983, d0.loss_map_pts_all: 2.0074, d0.loss_map_dir_all: 0.0140, d0.loss_map_cls: 0.2983, d0.loss_map_pts: 2.0074, d0.loss_map_dir: 0.0140, d1.loss_map_cls: 0.2658, d1.loss_map_pts: 1.3522, d1.loss_map_dir: 0.0131, d2.loss_map_cls: 0.2554, d2.loss_map_pts: 1.1638, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2468, d3.loss_map_pts: 1.1019, d3.loss_map_dir: 0.0143, d4.loss_map_cls: 0.2437, d4.loss_map_pts: 1.0733, d4.loss_map_dir: 0.0147, d5.loss_map_cls: 0.2421, d5.loss_map_pts: 1.0642, d5.loss_map_dir: 0.0149, loss: 39.1269, grad_norm: 165.0881 +2026-02-25 09:21:22,290 - DriveTransformer - INFO - Epoch [4][20800/39528] lr: 9.623e-05, eta: 7 days, 12:26:18, time: 0.789, data_time: 0.040, memory: 19865, loss_cls: 0.2613, loss_bbox: 0.4382, loss_traj: 0.9315, loss_traj_cls: 0.0020, loss_map_cls: 0.2354, loss_map_pts: 0.9436, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.7907, d0.loss_plan_l1_fix_dist: 0.4179, d1.loss_plan_l1_fix_time: 1.5339, d1.loss_plan_l1_fix_dist: 0.2348, d2.loss_plan_l1_fix_time: 1.5370, d2.loss_plan_l1_fix_dist: 0.2385, d3.loss_plan_l1_fix_time: 1.5430, d3.loss_plan_l1_fix_dist: 0.2466, d4.loss_plan_l1_fix_time: 1.5475, d4.loss_plan_l1_fix_dist: 0.2558, d5.loss_plan_l1_fix_time: 1.5524, d5.loss_plan_l1_fix_dist: 0.2662, d6.loss_plan_l1_fix_time: 1.5572, d6.loss_plan_l1_fix_dist: 0.2755, d0.loss_cls_all: 0.2872, d0.loss_bbox_all: 0.4915, d0.loss_cls: 0.2872, d0.loss_bbox: 0.4915, d1.loss_cls: 0.2826, d1.loss_bbox: 0.4587, d2.loss_cls: 0.2707, d2.loss_bbox: 0.4422, d3.loss_cls: 0.2696, d3.loss_bbox: 0.4348, d4.loss_cls: 0.2631, d4.loss_bbox: 0.4355, d5.loss_cls: 0.2608, d5.loss_bbox: 0.4372, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1639, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9895, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9527, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9386, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9349, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.9347, d0.loss_map_cls_all: 0.2910, d0.loss_map_pts_all: 1.6943, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2910, d0.loss_map_pts: 1.6943, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2690, d1.loss_map_pts: 1.1911, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2517, d2.loss_map_pts: 1.0242, d2.loss_map_dir: 0.0123, d3.loss_map_cls: 0.2428, d3.loss_map_pts: 0.9700, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.2386, d4.loss_map_pts: 0.9534, d4.loss_map_dir: 0.0132, d5.loss_map_cls: 0.2364, d5.loss_map_pts: 0.9471, d5.loss_map_dir: 0.0132, loss: 38.2370, grad_norm: 164.0921 +2026-02-25 09:22:02,403 - DriveTransformer - INFO - Epoch [4][20850/39528] lr: 9.623e-05, eta: 7 days, 12:25:37, time: 0.802, data_time: 0.040, memory: 19865, loss_cls: 0.2654, loss_bbox: 0.4179, loss_traj: 0.8127, loss_traj_cls: 0.0020, loss_map_cls: 0.2109, loss_map_pts: 0.8917, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.5268, d0.loss_plan_l1_fix_dist: 0.4676, d1.loss_plan_l1_fix_time: 1.2153, d1.loss_plan_l1_fix_dist: 0.2079, d2.loss_plan_l1_fix_time: 1.1947, d2.loss_plan_l1_fix_dist: 0.2117, d3.loss_plan_l1_fix_time: 1.2050, d3.loss_plan_l1_fix_dist: 0.2238, d4.loss_plan_l1_fix_time: 1.2129, d4.loss_plan_l1_fix_dist: 0.2363, d5.loss_plan_l1_fix_time: 1.2204, d5.loss_plan_l1_fix_dist: 0.2490, d6.loss_plan_l1_fix_time: 1.2278, d6.loss_plan_l1_fix_dist: 0.2620, d0.loss_cls_all: 0.2755, d0.loss_bbox_all: 0.4527, d0.loss_cls: 0.2755, d0.loss_bbox: 0.4527, d1.loss_cls: 0.2724, d1.loss_bbox: 0.4312, d2.loss_cls: 0.2678, d2.loss_bbox: 0.4169, d3.loss_cls: 0.2679, d3.loss_bbox: 0.4114, d4.loss_cls: 0.2653, d4.loss_bbox: 0.4130, d5.loss_cls: 0.2654, d5.loss_bbox: 0.4150, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9585, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8277, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8005, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7939, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7898, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.8028, d0.loss_map_cls_all: 0.2656, d0.loss_map_pts_all: 1.6159, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2656, d0.loss_map_pts: 1.6159, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2386, d1.loss_map_pts: 1.1349, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2257, d2.loss_map_pts: 0.9721, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2172, d3.loss_map_pts: 0.9172, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.2139, d4.loss_map_pts: 0.8997, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.2110, d5.loss_map_pts: 0.8928, d5.loss_map_dir: 0.0125, loss: 33.9032, grad_norm: 161.9365 +2026-02-25 09:22:43,267 - DriveTransformer - INFO - Epoch [4][20900/39528] lr: 9.623e-05, eta: 7 days, 12:25:01, time: 0.817, data_time: 0.042, memory: 19865, loss_cls: 0.2446, loss_bbox: 0.4227, loss_traj: 0.7882, loss_traj_cls: 0.0020, loss_map_cls: 0.2112, loss_map_pts: 0.8467, loss_map_dir: 0.0152, d0.loss_plan_l1_fix_time: 2.6096, d0.loss_plan_l1_fix_dist: 0.4267, d1.loss_plan_l1_fix_time: 1.4245, d1.loss_plan_l1_fix_dist: 0.2211, d2.loss_plan_l1_fix_time: 1.4089, d2.loss_plan_l1_fix_dist: 0.2278, d3.loss_plan_l1_fix_time: 1.4135, d3.loss_plan_l1_fix_dist: 0.2397, d4.loss_plan_l1_fix_time: 1.4213, d4.loss_plan_l1_fix_dist: 0.2539, d5.loss_plan_l1_fix_time: 1.4296, d5.loss_plan_l1_fix_dist: 0.2705, d6.loss_plan_l1_fix_time: 1.4383, d6.loss_plan_l1_fix_dist: 0.2965, d0.loss_cls_all: 0.2564, d0.loss_bbox_all: 0.4730, d0.loss_cls: 0.2564, d0.loss_bbox: 0.4730, d1.loss_cls: 0.2549, d1.loss_bbox: 0.4443, d2.loss_cls: 0.2437, d2.loss_bbox: 0.4314, d3.loss_cls: 0.2438, d3.loss_bbox: 0.4253, d4.loss_cls: 0.2422, d4.loss_bbox: 0.4248, d5.loss_cls: 0.2440, d5.loss_bbox: 0.4229, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9480, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8154, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7869, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7746, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7795, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7817, d0.loss_map_cls_all: 0.2598, d0.loss_map_pts_all: 1.8228, d0.loss_map_dir_all: 0.0140, d0.loss_map_cls: 0.2598, d0.loss_map_pts: 1.8228, d0.loss_map_dir: 0.0140, d1.loss_map_cls: 0.2377, d1.loss_map_pts: 1.1439, d1.loss_map_dir: 0.0132, d2.loss_map_cls: 0.2250, d2.loss_map_pts: 0.9427, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2190, d3.loss_map_pts: 0.8763, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2155, d4.loss_map_pts: 0.8529, d4.loss_map_dir: 0.0148, d5.loss_map_cls: 0.2116, d5.loss_map_pts: 0.8468, d5.loss_map_dir: 0.0150, loss: 35.3763, grad_norm: 164.2034 +2026-02-25 09:23:23,427 - DriveTransformer - INFO - Epoch [4][20950/39528] lr: 9.623e-05, eta: 7 days, 12:24:21, time: 0.803, data_time: 0.043, memory: 19865, loss_cls: 0.3038, loss_bbox: 0.4897, loss_traj: 1.0465, loss_traj_cls: 0.0019, loss_map_cls: 0.2691, loss_map_pts: 1.0652, loss_map_dir: 0.0152, d0.loss_plan_l1_fix_time: 2.9638, d0.loss_plan_l1_fix_dist: 0.3683, d1.loss_plan_l1_fix_time: 1.5849, d1.loss_plan_l1_fix_dist: 0.2232, d2.loss_plan_l1_fix_time: 1.5579, d2.loss_plan_l1_fix_dist: 0.2284, d3.loss_plan_l1_fix_time: 1.5610, d3.loss_plan_l1_fix_dist: 0.2373, d4.loss_plan_l1_fix_time: 1.5659, d4.loss_plan_l1_fix_dist: 0.2482, d5.loss_plan_l1_fix_time: 1.5715, d5.loss_plan_l1_fix_dist: 0.2622, d6.loss_plan_l1_fix_time: 1.5778, d6.loss_plan_l1_fix_dist: 0.2806, d0.loss_cls_all: 0.3368, d0.loss_bbox_all: 0.5594, d0.loss_cls: 0.3368, d0.loss_bbox: 0.5594, d1.loss_cls: 0.3381, d1.loss_bbox: 0.5202, d2.loss_cls: 0.3198, d2.loss_bbox: 0.5033, d3.loss_cls: 0.3111, d3.loss_bbox: 0.4956, d4.loss_cls: 0.3053, d4.loss_bbox: 0.4928, d5.loss_cls: 0.3040, d5.loss_bbox: 0.4896, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2789, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.1060, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0577, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0540, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0413, d5.loss_traj_cls: 0.0014, d5.loss_traj: 1.0387, d0.loss_map_cls_all: 0.3357, d0.loss_map_pts_all: 1.8071, d0.loss_map_dir_all: 0.0132, d0.loss_map_cls: 0.3357, d0.loss_map_pts: 1.8071, d0.loss_map_dir: 0.0132, d1.loss_map_cls: 0.3035, d1.loss_map_pts: 1.3035, d1.loss_map_dir: 0.0131, d2.loss_map_cls: 0.2846, d2.loss_map_pts: 1.1456, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2768, d3.loss_map_pts: 1.0863, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2702, d4.loss_map_pts: 1.0713, d4.loss_map_dir: 0.0149, d5.loss_map_cls: 0.2692, d5.loss_map_pts: 1.0658, d5.loss_map_dir: 0.0151, loss: 41.3371, grad_norm: 165.8590 +2026-02-25 09:24:04,386 - DriveTransformer - INFO - Epoch [4][21000/39528] lr: 9.623e-05, eta: 7 days, 12:23:47, time: 0.821, data_time: 0.045, memory: 19865, loss_cls: 0.3070, loss_bbox: 0.5164, loss_traj: 1.1881, loss_traj_cls: 0.0019, loss_map_cls: 0.2774, loss_map_pts: 1.1576, loss_map_dir: 0.0162, d0.loss_plan_l1_fix_time: 3.4362, d0.loss_plan_l1_fix_dist: 0.4240, d1.loss_plan_l1_fix_time: 2.1324, d1.loss_plan_l1_fix_dist: 0.2481, d2.loss_plan_l1_fix_time: 2.1111, d2.loss_plan_l1_fix_dist: 0.2508, d3.loss_plan_l1_fix_time: 2.1087, d3.loss_plan_l1_fix_dist: 0.2602, d4.loss_plan_l1_fix_time: 2.1104, d4.loss_plan_l1_fix_dist: 0.2701, d5.loss_plan_l1_fix_time: 2.1131, d5.loss_plan_l1_fix_dist: 0.2803, d6.loss_plan_l1_fix_time: 2.1175, d6.loss_plan_l1_fix_dist: 0.2897, d0.loss_cls_all: 0.3270, d0.loss_bbox_all: 0.5713, d0.loss_cls: 0.3270, d0.loss_bbox: 0.5713, d1.loss_cls: 0.3202, d1.loss_bbox: 0.5390, d2.loss_cls: 0.3094, d2.loss_bbox: 0.5241, d3.loss_cls: 0.3073, d3.loss_bbox: 0.5182, d4.loss_cls: 0.3049, d4.loss_bbox: 0.5154, d5.loss_cls: 0.3047, d5.loss_bbox: 0.5163, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.5443, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.2934, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.2226, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.2086, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1918, d5.loss_traj_cls: 0.0014, d5.loss_traj: 1.1833, d0.loss_map_cls_all: 0.3344, d0.loss_map_pts_all: 2.0514, d0.loss_map_dir_all: 0.0138, d0.loss_map_cls: 0.3344, d0.loss_map_pts: 2.0514, d0.loss_map_dir: 0.0138, d1.loss_map_cls: 0.3114, d1.loss_map_pts: 1.4501, d1.loss_map_dir: 0.0138, d2.loss_map_cls: 0.2934, d2.loss_map_pts: 1.2598, d2.loss_map_dir: 0.0146, d3.loss_map_cls: 0.2853, d3.loss_map_pts: 1.1881, d3.loss_map_dir: 0.0154, d4.loss_map_cls: 0.2785, d4.loss_map_pts: 1.1640, d4.loss_map_dir: 0.0157, d5.loss_map_cls: 0.2778, d5.loss_map_pts: 1.1591, d5.loss_map_dir: 0.0160, loss: 47.7655, grad_norm: 165.2502 +2026-02-25 09:24:43,591 - DriveTransformer - INFO - Epoch [4][21050/39528] lr: 9.623e-05, eta: 7 days, 12:23:01, time: 0.783, data_time: 0.040, memory: 19865, loss_cls: 0.2498, loss_bbox: 0.4426, loss_traj: 0.9029, loss_traj_cls: 0.0019, loss_map_cls: 0.2003, loss_map_pts: 0.8311, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.2464, d0.loss_plan_l1_fix_dist: 0.4986, d1.loss_plan_l1_fix_time: 1.2150, d1.loss_plan_l1_fix_dist: 0.2052, d2.loss_plan_l1_fix_time: 1.1961, d2.loss_plan_l1_fix_dist: 0.2088, d3.loss_plan_l1_fix_time: 1.1977, d3.loss_plan_l1_fix_dist: 0.2151, d4.loss_plan_l1_fix_time: 1.2014, d4.loss_plan_l1_fix_dist: 0.2224, d5.loss_plan_l1_fix_time: 1.2060, d5.loss_plan_l1_fix_dist: 0.2307, d6.loss_plan_l1_fix_time: 1.2116, d6.loss_plan_l1_fix_dist: 0.2390, d0.loss_cls_all: 0.2645, d0.loss_bbox_all: 0.4798, d0.loss_cls: 0.2645, d0.loss_bbox: 0.4798, d1.loss_cls: 0.2585, d1.loss_bbox: 0.4536, d2.loss_cls: 0.2537, d2.loss_bbox: 0.4410, d3.loss_cls: 0.2526, d3.loss_bbox: 0.4377, d4.loss_cls: 0.2483, d4.loss_bbox: 0.4388, d5.loss_cls: 0.2484, d5.loss_bbox: 0.4399, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0709, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9641, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9199, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9069, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9007, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.9035, d0.loss_map_cls_all: 0.2458, d0.loss_map_pts_all: 1.5819, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2458, d0.loss_map_pts: 1.5819, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2238, d1.loss_map_pts: 1.0451, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2151, d2.loss_map_pts: 0.8997, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.2085, d3.loss_map_pts: 0.8543, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.2025, d4.loss_map_pts: 0.8381, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.2007, d5.loss_map_pts: 0.8322, d5.loss_map_dir: 0.0117, loss: 33.8196, grad_norm: 162.0486 +2026-02-25 09:25:23,556 - DriveTransformer - INFO - Epoch [4][21100/39528] lr: 9.623e-05, eta: 7 days, 12:22:20, time: 0.800, data_time: 0.037, memory: 19865, loss_cls: 0.2973, loss_bbox: 0.4642, loss_traj: 0.7826, loss_traj_cls: 0.0020, loss_map_cls: 0.2301, loss_map_pts: 1.0031, loss_map_dir: 0.0140, d0.loss_plan_l1_fix_time: 2.6371, d0.loss_plan_l1_fix_dist: 0.4592, d1.loss_plan_l1_fix_time: 1.4483, d1.loss_plan_l1_fix_dist: 0.2297, d2.loss_plan_l1_fix_time: 1.4314, d2.loss_plan_l1_fix_dist: 0.2337, d3.loss_plan_l1_fix_time: 1.4354, d3.loss_plan_l1_fix_dist: 0.2412, d4.loss_plan_l1_fix_time: 1.4393, d4.loss_plan_l1_fix_dist: 0.2515, d5.loss_plan_l1_fix_time: 1.4428, d5.loss_plan_l1_fix_dist: 0.2636, d6.loss_plan_l1_fix_time: 1.4465, d6.loss_plan_l1_fix_dist: 0.2804, d0.loss_cls_all: 0.3136, d0.loss_bbox_all: 0.5162, d0.loss_cls: 0.3136, d0.loss_bbox: 0.5162, d1.loss_cls: 0.3100, d1.loss_bbox: 0.4897, d2.loss_cls: 0.2993, d2.loss_bbox: 0.4741, d3.loss_cls: 0.2975, d3.loss_bbox: 0.4669, d4.loss_cls: 0.2950, d4.loss_bbox: 0.4655, d5.loss_cls: 0.2964, d5.loss_bbox: 0.4643, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9931, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8345, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7934, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7870, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7796, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7789, d0.loss_map_cls_all: 0.2950, d0.loss_map_pts_all: 1.8413, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.2950, d0.loss_map_pts: 1.8413, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2641, d1.loss_map_pts: 1.2657, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2491, d2.loss_map_pts: 1.0966, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2403, d3.loss_map_pts: 1.0390, d3.loss_map_dir: 0.0134, d4.loss_map_cls: 0.2344, d4.loss_map_pts: 1.0163, d4.loss_map_dir: 0.0138, d5.loss_map_cls: 0.2313, d5.loss_map_pts: 1.0062, d5.loss_map_dir: 0.0139, loss: 37.5307, grad_norm: 159.9989 +2026-02-25 09:26:03,306 - DriveTransformer - INFO - Epoch [4][21150/39528] lr: 9.623e-05, eta: 7 days, 12:21:37, time: 0.795, data_time: 0.042, memory: 19865, loss_cls: 0.2679, loss_bbox: 0.4455, loss_traj: 0.9769, loss_traj_cls: 0.0019, loss_map_cls: 0.2291, loss_map_pts: 0.9730, loss_map_dir: 0.0152, d0.loss_plan_l1_fix_time: 2.8447, d0.loss_plan_l1_fix_dist: 0.4670, d1.loss_plan_l1_fix_time: 1.4293, d1.loss_plan_l1_fix_dist: 0.2480, d2.loss_plan_l1_fix_time: 1.4173, d2.loss_plan_l1_fix_dist: 0.2480, d3.loss_plan_l1_fix_time: 1.4172, d3.loss_plan_l1_fix_dist: 0.2532, d4.loss_plan_l1_fix_time: 1.4210, d4.loss_plan_l1_fix_dist: 0.2606, d5.loss_plan_l1_fix_time: 1.4254, d5.loss_plan_l1_fix_dist: 0.2708, d6.loss_plan_l1_fix_time: 1.4304, d6.loss_plan_l1_fix_dist: 0.2840, d0.loss_cls_all: 0.2856, d0.loss_bbox_all: 0.4929, d0.loss_cls: 0.2856, d0.loss_bbox: 0.4929, d1.loss_cls: 0.2747, d1.loss_bbox: 0.4621, d2.loss_cls: 0.2701, d2.loss_bbox: 0.4473, d3.loss_cls: 0.2673, d3.loss_bbox: 0.4428, d4.loss_cls: 0.2651, d4.loss_bbox: 0.4424, d5.loss_cls: 0.2652, d5.loss_bbox: 0.4440, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1537, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0037, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9742, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9800, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9726, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.9766, d0.loss_map_cls_all: 0.2883, d0.loss_map_pts_all: 1.9399, d0.loss_map_dir_all: 0.0136, d0.loss_map_cls: 0.2883, d0.loss_map_pts: 1.9399, d0.loss_map_dir: 0.0136, d1.loss_map_cls: 0.2602, d1.loss_map_pts: 1.2510, d1.loss_map_dir: 0.0132, d2.loss_map_cls: 0.2471, d2.loss_map_pts: 1.0551, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2400, d3.loss_map_pts: 0.9926, d3.loss_map_dir: 0.0145, d4.loss_map_cls: 0.2320, d4.loss_map_pts: 0.9766, d4.loss_map_dir: 0.0148, d5.loss_map_cls: 0.2293, d5.loss_map_pts: 0.9743, d5.loss_map_dir: 0.0151, loss: 38.5443, grad_norm: 160.0097 +2026-02-25 09:26:43,496 - DriveTransformer - INFO - Epoch [4][21200/39528] lr: 9.623e-05, eta: 7 days, 12:20:57, time: 0.804, data_time: 0.046, memory: 19865, loss_cls: 0.2977, loss_bbox: 0.4825, loss_traj: 0.8663, loss_traj_cls: 0.0019, loss_map_cls: 0.2303, loss_map_pts: 0.9857, loss_map_dir: 0.0150, d0.loss_plan_l1_fix_time: 2.8134, d0.loss_plan_l1_fix_dist: 0.3938, d1.loss_plan_l1_fix_time: 1.6200, d1.loss_plan_l1_fix_dist: 0.2357, d2.loss_plan_l1_fix_time: 1.5948, d2.loss_plan_l1_fix_dist: 0.2388, d3.loss_plan_l1_fix_time: 1.5889, d3.loss_plan_l1_fix_dist: 0.2451, d4.loss_plan_l1_fix_time: 1.5912, d4.loss_plan_l1_fix_dist: 0.2540, d5.loss_plan_l1_fix_time: 1.5951, d5.loss_plan_l1_fix_dist: 0.2645, d6.loss_plan_l1_fix_time: 1.6000, d6.loss_plan_l1_fix_dist: 0.2746, d0.loss_cls_all: 0.3037, d0.loss_bbox_all: 0.5307, d0.loss_cls: 0.3037, d0.loss_bbox: 0.5307, d1.loss_cls: 0.2993, d1.loss_bbox: 0.5037, d2.loss_cls: 0.2960, d2.loss_bbox: 0.4904, d3.loss_cls: 0.2945, d3.loss_bbox: 0.4846, d4.loss_cls: 0.2945, d4.loss_bbox: 0.4823, d5.loss_cls: 0.2954, d5.loss_bbox: 0.4821, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0292, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8814, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8511, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8540, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8535, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.8614, d0.loss_map_cls_all: 0.2852, d0.loss_map_pts_all: 1.8569, d0.loss_map_dir_all: 0.0132, d0.loss_map_cls: 0.2852, d0.loss_map_pts: 1.8569, d0.loss_map_dir: 0.0132, d1.loss_map_cls: 0.2579, d1.loss_map_pts: 1.2489, d1.loss_map_dir: 0.0126, d2.loss_map_cls: 0.2443, d2.loss_map_pts: 1.0638, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2355, d3.loss_map_pts: 1.0057, d3.loss_map_dir: 0.0141, d4.loss_map_cls: 0.2311, d4.loss_map_pts: 0.9897, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.2298, d5.loss_map_pts: 0.9877, d5.loss_map_dir: 0.0148, loss: 38.9918, grad_norm: 158.8713 +2026-02-25 09:27:23,857 - DriveTransformer - INFO - Epoch [4][21250/39528] lr: 9.623e-05, eta: 7 days, 12:20:19, time: 0.807, data_time: 0.042, memory: 19865, loss_cls: 0.2826, loss_bbox: 0.4502, loss_traj: 0.9638, loss_traj_cls: 0.0020, loss_map_cls: 0.2093, loss_map_pts: 0.9485, loss_map_dir: 0.0148, d0.loss_plan_l1_fix_time: 2.6046, d0.loss_plan_l1_fix_dist: 0.4900, d1.loss_plan_l1_fix_time: 1.6121, d1.loss_plan_l1_fix_dist: 0.2515, d2.loss_plan_l1_fix_time: 1.5946, d2.loss_plan_l1_fix_dist: 0.2557, d3.loss_plan_l1_fix_time: 1.5922, d3.loss_plan_l1_fix_dist: 0.2626, d4.loss_plan_l1_fix_time: 1.5941, d4.loss_plan_l1_fix_dist: 0.2709, d5.loss_plan_l1_fix_time: 1.5976, d5.loss_plan_l1_fix_dist: 0.2801, d6.loss_plan_l1_fix_time: 1.6028, d6.loss_plan_l1_fix_dist: 0.2926, d0.loss_cls_all: 0.3000, d0.loss_bbox_all: 0.5027, d0.loss_cls: 0.3000, d0.loss_bbox: 0.5027, d1.loss_cls: 0.2955, d1.loss_bbox: 0.4761, d2.loss_cls: 0.2890, d2.loss_bbox: 0.4620, d3.loss_cls: 0.2840, d3.loss_bbox: 0.4557, d4.loss_cls: 0.2816, d4.loss_bbox: 0.4515, d5.loss_cls: 0.2821, d5.loss_bbox: 0.4493, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1706, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0166, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9686, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9654, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9616, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.9618, d0.loss_map_cls_all: 0.2746, d0.loss_map_pts_all: 1.8868, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.2746, d0.loss_map_pts: 1.8868, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2432, d1.loss_map_pts: 1.2375, d1.loss_map_dir: 0.0126, d2.loss_map_cls: 0.2261, d2.loss_map_pts: 1.0438, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2168, d3.loss_map_pts: 0.9760, d3.loss_map_dir: 0.0141, d4.loss_map_cls: 0.2122, d4.loss_map_pts: 0.9587, d4.loss_map_dir: 0.0144, d5.loss_map_cls: 0.2095, d5.loss_map_pts: 0.9480, d5.loss_map_dir: 0.0146, loss: 39.2458, grad_norm: 157.7656 +2026-02-25 09:28:04,672 - DriveTransformer - INFO - Epoch [4][21300/39528] lr: 9.623e-05, eta: 7 days, 12:19:42, time: 0.816, data_time: 0.039, memory: 19865, loss_cls: 0.2759, loss_bbox: 0.4499, loss_traj: 0.9079, loss_traj_cls: 0.0019, loss_map_cls: 0.2465, loss_map_pts: 1.0089, loss_map_dir: 0.0147, d0.loss_plan_l1_fix_time: 2.6478, d0.loss_plan_l1_fix_dist: 0.4381, d1.loss_plan_l1_fix_time: 1.5255, d1.loss_plan_l1_fix_dist: 0.2376, d2.loss_plan_l1_fix_time: 1.5037, d2.loss_plan_l1_fix_dist: 0.2441, d3.loss_plan_l1_fix_time: 1.5058, d3.loss_plan_l1_fix_dist: 0.2552, d4.loss_plan_l1_fix_time: 1.5104, d4.loss_plan_l1_fix_dist: 0.2676, d5.loss_plan_l1_fix_time: 1.5160, d5.loss_plan_l1_fix_dist: 0.2811, d6.loss_plan_l1_fix_time: 1.5225, d6.loss_plan_l1_fix_dist: 0.2981, d0.loss_cls_all: 0.2896, d0.loss_bbox_all: 0.4981, d0.loss_cls: 0.2896, d0.loss_bbox: 0.4981, d1.loss_cls: 0.2813, d1.loss_bbox: 0.4702, d2.loss_cls: 0.2746, d2.loss_bbox: 0.4553, d3.loss_cls: 0.2712, d3.loss_bbox: 0.4505, d4.loss_cls: 0.2738, d4.loss_bbox: 0.4496, d5.loss_cls: 0.2766, d5.loss_bbox: 0.4497, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1352, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9549, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9205, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9088, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9087, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.9137, d0.loss_map_cls_all: 0.3037, d0.loss_map_pts_all: 1.9239, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.3037, d0.loss_map_pts: 1.9239, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2744, d1.loss_map_pts: 1.2976, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2667, d2.loss_map_pts: 1.0963, d2.loss_map_dir: 0.0133, d3.loss_map_cls: 0.2568, d3.loss_map_pts: 1.0392, d3.loss_map_dir: 0.0140, d4.loss_map_cls: 0.2490, d4.loss_map_pts: 1.0207, d4.loss_map_dir: 0.0143, d5.loss_map_cls: 0.2468, d5.loss_map_pts: 1.0103, d5.loss_map_dir: 0.0145, loss: 38.9430, grad_norm: 157.5854 +2026-02-25 09:28:43,442 - DriveTransformer - INFO - Epoch [4][21350/39528] lr: 9.623e-05, eta: 7 days, 12:18:54, time: 0.775, data_time: 0.037, memory: 19865, loss_cls: 0.2801, loss_bbox: 0.4650, loss_traj: 0.9694, loss_traj_cls: 0.0021, loss_map_cls: 0.2223, loss_map_pts: 0.9044, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.8657, d0.loss_plan_l1_fix_dist: 0.3569, d1.loss_plan_l1_fix_time: 1.6851, d1.loss_plan_l1_fix_dist: 0.2365, d2.loss_plan_l1_fix_time: 1.6617, d2.loss_plan_l1_fix_dist: 0.2457, d3.loss_plan_l1_fix_time: 1.6628, d3.loss_plan_l1_fix_dist: 0.2602, d4.loss_plan_l1_fix_time: 1.6655, d4.loss_plan_l1_fix_dist: 0.2771, d5.loss_plan_l1_fix_time: 1.6686, d5.loss_plan_l1_fix_dist: 0.2947, d6.loss_plan_l1_fix_time: 1.6720, d6.loss_plan_l1_fix_dist: 0.3160, d0.loss_cls_all: 0.3002, d0.loss_bbox_all: 0.5221, d0.loss_cls: 0.3002, d0.loss_bbox: 0.5221, d1.loss_cls: 0.2958, d1.loss_bbox: 0.4894, d2.loss_cls: 0.2832, d2.loss_bbox: 0.4746, d3.loss_cls: 0.2798, d3.loss_bbox: 0.4656, d4.loss_cls: 0.2792, d4.loss_bbox: 0.4632, d5.loss_cls: 0.2789, d5.loss_bbox: 0.4644, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1428, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0252, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9778, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9690, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9684, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.9682, d0.loss_map_cls_all: 0.2819, d0.loss_map_pts_all: 1.7187, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2819, d0.loss_map_pts: 1.7187, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2507, d1.loss_map_pts: 1.1727, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2384, d2.loss_map_pts: 0.9983, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.2295, d3.loss_map_pts: 0.9377, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.2244, d4.loss_map_pts: 0.9136, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.2224, d5.loss_map_pts: 0.9057, d5.loss_map_dir: 0.0114, loss: 39.3682, grad_norm: 156.7452 +2026-02-25 09:29:22,696 - DriveTransformer - INFO - Epoch [4][21400/39528] lr: 9.623e-05, eta: 7 days, 12:18:09, time: 0.785, data_time: 0.046, memory: 19865, loss_cls: 0.2766, loss_bbox: 0.4537, loss_traj: 0.9456, loss_traj_cls: 0.0022, loss_map_cls: 0.2627, loss_map_pts: 1.0475, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.6080, d0.loss_plan_l1_fix_dist: 0.3337, d1.loss_plan_l1_fix_time: 1.5615, d1.loss_plan_l1_fix_dist: 0.2293, d2.loss_plan_l1_fix_time: 1.5572, d2.loss_plan_l1_fix_dist: 0.2378, d3.loss_plan_l1_fix_time: 1.5617, d3.loss_plan_l1_fix_dist: 0.2519, d4.loss_plan_l1_fix_time: 1.5661, d4.loss_plan_l1_fix_dist: 0.2677, d5.loss_plan_l1_fix_time: 1.5709, d5.loss_plan_l1_fix_dist: 0.2870, d6.loss_plan_l1_fix_time: 1.5764, d6.loss_plan_l1_fix_dist: 0.3115, d0.loss_cls_all: 0.2917, d0.loss_bbox_all: 0.5065, d0.loss_cls: 0.2917, d0.loss_bbox: 0.5065, d1.loss_cls: 0.2843, d1.loss_bbox: 0.4786, d2.loss_cls: 0.2746, d2.loss_bbox: 0.4618, d3.loss_cls: 0.2764, d3.loss_bbox: 0.4540, d4.loss_cls: 0.2768, d4.loss_bbox: 0.4526, d5.loss_cls: 0.2782, d5.loss_bbox: 0.4525, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1389, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9855, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9526, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9441, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9385, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.9378, d0.loss_map_cls_all: 0.3229, d0.loss_map_pts_all: 1.8211, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.3229, d0.loss_map_pts: 1.8211, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2973, d1.loss_map_pts: 1.3242, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2812, d2.loss_map_pts: 1.1427, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.2713, d3.loss_map_pts: 1.0807, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.2644, d4.loss_map_pts: 1.0587, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.2635, d5.loss_map_pts: 1.0504, d5.loss_map_dir: 0.0121, loss: 39.5110, grad_norm: 156.7916 +2026-02-25 09:30:03,200 - DriveTransformer - INFO - Epoch [4][21450/39528] lr: 9.623e-05, eta: 7 days, 12:17:31, time: 0.810, data_time: 0.039, memory: 19865, loss_cls: 0.2950, loss_bbox: 0.4859, loss_traj: 0.8157, loss_traj_cls: 0.0022, loss_map_cls: 0.2273, loss_map_pts: 1.0542, loss_map_dir: 0.0148, d0.loss_plan_l1_fix_time: 2.6132, d0.loss_plan_l1_fix_dist: 0.4067, d1.loss_plan_l1_fix_time: 1.4379, d1.loss_plan_l1_fix_dist: 0.2385, d2.loss_plan_l1_fix_time: 1.4255, d2.loss_plan_l1_fix_dist: 0.2442, d3.loss_plan_l1_fix_time: 1.4329, d3.loss_plan_l1_fix_dist: 0.2539, d4.loss_plan_l1_fix_time: 1.4399, d4.loss_plan_l1_fix_dist: 0.2621, d5.loss_plan_l1_fix_time: 1.4474, d5.loss_plan_l1_fix_dist: 0.2690, d6.loss_plan_l1_fix_time: 1.4559, d6.loss_plan_l1_fix_dist: 0.2777, d0.loss_cls_all: 0.3131, d0.loss_bbox_all: 0.5323, d0.loss_cls: 0.3131, d0.loss_bbox: 0.5323, d1.loss_cls: 0.3031, d1.loss_bbox: 0.5045, d2.loss_cls: 0.2901, d2.loss_bbox: 0.4930, d3.loss_cls: 0.2873, d3.loss_bbox: 0.4861, d4.loss_cls: 0.2903, d4.loss_bbox: 0.4860, d5.loss_cls: 0.2942, d5.loss_bbox: 0.4854, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0348, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8837, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8295, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8183, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8191, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.8202, d0.loss_map_cls_all: 0.2805, d0.loss_map_pts_all: 1.8652, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.2805, d0.loss_map_pts: 1.8652, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2589, d1.loss_map_pts: 1.3106, d1.loss_map_dir: 0.0125, d2.loss_map_cls: 0.2486, d2.loss_map_pts: 1.1408, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2364, d3.loss_map_pts: 1.0812, d3.loss_map_dir: 0.0141, d4.loss_map_cls: 0.2306, d4.loss_map_pts: 1.0618, d4.loss_map_dir: 0.0145, d5.loss_map_cls: 0.2281, d5.loss_map_pts: 1.0567, d5.loss_map_dir: 0.0146, loss: 38.1618, grad_norm: 158.1033 +2026-02-25 09:30:43,937 - DriveTransformer - INFO - Epoch [4][21500/39528] lr: 9.623e-05, eta: 7 days, 12:16:55, time: 0.815, data_time: 0.038, memory: 19865, loss_cls: 0.2583, loss_bbox: 0.4480, loss_traj: 0.7487, loss_traj_cls: 0.0023, loss_map_cls: 0.2302, loss_map_pts: 0.9966, loss_map_dir: 0.0145, d0.loss_plan_l1_fix_time: 2.4920, d0.loss_plan_l1_fix_dist: 0.4381, d1.loss_plan_l1_fix_time: 1.4114, d1.loss_plan_l1_fix_dist: 0.2411, d2.loss_plan_l1_fix_time: 1.3974, d2.loss_plan_l1_fix_dist: 0.2505, d3.loss_plan_l1_fix_time: 1.4002, d3.loss_plan_l1_fix_dist: 0.2644, d4.loss_plan_l1_fix_time: 1.4051, d4.loss_plan_l1_fix_dist: 0.2799, d5.loss_plan_l1_fix_time: 1.4107, d5.loss_plan_l1_fix_dist: 0.2952, d6.loss_plan_l1_fix_time: 1.4174, d6.loss_plan_l1_fix_dist: 0.3116, d0.loss_cls_all: 0.2675, d0.loss_bbox_all: 0.4926, d0.loss_cls: 0.2675, d0.loss_bbox: 0.4926, d1.loss_cls: 0.2582, d1.loss_bbox: 0.4656, d2.loss_cls: 0.2522, d2.loss_bbox: 0.4487, d3.loss_cls: 0.2507, d3.loss_bbox: 0.4431, d4.loss_cls: 0.2576, d4.loss_bbox: 0.4406, d5.loss_cls: 0.2579, d5.loss_bbox: 0.4451, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9347, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8066, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7582, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7419, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7430, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7419, d0.loss_map_cls_all: 0.2863, d0.loss_map_pts_all: 1.9682, d0.loss_map_dir_all: 0.0126, d0.loss_map_cls: 0.2863, d0.loss_map_pts: 1.9682, d0.loss_map_dir: 0.0126, d1.loss_map_cls: 0.2606, d1.loss_map_pts: 1.3198, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2509, d2.loss_map_pts: 1.1053, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2393, d3.loss_map_pts: 1.0313, d3.loss_map_dir: 0.0136, d4.loss_map_cls: 0.2324, d4.loss_map_pts: 1.0070, d4.loss_map_dir: 0.0142, d5.loss_map_cls: 0.2302, d5.loss_map_pts: 0.9993, d5.loss_map_dir: 0.0144, loss: 36.7636, grad_norm: 157.0173 +2026-02-25 09:31:26,760 - DriveTransformer - INFO - Epoch [4][21550/39528] lr: 9.623e-05, eta: 7 days, 12:16:30, time: 0.856, data_time: 0.046, memory: 19865, loss_cls: 0.2645, loss_bbox: 0.4341, loss_traj: 0.7603, loss_traj_cls: 0.0022, loss_map_cls: 0.2220, loss_map_pts: 0.9792, loss_map_dir: 0.0154, d0.loss_plan_l1_fix_time: 2.6791, d0.loss_plan_l1_fix_dist: 0.5119, d1.loss_plan_l1_fix_time: 1.4799, d1.loss_plan_l1_fix_dist: 0.2873, d2.loss_plan_l1_fix_time: 1.4643, d2.loss_plan_l1_fix_dist: 0.2908, d3.loss_plan_l1_fix_time: 1.4641, d3.loss_plan_l1_fix_dist: 0.2967, d4.loss_plan_l1_fix_time: 1.4674, d4.loss_plan_l1_fix_dist: 0.3050, d5.loss_plan_l1_fix_time: 1.4711, d5.loss_plan_l1_fix_dist: 0.3136, d6.loss_plan_l1_fix_time: 1.4745, d6.loss_plan_l1_fix_dist: 0.3264, d0.loss_cls_all: 0.2846, d0.loss_bbox_all: 0.4917, d0.loss_cls: 0.2846, d0.loss_bbox: 0.4917, d1.loss_cls: 0.2825, d1.loss_bbox: 0.4581, d2.loss_cls: 0.2683, d2.loss_bbox: 0.4481, d3.loss_cls: 0.2653, d3.loss_bbox: 0.4412, d4.loss_cls: 0.2620, d4.loss_bbox: 0.4383, d5.loss_cls: 0.2633, d5.loss_bbox: 0.4355, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9653, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8056, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7663, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7555, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7525, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7595, d0.loss_map_cls_all: 0.2849, d0.loss_map_pts_all: 2.0908, d0.loss_map_dir_all: 0.0143, d0.loss_map_cls: 0.2849, d0.loss_map_pts: 2.0908, d0.loss_map_dir: 0.0143, d1.loss_map_cls: 0.2556, d1.loss_map_pts: 1.3250, d1.loss_map_dir: 0.0134, d2.loss_map_cls: 0.2412, d2.loss_map_pts: 1.0924, d2.loss_map_dir: 0.0140, d3.loss_map_cls: 0.2323, d3.loss_map_pts: 1.0159, d3.loss_map_dir: 0.0146, d4.loss_map_cls: 0.2265, d4.loss_map_pts: 0.9875, d4.loss_map_dir: 0.0150, d5.loss_map_cls: 0.2225, d5.loss_map_pts: 0.9796, d5.loss_map_dir: 0.0152, loss: 37.8668, grad_norm: 156.5611 +2026-02-25 09:32:09,054 - DriveTransformer - INFO - Epoch [4][21600/39528] lr: 9.623e-05, eta: 7 days, 12:16:02, time: 0.846, data_time: 0.048, memory: 19865, loss_cls: 0.2731, loss_bbox: 0.4606, loss_traj: 0.7878, loss_traj_cls: 0.0023, loss_map_cls: 0.2239, loss_map_pts: 1.0237, loss_map_dir: 0.0164, d0.loss_plan_l1_fix_time: 2.8760, d0.loss_plan_l1_fix_dist: 0.4357, d1.loss_plan_l1_fix_time: 1.6498, d1.loss_plan_l1_fix_dist: 0.2372, d2.loss_plan_l1_fix_time: 1.6257, d2.loss_plan_l1_fix_dist: 0.2437, d3.loss_plan_l1_fix_time: 1.6249, d3.loss_plan_l1_fix_dist: 0.2564, d4.loss_plan_l1_fix_time: 1.6281, d4.loss_plan_l1_fix_dist: 0.2723, d5.loss_plan_l1_fix_time: 1.6317, d5.loss_plan_l1_fix_dist: 0.2908, d6.loss_plan_l1_fix_time: 1.6354, d6.loss_plan_l1_fix_dist: 0.3116, d0.loss_cls_all: 0.2955, d0.loss_bbox_all: 0.5127, d0.loss_cls: 0.2955, d0.loss_bbox: 0.5127, d1.loss_cls: 0.2880, d1.loss_bbox: 0.4831, d2.loss_cls: 0.2797, d2.loss_bbox: 0.4720, d3.loss_cls: 0.2768, d3.loss_bbox: 0.4645, d4.loss_cls: 0.2707, d4.loss_bbox: 0.4624, d5.loss_cls: 0.2717, d5.loss_bbox: 0.4594, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9371, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8242, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7904, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7808, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7814, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7873, d0.loss_map_cls_all: 0.2761, d0.loss_map_pts_all: 2.0320, d0.loss_map_dir_all: 0.0148, d0.loss_map_cls: 0.2761, d0.loss_map_pts: 2.0320, d0.loss_map_dir: 0.0148, d1.loss_map_cls: 0.2559, d1.loss_map_pts: 1.3187, d1.loss_map_dir: 0.0140, d2.loss_map_cls: 0.2407, d2.loss_map_pts: 1.1202, d2.loss_map_dir: 0.0148, d3.loss_map_cls: 0.2311, d3.loss_map_pts: 1.0524, d3.loss_map_dir: 0.0156, d4.loss_map_cls: 0.2262, d4.loss_map_pts: 1.0295, d4.loss_map_dir: 0.0161, d5.loss_map_cls: 0.2234, d5.loss_map_pts: 1.0247, d5.loss_map_dir: 0.0163, loss: 39.2049, grad_norm: 155.7810 +2026-02-25 09:32:51,294 - DriveTransformer - INFO - Epoch [4][21650/39528] lr: 9.623e-05, eta: 7 days, 12:15:34, time: 0.845, data_time: 0.040, memory: 19865, loss_cls: 0.2671, loss_bbox: 0.4465, loss_traj: 0.8017, loss_traj_cls: 0.0022, loss_map_cls: 0.2586, loss_map_pts: 1.1113, loss_map_dir: 0.0145, d0.loss_plan_l1_fix_time: 3.0597, d0.loss_plan_l1_fix_dist: 0.3992, d1.loss_plan_l1_fix_time: 1.5786, d1.loss_plan_l1_fix_dist: 0.2348, d2.loss_plan_l1_fix_time: 1.5578, d2.loss_plan_l1_fix_dist: 0.2383, d3.loss_plan_l1_fix_time: 1.5561, d3.loss_plan_l1_fix_dist: 0.2470, d4.loss_plan_l1_fix_time: 1.5587, d4.loss_plan_l1_fix_dist: 0.2560, d5.loss_plan_l1_fix_time: 1.5625, d5.loss_plan_l1_fix_dist: 0.2673, d6.loss_plan_l1_fix_time: 1.5680, d6.loss_plan_l1_fix_dist: 0.2835, d0.loss_cls_all: 0.2851, d0.loss_bbox_all: 0.4986, d0.loss_cls: 0.2851, d0.loss_bbox: 0.4986, d1.loss_cls: 0.2770, d1.loss_bbox: 0.4654, d2.loss_cls: 0.2698, d2.loss_bbox: 0.4502, d3.loss_cls: 0.2674, d3.loss_bbox: 0.4480, d4.loss_cls: 0.2673, d4.loss_bbox: 0.4449, d5.loss_cls: 0.2674, d5.loss_bbox: 0.4447, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0257, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8488, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8089, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8054, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7957, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7964, d0.loss_map_cls_all: 0.3103, d0.loss_map_pts_all: 2.0602, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.3103, d0.loss_map_pts: 2.0602, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2848, d1.loss_map_pts: 1.4102, d1.loss_map_dir: 0.0121, d2.loss_map_cls: 0.2726, d2.loss_map_pts: 1.2191, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2629, d3.loss_map_pts: 1.1475, d3.loss_map_dir: 0.0136, d4.loss_map_cls: 0.2582, d4.loss_map_pts: 1.1233, d4.loss_map_dir: 0.0140, d5.loss_map_cls: 0.2594, d5.loss_map_pts: 1.1131, d5.loss_map_dir: 0.0142, loss: 39.7092, grad_norm: 153.1716 +2026-02-25 09:33:32,213 - DriveTransformer - INFO - Epoch [4][21700/39528] lr: 9.623e-05, eta: 7 days, 12:14:59, time: 0.818, data_time: 0.041, memory: 19865, loss_cls: 0.2838, loss_bbox: 0.4488, loss_traj: 0.8172, loss_traj_cls: 0.0021, loss_map_cls: 0.2494, loss_map_pts: 1.0447, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.4603, d0.loss_plan_l1_fix_dist: 0.4510, d1.loss_plan_l1_fix_time: 1.3226, d1.loss_plan_l1_fix_dist: 0.2256, d2.loss_plan_l1_fix_time: 1.3108, d2.loss_plan_l1_fix_dist: 0.2365, d3.loss_plan_l1_fix_time: 1.3136, d3.loss_plan_l1_fix_dist: 0.2502, d4.loss_plan_l1_fix_time: 1.3180, d4.loss_plan_l1_fix_dist: 0.2690, d5.loss_plan_l1_fix_time: 1.3233, d5.loss_plan_l1_fix_dist: 0.2883, d6.loss_plan_l1_fix_time: 1.3302, d6.loss_plan_l1_fix_dist: 0.3085, d0.loss_cls_all: 0.2977, d0.loss_bbox_all: 0.5009, d0.loss_cls: 0.2977, d0.loss_bbox: 0.5009, d1.loss_cls: 0.2900, d1.loss_bbox: 0.4701, d2.loss_cls: 0.2852, d2.loss_bbox: 0.4538, d3.loss_cls: 0.2812, d3.loss_bbox: 0.4489, d4.loss_cls: 0.2818, d4.loss_bbox: 0.4486, d5.loss_cls: 0.2834, d5.loss_bbox: 0.4489, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9942, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8342, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8219, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8138, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8122, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.8201, d0.loss_map_cls_all: 0.3097, d0.loss_map_pts_all: 2.0529, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.3097, d0.loss_map_pts: 2.0529, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2801, d1.loss_map_pts: 1.3950, d1.loss_map_dir: 0.0129, d2.loss_map_cls: 0.2676, d2.loss_map_pts: 1.1677, d2.loss_map_dir: 0.0136, d3.loss_map_cls: 0.2586, d3.loss_map_pts: 1.0871, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.2499, d4.loss_map_pts: 1.0555, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.2497, d5.loss_map_pts: 1.0491, d5.loss_map_dir: 0.0149, loss: 37.5423, grad_norm: 154.7280 +2026-02-25 09:34:13,862 - DriveTransformer - INFO - Epoch [4][21750/39528] lr: 9.623e-05, eta: 7 days, 12:14:27, time: 0.833, data_time: 0.044, memory: 19865, loss_cls: 0.3082, loss_bbox: 0.5022, loss_traj: 1.1425, loss_traj_cls: 0.0021, loss_map_cls: 0.2555, loss_map_pts: 1.1390, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 3.0016, d0.loss_plan_l1_fix_dist: 0.4330, d1.loss_plan_l1_fix_time: 1.8183, d1.loss_plan_l1_fix_dist: 0.2578, d2.loss_plan_l1_fix_time: 1.7989, d2.loss_plan_l1_fix_dist: 0.2638, d3.loss_plan_l1_fix_time: 1.8007, d3.loss_plan_l1_fix_dist: 0.2746, d4.loss_plan_l1_fix_time: 1.8037, d4.loss_plan_l1_fix_dist: 0.2852, d5.loss_plan_l1_fix_time: 1.8077, d5.loss_plan_l1_fix_dist: 0.2942, d6.loss_plan_l1_fix_time: 1.8125, d6.loss_plan_l1_fix_dist: 0.3039, d0.loss_cls_all: 0.3300, d0.loss_bbox_all: 0.5631, d0.loss_cls: 0.3300, d0.loss_bbox: 0.5631, d1.loss_cls: 0.3197, d1.loss_bbox: 0.5291, d2.loss_cls: 0.3094, d2.loss_bbox: 0.5182, d3.loss_cls: 0.3062, d3.loss_bbox: 0.5132, d4.loss_cls: 0.3040, d4.loss_bbox: 0.5094, d5.loss_cls: 0.3077, d5.loss_bbox: 0.5042, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4045, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.1663, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1310, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1300, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1282, d5.loss_traj_cls: 0.0016, d5.loss_traj: 1.1287, d0.loss_map_cls_all: 0.3157, d0.loss_map_pts_all: 2.1289, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.3157, d0.loss_map_pts: 2.1289, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2878, d1.loss_map_pts: 1.4595, d1.loss_map_dir: 0.0128, d2.loss_map_cls: 0.2767, d2.loss_map_pts: 1.2580, d2.loss_map_dir: 0.0136, d3.loss_map_cls: 0.2637, d3.loss_map_pts: 1.1856, d3.loss_map_dir: 0.0141, d4.loss_map_cls: 0.2566, d4.loss_map_pts: 1.1567, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.2547, d5.loss_map_pts: 1.1420, d5.loss_map_dir: 0.0148, loss: 44.8492, grad_norm: 155.1363 +2026-02-25 09:34:55,349 - DriveTransformer - INFO - Epoch [4][21800/39528] lr: 9.623e-05, eta: 7 days, 12:13:55, time: 0.831, data_time: 0.040, memory: 19865, loss_cls: 0.2418, loss_bbox: 0.4631, loss_traj: 1.0705, loss_traj_cls: 0.0020, loss_map_cls: 0.2188, loss_map_pts: 0.9426, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.6491, d0.loss_plan_l1_fix_dist: 0.3541, d1.loss_plan_l1_fix_time: 1.5730, d1.loss_plan_l1_fix_dist: 0.2211, d2.loss_plan_l1_fix_time: 1.5575, d2.loss_plan_l1_fix_dist: 0.2288, d3.loss_plan_l1_fix_time: 1.5601, d3.loss_plan_l1_fix_dist: 0.2398, d4.loss_plan_l1_fix_time: 1.5640, d4.loss_plan_l1_fix_dist: 0.2528, d5.loss_plan_l1_fix_time: 1.5684, d5.loss_plan_l1_fix_dist: 0.2686, d6.loss_plan_l1_fix_time: 1.5743, d6.loss_plan_l1_fix_dist: 0.2878, d0.loss_cls_all: 0.2652, d0.loss_bbox_all: 0.5064, d0.loss_cls: 0.2652, d0.loss_bbox: 0.5064, d1.loss_cls: 0.2592, d1.loss_bbox: 0.4771, d2.loss_cls: 0.2527, d2.loss_bbox: 0.4625, d3.loss_cls: 0.2468, d3.loss_bbox: 0.4598, d4.loss_cls: 0.2401, d4.loss_bbox: 0.4606, d5.loss_cls: 0.2414, d5.loss_bbox: 0.4605, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2363, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.1047, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0879, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0776, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0723, d5.loss_traj_cls: 0.0016, d5.loss_traj: 1.0681, d0.loss_map_cls_all: 0.2842, d0.loss_map_pts_all: 1.8228, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2842, d0.loss_map_pts: 1.8228, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2464, d1.loss_map_pts: 1.2436, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2332, d2.loss_map_pts: 1.0500, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.2234, d3.loss_map_pts: 0.9820, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.2208, d4.loss_map_pts: 0.9558, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.2172, d5.loss_map_pts: 0.9454, d5.loss_map_dir: 0.0118, loss: 39.2164, grad_norm: 155.6010 +2026-02-25 09:35:35,742 - DriveTransformer - INFO - Epoch [4][21850/39528] lr: 9.623e-05, eta: 7 days, 12:13:16, time: 0.807, data_time: 0.042, memory: 19865, loss_cls: 0.2792, loss_bbox: 0.4551, loss_traj: 0.8962, loss_traj_cls: 0.0020, loss_map_cls: 0.2205, loss_map_pts: 0.8492, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.9241, d0.loss_plan_l1_fix_dist: 0.4853, d1.loss_plan_l1_fix_time: 1.5085, d1.loss_plan_l1_fix_dist: 0.2447, d2.loss_plan_l1_fix_time: 1.4824, d2.loss_plan_l1_fix_dist: 0.2462, d3.loss_plan_l1_fix_time: 1.4811, d3.loss_plan_l1_fix_dist: 0.2523, d4.loss_plan_l1_fix_time: 1.4843, d4.loss_plan_l1_fix_dist: 0.2612, d5.loss_plan_l1_fix_time: 1.4880, d5.loss_plan_l1_fix_dist: 0.2714, d6.loss_plan_l1_fix_time: 1.4922, d6.loss_plan_l1_fix_dist: 0.2838, d0.loss_cls_all: 0.2922, d0.loss_bbox_all: 0.4958, d0.loss_cls: 0.2922, d0.loss_bbox: 0.4958, d1.loss_cls: 0.2848, d1.loss_bbox: 0.4689, d2.loss_cls: 0.2796, d2.loss_bbox: 0.4575, d3.loss_cls: 0.2768, d3.loss_bbox: 0.4517, d4.loss_cls: 0.2755, d4.loss_bbox: 0.4514, d5.loss_cls: 0.2776, d5.loss_bbox: 0.4526, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0183, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9154, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8947, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8900, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8963, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.8946, d0.loss_map_cls_all: 0.2661, d0.loss_map_pts_all: 1.6134, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2661, d0.loss_map_pts: 1.6134, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2424, d1.loss_map_pts: 1.1056, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2350, d2.loss_map_pts: 0.9339, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.2247, d3.loss_map_pts: 0.8772, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.2199, d4.loss_map_pts: 0.8565, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.2198, d5.loss_map_pts: 0.8478, d5.loss_map_dir: 0.0114, loss: 36.9828, grad_norm: 154.7066 +2026-02-25 09:36:15,485 - DriveTransformer - INFO - Epoch [4][21900/39528] lr: 9.623e-05, eta: 7 days, 12:12:34, time: 0.794, data_time: 0.043, memory: 19865, loss_cls: 0.2863, loss_bbox: 0.4536, loss_traj: 1.0041, loss_traj_cls: 0.0020, loss_map_cls: 0.2377, loss_map_pts: 1.0087, loss_map_dir: 0.0151, d0.loss_plan_l1_fix_time: 3.0431, d0.loss_plan_l1_fix_dist: 0.3916, d1.loss_plan_l1_fix_time: 1.7787, d1.loss_plan_l1_fix_dist: 0.2410, d2.loss_plan_l1_fix_time: 1.7629, d2.loss_plan_l1_fix_dist: 0.2455, d3.loss_plan_l1_fix_time: 1.7671, d3.loss_plan_l1_fix_dist: 0.2565, d4.loss_plan_l1_fix_time: 1.7712, d4.loss_plan_l1_fix_dist: 0.2672, d5.loss_plan_l1_fix_time: 1.7753, d5.loss_plan_l1_fix_dist: 0.2781, d6.loss_plan_l1_fix_time: 1.7788, d6.loss_plan_l1_fix_dist: 0.2925, d0.loss_cls_all: 0.2997, d0.loss_bbox_all: 0.5173, d0.loss_cls: 0.2997, d0.loss_bbox: 0.5173, d1.loss_cls: 0.2983, d1.loss_bbox: 0.4797, d2.loss_cls: 0.2912, d2.loss_bbox: 0.4617, d3.loss_cls: 0.2893, d3.loss_bbox: 0.4560, d4.loss_cls: 0.2860, d4.loss_bbox: 0.4529, d5.loss_cls: 0.2848, d5.loss_bbox: 0.4526, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2185, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0580, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0086, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0034, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0048, d5.loss_traj_cls: 0.0015, d5.loss_traj: 1.0024, d0.loss_map_cls_all: 0.3074, d0.loss_map_pts_all: 1.9515, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.3074, d0.loss_map_pts: 1.9515, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2778, d1.loss_map_pts: 1.3168, d1.loss_map_dir: 0.0125, d2.loss_map_cls: 0.2560, d2.loss_map_pts: 1.1164, d2.loss_map_dir: 0.0135, d3.loss_map_cls: 0.2451, d3.loss_map_pts: 1.0419, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.2401, d4.loss_map_pts: 1.0188, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.2378, d5.loss_map_pts: 1.0119, d5.loss_map_dir: 0.0149, loss: 41.7205, grad_norm: 153.2703 +2026-02-25 09:36:55,925 - DriveTransformer - INFO - Epoch [4][21950/39528] lr: 9.623e-05, eta: 7 days, 12:11:55, time: 0.809, data_time: 0.038, memory: 19865, loss_cls: 0.2550, loss_bbox: 0.4554, loss_traj: 1.1876, loss_traj_cls: 0.0019, loss_map_cls: 0.2298, loss_map_pts: 0.9709, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.9838, d0.loss_plan_l1_fix_dist: 0.4361, d1.loss_plan_l1_fix_time: 1.7384, d1.loss_plan_l1_fix_dist: 0.2880, d2.loss_plan_l1_fix_time: 1.7304, d2.loss_plan_l1_fix_dist: 0.2891, d3.loss_plan_l1_fix_time: 1.7323, d3.loss_plan_l1_fix_dist: 0.2940, d4.loss_plan_l1_fix_time: 1.7354, d4.loss_plan_l1_fix_dist: 0.3015, d5.loss_plan_l1_fix_time: 1.7387, d5.loss_plan_l1_fix_dist: 0.3104, d6.loss_plan_l1_fix_time: 1.7426, d6.loss_plan_l1_fix_dist: 0.3230, d0.loss_cls_all: 0.2778, d0.loss_bbox_all: 0.5122, d0.loss_cls: 0.2778, d0.loss_bbox: 0.5122, d1.loss_cls: 0.2717, d1.loss_bbox: 0.4831, d2.loss_cls: 0.2645, d2.loss_bbox: 0.4663, d3.loss_cls: 0.2610, d3.loss_bbox: 0.4601, d4.loss_cls: 0.2568, d4.loss_bbox: 0.4552, d5.loss_cls: 0.2556, d5.loss_bbox: 0.4542, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4392, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.2474, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.2119, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1928, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1914, d5.loss_traj_cls: 0.0015, d5.loss_traj: 1.1928, d0.loss_map_cls_all: 0.2917, d0.loss_map_pts_all: 1.7667, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2917, d0.loss_map_pts: 1.7667, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2601, d1.loss_map_pts: 1.2499, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2453, d2.loss_map_pts: 1.0673, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.2336, d3.loss_map_pts: 1.0024, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.2297, d4.loss_map_pts: 0.9821, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.2293, d5.loss_map_pts: 0.9728, d5.loss_map_dir: 0.0125, loss: 42.1163, grad_norm: 155.0457 +2026-02-25 09:37:38,172 - DriveTransformer - INFO - Epoch [4][22000/39528] lr: 9.623e-05, eta: 7 days, 12:11:27, time: 0.845, data_time: 0.040, memory: 19865, loss_cls: 0.2580, loss_bbox: 0.4417, loss_traj: 0.7906, loss_traj_cls: 0.0019, loss_map_cls: 0.2316, loss_map_pts: 1.0049, loss_map_dir: 0.0156, d0.loss_plan_l1_fix_time: 2.4464, d0.loss_plan_l1_fix_dist: 0.5468, d1.loss_plan_l1_fix_time: 1.4052, d1.loss_plan_l1_fix_dist: 0.2839, d2.loss_plan_l1_fix_time: 1.3967, d2.loss_plan_l1_fix_dist: 0.2858, d3.loss_plan_l1_fix_time: 1.3972, d3.loss_plan_l1_fix_dist: 0.2933, d4.loss_plan_l1_fix_time: 1.4013, d4.loss_plan_l1_fix_dist: 0.3028, d5.loss_plan_l1_fix_time: 1.4054, d5.loss_plan_l1_fix_dist: 0.3134, d6.loss_plan_l1_fix_time: 1.4100, d6.loss_plan_l1_fix_dist: 0.3264, d0.loss_cls_all: 0.2827, d0.loss_bbox_all: 0.4943, d0.loss_cls: 0.2827, d0.loss_bbox: 0.4943, d1.loss_cls: 0.2735, d1.loss_bbox: 0.4656, d2.loss_cls: 0.2645, d2.loss_bbox: 0.4503, d3.loss_cls: 0.2609, d3.loss_bbox: 0.4438, d4.loss_cls: 0.2593, d4.loss_bbox: 0.4408, d5.loss_cls: 0.2590, d5.loss_bbox: 0.4397, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0211, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8594, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7925, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7827, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7844, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7853, d0.loss_map_cls_all: 0.2857, d0.loss_map_pts_all: 1.9643, d0.loss_map_dir_all: 0.0137, d0.loss_map_cls: 0.2857, d0.loss_map_pts: 1.9643, d0.loss_map_dir: 0.0137, d1.loss_map_cls: 0.2621, d1.loss_map_pts: 1.3378, d1.loss_map_dir: 0.0132, d2.loss_map_cls: 0.2473, d2.loss_map_pts: 1.1238, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2370, d3.loss_map_pts: 1.0481, d3.loss_map_dir: 0.0147, d4.loss_map_cls: 0.2312, d4.loss_map_pts: 1.0185, d4.loss_map_dir: 0.0151, d5.loss_map_cls: 0.2308, d5.loss_map_pts: 1.0067, d5.loss_map_dir: 0.0154, loss: 37.4445, grad_norm: 153.4608 +2026-02-25 09:38:19,079 - DriveTransformer - INFO - Epoch [4][22050/39528] lr: 9.623e-05, eta: 7 days, 12:10:52, time: 0.818, data_time: 0.044, memory: 19865, loss_cls: 0.2887, loss_bbox: 0.4673, loss_traj: 0.9515, loss_traj_cls: 0.0018, loss_map_cls: 0.2409, loss_map_pts: 1.0039, loss_map_dir: 0.0159, d0.loss_plan_l1_fix_time: 2.6484, d0.loss_plan_l1_fix_dist: 0.4296, d1.loss_plan_l1_fix_time: 1.4869, d1.loss_plan_l1_fix_dist: 0.2496, d2.loss_plan_l1_fix_time: 1.4699, d2.loss_plan_l1_fix_dist: 0.2555, d3.loss_plan_l1_fix_time: 1.4693, d3.loss_plan_l1_fix_dist: 0.2682, d4.loss_plan_l1_fix_time: 1.4715, d4.loss_plan_l1_fix_dist: 0.2831, d5.loss_plan_l1_fix_time: 1.4748, d5.loss_plan_l1_fix_dist: 0.2990, d6.loss_plan_l1_fix_time: 1.4796, d6.loss_plan_l1_fix_dist: 0.3174, d0.loss_cls_all: 0.3170, d0.loss_bbox_all: 0.5268, d0.loss_cls: 0.3170, d0.loss_bbox: 0.5268, d1.loss_cls: 0.3110, d1.loss_bbox: 0.4924, d2.loss_cls: 0.3029, d2.loss_bbox: 0.4758, d3.loss_cls: 0.2953, d3.loss_bbox: 0.4701, d4.loss_cls: 0.2902, d4.loss_bbox: 0.4673, d5.loss_cls: 0.2893, d5.loss_bbox: 0.4665, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2134, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0003, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9671, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9541, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9514, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.9473, d0.loss_map_cls_all: 0.2931, d0.loss_map_pts_all: 1.9615, d0.loss_map_dir_all: 0.0148, d0.loss_map_cls: 0.2931, d0.loss_map_pts: 1.9615, d0.loss_map_dir: 0.0148, d1.loss_map_cls: 0.2649, d1.loss_map_pts: 1.2979, d1.loss_map_dir: 0.0142, d2.loss_map_cls: 0.2530, d2.loss_map_pts: 1.1056, d2.loss_map_dir: 0.0148, d3.loss_map_cls: 0.2444, d3.loss_map_pts: 1.0359, d3.loss_map_dir: 0.0154, d4.loss_map_cls: 0.2412, d4.loss_map_pts: 1.0131, d4.loss_map_dir: 0.0156, d5.loss_map_cls: 0.2399, d5.loss_map_pts: 1.0073, d5.loss_map_dir: 0.0158, loss: 39.4783, grad_norm: 153.0840 +2026-02-25 09:38:59,160 - DriveTransformer - INFO - Epoch [4][22100/39528] lr: 9.623e-05, eta: 7 days, 12:10:11, time: 0.802, data_time: 0.037, memory: 19865, loss_cls: 0.2798, loss_bbox: 0.4837, loss_traj: 1.0630, loss_traj_cls: 0.0018, loss_map_cls: 0.2478, loss_map_pts: 0.9946, loss_map_dir: 0.0139, d0.loss_plan_l1_fix_time: 2.9017, d0.loss_plan_l1_fix_dist: 0.4547, d1.loss_plan_l1_fix_time: 1.6887, d1.loss_plan_l1_fix_dist: 0.2625, d2.loss_plan_l1_fix_time: 1.6639, d2.loss_plan_l1_fix_dist: 0.2682, d3.loss_plan_l1_fix_time: 1.6621, d3.loss_plan_l1_fix_dist: 0.2771, d4.loss_plan_l1_fix_time: 1.6658, d4.loss_plan_l1_fix_dist: 0.2880, d5.loss_plan_l1_fix_time: 1.6706, d5.loss_plan_l1_fix_dist: 0.3015, d6.loss_plan_l1_fix_time: 1.6761, d6.loss_plan_l1_fix_dist: 0.3174, d0.loss_cls_all: 0.3005, d0.loss_bbox_all: 0.5390, d0.loss_cls: 0.3005, d0.loss_bbox: 0.5390, d1.loss_cls: 0.2937, d1.loss_bbox: 0.5049, d2.loss_cls: 0.2868, d2.loss_bbox: 0.4905, d3.loss_cls: 0.2837, d3.loss_bbox: 0.4844, d4.loss_cls: 0.2787, d4.loss_bbox: 0.4829, d5.loss_cls: 0.2785, d5.loss_bbox: 0.4826, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2278, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.1118, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0859, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0684, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0653, d5.loss_traj_cls: 0.0014, d5.loss_traj: 1.0620, d0.loss_map_cls_all: 0.3092, d0.loss_map_pts_all: 1.8779, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.3092, d0.loss_map_pts: 1.8779, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2740, d1.loss_map_pts: 1.2794, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2607, d2.loss_map_pts: 1.0989, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2521, d3.loss_map_pts: 1.0313, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2478, d4.loss_map_pts: 1.0041, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.2480, d5.loss_map_pts: 0.9977, d5.loss_map_dir: 0.0138, loss: 41.5136, grad_norm: 153.1393 +2026-02-25 09:39:38,188 - DriveTransformer - INFO - Epoch [4][22150/39528] lr: 9.623e-05, eta: 7 days, 12:09:25, time: 0.781, data_time: 0.040, memory: 19865, loss_cls: 0.2644, loss_bbox: 0.4403, loss_traj: 0.8896, loss_traj_cls: 0.0018, loss_map_cls: 0.2195, loss_map_pts: 0.8587, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.6933, d0.loss_plan_l1_fix_dist: 0.4066, d1.loss_plan_l1_fix_time: 1.5093, d1.loss_plan_l1_fix_dist: 0.2281, d2.loss_plan_l1_fix_time: 1.4887, d2.loss_plan_l1_fix_dist: 0.2388, d3.loss_plan_l1_fix_time: 1.4908, d3.loss_plan_l1_fix_dist: 0.2534, d4.loss_plan_l1_fix_time: 1.4937, d4.loss_plan_l1_fix_dist: 0.2693, d5.loss_plan_l1_fix_time: 1.4971, d5.loss_plan_l1_fix_dist: 0.2874, d6.loss_plan_l1_fix_time: 1.5010, d6.loss_plan_l1_fix_dist: 0.3081, d0.loss_cls_all: 0.2874, d0.loss_bbox_all: 0.4977, d0.loss_cls: 0.2874, d0.loss_bbox: 0.4977, d1.loss_cls: 0.2800, d1.loss_bbox: 0.4682, d2.loss_cls: 0.2727, d2.loss_bbox: 0.4505, d3.loss_cls: 0.2675, d3.loss_bbox: 0.4445, d4.loss_cls: 0.2648, d4.loss_bbox: 0.4416, d5.loss_cls: 0.2648, d5.loss_bbox: 0.4400, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1066, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9395, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9008, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8894, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8849, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.8909, d0.loss_map_cls_all: 0.2785, d0.loss_map_pts_all: 1.6343, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2785, d0.loss_map_pts: 1.6343, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2485, d1.loss_map_pts: 1.0899, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2334, d2.loss_map_pts: 0.9341, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.2243, d3.loss_map_pts: 0.8848, d3.loss_map_dir: 0.0121, d4.loss_map_cls: 0.2201, d4.loss_map_pts: 0.8681, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.2197, d5.loss_map_pts: 0.8596, d5.loss_map_dir: 0.0125, loss: 36.8254, grad_norm: 150.7747 +2026-02-25 09:40:17,929 - DriveTransformer - INFO - Epoch [4][22200/39528] lr: 9.623e-05, eta: 7 days, 12:08:42, time: 0.795, data_time: 0.045, memory: 19865, loss_cls: 0.2413, loss_bbox: 0.4262, loss_traj: 1.0238, loss_traj_cls: 0.0018, loss_map_cls: 0.1860, loss_map_pts: 0.7984, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.7220, d0.loss_plan_l1_fix_dist: 0.5589, d1.loss_plan_l1_fix_time: 1.4917, d1.loss_plan_l1_fix_dist: 0.2644, d2.loss_plan_l1_fix_time: 1.4786, d2.loss_plan_l1_fix_dist: 0.2688, d3.loss_plan_l1_fix_time: 1.4776, d3.loss_plan_l1_fix_dist: 0.2802, d4.loss_plan_l1_fix_time: 1.4801, d4.loss_plan_l1_fix_dist: 0.2950, d5.loss_plan_l1_fix_time: 1.4834, d5.loss_plan_l1_fix_dist: 0.3110, d6.loss_plan_l1_fix_time: 1.4875, d6.loss_plan_l1_fix_dist: 0.3280, d0.loss_cls_all: 0.2592, d0.loss_bbox_all: 0.4705, d0.loss_cls: 0.2592, d0.loss_bbox: 0.4705, d1.loss_cls: 0.2521, d1.loss_bbox: 0.4410, d2.loss_cls: 0.2470, d2.loss_bbox: 0.4270, d3.loss_cls: 0.2429, d3.loss_bbox: 0.4250, d4.loss_cls: 0.2414, d4.loss_bbox: 0.4229, d5.loss_cls: 0.2408, d5.loss_bbox: 0.4233, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2239, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0992, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0417, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0326, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0193, d5.loss_traj_cls: 0.0014, d5.loss_traj: 1.0203, d0.loss_map_cls_all: 0.2429, d0.loss_map_pts_all: 1.5602, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2429, d0.loss_map_pts: 1.5602, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2119, d1.loss_map_pts: 1.0294, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2010, d2.loss_map_pts: 0.8766, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1927, d3.loss_map_pts: 0.8236, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1875, d4.loss_map_pts: 0.8080, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1867, d5.loss_map_pts: 0.7996, d5.loss_map_dir: 0.0113, loss: 36.8790, grad_norm: 150.5853 +2026-02-25 09:40:59,883 - DriveTransformer - INFO - Epoch [4][22250/39528] lr: 9.623e-05, eta: 7 days, 12:08:13, time: 0.839, data_time: 0.037, memory: 19865, loss_cls: 0.2467, loss_bbox: 0.4388, loss_traj: 0.8781, loss_traj_cls: 0.0018, loss_map_cls: 0.2184, loss_map_pts: 0.9336, loss_map_dir: 0.0139, d0.loss_plan_l1_fix_time: 2.3568, d0.loss_plan_l1_fix_dist: 0.4664, d1.loss_plan_l1_fix_time: 1.4103, d1.loss_plan_l1_fix_dist: 0.2463, d2.loss_plan_l1_fix_time: 1.3904, d2.loss_plan_l1_fix_dist: 0.2563, d3.loss_plan_l1_fix_time: 1.3897, d3.loss_plan_l1_fix_dist: 0.2693, d4.loss_plan_l1_fix_time: 1.3937, d4.loss_plan_l1_fix_dist: 0.2869, d5.loss_plan_l1_fix_time: 1.3986, d5.loss_plan_l1_fix_dist: 0.3098, d6.loss_plan_l1_fix_time: 1.4049, d6.loss_plan_l1_fix_dist: 0.3325, d0.loss_cls_all: 0.2672, d0.loss_bbox_all: 0.4906, d0.loss_cls: 0.2672, d0.loss_bbox: 0.4906, d1.loss_cls: 0.2667, d1.loss_bbox: 0.4609, d2.loss_cls: 0.2581, d2.loss_bbox: 0.4453, d3.loss_cls: 0.2534, d3.loss_bbox: 0.4404, d4.loss_cls: 0.2484, d4.loss_bbox: 0.4371, d5.loss_cls: 0.2473, d5.loss_bbox: 0.4376, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0565, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9393, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8985, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8851, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8800, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8681, d0.loss_map_cls_all: 0.2744, d0.loss_map_pts_all: 1.8090, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.2744, d0.loss_map_pts: 1.8090, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2419, d1.loss_map_pts: 1.2086, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2300, d2.loss_map_pts: 1.0214, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2245, d3.loss_map_pts: 0.9638, d3.loss_map_dir: 0.0134, d4.loss_map_cls: 0.2204, d4.loss_map_pts: 0.9430, d4.loss_map_dir: 0.0137, d5.loss_map_cls: 0.2187, d5.loss_map_pts: 0.9356, d5.loss_map_dir: 0.0138, loss: 36.6544, grad_norm: 151.0956 +2026-02-25 09:41:42,728 - DriveTransformer - INFO - Epoch [4][22300/39528] lr: 9.623e-05, eta: 7 days, 12:07:48, time: 0.857, data_time: 0.042, memory: 19865, loss_cls: 0.2830, loss_bbox: 0.4676, loss_traj: 0.8253, loss_traj_cls: 0.0017, loss_map_cls: 0.2688, loss_map_pts: 1.1203, loss_map_dir: 0.0174, d0.loss_plan_l1_fix_time: 2.5154, d0.loss_plan_l1_fix_dist: 0.4796, d1.loss_plan_l1_fix_time: 1.5928, d1.loss_plan_l1_fix_dist: 0.2934, d2.loss_plan_l1_fix_time: 1.5666, d2.loss_plan_l1_fix_dist: 0.2963, d3.loss_plan_l1_fix_time: 1.5666, d3.loss_plan_l1_fix_dist: 0.3043, d4.loss_plan_l1_fix_time: 1.5692, d4.loss_plan_l1_fix_dist: 0.3120, d5.loss_plan_l1_fix_time: 1.5727, d5.loss_plan_l1_fix_dist: 0.3190, d6.loss_plan_l1_fix_time: 1.5769, d6.loss_plan_l1_fix_dist: 0.3296, d0.loss_cls_all: 0.3078, d0.loss_bbox_all: 0.5206, d0.loss_cls: 0.3078, d0.loss_bbox: 0.5206, d1.loss_cls: 0.3022, d1.loss_bbox: 0.4907, d2.loss_cls: 0.2918, d2.loss_bbox: 0.4745, d3.loss_cls: 0.2861, d3.loss_bbox: 0.4693, d4.loss_cls: 0.2821, d4.loss_bbox: 0.4676, d5.loss_cls: 0.2806, d5.loss_bbox: 0.4679, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9352, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8594, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8334, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8313, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8264, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8220, d0.loss_map_cls_all: 0.3254, d0.loss_map_pts_all: 2.1713, d0.loss_map_dir_all: 0.0150, d0.loss_map_cls: 0.3254, d0.loss_map_pts: 2.1713, d0.loss_map_dir: 0.0150, d1.loss_map_cls: 0.2898, d1.loss_map_pts: 1.4440, d1.loss_map_dir: 0.0147, d2.loss_map_cls: 0.2810, d2.loss_map_pts: 1.2157, d2.loss_map_dir: 0.0155, d3.loss_map_cls: 0.2722, d3.loss_map_pts: 1.1476, d3.loss_map_dir: 0.0163, d4.loss_map_cls: 0.2674, d4.loss_map_pts: 1.1303, d4.loss_map_dir: 0.0170, d5.loss_map_cls: 0.2680, d5.loss_map_pts: 1.1218, d5.loss_map_dir: 0.0172, loss: 40.4030, grad_norm: 151.8216 +2026-02-25 09:42:22,837 - DriveTransformer - INFO - Epoch [4][22350/39528] lr: 9.623e-05, eta: 7 days, 12:07:08, time: 0.802, data_time: 0.045, memory: 19865, loss_cls: 0.2817, loss_bbox: 0.4656, loss_traj: 0.9606, loss_traj_cls: 0.0017, loss_map_cls: 0.2352, loss_map_pts: 1.0264, loss_map_dir: 0.0160, d0.loss_plan_l1_fix_time: 2.6979, d0.loss_plan_l1_fix_dist: 0.4032, d1.loss_plan_l1_fix_time: 1.4518, d1.loss_plan_l1_fix_dist: 0.2308, d2.loss_plan_l1_fix_time: 1.4344, d2.loss_plan_l1_fix_dist: 0.2365, d3.loss_plan_l1_fix_time: 1.4357, d3.loss_plan_l1_fix_dist: 0.2450, d4.loss_plan_l1_fix_time: 1.4397, d4.loss_plan_l1_fix_dist: 0.2554, d5.loss_plan_l1_fix_time: 1.4441, d5.loss_plan_l1_fix_dist: 0.2677, d6.loss_plan_l1_fix_time: 1.4488, d6.loss_plan_l1_fix_dist: 0.2824, d0.loss_cls_all: 0.3064, d0.loss_bbox_all: 0.5191, d0.loss_cls: 0.3064, d0.loss_bbox: 0.5191, d1.loss_cls: 0.2964, d1.loss_bbox: 0.4895, d2.loss_cls: 0.2870, d2.loss_bbox: 0.4749, d3.loss_cls: 0.2812, d3.loss_bbox: 0.4686, d4.loss_cls: 0.2800, d4.loss_bbox: 0.4673, d5.loss_cls: 0.2794, d5.loss_bbox: 0.4660, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0905, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9905, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9761, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9639, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9563, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9561, d0.loss_map_cls_all: 0.2979, d0.loss_map_pts_all: 1.9307, d0.loss_map_dir_all: 0.0146, d0.loss_map_cls: 0.2979, d0.loss_map_pts: 1.9307, d0.loss_map_dir: 0.0146, d1.loss_map_cls: 0.2661, d1.loss_map_pts: 1.3041, d1.loss_map_dir: 0.0139, d2.loss_map_cls: 0.2515, d2.loss_map_pts: 1.1113, d2.loss_map_dir: 0.0145, d3.loss_map_cls: 0.2405, d3.loss_map_pts: 1.0520, d3.loss_map_dir: 0.0153, d4.loss_map_cls: 0.2351, d4.loss_map_pts: 1.0366, d4.loss_map_dir: 0.0157, d5.loss_map_cls: 0.2342, d5.loss_map_pts: 1.0287, d5.loss_map_dir: 0.0159, loss: 38.9628, grad_norm: 151.5755 +2026-02-25 09:43:03,541 - DriveTransformer - INFO - Epoch [4][22400/39528] lr: 9.623e-05, eta: 7 days, 12:06:31, time: 0.814, data_time: 0.042, memory: 19865, loss_cls: 0.2625, loss_bbox: 0.4165, loss_traj: 0.8991, loss_traj_cls: 0.0017, loss_map_cls: 0.2341, loss_map_pts: 1.0020, loss_map_dir: 0.0158, d0.loss_plan_l1_fix_time: 2.8395, d0.loss_plan_l1_fix_dist: 0.3741, d1.loss_plan_l1_fix_time: 1.3632, d1.loss_plan_l1_fix_dist: 0.2186, d2.loss_plan_l1_fix_time: 1.3507, d2.loss_plan_l1_fix_dist: 0.2262, d3.loss_plan_l1_fix_time: 1.3498, d3.loss_plan_l1_fix_dist: 0.2368, d4.loss_plan_l1_fix_time: 1.3535, d4.loss_plan_l1_fix_dist: 0.2501, d5.loss_plan_l1_fix_time: 1.3581, d5.loss_plan_l1_fix_dist: 0.2673, d6.loss_plan_l1_fix_time: 1.3630, d6.loss_plan_l1_fix_dist: 0.2845, d0.loss_cls_all: 0.2842, d0.loss_bbox_all: 0.4770, d0.loss_cls: 0.2842, d0.loss_bbox: 0.4770, d1.loss_cls: 0.2763, d1.loss_bbox: 0.4454, d2.loss_cls: 0.2672, d2.loss_bbox: 0.4278, d3.loss_cls: 0.2637, d3.loss_bbox: 0.4220, d4.loss_cls: 0.2617, d4.loss_bbox: 0.4206, d5.loss_cls: 0.2605, d5.loss_bbox: 0.4177, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0437, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9354, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9039, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9060, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9060, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8997, d0.loss_map_cls_all: 0.2919, d0.loss_map_pts_all: 1.9666, d0.loss_map_dir_all: 0.0139, d0.loss_map_cls: 0.2919, d0.loss_map_pts: 1.9666, d0.loss_map_dir: 0.0139, d1.loss_map_cls: 0.2609, d1.loss_map_pts: 1.2843, d1.loss_map_dir: 0.0134, d2.loss_map_cls: 0.2487, d2.loss_map_pts: 1.0953, d2.loss_map_dir: 0.0142, d3.loss_map_cls: 0.2394, d3.loss_map_pts: 1.0369, d3.loss_map_dir: 0.0150, d4.loss_map_cls: 0.2345, d4.loss_map_pts: 1.0163, d4.loss_map_dir: 0.0155, d5.loss_map_cls: 0.2343, d5.loss_map_pts: 1.0047, d5.loss_map_dir: 0.0157, loss: 37.5262, grad_norm: 152.2969 +2026-02-25 09:43:42,442 - DriveTransformer - INFO - Epoch [4][22450/39528] lr: 9.623e-05, eta: 7 days, 12:05:43, time: 0.778, data_time: 0.038, memory: 19865, loss_cls: 0.2832, loss_bbox: 0.4681, loss_traj: 0.8484, loss_traj_cls: 0.0017, loss_map_cls: 0.2611, loss_map_pts: 0.9170, loss_map_dir: 0.0135, d0.loss_plan_l1_fix_time: 3.2298, d0.loss_plan_l1_fix_dist: 0.3628, d1.loss_plan_l1_fix_time: 1.3976, d1.loss_plan_l1_fix_dist: 0.2178, d2.loss_plan_l1_fix_time: 1.3775, d2.loss_plan_l1_fix_dist: 0.2257, d3.loss_plan_l1_fix_time: 1.3767, d3.loss_plan_l1_fix_dist: 0.2361, d4.loss_plan_l1_fix_time: 1.3795, d4.loss_plan_l1_fix_dist: 0.2472, d5.loss_plan_l1_fix_time: 1.3827, d5.loss_plan_l1_fix_dist: 0.2600, d6.loss_plan_l1_fix_time: 1.3862, d6.loss_plan_l1_fix_dist: 0.2764, d0.loss_cls_all: 0.3095, d0.loss_bbox_all: 0.5262, d0.loss_cls: 0.3095, d0.loss_bbox: 0.5262, d1.loss_cls: 0.3025, d1.loss_bbox: 0.4963, d2.loss_cls: 0.2911, d2.loss_bbox: 0.4775, d3.loss_cls: 0.2870, d3.loss_bbox: 0.4703, d4.loss_cls: 0.2835, d4.loss_bbox: 0.4687, d5.loss_cls: 0.2812, d5.loss_bbox: 0.4693, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0236, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9010, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8574, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8448, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8446, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8421, d0.loss_map_cls_all: 0.3109, d0.loss_map_pts_all: 1.6496, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.3109, d0.loss_map_pts: 1.6496, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2850, d1.loss_map_pts: 1.1542, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2761, d2.loss_map_pts: 0.9913, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2644, d3.loss_map_pts: 0.9394, d3.loss_map_dir: 0.0129, d4.loss_map_cls: 0.2605, d4.loss_map_pts: 0.9258, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.2600, d5.loss_map_pts: 0.9198, d5.loss_map_dir: 0.0134, loss: 37.2511, grad_norm: 151.5606 +2026-02-25 09:44:22,914 - DriveTransformer - INFO - Epoch [4][22500/39528] lr: 9.623e-05, eta: 7 days, 12:05:05, time: 0.810, data_time: 0.051, memory: 19865, loss_cls: 0.2928, loss_bbox: 0.4926, loss_traj: 0.9378, loss_traj_cls: 0.0018, loss_map_cls: 0.2220, loss_map_pts: 1.0537, loss_map_dir: 0.0146, d0.loss_plan_l1_fix_time: 2.5924, d0.loss_plan_l1_fix_dist: 0.3488, d1.loss_plan_l1_fix_time: 1.5715, d1.loss_plan_l1_fix_dist: 0.1970, d2.loss_plan_l1_fix_time: 1.5654, d2.loss_plan_l1_fix_dist: 0.2015, d3.loss_plan_l1_fix_time: 1.5687, d3.loss_plan_l1_fix_dist: 0.2085, d4.loss_plan_l1_fix_time: 1.5722, d4.loss_plan_l1_fix_dist: 0.2172, d5.loss_plan_l1_fix_time: 1.5765, d5.loss_plan_l1_fix_dist: 0.2273, d6.loss_plan_l1_fix_time: 1.5812, d6.loss_plan_l1_fix_dist: 0.2399, d0.loss_cls_all: 0.3175, d0.loss_bbox_all: 0.5423, d0.loss_cls: 0.3175, d0.loss_bbox: 0.5423, d1.loss_cls: 0.3119, d1.loss_bbox: 0.5138, d2.loss_cls: 0.3033, d2.loss_bbox: 0.4990, d3.loss_cls: 0.2981, d3.loss_bbox: 0.4947, d4.loss_cls: 0.2951, d4.loss_bbox: 0.4940, d5.loss_cls: 0.2930, d5.loss_bbox: 0.4923, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1537, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0056, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9572, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9459, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9408, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9362, d0.loss_map_cls_all: 0.2794, d0.loss_map_pts_all: 1.9511, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.2794, d0.loss_map_pts: 1.9511, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2515, d1.loss_map_pts: 1.3255, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2396, d2.loss_map_pts: 1.1478, d2.loss_map_dir: 0.0133, d3.loss_map_cls: 0.2300, d3.loss_map_pts: 1.0852, d3.loss_map_dir: 0.0140, d4.loss_map_cls: 0.2241, d4.loss_map_pts: 1.0664, d4.loss_map_dir: 0.0143, d5.loss_map_cls: 0.2218, d5.loss_map_pts: 1.0579, d5.loss_map_dir: 0.0145, loss: 39.7490, grad_norm: 148.6545 +2026-02-25 09:45:04,462 - DriveTransformer - INFO - Epoch [4][22550/39528] lr: 9.623e-05, eta: 7 days, 12:04:33, time: 0.831, data_time: 0.038, memory: 19865, loss_cls: 0.2705, loss_bbox: 0.4530, loss_traj: 0.8369, loss_traj_cls: 0.0019, loss_map_cls: 0.2203, loss_map_pts: 0.9762, loss_map_dir: 0.0155, d0.loss_plan_l1_fix_time: 2.6475, d0.loss_plan_l1_fix_dist: 0.3747, d1.loss_plan_l1_fix_time: 1.3929, d1.loss_plan_l1_fix_dist: 0.2030, d2.loss_plan_l1_fix_time: 1.3723, d2.loss_plan_l1_fix_dist: 0.2087, d3.loss_plan_l1_fix_time: 1.3731, d3.loss_plan_l1_fix_dist: 0.2185, d4.loss_plan_l1_fix_time: 1.3760, d4.loss_plan_l1_fix_dist: 0.2299, d5.loss_plan_l1_fix_time: 1.3797, d5.loss_plan_l1_fix_dist: 0.2424, d6.loss_plan_l1_fix_time: 1.3839, d6.loss_plan_l1_fix_dist: 0.2540, d0.loss_cls_all: 0.2996, d0.loss_bbox_all: 0.4958, d0.loss_cls: 0.2996, d0.loss_bbox: 0.4958, d1.loss_cls: 0.2910, d1.loss_bbox: 0.4643, d2.loss_cls: 0.2787, d2.loss_bbox: 0.4529, d3.loss_cls: 0.2756, d3.loss_bbox: 0.4488, d4.loss_cls: 0.2717, d4.loss_bbox: 0.4500, d5.loss_cls: 0.2708, d5.loss_bbox: 0.4497, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0350, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8984, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8454, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8385, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8364, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8358, d0.loss_map_cls_all: 0.2703, d0.loss_map_pts_all: 1.9549, d0.loss_map_dir_all: 0.0143, d0.loss_map_cls: 0.2703, d0.loss_map_pts: 1.9549, d0.loss_map_dir: 0.0143, d1.loss_map_cls: 0.2438, d1.loss_map_pts: 1.2764, d1.loss_map_dir: 0.0138, d2.loss_map_cls: 0.2351, d2.loss_map_pts: 1.0772, d2.loss_map_dir: 0.0143, d3.loss_map_cls: 0.2278, d3.loss_map_pts: 1.0067, d3.loss_map_dir: 0.0150, d4.loss_map_cls: 0.2231, d4.loss_map_pts: 0.9827, d4.loss_map_dir: 0.0153, d5.loss_map_cls: 0.2202, d5.loss_map_pts: 0.9755, d5.loss_map_dir: 0.0155, loss: 36.9916, grad_norm: 147.6389 +2026-02-25 09:45:44,156 - DriveTransformer - INFO - Epoch [4][22600/39528] lr: 9.623e-05, eta: 7 days, 12:03:51, time: 0.795, data_time: 0.046, memory: 19865, loss_cls: 0.2701, loss_bbox: 0.4705, loss_traj: 0.9718, loss_traj_cls: 0.0018, loss_map_cls: 0.2348, loss_map_pts: 0.9567, loss_map_dir: 0.0148, d0.loss_plan_l1_fix_time: 2.8855, d0.loss_plan_l1_fix_dist: 0.4786, d1.loss_plan_l1_fix_time: 1.5109, d1.loss_plan_l1_fix_dist: 0.2408, d2.loss_plan_l1_fix_time: 1.4903, d2.loss_plan_l1_fix_dist: 0.2457, d3.loss_plan_l1_fix_time: 1.4904, d3.loss_plan_l1_fix_dist: 0.2542, d4.loss_plan_l1_fix_time: 1.4920, d4.loss_plan_l1_fix_dist: 0.2640, d5.loss_plan_l1_fix_time: 1.4941, d5.loss_plan_l1_fix_dist: 0.2755, d6.loss_plan_l1_fix_time: 1.4969, d6.loss_plan_l1_fix_dist: 0.2888, d0.loss_cls_all: 0.2974, d0.loss_bbox_all: 0.5168, d0.loss_cls: 0.2974, d0.loss_bbox: 0.5168, d1.loss_cls: 0.2869, d1.loss_bbox: 0.4866, d2.loss_cls: 0.2767, d2.loss_bbox: 0.4750, d3.loss_cls: 0.2730, d3.loss_bbox: 0.4701, d4.loss_cls: 0.2686, d4.loss_bbox: 0.4707, d5.loss_cls: 0.2693, d5.loss_bbox: 0.4696, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1130, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0115, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9800, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9623, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9669, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.9696, d0.loss_map_cls_all: 0.2928, d0.loss_map_pts_all: 1.8324, d0.loss_map_dir_all: 0.0137, d0.loss_map_cls: 0.2928, d0.loss_map_pts: 1.8324, d0.loss_map_dir: 0.0137, d1.loss_map_cls: 0.2636, d1.loss_map_pts: 1.2392, d1.loss_map_dir: 0.0131, d2.loss_map_cls: 0.2477, d2.loss_map_pts: 1.0521, d2.loss_map_dir: 0.0136, d3.loss_map_cls: 0.2414, d3.loss_map_pts: 0.9872, d3.loss_map_dir: 0.0143, d4.loss_map_cls: 0.2351, d4.loss_map_pts: 0.9672, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.2357, d5.loss_map_pts: 0.9600, d5.loss_map_dir: 0.0147, loss: 38.9895, grad_norm: 147.6213 +2026-02-25 09:46:24,068 - DriveTransformer - INFO - Epoch [4][22650/39528] lr: 9.623e-05, eta: 7 days, 12:03:09, time: 0.797, data_time: 0.047, memory: 19865, loss_cls: 0.2604, loss_bbox: 0.4796, loss_traj: 1.1737, loss_traj_cls: 0.0019, loss_map_cls: 0.2250, loss_map_pts: 0.9940, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 3.0582, d0.loss_plan_l1_fix_dist: 0.3995, d1.loss_plan_l1_fix_time: 1.7475, d1.loss_plan_l1_fix_dist: 0.2328, d2.loss_plan_l1_fix_time: 1.7185, d2.loss_plan_l1_fix_dist: 0.2373, d3.loss_plan_l1_fix_time: 1.7168, d3.loss_plan_l1_fix_dist: 0.2474, d4.loss_plan_l1_fix_time: 1.7187, d4.loss_plan_l1_fix_dist: 0.2592, d5.loss_plan_l1_fix_time: 1.7214, d5.loss_plan_l1_fix_dist: 0.2724, d6.loss_plan_l1_fix_time: 1.7255, d6.loss_plan_l1_fix_dist: 0.2918, d0.loss_cls_all: 0.2878, d0.loss_bbox_all: 0.5322, d0.loss_cls: 0.2878, d0.loss_bbox: 0.5322, d1.loss_cls: 0.2756, d1.loss_bbox: 0.5034, d2.loss_cls: 0.2697, d2.loss_bbox: 0.4871, d3.loss_cls: 0.2665, d3.loss_bbox: 0.4832, d4.loss_cls: 0.2629, d4.loss_bbox: 0.4792, d5.loss_cls: 0.2609, d5.loss_bbox: 0.4787, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2990, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.1826, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.1596, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1550, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.1487, d5.loss_traj_cls: 0.0014, d5.loss_traj: 1.1679, d0.loss_map_cls_all: 0.2819, d0.loss_map_pts_all: 1.7537, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2819, d0.loss_map_pts: 1.7537, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2529, d1.loss_map_pts: 1.2405, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2407, d2.loss_map_pts: 1.0814, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.2304, d3.loss_map_pts: 1.0244, d3.loss_map_dir: 0.0121, d4.loss_map_cls: 0.2250, d4.loss_map_pts: 1.0038, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.2233, d5.loss_map_pts: 0.9943, d5.loss_map_dir: 0.0126, loss: 41.6915, grad_norm: 149.0525 +2026-02-25 09:47:02,738 - DriveTransformer - INFO - Epoch [4][22700/39528] lr: 9.623e-05, eta: 7 days, 12:02:21, time: 0.773, data_time: 0.043, memory: 19865, loss_cls: 0.2470, loss_bbox: 0.4490, loss_traj: 0.9539, loss_traj_cls: 0.0019, loss_map_cls: 0.2547, loss_map_pts: 1.0448, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.9042, d0.loss_plan_l1_fix_dist: 0.4005, d1.loss_plan_l1_fix_time: 1.7100, d1.loss_plan_l1_fix_dist: 0.2307, d2.loss_plan_l1_fix_time: 1.7001, d2.loss_plan_l1_fix_dist: 0.2349, d3.loss_plan_l1_fix_time: 1.7016, d3.loss_plan_l1_fix_dist: 0.2424, d4.loss_plan_l1_fix_time: 1.7058, d4.loss_plan_l1_fix_dist: 0.2521, d5.loss_plan_l1_fix_time: 1.7107, d5.loss_plan_l1_fix_dist: 0.2628, d6.loss_plan_l1_fix_time: 1.7160, d6.loss_plan_l1_fix_dist: 0.2756, d0.loss_cls_all: 0.2678, d0.loss_bbox_all: 0.4982, d0.loss_cls: 0.2678, d0.loss_bbox: 0.4982, d1.loss_cls: 0.2643, d1.loss_bbox: 0.4690, d2.loss_cls: 0.2590, d2.loss_bbox: 0.4542, d3.loss_cls: 0.2531, d3.loss_bbox: 0.4497, d4.loss_cls: 0.2513, d4.loss_bbox: 0.4463, d5.loss_cls: 0.2476, d5.loss_bbox: 0.4474, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1416, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9798, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9485, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9467, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9383, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.9504, d0.loss_map_cls_all: 0.3095, d0.loss_map_pts_all: 1.8091, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.3095, d0.loss_map_pts: 1.8091, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2811, d1.loss_map_pts: 1.3348, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2726, d2.loss_map_pts: 1.1502, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.2636, d3.loss_map_pts: 1.0821, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2590, d4.loss_map_pts: 1.0540, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.2562, d5.loss_map_pts: 1.0439, d5.loss_map_dir: 0.0127, loss: 40.3139, grad_norm: 150.7990 +2026-02-25 09:47:42,580 - DriveTransformer - INFO - Epoch [4][22750/39528] lr: 9.623e-05, eta: 7 days, 12:01:39, time: 0.797, data_time: 0.042, memory: 19865, loss_cls: 0.2676, loss_bbox: 0.4274, loss_traj: 0.8939, loss_traj_cls: 0.0018, loss_map_cls: 0.2104, loss_map_pts: 0.8520, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.6132, d0.loss_plan_l1_fix_dist: 0.4117, d1.loss_plan_l1_fix_time: 1.4753, d1.loss_plan_l1_fix_dist: 0.2372, d2.loss_plan_l1_fix_time: 1.4572, d2.loss_plan_l1_fix_dist: 0.2400, d3.loss_plan_l1_fix_time: 1.4550, d3.loss_plan_l1_fix_dist: 0.2479, d4.loss_plan_l1_fix_time: 1.4570, d4.loss_plan_l1_fix_dist: 0.2565, d5.loss_plan_l1_fix_time: 1.4602, d5.loss_plan_l1_fix_dist: 0.2639, d6.loss_plan_l1_fix_time: 1.4640, d6.loss_plan_l1_fix_dist: 0.2706, d0.loss_cls_all: 0.2892, d0.loss_bbox_all: 0.4885, d0.loss_cls: 0.2892, d0.loss_bbox: 0.4885, d1.loss_cls: 0.2844, d1.loss_bbox: 0.4539, d2.loss_cls: 0.2778, d2.loss_bbox: 0.4345, d3.loss_cls: 0.2722, d3.loss_bbox: 0.4287, d4.loss_cls: 0.2701, d4.loss_bbox: 0.4261, d5.loss_cls: 0.2682, d5.loss_bbox: 0.4247, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1332, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9519, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9127, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9054, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8980, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.8946, d0.loss_map_cls_all: 0.2589, d0.loss_map_pts_all: 1.6338, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2589, d0.loss_map_pts: 1.6338, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2372, d1.loss_map_pts: 1.1141, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2241, d2.loss_map_pts: 0.9435, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.2153, d3.loss_map_pts: 0.8883, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.2118, d4.loss_map_pts: 0.8626, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.2111, d5.loss_map_pts: 0.8535, d5.loss_map_dir: 0.0120, loss: 36.3990, grad_norm: 149.6887 +2026-02-25 09:48:21,327 - DriveTransformer - INFO - Epoch [4][22800/39528] lr: 9.623e-05, eta: 7 days, 12:00:51, time: 0.775, data_time: 0.040, memory: 19865, loss_cls: 0.2558, loss_bbox: 0.4336, loss_traj: 0.9939, loss_traj_cls: 0.0019, loss_map_cls: 0.2216, loss_map_pts: 0.8492, loss_map_dir: 0.0131, d0.loss_plan_l1_fix_time: 2.6061, d0.loss_plan_l1_fix_dist: 0.4606, d1.loss_plan_l1_fix_time: 1.5454, d1.loss_plan_l1_fix_dist: 0.2023, d2.loss_plan_l1_fix_time: 1.5406, d2.loss_plan_l1_fix_dist: 0.2064, d3.loss_plan_l1_fix_time: 1.5430, d3.loss_plan_l1_fix_dist: 0.2146, d4.loss_plan_l1_fix_time: 1.5461, d4.loss_plan_l1_fix_dist: 0.2223, d5.loss_plan_l1_fix_time: 1.5491, d5.loss_plan_l1_fix_dist: 0.2310, d6.loss_plan_l1_fix_time: 1.5529, d6.loss_plan_l1_fix_dist: 0.2427, d0.loss_cls_all: 0.2760, d0.loss_bbox_all: 0.4912, d0.loss_cls: 0.2760, d0.loss_bbox: 0.4912, d1.loss_cls: 0.2682, d1.loss_bbox: 0.4607, d2.loss_cls: 0.2631, d2.loss_bbox: 0.4452, d3.loss_cls: 0.2602, d3.loss_bbox: 0.4371, d4.loss_cls: 0.2552, d4.loss_bbox: 0.4343, d5.loss_cls: 0.2542, d5.loss_bbox: 0.4343, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2804, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0574, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0004, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9888, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9868, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.9890, d0.loss_map_cls_all: 0.2732, d0.loss_map_pts_all: 1.5881, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2732, d0.loss_map_pts: 1.5881, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2486, d1.loss_map_pts: 1.0969, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2348, d2.loss_map_pts: 0.9323, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2280, d3.loss_map_pts: 0.8761, d3.loss_map_dir: 0.0124, d4.loss_map_cls: 0.2233, d4.loss_map_pts: 0.8537, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.2216, d5.loss_map_pts: 0.8499, d5.loss_map_dir: 0.0129, loss: 37.3603, grad_norm: 148.6429 +2026-02-25 09:49:02,335 - DriveTransformer - INFO - Epoch [4][22850/39528] lr: 9.623e-05, eta: 7 days, 12:00:15, time: 0.820, data_time: 0.043, memory: 19865, loss_cls: 0.2871, loss_bbox: 0.4757, loss_traj: 0.7148, loss_traj_cls: 0.0019, loss_map_cls: 0.2587, loss_map_pts: 1.0652, loss_map_dir: 0.0160, d0.loss_plan_l1_fix_time: 3.0664, d0.loss_plan_l1_fix_dist: 0.4797, d1.loss_plan_l1_fix_time: 1.6550, d1.loss_plan_l1_fix_dist: 0.2611, d2.loss_plan_l1_fix_time: 1.6388, d2.loss_plan_l1_fix_dist: 0.2724, d3.loss_plan_l1_fix_time: 1.6449, d3.loss_plan_l1_fix_dist: 0.2884, d4.loss_plan_l1_fix_time: 1.6497, d4.loss_plan_l1_fix_dist: 0.3068, d5.loss_plan_l1_fix_time: 1.6545, d5.loss_plan_l1_fix_dist: 0.3279, d6.loss_plan_l1_fix_time: 1.6596, d6.loss_plan_l1_fix_dist: 0.3539, d0.loss_cls_all: 0.3144, d0.loss_bbox_all: 0.5245, d0.loss_cls: 0.3144, d0.loss_bbox: 0.5245, d1.loss_cls: 0.3090, d1.loss_bbox: 0.4955, d2.loss_cls: 0.3037, d2.loss_bbox: 0.4773, d3.loss_cls: 0.2963, d3.loss_bbox: 0.4736, d4.loss_cls: 0.2922, d4.loss_bbox: 0.4723, d5.loss_cls: 0.2882, d5.loss_bbox: 0.4746, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8681, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7529, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7149, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7183, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7125, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7159, d0.loss_map_cls_all: 0.3083, d0.loss_map_pts_all: 1.9619, d0.loss_map_dir_all: 0.0151, d0.loss_map_cls: 0.3083, d0.loss_map_pts: 1.9619, d0.loss_map_dir: 0.0151, d1.loss_map_cls: 0.2824, d1.loss_map_pts: 1.3262, d1.loss_map_dir: 0.0145, d2.loss_map_cls: 0.2715, d2.loss_map_pts: 1.1421, d2.loss_map_dir: 0.0149, d3.loss_map_cls: 0.2650, d3.loss_map_pts: 1.0911, d3.loss_map_dir: 0.0154, d4.loss_map_cls: 0.2591, d4.loss_map_pts: 1.0737, d4.loss_map_dir: 0.0158, d5.loss_map_cls: 0.2589, d5.loss_map_pts: 1.0675, d5.loss_map_dir: 0.0160, loss: 39.8118, grad_norm: 151.0581 +2026-02-25 09:49:44,039 - DriveTransformer - INFO - Epoch [4][22900/39528] lr: 9.623e-05, eta: 7 days, 11:59:44, time: 0.834, data_time: 0.044, memory: 19865, loss_cls: 0.2887, loss_bbox: 0.4588, loss_traj: 0.8069, loss_traj_cls: 0.0018, loss_map_cls: 0.2530, loss_map_pts: 1.1080, loss_map_dir: 0.0173, d0.loss_plan_l1_fix_time: 3.4429, d0.loss_plan_l1_fix_dist: 0.4087, d1.loss_plan_l1_fix_time: 1.7164, d1.loss_plan_l1_fix_dist: 0.2626, d2.loss_plan_l1_fix_time: 1.6994, d2.loss_plan_l1_fix_dist: 0.2682, d3.loss_plan_l1_fix_time: 1.6982, d3.loss_plan_l1_fix_dist: 0.2787, d4.loss_plan_l1_fix_time: 1.7001, d4.loss_plan_l1_fix_dist: 0.2934, d5.loss_plan_l1_fix_time: 1.7028, d5.loss_plan_l1_fix_dist: 0.3089, d6.loss_plan_l1_fix_time: 1.7058, d6.loss_plan_l1_fix_dist: 0.3246, d0.loss_cls_all: 0.3167, d0.loss_bbox_all: 0.5138, d0.loss_cls: 0.3167, d0.loss_bbox: 0.5138, d1.loss_cls: 0.3105, d1.loss_bbox: 0.4858, d2.loss_cls: 0.2999, d2.loss_bbox: 0.4698, d3.loss_cls: 0.2947, d3.loss_bbox: 0.4625, d4.loss_cls: 0.2895, d4.loss_bbox: 0.4593, d5.loss_cls: 0.2884, d5.loss_bbox: 0.4584, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9803, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8287, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8060, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7971, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8002, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8049, d0.loss_map_cls_all: 0.3159, d0.loss_map_pts_all: 2.1524, d0.loss_map_dir_all: 0.0152, d0.loss_map_cls: 0.3159, d0.loss_map_pts: 2.1524, d0.loss_map_dir: 0.0152, d1.loss_map_cls: 0.2865, d1.loss_map_pts: 1.4059, d1.loss_map_dir: 0.0150, d2.loss_map_cls: 0.2717, d2.loss_map_pts: 1.1967, d2.loss_map_dir: 0.0157, d3.loss_map_cls: 0.2635, d3.loss_map_pts: 1.1326, d3.loss_map_dir: 0.0166, d4.loss_map_cls: 0.2562, d4.loss_map_pts: 1.1156, d4.loss_map_dir: 0.0169, d5.loss_map_cls: 0.2534, d5.loss_map_pts: 1.1099, d5.loss_map_dir: 0.0172, loss: 41.5884, grad_norm: 149.5089 +2026-02-25 09:50:23,910 - DriveTransformer - INFO - Epoch [4][22950/39528] lr: 9.623e-05, eta: 7 days, 11:59:03, time: 0.797, data_time: 0.041, memory: 19865, loss_cls: 0.2743, loss_bbox: 0.4610, loss_traj: 0.8477, loss_traj_cls: 0.0018, loss_map_cls: 0.2428, loss_map_pts: 0.9837, loss_map_dir: 0.0148, d0.loss_plan_l1_fix_time: 2.9533, d0.loss_plan_l1_fix_dist: 0.4297, d1.loss_plan_l1_fix_time: 1.5660, d1.loss_plan_l1_fix_dist: 0.2272, d2.loss_plan_l1_fix_time: 1.5458, d2.loss_plan_l1_fix_dist: 0.2404, d3.loss_plan_l1_fix_time: 1.5440, d3.loss_plan_l1_fix_dist: 0.2558, d4.loss_plan_l1_fix_time: 1.5477, d4.loss_plan_l1_fix_dist: 0.2726, d5.loss_plan_l1_fix_time: 1.5531, d5.loss_plan_l1_fix_dist: 0.2929, d6.loss_plan_l1_fix_time: 1.5601, d6.loss_plan_l1_fix_dist: 0.3135, d0.loss_cls_all: 0.2964, d0.loss_bbox_all: 0.5150, d0.loss_cls: 0.2964, d0.loss_bbox: 0.5150, d1.loss_cls: 0.2893, d1.loss_bbox: 0.4834, d2.loss_cls: 0.2802, d2.loss_bbox: 0.4680, d3.loss_cls: 0.2763, d3.loss_bbox: 0.4614, d4.loss_cls: 0.2739, d4.loss_bbox: 0.4587, d5.loss_cls: 0.2726, d5.loss_bbox: 0.4597, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0112, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8973, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8529, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8403, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8427, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.8462, d0.loss_map_cls_all: 0.2917, d0.loss_map_pts_all: 1.8442, d0.loss_map_dir_all: 0.0134, d0.loss_map_cls: 0.2917, d0.loss_map_pts: 1.8442, d0.loss_map_dir: 0.0134, d1.loss_map_cls: 0.2732, d1.loss_map_pts: 1.2420, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2564, d2.loss_map_pts: 1.0640, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2486, d3.loss_map_pts: 1.0040, d3.loss_map_dir: 0.0141, d4.loss_map_cls: 0.2427, d4.loss_map_pts: 0.9916, d4.loss_map_dir: 0.0145, d5.loss_map_cls: 0.2420, d5.loss_map_pts: 0.9820, d5.loss_map_dir: 0.0147, loss: 38.6855, grad_norm: 151.5579 +2026-02-25 09:51:04,337 - DriveTransformer - INFO - Epoch [4][23000/39528] lr: 9.623e-05, eta: 7 days, 11:58:24, time: 0.809, data_time: 0.044, memory: 19865, loss_cls: 0.2760, loss_bbox: 0.4582, loss_traj: 0.8261, loss_traj_cls: 0.0017, loss_map_cls: 0.2286, loss_map_pts: 0.8903, loss_map_dir: 0.0150, d0.loss_plan_l1_fix_time: 2.6241, d0.loss_plan_l1_fix_dist: 0.3529, d1.loss_plan_l1_fix_time: 1.5414, d1.loss_plan_l1_fix_dist: 0.2213, d2.loss_plan_l1_fix_time: 1.5215, d2.loss_plan_l1_fix_dist: 0.2348, d3.loss_plan_l1_fix_time: 1.5242, d3.loss_plan_l1_fix_dist: 0.2570, d4.loss_plan_l1_fix_time: 1.5272, d4.loss_plan_l1_fix_dist: 0.2831, d5.loss_plan_l1_fix_time: 1.5303, d5.loss_plan_l1_fix_dist: 0.3067, d6.loss_plan_l1_fix_time: 1.5336, d6.loss_plan_l1_fix_dist: 0.3317, d0.loss_cls_all: 0.3022, d0.loss_bbox_all: 0.5130, d0.loss_cls: 0.3022, d0.loss_bbox: 0.5130, d1.loss_cls: 0.2948, d1.loss_bbox: 0.4786, d2.loss_cls: 0.2865, d2.loss_bbox: 0.4643, d3.loss_cls: 0.2807, d3.loss_bbox: 0.4612, d4.loss_cls: 0.2757, d4.loss_bbox: 0.4591, d5.loss_cls: 0.2755, d5.loss_bbox: 0.4567, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0044, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8792, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8436, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8354, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8264, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8227, d0.loss_map_cls_all: 0.2909, d0.loss_map_pts_all: 1.8060, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.2909, d0.loss_map_pts: 1.8060, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.2681, d1.loss_map_pts: 1.1862, d1.loss_map_dir: 0.0132, d2.loss_map_cls: 0.2483, d2.loss_map_pts: 0.9923, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2362, d3.loss_map_pts: 0.9285, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2307, d4.loss_map_pts: 0.9040, d4.loss_map_dir: 0.0149, d5.loss_map_cls: 0.2285, d5.loss_map_pts: 0.8954, d5.loss_map_dir: 0.0150, loss: 37.4770, grad_norm: 151.6278 +2026-02-25 09:51:44,919 - DriveTransformer - INFO - Epoch [4][23050/39528] lr: 9.623e-05, eta: 7 days, 11:57:46, time: 0.812, data_time: 0.038, memory: 19865, loss_cls: 0.2608, loss_bbox: 0.4650, loss_traj: 0.7958, loss_traj_cls: 0.0018, loss_map_cls: 0.2592, loss_map_pts: 1.0993, loss_map_dir: 0.0159, d0.loss_plan_l1_fix_time: 2.8575, d0.loss_plan_l1_fix_dist: 0.4197, d1.loss_plan_l1_fix_time: 1.6187, d1.loss_plan_l1_fix_dist: 0.2654, d2.loss_plan_l1_fix_time: 1.6010, d2.loss_plan_l1_fix_dist: 0.2783, d3.loss_plan_l1_fix_time: 1.6031, d3.loss_plan_l1_fix_dist: 0.2969, d4.loss_plan_l1_fix_time: 1.6053, d4.loss_plan_l1_fix_dist: 0.3164, d5.loss_plan_l1_fix_time: 1.6075, d5.loss_plan_l1_fix_dist: 0.3352, d6.loss_plan_l1_fix_time: 1.6098, d6.loss_plan_l1_fix_dist: 0.3547, d0.loss_cls_all: 0.2879, d0.loss_bbox_all: 0.5221, d0.loss_cls: 0.2879, d0.loss_bbox: 0.5221, d1.loss_cls: 0.2774, d1.loss_bbox: 0.4915, d2.loss_cls: 0.2677, d2.loss_bbox: 0.4738, d3.loss_cls: 0.2619, d3.loss_bbox: 0.4668, d4.loss_cls: 0.2607, d4.loss_bbox: 0.4627, d5.loss_cls: 0.2613, d5.loss_bbox: 0.4632, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9919, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8433, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8108, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8010, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7963, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7953, d0.loss_map_cls_all: 0.3187, d0.loss_map_pts_all: 1.9677, d0.loss_map_dir_all: 0.0141, d0.loss_map_cls: 0.3187, d0.loss_map_pts: 1.9677, d0.loss_map_dir: 0.0141, d1.loss_map_cls: 0.2900, d1.loss_map_pts: 1.3712, d1.loss_map_dir: 0.0138, d2.loss_map_cls: 0.2753, d2.loss_map_pts: 1.1911, d2.loss_map_dir: 0.0147, d3.loss_map_cls: 0.2673, d3.loss_map_pts: 1.1307, d3.loss_map_dir: 0.0153, d4.loss_map_cls: 0.2615, d4.loss_map_pts: 1.1081, d4.loss_map_dir: 0.0156, d5.loss_map_cls: 0.2579, d5.loss_map_pts: 1.1013, d5.loss_map_dir: 0.0158, loss: 39.9490, grad_norm: 150.7123 +2026-02-25 09:52:24,180 - DriveTransformer - INFO - Epoch [4][23100/39528] lr: 9.623e-05, eta: 7 days, 11:57:01, time: 0.785, data_time: 0.049, memory: 19865, loss_cls: 0.2832, loss_bbox: 0.4843, loss_traj: 0.8813, loss_traj_cls: 0.0018, loss_map_cls: 0.2215, loss_map_pts: 0.9785, loss_map_dir: 0.0155, d0.loss_plan_l1_fix_time: 3.0449, d0.loss_plan_l1_fix_dist: 0.3604, d1.loss_plan_l1_fix_time: 1.5788, d1.loss_plan_l1_fix_dist: 0.2170, d2.loss_plan_l1_fix_time: 1.5639, d2.loss_plan_l1_fix_dist: 0.2308, d3.loss_plan_l1_fix_time: 1.5654, d3.loss_plan_l1_fix_dist: 0.2488, d4.loss_plan_l1_fix_time: 1.5697, d4.loss_plan_l1_fix_dist: 0.2719, d5.loss_plan_l1_fix_time: 1.5740, d5.loss_plan_l1_fix_dist: 0.3008, d6.loss_plan_l1_fix_time: 1.5791, d6.loss_plan_l1_fix_dist: 0.3338, d0.loss_cls_all: 0.3041, d0.loss_bbox_all: 0.5340, d0.loss_cls: 0.3041, d0.loss_bbox: 0.5340, d1.loss_cls: 0.2959, d1.loss_bbox: 0.5053, d2.loss_cls: 0.2871, d2.loss_bbox: 0.4902, d3.loss_cls: 0.2846, d3.loss_bbox: 0.4832, d4.loss_cls: 0.2820, d4.loss_bbox: 0.4812, d5.loss_cls: 0.2825, d5.loss_bbox: 0.4826, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0852, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9268, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8832, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8744, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8744, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.8779, d0.loss_map_cls_all: 0.2817, d0.loss_map_pts_all: 1.8807, d0.loss_map_dir_all: 0.0137, d0.loss_map_cls: 0.2817, d0.loss_map_pts: 1.8807, d0.loss_map_dir: 0.0137, d1.loss_map_cls: 0.2556, d1.loss_map_pts: 1.2763, d1.loss_map_dir: 0.0133, d2.loss_map_cls: 0.2425, d2.loss_map_pts: 1.0805, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2307, d3.loss_map_pts: 1.0168, d3.loss_map_dir: 0.0147, d4.loss_map_cls: 0.2250, d4.loss_map_pts: 0.9893, d4.loss_map_dir: 0.0151, d5.loss_map_cls: 0.2231, d5.loss_map_pts: 0.9802, d5.loss_map_dir: 0.0152, loss: 39.3285, grad_norm: 151.1033 +2026-02-25 09:53:05,063 - DriveTransformer - INFO - Epoch [4][23150/39528] lr: 9.623e-05, eta: 7 days, 11:56:25, time: 0.818, data_time: 0.039, memory: 19865, loss_cls: 0.2580, loss_bbox: 0.4704, loss_traj: 0.9529, loss_traj_cls: 0.0017, loss_map_cls: 0.2276, loss_map_pts: 0.9008, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.8987, d0.loss_plan_l1_fix_dist: 0.3828, d1.loss_plan_l1_fix_time: 1.6572, d1.loss_plan_l1_fix_dist: 0.2482, d2.loss_plan_l1_fix_time: 1.6288, d2.loss_plan_l1_fix_dist: 0.2624, d3.loss_plan_l1_fix_time: 1.6288, d3.loss_plan_l1_fix_dist: 0.2793, d4.loss_plan_l1_fix_time: 1.6329, d4.loss_plan_l1_fix_dist: 0.2976, d5.loss_plan_l1_fix_time: 1.6379, d5.loss_plan_l1_fix_dist: 0.3172, d6.loss_plan_l1_fix_time: 1.6435, d6.loss_plan_l1_fix_dist: 0.3425, d0.loss_cls_all: 0.2752, d0.loss_bbox_all: 0.5058, d0.loss_cls: 0.2752, d0.loss_bbox: 0.5058, d1.loss_cls: 0.2694, d1.loss_bbox: 0.4818, d2.loss_cls: 0.2629, d2.loss_bbox: 0.4662, d3.loss_cls: 0.2589, d3.loss_bbox: 0.4622, d4.loss_cls: 0.2562, d4.loss_bbox: 0.4634, d5.loss_cls: 0.2565, d5.loss_bbox: 0.4670, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1619, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9924, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9614, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9498, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9504, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9502, d0.loss_map_cls_all: 0.2698, d0.loss_map_pts_all: 1.7190, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2698, d0.loss_map_pts: 1.7190, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2452, d1.loss_map_pts: 1.1756, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.2419, d2.loss_map_pts: 0.9995, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.2347, d3.loss_map_pts: 0.9400, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.2292, d4.loss_map_pts: 0.9182, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.2276, d5.loss_map_pts: 0.9031, d5.loss_map_dir: 0.0118, loss: 39.0267, grad_norm: 152.2304 +2026-02-25 09:53:45,109 - DriveTransformer - INFO - Epoch [4][23200/39528] lr: 9.623e-05, eta: 7 days, 11:55:45, time: 0.801, data_time: 0.046, memory: 19865, loss_cls: 0.2675, loss_bbox: 0.4659, loss_traj: 0.7831, loss_traj_cls: 0.0018, loss_map_cls: 0.2324, loss_map_pts: 0.9948, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.5716, d0.loss_plan_l1_fix_dist: 0.4986, d1.loss_plan_l1_fix_time: 1.4138, d1.loss_plan_l1_fix_dist: 0.2564, d2.loss_plan_l1_fix_time: 1.3983, d2.loss_plan_l1_fix_dist: 0.2629, d3.loss_plan_l1_fix_time: 1.3987, d3.loss_plan_l1_fix_dist: 0.2778, d4.loss_plan_l1_fix_time: 1.4021, d4.loss_plan_l1_fix_dist: 0.2964, d5.loss_plan_l1_fix_time: 1.4061, d5.loss_plan_l1_fix_dist: 0.3156, d6.loss_plan_l1_fix_time: 1.4106, d6.loss_plan_l1_fix_dist: 0.3290, d0.loss_cls_all: 0.2908, d0.loss_bbox_all: 0.5125, d0.loss_cls: 0.2908, d0.loss_bbox: 0.5125, d1.loss_cls: 0.2827, d1.loss_bbox: 0.4826, d2.loss_cls: 0.2742, d2.loss_bbox: 0.4697, d3.loss_cls: 0.2696, d3.loss_bbox: 0.4657, d4.loss_cls: 0.2660, d4.loss_bbox: 0.4630, d5.loss_cls: 0.2669, d5.loss_bbox: 0.4629, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9375, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8243, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7799, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7756, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7690, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7664, d0.loss_map_cls_all: 0.2822, d0.loss_map_pts_all: 1.8994, d0.loss_map_dir_all: 0.0137, d0.loss_map_cls: 0.2822, d0.loss_map_pts: 1.8994, d0.loss_map_dir: 0.0137, d1.loss_map_cls: 0.2619, d1.loss_map_pts: 1.2679, d1.loss_map_dir: 0.0132, d2.loss_map_cls: 0.2493, d2.loss_map_pts: 1.0806, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2380, d3.loss_map_pts: 1.0234, d3.loss_map_dir: 0.0143, d4.loss_map_cls: 0.2368, d4.loss_map_pts: 1.0049, d4.loss_map_dir: 0.0148, d5.loss_map_cls: 0.2333, d5.loss_map_pts: 0.9981, d5.loss_map_dir: 0.0148, loss: 37.2219, grad_norm: 152.4284 +2026-02-25 09:54:26,427 - DriveTransformer - INFO - Epoch [4][23250/39528] lr: 9.623e-05, eta: 7 days, 11:55:11, time: 0.826, data_time: 0.040, memory: 19865, loss_cls: 0.2325, loss_bbox: 0.4173, loss_traj: 0.6599, loss_traj_cls: 0.0018, loss_map_cls: 0.1945, loss_map_pts: 0.8521, loss_map_dir: 0.0140, d0.loss_plan_l1_fix_time: 2.1879, d0.loss_plan_l1_fix_dist: 0.5277, d1.loss_plan_l1_fix_time: 1.2762, d1.loss_plan_l1_fix_dist: 0.2541, d2.loss_plan_l1_fix_time: 1.2602, d2.loss_plan_l1_fix_dist: 0.2609, d3.loss_plan_l1_fix_time: 1.2626, d3.loss_plan_l1_fix_dist: 0.2767, d4.loss_plan_l1_fix_time: 1.2675, d4.loss_plan_l1_fix_dist: 0.2966, d5.loss_plan_l1_fix_time: 1.2730, d5.loss_plan_l1_fix_dist: 0.3166, d6.loss_plan_l1_fix_time: 1.2788, d6.loss_plan_l1_fix_dist: 0.3344, d0.loss_cls_all: 0.2565, d0.loss_bbox_all: 0.4811, d0.loss_cls: 0.2565, d0.loss_bbox: 0.4811, d1.loss_cls: 0.2495, d1.loss_bbox: 0.4442, d2.loss_cls: 0.2389, d2.loss_bbox: 0.4287, d3.loss_cls: 0.2385, d3.loss_bbox: 0.4189, d4.loss_cls: 0.2338, d4.loss_bbox: 0.4152, d5.loss_cls: 0.2329, d5.loss_bbox: 0.4151, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8194, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7158, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6708, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6575, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6544, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6578, d0.loss_map_cls_all: 0.2516, d0.loss_map_pts_all: 1.7577, d0.loss_map_dir_all: 0.0126, d0.loss_map_cls: 0.2516, d0.loss_map_pts: 1.7577, d0.loss_map_dir: 0.0126, d1.loss_map_cls: 0.2257, d1.loss_map_pts: 1.1006, d1.loss_map_dir: 0.0122, d2.loss_map_cls: 0.2133, d2.loss_map_pts: 0.9253, d2.loss_map_dir: 0.0126, d3.loss_map_cls: 0.2016, d3.loss_map_pts: 0.8745, d3.loss_map_dir: 0.0133, d4.loss_map_cls: 0.1969, d4.loss_map_pts: 0.8600, d4.loss_map_dir: 0.0136, d5.loss_map_cls: 0.1948, d5.loss_map_pts: 0.8540, d5.loss_map_dir: 0.0138, loss: 33.1738, grad_norm: 153.4250 +2026-02-25 09:55:08,624 - DriveTransformer - INFO - Epoch [4][23300/39528] lr: 9.623e-05, eta: 7 days, 11:54:43, time: 0.844, data_time: 0.041, memory: 19865, loss_cls: 0.2820, loss_bbox: 0.4550, loss_traj: 0.8378, loss_traj_cls: 0.0018, loss_map_cls: 0.2388, loss_map_pts: 0.9667, loss_map_dir: 0.0160, d0.loss_plan_l1_fix_time: 2.4084, d0.loss_plan_l1_fix_dist: 0.3945, d1.loss_plan_l1_fix_time: 1.3019, d1.loss_plan_l1_fix_dist: 0.2222, d2.loss_plan_l1_fix_time: 1.3033, d2.loss_plan_l1_fix_dist: 0.2325, d3.loss_plan_l1_fix_time: 1.3112, d3.loss_plan_l1_fix_dist: 0.2468, d4.loss_plan_l1_fix_time: 1.3174, d4.loss_plan_l1_fix_dist: 0.2632, d5.loss_plan_l1_fix_time: 1.3237, d5.loss_plan_l1_fix_dist: 0.2820, d6.loss_plan_l1_fix_time: 1.3298, d6.loss_plan_l1_fix_dist: 0.3125, d0.loss_cls_all: 0.3077, d0.loss_bbox_all: 0.4985, d0.loss_cls: 0.3077, d0.loss_bbox: 0.4985, d1.loss_cls: 0.3003, d1.loss_bbox: 0.4712, d2.loss_cls: 0.2922, d2.loss_bbox: 0.4576, d3.loss_cls: 0.2872, d3.loss_bbox: 0.4523, d4.loss_cls: 0.2828, d4.loss_bbox: 0.4502, d5.loss_cls: 0.2820, d5.loss_bbox: 0.4516, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0451, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8966, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8463, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8417, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8417, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8415, d0.loss_map_cls_all: 0.2815, d0.loss_map_pts_all: 1.8957, d0.loss_map_dir_all: 0.0143, d0.loss_map_cls: 0.2815, d0.loss_map_pts: 1.8957, d0.loss_map_dir: 0.0143, d1.loss_map_cls: 0.2587, d1.loss_map_pts: 1.2343, d1.loss_map_dir: 0.0141, d2.loss_map_cls: 0.2492, d2.loss_map_pts: 1.0530, d2.loss_map_dir: 0.0146, d3.loss_map_cls: 0.2444, d3.loss_map_pts: 0.9957, d3.loss_map_dir: 0.0154, d4.loss_map_cls: 0.2413, d4.loss_map_pts: 0.9792, d4.loss_map_dir: 0.0157, d5.loss_map_cls: 0.2386, d5.loss_map_pts: 0.9693, d5.loss_map_dir: 0.0159, loss: 36.6281, grad_norm: 153.3498 +2026-02-25 09:55:49,330 - DriveTransformer - INFO - Epoch [4][23350/39528] lr: 9.623e-05, eta: 7 days, 11:54:06, time: 0.814, data_time: 0.041, memory: 19865, loss_cls: 0.2685, loss_bbox: 0.4773, loss_traj: 1.0712, loss_traj_cls: 0.0018, loss_map_cls: 0.2363, loss_map_pts: 0.9203, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.7920, d0.loss_plan_l1_fix_dist: 0.3593, d1.loss_plan_l1_fix_time: 1.6526, d1.loss_plan_l1_fix_dist: 0.2194, d2.loss_plan_l1_fix_time: 1.6309, d2.loss_plan_l1_fix_dist: 0.2302, d3.loss_plan_l1_fix_time: 1.6342, d3.loss_plan_l1_fix_dist: 0.2485, d4.loss_plan_l1_fix_time: 1.6375, d4.loss_plan_l1_fix_dist: 0.2688, d5.loss_plan_l1_fix_time: 1.6415, d5.loss_plan_l1_fix_dist: 0.2928, d6.loss_plan_l1_fix_time: 1.6460, d6.loss_plan_l1_fix_dist: 0.3219, d0.loss_cls_all: 0.3010, d0.loss_bbox_all: 0.5160, d0.loss_cls: 0.3010, d0.loss_bbox: 0.5160, d1.loss_cls: 0.2891, d1.loss_bbox: 0.4887, d2.loss_cls: 0.2808, d2.loss_bbox: 0.4735, d3.loss_cls: 0.2739, d3.loss_bbox: 0.4710, d4.loss_cls: 0.2685, d4.loss_bbox: 0.4736, d5.loss_cls: 0.2688, d5.loss_bbox: 0.4750, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3492, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.1250, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0719, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0653, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0699, d5.loss_traj_cls: 0.0013, d5.loss_traj: 1.0697, d0.loss_map_cls_all: 0.2890, d0.loss_map_pts_all: 1.7540, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2890, d0.loss_map_pts: 1.7540, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2663, d1.loss_map_pts: 1.1886, d1.loss_map_dir: 0.0122, d2.loss_map_cls: 0.2530, d2.loss_map_pts: 1.0150, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2423, d3.loss_map_pts: 0.9507, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.2380, d4.loss_map_pts: 0.9305, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.2364, d5.loss_map_pts: 0.9210, d5.loss_map_dir: 0.0136, loss: 40.1361, grad_norm: 154.1704 +2026-02-25 09:56:31,262 - DriveTransformer - INFO - Epoch [4][23400/39528] lr: 9.623e-05, eta: 7 days, 11:53:36, time: 0.840, data_time: 0.049, memory: 19865, loss_cls: 0.2471, loss_bbox: 0.4310, loss_traj: 0.6694, loss_traj_cls: 0.0018, loss_map_cls: 0.2164, loss_map_pts: 0.9712, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.6281, d0.loss_plan_l1_fix_dist: 0.4192, d1.loss_plan_l1_fix_time: 1.6060, d1.loss_plan_l1_fix_dist: 0.2163, d2.loss_plan_l1_fix_time: 1.5816, d2.loss_plan_l1_fix_dist: 0.2270, d3.loss_plan_l1_fix_time: 1.5829, d3.loss_plan_l1_fix_dist: 0.2451, d4.loss_plan_l1_fix_time: 1.5873, d4.loss_plan_l1_fix_dist: 0.2687, d5.loss_plan_l1_fix_time: 1.5925, d5.loss_plan_l1_fix_dist: 0.2921, d6.loss_plan_l1_fix_time: 1.5989, d6.loss_plan_l1_fix_dist: 0.3106, d0.loss_cls_all: 0.2753, d0.loss_bbox_all: 0.4747, d0.loss_cls: 0.2753, d0.loss_bbox: 0.4747, d1.loss_cls: 0.2713, d1.loss_bbox: 0.4475, d2.loss_cls: 0.2622, d2.loss_bbox: 0.4359, d3.loss_cls: 0.2562, d3.loss_bbox: 0.4318, d4.loss_cls: 0.2494, d4.loss_bbox: 0.4320, d5.loss_cls: 0.2480, d5.loss_bbox: 0.4305, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7776, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7063, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6822, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6750, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6722, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6733, d0.loss_map_cls_all: 0.2615, d0.loss_map_pts_all: 1.8951, d0.loss_map_dir_all: 0.0140, d0.loss_map_cls: 0.2615, d0.loss_map_pts: 1.8951, d0.loss_map_dir: 0.0140, d1.loss_map_cls: 0.2393, d1.loss_map_pts: 1.2611, d1.loss_map_dir: 0.0132, d2.loss_map_cls: 0.2297, d2.loss_map_pts: 1.0645, d2.loss_map_dir: 0.0138, d3.loss_map_cls: 0.2220, d3.loss_map_pts: 1.0043, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2176, d4.loss_map_pts: 0.9840, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.2158, d5.loss_map_pts: 0.9742, d5.loss_map_dir: 0.0148, loss: 36.6895, grad_norm: 154.8256 +2026-02-25 09:57:12,095 - DriveTransformer - INFO - Epoch [4][23450/39528] lr: 9.623e-05, eta: 7 days, 11:53:00, time: 0.816, data_time: 0.043, memory: 19865, loss_cls: 0.2466, loss_bbox: 0.4312, loss_traj: 0.9416, loss_traj_cls: 0.0018, loss_map_cls: 0.1982, loss_map_pts: 0.9576, loss_map_dir: 0.0151, d0.loss_plan_l1_fix_time: 2.8247, d0.loss_plan_l1_fix_dist: 0.4983, d1.loss_plan_l1_fix_time: 1.5558, d1.loss_plan_l1_fix_dist: 0.2686, d2.loss_plan_l1_fix_time: 1.5320, d2.loss_plan_l1_fix_dist: 0.2800, d3.loss_plan_l1_fix_time: 1.5294, d3.loss_plan_l1_fix_dist: 0.2899, d4.loss_plan_l1_fix_time: 1.5328, d4.loss_plan_l1_fix_dist: 0.3033, d5.loss_plan_l1_fix_time: 1.5379, d5.loss_plan_l1_fix_dist: 0.3219, d6.loss_plan_l1_fix_time: 1.5451, d6.loss_plan_l1_fix_dist: 0.3448, d0.loss_cls_all: 0.2750, d0.loss_bbox_all: 0.4904, d0.loss_cls: 0.2750, d0.loss_bbox: 0.4904, d1.loss_cls: 0.2630, d1.loss_bbox: 0.4624, d2.loss_cls: 0.2542, d2.loss_bbox: 0.4478, d3.loss_cls: 0.2478, d3.loss_bbox: 0.4414, d4.loss_cls: 0.2448, d4.loss_bbox: 0.4368, d5.loss_cls: 0.2455, d5.loss_bbox: 0.4330, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1778, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0006, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9749, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9581, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9471, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9421, d0.loss_map_cls_all: 0.2592, d0.loss_map_pts_all: 1.9224, d0.loss_map_dir_all: 0.0144, d0.loss_map_cls: 0.2592, d0.loss_map_pts: 1.9224, d0.loss_map_dir: 0.0144, d1.loss_map_cls: 0.2322, d1.loss_map_pts: 1.2701, d1.loss_map_dir: 0.0134, d2.loss_map_cls: 0.2192, d2.loss_map_pts: 1.0626, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2071, d3.loss_map_pts: 0.9939, d3.loss_map_dir: 0.0145, d4.loss_map_cls: 0.2011, d4.loss_map_pts: 0.9684, d4.loss_map_dir: 0.0149, d5.loss_map_cls: 0.1983, d5.loss_map_pts: 0.9602, d5.loss_map_dir: 0.0151, loss: 38.9476, grad_norm: 156.2385 +2026-02-25 09:57:53,918 - DriveTransformer - INFO - Epoch [4][23500/39528] lr: 9.623e-05, eta: 7 days, 11:52:29, time: 0.836, data_time: 0.042, memory: 19865, loss_cls: 0.2692, loss_bbox: 0.4687, loss_traj: 0.9366, loss_traj_cls: 0.0017, loss_map_cls: 0.2374, loss_map_pts: 1.0935, loss_map_dir: 0.0169, d0.loss_plan_l1_fix_time: 2.9211, d0.loss_plan_l1_fix_dist: 0.4580, d1.loss_plan_l1_fix_time: 1.6496, d1.loss_plan_l1_fix_dist: 0.2618, d2.loss_plan_l1_fix_time: 1.6422, d2.loss_plan_l1_fix_dist: 0.2683, d3.loss_plan_l1_fix_time: 1.6451, d3.loss_plan_l1_fix_dist: 0.2812, d4.loss_plan_l1_fix_time: 1.6500, d4.loss_plan_l1_fix_dist: 0.2939, d5.loss_plan_l1_fix_time: 1.6555, d5.loss_plan_l1_fix_dist: 0.3081, d6.loss_plan_l1_fix_time: 1.6608, d6.loss_plan_l1_fix_dist: 0.3246, d0.loss_cls_all: 0.2917, d0.loss_bbox_all: 0.5218, d0.loss_cls: 0.2917, d0.loss_bbox: 0.5218, d1.loss_cls: 0.2886, d1.loss_bbox: 0.4919, d2.loss_cls: 0.2794, d2.loss_bbox: 0.4763, d3.loss_cls: 0.2783, d3.loss_bbox: 0.4677, d4.loss_cls: 0.2716, d4.loss_bbox: 0.4660, d5.loss_cls: 0.2701, d5.loss_bbox: 0.4649, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1170, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9780, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9346, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9333, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9319, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9393, d0.loss_map_cls_all: 0.2936, d0.loss_map_pts_all: 2.0998, d0.loss_map_dir_all: 0.0158, d0.loss_map_cls: 0.2936, d0.loss_map_pts: 2.0998, d0.loss_map_dir: 0.0158, d1.loss_map_cls: 0.2661, d1.loss_map_pts: 1.4108, d1.loss_map_dir: 0.0147, d2.loss_map_cls: 0.2553, d2.loss_map_pts: 1.2018, d2.loss_map_dir: 0.0153, d3.loss_map_cls: 0.2440, d3.loss_map_pts: 1.1299, d3.loss_map_dir: 0.0160, d4.loss_map_cls: 0.2409, d4.loss_map_pts: 1.1039, d4.loss_map_dir: 0.0164, d5.loss_map_cls: 0.2377, d5.loss_map_pts: 1.0947, d5.loss_map_dir: 0.0166, loss: 41.3487, grad_norm: 157.0405 +2026-02-25 09:58:33,828 - DriveTransformer - INFO - Epoch [4][23550/39528] lr: 9.623e-05, eta: 7 days, 11:51:48, time: 0.798, data_time: 0.043, memory: 19865, loss_cls: 0.2847, loss_bbox: 0.4892, loss_traj: 0.9957, loss_traj_cls: 0.0018, loss_map_cls: 0.2576, loss_map_pts: 1.0233, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.5669, d0.loss_plan_l1_fix_dist: 0.3951, d1.loss_plan_l1_fix_time: 1.4952, d1.loss_plan_l1_fix_dist: 0.2325, d2.loss_plan_l1_fix_time: 1.5062, d2.loss_plan_l1_fix_dist: 0.2423, d3.loss_plan_l1_fix_time: 1.5115, d3.loss_plan_l1_fix_dist: 0.2564, d4.loss_plan_l1_fix_time: 1.5171, d4.loss_plan_l1_fix_dist: 0.2720, d5.loss_plan_l1_fix_time: 1.5221, d5.loss_plan_l1_fix_dist: 0.2847, d6.loss_plan_l1_fix_time: 1.5269, d6.loss_plan_l1_fix_dist: 0.2973, d0.loss_cls_all: 0.3111, d0.loss_bbox_all: 0.5295, d0.loss_cls: 0.3111, d0.loss_bbox: 0.5295, d1.loss_cls: 0.3078, d1.loss_bbox: 0.5011, d2.loss_cls: 0.2956, d2.loss_bbox: 0.4863, d3.loss_cls: 0.2932, d3.loss_bbox: 0.4821, d4.loss_cls: 0.2881, d4.loss_bbox: 0.4820, d5.loss_cls: 0.2865, d5.loss_bbox: 0.4863, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1701, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0409, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9862, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9905, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9872, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.9943, d0.loss_map_cls_all: 0.3227, d0.loss_map_pts_all: 1.8019, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.3227, d0.loss_map_pts: 1.8019, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2944, d1.loss_map_pts: 1.2894, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2805, d2.loss_map_pts: 1.1195, d2.loss_map_dir: 0.0126, d3.loss_map_cls: 0.2665, d3.loss_map_pts: 1.0562, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2599, d4.loss_map_pts: 1.0332, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.2587, d5.loss_map_pts: 1.0241, d5.loss_map_dir: 0.0137, loss: 39.6789, grad_norm: 156.9642 +2026-02-25 09:59:14,689 - DriveTransformer - INFO - Epoch [4][23600/39528] lr: 9.623e-05, eta: 7 days, 11:51:12, time: 0.817, data_time: 0.038, memory: 19865, loss_cls: 0.3099, loss_bbox: 0.4938, loss_traj: 0.8405, loss_traj_cls: 0.0017, loss_map_cls: 0.2369, loss_map_pts: 1.0521, loss_map_dir: 0.0161, d0.loss_plan_l1_fix_time: 3.2949, d0.loss_plan_l1_fix_dist: 0.3880, d1.loss_plan_l1_fix_time: 1.7080, d1.loss_plan_l1_fix_dist: 0.2569, d2.loss_plan_l1_fix_time: 1.6882, d2.loss_plan_l1_fix_dist: 0.2621, d3.loss_plan_l1_fix_time: 1.6875, d3.loss_plan_l1_fix_dist: 0.2695, d4.loss_plan_l1_fix_time: 1.6914, d4.loss_plan_l1_fix_dist: 0.2810, d5.loss_plan_l1_fix_time: 1.6962, d5.loss_plan_l1_fix_dist: 0.2951, d6.loss_plan_l1_fix_time: 1.7017, d6.loss_plan_l1_fix_dist: 0.3110, d0.loss_cls_all: 0.3365, d0.loss_bbox_all: 0.5366, d0.loss_cls: 0.3365, d0.loss_bbox: 0.5366, d1.loss_cls: 0.3253, d1.loss_bbox: 0.5106, d2.loss_cls: 0.3208, d2.loss_bbox: 0.4947, d3.loss_cls: 0.3167, d3.loss_bbox: 0.4891, d4.loss_cls: 0.3128, d4.loss_bbox: 0.4878, d5.loss_cls: 0.3085, d5.loss_bbox: 0.4914, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0040, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8766, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8460, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8385, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8358, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8355, d0.loss_map_cls_all: 0.3131, d0.loss_map_pts_all: 1.9559, d0.loss_map_dir_all: 0.0151, d0.loss_map_cls: 0.3131, d0.loss_map_pts: 1.9559, d0.loss_map_dir: 0.0151, d1.loss_map_cls: 0.2809, d1.loss_map_pts: 1.3465, d1.loss_map_dir: 0.0145, d2.loss_map_cls: 0.2605, d2.loss_map_pts: 1.1620, d2.loss_map_dir: 0.0149, d3.loss_map_cls: 0.2476, d3.loss_map_pts: 1.0942, d3.loss_map_dir: 0.0155, d4.loss_map_cls: 0.2419, d4.loss_map_pts: 1.0680, d4.loss_map_dir: 0.0158, d5.loss_map_cls: 0.2386, d5.loss_map_pts: 1.0534, d5.loss_map_dir: 0.0160, loss: 41.1671, grad_norm: 157.4530 +2026-02-25 09:59:54,476 - DriveTransformer - INFO - Epoch [4][23650/39528] lr: 9.623e-05, eta: 7 days, 11:50:29, time: 0.796, data_time: 0.041, memory: 19865, loss_cls: 0.2902, loss_bbox: 0.4494, loss_traj: 0.9307, loss_traj_cls: 0.0018, loss_map_cls: 0.2114, loss_map_pts: 0.8648, loss_map_dir: 0.0136, d0.loss_plan_l1_fix_time: 2.5949, d0.loss_plan_l1_fix_dist: 0.3412, d1.loss_plan_l1_fix_time: 1.6407, d1.loss_plan_l1_fix_dist: 0.2056, d2.loss_plan_l1_fix_time: 1.6297, d2.loss_plan_l1_fix_dist: 0.2121, d3.loss_plan_l1_fix_time: 1.6349, d3.loss_plan_l1_fix_dist: 0.2212, d4.loss_plan_l1_fix_time: 1.6392, d4.loss_plan_l1_fix_dist: 0.2300, d5.loss_plan_l1_fix_time: 1.6439, d5.loss_plan_l1_fix_dist: 0.2424, d6.loss_plan_l1_fix_time: 1.6484, d6.loss_plan_l1_fix_dist: 0.2579, d0.loss_cls_all: 0.3038, d0.loss_bbox_all: 0.4894, d0.loss_cls: 0.3038, d0.loss_bbox: 0.4894, d1.loss_cls: 0.2976, d1.loss_bbox: 0.4611, d2.loss_cls: 0.2895, d2.loss_bbox: 0.4497, d3.loss_cls: 0.2893, d3.loss_bbox: 0.4466, d4.loss_cls: 0.2877, d4.loss_bbox: 0.4461, d5.loss_cls: 0.2877, d5.loss_bbox: 0.4482, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1012, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9574, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9214, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9254, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9265, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.9299, d0.loss_map_cls_all: 0.2721, d0.loss_map_pts_all: 1.6684, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.2721, d0.loss_map_pts: 1.6684, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2442, d1.loss_map_pts: 1.1422, d1.loss_map_dir: 0.0122, d2.loss_map_cls: 0.2287, d2.loss_map_pts: 0.9620, d2.loss_map_dir: 0.0127, d3.loss_map_cls: 0.2179, d3.loss_map_pts: 0.9007, d3.loss_map_dir: 0.0132, d4.loss_map_cls: 0.2133, d4.loss_map_pts: 0.8821, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.2101, d5.loss_map_pts: 0.8676, d5.loss_map_dir: 0.0135, loss: 37.8008, grad_norm: 157.1598 +2026-02-25 10:00:34,534 - DriveTransformer - INFO - Epoch [4][23700/39528] lr: 9.623e-05, eta: 7 days, 11:49:49, time: 0.801, data_time: 0.045, memory: 19865, loss_cls: 0.2491, loss_bbox: 0.4481, loss_traj: 0.9645, loss_traj_cls: 0.0018, loss_map_cls: 0.2083, loss_map_pts: 0.8926, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.4997, d0.loss_plan_l1_fix_dist: 0.4717, d1.loss_plan_l1_fix_time: 1.5405, d1.loss_plan_l1_fix_dist: 0.2376, d2.loss_plan_l1_fix_time: 1.5209, d2.loss_plan_l1_fix_dist: 0.2430, d3.loss_plan_l1_fix_time: 1.5219, d3.loss_plan_l1_fix_dist: 0.2543, d4.loss_plan_l1_fix_time: 1.5257, d4.loss_plan_l1_fix_dist: 0.2666, d5.loss_plan_l1_fix_time: 1.5301, d5.loss_plan_l1_fix_dist: 0.2799, d6.loss_plan_l1_fix_time: 1.5351, d6.loss_plan_l1_fix_dist: 0.2953, d0.loss_cls_all: 0.2675, d0.loss_bbox_all: 0.4974, d0.loss_cls: 0.2675, d0.loss_bbox: 0.4974, d1.loss_cls: 0.2617, d1.loss_bbox: 0.4616, d2.loss_cls: 0.2528, d2.loss_bbox: 0.4505, d3.loss_cls: 0.2492, d3.loss_bbox: 0.4488, d4.loss_cls: 0.2479, d4.loss_bbox: 0.4476, d5.loss_cls: 0.2480, d5.loss_bbox: 0.4465, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2574, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0222, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9710, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9642, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9693, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.9638, d0.loss_map_cls_all: 0.2682, d0.loss_map_pts_all: 1.7582, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2682, d0.loss_map_pts: 1.7582, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2402, d1.loss_map_pts: 1.1855, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2296, d2.loss_map_pts: 0.9974, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.2164, d3.loss_map_pts: 0.9299, d3.loss_map_dir: 0.0121, d4.loss_map_cls: 0.2103, d4.loss_map_pts: 0.9061, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.2089, d5.loss_map_pts: 0.8922, d5.loss_map_dir: 0.0126, loss: 37.8495, grad_norm: 156.6171 +2026-02-25 10:01:14,651 - DriveTransformer - INFO - Epoch [4][23750/39528] lr: 9.623e-05, eta: 7 days, 11:49:09, time: 0.802, data_time: 0.040, memory: 19865, loss_cls: 0.2509, loss_bbox: 0.4555, loss_traj: 0.8808, loss_traj_cls: 0.0019, loss_map_cls: 0.2334, loss_map_pts: 0.9430, loss_map_dir: 0.0150, d0.loss_plan_l1_fix_time: 2.1483, d0.loss_plan_l1_fix_dist: 0.4193, d1.loss_plan_l1_fix_time: 1.3009, d1.loss_plan_l1_fix_dist: 0.2055, d2.loss_plan_l1_fix_time: 1.2766, d2.loss_plan_l1_fix_dist: 0.2090, d3.loss_plan_l1_fix_time: 1.2776, d3.loss_plan_l1_fix_dist: 0.2178, d4.loss_plan_l1_fix_time: 1.2818, d4.loss_plan_l1_fix_dist: 0.2295, d5.loss_plan_l1_fix_time: 1.2864, d5.loss_plan_l1_fix_dist: 0.2423, d6.loss_plan_l1_fix_time: 1.2927, d6.loss_plan_l1_fix_dist: 0.2540, d0.loss_cls_all: 0.2740, d0.loss_bbox_all: 0.4986, d0.loss_cls: 0.2740, d0.loss_bbox: 0.4986, d1.loss_cls: 0.2686, d1.loss_bbox: 0.4711, d2.loss_cls: 0.2595, d2.loss_bbox: 0.4567, d3.loss_cls: 0.2561, d3.loss_bbox: 0.4518, d4.loss_cls: 0.2520, d4.loss_bbox: 0.4526, d5.loss_cls: 0.2500, d5.loss_bbox: 0.4533, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0986, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9114, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8779, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8760, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8772, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.8756, d0.loss_map_cls_all: 0.2939, d0.loss_map_pts_all: 1.8124, d0.loss_map_dir_all: 0.0140, d0.loss_map_cls: 0.2939, d0.loss_map_pts: 1.8124, d0.loss_map_dir: 0.0140, d1.loss_map_cls: 0.2680, d1.loss_map_pts: 1.2163, d1.loss_map_dir: 0.0134, d2.loss_map_cls: 0.2532, d2.loss_map_pts: 1.0377, d2.loss_map_dir: 0.0138, d3.loss_map_cls: 0.2403, d3.loss_map_pts: 0.9748, d3.loss_map_dir: 0.0145, d4.loss_map_cls: 0.2356, d4.loss_map_pts: 0.9507, d4.loss_map_dir: 0.0147, d5.loss_map_cls: 0.2339, d5.loss_map_pts: 0.9447, d5.loss_map_dir: 0.0149, loss: 35.7284, grad_norm: 156.6103 +2026-02-25 10:01:55,495 - DriveTransformer - INFO - Epoch [4][23800/39528] lr: 9.623e-05, eta: 7 days, 11:48:33, time: 0.817, data_time: 0.041, memory: 19865, loss_cls: 0.2921, loss_bbox: 0.5030, loss_traj: 0.9914, loss_traj_cls: 0.0018, loss_map_cls: 0.2547, loss_map_pts: 1.0895, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 3.0071, d0.loss_plan_l1_fix_dist: 0.4795, d1.loss_plan_l1_fix_time: 1.6308, d1.loss_plan_l1_fix_dist: 0.2502, d2.loss_plan_l1_fix_time: 1.6046, d2.loss_plan_l1_fix_dist: 0.2528, d3.loss_plan_l1_fix_time: 1.6034, d3.loss_plan_l1_fix_dist: 0.2602, d4.loss_plan_l1_fix_time: 1.6069, d4.loss_plan_l1_fix_dist: 0.2719, d5.loss_plan_l1_fix_time: 1.6111, d5.loss_plan_l1_fix_dist: 0.2854, d6.loss_plan_l1_fix_time: 1.6156, d6.loss_plan_l1_fix_dist: 0.3007, d0.loss_cls_all: 0.3038, d0.loss_bbox_all: 0.5466, d0.loss_cls: 0.3038, d0.loss_bbox: 0.5466, d1.loss_cls: 0.2940, d1.loss_bbox: 0.5202, d2.loss_cls: 0.2886, d2.loss_bbox: 0.5056, d3.loss_cls: 0.2847, d3.loss_bbox: 0.5025, d4.loss_cls: 0.2848, d4.loss_bbox: 0.5034, d5.loss_cls: 0.2878, d5.loss_bbox: 0.5026, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2002, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0529, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0033, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9855, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9793, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.9858, d0.loss_map_cls_all: 0.3154, d0.loss_map_pts_all: 1.8794, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.3154, d0.loss_map_pts: 1.8794, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2906, d1.loss_map_pts: 1.3701, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2768, d2.loss_map_pts: 1.1866, d2.loss_map_dir: 0.0126, d3.loss_map_cls: 0.2662, d3.loss_map_pts: 1.1224, d3.loss_map_dir: 0.0132, d4.loss_map_cls: 0.2599, d4.loss_map_pts: 1.0996, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.2553, d5.loss_map_pts: 1.0911, d5.loss_map_dir: 0.0136, loss: 41.5121, grad_norm: 157.0042 +2026-02-25 10:02:36,395 - DriveTransformer - INFO - Epoch [4][23850/39528] lr: 9.623e-05, eta: 7 days, 11:47:57, time: 0.817, data_time: 0.040, memory: 19865, loss_cls: 0.2852, loss_bbox: 0.4944, loss_traj: 0.8542, loss_traj_cls: 0.0018, loss_map_cls: 0.2481, loss_map_pts: 1.0349, loss_map_dir: 0.0165, d0.loss_plan_l1_fix_time: 2.8871, d0.loss_plan_l1_fix_dist: 0.4677, d1.loss_plan_l1_fix_time: 1.5534, d1.loss_plan_l1_fix_dist: 0.2591, d2.loss_plan_l1_fix_time: 1.5245, d2.loss_plan_l1_fix_dist: 0.2638, d3.loss_plan_l1_fix_time: 1.5203, d3.loss_plan_l1_fix_dist: 0.2724, d4.loss_plan_l1_fix_time: 1.5240, d4.loss_plan_l1_fix_dist: 0.2823, d5.loss_plan_l1_fix_time: 1.5290, d5.loss_plan_l1_fix_dist: 0.2949, d6.loss_plan_l1_fix_time: 1.5342, d6.loss_plan_l1_fix_dist: 0.3149, d0.loss_cls_all: 0.3041, d0.loss_bbox_all: 0.5453, d0.loss_cls: 0.3041, d0.loss_bbox: 0.5453, d1.loss_cls: 0.2957, d1.loss_bbox: 0.5149, d2.loss_cls: 0.2904, d2.loss_bbox: 0.5002, d3.loss_cls: 0.2857, d3.loss_bbox: 0.4947, d4.loss_cls: 0.2857, d4.loss_bbox: 0.4930, d5.loss_cls: 0.2839, d5.loss_bbox: 0.4942, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1139, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9304, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8586, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8544, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8508, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.8481, d0.loss_map_cls_all: 0.2944, d0.loss_map_pts_all: 1.8529, d0.loss_map_dir_all: 0.0148, d0.loss_map_cls: 0.2944, d0.loss_map_pts: 1.8529, d0.loss_map_dir: 0.0148, d1.loss_map_cls: 0.2756, d1.loss_map_pts: 1.2673, d1.loss_map_dir: 0.0143, d2.loss_map_cls: 0.2632, d2.loss_map_pts: 1.1009, d2.loss_map_dir: 0.0149, d3.loss_map_cls: 0.2559, d3.loss_map_pts: 1.0512, d3.loss_map_dir: 0.0157, d4.loss_map_cls: 0.2514, d4.loss_map_pts: 1.0380, d4.loss_map_dir: 0.0161, d5.loss_map_cls: 0.2489, d5.loss_map_pts: 1.0336, d5.loss_map_dir: 0.0164, loss: 39.4493, grad_norm: 155.3979 +2026-02-25 10:03:16,714 - DriveTransformer - INFO - Epoch [4][23900/39528] lr: 9.623e-05, eta: 7 days, 11:47:17, time: 0.806, data_time: 0.044, memory: 19865, loss_cls: 0.2645, loss_bbox: 0.4276, loss_traj: 0.8591, loss_traj_cls: 0.0018, loss_map_cls: 0.2192, loss_map_pts: 0.9187, loss_map_dir: 0.0139, d0.loss_plan_l1_fix_time: 3.1970, d0.loss_plan_l1_fix_dist: 0.4439, d1.loss_plan_l1_fix_time: 1.7149, d1.loss_plan_l1_fix_dist: 0.2114, d2.loss_plan_l1_fix_time: 1.7059, d2.loss_plan_l1_fix_dist: 0.2162, d3.loss_plan_l1_fix_time: 1.7183, d3.loss_plan_l1_fix_dist: 0.2266, d4.loss_plan_l1_fix_time: 1.7265, d4.loss_plan_l1_fix_dist: 0.2402, d5.loss_plan_l1_fix_time: 1.7344, d5.loss_plan_l1_fix_dist: 0.2528, d6.loss_plan_l1_fix_time: 1.7418, d6.loss_plan_l1_fix_dist: 0.2607, d0.loss_cls_all: 0.2792, d0.loss_bbox_all: 0.4841, d0.loss_cls: 0.2792, d0.loss_bbox: 0.4841, d1.loss_cls: 0.2723, d1.loss_bbox: 0.4548, d2.loss_cls: 0.2677, d2.loss_bbox: 0.4380, d3.loss_cls: 0.2663, d3.loss_bbox: 0.4289, d4.loss_cls: 0.2641, d4.loss_bbox: 0.4252, d5.loss_cls: 0.2651, d5.loss_bbox: 0.4250, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0455, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9078, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8660, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8580, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8538, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8551, d0.loss_map_cls_all: 0.2757, d0.loss_map_pts_all: 1.7067, d0.loss_map_dir_all: 0.0129, d0.loss_map_cls: 0.2757, d0.loss_map_pts: 1.7067, d0.loss_map_dir: 0.0129, d1.loss_map_cls: 0.2475, d1.loss_map_pts: 1.1564, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2330, d2.loss_map_pts: 0.9954, d2.loss_map_dir: 0.0127, d3.loss_map_cls: 0.2260, d3.loss_map_pts: 0.9431, d3.loss_map_dir: 0.0133, d4.loss_map_cls: 0.2204, d4.loss_map_pts: 0.9272, d4.loss_map_dir: 0.0136, d5.loss_map_cls: 0.2182, d5.loss_map_pts: 0.9225, d5.loss_map_dir: 0.0138, loss: 38.6678, grad_norm: 155.0201 +2026-02-25 10:03:56,273 - DriveTransformer - INFO - Epoch [4][23950/39528] lr: 9.623e-05, eta: 7 days, 11:46:34, time: 0.791, data_time: 0.042, memory: 19865, loss_cls: 0.2484, loss_bbox: 0.4406, loss_traj: 0.8667, loss_traj_cls: 0.0017, loss_map_cls: 0.1788, loss_map_pts: 0.7917, loss_map_dir: 0.0136, d0.loss_plan_l1_fix_time: 2.2082, d0.loss_plan_l1_fix_dist: 0.4214, d1.loss_plan_l1_fix_time: 1.3752, d1.loss_plan_l1_fix_dist: 0.2042, d2.loss_plan_l1_fix_time: 1.3669, d2.loss_plan_l1_fix_dist: 0.2053, d3.loss_plan_l1_fix_time: 1.3766, d3.loss_plan_l1_fix_dist: 0.2143, d4.loss_plan_l1_fix_time: 1.3850, d4.loss_plan_l1_fix_dist: 0.2244, d5.loss_plan_l1_fix_time: 1.3936, d5.loss_plan_l1_fix_dist: 0.2349, d6.loss_plan_l1_fix_time: 1.4024, d6.loss_plan_l1_fix_dist: 0.2452, d0.loss_cls_all: 0.2707, d0.loss_bbox_all: 0.4866, d0.loss_cls: 0.2707, d0.loss_bbox: 0.4866, d1.loss_cls: 0.2646, d1.loss_bbox: 0.4590, d2.loss_cls: 0.2555, d2.loss_bbox: 0.4476, d3.loss_cls: 0.2505, d3.loss_bbox: 0.4417, d4.loss_cls: 0.2484, d4.loss_bbox: 0.4388, d5.loss_cls: 0.2467, d5.loss_bbox: 0.4402, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0341, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9069, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8651, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8530, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8555, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8587, d0.loss_map_cls_all: 0.2517, d0.loss_map_pts_all: 1.5904, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.2517, d0.loss_map_pts: 1.5904, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2139, d1.loss_map_pts: 1.0300, d1.loss_map_dir: 0.0122, d2.loss_map_cls: 0.1980, d2.loss_map_pts: 0.8650, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.1864, d3.loss_map_pts: 0.8173, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.1804, d4.loss_map_pts: 0.7972, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.1794, d5.loss_map_pts: 0.7917, d5.loss_map_dir: 0.0135, loss: 34.2195, grad_norm: 156.7238 +2026-02-25 10:04:40,076 - DriveTransformer - INFO - Epoch [4][24000/39528] lr: 9.623e-05, eta: 7 days, 11:46:15, time: 0.876, data_time: 0.041, memory: 19865, loss_cls: 0.2801, loss_bbox: 0.4890, loss_traj: 0.8063, loss_traj_cls: 0.0017, loss_map_cls: 0.2502, loss_map_pts: 1.1501, loss_map_dir: 0.0207, d0.loss_plan_l1_fix_time: 2.7270, d0.loss_plan_l1_fix_dist: 0.3283, d1.loss_plan_l1_fix_time: 1.5485, d1.loss_plan_l1_fix_dist: 0.2214, d2.loss_plan_l1_fix_time: 1.5324, d2.loss_plan_l1_fix_dist: 0.2272, d3.loss_plan_l1_fix_time: 1.5260, d3.loss_plan_l1_fix_dist: 0.2348, d4.loss_plan_l1_fix_time: 1.5308, d4.loss_plan_l1_fix_dist: 0.2448, d5.loss_plan_l1_fix_time: 1.5376, d5.loss_plan_l1_fix_dist: 0.2574, d6.loss_plan_l1_fix_time: 1.5455, d6.loss_plan_l1_fix_dist: 0.2730, d0.loss_cls_all: 0.3059, d0.loss_bbox_all: 0.5419, d0.loss_cls: 0.3059, d0.loss_bbox: 0.5419, d1.loss_cls: 0.2938, d1.loss_bbox: 0.5130, d2.loss_cls: 0.2857, d2.loss_bbox: 0.4977, d3.loss_cls: 0.2823, d3.loss_bbox: 0.4919, d4.loss_cls: 0.2783, d4.loss_bbox: 0.4910, d5.loss_cls: 0.2788, d5.loss_bbox: 0.4898, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9266, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8356, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7937, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7945, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7973, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7988, d0.loss_map_cls_all: 0.3191, d0.loss_map_pts_all: 2.3197, d0.loss_map_dir_all: 0.0193, d0.loss_map_cls: 0.3191, d0.loss_map_pts: 2.3197, d0.loss_map_dir: 0.0193, d1.loss_map_cls: 0.2897, d1.loss_map_pts: 1.4872, d1.loss_map_dir: 0.0183, d2.loss_map_cls: 0.2750, d2.loss_map_pts: 1.2539, d2.loss_map_dir: 0.0190, d3.loss_map_cls: 0.2631, d3.loss_map_pts: 1.1807, d3.loss_map_dir: 0.0199, d4.loss_map_cls: 0.2539, d4.loss_map_pts: 1.1578, d4.loss_map_dir: 0.0204, d5.loss_map_cls: 0.2504, d5.loss_map_pts: 1.1525, d5.loss_map_dir: 0.0206, loss: 40.2611, grad_norm: 157.0227 +2026-02-25 10:05:22,599 - DriveTransformer - INFO - Epoch [4][24050/39528] lr: 9.623e-05, eta: 7 days, 11:45:48, time: 0.850, data_time: 0.048, memory: 19865, loss_cls: 0.2487, loss_bbox: 0.4251, loss_traj: 0.8148, loss_traj_cls: 0.0017, loss_map_cls: 0.1979, loss_map_pts: 0.9044, loss_map_dir: 0.0166, d0.loss_plan_l1_fix_time: 2.5351, d0.loss_plan_l1_fix_dist: 0.4149, d1.loss_plan_l1_fix_time: 1.3280, d1.loss_plan_l1_fix_dist: 0.2207, d2.loss_plan_l1_fix_time: 1.3108, d2.loss_plan_l1_fix_dist: 0.2246, d3.loss_plan_l1_fix_time: 1.3104, d3.loss_plan_l1_fix_dist: 0.2308, d4.loss_plan_l1_fix_time: 1.3150, d4.loss_plan_l1_fix_dist: 0.2396, d5.loss_plan_l1_fix_time: 1.3210, d5.loss_plan_l1_fix_dist: 0.2493, d6.loss_plan_l1_fix_time: 1.3292, d6.loss_plan_l1_fix_dist: 0.2594, d0.loss_cls_all: 0.2652, d0.loss_bbox_all: 0.4734, d0.loss_cls: 0.2652, d0.loss_bbox: 0.4734, d1.loss_cls: 0.2606, d1.loss_bbox: 0.4450, d2.loss_cls: 0.2552, d2.loss_bbox: 0.4313, d3.loss_cls: 0.2531, d3.loss_bbox: 0.4260, d4.loss_cls: 0.2500, d4.loss_bbox: 0.4243, d5.loss_cls: 0.2487, d5.loss_bbox: 0.4252, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9802, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8450, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8280, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8148, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8181, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8131, d0.loss_map_cls_all: 0.2500, d0.loss_map_pts_all: 1.9026, d0.loss_map_dir_all: 0.0157, d0.loss_map_cls: 0.2500, d0.loss_map_pts: 1.9026, d0.loss_map_dir: 0.0157, d1.loss_map_cls: 0.2250, d1.loss_map_pts: 1.2172, d1.loss_map_dir: 0.0148, d2.loss_map_cls: 0.2144, d2.loss_map_pts: 1.0040, d2.loss_map_dir: 0.0153, d3.loss_map_cls: 0.2040, d3.loss_map_pts: 0.9363, d3.loss_map_dir: 0.0158, d4.loss_map_cls: 0.2011, d4.loss_map_pts: 0.9143, d4.loss_map_dir: 0.0163, d5.loss_map_cls: 0.1987, d5.loss_map_pts: 0.9073, d5.loss_map_dir: 0.0165, loss: 35.3371, grad_norm: 158.3452 +2026-02-25 10:06:03,151 - DriveTransformer - INFO - Epoch [4][24100/39528] lr: 9.623e-05, eta: 7 days, 11:45:10, time: 0.811, data_time: 0.042, memory: 19865, loss_cls: 0.2785, loss_bbox: 0.4528, loss_traj: 1.0224, loss_traj_cls: 0.0017, loss_map_cls: 0.2494, loss_map_pts: 1.0726, loss_map_dir: 0.0150, d0.loss_plan_l1_fix_time: 2.5503, d0.loss_plan_l1_fix_dist: 0.3600, d1.loss_plan_l1_fix_time: 1.4869, d1.loss_plan_l1_fix_dist: 0.2129, d2.loss_plan_l1_fix_time: 1.4811, d2.loss_plan_l1_fix_dist: 0.2165, d3.loss_plan_l1_fix_time: 1.4801, d3.loss_plan_l1_fix_dist: 0.2229, d4.loss_plan_l1_fix_time: 1.4838, d4.loss_plan_l1_fix_dist: 0.2304, d5.loss_plan_l1_fix_time: 1.4893, d5.loss_plan_l1_fix_dist: 0.2400, d6.loss_plan_l1_fix_time: 1.4968, d6.loss_plan_l1_fix_dist: 0.2532, d0.loss_cls_all: 0.2994, d0.loss_bbox_all: 0.5046, d0.loss_cls: 0.2994, d0.loss_bbox: 0.5046, d1.loss_cls: 0.2880, d1.loss_bbox: 0.4782, d2.loss_cls: 0.2784, d2.loss_bbox: 0.4646, d3.loss_cls: 0.2786, d3.loss_bbox: 0.4557, d4.loss_cls: 0.2783, d4.loss_bbox: 0.4537, d5.loss_cls: 0.2775, d5.loss_bbox: 0.4526, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2076, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0504, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0138, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0093, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0138, d5.loss_traj_cls: 0.0013, d5.loss_traj: 1.0182, d0.loss_map_cls_all: 0.3069, d0.loss_map_pts_all: 1.9301, d0.loss_map_dir_all: 0.0132, d0.loss_map_cls: 0.3069, d0.loss_map_pts: 1.9301, d0.loss_map_dir: 0.0132, d1.loss_map_cls: 0.2793, d1.loss_map_pts: 1.3438, d1.loss_map_dir: 0.0128, d2.loss_map_cls: 0.2660, d2.loss_map_pts: 1.1643, d2.loss_map_dir: 0.0135, d3.loss_map_cls: 0.2529, d3.loss_map_pts: 1.1055, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.2502, d4.loss_map_pts: 1.0829, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.2485, d5.loss_map_pts: 1.0742, d5.loss_map_dir: 0.0148, loss: 39.5666, grad_norm: 159.0714 +2026-02-25 10:06:44,791 - DriveTransformer - INFO - Epoch [4][24150/39528] lr: 9.623e-05, eta: 7 days, 11:44:38, time: 0.833, data_time: 0.042, memory: 19865, loss_cls: 0.2558, loss_bbox: 0.4458, loss_traj: 0.8863, loss_traj_cls: 0.0017, loss_map_cls: 0.2288, loss_map_pts: 0.9985, loss_map_dir: 0.0143, d0.loss_plan_l1_fix_time: 2.8725, d0.loss_plan_l1_fix_dist: 0.3391, d1.loss_plan_l1_fix_time: 1.5098, d1.loss_plan_l1_fix_dist: 0.2027, d2.loss_plan_l1_fix_time: 1.4900, d2.loss_plan_l1_fix_dist: 0.2068, d3.loss_plan_l1_fix_time: 1.4879, d3.loss_plan_l1_fix_dist: 0.2153, d4.loss_plan_l1_fix_time: 1.4900, d4.loss_plan_l1_fix_dist: 0.2251, d5.loss_plan_l1_fix_time: 1.4936, d5.loss_plan_l1_fix_dist: 0.2360, d6.loss_plan_l1_fix_time: 1.4975, d6.loss_plan_l1_fix_dist: 0.2470, d0.loss_cls_all: 0.2702, d0.loss_bbox_all: 0.4925, d0.loss_cls: 0.2702, d0.loss_bbox: 0.4925, d1.loss_cls: 0.2603, d1.loss_bbox: 0.4662, d2.loss_cls: 0.2553, d2.loss_bbox: 0.4547, d3.loss_cls: 0.2546, d3.loss_bbox: 0.4469, d4.loss_cls: 0.2553, d4.loss_bbox: 0.4453, d5.loss_cls: 0.2542, d5.loss_bbox: 0.4458, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0449, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9344, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8933, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8876, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8856, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8889, d0.loss_map_cls_all: 0.2809, d0.loss_map_pts_all: 1.9091, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.2809, d0.loss_map_pts: 1.9091, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2546, d1.loss_map_pts: 1.3017, d1.loss_map_dir: 0.0121, d2.loss_map_cls: 0.2438, d2.loss_map_pts: 1.1074, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2330, d3.loss_map_pts: 1.0374, d3.loss_map_dir: 0.0137, d4.loss_map_cls: 0.2303, d4.loss_map_pts: 1.0111, d4.loss_map_dir: 0.0140, d5.loss_map_cls: 0.2285, d5.loss_map_pts: 1.0020, d5.loss_map_dir: 0.0141, loss: 38.0701, grad_norm: 158.5971 +2026-02-25 10:07:26,735 - DriveTransformer - INFO - Epoch [4][24200/39528] lr: 9.623e-05, eta: 7 days, 11:44:09, time: 0.840, data_time: 0.046, memory: 19865, loss_cls: 0.2569, loss_bbox: 0.4371, loss_traj: 0.8729, loss_traj_cls: 0.0018, loss_map_cls: 0.2377, loss_map_pts: 0.9308, loss_map_dir: 0.0151, d0.loss_plan_l1_fix_time: 2.6986, d0.loss_plan_l1_fix_dist: 0.4076, d1.loss_plan_l1_fix_time: 1.5794, d1.loss_plan_l1_fix_dist: 0.2322, d2.loss_plan_l1_fix_time: 1.5649, d2.loss_plan_l1_fix_dist: 0.2427, d3.loss_plan_l1_fix_time: 1.5615, d3.loss_plan_l1_fix_dist: 0.2562, d4.loss_plan_l1_fix_time: 1.5630, d4.loss_plan_l1_fix_dist: 0.2736, d5.loss_plan_l1_fix_time: 1.5654, d5.loss_plan_l1_fix_dist: 0.2926, d6.loss_plan_l1_fix_time: 1.5685, d6.loss_plan_l1_fix_dist: 0.3129, d0.loss_cls_all: 0.2744, d0.loss_bbox_all: 0.4700, d0.loss_cls: 0.2744, d0.loss_bbox: 0.4700, d1.loss_cls: 0.2675, d1.loss_bbox: 0.4487, d2.loss_cls: 0.2563, d2.loss_bbox: 0.4368, d3.loss_cls: 0.2559, d3.loss_bbox: 0.4323, d4.loss_cls: 0.2547, d4.loss_bbox: 0.4339, d5.loss_cls: 0.2577, d5.loss_bbox: 0.4345, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0007, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9033, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8684, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8617, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8607, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8644, d0.loss_map_cls_all: 0.2910, d0.loss_map_pts_all: 1.9233, d0.loss_map_dir_all: 0.0142, d0.loss_map_cls: 0.2910, d0.loss_map_pts: 1.9233, d0.loss_map_dir: 0.0142, d1.loss_map_cls: 0.2642, d1.loss_map_pts: 1.2523, d1.loss_map_dir: 0.0136, d2.loss_map_cls: 0.2527, d2.loss_map_pts: 1.0380, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2416, d3.loss_map_pts: 0.9671, d3.loss_map_dir: 0.0145, d4.loss_map_cls: 0.2382, d4.loss_map_pts: 0.9386, d4.loss_map_dir: 0.0149, d5.loss_map_cls: 0.2372, d5.loss_map_pts: 0.9326, d5.loss_map_dir: 0.0151, loss: 38.0948, grad_norm: 160.0186 +2026-02-25 10:08:07,792 - DriveTransformer - INFO - Epoch [4][24250/39528] lr: 9.623e-05, eta: 7 days, 11:43:33, time: 0.820, data_time: 0.042, memory: 19865, loss_cls: 0.2611, loss_bbox: 0.4647, loss_traj: 0.9034, loss_traj_cls: 0.0018, loss_map_cls: 0.1868, loss_map_pts: 0.7866, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 2.5294, d0.loss_plan_l1_fix_dist: 0.4381, d1.loss_plan_l1_fix_time: 1.3517, d1.loss_plan_l1_fix_dist: 0.2442, d2.loss_plan_l1_fix_time: 1.3393, d2.loss_plan_l1_fix_dist: 0.2502, d3.loss_plan_l1_fix_time: 1.3407, d3.loss_plan_l1_fix_dist: 0.2608, d4.loss_plan_l1_fix_time: 1.3452, d4.loss_plan_l1_fix_dist: 0.2715, d5.loss_plan_l1_fix_time: 1.3503, d5.loss_plan_l1_fix_dist: 0.2829, d6.loss_plan_l1_fix_time: 1.3563, d6.loss_plan_l1_fix_dist: 0.2974, d0.loss_cls_all: 0.2838, d0.loss_bbox_all: 0.5044, d0.loss_cls: 0.2838, d0.loss_bbox: 0.5044, d1.loss_cls: 0.2781, d1.loss_bbox: 0.4737, d2.loss_cls: 0.2688, d2.loss_bbox: 0.4603, d3.loss_cls: 0.2640, d3.loss_bbox: 0.4546, d4.loss_cls: 0.2607, d4.loss_bbox: 0.4569, d5.loss_cls: 0.2614, d5.loss_bbox: 0.4603, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1469, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9696, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9161, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9076, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9039, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9056, d0.loss_map_cls_all: 0.2418, d0.loss_map_pts_all: 1.6506, d0.loss_map_dir_all: 0.0134, d0.loss_map_cls: 0.2418, d0.loss_map_pts: 1.6506, d0.loss_map_dir: 0.0134, d1.loss_map_cls: 0.2133, d1.loss_map_pts: 1.0476, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2035, d2.loss_map_pts: 0.8654, d2.loss_map_dir: 0.0130, d3.loss_map_cls: 0.1935, d3.loss_map_pts: 0.8104, d3.loss_map_dir: 0.0136, d4.loss_map_cls: 0.1900, d4.loss_map_pts: 0.7908, d4.loss_map_dir: 0.0139, d5.loss_map_cls: 0.1879, d5.loss_map_pts: 0.7870, d5.loss_map_dir: 0.0140, loss: 35.4154, grad_norm: 160.8533 +2026-02-25 10:08:46,779 - DriveTransformer - INFO - Epoch [4][24300/39528] lr: 9.623e-05, eta: 7 days, 11:42:47, time: 0.780, data_time: 0.043, memory: 19865, loss_cls: 0.2763, loss_bbox: 0.4620, loss_traj: 0.7339, loss_traj_cls: 0.0018, loss_map_cls: 0.2264, loss_map_pts: 1.0076, loss_map_dir: 0.0162, d0.loss_plan_l1_fix_time: 2.8273, d0.loss_plan_l1_fix_dist: 0.4482, d1.loss_plan_l1_fix_time: 1.5327, d1.loss_plan_l1_fix_dist: 0.2454, d2.loss_plan_l1_fix_time: 1.5157, d2.loss_plan_l1_fix_dist: 0.2518, d3.loss_plan_l1_fix_time: 1.5226, d3.loss_plan_l1_fix_dist: 0.2627, d4.loss_plan_l1_fix_time: 1.5295, d4.loss_plan_l1_fix_dist: 0.2734, d5.loss_plan_l1_fix_time: 1.5359, d5.loss_plan_l1_fix_dist: 0.2839, d6.loss_plan_l1_fix_time: 1.5428, d6.loss_plan_l1_fix_dist: 0.2947, d0.loss_cls_all: 0.3025, d0.loss_bbox_all: 0.5060, d0.loss_cls: 0.3025, d0.loss_bbox: 0.5060, d1.loss_cls: 0.2945, d1.loss_bbox: 0.4781, d2.loss_cls: 0.2857, d2.loss_bbox: 0.4621, d3.loss_cls: 0.2804, d3.loss_bbox: 0.4567, d4.loss_cls: 0.2767, d4.loss_bbox: 0.4553, d5.loss_cls: 0.2767, d5.loss_bbox: 0.4568, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8610, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7586, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7331, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7254, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7267, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7328, d0.loss_map_cls_all: 0.2840, d0.loss_map_pts_all: 1.8872, d0.loss_map_dir_all: 0.0157, d0.loss_map_cls: 0.2840, d0.loss_map_pts: 1.8872, d0.loss_map_dir: 0.0157, d1.loss_map_cls: 0.2585, d1.loss_map_pts: 1.2952, d1.loss_map_dir: 0.0148, d2.loss_map_cls: 0.2452, d2.loss_map_pts: 1.1018, d2.loss_map_dir: 0.0151, d3.loss_map_cls: 0.2346, d3.loss_map_pts: 1.0370, d3.loss_map_dir: 0.0156, d4.loss_map_cls: 0.2282, d4.loss_map_pts: 1.0163, d4.loss_map_dir: 0.0159, d5.loss_map_cls: 0.2263, d5.loss_map_pts: 1.0103, d5.loss_map_dir: 0.0161, loss: 37.7784, grad_norm: 159.1501 +2026-02-25 10:09:27,314 - DriveTransformer - INFO - Epoch [4][24350/39528] lr: 9.623e-05, eta: 7 days, 11:42:09, time: 0.811, data_time: 0.043, memory: 19865, loss_cls: 0.2748, loss_bbox: 0.4507, loss_traj: 0.9304, loss_traj_cls: 0.0017, loss_map_cls: 0.2174, loss_map_pts: 0.9392, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.6998, d0.loss_plan_l1_fix_dist: 0.4025, d1.loss_plan_l1_fix_time: 1.5239, d1.loss_plan_l1_fix_dist: 0.2243, d2.loss_plan_l1_fix_time: 1.5052, d2.loss_plan_l1_fix_dist: 0.2296, d3.loss_plan_l1_fix_time: 1.5045, d3.loss_plan_l1_fix_dist: 0.2397, d4.loss_plan_l1_fix_time: 1.5071, d4.loss_plan_l1_fix_dist: 0.2554, d5.loss_plan_l1_fix_time: 1.5106, d5.loss_plan_l1_fix_dist: 0.2733, d6.loss_plan_l1_fix_time: 1.5147, d6.loss_plan_l1_fix_dist: 0.2916, d0.loss_cls_all: 0.2982, d0.loss_bbox_all: 0.5037, d0.loss_cls: 0.2982, d0.loss_bbox: 0.5037, d1.loss_cls: 0.2920, d1.loss_bbox: 0.4708, d2.loss_cls: 0.2813, d2.loss_bbox: 0.4547, d3.loss_cls: 0.2782, d3.loss_bbox: 0.4508, d4.loss_cls: 0.2735, d4.loss_bbox: 0.4506, d5.loss_cls: 0.2732, d5.loss_bbox: 0.4510, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1488, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9783, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9468, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9413, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.9379, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9308, d0.loss_map_cls_all: 0.2596, d0.loss_map_pts_all: 1.6616, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2596, d0.loss_map_pts: 1.6616, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2448, d1.loss_map_pts: 1.2003, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2346, d2.loss_map_pts: 1.0384, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.2247, d3.loss_map_pts: 0.9717, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.2194, d4.loss_map_pts: 0.9505, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.2184, d5.loss_map_pts: 0.9404, d5.loss_map_dir: 0.0124, loss: 37.8454, grad_norm: 158.7655 +2026-02-25 10:10:08,513 - DriveTransformer - INFO - Epoch [4][24400/39528] lr: 9.623e-05, eta: 7 days, 11:41:34, time: 0.824, data_time: 0.048, memory: 19865, loss_cls: 0.2630, loss_bbox: 0.4494, loss_traj: 0.9528, loss_traj_cls: 0.0017, loss_map_cls: 0.2188, loss_map_pts: 0.9436, loss_map_dir: 0.0167, d0.loss_plan_l1_fix_time: 2.9605, d0.loss_plan_l1_fix_dist: 0.4545, d1.loss_plan_l1_fix_time: 1.4684, d1.loss_plan_l1_fix_dist: 0.2483, d2.loss_plan_l1_fix_time: 1.4494, d2.loss_plan_l1_fix_dist: 0.2515, d3.loss_plan_l1_fix_time: 1.4501, d3.loss_plan_l1_fix_dist: 0.2606, d4.loss_plan_l1_fix_time: 1.4548, d4.loss_plan_l1_fix_dist: 0.2726, d5.loss_plan_l1_fix_time: 1.4617, d5.loss_plan_l1_fix_dist: 0.2864, d6.loss_plan_l1_fix_time: 1.4696, d6.loss_plan_l1_fix_dist: 0.3040, d0.loss_cls_all: 0.2814, d0.loss_bbox_all: 0.4961, d0.loss_cls: 0.2814, d0.loss_bbox: 0.4961, d1.loss_cls: 0.2755, d1.loss_bbox: 0.4698, d2.loss_cls: 0.2695, d2.loss_bbox: 0.4548, d3.loss_cls: 0.2641, d3.loss_bbox: 0.4495, d4.loss_cls: 0.2603, d4.loss_bbox: 0.4484, d5.loss_cls: 0.2616, d5.loss_bbox: 0.4489, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1302, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0145, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9691, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9514, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9500, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9487, d0.loss_map_cls_all: 0.2751, d0.loss_map_pts_all: 1.8656, d0.loss_map_dir_all: 0.0156, d0.loss_map_cls: 0.2751, d0.loss_map_pts: 1.8656, d0.loss_map_dir: 0.0156, d1.loss_map_cls: 0.2519, d1.loss_map_pts: 1.2355, d1.loss_map_dir: 0.0147, d2.loss_map_cls: 0.2366, d2.loss_map_pts: 1.0375, d2.loss_map_dir: 0.0153, d3.loss_map_cls: 0.2272, d3.loss_map_pts: 0.9667, d3.loss_map_dir: 0.0160, d4.loss_map_cls: 0.2212, d4.loss_map_pts: 0.9472, d4.loss_map_dir: 0.0163, d5.loss_map_cls: 0.2202, d5.loss_map_pts: 0.9450, d5.loss_map_dir: 0.0165, loss: 38.4459, grad_norm: 161.1645 +2026-02-25 10:10:48,600 - DriveTransformer - INFO - Epoch [4][24450/39528] lr: 9.623e-05, eta: 7 days, 11:40:54, time: 0.802, data_time: 0.041, memory: 19865, loss_cls: 0.3128, loss_bbox: 0.5335, loss_traj: 0.8741, loss_traj_cls: 0.0016, loss_map_cls: 0.2258, loss_map_pts: 1.1349, loss_map_dir: 0.0165, d0.loss_plan_l1_fix_time: 2.7454, d0.loss_plan_l1_fix_dist: 0.4026, d1.loss_plan_l1_fix_time: 1.6824, d1.loss_plan_l1_fix_dist: 0.2564, d2.loss_plan_l1_fix_time: 1.6867, d2.loss_plan_l1_fix_dist: 0.2644, d3.loss_plan_l1_fix_time: 1.6925, d3.loss_plan_l1_fix_dist: 0.2753, d4.loss_plan_l1_fix_time: 1.6972, d4.loss_plan_l1_fix_dist: 0.2865, d5.loss_plan_l1_fix_time: 1.7028, d5.loss_plan_l1_fix_dist: 0.3016, d6.loss_plan_l1_fix_time: 1.7092, d6.loss_plan_l1_fix_dist: 0.3219, d0.loss_cls_all: 0.3384, d0.loss_bbox_all: 0.5912, d0.loss_cls: 0.3384, d0.loss_bbox: 0.5912, d1.loss_cls: 0.3306, d1.loss_bbox: 0.5613, d2.loss_cls: 0.3237, d2.loss_bbox: 0.5429, d3.loss_cls: 0.3165, d3.loss_bbox: 0.5372, d4.loss_cls: 0.3127, d4.loss_bbox: 0.5344, d5.loss_cls: 0.3118, d5.loss_bbox: 0.5343, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0329, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9166, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8916, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.8866, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.8819, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8728, d0.loss_map_cls_all: 0.3024, d0.loss_map_pts_all: 2.0946, d0.loss_map_dir_all: 0.0158, d0.loss_map_cls: 0.3024, d0.loss_map_pts: 2.0946, d0.loss_map_dir: 0.0158, d1.loss_map_cls: 0.2716, d1.loss_map_pts: 1.4299, d1.loss_map_dir: 0.0149, d2.loss_map_cls: 0.2525, d2.loss_map_pts: 1.2295, d2.loss_map_dir: 0.0153, d3.loss_map_cls: 0.2383, d3.loss_map_pts: 1.1576, d3.loss_map_dir: 0.0159, d4.loss_map_cls: 0.2310, d4.loss_map_pts: 1.1397, d4.loss_map_dir: 0.0162, d5.loss_map_cls: 0.2261, d5.loss_map_pts: 1.1357, d5.loss_map_dir: 0.0165, loss: 41.9926, grad_norm: 160.9292 +2026-02-25 10:11:28,697 - DriveTransformer - INFO - Epoch [4][24500/39528] lr: 9.623e-05, eta: 7 days, 11:40:14, time: 0.802, data_time: 0.037, memory: 19865, loss_cls: 0.3058, loss_bbox: 0.5076, loss_traj: 0.8595, loss_traj_cls: 0.0015, loss_map_cls: 0.2716, loss_map_pts: 1.1033, loss_map_dir: 0.0153, d0.loss_plan_l1_fix_time: 3.0112, d0.loss_plan_l1_fix_dist: 0.4036, d1.loss_plan_l1_fix_time: 1.6897, d1.loss_plan_l1_fix_dist: 0.2399, d2.loss_plan_l1_fix_time: 1.6683, d2.loss_plan_l1_fix_dist: 0.2468, d3.loss_plan_l1_fix_time: 1.6713, d3.loss_plan_l1_fix_dist: 0.2582, d4.loss_plan_l1_fix_time: 1.6754, d4.loss_plan_l1_fix_dist: 0.2715, d5.loss_plan_l1_fix_time: 1.6788, d5.loss_plan_l1_fix_dist: 0.2858, d6.loss_plan_l1_fix_time: 1.6826, d6.loss_plan_l1_fix_dist: 0.3000, d0.loss_cls_all: 0.3304, d0.loss_bbox_all: 0.5547, d0.loss_cls: 0.3304, d0.loss_bbox: 0.5547, d1.loss_cls: 0.3217, d1.loss_bbox: 0.5284, d2.loss_cls: 0.3110, d2.loss_bbox: 0.5160, d3.loss_cls: 0.3085, d3.loss_bbox: 0.5095, d4.loss_cls: 0.3042, d4.loss_bbox: 0.5067, d5.loss_cls: 0.3057, d5.loss_bbox: 0.5061, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0190, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9164, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8836, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.8747, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.8680, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8622, d0.loss_map_cls_all: 0.3273, d0.loss_map_pts_all: 1.9897, d0.loss_map_dir_all: 0.0139, d0.loss_map_cls: 0.3273, d0.loss_map_pts: 1.9897, d0.loss_map_dir: 0.0139, d1.loss_map_cls: 0.2971, d1.loss_map_pts: 1.4046, d1.loss_map_dir: 0.0136, d2.loss_map_cls: 0.2854, d2.loss_map_pts: 1.2080, d2.loss_map_dir: 0.0141, d3.loss_map_cls: 0.2755, d3.loss_map_pts: 1.1400, d3.loss_map_dir: 0.0147, d4.loss_map_cls: 0.2708, d4.loss_map_pts: 1.1151, d4.loss_map_dir: 0.0151, d5.loss_map_cls: 0.2704, d5.loss_map_pts: 1.1033, d5.loss_map_dir: 0.0152, loss: 41.5695, grad_norm: 161.2383 +2026-02-25 10:12:09,315 - DriveTransformer - INFO - Epoch [4][24550/39528] lr: 9.623e-05, eta: 7 days, 11:39:36, time: 0.812, data_time: 0.036, memory: 19865, loss_cls: 0.2812, loss_bbox: 0.4626, loss_traj: 0.8021, loss_traj_cls: 0.0015, loss_map_cls: 0.2348, loss_map_pts: 1.0373, loss_map_dir: 0.0159, d0.loss_plan_l1_fix_time: 2.5107, d0.loss_plan_l1_fix_dist: 0.3630, d1.loss_plan_l1_fix_time: 1.4947, d1.loss_plan_l1_fix_dist: 0.2163, d2.loss_plan_l1_fix_time: 1.4844, d2.loss_plan_l1_fix_dist: 0.2265, d3.loss_plan_l1_fix_time: 1.4859, d3.loss_plan_l1_fix_dist: 0.2430, d4.loss_plan_l1_fix_time: 1.4892, d4.loss_plan_l1_fix_dist: 0.2646, d5.loss_plan_l1_fix_time: 1.4917, d5.loss_plan_l1_fix_dist: 0.2866, d6.loss_plan_l1_fix_time: 1.4941, d6.loss_plan_l1_fix_dist: 0.3079, d0.loss_cls_all: 0.3034, d0.loss_bbox_all: 0.5107, d0.loss_cls: 0.3034, d0.loss_bbox: 0.5107, d1.loss_cls: 0.2975, d1.loss_bbox: 0.4856, d2.loss_cls: 0.2924, d2.loss_bbox: 0.4670, d3.loss_cls: 0.2857, d3.loss_bbox: 0.4635, d4.loss_cls: 0.2824, d4.loss_bbox: 0.4613, d5.loss_cls: 0.2806, d5.loss_bbox: 0.4617, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9771, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8564, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8188, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8072, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.8033, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7971, d0.loss_map_cls_all: 0.2960, d0.loss_map_pts_all: 1.9598, d0.loss_map_dir_all: 0.0145, d0.loss_map_cls: 0.2960, d0.loss_map_pts: 1.9598, d0.loss_map_dir: 0.0145, d1.loss_map_cls: 0.2658, d1.loss_map_pts: 1.3018, d1.loss_map_dir: 0.0140, d2.loss_map_cls: 0.2544, d2.loss_map_pts: 1.1133, d2.loss_map_dir: 0.0145, d3.loss_map_cls: 0.2439, d3.loss_map_pts: 1.0553, d3.loss_map_dir: 0.0152, d4.loss_map_cls: 0.2375, d4.loss_map_pts: 1.0369, d4.loss_map_dir: 0.0156, d5.loss_map_cls: 0.2362, d5.loss_map_pts: 1.0353, d5.loss_map_dir: 0.0158, loss: 38.0612, grad_norm: 161.3206 +2026-02-25 10:12:48,066 - DriveTransformer - INFO - Epoch [4][24600/39528] lr: 9.623e-05, eta: 7 days, 11:38:48, time: 0.775, data_time: 0.045, memory: 19865, loss_cls: 0.2889, loss_bbox: 0.4800, loss_traj: 0.9306, loss_traj_cls: 0.0015, loss_map_cls: 0.2433, loss_map_pts: 1.0851, loss_map_dir: 0.0146, d0.loss_plan_l1_fix_time: 2.7229, d0.loss_plan_l1_fix_dist: 0.4122, d1.loss_plan_l1_fix_time: 1.4548, d1.loss_plan_l1_fix_dist: 0.2335, d2.loss_plan_l1_fix_time: 1.4290, d2.loss_plan_l1_fix_dist: 0.2400, d3.loss_plan_l1_fix_time: 1.4287, d3.loss_plan_l1_fix_dist: 0.2510, d4.loss_plan_l1_fix_time: 1.4311, d4.loss_plan_l1_fix_dist: 0.2652, d5.loss_plan_l1_fix_time: 1.4347, d5.loss_plan_l1_fix_dist: 0.2795, d6.loss_plan_l1_fix_time: 1.4395, d6.loss_plan_l1_fix_dist: 0.2934, d0.loss_cls_all: 0.3174, d0.loss_bbox_all: 0.5335, d0.loss_cls: 0.3174, d0.loss_bbox: 0.5335, d1.loss_cls: 0.3054, d1.loss_bbox: 0.5053, d2.loss_cls: 0.2993, d2.loss_bbox: 0.4893, d3.loss_cls: 0.2962, d3.loss_bbox: 0.4804, d4.loss_cls: 0.2912, d4.loss_bbox: 0.4801, d5.loss_cls: 0.2891, d5.loss_bbox: 0.4791, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1293, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9686, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9317, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9243, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9312, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9300, d0.loss_map_cls_all: 0.3004, d0.loss_map_pts_all: 1.8959, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.3004, d0.loss_map_pts: 1.8959, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2777, d1.loss_map_pts: 1.3639, d1.loss_map_dir: 0.0128, d2.loss_map_cls: 0.2615, d2.loss_map_pts: 1.1804, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2518, d3.loss_map_pts: 1.1161, d3.loss_map_dir: 0.0140, d4.loss_map_cls: 0.2449, d4.loss_map_pts: 1.0921, d4.loss_map_dir: 0.0143, d5.loss_map_cls: 0.2433, d5.loss_map_pts: 1.0867, d5.loss_map_dir: 0.0145, loss: 39.4035, grad_norm: 162.6438 +2026-02-25 10:13:29,619 - DriveTransformer - INFO - Epoch [4][24650/39528] lr: 9.623e-05, eta: 7 days, 11:38:16, time: 0.831, data_time: 0.044, memory: 19865, loss_cls: 0.2318, loss_bbox: 0.4401, loss_traj: 0.8954, loss_traj_cls: 0.0016, loss_map_cls: 0.1983, loss_map_pts: 0.8643, loss_map_dir: 0.0159, d0.loss_plan_l1_fix_time: 2.4845, d0.loss_plan_l1_fix_dist: 0.4457, d1.loss_plan_l1_fix_time: 1.3032, d1.loss_plan_l1_fix_dist: 0.2337, d2.loss_plan_l1_fix_time: 1.2809, d2.loss_plan_l1_fix_dist: 0.2403, d3.loss_plan_l1_fix_time: 1.2793, d3.loss_plan_l1_fix_dist: 0.2529, d4.loss_plan_l1_fix_time: 1.2848, d4.loss_plan_l1_fix_dist: 0.2680, d5.loss_plan_l1_fix_time: 1.2926, d5.loss_plan_l1_fix_dist: 0.2860, d6.loss_plan_l1_fix_time: 1.3022, d6.loss_plan_l1_fix_dist: 0.3112, d0.loss_cls_all: 0.2510, d0.loss_bbox_all: 0.4927, d0.loss_cls: 0.2510, d0.loss_bbox: 0.4927, d1.loss_cls: 0.2451, d1.loss_bbox: 0.4633, d2.loss_cls: 0.2390, d2.loss_bbox: 0.4469, d3.loss_cls: 0.2359, d3.loss_bbox: 0.4409, d4.loss_cls: 0.2307, d4.loss_bbox: 0.4404, d5.loss_cls: 0.2296, d5.loss_bbox: 0.4384, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1339, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9505, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9008, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8912, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8852, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8958, d0.loss_map_cls_all: 0.2599, d0.loss_map_pts_all: 1.7329, d0.loss_map_dir_all: 0.0145, d0.loss_map_cls: 0.2599, d0.loss_map_pts: 1.7329, d0.loss_map_dir: 0.0145, d1.loss_map_cls: 0.2318, d1.loss_map_pts: 1.1174, d1.loss_map_dir: 0.0141, d2.loss_map_cls: 0.2163, d2.loss_map_pts: 0.9430, d2.loss_map_dir: 0.0146, d3.loss_map_cls: 0.2061, d3.loss_map_pts: 0.8841, d3.loss_map_dir: 0.0153, d4.loss_map_cls: 0.2002, d4.loss_map_pts: 0.8678, d4.loss_map_dir: 0.0157, d5.loss_map_cls: 0.1997, d5.loss_map_pts: 0.8634, d5.loss_map_dir: 0.0158, loss: 35.2931, grad_norm: 162.8896 +2026-02-25 10:14:11,116 - DriveTransformer - INFO - Epoch [4][24700/39528] lr: 9.623e-05, eta: 7 days, 11:37:43, time: 0.830, data_time: 0.040, memory: 19865, loss_cls: 0.2870, loss_bbox: 0.4613, loss_traj: 0.7747, loss_traj_cls: 0.0016, loss_map_cls: 0.2172, loss_map_pts: 0.9986, loss_map_dir: 0.0175, d0.loss_plan_l1_fix_time: 2.9854, d0.loss_plan_l1_fix_dist: 0.4011, d1.loss_plan_l1_fix_time: 1.5129, d1.loss_plan_l1_fix_dist: 0.2542, d2.loss_plan_l1_fix_time: 1.5017, d2.loss_plan_l1_fix_dist: 0.2607, d3.loss_plan_l1_fix_time: 1.5032, d3.loss_plan_l1_fix_dist: 0.2731, d4.loss_plan_l1_fix_time: 1.5068, d4.loss_plan_l1_fix_dist: 0.2866, d5.loss_plan_l1_fix_time: 1.5112, d5.loss_plan_l1_fix_dist: 0.3036, d6.loss_plan_l1_fix_time: 1.5165, d6.loss_plan_l1_fix_dist: 0.3212, d0.loss_cls_all: 0.3099, d0.loss_bbox_all: 0.5087, d0.loss_cls: 0.3099, d0.loss_bbox: 0.5087, d1.loss_cls: 0.3055, d1.loss_bbox: 0.4787, d2.loss_cls: 0.2970, d2.loss_bbox: 0.4651, d3.loss_cls: 0.2937, d3.loss_bbox: 0.4608, d4.loss_cls: 0.2892, d4.loss_bbox: 0.4598, d5.loss_cls: 0.2875, d5.loss_bbox: 0.4593, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9406, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8077, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7876, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7736, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7728, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7686, d0.loss_map_cls_all: 0.2745, d0.loss_map_pts_all: 1.8672, d0.loss_map_dir_all: 0.0166, d0.loss_map_cls: 0.2745, d0.loss_map_pts: 1.8672, d0.loss_map_dir: 0.0166, d1.loss_map_cls: 0.2449, d1.loss_map_pts: 1.2437, d1.loss_map_dir: 0.0159, d2.loss_map_cls: 0.2290, d2.loss_map_pts: 1.0651, d2.loss_map_dir: 0.0163, d3.loss_map_cls: 0.2202, d3.loss_map_pts: 1.0147, d3.loss_map_dir: 0.0168, d4.loss_map_cls: 0.2172, d4.loss_map_pts: 1.0026, d4.loss_map_dir: 0.0172, d5.loss_map_cls: 0.2170, d5.loss_map_pts: 1.0010, d5.loss_map_dir: 0.0173, loss: 38.0420, grad_norm: 163.5149 +2026-02-25 10:14:51,335 - DriveTransformer - INFO - Epoch [4][24750/39528] lr: 9.623e-05, eta: 7 days, 11:37:04, time: 0.804, data_time: 0.037, memory: 19865, loss_cls: 0.2628, loss_bbox: 0.4446, loss_traj: 0.9913, loss_traj_cls: 0.0016, loss_map_cls: 0.2430, loss_map_pts: 1.0279, loss_map_dir: 0.0162, d0.loss_plan_l1_fix_time: 2.9759, d0.loss_plan_l1_fix_dist: 0.4165, d1.loss_plan_l1_fix_time: 1.5243, d1.loss_plan_l1_fix_dist: 0.2378, d2.loss_plan_l1_fix_time: 1.4947, d2.loss_plan_l1_fix_dist: 0.2450, d3.loss_plan_l1_fix_time: 1.4913, d3.loss_plan_l1_fix_dist: 0.2607, d4.loss_plan_l1_fix_time: 1.4936, d4.loss_plan_l1_fix_dist: 0.2799, d5.loss_plan_l1_fix_time: 1.4965, d5.loss_plan_l1_fix_dist: 0.3006, d6.loss_plan_l1_fix_time: 1.4999, d6.loss_plan_l1_fix_dist: 0.3241, d0.loss_cls_all: 0.2802, d0.loss_bbox_all: 0.5046, d0.loss_cls: 0.2802, d0.loss_bbox: 0.5046, d1.loss_cls: 0.2737, d1.loss_bbox: 0.4699, d2.loss_cls: 0.2717, d2.loss_bbox: 0.4517, d3.loss_cls: 0.2692, d3.loss_bbox: 0.4441, d4.loss_cls: 0.2654, d4.loss_bbox: 0.4426, d5.loss_cls: 0.2628, d5.loss_bbox: 0.4435, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2342, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0477, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9982, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.9860, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9840, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9873, d0.loss_map_cls_all: 0.3128, d0.loss_map_pts_all: 1.8580, d0.loss_map_dir_all: 0.0146, d0.loss_map_cls: 0.3128, d0.loss_map_pts: 1.8580, d0.loss_map_dir: 0.0146, d1.loss_map_cls: 0.2837, d1.loss_map_pts: 1.3026, d1.loss_map_dir: 0.0144, d2.loss_map_cls: 0.2642, d2.loss_map_pts: 1.1185, d2.loss_map_dir: 0.0151, d3.loss_map_cls: 0.2527, d3.loss_map_pts: 1.0594, d3.loss_map_dir: 0.0156, d4.loss_map_cls: 0.2466, d4.loss_map_pts: 1.0376, d4.loss_map_dir: 0.0158, d5.loss_map_cls: 0.2453, d5.loss_map_pts: 1.0292, d5.loss_map_dir: 0.0160, loss: 39.7225, grad_norm: 162.1884 +2026-02-25 10:15:31,063 - DriveTransformer - INFO - Epoch [4][24800/39528] lr: 9.623e-05, eta: 7 days, 11:36:21, time: 0.795, data_time: 0.041, memory: 19865, loss_cls: 0.2604, loss_bbox: 0.4297, loss_traj: 0.8038, loss_traj_cls: 0.0017, loss_map_cls: 0.2091, loss_map_pts: 0.8394, loss_map_dir: 0.0141, d0.loss_plan_l1_fix_time: 2.6002, d0.loss_plan_l1_fix_dist: 0.4199, d1.loss_plan_l1_fix_time: 1.3956, d1.loss_plan_l1_fix_dist: 0.2279, d2.loss_plan_l1_fix_time: 1.3774, d2.loss_plan_l1_fix_dist: 0.2426, d3.loss_plan_l1_fix_time: 1.3794, d3.loss_plan_l1_fix_dist: 0.2644, d4.loss_plan_l1_fix_time: 1.3828, d4.loss_plan_l1_fix_dist: 0.2912, d5.loss_plan_l1_fix_time: 1.3865, d5.loss_plan_l1_fix_dist: 0.3189, d6.loss_plan_l1_fix_time: 1.3914, d6.loss_plan_l1_fix_dist: 0.3496, d0.loss_cls_all: 0.2780, d0.loss_bbox_all: 0.4977, d0.loss_cls: 0.2780, d0.loss_bbox: 0.4977, d1.loss_cls: 0.2706, d1.loss_bbox: 0.4642, d2.loss_cls: 0.2643, d2.loss_bbox: 0.4441, d3.loss_cls: 0.2615, d3.loss_bbox: 0.4358, d4.loss_cls: 0.2596, d4.loss_bbox: 0.4335, d5.loss_cls: 0.2581, d5.loss_bbox: 0.4318, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0141, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8413, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8106, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8092, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7986, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8018, d0.loss_map_cls_all: 0.2612, d0.loss_map_pts_all: 1.5767, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2612, d0.loss_map_pts: 1.5767, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2349, d1.loss_map_pts: 1.0584, d1.loss_map_dir: 0.0125, d2.loss_map_cls: 0.2224, d2.loss_map_pts: 0.9026, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2147, d3.loss_map_pts: 0.8572, d3.loss_map_dir: 0.0136, d4.loss_map_cls: 0.2099, d4.loss_map_pts: 0.8436, d4.loss_map_dir: 0.0140, d5.loss_map_cls: 0.2093, d5.loss_map_pts: 0.8364, d5.loss_map_dir: 0.0141, loss: 35.1000, grad_norm: 161.5145 +2026-02-25 10:16:11,123 - DriveTransformer - INFO - Epoch [4][24850/39528] lr: 9.623e-05, eta: 7 days, 11:35:40, time: 0.801, data_time: 0.042, memory: 19865, loss_cls: 0.2802, loss_bbox: 0.4668, loss_traj: 0.9595, loss_traj_cls: 0.0017, loss_map_cls: 0.2393, loss_map_pts: 0.9572, loss_map_dir: 0.0152, d0.loss_plan_l1_fix_time: 2.9139, d0.loss_plan_l1_fix_dist: 0.4180, d1.loss_plan_l1_fix_time: 1.5764, d1.loss_plan_l1_fix_dist: 0.2294, d2.loss_plan_l1_fix_time: 1.5629, d2.loss_plan_l1_fix_dist: 0.2425, d3.loss_plan_l1_fix_time: 1.5608, d3.loss_plan_l1_fix_dist: 0.2600, d4.loss_plan_l1_fix_time: 1.5631, d4.loss_plan_l1_fix_dist: 0.2776, d5.loss_plan_l1_fix_time: 1.5668, d5.loss_plan_l1_fix_dist: 0.2978, d6.loss_plan_l1_fix_time: 1.5719, d6.loss_plan_l1_fix_dist: 0.3160, d0.loss_cls_all: 0.3101, d0.loss_bbox_all: 0.5190, d0.loss_cls: 0.3101, d0.loss_bbox: 0.5190, d1.loss_cls: 0.2986, d1.loss_bbox: 0.4875, d2.loss_cls: 0.2861, d2.loss_bbox: 0.4741, d3.loss_cls: 0.2872, d3.loss_bbox: 0.4644, d4.loss_cls: 0.2807, d4.loss_bbox: 0.4646, d5.loss_cls: 0.2813, d5.loss_bbox: 0.4639, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1436, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9972, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9656, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9613, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9596, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9590, d0.loss_map_cls_all: 0.2987, d0.loss_map_pts_all: 1.8677, d0.loss_map_dir_all: 0.0150, d0.loss_map_cls: 0.2987, d0.loss_map_pts: 1.8677, d0.loss_map_dir: 0.0150, d1.loss_map_cls: 0.2701, d1.loss_map_pts: 1.2228, d1.loss_map_dir: 0.0145, d2.loss_map_cls: 0.2600, d2.loss_map_pts: 1.0405, d2.loss_map_dir: 0.0146, d3.loss_map_cls: 0.2511, d3.loss_map_pts: 0.9818, d3.loss_map_dir: 0.0150, d4.loss_map_cls: 0.2445, d4.loss_map_pts: 0.9644, d4.loss_map_dir: 0.0151, d5.loss_map_cls: 0.2395, d5.loss_map_pts: 0.9592, d5.loss_map_dir: 0.0152, loss: 39.5862, grad_norm: 159.8515 +2026-02-25 10:16:54,167 - DriveTransformer - INFO - Epoch [4][24900/39528] lr: 9.623e-05, eta: 7 days, 11:35:17, time: 0.861, data_time: 0.043, memory: 19865, loss_cls: 0.2365, loss_bbox: 0.4389, loss_traj: 0.7842, loss_traj_cls: 0.0018, loss_map_cls: 0.2286, loss_map_pts: 0.9783, loss_map_dir: 0.0184, d0.loss_plan_l1_fix_time: 2.3964, d0.loss_plan_l1_fix_dist: 0.3910, d1.loss_plan_l1_fix_time: 1.1942, d1.loss_plan_l1_fix_dist: 0.2332, d2.loss_plan_l1_fix_time: 1.1764, d2.loss_plan_l1_fix_dist: 0.2532, d3.loss_plan_l1_fix_time: 1.1756, d3.loss_plan_l1_fix_dist: 0.2796, d4.loss_plan_l1_fix_time: 1.1785, d4.loss_plan_l1_fix_dist: 0.3097, d5.loss_plan_l1_fix_time: 1.1819, d5.loss_plan_l1_fix_dist: 0.3406, d6.loss_plan_l1_fix_time: 1.1862, d6.loss_plan_l1_fix_dist: 0.3710, d0.loss_cls_all: 0.2633, d0.loss_bbox_all: 0.4881, d0.loss_cls: 0.2633, d0.loss_bbox: 0.4881, d1.loss_cls: 0.2584, d1.loss_bbox: 0.4530, d2.loss_cls: 0.2467, d2.loss_bbox: 0.4432, d3.loss_cls: 0.2413, d3.loss_bbox: 0.4387, d4.loss_cls: 0.2379, d4.loss_bbox: 0.4370, d5.loss_cls: 0.2377, d5.loss_bbox: 0.4371, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9725, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8276, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7980, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7956, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7901, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7861, d0.loss_map_cls_all: 0.2933, d0.loss_map_pts_all: 2.1182, d0.loss_map_dir_all: 0.0174, d0.loss_map_cls: 0.2933, d0.loss_map_pts: 2.1182, d0.loss_map_dir: 0.0174, d1.loss_map_cls: 0.2633, d1.loss_map_pts: 1.3132, d1.loss_map_dir: 0.0164, d2.loss_map_cls: 0.2476, d2.loss_map_pts: 1.0836, d2.loss_map_dir: 0.0168, d3.loss_map_cls: 0.2375, d3.loss_map_pts: 1.0090, d3.loss_map_dir: 0.0177, d4.loss_map_cls: 0.2315, d4.loss_map_pts: 0.9851, d4.loss_map_dir: 0.0181, d5.loss_map_cls: 0.2296, d5.loss_map_pts: 0.9792, d5.loss_map_dir: 0.0184, loss: 35.7882, grad_norm: 160.0399 +2026-02-25 10:17:32,861 - DriveTransformer - INFO - Epoch [4][24950/39528] lr: 9.623e-05, eta: 7 days, 11:34:28, time: 0.774, data_time: 0.042, memory: 19865, loss_cls: 0.2489, loss_bbox: 0.4394, loss_traj: 1.0299, loss_traj_cls: 0.0017, loss_map_cls: 0.2292, loss_map_pts: 0.8723, loss_map_dir: 0.0133, d0.loss_plan_l1_fix_time: 2.8687, d0.loss_plan_l1_fix_dist: 0.3844, d1.loss_plan_l1_fix_time: 1.5741, d1.loss_plan_l1_fix_dist: 0.2400, d2.loss_plan_l1_fix_time: 1.5576, d2.loss_plan_l1_fix_dist: 0.2546, d3.loss_plan_l1_fix_time: 1.5585, d3.loss_plan_l1_fix_dist: 0.2749, d4.loss_plan_l1_fix_time: 1.5625, d4.loss_plan_l1_fix_dist: 0.2982, d5.loss_plan_l1_fix_time: 1.5668, d5.loss_plan_l1_fix_dist: 0.3219, d6.loss_plan_l1_fix_time: 1.5710, d6.loss_plan_l1_fix_dist: 0.3485, d0.loss_cls_all: 0.2705, d0.loss_bbox_all: 0.4873, d0.loss_cls: 0.2705, d0.loss_bbox: 0.4873, d1.loss_cls: 0.2667, d1.loss_bbox: 0.4559, d2.loss_cls: 0.2589, d2.loss_bbox: 0.4423, d3.loss_cls: 0.2532, d3.loss_bbox: 0.4379, d4.loss_cls: 0.2511, d4.loss_bbox: 0.4357, d5.loss_cls: 0.2498, d5.loss_bbox: 0.4375, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2671, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.1168, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0593, d3.loss_traj_cls: 0.0010, d3.loss_traj: 1.0409, d4.loss_traj_cls: 0.0009, d4.loss_traj: 1.0409, d5.loss_traj_cls: 0.0013, d5.loss_traj: 1.0378, d0.loss_map_cls_all: 0.2945, d0.loss_map_pts_all: 1.6837, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2945, d0.loss_map_pts: 1.6837, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2657, d1.loss_map_pts: 1.1499, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2512, d2.loss_map_pts: 0.9625, d2.loss_map_dir: 0.0122, d3.loss_map_cls: 0.2379, d3.loss_map_pts: 0.8987, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.2310, d4.loss_map_pts: 0.8795, d4.loss_map_dir: 0.0131, d5.loss_map_cls: 0.2286, d5.loss_map_pts: 0.8738, d5.loss_map_dir: 0.0133, loss: 38.8117, grad_norm: 162.5135 +2026-02-25 10:18:13,144 - DriveTransformer - INFO - Epoch [4][25000/39528] lr: 9.623e-05, eta: 7 days, 11:33:49, time: 0.807, data_time: 0.041, memory: 19865, loss_cls: 0.2655, loss_bbox: 0.4407, loss_traj: 0.8156, loss_traj_cls: 0.0017, loss_map_cls: 0.2102, loss_map_pts: 0.9278, loss_map_dir: 0.0160, d0.loss_plan_l1_fix_time: 2.8536, d0.loss_plan_l1_fix_dist: 0.3764, d1.loss_plan_l1_fix_time: 1.4779, d1.loss_plan_l1_fix_dist: 0.2377, d2.loss_plan_l1_fix_time: 1.4572, d2.loss_plan_l1_fix_dist: 0.2556, d3.loss_plan_l1_fix_time: 1.4538, d3.loss_plan_l1_fix_dist: 0.2760, d4.loss_plan_l1_fix_time: 1.4569, d4.loss_plan_l1_fix_dist: 0.2972, d5.loss_plan_l1_fix_time: 1.4605, d5.loss_plan_l1_fix_dist: 0.3218, d6.loss_plan_l1_fix_time: 1.4637, d6.loss_plan_l1_fix_dist: 0.3523, d0.loss_cls_all: 0.2835, d0.loss_bbox_all: 0.4845, d0.loss_cls: 0.2835, d0.loss_bbox: 0.4845, d1.loss_cls: 0.2745, d1.loss_bbox: 0.4602, d2.loss_cls: 0.2684, d2.loss_bbox: 0.4460, d3.loss_cls: 0.2632, d3.loss_bbox: 0.4417, d4.loss_cls: 0.2642, d4.loss_bbox: 0.4377, d5.loss_cls: 0.2643, d5.loss_bbox: 0.4393, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0763, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8804, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8339, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8246, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8187, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8172, d0.loss_map_cls_all: 0.2592, d0.loss_map_pts_all: 1.8751, d0.loss_map_dir_all: 0.0147, d0.loss_map_cls: 0.2592, d0.loss_map_pts: 1.8751, d0.loss_map_dir: 0.0147, d1.loss_map_cls: 0.2361, d1.loss_map_pts: 1.2368, d1.loss_map_dir: 0.0141, d2.loss_map_cls: 0.2256, d2.loss_map_pts: 1.0341, d2.loss_map_dir: 0.0146, d3.loss_map_cls: 0.2164, d3.loss_map_pts: 0.9590, d3.loss_map_dir: 0.0154, d4.loss_map_cls: 0.2131, d4.loss_map_pts: 0.9348, d4.loss_map_dir: 0.0157, d5.loss_map_cls: 0.2115, d5.loss_map_pts: 0.9273, d5.loss_map_dir: 0.0159, loss: 37.3386, grad_norm: 163.1950 +2026-02-25 10:18:54,220 - DriveTransformer - INFO - Epoch [4][25050/39528] lr: 9.623e-05, eta: 7 days, 11:33:14, time: 0.820, data_time: 0.051, memory: 19865, loss_cls: 0.2736, loss_bbox: 0.4710, loss_traj: 0.8365, loss_traj_cls: 0.0017, loss_map_cls: 0.2598, loss_map_pts: 1.1021, loss_map_dir: 0.0174, d0.loss_plan_l1_fix_time: 2.8163, d0.loss_plan_l1_fix_dist: 0.4007, d1.loss_plan_l1_fix_time: 1.5729, d1.loss_plan_l1_fix_dist: 0.2185, d2.loss_plan_l1_fix_time: 1.5641, d2.loss_plan_l1_fix_dist: 0.2304, d3.loss_plan_l1_fix_time: 1.5718, d3.loss_plan_l1_fix_dist: 0.2469, d4.loss_plan_l1_fix_time: 1.5763, d4.loss_plan_l1_fix_dist: 0.2658, d5.loss_plan_l1_fix_time: 1.5801, d5.loss_plan_l1_fix_dist: 0.2872, d6.loss_plan_l1_fix_time: 1.5835, d6.loss_plan_l1_fix_dist: 0.3080, d0.loss_cls_all: 0.3023, d0.loss_bbox_all: 0.5216, d0.loss_cls: 0.3023, d0.loss_bbox: 0.5216, d1.loss_cls: 0.2896, d1.loss_bbox: 0.4935, d2.loss_cls: 0.2789, d2.loss_bbox: 0.4790, d3.loss_cls: 0.2755, d3.loss_bbox: 0.4711, d4.loss_cls: 0.2742, d4.loss_bbox: 0.4667, d5.loss_cls: 0.2738, d5.loss_bbox: 0.4687, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0829, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9062, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8540, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.8488, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.8434, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8405, d0.loss_map_cls_all: 0.3139, d0.loss_map_pts_all: 2.1287, d0.loss_map_dir_all: 0.0164, d0.loss_map_cls: 0.3139, d0.loss_map_pts: 2.1287, d0.loss_map_dir: 0.0164, d1.loss_map_cls: 0.2912, d1.loss_map_pts: 1.4103, d1.loss_map_dir: 0.0157, d2.loss_map_cls: 0.2772, d2.loss_map_pts: 1.2019, d2.loss_map_dir: 0.0161, d3.loss_map_cls: 0.2661, d3.loss_map_pts: 1.1306, d3.loss_map_dir: 0.0167, d4.loss_map_cls: 0.2629, d4.loss_map_pts: 1.1119, d4.loss_map_dir: 0.0170, d5.loss_map_cls: 0.2608, d5.loss_map_pts: 1.1052, d5.loss_map_dir: 0.0172, loss: 40.3027, grad_norm: 162.6612 +2026-02-25 10:19:33,071 - DriveTransformer - INFO - Epoch [4][25100/39528] lr: 9.623e-05, eta: 7 days, 11:32:27, time: 0.777, data_time: 0.043, memory: 19865, loss_cls: 0.2510, loss_bbox: 0.4753, loss_traj: 0.8955, loss_traj_cls: 0.0017, loss_map_cls: 0.2305, loss_map_pts: 0.9490, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.9781, d0.loss_plan_l1_fix_dist: 0.4379, d1.loss_plan_l1_fix_time: 1.6040, d1.loss_plan_l1_fix_dist: 0.2613, d2.loss_plan_l1_fix_time: 1.5858, d2.loss_plan_l1_fix_dist: 0.2701, d3.loss_plan_l1_fix_time: 1.5850, d3.loss_plan_l1_fix_dist: 0.2885, d4.loss_plan_l1_fix_time: 1.5877, d4.loss_plan_l1_fix_dist: 0.3111, d5.loss_plan_l1_fix_time: 1.5913, d5.loss_plan_l1_fix_dist: 0.3334, d6.loss_plan_l1_fix_time: 1.5967, d6.loss_plan_l1_fix_dist: 0.3552, d0.loss_cls_all: 0.2752, d0.loss_bbox_all: 0.5247, d0.loss_cls: 0.2752, d0.loss_bbox: 0.5247, d1.loss_cls: 0.2671, d1.loss_bbox: 0.5026, d2.loss_cls: 0.2601, d2.loss_bbox: 0.4818, d3.loss_cls: 0.2580, d3.loss_bbox: 0.4750, d4.loss_cls: 0.2531, d4.loss_bbox: 0.4725, d5.loss_cls: 0.2520, d5.loss_bbox: 0.4736, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0824, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9547, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9141, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9029, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8982, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8977, d0.loss_map_cls_all: 0.2854, d0.loss_map_pts_all: 1.7488, d0.loss_map_dir_all: 0.0129, d0.loss_map_cls: 0.2854, d0.loss_map_pts: 1.7488, d0.loss_map_dir: 0.0129, d1.loss_map_cls: 0.2607, d1.loss_map_pts: 1.2130, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2489, d2.loss_map_pts: 1.0400, d2.loss_map_dir: 0.0127, d3.loss_map_cls: 0.2394, d3.loss_map_pts: 0.9800, d3.loss_map_dir: 0.0132, d4.loss_map_cls: 0.2364, d4.loss_map_pts: 0.9564, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.2307, d5.loss_map_pts: 0.9510, d5.loss_map_dir: 0.0136, loss: 39.0703, grad_norm: 161.1363 +2026-02-25 10:20:14,616 - DriveTransformer - INFO - Epoch [4][25150/39528] lr: 9.623e-05, eta: 7 days, 11:31:54, time: 0.831, data_time: 0.044, memory: 19865, loss_cls: 0.2650, loss_bbox: 0.4739, loss_traj: 0.8380, loss_traj_cls: 0.0017, loss_map_cls: 0.2603, loss_map_pts: 0.9909, loss_map_dir: 0.0136, d0.loss_plan_l1_fix_time: 2.9101, d0.loss_plan_l1_fix_dist: 0.4111, d1.loss_plan_l1_fix_time: 1.5750, d1.loss_plan_l1_fix_dist: 0.2362, d2.loss_plan_l1_fix_time: 1.5572, d2.loss_plan_l1_fix_dist: 0.2440, d3.loss_plan_l1_fix_time: 1.5580, d3.loss_plan_l1_fix_dist: 0.2578, d4.loss_plan_l1_fix_time: 1.5608, d4.loss_plan_l1_fix_dist: 0.2757, d5.loss_plan_l1_fix_time: 1.5652, d5.loss_plan_l1_fix_dist: 0.2959, d6.loss_plan_l1_fix_time: 1.5719, d6.loss_plan_l1_fix_dist: 0.3205, d0.loss_cls_all: 0.2789, d0.loss_bbox_all: 0.5299, d0.loss_cls: 0.2789, d0.loss_bbox: 0.5299, d1.loss_cls: 0.2723, d1.loss_bbox: 0.5047, d2.loss_cls: 0.2658, d2.loss_bbox: 0.4878, d3.loss_cls: 0.2635, d3.loss_bbox: 0.4805, d4.loss_cls: 0.2627, d4.loss_bbox: 0.4766, d5.loss_cls: 0.2643, d5.loss_bbox: 0.4749, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0499, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8828, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8464, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8447, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8430, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.8415, d0.loss_map_cls_all: 0.3088, d0.loss_map_pts_all: 1.8519, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.3088, d0.loss_map_pts: 1.8519, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2867, d1.loss_map_pts: 1.2839, d1.loss_map_dir: 0.0121, d2.loss_map_cls: 0.2741, d2.loss_map_pts: 1.1029, d2.loss_map_dir: 0.0126, d3.loss_map_cls: 0.2655, d3.loss_map_pts: 1.0336, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2623, d4.loss_map_pts: 1.0060, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.2604, d5.loss_map_pts: 0.9945, d5.loss_map_dir: 0.0135, loss: 39.0489, grad_norm: 159.6892 +2026-02-25 10:20:56,150 - DriveTransformer - INFO - Epoch [4][25200/39528] lr: 9.623e-05, eta: 7 days, 11:31:22, time: 0.831, data_time: 0.040, memory: 19865, loss_cls: 0.2346, loss_bbox: 0.4390, loss_traj: 1.0044, loss_traj_cls: 0.0017, loss_map_cls: 0.2116, loss_map_pts: 0.9200, loss_map_dir: 0.0133, d0.loss_plan_l1_fix_time: 2.4699, d0.loss_plan_l1_fix_dist: 0.4053, d1.loss_plan_l1_fix_time: 1.4695, d1.loss_plan_l1_fix_dist: 0.2729, d2.loss_plan_l1_fix_time: 1.4585, d2.loss_plan_l1_fix_dist: 0.2800, d3.loss_plan_l1_fix_time: 1.4593, d3.loss_plan_l1_fix_dist: 0.2918, d4.loss_plan_l1_fix_time: 1.4624, d4.loss_plan_l1_fix_dist: 0.3037, d5.loss_plan_l1_fix_time: 1.4661, d5.loss_plan_l1_fix_dist: 0.3203, d6.loss_plan_l1_fix_time: 1.4707, d6.loss_plan_l1_fix_dist: 0.3388, d0.loss_cls_all: 0.2592, d0.loss_bbox_all: 0.4856, d0.loss_cls: 0.2592, d0.loss_bbox: 0.4856, d1.loss_cls: 0.2517, d1.loss_bbox: 0.4605, d2.loss_cls: 0.2420, d2.loss_bbox: 0.4456, d3.loss_cls: 0.2380, d3.loss_bbox: 0.4420, d4.loss_cls: 0.2358, d4.loss_bbox: 0.4384, d5.loss_cls: 0.2346, d5.loss_bbox: 0.4379, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1573, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0445, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0081, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0032, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0091, d5.loss_traj_cls: 0.0014, d5.loss_traj: 1.0062, d0.loss_map_cls_all: 0.2708, d0.loss_map_pts_all: 1.8672, d0.loss_map_dir_all: 0.0122, d0.loss_map_cls: 0.2708, d0.loss_map_pts: 1.8672, d0.loss_map_dir: 0.0122, d1.loss_map_cls: 0.2420, d1.loss_map_pts: 1.2161, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2295, d2.loss_map_pts: 1.0246, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.2193, d3.loss_map_pts: 0.9568, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.2146, d4.loss_map_pts: 0.9298, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.2114, d5.loss_map_pts: 0.9230, d5.loss_map_dir: 0.0132, loss: 37.9744, grad_norm: 159.6966 +2026-02-25 10:21:37,363 - DriveTransformer - INFO - Epoch [4][25250/39528] lr: 9.623e-05, eta: 7 days, 11:30:48, time: 0.824, data_time: 0.039, memory: 19865, loss_cls: 0.2312, loss_bbox: 0.4096, loss_traj: 0.8333, loss_traj_cls: 0.0018, loss_map_cls: 0.2166, loss_map_pts: 0.8633, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.1804, d0.loss_plan_l1_fix_dist: 0.3983, d1.loss_plan_l1_fix_time: 1.4041, d1.loss_plan_l1_fix_dist: 0.2248, d2.loss_plan_l1_fix_time: 1.3903, d2.loss_plan_l1_fix_dist: 0.2361, d3.loss_plan_l1_fix_time: 1.3907, d3.loss_plan_l1_fix_dist: 0.2512, d4.loss_plan_l1_fix_time: 1.3935, d4.loss_plan_l1_fix_dist: 0.2678, d5.loss_plan_l1_fix_time: 1.3965, d5.loss_plan_l1_fix_dist: 0.2864, d6.loss_plan_l1_fix_time: 1.3999, d6.loss_plan_l1_fix_dist: 0.3040, d0.loss_cls_all: 0.2577, d0.loss_bbox_all: 0.4622, d0.loss_cls: 0.2577, d0.loss_bbox: 0.4622, d1.loss_cls: 0.2518, d1.loss_bbox: 0.4316, d2.loss_cls: 0.2405, d2.loss_bbox: 0.4201, d3.loss_cls: 0.2360, d3.loss_bbox: 0.4141, d4.loss_cls: 0.2329, d4.loss_bbox: 0.4100, d5.loss_cls: 0.2322, d5.loss_bbox: 0.4088, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9762, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8682, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8352, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8331, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8266, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8310, d0.loss_map_cls_all: 0.2823, d0.loss_map_pts_all: 1.8662, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.2823, d0.loss_map_pts: 1.8662, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.2531, d1.loss_map_pts: 1.1740, d1.loss_map_dir: 0.0129, d2.loss_map_cls: 0.2355, d2.loss_map_pts: 0.9687, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2230, d3.loss_map_pts: 0.8976, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.2191, d4.loss_map_pts: 0.8720, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.2173, d5.loss_map_pts: 0.8645, d5.loss_map_dir: 0.0148, loss: 35.3072, grad_norm: 160.6687 +2026-02-25 10:22:17,604 - DriveTransformer - INFO - Epoch [4][25300/39528] lr: 9.623e-05, eta: 7 days, 11:30:08, time: 0.805, data_time: 0.047, memory: 19865, loss_cls: 0.2391, loss_bbox: 0.4202, loss_traj: 0.7909, loss_traj_cls: 0.0018, loss_map_cls: 0.2311, loss_map_pts: 0.8517, loss_map_dir: 0.0135, d0.loss_plan_l1_fix_time: 2.5392, d0.loss_plan_l1_fix_dist: 0.3745, d1.loss_plan_l1_fix_time: 1.3570, d1.loss_plan_l1_fix_dist: 0.2358, d2.loss_plan_l1_fix_time: 1.3407, d2.loss_plan_l1_fix_dist: 0.2446, d3.loss_plan_l1_fix_time: 1.3437, d3.loss_plan_l1_fix_dist: 0.2583, d4.loss_plan_l1_fix_time: 1.3469, d4.loss_plan_l1_fix_dist: 0.2765, d5.loss_plan_l1_fix_time: 1.3498, d5.loss_plan_l1_fix_dist: 0.2951, d6.loss_plan_l1_fix_time: 1.3526, d6.loss_plan_l1_fix_dist: 0.3154, d0.loss_cls_all: 0.2543, d0.loss_bbox_all: 0.4731, d0.loss_cls: 0.2543, d0.loss_bbox: 0.4731, d1.loss_cls: 0.2495, d1.loss_bbox: 0.4513, d2.loss_cls: 0.2418, d2.loss_bbox: 0.4383, d3.loss_cls: 0.2411, d3.loss_bbox: 0.4265, d4.loss_cls: 0.2393, d4.loss_bbox: 0.4208, d5.loss_cls: 0.2385, d5.loss_bbox: 0.4202, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0075, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8401, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8048, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7973, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7919, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7909, d0.loss_map_cls_all: 0.3023, d0.loss_map_pts_all: 1.6925, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.3023, d0.loss_map_pts: 1.6925, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2670, d1.loss_map_pts: 1.1053, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2487, d2.loss_map_pts: 0.9338, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2367, d3.loss_map_pts: 0.8764, d3.loss_map_dir: 0.0129, d4.loss_map_cls: 0.2332, d4.loss_map_pts: 0.8596, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.2323, d5.loss_map_pts: 0.8533, d5.loss_map_dir: 0.0134, loss: 34.9625, grad_norm: 162.2577 +2026-02-25 10:22:58,189 - DriveTransformer - INFO - Epoch [4][25350/39528] lr: 9.623e-05, eta: 7 days, 11:29:30, time: 0.812, data_time: 0.044, memory: 19865, loss_cls: 0.2493, loss_bbox: 0.4435, loss_traj: 0.9053, loss_traj_cls: 0.0018, loss_map_cls: 0.2083, loss_map_pts: 0.9183, loss_map_dir: 0.0139, d0.loss_plan_l1_fix_time: 2.4905, d0.loss_plan_l1_fix_dist: 0.5450, d1.loss_plan_l1_fix_time: 1.3680, d1.loss_plan_l1_fix_dist: 0.2481, d2.loss_plan_l1_fix_time: 1.3393, d2.loss_plan_l1_fix_dist: 0.2569, d3.loss_plan_l1_fix_time: 1.3364, d3.loss_plan_l1_fix_dist: 0.2707, d4.loss_plan_l1_fix_time: 1.3386, d4.loss_plan_l1_fix_dist: 0.2850, d5.loss_plan_l1_fix_time: 1.3413, d5.loss_plan_l1_fix_dist: 0.3014, d6.loss_plan_l1_fix_time: 1.3441, d6.loss_plan_l1_fix_dist: 0.3207, d0.loss_cls_all: 0.2739, d0.loss_bbox_all: 0.4889, d0.loss_cls: 0.2739, d0.loss_bbox: 0.4889, d1.loss_cls: 0.2645, d1.loss_bbox: 0.4591, d2.loss_cls: 0.2571, d2.loss_bbox: 0.4472, d3.loss_cls: 0.2529, d3.loss_bbox: 0.4436, d4.loss_cls: 0.2512, d4.loss_bbox: 0.4413, d5.loss_cls: 0.2491, d5.loss_bbox: 0.4427, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1231, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9379, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9147, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9150, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9075, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.9048, d0.loss_map_cls_all: 0.2520, d0.loss_map_pts_all: 1.8278, d0.loss_map_dir_all: 0.0126, d0.loss_map_cls: 0.2520, d0.loss_map_pts: 1.8278, d0.loss_map_dir: 0.0126, d1.loss_map_cls: 0.2338, d1.loss_map_pts: 1.2029, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2216, d2.loss_map_pts: 1.0143, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2168, d3.loss_map_pts: 0.9451, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2109, d4.loss_map_pts: 0.9262, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.2090, d5.loss_map_pts: 0.9205, d5.loss_map_dir: 0.0138, loss: 36.6200, grad_norm: 163.0138 +2026-02-25 10:23:39,266 - DriveTransformer - INFO - Epoch [4][25400/39528] lr: 9.623e-05, eta: 7 days, 11:28:55, time: 0.822, data_time: 0.042, memory: 19865, loss_cls: 0.2629, loss_bbox: 0.4458, loss_traj: 0.8115, loss_traj_cls: 0.0018, loss_map_cls: 0.2402, loss_map_pts: 1.0617, loss_map_dir: 0.0166, d0.loss_plan_l1_fix_time: 2.7855, d0.loss_plan_l1_fix_dist: 0.4513, d1.loss_plan_l1_fix_time: 1.5117, d1.loss_plan_l1_fix_dist: 0.2664, d2.loss_plan_l1_fix_time: 1.4864, d2.loss_plan_l1_fix_dist: 0.2747, d3.loss_plan_l1_fix_time: 1.4812, d3.loss_plan_l1_fix_dist: 0.2879, d4.loss_plan_l1_fix_time: 1.4827, d4.loss_plan_l1_fix_dist: 0.3037, d5.loss_plan_l1_fix_time: 1.4854, d5.loss_plan_l1_fix_dist: 0.3224, d6.loss_plan_l1_fix_time: 1.4888, d6.loss_plan_l1_fix_dist: 0.3430, d0.loss_cls_all: 0.2820, d0.loss_bbox_all: 0.4962, d0.loss_cls: 0.2820, d0.loss_bbox: 0.4962, d1.loss_cls: 0.2774, d1.loss_bbox: 0.4596, d2.loss_cls: 0.2693, d2.loss_bbox: 0.4464, d3.loss_cls: 0.2663, d3.loss_bbox: 0.4412, d4.loss_cls: 0.2630, d4.loss_bbox: 0.4428, d5.loss_cls: 0.2628, d5.loss_bbox: 0.4439, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9947, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8463, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8155, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8140, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8049, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.8089, d0.loss_map_cls_all: 0.2961, d0.loss_map_pts_all: 1.9532, d0.loss_map_dir_all: 0.0151, d0.loss_map_cls: 0.2961, d0.loss_map_pts: 1.9532, d0.loss_map_dir: 0.0151, d1.loss_map_cls: 0.2680, d1.loss_map_pts: 1.3433, d1.loss_map_dir: 0.0145, d2.loss_map_cls: 0.2524, d2.loss_map_pts: 1.1599, d2.loss_map_dir: 0.0151, d3.loss_map_cls: 0.2475, d3.loss_map_pts: 1.0963, d3.loss_map_dir: 0.0157, d4.loss_map_cls: 0.2422, d4.loss_map_pts: 1.0730, d4.loss_map_dir: 0.0162, d5.loss_map_cls: 0.2393, d5.loss_map_pts: 1.0641, d5.loss_map_dir: 0.0164, loss: 38.6235, grad_norm: 163.0240 +2026-02-25 10:24:19,984 - DriveTransformer - INFO - Epoch [4][25450/39528] lr: 9.623e-05, eta: 7 days, 11:28:18, time: 0.814, data_time: 0.037, memory: 19865, loss_cls: 0.2731, loss_bbox: 0.4679, loss_traj: 0.7898, loss_traj_cls: 0.0018, loss_map_cls: 0.2186, loss_map_pts: 1.0418, loss_map_dir: 0.0160, d0.loss_plan_l1_fix_time: 2.6764, d0.loss_plan_l1_fix_dist: 0.4756, d1.loss_plan_l1_fix_time: 1.5327, d1.loss_plan_l1_fix_dist: 0.2602, d2.loss_plan_l1_fix_time: 1.5227, d2.loss_plan_l1_fix_dist: 0.2688, d3.loss_plan_l1_fix_time: 1.5216, d3.loss_plan_l1_fix_dist: 0.2839, d4.loss_plan_l1_fix_time: 1.5236, d4.loss_plan_l1_fix_dist: 0.2998, d5.loss_plan_l1_fix_time: 1.5261, d5.loss_plan_l1_fix_dist: 0.3161, d6.loss_plan_l1_fix_time: 1.5301, d6.loss_plan_l1_fix_dist: 0.3317, d0.loss_cls_all: 0.2953, d0.loss_bbox_all: 0.5113, d0.loss_cls: 0.2953, d0.loss_bbox: 0.5113, d1.loss_cls: 0.2860, d1.loss_bbox: 0.4783, d2.loss_cls: 0.2778, d2.loss_bbox: 0.4677, d3.loss_cls: 0.2750, d3.loss_bbox: 0.4624, d4.loss_cls: 0.2743, d4.loss_bbox: 0.4618, d5.loss_cls: 0.2741, d5.loss_bbox: 0.4642, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9263, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8380, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8024, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7944, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7843, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7858, d0.loss_map_cls_all: 0.2796, d0.loss_map_pts_all: 1.9595, d0.loss_map_dir_all: 0.0148, d0.loss_map_cls: 0.2796, d0.loss_map_pts: 1.9595, d0.loss_map_dir: 0.0148, d1.loss_map_cls: 0.2491, d1.loss_map_pts: 1.3545, d1.loss_map_dir: 0.0141, d2.loss_map_cls: 0.2369, d2.loss_map_pts: 1.1519, d2.loss_map_dir: 0.0145, d3.loss_map_cls: 0.2271, d3.loss_map_pts: 1.0759, d3.loss_map_dir: 0.0152, d4.loss_map_cls: 0.2216, d4.loss_map_pts: 1.0516, d4.loss_map_dir: 0.0155, d5.loss_map_cls: 0.2197, d5.loss_map_pts: 1.0435, d5.loss_map_dir: 0.0158, loss: 38.5648, grad_norm: 164.9507 +2026-02-25 10:24:59,053 - DriveTransformer - INFO - Epoch [4][25500/39528] lr: 9.623e-05, eta: 7 days, 11:27:32, time: 0.781, data_time: 0.045, memory: 19865, loss_cls: 0.2415, loss_bbox: 0.4184, loss_traj: 0.8121, loss_traj_cls: 0.0018, loss_map_cls: 0.2621, loss_map_pts: 0.9630, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.2628, d0.loss_plan_l1_fix_dist: 0.3901, d1.loss_plan_l1_fix_time: 1.2837, d1.loss_plan_l1_fix_dist: 0.2223, d2.loss_plan_l1_fix_time: 1.2754, d2.loss_plan_l1_fix_dist: 0.2339, d3.loss_plan_l1_fix_time: 1.2744, d3.loss_plan_l1_fix_dist: 0.2514, d4.loss_plan_l1_fix_time: 1.2776, d4.loss_plan_l1_fix_dist: 0.2697, d5.loss_plan_l1_fix_time: 1.2820, d5.loss_plan_l1_fix_dist: 0.2891, d6.loss_plan_l1_fix_time: 1.2878, d6.loss_plan_l1_fix_dist: 0.3093, d0.loss_cls_all: 0.2687, d0.loss_bbox_all: 0.4652, d0.loss_cls: 0.2687, d0.loss_bbox: 0.4652, d1.loss_cls: 0.2551, d1.loss_bbox: 0.4395, d2.loss_cls: 0.2444, d2.loss_bbox: 0.4258, d3.loss_cls: 0.2420, d3.loss_bbox: 0.4198, d4.loss_cls: 0.2408, d4.loss_bbox: 0.4186, d5.loss_cls: 0.2408, d5.loss_bbox: 0.4172, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1158, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8954, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8291, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8208, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8127, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.8204, d0.loss_map_cls_all: 0.3311, d0.loss_map_pts_all: 1.7846, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.3311, d0.loss_map_pts: 1.7846, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.3016, d1.loss_map_pts: 1.2630, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2868, d2.loss_map_pts: 1.0698, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.2728, d3.loss_map_pts: 0.9978, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.2655, d4.loss_map_pts: 0.9754, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.2616, d5.loss_map_pts: 0.9664, d5.loss_map_dir: 0.0119, loss: 35.7019, grad_norm: 164.6736 +2026-02-25 10:25:38,614 - DriveTransformer - INFO - Epoch [4][25550/39528] lr: 9.623e-05, eta: 7 days, 11:26:49, time: 0.791, data_time: 0.041, memory: 19865, loss_cls: 0.2692, loss_bbox: 0.4582, loss_traj: 0.8743, loss_traj_cls: 0.0018, loss_map_cls: 0.2275, loss_map_pts: 0.9472, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.4966, d0.loss_plan_l1_fix_dist: 0.3913, d1.loss_plan_l1_fix_time: 1.3259, d1.loss_plan_l1_fix_dist: 0.2155, d2.loss_plan_l1_fix_time: 1.3167, d2.loss_plan_l1_fix_dist: 0.2248, d3.loss_plan_l1_fix_time: 1.3177, d3.loss_plan_l1_fix_dist: 0.2401, d4.loss_plan_l1_fix_time: 1.3207, d4.loss_plan_l1_fix_dist: 0.2581, d5.loss_plan_l1_fix_time: 1.3241, d5.loss_plan_l1_fix_dist: 0.2771, d6.loss_plan_l1_fix_time: 1.3277, d6.loss_plan_l1_fix_dist: 0.2970, d0.loss_cls_all: 0.2957, d0.loss_bbox_all: 0.5135, d0.loss_cls: 0.2957, d0.loss_bbox: 0.5135, d1.loss_cls: 0.2885, d1.loss_bbox: 0.4817, d2.loss_cls: 0.2792, d2.loss_bbox: 0.4648, d3.loss_cls: 0.2724, d3.loss_bbox: 0.4590, d4.loss_cls: 0.2682, d4.loss_bbox: 0.4590, d5.loss_cls: 0.2687, d5.loss_bbox: 0.4569, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0704, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9319, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8852, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8829, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8737, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8712, d0.loss_map_cls_all: 0.2868, d0.loss_map_pts_all: 1.8938, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2868, d0.loss_map_pts: 1.8938, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2558, d1.loss_map_pts: 1.2608, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2416, d2.loss_map_pts: 1.0675, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2308, d3.loss_map_pts: 0.9893, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.2292, d4.loss_map_pts: 0.9618, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.2275, d5.loss_map_pts: 0.9494, d5.loss_map_dir: 0.0121, loss: 36.8174, grad_norm: 165.3293 +2026-02-25 10:26:20,609 - DriveTransformer - INFO - Epoch [4][25600/39528] lr: 9.623e-05, eta: 7 days, 11:26:19, time: 0.840, data_time: 0.046, memory: 19865, loss_cls: 0.2718, loss_bbox: 0.4741, loss_traj: 0.9026, loss_traj_cls: 0.0018, loss_map_cls: 0.2528, loss_map_pts: 1.1168, loss_map_dir: 0.0153, d0.loss_plan_l1_fix_time: 2.8847, d0.loss_plan_l1_fix_dist: 0.3728, d1.loss_plan_l1_fix_time: 1.4069, d1.loss_plan_l1_fix_dist: 0.2034, d2.loss_plan_l1_fix_time: 1.3983, d2.loss_plan_l1_fix_dist: 0.2092, d3.loss_plan_l1_fix_time: 1.4005, d3.loss_plan_l1_fix_dist: 0.2208, d4.loss_plan_l1_fix_time: 1.4036, d4.loss_plan_l1_fix_dist: 0.2374, d5.loss_plan_l1_fix_time: 1.4071, d5.loss_plan_l1_fix_dist: 0.2560, d6.loss_plan_l1_fix_time: 1.4110, d6.loss_plan_l1_fix_dist: 0.2776, d0.loss_cls_all: 0.2953, d0.loss_bbox_all: 0.5182, d0.loss_cls: 0.2953, d0.loss_bbox: 0.5182, d1.loss_cls: 0.2805, d1.loss_bbox: 0.4915, d2.loss_cls: 0.2765, d2.loss_bbox: 0.4726, d3.loss_cls: 0.2752, d3.loss_bbox: 0.4651, d4.loss_cls: 0.2722, d4.loss_bbox: 0.4657, d5.loss_cls: 0.2718, d5.loss_bbox: 0.4683, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1112, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9617, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9162, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9024, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8974, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8937, d0.loss_map_cls_all: 0.3010, d0.loss_map_pts_all: 2.0763, d0.loss_map_dir_all: 0.0143, d0.loss_map_cls: 0.3010, d0.loss_map_pts: 2.0763, d0.loss_map_dir: 0.0143, d1.loss_map_cls: 0.2810, d1.loss_map_pts: 1.4300, d1.loss_map_dir: 0.0137, d2.loss_map_cls: 0.2699, d2.loss_map_pts: 1.2327, d2.loss_map_dir: 0.0142, d3.loss_map_cls: 0.2611, d3.loss_map_pts: 1.1558, d3.loss_map_dir: 0.0148, d4.loss_map_cls: 0.2544, d4.loss_map_pts: 1.1316, d4.loss_map_dir: 0.0151, d5.loss_map_cls: 0.2527, d5.loss_map_pts: 1.1232, d5.loss_map_dir: 0.0154, loss: 39.4275, grad_norm: 165.2242 +2026-02-25 10:27:01,214 - DriveTransformer - INFO - Epoch [4][25650/39528] lr: 9.623e-05, eta: 7 days, 11:25:41, time: 0.812, data_time: 0.039, memory: 19865, loss_cls: 0.2527, loss_bbox: 0.4445, loss_traj: 0.6809, loss_traj_cls: 0.0018, loss_map_cls: 0.2430, loss_map_pts: 0.9721, loss_map_dir: 0.0167, d0.loss_plan_l1_fix_time: 2.5137, d0.loss_plan_l1_fix_dist: 0.3717, d1.loss_plan_l1_fix_time: 1.2970, d1.loss_plan_l1_fix_dist: 0.2015, d2.loss_plan_l1_fix_time: 1.2818, d2.loss_plan_l1_fix_dist: 0.2096, d3.loss_plan_l1_fix_time: 1.2788, d3.loss_plan_l1_fix_dist: 0.2216, d4.loss_plan_l1_fix_time: 1.2808, d4.loss_plan_l1_fix_dist: 0.2359, d5.loss_plan_l1_fix_time: 1.2842, d5.loss_plan_l1_fix_dist: 0.2518, d6.loss_plan_l1_fix_time: 1.2891, d6.loss_plan_l1_fix_dist: 0.2688, d0.loss_cls_all: 0.2793, d0.loss_bbox_all: 0.4923, d0.loss_cls: 0.2793, d0.loss_bbox: 0.4923, d1.loss_cls: 0.2714, d1.loss_bbox: 0.4657, d2.loss_cls: 0.2614, d2.loss_bbox: 0.4519, d3.loss_cls: 0.2569, d3.loss_bbox: 0.4452, d4.loss_cls: 0.2520, d4.loss_bbox: 0.4439, d5.loss_cls: 0.2516, d5.loss_bbox: 0.4432, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8243, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7174, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6892, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6836, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6795, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6830, d0.loss_map_cls_all: 0.2967, d0.loss_map_pts_all: 2.0198, d0.loss_map_dir_all: 0.0148, d0.loss_map_cls: 0.2967, d0.loss_map_pts: 2.0198, d0.loss_map_dir: 0.0148, d1.loss_map_cls: 0.2673, d1.loss_map_pts: 1.3055, d1.loss_map_dir: 0.0142, d2.loss_map_cls: 0.2596, d2.loss_map_pts: 1.0900, d2.loss_map_dir: 0.0150, d3.loss_map_cls: 0.2488, d3.loss_map_pts: 1.0143, d3.loss_map_dir: 0.0158, d4.loss_map_cls: 0.2451, d4.loss_map_pts: 0.9855, d4.loss_map_dir: 0.0163, d5.loss_map_cls: 0.2429, d5.loss_map_pts: 0.9769, d5.loss_map_dir: 0.0166, loss: 35.3436, grad_norm: 164.1834 +2026-02-25 10:27:43,952 - DriveTransformer - INFO - Epoch [4][25700/39528] lr: 9.623e-05, eta: 7 days, 11:25:16, time: 0.855, data_time: 0.047, memory: 19865, loss_cls: 0.2431, loss_bbox: 0.4441, loss_traj: 0.7770, loss_traj_cls: 0.0017, loss_map_cls: 0.2463, loss_map_pts: 0.9939, loss_map_dir: 0.0150, d0.loss_plan_l1_fix_time: 2.5952, d0.loss_plan_l1_fix_dist: 0.4012, d1.loss_plan_l1_fix_time: 1.3578, d1.loss_plan_l1_fix_dist: 0.1934, d2.loss_plan_l1_fix_time: 1.3317, d2.loss_plan_l1_fix_dist: 0.2017, d3.loss_plan_l1_fix_time: 1.3279, d3.loss_plan_l1_fix_dist: 0.2128, d4.loss_plan_l1_fix_time: 1.3293, d4.loss_plan_l1_fix_dist: 0.2269, d5.loss_plan_l1_fix_time: 1.3320, d5.loss_plan_l1_fix_dist: 0.2426, d6.loss_plan_l1_fix_time: 1.3356, d6.loss_plan_l1_fix_dist: 0.2590, d0.loss_cls_all: 0.2727, d0.loss_bbox_all: 0.4892, d0.loss_cls: 0.2727, d0.loss_bbox: 0.4892, d1.loss_cls: 0.2612, d1.loss_bbox: 0.4657, d2.loss_cls: 0.2512, d2.loss_bbox: 0.4516, d3.loss_cls: 0.2458, d3.loss_bbox: 0.4446, d4.loss_cls: 0.2429, d4.loss_bbox: 0.4450, d5.loss_cls: 0.2430, d5.loss_bbox: 0.4432, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9637, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8307, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7766, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7697, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7720, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7752, d0.loss_map_cls_all: 0.3021, d0.loss_map_pts_all: 1.9728, d0.loss_map_dir_all: 0.0140, d0.loss_map_cls: 0.3021, d0.loss_map_pts: 1.9728, d0.loss_map_dir: 0.0140, d1.loss_map_cls: 0.2730, d1.loss_map_pts: 1.2969, d1.loss_map_dir: 0.0130, d2.loss_map_cls: 0.2603, d2.loss_map_pts: 1.0983, d2.loss_map_dir: 0.0136, d3.loss_map_cls: 0.2517, d3.loss_map_pts: 1.0298, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2467, d4.loss_map_pts: 1.0074, d4.loss_map_dir: 0.0148, d5.loss_map_cls: 0.2468, d5.loss_map_pts: 0.9975, d5.loss_map_dir: 0.0149, loss: 36.3366, grad_norm: 163.9730 +2026-02-25 10:28:23,426 - DriveTransformer - INFO - Epoch [4][25750/39528] lr: 9.623e-05, eta: 7 days, 11:24:32, time: 0.789, data_time: 0.044, memory: 19865, loss_cls: 0.2642, loss_bbox: 0.4588, loss_traj: 0.8395, loss_traj_cls: 0.0016, loss_map_cls: 0.2324, loss_map_pts: 0.9961, loss_map_dir: 0.0136, d0.loss_plan_l1_fix_time: 2.5483, d0.loss_plan_l1_fix_dist: 0.3528, d1.loss_plan_l1_fix_time: 1.4675, d1.loss_plan_l1_fix_dist: 0.2318, d2.loss_plan_l1_fix_time: 1.4518, d2.loss_plan_l1_fix_dist: 0.2417, d3.loss_plan_l1_fix_time: 1.4560, d3.loss_plan_l1_fix_dist: 0.2523, d4.loss_plan_l1_fix_time: 1.4587, d4.loss_plan_l1_fix_dist: 0.2684, d5.loss_plan_l1_fix_time: 1.4610, d5.loss_plan_l1_fix_dist: 0.2845, d6.loss_plan_l1_fix_time: 1.4637, d6.loss_plan_l1_fix_dist: 0.2996, d0.loss_cls_all: 0.2829, d0.loss_bbox_all: 0.5117, d0.loss_cls: 0.2829, d0.loss_bbox: 0.5117, d1.loss_cls: 0.2798, d1.loss_bbox: 0.4806, d2.loss_cls: 0.2694, d2.loss_bbox: 0.4666, d3.loss_cls: 0.2671, d3.loss_bbox: 0.4590, d4.loss_cls: 0.2613, d4.loss_bbox: 0.4607, d5.loss_cls: 0.2627, d5.loss_bbox: 0.4588, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0263, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8921, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8480, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8367, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8330, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8360, d0.loss_map_cls_all: 0.2875, d0.loss_map_pts_all: 1.9518, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.2875, d0.loss_map_pts: 1.9518, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2601, d1.loss_map_pts: 1.3384, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2469, d2.loss_map_pts: 1.1172, d2.loss_map_dir: 0.0123, d3.loss_map_cls: 0.2395, d3.loss_map_pts: 1.0406, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.2324, d4.loss_map_pts: 1.0127, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.2323, d5.loss_map_pts: 0.9992, d5.loss_map_dir: 0.0135, loss: 37.8639, grad_norm: 165.5110 +2026-02-25 10:29:03,761 - DriveTransformer - INFO - Epoch [4][25800/39528] lr: 9.623e-05, eta: 7 days, 11:23:53, time: 0.808, data_time: 0.046, memory: 19865, loss_cls: 0.2698, loss_bbox: 0.4486, loss_traj: 1.1078, loss_traj_cls: 0.0017, loss_map_cls: 0.2528, loss_map_pts: 1.0228, loss_map_dir: 0.0154, d0.loss_plan_l1_fix_time: 2.6456, d0.loss_plan_l1_fix_dist: 0.4344, d1.loss_plan_l1_fix_time: 1.4370, d1.loss_plan_l1_fix_dist: 0.2237, d2.loss_plan_l1_fix_time: 1.4110, d2.loss_plan_l1_fix_dist: 0.2282, d3.loss_plan_l1_fix_time: 1.4112, d3.loss_plan_l1_fix_dist: 0.2380, d4.loss_plan_l1_fix_time: 1.4136, d4.loss_plan_l1_fix_dist: 0.2490, d5.loss_plan_l1_fix_time: 1.4161, d5.loss_plan_l1_fix_dist: 0.2618, d6.loss_plan_l1_fix_time: 1.4190, d6.loss_plan_l1_fix_dist: 0.2780, d0.loss_cls_all: 0.2948, d0.loss_bbox_all: 0.5039, d0.loss_cls: 0.2948, d0.loss_bbox: 0.5039, d1.loss_cls: 0.2841, d1.loss_bbox: 0.4732, d2.loss_cls: 0.2752, d2.loss_bbox: 0.4561, d3.loss_cls: 0.2730, d3.loss_bbox: 0.4494, d4.loss_cls: 0.2699, d4.loss_bbox: 0.4478, d5.loss_cls: 0.2700, d5.loss_bbox: 0.4474, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2983, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.1543, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1095, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1090, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0973, d5.loss_traj_cls: 0.0013, d5.loss_traj: 1.1064, d0.loss_map_cls_all: 0.3109, d0.loss_map_pts_all: 1.8976, d0.loss_map_dir_all: 0.0134, d0.loss_map_cls: 0.3109, d0.loss_map_pts: 1.8976, d0.loss_map_dir: 0.0134, d1.loss_map_cls: 0.2805, d1.loss_map_pts: 1.3552, d1.loss_map_dir: 0.0132, d2.loss_map_cls: 0.2661, d2.loss_map_pts: 1.1402, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2581, d3.loss_map_pts: 1.0643, d3.loss_map_dir: 0.0146, d4.loss_map_cls: 0.2538, d4.loss_map_pts: 1.0368, d4.loss_map_dir: 0.0152, d5.loss_map_cls: 0.2529, d5.loss_map_pts: 1.0267, d5.loss_map_dir: 0.0153, loss: 39.7597, grad_norm: 165.6741 +2026-02-25 10:29:43,377 - DriveTransformer - INFO - Epoch [4][25850/39528] lr: 9.623e-05, eta: 7 days, 11:23:09, time: 0.791, data_time: 0.047, memory: 19865, loss_cls: 0.2538, loss_bbox: 0.4289, loss_traj: 0.8188, loss_traj_cls: 0.0016, loss_map_cls: 0.2623, loss_map_pts: 0.9981, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.8589, d0.loss_plan_l1_fix_dist: 0.3388, d1.loss_plan_l1_fix_time: 1.3991, d1.loss_plan_l1_fix_dist: 0.2037, d2.loss_plan_l1_fix_time: 1.3841, d2.loss_plan_l1_fix_dist: 0.2146, d3.loss_plan_l1_fix_time: 1.3876, d3.loss_plan_l1_fix_dist: 0.2272, d4.loss_plan_l1_fix_time: 1.3902, d4.loss_plan_l1_fix_dist: 0.2424, d5.loss_plan_l1_fix_time: 1.3930, d5.loss_plan_l1_fix_dist: 0.2599, d6.loss_plan_l1_fix_time: 1.3962, d6.loss_plan_l1_fix_dist: 0.2796, d0.loss_cls_all: 0.2828, d0.loss_bbox_all: 0.4862, d0.loss_cls: 0.2828, d0.loss_bbox: 0.4862, d1.loss_cls: 0.2711, d1.loss_bbox: 0.4561, d2.loss_cls: 0.2630, d2.loss_bbox: 0.4392, d3.loss_cls: 0.2592, d3.loss_bbox: 0.4320, d4.loss_cls: 0.2534, d4.loss_bbox: 0.4298, d5.loss_cls: 0.2539, d5.loss_bbox: 0.4297, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0061, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8637, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8205, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8200, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8216, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8182, d0.loss_map_cls_all: 0.3307, d0.loss_map_pts_all: 1.7907, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.3307, d0.loss_map_pts: 1.7907, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2987, d1.loss_map_pts: 1.2657, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2797, d2.loss_map_pts: 1.0839, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2694, d3.loss_map_pts: 1.0286, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.2633, d4.loss_map_pts: 1.0075, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.2618, d5.loss_map_pts: 0.9995, d5.loss_map_dir: 0.0125, loss: 37.0128, grad_norm: 163.6969 +2026-02-25 10:30:24,176 - DriveTransformer - INFO - Epoch [4][25900/39528] lr: 9.623e-05, eta: 7 days, 11:22:33, time: 0.816, data_time: 0.041, memory: 19865, loss_cls: 0.2696, loss_bbox: 0.4546, loss_traj: 0.9009, loss_traj_cls: 0.0016, loss_map_cls: 0.2238, loss_map_pts: 0.9314, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.8953, d0.loss_plan_l1_fix_dist: 0.3998, d1.loss_plan_l1_fix_time: 1.5322, d1.loss_plan_l1_fix_dist: 0.2044, d2.loss_plan_l1_fix_time: 1.5160, d2.loss_plan_l1_fix_dist: 0.2165, d3.loss_plan_l1_fix_time: 1.5156, d3.loss_plan_l1_fix_dist: 0.2313, d4.loss_plan_l1_fix_time: 1.5185, d4.loss_plan_l1_fix_dist: 0.2493, d5.loss_plan_l1_fix_time: 1.5219, d5.loss_plan_l1_fix_dist: 0.2666, d6.loss_plan_l1_fix_time: 1.5261, d6.loss_plan_l1_fix_dist: 0.2838, d0.loss_cls_all: 0.2905, d0.loss_bbox_all: 0.5000, d0.loss_cls: 0.2905, d0.loss_bbox: 0.5000, d1.loss_cls: 0.2842, d1.loss_bbox: 0.4713, d2.loss_cls: 0.2761, d2.loss_bbox: 0.4587, d3.loss_cls: 0.2725, d3.loss_bbox: 0.4541, d4.loss_cls: 0.2700, d4.loss_bbox: 0.4530, d5.loss_cls: 0.2706, d5.loss_bbox: 0.4531, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1035, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9802, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9188, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9079, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8984, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8957, d0.loss_map_cls_all: 0.2779, d0.loss_map_pts_all: 1.7592, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2779, d0.loss_map_pts: 1.7592, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2529, d1.loss_map_pts: 1.2193, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2379, d2.loss_map_pts: 1.0355, d2.loss_map_dir: 0.0122, d3.loss_map_cls: 0.2302, d3.loss_map_pts: 0.9696, d3.loss_map_dir: 0.0129, d4.loss_map_cls: 0.2243, d4.loss_map_pts: 0.9467, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.2238, d5.loss_map_pts: 0.9389, d5.loss_map_dir: 0.0136, loss: 38.0669, grad_norm: 163.8458 +2026-02-25 10:31:04,906 - DriveTransformer - INFO - Epoch [4][25950/39528] lr: 9.623e-05, eta: 7 days, 11:21:56, time: 0.815, data_time: 0.043, memory: 19865, loss_cls: 0.2955, loss_bbox: 0.4917, loss_traj: 0.8741, loss_traj_cls: 0.0015, loss_map_cls: 0.2531, loss_map_pts: 1.0573, loss_map_dir: 0.0163, d0.loss_plan_l1_fix_time: 2.9213, d0.loss_plan_l1_fix_dist: 0.3840, d1.loss_plan_l1_fix_time: 1.6258, d1.loss_plan_l1_fix_dist: 0.2276, d2.loss_plan_l1_fix_time: 1.6024, d2.loss_plan_l1_fix_dist: 0.2437, d3.loss_plan_l1_fix_time: 1.5984, d3.loss_plan_l1_fix_dist: 0.2651, d4.loss_plan_l1_fix_time: 1.6008, d4.loss_plan_l1_fix_dist: 0.2877, d5.loss_plan_l1_fix_time: 1.6040, d5.loss_plan_l1_fix_dist: 0.3132, d6.loss_plan_l1_fix_time: 1.6074, d6.loss_plan_l1_fix_dist: 0.3411, d0.loss_cls_all: 0.3168, d0.loss_bbox_all: 0.5501, d0.loss_cls: 0.3168, d0.loss_bbox: 0.5501, d1.loss_cls: 0.3083, d1.loss_bbox: 0.5231, d2.loss_cls: 0.3030, d2.loss_bbox: 0.5051, d3.loss_cls: 0.3004, d3.loss_bbox: 0.4959, d4.loss_cls: 0.2974, d4.loss_bbox: 0.4928, d5.loss_cls: 0.2957, d5.loss_bbox: 0.4912, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0753, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9345, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8918, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8783, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8669, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8766, d0.loss_map_cls_all: 0.3076, d0.loss_map_pts_all: 1.9269, d0.loss_map_dir_all: 0.0143, d0.loss_map_cls: 0.3076, d0.loss_map_pts: 1.9269, d0.loss_map_dir: 0.0143, d1.loss_map_cls: 0.2825, d1.loss_map_pts: 1.3136, d1.loss_map_dir: 0.0139, d2.loss_map_cls: 0.2683, d2.loss_map_pts: 1.1324, d2.loss_map_dir: 0.0146, d3.loss_map_cls: 0.2603, d3.loss_map_pts: 1.0774, d3.loss_map_dir: 0.0155, d4.loss_map_cls: 0.2543, d4.loss_map_pts: 1.0630, d4.loss_map_dir: 0.0160, d5.loss_map_cls: 0.2526, d5.loss_map_pts: 1.0587, d5.loss_map_dir: 0.0161, loss: 40.4245, grad_norm: 164.6222 +2026-02-25 10:31:46,296 - DriveTransformer - INFO - Epoch [4][26000/39528] lr: 9.623e-05, eta: 7 days, 11:21:23, time: 0.828, data_time: 0.039, memory: 19865, loss_cls: 0.2547, loss_bbox: 0.4581, loss_traj: 0.7674, loss_traj_cls: 0.0016, loss_map_cls: 0.2147, loss_map_pts: 0.8691, loss_map_dir: 0.0157, d0.loss_plan_l1_fix_time: 2.7154, d0.loss_plan_l1_fix_dist: 0.4260, d1.loss_plan_l1_fix_time: 1.6002, d1.loss_plan_l1_fix_dist: 0.2303, d2.loss_plan_l1_fix_time: 1.5930, d2.loss_plan_l1_fix_dist: 0.2435, d3.loss_plan_l1_fix_time: 1.5892, d3.loss_plan_l1_fix_dist: 0.2601, d4.loss_plan_l1_fix_time: 1.5915, d4.loss_plan_l1_fix_dist: 0.2791, d5.loss_plan_l1_fix_time: 1.5946, d5.loss_plan_l1_fix_dist: 0.2996, d6.loss_plan_l1_fix_time: 1.5993, d6.loss_plan_l1_fix_dist: 0.3211, d0.loss_cls_all: 0.2874, d0.loss_bbox_all: 0.5051, d0.loss_cls: 0.2874, d0.loss_bbox: 0.5051, d1.loss_cls: 0.2774, d1.loss_bbox: 0.4789, d2.loss_cls: 0.2669, d2.loss_bbox: 0.4652, d3.loss_cls: 0.2629, d3.loss_bbox: 0.4595, d4.loss_cls: 0.2571, d4.loss_bbox: 0.4577, d5.loss_cls: 0.2545, d5.loss_bbox: 0.4581, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9352, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8196, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7844, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7736, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7700, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7670, d0.loss_map_cls_all: 0.2775, d0.loss_map_pts_all: 1.8102, d0.loss_map_dir_all: 0.0138, d0.loss_map_cls: 0.2775, d0.loss_map_pts: 1.8102, d0.loss_map_dir: 0.0138, d1.loss_map_cls: 0.2470, d1.loss_map_pts: 1.1604, d1.loss_map_dir: 0.0135, d2.loss_map_cls: 0.2327, d2.loss_map_pts: 0.9595, d2.loss_map_dir: 0.0141, d3.loss_map_cls: 0.2253, d3.loss_map_pts: 0.8986, d3.loss_map_dir: 0.0149, d4.loss_map_cls: 0.2176, d4.loss_map_pts: 0.8771, d4.loss_map_dir: 0.0153, d5.loss_map_cls: 0.2155, d5.loss_map_pts: 0.8702, d5.loss_map_dir: 0.0155, loss: 37.1833, grad_norm: 165.2464 +2026-02-25 10:32:27,287 - DriveTransformer - INFO - Epoch [4][26050/39528] lr: 9.623e-05, eta: 7 days, 11:20:47, time: 0.820, data_time: 0.051, memory: 19865, loss_cls: 0.2347, loss_bbox: 0.4113, loss_traj: 0.8223, loss_traj_cls: 0.0016, loss_map_cls: 0.2147, loss_map_pts: 0.9001, loss_map_dir: 0.0151, d0.loss_plan_l1_fix_time: 2.3584, d0.loss_plan_l1_fix_dist: 0.4253, d1.loss_plan_l1_fix_time: 1.3329, d1.loss_plan_l1_fix_dist: 0.2121, d2.loss_plan_l1_fix_time: 1.3249, d2.loss_plan_l1_fix_dist: 0.2217, d3.loss_plan_l1_fix_time: 1.3268, d3.loss_plan_l1_fix_dist: 0.2385, d4.loss_plan_l1_fix_time: 1.3304, d4.loss_plan_l1_fix_dist: 0.2601, d5.loss_plan_l1_fix_time: 1.3344, d5.loss_plan_l1_fix_dist: 0.2826, d6.loss_plan_l1_fix_time: 1.3397, d6.loss_plan_l1_fix_dist: 0.3030, d0.loss_cls_all: 0.2572, d0.loss_bbox_all: 0.4590, d0.loss_cls: 0.2572, d0.loss_bbox: 0.4590, d1.loss_cls: 0.2490, d1.loss_bbox: 0.4316, d2.loss_cls: 0.2384, d2.loss_bbox: 0.4181, d3.loss_cls: 0.2367, d3.loss_bbox: 0.4118, d4.loss_cls: 0.2332, d4.loss_bbox: 0.4096, d5.loss_cls: 0.2330, d5.loss_bbox: 0.4114, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0284, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8690, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8312, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8219, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8269, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8213, d0.loss_map_cls_all: 0.2746, d0.loss_map_pts_all: 1.9188, d0.loss_map_dir_all: 0.0134, d0.loss_map_cls: 0.2746, d0.loss_map_pts: 1.9188, d0.loss_map_dir: 0.0134, d1.loss_map_cls: 0.2521, d1.loss_map_pts: 1.2622, d1.loss_map_dir: 0.0129, d2.loss_map_cls: 0.2331, d2.loss_map_pts: 1.0207, d2.loss_map_dir: 0.0135, d3.loss_map_cls: 0.2258, d3.loss_map_pts: 0.9370, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2178, d4.loss_map_pts: 0.9098, d4.loss_map_dir: 0.0149, d5.loss_map_cls: 0.2155, d5.loss_map_pts: 0.9013, d5.loss_map_dir: 0.0150, loss: 35.4599, grad_norm: 164.2556 +2026-02-25 10:33:06,981 - DriveTransformer - INFO - Epoch [4][26100/39528] lr: 9.623e-05, eta: 7 days, 11:20:05, time: 0.794, data_time: 0.042, memory: 19865, loss_cls: 0.2525, loss_bbox: 0.4362, loss_traj: 1.0082, loss_traj_cls: 0.0016, loss_map_cls: 0.2167, loss_map_pts: 0.8838, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.6082, d0.loss_plan_l1_fix_dist: 0.4571, d1.loss_plan_l1_fix_time: 1.3811, d1.loss_plan_l1_fix_dist: 0.2305, d2.loss_plan_l1_fix_time: 1.3569, d2.loss_plan_l1_fix_dist: 0.2373, d3.loss_plan_l1_fix_time: 1.3517, d3.loss_plan_l1_fix_dist: 0.2500, d4.loss_plan_l1_fix_time: 1.3528, d4.loss_plan_l1_fix_dist: 0.2645, d5.loss_plan_l1_fix_time: 1.3546, d5.loss_plan_l1_fix_dist: 0.2807, d6.loss_plan_l1_fix_time: 1.3573, d6.loss_plan_l1_fix_dist: 0.2992, d0.loss_cls_all: 0.2815, d0.loss_bbox_all: 0.4928, d0.loss_cls: 0.2815, d0.loss_bbox: 0.4928, d1.loss_cls: 0.2695, d1.loss_bbox: 0.4625, d2.loss_cls: 0.2620, d2.loss_bbox: 0.4452, d3.loss_cls: 0.2549, d3.loss_bbox: 0.4386, d4.loss_cls: 0.2524, d4.loss_bbox: 0.4355, d5.loss_cls: 0.2519, d5.loss_bbox: 0.4368, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2666, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0898, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0338, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0171, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0063, d5.loss_traj_cls: 0.0012, d5.loss_traj: 1.0046, d0.loss_map_cls_all: 0.2754, d0.loss_map_pts_all: 1.6632, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2754, d0.loss_map_pts: 1.6632, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2529, d1.loss_map_pts: 1.1558, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2377, d2.loss_map_pts: 0.9745, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2243, d3.loss_map_pts: 0.9090, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.2186, d4.loss_map_pts: 0.8892, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.2171, d5.loss_map_pts: 0.8857, d5.loss_map_dir: 0.0126, loss: 36.9970, grad_norm: 165.1029 +2026-02-25 10:33:48,061 - DriveTransformer - INFO - Epoch [4][26150/39528] lr: 9.623e-05, eta: 7 days, 11:19:30, time: 0.822, data_time: 0.047, memory: 19865, loss_cls: 0.2652, loss_bbox: 0.4593, loss_traj: 1.1467, loss_traj_cls: 0.0016, loss_map_cls: 0.2262, loss_map_pts: 1.0054, loss_map_dir: 0.0165, d0.loss_plan_l1_fix_time: 2.8705, d0.loss_plan_l1_fix_dist: 0.3703, d1.loss_plan_l1_fix_time: 1.6307, d1.loss_plan_l1_fix_dist: 0.2226, d2.loss_plan_l1_fix_time: 1.6140, d2.loss_plan_l1_fix_dist: 0.2285, d3.loss_plan_l1_fix_time: 1.6131, d3.loss_plan_l1_fix_dist: 0.2392, d4.loss_plan_l1_fix_time: 1.6155, d4.loss_plan_l1_fix_dist: 0.2529, d5.loss_plan_l1_fix_time: 1.6187, d5.loss_plan_l1_fix_dist: 0.2691, d6.loss_plan_l1_fix_time: 1.6228, d6.loss_plan_l1_fix_dist: 0.2888, d0.loss_cls_all: 0.2926, d0.loss_bbox_all: 0.5188, d0.loss_cls: 0.2926, d0.loss_bbox: 0.5188, d1.loss_cls: 0.2858, d1.loss_bbox: 0.4860, d2.loss_cls: 0.2760, d2.loss_bbox: 0.4720, d3.loss_cls: 0.2705, d3.loss_bbox: 0.4634, d4.loss_cls: 0.2672, d4.loss_bbox: 0.4592, d5.loss_cls: 0.2656, d5.loss_bbox: 0.4589, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3412, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.1858, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1563, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1534, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.1481, d5.loss_traj_cls: 0.0012, d5.loss_traj: 1.1467, d0.loss_map_cls_all: 0.2817, d0.loss_map_pts_all: 2.0390, d0.loss_map_dir_all: 0.0143, d0.loss_map_cls: 0.2817, d0.loss_map_pts: 2.0390, d0.loss_map_dir: 0.0143, d1.loss_map_cls: 0.2571, d1.loss_map_pts: 1.3221, d1.loss_map_dir: 0.0142, d2.loss_map_cls: 0.2469, d2.loss_map_pts: 1.1053, d2.loss_map_dir: 0.0150, d3.loss_map_cls: 0.2372, d3.loss_map_pts: 1.0334, d3.loss_map_dir: 0.0158, d4.loss_map_cls: 0.2309, d4.loss_map_pts: 1.0146, d4.loss_map_dir: 0.0163, d5.loss_map_cls: 0.2277, d5.loss_map_pts: 1.0081, d5.loss_map_dir: 0.0163, loss: 41.4728, grad_norm: 164.4543 +2026-02-25 10:34:29,035 - DriveTransformer - INFO - Epoch [4][26200/39528] lr: 9.623e-05, eta: 7 days, 11:18:54, time: 0.819, data_time: 0.043, memory: 19865, loss_cls: 0.2619, loss_bbox: 0.4692, loss_traj: 0.7652, loss_traj_cls: 0.0016, loss_map_cls: 0.2569, loss_map_pts: 1.0352, loss_map_dir: 0.0161, d0.loss_plan_l1_fix_time: 2.6927, d0.loss_plan_l1_fix_dist: 0.3623, d1.loss_plan_l1_fix_time: 1.5729, d1.loss_plan_l1_fix_dist: 0.2150, d2.loss_plan_l1_fix_time: 1.5552, d2.loss_plan_l1_fix_dist: 0.2207, d3.loss_plan_l1_fix_time: 1.5521, d3.loss_plan_l1_fix_dist: 0.2318, d4.loss_plan_l1_fix_time: 1.5542, d4.loss_plan_l1_fix_dist: 0.2453, d5.loss_plan_l1_fix_time: 1.5576, d5.loss_plan_l1_fix_dist: 0.2597, d6.loss_plan_l1_fix_time: 1.5619, d6.loss_plan_l1_fix_dist: 0.2730, d0.loss_cls_all: 0.2817, d0.loss_bbox_all: 0.5216, d0.loss_cls: 0.2817, d0.loss_bbox: 0.5216, d1.loss_cls: 0.2714, d1.loss_bbox: 0.4926, d2.loss_cls: 0.2655, d2.loss_bbox: 0.4759, d3.loss_cls: 0.2599, d3.loss_bbox: 0.4708, d4.loss_cls: 0.2562, d4.loss_bbox: 0.4721, d5.loss_cls: 0.2597, d5.loss_bbox: 0.4691, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9558, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7937, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7546, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7574, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7594, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7557, d0.loss_map_cls_all: 0.3015, d0.loss_map_pts_all: 1.9718, d0.loss_map_dir_all: 0.0142, d0.loss_map_cls: 0.3015, d0.loss_map_pts: 1.9718, d0.loss_map_dir: 0.0142, d1.loss_map_cls: 0.2790, d1.loss_map_pts: 1.3374, d1.loss_map_dir: 0.0140, d2.loss_map_cls: 0.2672, d2.loss_map_pts: 1.1326, d2.loss_map_dir: 0.0146, d3.loss_map_cls: 0.2622, d3.loss_map_pts: 1.0633, d3.loss_map_dir: 0.0153, d4.loss_map_cls: 0.2600, d4.loss_map_pts: 1.0419, d4.loss_map_dir: 0.0157, d5.loss_map_cls: 0.2573, d5.loss_map_pts: 1.0372, d5.loss_map_dir: 0.0160, loss: 38.3313, grad_norm: 163.5791 +2026-02-25 10:35:09,243 - DriveTransformer - INFO - Epoch [4][26250/39528] lr: 9.623e-05, eta: 7 days, 11:18:14, time: 0.804, data_time: 0.051, memory: 19865, loss_cls: 0.2492, loss_bbox: 0.4336, loss_traj: 0.7099, loss_traj_cls: 0.0017, loss_map_cls: 0.2350, loss_map_pts: 0.8978, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 2.5771, d0.loss_plan_l1_fix_dist: 0.3363, d1.loss_plan_l1_fix_time: 1.3325, d1.loss_plan_l1_fix_dist: 0.1848, d2.loss_plan_l1_fix_time: 1.3180, d2.loss_plan_l1_fix_dist: 0.1876, d3.loss_plan_l1_fix_time: 1.3161, d3.loss_plan_l1_fix_dist: 0.1964, d4.loss_plan_l1_fix_time: 1.3190, d4.loss_plan_l1_fix_dist: 0.2087, d5.loss_plan_l1_fix_time: 1.3233, d5.loss_plan_l1_fix_dist: 0.2232, d6.loss_plan_l1_fix_time: 1.3283, d6.loss_plan_l1_fix_dist: 0.2385, d0.loss_cls_all: 0.2745, d0.loss_bbox_all: 0.4793, d0.loss_cls: 0.2745, d0.loss_bbox: 0.4793, d1.loss_cls: 0.2652, d1.loss_bbox: 0.4521, d2.loss_cls: 0.2563, d2.loss_bbox: 0.4384, d3.loss_cls: 0.2506, d3.loss_bbox: 0.4351, d4.loss_cls: 0.2491, d4.loss_bbox: 0.4335, d5.loss_cls: 0.2486, d5.loss_bbox: 0.4342, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9384, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7754, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7369, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7217, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7150, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7176, d0.loss_map_cls_all: 0.2778, d0.loss_map_pts_all: 1.7131, d0.loss_map_dir_all: 0.0126, d0.loss_map_cls: 0.2778, d0.loss_map_pts: 1.7131, d0.loss_map_dir: 0.0126, d1.loss_map_cls: 0.2555, d1.loss_map_pts: 1.1653, d1.loss_map_dir: 0.0122, d2.loss_map_cls: 0.2457, d2.loss_map_pts: 0.9805, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2392, d3.loss_map_pts: 0.9214, d3.loss_map_dir: 0.0135, d4.loss_map_cls: 0.2369, d4.loss_map_pts: 0.9040, d4.loss_map_dir: 0.0139, d5.loss_map_cls: 0.2356, d5.loss_map_pts: 0.9006, d5.loss_map_dir: 0.0141, loss: 34.3710, grad_norm: 162.5581 +2026-02-25 10:35:50,800 - DriveTransformer - INFO - Epoch [4][26300/39528] lr: 9.623e-05, eta: 7 days, 11:17:42, time: 0.831, data_time: 0.044, memory: 19865, loss_cls: 0.2468, loss_bbox: 0.4188, loss_traj: 0.8199, loss_traj_cls: 0.0017, loss_map_cls: 0.2000, loss_map_pts: 0.8576, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 2.2669, d0.loss_plan_l1_fix_dist: 0.3871, d1.loss_plan_l1_fix_time: 1.3081, d1.loss_plan_l1_fix_dist: 0.2007, d2.loss_plan_l1_fix_time: 1.2784, d2.loss_plan_l1_fix_dist: 0.2082, d3.loss_plan_l1_fix_time: 1.2806, d3.loss_plan_l1_fix_dist: 0.2204, d4.loss_plan_l1_fix_time: 1.2836, d4.loss_plan_l1_fix_dist: 0.2340, d5.loss_plan_l1_fix_time: 1.2869, d5.loss_plan_l1_fix_dist: 0.2497, d6.loss_plan_l1_fix_time: 1.2912, d6.loss_plan_l1_fix_dist: 0.2669, d0.loss_cls_all: 0.2687, d0.loss_bbox_all: 0.4652, d0.loss_cls: 0.2687, d0.loss_bbox: 0.4652, d1.loss_cls: 0.2615, d1.loss_bbox: 0.4395, d2.loss_cls: 0.2504, d2.loss_bbox: 0.4261, d3.loss_cls: 0.2492, d3.loss_bbox: 0.4205, d4.loss_cls: 0.2480, d4.loss_bbox: 0.4174, d5.loss_cls: 0.2472, d5.loss_bbox: 0.4177, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0482, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8759, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8381, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8299, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8221, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8229, d0.loss_map_cls_all: 0.2591, d0.loss_map_pts_all: 1.7231, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2591, d0.loss_map_pts: 1.7231, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2323, d1.loss_map_pts: 1.1181, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2173, d2.loss_map_pts: 0.9463, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2081, d3.loss_map_pts: 0.8898, d3.loss_map_dir: 0.0137, d4.loss_map_cls: 0.2033, d4.loss_map_pts: 0.8661, d4.loss_map_dir: 0.0140, d5.loss_map_cls: 0.2021, d5.loss_map_pts: 0.8592, d5.loss_map_dir: 0.0141, loss: 34.2094, grad_norm: 161.3088 +2026-02-25 10:36:31,703 - DriveTransformer - INFO - Epoch [4][26350/39528] lr: 9.623e-05, eta: 7 days, 11:17:06, time: 0.818, data_time: 0.045, memory: 19865, loss_cls: 0.2453, loss_bbox: 0.4325, loss_traj: 0.6962, loss_traj_cls: 0.0017, loss_map_cls: 0.2486, loss_map_pts: 0.9584, loss_map_dir: 0.0175, d0.loss_plan_l1_fix_time: 2.2831, d0.loss_plan_l1_fix_dist: 0.3678, d1.loss_plan_l1_fix_time: 1.4243, d1.loss_plan_l1_fix_dist: 0.1917, d2.loss_plan_l1_fix_time: 1.4104, d2.loss_plan_l1_fix_dist: 0.2008, d3.loss_plan_l1_fix_time: 1.4130, d3.loss_plan_l1_fix_dist: 0.2136, d4.loss_plan_l1_fix_time: 1.4159, d4.loss_plan_l1_fix_dist: 0.2300, d5.loss_plan_l1_fix_time: 1.4194, d5.loss_plan_l1_fix_dist: 0.2482, d6.loss_plan_l1_fix_time: 1.4240, d6.loss_plan_l1_fix_dist: 0.2686, d0.loss_cls_all: 0.2726, d0.loss_bbox_all: 0.4812, d0.loss_cls: 0.2726, d0.loss_bbox: 0.4812, d1.loss_cls: 0.2645, d1.loss_bbox: 0.4540, d2.loss_cls: 0.2531, d2.loss_bbox: 0.4405, d3.loss_cls: 0.2484, d3.loss_bbox: 0.4342, d4.loss_cls: 0.2457, d4.loss_bbox: 0.4325, d5.loss_cls: 0.2452, d5.loss_bbox: 0.4332, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8930, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7284, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6961, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7010, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6964, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6946, d0.loss_map_cls_all: 0.3045, d0.loss_map_pts_all: 1.9246, d0.loss_map_dir_all: 0.0159, d0.loss_map_cls: 0.3045, d0.loss_map_pts: 1.9246, d0.loss_map_dir: 0.0159, d1.loss_map_cls: 0.2810, d1.loss_map_pts: 1.2266, d1.loss_map_dir: 0.0154, d2.loss_map_cls: 0.2646, d2.loss_map_pts: 1.0430, d2.loss_map_dir: 0.0161, d3.loss_map_cls: 0.2568, d3.loss_map_pts: 0.9854, d3.loss_map_dir: 0.0169, d4.loss_map_cls: 0.2502, d4.loss_map_pts: 0.9705, d4.loss_map_dir: 0.0173, d5.loss_map_cls: 0.2484, d5.loss_map_pts: 0.9600, d5.loss_map_dir: 0.0175, loss: 35.5450, grad_norm: 160.7947 +2026-02-25 10:37:12,177 - DriveTransformer - INFO - Epoch [4][26400/39528] lr: 9.623e-05, eta: 7 days, 11:16:27, time: 0.809, data_time: 0.043, memory: 19865, loss_cls: 0.2713, loss_bbox: 0.4647, loss_traj: 0.7624, loss_traj_cls: 0.0016, loss_map_cls: 0.2222, loss_map_pts: 0.9588, loss_map_dir: 0.0152, d0.loss_plan_l1_fix_time: 2.7648, d0.loss_plan_l1_fix_dist: 0.3074, d1.loss_plan_l1_fix_time: 1.5018, d1.loss_plan_l1_fix_dist: 0.1953, d2.loss_plan_l1_fix_time: 1.4852, d2.loss_plan_l1_fix_dist: 0.2022, d3.loss_plan_l1_fix_time: 1.4853, d3.loss_plan_l1_fix_dist: 0.2138, d4.loss_plan_l1_fix_time: 1.4871, d4.loss_plan_l1_fix_dist: 0.2276, d5.loss_plan_l1_fix_time: 1.4891, d5.loss_plan_l1_fix_dist: 0.2423, d6.loss_plan_l1_fix_time: 1.4915, d6.loss_plan_l1_fix_dist: 0.2556, d0.loss_cls_all: 0.2916, d0.loss_bbox_all: 0.5150, d0.loss_cls: 0.2916, d0.loss_bbox: 0.5150, d1.loss_cls: 0.2875, d1.loss_bbox: 0.4846, d2.loss_cls: 0.2764, d2.loss_bbox: 0.4747, d3.loss_cls: 0.2739, d3.loss_bbox: 0.4663, d4.loss_cls: 0.2716, d4.loss_bbox: 0.4636, d5.loss_cls: 0.2705, d5.loss_bbox: 0.4642, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9473, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8124, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7738, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7667, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7612, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7609, d0.loss_map_cls_all: 0.2782, d0.loss_map_pts_all: 1.7750, d0.loss_map_dir_all: 0.0134, d0.loss_map_cls: 0.2782, d0.loss_map_pts: 1.7750, d0.loss_map_dir: 0.0134, d1.loss_map_cls: 0.2465, d1.loss_map_pts: 1.2057, d1.loss_map_dir: 0.0133, d2.loss_map_cls: 0.2311, d2.loss_map_pts: 1.0422, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2242, d3.loss_map_pts: 0.9908, d3.loss_map_dir: 0.0145, d4.loss_map_cls: 0.2207, d4.loss_map_pts: 0.9671, d4.loss_map_dir: 0.0150, d5.loss_map_cls: 0.2197, d5.loss_map_pts: 0.9603, d5.loss_map_dir: 0.0151, loss: 36.7331, grad_norm: 160.9213 +2026-02-25 10:37:54,292 - DriveTransformer - INFO - Epoch [4][26450/39528] lr: 9.623e-05, eta: 7 days, 11:15:58, time: 0.842, data_time: 0.048, memory: 19865, loss_cls: 0.2933, loss_bbox: 0.4754, loss_traj: 0.8994, loss_traj_cls: 0.0017, loss_map_cls: 0.2239, loss_map_pts: 1.0242, loss_map_dir: 0.0165, d0.loss_plan_l1_fix_time: 2.8705, d0.loss_plan_l1_fix_dist: 0.4236, d1.loss_plan_l1_fix_time: 1.6606, d1.loss_plan_l1_fix_dist: 0.2526, d2.loss_plan_l1_fix_time: 1.6491, d2.loss_plan_l1_fix_dist: 0.2599, d3.loss_plan_l1_fix_time: 1.6517, d3.loss_plan_l1_fix_dist: 0.2744, d4.loss_plan_l1_fix_time: 1.6547, d4.loss_plan_l1_fix_dist: 0.2884, d5.loss_plan_l1_fix_time: 1.6575, d5.loss_plan_l1_fix_dist: 0.3039, d6.loss_plan_l1_fix_time: 1.6611, d6.loss_plan_l1_fix_dist: 0.3220, d0.loss_cls_all: 0.3087, d0.loss_bbox_all: 0.5334, d0.loss_cls: 0.3087, d0.loss_bbox: 0.5334, d1.loss_cls: 0.3038, d1.loss_bbox: 0.5058, d2.loss_cls: 0.2982, d2.loss_bbox: 0.4858, d3.loss_cls: 0.2962, d3.loss_bbox: 0.4782, d4.loss_cls: 0.2936, d4.loss_bbox: 0.4755, d5.loss_cls: 0.2921, d5.loss_bbox: 0.4757, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0940, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9583, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9211, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9104, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9032, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9009, d0.loss_map_cls_all: 0.2750, d0.loss_map_pts_all: 1.9527, d0.loss_map_dir_all: 0.0150, d0.loss_map_cls: 0.2750, d0.loss_map_pts: 1.9527, d0.loss_map_dir: 0.0150, d1.loss_map_cls: 0.2505, d1.loss_map_pts: 1.3054, d1.loss_map_dir: 0.0146, d2.loss_map_cls: 0.2356, d2.loss_map_pts: 1.1134, d2.loss_map_dir: 0.0152, d3.loss_map_cls: 0.2300, d3.loss_map_pts: 1.0522, d3.loss_map_dir: 0.0158, d4.loss_map_cls: 0.2262, d4.loss_map_pts: 1.0324, d4.loss_map_dir: 0.0162, d5.loss_map_cls: 0.2241, d5.loss_map_pts: 1.0249, d5.loss_map_dir: 0.0163, loss: 40.4054, grad_norm: 161.8129 +2026-02-25 10:38:34,240 - DriveTransformer - INFO - Epoch [4][26500/39528] lr: 9.623e-05, eta: 7 days, 11:15:17, time: 0.799, data_time: 0.047, memory: 19865, loss_cls: 0.2479, loss_bbox: 0.4389, loss_traj: 0.7901, loss_traj_cls: 0.0017, loss_map_cls: 0.2142, loss_map_pts: 0.9400, loss_map_dir: 0.0140, d0.loss_plan_l1_fix_time: 2.5458, d0.loss_plan_l1_fix_dist: 0.4261, d1.loss_plan_l1_fix_time: 1.4449, d1.loss_plan_l1_fix_dist: 0.2039, d2.loss_plan_l1_fix_time: 1.4222, d2.loss_plan_l1_fix_dist: 0.2098, d3.loss_plan_l1_fix_time: 1.4222, d3.loss_plan_l1_fix_dist: 0.2215, d4.loss_plan_l1_fix_time: 1.4239, d4.loss_plan_l1_fix_dist: 0.2345, d5.loss_plan_l1_fix_time: 1.4261, d5.loss_plan_l1_fix_dist: 0.2487, d6.loss_plan_l1_fix_time: 1.4289, d6.loss_plan_l1_fix_dist: 0.2653, d0.loss_cls_all: 0.2668, d0.loss_bbox_all: 0.4810, d0.loss_cls: 0.2668, d0.loss_bbox: 0.4810, d1.loss_cls: 0.2569, d1.loss_bbox: 0.4584, d2.loss_cls: 0.2505, d2.loss_bbox: 0.4442, d3.loss_cls: 0.2471, d3.loss_bbox: 0.4395, d4.loss_cls: 0.2455, d4.loss_bbox: 0.4379, d5.loss_cls: 0.2450, d5.loss_bbox: 0.4373, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9790, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8394, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8001, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7902, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7906, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7871, d0.loss_map_cls_all: 0.2596, d0.loss_map_pts_all: 1.7283, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2596, d0.loss_map_pts: 1.7283, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2394, d1.loss_map_pts: 1.1968, d1.loss_map_dir: 0.0128, d2.loss_map_cls: 0.2266, d2.loss_map_pts: 1.0426, d2.loss_map_dir: 0.0131, d3.loss_map_cls: 0.2230, d3.loss_map_pts: 0.9766, d3.loss_map_dir: 0.0136, d4.loss_map_cls: 0.2194, d4.loss_map_pts: 0.9506, d4.loss_map_dir: 0.0138, d5.loss_map_cls: 0.2158, d5.loss_map_pts: 0.9421, d5.loss_map_dir: 0.0140, loss: 35.8221, grad_norm: 160.7448 +2026-02-25 10:39:14,684 - DriveTransformer - INFO - Epoch [4][26550/39528] lr: 9.623e-05, eta: 7 days, 11:14:38, time: 0.809, data_time: 0.037, memory: 19865, loss_cls: 0.2726, loss_bbox: 0.4705, loss_traj: 0.8900, loss_traj_cls: 0.0016, loss_map_cls: 0.2456, loss_map_pts: 1.0789, loss_map_dir: 0.0176, d0.loss_plan_l1_fix_time: 2.7636, d0.loss_plan_l1_fix_dist: 0.4146, d1.loss_plan_l1_fix_time: 1.6098, d1.loss_plan_l1_fix_dist: 0.2540, d2.loss_plan_l1_fix_time: 1.5894, d2.loss_plan_l1_fix_dist: 0.2607, d3.loss_plan_l1_fix_time: 1.5919, d3.loss_plan_l1_fix_dist: 0.2722, d4.loss_plan_l1_fix_time: 1.5943, d4.loss_plan_l1_fix_dist: 0.2855, d5.loss_plan_l1_fix_time: 1.5970, d5.loss_plan_l1_fix_dist: 0.3015, d6.loss_plan_l1_fix_time: 1.6003, d6.loss_plan_l1_fix_dist: 0.3184, d0.loss_cls_all: 0.2908, d0.loss_bbox_all: 0.5159, d0.loss_cls: 0.2908, d0.loss_bbox: 0.5159, d1.loss_cls: 0.2823, d1.loss_bbox: 0.4870, d2.loss_cls: 0.2763, d2.loss_bbox: 0.4739, d3.loss_cls: 0.2710, d3.loss_bbox: 0.4692, d4.loss_cls: 0.2699, d4.loss_bbox: 0.4667, d5.loss_cls: 0.2700, d5.loss_bbox: 0.4683, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1161, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9399, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9100, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8971, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8886, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8885, d0.loss_map_cls_all: 0.3049, d0.loss_map_pts_all: 2.0247, d0.loss_map_dir_all: 0.0160, d0.loss_map_cls: 0.3049, d0.loss_map_pts: 2.0247, d0.loss_map_dir: 0.0160, d1.loss_map_cls: 0.2837, d1.loss_map_pts: 1.3463, d1.loss_map_dir: 0.0155, d2.loss_map_cls: 0.2658, d2.loss_map_pts: 1.1678, d2.loss_map_dir: 0.0161, d3.loss_map_cls: 0.2536, d3.loss_map_pts: 1.1042, d3.loss_map_dir: 0.0168, d4.loss_map_cls: 0.2491, d4.loss_map_pts: 1.0851, d4.loss_map_dir: 0.0173, d5.loss_map_cls: 0.2464, d5.loss_map_pts: 1.0799, d5.loss_map_dir: 0.0175, loss: 40.2798, grad_norm: 158.3207 +2026-02-25 10:39:54,508 - DriveTransformer - INFO - Epoch [4][26600/39528] lr: 9.623e-05, eta: 7 days, 11:13:57, time: 0.798, data_time: 0.049, memory: 19865, loss_cls: 0.2681, loss_bbox: 0.4527, loss_traj: 0.9120, loss_traj_cls: 0.0016, loss_map_cls: 0.2235, loss_map_pts: 1.0710, loss_map_dir: 0.0182, d0.loss_plan_l1_fix_time: 2.7165, d0.loss_plan_l1_fix_dist: 0.3290, d1.loss_plan_l1_fix_time: 1.4909, d1.loss_plan_l1_fix_dist: 0.2266, d2.loss_plan_l1_fix_time: 1.4682, d2.loss_plan_l1_fix_dist: 0.2312, d3.loss_plan_l1_fix_time: 1.4669, d3.loss_plan_l1_fix_dist: 0.2424, d4.loss_plan_l1_fix_time: 1.4697, d4.loss_plan_l1_fix_dist: 0.2571, d5.loss_plan_l1_fix_time: 1.4730, d5.loss_plan_l1_fix_dist: 0.2751, d6.loss_plan_l1_fix_time: 1.4769, d6.loss_plan_l1_fix_dist: 0.2950, d0.loss_cls_all: 0.2889, d0.loss_bbox_all: 0.5000, d0.loss_cls: 0.2889, d0.loss_bbox: 0.5000, d1.loss_cls: 0.2838, d1.loss_bbox: 0.4730, d2.loss_cls: 0.2739, d2.loss_bbox: 0.4590, d3.loss_cls: 0.2701, d3.loss_bbox: 0.4532, d4.loss_cls: 0.2671, d4.loss_bbox: 0.4501, d5.loss_cls: 0.2660, d5.loss_bbox: 0.4519, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1124, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9451, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9166, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9167, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9167, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9125, d0.loss_map_cls_all: 0.2839, d0.loss_map_pts_all: 2.0705, d0.loss_map_dir_all: 0.0163, d0.loss_map_cls: 0.2839, d0.loss_map_pts: 2.0705, d0.loss_map_dir: 0.0163, d1.loss_map_cls: 0.2561, d1.loss_map_pts: 1.3598, d1.loss_map_dir: 0.0161, d2.loss_map_cls: 0.2403, d2.loss_map_pts: 1.1698, d2.loss_map_dir: 0.0167, d3.loss_map_cls: 0.2299, d3.loss_map_pts: 1.1038, d3.loss_map_dir: 0.0174, d4.loss_map_cls: 0.2251, d4.loss_map_pts: 1.0818, d4.loss_map_dir: 0.0179, d5.loss_map_cls: 0.2232, d5.loss_map_pts: 1.0732, d5.loss_map_dir: 0.0181, loss: 39.1072, grad_norm: 158.8862 +2026-02-25 10:40:33,842 - DriveTransformer - INFO - Epoch [4][26650/39528] lr: 9.623e-05, eta: 7 days, 11:13:12, time: 0.785, data_time: 0.047, memory: 19865, loss_cls: 0.2565, loss_bbox: 0.4414, loss_traj: 0.8783, loss_traj_cls: 0.0017, loss_map_cls: 0.2159, loss_map_pts: 0.9080, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.5048, d0.loss_plan_l1_fix_dist: 0.4424, d1.loss_plan_l1_fix_time: 1.2925, d1.loss_plan_l1_fix_dist: 0.1787, d2.loss_plan_l1_fix_time: 1.2555, d2.loss_plan_l1_fix_dist: 0.1850, d3.loss_plan_l1_fix_time: 1.2479, d3.loss_plan_l1_fix_dist: 0.1958, d4.loss_plan_l1_fix_time: 1.2487, d4.loss_plan_l1_fix_dist: 0.2085, d5.loss_plan_l1_fix_time: 1.2501, d5.loss_plan_l1_fix_dist: 0.2226, d6.loss_plan_l1_fix_time: 1.2520, d6.loss_plan_l1_fix_dist: 0.2411, d0.loss_cls_all: 0.2762, d0.loss_bbox_all: 0.4863, d0.loss_cls: 0.2762, d0.loss_bbox: 0.4863, d1.loss_cls: 0.2703, d1.loss_bbox: 0.4600, d2.loss_cls: 0.2615, d2.loss_bbox: 0.4463, d3.loss_cls: 0.2603, d3.loss_bbox: 0.4392, d4.loss_cls: 0.2585, d4.loss_bbox: 0.4373, d5.loss_cls: 0.2559, d5.loss_bbox: 0.4387, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0276, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9079, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8850, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8801, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8776, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8790, d0.loss_map_cls_all: 0.2688, d0.loss_map_pts_all: 1.7418, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.2688, d0.loss_map_pts: 1.7418, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.2464, d1.loss_map_pts: 1.1386, d1.loss_map_dir: 0.0133, d2.loss_map_cls: 0.2328, d2.loss_map_pts: 0.9840, d2.loss_map_dir: 0.0138, d3.loss_map_cls: 0.2227, d3.loss_map_pts: 0.9324, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2174, d4.loss_map_pts: 0.9166, d4.loss_map_dir: 0.0148, d5.loss_map_cls: 0.2146, d5.loss_map_pts: 0.9100, d5.loss_map_dir: 0.0148, loss: 35.0932, grad_norm: 157.9352 +2026-02-25 10:41:14,298 - DriveTransformer - INFO - Epoch [4][26700/39528] lr: 9.623e-05, eta: 7 days, 11:12:33, time: 0.809, data_time: 0.049, memory: 19865, loss_cls: 0.2749, loss_bbox: 0.4719, loss_traj: 0.9345, loss_traj_cls: 0.0017, loss_map_cls: 0.1937, loss_map_pts: 0.9072, loss_map_dir: 0.0151, d0.loss_plan_l1_fix_time: 2.5502, d0.loss_plan_l1_fix_dist: 0.4400, d1.loss_plan_l1_fix_time: 1.4741, d1.loss_plan_l1_fix_dist: 0.2256, d2.loss_plan_l1_fix_time: 1.4636, d2.loss_plan_l1_fix_dist: 0.2328, d3.loss_plan_l1_fix_time: 1.4718, d3.loss_plan_l1_fix_dist: 0.2493, d4.loss_plan_l1_fix_time: 1.4769, d4.loss_plan_l1_fix_dist: 0.2695, d5.loss_plan_l1_fix_time: 1.4820, d5.loss_plan_l1_fix_dist: 0.2894, d6.loss_plan_l1_fix_time: 1.4868, d6.loss_plan_l1_fix_dist: 0.3102, d0.loss_cls_all: 0.3007, d0.loss_bbox_all: 0.5259, d0.loss_cls: 0.3007, d0.loss_bbox: 0.5259, d1.loss_cls: 0.2918, d1.loss_bbox: 0.4961, d2.loss_cls: 0.2826, d2.loss_bbox: 0.4785, d3.loss_cls: 0.2764, d3.loss_bbox: 0.4740, d4.loss_cls: 0.2737, d4.loss_bbox: 0.4715, d5.loss_cls: 0.2747, d5.loss_bbox: 0.4700, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1313, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9933, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9453, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9381, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9322, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9331, d0.loss_map_cls_all: 0.2660, d0.loss_map_pts_all: 1.7452, d0.loss_map_dir_all: 0.0146, d0.loss_map_cls: 0.2660, d0.loss_map_pts: 1.7452, d0.loss_map_dir: 0.0146, d1.loss_map_cls: 0.2344, d1.loss_map_pts: 1.1541, d1.loss_map_dir: 0.0141, d2.loss_map_cls: 0.2136, d2.loss_map_pts: 0.9882, d2.loss_map_dir: 0.0141, d3.loss_map_cls: 0.2015, d3.loss_map_pts: 0.9318, d3.loss_map_dir: 0.0147, d4.loss_map_cls: 0.1958, d4.loss_map_pts: 0.9153, d4.loss_map_dir: 0.0149, d5.loss_map_cls: 0.1934, d5.loss_map_pts: 0.9072, d5.loss_map_dir: 0.0151, loss: 37.6025, grad_norm: 160.8058 +2026-02-25 10:41:52,498 - DriveTransformer - INFO - Epoch [4][26750/39528] lr: 9.623e-05, eta: 7 days, 11:11:42, time: 0.764, data_time: 0.043, memory: 19865, loss_cls: 0.2442, loss_bbox: 0.4690, loss_traj: 0.9997, loss_traj_cls: 0.0017, loss_map_cls: 0.2192, loss_map_pts: 0.8716, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.9845, d0.loss_plan_l1_fix_dist: 0.4916, d1.loss_plan_l1_fix_time: 1.5114, d1.loss_plan_l1_fix_dist: 0.2188, d2.loss_plan_l1_fix_time: 1.4996, d2.loss_plan_l1_fix_dist: 0.2276, d3.loss_plan_l1_fix_time: 1.5028, d3.loss_plan_l1_fix_dist: 0.2398, d4.loss_plan_l1_fix_time: 1.5058, d4.loss_plan_l1_fix_dist: 0.2543, d5.loss_plan_l1_fix_time: 1.5101, d5.loss_plan_l1_fix_dist: 0.2700, d6.loss_plan_l1_fix_time: 1.5144, d6.loss_plan_l1_fix_dist: 0.2859, d0.loss_cls_all: 0.2682, d0.loss_bbox_all: 0.5245, d0.loss_cls: 0.2682, d0.loss_bbox: 0.5245, d1.loss_cls: 0.2587, d1.loss_bbox: 0.4956, d2.loss_cls: 0.2567, d2.loss_bbox: 0.4744, d3.loss_cls: 0.2498, d3.loss_bbox: 0.4707, d4.loss_cls: 0.2450, d4.loss_bbox: 0.4698, d5.loss_cls: 0.2442, d5.loss_bbox: 0.4680, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1723, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0386, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0002, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9897, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9953, d5.loss_traj_cls: 0.0013, d5.loss_traj: 1.0013, d0.loss_map_cls_all: 0.2773, d0.loss_map_pts_all: 1.5083, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2773, d0.loss_map_pts: 1.5083, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2548, d1.loss_map_pts: 1.0659, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2407, d2.loss_map_pts: 0.9284, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.2267, d3.loss_map_pts: 0.8839, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.2217, d4.loss_map_pts: 0.8719, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.2199, d5.loss_map_pts: 0.8703, d5.loss_map_dir: 0.0106, loss: 37.6801, grad_norm: 160.8889 +2026-02-25 10:42:33,612 - DriveTransformer - INFO - Epoch [4][26800/39528] lr: 9.623e-05, eta: 7 days, 11:11:07, time: 0.822, data_time: 0.044, memory: 19865, loss_cls: 0.2739, loss_bbox: 0.4436, loss_traj: 0.9559, loss_traj_cls: 0.0017, loss_map_cls: 0.2572, loss_map_pts: 1.1518, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 2.5708, d0.loss_plan_l1_fix_dist: 0.4543, d1.loss_plan_l1_fix_time: 1.4184, d1.loss_plan_l1_fix_dist: 0.2146, d2.loss_plan_l1_fix_time: 1.3893, d2.loss_plan_l1_fix_dist: 0.2195, d3.loss_plan_l1_fix_time: 1.3882, d3.loss_plan_l1_fix_dist: 0.2309, d4.loss_plan_l1_fix_time: 1.3921, d4.loss_plan_l1_fix_dist: 0.2467, d5.loss_plan_l1_fix_time: 1.3970, d5.loss_plan_l1_fix_dist: 0.2647, d6.loss_plan_l1_fix_time: 1.4027, d6.loss_plan_l1_fix_dist: 0.2854, d0.loss_cls_all: 0.2937, d0.loss_bbox_all: 0.4969, d0.loss_cls: 0.2937, d0.loss_bbox: 0.4969, d1.loss_cls: 0.2867, d1.loss_bbox: 0.4694, d2.loss_cls: 0.2810, d2.loss_bbox: 0.4506, d3.loss_cls: 0.2759, d3.loss_bbox: 0.4458, d4.loss_cls: 0.2741, d4.loss_bbox: 0.4432, d5.loss_cls: 0.2729, d5.loss_bbox: 0.4431, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1563, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0091, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9724, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9624, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9537, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9563, d0.loss_map_cls_all: 0.3078, d0.loss_map_pts_all: 1.9671, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.3078, d0.loss_map_pts: 1.9671, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2825, d1.loss_map_pts: 1.4135, d1.loss_map_dir: 0.0132, d2.loss_map_cls: 0.2696, d2.loss_map_pts: 1.2464, d2.loss_map_dir: 0.0135, d3.loss_map_cls: 0.2636, d3.loss_map_pts: 1.1832, d3.loss_map_dir: 0.0140, d4.loss_map_cls: 0.2581, d4.loss_map_pts: 1.1627, d4.loss_map_dir: 0.0142, d5.loss_map_cls: 0.2571, d5.loss_map_pts: 1.1538, d5.loss_map_dir: 0.0143, loss: 39.3485, grad_norm: 159.2463 +2026-02-25 10:43:13,223 - DriveTransformer - INFO - Epoch [4][26850/39528] lr: 9.623e-05, eta: 7 days, 11:10:24, time: 0.792, data_time: 0.044, memory: 19865, loss_cls: 0.2515, loss_bbox: 0.4529, loss_traj: 1.0034, loss_traj_cls: 0.0017, loss_map_cls: 0.2323, loss_map_pts: 0.8920, loss_map_dir: 0.0135, d0.loss_plan_l1_fix_time: 2.6283, d0.loss_plan_l1_fix_dist: 0.4036, d1.loss_plan_l1_fix_time: 1.4894, d1.loss_plan_l1_fix_dist: 0.2278, d2.loss_plan_l1_fix_time: 1.4732, d2.loss_plan_l1_fix_dist: 0.2359, d3.loss_plan_l1_fix_time: 1.4721, d3.loss_plan_l1_fix_dist: 0.2462, d4.loss_plan_l1_fix_time: 1.4753, d4.loss_plan_l1_fix_dist: 0.2584, d5.loss_plan_l1_fix_time: 1.4789, d5.loss_plan_l1_fix_dist: 0.2727, d6.loss_plan_l1_fix_time: 1.4837, d6.loss_plan_l1_fix_dist: 0.2882, d0.loss_cls_all: 0.2810, d0.loss_bbox_all: 0.5037, d0.loss_cls: 0.2810, d0.loss_bbox: 0.5037, d1.loss_cls: 0.2712, d1.loss_bbox: 0.4746, d2.loss_cls: 0.2598, d2.loss_bbox: 0.4582, d3.loss_cls: 0.2566, d3.loss_bbox: 0.4524, d4.loss_cls: 0.2537, d4.loss_bbox: 0.4504, d5.loss_cls: 0.2519, d5.loss_bbox: 0.4515, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2776, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0850, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0282, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0114, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0095, d5.loss_traj_cls: 0.0012, d5.loss_traj: 1.0069, d0.loss_map_cls_all: 0.2845, d0.loss_map_pts_all: 1.7861, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.2845, d0.loss_map_pts: 1.7861, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2610, d1.loss_map_pts: 1.1743, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2527, d2.loss_map_pts: 0.9991, d2.loss_map_dir: 0.0126, d3.loss_map_cls: 0.2425, d3.loss_map_pts: 0.9287, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.2369, d4.loss_map_pts: 0.9044, d4.loss_map_dir: 0.0132, d5.loss_map_cls: 0.2334, d5.loss_map_pts: 0.8954, d5.loss_map_dir: 0.0134, loss: 38.2143, grad_norm: 158.2603 +2026-02-25 10:43:53,047 - DriveTransformer - INFO - Epoch [4][26900/39528] lr: 9.623e-05, eta: 7 days, 11:09:42, time: 0.796, data_time: 0.037, memory: 19865, loss_cls: 0.2764, loss_bbox: 0.4588, loss_traj: 0.6631, loss_traj_cls: 0.0016, loss_map_cls: 0.2360, loss_map_pts: 1.0375, loss_map_dir: 0.0167, d0.loss_plan_l1_fix_time: 2.5133, d0.loss_plan_l1_fix_dist: 0.4494, d1.loss_plan_l1_fix_time: 1.4213, d1.loss_plan_l1_fix_dist: 0.2291, d2.loss_plan_l1_fix_time: 1.4069, d2.loss_plan_l1_fix_dist: 0.2365, d3.loss_plan_l1_fix_time: 1.4068, d3.loss_plan_l1_fix_dist: 0.2460, d4.loss_plan_l1_fix_time: 1.4102, d4.loss_plan_l1_fix_dist: 0.2577, d5.loss_plan_l1_fix_time: 1.4144, d5.loss_plan_l1_fix_dist: 0.2714, d6.loss_plan_l1_fix_time: 1.4193, d6.loss_plan_l1_fix_dist: 0.2855, d0.loss_cls_all: 0.3035, d0.loss_bbox_all: 0.5074, d0.loss_cls: 0.3035, d0.loss_bbox: 0.5074, d1.loss_cls: 0.2938, d1.loss_bbox: 0.4810, d2.loss_cls: 0.2830, d2.loss_bbox: 0.4657, d3.loss_cls: 0.2806, d3.loss_bbox: 0.4574, d4.loss_cls: 0.2771, d4.loss_bbox: 0.4564, d5.loss_cls: 0.2762, d5.loss_bbox: 0.4566, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8176, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7131, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6785, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6671, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6651, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6631, d0.loss_map_cls_all: 0.3004, d0.loss_map_pts_all: 1.9328, d0.loss_map_dir_all: 0.0152, d0.loss_map_cls: 0.3004, d0.loss_map_pts: 1.9328, d0.loss_map_dir: 0.0152, d1.loss_map_cls: 0.2681, d1.loss_map_pts: 1.3145, d1.loss_map_dir: 0.0149, d2.loss_map_cls: 0.2510, d2.loss_map_pts: 1.1351, d2.loss_map_dir: 0.0154, d3.loss_map_cls: 0.2399, d3.loss_map_pts: 1.0703, d3.loss_map_dir: 0.0162, d4.loss_map_cls: 0.2368, d4.loss_map_pts: 1.0471, d4.loss_map_dir: 0.0165, d5.loss_map_cls: 0.2364, d5.loss_map_pts: 1.0395, d5.loss_map_dir: 0.0166, loss: 36.6323, grad_norm: 156.0279 +2026-02-25 10:44:34,450 - DriveTransformer - INFO - Epoch [4][26950/39528] lr: 9.623e-05, eta: 7 days, 11:09:09, time: 0.828, data_time: 0.039, memory: 19865, loss_cls: 0.2759, loss_bbox: 0.4783, loss_traj: 0.7841, loss_traj_cls: 0.0015, loss_map_cls: 0.2221, loss_map_pts: 1.0417, loss_map_dir: 0.0172, d0.loss_plan_l1_fix_time: 3.1218, d0.loss_plan_l1_fix_dist: 0.5337, d1.loss_plan_l1_fix_time: 1.6337, d1.loss_plan_l1_fix_dist: 0.2907, d2.loss_plan_l1_fix_time: 1.6038, d2.loss_plan_l1_fix_dist: 0.2932, d3.loss_plan_l1_fix_time: 1.6021, d3.loss_plan_l1_fix_dist: 0.3008, d4.loss_plan_l1_fix_time: 1.6048, d4.loss_plan_l1_fix_dist: 0.3097, d5.loss_plan_l1_fix_time: 1.6084, d5.loss_plan_l1_fix_dist: 0.3196, d6.loss_plan_l1_fix_time: 1.6125, d6.loss_plan_l1_fix_dist: 0.3297, d0.loss_cls_all: 0.3082, d0.loss_bbox_all: 0.5268, d0.loss_cls: 0.3082, d0.loss_bbox: 0.5268, d1.loss_cls: 0.3007, d1.loss_bbox: 0.4983, d2.loss_cls: 0.2887, d2.loss_bbox: 0.4837, d3.loss_cls: 0.2817, d3.loss_bbox: 0.4763, d4.loss_cls: 0.2774, d4.loss_bbox: 0.4748, d5.loss_cls: 0.2764, d5.loss_bbox: 0.4758, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9616, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8303, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7957, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7825, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.7794, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7797, d0.loss_map_cls_all: 0.2737, d0.loss_map_pts_all: 1.9873, d0.loss_map_dir_all: 0.0163, d0.loss_map_cls: 0.2737, d0.loss_map_pts: 1.9873, d0.loss_map_dir: 0.0163, d1.loss_map_cls: 0.2497, d1.loss_map_pts: 1.3238, d1.loss_map_dir: 0.0159, d2.loss_map_cls: 0.2409, d2.loss_map_pts: 1.1425, d2.loss_map_dir: 0.0163, d3.loss_map_cls: 0.2315, d3.loss_map_pts: 1.0764, d3.loss_map_dir: 0.0168, d4.loss_map_cls: 0.2259, d4.loss_map_pts: 1.0523, d4.loss_map_dir: 0.0171, d5.loss_map_cls: 0.2220, d5.loss_map_pts: 1.0452, d5.loss_map_dir: 0.0172, loss: 39.8722, grad_norm: 155.5899 +2026-02-25 10:45:16,035 - DriveTransformer - INFO - Epoch [4][27000/39528] lr: 9.623e-05, eta: 7 days, 11:08:37, time: 0.832, data_time: 0.042, memory: 19865, loss_cls: 0.2746, loss_bbox: 0.4438, loss_traj: 0.9042, loss_traj_cls: 0.0015, loss_map_cls: 0.2279, loss_map_pts: 0.9568, loss_map_dir: 0.0138, d0.loss_plan_l1_fix_time: 2.5829, d0.loss_plan_l1_fix_dist: 0.3589, d1.loss_plan_l1_fix_time: 1.1631, d1.loss_plan_l1_fix_dist: 0.1811, d2.loss_plan_l1_fix_time: 1.1463, d2.loss_plan_l1_fix_dist: 0.1832, d3.loss_plan_l1_fix_time: 1.1458, d3.loss_plan_l1_fix_dist: 0.1891, d4.loss_plan_l1_fix_time: 1.1495, d4.loss_plan_l1_fix_dist: 0.1990, d5.loss_plan_l1_fix_time: 1.1545, d5.loss_plan_l1_fix_dist: 0.2108, d6.loss_plan_l1_fix_time: 1.1605, d6.loss_plan_l1_fix_dist: 0.2234, d0.loss_cls_all: 0.2909, d0.loss_bbox_all: 0.4930, d0.loss_cls: 0.2909, d0.loss_bbox: 0.4930, d1.loss_cls: 0.2820, d1.loss_bbox: 0.4640, d2.loss_cls: 0.2763, d2.loss_bbox: 0.4497, d3.loss_cls: 0.2755, d3.loss_bbox: 0.4426, d4.loss_cls: 0.2743, d4.loss_bbox: 0.4400, d5.loss_cls: 0.2741, d5.loss_bbox: 0.4421, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0520, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9360, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9040, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8978, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.8925, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8941, d0.loss_map_cls_all: 0.2816, d0.loss_map_pts_all: 1.7665, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.2816, d0.loss_map_pts: 1.7665, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2571, d1.loss_map_pts: 1.1885, d1.loss_map_dir: 0.0128, d2.loss_map_cls: 0.2467, d2.loss_map_pts: 1.0319, d2.loss_map_dir: 0.0130, d3.loss_map_cls: 0.2356, d3.loss_map_pts: 0.9792, d3.loss_map_dir: 0.0134, d4.loss_map_cls: 0.2293, d4.loss_map_pts: 0.9622, d4.loss_map_dir: 0.0136, d5.loss_map_cls: 0.2280, d5.loss_map_pts: 0.9588, d5.loss_map_dir: 0.0137, loss: 35.1469, grad_norm: 156.3511 +2026-02-25 10:45:57,404 - DriveTransformer - INFO - Epoch [4][27050/39528] lr: 9.623e-05, eta: 7 days, 11:08:03, time: 0.827, data_time: 0.042, memory: 19865, loss_cls: 0.2561, loss_bbox: 0.4539, loss_traj: 0.8216, loss_traj_cls: 0.0015, loss_map_cls: 0.2382, loss_map_pts: 1.0560, loss_map_dir: 0.0159, d0.loss_plan_l1_fix_time: 2.3047, d0.loss_plan_l1_fix_dist: 0.3694, d1.loss_plan_l1_fix_time: 1.4908, d1.loss_plan_l1_fix_dist: 0.2085, d2.loss_plan_l1_fix_time: 1.4858, d2.loss_plan_l1_fix_dist: 0.2131, d3.loss_plan_l1_fix_time: 1.4883, d3.loss_plan_l1_fix_dist: 0.2217, d4.loss_plan_l1_fix_time: 1.4923, d4.loss_plan_l1_fix_dist: 0.2278, d5.loss_plan_l1_fix_time: 1.4967, d5.loss_plan_l1_fix_dist: 0.2346, d6.loss_plan_l1_fix_time: 1.5016, d6.loss_plan_l1_fix_dist: 0.2476, d0.loss_cls_all: 0.2760, d0.loss_bbox_all: 0.4994, d0.loss_cls: 0.2760, d0.loss_bbox: 0.4994, d1.loss_cls: 0.2666, d1.loss_bbox: 0.4704, d2.loss_cls: 0.2644, d2.loss_bbox: 0.4555, d3.loss_cls: 0.2611, d3.loss_bbox: 0.4503, d4.loss_cls: 0.2566, d4.loss_bbox: 0.4511, d5.loss_cls: 0.2575, d5.loss_bbox: 0.4512, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9839, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8739, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8266, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8180, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8147, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8168, d0.loss_map_cls_all: 0.3048, d0.loss_map_pts_all: 1.9593, d0.loss_map_dir_all: 0.0153, d0.loss_map_cls: 0.3048, d0.loss_map_pts: 1.9593, d0.loss_map_dir: 0.0153, d1.loss_map_cls: 0.2735, d1.loss_map_pts: 1.3162, d1.loss_map_dir: 0.0147, d2.loss_map_cls: 0.2592, d2.loss_map_pts: 1.1372, d2.loss_map_dir: 0.0150, d3.loss_map_cls: 0.2459, d3.loss_map_pts: 1.0804, d3.loss_map_dir: 0.0155, d4.loss_map_cls: 0.2410, d4.loss_map_pts: 1.0628, d4.loss_map_dir: 0.0158, d5.loss_map_cls: 0.2392, d5.loss_map_pts: 1.0566, d5.loss_map_dir: 0.0159, loss: 37.6485, grad_norm: 154.4932 +2026-02-25 10:46:37,168 - DriveTransformer - INFO - Epoch [4][27100/39528] lr: 9.623e-05, eta: 7 days, 11:07:21, time: 0.795, data_time: 0.044, memory: 19865, loss_cls: 0.2738, loss_bbox: 0.4861, loss_traj: 0.7796, loss_traj_cls: 0.0015, loss_map_cls: 0.2589, loss_map_pts: 1.0741, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.6611, d0.loss_plan_l1_fix_dist: 0.5056, d1.loss_plan_l1_fix_time: 1.5113, d1.loss_plan_l1_fix_dist: 0.2572, d2.loss_plan_l1_fix_time: 1.4939, d2.loss_plan_l1_fix_dist: 0.2614, d3.loss_plan_l1_fix_time: 1.4957, d3.loss_plan_l1_fix_dist: 0.2703, d4.loss_plan_l1_fix_time: 1.4987, d4.loss_plan_l1_fix_dist: 0.2810, d5.loss_plan_l1_fix_time: 1.5019, d5.loss_plan_l1_fix_dist: 0.2930, d6.loss_plan_l1_fix_time: 1.5055, d6.loss_plan_l1_fix_dist: 0.3031, d0.loss_cls_all: 0.2923, d0.loss_bbox_all: 0.5323, d0.loss_cls: 0.2923, d0.loss_bbox: 0.5323, d1.loss_cls: 0.2825, d1.loss_bbox: 0.5043, d2.loss_cls: 0.2737, d2.loss_bbox: 0.4923, d3.loss_cls: 0.2727, d3.loss_bbox: 0.4838, d4.loss_cls: 0.2688, d4.loss_bbox: 0.4854, d5.loss_cls: 0.2720, d5.loss_bbox: 0.4848, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9747, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8503, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8071, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7913, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7835, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7866, d0.loss_map_cls_all: 0.3225, d0.loss_map_pts_all: 1.8995, d0.loss_map_dir_all: 0.0139, d0.loss_map_cls: 0.3225, d0.loss_map_pts: 1.8995, d0.loss_map_dir: 0.0139, d1.loss_map_cls: 0.2919, d1.loss_map_pts: 1.3431, d1.loss_map_dir: 0.0136, d2.loss_map_cls: 0.2754, d2.loss_map_pts: 1.1707, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2642, d3.loss_map_pts: 1.1090, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2605, d4.loss_map_pts: 1.0828, d4.loss_map_dir: 0.0147, d5.loss_map_cls: 0.2591, d5.loss_map_pts: 1.0755, d5.loss_map_dir: 0.0148, loss: 38.8722, grad_norm: 153.7396 +2026-02-25 10:47:16,837 - DriveTransformer - INFO - Epoch [4][27150/39528] lr: 9.623e-05, eta: 7 days, 11:06:38, time: 0.793, data_time: 0.043, memory: 19865, loss_cls: 0.2772, loss_bbox: 0.4704, loss_traj: 1.1459, loss_traj_cls: 0.0015, loss_map_cls: 0.2490, loss_map_pts: 1.0443, loss_map_dir: 0.0135, d0.loss_plan_l1_fix_time: 2.6769, d0.loss_plan_l1_fix_dist: 0.4129, d1.loss_plan_l1_fix_time: 1.7670, d1.loss_plan_l1_fix_dist: 0.2571, d2.loss_plan_l1_fix_time: 1.7639, d2.loss_plan_l1_fix_dist: 0.2607, d3.loss_plan_l1_fix_time: 1.7656, d3.loss_plan_l1_fix_dist: 0.2700, d4.loss_plan_l1_fix_time: 1.7685, d4.loss_plan_l1_fix_dist: 0.2829, d5.loss_plan_l1_fix_time: 1.7717, d5.loss_plan_l1_fix_dist: 0.2978, d6.loss_plan_l1_fix_time: 1.7757, d6.loss_plan_l1_fix_dist: 0.3133, d0.loss_cls_all: 0.2922, d0.loss_bbox_all: 0.5327, d0.loss_cls: 0.2922, d0.loss_bbox: 0.5327, d1.loss_cls: 0.2857, d1.loss_bbox: 0.4981, d2.loss_cls: 0.2790, d2.loss_bbox: 0.4813, d3.loss_cls: 0.2777, d3.loss_bbox: 0.4728, d4.loss_cls: 0.2745, d4.loss_bbox: 0.4701, d5.loss_cls: 0.2767, d5.loss_bbox: 0.4685, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4510, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.2476, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.1790, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.1634, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.1556, d5.loss_traj_cls: 0.0012, d5.loss_traj: 1.1529, d0.loss_map_cls_all: 0.3222, d0.loss_map_pts_all: 1.7826, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.3222, d0.loss_map_pts: 1.7826, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2844, d1.loss_map_pts: 1.2604, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2696, d2.loss_map_pts: 1.1097, d2.loss_map_dir: 0.0126, d3.loss_map_cls: 0.2545, d3.loss_map_pts: 1.0635, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2500, d4.loss_map_pts: 1.0478, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.2493, d5.loss_map_pts: 1.0443, d5.loss_map_dir: 0.0134, loss: 42.5081, grad_norm: 151.6944 +2026-02-25 10:47:56,943 - DriveTransformer - INFO - Epoch [4][27200/39528] lr: 9.623e-05, eta: 7 days, 11:05:58, time: 0.802, data_time: 0.039, memory: 19865, loss_cls: 0.2785, loss_bbox: 0.4770, loss_traj: 0.9285, loss_traj_cls: 0.0017, loss_map_cls: 0.2208, loss_map_pts: 0.9705, loss_map_dir: 0.0136, d0.loss_plan_l1_fix_time: 2.7715, d0.loss_plan_l1_fix_dist: 0.4024, d1.loss_plan_l1_fix_time: 1.7159, d1.loss_plan_l1_fix_dist: 0.2242, d2.loss_plan_l1_fix_time: 1.7103, d2.loss_plan_l1_fix_dist: 0.2300, d3.loss_plan_l1_fix_time: 1.7114, d3.loss_plan_l1_fix_dist: 0.2371, d4.loss_plan_l1_fix_time: 1.7152, d4.loss_plan_l1_fix_dist: 0.2451, d5.loss_plan_l1_fix_time: 1.7195, d5.loss_plan_l1_fix_dist: 0.2569, d6.loss_plan_l1_fix_time: 1.7247, d6.loss_plan_l1_fix_dist: 0.2755, d0.loss_cls_all: 0.3085, d0.loss_bbox_all: 0.5212, d0.loss_cls: 0.3085, d0.loss_bbox: 0.5212, d1.loss_cls: 0.2964, d1.loss_bbox: 0.4910, d2.loss_cls: 0.2858, d2.loss_bbox: 0.4749, d3.loss_cls: 0.2804, d3.loss_bbox: 0.4689, d4.loss_cls: 0.2785, d4.loss_bbox: 0.4709, d5.loss_cls: 0.2771, d5.loss_bbox: 0.4742, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1842, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0204, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9447, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9319, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9291, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9316, d0.loss_map_cls_all: 0.2847, d0.loss_map_pts_all: 1.7392, d0.loss_map_dir_all: 0.0126, d0.loss_map_cls: 0.2847, d0.loss_map_pts: 1.7392, d0.loss_map_dir: 0.0126, d1.loss_map_cls: 0.2578, d1.loss_map_pts: 1.2038, d1.loss_map_dir: 0.0125, d2.loss_map_cls: 0.2452, d2.loss_map_pts: 1.0445, d2.loss_map_dir: 0.0127, d3.loss_map_cls: 0.2346, d3.loss_map_pts: 0.9878, d3.loss_map_dir: 0.0132, d4.loss_map_cls: 0.2266, d4.loss_map_pts: 0.9741, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.2212, d5.loss_map_pts: 0.9683, d5.loss_map_dir: 0.0135, loss: 39.7376, grad_norm: 152.2274 +2026-02-25 10:48:38,251 - DriveTransformer - INFO - Epoch [4][27250/39528] lr: 9.623e-05, eta: 7 days, 11:05:24, time: 0.826, data_time: 0.040, memory: 19865, loss_cls: 0.3048, loss_bbox: 0.4890, loss_traj: 0.9699, loss_traj_cls: 0.0017, loss_map_cls: 0.2425, loss_map_pts: 1.1160, loss_map_dir: 0.0154, d0.loss_plan_l1_fix_time: 2.7283, d0.loss_plan_l1_fix_dist: 0.4092, d1.loss_plan_l1_fix_time: 1.7059, d1.loss_plan_l1_fix_dist: 0.2442, d2.loss_plan_l1_fix_time: 1.6798, d2.loss_plan_l1_fix_dist: 0.2498, d3.loss_plan_l1_fix_time: 1.6761, d3.loss_plan_l1_fix_dist: 0.2610, d4.loss_plan_l1_fix_time: 1.6798, d4.loss_plan_l1_fix_dist: 0.2756, d5.loss_plan_l1_fix_time: 1.6848, d5.loss_plan_l1_fix_dist: 0.2906, d6.loss_plan_l1_fix_time: 1.6902, d6.loss_plan_l1_fix_dist: 0.3088, d0.loss_cls_all: 0.3160, d0.loss_bbox_all: 0.5312, d0.loss_cls: 0.3160, d0.loss_bbox: 0.5312, d1.loss_cls: 0.3122, d1.loss_bbox: 0.5039, d2.loss_cls: 0.3009, d2.loss_bbox: 0.4885, d3.loss_cls: 0.2994, d3.loss_bbox: 0.4848, d4.loss_cls: 0.3009, d4.loss_bbox: 0.4849, d5.loss_cls: 0.3025, d5.loss_bbox: 0.4883, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2536, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0287, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9798, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9689, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9693, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9740, d0.loss_map_cls_all: 0.2942, d0.loss_map_pts_all: 1.9356, d0.loss_map_dir_all: 0.0140, d0.loss_map_cls: 0.2942, d0.loss_map_pts: 1.9356, d0.loss_map_dir: 0.0140, d1.loss_map_cls: 0.2695, d1.loss_map_pts: 1.3803, d1.loss_map_dir: 0.0140, d2.loss_map_cls: 0.2561, d2.loss_map_pts: 1.2163, d2.loss_map_dir: 0.0143, d3.loss_map_cls: 0.2490, d3.loss_map_pts: 1.1470, d3.loss_map_dir: 0.0148, d4.loss_map_cls: 0.2449, d4.loss_map_pts: 1.1255, d4.loss_map_dir: 0.0152, d5.loss_map_cls: 0.2434, d5.loss_map_pts: 1.1159, d5.loss_map_dir: 0.0154, loss: 41.6730, grad_norm: 153.6136 +2026-02-25 10:49:18,972 - DriveTransformer - INFO - Epoch [4][27300/39528] lr: 9.623e-05, eta: 7 days, 11:04:47, time: 0.814, data_time: 0.042, memory: 19865, loss_cls: 0.2478, loss_bbox: 0.4284, loss_traj: 0.7548, loss_traj_cls: 0.0017, loss_map_cls: 0.2360, loss_map_pts: 0.9741, loss_map_dir: 0.0161, d0.loss_plan_l1_fix_time: 2.5495, d0.loss_plan_l1_fix_dist: 0.3869, d1.loss_plan_l1_fix_time: 1.3903, d1.loss_plan_l1_fix_dist: 0.2041, d2.loss_plan_l1_fix_time: 1.3642, d2.loss_plan_l1_fix_dist: 0.2115, d3.loss_plan_l1_fix_time: 1.3641, d3.loss_plan_l1_fix_dist: 0.2211, d4.loss_plan_l1_fix_time: 1.3678, d4.loss_plan_l1_fix_dist: 0.2321, d5.loss_plan_l1_fix_time: 1.3725, d5.loss_plan_l1_fix_dist: 0.2449, d6.loss_plan_l1_fix_time: 1.3779, d6.loss_plan_l1_fix_dist: 0.2590, d0.loss_cls_all: 0.2725, d0.loss_bbox_all: 0.4810, d0.loss_cls: 0.2725, d0.loss_bbox: 0.4810, d1.loss_cls: 0.2652, d1.loss_bbox: 0.4497, d2.loss_cls: 0.2571, d2.loss_bbox: 0.4347, d3.loss_cls: 0.2514, d3.loss_bbox: 0.4295, d4.loss_cls: 0.2472, d4.loss_bbox: 0.4293, d5.loss_cls: 0.2461, d5.loss_bbox: 0.4293, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9232, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7742, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7437, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7477, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7498, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7519, d0.loss_map_cls_all: 0.2920, d0.loss_map_pts_all: 2.0277, d0.loss_map_dir_all: 0.0148, d0.loss_map_cls: 0.2920, d0.loss_map_pts: 2.0277, d0.loss_map_dir: 0.0148, d1.loss_map_cls: 0.2643, d1.loss_map_pts: 1.2761, d1.loss_map_dir: 0.0144, d2.loss_map_cls: 0.2516, d2.loss_map_pts: 1.0826, d2.loss_map_dir: 0.0149, d3.loss_map_cls: 0.2427, d3.loss_map_pts: 1.0065, d3.loss_map_dir: 0.0156, d4.loss_map_cls: 0.2380, d4.loss_map_pts: 0.9848, d4.loss_map_dir: 0.0158, d5.loss_map_cls: 0.2358, d5.loss_map_pts: 0.9765, d5.loss_map_dir: 0.0161, loss: 36.1518, grad_norm: 153.3900 +2026-02-25 10:50:02,369 - DriveTransformer - INFO - Epoch [4][27350/39528] lr: 9.623e-05, eta: 7 days, 11:04:25, time: 0.868, data_time: 0.040, memory: 19865, loss_cls: 0.2690, loss_bbox: 0.4704, loss_traj: 0.8018, loss_traj_cls: 0.0016, loss_map_cls: 0.2388, loss_map_pts: 1.0102, loss_map_dir: 0.0181, d0.loss_plan_l1_fix_time: 2.6316, d0.loss_plan_l1_fix_dist: 0.3726, d1.loss_plan_l1_fix_time: 1.5048, d1.loss_plan_l1_fix_dist: 0.2436, d2.loss_plan_l1_fix_time: 1.4897, d2.loss_plan_l1_fix_dist: 0.2510, d3.loss_plan_l1_fix_time: 1.4945, d3.loss_plan_l1_fix_dist: 0.2624, d4.loss_plan_l1_fix_time: 1.4992, d4.loss_plan_l1_fix_dist: 0.2764, d5.loss_plan_l1_fix_time: 1.5051, d5.loss_plan_l1_fix_dist: 0.2931, d6.loss_plan_l1_fix_time: 1.5125, d6.loss_plan_l1_fix_dist: 0.3083, d0.loss_cls_all: 0.2860, d0.loss_bbox_all: 0.5112, d0.loss_cls: 0.2860, d0.loss_bbox: 0.5112, d1.loss_cls: 0.2828, d1.loss_bbox: 0.4827, d2.loss_cls: 0.2737, d2.loss_bbox: 0.4711, d3.loss_cls: 0.2716, d3.loss_bbox: 0.4641, d4.loss_cls: 0.2679, d4.loss_bbox: 0.4661, d5.loss_cls: 0.2678, d5.loss_bbox: 0.4670, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9250, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8346, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8066, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8033, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8009, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7979, d0.loss_map_cls_all: 0.2950, d0.loss_map_pts_all: 2.0315, d0.loss_map_dir_all: 0.0169, d0.loss_map_cls: 0.2950, d0.loss_map_pts: 2.0315, d0.loss_map_dir: 0.0169, d1.loss_map_cls: 0.2707, d1.loss_map_pts: 1.2962, d1.loss_map_dir: 0.0165, d2.loss_map_cls: 0.2510, d2.loss_map_pts: 1.1089, d2.loss_map_dir: 0.0168, d3.loss_map_cls: 0.2445, d3.loss_map_pts: 1.0347, d3.loss_map_dir: 0.0175, d4.loss_map_cls: 0.2403, d4.loss_map_pts: 1.0171, d4.loss_map_dir: 0.0178, d5.loss_map_cls: 0.2408, d5.loss_map_pts: 1.0132, d5.loss_map_dir: 0.0180, loss: 38.2282, grad_norm: 154.9852 +2026-02-25 10:50:42,508 - DriveTransformer - INFO - Epoch [4][27400/39528] lr: 9.623e-05, eta: 7 days, 11:03:45, time: 0.804, data_time: 0.057, memory: 19865, loss_cls: 0.2863, loss_bbox: 0.4876, loss_traj: 0.9711, loss_traj_cls: 0.0017, loss_map_cls: 0.2250, loss_map_pts: 0.8602, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.6250, d0.loss_plan_l1_fix_dist: 0.4346, d1.loss_plan_l1_fix_time: 1.4128, d1.loss_plan_l1_fix_dist: 0.2529, d2.loss_plan_l1_fix_time: 1.3926, d2.loss_plan_l1_fix_dist: 0.2582, d3.loss_plan_l1_fix_time: 1.3889, d3.loss_plan_l1_fix_dist: 0.2693, d4.loss_plan_l1_fix_time: 1.3911, d4.loss_plan_l1_fix_dist: 0.2828, d5.loss_plan_l1_fix_time: 1.3949, d5.loss_plan_l1_fix_dist: 0.2967, d6.loss_plan_l1_fix_time: 1.4002, d6.loss_plan_l1_fix_dist: 0.3151, d0.loss_cls_all: 0.3039, d0.loss_bbox_all: 0.5430, d0.loss_cls: 0.3039, d0.loss_bbox: 0.5430, d1.loss_cls: 0.2948, d1.loss_bbox: 0.5141, d2.loss_cls: 0.2904, d2.loss_bbox: 0.4930, d3.loss_cls: 0.2848, d3.loss_bbox: 0.4872, d4.loss_cls: 0.2843, d4.loss_bbox: 0.4854, d5.loss_cls: 0.2859, d5.loss_bbox: 0.4862, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1826, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0014, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9709, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9730, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9702, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9688, d0.loss_map_cls_all: 0.2806, d0.loss_map_pts_all: 1.6066, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2806, d0.loss_map_pts: 1.6066, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2585, d1.loss_map_pts: 1.0963, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2412, d2.loss_map_pts: 0.9483, d2.loss_map_dir: 0.0122, d3.loss_map_cls: 0.2308, d3.loss_map_pts: 0.8884, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.2276, d4.loss_map_pts: 0.8689, d4.loss_map_dir: 0.0128, d5.loss_map_cls: 0.2263, d5.loss_map_pts: 0.8626, d5.loss_map_dir: 0.0128, loss: 37.3421, grad_norm: 152.9753 +2026-02-25 10:51:19,952 - DriveTransformer - INFO - Epoch [4][27450/39528] lr: 9.623e-05, eta: 7 days, 11:02:49, time: 0.747, data_time: 0.038, memory: 19865, loss_cls: 0.2435, loss_bbox: 0.4288, loss_traj: 0.9675, loss_traj_cls: 0.0016, loss_map_cls: 0.2277, loss_map_pts: 0.8747, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.5592, d0.loss_plan_l1_fix_dist: 0.4713, d1.loss_plan_l1_fix_time: 1.5076, d1.loss_plan_l1_fix_dist: 0.2240, d2.loss_plan_l1_fix_time: 1.4888, d2.loss_plan_l1_fix_dist: 0.2334, d3.loss_plan_l1_fix_time: 1.4904, d3.loss_plan_l1_fix_dist: 0.2512, d4.loss_plan_l1_fix_time: 1.4936, d4.loss_plan_l1_fix_dist: 0.2725, d5.loss_plan_l1_fix_time: 1.4967, d5.loss_plan_l1_fix_dist: 0.2956, d6.loss_plan_l1_fix_time: 1.5002, d6.loss_plan_l1_fix_dist: 0.3144, d0.loss_cls_all: 0.2691, d0.loss_bbox_all: 0.4824, d0.loss_cls: 0.2691, d0.loss_bbox: 0.4824, d1.loss_cls: 0.2563, d1.loss_bbox: 0.4515, d2.loss_cls: 0.2476, d2.loss_bbox: 0.4373, d3.loss_cls: 0.2454, d3.loss_bbox: 0.4306, d4.loss_cls: 0.2439, d4.loss_bbox: 0.4265, d5.loss_cls: 0.2429, d5.loss_bbox: 0.4282, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2477, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0196, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9697, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9583, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9587, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9626, d0.loss_map_cls_all: 0.2847, d0.loss_map_pts_all: 1.4805, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2847, d0.loss_map_pts: 1.4805, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2633, d1.loss_map_pts: 1.1049, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.2451, d2.loss_map_pts: 0.9625, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.2344, d3.loss_map_pts: 0.9069, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.2300, d4.loss_map_pts: 0.8886, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.2290, d5.loss_map_pts: 0.8772, d5.loss_map_dir: 0.0100, loss: 36.9282, grad_norm: 159.0334 +2026-02-25 10:51:59,843 - DriveTransformer - INFO - Epoch [4][27500/39528] lr: 9.623e-05, eta: 7 days, 11:02:08, time: 0.798, data_time: 0.048, memory: 19865, loss_cls: 0.2769, loss_bbox: 0.4657, loss_traj: 1.0128, loss_traj_cls: 0.0017, loss_map_cls: 0.2691, loss_map_pts: 1.1111, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 3.0929, d0.loss_plan_l1_fix_dist: 0.4120, d1.loss_plan_l1_fix_time: 1.6299, d1.loss_plan_l1_fix_dist: 0.2439, d2.loss_plan_l1_fix_time: 1.6241, d2.loss_plan_l1_fix_dist: 0.2577, d3.loss_plan_l1_fix_time: 1.6330, d3.loss_plan_l1_fix_dist: 0.2824, d4.loss_plan_l1_fix_time: 1.6404, d4.loss_plan_l1_fix_dist: 0.3120, d5.loss_plan_l1_fix_time: 1.6467, d5.loss_plan_l1_fix_dist: 0.3448, d6.loss_plan_l1_fix_time: 1.6532, d6.loss_plan_l1_fix_dist: 0.3724, d0.loss_cls_all: 0.2971, d0.loss_bbox_all: 0.5256, d0.loss_cls: 0.2971, d0.loss_bbox: 0.5256, d1.loss_cls: 0.2921, d1.loss_bbox: 0.4875, d2.loss_cls: 0.2843, d2.loss_bbox: 0.4736, d3.loss_cls: 0.2814, d3.loss_bbox: 0.4676, d4.loss_cls: 0.2764, d4.loss_bbox: 0.4663, d5.loss_cls: 0.2763, d5.loss_bbox: 0.4630, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2993, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0828, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0334, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0299, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0092, d5.loss_traj_cls: 0.0013, d5.loss_traj: 1.0080, d0.loss_map_cls_all: 0.3238, d0.loss_map_pts_all: 1.8249, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.3238, d0.loss_map_pts: 1.8249, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2971, d1.loss_map_pts: 1.3846, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2869, d2.loss_map_pts: 1.2197, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2773, d3.loss_map_pts: 1.1559, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.2729, d4.loss_map_pts: 1.1293, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.2696, d5.loss_map_pts: 1.1165, d5.loss_map_dir: 0.0120, loss: 41.9628, grad_norm: 161.7711 +2026-02-25 10:52:39,492 - DriveTransformer - INFO - Epoch [4][27550/39528] lr: 9.623e-05, eta: 7 days, 11:01:25, time: 0.793, data_time: 0.047, memory: 19865, loss_cls: 0.2576, loss_bbox: 0.4349, loss_traj: 0.7980, loss_traj_cls: 0.0016, loss_map_cls: 0.2096, loss_map_pts: 0.9461, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 2.4858, d0.loss_plan_l1_fix_dist: 0.3998, d1.loss_plan_l1_fix_time: 1.4165, d1.loss_plan_l1_fix_dist: 0.2212, d2.loss_plan_l1_fix_time: 1.3984, d2.loss_plan_l1_fix_dist: 0.2326, d3.loss_plan_l1_fix_time: 1.3981, d3.loss_plan_l1_fix_dist: 0.2427, d4.loss_plan_l1_fix_time: 1.4020, d4.loss_plan_l1_fix_dist: 0.2549, d5.loss_plan_l1_fix_time: 1.4061, d5.loss_plan_l1_fix_dist: 0.2674, d6.loss_plan_l1_fix_time: 1.4104, d6.loss_plan_l1_fix_dist: 0.2905, d0.loss_cls_all: 0.2840, d0.loss_bbox_all: 0.4881, d0.loss_cls: 0.2840, d0.loss_bbox: 0.4881, d1.loss_cls: 0.2721, d1.loss_bbox: 0.4537, d2.loss_cls: 0.2607, d2.loss_bbox: 0.4401, d3.loss_cls: 0.2569, d3.loss_bbox: 0.4344, d4.loss_cls: 0.2560, d4.loss_bbox: 0.4317, d5.loss_cls: 0.2547, d5.loss_bbox: 0.4339, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0053, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8364, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8009, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7940, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7929, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7955, d0.loss_map_cls_all: 0.2681, d0.loss_map_pts_all: 1.8172, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2681, d0.loss_map_pts: 1.8172, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2433, d1.loss_map_pts: 1.2560, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2274, d2.loss_map_pts: 1.0593, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.2186, d3.loss_map_pts: 0.9863, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.2138, d4.loss_map_pts: 0.9618, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.2123, d5.loss_map_pts: 0.9472, d5.loss_map_dir: 0.0123, loss: 36.1341, grad_norm: 160.8706 +2026-02-25 10:53:21,580 - DriveTransformer - INFO - Epoch [4][27600/39528] lr: 9.623e-05, eta: 7 days, 11:00:55, time: 0.842, data_time: 0.041, memory: 19865, loss_cls: 0.2758, loss_bbox: 0.4728, loss_traj: 0.8849, loss_traj_cls: 0.0016, loss_map_cls: 0.2595, loss_map_pts: 1.1599, loss_map_dir: 0.0167, d0.loss_plan_l1_fix_time: 2.9296, d0.loss_plan_l1_fix_dist: 0.4672, d1.loss_plan_l1_fix_time: 1.5277, d1.loss_plan_l1_fix_dist: 0.2977, d2.loss_plan_l1_fix_time: 1.5086, d2.loss_plan_l1_fix_dist: 0.3107, d3.loss_plan_l1_fix_time: 1.5155, d3.loss_plan_l1_fix_dist: 0.3263, d4.loss_plan_l1_fix_time: 1.5203, d4.loss_plan_l1_fix_dist: 0.3443, d5.loss_plan_l1_fix_time: 1.5254, d5.loss_plan_l1_fix_dist: 0.3642, d6.loss_plan_l1_fix_time: 1.5311, d6.loss_plan_l1_fix_dist: 0.3847, d0.loss_cls_all: 0.3030, d0.loss_bbox_all: 0.5288, d0.loss_cls: 0.3030, d0.loss_bbox: 0.5288, d1.loss_cls: 0.2917, d1.loss_bbox: 0.4944, d2.loss_cls: 0.2827, d2.loss_bbox: 0.4815, d3.loss_cls: 0.2821, d3.loss_bbox: 0.4722, d4.loss_cls: 0.2741, d4.loss_bbox: 0.4711, d5.loss_cls: 0.2758, d5.loss_bbox: 0.4714, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0542, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9137, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8955, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8828, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8764, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8836, d0.loss_map_cls_all: 0.3375, d0.loss_map_pts_all: 2.1816, d0.loss_map_dir_all: 0.0159, d0.loss_map_cls: 0.3375, d0.loss_map_pts: 2.1816, d0.loss_map_dir: 0.0159, d1.loss_map_cls: 0.3033, d1.loss_map_pts: 1.4595, d1.loss_map_dir: 0.0155, d2.loss_map_cls: 0.2843, d2.loss_map_pts: 1.2527, d2.loss_map_dir: 0.0158, d3.loss_map_cls: 0.2707, d3.loss_map_pts: 1.1873, d3.loss_map_dir: 0.0163, d4.loss_map_cls: 0.2642, d4.loss_map_pts: 1.1646, d4.loss_map_dir: 0.0165, d5.loss_map_cls: 0.2614, d5.loss_map_pts: 1.1592, d5.loss_map_dir: 0.0166, loss: 41.3546, grad_norm: 159.0737 +2026-02-25 10:54:02,752 - DriveTransformer - INFO - Epoch [4][27650/39528] lr: 9.623e-05, eta: 7 days, 11:00:21, time: 0.823, data_time: 0.043, memory: 19865, loss_cls: 0.2514, loss_bbox: 0.4203, loss_traj: 0.7296, loss_traj_cls: 0.0015, loss_map_cls: 0.2258, loss_map_pts: 1.0053, loss_map_dir: 0.0158, d0.loss_plan_l1_fix_time: 2.9368, d0.loss_plan_l1_fix_dist: 0.4253, d1.loss_plan_l1_fix_time: 1.4961, d1.loss_plan_l1_fix_dist: 0.2269, d2.loss_plan_l1_fix_time: 1.4750, d2.loss_plan_l1_fix_dist: 0.2370, d3.loss_plan_l1_fix_time: 1.4736, d3.loss_plan_l1_fix_dist: 0.2564, d4.loss_plan_l1_fix_time: 1.4781, d4.loss_plan_l1_fix_dist: 0.2773, d5.loss_plan_l1_fix_time: 1.4841, d5.loss_plan_l1_fix_dist: 0.3009, d6.loss_plan_l1_fix_time: 1.4912, d6.loss_plan_l1_fix_dist: 0.3194, d0.loss_cls_all: 0.2728, d0.loss_bbox_all: 0.4601, d0.loss_cls: 0.2728, d0.loss_bbox: 0.4601, d1.loss_cls: 0.2613, d1.loss_bbox: 0.4353, d2.loss_cls: 0.2528, d2.loss_bbox: 0.4239, d3.loss_cls: 0.2517, d3.loss_bbox: 0.4201, d4.loss_cls: 0.2496, d4.loss_bbox: 0.4185, d5.loss_cls: 0.2503, d5.loss_bbox: 0.4186, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9051, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7581, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7251, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7192, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7264, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7335, d0.loss_map_cls_all: 0.2855, d0.loss_map_pts_all: 1.9853, d0.loss_map_dir_all: 0.0148, d0.loss_map_cls: 0.2855, d0.loss_map_pts: 1.9853, d0.loss_map_dir: 0.0148, d1.loss_map_cls: 0.2570, d1.loss_map_pts: 1.3168, d1.loss_map_dir: 0.0142, d2.loss_map_cls: 0.2423, d2.loss_map_pts: 1.1162, d2.loss_map_dir: 0.0146, d3.loss_map_cls: 0.2350, d3.loss_map_pts: 1.0400, d3.loss_map_dir: 0.0152, d4.loss_map_cls: 0.2281, d4.loss_map_pts: 1.0095, d4.loss_map_dir: 0.0156, d5.loss_map_cls: 0.2270, d5.loss_map_pts: 1.0036, d5.loss_map_dir: 0.0156, loss: 37.2702, grad_norm: 159.7058 +2026-02-25 10:54:44,058 - DriveTransformer - INFO - Epoch [4][27700/39528] lr: 9.623e-05, eta: 7 days, 10:59:47, time: 0.826, data_time: 0.040, memory: 19865, loss_cls: 0.2692, loss_bbox: 0.4646, loss_traj: 0.8673, loss_traj_cls: 0.0016, loss_map_cls: 0.2413, loss_map_pts: 1.0720, loss_map_dir: 0.0157, d0.loss_plan_l1_fix_time: 2.5897, d0.loss_plan_l1_fix_dist: 0.4708, d1.loss_plan_l1_fix_time: 1.5330, d1.loss_plan_l1_fix_dist: 0.2502, d2.loss_plan_l1_fix_time: 1.5311, d2.loss_plan_l1_fix_dist: 0.2585, d3.loss_plan_l1_fix_time: 1.5360, d3.loss_plan_l1_fix_dist: 0.2735, d4.loss_plan_l1_fix_time: 1.5425, d4.loss_plan_l1_fix_dist: 0.2942, d5.loss_plan_l1_fix_time: 1.5500, d5.loss_plan_l1_fix_dist: 0.3171, d6.loss_plan_l1_fix_time: 1.5587, d6.loss_plan_l1_fix_dist: 0.3412, d0.loss_cls_all: 0.2932, d0.loss_bbox_all: 0.5049, d0.loss_cls: 0.2932, d0.loss_bbox: 0.5049, d1.loss_cls: 0.2843, d1.loss_bbox: 0.4760, d2.loss_cls: 0.2777, d2.loss_bbox: 0.4631, d3.loss_cls: 0.2736, d3.loss_bbox: 0.4582, d4.loss_cls: 0.2706, d4.loss_bbox: 0.4568, d5.loss_cls: 0.2704, d5.loss_bbox: 0.4593, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0949, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9092, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8560, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.8621, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8596, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8637, d0.loss_map_cls_all: 0.2868, d0.loss_map_pts_all: 1.9941, d0.loss_map_dir_all: 0.0145, d0.loss_map_cls: 0.2868, d0.loss_map_pts: 1.9941, d0.loss_map_dir: 0.0145, d1.loss_map_cls: 0.2665, d1.loss_map_pts: 1.3878, d1.loss_map_dir: 0.0138, d2.loss_map_cls: 0.2526, d2.loss_map_pts: 1.1841, d2.loss_map_dir: 0.0143, d3.loss_map_cls: 0.2471, d3.loss_map_pts: 1.1084, d3.loss_map_dir: 0.0149, d4.loss_map_cls: 0.2435, d4.loss_map_pts: 1.0789, d4.loss_map_dir: 0.0154, d5.loss_map_cls: 0.2429, d5.loss_map_pts: 1.0720, d5.loss_map_dir: 0.0156, loss: 39.4639, grad_norm: 162.3698 +2026-02-25 10:55:23,554 - DriveTransformer - INFO - Epoch [4][27750/39528] lr: 9.623e-05, eta: 7 days, 10:59:03, time: 0.790, data_time: 0.046, memory: 19865, loss_cls: 0.2420, loss_bbox: 0.4249, loss_traj: 0.7961, loss_traj_cls: 0.0016, loss_map_cls: 0.1940, loss_map_pts: 0.8431, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.4184, d0.loss_plan_l1_fix_dist: 0.3675, d1.loss_plan_l1_fix_time: 1.3451, d1.loss_plan_l1_fix_dist: 0.2066, d2.loss_plan_l1_fix_time: 1.3441, d2.loss_plan_l1_fix_dist: 0.2108, d3.loss_plan_l1_fix_time: 1.3469, d3.loss_plan_l1_fix_dist: 0.2234, d4.loss_plan_l1_fix_time: 1.3522, d4.loss_plan_l1_fix_dist: 0.2386, d5.loss_plan_l1_fix_time: 1.3579, d5.loss_plan_l1_fix_dist: 0.2557, d6.loss_plan_l1_fix_time: 1.3648, d6.loss_plan_l1_fix_dist: 0.2803, d0.loss_cls_all: 0.2688, d0.loss_bbox_all: 0.4709, d0.loss_cls: 0.2688, d0.loss_bbox: 0.4709, d1.loss_cls: 0.2583, d1.loss_bbox: 0.4411, d2.loss_cls: 0.2496, d2.loss_bbox: 0.4252, d3.loss_cls: 0.2465, d3.loss_bbox: 0.4218, d4.loss_cls: 0.2422, d4.loss_bbox: 0.4203, d5.loss_cls: 0.2414, d5.loss_bbox: 0.4218, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0296, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8772, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8138, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8098, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7991, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7969, d0.loss_map_cls_all: 0.2609, d0.loss_map_pts_all: 1.6187, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2609, d0.loss_map_pts: 1.6187, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2276, d1.loss_map_pts: 1.1287, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2097, d2.loss_map_pts: 0.9498, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.1998, d3.loss_map_pts: 0.8785, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.1945, d4.loss_map_pts: 0.8550, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.1937, d5.loss_map_pts: 0.8445, d5.loss_map_dir: 0.0124, loss: 34.3308, grad_norm: 163.2728 +2026-02-25 10:56:05,441 - DriveTransformer - INFO - Epoch [4][27800/39528] lr: 9.623e-05, eta: 7 days, 10:58:33, time: 0.838, data_time: 0.045, memory: 19865, loss_cls: 0.2629, loss_bbox: 0.4213, loss_traj: 0.8438, loss_traj_cls: 0.0016, loss_map_cls: 0.2124, loss_map_pts: 0.9165, loss_map_dir: 0.0139, d0.loss_plan_l1_fix_time: 3.0165, d0.loss_plan_l1_fix_dist: 0.4455, d1.loss_plan_l1_fix_time: 1.6987, d1.loss_plan_l1_fix_dist: 0.2309, d2.loss_plan_l1_fix_time: 1.6846, d2.loss_plan_l1_fix_dist: 0.2435, d3.loss_plan_l1_fix_time: 1.6857, d3.loss_plan_l1_fix_dist: 0.2584, d4.loss_plan_l1_fix_time: 1.6906, d4.loss_plan_l1_fix_dist: 0.2744, d5.loss_plan_l1_fix_time: 1.6964, d5.loss_plan_l1_fix_dist: 0.2913, d6.loss_plan_l1_fix_time: 1.7030, d6.loss_plan_l1_fix_dist: 0.3102, d0.loss_cls_all: 0.2801, d0.loss_bbox_all: 0.4801, d0.loss_cls: 0.2801, d0.loss_bbox: 0.4801, d1.loss_cls: 0.2772, d1.loss_bbox: 0.4469, d2.loss_cls: 0.2703, d2.loss_bbox: 0.4259, d3.loss_cls: 0.2645, d3.loss_bbox: 0.4201, d4.loss_cls: 0.2617, d4.loss_bbox: 0.4202, d5.loss_cls: 0.2625, d5.loss_bbox: 0.4211, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1014, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9100, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8600, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8534, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8495, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8434, d0.loss_map_cls_all: 0.2607, d0.loss_map_pts_all: 1.8011, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.2607, d0.loss_map_pts: 1.8011, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2356, d1.loss_map_pts: 1.2227, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2242, d2.loss_map_pts: 1.0298, d2.loss_map_dir: 0.0126, d3.loss_map_cls: 0.2177, d3.loss_map_pts: 0.9596, d3.loss_map_dir: 0.0132, d4.loss_map_cls: 0.2149, d4.loss_map_pts: 0.9336, d4.loss_map_dir: 0.0136, d5.loss_map_cls: 0.2127, d5.loss_map_pts: 0.9202, d5.loss_map_dir: 0.0137, loss: 38.7005, grad_norm: 162.9027 +2026-02-25 10:56:48,736 - DriveTransformer - INFO - Epoch [4][27850/39528] lr: 9.623e-05, eta: 7 days, 10:58:10, time: 0.866, data_time: 0.043, memory: 19865, loss_cls: 0.2848, loss_bbox: 0.4723, loss_traj: 0.9340, loss_traj_cls: 0.0016, loss_map_cls: 0.2734, loss_map_pts: 1.2049, loss_map_dir: 0.0199, d0.loss_plan_l1_fix_time: 2.8699, d0.loss_plan_l1_fix_dist: 0.4130, d1.loss_plan_l1_fix_time: 1.5513, d1.loss_plan_l1_fix_dist: 0.2389, d2.loss_plan_l1_fix_time: 1.5461, d2.loss_plan_l1_fix_dist: 0.2484, d3.loss_plan_l1_fix_time: 1.5460, d3.loss_plan_l1_fix_dist: 0.2630, d4.loss_plan_l1_fix_time: 1.5519, d4.loss_plan_l1_fix_dist: 0.2816, d5.loss_plan_l1_fix_time: 1.5587, d5.loss_plan_l1_fix_dist: 0.2994, d6.loss_plan_l1_fix_time: 1.5662, d6.loss_plan_l1_fix_dist: 0.3152, d0.loss_cls_all: 0.3170, d0.loss_bbox_all: 0.5230, d0.loss_cls: 0.3170, d0.loss_bbox: 0.5230, d1.loss_cls: 0.3055, d1.loss_bbox: 0.4925, d2.loss_cls: 0.2961, d2.loss_bbox: 0.4781, d3.loss_cls: 0.2888, d3.loss_bbox: 0.4752, d4.loss_cls: 0.2867, d4.loss_bbox: 0.4729, d5.loss_cls: 0.2863, d5.loss_bbox: 0.4724, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1084, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9829, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9441, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9420, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9398, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9369, d0.loss_map_cls_all: 0.3208, d0.loss_map_pts_all: 2.2481, d0.loss_map_dir_all: 0.0175, d0.loss_map_cls: 0.3208, d0.loss_map_pts: 2.2481, d0.loss_map_dir: 0.0175, d1.loss_map_cls: 0.2972, d1.loss_map_pts: 1.5068, d1.loss_map_dir: 0.0175, d2.loss_map_cls: 0.2867, d2.loss_map_pts: 1.2986, d2.loss_map_dir: 0.0182, d3.loss_map_cls: 0.2796, d3.loss_map_pts: 1.2336, d3.loss_map_dir: 0.0191, d4.loss_map_cls: 0.2755, d4.loss_map_pts: 1.2124, d4.loss_map_dir: 0.0195, d5.loss_map_cls: 0.2733, d5.loss_map_pts: 1.2066, d5.loss_map_dir: 0.0197, loss: 41.9715, grad_norm: 166.3743 +2026-02-25 10:57:29,254 - DriveTransformer - INFO - Epoch [4][27900/39528] lr: 9.623e-05, eta: 7 days, 10:57:31, time: 0.810, data_time: 0.043, memory: 19865, loss_cls: 0.2729, loss_bbox: 0.4566, loss_traj: 0.6706, loss_traj_cls: 0.0016, loss_map_cls: 0.2467, loss_map_pts: 1.0508, loss_map_dir: 0.0168, d0.loss_plan_l1_fix_time: 2.9841, d0.loss_plan_l1_fix_dist: 0.4540, d1.loss_plan_l1_fix_time: 1.6942, d1.loss_plan_l1_fix_dist: 0.2384, d2.loss_plan_l1_fix_time: 1.6821, d2.loss_plan_l1_fix_dist: 0.2467, d3.loss_plan_l1_fix_time: 1.6888, d3.loss_plan_l1_fix_dist: 0.2636, d4.loss_plan_l1_fix_time: 1.6968, d4.loss_plan_l1_fix_dist: 0.2840, d5.loss_plan_l1_fix_time: 1.7052, d5.loss_plan_l1_fix_dist: 0.3058, d6.loss_plan_l1_fix_time: 1.7135, d6.loss_plan_l1_fix_dist: 0.3297, d0.loss_cls_all: 0.2986, d0.loss_bbox_all: 0.5037, d0.loss_cls: 0.2986, d0.loss_bbox: 0.5037, d1.loss_cls: 0.2886, d1.loss_bbox: 0.4743, d2.loss_cls: 0.2817, d2.loss_bbox: 0.4588, d3.loss_cls: 0.2747, d3.loss_bbox: 0.4577, d4.loss_cls: 0.2718, d4.loss_bbox: 0.4554, d5.loss_cls: 0.2715, d5.loss_bbox: 0.4555, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8514, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7250, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6829, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6684, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6725, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6668, d0.loss_map_cls_all: 0.3038, d0.loss_map_pts_all: 1.9444, d0.loss_map_dir_all: 0.0156, d0.loss_map_cls: 0.3038, d0.loss_map_pts: 1.9444, d0.loss_map_dir: 0.0156, d1.loss_map_cls: 0.2796, d1.loss_map_pts: 1.3268, d1.loss_map_dir: 0.0147, d2.loss_map_cls: 0.2650, d2.loss_map_pts: 1.1413, d2.loss_map_dir: 0.0154, d3.loss_map_cls: 0.2511, d3.loss_map_pts: 1.0802, d3.loss_map_dir: 0.0160, d4.loss_map_cls: 0.2464, d4.loss_map_pts: 1.0635, d4.loss_map_dir: 0.0165, d5.loss_map_cls: 0.2454, d5.loss_map_pts: 1.0558, d5.loss_map_dir: 0.0166, loss: 39.1314, grad_norm: 167.7613 +2026-02-25 10:58:10,038 - DriveTransformer - INFO - Epoch [4][27950/39528] lr: 9.623e-05, eta: 7 days, 10:56:55, time: 0.816, data_time: 0.042, memory: 19865, loss_cls: 0.2849, loss_bbox: 0.4526, loss_traj: 0.9771, loss_traj_cls: 0.0016, loss_map_cls: 0.1983, loss_map_pts: 0.9124, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.7927, d0.loss_plan_l1_fix_dist: 0.3944, d1.loss_plan_l1_fix_time: 1.6077, d1.loss_plan_l1_fix_dist: 0.2501, d2.loss_plan_l1_fix_time: 1.5885, d2.loss_plan_l1_fix_dist: 0.2675, d3.loss_plan_l1_fix_time: 1.5916, d3.loss_plan_l1_fix_dist: 0.2874, d4.loss_plan_l1_fix_time: 1.5969, d4.loss_plan_l1_fix_dist: 0.3090, d5.loss_plan_l1_fix_time: 1.6024, d5.loss_plan_l1_fix_dist: 0.3350, d6.loss_plan_l1_fix_time: 1.6082, d6.loss_plan_l1_fix_dist: 0.3676, d0.loss_cls_all: 0.3026, d0.loss_bbox_all: 0.5083, d0.loss_cls: 0.3026, d0.loss_bbox: 0.5083, d1.loss_cls: 0.2941, d1.loss_bbox: 0.4787, d2.loss_cls: 0.2888, d2.loss_bbox: 0.4606, d3.loss_cls: 0.2871, d3.loss_bbox: 0.4533, d4.loss_cls: 0.2853, d4.loss_bbox: 0.4500, d5.loss_cls: 0.2827, d5.loss_bbox: 0.4515, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1635, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0691, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0088, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9933, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9794, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9782, d0.loss_map_cls_all: 0.2627, d0.loss_map_pts_all: 1.6367, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2627, d0.loss_map_pts: 1.6367, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2327, d1.loss_map_pts: 1.1682, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2189, d2.loss_map_pts: 1.0072, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2077, d3.loss_map_pts: 0.9498, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.2010, d4.loss_map_pts: 0.9277, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.2001, d5.loss_map_pts: 0.9184, d5.loss_map_dir: 0.0122, loss: 38.9017, grad_norm: 170.8420 +2026-02-25 10:58:51,017 - DriveTransformer - INFO - Epoch [4][28000/39528] lr: 9.623e-05, eta: 7 days, 10:56:19, time: 0.820, data_time: 0.044, memory: 19865, loss_cls: 0.2960, loss_bbox: 0.4783, loss_traj: 0.7970, loss_traj_cls: 0.0016, loss_map_cls: 0.2582, loss_map_pts: 1.1456, loss_map_dir: 0.0173, d0.loss_plan_l1_fix_time: 2.8436, d0.loss_plan_l1_fix_dist: 0.4102, d1.loss_plan_l1_fix_time: 1.5289, d1.loss_plan_l1_fix_dist: 0.2283, d2.loss_plan_l1_fix_time: 1.4966, d2.loss_plan_l1_fix_dist: 0.2522, d3.loss_plan_l1_fix_time: 1.4970, d3.loss_plan_l1_fix_dist: 0.2841, d4.loss_plan_l1_fix_time: 1.5015, d4.loss_plan_l1_fix_dist: 0.3208, d5.loss_plan_l1_fix_time: 1.5070, d5.loss_plan_l1_fix_dist: 0.3598, d6.loss_plan_l1_fix_time: 1.5138, d6.loss_plan_l1_fix_dist: 0.4005, d0.loss_cls_all: 0.3216, d0.loss_bbox_all: 0.5279, d0.loss_cls: 0.3216, d0.loss_bbox: 0.5279, d1.loss_cls: 0.3130, d1.loss_bbox: 0.4990, d2.loss_cls: 0.3062, d2.loss_bbox: 0.4806, d3.loss_cls: 0.3003, d3.loss_bbox: 0.4777, d4.loss_cls: 0.2960, d4.loss_bbox: 0.4768, d5.loss_cls: 0.2949, d5.loss_bbox: 0.4781, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9697, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8391, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7960, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7919, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7882, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7949, d0.loss_map_cls_all: 0.3125, d0.loss_map_pts_all: 2.0346, d0.loss_map_dir_all: 0.0156, d0.loss_map_cls: 0.3125, d0.loss_map_pts: 2.0346, d0.loss_map_dir: 0.0156, d1.loss_map_cls: 0.2914, d1.loss_map_pts: 1.4512, d1.loss_map_dir: 0.0153, d2.loss_map_cls: 0.2747, d2.loss_map_pts: 1.2526, d2.loss_map_dir: 0.0161, d3.loss_map_cls: 0.2634, d3.loss_map_pts: 1.1811, d3.loss_map_dir: 0.0168, d4.loss_map_cls: 0.2609, d4.loss_map_pts: 1.1548, d4.loss_map_dir: 0.0171, d5.loss_map_cls: 0.2586, d5.loss_map_pts: 1.1485, d5.loss_map_dir: 0.0172, loss: 40.0898, grad_norm: 171.8276 +2026-02-25 10:59:31,125 - DriveTransformer - INFO - Epoch [4][28050/39528] lr: 9.623e-05, eta: 7 days, 10:55:39, time: 0.802, data_time: 0.042, memory: 19865, loss_cls: 0.2921, loss_bbox: 0.4738, loss_traj: 0.9614, loss_traj_cls: 0.0015, loss_map_cls: 0.2636, loss_map_pts: 1.0863, loss_map_dir: 0.0151, d0.loss_plan_l1_fix_time: 2.9319, d0.loss_plan_l1_fix_dist: 0.4738, d1.loss_plan_l1_fix_time: 1.5192, d1.loss_plan_l1_fix_dist: 0.2551, d2.loss_plan_l1_fix_time: 1.4979, d2.loss_plan_l1_fix_dist: 0.2712, d3.loss_plan_l1_fix_time: 1.5000, d3.loss_plan_l1_fix_dist: 0.2951, d4.loss_plan_l1_fix_time: 1.5034, d4.loss_plan_l1_fix_dist: 0.3218, d5.loss_plan_l1_fix_time: 1.5068, d5.loss_plan_l1_fix_dist: 0.3466, d6.loss_plan_l1_fix_time: 1.5107, d6.loss_plan_l1_fix_dist: 0.3701, d0.loss_cls_all: 0.3195, d0.loss_bbox_all: 0.5363, d0.loss_cls: 0.3195, d0.loss_bbox: 0.5363, d1.loss_cls: 0.3107, d1.loss_bbox: 0.5030, d2.loss_cls: 0.3026, d2.loss_bbox: 0.4850, d3.loss_cls: 0.2966, d3.loss_bbox: 0.4790, d4.loss_cls: 0.2938, d4.loss_bbox: 0.4730, d5.loss_cls: 0.2934, d5.loss_bbox: 0.4741, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2480, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0374, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9826, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9671, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9620, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9608, d0.loss_map_cls_all: 0.3343, d0.loss_map_pts_all: 1.8834, d0.loss_map_dir_all: 0.0142, d0.loss_map_cls: 0.3343, d0.loss_map_pts: 1.8834, d0.loss_map_dir: 0.0142, d1.loss_map_cls: 0.3014, d1.loss_map_pts: 1.3278, d1.loss_map_dir: 0.0136, d2.loss_map_cls: 0.2852, d2.loss_map_pts: 1.1648, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2741, d3.loss_map_pts: 1.1081, d3.loss_map_dir: 0.0145, d4.loss_map_cls: 0.2694, d4.loss_map_pts: 1.0888, d4.loss_map_dir: 0.0149, d5.loss_map_cls: 0.2667, d5.loss_map_pts: 1.0854, d5.loss_map_dir: 0.0149, loss: 40.8905, grad_norm: 172.4306 +2026-02-25 11:00:13,020 - DriveTransformer - INFO - Epoch [4][28100/39528] lr: 9.623e-05, eta: 7 days, 10:55:08, time: 0.838, data_time: 0.046, memory: 19865, loss_cls: 0.2503, loss_bbox: 0.4401, loss_traj: 0.8575, loss_traj_cls: 0.0017, loss_map_cls: 0.2165, loss_map_pts: 0.9762, loss_map_dir: 0.0159, d0.loss_plan_l1_fix_time: 2.4153, d0.loss_plan_l1_fix_dist: 0.5154, d1.loss_plan_l1_fix_time: 1.2716, d1.loss_plan_l1_fix_dist: 0.2517, d2.loss_plan_l1_fix_time: 1.2519, d2.loss_plan_l1_fix_dist: 0.2793, d3.loss_plan_l1_fix_time: 1.2557, d3.loss_plan_l1_fix_dist: 0.3128, d4.loss_plan_l1_fix_time: 1.2619, d4.loss_plan_l1_fix_dist: 0.3471, d5.loss_plan_l1_fix_time: 1.2687, d5.loss_plan_l1_fix_dist: 0.3823, d6.loss_plan_l1_fix_time: 1.2765, d6.loss_plan_l1_fix_dist: 0.4198, d0.loss_cls_all: 0.2764, d0.loss_bbox_all: 0.4908, d0.loss_cls: 0.2764, d0.loss_bbox: 0.4908, d1.loss_cls: 0.2712, d1.loss_bbox: 0.4632, d2.loss_cls: 0.2646, d2.loss_bbox: 0.4477, d3.loss_cls: 0.2554, d3.loss_bbox: 0.4425, d4.loss_cls: 0.2504, d4.loss_bbox: 0.4401, d5.loss_cls: 0.2498, d5.loss_bbox: 0.4394, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0703, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9323, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8943, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8678, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8608, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8594, d0.loss_map_cls_all: 0.2781, d0.loss_map_pts_all: 1.9663, d0.loss_map_dir_all: 0.0149, d0.loss_map_cls: 0.2781, d0.loss_map_pts: 1.9663, d0.loss_map_dir: 0.0149, d1.loss_map_cls: 0.2463, d1.loss_map_pts: 1.3042, d1.loss_map_dir: 0.0141, d2.loss_map_cls: 0.2318, d2.loss_map_pts: 1.0924, d2.loss_map_dir: 0.0146, d3.loss_map_cls: 0.2230, d3.loss_map_pts: 1.0176, d3.loss_map_dir: 0.0153, d4.loss_map_cls: 0.2185, d4.loss_map_pts: 0.9875, d4.loss_map_dir: 0.0156, d5.loss_map_cls: 0.2159, d5.loss_map_pts: 0.9795, d5.loss_map_dir: 0.0158, loss: 36.9279, grad_norm: 174.2168 +2026-02-25 11:00:55,611 - DriveTransformer - INFO - Epoch [4][28150/39528] lr: 9.623e-05, eta: 7 days, 10:54:41, time: 0.852, data_time: 0.044, memory: 19865, loss_cls: 0.2201, loss_bbox: 0.4156, loss_traj: 0.7252, loss_traj_cls: 0.0016, loss_map_cls: 0.1917, loss_map_pts: 0.8661, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 2.8687, d0.loss_plan_l1_fix_dist: 0.4459, d1.loss_plan_l1_fix_time: 1.5191, d1.loss_plan_l1_fix_dist: 0.2290, d2.loss_plan_l1_fix_time: 1.5042, d2.loss_plan_l1_fix_dist: 0.2421, d3.loss_plan_l1_fix_time: 1.5046, d3.loss_plan_l1_fix_dist: 0.2630, d4.loss_plan_l1_fix_time: 1.5085, d4.loss_plan_l1_fix_dist: 0.2865, d5.loss_plan_l1_fix_time: 1.5132, d5.loss_plan_l1_fix_dist: 0.3114, d6.loss_plan_l1_fix_time: 1.5189, d6.loss_plan_l1_fix_dist: 0.3373, d0.loss_cls_all: 0.2488, d0.loss_bbox_all: 0.4705, d0.loss_cls: 0.2488, d0.loss_bbox: 0.4705, d1.loss_cls: 0.2400, d1.loss_bbox: 0.4411, d2.loss_cls: 0.2296, d2.loss_bbox: 0.4268, d3.loss_cls: 0.2263, d3.loss_bbox: 0.4204, d4.loss_cls: 0.2223, d4.loss_bbox: 0.4174, d5.loss_cls: 0.2213, d5.loss_bbox: 0.4148, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9138, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7914, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7479, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7349, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7270, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7312, d0.loss_map_cls_all: 0.2442, d0.loss_map_pts_all: 1.8112, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.2442, d0.loss_map_pts: 1.8112, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2181, d1.loss_map_pts: 1.1961, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2041, d2.loss_map_pts: 0.9913, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.1954, d3.loss_map_pts: 0.9117, d3.loss_map_dir: 0.0136, d4.loss_map_cls: 0.1920, d4.loss_map_pts: 0.8856, d4.loss_map_dir: 0.0139, d5.loss_map_cls: 0.1911, d5.loss_map_pts: 0.8705, d5.loss_map_dir: 0.0141, loss: 35.8958, grad_norm: 172.2435 +2026-02-25 11:01:35,025 - DriveTransformer - INFO - Epoch [4][28200/39528] lr: 9.623e-05, eta: 7 days, 10:53:57, time: 0.790, data_time: 0.048, memory: 19865, loss_cls: 0.2332, loss_bbox: 0.4208, loss_traj: 0.9905, loss_traj_cls: 0.0016, loss_map_cls: 0.2139, loss_map_pts: 0.8523, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.6373, d0.loss_plan_l1_fix_dist: 0.4736, d1.loss_plan_l1_fix_time: 1.3630, d1.loss_plan_l1_fix_dist: 0.2472, d2.loss_plan_l1_fix_time: 1.3469, d2.loss_plan_l1_fix_dist: 0.2621, d3.loss_plan_l1_fix_time: 1.3526, d3.loss_plan_l1_fix_dist: 0.2855, d4.loss_plan_l1_fix_time: 1.3585, d4.loss_plan_l1_fix_dist: 0.3117, d5.loss_plan_l1_fix_time: 1.3649, d5.loss_plan_l1_fix_dist: 0.3407, d6.loss_plan_l1_fix_time: 1.3714, d6.loss_plan_l1_fix_dist: 0.3721, d0.loss_cls_all: 0.2571, d0.loss_bbox_all: 0.4691, d0.loss_cls: 0.2571, d0.loss_bbox: 0.4691, d1.loss_cls: 0.2485, d1.loss_bbox: 0.4422, d2.loss_cls: 0.2392, d2.loss_bbox: 0.4299, d3.loss_cls: 0.2332, d3.loss_bbox: 0.4245, d4.loss_cls: 0.2315, d4.loss_bbox: 0.4218, d5.loss_cls: 0.2313, d5.loss_bbox: 0.4212, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2460, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0659, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0070, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0006, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9978, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9856, d0.loss_map_cls_all: 0.2668, d0.loss_map_pts_all: 1.6827, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2668, d0.loss_map_pts: 1.6827, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2422, d1.loss_map_pts: 1.1238, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2315, d2.loss_map_pts: 0.9504, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.2245, d3.loss_map_pts: 0.8888, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.2178, d4.loss_map_pts: 0.8612, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.2152, d5.loss_map_pts: 0.8541, d5.loss_map_dir: 0.0115, loss: 36.6801, grad_norm: 170.1539 +2026-02-25 11:02:16,280 - DriveTransformer - INFO - Epoch [4][28250/39528] lr: 9.623e-05, eta: 7 days, 10:53:23, time: 0.824, data_time: 0.042, memory: 19865, loss_cls: 0.2491, loss_bbox: 0.4297, loss_traj: 0.7389, loss_traj_cls: 0.0017, loss_map_cls: 0.2089, loss_map_pts: 0.9413, loss_map_dir: 0.0166, d0.loss_plan_l1_fix_time: 2.7192, d0.loss_plan_l1_fix_dist: 0.4060, d1.loss_plan_l1_fix_time: 1.5434, d1.loss_plan_l1_fix_dist: 0.2178, d2.loss_plan_l1_fix_time: 1.5486, d2.loss_plan_l1_fix_dist: 0.2325, d3.loss_plan_l1_fix_time: 1.5524, d3.loss_plan_l1_fix_dist: 0.2549, d4.loss_plan_l1_fix_time: 1.5566, d4.loss_plan_l1_fix_dist: 0.2806, d5.loss_plan_l1_fix_time: 1.5609, d5.loss_plan_l1_fix_dist: 0.3104, d6.loss_plan_l1_fix_time: 1.5662, d6.loss_plan_l1_fix_dist: 0.3439, d0.loss_cls_all: 0.2750, d0.loss_bbox_all: 0.4779, d0.loss_cls: 0.2750, d0.loss_bbox: 0.4779, d1.loss_cls: 0.2654, d1.loss_bbox: 0.4525, d2.loss_cls: 0.2542, d2.loss_bbox: 0.4400, d3.loss_cls: 0.2498, d3.loss_bbox: 0.4331, d4.loss_cls: 0.2475, d4.loss_bbox: 0.4290, d5.loss_cls: 0.2477, d5.loss_bbox: 0.4288, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9425, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7985, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7546, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7470, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7398, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7381, d0.loss_map_cls_all: 0.2597, d0.loss_map_pts_all: 1.9854, d0.loss_map_dir_all: 0.0153, d0.loss_map_cls: 0.2597, d0.loss_map_pts: 1.9854, d0.loss_map_dir: 0.0153, d1.loss_map_cls: 0.2358, d1.loss_map_pts: 1.2482, d1.loss_map_dir: 0.0149, d2.loss_map_cls: 0.2233, d2.loss_map_pts: 1.0302, d2.loss_map_dir: 0.0153, d3.loss_map_cls: 0.2159, d3.loss_map_pts: 0.9665, d3.loss_map_dir: 0.0159, d4.loss_map_cls: 0.2109, d4.loss_map_pts: 0.9468, d4.loss_map_dir: 0.0163, d5.loss_map_cls: 0.2090, d5.loss_map_pts: 0.9415, d5.loss_map_dir: 0.0165, loss: 37.1870, grad_norm: 171.5808 +2026-02-25 11:02:59,970 - DriveTransformer - INFO - Epoch [4][28300/39528] lr: 9.623e-05, eta: 7 days, 10:53:02, time: 0.874, data_time: 0.043, memory: 19865, loss_cls: 0.2760, loss_bbox: 0.4508, loss_traj: 0.8299, loss_traj_cls: 0.0017, loss_map_cls: 0.2131, loss_map_pts: 1.0542, loss_map_dir: 0.0164, d0.loss_plan_l1_fix_time: 2.5153, d0.loss_plan_l1_fix_dist: 0.3930, d1.loss_plan_l1_fix_time: 1.4513, d1.loss_plan_l1_fix_dist: 0.2355, d2.loss_plan_l1_fix_time: 1.4255, d2.loss_plan_l1_fix_dist: 0.2463, d3.loss_plan_l1_fix_time: 1.4228, d3.loss_plan_l1_fix_dist: 0.2657, d4.loss_plan_l1_fix_time: 1.4252, d4.loss_plan_l1_fix_dist: 0.2879, d5.loss_plan_l1_fix_time: 1.4280, d5.loss_plan_l1_fix_dist: 0.3090, d6.loss_plan_l1_fix_time: 1.4315, d6.loss_plan_l1_fix_dist: 0.3315, d0.loss_cls_all: 0.3001, d0.loss_bbox_all: 0.5034, d0.loss_cls: 0.3001, d0.loss_bbox: 0.5034, d1.loss_cls: 0.2883, d1.loss_bbox: 0.4754, d2.loss_cls: 0.2808, d2.loss_bbox: 0.4618, d3.loss_cls: 0.2770, d3.loss_bbox: 0.4542, d4.loss_cls: 0.2734, d4.loss_bbox: 0.4519, d5.loss_cls: 0.2740, d5.loss_bbox: 0.4507, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0649, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9051, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8444, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8328, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8348, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8322, d0.loss_map_cls_all: 0.2649, d0.loss_map_pts_all: 2.0108, d0.loss_map_dir_all: 0.0152, d0.loss_map_cls: 0.2649, d0.loss_map_pts: 2.0108, d0.loss_map_dir: 0.0152, d1.loss_map_cls: 0.2415, d1.loss_map_pts: 1.3146, d1.loss_map_dir: 0.0146, d2.loss_map_cls: 0.2303, d2.loss_map_pts: 1.1311, d2.loss_map_dir: 0.0152, d3.loss_map_cls: 0.2223, d3.loss_map_pts: 1.0784, d3.loss_map_dir: 0.0159, d4.loss_map_cls: 0.2150, d4.loss_map_pts: 1.0612, d4.loss_map_dir: 0.0161, d5.loss_map_cls: 0.2120, d5.loss_map_pts: 1.0540, d5.loss_map_dir: 0.0163, loss: 38.0455, grad_norm: 168.9870 +2026-02-25 11:03:41,539 - DriveTransformer - INFO - Epoch [4][28350/39528] lr: 9.623e-05, eta: 7 days, 10:52:29, time: 0.831, data_time: 0.050, memory: 19865, loss_cls: 0.2408, loss_bbox: 0.4373, loss_traj: 0.9600, loss_traj_cls: 0.0017, loss_map_cls: 0.2224, loss_map_pts: 0.9626, loss_map_dir: 0.0145, d0.loss_plan_l1_fix_time: 2.7443, d0.loss_plan_l1_fix_dist: 0.4145, d1.loss_plan_l1_fix_time: 1.6087, d1.loss_plan_l1_fix_dist: 0.2294, d2.loss_plan_l1_fix_time: 1.5723, d2.loss_plan_l1_fix_dist: 0.2425, d3.loss_plan_l1_fix_time: 1.5706, d3.loss_plan_l1_fix_dist: 0.2615, d4.loss_plan_l1_fix_time: 1.5740, d4.loss_plan_l1_fix_dist: 0.2845, d5.loss_plan_l1_fix_time: 1.5783, d5.loss_plan_l1_fix_dist: 0.3087, d6.loss_plan_l1_fix_time: 1.5833, d6.loss_plan_l1_fix_dist: 0.3368, d0.loss_cls_all: 0.2654, d0.loss_bbox_all: 0.4823, d0.loss_cls: 0.2654, d0.loss_bbox: 0.4823, d1.loss_cls: 0.2565, d1.loss_bbox: 0.4551, d2.loss_cls: 0.2499, d2.loss_bbox: 0.4400, d3.loss_cls: 0.2454, d3.loss_bbox: 0.4371, d4.loss_cls: 0.2432, d4.loss_bbox: 0.4358, d5.loss_cls: 0.2412, d5.loss_bbox: 0.4364, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0744, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0202, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9725, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9676, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9618, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9591, d0.loss_map_cls_all: 0.2744, d0.loss_map_pts_all: 1.8543, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.2744, d0.loss_map_pts: 1.8543, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2481, d1.loss_map_pts: 1.2406, d1.loss_map_dir: 0.0125, d2.loss_map_cls: 0.2349, d2.loss_map_pts: 1.0538, d2.loss_map_dir: 0.0131, d3.loss_map_cls: 0.2299, d3.loss_map_pts: 0.9934, d3.loss_map_dir: 0.0138, d4.loss_map_cls: 0.2250, d4.loss_map_pts: 0.9766, d4.loss_map_dir: 0.0143, d5.loss_map_cls: 0.2228, d5.loss_map_pts: 0.9656, d5.loss_map_dir: 0.0144, loss: 38.7883, grad_norm: 169.2802 +2026-02-25 11:04:21,353 - DriveTransformer - INFO - Epoch [4][28400/39528] lr: 9.623e-05, eta: 7 days, 10:51:47, time: 0.796, data_time: 0.039, memory: 19865, loss_cls: 0.2343, loss_bbox: 0.4209, loss_traj: 0.9287, loss_traj_cls: 0.0017, loss_map_cls: 0.1937, loss_map_pts: 0.8085, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.7033, d0.loss_plan_l1_fix_dist: 0.5082, d1.loss_plan_l1_fix_time: 1.4031, d1.loss_plan_l1_fix_dist: 0.2641, d2.loss_plan_l1_fix_time: 1.3949, d2.loss_plan_l1_fix_dist: 0.2729, d3.loss_plan_l1_fix_time: 1.3996, d3.loss_plan_l1_fix_dist: 0.2856, d4.loss_plan_l1_fix_time: 1.4047, d4.loss_plan_l1_fix_dist: 0.3003, d5.loss_plan_l1_fix_time: 1.4101, d5.loss_plan_l1_fix_dist: 0.3181, d6.loss_plan_l1_fix_time: 1.4157, d6.loss_plan_l1_fix_dist: 0.3356, d0.loss_cls_all: 0.2517, d0.loss_bbox_all: 0.4754, d0.loss_cls: 0.2517, d0.loss_bbox: 0.4754, d1.loss_cls: 0.2495, d1.loss_bbox: 0.4443, d2.loss_cls: 0.2406, d2.loss_bbox: 0.4255, d3.loss_cls: 0.2375, d3.loss_bbox: 0.4198, d4.loss_cls: 0.2330, d4.loss_bbox: 0.4191, d5.loss_cls: 0.2319, d5.loss_bbox: 0.4194, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1865, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9961, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9539, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9425, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9376, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9269, d0.loss_map_cls_all: 0.2546, d0.loss_map_pts_all: 1.4893, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2546, d0.loss_map_pts: 1.4893, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2272, d1.loss_map_pts: 1.0090, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2129, d2.loss_map_pts: 0.8733, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.2025, d3.loss_map_pts: 0.8304, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1968, d4.loss_map_pts: 0.8166, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1934, d5.loss_map_pts: 0.8109, d5.loss_map_dir: 0.0108, loss: 35.6726, grad_norm: 171.3303 +2026-02-25 11:05:01,027 - DriveTransformer - INFO - Epoch [4][28450/39528] lr: 9.623e-05, eta: 7 days, 10:51:05, time: 0.793, data_time: 0.048, memory: 19865, loss_cls: 0.2571, loss_bbox: 0.4648, loss_traj: 0.9108, loss_traj_cls: 0.0018, loss_map_cls: 0.2170, loss_map_pts: 0.9536, loss_map_dir: 0.0139, d0.loss_plan_l1_fix_time: 2.7635, d0.loss_plan_l1_fix_dist: 0.3727, d1.loss_plan_l1_fix_time: 1.5353, d1.loss_plan_l1_fix_dist: 0.2547, d2.loss_plan_l1_fix_time: 1.5092, d2.loss_plan_l1_fix_dist: 0.2685, d3.loss_plan_l1_fix_time: 1.5107, d3.loss_plan_l1_fix_dist: 0.2859, d4.loss_plan_l1_fix_time: 1.5144, d4.loss_plan_l1_fix_dist: 0.3057, d5.loss_plan_l1_fix_time: 1.5196, d5.loss_plan_l1_fix_dist: 0.3274, d6.loss_plan_l1_fix_time: 1.5257, d6.loss_plan_l1_fix_dist: 0.3502, d0.loss_cls_all: 0.2909, d0.loss_bbox_all: 0.5223, d0.loss_cls: 0.2909, d0.loss_bbox: 0.5223, d1.loss_cls: 0.2774, d1.loss_bbox: 0.4892, d2.loss_cls: 0.2657, d2.loss_bbox: 0.4709, d3.loss_cls: 0.2629, d3.loss_bbox: 0.4638, d4.loss_cls: 0.2587, d4.loss_bbox: 0.4632, d5.loss_cls: 0.2574, d5.loss_bbox: 0.4621, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1461, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9968, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9355, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9231, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9133, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9106, d0.loss_map_cls_all: 0.2851, d0.loss_map_pts_all: 1.7587, d0.loss_map_dir_all: 0.0126, d0.loss_map_cls: 0.2851, d0.loss_map_pts: 1.7587, d0.loss_map_dir: 0.0126, d1.loss_map_cls: 0.2590, d1.loss_map_pts: 1.2299, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2361, d2.loss_map_pts: 1.0514, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2233, d3.loss_map_pts: 0.9881, d3.loss_map_dir: 0.0133, d4.loss_map_cls: 0.2180, d4.loss_map_pts: 0.9667, d4.loss_map_dir: 0.0136, d5.loss_map_cls: 0.2164, d5.loss_map_pts: 0.9565, d5.loss_map_dir: 0.0138, loss: 38.5151, grad_norm: 171.6259 +2026-02-25 11:05:43,139 - DriveTransformer - INFO - Epoch [4][28500/39528] lr: 9.623e-05, eta: 7 days, 10:50:35, time: 0.842, data_time: 0.051, memory: 19865, loss_cls: 0.2298, loss_bbox: 0.4331, loss_traj: 0.8497, loss_traj_cls: 0.0018, loss_map_cls: 0.2087, loss_map_pts: 0.8490, loss_map_dir: 0.0140, d0.loss_plan_l1_fix_time: 2.3596, d0.loss_plan_l1_fix_dist: 0.3528, d1.loss_plan_l1_fix_time: 1.3113, d1.loss_plan_l1_fix_dist: 0.2231, d2.loss_plan_l1_fix_time: 1.2938, d2.loss_plan_l1_fix_dist: 0.2336, d3.loss_plan_l1_fix_time: 1.3017, d3.loss_plan_l1_fix_dist: 0.2475, d4.loss_plan_l1_fix_time: 1.3076, d4.loss_plan_l1_fix_dist: 0.2639, d5.loss_plan_l1_fix_time: 1.3133, d5.loss_plan_l1_fix_dist: 0.2831, d6.loss_plan_l1_fix_time: 1.3200, d6.loss_plan_l1_fix_dist: 0.3063, d0.loss_cls_all: 0.2588, d0.loss_bbox_all: 0.4831, d0.loss_cls: 0.2588, d0.loss_bbox: 0.4831, d1.loss_cls: 0.2461, d1.loss_bbox: 0.4540, d2.loss_cls: 0.2361, d2.loss_bbox: 0.4412, d3.loss_cls: 0.2335, d3.loss_bbox: 0.4352, d4.loss_cls: 0.2303, d4.loss_bbox: 0.4355, d5.loss_cls: 0.2312, d5.loss_bbox: 0.4323, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0801, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9120, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8705, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8555, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8532, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8461, d0.loss_map_cls_all: 0.2819, d0.loss_map_pts_all: 1.7992, d0.loss_map_dir_all: 0.0130, d0.loss_map_cls: 0.2819, d0.loss_map_pts: 1.7992, d0.loss_map_dir: 0.0130, d1.loss_map_cls: 0.2513, d1.loss_map_pts: 1.1243, d1.loss_map_dir: 0.0125, d2.loss_map_cls: 0.2288, d2.loss_map_pts: 0.9456, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2188, d3.loss_map_pts: 0.8763, d3.loss_map_dir: 0.0135, d4.loss_map_cls: 0.2136, d4.loss_map_pts: 0.8538, d4.loss_map_dir: 0.0138, d5.loss_map_cls: 0.2095, d5.loss_map_pts: 0.8498, d5.loss_map_dir: 0.0139, loss: 35.0124, grad_norm: 175.6301 +2026-02-25 11:06:24,216 - DriveTransformer - INFO - Epoch [4][28550/39528] lr: 9.623e-05, eta: 7 days, 10:50:00, time: 0.822, data_time: 0.046, memory: 19865, loss_cls: 0.2684, loss_bbox: 0.4382, loss_traj: 0.8707, loss_traj_cls: 0.0018, loss_map_cls: 0.2352, loss_map_pts: 1.0256, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 2.6099, d0.loss_plan_l1_fix_dist: 0.4951, d1.loss_plan_l1_fix_time: 1.5296, d1.loss_plan_l1_fix_dist: 0.2371, d2.loss_plan_l1_fix_time: 1.5292, d2.loss_plan_l1_fix_dist: 0.2484, d3.loss_plan_l1_fix_time: 1.5362, d3.loss_plan_l1_fix_dist: 0.2611, d4.loss_plan_l1_fix_time: 1.5418, d4.loss_plan_l1_fix_dist: 0.2765, d5.loss_plan_l1_fix_time: 1.5469, d5.loss_plan_l1_fix_dist: 0.2928, d6.loss_plan_l1_fix_time: 1.5520, d6.loss_plan_l1_fix_dist: 0.3087, d0.loss_cls_all: 0.3042, d0.loss_bbox_all: 0.4943, d0.loss_cls: 0.3042, d0.loss_bbox: 0.4943, d1.loss_cls: 0.2875, d1.loss_bbox: 0.4604, d2.loss_cls: 0.2756, d2.loss_bbox: 0.4464, d3.loss_cls: 0.2697, d3.loss_bbox: 0.4396, d4.loss_cls: 0.2689, d4.loss_bbox: 0.4362, d5.loss_cls: 0.2672, d5.loss_bbox: 0.4359, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0528, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9083, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8751, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8739, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8772, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8709, d0.loss_map_cls_all: 0.2911, d0.loss_map_pts_all: 1.8569, d0.loss_map_dir_all: 0.0129, d0.loss_map_cls: 0.2911, d0.loss_map_pts: 1.8569, d0.loss_map_dir: 0.0129, d1.loss_map_cls: 0.2646, d1.loss_map_pts: 1.3085, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2517, d2.loss_map_pts: 1.1220, d2.loss_map_dir: 0.0132, d3.loss_map_cls: 0.2426, d3.loss_map_pts: 1.0612, d3.loss_map_dir: 0.0137, d4.loss_map_cls: 0.2376, d4.loss_map_pts: 1.0354, d4.loss_map_dir: 0.0141, d5.loss_map_cls: 0.2353, d5.loss_map_pts: 1.0281, d5.loss_map_dir: 0.0143, loss: 38.6446, grad_norm: 175.3372 +2026-02-25 11:07:04,431 - DriveTransformer - INFO - Epoch [4][28600/39528] lr: 9.623e-05, eta: 7 days, 10:49:20, time: 0.804, data_time: 0.046, memory: 19865, loss_cls: 0.2490, loss_bbox: 0.4451, loss_traj: 0.7763, loss_traj_cls: 0.0017, loss_map_cls: 0.2173, loss_map_pts: 0.9498, loss_map_dir: 0.0136, d0.loss_plan_l1_fix_time: 2.7919, d0.loss_plan_l1_fix_dist: 0.4218, d1.loss_plan_l1_fix_time: 1.4513, d1.loss_plan_l1_fix_dist: 0.2589, d2.loss_plan_l1_fix_time: 1.4319, d2.loss_plan_l1_fix_dist: 0.2662, d3.loss_plan_l1_fix_time: 1.4323, d3.loss_plan_l1_fix_dist: 0.2783, d4.loss_plan_l1_fix_time: 1.4364, d4.loss_plan_l1_fix_dist: 0.2947, d5.loss_plan_l1_fix_time: 1.4412, d5.loss_plan_l1_fix_dist: 0.3143, d6.loss_plan_l1_fix_time: 1.4464, d6.loss_plan_l1_fix_dist: 0.3369, d0.loss_cls_all: 0.2746, d0.loss_bbox_all: 0.5006, d0.loss_cls: 0.2746, d0.loss_bbox: 0.5006, d1.loss_cls: 0.2676, d1.loss_bbox: 0.4680, d2.loss_cls: 0.2558, d2.loss_bbox: 0.4522, d3.loss_cls: 0.2519, d3.loss_bbox: 0.4444, d4.loss_cls: 0.2492, d4.loss_bbox: 0.4442, d5.loss_cls: 0.2495, d5.loss_bbox: 0.4444, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9928, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8610, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7945, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7790, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7728, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7726, d0.loss_map_cls_all: 0.2825, d0.loss_map_pts_all: 1.7284, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.2825, d0.loss_map_pts: 1.7284, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2515, d1.loss_map_pts: 1.2247, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2364, d2.loss_map_pts: 1.0435, d2.loss_map_dir: 0.0127, d3.loss_map_cls: 0.2256, d3.loss_map_pts: 0.9801, d3.loss_map_dir: 0.0132, d4.loss_map_cls: 0.2211, d4.loss_map_pts: 0.9622, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.2190, d5.loss_map_pts: 0.9550, d5.loss_map_dir: 0.0135, loss: 36.7423, grad_norm: 173.1954 +2026-02-25 11:07:46,199 - DriveTransformer - INFO - Epoch [4][28650/39528] lr: 9.623e-05, eta: 7 days, 10:48:49, time: 0.835, data_time: 0.048, memory: 19865, loss_cls: 0.2270, loss_bbox: 0.4280, loss_traj: 0.9022, loss_traj_cls: 0.0018, loss_map_cls: 0.2222, loss_map_pts: 0.9093, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 2.3612, d0.loss_plan_l1_fix_dist: 0.3973, d1.loss_plan_l1_fix_time: 1.5248, d1.loss_plan_l1_fix_dist: 0.2251, d2.loss_plan_l1_fix_time: 1.5127, d2.loss_plan_l1_fix_dist: 0.2312, d3.loss_plan_l1_fix_time: 1.5206, d3.loss_plan_l1_fix_dist: 0.2413, d4.loss_plan_l1_fix_time: 1.5260, d4.loss_plan_l1_fix_dist: 0.2528, d5.loss_plan_l1_fix_time: 1.5315, d5.loss_plan_l1_fix_dist: 0.2682, d6.loss_plan_l1_fix_time: 1.5376, d6.loss_plan_l1_fix_dist: 0.2865, d0.loss_cls_all: 0.2479, d0.loss_bbox_all: 0.4775, d0.loss_cls: 0.2479, d0.loss_bbox: 0.4775, d1.loss_cls: 0.2443, d1.loss_bbox: 0.4478, d2.loss_cls: 0.2334, d2.loss_bbox: 0.4342, d3.loss_cls: 0.2311, d3.loss_bbox: 0.4279, d4.loss_cls: 0.2284, d4.loss_bbox: 0.4267, d5.loss_cls: 0.2277, d5.loss_bbox: 0.4267, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1337, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9610, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9119, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9003, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8974, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9030, d0.loss_map_cls_all: 0.2762, d0.loss_map_pts_all: 1.8589, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.2762, d0.loss_map_pts: 1.8589, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2513, d1.loss_map_pts: 1.2076, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2386, d2.loss_map_pts: 1.0049, d2.loss_map_dir: 0.0132, d3.loss_map_cls: 0.2328, d3.loss_map_pts: 0.9372, d3.loss_map_dir: 0.0139, d4.loss_map_cls: 0.2262, d4.loss_map_pts: 0.9169, d4.loss_map_dir: 0.0143, d5.loss_map_cls: 0.2231, d5.loss_map_pts: 0.9093, d5.loss_map_dir: 0.0144, loss: 37.1271, grad_norm: 173.6936 +2026-02-25 11:08:28,666 - DriveTransformer - INFO - Epoch [4][28700/39528] lr: 9.623e-05, eta: 7 days, 10:48:21, time: 0.849, data_time: 0.048, memory: 19865, loss_cls: 0.2560, loss_bbox: 0.4405, loss_traj: 0.7647, loss_traj_cls: 0.0017, loss_map_cls: 0.2604, loss_map_pts: 1.1095, loss_map_dir: 0.0188, d0.loss_plan_l1_fix_time: 2.5818, d0.loss_plan_l1_fix_dist: 0.4003, d1.loss_plan_l1_fix_time: 1.5195, d1.loss_plan_l1_fix_dist: 0.2348, d2.loss_plan_l1_fix_time: 1.5082, d2.loss_plan_l1_fix_dist: 0.2434, d3.loss_plan_l1_fix_time: 1.5098, d3.loss_plan_l1_fix_dist: 0.2586, d4.loss_plan_l1_fix_time: 1.5141, d4.loss_plan_l1_fix_dist: 0.2761, d5.loss_plan_l1_fix_time: 1.5188, d5.loss_plan_l1_fix_dist: 0.2951, d6.loss_plan_l1_fix_time: 1.5247, d6.loss_plan_l1_fix_dist: 0.3174, d0.loss_cls_all: 0.2774, d0.loss_bbox_all: 0.4900, d0.loss_cls: 0.2774, d0.loss_bbox: 0.4900, d1.loss_cls: 0.2686, d1.loss_bbox: 0.4606, d2.loss_cls: 0.2612, d2.loss_bbox: 0.4466, d3.loss_cls: 0.2572, d3.loss_bbox: 0.4389, d4.loss_cls: 0.2545, d4.loss_bbox: 0.4387, d5.loss_cls: 0.2564, d5.loss_bbox: 0.4364, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9145, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8032, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7760, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7761, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7703, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7713, d0.loss_map_cls_all: 0.3114, d0.loss_map_pts_all: 2.0684, d0.loss_map_dir_all: 0.0168, d0.loss_map_cls: 0.3114, d0.loss_map_pts: 2.0684, d0.loss_map_dir: 0.0168, d1.loss_map_cls: 0.2862, d1.loss_map_pts: 1.3935, d1.loss_map_dir: 0.0166, d2.loss_map_cls: 0.2712, d2.loss_map_pts: 1.2050, d2.loss_map_dir: 0.0175, d3.loss_map_cls: 0.2669, d3.loss_map_pts: 1.1349, d3.loss_map_dir: 0.0181, d4.loss_map_cls: 0.2640, d4.loss_map_pts: 1.1128, d4.loss_map_dir: 0.0185, d5.loss_map_cls: 0.2615, d5.loss_map_pts: 1.1083, d5.loss_map_dir: 0.0186, loss: 38.6123, grad_norm: 175.1000 +2026-02-25 11:09:09,080 - DriveTransformer - INFO - Epoch [4][28750/39528] lr: 9.623e-05, eta: 7 days, 10:47:42, time: 0.808, data_time: 0.047, memory: 19865, loss_cls: 0.2291, loss_bbox: 0.4094, loss_traj: 0.8152, loss_traj_cls: 0.0018, loss_map_cls: 0.2152, loss_map_pts: 0.8855, loss_map_dir: 0.0138, d0.loss_plan_l1_fix_time: 2.5209, d0.loss_plan_l1_fix_dist: 0.4735, d1.loss_plan_l1_fix_time: 1.4488, d1.loss_plan_l1_fix_dist: 0.2428, d2.loss_plan_l1_fix_time: 1.4331, d2.loss_plan_l1_fix_dist: 0.2466, d3.loss_plan_l1_fix_time: 1.4358, d3.loss_plan_l1_fix_dist: 0.2574, d4.loss_plan_l1_fix_time: 1.4393, d4.loss_plan_l1_fix_dist: 0.2707, d5.loss_plan_l1_fix_time: 1.4434, d5.loss_plan_l1_fix_dist: 0.2837, d6.loss_plan_l1_fix_time: 1.4483, d6.loss_plan_l1_fix_dist: 0.2986, d0.loss_cls_all: 0.2507, d0.loss_bbox_all: 0.4572, d0.loss_cls: 0.2507, d0.loss_bbox: 0.4572, d1.loss_cls: 0.2434, d1.loss_bbox: 0.4292, d2.loss_cls: 0.2365, d2.loss_bbox: 0.4121, d3.loss_cls: 0.2316, d3.loss_bbox: 0.4073, d4.loss_cls: 0.2286, d4.loss_bbox: 0.4063, d5.loss_cls: 0.2288, d5.loss_bbox: 0.4071, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9811, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8317, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8107, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8026, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8101, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8093, d0.loss_map_cls_all: 0.2608, d0.loss_map_pts_all: 1.7979, d0.loss_map_dir_all: 0.0130, d0.loss_map_cls: 0.2608, d0.loss_map_pts: 1.7979, d0.loss_map_dir: 0.0130, d1.loss_map_cls: 0.2392, d1.loss_map_pts: 1.1655, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2258, d2.loss_map_pts: 0.9684, d2.loss_map_dir: 0.0127, d3.loss_map_cls: 0.2227, d3.loss_map_pts: 0.9041, d3.loss_map_dir: 0.0132, d4.loss_map_cls: 0.2179, d4.loss_map_pts: 0.8846, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.2165, d5.loss_map_pts: 0.8851, d5.loss_map_dir: 0.0136, loss: 35.6492, grad_norm: 174.9507 +2026-02-25 11:09:51,036 - DriveTransformer - INFO - Epoch [4][28800/39528] lr: 9.623e-05, eta: 7 days, 10:47:12, time: 0.839, data_time: 0.044, memory: 19865, loss_cls: 0.2541, loss_bbox: 0.4457, loss_traj: 0.7413, loss_traj_cls: 0.0018, loss_map_cls: 0.2174, loss_map_pts: 0.9330, loss_map_dir: 0.0158, d0.loss_plan_l1_fix_time: 2.2941, d0.loss_plan_l1_fix_dist: 0.4117, d1.loss_plan_l1_fix_time: 1.3167, d1.loss_plan_l1_fix_dist: 0.2116, d2.loss_plan_l1_fix_time: 1.3012, d2.loss_plan_l1_fix_dist: 0.2190, d3.loss_plan_l1_fix_time: 1.3028, d3.loss_plan_l1_fix_dist: 0.2292, d4.loss_plan_l1_fix_time: 1.3064, d4.loss_plan_l1_fix_dist: 0.2421, d5.loss_plan_l1_fix_time: 1.3106, d5.loss_plan_l1_fix_dist: 0.2564, d6.loss_plan_l1_fix_time: 1.3155, d6.loss_plan_l1_fix_dist: 0.2686, d0.loss_cls_all: 0.2794, d0.loss_bbox_all: 0.4962, d0.loss_cls: 0.2794, d0.loss_bbox: 0.4962, d1.loss_cls: 0.2716, d1.loss_bbox: 0.4664, d2.loss_cls: 0.2647, d2.loss_bbox: 0.4483, d3.loss_cls: 0.2582, d3.loss_bbox: 0.4449, d4.loss_cls: 0.2551, d4.loss_bbox: 0.4438, d5.loss_cls: 0.2536, d5.loss_bbox: 0.4445, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8715, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7586, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7382, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7297, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7314, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7384, d0.loss_map_cls_all: 0.2812, d0.loss_map_pts_all: 1.8879, d0.loss_map_dir_all: 0.0147, d0.loss_map_cls: 0.2812, d0.loss_map_pts: 1.8879, d0.loss_map_dir: 0.0147, d1.loss_map_cls: 0.2507, d1.loss_map_pts: 1.2295, d1.loss_map_dir: 0.0141, d2.loss_map_cls: 0.2316, d2.loss_map_pts: 1.0399, d2.loss_map_dir: 0.0145, d3.loss_map_cls: 0.2249, d3.loss_map_pts: 0.9673, d3.loss_map_dir: 0.0152, d4.loss_map_cls: 0.2192, d4.loss_map_pts: 0.9426, d4.loss_map_dir: 0.0156, d5.loss_map_cls: 0.2170, d5.loss_map_pts: 0.9353, d5.loss_map_dir: 0.0158, loss: 34.9718, grad_norm: 174.2477 +2026-02-25 11:10:32,979 - DriveTransformer - INFO - Epoch [4][28850/39528] lr: 9.623e-05, eta: 7 days, 10:46:41, time: 0.839, data_time: 0.045, memory: 19865, loss_cls: 0.2676, loss_bbox: 0.4412, loss_traj: 0.7549, loss_traj_cls: 0.0017, loss_map_cls: 0.2649, loss_map_pts: 1.1641, loss_map_dir: 0.0167, d0.loss_plan_l1_fix_time: 2.5768, d0.loss_plan_l1_fix_dist: 0.3540, d1.loss_plan_l1_fix_time: 1.3702, d1.loss_plan_l1_fix_dist: 0.2110, d2.loss_plan_l1_fix_time: 1.3612, d2.loss_plan_l1_fix_dist: 0.2202, d3.loss_plan_l1_fix_time: 1.3621, d3.loss_plan_l1_fix_dist: 0.2322, d4.loss_plan_l1_fix_time: 1.3668, d4.loss_plan_l1_fix_dist: 0.2491, d5.loss_plan_l1_fix_time: 1.3720, d5.loss_plan_l1_fix_dist: 0.2695, d6.loss_plan_l1_fix_time: 1.3779, d6.loss_plan_l1_fix_dist: 0.2900, d0.loss_cls_all: 0.2874, d0.loss_bbox_all: 0.4834, d0.loss_cls: 0.2874, d0.loss_bbox: 0.4834, d1.loss_cls: 0.2846, d1.loss_bbox: 0.4528, d2.loss_cls: 0.2766, d2.loss_bbox: 0.4416, d3.loss_cls: 0.2725, d3.loss_bbox: 0.4391, d4.loss_cls: 0.2678, d4.loss_bbox: 0.4382, d5.loss_cls: 0.2654, d5.loss_bbox: 0.4395, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9548, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7828, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7537, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7523, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7575, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7572, d0.loss_map_cls_all: 0.3053, d0.loss_map_pts_all: 2.0876, d0.loss_map_dir_all: 0.0149, d0.loss_map_cls: 0.3053, d0.loss_map_pts: 2.0876, d0.loss_map_dir: 0.0149, d1.loss_map_cls: 0.2851, d1.loss_map_pts: 1.4748, d1.loss_map_dir: 0.0143, d2.loss_map_cls: 0.2679, d2.loss_map_pts: 1.2788, d2.loss_map_dir: 0.0151, d3.loss_map_cls: 0.2656, d3.loss_map_pts: 1.1995, d3.loss_map_dir: 0.0158, d4.loss_map_cls: 0.2639, d4.loss_map_pts: 1.1701, d4.loss_map_dir: 0.0162, d5.loss_map_cls: 0.2649, d5.loss_map_pts: 1.1650, d5.loss_map_dir: 0.0165, loss: 37.9365, grad_norm: 175.6026 +2026-02-25 11:11:13,287 - DriveTransformer - INFO - Epoch [4][28900/39528] lr: 9.623e-05, eta: 7 days, 10:46:02, time: 0.806, data_time: 0.045, memory: 19865, loss_cls: 0.2678, loss_bbox: 0.4499, loss_traj: 0.9286, loss_traj_cls: 0.0017, loss_map_cls: 0.2316, loss_map_pts: 1.0537, loss_map_dir: 0.0133, d0.loss_plan_l1_fix_time: 2.6917, d0.loss_plan_l1_fix_dist: 0.4324, d1.loss_plan_l1_fix_time: 1.4187, d1.loss_plan_l1_fix_dist: 0.2405, d2.loss_plan_l1_fix_time: 1.3872, d2.loss_plan_l1_fix_dist: 0.2418, d3.loss_plan_l1_fix_time: 1.3881, d3.loss_plan_l1_fix_dist: 0.2484, d4.loss_plan_l1_fix_time: 1.3916, d4.loss_plan_l1_fix_dist: 0.2558, d5.loss_plan_l1_fix_time: 1.3957, d5.loss_plan_l1_fix_dist: 0.2669, d6.loss_plan_l1_fix_time: 1.4001, d6.loss_plan_l1_fix_dist: 0.2812, d0.loss_cls_all: 0.2868, d0.loss_bbox_all: 0.4944, d0.loss_cls: 0.2868, d0.loss_bbox: 0.4944, d1.loss_cls: 0.2801, d1.loss_bbox: 0.4703, d2.loss_cls: 0.2751, d2.loss_bbox: 0.4567, d3.loss_cls: 0.2706, d3.loss_bbox: 0.4494, d4.loss_cls: 0.2685, d4.loss_bbox: 0.4480, d5.loss_cls: 0.2687, d5.loss_bbox: 0.4471, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1345, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9945, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9424, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9352, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9311, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9270, d0.loss_map_cls_all: 0.2971, d0.loss_map_pts_all: 1.7631, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.2971, d0.loss_map_pts: 1.7631, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2672, d1.loss_map_pts: 1.3210, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2478, d2.loss_map_pts: 1.1522, d2.loss_map_dir: 0.0122, d3.loss_map_cls: 0.2391, d3.loss_map_pts: 1.0876, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.2333, d4.loss_map_pts: 1.0653, d4.loss_map_dir: 0.0131, d5.loss_map_cls: 0.2319, d5.loss_map_pts: 1.0567, d5.loss_map_dir: 0.0132, loss: 38.1646, grad_norm: 175.6534 +2026-02-25 11:11:55,109 - DriveTransformer - INFO - Epoch [4][28950/39528] lr: 9.623e-05, eta: 7 days, 10:45:31, time: 0.836, data_time: 0.045, memory: 19865, loss_cls: 0.2528, loss_bbox: 0.4600, loss_traj: 0.9436, loss_traj_cls: 0.0017, loss_map_cls: 0.2326, loss_map_pts: 1.0627, loss_map_dir: 0.0153, d0.loss_plan_l1_fix_time: 2.7925, d0.loss_plan_l1_fix_dist: 0.4363, d1.loss_plan_l1_fix_time: 1.7299, d1.loss_plan_l1_fix_dist: 0.2372, d2.loss_plan_l1_fix_time: 1.7003, d2.loss_plan_l1_fix_dist: 0.2438, d3.loss_plan_l1_fix_time: 1.6937, d3.loss_plan_l1_fix_dist: 0.2538, d4.loss_plan_l1_fix_time: 1.6965, d4.loss_plan_l1_fix_dist: 0.2658, d5.loss_plan_l1_fix_time: 1.7006, d5.loss_plan_l1_fix_dist: 0.2775, d6.loss_plan_l1_fix_time: 1.7052, d6.loss_plan_l1_fix_dist: 0.2925, d0.loss_cls_all: 0.2785, d0.loss_bbox_all: 0.5090, d0.loss_cls: 0.2785, d0.loss_bbox: 0.5090, d1.loss_cls: 0.2679, d1.loss_bbox: 0.4769, d2.loss_cls: 0.2572, d2.loss_bbox: 0.4608, d3.loss_cls: 0.2540, d3.loss_bbox: 0.4565, d4.loss_cls: 0.2497, d4.loss_bbox: 0.4598, d5.loss_cls: 0.2512, d5.loss_bbox: 0.4601, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1427, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9880, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9357, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9367, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9422, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9377, d0.loss_map_cls_all: 0.3010, d0.loss_map_pts_all: 1.9622, d0.loss_map_dir_all: 0.0132, d0.loss_map_cls: 0.3010, d0.loss_map_pts: 1.9622, d0.loss_map_dir: 0.0132, d1.loss_map_cls: 0.2671, d1.loss_map_pts: 1.3518, d1.loss_map_dir: 0.0130, d2.loss_map_cls: 0.2513, d2.loss_map_pts: 1.1638, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2403, d3.loss_map_pts: 1.0943, d3.loss_map_dir: 0.0145, d4.loss_map_cls: 0.2340, d4.loss_map_pts: 1.0720, d4.loss_map_dir: 0.0150, d5.loss_map_cls: 0.2328, d5.loss_map_pts: 1.0650, d5.loss_map_dir: 0.0152, loss: 40.6486, grad_norm: 173.2280 +2026-02-25 11:12:37,162 - DriveTransformer - INFO - Epoch [4][29000/39528] lr: 9.623e-05, eta: 7 days, 10:45:01, time: 0.842, data_time: 0.037, memory: 19865, loss_cls: 0.2684, loss_bbox: 0.4435, loss_traj: 0.8811, loss_traj_cls: 0.0018, loss_map_cls: 0.2031, loss_map_pts: 0.9493, loss_map_dir: 0.0168, d0.loss_plan_l1_fix_time: 2.6692, d0.loss_plan_l1_fix_dist: 0.3495, d1.loss_plan_l1_fix_time: 1.6547, d1.loss_plan_l1_fix_dist: 0.2108, d2.loss_plan_l1_fix_time: 1.6383, d2.loss_plan_l1_fix_dist: 0.2147, d3.loss_plan_l1_fix_time: 1.6405, d3.loss_plan_l1_fix_dist: 0.2205, d4.loss_plan_l1_fix_time: 1.6453, d4.loss_plan_l1_fix_dist: 0.2296, d5.loss_plan_l1_fix_time: 1.6507, d5.loss_plan_l1_fix_dist: 0.2401, d6.loss_plan_l1_fix_time: 1.6574, d6.loss_plan_l1_fix_dist: 0.2529, d0.loss_cls_all: 0.2995, d0.loss_bbox_all: 0.4851, d0.loss_cls: 0.2995, d0.loss_bbox: 0.4851, d1.loss_cls: 0.2919, d1.loss_bbox: 0.4549, d2.loss_cls: 0.2777, d2.loss_bbox: 0.4417, d3.loss_cls: 0.2730, d3.loss_bbox: 0.4362, d4.loss_cls: 0.2683, d4.loss_bbox: 0.4373, d5.loss_cls: 0.2676, d5.loss_bbox: 0.4388, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0823, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9132, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8783, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8779, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8769, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8771, d0.loss_map_cls_all: 0.2616, d0.loss_map_pts_all: 1.9034, d0.loss_map_dir_all: 0.0154, d0.loss_map_cls: 0.2616, d0.loss_map_pts: 1.9034, d0.loss_map_dir: 0.0154, d1.loss_map_cls: 0.2348, d1.loss_map_pts: 1.2315, d1.loss_map_dir: 0.0149, d2.loss_map_cls: 0.2211, d2.loss_map_pts: 1.0458, d2.loss_map_dir: 0.0155, d3.loss_map_cls: 0.2124, d3.loss_map_pts: 0.9775, d3.loss_map_dir: 0.0162, d4.loss_map_cls: 0.2075, d4.loss_map_pts: 0.9527, d4.loss_map_dir: 0.0166, d5.loss_map_cls: 0.2033, d5.loss_map_pts: 0.9504, d5.loss_map_dir: 0.0168, loss: 38.3837, grad_norm: 174.1159 +2026-02-25 11:13:16,650 - DriveTransformer - INFO - Epoch [4][29050/39528] lr: 9.623e-05, eta: 7 days, 10:44:17, time: 0.788, data_time: 0.044, memory: 19865, loss_cls: 0.2672, loss_bbox: 0.4363, loss_traj: 0.7224, loss_traj_cls: 0.0017, loss_map_cls: 0.2032, loss_map_pts: 0.8914, loss_map_dir: 0.0138, d0.loss_plan_l1_fix_time: 2.4672, d0.loss_plan_l1_fix_dist: 0.4111, d1.loss_plan_l1_fix_time: 1.4619, d1.loss_plan_l1_fix_dist: 0.2194, d2.loss_plan_l1_fix_time: 1.4347, d2.loss_plan_l1_fix_dist: 0.2307, d3.loss_plan_l1_fix_time: 1.4336, d3.loss_plan_l1_fix_dist: 0.2462, d4.loss_plan_l1_fix_time: 1.4376, d4.loss_plan_l1_fix_dist: 0.2647, d5.loss_plan_l1_fix_time: 1.4423, d5.loss_plan_l1_fix_dist: 0.2889, d6.loss_plan_l1_fix_time: 1.4479, d6.loss_plan_l1_fix_dist: 0.3149, d0.loss_cls_all: 0.2866, d0.loss_bbox_all: 0.4744, d0.loss_cls: 0.2866, d0.loss_bbox: 0.4744, d1.loss_cls: 0.2814, d1.loss_bbox: 0.4469, d2.loss_cls: 0.2699, d2.loss_bbox: 0.4346, d3.loss_cls: 0.2698, d3.loss_bbox: 0.4282, d4.loss_cls: 0.2667, d4.loss_bbox: 0.4302, d5.loss_cls: 0.2668, d5.loss_bbox: 0.4334, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8820, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7757, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7292, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7198, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7137, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7136, d0.loss_map_cls_all: 0.2663, d0.loss_map_pts_all: 1.6480, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.2663, d0.loss_map_pts: 1.6480, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2404, d1.loss_map_pts: 1.1172, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2235, d2.loss_map_pts: 0.9737, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2112, d3.loss_map_pts: 0.9176, d3.loss_map_dir: 0.0132, d4.loss_map_cls: 0.2054, d4.loss_map_pts: 0.9017, d4.loss_map_dir: 0.0136, d5.loss_map_cls: 0.2027, d5.loss_map_pts: 0.8957, d5.loss_map_dir: 0.0137, loss: 35.0346, grad_norm: 168.4517 +2026-02-25 11:13:56,635 - DriveTransformer - INFO - Epoch [4][29100/39528] lr: 9.623e-05, eta: 7 days, 10:43:36, time: 0.800, data_time: 0.042, memory: 19865, loss_cls: 0.2605, loss_bbox: 0.4201, loss_traj: 0.7767, loss_traj_cls: 0.0017, loss_map_cls: 0.2136, loss_map_pts: 0.8970, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.5776, d0.loss_plan_l1_fix_dist: 0.4316, d1.loss_plan_l1_fix_time: 1.2784, d1.loss_plan_l1_fix_dist: 0.2008, d2.loss_plan_l1_fix_time: 1.2571, d2.loss_plan_l1_fix_dist: 0.2085, d3.loss_plan_l1_fix_time: 1.2585, d3.loss_plan_l1_fix_dist: 0.2208, d4.loss_plan_l1_fix_time: 1.2639, d4.loss_plan_l1_fix_dist: 0.2359, d5.loss_plan_l1_fix_time: 1.2708, d5.loss_plan_l1_fix_dist: 0.2536, d6.loss_plan_l1_fix_time: 1.2790, d6.loss_plan_l1_fix_dist: 0.2721, d0.loss_cls_all: 0.2790, d0.loss_bbox_all: 0.4575, d0.loss_cls: 0.2790, d0.loss_bbox: 0.4575, d1.loss_cls: 0.2698, d1.loss_bbox: 0.4319, d2.loss_cls: 0.2655, d2.loss_bbox: 0.4196, d3.loss_cls: 0.2644, d3.loss_bbox: 0.4146, d4.loss_cls: 0.2609, d4.loss_bbox: 0.4164, d5.loss_cls: 0.2610, d5.loss_bbox: 0.4177, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9439, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8301, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7869, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7735, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7674, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7708, d0.loss_map_cls_all: 0.2702, d0.loss_map_pts_all: 1.7391, d0.loss_map_dir_all: 0.0140, d0.loss_map_cls: 0.2702, d0.loss_map_pts: 1.7391, d0.loss_map_dir: 0.0140, d1.loss_map_cls: 0.2421, d1.loss_map_pts: 1.1454, d1.loss_map_dir: 0.0132, d2.loss_map_cls: 0.2266, d2.loss_map_pts: 0.9681, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2183, d3.loss_map_pts: 0.9169, d3.loss_map_dir: 0.0143, d4.loss_map_cls: 0.2158, d4.loss_map_pts: 0.9006, d4.loss_map_dir: 0.0147, d5.loss_map_cls: 0.2139, d5.loss_map_pts: 0.8971, d5.loss_map_dir: 0.0148, loss: 34.4282, grad_norm: 166.4973 +2026-02-25 11:14:37,377 - DriveTransformer - INFO - Epoch [4][29150/39528] lr: 9.623e-05, eta: 7 days, 10:42:59, time: 0.815, data_time: 0.046, memory: 19865, loss_cls: 0.2572, loss_bbox: 0.4517, loss_traj: 0.8983, loss_traj_cls: 0.0018, loss_map_cls: 0.2332, loss_map_pts: 0.9304, loss_map_dir: 0.0138, d0.loss_plan_l1_fix_time: 2.8602, d0.loss_plan_l1_fix_dist: 0.4267, d1.loss_plan_l1_fix_time: 1.6041, d1.loss_plan_l1_fix_dist: 0.2342, d2.loss_plan_l1_fix_time: 1.5866, d2.loss_plan_l1_fix_dist: 0.2468, d3.loss_plan_l1_fix_time: 1.5885, d3.loss_plan_l1_fix_dist: 0.2626, d4.loss_plan_l1_fix_time: 1.5940, d4.loss_plan_l1_fix_dist: 0.2819, d5.loss_plan_l1_fix_time: 1.6013, d5.loss_plan_l1_fix_dist: 0.3019, d6.loss_plan_l1_fix_time: 1.6096, d6.loss_plan_l1_fix_dist: 0.3254, d0.loss_cls_all: 0.2840, d0.loss_bbox_all: 0.4954, d0.loss_cls: 0.2840, d0.loss_bbox: 0.4954, d1.loss_cls: 0.2788, d1.loss_bbox: 0.4688, d2.loss_cls: 0.2699, d2.loss_bbox: 0.4516, d3.loss_cls: 0.2655, d3.loss_bbox: 0.4460, d4.loss_cls: 0.2600, d4.loss_bbox: 0.4456, d5.loss_cls: 0.2573, d5.loss_bbox: 0.4478, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1051, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9602, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9052, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8970, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8983, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9000, d0.loss_map_cls_all: 0.2848, d0.loss_map_pts_all: 1.8436, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2848, d0.loss_map_pts: 1.8436, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2625, d1.loss_map_pts: 1.2140, d1.loss_map_dir: 0.0122, d2.loss_map_cls: 0.2507, d2.loss_map_pts: 1.0258, d2.loss_map_dir: 0.0127, d3.loss_map_cls: 0.2403, d3.loss_map_pts: 0.9597, d3.loss_map_dir: 0.0133, d4.loss_map_cls: 0.2352, d4.loss_map_pts: 0.9344, d4.loss_map_dir: 0.0136, d5.loss_map_cls: 0.2336, d5.loss_map_pts: 0.9298, d5.loss_map_dir: 0.0137, loss: 38.7655, grad_norm: 166.8996 +2026-02-25 11:15:18,009 - DriveTransformer - INFO - Epoch [4][29200/39528] lr: 9.623e-05, eta: 7 days, 10:42:21, time: 0.813, data_time: 0.043, memory: 19865, loss_cls: 0.2574, loss_bbox: 0.4664, loss_traj: 0.8761, loss_traj_cls: 0.0017, loss_map_cls: 0.2242, loss_map_pts: 1.0022, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.7772, d0.loss_plan_l1_fix_dist: 0.4042, d1.loss_plan_l1_fix_time: 1.6178, d1.loss_plan_l1_fix_dist: 0.2575, d2.loss_plan_l1_fix_time: 1.5925, d2.loss_plan_l1_fix_dist: 0.2654, d3.loss_plan_l1_fix_time: 1.5878, d3.loss_plan_l1_fix_dist: 0.2758, d4.loss_plan_l1_fix_time: 1.5913, d4.loss_plan_l1_fix_dist: 0.2874, d5.loss_plan_l1_fix_time: 1.5966, d5.loss_plan_l1_fix_dist: 0.2992, d6.loss_plan_l1_fix_time: 1.6029, d6.loss_plan_l1_fix_dist: 0.3160, d0.loss_cls_all: 0.2836, d0.loss_bbox_all: 0.5131, d0.loss_cls: 0.2836, d0.loss_bbox: 0.5131, d1.loss_cls: 0.2712, d1.loss_bbox: 0.4858, d2.loss_cls: 0.2610, d2.loss_bbox: 0.4693, d3.loss_cls: 0.2592, d3.loss_bbox: 0.4638, d4.loss_cls: 0.2562, d4.loss_bbox: 0.4628, d5.loss_cls: 0.2563, d5.loss_bbox: 0.4638, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0242, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9097, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8745, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8641, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8668, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8770, d0.loss_map_cls_all: 0.2834, d0.loss_map_pts_all: 1.8839, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.2834, d0.loss_map_pts: 1.8839, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.2530, d1.loss_map_pts: 1.2744, d1.loss_map_dir: 0.0130, d2.loss_map_cls: 0.2408, d2.loss_map_pts: 1.0919, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2335, d3.loss_map_pts: 1.0267, d3.loss_map_dir: 0.0145, d4.loss_map_cls: 0.2265, d4.loss_map_pts: 1.0060, d4.loss_map_dir: 0.0148, d5.loss_map_cls: 0.2238, d5.loss_map_pts: 1.0033, d5.loss_map_dir: 0.0149, loss: 38.9918, grad_norm: 168.6242 +2026-02-25 11:15:58,432 - DriveTransformer - INFO - Epoch [4][29250/39528] lr: 9.623e-05, eta: 7 days, 10:41:42, time: 0.808, data_time: 0.040, memory: 19865, loss_cls: 0.2447, loss_bbox: 0.4355, loss_traj: 1.0819, loss_traj_cls: 0.0018, loss_map_cls: 0.1991, loss_map_pts: 0.8490, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.7367, d0.loss_plan_l1_fix_dist: 0.5165, d1.loss_plan_l1_fix_time: 1.3756, d1.loss_plan_l1_fix_dist: 0.2211, d2.loss_plan_l1_fix_time: 1.3509, d2.loss_plan_l1_fix_dist: 0.2329, d3.loss_plan_l1_fix_time: 1.3527, d3.loss_plan_l1_fix_dist: 0.2473, d4.loss_plan_l1_fix_time: 1.3561, d4.loss_plan_l1_fix_dist: 0.2597, d5.loss_plan_l1_fix_time: 1.3599, d5.loss_plan_l1_fix_dist: 0.2720, d6.loss_plan_l1_fix_time: 1.3641, d6.loss_plan_l1_fix_dist: 0.2819, d0.loss_cls_all: 0.2594, d0.loss_bbox_all: 0.4827, d0.loss_cls: 0.2594, d0.loss_bbox: 0.4827, d1.loss_cls: 0.2603, d1.loss_bbox: 0.4495, d2.loss_cls: 0.2487, d2.loss_bbox: 0.4353, d3.loss_cls: 0.2464, d3.loss_bbox: 0.4295, d4.loss_cls: 0.2438, d4.loss_bbox: 0.4290, d5.loss_cls: 0.2470, d5.loss_bbox: 0.4306, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2757, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.1246, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0771, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0759, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0725, d5.loss_traj_cls: 0.0013, d5.loss_traj: 1.0775, d0.loss_map_cls_all: 0.2558, d0.loss_map_pts_all: 1.6226, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2558, d0.loss_map_pts: 1.6226, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2302, d1.loss_map_pts: 1.0969, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2157, d2.loss_map_pts: 0.9461, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.2082, d3.loss_map_pts: 0.8781, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.2015, d4.loss_map_pts: 0.8588, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.2010, d5.loss_map_pts: 0.8510, d5.loss_map_dir: 0.0126, loss: 36.8913, grad_norm: 167.4707 +2026-02-25 11:16:38,846 - DriveTransformer - INFO - Epoch [4][29300/39528] lr: 9.623e-05, eta: 7 days, 10:41:04, time: 0.808, data_time: 0.048, memory: 19865, loss_cls: 0.2589, loss_bbox: 0.4408, loss_traj: 0.8750, loss_traj_cls: 0.0018, loss_map_cls: 0.2127, loss_map_pts: 0.9533, loss_map_dir: 0.0140, d0.loss_plan_l1_fix_time: 2.3201, d0.loss_plan_l1_fix_dist: 0.4707, d1.loss_plan_l1_fix_time: 1.4823, d1.loss_plan_l1_fix_dist: 0.2478, d2.loss_plan_l1_fix_time: 1.4860, d2.loss_plan_l1_fix_dist: 0.2592, d3.loss_plan_l1_fix_time: 1.4889, d3.loss_plan_l1_fix_dist: 0.2757, d4.loss_plan_l1_fix_time: 1.4929, d4.loss_plan_l1_fix_dist: 0.2948, d5.loss_plan_l1_fix_time: 1.4969, d5.loss_plan_l1_fix_dist: 0.3171, d6.loss_plan_l1_fix_time: 1.5019, d6.loss_plan_l1_fix_dist: 0.3441, d0.loss_cls_all: 0.2778, d0.loss_bbox_all: 0.4934, d0.loss_cls: 0.2778, d0.loss_bbox: 0.4934, d1.loss_cls: 0.2723, d1.loss_bbox: 0.4642, d2.loss_cls: 0.2615, d2.loss_bbox: 0.4480, d3.loss_cls: 0.2585, d3.loss_bbox: 0.4420, d4.loss_cls: 0.2565, d4.loss_bbox: 0.4393, d5.loss_cls: 0.2573, d5.loss_bbox: 0.4388, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0563, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9355, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8949, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8825, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8803, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8720, d0.loss_map_cls_all: 0.2800, d0.loss_map_pts_all: 1.8093, d0.loss_map_dir_all: 0.0129, d0.loss_map_cls: 0.2800, d0.loss_map_pts: 1.8093, d0.loss_map_dir: 0.0129, d1.loss_map_cls: 0.2501, d1.loss_map_pts: 1.2459, d1.loss_map_dir: 0.0125, d2.loss_map_cls: 0.2343, d2.loss_map_pts: 1.0618, d2.loss_map_dir: 0.0131, d3.loss_map_cls: 0.2232, d3.loss_map_pts: 0.9913, d3.loss_map_dir: 0.0135, d4.loss_map_cls: 0.2165, d4.loss_map_pts: 0.9623, d4.loss_map_dir: 0.0139, d5.loss_map_cls: 0.2127, d5.loss_map_pts: 0.9558, d5.loss_map_dir: 0.0138, loss: 37.4682, grad_norm: 166.4561 +2026-02-25 11:17:20,363 - DriveTransformer - INFO - Epoch [4][29350/39528] lr: 9.623e-05, eta: 7 days, 10:40:31, time: 0.830, data_time: 0.039, memory: 19865, loss_cls: 0.2852, loss_bbox: 0.4609, loss_traj: 0.9351, loss_traj_cls: 0.0018, loss_map_cls: 0.2239, loss_map_pts: 0.9366, loss_map_dir: 0.0152, d0.loss_plan_l1_fix_time: 2.7362, d0.loss_plan_l1_fix_dist: 0.4035, d1.loss_plan_l1_fix_time: 1.5496, d1.loss_plan_l1_fix_dist: 0.2509, d2.loss_plan_l1_fix_time: 1.5359, d2.loss_plan_l1_fix_dist: 0.2636, d3.loss_plan_l1_fix_time: 1.5436, d3.loss_plan_l1_fix_dist: 0.2828, d4.loss_plan_l1_fix_time: 1.5513, d4.loss_plan_l1_fix_dist: 0.3084, d5.loss_plan_l1_fix_time: 1.5587, d5.loss_plan_l1_fix_dist: 0.3351, d6.loss_plan_l1_fix_time: 1.5668, d6.loss_plan_l1_fix_dist: 0.3652, d0.loss_cls_all: 0.3020, d0.loss_bbox_all: 0.5140, d0.loss_cls: 0.3020, d0.loss_bbox: 0.5140, d1.loss_cls: 0.2966, d1.loss_bbox: 0.4840, d2.loss_cls: 0.2874, d2.loss_bbox: 0.4691, d3.loss_cls: 0.2857, d3.loss_bbox: 0.4622, d4.loss_cls: 0.2820, d4.loss_bbox: 0.4600, d5.loss_cls: 0.2837, d5.loss_bbox: 0.4586, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1406, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0087, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9541, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9461, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9396, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9379, d0.loss_map_cls_all: 0.2944, d0.loss_map_pts_all: 1.8330, d0.loss_map_dir_all: 0.0141, d0.loss_map_cls: 0.2944, d0.loss_map_pts: 1.8330, d0.loss_map_dir: 0.0141, d1.loss_map_cls: 0.2588, d1.loss_map_pts: 1.2262, d1.loss_map_dir: 0.0136, d2.loss_map_cls: 0.2440, d2.loss_map_pts: 1.0287, d2.loss_map_dir: 0.0140, d3.loss_map_cls: 0.2285, d3.loss_map_pts: 0.9638, d3.loss_map_dir: 0.0146, d4.loss_map_cls: 0.2248, d4.loss_map_pts: 0.9447, d4.loss_map_dir: 0.0150, d5.loss_map_cls: 0.2240, d5.loss_map_pts: 0.9395, d5.loss_map_dir: 0.0151, loss: 39.0822, grad_norm: 166.3594 +2026-02-25 11:17:59,857 - DriveTransformer - INFO - Epoch [4][29400/39528] lr: 9.623e-05, eta: 7 days, 10:39:47, time: 0.790, data_time: 0.038, memory: 19865, loss_cls: 0.2513, loss_bbox: 0.4345, loss_traj: 1.0381, loss_traj_cls: 0.0019, loss_map_cls: 0.2401, loss_map_pts: 1.0088, loss_map_dir: 0.0135, d0.loss_plan_l1_fix_time: 2.5128, d0.loss_plan_l1_fix_dist: 0.4388, d1.loss_plan_l1_fix_time: 1.4314, d1.loss_plan_l1_fix_dist: 0.2225, d2.loss_plan_l1_fix_time: 1.4339, d2.loss_plan_l1_fix_dist: 0.2314, d3.loss_plan_l1_fix_time: 1.4445, d3.loss_plan_l1_fix_dist: 0.2432, d4.loss_plan_l1_fix_time: 1.4520, d4.loss_plan_l1_fix_dist: 0.2560, d5.loss_plan_l1_fix_time: 1.4593, d5.loss_plan_l1_fix_dist: 0.2747, d6.loss_plan_l1_fix_time: 1.4672, d6.loss_plan_l1_fix_dist: 0.2983, d0.loss_cls_all: 0.2765, d0.loss_bbox_all: 0.4808, d0.loss_cls: 0.2765, d0.loss_bbox: 0.4808, d1.loss_cls: 0.2654, d1.loss_bbox: 0.4498, d2.loss_cls: 0.2555, d2.loss_bbox: 0.4379, d3.loss_cls: 0.2552, d3.loss_bbox: 0.4322, d4.loss_cls: 0.2506, d4.loss_bbox: 0.4298, d5.loss_cls: 0.2512, d5.loss_bbox: 0.4310, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3109, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0997, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0406, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0343, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0423, d5.loss_traj_cls: 0.0014, d5.loss_traj: 1.0385, d0.loss_map_cls_all: 0.2958, d0.loss_map_pts_all: 1.7777, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2958, d0.loss_map_pts: 1.7777, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2730, d1.loss_map_pts: 1.3181, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2562, d2.loss_map_pts: 1.1219, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2487, d3.loss_map_pts: 1.0443, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.2424, d4.loss_map_pts: 1.0172, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.2415, d5.loss_map_pts: 1.0090, d5.loss_map_dir: 0.0135, loss: 38.7072, grad_norm: 168.1330 +2026-02-25 11:18:41,807 - DriveTransformer - INFO - Epoch [4][29450/39528] lr: 9.623e-05, eta: 7 days, 10:39:16, time: 0.839, data_time: 0.048, memory: 19865, loss_cls: 0.2230, loss_bbox: 0.4120, loss_traj: 0.7254, loss_traj_cls: 0.0019, loss_map_cls: 0.2217, loss_map_pts: 1.0028, loss_map_dir: 0.0166, d0.loss_plan_l1_fix_time: 2.3107, d0.loss_plan_l1_fix_dist: 0.3773, d1.loss_plan_l1_fix_time: 1.1831, d1.loss_plan_l1_fix_dist: 0.2193, d2.loss_plan_l1_fix_time: 1.1666, d2.loss_plan_l1_fix_dist: 0.2301, d3.loss_plan_l1_fix_time: 1.1701, d3.loss_plan_l1_fix_dist: 0.2460, d4.loss_plan_l1_fix_time: 1.1765, d4.loss_plan_l1_fix_dist: 0.2633, d5.loss_plan_l1_fix_time: 1.1839, d5.loss_plan_l1_fix_dist: 0.2812, d6.loss_plan_l1_fix_time: 1.1923, d6.loss_plan_l1_fix_dist: 0.2998, d0.loss_cls_all: 0.2491, d0.loss_bbox_all: 0.4593, d0.loss_cls: 0.2491, d0.loss_bbox: 0.4593, d1.loss_cls: 0.2411, d1.loss_bbox: 0.4322, d2.loss_cls: 0.2325, d2.loss_bbox: 0.4175, d3.loss_cls: 0.2268, d3.loss_bbox: 0.4126, d4.loss_cls: 0.2224, d4.loss_bbox: 0.4088, d5.loss_cls: 0.2224, d5.loss_bbox: 0.4109, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8614, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7616, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7332, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7260, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7289, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7306, d0.loss_map_cls_all: 0.2909, d0.loss_map_pts_all: 2.0614, d0.loss_map_dir_all: 0.0150, d0.loss_map_cls: 0.2909, d0.loss_map_pts: 2.0614, d0.loss_map_dir: 0.0150, d1.loss_map_cls: 0.2604, d1.loss_map_pts: 1.3549, d1.loss_map_dir: 0.0143, d2.loss_map_cls: 0.2432, d2.loss_map_pts: 1.1164, d2.loss_map_dir: 0.0150, d3.loss_map_cls: 0.2320, d3.loss_map_pts: 1.0374, d3.loss_map_dir: 0.0158, d4.loss_map_cls: 0.2253, d4.loss_map_pts: 1.0120, d4.loss_map_dir: 0.0163, d5.loss_map_cls: 0.2223, d5.loss_map_pts: 1.0039, d5.loss_map_dir: 0.0165, loss: 34.6157, grad_norm: 164.8881 +2026-02-25 11:19:22,565 - DriveTransformer - INFO - Epoch [4][29500/39528] lr: 9.623e-05, eta: 7 days, 10:38:39, time: 0.815, data_time: 0.041, memory: 19865, loss_cls: 0.2263, loss_bbox: 0.4022, loss_traj: 0.9210, loss_traj_cls: 0.0018, loss_map_cls: 0.1807, loss_map_pts: 0.8198, loss_map_dir: 0.0133, d0.loss_plan_l1_fix_time: 2.5654, d0.loss_plan_l1_fix_dist: 0.4313, d1.loss_plan_l1_fix_time: 1.2852, d1.loss_plan_l1_fix_dist: 0.1974, d2.loss_plan_l1_fix_time: 1.2660, d2.loss_plan_l1_fix_dist: 0.2063, d3.loss_plan_l1_fix_time: 1.2607, d3.loss_plan_l1_fix_dist: 0.2221, d4.loss_plan_l1_fix_time: 1.2631, d4.loss_plan_l1_fix_dist: 0.2396, d5.loss_plan_l1_fix_time: 1.2675, d5.loss_plan_l1_fix_dist: 0.2560, d6.loss_plan_l1_fix_time: 1.2730, d6.loss_plan_l1_fix_dist: 0.2720, d0.loss_cls_all: 0.2436, d0.loss_bbox_all: 0.4415, d0.loss_cls: 0.2436, d0.loss_bbox: 0.4415, d1.loss_cls: 0.2392, d1.loss_bbox: 0.4150, d2.loss_cls: 0.2300, d2.loss_bbox: 0.4037, d3.loss_cls: 0.2271, d3.loss_bbox: 0.3980, d4.loss_cls: 0.2236, d4.loss_bbox: 0.3979, d5.loss_cls: 0.2251, d5.loss_bbox: 0.3998, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1016, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9607, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9205, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9163, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9126, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9120, d0.loss_map_cls_all: 0.2357, d0.loss_map_pts_all: 1.7720, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2357, d0.loss_map_pts: 1.7720, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2101, d1.loss_map_pts: 1.0997, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.1949, d2.loss_map_pts: 0.9110, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.1847, d3.loss_map_pts: 0.8436, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.1825, d4.loss_map_pts: 0.8260, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.1812, d5.loss_map_pts: 0.8214, d5.loss_map_dir: 0.0132, loss: 34.3865, grad_norm: 164.1184 +2026-02-25 11:20:04,775 - DriveTransformer - INFO - Epoch [4][29550/39528] lr: 9.623e-05, eta: 7 days, 10:38:10, time: 0.844, data_time: 0.041, memory: 19865, loss_cls: 0.2400, loss_bbox: 0.4088, loss_traj: 0.8601, loss_traj_cls: 0.0018, loss_map_cls: 0.2129, loss_map_pts: 0.9032, loss_map_dir: 0.0155, d0.loss_plan_l1_fix_time: 2.5009, d0.loss_plan_l1_fix_dist: 0.3750, d1.loss_plan_l1_fix_time: 1.3302, d1.loss_plan_l1_fix_dist: 0.2198, d2.loss_plan_l1_fix_time: 1.2996, d2.loss_plan_l1_fix_dist: 0.2221, d3.loss_plan_l1_fix_time: 1.2941, d3.loss_plan_l1_fix_dist: 0.2319, d4.loss_plan_l1_fix_time: 1.2972, d4.loss_plan_l1_fix_dist: 0.2440, d5.loss_plan_l1_fix_time: 1.3017, d5.loss_plan_l1_fix_dist: 0.2572, d6.loss_plan_l1_fix_time: 1.3070, d6.loss_plan_l1_fix_dist: 0.2735, d0.loss_cls_all: 0.2617, d0.loss_bbox_all: 0.4567, d0.loss_cls: 0.2617, d0.loss_bbox: 0.4567, d1.loss_cls: 0.2568, d1.loss_bbox: 0.4272, d2.loss_cls: 0.2478, d2.loss_bbox: 0.4147, d3.loss_cls: 0.2433, d3.loss_bbox: 0.4094, d4.loss_cls: 0.2401, d4.loss_bbox: 0.4068, d5.loss_cls: 0.2392, d5.loss_bbox: 0.4078, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0000, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8798, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8536, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8593, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8589, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8602, d0.loss_map_cls_all: 0.2766, d0.loss_map_pts_all: 1.9118, d0.loss_map_dir_all: 0.0138, d0.loss_map_cls: 0.2766, d0.loss_map_pts: 1.9118, d0.loss_map_dir: 0.0138, d1.loss_map_cls: 0.2465, d1.loss_map_pts: 1.2247, d1.loss_map_dir: 0.0134, d2.loss_map_cls: 0.2284, d2.loss_map_pts: 1.0057, d2.loss_map_dir: 0.0140, d3.loss_map_cls: 0.2199, d3.loss_map_pts: 0.9337, d3.loss_map_dir: 0.0148, d4.loss_map_cls: 0.2138, d4.loss_map_pts: 0.9134, d4.loss_map_dir: 0.0152, d5.loss_map_cls: 0.2133, d5.loss_map_pts: 0.9066, d5.loss_map_dir: 0.0154, loss: 35.4271, grad_norm: 163.1930 +2026-02-25 11:20:43,892 - DriveTransformer - INFO - Epoch [4][29600/39528] lr: 9.623e-05, eta: 7 days, 10:37:25, time: 0.782, data_time: 0.041, memory: 19865, loss_cls: 0.2657, loss_bbox: 0.4645, loss_traj: 0.9621, loss_traj_cls: 0.0017, loss_map_cls: 0.2218, loss_map_pts: 0.9571, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.7861, d0.loss_plan_l1_fix_dist: 0.3948, d1.loss_plan_l1_fix_time: 1.5147, d1.loss_plan_l1_fix_dist: 0.2278, d2.loss_plan_l1_fix_time: 1.4955, d2.loss_plan_l1_fix_dist: 0.2403, d3.loss_plan_l1_fix_time: 1.4872, d3.loss_plan_l1_fix_dist: 0.2561, d4.loss_plan_l1_fix_time: 1.4891, d4.loss_plan_l1_fix_dist: 0.2728, d5.loss_plan_l1_fix_time: 1.4921, d5.loss_plan_l1_fix_dist: 0.2926, d6.loss_plan_l1_fix_time: 1.4968, d6.loss_plan_l1_fix_dist: 0.3181, d0.loss_cls_all: 0.2883, d0.loss_bbox_all: 0.5133, d0.loss_cls: 0.2883, d0.loss_bbox: 0.5133, d1.loss_cls: 0.2871, d1.loss_bbox: 0.4829, d2.loss_cls: 0.2748, d2.loss_bbox: 0.4682, d3.loss_cls: 0.2701, d3.loss_bbox: 0.4613, d4.loss_cls: 0.2667, d4.loss_bbox: 0.4610, d5.loss_cls: 0.2665, d5.loss_bbox: 0.4621, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0949, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9893, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9628, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9586, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9596, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9565, d0.loss_map_cls_all: 0.2824, d0.loss_map_pts_all: 1.7232, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2824, d0.loss_map_pts: 1.7232, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2497, d1.loss_map_pts: 1.2236, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2360, d2.loss_map_pts: 1.0650, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.2263, d3.loss_map_pts: 0.9945, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2233, d4.loss_map_pts: 0.9697, d4.loss_map_dir: 0.0126, d5.loss_map_cls: 0.2224, d5.loss_map_pts: 0.9625, d5.loss_map_dir: 0.0128, loss: 38.3490, grad_norm: 163.5019 +2026-02-25 11:21:23,103 - DriveTransformer - INFO - Epoch [4][29650/39528] lr: 9.623e-05, eta: 7 days, 10:36:39, time: 0.784, data_time: 0.045, memory: 19865, loss_cls: 0.2255, loss_bbox: 0.4265, loss_traj: 0.8993, loss_traj_cls: 0.0017, loss_map_cls: 0.1893, loss_map_pts: 0.8095, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.2808, d0.loss_plan_l1_fix_dist: 0.4402, d1.loss_plan_l1_fix_time: 1.2993, d1.loss_plan_l1_fix_dist: 0.2178, d2.loss_plan_l1_fix_time: 1.2782, d2.loss_plan_l1_fix_dist: 0.2179, d3.loss_plan_l1_fix_time: 1.2798, d3.loss_plan_l1_fix_dist: 0.2268, d4.loss_plan_l1_fix_time: 1.2835, d4.loss_plan_l1_fix_dist: 0.2379, d5.loss_plan_l1_fix_time: 1.2883, d5.loss_plan_l1_fix_dist: 0.2495, d6.loss_plan_l1_fix_time: 1.2944, d6.loss_plan_l1_fix_dist: 0.2603, d0.loss_cls_all: 0.2355, d0.loss_bbox_all: 0.4820, d0.loss_cls: 0.2355, d0.loss_bbox: 0.4820, d1.loss_cls: 0.2354, d1.loss_bbox: 0.4474, d2.loss_cls: 0.2275, d2.loss_bbox: 0.4316, d3.loss_cls: 0.2236, d3.loss_bbox: 0.4271, d4.loss_cls: 0.2229, d4.loss_bbox: 0.4244, d5.loss_cls: 0.2235, d5.loss_bbox: 0.4244, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1285, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9410, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9049, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8961, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8966, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8978, d0.loss_map_cls_all: 0.2419, d0.loss_map_pts_all: 1.4428, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2419, d0.loss_map_pts: 1.4428, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2155, d1.loss_map_pts: 1.0307, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.2037, d2.loss_map_pts: 0.8879, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1982, d3.loss_map_pts: 0.8360, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1903, d4.loss_map_pts: 0.8210, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1899, d5.loss_map_pts: 0.8148, d5.loss_map_dir: 0.0108, loss: 33.6392, grad_norm: 163.9685 +2026-02-25 11:22:04,746 - DriveTransformer - INFO - Epoch [4][29700/39528] lr: 9.623e-05, eta: 7 days, 10:36:07, time: 0.833, data_time: 0.041, memory: 19865, loss_cls: 0.2458, loss_bbox: 0.4583, loss_traj: 1.0398, loss_traj_cls: 0.0017, loss_map_cls: 0.2111, loss_map_pts: 1.0274, loss_map_dir: 0.0160, d0.loss_plan_l1_fix_time: 2.8382, d0.loss_plan_l1_fix_dist: 0.4465, d1.loss_plan_l1_fix_time: 1.5550, d1.loss_plan_l1_fix_dist: 0.2712, d2.loss_plan_l1_fix_time: 1.5347, d2.loss_plan_l1_fix_dist: 0.2762, d3.loss_plan_l1_fix_time: 1.5418, d3.loss_plan_l1_fix_dist: 0.2894, d4.loss_plan_l1_fix_time: 1.5472, d4.loss_plan_l1_fix_dist: 0.3093, d5.loss_plan_l1_fix_time: 1.5539, d5.loss_plan_l1_fix_dist: 0.3306, d6.loss_plan_l1_fix_time: 1.5617, d6.loss_plan_l1_fix_dist: 0.3531, d0.loss_cls_all: 0.2675, d0.loss_bbox_all: 0.5118, d0.loss_cls: 0.2675, d0.loss_bbox: 0.5118, d1.loss_cls: 0.2575, d1.loss_bbox: 0.4800, d2.loss_cls: 0.2504, d2.loss_bbox: 0.4629, d3.loss_cls: 0.2465, d3.loss_bbox: 0.4581, d4.loss_cls: 0.2445, d4.loss_bbox: 0.4578, d5.loss_cls: 0.2455, d5.loss_bbox: 0.4564, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3213, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0881, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0468, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0318, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0305, d5.loss_traj_cls: 0.0012, d5.loss_traj: 1.0367, d0.loss_map_cls_all: 0.2681, d0.loss_map_pts_all: 2.0044, d0.loss_map_dir_all: 0.0144, d0.loss_map_cls: 0.2681, d0.loss_map_pts: 2.0044, d0.loss_map_dir: 0.0144, d1.loss_map_cls: 0.2409, d1.loss_map_pts: 1.3175, d1.loss_map_dir: 0.0140, d2.loss_map_cls: 0.2271, d2.loss_map_pts: 1.1244, d2.loss_map_dir: 0.0146, d3.loss_map_cls: 0.2204, d3.loss_map_pts: 1.0636, d3.loss_map_dir: 0.0154, d4.loss_map_cls: 0.2153, d4.loss_map_pts: 1.0406, d4.loss_map_dir: 0.0158, d5.loss_map_cls: 0.2120, d5.loss_map_pts: 1.0280, d5.loss_map_dir: 0.0159, loss: 40.4269, grad_norm: 164.1720 +2026-02-25 11:22:45,192 - DriveTransformer - INFO - Epoch [4][29750/39528] lr: 9.623e-05, eta: 7 days, 10:35:28, time: 0.809, data_time: 0.041, memory: 19865, loss_cls: 0.2504, loss_bbox: 0.4344, loss_traj: 0.8963, loss_traj_cls: 0.0016, loss_map_cls: 0.2174, loss_map_pts: 0.9842, loss_map_dir: 0.0147, d0.loss_plan_l1_fix_time: 2.5402, d0.loss_plan_l1_fix_dist: 0.3385, d1.loss_plan_l1_fix_time: 1.4234, d1.loss_plan_l1_fix_dist: 0.2068, d2.loss_plan_l1_fix_time: 1.4001, d2.loss_plan_l1_fix_dist: 0.2154, d3.loss_plan_l1_fix_time: 1.4049, d3.loss_plan_l1_fix_dist: 0.2260, d4.loss_plan_l1_fix_time: 1.4093, d4.loss_plan_l1_fix_dist: 0.2395, d5.loss_plan_l1_fix_time: 1.4143, d5.loss_plan_l1_fix_dist: 0.2557, d6.loss_plan_l1_fix_time: 1.4192, d6.loss_plan_l1_fix_dist: 0.2770, d0.loss_cls_all: 0.2714, d0.loss_bbox_all: 0.4862, d0.loss_cls: 0.2714, d0.loss_bbox: 0.4862, d1.loss_cls: 0.2646, d1.loss_bbox: 0.4536, d2.loss_cls: 0.2550, d2.loss_bbox: 0.4399, d3.loss_cls: 0.2516, d3.loss_bbox: 0.4368, d4.loss_cls: 0.2474, d4.loss_bbox: 0.4338, d5.loss_cls: 0.2486, d5.loss_bbox: 0.4332, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0826, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9176, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9028, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8964, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8963, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8931, d0.loss_map_cls_all: 0.2786, d0.loss_map_pts_all: 1.8260, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.2786, d0.loss_map_pts: 1.8260, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.2451, d1.loss_map_pts: 1.2038, d1.loss_map_dir: 0.0129, d2.loss_map_cls: 0.2360, d2.loss_map_pts: 1.0421, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2245, d3.loss_map_pts: 0.9973, d3.loss_map_dir: 0.0141, d4.loss_map_cls: 0.2196, d4.loss_map_pts: 0.9841, d4.loss_map_dir: 0.0144, d5.loss_map_cls: 0.2181, d5.loss_map_pts: 0.9834, d5.loss_map_dir: 0.0146, loss: 36.8028, grad_norm: 167.4222 +2026-02-25 11:23:28,228 - DriveTransformer - INFO - Epoch [4][29800/39528] lr: 9.623e-05, eta: 7 days, 10:35:04, time: 0.862, data_time: 0.039, memory: 19865, loss_cls: 0.2440, loss_bbox: 0.4257, loss_traj: 0.8552, loss_traj_cls: 0.0017, loss_map_cls: 0.1914, loss_map_pts: 0.9729, loss_map_dir: 0.0158, d0.loss_plan_l1_fix_time: 2.6911, d0.loss_plan_l1_fix_dist: 0.4251, d1.loss_plan_l1_fix_time: 1.4949, d1.loss_plan_l1_fix_dist: 0.2059, d2.loss_plan_l1_fix_time: 1.4913, d2.loss_plan_l1_fix_dist: 0.2148, d3.loss_plan_l1_fix_time: 1.4985, d3.loss_plan_l1_fix_dist: 0.2282, d4.loss_plan_l1_fix_time: 1.5040, d4.loss_plan_l1_fix_dist: 0.2440, d5.loss_plan_l1_fix_time: 1.5089, d5.loss_plan_l1_fix_dist: 0.2619, d6.loss_plan_l1_fix_time: 1.5136, d6.loss_plan_l1_fix_dist: 0.2808, d0.loss_cls_all: 0.2680, d0.loss_bbox_all: 0.4659, d0.loss_cls: 0.2680, d0.loss_bbox: 0.4659, d1.loss_cls: 0.2618, d1.loss_bbox: 0.4395, d2.loss_cls: 0.2501, d2.loss_bbox: 0.4295, d3.loss_cls: 0.2468, d3.loss_bbox: 0.4242, d4.loss_cls: 0.2418, d4.loss_bbox: 0.4250, d5.loss_cls: 0.2413, d5.loss_bbox: 0.4250, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0480, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8671, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8476, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8467, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8455, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8436, d0.loss_map_cls_all: 0.2515, d0.loss_map_pts_all: 1.9699, d0.loss_map_dir_all: 0.0142, d0.loss_map_cls: 0.2515, d0.loss_map_pts: 1.9699, d0.loss_map_dir: 0.0142, d1.loss_map_cls: 0.2232, d1.loss_map_pts: 1.2752, d1.loss_map_dir: 0.0138, d2.loss_map_cls: 0.2125, d2.loss_map_pts: 1.0698, d2.loss_map_dir: 0.0143, d3.loss_map_cls: 0.2007, d3.loss_map_pts: 1.0013, d3.loss_map_dir: 0.0152, d4.loss_map_cls: 0.1950, d4.loss_map_pts: 0.9811, d4.loss_map_dir: 0.0155, d5.loss_map_cls: 0.1929, d5.loss_map_pts: 0.9754, d5.loss_map_dir: 0.0157, loss: 37.2997, grad_norm: 173.1821 +2026-02-25 11:24:09,529 - DriveTransformer - INFO - Epoch [4][29850/39528] lr: 9.623e-05, eta: 7 days, 10:34:30, time: 0.825, data_time: 0.043, memory: 19865, loss_cls: 0.2675, loss_bbox: 0.4716, loss_traj: 0.8302, loss_traj_cls: 0.0017, loss_map_cls: 0.2412, loss_map_pts: 1.0500, loss_map_dir: 0.0153, d0.loss_plan_l1_fix_time: 2.9089, d0.loss_plan_l1_fix_dist: 0.4400, d1.loss_plan_l1_fix_time: 1.5253, d1.loss_plan_l1_fix_dist: 0.2742, d2.loss_plan_l1_fix_time: 1.5199, d2.loss_plan_l1_fix_dist: 0.2802, d3.loss_plan_l1_fix_time: 1.5245, d3.loss_plan_l1_fix_dist: 0.2923, d4.loss_plan_l1_fix_time: 1.5295, d4.loss_plan_l1_fix_dist: 0.3030, d5.loss_plan_l1_fix_time: 1.5344, d5.loss_plan_l1_fix_dist: 0.3159, d6.loss_plan_l1_fix_time: 1.5397, d6.loss_plan_l1_fix_dist: 0.3266, d0.loss_cls_all: 0.2929, d0.loss_bbox_all: 0.5172, d0.loss_cls: 0.2929, d0.loss_bbox: 0.5172, d1.loss_cls: 0.2878, d1.loss_bbox: 0.4931, d2.loss_cls: 0.2771, d2.loss_bbox: 0.4761, d3.loss_cls: 0.2722, d3.loss_bbox: 0.4714, d4.loss_cls: 0.2685, d4.loss_bbox: 0.4683, d5.loss_cls: 0.2667, d5.loss_bbox: 0.4687, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0427, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8577, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8237, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8207, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8265, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8291, d0.loss_map_cls_all: 0.3022, d0.loss_map_pts_all: 1.9978, d0.loss_map_dir_all: 0.0141, d0.loss_map_cls: 0.3022, d0.loss_map_pts: 1.9978, d0.loss_map_dir: 0.0141, d1.loss_map_cls: 0.2771, d1.loss_map_pts: 1.3445, d1.loss_map_dir: 0.0137, d2.loss_map_cls: 0.2583, d2.loss_map_pts: 1.1448, d2.loss_map_dir: 0.0141, d3.loss_map_cls: 0.2496, d3.loss_map_pts: 1.0762, d3.loss_map_dir: 0.0146, d4.loss_map_cls: 0.2441, d4.loss_map_pts: 1.0590, d4.loss_map_dir: 0.0150, d5.loss_map_cls: 0.2436, d5.loss_map_pts: 1.0513, d5.loss_map_dir: 0.0152, loss: 39.4172, grad_norm: 176.0725 +2026-02-25 11:24:51,206 - DriveTransformer - INFO - Epoch [4][29900/39528] lr: 9.623e-05, eta: 7 days, 10:33:58, time: 0.834, data_time: 0.044, memory: 19865, loss_cls: 0.2676, loss_bbox: 0.4375, loss_traj: 0.7935, loss_traj_cls: 0.0017, loss_map_cls: 0.2082, loss_map_pts: 0.8779, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.7387, d0.loss_plan_l1_fix_dist: 0.3687, d1.loss_plan_l1_fix_time: 1.4854, d1.loss_plan_l1_fix_dist: 0.2134, d2.loss_plan_l1_fix_time: 1.4709, d2.loss_plan_l1_fix_dist: 0.2206, d3.loss_plan_l1_fix_time: 1.4746, d3.loss_plan_l1_fix_dist: 0.2313, d4.loss_plan_l1_fix_time: 1.4783, d4.loss_plan_l1_fix_dist: 0.2435, d5.loss_plan_l1_fix_time: 1.4819, d5.loss_plan_l1_fix_dist: 0.2563, d6.loss_plan_l1_fix_time: 1.4861, d6.loss_plan_l1_fix_dist: 0.2698, d0.loss_cls_all: 0.2955, d0.loss_bbox_all: 0.4838, d0.loss_cls: 0.2955, d0.loss_bbox: 0.4838, d1.loss_cls: 0.2908, d1.loss_bbox: 0.4528, d2.loss_cls: 0.2814, d2.loss_bbox: 0.4406, d3.loss_cls: 0.2779, d3.loss_bbox: 0.4333, d4.loss_cls: 0.2694, d4.loss_bbox: 0.4348, d5.loss_cls: 0.2670, d5.loss_bbox: 0.4350, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0354, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8570, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8093, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7939, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7939, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7931, d0.loss_map_cls_all: 0.2668, d0.loss_map_pts_all: 1.7051, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2668, d0.loss_map_pts: 1.7051, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2364, d1.loss_map_pts: 1.1681, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2225, d2.loss_map_pts: 0.9909, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2146, d3.loss_map_pts: 0.9195, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2093, d4.loss_map_pts: 0.8921, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.2080, d5.loss_map_pts: 0.8809, d5.loss_map_dir: 0.0127, loss: 36.2187, grad_norm: 174.4023 +2026-02-25 11:25:32,680 - DriveTransformer - INFO - Epoch [4][29950/39528] lr: 9.623e-05, eta: 7 days, 10:33:24, time: 0.829, data_time: 0.044, memory: 19865, loss_cls: 0.2551, loss_bbox: 0.4461, loss_traj: 0.7989, loss_traj_cls: 0.0017, loss_map_cls: 0.2153, loss_map_pts: 1.0526, loss_map_dir: 0.0152, d0.loss_plan_l1_fix_time: 2.4521, d0.loss_plan_l1_fix_dist: 0.3841, d1.loss_plan_l1_fix_time: 1.4554, d1.loss_plan_l1_fix_dist: 0.2099, d2.loss_plan_l1_fix_time: 1.4491, d2.loss_plan_l1_fix_dist: 0.2152, d3.loss_plan_l1_fix_time: 1.4533, d3.loss_plan_l1_fix_dist: 0.2252, d4.loss_plan_l1_fix_time: 1.4575, d4.loss_plan_l1_fix_dist: 0.2388, d5.loss_plan_l1_fix_time: 1.4621, d5.loss_plan_l1_fix_dist: 0.2544, d6.loss_plan_l1_fix_time: 1.4667, d6.loss_plan_l1_fix_dist: 0.2735, d0.loss_cls_all: 0.2786, d0.loss_bbox_all: 0.4980, d0.loss_cls: 0.2786, d0.loss_bbox: 0.4980, d1.loss_cls: 0.2720, d1.loss_bbox: 0.4653, d2.loss_cls: 0.2613, d2.loss_bbox: 0.4532, d3.loss_cls: 0.2577, d3.loss_bbox: 0.4460, d4.loss_cls: 0.2540, d4.loss_bbox: 0.4458, d5.loss_cls: 0.2528, d5.loss_bbox: 0.4456, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9794, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8373, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8123, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8031, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7943, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7966, d0.loss_map_cls_all: 0.2717, d0.loss_map_pts_all: 2.0372, d0.loss_map_dir_all: 0.0138, d0.loss_map_cls: 0.2717, d0.loss_map_pts: 2.0372, d0.loss_map_dir: 0.0138, d1.loss_map_cls: 0.2497, d1.loss_map_pts: 1.3717, d1.loss_map_dir: 0.0133, d2.loss_map_cls: 0.2365, d2.loss_map_pts: 1.1604, d2.loss_map_dir: 0.0140, d3.loss_map_cls: 0.2255, d3.loss_map_pts: 1.0834, d3.loss_map_dir: 0.0146, d4.loss_map_cls: 0.2195, d4.loss_map_pts: 1.0580, d4.loss_map_dir: 0.0150, d5.loss_map_cls: 0.2157, d5.loss_map_pts: 1.0531, d5.loss_map_dir: 0.0152, loss: 37.5088, grad_norm: 173.5090 +2026-02-25 11:26:15,025 - DriveTransformer - INFO - Epoch [4][30000/39528] lr: 9.623e-05, eta: 7 days, 10:32:56, time: 0.847, data_time: 0.044, memory: 19865, loss_cls: 0.2356, loss_bbox: 0.4197, loss_traj: 0.7122, loss_traj_cls: 0.0018, loss_map_cls: 0.2296, loss_map_pts: 0.9250, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 2.4451, d0.loss_plan_l1_fix_dist: 0.3998, d1.loss_plan_l1_fix_time: 1.2445, d1.loss_plan_l1_fix_dist: 0.2306, d2.loss_plan_l1_fix_time: 1.2374, d2.loss_plan_l1_fix_dist: 0.2364, d3.loss_plan_l1_fix_time: 1.2407, d3.loss_plan_l1_fix_dist: 0.2493, d4.loss_plan_l1_fix_time: 1.2452, d4.loss_plan_l1_fix_dist: 0.2656, d5.loss_plan_l1_fix_time: 1.2505, d5.loss_plan_l1_fix_dist: 0.2871, d6.loss_plan_l1_fix_time: 1.2562, d6.loss_plan_l1_fix_dist: 0.3103, d0.loss_cls_all: 0.2586, d0.loss_bbox_all: 0.4679, d0.loss_cls: 0.2586, d0.loss_bbox: 0.4679, d1.loss_cls: 0.2504, d1.loss_bbox: 0.4419, d2.loss_cls: 0.2398, d2.loss_bbox: 0.4276, d3.loss_cls: 0.2353, d3.loss_bbox: 0.4214, d4.loss_cls: 0.2343, d4.loss_bbox: 0.4179, d5.loss_cls: 0.2342, d5.loss_bbox: 0.4181, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9085, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7516, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7193, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7145, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7165, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7086, d0.loss_map_cls_all: 0.2926, d0.loss_map_pts_all: 1.8993, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.2926, d0.loss_map_pts: 1.8993, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2583, d1.loss_map_pts: 1.2546, d1.loss_map_dir: 0.0122, d2.loss_map_cls: 0.2473, d2.loss_map_pts: 1.0307, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2383, d3.loss_map_pts: 0.9551, d3.loss_map_dir: 0.0136, d4.loss_map_cls: 0.2305, d4.loss_map_pts: 0.9301, d4.loss_map_dir: 0.0141, d5.loss_map_cls: 0.2297, d5.loss_map_pts: 0.9227, d5.loss_map_dir: 0.0143, loss: 34.5086, grad_norm: 173.2556 +2026-02-25 11:26:54,654 - DriveTransformer - INFO - Epoch [4][30050/39528] lr: 9.623e-05, eta: 7 days, 10:32:13, time: 0.793, data_time: 0.045, memory: 19865, loss_cls: 0.2728, loss_bbox: 0.4533, loss_traj: 1.0179, loss_traj_cls: 0.0018, loss_map_cls: 0.2204, loss_map_pts: 0.9799, loss_map_dir: 0.0130, d0.loss_plan_l1_fix_time: 2.7216, d0.loss_plan_l1_fix_dist: 0.4605, d1.loss_plan_l1_fix_time: 1.4634, d1.loss_plan_l1_fix_dist: 0.2112, d2.loss_plan_l1_fix_time: 1.4515, d2.loss_plan_l1_fix_dist: 0.2191, d3.loss_plan_l1_fix_time: 1.4474, d3.loss_plan_l1_fix_dist: 0.2318, d4.loss_plan_l1_fix_time: 1.4498, d4.loss_plan_l1_fix_dist: 0.2466, d5.loss_plan_l1_fix_time: 1.4526, d5.loss_plan_l1_fix_dist: 0.2605, d6.loss_plan_l1_fix_time: 1.4558, d6.loss_plan_l1_fix_dist: 0.2745, d0.loss_cls_all: 0.2944, d0.loss_bbox_all: 0.5094, d0.loss_cls: 0.2944, d0.loss_bbox: 0.5094, d1.loss_cls: 0.2891, d1.loss_bbox: 0.4820, d2.loss_cls: 0.2812, d2.loss_bbox: 0.4644, d3.loss_cls: 0.2753, d3.loss_bbox: 0.4584, d4.loss_cls: 0.2725, d4.loss_bbox: 0.4541, d5.loss_cls: 0.2716, d5.loss_bbox: 0.4526, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2102, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0758, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0226, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0137, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0128, d5.loss_traj_cls: 0.0013, d5.loss_traj: 1.0162, d0.loss_map_cls_all: 0.2725, d0.loss_map_pts_all: 1.8186, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2725, d0.loss_map_pts: 1.8186, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2478, d1.loss_map_pts: 1.2620, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2380, d2.loss_map_pts: 1.0716, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.2313, d3.loss_map_pts: 1.0049, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2240, d4.loss_map_pts: 0.9845, d4.loss_map_dir: 0.0126, d5.loss_map_cls: 0.2217, d5.loss_map_pts: 0.9778, d5.loss_map_dir: 0.0128, loss: 38.7003, grad_norm: 173.1085 +2026-02-25 11:27:35,317 - DriveTransformer - INFO - Epoch [4][30100/39528] lr: 9.623e-05, eta: 7 days, 10:31:35, time: 0.813, data_time: 0.042, memory: 19865, loss_cls: 0.2815, loss_bbox: 0.4706, loss_traj: 0.9243, loss_traj_cls: 0.0017, loss_map_cls: 0.2455, loss_map_pts: 1.0539, loss_map_dir: 0.0152, d0.loss_plan_l1_fix_time: 2.7258, d0.loss_plan_l1_fix_dist: 0.4065, d1.loss_plan_l1_fix_time: 1.5633, d1.loss_plan_l1_fix_dist: 0.2512, d2.loss_plan_l1_fix_time: 1.5399, d2.loss_plan_l1_fix_dist: 0.2556, d3.loss_plan_l1_fix_time: 1.5366, d3.loss_plan_l1_fix_dist: 0.2659, d4.loss_plan_l1_fix_time: 1.5378, d4.loss_plan_l1_fix_dist: 0.2773, d5.loss_plan_l1_fix_time: 1.5395, d5.loss_plan_l1_fix_dist: 0.2904, d6.loss_plan_l1_fix_time: 1.5417, d6.loss_plan_l1_fix_dist: 0.3058, d0.loss_cls_all: 0.3085, d0.loss_bbox_all: 0.5256, d0.loss_cls: 0.3085, d0.loss_bbox: 0.5256, d1.loss_cls: 0.2984, d1.loss_bbox: 0.4957, d2.loss_cls: 0.2915, d2.loss_bbox: 0.4799, d3.loss_cls: 0.2855, d3.loss_bbox: 0.4748, d4.loss_cls: 0.2824, d4.loss_bbox: 0.4719, d5.loss_cls: 0.2814, d5.loss_bbox: 0.4706, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2238, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9986, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9502, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9297, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9254, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9248, d0.loss_map_cls_all: 0.2980, d0.loss_map_pts_all: 1.9602, d0.loss_map_dir_all: 0.0138, d0.loss_map_cls: 0.2980, d0.loss_map_pts: 1.9602, d0.loss_map_dir: 0.0138, d1.loss_map_cls: 0.2750, d1.loss_map_pts: 1.3494, d1.loss_map_dir: 0.0134, d2.loss_map_cls: 0.2615, d2.loss_map_pts: 1.1530, d2.loss_map_dir: 0.0140, d3.loss_map_cls: 0.2515, d3.loss_map_pts: 1.0873, d3.loss_map_dir: 0.0146, d4.loss_map_cls: 0.2448, d4.loss_map_pts: 1.0706, d4.loss_map_dir: 0.0149, d5.loss_map_cls: 0.2453, d5.loss_map_pts: 1.0574, d5.loss_map_dir: 0.0152, loss: 40.1002, grad_norm: 168.3631 +2026-02-25 11:28:13,776 - DriveTransformer - INFO - Epoch [4][30150/39528] lr: 9.623e-05, eta: 7 days, 10:30:46, time: 0.769, data_time: 0.043, memory: 19865, loss_cls: 0.2522, loss_bbox: 0.4255, loss_traj: 0.9917, loss_traj_cls: 0.0017, loss_map_cls: 0.2003, loss_map_pts: 0.8631, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.5969, d0.loss_plan_l1_fix_dist: 0.4721, d1.loss_plan_l1_fix_time: 1.6353, d1.loss_plan_l1_fix_dist: 0.2455, d2.loss_plan_l1_fix_time: 1.6196, d2.loss_plan_l1_fix_dist: 0.2553, d3.loss_plan_l1_fix_time: 1.6217, d3.loss_plan_l1_fix_dist: 0.2709, d4.loss_plan_l1_fix_time: 1.6258, d4.loss_plan_l1_fix_dist: 0.2886, d5.loss_plan_l1_fix_time: 1.6314, d5.loss_plan_l1_fix_dist: 0.3079, d6.loss_plan_l1_fix_time: 1.6376, d6.loss_plan_l1_fix_dist: 0.3274, d0.loss_cls_all: 0.2736, d0.loss_bbox_all: 0.4734, d0.loss_cls: 0.2736, d0.loss_bbox: 0.4734, d1.loss_cls: 0.2687, d1.loss_bbox: 0.4479, d2.loss_cls: 0.2586, d2.loss_bbox: 0.4336, d3.loss_cls: 0.2535, d3.loss_bbox: 0.4294, d4.loss_cls: 0.2516, d4.loss_bbox: 0.4259, d5.loss_cls: 0.2532, d5.loss_bbox: 0.4233, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1546, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0166, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9949, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9865, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9976, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9941, d0.loss_map_cls_all: 0.2539, d0.loss_map_pts_all: 1.6203, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2539, d0.loss_map_pts: 1.6203, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2229, d1.loss_map_pts: 1.1304, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2124, d2.loss_map_pts: 0.9528, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2040, d3.loss_map_pts: 0.8942, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.2017, d4.loss_map_pts: 0.8719, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.2010, d5.loss_map_pts: 0.8685, d5.loss_map_dir: 0.0113, loss: 37.9550, grad_norm: 169.6601 +2026-02-25 11:28:54,823 - DriveTransformer - INFO - Epoch [4][30200/39528] lr: 9.623e-05, eta: 7 days, 10:30:11, time: 0.821, data_time: 0.041, memory: 19865, loss_cls: 0.2437, loss_bbox: 0.4088, loss_traj: 0.7728, loss_traj_cls: 0.0017, loss_map_cls: 0.2086, loss_map_pts: 0.8436, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.6489, d0.loss_plan_l1_fix_dist: 0.4440, d1.loss_plan_l1_fix_time: 1.3502, d1.loss_plan_l1_fix_dist: 0.2288, d2.loss_plan_l1_fix_time: 1.3220, d2.loss_plan_l1_fix_dist: 0.2364, d3.loss_plan_l1_fix_time: 1.3197, d3.loss_plan_l1_fix_dist: 0.2494, d4.loss_plan_l1_fix_time: 1.3223, d4.loss_plan_l1_fix_dist: 0.2640, d5.loss_plan_l1_fix_time: 1.3262, d5.loss_plan_l1_fix_dist: 0.2812, d6.loss_plan_l1_fix_time: 1.3311, d6.loss_plan_l1_fix_dist: 0.3032, d0.loss_cls_all: 0.2678, d0.loss_bbox_all: 0.4712, d0.loss_cls: 0.2678, d0.loss_bbox: 0.4712, d1.loss_cls: 0.2582, d1.loss_bbox: 0.4400, d2.loss_cls: 0.2509, d2.loss_bbox: 0.4220, d3.loss_cls: 0.2467, d3.loss_bbox: 0.4141, d4.loss_cls: 0.2434, d4.loss_bbox: 0.4106, d5.loss_cls: 0.2410, d5.loss_bbox: 0.4104, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9582, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8695, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8042, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7857, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7788, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7656, d0.loss_map_cls_all: 0.2786, d0.loss_map_pts_all: 1.7293, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2786, d0.loss_map_pts: 1.7293, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2431, d1.loss_map_pts: 1.1319, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2295, d2.loss_map_pts: 0.9415, d2.loss_map_dir: 0.0119, d3.loss_map_cls: 0.2178, d3.loss_map_pts: 0.8745, d3.loss_map_dir: 0.0124, d4.loss_map_cls: 0.2137, d4.loss_map_pts: 0.8530, d4.loss_map_dir: 0.0128, d5.loss_map_cls: 0.2109, d5.loss_map_pts: 0.8454, d5.loss_map_dir: 0.0129, loss: 34.7648, grad_norm: 170.8242 +2026-02-25 11:29:36,597 - DriveTransformer - INFO - Epoch [4][30250/39528] lr: 9.623e-05, eta: 7 days, 10:29:39, time: 0.836, data_time: 0.044, memory: 19865, loss_cls: 0.2484, loss_bbox: 0.4511, loss_traj: 0.9163, loss_traj_cls: 0.0017, loss_map_cls: 0.2573, loss_map_pts: 1.0377, loss_map_dir: 0.0147, d0.loss_plan_l1_fix_time: 3.1434, d0.loss_plan_l1_fix_dist: 0.4634, d1.loss_plan_l1_fix_time: 1.5578, d1.loss_plan_l1_fix_dist: 0.2193, d2.loss_plan_l1_fix_time: 1.5350, d2.loss_plan_l1_fix_dist: 0.2259, d3.loss_plan_l1_fix_time: 1.5385, d3.loss_plan_l1_fix_dist: 0.2438, d4.loss_plan_l1_fix_time: 1.5431, d4.loss_plan_l1_fix_dist: 0.2644, d5.loss_plan_l1_fix_time: 1.5474, d5.loss_plan_l1_fix_dist: 0.2867, d6.loss_plan_l1_fix_time: 1.5523, d6.loss_plan_l1_fix_dist: 0.3096, d0.loss_cls_all: 0.2779, d0.loss_bbox_all: 0.5036, d0.loss_cls: 0.2779, d0.loss_bbox: 0.5036, d1.loss_cls: 0.2713, d1.loss_bbox: 0.4728, d2.loss_cls: 0.2632, d2.loss_bbox: 0.4586, d3.loss_cls: 0.2549, d3.loss_bbox: 0.4526, d4.loss_cls: 0.2491, d4.loss_bbox: 0.4525, d5.loss_cls: 0.2477, d5.loss_bbox: 0.4520, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1501, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9725, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9257, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9084, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9124, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9094, d0.loss_map_cls_all: 0.3114, d0.loss_map_pts_all: 1.9415, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.3114, d0.loss_map_pts: 1.9415, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2855, d1.loss_map_pts: 1.3288, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2756, d2.loss_map_pts: 1.1277, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2641, d3.loss_map_pts: 1.0666, d3.loss_map_dir: 0.0140, d4.loss_map_cls: 0.2611, d4.loss_map_pts: 1.0436, d4.loss_map_dir: 0.0144, d5.loss_map_cls: 0.2589, d5.loss_map_pts: 1.0386, d5.loss_map_dir: 0.0145, loss: 39.8303, grad_norm: 170.0352 +2026-02-25 11:30:17,440 - DriveTransformer - INFO - Epoch [4][30300/39528] lr: 9.623e-05, eta: 7 days, 10:29:03, time: 0.817, data_time: 0.043, memory: 19865, loss_cls: 0.2686, loss_bbox: 0.4481, loss_traj: 0.7478, loss_traj_cls: 0.0017, loss_map_cls: 0.2259, loss_map_pts: 0.9571, loss_map_dir: 0.0136, d0.loss_plan_l1_fix_time: 2.7714, d0.loss_plan_l1_fix_dist: 0.4428, d1.loss_plan_l1_fix_time: 1.4245, d1.loss_plan_l1_fix_dist: 0.2273, d2.loss_plan_l1_fix_time: 1.4136, d2.loss_plan_l1_fix_dist: 0.2409, d3.loss_plan_l1_fix_time: 1.4162, d3.loss_plan_l1_fix_dist: 0.2604, d4.loss_plan_l1_fix_time: 1.4213, d4.loss_plan_l1_fix_dist: 0.2815, d5.loss_plan_l1_fix_time: 1.4271, d5.loss_plan_l1_fix_dist: 0.3031, d6.loss_plan_l1_fix_time: 1.4337, d6.loss_plan_l1_fix_dist: 0.3221, d0.loss_cls_all: 0.2877, d0.loss_bbox_all: 0.5073, d0.loss_cls: 0.2877, d0.loss_bbox: 0.5073, d1.loss_cls: 0.2797, d1.loss_bbox: 0.4768, d2.loss_cls: 0.2735, d2.loss_bbox: 0.4562, d3.loss_cls: 0.2692, d3.loss_bbox: 0.4520, d4.loss_cls: 0.2658, d4.loss_bbox: 0.4499, d5.loss_cls: 0.2677, d5.loss_bbox: 0.4483, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0261, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8453, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7670, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7566, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7444, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7409, d0.loss_map_cls_all: 0.2791, d0.loss_map_pts_all: 1.7945, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.2791, d0.loss_map_pts: 1.7945, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.2562, d1.loss_map_pts: 1.2289, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.2427, d2.loss_map_pts: 1.0456, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2318, d3.loss_map_pts: 0.9885, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2274, d4.loss_map_pts: 0.9679, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.2264, d5.loss_map_pts: 0.9598, d5.loss_map_dir: 0.0135, loss: 36.7738, grad_norm: 168.8873 +2026-02-25 11:31:01,080 - DriveTransformer - INFO - Epoch [4][30350/39528] lr: 9.623e-05, eta: 7 days, 10:28:41, time: 0.873, data_time: 0.041, memory: 19865, loss_cls: 0.2802, loss_bbox: 0.5022, loss_traj: 0.8091, loss_traj_cls: 0.0017, loss_map_cls: 0.2348, loss_map_pts: 1.0742, loss_map_dir: 0.0180, d0.loss_plan_l1_fix_time: 2.7012, d0.loss_plan_l1_fix_dist: 0.4185, d1.loss_plan_l1_fix_time: 1.5881, d1.loss_plan_l1_fix_dist: 0.2680, d2.loss_plan_l1_fix_time: 1.5784, d2.loss_plan_l1_fix_dist: 0.2805, d3.loss_plan_l1_fix_time: 1.5797, d3.loss_plan_l1_fix_dist: 0.3013, d4.loss_plan_l1_fix_time: 1.5847, d4.loss_plan_l1_fix_dist: 0.3251, d5.loss_plan_l1_fix_time: 1.5902, d5.loss_plan_l1_fix_dist: 0.3494, d6.loss_plan_l1_fix_time: 1.5964, d6.loss_plan_l1_fix_dist: 0.3762, d0.loss_cls_all: 0.3021, d0.loss_bbox_all: 0.5621, d0.loss_cls: 0.3021, d0.loss_bbox: 0.5621, d1.loss_cls: 0.2941, d1.loss_bbox: 0.5301, d2.loss_cls: 0.2873, d2.loss_bbox: 0.5160, d3.loss_cls: 0.2822, d3.loss_bbox: 0.5099, d4.loss_cls: 0.2783, d4.loss_bbox: 0.5063, d5.loss_cls: 0.2773, d5.loss_bbox: 0.5042, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0413, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9120, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8277, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8164, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8116, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8129, d0.loss_map_cls_all: 0.2890, d0.loss_map_pts_all: 2.0952, d0.loss_map_dir_all: 0.0158, d0.loss_map_cls: 0.2890, d0.loss_map_pts: 2.0952, d0.loss_map_dir: 0.0158, d1.loss_map_cls: 0.2640, d1.loss_map_pts: 1.3564, d1.loss_map_dir: 0.0154, d2.loss_map_cls: 0.2512, d2.loss_map_pts: 1.1547, d2.loss_map_dir: 0.0164, d3.loss_map_cls: 0.2393, d3.loss_map_pts: 1.1021, d3.loss_map_dir: 0.0171, d4.loss_map_cls: 0.2348, d4.loss_map_pts: 1.0842, d4.loss_map_dir: 0.0176, d5.loss_map_cls: 0.2348, d5.loss_map_pts: 1.0790, d5.loss_map_dir: 0.0178, loss: 40.2838, grad_norm: 169.2936 +2026-02-25 11:31:43,504 - DriveTransformer - INFO - Epoch [4][30400/39528] lr: 9.623e-05, eta: 7 days, 10:28:13, time: 0.848, data_time: 0.042, memory: 19865, loss_cls: 0.2797, loss_bbox: 0.4377, loss_traj: 0.7312, loss_traj_cls: 0.0016, loss_map_cls: 0.2242, loss_map_pts: 0.9966, loss_map_dir: 0.0148, d0.loss_plan_l1_fix_time: 2.8915, d0.loss_plan_l1_fix_dist: 0.4368, d1.loss_plan_l1_fix_time: 1.6296, d1.loss_plan_l1_fix_dist: 0.2320, d2.loss_plan_l1_fix_time: 1.6039, d2.loss_plan_l1_fix_dist: 0.2452, d3.loss_plan_l1_fix_time: 1.6048, d3.loss_plan_l1_fix_dist: 0.2683, d4.loss_plan_l1_fix_time: 1.6097, d4.loss_plan_l1_fix_dist: 0.2952, d5.loss_plan_l1_fix_time: 1.6153, d5.loss_plan_l1_fix_dist: 0.3228, d6.loss_plan_l1_fix_time: 1.6210, d6.loss_plan_l1_fix_dist: 0.3545, d0.loss_cls_all: 0.2962, d0.loss_bbox_all: 0.4911, d0.loss_cls: 0.2962, d0.loss_bbox: 0.4911, d1.loss_cls: 0.2977, d1.loss_bbox: 0.4567, d2.loss_cls: 0.2885, d2.loss_bbox: 0.4433, d3.loss_cls: 0.2839, d3.loss_bbox: 0.4361, d4.loss_cls: 0.2807, d4.loss_bbox: 0.4356, d5.loss_cls: 0.2791, d5.loss_bbox: 0.4366, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8859, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7828, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7408, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7328, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7283, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7363, d0.loss_map_cls_all: 0.2699, d0.loss_map_pts_all: 1.8720, d0.loss_map_dir_all: 0.0138, d0.loss_map_cls: 0.2699, d0.loss_map_pts: 1.8720, d0.loss_map_dir: 0.0138, d1.loss_map_cls: 0.2466, d1.loss_map_pts: 1.2708, d1.loss_map_dir: 0.0133, d2.loss_map_cls: 0.2342, d2.loss_map_pts: 1.0875, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2282, d3.loss_map_pts: 1.0266, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.2240, d4.loss_map_pts: 1.0070, d4.loss_map_dir: 0.0145, d5.loss_map_cls: 0.2241, d5.loss_map_pts: 1.0001, d5.loss_map_dir: 0.0147, loss: 38.1721, grad_norm: 169.3678 +2026-02-25 11:32:24,794 - DriveTransformer - INFO - Epoch [4][30450/39528] lr: 9.623e-05, eta: 7 days, 10:27:39, time: 0.826, data_time: 0.045, memory: 19865, loss_cls: 0.2529, loss_bbox: 0.4478, loss_traj: 0.9300, loss_traj_cls: 0.0017, loss_map_cls: 0.2158, loss_map_pts: 0.9440, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.5037, d0.loss_plan_l1_fix_dist: 0.5109, d1.loss_plan_l1_fix_time: 1.4352, d1.loss_plan_l1_fix_dist: 0.2198, d2.loss_plan_l1_fix_time: 1.4142, d2.loss_plan_l1_fix_dist: 0.2291, d3.loss_plan_l1_fix_time: 1.4164, d3.loss_plan_l1_fix_dist: 0.2460, d4.loss_plan_l1_fix_time: 1.4221, d4.loss_plan_l1_fix_dist: 0.2681, d5.loss_plan_l1_fix_time: 1.4283, d5.loss_plan_l1_fix_dist: 0.2929, d6.loss_plan_l1_fix_time: 1.4348, d6.loss_plan_l1_fix_dist: 0.3215, d0.loss_cls_all: 0.2765, d0.loss_bbox_all: 0.4864, d0.loss_cls: 0.2765, d0.loss_bbox: 0.4864, d1.loss_cls: 0.2738, d1.loss_bbox: 0.4652, d2.loss_cls: 0.2604, d2.loss_bbox: 0.4493, d3.loss_cls: 0.2560, d3.loss_bbox: 0.4429, d4.loss_cls: 0.2519, d4.loss_bbox: 0.4423, d5.loss_cls: 0.2500, d5.loss_bbox: 0.4447, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1327, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9476, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9346, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9349, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9220, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9279, d0.loss_map_cls_all: 0.2757, d0.loss_map_pts_all: 1.6803, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2757, d0.loss_map_pts: 1.6803, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2467, d1.loss_map_pts: 1.1776, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2353, d2.loss_map_pts: 1.0197, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2241, d3.loss_map_pts: 0.9626, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.2176, d4.loss_map_pts: 0.9464, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.2168, d5.loss_map_pts: 0.9449, d5.loss_map_dir: 0.0114, loss: 36.9937, grad_norm: 169.6302 +2026-02-25 11:33:06,876 - DriveTransformer - INFO - Epoch [4][30500/39528] lr: 9.623e-05, eta: 7 days, 10:27:09, time: 0.842, data_time: 0.044, memory: 19865, loss_cls: 0.2573, loss_bbox: 0.4244, loss_traj: 0.7426, loss_traj_cls: 0.0017, loss_map_cls: 0.2147, loss_map_pts: 0.9839, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 2.5302, d0.loss_plan_l1_fix_dist: 0.5099, d1.loss_plan_l1_fix_time: 1.2689, d1.loss_plan_l1_fix_dist: 0.2214, d2.loss_plan_l1_fix_time: 1.2489, d2.loss_plan_l1_fix_dist: 0.2327, d3.loss_plan_l1_fix_time: 1.2591, d3.loss_plan_l1_fix_dist: 0.2503, d4.loss_plan_l1_fix_time: 1.2663, d4.loss_plan_l1_fix_dist: 0.2716, d5.loss_plan_l1_fix_time: 1.2735, d5.loss_plan_l1_fix_dist: 0.2964, d6.loss_plan_l1_fix_time: 1.2810, d6.loss_plan_l1_fix_dist: 0.3225, d0.loss_cls_all: 0.2805, d0.loss_bbox_all: 0.4752, d0.loss_cls: 0.2805, d0.loss_bbox: 0.4752, d1.loss_cls: 0.2743, d1.loss_bbox: 0.4461, d2.loss_cls: 0.2634, d2.loss_bbox: 0.4321, d3.loss_cls: 0.2598, d3.loss_bbox: 0.4247, d4.loss_cls: 0.2574, d4.loss_bbox: 0.4209, d5.loss_cls: 0.2547, d5.loss_bbox: 0.4238, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9795, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8252, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7687, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7504, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7492, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7477, d0.loss_map_cls_all: 0.2745, d0.loss_map_pts_all: 1.9552, d0.loss_map_dir_all: 0.0136, d0.loss_map_cls: 0.2745, d0.loss_map_pts: 1.9552, d0.loss_map_dir: 0.0136, d1.loss_map_cls: 0.2402, d1.loss_map_pts: 1.2547, d1.loss_map_dir: 0.0130, d2.loss_map_cls: 0.2288, d2.loss_map_pts: 1.0638, d2.loss_map_dir: 0.0133, d3.loss_map_cls: 0.2214, d3.loss_map_pts: 1.0036, d3.loss_map_dir: 0.0138, d4.loss_map_cls: 0.2163, d4.loss_map_pts: 0.9854, d4.loss_map_dir: 0.0141, d5.loss_map_cls: 0.2141, d5.loss_map_pts: 0.9836, d5.loss_map_dir: 0.0142, loss: 35.6342, grad_norm: 170.0114 +2026-02-25 11:33:47,717 - DriveTransformer - INFO - Epoch [4][30550/39528] lr: 9.623e-05, eta: 7 days, 10:26:32, time: 0.817, data_time: 0.043, memory: 19865, loss_cls: 0.2637, loss_bbox: 0.4517, loss_traj: 0.7379, loss_traj_cls: 0.0018, loss_map_cls: 0.2191, loss_map_pts: 1.0495, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 2.9994, d0.loss_plan_l1_fix_dist: 0.4994, d1.loss_plan_l1_fix_time: 1.6229, d1.loss_plan_l1_fix_dist: 0.2467, d2.loss_plan_l1_fix_time: 1.5996, d2.loss_plan_l1_fix_dist: 0.2591, d3.loss_plan_l1_fix_time: 1.6003, d3.loss_plan_l1_fix_dist: 0.2776, d4.loss_plan_l1_fix_time: 1.6046, d4.loss_plan_l1_fix_dist: 0.2975, d5.loss_plan_l1_fix_time: 1.6100, d5.loss_plan_l1_fix_dist: 0.3201, d6.loss_plan_l1_fix_time: 1.6167, d6.loss_plan_l1_fix_dist: 0.3425, d0.loss_cls_all: 0.2825, d0.loss_bbox_all: 0.5063, d0.loss_cls: 0.2825, d0.loss_bbox: 0.5063, d1.loss_cls: 0.2792, d1.loss_bbox: 0.4787, d2.loss_cls: 0.2737, d2.loss_bbox: 0.4615, d3.loss_cls: 0.2676, d3.loss_bbox: 0.4553, d4.loss_cls: 0.2624, d4.loss_bbox: 0.4539, d5.loss_cls: 0.2620, d5.loss_bbox: 0.4533, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9252, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7902, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7535, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7419, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7366, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7378, d0.loss_map_cls_all: 0.2701, d0.loss_map_pts_all: 1.9953, d0.loss_map_dir_all: 0.0130, d0.loss_map_cls: 0.2701, d0.loss_map_pts: 1.9953, d0.loss_map_dir: 0.0130, d1.loss_map_cls: 0.2531, d1.loss_map_pts: 1.3441, d1.loss_map_dir: 0.0126, d2.loss_map_cls: 0.2366, d2.loss_map_pts: 1.1421, d2.loss_map_dir: 0.0132, d3.loss_map_cls: 0.2260, d3.loss_map_pts: 1.0745, d3.loss_map_dir: 0.0140, d4.loss_map_cls: 0.2206, d4.loss_map_pts: 1.0519, d4.loss_map_dir: 0.0143, d5.loss_map_cls: 0.2199, d5.loss_map_pts: 1.0476, d5.loss_map_dir: 0.0145, loss: 38.9925, grad_norm: 172.1805 +2026-02-25 11:34:28,103 - DriveTransformer - INFO - Epoch [4][30600/39528] lr: 9.623e-05, eta: 7 days, 10:25:53, time: 0.809, data_time: 0.038, memory: 19865, loss_cls: 0.2570, loss_bbox: 0.4343, loss_traj: 0.9074, loss_traj_cls: 0.0018, loss_map_cls: 0.2543, loss_map_pts: 1.0168, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.4556, d0.loss_plan_l1_fix_dist: 0.3707, d1.loss_plan_l1_fix_time: 1.3847, d1.loss_plan_l1_fix_dist: 0.2251, d2.loss_plan_l1_fix_time: 1.3687, d2.loss_plan_l1_fix_dist: 0.2312, d3.loss_plan_l1_fix_time: 1.3768, d3.loss_plan_l1_fix_dist: 0.2440, d4.loss_plan_l1_fix_time: 1.3834, d4.loss_plan_l1_fix_dist: 0.2579, d5.loss_plan_l1_fix_time: 1.3900, d5.loss_plan_l1_fix_dist: 0.2729, d6.loss_plan_l1_fix_time: 1.3972, d6.loss_plan_l1_fix_dist: 0.2876, d0.loss_cls_all: 0.2816, d0.loss_bbox_all: 0.4922, d0.loss_cls: 0.2816, d0.loss_bbox: 0.4922, d1.loss_cls: 0.2747, d1.loss_bbox: 0.4594, d2.loss_cls: 0.2681, d2.loss_bbox: 0.4417, d3.loss_cls: 0.2588, d3.loss_bbox: 0.4369, d4.loss_cls: 0.2567, d4.loss_bbox: 0.4345, d5.loss_cls: 0.2556, d5.loss_bbox: 0.4347, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1155, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9664, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9249, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9141, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9086, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9090, d0.loss_map_cls_all: 0.3115, d0.loss_map_pts_all: 1.9119, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.3115, d0.loss_map_pts: 1.9119, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.2931, d1.loss_map_pts: 1.3485, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2772, d2.loss_map_pts: 1.1288, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.2639, d3.loss_map_pts: 1.0503, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.2602, d4.loss_map_pts: 1.0261, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.2553, d5.loss_map_pts: 1.0161, d5.loss_map_dir: 0.0121, loss: 37.7910, grad_norm: 172.4878 +2026-02-25 11:35:08,451 - DriveTransformer - INFO - Epoch [4][30650/39528] lr: 9.623e-05, eta: 7 days, 10:25:14, time: 0.806, data_time: 0.045, memory: 19865, loss_cls: 0.2790, loss_bbox: 0.4673, loss_traj: 0.9638, loss_traj_cls: 0.0019, loss_map_cls: 0.2530, loss_map_pts: 0.9634, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 3.1826, d0.loss_plan_l1_fix_dist: 0.3887, d1.loss_plan_l1_fix_time: 1.5895, d1.loss_plan_l1_fix_dist: 0.2363, d2.loss_plan_l1_fix_time: 1.5890, d2.loss_plan_l1_fix_dist: 0.2438, d3.loss_plan_l1_fix_time: 1.5905, d3.loss_plan_l1_fix_dist: 0.2556, d4.loss_plan_l1_fix_time: 1.5946, d4.loss_plan_l1_fix_dist: 0.2699, d5.loss_plan_l1_fix_time: 1.5993, d5.loss_plan_l1_fix_dist: 0.2858, d6.loss_plan_l1_fix_time: 1.6040, d6.loss_plan_l1_fix_dist: 0.3035, d0.loss_cls_all: 0.3059, d0.loss_bbox_all: 0.5191, d0.loss_cls: 0.3059, d0.loss_bbox: 0.5191, d1.loss_cls: 0.2980, d1.loss_bbox: 0.4887, d2.loss_cls: 0.2851, d2.loss_bbox: 0.4742, d3.loss_cls: 0.2808, d3.loss_bbox: 0.4694, d4.loss_cls: 0.2777, d4.loss_bbox: 0.4676, d5.loss_cls: 0.2780, d5.loss_bbox: 0.4674, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1985, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0479, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9918, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9800, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9689, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.9640, d0.loss_map_cls_all: 0.3242, d0.loss_map_pts_all: 1.7314, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.3242, d0.loss_map_pts: 1.7314, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2939, d1.loss_map_pts: 1.2580, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2730, d2.loss_map_pts: 1.0705, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.2617, d3.loss_map_pts: 0.9982, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.2560, d4.loss_map_pts: 0.9745, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.2528, d5.loss_map_pts: 0.9685, d5.loss_map_dir: 0.0125, loss: 40.0681, grad_norm: 172.3202 +2026-02-25 11:35:50,346 - DriveTransformer - INFO - Epoch [4][30700/39528] lr: 9.623e-05, eta: 7 days, 10:24:43, time: 0.838, data_time: 0.038, memory: 19865, loss_cls: 0.2477, loss_bbox: 0.4444, loss_traj: 0.8469, loss_traj_cls: 0.0017, loss_map_cls: 0.2498, loss_map_pts: 1.0519, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.3666, d0.loss_plan_l1_fix_dist: 0.3360, d1.loss_plan_l1_fix_time: 1.4300, d1.loss_plan_l1_fix_dist: 0.2265, d2.loss_plan_l1_fix_time: 1.4309, d2.loss_plan_l1_fix_dist: 0.2367, d3.loss_plan_l1_fix_time: 1.4402, d3.loss_plan_l1_fix_dist: 0.2502, d4.loss_plan_l1_fix_time: 1.4479, d4.loss_plan_l1_fix_dist: 0.2654, d5.loss_plan_l1_fix_time: 1.4558, d5.loss_plan_l1_fix_dist: 0.2833, d6.loss_plan_l1_fix_time: 1.4635, d6.loss_plan_l1_fix_dist: 0.3045, d0.loss_cls_all: 0.2679, d0.loss_bbox_all: 0.4988, d0.loss_cls: 0.2679, d0.loss_bbox: 0.4988, d1.loss_cls: 0.2612, d1.loss_bbox: 0.4680, d2.loss_cls: 0.2522, d2.loss_bbox: 0.4524, d3.loss_cls: 0.2494, d3.loss_bbox: 0.4455, d4.loss_cls: 0.2478, d4.loss_bbox: 0.4420, d5.loss_cls: 0.2473, d5.loss_bbox: 0.4418, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0115, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8907, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8509, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8474, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8425, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8431, d0.loss_map_cls_all: 0.3092, d0.loss_map_pts_all: 1.8538, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.3092, d0.loss_map_pts: 1.8538, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2829, d1.loss_map_pts: 1.3313, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2712, d2.loss_map_pts: 1.1490, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.2581, d3.loss_map_pts: 1.0799, d3.loss_map_dir: 0.0121, d4.loss_map_cls: 0.2514, d4.loss_map_pts: 1.0604, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.2494, d5.loss_map_pts: 1.0516, d5.loss_map_dir: 0.0126, loss: 37.5191, grad_norm: 172.8500 +2026-02-25 11:36:31,983 - DriveTransformer - INFO - Epoch [4][30750/39528] lr: 9.623e-05, eta: 7 days, 10:24:11, time: 0.833, data_time: 0.048, memory: 19865, loss_cls: 0.2385, loss_bbox: 0.4249, loss_traj: 0.8197, loss_traj_cls: 0.0016, loss_map_cls: 0.2093, loss_map_pts: 0.9855, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.5812, d0.loss_plan_l1_fix_dist: 0.4212, d1.loss_plan_l1_fix_time: 1.3840, d1.loss_plan_l1_fix_dist: 0.2044, d2.loss_plan_l1_fix_time: 1.3784, d2.loss_plan_l1_fix_dist: 0.2121, d3.loss_plan_l1_fix_time: 1.3902, d3.loss_plan_l1_fix_dist: 0.2258, d4.loss_plan_l1_fix_time: 1.3973, d4.loss_plan_l1_fix_dist: 0.2423, d5.loss_plan_l1_fix_time: 1.4038, d5.loss_plan_l1_fix_dist: 0.2596, d6.loss_plan_l1_fix_time: 1.4101, d6.loss_plan_l1_fix_dist: 0.2755, d0.loss_cls_all: 0.2558, d0.loss_bbox_all: 0.4743, d0.loss_cls: 0.2558, d0.loss_bbox: 0.4743, d1.loss_cls: 0.2502, d1.loss_bbox: 0.4432, d2.loss_cls: 0.2463, d2.loss_bbox: 0.4270, d3.loss_cls: 0.2426, d3.loss_bbox: 0.4234, d4.loss_cls: 0.2383, d4.loss_bbox: 0.4230, d5.loss_cls: 0.2386, d5.loss_bbox: 0.4235, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0437, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8750, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8224, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8210, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8196, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8191, d0.loss_map_cls_all: 0.2678, d0.loss_map_pts_all: 1.8623, d0.loss_map_dir_all: 0.0122, d0.loss_map_cls: 0.2678, d0.loss_map_pts: 1.8623, d0.loss_map_dir: 0.0122, d1.loss_map_cls: 0.2419, d1.loss_map_pts: 1.2566, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2296, d2.loss_map_pts: 1.0729, d2.loss_map_dir: 0.0119, d3.loss_map_cls: 0.2174, d3.loss_map_pts: 1.0086, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2113, d4.loss_map_pts: 0.9919, d4.loss_map_dir: 0.0126, d5.loss_map_cls: 0.2093, d5.loss_map_pts: 0.9878, d5.loss_map_dir: 0.0127, loss: 36.2741, grad_norm: 172.8353 +2026-02-25 11:37:13,810 - DriveTransformer - INFO - Epoch [4][30800/39528] lr: 9.623e-05, eta: 7 days, 10:23:39, time: 0.836, data_time: 0.043, memory: 19865, loss_cls: 0.2628, loss_bbox: 0.4538, loss_traj: 0.8204, loss_traj_cls: 0.0016, loss_map_cls: 0.2386, loss_map_pts: 1.0621, loss_map_dir: 0.0141, d0.loss_plan_l1_fix_time: 2.3664, d0.loss_plan_l1_fix_dist: 0.4396, d1.loss_plan_l1_fix_time: 1.3850, d1.loss_plan_l1_fix_dist: 0.2210, d2.loss_plan_l1_fix_time: 1.3743, d2.loss_plan_l1_fix_dist: 0.2335, d3.loss_plan_l1_fix_time: 1.3878, d3.loss_plan_l1_fix_dist: 0.2513, d4.loss_plan_l1_fix_time: 1.3949, d4.loss_plan_l1_fix_dist: 0.2705, d5.loss_plan_l1_fix_time: 1.4017, d5.loss_plan_l1_fix_dist: 0.2892, d6.loss_plan_l1_fix_time: 1.4089, d6.loss_plan_l1_fix_dist: 0.3086, d0.loss_cls_all: 0.2916, d0.loss_bbox_all: 0.4956, d0.loss_cls: 0.2916, d0.loss_bbox: 0.4956, d1.loss_cls: 0.2807, d1.loss_bbox: 0.4693, d2.loss_cls: 0.2716, d2.loss_bbox: 0.4548, d3.loss_cls: 0.2655, d3.loss_bbox: 0.4520, d4.loss_cls: 0.2628, d4.loss_bbox: 0.4497, d5.loss_cls: 0.2617, d5.loss_bbox: 0.4515, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0088, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8757, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8340, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8227, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8236, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8175, d0.loss_map_cls_all: 0.3028, d0.loss_map_pts_all: 2.0510, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.3028, d0.loss_map_pts: 2.0510, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2797, d1.loss_map_pts: 1.3762, d1.loss_map_dir: 0.0125, d2.loss_map_cls: 0.2656, d2.loss_map_pts: 1.1617, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2508, d3.loss_map_pts: 1.0967, d3.loss_map_dir: 0.0135, d4.loss_map_cls: 0.2422, d4.loss_map_pts: 1.0726, d4.loss_map_dir: 0.0137, d5.loss_map_cls: 0.2383, d5.loss_map_pts: 1.0650, d5.loss_map_dir: 0.0139, loss: 37.8167, grad_norm: 173.9644 +2026-02-25 11:37:54,998 - DriveTransformer - INFO - Epoch [4][30850/39528] lr: 9.623e-05, eta: 7 days, 10:23:04, time: 0.824, data_time: 0.041, memory: 19865, loss_cls: 0.2919, loss_bbox: 0.4686, loss_traj: 0.7028, loss_traj_cls: 0.0016, loss_map_cls: 0.2691, loss_map_pts: 1.0934, loss_map_dir: 0.0170, d0.loss_plan_l1_fix_time: 2.6693, d0.loss_plan_l1_fix_dist: 0.4709, d1.loss_plan_l1_fix_time: 1.4047, d1.loss_plan_l1_fix_dist: 0.2376, d2.loss_plan_l1_fix_time: 1.3799, d2.loss_plan_l1_fix_dist: 0.2417, d3.loss_plan_l1_fix_time: 1.3860, d3.loss_plan_l1_fix_dist: 0.2531, d4.loss_plan_l1_fix_time: 1.3915, d4.loss_plan_l1_fix_dist: 0.2653, d5.loss_plan_l1_fix_time: 1.3978, d5.loss_plan_l1_fix_dist: 0.2777, d6.loss_plan_l1_fix_time: 1.4053, d6.loss_plan_l1_fix_dist: 0.2911, d0.loss_cls_all: 0.3183, d0.loss_bbox_all: 0.5208, d0.loss_cls: 0.3183, d0.loss_bbox: 0.5208, d1.loss_cls: 0.3135, d1.loss_bbox: 0.4908, d2.loss_cls: 0.3008, d2.loss_bbox: 0.4755, d3.loss_cls: 0.2958, d3.loss_bbox: 0.4690, d4.loss_cls: 0.2930, d4.loss_bbox: 0.4662, d5.loss_cls: 0.2915, d5.loss_bbox: 0.4674, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9185, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7658, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7195, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7073, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7021, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6956, d0.loss_map_cls_all: 0.3324, d0.loss_map_pts_all: 2.1022, d0.loss_map_dir_all: 0.0161, d0.loss_map_cls: 0.3324, d0.loss_map_pts: 2.1022, d0.loss_map_dir: 0.0161, d1.loss_map_cls: 0.3043, d1.loss_map_pts: 1.4278, d1.loss_map_dir: 0.0150, d2.loss_map_cls: 0.2874, d2.loss_map_pts: 1.2121, d2.loss_map_dir: 0.0157, d3.loss_map_cls: 0.2771, d3.loss_map_pts: 1.1319, d3.loss_map_dir: 0.0162, d4.loss_map_cls: 0.2690, d4.loss_map_pts: 1.1034, d4.loss_map_dir: 0.0167, d5.loss_map_cls: 0.2688, d5.loss_map_pts: 1.0955, d5.loss_map_dir: 0.0168, loss: 38.3313, grad_norm: 174.2855 +2026-02-25 11:38:38,007 - DriveTransformer - INFO - Epoch [4][30900/39528] lr: 9.623e-05, eta: 7 days, 10:22:39, time: 0.860, data_time: 0.051, memory: 19865, loss_cls: 0.2486, loss_bbox: 0.4271, loss_traj: 0.7867, loss_traj_cls: 0.0015, loss_map_cls: 0.2037, loss_map_pts: 1.0104, loss_map_dir: 0.0158, d0.loss_plan_l1_fix_time: 2.5513, d0.loss_plan_l1_fix_dist: 0.4296, d1.loss_plan_l1_fix_time: 1.4964, d1.loss_plan_l1_fix_dist: 0.2528, d2.loss_plan_l1_fix_time: 1.4713, d2.loss_plan_l1_fix_dist: 0.2603, d3.loss_plan_l1_fix_time: 1.4693, d3.loss_plan_l1_fix_dist: 0.2704, d4.loss_plan_l1_fix_time: 1.4719, d4.loss_plan_l1_fix_dist: 0.2862, d5.loss_plan_l1_fix_time: 1.4751, d5.loss_plan_l1_fix_dist: 0.3042, d6.loss_plan_l1_fix_time: 1.4790, d6.loss_plan_l1_fix_dist: 0.3222, d0.loss_cls_all: 0.2692, d0.loss_bbox_all: 0.4882, d0.loss_cls: 0.2692, d0.loss_bbox: 0.4882, d1.loss_cls: 0.2666, d1.loss_bbox: 0.4556, d2.loss_cls: 0.2569, d2.loss_bbox: 0.4359, d3.loss_cls: 0.2546, d3.loss_bbox: 0.4270, d4.loss_cls: 0.2483, d4.loss_bbox: 0.4277, d5.loss_cls: 0.2480, d5.loss_bbox: 0.4275, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0163, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8609, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8170, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7911, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7874, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7856, d0.loss_map_cls_all: 0.2643, d0.loss_map_pts_all: 2.1161, d0.loss_map_dir_all: 0.0145, d0.loss_map_cls: 0.2643, d0.loss_map_pts: 2.1161, d0.loss_map_dir: 0.0145, d1.loss_map_cls: 0.2395, d1.loss_map_pts: 1.3451, d1.loss_map_dir: 0.0139, d2.loss_map_cls: 0.2252, d2.loss_map_pts: 1.1270, d2.loss_map_dir: 0.0142, d3.loss_map_cls: 0.2132, d3.loss_map_pts: 1.0432, d3.loss_map_dir: 0.0150, d4.loss_map_cls: 0.2067, d4.loss_map_pts: 1.0225, d4.loss_map_dir: 0.0155, d5.loss_map_cls: 0.2036, d5.loss_map_pts: 1.0155, d5.loss_map_dir: 0.0157, loss: 37.7661, grad_norm: 172.2807 +2026-02-25 11:39:18,454 - DriveTransformer - INFO - Epoch [4][30950/39528] lr: 9.623e-05, eta: 7 days, 10:22:01, time: 0.809, data_time: 0.040, memory: 19865, loss_cls: 0.2632, loss_bbox: 0.4703, loss_traj: 0.9358, loss_traj_cls: 0.0015, loss_map_cls: 0.2514, loss_map_pts: 1.0225, loss_map_dir: 0.0138, d0.loss_plan_l1_fix_time: 2.6070, d0.loss_plan_l1_fix_dist: 0.3735, d1.loss_plan_l1_fix_time: 1.4815, d1.loss_plan_l1_fix_dist: 0.2370, d2.loss_plan_l1_fix_time: 1.4685, d2.loss_plan_l1_fix_dist: 0.2473, d3.loss_plan_l1_fix_time: 1.4763, d3.loss_plan_l1_fix_dist: 0.2614, d4.loss_plan_l1_fix_time: 1.4838, d4.loss_plan_l1_fix_dist: 0.2795, d5.loss_plan_l1_fix_time: 1.4915, d5.loss_plan_l1_fix_dist: 0.2995, d6.loss_plan_l1_fix_time: 1.4991, d6.loss_plan_l1_fix_dist: 0.3232, d0.loss_cls_all: 0.2872, d0.loss_bbox_all: 0.5205, d0.loss_cls: 0.2872, d0.loss_bbox: 0.5205, d1.loss_cls: 0.2843, d1.loss_bbox: 0.4908, d2.loss_cls: 0.2691, d2.loss_bbox: 0.4759, d3.loss_cls: 0.2636, d3.loss_bbox: 0.4717, d4.loss_cls: 0.2600, d4.loss_bbox: 0.4704, d5.loss_cls: 0.2606, d5.loss_bbox: 0.4700, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1408, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9594, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9299, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9262, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9311, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9280, d0.loss_map_cls_all: 0.3162, d0.loss_map_pts_all: 1.9451, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.3162, d0.loss_map_pts: 1.9451, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2964, d1.loss_map_pts: 1.3227, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2749, d2.loss_map_pts: 1.1426, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2627, d3.loss_map_pts: 1.0691, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2553, d4.loss_map_pts: 1.0393, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.2541, d5.loss_map_pts: 1.0287, d5.loss_map_dir: 0.0137, loss: 39.1978, grad_norm: 171.8582 +2026-02-25 11:39:59,887 - DriveTransformer - INFO - Epoch [4][31000/39528] lr: 9.623e-05, eta: 7 days, 10:21:27, time: 0.829, data_time: 0.042, memory: 19865, loss_cls: 0.2616, loss_bbox: 0.4443, loss_traj: 0.8334, loss_traj_cls: 0.0016, loss_map_cls: 0.1994, loss_map_pts: 0.9715, loss_map_dir: 0.0140, d0.loss_plan_l1_fix_time: 2.5348, d0.loss_plan_l1_fix_dist: 0.4692, d1.loss_plan_l1_fix_time: 1.4644, d1.loss_plan_l1_fix_dist: 0.2339, d2.loss_plan_l1_fix_time: 1.4372, d2.loss_plan_l1_fix_dist: 0.2474, d3.loss_plan_l1_fix_time: 1.4328, d3.loss_plan_l1_fix_dist: 0.2675, d4.loss_plan_l1_fix_time: 1.4360, d4.loss_plan_l1_fix_dist: 0.2919, d5.loss_plan_l1_fix_time: 1.4408, d5.loss_plan_l1_fix_dist: 0.3161, d6.loss_plan_l1_fix_time: 1.4457, d6.loss_plan_l1_fix_dist: 0.3404, d0.loss_cls_all: 0.2809, d0.loss_bbox_all: 0.5059, d0.loss_cls: 0.2809, d0.loss_bbox: 0.5059, d1.loss_cls: 0.2718, d1.loss_bbox: 0.4765, d2.loss_cls: 0.2655, d2.loss_bbox: 0.4593, d3.loss_cls: 0.2624, d3.loss_bbox: 0.4515, d4.loss_cls: 0.2606, d4.loss_bbox: 0.4477, d5.loss_cls: 0.2596, d5.loss_bbox: 0.4471, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9521, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8509, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8273, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8246, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8270, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8302, d0.loss_map_cls_all: 0.2500, d0.loss_map_pts_all: 1.8415, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2500, d0.loss_map_pts: 1.8415, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2311, d1.loss_map_pts: 1.2445, d1.loss_map_dir: 0.0121, d2.loss_map_cls: 0.2213, d2.loss_map_pts: 1.0579, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2077, d3.loss_map_pts: 0.9956, d3.loss_map_dir: 0.0134, d4.loss_map_cls: 0.2007, d4.loss_map_pts: 0.9756, d4.loss_map_dir: 0.0138, d5.loss_map_cls: 0.1993, d5.loss_map_pts: 0.9669, d5.loss_map_dir: 0.0140, loss: 36.9526, grad_norm: 169.7884 +2026-02-25 11:40:41,423 - DriveTransformer - INFO - Epoch [4][31050/39528] lr: 9.623e-05, eta: 7 days, 10:20:54, time: 0.830, data_time: 0.040, memory: 19865, loss_cls: 0.2590, loss_bbox: 0.4841, loss_traj: 1.0346, loss_traj_cls: 0.0016, loss_map_cls: 0.2301, loss_map_pts: 1.0537, loss_map_dir: 0.0141, d0.loss_plan_l1_fix_time: 2.7916, d0.loss_plan_l1_fix_dist: 0.4456, d1.loss_plan_l1_fix_time: 1.6028, d1.loss_plan_l1_fix_dist: 0.2572, d2.loss_plan_l1_fix_time: 1.5948, d2.loss_plan_l1_fix_dist: 0.2691, d3.loss_plan_l1_fix_time: 1.6030, d3.loss_plan_l1_fix_dist: 0.2878, d4.loss_plan_l1_fix_time: 1.6100, d4.loss_plan_l1_fix_dist: 0.3093, d5.loss_plan_l1_fix_time: 1.6174, d5.loss_plan_l1_fix_dist: 0.3330, d6.loss_plan_l1_fix_time: 1.6256, d6.loss_plan_l1_fix_dist: 0.3580, d0.loss_cls_all: 0.2831, d0.loss_bbox_all: 0.5438, d0.loss_cls: 0.2831, d0.loss_bbox: 0.5438, d1.loss_cls: 0.2765, d1.loss_bbox: 0.5095, d2.loss_cls: 0.2645, d2.loss_bbox: 0.4921, d3.loss_cls: 0.2605, d3.loss_bbox: 0.4848, d4.loss_cls: 0.2580, d4.loss_bbox: 0.4830, d5.loss_cls: 0.2575, d5.loss_bbox: 0.4839, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2551, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0931, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0561, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0347, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0367, d5.loss_traj_cls: 0.0012, d5.loss_traj: 1.0271, d0.loss_map_cls_all: 0.3020, d0.loss_map_pts_all: 1.9268, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.3020, d0.loss_map_pts: 1.9268, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2646, d1.loss_map_pts: 1.3404, d1.loss_map_dir: 0.0129, d2.loss_map_cls: 0.2486, d2.loss_map_pts: 1.1480, d2.loss_map_dir: 0.0130, d3.loss_map_cls: 0.2382, d3.loss_map_pts: 1.0819, d3.loss_map_dir: 0.0135, d4.loss_map_cls: 0.2328, d4.loss_map_pts: 1.0602, d4.loss_map_dir: 0.0138, d5.loss_map_cls: 0.2289, d5.loss_map_pts: 1.0558, d5.loss_map_dir: 0.0140, loss: 41.1653, grad_norm: 169.3866 +2026-02-25 11:41:21,387 - DriveTransformer - INFO - Epoch [4][31100/39528] lr: 9.623e-05, eta: 7 days, 10:20:13, time: 0.799, data_time: 0.046, memory: 19865, loss_cls: 0.2603, loss_bbox: 0.4428, loss_traj: 0.9532, loss_traj_cls: 0.0016, loss_map_cls: 0.2405, loss_map_pts: 1.0375, loss_map_dir: 0.0130, d0.loss_plan_l1_fix_time: 2.7576, d0.loss_plan_l1_fix_dist: 0.3554, d1.loss_plan_l1_fix_time: 1.5421, d1.loss_plan_l1_fix_dist: 0.2248, d2.loss_plan_l1_fix_time: 1.5222, d2.loss_plan_l1_fix_dist: 0.2429, d3.loss_plan_l1_fix_time: 1.5263, d3.loss_plan_l1_fix_dist: 0.2694, d4.loss_plan_l1_fix_time: 1.5317, d4.loss_plan_l1_fix_dist: 0.2994, d5.loss_plan_l1_fix_time: 1.5374, d5.loss_plan_l1_fix_dist: 0.3324, d6.loss_plan_l1_fix_time: 1.5449, d6.loss_plan_l1_fix_dist: 0.3646, d0.loss_cls_all: 0.2829, d0.loss_bbox_all: 0.4947, d0.loss_cls: 0.2829, d0.loss_bbox: 0.4947, d1.loss_cls: 0.2764, d1.loss_bbox: 0.4640, d2.loss_cls: 0.2667, d2.loss_bbox: 0.4500, d3.loss_cls: 0.2630, d3.loss_bbox: 0.4432, d4.loss_cls: 0.2608, d4.loss_bbox: 0.4426, d5.loss_cls: 0.2591, d5.loss_bbox: 0.4427, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2140, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0173, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9672, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9498, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9496, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9533, d0.loss_map_cls_all: 0.3109, d0.loss_map_pts_all: 1.7979, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.3109, d0.loss_map_pts: 1.7979, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2774, d1.loss_map_pts: 1.2899, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2621, d2.loss_map_pts: 1.1208, d2.loss_map_dir: 0.0119, d3.loss_map_cls: 0.2513, d3.loss_map_pts: 1.0599, d3.loss_map_dir: 0.0125, d4.loss_map_cls: 0.2453, d4.loss_map_pts: 1.0380, d4.loss_map_dir: 0.0128, d5.loss_map_cls: 0.2420, d5.loss_map_pts: 1.0371, d5.loss_map_dir: 0.0129, loss: 39.3059, grad_norm: 169.3652 +2026-02-25 11:42:02,985 - DriveTransformer - INFO - Epoch [4][31150/39528] lr: 9.623e-05, eta: 7 days, 10:19:40, time: 0.832, data_time: 0.049, memory: 19865, loss_cls: 0.2385, loss_bbox: 0.4333, loss_traj: 0.8850, loss_traj_cls: 0.0016, loss_map_cls: 0.2224, loss_map_pts: 0.9548, loss_map_dir: 0.0141, d0.loss_plan_l1_fix_time: 2.7219, d0.loss_plan_l1_fix_dist: 0.3930, d1.loss_plan_l1_fix_time: 1.4719, d1.loss_plan_l1_fix_dist: 0.2224, d2.loss_plan_l1_fix_time: 1.4594, d2.loss_plan_l1_fix_dist: 0.2380, d3.loss_plan_l1_fix_time: 1.4625, d3.loss_plan_l1_fix_dist: 0.2604, d4.loss_plan_l1_fix_time: 1.4672, d4.loss_plan_l1_fix_dist: 0.2859, d5.loss_plan_l1_fix_time: 1.4725, d5.loss_plan_l1_fix_dist: 0.3116, d6.loss_plan_l1_fix_time: 1.4790, d6.loss_plan_l1_fix_dist: 0.3380, d0.loss_cls_all: 0.2639, d0.loss_bbox_all: 0.4881, d0.loss_cls: 0.2639, d0.loss_bbox: 0.4881, d1.loss_cls: 0.2580, d1.loss_bbox: 0.4554, d2.loss_cls: 0.2447, d2.loss_bbox: 0.4426, d3.loss_cls: 0.2403, d3.loss_bbox: 0.4350, d4.loss_cls: 0.2380, d4.loss_bbox: 0.4330, d5.loss_cls: 0.2379, d5.loss_bbox: 0.4323, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0971, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9251, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8883, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8833, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8888, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8848, d0.loss_map_cls_all: 0.2692, d0.loss_map_pts_all: 1.7853, d0.loss_map_dir_all: 0.0129, d0.loss_map_cls: 0.2692, d0.loss_map_pts: 1.7853, d0.loss_map_dir: 0.0129, d1.loss_map_cls: 0.2455, d1.loss_map_pts: 1.2154, d1.loss_map_dir: 0.0125, d2.loss_map_cls: 0.2338, d2.loss_map_pts: 1.0360, d2.loss_map_dir: 0.0130, d3.loss_map_cls: 0.2258, d3.loss_map_pts: 0.9803, d3.loss_map_dir: 0.0136, d4.loss_map_cls: 0.2227, d4.loss_map_pts: 0.9609, d4.loss_map_dir: 0.0139, d5.loss_map_cls: 0.2208, d5.loss_map_pts: 0.9567, d5.loss_map_dir: 0.0141, loss: 37.3276, grad_norm: 168.4164 +2026-02-25 11:42:44,253 - DriveTransformer - INFO - Epoch [4][31200/39528] lr: 9.623e-05, eta: 7 days, 10:19:06, time: 0.825, data_time: 0.039, memory: 19865, loss_cls: 0.2712, loss_bbox: 0.4643, loss_traj: 0.8295, loss_traj_cls: 0.0016, loss_map_cls: 0.2564, loss_map_pts: 1.0719, loss_map_dir: 0.0155, d0.loss_plan_l1_fix_time: 2.5369, d0.loss_plan_l1_fix_dist: 0.4635, d1.loss_plan_l1_fix_time: 1.4374, d1.loss_plan_l1_fix_dist: 0.2624, d2.loss_plan_l1_fix_time: 1.4308, d2.loss_plan_l1_fix_dist: 0.2804, d3.loss_plan_l1_fix_time: 1.4382, d3.loss_plan_l1_fix_dist: 0.3062, d4.loss_plan_l1_fix_time: 1.4484, d4.loss_plan_l1_fix_dist: 0.3342, d5.loss_plan_l1_fix_time: 1.4592, d5.loss_plan_l1_fix_dist: 0.3617, d6.loss_plan_l1_fix_time: 1.4695, d6.loss_plan_l1_fix_dist: 0.3924, d0.loss_cls_all: 0.2967, d0.loss_bbox_all: 0.5217, d0.loss_cls: 0.2967, d0.loss_bbox: 0.5217, d1.loss_cls: 0.2935, d1.loss_bbox: 0.4903, d2.loss_cls: 0.2790, d2.loss_bbox: 0.4752, d3.loss_cls: 0.2737, d3.loss_bbox: 0.4675, d4.loss_cls: 0.2711, d4.loss_bbox: 0.4642, d5.loss_cls: 0.2700, d5.loss_bbox: 0.4647, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9859, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8880, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8357, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8346, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8267, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8262, d0.loss_map_cls_all: 0.3137, d0.loss_map_pts_all: 1.9637, d0.loss_map_dir_all: 0.0139, d0.loss_map_cls: 0.3137, d0.loss_map_pts: 1.9637, d0.loss_map_dir: 0.0139, d1.loss_map_cls: 0.2897, d1.loss_map_pts: 1.3529, d1.loss_map_dir: 0.0137, d2.loss_map_cls: 0.2778, d2.loss_map_pts: 1.1663, d2.loss_map_dir: 0.0142, d3.loss_map_cls: 0.2652, d3.loss_map_pts: 1.1042, d3.loss_map_dir: 0.0148, d4.loss_map_cls: 0.2597, d4.loss_map_pts: 1.0815, d4.loss_map_dir: 0.0152, d5.loss_map_cls: 0.2564, d5.loss_map_pts: 1.0754, d5.loss_map_dir: 0.0154, loss: 38.9050, grad_norm: 169.6944 +2026-02-25 11:43:24,192 - DriveTransformer - INFO - Epoch [4][31250/39528] lr: 9.623e-05, eta: 7 days, 10:18:25, time: 0.799, data_time: 0.043, memory: 19865, loss_cls: 0.2463, loss_bbox: 0.4428, loss_traj: 0.8109, loss_traj_cls: 0.0017, loss_map_cls: 0.2492, loss_map_pts: 1.0153, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.7620, d0.loss_plan_l1_fix_dist: 0.4991, d1.loss_plan_l1_fix_time: 1.5003, d1.loss_plan_l1_fix_dist: 0.2586, d2.loss_plan_l1_fix_time: 1.4748, d2.loss_plan_l1_fix_dist: 0.2742, d3.loss_plan_l1_fix_time: 1.4766, d3.loss_plan_l1_fix_dist: 0.2956, d4.loss_plan_l1_fix_time: 1.4853, d4.loss_plan_l1_fix_dist: 0.3198, d5.loss_plan_l1_fix_time: 1.4949, d5.loss_plan_l1_fix_dist: 0.3457, d6.loss_plan_l1_fix_time: 1.5038, d6.loss_plan_l1_fix_dist: 0.3758, d0.loss_cls_all: 0.2686, d0.loss_bbox_all: 0.4987, d0.loss_cls: 0.2686, d0.loss_bbox: 0.4987, d1.loss_cls: 0.2638, d1.loss_bbox: 0.4699, d2.loss_cls: 0.2522, d2.loss_bbox: 0.4512, d3.loss_cls: 0.2492, d3.loss_bbox: 0.4454, d4.loss_cls: 0.2481, d4.loss_bbox: 0.4415, d5.loss_cls: 0.2457, d5.loss_bbox: 0.4416, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0143, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8336, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8063, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7951, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7974, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8035, d0.loss_map_cls_all: 0.3166, d0.loss_map_pts_all: 1.8207, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.3166, d0.loss_map_pts: 1.8207, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2859, d1.loss_map_pts: 1.2810, d1.loss_map_dir: 0.0131, d2.loss_map_cls: 0.2718, d2.loss_map_pts: 1.1012, d2.loss_map_dir: 0.0135, d3.loss_map_cls: 0.2586, d3.loss_map_pts: 1.0453, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.2528, d4.loss_map_pts: 1.0263, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.2500, d5.loss_map_pts: 1.0162, d5.loss_map_dir: 0.0148, loss: 38.1068, grad_norm: 171.9299 +2026-02-25 11:44:03,677 - DriveTransformer - INFO - Epoch [4][31300/39528] lr: 9.623e-05, eta: 7 days, 10:17:41, time: 0.790, data_time: 0.045, memory: 19865, loss_cls: 0.2673, loss_bbox: 0.4785, loss_traj: 0.9884, loss_traj_cls: 0.0016, loss_map_cls: 0.2643, loss_map_pts: 0.9926, loss_map_dir: 0.0148, d0.loss_plan_l1_fix_time: 2.2339, d0.loss_plan_l1_fix_dist: 0.4048, d1.loss_plan_l1_fix_time: 1.2909, d1.loss_plan_l1_fix_dist: 0.2255, d2.loss_plan_l1_fix_time: 1.2783, d2.loss_plan_l1_fix_dist: 0.2374, d3.loss_plan_l1_fix_time: 1.2860, d3.loss_plan_l1_fix_dist: 0.2548, d4.loss_plan_l1_fix_time: 1.2925, d4.loss_plan_l1_fix_dist: 0.2763, d5.loss_plan_l1_fix_time: 1.2984, d5.loss_plan_l1_fix_dist: 0.3011, d6.loss_plan_l1_fix_time: 1.3046, d6.loss_plan_l1_fix_dist: 0.3243, d0.loss_cls_all: 0.3008, d0.loss_bbox_all: 0.5225, d0.loss_cls: 0.3008, d0.loss_bbox: 0.5225, d1.loss_cls: 0.2915, d1.loss_bbox: 0.4954, d2.loss_cls: 0.2788, d2.loss_bbox: 0.4814, d3.loss_cls: 0.2715, d3.loss_bbox: 0.4756, d4.loss_cls: 0.2683, d4.loss_bbox: 0.4754, d5.loss_cls: 0.2662, d5.loss_bbox: 0.4770, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2127, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0093, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9589, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9504, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9647, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9911, d0.loss_map_cls_all: 0.3201, d0.loss_map_pts_all: 1.8258, d0.loss_map_dir_all: 0.0136, d0.loss_map_cls: 0.3201, d0.loss_map_pts: 1.8258, d0.loss_map_dir: 0.0136, d1.loss_map_cls: 0.2986, d1.loss_map_pts: 1.2686, d1.loss_map_dir: 0.0131, d2.loss_map_cls: 0.2875, d2.loss_map_pts: 1.0709, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2707, d3.loss_map_pts: 1.0114, d3.loss_map_dir: 0.0141, d4.loss_map_cls: 0.2648, d4.loss_map_pts: 0.9943, d4.loss_map_dir: 0.0144, d5.loss_map_cls: 0.2639, d5.loss_map_pts: 0.9914, d5.loss_map_dir: 0.0147, loss: 37.6477, grad_norm: 169.8089 +2026-02-25 11:44:44,867 - DriveTransformer - INFO - Epoch [4][31350/39528] lr: 9.623e-05, eta: 7 days, 10:17:06, time: 0.823, data_time: 0.044, memory: 19865, loss_cls: 0.2418, loss_bbox: 0.4032, loss_traj: 0.8048, loss_traj_cls: 0.0015, loss_map_cls: 0.2196, loss_map_pts: 0.8993, loss_map_dir: 0.0143, d0.loss_plan_l1_fix_time: 2.7252, d0.loss_plan_l1_fix_dist: 0.3444, d1.loss_plan_l1_fix_time: 1.3056, d1.loss_plan_l1_fix_dist: 0.2093, d2.loss_plan_l1_fix_time: 1.2860, d2.loss_plan_l1_fix_dist: 0.2328, d3.loss_plan_l1_fix_time: 1.2886, d3.loss_plan_l1_fix_dist: 0.2668, d4.loss_plan_l1_fix_time: 1.2950, d4.loss_plan_l1_fix_dist: 0.3043, d5.loss_plan_l1_fix_time: 1.3019, d5.loss_plan_l1_fix_dist: 0.3425, d6.loss_plan_l1_fix_time: 1.3105, d6.loss_plan_l1_fix_dist: 0.3789, d0.loss_cls_all: 0.2636, d0.loss_bbox_all: 0.4516, d0.loss_cls: 0.2636, d0.loss_bbox: 0.4516, d1.loss_cls: 0.2611, d1.loss_bbox: 0.4226, d2.loss_cls: 0.2465, d2.loss_bbox: 0.4111, d3.loss_cls: 0.2428, d3.loss_bbox: 0.4034, d4.loss_cls: 0.2406, d4.loss_bbox: 0.4018, d5.loss_cls: 0.2408, d5.loss_bbox: 0.4025, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8908, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8244, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8005, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7919, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7934, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7982, d0.loss_map_cls_all: 0.2857, d0.loss_map_pts_all: 1.7653, d0.loss_map_dir_all: 0.0134, d0.loss_map_cls: 0.2857, d0.loss_map_pts: 1.7653, d0.loss_map_dir: 0.0134, d1.loss_map_cls: 0.2503, d1.loss_map_pts: 1.1621, d1.loss_map_dir: 0.0126, d2.loss_map_cls: 0.2363, d2.loss_map_pts: 0.9795, d2.loss_map_dir: 0.0130, d3.loss_map_cls: 0.2259, d3.loss_map_pts: 0.9189, d3.loss_map_dir: 0.0137, d4.loss_map_cls: 0.2202, d4.loss_map_pts: 0.9009, d4.loss_map_dir: 0.0140, d5.loss_map_cls: 0.2205, d5.loss_map_pts: 0.8954, d5.loss_map_dir: 0.0142, loss: 34.9906, grad_norm: 169.4167 +2026-02-25 11:45:25,651 - DriveTransformer - INFO - Epoch [4][31400/39528] lr: 9.623e-05, eta: 7 days, 10:16:29, time: 0.817, data_time: 0.038, memory: 19865, loss_cls: 0.2590, loss_bbox: 0.4458, loss_traj: 0.7577, loss_traj_cls: 0.0015, loss_map_cls: 0.2134, loss_map_pts: 1.0240, loss_map_dir: 0.0164, d0.loss_plan_l1_fix_time: 2.5236, d0.loss_plan_l1_fix_dist: 0.3705, d1.loss_plan_l1_fix_time: 1.3649, d1.loss_plan_l1_fix_dist: 0.2207, d2.loss_plan_l1_fix_time: 1.3636, d2.loss_plan_l1_fix_dist: 0.2359, d3.loss_plan_l1_fix_time: 1.3647, d3.loss_plan_l1_fix_dist: 0.2586, d4.loss_plan_l1_fix_time: 1.3691, d4.loss_plan_l1_fix_dist: 0.2825, d5.loss_plan_l1_fix_time: 1.3740, d5.loss_plan_l1_fix_dist: 0.3074, d6.loss_plan_l1_fix_time: 1.3797, d6.loss_plan_l1_fix_dist: 0.3332, d0.loss_cls_all: 0.2786, d0.loss_bbox_all: 0.4971, d0.loss_cls: 0.2786, d0.loss_bbox: 0.4971, d1.loss_cls: 0.2779, d1.loss_bbox: 0.4689, d2.loss_cls: 0.2644, d2.loss_bbox: 0.4551, d3.loss_cls: 0.2602, d3.loss_bbox: 0.4469, d4.loss_cls: 0.2593, d4.loss_bbox: 0.4439, d5.loss_cls: 0.2593, d5.loss_bbox: 0.4441, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9512, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8235, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7670, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7534, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7485, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7510, d0.loss_map_cls_all: 0.2934, d0.loss_map_pts_all: 2.0038, d0.loss_map_dir_all: 0.0151, d0.loss_map_cls: 0.2934, d0.loss_map_pts: 2.0038, d0.loss_map_dir: 0.0151, d1.loss_map_cls: 0.2556, d1.loss_map_pts: 1.3631, d1.loss_map_dir: 0.0149, d2.loss_map_cls: 0.2356, d2.loss_map_pts: 1.1404, d2.loss_map_dir: 0.0149, d3.loss_map_cls: 0.2234, d3.loss_map_pts: 1.0603, d3.loss_map_dir: 0.0156, d4.loss_map_cls: 0.2146, d4.loss_map_pts: 1.0349, d4.loss_map_dir: 0.0162, d5.loss_map_cls: 0.2126, d5.loss_map_pts: 1.0260, d5.loss_map_dir: 0.0163, loss: 36.8668, grad_norm: 163.6111 +2026-02-25 11:46:04,355 - DriveTransformer - INFO - Epoch [4][31450/39528] lr: 9.623e-05, eta: 7 days, 10:15:41, time: 0.773, data_time: 0.040, memory: 19865, loss_cls: 0.2278, loss_bbox: 0.4312, loss_traj: 0.9951, loss_traj_cls: 0.0014, loss_map_cls: 0.2229, loss_map_pts: 0.9379, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.9837, d0.loss_plan_l1_fix_dist: 0.4574, d1.loss_plan_l1_fix_time: 1.6224, d1.loss_plan_l1_fix_dist: 0.2486, d2.loss_plan_l1_fix_time: 1.6012, d2.loss_plan_l1_fix_dist: 0.2733, d3.loss_plan_l1_fix_time: 1.6042, d3.loss_plan_l1_fix_dist: 0.3046, d4.loss_plan_l1_fix_time: 1.6105, d4.loss_plan_l1_fix_dist: 0.3413, d5.loss_plan_l1_fix_time: 1.6177, d5.loss_plan_l1_fix_dist: 0.3802, d6.loss_plan_l1_fix_time: 1.6253, d6.loss_plan_l1_fix_dist: 0.4201, d0.loss_cls_all: 0.2510, d0.loss_bbox_all: 0.4810, d0.loss_cls: 0.2510, d0.loss_bbox: 0.4810, d1.loss_cls: 0.2484, d1.loss_bbox: 0.4532, d2.loss_cls: 0.2371, d2.loss_bbox: 0.4382, d3.loss_cls: 0.2331, d3.loss_bbox: 0.4326, d4.loss_cls: 0.2281, d4.loss_bbox: 0.4321, d5.loss_cls: 0.2268, d5.loss_bbox: 0.4325, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2676, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0444, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9931, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9815, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9885, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9948, d0.loss_map_cls_all: 0.2748, d0.loss_map_pts_all: 1.5374, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2748, d0.loss_map_pts: 1.5374, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2520, d1.loss_map_pts: 1.1519, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.2402, d2.loss_map_pts: 1.0113, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.2300, d3.loss_map_pts: 0.9638, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.2249, d4.loss_map_pts: 0.9482, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.2232, d5.loss_map_pts: 0.9408, d5.loss_map_dir: 0.0098, loss: 38.8937, grad_norm: 159.8913 +2026-02-25 11:46:44,394 - DriveTransformer - INFO - Epoch [4][31500/39528] lr: 9.623e-05, eta: 7 days, 10:15:00, time: 0.801, data_time: 0.043, memory: 19865, loss_cls: 0.2653, loss_bbox: 0.4462, loss_traj: 0.9376, loss_traj_cls: 0.0015, loss_map_cls: 0.2104, loss_map_pts: 0.8873, loss_map_dir: 0.0140, d0.loss_plan_l1_fix_time: 2.5929, d0.loss_plan_l1_fix_dist: 0.4493, d1.loss_plan_l1_fix_time: 1.3435, d1.loss_plan_l1_fix_dist: 0.2604, d2.loss_plan_l1_fix_time: 1.3155, d2.loss_plan_l1_fix_dist: 0.2702, d3.loss_plan_l1_fix_time: 1.3177, d3.loss_plan_l1_fix_dist: 0.2854, d4.loss_plan_l1_fix_time: 1.3222, d4.loss_plan_l1_fix_dist: 0.3049, d5.loss_plan_l1_fix_time: 1.3278, d5.loss_plan_l1_fix_dist: 0.3251, d6.loss_plan_l1_fix_time: 1.3339, d6.loss_plan_l1_fix_dist: 0.3467, d0.loss_cls_all: 0.2900, d0.loss_bbox_all: 0.4997, d0.loss_cls: 0.2900, d0.loss_bbox: 0.4997, d1.loss_cls: 0.2802, d1.loss_bbox: 0.4724, d2.loss_cls: 0.2708, d2.loss_bbox: 0.4564, d3.loss_cls: 0.2662, d3.loss_bbox: 0.4508, d4.loss_cls: 0.2635, d4.loss_bbox: 0.4483, d5.loss_cls: 0.2631, d5.loss_bbox: 0.4472, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1400, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9936, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9555, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9456, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9406, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9360, d0.loss_map_cls_all: 0.2740, d0.loss_map_pts_all: 1.6922, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.2740, d0.loss_map_pts: 1.6922, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2435, d1.loss_map_pts: 1.1667, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2279, d2.loss_map_pts: 0.9902, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2167, d3.loss_map_pts: 0.9249, d3.loss_map_dir: 0.0132, d4.loss_map_cls: 0.2139, d4.loss_map_pts: 0.8978, d4.loss_map_dir: 0.0136, d5.loss_map_cls: 0.2113, d5.loss_map_pts: 0.8917, d5.loss_map_dir: 0.0138, loss: 36.6800, grad_norm: 160.2037 +2026-02-25 11:47:24,679 - DriveTransformer - INFO - Epoch [4][31550/39528] lr: 9.623e-05, eta: 7 days, 10:14:20, time: 0.806, data_time: 0.040, memory: 19865, loss_cls: 0.2448, loss_bbox: 0.4561, loss_traj: 0.9134, loss_traj_cls: 0.0015, loss_map_cls: 0.2036, loss_map_pts: 1.0439, loss_map_dir: 0.0161, d0.loss_plan_l1_fix_time: 2.2977, d0.loss_plan_l1_fix_dist: 0.4822, d1.loss_plan_l1_fix_time: 1.3202, d1.loss_plan_l1_fix_dist: 0.2410, d2.loss_plan_l1_fix_time: 1.3084, d2.loss_plan_l1_fix_dist: 0.2577, d3.loss_plan_l1_fix_time: 1.3106, d3.loss_plan_l1_fix_dist: 0.2871, d4.loss_plan_l1_fix_time: 1.3162, d4.loss_plan_l1_fix_dist: 0.3178, d5.loss_plan_l1_fix_time: 1.3225, d5.loss_plan_l1_fix_dist: 0.3508, d6.loss_plan_l1_fix_time: 1.3298, d6.loss_plan_l1_fix_dist: 0.3874, d0.loss_cls_all: 0.2768, d0.loss_bbox_all: 0.4925, d0.loss_cls: 0.2768, d0.loss_bbox: 0.4925, d1.loss_cls: 0.2639, d1.loss_bbox: 0.4697, d2.loss_cls: 0.2566, d2.loss_bbox: 0.4538, d3.loss_cls: 0.2508, d3.loss_bbox: 0.4503, d4.loss_cls: 0.2431, d4.loss_bbox: 0.4549, d5.loss_cls: 0.2414, d5.loss_bbox: 0.4572, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0629, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9558, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9104, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9141, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9150, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9161, d0.loss_map_cls_all: 0.2717, d0.loss_map_pts_all: 2.0438, d0.loss_map_dir_all: 0.0154, d0.loss_map_cls: 0.2717, d0.loss_map_pts: 2.0438, d0.loss_map_dir: 0.0154, d1.loss_map_cls: 0.2364, d1.loss_map_pts: 1.3369, d1.loss_map_dir: 0.0144, d2.loss_map_cls: 0.2245, d2.loss_map_pts: 1.1429, d2.loss_map_dir: 0.0147, d3.loss_map_cls: 0.2143, d3.loss_map_pts: 1.0779, d3.loss_map_dir: 0.0153, d4.loss_map_cls: 0.2062, d4.loss_map_pts: 1.0568, d4.loss_map_dir: 0.0157, d5.loss_map_cls: 0.2026, d5.loss_map_pts: 1.0477, d5.loss_map_dir: 0.0159, loss: 37.6524, grad_norm: 163.8147 +2026-02-25 11:48:04,678 - DriveTransformer - INFO - Epoch [4][31600/39528] lr: 9.623e-05, eta: 7 days, 10:13:39, time: 0.800, data_time: 0.039, memory: 19865, loss_cls: 0.2417, loss_bbox: 0.4261, loss_traj: 0.8497, loss_traj_cls: 0.0016, loss_map_cls: 0.1967, loss_map_pts: 0.8215, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.6449, d0.loss_plan_l1_fix_dist: 0.4240, d1.loss_plan_l1_fix_time: 1.5581, d1.loss_plan_l1_fix_dist: 0.2695, d2.loss_plan_l1_fix_time: 1.5362, d2.loss_plan_l1_fix_dist: 0.3018, d3.loss_plan_l1_fix_time: 1.5392, d3.loss_plan_l1_fix_dist: 0.3510, d4.loss_plan_l1_fix_time: 1.5461, d4.loss_plan_l1_fix_dist: 0.4006, d5.loss_plan_l1_fix_time: 1.5540, d5.loss_plan_l1_fix_dist: 0.4531, d6.loss_plan_l1_fix_time: 1.5629, d6.loss_plan_l1_fix_dist: 0.5101, d0.loss_cls_all: 0.2627, d0.loss_bbox_all: 0.4733, d0.loss_cls: 0.2627, d0.loss_bbox: 0.4733, d1.loss_cls: 0.2568, d1.loss_bbox: 0.4473, d2.loss_cls: 0.2476, d2.loss_bbox: 0.4314, d3.loss_cls: 0.2439, d3.loss_bbox: 0.4259, d4.loss_cls: 0.2421, d4.loss_bbox: 0.4250, d5.loss_cls: 0.2409, d5.loss_bbox: 0.4259, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0158, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8863, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8544, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8501, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8518, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8591, d0.loss_map_cls_all: 0.2504, d0.loss_map_pts_all: 1.6067, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2504, d0.loss_map_pts: 1.6067, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2229, d1.loss_map_pts: 1.0674, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2114, d2.loss_map_pts: 0.9022, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.2084, d3.loss_map_pts: 0.8484, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2019, d4.loss_map_pts: 0.8287, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.1987, d5.loss_map_pts: 0.8221, d5.loss_map_dir: 0.0126, loss: 36.6934, grad_norm: 166.5237 +2026-02-25 11:48:45,636 - DriveTransformer - INFO - Epoch [4][31650/39528] lr: 9.623e-05, eta: 7 days, 10:13:03, time: 0.819, data_time: 0.037, memory: 19865, loss_cls: 0.2817, loss_bbox: 0.4983, loss_traj: 0.8855, loss_traj_cls: 0.0016, loss_map_cls: 0.2673, loss_map_pts: 1.1581, loss_map_dir: 0.0162, d0.loss_plan_l1_fix_time: 3.1637, d0.loss_plan_l1_fix_dist: 0.3599, d1.loss_plan_l1_fix_time: 1.7612, d1.loss_plan_l1_fix_dist: 0.2316, d2.loss_plan_l1_fix_time: 1.7579, d2.loss_plan_l1_fix_dist: 0.2469, d3.loss_plan_l1_fix_time: 1.7604, d3.loss_plan_l1_fix_dist: 0.2722, d4.loss_plan_l1_fix_time: 1.7657, d4.loss_plan_l1_fix_dist: 0.2966, d5.loss_plan_l1_fix_time: 1.7717, d5.loss_plan_l1_fix_dist: 0.3240, d6.loss_plan_l1_fix_time: 1.7783, d6.loss_plan_l1_fix_dist: 0.3577, d0.loss_cls_all: 0.3011, d0.loss_bbox_all: 0.5516, d0.loss_cls: 0.3011, d0.loss_bbox: 0.5516, d1.loss_cls: 0.2987, d1.loss_bbox: 0.5256, d2.loss_cls: 0.2893, d2.loss_bbox: 0.5064, d3.loss_cls: 0.2812, d3.loss_bbox: 0.5026, d4.loss_cls: 0.2800, d4.loss_bbox: 0.5000, d5.loss_cls: 0.2801, d5.loss_bbox: 0.4996, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0270, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9208, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8865, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8868, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8830, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8877, d0.loss_map_cls_all: 0.3159, d0.loss_map_pts_all: 2.0310, d0.loss_map_dir_all: 0.0154, d0.loss_map_cls: 0.3159, d0.loss_map_pts: 2.0310, d0.loss_map_dir: 0.0154, d1.loss_map_cls: 0.2941, d1.loss_map_pts: 1.4481, d1.loss_map_dir: 0.0145, d2.loss_map_cls: 0.2827, d2.loss_map_pts: 1.2410, d2.loss_map_dir: 0.0148, d3.loss_map_cls: 0.2734, d3.loss_map_pts: 1.1782, d3.loss_map_dir: 0.0155, d4.loss_map_cls: 0.2692, d4.loss_map_pts: 1.1600, d4.loss_map_dir: 0.0158, d5.loss_map_cls: 0.2669, d5.loss_map_pts: 1.1572, d5.loss_map_dir: 0.0160, loss: 42.4948, grad_norm: 167.6934 +2026-02-25 11:49:28,074 - DriveTransformer - INFO - Epoch [4][31700/39528] lr: 9.623e-05, eta: 7 days, 10:12:35, time: 0.849, data_time: 0.042, memory: 19865, loss_cls: 0.2711, loss_bbox: 0.4642, loss_traj: 0.8915, loss_traj_cls: 0.0016, loss_map_cls: 0.2455, loss_map_pts: 1.1414, loss_map_dir: 0.0160, d0.loss_plan_l1_fix_time: 2.5941, d0.loss_plan_l1_fix_dist: 0.3317, d1.loss_plan_l1_fix_time: 1.4508, d1.loss_plan_l1_fix_dist: 0.2344, d2.loss_plan_l1_fix_time: 1.4575, d2.loss_plan_l1_fix_dist: 0.2510, d3.loss_plan_l1_fix_time: 1.4612, d3.loss_plan_l1_fix_dist: 0.2740, d4.loss_plan_l1_fix_time: 1.4675, d4.loss_plan_l1_fix_dist: 0.3012, d5.loss_plan_l1_fix_time: 1.4739, d5.loss_plan_l1_fix_dist: 0.3312, d6.loss_plan_l1_fix_time: 1.4809, d6.loss_plan_l1_fix_dist: 0.3596, d0.loss_cls_all: 0.2943, d0.loss_bbox_all: 0.5165, d0.loss_cls: 0.2943, d0.loss_bbox: 0.5165, d1.loss_cls: 0.2895, d1.loss_bbox: 0.4821, d2.loss_cls: 0.2781, d2.loss_bbox: 0.4681, d3.loss_cls: 0.2736, d3.loss_bbox: 0.4644, d4.loss_cls: 0.2697, d4.loss_bbox: 0.4656, d5.loss_cls: 0.2707, d5.loss_bbox: 0.4646, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0957, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9487, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9008, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8925, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8858, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8897, d0.loss_map_cls_all: 0.3041, d0.loss_map_pts_all: 2.2068, d0.loss_map_dir_all: 0.0150, d0.loss_map_cls: 0.3041, d0.loss_map_pts: 2.2068, d0.loss_map_dir: 0.0150, d1.loss_map_cls: 0.2737, d1.loss_map_pts: 1.4909, d1.loss_map_dir: 0.0140, d2.loss_map_cls: 0.2617, d2.loss_map_pts: 1.2616, d2.loss_map_dir: 0.0143, d3.loss_map_cls: 0.2532, d3.loss_map_pts: 1.1806, d3.loss_map_dir: 0.0153, d4.loss_map_cls: 0.2488, d4.loss_map_pts: 1.1535, d4.loss_map_dir: 0.0157, d5.loss_map_cls: 0.2460, d5.loss_map_pts: 1.1421, d5.loss_map_dir: 0.0159, loss: 40.1061, grad_norm: 169.6165 +2026-02-25 11:50:09,109 - DriveTransformer - INFO - Epoch [4][31750/39528] lr: 9.623e-05, eta: 7 days, 10:11:59, time: 0.820, data_time: 0.045, memory: 19865, loss_cls: 0.2655, loss_bbox: 0.4643, loss_traj: 1.0644, loss_traj_cls: 0.0016, loss_map_cls: 0.2057, loss_map_pts: 1.0211, loss_map_dir: 0.0141, d0.loss_plan_l1_fix_time: 2.7393, d0.loss_plan_l1_fix_dist: 0.3907, d1.loss_plan_l1_fix_time: 1.5643, d1.loss_plan_l1_fix_dist: 0.2583, d2.loss_plan_l1_fix_time: 1.5539, d2.loss_plan_l1_fix_dist: 0.2851, d3.loss_plan_l1_fix_time: 1.5590, d3.loss_plan_l1_fix_dist: 0.3135, d4.loss_plan_l1_fix_time: 1.5644, d4.loss_plan_l1_fix_dist: 0.3478, d5.loss_plan_l1_fix_time: 1.5704, d5.loss_plan_l1_fix_dist: 0.3834, d6.loss_plan_l1_fix_time: 1.5771, d6.loss_plan_l1_fix_dist: 0.4173, d0.loss_cls_all: 0.2909, d0.loss_bbox_all: 0.5316, d0.loss_cls: 0.2909, d0.loss_bbox: 0.5316, d1.loss_cls: 0.2857, d1.loss_bbox: 0.4911, d2.loss_cls: 0.2723, d2.loss_bbox: 0.4786, d3.loss_cls: 0.2686, d3.loss_bbox: 0.4713, d4.loss_cls: 0.2669, d4.loss_bbox: 0.4675, d5.loss_cls: 0.2660, d5.loss_bbox: 0.4668, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2851, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.1317, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0937, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0793, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0720, d5.loss_traj_cls: 0.0013, d5.loss_traj: 1.0699, d0.loss_map_cls_all: 0.2728, d0.loss_map_pts_all: 1.8754, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2728, d0.loss_map_pts: 1.8754, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2456, d1.loss_map_pts: 1.3064, d1.loss_map_dir: 0.0126, d2.loss_map_cls: 0.2278, d2.loss_map_pts: 1.1287, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2146, d3.loss_map_pts: 1.0545, d3.loss_map_dir: 0.0135, d4.loss_map_cls: 0.2083, d4.loss_map_pts: 1.0302, d4.loss_map_dir: 0.0137, d5.loss_map_cls: 0.2069, d5.loss_map_pts: 1.0200, d5.loss_map_dir: 0.0139, loss: 40.7099, grad_norm: 169.6116 +2026-02-25 11:50:50,399 - DriveTransformer - INFO - Epoch [4][31800/39528] lr: 9.623e-05, eta: 7 days, 10:11:25, time: 0.826, data_time: 0.039, memory: 19865, loss_cls: 0.2469, loss_bbox: 0.4405, loss_traj: 0.8202, loss_traj_cls: 0.0016, loss_map_cls: 0.2035, loss_map_pts: 0.8853, loss_map_dir: 0.0133, d0.loss_plan_l1_fix_time: 3.2353, d0.loss_plan_l1_fix_dist: 0.5133, d1.loss_plan_l1_fix_time: 1.4663, d1.loss_plan_l1_fix_dist: 0.2397, d2.loss_plan_l1_fix_time: 1.4510, d2.loss_plan_l1_fix_dist: 0.2517, d3.loss_plan_l1_fix_time: 1.4550, d3.loss_plan_l1_fix_dist: 0.2737, d4.loss_plan_l1_fix_time: 1.4601, d4.loss_plan_l1_fix_dist: 0.2967, d5.loss_plan_l1_fix_time: 1.4657, d5.loss_plan_l1_fix_dist: 0.3206, d6.loss_plan_l1_fix_time: 1.4724, d6.loss_plan_l1_fix_dist: 0.3451, d0.loss_cls_all: 0.2753, d0.loss_bbox_all: 0.4891, d0.loss_cls: 0.2753, d0.loss_bbox: 0.4891, d1.loss_cls: 0.2660, d1.loss_bbox: 0.4589, d2.loss_cls: 0.2562, d2.loss_bbox: 0.4430, d3.loss_cls: 0.2505, d3.loss_bbox: 0.4378, d4.loss_cls: 0.2465, d4.loss_bbox: 0.4387, d5.loss_cls: 0.2455, d5.loss_bbox: 0.4402, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0740, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8744, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8264, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8155, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8184, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8177, d0.loss_map_cls_all: 0.2478, d0.loss_map_pts_all: 1.7425, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2478, d0.loss_map_pts: 1.7425, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2276, d1.loss_map_pts: 1.1406, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2185, d2.loss_map_pts: 0.9709, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2104, d3.loss_map_pts: 0.9087, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.2040, d4.loss_map_pts: 0.8916, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.2046, d5.loss_map_pts: 0.8872, d5.loss_map_dir: 0.0132, loss: 37.0332, grad_norm: 168.9807 +2026-02-25 11:51:29,877 - DriveTransformer - INFO - Epoch [4][31850/39528] lr: 9.623e-05, eta: 7 days, 10:10:41, time: 0.790, data_time: 0.041, memory: 19865, loss_cls: 0.2318, loss_bbox: 0.4131, loss_traj: 1.0077, loss_traj_cls: 0.0016, loss_map_cls: 0.2019, loss_map_pts: 0.7540, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.5828, d0.loss_plan_l1_fix_dist: 0.5595, d1.loss_plan_l1_fix_time: 1.3150, d1.loss_plan_l1_fix_dist: 0.2203, d2.loss_plan_l1_fix_time: 1.2982, d2.loss_plan_l1_fix_dist: 0.2425, d3.loss_plan_l1_fix_time: 1.3009, d3.loss_plan_l1_fix_dist: 0.2756, d4.loss_plan_l1_fix_time: 1.3054, d4.loss_plan_l1_fix_dist: 0.3114, d5.loss_plan_l1_fix_time: 1.3108, d5.loss_plan_l1_fix_dist: 0.3497, d6.loss_plan_l1_fix_time: 1.3170, d6.loss_plan_l1_fix_dist: 0.3897, d0.loss_cls_all: 0.2550, d0.loss_bbox_all: 0.4639, d0.loss_cls: 0.2550, d0.loss_bbox: 0.4639, d1.loss_cls: 0.2466, d1.loss_bbox: 0.4352, d2.loss_cls: 0.2399, d2.loss_bbox: 0.4178, d3.loss_cls: 0.2362, d3.loss_bbox: 0.4121, d4.loss_cls: 0.2335, d4.loss_bbox: 0.4106, d5.loss_cls: 0.2310, d5.loss_bbox: 0.4128, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2187, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0681, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0157, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9943, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0052, d5.loss_traj_cls: 0.0012, d5.loss_traj: 1.0031, d0.loss_map_cls_all: 0.2539, d0.loss_map_pts_all: 1.4077, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2539, d0.loss_map_pts: 1.4077, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2318, d1.loss_map_pts: 0.9910, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.2208, d2.loss_map_pts: 0.8429, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.2092, d3.loss_map_pts: 0.7843, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.2035, d4.loss_map_pts: 0.7667, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.2025, d5.loss_map_pts: 0.7559, d5.loss_map_dir: 0.0097, loss: 35.0194, grad_norm: 169.2285 +2026-02-25 11:52:09,505 - DriveTransformer - INFO - Epoch [4][31900/39528] lr: 9.623e-05, eta: 7 days, 10:09:58, time: 0.793, data_time: 0.040, memory: 19865, loss_cls: 0.2475, loss_bbox: 0.4274, loss_traj: 0.8180, loss_traj_cls: 0.0015, loss_map_cls: 0.2263, loss_map_pts: 0.9046, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.7335, d0.loss_plan_l1_fix_dist: 0.4446, d1.loss_plan_l1_fix_time: 1.4458, d1.loss_plan_l1_fix_dist: 0.2203, d2.loss_plan_l1_fix_time: 1.4185, d2.loss_plan_l1_fix_dist: 0.2309, d3.loss_plan_l1_fix_time: 1.4188, d3.loss_plan_l1_fix_dist: 0.2485, d4.loss_plan_l1_fix_time: 1.4215, d4.loss_plan_l1_fix_dist: 0.2680, d5.loss_plan_l1_fix_time: 1.4245, d5.loss_plan_l1_fix_dist: 0.2896, d6.loss_plan_l1_fix_time: 1.4283, d6.loss_plan_l1_fix_dist: 0.3124, d0.loss_cls_all: 0.2637, d0.loss_bbox_all: 0.4757, d0.loss_cls: 0.2637, d0.loss_bbox: 0.4757, d1.loss_cls: 0.2570, d1.loss_bbox: 0.4470, d2.loss_cls: 0.2522, d2.loss_bbox: 0.4301, d3.loss_cls: 0.2502, d3.loss_bbox: 0.4256, d4.loss_cls: 0.2488, d4.loss_bbox: 0.4260, d5.loss_cls: 0.2472, d5.loss_bbox: 0.4276, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9468, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8524, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8263, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8124, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8111, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8133, d0.loss_map_cls_all: 0.2770, d0.loss_map_pts_all: 1.6544, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2770, d0.loss_map_pts: 1.6544, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2580, d1.loss_map_pts: 1.1736, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2444, d2.loss_map_pts: 1.0019, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2346, d3.loss_map_pts: 0.9397, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.2285, d4.loss_map_pts: 0.9146, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.2259, d5.loss_map_pts: 0.9055, d5.loss_map_dir: 0.0122, loss: 35.9718, grad_norm: 169.2655 +2026-02-25 11:52:48,828 - DriveTransformer - INFO - Epoch [4][31950/39528] lr: 9.623e-05, eta: 7 days, 10:09:13, time: 0.786, data_time: 0.046, memory: 19865, loss_cls: 0.2392, loss_bbox: 0.4267, loss_traj: 0.8683, loss_traj_cls: 0.0015, loss_map_cls: 0.2129, loss_map_pts: 0.8416, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.7727, d0.loss_plan_l1_fix_dist: 0.5004, d1.loss_plan_l1_fix_time: 1.3623, d1.loss_plan_l1_fix_dist: 0.2388, d2.loss_plan_l1_fix_time: 1.3467, d2.loss_plan_l1_fix_dist: 0.2574, d3.loss_plan_l1_fix_time: 1.3503, d3.loss_plan_l1_fix_dist: 0.2837, d4.loss_plan_l1_fix_time: 1.3546, d4.loss_plan_l1_fix_dist: 0.3121, d5.loss_plan_l1_fix_time: 1.3590, d5.loss_plan_l1_fix_dist: 0.3416, d6.loss_plan_l1_fix_time: 1.3644, d6.loss_plan_l1_fix_dist: 0.3704, d0.loss_cls_all: 0.2708, d0.loss_bbox_all: 0.4811, d0.loss_cls: 0.2708, d0.loss_bbox: 0.4811, d1.loss_cls: 0.2593, d1.loss_bbox: 0.4500, d2.loss_cls: 0.2506, d2.loss_bbox: 0.4311, d3.loss_cls: 0.2442, d3.loss_bbox: 0.4266, d4.loss_cls: 0.2414, d4.loss_bbox: 0.4249, d5.loss_cls: 0.2397, d5.loss_bbox: 0.4270, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0827, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9241, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8748, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8712, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8661, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8718, d0.loss_map_cls_all: 0.2681, d0.loss_map_pts_all: 1.6538, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.2681, d0.loss_map_pts: 1.6538, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2456, d1.loss_map_pts: 1.1022, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.2316, d2.loss_map_pts: 0.9385, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2187, d3.loss_map_pts: 0.8780, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2153, d4.loss_map_pts: 0.8542, d4.loss_map_dir: 0.0126, d5.loss_map_cls: 0.2112, d5.loss_map_pts: 0.8445, d5.loss_map_dir: 0.0127, loss: 35.8818, grad_norm: 168.6126 +2026-02-25 11:53:30,448 - DriveTransformer - INFO - Epoch [4][32000/39528] lr: 9.623e-05, eta: 7 days, 10:08:41, time: 0.832, data_time: 0.045, memory: 19865, loss_cls: 0.2697, loss_bbox: 0.4386, loss_traj: 0.7751, loss_traj_cls: 0.0016, loss_map_cls: 0.2201, loss_map_pts: 0.9908, loss_map_dir: 0.0172, d0.loss_plan_l1_fix_time: 2.5301, d0.loss_plan_l1_fix_dist: 0.4147, d1.loss_plan_l1_fix_time: 1.3485, d1.loss_plan_l1_fix_dist: 0.2390, d2.loss_plan_l1_fix_time: 1.3359, d2.loss_plan_l1_fix_dist: 0.2503, d3.loss_plan_l1_fix_time: 1.3357, d3.loss_plan_l1_fix_dist: 0.2648, d4.loss_plan_l1_fix_time: 1.3390, d4.loss_plan_l1_fix_dist: 0.2808, d5.loss_plan_l1_fix_time: 1.3429, d5.loss_plan_l1_fix_dist: 0.2983, d6.loss_plan_l1_fix_time: 1.3473, d6.loss_plan_l1_fix_dist: 0.3166, d0.loss_cls_all: 0.2881, d0.loss_bbox_all: 0.4945, d0.loss_cls: 0.2881, d0.loss_bbox: 0.4945, d1.loss_cls: 0.2832, d1.loss_bbox: 0.4662, d2.loss_cls: 0.2746, d2.loss_bbox: 0.4491, d3.loss_cls: 0.2693, d3.loss_bbox: 0.4444, d4.loss_cls: 0.2682, d4.loss_bbox: 0.4419, d5.loss_cls: 0.2690, d5.loss_bbox: 0.4390, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9754, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8197, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7774, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7756, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7726, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7728, d0.loss_map_cls_all: 0.2811, d0.loss_map_pts_all: 2.0877, d0.loss_map_dir_all: 0.0159, d0.loss_map_cls: 0.2811, d0.loss_map_pts: 2.0877, d0.loss_map_dir: 0.0159, d1.loss_map_cls: 0.2577, d1.loss_map_pts: 1.3376, d1.loss_map_dir: 0.0151, d2.loss_map_cls: 0.2397, d2.loss_map_pts: 1.1054, d2.loss_map_dir: 0.0158, d3.loss_map_cls: 0.2294, d3.loss_map_pts: 1.0285, d3.loss_map_dir: 0.0165, d4.loss_map_cls: 0.2225, d4.loss_map_pts: 1.0048, d4.loss_map_dir: 0.0169, d5.loss_map_cls: 0.2203, d5.loss_map_pts: 0.9939, d5.loss_map_dir: 0.0171, loss: 36.9171, grad_norm: 168.4118 +2026-02-25 11:54:10,582 - DriveTransformer - INFO - Epoch [4][32050/39528] lr: 9.623e-05, eta: 7 days, 10:08:01, time: 0.804, data_time: 0.038, memory: 19865, loss_cls: 0.2513, loss_bbox: 0.4386, loss_traj: 0.9502, loss_traj_cls: 0.0016, loss_map_cls: 0.2109, loss_map_pts: 0.9146, loss_map_dir: 0.0130, d0.loss_plan_l1_fix_time: 2.7358, d0.loss_plan_l1_fix_dist: 0.4231, d1.loss_plan_l1_fix_time: 1.3723, d1.loss_plan_l1_fix_dist: 0.2208, d2.loss_plan_l1_fix_time: 1.3560, d2.loss_plan_l1_fix_dist: 0.2317, d3.loss_plan_l1_fix_time: 1.3621, d3.loss_plan_l1_fix_dist: 0.2488, d4.loss_plan_l1_fix_time: 1.3685, d4.loss_plan_l1_fix_dist: 0.2737, d5.loss_plan_l1_fix_time: 1.3750, d5.loss_plan_l1_fix_dist: 0.3037, d6.loss_plan_l1_fix_time: 1.3816, d6.loss_plan_l1_fix_dist: 0.3394, d0.loss_cls_all: 0.2716, d0.loss_bbox_all: 0.4927, d0.loss_cls: 0.2716, d0.loss_bbox: 0.4927, d1.loss_cls: 0.2638, d1.loss_bbox: 0.4630, d2.loss_cls: 0.2572, d2.loss_bbox: 0.4457, d3.loss_cls: 0.2522, d3.loss_bbox: 0.4400, d4.loss_cls: 0.2499, d4.loss_bbox: 0.4383, d5.loss_cls: 0.2513, d5.loss_bbox: 0.4374, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1654, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0228, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9751, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9600, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9613, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9479, d0.loss_map_cls_all: 0.2685, d0.loss_map_pts_all: 1.8030, d0.loss_map_dir_all: 0.0122, d0.loss_map_cls: 0.2685, d0.loss_map_pts: 1.8030, d0.loss_map_dir: 0.0122, d1.loss_map_cls: 0.2414, d1.loss_map_pts: 1.2110, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2288, d2.loss_map_pts: 1.0082, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.2183, d3.loss_map_pts: 0.9445, d3.loss_map_dir: 0.0125, d4.loss_map_cls: 0.2114, d4.loss_map_pts: 0.9194, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.2112, d5.loss_map_pts: 0.9146, d5.loss_map_dir: 0.0129, loss: 37.1766, grad_norm: 166.0800 +2026-02-25 11:54:51,368 - DriveTransformer - INFO - Epoch [4][32100/39528] lr: 9.623e-05, eta: 7 days, 10:07:24, time: 0.815, data_time: 0.043, memory: 19865, loss_cls: 0.2434, loss_bbox: 0.4172, loss_traj: 0.8319, loss_traj_cls: 0.0016, loss_map_cls: 0.2092, loss_map_pts: 0.9549, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.3330, d0.loss_plan_l1_fix_dist: 0.4867, d1.loss_plan_l1_fix_time: 1.2505, d1.loss_plan_l1_fix_dist: 0.2304, d2.loss_plan_l1_fix_time: 1.2471, d2.loss_plan_l1_fix_dist: 0.2396, d3.loss_plan_l1_fix_time: 1.2517, d3.loss_plan_l1_fix_dist: 0.2543, d4.loss_plan_l1_fix_time: 1.2578, d4.loss_plan_l1_fix_dist: 0.2738, d5.loss_plan_l1_fix_time: 1.2640, d5.loss_plan_l1_fix_dist: 0.2932, d6.loss_plan_l1_fix_time: 1.2707, d6.loss_plan_l1_fix_dist: 0.3136, d0.loss_cls_all: 0.2644, d0.loss_bbox_all: 0.4666, d0.loss_cls: 0.2644, d0.loss_bbox: 0.4666, d1.loss_cls: 0.2554, d1.loss_bbox: 0.4388, d2.loss_cls: 0.2492, d2.loss_bbox: 0.4222, d3.loss_cls: 0.2441, d3.loss_bbox: 0.4180, d4.loss_cls: 0.2417, d4.loss_bbox: 0.4179, d5.loss_cls: 0.2423, d5.loss_bbox: 0.4171, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0313, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8812, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8427, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8382, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8291, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8281, d0.loss_map_cls_all: 0.2545, d0.loss_map_pts_all: 1.7606, d0.loss_map_dir_all: 0.0122, d0.loss_map_cls: 0.2545, d0.loss_map_pts: 1.7606, d0.loss_map_dir: 0.0122, d1.loss_map_cls: 0.2321, d1.loss_map_pts: 1.2301, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2246, d2.loss_map_pts: 1.0515, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2135, d3.loss_map_pts: 0.9879, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2083, d4.loss_map_pts: 0.9628, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.2090, d5.loss_map_pts: 0.9548, d5.loss_map_dir: 0.0136, loss: 35.0973, grad_norm: 166.1975 +2026-02-25 11:55:31,159 - DriveTransformer - INFO - Epoch [4][32150/39528] lr: 9.623e-05, eta: 7 days, 10:06:41, time: 0.796, data_time: 0.045, memory: 19865, loss_cls: 0.2805, loss_bbox: 0.4532, loss_traj: 0.9644, loss_traj_cls: 0.0017, loss_map_cls: 0.2427, loss_map_pts: 1.0135, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.7255, d0.loss_plan_l1_fix_dist: 0.3338, d1.loss_plan_l1_fix_time: 1.4526, d1.loss_plan_l1_fix_dist: 0.2496, d2.loss_plan_l1_fix_time: 1.4394, d2.loss_plan_l1_fix_dist: 0.2504, d3.loss_plan_l1_fix_time: 1.4367, d3.loss_plan_l1_fix_dist: 0.2686, d4.loss_plan_l1_fix_time: 1.4405, d4.loss_plan_l1_fix_dist: 0.2852, d5.loss_plan_l1_fix_time: 1.4459, d5.loss_plan_l1_fix_dist: 0.3023, d6.loss_plan_l1_fix_time: 1.4520, d6.loss_plan_l1_fix_dist: 0.3210, d0.loss_cls_all: 0.2996, d0.loss_bbox_all: 0.5146, d0.loss_cls: 0.2996, d0.loss_bbox: 0.5146, d1.loss_cls: 0.2910, d1.loss_bbox: 0.4802, d2.loss_cls: 0.2837, d2.loss_bbox: 0.4600, d3.loss_cls: 0.2811, d3.loss_bbox: 0.4517, d4.loss_cls: 0.2807, d4.loss_bbox: 0.4516, d5.loss_cls: 0.2806, d5.loss_bbox: 0.4524, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1216, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9493, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9329, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9466, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9517, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.9569, d0.loss_map_cls_all: 0.2887, d0.loss_map_pts_all: 1.7233, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2887, d0.loss_map_pts: 1.7233, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2671, d1.loss_map_pts: 1.2556, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2553, d2.loss_map_pts: 1.0882, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.2466, d3.loss_map_pts: 1.0331, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.2452, d4.loss_map_pts: 1.0171, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.2436, d5.loss_map_pts: 1.0122, d5.loss_map_dir: 0.0123, loss: 38.3472, grad_norm: 163.6767 +2026-02-25 11:56:11,440 - DriveTransformer - INFO - Epoch [4][32200/39528] lr: 9.623e-05, eta: 7 days, 10:06:02, time: 0.807, data_time: 0.043, memory: 19865, loss_cls: 0.2689, loss_bbox: 0.4559, loss_traj: 0.9249, loss_traj_cls: 0.0016, loss_map_cls: 0.2645, loss_map_pts: 1.0429, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.8468, d0.loss_plan_l1_fix_dist: 0.3649, d1.loss_plan_l1_fix_time: 1.6371, d1.loss_plan_l1_fix_dist: 0.2328, d2.loss_plan_l1_fix_time: 1.6256, d2.loss_plan_l1_fix_dist: 0.2356, d3.loss_plan_l1_fix_time: 1.6268, d3.loss_plan_l1_fix_dist: 0.2526, d4.loss_plan_l1_fix_time: 1.6315, d4.loss_plan_l1_fix_dist: 0.2702, d5.loss_plan_l1_fix_time: 1.6373, d5.loss_plan_l1_fix_dist: 0.2917, d6.loss_plan_l1_fix_time: 1.6445, d6.loss_plan_l1_fix_dist: 0.3140, d0.loss_cls_all: 0.2945, d0.loss_bbox_all: 0.5029, d0.loss_cls: 0.2945, d0.loss_bbox: 0.5029, d1.loss_cls: 0.2870, d1.loss_bbox: 0.4768, d2.loss_cls: 0.2818, d2.loss_bbox: 0.4599, d3.loss_cls: 0.2747, d3.loss_bbox: 0.4541, d4.loss_cls: 0.2721, d4.loss_bbox: 0.4535, d5.loss_cls: 0.2707, d5.loss_bbox: 0.4536, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1789, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9640, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9234, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9316, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9295, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9287, d0.loss_map_cls_all: 0.3183, d0.loss_map_pts_all: 1.8600, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.3183, d0.loss_map_pts: 1.8600, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2872, d1.loss_map_pts: 1.3235, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.2789, d2.loss_map_pts: 1.1386, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2711, d3.loss_map_pts: 1.0760, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.2659, d4.loss_map_pts: 1.0547, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.2658, d5.loss_map_pts: 1.0463, d5.loss_map_dir: 0.0135, loss: 40.1766, grad_norm: 163.3698 +2026-02-25 11:56:50,445 - DriveTransformer - INFO - Epoch [4][32250/39528] lr: 9.623e-05, eta: 7 days, 10:05:15, time: 0.779, data_time: 0.036, memory: 19865, loss_cls: 0.2358, loss_bbox: 0.4139, loss_traj: 0.7797, loss_traj_cls: 0.0017, loss_map_cls: 0.2024, loss_map_pts: 0.8486, loss_map_dir: 0.0136, d0.loss_plan_l1_fix_time: 2.5940, d0.loss_plan_l1_fix_dist: 0.6021, d1.loss_plan_l1_fix_time: 1.3883, d1.loss_plan_l1_fix_dist: 0.2535, d2.loss_plan_l1_fix_time: 1.3650, d2.loss_plan_l1_fix_dist: 0.2537, d3.loss_plan_l1_fix_time: 1.3705, d3.loss_plan_l1_fix_dist: 0.2614, d4.loss_plan_l1_fix_time: 1.3751, d4.loss_plan_l1_fix_dist: 0.2718, d5.loss_plan_l1_fix_time: 1.3804, d5.loss_plan_l1_fix_dist: 0.2826, d6.loss_plan_l1_fix_time: 1.3862, d6.loss_plan_l1_fix_dist: 0.2941, d0.loss_cls_all: 0.2591, d0.loss_bbox_all: 0.4632, d0.loss_cls: 0.2591, d0.loss_bbox: 0.4632, d1.loss_cls: 0.2498, d1.loss_bbox: 0.4354, d2.loss_cls: 0.2457, d2.loss_bbox: 0.4215, d3.loss_cls: 0.2384, d3.loss_bbox: 0.4172, d4.loss_cls: 0.2369, d4.loss_bbox: 0.4130, d5.loss_cls: 0.2361, d5.loss_bbox: 0.4140, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9381, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8253, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7977, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7838, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7816, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7723, d0.loss_map_cls_all: 0.2527, d0.loss_map_pts_all: 1.6818, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.2527, d0.loss_map_pts: 1.6818, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2288, d1.loss_map_pts: 1.1020, d1.loss_map_dir: 0.0121, d2.loss_map_cls: 0.2190, d2.loss_map_pts: 0.9243, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2079, d3.loss_map_pts: 0.8715, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.2038, d4.loss_map_pts: 0.8529, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.2029, d5.loss_map_pts: 0.8466, d5.loss_map_dir: 0.0135, loss: 34.8502, grad_norm: 163.3220 +2026-02-25 11:57:29,230 - DriveTransformer - INFO - Epoch [4][32300/39528] lr: 9.623e-05, eta: 7 days, 10:04:28, time: 0.776, data_time: 0.040, memory: 19865, loss_cls: 0.2397, loss_bbox: 0.4469, loss_traj: 0.8365, loss_traj_cls: 0.0016, loss_map_cls: 0.2363, loss_map_pts: 0.9578, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.0962, d0.loss_plan_l1_fix_dist: 0.4517, d1.loss_plan_l1_fix_time: 1.2438, d1.loss_plan_l1_fix_dist: 0.2270, d2.loss_plan_l1_fix_time: 1.2226, d2.loss_plan_l1_fix_dist: 0.2369, d3.loss_plan_l1_fix_time: 1.2270, d3.loss_plan_l1_fix_dist: 0.2498, d4.loss_plan_l1_fix_time: 1.2302, d4.loss_plan_l1_fix_dist: 0.2625, d5.loss_plan_l1_fix_time: 1.2338, d5.loss_plan_l1_fix_dist: 0.2760, d6.loss_plan_l1_fix_time: 1.2378, d6.loss_plan_l1_fix_dist: 0.2926, d0.loss_cls_all: 0.2636, d0.loss_bbox_all: 0.4939, d0.loss_cls: 0.2636, d0.loss_bbox: 0.4939, d1.loss_cls: 0.2542, d1.loss_bbox: 0.4673, d2.loss_cls: 0.2450, d2.loss_bbox: 0.4529, d3.loss_cls: 0.2410, d3.loss_bbox: 0.4490, d4.loss_cls: 0.2400, d4.loss_bbox: 0.4472, d5.loss_cls: 0.2392, d5.loss_bbox: 0.4463, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0077, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8640, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8480, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8529, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8489, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8382, d0.loss_map_cls_all: 0.2840, d0.loss_map_pts_all: 1.7450, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2840, d0.loss_map_pts: 1.7450, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2615, d1.loss_map_pts: 1.2183, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2491, d2.loss_map_pts: 1.0382, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2407, d3.loss_map_pts: 0.9829, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2369, d4.loss_map_pts: 0.9637, d4.loss_map_dir: 0.0126, d5.loss_map_cls: 0.2362, d5.loss_map_pts: 0.9587, d5.loss_map_dir: 0.0127, loss: 35.0096, grad_norm: 163.7383 +2026-02-25 11:58:09,233 - DriveTransformer - INFO - Epoch [4][32350/39528] lr: 9.623e-05, eta: 7 days, 10:03:47, time: 0.800, data_time: 0.046, memory: 19865, loss_cls: 0.2523, loss_bbox: 0.4599, loss_traj: 0.8575, loss_traj_cls: 0.0016, loss_map_cls: 0.2364, loss_map_pts: 0.9482, loss_map_dir: 0.0150, d0.loss_plan_l1_fix_time: 2.9850, d0.loss_plan_l1_fix_dist: 0.5166, d1.loss_plan_l1_fix_time: 1.4812, d1.loss_plan_l1_fix_dist: 0.2444, d2.loss_plan_l1_fix_time: 1.4793, d2.loss_plan_l1_fix_dist: 0.2500, d3.loss_plan_l1_fix_time: 1.4831, d3.loss_plan_l1_fix_dist: 0.2585, d4.loss_plan_l1_fix_time: 1.4873, d4.loss_plan_l1_fix_dist: 0.2691, d5.loss_plan_l1_fix_time: 1.4919, d5.loss_plan_l1_fix_dist: 0.2783, d6.loss_plan_l1_fix_time: 1.4964, d6.loss_plan_l1_fix_dist: 0.2919, d0.loss_cls_all: 0.2747, d0.loss_bbox_all: 0.5135, d0.loss_cls: 0.2747, d0.loss_bbox: 0.5135, d1.loss_cls: 0.2689, d1.loss_bbox: 0.4797, d2.loss_cls: 0.2584, d2.loss_bbox: 0.4664, d3.loss_cls: 0.2535, d3.loss_bbox: 0.4602, d4.loss_cls: 0.2513, d4.loss_bbox: 0.4575, d5.loss_cls: 0.2524, d5.loss_bbox: 0.4572, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0552, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9048, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8672, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8566, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8556, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8590, d0.loss_map_cls_all: 0.2875, d0.loss_map_pts_all: 1.7702, d0.loss_map_dir_all: 0.0130, d0.loss_map_cls: 0.2875, d0.loss_map_pts: 1.7702, d0.loss_map_dir: 0.0130, d1.loss_map_cls: 0.2609, d1.loss_map_pts: 1.2162, d1.loss_map_dir: 0.0131, d2.loss_map_cls: 0.2504, d2.loss_map_pts: 1.0330, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2431, d3.loss_map_pts: 0.9767, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2409, d4.loss_map_pts: 0.9561, d4.loss_map_dir: 0.0148, d5.loss_map_cls: 0.2389, d5.loss_map_pts: 0.9507, d5.loss_map_dir: 0.0150, loss: 37.9486, grad_norm: 163.9111 +2026-02-25 11:58:49,800 - DriveTransformer - INFO - Epoch [4][32400/39528] lr: 9.623e-05, eta: 7 days, 10:03:09, time: 0.812, data_time: 0.043, memory: 19865, loss_cls: 0.2592, loss_bbox: 0.4638, loss_traj: 0.8197, loss_traj_cls: 0.0016, loss_map_cls: 0.2110, loss_map_pts: 0.9067, loss_map_dir: 0.0157, d0.loss_plan_l1_fix_time: 2.3371, d0.loss_plan_l1_fix_dist: 0.4893, d1.loss_plan_l1_fix_time: 1.2573, d1.loss_plan_l1_fix_dist: 0.2570, d2.loss_plan_l1_fix_time: 1.2445, d2.loss_plan_l1_fix_dist: 0.2615, d3.loss_plan_l1_fix_time: 1.2461, d3.loss_plan_l1_fix_dist: 0.2727, d4.loss_plan_l1_fix_time: 1.2492, d4.loss_plan_l1_fix_dist: 0.2868, d5.loss_plan_l1_fix_time: 1.2534, d5.loss_plan_l1_fix_dist: 0.3035, d6.loss_plan_l1_fix_time: 1.2587, d6.loss_plan_l1_fix_dist: 0.3191, d0.loss_cls_all: 0.2895, d0.loss_bbox_all: 0.5087, d0.loss_cls: 0.2895, d0.loss_bbox: 0.5087, d1.loss_cls: 0.2782, d1.loss_bbox: 0.4845, d2.loss_cls: 0.2650, d2.loss_bbox: 0.4660, d3.loss_cls: 0.2600, d3.loss_bbox: 0.4612, d4.loss_cls: 0.2564, d4.loss_bbox: 0.4605, d5.loss_cls: 0.2583, d5.loss_bbox: 0.4625, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9711, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8729, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8295, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8220, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8201, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8244, d0.loss_map_cls_all: 0.2808, d0.loss_map_pts_all: 1.8678, d0.loss_map_dir_all: 0.0150, d0.loss_map_cls: 0.2808, d0.loss_map_pts: 1.8678, d0.loss_map_dir: 0.0150, d1.loss_map_cls: 0.2524, d1.loss_map_pts: 1.2019, d1.loss_map_dir: 0.0143, d2.loss_map_cls: 0.2346, d2.loss_map_pts: 1.0088, d2.loss_map_dir: 0.0144, d3.loss_map_cls: 0.2223, d3.loss_map_pts: 0.9431, d3.loss_map_dir: 0.0150, d4.loss_map_cls: 0.2145, d4.loss_map_pts: 0.9201, d4.loss_map_dir: 0.0155, d5.loss_map_cls: 0.2128, d5.loss_map_pts: 0.9098, d5.loss_map_dir: 0.0156, loss: 35.6311, grad_norm: 161.2406 +2026-02-25 11:59:30,745 - DriveTransformer - INFO - Epoch [4][32450/39528] lr: 9.623e-05, eta: 7 days, 10:02:32, time: 0.818, data_time: 0.046, memory: 19865, loss_cls: 0.2331, loss_bbox: 0.4205, loss_traj: 0.9872, loss_traj_cls: 0.0015, loss_map_cls: 0.2208, loss_map_pts: 0.9400, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.6211, d0.loss_plan_l1_fix_dist: 0.4742, d1.loss_plan_l1_fix_time: 1.4778, d1.loss_plan_l1_fix_dist: 0.2730, d2.loss_plan_l1_fix_time: 1.4770, d2.loss_plan_l1_fix_dist: 0.2757, d3.loss_plan_l1_fix_time: 1.4814, d3.loss_plan_l1_fix_dist: 0.2881, d4.loss_plan_l1_fix_time: 1.4860, d4.loss_plan_l1_fix_dist: 0.3035, d5.loss_plan_l1_fix_time: 1.4906, d5.loss_plan_l1_fix_dist: 0.3225, d6.loss_plan_l1_fix_time: 1.4955, d6.loss_plan_l1_fix_dist: 0.3401, d0.loss_cls_all: 0.2511, d0.loss_bbox_all: 0.4658, d0.loss_cls: 0.2511, d0.loss_bbox: 0.4658, d1.loss_cls: 0.2453, d1.loss_bbox: 0.4355, d2.loss_cls: 0.2371, d2.loss_bbox: 0.4270, d3.loss_cls: 0.2336, d3.loss_bbox: 0.4214, d4.loss_cls: 0.2327, d4.loss_bbox: 0.4189, d5.loss_cls: 0.2316, d5.loss_bbox: 0.4202, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2388, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0789, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0131, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9962, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9917, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9854, d0.loss_map_cls_all: 0.2759, d0.loss_map_pts_all: 1.7381, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2759, d0.loss_map_pts: 1.7381, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2541, d1.loss_map_pts: 1.2139, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2383, d2.loss_map_pts: 1.0340, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2280, d3.loss_map_pts: 0.9756, d3.loss_map_dir: 0.0124, d4.loss_map_cls: 0.2224, d4.loss_map_pts: 0.9504, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.2209, d5.loss_map_pts: 0.9425, d5.loss_map_dir: 0.0129, loss: 38.0605, grad_norm: 161.0241 +2026-02-25 12:00:12,364 - DriveTransformer - INFO - Epoch [4][32500/39528] lr: 9.623e-05, eta: 7 days, 10:02:00, time: 0.833, data_time: 0.041, memory: 19865, loss_cls: 0.2381, loss_bbox: 0.4283, loss_traj: 0.8805, loss_traj_cls: 0.0016, loss_map_cls: 0.2446, loss_map_pts: 0.9162, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 2.8486, d0.loss_plan_l1_fix_dist: 0.2898, d1.loss_plan_l1_fix_time: 1.3594, d1.loss_plan_l1_fix_dist: 0.2149, d2.loss_plan_l1_fix_time: 1.3434, d2.loss_plan_l1_fix_dist: 0.2151, d3.loss_plan_l1_fix_time: 1.3447, d3.loss_plan_l1_fix_dist: 0.2295, d4.loss_plan_l1_fix_time: 1.3494, d4.loss_plan_l1_fix_dist: 0.2479, d5.loss_plan_l1_fix_time: 1.3547, d5.loss_plan_l1_fix_dist: 0.2689, d6.loss_plan_l1_fix_time: 1.3601, d6.loss_plan_l1_fix_dist: 0.2977, d0.loss_cls_all: 0.2616, d0.loss_bbox_all: 0.4898, d0.loss_cls: 0.2616, d0.loss_bbox: 0.4898, d1.loss_cls: 0.2570, d1.loss_bbox: 0.4505, d2.loss_cls: 0.2442, d2.loss_bbox: 0.4363, d3.loss_cls: 0.2385, d3.loss_bbox: 0.4330, d4.loss_cls: 0.2374, d4.loss_bbox: 0.4295, d5.loss_cls: 0.2371, d5.loss_bbox: 0.4287, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1361, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9405, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8775, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8650, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8643, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8803, d0.loss_map_cls_all: 0.2944, d0.loss_map_pts_all: 1.7960, d0.loss_map_dir_all: 0.0130, d0.loss_map_cls: 0.2944, d0.loss_map_pts: 1.7960, d0.loss_map_dir: 0.0130, d1.loss_map_cls: 0.2719, d1.loss_map_pts: 1.2086, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2590, d2.loss_map_pts: 1.0149, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2519, d3.loss_map_pts: 0.9476, d3.loss_map_dir: 0.0134, d4.loss_map_cls: 0.2473, d4.loss_map_pts: 0.9241, d4.loss_map_dir: 0.0140, d5.loss_map_cls: 0.2447, d5.loss_map_pts: 0.9179, d5.loss_map_dir: 0.0141, loss: 36.4731, grad_norm: 160.9490 +2026-02-25 12:00:52,373 - DriveTransformer - INFO - Epoch [4][32550/39528] lr: 9.623e-05, eta: 7 days, 10:01:19, time: 0.800, data_time: 0.040, memory: 19865, loss_cls: 0.2528, loss_bbox: 0.4505, loss_traj: 0.9067, loss_traj_cls: 0.0016, loss_map_cls: 0.2175, loss_map_pts: 0.9147, loss_map_dir: 0.0136, d0.loss_plan_l1_fix_time: 2.6092, d0.loss_plan_l1_fix_dist: 0.3831, d1.loss_plan_l1_fix_time: 1.3906, d1.loss_plan_l1_fix_dist: 0.2341, d2.loss_plan_l1_fix_time: 1.3677, d2.loss_plan_l1_fix_dist: 0.2302, d3.loss_plan_l1_fix_time: 1.3656, d3.loss_plan_l1_fix_dist: 0.2427, d4.loss_plan_l1_fix_time: 1.3701, d4.loss_plan_l1_fix_dist: 0.2565, d5.loss_plan_l1_fix_time: 1.3753, d5.loss_plan_l1_fix_dist: 0.2711, d6.loss_plan_l1_fix_time: 1.3807, d6.loss_plan_l1_fix_dist: 0.2895, d0.loss_cls_all: 0.2778, d0.loss_bbox_all: 0.5034, d0.loss_cls: 0.2778, d0.loss_bbox: 0.5034, d1.loss_cls: 0.2679, d1.loss_bbox: 0.4761, d2.loss_cls: 0.2588, d2.loss_bbox: 0.4588, d3.loss_cls: 0.2549, d3.loss_bbox: 0.4535, d4.loss_cls: 0.2531, d4.loss_bbox: 0.4508, d5.loss_cls: 0.2519, d5.loss_bbox: 0.4508, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1317, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9630, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9272, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9130, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9059, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9106, d0.loss_map_cls_all: 0.2760, d0.loss_map_pts_all: 1.7276, d0.loss_map_dir_all: 0.0137, d0.loss_map_cls: 0.2760, d0.loss_map_pts: 1.7276, d0.loss_map_dir: 0.0137, d1.loss_map_cls: 0.2474, d1.loss_map_pts: 1.1669, d1.loss_map_dir: 0.0125, d2.loss_map_cls: 0.2320, d2.loss_map_pts: 0.9986, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2246, d3.loss_map_pts: 0.9434, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.2184, d4.loss_map_pts: 0.9247, d4.loss_map_dir: 0.0132, d5.loss_map_cls: 0.2159, d5.loss_map_pts: 0.9167, d5.loss_map_dir: 0.0134, loss: 36.6079, grad_norm: 160.8461 +2026-02-25 12:01:31,947 - DriveTransformer - INFO - Epoch [4][32600/39528] lr: 9.623e-05, eta: 7 days, 10:00:35, time: 0.792, data_time: 0.045, memory: 19865, loss_cls: 0.2438, loss_bbox: 0.4395, loss_traj: 0.8478, loss_traj_cls: 0.0016, loss_map_cls: 0.2476, loss_map_pts: 1.0309, loss_map_dir: 0.0148, d0.loss_plan_l1_fix_time: 2.4510, d0.loss_plan_l1_fix_dist: 0.4463, d1.loss_plan_l1_fix_time: 1.4321, d1.loss_plan_l1_fix_dist: 0.2443, d2.loss_plan_l1_fix_time: 1.4306, d2.loss_plan_l1_fix_dist: 0.2451, d3.loss_plan_l1_fix_time: 1.4337, d3.loss_plan_l1_fix_dist: 0.2575, d4.loss_plan_l1_fix_time: 1.4384, d4.loss_plan_l1_fix_dist: 0.2716, d5.loss_plan_l1_fix_time: 1.4432, d5.loss_plan_l1_fix_dist: 0.2856, d6.loss_plan_l1_fix_time: 1.4488, d6.loss_plan_l1_fix_dist: 0.2947, d0.loss_cls_all: 0.2671, d0.loss_bbox_all: 0.4934, d0.loss_cls: 0.2671, d0.loss_bbox: 0.4934, d1.loss_cls: 0.2597, d1.loss_bbox: 0.4636, d2.loss_cls: 0.2503, d2.loss_bbox: 0.4482, d3.loss_cls: 0.2452, d3.loss_bbox: 0.4423, d4.loss_cls: 0.2433, d4.loss_bbox: 0.4393, d5.loss_cls: 0.2426, d5.loss_bbox: 0.4400, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0192, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8695, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8537, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8515, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8404, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8457, d0.loss_map_cls_all: 0.2958, d0.loss_map_pts_all: 1.8703, d0.loss_map_dir_all: 0.0140, d0.loss_map_cls: 0.2958, d0.loss_map_pts: 1.8703, d0.loss_map_dir: 0.0140, d1.loss_map_cls: 0.2698, d1.loss_map_pts: 1.2974, d1.loss_map_dir: 0.0134, d2.loss_map_cls: 0.2563, d2.loss_map_pts: 1.1184, d2.loss_map_dir: 0.0136, d3.loss_map_cls: 0.2514, d3.loss_map_pts: 1.0583, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.2484, d4.loss_map_pts: 1.0392, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.2466, d5.loss_map_pts: 1.0313, d5.loss_map_dir: 0.0147, loss: 37.4774, grad_norm: 160.4958 +2026-02-25 12:02:11,776 - DriveTransformer - INFO - Epoch [4][32650/39528] lr: 9.623e-05, eta: 7 days, 9:59:53, time: 0.797, data_time: 0.038, memory: 19865, loss_cls: 0.2585, loss_bbox: 0.4560, loss_traj: 1.0526, loss_traj_cls: 0.0016, loss_map_cls: 0.2415, loss_map_pts: 0.9323, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.5173, d0.loss_plan_l1_fix_dist: 0.4665, d1.loss_plan_l1_fix_time: 1.4532, d1.loss_plan_l1_fix_dist: 0.2259, d2.loss_plan_l1_fix_time: 1.4366, d2.loss_plan_l1_fix_dist: 0.2342, d3.loss_plan_l1_fix_time: 1.4357, d3.loss_plan_l1_fix_dist: 0.2509, d4.loss_plan_l1_fix_time: 1.4395, d4.loss_plan_l1_fix_dist: 0.2704, d5.loss_plan_l1_fix_time: 1.4443, d5.loss_plan_l1_fix_dist: 0.2911, d6.loss_plan_l1_fix_time: 1.4502, d6.loss_plan_l1_fix_dist: 0.3099, d0.loss_cls_all: 0.2854, d0.loss_bbox_all: 0.5126, d0.loss_cls: 0.2854, d0.loss_bbox: 0.5126, d1.loss_cls: 0.2762, d1.loss_bbox: 0.4810, d2.loss_cls: 0.2639, d2.loss_bbox: 0.4656, d3.loss_cls: 0.2614, d3.loss_bbox: 0.4582, d4.loss_cls: 0.2579, d4.loss_bbox: 0.4550, d5.loss_cls: 0.2573, d5.loss_bbox: 0.4563, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3071, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.1278, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0626, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0449, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0431, d5.loss_traj_cls: 0.0013, d5.loss_traj: 1.0516, d0.loss_map_cls_all: 0.3021, d0.loss_map_pts_all: 1.6022, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.3021, d0.loss_map_pts: 1.6022, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2738, d1.loss_map_pts: 1.1736, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2600, d2.loss_map_pts: 1.0137, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.2465, d3.loss_map_pts: 0.9597, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.2419, d4.loss_map_pts: 0.9398, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.2409, d5.loss_map_pts: 0.9325, d5.loss_map_dir: 0.0118, loss: 38.2210, grad_norm: 161.2577 +2026-02-25 12:02:51,553 - DriveTransformer - INFO - Epoch [4][32700/39528] lr: 9.623e-05, eta: 7 days, 9:59:11, time: 0.796, data_time: 0.041, memory: 19865, loss_cls: 0.2389, loss_bbox: 0.4459, loss_traj: 0.7234, loss_traj_cls: 0.0015, loss_map_cls: 0.2155, loss_map_pts: 0.9420, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.3252, d0.loss_plan_l1_fix_dist: 0.5146, d1.loss_plan_l1_fix_time: 1.3092, d1.loss_plan_l1_fix_dist: 0.2166, d2.loss_plan_l1_fix_time: 1.3017, d2.loss_plan_l1_fix_dist: 0.2219, d3.loss_plan_l1_fix_time: 1.3053, d3.loss_plan_l1_fix_dist: 0.2320, d4.loss_plan_l1_fix_time: 1.3110, d4.loss_plan_l1_fix_dist: 0.2443, d5.loss_plan_l1_fix_time: 1.3176, d5.loss_plan_l1_fix_dist: 0.2598, d6.loss_plan_l1_fix_time: 1.3247, d6.loss_plan_l1_fix_dist: 0.2801, d0.loss_cls_all: 0.2669, d0.loss_bbox_all: 0.5074, d0.loss_cls: 0.2669, d0.loss_bbox: 0.5074, d1.loss_cls: 0.2543, d1.loss_bbox: 0.4749, d2.loss_cls: 0.2450, d2.loss_bbox: 0.4557, d3.loss_cls: 0.2405, d3.loss_bbox: 0.4499, d4.loss_cls: 0.2401, d4.loss_bbox: 0.4464, d5.loss_cls: 0.2374, d5.loss_bbox: 0.4455, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9387, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8092, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7422, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7346, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7222, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7196, d0.loss_map_cls_all: 0.2593, d0.loss_map_pts_all: 1.7152, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2593, d0.loss_map_pts: 1.7152, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2458, d1.loss_map_pts: 1.2060, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2259, d2.loss_map_pts: 1.0401, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2210, d3.loss_map_pts: 0.9786, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.2154, d4.loss_map_pts: 0.9553, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.2149, d5.loss_map_pts: 0.9441, d5.loss_map_dir: 0.0119, loss: 34.7303, grad_norm: 160.3575 +2026-02-25 12:03:31,803 - DriveTransformer - INFO - Epoch [4][32750/39528] lr: 9.623e-05, eta: 7 days, 9:58:31, time: 0.805, data_time: 0.043, memory: 19865, loss_cls: 0.2464, loss_bbox: 0.4374, loss_traj: 0.8561, loss_traj_cls: 0.0015, loss_map_cls: 0.2492, loss_map_pts: 1.0958, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 2.7050, d0.loss_plan_l1_fix_dist: 0.4278, d1.loss_plan_l1_fix_time: 1.3807, d1.loss_plan_l1_fix_dist: 0.2442, d2.loss_plan_l1_fix_time: 1.3609, d2.loss_plan_l1_fix_dist: 0.2541, d3.loss_plan_l1_fix_time: 1.3633, d3.loss_plan_l1_fix_dist: 0.2648, d4.loss_plan_l1_fix_time: 1.3682, d4.loss_plan_l1_fix_dist: 0.2790, d5.loss_plan_l1_fix_time: 1.3742, d5.loss_plan_l1_fix_dist: 0.2962, d6.loss_plan_l1_fix_time: 1.3808, d6.loss_plan_l1_fix_dist: 0.3172, d0.loss_cls_all: 0.2718, d0.loss_bbox_all: 0.4907, d0.loss_cls: 0.2718, d0.loss_bbox: 0.4907, d1.loss_cls: 0.2679, d1.loss_bbox: 0.4602, d2.loss_cls: 0.2554, d2.loss_bbox: 0.4445, d3.loss_cls: 0.2495, d3.loss_bbox: 0.4396, d4.loss_cls: 0.2475, d4.loss_bbox: 0.4367, d5.loss_cls: 0.2458, d5.loss_bbox: 0.4366, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0288, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9009, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8620, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8501, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8465, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8445, d0.loss_map_cls_all: 0.3026, d0.loss_map_pts_all: 1.8952, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.3026, d0.loss_map_pts: 1.8952, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2758, d1.loss_map_pts: 1.3341, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2604, d2.loss_map_pts: 1.1622, d2.loss_map_dir: 0.0131, d3.loss_map_cls: 0.2536, d3.loss_map_pts: 1.1084, d3.loss_map_dir: 0.0136, d4.loss_map_cls: 0.2476, d4.loss_map_pts: 1.0952, d4.loss_map_dir: 0.0139, d5.loss_map_cls: 0.2482, d5.loss_map_pts: 1.0922, d5.loss_map_dir: 0.0141, loss: 37.8314, grad_norm: 161.5367 +2026-02-25 12:04:14,194 - DriveTransformer - INFO - Epoch [4][32800/39528] lr: 9.623e-05, eta: 7 days, 9:58:03, time: 0.848, data_time: 0.044, memory: 19865, loss_cls: 0.2559, loss_bbox: 0.4481, loss_traj: 0.8734, loss_traj_cls: 0.0015, loss_map_cls: 0.2313, loss_map_pts: 1.0339, loss_map_dir: 0.0162, d0.loss_plan_l1_fix_time: 2.5351, d0.loss_plan_l1_fix_dist: 0.4320, d1.loss_plan_l1_fix_time: 1.2713, d1.loss_plan_l1_fix_dist: 0.2460, d2.loss_plan_l1_fix_time: 1.2605, d2.loss_plan_l1_fix_dist: 0.2499, d3.loss_plan_l1_fix_time: 1.2624, d3.loss_plan_l1_fix_dist: 0.2595, d4.loss_plan_l1_fix_time: 1.2670, d4.loss_plan_l1_fix_dist: 0.2728, d5.loss_plan_l1_fix_time: 1.2727, d5.loss_plan_l1_fix_dist: 0.2855, d6.loss_plan_l1_fix_time: 1.2801, d6.loss_plan_l1_fix_dist: 0.2995, d0.loss_cls_all: 0.2796, d0.loss_bbox_all: 0.5035, d0.loss_cls: 0.2796, d0.loss_bbox: 0.5035, d1.loss_cls: 0.2767, d1.loss_bbox: 0.4745, d2.loss_cls: 0.2679, d2.loss_bbox: 0.4563, d3.loss_cls: 0.2602, d3.loss_bbox: 0.4504, d4.loss_cls: 0.2567, d4.loss_bbox: 0.4469, d5.loss_cls: 0.2561, d5.loss_bbox: 0.4476, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0880, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9303, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8968, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8809, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8761, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8752, d0.loss_map_cls_all: 0.2862, d0.loss_map_pts_all: 2.0882, d0.loss_map_dir_all: 0.0149, d0.loss_map_cls: 0.2862, d0.loss_map_pts: 2.0882, d0.loss_map_dir: 0.0149, d1.loss_map_cls: 0.2606, d1.loss_map_pts: 1.3697, d1.loss_map_dir: 0.0141, d2.loss_map_cls: 0.2474, d2.loss_map_pts: 1.1375, d2.loss_map_dir: 0.0147, d3.loss_map_cls: 0.2384, d3.loss_map_pts: 1.0650, d3.loss_map_dir: 0.0154, d4.loss_map_cls: 0.2342, d4.loss_map_pts: 1.0396, d4.loss_map_dir: 0.0158, d5.loss_map_cls: 0.2318, d5.loss_map_pts: 1.0330, d5.loss_map_dir: 0.0160, loss: 37.4788, grad_norm: 159.5709 +2026-02-25 12:04:56,333 - DriveTransformer - INFO - Epoch [4][32850/39528] lr: 9.623e-05, eta: 7 days, 9:57:33, time: 0.843, data_time: 0.041, memory: 19865, loss_cls: 0.2406, loss_bbox: 0.4446, loss_traj: 0.9408, loss_traj_cls: 0.0015, loss_map_cls: 0.2352, loss_map_pts: 1.1442, loss_map_dir: 0.0147, d0.loss_plan_l1_fix_time: 2.7604, d0.loss_plan_l1_fix_dist: 0.4003, d1.loss_plan_l1_fix_time: 1.5569, d1.loss_plan_l1_fix_dist: 0.2251, d2.loss_plan_l1_fix_time: 1.5415, d2.loss_plan_l1_fix_dist: 0.2179, d3.loss_plan_l1_fix_time: 1.5438, d3.loss_plan_l1_fix_dist: 0.2277, d4.loss_plan_l1_fix_time: 1.5464, d4.loss_plan_l1_fix_dist: 0.2398, d5.loss_plan_l1_fix_time: 1.5496, d5.loss_plan_l1_fix_dist: 0.2576, d6.loss_plan_l1_fix_time: 1.5537, d6.loss_plan_l1_fix_dist: 0.2795, d0.loss_cls_all: 0.2663, d0.loss_bbox_all: 0.4939, d0.loss_cls: 0.2663, d0.loss_bbox: 0.4939, d1.loss_cls: 0.2582, d1.loss_bbox: 0.4655, d2.loss_cls: 0.2521, d2.loss_bbox: 0.4505, d3.loss_cls: 0.2482, d3.loss_bbox: 0.4459, d4.loss_cls: 0.2416, d4.loss_bbox: 0.4443, d5.loss_cls: 0.2416, d5.loss_bbox: 0.4423, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1798, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0083, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9560, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9497, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9458, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9396, d0.loss_map_cls_all: 0.2985, d0.loss_map_pts_all: 2.0778, d0.loss_map_dir_all: 0.0132, d0.loss_map_cls: 0.2985, d0.loss_map_pts: 2.0778, d0.loss_map_dir: 0.0132, d1.loss_map_cls: 0.2721, d1.loss_map_pts: 1.4215, d1.loss_map_dir: 0.0125, d2.loss_map_cls: 0.2565, d2.loss_map_pts: 1.2341, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2484, d3.loss_map_pts: 1.1736, d3.loss_map_dir: 0.0138, d4.loss_map_cls: 0.2397, d4.loss_map_pts: 1.1580, d4.loss_map_dir: 0.0143, d5.loss_map_cls: 0.2369, d5.loss_map_pts: 1.1480, d5.loss_map_dir: 0.0145, loss: 40.1530, grad_norm: 156.4216 +2026-02-25 12:05:36,657 - DriveTransformer - INFO - Epoch [4][32900/39528] lr: 9.623e-05, eta: 7 days, 9:56:53, time: 0.806, data_time: 0.043, memory: 19865, loss_cls: 0.2379, loss_bbox: 0.4271, loss_traj: 0.7372, loss_traj_cls: 0.0016, loss_map_cls: 0.2027, loss_map_pts: 0.8627, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.3926, d0.loss_plan_l1_fix_dist: 0.4121, d1.loss_plan_l1_fix_time: 1.3928, d1.loss_plan_l1_fix_dist: 0.2189, d2.loss_plan_l1_fix_time: 1.3718, d2.loss_plan_l1_fix_dist: 0.2102, d3.loss_plan_l1_fix_time: 1.3782, d3.loss_plan_l1_fix_dist: 0.2265, d4.loss_plan_l1_fix_time: 1.3840, d4.loss_plan_l1_fix_dist: 0.2439, d5.loss_plan_l1_fix_time: 1.3899, d5.loss_plan_l1_fix_dist: 0.2629, d6.loss_plan_l1_fix_time: 1.3956, d6.loss_plan_l1_fix_dist: 0.2819, d0.loss_cls_all: 0.2567, d0.loss_bbox_all: 0.4723, d0.loss_cls: 0.2567, d0.loss_bbox: 0.4723, d1.loss_cls: 0.2530, d1.loss_bbox: 0.4471, d2.loss_cls: 0.2436, d2.loss_bbox: 0.4323, d3.loss_cls: 0.2428, d3.loss_bbox: 0.4272, d4.loss_cls: 0.2391, d4.loss_bbox: 0.4278, d5.loss_cls: 0.2360, d5.loss_bbox: 0.4275, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9000, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7890, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7508, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7385, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7400, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7380, d0.loss_map_cls_all: 0.2687, d0.loss_map_pts_all: 1.7289, d0.loss_map_dir_all: 0.0130, d0.loss_map_cls: 0.2687, d0.loss_map_pts: 1.7289, d0.loss_map_dir: 0.0130, d1.loss_map_cls: 0.2361, d1.loss_map_pts: 1.1293, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2188, d2.loss_map_pts: 0.9537, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2098, d3.loss_map_pts: 0.8927, d3.loss_map_dir: 0.0129, d4.loss_map_cls: 0.2034, d4.loss_map_pts: 0.8702, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.2018, d5.loss_map_pts: 0.8649, d5.loss_map_dir: 0.0134, loss: 34.4066, grad_norm: 157.3288 +2026-02-25 12:06:19,949 - DriveTransformer - INFO - Epoch [4][32950/39528] lr: 9.623e-05, eta: 7 days, 9:56:30, time: 0.866, data_time: 0.042, memory: 19865, loss_cls: 0.2295, loss_bbox: 0.4272, loss_traj: 0.7251, loss_traj_cls: 0.0015, loss_map_cls: 0.1924, loss_map_pts: 1.0003, loss_map_dir: 0.0172, d0.loss_plan_l1_fix_time: 2.6416, d0.loss_plan_l1_fix_dist: 0.4683, d1.loss_plan_l1_fix_time: 1.5115, d1.loss_plan_l1_fix_dist: 0.2624, d2.loss_plan_l1_fix_time: 1.4933, d2.loss_plan_l1_fix_dist: 0.2625, d3.loss_plan_l1_fix_time: 1.4892, d3.loss_plan_l1_fix_dist: 0.2750, d4.loss_plan_l1_fix_time: 1.4916, d4.loss_plan_l1_fix_dist: 0.2912, d5.loss_plan_l1_fix_time: 1.4947, d5.loss_plan_l1_fix_dist: 0.3060, d6.loss_plan_l1_fix_time: 1.4979, d6.loss_plan_l1_fix_dist: 0.3248, d0.loss_cls_all: 0.2595, d0.loss_bbox_all: 0.4735, d0.loss_cls: 0.2595, d0.loss_bbox: 0.4735, d1.loss_cls: 0.2511, d1.loss_bbox: 0.4467, d2.loss_cls: 0.2400, d2.loss_bbox: 0.4331, d3.loss_cls: 0.2386, d3.loss_bbox: 0.4261, d4.loss_cls: 0.2322, d4.loss_bbox: 0.4263, d5.loss_cls: 0.2316, d5.loss_bbox: 0.4249, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8625, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7443, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7288, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7276, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7259, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7181, d0.loss_map_cls_all: 0.2557, d0.loss_map_pts_all: 2.0068, d0.loss_map_dir_all: 0.0160, d0.loss_map_cls: 0.2557, d0.loss_map_pts: 2.0068, d0.loss_map_dir: 0.0160, d1.loss_map_cls: 0.2194, d1.loss_map_pts: 1.2978, d1.loss_map_dir: 0.0155, d2.loss_map_cls: 0.2097, d2.loss_map_pts: 1.0988, d2.loss_map_dir: 0.0160, d3.loss_map_cls: 0.1995, d3.loss_map_pts: 1.0335, d3.loss_map_dir: 0.0166, d4.loss_map_cls: 0.1944, d4.loss_map_pts: 1.0131, d4.loss_map_dir: 0.0171, d5.loss_map_cls: 0.1930, d5.loss_map_pts: 1.0033, d5.loss_map_dir: 0.0172, loss: 36.8345, grad_norm: 155.0020 +2026-02-25 12:07:01,137 - DriveTransformer - INFO - Epoch [4][33000/39528] lr: 9.623e-05, eta: 7 days, 9:55:55, time: 0.825, data_time: 0.044, memory: 19865, loss_cls: 0.2328, loss_bbox: 0.4333, loss_traj: 0.7953, loss_traj_cls: 0.0015, loss_map_cls: 0.2062, loss_map_pts: 0.9570, loss_map_dir: 0.0148, d0.loss_plan_l1_fix_time: 2.3540, d0.loss_plan_l1_fix_dist: 0.4501, d1.loss_plan_l1_fix_time: 1.4539, d1.loss_plan_l1_fix_dist: 0.2671, d2.loss_plan_l1_fix_time: 1.4498, d2.loss_plan_l1_fix_dist: 0.2758, d3.loss_plan_l1_fix_time: 1.4523, d3.loss_plan_l1_fix_dist: 0.2889, d4.loss_plan_l1_fix_time: 1.4565, d4.loss_plan_l1_fix_dist: 0.3058, d5.loss_plan_l1_fix_time: 1.4609, d5.loss_plan_l1_fix_dist: 0.3206, d6.loss_plan_l1_fix_time: 1.4658, d6.loss_plan_l1_fix_dist: 0.3350, d0.loss_cls_all: 0.2582, d0.loss_bbox_all: 0.4806, d0.loss_cls: 0.2582, d0.loss_bbox: 0.4806, d1.loss_cls: 0.2529, d1.loss_bbox: 0.4549, d2.loss_cls: 0.2432, d2.loss_bbox: 0.4382, d3.loss_cls: 0.2373, d3.loss_bbox: 0.4322, d4.loss_cls: 0.2337, d4.loss_bbox: 0.4300, d5.loss_cls: 0.2339, d5.loss_bbox: 0.4309, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9217, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8332, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8056, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7976, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7937, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7901, d0.loss_map_cls_all: 0.2796, d0.loss_map_pts_all: 2.0075, d0.loss_map_dir_all: 0.0138, d0.loss_map_cls: 0.2796, d0.loss_map_pts: 2.0075, d0.loss_map_dir: 0.0138, d1.loss_map_cls: 0.2406, d1.loss_map_pts: 1.2799, d1.loss_map_dir: 0.0131, d2.loss_map_cls: 0.2247, d2.loss_map_pts: 1.0697, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2152, d3.loss_map_pts: 0.9935, d3.loss_map_dir: 0.0140, d4.loss_map_cls: 0.2100, d4.loss_map_pts: 0.9683, d4.loss_map_dir: 0.0144, d5.loss_map_cls: 0.2077, d5.loss_map_pts: 0.9577, d5.loss_map_dir: 0.0146, loss: 36.8278, grad_norm: 157.0562 +2026-02-25 12:07:42,602 - DriveTransformer - INFO - Epoch [4][33050/39528] lr: 9.623e-05, eta: 7 days, 9:55:21, time: 0.828, data_time: 0.044, memory: 19865, loss_cls: 0.2209, loss_bbox: 0.4245, loss_traj: 0.7461, loss_traj_cls: 0.0015, loss_map_cls: 0.2108, loss_map_pts: 0.9239, loss_map_dir: 0.0143, d0.loss_plan_l1_fix_time: 2.1300, d0.loss_plan_l1_fix_dist: 0.4434, d1.loss_plan_l1_fix_time: 1.1893, d1.loss_plan_l1_fix_dist: 0.2220, d2.loss_plan_l1_fix_time: 1.1777, d2.loss_plan_l1_fix_dist: 0.2289, d3.loss_plan_l1_fix_time: 1.1820, d3.loss_plan_l1_fix_dist: 0.2503, d4.loss_plan_l1_fix_time: 1.1874, d4.loss_plan_l1_fix_dist: 0.2741, d5.loss_plan_l1_fix_time: 1.1937, d5.loss_plan_l1_fix_dist: 0.3020, d6.loss_plan_l1_fix_time: 1.2011, d6.loss_plan_l1_fix_dist: 0.3290, d0.loss_cls_all: 0.2505, d0.loss_bbox_all: 0.4781, d0.loss_cls: 0.2505, d0.loss_bbox: 0.4781, d1.loss_cls: 0.2398, d1.loss_bbox: 0.4481, d2.loss_cls: 0.2292, d2.loss_bbox: 0.4296, d3.loss_cls: 0.2249, d3.loss_bbox: 0.4241, d4.loss_cls: 0.2237, d4.loss_bbox: 0.4213, d5.loss_cls: 0.2210, d5.loss_bbox: 0.4229, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9015, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7827, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7547, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7468, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7448, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7457, d0.loss_map_cls_all: 0.2729, d0.loss_map_pts_all: 1.8967, d0.loss_map_dir_all: 0.0130, d0.loss_map_cls: 0.2729, d0.loss_map_pts: 1.8967, d0.loss_map_dir: 0.0130, d1.loss_map_cls: 0.2444, d1.loss_map_pts: 1.2363, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2292, d2.loss_map_pts: 1.0297, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2169, d3.loss_map_pts: 0.9558, d3.loss_map_dir: 0.0135, d4.loss_map_cls: 0.2121, d4.loss_map_pts: 0.9307, d4.loss_map_dir: 0.0139, d5.loss_map_cls: 0.2110, d5.loss_map_pts: 0.9225, d5.loss_map_dir: 0.0141, loss: 33.8969, grad_norm: 156.3319 +2026-02-25 12:08:22,271 - DriveTransformer - INFO - Epoch [4][33100/39528] lr: 9.623e-05, eta: 7 days, 9:54:38, time: 0.793, data_time: 0.040, memory: 19865, loss_cls: 0.2319, loss_bbox: 0.4343, loss_traj: 0.8991, loss_traj_cls: 0.0014, loss_map_cls: 0.2028, loss_map_pts: 0.8353, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.8509, d0.loss_plan_l1_fix_dist: 0.5369, d1.loss_plan_l1_fix_time: 1.4176, d1.loss_plan_l1_fix_dist: 0.2412, d2.loss_plan_l1_fix_time: 1.3965, d2.loss_plan_l1_fix_dist: 0.2487, d3.loss_plan_l1_fix_time: 1.4008, d3.loss_plan_l1_fix_dist: 0.2682, d4.loss_plan_l1_fix_time: 1.4051, d4.loss_plan_l1_fix_dist: 0.2909, d5.loss_plan_l1_fix_time: 1.4096, d5.loss_plan_l1_fix_dist: 0.3166, d6.loss_plan_l1_fix_time: 1.4153, d6.loss_plan_l1_fix_dist: 0.3490, d0.loss_cls_all: 0.2573, d0.loss_bbox_all: 0.4920, d0.loss_cls: 0.2573, d0.loss_bbox: 0.4920, d1.loss_cls: 0.2547, d1.loss_bbox: 0.4580, d2.loss_cls: 0.2421, d2.loss_bbox: 0.4454, d3.loss_cls: 0.2387, d3.loss_bbox: 0.4351, d4.loss_cls: 0.2341, d4.loss_bbox: 0.4337, d5.loss_cls: 0.2320, d5.loss_bbox: 0.4344, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2886, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0427, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9565, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9302, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9108, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9061, d0.loss_map_cls_all: 0.2636, d0.loss_map_pts_all: 1.5762, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2636, d0.loss_map_pts: 1.5762, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2348, d1.loss_map_pts: 1.0836, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2218, d2.loss_map_pts: 0.9145, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.2113, d3.loss_map_pts: 0.8614, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.2081, d4.loss_map_pts: 0.8425, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.2039, d5.loss_map_pts: 0.8361, d5.loss_map_dir: 0.0112, loss: 36.4814, grad_norm: 156.5356 +2026-02-25 12:09:03,247 - DriveTransformer - INFO - Epoch [4][33150/39528] lr: 9.623e-05, eta: 7 days, 9:54:02, time: 0.820, data_time: 0.039, memory: 19865, loss_cls: 0.2853, loss_bbox: 0.4584, loss_traj: 0.8927, loss_traj_cls: 0.0015, loss_map_cls: 0.2137, loss_map_pts: 1.0552, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 2.5381, d0.loss_plan_l1_fix_dist: 0.3964, d1.loss_plan_l1_fix_time: 1.4594, d1.loss_plan_l1_fix_dist: 0.2196, d2.loss_plan_l1_fix_time: 1.4489, d2.loss_plan_l1_fix_dist: 0.2213, d3.loss_plan_l1_fix_time: 1.4506, d3.loss_plan_l1_fix_dist: 0.2357, d4.loss_plan_l1_fix_time: 1.4545, d4.loss_plan_l1_fix_dist: 0.2554, d5.loss_plan_l1_fix_time: 1.4589, d5.loss_plan_l1_fix_dist: 0.2754, d6.loss_plan_l1_fix_time: 1.4645, d6.loss_plan_l1_fix_dist: 0.2954, d0.loss_cls_all: 0.3139, d0.loss_bbox_all: 0.5154, d0.loss_cls: 0.3139, d0.loss_bbox: 0.5154, d1.loss_cls: 0.3089, d1.loss_bbox: 0.4833, d2.loss_cls: 0.2961, d2.loss_bbox: 0.4656, d3.loss_cls: 0.2911, d3.loss_bbox: 0.4600, d4.loss_cls: 0.2863, d4.loss_bbox: 0.4591, d5.loss_cls: 0.2836, d5.loss_bbox: 0.4589, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0820, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9317, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8908, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8851, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8827, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8827, d0.loss_map_cls_all: 0.2805, d0.loss_map_pts_all: 2.0056, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2805, d0.loss_map_pts: 2.0056, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2449, d1.loss_map_pts: 1.3734, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2322, d2.loss_map_pts: 1.1692, d2.loss_map_dir: 0.0130, d3.loss_map_cls: 0.2214, d3.loss_map_pts: 1.0964, d3.loss_map_dir: 0.0137, d4.loss_map_cls: 0.2169, d4.loss_map_pts: 1.0692, d4.loss_map_dir: 0.0142, d5.loss_map_cls: 0.2147, d5.loss_map_pts: 1.0568, d5.loss_map_dir: 0.0143, loss: 38.6679, grad_norm: 153.5629 +2026-02-25 12:09:43,698 - DriveTransformer - INFO - Epoch [4][33200/39528] lr: 9.623e-05, eta: 7 days, 9:53:24, time: 0.809, data_time: 0.042, memory: 19865, loss_cls: 0.2794, loss_bbox: 0.4741, loss_traj: 0.7316, loss_traj_cls: 0.0015, loss_map_cls: 0.2402, loss_map_pts: 1.0054, loss_map_dir: 0.0143, d0.loss_plan_l1_fix_time: 2.7443, d0.loss_plan_l1_fix_dist: 0.4361, d1.loss_plan_l1_fix_time: 1.6025, d1.loss_plan_l1_fix_dist: 0.2410, d2.loss_plan_l1_fix_time: 1.5893, d2.loss_plan_l1_fix_dist: 0.2490, d3.loss_plan_l1_fix_time: 1.5885, d3.loss_plan_l1_fix_dist: 0.2638, d4.loss_plan_l1_fix_time: 1.5907, d4.loss_plan_l1_fix_dist: 0.2794, d5.loss_plan_l1_fix_time: 1.5944, d5.loss_plan_l1_fix_dist: 0.2994, d6.loss_plan_l1_fix_time: 1.5995, d6.loss_plan_l1_fix_dist: 0.3188, d0.loss_cls_all: 0.3020, d0.loss_bbox_all: 0.5317, d0.loss_cls: 0.3020, d0.loss_bbox: 0.5317, d1.loss_cls: 0.3014, d1.loss_bbox: 0.5007, d2.loss_cls: 0.2909, d2.loss_bbox: 0.4837, d3.loss_cls: 0.2851, d3.loss_bbox: 0.4758, d4.loss_cls: 0.2807, d4.loss_bbox: 0.4743, d5.loss_cls: 0.2788, d5.loss_bbox: 0.4740, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9086, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7623, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7185, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7168, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7212, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7323, d0.loss_map_cls_all: 0.3051, d0.loss_map_pts_all: 1.9578, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.3051, d0.loss_map_pts: 1.9578, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2694, d1.loss_map_pts: 1.2867, d1.loss_map_dir: 0.0122, d2.loss_map_cls: 0.2590, d2.loss_map_pts: 1.1023, d2.loss_map_dir: 0.0127, d3.loss_map_cls: 0.2471, d3.loss_map_pts: 1.0431, d3.loss_map_dir: 0.0134, d4.loss_map_cls: 0.2426, d4.loss_map_pts: 1.0207, d4.loss_map_dir: 0.0139, d5.loss_map_cls: 0.2407, d5.loss_map_pts: 1.0097, d5.loss_map_dir: 0.0142, loss: 38.5593, grad_norm: 152.2746 +2026-02-25 12:10:24,307 - DriveTransformer - INFO - Epoch [4][33250/39528] lr: 9.623e-05, eta: 7 days, 9:52:46, time: 0.812, data_time: 0.039, memory: 19865, loss_cls: 0.2655, loss_bbox: 0.4610, loss_traj: 0.7810, loss_traj_cls: 0.0015, loss_map_cls: 0.2127, loss_map_pts: 0.9567, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.9019, d0.loss_plan_l1_fix_dist: 0.4632, d1.loss_plan_l1_fix_time: 1.7044, d1.loss_plan_l1_fix_dist: 0.2328, d2.loss_plan_l1_fix_time: 1.6937, d2.loss_plan_l1_fix_dist: 0.2347, d3.loss_plan_l1_fix_time: 1.6940, d3.loss_plan_l1_fix_dist: 0.2448, d4.loss_plan_l1_fix_time: 1.6974, d4.loss_plan_l1_fix_dist: 0.2568, d5.loss_plan_l1_fix_time: 1.7019, d5.loss_plan_l1_fix_dist: 0.2723, d6.loss_plan_l1_fix_time: 1.7070, d6.loss_plan_l1_fix_dist: 0.2934, d0.loss_cls_all: 0.2893, d0.loss_bbox_all: 0.5060, d0.loss_cls: 0.2893, d0.loss_bbox: 0.5060, d1.loss_cls: 0.2854, d1.loss_bbox: 0.4781, d2.loss_cls: 0.2723, d2.loss_bbox: 0.4614, d3.loss_cls: 0.2690, d3.loss_bbox: 0.4566, d4.loss_cls: 0.2650, d4.loss_bbox: 0.4565, d5.loss_cls: 0.2649, d5.loss_bbox: 0.4595, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0223, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8603, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7955, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7853, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7802, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7846, d0.loss_map_cls_all: 0.2745, d0.loss_map_pts_all: 1.8265, d0.loss_map_dir_all: 0.0136, d0.loss_map_cls: 0.2745, d0.loss_map_pts: 1.8265, d0.loss_map_dir: 0.0136, d1.loss_map_cls: 0.2443, d1.loss_map_pts: 1.2462, d1.loss_map_dir: 0.0133, d2.loss_map_cls: 0.2333, d2.loss_map_pts: 1.0591, d2.loss_map_dir: 0.0138, d3.loss_map_cls: 0.2223, d3.loss_map_pts: 0.9932, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2160, d4.loss_map_pts: 0.9696, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.2149, d5.loss_map_pts: 0.9598, d5.loss_map_dir: 0.0148, loss: 38.7436, grad_norm: 151.3080 +2026-02-25 12:11:04,560 - DriveTransformer - INFO - Epoch [4][33300/39528] lr: 9.623e-05, eta: 7 days, 9:52:06, time: 0.805, data_time: 0.043, memory: 19865, loss_cls: 0.2364, loss_bbox: 0.4214, loss_traj: 0.8683, loss_traj_cls: 0.0015, loss_map_cls: 0.2094, loss_map_pts: 0.8450, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.4597, d0.loss_plan_l1_fix_dist: 0.3842, d1.loss_plan_l1_fix_time: 1.4863, d1.loss_plan_l1_fix_dist: 0.2191, d2.loss_plan_l1_fix_time: 1.4653, d2.loss_plan_l1_fix_dist: 0.2160, d3.loss_plan_l1_fix_time: 1.4623, d3.loss_plan_l1_fix_dist: 0.2257, d4.loss_plan_l1_fix_time: 1.4649, d4.loss_plan_l1_fix_dist: 0.2409, d5.loss_plan_l1_fix_time: 1.4683, d5.loss_plan_l1_fix_dist: 0.2559, d6.loss_plan_l1_fix_time: 1.4715, d6.loss_plan_l1_fix_dist: 0.2734, d0.loss_cls_all: 0.2606, d0.loss_bbox_all: 0.4675, d0.loss_cls: 0.2606, d0.loss_bbox: 0.4675, d1.loss_cls: 0.2555, d1.loss_bbox: 0.4385, d2.loss_cls: 0.2462, d2.loss_bbox: 0.4233, d3.loss_cls: 0.2449, d3.loss_bbox: 0.4185, d4.loss_cls: 0.2417, d4.loss_bbox: 0.4164, d5.loss_cls: 0.2392, d5.loss_bbox: 0.4165, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0623, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9279, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8869, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8722, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8645, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8685, d0.loss_map_cls_all: 0.2733, d0.loss_map_pts_all: 1.7505, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2733, d0.loss_map_pts: 1.7505, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2406, d1.loss_map_pts: 1.1823, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2246, d2.loss_map_pts: 0.9641, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.2125, d3.loss_map_pts: 0.8855, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.2073, d4.loss_map_pts: 0.8598, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.2084, d5.loss_map_pts: 0.8475, d5.loss_map_dir: 0.0118, loss: 35.9278, grad_norm: 152.0845 +2026-02-25 12:11:46,468 - DriveTransformer - INFO - Epoch [4][33350/39528] lr: 9.623e-05, eta: 7 days, 9:51:35, time: 0.838, data_time: 0.045, memory: 19865, loss_cls: 0.2593, loss_bbox: 0.4556, loss_traj: 0.8672, loss_traj_cls: 0.0015, loss_map_cls: 0.2277, loss_map_pts: 0.9967, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 2.6446, d0.loss_plan_l1_fix_dist: 0.3545, d1.loss_plan_l1_fix_time: 1.4732, d1.loss_plan_l1_fix_dist: 0.2355, d2.loss_plan_l1_fix_time: 1.4583, d2.loss_plan_l1_fix_dist: 0.2247, d3.loss_plan_l1_fix_time: 1.4590, d3.loss_plan_l1_fix_dist: 0.2410, d4.loss_plan_l1_fix_time: 1.4624, d4.loss_plan_l1_fix_dist: 0.2602, d5.loss_plan_l1_fix_time: 1.4659, d5.loss_plan_l1_fix_dist: 0.2784, d6.loss_plan_l1_fix_time: 1.4695, d6.loss_plan_l1_fix_dist: 0.2970, d0.loss_cls_all: 0.2872, d0.loss_bbox_all: 0.5035, d0.loss_cls: 0.2872, d0.loss_bbox: 0.5035, d1.loss_cls: 0.2798, d1.loss_bbox: 0.4746, d2.loss_cls: 0.2720, d2.loss_bbox: 0.4592, d3.loss_cls: 0.2649, d3.loss_bbox: 0.4559, d4.loss_cls: 0.2612, d4.loss_bbox: 0.4537, d5.loss_cls: 0.2598, d5.loss_bbox: 0.4538, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1768, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9328, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8756, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8668, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8616, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8633, d0.loss_map_cls_all: 0.2887, d0.loss_map_pts_all: 1.9195, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.2887, d0.loss_map_pts: 1.9195, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2561, d1.loss_map_pts: 1.2935, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2439, d2.loss_map_pts: 1.0969, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2339, d3.loss_map_pts: 1.0312, d3.loss_map_dir: 0.0134, d4.loss_map_cls: 0.2302, d4.loss_map_pts: 1.0059, d4.loss_map_dir: 0.0139, d5.loss_map_cls: 0.2274, d5.loss_map_pts: 0.9980, d5.loss_map_dir: 0.0141, loss: 38.0707, grad_norm: 152.7827 +2026-02-25 12:12:26,766 - DriveTransformer - INFO - Epoch [4][33400/39528] lr: 9.623e-05, eta: 7 days, 9:50:55, time: 0.806, data_time: 0.041, memory: 19865, loss_cls: 0.2720, loss_bbox: 0.4301, loss_traj: 0.7585, loss_traj_cls: 0.0015, loss_map_cls: 0.2186, loss_map_pts: 0.9098, loss_map_dir: 0.0141, d0.loss_plan_l1_fix_time: 2.6311, d0.loss_plan_l1_fix_dist: 0.3790, d1.loss_plan_l1_fix_time: 1.3898, d1.loss_plan_l1_fix_dist: 0.2286, d2.loss_plan_l1_fix_time: 1.3809, d2.loss_plan_l1_fix_dist: 0.2155, d3.loss_plan_l1_fix_time: 1.3817, d3.loss_plan_l1_fix_dist: 0.2241, d4.loss_plan_l1_fix_time: 1.3837, d4.loss_plan_l1_fix_dist: 0.2362, d5.loss_plan_l1_fix_time: 1.3866, d5.loss_plan_l1_fix_dist: 0.2514, d6.loss_plan_l1_fix_time: 1.3902, d6.loss_plan_l1_fix_dist: 0.2694, d0.loss_cls_all: 0.2916, d0.loss_bbox_all: 0.4873, d0.loss_cls: 0.2916, d0.loss_bbox: 0.4873, d1.loss_cls: 0.2863, d1.loss_bbox: 0.4533, d2.loss_cls: 0.2791, d2.loss_bbox: 0.4380, d3.loss_cls: 0.2731, d3.loss_bbox: 0.4325, d4.loss_cls: 0.2701, d4.loss_bbox: 0.4321, d5.loss_cls: 0.2708, d5.loss_bbox: 0.4305, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9203, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7925, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7586, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7549, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7526, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7557, d0.loss_map_cls_all: 0.2801, d0.loss_map_pts_all: 1.7519, d0.loss_map_dir_all: 0.0126, d0.loss_map_cls: 0.2801, d0.loss_map_pts: 1.7519, d0.loss_map_dir: 0.0126, d1.loss_map_cls: 0.2505, d1.loss_map_pts: 1.1838, d1.loss_map_dir: 0.0122, d2.loss_map_cls: 0.2400, d2.loss_map_pts: 1.0006, d2.loss_map_dir: 0.0127, d3.loss_map_cls: 0.2283, d3.loss_map_pts: 0.9403, d3.loss_map_dir: 0.0134, d4.loss_map_cls: 0.2227, d4.loss_map_pts: 0.9209, d4.loss_map_dir: 0.0138, d5.loss_map_cls: 0.2200, d5.loss_map_pts: 0.9116, d5.loss_map_dir: 0.0140, loss: 35.4902, grad_norm: 152.8765 +2026-02-25 12:13:06,603 - DriveTransformer - INFO - Epoch [4][33450/39528] lr: 9.623e-05, eta: 7 days, 9:50:13, time: 0.797, data_time: 0.042, memory: 19865, loss_cls: 0.2332, loss_bbox: 0.4234, loss_traj: 0.8414, loss_traj_cls: 0.0015, loss_map_cls: 0.2199, loss_map_pts: 0.8753, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.3330, d0.loss_plan_l1_fix_dist: 0.3146, d1.loss_plan_l1_fix_time: 1.3053, d1.loss_plan_l1_fix_dist: 0.2020, d2.loss_plan_l1_fix_time: 1.2832, d2.loss_plan_l1_fix_dist: 0.1928, d3.loss_plan_l1_fix_time: 1.2831, d3.loss_plan_l1_fix_dist: 0.2099, d4.loss_plan_l1_fix_time: 1.2846, d4.loss_plan_l1_fix_dist: 0.2264, d5.loss_plan_l1_fix_time: 1.2869, d5.loss_plan_l1_fix_dist: 0.2442, d6.loss_plan_l1_fix_time: 1.2905, d6.loss_plan_l1_fix_dist: 0.2674, d0.loss_cls_all: 0.2529, d0.loss_bbox_all: 0.4774, d0.loss_cls: 0.2529, d0.loss_bbox: 0.4774, d1.loss_cls: 0.2483, d1.loss_bbox: 0.4419, d2.loss_cls: 0.2385, d2.loss_bbox: 0.4264, d3.loss_cls: 0.2351, d3.loss_bbox: 0.4234, d4.loss_cls: 0.2315, d4.loss_bbox: 0.4230, d5.loss_cls: 0.2317, d5.loss_bbox: 0.4243, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0674, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8925, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8515, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8408, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8413, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8377, d0.loss_map_cls_all: 0.2839, d0.loss_map_pts_all: 1.5775, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2839, d0.loss_map_pts: 1.5775, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2604, d1.loss_map_pts: 1.1239, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.2402, d2.loss_map_pts: 0.9635, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.2291, d3.loss_map_pts: 0.9032, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.2237, d4.loss_map_pts: 0.8830, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.2209, d5.loss_map_pts: 0.8748, d5.loss_map_dir: 0.0108, loss: 34.1659, grad_norm: 156.4336 +2026-02-25 12:13:46,443 - DriveTransformer - INFO - Epoch [4][33500/39528] lr: 9.623e-05, eta: 7 days, 9:49:31, time: 0.797, data_time: 0.041, memory: 19865, loss_cls: 0.2497, loss_bbox: 0.4510, loss_traj: 1.0906, loss_traj_cls: 0.0015, loss_map_cls: 0.2350, loss_map_pts: 1.0125, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 2.7561, d0.loss_plan_l1_fix_dist: 0.3603, d1.loss_plan_l1_fix_time: 1.6597, d1.loss_plan_l1_fix_dist: 0.2139, d2.loss_plan_l1_fix_time: 1.6425, d2.loss_plan_l1_fix_dist: 0.2116, d3.loss_plan_l1_fix_time: 1.6422, d3.loss_plan_l1_fix_dist: 0.2256, d4.loss_plan_l1_fix_time: 1.6450, d4.loss_plan_l1_fix_dist: 0.2431, d5.loss_plan_l1_fix_time: 1.6477, d5.loss_plan_l1_fix_dist: 0.2629, d6.loss_plan_l1_fix_time: 1.6499, d6.loss_plan_l1_fix_dist: 0.2803, d0.loss_cls_all: 0.2639, d0.loss_bbox_all: 0.5074, d0.loss_cls: 0.2639, d0.loss_bbox: 0.5074, d1.loss_cls: 0.2604, d1.loss_bbox: 0.4742, d2.loss_cls: 0.2579, d2.loss_bbox: 0.4582, d3.loss_cls: 0.2536, d3.loss_bbox: 0.4533, d4.loss_cls: 0.2513, d4.loss_bbox: 0.4528, d5.loss_cls: 0.2489, d5.loss_bbox: 0.4519, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3255, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.1101, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0812, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0794, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0836, d5.loss_traj_cls: 0.0012, d5.loss_traj: 1.0906, d0.loss_map_cls_all: 0.3102, d0.loss_map_pts_all: 1.8239, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.3102, d0.loss_map_pts: 1.8239, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2745, d1.loss_map_pts: 1.3029, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2595, d2.loss_map_pts: 1.1238, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2461, d3.loss_map_pts: 1.0570, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.2389, d4.loss_map_pts: 1.0281, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.2370, d5.loss_map_pts: 1.0141, d5.loss_map_dir: 0.0123, loss: 40.5046, grad_norm: 157.6651 +2026-02-25 12:14:28,488 - DriveTransformer - INFO - Epoch [4][33550/39528] lr: 9.623e-05, eta: 7 days, 9:49:01, time: 0.841, data_time: 0.042, memory: 19865, loss_cls: 0.2624, loss_bbox: 0.4634, loss_traj: 0.7290, loss_traj_cls: 0.0015, loss_map_cls: 0.2208, loss_map_pts: 1.0230, loss_map_dir: 0.0165, d0.loss_plan_l1_fix_time: 2.7113, d0.loss_plan_l1_fix_dist: 0.4959, d1.loss_plan_l1_fix_time: 1.4169, d1.loss_plan_l1_fix_dist: 0.2386, d2.loss_plan_l1_fix_time: 1.3945, d2.loss_plan_l1_fix_dist: 0.2412, d3.loss_plan_l1_fix_time: 1.3964, d3.loss_plan_l1_fix_dist: 0.2499, d4.loss_plan_l1_fix_time: 1.3998, d4.loss_plan_l1_fix_dist: 0.2625, d5.loss_plan_l1_fix_time: 1.4037, d5.loss_plan_l1_fix_dist: 0.2772, d6.loss_plan_l1_fix_time: 1.4080, d6.loss_plan_l1_fix_dist: 0.2953, d0.loss_cls_all: 0.3007, d0.loss_bbox_all: 0.5202, d0.loss_cls: 0.3007, d0.loss_bbox: 0.5202, d1.loss_cls: 0.2938, d1.loss_bbox: 0.4900, d2.loss_cls: 0.2788, d2.loss_bbox: 0.4712, d3.loss_cls: 0.2671, d3.loss_bbox: 0.4658, d4.loss_cls: 0.2628, d4.loss_bbox: 0.4621, d5.loss_cls: 0.2616, d5.loss_bbox: 0.4627, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9500, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8035, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7413, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7436, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7348, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7340, d0.loss_map_cls_all: 0.2922, d0.loss_map_pts_all: 1.9564, d0.loss_map_dir_all: 0.0148, d0.loss_map_cls: 0.2922, d0.loss_map_pts: 1.9564, d0.loss_map_dir: 0.0148, d1.loss_map_cls: 0.2614, d1.loss_map_pts: 1.3063, d1.loss_map_dir: 0.0147, d2.loss_map_cls: 0.2478, d2.loss_map_pts: 1.1145, d2.loss_map_dir: 0.0152, d3.loss_map_cls: 0.2324, d3.loss_map_pts: 1.0537, d3.loss_map_dir: 0.0159, d4.loss_map_cls: 0.2238, d4.loss_map_pts: 1.0320, d4.loss_map_dir: 0.0161, d5.loss_map_cls: 0.2220, d5.loss_map_pts: 1.0257, d5.loss_map_dir: 0.0163, loss: 37.3029, grad_norm: 159.1555 +2026-02-25 12:15:08,392 - DriveTransformer - INFO - Epoch [4][33600/39528] lr: 9.623e-05, eta: 7 days, 9:48:19, time: 0.798, data_time: 0.039, memory: 19865, loss_cls: 0.2675, loss_bbox: 0.4795, loss_traj: 0.9369, loss_traj_cls: 0.0015, loss_map_cls: 0.2580, loss_map_pts: 1.1624, loss_map_dir: 0.0138, d0.loss_plan_l1_fix_time: 3.0228, d0.loss_plan_l1_fix_dist: 0.4297, d1.loss_plan_l1_fix_time: 1.5715, d1.loss_plan_l1_fix_dist: 0.2500, d2.loss_plan_l1_fix_time: 1.5586, d2.loss_plan_l1_fix_dist: 0.2544, d3.loss_plan_l1_fix_time: 1.5554, d3.loss_plan_l1_fix_dist: 0.2645, d4.loss_plan_l1_fix_time: 1.5570, d4.loss_plan_l1_fix_dist: 0.2795, d5.loss_plan_l1_fix_time: 1.5606, d5.loss_plan_l1_fix_dist: 0.2944, d6.loss_plan_l1_fix_time: 1.5659, d6.loss_plan_l1_fix_dist: 0.3152, d0.loss_cls_all: 0.2948, d0.loss_bbox_all: 0.5373, d0.loss_cls: 0.2948, d0.loss_bbox: 0.5373, d1.loss_cls: 0.2932, d1.loss_bbox: 0.5033, d2.loss_cls: 0.2833, d2.loss_bbox: 0.4835, d3.loss_cls: 0.2769, d3.loss_bbox: 0.4769, d4.loss_cls: 0.2709, d4.loss_bbox: 0.4780, d5.loss_cls: 0.2700, d5.loss_bbox: 0.4773, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1633, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9974, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9516, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9435, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9368, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9386, d0.loss_map_cls_all: 0.3180, d0.loss_map_pts_all: 1.9063, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.3180, d0.loss_map_pts: 1.9063, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2971, d1.loss_map_pts: 1.4311, d1.loss_map_dir: 0.0121, d2.loss_map_cls: 0.2790, d2.loss_map_pts: 1.2593, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2687, d3.loss_map_pts: 1.1983, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2624, d4.loss_map_pts: 1.1719, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.2604, d5.loss_map_pts: 1.1638, d5.loss_map_dir: 0.0136, loss: 41.1433, grad_norm: 160.1609 +2026-02-25 12:15:48,593 - DriveTransformer - INFO - Epoch [4][33650/39528] lr: 9.623e-05, eta: 7 days, 9:47:39, time: 0.804, data_time: 0.044, memory: 19865, loss_cls: 0.2878, loss_bbox: 0.4599, loss_traj: 0.9522, loss_traj_cls: 0.0016, loss_map_cls: 0.2451, loss_map_pts: 0.9768, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.7156, d0.loss_plan_l1_fix_dist: 0.4433, d1.loss_plan_l1_fix_time: 1.4929, d1.loss_plan_l1_fix_dist: 0.2338, d2.loss_plan_l1_fix_time: 1.4870, d2.loss_plan_l1_fix_dist: 0.2211, d3.loss_plan_l1_fix_time: 1.4881, d3.loss_plan_l1_fix_dist: 0.2367, d4.loss_plan_l1_fix_time: 1.4906, d4.loss_plan_l1_fix_dist: 0.2521, d5.loss_plan_l1_fix_time: 1.4939, d5.loss_plan_l1_fix_dist: 0.2673, d6.loss_plan_l1_fix_time: 1.4987, d6.loss_plan_l1_fix_dist: 0.2806, d0.loss_cls_all: 0.3070, d0.loss_bbox_all: 0.5149, d0.loss_cls: 0.3070, d0.loss_bbox: 0.5149, d1.loss_cls: 0.3004, d1.loss_bbox: 0.4864, d2.loss_cls: 0.2963, d2.loss_bbox: 0.4701, d3.loss_cls: 0.2911, d3.loss_bbox: 0.4635, d4.loss_cls: 0.2883, d4.loss_bbox: 0.4612, d5.loss_cls: 0.2884, d5.loss_bbox: 0.4596, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1724, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9794, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9609, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9590, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9476, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.9483, d0.loss_map_cls_all: 0.3047, d0.loss_map_pts_all: 1.7468, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.3047, d0.loss_map_pts: 1.7468, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2732, d1.loss_map_pts: 1.2606, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2561, d2.loss_map_pts: 1.0785, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.2494, d3.loss_map_pts: 1.0104, d3.loss_map_dir: 0.0121, d4.loss_map_cls: 0.2445, d4.loss_map_pts: 0.9870, d4.loss_map_dir: 0.0126, d5.loss_map_cls: 0.2424, d5.loss_map_pts: 0.9803, d5.loss_map_dir: 0.0128, loss: 38.7280, grad_norm: 160.8385 +2026-02-25 12:16:29,343 - DriveTransformer - INFO - Epoch [4][33700/39528] lr: 9.623e-05, eta: 7 days, 9:47:02, time: 0.815, data_time: 0.045, memory: 19865, loss_cls: 0.2629, loss_bbox: 0.4545, loss_traj: 0.9848, loss_traj_cls: 0.0016, loss_map_cls: 0.2346, loss_map_pts: 0.9556, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 3.1070, d0.loss_plan_l1_fix_dist: 0.4561, d1.loss_plan_l1_fix_time: 1.5773, d1.loss_plan_l1_fix_dist: 0.2772, d2.loss_plan_l1_fix_time: 1.5556, d2.loss_plan_l1_fix_dist: 0.2694, d3.loss_plan_l1_fix_time: 1.5528, d3.loss_plan_l1_fix_dist: 0.2751, d4.loss_plan_l1_fix_time: 1.5540, d4.loss_plan_l1_fix_dist: 0.2857, d5.loss_plan_l1_fix_time: 1.5558, d5.loss_plan_l1_fix_dist: 0.3001, d6.loss_plan_l1_fix_time: 1.5579, d6.loss_plan_l1_fix_dist: 0.3176, d0.loss_cls_all: 0.2832, d0.loss_bbox_all: 0.5131, d0.loss_cls: 0.2832, d0.loss_bbox: 0.5131, d1.loss_cls: 0.2798, d1.loss_bbox: 0.4777, d2.loss_cls: 0.2727, d2.loss_bbox: 0.4598, d3.loss_cls: 0.2655, d3.loss_bbox: 0.4551, d4.loss_cls: 0.2643, d4.loss_bbox: 0.4526, d5.loss_cls: 0.2627, d5.loss_bbox: 0.4525, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2304, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0530, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9984, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9912, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9888, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9820, d0.loss_map_cls_all: 0.2835, d0.loss_map_pts_all: 1.7742, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2835, d0.loss_map_pts: 1.7742, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2608, d1.loss_map_pts: 1.2684, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2448, d2.loss_map_pts: 1.0783, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2399, d3.loss_map_pts: 1.0047, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.2359, d4.loss_map_pts: 0.9710, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.2346, d5.loss_map_pts: 0.9578, d5.loss_map_dir: 0.0121, loss: 39.7239, grad_norm: 160.0485 +2026-02-25 12:17:09,772 - DriveTransformer - INFO - Epoch [4][33750/39528] lr: 9.623e-05, eta: 7 days, 9:46:23, time: 0.809, data_time: 0.051, memory: 19865, loss_cls: 0.2577, loss_bbox: 0.4591, loss_traj: 0.8504, loss_traj_cls: 0.0015, loss_map_cls: 0.2360, loss_map_pts: 0.9759, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.7227, d0.loss_plan_l1_fix_dist: 0.3542, d1.loss_plan_l1_fix_time: 1.5070, d1.loss_plan_l1_fix_dist: 0.2350, d2.loss_plan_l1_fix_time: 1.4913, d2.loss_plan_l1_fix_dist: 0.2279, d3.loss_plan_l1_fix_time: 1.4897, d3.loss_plan_l1_fix_dist: 0.2410, d4.loss_plan_l1_fix_time: 1.4928, d4.loss_plan_l1_fix_dist: 0.2590, d5.loss_plan_l1_fix_time: 1.4968, d5.loss_plan_l1_fix_dist: 0.2778, d6.loss_plan_l1_fix_time: 1.5013, d6.loss_plan_l1_fix_dist: 0.3026, d0.loss_cls_all: 0.2809, d0.loss_bbox_all: 0.5138, d0.loss_cls: 0.2809, d0.loss_bbox: 0.5138, d1.loss_cls: 0.2761, d1.loss_bbox: 0.4821, d2.loss_cls: 0.2643, d2.loss_bbox: 0.4674, d3.loss_cls: 0.2601, d3.loss_bbox: 0.4604, d4.loss_cls: 0.2587, d4.loss_bbox: 0.4565, d5.loss_cls: 0.2566, d5.loss_bbox: 0.4581, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0501, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9257, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8670, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8474, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8465, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8489, d0.loss_map_cls_all: 0.2885, d0.loss_map_pts_all: 1.7440, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2885, d0.loss_map_pts: 1.7440, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2613, d1.loss_map_pts: 1.2833, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2497, d2.loss_map_pts: 1.0857, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.2422, d3.loss_map_pts: 1.0155, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.2387, d4.loss_map_pts: 0.9876, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.2373, d5.loss_map_pts: 0.9769, d5.loss_map_dir: 0.0124, loss: 37.7373, grad_norm: 159.8759 +2026-02-25 12:17:51,499 - DriveTransformer - INFO - Epoch [4][33800/39528] lr: 9.623e-05, eta: 7 days, 9:45:51, time: 0.836, data_time: 0.041, memory: 19865, loss_cls: 0.2302, loss_bbox: 0.4259, loss_traj: 0.8256, loss_traj_cls: 0.0015, loss_map_cls: 0.2297, loss_map_pts: 0.9621, loss_map_dir: 0.0152, d0.loss_plan_l1_fix_time: 2.5846, d0.loss_plan_l1_fix_dist: 0.4786, d1.loss_plan_l1_fix_time: 1.4639, d1.loss_plan_l1_fix_dist: 0.2655, d2.loss_plan_l1_fix_time: 1.4393, d2.loss_plan_l1_fix_dist: 0.2424, d3.loss_plan_l1_fix_time: 1.4346, d3.loss_plan_l1_fix_dist: 0.2547, d4.loss_plan_l1_fix_time: 1.4357, d4.loss_plan_l1_fix_dist: 0.2714, d5.loss_plan_l1_fix_time: 1.4377, d5.loss_plan_l1_fix_dist: 0.2869, d6.loss_plan_l1_fix_time: 1.4402, d6.loss_plan_l1_fix_dist: 0.3017, d0.loss_cls_all: 0.2525, d0.loss_bbox_all: 0.4764, d0.loss_cls: 0.2525, d0.loss_bbox: 0.4764, d1.loss_cls: 0.2486, d1.loss_bbox: 0.4483, d2.loss_cls: 0.2381, d2.loss_bbox: 0.4324, d3.loss_cls: 0.2333, d3.loss_bbox: 0.4269, d4.loss_cls: 0.2271, d4.loss_bbox: 0.4266, d5.loss_cls: 0.2283, d5.loss_bbox: 0.4248, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0087, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8881, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8330, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8264, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8219, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8223, d0.loss_map_cls_all: 0.2842, d0.loss_map_pts_all: 1.9264, d0.loss_map_dir_all: 0.0141, d0.loss_map_cls: 0.2842, d0.loss_map_pts: 1.9264, d0.loss_map_dir: 0.0141, d1.loss_map_cls: 0.2579, d1.loss_map_pts: 1.2513, d1.loss_map_dir: 0.0132, d2.loss_map_cls: 0.2490, d2.loss_map_pts: 1.0570, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2386, d3.loss_map_pts: 0.9899, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2331, d4.loss_map_pts: 0.9704, d4.loss_map_dir: 0.0147, d5.loss_map_cls: 0.2303, d5.loss_map_pts: 0.9631, d5.loss_map_dir: 0.0150, loss: 36.9865, grad_norm: 158.9721 +2026-02-25 12:18:33,030 - DriveTransformer - INFO - Epoch [4][33850/39528] lr: 9.623e-05, eta: 7 days, 9:45:18, time: 0.829, data_time: 0.042, memory: 19865, loss_cls: 0.2477, loss_bbox: 0.4508, loss_traj: 0.9243, loss_traj_cls: 0.0014, loss_map_cls: 0.2262, loss_map_pts: 0.9669, loss_map_dir: 0.0159, d0.loss_plan_l1_fix_time: 2.8336, d0.loss_plan_l1_fix_dist: 0.3821, d1.loss_plan_l1_fix_time: 1.6188, d1.loss_plan_l1_fix_dist: 0.2460, d2.loss_plan_l1_fix_time: 1.5927, d2.loss_plan_l1_fix_dist: 0.2336, d3.loss_plan_l1_fix_time: 1.5859, d3.loss_plan_l1_fix_dist: 0.2478, d4.loss_plan_l1_fix_time: 1.5872, d4.loss_plan_l1_fix_dist: 0.2664, d5.loss_plan_l1_fix_time: 1.5896, d5.loss_plan_l1_fix_dist: 0.2890, d6.loss_plan_l1_fix_time: 1.5931, d6.loss_plan_l1_fix_dist: 0.3107, d0.loss_cls_all: 0.2833, d0.loss_bbox_all: 0.4938, d0.loss_cls: 0.2833, d0.loss_bbox: 0.4938, d1.loss_cls: 0.2776, d1.loss_bbox: 0.4652, d2.loss_cls: 0.2586, d2.loss_bbox: 0.4541, d3.loss_cls: 0.2532, d3.loss_bbox: 0.4489, d4.loss_cls: 0.2476, d4.loss_bbox: 0.4494, d5.loss_cls: 0.2477, d5.loss_bbox: 0.4496, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1606, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9780, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9316, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9231, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9233, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9191, d0.loss_map_cls_all: 0.2894, d0.loss_map_pts_all: 1.8514, d0.loss_map_dir_all: 0.0140, d0.loss_map_cls: 0.2894, d0.loss_map_pts: 1.8514, d0.loss_map_dir: 0.0140, d1.loss_map_cls: 0.2596, d1.loss_map_pts: 1.2693, d1.loss_map_dir: 0.0138, d2.loss_map_cls: 0.2469, d2.loss_map_pts: 1.0770, d2.loss_map_dir: 0.0144, d3.loss_map_cls: 0.2340, d3.loss_map_pts: 1.0045, d3.loss_map_dir: 0.0151, d4.loss_map_cls: 0.2276, d4.loss_map_pts: 0.9783, d4.loss_map_dir: 0.0156, d5.loss_map_cls: 0.2273, d5.loss_map_pts: 0.9701, d5.loss_map_dir: 0.0157, loss: 39.0357, grad_norm: 158.5629 +2026-02-25 12:19:14,917 - DriveTransformer - INFO - Epoch [4][33900/39528] lr: 9.623e-05, eta: 7 days, 9:44:46, time: 0.838, data_time: 0.041, memory: 19865, loss_cls: 0.2556, loss_bbox: 0.4405, loss_traj: 0.8816, loss_traj_cls: 0.0015, loss_map_cls: 0.2235, loss_map_pts: 0.9850, loss_map_dir: 0.0167, d0.loss_plan_l1_fix_time: 2.5057, d0.loss_plan_l1_fix_dist: 0.5234, d1.loss_plan_l1_fix_time: 1.4935, d1.loss_plan_l1_fix_dist: 0.2630, d2.loss_plan_l1_fix_time: 1.4748, d2.loss_plan_l1_fix_dist: 0.2627, d3.loss_plan_l1_fix_time: 1.4697, d3.loss_plan_l1_fix_dist: 0.2784, d4.loss_plan_l1_fix_time: 1.4731, d4.loss_plan_l1_fix_dist: 0.2916, d5.loss_plan_l1_fix_time: 1.4772, d5.loss_plan_l1_fix_dist: 0.3108, d6.loss_plan_l1_fix_time: 1.4831, d6.loss_plan_l1_fix_dist: 0.3340, d0.loss_cls_all: 0.2784, d0.loss_bbox_all: 0.4983, d0.loss_cls: 0.2784, d0.loss_bbox: 0.4983, d1.loss_cls: 0.2747, d1.loss_bbox: 0.4687, d2.loss_cls: 0.2660, d2.loss_bbox: 0.4497, d3.loss_cls: 0.2611, d3.loss_bbox: 0.4429, d4.loss_cls: 0.2565, d4.loss_bbox: 0.4409, d5.loss_cls: 0.2561, d5.loss_bbox: 0.4389, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0356, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9131, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8865, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8849, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8815, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8829, d0.loss_map_cls_all: 0.2786, d0.loss_map_pts_all: 1.9596, d0.loss_map_dir_all: 0.0146, d0.loss_map_cls: 0.2786, d0.loss_map_pts: 1.9596, d0.loss_map_dir: 0.0146, d1.loss_map_cls: 0.2559, d1.loss_map_pts: 1.2950, d1.loss_map_dir: 0.0141, d2.loss_map_cls: 0.2417, d2.loss_map_pts: 1.0885, d2.loss_map_dir: 0.0149, d3.loss_map_cls: 0.2330, d3.loss_map_pts: 1.0180, d3.loss_map_dir: 0.0159, d4.loss_map_cls: 0.2269, d4.loss_map_pts: 0.9935, d4.loss_map_dir: 0.0163, d5.loss_map_cls: 0.2245, d5.loss_map_pts: 0.9880, d5.loss_map_dir: 0.0165, loss: 38.1930, grad_norm: 159.5244 +2026-02-25 12:19:54,284 - DriveTransformer - INFO - Epoch [4][33950/39528] lr: 9.623e-05, eta: 7 days, 9:44:02, time: 0.787, data_time: 0.039, memory: 19865, loss_cls: 0.2756, loss_bbox: 0.4675, loss_traj: 0.8490, loss_traj_cls: 0.0014, loss_map_cls: 0.2296, loss_map_pts: 0.9724, loss_map_dir: 0.0143, d0.loss_plan_l1_fix_time: 2.6062, d0.loss_plan_l1_fix_dist: 0.4481, d1.loss_plan_l1_fix_time: 1.2725, d1.loss_plan_l1_fix_dist: 0.2339, d2.loss_plan_l1_fix_time: 1.2626, d2.loss_plan_l1_fix_dist: 0.2358, d3.loss_plan_l1_fix_time: 1.2608, d3.loss_plan_l1_fix_dist: 0.2558, d4.loss_plan_l1_fix_time: 1.2643, d4.loss_plan_l1_fix_dist: 0.2734, d5.loss_plan_l1_fix_time: 1.2682, d5.loss_plan_l1_fix_dist: 0.2906, d6.loss_plan_l1_fix_time: 1.2734, d6.loss_plan_l1_fix_dist: 0.3110, d0.loss_cls_all: 0.3061, d0.loss_bbox_all: 0.5202, d0.loss_cls: 0.3061, d0.loss_bbox: 0.5202, d1.loss_cls: 0.2975, d1.loss_bbox: 0.4940, d2.loss_cls: 0.2874, d2.loss_bbox: 0.4744, d3.loss_cls: 0.2820, d3.loss_bbox: 0.4675, d4.loss_cls: 0.2771, d4.loss_bbox: 0.4658, d5.loss_cls: 0.2749, d5.loss_bbox: 0.4655, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0669, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9052, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8559, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8509, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8500, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8532, d0.loss_map_cls_all: 0.2843, d0.loss_map_pts_all: 1.7511, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2843, d0.loss_map_pts: 1.7511, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2592, d1.loss_map_pts: 1.2263, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2454, d2.loss_map_pts: 1.0593, d2.loss_map_dir: 0.0130, d3.loss_map_cls: 0.2374, d3.loss_map_pts: 0.9984, d3.loss_map_dir: 0.0137, d4.loss_map_cls: 0.2311, d4.loss_map_pts: 0.9837, d4.loss_map_dir: 0.0142, d5.loss_map_cls: 0.2295, d5.loss_map_pts: 0.9723, d5.loss_map_dir: 0.0143, loss: 36.4993, grad_norm: 159.2835 +2026-02-25 12:20:34,751 - DriveTransformer - INFO - Epoch [4][34000/39528] lr: 9.623e-05, eta: 7 days, 9:43:23, time: 0.809, data_time: 0.039, memory: 19865, loss_cls: 0.2434, loss_bbox: 0.4455, loss_traj: 0.9774, loss_traj_cls: 0.0015, loss_map_cls: 0.2209, loss_map_pts: 0.9124, loss_map_dir: 0.0141, d0.loss_plan_l1_fix_time: 2.6287, d0.loss_plan_l1_fix_dist: 0.4785, d1.loss_plan_l1_fix_time: 1.4461, d1.loss_plan_l1_fix_dist: 0.2263, d2.loss_plan_l1_fix_time: 1.4329, d2.loss_plan_l1_fix_dist: 0.2341, d3.loss_plan_l1_fix_time: 1.4349, d3.loss_plan_l1_fix_dist: 0.2431, d4.loss_plan_l1_fix_time: 1.4379, d4.loss_plan_l1_fix_dist: 0.2557, d5.loss_plan_l1_fix_time: 1.4412, d5.loss_plan_l1_fix_dist: 0.2697, d6.loss_plan_l1_fix_time: 1.4447, d6.loss_plan_l1_fix_dist: 0.2853, d0.loss_cls_all: 0.2695, d0.loss_bbox_all: 0.4944, d0.loss_cls: 0.2695, d0.loss_bbox: 0.4944, d1.loss_cls: 0.2587, d1.loss_bbox: 0.4641, d2.loss_cls: 0.2530, d2.loss_bbox: 0.4492, d3.loss_cls: 0.2479, d3.loss_bbox: 0.4433, d4.loss_cls: 0.2443, d4.loss_bbox: 0.4435, d5.loss_cls: 0.2428, d5.loss_bbox: 0.4438, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2792, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0293, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9962, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9843, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9875, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9807, d0.loss_map_cls_all: 0.2832, d0.loss_map_pts_all: 1.6562, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2832, d0.loss_map_pts: 1.6562, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2585, d1.loss_map_pts: 1.1629, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2393, d2.loss_map_pts: 0.9946, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2268, d3.loss_map_pts: 0.9393, d3.loss_map_dir: 0.0135, d4.loss_map_cls: 0.2220, d4.loss_map_pts: 0.9185, d4.loss_map_dir: 0.0137, d5.loss_map_cls: 0.2214, d5.loss_map_pts: 0.9132, d5.loss_map_dir: 0.0139, loss: 37.4210, grad_norm: 158.0594 +2026-02-25 12:21:14,998 - DriveTransformer - INFO - Epoch [4][34050/39528] lr: 9.623e-05, eta: 7 days, 9:42:43, time: 0.805, data_time: 0.037, memory: 19865, loss_cls: 0.2654, loss_bbox: 0.4525, loss_traj: 0.8128, loss_traj_cls: 0.0014, loss_map_cls: 0.2174, loss_map_pts: 0.9250, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.7180, d0.loss_plan_l1_fix_dist: 0.4507, d1.loss_plan_l1_fix_time: 1.5016, d1.loss_plan_l1_fix_dist: 0.2520, d2.loss_plan_l1_fix_time: 1.4894, d2.loss_plan_l1_fix_dist: 0.2463, d3.loss_plan_l1_fix_time: 1.4966, d3.loss_plan_l1_fix_dist: 0.2521, d4.loss_plan_l1_fix_time: 1.5013, d4.loss_plan_l1_fix_dist: 0.2628, d5.loss_plan_l1_fix_time: 1.5063, d5.loss_plan_l1_fix_dist: 0.2774, d6.loss_plan_l1_fix_time: 1.5116, d6.loss_plan_l1_fix_dist: 0.2932, d0.loss_cls_all: 0.2931, d0.loss_bbox_all: 0.4953, d0.loss_cls: 0.2931, d0.loss_bbox: 0.4953, d1.loss_cls: 0.2841, d1.loss_bbox: 0.4708, d2.loss_cls: 0.2757, d2.loss_bbox: 0.4601, d3.loss_cls: 0.2707, d3.loss_bbox: 0.4546, d4.loss_cls: 0.2681, d4.loss_bbox: 0.4512, d5.loss_cls: 0.2658, d5.loss_bbox: 0.4506, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1537, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9156, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8454, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8220, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8159, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8106, d0.loss_map_cls_all: 0.2670, d0.loss_map_pts_all: 1.7213, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2670, d0.loss_map_pts: 1.7213, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2443, d1.loss_map_pts: 1.2005, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2320, d2.loss_map_pts: 1.0236, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2224, d3.loss_map_pts: 0.9585, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2168, d4.loss_map_pts: 0.9354, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.2172, d5.loss_map_pts: 0.9281, d5.loss_map_dir: 0.0126, loss: 37.2825, grad_norm: 158.3055 +2026-02-25 12:21:57,868 - DriveTransformer - INFO - Epoch [4][34100/39528] lr: 9.623e-05, eta: 7 days, 9:42:17, time: 0.857, data_time: 0.047, memory: 19865, loss_cls: 0.2977, loss_bbox: 0.4938, loss_traj: 0.8122, loss_traj_cls: 0.0014, loss_map_cls: 0.2690, loss_map_pts: 1.1535, loss_map_dir: 0.0167, d0.loss_plan_l1_fix_time: 2.8719, d0.loss_plan_l1_fix_dist: 0.3650, d1.loss_plan_l1_fix_time: 1.6498, d1.loss_plan_l1_fix_dist: 0.2533, d2.loss_plan_l1_fix_time: 1.6525, d2.loss_plan_l1_fix_dist: 0.2388, d3.loss_plan_l1_fix_time: 1.6587, d3.loss_plan_l1_fix_dist: 0.2472, d4.loss_plan_l1_fix_time: 1.6628, d4.loss_plan_l1_fix_dist: 0.2581, d5.loss_plan_l1_fix_time: 1.6668, d5.loss_plan_l1_fix_dist: 0.2745, d6.loss_plan_l1_fix_time: 1.6719, d6.loss_plan_l1_fix_dist: 0.2975, d0.loss_cls_all: 0.3234, d0.loss_bbox_all: 0.5382, d0.loss_cls: 0.3234, d0.loss_bbox: 0.5382, d1.loss_cls: 0.3183, d1.loss_bbox: 0.5130, d2.loss_cls: 0.3086, d2.loss_bbox: 0.5005, d3.loss_cls: 0.3034, d3.loss_bbox: 0.4947, d4.loss_cls: 0.2981, d4.loss_bbox: 0.4915, d5.loss_cls: 0.2968, d5.loss_bbox: 0.4918, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9865, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8640, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8228, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8185, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8136, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8125, d0.loss_map_cls_all: 0.3291, d0.loss_map_pts_all: 2.1967, d0.loss_map_dir_all: 0.0149, d0.loss_map_cls: 0.3291, d0.loss_map_pts: 2.1967, d0.loss_map_dir: 0.0149, d1.loss_map_cls: 0.3006, d1.loss_map_pts: 1.4860, d1.loss_map_dir: 0.0146, d2.loss_map_cls: 0.2899, d2.loss_map_pts: 1.2721, d2.loss_map_dir: 0.0153, d3.loss_map_cls: 0.2778, d3.loss_map_pts: 1.1949, d3.loss_map_dir: 0.0160, d4.loss_map_cls: 0.2719, d4.loss_map_pts: 1.1685, d4.loss_map_dir: 0.0165, d5.loss_map_cls: 0.2693, d5.loss_map_pts: 1.1557, d5.loss_map_dir: 0.0166, loss: 41.5232, grad_norm: 162.1491 +2026-02-25 12:22:39,408 - DriveTransformer - INFO - Epoch [4][34150/39528] lr: 9.623e-05, eta: 7 days, 9:41:44, time: 0.831, data_time: 0.047, memory: 19865, loss_cls: 0.2430, loss_bbox: 0.4443, loss_traj: 0.8732, loss_traj_cls: 0.0014, loss_map_cls: 0.2384, loss_map_pts: 0.9642, loss_map_dir: 0.0145, d0.loss_plan_l1_fix_time: 2.6308, d0.loss_plan_l1_fix_dist: 0.5608, d1.loss_plan_l1_fix_time: 1.4242, d1.loss_plan_l1_fix_dist: 0.2947, d2.loss_plan_l1_fix_time: 1.4219, d2.loss_plan_l1_fix_dist: 0.2782, d3.loss_plan_l1_fix_time: 1.4252, d3.loss_plan_l1_fix_dist: 0.2830, d4.loss_plan_l1_fix_time: 1.4288, d4.loss_plan_l1_fix_dist: 0.2921, d5.loss_plan_l1_fix_time: 1.4323, d5.loss_plan_l1_fix_dist: 0.3046, d6.loss_plan_l1_fix_time: 1.4362, d6.loss_plan_l1_fix_dist: 0.3214, d0.loss_cls_all: 0.2727, d0.loss_bbox_all: 0.4997, d0.loss_cls: 0.2727, d0.loss_bbox: 0.4997, d1.loss_cls: 0.2651, d1.loss_bbox: 0.4654, d2.loss_cls: 0.2540, d2.loss_bbox: 0.4490, d3.loss_cls: 0.2474, d3.loss_bbox: 0.4433, d4.loss_cls: 0.2428, d4.loss_bbox: 0.4423, d5.loss_cls: 0.2435, d5.loss_bbox: 0.4418, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1467, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9555, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8963, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8896, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8838, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8755, d0.loss_map_cls_all: 0.2907, d0.loss_map_pts_all: 1.7624, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.2907, d0.loss_map_pts: 1.7624, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2648, d1.loss_map_pts: 1.2075, d1.loss_map_dir: 0.0131, d2.loss_map_cls: 0.2543, d2.loss_map_pts: 1.0423, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2425, d3.loss_map_pts: 0.9879, d3.loss_map_dir: 0.0139, d4.loss_map_cls: 0.2380, d4.loss_map_pts: 0.9735, d4.loss_map_dir: 0.0143, d5.loss_map_cls: 0.2370, d5.loss_map_pts: 0.9672, d5.loss_map_dir: 0.0144, loss: 37.6227, grad_norm: 161.1674 +2026-02-25 12:23:20,082 - DriveTransformer - INFO - Epoch [4][34200/39528] lr: 9.623e-05, eta: 7 days, 9:41:06, time: 0.813, data_time: 0.044, memory: 19865, loss_cls: 0.2746, loss_bbox: 0.4634, loss_traj: 1.0313, loss_traj_cls: 0.0014, loss_map_cls: 0.2047, loss_map_pts: 0.9360, loss_map_dir: 0.0153, d0.loss_plan_l1_fix_time: 2.8312, d0.loss_plan_l1_fix_dist: 0.4507, d1.loss_plan_l1_fix_time: 1.5776, d1.loss_plan_l1_fix_dist: 0.2452, d2.loss_plan_l1_fix_time: 1.5675, d2.loss_plan_l1_fix_dist: 0.2417, d3.loss_plan_l1_fix_time: 1.5697, d3.loss_plan_l1_fix_dist: 0.2554, d4.loss_plan_l1_fix_time: 1.5735, d4.loss_plan_l1_fix_dist: 0.2741, d5.loss_plan_l1_fix_time: 1.5776, d5.loss_plan_l1_fix_dist: 0.2893, d6.loss_plan_l1_fix_time: 1.5824, d6.loss_plan_l1_fix_dist: 0.3069, d0.loss_cls_all: 0.2902, d0.loss_bbox_all: 0.5156, d0.loss_cls: 0.2902, d0.loss_bbox: 0.5156, d1.loss_cls: 0.2894, d1.loss_bbox: 0.4844, d2.loss_cls: 0.2840, d2.loss_bbox: 0.4697, d3.loss_cls: 0.2795, d3.loss_bbox: 0.4631, d4.loss_cls: 0.2769, d4.loss_bbox: 0.4626, d5.loss_cls: 0.2750, d5.loss_bbox: 0.4633, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2849, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0917, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0444, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0273, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0325, d5.loss_traj_cls: 0.0011, d5.loss_traj: 1.0291, d0.loss_map_cls_all: 0.2772, d0.loss_map_pts_all: 1.8068, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.2772, d0.loss_map_pts: 1.8068, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.2427, d1.loss_map_pts: 1.2069, d1.loss_map_dir: 0.0132, d2.loss_map_cls: 0.2257, d2.loss_map_pts: 1.0242, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2120, d3.loss_map_pts: 0.9606, d3.loss_map_dir: 0.0146, d4.loss_map_cls: 0.2075, d4.loss_map_pts: 0.9416, d4.loss_map_dir: 0.0150, d5.loss_map_cls: 0.2047, d5.loss_map_pts: 0.9354, d5.loss_map_dir: 0.0152, loss: 39.5722, grad_norm: 161.9041 +2026-02-25 12:24:00,798 - DriveTransformer - INFO - Epoch [4][34250/39528] lr: 9.623e-05, eta: 7 days, 9:40:29, time: 0.814, data_time: 0.046, memory: 19865, loss_cls: 0.2290, loss_bbox: 0.4316, loss_traj: 0.7724, loss_traj_cls: 0.0014, loss_map_cls: 0.2138, loss_map_pts: 0.8568, loss_map_dir: 0.0139, d0.loss_plan_l1_fix_time: 2.4458, d0.loss_plan_l1_fix_dist: 0.4357, d1.loss_plan_l1_fix_time: 1.1850, d1.loss_plan_l1_fix_dist: 0.2520, d2.loss_plan_l1_fix_time: 1.1683, d2.loss_plan_l1_fix_dist: 0.2412, d3.loss_plan_l1_fix_time: 1.1700, d3.loss_plan_l1_fix_dist: 0.2513, d4.loss_plan_l1_fix_time: 1.1730, d4.loss_plan_l1_fix_dist: 0.2616, d5.loss_plan_l1_fix_time: 1.1769, d5.loss_plan_l1_fix_dist: 0.2750, d6.loss_plan_l1_fix_time: 1.1816, d6.loss_plan_l1_fix_dist: 0.2904, d0.loss_cls_all: 0.2540, d0.loss_bbox_all: 0.4842, d0.loss_cls: 0.2540, d0.loss_bbox: 0.4842, d1.loss_cls: 0.2475, d1.loss_bbox: 0.4534, d2.loss_cls: 0.2383, d2.loss_bbox: 0.4379, d3.loss_cls: 0.2324, d3.loss_bbox: 0.4324, d4.loss_cls: 0.2289, d4.loss_bbox: 0.4316, d5.loss_cls: 0.2282, d5.loss_bbox: 0.4309, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9933, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8212, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7782, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7642, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7635, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7679, d0.loss_map_cls_all: 0.2843, d0.loss_map_pts_all: 1.7308, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.2843, d0.loss_map_pts: 1.7308, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2527, d1.loss_map_pts: 1.1584, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2357, d2.loss_map_pts: 0.9621, d2.loss_map_dir: 0.0123, d3.loss_map_cls: 0.2228, d3.loss_map_pts: 0.8917, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2182, d4.loss_map_pts: 0.8661, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.2155, d5.loss_map_pts: 0.8580, d5.loss_map_dir: 0.0137, loss: 33.7591, grad_norm: 161.2759 +2026-02-25 12:24:42,385 - DriveTransformer - INFO - Epoch [4][34300/39528] lr: 9.623e-05, eta: 7 days, 9:39:56, time: 0.832, data_time: 0.048, memory: 19865, loss_cls: 0.2287, loss_bbox: 0.4254, loss_traj: 0.7028, loss_traj_cls: 0.0014, loss_map_cls: 0.2184, loss_map_pts: 0.8407, loss_map_dir: 0.0133, d0.loss_plan_l1_fix_time: 2.3434, d0.loss_plan_l1_fix_dist: 0.4099, d1.loss_plan_l1_fix_time: 1.2272, d1.loss_plan_l1_fix_dist: 0.2379, d2.loss_plan_l1_fix_time: 1.2068, d2.loss_plan_l1_fix_dist: 0.2201, d3.loss_plan_l1_fix_time: 1.2028, d3.loss_plan_l1_fix_dist: 0.2324, d4.loss_plan_l1_fix_time: 1.2057, d4.loss_plan_l1_fix_dist: 0.2470, d5.loss_plan_l1_fix_time: 1.2095, d5.loss_plan_l1_fix_dist: 0.2628, d6.loss_plan_l1_fix_time: 1.2137, d6.loss_plan_l1_fix_dist: 0.2767, d0.loss_cls_all: 0.2560, d0.loss_bbox_all: 0.4765, d0.loss_cls: 0.2560, d0.loss_bbox: 0.4765, d1.loss_cls: 0.2495, d1.loss_bbox: 0.4489, d2.loss_cls: 0.2375, d2.loss_bbox: 0.4346, d3.loss_cls: 0.2329, d3.loss_bbox: 0.4270, d4.loss_cls: 0.2296, d4.loss_bbox: 0.4253, d5.loss_cls: 0.2273, d5.loss_bbox: 0.4256, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8144, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7421, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7051, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7093, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7077, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7029, d0.loss_map_cls_all: 0.2776, d0.loss_map_pts_all: 1.7679, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2776, d0.loss_map_pts: 1.7679, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2549, d1.loss_map_pts: 1.1429, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2416, d2.loss_map_pts: 0.9520, d2.loss_map_dir: 0.0123, d3.loss_map_cls: 0.2291, d3.loss_map_pts: 0.8841, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.2204, d4.loss_map_pts: 0.8530, d4.loss_map_dir: 0.0131, d5.loss_map_cls: 0.2175, d5.loss_map_pts: 0.8434, d5.loss_map_dir: 0.0131, loss: 33.1353, grad_norm: 161.6307 +2026-02-25 12:25:23,319 - DriveTransformer - INFO - Epoch [4][34350/39528] lr: 9.623e-05, eta: 7 days, 9:39:20, time: 0.819, data_time: 0.050, memory: 19865, loss_cls: 0.2191, loss_bbox: 0.4216, loss_traj: 0.9851, loss_traj_cls: 0.0014, loss_map_cls: 0.2120, loss_map_pts: 0.7973, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.6611, d0.loss_plan_l1_fix_dist: 0.4177, d1.loss_plan_l1_fix_time: 1.4292, d1.loss_plan_l1_fix_dist: 0.2168, d2.loss_plan_l1_fix_time: 1.4025, d2.loss_plan_l1_fix_dist: 0.2189, d3.loss_plan_l1_fix_time: 1.4020, d3.loss_plan_l1_fix_dist: 0.2291, d4.loss_plan_l1_fix_time: 1.4045, d4.loss_plan_l1_fix_dist: 0.2387, d5.loss_plan_l1_fix_time: 1.4080, d5.loss_plan_l1_fix_dist: 0.2536, d6.loss_plan_l1_fix_time: 1.4120, d6.loss_plan_l1_fix_dist: 0.2755, d0.loss_cls_all: 0.2500, d0.loss_bbox_all: 0.4642, d0.loss_cls: 0.2500, d0.loss_bbox: 0.4642, d1.loss_cls: 0.2421, d1.loss_bbox: 0.4385, d2.loss_cls: 0.2274, d2.loss_bbox: 0.4274, d3.loss_cls: 0.2250, d3.loss_bbox: 0.4201, d4.loss_cls: 0.2199, d4.loss_bbox: 0.4201, d5.loss_cls: 0.2197, d5.loss_bbox: 0.4198, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2795, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0461, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9902, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9813, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9803, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9825, d0.loss_map_cls_all: 0.2770, d0.loss_map_pts_all: 1.5286, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2770, d0.loss_map_pts: 1.5286, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2494, d1.loss_map_pts: 1.0567, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.2285, d2.loss_map_pts: 0.8970, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.2180, d3.loss_map_pts: 0.8339, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.2140, d4.loss_map_pts: 0.8114, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.2112, d5.loss_map_pts: 0.8002, d5.loss_map_dir: 0.0098, loss: 35.7638, grad_norm: 159.9036 +2026-02-25 12:26:04,088 - DriveTransformer - INFO - Epoch [4][34400/39528] lr: 9.623e-05, eta: 7 days, 9:38:43, time: 0.815, data_time: 0.051, memory: 19865, loss_cls: 0.2752, loss_bbox: 0.4724, loss_traj: 0.9332, loss_traj_cls: 0.0014, loss_map_cls: 0.2401, loss_map_pts: 0.9037, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.9314, d0.loss_plan_l1_fix_dist: 0.5578, d1.loss_plan_l1_fix_time: 1.6773, d1.loss_plan_l1_fix_dist: 0.2976, d2.loss_plan_l1_fix_time: 1.6453, d2.loss_plan_l1_fix_dist: 0.3073, d3.loss_plan_l1_fix_time: 1.6478, d3.loss_plan_l1_fix_dist: 0.3225, d4.loss_plan_l1_fix_time: 1.6524, d4.loss_plan_l1_fix_dist: 0.3407, d5.loss_plan_l1_fix_time: 1.6583, d5.loss_plan_l1_fix_dist: 0.3652, d6.loss_plan_l1_fix_time: 1.6658, d6.loss_plan_l1_fix_dist: 0.3936, d0.loss_cls_all: 0.3104, d0.loss_bbox_all: 0.5299, d0.loss_cls: 0.3104, d0.loss_bbox: 0.5299, d1.loss_cls: 0.2960, d1.loss_bbox: 0.4979, d2.loss_cls: 0.2864, d2.loss_bbox: 0.4804, d3.loss_cls: 0.2803, d3.loss_bbox: 0.4750, d4.loss_cls: 0.2775, d4.loss_bbox: 0.4724, d5.loss_cls: 0.2769, d5.loss_bbox: 0.4705, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0513, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9832, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9441, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9371, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9380, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9323, d0.loss_map_cls_all: 0.2980, d0.loss_map_pts_all: 1.6620, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2980, d0.loss_map_pts: 1.6620, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2708, d1.loss_map_pts: 1.1458, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2561, d2.loss_map_pts: 0.9975, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.2477, d3.loss_map_pts: 0.9422, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.2439, d4.loss_map_pts: 0.9189, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.2412, d5.loss_map_pts: 0.9086, d5.loss_map_dir: 0.0117, loss: 39.7572, grad_norm: 159.8904 +2026-02-25 12:26:44,217 - DriveTransformer - INFO - Epoch [4][34450/39528] lr: 9.623e-05, eta: 7 days, 9:38:02, time: 0.803, data_time: 0.044, memory: 19865, loss_cls: 0.2534, loss_bbox: 0.4560, loss_traj: 0.8896, loss_traj_cls: 0.0014, loss_map_cls: 0.2422, loss_map_pts: 0.9313, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 3.2627, d0.loss_plan_l1_fix_dist: 0.5060, d1.loss_plan_l1_fix_time: 1.8083, d1.loss_plan_l1_fix_dist: 0.2328, d2.loss_plan_l1_fix_time: 1.7908, d2.loss_plan_l1_fix_dist: 0.2406, d3.loss_plan_l1_fix_time: 1.7943, d3.loss_plan_l1_fix_dist: 0.2535, d4.loss_plan_l1_fix_time: 1.7973, d4.loss_plan_l1_fix_dist: 0.2707, d5.loss_plan_l1_fix_time: 1.8005, d5.loss_plan_l1_fix_dist: 0.2853, d6.loss_plan_l1_fix_time: 1.8042, d6.loss_plan_l1_fix_dist: 0.3002, d0.loss_cls_all: 0.2795, d0.loss_bbox_all: 0.5199, d0.loss_cls: 0.2795, d0.loss_bbox: 0.5199, d1.loss_cls: 0.2715, d1.loss_bbox: 0.4894, d2.loss_cls: 0.2608, d2.loss_bbox: 0.4691, d3.loss_cls: 0.2573, d3.loss_bbox: 0.4617, d4.loss_cls: 0.2534, d4.loss_bbox: 0.4568, d5.loss_cls: 0.2519, d5.loss_bbox: 0.4572, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1660, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9822, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9059, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9048, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8947, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8925, d0.loss_map_cls_all: 0.2949, d0.loss_map_pts_all: 1.6735, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2949, d0.loss_map_pts: 1.6735, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2743, d1.loss_map_pts: 1.1932, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2584, d2.loss_map_pts: 1.0253, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2496, d3.loss_map_pts: 0.9645, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.2451, d4.loss_map_pts: 0.9391, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.2433, d5.loss_map_pts: 0.9343, d5.loss_map_dir: 0.0123, loss: 40.2577, grad_norm: 160.1632 +2026-02-25 12:27:26,390 - DriveTransformer - INFO - Epoch [4][34500/39528] lr: 9.623e-05, eta: 7 days, 9:37:32, time: 0.843, data_time: 0.041, memory: 19865, loss_cls: 0.2316, loss_bbox: 0.4345, loss_traj: 0.7685, loss_traj_cls: 0.0014, loss_map_cls: 0.1948, loss_map_pts: 0.9591, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.8460, d0.loss_plan_l1_fix_dist: 0.4281, d1.loss_plan_l1_fix_time: 1.6147, d1.loss_plan_l1_fix_dist: 0.2488, d2.loss_plan_l1_fix_time: 1.6146, d2.loss_plan_l1_fix_dist: 0.2582, d3.loss_plan_l1_fix_time: 1.6209, d3.loss_plan_l1_fix_dist: 0.2719, d4.loss_plan_l1_fix_time: 1.6260, d4.loss_plan_l1_fix_dist: 0.2926, d5.loss_plan_l1_fix_time: 1.6303, d5.loss_plan_l1_fix_dist: 0.3140, d6.loss_plan_l1_fix_time: 1.6339, d6.loss_plan_l1_fix_dist: 0.3328, d0.loss_cls_all: 0.2571, d0.loss_bbox_all: 0.4765, d0.loss_cls: 0.2571, d0.loss_bbox: 0.4765, d1.loss_cls: 0.2496, d1.loss_bbox: 0.4490, d2.loss_cls: 0.2419, d2.loss_bbox: 0.4350, d3.loss_cls: 0.2379, d3.loss_bbox: 0.4312, d4.loss_cls: 0.2337, d4.loss_bbox: 0.4314, d5.loss_cls: 0.2331, d5.loss_bbox: 0.4317, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9558, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8207, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7805, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7643, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7629, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7683, d0.loss_map_cls_all: 0.2520, d0.loss_map_pts_all: 1.8618, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.2520, d0.loss_map_pts: 1.8618, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2231, d1.loss_map_pts: 1.2329, d1.loss_map_dir: 0.0125, d2.loss_map_cls: 0.2122, d2.loss_map_pts: 1.0550, d2.loss_map_dir: 0.0132, d3.loss_map_cls: 0.2025, d3.loss_map_pts: 0.9893, d3.loss_map_dir: 0.0140, d4.loss_map_cls: 0.1985, d4.loss_map_pts: 0.9671, d4.loss_map_dir: 0.0145, d5.loss_map_cls: 0.1964, d5.loss_map_pts: 0.9580, d5.loss_map_dir: 0.0148, loss: 37.5954, grad_norm: 159.8105 +2026-02-25 12:28:06,718 - DriveTransformer - INFO - Epoch [4][34550/39528] lr: 9.623e-05, eta: 7 days, 9:36:53, time: 0.807, data_time: 0.046, memory: 19865, loss_cls: 0.2664, loss_bbox: 0.4837, loss_traj: 0.8648, loss_traj_cls: 0.0013, loss_map_cls: 0.2364, loss_map_pts: 1.0057, loss_map_dir: 0.0151, d0.loss_plan_l1_fix_time: 2.8439, d0.loss_plan_l1_fix_dist: 0.4511, d1.loss_plan_l1_fix_time: 1.5439, d1.loss_plan_l1_fix_dist: 0.2521, d2.loss_plan_l1_fix_time: 1.5491, d2.loss_plan_l1_fix_dist: 0.2365, d3.loss_plan_l1_fix_time: 1.5662, d3.loss_plan_l1_fix_dist: 0.2517, d4.loss_plan_l1_fix_time: 1.5747, d4.loss_plan_l1_fix_dist: 0.2683, d5.loss_plan_l1_fix_time: 1.5810, d5.loss_plan_l1_fix_dist: 0.2847, d6.loss_plan_l1_fix_time: 1.5858, d6.loss_plan_l1_fix_dist: 0.3036, d0.loss_cls_all: 0.2910, d0.loss_bbox_all: 0.5349, d0.loss_cls: 0.2910, d0.loss_bbox: 0.5349, d1.loss_cls: 0.2817, d1.loss_bbox: 0.5072, d2.loss_cls: 0.2785, d2.loss_bbox: 0.4874, d3.loss_cls: 0.2742, d3.loss_bbox: 0.4808, d4.loss_cls: 0.2707, d4.loss_bbox: 0.4803, d5.loss_cls: 0.2670, d5.loss_bbox: 0.4826, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0921, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9105, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8692, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8630, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8606, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8629, d0.loss_map_cls_all: 0.2966, d0.loss_map_pts_all: 1.9067, d0.loss_map_dir_all: 0.0137, d0.loss_map_cls: 0.2966, d0.loss_map_pts: 1.9067, d0.loss_map_dir: 0.0137, d1.loss_map_cls: 0.2682, d1.loss_map_pts: 1.2926, d1.loss_map_dir: 0.0133, d2.loss_map_cls: 0.2538, d2.loss_map_pts: 1.1079, d2.loss_map_dir: 0.0138, d3.loss_map_cls: 0.2466, d3.loss_map_pts: 1.0349, d3.loss_map_dir: 0.0145, d4.loss_map_cls: 0.2397, d4.loss_map_pts: 1.0098, d4.loss_map_dir: 0.0149, d5.loss_map_cls: 0.2374, d5.loss_map_pts: 1.0053, d5.loss_map_dir: 0.0150, loss: 39.2935, grad_norm: 164.6736 +2026-02-25 12:28:48,127 - DriveTransformer - INFO - Epoch [4][34600/39528] lr: 9.623e-05, eta: 7 days, 9:36:19, time: 0.830, data_time: 0.042, memory: 19865, loss_cls: 0.2426, loss_bbox: 0.4660, loss_traj: 0.9502, loss_traj_cls: 0.0014, loss_map_cls: 0.2291, loss_map_pts: 1.0040, loss_map_dir: 0.0140, d0.loss_plan_l1_fix_time: 2.5874, d0.loss_plan_l1_fix_dist: 0.3868, d1.loss_plan_l1_fix_time: 1.4415, d1.loss_plan_l1_fix_dist: 0.2782, d2.loss_plan_l1_fix_time: 1.4317, d2.loss_plan_l1_fix_dist: 0.2516, d3.loss_plan_l1_fix_time: 1.4395, d3.loss_plan_l1_fix_dist: 0.2631, d4.loss_plan_l1_fix_time: 1.4452, d4.loss_plan_l1_fix_dist: 0.2782, d5.loss_plan_l1_fix_time: 1.4507, d5.loss_plan_l1_fix_dist: 0.2986, d6.loss_plan_l1_fix_time: 1.4559, d6.loss_plan_l1_fix_dist: 0.3266, d0.loss_cls_all: 0.2741, d0.loss_bbox_all: 0.5123, d0.loss_cls: 0.2741, d0.loss_bbox: 0.5123, d1.loss_cls: 0.2640, d1.loss_bbox: 0.4864, d2.loss_cls: 0.2539, d2.loss_bbox: 0.4713, d3.loss_cls: 0.2481, d3.loss_bbox: 0.4649, d4.loss_cls: 0.2446, d4.loss_bbox: 0.4627, d5.loss_cls: 0.2432, d5.loss_bbox: 0.4634, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1087, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0152, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9678, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9514, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9454, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9444, d0.loss_map_cls_all: 0.2875, d0.loss_map_pts_all: 1.8847, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.2875, d0.loss_map_pts: 1.8847, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2627, d1.loss_map_pts: 1.2845, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2481, d2.loss_map_pts: 1.1035, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2394, d3.loss_map_pts: 1.0375, d3.loss_map_dir: 0.0135, d4.loss_map_cls: 0.2328, d4.loss_map_pts: 1.0132, d4.loss_map_dir: 0.0137, d5.loss_map_cls: 0.2304, d5.loss_map_pts: 1.0028, d5.loss_map_dir: 0.0137, loss: 38.4480, grad_norm: 166.6987 +2026-02-25 12:29:29,180 - DriveTransformer - INFO - Epoch [4][34650/39528] lr: 9.623e-05, eta: 7 days, 9:35:43, time: 0.820, data_time: 0.040, memory: 19865, loss_cls: 0.2665, loss_bbox: 0.4693, loss_traj: 0.7529, loss_traj_cls: 0.0015, loss_map_cls: 0.2326, loss_map_pts: 0.9442, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.6240, d0.loss_plan_l1_fix_dist: 0.5243, d1.loss_plan_l1_fix_time: 1.4126, d1.loss_plan_l1_fix_dist: 0.2669, d2.loss_plan_l1_fix_time: 1.4040, d2.loss_plan_l1_fix_dist: 0.2489, d3.loss_plan_l1_fix_time: 1.4026, d3.loss_plan_l1_fix_dist: 0.2563, d4.loss_plan_l1_fix_time: 1.4072, d4.loss_plan_l1_fix_dist: 0.2667, d5.loss_plan_l1_fix_time: 1.4129, d5.loss_plan_l1_fix_dist: 0.2785, d6.loss_plan_l1_fix_time: 1.4195, d6.loss_plan_l1_fix_dist: 0.2942, d0.loss_cls_all: 0.2820, d0.loss_bbox_all: 0.5133, d0.loss_cls: 0.2820, d0.loss_bbox: 0.5133, d1.loss_cls: 0.2796, d1.loss_bbox: 0.4834, d2.loss_cls: 0.2719, d2.loss_bbox: 0.4709, d3.loss_cls: 0.2675, d3.loss_bbox: 0.4673, d4.loss_cls: 0.2651, d4.loss_bbox: 0.4666, d5.loss_cls: 0.2638, d5.loss_bbox: 0.4673, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8941, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7899, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7530, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7511, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7416, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7443, d0.loss_map_cls_all: 0.2804, d0.loss_map_pts_all: 1.6942, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2804, d0.loss_map_pts: 1.6942, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2596, d1.loss_map_pts: 1.1554, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2495, d2.loss_map_pts: 1.0082, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2410, d3.loss_map_pts: 0.9631, d3.loss_map_dir: 0.0124, d4.loss_map_cls: 0.2346, d4.loss_map_pts: 0.9488, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.2338, d5.loss_map_pts: 0.9431, d5.loss_map_dir: 0.0128, loss: 36.1428, grad_norm: 167.0616 +2026-02-25 12:30:09,788 - DriveTransformer - INFO - Epoch [4][34700/39528] lr: 9.623e-05, eta: 7 days, 9:35:05, time: 0.812, data_time: 0.045, memory: 19865, loss_cls: 0.2388, loss_bbox: 0.4412, loss_traj: 0.7248, loss_traj_cls: 0.0015, loss_map_cls: 0.1998, loss_map_pts: 0.8867, loss_map_dir: 0.0133, d0.loss_plan_l1_fix_time: 2.6298, d0.loss_plan_l1_fix_dist: 0.3722, d1.loss_plan_l1_fix_time: 1.4356, d1.loss_plan_l1_fix_dist: 0.2275, d2.loss_plan_l1_fix_time: 1.4245, d2.loss_plan_l1_fix_dist: 0.2227, d3.loss_plan_l1_fix_time: 1.4226, d3.loss_plan_l1_fix_dist: 0.2358, d4.loss_plan_l1_fix_time: 1.4261, d4.loss_plan_l1_fix_dist: 0.2459, d5.loss_plan_l1_fix_time: 1.4317, d5.loss_plan_l1_fix_dist: 0.2540, d6.loss_plan_l1_fix_time: 1.4384, d6.loss_plan_l1_fix_dist: 0.2655, d0.loss_cls_all: 0.2645, d0.loss_bbox_all: 0.4812, d0.loss_cls: 0.2645, d0.loss_bbox: 0.4812, d1.loss_cls: 0.2558, d1.loss_bbox: 0.4538, d2.loss_cls: 0.2476, d2.loss_bbox: 0.4399, d3.loss_cls: 0.2452, d3.loss_bbox: 0.4360, d4.loss_cls: 0.2426, d4.loss_bbox: 0.4341, d5.loss_cls: 0.2406, d5.loss_bbox: 0.4381, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8757, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7489, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7345, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7308, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7248, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7212, d0.loss_map_cls_all: 0.2567, d0.loss_map_pts_all: 1.7070, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2567, d0.loss_map_pts: 1.7070, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2296, d1.loss_map_pts: 1.1853, d1.loss_map_dir: 0.0121, d2.loss_map_cls: 0.2161, d2.loss_map_pts: 1.0035, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2064, d3.loss_map_pts: 0.9333, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.1990, d4.loss_map_pts: 0.9052, d4.loss_map_dir: 0.0131, d5.loss_map_cls: 0.1986, d5.loss_map_pts: 0.8893, d5.loss_map_dir: 0.0132, loss: 34.9884, grad_norm: 168.0162 +2026-02-25 12:30:51,291 - DriveTransformer - INFO - Epoch [4][34750/39528] lr: 9.623e-05, eta: 7 days, 9:34:32, time: 0.830, data_time: 0.049, memory: 19865, loss_cls: 0.2487, loss_bbox: 0.4663, loss_traj: 1.0085, loss_traj_cls: 0.0015, loss_map_cls: 0.1959, loss_map_pts: 0.8923, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.4701, d0.loss_plan_l1_fix_dist: 0.4573, d1.loss_plan_l1_fix_time: 1.3779, d1.loss_plan_l1_fix_dist: 0.2518, d2.loss_plan_l1_fix_time: 1.3585, d2.loss_plan_l1_fix_dist: 0.2457, d3.loss_plan_l1_fix_time: 1.3608, d3.loss_plan_l1_fix_dist: 0.2511, d4.loss_plan_l1_fix_time: 1.3645, d4.loss_plan_l1_fix_dist: 0.2669, d5.loss_plan_l1_fix_time: 1.3692, d5.loss_plan_l1_fix_dist: 0.2854, d6.loss_plan_l1_fix_time: 1.3757, d6.loss_plan_l1_fix_dist: 0.2980, d0.loss_cls_all: 0.2721, d0.loss_bbox_all: 0.5155, d0.loss_cls: 0.2721, d0.loss_bbox: 0.5155, d1.loss_cls: 0.2665, d1.loss_bbox: 0.4820, d2.loss_cls: 0.2565, d2.loss_bbox: 0.4661, d3.loss_cls: 0.2539, d3.loss_bbox: 0.4607, d4.loss_cls: 0.2488, d4.loss_bbox: 0.4622, d5.loss_cls: 0.2474, d5.loss_bbox: 0.4639, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1888, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0499, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0080, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9971, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0044, d5.loss_traj_cls: 0.0012, d5.loss_traj: 1.0051, d0.loss_map_cls_all: 0.2570, d0.loss_map_pts_all: 1.8293, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.2570, d0.loss_map_pts: 1.8293, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2285, d1.loss_map_pts: 1.1840, d1.loss_map_dir: 0.0122, d2.loss_map_cls: 0.2149, d2.loss_map_pts: 0.9950, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2013, d3.loss_map_pts: 0.9275, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.1975, d4.loss_map_pts: 0.8980, d4.loss_map_dir: 0.0132, d5.loss_map_cls: 0.1970, d5.loss_map_pts: 0.8906, d5.loss_map_dir: 0.0132, loss: 37.1991, grad_norm: 169.0582 +2026-02-25 12:31:34,191 - DriveTransformer - INFO - Epoch [4][34800/39528] lr: 9.623e-05, eta: 7 days, 9:34:06, time: 0.858, data_time: 0.047, memory: 19865, loss_cls: 0.2812, loss_bbox: 0.4884, loss_traj: 0.8278, loss_traj_cls: 0.0014, loss_map_cls: 0.2145, loss_map_pts: 1.0160, loss_map_dir: 0.0150, d0.loss_plan_l1_fix_time: 2.8495, d0.loss_plan_l1_fix_dist: 0.4419, d1.loss_plan_l1_fix_time: 1.6426, d1.loss_plan_l1_fix_dist: 0.2497, d2.loss_plan_l1_fix_time: 1.6221, d2.loss_plan_l1_fix_dist: 0.2502, d3.loss_plan_l1_fix_time: 1.6235, d3.loss_plan_l1_fix_dist: 0.2626, d4.loss_plan_l1_fix_time: 1.6264, d4.loss_plan_l1_fix_dist: 0.2723, d5.loss_plan_l1_fix_time: 1.6303, d5.loss_plan_l1_fix_dist: 0.2881, d6.loss_plan_l1_fix_time: 1.6356, d6.loss_plan_l1_fix_dist: 0.3080, d0.loss_cls_all: 0.3018, d0.loss_bbox_all: 0.5329, d0.loss_cls: 0.3018, d0.loss_bbox: 0.5329, d1.loss_cls: 0.2943, d1.loss_bbox: 0.5056, d2.loss_cls: 0.2862, d2.loss_bbox: 0.4900, d3.loss_cls: 0.2836, d3.loss_bbox: 0.4855, d4.loss_cls: 0.2817, d4.loss_bbox: 0.4865, d5.loss_cls: 0.2817, d5.loss_bbox: 0.4856, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0481, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8764, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8206, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8130, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8123, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8178, d0.loss_map_cls_all: 0.2649, d0.loss_map_pts_all: 1.9191, d0.loss_map_dir_all: 0.0138, d0.loss_map_cls: 0.2649, d0.loss_map_pts: 1.9191, d0.loss_map_dir: 0.0138, d1.loss_map_cls: 0.2447, d1.loss_map_pts: 1.3190, d1.loss_map_dir: 0.0133, d2.loss_map_cls: 0.2317, d2.loss_map_pts: 1.1281, d2.loss_map_dir: 0.0138, d3.loss_map_cls: 0.2226, d3.loss_map_pts: 1.0547, d3.loss_map_dir: 0.0143, d4.loss_map_cls: 0.2188, d4.loss_map_pts: 1.0250, d4.loss_map_dir: 0.0147, d5.loss_map_cls: 0.2150, d5.loss_map_pts: 1.0165, d5.loss_map_dir: 0.0148, loss: 39.4337, grad_norm: 167.3306 +2026-02-25 12:32:14,050 - DriveTransformer - INFO - Epoch [4][34850/39528] lr: 9.623e-05, eta: 7 days, 9:33:24, time: 0.797, data_time: 0.040, memory: 19865, loss_cls: 0.2635, loss_bbox: 0.4707, loss_traj: 0.8178, loss_traj_cls: 0.0014, loss_map_cls: 0.2293, loss_map_pts: 0.9919, loss_map_dir: 0.0158, d0.loss_plan_l1_fix_time: 2.8044, d0.loss_plan_l1_fix_dist: 0.4423, d1.loss_plan_l1_fix_time: 1.5598, d1.loss_plan_l1_fix_dist: 0.2273, d2.loss_plan_l1_fix_time: 1.5429, d2.loss_plan_l1_fix_dist: 0.2319, d3.loss_plan_l1_fix_time: 1.5474, d3.loss_plan_l1_fix_dist: 0.2441, d4.loss_plan_l1_fix_time: 1.5524, d4.loss_plan_l1_fix_dist: 0.2518, d5.loss_plan_l1_fix_time: 1.5572, d5.loss_plan_l1_fix_dist: 0.2654, d6.loss_plan_l1_fix_time: 1.5626, d6.loss_plan_l1_fix_dist: 0.2881, d0.loss_cls_all: 0.2902, d0.loss_bbox_all: 0.5042, d0.loss_cls: 0.2902, d0.loss_bbox: 0.5042, d1.loss_cls: 0.2798, d1.loss_bbox: 0.4805, d2.loss_cls: 0.2691, d2.loss_bbox: 0.4675, d3.loss_cls: 0.2648, d3.loss_bbox: 0.4641, d4.loss_cls: 0.2621, d4.loss_bbox: 0.4638, d5.loss_cls: 0.2612, d5.loss_bbox: 0.4668, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0019, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8551, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8187, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8150, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8047, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8067, d0.loss_map_cls_all: 0.2918, d0.loss_map_pts_all: 1.9237, d0.loss_map_dir_all: 0.0153, d0.loss_map_cls: 0.2918, d0.loss_map_pts: 1.9237, d0.loss_map_dir: 0.0153, d1.loss_map_cls: 0.2634, d1.loss_map_pts: 1.3075, d1.loss_map_dir: 0.0146, d2.loss_map_cls: 0.2475, d2.loss_map_pts: 1.1132, d2.loss_map_dir: 0.0149, d3.loss_map_cls: 0.2372, d3.loss_map_pts: 1.0380, d3.loss_map_dir: 0.0154, d4.loss_map_cls: 0.2335, d4.loss_map_pts: 1.0031, d4.loss_map_dir: 0.0155, d5.loss_map_cls: 0.2307, d5.loss_map_pts: 0.9979, d5.loss_map_dir: 0.0157, loss: 38.4543, grad_norm: 168.5060 +2026-02-25 12:32:53,789 - DriveTransformer - INFO - Epoch [4][34900/39528] lr: 9.623e-05, eta: 7 days, 9:32:41, time: 0.795, data_time: 0.039, memory: 19865, loss_cls: 0.2646, loss_bbox: 0.4714, loss_traj: 0.8658, loss_traj_cls: 0.0014, loss_map_cls: 0.2356, loss_map_pts: 1.1007, loss_map_dir: 0.0138, d0.loss_plan_l1_fix_time: 2.3646, d0.loss_plan_l1_fix_dist: 0.4538, d1.loss_plan_l1_fix_time: 1.4447, d1.loss_plan_l1_fix_dist: 0.2227, d2.loss_plan_l1_fix_time: 1.4379, d2.loss_plan_l1_fix_dist: 0.2266, d3.loss_plan_l1_fix_time: 1.4443, d3.loss_plan_l1_fix_dist: 0.2382, d4.loss_plan_l1_fix_time: 1.4506, d4.loss_plan_l1_fix_dist: 0.2548, d5.loss_plan_l1_fix_time: 1.4556, d5.loss_plan_l1_fix_dist: 0.2677, d6.loss_plan_l1_fix_time: 1.4597, d6.loss_plan_l1_fix_dist: 0.2784, d0.loss_cls_all: 0.2977, d0.loss_bbox_all: 0.5118, d0.loss_cls: 0.2977, d0.loss_bbox: 0.5118, d1.loss_cls: 0.2911, d1.loss_bbox: 0.4859, d2.loss_cls: 0.2764, d2.loss_bbox: 0.4697, d3.loss_cls: 0.2712, d3.loss_bbox: 0.4638, d4.loss_cls: 0.2679, d4.loss_bbox: 0.4629, d5.loss_cls: 0.2653, d5.loss_bbox: 0.4664, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9999, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8926, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8508, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8522, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8539, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8564, d0.loss_map_cls_all: 0.2978, d0.loss_map_pts_all: 2.0019, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.2978, d0.loss_map_pts: 2.0019, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2701, d1.loss_map_pts: 1.4305, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2542, d2.loss_map_pts: 1.2307, d2.loss_map_dir: 0.0127, d3.loss_map_cls: 0.2412, d3.loss_map_pts: 1.1508, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2364, d4.loss_map_pts: 1.1157, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.2359, d5.loss_map_pts: 1.1038, d5.loss_map_dir: 0.0136, loss: 38.5634, grad_norm: 167.2934 +2026-02-25 12:33:34,941 - DriveTransformer - INFO - Epoch [4][34950/39528] lr: 9.623e-05, eta: 7 days, 9:32:06, time: 0.823, data_time: 0.046, memory: 19865, loss_cls: 0.2563, loss_bbox: 0.4457, loss_traj: 0.8487, loss_traj_cls: 0.0014, loss_map_cls: 0.2319, loss_map_pts: 1.0437, loss_map_dir: 0.0145, d0.loss_plan_l1_fix_time: 2.9083, d0.loss_plan_l1_fix_dist: 0.4495, d1.loss_plan_l1_fix_time: 1.3859, d1.loss_plan_l1_fix_dist: 0.2448, d2.loss_plan_l1_fix_time: 1.3851, d2.loss_plan_l1_fix_dist: 0.2571, d3.loss_plan_l1_fix_time: 1.3936, d3.loss_plan_l1_fix_dist: 0.2617, d4.loss_plan_l1_fix_time: 1.3988, d4.loss_plan_l1_fix_dist: 0.2716, d5.loss_plan_l1_fix_time: 1.4031, d5.loss_plan_l1_fix_dist: 0.2918, d6.loss_plan_l1_fix_time: 1.4071, d6.loss_plan_l1_fix_dist: 0.3123, d0.loss_cls_all: 0.2878, d0.loss_bbox_all: 0.4953, d0.loss_cls: 0.2878, d0.loss_bbox: 0.4953, d1.loss_cls: 0.2773, d1.loss_bbox: 0.4630, d2.loss_cls: 0.2638, d2.loss_bbox: 0.4480, d3.loss_cls: 0.2587, d3.loss_bbox: 0.4433, d4.loss_cls: 0.2554, d4.loss_bbox: 0.4420, d5.loss_cls: 0.2567, d5.loss_bbox: 0.4428, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0628, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9103, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8544, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8538, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8499, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8422, d0.loss_map_cls_all: 0.2955, d0.loss_map_pts_all: 1.9036, d0.loss_map_dir_all: 0.0134, d0.loss_map_cls: 0.2955, d0.loss_map_pts: 1.9036, d0.loss_map_dir: 0.0134, d1.loss_map_cls: 0.2669, d1.loss_map_pts: 1.3531, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2521, d2.loss_map_pts: 1.1603, d2.loss_map_dir: 0.0133, d3.loss_map_cls: 0.2385, d3.loss_map_pts: 1.0852, d3.loss_map_dir: 0.0138, d4.loss_map_cls: 0.2342, d4.loss_map_pts: 1.0558, d4.loss_map_dir: 0.0144, d5.loss_map_cls: 0.2323, d5.loss_map_pts: 1.0452, d5.loss_map_dir: 0.0145, loss: 38.1266, grad_norm: 166.8903 +2026-02-25 12:34:16,192 - DriveTransformer - INFO - Epoch [4][35000/39528] lr: 9.623e-05, eta: 7 days, 9:31:31, time: 0.825, data_time: 0.041, memory: 19865, loss_cls: 0.2338, loss_bbox: 0.4391, loss_traj: 0.7831, loss_traj_cls: 0.0014, loss_map_cls: 0.2482, loss_map_pts: 0.9702, loss_map_dir: 0.0131, d0.loss_plan_l1_fix_time: 2.4420, d0.loss_plan_l1_fix_dist: 0.4404, d1.loss_plan_l1_fix_time: 1.3220, d1.loss_plan_l1_fix_dist: 0.2311, d2.loss_plan_l1_fix_time: 1.3013, d2.loss_plan_l1_fix_dist: 0.2295, d3.loss_plan_l1_fix_time: 1.3016, d3.loss_plan_l1_fix_dist: 0.2408, d4.loss_plan_l1_fix_time: 1.3059, d4.loss_plan_l1_fix_dist: 0.2549, d5.loss_plan_l1_fix_time: 1.3112, d5.loss_plan_l1_fix_dist: 0.2666, d6.loss_plan_l1_fix_time: 1.3184, d6.loss_plan_l1_fix_dist: 0.2815, d0.loss_cls_all: 0.2600, d0.loss_bbox_all: 0.4845, d0.loss_cls: 0.2600, d0.loss_bbox: 0.4845, d1.loss_cls: 0.2513, d1.loss_bbox: 0.4515, d2.loss_cls: 0.2432, d2.loss_bbox: 0.4377, d3.loss_cls: 0.2370, d3.loss_bbox: 0.4327, d4.loss_cls: 0.2311, d4.loss_bbox: 0.4357, d5.loss_cls: 0.2325, d5.loss_bbox: 0.4367, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9950, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8352, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7932, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7897, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7812, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7799, d0.loss_map_cls_all: 0.3093, d0.loss_map_pts_all: 1.8702, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.3093, d0.loss_map_pts: 1.8702, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2825, d1.loss_map_pts: 1.2685, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2624, d2.loss_map_pts: 1.0774, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.2556, d3.loss_map_pts: 1.0059, d3.loss_map_dir: 0.0125, d4.loss_map_cls: 0.2509, d4.loss_map_pts: 0.9797, d4.loss_map_dir: 0.0128, d5.loss_map_cls: 0.2482, d5.loss_map_pts: 0.9709, d5.loss_map_dir: 0.0129, loss: 35.8422, grad_norm: 167.5700 +2026-02-25 12:34:56,349 - DriveTransformer - INFO - Epoch [4][35050/39528] lr: 9.623e-05, eta: 7 days, 9:30:51, time: 0.803, data_time: 0.042, memory: 19865, loss_cls: 0.2307, loss_bbox: 0.4469, loss_traj: 0.9048, loss_traj_cls: 0.0014, loss_map_cls: 0.2107, loss_map_pts: 0.8825, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.2715, d0.loss_plan_l1_fix_dist: 0.4094, d1.loss_plan_l1_fix_time: 1.3919, d1.loss_plan_l1_fix_dist: 0.2290, d2.loss_plan_l1_fix_time: 1.3814, d2.loss_plan_l1_fix_dist: 0.2216, d3.loss_plan_l1_fix_time: 1.3851, d3.loss_plan_l1_fix_dist: 0.2329, d4.loss_plan_l1_fix_time: 1.3910, d4.loss_plan_l1_fix_dist: 0.2493, d5.loss_plan_l1_fix_time: 1.3984, d5.loss_plan_l1_fix_dist: 0.2696, d6.loss_plan_l1_fix_time: 1.4075, d6.loss_plan_l1_fix_dist: 0.2946, d0.loss_cls_all: 0.2555, d0.loss_bbox_all: 0.5000, d0.loss_cls: 0.2555, d0.loss_bbox: 0.5000, d1.loss_cls: 0.2512, d1.loss_bbox: 0.4656, d2.loss_cls: 0.2407, d2.loss_bbox: 0.4492, d3.loss_cls: 0.2359, d3.loss_bbox: 0.4421, d4.loss_cls: 0.2341, d4.loss_bbox: 0.4398, d5.loss_cls: 0.2317, d5.loss_bbox: 0.4427, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1538, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9861, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9259, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9142, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9065, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9138, d0.loss_map_cls_all: 0.2812, d0.loss_map_pts_all: 1.6651, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2812, d0.loss_map_pts: 1.6651, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2508, d1.loss_map_pts: 1.1658, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.2356, d2.loss_map_pts: 0.9904, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.2212, d3.loss_map_pts: 0.9241, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.2152, d4.loss_map_pts: 0.9003, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.2115, d5.loss_map_pts: 0.8853, d5.loss_map_dir: 0.0110, loss: 35.9348, grad_norm: 164.7969 +2026-02-25 12:35:36,736 - DriveTransformer - INFO - Epoch [4][35100/39528] lr: 9.623e-05, eta: 7 days, 9:30:12, time: 0.808, data_time: 0.041, memory: 19865, loss_cls: 0.2526, loss_bbox: 0.4344, loss_traj: 0.7897, loss_traj_cls: 0.0014, loss_map_cls: 0.2099, loss_map_pts: 0.8952, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 2.6270, d0.loss_plan_l1_fix_dist: 0.3957, d1.loss_plan_l1_fix_time: 1.6186, d1.loss_plan_l1_fix_dist: 0.2349, d2.loss_plan_l1_fix_time: 1.6109, d2.loss_plan_l1_fix_dist: 0.2220, d3.loss_plan_l1_fix_time: 1.6105, d3.loss_plan_l1_fix_dist: 0.2320, d4.loss_plan_l1_fix_time: 1.6130, d4.loss_plan_l1_fix_dist: 0.2439, d5.loss_plan_l1_fix_time: 1.6158, d5.loss_plan_l1_fix_dist: 0.2550, d6.loss_plan_l1_fix_time: 1.6191, d6.loss_plan_l1_fix_dist: 0.2681, d0.loss_cls_all: 0.2778, d0.loss_bbox_all: 0.4843, d0.loss_cls: 0.2778, d0.loss_bbox: 0.4843, d1.loss_cls: 0.2693, d1.loss_bbox: 0.4553, d2.loss_cls: 0.2590, d2.loss_bbox: 0.4411, d3.loss_cls: 0.2570, d3.loss_bbox: 0.4332, d4.loss_cls: 0.2546, d4.loss_bbox: 0.4315, d5.loss_cls: 0.2524, d5.loss_bbox: 0.4336, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9978, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8486, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7969, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7869, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7883, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7895, d0.loss_map_cls_all: 0.2729, d0.loss_map_pts_all: 1.7205, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.2729, d0.loss_map_pts: 1.7205, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2424, d1.loss_map_pts: 1.1333, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2265, d2.loss_map_pts: 0.9718, d2.loss_map_dir: 0.0130, d3.loss_map_cls: 0.2161, d3.loss_map_pts: 0.9185, d3.loss_map_dir: 0.0136, d4.loss_map_cls: 0.2094, d4.loss_map_pts: 0.9022, d4.loss_map_dir: 0.0141, d5.loss_map_cls: 0.2088, d5.loss_map_pts: 0.8958, d5.loss_map_dir: 0.0143, loss: 36.7925, grad_norm: 162.8135 +2026-02-25 12:36:18,917 - DriveTransformer - INFO - Epoch [4][35150/39528] lr: 9.623e-05, eta: 7 days, 9:29:42, time: 0.844, data_time: 0.045, memory: 19865, loss_cls: 0.2466, loss_bbox: 0.4594, loss_traj: 0.8096, loss_traj_cls: 0.0013, loss_map_cls: 0.2580, loss_map_pts: 1.1002, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 2.4818, d0.loss_plan_l1_fix_dist: 0.3858, d1.loss_plan_l1_fix_time: 1.3103, d1.loss_plan_l1_fix_dist: 0.2428, d2.loss_plan_l1_fix_time: 1.3063, d2.loss_plan_l1_fix_dist: 0.2455, d3.loss_plan_l1_fix_time: 1.3101, d3.loss_plan_l1_fix_dist: 0.2725, d4.loss_plan_l1_fix_time: 1.3148, d4.loss_plan_l1_fix_dist: 0.2934, d5.loss_plan_l1_fix_time: 1.3190, d5.loss_plan_l1_fix_dist: 0.3145, d6.loss_plan_l1_fix_time: 1.3228, d6.loss_plan_l1_fix_dist: 0.3480, d0.loss_cls_all: 0.2788, d0.loss_bbox_all: 0.4965, d0.loss_cls: 0.2788, d0.loss_bbox: 0.4965, d1.loss_cls: 0.2670, d1.loss_bbox: 0.4677, d2.loss_cls: 0.2540, d2.loss_bbox: 0.4544, d3.loss_cls: 0.2497, d3.loss_bbox: 0.4495, d4.loss_cls: 0.2478, d4.loss_bbox: 0.4493, d5.loss_cls: 0.2461, d5.loss_bbox: 0.4542, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0416, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8755, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8420, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8328, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8169, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8215, d0.loss_map_cls_all: 0.3055, d0.loss_map_pts_all: 2.0345, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.3055, d0.loss_map_pts: 2.0345, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2827, d1.loss_map_pts: 1.4026, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2699, d2.loss_map_pts: 1.2038, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2633, d3.loss_map_pts: 1.1351, d3.loss_map_dir: 0.0136, d4.loss_map_cls: 0.2597, d4.loss_map_pts: 1.1128, d4.loss_map_dir: 0.0139, d5.loss_map_cls: 0.2584, d5.loss_map_pts: 1.1004, d5.loss_map_dir: 0.0142, loss: 37.7438, grad_norm: 165.5619 +2026-02-25 12:36:59,243 - DriveTransformer - INFO - Epoch [4][35200/39528] lr: 9.623e-05, eta: 7 days, 9:29:02, time: 0.806, data_time: 0.044, memory: 19865, loss_cls: 0.2504, loss_bbox: 0.4451, loss_traj: 0.8985, loss_traj_cls: 0.0013, loss_map_cls: 0.1971, loss_map_pts: 0.8529, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.7506, d0.loss_plan_l1_fix_dist: 0.3943, d1.loss_plan_l1_fix_time: 1.6289, d1.loss_plan_l1_fix_dist: 0.2333, d2.loss_plan_l1_fix_time: 1.6198, d2.loss_plan_l1_fix_dist: 0.2386, d3.loss_plan_l1_fix_time: 1.6165, d3.loss_plan_l1_fix_dist: 0.2596, d4.loss_plan_l1_fix_time: 1.6187, d4.loss_plan_l1_fix_dist: 0.2848, d5.loss_plan_l1_fix_time: 1.6213, d5.loss_plan_l1_fix_dist: 0.3101, d6.loss_plan_l1_fix_time: 1.6243, d6.loss_plan_l1_fix_dist: 0.3351, d0.loss_cls_all: 0.2773, d0.loss_bbox_all: 0.4777, d0.loss_cls: 0.2773, d0.loss_bbox: 0.4777, d1.loss_cls: 0.2681, d1.loss_bbox: 0.4482, d2.loss_cls: 0.2614, d2.loss_bbox: 0.4325, d3.loss_cls: 0.2566, d3.loss_bbox: 0.4295, d4.loss_cls: 0.2529, d4.loss_bbox: 0.4326, d5.loss_cls: 0.2497, d5.loss_bbox: 0.4398, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0916, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9341, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9037, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8984, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8966, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9020, d0.loss_map_cls_all: 0.2554, d0.loss_map_pts_all: 1.6715, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2554, d0.loss_map_pts: 1.6715, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2324, d1.loss_map_pts: 1.1186, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2175, d2.loss_map_pts: 0.9491, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2026, d3.loss_map_pts: 0.8898, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.1983, d4.loss_map_pts: 0.8674, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1982, d5.loss_map_pts: 0.8551, d5.loss_map_dir: 0.0121, loss: 37.4681, grad_norm: 163.7412 +2026-02-25 12:37:41,205 - DriveTransformer - INFO - Epoch [4][35250/39528] lr: 9.623e-05, eta: 7 days, 9:28:31, time: 0.839, data_time: 0.045, memory: 19865, loss_cls: 0.2406, loss_bbox: 0.4619, loss_traj: 0.8492, loss_traj_cls: 0.0013, loss_map_cls: 0.2089, loss_map_pts: 0.9885, loss_map_dir: 0.0150, d0.loss_plan_l1_fix_time: 2.4376, d0.loss_plan_l1_fix_dist: 0.4640, d1.loss_plan_l1_fix_time: 1.4792, d1.loss_plan_l1_fix_dist: 0.2587, d2.loss_plan_l1_fix_time: 1.4552, d2.loss_plan_l1_fix_dist: 0.2659, d3.loss_plan_l1_fix_time: 1.4541, d3.loss_plan_l1_fix_dist: 0.2924, d4.loss_plan_l1_fix_time: 1.4568, d4.loss_plan_l1_fix_dist: 0.3337, d5.loss_plan_l1_fix_time: 1.4609, d5.loss_plan_l1_fix_dist: 0.3783, d6.loss_plan_l1_fix_time: 1.4662, d6.loss_plan_l1_fix_dist: 0.4115, d0.loss_cls_all: 0.2718, d0.loss_bbox_all: 0.5169, d0.loss_cls: 0.2718, d0.loss_bbox: 0.5169, d1.loss_cls: 0.2553, d1.loss_bbox: 0.4863, d2.loss_cls: 0.2502, d2.loss_bbox: 0.4665, d3.loss_cls: 0.2445, d3.loss_bbox: 0.4606, d4.loss_cls: 0.2430, d4.loss_bbox: 0.4588, d5.loss_cls: 0.2425, d5.loss_bbox: 0.4605, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0757, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9143, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8749, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8580, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8412, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8501, d0.loss_map_cls_all: 0.2818, d0.loss_map_pts_all: 1.9341, d0.loss_map_dir_all: 0.0134, d0.loss_map_cls: 0.2818, d0.loss_map_pts: 1.9341, d0.loss_map_dir: 0.0134, d1.loss_map_cls: 0.2494, d1.loss_map_pts: 1.2755, d1.loss_map_dir: 0.0129, d2.loss_map_cls: 0.2297, d2.loss_map_pts: 1.0815, d2.loss_map_dir: 0.0136, d3.loss_map_cls: 0.2217, d3.loss_map_pts: 1.0204, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.2131, d4.loss_map_pts: 0.9983, d4.loss_map_dir: 0.0147, d5.loss_map_cls: 0.2098, d5.loss_map_pts: 0.9898, d5.loss_map_dir: 0.0148, loss: 37.9628, grad_norm: 161.9131 +2026-02-25 12:38:21,089 - DriveTransformer - INFO - Epoch [4][35300/39528] lr: 9.623e-05, eta: 7 days, 9:27:50, time: 0.798, data_time: 0.043, memory: 19865, loss_cls: 0.2433, loss_bbox: 0.4084, loss_traj: 0.6995, loss_traj_cls: 0.0013, loss_map_cls: 0.1893, loss_map_pts: 0.7977, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.5219, d0.loss_plan_l1_fix_dist: 0.5014, d1.loss_plan_l1_fix_time: 1.3237, d1.loss_plan_l1_fix_dist: 0.2215, d2.loss_plan_l1_fix_time: 1.2950, d2.loss_plan_l1_fix_dist: 0.2425, d3.loss_plan_l1_fix_time: 1.2958, d3.loss_plan_l1_fix_dist: 0.2651, d4.loss_plan_l1_fix_time: 1.2994, d4.loss_plan_l1_fix_dist: 0.2881, d5.loss_plan_l1_fix_time: 1.3040, d5.loss_plan_l1_fix_dist: 0.3174, d6.loss_plan_l1_fix_time: 1.3090, d6.loss_plan_l1_fix_dist: 0.3451, d0.loss_cls_all: 0.2700, d0.loss_bbox_all: 0.4490, d0.loss_cls: 0.2700, d0.loss_bbox: 0.4490, d1.loss_cls: 0.2625, d1.loss_bbox: 0.4233, d2.loss_cls: 0.2512, d2.loss_bbox: 0.4103, d3.loss_cls: 0.2481, d3.loss_bbox: 0.4049, d4.loss_cls: 0.2445, d4.loss_bbox: 0.4062, d5.loss_cls: 0.2439, d5.loss_bbox: 0.4073, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8314, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.7303, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7060, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7108, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6998, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6988, d0.loss_map_cls_all: 0.2409, d0.loss_map_pts_all: 1.6534, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2409, d0.loss_map_pts: 1.6534, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2190, d1.loss_map_pts: 1.0450, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2086, d2.loss_map_pts: 0.8725, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.1962, d3.loss_map_pts: 0.8244, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.1923, d4.loss_map_pts: 0.8046, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.1903, d5.loss_map_pts: 0.7995, d5.loss_map_dir: 0.0125, loss: 33.2284, grad_norm: 162.6768 +2026-02-25 12:39:03,173 - DriveTransformer - INFO - Epoch [4][35350/39528] lr: 9.623e-05, eta: 7 days, 9:27:19, time: 0.842, data_time: 0.039, memory: 19865, loss_cls: 0.2649, loss_bbox: 0.4671, loss_traj: 0.7361, loss_traj_cls: 0.0013, loss_map_cls: 0.2356, loss_map_pts: 1.0565, loss_map_dir: 0.0162, d0.loss_plan_l1_fix_time: 3.0109, d0.loss_plan_l1_fix_dist: 0.4615, d1.loss_plan_l1_fix_time: 1.5993, d1.loss_plan_l1_fix_dist: 0.2790, d2.loss_plan_l1_fix_time: 1.5904, d2.loss_plan_l1_fix_dist: 0.2926, d3.loss_plan_l1_fix_time: 1.5992, d3.loss_plan_l1_fix_dist: 0.3124, d4.loss_plan_l1_fix_time: 1.6042, d4.loss_plan_l1_fix_dist: 0.3332, d5.loss_plan_l1_fix_time: 1.6090, d5.loss_plan_l1_fix_dist: 0.3566, d6.loss_plan_l1_fix_time: 1.6143, d6.loss_plan_l1_fix_dist: 0.3921, d0.loss_cls_all: 0.2986, d0.loss_bbox_all: 0.5192, d0.loss_cls: 0.2986, d0.loss_bbox: 0.5192, d1.loss_cls: 0.2869, d1.loss_bbox: 0.4885, d2.loss_cls: 0.2753, d2.loss_bbox: 0.4746, d3.loss_cls: 0.2687, d3.loss_bbox: 0.4674, d4.loss_cls: 0.2655, d4.loss_bbox: 0.4662, d5.loss_cls: 0.2648, d5.loss_bbox: 0.4653, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9259, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.7827, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7364, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7351, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7297, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7336, d0.loss_map_cls_all: 0.2963, d0.loss_map_pts_all: 2.1018, d0.loss_map_dir_all: 0.0152, d0.loss_map_cls: 0.2963, d0.loss_map_pts: 2.1018, d0.loss_map_dir: 0.0152, d1.loss_map_cls: 0.2717, d1.loss_map_pts: 1.3626, d1.loss_map_dir: 0.0145, d2.loss_map_cls: 0.2560, d2.loss_map_pts: 1.1517, d2.loss_map_dir: 0.0148, d3.loss_map_cls: 0.2447, d3.loss_map_pts: 1.0867, d3.loss_map_dir: 0.0155, d4.loss_map_cls: 0.2390, d4.loss_map_pts: 1.0651, d4.loss_map_dir: 0.0158, d5.loss_map_cls: 0.2351, d5.loss_map_pts: 1.0588, d5.loss_map_dir: 0.0160, loss: 39.7144, grad_norm: 162.9810 +2026-02-25 12:39:43,639 - DriveTransformer - INFO - Epoch [4][35400/39528] lr: 9.623e-05, eta: 7 days, 9:26:41, time: 0.811, data_time: 0.048, memory: 19865, loss_cls: 0.2348, loss_bbox: 0.4253, loss_traj: 0.9479, loss_traj_cls: 0.0013, loss_map_cls: 0.1838, loss_map_pts: 0.7871, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.8544, d0.loss_plan_l1_fix_dist: 0.5217, d1.loss_plan_l1_fix_time: 1.6626, d1.loss_plan_l1_fix_dist: 0.2866, d2.loss_plan_l1_fix_time: 1.6543, d2.loss_plan_l1_fix_dist: 0.2929, d3.loss_plan_l1_fix_time: 1.6573, d3.loss_plan_l1_fix_dist: 0.3135, d4.loss_plan_l1_fix_time: 1.6606, d4.loss_plan_l1_fix_dist: 0.3387, d5.loss_plan_l1_fix_time: 1.6641, d5.loss_plan_l1_fix_dist: 0.3604, d6.loss_plan_l1_fix_time: 1.6690, d6.loss_plan_l1_fix_dist: 0.3876, d0.loss_cls_all: 0.2565, d0.loss_bbox_all: 0.4684, d0.loss_cls: 0.2565, d0.loss_bbox: 0.4684, d1.loss_cls: 0.2530, d1.loss_bbox: 0.4426, d2.loss_cls: 0.2442, d2.loss_bbox: 0.4328, d3.loss_cls: 0.2390, d3.loss_bbox: 0.4286, d4.loss_cls: 0.2367, d4.loss_bbox: 0.4256, d5.loss_cls: 0.2341, d5.loss_bbox: 0.4256, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1398, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0135, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9612, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9555, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9515, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9452, d0.loss_map_cls_all: 0.2355, d0.loss_map_pts_all: 1.4652, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2355, d0.loss_map_pts: 1.4652, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2091, d1.loss_map_pts: 0.9989, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1986, d2.loss_map_pts: 0.8639, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1889, d3.loss_map_pts: 0.8108, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1849, d4.loss_map_pts: 0.7956, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1848, d5.loss_map_pts: 0.7900, d5.loss_map_dir: 0.0110, loss: 37.3983, grad_norm: 163.7653 +2026-02-25 12:40:23,660 - DriveTransformer - INFO - Epoch [4][35450/39528] lr: 9.623e-05, eta: 7 days, 9:25:59, time: 0.799, data_time: 0.046, memory: 19865, loss_cls: 0.2314, loss_bbox: 0.4238, loss_traj: 0.8103, loss_traj_cls: 0.0013, loss_map_cls: 0.2289, loss_map_pts: 0.8985, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.6460, d0.loss_plan_l1_fix_dist: 0.4701, d1.loss_plan_l1_fix_time: 1.2225, d1.loss_plan_l1_fix_dist: 0.2215, d2.loss_plan_l1_fix_time: 1.2134, d2.loss_plan_l1_fix_dist: 0.2263, d3.loss_plan_l1_fix_time: 1.2169, d3.loss_plan_l1_fix_dist: 0.2445, d4.loss_plan_l1_fix_time: 1.2209, d4.loss_plan_l1_fix_dist: 0.2668, d5.loss_plan_l1_fix_time: 1.2245, d5.loss_plan_l1_fix_dist: 0.2925, d6.loss_plan_l1_fix_time: 1.2278, d6.loss_plan_l1_fix_dist: 0.3130, d0.loss_cls_all: 0.2548, d0.loss_bbox_all: 0.4742, d0.loss_cls: 0.2548, d0.loss_bbox: 0.4742, d1.loss_cls: 0.2521, d1.loss_bbox: 0.4421, d2.loss_cls: 0.2416, d2.loss_bbox: 0.4312, d3.loss_cls: 0.2388, d3.loss_bbox: 0.4254, d4.loss_cls: 0.2353, d4.loss_bbox: 0.4246, d5.loss_cls: 0.2328, d5.loss_bbox: 0.4234, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0169, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8544, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8148, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8083, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8126, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8136, d0.loss_map_cls_all: 0.2855, d0.loss_map_pts_all: 1.6966, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2855, d0.loss_map_pts: 1.6966, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2623, d1.loss_map_pts: 1.1733, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.2484, d2.loss_map_pts: 1.0024, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.2386, d3.loss_map_pts: 0.9337, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.2311, d4.loss_map_pts: 0.9105, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.2293, d5.loss_map_pts: 0.9019, d5.loss_map_dir: 0.0112, loss: 34.7135, grad_norm: 164.2206 +2026-02-25 12:41:04,886 - DriveTransformer - INFO - Epoch [4][35500/39528] lr: 9.623e-05, eta: 7 days, 9:25:25, time: 0.824, data_time: 0.043, memory: 19865, loss_cls: 0.2599, loss_bbox: 0.4368, loss_traj: 0.7545, loss_traj_cls: 0.0013, loss_map_cls: 0.2375, loss_map_pts: 0.9911, loss_map_dir: 0.0143, d0.loss_plan_l1_fix_time: 2.5044, d0.loss_plan_l1_fix_dist: 0.4358, d1.loss_plan_l1_fix_time: 1.3849, d1.loss_plan_l1_fix_dist: 0.2407, d2.loss_plan_l1_fix_time: 1.3681, d2.loss_plan_l1_fix_dist: 0.2380, d3.loss_plan_l1_fix_time: 1.3696, d3.loss_plan_l1_fix_dist: 0.2554, d4.loss_plan_l1_fix_time: 1.3726, d4.loss_plan_l1_fix_dist: 0.2758, d5.loss_plan_l1_fix_time: 1.3760, d5.loss_plan_l1_fix_dist: 0.2986, d6.loss_plan_l1_fix_time: 1.3793, d6.loss_plan_l1_fix_dist: 0.3219, d0.loss_cls_all: 0.2834, d0.loss_bbox_all: 0.4984, d0.loss_cls: 0.2834, d0.loss_bbox: 0.4984, d1.loss_cls: 0.2772, d1.loss_bbox: 0.4671, d2.loss_cls: 0.2661, d2.loss_bbox: 0.4518, d3.loss_cls: 0.2616, d3.loss_bbox: 0.4430, d4.loss_cls: 0.2576, d4.loss_bbox: 0.4405, d5.loss_cls: 0.2575, d5.loss_bbox: 0.4388, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9395, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8112, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7761, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7613, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7563, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7526, d0.loss_map_cls_all: 0.2905, d0.loss_map_pts_all: 1.9068, d0.loss_map_dir_all: 0.0132, d0.loss_map_cls: 0.2905, d0.loss_map_pts: 1.9068, d0.loss_map_dir: 0.0132, d1.loss_map_cls: 0.2677, d1.loss_map_pts: 1.2858, d1.loss_map_dir: 0.0125, d2.loss_map_cls: 0.2534, d2.loss_map_pts: 1.1070, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2420, d3.loss_map_pts: 1.0370, d3.loss_map_dir: 0.0134, d4.loss_map_cls: 0.2383, d4.loss_map_pts: 1.0060, d4.loss_map_dir: 0.0139, d5.loss_map_cls: 0.2377, d5.loss_map_pts: 0.9942, d5.loss_map_dir: 0.0142, loss: 36.6010, grad_norm: 161.6278 +2026-02-25 12:41:45,216 - DriveTransformer - INFO - Epoch [4][35550/39528] lr: 9.623e-05, eta: 7 days, 9:24:45, time: 0.807, data_time: 0.045, memory: 19865, loss_cls: 0.2609, loss_bbox: 0.4638, loss_traj: 0.9744, loss_traj_cls: 0.0014, loss_map_cls: 0.2373, loss_map_pts: 0.9295, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.5968, d0.loss_plan_l1_fix_dist: 0.4419, d1.loss_plan_l1_fix_time: 1.3996, d1.loss_plan_l1_fix_dist: 0.2327, d2.loss_plan_l1_fix_time: 1.3807, d2.loss_plan_l1_fix_dist: 0.2326, d3.loss_plan_l1_fix_time: 1.3781, d3.loss_plan_l1_fix_dist: 0.2578, d4.loss_plan_l1_fix_time: 1.3795, d4.loss_plan_l1_fix_dist: 0.2827, d5.loss_plan_l1_fix_time: 1.3819, d5.loss_plan_l1_fix_dist: 0.3031, d6.loss_plan_l1_fix_time: 1.3851, d6.loss_plan_l1_fix_dist: 0.3308, d0.loss_cls_all: 0.2811, d0.loss_bbox_all: 0.5087, d0.loss_cls: 0.2811, d0.loss_bbox: 0.5087, d1.loss_cls: 0.2728, d1.loss_bbox: 0.4804, d2.loss_cls: 0.2661, d2.loss_bbox: 0.4639, d3.loss_cls: 0.2643, d3.loss_bbox: 0.4582, d4.loss_cls: 0.2596, d4.loss_bbox: 0.4587, d5.loss_cls: 0.2593, d5.loss_bbox: 0.4610, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1949, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0463, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9798, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9611, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9634, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9672, d0.loss_map_cls_all: 0.2839, d0.loss_map_pts_all: 1.6715, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2839, d0.loss_map_pts: 1.6715, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2642, d1.loss_map_pts: 1.1750, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2518, d2.loss_map_pts: 1.0216, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2432, d3.loss_map_pts: 0.9645, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.2396, d4.loss_map_pts: 0.9412, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.2373, d5.loss_map_pts: 0.9325, d5.loss_map_dir: 0.0120, loss: 37.4659, grad_norm: 161.3524 +2026-02-25 12:42:26,928 - DriveTransformer - INFO - Epoch [4][35600/39528] lr: 9.623e-05, eta: 7 days, 9:24:13, time: 0.834, data_time: 0.044, memory: 19865, loss_cls: 0.2739, loss_bbox: 0.4544, loss_traj: 0.8425, loss_traj_cls: 0.0013, loss_map_cls: 0.2425, loss_map_pts: 1.1089, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.7292, d0.loss_plan_l1_fix_dist: 0.4059, d1.loss_plan_l1_fix_time: 1.6356, d1.loss_plan_l1_fix_dist: 0.2473, d2.loss_plan_l1_fix_time: 1.6241, d2.loss_plan_l1_fix_dist: 0.2527, d3.loss_plan_l1_fix_time: 1.6282, d3.loss_plan_l1_fix_dist: 0.2729, d4.loss_plan_l1_fix_time: 1.6319, d4.loss_plan_l1_fix_dist: 0.2973, d5.loss_plan_l1_fix_time: 1.6356, d5.loss_plan_l1_fix_dist: 0.3267, d6.loss_plan_l1_fix_time: 1.6393, d6.loss_plan_l1_fix_dist: 0.3589, d0.loss_cls_all: 0.3056, d0.loss_bbox_all: 0.5082, d0.loss_cls: 0.3056, d0.loss_bbox: 0.5082, d1.loss_cls: 0.2973, d1.loss_bbox: 0.4741, d2.loss_cls: 0.2849, d2.loss_bbox: 0.4589, d3.loss_cls: 0.2827, d3.loss_bbox: 0.4525, d4.loss_cls: 0.2784, d4.loss_bbox: 0.4499, d5.loss_cls: 0.2744, d5.loss_bbox: 0.4520, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0228, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9046, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8592, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8441, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8398, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8395, d0.loss_map_cls_all: 0.3016, d0.loss_map_pts_all: 2.0561, d0.loss_map_dir_all: 0.0144, d0.loss_map_cls: 0.3016, d0.loss_map_pts: 2.0561, d0.loss_map_dir: 0.0144, d1.loss_map_cls: 0.2791, d1.loss_map_pts: 1.3981, d1.loss_map_dir: 0.0135, d2.loss_map_cls: 0.2617, d2.loss_map_pts: 1.2032, d2.loss_map_dir: 0.0138, d3.loss_map_cls: 0.2494, d3.loss_map_pts: 1.1367, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2442, d4.loss_map_pts: 1.1136, d4.loss_map_dir: 0.0147, d5.loss_map_cls: 0.2430, d5.loss_map_pts: 1.1095, d5.loss_map_dir: 0.0149, loss: 40.3263, grad_norm: 161.1935 +2026-02-25 12:43:06,471 - DriveTransformer - INFO - Epoch [4][35650/39528] lr: 9.623e-05, eta: 7 days, 9:23:29, time: 0.791, data_time: 0.044, memory: 19865, loss_cls: 0.2533, loss_bbox: 0.4505, loss_traj: 0.9247, loss_traj_cls: 0.0013, loss_map_cls: 0.2258, loss_map_pts: 0.9698, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 3.3296, d0.loss_plan_l1_fix_dist: 0.4071, d1.loss_plan_l1_fix_time: 1.7481, d1.loss_plan_l1_fix_dist: 0.2419, d2.loss_plan_l1_fix_time: 1.7074, d2.loss_plan_l1_fix_dist: 0.2504, d3.loss_plan_l1_fix_time: 1.6997, d3.loss_plan_l1_fix_dist: 0.2722, d4.loss_plan_l1_fix_time: 1.7005, d4.loss_plan_l1_fix_dist: 0.2985, d5.loss_plan_l1_fix_time: 1.7026, d5.loss_plan_l1_fix_dist: 0.3278, d6.loss_plan_l1_fix_time: 1.7053, d6.loss_plan_l1_fix_dist: 0.3597, d0.loss_cls_all: 0.2784, d0.loss_bbox_all: 0.5124, d0.loss_cls: 0.2784, d0.loss_bbox: 0.5124, d1.loss_cls: 0.2710, d1.loss_bbox: 0.4816, d2.loss_cls: 0.2613, d2.loss_bbox: 0.4653, d3.loss_cls: 0.2595, d3.loss_bbox: 0.4552, d4.loss_cls: 0.2563, d4.loss_bbox: 0.4491, d5.loss_cls: 0.2536, d5.loss_bbox: 0.4497, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1649, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9831, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9421, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9262, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9227, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9222, d0.loss_map_cls_all: 0.2987, d0.loss_map_pts_all: 1.7046, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2987, d0.loss_map_pts: 1.7046, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2633, d1.loss_map_pts: 1.2040, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2438, d2.loss_map_pts: 1.0390, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.2321, d3.loss_map_pts: 0.9880, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.2265, d4.loss_map_pts: 0.9728, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.2252, d5.loss_map_pts: 0.9717, d5.loss_map_dir: 0.0115, loss: 40.0890, grad_norm: 160.3889 +2026-02-25 12:43:46,310 - DriveTransformer - INFO - Epoch [4][35700/39528] lr: 9.623e-05, eta: 7 days, 9:22:47, time: 0.797, data_time: 0.043, memory: 19865, loss_cls: 0.2390, loss_bbox: 0.4303, loss_traj: 0.9534, loss_traj_cls: 0.0013, loss_map_cls: 0.2151, loss_map_pts: 0.9180, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.9593, d0.loss_plan_l1_fix_dist: 0.4489, d1.loss_plan_l1_fix_time: 1.4365, d1.loss_plan_l1_fix_dist: 0.2376, d2.loss_plan_l1_fix_time: 1.4262, d2.loss_plan_l1_fix_dist: 0.2635, d3.loss_plan_l1_fix_time: 1.4268, d3.loss_plan_l1_fix_dist: 0.2931, d4.loss_plan_l1_fix_time: 1.4294, d4.loss_plan_l1_fix_dist: 0.3222, d5.loss_plan_l1_fix_time: 1.4330, d5.loss_plan_l1_fix_dist: 0.3521, d6.loss_plan_l1_fix_time: 1.4376, d6.loss_plan_l1_fix_dist: 0.3879, d0.loss_cls_all: 0.2612, d0.loss_bbox_all: 0.4802, d0.loss_cls: 0.2612, d0.loss_bbox: 0.4802, d1.loss_cls: 0.2542, d1.loss_bbox: 0.4524, d2.loss_cls: 0.2477, d2.loss_bbox: 0.4385, d3.loss_cls: 0.2414, d3.loss_bbox: 0.4332, d4.loss_cls: 0.2385, d4.loss_bbox: 0.4289, d5.loss_cls: 0.2376, d5.loss_bbox: 0.4285, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1893, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.0196, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9755, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9562, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9469, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9506, d0.loss_map_cls_all: 0.2742, d0.loss_map_pts_all: 1.7930, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2742, d0.loss_map_pts: 1.7930, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2522, d1.loss_map_pts: 1.2033, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2334, d2.loss_map_pts: 1.0263, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2237, d3.loss_map_pts: 0.9573, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.2173, d4.loss_map_pts: 0.9309, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.2157, d5.loss_map_pts: 0.9207, d5.loss_map_dir: 0.0115, loss: 37.9412, grad_norm: 157.2619 +2026-02-25 12:44:28,008 - DriveTransformer - INFO - Epoch [4][35750/39528] lr: 9.623e-05, eta: 7 days, 9:22:15, time: 0.834, data_time: 0.043, memory: 19865, loss_cls: 0.2471, loss_bbox: 0.4447, loss_traj: 0.8603, loss_traj_cls: 0.0012, loss_map_cls: 0.2110, loss_map_pts: 1.0063, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 2.6903, d0.loss_plan_l1_fix_dist: 0.4688, d1.loss_plan_l1_fix_time: 1.4095, d1.loss_plan_l1_fix_dist: 0.2616, d2.loss_plan_l1_fix_time: 1.3969, d2.loss_plan_l1_fix_dist: 0.2919, d3.loss_plan_l1_fix_time: 1.3981, d3.loss_plan_l1_fix_dist: 0.3230, d4.loss_plan_l1_fix_time: 1.4021, d4.loss_plan_l1_fix_dist: 0.3572, d5.loss_plan_l1_fix_time: 1.4068, d5.loss_plan_l1_fix_dist: 0.3924, d6.loss_plan_l1_fix_time: 1.4120, d6.loss_plan_l1_fix_dist: 0.4277, d0.loss_cls_all: 0.2728, d0.loss_bbox_all: 0.4922, d0.loss_cls: 0.2728, d0.loss_bbox: 0.4922, d1.loss_cls: 0.2632, d1.loss_bbox: 0.4604, d2.loss_cls: 0.2552, d2.loss_bbox: 0.4451, d3.loss_cls: 0.2513, d3.loss_bbox: 0.4410, d4.loss_cls: 0.2464, d4.loss_bbox: 0.4396, d5.loss_cls: 0.2472, d5.loss_bbox: 0.4407, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0057, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9014, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8669, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8608, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8552, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8560, d0.loss_map_cls_all: 0.2786, d0.loss_map_pts_all: 1.9345, d0.loss_map_dir_all: 0.0136, d0.loss_map_cls: 0.2786, d0.loss_map_pts: 1.9345, d0.loss_map_dir: 0.0136, d1.loss_map_cls: 0.2497, d1.loss_map_pts: 1.2786, d1.loss_map_dir: 0.0130, d2.loss_map_cls: 0.2311, d2.loss_map_pts: 1.0948, d2.loss_map_dir: 0.0131, d3.loss_map_cls: 0.2200, d3.loss_map_pts: 1.0310, d3.loss_map_dir: 0.0137, d4.loss_map_cls: 0.2128, d4.loss_map_pts: 1.0142, d4.loss_map_dir: 0.0141, d5.loss_map_cls: 0.2107, d5.loss_map_pts: 1.0072, d5.loss_map_dir: 0.0143, loss: 37.8668, grad_norm: 159.8451 +2026-02-25 12:45:09,388 - DriveTransformer - INFO - Epoch [4][35800/39528] lr: 9.623e-05, eta: 7 days, 9:21:41, time: 0.828, data_time: 0.049, memory: 19865, loss_cls: 0.2559, loss_bbox: 0.4389, loss_traj: 0.8571, loss_traj_cls: 0.0012, loss_map_cls: 0.2007, loss_map_pts: 0.9493, loss_map_dir: 0.0145, d0.loss_plan_l1_fix_time: 2.6768, d0.loss_plan_l1_fix_dist: 0.4312, d1.loss_plan_l1_fix_time: 1.3415, d1.loss_plan_l1_fix_dist: 0.2397, d2.loss_plan_l1_fix_time: 1.3269, d2.loss_plan_l1_fix_dist: 0.2468, d3.loss_plan_l1_fix_time: 1.3243, d3.loss_plan_l1_fix_dist: 0.2655, d4.loss_plan_l1_fix_time: 1.3262, d4.loss_plan_l1_fix_dist: 0.2859, d5.loss_plan_l1_fix_time: 1.3289, d5.loss_plan_l1_fix_dist: 0.3077, d6.loss_plan_l1_fix_time: 1.3322, d6.loss_plan_l1_fix_dist: 0.3341, d0.loss_cls_all: 0.2716, d0.loss_bbox_all: 0.4893, d0.loss_cls: 0.2716, d0.loss_bbox: 0.4893, d1.loss_cls: 0.2620, d1.loss_bbox: 0.4578, d2.loss_cls: 0.2597, d2.loss_bbox: 0.4448, d3.loss_cls: 0.2562, d3.loss_bbox: 0.4388, d4.loss_cls: 0.2539, d4.loss_bbox: 0.4375, d5.loss_cls: 0.2529, d5.loss_bbox: 0.4381, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0328, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8981, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8690, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8517, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8459, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8525, d0.loss_map_cls_all: 0.2611, d0.loss_map_pts_all: 1.8225, d0.loss_map_dir_all: 0.0130, d0.loss_map_cls: 0.2611, d0.loss_map_pts: 1.8225, d0.loss_map_dir: 0.0130, d1.loss_map_cls: 0.2314, d1.loss_map_pts: 1.1869, d1.loss_map_dir: 0.0126, d2.loss_map_cls: 0.2144, d2.loss_map_pts: 1.0234, d2.loss_map_dir: 0.0131, d3.loss_map_cls: 0.2061, d3.loss_map_pts: 0.9712, d3.loss_map_dir: 0.0137, d4.loss_map_cls: 0.2034, d4.loss_map_pts: 0.9588, d4.loss_map_dir: 0.0143, d5.loss_map_cls: 0.2008, d5.loss_map_pts: 0.9518, d5.loss_map_dir: 0.0144, loss: 36.2738, grad_norm: 159.5012 +2026-02-25 12:45:49,039 - DriveTransformer - INFO - Epoch [4][35850/39528] lr: 9.623e-05, eta: 7 days, 9:20:58, time: 0.793, data_time: 0.043, memory: 19865, loss_cls: 0.2590, loss_bbox: 0.4466, loss_traj: 1.0323, loss_traj_cls: 0.0012, loss_map_cls: 0.2378, loss_map_pts: 0.9434, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.8238, d0.loss_plan_l1_fix_dist: 0.4567, d1.loss_plan_l1_fix_time: 1.7844, d1.loss_plan_l1_fix_dist: 0.2563, d2.loss_plan_l1_fix_time: 1.7802, d2.loss_plan_l1_fix_dist: 0.2643, d3.loss_plan_l1_fix_time: 1.7872, d3.loss_plan_l1_fix_dist: 0.2941, d4.loss_plan_l1_fix_time: 1.7928, d4.loss_plan_l1_fix_dist: 0.3257, d5.loss_plan_l1_fix_time: 1.7983, d5.loss_plan_l1_fix_dist: 0.3566, d6.loss_plan_l1_fix_time: 1.8044, d6.loss_plan_l1_fix_dist: 0.3882, d0.loss_cls_all: 0.2799, d0.loss_bbox_all: 0.5152, d0.loss_cls: 0.2799, d0.loss_bbox: 0.5152, d1.loss_cls: 0.2714, d1.loss_bbox: 0.4782, d2.loss_cls: 0.2656, d2.loss_bbox: 0.4582, d3.loss_cls: 0.2624, d3.loss_bbox: 0.4504, d4.loss_cls: 0.2598, d4.loss_bbox: 0.4458, d5.loss_cls: 0.2606, d5.loss_bbox: 0.4446, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2565, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0888, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0482, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0518, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0386, d5.loss_traj_cls: 0.0011, d5.loss_traj: 1.0334, d0.loss_map_cls_all: 0.3044, d0.loss_map_pts_all: 1.7125, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.3044, d0.loss_map_pts: 1.7125, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2766, d1.loss_map_pts: 1.2009, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2604, d2.loss_map_pts: 1.0332, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.2458, d3.loss_map_pts: 0.9820, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.2433, d4.loss_map_pts: 0.9593, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.2375, d5.loss_map_pts: 0.9474, d5.loss_map_dir: 0.0115, loss: 41.0504, grad_norm: 159.8729 +2026-02-25 12:46:30,620 - DriveTransformer - INFO - Epoch [4][35900/39528] lr: 9.623e-05, eta: 7 days, 9:20:25, time: 0.832, data_time: 0.053, memory: 19865, loss_cls: 0.2589, loss_bbox: 0.4548, loss_traj: 0.8322, loss_traj_cls: 0.0012, loss_map_cls: 0.2476, loss_map_pts: 1.0529, loss_map_dir: 0.0160, d0.loss_plan_l1_fix_time: 2.8089, d0.loss_plan_l1_fix_dist: 0.4183, d1.loss_plan_l1_fix_time: 1.4943, d1.loss_plan_l1_fix_dist: 0.2349, d2.loss_plan_l1_fix_time: 1.4781, d2.loss_plan_l1_fix_dist: 0.2417, d3.loss_plan_l1_fix_time: 1.4833, d3.loss_plan_l1_fix_dist: 0.2616, d4.loss_plan_l1_fix_time: 1.4876, d4.loss_plan_l1_fix_dist: 0.2851, d5.loss_plan_l1_fix_time: 1.4919, d5.loss_plan_l1_fix_dist: 0.3112, d6.loss_plan_l1_fix_time: 1.4968, d6.loss_plan_l1_fix_dist: 0.3332, d0.loss_cls_all: 0.2891, d0.loss_bbox_all: 0.5122, d0.loss_cls: 0.2891, d0.loss_bbox: 0.5122, d1.loss_cls: 0.2828, d1.loss_bbox: 0.4809, d2.loss_cls: 0.2708, d2.loss_bbox: 0.4650, d3.loss_cls: 0.2676, d3.loss_bbox: 0.4561, d4.loss_cls: 0.2608, d4.loss_bbox: 0.4537, d5.loss_cls: 0.2584, d5.loss_bbox: 0.4534, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0247, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8751, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8469, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8397, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8310, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8299, d0.loss_map_cls_all: 0.3264, d0.loss_map_pts_all: 1.9995, d0.loss_map_dir_all: 0.0139, d0.loss_map_cls: 0.3264, d0.loss_map_pts: 1.9995, d0.loss_map_dir: 0.0139, d1.loss_map_cls: 0.2949, d1.loss_map_pts: 1.3593, d1.loss_map_dir: 0.0137, d2.loss_map_cls: 0.2758, d2.loss_map_pts: 1.1605, d2.loss_map_dir: 0.0143, d3.loss_map_cls: 0.2618, d3.loss_map_pts: 1.0905, d3.loss_map_dir: 0.0151, d4.loss_map_cls: 0.2525, d4.loss_map_pts: 1.0658, d4.loss_map_dir: 0.0156, d5.loss_map_cls: 0.2484, d5.loss_map_pts: 1.0565, d5.loss_map_dir: 0.0158, loss: 39.0157, grad_norm: 159.6412 +2026-02-25 12:47:12,352 - DriveTransformer - INFO - Epoch [4][35950/39528] lr: 9.623e-05, eta: 7 days, 9:19:52, time: 0.835, data_time: 0.043, memory: 19865, loss_cls: 0.2811, loss_bbox: 0.4749, loss_traj: 0.8450, loss_traj_cls: 0.0012, loss_map_cls: 0.2287, loss_map_pts: 0.9481, loss_map_dir: 0.0161, d0.loss_plan_l1_fix_time: 2.8931, d0.loss_plan_l1_fix_dist: 0.3646, d1.loss_plan_l1_fix_time: 1.6594, d1.loss_plan_l1_fix_dist: 0.2412, d2.loss_plan_l1_fix_time: 1.6514, d2.loss_plan_l1_fix_dist: 0.2551, d3.loss_plan_l1_fix_time: 1.6539, d3.loss_plan_l1_fix_dist: 0.2806, d4.loss_plan_l1_fix_time: 1.6577, d4.loss_plan_l1_fix_dist: 0.3134, d5.loss_plan_l1_fix_time: 1.6616, d5.loss_plan_l1_fix_dist: 0.3498, d6.loss_plan_l1_fix_time: 1.6658, d6.loss_plan_l1_fix_dist: 0.3890, d0.loss_cls_all: 0.3065, d0.loss_bbox_all: 0.5318, d0.loss_cls: 0.3065, d0.loss_bbox: 0.5318, d1.loss_cls: 0.2997, d1.loss_bbox: 0.5052, d2.loss_cls: 0.2885, d2.loss_bbox: 0.4883, d3.loss_cls: 0.2841, d3.loss_bbox: 0.4793, d4.loss_cls: 0.2804, d4.loss_bbox: 0.4754, d5.loss_cls: 0.2807, d5.loss_bbox: 0.4743, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0140, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8736, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8381, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8367, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8343, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8400, d0.loss_map_cls_all: 0.2914, d0.loss_map_pts_all: 1.9690, d0.loss_map_dir_all: 0.0152, d0.loss_map_cls: 0.2914, d0.loss_map_pts: 1.9690, d0.loss_map_dir: 0.0152, d1.loss_map_cls: 0.2627, d1.loss_map_pts: 1.2649, d1.loss_map_dir: 0.0144, d2.loss_map_cls: 0.2483, d2.loss_map_pts: 1.0553, d2.loss_map_dir: 0.0149, d3.loss_map_cls: 0.2363, d3.loss_map_pts: 0.9835, d3.loss_map_dir: 0.0155, d4.loss_map_cls: 0.2308, d4.loss_map_pts: 0.9627, d4.loss_map_dir: 0.0157, d5.loss_map_cls: 0.2292, d5.loss_map_pts: 0.9527, d5.loss_map_dir: 0.0159, loss: 39.6600, grad_norm: 161.9031 +2026-02-25 12:47:53,386 - DriveTransformer - INFO - Epoch [4][36000/39528] lr: 9.623e-05, eta: 7 days, 9:19:16, time: 0.821, data_time: 0.043, memory: 19865, loss_cls: 0.2490, loss_bbox: 0.4504, loss_traj: 0.9241, loss_traj_cls: 0.0013, loss_map_cls: 0.1680, loss_map_pts: 0.7582, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.3294, d0.loss_plan_l1_fix_dist: 0.4607, d1.loss_plan_l1_fix_time: 1.3389, d1.loss_plan_l1_fix_dist: 0.2642, d2.loss_plan_l1_fix_time: 1.3330, d2.loss_plan_l1_fix_dist: 0.2764, d3.loss_plan_l1_fix_time: 1.3304, d3.loss_plan_l1_fix_dist: 0.3009, d4.loss_plan_l1_fix_time: 1.3342, d4.loss_plan_l1_fix_dist: 0.3277, d5.loss_plan_l1_fix_time: 1.3390, d5.loss_plan_l1_fix_dist: 0.3620, d6.loss_plan_l1_fix_time: 1.3447, d6.loss_plan_l1_fix_dist: 0.4022, d0.loss_cls_all: 0.2722, d0.loss_bbox_all: 0.4877, d0.loss_cls: 0.2722, d0.loss_bbox: 0.4877, d1.loss_cls: 0.2635, d1.loss_bbox: 0.4624, d2.loss_cls: 0.2513, d2.loss_bbox: 0.4482, d3.loss_cls: 0.2493, d3.loss_bbox: 0.4448, d4.loss_cls: 0.2471, d4.loss_bbox: 0.4448, d5.loss_cls: 0.2466, d5.loss_bbox: 0.4478, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1276, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9756, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9359, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9307, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9239, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9224, d0.loss_map_cls_all: 0.2229, d0.loss_map_pts_all: 1.5848, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2229, d0.loss_map_pts: 1.5848, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.1907, d1.loss_map_pts: 1.0223, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1773, d2.loss_map_pts: 0.8508, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1700, d3.loss_map_pts: 0.7932, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1675, d4.loss_map_pts: 0.7686, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1681, d5.loss_map_pts: 0.7585, d5.loss_map_dir: 0.0116, loss: 34.9129, grad_norm: 161.7353 +2026-02-25 12:48:32,488 - DriveTransformer - INFO - Epoch [4][36050/39528] lr: 9.623e-05, eta: 7 days, 9:18:31, time: 0.782, data_time: 0.044, memory: 19865, loss_cls: 0.2414, loss_bbox: 0.4136, loss_traj: 1.1725, loss_traj_cls: 0.0013, loss_map_cls: 0.1963, loss_map_pts: 0.8216, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.5636, d0.loss_plan_l1_fix_dist: 0.4868, d1.loss_plan_l1_fix_time: 1.2531, d1.loss_plan_l1_fix_dist: 0.2479, d2.loss_plan_l1_fix_time: 1.2307, d2.loss_plan_l1_fix_dist: 0.2635, d3.loss_plan_l1_fix_time: 1.2333, d3.loss_plan_l1_fix_dist: 0.2949, d4.loss_plan_l1_fix_time: 1.2372, d4.loss_plan_l1_fix_dist: 0.3252, d5.loss_plan_l1_fix_time: 1.2423, d5.loss_plan_l1_fix_dist: 0.3527, d6.loss_plan_l1_fix_time: 1.2485, d6.loss_plan_l1_fix_dist: 0.3822, d0.loss_cls_all: 0.2670, d0.loss_bbox_all: 0.4678, d0.loss_cls: 0.2670, d0.loss_bbox: 0.4678, d1.loss_cls: 0.2617, d1.loss_bbox: 0.4364, d2.loss_cls: 0.2522, d2.loss_bbox: 0.4222, d3.loss_cls: 0.2473, d3.loss_bbox: 0.4150, d4.loss_cls: 0.2413, d4.loss_bbox: 0.4123, d5.loss_cls: 0.2407, d5.loss_bbox: 0.4122, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.4762, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.2514, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.1800, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.1641, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.1538, d5.loss_traj_cls: 0.0011, d5.loss_traj: 1.1720, d0.loss_map_cls_all: 0.2586, d0.loss_map_pts_all: 1.5085, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2586, d0.loss_map_pts: 1.5085, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2252, d1.loss_map_pts: 1.0444, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2101, d2.loss_map_pts: 0.9004, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1997, d3.loss_map_pts: 0.8484, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.1965, d4.loss_map_pts: 0.8270, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1949, d5.loss_map_pts: 0.8225, d5.loss_map_dir: 0.0118, loss: 36.5138, grad_norm: 163.6271 +2026-02-25 12:49:14,753 - DriveTransformer - INFO - Epoch [4][36100/39528] lr: 9.623e-05, eta: 7 days, 9:18:01, time: 0.845, data_time: 0.044, memory: 19865, loss_cls: 0.2313, loss_bbox: 0.4591, loss_traj: 0.8551, loss_traj_cls: 0.0013, loss_map_cls: 0.2357, loss_map_pts: 0.9781, loss_map_dir: 0.0150, d0.loss_plan_l1_fix_time: 2.8017, d0.loss_plan_l1_fix_dist: 0.4863, d1.loss_plan_l1_fix_time: 1.5584, d1.loss_plan_l1_fix_dist: 0.3041, d2.loss_plan_l1_fix_time: 1.5546, d2.loss_plan_l1_fix_dist: 0.3367, d3.loss_plan_l1_fix_time: 1.5664, d3.loss_plan_l1_fix_dist: 0.3813, d4.loss_plan_l1_fix_time: 1.5752, d4.loss_plan_l1_fix_dist: 0.4242, d5.loss_plan_l1_fix_time: 1.5834, d5.loss_plan_l1_fix_dist: 0.4621, d6.loss_plan_l1_fix_time: 1.5922, d6.loss_plan_l1_fix_dist: 0.5041, d0.loss_cls_all: 0.2624, d0.loss_bbox_all: 0.5048, d0.loss_cls: 0.2624, d0.loss_bbox: 0.5048, d1.loss_cls: 0.2559, d1.loss_bbox: 0.4742, d2.loss_cls: 0.2448, d2.loss_bbox: 0.4620, d3.loss_cls: 0.2397, d3.loss_bbox: 0.4561, d4.loss_cls: 0.2332, d4.loss_bbox: 0.4558, d5.loss_cls: 0.2312, d5.loss_bbox: 0.4570, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0922, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9337, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8704, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8613, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8544, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8520, d0.loss_map_cls_all: 0.2930, d0.loss_map_pts_all: 1.8792, d0.loss_map_dir_all: 0.0132, d0.loss_map_cls: 0.2930, d0.loss_map_pts: 1.8792, d0.loss_map_dir: 0.0132, d1.loss_map_cls: 0.2715, d1.loss_map_pts: 1.2394, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2571, d2.loss_map_pts: 1.0667, d2.loss_map_dir: 0.0133, d3.loss_map_cls: 0.2454, d3.loss_map_pts: 1.0025, d3.loss_map_dir: 0.0140, d4.loss_map_cls: 0.2379, d4.loss_map_pts: 0.9820, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.2361, d5.loss_map_pts: 0.9777, d5.loss_map_dir: 0.0149, loss: 39.3770, grad_norm: 163.9767 +2026-02-25 12:49:56,541 - DriveTransformer - INFO - Epoch [4][36150/39528] lr: 9.623e-05, eta: 7 days, 9:17:29, time: 0.836, data_time: 0.046, memory: 19865, loss_cls: 0.2504, loss_bbox: 0.4605, loss_traj: 0.9160, loss_traj_cls: 0.0013, loss_map_cls: 0.2267, loss_map_pts: 0.9206, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.8680, d0.loss_plan_l1_fix_dist: 0.4265, d1.loss_plan_l1_fix_time: 1.6668, d1.loss_plan_l1_fix_dist: 0.2320, d2.loss_plan_l1_fix_time: 1.6561, d2.loss_plan_l1_fix_dist: 0.2492, d3.loss_plan_l1_fix_time: 1.6611, d3.loss_plan_l1_fix_dist: 0.2726, d4.loss_plan_l1_fix_time: 1.6659, d4.loss_plan_l1_fix_dist: 0.2992, d5.loss_plan_l1_fix_time: 1.6704, d5.loss_plan_l1_fix_dist: 0.3253, d6.loss_plan_l1_fix_time: 1.6748, d6.loss_plan_l1_fix_dist: 0.3476, d0.loss_cls_all: 0.2813, d0.loss_bbox_all: 0.4957, d0.loss_cls: 0.2813, d0.loss_bbox: 0.4957, d1.loss_cls: 0.2761, d1.loss_bbox: 0.4698, d2.loss_cls: 0.2627, d2.loss_bbox: 0.4589, d3.loss_cls: 0.2539, d3.loss_bbox: 0.4577, d4.loss_cls: 0.2510, d4.loss_bbox: 0.4577, d5.loss_cls: 0.2501, d5.loss_bbox: 0.4595, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1204, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9648, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9245, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9169, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9161, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9116, d0.loss_map_cls_all: 0.2795, d0.loss_map_pts_all: 1.7856, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2795, d0.loss_map_pts: 1.7856, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2560, d1.loss_map_pts: 1.2078, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2417, d2.loss_map_pts: 1.0263, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2297, d3.loss_map_pts: 0.9575, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2235, d4.loss_map_pts: 0.9313, d4.loss_map_dir: 0.0126, d5.loss_map_cls: 0.2242, d5.loss_map_pts: 0.9227, d5.loss_map_dir: 0.0128, loss: 39.1515, grad_norm: 160.5598 +2026-02-25 12:50:36,439 - DriveTransformer - INFO - Epoch [4][36200/39528] lr: 9.623e-05, eta: 7 days, 9:16:48, time: 0.799, data_time: 0.040, memory: 19865, loss_cls: 0.2593, loss_bbox: 0.4575, loss_traj: 0.8635, loss_traj_cls: 0.0013, loss_map_cls: 0.2364, loss_map_pts: 0.9330, loss_map_dir: 0.0131, d0.loss_plan_l1_fix_time: 2.4104, d0.loss_plan_l1_fix_dist: 0.4400, d1.loss_plan_l1_fix_time: 1.3847, d1.loss_plan_l1_fix_dist: 0.2346, d2.loss_plan_l1_fix_time: 1.3810, d2.loss_plan_l1_fix_dist: 0.2499, d3.loss_plan_l1_fix_time: 1.3837, d3.loss_plan_l1_fix_dist: 0.2745, d4.loss_plan_l1_fix_time: 1.3883, d4.loss_plan_l1_fix_dist: 0.3057, d5.loss_plan_l1_fix_time: 1.3934, d5.loss_plan_l1_fix_dist: 0.3408, d6.loss_plan_l1_fix_time: 1.3981, d6.loss_plan_l1_fix_dist: 0.3692, d0.loss_cls_all: 0.2890, d0.loss_bbox_all: 0.5133, d0.loss_cls: 0.2890, d0.loss_bbox: 0.5133, d1.loss_cls: 0.2759, d1.loss_bbox: 0.4834, d2.loss_cls: 0.2643, d2.loss_bbox: 0.4649, d3.loss_cls: 0.2637, d3.loss_bbox: 0.4546, d4.loss_cls: 0.2610, d4.loss_bbox: 0.4545, d5.loss_cls: 0.2581, d5.loss_bbox: 0.4559, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0883, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9342, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8833, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8682, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8685, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8618, d0.loss_map_cls_all: 0.2920, d0.loss_map_pts_all: 1.8223, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2920, d0.loss_map_pts: 1.8223, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2682, d1.loss_map_pts: 1.2406, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2533, d2.loss_map_pts: 1.0436, d2.loss_map_dir: 0.0119, d3.loss_map_cls: 0.2422, d3.loss_map_pts: 0.9715, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.2357, d4.loss_map_pts: 0.9441, d4.loss_map_dir: 0.0128, d5.loss_map_cls: 0.2354, d5.loss_map_pts: 0.9353, d5.loss_map_dir: 0.0130, loss: 37.1531, grad_norm: 158.2973 +2026-02-25 12:51:17,612 - DriveTransformer - INFO - Epoch [4][36250/39528] lr: 9.623e-05, eta: 7 days, 9:16:12, time: 0.822, data_time: 0.049, memory: 19865, loss_cls: 0.2102, loss_bbox: 0.4094, loss_traj: 0.7825, loss_traj_cls: 0.0014, loss_map_cls: 0.1963, loss_map_pts: 0.8201, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.3846, d0.loss_plan_l1_fix_dist: 0.4750, d1.loss_plan_l1_fix_time: 1.3213, d1.loss_plan_l1_fix_dist: 0.2349, d2.loss_plan_l1_fix_time: 1.3050, d2.loss_plan_l1_fix_dist: 0.2496, d3.loss_plan_l1_fix_time: 1.3060, d3.loss_plan_l1_fix_dist: 0.2702, d4.loss_plan_l1_fix_time: 1.3109, d4.loss_plan_l1_fix_dist: 0.2932, d5.loss_plan_l1_fix_time: 1.3160, d5.loss_plan_l1_fix_dist: 0.3214, d6.loss_plan_l1_fix_time: 1.3212, d6.loss_plan_l1_fix_dist: 0.3601, d0.loss_cls_all: 0.2329, d0.loss_bbox_all: 0.4658, d0.loss_cls: 0.2329, d0.loss_bbox: 0.4658, d1.loss_cls: 0.2252, d1.loss_bbox: 0.4334, d2.loss_cls: 0.2155, d2.loss_bbox: 0.4178, d3.loss_cls: 0.2134, d3.loss_bbox: 0.4125, d4.loss_cls: 0.2103, d4.loss_bbox: 0.4093, d5.loss_cls: 0.2101, d5.loss_bbox: 0.4090, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0398, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8478, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7990, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7896, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7835, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7782, d0.loss_map_cls_all: 0.2442, d0.loss_map_pts_all: 1.6672, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2442, d0.loss_map_pts: 1.6672, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2283, d1.loss_map_pts: 1.0983, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2148, d2.loss_map_pts: 0.9258, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.2048, d3.loss_map_pts: 0.8576, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1996, d4.loss_map_pts: 0.8308, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1978, d5.loss_map_pts: 0.8218, d5.loss_map_dir: 0.0116, loss: 33.9779, grad_norm: 158.5962 +2026-02-25 12:51:58,398 - DriveTransformer - INFO - Epoch [4][36300/39528] lr: 9.623e-05, eta: 7 days, 9:15:35, time: 0.816, data_time: 0.040, memory: 19865, loss_cls: 0.2744, loss_bbox: 0.4807, loss_traj: 0.8375, loss_traj_cls: 0.0014, loss_map_cls: 0.2374, loss_map_pts: 1.0665, loss_map_dir: 0.0146, d0.loss_plan_l1_fix_time: 2.7018, d0.loss_plan_l1_fix_dist: 0.4105, d1.loss_plan_l1_fix_time: 1.5969, d1.loss_plan_l1_fix_dist: 0.2499, d2.loss_plan_l1_fix_time: 1.5820, d2.loss_plan_l1_fix_dist: 0.2636, d3.loss_plan_l1_fix_time: 1.5876, d3.loss_plan_l1_fix_dist: 0.2854, d4.loss_plan_l1_fix_time: 1.5923, d4.loss_plan_l1_fix_dist: 0.3096, d5.loss_plan_l1_fix_time: 1.5970, d5.loss_plan_l1_fix_dist: 0.3362, d6.loss_plan_l1_fix_time: 1.6023, d6.loss_plan_l1_fix_dist: 0.3657, d0.loss_cls_all: 0.3033, d0.loss_bbox_all: 0.5263, d0.loss_cls: 0.3033, d0.loss_bbox: 0.5263, d1.loss_cls: 0.2982, d1.loss_bbox: 0.4955, d2.loss_cls: 0.2876, d2.loss_bbox: 0.4829, d3.loss_cls: 0.2809, d3.loss_bbox: 0.4785, d4.loss_cls: 0.2749, d4.loss_bbox: 0.4773, d5.loss_cls: 0.2737, d5.loss_bbox: 0.4780, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0714, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8799, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8483, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8369, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8372, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8354, d0.loss_map_cls_all: 0.2847, d0.loss_map_pts_all: 1.8941, d0.loss_map_dir_all: 0.0136, d0.loss_map_cls: 0.2847, d0.loss_map_pts: 1.8941, d0.loss_map_dir: 0.0136, d1.loss_map_cls: 0.2631, d1.loss_map_pts: 1.3351, d1.loss_map_dir: 0.0130, d2.loss_map_cls: 0.2498, d2.loss_map_pts: 1.1637, d2.loss_map_dir: 0.0136, d3.loss_map_cls: 0.2426, d3.loss_map_pts: 1.1014, d3.loss_map_dir: 0.0140, d4.loss_map_cls: 0.2376, d4.loss_map_pts: 1.0760, d4.loss_map_dir: 0.0142, d5.loss_map_cls: 0.2386, d5.loss_map_pts: 1.0674, d5.loss_map_dir: 0.0145, loss: 39.6243, grad_norm: 157.8098 +2026-02-25 12:52:38,256 - DriveTransformer - INFO - Epoch [4][36350/39528] lr: 9.623e-05, eta: 7 days, 9:14:53, time: 0.797, data_time: 0.045, memory: 19865, loss_cls: 0.2549, loss_bbox: 0.4399, loss_traj: 0.7320, loss_traj_cls: 0.0014, loss_map_cls: 0.2513, loss_map_pts: 0.9712, loss_map_dir: 0.0145, d0.loss_plan_l1_fix_time: 2.9211, d0.loss_plan_l1_fix_dist: 0.4955, d1.loss_plan_l1_fix_time: 1.3377, d1.loss_plan_l1_fix_dist: 0.2103, d2.loss_plan_l1_fix_time: 1.3026, d2.loss_plan_l1_fix_dist: 0.2275, d3.loss_plan_l1_fix_time: 1.3050, d3.loss_plan_l1_fix_dist: 0.2567, d4.loss_plan_l1_fix_time: 1.3101, d4.loss_plan_l1_fix_dist: 0.2923, d5.loss_plan_l1_fix_time: 1.3164, d5.loss_plan_l1_fix_dist: 0.3229, d6.loss_plan_l1_fix_time: 1.3230, d6.loss_plan_l1_fix_dist: 0.3464, d0.loss_cls_all: 0.2828, d0.loss_bbox_all: 0.4936, d0.loss_cls: 0.2828, d0.loss_bbox: 0.4936, d1.loss_cls: 0.2766, d1.loss_bbox: 0.4618, d2.loss_cls: 0.2634, d2.loss_bbox: 0.4520, d3.loss_cls: 0.2567, d3.loss_bbox: 0.4431, d4.loss_cls: 0.2543, d4.loss_bbox: 0.4411, d5.loss_cls: 0.2545, d5.loss_bbox: 0.4404, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8809, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7803, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7424, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7340, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7287, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7318, d0.loss_map_cls_all: 0.3085, d0.loss_map_pts_all: 1.8569, d0.loss_map_dir_all: 0.0138, d0.loss_map_cls: 0.3085, d0.loss_map_pts: 1.8569, d0.loss_map_dir: 0.0138, d1.loss_map_cls: 0.2808, d1.loss_map_pts: 1.2668, d1.loss_map_dir: 0.0133, d2.loss_map_cls: 0.2648, d2.loss_map_pts: 1.0723, d2.loss_map_dir: 0.0135, d3.loss_map_cls: 0.2555, d3.loss_map_pts: 1.0088, d3.loss_map_dir: 0.0140, d4.loss_map_cls: 0.2533, d4.loss_map_pts: 0.9827, d4.loss_map_dir: 0.0143, d5.loss_map_cls: 0.2519, d5.loss_map_pts: 0.9731, d5.loss_map_dir: 0.0144, loss: 36.3707, grad_norm: 156.9039 +2026-02-25 12:53:18,595 - DriveTransformer - INFO - Epoch [4][36400/39528] lr: 9.623e-05, eta: 7 days, 9:14:13, time: 0.807, data_time: 0.040, memory: 19865, loss_cls: 0.2546, loss_bbox: 0.4448, loss_traj: 0.7211, loss_traj_cls: 0.0013, loss_map_cls: 0.2026, loss_map_pts: 0.9210, loss_map_dir: 0.0133, d0.loss_plan_l1_fix_time: 3.1774, d0.loss_plan_l1_fix_dist: 0.3966, d1.loss_plan_l1_fix_time: 1.6163, d1.loss_plan_l1_fix_dist: 0.2241, d2.loss_plan_l1_fix_time: 1.5876, d2.loss_plan_l1_fix_dist: 0.2277, d3.loss_plan_l1_fix_time: 1.5872, d3.loss_plan_l1_fix_dist: 0.2477, d4.loss_plan_l1_fix_time: 1.5905, d4.loss_plan_l1_fix_dist: 0.2723, d5.loss_plan_l1_fix_time: 1.5953, d5.loss_plan_l1_fix_dist: 0.2992, d6.loss_plan_l1_fix_time: 1.6006, d6.loss_plan_l1_fix_dist: 0.3276, d0.loss_cls_all: 0.2854, d0.loss_bbox_all: 0.4969, d0.loss_cls: 0.2854, d0.loss_bbox: 0.4969, d1.loss_cls: 0.2745, d1.loss_bbox: 0.4675, d2.loss_cls: 0.2663, d2.loss_bbox: 0.4510, d3.loss_cls: 0.2581, d3.loss_bbox: 0.4464, d4.loss_cls: 0.2542, d4.loss_bbox: 0.4454, d5.loss_cls: 0.2549, d5.loss_bbox: 0.4433, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9420, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.7751, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7333, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7295, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7170, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7215, d0.loss_map_cls_all: 0.2580, d0.loss_map_pts_all: 1.7024, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.2580, d0.loss_map_pts: 1.7024, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2370, d1.loss_map_pts: 1.1592, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2227, d2.loss_map_pts: 1.0008, d2.loss_map_dir: 0.0123, d3.loss_map_cls: 0.2125, d3.loss_map_pts: 0.9482, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.2060, d4.loss_map_pts: 0.9278, d4.loss_map_dir: 0.0131, d5.loss_map_cls: 0.2033, d5.loss_map_pts: 0.9217, d5.loss_map_dir: 0.0132, loss: 37.1071, grad_norm: 156.7396 +2026-02-25 12:54:00,000 - DriveTransformer - INFO - Epoch [4][36450/39528] lr: 9.623e-05, eta: 7 days, 9:13:39, time: 0.828, data_time: 0.043, memory: 19865, loss_cls: 0.2744, loss_bbox: 0.4712, loss_traj: 0.8635, loss_traj_cls: 0.0013, loss_map_cls: 0.2687, loss_map_pts: 1.1864, loss_map_dir: 0.0168, d0.loss_plan_l1_fix_time: 2.5770, d0.loss_plan_l1_fix_dist: 0.3736, d1.loss_plan_l1_fix_time: 1.5781, d1.loss_plan_l1_fix_dist: 0.2438, d2.loss_plan_l1_fix_time: 1.5641, d2.loss_plan_l1_fix_dist: 0.2471, d3.loss_plan_l1_fix_time: 1.5686, d3.loss_plan_l1_fix_dist: 0.2650, d4.loss_plan_l1_fix_time: 1.5727, d4.loss_plan_l1_fix_dist: 0.2857, d5.loss_plan_l1_fix_time: 1.5774, d5.loss_plan_l1_fix_dist: 0.3127, d6.loss_plan_l1_fix_time: 1.5830, d6.loss_plan_l1_fix_dist: 0.3479, d0.loss_cls_all: 0.3071, d0.loss_bbox_all: 0.5246, d0.loss_cls: 0.3071, d0.loss_bbox: 0.5246, d1.loss_cls: 0.2977, d1.loss_bbox: 0.4931, d2.loss_cls: 0.2855, d2.loss_bbox: 0.4765, d3.loss_cls: 0.2808, d3.loss_bbox: 0.4668, d4.loss_cls: 0.2777, d4.loss_bbox: 0.4665, d5.loss_cls: 0.2759, d5.loss_bbox: 0.4677, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0765, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9240, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8873, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8741, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8694, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8653, d0.loss_map_cls_all: 0.3287, d0.loss_map_pts_all: 2.1039, d0.loss_map_dir_all: 0.0153, d0.loss_map_cls: 0.3287, d0.loss_map_pts: 2.1039, d0.loss_map_dir: 0.0153, d1.loss_map_cls: 0.3068, d1.loss_map_pts: 1.5011, d1.loss_map_dir: 0.0146, d2.loss_map_cls: 0.2872, d2.loss_map_pts: 1.2925, d2.loss_map_dir: 0.0153, d3.loss_map_cls: 0.2744, d3.loss_map_pts: 1.2239, d3.loss_map_dir: 0.0160, d4.loss_map_cls: 0.2691, d4.loss_map_pts: 1.1954, d4.loss_map_dir: 0.0165, d5.loss_map_cls: 0.2677, d5.loss_map_pts: 1.1890, d5.loss_map_dir: 0.0167, loss: 40.9144, grad_norm: 156.4999 +2026-02-25 12:54:39,671 - DriveTransformer - INFO - Epoch [4][36500/39528] lr: 9.623e-05, eta: 7 days, 9:12:57, time: 0.793, data_time: 0.041, memory: 19865, loss_cls: 0.2484, loss_bbox: 0.4288, loss_traj: 0.9167, loss_traj_cls: 0.0013, loss_map_cls: 0.1829, loss_map_pts: 0.8596, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 3.3276, d0.loss_plan_l1_fix_dist: 0.4785, d1.loss_plan_l1_fix_time: 1.7307, d1.loss_plan_l1_fix_dist: 0.2420, d2.loss_plan_l1_fix_time: 1.7081, d2.loss_plan_l1_fix_dist: 0.2511, d3.loss_plan_l1_fix_time: 1.7094, d3.loss_plan_l1_fix_dist: 0.2686, d4.loss_plan_l1_fix_time: 1.7141, d4.loss_plan_l1_fix_dist: 0.2877, d5.loss_plan_l1_fix_time: 1.7196, d5.loss_plan_l1_fix_dist: 0.3086, d6.loss_plan_l1_fix_time: 1.7254, d6.loss_plan_l1_fix_dist: 0.3390, d0.loss_cls_all: 0.2771, d0.loss_bbox_all: 0.4781, d0.loss_cls: 0.2771, d0.loss_bbox: 0.4781, d1.loss_cls: 0.2713, d1.loss_bbox: 0.4497, d2.loss_cls: 0.2606, d2.loss_bbox: 0.4355, d3.loss_cls: 0.2547, d3.loss_bbox: 0.4280, d4.loss_cls: 0.2506, d4.loss_bbox: 0.4261, d5.loss_cls: 0.2480, d5.loss_bbox: 0.4277, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1481, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9837, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9202, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9137, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9110, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9103, d0.loss_map_cls_all: 0.2414, d0.loss_map_pts_all: 1.5382, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2414, d0.loss_map_pts: 1.5382, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2161, d1.loss_map_pts: 1.0753, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2020, d2.loss_map_pts: 0.9320, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1906, d3.loss_map_pts: 0.8850, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1866, d4.loss_map_pts: 0.8681, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1836, d5.loss_map_pts: 0.8607, d5.loss_map_dir: 0.0114, loss: 38.4502, grad_norm: 157.3641 +2026-02-25 12:55:21,570 - DriveTransformer - INFO - Epoch [4][36550/39528] lr: 9.623e-05, eta: 7 days, 9:12:25, time: 0.838, data_time: 0.045, memory: 19865, loss_cls: 0.2673, loss_bbox: 0.4567, loss_traj: 0.7796, loss_traj_cls: 0.0013, loss_map_cls: 0.2693, loss_map_pts: 1.0420, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.5628, d0.loss_plan_l1_fix_dist: 0.4382, d1.loss_plan_l1_fix_time: 1.3924, d1.loss_plan_l1_fix_dist: 0.2436, d2.loss_plan_l1_fix_time: 1.3931, d2.loss_plan_l1_fix_dist: 0.2504, d3.loss_plan_l1_fix_time: 1.4000, d3.loss_plan_l1_fix_dist: 0.2678, d4.loss_plan_l1_fix_time: 1.4056, d4.loss_plan_l1_fix_dist: 0.2895, d5.loss_plan_l1_fix_time: 1.4110, d5.loss_plan_l1_fix_dist: 0.3098, d6.loss_plan_l1_fix_time: 1.4165, d6.loss_plan_l1_fix_dist: 0.3273, d0.loss_cls_all: 0.2887, d0.loss_bbox_all: 0.5171, d0.loss_cls: 0.2887, d0.loss_bbox: 0.5171, d1.loss_cls: 0.2820, d1.loss_bbox: 0.4848, d2.loss_cls: 0.2748, d2.loss_bbox: 0.4654, d3.loss_cls: 0.2712, d3.loss_bbox: 0.4572, d4.loss_cls: 0.2673, d4.loss_bbox: 0.4563, d5.loss_cls: 0.2679, d5.loss_bbox: 0.4556, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9829, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8269, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7887, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7809, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7728, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7723, d0.loss_map_cls_all: 0.3282, d0.loss_map_pts_all: 1.8961, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.3282, d0.loss_map_pts: 1.8961, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2996, d1.loss_map_pts: 1.3350, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2867, d2.loss_map_pts: 1.1422, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.2793, d3.loss_map_pts: 1.0755, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2757, d4.loss_map_pts: 1.0514, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.2696, d5.loss_map_pts: 1.0432, d5.loss_map_dir: 0.0129, loss: 37.7518, grad_norm: 156.9468 +2026-02-25 12:56:02,306 - DriveTransformer - INFO - Epoch [4][36600/39528] lr: 9.623e-05, eta: 7 days, 9:11:48, time: 0.815, data_time: 0.041, memory: 19865, loss_cls: 0.2526, loss_bbox: 0.4588, loss_traj: 0.8388, loss_traj_cls: 0.0013, loss_map_cls: 0.2153, loss_map_pts: 0.8872, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.8498, d0.loss_plan_l1_fix_dist: 0.4191, d1.loss_plan_l1_fix_time: 1.3658, d1.loss_plan_l1_fix_dist: 0.2330, d2.loss_plan_l1_fix_time: 1.3428, d2.loss_plan_l1_fix_dist: 0.2399, d3.loss_plan_l1_fix_time: 1.3447, d3.loss_plan_l1_fix_dist: 0.2595, d4.loss_plan_l1_fix_time: 1.3481, d4.loss_plan_l1_fix_dist: 0.2813, d5.loss_plan_l1_fix_time: 1.3520, d5.loss_plan_l1_fix_dist: 0.3044, d6.loss_plan_l1_fix_time: 1.3563, d6.loss_plan_l1_fix_dist: 0.3218, d0.loss_cls_all: 0.2801, d0.loss_bbox_all: 0.5035, d0.loss_cls: 0.2801, d0.loss_bbox: 0.5035, d1.loss_cls: 0.2717, d1.loss_bbox: 0.4795, d2.loss_cls: 0.2602, d2.loss_bbox: 0.4663, d3.loss_cls: 0.2550, d3.loss_bbox: 0.4601, d4.loss_cls: 0.2518, d4.loss_bbox: 0.4565, d5.loss_cls: 0.2509, d5.loss_bbox: 0.4581, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0631, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8922, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8480, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8441, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8381, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8399, d0.loss_map_cls_all: 0.2694, d0.loss_map_pts_all: 1.7754, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.2694, d0.loss_map_pts: 1.7754, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2440, d1.loss_map_pts: 1.1669, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2277, d2.loss_map_pts: 0.9824, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.2191, d3.loss_map_pts: 0.9157, d3.loss_map_dir: 0.0121, d4.loss_map_cls: 0.2167, d4.loss_map_pts: 0.8945, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.2153, d5.loss_map_pts: 0.8893, d5.loss_map_dir: 0.0124, loss: 36.3388, grad_norm: 157.2308 +2026-02-25 12:56:45,373 - DriveTransformer - INFO - Epoch [4][36650/39528] lr: 9.623e-05, eta: 7 days, 9:11:22, time: 0.861, data_time: 0.045, memory: 19865, loss_cls: 0.2583, loss_bbox: 0.4637, loss_traj: 0.8685, loss_traj_cls: 0.0013, loss_map_cls: 0.2325, loss_map_pts: 1.0511, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 2.8348, d0.loss_plan_l1_fix_dist: 0.4527, d1.loss_plan_l1_fix_time: 1.5159, d1.loss_plan_l1_fix_dist: 0.2497, d2.loss_plan_l1_fix_time: 1.5033, d2.loss_plan_l1_fix_dist: 0.2577, d3.loss_plan_l1_fix_time: 1.5047, d3.loss_plan_l1_fix_dist: 0.2751, d4.loss_plan_l1_fix_time: 1.5074, d4.loss_plan_l1_fix_dist: 0.2943, d5.loss_plan_l1_fix_time: 1.5109, d5.loss_plan_l1_fix_dist: 0.3172, d6.loss_plan_l1_fix_time: 1.5154, d6.loss_plan_l1_fix_dist: 0.3446, d0.loss_cls_all: 0.2837, d0.loss_bbox_all: 0.5225, d0.loss_cls: 0.2837, d0.loss_bbox: 0.5225, d1.loss_cls: 0.2830, d1.loss_bbox: 0.4816, d2.loss_cls: 0.2704, d2.loss_bbox: 0.4684, d3.loss_cls: 0.2670, d3.loss_bbox: 0.4624, d4.loss_cls: 0.2595, d4.loss_bbox: 0.4627, d5.loss_cls: 0.2583, d5.loss_bbox: 0.4611, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0462, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8825, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8775, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8673, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8646, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8676, d0.loss_map_cls_all: 0.2891, d0.loss_map_pts_all: 2.0344, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.2891, d0.loss_map_pts: 2.0344, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2599, d1.loss_map_pts: 1.3804, d1.loss_map_dir: 0.0126, d2.loss_map_cls: 0.2462, d2.loss_map_pts: 1.1718, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2368, d3.loss_map_pts: 1.0957, d3.loss_map_dir: 0.0135, d4.loss_map_cls: 0.2335, d4.loss_map_pts: 1.0654, d4.loss_map_dir: 0.0140, d5.loss_map_cls: 0.2321, d5.loss_map_pts: 1.0545, d5.loss_map_dir: 0.0141, loss: 39.3880, grad_norm: 157.0955 +2026-02-25 12:57:25,269 - DriveTransformer - INFO - Epoch [4][36700/39528] lr: 9.623e-05, eta: 7 days, 9:10:40, time: 0.798, data_time: 0.040, memory: 19865, loss_cls: 0.2427, loss_bbox: 0.4272, loss_traj: 0.7953, loss_traj_cls: 0.0014, loss_map_cls: 0.1968, loss_map_pts: 0.7788, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.6049, d0.loss_plan_l1_fix_dist: 0.4580, d1.loss_plan_l1_fix_time: 1.3057, d1.loss_plan_l1_fix_dist: 0.2502, d2.loss_plan_l1_fix_time: 1.2770, d2.loss_plan_l1_fix_dist: 0.2514, d3.loss_plan_l1_fix_time: 1.2784, d3.loss_plan_l1_fix_dist: 0.2622, d4.loss_plan_l1_fix_time: 1.2828, d4.loss_plan_l1_fix_dist: 0.2762, d5.loss_plan_l1_fix_time: 1.2877, d5.loss_plan_l1_fix_dist: 0.2923, d6.loss_plan_l1_fix_time: 1.2935, d6.loss_plan_l1_fix_dist: 0.3108, d0.loss_cls_all: 0.2714, d0.loss_bbox_all: 0.4792, d0.loss_cls: 0.2714, d0.loss_bbox: 0.4792, d1.loss_cls: 0.2605, d1.loss_bbox: 0.4490, d2.loss_cls: 0.2508, d2.loss_bbox: 0.4373, d3.loss_cls: 0.2467, d3.loss_bbox: 0.4329, d4.loss_cls: 0.2425, d4.loss_bbox: 0.4297, d5.loss_cls: 0.2409, d5.loss_bbox: 0.4296, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9849, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8503, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8200, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8100, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7982, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7995, d0.loss_map_cls_all: 0.2564, d0.loss_map_pts_all: 1.5832, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2564, d0.loss_map_pts: 1.5832, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2295, d1.loss_map_pts: 1.0596, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2101, d2.loss_map_pts: 0.8763, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.2011, d3.loss_map_pts: 0.8099, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1980, d4.loss_map_pts: 0.7877, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1974, d5.loss_map_pts: 0.7806, d5.loss_map_dir: 0.0115, loss: 33.9820, grad_norm: 158.1088 +2026-02-25 12:58:06,967 - DriveTransformer - INFO - Epoch [4][36750/39528] lr: 9.623e-05, eta: 7 days, 9:10:08, time: 0.834, data_time: 0.045, memory: 19865, loss_cls: 0.2213, loss_bbox: 0.4150, loss_traj: 0.8254, loss_traj_cls: 0.0013, loss_map_cls: 0.2079, loss_map_pts: 0.9150, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.5176, d0.loss_plan_l1_fix_dist: 0.4458, d1.loss_plan_l1_fix_time: 1.2255, d1.loss_plan_l1_fix_dist: 0.2336, d2.loss_plan_l1_fix_time: 1.2034, d2.loss_plan_l1_fix_dist: 0.2341, d3.loss_plan_l1_fix_time: 1.2032, d3.loss_plan_l1_fix_dist: 0.2447, d4.loss_plan_l1_fix_time: 1.2068, d4.loss_plan_l1_fix_dist: 0.2562, d5.loss_plan_l1_fix_time: 1.2114, d5.loss_plan_l1_fix_dist: 0.2712, d6.loss_plan_l1_fix_time: 1.2171, d6.loss_plan_l1_fix_dist: 0.2910, d0.loss_cls_all: 0.2417, d0.loss_bbox_all: 0.4735, d0.loss_cls: 0.2417, d0.loss_bbox: 0.4735, d1.loss_cls: 0.2387, d1.loss_bbox: 0.4435, d2.loss_cls: 0.2287, d2.loss_bbox: 0.4275, d3.loss_cls: 0.2227, d3.loss_bbox: 0.4205, d4.loss_cls: 0.2211, d4.loss_bbox: 0.4169, d5.loss_cls: 0.2211, d5.loss_bbox: 0.4149, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0164, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8669, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8426, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8349, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8270, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8255, d0.loss_map_cls_all: 0.2678, d0.loss_map_pts_all: 1.7658, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2678, d0.loss_map_pts: 1.7658, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2422, d1.loss_map_pts: 1.2256, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2246, d2.loss_map_pts: 1.0338, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.2151, d3.loss_map_pts: 0.9622, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.2106, d4.loss_map_pts: 0.9336, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.2073, d5.loss_map_pts: 0.9204, d5.loss_map_dir: 0.0117, loss: 34.5844, grad_norm: 154.7601 +2026-02-25 12:58:48,644 - DriveTransformer - INFO - Epoch [4][36800/39528] lr: 9.623e-05, eta: 7 days, 9:09:35, time: 0.834, data_time: 0.051, memory: 19865, loss_cls: 0.2480, loss_bbox: 0.4402, loss_traj: 0.7906, loss_traj_cls: 0.0013, loss_map_cls: 0.2251, loss_map_pts: 0.9864, loss_map_dir: 0.0143, d0.loss_plan_l1_fix_time: 2.7394, d0.loss_plan_l1_fix_dist: 0.4404, d1.loss_plan_l1_fix_time: 1.4583, d1.loss_plan_l1_fix_dist: 0.2495, d2.loss_plan_l1_fix_time: 1.4521, d2.loss_plan_l1_fix_dist: 0.2470, d3.loss_plan_l1_fix_time: 1.4528, d3.loss_plan_l1_fix_dist: 0.2615, d4.loss_plan_l1_fix_time: 1.4580, d4.loss_plan_l1_fix_dist: 0.2770, d5.loss_plan_l1_fix_time: 1.4641, d5.loss_plan_l1_fix_dist: 0.2941, d6.loss_plan_l1_fix_time: 1.4716, d6.loss_plan_l1_fix_dist: 0.3120, d0.loss_cls_all: 0.2733, d0.loss_bbox_all: 0.5043, d0.loss_cls: 0.2733, d0.loss_bbox: 0.5043, d1.loss_cls: 0.2700, d1.loss_bbox: 0.4706, d2.loss_cls: 0.2601, d2.loss_bbox: 0.4511, d3.loss_cls: 0.2525, d3.loss_bbox: 0.4435, d4.loss_cls: 0.2486, d4.loss_bbox: 0.4412, d5.loss_cls: 0.2481, d5.loss_bbox: 0.4386, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9937, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8311, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8062, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7919, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7900, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7877, d0.loss_map_cls_all: 0.2905, d0.loss_map_pts_all: 1.8120, d0.loss_map_dir_all: 0.0126, d0.loss_map_cls: 0.2905, d0.loss_map_pts: 1.8120, d0.loss_map_dir: 0.0126, d1.loss_map_cls: 0.2592, d1.loss_map_pts: 1.2585, d1.loss_map_dir: 0.0126, d2.loss_map_cls: 0.2465, d2.loss_map_pts: 1.0823, d2.loss_map_dir: 0.0131, d3.loss_map_cls: 0.2334, d3.loss_map_pts: 1.0219, d3.loss_map_dir: 0.0137, d4.loss_map_cls: 0.2277, d4.loss_map_pts: 0.9986, d4.loss_map_dir: 0.0141, d5.loss_map_cls: 0.2253, d5.loss_map_pts: 0.9890, d5.loss_map_dir: 0.0142, loss: 37.2093, grad_norm: 156.4331 +2026-02-25 12:59:30,260 - DriveTransformer - INFO - Epoch [4][36850/39528] lr: 9.623e-05, eta: 7 days, 9:09:02, time: 0.832, data_time: 0.044, memory: 19865, loss_cls: 0.2351, loss_bbox: 0.4196, loss_traj: 0.7520, loss_traj_cls: 0.0013, loss_map_cls: 0.1704, loss_map_pts: 0.7757, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 2.5480, d0.loss_plan_l1_fix_dist: 0.4387, d1.loss_plan_l1_fix_time: 1.2730, d1.loss_plan_l1_fix_dist: 0.2794, d2.loss_plan_l1_fix_time: 1.2682, d2.loss_plan_l1_fix_dist: 0.2799, d3.loss_plan_l1_fix_time: 1.2717, d3.loss_plan_l1_fix_dist: 0.2945, d4.loss_plan_l1_fix_time: 1.2758, d4.loss_plan_l1_fix_dist: 0.3135, d5.loss_plan_l1_fix_time: 1.2801, d5.loss_plan_l1_fix_dist: 0.3317, d6.loss_plan_l1_fix_time: 1.2850, d6.loss_plan_l1_fix_dist: 0.3493, d0.loss_cls_all: 0.2586, d0.loss_bbox_all: 0.4636, d0.loss_cls: 0.2586, d0.loss_bbox: 0.4636, d1.loss_cls: 0.2509, d1.loss_bbox: 0.4358, d2.loss_cls: 0.2412, d2.loss_bbox: 0.4246, d3.loss_cls: 0.2368, d3.loss_bbox: 0.4183, d4.loss_cls: 0.2341, d4.loss_bbox: 0.4163, d5.loss_cls: 0.2354, d5.loss_bbox: 0.4165, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8785, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7819, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7567, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7542, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7521, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7504, d0.loss_map_cls_all: 0.2363, d0.loss_map_pts_all: 1.6430, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.2363, d0.loss_map_pts: 1.6430, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.2091, d1.loss_map_pts: 1.0166, d1.loss_map_dir: 0.0129, d2.loss_map_cls: 0.1933, d2.loss_map_pts: 0.8529, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.1814, d3.loss_map_pts: 0.8025, d3.loss_map_dir: 0.0138, d4.loss_map_cls: 0.1748, d4.loss_map_pts: 0.7828, d4.loss_map_dir: 0.0142, d5.loss_map_cls: 0.1715, d5.loss_map_pts: 0.7781, d5.loss_map_dir: 0.0143, loss: 33.3080, grad_norm: 156.9309 +2026-02-25 13:00:10,528 - DriveTransformer - INFO - Epoch [4][36900/39528] lr: 9.623e-05, eta: 7 days, 9:08:22, time: 0.805, data_time: 0.043, memory: 19865, loss_cls: 0.2351, loss_bbox: 0.4278, loss_traj: 0.8384, loss_traj_cls: 0.0013, loss_map_cls: 0.2239, loss_map_pts: 0.8393, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.3013, d0.loss_plan_l1_fix_dist: 0.4535, d1.loss_plan_l1_fix_time: 1.3183, d1.loss_plan_l1_fix_dist: 0.2185, d2.loss_plan_l1_fix_time: 1.3090, d2.loss_plan_l1_fix_dist: 0.2239, d3.loss_plan_l1_fix_time: 1.3116, d3.loss_plan_l1_fix_dist: 0.2436, d4.loss_plan_l1_fix_time: 1.3154, d4.loss_plan_l1_fix_dist: 0.2726, d5.loss_plan_l1_fix_time: 1.3196, d5.loss_plan_l1_fix_dist: 0.3040, d6.loss_plan_l1_fix_time: 1.3238, d6.loss_plan_l1_fix_dist: 0.3347, d0.loss_cls_all: 0.2544, d0.loss_bbox_all: 0.4725, d0.loss_cls: 0.2544, d0.loss_bbox: 0.4725, d1.loss_cls: 0.2503, d1.loss_bbox: 0.4450, d2.loss_cls: 0.2427, d2.loss_bbox: 0.4282, d3.loss_cls: 0.2390, d3.loss_bbox: 0.4237, d4.loss_cls: 0.2352, d4.loss_bbox: 0.4228, d5.loss_cls: 0.2351, d5.loss_bbox: 0.4249, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0775, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9121, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8567, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8506, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8465, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8411, d0.loss_map_cls_all: 0.2802, d0.loss_map_pts_all: 1.6242, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2802, d0.loss_map_pts: 1.6242, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2566, d1.loss_map_pts: 1.1015, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2418, d2.loss_map_pts: 0.9352, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2365, d3.loss_map_pts: 0.8682, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2254, d4.loss_map_pts: 0.8492, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.2245, d5.loss_map_pts: 0.8415, d5.loss_map_dir: 0.0125, loss: 34.6909, grad_norm: 157.3567 +2026-02-25 13:00:52,968 - DriveTransformer - INFO - Epoch [4][36950/39528] lr: 9.623e-05, eta: 7 days, 9:07:54, time: 0.849, data_time: 0.049, memory: 19865, loss_cls: 0.2648, loss_bbox: 0.4445, loss_traj: 0.8507, loss_traj_cls: 0.0013, loss_map_cls: 0.2466, loss_map_pts: 1.0783, loss_map_dir: 0.0161, d0.loss_plan_l1_fix_time: 2.8579, d0.loss_plan_l1_fix_dist: 0.3764, d1.loss_plan_l1_fix_time: 1.4463, d1.loss_plan_l1_fix_dist: 0.2338, d2.loss_plan_l1_fix_time: 1.4220, d2.loss_plan_l1_fix_dist: 0.2330, d3.loss_plan_l1_fix_time: 1.4212, d3.loss_plan_l1_fix_dist: 0.2498, d4.loss_plan_l1_fix_time: 1.4243, d4.loss_plan_l1_fix_dist: 0.2670, d5.loss_plan_l1_fix_time: 1.4283, d5.loss_plan_l1_fix_dist: 0.2858, d6.loss_plan_l1_fix_time: 1.4325, d6.loss_plan_l1_fix_dist: 0.3061, d0.loss_cls_all: 0.2935, d0.loss_bbox_all: 0.5069, d0.loss_cls: 0.2935, d0.loss_bbox: 0.5069, d1.loss_cls: 0.2851, d1.loss_bbox: 0.4762, d2.loss_cls: 0.2714, d2.loss_bbox: 0.4583, d3.loss_cls: 0.2679, d3.loss_bbox: 0.4495, d4.loss_cls: 0.2648, d4.loss_bbox: 0.4452, d5.loss_cls: 0.2636, d5.loss_bbox: 0.4444, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0594, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8913, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8593, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8486, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8447, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8446, d0.loss_map_cls_all: 0.3127, d0.loss_map_pts_all: 2.1193, d0.loss_map_dir_all: 0.0141, d0.loss_map_cls: 0.3127, d0.loss_map_pts: 2.1193, d0.loss_map_dir: 0.0141, d1.loss_map_cls: 0.2796, d1.loss_map_pts: 1.3994, d1.loss_map_dir: 0.0137, d2.loss_map_cls: 0.2651, d2.loss_map_pts: 1.1903, d2.loss_map_dir: 0.0144, d3.loss_map_cls: 0.2551, d3.loss_map_pts: 1.1196, d3.loss_map_dir: 0.0152, d4.loss_map_cls: 0.2493, d4.loss_map_pts: 1.0932, d4.loss_map_dir: 0.0157, d5.loss_map_cls: 0.2478, d5.loss_map_pts: 1.0806, d5.loss_map_dir: 0.0159, loss: 39.0134, grad_norm: 156.8315 +2026-02-25 13:01:37,115 - DriveTransformer - INFO - Epoch [4][37000/39528] lr: 9.623e-05, eta: 7 days, 9:07:34, time: 0.884, data_time: 0.052, memory: 19865, loss_cls: 0.2192, loss_bbox: 0.3891, loss_traj: 0.6668, loss_traj_cls: 0.0013, loss_map_cls: 0.1968, loss_map_pts: 0.8762, loss_map_dir: 0.0150, d0.loss_plan_l1_fix_time: 2.4090, d0.loss_plan_l1_fix_dist: 0.4740, d1.loss_plan_l1_fix_time: 1.3296, d1.loss_plan_l1_fix_dist: 0.2296, d2.loss_plan_l1_fix_time: 1.2923, d2.loss_plan_l1_fix_dist: 0.2380, d3.loss_plan_l1_fix_time: 1.2864, d3.loss_plan_l1_fix_dist: 0.2545, d4.loss_plan_l1_fix_time: 1.2890, d4.loss_plan_l1_fix_dist: 0.2767, d5.loss_plan_l1_fix_time: 1.2926, d5.loss_plan_l1_fix_dist: 0.3030, d6.loss_plan_l1_fix_time: 1.2975, d6.loss_plan_l1_fix_dist: 0.3322, d0.loss_cls_all: 0.2430, d0.loss_bbox_all: 0.4389, d0.loss_cls: 0.2430, d0.loss_bbox: 0.4389, d1.loss_cls: 0.2382, d1.loss_bbox: 0.4069, d2.loss_cls: 0.2273, d2.loss_bbox: 0.3933, d3.loss_cls: 0.2236, d3.loss_bbox: 0.3866, d4.loss_cls: 0.2185, d4.loss_bbox: 0.3872, d5.loss_cls: 0.2187, d5.loss_bbox: 0.3880, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8804, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7126, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6780, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6628, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6574, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6609, d0.loss_map_cls_all: 0.2633, d0.loss_map_pts_all: 1.9346, d0.loss_map_dir_all: 0.0139, d0.loss_map_cls: 0.2633, d0.loss_map_pts: 1.9346, d0.loss_map_dir: 0.0139, d1.loss_map_cls: 0.2306, d1.loss_map_pts: 1.1884, d1.loss_map_dir: 0.0133, d2.loss_map_cls: 0.2154, d2.loss_map_pts: 0.9811, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2052, d3.loss_map_pts: 0.9105, d3.loss_map_dir: 0.0143, d4.loss_map_cls: 0.1995, d4.loss_map_pts: 0.8845, d4.loss_map_dir: 0.0149, d5.loss_map_cls: 0.1980, d5.loss_map_pts: 0.8768, d5.loss_map_dir: 0.0149, loss: 33.7634, grad_norm: 156.6881 +2026-02-25 13:02:18,936 - DriveTransformer - INFO - Epoch [4][37050/39528] lr: 9.623e-05, eta: 7 days, 9:07:02, time: 0.835, data_time: 0.047, memory: 19865, loss_cls: 0.2604, loss_bbox: 0.4467, loss_traj: 0.7097, loss_traj_cls: 0.0013, loss_map_cls: 0.2771, loss_map_pts: 1.1558, loss_map_dir: 0.0173, d0.loss_plan_l1_fix_time: 2.9950, d0.loss_plan_l1_fix_dist: 0.4075, d1.loss_plan_l1_fix_time: 1.5354, d1.loss_plan_l1_fix_dist: 0.2235, d2.loss_plan_l1_fix_time: 1.5016, d2.loss_plan_l1_fix_dist: 0.2318, d3.loss_plan_l1_fix_time: 1.4940, d3.loss_plan_l1_fix_dist: 0.2482, d4.loss_plan_l1_fix_time: 1.4945, d4.loss_plan_l1_fix_dist: 0.2672, d5.loss_plan_l1_fix_time: 1.4961, d5.loss_plan_l1_fix_dist: 0.2859, d6.loss_plan_l1_fix_time: 1.4988, d6.loss_plan_l1_fix_dist: 0.3062, d0.loss_cls_all: 0.2954, d0.loss_bbox_all: 0.5048, d0.loss_cls: 0.2954, d0.loss_bbox: 0.5048, d1.loss_cls: 0.2846, d1.loss_bbox: 0.4701, d2.loss_cls: 0.2735, d2.loss_bbox: 0.4541, d3.loss_cls: 0.2658, d3.loss_bbox: 0.4499, d4.loss_cls: 0.2623, d4.loss_bbox: 0.4460, d5.loss_cls: 0.2611, d5.loss_bbox: 0.4451, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9222, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.7654, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7241, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7177, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7125, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7110, d0.loss_map_cls_all: 0.3289, d0.loss_map_pts_all: 2.0749, d0.loss_map_dir_all: 0.0151, d0.loss_map_cls: 0.3289, d0.loss_map_pts: 2.0749, d0.loss_map_dir: 0.0151, d1.loss_map_cls: 0.3061, d1.loss_map_pts: 1.4588, d1.loss_map_dir: 0.0152, d2.loss_map_cls: 0.2956, d2.loss_map_pts: 1.2555, d2.loss_map_dir: 0.0158, d3.loss_map_cls: 0.2847, d3.loss_map_pts: 1.1862, d3.loss_map_dir: 0.0164, d4.loss_map_cls: 0.2801, d4.loss_map_pts: 1.1628, d4.loss_map_dir: 0.0170, d5.loss_map_cls: 0.2794, d5.loss_map_pts: 1.1552, d5.loss_map_dir: 0.0172, loss: 39.2091, grad_norm: 156.9349 +2026-02-25 13:03:00,163 - DriveTransformer - INFO - Epoch [4][37100/39528] lr: 9.623e-05, eta: 7 days, 9:06:27, time: 0.824, data_time: 0.046, memory: 19865, loss_cls: 0.2265, loss_bbox: 0.3999, loss_traj: 0.7093, loss_traj_cls: 0.0013, loss_map_cls: 0.2067, loss_map_pts: 0.9122, loss_map_dir: 0.0152, d0.loss_plan_l1_fix_time: 2.6624, d0.loss_plan_l1_fix_dist: 0.4435, d1.loss_plan_l1_fix_time: 1.2354, d1.loss_plan_l1_fix_dist: 0.1960, d2.loss_plan_l1_fix_time: 1.2260, d2.loss_plan_l1_fix_dist: 0.2120, d3.loss_plan_l1_fix_time: 1.2259, d3.loss_plan_l1_fix_dist: 0.2365, d4.loss_plan_l1_fix_time: 1.2294, d4.loss_plan_l1_fix_dist: 0.2586, d5.loss_plan_l1_fix_time: 1.2334, d5.loss_plan_l1_fix_dist: 0.2827, d6.loss_plan_l1_fix_time: 1.2383, d6.loss_plan_l1_fix_dist: 0.3108, d0.loss_cls_all: 0.2512, d0.loss_bbox_all: 0.4492, d0.loss_cls: 0.2512, d0.loss_bbox: 0.4492, d1.loss_cls: 0.2458, d1.loss_bbox: 0.4187, d2.loss_cls: 0.2365, d2.loss_bbox: 0.4049, d3.loss_cls: 0.2326, d3.loss_bbox: 0.3982, d4.loss_cls: 0.2297, d4.loss_bbox: 0.3971, d5.loss_cls: 0.2276, d5.loss_bbox: 0.3978, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9137, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.7621, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7162, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7050, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7064, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7043, d0.loss_map_cls_all: 0.2616, d0.loss_map_pts_all: 1.7638, d0.loss_map_dir_all: 0.0140, d0.loss_map_cls: 0.2616, d0.loss_map_pts: 1.7638, d0.loss_map_dir: 0.0140, d1.loss_map_cls: 0.2318, d1.loss_map_pts: 1.1706, d1.loss_map_dir: 0.0134, d2.loss_map_cls: 0.2197, d2.loss_map_pts: 0.9975, d2.loss_map_dir: 0.0138, d3.loss_map_cls: 0.2110, d3.loss_map_pts: 0.9382, d3.loss_map_dir: 0.0145, d4.loss_map_cls: 0.2082, d4.loss_map_pts: 0.9162, d4.loss_map_dir: 0.0148, d5.loss_map_cls: 0.2072, d5.loss_map_pts: 0.9121, d5.loss_map_dir: 0.0151, loss: 33.7276, grad_norm: 158.1984 +2026-02-25 13:03:39,545 - DriveTransformer - INFO - Epoch [4][37150/39528] lr: 9.623e-05, eta: 7 days, 9:05:42, time: 0.788, data_time: 0.048, memory: 19865, loss_cls: 0.2743, loss_bbox: 0.4509, loss_traj: 0.9721, loss_traj_cls: 0.0013, loss_map_cls: 0.3005, loss_map_pts: 1.1112, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.7615, d0.loss_plan_l1_fix_dist: 0.3931, d1.loss_plan_l1_fix_time: 1.5859, d1.loss_plan_l1_fix_dist: 0.2046, d2.loss_plan_l1_fix_time: 1.5709, d2.loss_plan_l1_fix_dist: 0.2106, d3.loss_plan_l1_fix_time: 1.5689, d3.loss_plan_l1_fix_dist: 0.2275, d4.loss_plan_l1_fix_time: 1.5717, d4.loss_plan_l1_fix_dist: 0.2492, d5.loss_plan_l1_fix_time: 1.5754, d5.loss_plan_l1_fix_dist: 0.2722, d6.loss_plan_l1_fix_time: 1.5803, d6.loss_plan_l1_fix_dist: 0.2953, d0.loss_cls_all: 0.2943, d0.loss_bbox_all: 0.5131, d0.loss_cls: 0.2943, d0.loss_bbox: 0.5131, d1.loss_cls: 0.2905, d1.loss_bbox: 0.4765, d2.loss_cls: 0.2833, d2.loss_bbox: 0.4605, d3.loss_cls: 0.2751, d3.loss_bbox: 0.4544, d4.loss_cls: 0.2722, d4.loss_bbox: 0.4515, d5.loss_cls: 0.2729, d5.loss_bbox: 0.4504, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2333, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.0500, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9950, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9845, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9717, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9712, d0.loss_map_cls_all: 0.3637, d0.loss_map_pts_all: 1.8264, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.3637, d0.loss_map_pts: 1.8264, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.3317, d1.loss_map_pts: 1.3484, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.3219, d2.loss_map_pts: 1.1925, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.3106, d3.loss_map_pts: 1.1404, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.3032, d4.loss_map_pts: 1.1171, d4.loss_map_dir: 0.0126, d5.loss_map_cls: 0.3013, d5.loss_map_pts: 1.1108, d5.loss_map_dir: 0.0127, loss: 40.6450, grad_norm: 159.4192 +2026-02-25 13:04:21,345 - DriveTransformer - INFO - Epoch [4][37200/39528] lr: 9.623e-05, eta: 7 days, 9:05:10, time: 0.836, data_time: 0.040, memory: 19865, loss_cls: 0.2542, loss_bbox: 0.4454, loss_traj: 0.9377, loss_traj_cls: 0.0012, loss_map_cls: 0.2375, loss_map_pts: 0.9100, loss_map_dir: 0.0135, d0.loss_plan_l1_fix_time: 2.6715, d0.loss_plan_l1_fix_dist: 0.4364, d1.loss_plan_l1_fix_time: 1.2546, d1.loss_plan_l1_fix_dist: 0.2390, d2.loss_plan_l1_fix_time: 1.2355, d2.loss_plan_l1_fix_dist: 0.2392, d3.loss_plan_l1_fix_time: 1.2333, d3.loss_plan_l1_fix_dist: 0.2527, d4.loss_plan_l1_fix_time: 1.2351, d4.loss_plan_l1_fix_dist: 0.2705, d5.loss_plan_l1_fix_time: 1.2374, d5.loss_plan_l1_fix_dist: 0.2903, d6.loss_plan_l1_fix_time: 1.2407, d6.loss_plan_l1_fix_dist: 0.3096, d0.loss_cls_all: 0.2814, d0.loss_bbox_all: 0.4896, d0.loss_cls: 0.2814, d0.loss_bbox: 0.4896, d1.loss_cls: 0.2765, d1.loss_bbox: 0.4603, d2.loss_cls: 0.2637, d2.loss_bbox: 0.4470, d3.loss_cls: 0.2591, d3.loss_bbox: 0.4427, d4.loss_cls: 0.2559, d4.loss_bbox: 0.4435, d5.loss_cls: 0.2546, d5.loss_bbox: 0.4441, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2356, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9991, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9572, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9556, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9440, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9378, d0.loss_map_cls_all: 0.2849, d0.loss_map_pts_all: 1.7842, d0.loss_map_dir_all: 0.0122, d0.loss_map_cls: 0.2849, d0.loss_map_pts: 1.7842, d0.loss_map_dir: 0.0122, d1.loss_map_cls: 0.2614, d1.loss_map_pts: 1.1943, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2489, d2.loss_map_pts: 1.0068, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2418, d3.loss_map_pts: 0.9430, d3.loss_map_dir: 0.0129, d4.loss_map_cls: 0.2371, d4.loss_map_pts: 0.9172, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.2373, d5.loss_map_pts: 0.9115, d5.loss_map_dir: 0.0134, loss: 36.4955, grad_norm: 160.7576 +2026-02-25 13:05:00,831 - DriveTransformer - INFO - Epoch [4][37250/39528] lr: 9.623e-05, eta: 7 days, 9:04:26, time: 0.790, data_time: 0.041, memory: 19865, loss_cls: 0.2606, loss_bbox: 0.4159, loss_traj: 0.8997, loss_traj_cls: 0.0012, loss_map_cls: 0.2252, loss_map_pts: 0.8916, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.3911, d0.loss_plan_l1_fix_dist: 0.4129, d1.loss_plan_l1_fix_time: 1.2832, d1.loss_plan_l1_fix_dist: 0.1982, d2.loss_plan_l1_fix_time: 1.2669, d2.loss_plan_l1_fix_dist: 0.2013, d3.loss_plan_l1_fix_time: 1.2650, d3.loss_plan_l1_fix_dist: 0.2122, d4.loss_plan_l1_fix_time: 1.2668, d4.loss_plan_l1_fix_dist: 0.2281, d5.loss_plan_l1_fix_time: 1.2691, d5.loss_plan_l1_fix_dist: 0.2505, d6.loss_plan_l1_fix_time: 1.2718, d6.loss_plan_l1_fix_dist: 0.2745, d0.loss_cls_all: 0.2812, d0.loss_bbox_all: 0.4630, d0.loss_cls: 0.2812, d0.loss_bbox: 0.4630, d1.loss_cls: 0.2763, d1.loss_bbox: 0.4351, d2.loss_cls: 0.2656, d2.loss_bbox: 0.4216, d3.loss_cls: 0.2660, d3.loss_bbox: 0.4171, d4.loss_cls: 0.2615, d4.loss_bbox: 0.4152, d5.loss_cls: 0.2605, d5.loss_bbox: 0.4138, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0809, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9372, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8931, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8847, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8852, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8879, d0.loss_map_cls_all: 0.2744, d0.loss_map_pts_all: 1.6631, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2744, d0.loss_map_pts: 1.6631, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2475, d1.loss_map_pts: 1.1421, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2339, d2.loss_map_pts: 0.9809, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2265, d3.loss_map_pts: 0.9220, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.2241, d4.loss_map_pts: 0.8968, d4.loss_map_dir: 0.0132, d5.loss_map_cls: 0.2249, d5.loss_map_pts: 0.8917, d5.loss_map_dir: 0.0133, loss: 34.9468, grad_norm: 161.0109 +2026-02-25 13:05:40,222 - DriveTransformer - INFO - Epoch [4][37300/39528] lr: 9.623e-05, eta: 7 days, 9:03:42, time: 0.788, data_time: 0.039, memory: 19865, loss_cls: 0.2590, loss_bbox: 0.4245, loss_traj: 0.9386, loss_traj_cls: 0.0012, loss_map_cls: 0.2366, loss_map_pts: 0.8832, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.7447, d0.loss_plan_l1_fix_dist: 0.4494, d1.loss_plan_l1_fix_time: 1.5550, d1.loss_plan_l1_fix_dist: 0.2335, d2.loss_plan_l1_fix_time: 1.5359, d2.loss_plan_l1_fix_dist: 0.2260, d3.loss_plan_l1_fix_time: 1.5375, d3.loss_plan_l1_fix_dist: 0.2411, d4.loss_plan_l1_fix_time: 1.5403, d4.loss_plan_l1_fix_dist: 0.2566, d5.loss_plan_l1_fix_time: 1.5435, d5.loss_plan_l1_fix_dist: 0.2703, d6.loss_plan_l1_fix_time: 1.5468, d6.loss_plan_l1_fix_dist: 0.2887, d0.loss_cls_all: 0.2863, d0.loss_bbox_all: 0.4806, d0.loss_cls: 0.2863, d0.loss_bbox: 0.4806, d1.loss_cls: 0.2729, d1.loss_bbox: 0.4471, d2.loss_cls: 0.2655, d2.loss_bbox: 0.4334, d3.loss_cls: 0.2625, d3.loss_bbox: 0.4247, d4.loss_cls: 0.2597, d4.loss_bbox: 0.4232, d5.loss_cls: 0.2564, d5.loss_bbox: 0.4248, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2118, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9808, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9335, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9320, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9374, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9366, d0.loss_map_cls_all: 0.3051, d0.loss_map_pts_all: 1.7180, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.3051, d0.loss_map_pts: 1.7180, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2721, d1.loss_map_pts: 1.1648, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2566, d2.loss_map_pts: 0.9809, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2455, d3.loss_map_pts: 0.9165, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.2379, d4.loss_map_pts: 0.8930, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.2368, d5.loss_map_pts: 0.8852, d5.loss_map_dir: 0.0124, loss: 37.8849, grad_norm: 158.6364 +2026-02-25 13:06:21,020 - DriveTransformer - INFO - Epoch [4][37350/39528] lr: 9.623e-05, eta: 7 days, 9:03:05, time: 0.816, data_time: 0.039, memory: 19865, loss_cls: 0.2196, loss_bbox: 0.3963, loss_traj: 0.8275, loss_traj_cls: 0.0012, loss_map_cls: 0.2003, loss_map_pts: 0.8015, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.4408, d0.loss_plan_l1_fix_dist: 0.4479, d1.loss_plan_l1_fix_time: 1.3088, d1.loss_plan_l1_fix_dist: 0.2334, d2.loss_plan_l1_fix_time: 1.2939, d2.loss_plan_l1_fix_dist: 0.2338, d3.loss_plan_l1_fix_time: 1.2951, d3.loss_plan_l1_fix_dist: 0.2449, d4.loss_plan_l1_fix_time: 1.2983, d4.loss_plan_l1_fix_dist: 0.2614, d5.loss_plan_l1_fix_time: 1.3018, d5.loss_plan_l1_fix_dist: 0.2814, d6.loss_plan_l1_fix_time: 1.3053, d6.loss_plan_l1_fix_dist: 0.3022, d0.loss_cls_all: 0.2441, d0.loss_bbox_all: 0.4493, d0.loss_cls: 0.2441, d0.loss_bbox: 0.4493, d1.loss_cls: 0.2360, d1.loss_bbox: 0.4198, d2.loss_cls: 0.2293, d2.loss_bbox: 0.4025, d3.loss_cls: 0.2243, d3.loss_bbox: 0.3976, d4.loss_cls: 0.2207, d4.loss_bbox: 0.3955, d5.loss_cls: 0.2206, d5.loss_bbox: 0.3943, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9573, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8529, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8300, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8260, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8243, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8302, d0.loss_map_cls_all: 0.2590, d0.loss_map_pts_all: 1.5638, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2590, d0.loss_map_pts: 1.5638, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2283, d1.loss_map_pts: 1.0399, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2142, d2.loss_map_pts: 0.8758, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2078, d3.loss_map_pts: 0.8193, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.2028, d4.loss_map_pts: 0.8064, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.2003, d5.loss_map_pts: 0.8039, d5.loss_map_dir: 0.0123, loss: 33.4864, grad_norm: 155.5981 +2026-02-25 13:07:01,731 - DriveTransformer - INFO - Epoch [4][37400/39528] lr: 9.623e-05, eta: 7 days, 9:02:27, time: 0.814, data_time: 0.040, memory: 19865, loss_cls: 0.2510, loss_bbox: 0.4301, loss_traj: 0.7202, loss_traj_cls: 0.0012, loss_map_cls: 0.2031, loss_map_pts: 0.8928, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.2978, d0.loss_plan_l1_fix_dist: 0.4320, d1.loss_plan_l1_fix_time: 1.1499, d1.loss_plan_l1_fix_dist: 0.2175, d2.loss_plan_l1_fix_time: 1.1300, d2.loss_plan_l1_fix_dist: 0.2267, d3.loss_plan_l1_fix_time: 1.1332, d3.loss_plan_l1_fix_dist: 0.2396, d4.loss_plan_l1_fix_time: 1.1366, d4.loss_plan_l1_fix_dist: 0.2523, d5.loss_plan_l1_fix_time: 1.1402, d5.loss_plan_l1_fix_dist: 0.2658, d6.loss_plan_l1_fix_time: 1.1447, d6.loss_plan_l1_fix_dist: 0.2798, d0.loss_cls_all: 0.2795, d0.loss_bbox_all: 0.4812, d0.loss_cls: 0.2795, d0.loss_bbox: 0.4812, d1.loss_cls: 0.2679, d1.loss_bbox: 0.4556, d2.loss_cls: 0.2570, d2.loss_bbox: 0.4391, d3.loss_cls: 0.2517, d3.loss_bbox: 0.4342, d4.loss_cls: 0.2504, d4.loss_bbox: 0.4312, d5.loss_cls: 0.2507, d5.loss_bbox: 0.4300, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8898, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7704, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7416, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7236, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7222, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7220, d0.loss_map_cls_all: 0.2581, d0.loss_map_pts_all: 1.6427, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2581, d0.loss_map_pts: 1.6427, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2330, d1.loss_map_pts: 1.1237, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2178, d2.loss_map_pts: 0.9751, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.2065, d3.loss_map_pts: 0.9205, d3.loss_map_dir: 0.0121, d4.loss_map_cls: 0.2026, d4.loss_map_pts: 0.9022, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.2027, d5.loss_map_pts: 0.8952, d5.loss_map_dir: 0.0126, loss: 32.8844, grad_norm: 154.8227 +2026-02-25 13:07:43,949 - DriveTransformer - INFO - Epoch [4][37450/39528] lr: 9.623e-05, eta: 7 days, 9:01:57, time: 0.844, data_time: 0.041, memory: 19865, loss_cls: 0.2479, loss_bbox: 0.4219, loss_traj: 0.8567, loss_traj_cls: 0.0012, loss_map_cls: 0.2057, loss_map_pts: 0.8551, loss_map_dir: 0.0139, d0.loss_plan_l1_fix_time: 2.9842, d0.loss_plan_l1_fix_dist: 0.4570, d1.loss_plan_l1_fix_time: 1.6217, d1.loss_plan_l1_fix_dist: 0.2191, d2.loss_plan_l1_fix_time: 1.5913, d2.loss_plan_l1_fix_dist: 0.2193, d3.loss_plan_l1_fix_time: 1.5876, d3.loss_plan_l1_fix_dist: 0.2283, d4.loss_plan_l1_fix_time: 1.5901, d4.loss_plan_l1_fix_dist: 0.2403, d5.loss_plan_l1_fix_time: 1.5944, d5.loss_plan_l1_fix_dist: 0.2551, d6.loss_plan_l1_fix_time: 1.5998, d6.loss_plan_l1_fix_dist: 0.2740, d0.loss_cls_all: 0.2647, d0.loss_bbox_all: 0.4748, d0.loss_cls: 0.2647, d0.loss_bbox: 0.4748, d1.loss_cls: 0.2629, d1.loss_bbox: 0.4488, d2.loss_cls: 0.2537, d2.loss_bbox: 0.4330, d3.loss_cls: 0.2517, d3.loss_bbox: 0.4255, d4.loss_cls: 0.2485, d4.loss_bbox: 0.4242, d5.loss_cls: 0.2489, d5.loss_bbox: 0.4219, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0353, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8869, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8619, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8489, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8528, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8542, d0.loss_map_cls_all: 0.2616, d0.loss_map_pts_all: 1.7024, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.2616, d0.loss_map_pts: 1.7024, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2291, d1.loss_map_pts: 1.1092, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2172, d2.loss_map_pts: 0.9331, d2.loss_map_dir: 0.0126, d3.loss_map_cls: 0.2092, d3.loss_map_pts: 0.8778, d3.loss_map_dir: 0.0132, d4.loss_map_cls: 0.2065, d4.loss_map_pts: 0.8583, d4.loss_map_dir: 0.0137, d5.loss_map_cls: 0.2055, d5.loss_map_pts: 0.8560, d5.loss_map_dir: 0.0138, loss: 37.0281, grad_norm: 154.4217 +2026-02-25 13:08:24,820 - DriveTransformer - INFO - Epoch [4][37500/39528] lr: 9.623e-05, eta: 7 days, 9:01:20, time: 0.817, data_time: 0.044, memory: 19865, loss_cls: 0.2495, loss_bbox: 0.4362, loss_traj: 0.9379, loss_traj_cls: 0.0012, loss_map_cls: 0.2242, loss_map_pts: 0.9357, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.2699, d0.loss_plan_l1_fix_dist: 0.4445, d1.loss_plan_l1_fix_time: 1.4052, d1.loss_plan_l1_fix_dist: 0.2356, d2.loss_plan_l1_fix_time: 1.4005, d2.loss_plan_l1_fix_dist: 0.2308, d3.loss_plan_l1_fix_time: 1.4079, d3.loss_plan_l1_fix_dist: 0.2376, d4.loss_plan_l1_fix_time: 1.4128, d4.loss_plan_l1_fix_dist: 0.2493, d5.loss_plan_l1_fix_time: 1.4180, d5.loss_plan_l1_fix_dist: 0.2640, d6.loss_plan_l1_fix_time: 1.4236, d6.loss_plan_l1_fix_dist: 0.2784, d0.loss_cls_all: 0.2708, d0.loss_bbox_all: 0.4958, d0.loss_cls: 0.2708, d0.loss_bbox: 0.4958, d1.loss_cls: 0.2671, d1.loss_bbox: 0.4646, d2.loss_cls: 0.2600, d2.loss_bbox: 0.4495, d3.loss_cls: 0.2572, d3.loss_bbox: 0.4427, d4.loss_cls: 0.2526, d4.loss_bbox: 0.4407, d5.loss_cls: 0.2505, d5.loss_bbox: 0.4371, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2356, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9743, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9496, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9320, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9368, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9384, d0.loss_map_cls_all: 0.2869, d0.loss_map_pts_all: 1.7402, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.2869, d0.loss_map_pts: 1.7402, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2594, d1.loss_map_pts: 1.1987, d1.loss_map_dir: 0.0121, d2.loss_map_cls: 0.2482, d2.loss_map_pts: 1.0297, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2386, d3.loss_map_pts: 0.9700, d3.loss_map_dir: 0.0129, d4.loss_map_cls: 0.2286, d4.loss_map_pts: 0.9435, d4.loss_map_dir: 0.0132, d5.loss_map_cls: 0.2267, d5.loss_map_pts: 0.9357, d5.loss_map_dir: 0.0133, loss: 36.9256, grad_norm: 155.3011 +2026-02-25 13:09:03,750 - DriveTransformer - INFO - Epoch [4][37550/39528] lr: 9.623e-05, eta: 7 days, 9:00:34, time: 0.779, data_time: 0.040, memory: 19865, loss_cls: 0.2352, loss_bbox: 0.4086, loss_traj: 0.9440, loss_traj_cls: 0.0013, loss_map_cls: 0.2085, loss_map_pts: 0.7235, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.7905, d0.loss_plan_l1_fix_dist: 0.3760, d1.loss_plan_l1_fix_time: 1.5555, d1.loss_plan_l1_fix_dist: 0.2062, d2.loss_plan_l1_fix_time: 1.5292, d2.loss_plan_l1_fix_dist: 0.2060, d3.loss_plan_l1_fix_time: 1.5326, d3.loss_plan_l1_fix_dist: 0.2162, d4.loss_plan_l1_fix_time: 1.5356, d4.loss_plan_l1_fix_dist: 0.2308, d5.loss_plan_l1_fix_time: 1.5389, d5.loss_plan_l1_fix_dist: 0.2479, d6.loss_plan_l1_fix_time: 1.5427, d6.loss_plan_l1_fix_dist: 0.2703, d0.loss_cls_all: 0.2591, d0.loss_bbox_all: 0.4548, d0.loss_cls: 0.2591, d0.loss_bbox: 0.4548, d1.loss_cls: 0.2540, d1.loss_bbox: 0.4249, d2.loss_cls: 0.2476, d2.loss_bbox: 0.4100, d3.loss_cls: 0.2415, d3.loss_bbox: 0.4058, d4.loss_cls: 0.2382, d4.loss_bbox: 0.4055, d5.loss_cls: 0.2359, d5.loss_bbox: 0.4064, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0795, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9838, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9391, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9292, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9359, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9415, d0.loss_map_cls_all: 0.2716, d0.loss_map_pts_all: 1.3573, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2716, d0.loss_map_pts: 1.3573, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2460, d1.loss_map_pts: 0.9422, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.2237, d2.loss_map_pts: 0.8033, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.2162, d3.loss_map_pts: 0.7486, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.2100, d4.loss_map_pts: 0.7301, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.2092, d5.loss_map_pts: 0.7247, d5.loss_map_dir: 0.0094, loss: 35.1954, grad_norm: 154.5398 +2026-02-25 13:09:43,827 - DriveTransformer - INFO - Epoch [4][37600/39528] lr: 9.623e-05, eta: 7 days, 8:59:53, time: 0.801, data_time: 0.042, memory: 19865, loss_cls: 0.2880, loss_bbox: 0.4784, loss_traj: 0.8707, loss_traj_cls: 0.0013, loss_map_cls: 0.2570, loss_map_pts: 1.1185, loss_map_dir: 0.0152, d0.loss_plan_l1_fix_time: 3.0189, d0.loss_plan_l1_fix_dist: 0.4140, d1.loss_plan_l1_fix_time: 1.6862, d1.loss_plan_l1_fix_dist: 0.2508, d2.loss_plan_l1_fix_time: 1.6542, d2.loss_plan_l1_fix_dist: 0.2585, d3.loss_plan_l1_fix_time: 1.6555, d3.loss_plan_l1_fix_dist: 0.2782, d4.loss_plan_l1_fix_time: 1.6592, d4.loss_plan_l1_fix_dist: 0.3015, d5.loss_plan_l1_fix_time: 1.6629, d5.loss_plan_l1_fix_dist: 0.3262, d6.loss_plan_l1_fix_time: 1.6672, d6.loss_plan_l1_fix_dist: 0.3541, d0.loss_cls_all: 0.3197, d0.loss_bbox_all: 0.5344, d0.loss_cls: 0.3197, d0.loss_bbox: 0.5344, d1.loss_cls: 0.3099, d1.loss_bbox: 0.4962, d2.loss_cls: 0.2973, d2.loss_bbox: 0.4817, d3.loss_cls: 0.2910, d3.loss_bbox: 0.4721, d4.loss_cls: 0.2863, d4.loss_bbox: 0.4729, d5.loss_cls: 0.2862, d5.loss_bbox: 0.4752, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0679, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9010, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8625, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8721, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8544, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8609, d0.loss_map_cls_all: 0.3142, d0.loss_map_pts_all: 2.0662, d0.loss_map_dir_all: 0.0141, d0.loss_map_cls: 0.3142, d0.loss_map_pts: 2.0662, d0.loss_map_dir: 0.0141, d1.loss_map_cls: 0.2866, d1.loss_map_pts: 1.4043, d1.loss_map_dir: 0.0134, d2.loss_map_cls: 0.2682, d2.loss_map_pts: 1.2058, d2.loss_map_dir: 0.0141, d3.loss_map_cls: 0.2616, d3.loss_map_pts: 1.1458, d3.loss_map_dir: 0.0146, d4.loss_map_cls: 0.2591, d4.loss_map_pts: 1.1225, d4.loss_map_dir: 0.0150, d5.loss_map_cls: 0.2574, d5.loss_map_pts: 1.1194, d5.loss_map_dir: 0.0151, loss: 41.4096, grad_norm: 159.3923 +2026-02-25 13:10:23,222 - DriveTransformer - INFO - Epoch [4][37650/39528] lr: 9.623e-05, eta: 7 days, 8:59:09, time: 0.788, data_time: 0.040, memory: 19865, loss_cls: 0.2517, loss_bbox: 0.4484, loss_traj: 0.9258, loss_traj_cls: 0.0014, loss_map_cls: 0.2168, loss_map_pts: 0.8912, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.8364, d0.loss_plan_l1_fix_dist: 0.4726, d1.loss_plan_l1_fix_time: 1.5231, d1.loss_plan_l1_fix_dist: 0.2393, d2.loss_plan_l1_fix_time: 1.4965, d2.loss_plan_l1_fix_dist: 0.2374, d3.loss_plan_l1_fix_time: 1.4978, d3.loss_plan_l1_fix_dist: 0.2492, d4.loss_plan_l1_fix_time: 1.5010, d4.loss_plan_l1_fix_dist: 0.2620, d5.loss_plan_l1_fix_time: 1.5048, d5.loss_plan_l1_fix_dist: 0.2749, d6.loss_plan_l1_fix_time: 1.5089, d6.loss_plan_l1_fix_dist: 0.2914, d0.loss_cls_all: 0.2621, d0.loss_bbox_all: 0.5025, d0.loss_cls: 0.2621, d0.loss_bbox: 0.5025, d1.loss_cls: 0.2601, d1.loss_bbox: 0.4729, d2.loss_cls: 0.2533, d2.loss_bbox: 0.4564, d3.loss_cls: 0.2514, d3.loss_bbox: 0.4491, d4.loss_cls: 0.2511, d4.loss_bbox: 0.4467, d5.loss_cls: 0.2520, d5.loss_bbox: 0.4455, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1320, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9677, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9412, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9349, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9326, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9336, d0.loss_map_cls_all: 0.2639, d0.loss_map_pts_all: 1.6090, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2639, d0.loss_map_pts: 1.6090, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2447, d1.loss_map_pts: 1.1330, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.2309, d2.loss_map_pts: 0.9826, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.2234, d3.loss_map_pts: 0.9239, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.2190, d4.loss_map_pts: 0.8983, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.2176, d5.loss_map_pts: 0.8928, d5.loss_map_dir: 0.0111, loss: 37.3422, grad_norm: 157.6540 +2026-02-25 13:11:03,525 - DriveTransformer - INFO - Epoch [4][37700/39528] lr: 9.623e-05, eta: 7 days, 8:58:29, time: 0.806, data_time: 0.043, memory: 19865, loss_cls: 0.2519, loss_bbox: 0.4513, loss_traj: 0.8757, loss_traj_cls: 0.0013, loss_map_cls: 0.2451, loss_map_pts: 0.9381, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.6145, d0.loss_plan_l1_fix_dist: 0.3095, d1.loss_plan_l1_fix_time: 1.3404, d1.loss_plan_l1_fix_dist: 0.2204, d2.loss_plan_l1_fix_time: 1.3392, d2.loss_plan_l1_fix_dist: 0.2184, d3.loss_plan_l1_fix_time: 1.3433, d3.loss_plan_l1_fix_dist: 0.2349, d4.loss_plan_l1_fix_time: 1.3462, d4.loss_plan_l1_fix_dist: 0.2563, d5.loss_plan_l1_fix_time: 1.3494, d5.loss_plan_l1_fix_dist: 0.2795, d6.loss_plan_l1_fix_time: 1.3529, d6.loss_plan_l1_fix_dist: 0.2978, d0.loss_cls_all: 0.2731, d0.loss_bbox_all: 0.4995, d0.loss_cls: 0.2731, d0.loss_bbox: 0.4995, d1.loss_cls: 0.2670, d1.loss_bbox: 0.4696, d2.loss_cls: 0.2566, d2.loss_bbox: 0.4533, d3.loss_cls: 0.2569, d3.loss_bbox: 0.4481, d4.loss_cls: 0.2536, d4.loss_bbox: 0.4483, d5.loss_cls: 0.2527, d5.loss_bbox: 0.4497, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0623, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9124, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8797, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8738, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8865, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8784, d0.loss_map_cls_all: 0.2952, d0.loss_map_pts_all: 1.6317, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2952, d0.loss_map_pts: 1.6317, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2704, d1.loss_map_pts: 1.1841, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2590, d2.loss_map_pts: 1.0202, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2489, d3.loss_map_pts: 0.9639, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.2462, d4.loss_map_pts: 0.9461, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.2446, d5.loss_map_pts: 0.9406, d5.loss_map_dir: 0.0122, loss: 36.1358, grad_norm: 156.6004 +2026-02-25 13:11:43,946 - DriveTransformer - INFO - Epoch [4][37750/39528] lr: 9.623e-05, eta: 7 days, 8:57:50, time: 0.808, data_time: 0.046, memory: 19865, loss_cls: 0.2433, loss_bbox: 0.4209, loss_traj: 0.9322, loss_traj_cls: 0.0014, loss_map_cls: 0.2257, loss_map_pts: 0.8946, loss_map_dir: 0.0131, d0.loss_plan_l1_fix_time: 2.5793, d0.loss_plan_l1_fix_dist: 0.3721, d1.loss_plan_l1_fix_time: 1.4420, d1.loss_plan_l1_fix_dist: 0.2185, d2.loss_plan_l1_fix_time: 1.4294, d2.loss_plan_l1_fix_dist: 0.2192, d3.loss_plan_l1_fix_time: 1.4280, d3.loss_plan_l1_fix_dist: 0.2331, d4.loss_plan_l1_fix_time: 1.4307, d4.loss_plan_l1_fix_dist: 0.2481, d5.loss_plan_l1_fix_time: 1.4341, d5.loss_plan_l1_fix_dist: 0.2650, d6.loss_plan_l1_fix_time: 1.4377, d6.loss_plan_l1_fix_dist: 0.2809, d0.loss_cls_all: 0.2687, d0.loss_bbox_all: 0.4712, d0.loss_cls: 0.2687, d0.loss_bbox: 0.4712, d1.loss_cls: 0.2630, d1.loss_bbox: 0.4407, d2.loss_cls: 0.2516, d2.loss_bbox: 0.4289, d3.loss_cls: 0.2471, d3.loss_bbox: 0.4239, d4.loss_cls: 0.2441, d4.loss_bbox: 0.4213, d5.loss_cls: 0.2434, d5.loss_bbox: 0.4204, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1596, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9745, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9340, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9259, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9261, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9297, d0.loss_map_cls_all: 0.2765, d0.loss_map_pts_all: 1.6727, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2765, d0.loss_map_pts: 1.6727, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2540, d1.loss_map_pts: 1.1580, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2435, d2.loss_map_pts: 0.9911, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.2342, d3.loss_map_pts: 0.9304, d3.loss_map_dir: 0.0124, d4.loss_map_cls: 0.2281, d4.loss_map_pts: 0.9050, d4.loss_map_dir: 0.0128, d5.loss_map_cls: 0.2260, d5.loss_map_pts: 0.8931, d5.loss_map_dir: 0.0129, loss: 36.5159, grad_norm: 154.5284 +2026-02-25 13:12:25,124 - DriveTransformer - INFO - Epoch [4][37800/39528] lr: 9.623e-05, eta: 7 days, 8:57:15, time: 0.825, data_time: 0.046, memory: 19865, loss_cls: 0.2382, loss_bbox: 0.4460, loss_traj: 0.8178, loss_traj_cls: 0.0013, loss_map_cls: 0.2142, loss_map_pts: 0.9874, loss_map_dir: 0.0151, d0.loss_plan_l1_fix_time: 2.8008, d0.loss_plan_l1_fix_dist: 0.3797, d1.loss_plan_l1_fix_time: 1.5112, d1.loss_plan_l1_fix_dist: 0.2318, d2.loss_plan_l1_fix_time: 1.4864, d2.loss_plan_l1_fix_dist: 0.2475, d3.loss_plan_l1_fix_time: 1.4830, d3.loss_plan_l1_fix_dist: 0.2628, d4.loss_plan_l1_fix_time: 1.4858, d4.loss_plan_l1_fix_dist: 0.2760, d5.loss_plan_l1_fix_time: 1.4892, d5.loss_plan_l1_fix_dist: 0.2899, d6.loss_plan_l1_fix_time: 1.4926, d6.loss_plan_l1_fix_dist: 0.3149, d0.loss_cls_all: 0.2623, d0.loss_bbox_all: 0.5036, d0.loss_cls: 0.2623, d0.loss_bbox: 0.5036, d1.loss_cls: 0.2557, d1.loss_bbox: 0.4707, d2.loss_cls: 0.2435, d2.loss_bbox: 0.4573, d3.loss_cls: 0.2405, d3.loss_bbox: 0.4516, d4.loss_cls: 0.2361, d4.loss_bbox: 0.4494, d5.loss_cls: 0.2366, d5.loss_bbox: 0.4482, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1039, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8577, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8133, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8079, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8106, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8113, d0.loss_map_cls_all: 0.2817, d0.loss_map_pts_all: 1.8829, d0.loss_map_dir_all: 0.0137, d0.loss_map_cls: 0.2817, d0.loss_map_pts: 1.8829, d0.loss_map_dir: 0.0137, d1.loss_map_cls: 0.2516, d1.loss_map_pts: 1.2611, d1.loss_map_dir: 0.0133, d2.loss_map_cls: 0.2326, d2.loss_map_pts: 1.0819, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2221, d3.loss_map_pts: 1.0209, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2150, d4.loss_map_pts: 0.9949, d4.loss_map_dir: 0.0147, d5.loss_map_cls: 0.2150, d5.loss_map_pts: 0.9883, d5.loss_map_dir: 0.0149, loss: 37.6145, grad_norm: 153.5850 +2026-02-25 13:13:06,825 - DriveTransformer - INFO - Epoch [4][37850/39528] lr: 9.623e-05, eta: 7 days, 8:56:42, time: 0.833, data_time: 0.040, memory: 19865, loss_cls: 0.2330, loss_bbox: 0.4324, loss_traj: 0.6925, loss_traj_cls: 0.0013, loss_map_cls: 0.1838, loss_map_pts: 0.8466, loss_map_dir: 0.0143, d0.loss_plan_l1_fix_time: 2.6237, d0.loss_plan_l1_fix_dist: 0.4295, d1.loss_plan_l1_fix_time: 1.3716, d1.loss_plan_l1_fix_dist: 0.2355, d2.loss_plan_l1_fix_time: 1.3289, d2.loss_plan_l1_fix_dist: 0.2382, d3.loss_plan_l1_fix_time: 1.3205, d3.loss_plan_l1_fix_dist: 0.2492, d4.loss_plan_l1_fix_time: 1.3224, d4.loss_plan_l1_fix_dist: 0.2643, d5.loss_plan_l1_fix_time: 1.3255, d5.loss_plan_l1_fix_dist: 0.2830, d6.loss_plan_l1_fix_time: 1.3295, d6.loss_plan_l1_fix_dist: 0.3008, d0.loss_cls_all: 0.2564, d0.loss_bbox_all: 0.4755, d0.loss_cls: 0.2564, d0.loss_bbox: 0.4755, d1.loss_cls: 0.2462, d1.loss_bbox: 0.4532, d2.loss_cls: 0.2367, d2.loss_bbox: 0.4418, d3.loss_cls: 0.2348, d3.loss_bbox: 0.4357, d4.loss_cls: 0.2340, d4.loss_bbox: 0.4319, d5.loss_cls: 0.2315, d5.loss_bbox: 0.4335, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9345, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.7502, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7042, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6956, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6923, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6893, d0.loss_map_cls_all: 0.2350, d0.loss_map_pts_all: 1.7182, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.2350, d0.loss_map_pts: 1.7182, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.2033, d1.loss_map_pts: 1.0942, d1.loss_map_dir: 0.0129, d2.loss_map_cls: 0.1945, d2.loss_map_pts: 0.9244, d2.loss_map_dir: 0.0133, d3.loss_map_cls: 0.1861, d3.loss_map_pts: 0.8718, d3.loss_map_dir: 0.0137, d4.loss_map_cls: 0.1849, d4.loss_map_pts: 0.8568, d4.loss_map_dir: 0.0141, d5.loss_map_cls: 0.1843, d5.loss_map_pts: 0.8507, d5.loss_map_dir: 0.0143, loss: 33.8947, grad_norm: 154.0588 +2026-02-25 13:13:46,666 - DriveTransformer - INFO - Epoch [4][37900/39528] lr: 9.623e-05, eta: 7 days, 8:56:00, time: 0.797, data_time: 0.041, memory: 19865, loss_cls: 0.2654, loss_bbox: 0.4585, loss_traj: 0.8232, loss_traj_cls: 0.0013, loss_map_cls: 0.2507, loss_map_pts: 1.0181, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.7774, d0.loss_plan_l1_fix_dist: 0.5046, d1.loss_plan_l1_fix_time: 1.3745, d1.loss_plan_l1_fix_dist: 0.2595, d2.loss_plan_l1_fix_time: 1.3698, d2.loss_plan_l1_fix_dist: 0.2642, d3.loss_plan_l1_fix_time: 1.3729, d3.loss_plan_l1_fix_dist: 0.2773, d4.loss_plan_l1_fix_time: 1.3756, d4.loss_plan_l1_fix_dist: 0.2948, d5.loss_plan_l1_fix_time: 1.3783, d5.loss_plan_l1_fix_dist: 0.3129, d6.loss_plan_l1_fix_time: 1.3817, d6.loss_plan_l1_fix_dist: 0.3250, d0.loss_cls_all: 0.2877, d0.loss_bbox_all: 0.5133, d0.loss_cls: 0.2877, d0.loss_bbox: 0.5133, d1.loss_cls: 0.2752, d1.loss_bbox: 0.4857, d2.loss_cls: 0.2692, d2.loss_bbox: 0.4687, d3.loss_cls: 0.2665, d3.loss_bbox: 0.4623, d4.loss_cls: 0.2653, d4.loss_bbox: 0.4592, d5.loss_cls: 0.2657, d5.loss_bbox: 0.4575, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9837, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8645, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8394, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8194, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8137, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8214, d0.loss_map_cls_all: 0.2938, d0.loss_map_pts_all: 1.9236, d0.loss_map_dir_all: 0.0138, d0.loss_map_cls: 0.2938, d0.loss_map_pts: 1.9236, d0.loss_map_dir: 0.0138, d1.loss_map_cls: 0.2707, d1.loss_map_pts: 1.2935, d1.loss_map_dir: 0.0134, d2.loss_map_cls: 0.2625, d2.loss_map_pts: 1.1081, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2547, d3.loss_map_pts: 1.0506, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.2530, d4.loss_map_pts: 1.0278, d4.loss_map_dir: 0.0147, d5.loss_map_cls: 0.2513, d5.loss_map_pts: 1.0189, d5.loss_map_dir: 0.0148, loss: 37.8498, grad_norm: 154.5894 +2026-02-25 13:14:26,614 - DriveTransformer - INFO - Epoch [4][37950/39528] lr: 9.623e-05, eta: 7 days, 8:55:18, time: 0.799, data_time: 0.044, memory: 19865, loss_cls: 0.2561, loss_bbox: 0.4617, loss_traj: 0.9519, loss_traj_cls: 0.0013, loss_map_cls: 0.2228, loss_map_pts: 0.9915, loss_map_dir: 0.0130, d0.loss_plan_l1_fix_time: 2.7263, d0.loss_plan_l1_fix_dist: 0.5419, d1.loss_plan_l1_fix_time: 1.6018, d1.loss_plan_l1_fix_dist: 0.2678, d2.loss_plan_l1_fix_time: 1.5934, d2.loss_plan_l1_fix_dist: 0.2694, d3.loss_plan_l1_fix_time: 1.5925, d3.loss_plan_l1_fix_dist: 0.2772, d4.loss_plan_l1_fix_time: 1.5950, d4.loss_plan_l1_fix_dist: 0.2866, d5.loss_plan_l1_fix_time: 1.5975, d5.loss_plan_l1_fix_dist: 0.3008, d6.loss_plan_l1_fix_time: 1.6007, d6.loss_plan_l1_fix_dist: 0.3228, d0.loss_cls_all: 0.2813, d0.loss_bbox_all: 0.5097, d0.loss_cls: 0.2813, d0.loss_bbox: 0.5097, d1.loss_cls: 0.2736, d1.loss_bbox: 0.4847, d2.loss_cls: 0.2630, d2.loss_bbox: 0.4675, d3.loss_cls: 0.2585, d3.loss_bbox: 0.4624, d4.loss_cls: 0.2554, d4.loss_bbox: 0.4614, d5.loss_cls: 0.2541, d5.loss_bbox: 0.4621, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0991, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9964, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9583, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9582, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9483, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9475, d0.loss_map_cls_all: 0.2852, d0.loss_map_pts_all: 1.7313, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2852, d0.loss_map_pts: 1.7313, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2591, d1.loss_map_pts: 1.2348, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2407, d2.loss_map_pts: 1.0869, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2326, d3.loss_map_pts: 1.0257, d3.loss_map_dir: 0.0125, d4.loss_map_cls: 0.2253, d4.loss_map_pts: 0.9999, d4.loss_map_dir: 0.0129, d5.loss_map_cls: 0.2230, d5.loss_map_pts: 0.9909, d5.loss_map_dir: 0.0129, loss: 39.2482, grad_norm: 153.9413 +2026-02-25 13:15:08,534 - DriveTransformer - INFO - Epoch [4][38000/39528] lr: 9.623e-05, eta: 7 days, 8:54:47, time: 0.838, data_time: 0.044, memory: 19865, loss_cls: 0.2906, loss_bbox: 0.5073, loss_traj: 0.9276, loss_traj_cls: 0.0013, loss_map_cls: 0.2686, loss_map_pts: 1.2847, loss_map_dir: 0.0168, d0.loss_plan_l1_fix_time: 2.9218, d0.loss_plan_l1_fix_dist: 0.3953, d1.loss_plan_l1_fix_time: 1.7682, d1.loss_plan_l1_fix_dist: 0.2607, d2.loss_plan_l1_fix_time: 1.7455, d2.loss_plan_l1_fix_dist: 0.2621, d3.loss_plan_l1_fix_time: 1.7414, d3.loss_plan_l1_fix_dist: 0.2714, d4.loss_plan_l1_fix_time: 1.7428, d4.loss_plan_l1_fix_dist: 0.2841, d5.loss_plan_l1_fix_time: 1.7449, d5.loss_plan_l1_fix_dist: 0.2970, d6.loss_plan_l1_fix_time: 1.7477, d6.loss_plan_l1_fix_dist: 0.3088, d0.loss_cls_all: 0.3156, d0.loss_bbox_all: 0.5730, d0.loss_cls: 0.3156, d0.loss_bbox: 0.5730, d1.loss_cls: 0.3076, d1.loss_bbox: 0.5352, d2.loss_cls: 0.3000, d2.loss_bbox: 0.5164, d3.loss_cls: 0.2946, d3.loss_bbox: 0.5078, d4.loss_cls: 0.2902, d4.loss_bbox: 0.5054, d5.loss_cls: 0.2906, d5.loss_bbox: 0.5043, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1472, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9758, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9289, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9288, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9224, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9243, d0.loss_map_cls_all: 0.3307, d0.loss_map_pts_all: 2.2233, d0.loss_map_dir_all: 0.0155, d0.loss_map_cls: 0.3307, d0.loss_map_pts: 2.2233, d0.loss_map_dir: 0.0155, d1.loss_map_cls: 0.2993, d1.loss_map_pts: 1.6109, d1.loss_map_dir: 0.0148, d2.loss_map_cls: 0.2852, d2.loss_map_pts: 1.4072, d2.loss_map_dir: 0.0154, d3.loss_map_cls: 0.2748, d3.loss_map_pts: 1.3313, d3.loss_map_dir: 0.0161, d4.loss_map_cls: 0.2698, d4.loss_map_pts: 1.3009, d4.loss_map_dir: 0.0164, d5.loss_map_cls: 0.2686, d5.loss_map_pts: 1.2859, d5.loss_map_dir: 0.0167, loss: 44.0034, grad_norm: 153.4633 +2026-02-25 13:15:49,039 - DriveTransformer - INFO - Epoch [4][38050/39528] lr: 9.623e-05, eta: 7 days, 8:54:08, time: 0.810, data_time: 0.043, memory: 19865, loss_cls: 0.2359, loss_bbox: 0.4411, loss_traj: 0.9538, loss_traj_cls: 0.0013, loss_map_cls: 0.2486, loss_map_pts: 0.9585, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.8400, d0.loss_plan_l1_fix_dist: 0.3023, d1.loss_plan_l1_fix_time: 1.6331, d1.loss_plan_l1_fix_dist: 0.2174, d2.loss_plan_l1_fix_time: 1.6261, d2.loss_plan_l1_fix_dist: 0.2190, d3.loss_plan_l1_fix_time: 1.6354, d3.loss_plan_l1_fix_dist: 0.2283, d4.loss_plan_l1_fix_time: 1.6439, d4.loss_plan_l1_fix_dist: 0.2400, d5.loss_plan_l1_fix_time: 1.6536, d5.loss_plan_l1_fix_dist: 0.2505, d6.loss_plan_l1_fix_time: 1.6646, d6.loss_plan_l1_fix_dist: 0.2618, d0.loss_cls_all: 0.2553, d0.loss_bbox_all: 0.4887, d0.loss_cls: 0.2553, d0.loss_bbox: 0.4887, d1.loss_cls: 0.2501, d1.loss_bbox: 0.4547, d2.loss_cls: 0.2431, d2.loss_bbox: 0.4382, d3.loss_cls: 0.2407, d3.loss_bbox: 0.4346, d4.loss_cls: 0.2369, d4.loss_bbox: 0.4361, d5.loss_cls: 0.2359, d5.loss_bbox: 0.4376, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2153, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9924, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9520, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9507, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9446, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9436, d0.loss_map_cls_all: 0.3015, d0.loss_map_pts_all: 1.7516, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.3015, d0.loss_map_pts: 1.7516, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2744, d1.loss_map_pts: 1.2459, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2568, d2.loss_map_pts: 1.0615, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2518, d3.loss_map_pts: 0.9907, d3.loss_map_dir: 0.0121, d4.loss_map_cls: 0.2470, d4.loss_map_pts: 0.9663, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.2483, d5.loss_map_pts: 0.9579, d5.loss_map_dir: 0.0125, loss: 38.8548, grad_norm: 152.6630 +2026-02-25 13:16:29,838 - DriveTransformer - INFO - Epoch [4][38100/39528] lr: 9.623e-05, eta: 7 days, 8:53:31, time: 0.816, data_time: 0.039, memory: 19865, loss_cls: 0.2388, loss_bbox: 0.4572, loss_traj: 0.7378, loss_traj_cls: 0.0013, loss_map_cls: 0.2224, loss_map_pts: 0.9171, loss_map_dir: 0.0141, d0.loss_plan_l1_fix_time: 2.5100, d0.loss_plan_l1_fix_dist: 0.5248, d1.loss_plan_l1_fix_time: 1.4348, d1.loss_plan_l1_fix_dist: 0.2720, d2.loss_plan_l1_fix_time: 1.4193, d2.loss_plan_l1_fix_dist: 0.2726, d3.loss_plan_l1_fix_time: 1.4330, d3.loss_plan_l1_fix_dist: 0.2805, d4.loss_plan_l1_fix_time: 1.4426, d4.loss_plan_l1_fix_dist: 0.2923, d5.loss_plan_l1_fix_time: 1.4533, d5.loss_plan_l1_fix_dist: 0.3071, d6.loss_plan_l1_fix_time: 1.4648, d6.loss_plan_l1_fix_dist: 0.3239, d0.loss_cls_all: 0.2651, d0.loss_bbox_all: 0.4945, d0.loss_cls: 0.2651, d0.loss_bbox: 0.4945, d1.loss_cls: 0.2551, d1.loss_bbox: 0.4682, d2.loss_cls: 0.2451, d2.loss_bbox: 0.4537, d3.loss_cls: 0.2423, d3.loss_bbox: 0.4473, d4.loss_cls: 0.2407, d4.loss_bbox: 0.4488, d5.loss_cls: 0.2382, d5.loss_bbox: 0.4534, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8963, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7883, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7427, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7381, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7322, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7373, d0.loss_map_cls_all: 0.2755, d0.loss_map_pts_all: 1.7660, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.2755, d0.loss_map_pts: 1.7660, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2495, d1.loss_map_pts: 1.1839, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2367, d2.loss_map_pts: 1.0021, d2.loss_map_dir: 0.0130, d3.loss_map_cls: 0.2289, d3.loss_map_pts: 0.9423, d3.loss_map_dir: 0.0135, d4.loss_map_cls: 0.2259, d4.loss_map_pts: 0.9229, d4.loss_map_dir: 0.0138, d5.loss_map_cls: 0.2248, d5.loss_map_pts: 0.9162, d5.loss_map_dir: 0.0139, loss: 35.9793, grad_norm: 153.1633 +2026-02-25 13:17:10,669 - DriveTransformer - INFO - Epoch [4][38150/39528] lr: 9.623e-05, eta: 7 days, 8:52:54, time: 0.817, data_time: 0.042, memory: 19865, loss_cls: 0.2475, loss_bbox: 0.4556, loss_traj: 0.8927, loss_traj_cls: 0.0013, loss_map_cls: 0.2529, loss_map_pts: 1.0017, loss_map_dir: 0.0146, d0.loss_plan_l1_fix_time: 2.6361, d0.loss_plan_l1_fix_dist: 0.3999, d1.loss_plan_l1_fix_time: 1.3194, d1.loss_plan_l1_fix_dist: 0.2257, d2.loss_plan_l1_fix_time: 1.3037, d2.loss_plan_l1_fix_dist: 0.2264, d3.loss_plan_l1_fix_time: 1.3055, d3.loss_plan_l1_fix_dist: 0.2338, d4.loss_plan_l1_fix_time: 1.3100, d4.loss_plan_l1_fix_dist: 0.2427, d5.loss_plan_l1_fix_time: 1.3154, d5.loss_plan_l1_fix_dist: 0.2544, d6.loss_plan_l1_fix_time: 1.3210, d6.loss_plan_l1_fix_dist: 0.2721, d0.loss_cls_all: 0.2720, d0.loss_bbox_all: 0.5050, d0.loss_cls: 0.2720, d0.loss_bbox: 0.5050, d1.loss_cls: 0.2638, d1.loss_bbox: 0.4748, d2.loss_cls: 0.2569, d2.loss_bbox: 0.4585, d3.loss_cls: 0.2518, d3.loss_bbox: 0.4511, d4.loss_cls: 0.2488, d4.loss_bbox: 0.4506, d5.loss_cls: 0.2464, d5.loss_bbox: 0.4535, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1447, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9581, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9059, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8974, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9010, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8970, d0.loss_map_cls_all: 0.3073, d0.loss_map_pts_all: 1.9275, d0.loss_map_dir_all: 0.0134, d0.loss_map_cls: 0.3073, d0.loss_map_pts: 1.9275, d0.loss_map_dir: 0.0134, d1.loss_map_cls: 0.2820, d1.loss_map_pts: 1.2826, d1.loss_map_dir: 0.0129, d2.loss_map_cls: 0.2703, d2.loss_map_pts: 1.0906, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2644, d3.loss_map_pts: 1.0286, d3.loss_map_dir: 0.0139, d4.loss_map_cls: 0.2580, d4.loss_map_pts: 1.0084, d4.loss_map_dir: 0.0145, d5.loss_map_cls: 0.2542, d5.loss_map_pts: 1.0023, d5.loss_map_dir: 0.0146, loss: 37.3591, grad_norm: 152.6681 +2026-02-25 13:17:50,866 - DriveTransformer - INFO - Epoch [4][38200/39528] lr: 9.623e-05, eta: 7 days, 8:52:14, time: 0.804, data_time: 0.040, memory: 19865, loss_cls: 0.2732, loss_bbox: 0.4678, loss_traj: 0.9193, loss_traj_cls: 0.0013, loss_map_cls: 0.2078, loss_map_pts: 1.0476, loss_map_dir: 0.0154, d0.loss_plan_l1_fix_time: 2.6647, d0.loss_plan_l1_fix_dist: 0.4276, d1.loss_plan_l1_fix_time: 1.4369, d1.loss_plan_l1_fix_dist: 0.2296, d2.loss_plan_l1_fix_time: 1.4294, d2.loss_plan_l1_fix_dist: 0.2345, d3.loss_plan_l1_fix_time: 1.4328, d3.loss_plan_l1_fix_dist: 0.2431, d4.loss_plan_l1_fix_time: 1.4375, d4.loss_plan_l1_fix_dist: 0.2526, d5.loss_plan_l1_fix_time: 1.4421, d5.loss_plan_l1_fix_dist: 0.2609, d6.loss_plan_l1_fix_time: 1.4481, d6.loss_plan_l1_fix_dist: 0.2689, d0.loss_cls_all: 0.3104, d0.loss_bbox_all: 0.5207, d0.loss_cls: 0.3104, d0.loss_bbox: 0.5207, d1.loss_cls: 0.2996, d1.loss_bbox: 0.4877, d2.loss_cls: 0.2834, d2.loss_bbox: 0.4738, d3.loss_cls: 0.2788, d3.loss_bbox: 0.4690, d4.loss_cls: 0.2737, d4.loss_bbox: 0.4676, d5.loss_cls: 0.2721, d5.loss_bbox: 0.4661, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1379, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9936, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9400, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9274, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9152, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9168, d0.loss_map_cls_all: 0.2695, d0.loss_map_pts_all: 1.8821, d0.loss_map_dir_all: 0.0140, d0.loss_map_cls: 0.2695, d0.loss_map_pts: 1.8821, d0.loss_map_dir: 0.0140, d1.loss_map_cls: 0.2406, d1.loss_map_pts: 1.3311, d1.loss_map_dir: 0.0138, d2.loss_map_cls: 0.2260, d2.loss_map_pts: 1.1507, d2.loss_map_dir: 0.0143, d3.loss_map_cls: 0.2133, d3.loss_map_pts: 1.0869, d3.loss_map_dir: 0.0148, d4.loss_map_cls: 0.2086, d4.loss_map_pts: 1.0595, d4.loss_map_dir: 0.0152, d5.loss_map_cls: 0.2087, d5.loss_map_pts: 1.0504, d5.loss_map_dir: 0.0153, loss: 38.5919, grad_norm: 152.8098 +2026-02-25 13:18:31,444 - DriveTransformer - INFO - Epoch [4][38250/39528] lr: 9.623e-05, eta: 7 days, 8:51:36, time: 0.812, data_time: 0.050, memory: 19865, loss_cls: 0.2461, loss_bbox: 0.4132, loss_traj: 0.7318, loss_traj_cls: 0.0014, loss_map_cls: 0.1980, loss_map_pts: 0.8436, loss_map_dir: 0.0148, d0.loss_plan_l1_fix_time: 2.4830, d0.loss_plan_l1_fix_dist: 0.3791, d1.loss_plan_l1_fix_time: 1.3835, d1.loss_plan_l1_fix_dist: 0.1987, d2.loss_plan_l1_fix_time: 1.3737, d2.loss_plan_l1_fix_dist: 0.2001, d3.loss_plan_l1_fix_time: 1.3733, d3.loss_plan_l1_fix_dist: 0.2072, d4.loss_plan_l1_fix_time: 1.3775, d4.loss_plan_l1_fix_dist: 0.2173, d5.loss_plan_l1_fix_time: 1.3824, d5.loss_plan_l1_fix_dist: 0.2284, d6.loss_plan_l1_fix_time: 1.3898, d6.loss_plan_l1_fix_dist: 0.2392, d0.loss_cls_all: 0.2740, d0.loss_bbox_all: 0.4645, d0.loss_cls: 0.2740, d0.loss_bbox: 0.4645, d1.loss_cls: 0.2670, d1.loss_bbox: 0.4395, d2.loss_cls: 0.2546, d2.loss_bbox: 0.4231, d3.loss_cls: 0.2505, d3.loss_bbox: 0.4173, d4.loss_cls: 0.2463, d4.loss_bbox: 0.4166, d5.loss_cls: 0.2467, d5.loss_bbox: 0.4138, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9286, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7967, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7496, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7409, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7366, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7341, d0.loss_map_cls_all: 0.2520, d0.loss_map_pts_all: 1.7268, d0.loss_map_dir_all: 0.0137, d0.loss_map_cls: 0.2520, d0.loss_map_pts: 1.7268, d0.loss_map_dir: 0.0137, d1.loss_map_cls: 0.2248, d1.loss_map_pts: 1.1347, d1.loss_map_dir: 0.0132, d2.loss_map_cls: 0.2145, d2.loss_map_pts: 0.9446, d2.loss_map_dir: 0.0136, d3.loss_map_cls: 0.2054, d3.loss_map_pts: 0.8773, d3.loss_map_dir: 0.0141, d4.loss_map_cls: 0.2012, d4.loss_map_pts: 0.8531, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.1987, d5.loss_map_pts: 0.8460, d5.loss_map_dir: 0.0147, loss: 34.1825, grad_norm: 157.0502 +2026-02-25 13:19:11,239 - DriveTransformer - INFO - Epoch [4][38300/39528] lr: 9.623e-05, eta: 7 days, 8:50:53, time: 0.796, data_time: 0.039, memory: 19865, loss_cls: 0.2586, loss_bbox: 0.4643, loss_traj: 1.0077, loss_traj_cls: 0.0013, loss_map_cls: 0.2166, loss_map_pts: 0.8395, loss_map_dir: 0.0143, d0.loss_plan_l1_fix_time: 2.7959, d0.loss_plan_l1_fix_dist: 0.3196, d1.loss_plan_l1_fix_time: 1.3954, d1.loss_plan_l1_fix_dist: 0.1906, d2.loss_plan_l1_fix_time: 1.3754, d2.loss_plan_l1_fix_dist: 0.1952, d3.loss_plan_l1_fix_time: 1.3698, d3.loss_plan_l1_fix_dist: 0.2011, d4.loss_plan_l1_fix_time: 1.3714, d4.loss_plan_l1_fix_dist: 0.2078, d5.loss_plan_l1_fix_time: 1.3741, d5.loss_plan_l1_fix_dist: 0.2162, d6.loss_plan_l1_fix_time: 1.3782, d6.loss_plan_l1_fix_dist: 0.2284, d0.loss_cls_all: 0.2875, d0.loss_bbox_all: 0.5198, d0.loss_cls: 0.2875, d0.loss_bbox: 0.5198, d1.loss_cls: 0.2796, d1.loss_bbox: 0.4871, d2.loss_cls: 0.2676, d2.loss_bbox: 0.4740, d3.loss_cls: 0.2642, d3.loss_bbox: 0.4681, d4.loss_cls: 0.2583, d4.loss_bbox: 0.4662, d5.loss_cls: 0.2570, d5.loss_bbox: 0.4655, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2261, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.0577, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0113, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0000, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0029, d5.loss_traj_cls: 0.0012, d5.loss_traj: 1.0071, d0.loss_map_cls_all: 0.2665, d0.loss_map_pts_all: 1.6478, d0.loss_map_dir_all: 0.0130, d0.loss_map_cls: 0.2665, d0.loss_map_pts: 1.6478, d0.loss_map_dir: 0.0130, d1.loss_map_cls: 0.2444, d1.loss_map_pts: 1.0986, d1.loss_map_dir: 0.0126, d2.loss_map_cls: 0.2324, d2.loss_map_pts: 0.9295, d2.loss_map_dir: 0.0132, d3.loss_map_cls: 0.2263, d3.loss_map_pts: 0.8693, d3.loss_map_dir: 0.0137, d4.loss_map_cls: 0.2192, d4.loss_map_pts: 0.8483, d4.loss_map_dir: 0.0140, d5.loss_map_cls: 0.2168, d5.loss_map_pts: 0.8417, d5.loss_map_dir: 0.0141, loss: 36.6827, grad_norm: 158.0509 +2026-02-25 13:19:49,921 - DriveTransformer - INFO - Epoch [4][38350/39528] lr: 9.623e-05, eta: 7 days, 8:50:05, time: 0.774, data_time: 0.041, memory: 19865, loss_cls: 0.2448, loss_bbox: 0.4500, loss_traj: 0.9106, loss_traj_cls: 0.0013, loss_map_cls: 0.2031, loss_map_pts: 0.8598, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.6750, d0.loss_plan_l1_fix_dist: 0.3643, d1.loss_plan_l1_fix_time: 1.3691, d1.loss_plan_l1_fix_dist: 0.1963, d2.loss_plan_l1_fix_time: 1.3528, d2.loss_plan_l1_fix_dist: 0.1972, d3.loss_plan_l1_fix_time: 1.3512, d3.loss_plan_l1_fix_dist: 0.2042, d4.loss_plan_l1_fix_time: 1.3543, d4.loss_plan_l1_fix_dist: 0.2135, d5.loss_plan_l1_fix_time: 1.3573, d5.loss_plan_l1_fix_dist: 0.2246, d6.loss_plan_l1_fix_time: 1.3596, d6.loss_plan_l1_fix_dist: 0.2346, d0.loss_cls_all: 0.2766, d0.loss_bbox_all: 0.5035, d0.loss_cls: 0.2766, d0.loss_bbox: 0.5035, d1.loss_cls: 0.2658, d1.loss_bbox: 0.4725, d2.loss_cls: 0.2562, d2.loss_bbox: 0.4557, d3.loss_cls: 0.2521, d3.loss_bbox: 0.4503, d4.loss_cls: 0.2485, d4.loss_bbox: 0.4485, d5.loss_cls: 0.2461, d5.loss_bbox: 0.4486, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1171, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9427, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9133, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9076, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9114, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9148, d0.loss_map_cls_all: 0.2688, d0.loss_map_pts_all: 1.5660, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2688, d0.loss_map_pts: 1.5660, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2408, d1.loss_map_pts: 1.0854, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2261, d2.loss_map_pts: 0.9476, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.2147, d3.loss_map_pts: 0.8924, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.2068, d4.loss_map_pts: 0.8711, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.2036, d5.loss_map_pts: 0.8632, d5.loss_map_dir: 0.0121, loss: 35.4554, grad_norm: 159.3080 +2026-02-25 13:20:31,075 - DriveTransformer - INFO - Epoch [4][38400/39528] lr: 9.623e-05, eta: 7 days, 8:49:30, time: 0.823, data_time: 0.048, memory: 19865, loss_cls: 0.2757, loss_bbox: 0.4526, loss_traj: 0.7766, loss_traj_cls: 0.0012, loss_map_cls: 0.2069, loss_map_pts: 0.8996, loss_map_dir: 0.0147, d0.loss_plan_l1_fix_time: 2.5149, d0.loss_plan_l1_fix_dist: 0.4015, d1.loss_plan_l1_fix_time: 1.4538, d1.loss_plan_l1_fix_dist: 0.2114, d2.loss_plan_l1_fix_time: 1.4335, d2.loss_plan_l1_fix_dist: 0.2130, d3.loss_plan_l1_fix_time: 1.4378, d3.loss_plan_l1_fix_dist: 0.2235, d4.loss_plan_l1_fix_time: 1.4422, d4.loss_plan_l1_fix_dist: 0.2334, d5.loss_plan_l1_fix_time: 1.4461, d5.loss_plan_l1_fix_dist: 0.2455, d6.loss_plan_l1_fix_time: 1.4490, d6.loss_plan_l1_fix_dist: 0.2605, d0.loss_cls_all: 0.2967, d0.loss_bbox_all: 0.4978, d0.loss_cls: 0.2967, d0.loss_bbox: 0.4978, d1.loss_cls: 0.2835, d1.loss_bbox: 0.4715, d2.loss_cls: 0.2784, d2.loss_bbox: 0.4572, d3.loss_cls: 0.2734, d3.loss_bbox: 0.4520, d4.loss_cls: 0.2717, d4.loss_bbox: 0.4509, d5.loss_cls: 0.2746, d5.loss_bbox: 0.4510, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9634, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7946, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7855, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7783, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7836, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7831, d0.loss_map_cls_all: 0.2610, d0.loss_map_pts_all: 1.7860, d0.loss_map_dir_all: 0.0136, d0.loss_map_cls: 0.2610, d0.loss_map_pts: 1.7860, d0.loss_map_dir: 0.0136, d1.loss_map_cls: 0.2413, d1.loss_map_pts: 1.1882, d1.loss_map_dir: 0.0130, d2.loss_map_cls: 0.2238, d2.loss_map_pts: 1.0020, d2.loss_map_dir: 0.0136, d3.loss_map_cls: 0.2163, d3.loss_map_pts: 0.9354, d3.loss_map_dir: 0.0141, d4.loss_map_cls: 0.2092, d4.loss_map_pts: 0.9095, d4.loss_map_dir: 0.0145, d5.loss_map_cls: 0.2069, d5.loss_map_pts: 0.9022, d5.loss_map_dir: 0.0146, loss: 35.9665, grad_norm: 159.0547 +2026-02-25 13:21:10,447 - DriveTransformer - INFO - Epoch [4][38450/39528] lr: 9.623e-05, eta: 7 days, 8:48:46, time: 0.787, data_time: 0.042, memory: 19865, loss_cls: 0.2141, loss_bbox: 0.4046, loss_traj: 0.9255, loss_traj_cls: 0.0012, loss_map_cls: 0.1701, loss_map_pts: 0.7559, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.5908, d0.loss_plan_l1_fix_dist: 0.3999, d1.loss_plan_l1_fix_time: 1.3645, d1.loss_plan_l1_fix_dist: 0.2169, d2.loss_plan_l1_fix_time: 1.3383, d2.loss_plan_l1_fix_dist: 0.2253, d3.loss_plan_l1_fix_time: 1.3415, d3.loss_plan_l1_fix_dist: 0.2372, d4.loss_plan_l1_fix_time: 1.3451, d4.loss_plan_l1_fix_dist: 0.2527, d5.loss_plan_l1_fix_time: 1.3495, d5.loss_plan_l1_fix_dist: 0.2695, d6.loss_plan_l1_fix_time: 1.3547, d6.loss_plan_l1_fix_dist: 0.2874, d0.loss_cls_all: 0.2364, d0.loss_bbox_all: 0.4437, d0.loss_cls: 0.2364, d0.loss_bbox: 0.4437, d1.loss_cls: 0.2311, d1.loss_bbox: 0.4188, d2.loss_cls: 0.2218, d2.loss_bbox: 0.4079, d3.loss_cls: 0.2195, d3.loss_bbox: 0.4027, d4.loss_cls: 0.2156, d4.loss_bbox: 0.4038, d5.loss_cls: 0.2145, d5.loss_bbox: 0.4038, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2830, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.0268, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9510, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9366, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9387, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9353, d0.loss_map_cls_all: 0.2201, d0.loss_map_pts_all: 1.4360, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2201, d0.loss_map_pts: 1.4360, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2027, d1.loss_map_pts: 0.9929, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1866, d2.loss_map_pts: 0.8355, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1816, d3.loss_map_pts: 0.7751, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1743, d4.loss_map_pts: 0.7613, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1706, d5.loss_map_pts: 0.7579, d5.loss_map_dir: 0.0114, loss: 34.0592, grad_norm: 158.4136 +2026-02-25 13:21:50,801 - DriveTransformer - INFO - Epoch [4][38500/39528] lr: 9.623e-05, eta: 7 days, 8:48:06, time: 0.807, data_time: 0.047, memory: 19865, loss_cls: 0.2371, loss_bbox: 0.4529, loss_traj: 0.8502, loss_traj_cls: 0.0012, loss_map_cls: 0.2400, loss_map_pts: 0.9092, loss_map_dir: 0.0146, d0.loss_plan_l1_fix_time: 2.7876, d0.loss_plan_l1_fix_dist: 0.4913, d1.loss_plan_l1_fix_time: 1.6506, d1.loss_plan_l1_fix_dist: 0.2253, d2.loss_plan_l1_fix_time: 1.6376, d2.loss_plan_l1_fix_dist: 0.2332, d3.loss_plan_l1_fix_time: 1.6432, d3.loss_plan_l1_fix_dist: 0.2481, d4.loss_plan_l1_fix_time: 1.6484, d4.loss_plan_l1_fix_dist: 0.2631, d5.loss_plan_l1_fix_time: 1.6546, d5.loss_plan_l1_fix_dist: 0.2752, d6.loss_plan_l1_fix_time: 1.6630, d6.loss_plan_l1_fix_dist: 0.2850, d0.loss_cls_all: 0.2625, d0.loss_bbox_all: 0.4955, d0.loss_cls: 0.2625, d0.loss_bbox: 0.4955, d1.loss_cls: 0.2541, d1.loss_bbox: 0.4685, d2.loss_cls: 0.2479, d2.loss_bbox: 0.4540, d3.loss_cls: 0.2408, d3.loss_bbox: 0.4500, d4.loss_cls: 0.2382, d4.loss_bbox: 0.4498, d5.loss_cls: 0.2366, d5.loss_bbox: 0.4517, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0309, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8882, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8609, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8549, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8432, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8437, d0.loss_map_cls_all: 0.2896, d0.loss_map_pts_all: 1.7368, d0.loss_map_dir_all: 0.0126, d0.loss_map_cls: 0.2896, d0.loss_map_pts: 1.7368, d0.loss_map_dir: 0.0126, d1.loss_map_cls: 0.2667, d1.loss_map_pts: 1.1838, d1.loss_map_dir: 0.0125, d2.loss_map_cls: 0.2555, d2.loss_map_pts: 0.9972, d2.loss_map_dir: 0.0133, d3.loss_map_cls: 0.2477, d3.loss_map_pts: 0.9327, d3.loss_map_dir: 0.0139, d4.loss_map_cls: 0.2417, d4.loss_map_pts: 0.9131, d4.loss_map_dir: 0.0143, d5.loss_map_cls: 0.2400, d5.loss_map_pts: 0.9108, d5.loss_map_dir: 0.0144, loss: 38.0819, grad_norm: 158.6360 +2026-02-25 13:22:31,742 - DriveTransformer - INFO - Epoch [4][38550/39528] lr: 9.623e-05, eta: 7 days, 8:47:30, time: 0.819, data_time: 0.051, memory: 19865, loss_cls: 0.2477, loss_bbox: 0.4549, loss_traj: 0.8903, loss_traj_cls: 0.0011, loss_map_cls: 0.2303, loss_map_pts: 0.9154, loss_map_dir: 0.0153, d0.loss_plan_l1_fix_time: 2.7182, d0.loss_plan_l1_fix_dist: 0.3689, d1.loss_plan_l1_fix_time: 1.3947, d1.loss_plan_l1_fix_dist: 0.2305, d2.loss_plan_l1_fix_time: 1.3965, d2.loss_plan_l1_fix_dist: 0.2322, d3.loss_plan_l1_fix_time: 1.4009, d3.loss_plan_l1_fix_dist: 0.2485, d4.loss_plan_l1_fix_time: 1.4060, d4.loss_plan_l1_fix_dist: 0.2713, d5.loss_plan_l1_fix_time: 1.4115, d5.loss_plan_l1_fix_dist: 0.3001, d6.loss_plan_l1_fix_time: 1.4188, d6.loss_plan_l1_fix_dist: 0.3291, d0.loss_cls_all: 0.2720, d0.loss_bbox_all: 0.5050, d0.loss_cls: 0.2720, d0.loss_bbox: 0.5050, d1.loss_cls: 0.2626, d1.loss_bbox: 0.4741, d2.loss_cls: 0.2534, d2.loss_bbox: 0.4598, d3.loss_cls: 0.2486, d3.loss_bbox: 0.4546, d4.loss_cls: 0.2465, d4.loss_bbox: 0.4536, d5.loss_cls: 0.2466, d5.loss_bbox: 0.4540, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0583, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9319, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9074, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8943, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8903, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8903, d0.loss_map_cls_all: 0.2976, d0.loss_map_pts_all: 1.7856, d0.loss_map_dir_all: 0.0137, d0.loss_map_cls: 0.2976, d0.loss_map_pts: 1.7856, d0.loss_map_dir: 0.0137, d1.loss_map_cls: 0.2638, d1.loss_map_pts: 1.1881, d1.loss_map_dir: 0.0134, d2.loss_map_cls: 0.2520, d2.loss_map_pts: 1.0032, d2.loss_map_dir: 0.0140, d3.loss_map_cls: 0.2396, d3.loss_map_pts: 0.9450, d3.loss_map_dir: 0.0146, d4.loss_map_cls: 0.2340, d4.loss_map_pts: 0.9248, d4.loss_map_dir: 0.0150, d5.loss_map_cls: 0.2304, d5.loss_map_pts: 0.9166, d5.loss_map_dir: 0.0151, loss: 37.0310, grad_norm: 159.6455 +2026-02-25 13:23:12,658 - DriveTransformer - INFO - Epoch [4][38600/39528] lr: 9.623e-05, eta: 7 days, 8:46:53, time: 0.820, data_time: 0.045, memory: 19865, loss_cls: 0.2692, loss_bbox: 0.4552, loss_traj: 0.7948, loss_traj_cls: 0.0012, loss_map_cls: 0.2337, loss_map_pts: 1.0710, loss_map_dir: 0.0151, d0.loss_plan_l1_fix_time: 2.9897, d0.loss_plan_l1_fix_dist: 0.5305, d1.loss_plan_l1_fix_time: 1.4022, d1.loss_plan_l1_fix_dist: 0.2394, d2.loss_plan_l1_fix_time: 1.3959, d2.loss_plan_l1_fix_dist: 0.2388, d3.loss_plan_l1_fix_time: 1.4025, d3.loss_plan_l1_fix_dist: 0.2520, d4.loss_plan_l1_fix_time: 1.4086, d4.loss_plan_l1_fix_dist: 0.2723, d5.loss_plan_l1_fix_time: 1.4152, d5.loss_plan_l1_fix_dist: 0.3009, d6.loss_plan_l1_fix_time: 1.4223, d6.loss_plan_l1_fix_dist: 0.3306, d0.loss_cls_all: 0.2862, d0.loss_bbox_all: 0.5015, d0.loss_cls: 0.2862, d0.loss_bbox: 0.5015, d1.loss_cls: 0.2829, d1.loss_bbox: 0.4770, d2.loss_cls: 0.2717, d2.loss_bbox: 0.4635, d3.loss_cls: 0.2696, d3.loss_bbox: 0.4571, d4.loss_cls: 0.2667, d4.loss_bbox: 0.4559, d5.loss_cls: 0.2655, d5.loss_bbox: 0.4550, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0012, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8829, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8319, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8158, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8080, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8000, d0.loss_map_cls_all: 0.2878, d0.loss_map_pts_all: 1.9209, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.2878, d0.loss_map_pts: 1.9209, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2625, d1.loss_map_pts: 1.3406, d1.loss_map_dir: 0.0132, d2.loss_map_cls: 0.2516, d2.loss_map_pts: 1.1569, d2.loss_map_dir: 0.0138, d3.loss_map_cls: 0.2453, d3.loss_map_pts: 1.0957, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2384, d4.loss_map_pts: 1.0759, d4.loss_map_dir: 0.0148, d5.loss_map_cls: 0.2346, d5.loss_map_pts: 1.0712, d5.loss_map_dir: 0.0149, loss: 38.3145, grad_norm: 163.3924 +2026-02-25 13:23:54,309 - DriveTransformer - INFO - Epoch [4][38650/39528] lr: 9.623e-05, eta: 7 days, 8:46:20, time: 0.832, data_time: 0.044, memory: 19865, loss_cls: 0.2519, loss_bbox: 0.4498, loss_traj: 0.8891, loss_traj_cls: 0.0011, loss_map_cls: 0.2162, loss_map_pts: 0.9767, loss_map_dir: 0.0152, d0.loss_plan_l1_fix_time: 2.7222, d0.loss_plan_l1_fix_dist: 0.4350, d1.loss_plan_l1_fix_time: 1.6903, d1.loss_plan_l1_fix_dist: 0.2499, d2.loss_plan_l1_fix_time: 1.6733, d2.loss_plan_l1_fix_dist: 0.2523, d3.loss_plan_l1_fix_time: 1.6712, d3.loss_plan_l1_fix_dist: 0.2606, d4.loss_plan_l1_fix_time: 1.6742, d4.loss_plan_l1_fix_dist: 0.2684, d5.loss_plan_l1_fix_time: 1.6783, d5.loss_plan_l1_fix_dist: 0.2763, d6.loss_plan_l1_fix_time: 1.6831, d6.loss_plan_l1_fix_dist: 0.2907, d0.loss_cls_all: 0.2767, d0.loss_bbox_all: 0.5076, d0.loss_cls: 0.2767, d0.loss_bbox: 0.5076, d1.loss_cls: 0.2700, d1.loss_bbox: 0.4765, d2.loss_cls: 0.2621, d2.loss_bbox: 0.4603, d3.loss_cls: 0.2559, d3.loss_bbox: 0.4560, d4.loss_cls: 0.2519, d4.loss_bbox: 0.4531, d5.loss_cls: 0.2517, d5.loss_bbox: 0.4510, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0727, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9355, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8946, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8789, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8784, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8837, d0.loss_map_cls_all: 0.2813, d0.loss_map_pts_all: 1.9669, d0.loss_map_dir_all: 0.0138, d0.loss_map_cls: 0.2813, d0.loss_map_pts: 1.9669, d0.loss_map_dir: 0.0138, d1.loss_map_cls: 0.2533, d1.loss_map_pts: 1.2773, d1.loss_map_dir: 0.0133, d2.loss_map_cls: 0.2368, d2.loss_map_pts: 1.0766, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2259, d3.loss_map_pts: 1.0115, d3.loss_map_dir: 0.0145, d4.loss_map_cls: 0.2195, d4.loss_map_pts: 0.9858, d4.loss_map_dir: 0.0150, d5.loss_map_cls: 0.2160, d5.loss_map_pts: 0.9784, d5.loss_map_dir: 0.0151, loss: 39.4088, grad_norm: 163.4030 +2026-02-25 13:24:34,521 - DriveTransformer - INFO - Epoch [4][38700/39528] lr: 9.623e-05, eta: 7 days, 8:45:40, time: 0.804, data_time: 0.043, memory: 19865, loss_cls: 0.2665, loss_bbox: 0.4584, loss_traj: 0.8817, loss_traj_cls: 0.0012, loss_map_cls: 0.2121, loss_map_pts: 0.9269, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.8500, d0.loss_plan_l1_fix_dist: 0.4431, d1.loss_plan_l1_fix_time: 1.4188, d1.loss_plan_l1_fix_dist: 0.2336, d2.loss_plan_l1_fix_time: 1.4147, d2.loss_plan_l1_fix_dist: 0.2371, d3.loss_plan_l1_fix_time: 1.4208, d3.loss_plan_l1_fix_dist: 0.2496, d4.loss_plan_l1_fix_time: 1.4250, d4.loss_plan_l1_fix_dist: 0.2633, d5.loss_plan_l1_fix_time: 1.4283, d5.loss_plan_l1_fix_dist: 0.2775, d6.loss_plan_l1_fix_time: 1.4320, d6.loss_plan_l1_fix_dist: 0.2919, d0.loss_cls_all: 0.2924, d0.loss_bbox_all: 0.5140, d0.loss_cls: 0.2924, d0.loss_bbox: 0.5140, d1.loss_cls: 0.2866, d1.loss_bbox: 0.4818, d2.loss_cls: 0.2774, d2.loss_bbox: 0.4671, d3.loss_cls: 0.2720, d3.loss_bbox: 0.4594, d4.loss_cls: 0.2686, d4.loss_bbox: 0.4579, d5.loss_cls: 0.2677, d5.loss_bbox: 0.4572, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1222, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9553, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9001, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8793, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8749, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8772, d0.loss_map_cls_all: 0.2649, d0.loss_map_pts_all: 1.7000, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2649, d0.loss_map_pts: 1.7000, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2431, d1.loss_map_pts: 1.1723, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2290, d2.loss_map_pts: 1.0147, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2206, d3.loss_map_pts: 0.9563, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2151, d4.loss_map_pts: 0.9351, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.2122, d5.loss_map_pts: 0.9276, d5.loss_map_dir: 0.0128, loss: 37.2079, grad_norm: 161.6710 +2026-02-25 13:25:12,792 - DriveTransformer - INFO - Epoch [4][38750/39528] lr: 9.623e-05, eta: 7 days, 8:44:50, time: 0.765, data_time: 0.045, memory: 19865, loss_cls: 0.2650, loss_bbox: 0.4583, loss_traj: 0.8326, loss_traj_cls: 0.0011, loss_map_cls: 0.2476, loss_map_pts: 0.9998, loss_map_dir: 0.0143, d0.loss_plan_l1_fix_time: 2.8090, d0.loss_plan_l1_fix_dist: 0.3602, d1.loss_plan_l1_fix_time: 1.4645, d1.loss_plan_l1_fix_dist: 0.1995, d2.loss_plan_l1_fix_time: 1.4504, d2.loss_plan_l1_fix_dist: 0.2049, d3.loss_plan_l1_fix_time: 1.4528, d3.loss_plan_l1_fix_dist: 0.2137, d4.loss_plan_l1_fix_time: 1.4567, d4.loss_plan_l1_fix_dist: 0.2261, d5.loss_plan_l1_fix_time: 1.4609, d5.loss_plan_l1_fix_dist: 0.2399, d6.loss_plan_l1_fix_time: 1.4657, d6.loss_plan_l1_fix_dist: 0.2524, d0.loss_cls_all: 0.2937, d0.loss_bbox_all: 0.5159, d0.loss_cls: 0.2937, d0.loss_bbox: 0.5159, d1.loss_cls: 0.2866, d1.loss_bbox: 0.4821, d2.loss_cls: 0.2764, d2.loss_bbox: 0.4661, d3.loss_cls: 0.2717, d3.loss_bbox: 0.4601, d4.loss_cls: 0.2668, d4.loss_bbox: 0.4574, d5.loss_cls: 0.2650, d5.loss_bbox: 0.4583, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0487, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8885, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8437, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8344, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8336, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8299, d0.loss_map_cls_all: 0.3064, d0.loss_map_pts_all: 1.8753, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.3064, d0.loss_map_pts: 1.8753, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2794, d1.loss_map_pts: 1.2929, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2628, d2.loss_map_pts: 1.1085, d2.loss_map_dir: 0.0132, d3.loss_map_cls: 0.2529, d3.loss_map_pts: 1.0377, d3.loss_map_dir: 0.0137, d4.loss_map_cls: 0.2472, d4.loss_map_pts: 1.0140, d4.loss_map_dir: 0.0140, d5.loss_map_cls: 0.2467, d5.loss_map_pts: 1.0044, d5.loss_map_dir: 0.0142, loss: 37.8721, grad_norm: 161.1827 +2026-02-25 13:25:53,703 - DriveTransformer - INFO - Epoch [4][38800/39528] lr: 9.623e-05, eta: 7 days, 8:44:13, time: 0.818, data_time: 0.043, memory: 19865, loss_cls: 0.2553, loss_bbox: 0.4404, loss_traj: 0.7810, loss_traj_cls: 0.0012, loss_map_cls: 0.1997, loss_map_pts: 0.9565, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 2.5159, d0.loss_plan_l1_fix_dist: 0.3380, d1.loss_plan_l1_fix_time: 1.3235, d1.loss_plan_l1_fix_dist: 0.1960, d2.loss_plan_l1_fix_time: 1.3118, d2.loss_plan_l1_fix_dist: 0.2053, d3.loss_plan_l1_fix_time: 1.3109, d3.loss_plan_l1_fix_dist: 0.2163, d4.loss_plan_l1_fix_time: 1.3142, d4.loss_plan_l1_fix_dist: 0.2313, d5.loss_plan_l1_fix_time: 1.3188, d5.loss_plan_l1_fix_dist: 0.2480, d6.loss_plan_l1_fix_time: 1.3244, d6.loss_plan_l1_fix_dist: 0.2664, d0.loss_cls_all: 0.2823, d0.loss_bbox_all: 0.5009, d0.loss_cls: 0.2823, d0.loss_bbox: 0.5009, d1.loss_cls: 0.2763, d1.loss_bbox: 0.4639, d2.loss_cls: 0.2629, d2.loss_bbox: 0.4503, d3.loss_cls: 0.2587, d3.loss_bbox: 0.4441, d4.loss_cls: 0.2549, d4.loss_bbox: 0.4413, d5.loss_cls: 0.2542, d5.loss_bbox: 0.4411, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9934, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8420, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7845, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7816, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7820, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7813, d0.loss_map_cls_all: 0.2587, d0.loss_map_pts_all: 1.8020, d0.loss_map_dir_all: 0.0140, d0.loss_map_cls: 0.2587, d0.loss_map_pts: 1.8020, d0.loss_map_dir: 0.0140, d1.loss_map_cls: 0.2261, d1.loss_map_pts: 1.2318, d1.loss_map_dir: 0.0132, d2.loss_map_cls: 0.2142, d2.loss_map_pts: 1.0479, d2.loss_map_dir: 0.0136, d3.loss_map_cls: 0.2060, d3.loss_map_pts: 0.9869, d3.loss_map_dir: 0.0140, d4.loss_map_cls: 0.2015, d4.loss_map_pts: 0.9641, d4.loss_map_dir: 0.0143, d5.loss_map_cls: 0.1994, d5.loss_map_pts: 0.9583, d5.loss_map_dir: 0.0143, loss: 35.3082, grad_norm: 163.0126 +2026-02-25 13:26:34,934 - DriveTransformer - INFO - Epoch [4][38850/39528] lr: 9.623e-05, eta: 7 days, 8:43:38, time: 0.825, data_time: 0.044, memory: 19865, loss_cls: 0.2421, loss_bbox: 0.4115, loss_traj: 0.8516, loss_traj_cls: 0.0012, loss_map_cls: 0.2063, loss_map_pts: 0.8156, loss_map_dir: 0.0147, d0.loss_plan_l1_fix_time: 2.4557, d0.loss_plan_l1_fix_dist: 0.3544, d1.loss_plan_l1_fix_time: 1.3812, d1.loss_plan_l1_fix_dist: 0.1971, d2.loss_plan_l1_fix_time: 1.3537, d2.loss_plan_l1_fix_dist: 0.1956, d3.loss_plan_l1_fix_time: 1.3490, d3.loss_plan_l1_fix_dist: 0.2049, d4.loss_plan_l1_fix_time: 1.3509, d4.loss_plan_l1_fix_dist: 0.2171, d5.loss_plan_l1_fix_time: 1.3542, d5.loss_plan_l1_fix_dist: 0.2290, d6.loss_plan_l1_fix_time: 1.3586, d6.loss_plan_l1_fix_dist: 0.2444, d0.loss_cls_all: 0.2661, d0.loss_bbox_all: 0.4682, d0.loss_cls: 0.2661, d0.loss_bbox: 0.4682, d1.loss_cls: 0.2628, d1.loss_bbox: 0.4346, d2.loss_cls: 0.2516, d2.loss_bbox: 0.4190, d3.loss_cls: 0.2458, d3.loss_bbox: 0.4151, d4.loss_cls: 0.2412, d4.loss_bbox: 0.4150, d5.loss_cls: 0.2410, d5.loss_bbox: 0.4124, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1489, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9347, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8716, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8569, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8533, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8510, d0.loss_map_cls_all: 0.2617, d0.loss_map_pts_all: 1.7207, d0.loss_map_dir_all: 0.0137, d0.loss_map_cls: 0.2617, d0.loss_map_pts: 1.7207, d0.loss_map_dir: 0.0137, d1.loss_map_cls: 0.2396, d1.loss_map_pts: 1.0952, d1.loss_map_dir: 0.0133, d2.loss_map_cls: 0.2274, d2.loss_map_pts: 0.9082, d2.loss_map_dir: 0.0138, d3.loss_map_cls: 0.2162, d3.loss_map_pts: 0.8463, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.2105, d4.loss_map_pts: 0.8241, d4.loss_map_dir: 0.0145, d5.loss_map_cls: 0.2071, d5.loss_map_pts: 0.8174, d5.loss_map_dir: 0.0146, loss: 34.7723, grad_norm: 162.7907 +2026-02-25 13:27:15,130 - DriveTransformer - INFO - Epoch [4][38900/39528] lr: 9.623e-05, eta: 7 days, 8:42:58, time: 0.804, data_time: 0.040, memory: 19865, loss_cls: 0.2284, loss_bbox: 0.4310, loss_traj: 0.8651, loss_traj_cls: 0.0012, loss_map_cls: 0.2053, loss_map_pts: 0.8764, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.3774, d0.loss_plan_l1_fix_dist: 0.4456, d1.loss_plan_l1_fix_time: 1.2826, d1.loss_plan_l1_fix_dist: 0.2250, d2.loss_plan_l1_fix_time: 1.2655, d2.loss_plan_l1_fix_dist: 0.2233, d3.loss_plan_l1_fix_time: 1.2663, d3.loss_plan_l1_fix_dist: 0.2335, d4.loss_plan_l1_fix_time: 1.2697, d4.loss_plan_l1_fix_dist: 0.2456, d5.loss_plan_l1_fix_time: 1.2731, d5.loss_plan_l1_fix_dist: 0.2596, d6.loss_plan_l1_fix_time: 1.2776, d6.loss_plan_l1_fix_dist: 0.2768, d0.loss_cls_all: 0.2617, d0.loss_bbox_all: 0.4733, d0.loss_cls: 0.2617, d0.loss_bbox: 0.4733, d1.loss_cls: 0.2524, d1.loss_bbox: 0.4497, d2.loss_cls: 0.2442, d2.loss_bbox: 0.4335, d3.loss_cls: 0.2376, d3.loss_bbox: 0.4280, d4.loss_cls: 0.2337, d4.loss_bbox: 0.4276, d5.loss_cls: 0.2323, d5.loss_bbox: 0.4285, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0949, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9173, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8803, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8713, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8597, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8592, d0.loss_map_cls_all: 0.2651, d0.loss_map_pts_all: 1.6336, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2651, d0.loss_map_pts: 1.6336, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2424, d1.loss_map_pts: 1.1414, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2254, d2.loss_map_pts: 0.9700, d2.loss_map_dir: 0.0119, d3.loss_map_cls: 0.2138, d3.loss_map_pts: 0.9120, d3.loss_map_dir: 0.0124, d4.loss_map_cls: 0.2071, d4.loss_map_pts: 0.8925, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.2044, d5.loss_map_pts: 0.8807, d5.loss_map_dir: 0.0128, loss: 34.6395, grad_norm: 164.3275 +2026-02-25 13:27:54,455 - DriveTransformer - INFO - Epoch [4][38950/39528] lr: 9.623e-05, eta: 7 days, 8:42:13, time: 0.786, data_time: 0.038, memory: 19865, loss_cls: 0.2421, loss_bbox: 0.4370, loss_traj: 0.8371, loss_traj_cls: 0.0012, loss_map_cls: 0.2111, loss_map_pts: 0.8567, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.8420, d0.loss_plan_l1_fix_dist: 0.3966, d1.loss_plan_l1_fix_time: 1.4578, d1.loss_plan_l1_fix_dist: 0.2230, d2.loss_plan_l1_fix_time: 1.4311, d2.loss_plan_l1_fix_dist: 0.2299, d3.loss_plan_l1_fix_time: 1.4269, d3.loss_plan_l1_fix_dist: 0.2424, d4.loss_plan_l1_fix_time: 1.4282, d4.loss_plan_l1_fix_dist: 0.2568, d5.loss_plan_l1_fix_time: 1.4304, d5.loss_plan_l1_fix_dist: 0.2730, d6.loss_plan_l1_fix_time: 1.4334, d6.loss_plan_l1_fix_dist: 0.2872, d0.loss_cls_all: 0.2741, d0.loss_bbox_all: 0.4787, d0.loss_cls: 0.2741, d0.loss_bbox: 0.4787, d1.loss_cls: 0.2664, d1.loss_bbox: 0.4493, d2.loss_cls: 0.2572, d2.loss_bbox: 0.4377, d3.loss_cls: 0.2517, d3.loss_bbox: 0.4315, d4.loss_cls: 0.2453, d4.loss_bbox: 0.4327, d5.loss_cls: 0.2445, d5.loss_bbox: 0.4341, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0737, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9044, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8620, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8428, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8369, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8348, d0.loss_map_cls_all: 0.2706, d0.loss_map_pts_all: 1.6507, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2706, d0.loss_map_pts: 1.6507, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2500, d1.loss_map_pts: 1.1267, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2337, d2.loss_map_pts: 0.9534, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2216, d3.loss_map_pts: 0.8886, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.2134, d4.loss_map_pts: 0.8660, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.2112, d5.loss_map_pts: 0.8583, d5.loss_map_dir: 0.0121, loss: 36.0185, grad_norm: 165.7716 +2026-02-25 13:28:37,616 - DriveTransformer - INFO - Epoch [4][39000/39528] lr: 9.623e-05, eta: 7 days, 8:41:48, time: 0.863, data_time: 0.043, memory: 19865, loss_cls: 0.2332, loss_bbox: 0.4451, loss_traj: 0.6997, loss_traj_cls: 0.0012, loss_map_cls: 0.2073, loss_map_pts: 0.9360, loss_map_dir: 0.0169, d0.loss_plan_l1_fix_time: 2.9161, d0.loss_plan_l1_fix_dist: 0.4778, d1.loss_plan_l1_fix_time: 1.4579, d1.loss_plan_l1_fix_dist: 0.2287, d2.loss_plan_l1_fix_time: 1.4234, d2.loss_plan_l1_fix_dist: 0.2397, d3.loss_plan_l1_fix_time: 1.4184, d3.loss_plan_l1_fix_dist: 0.2587, d4.loss_plan_l1_fix_time: 1.4207, d4.loss_plan_l1_fix_dist: 0.2777, d5.loss_plan_l1_fix_time: 1.4245, d5.loss_plan_l1_fix_dist: 0.2959, d6.loss_plan_l1_fix_time: 1.4286, d6.loss_plan_l1_fix_dist: 0.3179, d0.loss_cls_all: 0.2641, d0.loss_bbox_all: 0.4855, d0.loss_cls: 0.2641, d0.loss_bbox: 0.4855, d1.loss_cls: 0.2553, d1.loss_bbox: 0.4607, d2.loss_cls: 0.2453, d2.loss_bbox: 0.4475, d3.loss_cls: 0.2363, d3.loss_bbox: 0.4428, d4.loss_cls: 0.2323, d4.loss_bbox: 0.4429, d5.loss_cls: 0.2315, d5.loss_bbox: 0.4448, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8723, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.7495, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7098, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7010, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7007, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7008, d0.loss_map_cls_all: 0.2524, d0.loss_map_pts_all: 1.9261, d0.loss_map_dir_all: 0.0157, d0.loss_map_cls: 0.2524, d0.loss_map_pts: 1.9261, d0.loss_map_dir: 0.0157, d1.loss_map_cls: 0.2296, d1.loss_map_pts: 1.2606, d1.loss_map_dir: 0.0150, d2.loss_map_cls: 0.2176, d2.loss_map_pts: 1.0428, d2.loss_map_dir: 0.0156, d3.loss_map_cls: 0.2118, d3.loss_map_pts: 0.9694, d3.loss_map_dir: 0.0163, d4.loss_map_cls: 0.2087, d4.loss_map_pts: 0.9433, d4.loss_map_dir: 0.0167, d5.loss_map_cls: 0.2065, d5.loss_map_pts: 0.9377, d5.loss_map_dir: 0.0169, loss: 36.2003, grad_norm: 168.2019 +2026-02-25 13:29:17,426 - DriveTransformer - INFO - Epoch [4][39050/39528] lr: 9.623e-05, eta: 7 days, 8:41:06, time: 0.796, data_time: 0.041, memory: 19865, loss_cls: 0.2566, loss_bbox: 0.4535, loss_traj: 0.7513, loss_traj_cls: 0.0013, loss_map_cls: 0.2320, loss_map_pts: 0.8940, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.9484, d0.loss_plan_l1_fix_dist: 0.4660, d1.loss_plan_l1_fix_time: 1.6974, d1.loss_plan_l1_fix_dist: 0.2556, d2.loss_plan_l1_fix_time: 1.6570, d2.loss_plan_l1_fix_dist: 0.2644, d3.loss_plan_l1_fix_time: 1.6548, d3.loss_plan_l1_fix_dist: 0.2817, d4.loss_plan_l1_fix_time: 1.6584, d4.loss_plan_l1_fix_dist: 0.3004, d5.loss_plan_l1_fix_time: 1.6629, d5.loss_plan_l1_fix_dist: 0.3210, d6.loss_plan_l1_fix_time: 1.6674, d6.loss_plan_l1_fix_dist: 0.3453, d0.loss_cls_all: 0.2828, d0.loss_bbox_all: 0.4992, d0.loss_cls: 0.2828, d0.loss_bbox: 0.4992, d1.loss_cls: 0.2765, d1.loss_bbox: 0.4700, d2.loss_cls: 0.2675, d2.loss_bbox: 0.4537, d3.loss_cls: 0.2615, d3.loss_bbox: 0.4471, d4.loss_cls: 0.2549, d4.loss_bbox: 0.4502, d5.loss_cls: 0.2562, d5.loss_bbox: 0.4513, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0032, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.7983, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7537, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7428, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7448, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7481, d0.loss_map_cls_all: 0.2762, d0.loss_map_pts_all: 1.6314, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2762, d0.loss_map_pts: 1.6314, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2547, d1.loss_map_pts: 1.1434, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2408, d2.loss_map_pts: 0.9742, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.2360, d3.loss_map_pts: 0.9197, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2332, d4.loss_map_pts: 0.9010, d4.loss_map_dir: 0.0126, d5.loss_map_cls: 0.2317, d5.loss_map_pts: 0.8968, d5.loss_map_dir: 0.0126, loss: 37.6601, grad_norm: 169.9474 +2026-02-25 13:29:59,236 - DriveTransformer - INFO - Epoch [4][39100/39528] lr: 9.623e-05, eta: 7 days, 8:40:34, time: 0.836, data_time: 0.054, memory: 19865, loss_cls: 0.2409, loss_bbox: 0.4294, loss_traj: 0.7182, loss_traj_cls: 0.0012, loss_map_cls: 0.2083, loss_map_pts: 0.9524, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 2.2594, d0.loss_plan_l1_fix_dist: 0.4880, d1.loss_plan_l1_fix_time: 1.2701, d1.loss_plan_l1_fix_dist: 0.2502, d2.loss_plan_l1_fix_time: 1.2416, d2.loss_plan_l1_fix_dist: 0.2547, d3.loss_plan_l1_fix_time: 1.2411, d3.loss_plan_l1_fix_dist: 0.2643, d4.loss_plan_l1_fix_time: 1.2446, d4.loss_plan_l1_fix_dist: 0.2778, d5.loss_plan_l1_fix_time: 1.2488, d5.loss_plan_l1_fix_dist: 0.2939, d6.loss_plan_l1_fix_time: 1.2541, d6.loss_plan_l1_fix_dist: 0.3106, d0.loss_cls_all: 0.2730, d0.loss_bbox_all: 0.4694, d0.loss_cls: 0.2730, d0.loss_bbox: 0.4694, d1.loss_cls: 0.2661, d1.loss_bbox: 0.4438, d2.loss_cls: 0.2548, d2.loss_bbox: 0.4306, d3.loss_cls: 0.2537, d3.loss_bbox: 0.4224, d4.loss_cls: 0.2468, d4.loss_bbox: 0.4225, d5.loss_cls: 0.2420, d5.loss_bbox: 0.4268, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8923, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.7886, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7379, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7234, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7188, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7165, d0.loss_map_cls_all: 0.2757, d0.loss_map_pts_all: 1.8858, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.2757, d0.loss_map_pts: 1.8858, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.2465, d1.loss_map_pts: 1.2303, d1.loss_map_dir: 0.0128, d2.loss_map_cls: 0.2260, d2.loss_map_pts: 1.0494, d2.loss_map_dir: 0.0132, d3.loss_map_cls: 0.2155, d3.loss_map_pts: 0.9867, d3.loss_map_dir: 0.0138, d4.loss_map_cls: 0.2122, d4.loss_map_pts: 0.9614, d4.loss_map_dir: 0.0141, d5.loss_map_cls: 0.2089, d5.loss_map_pts: 0.9549, d5.loss_map_dir: 0.0143, loss: 34.6507, grad_norm: 169.1853 +2026-02-25 13:30:41,132 - DriveTransformer - INFO - Epoch [4][39150/39528] lr: 9.623e-05, eta: 7 days, 8:40:02, time: 0.838, data_time: 0.043, memory: 19865, loss_cls: 0.2553, loss_bbox: 0.4535, loss_traj: 0.9143, loss_traj_cls: 0.0012, loss_map_cls: 0.2170, loss_map_pts: 0.9019, loss_map_dir: 0.0132, d0.loss_plan_l1_fix_time: 2.5858, d0.loss_plan_l1_fix_dist: 0.5204, d1.loss_plan_l1_fix_time: 1.5641, d1.loss_plan_l1_fix_dist: 0.2575, d2.loss_plan_l1_fix_time: 1.5613, d2.loss_plan_l1_fix_dist: 0.2656, d3.loss_plan_l1_fix_time: 1.5697, d3.loss_plan_l1_fix_dist: 0.2737, d4.loss_plan_l1_fix_time: 1.5743, d4.loss_plan_l1_fix_dist: 0.2827, d5.loss_plan_l1_fix_time: 1.5781, d5.loss_plan_l1_fix_dist: 0.2928, d6.loss_plan_l1_fix_time: 1.5827, d6.loss_plan_l1_fix_dist: 0.3056, d0.loss_cls_all: 0.2875, d0.loss_bbox_all: 0.5119, d0.loss_cls: 0.2875, d0.loss_bbox: 0.5119, d1.loss_cls: 0.2801, d1.loss_bbox: 0.4776, d2.loss_cls: 0.2660, d2.loss_bbox: 0.4622, d3.loss_cls: 0.2573, d3.loss_bbox: 0.4561, d4.loss_cls: 0.2525, d4.loss_bbox: 0.4538, d5.loss_cls: 0.2529, d5.loss_bbox: 0.4528, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2221, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0074, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9466, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9315, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9221, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9191, d0.loss_map_cls_all: 0.2766, d0.loss_map_pts_all: 1.7534, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2766, d0.loss_map_pts: 1.7534, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2499, d1.loss_map_pts: 1.1757, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2374, d2.loss_map_pts: 0.9984, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.2261, d3.loss_map_pts: 0.9353, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.2186, d4.loss_map_pts: 0.9090, d4.loss_map_dir: 0.0129, d5.loss_map_cls: 0.2179, d5.loss_map_pts: 0.9041, d5.loss_map_dir: 0.0131, loss: 38.3541, grad_norm: 167.4944 +2026-02-25 13:31:23,364 - DriveTransformer - INFO - Epoch [4][39200/39528] lr: 9.623e-05, eta: 7 days, 8:39:32, time: 0.845, data_time: 0.043, memory: 19865, loss_cls: 0.2461, loss_bbox: 0.4598, loss_traj: 0.8983, loss_traj_cls: 0.0011, loss_map_cls: 0.2398, loss_map_pts: 1.0017, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.8302, d0.loss_plan_l1_fix_dist: 0.3685, d1.loss_plan_l1_fix_time: 1.5666, d1.loss_plan_l1_fix_dist: 0.2149, d2.loss_plan_l1_fix_time: 1.5546, d2.loss_plan_l1_fix_dist: 0.2217, d3.loss_plan_l1_fix_time: 1.5572, d3.loss_plan_l1_fix_dist: 0.2308, d4.loss_plan_l1_fix_time: 1.5629, d4.loss_plan_l1_fix_dist: 0.2424, d5.loss_plan_l1_fix_time: 1.5689, d5.loss_plan_l1_fix_dist: 0.2561, d6.loss_plan_l1_fix_time: 1.5752, d6.loss_plan_l1_fix_dist: 0.2686, d0.loss_cls_all: 0.2751, d0.loss_bbox_all: 0.5062, d0.loss_cls: 0.2751, d0.loss_bbox: 0.5062, d1.loss_cls: 0.2729, d1.loss_bbox: 0.4773, d2.loss_cls: 0.2535, d2.loss_bbox: 0.4621, d3.loss_cls: 0.2491, d3.loss_bbox: 0.4563, d4.loss_cls: 0.2450, d4.loss_bbox: 0.4556, d5.loss_cls: 0.2426, d5.loss_bbox: 0.4593, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1036, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9370, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8956, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8985, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8943, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8942, d0.loss_map_cls_all: 0.2997, d0.loss_map_pts_all: 1.9886, d0.loss_map_dir_all: 0.0132, d0.loss_map_cls: 0.2997, d0.loss_map_pts: 1.9886, d0.loss_map_dir: 0.0132, d1.loss_map_cls: 0.2723, d1.loss_map_pts: 1.3138, d1.loss_map_dir: 0.0128, d2.loss_map_cls: 0.2560, d2.loss_map_pts: 1.1144, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2457, d3.loss_map_pts: 1.0417, d3.loss_map_dir: 0.0141, d4.loss_map_cls: 0.2415, d4.loss_map_pts: 1.0112, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.2399, d5.loss_map_pts: 1.0030, d5.loss_map_dir: 0.0147, loss: 39.0572, grad_norm: 162.3087 +2026-02-25 13:32:03,866 - DriveTransformer - INFO - Epoch [4][39250/39528] lr: 9.623e-05, eta: 7 days, 8:38:53, time: 0.810, data_time: 0.039, memory: 19865, loss_cls: 0.2459, loss_bbox: 0.4475, loss_traj: 0.8975, loss_traj_cls: 0.0011, loss_map_cls: 0.2545, loss_map_pts: 0.9933, loss_map_dir: 0.0141, d0.loss_plan_l1_fix_time: 2.4917, d0.loss_plan_l1_fix_dist: 0.4405, d1.loss_plan_l1_fix_time: 1.2463, d1.loss_plan_l1_fix_dist: 0.2564, d2.loss_plan_l1_fix_time: 1.2340, d2.loss_plan_l1_fix_dist: 0.2654, d3.loss_plan_l1_fix_time: 1.2361, d3.loss_plan_l1_fix_dist: 0.2826, d4.loss_plan_l1_fix_time: 1.2415, d4.loss_plan_l1_fix_dist: 0.3041, d5.loss_plan_l1_fix_time: 1.2472, d5.loss_plan_l1_fix_dist: 0.3277, d6.loss_plan_l1_fix_time: 1.2535, d6.loss_plan_l1_fix_dist: 0.3535, d0.loss_cls_all: 0.2620, d0.loss_bbox_all: 0.5050, d0.loss_cls: 0.2620, d0.loss_bbox: 0.5050, d1.loss_cls: 0.2610, d1.loss_bbox: 0.4734, d2.loss_cls: 0.2523, d2.loss_bbox: 0.4560, d3.loss_cls: 0.2514, d3.loss_bbox: 0.4509, d4.loss_cls: 0.2449, d4.loss_bbox: 0.4497, d5.loss_cls: 0.2450, d5.loss_bbox: 0.4486, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0526, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9316, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8960, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8932, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8948, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8950, d0.loss_map_cls_all: 0.3078, d0.loss_map_pts_all: 1.9102, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.3078, d0.loss_map_pts: 1.9102, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2809, d1.loss_map_pts: 1.3162, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2629, d2.loss_map_pts: 1.1147, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2569, d3.loss_map_pts: 1.0311, d3.loss_map_dir: 0.0133, d4.loss_map_cls: 0.2524, d4.loss_map_pts: 1.0026, d4.loss_map_dir: 0.0138, d5.loss_map_cls: 0.2504, d5.loss_map_pts: 0.9952, d5.loss_map_dir: 0.0140, loss: 36.9608, grad_norm: 163.4292 +2026-02-25 13:32:46,271 - DriveTransformer - INFO - Epoch [4][39300/39528] lr: 9.623e-05, eta: 7 days, 8:38:24, time: 0.848, data_time: 0.041, memory: 19865, loss_cls: 0.2391, loss_bbox: 0.4359, loss_traj: 0.9042, loss_traj_cls: 0.0012, loss_map_cls: 0.2364, loss_map_pts: 0.9587, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 2.6366, d0.loss_plan_l1_fix_dist: 0.4227, d1.loss_plan_l1_fix_time: 1.5683, d1.loss_plan_l1_fix_dist: 0.2376, d2.loss_plan_l1_fix_time: 1.5570, d2.loss_plan_l1_fix_dist: 0.2474, d3.loss_plan_l1_fix_time: 1.5580, d3.loss_plan_l1_fix_dist: 0.2605, d4.loss_plan_l1_fix_time: 1.5616, d4.loss_plan_l1_fix_dist: 0.2780, d5.loss_plan_l1_fix_time: 1.5656, d5.loss_plan_l1_fix_dist: 0.2991, d6.loss_plan_l1_fix_time: 1.5705, d6.loss_plan_l1_fix_dist: 0.3232, d0.loss_cls_all: 0.2628, d0.loss_bbox_all: 0.4959, d0.loss_cls: 0.2628, d0.loss_bbox: 0.4959, d1.loss_cls: 0.2557, d1.loss_bbox: 0.4660, d2.loss_cls: 0.2479, d2.loss_bbox: 0.4487, d3.loss_cls: 0.2444, d3.loss_bbox: 0.4386, d4.loss_cls: 0.2400, d4.loss_bbox: 0.4355, d5.loss_cls: 0.2402, d5.loss_bbox: 0.4346, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2186, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9675, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9147, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9034, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8984, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8972, d0.loss_map_cls_all: 0.2851, d0.loss_map_pts_all: 1.7853, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2851, d0.loss_map_pts: 1.7853, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2644, d1.loss_map_pts: 1.2516, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2513, d2.loss_map_pts: 1.0703, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2422, d3.loss_map_pts: 0.9960, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.2365, d4.loss_map_pts: 0.9694, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.2349, d5.loss_map_pts: 0.9623, d5.loss_map_dir: 0.0123, loss: 38.3493, grad_norm: 163.3698 +2026-02-25 13:33:26,229 - DriveTransformer - INFO - Epoch [4][39350/39528] lr: 9.623e-05, eta: 7 days, 8:37:43, time: 0.799, data_time: 0.041, memory: 19865, loss_cls: 0.2537, loss_bbox: 0.4388, loss_traj: 0.8390, loss_traj_cls: 0.0011, loss_map_cls: 0.2052, loss_map_pts: 0.8692, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.3985, d0.loss_plan_l1_fix_dist: 0.4120, d1.loss_plan_l1_fix_time: 1.3185, d1.loss_plan_l1_fix_dist: 0.2233, d2.loss_plan_l1_fix_time: 1.3105, d2.loss_plan_l1_fix_dist: 0.2361, d3.loss_plan_l1_fix_time: 1.3163, d3.loss_plan_l1_fix_dist: 0.2560, d4.loss_plan_l1_fix_time: 1.3219, d4.loss_plan_l1_fix_dist: 0.2780, d5.loss_plan_l1_fix_time: 1.3275, d5.loss_plan_l1_fix_dist: 0.2999, d6.loss_plan_l1_fix_time: 1.3337, d6.loss_plan_l1_fix_dist: 0.3235, d0.loss_cls_all: 0.2662, d0.loss_bbox_all: 0.4971, d0.loss_cls: 0.2662, d0.loss_bbox: 0.4971, d1.loss_cls: 0.2641, d1.loss_bbox: 0.4662, d2.loss_cls: 0.2558, d2.loss_bbox: 0.4482, d3.loss_cls: 0.2521, d3.loss_bbox: 0.4395, d4.loss_cls: 0.2493, d4.loss_bbox: 0.4395, d5.loss_cls: 0.2499, d5.loss_bbox: 0.4392, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0563, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8914, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8422, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8371, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8323, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8317, d0.loss_map_cls_all: 0.2620, d0.loss_map_pts_all: 1.6596, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2620, d0.loss_map_pts: 1.6596, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2335, d1.loss_map_pts: 1.1480, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2188, d2.loss_map_pts: 0.9708, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2129, d3.loss_map_pts: 0.9045, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.2073, d4.loss_map_pts: 0.8825, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.2048, d5.loss_map_pts: 0.8709, d5.loss_map_dir: 0.0124, loss: 35.0793, grad_norm: 163.2891 +2026-02-25 13:34:07,739 - DriveTransformer - INFO - Epoch [4][39400/39528] lr: 9.623e-05, eta: 7 days, 8:37:09, time: 0.832, data_time: 0.039, memory: 19865, loss_cls: 0.2806, loss_bbox: 0.4277, loss_traj: 0.8400, loss_traj_cls: 0.0011, loss_map_cls: 0.2557, loss_map_pts: 1.0166, loss_map_dir: 0.0133, d0.loss_plan_l1_fix_time: 2.6971, d0.loss_plan_l1_fix_dist: 0.3500, d1.loss_plan_l1_fix_time: 1.4056, d1.loss_plan_l1_fix_dist: 0.2432, d2.loss_plan_l1_fix_time: 1.3933, d2.loss_plan_l1_fix_dist: 0.2630, d3.loss_plan_l1_fix_time: 1.3978, d3.loss_plan_l1_fix_dist: 0.2890, d4.loss_plan_l1_fix_time: 1.4020, d4.loss_plan_l1_fix_dist: 0.3151, d5.loss_plan_l1_fix_time: 1.4073, d5.loss_plan_l1_fix_dist: 0.3394, d6.loss_plan_l1_fix_time: 1.4134, d6.loss_plan_l1_fix_dist: 0.3620, d0.loss_cls_all: 0.2995, d0.loss_bbox_all: 0.4847, d0.loss_cls: 0.2995, d0.loss_bbox: 0.4847, d1.loss_cls: 0.2936, d1.loss_bbox: 0.4523, d2.loss_cls: 0.2846, d2.loss_bbox: 0.4355, d3.loss_cls: 0.2784, d3.loss_bbox: 0.4272, d4.loss_cls: 0.2774, d4.loss_bbox: 0.4252, d5.loss_cls: 0.2777, d5.loss_bbox: 0.4253, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0372, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8867, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8580, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8538, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8429, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8378, d0.loss_map_cls_all: 0.3046, d0.loss_map_pts_all: 1.8344, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.3046, d0.loss_map_pts: 1.8344, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2779, d1.loss_map_pts: 1.3042, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.2617, d2.loss_map_pts: 1.1165, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2581, d3.loss_map_pts: 1.0492, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.2540, d4.loss_map_pts: 1.0255, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.2543, d5.loss_map_pts: 1.0185, d5.loss_map_dir: 0.0133, loss: 37.7645, grad_norm: 163.7186 +2026-02-25 13:34:48,380 - DriveTransformer - INFO - Epoch [4][39450/39528] lr: 9.623e-05, eta: 7 days, 8:36:31, time: 0.811, data_time: 0.040, memory: 19865, loss_cls: 0.2414, loss_bbox: 0.4659, loss_traj: 0.9287, loss_traj_cls: 0.0010, loss_map_cls: 0.2396, loss_map_pts: 0.8554, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 3.0970, d0.loss_plan_l1_fix_dist: 0.3876, d1.loss_plan_l1_fix_time: 1.4908, d1.loss_plan_l1_fix_dist: 0.2272, d2.loss_plan_l1_fix_time: 1.4743, d2.loss_plan_l1_fix_dist: 0.2361, d3.loss_plan_l1_fix_time: 1.4771, d3.loss_plan_l1_fix_dist: 0.2503, d4.loss_plan_l1_fix_time: 1.4812, d4.loss_plan_l1_fix_dist: 0.2661, d5.loss_plan_l1_fix_time: 1.4869, d5.loss_plan_l1_fix_dist: 0.2850, d6.loss_plan_l1_fix_time: 1.4938, d6.loss_plan_l1_fix_dist: 0.3068, d0.loss_cls_all: 0.2721, d0.loss_bbox_all: 0.4976, d0.loss_cls: 0.2721, d0.loss_bbox: 0.4976, d1.loss_cls: 0.2611, d1.loss_bbox: 0.4683, d2.loss_cls: 0.2525, d2.loss_bbox: 0.4550, d3.loss_cls: 0.2447, d3.loss_bbox: 0.4560, d4.loss_cls: 0.2426, d4.loss_bbox: 0.4577, d5.loss_cls: 0.2414, d5.loss_bbox: 0.4628, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1311, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9474, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9082, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9057, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9155, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.9262, d0.loss_map_cls_all: 0.2873, d0.loss_map_pts_all: 1.6408, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2873, d0.loss_map_pts: 1.6408, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2622, d1.loss_map_pts: 1.1135, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.2474, d2.loss_map_pts: 0.9483, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2418, d3.loss_map_pts: 0.8856, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.2386, d4.loss_map_pts: 0.8633, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.2382, d5.loss_map_pts: 0.8554, d5.loss_map_dir: 0.0114, loss: 37.3494, grad_norm: 164.9210 +2026-02-25 13:35:29,454 - DriveTransformer - INFO - Epoch [4][39500/39528] lr: 9.623e-05, eta: 7 days, 8:35:55, time: 0.822, data_time: 0.045, memory: 19865, loss_cls: 0.2559, loss_bbox: 0.4564, loss_traj: 0.9423, loss_traj_cls: 0.0011, loss_map_cls: 0.2137, loss_map_pts: 0.8674, loss_map_dir: 0.0139, d0.loss_plan_l1_fix_time: 2.4932, d0.loss_plan_l1_fix_dist: 0.4338, d1.loss_plan_l1_fix_time: 1.5330, d1.loss_plan_l1_fix_dist: 0.2327, d2.loss_plan_l1_fix_time: 1.5237, d2.loss_plan_l1_fix_dist: 0.2369, d3.loss_plan_l1_fix_time: 1.5269, d3.loss_plan_l1_fix_dist: 0.2484, d4.loss_plan_l1_fix_time: 1.5309, d4.loss_plan_l1_fix_dist: 0.2642, d5.loss_plan_l1_fix_time: 1.5357, d5.loss_plan_l1_fix_dist: 0.2831, d6.loss_plan_l1_fix_time: 1.5408, d6.loss_plan_l1_fix_dist: 0.3051, d0.loss_cls_all: 0.2831, d0.loss_bbox_all: 0.4901, d0.loss_cls: 0.2831, d0.loss_bbox: 0.4901, d1.loss_cls: 0.2742, d1.loss_bbox: 0.4604, d2.loss_cls: 0.2630, d2.loss_bbox: 0.4496, d3.loss_cls: 0.2588, d3.loss_bbox: 0.4467, d4.loss_cls: 0.2565, d4.loss_bbox: 0.4476, d5.loss_cls: 0.2571, d5.loss_bbox: 0.4520, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1780, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9894, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9375, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9292, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9343, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.9365, d0.loss_map_cls_all: 0.2722, d0.loss_map_pts_all: 1.6617, d0.loss_map_dir_all: 0.0122, d0.loss_map_cls: 0.2722, d0.loss_map_pts: 1.6617, d0.loss_map_dir: 0.0122, d1.loss_map_cls: 0.2441, d1.loss_map_pts: 1.1281, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2334, d2.loss_map_pts: 0.9490, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2225, d3.loss_map_pts: 0.8929, d3.loss_map_dir: 0.0132, d4.loss_map_cls: 0.2178, d4.loss_map_pts: 0.8761, d4.loss_map_dir: 0.0136, d5.loss_map_cls: 0.2148, d5.loss_map_pts: 0.8714, d5.loss_map_dir: 0.0138, loss: 37.2687, grad_norm: 165.0228 +2026-02-25 13:35:51,714 - DriveTransformer - INFO - Saving checkpoint at 4 epochs +2026-02-25 13:36:44,414 - DriveTransformer - INFO - Epoch [5][50/39528] lr: 9.337e-05, eta: 7 days, 8:33:51, time: 1.009, data_time: 0.211, memory: 19865, loss_cls: 0.2639, loss_bbox: 0.4462, loss_traj: 0.9748, loss_traj_cls: 0.0011, loss_map_cls: 0.2359, loss_map_pts: 0.9954, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 3.0627, d0.loss_plan_l1_fix_dist: 0.4765, d1.loss_plan_l1_fix_time: 1.7455, d1.loss_plan_l1_fix_dist: 0.2413, d2.loss_plan_l1_fix_time: 1.7110, d2.loss_plan_l1_fix_dist: 0.2480, d3.loss_plan_l1_fix_time: 1.7030, d3.loss_plan_l1_fix_dist: 0.2597, d4.loss_plan_l1_fix_time: 1.7032, d4.loss_plan_l1_fix_dist: 0.2744, d5.loss_plan_l1_fix_time: 1.7048, d5.loss_plan_l1_fix_dist: 0.2920, d6.loss_plan_l1_fix_time: 1.7077, d6.loss_plan_l1_fix_dist: 0.3128, d0.loss_cls_all: 0.2755, d0.loss_bbox_all: 0.4984, d0.loss_cls: 0.2755, d0.loss_bbox: 0.4984, d1.loss_cls: 0.2811, d1.loss_bbox: 0.4656, d2.loss_cls: 0.2723, d2.loss_bbox: 0.4512, d3.loss_cls: 0.2669, d3.loss_bbox: 0.4445, d4.loss_cls: 0.2642, d4.loss_bbox: 0.4441, d5.loss_cls: 0.2664, d5.loss_bbox: 0.4439, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2167, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0263, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9746, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9625, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9515, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.9742, d0.loss_map_cls_all: 0.2833, d0.loss_map_pts_all: 1.7529, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2833, d0.loss_map_pts: 1.7529, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2615, d1.loss_map_pts: 1.2840, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2506, d2.loss_map_pts: 1.0981, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2451, d3.loss_map_pts: 1.0279, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.2409, d4.loss_map_pts: 1.0025, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.2376, d5.loss_map_pts: 0.9973, d5.loss_map_dir: 0.0116, loss: 40.4242, grad_norm: 191.5221 +2026-02-25 13:37:26,485 - DriveTransformer - INFO - Epoch [5][100/39528] lr: 9.337e-05, eta: 7 days, 8:33:20, time: 0.841, data_time: 0.037, memory: 19865, loss_cls: 0.2404, loss_bbox: 0.4316, loss_traj: 0.7153, loss_traj_cls: 0.0011, loss_map_cls: 0.2339, loss_map_pts: 0.9128, loss_map_dir: 0.0148, d0.loss_plan_l1_fix_time: 2.4961, d0.loss_plan_l1_fix_dist: 0.3483, d1.loss_plan_l1_fix_time: 1.3527, d1.loss_plan_l1_fix_dist: 0.2037, d2.loss_plan_l1_fix_time: 1.3332, d2.loss_plan_l1_fix_dist: 0.2068, d3.loss_plan_l1_fix_time: 1.3358, d3.loss_plan_l1_fix_dist: 0.2202, d4.loss_plan_l1_fix_time: 1.3393, d4.loss_plan_l1_fix_dist: 0.2346, d5.loss_plan_l1_fix_time: 1.3432, d5.loss_plan_l1_fix_dist: 0.2501, d6.loss_plan_l1_fix_time: 1.3481, d6.loss_plan_l1_fix_dist: 0.2650, d0.loss_cls_all: 0.2708, d0.loss_bbox_all: 0.4731, d0.loss_cls: 0.2708, d0.loss_bbox: 0.4731, d1.loss_cls: 0.2624, d1.loss_bbox: 0.4461, d2.loss_cls: 0.2503, d2.loss_bbox: 0.4322, d3.loss_cls: 0.2456, d3.loss_bbox: 0.4261, d4.loss_cls: 0.2407, d4.loss_bbox: 0.4255, d5.loss_cls: 0.2405, d5.loss_bbox: 0.4278, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9360, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7681, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7172, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7062, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7085, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7123, d0.loss_map_cls_all: 0.2882, d0.loss_map_pts_all: 1.7975, d0.loss_map_dir_all: 0.0141, d0.loss_map_cls: 0.2882, d0.loss_map_pts: 1.7975, d0.loss_map_dir: 0.0141, d1.loss_map_cls: 0.2636, d1.loss_map_pts: 1.1939, d1.loss_map_dir: 0.0133, d2.loss_map_cls: 0.2488, d2.loss_map_pts: 0.9971, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2389, d3.loss_map_pts: 0.9368, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.2365, d4.loss_map_pts: 0.9159, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.2350, d5.loss_map_pts: 0.9133, d5.loss_map_dir: 0.0147, loss: 34.7153, grad_norm: 145.9703 +2026-02-25 13:38:07,054 - DriveTransformer - INFO - Epoch [5][150/39528] lr: 9.337e-05, eta: 7 days, 8:32:42, time: 0.811, data_time: 0.042, memory: 19865, loss_cls: 0.2704, loss_bbox: 0.4458, loss_traj: 0.8018, loss_traj_cls: 0.0010, loss_map_cls: 0.2423, loss_map_pts: 0.9963, loss_map_dir: 0.0148, d0.loss_plan_l1_fix_time: 2.7352, d0.loss_plan_l1_fix_dist: 0.4485, d1.loss_plan_l1_fix_time: 1.5606, d1.loss_plan_l1_fix_dist: 0.2171, d2.loss_plan_l1_fix_time: 1.5372, d2.loss_plan_l1_fix_dist: 0.2228, d3.loss_plan_l1_fix_time: 1.5387, d3.loss_plan_l1_fix_dist: 0.2327, d4.loss_plan_l1_fix_time: 1.5419, d4.loss_plan_l1_fix_dist: 0.2453, d5.loss_plan_l1_fix_time: 1.5457, d5.loss_plan_l1_fix_dist: 0.2590, d6.loss_plan_l1_fix_time: 1.5499, d6.loss_plan_l1_fix_dist: 0.2752, d0.loss_cls_all: 0.2891, d0.loss_bbox_all: 0.4937, d0.loss_cls: 0.2891, d0.loss_bbox: 0.4937, d1.loss_cls: 0.2836, d1.loss_bbox: 0.4687, d2.loss_cls: 0.2733, d2.loss_bbox: 0.4537, d3.loss_cls: 0.2713, d3.loss_bbox: 0.4462, d4.loss_cls: 0.2668, d4.loss_bbox: 0.4465, d5.loss_cls: 0.2692, d5.loss_bbox: 0.4451, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9891, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8410, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8054, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7958, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7941, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7981, d0.loss_map_cls_all: 0.2935, d0.loss_map_pts_all: 1.8293, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.2935, d0.loss_map_pts: 1.8293, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2665, d1.loss_map_pts: 1.2751, d1.loss_map_dir: 0.0131, d2.loss_map_cls: 0.2535, d2.loss_map_pts: 1.0956, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2465, d3.loss_map_pts: 1.0305, d3.loss_map_dir: 0.0143, d4.loss_map_cls: 0.2430, d4.loss_map_pts: 1.0081, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.2433, d5.loss_map_pts: 0.9985, d5.loss_map_dir: 0.0147, loss: 37.9042, grad_norm: 156.8337 +2026-02-25 13:38:48,328 - DriveTransformer - INFO - Epoch [5][200/39528] lr: 9.337e-05, eta: 7 days, 8:32:07, time: 0.825, data_time: 0.038, memory: 19865, loss_cls: 0.2821, loss_bbox: 0.4657, loss_traj: 0.9743, loss_traj_cls: 0.0011, loss_map_cls: 0.2501, loss_map_pts: 0.9524, loss_map_dir: 0.0135, d0.loss_plan_l1_fix_time: 2.8020, d0.loss_plan_l1_fix_dist: 0.4227, d1.loss_plan_l1_fix_time: 1.5484, d1.loss_plan_l1_fix_dist: 0.2314, d2.loss_plan_l1_fix_time: 1.5173, d2.loss_plan_l1_fix_dist: 0.2361, d3.loss_plan_l1_fix_time: 1.5177, d3.loss_plan_l1_fix_dist: 0.2442, d4.loss_plan_l1_fix_time: 1.5203, d4.loss_plan_l1_fix_dist: 0.2556, d5.loss_plan_l1_fix_time: 1.5237, d5.loss_plan_l1_fix_dist: 0.2707, d6.loss_plan_l1_fix_time: 1.5273, d6.loss_plan_l1_fix_dist: 0.2864, d0.loss_cls_all: 0.2945, d0.loss_bbox_all: 0.5206, d0.loss_cls: 0.2945, d0.loss_bbox: 0.5206, d1.loss_cls: 0.2925, d1.loss_bbox: 0.4921, d2.loss_cls: 0.2839, d2.loss_bbox: 0.4766, d3.loss_cls: 0.2858, d3.loss_bbox: 0.4676, d4.loss_cls: 0.2813, d4.loss_bbox: 0.4655, d5.loss_cls: 0.2817, d5.loss_bbox: 0.4649, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2245, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.0439, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9910, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9732, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9604, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.9639, d0.loss_map_cls_all: 0.3074, d0.loss_map_pts_all: 1.7694, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.3074, d0.loss_map_pts: 1.7694, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2801, d1.loss_map_pts: 1.2305, d1.loss_map_dir: 0.0122, d2.loss_map_cls: 0.2658, d2.loss_map_pts: 1.0469, d2.loss_map_dir: 0.0127, d3.loss_map_cls: 0.2569, d3.loss_map_pts: 0.9857, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.2523, d4.loss_map_pts: 0.9616, d4.loss_map_dir: 0.0132, d5.loss_map_cls: 0.2507, d5.loss_map_pts: 0.9539, d5.loss_map_dir: 0.0133, loss: 39.1541, grad_norm: 142.9109 +2026-02-25 13:39:29,204 - DriveTransformer - INFO - Epoch [5][250/39528] lr: 9.337e-05, eta: 7 days, 8:31:30, time: 0.817, data_time: 0.050, memory: 19865, loss_cls: 0.3041, loss_bbox: 0.4826, loss_traj: 0.8402, loss_traj_cls: 0.0011, loss_map_cls: 0.2324, loss_map_pts: 1.0799, loss_map_dir: 0.0159, d0.loss_plan_l1_fix_time: 3.0942, d0.loss_plan_l1_fix_dist: 0.3671, d1.loss_plan_l1_fix_time: 1.5620, d1.loss_plan_l1_fix_dist: 0.2432, d2.loss_plan_l1_fix_time: 1.5439, d2.loss_plan_l1_fix_dist: 0.2516, d3.loss_plan_l1_fix_time: 1.5419, d3.loss_plan_l1_fix_dist: 0.2693, d4.loss_plan_l1_fix_time: 1.5451, d4.loss_plan_l1_fix_dist: 0.2884, d5.loss_plan_l1_fix_time: 1.5494, d5.loss_plan_l1_fix_dist: 0.3106, d6.loss_plan_l1_fix_time: 1.5547, d6.loss_plan_l1_fix_dist: 0.3372, d0.loss_cls_all: 0.3219, d0.loss_bbox_all: 0.5404, d0.loss_cls: 0.3219, d0.loss_bbox: 0.5404, d1.loss_cls: 0.3191, d1.loss_bbox: 0.5076, d2.loss_cls: 0.3145, d2.loss_bbox: 0.4895, d3.loss_cls: 0.3081, d3.loss_bbox: 0.4848, d4.loss_cls: 0.3062, d4.loss_bbox: 0.4818, d5.loss_cls: 0.3050, d5.loss_bbox: 0.4825, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0209, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8950, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8479, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8374, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8392, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8335, d0.loss_map_cls_all: 0.2858, d0.loss_map_pts_all: 1.9935, d0.loss_map_dir_all: 0.0146, d0.loss_map_cls: 0.2858, d0.loss_map_pts: 1.9935, d0.loss_map_dir: 0.0146, d1.loss_map_cls: 0.2690, d1.loss_map_pts: 1.3976, d1.loss_map_dir: 0.0140, d2.loss_map_cls: 0.2525, d2.loss_map_pts: 1.1950, d2.loss_map_dir: 0.0145, d3.loss_map_cls: 0.2403, d3.loss_map_pts: 1.1200, d3.loss_map_dir: 0.0153, d4.loss_map_cls: 0.2350, d4.loss_map_pts: 1.0900, d4.loss_map_dir: 0.0156, d5.loss_map_cls: 0.2331, d5.loss_map_pts: 1.0823, d5.loss_map_dir: 0.0157, loss: 40.1951, grad_norm: 171.3936 +2026-02-25 13:40:08,669 - DriveTransformer - INFO - Epoch [5][300/39528] lr: 9.337e-05, eta: 7 days, 8:30:46, time: 0.789, data_time: 0.037, memory: 19865, loss_cls: 0.2892, loss_bbox: 0.4638, loss_traj: 0.8214, loss_traj_cls: 0.0012, loss_map_cls: 0.2453, loss_map_pts: 0.9302, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 2.5516, d0.loss_plan_l1_fix_dist: 0.3825, d1.loss_plan_l1_fix_time: 1.5070, d1.loss_plan_l1_fix_dist: 0.2174, d2.loss_plan_l1_fix_time: 1.4836, d2.loss_plan_l1_fix_dist: 0.2243, d3.loss_plan_l1_fix_time: 1.4785, d3.loss_plan_l1_fix_dist: 0.2360, d4.loss_plan_l1_fix_time: 1.4810, d4.loss_plan_l1_fix_dist: 0.2489, d5.loss_plan_l1_fix_time: 1.4844, d5.loss_plan_l1_fix_dist: 0.2630, d6.loss_plan_l1_fix_time: 1.4888, d6.loss_plan_l1_fix_dist: 0.2792, d0.loss_cls_all: 0.3048, d0.loss_bbox_all: 0.5285, d0.loss_cls: 0.3048, d0.loss_bbox: 0.5285, d1.loss_cls: 0.3032, d1.loss_bbox: 0.4902, d2.loss_cls: 0.2941, d2.loss_bbox: 0.4722, d3.loss_cls: 0.2906, d3.loss_bbox: 0.4678, d4.loss_cls: 0.2941, d4.loss_bbox: 0.4651, d5.loss_cls: 0.2887, d5.loss_bbox: 0.4645, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0142, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8770, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8287, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8227, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8195, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8220, d0.loss_map_cls_all: 0.3048, d0.loss_map_pts_all: 1.7433, d0.loss_map_dir_all: 0.0134, d0.loss_map_cls: 0.3048, d0.loss_map_pts: 1.7433, d0.loss_map_dir: 0.0134, d1.loss_map_cls: 0.2785, d1.loss_map_pts: 1.2300, d1.loss_map_dir: 0.0129, d2.loss_map_cls: 0.2601, d2.loss_map_pts: 1.0384, d2.loss_map_dir: 0.0130, d3.loss_map_cls: 0.2497, d3.loss_map_pts: 0.9660, d3.loss_map_dir: 0.0137, d4.loss_map_cls: 0.2460, d4.loss_map_pts: 0.9431, d4.loss_map_dir: 0.0140, d5.loss_map_cls: 0.2456, d5.loss_map_pts: 0.9332, d5.loss_map_dir: 0.0141, loss: 37.3593, grad_norm: 169.8816 +2026-02-25 13:40:47,035 - DriveTransformer - INFO - Epoch [5][350/39528] lr: 9.337e-05, eta: 7 days, 8:29:57, time: 0.767, data_time: 0.040, memory: 19865, loss_cls: 0.2523, loss_bbox: 0.4288, loss_traj: 0.8151, loss_traj_cls: 0.0012, loss_map_cls: 0.1974, loss_map_pts: 0.7838, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.9918, d0.loss_plan_l1_fix_dist: 0.4435, d1.loss_plan_l1_fix_time: 1.4769, d1.loss_plan_l1_fix_dist: 0.2141, d2.loss_plan_l1_fix_time: 1.4655, d2.loss_plan_l1_fix_dist: 0.2193, d3.loss_plan_l1_fix_time: 1.4637, d3.loss_plan_l1_fix_dist: 0.2312, d4.loss_plan_l1_fix_time: 1.4659, d4.loss_plan_l1_fix_dist: 0.2466, d5.loss_plan_l1_fix_time: 1.4684, d5.loss_plan_l1_fix_dist: 0.2621, d6.loss_plan_l1_fix_time: 1.4716, d6.loss_plan_l1_fix_dist: 0.2762, d0.loss_cls_all: 0.2770, d0.loss_bbox_all: 0.4880, d0.loss_cls: 0.2770, d0.loss_bbox: 0.4880, d1.loss_cls: 0.2708, d1.loss_bbox: 0.4546, d2.loss_cls: 0.2590, d2.loss_bbox: 0.4430, d3.loss_cls: 0.2565, d3.loss_bbox: 0.4345, d4.loss_cls: 0.2533, d4.loss_bbox: 0.4327, d5.loss_cls: 0.2525, d5.loss_bbox: 0.4298, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9883, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8438, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8047, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7978, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8026, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8064, d0.loss_map_cls_all: 0.2628, d0.loss_map_pts_all: 1.5170, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2628, d0.loss_map_pts: 1.5170, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2373, d1.loss_map_pts: 1.0340, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2199, d2.loss_map_pts: 0.8738, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2049, d3.loss_map_pts: 0.8125, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.1996, d4.loss_map_pts: 0.7910, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1979, d5.loss_map_pts: 0.7838, d5.loss_map_dir: 0.0120, loss: 35.2464, grad_norm: 167.0026 +2026-02-25 13:41:29,987 - DriveTransformer - INFO - Epoch [5][400/39528] lr: 9.337e-05, eta: 7 days, 8:29:30, time: 0.859, data_time: 0.043, memory: 19865, loss_cls: 0.2570, loss_bbox: 0.4697, loss_traj: 0.8310, loss_traj_cls: 0.0012, loss_map_cls: 0.2288, loss_map_pts: 1.0455, loss_map_dir: 0.0157, d0.loss_plan_l1_fix_time: 2.7153, d0.loss_plan_l1_fix_dist: 0.3696, d1.loss_plan_l1_fix_time: 1.4218, d1.loss_plan_l1_fix_dist: 0.2133, d2.loss_plan_l1_fix_time: 1.4056, d2.loss_plan_l1_fix_dist: 0.2184, d3.loss_plan_l1_fix_time: 1.4039, d3.loss_plan_l1_fix_dist: 0.2295, d4.loss_plan_l1_fix_time: 1.4080, d4.loss_plan_l1_fix_dist: 0.2417, d5.loss_plan_l1_fix_time: 1.4128, d5.loss_plan_l1_fix_dist: 0.2555, d6.loss_plan_l1_fix_time: 1.4179, d6.loss_plan_l1_fix_dist: 0.2732, d0.loss_cls_all: 0.2767, d0.loss_bbox_all: 0.5250, d0.loss_cls: 0.2767, d0.loss_bbox: 0.5250, d1.loss_cls: 0.2718, d1.loss_bbox: 0.4905, d2.loss_cls: 0.2619, d2.loss_bbox: 0.4819, d3.loss_cls: 0.2596, d3.loss_bbox: 0.4733, d4.loss_cls: 0.2577, d4.loss_bbox: 0.4706, d5.loss_cls: 0.2574, d5.loss_bbox: 0.4704, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1169, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9079, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8490, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8336, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8283, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8308, d0.loss_map_cls_all: 0.2800, d0.loss_map_pts_all: 2.0721, d0.loss_map_dir_all: 0.0147, d0.loss_map_cls: 0.2800, d0.loss_map_pts: 2.0721, d0.loss_map_dir: 0.0147, d1.loss_map_cls: 0.2568, d1.loss_map_pts: 1.3590, d1.loss_map_dir: 0.0143, d2.loss_map_cls: 0.2449, d2.loss_map_pts: 1.1531, d2.loss_map_dir: 0.0146, d3.loss_map_cls: 0.2348, d3.loss_map_pts: 1.0774, d3.loss_map_dir: 0.0152, d4.loss_map_cls: 0.2315, d4.loss_map_pts: 1.0543, d4.loss_map_dir: 0.0155, d5.loss_map_cls: 0.2287, d5.loss_map_pts: 1.0485, d5.loss_map_dir: 0.0157, loss: 38.2033, grad_norm: 168.2040 +2026-02-25 13:42:10,869 - DriveTransformer - INFO - Epoch [5][450/39528] lr: 9.337e-05, eta: 7 days, 8:28:53, time: 0.818, data_time: 0.040, memory: 19865, loss_cls: 0.2506, loss_bbox: 0.4463, loss_traj: 0.8280, loss_traj_cls: 0.0012, loss_map_cls: 0.1977, loss_map_pts: 0.9354, loss_map_dir: 0.0141, d0.loss_plan_l1_fix_time: 2.8307, d0.loss_plan_l1_fix_dist: 0.4782, d1.loss_plan_l1_fix_time: 1.2563, d1.loss_plan_l1_fix_dist: 0.2838, d2.loss_plan_l1_fix_time: 1.2504, d2.loss_plan_l1_fix_dist: 0.2878, d3.loss_plan_l1_fix_time: 1.2508, d3.loss_plan_l1_fix_dist: 0.2984, d4.loss_plan_l1_fix_time: 1.2559, d4.loss_plan_l1_fix_dist: 0.3098, d5.loss_plan_l1_fix_time: 1.2615, d5.loss_plan_l1_fix_dist: 0.3243, d6.loss_plan_l1_fix_time: 1.2671, d6.loss_plan_l1_fix_dist: 0.3429, d0.loss_cls_all: 0.2843, d0.loss_bbox_all: 0.5053, d0.loss_cls: 0.2843, d0.loss_bbox: 0.5053, d1.loss_cls: 0.2734, d1.loss_bbox: 0.4688, d2.loss_cls: 0.2604, d2.loss_bbox: 0.4578, d3.loss_cls: 0.2553, d3.loss_bbox: 0.4490, d4.loss_cls: 0.2512, d4.loss_bbox: 0.4468, d5.loss_cls: 0.2514, d5.loss_bbox: 0.4454, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0308, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8767, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8339, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8293, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8268, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8239, d0.loss_map_cls_all: 0.2647, d0.loss_map_pts_all: 1.8193, d0.loss_map_dir_all: 0.0129, d0.loss_map_cls: 0.2647, d0.loss_map_pts: 1.8193, d0.loss_map_dir: 0.0129, d1.loss_map_cls: 0.2409, d1.loss_map_pts: 1.2456, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2201, d2.loss_map_pts: 1.0488, d2.loss_map_dir: 0.0127, d3.loss_map_cls: 0.2067, d3.loss_map_pts: 0.9733, d3.loss_map_dir: 0.0133, d4.loss_map_cls: 0.2008, d4.loss_map_pts: 0.9494, d4.loss_map_dir: 0.0138, d5.loss_map_cls: 0.1984, d5.loss_map_pts: 0.9388, d5.loss_map_dir: 0.0140, loss: 36.2196, grad_norm: 164.8099 +2026-02-25 13:42:52,147 - DriveTransformer - INFO - Epoch [5][500/39528] lr: 9.337e-05, eta: 7 days, 8:28:18, time: 0.826, data_time: 0.041, memory: 19865, loss_cls: 0.2572, loss_bbox: 0.4447, loss_traj: 0.8135, loss_traj_cls: 0.0012, loss_map_cls: 0.2103, loss_map_pts: 0.9437, loss_map_dir: 0.0152, d0.loss_plan_l1_fix_time: 2.5786, d0.loss_plan_l1_fix_dist: 0.3991, d1.loss_plan_l1_fix_time: 1.3803, d1.loss_plan_l1_fix_dist: 0.2422, d2.loss_plan_l1_fix_time: 1.3543, d2.loss_plan_l1_fix_dist: 0.2512, d3.loss_plan_l1_fix_time: 1.3531, d3.loss_plan_l1_fix_dist: 0.2666, d4.loss_plan_l1_fix_time: 1.3557, d4.loss_plan_l1_fix_dist: 0.2850, d5.loss_plan_l1_fix_time: 1.3592, d5.loss_plan_l1_fix_dist: 0.3040, d6.loss_plan_l1_fix_time: 1.3641, d6.loss_plan_l1_fix_dist: 0.3228, d0.loss_cls_all: 0.2795, d0.loss_bbox_all: 0.5018, d0.loss_cls: 0.2795, d0.loss_bbox: 0.5018, d1.loss_cls: 0.2756, d1.loss_bbox: 0.4659, d2.loss_cls: 0.2646, d2.loss_bbox: 0.4503, d3.loss_cls: 0.2614, d3.loss_bbox: 0.4466, d4.loss_cls: 0.2590, d4.loss_bbox: 0.4459, d5.loss_cls: 0.2566, d5.loss_bbox: 0.4473, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0398, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8880, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8297, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8219, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8164, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8140, d0.loss_map_cls_all: 0.2819, d0.loss_map_pts_all: 1.8536, d0.loss_map_dir_all: 0.0140, d0.loss_map_cls: 0.2819, d0.loss_map_pts: 1.8536, d0.loss_map_dir: 0.0140, d1.loss_map_cls: 0.2504, d1.loss_map_pts: 1.2545, d1.loss_map_dir: 0.0135, d2.loss_map_cls: 0.2298, d2.loss_map_pts: 1.0519, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2183, d3.loss_map_pts: 0.9849, d3.loss_map_dir: 0.0146, d4.loss_map_cls: 0.2140, d4.loss_map_pts: 0.9566, d4.loss_map_dir: 0.0149, d5.loss_map_cls: 0.2110, d5.loss_map_pts: 0.9450, d5.loss_map_dir: 0.0151, loss: 36.5403, grad_norm: 162.3228 +2026-02-25 13:43:32,378 - DriveTransformer - INFO - Epoch [5][550/39528] lr: 9.337e-05, eta: 7 days, 8:27:38, time: 0.805, data_time: 0.045, memory: 19865, loss_cls: 0.2621, loss_bbox: 0.4786, loss_traj: 0.9678, loss_traj_cls: 0.0012, loss_map_cls: 0.2344, loss_map_pts: 1.0206, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 3.0129, d0.loss_plan_l1_fix_dist: 0.3717, d1.loss_plan_l1_fix_time: 1.5009, d1.loss_plan_l1_fix_dist: 0.2088, d2.loss_plan_l1_fix_time: 1.4760, d2.loss_plan_l1_fix_dist: 0.2139, d3.loss_plan_l1_fix_time: 1.4775, d3.loss_plan_l1_fix_dist: 0.2268, d4.loss_plan_l1_fix_time: 1.4816, d4.loss_plan_l1_fix_dist: 0.2418, d5.loss_plan_l1_fix_time: 1.4868, d5.loss_plan_l1_fix_dist: 0.2573, d6.loss_plan_l1_fix_time: 1.4931, d6.loss_plan_l1_fix_dist: 0.2738, d0.loss_cls_all: 0.2871, d0.loss_bbox_all: 0.5366, d0.loss_cls: 0.2871, d0.loss_bbox: 0.5366, d1.loss_cls: 0.2784, d1.loss_bbox: 0.5007, d2.loss_cls: 0.2692, d2.loss_bbox: 0.4878, d3.loss_cls: 0.2624, d3.loss_bbox: 0.4842, d4.loss_cls: 0.2626, d4.loss_bbox: 0.4806, d5.loss_cls: 0.2620, d5.loss_bbox: 0.4797, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1749, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0009, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9721, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9596, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9576, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9615, d0.loss_map_cls_all: 0.2967, d0.loss_map_pts_all: 1.8711, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.2967, d0.loss_map_pts: 1.8711, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2672, d1.loss_map_pts: 1.3295, d1.loss_map_dir: 0.0132, d2.loss_map_cls: 0.2524, d2.loss_map_pts: 1.1336, d2.loss_map_dir: 0.0136, d3.loss_map_cls: 0.2416, d3.loss_map_pts: 1.0646, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.2373, d4.loss_map_pts: 1.0360, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.2343, d5.loss_map_pts: 1.0238, d5.loss_map_dir: 0.0147, loss: 39.4023, grad_norm: 157.7584 +2026-02-25 13:44:14,457 - DriveTransformer - INFO - Epoch [5][600/39528] lr: 9.337e-05, eta: 7 days, 8:27:07, time: 0.841, data_time: 0.041, memory: 19865, loss_cls: 0.2626, loss_bbox: 0.4494, loss_traj: 0.7944, loss_traj_cls: 0.0013, loss_map_cls: 0.2279, loss_map_pts: 1.0102, loss_map_dir: 0.0162, d0.loss_plan_l1_fix_time: 2.7073, d0.loss_plan_l1_fix_dist: 0.3486, d1.loss_plan_l1_fix_time: 1.5153, d1.loss_plan_l1_fix_dist: 0.2336, d2.loss_plan_l1_fix_time: 1.4965, d2.loss_plan_l1_fix_dist: 0.2435, d3.loss_plan_l1_fix_time: 1.5003, d3.loss_plan_l1_fix_dist: 0.2624, d4.loss_plan_l1_fix_time: 1.5046, d4.loss_plan_l1_fix_dist: 0.2852, d5.loss_plan_l1_fix_time: 1.5093, d5.loss_plan_l1_fix_dist: 0.3097, d6.loss_plan_l1_fix_time: 1.5147, d6.loss_plan_l1_fix_dist: 0.3365, d0.loss_cls_all: 0.2810, d0.loss_bbox_all: 0.5001, d0.loss_cls: 0.2810, d0.loss_bbox: 0.5001, d1.loss_cls: 0.2774, d1.loss_bbox: 0.4649, d2.loss_cls: 0.2703, d2.loss_bbox: 0.4514, d3.loss_cls: 0.2682, d3.loss_bbox: 0.4455, d4.loss_cls: 0.2629, d4.loss_bbox: 0.4461, d5.loss_cls: 0.2636, d5.loss_bbox: 0.4472, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0151, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8470, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7996, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7898, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7873, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7858, d0.loss_map_cls_all: 0.2898, d0.loss_map_pts_all: 1.9574, d0.loss_map_dir_all: 0.0150, d0.loss_map_cls: 0.2898, d0.loss_map_pts: 1.9574, d0.loss_map_dir: 0.0150, d1.loss_map_cls: 0.2617, d1.loss_map_pts: 1.3190, d1.loss_map_dir: 0.0146, d2.loss_map_cls: 0.2454, d2.loss_map_pts: 1.1122, d2.loss_map_dir: 0.0150, d3.loss_map_cls: 0.2336, d3.loss_map_pts: 1.0458, d3.loss_map_dir: 0.0157, d4.loss_map_cls: 0.2320, d4.loss_map_pts: 1.0188, d4.loss_map_dir: 0.0160, d5.loss_map_cls: 0.2274, d5.loss_map_pts: 1.0122, d5.loss_map_dir: 0.0160, loss: 38.0295, grad_norm: 155.7655 +2026-02-25 13:44:54,913 - DriveTransformer - INFO - Epoch [5][650/39528] lr: 9.337e-05, eta: 7 days, 8:26:29, time: 0.809, data_time: 0.045, memory: 19865, loss_cls: 0.2465, loss_bbox: 0.4467, loss_traj: 0.7436, loss_traj_cls: 0.0013, loss_map_cls: 0.2141, loss_map_pts: 0.9959, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.4933, d0.loss_plan_l1_fix_dist: 0.3689, d1.loss_plan_l1_fix_time: 1.3084, d1.loss_plan_l1_fix_dist: 0.2168, d2.loss_plan_l1_fix_time: 1.2933, d2.loss_plan_l1_fix_dist: 0.2271, d3.loss_plan_l1_fix_time: 1.2937, d3.loss_plan_l1_fix_dist: 0.2390, d4.loss_plan_l1_fix_time: 1.2972, d4.loss_plan_l1_fix_dist: 0.2548, d5.loss_plan_l1_fix_time: 1.3018, d5.loss_plan_l1_fix_dist: 0.2723, d6.loss_plan_l1_fix_time: 1.3073, d6.loss_plan_l1_fix_dist: 0.2944, d0.loss_cls_all: 0.2663, d0.loss_bbox_all: 0.4973, d0.loss_cls: 0.2663, d0.loss_bbox: 0.4973, d1.loss_cls: 0.2623, d1.loss_bbox: 0.4647, d2.loss_cls: 0.2530, d2.loss_bbox: 0.4491, d3.loss_cls: 0.2500, d3.loss_bbox: 0.4434, d4.loss_cls: 0.2472, d4.loss_bbox: 0.4437, d5.loss_cls: 0.2479, d5.loss_bbox: 0.4457, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8908, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.7729, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7451, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7359, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7347, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7381, d0.loss_map_cls_all: 0.2670, d0.loss_map_pts_all: 1.8512, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.2670, d0.loss_map_pts: 1.8512, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2444, d1.loss_map_pts: 1.2963, d1.loss_map_dir: 0.0126, d2.loss_map_cls: 0.2333, d2.loss_map_pts: 1.1057, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2241, d3.loss_map_pts: 1.0352, d3.loss_map_dir: 0.0143, d4.loss_map_cls: 0.2177, d4.loss_map_pts: 1.0061, d4.loss_map_dir: 0.0148, d5.loss_map_cls: 0.2148, d5.loss_map_pts: 0.9974, d5.loss_map_dir: 0.0148, loss: 35.3961, grad_norm: 151.5917 +2026-02-25 13:45:35,497 - DriveTransformer - INFO - Epoch [5][700/39528] lr: 9.337e-05, eta: 7 days, 8:25:50, time: 0.812, data_time: 0.039, memory: 19865, loss_cls: 0.2483, loss_bbox: 0.4256, loss_traj: 0.8058, loss_traj_cls: 0.0012, loss_map_cls: 0.2123, loss_map_pts: 0.9078, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 2.7650, d0.loss_plan_l1_fix_dist: 0.4190, d1.loss_plan_l1_fix_time: 1.3587, d1.loss_plan_l1_fix_dist: 0.2231, d2.loss_plan_l1_fix_time: 1.3467, d2.loss_plan_l1_fix_dist: 0.2347, d3.loss_plan_l1_fix_time: 1.3526, d3.loss_plan_l1_fix_dist: 0.2527, d4.loss_plan_l1_fix_time: 1.3577, d4.loss_plan_l1_fix_dist: 0.2733, d5.loss_plan_l1_fix_time: 1.3630, d5.loss_plan_l1_fix_dist: 0.2969, d6.loss_plan_l1_fix_time: 1.3687, d6.loss_plan_l1_fix_dist: 0.3220, d0.loss_cls_all: 0.2654, d0.loss_bbox_all: 0.4715, d0.loss_cls: 0.2654, d0.loss_bbox: 0.4715, d1.loss_cls: 0.2639, d1.loss_bbox: 0.4372, d2.loss_cls: 0.2535, d2.loss_bbox: 0.4221, d3.loss_cls: 0.2476, d3.loss_bbox: 0.4176, d4.loss_cls: 0.2469, d4.loss_bbox: 0.4190, d5.loss_cls: 0.2473, d5.loss_bbox: 0.4219, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0463, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8809, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8258, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8199, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8186, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8134, d0.loss_map_cls_all: 0.2754, d0.loss_map_pts_all: 1.7623, d0.loss_map_dir_all: 0.0122, d0.loss_map_cls: 0.2754, d0.loss_map_pts: 1.7623, d0.loss_map_dir: 0.0122, d1.loss_map_cls: 0.2528, d1.loss_map_pts: 1.1629, d1.loss_map_dir: 0.0121, d2.loss_map_cls: 0.2321, d2.loss_map_pts: 0.9966, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2205, d3.loss_map_pts: 0.9370, d3.loss_map_dir: 0.0135, d4.loss_map_cls: 0.2170, d4.loss_map_pts: 0.9125, d4.loss_map_dir: 0.0140, d5.loss_map_cls: 0.2143, d5.loss_map_pts: 0.9067, d5.loss_map_dir: 0.0141, loss: 35.8292, grad_norm: 151.8046 +2026-02-25 13:46:17,535 - DriveTransformer - INFO - Epoch [5][750/39528] lr: 9.337e-05, eta: 7 days, 8:25:19, time: 0.841, data_time: 0.049, memory: 19865, loss_cls: 0.2461, loss_bbox: 0.4429, loss_traj: 0.7275, loss_traj_cls: 0.0012, loss_map_cls: 0.2435, loss_map_pts: 1.0606, loss_map_dir: 0.0180, d0.loss_plan_l1_fix_time: 2.7858, d0.loss_plan_l1_fix_dist: 0.4201, d1.loss_plan_l1_fix_time: 1.4215, d1.loss_plan_l1_fix_dist: 0.2167, d2.loss_plan_l1_fix_time: 1.4129, d2.loss_plan_l1_fix_dist: 0.2237, d3.loss_plan_l1_fix_time: 1.4147, d3.loss_plan_l1_fix_dist: 0.2391, d4.loss_plan_l1_fix_time: 1.4185, d4.loss_plan_l1_fix_dist: 0.2568, d5.loss_plan_l1_fix_time: 1.4231, d5.loss_plan_l1_fix_dist: 0.2759, d6.loss_plan_l1_fix_time: 1.4288, d6.loss_plan_l1_fix_dist: 0.2907, d0.loss_cls_all: 0.2720, d0.loss_bbox_all: 0.4838, d0.loss_cls: 0.2720, d0.loss_bbox: 0.4838, d1.loss_cls: 0.2695, d1.loss_bbox: 0.4532, d2.loss_cls: 0.2571, d2.loss_bbox: 0.4406, d3.loss_cls: 0.2495, d3.loss_bbox: 0.4352, d4.loss_cls: 0.2436, d4.loss_bbox: 0.4352, d5.loss_cls: 0.2467, d5.loss_bbox: 0.4376, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9567, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7625, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7349, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7268, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7225, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7229, d0.loss_map_cls_all: 0.2966, d0.loss_map_pts_all: 2.1084, d0.loss_map_dir_all: 0.0167, d0.loss_map_cls: 0.2966, d0.loss_map_pts: 2.1084, d0.loss_map_dir: 0.0167, d1.loss_map_cls: 0.2686, d1.loss_map_pts: 1.3747, d1.loss_map_dir: 0.0157, d2.loss_map_cls: 0.2559, d2.loss_map_pts: 1.1575, d2.loss_map_dir: 0.0162, d3.loss_map_cls: 0.2501, d3.loss_map_pts: 1.0860, d3.loss_map_dir: 0.0172, d4.loss_map_cls: 0.2487, d4.loss_map_pts: 1.0660, d4.loss_map_dir: 0.0176, d5.loss_map_cls: 0.2431, d5.loss_map_pts: 1.0617, d5.loss_map_dir: 0.0179, loss: 37.5199, grad_norm: 154.8228 +2026-02-25 13:46:57,256 - DriveTransformer - INFO - Epoch [5][800/39528] lr: 9.337e-05, eta: 7 days, 8:24:37, time: 0.796, data_time: 0.045, memory: 19865, loss_cls: 0.2983, loss_bbox: 0.4514, loss_traj: 0.8376, loss_traj_cls: 0.0012, loss_map_cls: 0.2487, loss_map_pts: 1.0572, loss_map_dir: 0.0132, d0.loss_plan_l1_fix_time: 2.7812, d0.loss_plan_l1_fix_dist: 0.4455, d1.loss_plan_l1_fix_time: 1.3486, d1.loss_plan_l1_fix_dist: 0.2109, d2.loss_plan_l1_fix_time: 1.3511, d2.loss_plan_l1_fix_dist: 0.2194, d3.loss_plan_l1_fix_time: 1.3560, d3.loss_plan_l1_fix_dist: 0.2337, d4.loss_plan_l1_fix_time: 1.3595, d4.loss_plan_l1_fix_dist: 0.2504, d5.loss_plan_l1_fix_time: 1.3634, d5.loss_plan_l1_fix_dist: 0.2678, d6.loss_plan_l1_fix_time: 1.3674, d6.loss_plan_l1_fix_dist: 0.2898, d0.loss_cls_all: 0.3153, d0.loss_bbox_all: 0.5018, d0.loss_cls: 0.3153, d0.loss_bbox: 0.5018, d1.loss_cls: 0.3144, d1.loss_bbox: 0.4730, d2.loss_cls: 0.3072, d2.loss_bbox: 0.4597, d3.loss_cls: 0.2994, d3.loss_bbox: 0.4540, d4.loss_cls: 0.2937, d4.loss_bbox: 0.4514, d5.loss_cls: 0.2962, d5.loss_bbox: 0.4505, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9903, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8883, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8451, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8426, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8404, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8308, d0.loss_map_cls_all: 0.3029, d0.loss_map_pts_all: 1.8498, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.3029, d0.loss_map_pts: 1.8498, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2747, d1.loss_map_pts: 1.3529, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2600, d2.loss_map_pts: 1.1698, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.2525, d3.loss_map_pts: 1.0997, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.2514, d4.loss_map_pts: 1.0707, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.2489, d5.loss_map_pts: 1.0616, d5.loss_map_dir: 0.0130, loss: 37.8616, grad_norm: 153.9447 +2026-02-25 13:47:37,652 - DriveTransformer - INFO - Epoch [5][850/39528] lr: 9.337e-05, eta: 7 days, 8:23:57, time: 0.807, data_time: 0.038, memory: 19865, loss_cls: 0.2482, loss_bbox: 0.4627, loss_traj: 0.9983, loss_traj_cls: 0.0012, loss_map_cls: 0.2586, loss_map_pts: 1.1203, loss_map_dir: 0.0155, d0.loss_plan_l1_fix_time: 2.6844, d0.loss_plan_l1_fix_dist: 0.3824, d1.loss_plan_l1_fix_time: 1.5040, d1.loss_plan_l1_fix_dist: 0.2078, d2.loss_plan_l1_fix_time: 1.4941, d2.loss_plan_l1_fix_dist: 0.2157, d3.loss_plan_l1_fix_time: 1.4957, d3.loss_plan_l1_fix_dist: 0.2275, d4.loss_plan_l1_fix_time: 1.4986, d4.loss_plan_l1_fix_dist: 0.2432, d5.loss_plan_l1_fix_time: 1.5018, d5.loss_plan_l1_fix_dist: 0.2608, d6.loss_plan_l1_fix_time: 1.5059, d6.loss_plan_l1_fix_dist: 0.2809, d0.loss_cls_all: 0.2696, d0.loss_bbox_all: 0.5136, d0.loss_cls: 0.2696, d0.loss_bbox: 0.5136, d1.loss_cls: 0.2648, d1.loss_bbox: 0.4789, d2.loss_cls: 0.2522, d2.loss_bbox: 0.4656, d3.loss_cls: 0.2446, d3.loss_bbox: 0.4641, d4.loss_cls: 0.2439, d4.loss_bbox: 0.4619, d5.loss_cls: 0.2452, d5.loss_bbox: 0.4630, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2605, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.0699, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0154, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0084, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0033, d5.loss_traj_cls: 0.0011, d5.loss_traj: 1.0027, d0.loss_map_cls_all: 0.3093, d0.loss_map_pts_all: 2.0933, d0.loss_map_dir_all: 0.0145, d0.loss_map_cls: 0.3093, d0.loss_map_pts: 2.0933, d0.loss_map_dir: 0.0145, d1.loss_map_cls: 0.2818, d1.loss_map_pts: 1.4463, d1.loss_map_dir: 0.0136, d2.loss_map_cls: 0.2704, d2.loss_map_pts: 1.2375, d2.loss_map_dir: 0.0140, d3.loss_map_cls: 0.2672, d3.loss_map_pts: 1.1629, d3.loss_map_dir: 0.0147, d4.loss_map_cls: 0.2615, d4.loss_map_pts: 1.1325, d4.loss_map_dir: 0.0152, d5.loss_map_cls: 0.2586, d5.loss_map_pts: 1.1243, d5.loss_map_dir: 0.0153, loss: 40.4739, grad_norm: 153.5976 +2026-02-25 13:48:17,362 - DriveTransformer - INFO - Epoch [5][900/39528] lr: 9.337e-05, eta: 7 days, 8:23:14, time: 0.794, data_time: 0.040, memory: 19865, loss_cls: 0.2773, loss_bbox: 0.4622, loss_traj: 0.9381, loss_traj_cls: 0.0012, loss_map_cls: 0.2285, loss_map_pts: 1.0313, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 2.8580, d0.loss_plan_l1_fix_dist: 0.4325, d1.loss_plan_l1_fix_time: 1.5525, d1.loss_plan_l1_fix_dist: 0.2192, d2.loss_plan_l1_fix_time: 1.5359, d2.loss_plan_l1_fix_dist: 0.2232, d3.loss_plan_l1_fix_time: 1.5317, d3.loss_plan_l1_fix_dist: 0.2346, d4.loss_plan_l1_fix_time: 1.5331, d4.loss_plan_l1_fix_dist: 0.2489, d5.loss_plan_l1_fix_time: 1.5362, d5.loss_plan_l1_fix_dist: 0.2643, d6.loss_plan_l1_fix_time: 1.5404, d6.loss_plan_l1_fix_dist: 0.2777, d0.loss_cls_all: 0.2925, d0.loss_bbox_all: 0.5155, d0.loss_cls: 0.2925, d0.loss_bbox: 0.5155, d1.loss_cls: 0.2859, d1.loss_bbox: 0.4872, d2.loss_cls: 0.2815, d2.loss_bbox: 0.4717, d3.loss_cls: 0.2772, d3.loss_bbox: 0.4674, d4.loss_cls: 0.2749, d4.loss_bbox: 0.4626, d5.loss_cls: 0.2747, d5.loss_bbox: 0.4635, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0926, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9752, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9418, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9401, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9319, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9318, d0.loss_map_cls_all: 0.2926, d0.loss_map_pts_all: 1.7740, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2926, d0.loss_map_pts: 1.7740, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2602, d1.loss_map_pts: 1.3287, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2450, d2.loss_map_pts: 1.1530, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2367, d3.loss_map_pts: 1.0719, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.2306, d4.loss_map_pts: 1.0408, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.2292, d5.loss_map_pts: 1.0317, d5.loss_map_dir: 0.0124, loss: 39.1617, grad_norm: 154.4852 +2026-02-25 13:48:58,269 - DriveTransformer - INFO - Epoch [5][950/39528] lr: 9.337e-05, eta: 7 days, 8:22:38, time: 0.818, data_time: 0.046, memory: 19865, loss_cls: 0.2199, loss_bbox: 0.4254, loss_traj: 0.7366, loss_traj_cls: 0.0013, loss_map_cls: 0.1937, loss_map_pts: 0.9160, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.8574, d0.loss_plan_l1_fix_dist: 0.5702, d1.loss_plan_l1_fix_time: 1.5156, d1.loss_plan_l1_fix_dist: 0.2234, d2.loss_plan_l1_fix_time: 1.4903, d2.loss_plan_l1_fix_dist: 0.2291, d3.loss_plan_l1_fix_time: 1.4911, d3.loss_plan_l1_fix_dist: 0.2423, d4.loss_plan_l1_fix_time: 1.4940, d4.loss_plan_l1_fix_dist: 0.2568, d5.loss_plan_l1_fix_time: 1.4973, d5.loss_plan_l1_fix_dist: 0.2722, d6.loss_plan_l1_fix_time: 1.5014, d6.loss_plan_l1_fix_dist: 0.2909, d0.loss_cls_all: 0.2442, d0.loss_bbox_all: 0.4791, d0.loss_cls: 0.2442, d0.loss_bbox: 0.4791, d1.loss_cls: 0.2380, d1.loss_bbox: 0.4463, d2.loss_cls: 0.2272, d2.loss_bbox: 0.4365, d3.loss_cls: 0.2244, d3.loss_bbox: 0.4298, d4.loss_cls: 0.2199, d4.loss_bbox: 0.4273, d5.loss_cls: 0.2189, d5.loss_bbox: 0.4259, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9095, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.7888, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7456, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7424, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7373, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7391, d0.loss_map_cls_all: 0.2544, d0.loss_map_pts_all: 1.5989, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2544, d0.loss_map_pts: 1.5989, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2235, d1.loss_map_pts: 1.1451, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.2122, d2.loss_map_pts: 1.0028, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.2009, d3.loss_map_pts: 0.9398, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1961, d4.loss_map_pts: 0.9225, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1946, d5.loss_map_pts: 0.9162, d5.loss_map_dir: 0.0107, loss: 35.5754, grad_norm: 155.5850 +2026-02-25 13:49:38,565 - DriveTransformer - INFO - Epoch [5][1000/39528] lr: 9.337e-05, eta: 7 days, 8:21:58, time: 0.806, data_time: 0.045, memory: 19865, loss_cls: 0.2730, loss_bbox: 0.4605, loss_traj: 0.9988, loss_traj_cls: 0.0013, loss_map_cls: 0.2275, loss_map_pts: 0.9801, loss_map_dir: 0.0130, d0.loss_plan_l1_fix_time: 2.5321, d0.loss_plan_l1_fix_dist: 0.3929, d1.loss_plan_l1_fix_time: 1.4839, d1.loss_plan_l1_fix_dist: 0.2416, d2.loss_plan_l1_fix_time: 1.4649, d2.loss_plan_l1_fix_dist: 0.2480, d3.loss_plan_l1_fix_time: 1.4652, d3.loss_plan_l1_fix_dist: 0.2591, d4.loss_plan_l1_fix_time: 1.4679, d4.loss_plan_l1_fix_dist: 0.2717, d5.loss_plan_l1_fix_time: 1.4701, d5.loss_plan_l1_fix_dist: 0.2867, d6.loss_plan_l1_fix_time: 1.4727, d6.loss_plan_l1_fix_dist: 0.3048, d0.loss_cls_all: 0.2906, d0.loss_bbox_all: 0.5312, d0.loss_cls: 0.2906, d0.loss_bbox: 0.5312, d1.loss_cls: 0.2869, d1.loss_bbox: 0.4912, d2.loss_cls: 0.2815, d2.loss_bbox: 0.4720, d3.loss_cls: 0.2762, d3.loss_bbox: 0.4647, d4.loss_cls: 0.2737, d4.loss_bbox: 0.4622, d5.loss_cls: 0.2730, d5.loss_bbox: 0.4610, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2670, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0768, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0066, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9970, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9934, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9920, d0.loss_map_cls_all: 0.2963, d0.loss_map_pts_all: 1.7966, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2963, d0.loss_map_pts: 1.7966, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2664, d1.loss_map_pts: 1.2697, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2481, d2.loss_map_pts: 1.0779, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2350, d3.loss_map_pts: 1.0162, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2296, d4.loss_map_pts: 0.9905, d4.loss_map_dir: 0.0128, d5.loss_map_cls: 0.2275, d5.loss_map_pts: 0.9837, d5.loss_map_dir: 0.0129, loss: 38.8551, grad_norm: 153.4966 +2026-02-25 13:50:19,798 - DriveTransformer - INFO - Epoch [5][1050/39528] lr: 9.337e-05, eta: 7 days, 8:21:23, time: 0.825, data_time: 0.041, memory: 19865, loss_cls: 0.2595, loss_bbox: 0.4327, loss_traj: 0.8757, loss_traj_cls: 0.0013, loss_map_cls: 0.2265, loss_map_pts: 0.9278, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.6852, d0.loss_plan_l1_fix_dist: 0.4798, d1.loss_plan_l1_fix_time: 1.3768, d1.loss_plan_l1_fix_dist: 0.2245, d2.loss_plan_l1_fix_time: 1.3618, d2.loss_plan_l1_fix_dist: 0.2433, d3.loss_plan_l1_fix_time: 1.3649, d3.loss_plan_l1_fix_dist: 0.2672, d4.loss_plan_l1_fix_time: 1.3700, d4.loss_plan_l1_fix_dist: 0.2914, d5.loss_plan_l1_fix_time: 1.3754, d5.loss_plan_l1_fix_dist: 0.3154, d6.loss_plan_l1_fix_time: 1.3813, d6.loss_plan_l1_fix_dist: 0.3372, d0.loss_cls_all: 0.2754, d0.loss_bbox_all: 0.4867, d0.loss_cls: 0.2754, d0.loss_bbox: 0.4867, d1.loss_cls: 0.2706, d1.loss_bbox: 0.4518, d2.loss_cls: 0.2623, d2.loss_bbox: 0.4374, d3.loss_cls: 0.2586, d3.loss_bbox: 0.4321, d4.loss_cls: 0.2594, d4.loss_bbox: 0.4319, d5.loss_cls: 0.2581, d5.loss_bbox: 0.4317, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0713, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8790, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8563, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8611, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8764, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8785, d0.loss_map_cls_all: 0.2833, d0.loss_map_pts_all: 1.7234, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2833, d0.loss_map_pts: 1.7234, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2558, d1.loss_map_pts: 1.2381, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2391, d2.loss_map_pts: 1.0470, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.2299, d3.loss_map_pts: 0.9744, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.2273, d4.loss_map_pts: 0.9401, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.2261, d5.loss_map_pts: 0.9308, d5.loss_map_dir: 0.0119, loss: 36.6544, grad_norm: 154.9012 +2026-02-25 13:51:01,161 - DriveTransformer - INFO - Epoch [5][1100/39528] lr: 9.337e-05, eta: 7 days, 8:20:48, time: 0.827, data_time: 0.043, memory: 19865, loss_cls: 0.2584, loss_bbox: 0.4636, loss_traj: 0.8247, loss_traj_cls: 0.0012, loss_map_cls: 0.2501, loss_map_pts: 1.0267, loss_map_dir: 0.0143, d0.loss_plan_l1_fix_time: 2.7643, d0.loss_plan_l1_fix_dist: 0.4028, d1.loss_plan_l1_fix_time: 1.3941, d1.loss_plan_l1_fix_dist: 0.2318, d2.loss_plan_l1_fix_time: 1.3756, d2.loss_plan_l1_fix_dist: 0.2409, d3.loss_plan_l1_fix_time: 1.3773, d3.loss_plan_l1_fix_dist: 0.2578, d4.loss_plan_l1_fix_time: 1.3813, d4.loss_plan_l1_fix_dist: 0.2784, d5.loss_plan_l1_fix_time: 1.3865, d5.loss_plan_l1_fix_dist: 0.2994, d6.loss_plan_l1_fix_time: 1.3929, d6.loss_plan_l1_fix_dist: 0.3195, d0.loss_cls_all: 0.2668, d0.loss_bbox_all: 0.5040, d0.loss_cls: 0.2668, d0.loss_bbox: 0.5040, d1.loss_cls: 0.2634, d1.loss_bbox: 0.4726, d2.loss_cls: 0.2594, d2.loss_bbox: 0.4584, d3.loss_cls: 0.2577, d3.loss_bbox: 0.4565, d4.loss_cls: 0.2556, d4.loss_bbox: 0.4581, d5.loss_cls: 0.2557, d5.loss_bbox: 0.4579, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0326, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8664, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8238, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8196, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8198, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8237, d0.loss_map_cls_all: 0.3100, d0.loss_map_pts_all: 1.9516, d0.loss_map_dir_all: 0.0136, d0.loss_map_cls: 0.3100, d0.loss_map_pts: 1.9516, d0.loss_map_dir: 0.0136, d1.loss_map_cls: 0.2793, d1.loss_map_pts: 1.3338, d1.loss_map_dir: 0.0130, d2.loss_map_cls: 0.2665, d2.loss_map_pts: 1.1311, d2.loss_map_dir: 0.0135, d3.loss_map_cls: 0.2575, d3.loss_map_pts: 1.0628, d3.loss_map_dir: 0.0139, d4.loss_map_cls: 0.2527, d4.loss_map_pts: 1.0378, d4.loss_map_dir: 0.0143, d5.loss_map_cls: 0.2495, d5.loss_map_pts: 1.0322, d5.loss_map_dir: 0.0143, loss: 37.7924, grad_norm: 154.2252 +2026-02-25 13:51:42,431 - DriveTransformer - INFO - Epoch [5][1150/39528] lr: 9.337e-05, eta: 7 days, 8:20:13, time: 0.825, data_time: 0.048, memory: 19865, loss_cls: 0.3044, loss_bbox: 0.4960, loss_traj: 0.7205, loss_traj_cls: 0.0013, loss_map_cls: 0.2336, loss_map_pts: 1.0940, loss_map_dir: 0.0161, d0.loss_plan_l1_fix_time: 2.8233, d0.loss_plan_l1_fix_dist: 0.3889, d1.loss_plan_l1_fix_time: 1.5048, d1.loss_plan_l1_fix_dist: 0.2688, d2.loss_plan_l1_fix_time: 1.4948, d2.loss_plan_l1_fix_dist: 0.2789, d3.loss_plan_l1_fix_time: 1.4957, d3.loss_plan_l1_fix_dist: 0.2999, d4.loss_plan_l1_fix_time: 1.4987, d4.loss_plan_l1_fix_dist: 0.3234, d5.loss_plan_l1_fix_time: 1.5026, d5.loss_plan_l1_fix_dist: 0.3502, d6.loss_plan_l1_fix_time: 1.5081, d6.loss_plan_l1_fix_dist: 0.3787, d0.loss_cls_all: 0.3238, d0.loss_bbox_all: 0.5623, d0.loss_cls: 0.3238, d0.loss_bbox: 0.5623, d1.loss_cls: 0.3153, d1.loss_bbox: 0.5228, d2.loss_cls: 0.3083, d2.loss_bbox: 0.5035, d3.loss_cls: 0.3026, d3.loss_bbox: 0.4962, d4.loss_cls: 0.3019, d4.loss_bbox: 0.4921, d5.loss_cls: 0.3011, d5.loss_bbox: 0.4939, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9241, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.7653, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7209, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7078, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7127, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7154, d0.loss_map_cls_all: 0.2909, d0.loss_map_pts_all: 1.9738, d0.loss_map_dir_all: 0.0147, d0.loss_map_cls: 0.2909, d0.loss_map_pts: 1.9738, d0.loss_map_dir: 0.0147, d1.loss_map_cls: 0.2634, d1.loss_map_pts: 1.3881, d1.loss_map_dir: 0.0143, d2.loss_map_cls: 0.2535, d2.loss_map_pts: 1.1900, d2.loss_map_dir: 0.0149, d3.loss_map_cls: 0.2418, d3.loss_map_pts: 1.1218, d3.loss_map_dir: 0.0154, d4.loss_map_cls: 0.2351, d4.loss_map_pts: 1.1040, d4.loss_map_dir: 0.0158, d5.loss_map_cls: 0.2329, d5.loss_map_pts: 1.0953, d5.loss_map_dir: 0.0160, loss: 39.1052, grad_norm: 157.3196 +2026-02-25 13:52:25,654 - DriveTransformer - INFO - Epoch [5][1200/39528] lr: 9.337e-05, eta: 7 days, 8:19:48, time: 0.864, data_time: 0.041, memory: 19865, loss_cls: 0.2627, loss_bbox: 0.4663, loss_traj: 0.8202, loss_traj_cls: 0.0013, loss_map_cls: 0.2171, loss_map_pts: 1.0533, loss_map_dir: 0.0158, d0.loss_plan_l1_fix_time: 2.5385, d0.loss_plan_l1_fix_dist: 0.4112, d1.loss_plan_l1_fix_time: 1.3287, d1.loss_plan_l1_fix_dist: 0.2535, d2.loss_plan_l1_fix_time: 1.3217, d2.loss_plan_l1_fix_dist: 0.2651, d3.loss_plan_l1_fix_time: 1.3236, d3.loss_plan_l1_fix_dist: 0.2828, d4.loss_plan_l1_fix_time: 1.3292, d4.loss_plan_l1_fix_dist: 0.3015, d5.loss_plan_l1_fix_time: 1.3356, d5.loss_plan_l1_fix_dist: 0.3225, d6.loss_plan_l1_fix_time: 1.3440, d6.loss_plan_l1_fix_dist: 0.3480, d0.loss_cls_all: 0.2812, d0.loss_bbox_all: 0.5170, d0.loss_cls: 0.2812, d0.loss_bbox: 0.5170, d1.loss_cls: 0.2760, d1.loss_bbox: 0.4861, d2.loss_cls: 0.2650, d2.loss_bbox: 0.4705, d3.loss_cls: 0.2613, d3.loss_bbox: 0.4636, d4.loss_cls: 0.2616, d4.loss_bbox: 0.4617, d5.loss_cls: 0.2618, d5.loss_bbox: 0.4635, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9662, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8396, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8104, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8009, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8136, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8256, d0.loss_map_cls_all: 0.2727, d0.loss_map_pts_all: 2.0522, d0.loss_map_dir_all: 0.0145, d0.loss_map_cls: 0.2727, d0.loss_map_pts: 2.0522, d0.loss_map_dir: 0.0145, d1.loss_map_cls: 0.2477, d1.loss_map_pts: 1.3688, d1.loss_map_dir: 0.0136, d2.loss_map_cls: 0.2313, d2.loss_map_pts: 1.1488, d2.loss_map_dir: 0.0142, d3.loss_map_cls: 0.2239, d3.loss_map_pts: 1.0815, d3.loss_map_dir: 0.0149, d4.loss_map_cls: 0.2193, d4.loss_map_pts: 1.0625, d4.loss_map_dir: 0.0155, d5.loss_map_cls: 0.2160, d5.loss_map_pts: 1.0537, d5.loss_map_dir: 0.0156, loss: 37.4782, grad_norm: 157.2725 +2026-02-25 13:53:06,471 - DriveTransformer - INFO - Epoch [5][1250/39528] lr: 9.337e-05, eta: 7 days, 8:19:11, time: 0.816, data_time: 0.043, memory: 19865, loss_cls: 0.2518, loss_bbox: 0.4387, loss_traj: 0.8492, loss_traj_cls: 0.0013, loss_map_cls: 0.2278, loss_map_pts: 0.9488, loss_map_dir: 0.0138, d0.loss_plan_l1_fix_time: 2.7346, d0.loss_plan_l1_fix_dist: 0.4623, d1.loss_plan_l1_fix_time: 1.4094, d1.loss_plan_l1_fix_dist: 0.2204, d2.loss_plan_l1_fix_time: 1.3978, d2.loss_plan_l1_fix_dist: 0.2289, d3.loss_plan_l1_fix_time: 1.4021, d3.loss_plan_l1_fix_dist: 0.2434, d4.loss_plan_l1_fix_time: 1.4067, d4.loss_plan_l1_fix_dist: 0.2613, d5.loss_plan_l1_fix_time: 1.4115, d5.loss_plan_l1_fix_dist: 0.2806, d6.loss_plan_l1_fix_time: 1.4162, d6.loss_plan_l1_fix_dist: 0.3059, d0.loss_cls_all: 0.2752, d0.loss_bbox_all: 0.4880, d0.loss_cls: 0.2752, d0.loss_bbox: 0.4880, d1.loss_cls: 0.2667, d1.loss_bbox: 0.4627, d2.loss_cls: 0.2566, d2.loss_bbox: 0.4440, d3.loss_cls: 0.2522, d3.loss_bbox: 0.4386, d4.loss_cls: 0.2510, d4.loss_bbox: 0.4373, d5.loss_cls: 0.2507, d5.loss_bbox: 0.4386, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0712, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9231, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8579, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8465, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8412, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8480, d0.loss_map_cls_all: 0.2858, d0.loss_map_pts_all: 1.7616, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.2858, d0.loss_map_pts: 1.7616, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2580, d1.loss_map_pts: 1.2315, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2416, d2.loss_map_pts: 1.0458, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2325, d3.loss_map_pts: 0.9773, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.2286, d4.loss_map_pts: 0.9566, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.2275, d5.loss_map_pts: 0.9506, d5.loss_map_dir: 0.0137, loss: 36.8646, grad_norm: 156.5781 +2026-02-25 13:53:48,679 - DriveTransformer - INFO - Epoch [5][1300/39528] lr: 9.337e-05, eta: 7 days, 8:18:41, time: 0.844, data_time: 0.042, memory: 19865, loss_cls: 0.2426, loss_bbox: 0.4346, loss_traj: 0.7057, loss_traj_cls: 0.0013, loss_map_cls: 0.2298, loss_map_pts: 1.0100, loss_map_dir: 0.0162, d0.loss_plan_l1_fix_time: 2.3034, d0.loss_plan_l1_fix_dist: 0.3892, d1.loss_plan_l1_fix_time: 1.4715, d1.loss_plan_l1_fix_dist: 0.2237, d2.loss_plan_l1_fix_time: 1.4688, d2.loss_plan_l1_fix_dist: 0.2314, d3.loss_plan_l1_fix_time: 1.4732, d3.loss_plan_l1_fix_dist: 0.2468, d4.loss_plan_l1_fix_time: 1.4804, d4.loss_plan_l1_fix_dist: 0.2670, d5.loss_plan_l1_fix_time: 1.4874, d5.loss_plan_l1_fix_dist: 0.2869, d6.loss_plan_l1_fix_time: 1.4926, d6.loss_plan_l1_fix_dist: 0.3044, d0.loss_cls_all: 0.2679, d0.loss_bbox_all: 0.4807, d0.loss_cls: 0.2679, d0.loss_bbox: 0.4807, d1.loss_cls: 0.2601, d1.loss_bbox: 0.4483, d2.loss_cls: 0.2499, d2.loss_bbox: 0.4304, d3.loss_cls: 0.2462, d3.loss_bbox: 0.4265, d4.loss_cls: 0.2447, d4.loss_bbox: 0.4270, d5.loss_cls: 0.2422, d5.loss_bbox: 0.4308, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9165, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.7597, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7218, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7074, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7047, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7062, d0.loss_map_cls_all: 0.2874, d0.loss_map_pts_all: 1.9911, d0.loss_map_dir_all: 0.0147, d0.loss_map_cls: 0.2874, d0.loss_map_pts: 1.9911, d0.loss_map_dir: 0.0147, d1.loss_map_cls: 0.2659, d1.loss_map_pts: 1.3277, d1.loss_map_dir: 0.0142, d2.loss_map_cls: 0.2469, d2.loss_map_pts: 1.1094, d2.loss_map_dir: 0.0148, d3.loss_map_cls: 0.2342, d3.loss_map_pts: 1.0377, d3.loss_map_dir: 0.0153, d4.loss_map_cls: 0.2317, d4.loss_map_pts: 1.0147, d4.loss_map_dir: 0.0158, d5.loss_map_cls: 0.2303, d5.loss_map_pts: 1.0122, d5.loss_map_dir: 0.0159, loss: 36.5649, grad_norm: 155.8103 +2026-02-25 13:54:31,220 - DriveTransformer - INFO - Epoch [5][1350/39528] lr: 9.337e-05, eta: 7 days, 8:18:12, time: 0.851, data_time: 0.039, memory: 19865, loss_cls: 0.2536, loss_bbox: 0.4529, loss_traj: 0.7055, loss_traj_cls: 0.0012, loss_map_cls: 0.2301, loss_map_pts: 1.0831, loss_map_dir: 0.0171, d0.loss_plan_l1_fix_time: 2.8774, d0.loss_plan_l1_fix_dist: 0.4465, d1.loss_plan_l1_fix_time: 1.3640, d1.loss_plan_l1_fix_dist: 0.2330, d2.loss_plan_l1_fix_time: 1.3552, d2.loss_plan_l1_fix_dist: 0.2418, d3.loss_plan_l1_fix_time: 1.3585, d3.loss_plan_l1_fix_dist: 0.2529, d4.loss_plan_l1_fix_time: 1.3624, d4.loss_plan_l1_fix_dist: 0.2654, d5.loss_plan_l1_fix_time: 1.3666, d5.loss_plan_l1_fix_dist: 0.2822, d6.loss_plan_l1_fix_time: 1.3723, d6.loss_plan_l1_fix_dist: 0.2990, d0.loss_cls_all: 0.2800, d0.loss_bbox_all: 0.5188, d0.loss_cls: 0.2800, d0.loss_bbox: 0.5188, d1.loss_cls: 0.2703, d1.loss_bbox: 0.4860, d2.loss_cls: 0.2615, d2.loss_bbox: 0.4664, d3.loss_cls: 0.2572, d3.loss_bbox: 0.4584, d4.loss_cls: 0.2536, d4.loss_bbox: 0.4542, d5.loss_cls: 0.2543, d5.loss_bbox: 0.4529, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9074, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.7639, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7203, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7103, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7095, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7069, d0.loss_map_cls_all: 0.2880, d0.loss_map_pts_all: 2.0880, d0.loss_map_dir_all: 0.0159, d0.loss_map_cls: 0.2880, d0.loss_map_pts: 2.0880, d0.loss_map_dir: 0.0159, d1.loss_map_cls: 0.2640, d1.loss_map_pts: 1.4084, d1.loss_map_dir: 0.0150, d2.loss_map_cls: 0.2474, d2.loss_map_pts: 1.1857, d2.loss_map_dir: 0.0155, d3.loss_map_cls: 0.2366, d3.loss_map_pts: 1.1152, d3.loss_map_dir: 0.0164, d4.loss_map_cls: 0.2323, d4.loss_map_pts: 1.0894, d4.loss_map_dir: 0.0168, d5.loss_map_cls: 0.2311, d5.loss_map_pts: 1.0841, d5.loss_map_dir: 0.0169, loss: 37.5152, grad_norm: 154.7910 +2026-02-25 13:55:12,362 - DriveTransformer - INFO - Epoch [5][1400/39528] lr: 9.337e-05, eta: 7 days, 8:17:36, time: 0.823, data_time: 0.044, memory: 19865, loss_cls: 0.2584, loss_bbox: 0.4303, loss_traj: 0.8170, loss_traj_cls: 0.0012, loss_map_cls: 0.2345, loss_map_pts: 1.0055, loss_map_dir: 0.0153, d0.loss_plan_l1_fix_time: 2.6235, d0.loss_plan_l1_fix_dist: 0.3664, d1.loss_plan_l1_fix_time: 1.2939, d1.loss_plan_l1_fix_dist: 0.2011, d2.loss_plan_l1_fix_time: 1.2782, d2.loss_plan_l1_fix_dist: 0.2144, d3.loss_plan_l1_fix_time: 1.2773, d3.loss_plan_l1_fix_dist: 0.2283, d4.loss_plan_l1_fix_time: 1.2802, d4.loss_plan_l1_fix_dist: 0.2404, d5.loss_plan_l1_fix_time: 1.2843, d5.loss_plan_l1_fix_dist: 0.2541, d6.loss_plan_l1_fix_time: 1.2904, d6.loss_plan_l1_fix_dist: 0.2735, d0.loss_cls_all: 0.2812, d0.loss_bbox_all: 0.4863, d0.loss_cls: 0.2812, d0.loss_bbox: 0.4863, d1.loss_cls: 0.2768, d1.loss_bbox: 0.4565, d2.loss_cls: 0.2663, d2.loss_bbox: 0.4401, d3.loss_cls: 0.2620, d3.loss_bbox: 0.4309, d4.loss_cls: 0.2590, d4.loss_bbox: 0.4278, d5.loss_cls: 0.2587, d5.loss_bbox: 0.4282, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0135, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8577, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8224, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8134, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8112, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8141, d0.loss_map_cls_all: 0.3017, d0.loss_map_pts_all: 1.8774, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.3017, d0.loss_map_pts: 1.8774, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2656, d1.loss_map_pts: 1.3421, d1.loss_map_dir: 0.0129, d2.loss_map_cls: 0.2498, d2.loss_map_pts: 1.1389, d2.loss_map_dir: 0.0138, d3.loss_map_cls: 0.2421, d3.loss_map_pts: 1.0555, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2363, d4.loss_map_pts: 1.0214, d4.loss_map_dir: 0.0150, d5.loss_map_cls: 0.2341, d5.loss_map_pts: 1.0104, d5.loss_map_dir: 0.0151, loss: 36.2994, grad_norm: 154.8206 +2026-02-25 13:55:53,478 - DriveTransformer - INFO - Epoch [5][1450/39528] lr: 9.337e-05, eta: 7 days, 8:17:01, time: 0.822, data_time: 0.041, memory: 19865, loss_cls: 0.2548, loss_bbox: 0.4255, loss_traj: 0.7188, loss_traj_cls: 0.0012, loss_map_cls: 0.2258, loss_map_pts: 0.8900, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.4156, d0.loss_plan_l1_fix_dist: 0.4109, d1.loss_plan_l1_fix_time: 1.3004, d1.loss_plan_l1_fix_dist: 0.2240, d2.loss_plan_l1_fix_time: 1.2880, d2.loss_plan_l1_fix_dist: 0.2294, d3.loss_plan_l1_fix_time: 1.2887, d3.loss_plan_l1_fix_dist: 0.2440, d4.loss_plan_l1_fix_time: 1.2922, d4.loss_plan_l1_fix_dist: 0.2601, d5.loss_plan_l1_fix_time: 1.2960, d5.loss_plan_l1_fix_dist: 0.2767, d6.loss_plan_l1_fix_time: 1.3002, d6.loss_plan_l1_fix_dist: 0.2952, d0.loss_cls_all: 0.2800, d0.loss_bbox_all: 0.4866, d0.loss_cls: 0.2800, d0.loss_bbox: 0.4866, d1.loss_cls: 0.2757, d1.loss_bbox: 0.4540, d2.loss_cls: 0.2646, d2.loss_bbox: 0.4352, d3.loss_cls: 0.2583, d3.loss_bbox: 0.4273, d4.loss_cls: 0.2554, d4.loss_bbox: 0.4259, d5.loss_cls: 0.2563, d5.loss_bbox: 0.4243, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9422, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7822, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7412, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7317, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7235, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7206, d0.loss_map_cls_all: 0.2738, d0.loss_map_pts_all: 1.7962, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.2738, d0.loss_map_pts: 1.7962, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.2495, d1.loss_map_pts: 1.2017, d1.loss_map_dir: 0.0128, d2.loss_map_cls: 0.2409, d2.loss_map_pts: 0.9947, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2322, d3.loss_map_pts: 0.9231, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.2267, d4.loss_map_pts: 0.8970, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.2252, d5.loss_map_pts: 0.8915, d5.loss_map_dir: 0.0147, loss: 34.6286, grad_norm: 154.6479 +2026-02-25 13:56:34,548 - DriveTransformer - INFO - Epoch [5][1500/39528] lr: 9.337e-05, eta: 7 days, 8:16:25, time: 0.822, data_time: 0.041, memory: 19865, loss_cls: 0.2275, loss_bbox: 0.4132, loss_traj: 0.6626, loss_traj_cls: 0.0012, loss_map_cls: 0.2067, loss_map_pts: 0.9029, loss_map_dir: 0.0157, d0.loss_plan_l1_fix_time: 2.6367, d0.loss_plan_l1_fix_dist: 0.4826, d1.loss_plan_l1_fix_time: 1.2001, d1.loss_plan_l1_fix_dist: 0.2180, d2.loss_plan_l1_fix_time: 1.1776, d2.loss_plan_l1_fix_dist: 0.2208, d3.loss_plan_l1_fix_time: 1.1788, d3.loss_plan_l1_fix_dist: 0.2339, d4.loss_plan_l1_fix_time: 1.1829, d4.loss_plan_l1_fix_dist: 0.2509, d5.loss_plan_l1_fix_time: 1.1875, d5.loss_plan_l1_fix_dist: 0.2685, d6.loss_plan_l1_fix_time: 1.1932, d6.loss_plan_l1_fix_dist: 0.2856, d0.loss_cls_all: 0.2505, d0.loss_bbox_all: 0.4631, d0.loss_cls: 0.2505, d0.loss_bbox: 0.4631, d1.loss_cls: 0.2455, d1.loss_bbox: 0.4331, d2.loss_cls: 0.2354, d2.loss_bbox: 0.4192, d3.loss_cls: 0.2317, d3.loss_bbox: 0.4143, d4.loss_cls: 0.2273, d4.loss_bbox: 0.4114, d5.loss_cls: 0.2279, d5.loss_bbox: 0.4113, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7927, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7172, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6781, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6763, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6705, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6718, d0.loss_map_cls_all: 0.2669, d0.loss_map_pts_all: 1.7916, d0.loss_map_dir_all: 0.0140, d0.loss_map_cls: 0.2669, d0.loss_map_pts: 1.7916, d0.loss_map_dir: 0.0140, d1.loss_map_cls: 0.2391, d1.loss_map_pts: 1.2031, d1.loss_map_dir: 0.0136, d2.loss_map_cls: 0.2230, d2.loss_map_pts: 1.0047, d2.loss_map_dir: 0.0143, d3.loss_map_cls: 0.2141, d3.loss_map_pts: 0.9375, d3.loss_map_dir: 0.0151, d4.loss_map_cls: 0.2090, d4.loss_map_pts: 0.9134, d4.loss_map_dir: 0.0155, d5.loss_map_cls: 0.2066, d5.loss_map_pts: 0.9059, d5.loss_map_dir: 0.0157, loss: 33.3189, grad_norm: 153.7295 +2026-02-25 13:57:17,921 - DriveTransformer - INFO - Epoch [5][1550/39528] lr: 9.337e-05, eta: 7 days, 8:16:00, time: 0.867, data_time: 0.047, memory: 19865, loss_cls: 0.2613, loss_bbox: 0.4419, loss_traj: 0.7310, loss_traj_cls: 0.0012, loss_map_cls: 0.2470, loss_map_pts: 1.0632, loss_map_dir: 0.0170, d0.loss_plan_l1_fix_time: 2.6749, d0.loss_plan_l1_fix_dist: 0.4395, d1.loss_plan_l1_fix_time: 1.4508, d1.loss_plan_l1_fix_dist: 0.2471, d2.loss_plan_l1_fix_time: 1.4282, d2.loss_plan_l1_fix_dist: 0.2498, d3.loss_plan_l1_fix_time: 1.4250, d3.loss_plan_l1_fix_dist: 0.2606, d4.loss_plan_l1_fix_time: 1.4291, d4.loss_plan_l1_fix_dist: 0.2724, d5.loss_plan_l1_fix_time: 1.4345, d5.loss_plan_l1_fix_dist: 0.2888, d6.loss_plan_l1_fix_time: 1.4411, d6.loss_plan_l1_fix_dist: 0.3082, d0.loss_cls_all: 0.2787, d0.loss_bbox_all: 0.4993, d0.loss_cls: 0.2787, d0.loss_bbox: 0.4993, d1.loss_cls: 0.2800, d1.loss_bbox: 0.4610, d2.loss_cls: 0.2673, d2.loss_bbox: 0.4466, d3.loss_cls: 0.2621, d3.loss_bbox: 0.4404, d4.loss_cls: 0.2579, d4.loss_bbox: 0.4388, d5.loss_cls: 0.2593, d5.loss_bbox: 0.4404, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9502, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8020, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7460, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7397, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7362, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7326, d0.loss_map_cls_all: 0.3060, d0.loss_map_pts_all: 2.0373, d0.loss_map_dir_all: 0.0150, d0.loss_map_cls: 0.3060, d0.loss_map_pts: 2.0373, d0.loss_map_dir: 0.0150, d1.loss_map_cls: 0.2783, d1.loss_map_pts: 1.3966, d1.loss_map_dir: 0.0145, d2.loss_map_cls: 0.2643, d2.loss_map_pts: 1.1741, d2.loss_map_dir: 0.0153, d3.loss_map_cls: 0.2550, d3.loss_map_pts: 1.1014, d3.loss_map_dir: 0.0160, d4.loss_map_cls: 0.2493, d4.loss_map_pts: 1.0730, d4.loss_map_dir: 0.0166, d5.loss_map_cls: 0.2475, d5.loss_map_pts: 1.0651, d5.loss_map_dir: 0.0169, loss: 37.8347, grad_norm: 153.1761 +2026-02-25 13:58:00,710 - DriveTransformer - INFO - Epoch [5][1600/39528] lr: 9.337e-05, eta: 7 days, 8:15:33, time: 0.857, data_time: 0.039, memory: 19865, loss_cls: 0.2238, loss_bbox: 0.4100, loss_traj: 0.6283, loss_traj_cls: 0.0012, loss_map_cls: 0.1794, loss_map_pts: 0.8228, loss_map_dir: 0.0159, d0.loss_plan_l1_fix_time: 2.4345, d0.loss_plan_l1_fix_dist: 0.5303, d1.loss_plan_l1_fix_time: 1.3140, d1.loss_plan_l1_fix_dist: 0.2471, d2.loss_plan_l1_fix_time: 1.2988, d2.loss_plan_l1_fix_dist: 0.2523, d3.loss_plan_l1_fix_time: 1.3022, d3.loss_plan_l1_fix_dist: 0.2648, d4.loss_plan_l1_fix_time: 1.3095, d4.loss_plan_l1_fix_dist: 0.2791, d5.loss_plan_l1_fix_time: 1.3175, d5.loss_plan_l1_fix_dist: 0.2952, d6.loss_plan_l1_fix_time: 1.3256, d6.loss_plan_l1_fix_dist: 0.3126, d0.loss_cls_all: 0.2458, d0.loss_bbox_all: 0.4639, d0.loss_cls: 0.2458, d0.loss_bbox: 0.4639, d1.loss_cls: 0.2407, d1.loss_bbox: 0.4335, d2.loss_cls: 0.2313, d2.loss_bbox: 0.4190, d3.loss_cls: 0.2272, d3.loss_bbox: 0.4118, d4.loss_cls: 0.2221, d4.loss_bbox: 0.4101, d5.loss_cls: 0.2230, d5.loss_bbox: 0.4095, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7681, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.6694, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6357, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6257, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6264, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6272, d0.loss_map_cls_all: 0.2372, d0.loss_map_pts_all: 1.7937, d0.loss_map_dir_all: 0.0150, d0.loss_map_cls: 0.2372, d0.loss_map_pts: 1.7937, d0.loss_map_dir: 0.0150, d1.loss_map_cls: 0.2110, d1.loss_map_pts: 1.1062, d1.loss_map_dir: 0.0139, d2.loss_map_cls: 0.1955, d2.loss_map_pts: 0.9119, d2.loss_map_dir: 0.0145, d3.loss_map_cls: 0.1871, d3.loss_map_pts: 0.8541, d3.loss_map_dir: 0.0151, d4.loss_map_cls: 0.1820, d4.loss_map_pts: 0.8331, d4.loss_map_dir: 0.0157, d5.loss_map_cls: 0.1800, d5.loss_map_pts: 0.8263, d5.loss_map_dir: 0.0158, loss: 33.0237, grad_norm: 153.6788 +2026-02-25 13:58:39,693 - DriveTransformer - INFO - Epoch [5][1650/39528] lr: 9.337e-05, eta: 7 days, 8:14:46, time: 0.778, data_time: 0.042, memory: 19865, loss_cls: 0.2492, loss_bbox: 0.4546, loss_traj: 0.9354, loss_traj_cls: 0.0012, loss_map_cls: 0.1943, loss_map_pts: 0.8074, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.6806, d0.loss_plan_l1_fix_dist: 0.3589, d1.loss_plan_l1_fix_time: 1.4950, d1.loss_plan_l1_fix_dist: 0.2358, d2.loss_plan_l1_fix_time: 1.4851, d2.loss_plan_l1_fix_dist: 0.2451, d3.loss_plan_l1_fix_time: 1.4864, d3.loss_plan_l1_fix_dist: 0.2581, d4.loss_plan_l1_fix_time: 1.4902, d4.loss_plan_l1_fix_dist: 0.2723, d5.loss_plan_l1_fix_time: 1.4944, d5.loss_plan_l1_fix_dist: 0.2882, d6.loss_plan_l1_fix_time: 1.4997, d6.loss_plan_l1_fix_dist: 0.3034, d0.loss_cls_all: 0.2770, d0.loss_bbox_all: 0.5034, d0.loss_cls: 0.2770, d0.loss_bbox: 0.5034, d1.loss_cls: 0.2734, d1.loss_bbox: 0.4747, d2.loss_cls: 0.2615, d2.loss_bbox: 0.4610, d3.loss_cls: 0.2547, d3.loss_bbox: 0.4560, d4.loss_cls: 0.2479, d4.loss_bbox: 0.4543, d5.loss_cls: 0.2473, d5.loss_bbox: 0.4553, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1404, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9682, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9392, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9429, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9412, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9345, d0.loss_map_cls_all: 0.2691, d0.loss_map_pts_all: 1.6094, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.2691, d0.loss_map_pts: 1.6094, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2335, d1.loss_map_pts: 1.0589, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2120, d2.loss_map_pts: 0.8890, d2.loss_map_dir: 0.0122, d3.loss_map_cls: 0.2023, d3.loss_map_pts: 0.8301, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.1974, d4.loss_map_pts: 0.8135, d4.loss_map_dir: 0.0132, d5.loss_map_cls: 0.1940, d5.loss_map_pts: 0.8082, d5.loss_map_dir: 0.0133, loss: 36.5506, grad_norm: 152.8651 +2026-02-25 13:59:19,439 - DriveTransformer - INFO - Epoch [5][1700/39528] lr: 9.337e-05, eta: 7 days, 8:14:04, time: 0.795, data_time: 0.047, memory: 19865, loss_cls: 0.2426, loss_bbox: 0.4625, loss_traj: 1.0060, loss_traj_cls: 0.0012, loss_map_cls: 0.2467, loss_map_pts: 1.0371, loss_map_dir: 0.0130, d0.loss_plan_l1_fix_time: 2.6131, d0.loss_plan_l1_fix_dist: 0.4318, d1.loss_plan_l1_fix_time: 1.3742, d1.loss_plan_l1_fix_dist: 0.2438, d2.loss_plan_l1_fix_time: 1.3575, d2.loss_plan_l1_fix_dist: 0.2520, d3.loss_plan_l1_fix_time: 1.3590, d3.loss_plan_l1_fix_dist: 0.2653, d4.loss_plan_l1_fix_time: 1.3624, d4.loss_plan_l1_fix_dist: 0.2805, d5.loss_plan_l1_fix_time: 1.3662, d5.loss_plan_l1_fix_dist: 0.2987, d6.loss_plan_l1_fix_time: 1.3709, d6.loss_plan_l1_fix_dist: 0.3232, d0.loss_cls_all: 0.2728, d0.loss_bbox_all: 0.5144, d0.loss_cls: 0.2728, d0.loss_bbox: 0.5144, d1.loss_cls: 0.2637, d1.loss_bbox: 0.4829, d2.loss_cls: 0.2567, d2.loss_bbox: 0.4655, d3.loss_cls: 0.2476, d3.loss_bbox: 0.4613, d4.loss_cls: 0.2431, d4.loss_bbox: 0.4597, d5.loss_cls: 0.2435, d5.loss_bbox: 0.4594, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2494, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.0720, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0249, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0221, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0171, d5.loss_traj_cls: 0.0011, d5.loss_traj: 1.0091, d0.loss_map_cls_all: 0.3133, d0.loss_map_pts_all: 1.8863, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.3133, d0.loss_map_pts: 1.8863, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2825, d1.loss_map_pts: 1.3420, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2623, d2.loss_map_pts: 1.1567, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.2528, d3.loss_map_pts: 1.0830, d3.loss_map_dir: 0.0124, d4.loss_map_cls: 0.2492, d4.loss_map_pts: 1.0525, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.2473, d5.loss_map_pts: 1.0427, d5.loss_map_dir: 0.0129, loss: 38.9192, grad_norm: 154.3842 +2026-02-25 14:00:02,441 - DriveTransformer - INFO - Epoch [5][1750/39528] lr: 9.337e-05, eta: 7 days, 8:13:37, time: 0.860, data_time: 0.047, memory: 19865, loss_cls: 0.2285, loss_bbox: 0.4123, loss_traj: 0.8622, loss_traj_cls: 0.0011, loss_map_cls: 0.2101, loss_map_pts: 0.9360, loss_map_dir: 0.0143, d0.loss_plan_l1_fix_time: 2.3413, d0.loss_plan_l1_fix_dist: 0.4010, d1.loss_plan_l1_fix_time: 1.2528, d1.loss_plan_l1_fix_dist: 0.2007, d2.loss_plan_l1_fix_time: 1.2409, d2.loss_plan_l1_fix_dist: 0.2055, d3.loss_plan_l1_fix_time: 1.2404, d3.loss_plan_l1_fix_dist: 0.2150, d4.loss_plan_l1_fix_time: 1.2448, d4.loss_plan_l1_fix_dist: 0.2295, d5.loss_plan_l1_fix_time: 1.2498, d5.loss_plan_l1_fix_dist: 0.2447, d6.loss_plan_l1_fix_time: 1.2550, d6.loss_plan_l1_fix_dist: 0.2609, d0.loss_cls_all: 0.2552, d0.loss_bbox_all: 0.4661, d0.loss_cls: 0.2552, d0.loss_bbox: 0.4661, d1.loss_cls: 0.2406, d1.loss_bbox: 0.4332, d2.loss_cls: 0.2352, d2.loss_bbox: 0.4161, d3.loss_cls: 0.2305, d3.loss_bbox: 0.4120, d4.loss_cls: 0.2282, d4.loss_bbox: 0.4095, d5.loss_cls: 0.2287, d5.loss_bbox: 0.4100, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0342, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8964, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8658, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8650, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8593, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8600, d0.loss_map_cls_all: 0.2621, d0.loss_map_pts_all: 1.8927, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2621, d0.loss_map_pts: 1.8927, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2354, d1.loss_map_pts: 1.2448, d1.loss_map_dir: 0.0121, d2.loss_map_cls: 0.2198, d2.loss_map_pts: 1.0503, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2151, d3.loss_map_pts: 0.9797, d3.loss_map_dir: 0.0136, d4.loss_map_cls: 0.2117, d4.loss_map_pts: 0.9508, d4.loss_map_dir: 0.0141, d5.loss_map_cls: 0.2103, d5.loss_map_pts: 0.9396, d5.loss_map_dir: 0.0142, loss: 34.9788, grad_norm: 153.0068 +2026-02-25 14:00:42,967 - DriveTransformer - INFO - Epoch [5][1800/39528] lr: 9.337e-05, eta: 7 days, 8:12:59, time: 0.811, data_time: 0.043, memory: 19865, loss_cls: 0.2545, loss_bbox: 0.4491, loss_traj: 0.9199, loss_traj_cls: 0.0012, loss_map_cls: 0.2127, loss_map_pts: 0.9367, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.8404, d0.loss_plan_l1_fix_dist: 0.4873, d1.loss_plan_l1_fix_time: 1.4958, d1.loss_plan_l1_fix_dist: 0.2597, d2.loss_plan_l1_fix_time: 1.4779, d2.loss_plan_l1_fix_dist: 0.2665, d3.loss_plan_l1_fix_time: 1.4834, d3.loss_plan_l1_fix_dist: 0.2790, d4.loss_plan_l1_fix_time: 1.4879, d4.loss_plan_l1_fix_dist: 0.2951, d5.loss_plan_l1_fix_time: 1.4929, d5.loss_plan_l1_fix_dist: 0.3117, d6.loss_plan_l1_fix_time: 1.4975, d6.loss_plan_l1_fix_dist: 0.3274, d0.loss_cls_all: 0.2833, d0.loss_bbox_all: 0.5031, d0.loss_cls: 0.2833, d0.loss_bbox: 0.5031, d1.loss_cls: 0.2714, d1.loss_bbox: 0.4703, d2.loss_cls: 0.2639, d2.loss_bbox: 0.4545, d3.loss_cls: 0.2548, d3.loss_bbox: 0.4502, d4.loss_cls: 0.2528, d4.loss_bbox: 0.4474, d5.loss_cls: 0.2539, d5.loss_bbox: 0.4475, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1676, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9656, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9190, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9153, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9187, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9179, d0.loss_map_cls_all: 0.2677, d0.loss_map_pts_all: 1.7938, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2677, d0.loss_map_pts: 1.7938, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2445, d1.loss_map_pts: 1.2280, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2303, d2.loss_map_pts: 1.0460, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2207, d3.loss_map_pts: 0.9751, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2134, d4.loss_map_pts: 0.9473, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.2138, d5.loss_map_pts: 0.9400, d5.loss_map_dir: 0.0126, loss: 38.2046, grad_norm: 154.7479 +2026-02-25 14:01:23,656 - DriveTransformer - INFO - Epoch [5][1850/39528] lr: 9.337e-05, eta: 7 days, 8:12:21, time: 0.814, data_time: 0.046, memory: 19865, loss_cls: 0.2693, loss_bbox: 0.4385, loss_traj: 0.7587, loss_traj_cls: 0.0012, loss_map_cls: 0.2244, loss_map_pts: 0.9785, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.7451, d0.loss_plan_l1_fix_dist: 0.4320, d1.loss_plan_l1_fix_time: 1.3685, d1.loss_plan_l1_fix_dist: 0.2152, d2.loss_plan_l1_fix_time: 1.3458, d2.loss_plan_l1_fix_dist: 0.2240, d3.loss_plan_l1_fix_time: 1.3420, d3.loss_plan_l1_fix_dist: 0.2401, d4.loss_plan_l1_fix_time: 1.3447, d4.loss_plan_l1_fix_dist: 0.2573, d5.loss_plan_l1_fix_time: 1.3488, d5.loss_plan_l1_fix_dist: 0.2738, d6.loss_plan_l1_fix_time: 1.3537, d6.loss_plan_l1_fix_dist: 0.2906, d0.loss_cls_all: 0.2948, d0.loss_bbox_all: 0.4981, d0.loss_cls: 0.2948, d0.loss_bbox: 0.4981, d1.loss_cls: 0.2868, d1.loss_bbox: 0.4615, d2.loss_cls: 0.2741, d2.loss_bbox: 0.4448, d3.loss_cls: 0.2696, d3.loss_bbox: 0.4379, d4.loss_cls: 0.2669, d4.loss_bbox: 0.4377, d5.loss_cls: 0.2691, d5.loss_bbox: 0.4380, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9603, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8303, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7708, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7509, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7473, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7518, d0.loss_map_cls_all: 0.2850, d0.loss_map_pts_all: 1.8427, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.2850, d0.loss_map_pts: 1.8427, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2572, d1.loss_map_pts: 1.2502, d1.loss_map_dir: 0.0122, d2.loss_map_cls: 0.2424, d2.loss_map_pts: 1.0760, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2328, d3.loss_map_pts: 1.0129, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.2291, d4.loss_map_pts: 0.9871, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.2248, d5.loss_map_pts: 0.9802, d5.loss_map_dir: 0.0133, loss: 36.2928, grad_norm: 149.7742 +2026-02-25 14:02:05,351 - DriveTransformer - INFO - Epoch [5][1900/39528] lr: 9.337e-05, eta: 7 days, 8:11:48, time: 0.834, data_time: 0.043, memory: 19865, loss_cls: 0.2317, loss_bbox: 0.4488, loss_traj: 0.8397, loss_traj_cls: 0.0011, loss_map_cls: 0.2458, loss_map_pts: 1.0250, loss_map_dir: 0.0154, d0.loss_plan_l1_fix_time: 2.5881, d0.loss_plan_l1_fix_dist: 0.3465, d1.loss_plan_l1_fix_time: 1.2658, d1.loss_plan_l1_fix_dist: 0.2170, d2.loss_plan_l1_fix_time: 1.2588, d2.loss_plan_l1_fix_dist: 0.2317, d3.loss_plan_l1_fix_time: 1.2581, d3.loss_plan_l1_fix_dist: 0.2542, d4.loss_plan_l1_fix_time: 1.2611, d4.loss_plan_l1_fix_dist: 0.2779, d5.loss_plan_l1_fix_time: 1.2648, d5.loss_plan_l1_fix_dist: 0.3042, d6.loss_plan_l1_fix_time: 1.2698, d6.loss_plan_l1_fix_dist: 0.3285, d0.loss_cls_all: 0.2650, d0.loss_bbox_all: 0.5060, d0.loss_cls: 0.2650, d0.loss_bbox: 0.5060, d1.loss_cls: 0.2598, d1.loss_bbox: 0.4717, d2.loss_cls: 0.2464, d2.loss_bbox: 0.4532, d3.loss_cls: 0.2382, d3.loss_bbox: 0.4487, d4.loss_cls: 0.2344, d4.loss_bbox: 0.4453, d5.loss_cls: 0.2316, d5.loss_bbox: 0.4470, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0179, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8555, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8122, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8114, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8175, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8371, d0.loss_map_cls_all: 0.2978, d0.loss_map_pts_all: 2.0047, d0.loss_map_dir_all: 0.0140, d0.loss_map_cls: 0.2978, d0.loss_map_pts: 2.0047, d0.loss_map_dir: 0.0140, d1.loss_map_cls: 0.2667, d1.loss_map_pts: 1.3539, d1.loss_map_dir: 0.0137, d2.loss_map_cls: 0.2583, d2.loss_map_pts: 1.1374, d2.loss_map_dir: 0.0142, d3.loss_map_cls: 0.2518, d3.loss_map_pts: 1.0603, d3.loss_map_dir: 0.0148, d4.loss_map_cls: 0.2457, d4.loss_map_pts: 1.0351, d4.loss_map_dir: 0.0152, d5.loss_map_cls: 0.2442, d5.loss_map_pts: 1.0273, d5.loss_map_dir: 0.0153, loss: 36.6956, grad_norm: 149.5405 +2026-02-25 14:02:46,082 - DriveTransformer - INFO - Epoch [5][1950/39528] lr: 9.337e-05, eta: 7 days, 8:11:10, time: 0.815, data_time: 0.045, memory: 19865, loss_cls: 0.2174, loss_bbox: 0.4087, loss_traj: 0.6583, loss_traj_cls: 0.0012, loss_map_cls: 0.2013, loss_map_pts: 0.9474, loss_map_dir: 0.0130, d0.loss_plan_l1_fix_time: 2.9191, d0.loss_plan_l1_fix_dist: 0.5338, d1.loss_plan_l1_fix_time: 1.1852, d1.loss_plan_l1_fix_dist: 0.2526, d2.loss_plan_l1_fix_time: 1.1696, d2.loss_plan_l1_fix_dist: 0.2613, d3.loss_plan_l1_fix_time: 1.1724, d3.loss_plan_l1_fix_dist: 0.2755, d4.loss_plan_l1_fix_time: 1.1767, d4.loss_plan_l1_fix_dist: 0.2938, d5.loss_plan_l1_fix_time: 1.1821, d5.loss_plan_l1_fix_dist: 0.3143, d6.loss_plan_l1_fix_time: 1.1887, d6.loss_plan_l1_fix_dist: 0.3372, d0.loss_cls_all: 0.2377, d0.loss_bbox_all: 0.4747, d0.loss_cls: 0.2377, d0.loss_bbox: 0.4747, d1.loss_cls: 0.2281, d1.loss_bbox: 0.4378, d2.loss_cls: 0.2182, d2.loss_bbox: 0.4173, d3.loss_cls: 0.2155, d3.loss_bbox: 0.4093, d4.loss_cls: 0.2123, d4.loss_bbox: 0.4080, d5.loss_cls: 0.2140, d5.loss_bbox: 0.4081, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8692, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7078, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6642, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6608, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6553, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6588, d0.loss_map_cls_all: 0.2546, d0.loss_map_pts_all: 1.8172, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.2546, d0.loss_map_pts: 1.8172, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.2297, d1.loss_map_pts: 1.2424, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2187, d2.loss_map_pts: 1.0465, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.2102, d3.loss_map_pts: 0.9817, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2050, d4.loss_map_pts: 0.9587, d4.loss_map_dir: 0.0126, d5.loss_map_cls: 0.2017, d5.loss_map_pts: 0.9484, d5.loss_map_dir: 0.0128, loss: 33.9957, grad_norm: 150.2483 +2026-02-25 14:03:26,346 - DriveTransformer - INFO - Epoch [5][2000/39528] lr: 9.337e-05, eta: 7 days, 8:10:30, time: 0.805, data_time: 0.048, memory: 19865, loss_cls: 0.2230, loss_bbox: 0.4364, loss_traj: 0.8092, loss_traj_cls: 0.0012, loss_map_cls: 0.1509, loss_map_pts: 0.7505, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.4333, d0.loss_plan_l1_fix_dist: 0.4635, d1.loss_plan_l1_fix_time: 1.3104, d1.loss_plan_l1_fix_dist: 0.2251, d2.loss_plan_l1_fix_time: 1.2982, d2.loss_plan_l1_fix_dist: 0.2359, d3.loss_plan_l1_fix_time: 1.2999, d3.loss_plan_l1_fix_dist: 0.2518, d4.loss_plan_l1_fix_time: 1.3030, d4.loss_plan_l1_fix_dist: 0.2687, d5.loss_plan_l1_fix_time: 1.3064, d5.loss_plan_l1_fix_dist: 0.2884, d6.loss_plan_l1_fix_time: 1.3098, d6.loss_plan_l1_fix_dist: 0.3116, d0.loss_cls_all: 0.2527, d0.loss_bbox_all: 0.4780, d0.loss_cls: 0.2527, d0.loss_bbox: 0.4780, d1.loss_cls: 0.2439, d1.loss_bbox: 0.4520, d2.loss_cls: 0.2345, d2.loss_bbox: 0.4380, d3.loss_cls: 0.2290, d3.loss_bbox: 0.4322, d4.loss_cls: 0.2250, d4.loss_bbox: 0.4312, d5.loss_cls: 0.2239, d5.loss_bbox: 0.4324, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0338, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8621, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8219, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8123, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8077, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8059, d0.loss_map_cls_all: 0.2120, d0.loss_map_pts_all: 1.4175, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2120, d0.loss_map_pts: 1.4175, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1824, d1.loss_map_pts: 0.9818, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1716, d2.loss_map_pts: 0.8400, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1611, d3.loss_map_pts: 0.7864, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1541, d4.loss_map_pts: 0.7658, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1514, d5.loss_map_pts: 0.7533, d5.loss_map_dir: 0.0096, loss: 32.9102, grad_norm: 148.0896 +2026-02-25 14:04:07,850 - DriveTransformer - INFO - Epoch [5][2050/39528] lr: 9.337e-05, eta: 7 days, 8:09:56, time: 0.830, data_time: 0.043, memory: 19865, loss_cls: 0.2880, loss_bbox: 0.4758, loss_traj: 0.7541, loss_traj_cls: 0.0012, loss_map_cls: 0.2422, loss_map_pts: 0.9931, loss_map_dir: 0.0156, d0.loss_plan_l1_fix_time: 2.6102, d0.loss_plan_l1_fix_dist: 0.4063, d1.loss_plan_l1_fix_time: 1.5176, d1.loss_plan_l1_fix_dist: 0.2277, d2.loss_plan_l1_fix_time: 1.5033, d2.loss_plan_l1_fix_dist: 0.2401, d3.loss_plan_l1_fix_time: 1.5081, d3.loss_plan_l1_fix_dist: 0.2553, d4.loss_plan_l1_fix_time: 1.5121, d4.loss_plan_l1_fix_dist: 0.2720, d5.loss_plan_l1_fix_time: 1.5162, d5.loss_plan_l1_fix_dist: 0.2904, d6.loss_plan_l1_fix_time: 1.5205, d6.loss_plan_l1_fix_dist: 0.3101, d0.loss_cls_all: 0.3175, d0.loss_bbox_all: 0.5332, d0.loss_cls: 0.3175, d0.loss_bbox: 0.5332, d1.loss_cls: 0.3089, d1.loss_bbox: 0.5028, d2.loss_cls: 0.3004, d2.loss_bbox: 0.4842, d3.loss_cls: 0.2924, d3.loss_bbox: 0.4773, d4.loss_cls: 0.2918, d4.loss_bbox: 0.4742, d5.loss_cls: 0.2880, d5.loss_bbox: 0.4747, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9601, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7888, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7510, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7524, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7461, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7524, d0.loss_map_cls_all: 0.2993, d0.loss_map_pts_all: 1.8948, d0.loss_map_dir_all: 0.0143, d0.loss_map_cls: 0.2993, d0.loss_map_pts: 1.8948, d0.loss_map_dir: 0.0143, d1.loss_map_cls: 0.2667, d1.loss_map_pts: 1.2887, d1.loss_map_dir: 0.0140, d2.loss_map_cls: 0.2582, d2.loss_map_pts: 1.0914, d2.loss_map_dir: 0.0145, d3.loss_map_cls: 0.2514, d3.loss_map_pts: 1.0246, d3.loss_map_dir: 0.0151, d4.loss_map_cls: 0.2449, d4.loss_map_pts: 1.0003, d4.loss_map_dir: 0.0154, d5.loss_map_cls: 0.2426, d5.loss_map_pts: 0.9939, d5.loss_map_dir: 0.0155, loss: 37.9658, grad_norm: 148.2007 +2026-02-25 14:04:47,417 - DriveTransformer - INFO - Epoch [5][2100/39528] lr: 9.337e-05, eta: 7 days, 8:09:13, time: 0.791, data_time: 0.049, memory: 19865, loss_cls: 0.2464, loss_bbox: 0.4507, loss_traj: 1.0735, loss_traj_cls: 0.0011, loss_map_cls: 0.2335, loss_map_pts: 0.8547, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 3.0568, d0.loss_plan_l1_fix_dist: 0.3942, d1.loss_plan_l1_fix_time: 1.5381, d1.loss_plan_l1_fix_dist: 0.2375, d2.loss_plan_l1_fix_time: 1.5277, d2.loss_plan_l1_fix_dist: 0.2432, d3.loss_plan_l1_fix_time: 1.5335, d3.loss_plan_l1_fix_dist: 0.2531, d4.loss_plan_l1_fix_time: 1.5381, d4.loss_plan_l1_fix_dist: 0.2652, d5.loss_plan_l1_fix_time: 1.5426, d5.loss_plan_l1_fix_dist: 0.2778, d6.loss_plan_l1_fix_time: 1.5474, d6.loss_plan_l1_fix_dist: 0.2897, d0.loss_cls_all: 0.2814, d0.loss_bbox_all: 0.4913, d0.loss_cls: 0.2814, d0.loss_bbox: 0.4913, d1.loss_cls: 0.2663, d1.loss_bbox: 0.4637, d2.loss_cls: 0.2582, d2.loss_bbox: 0.4484, d3.loss_cls: 0.2529, d3.loss_bbox: 0.4472, d4.loss_cls: 0.2482, d4.loss_bbox: 0.4482, d5.loss_cls: 0.2475, d5.loss_bbox: 0.4475, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3618, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0998, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0591, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0513, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0571, d5.loss_traj_cls: 0.0011, d5.loss_traj: 1.0603, d0.loss_map_cls_all: 0.2874, d0.loss_map_pts_all: 1.5652, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2874, d0.loss_map_pts: 1.5652, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2597, d1.loss_map_pts: 1.1122, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.2516, d2.loss_map_pts: 0.9587, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.2434, d3.loss_map_pts: 0.8913, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.2364, d4.loss_map_pts: 0.8677, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.2344, d5.loss_map_pts: 0.8578, d5.loss_map_dir: 0.0108, loss: 38.5728, grad_norm: 147.9339 +2026-02-25 14:05:27,417 - DriveTransformer - INFO - Epoch [5][2150/39528] lr: 9.337e-05, eta: 7 days, 8:08:32, time: 0.800, data_time: 0.041, memory: 19865, loss_cls: 0.2384, loss_bbox: 0.4052, loss_traj: 0.7788, loss_traj_cls: 0.0011, loss_map_cls: 0.1992, loss_map_pts: 0.8914, loss_map_dir: 0.0133, d0.loss_plan_l1_fix_time: 2.2391, d0.loss_plan_l1_fix_dist: 0.4021, d1.loss_plan_l1_fix_time: 1.0821, d1.loss_plan_l1_fix_dist: 0.2144, d2.loss_plan_l1_fix_time: 1.0630, d2.loss_plan_l1_fix_dist: 0.2182, d3.loss_plan_l1_fix_time: 1.0616, d3.loss_plan_l1_fix_dist: 0.2286, d4.loss_plan_l1_fix_time: 1.0650, d4.loss_plan_l1_fix_dist: 0.2418, d5.loss_plan_l1_fix_time: 1.0700, d5.loss_plan_l1_fix_dist: 0.2577, d6.loss_plan_l1_fix_time: 1.0763, d6.loss_plan_l1_fix_dist: 0.2760, d0.loss_cls_all: 0.2629, d0.loss_bbox_all: 0.4603, d0.loss_cls: 0.2629, d0.loss_bbox: 0.4603, d1.loss_cls: 0.2564, d1.loss_bbox: 0.4268, d2.loss_cls: 0.2477, d2.loss_bbox: 0.4126, d3.loss_cls: 0.2415, d3.loss_bbox: 0.4069, d4.loss_cls: 0.2371, d4.loss_bbox: 0.4060, d5.loss_cls: 0.2372, d5.loss_bbox: 0.4053, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9744, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8200, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7842, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7833, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7798, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7788, d0.loss_map_cls_all: 0.2609, d0.loss_map_pts_all: 1.7222, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.2609, d0.loss_map_pts: 1.7222, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2288, d1.loss_map_pts: 1.1665, d1.loss_map_dir: 0.0121, d2.loss_map_cls: 0.2179, d2.loss_map_pts: 0.9915, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2095, d3.loss_map_pts: 0.9246, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.2047, d4.loss_map_pts: 0.9001, d4.loss_map_dir: 0.0131, d5.loss_map_cls: 0.2010, d5.loss_map_pts: 0.8948, d5.loss_map_dir: 0.0133, loss: 32.6676, grad_norm: 147.5252 +2026-02-25 14:06:08,071 - DriveTransformer - INFO - Epoch [5][2200/39528] lr: 9.337e-05, eta: 7 days, 8:07:54, time: 0.813, data_time: 0.046, memory: 19865, loss_cls: 0.2470, loss_bbox: 0.4485, loss_traj: 0.9022, loss_traj_cls: 0.0011, loss_map_cls: 0.2234, loss_map_pts: 0.9741, loss_map_dir: 0.0151, d0.loss_plan_l1_fix_time: 2.7902, d0.loss_plan_l1_fix_dist: 0.4019, d1.loss_plan_l1_fix_time: 1.3747, d1.loss_plan_l1_fix_dist: 0.2259, d2.loss_plan_l1_fix_time: 1.3577, d2.loss_plan_l1_fix_dist: 0.2315, d3.loss_plan_l1_fix_time: 1.3599, d3.loss_plan_l1_fix_dist: 0.2401, d4.loss_plan_l1_fix_time: 1.3633, d4.loss_plan_l1_fix_dist: 0.2523, d5.loss_plan_l1_fix_time: 1.3677, d5.loss_plan_l1_fix_dist: 0.2668, d6.loss_plan_l1_fix_time: 1.3734, d6.loss_plan_l1_fix_dist: 0.2832, d0.loss_cls_all: 0.2684, d0.loss_bbox_all: 0.5056, d0.loss_cls: 0.2684, d0.loss_bbox: 0.5056, d1.loss_cls: 0.2631, d1.loss_bbox: 0.4751, d2.loss_cls: 0.2555, d2.loss_bbox: 0.4564, d3.loss_cls: 0.2501, d3.loss_bbox: 0.4498, d4.loss_cls: 0.2479, d4.loss_bbox: 0.4469, d5.loss_cls: 0.2455, d5.loss_bbox: 0.4469, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1143, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9685, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9131, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8963, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8961, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8976, d0.loss_map_cls_all: 0.2863, d0.loss_map_pts_all: 1.8783, d0.loss_map_dir_all: 0.0139, d0.loss_map_cls: 0.2863, d0.loss_map_pts: 1.8783, d0.loss_map_dir: 0.0139, d1.loss_map_cls: 0.2606, d1.loss_map_pts: 1.2476, d1.loss_map_dir: 0.0135, d2.loss_map_cls: 0.2431, d2.loss_map_pts: 1.0632, d2.loss_map_dir: 0.0140, d3.loss_map_cls: 0.2311, d3.loss_map_pts: 1.0018, d3.loss_map_dir: 0.0145, d4.loss_map_cls: 0.2260, d4.loss_map_pts: 0.9829, d4.loss_map_dir: 0.0149, d5.loss_map_cls: 0.2237, d5.loss_map_pts: 0.9767, d5.loss_map_dir: 0.0150, loss: 37.3618, grad_norm: 147.7785 +2026-02-25 14:06:46,592 - DriveTransformer - INFO - Epoch [5][2250/39528] lr: 9.337e-05, eta: 7 days, 8:07:05, time: 0.770, data_time: 0.040, memory: 19865, loss_cls: 0.2349, loss_bbox: 0.4259, loss_traj: 0.7485, loss_traj_cls: 0.0011, loss_map_cls: 0.2109, loss_map_pts: 0.8816, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 2.7191, d0.loss_plan_l1_fix_dist: 0.5151, d1.loss_plan_l1_fix_time: 1.4300, d1.loss_plan_l1_fix_dist: 0.2178, d2.loss_plan_l1_fix_time: 1.4096, d2.loss_plan_l1_fix_dist: 0.2211, d3.loss_plan_l1_fix_time: 1.4098, d3.loss_plan_l1_fix_dist: 0.2302, d4.loss_plan_l1_fix_time: 1.4121, d4.loss_plan_l1_fix_dist: 0.2419, d5.loss_plan_l1_fix_time: 1.4162, d5.loss_plan_l1_fix_dist: 0.2564, d6.loss_plan_l1_fix_time: 1.4219, d6.loss_plan_l1_fix_dist: 0.2727, d0.loss_cls_all: 0.2693, d0.loss_bbox_all: 0.4673, d0.loss_cls: 0.2693, d0.loss_bbox: 0.4673, d1.loss_cls: 0.2550, d1.loss_bbox: 0.4412, d2.loss_cls: 0.2464, d2.loss_bbox: 0.4276, d3.loss_cls: 0.2394, d3.loss_bbox: 0.4237, d4.loss_cls: 0.2347, d4.loss_bbox: 0.4224, d5.loss_cls: 0.2357, d5.loss_bbox: 0.4213, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9646, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8264, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7668, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7504, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7539, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7495, d0.loss_map_cls_all: 0.2644, d0.loss_map_pts_all: 1.5223, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2644, d0.loss_map_pts: 1.5223, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2404, d1.loss_map_pts: 1.0985, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2239, d2.loss_map_pts: 0.9642, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.2149, d3.loss_map_pts: 0.9111, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.2103, d4.loss_map_pts: 0.8900, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.2106, d5.loss_map_pts: 0.8832, d5.loss_map_dir: 0.0124, loss: 34.8305, grad_norm: 149.3079 +2026-02-25 14:07:27,206 - DriveTransformer - INFO - Epoch [5][2300/39528] lr: 9.337e-05, eta: 7 days, 8:06:27, time: 0.812, data_time: 0.042, memory: 19865, loss_cls: 0.2232, loss_bbox: 0.4176, loss_traj: 0.8703, loss_traj_cls: 0.0012, loss_map_cls: 0.1665, loss_map_pts: 0.7197, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.7221, d0.loss_plan_l1_fix_dist: 0.4019, d1.loss_plan_l1_fix_time: 1.3405, d1.loss_plan_l1_fix_dist: 0.1971, d2.loss_plan_l1_fix_time: 1.3192, d2.loss_plan_l1_fix_dist: 0.2024, d3.loss_plan_l1_fix_time: 1.3199, d3.loss_plan_l1_fix_dist: 0.2136, d4.loss_plan_l1_fix_time: 1.3238, d4.loss_plan_l1_fix_dist: 0.2249, d5.loss_plan_l1_fix_time: 1.3279, d5.loss_plan_l1_fix_dist: 0.2371, d6.loss_plan_l1_fix_time: 1.3322, d6.loss_plan_l1_fix_dist: 0.2504, d0.loss_cls_all: 0.2495, d0.loss_bbox_all: 0.4582, d0.loss_cls: 0.2495, d0.loss_bbox: 0.4582, d1.loss_cls: 0.2421, d1.loss_bbox: 0.4293, d2.loss_cls: 0.2331, d2.loss_bbox: 0.4149, d3.loss_cls: 0.2268, d3.loss_bbox: 0.4114, d4.loss_cls: 0.2232, d4.loss_bbox: 0.4119, d5.loss_cls: 0.2228, d5.loss_bbox: 0.4139, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1259, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9360, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9024, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8850, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8763, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8715, d0.loss_map_cls_all: 0.2263, d0.loss_map_pts_all: 1.4728, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2263, d0.loss_map_pts: 1.4728, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1969, d1.loss_map_pts: 0.9522, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1802, d2.loss_map_pts: 0.8048, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1715, d3.loss_map_pts: 0.7500, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1685, d4.loss_map_pts: 0.7308, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1665, d5.loss_map_pts: 0.7216, d5.loss_map_dir: 0.0102, loss: 33.3793, grad_norm: 149.1747 +2026-02-25 14:08:08,423 - DriveTransformer - INFO - Epoch [5][2350/39528] lr: 9.337e-05, eta: 7 days, 8:05:51, time: 0.824, data_time: 0.042, memory: 19865, loss_cls: 0.2365, loss_bbox: 0.4437, loss_traj: 0.9351, loss_traj_cls: 0.0011, loss_map_cls: 0.2254, loss_map_pts: 0.9165, loss_map_dir: 0.0131, d0.loss_plan_l1_fix_time: 3.0696, d0.loss_plan_l1_fix_dist: 0.3615, d1.loss_plan_l1_fix_time: 1.7078, d1.loss_plan_l1_fix_dist: 0.2259, d2.loss_plan_l1_fix_time: 1.6878, d2.loss_plan_l1_fix_dist: 0.2298, d3.loss_plan_l1_fix_time: 1.6875, d3.loss_plan_l1_fix_dist: 0.2377, d4.loss_plan_l1_fix_time: 1.6914, d4.loss_plan_l1_fix_dist: 0.2468, d5.loss_plan_l1_fix_time: 1.6951, d5.loss_plan_l1_fix_dist: 0.2570, d6.loss_plan_l1_fix_time: 1.6985, d6.loss_plan_l1_fix_dist: 0.2683, d0.loss_cls_all: 0.2637, d0.loss_bbox_all: 0.4994, d0.loss_cls: 0.2637, d0.loss_bbox: 0.4994, d1.loss_cls: 0.2606, d1.loss_bbox: 0.4675, d2.loss_cls: 0.2465, d2.loss_bbox: 0.4503, d3.loss_cls: 0.2386, d3.loss_bbox: 0.4436, d4.loss_cls: 0.2376, d4.loss_bbox: 0.4412, d5.loss_cls: 0.2366, d5.loss_bbox: 0.4416, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1209, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9784, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9407, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9324, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9306, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.9287, d0.loss_map_cls_all: 0.2900, d0.loss_map_pts_all: 1.7457, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2900, d0.loss_map_pts: 1.7457, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2601, d1.loss_map_pts: 1.2324, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2425, d2.loss_map_pts: 1.0375, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.2338, d3.loss_map_pts: 0.9635, d3.loss_map_dir: 0.0125, d4.loss_map_cls: 0.2269, d4.loss_map_pts: 0.9323, d4.loss_map_dir: 0.0129, d5.loss_map_cls: 0.2253, d5.loss_map_pts: 0.9183, d5.loss_map_dir: 0.0130, loss: 39.0934, grad_norm: 148.0545 +2026-02-25 14:08:50,079 - DriveTransformer - INFO - Epoch [5][2400/39528] lr: 9.337e-05, eta: 7 days, 8:05:19, time: 0.835, data_time: 0.046, memory: 19865, loss_cls: 0.2389, loss_bbox: 0.4367, loss_traj: 0.9444, loss_traj_cls: 0.0012, loss_map_cls: 0.2116, loss_map_pts: 0.9192, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.5726, d0.loss_plan_l1_fix_dist: 0.4533, d1.loss_plan_l1_fix_time: 1.2522, d1.loss_plan_l1_fix_dist: 0.2261, d2.loss_plan_l1_fix_time: 1.2307, d2.loss_plan_l1_fix_dist: 0.2316, d3.loss_plan_l1_fix_time: 1.2303, d3.loss_plan_l1_fix_dist: 0.2441, d4.loss_plan_l1_fix_time: 1.2340, d4.loss_plan_l1_fix_dist: 0.2594, d5.loss_plan_l1_fix_time: 1.2383, d5.loss_plan_l1_fix_dist: 0.2761, d6.loss_plan_l1_fix_time: 1.2425, d6.loss_plan_l1_fix_dist: 0.2946, d0.loss_cls_all: 0.2700, d0.loss_bbox_all: 0.4964, d0.loss_cls: 0.2700, d0.loss_bbox: 0.4964, d1.loss_cls: 0.2621, d1.loss_bbox: 0.4637, d2.loss_cls: 0.2506, d2.loss_bbox: 0.4436, d3.loss_cls: 0.2430, d3.loss_bbox: 0.4386, d4.loss_cls: 0.2394, d4.loss_bbox: 0.4355, d5.loss_cls: 0.2370, d5.loss_bbox: 0.4361, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2343, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0251, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9588, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9430, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9445, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9437, d0.loss_map_cls_all: 0.2913, d0.loss_map_pts_all: 1.8183, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.2913, d0.loss_map_pts: 1.8183, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2599, d1.loss_map_pts: 1.2050, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2347, d2.loss_map_pts: 1.0203, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2225, d3.loss_map_pts: 0.9567, d3.loss_map_dir: 0.0125, d4.loss_map_cls: 0.2147, d4.loss_map_pts: 0.9304, d4.loss_map_dir: 0.0128, d5.loss_map_cls: 0.2129, d5.loss_map_pts: 0.9199, d5.loss_map_dir: 0.0129, loss: 36.2717, grad_norm: 147.5843 +2026-02-25 14:09:33,425 - DriveTransformer - INFO - Epoch [5][2450/39528] lr: 9.337e-05, eta: 7 days, 8:04:53, time: 0.866, data_time: 0.043, memory: 19865, loss_cls: 0.2267, loss_bbox: 0.4393, loss_traj: 0.7535, loss_traj_cls: 0.0011, loss_map_cls: 0.2086, loss_map_pts: 0.9856, loss_map_dir: 0.0133, d0.loss_plan_l1_fix_time: 2.3688, d0.loss_plan_l1_fix_dist: 0.4243, d1.loss_plan_l1_fix_time: 1.2971, d1.loss_plan_l1_fix_dist: 0.2248, d2.loss_plan_l1_fix_time: 1.2842, d2.loss_plan_l1_fix_dist: 0.2332, d3.loss_plan_l1_fix_time: 1.2854, d3.loss_plan_l1_fix_dist: 0.2493, d4.loss_plan_l1_fix_time: 1.2898, d4.loss_plan_l1_fix_dist: 0.2691, d5.loss_plan_l1_fix_time: 1.2950, d5.loss_plan_l1_fix_dist: 0.2916, d6.loss_plan_l1_fix_time: 1.3009, d6.loss_plan_l1_fix_dist: 0.3162, d0.loss_cls_all: 0.2623, d0.loss_bbox_all: 0.4936, d0.loss_cls: 0.2623, d0.loss_bbox: 0.4936, d1.loss_cls: 0.2522, d1.loss_bbox: 0.4588, d2.loss_cls: 0.2414, d2.loss_bbox: 0.4434, d3.loss_cls: 0.2332, d3.loss_bbox: 0.4376, d4.loss_cls: 0.2289, d4.loss_bbox: 0.4348, d5.loss_cls: 0.2275, d5.loss_bbox: 0.4359, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9948, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8317, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7766, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7555, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7535, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7512, d0.loss_map_cls_all: 0.2801, d0.loss_map_pts_all: 1.9418, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2801, d0.loss_map_pts: 1.9418, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2471, d1.loss_map_pts: 1.2849, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.2293, d2.loss_map_pts: 1.0874, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2192, d3.loss_map_pts: 1.0186, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.2130, d4.loss_map_pts: 0.9948, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.2096, d5.loss_map_pts: 0.9874, d5.loss_map_dir: 0.0131, loss: 35.5538, grad_norm: 148.1422 +2026-02-25 14:10:14,176 - DriveTransformer - INFO - Epoch [5][2500/39528] lr: 9.337e-05, eta: 7 days, 8:04:16, time: 0.815, data_time: 0.045, memory: 19865, loss_cls: 0.2306, loss_bbox: 0.4321, loss_traj: 0.9383, loss_traj_cls: 0.0011, loss_map_cls: 0.1973, loss_map_pts: 0.8781, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.5142, d0.loss_plan_l1_fix_dist: 0.4823, d1.loss_plan_l1_fix_time: 1.2708, d1.loss_plan_l1_fix_dist: 0.2212, d2.loss_plan_l1_fix_time: 1.2514, d2.loss_plan_l1_fix_dist: 0.2342, d3.loss_plan_l1_fix_time: 1.2510, d3.loss_plan_l1_fix_dist: 0.2520, d4.loss_plan_l1_fix_time: 1.2548, d4.loss_plan_l1_fix_dist: 0.2702, d5.loss_plan_l1_fix_time: 1.2598, d5.loss_plan_l1_fix_dist: 0.2900, d6.loss_plan_l1_fix_time: 1.2658, d6.loss_plan_l1_fix_dist: 0.3139, d0.loss_cls_all: 0.2611, d0.loss_bbox_all: 0.4824, d0.loss_cls: 0.2611, d0.loss_bbox: 0.4824, d1.loss_cls: 0.2528, d1.loss_bbox: 0.4487, d2.loss_cls: 0.2415, d2.loss_bbox: 0.4359, d3.loss_cls: 0.2342, d3.loss_bbox: 0.4307, d4.loss_cls: 0.2321, d4.loss_bbox: 0.4304, d5.loss_cls: 0.2303, d5.loss_bbox: 0.4305, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1446, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9918, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9523, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9364, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9391, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9342, d0.loss_map_cls_all: 0.2792, d0.loss_map_pts_all: 1.7077, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2792, d0.loss_map_pts: 1.7077, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2345, d1.loss_map_pts: 1.1760, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2166, d2.loss_map_pts: 0.9835, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.2071, d3.loss_map_pts: 0.9156, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2013, d4.loss_map_pts: 0.8898, d4.loss_map_dir: 0.0126, d5.loss_map_cls: 0.1987, d5.loss_map_pts: 0.8790, d5.loss_map_dir: 0.0128, loss: 35.5396, grad_norm: 148.0299 +2026-02-25 14:10:54,833 - DriveTransformer - INFO - Epoch [5][2550/39528] lr: 9.337e-05, eta: 7 days, 8:03:38, time: 0.813, data_time: 0.044, memory: 19865, loss_cls: 0.2294, loss_bbox: 0.4406, loss_traj: 0.8889, loss_traj_cls: 0.0011, loss_map_cls: 0.2052, loss_map_pts: 0.8891, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.5405, d0.loss_plan_l1_fix_dist: 0.3838, d1.loss_plan_l1_fix_time: 1.2761, d1.loss_plan_l1_fix_dist: 0.2151, d2.loss_plan_l1_fix_time: 1.2586, d2.loss_plan_l1_fix_dist: 0.2258, d3.loss_plan_l1_fix_time: 1.2528, d3.loss_plan_l1_fix_dist: 0.2394, d4.loss_plan_l1_fix_time: 1.2554, d4.loss_plan_l1_fix_dist: 0.2574, d5.loss_plan_l1_fix_time: 1.2591, d5.loss_plan_l1_fix_dist: 0.2754, d6.loss_plan_l1_fix_time: 1.2644, d6.loss_plan_l1_fix_dist: 0.2955, d0.loss_cls_all: 0.2524, d0.loss_bbox_all: 0.4918, d0.loss_cls: 0.2524, d0.loss_bbox: 0.4918, d1.loss_cls: 0.2452, d1.loss_bbox: 0.4634, d2.loss_cls: 0.2356, d2.loss_bbox: 0.4480, d3.loss_cls: 0.2311, d3.loss_bbox: 0.4438, d4.loss_cls: 0.2308, d4.loss_bbox: 0.4414, d5.loss_cls: 0.2302, d5.loss_bbox: 0.4389, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0951, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9502, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8966, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8961, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8904, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8895, d0.loss_map_cls_all: 0.2780, d0.loss_map_pts_all: 1.7004, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.2780, d0.loss_map_pts: 1.7004, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.2432, d1.loss_map_pts: 1.1404, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2254, d2.loss_map_pts: 0.9673, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.2131, d3.loss_map_pts: 0.9106, d3.loss_map_dir: 0.0121, d4.loss_map_cls: 0.2092, d4.loss_map_pts: 0.8964, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.2060, d5.loss_map_pts: 0.8917, d5.loss_map_dir: 0.0126, loss: 35.1302, grad_norm: 147.0325 +2026-02-25 14:11:35,917 - DriveTransformer - INFO - Epoch [5][2600/39528] lr: 9.337e-05, eta: 7 days, 8:03:02, time: 0.822, data_time: 0.045, memory: 19865, loss_cls: 0.2583, loss_bbox: 0.4658, loss_traj: 0.7804, loss_traj_cls: 0.0012, loss_map_cls: 0.2275, loss_map_pts: 0.9605, loss_map_dir: 0.0147, d0.loss_plan_l1_fix_time: 2.6401, d0.loss_plan_l1_fix_dist: 0.4360, d1.loss_plan_l1_fix_time: 1.4755, d1.loss_plan_l1_fix_dist: 0.2286, d2.loss_plan_l1_fix_time: 1.4757, d2.loss_plan_l1_fix_dist: 0.2436, d3.loss_plan_l1_fix_time: 1.4812, d3.loss_plan_l1_fix_dist: 0.2641, d4.loss_plan_l1_fix_time: 1.4872, d4.loss_plan_l1_fix_dist: 0.2849, d5.loss_plan_l1_fix_time: 1.4935, d5.loss_plan_l1_fix_dist: 0.3066, d6.loss_plan_l1_fix_time: 1.5005, d6.loss_plan_l1_fix_dist: 0.3281, d0.loss_cls_all: 0.2881, d0.loss_bbox_all: 0.5183, d0.loss_cls: 0.2881, d0.loss_bbox: 0.5183, d1.loss_cls: 0.2830, d1.loss_bbox: 0.4911, d2.loss_cls: 0.2709, d2.loss_bbox: 0.4768, d3.loss_cls: 0.2625, d3.loss_bbox: 0.4703, d4.loss_cls: 0.2583, d4.loss_bbox: 0.4674, d5.loss_cls: 0.2580, d5.loss_bbox: 0.4652, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9794, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8410, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7919, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7799, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7778, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7773, d0.loss_map_cls_all: 0.2974, d0.loss_map_pts_all: 1.8102, d0.loss_map_dir_all: 0.0139, d0.loss_map_cls: 0.2974, d0.loss_map_pts: 1.8102, d0.loss_map_dir: 0.0139, d1.loss_map_cls: 0.2632, d1.loss_map_pts: 1.2376, d1.loss_map_dir: 0.0133, d2.loss_map_cls: 0.2439, d2.loss_map_pts: 1.0552, d2.loss_map_dir: 0.0135, d3.loss_map_cls: 0.2361, d3.loss_map_pts: 0.9957, d3.loss_map_dir: 0.0140, d4.loss_map_cls: 0.2313, d4.loss_map_pts: 0.9713, d4.loss_map_dir: 0.0145, d5.loss_map_cls: 0.2279, d5.loss_map_pts: 0.9644, d5.loss_map_dir: 0.0146, loss: 37.3626, grad_norm: 149.6330 +2026-02-25 14:12:17,408 - DriveTransformer - INFO - Epoch [5][2650/39528] lr: 9.337e-05, eta: 7 days, 8:02:28, time: 0.830, data_time: 0.047, memory: 19865, loss_cls: 0.2317, loss_bbox: 0.4019, loss_traj: 0.8421, loss_traj_cls: 0.0011, loss_map_cls: 0.2365, loss_map_pts: 0.9138, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.4254, d0.loss_plan_l1_fix_dist: 0.4331, d1.loss_plan_l1_fix_time: 1.2203, d1.loss_plan_l1_fix_dist: 0.2468, d2.loss_plan_l1_fix_time: 1.2063, d2.loss_plan_l1_fix_dist: 0.2586, d3.loss_plan_l1_fix_time: 1.2097, d3.loss_plan_l1_fix_dist: 0.2771, d4.loss_plan_l1_fix_time: 1.2140, d4.loss_plan_l1_fix_dist: 0.2988, d5.loss_plan_l1_fix_time: 1.2187, d5.loss_plan_l1_fix_dist: 0.3246, d6.loss_plan_l1_fix_time: 1.2241, d6.loss_plan_l1_fix_dist: 0.3525, d0.loss_cls_all: 0.2499, d0.loss_bbox_all: 0.4554, d0.loss_cls: 0.2499, d0.loss_bbox: 0.4554, d1.loss_cls: 0.2440, d1.loss_bbox: 0.4287, d2.loss_cls: 0.2369, d2.loss_bbox: 0.4129, d3.loss_cls: 0.2327, d3.loss_bbox: 0.4065, d4.loss_cls: 0.2294, d4.loss_bbox: 0.4039, d5.loss_cls: 0.2304, d5.loss_bbox: 0.4014, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0969, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8968, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8635, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8430, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8460, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8433, d0.loss_map_cls_all: 0.2943, d0.loss_map_pts_all: 1.8152, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2943, d0.loss_map_pts: 1.8152, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2685, d1.loss_map_pts: 1.1847, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2561, d2.loss_map_pts: 1.0034, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.2469, d3.loss_map_pts: 0.9438, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.2396, d4.loss_map_pts: 0.9200, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.2377, d5.loss_map_pts: 0.9130, d5.loss_map_dir: 0.0126, loss: 35.0986, grad_norm: 149.3057 +2026-02-25 14:12:57,433 - DriveTransformer - INFO - Epoch [5][2700/39528] lr: 9.337e-05, eta: 7 days, 8:01:47, time: 0.800, data_time: 0.045, memory: 19865, loss_cls: 0.2237, loss_bbox: 0.4124, loss_traj: 0.8508, loss_traj_cls: 0.0012, loss_map_cls: 0.1766, loss_map_pts: 0.8009, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.1878, d0.loss_plan_l1_fix_dist: 0.3833, d1.loss_plan_l1_fix_time: 1.1359, d1.loss_plan_l1_fix_dist: 0.2573, d2.loss_plan_l1_fix_time: 1.1319, d2.loss_plan_l1_fix_dist: 0.2668, d3.loss_plan_l1_fix_time: 1.1432, d3.loss_plan_l1_fix_dist: 0.2806, d4.loss_plan_l1_fix_time: 1.1492, d4.loss_plan_l1_fix_dist: 0.2987, d5.loss_plan_l1_fix_time: 1.1551, d5.loss_plan_l1_fix_dist: 0.3184, d6.loss_plan_l1_fix_time: 1.1614, d6.loss_plan_l1_fix_dist: 0.3417, d0.loss_cls_all: 0.2529, d0.loss_bbox_all: 0.4562, d0.loss_cls: 0.2529, d0.loss_bbox: 0.4562, d1.loss_cls: 0.2464, d1.loss_bbox: 0.4286, d2.loss_cls: 0.2333, d2.loss_bbox: 0.4172, d3.loss_cls: 0.2260, d3.loss_bbox: 0.4129, d4.loss_cls: 0.2220, d4.loss_bbox: 0.4109, d5.loss_cls: 0.2229, d5.loss_bbox: 0.4099, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1168, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9269, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8790, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8655, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8536, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8509, d0.loss_map_cls_all: 0.2313, d0.loss_map_pts_all: 1.5959, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2313, d0.loss_map_pts: 1.5959, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2049, d1.loss_map_pts: 1.0498, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1923, d2.loss_map_pts: 0.8854, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.1821, d3.loss_map_pts: 0.8349, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1786, d4.loss_map_pts: 0.8099, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1770, d5.loss_map_pts: 0.8013, d5.loss_map_dir: 0.0115, loss: 32.8813, grad_norm: 153.3946 +2026-02-25 14:13:38,293 - DriveTransformer - INFO - Epoch [5][2750/39528] lr: 9.337e-05, eta: 7 days, 8:01:10, time: 0.817, data_time: 0.046, memory: 19865, loss_cls: 0.2218, loss_bbox: 0.4263, loss_traj: 0.6873, loss_traj_cls: 0.0012, loss_map_cls: 0.1921, loss_map_pts: 0.8734, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.3022, d0.loss_plan_l1_fix_dist: 0.4159, d1.loss_plan_l1_fix_time: 1.3035, d1.loss_plan_l1_fix_dist: 0.2500, d2.loss_plan_l1_fix_time: 1.2911, d2.loss_plan_l1_fix_dist: 0.2665, d3.loss_plan_l1_fix_time: 1.2930, d3.loss_plan_l1_fix_dist: 0.2879, d4.loss_plan_l1_fix_time: 1.2964, d4.loss_plan_l1_fix_dist: 0.3095, d5.loss_plan_l1_fix_time: 1.3002, d5.loss_plan_l1_fix_dist: 0.3294, d6.loss_plan_l1_fix_time: 1.3049, d6.loss_plan_l1_fix_dist: 0.3507, d0.loss_cls_all: 0.2566, d0.loss_bbox_all: 0.4743, d0.loss_cls: 0.2566, d0.loss_bbox: 0.4743, d1.loss_cls: 0.2455, d1.loss_bbox: 0.4451, d2.loss_cls: 0.2345, d2.loss_bbox: 0.4280, d3.loss_cls: 0.2284, d3.loss_bbox: 0.4207, d4.loss_cls: 0.2219, d4.loss_bbox: 0.4209, d5.loss_cls: 0.2230, d5.loss_bbox: 0.4221, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8627, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7501, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7004, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6911, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6886, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6903, d0.loss_map_cls_all: 0.2582, d0.loss_map_pts_all: 1.6826, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2582, d0.loss_map_pts: 1.6826, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2250, d1.loss_map_pts: 1.1194, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2095, d2.loss_map_pts: 0.9548, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.1975, d3.loss_map_pts: 0.9029, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.1949, d4.loss_map_pts: 0.8831, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.1927, d5.loss_map_pts: 0.8760, d5.loss_map_dir: 0.0123, loss: 33.5767, grad_norm: 151.0997 +2026-02-25 14:14:18,425 - DriveTransformer - INFO - Epoch [5][2800/39528] lr: 9.337e-05, eta: 7 days, 8:00:29, time: 0.803, data_time: 0.050, memory: 19865, loss_cls: 0.2309, loss_bbox: 0.4108, loss_traj: 0.7174, loss_traj_cls: 0.0012, loss_map_cls: 0.2153, loss_map_pts: 0.8894, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.2516, d0.loss_plan_l1_fix_dist: 0.3879, d1.loss_plan_l1_fix_time: 1.2706, d1.loss_plan_l1_fix_dist: 0.2267, d2.loss_plan_l1_fix_time: 1.2443, d2.loss_plan_l1_fix_dist: 0.2463, d3.loss_plan_l1_fix_time: 1.2404, d3.loss_plan_l1_fix_dist: 0.2699, d4.loss_plan_l1_fix_time: 1.2433, d4.loss_plan_l1_fix_dist: 0.2940, d5.loss_plan_l1_fix_time: 1.2469, d5.loss_plan_l1_fix_dist: 0.3192, d6.loss_plan_l1_fix_time: 1.2513, d6.loss_plan_l1_fix_dist: 0.3414, d0.loss_cls_all: 0.2554, d0.loss_bbox_all: 0.4781, d0.loss_cls: 0.2554, d0.loss_bbox: 0.4781, d1.loss_cls: 0.2514, d1.loss_bbox: 0.4387, d2.loss_cls: 0.2415, d2.loss_bbox: 0.4200, d3.loss_cls: 0.2356, d3.loss_bbox: 0.4132, d4.loss_cls: 0.2325, d4.loss_bbox: 0.4094, d5.loss_cls: 0.2315, d5.loss_bbox: 0.4102, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9019, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7685, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7263, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7139, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7125, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7130, d0.loss_map_cls_all: 0.2804, d0.loss_map_pts_all: 1.6254, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2804, d0.loss_map_pts: 1.6254, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2491, d1.loss_map_pts: 1.1595, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2365, d2.loss_map_pts: 0.9946, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.2261, d3.loss_map_pts: 0.9350, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.2202, d4.loss_map_pts: 0.9066, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.2172, d5.loss_map_pts: 0.8936, d5.loss_map_dir: 0.0111, loss: 33.5266, grad_norm: 152.3314 +2026-02-25 14:14:58,178 - DriveTransformer - INFO - Epoch [5][2850/39528] lr: 9.337e-05, eta: 7 days, 7:59:47, time: 0.795, data_time: 0.040, memory: 19865, loss_cls: 0.2584, loss_bbox: 0.4412, loss_traj: 0.9001, loss_traj_cls: 0.0012, loss_map_cls: 0.2118, loss_map_pts: 0.8693, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.8189, d0.loss_plan_l1_fix_dist: 0.3755, d1.loss_plan_l1_fix_time: 1.4079, d1.loss_plan_l1_fix_dist: 0.2462, d2.loss_plan_l1_fix_time: 1.3901, d2.loss_plan_l1_fix_dist: 0.2598, d3.loss_plan_l1_fix_time: 1.3910, d3.loss_plan_l1_fix_dist: 0.2797, d4.loss_plan_l1_fix_time: 1.3943, d4.loss_plan_l1_fix_dist: 0.3057, d5.loss_plan_l1_fix_time: 1.3982, d5.loss_plan_l1_fix_dist: 0.3349, d6.loss_plan_l1_fix_time: 1.4021, d6.loss_plan_l1_fix_dist: 0.3617, d0.loss_cls_all: 0.2908, d0.loss_bbox_all: 0.5112, d0.loss_cls: 0.2908, d0.loss_bbox: 0.5112, d1.loss_cls: 0.2775, d1.loss_bbox: 0.4738, d2.loss_cls: 0.2675, d2.loss_bbox: 0.4538, d3.loss_cls: 0.2634, d3.loss_bbox: 0.4431, d4.loss_cls: 0.2610, d4.loss_bbox: 0.4393, d5.loss_cls: 0.2587, d5.loss_bbox: 0.4392, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2727, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9943, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9230, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9118, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9028, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9013, d0.loss_map_cls_all: 0.2694, d0.loss_map_pts_all: 1.6399, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2694, d0.loss_map_pts: 1.6399, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2402, d1.loss_map_pts: 1.1376, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2274, d2.loss_map_pts: 0.9715, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2191, d3.loss_map_pts: 0.9086, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.2131, d4.loss_map_pts: 0.8828, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.2115, d5.loss_map_pts: 0.8722, d5.loss_map_dir: 0.0120, loss: 36.9350, grad_norm: 153.4795 +2026-02-25 14:15:39,027 - DriveTransformer - INFO - Epoch [5][2900/39528] lr: 9.337e-05, eta: 7 days, 7:59:09, time: 0.817, data_time: 0.045, memory: 19865, loss_cls: 0.2317, loss_bbox: 0.4159, loss_traj: 0.8804, loss_traj_cls: 0.0011, loss_map_cls: 0.2289, loss_map_pts: 0.9614, loss_map_dir: 0.0148, d0.loss_plan_l1_fix_time: 2.7142, d0.loss_plan_l1_fix_dist: 0.3858, d1.loss_plan_l1_fix_time: 1.5267, d1.loss_plan_l1_fix_dist: 0.2409, d2.loss_plan_l1_fix_time: 1.5062, d2.loss_plan_l1_fix_dist: 0.2602, d3.loss_plan_l1_fix_time: 1.5036, d3.loss_plan_l1_fix_dist: 0.2938, d4.loss_plan_l1_fix_time: 1.5074, d4.loss_plan_l1_fix_dist: 0.3314, d5.loss_plan_l1_fix_time: 1.5120, d5.loss_plan_l1_fix_dist: 0.3715, d6.loss_plan_l1_fix_time: 1.5169, d6.loss_plan_l1_fix_dist: 0.4188, d0.loss_cls_all: 0.2602, d0.loss_bbox_all: 0.4668, d0.loss_cls: 0.2602, d0.loss_bbox: 0.4668, d1.loss_cls: 0.2493, d1.loss_bbox: 0.4361, d2.loss_cls: 0.2409, d2.loss_bbox: 0.4196, d3.loss_cls: 0.2365, d3.loss_bbox: 0.4145, d4.loss_cls: 0.2301, d4.loss_bbox: 0.4133, d5.loss_cls: 0.2317, d5.loss_bbox: 0.4127, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1122, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9300, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8929, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8862, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8887, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8879, d0.loss_map_cls_all: 0.2936, d0.loss_map_pts_all: 1.9040, d0.loss_map_dir_all: 0.0143, d0.loss_map_cls: 0.2936, d0.loss_map_pts: 1.9040, d0.loss_map_dir: 0.0143, d1.loss_map_cls: 0.2569, d1.loss_map_pts: 1.2449, d1.loss_map_dir: 0.0137, d2.loss_map_cls: 0.2415, d2.loss_map_pts: 1.0574, d2.loss_map_dir: 0.0138, d3.loss_map_cls: 0.2333, d3.loss_map_pts: 0.9933, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.2291, d4.loss_map_pts: 0.9677, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.2286, d5.loss_map_pts: 0.9615, d5.loss_map_dir: 0.0147, loss: 38.0749, grad_norm: 156.1812 +2026-02-25 14:16:19,418 - DriveTransformer - INFO - Epoch [5][2950/39528] lr: 9.337e-05, eta: 7 days, 7:58:30, time: 0.808, data_time: 0.044, memory: 19865, loss_cls: 0.2388, loss_bbox: 0.4434, loss_traj: 0.9624, loss_traj_cls: 0.0012, loss_map_cls: 0.2243, loss_map_pts: 0.9154, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.6117, d0.loss_plan_l1_fix_dist: 0.4754, d1.loss_plan_l1_fix_time: 1.3731, d1.loss_plan_l1_fix_dist: 0.2721, d2.loss_plan_l1_fix_time: 1.3489, d2.loss_plan_l1_fix_dist: 0.2859, d3.loss_plan_l1_fix_time: 1.3486, d3.loss_plan_l1_fix_dist: 0.3046, d4.loss_plan_l1_fix_time: 1.3512, d4.loss_plan_l1_fix_dist: 0.3239, d5.loss_plan_l1_fix_time: 1.3547, d5.loss_plan_l1_fix_dist: 0.3464, d6.loss_plan_l1_fix_time: 1.3591, d6.loss_plan_l1_fix_dist: 0.3761, d0.loss_cls_all: 0.2682, d0.loss_bbox_all: 0.4932, d0.loss_cls: 0.2682, d0.loss_bbox: 0.4932, d1.loss_cls: 0.2614, d1.loss_bbox: 0.4637, d2.loss_cls: 0.2497, d2.loss_bbox: 0.4468, d3.loss_cls: 0.2450, d3.loss_bbox: 0.4413, d4.loss_cls: 0.2406, d4.loss_bbox: 0.4388, d5.loss_cls: 0.2398, d5.loss_bbox: 0.4400, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1509, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9893, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9607, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9561, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9520, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9556, d0.loss_map_cls_all: 0.2945, d0.loss_map_pts_all: 1.6952, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2945, d0.loss_map_pts: 1.6952, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2588, d1.loss_map_pts: 1.1993, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2405, d2.loss_map_pts: 1.0114, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.2303, d3.loss_map_pts: 0.9489, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.2250, d4.loss_map_pts: 0.9220, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.2250, d5.loss_map_pts: 0.9140, d5.loss_map_dir: 0.0117, loss: 37.1203, grad_norm: 156.0638 +2026-02-25 14:17:00,378 - DriveTransformer - INFO - Epoch [5][3000/39528] lr: 9.337e-05, eta: 7 days, 7:57:53, time: 0.819, data_time: 0.038, memory: 19865, loss_cls: 0.2466, loss_bbox: 0.4488, loss_traj: 0.9438, loss_traj_cls: 0.0012, loss_map_cls: 0.2538, loss_map_pts: 0.9891, loss_map_dir: 0.0141, d0.loss_plan_l1_fix_time: 2.8515, d0.loss_plan_l1_fix_dist: 0.3673, d1.loss_plan_l1_fix_time: 1.5146, d1.loss_plan_l1_fix_dist: 0.2507, d2.loss_plan_l1_fix_time: 1.5089, d2.loss_plan_l1_fix_dist: 0.2744, d3.loss_plan_l1_fix_time: 1.5143, d3.loss_plan_l1_fix_dist: 0.3042, d4.loss_plan_l1_fix_time: 1.5195, d4.loss_plan_l1_fix_dist: 0.3394, d5.loss_plan_l1_fix_time: 1.5252, d5.loss_plan_l1_fix_dist: 0.3778, d6.loss_plan_l1_fix_time: 1.5312, d6.loss_plan_l1_fix_dist: 0.4112, d0.loss_cls_all: 0.2707, d0.loss_bbox_all: 0.5146, d0.loss_cls: 0.2707, d0.loss_bbox: 0.5146, d1.loss_cls: 0.2666, d1.loss_bbox: 0.4800, d2.loss_cls: 0.2560, d2.loss_bbox: 0.4625, d3.loss_cls: 0.2523, d3.loss_bbox: 0.4552, d4.loss_cls: 0.2456, d4.loss_bbox: 0.4533, d5.loss_cls: 0.2461, d5.loss_bbox: 0.4501, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1706, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9978, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9587, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9422, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9382, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9374, d0.loss_map_cls_all: 0.3049, d0.loss_map_pts_all: 1.8659, d0.loss_map_dir_all: 0.0129, d0.loss_map_cls: 0.3049, d0.loss_map_pts: 1.8659, d0.loss_map_dir: 0.0129, d1.loss_map_cls: 0.2754, d1.loss_map_pts: 1.2769, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2678, d2.loss_map_pts: 1.0806, d2.loss_map_dir: 0.0130, d3.loss_map_cls: 0.2614, d3.loss_map_pts: 1.0172, d3.loss_map_dir: 0.0134, d4.loss_map_cls: 0.2549, d4.loss_map_pts: 0.9978, d4.loss_map_dir: 0.0138, d5.loss_map_cls: 0.2541, d5.loss_map_pts: 0.9908, d5.loss_map_dir: 0.0139, loss: 39.3869, grad_norm: 156.6695 +2026-02-25 14:17:43,387 - DriveTransformer - INFO - Epoch [5][3050/39528] lr: 9.337e-05, eta: 7 days, 7:57:27, time: 0.860, data_time: 0.044, memory: 19865, loss_cls: 0.2476, loss_bbox: 0.4491, loss_traj: 0.8160, loss_traj_cls: 0.0012, loss_map_cls: 0.2162, loss_map_pts: 1.0205, loss_map_dir: 0.0159, d0.loss_plan_l1_fix_time: 2.8194, d0.loss_plan_l1_fix_dist: 0.3870, d1.loss_plan_l1_fix_time: 1.4433, d1.loss_plan_l1_fix_dist: 0.2080, d2.loss_plan_l1_fix_time: 1.4256, d2.loss_plan_l1_fix_dist: 0.2286, d3.loss_plan_l1_fix_time: 1.4226, d3.loss_plan_l1_fix_dist: 0.2579, d4.loss_plan_l1_fix_time: 1.4247, d4.loss_plan_l1_fix_dist: 0.2928, d5.loss_plan_l1_fix_time: 1.4285, d5.loss_plan_l1_fix_dist: 0.3280, d6.loss_plan_l1_fix_time: 1.4330, d6.loss_plan_l1_fix_dist: 0.3590, d0.loss_cls_all: 0.2728, d0.loss_bbox_all: 0.5080, d0.loss_cls: 0.2728, d0.loss_bbox: 0.5080, d1.loss_cls: 0.2688, d1.loss_bbox: 0.4758, d2.loss_cls: 0.2591, d2.loss_bbox: 0.4579, d3.loss_cls: 0.2524, d3.loss_bbox: 0.4520, d4.loss_cls: 0.2472, d4.loss_bbox: 0.4501, d5.loss_cls: 0.2479, d5.loss_bbox: 0.4473, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0068, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8557, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8165, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8132, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8149, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8130, d0.loss_map_cls_all: 0.2703, d0.loss_map_pts_all: 1.9438, d0.loss_map_dir_all: 0.0141, d0.loss_map_cls: 0.2703, d0.loss_map_pts: 1.9438, d0.loss_map_dir: 0.0141, d1.loss_map_cls: 0.2432, d1.loss_map_pts: 1.3393, d1.loss_map_dir: 0.0137, d2.loss_map_cls: 0.2319, d2.loss_map_pts: 1.1325, d2.loss_map_dir: 0.0145, d3.loss_map_cls: 0.2208, d3.loss_map_pts: 1.0586, d3.loss_map_dir: 0.0150, d4.loss_map_cls: 0.2169, d4.loss_map_pts: 1.0315, d4.loss_map_dir: 0.0154, d5.loss_map_cls: 0.2154, d5.loss_map_pts: 1.0250, d5.loss_map_dir: 0.0157, loss: 37.7165, grad_norm: 156.3853 +2026-02-25 14:18:22,770 - DriveTransformer - INFO - Epoch [5][3100/39528] lr: 9.337e-05, eta: 7 days, 7:56:43, time: 0.788, data_time: 0.043, memory: 19865, loss_cls: 0.2306, loss_bbox: 0.4513, loss_traj: 0.8403, loss_traj_cls: 0.0012, loss_map_cls: 0.2258, loss_map_pts: 0.9235, loss_map_dir: 0.0132, d0.loss_plan_l1_fix_time: 2.9134, d0.loss_plan_l1_fix_dist: 0.4932, d1.loss_plan_l1_fix_time: 1.4717, d1.loss_plan_l1_fix_dist: 0.2495, d2.loss_plan_l1_fix_time: 1.4581, d2.loss_plan_l1_fix_dist: 0.2745, d3.loss_plan_l1_fix_time: 1.4625, d3.loss_plan_l1_fix_dist: 0.3061, d4.loss_plan_l1_fix_time: 1.4667, d4.loss_plan_l1_fix_dist: 0.3390, d5.loss_plan_l1_fix_time: 1.4710, d5.loss_plan_l1_fix_dist: 0.3728, d6.loss_plan_l1_fix_time: 1.4755, d6.loss_plan_l1_fix_dist: 0.4109, d0.loss_cls_all: 0.2589, d0.loss_bbox_all: 0.4928, d0.loss_cls: 0.2589, d0.loss_bbox: 0.4928, d1.loss_cls: 0.2508, d1.loss_bbox: 0.4638, d2.loss_cls: 0.2416, d2.loss_bbox: 0.4500, d3.loss_cls: 0.2359, d3.loss_bbox: 0.4469, d4.loss_cls: 0.2308, d4.loss_bbox: 0.4489, d5.loss_cls: 0.2314, d5.loss_bbox: 0.4484, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0360, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8905, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8517, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8448, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8399, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8427, d0.loss_map_cls_all: 0.2872, d0.loss_map_pts_all: 1.7086, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.2872, d0.loss_map_pts: 1.7086, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2594, d1.loss_map_pts: 1.1832, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.2416, d2.loss_map_pts: 1.0051, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.2342, d3.loss_map_pts: 0.9501, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.2306, d4.loss_map_pts: 0.9316, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.2253, d5.loss_map_pts: 0.9256, d5.loss_map_dir: 0.0131, loss: 37.3793, grad_norm: 158.9643 +2026-02-25 14:19:03,366 - DriveTransformer - INFO - Epoch [5][3150/39528] lr: 9.337e-05, eta: 7 days, 7:56:04, time: 0.812, data_time: 0.036, memory: 19865, loss_cls: 0.2163, loss_bbox: 0.4121, loss_traj: 0.7375, loss_traj_cls: 0.0012, loss_map_cls: 0.2067, loss_map_pts: 0.8868, loss_map_dir: 0.0136, d0.loss_plan_l1_fix_time: 2.6106, d0.loss_plan_l1_fix_dist: 0.4525, d1.loss_plan_l1_fix_time: 1.3943, d1.loss_plan_l1_fix_dist: 0.2162, d2.loss_plan_l1_fix_time: 1.3851, d2.loss_plan_l1_fix_dist: 0.2404, d3.loss_plan_l1_fix_time: 1.3841, d3.loss_plan_l1_fix_dist: 0.2685, d4.loss_plan_l1_fix_time: 1.3865, d4.loss_plan_l1_fix_dist: 0.2982, d5.loss_plan_l1_fix_time: 1.3895, d5.loss_plan_l1_fix_dist: 0.3308, d6.loss_plan_l1_fix_time: 1.3933, d6.loss_plan_l1_fix_dist: 0.3660, d0.loss_cls_all: 0.2413, d0.loss_bbox_all: 0.4669, d0.loss_cls: 0.2413, d0.loss_bbox: 0.4669, d1.loss_cls: 0.2343, d1.loss_bbox: 0.4312, d2.loss_cls: 0.2268, d2.loss_bbox: 0.4155, d3.loss_cls: 0.2197, d3.loss_bbox: 0.4115, d4.loss_cls: 0.2170, d4.loss_bbox: 0.4110, d5.loss_cls: 0.2172, d5.loss_bbox: 0.4101, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8989, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7896, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7406, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7250, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7294, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7299, d0.loss_map_cls_all: 0.2697, d0.loss_map_pts_all: 1.7559, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.2697, d0.loss_map_pts: 1.7559, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2403, d1.loss_map_pts: 1.1320, d1.loss_map_dir: 0.0126, d2.loss_map_cls: 0.2268, d2.loss_map_pts: 0.9719, d2.loss_map_dir: 0.0127, d3.loss_map_cls: 0.2150, d3.loss_map_pts: 0.9172, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2101, d4.loss_map_pts: 0.8924, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.2069, d5.loss_map_pts: 0.8867, d5.loss_map_dir: 0.0135, loss: 34.8620, grad_norm: 158.8453 +2026-02-25 14:19:43,115 - DriveTransformer - INFO - Epoch [5][3200/39528] lr: 9.337e-05, eta: 7 days, 7:55:22, time: 0.796, data_time: 0.044, memory: 19865, loss_cls: 0.2535, loss_bbox: 0.4481, loss_traj: 0.8210, loss_traj_cls: 0.0012, loss_map_cls: 0.2240, loss_map_pts: 0.9308, loss_map_dir: 0.0139, d0.loss_plan_l1_fix_time: 2.7442, d0.loss_plan_l1_fix_dist: 0.4177, d1.loss_plan_l1_fix_time: 1.4296, d1.loss_plan_l1_fix_dist: 0.2398, d2.loss_plan_l1_fix_time: 1.4041, d2.loss_plan_l1_fix_dist: 0.2602, d3.loss_plan_l1_fix_time: 1.4024, d3.loss_plan_l1_fix_dist: 0.2867, d4.loss_plan_l1_fix_time: 1.4060, d4.loss_plan_l1_fix_dist: 0.3155, d5.loss_plan_l1_fix_time: 1.4101, d5.loss_plan_l1_fix_dist: 0.3447, d6.loss_plan_l1_fix_time: 1.4142, d6.loss_plan_l1_fix_dist: 0.3754, d0.loss_cls_all: 0.2880, d0.loss_bbox_all: 0.5070, d0.loss_cls: 0.2880, d0.loss_bbox: 0.5070, d1.loss_cls: 0.2752, d1.loss_bbox: 0.4763, d2.loss_cls: 0.2639, d2.loss_bbox: 0.4591, d3.loss_cls: 0.2577, d3.loss_bbox: 0.4526, d4.loss_cls: 0.2529, d4.loss_bbox: 0.4493, d5.loss_cls: 0.2547, d5.loss_bbox: 0.4463, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0784, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8877, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8258, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8179, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8155, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8156, d0.loss_map_cls_all: 0.2905, d0.loss_map_pts_all: 1.7769, d0.loss_map_dir_all: 0.0129, d0.loss_map_cls: 0.2905, d0.loss_map_pts: 1.7769, d0.loss_map_dir: 0.0129, d1.loss_map_cls: 0.2584, d1.loss_map_pts: 1.1776, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2390, d2.loss_map_pts: 1.0134, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2319, d3.loss_map_pts: 0.9539, d3.loss_map_dir: 0.0134, d4.loss_map_cls: 0.2274, d4.loss_map_pts: 0.9339, d4.loss_map_dir: 0.0138, d5.loss_map_cls: 0.2249, d5.loss_map_pts: 0.9309, d5.loss_map_dir: 0.0139, loss: 36.9857, grad_norm: 160.1432 +2026-02-25 14:20:27,248 - DriveTransformer - INFO - Epoch [5][3250/39528] lr: 9.337e-05, eta: 7 days, 7:55:01, time: 0.881, data_time: 0.037, memory: 19865, loss_cls: 0.2432, loss_bbox: 0.4549, loss_traj: 0.7901, loss_traj_cls: 0.0011, loss_map_cls: 0.2301, loss_map_pts: 1.1015, loss_map_dir: 0.0179, d0.loss_plan_l1_fix_time: 2.6046, d0.loss_plan_l1_fix_dist: 0.3741, d1.loss_plan_l1_fix_time: 1.5054, d1.loss_plan_l1_fix_dist: 0.2346, d2.loss_plan_l1_fix_time: 1.4944, d2.loss_plan_l1_fix_dist: 0.2637, d3.loss_plan_l1_fix_time: 1.5006, d3.loss_plan_l1_fix_dist: 0.3026, d4.loss_plan_l1_fix_time: 1.5073, d4.loss_plan_l1_fix_dist: 0.3422, d5.loss_plan_l1_fix_time: 1.5142, d5.loss_plan_l1_fix_dist: 0.3824, d6.loss_plan_l1_fix_time: 1.5201, d6.loss_plan_l1_fix_dist: 0.4224, d0.loss_cls_all: 0.2718, d0.loss_bbox_all: 0.5051, d0.loss_cls: 0.2718, d0.loss_bbox: 0.5051, d1.loss_cls: 0.2633, d1.loss_bbox: 0.4725, d2.loss_cls: 0.2538, d2.loss_bbox: 0.4594, d3.loss_cls: 0.2476, d3.loss_bbox: 0.4526, d4.loss_cls: 0.2442, d4.loss_bbox: 0.4518, d5.loss_cls: 0.2451, d5.loss_bbox: 0.4509, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9699, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8430, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8025, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7899, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7835, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7849, d0.loss_map_cls_all: 0.3075, d0.loss_map_pts_all: 2.1129, d0.loss_map_dir_all: 0.0158, d0.loss_map_cls: 0.3075, d0.loss_map_pts: 2.1129, d0.loss_map_dir: 0.0158, d1.loss_map_cls: 0.2709, d1.loss_map_pts: 1.4064, d1.loss_map_dir: 0.0154, d2.loss_map_cls: 0.2553, d2.loss_map_pts: 1.2061, d2.loss_map_dir: 0.0163, d3.loss_map_cls: 0.2430, d3.loss_map_pts: 1.1384, d3.loss_map_dir: 0.0169, d4.loss_map_cls: 0.2329, d4.loss_map_pts: 1.1137, d4.loss_map_dir: 0.0175, d5.loss_map_cls: 0.2320, d5.loss_map_pts: 1.1033, d5.loss_map_dir: 0.0178, loss: 39.0401, grad_norm: 160.5332 +2026-02-25 14:21:09,039 - DriveTransformer - INFO - Epoch [5][3300/39528] lr: 9.337e-05, eta: 7 days, 7:54:28, time: 0.836, data_time: 0.041, memory: 19865, loss_cls: 0.2350, loss_bbox: 0.4462, loss_traj: 0.8310, loss_traj_cls: 0.0011, loss_map_cls: 0.2369, loss_map_pts: 1.0587, loss_map_dir: 0.0153, d0.loss_plan_l1_fix_time: 2.8556, d0.loss_plan_l1_fix_dist: 0.3977, d1.loss_plan_l1_fix_time: 1.3880, d1.loss_plan_l1_fix_dist: 0.2416, d2.loss_plan_l1_fix_time: 1.3694, d2.loss_plan_l1_fix_dist: 0.2512, d3.loss_plan_l1_fix_time: 1.3677, d3.loss_plan_l1_fix_dist: 0.2685, d4.loss_plan_l1_fix_time: 1.3711, d4.loss_plan_l1_fix_dist: 0.2890, d5.loss_plan_l1_fix_time: 1.3750, d5.loss_plan_l1_fix_dist: 0.3108, d6.loss_plan_l1_fix_time: 1.3793, d6.loss_plan_l1_fix_dist: 0.3341, d0.loss_cls_all: 0.2624, d0.loss_bbox_all: 0.5046, d0.loss_cls: 0.2624, d0.loss_bbox: 0.5046, d1.loss_cls: 0.2547, d1.loss_bbox: 0.4689, d2.loss_cls: 0.2437, d2.loss_bbox: 0.4537, d3.loss_cls: 0.2368, d3.loss_bbox: 0.4466, d4.loss_cls: 0.2348, d4.loss_bbox: 0.4443, d5.loss_cls: 0.2357, d5.loss_bbox: 0.4432, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0955, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8766, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8374, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8321, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8283, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8310, d0.loss_map_cls_all: 0.3028, d0.loss_map_pts_all: 1.9715, d0.loss_map_dir_all: 0.0142, d0.loss_map_cls: 0.3028, d0.loss_map_pts: 1.9715, d0.loss_map_dir: 0.0142, d1.loss_map_cls: 0.2680, d1.loss_map_pts: 1.3419, d1.loss_map_dir: 0.0136, d2.loss_map_cls: 0.2526, d2.loss_map_pts: 1.1558, d2.loss_map_dir: 0.0140, d3.loss_map_cls: 0.2446, d3.loss_map_pts: 1.0914, d3.loss_map_dir: 0.0146, d4.loss_map_cls: 0.2404, d4.loss_map_pts: 1.0664, d4.loss_map_dir: 0.0150, d5.loss_map_cls: 0.2372, d5.loss_map_pts: 1.0611, d5.loss_map_dir: 0.0151, loss: 37.9345, grad_norm: 160.6322 +2026-02-25 14:21:49,926 - DriveTransformer - INFO - Epoch [5][3350/39528] lr: 9.337e-05, eta: 7 days, 7:53:51, time: 0.818, data_time: 0.040, memory: 19865, loss_cls: 0.2277, loss_bbox: 0.4276, loss_traj: 0.7138, loss_traj_cls: 0.0011, loss_map_cls: 0.2152, loss_map_pts: 0.8910, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.5488, d0.loss_plan_l1_fix_dist: 0.3859, d1.loss_plan_l1_fix_time: 1.2392, d1.loss_plan_l1_fix_dist: 0.2611, d2.loss_plan_l1_fix_time: 1.2205, d2.loss_plan_l1_fix_dist: 0.2836, d3.loss_plan_l1_fix_time: 1.2261, d3.loss_plan_l1_fix_dist: 0.3086, d4.loss_plan_l1_fix_time: 1.2319, d4.loss_plan_l1_fix_dist: 0.3374, d5.loss_plan_l1_fix_time: 1.2384, d5.loss_plan_l1_fix_dist: 0.3676, d6.loss_plan_l1_fix_time: 1.2470, d6.loss_plan_l1_fix_dist: 0.3966, d0.loss_cls_all: 0.2533, d0.loss_bbox_all: 0.4889, d0.loss_cls: 0.2533, d0.loss_bbox: 0.4889, d1.loss_cls: 0.2493, d1.loss_bbox: 0.4556, d2.loss_cls: 0.2380, d2.loss_bbox: 0.4357, d3.loss_cls: 0.2350, d3.loss_bbox: 0.4281, d4.loss_cls: 0.2297, d4.loss_bbox: 0.4266, d5.loss_cls: 0.2273, d5.loss_bbox: 0.4278, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9414, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7810, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7364, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7234, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7156, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7132, d0.loss_map_cls_all: 0.2899, d0.loss_map_pts_all: 1.6813, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2899, d0.loss_map_pts: 1.6813, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2582, d1.loss_map_pts: 1.1405, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2370, d2.loss_map_pts: 0.9721, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2247, d3.loss_map_pts: 0.9107, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.2206, d4.loss_map_pts: 0.8916, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.2148, d5.loss_map_pts: 0.8886, d5.loss_map_dir: 0.0120, loss: 34.2168, grad_norm: 161.6670 +2026-02-25 14:22:29,845 - DriveTransformer - INFO - Epoch [5][3400/39528] lr: 9.337e-05, eta: 7 days, 7:53:09, time: 0.798, data_time: 0.040, memory: 19865, loss_cls: 0.2552, loss_bbox: 0.4572, loss_traj: 0.9129, loss_traj_cls: 0.0010, loss_map_cls: 0.2271, loss_map_pts: 0.9918, loss_map_dir: 0.0131, d0.loss_plan_l1_fix_time: 2.5437, d0.loss_plan_l1_fix_dist: 0.3672, d1.loss_plan_l1_fix_time: 1.2611, d1.loss_plan_l1_fix_dist: 0.2230, d2.loss_plan_l1_fix_time: 1.2591, d2.loss_plan_l1_fix_dist: 0.2302, d3.loss_plan_l1_fix_time: 1.2611, d3.loss_plan_l1_fix_dist: 0.2485, d4.loss_plan_l1_fix_time: 1.2656, d4.loss_plan_l1_fix_dist: 0.2713, d5.loss_plan_l1_fix_time: 1.2707, d5.loss_plan_l1_fix_dist: 0.2980, d6.loss_plan_l1_fix_time: 1.2772, d6.loss_plan_l1_fix_dist: 0.3273, d0.loss_cls_all: 0.2816, d0.loss_bbox_all: 0.5148, d0.loss_cls: 0.2816, d0.loss_bbox: 0.5148, d1.loss_cls: 0.2719, d1.loss_bbox: 0.4831, d2.loss_cls: 0.2672, d2.loss_bbox: 0.4645, d3.loss_cls: 0.2592, d3.loss_bbox: 0.4608, d4.loss_cls: 0.2540, d4.loss_bbox: 0.4598, d5.loss_cls: 0.2541, d5.loss_bbox: 0.4574, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1850, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9895, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9380, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.9198, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9151, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9146, d0.loss_map_cls_all: 0.2933, d0.loss_map_pts_all: 1.7617, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.2933, d0.loss_map_pts: 1.7617, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.2660, d1.loss_map_pts: 1.2424, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2493, d2.loss_map_pts: 1.0852, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.2386, d3.loss_map_pts: 1.0245, d3.loss_map_dir: 0.0125, d4.loss_map_cls: 0.2326, d4.loss_map_pts: 1.0005, d4.loss_map_dir: 0.0129, d5.loss_map_cls: 0.2288, d5.loss_map_pts: 0.9938, d5.loss_map_dir: 0.0130, loss: 36.8118, grad_norm: 161.6610 +2026-02-25 14:23:09,853 - DriveTransformer - INFO - Epoch [5][3450/39528] lr: 9.337e-05, eta: 7 days, 7:52:28, time: 0.800, data_time: 0.043, memory: 19865, loss_cls: 0.2400, loss_bbox: 0.4281, loss_traj: 1.0799, loss_traj_cls: 0.0010, loss_map_cls: 0.2416, loss_map_pts: 0.9207, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.9427, d0.loss_plan_l1_fix_dist: 0.3386, d1.loss_plan_l1_fix_time: 1.4258, d1.loss_plan_l1_fix_dist: 0.2145, d2.loss_plan_l1_fix_time: 1.4294, d2.loss_plan_l1_fix_dist: 0.2272, d3.loss_plan_l1_fix_time: 1.4307, d3.loss_plan_l1_fix_dist: 0.2479, d4.loss_plan_l1_fix_time: 1.4346, d4.loss_plan_l1_fix_dist: 0.2700, d5.loss_plan_l1_fix_time: 1.4389, d5.loss_plan_l1_fix_dist: 0.2952, d6.loss_plan_l1_fix_time: 1.4434, d6.loss_plan_l1_fix_dist: 0.3246, d0.loss_cls_all: 0.2625, d0.loss_bbox_all: 0.4813, d0.loss_cls: 0.2625, d0.loss_bbox: 0.4813, d1.loss_cls: 0.2580, d1.loss_bbox: 0.4493, d2.loss_cls: 0.2521, d2.loss_bbox: 0.4304, d3.loss_cls: 0.2448, d3.loss_bbox: 0.4271, d4.loss_cls: 0.2390, d4.loss_bbox: 0.4286, d5.loss_cls: 0.2394, d5.loss_bbox: 0.4275, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3179, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.1127, d2.loss_traj_cls: 0.0013, d2.loss_traj: 1.0719, d3.loss_traj_cls: 0.0011, d3.loss_traj: 1.0684, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0675, d5.loss_traj_cls: 0.0011, d5.loss_traj: 1.0787, d0.loss_map_cls_all: 0.3116, d0.loss_map_pts_all: 1.6264, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.3116, d0.loss_map_pts: 1.6264, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2759, d1.loss_map_pts: 1.1699, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.2573, d2.loss_map_pts: 1.0124, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.2466, d3.loss_map_pts: 0.9509, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.2436, d4.loss_map_pts: 0.9267, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.2412, d5.loss_map_pts: 0.9209, d5.loss_map_dir: 0.0106, loss: 38.1809, grad_norm: 163.2978 +2026-02-25 14:23:52,105 - DriveTransformer - INFO - Epoch [5][3500/39528] lr: 9.337e-05, eta: 7 days, 7:51:58, time: 0.845, data_time: 0.050, memory: 19865, loss_cls: 0.2407, loss_bbox: 0.4370, loss_traj: 0.6800, loss_traj_cls: 0.0010, loss_map_cls: 0.2228, loss_map_pts: 0.9599, loss_map_dir: 0.0158, d0.loss_plan_l1_fix_time: 2.5043, d0.loss_plan_l1_fix_dist: 0.4427, d1.loss_plan_l1_fix_time: 1.2154, d1.loss_plan_l1_fix_dist: 0.2513, d2.loss_plan_l1_fix_time: 1.1976, d2.loss_plan_l1_fix_dist: 0.2635, d3.loss_plan_l1_fix_time: 1.1975, d3.loss_plan_l1_fix_dist: 0.2805, d4.loss_plan_l1_fix_time: 1.2006, d4.loss_plan_l1_fix_dist: 0.2992, d5.loss_plan_l1_fix_time: 1.2042, d5.loss_plan_l1_fix_dist: 0.3202, d6.loss_plan_l1_fix_time: 1.2083, d6.loss_plan_l1_fix_dist: 0.3408, d0.loss_cls_all: 0.2679, d0.loss_bbox_all: 0.5022, d0.loss_cls: 0.2679, d0.loss_bbox: 0.5022, d1.loss_cls: 0.2606, d1.loss_bbox: 0.4698, d2.loss_cls: 0.2506, d2.loss_bbox: 0.4473, d3.loss_cls: 0.2464, d3.loss_bbox: 0.4398, d4.loss_cls: 0.2397, d4.loss_bbox: 0.4395, d5.loss_cls: 0.2399, d5.loss_bbox: 0.4379, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8626, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7600, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7108, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6940, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6906, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6844, d0.loss_map_cls_all: 0.2938, d0.loss_map_pts_all: 1.9517, d0.loss_map_dir_all: 0.0158, d0.loss_map_cls: 0.2938, d0.loss_map_pts: 1.9517, d0.loss_map_dir: 0.0158, d1.loss_map_cls: 0.2597, d1.loss_map_pts: 1.2735, d1.loss_map_dir: 0.0149, d2.loss_map_cls: 0.2375, d2.loss_map_pts: 1.0691, d2.loss_map_dir: 0.0149, d3.loss_map_cls: 0.2286, d3.loss_map_pts: 0.9958, d3.loss_map_dir: 0.0153, d4.loss_map_cls: 0.2252, d4.loss_map_pts: 0.9698, d4.loss_map_dir: 0.0155, d5.loss_map_cls: 0.2219, d5.loss_map_pts: 0.9604, d5.loss_map_dir: 0.0157, loss: 34.9432, grad_norm: 163.1108 +2026-02-25 14:24:32,166 - DriveTransformer - INFO - Epoch [5][3550/39528] lr: 9.337e-05, eta: 7 days, 7:51:17, time: 0.801, data_time: 0.043, memory: 19865, loss_cls: 0.2676, loss_bbox: 0.4630, loss_traj: 0.8156, loss_traj_cls: 0.0010, loss_map_cls: 0.2407, loss_map_pts: 1.0116, loss_map_dir: 0.0139, d0.loss_plan_l1_fix_time: 2.6904, d0.loss_plan_l1_fix_dist: 0.3779, d1.loss_plan_l1_fix_time: 1.3234, d1.loss_plan_l1_fix_dist: 0.2288, d2.loss_plan_l1_fix_time: 1.2975, d2.loss_plan_l1_fix_dist: 0.2409, d3.loss_plan_l1_fix_time: 1.2982, d3.loss_plan_l1_fix_dist: 0.2607, d4.loss_plan_l1_fix_time: 1.3016, d4.loss_plan_l1_fix_dist: 0.2833, d5.loss_plan_l1_fix_time: 1.3053, d5.loss_plan_l1_fix_dist: 0.3099, d6.loss_plan_l1_fix_time: 1.3100, d6.loss_plan_l1_fix_dist: 0.3365, d0.loss_cls_all: 0.2923, d0.loss_bbox_all: 0.5215, d0.loss_cls: 0.2923, d0.loss_bbox: 0.5215, d1.loss_cls: 0.2838, d1.loss_bbox: 0.4833, d2.loss_cls: 0.2753, d2.loss_bbox: 0.4682, d3.loss_cls: 0.2710, d3.loss_bbox: 0.4636, d4.loss_cls: 0.2659, d4.loss_bbox: 0.4630, d5.loss_cls: 0.2666, d5.loss_bbox: 0.4625, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9775, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8627, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8174, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8113, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8103, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8122, d0.loss_map_cls_all: 0.3024, d0.loss_map_pts_all: 1.8505, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.3024, d0.loss_map_pts: 1.8505, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.2714, d1.loss_map_pts: 1.3032, d1.loss_map_dir: 0.0130, d2.loss_map_cls: 0.2548, d2.loss_map_pts: 1.1148, d2.loss_map_dir: 0.0132, d3.loss_map_cls: 0.2457, d3.loss_map_pts: 1.0510, d3.loss_map_dir: 0.0135, d4.loss_map_cls: 0.2437, d4.loss_map_pts: 1.0274, d4.loss_map_dir: 0.0138, d5.loss_map_cls: 0.2418, d5.loss_map_pts: 1.0146, d5.loss_map_dir: 0.0139, loss: 36.9742, grad_norm: 162.2478 +2026-02-25 14:25:11,740 - DriveTransformer - INFO - Epoch [5][3600/39528] lr: 9.337e-05, eta: 7 days, 7:50:33, time: 0.791, data_time: 0.045, memory: 19865, loss_cls: 0.2289, loss_bbox: 0.4129, loss_traj: 0.8378, loss_traj_cls: 0.0010, loss_map_cls: 0.1738, loss_map_pts: 0.8081, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.4778, d0.loss_plan_l1_fix_dist: 0.4685, d1.loss_plan_l1_fix_time: 1.2534, d1.loss_plan_l1_fix_dist: 0.2507, d2.loss_plan_l1_fix_time: 1.2254, d2.loss_plan_l1_fix_dist: 0.2681, d3.loss_plan_l1_fix_time: 1.2265, d3.loss_plan_l1_fix_dist: 0.2892, d4.loss_plan_l1_fix_time: 1.2290, d4.loss_plan_l1_fix_dist: 0.3123, d5.loss_plan_l1_fix_time: 1.2321, d5.loss_plan_l1_fix_dist: 0.3346, d6.loss_plan_l1_fix_time: 1.2356, d6.loss_plan_l1_fix_dist: 0.3614, d0.loss_cls_all: 0.2508, d0.loss_bbox_all: 0.4739, d0.loss_cls: 0.2508, d0.loss_bbox: 0.4739, d1.loss_cls: 0.2452, d1.loss_bbox: 0.4361, d2.loss_cls: 0.2400, d2.loss_bbox: 0.4184, d3.loss_cls: 0.2321, d3.loss_bbox: 0.4135, d4.loss_cls: 0.2289, d4.loss_bbox: 0.4116, d5.loss_cls: 0.2283, d5.loss_bbox: 0.4125, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1321, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9277, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8585, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8585, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8459, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8475, d0.loss_map_cls_all: 0.2459, d0.loss_map_pts_all: 1.6472, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2459, d0.loss_map_pts: 1.6472, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2079, d1.loss_map_pts: 1.0925, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.1919, d2.loss_map_pts: 0.9220, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1817, d3.loss_map_pts: 0.8475, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1766, d4.loss_map_pts: 0.8196, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1740, d5.loss_map_pts: 0.8104, d5.loss_map_dir: 0.0110, loss: 34.1137, grad_norm: 163.1384 +2026-02-25 14:25:52,740 - DriveTransformer - INFO - Epoch [5][3650/39528] lr: 9.337e-05, eta: 7 days, 7:49:57, time: 0.820, data_time: 0.041, memory: 19865, loss_cls: 0.2509, loss_bbox: 0.4537, loss_traj: 0.9172, loss_traj_cls: 0.0010, loss_map_cls: 0.2081, loss_map_pts: 0.8896, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.5544, d0.loss_plan_l1_fix_dist: 0.4850, d1.loss_plan_l1_fix_time: 1.3561, d1.loss_plan_l1_fix_dist: 0.2178, d2.loss_plan_l1_fix_time: 1.3446, d2.loss_plan_l1_fix_dist: 0.2285, d3.loss_plan_l1_fix_time: 1.3447, d3.loss_plan_l1_fix_dist: 0.2444, d4.loss_plan_l1_fix_time: 1.3464, d4.loss_plan_l1_fix_dist: 0.2633, d5.loss_plan_l1_fix_time: 1.3486, d5.loss_plan_l1_fix_dist: 0.2823, d6.loss_plan_l1_fix_time: 1.3513, d6.loss_plan_l1_fix_dist: 0.3029, d0.loss_cls_all: 0.2809, d0.loss_bbox_all: 0.5255, d0.loss_cls: 0.2809, d0.loss_bbox: 0.5255, d1.loss_cls: 0.2730, d1.loss_bbox: 0.4860, d2.loss_cls: 0.2611, d2.loss_bbox: 0.4674, d3.loss_cls: 0.2561, d3.loss_bbox: 0.4594, d4.loss_cls: 0.2524, d4.loss_bbox: 0.4561, d5.loss_cls: 0.2502, d5.loss_bbox: 0.4549, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2160, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0102, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.9446, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9305, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9189, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.9145, d0.loss_map_cls_all: 0.2665, d0.loss_map_pts_all: 1.6559, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2665, d0.loss_map_pts: 1.6559, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2394, d1.loss_map_pts: 1.1580, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2237, d2.loss_map_pts: 0.9927, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2139, d3.loss_map_pts: 0.9269, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.2086, d4.loss_map_pts: 0.9012, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.2089, d5.loss_map_pts: 0.8912, d5.loss_map_dir: 0.0119, loss: 36.4614, grad_norm: 162.9415 +2026-02-25 14:26:31,487 - DriveTransformer - INFO - Epoch [5][3700/39528] lr: 9.337e-05, eta: 7 days, 7:49:10, time: 0.775, data_time: 0.050, memory: 19865, loss_cls: 0.2016, loss_bbox: 0.4069, loss_traj: 0.7724, loss_traj_cls: 0.0011, loss_map_cls: 0.2135, loss_map_pts: 0.8973, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.5242, d0.loss_plan_l1_fix_dist: 0.3944, d1.loss_plan_l1_fix_time: 1.3546, d1.loss_plan_l1_fix_dist: 0.1958, d2.loss_plan_l1_fix_time: 1.3422, d2.loss_plan_l1_fix_dist: 0.2177, d3.loss_plan_l1_fix_time: 1.3461, d3.loss_plan_l1_fix_dist: 0.2444, d4.loss_plan_l1_fix_time: 1.3495, d4.loss_plan_l1_fix_dist: 0.2750, d5.loss_plan_l1_fix_time: 1.3535, d5.loss_plan_l1_fix_dist: 0.3101, d6.loss_plan_l1_fix_time: 1.3580, d6.loss_plan_l1_fix_dist: 0.3441, d0.loss_cls_all: 0.2345, d0.loss_bbox_all: 0.4520, d0.loss_cls: 0.2345, d0.loss_bbox: 0.4520, d1.loss_cls: 0.2252, d1.loss_bbox: 0.4251, d2.loss_cls: 0.2126, d2.loss_bbox: 0.4117, d3.loss_cls: 0.2068, d3.loss_bbox: 0.4055, d4.loss_cls: 0.2021, d4.loss_bbox: 0.4054, d5.loss_cls: 0.2008, d5.loss_bbox: 0.4055, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0113, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8303, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7784, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7779, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7718, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7697, d0.loss_map_cls_all: 0.2700, d0.loss_map_pts_all: 1.5294, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2700, d0.loss_map_pts: 1.5294, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2538, d1.loss_map_pts: 1.1368, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2343, d2.loss_map_pts: 0.9789, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.2226, d3.loss_map_pts: 0.9208, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.2157, d4.loss_map_pts: 0.9050, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.2131, d5.loss_map_pts: 0.8998, d5.loss_map_dir: 0.0119, loss: 34.1910, grad_norm: 163.5110 +2026-02-25 14:27:12,895 - DriveTransformer - INFO - Epoch [5][3750/39528] lr: 9.337e-05, eta: 7 days, 7:48:35, time: 0.828, data_time: 0.048, memory: 19865, loss_cls: 0.2243, loss_bbox: 0.4265, loss_traj: 0.7976, loss_traj_cls: 0.0011, loss_map_cls: 0.2179, loss_map_pts: 0.9557, loss_map_dir: 0.0172, d0.loss_plan_l1_fix_time: 2.4189, d0.loss_plan_l1_fix_dist: 0.3450, d1.loss_plan_l1_fix_time: 1.2962, d1.loss_plan_l1_fix_dist: 0.1850, d2.loss_plan_l1_fix_time: 1.2935, d2.loss_plan_l1_fix_dist: 0.1940, d3.loss_plan_l1_fix_time: 1.3002, d3.loss_plan_l1_fix_dist: 0.2075, d4.loss_plan_l1_fix_time: 1.3054, d4.loss_plan_l1_fix_dist: 0.2242, d5.loss_plan_l1_fix_time: 1.3104, d5.loss_plan_l1_fix_dist: 0.2415, d6.loss_plan_l1_fix_time: 1.3160, d6.loss_plan_l1_fix_dist: 0.2597, d0.loss_cls_all: 0.2542, d0.loss_bbox_all: 0.4659, d0.loss_cls: 0.2542, d0.loss_bbox: 0.4659, d1.loss_cls: 0.2484, d1.loss_bbox: 0.4393, d2.loss_cls: 0.2379, d2.loss_bbox: 0.4251, d3.loss_cls: 0.2302, d3.loss_bbox: 0.4227, d4.loss_cls: 0.2240, d4.loss_bbox: 0.4250, d5.loss_cls: 0.2239, d5.loss_bbox: 0.4249, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9306, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8211, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7809, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7695, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7925, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7953, d0.loss_map_cls_all: 0.2756, d0.loss_map_pts_all: 1.9416, d0.loss_map_dir_all: 0.0157, d0.loss_map_cls: 0.2756, d0.loss_map_pts: 1.9416, d0.loss_map_dir: 0.0157, d1.loss_map_cls: 0.2497, d1.loss_map_pts: 1.2577, d1.loss_map_dir: 0.0155, d2.loss_map_cls: 0.2332, d2.loss_map_pts: 1.0593, d2.loss_map_dir: 0.0159, d3.loss_map_cls: 0.2254, d3.loss_map_pts: 0.9915, d3.loss_map_dir: 0.0165, d4.loss_map_cls: 0.2204, d4.loss_map_pts: 0.9694, d4.loss_map_dir: 0.0169, d5.loss_map_cls: 0.2180, d5.loss_map_pts: 0.9593, d5.loss_map_dir: 0.0171, loss: 35.1059, grad_norm: 166.0893 +2026-02-25 14:27:54,855 - DriveTransformer - INFO - Epoch [5][3800/39528] lr: 9.337e-05, eta: 7 days, 7:48:03, time: 0.839, data_time: 0.044, memory: 19865, loss_cls: 0.2269, loss_bbox: 0.4206, loss_traj: 0.7508, loss_traj_cls: 0.0011, loss_map_cls: 0.2166, loss_map_pts: 0.9199, loss_map_dir: 0.0159, d0.loss_plan_l1_fix_time: 2.2899, d0.loss_plan_l1_fix_dist: 0.3907, d1.loss_plan_l1_fix_time: 1.3098, d1.loss_plan_l1_fix_dist: 0.2014, d2.loss_plan_l1_fix_time: 1.3052, d2.loss_plan_l1_fix_dist: 0.2081, d3.loss_plan_l1_fix_time: 1.3054, d3.loss_plan_l1_fix_dist: 0.2221, d4.loss_plan_l1_fix_time: 1.3084, d4.loss_plan_l1_fix_dist: 0.2387, d5.loss_plan_l1_fix_time: 1.3117, d5.loss_plan_l1_fix_dist: 0.2550, d6.loss_plan_l1_fix_time: 1.3151, d6.loss_plan_l1_fix_dist: 0.2729, d0.loss_cls_all: 0.2457, d0.loss_bbox_all: 0.4687, d0.loss_cls: 0.2457, d0.loss_bbox: 0.4687, d1.loss_cls: 0.2380, d1.loss_bbox: 0.4420, d2.loss_cls: 0.2307, d2.loss_bbox: 0.4269, d3.loss_cls: 0.2294, d3.loss_bbox: 0.4203, d4.loss_cls: 0.2279, d4.loss_bbox: 0.4183, d5.loss_cls: 0.2253, d5.loss_bbox: 0.4201, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9819, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8111, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7570, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7513, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7496, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7473, d0.loss_map_cls_all: 0.2649, d0.loss_map_pts_all: 1.7875, d0.loss_map_dir_all: 0.0138, d0.loss_map_cls: 0.2649, d0.loss_map_pts: 1.7875, d0.loss_map_dir: 0.0138, d1.loss_map_cls: 0.2434, d1.loss_map_pts: 1.1701, d1.loss_map_dir: 0.0138, d2.loss_map_cls: 0.2309, d2.loss_map_pts: 1.0088, d2.loss_map_dir: 0.0147, d3.loss_map_cls: 0.2240, d3.loss_map_pts: 0.9517, d3.loss_map_dir: 0.0154, d4.loss_map_cls: 0.2182, d4.loss_map_pts: 0.9318, d4.loss_map_dir: 0.0157, d5.loss_map_cls: 0.2180, d5.loss_map_pts: 0.9225, d5.loss_map_dir: 0.0158, loss: 34.3247, grad_norm: 167.2371 +2026-02-25 14:28:34,994 - DriveTransformer - INFO - Epoch [5][3850/39528] lr: 9.337e-05, eta: 7 days, 7:47:23, time: 0.803, data_time: 0.041, memory: 19865, loss_cls: 0.2585, loss_bbox: 0.4290, loss_traj: 0.8397, loss_traj_cls: 0.0011, loss_map_cls: 0.2426, loss_map_pts: 0.9059, loss_map_dir: 0.0130, d0.loss_plan_l1_fix_time: 2.9582, d0.loss_plan_l1_fix_dist: 0.4053, d1.loss_plan_l1_fix_time: 1.4346, d1.loss_plan_l1_fix_dist: 0.2067, d2.loss_plan_l1_fix_time: 1.4101, d2.loss_plan_l1_fix_dist: 0.2128, d3.loss_plan_l1_fix_time: 1.4086, d3.loss_plan_l1_fix_dist: 0.2238, d4.loss_plan_l1_fix_time: 1.4102, d4.loss_plan_l1_fix_dist: 0.2363, d5.loss_plan_l1_fix_time: 1.4124, d5.loss_plan_l1_fix_dist: 0.2496, d6.loss_plan_l1_fix_time: 1.4142, d6.loss_plan_l1_fix_dist: 0.2645, d0.loss_cls_all: 0.2833, d0.loss_bbox_all: 0.4897, d0.loss_cls: 0.2833, d0.loss_bbox: 0.4897, d1.loss_cls: 0.2742, d1.loss_bbox: 0.4564, d2.loss_cls: 0.2628, d2.loss_bbox: 0.4360, d3.loss_cls: 0.2588, d3.loss_bbox: 0.4311, d4.loss_cls: 0.2558, d4.loss_bbox: 0.4287, d5.loss_cls: 0.2576, d5.loss_bbox: 0.4287, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0299, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8819, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8412, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8297, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8325, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8346, d0.loss_map_cls_all: 0.2960, d0.loss_map_pts_all: 1.6331, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2960, d0.loss_map_pts: 1.6331, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2703, d1.loss_map_pts: 1.1453, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2556, d2.loss_map_pts: 0.9895, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2507, d3.loss_map_pts: 0.9287, d3.loss_map_dir: 0.0125, d4.loss_map_cls: 0.2489, d4.loss_map_pts: 0.9134, d4.loss_map_dir: 0.0129, d5.loss_map_cls: 0.2461, d5.loss_map_pts: 0.9061, d5.loss_map_dir: 0.0129, loss: 36.3269, grad_norm: 167.2994 +2026-02-25 14:29:15,220 - DriveTransformer - INFO - Epoch [5][3900/39528] lr: 9.337e-05, eta: 7 days, 7:46:43, time: 0.805, data_time: 0.047, memory: 19865, loss_cls: 0.2223, loss_bbox: 0.4148, loss_traj: 0.7674, loss_traj_cls: 0.0011, loss_map_cls: 0.1903, loss_map_pts: 0.7961, loss_map_dir: 0.0132, d0.loss_plan_l1_fix_time: 2.3047, d0.loss_plan_l1_fix_dist: 0.4619, d1.loss_plan_l1_fix_time: 1.1853, d1.loss_plan_l1_fix_dist: 0.2139, d2.loss_plan_l1_fix_time: 1.1851, d2.loss_plan_l1_fix_dist: 0.2194, d3.loss_plan_l1_fix_time: 1.1872, d3.loss_plan_l1_fix_dist: 0.2279, d4.loss_plan_l1_fix_time: 1.1903, d4.loss_plan_l1_fix_dist: 0.2408, d5.loss_plan_l1_fix_time: 1.1934, d5.loss_plan_l1_fix_dist: 0.2557, d6.loss_plan_l1_fix_time: 1.1964, d6.loss_plan_l1_fix_dist: 0.2718, d0.loss_cls_all: 0.2471, d0.loss_bbox_all: 0.4674, d0.loss_cls: 0.2471, d0.loss_bbox: 0.4674, d1.loss_cls: 0.2410, d1.loss_bbox: 0.4370, d2.loss_cls: 0.2317, d2.loss_bbox: 0.4208, d3.loss_cls: 0.2286, d3.loss_bbox: 0.4144, d4.loss_cls: 0.2265, d4.loss_bbox: 0.4118, d5.loss_cls: 0.2231, d5.loss_bbox: 0.4130, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9358, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8110, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7723, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7646, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7652, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7667, d0.loss_map_cls_all: 0.2416, d0.loss_map_pts_all: 1.6348, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.2416, d0.loss_map_pts: 1.6348, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.2139, d1.loss_map_pts: 1.0573, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2028, d2.loss_map_pts: 0.8854, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.1957, d3.loss_map_pts: 0.8260, d3.loss_map_dir: 0.0125, d4.loss_map_cls: 0.1929, d4.loss_map_pts: 0.8054, d4.loss_map_dir: 0.0128, d5.loss_map_cls: 0.1915, d5.loss_map_pts: 0.7977, d5.loss_map_dir: 0.0130, loss: 32.4442, grad_norm: 167.3042 +2026-02-25 14:29:56,148 - DriveTransformer - INFO - Epoch [5][3950/39528] lr: 9.337e-05, eta: 7 days, 7:46:06, time: 0.818, data_time: 0.045, memory: 19865, loss_cls: 0.2450, loss_bbox: 0.4411, loss_traj: 0.8387, loss_traj_cls: 0.0011, loss_map_cls: 0.2371, loss_map_pts: 0.9973, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 3.0950, d0.loss_plan_l1_fix_dist: 0.3413, d1.loss_plan_l1_fix_time: 1.7325, d1.loss_plan_l1_fix_dist: 0.1945, d2.loss_plan_l1_fix_time: 1.7216, d2.loss_plan_l1_fix_dist: 0.1990, d3.loss_plan_l1_fix_time: 1.7218, d3.loss_plan_l1_fix_dist: 0.2098, d4.loss_plan_l1_fix_time: 1.7247, d4.loss_plan_l1_fix_dist: 0.2242, d5.loss_plan_l1_fix_time: 1.7277, d5.loss_plan_l1_fix_dist: 0.2406, d6.loss_plan_l1_fix_time: 1.7310, d6.loss_plan_l1_fix_dist: 0.2582, d0.loss_cls_all: 0.2761, d0.loss_bbox_all: 0.5027, d0.loss_cls: 0.2761, d0.loss_bbox: 0.5027, d1.loss_cls: 0.2664, d1.loss_bbox: 0.4711, d2.loss_cls: 0.2566, d2.loss_bbox: 0.4500, d3.loss_cls: 0.2516, d3.loss_bbox: 0.4438, d4.loss_cls: 0.2468, d4.loss_bbox: 0.4416, d5.loss_cls: 0.2459, d5.loss_bbox: 0.4401, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0430, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8939, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8588, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8428, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8397, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8383, d0.loss_map_cls_all: 0.3001, d0.loss_map_pts_all: 1.8259, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.3001, d0.loss_map_pts: 1.8259, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2701, d1.loss_map_pts: 1.3087, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2546, d2.loss_map_pts: 1.1142, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.2451, d3.loss_map_pts: 1.0429, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2384, d4.loss_map_pts: 1.0141, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.2367, d5.loss_map_pts: 0.9993, d5.loss_map_dir: 0.0127, loss: 39.3465, grad_norm: 166.8092 +2026-02-25 14:30:38,501 - DriveTransformer - INFO - Epoch [5][4000/39528] lr: 9.337e-05, eta: 7 days, 7:45:36, time: 0.848, data_time: 0.040, memory: 19865, loss_cls: 0.2545, loss_bbox: 0.4641, loss_traj: 0.7685, loss_traj_cls: 0.0011, loss_map_cls: 0.2151, loss_map_pts: 1.0170, loss_map_dir: 0.0154, d0.loss_plan_l1_fix_time: 2.5194, d0.loss_plan_l1_fix_dist: 0.3945, d1.loss_plan_l1_fix_time: 1.4677, d1.loss_plan_l1_fix_dist: 0.2248, d2.loss_plan_l1_fix_time: 1.4482, d2.loss_plan_l1_fix_dist: 0.2293, d3.loss_plan_l1_fix_time: 1.4434, d3.loss_plan_l1_fix_dist: 0.2387, d4.loss_plan_l1_fix_time: 1.4452, d4.loss_plan_l1_fix_dist: 0.2489, d5.loss_plan_l1_fix_time: 1.4481, d5.loss_plan_l1_fix_dist: 0.2600, d6.loss_plan_l1_fix_time: 1.4523, d6.loss_plan_l1_fix_dist: 0.2740, d0.loss_cls_all: 0.2848, d0.loss_bbox_all: 0.5280, d0.loss_cls: 0.2848, d0.loss_bbox: 0.5280, d1.loss_cls: 0.2797, d1.loss_bbox: 0.4957, d2.loss_cls: 0.2659, d2.loss_bbox: 0.4756, d3.loss_cls: 0.2587, d3.loss_bbox: 0.4698, d4.loss_cls: 0.2547, d4.loss_bbox: 0.4660, d5.loss_cls: 0.2540, d5.loss_bbox: 0.4653, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9666, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8253, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7851, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7722, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7689, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7660, d0.loss_map_cls_all: 0.2815, d0.loss_map_pts_all: 1.9608, d0.loss_map_dir_all: 0.0140, d0.loss_map_cls: 0.2815, d0.loss_map_pts: 1.9608, d0.loss_map_dir: 0.0140, d1.loss_map_cls: 0.2486, d1.loss_map_pts: 1.3322, d1.loss_map_dir: 0.0137, d2.loss_map_cls: 0.2327, d2.loss_map_pts: 1.1367, d2.loss_map_dir: 0.0142, d3.loss_map_cls: 0.2238, d3.loss_map_pts: 1.0625, d3.loss_map_dir: 0.0146, d4.loss_map_cls: 0.2193, d4.loss_map_pts: 1.0341, d4.loss_map_dir: 0.0151, d5.loss_map_cls: 0.2172, d5.loss_map_pts: 1.0217, d5.loss_map_dir: 0.0152, loss: 37.3451, grad_norm: 166.6630 +2026-02-25 14:31:19,447 - DriveTransformer - INFO - Epoch [5][4050/39528] lr: 9.337e-05, eta: 7 days, 7:44:59, time: 0.818, data_time: 0.039, memory: 19865, loss_cls: 0.2465, loss_bbox: 0.4219, loss_traj: 0.6871, loss_traj_cls: 0.0011, loss_map_cls: 0.1838, loss_map_pts: 0.8176, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.7353, d0.loss_plan_l1_fix_dist: 0.4031, d1.loss_plan_l1_fix_time: 1.3729, d1.loss_plan_l1_fix_dist: 0.2122, d2.loss_plan_l1_fix_time: 1.3534, d2.loss_plan_l1_fix_dist: 0.2152, d3.loss_plan_l1_fix_time: 1.3593, d3.loss_plan_l1_fix_dist: 0.2213, d4.loss_plan_l1_fix_time: 1.3650, d4.loss_plan_l1_fix_dist: 0.2298, d5.loss_plan_l1_fix_time: 1.3718, d5.loss_plan_l1_fix_dist: 0.2405, d6.loss_plan_l1_fix_time: 1.3790, d6.loss_plan_l1_fix_dist: 0.2526, d0.loss_cls_all: 0.2760, d0.loss_bbox_all: 0.4789, d0.loss_cls: 0.2760, d0.loss_bbox: 0.4789, d1.loss_cls: 0.2688, d1.loss_bbox: 0.4491, d2.loss_cls: 0.2530, d2.loss_bbox: 0.4369, d3.loss_cls: 0.2495, d3.loss_bbox: 0.4272, d4.loss_cls: 0.2448, d4.loss_bbox: 0.4259, d5.loss_cls: 0.2451, d5.loss_bbox: 0.4236, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9097, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7592, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7044, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6914, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6863, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6882, d0.loss_map_cls_all: 0.2502, d0.loss_map_pts_all: 1.6135, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2502, d0.loss_map_pts: 1.6135, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2157, d1.loss_map_pts: 1.0873, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2014, d2.loss_map_pts: 0.9189, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1921, d3.loss_map_pts: 0.8532, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1858, d4.loss_map_pts: 0.8302, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1846, d5.loss_map_pts: 0.8181, d5.loss_map_dir: 0.0115, loss: 33.7496, grad_norm: 166.1389 +2026-02-25 14:32:00,874 - DriveTransformer - INFO - Epoch [5][4100/39528] lr: 9.337e-05, eta: 7 days, 7:44:25, time: 0.829, data_time: 0.045, memory: 19865, loss_cls: 0.2317, loss_bbox: 0.4196, loss_traj: 0.7633, loss_traj_cls: 0.0011, loss_map_cls: 0.2167, loss_map_pts: 0.9018, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 2.8413, d0.loss_plan_l1_fix_dist: 0.3777, d1.loss_plan_l1_fix_time: 1.2831, d1.loss_plan_l1_fix_dist: 0.1836, d2.loss_plan_l1_fix_time: 1.2851, d2.loss_plan_l1_fix_dist: 0.1860, d3.loss_plan_l1_fix_time: 1.2980, d3.loss_plan_l1_fix_dist: 0.1944, d4.loss_plan_l1_fix_time: 1.3063, d4.loss_plan_l1_fix_dist: 0.2061, d5.loss_plan_l1_fix_time: 1.3148, d5.loss_plan_l1_fix_dist: 0.2184, d6.loss_plan_l1_fix_time: 1.3237, d6.loss_plan_l1_fix_dist: 0.2309, d0.loss_cls_all: 0.2599, d0.loss_bbox_all: 0.4768, d0.loss_cls: 0.2599, d0.loss_bbox: 0.4768, d1.loss_cls: 0.2524, d1.loss_bbox: 0.4462, d2.loss_cls: 0.2419, d2.loss_bbox: 0.4291, d3.loss_cls: 0.2372, d3.loss_bbox: 0.4226, d4.loss_cls: 0.2332, d4.loss_bbox: 0.4201, d5.loss_cls: 0.2329, d5.loss_bbox: 0.4187, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0234, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8322, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7841, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7706, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7579, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7574, d0.loss_map_cls_all: 0.2885, d0.loss_map_pts_all: 1.7813, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.2885, d0.loss_map_pts: 1.7813, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2560, d1.loss_map_pts: 1.2095, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2421, d2.loss_map_pts: 1.0068, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2291, d3.loss_map_pts: 0.9353, d3.loss_map_dir: 0.0136, d4.loss_map_cls: 0.2203, d4.loss_map_pts: 0.9136, d4.loss_map_dir: 0.0140, d5.loss_map_cls: 0.2169, d5.loss_map_pts: 0.9032, d5.loss_map_dir: 0.0141, loss: 34.9013, grad_norm: 165.6463 +2026-02-25 14:32:42,058 - DriveTransformer - INFO - Epoch [5][4150/39528] lr: 9.337e-05, eta: 7 days, 7:43:49, time: 0.824, data_time: 0.043, memory: 19865, loss_cls: 0.2314, loss_bbox: 0.4289, loss_traj: 0.7710, loss_traj_cls: 0.0010, loss_map_cls: 0.2282, loss_map_pts: 1.0040, loss_map_dir: 0.0150, d0.loss_plan_l1_fix_time: 2.5182, d0.loss_plan_l1_fix_dist: 0.4083, d1.loss_plan_l1_fix_time: 1.2693, d1.loss_plan_l1_fix_dist: 0.2205, d2.loss_plan_l1_fix_time: 1.2602, d2.loss_plan_l1_fix_dist: 0.2238, d3.loss_plan_l1_fix_time: 1.2642, d3.loss_plan_l1_fix_dist: 0.2317, d4.loss_plan_l1_fix_time: 1.2690, d4.loss_plan_l1_fix_dist: 0.2410, d5.loss_plan_l1_fix_time: 1.2750, d5.loss_plan_l1_fix_dist: 0.2522, d6.loss_plan_l1_fix_time: 1.2820, d6.loss_plan_l1_fix_dist: 0.2668, d0.loss_cls_all: 0.2554, d0.loss_bbox_all: 0.4860, d0.loss_cls: 0.2554, d0.loss_bbox: 0.4860, d1.loss_cls: 0.2496, d1.loss_bbox: 0.4527, d2.loss_cls: 0.2382, d2.loss_bbox: 0.4370, d3.loss_cls: 0.2347, d3.loss_bbox: 0.4288, d4.loss_cls: 0.2316, d4.loss_bbox: 0.4275, d5.loss_cls: 0.2309, d5.loss_bbox: 0.4274, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0411, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8490, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8096, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7921, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7792, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7764, d0.loss_map_cls_all: 0.2923, d0.loss_map_pts_all: 1.9098, d0.loss_map_dir_all: 0.0136, d0.loss_map_cls: 0.2923, d0.loss_map_pts: 1.9098, d0.loss_map_dir: 0.0136, d1.loss_map_cls: 0.2629, d1.loss_map_pts: 1.2712, d1.loss_map_dir: 0.0134, d2.loss_map_cls: 0.2446, d2.loss_map_pts: 1.0906, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2374, d3.loss_map_pts: 1.0330, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2319, d4.loss_map_pts: 1.0130, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.2287, d5.loss_map_pts: 1.0050, d5.loss_map_dir: 0.0149, loss: 35.6762, grad_norm: 166.0048 +2026-02-25 14:33:21,306 - DriveTransformer - INFO - Epoch [5][4200/39528] lr: 9.337e-05, eta: 7 days, 7:43:04, time: 0.785, data_time: 0.045, memory: 19865, loss_cls: 0.2487, loss_bbox: 0.4234, loss_traj: 0.7185, loss_traj_cls: 0.0011, loss_map_cls: 0.2225, loss_map_pts: 0.8492, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.6087, d0.loss_plan_l1_fix_dist: 0.4710, d1.loss_plan_l1_fix_time: 1.3368, d1.loss_plan_l1_fix_dist: 0.2029, d2.loss_plan_l1_fix_time: 1.3363, d2.loss_plan_l1_fix_dist: 0.2101, d3.loss_plan_l1_fix_time: 1.3496, d3.loss_plan_l1_fix_dist: 0.2229, d4.loss_plan_l1_fix_time: 1.3577, d4.loss_plan_l1_fix_dist: 0.2378, d5.loss_plan_l1_fix_time: 1.3658, d5.loss_plan_l1_fix_dist: 0.2543, d6.loss_plan_l1_fix_time: 1.3746, d6.loss_plan_l1_fix_dist: 0.2707, d0.loss_cls_all: 0.2793, d0.loss_bbox_all: 0.4733, d0.loss_cls: 0.2793, d0.loss_bbox: 0.4733, d1.loss_cls: 0.2703, d1.loss_bbox: 0.4423, d2.loss_cls: 0.2565, d2.loss_bbox: 0.4300, d3.loss_cls: 0.2501, d3.loss_bbox: 0.4232, d4.loss_cls: 0.2473, d4.loss_bbox: 0.4224, d5.loss_cls: 0.2477, d5.loss_bbox: 0.4225, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9416, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7787, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7304, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7172, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7156, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7185, d0.loss_map_cls_all: 0.2905, d0.loss_map_pts_all: 1.5689, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2905, d0.loss_map_pts: 1.5689, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2572, d1.loss_map_pts: 1.1009, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.2447, d2.loss_map_pts: 0.9380, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2328, d3.loss_map_pts: 0.8762, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.2264, d4.loss_map_pts: 0.8537, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.2219, d5.loss_map_pts: 0.8508, d5.loss_map_dir: 0.0115, loss: 34.1948, grad_norm: 166.2924 +2026-02-25 14:34:02,549 - DriveTransformer - INFO - Epoch [5][4250/39528] lr: 9.337e-05, eta: 7 days, 7:42:29, time: 0.825, data_time: 0.041, memory: 19865, loss_cls: 0.2400, loss_bbox: 0.4325, loss_traj: 0.8854, loss_traj_cls: 0.0011, loss_map_cls: 0.1910, loss_map_pts: 0.7613, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.8773, d0.loss_plan_l1_fix_dist: 0.4720, d1.loss_plan_l1_fix_time: 1.3847, d1.loss_plan_l1_fix_dist: 0.2318, d2.loss_plan_l1_fix_time: 1.3861, d2.loss_plan_l1_fix_dist: 0.2362, d3.loss_plan_l1_fix_time: 1.3929, d3.loss_plan_l1_fix_dist: 0.2431, d4.loss_plan_l1_fix_time: 1.3989, d4.loss_plan_l1_fix_dist: 0.2508, d5.loss_plan_l1_fix_time: 1.4055, d5.loss_plan_l1_fix_dist: 0.2592, d6.loss_plan_l1_fix_time: 1.4130, d6.loss_plan_l1_fix_dist: 0.2690, d0.loss_cls_all: 0.2678, d0.loss_bbox_all: 0.4858, d0.loss_cls: 0.2678, d0.loss_bbox: 0.4858, d1.loss_cls: 0.2574, d1.loss_bbox: 0.4578, d2.loss_cls: 0.2483, d2.loss_bbox: 0.4387, d3.loss_cls: 0.2428, d3.loss_bbox: 0.4313, d4.loss_cls: 0.2392, d4.loss_bbox: 0.4308, d5.loss_cls: 0.2398, d5.loss_bbox: 0.4307, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1685, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9585, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8819, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8788, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8792, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8749, d0.loss_map_cls_all: 0.2589, d0.loss_map_pts_all: 1.5254, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2589, d0.loss_map_pts: 1.5254, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2226, d1.loss_map_pts: 1.0169, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2069, d2.loss_map_pts: 0.8569, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1972, d3.loss_map_pts: 0.7945, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1927, d4.loss_map_pts: 0.7701, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1923, d5.loss_map_pts: 0.7633, d5.loss_map_dir: 0.0111, loss: 35.1708, grad_norm: 166.7770 +2026-02-25 14:34:41,495 - DriveTransformer - INFO - Epoch [5][4300/39528] lr: 9.337e-05, eta: 7 days, 7:41:43, time: 0.779, data_time: 0.041, memory: 19865, loss_cls: 0.2314, loss_bbox: 0.4004, loss_traj: 0.7681, loss_traj_cls: 0.0011, loss_map_cls: 0.1741, loss_map_pts: 0.6841, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.6156, d0.loss_plan_l1_fix_dist: 0.4322, d1.loss_plan_l1_fix_time: 1.3745, d1.loss_plan_l1_fix_dist: 0.1887, d2.loss_plan_l1_fix_time: 1.3487, d2.loss_plan_l1_fix_dist: 0.1931, d3.loss_plan_l1_fix_time: 1.3447, d3.loss_plan_l1_fix_dist: 0.2017, d4.loss_plan_l1_fix_time: 1.3467, d4.loss_plan_l1_fix_dist: 0.2134, d5.loss_plan_l1_fix_time: 1.3492, d5.loss_plan_l1_fix_dist: 0.2270, d6.loss_plan_l1_fix_time: 1.3521, d6.loss_plan_l1_fix_dist: 0.2438, d0.loss_cls_all: 0.2585, d0.loss_bbox_all: 0.4524, d0.loss_cls: 0.2585, d0.loss_bbox: 0.4524, d1.loss_cls: 0.2526, d1.loss_bbox: 0.4253, d2.loss_cls: 0.2393, d2.loss_bbox: 0.4134, d3.loss_cls: 0.2350, d3.loss_bbox: 0.4042, d4.loss_cls: 0.2299, d4.loss_bbox: 0.4022, d5.loss_cls: 0.2306, d5.loss_bbox: 0.4001, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9144, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8045, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7762, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7614, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7630, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7647, d0.loss_map_cls_all: 0.2300, d0.loss_map_pts_all: 1.4117, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2300, d0.loss_map_pts: 1.4117, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.1989, d1.loss_map_pts: 0.9378, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1882, d2.loss_map_pts: 0.7760, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1795, d3.loss_map_pts: 0.7161, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1755, d4.loss_map_pts: 0.6939, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1745, d5.loss_map_pts: 0.6871, d5.loss_map_dir: 0.0108, loss: 32.2266, grad_norm: 162.0918 +2026-02-25 14:35:21,090 - DriveTransformer - INFO - Epoch [5][4350/39528] lr: 9.337e-05, eta: 7 days, 7:40:59, time: 0.792, data_time: 0.040, memory: 19865, loss_cls: 0.2470, loss_bbox: 0.4386, loss_traj: 0.7488, loss_traj_cls: 0.0011, loss_map_cls: 0.2157, loss_map_pts: 0.8705, loss_map_dir: 0.0132, d0.loss_plan_l1_fix_time: 2.7888, d0.loss_plan_l1_fix_dist: 0.5063, d1.loss_plan_l1_fix_time: 1.3911, d1.loss_plan_l1_fix_dist: 0.1941, d2.loss_plan_l1_fix_time: 1.3770, d2.loss_plan_l1_fix_dist: 0.2011, d3.loss_plan_l1_fix_time: 1.3759, d3.loss_plan_l1_fix_dist: 0.2103, d4.loss_plan_l1_fix_time: 1.3776, d4.loss_plan_l1_fix_dist: 0.2201, d5.loss_plan_l1_fix_time: 1.3792, d5.loss_plan_l1_fix_dist: 0.2316, d6.loss_plan_l1_fix_time: 1.3802, d6.loss_plan_l1_fix_dist: 0.2446, d0.loss_cls_all: 0.2791, d0.loss_bbox_all: 0.4921, d0.loss_cls: 0.2791, d0.loss_bbox: 0.4921, d1.loss_cls: 0.2679, d1.loss_bbox: 0.4620, d2.loss_cls: 0.2569, d2.loss_bbox: 0.4471, d3.loss_cls: 0.2530, d3.loss_bbox: 0.4393, d4.loss_cls: 0.2469, d4.loss_bbox: 0.4392, d5.loss_cls: 0.2437, d5.loss_bbox: 0.4408, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9629, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8036, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7623, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7484, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7515, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7485, d0.loss_map_cls_all: 0.2793, d0.loss_map_pts_all: 1.7313, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2793, d0.loss_map_pts: 1.7313, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2479, d1.loss_map_pts: 1.1613, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2345, d2.loss_map_pts: 0.9766, d2.loss_map_dir: 0.0123, d3.loss_map_cls: 0.2244, d3.loss_map_pts: 0.9093, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.2174, d4.loss_map_pts: 0.8812, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.2161, d5.loss_map_pts: 0.8746, d5.loss_map_dir: 0.0131, loss: 35.2858, grad_norm: 163.5883 +2026-02-25 14:36:01,719 - DriveTransformer - INFO - Epoch [5][4400/39528] lr: 9.337e-05, eta: 7 days, 7:40:21, time: 0.813, data_time: 0.039, memory: 19865, loss_cls: 0.2449, loss_bbox: 0.4439, loss_traj: 0.8046, loss_traj_cls: 0.0011, loss_map_cls: 0.1935, loss_map_pts: 0.8905, loss_map_dir: 0.0138, d0.loss_plan_l1_fix_time: 2.8283, d0.loss_plan_l1_fix_dist: 0.3829, d1.loss_plan_l1_fix_time: 1.7087, d1.loss_plan_l1_fix_dist: 0.2301, d2.loss_plan_l1_fix_time: 1.6931, d2.loss_plan_l1_fix_dist: 0.2379, d3.loss_plan_l1_fix_time: 1.6980, d3.loss_plan_l1_fix_dist: 0.2494, d4.loss_plan_l1_fix_time: 1.7030, d4.loss_plan_l1_fix_dist: 0.2623, d5.loss_plan_l1_fix_time: 1.7075, d5.loss_plan_l1_fix_dist: 0.2769, d6.loss_plan_l1_fix_time: 1.7119, d6.loss_plan_l1_fix_dist: 0.2919, d0.loss_cls_all: 0.2704, d0.loss_bbox_all: 0.4964, d0.loss_cls: 0.2704, d0.loss_bbox: 0.4964, d1.loss_cls: 0.2625, d1.loss_bbox: 0.4705, d2.loss_cls: 0.2533, d2.loss_bbox: 0.4543, d3.loss_cls: 0.2511, d3.loss_bbox: 0.4483, d4.loss_cls: 0.2475, d4.loss_bbox: 0.4461, d5.loss_cls: 0.2463, d5.loss_bbox: 0.4444, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0243, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8612, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8169, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8098, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8070, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8059, d0.loss_map_cls_all: 0.2560, d0.loss_map_pts_all: 1.7459, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.2560, d0.loss_map_pts: 1.7459, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.2255, d1.loss_map_pts: 1.1890, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2102, d2.loss_map_pts: 0.9982, d2.loss_map_dir: 0.0127, d3.loss_map_cls: 0.2052, d3.loss_map_pts: 0.9268, d3.loss_map_dir: 0.0132, d4.loss_map_cls: 0.1989, d4.loss_map_pts: 0.9019, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.1949, d5.loss_map_pts: 0.8941, d5.loss_map_dir: 0.0137, loss: 37.8002, grad_norm: 161.1128 +2026-02-25 14:36:43,378 - DriveTransformer - INFO - Epoch [5][4450/39528] lr: 9.337e-05, eta: 7 days, 7:39:48, time: 0.833, data_time: 0.043, memory: 19865, loss_cls: 0.2471, loss_bbox: 0.4489, loss_traj: 0.8799, loss_traj_cls: 0.0011, loss_map_cls: 0.2460, loss_map_pts: 0.9737, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.8667, d0.loss_plan_l1_fix_dist: 0.4855, d1.loss_plan_l1_fix_time: 1.5028, d1.loss_plan_l1_fix_dist: 0.2358, d2.loss_plan_l1_fix_time: 1.4918, d2.loss_plan_l1_fix_dist: 0.2440, d3.loss_plan_l1_fix_time: 1.4988, d3.loss_plan_l1_fix_dist: 0.2616, d4.loss_plan_l1_fix_time: 1.5043, d4.loss_plan_l1_fix_dist: 0.2826, d5.loss_plan_l1_fix_time: 1.5101, d5.loss_plan_l1_fix_dist: 0.3047, d6.loss_plan_l1_fix_time: 1.5167, d6.loss_plan_l1_fix_dist: 0.3245, d0.loss_cls_all: 0.2762, d0.loss_bbox_all: 0.4920, d0.loss_cls: 0.2762, d0.loss_bbox: 0.4920, d1.loss_cls: 0.2703, d1.loss_bbox: 0.4644, d2.loss_cls: 0.2631, d2.loss_bbox: 0.4502, d3.loss_cls: 0.2551, d3.loss_bbox: 0.4469, d4.loss_cls: 0.2480, d4.loss_bbox: 0.4481, d5.loss_cls: 0.2472, d5.loss_bbox: 0.4492, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0903, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9707, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9069, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8921, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8865, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8849, d0.loss_map_cls_all: 0.3159, d0.loss_map_pts_all: 1.6970, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.3159, d0.loss_map_pts: 1.6970, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2852, d1.loss_map_pts: 1.2468, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2665, d2.loss_map_pts: 1.0751, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.2554, d3.loss_map_pts: 1.0104, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.2493, d4.loss_map_pts: 0.9833, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.2472, d5.loss_map_pts: 0.9764, d5.loss_map_dir: 0.0119, loss: 38.2531, grad_norm: 158.9254 +2026-02-25 14:37:24,113 - DriveTransformer - INFO - Epoch [5][4500/39528] lr: 9.337e-05, eta: 7 days, 7:39:10, time: 0.815, data_time: 0.046, memory: 19865, loss_cls: 0.2287, loss_bbox: 0.4438, loss_traj: 0.7484, loss_traj_cls: 0.0012, loss_map_cls: 0.2185, loss_map_pts: 0.9182, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.7058, d0.loss_plan_l1_fix_dist: 0.4334, d1.loss_plan_l1_fix_time: 1.2906, d1.loss_plan_l1_fix_dist: 0.2205, d2.loss_plan_l1_fix_time: 1.2733, d2.loss_plan_l1_fix_dist: 0.2374, d3.loss_plan_l1_fix_time: 1.2677, d3.loss_plan_l1_fix_dist: 0.2589, d4.loss_plan_l1_fix_time: 1.2696, d4.loss_plan_l1_fix_dist: 0.2847, d5.loss_plan_l1_fix_time: 1.2734, d5.loss_plan_l1_fix_dist: 0.3146, d6.loss_plan_l1_fix_time: 1.2789, d6.loss_plan_l1_fix_dist: 0.3516, d0.loss_cls_all: 0.2594, d0.loss_bbox_all: 0.4917, d0.loss_cls: 0.2594, d0.loss_bbox: 0.4917, d1.loss_cls: 0.2537, d1.loss_bbox: 0.4588, d2.loss_cls: 0.2426, d2.loss_bbox: 0.4429, d3.loss_cls: 0.2359, d3.loss_bbox: 0.4394, d4.loss_cls: 0.2286, d4.loss_bbox: 0.4399, d5.loss_cls: 0.2287, d5.loss_bbox: 0.4408, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0022, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7989, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7704, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7570, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7496, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7450, d0.loss_map_cls_all: 0.2761, d0.loss_map_pts_all: 1.7472, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2761, d0.loss_map_pts: 1.7472, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2507, d1.loss_map_pts: 1.1961, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.2330, d2.loss_map_pts: 1.0189, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2250, d3.loss_map_pts: 0.9534, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.2219, d4.loss_map_pts: 0.9288, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.2202, d5.loss_map_pts: 0.9197, d5.loss_map_dir: 0.0136, loss: 35.0775, grad_norm: 157.8144 +2026-02-25 14:38:06,019 - DriveTransformer - INFO - Epoch [5][4550/39528] lr: 9.337e-05, eta: 7 days, 7:38:38, time: 0.838, data_time: 0.049, memory: 19865, loss_cls: 0.2535, loss_bbox: 0.4461, loss_traj: 0.7888, loss_traj_cls: 0.0011, loss_map_cls: 0.2030, loss_map_pts: 0.9586, loss_map_dir: 0.0148, d0.loss_plan_l1_fix_time: 2.7934, d0.loss_plan_l1_fix_dist: 0.4046, d1.loss_plan_l1_fix_time: 1.4034, d1.loss_plan_l1_fix_dist: 0.2423, d2.loss_plan_l1_fix_time: 1.3969, d2.loss_plan_l1_fix_dist: 0.2560, d3.loss_plan_l1_fix_time: 1.3984, d3.loss_plan_l1_fix_dist: 0.2757, d4.loss_plan_l1_fix_time: 1.4038, d4.loss_plan_l1_fix_dist: 0.3009, d5.loss_plan_l1_fix_time: 1.4102, d5.loss_plan_l1_fix_dist: 0.3316, d6.loss_plan_l1_fix_time: 1.4179, d6.loss_plan_l1_fix_dist: 0.3699, d0.loss_cls_all: 0.2782, d0.loss_bbox_all: 0.4865, d0.loss_cls: 0.2782, d0.loss_bbox: 0.4865, d1.loss_cls: 0.2753, d1.loss_bbox: 0.4568, d2.loss_cls: 0.2641, d2.loss_bbox: 0.4452, d3.loss_cls: 0.2550, d3.loss_bbox: 0.4438, d4.loss_cls: 0.2516, d4.loss_bbox: 0.4440, d5.loss_cls: 0.2526, d5.loss_bbox: 0.4450, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9637, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8490, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8115, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7927, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7816, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7830, d0.loss_map_cls_all: 0.2664, d0.loss_map_pts_all: 1.8203, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.2664, d0.loss_map_pts: 1.8203, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.2336, d1.loss_map_pts: 1.2221, d1.loss_map_dir: 0.0131, d2.loss_map_cls: 0.2189, d2.loss_map_pts: 1.0465, d2.loss_map_dir: 0.0136, d3.loss_map_cls: 0.2098, d3.loss_map_pts: 0.9913, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.2045, d4.loss_map_pts: 0.9718, d4.loss_map_dir: 0.0147, d5.loss_map_cls: 0.2035, d5.loss_map_pts: 0.9614, d5.loss_map_dir: 0.0146, loss: 36.6546, grad_norm: 158.6406 +2026-02-25 14:38:46,656 - DriveTransformer - INFO - Epoch [5][4600/39528] lr: 9.337e-05, eta: 7 days, 7:38:00, time: 0.813, data_time: 0.040, memory: 19865, loss_cls: 0.2348, loss_bbox: 0.4215, loss_traj: 0.8495, loss_traj_cls: 0.0011, loss_map_cls: 0.2145, loss_map_pts: 0.8459, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.7410, d0.loss_plan_l1_fix_dist: 0.4268, d1.loss_plan_l1_fix_time: 1.3557, d1.loss_plan_l1_fix_dist: 0.2302, d2.loss_plan_l1_fix_time: 1.3506, d2.loss_plan_l1_fix_dist: 0.2528, d3.loss_plan_l1_fix_time: 1.3541, d3.loss_plan_l1_fix_dist: 0.2832, d4.loss_plan_l1_fix_time: 1.3601, d4.loss_plan_l1_fix_dist: 0.3142, d5.loss_plan_l1_fix_time: 1.3672, d5.loss_plan_l1_fix_dist: 0.3450, d6.loss_plan_l1_fix_time: 1.3751, d6.loss_plan_l1_fix_dist: 0.3718, d0.loss_cls_all: 0.2665, d0.loss_bbox_all: 0.4725, d0.loss_cls: 0.2665, d0.loss_bbox: 0.4725, d1.loss_cls: 0.2577, d1.loss_bbox: 0.4399, d2.loss_cls: 0.2485, d2.loss_bbox: 0.4229, d3.loss_cls: 0.2415, d3.loss_bbox: 0.4197, d4.loss_cls: 0.2370, d4.loss_bbox: 0.4189, d5.loss_cls: 0.2355, d5.loss_bbox: 0.4209, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0396, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9017, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8568, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8501, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8434, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8455, d0.loss_map_cls_all: 0.2743, d0.loss_map_pts_all: 1.7278, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2743, d0.loss_map_pts: 1.7278, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2489, d1.loss_map_pts: 1.1257, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2336, d2.loss_map_pts: 0.9457, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.2288, d3.loss_map_pts: 0.8782, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.2205, d4.loss_map_pts: 0.8524, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.2146, d5.loss_map_pts: 0.8465, d5.loss_map_dir: 0.0115, loss: 35.7463, grad_norm: 159.6703 +2026-02-25 14:39:27,351 - DriveTransformer - INFO - Epoch [5][4650/39528] lr: 9.337e-05, eta: 7 days, 7:37:22, time: 0.814, data_time: 0.043, memory: 19865, loss_cls: 0.2419, loss_bbox: 0.4331, loss_traj: 0.8064, loss_traj_cls: 0.0011, loss_map_cls: 0.1997, loss_map_pts: 0.8102, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.8516, d0.loss_plan_l1_fix_dist: 0.5164, d1.loss_plan_l1_fix_time: 1.3976, d1.loss_plan_l1_fix_dist: 0.2570, d2.loss_plan_l1_fix_time: 1.3824, d2.loss_plan_l1_fix_dist: 0.2695, d3.loss_plan_l1_fix_time: 1.3834, d3.loss_plan_l1_fix_dist: 0.2887, d4.loss_plan_l1_fix_time: 1.3869, d4.loss_plan_l1_fix_dist: 0.3088, d5.loss_plan_l1_fix_time: 1.3907, d5.loss_plan_l1_fix_dist: 0.3302, d6.loss_plan_l1_fix_time: 1.3955, d6.loss_plan_l1_fix_dist: 0.3509, d0.loss_cls_all: 0.2673, d0.loss_bbox_all: 0.4747, d0.loss_cls: 0.2673, d0.loss_bbox: 0.4747, d1.loss_cls: 0.2620, d1.loss_bbox: 0.4448, d2.loss_cls: 0.2493, d2.loss_bbox: 0.4334, d3.loss_cls: 0.2455, d3.loss_bbox: 0.4284, d4.loss_cls: 0.2426, d4.loss_bbox: 0.4286, d5.loss_cls: 0.2417, d5.loss_bbox: 0.4321, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0475, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8935, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8263, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8137, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8034, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8062, d0.loss_map_cls_all: 0.2648, d0.loss_map_pts_all: 1.6171, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2648, d0.loss_map_pts: 1.6171, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2406, d1.loss_map_pts: 1.0649, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2238, d2.loss_map_pts: 0.8964, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.2127, d3.loss_map_pts: 0.8413, d3.loss_map_dir: 0.0121, d4.loss_map_cls: 0.2050, d4.loss_map_pts: 0.8210, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.2018, d5.loss_map_pts: 0.8122, d5.loss_map_dir: 0.0125, loss: 35.4693, grad_norm: 159.6472 +2026-02-25 14:40:07,800 - DriveTransformer - INFO - Epoch [5][4700/39528] lr: 9.337e-05, eta: 7 days, 7:36:43, time: 0.809, data_time: 0.045, memory: 19865, loss_cls: 0.2418, loss_bbox: 0.4306, loss_traj: 0.8116, loss_traj_cls: 0.0011, loss_map_cls: 0.1992, loss_map_pts: 0.9394, loss_map_dir: 0.0154, d0.loss_plan_l1_fix_time: 2.7581, d0.loss_plan_l1_fix_dist: 0.4675, d1.loss_plan_l1_fix_time: 1.3902, d1.loss_plan_l1_fix_dist: 0.2683, d2.loss_plan_l1_fix_time: 1.3815, d2.loss_plan_l1_fix_dist: 0.2957, d3.loss_plan_l1_fix_time: 1.3862, d3.loss_plan_l1_fix_dist: 0.3302, d4.loss_plan_l1_fix_time: 1.3903, d4.loss_plan_l1_fix_dist: 0.3669, d5.loss_plan_l1_fix_time: 1.3940, d5.loss_plan_l1_fix_dist: 0.4070, d6.loss_plan_l1_fix_time: 1.3985, d6.loss_plan_l1_fix_dist: 0.4514, d0.loss_cls_all: 0.2766, d0.loss_bbox_all: 0.4766, d0.loss_cls: 0.2766, d0.loss_bbox: 0.4766, d1.loss_cls: 0.2680, d1.loss_bbox: 0.4466, d2.loss_cls: 0.2543, d2.loss_bbox: 0.4336, d3.loss_cls: 0.2484, d3.loss_bbox: 0.4264, d4.loss_cls: 0.2432, d4.loss_bbox: 0.4268, d5.loss_cls: 0.2419, d5.loss_bbox: 0.4276, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9684, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8555, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8083, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8076, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8062, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8078, d0.loss_map_cls_all: 0.2619, d0.loss_map_pts_all: 1.7960, d0.loss_map_dir_all: 0.0138, d0.loss_map_cls: 0.2619, d0.loss_map_pts: 1.7960, d0.loss_map_dir: 0.0138, d1.loss_map_cls: 0.2333, d1.loss_map_pts: 1.1942, d1.loss_map_dir: 0.0136, d2.loss_map_cls: 0.2165, d2.loss_map_pts: 1.0203, d2.loss_map_dir: 0.0141, d3.loss_map_cls: 0.2077, d3.loss_map_pts: 0.9630, d3.loss_map_dir: 0.0146, d4.loss_map_cls: 0.2025, d4.loss_map_pts: 0.9438, d4.loss_map_dir: 0.0152, d5.loss_map_cls: 0.2001, d5.loss_map_pts: 0.9394, d5.loss_map_dir: 0.0153, loss: 36.6445, grad_norm: 159.2775 +2026-02-25 14:40:49,600 - DriveTransformer - INFO - Epoch [5][4750/39528] lr: 9.337e-05, eta: 7 days, 7:36:10, time: 0.836, data_time: 0.043, memory: 19865, loss_cls: 0.2265, loss_bbox: 0.4340, loss_traj: 0.7051, loss_traj_cls: 0.0011, loss_map_cls: 0.2123, loss_map_pts: 0.8817, loss_map_dir: 0.0133, d0.loss_plan_l1_fix_time: 2.5882, d0.loss_plan_l1_fix_dist: 0.4644, d1.loss_plan_l1_fix_time: 1.3007, d1.loss_plan_l1_fix_dist: 0.2080, d2.loss_plan_l1_fix_time: 1.2835, d2.loss_plan_l1_fix_dist: 0.2230, d3.loss_plan_l1_fix_time: 1.2864, d3.loss_plan_l1_fix_dist: 0.2434, d4.loss_plan_l1_fix_time: 1.2895, d4.loss_plan_l1_fix_dist: 0.2680, d5.loss_plan_l1_fix_time: 1.2933, d5.loss_plan_l1_fix_dist: 0.2935, d6.loss_plan_l1_fix_time: 1.2974, d6.loss_plan_l1_fix_dist: 0.3188, d0.loss_cls_all: 0.2558, d0.loss_bbox_all: 0.4697, d0.loss_cls: 0.2558, d0.loss_bbox: 0.4697, d1.loss_cls: 0.2414, d1.loss_bbox: 0.4483, d2.loss_cls: 0.2332, d2.loss_bbox: 0.4356, d3.loss_cls: 0.2299, d3.loss_bbox: 0.4300, d4.loss_cls: 0.2232, d4.loss_bbox: 0.4322, d5.loss_cls: 0.2251, d5.loss_bbox: 0.4306, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8777, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.7520, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7190, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7044, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7040, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7040, d0.loss_map_cls_all: 0.2586, d0.loss_map_pts_all: 1.6801, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.2586, d0.loss_map_pts: 1.6801, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.2379, d1.loss_map_pts: 1.1394, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2244, d2.loss_map_pts: 0.9685, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2174, d3.loss_map_pts: 0.9041, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.2133, d4.loss_map_pts: 0.8851, d4.loss_map_dir: 0.0131, d5.loss_map_cls: 0.2111, d5.loss_map_pts: 0.8821, d5.loss_map_dir: 0.0132, loss: 33.9268, grad_norm: 159.8695 +2026-02-25 14:41:30,383 - DriveTransformer - INFO - Epoch [5][4800/39528] lr: 9.337e-05, eta: 7 days, 7:35:33, time: 0.817, data_time: 0.051, memory: 19865, loss_cls: 0.2080, loss_bbox: 0.4131, loss_traj: 0.6363, loss_traj_cls: 0.0011, loss_map_cls: 0.1866, loss_map_pts: 0.8096, loss_map_dir: 0.0130, d0.loss_plan_l1_fix_time: 2.3876, d0.loss_plan_l1_fix_dist: 0.5039, d1.loss_plan_l1_fix_time: 1.2686, d1.loss_plan_l1_fix_dist: 0.2581, d2.loss_plan_l1_fix_time: 1.2498, d2.loss_plan_l1_fix_dist: 0.2809, d3.loss_plan_l1_fix_time: 1.2524, d3.loss_plan_l1_fix_dist: 0.3126, d4.loss_plan_l1_fix_time: 1.2572, d4.loss_plan_l1_fix_dist: 0.3535, d5.loss_plan_l1_fix_time: 1.2623, d5.loss_plan_l1_fix_dist: 0.3959, d6.loss_plan_l1_fix_time: 1.2673, d6.loss_plan_l1_fix_dist: 0.4385, d0.loss_cls_all: 0.2262, d0.loss_bbox_all: 0.4542, d0.loss_cls: 0.2262, d0.loss_bbox: 0.4542, d1.loss_cls: 0.2211, d1.loss_bbox: 0.4274, d2.loss_cls: 0.2147, d2.loss_bbox: 0.4159, d3.loss_cls: 0.2137, d3.loss_bbox: 0.4119, d4.loss_cls: 0.2094, d4.loss_bbox: 0.4108, d5.loss_cls: 0.2081, d5.loss_bbox: 0.4103, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7636, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.6664, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6443, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6392, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6400, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6361, d0.loss_map_cls_all: 0.2592, d0.loss_map_pts_all: 1.6314, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2592, d0.loss_map_pts: 1.6314, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2240, d1.loss_map_pts: 1.0843, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2052, d2.loss_map_pts: 0.9057, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.1954, d3.loss_map_pts: 0.8415, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.1901, d4.loss_map_pts: 0.8202, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.1877, d5.loss_map_pts: 0.8122, d5.loss_map_dir: 0.0128, loss: 32.5862, grad_norm: 160.5206 +2026-02-25 14:42:10,214 - DriveTransformer - INFO - Epoch [5][4850/39528] lr: 9.337e-05, eta: 7 days, 7:34:50, time: 0.795, data_time: 0.040, memory: 19865, loss_cls: 0.2368, loss_bbox: 0.4153, loss_traj: 0.7411, loss_traj_cls: 0.0011, loss_map_cls: 0.1963, loss_map_pts: 0.7724, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.3189, d0.loss_plan_l1_fix_dist: 0.4511, d1.loss_plan_l1_fix_time: 1.3695, d1.loss_plan_l1_fix_dist: 0.2189, d2.loss_plan_l1_fix_time: 1.3383, d2.loss_plan_l1_fix_dist: 0.2338, d3.loss_plan_l1_fix_time: 1.3381, d3.loss_plan_l1_fix_dist: 0.2544, d4.loss_plan_l1_fix_time: 1.3418, d4.loss_plan_l1_fix_dist: 0.2803, d5.loss_plan_l1_fix_time: 1.3460, d5.loss_plan_l1_fix_dist: 0.3093, d6.loss_plan_l1_fix_time: 1.3506, d6.loss_plan_l1_fix_dist: 0.3407, d0.loss_cls_all: 0.2589, d0.loss_bbox_all: 0.4692, d0.loss_cls: 0.2589, d0.loss_bbox: 0.4692, d1.loss_cls: 0.2531, d1.loss_bbox: 0.4417, d2.loss_cls: 0.2445, d2.loss_bbox: 0.4252, d3.loss_cls: 0.2387, d3.loss_bbox: 0.4189, d4.loss_cls: 0.2360, d4.loss_bbox: 0.4165, d5.loss_cls: 0.2354, d5.loss_bbox: 0.4166, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8977, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7860, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7472, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7415, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7354, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7331, d0.loss_map_cls_all: 0.2684, d0.loss_map_pts_all: 1.5517, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2684, d0.loss_map_pts: 1.5517, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2347, d1.loss_map_pts: 1.0292, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2159, d2.loss_map_pts: 0.8594, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.2043, d3.loss_map_pts: 0.8062, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1980, d4.loss_map_pts: 0.7873, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1969, d5.loss_map_pts: 0.7763, d5.loss_map_dir: 0.0119, loss: 33.3223, grad_norm: 160.9205 +2026-02-25 14:42:49,647 - DriveTransformer - INFO - Epoch [5][4900/39528] lr: 9.337e-05, eta: 7 days, 7:34:06, time: 0.789, data_time: 0.039, memory: 19865, loss_cls: 0.2350, loss_bbox: 0.4201, loss_traj: 0.7663, loss_traj_cls: 0.0011, loss_map_cls: 0.2096, loss_map_pts: 0.8832, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.7551, d0.loss_plan_l1_fix_dist: 0.5902, d1.loss_plan_l1_fix_time: 1.3674, d1.loss_plan_l1_fix_dist: 0.2547, d2.loss_plan_l1_fix_time: 1.3471, d2.loss_plan_l1_fix_dist: 0.2718, d3.loss_plan_l1_fix_time: 1.3475, d3.loss_plan_l1_fix_dist: 0.2939, d4.loss_plan_l1_fix_time: 1.3505, d4.loss_plan_l1_fix_dist: 0.3185, d5.loss_plan_l1_fix_time: 1.3540, d5.loss_plan_l1_fix_dist: 0.3448, d6.loss_plan_l1_fix_time: 1.3584, d6.loss_plan_l1_fix_dist: 0.3719, d0.loss_cls_all: 0.2652, d0.loss_bbox_all: 0.4762, d0.loss_cls: 0.2652, d0.loss_bbox: 0.4762, d1.loss_cls: 0.2569, d1.loss_bbox: 0.4447, d2.loss_cls: 0.2435, d2.loss_bbox: 0.4317, d3.loss_cls: 0.2387, d3.loss_bbox: 0.4227, d4.loss_cls: 0.2360, d4.loss_bbox: 0.4209, d5.loss_cls: 0.2336, d5.loss_bbox: 0.4216, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9922, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8210, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7846, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7732, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7686, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7652, d0.loss_map_cls_all: 0.2766, d0.loss_map_pts_all: 1.6328, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2766, d0.loss_map_pts: 1.6328, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2425, d1.loss_map_pts: 1.1636, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2263, d2.loss_map_pts: 0.9853, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2177, d3.loss_map_pts: 0.9173, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.2126, d4.loss_map_pts: 0.8948, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.2098, d5.loss_map_pts: 0.8837, d5.loss_map_dir: 0.0122, loss: 35.4489, grad_norm: 160.8738 +2026-02-25 14:43:32,107 - DriveTransformer - INFO - Epoch [5][4950/39528] lr: 9.337e-05, eta: 7 days, 7:33:37, time: 0.849, data_time: 0.049, memory: 19865, loss_cls: 0.2428, loss_bbox: 0.4503, loss_traj: 0.7358, loss_traj_cls: 0.0011, loss_map_cls: 0.2266, loss_map_pts: 0.9944, loss_map_dir: 0.0158, d0.loss_plan_l1_fix_time: 2.8508, d0.loss_plan_l1_fix_dist: 0.4493, d1.loss_plan_l1_fix_time: 1.4656, d1.loss_plan_l1_fix_dist: 0.2541, d2.loss_plan_l1_fix_time: 1.4451, d2.loss_plan_l1_fix_dist: 0.2765, d3.loss_plan_l1_fix_time: 1.4452, d3.loss_plan_l1_fix_dist: 0.3047, d4.loss_plan_l1_fix_time: 1.4488, d4.loss_plan_l1_fix_dist: 0.3345, d5.loss_plan_l1_fix_time: 1.4532, d5.loss_plan_l1_fix_dist: 0.3631, d6.loss_plan_l1_fix_time: 1.4587, d6.loss_plan_l1_fix_dist: 0.3926, d0.loss_cls_all: 0.2726, d0.loss_bbox_all: 0.4964, d0.loss_cls: 0.2726, d0.loss_bbox: 0.4964, d1.loss_cls: 0.2648, d1.loss_bbox: 0.4676, d2.loss_cls: 0.2554, d2.loss_bbox: 0.4536, d3.loss_cls: 0.2480, d3.loss_bbox: 0.4511, d4.loss_cls: 0.2439, d4.loss_bbox: 0.4500, d5.loss_cls: 0.2421, d5.loss_bbox: 0.4490, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9277, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.7773, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7410, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7322, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7328, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7330, d0.loss_map_cls_all: 0.2845, d0.loss_map_pts_all: 2.0467, d0.loss_map_dir_all: 0.0140, d0.loss_map_cls: 0.2845, d0.loss_map_pts: 2.0467, d0.loss_map_dir: 0.0140, d1.loss_map_cls: 0.2623, d1.loss_map_pts: 1.3282, d1.loss_map_dir: 0.0139, d2.loss_map_cls: 0.2468, d2.loss_map_pts: 1.1023, d2.loss_map_dir: 0.0145, d3.loss_map_cls: 0.2385, d3.loss_map_pts: 1.0282, d3.loss_map_dir: 0.0150, d4.loss_map_cls: 0.2305, d4.loss_map_pts: 1.0003, d4.loss_map_dir: 0.0154, d5.loss_map_cls: 0.2272, d5.loss_map_pts: 0.9949, d5.loss_map_dir: 0.0156, loss: 37.7459, grad_norm: 161.4330 +2026-02-25 14:44:12,448 - DriveTransformer - INFO - Epoch [5][5000/39528] lr: 9.337e-05, eta: 7 days, 7:32:57, time: 0.807, data_time: 0.047, memory: 19865, loss_cls: 0.2296, loss_bbox: 0.4081, loss_traj: 0.8127, loss_traj_cls: 0.0011, loss_map_cls: 0.2178, loss_map_pts: 0.9271, loss_map_dir: 0.0133, d0.loss_plan_l1_fix_time: 2.4581, d0.loss_plan_l1_fix_dist: 0.3819, d1.loss_plan_l1_fix_time: 1.3792, d1.loss_plan_l1_fix_dist: 0.2236, d2.loss_plan_l1_fix_time: 1.3771, d2.loss_plan_l1_fix_dist: 0.2386, d3.loss_plan_l1_fix_time: 1.3901, d3.loss_plan_l1_fix_dist: 0.2612, d4.loss_plan_l1_fix_time: 1.3970, d4.loss_plan_l1_fix_dist: 0.2866, d5.loss_plan_l1_fix_time: 1.4040, d5.loss_plan_l1_fix_dist: 0.3111, d6.loss_plan_l1_fix_time: 1.4111, d6.loss_plan_l1_fix_dist: 0.3367, d0.loss_cls_all: 0.2596, d0.loss_bbox_all: 0.4578, d0.loss_cls: 0.2596, d0.loss_bbox: 0.4578, d1.loss_cls: 0.2472, d1.loss_bbox: 0.4304, d2.loss_cls: 0.2368, d2.loss_bbox: 0.4155, d3.loss_cls: 0.2321, d3.loss_bbox: 0.4108, d4.loss_cls: 0.2288, d4.loss_bbox: 0.4097, d5.loss_cls: 0.2283, d5.loss_bbox: 0.4083, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0223, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8581, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8241, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8194, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8152, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8135, d0.loss_map_cls_all: 0.2797, d0.loss_map_pts_all: 1.7475, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2797, d0.loss_map_pts: 1.7475, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2520, d1.loss_map_pts: 1.2058, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2385, d2.loss_map_pts: 1.0258, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2292, d3.loss_map_pts: 0.9594, d3.loss_map_dir: 0.0125, d4.loss_map_cls: 0.2227, d4.loss_map_pts: 0.9347, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.2185, d5.loss_map_pts: 0.9303, d5.loss_map_dir: 0.0132, loss: 35.6629, grad_norm: 162.6692 +2026-02-25 14:44:54,060 - DriveTransformer - INFO - Epoch [5][5050/39528] lr: 9.337e-05, eta: 7 days, 7:32:24, time: 0.832, data_time: 0.042, memory: 19865, loss_cls: 0.2314, loss_bbox: 0.4159, loss_traj: 0.7579, loss_traj_cls: 0.0011, loss_map_cls: 0.2178, loss_map_pts: 0.9181, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.5521, d0.loss_plan_l1_fix_dist: 0.4018, d1.loss_plan_l1_fix_time: 1.3069, d1.loss_plan_l1_fix_dist: 0.2363, d2.loss_plan_l1_fix_time: 1.2926, d2.loss_plan_l1_fix_dist: 0.2502, d3.loss_plan_l1_fix_time: 1.2916, d3.loss_plan_l1_fix_dist: 0.2724, d4.loss_plan_l1_fix_time: 1.2941, d4.loss_plan_l1_fix_dist: 0.2992, d5.loss_plan_l1_fix_time: 1.2973, d5.loss_plan_l1_fix_dist: 0.3269, d6.loss_plan_l1_fix_time: 1.3009, d6.loss_plan_l1_fix_dist: 0.3543, d0.loss_cls_all: 0.2642, d0.loss_bbox_all: 0.4674, d0.loss_cls: 0.2642, d0.loss_bbox: 0.4674, d1.loss_cls: 0.2527, d1.loss_bbox: 0.4395, d2.loss_cls: 0.2400, d2.loss_bbox: 0.4217, d3.loss_cls: 0.2358, d3.loss_bbox: 0.4156, d4.loss_cls: 0.2329, d4.loss_bbox: 0.4137, d5.loss_cls: 0.2315, d5.loss_bbox: 0.4149, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9504, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8077, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7670, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7598, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7547, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7565, d0.loss_map_cls_all: 0.2799, d0.loss_map_pts_all: 1.8152, d0.loss_map_dir_all: 0.0129, d0.loss_map_cls: 0.2799, d0.loss_map_pts: 1.8152, d0.loss_map_dir: 0.0129, d1.loss_map_cls: 0.2532, d1.loss_map_pts: 1.1979, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2334, d2.loss_map_pts: 1.0167, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2262, d3.loss_map_pts: 0.9526, d3.loss_map_dir: 0.0132, d4.loss_map_cls: 0.2228, d4.loss_map_pts: 0.9278, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.2197, d5.loss_map_pts: 0.9194, d5.loss_map_dir: 0.0136, loss: 35.0471, grad_norm: 162.2886 +2026-02-25 14:45:34,587 - DriveTransformer - INFO - Epoch [5][5100/39528] lr: 9.337e-05, eta: 7 days, 7:31:45, time: 0.811, data_time: 0.041, memory: 19865, loss_cls: 0.2381, loss_bbox: 0.4372, loss_traj: 0.7849, loss_traj_cls: 0.0011, loss_map_cls: 0.2028, loss_map_pts: 0.8679, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.6712, d0.loss_plan_l1_fix_dist: 0.3972, d1.loss_plan_l1_fix_time: 1.4593, d1.loss_plan_l1_fix_dist: 0.2111, d2.loss_plan_l1_fix_time: 1.4269, d2.loss_plan_l1_fix_dist: 0.2246, d3.loss_plan_l1_fix_time: 1.4278, d3.loss_plan_l1_fix_dist: 0.2429, d4.loss_plan_l1_fix_time: 1.4330, d4.loss_plan_l1_fix_dist: 0.2644, d5.loss_plan_l1_fix_time: 1.4384, d5.loss_plan_l1_fix_dist: 0.2888, d6.loss_plan_l1_fix_time: 1.4440, d6.loss_plan_l1_fix_dist: 0.3170, d0.loss_cls_all: 0.2665, d0.loss_bbox_all: 0.4930, d0.loss_cls: 0.2665, d0.loss_bbox: 0.4930, d1.loss_cls: 0.2580, d1.loss_bbox: 0.4653, d2.loss_cls: 0.2506, d2.loss_bbox: 0.4447, d3.loss_cls: 0.2450, d3.loss_bbox: 0.4373, d4.loss_cls: 0.2408, d4.loss_bbox: 0.4358, d5.loss_cls: 0.2382, d5.loss_bbox: 0.4359, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9776, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8187, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7918, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7878, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7839, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7824, d0.loss_map_cls_all: 0.2575, d0.loss_map_pts_all: 1.6738, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2575, d0.loss_map_pts: 1.6738, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2313, d1.loss_map_pts: 1.1558, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2186, d2.loss_map_pts: 0.9742, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2121, d3.loss_map_pts: 0.9048, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.2068, d4.loss_map_pts: 0.8803, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.2039, d5.loss_map_pts: 0.8692, d5.loss_map_dir: 0.0122, loss: 35.5081, grad_norm: 161.9767 +2026-02-25 14:46:16,017 - DriveTransformer - INFO - Epoch [5][5150/39528] lr: 9.337e-05, eta: 7 days, 7:31:10, time: 0.829, data_time: 0.052, memory: 19865, loss_cls: 0.2372, loss_bbox: 0.4202, loss_traj: 0.7899, loss_traj_cls: 0.0011, loss_map_cls: 0.1989, loss_map_pts: 0.8407, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 3.0191, d0.loss_plan_l1_fix_dist: 0.4497, d1.loss_plan_l1_fix_time: 1.4573, d1.loss_plan_l1_fix_dist: 0.2127, d2.loss_plan_l1_fix_time: 1.4294, d2.loss_plan_l1_fix_dist: 0.2307, d3.loss_plan_l1_fix_time: 1.4288, d3.loss_plan_l1_fix_dist: 0.2565, d4.loss_plan_l1_fix_time: 1.4323, d4.loss_plan_l1_fix_dist: 0.2872, d5.loss_plan_l1_fix_time: 1.4364, d5.loss_plan_l1_fix_dist: 0.3187, d6.loss_plan_l1_fix_time: 1.4414, d6.loss_plan_l1_fix_dist: 0.3547, d0.loss_cls_all: 0.2583, d0.loss_bbox_all: 0.4746, d0.loss_cls: 0.2583, d0.loss_bbox: 0.4746, d1.loss_cls: 0.2553, d1.loss_bbox: 0.4427, d2.loss_cls: 0.2441, d2.loss_bbox: 0.4280, d3.loss_cls: 0.2410, d3.loss_bbox: 0.4209, d4.loss_cls: 0.2391, d4.loss_bbox: 0.4172, d5.loss_cls: 0.2375, d5.loss_bbox: 0.4177, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9558, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8155, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8025, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7906, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7899, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7893, d0.loss_map_cls_all: 0.2598, d0.loss_map_pts_all: 1.6460, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2598, d0.loss_map_pts: 1.6460, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2281, d1.loss_map_pts: 1.1075, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2161, d2.loss_map_pts: 0.9338, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.2060, d3.loss_map_pts: 0.8696, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.2004, d4.loss_map_pts: 0.8501, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1991, d5.loss_map_pts: 0.8406, d5.loss_map_dir: 0.0117, loss: 35.5528, grad_norm: 163.0803 +2026-02-25 14:46:57,117 - DriveTransformer - INFO - Epoch [5][5200/39528] lr: 9.337e-05, eta: 7 days, 7:30:34, time: 0.822, data_time: 0.046, memory: 19865, loss_cls: 0.2379, loss_bbox: 0.4227, loss_traj: 0.8635, loss_traj_cls: 0.0011, loss_map_cls: 0.2227, loss_map_pts: 0.9681, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.7489, d0.loss_plan_l1_fix_dist: 0.4541, d1.loss_plan_l1_fix_time: 1.4378, d1.loss_plan_l1_fix_dist: 0.2339, d2.loss_plan_l1_fix_time: 1.4347, d2.loss_plan_l1_fix_dist: 0.2511, d3.loss_plan_l1_fix_time: 1.4384, d3.loss_plan_l1_fix_dist: 0.2749, d4.loss_plan_l1_fix_time: 1.4425, d4.loss_plan_l1_fix_dist: 0.3023, d5.loss_plan_l1_fix_time: 1.4474, d5.loss_plan_l1_fix_dist: 0.3309, d6.loss_plan_l1_fix_time: 1.4529, d6.loss_plan_l1_fix_dist: 0.3578, d0.loss_cls_all: 0.2628, d0.loss_bbox_all: 0.4694, d0.loss_cls: 0.2628, d0.loss_bbox: 0.4694, d1.loss_cls: 0.2568, d1.loss_bbox: 0.4431, d2.loss_cls: 0.2469, d2.loss_bbox: 0.4301, d3.loss_cls: 0.2414, d3.loss_bbox: 0.4230, d4.loss_cls: 0.2388, d4.loss_bbox: 0.4219, d5.loss_cls: 0.2376, d5.loss_bbox: 0.4220, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1370, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9301, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8768, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8600, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8573, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8607, d0.loss_map_cls_all: 0.2828, d0.loss_map_pts_all: 1.9237, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.2828, d0.loss_map_pts: 1.9237, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2534, d1.loss_map_pts: 1.2847, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2419, d2.loss_map_pts: 1.0802, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2335, d3.loss_map_pts: 1.0032, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.2264, d4.loss_map_pts: 0.9777, d4.loss_map_dir: 0.0132, d5.loss_map_cls: 0.2240, d5.loss_map_pts: 0.9670, d5.loss_map_dir: 0.0133, loss: 37.6840, grad_norm: 163.6413 +2026-02-25 14:47:37,787 - DriveTransformer - INFO - Epoch [5][5250/39528] lr: 9.337e-05, eta: 7 days, 7:29:56, time: 0.813, data_time: 0.048, memory: 19865, loss_cls: 0.2254, loss_bbox: 0.4177, loss_traj: 0.8454, loss_traj_cls: 0.0011, loss_map_cls: 0.2100, loss_map_pts: 0.9187, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.8079, d0.loss_plan_l1_fix_dist: 0.4083, d1.loss_plan_l1_fix_time: 1.4387, d1.loss_plan_l1_fix_dist: 0.2261, d2.loss_plan_l1_fix_time: 1.4299, d2.loss_plan_l1_fix_dist: 0.2472, d3.loss_plan_l1_fix_time: 1.4357, d3.loss_plan_l1_fix_dist: 0.2767, d4.loss_plan_l1_fix_time: 1.4406, d4.loss_plan_l1_fix_dist: 0.3116, d5.loss_plan_l1_fix_time: 1.4457, d5.loss_plan_l1_fix_dist: 0.3479, d6.loss_plan_l1_fix_time: 1.4511, d6.loss_plan_l1_fix_dist: 0.3835, d0.loss_cls_all: 0.2505, d0.loss_bbox_all: 0.4769, d0.loss_cls: 0.2505, d0.loss_bbox: 0.4769, d1.loss_cls: 0.2427, d1.loss_bbox: 0.4460, d2.loss_cls: 0.2355, d2.loss_bbox: 0.4283, d3.loss_cls: 0.2305, d3.loss_bbox: 0.4207, d4.loss_cls: 0.2273, d4.loss_bbox: 0.4193, d5.loss_cls: 0.2264, d5.loss_bbox: 0.4177, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0613, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9075, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8636, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8501, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8482, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8496, d0.loss_map_cls_all: 0.2705, d0.loss_map_pts_all: 1.7267, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2705, d0.loss_map_pts: 1.7267, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2446, d1.loss_map_pts: 1.1755, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2274, d2.loss_map_pts: 1.0044, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.2180, d3.loss_map_pts: 0.9467, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.2113, d4.loss_map_pts: 0.9276, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.2109, d5.loss_map_pts: 0.9189, d5.loss_map_dir: 0.0115, loss: 36.5716, grad_norm: 164.8453 +2026-02-25 14:48:16,769 - DriveTransformer - INFO - Epoch [5][5300/39528] lr: 9.337e-05, eta: 7 days, 7:29:10, time: 0.780, data_time: 0.046, memory: 19865, loss_cls: 0.2600, loss_bbox: 0.4366, loss_traj: 0.9050, loss_traj_cls: 0.0010, loss_map_cls: 0.2148, loss_map_pts: 0.8858, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.7183, d0.loss_plan_l1_fix_dist: 0.3950, d1.loss_plan_l1_fix_time: 1.6100, d1.loss_plan_l1_fix_dist: 0.2233, d2.loss_plan_l1_fix_time: 1.6058, d2.loss_plan_l1_fix_dist: 0.2354, d3.loss_plan_l1_fix_time: 1.6118, d3.loss_plan_l1_fix_dist: 0.2540, d4.loss_plan_l1_fix_time: 1.6162, d4.loss_plan_l1_fix_dist: 0.2739, d5.loss_plan_l1_fix_time: 1.6201, d5.loss_plan_l1_fix_dist: 0.2946, d6.loss_plan_l1_fix_time: 1.6243, d6.loss_plan_l1_fix_dist: 0.3180, d0.loss_cls_all: 0.2773, d0.loss_bbox_all: 0.4940, d0.loss_cls: 0.2773, d0.loss_bbox: 0.4940, d1.loss_cls: 0.2745, d1.loss_bbox: 0.4647, d2.loss_cls: 0.2651, d2.loss_bbox: 0.4451, d3.loss_cls: 0.2623, d3.loss_bbox: 0.4376, d4.loss_cls: 0.2600, d4.loss_bbox: 0.4344, d5.loss_cls: 0.2603, d5.loss_bbox: 0.4346, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1026, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9640, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9173, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9109, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9091, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.9098, d0.loss_map_cls_all: 0.2720, d0.loss_map_pts_all: 1.6728, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2720, d0.loss_map_pts: 1.6728, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2454, d1.loss_map_pts: 1.1532, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2355, d2.loss_map_pts: 0.9735, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.2250, d3.loss_map_pts: 0.9165, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.2181, d4.loss_map_pts: 0.8967, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.2146, d5.loss_map_pts: 0.8877, d5.loss_map_dir: 0.0110, loss: 37.8465, grad_norm: 164.9103 +2026-02-25 14:48:59,951 - DriveTransformer - INFO - Epoch [5][5350/39528] lr: 9.337e-05, eta: 7 days, 7:28:44, time: 0.863, data_time: 0.045, memory: 19865, loss_cls: 0.2281, loss_bbox: 0.4271, loss_traj: 0.7372, loss_traj_cls: 0.0010, loss_map_cls: 0.2052, loss_map_pts: 0.9924, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.5813, d0.loss_plan_l1_fix_dist: 0.4278, d1.loss_plan_l1_fix_time: 1.4430, d1.loss_plan_l1_fix_dist: 0.2172, d2.loss_plan_l1_fix_time: 1.4287, d2.loss_plan_l1_fix_dist: 0.2334, d3.loss_plan_l1_fix_time: 1.4290, d3.loss_plan_l1_fix_dist: 0.2542, d4.loss_plan_l1_fix_time: 1.4334, d4.loss_plan_l1_fix_dist: 0.2758, d5.loss_plan_l1_fix_time: 1.4378, d5.loss_plan_l1_fix_dist: 0.3012, d6.loss_plan_l1_fix_time: 1.4422, d6.loss_plan_l1_fix_dist: 0.3275, d0.loss_cls_all: 0.2593, d0.loss_bbox_all: 0.4832, d0.loss_cls: 0.2593, d0.loss_bbox: 0.4832, d1.loss_cls: 0.2488, d1.loss_bbox: 0.4491, d2.loss_cls: 0.2380, d2.loss_bbox: 0.4288, d3.loss_cls: 0.2345, d3.loss_bbox: 0.4215, d4.loss_cls: 0.2316, d4.loss_bbox: 0.4199, d5.loss_cls: 0.2309, d5.loss_bbox: 0.4220, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8991, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7741, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7338, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7348, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7317, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7343, d0.loss_map_cls_all: 0.2564, d0.loss_map_pts_all: 1.9346, d0.loss_map_dir_all: 0.0138, d0.loss_map_cls: 0.2564, d0.loss_map_pts: 1.9346, d0.loss_map_dir: 0.0138, d1.loss_map_cls: 0.2323, d1.loss_map_pts: 1.2724, d1.loss_map_dir: 0.0134, d2.loss_map_cls: 0.2220, d2.loss_map_pts: 1.0865, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2129, d3.loss_map_pts: 1.0255, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.2085, d4.loss_map_pts: 1.0040, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.2059, d5.loss_map_pts: 0.9946, d5.loss_map_dir: 0.0148, loss: 36.2066, grad_norm: 164.8481 +2026-02-25 14:49:40,742 - DriveTransformer - INFO - Epoch [5][5400/39528] lr: 9.337e-05, eta: 7 days, 7:28:07, time: 0.816, data_time: 0.042, memory: 19865, loss_cls: 0.2237, loss_bbox: 0.4128, loss_traj: 0.7245, loss_traj_cls: 0.0010, loss_map_cls: 0.1837, loss_map_pts: 0.8635, loss_map_dir: 0.0140, d0.loss_plan_l1_fix_time: 2.7487, d0.loss_plan_l1_fix_dist: 0.4568, d1.loss_plan_l1_fix_time: 1.3796, d1.loss_plan_l1_fix_dist: 0.2148, d2.loss_plan_l1_fix_time: 1.3683, d2.loss_plan_l1_fix_dist: 0.2257, d3.loss_plan_l1_fix_time: 1.3713, d3.loss_plan_l1_fix_dist: 0.2445, d4.loss_plan_l1_fix_time: 1.3764, d4.loss_plan_l1_fix_dist: 0.2678, d5.loss_plan_l1_fix_time: 1.3818, d5.loss_plan_l1_fix_dist: 0.2942, d6.loss_plan_l1_fix_time: 1.3873, d6.loss_plan_l1_fix_dist: 0.3218, d0.loss_cls_all: 0.2472, d0.loss_bbox_all: 0.4629, d0.loss_cls: 0.2472, d0.loss_bbox: 0.4629, d1.loss_cls: 0.2386, d1.loss_bbox: 0.4313, d2.loss_cls: 0.2315, d2.loss_bbox: 0.4167, d3.loss_cls: 0.2250, d3.loss_bbox: 0.4130, d4.loss_cls: 0.2202, d4.loss_bbox: 0.4113, d5.loss_cls: 0.2218, d5.loss_bbox: 0.4115, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9150, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.7520, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7271, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7232, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7240, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7214, d0.loss_map_cls_all: 0.2547, d0.loss_map_pts_all: 1.8614, d0.loss_map_dir_all: 0.0132, d0.loss_map_cls: 0.2547, d0.loss_map_pts: 1.8614, d0.loss_map_dir: 0.0132, d1.loss_map_cls: 0.2223, d1.loss_map_pts: 1.1743, d1.loss_map_dir: 0.0125, d2.loss_map_cls: 0.2064, d2.loss_map_pts: 0.9690, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.1941, d3.loss_map_pts: 0.8992, d3.loss_map_dir: 0.0134, d4.loss_map_cls: 0.1872, d4.loss_map_pts: 0.8754, d4.loss_map_dir: 0.0138, d5.loss_map_cls: 0.1843, d5.loss_map_pts: 0.8670, d5.loss_map_dir: 0.0139, loss: 34.7758, grad_norm: 163.5717 +2026-02-25 14:50:21,383 - DriveTransformer - INFO - Epoch [5][5450/39528] lr: 9.337e-05, eta: 7 days, 7:27:28, time: 0.813, data_time: 0.043, memory: 19865, loss_cls: 0.2285, loss_bbox: 0.4235, loss_traj: 0.7799, loss_traj_cls: 0.0011, loss_map_cls: 0.1874, loss_map_pts: 0.8195, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.9403, d0.loss_plan_l1_fix_dist: 0.4328, d1.loss_plan_l1_fix_time: 1.4805, d1.loss_plan_l1_fix_dist: 0.2076, d2.loss_plan_l1_fix_time: 1.4736, d2.loss_plan_l1_fix_dist: 0.2160, d3.loss_plan_l1_fix_time: 1.4744, d3.loss_plan_l1_fix_dist: 0.2338, d4.loss_plan_l1_fix_time: 1.4770, d4.loss_plan_l1_fix_dist: 0.2533, d5.loss_plan_l1_fix_time: 1.4807, d5.loss_plan_l1_fix_dist: 0.2736, d6.loss_plan_l1_fix_time: 1.4849, d6.loss_plan_l1_fix_dist: 0.2951, d0.loss_cls_all: 0.2551, d0.loss_bbox_all: 0.4865, d0.loss_cls: 0.2551, d0.loss_bbox: 0.4865, d1.loss_cls: 0.2484, d1.loss_bbox: 0.4531, d2.loss_cls: 0.2374, d2.loss_bbox: 0.4367, d3.loss_cls: 0.2331, d3.loss_bbox: 0.4284, d4.loss_cls: 0.2303, d4.loss_bbox: 0.4252, d5.loss_cls: 0.2273, d5.loss_bbox: 0.4254, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0311, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8445, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7976, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7920, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7783, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7822, d0.loss_map_cls_all: 0.2397, d0.loss_map_pts_all: 1.5870, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2397, d0.loss_map_pts: 1.5870, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2185, d1.loss_map_pts: 1.0692, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2068, d2.loss_map_pts: 0.9039, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.1989, d3.loss_map_pts: 0.8474, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1914, d4.loss_map_pts: 0.8266, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1877, d5.loss_map_pts: 0.8198, d5.loss_map_dir: 0.0118, loss: 35.2358, grad_norm: 164.2401 +2026-02-25 14:51:01,295 - DriveTransformer - INFO - Epoch [5][5500/39528] lr: 9.337e-05, eta: 7 days, 7:26:47, time: 0.798, data_time: 0.043, memory: 19865, loss_cls: 0.2782, loss_bbox: 0.4609, loss_traj: 0.7473, loss_traj_cls: 0.0010, loss_map_cls: 0.2452, loss_map_pts: 0.9916, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 2.9293, d0.loss_plan_l1_fix_dist: 0.3969, d1.loss_plan_l1_fix_time: 1.4627, d1.loss_plan_l1_fix_dist: 0.2350, d2.loss_plan_l1_fix_time: 1.4505, d2.loss_plan_l1_fix_dist: 0.2492, d3.loss_plan_l1_fix_time: 1.4550, d3.loss_plan_l1_fix_dist: 0.2680, d4.loss_plan_l1_fix_time: 1.4593, d4.loss_plan_l1_fix_dist: 0.2922, d5.loss_plan_l1_fix_time: 1.4647, d5.loss_plan_l1_fix_dist: 0.3186, d6.loss_plan_l1_fix_time: 1.4705, d6.loss_plan_l1_fix_dist: 0.3454, d0.loss_cls_all: 0.3021, d0.loss_bbox_all: 0.5173, d0.loss_cls: 0.3021, d0.loss_bbox: 0.5173, d1.loss_cls: 0.2970, d1.loss_bbox: 0.4859, d2.loss_cls: 0.2874, d2.loss_bbox: 0.4683, d3.loss_cls: 0.2808, d3.loss_bbox: 0.4630, d4.loss_cls: 0.2768, d4.loss_bbox: 0.4618, d5.loss_cls: 0.2771, d5.loss_bbox: 0.4608, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9588, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8075, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7733, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7571, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7486, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7437, d0.loss_map_cls_all: 0.3069, d0.loss_map_pts_all: 1.8021, d0.loss_map_dir_all: 0.0130, d0.loss_map_cls: 0.3069, d0.loss_map_pts: 1.8021, d0.loss_map_dir: 0.0130, d1.loss_map_cls: 0.2742, d1.loss_map_pts: 1.2424, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2636, d2.loss_map_pts: 1.0711, d2.loss_map_dir: 0.0132, d3.loss_map_cls: 0.2550, d3.loss_map_pts: 1.0203, d3.loss_map_dir: 0.0137, d4.loss_map_cls: 0.2485, d4.loss_map_pts: 1.0000, d4.loss_map_dir: 0.0140, d5.loss_map_cls: 0.2472, d5.loss_map_pts: 0.9921, d5.loss_map_dir: 0.0141, loss: 37.6538, grad_norm: 166.4738 +2026-02-25 14:51:40,440 - DriveTransformer - INFO - Epoch [5][5550/39528] lr: 9.337e-05, eta: 7 days, 7:26:01, time: 0.783, data_time: 0.043, memory: 19865, loss_cls: 0.2279, loss_bbox: 0.4176, loss_traj: 0.9447, loss_traj_cls: 0.0011, loss_map_cls: 0.1910, loss_map_pts: 0.7245, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.8795, d0.loss_plan_l1_fix_dist: 0.3874, d1.loss_plan_l1_fix_time: 1.5743, d1.loss_plan_l1_fix_dist: 0.1918, d2.loss_plan_l1_fix_time: 1.5749, d2.loss_plan_l1_fix_dist: 0.2011, d3.loss_plan_l1_fix_time: 1.5775, d3.loss_plan_l1_fix_dist: 0.2135, d4.loss_plan_l1_fix_time: 1.5805, d4.loss_plan_l1_fix_dist: 0.2274, d5.loss_plan_l1_fix_time: 1.5844, d5.loss_plan_l1_fix_dist: 0.2437, d6.loss_plan_l1_fix_time: 1.5890, d6.loss_plan_l1_fix_dist: 0.2604, d0.loss_cls_all: 0.2565, d0.loss_bbox_all: 0.4699, d0.loss_cls: 0.2565, d0.loss_bbox: 0.4699, d1.loss_cls: 0.2522, d1.loss_bbox: 0.4394, d2.loss_cls: 0.2407, d2.loss_bbox: 0.4253, d3.loss_cls: 0.2347, d3.loss_bbox: 0.4188, d4.loss_cls: 0.2308, d4.loss_bbox: 0.4168, d5.loss_cls: 0.2292, d5.loss_bbox: 0.4155, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0922, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9734, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9481, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9463, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9418, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9417, d0.loss_map_cls_all: 0.2513, d0.loss_map_pts_all: 1.4503, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2513, d0.loss_map_pts: 1.4503, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2174, d1.loss_map_pts: 0.9391, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2045, d2.loss_map_pts: 0.7892, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1963, d3.loss_map_pts: 0.7432, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1919, d4.loss_map_pts: 0.7280, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1914, d5.loss_map_pts: 0.7246, d5.loss_map_dir: 0.0112, loss: 35.6130, grad_norm: 166.7078 +2026-02-25 14:52:20,616 - DriveTransformer - INFO - Epoch [5][5600/39528] lr: 9.337e-05, eta: 7 days, 7:25:21, time: 0.805, data_time: 0.039, memory: 19865, loss_cls: 0.2190, loss_bbox: 0.4248, loss_traj: 0.8305, loss_traj_cls: 0.0011, loss_map_cls: 0.2079, loss_map_pts: 0.8646, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.5402, d0.loss_plan_l1_fix_dist: 0.3857, d1.loss_plan_l1_fix_time: 1.2602, d1.loss_plan_l1_fix_dist: 0.2134, d2.loss_plan_l1_fix_time: 1.2447, d2.loss_plan_l1_fix_dist: 0.2198, d3.loss_plan_l1_fix_time: 1.2490, d3.loss_plan_l1_fix_dist: 0.2323, d4.loss_plan_l1_fix_time: 1.2531, d4.loss_plan_l1_fix_dist: 0.2457, d5.loss_plan_l1_fix_time: 1.2572, d5.loss_plan_l1_fix_dist: 0.2619, d6.loss_plan_l1_fix_time: 1.2618, d6.loss_plan_l1_fix_dist: 0.2830, d0.loss_cls_all: 0.2452, d0.loss_bbox_all: 0.4888, d0.loss_cls: 0.2452, d0.loss_bbox: 0.4888, d1.loss_cls: 0.2391, d1.loss_bbox: 0.4532, d2.loss_cls: 0.2312, d2.loss_bbox: 0.4352, d3.loss_cls: 0.2249, d3.loss_bbox: 0.4288, d4.loss_cls: 0.2200, d4.loss_bbox: 0.4267, d5.loss_cls: 0.2179, d5.loss_bbox: 0.4258, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1335, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8917, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8462, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8380, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8321, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8313, d0.loss_map_cls_all: 0.2709, d0.loss_map_pts_all: 1.6447, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2709, d0.loss_map_pts: 1.6447, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2403, d1.loss_map_pts: 1.1543, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.2292, d2.loss_map_pts: 0.9780, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.2180, d3.loss_map_pts: 0.9119, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.2096, d4.loss_map_pts: 0.8813, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.2081, d5.loss_map_pts: 0.8692, d5.loss_map_dir: 0.0104, loss: 34.4152, grad_norm: 167.0495 +2026-02-25 14:53:00,669 - DriveTransformer - INFO - Epoch [5][5650/39528] lr: 9.337e-05, eta: 7 days, 7:24:40, time: 0.800, data_time: 0.038, memory: 19865, loss_cls: 0.2513, loss_bbox: 0.4533, loss_traj: 0.8985, loss_traj_cls: 0.0010, loss_map_cls: 0.2397, loss_map_pts: 0.9697, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.5684, d0.loss_plan_l1_fix_dist: 0.3127, d1.loss_plan_l1_fix_time: 1.5255, d1.loss_plan_l1_fix_dist: 0.2024, d2.loss_plan_l1_fix_time: 1.4949, d2.loss_plan_l1_fix_dist: 0.2105, d3.loss_plan_l1_fix_time: 1.4914, d3.loss_plan_l1_fix_dist: 0.2225, d4.loss_plan_l1_fix_time: 1.4943, d4.loss_plan_l1_fix_dist: 0.2373, d5.loss_plan_l1_fix_time: 1.4976, d5.loss_plan_l1_fix_dist: 0.2528, d6.loss_plan_l1_fix_time: 1.5014, d6.loss_plan_l1_fix_dist: 0.2693, d0.loss_cls_all: 0.2876, d0.loss_bbox_all: 0.5081, d0.loss_cls: 0.2876, d0.loss_bbox: 0.5081, d1.loss_cls: 0.2755, d1.loss_bbox: 0.4773, d2.loss_cls: 0.2639, d2.loss_bbox: 0.4581, d3.loss_cls: 0.2586, d3.loss_bbox: 0.4523, d4.loss_cls: 0.2521, d4.loss_bbox: 0.4517, d5.loss_cls: 0.2506, d5.loss_bbox: 0.4526, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2165, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9635, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9138, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9073, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8979, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9006, d0.loss_map_cls_all: 0.2928, d0.loss_map_pts_all: 1.7598, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2928, d0.loss_map_pts: 1.7598, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2685, d1.loss_map_pts: 1.2491, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2580, d2.loss_map_pts: 1.0685, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2492, d3.loss_map_pts: 1.0050, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.2423, d4.loss_map_pts: 0.9807, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.2410, d5.loss_map_pts: 0.9707, d5.loss_map_dir: 0.0124, loss: 37.8137, grad_norm: 166.7648 +2026-02-25 14:53:42,520 - DriveTransformer - INFO - Epoch [5][5700/39528] lr: 9.337e-05, eta: 7 days, 7:24:07, time: 0.837, data_time: 0.044, memory: 19865, loss_cls: 0.2578, loss_bbox: 0.4434, loss_traj: 0.6712, loss_traj_cls: 0.0011, loss_map_cls: 0.2118, loss_map_pts: 0.9092, loss_map_dir: 0.0165, d0.loss_plan_l1_fix_time: 2.3438, d0.loss_plan_l1_fix_dist: 0.3850, d1.loss_plan_l1_fix_time: 1.3690, d1.loss_plan_l1_fix_dist: 0.2355, d2.loss_plan_l1_fix_time: 1.3577, d2.loss_plan_l1_fix_dist: 0.2504, d3.loss_plan_l1_fix_time: 1.3604, d3.loss_plan_l1_fix_dist: 0.2734, d4.loss_plan_l1_fix_time: 1.3659, d4.loss_plan_l1_fix_dist: 0.3006, d5.loss_plan_l1_fix_time: 1.3721, d5.loss_plan_l1_fix_dist: 0.3312, d6.loss_plan_l1_fix_time: 1.3788, d6.loss_plan_l1_fix_dist: 0.3666, d0.loss_cls_all: 0.2941, d0.loss_bbox_all: 0.5022, d0.loss_cls: 0.2941, d0.loss_bbox: 0.5022, d1.loss_cls: 0.2822, d1.loss_bbox: 0.4700, d2.loss_cls: 0.2719, d2.loss_bbox: 0.4526, d3.loss_cls: 0.2650, d3.loss_bbox: 0.4435, d4.loss_cls: 0.2608, d4.loss_bbox: 0.4404, d5.loss_cls: 0.2583, d5.loss_bbox: 0.4419, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8461, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.6894, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6622, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6588, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6639, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6667, d0.loss_map_cls_all: 0.2770, d0.loss_map_pts_all: 1.8058, d0.loss_map_dir_all: 0.0153, d0.loss_map_cls: 0.2770, d0.loss_map_pts: 1.8058, d0.loss_map_dir: 0.0153, d1.loss_map_cls: 0.2514, d1.loss_map_pts: 1.1875, d1.loss_map_dir: 0.0148, d2.loss_map_cls: 0.2322, d2.loss_map_pts: 1.0057, d2.loss_map_dir: 0.0153, d3.loss_map_cls: 0.2215, d3.loss_map_pts: 0.9396, d3.loss_map_dir: 0.0159, d4.loss_map_cls: 0.2166, d4.loss_map_pts: 0.9169, d4.loss_map_dir: 0.0163, d5.loss_map_cls: 0.2128, d5.loss_map_pts: 0.9110, d5.loss_map_dir: 0.0165, loss: 34.9434, grad_norm: 170.4831 +2026-02-25 14:54:21,383 - DriveTransformer - INFO - Epoch [5][5750/39528] lr: 9.337e-05, eta: 7 days, 7:23:20, time: 0.777, data_time: 0.038, memory: 19865, loss_cls: 0.2363, loss_bbox: 0.4200, loss_traj: 1.0517, loss_traj_cls: 0.0011, loss_map_cls: 0.1743, loss_map_pts: 0.7042, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 3.0629, d0.loss_plan_l1_fix_dist: 0.4233, d1.loss_plan_l1_fix_time: 1.5276, d1.loss_plan_l1_fix_dist: 0.2363, d2.loss_plan_l1_fix_time: 1.5123, d2.loss_plan_l1_fix_dist: 0.2447, d3.loss_plan_l1_fix_time: 1.5166, d3.loss_plan_l1_fix_dist: 0.2595, d4.loss_plan_l1_fix_time: 1.5215, d4.loss_plan_l1_fix_dist: 0.2786, d5.loss_plan_l1_fix_time: 1.5271, d5.loss_plan_l1_fix_dist: 0.3006, d6.loss_plan_l1_fix_time: 1.5335, d6.loss_plan_l1_fix_dist: 0.3269, d0.loss_cls_all: 0.2714, d0.loss_bbox_all: 0.4671, d0.loss_cls: 0.2714, d0.loss_bbox: 0.4671, d1.loss_cls: 0.2635, d1.loss_bbox: 0.4349, d2.loss_cls: 0.2456, d2.loss_bbox: 0.4200, d3.loss_cls: 0.2399, d3.loss_bbox: 0.4175, d4.loss_cls: 0.2357, d4.loss_bbox: 0.4162, d5.loss_cls: 0.2342, d5.loss_bbox: 0.4183, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3532, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.0957, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0427, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0362, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0531, d5.loss_traj_cls: 0.0012, d5.loss_traj: 1.0520, d0.loss_map_cls_all: 0.2282, d0.loss_map_pts_all: 1.3439, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2282, d0.loss_map_pts: 1.3439, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2095, d1.loss_map_pts: 0.9138, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1959, d2.loss_map_pts: 0.7759, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1841, d3.loss_map_pts: 0.7290, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1798, d4.loss_map_pts: 0.7117, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1759, d5.loss_map_pts: 0.7060, d5.loss_map_dir: 0.0099, loss: 36.3021, grad_norm: 171.7924 +2026-02-25 14:55:02,651 - DriveTransformer - INFO - Epoch [5][5800/39528] lr: 9.337e-05, eta: 7 days, 7:22:45, time: 0.825, data_time: 0.040, memory: 19865, loss_cls: 0.2575, loss_bbox: 0.4547, loss_traj: 0.8740, loss_traj_cls: 0.0011, loss_map_cls: 0.2651, loss_map_pts: 1.0493, loss_map_dir: 0.0143, d0.loss_plan_l1_fix_time: 3.1963, d0.loss_plan_l1_fix_dist: 0.3782, d1.loss_plan_l1_fix_time: 1.6941, d1.loss_plan_l1_fix_dist: 0.2033, d2.loss_plan_l1_fix_time: 1.6731, d2.loss_plan_l1_fix_dist: 0.2142, d3.loss_plan_l1_fix_time: 1.6733, d3.loss_plan_l1_fix_dist: 0.2289, d4.loss_plan_l1_fix_time: 1.6749, d4.loss_plan_l1_fix_dist: 0.2434, d5.loss_plan_l1_fix_time: 1.6771, d5.loss_plan_l1_fix_dist: 0.2578, d6.loss_plan_l1_fix_time: 1.6799, d6.loss_plan_l1_fix_dist: 0.2697, d0.loss_cls_all: 0.2834, d0.loss_bbox_all: 0.5084, d0.loss_cls: 0.2834, d0.loss_bbox: 0.5084, d1.loss_cls: 0.2726, d1.loss_bbox: 0.4796, d2.loss_cls: 0.2656, d2.loss_bbox: 0.4619, d3.loss_cls: 0.2600, d3.loss_bbox: 0.4565, d4.loss_cls: 0.2589, d4.loss_bbox: 0.4523, d5.loss_cls: 0.2571, d5.loss_bbox: 0.4540, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0776, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9170, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8825, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8727, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8740, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8710, d0.loss_map_cls_all: 0.3284, d0.loss_map_pts_all: 1.8622, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.3284, d0.loss_map_pts: 1.8622, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.3012, d1.loss_map_pts: 1.3247, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2835, d2.loss_map_pts: 1.1461, d2.loss_map_dir: 0.0131, d3.loss_map_cls: 0.2711, d3.loss_map_pts: 1.0852, d3.loss_map_dir: 0.0136, d4.loss_map_cls: 0.2647, d4.loss_map_pts: 1.0603, d4.loss_map_dir: 0.0139, d5.loss_map_cls: 0.2657, d5.loss_map_pts: 1.0507, d5.loss_map_dir: 0.0142, loss: 40.2089, grad_norm: 170.2142 +2026-02-25 14:55:41,839 - DriveTransformer - INFO - Epoch [5][5850/39528] lr: 9.337e-05, eta: 7 days, 7:22:00, time: 0.784, data_time: 0.042, memory: 19865, loss_cls: 0.2403, loss_bbox: 0.4269, loss_traj: 0.7956, loss_traj_cls: 0.0011, loss_map_cls: 0.2180, loss_map_pts: 0.9189, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.6734, d0.loss_plan_l1_fix_dist: 0.4204, d1.loss_plan_l1_fix_time: 1.4324, d1.loss_plan_l1_fix_dist: 0.2041, d2.loss_plan_l1_fix_time: 1.4233, d2.loss_plan_l1_fix_dist: 0.2198, d3.loss_plan_l1_fix_time: 1.4294, d3.loss_plan_l1_fix_dist: 0.2370, d4.loss_plan_l1_fix_time: 1.4356, d4.loss_plan_l1_fix_dist: 0.2544, d5.loss_plan_l1_fix_time: 1.4415, d5.loss_plan_l1_fix_dist: 0.2728, d6.loss_plan_l1_fix_time: 1.4477, d6.loss_plan_l1_fix_dist: 0.2892, d0.loss_cls_all: 0.2627, d0.loss_bbox_all: 0.4758, d0.loss_cls: 0.2627, d0.loss_bbox: 0.4758, d1.loss_cls: 0.2559, d1.loss_bbox: 0.4502, d2.loss_cls: 0.2453, d2.loss_bbox: 0.4351, d3.loss_cls: 0.2428, d3.loss_bbox: 0.4302, d4.loss_cls: 0.2414, d4.loss_bbox: 0.4277, d5.loss_cls: 0.2402, d5.loss_bbox: 0.4268, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9869, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8201, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7984, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7903, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7957, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7988, d0.loss_map_cls_all: 0.2839, d0.loss_map_pts_all: 1.6227, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2839, d0.loss_map_pts: 1.6227, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2555, d1.loss_map_pts: 1.1600, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2384, d2.loss_map_pts: 1.0016, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.2274, d3.loss_map_pts: 0.9498, d3.loss_map_dir: 0.0121, d4.loss_map_cls: 0.2218, d4.loss_map_pts: 0.9281, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.2186, d5.loss_map_pts: 0.9196, d5.loss_map_dir: 0.0126, loss: 35.6792, grad_norm: 170.0711 +2026-02-25 14:56:21,724 - DriveTransformer - INFO - Epoch [5][5900/39528] lr: 9.337e-05, eta: 7 days, 7:21:18, time: 0.798, data_time: 0.049, memory: 19865, loss_cls: 0.2132, loss_bbox: 0.4009, loss_traj: 0.9081, loss_traj_cls: 0.0011, loss_map_cls: 0.2284, loss_map_pts: 0.9518, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.7969, d0.loss_plan_l1_fix_dist: 0.4172, d1.loss_plan_l1_fix_time: 1.4026, d1.loss_plan_l1_fix_dist: 0.2125, d2.loss_plan_l1_fix_time: 1.3781, d2.loss_plan_l1_fix_dist: 0.2146, d3.loss_plan_l1_fix_time: 1.3817, d3.loss_plan_l1_fix_dist: 0.2221, d4.loss_plan_l1_fix_time: 1.3876, d4.loss_plan_l1_fix_dist: 0.2323, d5.loss_plan_l1_fix_time: 1.3940, d5.loss_plan_l1_fix_dist: 0.2429, d6.loss_plan_l1_fix_time: 1.4012, d6.loss_plan_l1_fix_dist: 0.2569, d0.loss_cls_all: 0.2418, d0.loss_bbox_all: 0.4558, d0.loss_cls: 0.2418, d0.loss_bbox: 0.4558, d1.loss_cls: 0.2365, d1.loss_bbox: 0.4237, d2.loss_cls: 0.2257, d2.loss_bbox: 0.4072, d3.loss_cls: 0.2216, d3.loss_bbox: 0.4010, d4.loss_cls: 0.2158, d4.loss_bbox: 0.3994, d5.loss_cls: 0.2152, d5.loss_bbox: 0.3979, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1017, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9490, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9154, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9111, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9050, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9170, d0.loss_map_cls_all: 0.2763, d0.loss_map_pts_all: 1.7795, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2763, d0.loss_map_pts: 1.7795, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2539, d1.loss_map_pts: 1.2276, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2429, d2.loss_map_pts: 1.0448, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2373, d3.loss_map_pts: 0.9801, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.2317, d4.loss_map_pts: 0.9592, d4.loss_map_dir: 0.0132, d5.loss_map_cls: 0.2295, d5.loss_map_pts: 0.9519, d5.loss_map_dir: 0.0133, loss: 36.4596, grad_norm: 172.0752 +2026-02-25 14:57:03,348 - DriveTransformer - INFO - Epoch [5][5950/39528] lr: 9.337e-05, eta: 7 days, 7:20:45, time: 0.832, data_time: 0.047, memory: 19865, loss_cls: 0.2465, loss_bbox: 0.4205, loss_traj: 0.7135, loss_traj_cls: 0.0011, loss_map_cls: 0.2170, loss_map_pts: 0.9309, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.6169, d0.loss_plan_l1_fix_dist: 0.3873, d1.loss_plan_l1_fix_time: 1.4787, d1.loss_plan_l1_fix_dist: 0.2166, d2.loss_plan_l1_fix_time: 1.4664, d2.loss_plan_l1_fix_dist: 0.2243, d3.loss_plan_l1_fix_time: 1.4689, d3.loss_plan_l1_fix_dist: 0.2377, d4.loss_plan_l1_fix_time: 1.4733, d4.loss_plan_l1_fix_dist: 0.2541, d5.loss_plan_l1_fix_time: 1.4786, d5.loss_plan_l1_fix_dist: 0.2701, d6.loss_plan_l1_fix_time: 1.4845, d6.loss_plan_l1_fix_dist: 0.2913, d0.loss_cls_all: 0.2808, d0.loss_bbox_all: 0.4765, d0.loss_cls: 0.2808, d0.loss_bbox: 0.4765, d1.loss_cls: 0.2723, d1.loss_bbox: 0.4437, d2.loss_cls: 0.2602, d2.loss_bbox: 0.4264, d3.loss_cls: 0.2497, d3.loss_bbox: 0.4213, d4.loss_cls: 0.2457, d4.loss_bbox: 0.4194, d5.loss_cls: 0.2452, d5.loss_bbox: 0.4199, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8837, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7508, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7183, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7157, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7151, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7193, d0.loss_map_cls_all: 0.2728, d0.loss_map_pts_all: 1.7425, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2728, d0.loss_map_pts: 1.7425, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2451, d1.loss_map_pts: 1.1748, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2337, d2.loss_map_pts: 1.0116, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2261, d3.loss_map_pts: 0.9561, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.2184, d4.loss_map_pts: 0.9362, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.2171, d5.loss_map_pts: 0.9305, d5.loss_map_dir: 0.0132, loss: 35.5877, grad_norm: 170.4971 +2026-02-25 14:57:44,093 - DriveTransformer - INFO - Epoch [5][6000/39528] lr: 9.337e-05, eta: 7 days, 7:20:07, time: 0.815, data_time: 0.045, memory: 19865, loss_cls: 0.2541, loss_bbox: 0.4410, loss_traj: 1.0235, loss_traj_cls: 0.0011, loss_map_cls: 0.2075, loss_map_pts: 0.8465, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.9329, d0.loss_plan_l1_fix_dist: 0.3925, d1.loss_plan_l1_fix_time: 1.5628, d1.loss_plan_l1_fix_dist: 0.2018, d2.loss_plan_l1_fix_time: 1.5578, d2.loss_plan_l1_fix_dist: 0.2053, d3.loss_plan_l1_fix_time: 1.5627, d3.loss_plan_l1_fix_dist: 0.2132, d4.loss_plan_l1_fix_time: 1.5682, d4.loss_plan_l1_fix_dist: 0.2245, d5.loss_plan_l1_fix_time: 1.5744, d5.loss_plan_l1_fix_dist: 0.2400, d6.loss_plan_l1_fix_time: 1.5811, d6.loss_plan_l1_fix_dist: 0.2582, d0.loss_cls_all: 0.2819, d0.loss_bbox_all: 0.4861, d0.loss_cls: 0.2819, d0.loss_bbox: 0.4861, d1.loss_cls: 0.2723, d1.loss_bbox: 0.4599, d2.loss_cls: 0.2606, d2.loss_bbox: 0.4463, d3.loss_cls: 0.2571, d3.loss_bbox: 0.4411, d4.loss_cls: 0.2524, d4.loss_bbox: 0.4426, d5.loss_cls: 0.2538, d5.loss_bbox: 0.4411, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2623, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0725, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0177, d3.loss_traj_cls: 0.0012, d3.loss_traj: 1.0123, d4.loss_traj_cls: 0.0010, d4.loss_traj: 1.0190, d5.loss_traj_cls: 0.0012, d5.loss_traj: 1.0219, d0.loss_map_cls_all: 0.2624, d0.loss_map_pts_all: 1.6794, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.2624, d0.loss_map_pts: 1.6794, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.2453, d1.loss_map_pts: 1.1280, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.2325, d2.loss_map_pts: 0.9424, d2.loss_map_dir: 0.0122, d3.loss_map_cls: 0.2195, d3.loss_map_pts: 0.8775, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.2115, d4.loss_map_pts: 0.8553, d4.loss_map_dir: 0.0131, d5.loss_map_cls: 0.2106, d5.loss_map_pts: 0.8475, d5.loss_map_dir: 0.0133, loss: 38.0775, grad_norm: 172.7915 +2026-02-25 14:58:25,268 - DriveTransformer - INFO - Epoch [5][6050/39528] lr: 9.337e-05, eta: 7 days, 7:19:31, time: 0.823, data_time: 0.050, memory: 19865, loss_cls: 0.2543, loss_bbox: 0.4187, loss_traj: 0.8115, loss_traj_cls: 0.0011, loss_map_cls: 0.2015, loss_map_pts: 0.8820, loss_map_dir: 0.0136, d0.loss_plan_l1_fix_time: 2.6776, d0.loss_plan_l1_fix_dist: 0.3433, d1.loss_plan_l1_fix_time: 1.2948, d1.loss_plan_l1_fix_dist: 0.2168, d2.loss_plan_l1_fix_time: 1.2847, d2.loss_plan_l1_fix_dist: 0.2254, d3.loss_plan_l1_fix_time: 1.2914, d3.loss_plan_l1_fix_dist: 0.2389, d4.loss_plan_l1_fix_time: 1.2973, d4.loss_plan_l1_fix_dist: 0.2556, d5.loss_plan_l1_fix_time: 1.3034, d5.loss_plan_l1_fix_dist: 0.2768, d6.loss_plan_l1_fix_time: 1.3104, d6.loss_plan_l1_fix_dist: 0.2983, d0.loss_cls_all: 0.2804, d0.loss_bbox_all: 0.4673, d0.loss_cls: 0.2804, d0.loss_bbox: 0.4673, d1.loss_cls: 0.2713, d1.loss_bbox: 0.4406, d2.loss_cls: 0.2613, d2.loss_bbox: 0.4238, d3.loss_cls: 0.2555, d3.loss_bbox: 0.4214, d4.loss_cls: 0.2555, d4.loss_bbox: 0.4188, d5.loss_cls: 0.2546, d5.loss_bbox: 0.4182, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9926, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8377, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7963, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7985, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8041, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8126, d0.loss_map_cls_all: 0.2606, d0.loss_map_pts_all: 1.6902, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2606, d0.loss_map_pts: 1.6902, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2364, d1.loss_map_pts: 1.1461, d1.loss_map_dir: 0.0122, d2.loss_map_cls: 0.2174, d2.loss_map_pts: 0.9744, d2.loss_map_dir: 0.0126, d3.loss_map_cls: 0.2086, d3.loss_map_pts: 0.9095, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2027, d4.loss_map_pts: 0.8909, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.2020, d5.loss_map_pts: 0.8837, d5.loss_map_dir: 0.0135, loss: 34.7237, grad_norm: 175.8352 +2026-02-25 14:59:07,068 - DriveTransformer - INFO - Epoch [5][6100/39528] lr: 9.337e-05, eta: 7 days, 7:18:58, time: 0.836, data_time: 0.043, memory: 19865, loss_cls: 0.2540, loss_bbox: 0.4443, loss_traj: 0.8816, loss_traj_cls: 0.0011, loss_map_cls: 0.2194, loss_map_pts: 0.8961, loss_map_dir: 0.0147, d0.loss_plan_l1_fix_time: 2.4744, d0.loss_plan_l1_fix_dist: 0.3725, d1.loss_plan_l1_fix_time: 1.5131, d1.loss_plan_l1_fix_dist: 0.2316, d2.loss_plan_l1_fix_time: 1.4909, d2.loss_plan_l1_fix_dist: 0.2340, d3.loss_plan_l1_fix_time: 1.4867, d3.loss_plan_l1_fix_dist: 0.2438, d4.loss_plan_l1_fix_time: 1.4887, d4.loss_plan_l1_fix_dist: 0.2556, d5.loss_plan_l1_fix_time: 1.4917, d5.loss_plan_l1_fix_dist: 0.2687, d6.loss_plan_l1_fix_time: 1.4956, d6.loss_plan_l1_fix_dist: 0.2824, d0.loss_cls_all: 0.2782, d0.loss_bbox_all: 0.4981, d0.loss_cls: 0.2782, d0.loss_bbox: 0.4981, d1.loss_cls: 0.2641, d1.loss_bbox: 0.4691, d2.loss_cls: 0.2593, d2.loss_bbox: 0.4506, d3.loss_cls: 0.2548, d3.loss_bbox: 0.4458, d4.loss_cls: 0.2521, d4.loss_bbox: 0.4432, d5.loss_cls: 0.2543, d5.loss_bbox: 0.4419, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1382, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9403, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8837, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8773, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8741, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8774, d0.loss_map_cls_all: 0.2806, d0.loss_map_pts_all: 1.8158, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2806, d0.loss_map_pts: 1.8158, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2465, d1.loss_map_pts: 1.2200, d1.loss_map_dir: 0.0128, d2.loss_map_cls: 0.2325, d2.loss_map_pts: 1.0135, d2.loss_map_dir: 0.0133, d3.loss_map_cls: 0.2255, d3.loss_map_pts: 0.9355, d3.loss_map_dir: 0.0140, d4.loss_map_cls: 0.2232, d4.loss_map_pts: 0.9037, d4.loss_map_dir: 0.0144, d5.loss_map_cls: 0.2208, d5.loss_map_pts: 0.8976, d5.loss_map_dir: 0.0146, loss: 37.1317, grad_norm: 174.9710 +2026-02-25 14:59:48,640 - DriveTransformer - INFO - Epoch [5][6150/39528] lr: 9.337e-05, eta: 7 days, 7:18:25, time: 0.831, data_time: 0.040, memory: 19865, loss_cls: 0.2291, loss_bbox: 0.4033, loss_traj: 0.6455, loss_traj_cls: 0.0012, loss_map_cls: 0.1976, loss_map_pts: 0.8503, loss_map_dir: 0.0155, d0.loss_plan_l1_fix_time: 2.5962, d0.loss_plan_l1_fix_dist: 0.4799, d1.loss_plan_l1_fix_time: 1.3730, d1.loss_plan_l1_fix_dist: 0.2261, d2.loss_plan_l1_fix_time: 1.3620, d2.loss_plan_l1_fix_dist: 0.2308, d3.loss_plan_l1_fix_time: 1.3638, d3.loss_plan_l1_fix_dist: 0.2417, d4.loss_plan_l1_fix_time: 1.3693, d4.loss_plan_l1_fix_dist: 0.2540, d5.loss_plan_l1_fix_time: 1.3746, d5.loss_plan_l1_fix_dist: 0.2653, d6.loss_plan_l1_fix_time: 1.3801, d6.loss_plan_l1_fix_dist: 0.2776, d0.loss_cls_all: 0.2622, d0.loss_bbox_all: 0.4523, d0.loss_cls: 0.2622, d0.loss_bbox: 0.4523, d1.loss_cls: 0.2526, d1.loss_bbox: 0.4256, d2.loss_cls: 0.2384, d2.loss_bbox: 0.4107, d3.loss_cls: 0.2337, d3.loss_bbox: 0.4053, d4.loss_cls: 0.2291, d4.loss_bbox: 0.4021, d5.loss_cls: 0.2287, d5.loss_bbox: 0.4026, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8084, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7122, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6604, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6471, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6424, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6464, d0.loss_map_cls_all: 0.2576, d0.loss_map_pts_all: 1.8813, d0.loss_map_dir_all: 0.0144, d0.loss_map_cls: 0.2576, d0.loss_map_pts: 1.8813, d0.loss_map_dir: 0.0144, d1.loss_map_cls: 0.2317, d1.loss_map_pts: 1.1735, d1.loss_map_dir: 0.0139, d2.loss_map_cls: 0.2184, d2.loss_map_pts: 0.9663, d2.loss_map_dir: 0.0143, d3.loss_map_cls: 0.2072, d3.loss_map_pts: 0.8874, d3.loss_map_dir: 0.0148, d4.loss_map_cls: 0.2004, d4.loss_map_pts: 0.8591, d4.loss_map_dir: 0.0153, d5.loss_map_cls: 0.1989, d5.loss_map_pts: 0.8522, d5.loss_map_dir: 0.0153, loss: 34.0927, grad_norm: 176.1450 +2026-02-25 15:00:28,138 - DriveTransformer - INFO - Epoch [5][6200/39528] lr: 9.337e-05, eta: 7 days, 7:17:41, time: 0.790, data_time: 0.043, memory: 19865, loss_cls: 0.2524, loss_bbox: 0.4244, loss_traj: 0.7550, loss_traj_cls: 0.0012, loss_map_cls: 0.2131, loss_map_pts: 0.8666, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.9671, d0.loss_plan_l1_fix_dist: 0.3778, d1.loss_plan_l1_fix_time: 1.3739, d1.loss_plan_l1_fix_dist: 0.1858, d2.loss_plan_l1_fix_time: 1.3635, d2.loss_plan_l1_fix_dist: 0.1876, d3.loss_plan_l1_fix_time: 1.3640, d3.loss_plan_l1_fix_dist: 0.1955, d4.loss_plan_l1_fix_time: 1.3682, d4.loss_plan_l1_fix_dist: 0.2070, d5.loss_plan_l1_fix_time: 1.3732, d5.loss_plan_l1_fix_dist: 0.2217, d6.loss_plan_l1_fix_time: 1.3784, d6.loss_plan_l1_fix_dist: 0.2408, d0.loss_cls_all: 0.2770, d0.loss_bbox_all: 0.4827, d0.loss_cls: 0.2770, d0.loss_bbox: 0.4827, d1.loss_cls: 0.2696, d1.loss_bbox: 0.4506, d2.loss_cls: 0.2598, d2.loss_bbox: 0.4375, d3.loss_cls: 0.2548, d3.loss_bbox: 0.4306, d4.loss_cls: 0.2523, d4.loss_bbox: 0.4271, d5.loss_cls: 0.2511, d5.loss_bbox: 0.4260, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9769, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8217, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7582, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7494, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7511, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7525, d0.loss_map_cls_all: 0.2679, d0.loss_map_pts_all: 1.5743, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2679, d0.loss_map_pts: 1.5743, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2436, d1.loss_map_pts: 1.1225, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2299, d2.loss_map_pts: 0.9626, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.2214, d3.loss_map_pts: 0.8971, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.2156, d4.loss_map_pts: 0.8716, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.2149, d5.loss_map_pts: 0.8673, d5.loss_map_dir: 0.0118, loss: 34.7320, grad_norm: 174.3777 +2026-02-25 15:01:07,893 - DriveTransformer - INFO - Epoch [5][6250/39528] lr: 9.337e-05, eta: 7 days, 7:16:58, time: 0.795, data_time: 0.048, memory: 19865, loss_cls: 0.2496, loss_bbox: 0.4046, loss_traj: 0.8325, loss_traj_cls: 0.0013, loss_map_cls: 0.2041, loss_map_pts: 0.8640, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.2874, d0.loss_plan_l1_fix_dist: 0.3546, d1.loss_plan_l1_fix_time: 1.2347, d1.loss_plan_l1_fix_dist: 0.1748, d2.loss_plan_l1_fix_time: 1.2314, d2.loss_plan_l1_fix_dist: 0.1788, d3.loss_plan_l1_fix_time: 1.2344, d3.loss_plan_l1_fix_dist: 0.1860, d4.loss_plan_l1_fix_time: 1.2401, d4.loss_plan_l1_fix_dist: 0.1961, d5.loss_plan_l1_fix_time: 1.2462, d5.loss_plan_l1_fix_dist: 0.2072, d6.loss_plan_l1_fix_time: 1.2529, d6.loss_plan_l1_fix_dist: 0.2199, d0.loss_cls_all: 0.2774, d0.loss_bbox_all: 0.4566, d0.loss_cls: 0.2774, d0.loss_bbox: 0.4566, d1.loss_cls: 0.2674, d1.loss_bbox: 0.4266, d2.loss_cls: 0.2589, d2.loss_bbox: 0.4137, d3.loss_cls: 0.2538, d3.loss_bbox: 0.4082, d4.loss_cls: 0.2487, d4.loss_bbox: 0.4060, d5.loss_cls: 0.2466, d5.loss_bbox: 0.4061, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1012, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9159, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8591, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8444, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8299, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8280, d0.loss_map_cls_all: 0.2600, d0.loss_map_pts_all: 1.6287, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2600, d0.loss_map_pts: 1.6287, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2386, d1.loss_map_pts: 1.1169, d1.loss_map_dir: 0.0121, d2.loss_map_cls: 0.2232, d2.loss_map_pts: 0.9525, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2134, d3.loss_map_pts: 0.8899, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.2085, d4.loss_map_pts: 0.8695, d4.loss_map_dir: 0.0132, d5.loss_map_cls: 0.2064, d5.loss_map_pts: 0.8654, d5.loss_map_dir: 0.0133, loss: 33.6524, grad_norm: 173.4844 +2026-02-25 15:01:49,219 - DriveTransformer - INFO - Epoch [5][6300/39528] lr: 9.337e-05, eta: 7 days, 7:16:23, time: 0.826, data_time: 0.049, memory: 19865, loss_cls: 0.2344, loss_bbox: 0.4318, loss_traj: 0.7660, loss_traj_cls: 0.0012, loss_map_cls: 0.2086, loss_map_pts: 0.9302, loss_map_dir: 0.0148, d0.loss_plan_l1_fix_time: 2.6372, d0.loss_plan_l1_fix_dist: 0.4980, d1.loss_plan_l1_fix_time: 1.4354, d1.loss_plan_l1_fix_dist: 0.2263, d2.loss_plan_l1_fix_time: 1.4266, d2.loss_plan_l1_fix_dist: 0.2329, d3.loss_plan_l1_fix_time: 1.4275, d3.loss_plan_l1_fix_dist: 0.2439, d4.loss_plan_l1_fix_time: 1.4309, d4.loss_plan_l1_fix_dist: 0.2561, d5.loss_plan_l1_fix_time: 1.4354, d5.loss_plan_l1_fix_dist: 0.2698, d6.loss_plan_l1_fix_time: 1.4408, d6.loss_plan_l1_fix_dist: 0.2856, d0.loss_cls_all: 0.2620, d0.loss_bbox_all: 0.4835, d0.loss_cls: 0.2620, d0.loss_bbox: 0.4835, d1.loss_cls: 0.2562, d1.loss_bbox: 0.4523, d2.loss_cls: 0.2469, d2.loss_bbox: 0.4364, d3.loss_cls: 0.2392, d3.loss_bbox: 0.4343, d4.loss_cls: 0.2346, d4.loss_bbox: 0.4337, d5.loss_cls: 0.2340, d5.loss_bbox: 0.4311, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0035, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8343, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7677, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7582, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7610, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7657, d0.loss_map_cls_all: 0.2564, d0.loss_map_pts_all: 1.8037, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.2564, d0.loss_map_pts: 1.8037, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2333, d1.loss_map_pts: 1.1845, d1.loss_map_dir: 0.0133, d2.loss_map_cls: 0.2249, d2.loss_map_pts: 1.0223, d2.loss_map_dir: 0.0138, d3.loss_map_cls: 0.2168, d3.loss_map_pts: 0.9648, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2106, d4.loss_map_pts: 0.9415, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.2104, d5.loss_map_pts: 0.9325, d5.loss_map_dir: 0.0146, loss: 35.9785, grad_norm: 172.1280 +2026-02-25 15:02:31,695 - DriveTransformer - INFO - Epoch [5][6350/39528] lr: 9.337e-05, eta: 7 days, 7:15:54, time: 0.850, data_time: 0.046, memory: 19865, loss_cls: 0.2736, loss_bbox: 0.4447, loss_traj: 0.7932, loss_traj_cls: 0.0012, loss_map_cls: 0.1986, loss_map_pts: 0.8479, loss_map_dir: 0.0138, d0.loss_plan_l1_fix_time: 2.7249, d0.loss_plan_l1_fix_dist: 0.4065, d1.loss_plan_l1_fix_time: 1.4653, d1.loss_plan_l1_fix_dist: 0.2415, d2.loss_plan_l1_fix_time: 1.4599, d2.loss_plan_l1_fix_dist: 0.2415, d3.loss_plan_l1_fix_time: 1.4707, d3.loss_plan_l1_fix_dist: 0.2510, d4.loss_plan_l1_fix_time: 1.4772, d4.loss_plan_l1_fix_dist: 0.2618, d5.loss_plan_l1_fix_time: 1.4840, d5.loss_plan_l1_fix_dist: 0.2739, d6.loss_plan_l1_fix_time: 1.4911, d6.loss_plan_l1_fix_dist: 0.2887, d0.loss_cls_all: 0.2950, d0.loss_bbox_all: 0.4979, d0.loss_cls: 0.2950, d0.loss_bbox: 0.4979, d1.loss_cls: 0.2890, d1.loss_bbox: 0.4675, d2.loss_cls: 0.2833, d2.loss_bbox: 0.4519, d3.loss_cls: 0.2791, d3.loss_bbox: 0.4467, d4.loss_cls: 0.2729, d4.loss_bbox: 0.4453, d5.loss_cls: 0.2725, d5.loss_bbox: 0.4440, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9744, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8555, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8080, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8002, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7926, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7901, d0.loss_map_cls_all: 0.2463, d0.loss_map_pts_all: 1.6750, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.2463, d0.loss_map_pts: 1.6750, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2243, d1.loss_map_pts: 1.1076, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2180, d2.loss_map_pts: 0.9456, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2084, d3.loss_map_pts: 0.8863, d3.loss_map_dir: 0.0133, d4.loss_map_cls: 0.2020, d4.loss_map_pts: 0.8601, d4.loss_map_dir: 0.0137, d5.loss_map_cls: 0.2001, d5.loss_map_pts: 0.8500, d5.loss_map_dir: 0.0138, loss: 36.0115, grad_norm: 172.6338 +2026-02-25 15:03:15,174 - DriveTransformer - INFO - Epoch [5][6400/39528] lr: 9.337e-05, eta: 7 days, 7:15:30, time: 0.871, data_time: 0.047, memory: 19865, loss_cls: 0.2956, loss_bbox: 0.4811, loss_traj: 0.8143, loss_traj_cls: 0.0011, loss_map_cls: 0.2272, loss_map_pts: 1.1049, loss_map_dir: 0.0186, d0.loss_plan_l1_fix_time: 3.3422, d0.loss_plan_l1_fix_dist: 0.4966, d1.loss_plan_l1_fix_time: 1.6598, d1.loss_plan_l1_fix_dist: 0.2637, d2.loss_plan_l1_fix_time: 1.6522, d2.loss_plan_l1_fix_dist: 0.2673, d3.loss_plan_l1_fix_time: 1.6602, d3.loss_plan_l1_fix_dist: 0.2742, d4.loss_plan_l1_fix_time: 1.6660, d4.loss_plan_l1_fix_dist: 0.2839, d5.loss_plan_l1_fix_time: 1.6720, d5.loss_plan_l1_fix_dist: 0.2952, d6.loss_plan_l1_fix_time: 1.6784, d6.loss_plan_l1_fix_dist: 0.3103, d0.loss_cls_all: 0.3209, d0.loss_bbox_all: 0.5330, d0.loss_cls: 0.3209, d0.loss_bbox: 0.5330, d1.loss_cls: 0.3136, d1.loss_bbox: 0.5019, d2.loss_cls: 0.3045, d2.loss_bbox: 0.4884, d3.loss_cls: 0.2988, d3.loss_bbox: 0.4814, d4.loss_cls: 0.2972, d4.loss_bbox: 0.4787, d5.loss_cls: 0.2955, d5.loss_bbox: 0.4797, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0140, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8583, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8288, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8161, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8137, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8149, d0.loss_map_cls_all: 0.2966, d0.loss_map_pts_all: 2.1153, d0.loss_map_dir_all: 0.0171, d0.loss_map_cls: 0.2966, d0.loss_map_pts: 2.1153, d0.loss_map_dir: 0.0171, d1.loss_map_cls: 0.2659, d1.loss_map_pts: 1.4266, d1.loss_map_dir: 0.0168, d2.loss_map_cls: 0.2493, d2.loss_map_pts: 1.2237, d2.loss_map_dir: 0.0174, d3.loss_map_cls: 0.2383, d3.loss_map_pts: 1.1464, d3.loss_map_dir: 0.0180, d4.loss_map_cls: 0.2308, d4.loss_map_pts: 1.1164, d4.loss_map_dir: 0.0182, d5.loss_map_cls: 0.2281, d5.loss_map_pts: 1.1095, d5.loss_map_dir: 0.0184, loss: 41.4455, grad_norm: 169.9836 +2026-02-25 15:03:55,326 - DriveTransformer - INFO - Epoch [5][6450/39528] lr: 9.337e-05, eta: 7 days, 7:14:49, time: 0.802, data_time: 0.037, memory: 19865, loss_cls: 0.2380, loss_bbox: 0.4234, loss_traj: 0.7692, loss_traj_cls: 0.0011, loss_map_cls: 0.2119, loss_map_pts: 0.9380, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 2.5960, d0.loss_plan_l1_fix_dist: 0.3805, d1.loss_plan_l1_fix_time: 1.4368, d1.loss_plan_l1_fix_dist: 0.2317, d2.loss_plan_l1_fix_time: 1.4274, d2.loss_plan_l1_fix_dist: 0.2385, d3.loss_plan_l1_fix_time: 1.4288, d3.loss_plan_l1_fix_dist: 0.2472, d4.loss_plan_l1_fix_time: 1.4342, d4.loss_plan_l1_fix_dist: 0.2580, d5.loss_plan_l1_fix_time: 1.4399, d5.loss_plan_l1_fix_dist: 0.2690, d6.loss_plan_l1_fix_time: 1.4461, d6.loss_plan_l1_fix_dist: 0.2783, d0.loss_cls_all: 0.2641, d0.loss_bbox_all: 0.4743, d0.loss_cls: 0.2641, d0.loss_bbox: 0.4743, d1.loss_cls: 0.2538, d1.loss_bbox: 0.4438, d2.loss_cls: 0.2462, d2.loss_bbox: 0.4274, d3.loss_cls: 0.2405, d3.loss_bbox: 0.4199, d4.loss_cls: 0.2352, d4.loss_bbox: 0.4194, d5.loss_cls: 0.2373, d5.loss_bbox: 0.4191, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9802, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8394, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7916, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7825, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7773, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7659, d0.loss_map_cls_all: 0.2808, d0.loss_map_pts_all: 1.8317, d0.loss_map_dir_all: 0.0136, d0.loss_map_cls: 0.2808, d0.loss_map_pts: 1.8317, d0.loss_map_dir: 0.0136, d1.loss_map_cls: 0.2448, d1.loss_map_pts: 1.2648, d1.loss_map_dir: 0.0131, d2.loss_map_cls: 0.2322, d2.loss_map_pts: 1.0618, d2.loss_map_dir: 0.0133, d3.loss_map_cls: 0.2213, d3.loss_map_pts: 0.9848, d3.loss_map_dir: 0.0139, d4.loss_map_cls: 0.2151, d4.loss_map_pts: 0.9521, d4.loss_map_dir: 0.0142, d5.loss_map_cls: 0.2129, d5.loss_map_pts: 0.9415, d5.loss_map_dir: 0.0143, loss: 36.1225, grad_norm: 169.7251 +2026-02-25 15:04:36,143 - DriveTransformer - INFO - Epoch [5][6500/39528] lr: 9.337e-05, eta: 7 days, 7:14:11, time: 0.816, data_time: 0.044, memory: 19865, loss_cls: 0.2491, loss_bbox: 0.4623, loss_traj: 0.7192, loss_traj_cls: 0.0011, loss_map_cls: 0.2199, loss_map_pts: 0.9625, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 2.4868, d0.loss_plan_l1_fix_dist: 0.3631, d1.loss_plan_l1_fix_time: 1.2116, d1.loss_plan_l1_fix_dist: 0.1856, d2.loss_plan_l1_fix_time: 1.2061, d2.loss_plan_l1_fix_dist: 0.1874, d3.loss_plan_l1_fix_time: 1.2079, d3.loss_plan_l1_fix_dist: 0.1972, d4.loss_plan_l1_fix_time: 1.2122, d4.loss_plan_l1_fix_dist: 0.2083, d5.loss_plan_l1_fix_time: 1.2170, d5.loss_plan_l1_fix_dist: 0.2214, d6.loss_plan_l1_fix_time: 1.2228, d6.loss_plan_l1_fix_dist: 0.2342, d0.loss_cls_all: 0.2782, d0.loss_bbox_all: 0.5005, d0.loss_cls: 0.2782, d0.loss_bbox: 0.5005, d1.loss_cls: 0.2667, d1.loss_bbox: 0.4745, d2.loss_cls: 0.2561, d2.loss_bbox: 0.4660, d3.loss_cls: 0.2519, d3.loss_bbox: 0.4596, d4.loss_cls: 0.2493, d4.loss_bbox: 0.4590, d5.loss_cls: 0.2495, d5.loss_bbox: 0.4592, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9018, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.7485, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7295, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7224, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7142, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7149, d0.loss_map_cls_all: 0.2639, d0.loss_map_pts_all: 1.7400, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2639, d0.loss_map_pts: 1.7400, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2429, d1.loss_map_pts: 1.2301, d1.loss_map_dir: 0.0126, d2.loss_map_cls: 0.2356, d2.loss_map_pts: 1.0579, d2.loss_map_dir: 0.0131, d3.loss_map_cls: 0.2302, d3.loss_map_pts: 0.9925, d3.loss_map_dir: 0.0136, d4.loss_map_cls: 0.2227, d4.loss_map_pts: 0.9707, d4.loss_map_dir: 0.0139, d5.loss_map_cls: 0.2204, d5.loss_map_pts: 0.9623, d5.loss_map_dir: 0.0141, loss: 34.1421, grad_norm: 169.0177 +2026-02-25 15:05:18,842 - DriveTransformer - INFO - Epoch [5][6550/39528] lr: 9.337e-05, eta: 7 days, 7:13:43, time: 0.854, data_time: 0.052, memory: 19865, loss_cls: 0.2667, loss_bbox: 0.4466, loss_traj: 0.7269, loss_traj_cls: 0.0011, loss_map_cls: 0.2541, loss_map_pts: 1.1450, loss_map_dir: 0.0186, d0.loss_plan_l1_fix_time: 2.5047, d0.loss_plan_l1_fix_dist: 0.3658, d1.loss_plan_l1_fix_time: 1.2592, d1.loss_plan_l1_fix_dist: 0.1955, d2.loss_plan_l1_fix_time: 1.2530, d2.loss_plan_l1_fix_dist: 0.2023, d3.loss_plan_l1_fix_time: 1.2536, d3.loss_plan_l1_fix_dist: 0.2142, d4.loss_plan_l1_fix_time: 1.2569, d4.loss_plan_l1_fix_dist: 0.2277, d5.loss_plan_l1_fix_time: 1.2605, d5.loss_plan_l1_fix_dist: 0.2436, d6.loss_plan_l1_fix_time: 1.2652, d6.loss_plan_l1_fix_dist: 0.2609, d0.loss_cls_all: 0.2911, d0.loss_bbox_all: 0.5062, d0.loss_cls: 0.2911, d0.loss_bbox: 0.5062, d1.loss_cls: 0.2800, d1.loss_bbox: 0.4744, d2.loss_cls: 0.2738, d2.loss_bbox: 0.4555, d3.loss_cls: 0.2681, d3.loss_bbox: 0.4492, d4.loss_cls: 0.2660, d4.loss_bbox: 0.4459, d5.loss_cls: 0.2660, d5.loss_bbox: 0.4470, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9116, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7759, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7367, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7350, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7229, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7273, d0.loss_map_cls_all: 0.3206, d0.loss_map_pts_all: 2.1027, d0.loss_map_dir_all: 0.0164, d0.loss_map_cls: 0.3206, d0.loss_map_pts: 2.1027, d0.loss_map_dir: 0.0164, d1.loss_map_cls: 0.2887, d1.loss_map_pts: 1.4565, d1.loss_map_dir: 0.0163, d2.loss_map_cls: 0.2734, d2.loss_map_pts: 1.2554, d2.loss_map_dir: 0.0168, d3.loss_map_cls: 0.2638, d3.loss_map_pts: 1.1796, d3.loss_map_dir: 0.0176, d4.loss_map_cls: 0.2564, d4.loss_map_pts: 1.1562, d4.loss_map_dir: 0.0181, d5.loss_map_cls: 0.2546, d5.loss_map_pts: 1.1464, d5.loss_map_dir: 0.0184, loss: 36.9551, grad_norm: 168.0191 +2026-02-25 15:05:58,092 - DriveTransformer - INFO - Epoch [5][6600/39528] lr: 9.337e-05, eta: 7 days, 7:12:58, time: 0.785, data_time: 0.038, memory: 19865, loss_cls: 0.2555, loss_bbox: 0.4323, loss_traj: 0.9548, loss_traj_cls: 0.0011, loss_map_cls: 0.2163, loss_map_pts: 0.9560, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 2.5253, d0.loss_plan_l1_fix_dist: 0.4492, d1.loss_plan_l1_fix_time: 1.4748, d1.loss_plan_l1_fix_dist: 0.2230, d2.loss_plan_l1_fix_time: 1.4549, d2.loss_plan_l1_fix_dist: 0.2260, d3.loss_plan_l1_fix_time: 1.4599, d3.loss_plan_l1_fix_dist: 0.2344, d4.loss_plan_l1_fix_time: 1.4640, d4.loss_plan_l1_fix_dist: 0.2465, d5.loss_plan_l1_fix_time: 1.4683, d5.loss_plan_l1_fix_dist: 0.2597, d6.loss_plan_l1_fix_time: 1.4732, d6.loss_plan_l1_fix_dist: 0.2764, d0.loss_cls_all: 0.2744, d0.loss_bbox_all: 0.4937, d0.loss_cls: 0.2744, d0.loss_bbox: 0.4937, d1.loss_cls: 0.2632, d1.loss_bbox: 0.4588, d2.loss_cls: 0.2547, d2.loss_bbox: 0.4414, d3.loss_cls: 0.2521, d3.loss_bbox: 0.4333, d4.loss_cls: 0.2496, d4.loss_bbox: 0.4327, d5.loss_cls: 0.2527, d5.loss_bbox: 0.4318, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2535, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0662, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9826, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9651, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9609, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9563, d0.loss_map_cls_all: 0.2922, d0.loss_map_pts_all: 1.7047, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2922, d0.loss_map_pts: 1.7047, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2525, d1.loss_map_pts: 1.2409, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2417, d2.loss_map_pts: 1.0634, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2245, d3.loss_map_pts: 0.9928, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.2190, d4.loss_map_pts: 0.9654, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.2158, d5.loss_map_pts: 0.9577, d5.loss_map_dir: 0.0123, loss: 37.7085, grad_norm: 165.6407 +2026-02-25 15:06:39,925 - DriveTransformer - INFO - Epoch [5][6650/39528] lr: 9.337e-05, eta: 7 days, 7:12:25, time: 0.837, data_time: 0.041, memory: 19865, loss_cls: 0.2379, loss_bbox: 0.4410, loss_traj: 0.8178, loss_traj_cls: 0.0011, loss_map_cls: 0.2095, loss_map_pts: 0.8678, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 3.0127, d0.loss_plan_l1_fix_dist: 0.4083, d1.loss_plan_l1_fix_time: 1.5734, d1.loss_plan_l1_fix_dist: 0.2268, d2.loss_plan_l1_fix_time: 1.5562, d2.loss_plan_l1_fix_dist: 0.2306, d3.loss_plan_l1_fix_time: 1.5607, d3.loss_plan_l1_fix_dist: 0.2390, d4.loss_plan_l1_fix_time: 1.5662, d4.loss_plan_l1_fix_dist: 0.2502, d5.loss_plan_l1_fix_time: 1.5719, d5.loss_plan_l1_fix_dist: 0.2625, d6.loss_plan_l1_fix_time: 1.5778, d6.loss_plan_l1_fix_dist: 0.2745, d0.loss_cls_all: 0.2508, d0.loss_bbox_all: 0.4916, d0.loss_cls: 0.2508, d0.loss_bbox: 0.4916, d1.loss_cls: 0.2482, d1.loss_bbox: 0.4630, d2.loss_cls: 0.2385, d2.loss_bbox: 0.4477, d3.loss_cls: 0.2350, d3.loss_bbox: 0.4425, d4.loss_cls: 0.2338, d4.loss_bbox: 0.4402, d5.loss_cls: 0.2364, d5.loss_bbox: 0.4393, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9591, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8684, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8360, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8225, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8214, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8188, d0.loss_map_cls_all: 0.2588, d0.loss_map_pts_all: 1.7000, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.2588, d0.loss_map_pts: 1.7000, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2337, d1.loss_map_pts: 1.1230, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2242, d2.loss_map_pts: 0.9560, d2.loss_map_dir: 0.0127, d3.loss_map_cls: 0.2169, d3.loss_map_pts: 0.8971, d3.loss_map_dir: 0.0133, d4.loss_map_cls: 0.2131, d4.loss_map_pts: 0.8784, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.2095, d5.loss_map_pts: 0.8687, d5.loss_map_dir: 0.0136, loss: 36.7689, grad_norm: 165.3887 +2026-02-25 15:07:19,923 - DriveTransformer - INFO - Epoch [5][6700/39528] lr: 9.337e-05, eta: 7 days, 7:11:44, time: 0.800, data_time: 0.046, memory: 19865, loss_cls: 0.1961, loss_bbox: 0.3693, loss_traj: 0.6775, loss_traj_cls: 0.0011, loss_map_cls: 0.2196, loss_map_pts: 0.8731, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.3239, d0.loss_plan_l1_fix_dist: 0.3621, d1.loss_plan_l1_fix_time: 1.0788, d1.loss_plan_l1_fix_dist: 0.1902, d2.loss_plan_l1_fix_time: 1.0624, d2.loss_plan_l1_fix_dist: 0.1988, d3.loss_plan_l1_fix_time: 1.0648, d3.loss_plan_l1_fix_dist: 0.2131, d4.loss_plan_l1_fix_time: 1.0701, d4.loss_plan_l1_fix_dist: 0.2305, d5.loss_plan_l1_fix_time: 1.0762, d5.loss_plan_l1_fix_dist: 0.2503, d6.loss_plan_l1_fix_time: 1.0827, d6.loss_plan_l1_fix_dist: 0.2743, d0.loss_cls_all: 0.2192, d0.loss_bbox_all: 0.4153, d0.loss_cls: 0.2192, d0.loss_bbox: 0.4153, d1.loss_cls: 0.2148, d1.loss_bbox: 0.3863, d2.loss_cls: 0.2014, d2.loss_bbox: 0.3764, d3.loss_cls: 0.1962, d3.loss_bbox: 0.3723, d4.loss_cls: 0.1934, d4.loss_bbox: 0.3700, d5.loss_cls: 0.1946, d5.loss_bbox: 0.3689, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8849, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.7254, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6871, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6829, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6756, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6750, d0.loss_map_cls_all: 0.2781, d0.loss_map_pts_all: 1.6867, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2781, d0.loss_map_pts: 1.6867, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2499, d1.loss_map_pts: 1.1410, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.2332, d2.loss_map_pts: 0.9666, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.2293, d3.loss_map_pts: 0.8992, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.2238, d4.loss_map_pts: 0.8767, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.2212, d5.loss_map_pts: 0.8725, d5.loss_map_dir: 0.0118, loss: 31.2255, grad_norm: 163.6310 +2026-02-25 15:07:59,118 - DriveTransformer - INFO - Epoch [5][6750/39528] lr: 9.337e-05, eta: 7 days, 7:10:59, time: 0.784, data_time: 0.041, memory: 19865, loss_cls: 0.2465, loss_bbox: 0.4117, loss_traj: 0.7591, loss_traj_cls: 0.0010, loss_map_cls: 0.2180, loss_map_pts: 0.9248, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 2.6240, d0.loss_plan_l1_fix_dist: 0.4255, d1.loss_plan_l1_fix_time: 1.3730, d1.loss_plan_l1_fix_dist: 0.2249, d2.loss_plan_l1_fix_time: 1.3511, d2.loss_plan_l1_fix_dist: 0.2295, d3.loss_plan_l1_fix_time: 1.3545, d3.loss_plan_l1_fix_dist: 0.2389, d4.loss_plan_l1_fix_time: 1.3606, d4.loss_plan_l1_fix_dist: 0.2525, d5.loss_plan_l1_fix_time: 1.3672, d5.loss_plan_l1_fix_dist: 0.2688, d6.loss_plan_l1_fix_time: 1.3744, d6.loss_plan_l1_fix_dist: 0.2875, d0.loss_cls_all: 0.2622, d0.loss_bbox_all: 0.4702, d0.loss_cls: 0.2622, d0.loss_bbox: 0.4702, d1.loss_cls: 0.2589, d1.loss_bbox: 0.4385, d2.loss_cls: 0.2618, d2.loss_bbox: 0.4190, d3.loss_cls: 0.2516, d3.loss_bbox: 0.4131, d4.loss_cls: 0.2466, d4.loss_bbox: 0.4110, d5.loss_cls: 0.2460, d5.loss_bbox: 0.4100, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9710, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.8133, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7739, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7667, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7588, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7636, d0.loss_map_cls_all: 0.2659, d0.loss_map_pts_all: 1.7115, d0.loss_map_dir_all: 0.0126, d0.loss_map_cls: 0.2659, d0.loss_map_pts: 1.7115, d0.loss_map_dir: 0.0126, d1.loss_map_cls: 0.2428, d1.loss_map_pts: 1.1916, d1.loss_map_dir: 0.0125, d2.loss_map_cls: 0.2293, d2.loss_map_pts: 1.0149, d2.loss_map_dir: 0.0131, d3.loss_map_cls: 0.2209, d3.loss_map_pts: 0.9539, d3.loss_map_dir: 0.0137, d4.loss_map_cls: 0.2179, d4.loss_map_pts: 0.9361, d4.loss_map_dir: 0.0140, d5.loss_map_cls: 0.2177, d5.loss_map_pts: 0.9268, d5.loss_map_dir: 0.0141, loss: 35.1807, grad_norm: 162.2183 +2026-02-25 15:08:40,188 - DriveTransformer - INFO - Epoch [5][6800/39528] lr: 9.337e-05, eta: 7 days, 7:10:22, time: 0.821, data_time: 0.045, memory: 19865, loss_cls: 0.2173, loss_bbox: 0.3950, loss_traj: 0.7366, loss_traj_cls: 0.0011, loss_map_cls: 0.2205, loss_map_pts: 0.8926, loss_map_dir: 0.0132, d0.loss_plan_l1_fix_time: 2.3562, d0.loss_plan_l1_fix_dist: 0.3812, d1.loss_plan_l1_fix_time: 1.1330, d1.loss_plan_l1_fix_dist: 0.1840, d2.loss_plan_l1_fix_time: 1.1172, d2.loss_plan_l1_fix_dist: 0.1911, d3.loss_plan_l1_fix_time: 1.1191, d3.loss_plan_l1_fix_dist: 0.2044, d4.loss_plan_l1_fix_time: 1.1242, d4.loss_plan_l1_fix_dist: 0.2184, d5.loss_plan_l1_fix_time: 1.1303, d5.loss_plan_l1_fix_dist: 0.2322, d6.loss_plan_l1_fix_time: 1.1378, d6.loss_plan_l1_fix_dist: 0.2466, d0.loss_cls_all: 0.2338, d0.loss_bbox_all: 0.4396, d0.loss_cls: 0.2338, d0.loss_bbox: 0.4396, d1.loss_cls: 0.2287, d1.loss_bbox: 0.4103, d2.loss_cls: 0.2232, d2.loss_bbox: 0.3985, d3.loss_cls: 0.2190, d3.loss_bbox: 0.3939, d4.loss_cls: 0.2182, d4.loss_bbox: 0.3925, d5.loss_cls: 0.2164, d5.loss_bbox: 0.3944, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9217, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7917, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7476, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7351, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7311, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7320, d0.loss_map_cls_all: 0.2711, d0.loss_map_pts_all: 1.7339, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2711, d0.loss_map_pts: 1.7339, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2418, d1.loss_map_pts: 1.1632, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2287, d2.loss_map_pts: 0.9891, d2.loss_map_dir: 0.0119, d3.loss_map_cls: 0.2202, d3.loss_map_pts: 0.9300, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.2196, d4.loss_map_pts: 0.9067, d4.loss_map_dir: 0.0128, d5.loss_map_cls: 0.2187, d5.loss_map_pts: 0.8957, d5.loss_map_dir: 0.0131, loss: 32.4659, grad_norm: 161.2509 +2026-02-25 15:09:18,638 - DriveTransformer - INFO - Epoch [5][6850/39528] lr: 9.337e-05, eta: 7 days, 7:09:34, time: 0.769, data_time: 0.043, memory: 19865, loss_cls: 0.2118, loss_bbox: 0.3875, loss_traj: 0.9239, loss_traj_cls: 0.0011, loss_map_cls: 0.1902, loss_map_pts: 0.6616, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.0964, d0.loss_plan_l1_fix_dist: 0.4032, d1.loss_plan_l1_fix_time: 1.1038, d1.loss_plan_l1_fix_dist: 0.1906, d2.loss_plan_l1_fix_time: 1.0894, d2.loss_plan_l1_fix_dist: 0.1990, d3.loss_plan_l1_fix_time: 1.0939, d3.loss_plan_l1_fix_dist: 0.2129, d4.loss_plan_l1_fix_time: 1.1000, d4.loss_plan_l1_fix_dist: 0.2262, d5.loss_plan_l1_fix_time: 1.1065, d5.loss_plan_l1_fix_dist: 0.2398, d6.loss_plan_l1_fix_time: 1.1142, d6.loss_plan_l1_fix_dist: 0.2553, d0.loss_cls_all: 0.2283, d0.loss_bbox_all: 0.4378, d0.loss_cls: 0.2283, d0.loss_bbox: 0.4378, d1.loss_cls: 0.2245, d1.loss_bbox: 0.4110, d2.loss_cls: 0.2179, d2.loss_bbox: 0.3950, d3.loss_cls: 0.2132, d3.loss_bbox: 0.3891, d4.loss_cls: 0.2110, d4.loss_bbox: 0.3854, d5.loss_cls: 0.2104, d5.loss_bbox: 0.3865, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1991, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0108, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9561, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9385, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9346, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9278, d0.loss_map_cls_all: 0.2520, d0.loss_map_pts_all: 1.1914, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.2520, d0.loss_map_pts: 1.1914, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.2149, d1.loss_map_pts: 0.8711, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.2024, d2.loss_map_pts: 0.7520, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1885, d3.loss_map_pts: 0.7042, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1869, d4.loss_map_pts: 0.6756, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1874, d5.loss_map_pts: 0.6655, d5.loss_map_dir: 0.0074, loss: 30.7458, grad_norm: 161.3407 +2026-02-25 15:09:58,404 - DriveTransformer - INFO - Epoch [5][6900/39528] lr: 9.337e-05, eta: 7 days, 7:08:51, time: 0.795, data_time: 0.040, memory: 19865, loss_cls: 0.2176, loss_bbox: 0.3986, loss_traj: 0.7214, loss_traj_cls: 0.0011, loss_map_cls: 0.2076, loss_map_pts: 0.7970, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.5253, d0.loss_plan_l1_fix_dist: 0.4475, d1.loss_plan_l1_fix_time: 1.2161, d1.loss_plan_l1_fix_dist: 0.1954, d2.loss_plan_l1_fix_time: 1.2102, d2.loss_plan_l1_fix_dist: 0.1970, d3.loss_plan_l1_fix_time: 1.2175, d3.loss_plan_l1_fix_dist: 0.2059, d4.loss_plan_l1_fix_time: 1.2238, d4.loss_plan_l1_fix_dist: 0.2193, d5.loss_plan_l1_fix_time: 1.2311, d5.loss_plan_l1_fix_dist: 0.2337, d6.loss_plan_l1_fix_time: 1.2394, d6.loss_plan_l1_fix_dist: 0.2484, d0.loss_cls_all: 0.2332, d0.loss_bbox_all: 0.4489, d0.loss_cls: 0.2332, d0.loss_bbox: 0.4489, d1.loss_cls: 0.2299, d1.loss_bbox: 0.4202, d2.loss_cls: 0.2229, d2.loss_bbox: 0.4056, d3.loss_cls: 0.2179, d3.loss_bbox: 0.3990, d4.loss_cls: 0.2144, d4.loss_bbox: 0.3965, d5.loss_cls: 0.2171, d5.loss_bbox: 0.3948, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9277, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7688, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7391, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7315, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7234, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7224, d0.loss_map_cls_all: 0.2619, d0.loss_map_pts_all: 1.4733, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2619, d0.loss_map_pts: 1.4733, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2362, d1.loss_map_pts: 1.0375, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.2243, d2.loss_map_pts: 0.8889, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.2166, d3.loss_map_pts: 0.8324, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.2099, d4.loss_map_pts: 0.8069, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.2065, d5.loss_map_pts: 0.7962, d5.loss_map_dir: 0.0110, loss: 32.0637, grad_norm: 161.5191 +2026-02-25 15:10:39,856 - DriveTransformer - INFO - Epoch [5][6950/39528] lr: 9.337e-05, eta: 7 days, 7:08:17, time: 0.829, data_time: 0.042, memory: 19865, loss_cls: 0.2427, loss_bbox: 0.4280, loss_traj: 0.6384, loss_traj_cls: 0.0011, loss_map_cls: 0.2174, loss_map_pts: 1.0439, loss_map_dir: 0.0156, d0.loss_plan_l1_fix_time: 3.0315, d0.loss_plan_l1_fix_dist: 0.4460, d1.loss_plan_l1_fix_time: 1.3989, d1.loss_plan_l1_fix_dist: 0.2426, d2.loss_plan_l1_fix_time: 1.3843, d2.loss_plan_l1_fix_dist: 0.2473, d3.loss_plan_l1_fix_time: 1.3878, d3.loss_plan_l1_fix_dist: 0.2575, d4.loss_plan_l1_fix_time: 1.3933, d4.loss_plan_l1_fix_dist: 0.2697, d5.loss_plan_l1_fix_time: 1.4007, d5.loss_plan_l1_fix_dist: 0.2841, d6.loss_plan_l1_fix_time: 1.4096, d6.loss_plan_l1_fix_dist: 0.3003, d0.loss_cls_all: 0.2659, d0.loss_bbox_all: 0.4829, d0.loss_cls: 0.2659, d0.loss_bbox: 0.4829, d1.loss_cls: 0.2589, d1.loss_bbox: 0.4539, d2.loss_cls: 0.2563, d2.loss_bbox: 0.4391, d3.loss_cls: 0.2474, d3.loss_bbox: 0.4337, d4.loss_cls: 0.2422, d4.loss_bbox: 0.4292, d5.loss_cls: 0.2415, d5.loss_bbox: 0.4261, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8625, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.6930, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6581, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6404, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6358, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6367, d0.loss_map_cls_all: 0.2759, d0.loss_map_pts_all: 2.0033, d0.loss_map_dir_all: 0.0139, d0.loss_map_cls: 0.2759, d0.loss_map_pts: 2.0033, d0.loss_map_dir: 0.0139, d1.loss_map_cls: 0.2482, d1.loss_map_pts: 1.3525, d1.loss_map_dir: 0.0138, d2.loss_map_cls: 0.2348, d2.loss_map_pts: 1.1480, d2.loss_map_dir: 0.0143, d3.loss_map_cls: 0.2265, d3.loss_map_pts: 1.0805, d3.loss_map_dir: 0.0150, d4.loss_map_cls: 0.2220, d4.loss_map_pts: 1.0515, d4.loss_map_dir: 0.0154, d5.loss_map_cls: 0.2172, d5.loss_map_pts: 1.0457, d5.loss_map_dir: 0.0156, loss: 36.5861, grad_norm: 161.3793 +2026-02-25 15:11:21,748 - DriveTransformer - INFO - Epoch [5][7000/39528] lr: 9.337e-05, eta: 7 days, 7:07:45, time: 0.838, data_time: 0.042, memory: 19865, loss_cls: 0.2487, loss_bbox: 0.4538, loss_traj: 0.6944, loss_traj_cls: 0.0012, loss_map_cls: 0.2266, loss_map_pts: 0.9883, loss_map_dir: 0.0159, d0.loss_plan_l1_fix_time: 2.7685, d0.loss_plan_l1_fix_dist: 0.4478, d1.loss_plan_l1_fix_time: 1.3821, d1.loss_plan_l1_fix_dist: 0.2014, d2.loss_plan_l1_fix_time: 1.3598, d2.loss_plan_l1_fix_dist: 0.2044, d3.loss_plan_l1_fix_time: 1.3596, d3.loss_plan_l1_fix_dist: 0.2140, d4.loss_plan_l1_fix_time: 1.3638, d4.loss_plan_l1_fix_dist: 0.2248, d5.loss_plan_l1_fix_time: 1.3693, d5.loss_plan_l1_fix_dist: 0.2408, d6.loss_plan_l1_fix_time: 1.3765, d6.loss_plan_l1_fix_dist: 0.2610, d0.loss_cls_all: 0.2693, d0.loss_bbox_all: 0.5062, d0.loss_cls: 0.2693, d0.loss_bbox: 0.5062, d1.loss_cls: 0.2636, d1.loss_bbox: 0.4743, d2.loss_cls: 0.2603, d2.loss_bbox: 0.4577, d3.loss_cls: 0.2542, d3.loss_bbox: 0.4525, d4.loss_cls: 0.2496, d4.loss_bbox: 0.4515, d5.loss_cls: 0.2477, d5.loss_bbox: 0.4528, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8539, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7273, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7036, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6906, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6921, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6911, d0.loss_map_cls_all: 0.3007, d0.loss_map_pts_all: 1.9572, d0.loss_map_dir_all: 0.0144, d0.loss_map_cls: 0.3007, d0.loss_map_pts: 1.9572, d0.loss_map_dir: 0.0144, d1.loss_map_cls: 0.2640, d1.loss_map_pts: 1.2962, d1.loss_map_dir: 0.0141, d2.loss_map_cls: 0.2453, d2.loss_map_pts: 1.0977, d2.loss_map_dir: 0.0145, d3.loss_map_cls: 0.2339, d3.loss_map_pts: 1.0204, d3.loss_map_dir: 0.0151, d4.loss_map_cls: 0.2289, d4.loss_map_pts: 0.9946, d4.loss_map_dir: 0.0156, d5.loss_map_cls: 0.2236, d5.loss_map_pts: 0.9879, d5.loss_map_dir: 0.0158, loss: 36.0948, grad_norm: 162.6533 +2026-02-25 15:12:01,712 - DriveTransformer - INFO - Epoch [5][7050/39528] lr: 9.337e-05, eta: 7 days, 7:07:03, time: 0.799, data_time: 0.044, memory: 19865, loss_cls: 0.2311, loss_bbox: 0.4244, loss_traj: 0.9648, loss_traj_cls: 0.0012, loss_map_cls: 0.2176, loss_map_pts: 0.8897, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.5578, d0.loss_plan_l1_fix_dist: 0.4396, d1.loss_plan_l1_fix_time: 1.3292, d1.loss_plan_l1_fix_dist: 0.2228, d2.loss_plan_l1_fix_time: 1.3116, d2.loss_plan_l1_fix_dist: 0.2240, d3.loss_plan_l1_fix_time: 1.3132, d3.loss_plan_l1_fix_dist: 0.2308, d4.loss_plan_l1_fix_time: 1.3154, d4.loss_plan_l1_fix_dist: 0.2397, d5.loss_plan_l1_fix_time: 1.3180, d5.loss_plan_l1_fix_dist: 0.2489, d6.loss_plan_l1_fix_time: 1.3214, d6.loss_plan_l1_fix_dist: 0.2590, d0.loss_cls_all: 0.2436, d0.loss_bbox_all: 0.4769, d0.loss_cls: 0.2436, d0.loss_bbox: 0.4769, d1.loss_cls: 0.2396, d1.loss_bbox: 0.4488, d2.loss_cls: 0.2307, d2.loss_bbox: 0.4357, d3.loss_cls: 0.2340, d3.loss_bbox: 0.4258, d4.loss_cls: 0.2320, d4.loss_bbox: 0.4256, d5.loss_cls: 0.2287, d5.loss_bbox: 0.4257, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2242, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0371, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9820, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.9620, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9624, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9599, d0.loss_map_cls_all: 0.2939, d0.loss_map_pts_all: 1.6675, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2939, d0.loss_map_pts: 1.6675, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2554, d1.loss_map_pts: 1.1687, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2382, d2.loss_map_pts: 0.9959, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.2241, d3.loss_map_pts: 0.9326, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.2192, d4.loss_map_pts: 0.9033, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.2169, d5.loss_map_pts: 0.8900, d5.loss_map_dir: 0.0115, loss: 36.0159, grad_norm: 161.0577 +2026-02-25 15:12:41,291 - DriveTransformer - INFO - Epoch [5][7100/39528] lr: 9.337e-05, eta: 7 days, 7:06:20, time: 0.792, data_time: 0.045, memory: 19865, loss_cls: 0.2408, loss_bbox: 0.4167, loss_traj: 0.8520, loss_traj_cls: 0.0012, loss_map_cls: 0.1890, loss_map_pts: 0.7960, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.7660, d0.loss_plan_l1_fix_dist: 0.3812, d1.loss_plan_l1_fix_time: 1.2488, d1.loss_plan_l1_fix_dist: 0.1939, d2.loss_plan_l1_fix_time: 1.2377, d2.loss_plan_l1_fix_dist: 0.1992, d3.loss_plan_l1_fix_time: 1.2432, d3.loss_plan_l1_fix_dist: 0.2119, d4.loss_plan_l1_fix_time: 1.2471, d4.loss_plan_l1_fix_dist: 0.2282, d5.loss_plan_l1_fix_time: 1.2501, d5.loss_plan_l1_fix_dist: 0.2449, d6.loss_plan_l1_fix_time: 1.2535, d6.loss_plan_l1_fix_dist: 0.2638, d0.loss_cls_all: 0.2520, d0.loss_bbox_all: 0.4670, d0.loss_cls: 0.2520, d0.loss_bbox: 0.4670, d1.loss_cls: 0.2497, d1.loss_bbox: 0.4413, d2.loss_cls: 0.2512, d2.loss_bbox: 0.4262, d3.loss_cls: 0.2479, d3.loss_bbox: 0.4196, d4.loss_cls: 0.2440, d4.loss_bbox: 0.4176, d5.loss_cls: 0.2406, d5.loss_bbox: 0.4172, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0674, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8984, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8511, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.8393, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8401, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8465, d0.loss_map_cls_all: 0.2575, d0.loss_map_pts_all: 1.5121, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2575, d0.loss_map_pts: 1.5121, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2216, d1.loss_map_pts: 1.0286, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2065, d2.loss_map_pts: 0.8777, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1985, d3.loss_map_pts: 0.8241, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1924, d4.loss_map_pts: 0.8042, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1898, d5.loss_map_pts: 0.7959, d5.loss_map_dir: 0.0113, loss: 33.5722, grad_norm: 163.2775 +2026-02-25 15:13:19,781 - DriveTransformer - INFO - Epoch [5][7150/39528] lr: 9.337e-05, eta: 7 days, 7:05:31, time: 0.770, data_time: 0.039, memory: 19865, loss_cls: 0.2345, loss_bbox: 0.4216, loss_traj: 0.8409, loss_traj_cls: 0.0012, loss_map_cls: 0.1907, loss_map_pts: 0.8121, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 3.0931, d0.loss_plan_l1_fix_dist: 0.4265, d1.loss_plan_l1_fix_time: 1.2243, d1.loss_plan_l1_fix_dist: 0.2076, d2.loss_plan_l1_fix_time: 1.2159, d2.loss_plan_l1_fix_dist: 0.2103, d3.loss_plan_l1_fix_time: 1.2195, d3.loss_plan_l1_fix_dist: 0.2170, d4.loss_plan_l1_fix_time: 1.2237, d4.loss_plan_l1_fix_dist: 0.2265, d5.loss_plan_l1_fix_time: 1.2278, d5.loss_plan_l1_fix_dist: 0.2365, d6.loss_plan_l1_fix_time: 1.2321, d6.loss_plan_l1_fix_dist: 0.2444, d0.loss_cls_all: 0.2594, d0.loss_bbox_all: 0.4721, d0.loss_cls: 0.2594, d0.loss_bbox: 0.4721, d1.loss_cls: 0.2499, d1.loss_bbox: 0.4458, d2.loss_cls: 0.2436, d2.loss_bbox: 0.4293, d3.loss_cls: 0.2438, d3.loss_bbox: 0.4211, d4.loss_cls: 0.2380, d4.loss_bbox: 0.4185, d5.loss_cls: 0.2340, d5.loss_bbox: 0.4203, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0668, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8990, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8534, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.8432, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8462, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8431, d0.loss_map_cls_all: 0.2674, d0.loss_map_pts_all: 1.5195, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2674, d0.loss_map_pts: 1.5195, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2304, d1.loss_map_pts: 1.0552, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2123, d2.loss_map_pts: 0.8977, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2014, d3.loss_map_pts: 0.8415, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.1973, d4.loss_map_pts: 0.8228, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1919, d5.loss_map_pts: 0.8132, d5.loss_map_dir: 0.0120, loss: 34.0010, grad_norm: 164.1257 +2026-02-25 15:14:01,027 - DriveTransformer - INFO - Epoch [5][7200/39528] lr: 9.337e-05, eta: 7 days, 7:04:56, time: 0.826, data_time: 0.042, memory: 19865, loss_cls: 0.2543, loss_bbox: 0.4472, loss_traj: 0.8172, loss_traj_cls: 0.0012, loss_map_cls: 0.2250, loss_map_pts: 0.9433, loss_map_dir: 0.0154, d0.loss_plan_l1_fix_time: 2.7216, d0.loss_plan_l1_fix_dist: 0.3635, d1.loss_plan_l1_fix_time: 1.3677, d1.loss_plan_l1_fix_dist: 0.2524, d2.loss_plan_l1_fix_time: 1.3582, d2.loss_plan_l1_fix_dist: 0.2586, d3.loss_plan_l1_fix_time: 1.3622, d3.loss_plan_l1_fix_dist: 0.2696, d4.loss_plan_l1_fix_time: 1.3676, d4.loss_plan_l1_fix_dist: 0.2783, d5.loss_plan_l1_fix_time: 1.3735, d5.loss_plan_l1_fix_dist: 0.2899, d6.loss_plan_l1_fix_time: 1.3795, d6.loss_plan_l1_fix_dist: 0.3035, d0.loss_cls_all: 0.2725, d0.loss_bbox_all: 0.4926, d0.loss_cls: 0.2725, d0.loss_bbox: 0.4926, d1.loss_cls: 0.2679, d1.loss_bbox: 0.4661, d2.loss_cls: 0.2630, d2.loss_bbox: 0.4512, d3.loss_cls: 0.2620, d3.loss_bbox: 0.4449, d4.loss_cls: 0.2583, d4.loss_bbox: 0.4435, d5.loss_cls: 0.2553, d5.loss_bbox: 0.4444, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0267, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8681, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8225, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.8125, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8140, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8164, d0.loss_map_cls_all: 0.2749, d0.loss_map_pts_all: 1.8528, d0.loss_map_dir_all: 0.0134, d0.loss_map_cls: 0.2749, d0.loss_map_pts: 1.8528, d0.loss_map_dir: 0.0134, d1.loss_map_cls: 0.2537, d1.loss_map_pts: 1.2444, d1.loss_map_dir: 0.0135, d2.loss_map_cls: 0.2433, d2.loss_map_pts: 1.0454, d2.loss_map_dir: 0.0141, d3.loss_map_cls: 0.2351, d3.loss_map_pts: 0.9766, d3.loss_map_dir: 0.0147, d4.loss_map_cls: 0.2281, d4.loss_map_pts: 0.9536, d4.loss_map_dir: 0.0152, d5.loss_map_cls: 0.2253, d5.loss_map_pts: 0.9454, d5.loss_map_dir: 0.0153, loss: 36.6082, grad_norm: 163.3566 +2026-02-25 15:14:41,109 - DriveTransformer - INFO - Epoch [5][7250/39528] lr: 9.337e-05, eta: 7 days, 7:04:15, time: 0.800, data_time: 0.046, memory: 19865, loss_cls: 0.2320, loss_bbox: 0.4253, loss_traj: 0.7941, loss_traj_cls: 0.0012, loss_map_cls: 0.2001, loss_map_pts: 0.8055, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.7494, d0.loss_plan_l1_fix_dist: 0.4213, d1.loss_plan_l1_fix_time: 1.2949, d1.loss_plan_l1_fix_dist: 0.2140, d2.loss_plan_l1_fix_time: 1.2877, d2.loss_plan_l1_fix_dist: 0.2213, d3.loss_plan_l1_fix_time: 1.2884, d3.loss_plan_l1_fix_dist: 0.2316, d4.loss_plan_l1_fix_time: 1.2920, d4.loss_plan_l1_fix_dist: 0.2483, d5.loss_plan_l1_fix_time: 1.2966, d5.loss_plan_l1_fix_dist: 0.2668, d6.loss_plan_l1_fix_time: 1.3021, d6.loss_plan_l1_fix_dist: 0.2874, d0.loss_cls_all: 0.2570, d0.loss_bbox_all: 0.4791, d0.loss_cls: 0.2570, d0.loss_bbox: 0.4791, d1.loss_cls: 0.2503, d1.loss_bbox: 0.4496, d2.loss_cls: 0.2408, d2.loss_bbox: 0.4348, d3.loss_cls: 0.2348, d3.loss_bbox: 0.4287, d4.loss_cls: 0.2317, d4.loss_bbox: 0.4246, d5.loss_cls: 0.2306, d5.loss_bbox: 0.4241, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0267, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8371, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7929, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7854, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7866, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7908, d0.loss_map_cls_all: 0.2681, d0.loss_map_pts_all: 1.5565, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2681, d0.loss_map_pts: 1.5565, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2364, d1.loss_map_pts: 1.0449, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2212, d2.loss_map_pts: 0.8869, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.2103, d3.loss_map_pts: 0.8336, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.2048, d4.loss_map_pts: 0.8170, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.2016, d5.loss_map_pts: 0.8072, d5.loss_map_dir: 0.0119, loss: 33.9105, grad_norm: 162.9006 +2026-02-25 15:15:21,150 - DriveTransformer - INFO - Epoch [5][7300/39528] lr: 9.337e-05, eta: 7 days, 7:03:34, time: 0.801, data_time: 0.042, memory: 19865, loss_cls: 0.2781, loss_bbox: 0.4523, loss_traj: 0.8865, loss_traj_cls: 0.0012, loss_map_cls: 0.2458, loss_map_pts: 0.9957, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 2.6335, d0.loss_plan_l1_fix_dist: 0.3478, d1.loss_plan_l1_fix_time: 1.3984, d1.loss_plan_l1_fix_dist: 0.2263, d2.loss_plan_l1_fix_time: 1.3831, d2.loss_plan_l1_fix_dist: 0.2272, d3.loss_plan_l1_fix_time: 1.3854, d3.loss_plan_l1_fix_dist: 0.2329, d4.loss_plan_l1_fix_time: 1.3908, d4.loss_plan_l1_fix_dist: 0.2409, d5.loss_plan_l1_fix_time: 1.3973, d5.loss_plan_l1_fix_dist: 0.2510, d6.loss_plan_l1_fix_time: 1.4046, d6.loss_plan_l1_fix_dist: 0.2622, d0.loss_cls_all: 0.2700, d0.loss_bbox_all: 0.5096, d0.loss_cls: 0.2700, d0.loss_bbox: 0.5096, d1.loss_cls: 0.2718, d1.loss_bbox: 0.4765, d2.loss_cls: 0.2726, d2.loss_bbox: 0.4604, d3.loss_cls: 0.2784, d3.loss_bbox: 0.4538, d4.loss_cls: 0.2750, d4.loss_bbox: 0.4530, d5.loss_cls: 0.2763, d5.loss_bbox: 0.4531, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0816, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9243, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8984, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8871, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8798, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8855, d0.loss_map_cls_all: 0.3021, d0.loss_map_pts_all: 1.8761, d0.loss_map_dir_all: 0.0129, d0.loss_map_cls: 0.3021, d0.loss_map_pts: 1.8761, d0.loss_map_dir: 0.0129, d1.loss_map_cls: 0.2780, d1.loss_map_pts: 1.2647, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2643, d2.loss_map_pts: 1.0821, d2.loss_map_dir: 0.0130, d3.loss_map_cls: 0.2553, d3.loss_map_pts: 1.0225, d3.loss_map_dir: 0.0136, d4.loss_map_cls: 0.2483, d4.loss_map_pts: 1.0041, d4.loss_map_dir: 0.0140, d5.loss_map_cls: 0.2456, d5.loss_map_pts: 0.9996, d5.loss_map_dir: 0.0140, loss: 37.5617, grad_norm: 159.5798 +2026-02-25 15:16:01,573 - DriveTransformer - INFO - Epoch [5][7350/39528] lr: 9.337e-05, eta: 7 days, 7:02:54, time: 0.808, data_time: 0.046, memory: 19865, loss_cls: 0.2620, loss_bbox: 0.4357, loss_traj: 0.7034, loss_traj_cls: 0.0011, loss_map_cls: 0.2471, loss_map_pts: 0.9778, loss_map_dir: 0.0150, d0.loss_plan_l1_fix_time: 2.4150, d0.loss_plan_l1_fix_dist: 0.4014, d1.loss_plan_l1_fix_time: 1.3408, d1.loss_plan_l1_fix_dist: 0.1878, d2.loss_plan_l1_fix_time: 1.3298, d2.loss_plan_l1_fix_dist: 0.1920, d3.loss_plan_l1_fix_time: 1.3336, d3.loss_plan_l1_fix_dist: 0.2020, d4.loss_plan_l1_fix_time: 1.3380, d4.loss_plan_l1_fix_dist: 0.2132, d5.loss_plan_l1_fix_time: 1.3433, d5.loss_plan_l1_fix_dist: 0.2282, d6.loss_plan_l1_fix_time: 1.3504, d6.loss_plan_l1_fix_dist: 0.2449, d0.loss_cls_all: 0.2797, d0.loss_bbox_all: 0.4940, d0.loss_cls: 0.2797, d0.loss_bbox: 0.4940, d1.loss_cls: 0.2772, d1.loss_bbox: 0.4650, d2.loss_cls: 0.2694, d2.loss_bbox: 0.4498, d3.loss_cls: 0.2651, d3.loss_bbox: 0.4425, d4.loss_cls: 0.2621, d4.loss_bbox: 0.4380, d5.loss_cls: 0.2613, d5.loss_bbox: 0.4368, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8850, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7661, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7193, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7020, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7067, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7020, d0.loss_map_cls_all: 0.3137, d0.loss_map_pts_all: 1.8216, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.3137, d0.loss_map_pts: 1.8216, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2757, d1.loss_map_pts: 1.2468, d1.loss_map_dir: 0.0129, d2.loss_map_cls: 0.2624, d2.loss_map_pts: 1.0611, d2.loss_map_dir: 0.0136, d3.loss_map_cls: 0.2519, d3.loss_map_pts: 1.0042, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2454, d4.loss_map_pts: 0.9866, d4.loss_map_dir: 0.0147, d5.loss_map_cls: 0.2475, d5.loss_map_pts: 0.9789, d5.loss_map_dir: 0.0149, loss: 35.2914, grad_norm: 158.0421 +2026-02-25 15:16:43,076 - DriveTransformer - INFO - Epoch [5][7400/39528] lr: 9.337e-05, eta: 7 days, 7:02:20, time: 0.830, data_time: 0.039, memory: 19865, loss_cls: 0.2762, loss_bbox: 0.4498, loss_traj: 0.9216, loss_traj_cls: 0.0011, loss_map_cls: 0.2460, loss_map_pts: 1.0654, loss_map_dir: 0.0159, d0.loss_plan_l1_fix_time: 2.7939, d0.loss_plan_l1_fix_dist: 0.4124, d1.loss_plan_l1_fix_time: 1.4224, d1.loss_plan_l1_fix_dist: 0.2122, d2.loss_plan_l1_fix_time: 1.3958, d2.loss_plan_l1_fix_dist: 0.2158, d3.loss_plan_l1_fix_time: 1.3945, d3.loss_plan_l1_fix_dist: 0.2228, d4.loss_plan_l1_fix_time: 1.3977, d4.loss_plan_l1_fix_dist: 0.2299, d5.loss_plan_l1_fix_time: 1.4021, d5.loss_plan_l1_fix_dist: 0.2374, d6.loss_plan_l1_fix_time: 1.4082, d6.loss_plan_l1_fix_dist: 0.2464, d0.loss_cls_all: 0.2758, d0.loss_bbox_all: 0.5121, d0.loss_cls: 0.2758, d0.loss_bbox: 0.5121, d1.loss_cls: 0.2788, d1.loss_bbox: 0.4772, d2.loss_cls: 0.2738, d2.loss_bbox: 0.4562, d3.loss_cls: 0.2695, d3.loss_bbox: 0.4494, d4.loss_cls: 0.2678, d4.loss_bbox: 0.4461, d5.loss_cls: 0.2707, d5.loss_bbox: 0.4489, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1799, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9818, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9277, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9287, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9302, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9222, d0.loss_map_cls_all: 0.3035, d0.loss_map_pts_all: 1.8999, d0.loss_map_dir_all: 0.0140, d0.loss_map_cls: 0.3035, d0.loss_map_pts: 1.8999, d0.loss_map_dir: 0.0140, d1.loss_map_cls: 0.2749, d1.loss_map_pts: 1.3181, d1.loss_map_dir: 0.0139, d2.loss_map_cls: 0.2640, d2.loss_map_pts: 1.1470, d2.loss_map_dir: 0.0147, d3.loss_map_cls: 0.2571, d3.loss_map_pts: 1.0890, d3.loss_map_dir: 0.0153, d4.loss_map_cls: 0.2502, d4.loss_map_pts: 1.0701, d4.loss_map_dir: 0.0158, d5.loss_map_cls: 0.2461, d5.loss_map_pts: 1.0639, d5.loss_map_dir: 0.0159, loss: 38.5486, grad_norm: 158.6239 +2026-02-25 15:17:26,200 - DriveTransformer - INFO - Epoch [5][7450/39528] lr: 9.337e-05, eta: 7 days, 7:01:54, time: 0.862, data_time: 0.043, memory: 19865, loss_cls: 0.2745, loss_bbox: 0.4396, loss_traj: 0.6715, loss_traj_cls: 0.0010, loss_map_cls: 0.2417, loss_map_pts: 1.0990, loss_map_dir: 0.0176, d0.loss_plan_l1_fix_time: 2.8382, d0.loss_plan_l1_fix_dist: 0.3656, d1.loss_plan_l1_fix_time: 1.4099, d1.loss_plan_l1_fix_dist: 0.1945, d2.loss_plan_l1_fix_time: 1.3849, d2.loss_plan_l1_fix_dist: 0.1982, d3.loss_plan_l1_fix_time: 1.3819, d3.loss_plan_l1_fix_dist: 0.2061, d4.loss_plan_l1_fix_time: 1.3843, d4.loss_plan_l1_fix_dist: 0.2161, d5.loss_plan_l1_fix_time: 1.3880, d5.loss_plan_l1_fix_dist: 0.2278, d6.loss_plan_l1_fix_time: 1.3928, d6.loss_plan_l1_fix_dist: 0.2417, d0.loss_cls_all: 0.2780, d0.loss_bbox_all: 0.4952, d0.loss_cls: 0.2780, d0.loss_bbox: 0.4952, d1.loss_cls: 0.2771, d1.loss_bbox: 0.4645, d2.loss_cls: 0.2713, d2.loss_bbox: 0.4450, d3.loss_cls: 0.2659, d3.loss_bbox: 0.4402, d4.loss_cls: 0.2634, d4.loss_bbox: 0.4386, d5.loss_cls: 0.2705, d5.loss_bbox: 0.4369, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7722, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7045, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6910, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6852, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6700, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6743, d0.loss_map_cls_all: 0.3053, d0.loss_map_pts_all: 2.0490, d0.loss_map_dir_all: 0.0154, d0.loss_map_cls: 0.3053, d0.loss_map_pts: 2.0490, d0.loss_map_dir: 0.0154, d1.loss_map_cls: 0.2706, d1.loss_map_pts: 1.4151, d1.loss_map_dir: 0.0153, d2.loss_map_cls: 0.2575, d2.loss_map_pts: 1.2020, d2.loss_map_dir: 0.0159, d3.loss_map_cls: 0.2508, d3.loss_map_pts: 1.1289, d3.loss_map_dir: 0.0167, d4.loss_map_cls: 0.2457, d4.loss_map_pts: 1.1040, d4.loss_map_dir: 0.0171, d5.loss_map_cls: 0.2426, d5.loss_map_pts: 1.0981, d5.loss_map_dir: 0.0173, loss: 36.9343, grad_norm: 158.0554 +2026-02-25 15:18:06,470 - DriveTransformer - INFO - Epoch [5][7500/39528] lr: 9.337e-05, eta: 7 days, 7:01:14, time: 0.805, data_time: 0.045, memory: 19865, loss_cls: 0.2604, loss_bbox: 0.4656, loss_traj: 0.9232, loss_traj_cls: 0.0010, loss_map_cls: 0.2118, loss_map_pts: 0.9153, loss_map_dir: 0.0135, d0.loss_plan_l1_fix_time: 2.5304, d0.loss_plan_l1_fix_dist: 0.4712, d1.loss_plan_l1_fix_time: 1.3826, d1.loss_plan_l1_fix_dist: 0.2436, d2.loss_plan_l1_fix_time: 1.3602, d2.loss_plan_l1_fix_dist: 0.2454, d3.loss_plan_l1_fix_time: 1.3586, d3.loss_plan_l1_fix_dist: 0.2508, d4.loss_plan_l1_fix_time: 1.3616, d4.loss_plan_l1_fix_dist: 0.2590, d5.loss_plan_l1_fix_time: 1.3654, d5.loss_plan_l1_fix_dist: 0.2694, d6.loss_plan_l1_fix_time: 1.3700, d6.loss_plan_l1_fix_dist: 0.2828, d0.loss_cls_all: 0.2780, d0.loss_bbox_all: 0.5158, d0.loss_cls: 0.2780, d0.loss_bbox: 0.5158, d1.loss_cls: 0.2671, d1.loss_bbox: 0.4857, d2.loss_cls: 0.2594, d2.loss_bbox: 0.4711, d3.loss_cls: 0.2580, d3.loss_bbox: 0.4637, d4.loss_cls: 0.2564, d4.loss_bbox: 0.4615, d5.loss_cls: 0.2596, d5.loss_bbox: 0.4625, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0925, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9682, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9249, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9214, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9219, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9207, d0.loss_map_cls_all: 0.2905, d0.loss_map_pts_all: 1.6678, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2905, d0.loss_map_pts: 1.6678, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2540, d1.loss_map_pts: 1.1645, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2343, d2.loss_map_pts: 0.9985, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2202, d3.loss_map_pts: 0.9448, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.2144, d4.loss_map_pts: 0.9237, d4.loss_map_dir: 0.0132, d5.loss_map_cls: 0.2124, d5.loss_map_pts: 0.9164, d5.loss_map_dir: 0.0133, loss: 36.6155, grad_norm: 158.4686 +2026-02-25 15:18:47,122 - DriveTransformer - INFO - Epoch [5][7550/39528] lr: 9.337e-05, eta: 7 days, 7:00:35, time: 0.813, data_time: 0.040, memory: 19865, loss_cls: 0.2442, loss_bbox: 0.4373, loss_traj: 0.6929, loss_traj_cls: 0.0010, loss_map_cls: 0.2414, loss_map_pts: 0.9815, loss_map_dir: 0.0151, d0.loss_plan_l1_fix_time: 2.5482, d0.loss_plan_l1_fix_dist: 0.3827, d1.loss_plan_l1_fix_time: 1.2736, d1.loss_plan_l1_fix_dist: 0.1914, d2.loss_plan_l1_fix_time: 1.2538, d2.loss_plan_l1_fix_dist: 0.1941, d3.loss_plan_l1_fix_time: 1.2546, d3.loss_plan_l1_fix_dist: 0.1987, d4.loss_plan_l1_fix_time: 1.2580, d4.loss_plan_l1_fix_dist: 0.2037, d5.loss_plan_l1_fix_time: 1.2616, d5.loss_plan_l1_fix_dist: 0.2108, d6.loss_plan_l1_fix_time: 1.2659, d6.loss_plan_l1_fix_dist: 0.2209, d0.loss_cls_all: 0.2642, d0.loss_bbox_all: 0.4909, d0.loss_cls: 0.2642, d0.loss_bbox: 0.4909, d1.loss_cls: 0.2597, d1.loss_bbox: 0.4580, d2.loss_cls: 0.2513, d2.loss_bbox: 0.4428, d3.loss_cls: 0.2440, d3.loss_bbox: 0.4382, d4.loss_cls: 0.2393, d4.loss_bbox: 0.4392, d5.loss_cls: 0.2409, d5.loss_bbox: 0.4372, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8494, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7284, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7070, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6889, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6956, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6955, d0.loss_map_cls_all: 0.3141, d0.loss_map_pts_all: 1.8307, d0.loss_map_dir_all: 0.0130, d0.loss_map_cls: 0.3141, d0.loss_map_pts: 1.8307, d0.loss_map_dir: 0.0130, d1.loss_map_cls: 0.2836, d1.loss_map_pts: 1.2648, d1.loss_map_dir: 0.0132, d2.loss_map_cls: 0.2626, d2.loss_map_pts: 1.0749, d2.loss_map_dir: 0.0138, d3.loss_map_cls: 0.2516, d3.loss_map_pts: 1.0126, d3.loss_map_dir: 0.0143, d4.loss_map_cls: 0.2460, d4.loss_map_pts: 0.9913, d4.loss_map_dir: 0.0148, d5.loss_map_cls: 0.2423, d5.loss_map_pts: 0.9831, d5.loss_map_dir: 0.0149, loss: 34.6621, grad_norm: 158.3794 +2026-02-25 15:19:27,865 - DriveTransformer - INFO - Epoch [5][7600/39528] lr: 9.337e-05, eta: 7 days, 6:59:58, time: 0.815, data_time: 0.042, memory: 19865, loss_cls: 0.2365, loss_bbox: 0.4293, loss_traj: 1.0043, loss_traj_cls: 0.0010, loss_map_cls: 0.1806, loss_map_pts: 0.8313, loss_map_dir: 0.0130, d0.loss_plan_l1_fix_time: 2.3689, d0.loss_plan_l1_fix_dist: 0.3664, d1.loss_plan_l1_fix_time: 1.3924, d1.loss_plan_l1_fix_dist: 0.2183, d2.loss_plan_l1_fix_time: 1.3828, d2.loss_plan_l1_fix_dist: 0.2194, d3.loss_plan_l1_fix_time: 1.3860, d3.loss_plan_l1_fix_dist: 0.2283, d4.loss_plan_l1_fix_time: 1.3912, d4.loss_plan_l1_fix_dist: 0.2395, d5.loss_plan_l1_fix_time: 1.3962, d5.loss_plan_l1_fix_dist: 0.2497, d6.loss_plan_l1_fix_time: 1.4017, d6.loss_plan_l1_fix_dist: 0.2594, d0.loss_cls_all: 0.2426, d0.loss_bbox_all: 0.4717, d0.loss_cls: 0.2426, d0.loss_bbox: 0.4717, d1.loss_cls: 0.2429, d1.loss_bbox: 0.4453, d2.loss_cls: 0.2348, d2.loss_bbox: 0.4325, d3.loss_cls: 0.2327, d3.loss_bbox: 0.4275, d4.loss_cls: 0.2311, d4.loss_bbox: 0.4278, d5.loss_cls: 0.2358, d5.loss_bbox: 0.4265, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2165, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0482, d2.loss_traj_cls: 0.0015, d2.loss_traj: 1.0064, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9945, d4.loss_traj_cls: 0.0012, d4.loss_traj: 1.0006, d5.loss_traj_cls: 0.0012, d5.loss_traj: 1.0068, d0.loss_map_cls_all: 0.2419, d0.loss_map_pts_all: 1.6399, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2419, d0.loss_map_pts: 1.6399, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2095, d1.loss_map_pts: 1.0866, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.1986, d2.loss_map_pts: 0.9115, d2.loss_map_dir: 0.0119, d3.loss_map_cls: 0.1889, d3.loss_map_pts: 0.8532, d3.loss_map_dir: 0.0124, d4.loss_map_cls: 0.1815, d4.loss_map_pts: 0.8356, d4.loss_map_dir: 0.0128, d5.loss_map_cls: 0.1817, d5.loss_map_pts: 0.8302, d5.loss_map_dir: 0.0129, loss: 35.5644, grad_norm: 158.0977 +2026-02-25 15:20:08,371 - DriveTransformer - INFO - Epoch [5][7650/39528] lr: 9.337e-05, eta: 7 days, 6:59:19, time: 0.810, data_time: 0.040, memory: 19865, loss_cls: 0.2291, loss_bbox: 0.4089, loss_traj: 0.7018, loss_traj_cls: 0.0010, loss_map_cls: 0.2099, loss_map_pts: 0.8279, loss_map_dir: 0.0133, d0.loss_plan_l1_fix_time: 2.3232, d0.loss_plan_l1_fix_dist: 0.4442, d1.loss_plan_l1_fix_time: 1.1516, d1.loss_plan_l1_fix_dist: 0.2063, d2.loss_plan_l1_fix_time: 1.1266, d2.loss_plan_l1_fix_dist: 0.2069, d3.loss_plan_l1_fix_time: 1.1263, d3.loss_plan_l1_fix_dist: 0.2146, d4.loss_plan_l1_fix_time: 1.1311, d4.loss_plan_l1_fix_dist: 0.2229, d5.loss_plan_l1_fix_time: 1.1364, d5.loss_plan_l1_fix_dist: 0.2338, d6.loss_plan_l1_fix_time: 1.1425, d6.loss_plan_l1_fix_dist: 0.2474, d0.loss_cls_all: 0.2396, d0.loss_bbox_all: 0.4580, d0.loss_cls: 0.2396, d0.loss_bbox: 0.4580, d1.loss_cls: 0.2339, d1.loss_bbox: 0.4293, d2.loss_cls: 0.2298, d2.loss_bbox: 0.4152, d3.loss_cls: 0.2278, d3.loss_bbox: 0.4094, d4.loss_cls: 0.2244, d4.loss_bbox: 0.4082, d5.loss_cls: 0.2277, d5.loss_bbox: 0.4065, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8593, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7559, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7171, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7123, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7004, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6977, d0.loss_map_cls_all: 0.2820, d0.loss_map_pts_all: 1.7256, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2820, d0.loss_map_pts: 1.7256, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2436, d1.loss_map_pts: 1.1378, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.2287, d2.loss_map_pts: 0.9407, d2.loss_map_dir: 0.0123, d3.loss_map_cls: 0.2163, d3.loss_map_pts: 0.8634, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.2118, d4.loss_map_pts: 0.8364, d4.loss_map_dir: 0.0131, d5.loss_map_cls: 0.2103, d5.loss_map_pts: 0.8299, d5.loss_map_dir: 0.0132, loss: 32.1827, grad_norm: 156.8124 +2026-02-25 15:20:46,630 - DriveTransformer - INFO - Epoch [5][7700/39528] lr: 9.337e-05, eta: 7 days, 6:58:29, time: 0.765, data_time: 0.052, memory: 19865, loss_cls: 0.2546, loss_bbox: 0.4390, loss_traj: 0.8059, loss_traj_cls: 0.0010, loss_map_cls: 0.2320, loss_map_pts: 0.9209, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 3.3172, d0.loss_plan_l1_fix_dist: 0.4092, d1.loss_plan_l1_fix_time: 1.5640, d1.loss_plan_l1_fix_dist: 0.2302, d2.loss_plan_l1_fix_time: 1.5497, d2.loss_plan_l1_fix_dist: 0.2339, d3.loss_plan_l1_fix_time: 1.5504, d3.loss_plan_l1_fix_dist: 0.2421, d4.loss_plan_l1_fix_time: 1.5529, d4.loss_plan_l1_fix_dist: 0.2528, d5.loss_plan_l1_fix_time: 1.5556, d5.loss_plan_l1_fix_dist: 0.2658, d6.loss_plan_l1_fix_time: 1.5585, d6.loss_plan_l1_fix_dist: 0.2798, d0.loss_cls_all: 0.2786, d0.loss_bbox_all: 0.5048, d0.loss_cls: 0.2786, d0.loss_bbox: 0.5048, d1.loss_cls: 0.2736, d1.loss_bbox: 0.4683, d2.loss_cls: 0.2664, d2.loss_bbox: 0.4514, d3.loss_cls: 0.2604, d3.loss_bbox: 0.4430, d4.loss_cls: 0.2568, d4.loss_bbox: 0.4406, d5.loss_cls: 0.2543, d5.loss_bbox: 0.4394, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9757, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8381, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8047, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7952, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7982, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8016, d0.loss_map_cls_all: 0.2974, d0.loss_map_pts_all: 1.6699, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2974, d0.loss_map_pts: 1.6699, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2653, d1.loss_map_pts: 1.1760, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2481, d2.loss_map_pts: 1.0112, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2411, d3.loss_map_pts: 0.9469, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.2339, d4.loss_map_pts: 0.9275, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.2315, d5.loss_map_pts: 0.9237, d5.loss_map_dir: 0.0120, loss: 37.5864, grad_norm: 155.7467 +2026-02-25 15:21:26,951 - DriveTransformer - INFO - Epoch [5][7750/39528] lr: 9.337e-05, eta: 7 days, 6:57:49, time: 0.806, data_time: 0.039, memory: 19865, loss_cls: 0.2218, loss_bbox: 0.4025, loss_traj: 0.8214, loss_traj_cls: 0.0010, loss_map_cls: 0.1974, loss_map_pts: 0.8267, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.7209, d0.loss_plan_l1_fix_dist: 0.3846, d1.loss_plan_l1_fix_time: 1.4356, d1.loss_plan_l1_fix_dist: 0.1919, d2.loss_plan_l1_fix_time: 1.4185, d2.loss_plan_l1_fix_dist: 0.1960, d3.loss_plan_l1_fix_time: 1.4191, d3.loss_plan_l1_fix_dist: 0.2056, d4.loss_plan_l1_fix_time: 1.4222, d4.loss_plan_l1_fix_dist: 0.2167, d5.loss_plan_l1_fix_time: 1.4263, d5.loss_plan_l1_fix_dist: 0.2269, d6.loss_plan_l1_fix_time: 1.4313, d6.loss_plan_l1_fix_dist: 0.2399, d0.loss_cls_all: 0.2473, d0.loss_bbox_all: 0.4560, d0.loss_cls: 0.2473, d0.loss_bbox: 0.4560, d1.loss_cls: 0.2393, d1.loss_bbox: 0.4275, d2.loss_cls: 0.2297, d2.loss_bbox: 0.4097, d3.loss_cls: 0.2206, d3.loss_bbox: 0.4056, d4.loss_cls: 0.2180, d4.loss_bbox: 0.4039, d5.loss_cls: 0.2188, d5.loss_bbox: 0.4017, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1162, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8941, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8428, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8281, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8198, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8136, d0.loss_map_cls_all: 0.2550, d0.loss_map_pts_all: 1.6042, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2550, d0.loss_map_pts: 1.6042, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2261, d1.loss_map_pts: 1.0893, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.2117, d2.loss_map_pts: 0.9176, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.2039, d3.loss_map_pts: 0.8602, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1989, d4.loss_map_pts: 0.8388, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1971, d5.loss_map_pts: 0.8280, d5.loss_map_dir: 0.0103, loss: 34.6749, grad_norm: 154.2239 +2026-02-25 15:22:09,353 - DriveTransformer - INFO - Epoch [5][7800/39528] lr: 9.337e-05, eta: 7 days, 6:57:19, time: 0.848, data_time: 0.040, memory: 19865, loss_cls: 0.2385, loss_bbox: 0.4231, loss_traj: 0.6963, loss_traj_cls: 0.0011, loss_map_cls: 0.2277, loss_map_pts: 1.0075, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 2.2616, d0.loss_plan_l1_fix_dist: 0.4121, d1.loss_plan_l1_fix_time: 1.3310, d1.loss_plan_l1_fix_dist: 0.2143, d2.loss_plan_l1_fix_time: 1.3288, d2.loss_plan_l1_fix_dist: 0.2205, d3.loss_plan_l1_fix_time: 1.3320, d3.loss_plan_l1_fix_dist: 0.2287, d4.loss_plan_l1_fix_time: 1.3367, d4.loss_plan_l1_fix_dist: 0.2374, d5.loss_plan_l1_fix_time: 1.3426, d5.loss_plan_l1_fix_dist: 0.2475, d6.loss_plan_l1_fix_time: 1.3502, d6.loss_plan_l1_fix_dist: 0.2571, d0.loss_cls_all: 0.2550, d0.loss_bbox_all: 0.4732, d0.loss_cls: 0.2550, d0.loss_bbox: 0.4732, d1.loss_cls: 0.2494, d1.loss_bbox: 0.4428, d2.loss_cls: 0.2409, d2.loss_bbox: 0.4298, d3.loss_cls: 0.2354, d3.loss_bbox: 0.4248, d4.loss_cls: 0.2355, d4.loss_bbox: 0.4236, d5.loss_cls: 0.2357, d5.loss_bbox: 0.4236, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8290, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7450, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7080, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7047, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6993, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6986, d0.loss_map_cls_all: 0.3015, d0.loss_map_pts_all: 1.9269, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.3015, d0.loss_map_pts: 1.9269, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2614, d1.loss_map_pts: 1.3034, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2463, d2.loss_map_pts: 1.1091, d2.loss_map_dir: 0.0131, d3.loss_map_cls: 0.2361, d3.loss_map_pts: 1.0447, d3.loss_map_dir: 0.0137, d4.loss_map_cls: 0.2313, d4.loss_map_pts: 1.0209, d4.loss_map_dir: 0.0140, d5.loss_map_cls: 0.2291, d5.loss_map_pts: 1.0105, d5.loss_map_dir: 0.0142, loss: 35.1396, grad_norm: 153.6799 +2026-02-25 15:22:49,187 - DriveTransformer - INFO - Epoch [5][7850/39528] lr: 9.337e-05, eta: 7 days, 6:56:37, time: 0.797, data_time: 0.043, memory: 19865, loss_cls: 0.2400, loss_bbox: 0.4336, loss_traj: 0.8020, loss_traj_cls: 0.0011, loss_map_cls: 0.2069, loss_map_pts: 0.9111, loss_map_dir: 0.0135, d0.loss_plan_l1_fix_time: 2.7313, d0.loss_plan_l1_fix_dist: 0.3774, d1.loss_plan_l1_fix_time: 1.3612, d1.loss_plan_l1_fix_dist: 0.2216, d2.loss_plan_l1_fix_time: 1.3478, d2.loss_plan_l1_fix_dist: 0.2281, d3.loss_plan_l1_fix_time: 1.3460, d3.loss_plan_l1_fix_dist: 0.2399, d4.loss_plan_l1_fix_time: 1.3482, d4.loss_plan_l1_fix_dist: 0.2553, d5.loss_plan_l1_fix_time: 1.3513, d5.loss_plan_l1_fix_dist: 0.2737, d6.loss_plan_l1_fix_time: 1.3559, d6.loss_plan_l1_fix_dist: 0.2920, d0.loss_cls_all: 0.2643, d0.loss_bbox_all: 0.4899, d0.loss_cls: 0.2643, d0.loss_bbox: 0.4899, d1.loss_cls: 0.2563, d1.loss_bbox: 0.4580, d2.loss_cls: 0.2442, d2.loss_bbox: 0.4442, d3.loss_cls: 0.2430, d3.loss_bbox: 0.4342, d4.loss_cls: 0.2406, d4.loss_bbox: 0.4330, d5.loss_cls: 0.2390, d5.loss_bbox: 0.4330, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9648, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8453, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8105, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7981, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7962, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7947, d0.loss_map_cls_all: 0.2927, d0.loss_map_pts_all: 1.6867, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.2927, d0.loss_map_pts: 1.6867, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2526, d1.loss_map_pts: 1.1504, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2350, d2.loss_map_pts: 0.9948, d2.loss_map_dir: 0.0123, d3.loss_map_cls: 0.2179, d3.loss_map_pts: 0.9415, d3.loss_map_dir: 0.0129, d4.loss_map_cls: 0.2110, d4.loss_map_pts: 0.9210, d4.loss_map_dir: 0.0132, d5.loss_map_cls: 0.2075, d5.loss_map_pts: 0.9139, d5.loss_map_dir: 0.0134, loss: 35.3794, grad_norm: 158.1303 +2026-02-25 15:23:29,322 - DriveTransformer - INFO - Epoch [5][7900/39528] lr: 9.337e-05, eta: 7 days, 6:55:56, time: 0.803, data_time: 0.038, memory: 19865, loss_cls: 0.2628, loss_bbox: 0.4391, loss_traj: 0.7726, loss_traj_cls: 0.0011, loss_map_cls: 0.2238, loss_map_pts: 1.0171, loss_map_dir: 0.0145, d0.loss_plan_l1_fix_time: 2.7019, d0.loss_plan_l1_fix_dist: 0.4639, d1.loss_plan_l1_fix_time: 1.3973, d1.loss_plan_l1_fix_dist: 0.2147, d2.loss_plan_l1_fix_time: 1.3724, d2.loss_plan_l1_fix_dist: 0.2188, d3.loss_plan_l1_fix_time: 1.3731, d3.loss_plan_l1_fix_dist: 0.2288, d4.loss_plan_l1_fix_time: 1.3759, d4.loss_plan_l1_fix_dist: 0.2414, d5.loss_plan_l1_fix_time: 1.3788, d5.loss_plan_l1_fix_dist: 0.2569, d6.loss_plan_l1_fix_time: 1.3826, d6.loss_plan_l1_fix_dist: 0.2805, d0.loss_cls_all: 0.2768, d0.loss_bbox_all: 0.4992, d0.loss_cls: 0.2768, d0.loss_bbox: 0.4992, d1.loss_cls: 0.2683, d1.loss_bbox: 0.4686, d2.loss_cls: 0.2677, d2.loss_bbox: 0.4525, d3.loss_cls: 0.2653, d3.loss_bbox: 0.4425, d4.loss_cls: 0.2622, d4.loss_bbox: 0.4407, d5.loss_cls: 0.2610, d5.loss_bbox: 0.4394, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9823, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8270, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7880, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7760, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7707, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7682, d0.loss_map_cls_all: 0.2858, d0.loss_map_pts_all: 1.9582, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2858, d0.loss_map_pts: 1.9582, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2564, d1.loss_map_pts: 1.3294, d1.loss_map_dir: 0.0126, d2.loss_map_cls: 0.2414, d2.loss_map_pts: 1.1212, d2.loss_map_dir: 0.0132, d3.loss_map_cls: 0.2338, d3.loss_map_pts: 1.0509, d3.loss_map_dir: 0.0138, d4.loss_map_cls: 0.2267, d4.loss_map_pts: 1.0311, d4.loss_map_dir: 0.0142, d5.loss_map_cls: 0.2245, d5.loss_map_pts: 1.0235, d5.loss_map_dir: 0.0144, loss: 36.9765, grad_norm: 159.7030 +2026-02-25 15:24:08,247 - DriveTransformer - INFO - Epoch [5][7950/39528] lr: 9.337e-05, eta: 7 days, 6:55:10, time: 0.778, data_time: 0.042, memory: 19865, loss_cls: 0.2501, loss_bbox: 0.4224, loss_traj: 1.0314, loss_traj_cls: 0.0011, loss_map_cls: 0.2254, loss_map_pts: 0.9117, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.8672, d0.loss_plan_l1_fix_dist: 0.3807, d1.loss_plan_l1_fix_time: 1.3402, d1.loss_plan_l1_fix_dist: 0.2076, d2.loss_plan_l1_fix_time: 1.3164, d2.loss_plan_l1_fix_dist: 0.2150, d3.loss_plan_l1_fix_time: 1.3194, d3.loss_plan_l1_fix_dist: 0.2236, d4.loss_plan_l1_fix_time: 1.3218, d4.loss_plan_l1_fix_dist: 0.2336, d5.loss_plan_l1_fix_time: 1.3234, d5.loss_plan_l1_fix_dist: 0.2445, d6.loss_plan_l1_fix_time: 1.3250, d6.loss_plan_l1_fix_dist: 0.2536, d0.loss_cls_all: 0.2673, d0.loss_bbox_all: 0.4779, d0.loss_cls: 0.2673, d0.loss_bbox: 0.4779, d1.loss_cls: 0.2626, d1.loss_bbox: 0.4473, d2.loss_cls: 0.2550, d2.loss_bbox: 0.4335, d3.loss_cls: 0.2516, d3.loss_bbox: 0.4251, d4.loss_cls: 0.2466, d4.loss_bbox: 0.4234, d5.loss_cls: 0.2473, d5.loss_bbox: 0.4217, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3045, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.1190, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0576, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0470, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0378, d5.loss_traj_cls: 0.0012, d5.loss_traj: 1.0299, d0.loss_map_cls_all: 0.2884, d0.loss_map_pts_all: 1.6152, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2884, d0.loss_map_pts: 1.6152, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2598, d1.loss_map_pts: 1.1572, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2459, d2.loss_map_pts: 0.9927, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.2381, d3.loss_map_pts: 0.9328, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.2272, d4.loss_map_pts: 0.9162, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.2258, d5.loss_map_pts: 0.9112, d5.loss_map_dir: 0.0110, loss: 36.9165, grad_norm: 160.0454 +2026-02-25 15:24:49,703 - DriveTransformer - INFO - Epoch [5][8000/39528] lr: 9.337e-05, eta: 7 days, 6:54:36, time: 0.831, data_time: 0.039, memory: 19865, loss_cls: 0.2493, loss_bbox: 0.4339, loss_traj: 0.8589, loss_traj_cls: 0.0011, loss_map_cls: 0.2568, loss_map_pts: 1.0477, loss_map_dir: 0.0146, d0.loss_plan_l1_fix_time: 2.8221, d0.loss_plan_l1_fix_dist: 0.4103, d1.loss_plan_l1_fix_time: 1.3630, d1.loss_plan_l1_fix_dist: 0.2068, d2.loss_plan_l1_fix_time: 1.3385, d2.loss_plan_l1_fix_dist: 0.2125, d3.loss_plan_l1_fix_time: 1.3387, d3.loss_plan_l1_fix_dist: 0.2231, d4.loss_plan_l1_fix_time: 1.3407, d4.loss_plan_l1_fix_dist: 0.2343, d5.loss_plan_l1_fix_time: 1.3431, d5.loss_plan_l1_fix_dist: 0.2455, d6.loss_plan_l1_fix_time: 1.3463, d6.loss_plan_l1_fix_dist: 0.2571, d0.loss_cls_all: 0.2777, d0.loss_bbox_all: 0.4899, d0.loss_cls: 0.2777, d0.loss_bbox: 0.4899, d1.loss_cls: 0.2661, d1.loss_bbox: 0.4550, d2.loss_cls: 0.2597, d2.loss_bbox: 0.4413, d3.loss_cls: 0.2515, d3.loss_bbox: 0.4359, d4.loss_cls: 0.2491, d4.loss_bbox: 0.4323, d5.loss_cls: 0.2492, d5.loss_bbox: 0.4326, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0304, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8918, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8594, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8501, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8457, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8524, d0.loss_map_cls_all: 0.3168, d0.loss_map_pts_all: 1.8967, d0.loss_map_dir_all: 0.0122, d0.loss_map_cls: 0.3168, d0.loss_map_pts: 1.8967, d0.loss_map_dir: 0.0122, d1.loss_map_cls: 0.2882, d1.loss_map_pts: 1.3214, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2760, d2.loss_map_pts: 1.1413, d2.loss_map_dir: 0.0131, d3.loss_map_cls: 0.2643, d3.loss_map_pts: 1.0772, d3.loss_map_dir: 0.0139, d4.loss_map_cls: 0.2587, d4.loss_map_pts: 1.0570, d4.loss_map_dir: 0.0142, d5.loss_map_cls: 0.2569, d5.loss_map_pts: 1.0505, d5.loss_map_dir: 0.0145, loss: 37.3988, grad_norm: 160.6240 +2026-02-25 15:25:30,471 - DriveTransformer - INFO - Epoch [5][8050/39528] lr: 9.337e-05, eta: 7 days, 6:53:58, time: 0.814, data_time: 0.038, memory: 19865, loss_cls: 0.2513, loss_bbox: 0.4307, loss_traj: 0.7427, loss_traj_cls: 0.0011, loss_map_cls: 0.2101, loss_map_pts: 0.8996, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 2.7132, d0.loss_plan_l1_fix_dist: 0.3689, d1.loss_plan_l1_fix_time: 1.3915, d1.loss_plan_l1_fix_dist: 0.2131, d2.loss_plan_l1_fix_time: 1.3851, d2.loss_plan_l1_fix_dist: 0.2226, d3.loss_plan_l1_fix_time: 1.3867, d3.loss_plan_l1_fix_dist: 0.2382, d4.loss_plan_l1_fix_time: 1.3893, d4.loss_plan_l1_fix_dist: 0.2565, d5.loss_plan_l1_fix_time: 1.3927, d5.loss_plan_l1_fix_dist: 0.2726, d6.loss_plan_l1_fix_time: 1.3967, d6.loss_plan_l1_fix_dist: 0.2882, d0.loss_cls_all: 0.2789, d0.loss_bbox_all: 0.4799, d0.loss_cls: 0.2789, d0.loss_bbox: 0.4799, d1.loss_cls: 0.2682, d1.loss_bbox: 0.4543, d2.loss_cls: 0.2582, d2.loss_bbox: 0.4390, d3.loss_cls: 0.2523, d3.loss_bbox: 0.4342, d4.loss_cls: 0.2492, d4.loss_bbox: 0.4329, d5.loss_cls: 0.2500, d5.loss_bbox: 0.4297, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9540, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7903, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7574, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7498, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7504, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7456, d0.loss_map_cls_all: 0.2725, d0.loss_map_pts_all: 1.7313, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2725, d0.loss_map_pts: 1.7313, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2455, d1.loss_map_pts: 1.1879, d1.loss_map_dir: 0.0128, d2.loss_map_cls: 0.2283, d2.loss_map_pts: 1.0003, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2202, d3.loss_map_pts: 0.9372, d3.loss_map_dir: 0.0139, d4.loss_map_cls: 0.2133, d4.loss_map_pts: 0.9118, d4.loss_map_dir: 0.0142, d5.loss_map_cls: 0.2107, d5.loss_map_pts: 0.9038, d5.loss_map_dir: 0.0143, loss: 35.3647, grad_norm: 160.5093 +2026-02-25 15:26:12,796 - DriveTransformer - INFO - Epoch [5][8100/39528] lr: 9.337e-05, eta: 7 days, 6:53:27, time: 0.846, data_time: 0.045, memory: 19865, loss_cls: 0.2261, loss_bbox: 0.4039, loss_traj: 0.6788, loss_traj_cls: 0.0010, loss_map_cls: 0.2168, loss_map_pts: 1.0236, loss_map_dir: 0.0165, d0.loss_plan_l1_fix_time: 2.5716, d0.loss_plan_l1_fix_dist: 0.3835, d1.loss_plan_l1_fix_time: 1.2733, d1.loss_plan_l1_fix_dist: 0.2223, d2.loss_plan_l1_fix_time: 1.2557, d2.loss_plan_l1_fix_dist: 0.2253, d3.loss_plan_l1_fix_time: 1.2529, d3.loss_plan_l1_fix_dist: 0.2325, d4.loss_plan_l1_fix_time: 1.2557, d4.loss_plan_l1_fix_dist: 0.2443, d5.loss_plan_l1_fix_time: 1.2596, d5.loss_plan_l1_fix_dist: 0.2604, d6.loss_plan_l1_fix_time: 1.2647, d6.loss_plan_l1_fix_dist: 0.2811, d0.loss_cls_all: 0.2479, d0.loss_bbox_all: 0.4546, d0.loss_cls: 0.2479, d0.loss_bbox: 0.4546, d1.loss_cls: 0.2390, d1.loss_bbox: 0.4236, d2.loss_cls: 0.2303, d2.loss_bbox: 0.4112, d3.loss_cls: 0.2261, d3.loss_bbox: 0.4069, d4.loss_cls: 0.2234, d4.loss_bbox: 0.4046, d5.loss_cls: 0.2239, d5.loss_bbox: 0.4030, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8419, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7198, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6798, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6787, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6744, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6780, d0.loss_map_cls_all: 0.2707, d0.loss_map_pts_all: 2.0003, d0.loss_map_dir_all: 0.0147, d0.loss_map_cls: 0.2707, d0.loss_map_pts: 2.0003, d0.loss_map_dir: 0.0147, d1.loss_map_cls: 0.2470, d1.loss_map_pts: 1.3461, d1.loss_map_dir: 0.0146, d2.loss_map_cls: 0.2329, d2.loss_map_pts: 1.1293, d2.loss_map_dir: 0.0151, d3.loss_map_cls: 0.2216, d3.loss_map_pts: 1.0605, d3.loss_map_dir: 0.0156, d4.loss_map_cls: 0.2176, d4.loss_map_pts: 1.0350, d4.loss_map_dir: 0.0160, d5.loss_map_cls: 0.2163, d5.loss_map_pts: 1.0255, d5.loss_map_dir: 0.0163, loss: 34.8054, grad_norm: 161.1531 +2026-02-25 15:26:51,718 - DriveTransformer - INFO - Epoch [5][8150/39528] lr: 9.337e-05, eta: 7 days, 6:52:41, time: 0.778, data_time: 0.045, memory: 19865, loss_cls: 0.2347, loss_bbox: 0.4125, loss_traj: 0.8160, loss_traj_cls: 0.0011, loss_map_cls: 0.2198, loss_map_pts: 0.7934, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.7797, d0.loss_plan_l1_fix_dist: 0.4907, d1.loss_plan_l1_fix_time: 1.4208, d1.loss_plan_l1_fix_dist: 0.1887, d2.loss_plan_l1_fix_time: 1.4172, d2.loss_plan_l1_fix_dist: 0.1964, d3.loss_plan_l1_fix_time: 1.4211, d3.loss_plan_l1_fix_dist: 0.2098, d4.loss_plan_l1_fix_time: 1.4246, d4.loss_plan_l1_fix_dist: 0.2252, d5.loss_plan_l1_fix_time: 1.4280, d5.loss_plan_l1_fix_dist: 0.2433, d6.loss_plan_l1_fix_time: 1.4320, d6.loss_plan_l1_fix_dist: 0.2633, d0.loss_cls_all: 0.2581, d0.loss_bbox_all: 0.4640, d0.loss_cls: 0.2581, d0.loss_bbox: 0.4640, d1.loss_cls: 0.2484, d1.loss_bbox: 0.4358, d2.loss_cls: 0.2398, d2.loss_bbox: 0.4205, d3.loss_cls: 0.2372, d3.loss_bbox: 0.4140, d4.loss_cls: 0.2335, d4.loss_bbox: 0.4142, d5.loss_cls: 0.2339, d5.loss_bbox: 0.4129, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0383, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8545, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8082, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8026, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8078, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8150, d0.loss_map_cls_all: 0.2865, d0.loss_map_pts_all: 1.5056, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2865, d0.loss_map_pts: 1.5056, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2532, d1.loss_map_pts: 1.0492, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.2362, d2.loss_map_pts: 0.8830, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.2275, d3.loss_map_pts: 0.8252, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.2216, d4.loss_map_pts: 0.8055, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.2186, d5.loss_map_pts: 0.7946, d5.loss_map_dir: 0.0106, loss: 34.6639, grad_norm: 160.4711 +2026-02-25 15:27:32,412 - DriveTransformer - INFO - Epoch [5][8200/39528] lr: 9.337e-05, eta: 7 days, 6:52:03, time: 0.814, data_time: 0.044, memory: 19865, loss_cls: 0.2422, loss_bbox: 0.4627, loss_traj: 0.7118, loss_traj_cls: 0.0011, loss_map_cls: 0.2181, loss_map_pts: 0.9665, loss_map_dir: 0.0139, d0.loss_plan_l1_fix_time: 3.0601, d0.loss_plan_l1_fix_dist: 0.3988, d1.loss_plan_l1_fix_time: 1.5421, d1.loss_plan_l1_fix_dist: 0.2277, d2.loss_plan_l1_fix_time: 1.5332, d2.loss_plan_l1_fix_dist: 0.2380, d3.loss_plan_l1_fix_time: 1.5378, d3.loss_plan_l1_fix_dist: 0.2545, d4.loss_plan_l1_fix_time: 1.5416, d4.loss_plan_l1_fix_dist: 0.2710, d5.loss_plan_l1_fix_time: 1.5454, d5.loss_plan_l1_fix_dist: 0.2841, d6.loss_plan_l1_fix_time: 1.5494, d6.loss_plan_l1_fix_dist: 0.2947, d0.loss_cls_all: 0.2725, d0.loss_bbox_all: 0.5233, d0.loss_cls: 0.2725, d0.loss_bbox: 0.5233, d1.loss_cls: 0.2637, d1.loss_bbox: 0.4957, d2.loss_cls: 0.2514, d2.loss_bbox: 0.4744, d3.loss_cls: 0.2457, d3.loss_bbox: 0.4662, d4.loss_cls: 0.2418, d4.loss_bbox: 0.4642, d5.loss_cls: 0.2426, d5.loss_bbox: 0.4624, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9682, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7994, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7313, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7138, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7110, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7085, d0.loss_map_cls_all: 0.2802, d0.loss_map_pts_all: 1.7490, d0.loss_map_dir_all: 0.0126, d0.loss_map_cls: 0.2802, d0.loss_map_pts: 1.7490, d0.loss_map_dir: 0.0126, d1.loss_map_cls: 0.2503, d1.loss_map_pts: 1.2279, d1.loss_map_dir: 0.0128, d2.loss_map_cls: 0.2352, d2.loss_map_pts: 1.0516, d2.loss_map_dir: 0.0130, d3.loss_map_cls: 0.2259, d3.loss_map_pts: 0.9912, d3.loss_map_dir: 0.0133, d4.loss_map_cls: 0.2217, d4.loss_map_pts: 0.9734, d4.loss_map_dir: 0.0136, d5.loss_map_cls: 0.2181, d5.loss_map_pts: 0.9674, d5.loss_map_dir: 0.0138, loss: 37.2450, grad_norm: 161.1554 +2026-02-25 15:28:13,855 - DriveTransformer - INFO - Epoch [5][8250/39528] lr: 9.337e-05, eta: 7 days, 6:51:28, time: 0.829, data_time: 0.046, memory: 19865, loss_cls: 0.2412, loss_bbox: 0.4385, loss_traj: 0.7095, loss_traj_cls: 0.0011, loss_map_cls: 0.2225, loss_map_pts: 0.9507, loss_map_dir: 0.0151, d0.loss_plan_l1_fix_time: 2.6702, d0.loss_plan_l1_fix_dist: 0.4542, d1.loss_plan_l1_fix_time: 1.1084, d1.loss_plan_l1_fix_dist: 0.2187, d2.loss_plan_l1_fix_time: 1.0854, d2.loss_plan_l1_fix_dist: 0.2251, d3.loss_plan_l1_fix_time: 1.0851, d3.loss_plan_l1_fix_dist: 0.2386, d4.loss_plan_l1_fix_time: 1.0891, d4.loss_plan_l1_fix_dist: 0.2576, d5.loss_plan_l1_fix_time: 1.0935, d5.loss_plan_l1_fix_dist: 0.2789, d6.loss_plan_l1_fix_time: 1.0979, d6.loss_plan_l1_fix_dist: 0.3022, d0.loss_cls_all: 0.2687, d0.loss_bbox_all: 0.4905, d0.loss_cls: 0.2687, d0.loss_bbox: 0.4905, d1.loss_cls: 0.2571, d1.loss_bbox: 0.4634, d2.loss_cls: 0.2462, d2.loss_bbox: 0.4495, d3.loss_cls: 0.2414, d3.loss_bbox: 0.4440, d4.loss_cls: 0.2365, d4.loss_bbox: 0.4420, d5.loss_cls: 0.2380, d5.loss_bbox: 0.4401, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8906, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7351, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7156, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7089, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7058, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7067, d0.loss_map_cls_all: 0.2804, d0.loss_map_pts_all: 1.8699, d0.loss_map_dir_all: 0.0137, d0.loss_map_cls: 0.2804, d0.loss_map_pts: 1.8699, d0.loss_map_dir: 0.0137, d1.loss_map_cls: 0.2535, d1.loss_map_pts: 1.2379, d1.loss_map_dir: 0.0137, d2.loss_map_cls: 0.2363, d2.loss_map_pts: 1.0438, d2.loss_map_dir: 0.0140, d3.loss_map_cls: 0.2266, d3.loss_map_pts: 0.9867, d3.loss_map_dir: 0.0145, d4.loss_map_cls: 0.2248, d4.loss_map_pts: 0.9638, d4.loss_map_dir: 0.0149, d5.loss_map_cls: 0.2235, d5.loss_map_pts: 0.9536, d5.loss_map_dir: 0.0150, loss: 33.9785, grad_norm: 164.1258 +2026-02-25 15:28:53,636 - DriveTransformer - INFO - Epoch [5][8300/39528] lr: 9.337e-05, eta: 7 days, 6:50:46, time: 0.796, data_time: 0.041, memory: 19865, loss_cls: 0.2308, loss_bbox: 0.4353, loss_traj: 0.7461, loss_traj_cls: 0.0010, loss_map_cls: 0.2256, loss_map_pts: 1.0081, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.9581, d0.loss_plan_l1_fix_dist: 0.4200, d1.loss_plan_l1_fix_time: 1.3120, d1.loss_plan_l1_fix_dist: 0.2343, d2.loss_plan_l1_fix_time: 1.2961, d2.loss_plan_l1_fix_dist: 0.2400, d3.loss_plan_l1_fix_time: 1.3018, d3.loss_plan_l1_fix_dist: 0.2505, d4.loss_plan_l1_fix_time: 1.3073, d4.loss_plan_l1_fix_dist: 0.2659, d5.loss_plan_l1_fix_time: 1.3131, d5.loss_plan_l1_fix_dist: 0.2869, d6.loss_plan_l1_fix_time: 1.3194, d6.loss_plan_l1_fix_dist: 0.3096, d0.loss_cls_all: 0.2561, d0.loss_bbox_all: 0.4956, d0.loss_cls: 0.2561, d0.loss_bbox: 0.4956, d1.loss_cls: 0.2487, d1.loss_bbox: 0.4601, d2.loss_cls: 0.2368, d2.loss_bbox: 0.4449, d3.loss_cls: 0.2315, d3.loss_bbox: 0.4399, d4.loss_cls: 0.2294, d4.loss_bbox: 0.4371, d5.loss_cls: 0.2293, d5.loss_bbox: 0.4357, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9419, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7961, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7498, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7437, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7388, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7428, d0.loss_map_cls_all: 0.2935, d0.loss_map_pts_all: 1.7403, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2935, d0.loss_map_pts: 1.7403, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2580, d1.loss_map_pts: 1.2704, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2442, d2.loss_map_pts: 1.0967, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.2332, d3.loss_map_pts: 1.0405, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.2280, d4.loss_map_pts: 1.0224, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.2262, d5.loss_map_pts: 1.0126, d5.loss_map_dir: 0.0125, loss: 35.8714, grad_norm: 166.3052 +2026-02-25 15:29:34,068 - DriveTransformer - INFO - Epoch [5][8350/39528] lr: 9.337e-05, eta: 7 days, 6:50:07, time: 0.809, data_time: 0.043, memory: 19865, loss_cls: 0.2195, loss_bbox: 0.4116, loss_traj: 0.8620, loss_traj_cls: 0.0011, loss_map_cls: 0.2007, loss_map_pts: 0.8238, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.7880, d0.loss_plan_l1_fix_dist: 0.3707, d1.loss_plan_l1_fix_time: 1.5427, d1.loss_plan_l1_fix_dist: 0.2234, d2.loss_plan_l1_fix_time: 1.5349, d2.loss_plan_l1_fix_dist: 0.2422, d3.loss_plan_l1_fix_time: 1.5358, d3.loss_plan_l1_fix_dist: 0.2668, d4.loss_plan_l1_fix_time: 1.5396, d4.loss_plan_l1_fix_dist: 0.2904, d5.loss_plan_l1_fix_time: 1.5449, d5.loss_plan_l1_fix_dist: 0.3154, d6.loss_plan_l1_fix_time: 1.5517, d6.loss_plan_l1_fix_dist: 0.3438, d0.loss_cls_all: 0.2445, d0.loss_bbox_all: 0.4733, d0.loss_cls: 0.2445, d0.loss_bbox: 0.4733, d1.loss_cls: 0.2405, d1.loss_bbox: 0.4408, d2.loss_cls: 0.2270, d2.loss_bbox: 0.4239, d3.loss_cls: 0.2225, d3.loss_bbox: 0.4154, d4.loss_cls: 0.2180, d4.loss_bbox: 0.4130, d5.loss_cls: 0.2187, d5.loss_bbox: 0.4128, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1055, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9088, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8693, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8624, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8621, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8614, d0.loss_map_cls_all: 0.2651, d0.loss_map_pts_all: 1.6292, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2651, d0.loss_map_pts: 1.6292, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2324, d1.loss_map_pts: 1.0767, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2192, d2.loss_map_pts: 0.9014, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.2081, d3.loss_map_pts: 0.8525, d3.loss_map_dir: 0.0121, d4.loss_map_cls: 0.2025, d4.loss_map_pts: 0.8352, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.2009, d5.loss_map_pts: 0.8274, d5.loss_map_dir: 0.0127, loss: 36.1927, grad_norm: 166.9175 +2026-02-25 15:30:15,256 - DriveTransformer - INFO - Epoch [5][8400/39528] lr: 9.337e-05, eta: 7 days, 6:49:31, time: 0.824, data_time: 0.045, memory: 19865, loss_cls: 0.2293, loss_bbox: 0.4028, loss_traj: 0.6724, loss_traj_cls: 0.0011, loss_map_cls: 0.2225, loss_map_pts: 0.9561, loss_map_dir: 0.0146, d0.loss_plan_l1_fix_time: 2.5776, d0.loss_plan_l1_fix_dist: 0.3291, d1.loss_plan_l1_fix_time: 1.2483, d1.loss_plan_l1_fix_dist: 0.1792, d2.loss_plan_l1_fix_time: 1.2365, d2.loss_plan_l1_fix_dist: 0.1881, d3.loss_plan_l1_fix_time: 1.2374, d3.loss_plan_l1_fix_dist: 0.2026, d4.loss_plan_l1_fix_time: 1.2420, d4.loss_plan_l1_fix_dist: 0.2199, d5.loss_plan_l1_fix_time: 1.2470, d5.loss_plan_l1_fix_dist: 0.2359, d6.loss_plan_l1_fix_time: 1.2528, d6.loss_plan_l1_fix_dist: 0.2520, d0.loss_cls_all: 0.2545, d0.loss_bbox_all: 0.4428, d0.loss_cls: 0.2545, d0.loss_bbox: 0.4428, d1.loss_cls: 0.2475, d1.loss_bbox: 0.4174, d2.loss_cls: 0.2395, d2.loss_bbox: 0.4022, d3.loss_cls: 0.2321, d3.loss_bbox: 0.3970, d4.loss_cls: 0.2282, d4.loss_bbox: 0.3992, d5.loss_cls: 0.2283, d5.loss_bbox: 0.4007, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8349, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7313, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6920, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6735, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6686, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6701, d0.loss_map_cls_all: 0.2876, d0.loss_map_pts_all: 1.8209, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.2876, d0.loss_map_pts: 1.8209, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2599, d1.loss_map_pts: 1.2270, d1.loss_map_dir: 0.0129, d2.loss_map_cls: 0.2432, d2.loss_map_pts: 1.0454, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2309, d3.loss_map_pts: 0.9851, d3.loss_map_dir: 0.0139, d4.loss_map_cls: 0.2249, d4.loss_map_pts: 0.9637, d4.loss_map_dir: 0.0143, d5.loss_map_cls: 0.2225, d5.loss_map_pts: 0.9564, d5.loss_map_dir: 0.0145, loss: 33.6807, grad_norm: 168.5724 +2026-02-25 15:30:54,760 - DriveTransformer - INFO - Epoch [5][8450/39528] lr: 9.337e-05, eta: 7 days, 6:48:47, time: 0.790, data_time: 0.045, memory: 19865, loss_cls: 0.2209, loss_bbox: 0.4200, loss_traj: 0.8463, loss_traj_cls: 0.0011, loss_map_cls: 0.2042, loss_map_pts: 0.8532, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.4291, d0.loss_plan_l1_fix_dist: 0.3797, d1.loss_plan_l1_fix_time: 1.3623, d1.loss_plan_l1_fix_dist: 0.2197, d2.loss_plan_l1_fix_time: 1.3507, d2.loss_plan_l1_fix_dist: 0.2334, d3.loss_plan_l1_fix_time: 1.3486, d3.loss_plan_l1_fix_dist: 0.2509, d4.loss_plan_l1_fix_time: 1.3509, d4.loss_plan_l1_fix_dist: 0.2730, d5.loss_plan_l1_fix_time: 1.3535, d5.loss_plan_l1_fix_dist: 0.2935, d6.loss_plan_l1_fix_time: 1.3566, d6.loss_plan_l1_fix_dist: 0.3105, d0.loss_cls_all: 0.2491, d0.loss_bbox_all: 0.4670, d0.loss_cls: 0.2491, d0.loss_bbox: 0.4670, d1.loss_cls: 0.2413, d1.loss_bbox: 0.4377, d2.loss_cls: 0.2256, d2.loss_bbox: 0.4294, d3.loss_cls: 0.2232, d3.loss_bbox: 0.4193, d4.loss_cls: 0.2192, d4.loss_bbox: 0.4200, d5.loss_cls: 0.2203, d5.loss_bbox: 0.4193, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0527, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8623, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8451, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8414, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8359, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8438, d0.loss_map_cls_all: 0.2637, d0.loss_map_pts_all: 1.6191, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2637, d0.loss_map_pts: 1.6191, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2334, d1.loss_map_pts: 1.1281, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2196, d2.loss_map_pts: 0.9607, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.2107, d3.loss_map_pts: 0.8937, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.2070, d4.loss_map_pts: 0.8653, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.2043, d5.loss_map_pts: 0.8562, d5.loss_map_dir: 0.0119, loss: 34.6654, grad_norm: 166.7760 +2026-02-25 15:31:34,730 - DriveTransformer - INFO - Epoch [5][8500/39528] lr: 9.337e-05, eta: 7 days, 6:48:06, time: 0.799, data_time: 0.044, memory: 19865, loss_cls: 0.2590, loss_bbox: 0.4587, loss_traj: 0.9636, loss_traj_cls: 0.0010, loss_map_cls: 0.2680, loss_map_pts: 1.1070, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 3.2164, d0.loss_plan_l1_fix_dist: 0.3914, d1.loss_plan_l1_fix_time: 1.6193, d1.loss_plan_l1_fix_dist: 0.2457, d2.loss_plan_l1_fix_time: 1.6143, d2.loss_plan_l1_fix_dist: 0.2610, d3.loss_plan_l1_fix_time: 1.6100, d3.loss_plan_l1_fix_dist: 0.2789, d4.loss_plan_l1_fix_time: 1.6115, d4.loss_plan_l1_fix_dist: 0.2972, d5.loss_plan_l1_fix_time: 1.6134, d5.loss_plan_l1_fix_dist: 0.3210, d6.loss_plan_l1_fix_time: 1.6161, d6.loss_plan_l1_fix_dist: 0.3500, d0.loss_cls_all: 0.2922, d0.loss_bbox_all: 0.5181, d0.loss_cls: 0.2922, d0.loss_bbox: 0.5181, d1.loss_cls: 0.2837, d1.loss_bbox: 0.4841, d2.loss_cls: 0.2716, d2.loss_bbox: 0.4650, d3.loss_cls: 0.2648, d3.loss_bbox: 0.4593, d4.loss_cls: 0.2602, d4.loss_bbox: 0.4559, d5.loss_cls: 0.2589, d5.loss_bbox: 0.4575, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2434, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0415, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9697, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9590, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9533, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9588, d0.loss_map_cls_all: 0.3251, d0.loss_map_pts_all: 2.0552, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.3251, d0.loss_map_pts: 2.0552, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.3031, d1.loss_map_pts: 1.4324, d1.loss_map_dir: 0.0128, d2.loss_map_cls: 0.2858, d2.loss_map_pts: 1.2231, d2.loss_map_dir: 0.0135, d3.loss_map_cls: 0.2752, d3.loss_map_pts: 1.1429, d3.loss_map_dir: 0.0141, d4.loss_map_cls: 0.2686, d4.loss_map_pts: 1.1154, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.2666, d5.loss_map_pts: 1.1089, d5.loss_map_dir: 0.0147, loss: 41.8087, grad_norm: 167.3363 +2026-02-25 15:32:16,393 - DriveTransformer - INFO - Epoch [5][8550/39528] lr: 9.337e-05, eta: 7 days, 6:47:32, time: 0.833, data_time: 0.040, memory: 19865, loss_cls: 0.2099, loss_bbox: 0.4221, loss_traj: 0.8454, loss_traj_cls: 0.0010, loss_map_cls: 0.1913, loss_map_pts: 0.8338, loss_map_dir: 0.0145, d0.loss_plan_l1_fix_time: 2.2245, d0.loss_plan_l1_fix_dist: 0.3986, d1.loss_plan_l1_fix_time: 1.3791, d1.loss_plan_l1_fix_dist: 0.2053, d2.loss_plan_l1_fix_time: 1.3684, d2.loss_plan_l1_fix_dist: 0.2139, d3.loss_plan_l1_fix_time: 1.3711, d3.loss_plan_l1_fix_dist: 0.2293, d4.loss_plan_l1_fix_time: 1.3754, d4.loss_plan_l1_fix_dist: 0.2459, d5.loss_plan_l1_fix_time: 1.3794, d5.loss_plan_l1_fix_dist: 0.2658, d6.loss_plan_l1_fix_time: 1.3838, d6.loss_plan_l1_fix_dist: 0.2904, d0.loss_cls_all: 0.2367, d0.loss_bbox_all: 0.4661, d0.loss_cls: 0.2367, d0.loss_bbox: 0.4661, d1.loss_cls: 0.2329, d1.loss_bbox: 0.4404, d2.loss_cls: 0.2209, d2.loss_bbox: 0.4239, d3.loss_cls: 0.2143, d3.loss_bbox: 0.4198, d4.loss_cls: 0.2101, d4.loss_bbox: 0.4193, d5.loss_cls: 0.2095, d5.loss_bbox: 0.4205, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0344, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8780, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8402, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8408, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8447, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8464, d0.loss_map_cls_all: 0.2672, d0.loss_map_pts_all: 1.7137, d0.loss_map_dir_all: 0.0142, d0.loss_map_cls: 0.2672, d0.loss_map_pts: 1.7137, d0.loss_map_dir: 0.0142, d1.loss_map_cls: 0.2309, d1.loss_map_pts: 1.1253, d1.loss_map_dir: 0.0135, d2.loss_map_cls: 0.2157, d2.loss_map_pts: 0.9247, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2038, d3.loss_map_pts: 0.8659, d3.loss_map_dir: 0.0139, d4.loss_map_cls: 0.1968, d4.loss_map_pts: 0.8446, d4.loss_map_dir: 0.0142, d5.loss_map_cls: 0.1928, d5.loss_map_pts: 0.8341, d5.loss_map_dir: 0.0143, loss: 34.4502, grad_norm: 166.8534 +2026-02-25 15:32:57,146 - DriveTransformer - INFO - Epoch [5][8600/39528] lr: 9.337e-05, eta: 7 days, 6:46:55, time: 0.815, data_time: 0.041, memory: 19865, loss_cls: 0.2110, loss_bbox: 0.3991, loss_traj: 0.6845, loss_traj_cls: 0.0011, loss_map_cls: 0.1933, loss_map_pts: 0.7813, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.5917, d0.loss_plan_l1_fix_dist: 0.3675, d1.loss_plan_l1_fix_time: 1.1425, d1.loss_plan_l1_fix_dist: 0.2051, d2.loss_plan_l1_fix_time: 1.1274, d2.loss_plan_l1_fix_dist: 0.2114, d3.loss_plan_l1_fix_time: 1.1294, d3.loss_plan_l1_fix_dist: 0.2289, d4.loss_plan_l1_fix_time: 1.1333, d4.loss_plan_l1_fix_dist: 0.2520, d5.loss_plan_l1_fix_time: 1.1374, d5.loss_plan_l1_fix_dist: 0.2718, d6.loss_plan_l1_fix_time: 1.1411, d6.loss_plan_l1_fix_dist: 0.2888, d0.loss_cls_all: 0.2419, d0.loss_bbox_all: 0.4474, d0.loss_cls: 0.2419, d0.loss_bbox: 0.4474, d1.loss_cls: 0.2361, d1.loss_bbox: 0.4173, d2.loss_cls: 0.2232, d2.loss_bbox: 0.4009, d3.loss_cls: 0.2165, d3.loss_bbox: 0.3964, d4.loss_cls: 0.2122, d4.loss_bbox: 0.3956, d5.loss_cls: 0.2111, d5.loss_bbox: 0.3967, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9304, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7614, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7059, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6913, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6865, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6850, d0.loss_map_cls_all: 0.2524, d0.loss_map_pts_all: 1.6067, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2524, d0.loss_map_pts: 1.6067, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2261, d1.loss_map_pts: 1.0506, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2111, d2.loss_map_pts: 0.8723, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2012, d3.loss_map_pts: 0.8089, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.1965, d4.loss_map_pts: 0.7900, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1935, d5.loss_map_pts: 0.7823, d5.loss_map_dir: 0.0120, loss: 31.5940, grad_norm: 166.2984 +2026-02-25 15:33:38,646 - DriveTransformer - INFO - Epoch [5][8650/39528] lr: 9.337e-05, eta: 7 days, 6:46:20, time: 0.830, data_time: 0.042, memory: 19865, loss_cls: 0.2247, loss_bbox: 0.4171, loss_traj: 0.6941, loss_traj_cls: 0.0010, loss_map_cls: 0.2320, loss_map_pts: 0.9891, loss_map_dir: 0.0146, d0.loss_plan_l1_fix_time: 2.6077, d0.loss_plan_l1_fix_dist: 0.4696, d1.loss_plan_l1_fix_time: 1.2461, d1.loss_plan_l1_fix_dist: 0.2555, d2.loss_plan_l1_fix_time: 1.2284, d2.loss_plan_l1_fix_dist: 0.2632, d3.loss_plan_l1_fix_time: 1.2270, d3.loss_plan_l1_fix_dist: 0.2746, d4.loss_plan_l1_fix_time: 1.2294, d4.loss_plan_l1_fix_dist: 0.2887, d5.loss_plan_l1_fix_time: 1.2326, d5.loss_plan_l1_fix_dist: 0.3046, d6.loss_plan_l1_fix_time: 1.2362, d6.loss_plan_l1_fix_dist: 0.3226, d0.loss_cls_all: 0.2539, d0.loss_bbox_all: 0.4747, d0.loss_cls: 0.2539, d0.loss_bbox: 0.4747, d1.loss_cls: 0.2493, d1.loss_bbox: 0.4406, d2.loss_cls: 0.2379, d2.loss_bbox: 0.4225, d3.loss_cls: 0.2293, d3.loss_bbox: 0.4186, d4.loss_cls: 0.2248, d4.loss_bbox: 0.4152, d5.loss_cls: 0.2243, d5.loss_bbox: 0.4160, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9150, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7507, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7091, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7000, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6986, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6965, d0.loss_map_cls_all: 0.2908, d0.loss_map_pts_all: 1.9007, d0.loss_map_dir_all: 0.0129, d0.loss_map_cls: 0.2908, d0.loss_map_pts: 1.9007, d0.loss_map_dir: 0.0129, d1.loss_map_cls: 0.2677, d1.loss_map_pts: 1.3232, d1.loss_map_dir: 0.0125, d2.loss_map_cls: 0.2516, d2.loss_map_pts: 1.1085, d2.loss_map_dir: 0.0132, d3.loss_map_cls: 0.2425, d3.loss_map_pts: 1.0309, d3.loss_map_dir: 0.0139, d4.loss_map_cls: 0.2370, d4.loss_map_pts: 1.0010, d4.loss_map_dir: 0.0142, d5.loss_map_cls: 0.2330, d5.loss_map_pts: 0.9912, d5.loss_map_dir: 0.0145, loss: 35.1338, grad_norm: 167.3720 +2026-02-25 15:34:21,969 - DriveTransformer - INFO - Epoch [5][8700/39528] lr: 9.337e-05, eta: 7 days, 6:45:55, time: 0.866, data_time: 0.038, memory: 19865, loss_cls: 0.2232, loss_bbox: 0.4102, loss_traj: 0.6886, loss_traj_cls: 0.0010, loss_map_cls: 0.2306, loss_map_pts: 1.0662, loss_map_dir: 0.0161, d0.loss_plan_l1_fix_time: 2.4187, d0.loss_plan_l1_fix_dist: 0.4080, d1.loss_plan_l1_fix_time: 1.4988, d1.loss_plan_l1_fix_dist: 0.2229, d2.loss_plan_l1_fix_time: 1.4865, d2.loss_plan_l1_fix_dist: 0.2347, d3.loss_plan_l1_fix_time: 1.4927, d3.loss_plan_l1_fix_dist: 0.2482, d4.loss_plan_l1_fix_time: 1.4966, d4.loss_plan_l1_fix_dist: 0.2631, d5.loss_plan_l1_fix_time: 1.5013, d5.loss_plan_l1_fix_dist: 0.2815, d6.loss_plan_l1_fix_time: 1.5072, d6.loss_plan_l1_fix_dist: 0.3017, d0.loss_cls_all: 0.2510, d0.loss_bbox_all: 0.4693, d0.loss_cls: 0.2510, d0.loss_bbox: 0.4693, d1.loss_cls: 0.2419, d1.loss_bbox: 0.4412, d2.loss_cls: 0.2336, d2.loss_bbox: 0.4208, d3.loss_cls: 0.2257, d3.loss_bbox: 0.4133, d4.loss_cls: 0.2239, d4.loss_bbox: 0.4109, d5.loss_cls: 0.2232, d5.loss_bbox: 0.4089, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8867, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7554, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6980, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6839, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6888, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6849, d0.loss_map_cls_all: 0.2934, d0.loss_map_pts_all: 2.1009, d0.loss_map_dir_all: 0.0142, d0.loss_map_cls: 0.2934, d0.loss_map_pts: 2.1009, d0.loss_map_dir: 0.0142, d1.loss_map_cls: 0.2675, d1.loss_map_pts: 1.4225, d1.loss_map_dir: 0.0138, d2.loss_map_cls: 0.2520, d2.loss_map_pts: 1.1887, d2.loss_map_dir: 0.0144, d3.loss_map_cls: 0.2403, d3.loss_map_pts: 1.1064, d3.loss_map_dir: 0.0151, d4.loss_map_cls: 0.2335, d4.loss_map_pts: 1.0800, d4.loss_map_dir: 0.0157, d5.loss_map_cls: 0.2310, d5.loss_map_pts: 1.0689, d5.loss_map_dir: 0.0159, loss: 37.0680, grad_norm: 163.4932 +2026-02-25 15:35:01,519 - DriveTransformer - INFO - Epoch [5][8750/39528] lr: 9.337e-05, eta: 7 days, 6:45:11, time: 0.791, data_time: 0.045, memory: 19865, loss_cls: 0.2387, loss_bbox: 0.4227, loss_traj: 0.8325, loss_traj_cls: 0.0010, loss_map_cls: 0.1889, loss_map_pts: 0.8109, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.8400, d0.loss_plan_l1_fix_dist: 0.5258, d1.loss_plan_l1_fix_time: 1.4407, d1.loss_plan_l1_fix_dist: 0.2319, d2.loss_plan_l1_fix_time: 1.4195, d2.loss_plan_l1_fix_dist: 0.2357, d3.loss_plan_l1_fix_time: 1.4235, d3.loss_plan_l1_fix_dist: 0.2489, d4.loss_plan_l1_fix_time: 1.4269, d4.loss_plan_l1_fix_dist: 0.2635, d5.loss_plan_l1_fix_time: 1.4309, d5.loss_plan_l1_fix_dist: 0.2781, d6.loss_plan_l1_fix_time: 1.4358, d6.loss_plan_l1_fix_dist: 0.2924, d0.loss_cls_all: 0.2629, d0.loss_bbox_all: 0.4768, d0.loss_cls: 0.2629, d0.loss_bbox: 0.4768, d1.loss_cls: 0.2633, d1.loss_bbox: 0.4464, d2.loss_cls: 0.2521, d2.loss_bbox: 0.4315, d3.loss_cls: 0.2450, d3.loss_bbox: 0.4253, d4.loss_cls: 0.2420, d4.loss_bbox: 0.4221, d5.loss_cls: 0.2389, d5.loss_bbox: 0.4219, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0883, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8800, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8300, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.8248, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8344, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8339, d0.loss_map_cls_all: 0.2512, d0.loss_map_pts_all: 1.5359, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2512, d0.loss_map_pts: 1.5359, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2239, d1.loss_map_pts: 1.0974, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.2067, d2.loss_map_pts: 0.9233, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1981, d3.loss_map_pts: 0.8534, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1919, d4.loss_map_pts: 0.8218, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1898, d5.loss_map_pts: 0.8137, d5.loss_map_dir: 0.0114, loss: 35.3336, grad_norm: 163.5606 +2026-02-25 15:35:41,829 - DriveTransformer - INFO - Epoch [5][8800/39528] lr: 9.337e-05, eta: 7 days, 6:44:32, time: 0.808, data_time: 0.040, memory: 19865, loss_cls: 0.2486, loss_bbox: 0.4076, loss_traj: 0.7017, loss_traj_cls: 0.0010, loss_map_cls: 0.2020, loss_map_pts: 0.8181, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.9257, d0.loss_plan_l1_fix_dist: 0.3962, d1.loss_plan_l1_fix_time: 1.6090, d1.loss_plan_l1_fix_dist: 0.2183, d2.loss_plan_l1_fix_time: 1.5936, d2.loss_plan_l1_fix_dist: 0.2256, d3.loss_plan_l1_fix_time: 1.5951, d3.loss_plan_l1_fix_dist: 0.2359, d4.loss_plan_l1_fix_time: 1.5987, d4.loss_plan_l1_fix_dist: 0.2491, d5.loss_plan_l1_fix_time: 1.6023, d5.loss_plan_l1_fix_dist: 0.2639, d6.loss_plan_l1_fix_time: 1.6059, d6.loss_plan_l1_fix_dist: 0.2819, d0.loss_cls_all: 0.2688, d0.loss_bbox_all: 0.4658, d0.loss_cls: 0.2688, d0.loss_bbox: 0.4658, d1.loss_cls: 0.2637, d1.loss_bbox: 0.4343, d2.loss_cls: 0.2577, d2.loss_bbox: 0.4174, d3.loss_cls: 0.2529, d3.loss_bbox: 0.4097, d4.loss_cls: 0.2504, d4.loss_bbox: 0.4086, d5.loss_cls: 0.2486, d5.loss_bbox: 0.4074, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8922, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7414, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7133, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7071, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7072, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7016, d0.loss_map_cls_all: 0.2686, d0.loss_map_pts_all: 1.5724, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2686, d0.loss_map_pts: 1.5724, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2382, d1.loss_map_pts: 1.1004, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2199, d2.loss_map_pts: 0.9239, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.2106, d3.loss_map_pts: 0.8537, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.2040, d4.loss_map_pts: 0.8333, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.2017, d5.loss_map_pts: 0.8221, d5.loss_map_dir: 0.0113, loss: 35.4456, grad_norm: 163.3652 +2026-02-25 15:36:22,127 - DriveTransformer - INFO - Epoch [5][8850/39528] lr: 9.337e-05, eta: 7 days, 6:43:51, time: 0.805, data_time: 0.040, memory: 19865, loss_cls: 0.2311, loss_bbox: 0.4146, loss_traj: 0.7857, loss_traj_cls: 0.0010, loss_map_cls: 0.2117, loss_map_pts: 0.8737, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.9155, d0.loss_plan_l1_fix_dist: 0.4736, d1.loss_plan_l1_fix_time: 1.5628, d1.loss_plan_l1_fix_dist: 0.2328, d2.loss_plan_l1_fix_time: 1.5561, d2.loss_plan_l1_fix_dist: 0.2484, d3.loss_plan_l1_fix_time: 1.5531, d3.loss_plan_l1_fix_dist: 0.2702, d4.loss_plan_l1_fix_time: 1.5562, d4.loss_plan_l1_fix_dist: 0.2938, d5.loss_plan_l1_fix_time: 1.5599, d5.loss_plan_l1_fix_dist: 0.3198, d6.loss_plan_l1_fix_time: 1.5644, d6.loss_plan_l1_fix_dist: 0.3458, d0.loss_cls_all: 0.2531, d0.loss_bbox_all: 0.4756, d0.loss_cls: 0.2531, d0.loss_bbox: 0.4756, d1.loss_cls: 0.2495, d1.loss_bbox: 0.4444, d2.loss_cls: 0.2416, d2.loss_bbox: 0.4265, d3.loss_cls: 0.2362, d3.loss_bbox: 0.4199, d4.loss_cls: 0.2320, d4.loss_bbox: 0.4158, d5.loss_cls: 0.2308, d5.loss_bbox: 0.4143, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9890, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8344, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7927, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7835, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7824, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7805, d0.loss_map_cls_all: 0.2649, d0.loss_map_pts_all: 1.6938, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2649, d0.loss_map_pts: 1.6938, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2391, d1.loss_map_pts: 1.1577, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2283, d2.loss_map_pts: 0.9736, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.2174, d3.loss_map_pts: 0.9090, d3.loss_map_dir: 0.0121, d4.loss_map_cls: 0.2140, d4.loss_map_pts: 0.8822, d4.loss_map_dir: 0.0126, d5.loss_map_cls: 0.2113, d5.loss_map_pts: 0.8779, d5.loss_map_dir: 0.0126, loss: 36.6311, grad_norm: 165.1912 +2026-02-25 15:37:02,468 - DriveTransformer - INFO - Epoch [5][8900/39528] lr: 9.337e-05, eta: 7 days, 6:43:12, time: 0.807, data_time: 0.044, memory: 19865, loss_cls: 0.2383, loss_bbox: 0.4480, loss_traj: 0.8772, loss_traj_cls: 0.0010, loss_map_cls: 0.2002, loss_map_pts: 0.8848, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.7524, d0.loss_plan_l1_fix_dist: 0.4756, d1.loss_plan_l1_fix_time: 1.4448, d1.loss_plan_l1_fix_dist: 0.2345, d2.loss_plan_l1_fix_time: 1.4234, d2.loss_plan_l1_fix_dist: 0.2461, d3.loss_plan_l1_fix_time: 1.4250, d3.loss_plan_l1_fix_dist: 0.2647, d4.loss_plan_l1_fix_time: 1.4288, d4.loss_plan_l1_fix_dist: 0.2870, d5.loss_plan_l1_fix_time: 1.4333, d5.loss_plan_l1_fix_dist: 0.3126, d6.loss_plan_l1_fix_time: 1.4387, d6.loss_plan_l1_fix_dist: 0.3360, d0.loss_cls_all: 0.2709, d0.loss_bbox_all: 0.5000, d0.loss_cls: 0.2709, d0.loss_bbox: 0.5000, d1.loss_cls: 0.2618, d1.loss_bbox: 0.4720, d2.loss_cls: 0.2487, d2.loss_bbox: 0.4569, d3.loss_cls: 0.2429, d3.loss_bbox: 0.4514, d4.loss_cls: 0.2380, d4.loss_bbox: 0.4508, d5.loss_cls: 0.2365, d5.loss_bbox: 0.4491, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1153, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9497, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8826, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8796, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8771, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8717, d0.loss_map_cls_all: 0.2688, d0.loss_map_pts_all: 1.6789, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2688, d0.loss_map_pts: 1.6789, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2391, d1.loss_map_pts: 1.1770, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2214, d2.loss_map_pts: 0.9980, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.2107, d3.loss_map_pts: 0.9314, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.2035, d4.loss_map_pts: 0.9000, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.2013, d5.loss_map_pts: 0.8884, d5.loss_map_dir: 0.0117, loss: 36.7392, grad_norm: 164.3842 +2026-02-25 15:37:42,523 - DriveTransformer - INFO - Epoch [5][8950/39528] lr: 9.337e-05, eta: 7 days, 6:42:30, time: 0.801, data_time: 0.043, memory: 19865, loss_cls: 0.2395, loss_bbox: 0.4324, loss_traj: 0.8509, loss_traj_cls: 0.0010, loss_map_cls: 0.2081, loss_map_pts: 0.9330, loss_map_dir: 0.0130, d0.loss_plan_l1_fix_time: 3.1974, d0.loss_plan_l1_fix_dist: 0.4200, d1.loss_plan_l1_fix_time: 1.5881, d1.loss_plan_l1_fix_dist: 0.2022, d2.loss_plan_l1_fix_time: 1.5645, d2.loss_plan_l1_fix_dist: 0.2188, d3.loss_plan_l1_fix_time: 1.5602, d3.loss_plan_l1_fix_dist: 0.2361, d4.loss_plan_l1_fix_time: 1.5618, d4.loss_plan_l1_fix_dist: 0.2533, d5.loss_plan_l1_fix_time: 1.5643, d5.loss_plan_l1_fix_dist: 0.2688, d6.loss_plan_l1_fix_time: 1.5676, d6.loss_plan_l1_fix_dist: 0.2883, d0.loss_cls_all: 0.2717, d0.loss_bbox_all: 0.4928, d0.loss_cls: 0.2717, d0.loss_bbox: 0.4928, d1.loss_cls: 0.2661, d1.loss_bbox: 0.4601, d2.loss_cls: 0.2522, d2.loss_bbox: 0.4438, d3.loss_cls: 0.2433, d3.loss_bbox: 0.4379, d4.loss_cls: 0.2415, d4.loss_bbox: 0.4336, d5.loss_cls: 0.2393, d5.loss_bbox: 0.4321, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1110, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9137, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8501, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8394, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8270, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8471, d0.loss_map_cls_all: 0.2703, d0.loss_map_pts_all: 1.6863, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2703, d0.loss_map_pts: 1.6863, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2430, d1.loss_map_pts: 1.1800, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2295, d2.loss_map_pts: 1.0172, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2169, d3.loss_map_pts: 0.9614, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.2126, d4.loss_map_pts: 0.9383, d4.loss_map_dir: 0.0129, d5.loss_map_cls: 0.2085, d5.loss_map_pts: 0.9328, d5.loss_map_dir: 0.0129, loss: 37.6808, grad_norm: 164.1211 +2026-02-25 15:38:23,768 - DriveTransformer - INFO - Epoch [5][9000/39528] lr: 9.337e-05, eta: 7 days, 6:41:55, time: 0.825, data_time: 0.045, memory: 19865, loss_cls: 0.2615, loss_bbox: 0.4379, loss_traj: 0.6622, loss_traj_cls: 0.0011, loss_map_cls: 0.2315, loss_map_pts: 0.9296, loss_map_dir: 0.0162, d0.loss_plan_l1_fix_time: 2.5853, d0.loss_plan_l1_fix_dist: 0.4009, d1.loss_plan_l1_fix_time: 1.3891, d1.loss_plan_l1_fix_dist: 0.2531, d2.loss_plan_l1_fix_time: 1.3580, d2.loss_plan_l1_fix_dist: 0.2634, d3.loss_plan_l1_fix_time: 1.3579, d3.loss_plan_l1_fix_dist: 0.2743, d4.loss_plan_l1_fix_time: 1.3619, d4.loss_plan_l1_fix_dist: 0.2873, d5.loss_plan_l1_fix_time: 1.3665, d5.loss_plan_l1_fix_dist: 0.3018, d6.loss_plan_l1_fix_time: 1.3717, d6.loss_plan_l1_fix_dist: 0.3186, d0.loss_cls_all: 0.2881, d0.loss_bbox_all: 0.4937, d0.loss_cls: 0.2881, d0.loss_bbox: 0.4937, d1.loss_cls: 0.2817, d1.loss_bbox: 0.4613, d2.loss_cls: 0.2710, d2.loss_bbox: 0.4453, d3.loss_cls: 0.2649, d3.loss_bbox: 0.4380, d4.loss_cls: 0.2616, d4.loss_bbox: 0.4352, d5.loss_cls: 0.2622, d5.loss_bbox: 0.4353, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8553, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7219, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6776, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6702, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6642, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6604, d0.loss_map_cls_all: 0.2950, d0.loss_map_pts_all: 1.8355, d0.loss_map_dir_all: 0.0151, d0.loss_map_cls: 0.2950, d0.loss_map_pts: 1.8355, d0.loss_map_dir: 0.0151, d1.loss_map_cls: 0.2652, d1.loss_map_pts: 1.2216, d1.loss_map_dir: 0.0147, d2.loss_map_cls: 0.2526, d2.loss_map_pts: 1.0240, d2.loss_map_dir: 0.0152, d3.loss_map_cls: 0.2414, d3.loss_map_pts: 0.9626, d3.loss_map_dir: 0.0157, d4.loss_map_cls: 0.2350, d4.loss_map_pts: 0.9419, d4.loss_map_dir: 0.0160, d5.loss_map_cls: 0.2322, d5.loss_map_pts: 0.9333, d5.loss_map_dir: 0.0161, loss: 35.4838, grad_norm: 162.5685 +2026-02-25 15:39:06,225 - DriveTransformer - INFO - Epoch [5][9050/39528] lr: 9.337e-05, eta: 7 days, 6:41:25, time: 0.849, data_time: 0.047, memory: 19865, loss_cls: 0.2815, loss_bbox: 0.4648, loss_traj: 0.7235, loss_traj_cls: 0.0011, loss_map_cls: 0.2262, loss_map_pts: 1.0022, loss_map_dir: 0.0170, d0.loss_plan_l1_fix_time: 2.6259, d0.loss_plan_l1_fix_dist: 0.4321, d1.loss_plan_l1_fix_time: 1.3233, d1.loss_plan_l1_fix_dist: 0.2077, d2.loss_plan_l1_fix_time: 1.3093, d2.loss_plan_l1_fix_dist: 0.2155, d3.loss_plan_l1_fix_time: 1.3093, d3.loss_plan_l1_fix_dist: 0.2333, d4.loss_plan_l1_fix_time: 1.3125, d4.loss_plan_l1_fix_dist: 0.2545, d5.loss_plan_l1_fix_time: 1.3162, d5.loss_plan_l1_fix_dist: 0.2778, d6.loss_plan_l1_fix_time: 1.3199, d6.loss_plan_l1_fix_dist: 0.2985, d0.loss_cls_all: 0.3104, d0.loss_bbox_all: 0.5316, d0.loss_cls: 0.3104, d0.loss_bbox: 0.5316, d1.loss_cls: 0.3017, d1.loss_bbox: 0.4935, d2.loss_cls: 0.2898, d2.loss_bbox: 0.4770, d3.loss_cls: 0.2823, d3.loss_bbox: 0.4685, d4.loss_cls: 0.2804, d4.loss_bbox: 0.4658, d5.loss_cls: 0.2797, d5.loss_bbox: 0.4659, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9349, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7924, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7342, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7228, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7243, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7324, d0.loss_map_cls_all: 0.2911, d0.loss_map_pts_all: 1.9676, d0.loss_map_dir_all: 0.0160, d0.loss_map_cls: 0.2911, d0.loss_map_pts: 1.9676, d0.loss_map_dir: 0.0160, d1.loss_map_cls: 0.2624, d1.loss_map_pts: 1.3310, d1.loss_map_dir: 0.0154, d2.loss_map_cls: 0.2474, d2.loss_map_pts: 1.1179, d2.loss_map_dir: 0.0159, d3.loss_map_cls: 0.2376, d3.loss_map_pts: 1.0456, d3.loss_map_dir: 0.0165, d4.loss_map_cls: 0.2317, d4.loss_map_pts: 1.0188, d4.loss_map_dir: 0.0168, d5.loss_map_cls: 0.2276, d5.loss_map_pts: 1.0065, d5.loss_map_dir: 0.0169, loss: 36.6451, grad_norm: 161.9210 +2026-02-25 15:39:48,310 - DriveTransformer - INFO - Epoch [5][9100/39528] lr: 9.337e-05, eta: 7 days, 6:40:54, time: 0.842, data_time: 0.046, memory: 19865, loss_cls: 0.2380, loss_bbox: 0.4404, loss_traj: 0.7601, loss_traj_cls: 0.0010, loss_map_cls: 0.2495, loss_map_pts: 0.9971, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.5869, d0.loss_plan_l1_fix_dist: 0.3199, d1.loss_plan_l1_fix_time: 1.3118, d1.loss_plan_l1_fix_dist: 0.2023, d2.loss_plan_l1_fix_time: 1.2922, d2.loss_plan_l1_fix_dist: 0.2062, d3.loss_plan_l1_fix_time: 1.2919, d3.loss_plan_l1_fix_dist: 0.2178, d4.loss_plan_l1_fix_time: 1.2948, d4.loss_plan_l1_fix_dist: 0.2332, d5.loss_plan_l1_fix_time: 1.2985, d5.loss_plan_l1_fix_dist: 0.2522, d6.loss_plan_l1_fix_time: 1.3030, d6.loss_plan_l1_fix_dist: 0.2751, d0.loss_cls_all: 0.2681, d0.loss_bbox_all: 0.4973, d0.loss_cls: 0.2681, d0.loss_bbox: 0.4973, d1.loss_cls: 0.2586, d1.loss_bbox: 0.4643, d2.loss_cls: 0.2478, d2.loss_bbox: 0.4491, d3.loss_cls: 0.2434, d3.loss_bbox: 0.4427, d4.loss_cls: 0.2393, d4.loss_bbox: 0.4406, d5.loss_cls: 0.2375, d5.loss_bbox: 0.4398, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9547, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8254, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7823, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7713, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7644, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7631, d0.loss_map_cls_all: 0.3197, d0.loss_map_pts_all: 1.9296, d0.loss_map_dir_all: 0.0138, d0.loss_map_cls: 0.3197, d0.loss_map_pts: 1.9296, d0.loss_map_dir: 0.0138, d1.loss_map_cls: 0.2921, d1.loss_map_pts: 1.3127, d1.loss_map_dir: 0.0134, d2.loss_map_cls: 0.2765, d2.loss_map_pts: 1.1132, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2613, d3.loss_map_pts: 1.0401, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2533, d4.loss_map_pts: 1.0112, d4.loss_map_dir: 0.0148, d5.loss_map_cls: 0.2494, d5.loss_map_pts: 1.0016, d5.loss_map_dir: 0.0149, loss: 36.0562, grad_norm: 160.4906 +2026-02-25 15:40:29,016 - DriveTransformer - INFO - Epoch [5][9150/39528] lr: 9.337e-05, eta: 7 days, 6:40:15, time: 0.814, data_time: 0.039, memory: 19865, loss_cls: 0.2046, loss_bbox: 0.3877, loss_traj: 0.7082, loss_traj_cls: 0.0011, loss_map_cls: 0.2024, loss_map_pts: 0.8442, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.8161, d0.loss_plan_l1_fix_dist: 0.4095, d1.loss_plan_l1_fix_time: 1.2849, d1.loss_plan_l1_fix_dist: 0.1840, d2.loss_plan_l1_fix_time: 1.2623, d2.loss_plan_l1_fix_dist: 0.1929, d3.loss_plan_l1_fix_time: 1.2580, d3.loss_plan_l1_fix_dist: 0.2032, d4.loss_plan_l1_fix_time: 1.2598, d4.loss_plan_l1_fix_dist: 0.2159, d5.loss_plan_l1_fix_time: 1.2627, d5.loss_plan_l1_fix_dist: 0.2330, d6.loss_plan_l1_fix_time: 1.2669, d6.loss_plan_l1_fix_dist: 0.2545, d0.loss_cls_all: 0.2273, d0.loss_bbox_all: 0.4503, d0.loss_cls: 0.2273, d0.loss_bbox: 0.4503, d1.loss_cls: 0.2202, d1.loss_bbox: 0.4165, d2.loss_cls: 0.2152, d2.loss_bbox: 0.3989, d3.loss_cls: 0.2085, d3.loss_bbox: 0.3929, d4.loss_cls: 0.2048, d4.loss_bbox: 0.3901, d5.loss_cls: 0.2039, d5.loss_bbox: 0.3887, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9354, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7674, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7221, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7160, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7019, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7080, d0.loss_map_cls_all: 0.2666, d0.loss_map_pts_all: 1.6404, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2666, d0.loss_map_pts: 1.6404, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2338, d1.loss_map_pts: 1.1324, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2186, d2.loss_map_pts: 0.9453, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.2106, d3.loss_map_pts: 0.8806, d3.loss_map_dir: 0.0121, d4.loss_map_cls: 0.2036, d4.loss_map_pts: 0.8556, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.2024, d5.loss_map_pts: 0.8471, d5.loss_map_dir: 0.0125, loss: 33.0436, grad_norm: 160.7925 +2026-02-25 15:41:11,132 - DriveTransformer - INFO - Epoch [5][9200/39528] lr: 9.337e-05, eta: 7 days, 6:39:44, time: 0.842, data_time: 0.038, memory: 19865, loss_cls: 0.2332, loss_bbox: 0.4131, loss_traj: 0.8728, loss_traj_cls: 0.0010, loss_map_cls: 0.2217, loss_map_pts: 0.9724, loss_map_dir: 0.0163, d0.loss_plan_l1_fix_time: 2.8520, d0.loss_plan_l1_fix_dist: 0.4505, d1.loss_plan_l1_fix_time: 1.4667, d1.loss_plan_l1_fix_dist: 0.2411, d2.loss_plan_l1_fix_time: 1.4596, d2.loss_plan_l1_fix_dist: 0.2535, d3.loss_plan_l1_fix_time: 1.4589, d3.loss_plan_l1_fix_dist: 0.2773, d4.loss_plan_l1_fix_time: 1.4621, d4.loss_plan_l1_fix_dist: 0.3020, d5.loss_plan_l1_fix_time: 1.4652, d5.loss_plan_l1_fix_dist: 0.3258, d6.loss_plan_l1_fix_time: 1.4680, d6.loss_plan_l1_fix_dist: 0.3496, d0.loss_cls_all: 0.2621, d0.loss_bbox_all: 0.4665, d0.loss_cls: 0.2621, d0.loss_bbox: 0.4665, d1.loss_cls: 0.2492, d1.loss_bbox: 0.4378, d2.loss_cls: 0.2389, d2.loss_bbox: 0.4237, d3.loss_cls: 0.2360, d3.loss_bbox: 0.4179, d4.loss_cls: 0.2344, d4.loss_bbox: 0.4153, d5.loss_cls: 0.2347, d5.loss_bbox: 0.4136, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1004, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9216, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8864, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8721, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8695, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8680, d0.loss_map_cls_all: 0.2865, d0.loss_map_pts_all: 1.9588, d0.loss_map_dir_all: 0.0147, d0.loss_map_cls: 0.2865, d0.loss_map_pts: 1.9588, d0.loss_map_dir: 0.0147, d1.loss_map_cls: 0.2600, d1.loss_map_pts: 1.2851, d1.loss_map_dir: 0.0144, d2.loss_map_cls: 0.2443, d2.loss_map_pts: 1.0765, d2.loss_map_dir: 0.0149, d3.loss_map_cls: 0.2298, d3.loss_map_pts: 1.0041, d3.loss_map_dir: 0.0156, d4.loss_map_cls: 0.2233, d4.loss_map_pts: 0.9815, d4.loss_map_dir: 0.0161, d5.loss_map_cls: 0.2209, d5.loss_map_pts: 0.9731, d5.loss_map_dir: 0.0161, loss: 37.9405, grad_norm: 159.5714 +2026-02-25 15:41:50,860 - DriveTransformer - INFO - Epoch [5][9250/39528] lr: 9.337e-05, eta: 7 days, 6:39:01, time: 0.794, data_time: 0.044, memory: 19865, loss_cls: 0.2025, loss_bbox: 0.4063, loss_traj: 0.9008, loss_traj_cls: 0.0010, loss_map_cls: 0.1646, loss_map_pts: 0.7522, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.7108, d0.loss_plan_l1_fix_dist: 0.3779, d1.loss_plan_l1_fix_time: 1.3998, d1.loss_plan_l1_fix_dist: 0.2013, d2.loss_plan_l1_fix_time: 1.3767, d2.loss_plan_l1_fix_dist: 0.2165, d3.loss_plan_l1_fix_time: 1.3741, d3.loss_plan_l1_fix_dist: 0.2361, d4.loss_plan_l1_fix_time: 1.3771, d4.loss_plan_l1_fix_dist: 0.2577, d5.loss_plan_l1_fix_time: 1.3807, d5.loss_plan_l1_fix_dist: 0.2810, d6.loss_plan_l1_fix_time: 1.3846, d6.loss_plan_l1_fix_dist: 0.3063, d0.loss_cls_all: 0.2327, d0.loss_bbox_all: 0.4564, d0.loss_cls: 0.2327, d0.loss_bbox: 0.4564, d1.loss_cls: 0.2268, d1.loss_bbox: 0.4259, d2.loss_cls: 0.2155, d2.loss_bbox: 0.4103, d3.loss_cls: 0.2072, d3.loss_bbox: 0.4076, d4.loss_cls: 0.2054, d4.loss_bbox: 0.4049, d5.loss_cls: 0.2027, d5.loss_bbox: 0.4063, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0984, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9454, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9114, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8998, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9015, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8928, d0.loss_map_cls_all: 0.2441, d0.loss_map_pts_all: 1.5342, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2441, d0.loss_map_pts: 1.5342, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2106, d1.loss_map_pts: 0.9990, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.1886, d2.loss_map_pts: 0.8368, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.1755, d3.loss_map_pts: 0.7839, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.1680, d4.loss_map_pts: 0.7648, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1653, d5.loss_map_pts: 0.7537, d5.loss_map_dir: 0.0120, loss: 34.1500, grad_norm: 159.1617 +2026-02-25 15:42:30,863 - DriveTransformer - INFO - Epoch [5][9300/39528] lr: 9.337e-05, eta: 7 days, 6:38:20, time: 0.800, data_time: 0.043, memory: 19865, loss_cls: 0.2551, loss_bbox: 0.4448, loss_traj: 0.8287, loss_traj_cls: 0.0009, loss_map_cls: 0.2408, loss_map_pts: 1.0202, loss_map_dir: 0.0152, d0.loss_plan_l1_fix_time: 2.8662, d0.loss_plan_l1_fix_dist: 0.3389, d1.loss_plan_l1_fix_time: 1.4571, d1.loss_plan_l1_fix_dist: 0.2329, d2.loss_plan_l1_fix_time: 1.4491, d2.loss_plan_l1_fix_dist: 0.2434, d3.loss_plan_l1_fix_time: 1.4513, d3.loss_plan_l1_fix_dist: 0.2594, d4.loss_plan_l1_fix_time: 1.4539, d4.loss_plan_l1_fix_dist: 0.2788, d5.loss_plan_l1_fix_time: 1.4571, d5.loss_plan_l1_fix_dist: 0.3002, d6.loss_plan_l1_fix_time: 1.4606, d6.loss_plan_l1_fix_dist: 0.3211, d0.loss_cls_all: 0.2831, d0.loss_bbox_all: 0.5099, d0.loss_cls: 0.2831, d0.loss_bbox: 0.5099, d1.loss_cls: 0.2767, d1.loss_bbox: 0.4746, d2.loss_cls: 0.2633, d2.loss_bbox: 0.4585, d3.loss_cls: 0.2560, d3.loss_bbox: 0.4522, d4.loss_cls: 0.2528, d4.loss_bbox: 0.4486, d5.loss_cls: 0.2537, d5.loss_bbox: 0.4463, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1072, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9076, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8431, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8289, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8209, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8246, d0.loss_map_cls_all: 0.3156, d0.loss_map_pts_all: 1.9052, d0.loss_map_dir_all: 0.0136, d0.loss_map_cls: 0.3156, d0.loss_map_pts: 1.9052, d0.loss_map_dir: 0.0136, d1.loss_map_cls: 0.2827, d1.loss_map_pts: 1.3223, d1.loss_map_dir: 0.0134, d2.loss_map_cls: 0.2672, d2.loss_map_pts: 1.1312, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2556, d3.loss_map_pts: 1.0591, d3.loss_map_dir: 0.0145, d4.loss_map_cls: 0.2466, d4.loss_map_pts: 1.0316, d4.loss_map_dir: 0.0149, d5.loss_map_cls: 0.2416, d5.loss_map_pts: 1.0224, d5.loss_map_dir: 0.0151, loss: 38.2833, grad_norm: 159.9994 +2026-02-25 15:43:10,466 - DriveTransformer - INFO - Epoch [5][9350/39528] lr: 9.337e-05, eta: 7 days, 6:37:37, time: 0.792, data_time: 0.045, memory: 19865, loss_cls: 0.2349, loss_bbox: 0.4116, loss_traj: 0.8374, loss_traj_cls: 0.0010, loss_map_cls: 0.2024, loss_map_pts: 0.8800, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.6229, d0.loss_plan_l1_fix_dist: 0.3876, d1.loss_plan_l1_fix_time: 1.3189, d1.loss_plan_l1_fix_dist: 0.2298, d2.loss_plan_l1_fix_time: 1.3017, d2.loss_plan_l1_fix_dist: 0.2441, d3.loss_plan_l1_fix_time: 1.3024, d3.loss_plan_l1_fix_dist: 0.2651, d4.loss_plan_l1_fix_time: 1.3055, d4.loss_plan_l1_fix_dist: 0.2862, d5.loss_plan_l1_fix_time: 1.3090, d5.loss_plan_l1_fix_dist: 0.3086, d6.loss_plan_l1_fix_time: 1.3128, d6.loss_plan_l1_fix_dist: 0.3304, d0.loss_cls_all: 0.2625, d0.loss_bbox_all: 0.4722, d0.loss_cls: 0.2625, d0.loss_bbox: 0.4722, d1.loss_cls: 0.2511, d1.loss_bbox: 0.4442, d2.loss_cls: 0.2461, d2.loss_bbox: 0.4254, d3.loss_cls: 0.2393, d3.loss_bbox: 0.4185, d4.loss_cls: 0.2363, d4.loss_bbox: 0.4142, d5.loss_cls: 0.2347, d5.loss_bbox: 0.4127, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0484, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8912, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8390, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8333, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8376, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8305, d0.loss_map_cls_all: 0.2636, d0.loss_map_pts_all: 1.6221, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2636, d0.loss_map_pts: 1.6221, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2324, d1.loss_map_pts: 1.1245, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2220, d2.loss_map_pts: 0.9693, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.2114, d3.loss_map_pts: 0.9137, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2037, d4.loss_map_pts: 0.8941, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.2018, d5.loss_map_pts: 0.8824, d5.loss_map_dir: 0.0126, loss: 34.8922, grad_norm: 160.5809 +2026-02-25 15:43:50,274 - DriveTransformer - INFO - Epoch [5][9400/39528] lr: 9.337e-05, eta: 7 days, 6:36:55, time: 0.796, data_time: 0.041, memory: 19865, loss_cls: 0.2277, loss_bbox: 0.4156, loss_traj: 0.6830, loss_traj_cls: 0.0009, loss_map_cls: 0.1891, loss_map_pts: 0.8372, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 2.7968, d0.loss_plan_l1_fix_dist: 0.4784, d1.loss_plan_l1_fix_time: 1.2699, d1.loss_plan_l1_fix_dist: 0.2461, d2.loss_plan_l1_fix_time: 1.2483, d2.loss_plan_l1_fix_dist: 0.2541, d3.loss_plan_l1_fix_time: 1.2458, d3.loss_plan_l1_fix_dist: 0.2673, d4.loss_plan_l1_fix_time: 1.2476, d4.loss_plan_l1_fix_dist: 0.2828, d5.loss_plan_l1_fix_time: 1.2503, d5.loss_plan_l1_fix_dist: 0.3011, d6.loss_plan_l1_fix_time: 1.2537, d6.loss_plan_l1_fix_dist: 0.3228, d0.loss_cls_all: 0.2594, d0.loss_bbox_all: 0.4696, d0.loss_cls: 0.2594, d0.loss_bbox: 0.4696, d1.loss_cls: 0.2474, d1.loss_bbox: 0.4427, d2.loss_cls: 0.2372, d2.loss_bbox: 0.4267, d3.loss_cls: 0.2321, d3.loss_bbox: 0.4207, d4.loss_cls: 0.2261, d4.loss_bbox: 0.4171, d5.loss_cls: 0.2268, d5.loss_bbox: 0.4151, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8726, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7359, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6989, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6899, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6913, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6889, d0.loss_map_cls_all: 0.2459, d0.loss_map_pts_all: 1.6275, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2459, d0.loss_map_pts: 1.6275, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2223, d1.loss_map_pts: 1.1016, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2052, d2.loss_map_pts: 0.9303, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.1978, d3.loss_map_pts: 0.8724, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.1914, d4.loss_map_pts: 0.8492, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.1901, d5.loss_map_pts: 0.8396, d5.loss_map_dir: 0.0123, loss: 33.3933, grad_norm: 160.2149 +2026-02-25 15:44:31,129 - DriveTransformer - INFO - Epoch [5][9450/39528] lr: 9.337e-05, eta: 7 days, 6:36:17, time: 0.817, data_time: 0.047, memory: 19865, loss_cls: 0.2198, loss_bbox: 0.4218, loss_traj: 0.8883, loss_traj_cls: 0.0009, loss_map_cls: 0.2052, loss_map_pts: 0.8924, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.7092, d0.loss_plan_l1_fix_dist: 0.3863, d1.loss_plan_l1_fix_time: 1.3592, d1.loss_plan_l1_fix_dist: 0.2177, d2.loss_plan_l1_fix_time: 1.3414, d2.loss_plan_l1_fix_dist: 0.2230, d3.loss_plan_l1_fix_time: 1.3385, d3.loss_plan_l1_fix_dist: 0.2345, d4.loss_plan_l1_fix_time: 1.3408, d4.loss_plan_l1_fix_dist: 0.2513, d5.loss_plan_l1_fix_time: 1.3440, d5.loss_plan_l1_fix_dist: 0.2689, d6.loss_plan_l1_fix_time: 1.3486, d6.loss_plan_l1_fix_dist: 0.2876, d0.loss_cls_all: 0.2529, d0.loss_bbox_all: 0.4803, d0.loss_cls: 0.2529, d0.loss_bbox: 0.4803, d1.loss_cls: 0.2418, d1.loss_bbox: 0.4505, d2.loss_cls: 0.2323, d2.loss_bbox: 0.4327, d3.loss_cls: 0.2265, d3.loss_bbox: 0.4262, d4.loss_cls: 0.2195, d4.loss_bbox: 0.4248, d5.loss_cls: 0.2187, d5.loss_bbox: 0.4239, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1373, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9355, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8892, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8904, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8875, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8826, d0.loss_map_cls_all: 0.2859, d0.loss_map_pts_all: 1.7701, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.2859, d0.loss_map_pts: 1.7701, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.2544, d1.loss_map_pts: 1.1909, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2332, d2.loss_map_pts: 1.0032, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.2203, d3.loss_map_pts: 0.9375, d3.loss_map_dir: 0.0121, d4.loss_map_cls: 0.2093, d4.loss_map_pts: 0.9122, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.2070, d5.loss_map_pts: 0.8939, d5.loss_map_dir: 0.0126, loss: 35.9411, grad_norm: 157.5977 +2026-02-25 15:45:11,720 - DriveTransformer - INFO - Epoch [5][9500/39528] lr: 9.337e-05, eta: 7 days, 6:35:39, time: 0.812, data_time: 0.043, memory: 19865, loss_cls: 0.2154, loss_bbox: 0.4131, loss_traj: 0.9209, loss_traj_cls: 0.0010, loss_map_cls: 0.1908, loss_map_pts: 0.8040, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.3488, d0.loss_plan_l1_fix_dist: 0.4168, d1.loss_plan_l1_fix_time: 1.2378, d1.loss_plan_l1_fix_dist: 0.2195, d2.loss_plan_l1_fix_time: 1.2286, d2.loss_plan_l1_fix_dist: 0.2274, d3.loss_plan_l1_fix_time: 1.2315, d3.loss_plan_l1_fix_dist: 0.2410, d4.loss_plan_l1_fix_time: 1.2338, d4.loss_plan_l1_fix_dist: 0.2546, d5.loss_plan_l1_fix_time: 1.2370, d5.loss_plan_l1_fix_dist: 0.2697, d6.loss_plan_l1_fix_time: 1.2413, d6.loss_plan_l1_fix_dist: 0.2865, d0.loss_cls_all: 0.2401, d0.loss_bbox_all: 0.4687, d0.loss_cls: 0.2401, d0.loss_bbox: 0.4687, d1.loss_cls: 0.2358, d1.loss_bbox: 0.4386, d2.loss_cls: 0.2267, d2.loss_bbox: 0.4224, d3.loss_cls: 0.2200, d3.loss_bbox: 0.4158, d4.loss_cls: 0.2150, d4.loss_bbox: 0.4163, d5.loss_cls: 0.2154, d5.loss_bbox: 0.4138, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1379, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9662, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9241, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9222, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9185, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9184, d0.loss_map_cls_all: 0.2587, d0.loss_map_pts_all: 1.5912, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2587, d0.loss_map_pts: 1.5912, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2297, d1.loss_map_pts: 1.0549, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2142, d2.loss_map_pts: 0.8908, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.2000, d3.loss_map_pts: 0.8336, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.1933, d4.loss_map_pts: 0.8143, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.1918, d5.loss_map_pts: 0.8071, d5.loss_map_dir: 0.0125, loss: 33.8759, grad_norm: 156.2183 +2026-02-25 15:45:52,095 - DriveTransformer - INFO - Epoch [5][9550/39528] lr: 9.337e-05, eta: 7 days, 6:34:59, time: 0.808, data_time: 0.038, memory: 19865, loss_cls: 0.2301, loss_bbox: 0.4177, loss_traj: 0.7350, loss_traj_cls: 0.0009, loss_map_cls: 0.2311, loss_map_pts: 0.9847, loss_map_dir: 0.0141, d0.loss_plan_l1_fix_time: 3.0099, d0.loss_plan_l1_fix_dist: 0.3735, d1.loss_plan_l1_fix_time: 1.3526, d1.loss_plan_l1_fix_dist: 0.2163, d2.loss_plan_l1_fix_time: 1.3301, d2.loss_plan_l1_fix_dist: 0.2323, d3.loss_plan_l1_fix_time: 1.3340, d3.loss_plan_l1_fix_dist: 0.2553, d4.loss_plan_l1_fix_time: 1.3370, d4.loss_plan_l1_fix_dist: 0.2831, d5.loss_plan_l1_fix_time: 1.3403, d5.loss_plan_l1_fix_dist: 0.3105, d6.loss_plan_l1_fix_time: 1.3438, d6.loss_plan_l1_fix_dist: 0.3364, d0.loss_cls_all: 0.2709, d0.loss_bbox_all: 0.4724, d0.loss_cls: 0.2709, d0.loss_bbox: 0.4724, d1.loss_cls: 0.2604, d1.loss_bbox: 0.4413, d2.loss_cls: 0.2469, d2.loss_bbox: 0.4254, d3.loss_cls: 0.2389, d3.loss_bbox: 0.4181, d4.loss_cls: 0.2335, d4.loss_bbox: 0.4184, d5.loss_cls: 0.2310, d5.loss_bbox: 0.4162, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9379, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.7850, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7438, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7374, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7433, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7404, d0.loss_map_cls_all: 0.3041, d0.loss_map_pts_all: 1.8144, d0.loss_map_dir_all: 0.0130, d0.loss_map_cls: 0.3041, d0.loss_map_pts: 1.8144, d0.loss_map_dir: 0.0130, d1.loss_map_cls: 0.2735, d1.loss_map_pts: 1.2804, d1.loss_map_dir: 0.0130, d2.loss_map_cls: 0.2539, d2.loss_map_pts: 1.0864, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2445, d3.loss_map_pts: 1.0187, d3.loss_map_dir: 0.0138, d4.loss_map_cls: 0.2357, d4.loss_map_pts: 0.9950, d4.loss_map_dir: 0.0140, d5.loss_map_cls: 0.2328, d5.loss_map_pts: 0.9849, d5.loss_map_dir: 0.0141, loss: 36.1157, grad_norm: 154.7583 +2026-02-25 15:46:31,597 - DriveTransformer - INFO - Epoch [5][9600/39528] lr: 9.337e-05, eta: 7 days, 6:34:16, time: 0.791, data_time: 0.042, memory: 19865, loss_cls: 0.2099, loss_bbox: 0.4018, loss_traj: 0.8099, loss_traj_cls: 0.0010, loss_map_cls: 0.2130, loss_map_pts: 0.8679, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.8854, d0.loss_plan_l1_fix_dist: 0.5078, d1.loss_plan_l1_fix_time: 1.3836, d1.loss_plan_l1_fix_dist: 0.2325, d2.loss_plan_l1_fix_time: 1.3739, d2.loss_plan_l1_fix_dist: 0.2468, d3.loss_plan_l1_fix_time: 1.3761, d3.loss_plan_l1_fix_dist: 0.2668, d4.loss_plan_l1_fix_time: 1.3801, d4.loss_plan_l1_fix_dist: 0.2906, d5.loss_plan_l1_fix_time: 1.3843, d5.loss_plan_l1_fix_dist: 0.3163, d6.loss_plan_l1_fix_time: 1.3886, d6.loss_plan_l1_fix_dist: 0.3421, d0.loss_cls_all: 0.2373, d0.loss_bbox_all: 0.4628, d0.loss_cls: 0.2373, d0.loss_bbox: 0.4628, d1.loss_cls: 0.2329, d1.loss_bbox: 0.4296, d2.loss_cls: 0.2221, d2.loss_bbox: 0.4115, d3.loss_cls: 0.2135, d3.loss_bbox: 0.4049, d4.loss_cls: 0.2092, d4.loss_bbox: 0.4024, d5.loss_cls: 0.2095, d5.loss_bbox: 0.4011, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9946, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8634, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8121, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8015, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8039, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8101, d0.loss_map_cls_all: 0.2701, d0.loss_map_pts_all: 1.5615, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2701, d0.loss_map_pts: 1.5615, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2401, d1.loss_map_pts: 1.0890, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2297, d2.loss_map_pts: 0.9434, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2213, d3.loss_map_pts: 0.8936, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.2167, d4.loss_map_pts: 0.8768, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.2133, d5.loss_map_pts: 0.8688, d5.loss_map_dir: 0.0122, loss: 35.0551, grad_norm: 155.1924 +2026-02-25 15:47:12,903 - DriveTransformer - INFO - Epoch [5][9650/39528] lr: 9.337e-05, eta: 7 days, 6:33:40, time: 0.825, data_time: 0.043, memory: 19865, loss_cls: 0.2290, loss_bbox: 0.4082, loss_traj: 0.8127, loss_traj_cls: 0.0010, loss_map_cls: 0.1924, loss_map_pts: 0.8755, loss_map_dir: 0.0153, d0.loss_plan_l1_fix_time: 2.4320, d0.loss_plan_l1_fix_dist: 0.3929, d1.loss_plan_l1_fix_time: 1.2121, d1.loss_plan_l1_fix_dist: 0.2276, d2.loss_plan_l1_fix_time: 1.1867, d2.loss_plan_l1_fix_dist: 0.2455, d3.loss_plan_l1_fix_time: 1.1855, d3.loss_plan_l1_fix_dist: 0.2668, d4.loss_plan_l1_fix_time: 1.1882, d4.loss_plan_l1_fix_dist: 0.2905, d5.loss_plan_l1_fix_time: 1.1920, d5.loss_plan_l1_fix_dist: 0.3160, d6.loss_plan_l1_fix_time: 1.1968, d6.loss_plan_l1_fix_dist: 0.3460, d0.loss_cls_all: 0.2525, d0.loss_bbox_all: 0.4625, d0.loss_cls: 0.2525, d0.loss_bbox: 0.4625, d1.loss_cls: 0.2493, d1.loss_bbox: 0.4318, d2.loss_cls: 0.2396, d2.loss_bbox: 0.4156, d3.loss_cls: 0.2337, d3.loss_bbox: 0.4097, d4.loss_cls: 0.2284, d4.loss_bbox: 0.4080, d5.loss_cls: 0.2277, d5.loss_bbox: 0.4070, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0420, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8696, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8261, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8076, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8105, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8075, d0.loss_map_cls_all: 0.2697, d0.loss_map_pts_all: 1.7209, d0.loss_map_dir_all: 0.0143, d0.loss_map_cls: 0.2697, d0.loss_map_pts: 1.7209, d0.loss_map_dir: 0.0143, d1.loss_map_cls: 0.2296, d1.loss_map_pts: 1.1488, d1.loss_map_dir: 0.0139, d2.loss_map_cls: 0.2147, d2.loss_map_pts: 0.9732, d2.loss_map_dir: 0.0141, d3.loss_map_cls: 0.2055, d3.loss_map_pts: 0.9067, d3.loss_map_dir: 0.0147, d4.loss_map_cls: 0.1960, d4.loss_map_pts: 0.8830, d4.loss_map_dir: 0.0150, d5.loss_map_cls: 0.1942, d5.loss_map_pts: 0.8754, d5.loss_map_dir: 0.0152, loss: 33.9717, grad_norm: 156.2144 +2026-02-25 15:47:54,378 - DriveTransformer - INFO - Epoch [5][9700/39528] lr: 9.337e-05, eta: 7 days, 6:33:06, time: 0.829, data_time: 0.043, memory: 19865, loss_cls: 0.2531, loss_bbox: 0.4373, loss_traj: 0.6944, loss_traj_cls: 0.0011, loss_map_cls: 0.2166, loss_map_pts: 1.0202, loss_map_dir: 0.0162, d0.loss_plan_l1_fix_time: 2.6943, d0.loss_plan_l1_fix_dist: 0.4059, d1.loss_plan_l1_fix_time: 1.2340, d1.loss_plan_l1_fix_dist: 0.2257, d2.loss_plan_l1_fix_time: 1.2203, d2.loss_plan_l1_fix_dist: 0.2477, d3.loss_plan_l1_fix_time: 1.2251, d3.loss_plan_l1_fix_dist: 0.2767, d4.loss_plan_l1_fix_time: 1.2303, d4.loss_plan_l1_fix_dist: 0.3080, d5.loss_plan_l1_fix_time: 1.2356, d5.loss_plan_l1_fix_dist: 0.3391, d6.loss_plan_l1_fix_time: 1.2417, d6.loss_plan_l1_fix_dist: 0.3745, d0.loss_cls_all: 0.2791, d0.loss_bbox_all: 0.4979, d0.loss_cls: 0.2791, d0.loss_bbox: 0.4979, d1.loss_cls: 0.2743, d1.loss_bbox: 0.4606, d2.loss_cls: 0.2637, d2.loss_bbox: 0.4477, d3.loss_cls: 0.2602, d3.loss_bbox: 0.4376, d4.loss_cls: 0.2550, d4.loss_bbox: 0.4356, d5.loss_cls: 0.2527, d5.loss_bbox: 0.4374, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9158, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7498, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7126, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6961, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6912, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6916, d0.loss_map_cls_all: 0.2893, d0.loss_map_pts_all: 1.9035, d0.loss_map_dir_all: 0.0151, d0.loss_map_cls: 0.2893, d0.loss_map_pts: 1.9035, d0.loss_map_dir: 0.0151, d1.loss_map_cls: 0.2571, d1.loss_map_pts: 1.3211, d1.loss_map_dir: 0.0148, d2.loss_map_cls: 0.2364, d2.loss_map_pts: 1.1344, d2.loss_map_dir: 0.0149, d3.loss_map_cls: 0.2275, d3.loss_map_pts: 1.0645, d3.loss_map_dir: 0.0155, d4.loss_map_cls: 0.2207, d4.loss_map_pts: 1.0332, d4.loss_map_dir: 0.0160, d5.loss_map_cls: 0.2168, d5.loss_map_pts: 1.0225, d5.loss_map_dir: 0.0160, loss: 35.6668, grad_norm: 156.5933 +2026-02-25 15:48:33,956 - DriveTransformer - INFO - Epoch [5][9750/39528] lr: 9.337e-05, eta: 7 days, 6:32:22, time: 0.792, data_time: 0.041, memory: 19865, loss_cls: 0.2234, loss_bbox: 0.4340, loss_traj: 0.9404, loss_traj_cls: 0.0011, loss_map_cls: 0.2058, loss_map_pts: 0.9009, loss_map_dir: 0.0143, d0.loss_plan_l1_fix_time: 2.5847, d0.loss_plan_l1_fix_dist: 0.3433, d1.loss_plan_l1_fix_time: 1.2869, d1.loss_plan_l1_fix_dist: 0.1869, d2.loss_plan_l1_fix_time: 1.2614, d2.loss_plan_l1_fix_dist: 0.1975, d3.loss_plan_l1_fix_time: 1.2611, d3.loss_plan_l1_fix_dist: 0.2129, d4.loss_plan_l1_fix_time: 1.2651, d4.loss_plan_l1_fix_dist: 0.2308, d5.loss_plan_l1_fix_time: 1.2694, d5.loss_plan_l1_fix_dist: 0.2502, d6.loss_plan_l1_fix_time: 1.2742, d6.loss_plan_l1_fix_dist: 0.2693, d0.loss_cls_all: 0.2496, d0.loss_bbox_all: 0.4809, d0.loss_cls: 0.2496, d0.loss_bbox: 0.4809, d1.loss_cls: 0.2426, d1.loss_bbox: 0.4484, d2.loss_cls: 0.2312, d2.loss_bbox: 0.4353, d3.loss_cls: 0.2278, d3.loss_bbox: 0.4309, d4.loss_cls: 0.2222, d4.loss_bbox: 0.4319, d5.loss_cls: 0.2234, d5.loss_bbox: 0.4307, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1967, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0042, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9543, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9390, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9340, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9367, d0.loss_map_cls_all: 0.2760, d0.loss_map_pts_all: 1.8139, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2760, d0.loss_map_pts: 1.8139, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2441, d1.loss_map_pts: 1.2072, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2241, d2.loss_map_pts: 1.0090, d2.loss_map_dir: 0.0131, d3.loss_map_cls: 0.2143, d3.loss_map_pts: 0.9384, d3.loss_map_dir: 0.0137, d4.loss_map_cls: 0.2099, d4.loss_map_pts: 0.9117, d4.loss_map_dir: 0.0141, d5.loss_map_cls: 0.2075, d5.loss_map_pts: 0.9027, d5.loss_map_dir: 0.0143, loss: 35.7119, grad_norm: 157.9225 +2026-02-25 15:49:13,772 - DriveTransformer - INFO - Epoch [5][9800/39528] lr: 9.337e-05, eta: 7 days, 6:31:40, time: 0.796, data_time: 0.039, memory: 19865, loss_cls: 0.2375, loss_bbox: 0.4373, loss_traj: 0.7732, loss_traj_cls: 0.0010, loss_map_cls: 0.2033, loss_map_pts: 0.8622, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.5649, d0.loss_plan_l1_fix_dist: 0.3809, d1.loss_plan_l1_fix_time: 1.3824, d1.loss_plan_l1_fix_dist: 0.2497, d2.loss_plan_l1_fix_time: 1.3739, d2.loss_plan_l1_fix_dist: 0.2712, d3.loss_plan_l1_fix_time: 1.3791, d3.loss_plan_l1_fix_dist: 0.2966, d4.loss_plan_l1_fix_time: 1.3821, d4.loss_plan_l1_fix_dist: 0.3284, d5.loss_plan_l1_fix_time: 1.3850, d5.loss_plan_l1_fix_dist: 0.3635, d6.loss_plan_l1_fix_time: 1.3883, d6.loss_plan_l1_fix_dist: 0.3969, d0.loss_cls_all: 0.2724, d0.loss_bbox_all: 0.4932, d0.loss_cls: 0.2724, d0.loss_bbox: 0.4932, d1.loss_cls: 0.2625, d1.loss_bbox: 0.4642, d2.loss_cls: 0.2555, d2.loss_bbox: 0.4468, d3.loss_cls: 0.2468, d3.loss_bbox: 0.4400, d4.loss_cls: 0.2420, d4.loss_bbox: 0.4376, d5.loss_cls: 0.2392, d5.loss_bbox: 0.4357, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0056, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8535, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7835, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7721, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7699, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7717, d0.loss_map_cls_all: 0.2658, d0.loss_map_pts_all: 1.6839, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.2658, d0.loss_map_pts: 1.6839, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2393, d1.loss_map_pts: 1.1161, d1.loss_map_dir: 0.0122, d2.loss_map_cls: 0.2199, d2.loss_map_pts: 0.9503, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2120, d3.loss_map_pts: 0.8941, d3.loss_map_dir: 0.0129, d4.loss_map_cls: 0.2061, d4.loss_map_pts: 0.8744, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.2046, d5.loss_map_pts: 0.8634, d5.loss_map_dir: 0.0133, loss: 35.4030, grad_norm: 160.2233 +2026-02-25 15:49:52,988 - DriveTransformer - INFO - Epoch [5][9850/39528] lr: 9.337e-05, eta: 7 days, 6:30:55, time: 0.784, data_time: 0.041, memory: 19865, loss_cls: 0.2346, loss_bbox: 0.4358, loss_traj: 0.7834, loss_traj_cls: 0.0010, loss_map_cls: 0.1867, loss_map_pts: 0.7812, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.5172, d0.loss_plan_l1_fix_dist: 0.4775, d1.loss_plan_l1_fix_time: 1.3416, d1.loss_plan_l1_fix_dist: 0.2093, d2.loss_plan_l1_fix_time: 1.3195, d2.loss_plan_l1_fix_dist: 0.2244, d3.loss_plan_l1_fix_time: 1.3210, d3.loss_plan_l1_fix_dist: 0.2444, d4.loss_plan_l1_fix_time: 1.3243, d4.loss_plan_l1_fix_dist: 0.2657, d5.loss_plan_l1_fix_time: 1.3281, d5.loss_plan_l1_fix_dist: 0.2862, d6.loss_plan_l1_fix_time: 1.3330, d6.loss_plan_l1_fix_dist: 0.3068, d0.loss_cls_all: 0.2618, d0.loss_bbox_all: 0.4851, d0.loss_cls: 0.2618, d0.loss_bbox: 0.4851, d1.loss_cls: 0.2550, d1.loss_bbox: 0.4560, d2.loss_cls: 0.2428, d2.loss_bbox: 0.4421, d3.loss_cls: 0.2366, d3.loss_bbox: 0.4362, d4.loss_cls: 0.2348, d4.loss_bbox: 0.4333, d5.loss_cls: 0.2331, d5.loss_bbox: 0.4343, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0394, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8455, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7997, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7891, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7885, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7838, d0.loss_map_cls_all: 0.2411, d0.loss_map_pts_all: 1.3362, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2411, d0.loss_map_pts: 1.3362, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2193, d1.loss_map_pts: 0.9794, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.2052, d2.loss_map_pts: 0.8533, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1981, d3.loss_map_pts: 0.8067, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1929, d4.loss_map_pts: 0.7893, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1881, d5.loss_map_pts: 0.7818, d5.loss_map_dir: 0.0103, loss: 33.3184, grad_norm: 156.9190 +2026-02-25 15:50:31,677 - DriveTransformer - INFO - Epoch [5][9900/39528] lr: 9.337e-05, eta: 7 days, 6:30:08, time: 0.774, data_time: 0.049, memory: 19865, loss_cls: 0.2106, loss_bbox: 0.4443, loss_traj: 0.8850, loss_traj_cls: 0.0010, loss_map_cls: 0.2049, loss_map_pts: 0.7918, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.6622, d0.loss_plan_l1_fix_dist: 0.3663, d1.loss_plan_l1_fix_time: 1.3312, d1.loss_plan_l1_fix_dist: 0.2247, d2.loss_plan_l1_fix_time: 1.3128, d2.loss_plan_l1_fix_dist: 0.2396, d3.loss_plan_l1_fix_time: 1.3200, d3.loss_plan_l1_fix_dist: 0.2593, d4.loss_plan_l1_fix_time: 1.3239, d4.loss_plan_l1_fix_dist: 0.2799, d5.loss_plan_l1_fix_time: 1.3278, d5.loss_plan_l1_fix_dist: 0.3028, d6.loss_plan_l1_fix_time: 1.3321, d6.loss_plan_l1_fix_dist: 0.3294, d0.loss_cls_all: 0.2508, d0.loss_bbox_all: 0.4918, d0.loss_cls: 0.2508, d0.loss_bbox: 0.4918, d1.loss_cls: 0.2378, d1.loss_bbox: 0.4657, d2.loss_cls: 0.2259, d2.loss_bbox: 0.4467, d3.loss_cls: 0.2181, d3.loss_bbox: 0.4400, d4.loss_cls: 0.2121, d4.loss_bbox: 0.4398, d5.loss_cls: 0.2114, d5.loss_bbox: 0.4421, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1180, d1.loss_traj_cls: 0.0005, d1.loss_traj: 0.9471, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8858, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8733, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8780, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8821, d0.loss_map_cls_all: 0.2714, d0.loss_map_pts_all: 1.5287, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2714, d0.loss_map_pts: 1.5287, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2447, d1.loss_map_pts: 1.0192, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2242, d2.loss_map_pts: 0.8634, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.2142, d3.loss_map_pts: 0.8138, d3.loss_map_dir: 0.0121, d4.loss_map_cls: 0.2090, d4.loss_map_pts: 0.7989, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.2071, d5.loss_map_pts: 0.7942, d5.loss_map_dir: 0.0124, loss: 34.6488, grad_norm: 156.5332 +2026-02-25 15:51:12,089 - DriveTransformer - INFO - Epoch [5][9950/39528] lr: 9.337e-05, eta: 7 days, 6:29:28, time: 0.808, data_time: 0.043, memory: 19865, loss_cls: 0.2418, loss_bbox: 0.4404, loss_traj: 0.7970, loss_traj_cls: 0.0010, loss_map_cls: 0.2024, loss_map_pts: 0.8419, loss_map_dir: 0.0136, d0.loss_plan_l1_fix_time: 2.7756, d0.loss_plan_l1_fix_dist: 0.5160, d1.loss_plan_l1_fix_time: 1.3915, d1.loss_plan_l1_fix_dist: 0.2486, d2.loss_plan_l1_fix_time: 1.3849, d2.loss_plan_l1_fix_dist: 0.2587, d3.loss_plan_l1_fix_time: 1.3901, d3.loss_plan_l1_fix_dist: 0.2733, d4.loss_plan_l1_fix_time: 1.3925, d4.loss_plan_l1_fix_dist: 0.2896, d5.loss_plan_l1_fix_time: 1.3953, d5.loss_plan_l1_fix_dist: 0.3083, d6.loss_plan_l1_fix_time: 1.3980, d6.loss_plan_l1_fix_dist: 0.3300, d0.loss_cls_all: 0.2787, d0.loss_bbox_all: 0.4978, d0.loss_cls: 0.2787, d0.loss_bbox: 0.4978, d1.loss_cls: 0.2672, d1.loss_bbox: 0.4638, d2.loss_cls: 0.2556, d2.loss_bbox: 0.4485, d3.loss_cls: 0.2492, d3.loss_bbox: 0.4423, d4.loss_cls: 0.2431, d4.loss_bbox: 0.4410, d5.loss_cls: 0.2424, d5.loss_bbox: 0.4400, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0502, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8433, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8083, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8011, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7951, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7907, d0.loss_map_cls_all: 0.2614, d0.loss_map_pts_all: 1.5941, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.2614, d0.loss_map_pts: 1.5941, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2366, d1.loss_map_pts: 1.0912, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2221, d2.loss_map_pts: 0.9295, d2.loss_map_dir: 0.0127, d3.loss_map_cls: 0.2127, d3.loss_map_pts: 0.8705, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2060, d4.loss_map_pts: 0.8506, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.2026, d5.loss_map_pts: 0.8433, d5.loss_map_dir: 0.0135, loss: 35.4974, grad_norm: 156.3234 +2026-02-25 15:51:52,869 - DriveTransformer - INFO - Epoch [5][10000/39528] lr: 9.337e-05, eta: 7 days, 6:28:51, time: 0.816, data_time: 0.045, memory: 19865, loss_cls: 0.2331, loss_bbox: 0.4372, loss_traj: 0.6819, loss_traj_cls: 0.0010, loss_map_cls: 0.2268, loss_map_pts: 1.0160, loss_map_dir: 0.0161, d0.loss_plan_l1_fix_time: 2.3967, d0.loss_plan_l1_fix_dist: 0.3734, d1.loss_plan_l1_fix_time: 1.1920, d1.loss_plan_l1_fix_dist: 0.1912, d2.loss_plan_l1_fix_time: 1.1831, d2.loss_plan_l1_fix_dist: 0.2042, d3.loss_plan_l1_fix_time: 1.1854, d3.loss_plan_l1_fix_dist: 0.2205, d4.loss_plan_l1_fix_time: 1.1882, d4.loss_plan_l1_fix_dist: 0.2456, d5.loss_plan_l1_fix_time: 1.1915, d5.loss_plan_l1_fix_dist: 0.2713, d6.loss_plan_l1_fix_time: 1.1950, d6.loss_plan_l1_fix_dist: 0.2953, d0.loss_cls_all: 0.2661, d0.loss_bbox_all: 0.4905, d0.loss_cls: 0.2661, d0.loss_bbox: 0.4905, d1.loss_cls: 0.2568, d1.loss_bbox: 0.4626, d2.loss_cls: 0.2483, d2.loss_bbox: 0.4441, d3.loss_cls: 0.2412, d3.loss_bbox: 0.4387, d4.loss_cls: 0.2352, d4.loss_bbox: 0.4360, d5.loss_cls: 0.2340, d5.loss_bbox: 0.4369, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8536, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7350, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6878, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6805, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6746, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6767, d0.loss_map_cls_all: 0.2923, d0.loss_map_pts_all: 1.8969, d0.loss_map_dir_all: 0.0147, d0.loss_map_cls: 0.2923, d0.loss_map_pts: 1.8969, d0.loss_map_dir: 0.0147, d1.loss_map_cls: 0.2658, d1.loss_map_pts: 1.3108, d1.loss_map_dir: 0.0145, d2.loss_map_cls: 0.2452, d2.loss_map_pts: 1.1157, d2.loss_map_dir: 0.0150, d3.loss_map_cls: 0.2367, d3.loss_map_pts: 1.0524, d3.loss_map_dir: 0.0156, d4.loss_map_cls: 0.2316, d4.loss_map_pts: 1.0293, d4.loss_map_dir: 0.0159, d5.loss_map_cls: 0.2287, d5.loss_map_pts: 1.0201, d5.loss_map_dir: 0.0160, loss: 34.4273, grad_norm: 155.5310 +2026-02-25 15:52:33,904 - DriveTransformer - INFO - Epoch [5][10050/39528] lr: 9.337e-05, eta: 7 days, 6:28:14, time: 0.821, data_time: 0.048, memory: 19865, loss_cls: 0.2647, loss_bbox: 0.4507, loss_traj: 0.9640, loss_traj_cls: 0.0010, loss_map_cls: 0.2421, loss_map_pts: 0.9460, loss_map_dir: 0.0145, d0.loss_plan_l1_fix_time: 3.3622, d0.loss_plan_l1_fix_dist: 0.4034, d1.loss_plan_l1_fix_time: 1.7821, d1.loss_plan_l1_fix_dist: 0.2512, d2.loss_plan_l1_fix_time: 1.7716, d2.loss_plan_l1_fix_dist: 0.2635, d3.loss_plan_l1_fix_time: 1.7714, d3.loss_plan_l1_fix_dist: 0.2807, d4.loss_plan_l1_fix_time: 1.7742, d4.loss_plan_l1_fix_dist: 0.3010, d5.loss_plan_l1_fix_time: 1.7772, d5.loss_plan_l1_fix_dist: 0.3224, d6.loss_plan_l1_fix_time: 1.7806, d6.loss_plan_l1_fix_dist: 0.3427, d0.loss_cls_all: 0.2983, d0.loss_bbox_all: 0.4881, d0.loss_cls: 0.2983, d0.loss_bbox: 0.4881, d1.loss_cls: 0.2869, d1.loss_bbox: 0.4614, d2.loss_cls: 0.2772, d2.loss_bbox: 0.4443, d3.loss_cls: 0.2710, d3.loss_bbox: 0.4410, d4.loss_cls: 0.2664, d4.loss_bbox: 0.4431, d5.loss_cls: 0.2660, d5.loss_bbox: 0.4459, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2248, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0371, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9784, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9607, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9614, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9590, d0.loss_map_cls_all: 0.3030, d0.loss_map_pts_all: 1.7824, d0.loss_map_dir_all: 0.0132, d0.loss_map_cls: 0.3030, d0.loss_map_pts: 1.7824, d0.loss_map_dir: 0.0132, d1.loss_map_cls: 0.2734, d1.loss_map_pts: 1.2209, d1.loss_map_dir: 0.0130, d2.loss_map_cls: 0.2586, d2.loss_map_pts: 1.0325, d2.loss_map_dir: 0.0135, d3.loss_map_cls: 0.2505, d3.loss_map_pts: 0.9710, d3.loss_map_dir: 0.0140, d4.loss_map_cls: 0.2457, d4.loss_map_pts: 0.9545, d4.loss_map_dir: 0.0143, d5.loss_map_cls: 0.2421, d5.loss_map_pts: 0.9473, d5.loss_map_dir: 0.0145, loss: 41.0328, grad_norm: 156.8466 +2026-02-25 15:53:15,716 - DriveTransformer - INFO - Epoch [5][10100/39528] lr: 9.337e-05, eta: 7 days, 6:27:41, time: 0.836, data_time: 0.041, memory: 19865, loss_cls: 0.2108, loss_bbox: 0.4115, loss_traj: 0.9390, loss_traj_cls: 0.0011, loss_map_cls: 0.1869, loss_map_pts: 0.8464, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.4913, d0.loss_plan_l1_fix_dist: 0.4881, d1.loss_plan_l1_fix_time: 1.3085, d1.loss_plan_l1_fix_dist: 0.2103, d2.loss_plan_l1_fix_time: 1.2904, d2.loss_plan_l1_fix_dist: 0.2225, d3.loss_plan_l1_fix_time: 1.2878, d3.loss_plan_l1_fix_dist: 0.2403, d4.loss_plan_l1_fix_time: 1.2901, d4.loss_plan_l1_fix_dist: 0.2568, d5.loss_plan_l1_fix_time: 1.2927, d5.loss_plan_l1_fix_dist: 0.2740, d6.loss_plan_l1_fix_time: 1.2958, d6.loss_plan_l1_fix_dist: 0.2931, d0.loss_cls_all: 0.2430, d0.loss_bbox_all: 0.4576, d0.loss_cls: 0.2430, d0.loss_bbox: 0.4576, d1.loss_cls: 0.2326, d1.loss_bbox: 0.4299, d2.loss_cls: 0.2207, d2.loss_bbox: 0.4156, d3.loss_cls: 0.2149, d3.loss_bbox: 0.4103, d4.loss_cls: 0.2110, d4.loss_bbox: 0.4090, d5.loss_cls: 0.2106, d5.loss_bbox: 0.4101, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1768, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0176, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9509, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9407, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9422, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9377, d0.loss_map_cls_all: 0.2482, d0.loss_map_pts_all: 1.6027, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2482, d0.loss_map_pts: 1.6027, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2190, d1.loss_map_pts: 1.0948, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2065, d2.loss_map_pts: 0.9348, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.1969, d3.loss_map_pts: 0.8766, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.1919, d4.loss_map_pts: 0.8573, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.1881, d5.loss_map_pts: 0.8474, d5.loss_map_dir: 0.0128, loss: 34.7852, grad_norm: 155.2978 +2026-02-25 15:53:55,225 - DriveTransformer - INFO - Epoch [5][10150/39528] lr: 9.337e-05, eta: 7 days, 6:26:58, time: 0.790, data_time: 0.042, memory: 19865, loss_cls: 0.2398, loss_bbox: 0.4149, loss_traj: 0.8260, loss_traj_cls: 0.0011, loss_map_cls: 0.2079, loss_map_pts: 0.8083, loss_map_dir: 0.0136, d0.loss_plan_l1_fix_time: 2.6212, d0.loss_plan_l1_fix_dist: 0.4923, d1.loss_plan_l1_fix_time: 1.3751, d1.loss_plan_l1_fix_dist: 0.2700, d2.loss_plan_l1_fix_time: 1.3532, d2.loss_plan_l1_fix_dist: 0.2829, d3.loss_plan_l1_fix_time: 1.3491, d3.loss_plan_l1_fix_dist: 0.3036, d4.loss_plan_l1_fix_time: 1.3512, d4.loss_plan_l1_fix_dist: 0.3292, d5.loss_plan_l1_fix_time: 1.3546, d5.loss_plan_l1_fix_dist: 0.3562, d6.loss_plan_l1_fix_time: 1.3592, d6.loss_plan_l1_fix_dist: 0.3862, d0.loss_cls_all: 0.2604, d0.loss_bbox_all: 0.4711, d0.loss_cls: 0.2604, d0.loss_bbox: 0.4711, d1.loss_cls: 0.2564, d1.loss_bbox: 0.4419, d2.loss_cls: 0.2505, d2.loss_bbox: 0.4215, d3.loss_cls: 0.2467, d3.loss_bbox: 0.4161, d4.loss_cls: 0.2414, d4.loss_bbox: 0.4136, d5.loss_cls: 0.2395, d5.loss_bbox: 0.4152, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0212, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8834, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8343, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8339, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8287, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8269, d0.loss_map_cls_all: 0.2691, d0.loss_map_pts_all: 1.6871, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.2691, d0.loss_map_pts: 1.6871, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2450, d1.loss_map_pts: 1.0987, d1.loss_map_dir: 0.0121, d2.loss_map_cls: 0.2295, d2.loss_map_pts: 0.9010, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2223, d3.loss_map_pts: 0.8336, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2151, d4.loss_map_pts: 0.8117, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.2094, d5.loss_map_pts: 0.8095, d5.loss_map_dir: 0.0135, loss: 35.3130, grad_norm: 156.8216 +2026-02-25 15:54:35,638 - DriveTransformer - INFO - Epoch [5][10200/39528] lr: 9.337e-05, eta: 7 days, 6:26:18, time: 0.808, data_time: 0.043, memory: 19865, loss_cls: 0.2384, loss_bbox: 0.4215, loss_traj: 0.7580, loss_traj_cls: 0.0012, loss_map_cls: 0.2333, loss_map_pts: 0.9596, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.6383, d0.loss_plan_l1_fix_dist: 0.3824, d1.loss_plan_l1_fix_time: 1.3572, d1.loss_plan_l1_fix_dist: 0.2040, d2.loss_plan_l1_fix_time: 1.3422, d2.loss_plan_l1_fix_dist: 0.2183, d3.loss_plan_l1_fix_time: 1.3447, d3.loss_plan_l1_fix_dist: 0.2385, d4.loss_plan_l1_fix_time: 1.3485, d4.loss_plan_l1_fix_dist: 0.2631, d5.loss_plan_l1_fix_time: 1.3529, d5.loss_plan_l1_fix_dist: 0.2892, d6.loss_plan_l1_fix_time: 1.3584, d6.loss_plan_l1_fix_dist: 0.3161, d0.loss_cls_all: 0.2634, d0.loss_bbox_all: 0.4681, d0.loss_cls: 0.2634, d0.loss_bbox: 0.4681, d1.loss_cls: 0.2596, d1.loss_bbox: 0.4416, d2.loss_cls: 0.2505, d2.loss_bbox: 0.4251, d3.loss_cls: 0.2424, d3.loss_bbox: 0.4200, d4.loss_cls: 0.2384, d4.loss_bbox: 0.4202, d5.loss_cls: 0.2379, d5.loss_bbox: 0.4207, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0336, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8276, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7648, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7589, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7569, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7566, d0.loss_map_cls_all: 0.2911, d0.loss_map_pts_all: 1.7076, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2911, d0.loss_map_pts: 1.7076, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2644, d1.loss_map_pts: 1.2228, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2531, d2.loss_map_pts: 1.0527, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.2456, d3.loss_map_pts: 0.9918, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.2381, d4.loss_map_pts: 0.9687, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.2340, d5.loss_map_pts: 0.9607, d5.loss_map_dir: 0.0120, loss: 35.5087, grad_norm: 156.4304 +2026-02-25 15:55:18,496 - DriveTransformer - INFO - Epoch [5][10250/39528] lr: 9.337e-05, eta: 7 days, 6:25:50, time: 0.857, data_time: 0.052, memory: 19865, loss_cls: 0.2276, loss_bbox: 0.4353, loss_traj: 0.8383, loss_traj_cls: 0.0012, loss_map_cls: 0.2011, loss_map_pts: 0.8627, loss_map_dir: 0.0139, d0.loss_plan_l1_fix_time: 2.3648, d0.loss_plan_l1_fix_dist: 0.3935, d1.loss_plan_l1_fix_time: 1.2482, d1.loss_plan_l1_fix_dist: 0.2323, d2.loss_plan_l1_fix_time: 1.2317, d2.loss_plan_l1_fix_dist: 0.2438, d3.loss_plan_l1_fix_time: 1.2328, d3.loss_plan_l1_fix_dist: 0.2616, d4.loss_plan_l1_fix_time: 1.2357, d4.loss_plan_l1_fix_dist: 0.2806, d5.loss_plan_l1_fix_time: 1.2386, d5.loss_plan_l1_fix_dist: 0.3034, d6.loss_plan_l1_fix_time: 1.2425, d6.loss_plan_l1_fix_dist: 0.3284, d0.loss_cls_all: 0.2597, d0.loss_bbox_all: 0.4888, d0.loss_cls: 0.2597, d0.loss_bbox: 0.4888, d1.loss_cls: 0.2520, d1.loss_bbox: 0.4566, d2.loss_cls: 0.2401, d2.loss_bbox: 0.4409, d3.loss_cls: 0.2328, d3.loss_bbox: 0.4367, d4.loss_cls: 0.2302, d4.loss_bbox: 0.4349, d5.loss_cls: 0.2295, d5.loss_bbox: 0.4337, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0467, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9005, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8527, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8486, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8491, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8422, d0.loss_map_cls_all: 0.2548, d0.loss_map_pts_all: 1.7664, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2548, d0.loss_map_pts: 1.7664, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2323, d1.loss_map_pts: 1.1342, d1.loss_map_dir: 0.0126, d2.loss_map_cls: 0.2201, d2.loss_map_pts: 0.9541, d2.loss_map_dir: 0.0130, d3.loss_map_cls: 0.2132, d3.loss_map_pts: 0.8932, d3.loss_map_dir: 0.0135, d4.loss_map_cls: 0.2045, d4.loss_map_pts: 0.8741, d4.loss_map_dir: 0.0137, d5.loss_map_cls: 0.2018, d5.loss_map_pts: 0.8654, d5.loss_map_dir: 0.0137, loss: 34.5753, grad_norm: 154.8481 +2026-02-25 15:55:58,482 - DriveTransformer - INFO - Epoch [5][10300/39528] lr: 9.337e-05, eta: 7 days, 6:25:09, time: 0.800, data_time: 0.041, memory: 19865, loss_cls: 0.2093, loss_bbox: 0.3868, loss_traj: 0.8586, loss_traj_cls: 0.0012, loss_map_cls: 0.1913, loss_map_pts: 0.8011, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.2582, d0.loss_plan_l1_fix_dist: 0.3458, d1.loss_plan_l1_fix_time: 1.1606, d1.loss_plan_l1_fix_dist: 0.1931, d2.loss_plan_l1_fix_time: 1.1492, d2.loss_plan_l1_fix_dist: 0.2102, d3.loss_plan_l1_fix_time: 1.1491, d3.loss_plan_l1_fix_dist: 0.2334, d4.loss_plan_l1_fix_time: 1.1513, d4.loss_plan_l1_fix_dist: 0.2571, d5.loss_plan_l1_fix_time: 1.1541, d5.loss_plan_l1_fix_dist: 0.2793, d6.loss_plan_l1_fix_time: 1.1578, d6.loss_plan_l1_fix_dist: 0.2994, d0.loss_cls_all: 0.2368, d0.loss_bbox_all: 0.4527, d0.loss_cls: 0.2368, d0.loss_bbox: 0.4527, d1.loss_cls: 0.2285, d1.loss_bbox: 0.4140, d2.loss_cls: 0.2175, d2.loss_bbox: 0.3968, d3.loss_cls: 0.2115, d3.loss_bbox: 0.3903, d4.loss_cls: 0.2079, d4.loss_bbox: 0.3883, d5.loss_cls: 0.2078, d5.loss_bbox: 0.3880, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1130, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9428, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8768, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8619, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8556, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8543, d0.loss_map_cls_all: 0.2551, d0.loss_map_pts_all: 1.5302, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2551, d0.loss_map_pts: 1.5302, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2282, d1.loss_map_pts: 1.0907, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2119, d2.loss_map_pts: 0.9080, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.2023, d3.loss_map_pts: 0.8414, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1962, d4.loss_map_pts: 0.8157, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1928, d5.loss_map_pts: 0.8038, d5.loss_map_dir: 0.0108, loss: 32.5299, grad_norm: 153.3166 +2026-02-25 15:56:38,058 - DriveTransformer - INFO - Epoch [5][10350/39528] lr: 9.337e-05, eta: 7 days, 6:24:25, time: 0.792, data_time: 0.044, memory: 19865, loss_cls: 0.2711, loss_bbox: 0.4349, loss_traj: 0.8794, loss_traj_cls: 0.0011, loss_map_cls: 0.2335, loss_map_pts: 0.9574, loss_map_dir: 0.0132, d0.loss_plan_l1_fix_time: 2.5850, d0.loss_plan_l1_fix_dist: 0.3739, d1.loss_plan_l1_fix_time: 1.3689, d1.loss_plan_l1_fix_dist: 0.2202, d2.loss_plan_l1_fix_time: 1.3568, d2.loss_plan_l1_fix_dist: 0.2337, d3.loss_plan_l1_fix_time: 1.3573, d3.loss_plan_l1_fix_dist: 0.2508, d4.loss_plan_l1_fix_time: 1.3599, d4.loss_plan_l1_fix_dist: 0.2714, d5.loss_plan_l1_fix_time: 1.3630, d5.loss_plan_l1_fix_dist: 0.2944, d6.loss_plan_l1_fix_time: 1.3664, d6.loss_plan_l1_fix_dist: 0.3217, d0.loss_cls_all: 0.2999, d0.loss_bbox_all: 0.4872, d0.loss_cls: 0.2999, d0.loss_bbox: 0.4872, d1.loss_cls: 0.2912, d1.loss_bbox: 0.4567, d2.loss_cls: 0.2827, d2.loss_bbox: 0.4391, d3.loss_cls: 0.2769, d3.loss_bbox: 0.4323, d4.loss_cls: 0.2715, d4.loss_bbox: 0.4329, d5.loss_cls: 0.2693, d5.loss_bbox: 0.4339, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1732, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9614, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8939, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8829, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8785, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8751, d0.loss_map_cls_all: 0.2891, d0.loss_map_pts_all: 1.7490, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2891, d0.loss_map_pts: 1.7490, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2668, d1.loss_map_pts: 1.2152, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2497, d2.loss_map_pts: 1.0472, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2412, d3.loss_map_pts: 0.9867, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.2375, d4.loss_map_pts: 0.9666, d4.loss_map_dir: 0.0129, d5.loss_map_cls: 0.2341, d5.loss_map_pts: 0.9594, d5.loss_map_dir: 0.0131, loss: 36.9113, grad_norm: 153.2839 +2026-02-25 15:57:17,500 - DriveTransformer - INFO - Epoch [5][10400/39528] lr: 9.337e-05, eta: 7 days, 6:23:42, time: 0.790, data_time: 0.040, memory: 19865, loss_cls: 0.2190, loss_bbox: 0.4323, loss_traj: 0.8005, loss_traj_cls: 0.0011, loss_map_cls: 0.2009, loss_map_pts: 0.8451, loss_map_dir: 0.0130, d0.loss_plan_l1_fix_time: 2.2740, d0.loss_plan_l1_fix_dist: 0.4101, d1.loss_plan_l1_fix_time: 1.2518, d1.loss_plan_l1_fix_dist: 0.2228, d2.loss_plan_l1_fix_time: 1.2341, d2.loss_plan_l1_fix_dist: 0.2303, d3.loss_plan_l1_fix_time: 1.2358, d3.loss_plan_l1_fix_dist: 0.2472, d4.loss_plan_l1_fix_time: 1.2400, d4.loss_plan_l1_fix_dist: 0.2660, d5.loss_plan_l1_fix_time: 1.2443, d5.loss_plan_l1_fix_dist: 0.2890, d6.loss_plan_l1_fix_time: 1.2484, d6.loss_plan_l1_fix_dist: 0.3165, d0.loss_cls_all: 0.2480, d0.loss_bbox_all: 0.4812, d0.loss_cls: 0.2480, d0.loss_bbox: 0.4812, d1.loss_cls: 0.2386, d1.loss_bbox: 0.4494, d2.loss_cls: 0.2271, d2.loss_bbox: 0.4382, d3.loss_cls: 0.2227, d3.loss_bbox: 0.4317, d4.loss_cls: 0.2181, d4.loss_bbox: 0.4310, d5.loss_cls: 0.2175, d5.loss_bbox: 0.4301, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9967, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8556, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8114, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7999, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7973, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7970, d0.loss_map_cls_all: 0.2665, d0.loss_map_pts_all: 1.5772, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2665, d0.loss_map_pts: 1.5772, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2352, d1.loss_map_pts: 1.0910, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2193, d2.loss_map_pts: 0.9310, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.2074, d3.loss_map_pts: 0.8736, d3.loss_map_dir: 0.0124, d4.loss_map_cls: 0.2036, d4.loss_map_pts: 0.8525, d4.loss_map_dir: 0.0128, d5.loss_map_cls: 0.2009, d5.loss_map_pts: 0.8477, d5.loss_map_dir: 0.0129, loss: 33.4829, grad_norm: 156.5939 +2026-02-25 15:57:56,898 - DriveTransformer - INFO - Epoch [5][10450/39528] lr: 9.337e-05, eta: 7 days, 6:22:57, time: 0.787, data_time: 0.038, memory: 19865, loss_cls: 0.2092, loss_bbox: 0.4152, loss_traj: 0.7905, loss_traj_cls: 0.0011, loss_map_cls: 0.2099, loss_map_pts: 0.8675, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.4039, d0.loss_plan_l1_fix_dist: 0.4755, d1.loss_plan_l1_fix_time: 1.3064, d1.loss_plan_l1_fix_dist: 0.2374, d2.loss_plan_l1_fix_time: 1.2964, d2.loss_plan_l1_fix_dist: 0.2441, d3.loss_plan_l1_fix_time: 1.2963, d3.loss_plan_l1_fix_dist: 0.2587, d4.loss_plan_l1_fix_time: 1.2990, d4.loss_plan_l1_fix_dist: 0.2771, d5.loss_plan_l1_fix_time: 1.3019, d5.loss_plan_l1_fix_dist: 0.2982, d6.loss_plan_l1_fix_time: 1.3050, d6.loss_plan_l1_fix_dist: 0.3203, d0.loss_cls_all: 0.2403, d0.loss_bbox_all: 0.4721, d0.loss_cls: 0.2403, d0.loss_bbox: 0.4721, d1.loss_cls: 0.2276, d1.loss_bbox: 0.4417, d2.loss_cls: 0.2154, d2.loss_bbox: 0.4239, d3.loss_cls: 0.2139, d3.loss_bbox: 0.4150, d4.loss_cls: 0.2096, d4.loss_bbox: 0.4141, d5.loss_cls: 0.2104, d5.loss_bbox: 0.4132, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0189, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8717, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8094, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8023, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7939, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7909, d0.loss_map_cls_all: 0.2698, d0.loss_map_pts_all: 1.6502, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2698, d0.loss_map_pts: 1.6502, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2435, d1.loss_map_pts: 1.1066, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2295, d2.loss_map_pts: 0.9449, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2198, d3.loss_map_pts: 0.8900, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.2117, d4.loss_map_pts: 0.8713, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.2113, d5.loss_map_pts: 0.8647, d5.loss_map_dir: 0.0122, loss: 34.2418, grad_norm: 155.0359 +2026-02-25 15:58:36,264 - DriveTransformer - INFO - Epoch [5][10500/39528] lr: 9.337e-05, eta: 7 days, 6:22:13, time: 0.787, data_time: 0.039, memory: 19865, loss_cls: 0.2306, loss_bbox: 0.4164, loss_traj: 0.8303, loss_traj_cls: 0.0010, loss_map_cls: 0.2078, loss_map_pts: 0.8711, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.8651, d0.loss_plan_l1_fix_dist: 0.4102, d1.loss_plan_l1_fix_time: 1.2135, d1.loss_plan_l1_fix_dist: 0.2106, d2.loss_plan_l1_fix_time: 1.1957, d2.loss_plan_l1_fix_dist: 0.2213, d3.loss_plan_l1_fix_time: 1.1937, d3.loss_plan_l1_fix_dist: 0.2366, d4.loss_plan_l1_fix_time: 1.1959, d4.loss_plan_l1_fix_dist: 0.2550, d5.loss_plan_l1_fix_time: 1.1993, d5.loss_plan_l1_fix_dist: 0.2742, d6.loss_plan_l1_fix_time: 1.2035, d6.loss_plan_l1_fix_dist: 0.2957, d0.loss_cls_all: 0.2599, d0.loss_bbox_all: 0.4708, d0.loss_cls: 0.2599, d0.loss_bbox: 0.4708, d1.loss_cls: 0.2519, d1.loss_bbox: 0.4378, d2.loss_cls: 0.2431, d2.loss_bbox: 0.4228, d3.loss_cls: 0.2380, d3.loss_bbox: 0.4172, d4.loss_cls: 0.2329, d4.loss_bbox: 0.4156, d5.loss_cls: 0.2324, d5.loss_bbox: 0.4159, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1093, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9142, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8589, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8564, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8354, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8309, d0.loss_map_cls_all: 0.2728, d0.loss_map_pts_all: 1.5965, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2728, d0.loss_map_pts: 1.5965, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2414, d1.loss_map_pts: 1.1090, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2250, d2.loss_map_pts: 0.9502, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.2154, d3.loss_map_pts: 0.8945, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.2100, d4.loss_map_pts: 0.8763, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.2085, d5.loss_map_pts: 0.8727, d5.loss_map_dir: 0.0125, loss: 34.3433, grad_norm: 155.1602 +2026-02-25 15:59:15,302 - DriveTransformer - INFO - Epoch [5][10550/39528] lr: 9.337e-05, eta: 7 days, 6:21:27, time: 0.781, data_time: 0.041, memory: 19865, loss_cls: 0.2165, loss_bbox: 0.4017, loss_traj: 0.6321, loss_traj_cls: 0.0011, loss_map_cls: 0.1992, loss_map_pts: 0.7661, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 2.4415, d0.loss_plan_l1_fix_dist: 0.3553, d1.loss_plan_l1_fix_time: 1.2104, d1.loss_plan_l1_fix_dist: 0.2007, d2.loss_plan_l1_fix_time: 1.1953, d2.loss_plan_l1_fix_dist: 0.2128, d3.loss_plan_l1_fix_time: 1.1933, d3.loss_plan_l1_fix_dist: 0.2293, d4.loss_plan_l1_fix_time: 1.1958, d4.loss_plan_l1_fix_dist: 0.2460, d5.loss_plan_l1_fix_time: 1.1992, d5.loss_plan_l1_fix_dist: 0.2637, d6.loss_plan_l1_fix_time: 1.2033, d6.loss_plan_l1_fix_dist: 0.2825, d0.loss_cls_all: 0.2403, d0.loss_bbox_all: 0.4516, d0.loss_cls: 0.2403, d0.loss_bbox: 0.4516, d1.loss_cls: 0.2352, d1.loss_bbox: 0.4225, d2.loss_cls: 0.2267, d2.loss_bbox: 0.4062, d3.loss_cls: 0.2225, d3.loss_bbox: 0.4006, d4.loss_cls: 0.2168, d4.loss_bbox: 0.3995, d5.loss_cls: 0.2164, d5.loss_bbox: 0.3994, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8023, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.6792, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6399, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6324, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6329, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6302, d0.loss_map_cls_all: 0.2566, d0.loss_map_pts_all: 1.5104, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2566, d0.loss_map_pts: 1.5104, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2305, d1.loss_map_pts: 1.0188, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2179, d2.loss_map_pts: 0.8555, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2073, d3.loss_map_pts: 0.7990, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.2025, d4.loss_map_pts: 0.7782, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.2002, d5.loss_map_pts: 0.7686, d5.loss_map_dir: 0.0123, loss: 31.1037, grad_norm: 156.3274 +2026-02-25 15:59:55,095 - DriveTransformer - INFO - Epoch [5][10600/39528] lr: 9.337e-05, eta: 7 days, 6:20:45, time: 0.796, data_time: 0.048, memory: 19865, loss_cls: 0.2340, loss_bbox: 0.4295, loss_traj: 0.8581, loss_traj_cls: 0.0010, loss_map_cls: 0.2147, loss_map_pts: 0.8596, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.6387, d0.loss_plan_l1_fix_dist: 0.4154, d1.loss_plan_l1_fix_time: 1.4385, d1.loss_plan_l1_fix_dist: 0.2289, d2.loss_plan_l1_fix_time: 1.4321, d2.loss_plan_l1_fix_dist: 0.2349, d3.loss_plan_l1_fix_time: 1.4299, d3.loss_plan_l1_fix_dist: 0.2475, d4.loss_plan_l1_fix_time: 1.4318, d4.loss_plan_l1_fix_dist: 0.2628, d5.loss_plan_l1_fix_time: 1.4346, d5.loss_plan_l1_fix_dist: 0.2781, d6.loss_plan_l1_fix_time: 1.4382, d6.loss_plan_l1_fix_dist: 0.2948, d0.loss_cls_all: 0.2570, d0.loss_bbox_all: 0.4823, d0.loss_cls: 0.2570, d0.loss_bbox: 0.4823, d1.loss_cls: 0.2545, d1.loss_bbox: 0.4522, d2.loss_cls: 0.2432, d2.loss_bbox: 0.4334, d3.loss_cls: 0.2378, d3.loss_bbox: 0.4283, d4.loss_cls: 0.2356, d4.loss_bbox: 0.4251, d5.loss_cls: 0.2349, d5.loss_bbox: 0.4266, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0900, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9118, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8641, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8546, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8591, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8580, d0.loss_map_cls_all: 0.2807, d0.loss_map_pts_all: 1.6791, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2807, d0.loss_map_pts: 1.6791, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2478, d1.loss_map_pts: 1.1296, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2352, d2.loss_map_pts: 0.9495, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2256, d3.loss_map_pts: 0.8895, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2177, d4.loss_map_pts: 0.8681, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.2143, d5.loss_map_pts: 0.8618, d5.loss_map_dir: 0.0127, loss: 35.9510, grad_norm: 156.2504 +2026-02-25 16:00:37,468 - DriveTransformer - INFO - Epoch [5][10650/39528] lr: 9.337e-05, eta: 7 days, 6:20:15, time: 0.847, data_time: 0.052, memory: 19865, loss_cls: 0.2202, loss_bbox: 0.4011, loss_traj: 0.7881, loss_traj_cls: 0.0010, loss_map_cls: 0.2473, loss_map_pts: 0.9716, loss_map_dir: 0.0150, d0.loss_plan_l1_fix_time: 2.1664, d0.loss_plan_l1_fix_dist: 0.3889, d1.loss_plan_l1_fix_time: 1.1253, d1.loss_plan_l1_fix_dist: 0.1946, d2.loss_plan_l1_fix_time: 1.1073, d2.loss_plan_l1_fix_dist: 0.2030, d3.loss_plan_l1_fix_time: 1.1061, d3.loss_plan_l1_fix_dist: 0.2145, d4.loss_plan_l1_fix_time: 1.1083, d4.loss_plan_l1_fix_dist: 0.2292, d5.loss_plan_l1_fix_time: 1.1111, d5.loss_plan_l1_fix_dist: 0.2455, d6.loss_plan_l1_fix_time: 1.1146, d6.loss_plan_l1_fix_dist: 0.2620, d0.loss_cls_all: 0.2495, d0.loss_bbox_all: 0.4569, d0.loss_cls: 0.2495, d0.loss_bbox: 0.4569, d1.loss_cls: 0.2378, d1.loss_bbox: 0.4255, d2.loss_cls: 0.2260, d2.loss_bbox: 0.4094, d3.loss_cls: 0.2236, d3.loss_bbox: 0.4031, d4.loss_cls: 0.2187, d4.loss_bbox: 0.4007, d5.loss_cls: 0.2191, d5.loss_bbox: 0.3995, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0825, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8707, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8190, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7964, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7968, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7890, d0.loss_map_cls_all: 0.3066, d0.loss_map_pts_all: 1.9601, d0.loss_map_dir_all: 0.0132, d0.loss_map_cls: 0.3066, d0.loss_map_pts: 1.9601, d0.loss_map_dir: 0.0132, d1.loss_map_cls: 0.2802, d1.loss_map_pts: 1.2857, d1.loss_map_dir: 0.0133, d2.loss_map_cls: 0.2664, d2.loss_map_pts: 1.0747, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2582, d3.loss_map_pts: 1.0059, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2527, d4.loss_map_pts: 0.9785, d4.loss_map_dir: 0.0148, d5.loss_map_cls: 0.2487, d5.loss_map_pts: 0.9720, d5.loss_map_dir: 0.0149, loss: 34.2108, grad_norm: 156.1283 +2026-02-25 16:01:18,663 - DriveTransformer - INFO - Epoch [5][10700/39528] lr: 9.337e-05, eta: 7 days, 6:19:39, time: 0.824, data_time: 0.047, memory: 19865, loss_cls: 0.1956, loss_bbox: 0.4084, loss_traj: 0.7670, loss_traj_cls: 0.0009, loss_map_cls: 0.1976, loss_map_pts: 0.8244, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.7415, d0.loss_plan_l1_fix_dist: 0.3996, d1.loss_plan_l1_fix_time: 1.2906, d1.loss_plan_l1_fix_dist: 0.2089, d2.loss_plan_l1_fix_time: 1.2769, d2.loss_plan_l1_fix_dist: 0.2150, d3.loss_plan_l1_fix_time: 1.2767, d3.loss_plan_l1_fix_dist: 0.2241, d4.loss_plan_l1_fix_time: 1.2797, d4.loss_plan_l1_fix_dist: 0.2346, d5.loss_plan_l1_fix_time: 1.2829, d5.loss_plan_l1_fix_dist: 0.2473, d6.loss_plan_l1_fix_time: 1.2867, d6.loss_plan_l1_fix_dist: 0.2624, d0.loss_cls_all: 0.2249, d0.loss_bbox_all: 0.4666, d0.loss_cls: 0.2249, d0.loss_bbox: 0.4666, d1.loss_cls: 0.2146, d1.loss_bbox: 0.4363, d2.loss_cls: 0.2063, d2.loss_bbox: 0.4181, d3.loss_cls: 0.2004, d3.loss_bbox: 0.4123, d4.loss_cls: 0.1980, d4.loss_bbox: 0.4082, d5.loss_cls: 0.1975, d5.loss_bbox: 0.4071, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9724, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8234, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7757, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7728, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7690, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7634, d0.loss_map_cls_all: 0.2699, d0.loss_map_pts_all: 1.7155, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.2699, d0.loss_map_pts: 1.7155, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2389, d1.loss_map_pts: 1.0992, d1.loss_map_dir: 0.0133, d2.loss_map_cls: 0.2220, d2.loss_map_pts: 0.9093, d2.loss_map_dir: 0.0138, d3.loss_map_cls: 0.2114, d3.loss_map_pts: 0.8498, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2021, d4.loss_map_pts: 0.8316, d4.loss_map_dir: 0.0147, d5.loss_map_cls: 0.1985, d5.loss_map_pts: 0.8252, d5.loss_map_dir: 0.0149, loss: 33.6556, grad_norm: 155.5665 +2026-02-25 16:01:59,784 - DriveTransformer - INFO - Epoch [5][10750/39528] lr: 9.337e-05, eta: 7 days, 6:19:03, time: 0.822, data_time: 0.043, memory: 19865, loss_cls: 0.2090, loss_bbox: 0.4236, loss_traj: 0.7170, loss_traj_cls: 0.0010, loss_map_cls: 0.1858, loss_map_pts: 0.8479, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.0587, d0.loss_plan_l1_fix_dist: 0.4153, d1.loss_plan_l1_fix_time: 1.2694, d1.loss_plan_l1_fix_dist: 0.2131, d2.loss_plan_l1_fix_time: 1.2630, d2.loss_plan_l1_fix_dist: 0.2178, d3.loss_plan_l1_fix_time: 1.2642, d3.loss_plan_l1_fix_dist: 0.2296, d4.loss_plan_l1_fix_time: 1.2672, d4.loss_plan_l1_fix_dist: 0.2458, d5.loss_plan_l1_fix_time: 1.2703, d5.loss_plan_l1_fix_dist: 0.2634, d6.loss_plan_l1_fix_time: 1.2735, d6.loss_plan_l1_fix_dist: 0.2849, d0.loss_cls_all: 0.2371, d0.loss_bbox_all: 0.4637, d0.loss_cls: 0.2371, d0.loss_bbox: 0.4637, d1.loss_cls: 0.2343, d1.loss_bbox: 0.4362, d2.loss_cls: 0.2224, d2.loss_bbox: 0.4230, d3.loss_cls: 0.2155, d3.loss_bbox: 0.4207, d4.loss_cls: 0.2128, d4.loss_bbox: 0.4197, d5.loss_cls: 0.2098, d5.loss_bbox: 0.4215, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9062, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7726, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7360, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7223, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7141, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7143, d0.loss_map_cls_all: 0.2526, d0.loss_map_pts_all: 1.6764, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2526, d0.loss_map_pts: 1.6764, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2247, d1.loss_map_pts: 1.1055, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2079, d2.loss_map_pts: 0.9443, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.1970, d3.loss_map_pts: 0.8846, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.1908, d4.loss_map_pts: 0.8599, d4.loss_map_dir: 0.0126, d5.loss_map_cls: 0.1875, d5.loss_map_pts: 0.8502, d5.loss_map_dir: 0.0127, loss: 32.7153, grad_norm: 155.9047 +2026-02-25 16:02:39,893 - DriveTransformer - INFO - Epoch [5][10800/39528] lr: 9.337e-05, eta: 7 days, 6:18:22, time: 0.802, data_time: 0.047, memory: 19865, loss_cls: 0.2354, loss_bbox: 0.4527, loss_traj: 0.7079, loss_traj_cls: 0.0010, loss_map_cls: 0.2233, loss_map_pts: 1.0003, loss_map_dir: 0.0131, d0.loss_plan_l1_fix_time: 2.5832, d0.loss_plan_l1_fix_dist: 0.3674, d1.loss_plan_l1_fix_time: 1.2904, d1.loss_plan_l1_fix_dist: 0.2119, d2.loss_plan_l1_fix_time: 1.2774, d2.loss_plan_l1_fix_dist: 0.2149, d3.loss_plan_l1_fix_time: 1.2792, d3.loss_plan_l1_fix_dist: 0.2242, d4.loss_plan_l1_fix_time: 1.2818, d4.loss_plan_l1_fix_dist: 0.2352, d5.loss_plan_l1_fix_time: 1.2848, d5.loss_plan_l1_fix_dist: 0.2479, d6.loss_plan_l1_fix_time: 1.2881, d6.loss_plan_l1_fix_dist: 0.2610, d0.loss_cls_all: 0.2747, d0.loss_bbox_all: 0.5067, d0.loss_cls: 0.2747, d0.loss_bbox: 0.5067, d1.loss_cls: 0.2611, d1.loss_bbox: 0.4764, d2.loss_cls: 0.2482, d2.loss_bbox: 0.4617, d3.loss_cls: 0.2405, d3.loss_bbox: 0.4558, d4.loss_cls: 0.2372, d4.loss_bbox: 0.4524, d5.loss_cls: 0.2350, d5.loss_bbox: 0.4521, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9247, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7796, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7340, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7153, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7144, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7045, d0.loss_map_cls_all: 0.2874, d0.loss_map_pts_all: 1.7684, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2874, d0.loss_map_pts: 1.7684, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2571, d1.loss_map_pts: 1.2722, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2433, d2.loss_map_pts: 1.1021, d2.loss_map_dir: 0.0123, d3.loss_map_cls: 0.2315, d3.loss_map_pts: 1.0442, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.2265, d4.loss_map_pts: 1.0172, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.2235, d5.loss_map_pts: 1.0032, d5.loss_map_dir: 0.0130, loss: 35.1610, grad_norm: 155.6216 +2026-02-25 16:03:19,843 - DriveTransformer - INFO - Epoch [5][10850/39528] lr: 9.337e-05, eta: 7 days, 6:17:40, time: 0.799, data_time: 0.047, memory: 19865, loss_cls: 0.1951, loss_bbox: 0.4061, loss_traj: 0.7272, loss_traj_cls: 0.0010, loss_map_cls: 0.1620, loss_map_pts: 0.7319, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.6617, d0.loss_plan_l1_fix_dist: 0.5542, d1.loss_plan_l1_fix_time: 1.1364, d1.loss_plan_l1_fix_dist: 0.2118, d2.loss_plan_l1_fix_time: 1.1260, d2.loss_plan_l1_fix_dist: 0.2165, d3.loss_plan_l1_fix_time: 1.1289, d3.loss_plan_l1_fix_dist: 0.2278, d4.loss_plan_l1_fix_time: 1.1318, d4.loss_plan_l1_fix_dist: 0.2409, d5.loss_plan_l1_fix_time: 1.1354, d5.loss_plan_l1_fix_dist: 0.2552, d6.loss_plan_l1_fix_time: 1.1398, d6.loss_plan_l1_fix_dist: 0.2704, d0.loss_cls_all: 0.2239, d0.loss_bbox_all: 0.4525, d0.loss_cls: 0.2239, d0.loss_bbox: 0.4525, d1.loss_cls: 0.2165, d1.loss_bbox: 0.4245, d2.loss_cls: 0.2072, d2.loss_bbox: 0.4118, d3.loss_cls: 0.2008, d3.loss_bbox: 0.4069, d4.loss_cls: 0.1951, d4.loss_bbox: 0.4063, d5.loss_cls: 0.1950, d5.loss_bbox: 0.4063, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9430, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7884, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7392, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7284, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7262, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7284, d0.loss_map_cls_all: 0.2218, d0.loss_map_pts_all: 1.3923, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2218, d0.loss_map_pts: 1.3923, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.1973, d1.loss_map_pts: 0.9575, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1823, d2.loss_map_pts: 0.8160, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1714, d3.loss_map_pts: 0.7638, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1650, d4.loss_map_pts: 0.7426, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1626, d5.loss_map_pts: 0.7346, d5.loss_map_dir: 0.0113, loss: 30.9505, grad_norm: 157.9764 +2026-02-25 16:03:59,847 - DriveTransformer - INFO - Epoch [5][10900/39528] lr: 9.337e-05, eta: 7 days, 6:16:59, time: 0.800, data_time: 0.041, memory: 19865, loss_cls: 0.2120, loss_bbox: 0.4196, loss_traj: 0.9039, loss_traj_cls: 0.0010, loss_map_cls: 0.2389, loss_map_pts: 0.9190, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 3.0248, d0.loss_plan_l1_fix_dist: 0.4055, d1.loss_plan_l1_fix_time: 1.3574, d1.loss_plan_l1_fix_dist: 0.1892, d2.loss_plan_l1_fix_time: 1.3494, d2.loss_plan_l1_fix_dist: 0.2018, d3.loss_plan_l1_fix_time: 1.3548, d3.loss_plan_l1_fix_dist: 0.2204, d4.loss_plan_l1_fix_time: 1.3590, d4.loss_plan_l1_fix_dist: 0.2412, d5.loss_plan_l1_fix_time: 1.3632, d5.loss_plan_l1_fix_dist: 0.2646, d6.loss_plan_l1_fix_time: 1.3673, d6.loss_plan_l1_fix_dist: 0.2895, d0.loss_cls_all: 0.2438, d0.loss_bbox_all: 0.4705, d0.loss_cls: 0.2438, d0.loss_bbox: 0.4705, d1.loss_cls: 0.2361, d1.loss_bbox: 0.4396, d2.loss_cls: 0.2252, d2.loss_bbox: 0.4233, d3.loss_cls: 0.2171, d3.loss_bbox: 0.4182, d4.loss_cls: 0.2130, d4.loss_bbox: 0.4186, d5.loss_cls: 0.2111, d5.loss_bbox: 0.4205, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1710, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9533, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8907, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8916, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8914, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9004, d0.loss_map_cls_all: 0.3102, d0.loss_map_pts_all: 1.7484, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.3102, d0.loss_map_pts: 1.7484, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2751, d1.loss_map_pts: 1.2146, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2577, d2.loss_map_pts: 1.0249, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.2486, d3.loss_map_pts: 0.9567, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.2425, d4.loss_map_pts: 0.9325, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.2397, d5.loss_map_pts: 0.9209, d5.loss_map_dir: 0.0120, loss: 36.5588, grad_norm: 157.6878 +2026-02-25 16:04:38,025 - DriveTransformer - INFO - Epoch [5][10950/39528] lr: 9.337e-05, eta: 7 days, 6:16:09, time: 0.764, data_time: 0.040, memory: 19865, loss_cls: 0.2489, loss_bbox: 0.4408, loss_traj: 0.8809, loss_traj_cls: 0.0010, loss_map_cls: 0.2250, loss_map_pts: 0.9339, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 3.0238, d0.loss_plan_l1_fix_dist: 0.4095, d1.loss_plan_l1_fix_time: 1.5651, d1.loss_plan_l1_fix_dist: 0.2537, d2.loss_plan_l1_fix_time: 1.5409, d2.loss_plan_l1_fix_dist: 0.2609, d3.loss_plan_l1_fix_time: 1.5413, d3.loss_plan_l1_fix_dist: 0.2760, d4.loss_plan_l1_fix_time: 1.5441, d4.loss_plan_l1_fix_dist: 0.2942, d5.loss_plan_l1_fix_time: 1.5477, d5.loss_plan_l1_fix_dist: 0.3153, d6.loss_plan_l1_fix_time: 1.5522, d6.loss_plan_l1_fix_dist: 0.3386, d0.loss_cls_all: 0.2831, d0.loss_bbox_all: 0.4949, d0.loss_cls: 0.2831, d0.loss_bbox: 0.4949, d1.loss_cls: 0.2706, d1.loss_bbox: 0.4607, d2.loss_cls: 0.2602, d2.loss_bbox: 0.4432, d3.loss_cls: 0.2535, d3.loss_bbox: 0.4403, d4.loss_cls: 0.2501, d4.loss_bbox: 0.4402, d5.loss_cls: 0.2482, d5.loss_bbox: 0.4418, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1836, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8852, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8468, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8611, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8655, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8790, d0.loss_map_cls_all: 0.2829, d0.loss_map_pts_all: 1.6644, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2829, d0.loss_map_pts: 1.6644, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2596, d1.loss_map_pts: 1.1865, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2408, d2.loss_map_pts: 1.0237, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2321, d3.loss_map_pts: 0.9654, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2286, d4.loss_map_pts: 0.9442, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.2260, d5.loss_map_pts: 0.9381, d5.loss_map_dir: 0.0125, loss: 38.0200, grad_norm: 157.4394 +2026-02-25 16:05:18,913 - DriveTransformer - INFO - Epoch [5][11000/39528] lr: 9.337e-05, eta: 7 days, 6:15:32, time: 0.818, data_time: 0.048, memory: 19865, loss_cls: 0.2241, loss_bbox: 0.4269, loss_traj: 0.8254, loss_traj_cls: 0.0009, loss_map_cls: 0.1958, loss_map_pts: 0.8059, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 2.9139, d0.loss_plan_l1_fix_dist: 0.3512, d1.loss_plan_l1_fix_time: 1.4090, d1.loss_plan_l1_fix_dist: 0.1908, d2.loss_plan_l1_fix_time: 1.3942, d2.loss_plan_l1_fix_dist: 0.1995, d3.loss_plan_l1_fix_time: 1.3915, d3.loss_plan_l1_fix_dist: 0.2152, d4.loss_plan_l1_fix_time: 1.3933, d4.loss_plan_l1_fix_dist: 0.2316, d5.loss_plan_l1_fix_time: 1.3963, d5.loss_plan_l1_fix_dist: 0.2495, d6.loss_plan_l1_fix_time: 1.3995, d6.loss_plan_l1_fix_dist: 0.2709, d0.loss_cls_all: 0.2565, d0.loss_bbox_all: 0.4756, d0.loss_cls: 0.2565, d0.loss_bbox: 0.4756, d1.loss_cls: 0.2446, d1.loss_bbox: 0.4473, d2.loss_cls: 0.2324, d2.loss_bbox: 0.4314, d3.loss_cls: 0.2309, d3.loss_bbox: 0.4246, d4.loss_cls: 0.2253, d4.loss_bbox: 0.4241, d5.loss_cls: 0.2235, d5.loss_bbox: 0.4258, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0318, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8683, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8319, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8268, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8247, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8254, d0.loss_map_cls_all: 0.2644, d0.loss_map_pts_all: 1.5785, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2644, d0.loss_map_pts: 1.5785, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2330, d1.loss_map_pts: 1.0771, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2158, d2.loss_map_pts: 0.9086, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.2060, d3.loss_map_pts: 0.8468, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.2016, d4.loss_map_pts: 0.8169, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.1974, d5.loss_map_pts: 0.8082, d5.loss_map_dir: 0.0123, loss: 34.7659, grad_norm: 160.1585 +2026-02-25 16:06:00,100 - DriveTransformer - INFO - Epoch [5][11050/39528] lr: 9.337e-05, eta: 7 days, 6:14:56, time: 0.824, data_time: 0.043, memory: 19865, loss_cls: 0.2500, loss_bbox: 0.4665, loss_traj: 0.8075, loss_traj_cls: 0.0010, loss_map_cls: 0.2399, loss_map_pts: 1.0298, loss_map_dir: 0.0167, d0.loss_plan_l1_fix_time: 3.1526, d0.loss_plan_l1_fix_dist: 0.4038, d1.loss_plan_l1_fix_time: 1.6625, d1.loss_plan_l1_fix_dist: 0.2527, d2.loss_plan_l1_fix_time: 1.6459, d2.loss_plan_l1_fix_dist: 0.2625, d3.loss_plan_l1_fix_time: 1.6459, d3.loss_plan_l1_fix_dist: 0.2757, d4.loss_plan_l1_fix_time: 1.6483, d4.loss_plan_l1_fix_dist: 0.2914, d5.loss_plan_l1_fix_time: 1.6506, d5.loss_plan_l1_fix_dist: 0.3091, d6.loss_plan_l1_fix_time: 1.6536, d6.loss_plan_l1_fix_dist: 0.3268, d0.loss_cls_all: 0.2841, d0.loss_bbox_all: 0.5152, d0.loss_cls: 0.2841, d0.loss_bbox: 0.5152, d1.loss_cls: 0.2713, d1.loss_bbox: 0.4885, d2.loss_cls: 0.2597, d2.loss_bbox: 0.4740, d3.loss_cls: 0.2553, d3.loss_bbox: 0.4664, d4.loss_cls: 0.2496, d4.loss_bbox: 0.4649, d5.loss_cls: 0.2491, d5.loss_bbox: 0.4653, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0052, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8591, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8230, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8160, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.8116, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8098, d0.loss_map_cls_all: 0.3035, d0.loss_map_pts_all: 1.9728, d0.loss_map_dir_all: 0.0155, d0.loss_map_cls: 0.3035, d0.loss_map_pts: 1.9728, d0.loss_map_dir: 0.0155, d1.loss_map_cls: 0.2716, d1.loss_map_pts: 1.3144, d1.loss_map_dir: 0.0155, d2.loss_map_cls: 0.2522, d2.loss_map_pts: 1.1311, d2.loss_map_dir: 0.0157, d3.loss_map_cls: 0.2455, d3.loss_map_pts: 1.0667, d3.loss_map_dir: 0.0161, d4.loss_map_cls: 0.2424, d4.loss_map_pts: 1.0444, d4.loss_map_dir: 0.0165, d5.loss_map_cls: 0.2395, d5.loss_map_pts: 1.0324, d5.loss_map_dir: 0.0166, loss: 39.8699, grad_norm: 161.9462 +2026-02-25 16:06:42,122 - DriveTransformer - INFO - Epoch [5][11100/39528] lr: 9.337e-05, eta: 7 days, 6:14:24, time: 0.840, data_time: 0.046, memory: 19865, loss_cls: 0.2292, loss_bbox: 0.4378, loss_traj: 0.7969, loss_traj_cls: 0.0010, loss_map_cls: 0.1871, loss_map_pts: 0.8523, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 2.8102, d0.loss_plan_l1_fix_dist: 0.4002, d1.loss_plan_l1_fix_time: 1.3207, d1.loss_plan_l1_fix_dist: 0.2034, d2.loss_plan_l1_fix_time: 1.2997, d2.loss_plan_l1_fix_dist: 0.2122, d3.loss_plan_l1_fix_time: 1.2993, d3.loss_plan_l1_fix_dist: 0.2281, d4.loss_plan_l1_fix_time: 1.3018, d4.loss_plan_l1_fix_dist: 0.2483, d5.loss_plan_l1_fix_time: 1.3047, d5.loss_plan_l1_fix_dist: 0.2686, d6.loss_plan_l1_fix_time: 1.3086, d6.loss_plan_l1_fix_dist: 0.2861, d0.loss_cls_all: 0.2597, d0.loss_bbox_all: 0.4802, d0.loss_cls: 0.2597, d0.loss_bbox: 0.4802, d1.loss_cls: 0.2530, d1.loss_bbox: 0.4490, d2.loss_cls: 0.2415, d2.loss_bbox: 0.4353, d3.loss_cls: 0.2331, d3.loss_bbox: 0.4320, d4.loss_cls: 0.2305, d4.loss_bbox: 0.4317, d5.loss_cls: 0.2299, d5.loss_bbox: 0.4349, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9733, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8441, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7961, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7950, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7951, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7949, d0.loss_map_cls_all: 0.2564, d0.loss_map_pts_all: 1.6651, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2564, d0.loss_map_pts: 1.6651, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2254, d1.loss_map_pts: 1.1093, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2070, d2.loss_map_pts: 0.9436, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.1969, d3.loss_map_pts: 0.8840, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.1909, d4.loss_map_pts: 0.8647, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.1871, d5.loss_map_pts: 0.8539, d5.loss_map_dir: 0.0123, loss: 34.4505, grad_norm: 162.0176 +2026-02-25 16:07:23,289 - DriveTransformer - INFO - Epoch [5][11150/39528] lr: 9.337e-05, eta: 7 days, 6:13:48, time: 0.823, data_time: 0.040, memory: 19865, loss_cls: 0.2351, loss_bbox: 0.4284, loss_traj: 0.7166, loss_traj_cls: 0.0010, loss_map_cls: 0.2297, loss_map_pts: 0.9563, loss_map_dir: 0.0140, d0.loss_plan_l1_fix_time: 2.4788, d0.loss_plan_l1_fix_dist: 0.3745, d1.loss_plan_l1_fix_time: 1.2851, d1.loss_plan_l1_fix_dist: 0.2012, d2.loss_plan_l1_fix_time: 1.2741, d2.loss_plan_l1_fix_dist: 0.2148, d3.loss_plan_l1_fix_time: 1.2764, d3.loss_plan_l1_fix_dist: 0.2340, d4.loss_plan_l1_fix_time: 1.2793, d4.loss_plan_l1_fix_dist: 0.2527, d5.loss_plan_l1_fix_time: 1.2822, d5.loss_plan_l1_fix_dist: 0.2738, d6.loss_plan_l1_fix_time: 1.2855, d6.loss_plan_l1_fix_dist: 0.2972, d0.loss_cls_all: 0.2541, d0.loss_bbox_all: 0.4786, d0.loss_cls: 0.2541, d0.loss_bbox: 0.4786, d1.loss_cls: 0.2479, d1.loss_bbox: 0.4484, d2.loss_cls: 0.2410, d2.loss_bbox: 0.4333, d3.loss_cls: 0.2386, d3.loss_bbox: 0.4267, d4.loss_cls: 0.2339, d4.loss_bbox: 0.4266, d5.loss_cls: 0.2343, d5.loss_bbox: 0.4275, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9130, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7968, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7517, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7291, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7247, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7183, d0.loss_map_cls_all: 0.2913, d0.loss_map_pts_all: 1.7944, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2913, d0.loss_map_pts: 1.7944, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2657, d1.loss_map_pts: 1.2353, d1.loss_map_dir: 0.0125, d2.loss_map_cls: 0.2520, d2.loss_map_pts: 1.0525, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2378, d3.loss_map_pts: 0.9885, d3.loss_map_dir: 0.0135, d4.loss_map_cls: 0.2338, d4.loss_map_pts: 0.9645, d4.loss_map_dir: 0.0137, d5.loss_map_cls: 0.2316, d5.loss_map_pts: 0.9573, d5.loss_map_dir: 0.0138, loss: 34.7362, grad_norm: 163.3891 +2026-02-25 16:08:03,238 - DriveTransformer - INFO - Epoch [5][11200/39528] lr: 9.337e-05, eta: 7 days, 6:13:07, time: 0.800, data_time: 0.039, memory: 19865, loss_cls: 0.2180, loss_bbox: 0.4148, loss_traj: 0.9355, loss_traj_cls: 0.0011, loss_map_cls: 0.2007, loss_map_pts: 0.8028, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.9494, d0.loss_plan_l1_fix_dist: 0.4004, d1.loss_plan_l1_fix_time: 1.2760, d1.loss_plan_l1_fix_dist: 0.2210, d2.loss_plan_l1_fix_time: 1.2630, d2.loss_plan_l1_fix_dist: 0.2393, d3.loss_plan_l1_fix_time: 1.2595, d3.loss_plan_l1_fix_dist: 0.2657, d4.loss_plan_l1_fix_time: 1.2629, d4.loss_plan_l1_fix_dist: 0.2942, d5.loss_plan_l1_fix_time: 1.2670, d5.loss_plan_l1_fix_dist: 0.3262, d6.loss_plan_l1_fix_time: 1.2713, d6.loss_plan_l1_fix_dist: 0.3628, d0.loss_cls_all: 0.2412, d0.loss_bbox_all: 0.4724, d0.loss_cls: 0.2412, d0.loss_bbox: 0.4724, d1.loss_cls: 0.2355, d1.loss_bbox: 0.4415, d2.loss_cls: 0.2247, d2.loss_bbox: 0.4257, d3.loss_cls: 0.2207, d3.loss_bbox: 0.4185, d4.loss_cls: 0.2191, d4.loss_bbox: 0.4137, d5.loss_cls: 0.2179, d5.loss_bbox: 0.4145, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1208, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9758, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9404, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9366, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9439, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9379, d0.loss_map_cls_all: 0.2710, d0.loss_map_pts_all: 1.4828, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2710, d0.loss_map_pts: 1.4828, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2459, d1.loss_map_pts: 1.0460, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2252, d2.loss_map_pts: 0.8935, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.2105, d3.loss_map_pts: 0.8360, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.2046, d4.loss_map_pts: 0.8146, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.2034, d5.loss_map_pts: 0.8032, d5.loss_map_dir: 0.0111, loss: 34.8260, grad_norm: 163.5257 +2026-02-25 16:08:43,260 - DriveTransformer - INFO - Epoch [5][11250/39528] lr: 9.337e-05, eta: 7 days, 6:12:25, time: 0.799, data_time: 0.046, memory: 19865, loss_cls: 0.2135, loss_bbox: 0.3917, loss_traj: 0.8321, loss_traj_cls: 0.0010, loss_map_cls: 0.2298, loss_map_pts: 0.8993, loss_map_dir: 0.0139, d0.loss_plan_l1_fix_time: 2.9169, d0.loss_plan_l1_fix_dist: 0.4679, d1.loss_plan_l1_fix_time: 1.2379, d1.loss_plan_l1_fix_dist: 0.1985, d2.loss_plan_l1_fix_time: 1.2112, d2.loss_plan_l1_fix_dist: 0.2028, d3.loss_plan_l1_fix_time: 1.2061, d3.loss_plan_l1_fix_dist: 0.2130, d4.loss_plan_l1_fix_time: 1.2084, d4.loss_plan_l1_fix_dist: 0.2268, d5.loss_plan_l1_fix_time: 1.2121, d5.loss_plan_l1_fix_dist: 0.2428, d6.loss_plan_l1_fix_time: 1.2170, d6.loss_plan_l1_fix_dist: 0.2618, d0.loss_cls_all: 0.2377, d0.loss_bbox_all: 0.4377, d0.loss_cls: 0.2377, d0.loss_bbox: 0.4377, d1.loss_cls: 0.2330, d1.loss_bbox: 0.4090, d2.loss_cls: 0.2235, d2.loss_bbox: 0.3967, d3.loss_cls: 0.2170, d3.loss_bbox: 0.3902, d4.loss_cls: 0.2117, d4.loss_bbox: 0.3896, d5.loss_cls: 0.2126, d5.loss_bbox: 0.3891, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0098, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8634, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8396, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8297, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8314, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8305, d0.loss_map_cls_all: 0.2952, d0.loss_map_pts_all: 1.7383, d0.loss_map_dir_all: 0.0126, d0.loss_map_cls: 0.2952, d0.loss_map_pts: 1.7383, d0.loss_map_dir: 0.0126, d1.loss_map_cls: 0.2625, d1.loss_map_pts: 1.1690, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2470, d2.loss_map_pts: 0.9943, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2386, d3.loss_map_pts: 0.9332, d3.loss_map_dir: 0.0132, d4.loss_map_cls: 0.2331, d4.loss_map_pts: 0.9099, d4.loss_map_dir: 0.0137, d5.loss_map_cls: 0.2291, d5.loss_map_pts: 0.9000, d5.loss_map_dir: 0.0137, loss: 34.5129, grad_norm: 162.1690 +2026-02-25 16:09:22,626 - DriveTransformer - INFO - Epoch [5][11300/39528] lr: 9.337e-05, eta: 7 days, 6:11:41, time: 0.787, data_time: 0.038, memory: 19865, loss_cls: 0.2319, loss_bbox: 0.4191, loss_traj: 0.7082, loss_traj_cls: 0.0010, loss_map_cls: 0.2305, loss_map_pts: 0.8864, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 2.5827, d0.loss_plan_l1_fix_dist: 0.3694, d1.loss_plan_l1_fix_time: 1.3579, d1.loss_plan_l1_fix_dist: 0.1838, d2.loss_plan_l1_fix_time: 1.3425, d2.loss_plan_l1_fix_dist: 0.1956, d3.loss_plan_l1_fix_time: 1.3472, d3.loss_plan_l1_fix_dist: 0.2149, d4.loss_plan_l1_fix_time: 1.3509, d4.loss_plan_l1_fix_dist: 0.2378, d5.loss_plan_l1_fix_time: 1.3548, d5.loss_plan_l1_fix_dist: 0.2617, d6.loss_plan_l1_fix_time: 1.3600, d6.loss_plan_l1_fix_dist: 0.2876, d0.loss_cls_all: 0.2680, d0.loss_bbox_all: 0.4605, d0.loss_cls: 0.2680, d0.loss_bbox: 0.4605, d1.loss_cls: 0.2588, d1.loss_bbox: 0.4327, d2.loss_cls: 0.2459, d2.loss_bbox: 0.4204, d3.loss_cls: 0.2369, d3.loss_bbox: 0.4166, d4.loss_cls: 0.2326, d4.loss_bbox: 0.4176, d5.loss_cls: 0.2328, d5.loss_bbox: 0.4157, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8635, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7494, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7246, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7144, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7112, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7039, d0.loss_map_cls_all: 0.2893, d0.loss_map_pts_all: 1.7432, d0.loss_map_dir_all: 0.0132, d0.loss_map_cls: 0.2893, d0.loss_map_pts: 1.7432, d0.loss_map_dir: 0.0132, d1.loss_map_cls: 0.2602, d1.loss_map_pts: 1.1686, d1.loss_map_dir: 0.0132, d2.loss_map_cls: 0.2474, d2.loss_map_pts: 0.9841, d2.loss_map_dir: 0.0136, d3.loss_map_cls: 0.2384, d3.loss_map_pts: 0.9213, d3.loss_map_dir: 0.0140, d4.loss_map_cls: 0.2325, d4.loss_map_pts: 0.8988, d4.loss_map_dir: 0.0143, d5.loss_map_cls: 0.2305, d5.loss_map_pts: 0.8892, d5.loss_map_dir: 0.0144, loss: 34.4101, grad_norm: 161.2995 +2026-02-25 16:10:05,006 - DriveTransformer - INFO - Epoch [5][11350/39528] lr: 9.337e-05, eta: 7 days, 6:11:11, time: 0.848, data_time: 0.039, memory: 19865, loss_cls: 0.2207, loss_bbox: 0.4062, loss_traj: 0.7456, loss_traj_cls: 0.0010, loss_map_cls: 0.2166, loss_map_pts: 0.9290, loss_map_dir: 0.0135, d0.loss_plan_l1_fix_time: 2.8450, d0.loss_plan_l1_fix_dist: 0.5110, d1.loss_plan_l1_fix_time: 1.2792, d1.loss_plan_l1_fix_dist: 0.2235, d2.loss_plan_l1_fix_time: 1.2631, d2.loss_plan_l1_fix_dist: 0.2287, d3.loss_plan_l1_fix_time: 1.2631, d3.loss_plan_l1_fix_dist: 0.2397, d4.loss_plan_l1_fix_time: 1.2669, d4.loss_plan_l1_fix_dist: 0.2531, d5.loss_plan_l1_fix_time: 1.2708, d5.loss_plan_l1_fix_dist: 0.2691, d6.loss_plan_l1_fix_time: 1.2755, d6.loss_plan_l1_fix_dist: 0.2832, d0.loss_cls_all: 0.2456, d0.loss_bbox_all: 0.4671, d0.loss_cls: 0.2456, d0.loss_bbox: 0.4671, d1.loss_cls: 0.2405, d1.loss_bbox: 0.4320, d2.loss_cls: 0.2314, d2.loss_bbox: 0.4160, d3.loss_cls: 0.2256, d3.loss_bbox: 0.4105, d4.loss_cls: 0.2207, d4.loss_bbox: 0.4077, d5.loss_cls: 0.2193, d5.loss_bbox: 0.4064, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9109, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8043, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7637, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7510, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7494, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7476, d0.loss_map_cls_all: 0.2800, d0.loss_map_pts_all: 1.8440, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2800, d0.loss_map_pts: 1.8440, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2484, d1.loss_map_pts: 1.2587, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2346, d2.loss_map_pts: 1.0576, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2248, d3.loss_map_pts: 0.9812, d3.loss_map_dir: 0.0129, d4.loss_map_cls: 0.2192, d4.loss_map_pts: 0.9461, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.2185, d5.loss_map_pts: 0.9320, d5.loss_map_dir: 0.0135, loss: 35.0291, grad_norm: 159.8798 +2026-02-25 16:10:45,879 - DriveTransformer - INFO - Epoch [5][11400/39528] lr: 9.337e-05, eta: 7 days, 6:10:33, time: 0.817, data_time: 0.043, memory: 19865, loss_cls: 0.2190, loss_bbox: 0.4129, loss_traj: 0.8934, loss_traj_cls: 0.0009, loss_map_cls: 0.1848, loss_map_pts: 0.8280, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.4834, d0.loss_plan_l1_fix_dist: 0.4563, d1.loss_plan_l1_fix_time: 1.2533, d1.loss_plan_l1_fix_dist: 0.2171, d2.loss_plan_l1_fix_time: 1.2302, d2.loss_plan_l1_fix_dist: 0.2245, d3.loss_plan_l1_fix_time: 1.2296, d3.loss_plan_l1_fix_dist: 0.2380, d4.loss_plan_l1_fix_time: 1.2320, d4.loss_plan_l1_fix_dist: 0.2545, d5.loss_plan_l1_fix_time: 1.2350, d5.loss_plan_l1_fix_dist: 0.2730, d6.loss_plan_l1_fix_time: 1.2381, d6.loss_plan_l1_fix_dist: 0.2945, d0.loss_cls_all: 0.2433, d0.loss_bbox_all: 0.4687, d0.loss_cls: 0.2433, d0.loss_bbox: 0.4687, d1.loss_cls: 0.2383, d1.loss_bbox: 0.4368, d2.loss_cls: 0.2305, d2.loss_bbox: 0.4215, d3.loss_cls: 0.2256, d3.loss_bbox: 0.4139, d4.loss_cls: 0.2200, d4.loss_bbox: 0.4123, d5.loss_cls: 0.2203, d5.loss_bbox: 0.4112, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0601, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9454, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9060, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8928, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8918, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8927, d0.loss_map_cls_all: 0.2407, d0.loss_map_pts_all: 1.5759, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2407, d0.loss_map_pts: 1.5759, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2173, d1.loss_map_pts: 1.0840, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2037, d2.loss_map_pts: 0.9181, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.1946, d3.loss_map_pts: 0.8621, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1892, d4.loss_map_pts: 0.8407, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.1855, d5.loss_map_pts: 0.8300, d5.loss_map_dir: 0.0118, loss: 33.8945, grad_norm: 156.0793 +2026-02-25 16:11:26,796 - DriveTransformer - INFO - Epoch [5][11450/39528] lr: 9.337e-05, eta: 7 days, 6:09:56, time: 0.818, data_time: 0.047, memory: 19865, loss_cls: 0.1926, loss_bbox: 0.3929, loss_traj: 0.8052, loss_traj_cls: 0.0009, loss_map_cls: 0.1828, loss_map_pts: 0.7497, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.6901, d0.loss_plan_l1_fix_dist: 0.4112, d1.loss_plan_l1_fix_time: 1.1997, d1.loss_plan_l1_fix_dist: 0.2217, d2.loss_plan_l1_fix_time: 1.1858, d2.loss_plan_l1_fix_dist: 0.2302, d3.loss_plan_l1_fix_time: 1.1864, d3.loss_plan_l1_fix_dist: 0.2434, d4.loss_plan_l1_fix_time: 1.1891, d4.loss_plan_l1_fix_dist: 0.2579, d5.loss_plan_l1_fix_time: 1.1920, d5.loss_plan_l1_fix_dist: 0.2745, d6.loss_plan_l1_fix_time: 1.1953, d6.loss_plan_l1_fix_dist: 0.2936, d0.loss_cls_all: 0.2193, d0.loss_bbox_all: 0.4463, d0.loss_cls: 0.2193, d0.loss_bbox: 0.4463, d1.loss_cls: 0.2125, d1.loss_bbox: 0.4151, d2.loss_cls: 0.2026, d2.loss_bbox: 0.3999, d3.loss_cls: 0.1968, d3.loss_bbox: 0.3941, d4.loss_cls: 0.1931, d4.loss_bbox: 0.3935, d5.loss_cls: 0.1920, d5.loss_bbox: 0.3929, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0059, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8497, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8147, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8013, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7998, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8060, d0.loss_map_cls_all: 0.2435, d0.loss_map_pts_all: 1.5079, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2435, d0.loss_map_pts: 1.5079, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2094, d1.loss_map_pts: 0.9877, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1987, d2.loss_map_pts: 0.8262, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1919, d3.loss_map_pts: 0.7777, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1837, d4.loss_map_pts: 0.7587, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1821, d5.loss_map_pts: 0.7521, d5.loss_map_dir: 0.0110, loss: 32.1568, grad_norm: 155.2658 +2026-02-25 16:12:05,806 - DriveTransformer - INFO - Epoch [5][11500/39528] lr: 9.337e-05, eta: 7 days, 6:09:10, time: 0.780, data_time: 0.043, memory: 19865, loss_cls: 0.2133, loss_bbox: 0.4045, loss_traj: 0.7345, loss_traj_cls: 0.0010, loss_map_cls: 0.1939, loss_map_pts: 0.7890, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.4365, d0.loss_plan_l1_fix_dist: 0.4854, d1.loss_plan_l1_fix_time: 1.3194, d1.loss_plan_l1_fix_dist: 0.2182, d2.loss_plan_l1_fix_time: 1.3004, d2.loss_plan_l1_fix_dist: 0.2349, d3.loss_plan_l1_fix_time: 1.2976, d3.loss_plan_l1_fix_dist: 0.2551, d4.loss_plan_l1_fix_time: 1.3002, d4.loss_plan_l1_fix_dist: 0.2767, d5.loss_plan_l1_fix_time: 1.3035, d5.loss_plan_l1_fix_dist: 0.2984, d6.loss_plan_l1_fix_time: 1.3077, d6.loss_plan_l1_fix_dist: 0.3182, d0.loss_cls_all: 0.2409, d0.loss_bbox_all: 0.4639, d0.loss_cls: 0.2409, d0.loss_bbox: 0.4639, d1.loss_cls: 0.2348, d1.loss_bbox: 0.4320, d2.loss_cls: 0.2249, d2.loss_bbox: 0.4162, d3.loss_cls: 0.2177, d3.loss_bbox: 0.4093, d4.loss_cls: 0.2145, d4.loss_bbox: 0.4054, d5.loss_cls: 0.2137, d5.loss_bbox: 0.4044, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9090, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7671, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7352, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7296, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7284, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7303, d0.loss_map_cls_all: 0.2590, d0.loss_map_pts_all: 1.4874, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2590, d0.loss_map_pts: 1.4874, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2345, d1.loss_map_pts: 1.0157, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2149, d2.loss_map_pts: 0.8748, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2004, d3.loss_map_pts: 0.8251, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1956, d4.loss_map_pts: 0.8030, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1933, d5.loss_map_pts: 0.7933, d5.loss_map_dir: 0.0111, loss: 32.8040, grad_norm: 156.3572 +2026-02-25 16:12:45,820 - DriveTransformer - INFO - Epoch [5][11550/39528] lr: 9.337e-05, eta: 7 days, 6:08:29, time: 0.800, data_time: 0.044, memory: 19865, loss_cls: 0.2270, loss_bbox: 0.4334, loss_traj: 0.7572, loss_traj_cls: 0.0010, loss_map_cls: 0.1973, loss_map_pts: 0.8305, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.8998, d0.loss_plan_l1_fix_dist: 0.3980, d1.loss_plan_l1_fix_time: 1.4030, d1.loss_plan_l1_fix_dist: 0.1999, d2.loss_plan_l1_fix_time: 1.3929, d2.loss_plan_l1_fix_dist: 0.2143, d3.loss_plan_l1_fix_time: 1.3916, d3.loss_plan_l1_fix_dist: 0.2326, d4.loss_plan_l1_fix_time: 1.3948, d4.loss_plan_l1_fix_dist: 0.2513, d5.loss_plan_l1_fix_time: 1.3992, d5.loss_plan_l1_fix_dist: 0.2701, d6.loss_plan_l1_fix_time: 1.4040, d6.loss_plan_l1_fix_dist: 0.2888, d0.loss_cls_all: 0.2590, d0.loss_bbox_all: 0.4804, d0.loss_cls: 0.2590, d0.loss_bbox: 0.4804, d1.loss_cls: 0.2468, d1.loss_bbox: 0.4534, d2.loss_cls: 0.2375, d2.loss_bbox: 0.4383, d3.loss_cls: 0.2323, d3.loss_bbox: 0.4338, d4.loss_cls: 0.2283, d4.loss_bbox: 0.4302, d5.loss_cls: 0.2276, d5.loss_bbox: 0.4308, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9976, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8012, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7645, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7513, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7517, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7544, d0.loss_map_cls_all: 0.2709, d0.loss_map_pts_all: 1.5623, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2709, d0.loss_map_pts: 1.5623, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2378, d1.loss_map_pts: 1.0452, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2164, d2.loss_map_pts: 0.9013, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2043, d3.loss_map_pts: 0.8509, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.1995, d4.loss_map_pts: 0.8369, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.1980, d5.loss_map_pts: 0.8310, d5.loss_map_dir: 0.0121, loss: 34.5311, grad_norm: 157.3582 +2026-02-25 16:13:26,286 - DriveTransformer - INFO - Epoch [5][11600/39528] lr: 9.337e-05, eta: 7 days, 6:07:50, time: 0.809, data_time: 0.046, memory: 19865, loss_cls: 0.2104, loss_bbox: 0.4381, loss_traj: 0.9609, loss_traj_cls: 0.0010, loss_map_cls: 0.2091, loss_map_pts: 0.8659, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 3.1263, d0.loss_plan_l1_fix_dist: 0.4529, d1.loss_plan_l1_fix_time: 1.4644, d1.loss_plan_l1_fix_dist: 0.2213, d2.loss_plan_l1_fix_time: 1.4529, d2.loss_plan_l1_fix_dist: 0.2278, d3.loss_plan_l1_fix_time: 1.4526, d3.loss_plan_l1_fix_dist: 0.2415, d4.loss_plan_l1_fix_time: 1.4548, d4.loss_plan_l1_fix_dist: 0.2557, d5.loss_plan_l1_fix_time: 1.4579, d5.loss_plan_l1_fix_dist: 0.2716, d6.loss_plan_l1_fix_time: 1.4619, d6.loss_plan_l1_fix_dist: 0.2885, d0.loss_cls_all: 0.2403, d0.loss_bbox_all: 0.4855, d0.loss_cls: 0.2403, d0.loss_bbox: 0.4855, d1.loss_cls: 0.2341, d1.loss_bbox: 0.4549, d2.loss_cls: 0.2208, d2.loss_bbox: 0.4386, d3.loss_cls: 0.2155, d3.loss_bbox: 0.4337, d4.loss_cls: 0.2099, d4.loss_bbox: 0.4351, d5.loss_cls: 0.2118, d5.loss_bbox: 0.4349, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2124, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0169, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9638, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9595, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9576, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9578, d0.loss_map_cls_all: 0.2788, d0.loss_map_pts_all: 1.5784, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2788, d0.loss_map_pts: 1.5784, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2523, d1.loss_map_pts: 1.1027, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2287, d2.loss_map_pts: 0.9544, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2197, d3.loss_map_pts: 0.8975, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.2136, d4.loss_map_pts: 0.8753, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.2109, d5.loss_map_pts: 0.8686, d5.loss_map_dir: 0.0117, loss: 36.9584, grad_norm: 156.9070 +2026-02-25 16:14:06,684 - DriveTransformer - INFO - Epoch [5][11650/39528] lr: 9.337e-05, eta: 7 days, 6:07:10, time: 0.808, data_time: 0.046, memory: 19865, loss_cls: 0.2324, loss_bbox: 0.4209, loss_traj: 0.8326, loss_traj_cls: 0.0010, loss_map_cls: 0.1863, loss_map_pts: 0.7788, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.8213, d0.loss_plan_l1_fix_dist: 0.4231, d1.loss_plan_l1_fix_time: 1.1818, d1.loss_plan_l1_fix_dist: 0.2028, d2.loss_plan_l1_fix_time: 1.1543, d2.loss_plan_l1_fix_dist: 0.2148, d3.loss_plan_l1_fix_time: 1.1540, d3.loss_plan_l1_fix_dist: 0.2322, d4.loss_plan_l1_fix_time: 1.1570, d4.loss_plan_l1_fix_dist: 0.2523, d5.loss_plan_l1_fix_time: 1.1605, d5.loss_plan_l1_fix_dist: 0.2792, d6.loss_plan_l1_fix_time: 1.1650, d6.loss_plan_l1_fix_dist: 0.3099, d0.loss_cls_all: 0.2596, d0.loss_bbox_all: 0.4669, d0.loss_cls: 0.2596, d0.loss_bbox: 0.4669, d1.loss_cls: 0.2546, d1.loss_bbox: 0.4401, d2.loss_cls: 0.2397, d2.loss_bbox: 0.4280, d3.loss_cls: 0.2347, d3.loss_bbox: 0.4224, d4.loss_cls: 0.2309, d4.loss_bbox: 0.4210, d5.loss_cls: 0.2311, d5.loss_bbox: 0.4196, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0463, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8941, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8444, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8400, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8369, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8311, d0.loss_map_cls_all: 0.2391, d0.loss_map_pts_all: 1.4776, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2391, d0.loss_map_pts: 1.4776, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2122, d1.loss_map_pts: 1.0103, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.1967, d2.loss_map_pts: 0.8558, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1905, d3.loss_map_pts: 0.8048, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1863, d4.loss_map_pts: 0.7877, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1858, d5.loss_map_pts: 0.7801, d5.loss_map_dir: 0.0116, loss: 32.9662, grad_norm: 157.9975 +2026-02-25 16:14:46,073 - DriveTransformer - INFO - Epoch [5][11700/39528] lr: 9.337e-05, eta: 7 days, 6:06:26, time: 0.788, data_time: 0.039, memory: 19865, loss_cls: 0.2245, loss_bbox: 0.4298, loss_traj: 0.6837, loss_traj_cls: 0.0009, loss_map_cls: 0.2103, loss_map_pts: 0.7955, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.8033, d0.loss_plan_l1_fix_dist: 0.4153, d1.loss_plan_l1_fix_time: 1.4002, d1.loss_plan_l1_fix_dist: 0.2223, d2.loss_plan_l1_fix_time: 1.3835, d2.loss_plan_l1_fix_dist: 0.2303, d3.loss_plan_l1_fix_time: 1.3775, d3.loss_plan_l1_fix_dist: 0.2409, d4.loss_plan_l1_fix_time: 1.3787, d4.loss_plan_l1_fix_dist: 0.2528, d5.loss_plan_l1_fix_time: 1.3807, d5.loss_plan_l1_fix_dist: 0.2681, d6.loss_plan_l1_fix_time: 1.3834, d6.loss_plan_l1_fix_dist: 0.2879, d0.loss_cls_all: 0.2609, d0.loss_bbox_all: 0.4875, d0.loss_cls: 0.2609, d0.loss_bbox: 0.4875, d1.loss_cls: 0.2489, d1.loss_bbox: 0.4499, d2.loss_cls: 0.2394, d2.loss_bbox: 0.4325, d3.loss_cls: 0.2316, d3.loss_bbox: 0.4279, d4.loss_cls: 0.2253, d4.loss_bbox: 0.4254, d5.loss_cls: 0.2252, d5.loss_bbox: 0.4259, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8795, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7466, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6933, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6830, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6835, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6847, d0.loss_map_cls_all: 0.2799, d0.loss_map_pts_all: 1.5893, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2799, d0.loss_map_pts: 1.5893, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2485, d1.loss_map_pts: 1.0301, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.2329, d2.loss_map_pts: 0.8664, d2.loss_map_dir: 0.0119, d3.loss_map_cls: 0.2204, d3.loss_map_pts: 0.8183, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2143, d4.loss_map_pts: 0.8020, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.2106, d5.loss_map_pts: 0.7960, d5.loss_map_dir: 0.0125, loss: 33.8494, grad_norm: 158.6182 +2026-02-25 16:15:25,741 - DriveTransformer - INFO - Epoch [5][11750/39528] lr: 9.337e-05, eta: 7 days, 6:05:44, time: 0.793, data_time: 0.041, memory: 19865, loss_cls: 0.2059, loss_bbox: 0.4373, loss_traj: 0.7953, loss_traj_cls: 0.0010, loss_map_cls: 0.1827, loss_map_pts: 0.7839, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.6745, d0.loss_plan_l1_fix_dist: 0.3407, d1.loss_plan_l1_fix_time: 1.2285, d1.loss_plan_l1_fix_dist: 0.1859, d2.loss_plan_l1_fix_time: 1.2131, d2.loss_plan_l1_fix_dist: 0.1948, d3.loss_plan_l1_fix_time: 1.2163, d3.loss_plan_l1_fix_dist: 0.2114, d4.loss_plan_l1_fix_time: 1.2192, d4.loss_plan_l1_fix_dist: 0.2282, d5.loss_plan_l1_fix_time: 1.2224, d5.loss_plan_l1_fix_dist: 0.2430, d6.loss_plan_l1_fix_time: 1.2258, d6.loss_plan_l1_fix_dist: 0.2577, d0.loss_cls_all: 0.2470, d0.loss_bbox_all: 0.4791, d0.loss_cls: 0.2470, d0.loss_bbox: 0.4791, d1.loss_cls: 0.2354, d1.loss_bbox: 0.4501, d2.loss_cls: 0.2221, d2.loss_bbox: 0.4355, d3.loss_cls: 0.2119, d3.loss_bbox: 0.4333, d4.loss_cls: 0.2071, d4.loss_bbox: 0.4322, d5.loss_cls: 0.2045, d5.loss_bbox: 0.4354, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9852, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8352, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7937, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7914, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7901, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7946, d0.loss_map_cls_all: 0.2465, d0.loss_map_pts_all: 1.5303, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2465, d0.loss_map_pts: 1.5303, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2208, d1.loss_map_pts: 1.0145, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2063, d2.loss_map_pts: 0.8659, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1950, d3.loss_map_pts: 0.8155, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1895, d4.loss_map_pts: 0.7956, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1845, d5.loss_map_pts: 0.7858, d5.loss_map_dir: 0.0113, loss: 32.6961, grad_norm: 155.9400 +2026-02-25 16:16:08,216 - DriveTransformer - INFO - Epoch [5][11800/39528] lr: 9.337e-05, eta: 7 days, 6:05:14, time: 0.850, data_time: 0.040, memory: 19865, loss_cls: 0.2433, loss_bbox: 0.4316, loss_traj: 0.8467, loss_traj_cls: 0.0010, loss_map_cls: 0.2225, loss_map_pts: 0.9775, loss_map_dir: 0.0131, d0.loss_plan_l1_fix_time: 2.6059, d0.loss_plan_l1_fix_dist: 0.4429, d1.loss_plan_l1_fix_time: 1.2587, d1.loss_plan_l1_fix_dist: 0.2224, d2.loss_plan_l1_fix_time: 1.2452, d2.loss_plan_l1_fix_dist: 0.2289, d3.loss_plan_l1_fix_time: 1.2487, d3.loss_plan_l1_fix_dist: 0.2417, d4.loss_plan_l1_fix_time: 1.2529, d4.loss_plan_l1_fix_dist: 0.2557, d5.loss_plan_l1_fix_time: 1.2572, d5.loss_plan_l1_fix_dist: 0.2701, d6.loss_plan_l1_fix_time: 1.2614, d6.loss_plan_l1_fix_dist: 0.2803, d0.loss_cls_all: 0.2625, d0.loss_bbox_all: 0.4909, d0.loss_cls: 0.2625, d0.loss_bbox: 0.4909, d1.loss_cls: 0.2588, d1.loss_bbox: 0.4592, d2.loss_cls: 0.2484, d2.loss_bbox: 0.4427, d3.loss_cls: 0.2432, d3.loss_bbox: 0.4353, d4.loss_cls: 0.2424, d4.loss_bbox: 0.4308, d5.loss_cls: 0.2438, d5.loss_bbox: 0.4302, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0378, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8946, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8444, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8410, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8445, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8481, d0.loss_map_cls_all: 0.2864, d0.loss_map_pts_all: 1.7721, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2864, d0.loss_map_pts: 1.7721, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2620, d1.loss_map_pts: 1.2338, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2440, d2.loss_map_pts: 1.0627, d2.loss_map_dir: 0.0119, d3.loss_map_cls: 0.2335, d3.loss_map_pts: 1.0064, d3.loss_map_dir: 0.0124, d4.loss_map_cls: 0.2288, d4.loss_map_pts: 0.9865, d4.loss_map_dir: 0.0128, d5.loss_map_cls: 0.2251, d5.loss_map_pts: 0.9773, d5.loss_map_dir: 0.0129, loss: 35.7268, grad_norm: 157.7862 +2026-02-25 16:16:49,710 - DriveTransformer - INFO - Epoch [5][11850/39528] lr: 9.337e-05, eta: 7 days, 6:04:39, time: 0.830, data_time: 0.050, memory: 19865, loss_cls: 0.2312, loss_bbox: 0.3967, loss_traj: 0.7149, loss_traj_cls: 0.0010, loss_map_cls: 0.2032, loss_map_pts: 0.9131, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.2485, d0.loss_plan_l1_fix_dist: 0.3841, d1.loss_plan_l1_fix_time: 1.1837, d1.loss_plan_l1_fix_dist: 0.1949, d2.loss_plan_l1_fix_time: 1.1777, d2.loss_plan_l1_fix_dist: 0.2025, d3.loss_plan_l1_fix_time: 1.1869, d3.loss_plan_l1_fix_dist: 0.2134, d4.loss_plan_l1_fix_time: 1.1930, d4.loss_plan_l1_fix_dist: 0.2266, d5.loss_plan_l1_fix_time: 1.1989, d5.loss_plan_l1_fix_dist: 0.2408, d6.loss_plan_l1_fix_time: 1.2041, d6.loss_plan_l1_fix_dist: 0.2548, d0.loss_cls_all: 0.2475, d0.loss_bbox_all: 0.4510, d0.loss_cls: 0.2475, d0.loss_bbox: 0.4510, d1.loss_cls: 0.2483, d1.loss_bbox: 0.4191, d2.loss_cls: 0.2370, d2.loss_bbox: 0.4040, d3.loss_cls: 0.2347, d3.loss_bbox: 0.3965, d4.loss_cls: 0.2313, d4.loss_bbox: 0.3946, d5.loss_cls: 0.2309, d5.loss_bbox: 0.3944, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9213, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7517, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7104, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7095, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7040, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7079, d0.loss_map_cls_all: 0.2612, d0.loss_map_pts_all: 1.7884, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2612, d0.loss_map_pts: 1.7884, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2419, d1.loss_map_pts: 1.1767, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2259, d2.loss_map_pts: 0.9980, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.2148, d3.loss_map_pts: 0.9398, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.2067, d4.loss_map_pts: 0.9188, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.2027, d5.loss_map_pts: 0.9133, d5.loss_map_dir: 0.0124, loss: 32.9015, grad_norm: 161.4198 +2026-02-25 16:17:29,823 - DriveTransformer - INFO - Epoch [5][11900/39528] lr: 9.337e-05, eta: 7 days, 6:03:58, time: 0.802, data_time: 0.040, memory: 19865, loss_cls: 0.2223, loss_bbox: 0.4056, loss_traj: 0.7925, loss_traj_cls: 0.0010, loss_map_cls: 0.1969, loss_map_pts: 0.8157, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.6389, d0.loss_plan_l1_fix_dist: 0.4101, d1.loss_plan_l1_fix_time: 1.2204, d1.loss_plan_l1_fix_dist: 0.2128, d2.loss_plan_l1_fix_time: 1.2078, d2.loss_plan_l1_fix_dist: 0.2209, d3.loss_plan_l1_fix_time: 1.2072, d3.loss_plan_l1_fix_dist: 0.2346, d4.loss_plan_l1_fix_time: 1.2104, d4.loss_plan_l1_fix_dist: 0.2497, d5.loss_plan_l1_fix_time: 1.2145, d5.loss_plan_l1_fix_dist: 0.2682, d6.loss_plan_l1_fix_time: 1.2191, d6.loss_plan_l1_fix_dist: 0.2936, d0.loss_cls_all: 0.2489, d0.loss_bbox_all: 0.4680, d0.loss_cls: 0.2489, d0.loss_bbox: 0.4680, d1.loss_cls: 0.2389, d1.loss_bbox: 0.4349, d2.loss_cls: 0.2288, d2.loss_bbox: 0.4183, d3.loss_cls: 0.2248, d3.loss_bbox: 0.4107, d4.loss_cls: 0.2216, d4.loss_bbox: 0.4082, d5.loss_cls: 0.2202, d5.loss_bbox: 0.4075, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0028, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8588, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8100, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8024, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7939, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7947, d0.loss_map_cls_all: 0.2665, d0.loss_map_pts_all: 1.6216, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2665, d0.loss_map_pts: 1.6216, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2350, d1.loss_map_pts: 1.0771, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2138, d2.loss_map_pts: 0.9038, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.2037, d3.loss_map_pts: 0.8478, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.1998, d4.loss_map_pts: 0.8238, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1974, d5.loss_map_pts: 0.8177, d5.loss_map_dir: 0.0118, loss: 33.3435, grad_norm: 161.9630 +2026-02-25 16:18:12,991 - DriveTransformer - INFO - Epoch [5][11950/39528] lr: 9.337e-05, eta: 7 days, 6:03:31, time: 0.863, data_time: 0.043, memory: 19865, loss_cls: 0.2030, loss_bbox: 0.4178, loss_traj: 0.7006, loss_traj_cls: 0.0010, loss_map_cls: 0.1927, loss_map_pts: 0.9055, loss_map_dir: 0.0138, d0.loss_plan_l1_fix_time: 2.1684, d0.loss_plan_l1_fix_dist: 0.4716, d1.loss_plan_l1_fix_time: 1.1779, d1.loss_plan_l1_fix_dist: 0.2266, d2.loss_plan_l1_fix_time: 1.1605, d2.loss_plan_l1_fix_dist: 0.2290, d3.loss_plan_l1_fix_time: 1.1615, d3.loss_plan_l1_fix_dist: 0.2372, d4.loss_plan_l1_fix_time: 1.1647, d4.loss_plan_l1_fix_dist: 0.2482, d5.loss_plan_l1_fix_time: 1.1689, d5.loss_plan_l1_fix_dist: 0.2589, d6.loss_plan_l1_fix_time: 1.1741, d6.loss_plan_l1_fix_dist: 0.2688, d0.loss_cls_all: 0.2231, d0.loss_bbox_all: 0.4735, d0.loss_cls: 0.2231, d0.loss_bbox: 0.4735, d1.loss_cls: 0.2160, d1.loss_bbox: 0.4466, d2.loss_cls: 0.2076, d2.loss_bbox: 0.4301, d3.loss_cls: 0.2047, d3.loss_bbox: 0.4219, d4.loss_cls: 0.2004, d4.loss_bbox: 0.4181, d5.loss_cls: 0.2024, d5.loss_bbox: 0.4165, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8734, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7444, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7151, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6952, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6987, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6983, d0.loss_map_cls_all: 0.2670, d0.loss_map_pts_all: 1.8780, d0.loss_map_dir_all: 0.0129, d0.loss_map_cls: 0.2670, d0.loss_map_pts: 1.8780, d0.loss_map_dir: 0.0129, d1.loss_map_cls: 0.2331, d1.loss_map_pts: 1.1894, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2168, d2.loss_map_pts: 1.0003, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2034, d3.loss_map_pts: 0.9401, d3.loss_map_dir: 0.0132, d4.loss_map_cls: 0.1933, d4.loss_map_pts: 0.9178, d4.loss_map_dir: 0.0136, d5.loss_map_cls: 0.1919, d5.loss_map_pts: 0.9117, d5.loss_map_dir: 0.0137, loss: 32.9179, grad_norm: 158.9386 +2026-02-25 16:18:52,894 - DriveTransformer - INFO - Epoch [5][12000/39528] lr: 9.337e-05, eta: 7 days, 6:02:50, time: 0.799, data_time: 0.053, memory: 19865, loss_cls: 0.2340, loss_bbox: 0.4189, loss_traj: 1.0034, loss_traj_cls: 0.0009, loss_map_cls: 0.2162, loss_map_pts: 0.9012, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.9661, d0.loss_plan_l1_fix_dist: 0.3883, d1.loss_plan_l1_fix_time: 1.7299, d1.loss_plan_l1_fix_dist: 0.2045, d2.loss_plan_l1_fix_time: 1.7040, d2.loss_plan_l1_fix_dist: 0.2072, d3.loss_plan_l1_fix_time: 1.7001, d3.loss_plan_l1_fix_dist: 0.2138, d4.loss_plan_l1_fix_time: 1.7019, d4.loss_plan_l1_fix_dist: 0.2222, d5.loss_plan_l1_fix_time: 1.7043, d5.loss_plan_l1_fix_dist: 0.2314, d6.loss_plan_l1_fix_time: 1.7078, d6.loss_plan_l1_fix_dist: 0.2386, d0.loss_cls_all: 0.2564, d0.loss_bbox_all: 0.4690, d0.loss_cls: 0.2564, d0.loss_bbox: 0.4690, d1.loss_cls: 0.2502, d1.loss_bbox: 0.4365, d2.loss_cls: 0.2413, d2.loss_bbox: 0.4218, d3.loss_cls: 0.2385, d3.loss_bbox: 0.4165, d4.loss_cls: 0.2336, d4.loss_bbox: 0.4155, d5.loss_cls: 0.2335, d5.loss_bbox: 0.4164, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3424, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0730, d2.loss_traj_cls: 0.0015, d2.loss_traj: 1.0142, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9999, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0045, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9962, d0.loss_map_cls_all: 0.2901, d0.loss_map_pts_all: 1.6908, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2901, d0.loss_map_pts: 1.6908, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2587, d1.loss_map_pts: 1.1617, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2353, d2.loss_map_pts: 0.9952, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.2235, d3.loss_map_pts: 0.9361, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.2174, d4.loss_map_pts: 0.9081, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.2146, d5.loss_map_pts: 0.9025, d5.loss_map_dir: 0.0122, loss: 38.9946, grad_norm: 156.7146 +2026-02-25 16:19:34,616 - DriveTransformer - INFO - Epoch [5][12050/39528] lr: 9.337e-05, eta: 7 days, 6:02:16, time: 0.834, data_time: 0.049, memory: 19865, loss_cls: 0.2284, loss_bbox: 0.4148, loss_traj: 0.7118, loss_traj_cls: 0.0009, loss_map_cls: 0.2269, loss_map_pts: 0.8950, loss_map_dir: 0.0131, d0.loss_plan_l1_fix_time: 2.8991, d0.loss_plan_l1_fix_dist: 0.3493, d1.loss_plan_l1_fix_time: 1.5507, d1.loss_plan_l1_fix_dist: 0.2129, d2.loss_plan_l1_fix_time: 1.5320, d2.loss_plan_l1_fix_dist: 0.2201, d3.loss_plan_l1_fix_time: 1.5271, d3.loss_plan_l1_fix_dist: 0.2301, d4.loss_plan_l1_fix_time: 1.5292, d4.loss_plan_l1_fix_dist: 0.2417, d5.loss_plan_l1_fix_time: 1.5323, d5.loss_plan_l1_fix_dist: 0.2558, d6.loss_plan_l1_fix_time: 1.5359, d6.loss_plan_l1_fix_dist: 0.2725, d0.loss_cls_all: 0.2663, d0.loss_bbox_all: 0.4690, d0.loss_cls: 0.2663, d0.loss_bbox: 0.4690, d1.loss_cls: 0.2639, d1.loss_bbox: 0.4356, d2.loss_cls: 0.2395, d2.loss_bbox: 0.4207, d3.loss_cls: 0.2319, d3.loss_bbox: 0.4129, d4.loss_cls: 0.2265, d4.loss_bbox: 0.4132, d5.loss_cls: 0.2263, d5.loss_bbox: 0.4143, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8671, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7698, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7365, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7182, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7168, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7104, d0.loss_map_cls_all: 0.2976, d0.loss_map_pts_all: 1.6837, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2976, d0.loss_map_pts: 1.6837, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2651, d1.loss_map_pts: 1.1555, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2473, d2.loss_map_pts: 0.9851, d2.loss_map_dir: 0.0122, d3.loss_map_cls: 0.2348, d3.loss_map_pts: 0.9264, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.2310, d4.loss_map_pts: 0.9004, d4.loss_map_dir: 0.0131, d5.loss_map_cls: 0.2275, d5.loss_map_pts: 0.8944, d5.loss_map_dir: 0.0130, loss: 35.7760, grad_norm: 157.4048 +2026-02-25 16:20:14,147 - DriveTransformer - INFO - Epoch [5][12100/39528] lr: 9.337e-05, eta: 7 days, 6:01:33, time: 0.790, data_time: 0.055, memory: 19865, loss_cls: 0.2426, loss_bbox: 0.4189, loss_traj: 0.7871, loss_traj_cls: 0.0009, loss_map_cls: 0.2089, loss_map_pts: 0.8569, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.5802, d0.loss_plan_l1_fix_dist: 0.4175, d1.loss_plan_l1_fix_time: 1.2432, d1.loss_plan_l1_fix_dist: 0.1918, d2.loss_plan_l1_fix_time: 1.2228, d2.loss_plan_l1_fix_dist: 0.1948, d3.loss_plan_l1_fix_time: 1.2200, d3.loss_plan_l1_fix_dist: 0.2027, d4.loss_plan_l1_fix_time: 1.2230, d4.loss_plan_l1_fix_dist: 0.2119, d5.loss_plan_l1_fix_time: 1.2270, d5.loss_plan_l1_fix_dist: 0.2235, d6.loss_plan_l1_fix_time: 1.2315, d6.loss_plan_l1_fix_dist: 0.2397, d0.loss_cls_all: 0.2604, d0.loss_bbox_all: 0.4748, d0.loss_cls: 0.2604, d0.loss_bbox: 0.4748, d1.loss_cls: 0.2599, d1.loss_bbox: 0.4419, d2.loss_cls: 0.2470, d2.loss_bbox: 0.4255, d3.loss_cls: 0.2406, d3.loss_bbox: 0.4219, d4.loss_cls: 0.2388, d4.loss_bbox: 0.4197, d5.loss_cls: 0.2406, d5.loss_bbox: 0.4197, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9496, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8192, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7969, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7784, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7847, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7816, d0.loss_map_cls_all: 0.2840, d0.loss_map_pts_all: 1.5410, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2840, d0.loss_map_pts: 1.5410, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2464, d1.loss_map_pts: 1.0994, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.2257, d2.loss_map_pts: 0.9464, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.2168, d3.loss_map_pts: 0.8888, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.2121, d4.loss_map_pts: 0.8654, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.2093, d5.loss_map_pts: 0.8605, d5.loss_map_dir: 0.0106, loss: 33.3877, grad_norm: 158.3872 +2026-02-25 16:20:56,796 - DriveTransformer - INFO - Epoch [5][12150/39528] lr: 9.337e-05, eta: 7 days, 6:01:03, time: 0.853, data_time: 0.043, memory: 19865, loss_cls: 0.2725, loss_bbox: 0.4777, loss_traj: 0.7572, loss_traj_cls: 0.0009, loss_map_cls: 0.2303, loss_map_pts: 1.0302, loss_map_dir: 0.0155, d0.loss_plan_l1_fix_time: 2.5990, d0.loss_plan_l1_fix_dist: 0.4564, d1.loss_plan_l1_fix_time: 1.2980, d1.loss_plan_l1_fix_dist: 0.2458, d2.loss_plan_l1_fix_time: 1.2804, d2.loss_plan_l1_fix_dist: 0.2502, d3.loss_plan_l1_fix_time: 1.2810, d3.loss_plan_l1_fix_dist: 0.2593, d4.loss_plan_l1_fix_time: 1.2847, d4.loss_plan_l1_fix_dist: 0.2700, d5.loss_plan_l1_fix_time: 1.2888, d5.loss_plan_l1_fix_dist: 0.2818, d6.loss_plan_l1_fix_time: 1.2938, d6.loss_plan_l1_fix_dist: 0.2939, d0.loss_cls_all: 0.2898, d0.loss_bbox_all: 0.5435, d0.loss_cls: 0.2898, d0.loss_bbox: 0.5435, d1.loss_cls: 0.2846, d1.loss_bbox: 0.5077, d2.loss_cls: 0.2768, d2.loss_bbox: 0.4883, d3.loss_cls: 0.2725, d3.loss_bbox: 0.4779, d4.loss_cls: 0.2694, d4.loss_bbox: 0.4763, d5.loss_cls: 0.2713, d5.loss_bbox: 0.4769, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9646, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8081, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7665, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7583, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7605, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7585, d0.loss_map_cls_all: 0.2930, d0.loss_map_pts_all: 1.9333, d0.loss_map_dir_all: 0.0136, d0.loss_map_cls: 0.2930, d0.loss_map_pts: 1.9333, d0.loss_map_dir: 0.0136, d1.loss_map_cls: 0.2653, d1.loss_map_pts: 1.3463, d1.loss_map_dir: 0.0138, d2.loss_map_cls: 0.2515, d2.loss_map_pts: 1.1538, d2.loss_map_dir: 0.0142, d3.loss_map_cls: 0.2404, d3.loss_map_pts: 1.0778, d3.loss_map_dir: 0.0148, d4.loss_map_cls: 0.2345, d4.loss_map_pts: 1.0442, d4.loss_map_dir: 0.0152, d5.loss_map_cls: 0.2304, d5.loss_map_pts: 1.0349, d5.loss_map_dir: 0.0154, loss: 36.8898, grad_norm: 157.3523 +2026-02-25 16:21:38,154 - DriveTransformer - INFO - Epoch [5][12200/39528] lr: 9.337e-05, eta: 7 days, 6:00:28, time: 0.827, data_time: 0.040, memory: 19865, loss_cls: 0.2376, loss_bbox: 0.4257, loss_traj: 0.7360, loss_traj_cls: 0.0009, loss_map_cls: 0.1990, loss_map_pts: 0.9230, loss_map_dir: 0.0156, d0.loss_plan_l1_fix_time: 2.7190, d0.loss_plan_l1_fix_dist: 0.4268, d1.loss_plan_l1_fix_time: 1.1553, d1.loss_plan_l1_fix_dist: 0.2323, d2.loss_plan_l1_fix_time: 1.1400, d2.loss_plan_l1_fix_dist: 0.2380, d3.loss_plan_l1_fix_time: 1.1406, d3.loss_plan_l1_fix_dist: 0.2492, d4.loss_plan_l1_fix_time: 1.1439, d4.loss_plan_l1_fix_dist: 0.2627, d5.loss_plan_l1_fix_time: 1.1475, d5.loss_plan_l1_fix_dist: 0.2785, d6.loss_plan_l1_fix_time: 1.1525, d6.loss_plan_l1_fix_dist: 0.2940, d0.loss_cls_all: 0.2557, d0.loss_bbox_all: 0.4881, d0.loss_cls: 0.2557, d0.loss_bbox: 0.4881, d1.loss_cls: 0.2512, d1.loss_bbox: 0.4526, d2.loss_cls: 0.2434, d2.loss_bbox: 0.4347, d3.loss_cls: 0.2378, d3.loss_bbox: 0.4281, d4.loss_cls: 0.2358, d4.loss_bbox: 0.4244, d5.loss_cls: 0.2370, d5.loss_bbox: 0.4240, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9905, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7980, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7483, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7440, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7405, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7353, d0.loss_map_cls_all: 0.2624, d0.loss_map_pts_all: 1.8347, d0.loss_map_dir_all: 0.0149, d0.loss_map_cls: 0.2624, d0.loss_map_pts: 1.8347, d0.loss_map_dir: 0.0149, d1.loss_map_cls: 0.2332, d1.loss_map_pts: 1.1893, d1.loss_map_dir: 0.0143, d2.loss_map_cls: 0.2185, d2.loss_map_pts: 1.0139, d2.loss_map_dir: 0.0147, d3.loss_map_cls: 0.2078, d3.loss_map_pts: 0.9561, d3.loss_map_dir: 0.0152, d4.loss_map_cls: 0.2031, d4.loss_map_pts: 0.9267, d4.loss_map_dir: 0.0155, d5.loss_map_cls: 0.1998, d5.loss_map_pts: 0.9230, d5.loss_map_dir: 0.0156, loss: 34.1080, grad_norm: 160.0569 +2026-02-25 16:22:19,473 - DriveTransformer - INFO - Epoch [5][12250/39528] lr: 9.337e-05, eta: 7 days, 5:59:53, time: 0.826, data_time: 0.042, memory: 19865, loss_cls: 0.2359, loss_bbox: 0.4098, loss_traj: 0.7008, loss_traj_cls: 0.0009, loss_map_cls: 0.2561, loss_map_pts: 1.0311, loss_map_dir: 0.0151, d0.loss_plan_l1_fix_time: 2.5851, d0.loss_plan_l1_fix_dist: 0.3262, d1.loss_plan_l1_fix_time: 1.3330, d1.loss_plan_l1_fix_dist: 0.1902, d2.loss_plan_l1_fix_time: 1.3250, d2.loss_plan_l1_fix_dist: 0.1994, d3.loss_plan_l1_fix_time: 1.3265, d3.loss_plan_l1_fix_dist: 0.2138, d4.loss_plan_l1_fix_time: 1.3298, d4.loss_plan_l1_fix_dist: 0.2296, d5.loss_plan_l1_fix_time: 1.3338, d5.loss_plan_l1_fix_dist: 0.2454, d6.loss_plan_l1_fix_time: 1.3382, d6.loss_plan_l1_fix_dist: 0.2632, d0.loss_cls_all: 0.2629, d0.loss_bbox_all: 0.4713, d0.loss_cls: 0.2629, d0.loss_bbox: 0.4713, d1.loss_cls: 0.2582, d1.loss_bbox: 0.4334, d2.loss_cls: 0.2462, d2.loss_bbox: 0.4172, d3.loss_cls: 0.2391, d3.loss_bbox: 0.4132, d4.loss_cls: 0.2340, d4.loss_bbox: 0.4100, d5.loss_cls: 0.2339, d5.loss_bbox: 0.4092, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8612, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7444, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7241, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7096, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7029, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6998, d0.loss_map_cls_all: 0.3275, d0.loss_map_pts_all: 1.8914, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.3275, d0.loss_map_pts: 1.8914, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.2974, d1.loss_map_pts: 1.2970, d1.loss_map_dir: 0.0135, d2.loss_map_cls: 0.2726, d2.loss_map_pts: 1.1242, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2626, d3.loss_map_pts: 1.0623, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2599, d4.loss_map_pts: 1.0388, d4.loss_map_dir: 0.0149, d5.loss_map_cls: 0.2558, d5.loss_map_pts: 1.0336, d5.loss_map_dir: 0.0150, loss: 35.5400, grad_norm: 160.0396 +2026-02-25 16:23:02,993 - DriveTransformer - INFO - Epoch [5][12300/39528] lr: 9.337e-05, eta: 7 days, 5:59:28, time: 0.870, data_time: 0.042, memory: 19865, loss_cls: 0.2312, loss_bbox: 0.4085, loss_traj: 0.6182, loss_traj_cls: 0.0009, loss_map_cls: 0.1961, loss_map_pts: 0.9063, loss_map_dir: 0.0150, d0.loss_plan_l1_fix_time: 2.8930, d0.loss_plan_l1_fix_dist: 0.3459, d1.loss_plan_l1_fix_time: 1.5018, d1.loss_plan_l1_fix_dist: 0.2245, d2.loss_plan_l1_fix_time: 1.4806, d2.loss_plan_l1_fix_dist: 0.2401, d3.loss_plan_l1_fix_time: 1.4795, d3.loss_plan_l1_fix_dist: 0.2616, d4.loss_plan_l1_fix_time: 1.4817, d4.loss_plan_l1_fix_dist: 0.2840, d5.loss_plan_l1_fix_time: 1.4843, d5.loss_plan_l1_fix_dist: 0.3076, d6.loss_plan_l1_fix_time: 1.4870, d6.loss_plan_l1_fix_dist: 0.3330, d0.loss_cls_all: 0.2596, d0.loss_bbox_all: 0.4550, d0.loss_cls: 0.2596, d0.loss_bbox: 0.4550, d1.loss_cls: 0.2533, d1.loss_bbox: 0.4265, d2.loss_cls: 0.2386, d2.loss_bbox: 0.4146, d3.loss_cls: 0.2325, d3.loss_bbox: 0.4097, d4.loss_cls: 0.2309, d4.loss_bbox: 0.4069, d5.loss_cls: 0.2301, d5.loss_bbox: 0.4075, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7726, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.6757, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6293, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6219, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6174, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6177, d0.loss_map_cls_all: 0.2669, d0.loss_map_pts_all: 1.9049, d0.loss_map_dir_all: 0.0139, d0.loss_map_cls: 0.2669, d0.loss_map_pts: 1.9049, d0.loss_map_dir: 0.0139, d1.loss_map_cls: 0.2344, d1.loss_map_pts: 1.1939, d1.loss_map_dir: 0.0134, d2.loss_map_cls: 0.2141, d2.loss_map_pts: 1.0003, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2071, d3.loss_map_pts: 0.9338, d3.loss_map_dir: 0.0143, d4.loss_map_cls: 0.2005, d4.loss_map_pts: 0.9124, d4.loss_map_dir: 0.0147, d5.loss_map_cls: 0.1966, d5.loss_map_pts: 0.9070, d5.loss_map_dir: 0.0149, loss: 35.2432, grad_norm: 162.1432 +2026-02-25 16:23:42,484 - DriveTransformer - INFO - Epoch [5][12350/39528] lr: 9.337e-05, eta: 7 days, 5:58:44, time: 0.790, data_time: 0.041, memory: 19865, loss_cls: 0.2023, loss_bbox: 0.3892, loss_traj: 0.9581, loss_traj_cls: 0.0010, loss_map_cls: 0.2089, loss_map_pts: 0.7631, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.8056, d0.loss_plan_l1_fix_dist: 0.4395, d1.loss_plan_l1_fix_time: 1.3234, d1.loss_plan_l1_fix_dist: 0.2230, d2.loss_plan_l1_fix_time: 1.2968, d2.loss_plan_l1_fix_dist: 0.2312, d3.loss_plan_l1_fix_time: 1.2930, d3.loss_plan_l1_fix_dist: 0.2446, d4.loss_plan_l1_fix_time: 1.2944, d4.loss_plan_l1_fix_dist: 0.2610, d5.loss_plan_l1_fix_time: 1.2965, d5.loss_plan_l1_fix_dist: 0.2791, d6.loss_plan_l1_fix_time: 1.2995, d6.loss_plan_l1_fix_dist: 0.2983, d0.loss_cls_all: 0.2246, d0.loss_bbox_all: 0.4415, d0.loss_cls: 0.2246, d0.loss_bbox: 0.4415, d1.loss_cls: 0.2190, d1.loss_bbox: 0.4145, d2.loss_cls: 0.2101, d2.loss_bbox: 0.3973, d3.loss_cls: 0.2045, d3.loss_bbox: 0.3927, d4.loss_cls: 0.2033, d4.loss_bbox: 0.3876, d5.loss_cls: 0.2026, d5.loss_bbox: 0.3878, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2082, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0277, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9839, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.9640, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9603, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9578, d0.loss_map_cls_all: 0.2672, d0.loss_map_pts_all: 1.4820, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2672, d0.loss_map_pts: 1.4820, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2341, d1.loss_map_pts: 1.0076, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.2210, d2.loss_map_pts: 0.8494, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.2143, d3.loss_map_pts: 0.7907, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.2110, d4.loss_map_pts: 0.7705, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.2093, d5.loss_map_pts: 0.7645, d5.loss_map_dir: 0.0096, loss: 34.4126, grad_norm: 161.7741 +2026-02-25 16:24:21,876 - DriveTransformer - INFO - Epoch [5][12400/39528] lr: 9.337e-05, eta: 7 days, 5:58:00, time: 0.788, data_time: 0.045, memory: 19865, loss_cls: 0.2407, loss_bbox: 0.4097, loss_traj: 0.7757, loss_traj_cls: 0.0010, loss_map_cls: 0.2248, loss_map_pts: 0.9513, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.6926, d0.loss_plan_l1_fix_dist: 0.3288, d1.loss_plan_l1_fix_time: 1.3748, d1.loss_plan_l1_fix_dist: 0.2093, d2.loss_plan_l1_fix_time: 1.3583, d2.loss_plan_l1_fix_dist: 0.2242, d3.loss_plan_l1_fix_time: 1.3575, d3.loss_plan_l1_fix_dist: 0.2427, d4.loss_plan_l1_fix_time: 1.3593, d4.loss_plan_l1_fix_dist: 0.2638, d5.loss_plan_l1_fix_time: 1.3618, d5.loss_plan_l1_fix_dist: 0.2852, d6.loss_plan_l1_fix_time: 1.3652, d6.loss_plan_l1_fix_dist: 0.3072, d0.loss_cls_all: 0.2666, d0.loss_bbox_all: 0.4647, d0.loss_cls: 0.2666, d0.loss_bbox: 0.4647, d1.loss_cls: 0.2540, d1.loss_bbox: 0.4346, d2.loss_cls: 0.2474, d2.loss_bbox: 0.4156, d3.loss_cls: 0.2428, d3.loss_bbox: 0.4100, d4.loss_cls: 0.2398, d4.loss_bbox: 0.4087, d5.loss_cls: 0.2397, d5.loss_bbox: 0.4092, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9704, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8114, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7891, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7823, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7792, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7746, d0.loss_map_cls_all: 0.2816, d0.loss_map_pts_all: 1.6976, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2816, d0.loss_map_pts: 1.6976, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2601, d1.loss_map_pts: 1.1934, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2440, d2.loss_map_pts: 1.0330, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2358, d3.loss_map_pts: 0.9794, d3.loss_map_dir: 0.0125, d4.loss_map_cls: 0.2276, d4.loss_map_pts: 0.9610, d4.loss_map_dir: 0.0129, d5.loss_map_cls: 0.2250, d5.loss_map_pts: 0.9540, d5.loss_map_dir: 0.0129, loss: 35.3817, grad_norm: 161.5902 +2026-02-25 16:25:03,771 - DriveTransformer - INFO - Epoch [5][12450/39528] lr: 9.337e-05, eta: 7 days, 5:57:27, time: 0.838, data_time: 0.043, memory: 19865, loss_cls: 0.2354, loss_bbox: 0.4139, loss_traj: 0.7199, loss_traj_cls: 0.0010, loss_map_cls: 0.1979, loss_map_pts: 0.8693, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.3968, d0.loss_plan_l1_fix_dist: 0.3770, d1.loss_plan_l1_fix_time: 1.2243, d1.loss_plan_l1_fix_dist: 0.2109, d2.loss_plan_l1_fix_time: 1.2089, d2.loss_plan_l1_fix_dist: 0.2221, d3.loss_plan_l1_fix_time: 1.2055, d3.loss_plan_l1_fix_dist: 0.2401, d4.loss_plan_l1_fix_time: 1.2087, d4.loss_plan_l1_fix_dist: 0.2593, d5.loss_plan_l1_fix_time: 1.2126, d5.loss_plan_l1_fix_dist: 0.2808, d6.loss_plan_l1_fix_time: 1.2164, d6.loss_plan_l1_fix_dist: 0.3035, d0.loss_cls_all: 0.2499, d0.loss_bbox_all: 0.4735, d0.loss_cls: 0.2499, d0.loss_bbox: 0.4735, d1.loss_cls: 0.2473, d1.loss_bbox: 0.4419, d2.loss_cls: 0.2361, d2.loss_bbox: 0.4270, d3.loss_cls: 0.2340, d3.loss_bbox: 0.4189, d4.loss_cls: 0.2336, d4.loss_bbox: 0.4156, d5.loss_cls: 0.2338, d5.loss_bbox: 0.4140, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9138, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7707, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7256, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7162, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7188, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7188, d0.loss_map_cls_all: 0.2492, d0.loss_map_pts_all: 1.6439, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2492, d0.loss_map_pts: 1.6439, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2290, d1.loss_map_pts: 1.1194, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2129, d2.loss_map_pts: 0.9577, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2071, d3.loss_map_pts: 0.8973, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.2009, d4.loss_map_pts: 0.8794, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.1994, d5.loss_map_pts: 0.8704, d5.loss_map_dir: 0.0121, loss: 32.9756, grad_norm: 160.4526 +2026-02-25 16:25:45,857 - DriveTransformer - INFO - Epoch [5][12500/39528] lr: 9.337e-05, eta: 7 days, 5:56:55, time: 0.842, data_time: 0.043, memory: 19865, loss_cls: 0.2254, loss_bbox: 0.3961, loss_traj: 0.7154, loss_traj_cls: 0.0010, loss_map_cls: 0.2009, loss_map_pts: 0.9396, loss_map_dir: 0.0141, d0.loss_plan_l1_fix_time: 2.6174, d0.loss_plan_l1_fix_dist: 0.4079, d1.loss_plan_l1_fix_time: 1.1900, d1.loss_plan_l1_fix_dist: 0.2108, d2.loss_plan_l1_fix_time: 1.1669, d2.loss_plan_l1_fix_dist: 0.2193, d3.loss_plan_l1_fix_time: 1.1705, d3.loss_plan_l1_fix_dist: 0.2328, d4.loss_plan_l1_fix_time: 1.1737, d4.loss_plan_l1_fix_dist: 0.2489, d5.loss_plan_l1_fix_time: 1.1771, d5.loss_plan_l1_fix_dist: 0.2673, d6.loss_plan_l1_fix_time: 1.1808, d6.loss_plan_l1_fix_dist: 0.2883, d0.loss_cls_all: 0.2552, d0.loss_bbox_all: 0.4468, d0.loss_cls: 0.2552, d0.loss_bbox: 0.4468, d1.loss_cls: 0.2454, d1.loss_bbox: 0.4224, d2.loss_cls: 0.2338, d2.loss_bbox: 0.4066, d3.loss_cls: 0.2264, d3.loss_bbox: 0.4020, d4.loss_cls: 0.2252, d4.loss_bbox: 0.3980, d5.loss_cls: 0.2254, d5.loss_bbox: 0.3965, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8922, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7674, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7377, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7264, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7187, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7180, d0.loss_map_cls_all: 0.2537, d0.loss_map_pts_all: 1.8660, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.2537, d0.loss_map_pts: 1.8660, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2312, d1.loss_map_pts: 1.2338, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2186, d2.loss_map_pts: 1.0488, d2.loss_map_dir: 0.0130, d3.loss_map_cls: 0.2102, d3.loss_map_pts: 0.9797, d3.loss_map_dir: 0.0135, d4.loss_map_cls: 0.2024, d4.loss_map_pts: 0.9525, d4.loss_map_dir: 0.0139, d5.loss_map_cls: 0.2016, d5.loss_map_pts: 0.9417, d5.loss_map_dir: 0.0140, loss: 33.7471, grad_norm: 160.6355 +2026-02-25 16:26:28,343 - DriveTransformer - INFO - Epoch [5][12550/39528] lr: 9.337e-05, eta: 7 days, 5:56:25, time: 0.850, data_time: 0.040, memory: 19865, loss_cls: 0.2289, loss_bbox: 0.4394, loss_traj: 0.7341, loss_traj_cls: 0.0010, loss_map_cls: 0.2251, loss_map_pts: 1.0650, loss_map_dir: 0.0161, d0.loss_plan_l1_fix_time: 2.9232, d0.loss_plan_l1_fix_dist: 0.3753, d1.loss_plan_l1_fix_time: 1.2652, d1.loss_plan_l1_fix_dist: 0.2055, d2.loss_plan_l1_fix_time: 1.2426, d2.loss_plan_l1_fix_dist: 0.2180, d3.loss_plan_l1_fix_time: 1.2438, d3.loss_plan_l1_fix_dist: 0.2349, d4.loss_plan_l1_fix_time: 1.2482, d4.loss_plan_l1_fix_dist: 0.2558, d5.loss_plan_l1_fix_time: 1.2532, d5.loss_plan_l1_fix_dist: 0.2752, d6.loss_plan_l1_fix_time: 1.2593, d6.loss_plan_l1_fix_dist: 0.2958, d0.loss_cls_all: 0.2651, d0.loss_bbox_all: 0.4846, d0.loss_cls: 0.2651, d0.loss_bbox: 0.4846, d1.loss_cls: 0.2512, d1.loss_bbox: 0.4566, d2.loss_cls: 0.2384, d2.loss_bbox: 0.4461, d3.loss_cls: 0.2326, d3.loss_bbox: 0.4402, d4.loss_cls: 0.2290, d4.loss_bbox: 0.4394, d5.loss_cls: 0.2287, d5.loss_bbox: 0.4382, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9386, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8068, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7571, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7305, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7305, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7317, d0.loss_map_cls_all: 0.2866, d0.loss_map_pts_all: 2.0664, d0.loss_map_dir_all: 0.0145, d0.loss_map_cls: 0.2866, d0.loss_map_pts: 2.0664, d0.loss_map_dir: 0.0145, d1.loss_map_cls: 0.2601, d1.loss_map_pts: 1.3873, d1.loss_map_dir: 0.0145, d2.loss_map_cls: 0.2425, d2.loss_map_pts: 1.1890, d2.loss_map_dir: 0.0150, d3.loss_map_cls: 0.2374, d3.loss_map_pts: 1.1080, d3.loss_map_dir: 0.0156, d4.loss_map_cls: 0.2308, d4.loss_map_pts: 1.0758, d4.loss_map_dir: 0.0160, d5.loss_map_cls: 0.2264, d5.loss_map_pts: 1.0671, d5.loss_map_dir: 0.0160, loss: 36.4431, grad_norm: 161.9751 +2026-02-25 16:27:09,280 - DriveTransformer - INFO - Epoch [5][12600/39528] lr: 9.337e-05, eta: 7 days, 5:55:48, time: 0.819, data_time: 0.045, memory: 19865, loss_cls: 0.2256, loss_bbox: 0.4271, loss_traj: 0.7198, loss_traj_cls: 0.0010, loss_map_cls: 0.2385, loss_map_pts: 0.9426, loss_map_dir: 0.0131, d0.loss_plan_l1_fix_time: 2.7596, d0.loss_plan_l1_fix_dist: 0.3509, d1.loss_plan_l1_fix_time: 1.3219, d1.loss_plan_l1_fix_dist: 0.1970, d2.loss_plan_l1_fix_time: 1.3071, d2.loss_plan_l1_fix_dist: 0.2075, d3.loss_plan_l1_fix_time: 1.3047, d3.loss_plan_l1_fix_dist: 0.2220, d4.loss_plan_l1_fix_time: 1.3076, d4.loss_plan_l1_fix_dist: 0.2385, d5.loss_plan_l1_fix_time: 1.3116, d5.loss_plan_l1_fix_dist: 0.2576, d6.loss_plan_l1_fix_time: 1.3165, d6.loss_plan_l1_fix_dist: 0.2781, d0.loss_cls_all: 0.2583, d0.loss_bbox_all: 0.4837, d0.loss_cls: 0.2583, d0.loss_bbox: 0.4837, d1.loss_cls: 0.2496, d1.loss_bbox: 0.4514, d2.loss_cls: 0.2361, d2.loss_bbox: 0.4340, d3.loss_cls: 0.2282, d3.loss_bbox: 0.4307, d4.loss_cls: 0.2253, d4.loss_bbox: 0.4273, d5.loss_cls: 0.2253, d5.loss_bbox: 0.4259, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8737, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7666, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7316, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7201, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7156, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7177, d0.loss_map_cls_all: 0.2942, d0.loss_map_pts_all: 1.7739, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2942, d0.loss_map_pts: 1.7739, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2715, d1.loss_map_pts: 1.2322, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2530, d2.loss_map_pts: 1.0484, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.2455, d3.loss_map_pts: 0.9787, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2396, d4.loss_map_pts: 0.9533, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.2375, d5.loss_map_pts: 0.9441, d5.loss_map_dir: 0.0128, loss: 34.9198, grad_norm: 160.9202 +2026-02-25 16:27:50,794 - DriveTransformer - INFO - Epoch [5][12650/39528] lr: 9.337e-05, eta: 7 days, 5:55:14, time: 0.830, data_time: 0.049, memory: 19865, loss_cls: 0.1998, loss_bbox: 0.4005, loss_traj: 0.7335, loss_traj_cls: 0.0010, loss_map_cls: 0.1917, loss_map_pts: 0.8763, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.5889, d0.loss_plan_l1_fix_dist: 0.4751, d1.loss_plan_l1_fix_time: 1.3103, d1.loss_plan_l1_fix_dist: 0.2005, d2.loss_plan_l1_fix_time: 1.2819, d2.loss_plan_l1_fix_dist: 0.2052, d3.loss_plan_l1_fix_time: 1.2774, d3.loss_plan_l1_fix_dist: 0.2172, d4.loss_plan_l1_fix_time: 1.2787, d4.loss_plan_l1_fix_dist: 0.2308, d5.loss_plan_l1_fix_time: 1.2812, d5.loss_plan_l1_fix_dist: 0.2499, d6.loss_plan_l1_fix_time: 1.2845, d6.loss_plan_l1_fix_dist: 0.2695, d0.loss_cls_all: 0.2294, d0.loss_bbox_all: 0.4521, d0.loss_cls: 0.2294, d0.loss_bbox: 0.4521, d1.loss_cls: 0.2242, d1.loss_bbox: 0.4218, d2.loss_cls: 0.2091, d2.loss_bbox: 0.4050, d3.loss_cls: 0.2047, d3.loss_bbox: 0.3991, d4.loss_cls: 0.1996, d4.loss_bbox: 0.3987, d5.loss_cls: 0.1999, d5.loss_bbox: 0.3977, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9061, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7604, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7333, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7283, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7269, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7296, d0.loss_map_cls_all: 0.2591, d0.loss_map_pts_all: 1.6389, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2591, d0.loss_map_pts: 1.6389, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2323, d1.loss_map_pts: 1.1210, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2080, d2.loss_map_pts: 0.9550, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1987, d3.loss_map_pts: 0.9001, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1947, d4.loss_map_pts: 0.8829, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1912, d5.loss_map_pts: 0.8783, d5.loss_map_dir: 0.0114, loss: 33.2127, grad_norm: 159.8366 +2026-02-25 16:28:32,718 - DriveTransformer - INFO - Epoch [5][12700/39528] lr: 9.337e-05, eta: 7 days, 5:54:41, time: 0.839, data_time: 0.049, memory: 19865, loss_cls: 0.2449, loss_bbox: 0.4308, loss_traj: 0.7772, loss_traj_cls: 0.0010, loss_map_cls: 0.2199, loss_map_pts: 0.9355, loss_map_dir: 0.0156, d0.loss_plan_l1_fix_time: 2.7921, d0.loss_plan_l1_fix_dist: 0.4699, d1.loss_plan_l1_fix_time: 1.5050, d1.loss_plan_l1_fix_dist: 0.2163, d2.loss_plan_l1_fix_time: 1.4893, d2.loss_plan_l1_fix_dist: 0.2189, d3.loss_plan_l1_fix_time: 1.4906, d3.loss_plan_l1_fix_dist: 0.2298, d4.loss_plan_l1_fix_time: 1.4932, d4.loss_plan_l1_fix_dist: 0.2430, d5.loss_plan_l1_fix_time: 1.4966, d5.loss_plan_l1_fix_dist: 0.2563, d6.loss_plan_l1_fix_time: 1.5010, d6.loss_plan_l1_fix_dist: 0.2719, d0.loss_cls_all: 0.2649, d0.loss_bbox_all: 0.4921, d0.loss_cls: 0.2649, d0.loss_bbox: 0.4921, d1.loss_cls: 0.2610, d1.loss_bbox: 0.4546, d2.loss_cls: 0.2507, d2.loss_bbox: 0.4398, d3.loss_cls: 0.2473, d3.loss_bbox: 0.4326, d4.loss_cls: 0.2460, d4.loss_bbox: 0.4296, d5.loss_cls: 0.2441, d5.loss_bbox: 0.4292, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9407, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8063, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7702, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7608, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7715, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7721, d0.loss_map_cls_all: 0.2841, d0.loss_map_pts_all: 1.8665, d0.loss_map_dir_all: 0.0141, d0.loss_map_cls: 0.2841, d0.loss_map_pts: 1.8665, d0.loss_map_dir: 0.0141, d1.loss_map_cls: 0.2521, d1.loss_map_pts: 1.2613, d1.loss_map_dir: 0.0140, d2.loss_map_cls: 0.2401, d2.loss_map_pts: 1.0554, d2.loss_map_dir: 0.0145, d3.loss_map_cls: 0.2313, d3.loss_map_pts: 0.9830, d3.loss_map_dir: 0.0151, d4.loss_map_cls: 0.2246, d4.loss_map_pts: 0.9478, d4.loss_map_dir: 0.0154, d5.loss_map_cls: 0.2213, d5.loss_map_pts: 0.9372, d5.loss_map_dir: 0.0156, loss: 36.8331, grad_norm: 159.5936 +2026-02-25 16:29:12,815 - DriveTransformer - INFO - Epoch [5][12750/39528] lr: 9.337e-05, eta: 7 days, 5:54:00, time: 0.802, data_time: 0.043, memory: 19865, loss_cls: 0.2168, loss_bbox: 0.3914, loss_traj: 0.8559, loss_traj_cls: 0.0010, loss_map_cls: 0.1914, loss_map_pts: 0.7452, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.5098, d0.loss_plan_l1_fix_dist: 0.3870, d1.loss_plan_l1_fix_time: 1.2946, d1.loss_plan_l1_fix_dist: 0.1889, d2.loss_plan_l1_fix_time: 1.2855, d2.loss_plan_l1_fix_dist: 0.1965, d3.loss_plan_l1_fix_time: 1.2829, d3.loss_plan_l1_fix_dist: 0.2085, d4.loss_plan_l1_fix_time: 1.2849, d4.loss_plan_l1_fix_dist: 0.2249, d5.loss_plan_l1_fix_time: 1.2879, d5.loss_plan_l1_fix_dist: 0.2430, d6.loss_plan_l1_fix_time: 1.2914, d6.loss_plan_l1_fix_dist: 0.2644, d0.loss_cls_all: 0.2374, d0.loss_bbox_all: 0.4506, d0.loss_cls: 0.2374, d0.loss_bbox: 0.4506, d1.loss_cls: 0.2291, d1.loss_bbox: 0.4182, d2.loss_cls: 0.2215, d2.loss_bbox: 0.4037, d3.loss_cls: 0.2183, d3.loss_bbox: 0.3964, d4.loss_cls: 0.2150, d4.loss_bbox: 0.3953, d5.loss_cls: 0.2155, d5.loss_bbox: 0.3932, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1382, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9346, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8833, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8686, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8634, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8650, d0.loss_map_cls_all: 0.2502, d0.loss_map_pts_all: 1.5459, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2502, d0.loss_map_pts: 1.5459, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2224, d1.loss_map_pts: 0.9903, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2087, d2.loss_map_pts: 0.8290, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2000, d3.loss_map_pts: 0.7660, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.1943, d4.loss_map_pts: 0.7515, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1909, d5.loss_map_pts: 0.7451, d5.loss_map_dir: 0.0120, loss: 33.1751, grad_norm: 160.3404 +2026-02-25 16:29:53,596 - DriveTransformer - INFO - Epoch [5][12800/39528] lr: 9.337e-05, eta: 7 days, 5:53:23, time: 0.817, data_time: 0.045, memory: 19865, loss_cls: 0.2015, loss_bbox: 0.4054, loss_traj: 0.8231, loss_traj_cls: 0.0009, loss_map_cls: 0.2145, loss_map_pts: 0.9323, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.1728, d0.loss_plan_l1_fix_dist: 0.4039, d1.loss_plan_l1_fix_time: 0.9913, d1.loss_plan_l1_fix_dist: 0.1629, d2.loss_plan_l1_fix_time: 0.9780, d2.loss_plan_l1_fix_dist: 0.1711, d3.loss_plan_l1_fix_time: 0.9799, d3.loss_plan_l1_fix_dist: 0.1819, d4.loss_plan_l1_fix_time: 0.9821, d4.loss_plan_l1_fix_dist: 0.1956, d5.loss_plan_l1_fix_time: 0.9846, d5.loss_plan_l1_fix_dist: 0.2126, d6.loss_plan_l1_fix_time: 0.9874, d6.loss_plan_l1_fix_dist: 0.2308, d0.loss_cls_all: 0.2286, d0.loss_bbox_all: 0.4570, d0.loss_cls: 0.2286, d0.loss_bbox: 0.4570, d1.loss_cls: 0.2225, d1.loss_bbox: 0.4261, d2.loss_cls: 0.2114, d2.loss_bbox: 0.4144, d3.loss_cls: 0.2053, d3.loss_bbox: 0.4084, d4.loss_cls: 0.2030, d4.loss_bbox: 0.4062, d5.loss_cls: 0.2011, d5.loss_bbox: 0.4054, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1435, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8756, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8348, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8305, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8226, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8224, d0.loss_map_cls_all: 0.2786, d0.loss_map_pts_all: 1.7906, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2786, d0.loss_map_pts: 1.7906, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2460, d1.loss_map_pts: 1.2209, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2294, d2.loss_map_pts: 1.0410, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.2204, d3.loss_map_pts: 0.9680, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.2147, d4.loss_map_pts: 0.9435, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.2142, d5.loss_map_pts: 0.9347, d5.loss_map_dir: 0.0118, loss: 32.4840, grad_norm: 164.5246 +2026-02-25 16:30:34,512 - DriveTransformer - INFO - Epoch [5][12850/39528] lr: 9.337e-05, eta: 7 days, 5:52:45, time: 0.817, data_time: 0.040, memory: 19865, loss_cls: 0.2288, loss_bbox: 0.4112, loss_traj: 0.7320, loss_traj_cls: 0.0010, loss_map_cls: 0.1939, loss_map_pts: 0.7965, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.4553, d0.loss_plan_l1_fix_dist: 0.5109, d1.loss_plan_l1_fix_time: 1.2829, d1.loss_plan_l1_fix_dist: 0.1890, d2.loss_plan_l1_fix_time: 1.2678, d2.loss_plan_l1_fix_dist: 0.1938, d3.loss_plan_l1_fix_time: 1.2717, d3.loss_plan_l1_fix_dist: 0.2034, d4.loss_plan_l1_fix_time: 1.2754, d4.loss_plan_l1_fix_dist: 0.2149, d5.loss_plan_l1_fix_time: 1.2796, d5.loss_plan_l1_fix_dist: 0.2273, d6.loss_plan_l1_fix_time: 1.2847, d6.loss_plan_l1_fix_dist: 0.2408, d0.loss_cls_all: 0.2514, d0.loss_bbox_all: 0.4752, d0.loss_cls: 0.2514, d0.loss_bbox: 0.4752, d1.loss_cls: 0.2438, d1.loss_bbox: 0.4403, d2.loss_cls: 0.2384, d2.loss_bbox: 0.4223, d3.loss_cls: 0.2325, d3.loss_bbox: 0.4147, d4.loss_cls: 0.2268, d4.loss_bbox: 0.4137, d5.loss_cls: 0.2283, d5.loss_bbox: 0.4108, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9289, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7706, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7428, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7417, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7363, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7299, d0.loss_map_cls_all: 0.2654, d0.loss_map_pts_all: 1.4801, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2654, d0.loss_map_pts: 1.4801, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2306, d1.loss_map_pts: 1.0375, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.2123, d2.loss_map_pts: 0.8963, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.2004, d3.loss_map_pts: 0.8281, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1941, d4.loss_map_pts: 0.8061, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1935, d5.loss_map_pts: 0.7995, d5.loss_map_dir: 0.0106, loss: 32.6134, grad_norm: 163.6193 +2026-02-25 16:31:14,681 - DriveTransformer - INFO - Epoch [5][12900/39528] lr: 9.337e-05, eta: 7 days, 5:52:05, time: 0.803, data_time: 0.046, memory: 19865, loss_cls: 0.2509, loss_bbox: 0.4561, loss_traj: 0.8403, loss_traj_cls: 0.0010, loss_map_cls: 0.2080, loss_map_pts: 0.8563, loss_map_dir: 0.0131, d0.loss_plan_l1_fix_time: 2.7867, d0.loss_plan_l1_fix_dist: 0.4777, d1.loss_plan_l1_fix_time: 1.5486, d1.loss_plan_l1_fix_dist: 0.2250, d2.loss_plan_l1_fix_time: 1.5348, d2.loss_plan_l1_fix_dist: 0.2342, d3.loss_plan_l1_fix_time: 1.5336, d3.loss_plan_l1_fix_dist: 0.2452, d4.loss_plan_l1_fix_time: 1.5355, d4.loss_plan_l1_fix_dist: 0.2594, d5.loss_plan_l1_fix_time: 1.5376, d5.loss_plan_l1_fix_dist: 0.2739, d6.loss_plan_l1_fix_time: 1.5396, d6.loss_plan_l1_fix_dist: 0.2892, d0.loss_cls_all: 0.2752, d0.loss_bbox_all: 0.5212, d0.loss_cls: 0.2752, d0.loss_bbox: 0.5212, d1.loss_cls: 0.2682, d1.loss_bbox: 0.4867, d2.loss_cls: 0.2565, d2.loss_bbox: 0.4671, d3.loss_cls: 0.2508, d3.loss_bbox: 0.4602, d4.loss_cls: 0.2464, d4.loss_bbox: 0.4565, d5.loss_cls: 0.2497, d5.loss_bbox: 0.4547, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1053, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9073, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8659, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8642, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8479, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8421, d0.loss_map_cls_all: 0.2861, d0.loss_map_pts_all: 1.6166, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2861, d0.loss_map_pts: 1.6166, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2490, d1.loss_map_pts: 1.1114, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2309, d2.loss_map_pts: 0.9461, d2.loss_map_dir: 0.0123, d3.loss_map_cls: 0.2184, d3.loss_map_pts: 0.8842, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.2121, d4.loss_map_pts: 0.8637, d4.loss_map_dir: 0.0129, d5.loss_map_cls: 0.2104, d5.loss_map_pts: 0.8582, d5.loss_map_dir: 0.0131, loss: 36.9517, grad_norm: 162.7335 +2026-02-25 16:31:56,167 - DriveTransformer - INFO - Epoch [5][12950/39528] lr: 9.337e-05, eta: 7 days, 5:51:30, time: 0.830, data_time: 0.043, memory: 19865, loss_cls: 0.2175, loss_bbox: 0.4054, loss_traj: 0.8056, loss_traj_cls: 0.0010, loss_map_cls: 0.2025, loss_map_pts: 0.8974, loss_map_dir: 0.0139, d0.loss_plan_l1_fix_time: 2.6832, d0.loss_plan_l1_fix_dist: 0.3613, d1.loss_plan_l1_fix_time: 1.3377, d1.loss_plan_l1_fix_dist: 0.1954, d2.loss_plan_l1_fix_time: 1.3267, d2.loss_plan_l1_fix_dist: 0.2022, d3.loss_plan_l1_fix_time: 1.3321, d3.loss_plan_l1_fix_dist: 0.2140, d4.loss_plan_l1_fix_time: 1.3358, d4.loss_plan_l1_fix_dist: 0.2271, d5.loss_plan_l1_fix_time: 1.3399, d5.loss_plan_l1_fix_dist: 0.2415, d6.loss_plan_l1_fix_time: 1.3445, d6.loss_plan_l1_fix_dist: 0.2553, d0.loss_cls_all: 0.2484, d0.loss_bbox_all: 0.4587, d0.loss_cls: 0.2484, d0.loss_bbox: 0.4587, d1.loss_cls: 0.2396, d1.loss_bbox: 0.4283, d2.loss_cls: 0.2288, d2.loss_bbox: 0.4114, d3.loss_cls: 0.2225, d3.loss_bbox: 0.4051, d4.loss_cls: 0.2194, d4.loss_bbox: 0.4017, d5.loss_cls: 0.2175, d5.loss_bbox: 0.4035, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9657, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8444, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8104, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8044, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8049, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8057, d0.loss_map_cls_all: 0.2822, d0.loss_map_pts_all: 1.8060, d0.loss_map_dir_all: 0.0130, d0.loss_map_cls: 0.2822, d0.loss_map_pts: 1.8060, d0.loss_map_dir: 0.0130, d1.loss_map_cls: 0.2449, d1.loss_map_pts: 1.2021, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2241, d2.loss_map_pts: 1.0084, d2.loss_map_dir: 0.0130, d3.loss_map_cls: 0.2137, d3.loss_map_pts: 0.9355, d3.loss_map_dir: 0.0134, d4.loss_map_cls: 0.2052, d4.loss_map_pts: 0.9112, d4.loss_map_dir: 0.0137, d5.loss_map_cls: 0.2038, d5.loss_map_pts: 0.8992, d5.loss_map_dir: 0.0137, loss: 34.8904, grad_norm: 163.8075 +2026-02-25 16:32:36,873 - DriveTransformer - INFO - Epoch [5][13000/39528] lr: 9.337e-05, eta: 7 days, 5:50:52, time: 0.814, data_time: 0.047, memory: 19865, loss_cls: 0.2318, loss_bbox: 0.4185, loss_traj: 0.8901, loss_traj_cls: 0.0010, loss_map_cls: 0.1773, loss_map_pts: 0.8380, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.7110, d0.loss_plan_l1_fix_dist: 0.4222, d1.loss_plan_l1_fix_time: 1.5357, d1.loss_plan_l1_fix_dist: 0.2458, d2.loss_plan_l1_fix_time: 1.5132, d2.loss_plan_l1_fix_dist: 0.2492, d3.loss_plan_l1_fix_time: 1.5128, d3.loss_plan_l1_fix_dist: 0.2582, d4.loss_plan_l1_fix_time: 1.5148, d4.loss_plan_l1_fix_dist: 0.2706, d5.loss_plan_l1_fix_time: 1.5175, d5.loss_plan_l1_fix_dist: 0.2863, d6.loss_plan_l1_fix_time: 1.5208, d6.loss_plan_l1_fix_dist: 0.3051, d0.loss_cls_all: 0.2580, d0.loss_bbox_all: 0.4818, d0.loss_cls: 0.2580, d0.loss_bbox: 0.4818, d1.loss_cls: 0.2512, d1.loss_bbox: 0.4472, d2.loss_cls: 0.2405, d2.loss_bbox: 0.4309, d3.loss_cls: 0.2329, d3.loss_bbox: 0.4249, d4.loss_cls: 0.2310, d4.loss_bbox: 0.4188, d5.loss_cls: 0.2312, d5.loss_bbox: 0.4179, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1084, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9571, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9052, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8959, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8910, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8884, d0.loss_map_cls_all: 0.2377, d0.loss_map_pts_all: 1.4607, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2377, d0.loss_map_pts: 1.4607, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2114, d1.loss_map_pts: 1.0752, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1941, d2.loss_map_pts: 0.9341, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.1843, d3.loss_map_pts: 0.8737, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1799, d4.loss_map_pts: 0.8492, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1781, d5.loss_map_pts: 0.8403, d5.loss_map_dir: 0.0114, loss: 35.8823, grad_norm: 164.2344 +2026-02-25 16:33:15,767 - DriveTransformer - INFO - Epoch [5][13050/39528] lr: 9.337e-05, eta: 7 days, 5:50:06, time: 0.778, data_time: 0.042, memory: 19865, loss_cls: 0.2670, loss_bbox: 0.4632, loss_traj: 0.9503, loss_traj_cls: 0.0010, loss_map_cls: 0.2481, loss_map_pts: 0.9984, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 3.1260, d0.loss_plan_l1_fix_dist: 0.4093, d1.loss_plan_l1_fix_time: 1.4910, d1.loss_plan_l1_fix_dist: 0.2179, d2.loss_plan_l1_fix_time: 1.4746, d2.loss_plan_l1_fix_dist: 0.2221, d3.loss_plan_l1_fix_time: 1.4755, d3.loss_plan_l1_fix_dist: 0.2309, d4.loss_plan_l1_fix_time: 1.4783, d4.loss_plan_l1_fix_dist: 0.2441, d5.loss_plan_l1_fix_time: 1.4815, d5.loss_plan_l1_fix_dist: 0.2590, d6.loss_plan_l1_fix_time: 1.4848, d6.loss_plan_l1_fix_dist: 0.2746, d0.loss_cls_all: 0.2962, d0.loss_bbox_all: 0.5283, d0.loss_cls: 0.2962, d0.loss_bbox: 0.5283, d1.loss_cls: 0.2866, d1.loss_bbox: 0.4886, d2.loss_cls: 0.2827, d2.loss_bbox: 0.4698, d3.loss_cls: 0.2752, d3.loss_bbox: 0.4635, d4.loss_cls: 0.2677, d4.loss_bbox: 0.4627, d5.loss_cls: 0.2655, d5.loss_bbox: 0.4629, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3309, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.0739, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9764, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9523, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9495, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9507, d0.loss_map_cls_all: 0.3029, d0.loss_map_pts_all: 1.6961, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.3029, d0.loss_map_pts: 1.6961, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2776, d1.loss_map_pts: 1.2270, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2602, d2.loss_map_pts: 1.0772, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.2520, d3.loss_map_pts: 1.0246, d3.loss_map_dir: 0.0121, d4.loss_map_cls: 0.2489, d4.loss_map_pts: 1.0043, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.2478, d5.loss_map_pts: 0.9983, d5.loss_map_dir: 0.0125, loss: 39.1216, grad_norm: 165.4183 +2026-02-25 16:33:56,064 - DriveTransformer - INFO - Epoch [5][13100/39528] lr: 9.337e-05, eta: 7 days, 5:49:26, time: 0.806, data_time: 0.039, memory: 19865, loss_cls: 0.2379, loss_bbox: 0.4541, loss_traj: 0.7674, loss_traj_cls: 0.0010, loss_map_cls: 0.2001, loss_map_pts: 0.8943, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.9416, d0.loss_plan_l1_fix_dist: 0.4639, d1.loss_plan_l1_fix_time: 1.6094, d1.loss_plan_l1_fix_dist: 0.2170, d2.loss_plan_l1_fix_time: 1.5982, d2.loss_plan_l1_fix_dist: 0.2215, d3.loss_plan_l1_fix_time: 1.5978, d3.loss_plan_l1_fix_dist: 0.2308, d4.loss_plan_l1_fix_time: 1.6006, d4.loss_plan_l1_fix_dist: 0.2401, d5.loss_plan_l1_fix_time: 1.6036, d5.loss_plan_l1_fix_dist: 0.2512, d6.loss_plan_l1_fix_time: 1.6071, d6.loss_plan_l1_fix_dist: 0.2642, d0.loss_cls_all: 0.2674, d0.loss_bbox_all: 0.4997, d0.loss_cls: 0.2674, d0.loss_bbox: 0.4997, d1.loss_cls: 0.2602, d1.loss_bbox: 0.4733, d2.loss_cls: 0.2463, d2.loss_bbox: 0.4603, d3.loss_cls: 0.2413, d3.loss_bbox: 0.4539, d4.loss_cls: 0.2380, d4.loss_bbox: 0.4515, d5.loss_cls: 0.2359, d5.loss_bbox: 0.4527, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9366, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8317, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7807, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7802, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7694, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7637, d0.loss_map_cls_all: 0.2707, d0.loss_map_pts_all: 1.6748, d0.loss_map_dir_all: 0.0126, d0.loss_map_cls: 0.2707, d0.loss_map_pts: 1.6748, d0.loss_map_dir: 0.0126, d1.loss_map_cls: 0.2393, d1.loss_map_pts: 1.1323, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2199, d2.loss_map_pts: 0.9734, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2088, d3.loss_map_pts: 0.9197, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.2045, d4.loss_map_pts: 0.8997, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.2022, d5.loss_map_pts: 0.8940, d5.loss_map_dir: 0.0134, loss: 36.8052, grad_norm: 165.9265 +2026-02-25 16:34:36,250 - DriveTransformer - INFO - Epoch [5][13150/39528] lr: 9.337e-05, eta: 7 days, 5:48:45, time: 0.804, data_time: 0.042, memory: 19865, loss_cls: 0.2568, loss_bbox: 0.4493, loss_traj: 0.7002, loss_traj_cls: 0.0010, loss_map_cls: 0.2594, loss_map_pts: 1.0882, loss_map_dir: 0.0158, d0.loss_plan_l1_fix_time: 2.7510, d0.loss_plan_l1_fix_dist: 0.4066, d1.loss_plan_l1_fix_time: 1.3082, d1.loss_plan_l1_fix_dist: 0.2025, d2.loss_plan_l1_fix_time: 1.2780, d2.loss_plan_l1_fix_dist: 0.2071, d3.loss_plan_l1_fix_time: 1.2740, d3.loss_plan_l1_fix_dist: 0.2162, d4.loss_plan_l1_fix_time: 1.2768, d4.loss_plan_l1_fix_dist: 0.2290, d5.loss_plan_l1_fix_time: 1.2807, d5.loss_plan_l1_fix_dist: 0.2410, d6.loss_plan_l1_fix_time: 1.2850, d6.loss_plan_l1_fix_dist: 0.2550, d0.loss_cls_all: 0.2830, d0.loss_bbox_all: 0.5050, d0.loss_cls: 0.2830, d0.loss_bbox: 0.5050, d1.loss_cls: 0.2773, d1.loss_bbox: 0.4711, d2.loss_cls: 0.2680, d2.loss_bbox: 0.4577, d3.loss_cls: 0.2625, d3.loss_bbox: 0.4501, d4.loss_cls: 0.2570, d4.loss_bbox: 0.4492, d5.loss_cls: 0.2562, d5.loss_bbox: 0.4486, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8826, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7464, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6907, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6903, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6938, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6993, d0.loss_map_cls_all: 0.3235, d0.loss_map_pts_all: 2.0279, d0.loss_map_dir_all: 0.0140, d0.loss_map_cls: 0.3235, d0.loss_map_pts: 2.0279, d0.loss_map_dir: 0.0140, d1.loss_map_cls: 0.2967, d1.loss_map_pts: 1.3832, d1.loss_map_dir: 0.0139, d2.loss_map_cls: 0.2818, d2.loss_map_pts: 1.1889, d2.loss_map_dir: 0.0145, d3.loss_map_cls: 0.2702, d3.loss_map_pts: 1.1214, d3.loss_map_dir: 0.0151, d4.loss_map_cls: 0.2632, d4.loss_map_pts: 1.0966, d4.loss_map_dir: 0.0154, d5.loss_map_cls: 0.2600, d5.loss_map_pts: 1.0897, d5.loss_map_dir: 0.0156, loss: 36.6213, grad_norm: 165.0843 +2026-02-25 16:35:17,556 - DriveTransformer - INFO - Epoch [5][13200/39528] lr: 9.337e-05, eta: 7 days, 5:48:10, time: 0.826, data_time: 0.046, memory: 19865, loss_cls: 0.2465, loss_bbox: 0.4620, loss_traj: 0.7733, loss_traj_cls: 0.0010, loss_map_cls: 0.2642, loss_map_pts: 1.1465, loss_map_dir: 0.0179, d0.loss_plan_l1_fix_time: 2.5678, d0.loss_plan_l1_fix_dist: 0.3291, d1.loss_plan_l1_fix_time: 1.4761, d1.loss_plan_l1_fix_dist: 0.1990, d2.loss_plan_l1_fix_time: 1.4606, d2.loss_plan_l1_fix_dist: 0.2040, d3.loss_plan_l1_fix_time: 1.4521, d3.loss_plan_l1_fix_dist: 0.2130, d4.loss_plan_l1_fix_time: 1.4528, d4.loss_plan_l1_fix_dist: 0.2259, d5.loss_plan_l1_fix_time: 1.4549, d5.loss_plan_l1_fix_dist: 0.2423, d6.loss_plan_l1_fix_time: 1.4580, d6.loss_plan_l1_fix_dist: 0.2591, d0.loss_cls_all: 0.2782, d0.loss_bbox_all: 0.5154, d0.loss_cls: 0.2782, d0.loss_bbox: 0.5154, d1.loss_cls: 0.2721, d1.loss_bbox: 0.4837, d2.loss_cls: 0.2603, d2.loss_bbox: 0.4659, d3.loss_cls: 0.2506, d3.loss_bbox: 0.4611, d4.loss_cls: 0.2460, d4.loss_bbox: 0.4592, d5.loss_cls: 0.2459, d5.loss_bbox: 0.4603, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9212, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8048, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7650, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7651, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7684, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7676, d0.loss_map_cls_all: 0.3318, d0.loss_map_pts_all: 2.2071, d0.loss_map_dir_all: 0.0161, d0.loss_map_cls: 0.3318, d0.loss_map_pts: 2.2071, d0.loss_map_dir: 0.0161, d1.loss_map_cls: 0.3009, d1.loss_map_pts: 1.4797, d1.loss_map_dir: 0.0157, d2.loss_map_cls: 0.2855, d2.loss_map_pts: 1.2551, d2.loss_map_dir: 0.0162, d3.loss_map_cls: 0.2749, d3.loss_map_pts: 1.1765, d3.loss_map_dir: 0.0171, d4.loss_map_cls: 0.2680, d4.loss_map_pts: 1.1543, d4.loss_map_dir: 0.0175, d5.loss_map_cls: 0.2655, d5.loss_map_pts: 1.1473, d5.loss_map_dir: 0.0177, loss: 38.6985, grad_norm: 171.6823 +2026-02-25 16:35:56,974 - DriveTransformer - INFO - Epoch [5][13250/39528] lr: 9.337e-05, eta: 7 days, 5:47:26, time: 0.789, data_time: 0.048, memory: 19865, loss_cls: 0.2079, loss_bbox: 0.4350, loss_traj: 0.7801, loss_traj_cls: 0.0011, loss_map_cls: 0.1939, loss_map_pts: 0.8419, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.4258, d0.loss_plan_l1_fix_dist: 0.4237, d1.loss_plan_l1_fix_time: 1.4161, d1.loss_plan_l1_fix_dist: 0.2279, d2.loss_plan_l1_fix_time: 1.4078, d2.loss_plan_l1_fix_dist: 0.2415, d3.loss_plan_l1_fix_time: 1.4118, d3.loss_plan_l1_fix_dist: 0.2623, d4.loss_plan_l1_fix_time: 1.4155, d4.loss_plan_l1_fix_dist: 0.2854, d5.loss_plan_l1_fix_time: 1.4195, d5.loss_plan_l1_fix_dist: 0.3133, d6.loss_plan_l1_fix_time: 1.4243, d6.loss_plan_l1_fix_dist: 0.3419, d0.loss_cls_all: 0.2396, d0.loss_bbox_all: 0.4775, d0.loss_cls: 0.2396, d0.loss_bbox: 0.4775, d1.loss_cls: 0.2303, d1.loss_bbox: 0.4482, d2.loss_cls: 0.2196, d2.loss_bbox: 0.4319, d3.loss_cls: 0.2120, d3.loss_bbox: 0.4280, d4.loss_cls: 0.2096, d4.loss_bbox: 0.4301, d5.loss_cls: 0.2092, d5.loss_bbox: 0.4314, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9354, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8143, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7753, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7726, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7724, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7739, d0.loss_map_cls_all: 0.2564, d0.loss_map_pts_all: 1.5705, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2564, d0.loss_map_pts: 1.5705, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2272, d1.loss_map_pts: 1.0616, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2077, d2.loss_map_pts: 0.9124, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1962, d3.loss_map_pts: 0.8598, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.1918, d4.loss_map_pts: 0.8462, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1937, d5.loss_map_pts: 0.8416, d5.loss_map_dir: 0.0117, loss: 34.2934, grad_norm: 178.1106 +2026-02-25 16:36:36,314 - DriveTransformer - INFO - Epoch [5][13300/39528] lr: 9.337e-05, eta: 7 days, 5:46:41, time: 0.786, data_time: 0.050, memory: 19865, loss_cls: 0.2268, loss_bbox: 0.4176, loss_traj: 0.8777, loss_traj_cls: 0.0010, loss_map_cls: 0.2239, loss_map_pts: 0.9199, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.6477, d0.loss_plan_l1_fix_dist: 0.3809, d1.loss_plan_l1_fix_time: 1.3066, d1.loss_plan_l1_fix_dist: 0.1996, d2.loss_plan_l1_fix_time: 1.2806, d2.loss_plan_l1_fix_dist: 0.2085, d3.loss_plan_l1_fix_time: 1.2823, d3.loss_plan_l1_fix_dist: 0.2199, d4.loss_plan_l1_fix_time: 1.2860, d4.loss_plan_l1_fix_dist: 0.2332, d5.loss_plan_l1_fix_time: 1.2902, d5.loss_plan_l1_fix_dist: 0.2465, d6.loss_plan_l1_fix_time: 1.2954, d6.loss_plan_l1_fix_dist: 0.2631, d0.loss_cls_all: 0.2586, d0.loss_bbox_all: 0.4657, d0.loss_cls: 0.2586, d0.loss_bbox: 0.4657, d1.loss_cls: 0.2495, d1.loss_bbox: 0.4351, d2.loss_cls: 0.2404, d2.loss_bbox: 0.4205, d3.loss_cls: 0.2329, d3.loss_bbox: 0.4164, d4.loss_cls: 0.2305, d4.loss_bbox: 0.4154, d5.loss_cls: 0.2270, d5.loss_bbox: 0.4158, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0471, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9086, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8827, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8834, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8777, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8788, d0.loss_map_cls_all: 0.2748, d0.loss_map_pts_all: 1.7078, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2748, d0.loss_map_pts: 1.7078, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2529, d1.loss_map_pts: 1.1837, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2360, d2.loss_map_pts: 1.0139, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2264, d3.loss_map_pts: 0.9540, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2246, d4.loss_map_pts: 0.9335, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.2249, d5.loss_map_pts: 0.9238, d5.loss_map_dir: 0.0126, loss: 35.2594, grad_norm: 177.4988 +2026-02-25 16:37:16,494 - DriveTransformer - INFO - Epoch [5][13350/39528] lr: 9.337e-05, eta: 7 days, 5:46:01, time: 0.804, data_time: 0.045, memory: 19865, loss_cls: 0.2241, loss_bbox: 0.4068, loss_traj: 0.9005, loss_traj_cls: 0.0011, loss_map_cls: 0.2175, loss_map_pts: 0.9120, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 3.1310, d0.loss_plan_l1_fix_dist: 0.4352, d1.loss_plan_l1_fix_time: 1.5345, d1.loss_plan_l1_fix_dist: 0.2087, d2.loss_plan_l1_fix_time: 1.5071, d2.loss_plan_l1_fix_dist: 0.2221, d3.loss_plan_l1_fix_time: 1.5124, d3.loss_plan_l1_fix_dist: 0.2402, d4.loss_plan_l1_fix_time: 1.5162, d4.loss_plan_l1_fix_dist: 0.2603, d5.loss_plan_l1_fix_time: 1.5205, d5.loss_plan_l1_fix_dist: 0.2816, d6.loss_plan_l1_fix_time: 1.5251, d6.loss_plan_l1_fix_dist: 0.3053, d0.loss_cls_all: 0.2565, d0.loss_bbox_all: 0.4701, d0.loss_cls: 0.2565, d0.loss_bbox: 0.4701, d1.loss_cls: 0.2495, d1.loss_bbox: 0.4336, d2.loss_cls: 0.2347, d2.loss_bbox: 0.4180, d3.loss_cls: 0.2290, d3.loss_bbox: 0.4106, d4.loss_cls: 0.2255, d4.loss_bbox: 0.4069, d5.loss_cls: 0.2234, d5.loss_bbox: 0.4068, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0776, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9567, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9190, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9039, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9011, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8988, d0.loss_map_cls_all: 0.2648, d0.loss_map_pts_all: 1.6302, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2648, d0.loss_map_pts: 1.6302, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2412, d1.loss_map_pts: 1.1631, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2254, d2.loss_map_pts: 1.0045, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.2189, d3.loss_map_pts: 0.9419, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.2165, d4.loss_map_pts: 0.9189, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.2177, d5.loss_map_pts: 0.9115, d5.loss_map_dir: 0.0117, loss: 37.1560, grad_norm: 178.5192 +2026-02-25 16:37:57,381 - DriveTransformer - INFO - Epoch [5][13400/39528] lr: 9.337e-05, eta: 7 days, 5:45:23, time: 0.818, data_time: 0.045, memory: 19865, loss_cls: 0.2146, loss_bbox: 0.3998, loss_traj: 0.8318, loss_traj_cls: 0.0011, loss_map_cls: 0.1720, loss_map_pts: 0.7996, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.4857, d0.loss_plan_l1_fix_dist: 0.4961, d1.loss_plan_l1_fix_time: 1.2600, d1.loss_plan_l1_fix_dist: 0.2246, d2.loss_plan_l1_fix_time: 1.2375, d2.loss_plan_l1_fix_dist: 0.2320, d3.loss_plan_l1_fix_time: 1.2392, d3.loss_plan_l1_fix_dist: 0.2434, d4.loss_plan_l1_fix_time: 1.2434, d4.loss_plan_l1_fix_dist: 0.2591, d5.loss_plan_l1_fix_time: 1.2481, d5.loss_plan_l1_fix_dist: 0.2757, d6.loss_plan_l1_fix_time: 1.2535, d6.loss_plan_l1_fix_dist: 0.2934, d0.loss_cls_all: 0.2467, d0.loss_bbox_all: 0.4352, d0.loss_cls: 0.2467, d0.loss_bbox: 0.4352, d1.loss_cls: 0.2365, d1.loss_bbox: 0.4099, d2.loss_cls: 0.2231, d2.loss_bbox: 0.4000, d3.loss_cls: 0.2183, d3.loss_bbox: 0.3962, d4.loss_cls: 0.2149, d4.loss_bbox: 0.3968, d5.loss_cls: 0.2130, d5.loss_bbox: 0.3984, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0286, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8597, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8168, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8097, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8102, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8167, d0.loss_map_cls_all: 0.2219, d0.loss_map_pts_all: 1.5212, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2219, d0.loss_map_pts: 1.5212, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.1957, d1.loss_map_pts: 1.0432, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1825, d2.loss_map_pts: 0.8816, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1777, d3.loss_map_pts: 0.8248, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1731, d4.loss_map_pts: 0.8059, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1722, d5.loss_map_pts: 0.8012, d5.loss_map_dir: 0.0108, loss: 32.8551, grad_norm: 176.5185 +2026-02-25 16:38:39,423 - DriveTransformer - INFO - Epoch [5][13450/39528] lr: 9.337e-05, eta: 7 days, 5:44:51, time: 0.841, data_time: 0.050, memory: 19865, loss_cls: 0.2521, loss_bbox: 0.4281, loss_traj: 0.8551, loss_traj_cls: 0.0010, loss_map_cls: 0.2275, loss_map_pts: 0.9274, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.7120, d0.loss_plan_l1_fix_dist: 0.3342, d1.loss_plan_l1_fix_time: 1.3148, d1.loss_plan_l1_fix_dist: 0.2077, d2.loss_plan_l1_fix_time: 1.3081, d2.loss_plan_l1_fix_dist: 0.2169, d3.loss_plan_l1_fix_time: 1.3155, d3.loss_plan_l1_fix_dist: 0.2295, d4.loss_plan_l1_fix_time: 1.3220, d4.loss_plan_l1_fix_dist: 0.2450, d5.loss_plan_l1_fix_time: 1.3284, d5.loss_plan_l1_fix_dist: 0.2624, d6.loss_plan_l1_fix_time: 1.3351, d6.loss_plan_l1_fix_dist: 0.2799, d0.loss_cls_all: 0.2839, d0.loss_bbox_all: 0.4730, d0.loss_cls: 0.2839, d0.loss_bbox: 0.4730, d1.loss_cls: 0.2685, d1.loss_bbox: 0.4441, d2.loss_cls: 0.2601, d2.loss_bbox: 0.4290, d3.loss_cls: 0.2527, d3.loss_bbox: 0.4263, d4.loss_cls: 0.2512, d4.loss_bbox: 0.4247, d5.loss_cls: 0.2507, d5.loss_bbox: 0.4262, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1086, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.9140, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8552, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8449, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8417, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8478, d0.loss_map_cls_all: 0.2906, d0.loss_map_pts_all: 1.7412, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2906, d0.loss_map_pts: 1.7412, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2550, d1.loss_map_pts: 1.1959, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2409, d2.loss_map_pts: 1.0148, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2306, d3.loss_map_pts: 0.9571, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.2267, d4.loss_map_pts: 0.9364, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.2264, d5.loss_map_pts: 0.9280, d5.loss_map_dir: 0.0121, loss: 35.8348, grad_norm: 174.0213 +2026-02-25 16:39:19,420 - DriveTransformer - INFO - Epoch [5][13500/39528] lr: 9.337e-05, eta: 7 days, 5:44:10, time: 0.800, data_time: 0.045, memory: 19865, loss_cls: 0.2337, loss_bbox: 0.4265, loss_traj: 0.7057, loss_traj_cls: 0.0010, loss_map_cls: 0.2050, loss_map_pts: 0.9106, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.5517, d0.loss_plan_l1_fix_dist: 0.4764, d1.loss_plan_l1_fix_time: 1.4355, d1.loss_plan_l1_fix_dist: 0.2104, d2.loss_plan_l1_fix_time: 1.4384, d2.loss_plan_l1_fix_dist: 0.2168, d3.loss_plan_l1_fix_time: 1.4489, d3.loss_plan_l1_fix_dist: 0.2264, d4.loss_plan_l1_fix_time: 1.4556, d4.loss_plan_l1_fix_dist: 0.2382, d5.loss_plan_l1_fix_time: 1.4618, d5.loss_plan_l1_fix_dist: 0.2498, d6.loss_plan_l1_fix_time: 1.4673, d6.loss_plan_l1_fix_dist: 0.2629, d0.loss_cls_all: 0.2646, d0.loss_bbox_all: 0.4848, d0.loss_cls: 0.2646, d0.loss_bbox: 0.4848, d1.loss_cls: 0.2568, d1.loss_bbox: 0.4485, d2.loss_cls: 0.2438, d2.loss_bbox: 0.4329, d3.loss_cls: 0.2353, d3.loss_bbox: 0.4283, d4.loss_cls: 0.2341, d4.loss_bbox: 0.4249, d5.loss_cls: 0.2320, d5.loss_bbox: 0.4263, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8954, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7539, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6996, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6953, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6950, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7039, d0.loss_map_cls_all: 0.2613, d0.loss_map_pts_all: 1.7081, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.2613, d0.loss_map_pts: 1.7081, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2328, d1.loss_map_pts: 1.1944, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2214, d2.loss_map_pts: 1.0159, d2.loss_map_dir: 0.0122, d3.loss_map_cls: 0.2144, d3.loss_map_pts: 0.9524, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.2077, d4.loss_map_pts: 0.9290, d4.loss_map_dir: 0.0132, d5.loss_map_cls: 0.2057, d5.loss_map_pts: 0.9127, d5.loss_map_dir: 0.0133, loss: 35.0602, grad_norm: 173.8744 +2026-02-25 16:40:00,189 - DriveTransformer - INFO - Epoch [5][13550/39528] lr: 9.337e-05, eta: 7 days, 5:43:32, time: 0.815, data_time: 0.042, memory: 19865, loss_cls: 0.2407, loss_bbox: 0.4507, loss_traj: 0.8894, loss_traj_cls: 0.0010, loss_map_cls: 0.2358, loss_map_pts: 0.9126, loss_map_dir: 0.0132, d0.loss_plan_l1_fix_time: 2.7566, d0.loss_plan_l1_fix_dist: 0.3809, d1.loss_plan_l1_fix_time: 1.3383, d1.loss_plan_l1_fix_dist: 0.2231, d2.loss_plan_l1_fix_time: 1.3340, d2.loss_plan_l1_fix_dist: 0.2303, d3.loss_plan_l1_fix_time: 1.3414, d3.loss_plan_l1_fix_dist: 0.2428, d4.loss_plan_l1_fix_time: 1.3469, d4.loss_plan_l1_fix_dist: 0.2582, d5.loss_plan_l1_fix_time: 1.3528, d5.loss_plan_l1_fix_dist: 0.2746, d6.loss_plan_l1_fix_time: 1.3586, d6.loss_plan_l1_fix_dist: 0.2971, d0.loss_cls_all: 0.2716, d0.loss_bbox_all: 0.5113, d0.loss_cls: 0.2716, d0.loss_bbox: 0.5113, d1.loss_cls: 0.2614, d1.loss_bbox: 0.4768, d2.loss_cls: 0.2504, d2.loss_bbox: 0.4575, d3.loss_cls: 0.2459, d3.loss_bbox: 0.4519, d4.loss_cls: 0.2406, d4.loss_bbox: 0.4512, d5.loss_cls: 0.2407, d5.loss_bbox: 0.4509, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1199, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9653, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9030, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8944, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8881, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8888, d0.loss_map_cls_all: 0.2916, d0.loss_map_pts_all: 1.6658, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2916, d0.loss_map_pts: 1.6658, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2636, d1.loss_map_pts: 1.1519, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2551, d2.loss_map_pts: 0.9933, d2.loss_map_dir: 0.0119, d3.loss_map_cls: 0.2459, d3.loss_map_pts: 0.9384, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.2396, d4.loss_map_pts: 0.9201, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.2368, d5.loss_map_pts: 0.9131, d5.loss_map_dir: 0.0131, loss: 36.3952, grad_norm: 176.3968 +2026-02-25 16:40:42,064 - DriveTransformer - INFO - Epoch [5][13600/39528] lr: 9.337e-05, eta: 7 days, 5:43:00, time: 0.839, data_time: 0.048, memory: 19865, loss_cls: 0.2359, loss_bbox: 0.4315, loss_traj: 0.7394, loss_traj_cls: 0.0010, loss_map_cls: 0.2136, loss_map_pts: 0.9531, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.5765, d0.loss_plan_l1_fix_dist: 0.4239, d1.loss_plan_l1_fix_time: 1.2961, d1.loss_plan_l1_fix_dist: 0.1892, d2.loss_plan_l1_fix_time: 1.2869, d2.loss_plan_l1_fix_dist: 0.1949, d3.loss_plan_l1_fix_time: 1.2876, d3.loss_plan_l1_fix_dist: 0.2043, d4.loss_plan_l1_fix_time: 1.2926, d4.loss_plan_l1_fix_dist: 0.2162, d5.loss_plan_l1_fix_time: 1.2989, d5.loss_plan_l1_fix_dist: 0.2310, d6.loss_plan_l1_fix_time: 1.3063, d6.loss_plan_l1_fix_dist: 0.2477, d0.loss_cls_all: 0.2762, d0.loss_bbox_all: 0.4736, d0.loss_cls: 0.2762, d0.loss_bbox: 0.4736, d1.loss_cls: 0.2583, d1.loss_bbox: 0.4496, d2.loss_cls: 0.2476, d2.loss_bbox: 0.4355, d3.loss_cls: 0.2377, d3.loss_bbox: 0.4325, d4.loss_cls: 0.2360, d4.loss_bbox: 0.4312, d5.loss_cls: 0.2387, d5.loss_bbox: 0.4307, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8435, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7529, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7321, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7362, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7365, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7236, d0.loss_map_cls_all: 0.2701, d0.loss_map_pts_all: 1.8488, d0.loss_map_dir_all: 0.0134, d0.loss_map_cls: 0.2701, d0.loss_map_pts: 1.8488, d0.loss_map_dir: 0.0134, d1.loss_map_cls: 0.2496, d1.loss_map_pts: 1.2613, d1.loss_map_dir: 0.0130, d2.loss_map_cls: 0.2379, d2.loss_map_pts: 1.0615, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2270, d3.loss_map_pts: 0.9889, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2199, d4.loss_map_pts: 0.9620, d4.loss_map_dir: 0.0147, d5.loss_map_cls: 0.2168, d5.loss_map_pts: 0.9550, d5.loss_map_dir: 0.0147, loss: 34.7847, grad_norm: 176.8831 +2026-02-25 16:41:22,463 - DriveTransformer - INFO - Epoch [5][13650/39528] lr: 9.337e-05, eta: 7 days, 5:42:20, time: 0.807, data_time: 0.052, memory: 19865, loss_cls: 0.2125, loss_bbox: 0.4161, loss_traj: 0.7085, loss_traj_cls: 0.0011, loss_map_cls: 0.1786, loss_map_pts: 0.8046, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.7800, d0.loss_plan_l1_fix_dist: 0.4972, d1.loss_plan_l1_fix_time: 1.3668, d1.loss_plan_l1_fix_dist: 0.1955, d2.loss_plan_l1_fix_time: 1.3500, d2.loss_plan_l1_fix_dist: 0.2074, d3.loss_plan_l1_fix_time: 1.3513, d3.loss_plan_l1_fix_dist: 0.2262, d4.loss_plan_l1_fix_time: 1.3547, d4.loss_plan_l1_fix_dist: 0.2467, d5.loss_plan_l1_fix_time: 1.3588, d5.loss_plan_l1_fix_dist: 0.2681, d6.loss_plan_l1_fix_time: 1.3642, d6.loss_plan_l1_fix_dist: 0.2918, d0.loss_cls_all: 0.2446, d0.loss_bbox_all: 0.4641, d0.loss_cls: 0.2446, d0.loss_bbox: 0.4641, d1.loss_cls: 0.2331, d1.loss_bbox: 0.4350, d2.loss_cls: 0.2263, d2.loss_bbox: 0.4175, d3.loss_cls: 0.2169, d3.loss_bbox: 0.4145, d4.loss_cls: 0.2127, d4.loss_bbox: 0.4140, d5.loss_cls: 0.2109, d5.loss_bbox: 0.4144, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9081, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7607, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7112, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7018, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7033, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7038, d0.loss_map_cls_all: 0.2367, d0.loss_map_pts_all: 1.6598, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2367, d0.loss_map_pts: 1.6598, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2089, d1.loss_map_pts: 1.0666, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.1951, d2.loss_map_pts: 0.8948, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.1868, d3.loss_map_pts: 0.8298, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1814, d4.loss_map_pts: 0.8110, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1778, d5.loss_map_pts: 0.8070, d5.loss_map_dir: 0.0121, loss: 33.5325, grad_norm: 176.8027 +2026-02-25 16:42:04,353 - DriveTransformer - INFO - Epoch [5][13700/39528] lr: 9.337e-05, eta: 7 days, 5:41:47, time: 0.838, data_time: 0.042, memory: 19865, loss_cls: 0.2061, loss_bbox: 0.4092, loss_traj: 0.9302, loss_traj_cls: 0.0011, loss_map_cls: 0.2192, loss_map_pts: 0.8599, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 3.2039, d0.loss_plan_l1_fix_dist: 0.4321, d1.loss_plan_l1_fix_time: 1.4390, d1.loss_plan_l1_fix_dist: 0.2153, d2.loss_plan_l1_fix_time: 1.4274, d2.loss_plan_l1_fix_dist: 0.2194, d3.loss_plan_l1_fix_time: 1.4256, d3.loss_plan_l1_fix_dist: 0.2305, d4.loss_plan_l1_fix_time: 1.4284, d4.loss_plan_l1_fix_dist: 0.2469, d5.loss_plan_l1_fix_time: 1.4325, d5.loss_plan_l1_fix_dist: 0.2700, d6.loss_plan_l1_fix_time: 1.4377, d6.loss_plan_l1_fix_dist: 0.2998, d0.loss_cls_all: 0.2403, d0.loss_bbox_all: 0.4664, d0.loss_cls: 0.2403, d0.loss_bbox: 0.4664, d1.loss_cls: 0.2328, d1.loss_bbox: 0.4328, d2.loss_cls: 0.2203, d2.loss_bbox: 0.4181, d3.loss_cls: 0.2132, d3.loss_bbox: 0.4140, d4.loss_cls: 0.2074, d4.loss_bbox: 0.4136, d5.loss_cls: 0.2058, d5.loss_bbox: 0.4112, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0910, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9857, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.9465, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.9445, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9326, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.9320, d0.loss_map_cls_all: 0.2772, d0.loss_map_pts_all: 1.6413, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2772, d0.loss_map_pts: 1.6413, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2482, d1.loss_map_pts: 1.1221, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2373, d2.loss_map_pts: 0.9508, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.2248, d3.loss_map_pts: 0.8842, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.2193, d4.loss_map_pts: 0.8650, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.2187, d5.loss_map_pts: 0.8626, d5.loss_map_dir: 0.0120, loss: 36.5142, grad_norm: 177.6395 +2026-02-25 16:42:45,565 - DriveTransformer - INFO - Epoch [5][13750/39528] lr: 9.337e-05, eta: 7 days, 5:41:11, time: 0.824, data_time: 0.050, memory: 19865, loss_cls: 0.2374, loss_bbox: 0.4227, loss_traj: 0.7970, loss_traj_cls: 0.0010, loss_map_cls: 0.1871, loss_map_pts: 0.8040, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.9713, d0.loss_plan_l1_fix_dist: 0.5098, d1.loss_plan_l1_fix_time: 1.4133, d1.loss_plan_l1_fix_dist: 0.2239, d2.loss_plan_l1_fix_time: 1.3990, d2.loss_plan_l1_fix_dist: 0.2303, d3.loss_plan_l1_fix_time: 1.4015, d3.loss_plan_l1_fix_dist: 0.2423, d4.loss_plan_l1_fix_time: 1.4047, d4.loss_plan_l1_fix_dist: 0.2556, d5.loss_plan_l1_fix_time: 1.4081, d5.loss_plan_l1_fix_dist: 0.2707, d6.loss_plan_l1_fix_time: 1.4121, d6.loss_plan_l1_fix_dist: 0.2876, d0.loss_cls_all: 0.2685, d0.loss_bbox_all: 0.4862, d0.loss_cls: 0.2685, d0.loss_bbox: 0.4862, d1.loss_cls: 0.2582, d1.loss_bbox: 0.4490, d2.loss_cls: 0.2450, d2.loss_bbox: 0.4327, d3.loss_cls: 0.2393, d3.loss_bbox: 0.4269, d4.loss_cls: 0.2369, d4.loss_bbox: 0.4243, d5.loss_cls: 0.2372, d5.loss_bbox: 0.4224, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9605, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8425, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8192, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.8156, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8003, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7940, d0.loss_map_cls_all: 0.2523, d0.loss_map_pts_all: 1.5946, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2523, d0.loss_map_pts: 1.5946, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2210, d1.loss_map_pts: 1.0535, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2079, d2.loss_map_pts: 0.8850, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.1978, d3.loss_map_pts: 0.8269, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.1924, d4.loss_map_pts: 0.8112, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1880, d5.loss_map_pts: 0.8060, d5.loss_map_dir: 0.0117, loss: 34.9719, grad_norm: 177.6007 +2026-02-25 16:43:25,452 - DriveTransformer - INFO - Epoch [5][13800/39528] lr: 9.337e-05, eta: 7 days, 5:40:29, time: 0.798, data_time: 0.044, memory: 19865, loss_cls: 0.2170, loss_bbox: 0.3911, loss_traj: 0.8281, loss_traj_cls: 0.0011, loss_map_cls: 0.1826, loss_map_pts: 0.8497, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.4637, d0.loss_plan_l1_fix_dist: 0.3718, d1.loss_plan_l1_fix_time: 1.1514, d1.loss_plan_l1_fix_dist: 0.1968, d2.loss_plan_l1_fix_time: 1.1397, d2.loss_plan_l1_fix_dist: 0.2031, d3.loss_plan_l1_fix_time: 1.1424, d3.loss_plan_l1_fix_dist: 0.2146, d4.loss_plan_l1_fix_time: 1.1464, d4.loss_plan_l1_fix_dist: 0.2275, d5.loss_plan_l1_fix_time: 1.1501, d5.loss_plan_l1_fix_dist: 0.2382, d6.loss_plan_l1_fix_time: 1.1540, d6.loss_plan_l1_fix_dist: 0.2490, d0.loss_cls_all: 0.2418, d0.loss_bbox_all: 0.4479, d0.loss_cls: 0.2418, d0.loss_bbox: 0.4479, d1.loss_cls: 0.2344, d1.loss_bbox: 0.4141, d2.loss_cls: 0.2232, d2.loss_bbox: 0.4007, d3.loss_cls: 0.2209, d3.loss_bbox: 0.3944, d4.loss_cls: 0.2164, d4.loss_bbox: 0.3919, d5.loss_cls: 0.2164, d5.loss_bbox: 0.3913, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0353, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8522, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8274, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.8263, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8245, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8286, d0.loss_map_cls_all: 0.2566, d0.loss_map_pts_all: 1.7131, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2566, d0.loss_map_pts: 1.7131, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2236, d1.loss_map_pts: 1.1209, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2070, d2.loss_map_pts: 0.9311, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.1979, d3.loss_map_pts: 0.8758, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1887, d4.loss_map_pts: 0.8582, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.1837, d5.loss_map_pts: 0.8521, d5.loss_map_dir: 0.0122, loss: 32.8729, grad_norm: 176.1920 +2026-02-25 16:44:07,024 - DriveTransformer - INFO - Epoch [5][13850/39528] lr: 9.337e-05, eta: 7 days, 5:39:55, time: 0.831, data_time: 0.042, memory: 19865, loss_cls: 0.2466, loss_bbox: 0.4403, loss_traj: 0.8845, loss_traj_cls: 0.0011, loss_map_cls: 0.2001, loss_map_pts: 0.8878, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.8705, d0.loss_plan_l1_fix_dist: 0.4449, d1.loss_plan_l1_fix_time: 1.4695, d1.loss_plan_l1_fix_dist: 0.2246, d2.loss_plan_l1_fix_time: 1.4649, d2.loss_plan_l1_fix_dist: 0.2327, d3.loss_plan_l1_fix_time: 1.4656, d3.loss_plan_l1_fix_dist: 0.2455, d4.loss_plan_l1_fix_time: 1.4692, d4.loss_plan_l1_fix_dist: 0.2598, d5.loss_plan_l1_fix_time: 1.4729, d5.loss_plan_l1_fix_dist: 0.2745, d6.loss_plan_l1_fix_time: 1.4763, d6.loss_plan_l1_fix_dist: 0.2894, d0.loss_cls_all: 0.2731, d0.loss_bbox_all: 0.4975, d0.loss_cls: 0.2731, d0.loss_bbox: 0.4975, d1.loss_cls: 0.2650, d1.loss_bbox: 0.4662, d2.loss_cls: 0.2529, d2.loss_bbox: 0.4484, d3.loss_cls: 0.2494, d3.loss_bbox: 0.4424, d4.loss_cls: 0.2457, d4.loss_bbox: 0.4418, d5.loss_cls: 0.2455, d5.loss_bbox: 0.4407, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0541, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9245, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8959, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.8917, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8854, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8862, d0.loss_map_cls_all: 0.2651, d0.loss_map_pts_all: 1.6680, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2651, d0.loss_map_pts: 1.6680, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2374, d1.loss_map_pts: 1.1361, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2220, d2.loss_map_pts: 0.9728, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2108, d3.loss_map_pts: 0.9166, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2041, d4.loss_map_pts: 0.8958, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.2001, d5.loss_map_pts: 0.8899, d5.loss_map_dir: 0.0128, loss: 36.7531, grad_norm: 175.9787 +2026-02-25 16:44:47,530 - DriveTransformer - INFO - Epoch [5][13900/39528] lr: 9.337e-05, eta: 7 days, 5:39:16, time: 0.810, data_time: 0.052, memory: 19865, loss_cls: 0.2282, loss_bbox: 0.4290, loss_traj: 0.7322, loss_traj_cls: 0.0011, loss_map_cls: 0.2135, loss_map_pts: 0.9074, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.6283, d0.loss_plan_l1_fix_dist: 0.3993, d1.loss_plan_l1_fix_time: 1.2619, d1.loss_plan_l1_fix_dist: 0.1904, d2.loss_plan_l1_fix_time: 1.2504, d2.loss_plan_l1_fix_dist: 0.1992, d3.loss_plan_l1_fix_time: 1.2517, d3.loss_plan_l1_fix_dist: 0.2124, d4.loss_plan_l1_fix_time: 1.2549, d4.loss_plan_l1_fix_dist: 0.2253, d5.loss_plan_l1_fix_time: 1.2586, d5.loss_plan_l1_fix_dist: 0.2408, d6.loss_plan_l1_fix_time: 1.2625, d6.loss_plan_l1_fix_dist: 0.2573, d0.loss_cls_all: 0.2545, d0.loss_bbox_all: 0.4887, d0.loss_cls: 0.2545, d0.loss_bbox: 0.4887, d1.loss_cls: 0.2482, d1.loss_bbox: 0.4519, d2.loss_cls: 0.2369, d2.loss_bbox: 0.4383, d3.loss_cls: 0.2304, d3.loss_bbox: 0.4285, d4.loss_cls: 0.2271, d4.loss_bbox: 0.4280, d5.loss_cls: 0.2290, d5.loss_bbox: 0.4260, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9769, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7939, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7598, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7487, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7456, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7375, d0.loss_map_cls_all: 0.2737, d0.loss_map_pts_all: 1.6227, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2737, d0.loss_map_pts: 1.6227, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2488, d1.loss_map_pts: 1.1773, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2366, d2.loss_map_pts: 1.0079, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.2233, d3.loss_map_pts: 0.9436, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.2174, d4.loss_map_pts: 0.9177, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.2148, d5.loss_map_pts: 0.9095, d5.loss_map_dir: 0.0110, loss: 33.9769, grad_norm: 174.4195 +2026-02-25 16:45:27,862 - DriveTransformer - INFO - Epoch [5][13950/39528] lr: 9.337e-05, eta: 7 days, 5:38:36, time: 0.806, data_time: 0.044, memory: 19865, loss_cls: 0.2295, loss_bbox: 0.4215, loss_traj: 0.8558, loss_traj_cls: 0.0011, loss_map_cls: 0.2114, loss_map_pts: 0.8091, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.7900, d0.loss_plan_l1_fix_dist: 0.4404, d1.loss_plan_l1_fix_time: 1.3161, d1.loss_plan_l1_fix_dist: 0.2054, d2.loss_plan_l1_fix_time: 1.3103, d2.loss_plan_l1_fix_dist: 0.2111, d3.loss_plan_l1_fix_time: 1.3101, d3.loss_plan_l1_fix_dist: 0.2230, d4.loss_plan_l1_fix_time: 1.3129, d4.loss_plan_l1_fix_dist: 0.2380, d5.loss_plan_l1_fix_time: 1.3162, d5.loss_plan_l1_fix_dist: 0.2529, d6.loss_plan_l1_fix_time: 1.3202, d6.loss_plan_l1_fix_dist: 0.2669, d0.loss_cls_all: 0.2538, d0.loss_bbox_all: 0.4757, d0.loss_cls: 0.2538, d0.loss_bbox: 0.4757, d1.loss_cls: 0.2473, d1.loss_bbox: 0.4463, d2.loss_cls: 0.2366, d2.loss_bbox: 0.4296, d3.loss_cls: 0.2346, d3.loss_bbox: 0.4237, d4.loss_cls: 0.2293, d4.loss_bbox: 0.4233, d5.loss_cls: 0.2295, d5.loss_bbox: 0.4230, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1349, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9189, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8814, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.8715, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8675, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8588, d0.loss_map_cls_all: 0.2746, d0.loss_map_pts_all: 1.5302, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2746, d0.loss_map_pts: 1.5302, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2454, d1.loss_map_pts: 1.0707, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.2289, d2.loss_map_pts: 0.9075, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.2192, d3.loss_map_pts: 0.8408, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.2134, d4.loss_map_pts: 0.8194, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.2135, d5.loss_map_pts: 0.8128, d5.loss_map_dir: 0.0104, loss: 34.6241, grad_norm: 174.0968 +2026-02-25 16:46:07,616 - DriveTransformer - INFO - Epoch [5][14000/39528] lr: 9.337e-05, eta: 7 days, 5:37:53, time: 0.795, data_time: 0.042, memory: 19865, loss_cls: 0.2274, loss_bbox: 0.4171, loss_traj: 0.7909, loss_traj_cls: 0.0011, loss_map_cls: 0.2109, loss_map_pts: 0.7901, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.9887, d0.loss_plan_l1_fix_dist: 0.3903, d1.loss_plan_l1_fix_time: 1.4446, d1.loss_plan_l1_fix_dist: 0.2024, d2.loss_plan_l1_fix_time: 1.4276, d2.loss_plan_l1_fix_dist: 0.2067, d3.loss_plan_l1_fix_time: 1.4261, d3.loss_plan_l1_fix_dist: 0.2136, d4.loss_plan_l1_fix_time: 1.4284, d4.loss_plan_l1_fix_dist: 0.2245, d5.loss_plan_l1_fix_time: 1.4314, d5.loss_plan_l1_fix_dist: 0.2384, d6.loss_plan_l1_fix_time: 1.4356, d6.loss_plan_l1_fix_dist: 0.2588, d0.loss_cls_all: 0.2541, d0.loss_bbox_all: 0.4665, d0.loss_cls: 0.2541, d0.loss_bbox: 0.4665, d1.loss_cls: 0.2479, d1.loss_bbox: 0.4350, d2.loss_cls: 0.2379, d2.loss_bbox: 0.4226, d3.loss_cls: 0.2336, d3.loss_bbox: 0.4171, d4.loss_cls: 0.2301, d4.loss_bbox: 0.4159, d5.loss_cls: 0.2277, d5.loss_bbox: 0.4168, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9928, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8343, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7949, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7923, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7967, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7930, d0.loss_map_cls_all: 0.2705, d0.loss_map_pts_all: 1.4835, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2705, d0.loss_map_pts: 1.4835, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2426, d1.loss_map_pts: 1.0425, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.2288, d2.loss_map_pts: 0.8820, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.2203, d3.loss_map_pts: 0.8195, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.2143, d4.loss_map_pts: 0.7979, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.2112, d5.loss_map_pts: 0.7899, d5.loss_map_dir: 0.0102, loss: 34.5261, grad_norm: 174.7592 +2026-02-25 16:46:48,939 - DriveTransformer - INFO - Epoch [5][14050/39528] lr: 9.337e-05, eta: 7 days, 5:37:18, time: 0.826, data_time: 0.048, memory: 19865, loss_cls: 0.2423, loss_bbox: 0.4407, loss_traj: 0.7891, loss_traj_cls: 0.0011, loss_map_cls: 0.2470, loss_map_pts: 1.0247, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.7501, d0.loss_plan_l1_fix_dist: 0.4135, d1.loss_plan_l1_fix_time: 1.4796, d1.loss_plan_l1_fix_dist: 0.2066, d2.loss_plan_l1_fix_time: 1.4623, d2.loss_plan_l1_fix_dist: 0.2097, d3.loss_plan_l1_fix_time: 1.4680, d3.loss_plan_l1_fix_dist: 0.2177, d4.loss_plan_l1_fix_time: 1.4728, d4.loss_plan_l1_fix_dist: 0.2280, d5.loss_plan_l1_fix_time: 1.4778, d5.loss_plan_l1_fix_dist: 0.2400, d6.loss_plan_l1_fix_time: 1.4830, d6.loss_plan_l1_fix_dist: 0.2523, d0.loss_cls_all: 0.2680, d0.loss_bbox_all: 0.4980, d0.loss_cls: 0.2680, d0.loss_bbox: 0.4980, d1.loss_cls: 0.2619, d1.loss_bbox: 0.4632, d2.loss_cls: 0.2545, d2.loss_bbox: 0.4469, d3.loss_cls: 0.2472, d3.loss_bbox: 0.4424, d4.loss_cls: 0.2436, d4.loss_bbox: 0.4404, d5.loss_cls: 0.2431, d5.loss_bbox: 0.4400, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0221, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8199, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7898, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7838, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7838, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7899, d0.loss_map_cls_all: 0.3188, d0.loss_map_pts_all: 1.9098, d0.loss_map_dir_all: 0.0129, d0.loss_map_cls: 0.3188, d0.loss_map_pts: 1.9098, d0.loss_map_dir: 0.0129, d1.loss_map_cls: 0.2877, d1.loss_map_pts: 1.3363, d1.loss_map_dir: 0.0131, d2.loss_map_cls: 0.2697, d2.loss_map_pts: 1.1311, d2.loss_map_dir: 0.0136, d3.loss_map_cls: 0.2573, d3.loss_map_pts: 1.0607, d3.loss_map_dir: 0.0143, d4.loss_map_cls: 0.2500, d4.loss_map_pts: 1.0350, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.2470, d5.loss_map_pts: 1.0263, d5.loss_map_dir: 0.0148, loss: 37.5860, grad_norm: 172.5563 +2026-02-25 16:47:27,037 - DriveTransformer - INFO - Epoch [5][14100/39528] lr: 9.337e-05, eta: 7 days, 5:36:28, time: 0.762, data_time: 0.041, memory: 19865, loss_cls: 0.2245, loss_bbox: 0.4132, loss_traj: 0.8642, loss_traj_cls: 0.0011, loss_map_cls: 0.2191, loss_map_pts: 0.8416, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.7597, d0.loss_plan_l1_fix_dist: 0.4064, d1.loss_plan_l1_fix_time: 1.2946, d1.loss_plan_l1_fix_dist: 0.2248, d2.loss_plan_l1_fix_time: 1.2670, d2.loss_plan_l1_fix_dist: 0.2306, d3.loss_plan_l1_fix_time: 1.2708, d3.loss_plan_l1_fix_dist: 0.2412, d4.loss_plan_l1_fix_time: 1.2759, d4.loss_plan_l1_fix_dist: 0.2524, d5.loss_plan_l1_fix_time: 1.2813, d5.loss_plan_l1_fix_dist: 0.2632, d6.loss_plan_l1_fix_time: 1.2876, d6.loss_plan_l1_fix_dist: 0.2746, d0.loss_cls_all: 0.2498, d0.loss_bbox_all: 0.4724, d0.loss_cls: 0.2498, d0.loss_bbox: 0.4724, d1.loss_cls: 0.2403, d1.loss_bbox: 0.4372, d2.loss_cls: 0.2337, d2.loss_bbox: 0.4187, d3.loss_cls: 0.2273, d3.loss_bbox: 0.4128, d4.loss_cls: 0.2250, d4.loss_bbox: 0.4104, d5.loss_cls: 0.2237, d5.loss_bbox: 0.4114, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0405, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8856, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8606, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.8496, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8477, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8599, d0.loss_map_cls_all: 0.2662, d0.loss_map_pts_all: 1.5681, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2662, d0.loss_map_pts: 1.5681, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2456, d1.loss_map_pts: 1.0937, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.2350, d2.loss_map_pts: 0.9251, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.2252, d3.loss_map_pts: 0.8706, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.2219, d4.loss_map_pts: 0.8507, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.2203, d5.loss_map_pts: 0.8431, d5.loss_map_dir: 0.0104, loss: 34.4068, grad_norm: 172.7223 +2026-02-25 16:48:06,194 - DriveTransformer - INFO - Epoch [5][14150/39528] lr: 9.337e-05, eta: 7 days, 5:35:43, time: 0.784, data_time: 0.040, memory: 19865, loss_cls: 0.2281, loss_bbox: 0.3969, loss_traj: 0.7823, loss_traj_cls: 0.0011, loss_map_cls: 0.2303, loss_map_pts: 0.8791, loss_map_dir: 0.0130, d0.loss_plan_l1_fix_time: 2.6950, d0.loss_plan_l1_fix_dist: 0.4401, d1.loss_plan_l1_fix_time: 1.5265, d1.loss_plan_l1_fix_dist: 0.2196, d2.loss_plan_l1_fix_time: 1.5172, d2.loss_plan_l1_fix_dist: 0.2255, d3.loss_plan_l1_fix_time: 1.5189, d3.loss_plan_l1_fix_dist: 0.2354, d4.loss_plan_l1_fix_time: 1.5232, d4.loss_plan_l1_fix_dist: 0.2469, d5.loss_plan_l1_fix_time: 1.5284, d5.loss_plan_l1_fix_dist: 0.2593, d6.loss_plan_l1_fix_time: 1.5347, d6.loss_plan_l1_fix_dist: 0.2726, d0.loss_cls_all: 0.2680, d0.loss_bbox_all: 0.4537, d0.loss_cls: 0.2680, d0.loss_bbox: 0.4537, d1.loss_cls: 0.2573, d1.loss_bbox: 0.4225, d2.loss_cls: 0.2396, d2.loss_bbox: 0.4054, d3.loss_cls: 0.2332, d3.loss_bbox: 0.3994, d4.loss_cls: 0.2280, d4.loss_bbox: 0.3992, d5.loss_cls: 0.2276, d5.loss_bbox: 0.3982, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0563, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8379, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7993, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7934, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7909, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7910, d0.loss_map_cls_all: 0.2835, d0.loss_map_pts_all: 1.6045, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2835, d0.loss_map_pts: 1.6045, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2552, d1.loss_map_pts: 1.1229, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2453, d2.loss_map_pts: 0.9545, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2380, d3.loss_map_pts: 0.9032, d3.loss_map_dir: 0.0124, d4.loss_map_cls: 0.2317, d4.loss_map_pts: 0.8850, d4.loss_map_dir: 0.0128, d5.loss_map_cls: 0.2305, d5.loss_map_pts: 0.8804, d5.loss_map_dir: 0.0129, loss: 35.8089, grad_norm: 173.5572 +2026-02-25 16:48:46,869 - DriveTransformer - INFO - Epoch [5][14200/39528] lr: 9.337e-05, eta: 7 days, 5:35:05, time: 0.813, data_time: 0.050, memory: 19865, loss_cls: 0.2182, loss_bbox: 0.4058, loss_traj: 0.6196, loss_traj_cls: 0.0011, loss_map_cls: 0.1972, loss_map_pts: 0.8933, loss_map_dir: 0.0151, d0.loss_plan_l1_fix_time: 2.7390, d0.loss_plan_l1_fix_dist: 0.4778, d1.loss_plan_l1_fix_time: 1.2897, d1.loss_plan_l1_fix_dist: 0.2359, d2.loss_plan_l1_fix_time: 1.2741, d2.loss_plan_l1_fix_dist: 0.2416, d3.loss_plan_l1_fix_time: 1.2741, d3.loss_plan_l1_fix_dist: 0.2519, d4.loss_plan_l1_fix_time: 1.2785, d4.loss_plan_l1_fix_dist: 0.2644, d5.loss_plan_l1_fix_time: 1.2837, d5.loss_plan_l1_fix_dist: 0.2801, d6.loss_plan_l1_fix_time: 1.2896, d6.loss_plan_l1_fix_dist: 0.2982, d0.loss_cls_all: 0.2503, d0.loss_bbox_all: 0.4719, d0.loss_cls: 0.2503, d0.loss_bbox: 0.4719, d1.loss_cls: 0.2480, d1.loss_bbox: 0.4351, d2.loss_cls: 0.2322, d2.loss_bbox: 0.4179, d3.loss_cls: 0.2222, d3.loss_bbox: 0.4130, d4.loss_cls: 0.2181, d4.loss_bbox: 0.4089, d5.loss_cls: 0.2177, d5.loss_bbox: 0.4080, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8174, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6798, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6423, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6269, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6169, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6183, d0.loss_map_cls_all: 0.2573, d0.loss_map_pts_all: 1.7163, d0.loss_map_dir_all: 0.0139, d0.loss_map_cls: 0.2573, d0.loss_map_pts: 1.7163, d0.loss_map_dir: 0.0139, d1.loss_map_cls: 0.2292, d1.loss_map_pts: 1.1449, d1.loss_map_dir: 0.0137, d2.loss_map_cls: 0.2175, d2.loss_map_pts: 0.9672, d2.loss_map_dir: 0.0141, d3.loss_map_cls: 0.2072, d3.loss_map_pts: 0.9152, d3.loss_map_dir: 0.0146, d4.loss_map_cls: 0.2005, d4.loss_map_pts: 0.8995, d4.loss_map_dir: 0.0150, d5.loss_map_cls: 0.1982, d5.loss_map_pts: 0.8939, d5.loss_map_dir: 0.0151, loss: 33.4228, grad_norm: 173.4171 +2026-02-25 16:49:27,374 - DriveTransformer - INFO - Epoch [5][14250/39528] lr: 9.337e-05, eta: 7 days, 5:34:26, time: 0.810, data_time: 0.039, memory: 19865, loss_cls: 0.2209, loss_bbox: 0.4112, loss_traj: 0.8672, loss_traj_cls: 0.0011, loss_map_cls: 0.2299, loss_map_pts: 0.9576, loss_map_dir: 0.0139, d0.loss_plan_l1_fix_time: 2.5774, d0.loss_plan_l1_fix_dist: 0.3316, d1.loss_plan_l1_fix_time: 1.2426, d1.loss_plan_l1_fix_dist: 0.2152, d2.loss_plan_l1_fix_time: 1.2504, d2.loss_plan_l1_fix_dist: 0.2225, d3.loss_plan_l1_fix_time: 1.2544, d3.loss_plan_l1_fix_dist: 0.2340, d4.loss_plan_l1_fix_time: 1.2596, d4.loss_plan_l1_fix_dist: 0.2487, d5.loss_plan_l1_fix_time: 1.2652, d5.loss_plan_l1_fix_dist: 0.2638, d6.loss_plan_l1_fix_time: 1.2709, d6.loss_plan_l1_fix_dist: 0.2761, d0.loss_cls_all: 0.2543, d0.loss_bbox_all: 0.4681, d0.loss_cls: 0.2543, d0.loss_bbox: 0.4681, d1.loss_cls: 0.2450, d1.loss_bbox: 0.4360, d2.loss_cls: 0.2339, d2.loss_bbox: 0.4199, d3.loss_cls: 0.2261, d3.loss_bbox: 0.4157, d4.loss_cls: 0.2223, d4.loss_bbox: 0.4129, d5.loss_cls: 0.2204, d5.loss_bbox: 0.4134, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1157, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9254, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8690, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.8649, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8664, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8670, d0.loss_map_cls_all: 0.2853, d0.loss_map_pts_all: 1.7989, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2853, d0.loss_map_pts: 1.7989, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2617, d1.loss_map_pts: 1.2288, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2497, d2.loss_map_pts: 1.0474, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2383, d3.loss_map_pts: 0.9865, d3.loss_map_dir: 0.0133, d4.loss_map_cls: 0.2323, d4.loss_map_pts: 0.9664, d4.loss_map_dir: 0.0137, d5.loss_map_cls: 0.2306, d5.loss_map_pts: 0.9585, d5.loss_map_dir: 0.0138, loss: 35.4790, grad_norm: 174.5121 +2026-02-25 16:50:06,781 - DriveTransformer - INFO - Epoch [5][14300/39528] lr: 9.337e-05, eta: 7 days, 5:33:42, time: 0.788, data_time: 0.045, memory: 19865, loss_cls: 0.2165, loss_bbox: 0.3953, loss_traj: 0.8350, loss_traj_cls: 0.0011, loss_map_cls: 0.2118, loss_map_pts: 0.7701, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.9833, d0.loss_plan_l1_fix_dist: 0.4055, d1.loss_plan_l1_fix_time: 1.4960, d1.loss_plan_l1_fix_dist: 0.2106, d2.loss_plan_l1_fix_time: 1.4805, d2.loss_plan_l1_fix_dist: 0.2174, d3.loss_plan_l1_fix_time: 1.4767, d3.loss_plan_l1_fix_dist: 0.2295, d4.loss_plan_l1_fix_time: 1.4793, d4.loss_plan_l1_fix_dist: 0.2438, d5.loss_plan_l1_fix_time: 1.4830, d5.loss_plan_l1_fix_dist: 0.2597, d6.loss_plan_l1_fix_time: 1.4875, d6.loss_plan_l1_fix_dist: 0.2786, d0.loss_cls_all: 0.2466, d0.loss_bbox_all: 0.4532, d0.loss_cls: 0.2466, d0.loss_bbox: 0.4532, d1.loss_cls: 0.2360, d1.loss_bbox: 0.4214, d2.loss_cls: 0.2251, d2.loss_bbox: 0.4056, d3.loss_cls: 0.2194, d3.loss_bbox: 0.3999, d4.loss_cls: 0.2158, d4.loss_bbox: 0.3970, d5.loss_cls: 0.2160, d5.loss_bbox: 0.3957, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0696, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8805, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8265, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.8229, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8205, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8270, d0.loss_map_cls_all: 0.2778, d0.loss_map_pts_all: 1.5172, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2778, d0.loss_map_pts: 1.5172, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2516, d1.loss_map_pts: 1.0494, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.2333, d2.loss_map_pts: 0.8763, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.2208, d3.loss_map_pts: 0.8081, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.2140, d4.loss_map_pts: 0.7823, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.2130, d5.loss_map_pts: 0.7737, d5.loss_map_dir: 0.0106, loss: 35.0382, grad_norm: 174.7931 +2026-02-25 16:50:48,303 - DriveTransformer - INFO - Epoch [5][14350/39528] lr: 9.337e-05, eta: 7 days, 5:33:07, time: 0.830, data_time: 0.042, memory: 19865, loss_cls: 0.2230, loss_bbox: 0.4169, loss_traj: 0.6983, loss_traj_cls: 0.0010, loss_map_cls: 0.1976, loss_map_pts: 0.8963, loss_map_dir: 0.0140, d0.loss_plan_l1_fix_time: 2.2600, d0.loss_plan_l1_fix_dist: 0.4278, d1.loss_plan_l1_fix_time: 1.3160, d1.loss_plan_l1_fix_dist: 0.2207, d2.loss_plan_l1_fix_time: 1.3096, d2.loss_plan_l1_fix_dist: 0.2270, d3.loss_plan_l1_fix_time: 1.3111, d3.loss_plan_l1_fix_dist: 0.2388, d4.loss_plan_l1_fix_time: 1.3144, d4.loss_plan_l1_fix_dist: 0.2534, d5.loss_plan_l1_fix_time: 1.3178, d5.loss_plan_l1_fix_dist: 0.2699, d6.loss_plan_l1_fix_time: 1.3217, d6.loss_plan_l1_fix_dist: 0.2899, d0.loss_cls_all: 0.2522, d0.loss_bbox_all: 0.4716, d0.loss_cls: 0.2522, d0.loss_bbox: 0.4716, d1.loss_cls: 0.2398, d1.loss_bbox: 0.4435, d2.loss_cls: 0.2330, d2.loss_bbox: 0.4276, d3.loss_cls: 0.2250, d3.loss_bbox: 0.4210, d4.loss_cls: 0.2221, d4.loss_bbox: 0.4173, d5.loss_cls: 0.2214, d5.loss_bbox: 0.4167, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8613, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7425, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7137, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7051, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7025, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7009, d0.loss_map_cls_all: 0.2522, d0.loss_map_pts_all: 1.7483, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2522, d0.loss_map_pts: 1.7483, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2281, d1.loss_map_pts: 1.1905, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2184, d2.loss_map_pts: 1.0000, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2079, d3.loss_map_pts: 0.9362, d3.loss_map_dir: 0.0135, d4.loss_map_cls: 0.2012, d4.loss_map_pts: 0.9085, d4.loss_map_dir: 0.0138, d5.loss_map_cls: 0.1990, d5.loss_map_pts: 0.9012, d5.loss_map_dir: 0.0140, loss: 33.7560, grad_norm: 174.0767 +2026-02-25 16:51:29,164 - DriveTransformer - INFO - Epoch [5][14400/39528] lr: 9.337e-05, eta: 7 days, 5:32:30, time: 0.819, data_time: 0.040, memory: 19865, loss_cls: 0.2033, loss_bbox: 0.3928, loss_traj: 0.9048, loss_traj_cls: 0.0011, loss_map_cls: 0.1964, loss_map_pts: 0.8015, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.7131, d0.loss_plan_l1_fix_dist: 0.4403, d1.loss_plan_l1_fix_time: 1.3202, d1.loss_plan_l1_fix_dist: 0.2173, d2.loss_plan_l1_fix_time: 1.3047, d2.loss_plan_l1_fix_dist: 0.2262, d3.loss_plan_l1_fix_time: 1.3076, d3.loss_plan_l1_fix_dist: 0.2403, d4.loss_plan_l1_fix_time: 1.3112, d4.loss_plan_l1_fix_dist: 0.2572, d5.loss_plan_l1_fix_time: 1.3150, d5.loss_plan_l1_fix_dist: 0.2752, d6.loss_plan_l1_fix_time: 1.3193, d6.loss_plan_l1_fix_dist: 0.2929, d0.loss_cls_all: 0.2298, d0.loss_bbox_all: 0.4525, d0.loss_cls: 0.2298, d0.loss_bbox: 0.4525, d1.loss_cls: 0.2182, d1.loss_bbox: 0.4198, d2.loss_cls: 0.2103, d2.loss_bbox: 0.4034, d3.loss_cls: 0.2070, d3.loss_bbox: 0.3969, d4.loss_cls: 0.2024, d4.loss_bbox: 0.3954, d5.loss_cls: 0.2028, d5.loss_bbox: 0.3949, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0757, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9333, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8803, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8730, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8794, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8928, d0.loss_map_cls_all: 0.2650, d0.loss_map_pts_all: 1.6098, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2650, d0.loss_map_pts: 1.6098, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2284, d1.loss_map_pts: 1.0854, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2153, d2.loss_map_pts: 0.9101, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.2066, d3.loss_map_pts: 0.8415, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.2001, d4.loss_map_pts: 0.8163, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1970, d5.loss_map_pts: 0.8041, d5.loss_map_dir: 0.0120, loss: 34.3432, grad_norm: 168.7826 +2026-02-25 16:52:10,651 - DriveTransformer - INFO - Epoch [5][14450/39528] lr: 9.337e-05, eta: 7 days, 5:31:55, time: 0.828, data_time: 0.049, memory: 19865, loss_cls: 0.2304, loss_bbox: 0.4229, loss_traj: 0.7865, loss_traj_cls: 0.0010, loss_map_cls: 0.2419, loss_map_pts: 0.9986, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.5701, d0.loss_plan_l1_fix_dist: 0.3468, d1.loss_plan_l1_fix_time: 1.2992, d1.loss_plan_l1_fix_dist: 0.1805, d2.loss_plan_l1_fix_time: 1.2872, d2.loss_plan_l1_fix_dist: 0.1888, d3.loss_plan_l1_fix_time: 1.2911, d3.loss_plan_l1_fix_dist: 0.2047, d4.loss_plan_l1_fix_time: 1.2954, d4.loss_plan_l1_fix_dist: 0.2227, d5.loss_plan_l1_fix_time: 1.3000, d5.loss_plan_l1_fix_dist: 0.2409, d6.loss_plan_l1_fix_time: 1.3048, d6.loss_plan_l1_fix_dist: 0.2607, d0.loss_cls_all: 0.2616, d0.loss_bbox_all: 0.4873, d0.loss_cls: 0.2616, d0.loss_bbox: 0.4873, d1.loss_cls: 0.2482, d1.loss_bbox: 0.4540, d2.loss_cls: 0.2384, d2.loss_bbox: 0.4356, d3.loss_cls: 0.2337, d3.loss_bbox: 0.4273, d4.loss_cls: 0.2319, d4.loss_bbox: 0.4236, d5.loss_cls: 0.2311, d5.loss_bbox: 0.4224, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1168, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8770, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8186, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8091, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7887, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7902, d0.loss_map_cls_all: 0.3169, d0.loss_map_pts_all: 1.7667, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.3169, d0.loss_map_pts: 1.7667, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2838, d1.loss_map_pts: 1.3078, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2627, d2.loss_map_pts: 1.1155, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.2521, d3.loss_map_pts: 1.0402, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.2457, d4.loss_map_pts: 1.0109, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.2425, d5.loss_map_pts: 1.0002, d5.loss_map_dir: 0.0117, loss: 35.7405, grad_norm: 169.3107 +2026-02-25 16:52:50,354 - DriveTransformer - INFO - Epoch [5][14500/39528] lr: 9.337e-05, eta: 7 days, 5:31:12, time: 0.794, data_time: 0.045, memory: 19865, loss_cls: 0.2322, loss_bbox: 0.4424, loss_traj: 0.9308, loss_traj_cls: 0.0011, loss_map_cls: 0.2156, loss_map_pts: 0.8421, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.7766, d0.loss_plan_l1_fix_dist: 0.3893, d1.loss_plan_l1_fix_time: 1.4718, d1.loss_plan_l1_fix_dist: 0.2125, d2.loss_plan_l1_fix_time: 1.4494, d2.loss_plan_l1_fix_dist: 0.2161, d3.loss_plan_l1_fix_time: 1.4499, d3.loss_plan_l1_fix_dist: 0.2238, d4.loss_plan_l1_fix_time: 1.4540, d4.loss_plan_l1_fix_dist: 0.2328, d5.loss_plan_l1_fix_time: 1.4591, d5.loss_plan_l1_fix_dist: 0.2449, d6.loss_plan_l1_fix_time: 1.4642, d6.loss_plan_l1_fix_dist: 0.2575, d0.loss_cls_all: 0.2636, d0.loss_bbox_all: 0.5096, d0.loss_cls: 0.2636, d0.loss_bbox: 0.5096, d1.loss_cls: 0.2585, d1.loss_bbox: 0.4735, d2.loss_cls: 0.2445, d2.loss_bbox: 0.4553, d3.loss_cls: 0.2366, d3.loss_bbox: 0.4491, d4.loss_cls: 0.2325, d4.loss_bbox: 0.4448, d5.loss_cls: 0.2317, d5.loss_bbox: 0.4431, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1665, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9881, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9419, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9314, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9277, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9289, d0.loss_map_cls_all: 0.2900, d0.loss_map_pts_all: 1.4535, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2900, d0.loss_map_pts: 1.4535, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2546, d1.loss_map_pts: 1.0726, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.2359, d2.loss_map_pts: 0.9316, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.2273, d3.loss_map_pts: 0.8732, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.2219, d4.loss_map_pts: 0.8505, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.2167, d5.loss_map_pts: 0.8435, d5.loss_map_dir: 0.0094, loss: 36.1589, grad_norm: 170.5876 +2026-02-25 16:53:32,119 - DriveTransformer - INFO - Epoch [5][14550/39528] lr: 9.337e-05, eta: 7 days, 5:30:39, time: 0.835, data_time: 0.041, memory: 19865, loss_cls: 0.2496, loss_bbox: 0.4462, loss_traj: 0.7849, loss_traj_cls: 0.0010, loss_map_cls: 0.2206, loss_map_pts: 0.9585, loss_map_dir: 0.0156, d0.loss_plan_l1_fix_time: 2.4342, d0.loss_plan_l1_fix_dist: 0.3911, d1.loss_plan_l1_fix_time: 1.3458, d1.loss_plan_l1_fix_dist: 0.2186, d2.loss_plan_l1_fix_time: 1.3307, d2.loss_plan_l1_fix_dist: 0.2255, d3.loss_plan_l1_fix_time: 1.3373, d3.loss_plan_l1_fix_dist: 0.2348, d4.loss_plan_l1_fix_time: 1.3435, d4.loss_plan_l1_fix_dist: 0.2488, d5.loss_plan_l1_fix_time: 1.3494, d5.loss_plan_l1_fix_dist: 0.2692, d6.loss_plan_l1_fix_time: 1.3558, d6.loss_plan_l1_fix_dist: 0.2923, d0.loss_cls_all: 0.2732, d0.loss_bbox_all: 0.5082, d0.loss_cls: 0.2732, d0.loss_bbox: 0.5082, d1.loss_cls: 0.2669, d1.loss_bbox: 0.4718, d2.loss_cls: 0.2622, d2.loss_bbox: 0.4535, d3.loss_cls: 0.2571, d3.loss_bbox: 0.4465, d4.loss_cls: 0.2529, d4.loss_bbox: 0.4445, d5.loss_cls: 0.2504, d5.loss_bbox: 0.4449, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0496, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8547, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8027, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7936, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7844, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7891, d0.loss_map_cls_all: 0.2827, d0.loss_map_pts_all: 1.8898, d0.loss_map_dir_all: 0.0150, d0.loss_map_cls: 0.2827, d0.loss_map_pts: 1.8898, d0.loss_map_dir: 0.0150, d1.loss_map_cls: 0.2561, d1.loss_map_pts: 1.2521, d1.loss_map_dir: 0.0144, d2.loss_map_cls: 0.2390, d2.loss_map_pts: 1.0610, d2.loss_map_dir: 0.0146, d3.loss_map_cls: 0.2292, d3.loss_map_pts: 0.9901, d3.loss_map_dir: 0.0151, d4.loss_map_cls: 0.2249, d4.loss_map_pts: 0.9684, d4.loss_map_dir: 0.0154, d5.loss_map_cls: 0.2215, d5.loss_map_pts: 0.9598, d5.loss_map_dir: 0.0155, loss: 36.0994, grad_norm: 177.0769 +2026-02-25 16:54:13,434 - DriveTransformer - INFO - Epoch [5][14600/39528] lr: 9.337e-05, eta: 7 days, 5:30:03, time: 0.826, data_time: 0.046, memory: 19865, loss_cls: 0.2736, loss_bbox: 0.4707, loss_traj: 0.8274, loss_traj_cls: 0.0011, loss_map_cls: 0.2605, loss_map_pts: 1.1296, loss_map_dir: 0.0155, d0.loss_plan_l1_fix_time: 2.6792, d0.loss_plan_l1_fix_dist: 0.4125, d1.loss_plan_l1_fix_time: 1.5797, d1.loss_plan_l1_fix_dist: 0.2313, d2.loss_plan_l1_fix_time: 1.5621, d2.loss_plan_l1_fix_dist: 0.2403, d3.loss_plan_l1_fix_time: 1.5638, d3.loss_plan_l1_fix_dist: 0.2545, d4.loss_plan_l1_fix_time: 1.5691, d4.loss_plan_l1_fix_dist: 0.2701, d5.loss_plan_l1_fix_time: 1.5743, d5.loss_plan_l1_fix_dist: 0.2884, d6.loss_plan_l1_fix_time: 1.5804, d6.loss_plan_l1_fix_dist: 0.3087, d0.loss_cls_all: 0.3002, d0.loss_bbox_all: 0.5346, d0.loss_cls: 0.3002, d0.loss_bbox: 0.5346, d1.loss_cls: 0.2902, d1.loss_bbox: 0.4955, d2.loss_cls: 0.2809, d2.loss_bbox: 0.4799, d3.loss_cls: 0.2738, d3.loss_bbox: 0.4750, d4.loss_cls: 0.2732, d4.loss_bbox: 0.4719, d5.loss_cls: 0.2717, d5.loss_bbox: 0.4719, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9940, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8516, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8168, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8162, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8147, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8194, d0.loss_map_cls_all: 0.3266, d0.loss_map_pts_all: 2.1379, d0.loss_map_dir_all: 0.0142, d0.loss_map_cls: 0.3266, d0.loss_map_pts: 2.1379, d0.loss_map_dir: 0.0142, d1.loss_map_cls: 0.2937, d1.loss_map_pts: 1.4689, d1.loss_map_dir: 0.0138, d2.loss_map_cls: 0.2782, d2.loss_map_pts: 1.2512, d2.loss_map_dir: 0.0141, d3.loss_map_cls: 0.2685, d3.loss_map_pts: 1.1707, d3.loss_map_dir: 0.0147, d4.loss_map_cls: 0.2611, d4.loss_map_pts: 1.1445, d4.loss_map_dir: 0.0152, d5.loss_map_cls: 0.2608, d5.loss_map_pts: 1.1307, d5.loss_map_dir: 0.0153, loss: 40.2240, grad_norm: 185.6651 +2026-02-25 16:54:55,622 - DriveTransformer - INFO - Epoch [5][14650/39528] lr: 9.337e-05, eta: 7 days, 5:29:32, time: 0.844, data_time: 0.043, memory: 19865, loss_cls: 0.2399, loss_bbox: 0.4385, loss_traj: 0.7624, loss_traj_cls: 0.0010, loss_map_cls: 0.2297, loss_map_pts: 1.0232, loss_map_dir: 0.0141, d0.loss_plan_l1_fix_time: 2.4483, d0.loss_plan_l1_fix_dist: 0.4425, d1.loss_plan_l1_fix_time: 1.4480, d1.loss_plan_l1_fix_dist: 0.2663, d2.loss_plan_l1_fix_time: 1.4319, d2.loss_plan_l1_fix_dist: 0.2734, d3.loss_plan_l1_fix_time: 1.4354, d3.loss_plan_l1_fix_dist: 0.2831, d4.loss_plan_l1_fix_time: 1.4408, d4.loss_plan_l1_fix_dist: 0.2908, d5.loss_plan_l1_fix_time: 1.4466, d5.loss_plan_l1_fix_dist: 0.2966, d6.loss_plan_l1_fix_time: 1.4530, d6.loss_plan_l1_fix_dist: 0.3037, d0.loss_cls_all: 0.2677, d0.loss_bbox_all: 0.5062, d0.loss_cls: 0.2677, d0.loss_bbox: 0.5062, d1.loss_cls: 0.2612, d1.loss_bbox: 0.4651, d2.loss_cls: 0.2507, d2.loss_bbox: 0.4504, d3.loss_cls: 0.2460, d3.loss_bbox: 0.4425, d4.loss_cls: 0.2424, d4.loss_bbox: 0.4389, d5.loss_cls: 0.2406, d5.loss_bbox: 0.4377, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9871, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8090, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7748, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7607, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7584, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7558, d0.loss_map_cls_all: 0.2989, d0.loss_map_pts_all: 1.9481, d0.loss_map_dir_all: 0.0132, d0.loss_map_cls: 0.2989, d0.loss_map_pts: 1.9481, d0.loss_map_dir: 0.0132, d1.loss_map_cls: 0.2662, d1.loss_map_pts: 1.3288, d1.loss_map_dir: 0.0128, d2.loss_map_cls: 0.2464, d2.loss_map_pts: 1.1326, d2.loss_map_dir: 0.0130, d3.loss_map_cls: 0.2352, d3.loss_map_pts: 1.0567, d3.loss_map_dir: 0.0136, d4.loss_map_cls: 0.2309, d4.loss_map_pts: 1.0310, d4.loss_map_dir: 0.0138, d5.loss_map_cls: 0.2279, d5.loss_map_pts: 1.0256, d5.loss_map_dir: 0.0139, loss: 37.2129, grad_norm: 185.5360 +2026-02-25 16:55:34,925 - DriveTransformer - INFO - Epoch [5][14700/39528] lr: 9.337e-05, eta: 7 days, 5:28:47, time: 0.786, data_time: 0.040, memory: 19865, loss_cls: 0.2206, loss_bbox: 0.4332, loss_traj: 0.7171, loss_traj_cls: 0.0010, loss_map_cls: 0.2119, loss_map_pts: 0.7933, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.4277, d0.loss_plan_l1_fix_dist: 0.3555, d1.loss_plan_l1_fix_time: 1.3197, d1.loss_plan_l1_fix_dist: 0.2069, d2.loss_plan_l1_fix_time: 1.3055, d2.loss_plan_l1_fix_dist: 0.2127, d3.loss_plan_l1_fix_time: 1.3090, d3.loss_plan_l1_fix_dist: 0.2222, d4.loss_plan_l1_fix_time: 1.3148, d4.loss_plan_l1_fix_dist: 0.2349, d5.loss_plan_l1_fix_time: 1.3216, d5.loss_plan_l1_fix_dist: 0.2521, d6.loss_plan_l1_fix_time: 1.3294, d6.loss_plan_l1_fix_dist: 0.2727, d0.loss_cls_all: 0.2445, d0.loss_bbox_all: 0.4955, d0.loss_cls: 0.2445, d0.loss_bbox: 0.4955, d1.loss_cls: 0.2449, d1.loss_bbox: 0.4614, d2.loss_cls: 0.2316, d2.loss_bbox: 0.4455, d3.loss_cls: 0.2246, d3.loss_bbox: 0.4369, d4.loss_cls: 0.2216, d4.loss_bbox: 0.4330, d5.loss_cls: 0.2197, d5.loss_bbox: 0.4329, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9342, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7885, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7293, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7184, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7137, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7215, d0.loss_map_cls_all: 0.2800, d0.loss_map_pts_all: 1.4587, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2800, d0.loss_map_pts: 1.4587, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2479, d1.loss_map_pts: 1.0370, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.2332, d2.loss_map_pts: 0.8852, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.2191, d3.loss_map_pts: 0.8206, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.2137, d4.loss_map_pts: 0.8000, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.2121, d5.loss_map_pts: 0.7957, d5.loss_map_dir: 0.0099, loss: 32.9223, grad_norm: 185.6895 +2026-02-25 16:56:16,112 - DriveTransformer - INFO - Epoch [5][14750/39528] lr: 9.337e-05, eta: 7 days, 5:28:11, time: 0.824, data_time: 0.046, memory: 19865, loss_cls: 0.2271, loss_bbox: 0.4583, loss_traj: 0.7569, loss_traj_cls: 0.0010, loss_map_cls: 0.2536, loss_map_pts: 0.9880, loss_map_dir: 0.0136, d0.loss_plan_l1_fix_time: 2.7965, d0.loss_plan_l1_fix_dist: 0.4197, d1.loss_plan_l1_fix_time: 1.4021, d1.loss_plan_l1_fix_dist: 0.2266, d2.loss_plan_l1_fix_time: 1.3839, d2.loss_plan_l1_fix_dist: 0.2340, d3.loss_plan_l1_fix_time: 1.3847, d3.loss_plan_l1_fix_dist: 0.2434, d4.loss_plan_l1_fix_time: 1.3887, d4.loss_plan_l1_fix_dist: 0.2572, d5.loss_plan_l1_fix_time: 1.3935, d5.loss_plan_l1_fix_dist: 0.2746, d6.loss_plan_l1_fix_time: 1.3989, d6.loss_plan_l1_fix_dist: 0.2898, d0.loss_cls_all: 0.2542, d0.loss_bbox_all: 0.5113, d0.loss_cls: 0.2542, d0.loss_bbox: 0.5113, d1.loss_cls: 0.2485, d1.loss_bbox: 0.4767, d2.loss_cls: 0.2414, d2.loss_bbox: 0.4589, d3.loss_cls: 0.2327, d3.loss_bbox: 0.4538, d4.loss_cls: 0.2278, d4.loss_bbox: 0.4547, d5.loss_cls: 0.2267, d5.loss_bbox: 0.4570, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9817, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8264, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7760, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7522, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7495, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7523, d0.loss_map_cls_all: 0.3162, d0.loss_map_pts_all: 1.8468, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.3162, d0.loss_map_pts: 1.8468, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2891, d1.loss_map_pts: 1.2827, d1.loss_map_dir: 0.0121, d2.loss_map_cls: 0.2746, d2.loss_map_pts: 1.0850, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2625, d3.loss_map_pts: 1.0218, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2563, d4.loss_map_pts: 0.9967, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.2531, d5.loss_map_pts: 0.9913, d5.loss_map_dir: 0.0135, loss: 36.7736, grad_norm: 185.3966 +2026-02-25 16:56:58,425 - DriveTransformer - INFO - Epoch [5][14800/39528] lr: 9.337e-05, eta: 7 days, 5:27:40, time: 0.846, data_time: 0.048, memory: 19865, loss_cls: 0.2591, loss_bbox: 0.4885, loss_traj: 0.7861, loss_traj_cls: 0.0009, loss_map_cls: 0.2640, loss_map_pts: 1.1168, loss_map_dir: 0.0165, d0.loss_plan_l1_fix_time: 2.5908, d0.loss_plan_l1_fix_dist: 0.3620, d1.loss_plan_l1_fix_time: 1.4618, d1.loss_plan_l1_fix_dist: 0.2272, d2.loss_plan_l1_fix_time: 1.4458, d2.loss_plan_l1_fix_dist: 0.2335, d3.loss_plan_l1_fix_time: 1.4463, d3.loss_plan_l1_fix_dist: 0.2452, d4.loss_plan_l1_fix_time: 1.4507, d4.loss_plan_l1_fix_dist: 0.2609, d5.loss_plan_l1_fix_time: 1.4556, d5.loss_plan_l1_fix_dist: 0.2801, d6.loss_plan_l1_fix_time: 1.4608, d6.loss_plan_l1_fix_dist: 0.3048, d0.loss_cls_all: 0.2909, d0.loss_bbox_all: 0.5386, d0.loss_cls: 0.2909, d0.loss_bbox: 0.5386, d1.loss_cls: 0.2807, d1.loss_bbox: 0.5026, d2.loss_cls: 0.2677, d2.loss_bbox: 0.4913, d3.loss_cls: 0.2610, d3.loss_bbox: 0.4847, d4.loss_cls: 0.2574, d4.loss_bbox: 0.4846, d5.loss_cls: 0.2578, d5.loss_bbox: 0.4863, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0080, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8507, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7988, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7923, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7847, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7847, d0.loss_map_cls_all: 0.3251, d0.loss_map_pts_all: 2.0574, d0.loss_map_dir_all: 0.0146, d0.loss_map_cls: 0.3251, d0.loss_map_pts: 2.0574, d0.loss_map_dir: 0.0146, d1.loss_map_cls: 0.2988, d1.loss_map_pts: 1.4297, d1.loss_map_dir: 0.0144, d2.loss_map_cls: 0.2826, d2.loss_map_pts: 1.2264, d2.loss_map_dir: 0.0150, d3.loss_map_cls: 0.2732, d3.loss_map_pts: 1.1529, d3.loss_map_dir: 0.0158, d4.loss_map_cls: 0.2672, d4.loss_map_pts: 1.1258, d4.loss_map_dir: 0.0162, d5.loss_map_cls: 0.2650, d5.loss_map_pts: 1.1180, d5.loss_map_dir: 0.0163, loss: 38.9269, grad_norm: 179.2545 +2026-02-25 16:57:39,166 - DriveTransformer - INFO - Epoch [5][14850/39528] lr: 9.337e-05, eta: 7 days, 5:27:02, time: 0.815, data_time: 0.042, memory: 19865, loss_cls: 0.2348, loss_bbox: 0.4491, loss_traj: 0.9323, loss_traj_cls: 0.0010, loss_map_cls: 0.2208, loss_map_pts: 0.9255, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.5645, d0.loss_plan_l1_fix_dist: 0.3608, d1.loss_plan_l1_fix_time: 1.5072, d1.loss_plan_l1_fix_dist: 0.1953, d2.loss_plan_l1_fix_time: 1.4963, d2.loss_plan_l1_fix_dist: 0.2034, d3.loss_plan_l1_fix_time: 1.4933, d3.loss_plan_l1_fix_dist: 0.2163, d4.loss_plan_l1_fix_time: 1.4963, d4.loss_plan_l1_fix_dist: 0.2301, d5.loss_plan_l1_fix_time: 1.4996, d5.loss_plan_l1_fix_dist: 0.2450, d6.loss_plan_l1_fix_time: 1.5032, d6.loss_plan_l1_fix_dist: 0.2625, d0.loss_cls_all: 0.2572, d0.loss_bbox_all: 0.4909, d0.loss_cls: 0.2572, d0.loss_bbox: 0.4909, d1.loss_cls: 0.2493, d1.loss_bbox: 0.4626, d2.loss_cls: 0.2427, d2.loss_bbox: 0.4498, d3.loss_cls: 0.2355, d3.loss_bbox: 0.4465, d4.loss_cls: 0.2337, d4.loss_bbox: 0.4467, d5.loss_cls: 0.2338, d5.loss_bbox: 0.4465, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0939, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9271, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9024, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8972, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9323, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9340, d0.loss_map_cls_all: 0.2928, d0.loss_map_pts_all: 1.7463, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.2928, d0.loss_map_pts: 1.7463, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2536, d1.loss_map_pts: 1.2126, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2386, d2.loss_map_pts: 1.0210, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2288, d3.loss_map_pts: 0.9581, d3.loss_map_dir: 0.0125, d4.loss_map_cls: 0.2222, d4.loss_map_pts: 0.9388, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.2220, d5.loss_map_pts: 0.9239, d5.loss_map_dir: 0.0127, loss: 37.0704, grad_norm: 172.2776 +2026-02-25 16:58:18,149 - DriveTransformer - INFO - Epoch [5][14900/39528] lr: 9.337e-05, eta: 7 days, 5:26:16, time: 0.780, data_time: 0.043, memory: 19865, loss_cls: 0.2572, loss_bbox: 0.4506, loss_traj: 0.8915, loss_traj_cls: 0.0010, loss_map_cls: 0.2269, loss_map_pts: 1.0901, loss_map_dir: 0.0135, d0.loss_plan_l1_fix_time: 2.8161, d0.loss_plan_l1_fix_dist: 0.4986, d1.loss_plan_l1_fix_time: 1.4398, d1.loss_plan_l1_fix_dist: 0.2314, d2.loss_plan_l1_fix_time: 1.4187, d2.loss_plan_l1_fix_dist: 0.2387, d3.loss_plan_l1_fix_time: 1.4155, d3.loss_plan_l1_fix_dist: 0.2509, d4.loss_plan_l1_fix_time: 1.4177, d4.loss_plan_l1_fix_dist: 0.2627, d5.loss_plan_l1_fix_time: 1.4211, d5.loss_plan_l1_fix_dist: 0.2779, d6.loss_plan_l1_fix_time: 1.4247, d6.loss_plan_l1_fix_dist: 0.2966, d0.loss_cls_all: 0.2917, d0.loss_bbox_all: 0.5150, d0.loss_cls: 0.2917, d0.loss_bbox: 0.5150, d1.loss_cls: 0.2803, d1.loss_bbox: 0.4851, d2.loss_cls: 0.2723, d2.loss_bbox: 0.4665, d3.loss_cls: 0.2612, d3.loss_bbox: 0.4589, d4.loss_cls: 0.2552, d4.loss_bbox: 0.4555, d5.loss_cls: 0.2546, d5.loss_bbox: 0.4542, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1178, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9365, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9010, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8833, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8849, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8919, d0.loss_map_cls_all: 0.3077, d0.loss_map_pts_all: 1.8817, d0.loss_map_dir_all: 0.0122, d0.loss_map_cls: 0.3077, d0.loss_map_pts: 1.8817, d0.loss_map_dir: 0.0122, d1.loss_map_cls: 0.2708, d1.loss_map_pts: 1.3874, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2515, d2.loss_map_pts: 1.2048, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2343, d3.loss_map_pts: 1.1383, d3.loss_map_dir: 0.0129, d4.loss_map_cls: 0.2290, d4.loss_map_pts: 1.1111, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.2270, d5.loss_map_pts: 1.0953, d5.loss_map_dir: 0.0134, loss: 38.8364, grad_norm: 172.7498 +2026-02-25 16:58:59,055 - DriveTransformer - INFO - Epoch [5][14950/39528] lr: 9.337e-05, eta: 7 days, 5:25:39, time: 0.818, data_time: 0.041, memory: 19865, loss_cls: 0.2493, loss_bbox: 0.4474, loss_traj: 0.7346, loss_traj_cls: 0.0010, loss_map_cls: 0.1921, loss_map_pts: 0.8737, loss_map_dir: 0.0143, d0.loss_plan_l1_fix_time: 3.0623, d0.loss_plan_l1_fix_dist: 0.4369, d1.loss_plan_l1_fix_time: 1.5507, d1.loss_plan_l1_fix_dist: 0.2116, d2.loss_plan_l1_fix_time: 1.5373, d2.loss_plan_l1_fix_dist: 0.2157, d3.loss_plan_l1_fix_time: 1.5370, d3.loss_plan_l1_fix_dist: 0.2256, d4.loss_plan_l1_fix_time: 1.5400, d4.loss_plan_l1_fix_dist: 0.2374, d5.loss_plan_l1_fix_time: 1.5437, d5.loss_plan_l1_fix_dist: 0.2508, d6.loss_plan_l1_fix_time: 1.5478, d6.loss_plan_l1_fix_dist: 0.2679, d0.loss_cls_all: 0.2861, d0.loss_bbox_all: 0.4956, d0.loss_cls: 0.2861, d0.loss_bbox: 0.4956, d1.loss_cls: 0.2739, d1.loss_bbox: 0.4671, d2.loss_cls: 0.2640, d2.loss_bbox: 0.4522, d3.loss_cls: 0.2529, d3.loss_bbox: 0.4474, d4.loss_cls: 0.2497, d4.loss_bbox: 0.4469, d5.loss_cls: 0.2486, d5.loss_bbox: 0.4470, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9065, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7821, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7454, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7464, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7384, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7382, d0.loss_map_cls_all: 0.2562, d0.loss_map_pts_all: 1.6452, d0.loss_map_dir_all: 0.0140, d0.loss_map_cls: 0.2562, d0.loss_map_pts: 1.6452, d0.loss_map_dir: 0.0140, d1.loss_map_cls: 0.2266, d1.loss_map_pts: 1.1189, d1.loss_map_dir: 0.0135, d2.loss_map_cls: 0.2154, d2.loss_map_pts: 0.9497, d2.loss_map_dir: 0.0135, d3.loss_map_cls: 0.2039, d3.loss_map_pts: 0.8944, d3.loss_map_dir: 0.0140, d4.loss_map_cls: 0.1966, d4.loss_map_pts: 0.8801, d4.loss_map_dir: 0.0143, d5.loss_map_cls: 0.1935, d5.loss_map_pts: 0.8725, d5.loss_map_dir: 0.0143, loss: 36.1048, grad_norm: 172.3319 +2026-02-25 16:59:39,840 - DriveTransformer - INFO - Epoch [5][15000/39528] lr: 9.337e-05, eta: 7 days, 5:25:01, time: 0.815, data_time: 0.041, memory: 19865, loss_cls: 0.2065, loss_bbox: 0.4072, loss_traj: 0.8932, loss_traj_cls: 0.0010, loss_map_cls: 0.1957, loss_map_pts: 0.7839, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.5030, d0.loss_plan_l1_fix_dist: 0.4718, d1.loss_plan_l1_fix_time: 1.2545, d1.loss_plan_l1_fix_dist: 0.2066, d2.loss_plan_l1_fix_time: 1.2343, d2.loss_plan_l1_fix_dist: 0.2138, d3.loss_plan_l1_fix_time: 1.2384, d3.loss_plan_l1_fix_dist: 0.2240, d4.loss_plan_l1_fix_time: 1.2428, d4.loss_plan_l1_fix_dist: 0.2373, d5.loss_plan_l1_fix_time: 1.2473, d5.loss_plan_l1_fix_dist: 0.2521, d6.loss_plan_l1_fix_time: 1.2529, d6.loss_plan_l1_fix_dist: 0.2701, d0.loss_cls_all: 0.2353, d0.loss_bbox_all: 0.4548, d0.loss_cls: 0.2353, d0.loss_bbox: 0.4548, d1.loss_cls: 0.2268, d1.loss_bbox: 0.4232, d2.loss_cls: 0.2184, d2.loss_bbox: 0.4055, d3.loss_cls: 0.2108, d3.loss_bbox: 0.4038, d4.loss_cls: 0.2093, d4.loss_bbox: 0.4014, d5.loss_cls: 0.2073, d5.loss_bbox: 0.4032, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1580, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9516, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8981, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.8836, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8886, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8904, d0.loss_map_cls_all: 0.2622, d0.loss_map_pts_all: 1.5170, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2622, d0.loss_map_pts: 1.5170, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2286, d1.loss_map_pts: 1.0290, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.2133, d2.loss_map_pts: 0.8721, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.2029, d3.loss_map_pts: 0.8130, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1966, d4.loss_map_pts: 0.7871, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1954, d5.loss_map_pts: 0.7832, d5.loss_map_dir: 0.0113, loss: 33.4678, grad_norm: 173.0558 +2026-02-25 17:00:19,714 - DriveTransformer - INFO - Epoch [5][15050/39528] lr: 9.337e-05, eta: 7 days, 5:24:19, time: 0.797, data_time: 0.044, memory: 19865, loss_cls: 0.1925, loss_bbox: 0.4042, loss_traj: 0.7257, loss_traj_cls: 0.0010, loss_map_cls: 0.2092, loss_map_pts: 0.8547, loss_map_dir: 0.0132, d0.loss_plan_l1_fix_time: 2.5115, d0.loss_plan_l1_fix_dist: 0.3725, d1.loss_plan_l1_fix_time: 1.2075, d1.loss_plan_l1_fix_dist: 0.2141, d2.loss_plan_l1_fix_time: 1.1946, d2.loss_plan_l1_fix_dist: 0.2217, d3.loss_plan_l1_fix_time: 1.1959, d3.loss_plan_l1_fix_dist: 0.2356, d4.loss_plan_l1_fix_time: 1.1996, d4.loss_plan_l1_fix_dist: 0.2517, d5.loss_plan_l1_fix_time: 1.2041, d5.loss_plan_l1_fix_dist: 0.2693, d6.loss_plan_l1_fix_time: 1.2091, d6.loss_plan_l1_fix_dist: 0.2897, d0.loss_cls_all: 0.2242, d0.loss_bbox_all: 0.4503, d0.loss_cls: 0.2242, d0.loss_bbox: 0.4503, d1.loss_cls: 0.2146, d1.loss_bbox: 0.4205, d2.loss_cls: 0.2027, d2.loss_bbox: 0.4095, d3.loss_cls: 0.1962, d3.loss_bbox: 0.4055, d4.loss_cls: 0.1932, d4.loss_bbox: 0.4036, d5.loss_cls: 0.1914, d5.loss_bbox: 0.4020, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9831, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7890, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7421, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7331, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7248, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7237, d0.loss_map_cls_all: 0.2713, d0.loss_map_pts_all: 1.6249, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2713, d0.loss_map_pts: 1.6249, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2408, d1.loss_map_pts: 1.1161, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2258, d2.loss_map_pts: 0.9376, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2144, d3.loss_map_pts: 0.8771, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.2119, d4.loss_map_pts: 0.8573, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.2096, d5.loss_map_pts: 0.8518, d5.loss_map_dir: 0.0131, loss: 32.6879, grad_norm: 171.6793 +2026-02-25 17:00:59,020 - DriveTransformer - INFO - Epoch [5][15100/39528] lr: 9.337e-05, eta: 7 days, 5:23:35, time: 0.786, data_time: 0.043, memory: 19865, loss_cls: 0.2448, loss_bbox: 0.4538, loss_traj: 0.7975, loss_traj_cls: 0.0010, loss_map_cls: 0.2378, loss_map_pts: 1.0048, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.7873, d0.loss_plan_l1_fix_dist: 0.5171, d1.loss_plan_l1_fix_time: 1.3500, d1.loss_plan_l1_fix_dist: 0.2443, d2.loss_plan_l1_fix_time: 1.3293, d2.loss_plan_l1_fix_dist: 0.2492, d3.loss_plan_l1_fix_time: 1.3320, d3.loss_plan_l1_fix_dist: 0.2606, d4.loss_plan_l1_fix_time: 1.3370, d4.loss_plan_l1_fix_dist: 0.2723, d5.loss_plan_l1_fix_time: 1.3427, d5.loss_plan_l1_fix_dist: 0.2855, d6.loss_plan_l1_fix_time: 1.3489, d6.loss_plan_l1_fix_dist: 0.3020, d0.loss_cls_all: 0.2775, d0.loss_bbox_all: 0.5178, d0.loss_cls: 0.2775, d0.loss_bbox: 0.5178, d1.loss_cls: 0.2714, d1.loss_bbox: 0.4847, d2.loss_cls: 0.2585, d2.loss_bbox: 0.4669, d3.loss_cls: 0.2501, d3.loss_bbox: 0.4597, d4.loss_cls: 0.2456, d4.loss_bbox: 0.4539, d5.loss_cls: 0.2449, d5.loss_bbox: 0.4532, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0390, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8556, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8166, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8038, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7946, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7957, d0.loss_map_cls_all: 0.3043, d0.loss_map_pts_all: 1.7082, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.3043, d0.loss_map_pts: 1.7082, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2745, d1.loss_map_pts: 1.2314, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2580, d2.loss_map_pts: 1.0760, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2470, d3.loss_map_pts: 1.0264, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2419, d4.loss_map_pts: 1.0094, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.2392, d5.loss_map_pts: 1.0048, d5.loss_map_dir: 0.0127, loss: 36.7193, grad_norm: 171.9497 +2026-02-25 17:01:41,248 - DriveTransformer - INFO - Epoch [5][15150/39528] lr: 9.337e-05, eta: 7 days, 5:23:03, time: 0.845, data_time: 0.056, memory: 19865, loss_cls: 0.2205, loss_bbox: 0.4258, loss_traj: 0.7765, loss_traj_cls: 0.0010, loss_map_cls: 0.1991, loss_map_pts: 0.8956, loss_map_dir: 0.0145, d0.loss_plan_l1_fix_time: 2.9112, d0.loss_plan_l1_fix_dist: 0.4110, d1.loss_plan_l1_fix_time: 1.5935, d1.loss_plan_l1_fix_dist: 0.2163, d2.loss_plan_l1_fix_time: 1.5754, d2.loss_plan_l1_fix_dist: 0.2236, d3.loss_plan_l1_fix_time: 1.5779, d3.loss_plan_l1_fix_dist: 0.2349, d4.loss_plan_l1_fix_time: 1.5835, d4.loss_plan_l1_fix_dist: 0.2490, d5.loss_plan_l1_fix_time: 1.5900, d5.loss_plan_l1_fix_dist: 0.2656, d6.loss_plan_l1_fix_time: 1.5978, d6.loss_plan_l1_fix_dist: 0.2866, d0.loss_cls_all: 0.2512, d0.loss_bbox_all: 0.4778, d0.loss_cls: 0.2512, d0.loss_bbox: 0.4778, d1.loss_cls: 0.2405, d1.loss_bbox: 0.4498, d2.loss_cls: 0.2303, d2.loss_bbox: 0.4338, d3.loss_cls: 0.2229, d3.loss_bbox: 0.4288, d4.loss_cls: 0.2201, d4.loss_bbox: 0.4265, d5.loss_cls: 0.2196, d5.loss_bbox: 0.4255, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9460, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8355, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7874, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7742, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7738, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7725, d0.loss_map_cls_all: 0.2661, d0.loss_map_pts_all: 1.7204, d0.loss_map_dir_all: 0.0132, d0.loss_map_cls: 0.2661, d0.loss_map_pts: 1.7204, d0.loss_map_dir: 0.0132, d1.loss_map_cls: 0.2368, d1.loss_map_pts: 1.1318, d1.loss_map_dir: 0.0129, d2.loss_map_cls: 0.2242, d2.loss_map_pts: 0.9608, d2.loss_map_dir: 0.0133, d3.loss_map_cls: 0.2116, d3.loss_map_pts: 0.9132, d3.loss_map_dir: 0.0141, d4.loss_map_cls: 0.2044, d4.loss_map_pts: 0.8986, d4.loss_map_dir: 0.0144, d5.loss_map_cls: 0.1994, d5.loss_map_pts: 0.8960, d5.loss_map_dir: 0.0144, loss: 36.4458, grad_norm: 173.0706 +2026-02-25 17:02:23,271 - DriveTransformer - INFO - Epoch [5][15200/39528] lr: 9.337e-05, eta: 7 days, 5:22:31, time: 0.842, data_time: 0.042, memory: 19865, loss_cls: 0.2495, loss_bbox: 0.4453, loss_traj: 0.7823, loss_traj_cls: 0.0009, loss_map_cls: 0.2246, loss_map_pts: 0.9472, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.5077, d0.loss_plan_l1_fix_dist: 0.4427, d1.loss_plan_l1_fix_time: 1.2567, d1.loss_plan_l1_fix_dist: 0.2113, d2.loss_plan_l1_fix_time: 1.2482, d2.loss_plan_l1_fix_dist: 0.2192, d3.loss_plan_l1_fix_time: 1.2489, d3.loss_plan_l1_fix_dist: 0.2283, d4.loss_plan_l1_fix_time: 1.2532, d4.loss_plan_l1_fix_dist: 0.2398, d5.loss_plan_l1_fix_time: 1.2581, d5.loss_plan_l1_fix_dist: 0.2540, d6.loss_plan_l1_fix_time: 1.2637, d6.loss_plan_l1_fix_dist: 0.2692, d0.loss_cls_all: 0.2775, d0.loss_bbox_all: 0.5024, d0.loss_cls: 0.2775, d0.loss_bbox: 0.5024, d1.loss_cls: 0.2721, d1.loss_bbox: 0.4752, d2.loss_cls: 0.2625, d2.loss_bbox: 0.4572, d3.loss_cls: 0.2530, d3.loss_bbox: 0.4511, d4.loss_cls: 0.2500, d4.loss_bbox: 0.4467, d5.loss_cls: 0.2485, d5.loss_bbox: 0.4448, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0552, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8416, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7941, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7832, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7728, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7787, d0.loss_map_cls_all: 0.3042, d0.loss_map_pts_all: 1.7209, d0.loss_map_dir_all: 0.0122, d0.loss_map_cls: 0.3042, d0.loss_map_pts: 1.7209, d0.loss_map_dir: 0.0122, d1.loss_map_cls: 0.2624, d1.loss_map_pts: 1.1922, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2406, d2.loss_map_pts: 1.0299, d2.loss_map_dir: 0.0123, d3.loss_map_cls: 0.2296, d3.loss_map_pts: 0.9766, d3.loss_map_dir: 0.0129, d4.loss_map_cls: 0.2237, d4.loss_map_pts: 0.9559, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.2240, d5.loss_map_pts: 0.9494, d5.loss_map_dir: 0.0136, loss: 35.1395, grad_norm: 173.8175 +2026-02-25 17:03:03,495 - DriveTransformer - INFO - Epoch [5][15250/39528] lr: 9.337e-05, eta: 7 days, 5:21:51, time: 0.803, data_time: 0.040, memory: 19865, loss_cls: 0.2283, loss_bbox: 0.4182, loss_traj: 0.9248, loss_traj_cls: 0.0010, loss_map_cls: 0.2279, loss_map_pts: 0.8729, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 3.0091, d0.loss_plan_l1_fix_dist: 0.3841, d1.loss_plan_l1_fix_time: 1.5133, d1.loss_plan_l1_fix_dist: 0.2100, d2.loss_plan_l1_fix_time: 1.5023, d2.loss_plan_l1_fix_dist: 0.2158, d3.loss_plan_l1_fix_time: 1.5037, d3.loss_plan_l1_fix_dist: 0.2244, d4.loss_plan_l1_fix_time: 1.5073, d4.loss_plan_l1_fix_dist: 0.2350, d5.loss_plan_l1_fix_time: 1.5115, d5.loss_plan_l1_fix_dist: 0.2478, d6.loss_plan_l1_fix_time: 1.5167, d6.loss_plan_l1_fix_dist: 0.2653, d0.loss_cls_all: 0.2560, d0.loss_bbox_all: 0.4795, d0.loss_cls: 0.2560, d0.loss_bbox: 0.4795, d1.loss_cls: 0.2498, d1.loss_bbox: 0.4441, d2.loss_cls: 0.2403, d2.loss_bbox: 0.4268, d3.loss_cls: 0.2330, d3.loss_bbox: 0.4209, d4.loss_cls: 0.2307, d4.loss_bbox: 0.4168, d5.loss_cls: 0.2293, d5.loss_bbox: 0.4163, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1455, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9835, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9265, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9172, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9172, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9163, d0.loss_map_cls_all: 0.2931, d0.loss_map_pts_all: 1.6154, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2931, d0.loss_map_pts: 1.6154, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2581, d1.loss_map_pts: 1.1399, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.2442, d2.loss_map_pts: 0.9773, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.2334, d3.loss_map_pts: 0.9133, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.2277, d4.loss_map_pts: 0.8872, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.2263, d5.loss_map_pts: 0.8768, d5.loss_map_dir: 0.0111, loss: 36.9944, grad_norm: 173.5220 +2026-02-25 17:03:42,943 - DriveTransformer - INFO - Epoch [5][15300/39528] lr: 9.337e-05, eta: 7 days, 5:21:07, time: 0.789, data_time: 0.038, memory: 19865, loss_cls: 0.2251, loss_bbox: 0.4175, loss_traj: 0.7510, loss_traj_cls: 0.0009, loss_map_cls: 0.2197, loss_map_pts: 0.8479, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.8156, d0.loss_plan_l1_fix_dist: 0.3894, d1.loss_plan_l1_fix_time: 1.1284, d1.loss_plan_l1_fix_dist: 0.1884, d2.loss_plan_l1_fix_time: 1.1092, d2.loss_plan_l1_fix_dist: 0.1947, d3.loss_plan_l1_fix_time: 1.1123, d3.loss_plan_l1_fix_dist: 0.2031, d4.loss_plan_l1_fix_time: 1.1161, d4.loss_plan_l1_fix_dist: 0.2132, d5.loss_plan_l1_fix_time: 1.1202, d5.loss_plan_l1_fix_dist: 0.2222, d6.loss_plan_l1_fix_time: 1.1248, d6.loss_plan_l1_fix_dist: 0.2345, d0.loss_cls_all: 0.2580, d0.loss_bbox_all: 0.4773, d0.loss_cls: 0.2580, d0.loss_bbox: 0.4773, d1.loss_cls: 0.2521, d1.loss_bbox: 0.4465, d2.loss_cls: 0.2386, d2.loss_bbox: 0.4305, d3.loss_cls: 0.2321, d3.loss_bbox: 0.4225, d4.loss_cls: 0.2272, d4.loss_bbox: 0.4189, d5.loss_cls: 0.2252, d5.loss_bbox: 0.4172, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9448, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8007, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7575, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7563, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7518, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7532, d0.loss_map_cls_all: 0.2855, d0.loss_map_pts_all: 1.6303, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2855, d0.loss_map_pts: 1.6303, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2513, d1.loss_map_pts: 1.1132, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.2359, d2.loss_map_pts: 0.9494, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.2277, d3.loss_map_pts: 0.8847, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.2213, d4.loss_map_pts: 0.8623, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.2193, d5.loss_map_pts: 0.8530, d5.loss_map_dir: 0.0103, loss: 32.9140, grad_norm: 171.1419 +2026-02-25 17:04:23,583 - DriveTransformer - INFO - Epoch [5][15350/39528] lr: 9.337e-05, eta: 7 days, 5:20:28, time: 0.813, data_time: 0.046, memory: 19865, loss_cls: 0.2208, loss_bbox: 0.4326, loss_traj: 0.6475, loss_traj_cls: 0.0009, loss_map_cls: 0.2023, loss_map_pts: 0.8882, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.3943, d0.loss_plan_l1_fix_dist: 0.3932, d1.loss_plan_l1_fix_time: 1.1758, d1.loss_plan_l1_fix_dist: 0.1795, d2.loss_plan_l1_fix_time: 1.1691, d2.loss_plan_l1_fix_dist: 0.1874, d3.loss_plan_l1_fix_time: 1.1795, d3.loss_plan_l1_fix_dist: 0.1980, d4.loss_plan_l1_fix_time: 1.1855, d4.loss_plan_l1_fix_dist: 0.2124, d5.loss_plan_l1_fix_time: 1.1916, d5.loss_plan_l1_fix_dist: 0.2301, d6.loss_plan_l1_fix_time: 1.1977, d6.loss_plan_l1_fix_dist: 0.2498, d0.loss_cls_all: 0.2533, d0.loss_bbox_all: 0.4870, d0.loss_cls: 0.2533, d0.loss_bbox: 0.4870, d1.loss_cls: 0.2442, d1.loss_bbox: 0.4575, d2.loss_cls: 0.2327, d2.loss_bbox: 0.4396, d3.loss_cls: 0.2245, d3.loss_bbox: 0.4353, d4.loss_cls: 0.2199, d4.loss_bbox: 0.4343, d5.loss_cls: 0.2186, d5.loss_bbox: 0.4341, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8229, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6762, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6539, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6508, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6441, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6456, d0.loss_map_cls_all: 0.2606, d0.loss_map_pts_all: 1.7753, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2606, d0.loss_map_pts: 1.7753, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2331, d1.loss_map_pts: 1.1908, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2185, d2.loss_map_pts: 0.9965, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.2095, d3.loss_map_pts: 0.9226, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2048, d4.loss_map_pts: 0.8977, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.2029, d5.loss_map_pts: 0.8932, d5.loss_map_dir: 0.0125, loss: 32.5940, grad_norm: 170.9980 +2026-02-25 17:05:03,947 - DriveTransformer - INFO - Epoch [5][15400/39528] lr: 9.337e-05, eta: 7 days, 5:19:49, time: 0.807, data_time: 0.048, memory: 19865, loss_cls: 0.2598, loss_bbox: 0.4529, loss_traj: 0.7826, loss_traj_cls: 0.0009, loss_map_cls: 0.2189, loss_map_pts: 0.9497, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.7929, d0.loss_plan_l1_fix_dist: 0.4663, d1.loss_plan_l1_fix_time: 1.3769, d1.loss_plan_l1_fix_dist: 0.2648, d2.loss_plan_l1_fix_time: 1.3615, d2.loss_plan_l1_fix_dist: 0.2736, d3.loss_plan_l1_fix_time: 1.3612, d3.loss_plan_l1_fix_dist: 0.2885, d4.loss_plan_l1_fix_time: 1.3661, d4.loss_plan_l1_fix_dist: 0.3080, d5.loss_plan_l1_fix_time: 1.3727, d5.loss_plan_l1_fix_dist: 0.3326, d6.loss_plan_l1_fix_time: 1.3809, d6.loss_plan_l1_fix_dist: 0.3601, d0.loss_cls_all: 0.2932, d0.loss_bbox_all: 0.5223, d0.loss_cls: 0.2932, d0.loss_bbox: 0.5223, d1.loss_cls: 0.2870, d1.loss_bbox: 0.4893, d2.loss_cls: 0.2742, d2.loss_bbox: 0.4693, d3.loss_cls: 0.2681, d3.loss_bbox: 0.4571, d4.loss_cls: 0.2591, d4.loss_bbox: 0.4554, d5.loss_cls: 0.2597, d5.loss_bbox: 0.4533, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0046, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8305, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7927, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7853, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7849, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7876, d0.loss_map_cls_all: 0.2857, d0.loss_map_pts_all: 1.7526, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2857, d0.loss_map_pts: 1.7526, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2563, d1.loss_map_pts: 1.2029, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2401, d2.loss_map_pts: 1.0279, d2.loss_map_dir: 0.0119, d3.loss_map_cls: 0.2263, d3.loss_map_pts: 0.9676, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2203, d4.loss_map_pts: 0.9585, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.2183, d5.loss_map_pts: 0.9516, d5.loss_map_dir: 0.0128, loss: 36.7094, grad_norm: 177.1770 +2026-02-25 17:05:44,789 - DriveTransformer - INFO - Epoch [5][15450/39528] lr: 9.337e-05, eta: 7 days, 5:19:11, time: 0.817, data_time: 0.044, memory: 19865, loss_cls: 0.2350, loss_bbox: 0.4431, loss_traj: 0.8658, loss_traj_cls: 0.0009, loss_map_cls: 0.1948, loss_map_pts: 0.8581, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.4824, d0.loss_plan_l1_fix_dist: 0.4065, d1.loss_plan_l1_fix_time: 1.3870, d1.loss_plan_l1_fix_dist: 0.2331, d2.loss_plan_l1_fix_time: 1.3716, d2.loss_plan_l1_fix_dist: 0.2420, d3.loss_plan_l1_fix_time: 1.3719, d3.loss_plan_l1_fix_dist: 0.2550, d4.loss_plan_l1_fix_time: 1.3761, d4.loss_plan_l1_fix_dist: 0.2670, d5.loss_plan_l1_fix_time: 1.3808, d5.loss_plan_l1_fix_dist: 0.2803, d6.loss_plan_l1_fix_time: 1.3873, d6.loss_plan_l1_fix_dist: 0.2955, d0.loss_cls_all: 0.2706, d0.loss_bbox_all: 0.4916, d0.loss_cls: 0.2706, d0.loss_bbox: 0.4916, d1.loss_cls: 0.2683, d1.loss_bbox: 0.4631, d2.loss_cls: 0.2547, d2.loss_bbox: 0.4468, d3.loss_cls: 0.2451, d3.loss_bbox: 0.4422, d4.loss_cls: 0.2377, d4.loss_bbox: 0.4415, d5.loss_cls: 0.2365, d5.loss_bbox: 0.4399, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1227, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9314, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8800, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8677, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8650, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8588, d0.loss_map_cls_all: 0.2631, d0.loss_map_pts_all: 1.6984, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2631, d0.loss_map_pts: 1.6984, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2287, d1.loss_map_pts: 1.1280, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2140, d2.loss_map_pts: 0.9534, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.2063, d3.loss_map_pts: 0.8848, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1985, d4.loss_map_pts: 0.8683, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1947, d5.loss_map_pts: 0.8599, d5.loss_map_dir: 0.0116, loss: 35.6129, grad_norm: 178.1587 +2026-02-25 17:06:26,728 - DriveTransformer - INFO - Epoch [5][15500/39528] lr: 9.337e-05, eta: 7 days, 5:18:38, time: 0.839, data_time: 0.039, memory: 19865, loss_cls: 0.2549, loss_bbox: 0.4165, loss_traj: 0.8522, loss_traj_cls: 0.0009, loss_map_cls: 0.2082, loss_map_pts: 0.8515, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.4767, d0.loss_plan_l1_fix_dist: 0.4076, d1.loss_plan_l1_fix_time: 1.3372, d1.loss_plan_l1_fix_dist: 0.1999, d2.loss_plan_l1_fix_time: 1.3254, d2.loss_plan_l1_fix_dist: 0.2121, d3.loss_plan_l1_fix_time: 1.3288, d3.loss_plan_l1_fix_dist: 0.2297, d4.loss_plan_l1_fix_time: 1.3321, d4.loss_plan_l1_fix_dist: 0.2512, d5.loss_plan_l1_fix_time: 1.3357, d5.loss_plan_l1_fix_dist: 0.2729, d6.loss_plan_l1_fix_time: 1.3394, d6.loss_plan_l1_fix_dist: 0.2978, d0.loss_cls_all: 0.2755, d0.loss_bbox_all: 0.4773, d0.loss_cls: 0.2755, d0.loss_bbox: 0.4773, d1.loss_cls: 0.2698, d1.loss_bbox: 0.4439, d2.loss_cls: 0.2651, d2.loss_bbox: 0.4249, d3.loss_cls: 0.2619, d3.loss_bbox: 0.4189, d4.loss_cls: 0.2538, d4.loss_bbox: 0.4186, d5.loss_cls: 0.2534, d5.loss_bbox: 0.4173, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1545, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9464, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8872, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8704, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8500, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8484, d0.loss_map_cls_all: 0.2724, d0.loss_map_pts_all: 1.6605, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2724, d0.loss_map_pts: 1.6605, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2422, d1.loss_map_pts: 1.1409, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2311, d2.loss_map_pts: 0.9600, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.2217, d3.loss_map_pts: 0.8903, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.2147, d4.loss_map_pts: 0.8636, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.2103, d5.loss_map_pts: 0.8528, d5.loss_map_dir: 0.0118, loss: 35.2083, grad_norm: 178.2368 +2026-02-25 17:07:09,017 - DriveTransformer - INFO - Epoch [5][15550/39528] lr: 9.337e-05, eta: 7 days, 5:18:07, time: 0.846, data_time: 0.050, memory: 19865, loss_cls: 0.2108, loss_bbox: 0.4024, loss_traj: 0.9180, loss_traj_cls: 0.0010, loss_map_cls: 0.2026, loss_map_pts: 0.8776, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.7846, d0.loss_plan_l1_fix_dist: 0.4971, d1.loss_plan_l1_fix_time: 1.4508, d1.loss_plan_l1_fix_dist: 0.2070, d2.loss_plan_l1_fix_time: 1.4450, d2.loss_plan_l1_fix_dist: 0.2179, d3.loss_plan_l1_fix_time: 1.4474, d3.loss_plan_l1_fix_dist: 0.2362, d4.loss_plan_l1_fix_time: 1.4535, d4.loss_plan_l1_fix_dist: 0.2581, d5.loss_plan_l1_fix_time: 1.4600, d5.loss_plan_l1_fix_dist: 0.2819, d6.loss_plan_l1_fix_time: 1.4663, d6.loss_plan_l1_fix_dist: 0.3051, d0.loss_cls_all: 0.2410, d0.loss_bbox_all: 0.4591, d0.loss_cls: 0.2410, d0.loss_bbox: 0.4591, d1.loss_cls: 0.2329, d1.loss_bbox: 0.4259, d2.loss_cls: 0.2212, d2.loss_bbox: 0.4091, d3.loss_cls: 0.2123, d3.loss_bbox: 0.4070, d4.loss_cls: 0.2090, d4.loss_bbox: 0.4040, d5.loss_cls: 0.2091, d5.loss_bbox: 0.4031, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1829, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9729, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9268, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9201, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9106, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9253, d0.loss_map_cls_all: 0.2579, d0.loss_map_pts_all: 1.6058, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2579, d0.loss_map_pts: 1.6058, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2355, d1.loss_map_pts: 1.1313, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2201, d2.loss_map_pts: 0.9713, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.2106, d3.loss_map_pts: 0.9056, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.2058, d4.loss_map_pts: 0.8854, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.2027, d5.loss_map_pts: 0.8805, d5.loss_map_dir: 0.0108, loss: 36.1600, grad_norm: 179.1176 +2026-02-25 17:07:52,039 - DriveTransformer - INFO - Epoch [5][15600/39528] lr: 9.337e-05, eta: 7 days, 5:17:39, time: 0.860, data_time: 0.044, memory: 19865, loss_cls: 0.2419, loss_bbox: 0.4531, loss_traj: 0.7157, loss_traj_cls: 0.0009, loss_map_cls: 0.2183, loss_map_pts: 0.9888, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 2.6485, d0.loss_plan_l1_fix_dist: 0.4282, d1.loss_plan_l1_fix_time: 1.2866, d1.loss_plan_l1_fix_dist: 0.2491, d2.loss_plan_l1_fix_time: 1.2728, d2.loss_plan_l1_fix_dist: 0.2576, d3.loss_plan_l1_fix_time: 1.2735, d3.loss_plan_l1_fix_dist: 0.2704, d4.loss_plan_l1_fix_time: 1.2776, d4.loss_plan_l1_fix_dist: 0.2843, d5.loss_plan_l1_fix_time: 1.2823, d5.loss_plan_l1_fix_dist: 0.3011, d6.loss_plan_l1_fix_time: 1.2879, d6.loss_plan_l1_fix_dist: 0.3212, d0.loss_cls_all: 0.2738, d0.loss_bbox_all: 0.5045, d0.loss_cls: 0.2738, d0.loss_bbox: 0.5045, d1.loss_cls: 0.2702, d1.loss_bbox: 0.4746, d2.loss_cls: 0.2549, d2.loss_bbox: 0.4599, d3.loss_cls: 0.2455, d3.loss_bbox: 0.4562, d4.loss_cls: 0.2438, d4.loss_bbox: 0.4523, d5.loss_cls: 0.2430, d5.loss_bbox: 0.4535, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9231, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7819, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7303, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7194, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7142, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7153, d0.loss_map_cls_all: 0.2782, d0.loss_map_pts_all: 1.9219, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.2782, d0.loss_map_pts: 1.9219, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2530, d1.loss_map_pts: 1.3074, d1.loss_map_dir: 0.0132, d2.loss_map_cls: 0.2401, d2.loss_map_pts: 1.1077, d2.loss_map_dir: 0.0133, d3.loss_map_cls: 0.2307, d3.loss_map_pts: 1.0316, d3.loss_map_dir: 0.0138, d4.loss_map_cls: 0.2228, d4.loss_map_pts: 0.9987, d4.loss_map_dir: 0.0141, d5.loss_map_cls: 0.2194, d5.loss_map_pts: 0.9933, d5.loss_map_dir: 0.0142, loss: 35.8741, grad_norm: 178.1311 +2026-02-25 17:08:32,636 - DriveTransformer - INFO - Epoch [5][15650/39528] lr: 9.337e-05, eta: 7 days, 5:17:01, time: 0.812, data_time: 0.040, memory: 19865, loss_cls: 0.1764, loss_bbox: 0.3683, loss_traj: 0.8724, loss_traj_cls: 0.0009, loss_map_cls: 0.1816, loss_map_pts: 0.8274, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.3077, d0.loss_plan_l1_fix_dist: 0.4825, d1.loss_plan_l1_fix_time: 1.2538, d1.loss_plan_l1_fix_dist: 0.1860, d2.loss_plan_l1_fix_time: 1.2527, d2.loss_plan_l1_fix_dist: 0.1972, d3.loss_plan_l1_fix_time: 1.2599, d3.loss_plan_l1_fix_dist: 0.2138, d4.loss_plan_l1_fix_time: 1.2654, d4.loss_plan_l1_fix_dist: 0.2335, d5.loss_plan_l1_fix_time: 1.2709, d5.loss_plan_l1_fix_dist: 0.2550, d6.loss_plan_l1_fix_time: 1.2768, d6.loss_plan_l1_fix_dist: 0.2820, d0.loss_cls_all: 0.2024, d0.loss_bbox_all: 0.4235, d0.loss_cls: 0.2024, d0.loss_bbox: 0.4235, d1.loss_cls: 0.1962, d1.loss_bbox: 0.3898, d2.loss_cls: 0.1849, d2.loss_bbox: 0.3756, d3.loss_cls: 0.1800, d3.loss_bbox: 0.3700, d4.loss_cls: 0.1755, d4.loss_bbox: 0.3693, d5.loss_cls: 0.1755, d5.loss_bbox: 0.3689, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0781, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9278, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8774, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8763, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8774, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8755, d0.loss_map_cls_all: 0.2481, d0.loss_map_pts_all: 1.5692, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2481, d0.loss_map_pts: 1.5692, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2189, d1.loss_map_pts: 1.1319, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.2052, d2.loss_map_pts: 0.9380, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1917, d3.loss_map_pts: 0.8608, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1842, d4.loss_map_pts: 0.8343, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1824, d5.loss_map_pts: 0.8280, d5.loss_map_dir: 0.0091, loss: 32.9992, grad_norm: 178.7330 +2026-02-25 17:09:13,826 - DriveTransformer - INFO - Epoch [5][15700/39528] lr: 9.337e-05, eta: 7 days, 5:16:25, time: 0.824, data_time: 0.045, memory: 19865, loss_cls: 0.2432, loss_bbox: 0.4201, loss_traj: 0.8404, loss_traj_cls: 0.0009, loss_map_cls: 0.2291, loss_map_pts: 0.9120, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.5735, d0.loss_plan_l1_fix_dist: 0.4412, d1.loss_plan_l1_fix_time: 1.4756, d1.loss_plan_l1_fix_dist: 0.2191, d2.loss_plan_l1_fix_time: 1.4650, d2.loss_plan_l1_fix_dist: 0.2255, d3.loss_plan_l1_fix_time: 1.4636, d3.loss_plan_l1_fix_dist: 0.2368, d4.loss_plan_l1_fix_time: 1.4667, d4.loss_plan_l1_fix_dist: 0.2506, d5.loss_plan_l1_fix_time: 1.4703, d5.loss_plan_l1_fix_dist: 0.2651, d6.loss_plan_l1_fix_time: 1.4747, d6.loss_plan_l1_fix_dist: 0.2800, d0.loss_cls_all: 0.2727, d0.loss_bbox_all: 0.4764, d0.loss_cls: 0.2727, d0.loss_bbox: 0.4764, d1.loss_cls: 0.2633, d1.loss_bbox: 0.4426, d2.loss_cls: 0.2517, d2.loss_bbox: 0.4266, d3.loss_cls: 0.2464, d3.loss_bbox: 0.4238, d4.loss_cls: 0.2405, d4.loss_bbox: 0.4209, d5.loss_cls: 0.2416, d5.loss_bbox: 0.4187, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0549, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8903, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8443, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8363, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8448, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8399, d0.loss_map_cls_all: 0.2896, d0.loss_map_pts_all: 1.7885, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2896, d0.loss_map_pts: 1.7885, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2614, d1.loss_map_pts: 1.2346, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2454, d2.loss_map_pts: 1.0271, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.2354, d3.loss_map_pts: 0.9492, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2306, d4.loss_map_pts: 0.9245, d4.loss_map_dir: 0.0126, d5.loss_map_cls: 0.2294, d5.loss_map_pts: 0.9155, d5.loss_map_dir: 0.0128, loss: 36.6489, grad_norm: 177.9231 +2026-02-25 17:09:55,087 - DriveTransformer - INFO - Epoch [5][15750/39528] lr: 9.337e-05, eta: 7 days, 5:15:49, time: 0.825, data_time: 0.046, memory: 19865, loss_cls: 0.2110, loss_bbox: 0.4348, loss_traj: 0.7109, loss_traj_cls: 0.0010, loss_map_cls: 0.2439, loss_map_pts: 1.0166, loss_map_dir: 0.0131, d0.loss_plan_l1_fix_time: 2.6128, d0.loss_plan_l1_fix_dist: 0.3997, d1.loss_plan_l1_fix_time: 1.2007, d1.loss_plan_l1_fix_dist: 0.2204, d2.loss_plan_l1_fix_time: 1.1890, d2.loss_plan_l1_fix_dist: 0.2328, d3.loss_plan_l1_fix_time: 1.1855, d3.loss_plan_l1_fix_dist: 0.2498, d4.loss_plan_l1_fix_time: 1.1888, d4.loss_plan_l1_fix_dist: 0.2714, d5.loss_plan_l1_fix_time: 1.1928, d5.loss_plan_l1_fix_dist: 0.2944, d6.loss_plan_l1_fix_time: 1.1975, d6.loss_plan_l1_fix_dist: 0.3175, d0.loss_cls_all: 0.2450, d0.loss_bbox_all: 0.4868, d0.loss_cls: 0.2450, d0.loss_bbox: 0.4868, d1.loss_cls: 0.2347, d1.loss_bbox: 0.4545, d2.loss_cls: 0.2238, d2.loss_bbox: 0.4368, d3.loss_cls: 0.2181, d3.loss_bbox: 0.4323, d4.loss_cls: 0.2125, d4.loss_bbox: 0.4309, d5.loss_cls: 0.2108, d5.loss_bbox: 0.4322, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9478, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7755, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7230, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7146, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7126, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7092, d0.loss_map_cls_all: 0.3194, d0.loss_map_pts_all: 1.9934, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.3194, d0.loss_map_pts: 1.9934, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2849, d1.loss_map_pts: 1.3443, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2648, d2.loss_map_pts: 1.1251, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2559, d3.loss_map_pts: 1.0477, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.2481, d4.loss_map_pts: 1.0242, d4.loss_map_dir: 0.0129, d5.loss_map_cls: 0.2437, d5.loss_map_pts: 1.0196, d5.loss_map_dir: 0.0129, loss: 35.2937, grad_norm: 177.0884 +2026-02-25 17:10:34,147 - DriveTransformer - INFO - Epoch [5][15800/39528] lr: 9.337e-05, eta: 7 days, 5:15:03, time: 0.781, data_time: 0.042, memory: 19865, loss_cls: 0.2309, loss_bbox: 0.4324, loss_traj: 0.8331, loss_traj_cls: 0.0010, loss_map_cls: 0.2282, loss_map_pts: 0.8415, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 3.0298, d0.loss_plan_l1_fix_dist: 0.3687, d1.loss_plan_l1_fix_time: 1.5421, d1.loss_plan_l1_fix_dist: 0.2096, d2.loss_plan_l1_fix_time: 1.5305, d2.loss_plan_l1_fix_dist: 0.2185, d3.loss_plan_l1_fix_time: 1.5297, d3.loss_plan_l1_fix_dist: 0.2319, d4.loss_plan_l1_fix_time: 1.5322, d4.loss_plan_l1_fix_dist: 0.2468, d5.loss_plan_l1_fix_time: 1.5357, d5.loss_plan_l1_fix_dist: 0.2636, d6.loss_plan_l1_fix_time: 1.5400, d6.loss_plan_l1_fix_dist: 0.2823, d0.loss_cls_all: 0.2624, d0.loss_bbox_all: 0.4824, d0.loss_cls: 0.2624, d0.loss_bbox: 0.4824, d1.loss_cls: 0.2557, d1.loss_bbox: 0.4503, d2.loss_cls: 0.2454, d2.loss_bbox: 0.4340, d3.loss_cls: 0.2328, d3.loss_bbox: 0.4336, d4.loss_cls: 0.2306, d4.loss_bbox: 0.4316, d5.loss_cls: 0.2290, d5.loss_bbox: 0.4336, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0773, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9041, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8544, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8467, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8450, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8353, d0.loss_map_cls_all: 0.2818, d0.loss_map_pts_all: 1.5445, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2818, d0.loss_map_pts: 1.5445, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2549, d1.loss_map_pts: 1.1053, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.2430, d2.loss_map_pts: 0.9371, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.2352, d3.loss_map_pts: 0.8770, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.2309, d4.loss_map_pts: 0.8527, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.2279, d5.loss_map_pts: 0.8466, d5.loss_map_dir: 0.0108, loss: 36.4082, grad_norm: 176.3296 +2026-02-25 17:11:16,309 - DriveTransformer - INFO - Epoch [5][15850/39528] lr: 9.337e-05, eta: 7 days, 5:14:31, time: 0.843, data_time: 0.040, memory: 19865, loss_cls: 0.2394, loss_bbox: 0.4425, loss_traj: 0.7227, loss_traj_cls: 0.0009, loss_map_cls: 0.2139, loss_map_pts: 0.9639, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.5896, d0.loss_plan_l1_fix_dist: 0.3986, d1.loss_plan_l1_fix_time: 1.2832, d1.loss_plan_l1_fix_dist: 0.2176, d2.loss_plan_l1_fix_time: 1.2670, d2.loss_plan_l1_fix_dist: 0.2336, d3.loss_plan_l1_fix_time: 1.2732, d3.loss_plan_l1_fix_dist: 0.2529, d4.loss_plan_l1_fix_time: 1.2775, d4.loss_plan_l1_fix_dist: 0.2738, d5.loss_plan_l1_fix_time: 1.2821, d5.loss_plan_l1_fix_dist: 0.2940, d6.loss_plan_l1_fix_time: 1.2873, d6.loss_plan_l1_fix_dist: 0.3152, d0.loss_cls_all: 0.2676, d0.loss_bbox_all: 0.4955, d0.loss_cls: 0.2676, d0.loss_bbox: 0.4955, d1.loss_cls: 0.2641, d1.loss_bbox: 0.4687, d2.loss_cls: 0.2556, d2.loss_bbox: 0.4518, d3.loss_cls: 0.2459, d3.loss_bbox: 0.4452, d4.loss_cls: 0.2419, d4.loss_bbox: 0.4416, d5.loss_cls: 0.2402, d5.loss_bbox: 0.4418, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9635, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7825, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7358, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7189, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7214, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7207, d0.loss_map_cls_all: 0.2654, d0.loss_map_pts_all: 1.8736, d0.loss_map_dir_all: 0.0129, d0.loss_map_cls: 0.2654, d0.loss_map_pts: 1.8736, d0.loss_map_dir: 0.0129, d1.loss_map_cls: 0.2426, d1.loss_map_pts: 1.2852, d1.loss_map_dir: 0.0126, d2.loss_map_cls: 0.2321, d2.loss_map_pts: 1.0778, d2.loss_map_dir: 0.0127, d3.loss_map_cls: 0.2237, d3.loss_map_pts: 1.0030, d3.loss_map_dir: 0.0133, d4.loss_map_cls: 0.2184, d4.loss_map_pts: 0.9760, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.2147, d5.loss_map_pts: 0.9680, d5.loss_map_dir: 0.0137, loss: 35.3250, grad_norm: 173.3456 +2026-02-25 17:11:56,326 - DriveTransformer - INFO - Epoch [5][15900/39528] lr: 9.337e-05, eta: 7 days, 5:13:50, time: 0.800, data_time: 0.038, memory: 19865, loss_cls: 0.2409, loss_bbox: 0.4338, loss_traj: 0.8867, loss_traj_cls: 0.0009, loss_map_cls: 0.2380, loss_map_pts: 0.9725, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.9754, d0.loss_plan_l1_fix_dist: 0.3567, d1.loss_plan_l1_fix_time: 1.3455, d1.loss_plan_l1_fix_dist: 0.2242, d2.loss_plan_l1_fix_time: 1.3328, d2.loss_plan_l1_fix_dist: 0.2406, d3.loss_plan_l1_fix_time: 1.3371, d3.loss_plan_l1_fix_dist: 0.2662, d4.loss_plan_l1_fix_time: 1.3409, d4.loss_plan_l1_fix_dist: 0.2966, d5.loss_plan_l1_fix_time: 1.3446, d5.loss_plan_l1_fix_dist: 0.3304, d6.loss_plan_l1_fix_time: 1.3486, d6.loss_plan_l1_fix_dist: 0.3643, d0.loss_cls_all: 0.2681, d0.loss_bbox_all: 0.4908, d0.loss_cls: 0.2681, d0.loss_bbox: 0.4908, d1.loss_cls: 0.2608, d1.loss_bbox: 0.4583, d2.loss_cls: 0.2549, d2.loss_bbox: 0.4391, d3.loss_cls: 0.2489, d3.loss_bbox: 0.4338, d4.loss_cls: 0.2447, d4.loss_bbox: 0.4306, d5.loss_cls: 0.2428, d5.loss_bbox: 0.4297, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1399, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9523, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.9137, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9022, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8918, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8937, d0.loss_map_cls_all: 0.2966, d0.loss_map_pts_all: 1.7938, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2966, d0.loss_map_pts: 1.7938, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2705, d1.loss_map_pts: 1.2433, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2541, d2.loss_map_pts: 1.0642, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2464, d3.loss_map_pts: 1.0047, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2404, d4.loss_map_pts: 0.9805, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.2386, d5.loss_map_pts: 0.9740, d5.loss_map_dir: 0.0127, loss: 37.3307, grad_norm: 173.2332 +2026-02-25 17:12:36,648 - DriveTransformer - INFO - Epoch [5][15950/39528] lr: 9.337e-05, eta: 7 days, 5:13:10, time: 0.806, data_time: 0.051, memory: 19865, loss_cls: 0.2071, loss_bbox: 0.4120, loss_traj: 0.8291, loss_traj_cls: 0.0010, loss_map_cls: 0.1930, loss_map_pts: 0.8580, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 2.6768, d0.loss_plan_l1_fix_dist: 0.4765, d1.loss_plan_l1_fix_time: 1.3827, d1.loss_plan_l1_fix_dist: 0.2065, d2.loss_plan_l1_fix_time: 1.3612, d2.loss_plan_l1_fix_dist: 0.2180, d3.loss_plan_l1_fix_time: 1.3601, d3.loss_plan_l1_fix_dist: 0.2350, d4.loss_plan_l1_fix_time: 1.3639, d4.loss_plan_l1_fix_dist: 0.2548, d5.loss_plan_l1_fix_time: 1.3685, d5.loss_plan_l1_fix_dist: 0.2768, d6.loss_plan_l1_fix_time: 1.3738, d6.loss_plan_l1_fix_dist: 0.3026, d0.loss_cls_all: 0.2394, d0.loss_bbox_all: 0.4628, d0.loss_cls: 0.2394, d0.loss_bbox: 0.4628, d1.loss_cls: 0.2282, d1.loss_bbox: 0.4343, d2.loss_cls: 0.2190, d2.loss_bbox: 0.4175, d3.loss_cls: 0.2121, d3.loss_bbox: 0.4114, d4.loss_cls: 0.2077, d4.loss_bbox: 0.4094, d5.loss_cls: 0.2072, d5.loss_bbox: 0.4096, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9949, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8764, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8438, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8318, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8377, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8358, d0.loss_map_cls_all: 0.2604, d0.loss_map_pts_all: 1.6360, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.2604, d0.loss_map_pts: 1.6360, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2270, d1.loss_map_pts: 1.1004, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2137, d2.loss_map_pts: 0.9324, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.2045, d3.loss_map_pts: 0.8798, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.1973, d4.loss_map_pts: 0.8632, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.1942, d5.loss_map_pts: 0.8578, d5.loss_map_dir: 0.0123, loss: 34.7036, grad_norm: 171.2145 +2026-02-25 17:13:16,806 - DriveTransformer - INFO - Epoch [5][16000/39528] lr: 9.337e-05, eta: 7 days, 5:12:30, time: 0.805, data_time: 0.045, memory: 19865, loss_cls: 0.2466, loss_bbox: 0.4274, loss_traj: 0.8313, loss_traj_cls: 0.0010, loss_map_cls: 0.2580, loss_map_pts: 0.9379, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.9980, d0.loss_plan_l1_fix_dist: 0.3387, d1.loss_plan_l1_fix_time: 1.3843, d1.loss_plan_l1_fix_dist: 0.1963, d2.loss_plan_l1_fix_time: 1.3840, d2.loss_plan_l1_fix_dist: 0.2137, d3.loss_plan_l1_fix_time: 1.3882, d3.loss_plan_l1_fix_dist: 0.2398, d4.loss_plan_l1_fix_time: 1.3919, d4.loss_plan_l1_fix_dist: 0.2686, d5.loss_plan_l1_fix_time: 1.3960, d5.loss_plan_l1_fix_dist: 0.3000, d6.loss_plan_l1_fix_time: 1.4000, d6.loss_plan_l1_fix_dist: 0.3317, d0.loss_cls_all: 0.2765, d0.loss_bbox_all: 0.4862, d0.loss_cls: 0.2765, d0.loss_bbox: 0.4862, d1.loss_cls: 0.2673, d1.loss_bbox: 0.4561, d2.loss_cls: 0.2589, d2.loss_bbox: 0.4373, d3.loss_cls: 0.2498, d3.loss_bbox: 0.4304, d4.loss_cls: 0.2458, d4.loss_bbox: 0.4266, d5.loss_cls: 0.2450, d5.loss_bbox: 0.4270, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0799, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8908, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8409, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8340, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8213, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8224, d0.loss_map_cls_all: 0.3151, d0.loss_map_pts_all: 1.7283, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.3151, d0.loss_map_pts: 1.7283, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2931, d1.loss_map_pts: 1.2282, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2796, d2.loss_map_pts: 1.0343, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.2650, d3.loss_map_pts: 0.9708, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2595, d4.loss_map_pts: 0.9465, d4.loss_map_dir: 0.0128, d5.loss_map_cls: 0.2575, d5.loss_map_pts: 0.9386, d5.loss_map_dir: 0.0129, loss: 36.8537, grad_norm: 170.9450 +2026-02-25 17:13:57,830 - DriveTransformer - INFO - Epoch [5][16050/39528] lr: 9.337e-05, eta: 7 days, 5:11:53, time: 0.819, data_time: 0.039, memory: 19865, loss_cls: 0.2335, loss_bbox: 0.4453, loss_traj: 0.9970, loss_traj_cls: 0.0010, loss_map_cls: 0.1994, loss_map_pts: 0.8497, loss_map_dir: 0.0135, d0.loss_plan_l1_fix_time: 3.0272, d0.loss_plan_l1_fix_dist: 0.3843, d1.loss_plan_l1_fix_time: 1.6391, d1.loss_plan_l1_fix_dist: 0.2044, d2.loss_plan_l1_fix_time: 1.6111, d2.loss_plan_l1_fix_dist: 0.2170, d3.loss_plan_l1_fix_time: 1.6091, d3.loss_plan_l1_fix_dist: 0.2350, d4.loss_plan_l1_fix_time: 1.6119, d4.loss_plan_l1_fix_dist: 0.2540, d5.loss_plan_l1_fix_time: 1.6165, d5.loss_plan_l1_fix_dist: 0.2763, d6.loss_plan_l1_fix_time: 1.6222, d6.loss_plan_l1_fix_dist: 0.3021, d0.loss_cls_all: 0.2703, d0.loss_bbox_all: 0.5028, d0.loss_cls: 0.2703, d0.loss_bbox: 0.5028, d1.loss_cls: 0.2629, d1.loss_bbox: 0.4676, d2.loss_cls: 0.2459, d2.loss_bbox: 0.4515, d3.loss_cls: 0.2372, d3.loss_bbox: 0.4471, d4.loss_cls: 0.2328, d4.loss_bbox: 0.4440, d5.loss_cls: 0.2336, d5.loss_bbox: 0.4422, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2594, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0498, d2.loss_traj_cls: 0.0014, d2.loss_traj: 1.0103, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9957, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9915, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9966, d0.loss_map_cls_all: 0.2777, d0.loss_map_pts_all: 1.6760, d0.loss_map_dir_all: 0.0122, d0.loss_map_cls: 0.2777, d0.loss_map_pts: 1.6760, d0.loss_map_dir: 0.0122, d1.loss_map_cls: 0.2437, d1.loss_map_pts: 1.1033, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2242, d2.loss_map_pts: 0.9335, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2086, d3.loss_map_pts: 0.8767, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.2023, d4.loss_map_pts: 0.8586, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.2008, d5.loss_map_pts: 0.8521, d5.loss_map_dir: 0.0134, loss: 38.3692, grad_norm: 171.2928 +2026-02-25 17:14:39,596 - DriveTransformer - INFO - Epoch [5][16100/39528] lr: 9.337e-05, eta: 7 days, 5:11:19, time: 0.835, data_time: 0.041, memory: 19865, loss_cls: 0.2268, loss_bbox: 0.3982, loss_traj: 0.6974, loss_traj_cls: 0.0010, loss_map_cls: 0.2266, loss_map_pts: 0.8909, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.6465, d0.loss_plan_l1_fix_dist: 0.3984, d1.loss_plan_l1_fix_time: 1.1567, d1.loss_plan_l1_fix_dist: 0.1899, d2.loss_plan_l1_fix_time: 1.1308, d2.loss_plan_l1_fix_dist: 0.2029, d3.loss_plan_l1_fix_time: 1.1257, d3.loss_plan_l1_fix_dist: 0.2221, d4.loss_plan_l1_fix_time: 1.1281, d4.loss_plan_l1_fix_dist: 0.2432, d5.loss_plan_l1_fix_time: 1.1323, d5.loss_plan_l1_fix_dist: 0.2648, d6.loss_plan_l1_fix_time: 1.1380, d6.loss_plan_l1_fix_dist: 0.2887, d0.loss_cls_all: 0.2507, d0.loss_bbox_all: 0.4416, d0.loss_cls: 0.2507, d0.loss_bbox: 0.4416, d1.loss_cls: 0.2444, d1.loss_bbox: 0.4152, d2.loss_cls: 0.2347, d2.loss_bbox: 0.4022, d3.loss_cls: 0.2284, d3.loss_bbox: 0.3982, d4.loss_cls: 0.2251, d4.loss_bbox: 0.3968, d5.loss_cls: 0.2245, d5.loss_bbox: 0.3981, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9506, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.7884, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7249, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7044, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7031, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6987, d0.loss_map_cls_all: 0.2902, d0.loss_map_pts_all: 1.7992, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2902, d0.loss_map_pts: 1.7992, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2633, d1.loss_map_pts: 1.1681, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.2436, d2.loss_map_pts: 0.9848, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.2316, d3.loss_map_pts: 0.9210, d3.loss_map_dir: 0.0124, d4.loss_map_cls: 0.2275, d4.loss_map_pts: 0.8972, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.2259, d5.loss_map_pts: 0.8913, d5.loss_map_dir: 0.0128, loss: 33.1685, grad_norm: 171.5059 +2026-02-25 17:15:23,060 - DriveTransformer - INFO - Epoch [5][16150/39528] lr: 9.337e-05, eta: 7 days, 5:10:53, time: 0.869, data_time: 0.038, memory: 19865, loss_cls: 0.2227, loss_bbox: 0.4396, loss_traj: 0.8496, loss_traj_cls: 0.0009, loss_map_cls: 0.2424, loss_map_pts: 1.0851, loss_map_dir: 0.0149, d0.loss_plan_l1_fix_time: 2.6296, d0.loss_plan_l1_fix_dist: 0.4844, d1.loss_plan_l1_fix_time: 1.4944, d1.loss_plan_l1_fix_dist: 0.2174, d2.loss_plan_l1_fix_time: 1.4935, d2.loss_plan_l1_fix_dist: 0.2218, d3.loss_plan_l1_fix_time: 1.4949, d3.loss_plan_l1_fix_dist: 0.2333, d4.loss_plan_l1_fix_time: 1.4987, d4.loss_plan_l1_fix_dist: 0.2477, d5.loss_plan_l1_fix_time: 1.5021, d5.loss_plan_l1_fix_dist: 0.2655, d6.loss_plan_l1_fix_time: 1.5057, d6.loss_plan_l1_fix_dist: 0.2854, d0.loss_cls_all: 0.2576, d0.loss_bbox_all: 0.4998, d0.loss_cls: 0.2576, d0.loss_bbox: 0.4998, d1.loss_cls: 0.2475, d1.loss_bbox: 0.4638, d2.loss_cls: 0.2363, d2.loss_bbox: 0.4489, d3.loss_cls: 0.2285, d3.loss_bbox: 0.4455, d4.loss_cls: 0.2249, d4.loss_bbox: 0.4412, d5.loss_cls: 0.2235, d5.loss_bbox: 0.4392, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0900, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.8998, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8690, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8573, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8605, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8554, d0.loss_map_cls_all: 0.3049, d0.loss_map_pts_all: 2.1317, d0.loss_map_dir_all: 0.0134, d0.loss_map_cls: 0.3049, d0.loss_map_pts: 2.1317, d0.loss_map_dir: 0.0134, d1.loss_map_cls: 0.2792, d1.loss_map_pts: 1.4012, d1.loss_map_dir: 0.0131, d2.loss_map_cls: 0.2624, d2.loss_map_pts: 1.1900, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2534, d3.loss_map_pts: 1.1174, d3.loss_map_dir: 0.0143, d4.loss_map_cls: 0.2471, d4.loss_map_pts: 1.0905, d4.loss_map_dir: 0.0147, d5.loss_map_cls: 0.2432, d5.loss_map_pts: 1.0860, d5.loss_map_dir: 0.0148, loss: 38.9220, grad_norm: 163.6480 +2026-02-25 17:16:04,217 - DriveTransformer - INFO - Epoch [5][16200/39528] lr: 9.337e-05, eta: 7 days, 5:10:17, time: 0.823, data_time: 0.038, memory: 19865, loss_cls: 0.2278, loss_bbox: 0.4382, loss_traj: 0.7204, loss_traj_cls: 0.0010, loss_map_cls: 0.2212, loss_map_pts: 0.9195, loss_map_dir: 0.0133, d0.loss_plan_l1_fix_time: 2.9564, d0.loss_plan_l1_fix_dist: 0.4464, d1.loss_plan_l1_fix_time: 1.3948, d1.loss_plan_l1_fix_dist: 0.2396, d2.loss_plan_l1_fix_time: 1.3937, d2.loss_plan_l1_fix_dist: 0.2504, d3.loss_plan_l1_fix_time: 1.4004, d3.loss_plan_l1_fix_dist: 0.2665, d4.loss_plan_l1_fix_time: 1.4047, d4.loss_plan_l1_fix_dist: 0.2836, d5.loss_plan_l1_fix_time: 1.4078, d5.loss_plan_l1_fix_dist: 0.3033, d6.loss_plan_l1_fix_time: 1.4105, d6.loss_plan_l1_fix_dist: 0.3242, d0.loss_cls_all: 0.2629, d0.loss_bbox_all: 0.4922, d0.loss_cls: 0.2629, d0.loss_bbox: 0.4922, d1.loss_cls: 0.2551, d1.loss_bbox: 0.4607, d2.loss_cls: 0.2408, d2.loss_bbox: 0.4456, d3.loss_cls: 0.2329, d3.loss_bbox: 0.4406, d4.loss_cls: 0.2274, d4.loss_bbox: 0.4388, d5.loss_cls: 0.2265, d5.loss_bbox: 0.4377, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9512, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7859, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7459, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7293, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7285, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7211, d0.loss_map_cls_all: 0.2866, d0.loss_map_pts_all: 1.7087, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.2866, d0.loss_map_pts: 1.7087, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2443, d1.loss_map_pts: 1.1974, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2347, d2.loss_map_pts: 1.0134, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2266, d3.loss_map_pts: 0.9477, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.2234, d4.loss_map_pts: 0.9313, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.2231, d5.loss_map_pts: 0.9195, d5.loss_map_dir: 0.0132, loss: 35.8468, grad_norm: 157.3292 +2026-02-25 17:16:44,844 - DriveTransformer - INFO - Epoch [5][16250/39528] lr: 9.337e-05, eta: 7 days, 5:09:38, time: 0.813, data_time: 0.039, memory: 19865, loss_cls: 0.2430, loss_bbox: 0.4409, loss_traj: 0.7529, loss_traj_cls: 0.0010, loss_map_cls: 0.2248, loss_map_pts: 0.8473, loss_map_dir: 0.0132, d0.loss_plan_l1_fix_time: 2.8611, d0.loss_plan_l1_fix_dist: 0.4546, d1.loss_plan_l1_fix_time: 1.4593, d1.loss_plan_l1_fix_dist: 0.2358, d2.loss_plan_l1_fix_time: 1.4488, d2.loss_plan_l1_fix_dist: 0.2444, d3.loss_plan_l1_fix_time: 1.4534, d3.loss_plan_l1_fix_dist: 0.2559, d4.loss_plan_l1_fix_time: 1.4587, d4.loss_plan_l1_fix_dist: 0.2700, d5.loss_plan_l1_fix_time: 1.4641, d5.loss_plan_l1_fix_dist: 0.2855, d6.loss_plan_l1_fix_time: 1.4698, d6.loss_plan_l1_fix_dist: 0.3045, d0.loss_cls_all: 0.2762, d0.loss_bbox_all: 0.5010, d0.loss_cls: 0.2762, d0.loss_bbox: 0.5010, d1.loss_cls: 0.2660, d1.loss_bbox: 0.4680, d2.loss_cls: 0.2562, d2.loss_bbox: 0.4506, d3.loss_cls: 0.2467, d3.loss_bbox: 0.4446, d4.loss_cls: 0.2411, d4.loss_bbox: 0.4434, d5.loss_cls: 0.2425, d5.loss_bbox: 0.4409, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9039, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7911, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7574, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7516, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7449, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7481, d0.loss_map_cls_all: 0.2841, d0.loss_map_pts_all: 1.6033, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2841, d0.loss_map_pts: 1.6033, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2545, d1.loss_map_pts: 1.1097, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2394, d2.loss_map_pts: 0.9385, d2.loss_map_dir: 0.0122, d3.loss_map_cls: 0.2320, d3.loss_map_pts: 0.8761, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.2285, d4.loss_map_pts: 0.8562, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.2255, d5.loss_map_pts: 0.8498, d5.loss_map_dir: 0.0130, loss: 35.6177, grad_norm: 157.5970 +2026-02-25 17:17:24,988 - DriveTransformer - INFO - Epoch [5][16300/39528] lr: 9.337e-05, eta: 7 days, 5:08:58, time: 0.803, data_time: 0.045, memory: 19865, loss_cls: 0.2332, loss_bbox: 0.4129, loss_traj: 0.7930, loss_traj_cls: 0.0010, loss_map_cls: 0.2074, loss_map_pts: 0.7810, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.7917, d0.loss_plan_l1_fix_dist: 0.4276, d1.loss_plan_l1_fix_time: 1.3369, d1.loss_plan_l1_fix_dist: 0.2066, d2.loss_plan_l1_fix_time: 1.3199, d2.loss_plan_l1_fix_dist: 0.2177, d3.loss_plan_l1_fix_time: 1.3226, d3.loss_plan_l1_fix_dist: 0.2339, d4.loss_plan_l1_fix_time: 1.3279, d4.loss_plan_l1_fix_dist: 0.2541, d5.loss_plan_l1_fix_time: 1.3344, d5.loss_plan_l1_fix_dist: 0.2752, d6.loss_plan_l1_fix_time: 1.3420, d6.loss_plan_l1_fix_dist: 0.2965, d0.loss_cls_all: 0.2674, d0.loss_bbox_all: 0.4767, d0.loss_cls: 0.2674, d0.loss_bbox: 0.4767, d1.loss_cls: 0.2598, d1.loss_bbox: 0.4413, d2.loss_cls: 0.2447, d2.loss_bbox: 0.4242, d3.loss_cls: 0.2396, d3.loss_bbox: 0.4172, d4.loss_cls: 0.2364, d4.loss_bbox: 0.4144, d5.loss_cls: 0.2352, d5.loss_bbox: 0.4122, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0374, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8600, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8153, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8051, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7999, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7937, d0.loss_map_cls_all: 0.2764, d0.loss_map_pts_all: 1.4620, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2764, d0.loss_map_pts: 1.4620, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2397, d1.loss_map_pts: 1.0425, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.2274, d2.loss_map_pts: 0.8750, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.2167, d3.loss_map_pts: 0.8197, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.2107, d4.loss_map_pts: 0.7985, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.2090, d5.loss_map_pts: 0.7847, d5.loss_map_dir: 0.0095, loss: 34.0203, grad_norm: 157.4705 +2026-02-25 17:18:07,194 - DriveTransformer - INFO - Epoch [5][16350/39528] lr: 9.337e-05, eta: 7 days, 5:08:26, time: 0.844, data_time: 0.039, memory: 19865, loss_cls: 0.2268, loss_bbox: 0.4212, loss_traj: 0.7673, loss_traj_cls: 0.0010, loss_map_cls: 0.2047, loss_map_pts: 0.8835, loss_map_dir: 0.0140, d0.loss_plan_l1_fix_time: 2.6433, d0.loss_plan_l1_fix_dist: 0.4042, d1.loss_plan_l1_fix_time: 1.3451, d1.loss_plan_l1_fix_dist: 0.1928, d2.loss_plan_l1_fix_time: 1.3327, d2.loss_plan_l1_fix_dist: 0.2022, d3.loss_plan_l1_fix_time: 1.3350, d3.loss_plan_l1_fix_dist: 0.2144, d4.loss_plan_l1_fix_time: 1.3402, d4.loss_plan_l1_fix_dist: 0.2279, d5.loss_plan_l1_fix_time: 1.3470, d5.loss_plan_l1_fix_dist: 0.2421, d6.loss_plan_l1_fix_time: 1.3553, d6.loss_plan_l1_fix_dist: 0.2582, d0.loss_cls_all: 0.2546, d0.loss_bbox_all: 0.4783, d0.loss_cls: 0.2546, d0.loss_bbox: 0.4783, d1.loss_cls: 0.2512, d1.loss_bbox: 0.4484, d2.loss_cls: 0.2414, d2.loss_bbox: 0.4311, d3.loss_cls: 0.2360, d3.loss_bbox: 0.4245, d4.loss_cls: 0.2317, d4.loss_bbox: 0.4215, d5.loss_cls: 0.2287, d5.loss_bbox: 0.4203, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9936, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8337, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7776, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7664, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7697, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7641, d0.loss_map_cls_all: 0.2627, d0.loss_map_pts_all: 1.7964, d0.loss_map_dir_all: 0.0129, d0.loss_map_cls: 0.2627, d0.loss_map_pts: 1.7964, d0.loss_map_dir: 0.0129, d1.loss_map_cls: 0.2347, d1.loss_map_pts: 1.1980, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2228, d2.loss_map_pts: 0.9994, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2121, d3.loss_map_pts: 0.9255, d3.loss_map_dir: 0.0135, d4.loss_map_cls: 0.2076, d4.loss_map_pts: 0.8988, d4.loss_map_dir: 0.0138, d5.loss_map_cls: 0.2041, d5.loss_map_pts: 0.8872, d5.loss_map_dir: 0.0139, loss: 34.8710, grad_norm: 157.8175 +2026-02-25 17:18:49,884 - DriveTransformer - INFO - Epoch [5][16400/39528] lr: 9.337e-05, eta: 7 days, 5:07:57, time: 0.853, data_time: 0.049, memory: 19865, loss_cls: 0.2166, loss_bbox: 0.4132, loss_traj: 0.7215, loss_traj_cls: 0.0010, loss_map_cls: 0.1977, loss_map_pts: 0.8631, loss_map_dir: 0.0146, d0.loss_plan_l1_fix_time: 2.6290, d0.loss_plan_l1_fix_dist: 0.4607, d1.loss_plan_l1_fix_time: 1.2537, d1.loss_plan_l1_fix_dist: 0.2083, d2.loss_plan_l1_fix_time: 1.2379, d2.loss_plan_l1_fix_dist: 0.2194, d3.loss_plan_l1_fix_time: 1.2408, d3.loss_plan_l1_fix_dist: 0.2334, d4.loss_plan_l1_fix_time: 1.2457, d4.loss_plan_l1_fix_dist: 0.2512, d5.loss_plan_l1_fix_time: 1.2513, d5.loss_plan_l1_fix_dist: 0.2700, d6.loss_plan_l1_fix_time: 1.2584, d6.loss_plan_l1_fix_dist: 0.2920, d0.loss_cls_all: 0.2457, d0.loss_bbox_all: 0.4566, d0.loss_cls: 0.2457, d0.loss_bbox: 0.4566, d1.loss_cls: 0.2406, d1.loss_bbox: 0.4317, d2.loss_cls: 0.2306, d2.loss_bbox: 0.4170, d3.loss_cls: 0.2243, d3.loss_bbox: 0.4104, d4.loss_cls: 0.2188, d4.loss_bbox: 0.4091, d5.loss_cls: 0.2172, d5.loss_bbox: 0.4118, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8977, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7619, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7346, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7302, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7228, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7232, d0.loss_map_cls_all: 0.2636, d0.loss_map_pts_all: 1.8361, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.2636, d0.loss_map_pts: 1.8361, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.2269, d1.loss_map_pts: 1.1641, d1.loss_map_dir: 0.0131, d2.loss_map_cls: 0.2148, d2.loss_map_pts: 0.9641, d2.loss_map_dir: 0.0137, d3.loss_map_cls: 0.2057, d3.loss_map_pts: 0.8954, d3.loss_map_dir: 0.0141, d4.loss_map_cls: 0.2014, d4.loss_map_pts: 0.8744, d4.loss_map_dir: 0.0143, d5.loss_map_cls: 0.1974, d5.loss_map_pts: 0.8660, d5.loss_map_dir: 0.0145, loss: 33.7781, grad_norm: 158.5022 +2026-02-25 17:19:31,024 - DriveTransformer - INFO - Epoch [5][16450/39528] lr: 9.337e-05, eta: 7 days, 5:07:20, time: 0.823, data_time: 0.044, memory: 19865, loss_cls: 0.2173, loss_bbox: 0.4386, loss_traj: 0.8762, loss_traj_cls: 0.0010, loss_map_cls: 0.1919, loss_map_pts: 0.8505, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 2.6530, d0.loss_plan_l1_fix_dist: 0.4342, d1.loss_plan_l1_fix_time: 1.3728, d1.loss_plan_l1_fix_dist: 0.2075, d2.loss_plan_l1_fix_time: 1.3516, d2.loss_plan_l1_fix_dist: 0.2147, d3.loss_plan_l1_fix_time: 1.3436, d3.loss_plan_l1_fix_dist: 0.2291, d4.loss_plan_l1_fix_time: 1.3446, d4.loss_plan_l1_fix_dist: 0.2457, d5.loss_plan_l1_fix_time: 1.3468, d5.loss_plan_l1_fix_dist: 0.2644, d6.loss_plan_l1_fix_time: 1.3505, d6.loss_plan_l1_fix_dist: 0.2847, d0.loss_cls_all: 0.2518, d0.loss_bbox_all: 0.4876, d0.loss_cls: 0.2518, d0.loss_bbox: 0.4876, d1.loss_cls: 0.2434, d1.loss_bbox: 0.4599, d2.loss_cls: 0.2323, d2.loss_bbox: 0.4448, d3.loss_cls: 0.2241, d3.loss_bbox: 0.4383, d4.loss_cls: 0.2202, d4.loss_bbox: 0.4367, d5.loss_cls: 0.2191, d5.loss_bbox: 0.4361, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0607, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9329, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8882, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8697, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8673, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8673, d0.loss_map_cls_all: 0.2527, d0.loss_map_pts_all: 1.6542, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2527, d0.loss_map_pts: 1.6542, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2237, d1.loss_map_pts: 1.1130, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2121, d2.loss_map_pts: 0.9436, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2007, d3.loss_map_pts: 0.8817, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.1955, d4.loss_map_pts: 0.8597, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.1925, d5.loss_map_pts: 0.8555, d5.loss_map_dir: 0.0123, loss: 35.1306, grad_norm: 158.0194 +2026-02-25 17:20:12,430 - DriveTransformer - INFO - Epoch [5][16500/39528] lr: 9.337e-05, eta: 7 days, 5:06:45, time: 0.828, data_time: 0.045, memory: 19865, loss_cls: 0.2649, loss_bbox: 0.4505, loss_traj: 0.7010, loss_traj_cls: 0.0010, loss_map_cls: 0.2566, loss_map_pts: 1.0972, loss_map_dir: 0.0152, d0.loss_plan_l1_fix_time: 2.1205, d0.loss_plan_l1_fix_dist: 0.3817, d1.loss_plan_l1_fix_time: 1.0359, d1.loss_plan_l1_fix_dist: 0.2103, d2.loss_plan_l1_fix_time: 1.0223, d2.loss_plan_l1_fix_dist: 0.2193, d3.loss_plan_l1_fix_time: 1.0236, d3.loss_plan_l1_fix_dist: 0.2341, d4.loss_plan_l1_fix_time: 1.0282, d4.loss_plan_l1_fix_dist: 0.2533, d5.loss_plan_l1_fix_time: 1.0329, d5.loss_plan_l1_fix_dist: 0.2767, d6.loss_plan_l1_fix_time: 1.0385, d6.loss_plan_l1_fix_dist: 0.3006, d0.loss_cls_all: 0.2935, d0.loss_bbox_all: 0.5071, d0.loss_cls: 0.2935, d0.loss_bbox: 0.5071, d1.loss_cls: 0.2846, d1.loss_bbox: 0.4747, d2.loss_cls: 0.2729, d2.loss_bbox: 0.4621, d3.loss_cls: 0.2685, d3.loss_bbox: 0.4533, d4.loss_cls: 0.2652, d4.loss_bbox: 0.4506, d5.loss_cls: 0.2641, d5.loss_bbox: 0.4506, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9884, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7941, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7383, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7262, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7191, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7073, d0.loss_map_cls_all: 0.3259, d0.loss_map_pts_all: 2.0397, d0.loss_map_dir_all: 0.0132, d0.loss_map_cls: 0.3259, d0.loss_map_pts: 2.0397, d0.loss_map_dir: 0.0132, d1.loss_map_cls: 0.2939, d1.loss_map_pts: 1.4509, d1.loss_map_dir: 0.0132, d2.loss_map_cls: 0.2743, d2.loss_map_pts: 1.2126, d2.loss_map_dir: 0.0138, d3.loss_map_cls: 0.2644, d3.loss_map_pts: 1.1296, d3.loss_map_dir: 0.0146, d4.loss_map_cls: 0.2592, d4.loss_map_pts: 1.1049, d4.loss_map_dir: 0.0150, d5.loss_map_cls: 0.2559, d5.loss_map_pts: 1.0988, d5.loss_map_dir: 0.0151, loss: 35.0645, grad_norm: 159.7617 +2026-02-25 17:20:52,820 - DriveTransformer - INFO - Epoch [5][16550/39528] lr: 9.337e-05, eta: 7 days, 5:06:05, time: 0.808, data_time: 0.045, memory: 19865, loss_cls: 0.2111, loss_bbox: 0.3954, loss_traj: 0.7798, loss_traj_cls: 0.0010, loss_map_cls: 0.2064, loss_map_pts: 0.8766, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.3829, d0.loss_plan_l1_fix_dist: 0.4303, d1.loss_plan_l1_fix_time: 1.2705, d1.loss_plan_l1_fix_dist: 0.1817, d2.loss_plan_l1_fix_time: 1.2627, d2.loss_plan_l1_fix_dist: 0.1899, d3.loss_plan_l1_fix_time: 1.2587, d3.loss_plan_l1_fix_dist: 0.2036, d4.loss_plan_l1_fix_time: 1.2613, d4.loss_plan_l1_fix_dist: 0.2187, d5.loss_plan_l1_fix_time: 1.2651, d5.loss_plan_l1_fix_dist: 0.2354, d6.loss_plan_l1_fix_time: 1.2696, d6.loss_plan_l1_fix_dist: 0.2568, d0.loss_cls_all: 0.2326, d0.loss_bbox_all: 0.4459, d0.loss_cls: 0.2326, d0.loss_bbox: 0.4459, d1.loss_cls: 0.2259, d1.loss_bbox: 0.4178, d2.loss_cls: 0.2196, d2.loss_bbox: 0.4007, d3.loss_cls: 0.2161, d3.loss_bbox: 0.3951, d4.loss_cls: 0.2123, d4.loss_bbox: 0.3946, d5.loss_cls: 0.2119, d5.loss_bbox: 0.3935, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8882, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8005, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7744, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7821, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7846, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7827, d0.loss_map_cls_all: 0.2745, d0.loss_map_pts_all: 1.6386, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2745, d0.loss_map_pts: 1.6386, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2477, d1.loss_map_pts: 1.1508, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.2274, d2.loss_map_pts: 0.9666, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.2156, d3.loss_map_pts: 0.8988, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.2095, d4.loss_map_pts: 0.8788, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.2070, d5.loss_map_pts: 0.8764, d5.loss_map_dir: 0.0108, loss: 33.2091, grad_norm: 158.4054 +2026-02-25 17:21:34,554 - DriveTransformer - INFO - Epoch [5][16600/39528] lr: 9.337e-05, eta: 7 days, 5:05:32, time: 0.835, data_time: 0.041, memory: 19865, loss_cls: 0.2068, loss_bbox: 0.3805, loss_traj: 0.8275, loss_traj_cls: 0.0010, loss_map_cls: 0.1911, loss_map_pts: 0.8703, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 2.6163, d0.loss_plan_l1_fix_dist: 0.3751, d1.loss_plan_l1_fix_time: 1.1300, d1.loss_plan_l1_fix_dist: 0.1868, d2.loss_plan_l1_fix_time: 1.1241, d2.loss_plan_l1_fix_dist: 0.1956, d3.loss_plan_l1_fix_time: 1.1280, d3.loss_plan_l1_fix_dist: 0.2104, d4.loss_plan_l1_fix_time: 1.1323, d4.loss_plan_l1_fix_dist: 0.2269, d5.loss_plan_l1_fix_time: 1.1366, d5.loss_plan_l1_fix_dist: 0.2442, d6.loss_plan_l1_fix_time: 1.1409, d6.loss_plan_l1_fix_dist: 0.2599, d0.loss_cls_all: 0.2367, d0.loss_bbox_all: 0.4343, d0.loss_cls: 0.2367, d0.loss_bbox: 0.4343, d1.loss_cls: 0.2351, d1.loss_bbox: 0.4013, d2.loss_cls: 0.2204, d2.loss_bbox: 0.3893, d3.loss_cls: 0.2133, d3.loss_bbox: 0.3814, d4.loss_cls: 0.2083, d4.loss_bbox: 0.3798, d5.loss_cls: 0.2066, d5.loss_bbox: 0.3792, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0408, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9089, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8470, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8358, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8313, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8234, d0.loss_map_cls_all: 0.2597, d0.loss_map_pts_all: 1.6878, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2597, d0.loss_map_pts: 1.6878, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2298, d1.loss_map_pts: 1.1491, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2134, d2.loss_map_pts: 0.9628, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2015, d3.loss_map_pts: 0.8973, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.1941, d4.loss_map_pts: 0.8754, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.1916, d5.loss_map_pts: 0.8680, d5.loss_map_dir: 0.0123, loss: 33.0054, grad_norm: 158.1348 +2026-02-25 17:22:16,997 - DriveTransformer - INFO - Epoch [5][16650/39528] lr: 9.337e-05, eta: 7 days, 5:05:01, time: 0.849, data_time: 0.046, memory: 19865, loss_cls: 0.2159, loss_bbox: 0.4173, loss_traj: 0.6760, loss_traj_cls: 0.0010, loss_map_cls: 0.1994, loss_map_pts: 0.8895, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.4800, d0.loss_plan_l1_fix_dist: 0.4159, d1.loss_plan_l1_fix_time: 1.4433, d1.loss_plan_l1_fix_dist: 0.1957, d2.loss_plan_l1_fix_time: 1.4349, d2.loss_plan_l1_fix_dist: 0.1996, d3.loss_plan_l1_fix_time: 1.4407, d3.loss_plan_l1_fix_dist: 0.2084, d4.loss_plan_l1_fix_time: 1.4460, d4.loss_plan_l1_fix_dist: 0.2192, d5.loss_plan_l1_fix_time: 1.4515, d5.loss_plan_l1_fix_dist: 0.2314, d6.loss_plan_l1_fix_time: 1.4574, d6.loss_plan_l1_fix_dist: 0.2458, d0.loss_cls_all: 0.2389, d0.loss_bbox_all: 0.4709, d0.loss_cls: 0.2389, d0.loss_bbox: 0.4709, d1.loss_cls: 0.2360, d1.loss_bbox: 0.4390, d2.loss_cls: 0.2256, d2.loss_bbox: 0.4252, d3.loss_cls: 0.2225, d3.loss_bbox: 0.4171, d4.loss_cls: 0.2184, d4.loss_bbox: 0.4171, d5.loss_cls: 0.2160, d5.loss_bbox: 0.4177, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8284, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7331, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6939, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6809, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6748, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6761, d0.loss_map_cls_all: 0.2638, d0.loss_map_pts_all: 1.7804, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.2638, d0.loss_map_pts: 1.7804, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2320, d1.loss_map_pts: 1.1510, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2155, d2.loss_map_pts: 0.9677, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2050, d3.loss_map_pts: 0.9127, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.2004, d4.loss_map_pts: 0.8943, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.1991, d5.loss_map_pts: 0.8920, d5.loss_map_dir: 0.0133, loss: 34.2750, grad_norm: 159.1597 +2026-02-25 17:22:56,081 - DriveTransformer - INFO - Epoch [5][16700/39528] lr: 9.337e-05, eta: 7 days, 5:04:16, time: 0.782, data_time: 0.041, memory: 19865, loss_cls: 0.2226, loss_bbox: 0.4172, loss_traj: 0.9439, loss_traj_cls: 0.0009, loss_map_cls: 0.1949, loss_map_pts: 0.8104, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.6217, d0.loss_plan_l1_fix_dist: 0.3996, d1.loss_plan_l1_fix_time: 1.4566, d1.loss_plan_l1_fix_dist: 0.2119, d2.loss_plan_l1_fix_time: 1.4412, d2.loss_plan_l1_fix_dist: 0.2182, d3.loss_plan_l1_fix_time: 1.4441, d3.loss_plan_l1_fix_dist: 0.2295, d4.loss_plan_l1_fix_time: 1.4476, d4.loss_plan_l1_fix_dist: 0.2432, d5.loss_plan_l1_fix_time: 1.4512, d5.loss_plan_l1_fix_dist: 0.2569, d6.loss_plan_l1_fix_time: 1.4562, d6.loss_plan_l1_fix_dist: 0.2724, d0.loss_cls_all: 0.2588, d0.loss_bbox_all: 0.4717, d0.loss_cls: 0.2588, d0.loss_bbox: 0.4717, d1.loss_cls: 0.2462, d1.loss_bbox: 0.4402, d2.loss_cls: 0.2366, d2.loss_bbox: 0.4272, d3.loss_cls: 0.2306, d3.loss_bbox: 0.4214, d4.loss_cls: 0.2258, d4.loss_bbox: 0.4178, d5.loss_cls: 0.2236, d5.loss_bbox: 0.4165, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2562, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0217, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9613, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9497, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9458, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.9460, d0.loss_map_cls_all: 0.2587, d0.loss_map_pts_all: 1.5747, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2587, d0.loss_map_pts: 1.5747, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2315, d1.loss_map_pts: 1.0676, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.2169, d2.loss_map_pts: 0.8905, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.2047, d3.loss_map_pts: 0.8318, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1977, d4.loss_map_pts: 0.8157, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1943, d5.loss_map_pts: 0.8128, d5.loss_map_dir: 0.0103, loss: 35.7815, grad_norm: 159.6507 +2026-02-25 17:23:37,553 - DriveTransformer - INFO - Epoch [5][16750/39528] lr: 9.337e-05, eta: 7 days, 5:03:41, time: 0.830, data_time: 0.039, memory: 19865, loss_cls: 0.2274, loss_bbox: 0.4345, loss_traj: 0.8606, loss_traj_cls: 0.0010, loss_map_cls: 0.1837, loss_map_pts: 0.8553, loss_map_dir: 0.0132, d0.loss_plan_l1_fix_time: 2.5230, d0.loss_plan_l1_fix_dist: 0.4551, d1.loss_plan_l1_fix_time: 1.3094, d1.loss_plan_l1_fix_dist: 0.1982, d2.loss_plan_l1_fix_time: 1.2891, d2.loss_plan_l1_fix_dist: 0.2012, d3.loss_plan_l1_fix_time: 1.2896, d3.loss_plan_l1_fix_dist: 0.2103, d4.loss_plan_l1_fix_time: 1.2926, d4.loss_plan_l1_fix_dist: 0.2230, d5.loss_plan_l1_fix_time: 1.2968, d5.loss_plan_l1_fix_dist: 0.2372, d6.loss_plan_l1_fix_time: 1.3026, d6.loss_plan_l1_fix_dist: 0.2524, d0.loss_cls_all: 0.2509, d0.loss_bbox_all: 0.4949, d0.loss_cls: 0.2509, d0.loss_bbox: 0.4949, d1.loss_cls: 0.2462, d1.loss_bbox: 0.4650, d2.loss_cls: 0.2376, d2.loss_bbox: 0.4460, d3.loss_cls: 0.2344, d3.loss_bbox: 0.4385, d4.loss_cls: 0.2299, d4.loss_bbox: 0.4360, d5.loss_cls: 0.2275, d5.loss_bbox: 0.4360, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0555, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9182, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8758, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8687, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8699, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8617, d0.loss_map_cls_all: 0.2533, d0.loss_map_pts_all: 1.7207, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.2533, d0.loss_map_pts: 1.7207, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.2227, d1.loss_map_pts: 1.1199, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.2038, d2.loss_map_pts: 0.9355, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.1918, d3.loss_map_pts: 0.8745, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.1851, d4.loss_map_pts: 0.8586, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.1848, d5.loss_map_pts: 0.8556, d5.loss_map_dir: 0.0131, loss: 34.6672, grad_norm: 158.6650 +2026-02-25 17:24:19,050 - DriveTransformer - INFO - Epoch [5][16800/39528] lr: 9.337e-05, eta: 7 days, 5:03:06, time: 0.831, data_time: 0.048, memory: 19865, loss_cls: 0.2221, loss_bbox: 0.4013, loss_traj: 1.0117, loss_traj_cls: 0.0010, loss_map_cls: 0.1916, loss_map_pts: 0.8023, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 3.0405, d0.loss_plan_l1_fix_dist: 0.4014, d1.loss_plan_l1_fix_time: 1.6709, d1.loss_plan_l1_fix_dist: 0.2279, d2.loss_plan_l1_fix_time: 1.6499, d2.loss_plan_l1_fix_dist: 0.2284, d3.loss_plan_l1_fix_time: 1.6464, d3.loss_plan_l1_fix_dist: 0.2359, d4.loss_plan_l1_fix_time: 1.6484, d4.loss_plan_l1_fix_dist: 0.2467, d5.loss_plan_l1_fix_time: 1.6524, d5.loss_plan_l1_fix_dist: 0.2579, d6.loss_plan_l1_fix_time: 1.6578, d6.loss_plan_l1_fix_dist: 0.2701, d0.loss_cls_all: 0.2437, d0.loss_bbox_all: 0.4563, d0.loss_cls: 0.2437, d0.loss_bbox: 0.4563, d1.loss_cls: 0.2382, d1.loss_bbox: 0.4241, d2.loss_cls: 0.2310, d2.loss_bbox: 0.4070, d3.loss_cls: 0.2262, d3.loss_bbox: 0.4006, d4.loss_cls: 0.2204, d4.loss_bbox: 0.4005, d5.loss_cls: 0.2209, d5.loss_bbox: 0.4000, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3380, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0830, d2.loss_traj_cls: 0.0016, d2.loss_traj: 1.0107, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9936, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9965, d5.loss_traj_cls: 0.0011, d5.loss_traj: 1.0011, d0.loss_map_cls_all: 0.2646, d0.loss_map_pts_all: 1.5469, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2646, d0.loss_map_pts: 1.5469, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2360, d1.loss_map_pts: 1.0547, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2181, d2.loss_map_pts: 0.8823, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.2024, d3.loss_map_pts: 0.8248, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1963, d4.loss_map_pts: 0.8079, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1939, d5.loss_map_pts: 0.8026, d5.loss_map_dir: 0.0112, loss: 37.5884, grad_norm: 157.6851 +2026-02-25 17:24:59,703 - DriveTransformer - INFO - Epoch [5][16850/39528] lr: 9.337e-05, eta: 7 days, 5:02:28, time: 0.812, data_time: 0.040, memory: 19865, loss_cls: 0.2295, loss_bbox: 0.4323, loss_traj: 0.7793, loss_traj_cls: 0.0010, loss_map_cls: 0.2176, loss_map_pts: 0.8877, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.6387, d0.loss_plan_l1_fix_dist: 0.3814, d1.loss_plan_l1_fix_time: 1.3780, d1.loss_plan_l1_fix_dist: 0.2174, d2.loss_plan_l1_fix_time: 1.3593, d2.loss_plan_l1_fix_dist: 0.2210, d3.loss_plan_l1_fix_time: 1.3637, d3.loss_plan_l1_fix_dist: 0.2271, d4.loss_plan_l1_fix_time: 1.3677, d4.loss_plan_l1_fix_dist: 0.2356, d5.loss_plan_l1_fix_time: 1.3718, d5.loss_plan_l1_fix_dist: 0.2471, d6.loss_plan_l1_fix_time: 1.3765, d6.loss_plan_l1_fix_dist: 0.2625, d0.loss_cls_all: 0.2605, d0.loss_bbox_all: 0.4984, d0.loss_cls: 0.2605, d0.loss_bbox: 0.4984, d1.loss_cls: 0.2516, d1.loss_bbox: 0.4675, d2.loss_cls: 0.2419, d2.loss_bbox: 0.4455, d3.loss_cls: 0.2336, d3.loss_bbox: 0.4389, d4.loss_cls: 0.2293, d4.loss_bbox: 0.4358, d5.loss_cls: 0.2294, d5.loss_bbox: 0.4331, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9865, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8329, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7914, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7818, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7832, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7826, d0.loss_map_cls_all: 0.2878, d0.loss_map_pts_all: 1.7364, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2878, d0.loss_map_pts: 1.7364, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2567, d1.loss_map_pts: 1.1552, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2371, d2.loss_map_pts: 0.9659, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2261, d3.loss_map_pts: 0.9087, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.2202, d4.loss_map_pts: 0.8924, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.2179, d5.loss_map_pts: 0.8886, d5.loss_map_dir: 0.0122, loss: 35.1930, grad_norm: 157.7290 +2026-02-25 17:25:40,036 - DriveTransformer - INFO - Epoch [5][16900/39528] lr: 9.337e-05, eta: 7 days, 5:01:48, time: 0.807, data_time: 0.047, memory: 19865, loss_cls: 0.2155, loss_bbox: 0.4052, loss_traj: 0.8042, loss_traj_cls: 0.0009, loss_map_cls: 0.2029, loss_map_pts: 0.8448, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.5845, d0.loss_plan_l1_fix_dist: 0.3892, d1.loss_plan_l1_fix_time: 1.4536, d1.loss_plan_l1_fix_dist: 0.2064, d2.loss_plan_l1_fix_time: 1.4409, d2.loss_plan_l1_fix_dist: 0.2123, d3.loss_plan_l1_fix_time: 1.4409, d3.loss_plan_l1_fix_dist: 0.2245, d4.loss_plan_l1_fix_time: 1.4447, d4.loss_plan_l1_fix_dist: 0.2375, d5.loss_plan_l1_fix_time: 1.4477, d5.loss_plan_l1_fix_dist: 0.2499, d6.loss_plan_l1_fix_time: 1.4503, d6.loss_plan_l1_fix_dist: 0.2633, d0.loss_cls_all: 0.2447, d0.loss_bbox_all: 0.4639, d0.loss_cls: 0.2447, d0.loss_bbox: 0.4639, d1.loss_cls: 0.2325, d1.loss_bbox: 0.4332, d2.loss_cls: 0.2237, d2.loss_bbox: 0.4154, d3.loss_cls: 0.2188, d3.loss_bbox: 0.4084, d4.loss_cls: 0.2163, d4.loss_bbox: 0.4066, d5.loss_cls: 0.2161, d5.loss_bbox: 0.4055, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9734, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8667, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8162, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8085, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8002, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8044, d0.loss_map_cls_all: 0.2732, d0.loss_map_pts_all: 1.6530, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2732, d0.loss_map_pts: 1.6530, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2395, d1.loss_map_pts: 1.1272, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2206, d2.loss_map_pts: 0.9333, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2095, d3.loss_map_pts: 0.8754, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.2033, d4.loss_map_pts: 0.8546, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.2018, d5.loss_map_pts: 0.8446, d5.loss_map_dir: 0.0111, loss: 34.8348, grad_norm: 158.4567 +2026-02-25 17:26:20,501 - DriveTransformer - INFO - Epoch [5][16950/39528] lr: 9.337e-05, eta: 7 days, 5:01:08, time: 0.809, data_time: 0.046, memory: 19865, loss_cls: 0.2196, loss_bbox: 0.4120, loss_traj: 0.9618, loss_traj_cls: 0.0009, loss_map_cls: 0.2076, loss_map_pts: 0.9143, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.5820, d0.loss_plan_l1_fix_dist: 0.4067, d1.loss_plan_l1_fix_time: 1.5245, d1.loss_plan_l1_fix_dist: 0.2004, d2.loss_plan_l1_fix_time: 1.5192, d2.loss_plan_l1_fix_dist: 0.2023, d3.loss_plan_l1_fix_time: 1.5260, d3.loss_plan_l1_fix_dist: 0.2102, d4.loss_plan_l1_fix_time: 1.5314, d4.loss_plan_l1_fix_dist: 0.2214, d5.loss_plan_l1_fix_time: 1.5357, d5.loss_plan_l1_fix_dist: 0.2348, d6.loss_plan_l1_fix_time: 1.5398, d6.loss_plan_l1_fix_dist: 0.2467, d0.loss_cls_all: 0.2421, d0.loss_bbox_all: 0.4686, d0.loss_cls: 0.2421, d0.loss_bbox: 0.4686, d1.loss_cls: 0.2364, d1.loss_bbox: 0.4388, d2.loss_cls: 0.2256, d2.loss_bbox: 0.4247, d3.loss_cls: 0.2191, d3.loss_bbox: 0.4179, d4.loss_cls: 0.2168, d4.loss_bbox: 0.4157, d5.loss_cls: 0.2173, d5.loss_bbox: 0.4139, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2086, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0076, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9681, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9604, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9601, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.9585, d0.loss_map_cls_all: 0.2659, d0.loss_map_pts_all: 1.7317, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2659, d0.loss_map_pts: 1.7317, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2368, d1.loss_map_pts: 1.1842, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2222, d2.loss_map_pts: 1.0027, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.2141, d3.loss_map_pts: 0.9447, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.2091, d4.loss_map_pts: 0.9248, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.2072, d5.loss_map_pts: 0.9169, d5.loss_map_dir: 0.0114, loss: 37.0581, grad_norm: 159.1397 +2026-02-25 17:26:59,751 - DriveTransformer - INFO - Epoch [5][17000/39528] lr: 9.337e-05, eta: 7 days, 5:00:24, time: 0.785, data_time: 0.043, memory: 19865, loss_cls: 0.1911, loss_bbox: 0.3910, loss_traj: 0.9287, loss_traj_cls: 0.0009, loss_map_cls: 0.2016, loss_map_pts: 0.8383, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.4539, d0.loss_plan_l1_fix_dist: 0.3825, d1.loss_plan_l1_fix_time: 1.3557, d1.loss_plan_l1_fix_dist: 0.1853, d2.loss_plan_l1_fix_time: 1.3330, d2.loss_plan_l1_fix_dist: 0.1885, d3.loss_plan_l1_fix_time: 1.3335, d3.loss_plan_l1_fix_dist: 0.1958, d4.loss_plan_l1_fix_time: 1.3388, d4.loss_plan_l1_fix_dist: 0.2066, d5.loss_plan_l1_fix_time: 1.3444, d5.loss_plan_l1_fix_dist: 0.2194, d6.loss_plan_l1_fix_time: 1.3505, d6.loss_plan_l1_fix_dist: 0.2346, d0.loss_cls_all: 0.2212, d0.loss_bbox_all: 0.4417, d0.loss_cls: 0.2212, d0.loss_bbox: 0.4417, d1.loss_cls: 0.2119, d1.loss_bbox: 0.4134, d2.loss_cls: 0.2021, d2.loss_bbox: 0.3962, d3.loss_cls: 0.1939, d3.loss_bbox: 0.3927, d4.loss_cls: 0.1898, d4.loss_bbox: 0.3897, d5.loss_cls: 0.1894, d5.loss_bbox: 0.3896, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2279, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0098, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.9495, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9311, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.9241, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9295, d0.loss_map_cls_all: 0.2693, d0.loss_map_pts_all: 1.5800, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2693, d0.loss_map_pts: 1.5800, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2449, d1.loss_map_pts: 1.1356, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.2252, d2.loss_map_pts: 0.9429, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.2138, d3.loss_map_pts: 0.8715, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.2056, d4.loss_map_pts: 0.8504, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.2032, d5.loss_map_pts: 0.8391, d5.loss_map_dir: 0.0100, loss: 34.4537, grad_norm: 156.8091 +2026-02-25 17:27:40,448 - DriveTransformer - INFO - Epoch [5][17050/39528] lr: 9.337e-05, eta: 7 days, 4:59:45, time: 0.814, data_time: 0.044, memory: 19865, loss_cls: 0.2328, loss_bbox: 0.4310, loss_traj: 0.7878, loss_traj_cls: 0.0009, loss_map_cls: 0.1911, loss_map_pts: 0.8818, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.4836, d0.loss_plan_l1_fix_dist: 0.4286, d1.loss_plan_l1_fix_time: 1.2614, d1.loss_plan_l1_fix_dist: 0.2225, d2.loss_plan_l1_fix_time: 1.2415, d2.loss_plan_l1_fix_dist: 0.2275, d3.loss_plan_l1_fix_time: 1.2455, d3.loss_plan_l1_fix_dist: 0.2365, d4.loss_plan_l1_fix_time: 1.2533, d4.loss_plan_l1_fix_dist: 0.2485, d5.loss_plan_l1_fix_time: 1.2625, d5.loss_plan_l1_fix_dist: 0.2614, d6.loss_plan_l1_fix_time: 1.2727, d6.loss_plan_l1_fix_dist: 0.2786, d0.loss_cls_all: 0.2593, d0.loss_bbox_all: 0.4778, d0.loss_cls: 0.2593, d0.loss_bbox: 0.4778, d1.loss_cls: 0.2497, d1.loss_bbox: 0.4482, d2.loss_cls: 0.2402, d2.loss_bbox: 0.4352, d3.loss_cls: 0.2351, d3.loss_bbox: 0.4303, d4.loss_cls: 0.2322, d4.loss_bbox: 0.4270, d5.loss_cls: 0.2328, d5.loss_bbox: 0.4274, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0644, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8722, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8060, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8052, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7994, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7922, d0.loss_map_cls_all: 0.2538, d0.loss_map_pts_all: 1.7230, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2538, d0.loss_map_pts: 1.7230, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2260, d1.loss_map_pts: 1.1776, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2079, d2.loss_map_pts: 0.9923, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.2004, d3.loss_map_pts: 0.9187, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1931, d4.loss_map_pts: 0.8958, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1906, d5.loss_map_pts: 0.8840, d5.loss_map_dir: 0.0116, loss: 34.3548, grad_norm: 156.3225 +2026-02-25 17:28:19,361 - DriveTransformer - INFO - Epoch [5][17100/39528] lr: 9.337e-05, eta: 7 days, 4:58:59, time: 0.778, data_time: 0.045, memory: 19865, loss_cls: 0.2147, loss_bbox: 0.4110, loss_traj: 0.7540, loss_traj_cls: 0.0008, loss_map_cls: 0.2163, loss_map_pts: 0.9069, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.7101, d0.loss_plan_l1_fix_dist: 0.4074, d1.loss_plan_l1_fix_time: 1.3020, d1.loss_plan_l1_fix_dist: 0.1925, d2.loss_plan_l1_fix_time: 1.2847, d2.loss_plan_l1_fix_dist: 0.1975, d3.loss_plan_l1_fix_time: 1.2849, d3.loss_plan_l1_fix_dist: 0.2080, d4.loss_plan_l1_fix_time: 1.2899, d4.loss_plan_l1_fix_dist: 0.2203, d5.loss_plan_l1_fix_time: 1.2965, d5.loss_plan_l1_fix_dist: 0.2333, d6.loss_plan_l1_fix_time: 1.3049, d6.loss_plan_l1_fix_dist: 0.2453, d0.loss_cls_all: 0.2422, d0.loss_bbox_all: 0.4647, d0.loss_cls: 0.2422, d0.loss_bbox: 0.4647, d1.loss_cls: 0.2380, d1.loss_bbox: 0.4334, d2.loss_cls: 0.2266, d2.loss_bbox: 0.4148, d3.loss_cls: 0.2193, d3.loss_bbox: 0.4110, d4.loss_cls: 0.2149, d4.loss_bbox: 0.4112, d5.loss_cls: 0.2140, d5.loss_bbox: 0.4110, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9715, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8300, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7749, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7652, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7607, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7553, d0.loss_map_cls_all: 0.2772, d0.loss_map_pts_all: 1.5846, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2772, d0.loss_map_pts: 1.5846, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2537, d1.loss_map_pts: 1.1573, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.2347, d2.loss_map_pts: 0.9943, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.2242, d3.loss_map_pts: 0.9352, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.2175, d4.loss_map_pts: 0.9188, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.2154, d5.loss_map_pts: 0.9110, d5.loss_map_dir: 0.0102, loss: 34.0134, grad_norm: 155.2882 +2026-02-25 17:29:00,372 - DriveTransformer - INFO - Epoch [5][17150/39528] lr: 9.337e-05, eta: 7 days, 4:58:22, time: 0.820, data_time: 0.039, memory: 19865, loss_cls: 0.1983, loss_bbox: 0.3845, loss_traj: 0.8156, loss_traj_cls: 0.0009, loss_map_cls: 0.1714, loss_map_pts: 0.7909, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.6463, d0.loss_plan_l1_fix_dist: 0.4742, d1.loss_plan_l1_fix_time: 1.2716, d1.loss_plan_l1_fix_dist: 0.1853, d2.loss_plan_l1_fix_time: 1.2510, d2.loss_plan_l1_fix_dist: 0.1901, d3.loss_plan_l1_fix_time: 1.2545, d3.loss_plan_l1_fix_dist: 0.1985, d4.loss_plan_l1_fix_time: 1.2598, d4.loss_plan_l1_fix_dist: 0.2102, d5.loss_plan_l1_fix_time: 1.2666, d5.loss_plan_l1_fix_dist: 0.2226, d6.loss_plan_l1_fix_time: 1.2753, d6.loss_plan_l1_fix_dist: 0.2345, d0.loss_cls_all: 0.2267, d0.loss_bbox_all: 0.4404, d0.loss_cls: 0.2267, d0.loss_bbox: 0.4404, d1.loss_cls: 0.2220, d1.loss_bbox: 0.4074, d2.loss_cls: 0.2127, d2.loss_bbox: 0.3900, d3.loss_cls: 0.2041, d3.loss_bbox: 0.3836, d4.loss_cls: 0.1997, d4.loss_bbox: 0.3832, d5.loss_cls: 0.1986, d5.loss_bbox: 0.3827, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0599, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8763, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8258, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8179, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.8177, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8127, d0.loss_map_cls_all: 0.2332, d0.loss_map_pts_all: 1.6154, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2332, d0.loss_map_pts: 1.6154, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2092, d1.loss_map_pts: 1.0785, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1930, d2.loss_map_pts: 0.8906, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.1838, d3.loss_map_pts: 0.8236, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1771, d4.loss_map_pts: 0.8023, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1726, d5.loss_map_pts: 0.7931, d5.loss_map_dir: 0.0111, loss: 32.9422, grad_norm: 155.1885 +2026-02-25 17:29:40,976 - DriveTransformer - INFO - Epoch [5][17200/39528] lr: 9.337e-05, eta: 7 days, 4:57:43, time: 0.812, data_time: 0.039, memory: 19865, loss_cls: 0.2275, loss_bbox: 0.4164, loss_traj: 0.8011, loss_traj_cls: 0.0008, loss_map_cls: 0.1950, loss_map_pts: 0.8850, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.6448, d0.loss_plan_l1_fix_dist: 0.3269, d1.loss_plan_l1_fix_time: 1.3421, d1.loss_plan_l1_fix_dist: 0.2034, d2.loss_plan_l1_fix_time: 1.3252, d2.loss_plan_l1_fix_dist: 0.2150, d3.loss_plan_l1_fix_time: 1.3301, d3.loss_plan_l1_fix_dist: 0.2295, d4.loss_plan_l1_fix_time: 1.3335, d4.loss_plan_l1_fix_dist: 0.2466, d5.loss_plan_l1_fix_time: 1.3365, d5.loss_plan_l1_fix_dist: 0.2672, d6.loss_plan_l1_fix_time: 1.3393, d6.loss_plan_l1_fix_dist: 0.2907, d0.loss_cls_all: 0.2581, d0.loss_bbox_all: 0.4734, d0.loss_cls: 0.2581, d0.loss_bbox: 0.4734, d1.loss_cls: 0.2518, d1.loss_bbox: 0.4459, d2.loss_cls: 0.2383, d2.loss_bbox: 0.4288, d3.loss_cls: 0.2342, d3.loss_bbox: 0.4195, d4.loss_cls: 0.2277, d4.loss_bbox: 0.4186, d5.loss_cls: 0.2259, d5.loss_bbox: 0.4180, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9585, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8520, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7992, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7978, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7961, d5.loss_traj_cls: 0.0009, d5.loss_traj: 0.7972, d0.loss_map_cls_all: 0.2672, d0.loss_map_pts_all: 1.6702, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2672, d0.loss_map_pts: 1.6702, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2304, d1.loss_map_pts: 1.1906, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2127, d2.loss_map_pts: 1.0007, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.2028, d3.loss_map_pts: 0.9300, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1990, d4.loss_map_pts: 0.9010, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1970, d5.loss_map_pts: 0.8889, d5.loss_map_dir: 0.0113, loss: 34.6467, grad_norm: 155.0917 +2026-02-25 17:30:22,282 - DriveTransformer - INFO - Epoch [5][17250/39528] lr: 9.337e-05, eta: 7 days, 4:57:08, time: 0.826, data_time: 0.041, memory: 19865, loss_cls: 0.2315, loss_bbox: 0.4424, loss_traj: 0.7083, loss_traj_cls: 0.0009, loss_map_cls: 0.2544, loss_map_pts: 1.0102, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 2.8883, d0.loss_plan_l1_fix_dist: 0.3799, d1.loss_plan_l1_fix_time: 1.5210, d1.loss_plan_l1_fix_dist: 0.2102, d2.loss_plan_l1_fix_time: 1.5216, d2.loss_plan_l1_fix_dist: 0.2186, d3.loss_plan_l1_fix_time: 1.5287, d3.loss_plan_l1_fix_dist: 0.2307, d4.loss_plan_l1_fix_time: 1.5333, d4.loss_plan_l1_fix_dist: 0.2464, d5.loss_plan_l1_fix_time: 1.5374, d5.loss_plan_l1_fix_dist: 0.2632, d6.loss_plan_l1_fix_time: 1.5415, d6.loss_plan_l1_fix_dist: 0.2811, d0.loss_cls_all: 0.2638, d0.loss_bbox_all: 0.5015, d0.loss_cls: 0.2638, d0.loss_bbox: 0.5015, d1.loss_cls: 0.2584, d1.loss_bbox: 0.4704, d2.loss_cls: 0.2466, d2.loss_bbox: 0.4499, d3.loss_cls: 0.2379, d3.loss_bbox: 0.4453, d4.loss_cls: 0.2301, d4.loss_bbox: 0.4447, d5.loss_cls: 0.2297, d5.loss_bbox: 0.4431, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9192, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7710, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7324, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7215, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7158, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7082, d0.loss_map_cls_all: 0.3208, d0.loss_map_pts_all: 1.8721, d0.loss_map_dir_all: 0.0132, d0.loss_map_cls: 0.3208, d0.loss_map_pts: 1.8721, d0.loss_map_dir: 0.0132, d1.loss_map_cls: 0.2930, d1.loss_map_pts: 1.3092, d1.loss_map_dir: 0.0128, d2.loss_map_cls: 0.2781, d2.loss_map_pts: 1.1127, d2.loss_map_dir: 0.0135, d3.loss_map_cls: 0.2653, d3.loss_map_pts: 1.0488, d3.loss_map_dir: 0.0141, d4.loss_map_cls: 0.2600, d4.loss_map_pts: 1.0219, d4.loss_map_dir: 0.0144, d5.loss_map_cls: 0.2555, d5.loss_map_pts: 1.0120, d5.loss_map_dir: 0.0144, loss: 37.4626, grad_norm: 154.6349 +2026-02-25 17:31:04,395 - DriveTransformer - INFO - Epoch [5][17300/39528] lr: 9.337e-05, eta: 7 days, 4:56:36, time: 0.842, data_time: 0.042, memory: 19865, loss_cls: 0.2093, loss_bbox: 0.4037, loss_traj: 0.7221, loss_traj_cls: 0.0009, loss_map_cls: 0.2242, loss_map_pts: 0.9851, loss_map_dir: 0.0132, d0.loss_plan_l1_fix_time: 2.6910, d0.loss_plan_l1_fix_dist: 0.4166, d1.loss_plan_l1_fix_time: 1.3162, d1.loss_plan_l1_fix_dist: 0.2135, d2.loss_plan_l1_fix_time: 1.3016, d2.loss_plan_l1_fix_dist: 0.2264, d3.loss_plan_l1_fix_time: 1.3092, d3.loss_plan_l1_fix_dist: 0.2428, d4.loss_plan_l1_fix_time: 1.3138, d4.loss_plan_l1_fix_dist: 0.2615, d5.loss_plan_l1_fix_time: 1.3185, d5.loss_plan_l1_fix_dist: 0.2784, d6.loss_plan_l1_fix_time: 1.3232, d6.loss_plan_l1_fix_dist: 0.2984, d0.loss_cls_all: 0.2375, d0.loss_bbox_all: 0.4590, d0.loss_cls: 0.2375, d0.loss_bbox: 0.4590, d1.loss_cls: 0.2331, d1.loss_bbox: 0.4271, d2.loss_cls: 0.2219, d2.loss_bbox: 0.4102, d3.loss_cls: 0.2154, d3.loss_bbox: 0.4046, d4.loss_cls: 0.2096, d4.loss_bbox: 0.4042, d5.loss_cls: 0.2084, d5.loss_bbox: 0.4035, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8835, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7649, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7297, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7243, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7313, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7311, d0.loss_map_cls_all: 0.2927, d0.loss_map_pts_all: 1.8407, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2927, d0.loss_map_pts: 1.8407, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2670, d1.loss_map_pts: 1.3143, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2478, d2.loss_map_pts: 1.1077, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2345, d3.loss_map_pts: 1.0299, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.2281, d4.loss_map_pts: 0.9993, d4.loss_map_dir: 0.0131, d5.loss_map_cls: 0.2255, d5.loss_map_pts: 0.9885, d5.loss_map_dir: 0.0132, loss: 35.1661, grad_norm: 155.5861 +2026-02-25 17:31:45,479 - DriveTransformer - INFO - Epoch [5][17350/39528] lr: 9.337e-05, eta: 7 days, 4:55:59, time: 0.822, data_time: 0.041, memory: 19865, loss_cls: 0.2159, loss_bbox: 0.4041, loss_traj: 0.6537, loss_traj_cls: 0.0009, loss_map_cls: 0.2239, loss_map_pts: 0.8601, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.4092, d0.loss_plan_l1_fix_dist: 0.4640, d1.loss_plan_l1_fix_time: 1.2497, d1.loss_plan_l1_fix_dist: 0.1946, d2.loss_plan_l1_fix_time: 1.2389, d2.loss_plan_l1_fix_dist: 0.2019, d3.loss_plan_l1_fix_time: 1.2382, d3.loss_plan_l1_fix_dist: 0.2127, d4.loss_plan_l1_fix_time: 1.2421, d4.loss_plan_l1_fix_dist: 0.2255, d5.loss_plan_l1_fix_time: 1.2464, d5.loss_plan_l1_fix_dist: 0.2413, d6.loss_plan_l1_fix_time: 1.2507, d6.loss_plan_l1_fix_dist: 0.2617, d0.loss_cls_all: 0.2445, d0.loss_bbox_all: 0.4669, d0.loss_cls: 0.2445, d0.loss_bbox: 0.4669, d1.loss_cls: 0.2399, d1.loss_bbox: 0.4318, d2.loss_cls: 0.2282, d2.loss_bbox: 0.4146, d3.loss_cls: 0.2203, d3.loss_bbox: 0.4091, d4.loss_cls: 0.2159, d4.loss_bbox: 0.4065, d5.loss_cls: 0.2165, d5.loss_bbox: 0.4041, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8740, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7145, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6607, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6540, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6511, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6498, d0.loss_map_cls_all: 0.2756, d0.loss_map_pts_all: 1.6789, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2756, d0.loss_map_pts: 1.6789, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2549, d1.loss_map_pts: 1.1755, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2425, d2.loss_map_pts: 0.9771, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2334, d3.loss_map_pts: 0.9025, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.2273, d4.loss_map_pts: 0.8742, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.2243, d5.loss_map_pts: 0.8633, d5.loss_map_dir: 0.0119, loss: 32.8310, grad_norm: 153.0065 +2026-02-25 17:32:26,438 - DriveTransformer - INFO - Epoch [5][17400/39528] lr: 9.337e-05, eta: 7 days, 4:55:22, time: 0.819, data_time: 0.039, memory: 19865, loss_cls: 0.2296, loss_bbox: 0.4100, loss_traj: 0.7543, loss_traj_cls: 0.0009, loss_map_cls: 0.2001, loss_map_pts: 0.9034, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 3.0436, d0.loss_plan_l1_fix_dist: 0.4557, d1.loss_plan_l1_fix_time: 1.4098, d1.loss_plan_l1_fix_dist: 0.2198, d2.loss_plan_l1_fix_time: 1.3897, d2.loss_plan_l1_fix_dist: 0.2296, d3.loss_plan_l1_fix_time: 1.3871, d3.loss_plan_l1_fix_dist: 0.2442, d4.loss_plan_l1_fix_time: 1.3895, d4.loss_plan_l1_fix_dist: 0.2623, d5.loss_plan_l1_fix_time: 1.3925, d5.loss_plan_l1_fix_dist: 0.2800, d6.loss_plan_l1_fix_time: 1.3957, d6.loss_plan_l1_fix_dist: 0.2966, d0.loss_cls_all: 0.2664, d0.loss_bbox_all: 0.4689, d0.loss_cls: 0.2664, d0.loss_bbox: 0.4689, d1.loss_cls: 0.2578, d1.loss_bbox: 0.4383, d2.loss_cls: 0.2415, d2.loss_bbox: 0.4267, d3.loss_cls: 0.2344, d3.loss_bbox: 0.4168, d4.loss_cls: 0.2299, d4.loss_bbox: 0.4145, d5.loss_cls: 0.2297, d5.loss_bbox: 0.4126, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9635, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8075, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7672, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7557, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7535, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7514, d0.loss_map_cls_all: 0.2529, d0.loss_map_pts_all: 1.6642, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2529, d0.loss_map_pts: 1.6642, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2344, d1.loss_map_pts: 1.1809, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2182, d2.loss_map_pts: 0.9944, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.2105, d3.loss_map_pts: 0.9302, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.2042, d4.loss_map_pts: 0.9098, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.2018, d5.loss_map_pts: 0.9016, d5.loss_map_dir: 0.0120, loss: 35.3852, grad_norm: 152.4478 +2026-02-25 17:33:08,521 - DriveTransformer - INFO - Epoch [5][17450/39528] lr: 9.337e-05, eta: 7 days, 4:54:50, time: 0.842, data_time: 0.047, memory: 19865, loss_cls: 0.2106, loss_bbox: 0.3917, loss_traj: 0.7911, loss_traj_cls: 0.0009, loss_map_cls: 0.1894, loss_map_pts: 0.8565, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.6498, d0.loss_plan_l1_fix_dist: 0.4897, d1.loss_plan_l1_fix_time: 1.4277, d1.loss_plan_l1_fix_dist: 0.2266, d2.loss_plan_l1_fix_time: 1.4049, d2.loss_plan_l1_fix_dist: 0.2339, d3.loss_plan_l1_fix_time: 1.4005, d3.loss_plan_l1_fix_dist: 0.2459, d4.loss_plan_l1_fix_time: 1.4026, d4.loss_plan_l1_fix_dist: 0.2600, d5.loss_plan_l1_fix_time: 1.4061, d5.loss_plan_l1_fix_dist: 0.2752, d6.loss_plan_l1_fix_time: 1.4109, d6.loss_plan_l1_fix_dist: 0.2926, d0.loss_cls_all: 0.2340, d0.loss_bbox_all: 0.4388, d0.loss_cls: 0.2340, d0.loss_bbox: 0.4388, d1.loss_cls: 0.2253, d1.loss_bbox: 0.4117, d2.loss_cls: 0.2172, d2.loss_bbox: 0.3995, d3.loss_cls: 0.2113, d3.loss_bbox: 0.3944, d4.loss_cls: 0.2100, d4.loss_bbox: 0.3920, d5.loss_cls: 0.2103, d5.loss_bbox: 0.3913, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9433, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8224, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8014, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7914, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7838, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7858, d0.loss_map_cls_all: 0.2464, d0.loss_map_pts_all: 1.6220, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2464, d0.loss_map_pts: 1.6220, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2216, d1.loss_map_pts: 1.1225, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2082, d2.loss_map_pts: 0.9464, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2008, d3.loss_map_pts: 0.8865, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.1942, d4.loss_map_pts: 0.8661, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.1905, d5.loss_map_pts: 0.8584, d5.loss_map_dir: 0.0123, loss: 34.4362, grad_norm: 152.9707 +2026-02-25 17:33:48,633 - DriveTransformer - INFO - Epoch [5][17500/39528] lr: 9.337e-05, eta: 7 days, 4:54:09, time: 0.802, data_time: 0.041, memory: 19865, loss_cls: 0.2012, loss_bbox: 0.3879, loss_traj: 0.7816, loss_traj_cls: 0.0009, loss_map_cls: 0.1883, loss_map_pts: 0.7935, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.8743, d0.loss_plan_l1_fix_dist: 0.4011, d1.loss_plan_l1_fix_time: 1.2503, d1.loss_plan_l1_fix_dist: 0.2032, d2.loss_plan_l1_fix_time: 1.2271, d2.loss_plan_l1_fix_dist: 0.2121, d3.loss_plan_l1_fix_time: 1.2221, d3.loss_plan_l1_fix_dist: 0.2266, d4.loss_plan_l1_fix_time: 1.2244, d4.loss_plan_l1_fix_dist: 0.2427, d5.loss_plan_l1_fix_time: 1.2284, d5.loss_plan_l1_fix_dist: 0.2598, d6.loss_plan_l1_fix_time: 1.2343, d6.loss_plan_l1_fix_dist: 0.2788, d0.loss_cls_all: 0.2345, d0.loss_bbox_all: 0.4387, d0.loss_cls: 0.2345, d0.loss_bbox: 0.4387, d1.loss_cls: 0.2275, d1.loss_bbox: 0.4087, d2.loss_cls: 0.2163, d2.loss_bbox: 0.3960, d3.loss_cls: 0.2107, d3.loss_bbox: 0.3885, d4.loss_cls: 0.2021, d4.loss_bbox: 0.3883, d5.loss_cls: 0.2013, d5.loss_bbox: 0.3882, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9687, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8354, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7929, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7820, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7760, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7799, d0.loss_map_cls_all: 0.2431, d0.loss_map_pts_all: 1.4760, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2431, d0.loss_map_pts: 1.4760, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2200, d1.loss_map_pts: 1.0402, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2067, d2.loss_map_pts: 0.8793, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1981, d3.loss_map_pts: 0.8263, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1923, d4.loss_map_pts: 0.8054, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1897, d5.loss_map_pts: 0.7955, d5.loss_map_dir: 0.0115, loss: 32.6331, grad_norm: 152.9951 +2026-02-25 17:34:29,271 - DriveTransformer - INFO - Epoch [5][17550/39528] lr: 9.337e-05, eta: 7 days, 4:53:30, time: 0.813, data_time: 0.049, memory: 19865, loss_cls: 0.2132, loss_bbox: 0.4097, loss_traj: 0.7764, loss_traj_cls: 0.0009, loss_map_cls: 0.1790, loss_map_pts: 0.7797, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.6835, d0.loss_plan_l1_fix_dist: 0.3531, d1.loss_plan_l1_fix_time: 1.3173, d1.loss_plan_l1_fix_dist: 0.2062, d2.loss_plan_l1_fix_time: 1.3007, d2.loss_plan_l1_fix_dist: 0.2124, d3.loss_plan_l1_fix_time: 1.3027, d3.loss_plan_l1_fix_dist: 0.2236, d4.loss_plan_l1_fix_time: 1.3051, d4.loss_plan_l1_fix_dist: 0.2396, d5.loss_plan_l1_fix_time: 1.3085, d5.loss_plan_l1_fix_dist: 0.2583, d6.loss_plan_l1_fix_time: 1.3126, d6.loss_plan_l1_fix_dist: 0.2808, d0.loss_cls_all: 0.2437, d0.loss_bbox_all: 0.4562, d0.loss_cls: 0.2437, d0.loss_bbox: 0.4562, d1.loss_cls: 0.2316, d1.loss_bbox: 0.4305, d2.loss_cls: 0.2273, d2.loss_bbox: 0.4155, d3.loss_cls: 0.2191, d3.loss_bbox: 0.4090, d4.loss_cls: 0.2150, d4.loss_bbox: 0.4059, d5.loss_cls: 0.2140, d5.loss_bbox: 0.4068, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0044, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8521, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7995, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7918, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7748, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7692, d0.loss_map_cls_all: 0.2408, d0.loss_map_pts_all: 1.5340, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2408, d0.loss_map_pts: 1.5340, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2090, d1.loss_map_pts: 1.0401, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1945, d2.loss_map_pts: 0.8762, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1840, d3.loss_map_pts: 0.8181, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1817, d4.loss_map_pts: 0.7950, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1800, d5.loss_map_pts: 0.7830, d5.loss_map_dir: 0.0104, loss: 33.1259, grad_norm: 153.0459 +2026-02-25 17:35:09,979 - DriveTransformer - INFO - Epoch [5][17600/39528] lr: 9.337e-05, eta: 7 days, 4:52:52, time: 0.816, data_time: 0.041, memory: 19865, loss_cls: 0.2396, loss_bbox: 0.4041, loss_traj: 0.6723, loss_traj_cls: 0.0010, loss_map_cls: 0.1989, loss_map_pts: 0.8410, loss_map_dir: 0.0135, d0.loss_plan_l1_fix_time: 2.3759, d0.loss_plan_l1_fix_dist: 0.3175, d1.loss_plan_l1_fix_time: 1.1632, d1.loss_plan_l1_fix_dist: 0.1975, d2.loss_plan_l1_fix_time: 1.1404, d2.loss_plan_l1_fix_dist: 0.2060, d3.loss_plan_l1_fix_time: 1.1411, d3.loss_plan_l1_fix_dist: 0.2185, d4.loss_plan_l1_fix_time: 1.1435, d4.loss_plan_l1_fix_dist: 0.2346, d5.loss_plan_l1_fix_time: 1.1468, d5.loss_plan_l1_fix_dist: 0.2525, d6.loss_plan_l1_fix_time: 1.1503, d6.loss_plan_l1_fix_dist: 0.2711, d0.loss_cls_all: 0.2678, d0.loss_bbox_all: 0.4542, d0.loss_cls: 0.2678, d0.loss_bbox: 0.4542, d1.loss_cls: 0.2596, d1.loss_bbox: 0.4239, d2.loss_cls: 0.2479, d2.loss_bbox: 0.4072, d3.loss_cls: 0.2437, d3.loss_bbox: 0.4014, d4.loss_cls: 0.2412, d4.loss_bbox: 0.4002, d5.loss_cls: 0.2406, d5.loss_bbox: 0.4006, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8956, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7348, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6814, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6733, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6770, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6736, d0.loss_map_cls_all: 0.2534, d0.loss_map_pts_all: 1.5991, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2534, d0.loss_map_pts: 1.5991, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2331, d1.loss_map_pts: 1.1066, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2189, d2.loss_map_pts: 0.9310, d2.loss_map_dir: 0.0122, d3.loss_map_cls: 0.2080, d3.loss_map_pts: 0.8690, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.2017, d4.loss_map_pts: 0.8503, d4.loss_map_dir: 0.0131, d5.loss_map_cls: 0.2003, d5.loss_map_pts: 0.8428, d5.loss_map_dir: 0.0133, loss: 31.8344, grad_norm: 153.4840 +2026-02-25 17:35:48,790 - DriveTransformer - INFO - Epoch [5][17650/39528] lr: 9.337e-05, eta: 7 days, 4:52:05, time: 0.775, data_time: 0.040, memory: 19865, loss_cls: 0.2200, loss_bbox: 0.3963, loss_traj: 0.8388, loss_traj_cls: 0.0009, loss_map_cls: 0.1971, loss_map_pts: 0.7634, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.4371, d0.loss_plan_l1_fix_dist: 0.4065, d1.loss_plan_l1_fix_time: 1.2667, d1.loss_plan_l1_fix_dist: 0.2353, d2.loss_plan_l1_fix_time: 1.2460, d2.loss_plan_l1_fix_dist: 0.2408, d3.loss_plan_l1_fix_time: 1.2471, d3.loss_plan_l1_fix_dist: 0.2514, d4.loss_plan_l1_fix_time: 1.2499, d4.loss_plan_l1_fix_dist: 0.2631, d5.loss_plan_l1_fix_time: 1.2532, d5.loss_plan_l1_fix_dist: 0.2735, d6.loss_plan_l1_fix_time: 1.2576, d6.loss_plan_l1_fix_dist: 0.2846, d0.loss_cls_all: 0.2558, d0.loss_bbox_all: 0.4510, d0.loss_cls: 0.2558, d0.loss_bbox: 0.4510, d1.loss_cls: 0.2461, d1.loss_bbox: 0.4212, d2.loss_cls: 0.2349, d2.loss_bbox: 0.4051, d3.loss_cls: 0.2249, d3.loss_bbox: 0.3983, d4.loss_cls: 0.2217, d4.loss_bbox: 0.3970, d5.loss_cls: 0.2210, d5.loss_bbox: 0.3947, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0629, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8892, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8452, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8407, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8373, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8383, d0.loss_map_cls_all: 0.2586, d0.loss_map_pts_all: 1.4654, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2586, d0.loss_map_pts: 1.4654, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2276, d1.loss_map_pts: 1.0412, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.2169, d2.loss_map_pts: 0.8679, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.2058, d3.loss_map_pts: 0.8001, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1987, d4.loss_map_pts: 0.7778, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1975, d5.loss_map_pts: 0.7659, d5.loss_map_dir: 0.0103, loss: 33.0528, grad_norm: 153.0146 +2026-02-25 17:36:28,347 - DriveTransformer - INFO - Epoch [5][17700/39528] lr: 9.337e-05, eta: 7 days, 4:51:22, time: 0.791, data_time: 0.042, memory: 19865, loss_cls: 0.2089, loss_bbox: 0.4054, loss_traj: 0.7673, loss_traj_cls: 0.0010, loss_map_cls: 0.2068, loss_map_pts: 0.8244, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.5660, d0.loss_plan_l1_fix_dist: 0.4166, d1.loss_plan_l1_fix_time: 1.2674, d1.loss_plan_l1_fix_dist: 0.2116, d2.loss_plan_l1_fix_time: 1.2626, d2.loss_plan_l1_fix_dist: 0.2206, d3.loss_plan_l1_fix_time: 1.2701, d3.loss_plan_l1_fix_dist: 0.2323, d4.loss_plan_l1_fix_time: 1.2751, d4.loss_plan_l1_fix_dist: 0.2445, d5.loss_plan_l1_fix_time: 1.2807, d5.loss_plan_l1_fix_dist: 0.2588, d6.loss_plan_l1_fix_time: 1.2876, d6.loss_plan_l1_fix_dist: 0.2768, d0.loss_cls_all: 0.2356, d0.loss_bbox_all: 0.4593, d0.loss_cls: 0.2356, d0.loss_bbox: 0.4593, d1.loss_cls: 0.2284, d1.loss_bbox: 0.4304, d2.loss_cls: 0.2216, d2.loss_bbox: 0.4108, d3.loss_cls: 0.2147, d3.loss_bbox: 0.4044, d4.loss_cls: 0.2101, d4.loss_bbox: 0.4046, d5.loss_cls: 0.2092, d5.loss_bbox: 0.4044, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9968, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8205, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7620, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7602, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7614, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7641, d0.loss_map_cls_all: 0.2632, d0.loss_map_pts_all: 1.5626, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2632, d0.loss_map_pts: 1.5626, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2338, d1.loss_map_pts: 1.1056, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2199, d2.loss_map_pts: 0.9279, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.2131, d3.loss_map_pts: 0.8574, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.2084, d4.loss_map_pts: 0.8344, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.2059, d5.loss_map_pts: 0.8274, d5.loss_map_dir: 0.0118, loss: 33.2593, grad_norm: 153.0132 +2026-02-25 17:37:07,929 - DriveTransformer - INFO - Epoch [5][17750/39528] lr: 9.337e-05, eta: 7 days, 4:50:39, time: 0.792, data_time: 0.045, memory: 19865, loss_cls: 0.2468, loss_bbox: 0.4427, loss_traj: 0.8974, loss_traj_cls: 0.0010, loss_map_cls: 0.2046, loss_map_pts: 0.8728, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.5051, d0.loss_plan_l1_fix_dist: 0.4424, d1.loss_plan_l1_fix_time: 1.3744, d1.loss_plan_l1_fix_dist: 0.2382, d2.loss_plan_l1_fix_time: 1.3518, d2.loss_plan_l1_fix_dist: 0.2414, d3.loss_plan_l1_fix_time: 1.3466, d3.loss_plan_l1_fix_dist: 0.2500, d4.loss_plan_l1_fix_time: 1.3475, d4.loss_plan_l1_fix_dist: 0.2603, d5.loss_plan_l1_fix_time: 1.3499, d5.loss_plan_l1_fix_dist: 0.2713, d6.loss_plan_l1_fix_time: 1.3536, d6.loss_plan_l1_fix_dist: 0.2822, d0.loss_cls_all: 0.2867, d0.loss_bbox_all: 0.4980, d0.loss_cls: 0.2867, d0.loss_bbox: 0.4980, d1.loss_cls: 0.2738, d1.loss_bbox: 0.4659, d2.loss_cls: 0.2597, d2.loss_bbox: 0.4508, d3.loss_cls: 0.2547, d3.loss_bbox: 0.4438, d4.loss_cls: 0.2498, d4.loss_bbox: 0.4416, d5.loss_cls: 0.2496, d5.loss_bbox: 0.4399, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0950, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9461, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.9053, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.8706, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8948, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8971, d0.loss_map_cls_all: 0.2814, d0.loss_map_pts_all: 1.6749, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2814, d0.loss_map_pts: 1.6749, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2483, d1.loss_map_pts: 1.1506, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2327, d2.loss_map_pts: 0.9750, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.2214, d3.loss_map_pts: 0.9065, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2124, d4.loss_map_pts: 0.8842, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.2068, d5.loss_map_pts: 0.8748, d5.loss_map_dir: 0.0127, loss: 35.9170, grad_norm: 153.6717 +2026-02-25 17:37:47,928 - DriveTransformer - INFO - Epoch [5][17800/39528] lr: 9.337e-05, eta: 7 days, 4:49:57, time: 0.800, data_time: 0.042, memory: 19865, loss_cls: 0.2481, loss_bbox: 0.4517, loss_traj: 0.9289, loss_traj_cls: 0.0010, loss_map_cls: 0.2249, loss_map_pts: 0.9632, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.8966, d0.loss_plan_l1_fix_dist: 0.4220, d1.loss_plan_l1_fix_time: 1.5237, d1.loss_plan_l1_fix_dist: 0.2119, d2.loss_plan_l1_fix_time: 1.4931, d2.loss_plan_l1_fix_dist: 0.2153, d3.loss_plan_l1_fix_time: 1.4867, d3.loss_plan_l1_fix_dist: 0.2253, d4.loss_plan_l1_fix_time: 1.4878, d4.loss_plan_l1_fix_dist: 0.2371, d5.loss_plan_l1_fix_time: 1.4902, d5.loss_plan_l1_fix_dist: 0.2486, d6.loss_plan_l1_fix_time: 1.4931, d6.loss_plan_l1_fix_dist: 0.2620, d0.loss_cls_all: 0.2761, d0.loss_bbox_all: 0.5129, d0.loss_cls: 0.2761, d0.loss_bbox: 0.5129, d1.loss_cls: 0.2688, d1.loss_bbox: 0.4768, d2.loss_cls: 0.2594, d2.loss_bbox: 0.4576, d3.loss_cls: 0.2522, d3.loss_bbox: 0.4522, d4.loss_cls: 0.2484, d4.loss_bbox: 0.4512, d5.loss_cls: 0.2484, d5.loss_bbox: 0.4499, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2130, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9881, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9282, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9116, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9124, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9169, d0.loss_map_cls_all: 0.2974, d0.loss_map_pts_all: 1.7248, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2974, d0.loss_map_pts: 1.7248, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2680, d1.loss_map_pts: 1.2385, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.2479, d2.loss_map_pts: 1.0599, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.2393, d3.loss_map_pts: 0.9970, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.2328, d4.loss_map_pts: 0.9767, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.2281, d5.loss_map_pts: 0.9661, d5.loss_map_dir: 0.0111, loss: 38.1138, grad_norm: 153.9377 +2026-02-25 17:38:28,925 - DriveTransformer - INFO - Epoch [5][17850/39528] lr: 9.337e-05, eta: 7 days, 4:49:20, time: 0.820, data_time: 0.044, memory: 19865, loss_cls: 0.2153, loss_bbox: 0.4243, loss_traj: 0.7274, loss_traj_cls: 0.0010, loss_map_cls: 0.1893, loss_map_pts: 0.8656, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.6303, d0.loss_plan_l1_fix_dist: 0.3884, d1.loss_plan_l1_fix_time: 1.4196, d1.loss_plan_l1_fix_dist: 0.2091, d2.loss_plan_l1_fix_time: 1.4021, d2.loss_plan_l1_fix_dist: 0.2121, d3.loss_plan_l1_fix_time: 1.4002, d3.loss_plan_l1_fix_dist: 0.2190, d4.loss_plan_l1_fix_time: 1.4032, d4.loss_plan_l1_fix_dist: 0.2286, d5.loss_plan_l1_fix_time: 1.4071, d5.loss_plan_l1_fix_dist: 0.2397, d6.loss_plan_l1_fix_time: 1.4113, d6.loss_plan_l1_fix_dist: 0.2522, d0.loss_cls_all: 0.2496, d0.loss_bbox_all: 0.4847, d0.loss_cls: 0.2496, d0.loss_bbox: 0.4847, d1.loss_cls: 0.2391, d1.loss_bbox: 0.4495, d2.loss_cls: 0.2255, d2.loss_bbox: 0.4337, d3.loss_cls: 0.2179, d3.loss_bbox: 0.4271, d4.loss_cls: 0.2145, d4.loss_bbox: 0.4240, d5.loss_cls: 0.2146, d5.loss_bbox: 0.4229, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9392, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7899, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7357, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7225, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7217, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7195, d0.loss_map_cls_all: 0.2537, d0.loss_map_pts_all: 1.7134, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2537, d0.loss_map_pts: 1.7134, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2195, d1.loss_map_pts: 1.1477, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2067, d2.loss_map_pts: 0.9710, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.1973, d3.loss_map_pts: 0.9005, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1923, d4.loss_map_pts: 0.8756, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1890, d5.loss_map_pts: 0.8697, d5.loss_map_dir: 0.0117, loss: 34.4110, grad_norm: 154.2225 +2026-02-25 17:39:09,173 - DriveTransformer - INFO - Epoch [5][17900/39528] lr: 9.337e-05, eta: 7 days, 4:48:40, time: 0.805, data_time: 0.041, memory: 19865, loss_cls: 0.2016, loss_bbox: 0.3933, loss_traj: 0.8457, loss_traj_cls: 0.0010, loss_map_cls: 0.1912, loss_map_pts: 0.8013, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.4076, d0.loss_plan_l1_fix_dist: 0.4178, d1.loss_plan_l1_fix_time: 1.2360, d1.loss_plan_l1_fix_dist: 0.1890, d2.loss_plan_l1_fix_time: 1.2109, d2.loss_plan_l1_fix_dist: 0.1935, d3.loss_plan_l1_fix_time: 1.2053, d3.loss_plan_l1_fix_dist: 0.2039, d4.loss_plan_l1_fix_time: 1.2069, d4.loss_plan_l1_fix_dist: 0.2147, d5.loss_plan_l1_fix_time: 1.2090, d5.loss_plan_l1_fix_dist: 0.2261, d6.loss_plan_l1_fix_time: 1.2122, d6.loss_plan_l1_fix_dist: 0.2391, d0.loss_cls_all: 0.2261, d0.loss_bbox_all: 0.4506, d0.loss_cls: 0.2261, d0.loss_bbox: 0.4506, d1.loss_cls: 0.2211, d1.loss_bbox: 0.4187, d2.loss_cls: 0.2104, d2.loss_bbox: 0.4004, d3.loss_cls: 0.2059, d3.loss_bbox: 0.3952, d4.loss_cls: 0.2018, d4.loss_bbox: 0.3929, d5.loss_cls: 0.2009, d5.loss_bbox: 0.3919, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0546, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8948, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8547, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8485, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8474, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8423, d0.loss_map_cls_all: 0.2567, d0.loss_map_pts_all: 1.5126, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2567, d0.loss_map_pts: 1.5126, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2260, d1.loss_map_pts: 1.0585, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2118, d2.loss_map_pts: 0.8941, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.2005, d3.loss_map_pts: 0.8354, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1956, d4.loss_map_pts: 0.8116, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1928, d5.loss_map_pts: 0.8039, d5.loss_map_dir: 0.0108, loss: 32.5983, grad_norm: 150.7873 +2026-02-25 17:39:50,472 - DriveTransformer - INFO - Epoch [5][17950/39528] lr: 9.337e-05, eta: 7 days, 4:48:04, time: 0.826, data_time: 0.045, memory: 19865, loss_cls: 0.2256, loss_bbox: 0.4357, loss_traj: 0.8516, loss_traj_cls: 0.0009, loss_map_cls: 0.1948, loss_map_pts: 0.9189, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.6825, d0.loss_plan_l1_fix_dist: 0.3979, d1.loss_plan_l1_fix_time: 1.2422, d1.loss_plan_l1_fix_dist: 0.1805, d2.loss_plan_l1_fix_time: 1.2277, d2.loss_plan_l1_fix_dist: 0.1840, d3.loss_plan_l1_fix_time: 1.2245, d3.loss_plan_l1_fix_dist: 0.1922, d4.loss_plan_l1_fix_time: 1.2259, d4.loss_plan_l1_fix_dist: 0.2016, d5.loss_plan_l1_fix_time: 1.2283, d5.loss_plan_l1_fix_dist: 0.2109, d6.loss_plan_l1_fix_time: 1.2314, d6.loss_plan_l1_fix_dist: 0.2235, d0.loss_cls_all: 0.2623, d0.loss_bbox_all: 0.4882, d0.loss_cls: 0.2623, d0.loss_bbox: 0.4882, d1.loss_cls: 0.2506, d1.loss_bbox: 0.4589, d2.loss_cls: 0.2393, d2.loss_bbox: 0.4433, d3.loss_cls: 0.2328, d3.loss_bbox: 0.4379, d4.loss_cls: 0.2281, d4.loss_bbox: 0.4350, d5.loss_cls: 0.2273, d5.loss_bbox: 0.4333, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1109, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8902, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8666, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8569, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8581, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8518, d0.loss_map_cls_all: 0.2612, d0.loss_map_pts_all: 1.8092, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2612, d0.loss_map_pts: 1.8092, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2370, d1.loss_map_pts: 1.2131, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2178, d2.loss_map_pts: 1.0299, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.2082, d3.loss_map_pts: 0.9569, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.1995, d4.loss_map_pts: 0.9297, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.1967, d5.loss_map_pts: 0.9213, d5.loss_map_dir: 0.0123, loss: 34.9539, grad_norm: 149.8245 +2026-02-25 17:40:29,508 - DriveTransformer - INFO - Epoch [5][18000/39528] lr: 9.337e-05, eta: 7 days, 4:47:19, time: 0.781, data_time: 0.052, memory: 19865, loss_cls: 0.2119, loss_bbox: 0.4029, loss_traj: 0.9068, loss_traj_cls: 0.0010, loss_map_cls: 0.2010, loss_map_pts: 0.8429, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.5656, d0.loss_plan_l1_fix_dist: 0.4168, d1.loss_plan_l1_fix_time: 1.2835, d1.loss_plan_l1_fix_dist: 0.2079, d2.loss_plan_l1_fix_time: 1.2642, d2.loss_plan_l1_fix_dist: 0.2137, d3.loss_plan_l1_fix_time: 1.2628, d3.loss_plan_l1_fix_dist: 0.2218, d4.loss_plan_l1_fix_time: 1.2650, d4.loss_plan_l1_fix_dist: 0.2335, d5.loss_plan_l1_fix_time: 1.2680, d5.loss_plan_l1_fix_dist: 0.2459, d6.loss_plan_l1_fix_time: 1.2719, d6.loss_plan_l1_fix_dist: 0.2586, d0.loss_cls_all: 0.2454, d0.loss_bbox_all: 0.4585, d0.loss_cls: 0.2454, d0.loss_bbox: 0.4585, d1.loss_cls: 0.2333, d1.loss_bbox: 0.4248, d2.loss_cls: 0.2237, d2.loss_bbox: 0.4078, d3.loss_cls: 0.2182, d3.loss_bbox: 0.4012, d4.loss_cls: 0.2128, d4.loss_bbox: 0.4024, d5.loss_cls: 0.2138, d5.loss_bbox: 0.4004, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1853, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9662, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9117, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9110, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9059, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9026, d0.loss_map_cls_all: 0.2619, d0.loss_map_pts_all: 1.5063, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2619, d0.loss_map_pts: 1.5063, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2357, d1.loss_map_pts: 1.1026, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.2246, d2.loss_map_pts: 0.9430, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.2112, d3.loss_map_pts: 0.8808, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.2050, d4.loss_map_pts: 0.8585, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.2011, d5.loss_map_pts: 0.8460, d5.loss_map_dir: 0.0093, loss: 34.1949, grad_norm: 148.5420 +2026-02-25 17:41:11,104 - DriveTransformer - INFO - Epoch [5][18050/39528] lr: 9.337e-05, eta: 7 days, 4:46:44, time: 0.832, data_time: 0.049, memory: 19865, loss_cls: 0.2129, loss_bbox: 0.4244, loss_traj: 0.8228, loss_traj_cls: 0.0010, loss_map_cls: 0.1834, loss_map_pts: 0.8100, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.7958, d0.loss_plan_l1_fix_dist: 0.3849, d1.loss_plan_l1_fix_time: 1.4593, d1.loss_plan_l1_fix_dist: 0.2065, d2.loss_plan_l1_fix_time: 1.4387, d2.loss_plan_l1_fix_dist: 0.2110, d3.loss_plan_l1_fix_time: 1.4397, d3.loss_plan_l1_fix_dist: 0.2230, d4.loss_plan_l1_fix_time: 1.4416, d4.loss_plan_l1_fix_dist: 0.2390, d5.loss_plan_l1_fix_time: 1.4444, d5.loss_plan_l1_fix_dist: 0.2562, d6.loss_plan_l1_fix_time: 1.4485, d6.loss_plan_l1_fix_dist: 0.2745, d0.loss_cls_all: 0.2444, d0.loss_bbox_all: 0.4729, d0.loss_cls: 0.2444, d0.loss_bbox: 0.4729, d1.loss_cls: 0.2417, d1.loss_bbox: 0.4395, d2.loss_cls: 0.2246, d2.loss_bbox: 0.4265, d3.loss_cls: 0.2202, d3.loss_bbox: 0.4201, d4.loss_cls: 0.2140, d4.loss_bbox: 0.4198, d5.loss_cls: 0.2119, d5.loss_bbox: 0.4211, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0351, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8920, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8505, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8365, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8252, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8237, d0.loss_map_cls_all: 0.2505, d0.loss_map_pts_all: 1.5417, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2505, d0.loss_map_pts: 1.5417, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2183, d1.loss_map_pts: 1.0882, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2026, d2.loss_map_pts: 0.9142, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1919, d3.loss_map_pts: 0.8493, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1871, d4.loss_map_pts: 0.8229, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1838, d5.loss_map_pts: 0.8114, d5.loss_map_dir: 0.0115, loss: 34.8015, grad_norm: 148.0241 +2026-02-25 17:41:53,082 - DriveTransformer - INFO - Epoch [5][18100/39528] lr: 9.337e-05, eta: 7 days, 4:46:12, time: 0.840, data_time: 0.044, memory: 19865, loss_cls: 0.2312, loss_bbox: 0.4374, loss_traj: 0.7605, loss_traj_cls: 0.0010, loss_map_cls: 0.2157, loss_map_pts: 0.8782, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.9091, d0.loss_plan_l1_fix_dist: 0.4002, d1.loss_plan_l1_fix_time: 1.5885, d1.loss_plan_l1_fix_dist: 0.2109, d2.loss_plan_l1_fix_time: 1.5728, d2.loss_plan_l1_fix_dist: 0.2195, d3.loss_plan_l1_fix_time: 1.5752, d3.loss_plan_l1_fix_dist: 0.2315, d4.loss_plan_l1_fix_time: 1.5772, d4.loss_plan_l1_fix_dist: 0.2424, d5.loss_plan_l1_fix_time: 1.5800, d5.loss_plan_l1_fix_dist: 0.2559, d6.loss_plan_l1_fix_time: 1.5839, d6.loss_plan_l1_fix_dist: 0.2759, d0.loss_cls_all: 0.2743, d0.loss_bbox_all: 0.4863, d0.loss_cls: 0.2743, d0.loss_bbox: 0.4863, d1.loss_cls: 0.2663, d1.loss_bbox: 0.4543, d2.loss_cls: 0.2478, d2.loss_bbox: 0.4390, d3.loss_cls: 0.2412, d3.loss_bbox: 0.4318, d4.loss_cls: 0.2330, d4.loss_bbox: 0.4350, d5.loss_cls: 0.2320, d5.loss_bbox: 0.4363, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9059, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7762, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7595, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7588, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7570, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7589, d0.loss_map_cls_all: 0.2720, d0.loss_map_pts_all: 1.7510, d0.loss_map_dir_all: 0.0126, d0.loss_map_cls: 0.2720, d0.loss_map_pts: 1.7510, d0.loss_map_dir: 0.0126, d1.loss_map_cls: 0.2462, d1.loss_map_pts: 1.1842, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2357, d2.loss_map_pts: 0.9793, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2234, d3.loss_map_pts: 0.9097, d3.loss_map_dir: 0.0132, d4.loss_map_cls: 0.2179, d4.loss_map_pts: 0.8838, d4.loss_map_dir: 0.0136, d5.loss_map_cls: 0.2156, d5.loss_map_pts: 0.8794, d5.loss_map_dir: 0.0137, loss: 36.5324, grad_norm: 147.9050 +2026-02-25 17:42:31,983 - DriveTransformer - INFO - Epoch [5][18150/39528] lr: 9.337e-05, eta: 7 days, 4:45:25, time: 0.778, data_time: 0.043, memory: 19865, loss_cls: 0.2237, loss_bbox: 0.4157, loss_traj: 0.9959, loss_traj_cls: 0.0010, loss_map_cls: 0.1821, loss_map_pts: 0.7899, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.5851, d0.loss_plan_l1_fix_dist: 0.4824, d1.loss_plan_l1_fix_time: 1.3265, d1.loss_plan_l1_fix_dist: 0.1977, d2.loss_plan_l1_fix_time: 1.3164, d2.loss_plan_l1_fix_dist: 0.2094, d3.loss_plan_l1_fix_time: 1.3238, d3.loss_plan_l1_fix_dist: 0.2226, d4.loss_plan_l1_fix_time: 1.3282, d4.loss_plan_l1_fix_dist: 0.2373, d5.loss_plan_l1_fix_time: 1.3331, d5.loss_plan_l1_fix_dist: 0.2540, d6.loss_plan_l1_fix_time: 1.3388, d6.loss_plan_l1_fix_dist: 0.2766, d0.loss_cls_all: 0.2585, d0.loss_bbox_all: 0.4650, d0.loss_cls: 0.2585, d0.loss_bbox: 0.4650, d1.loss_cls: 0.2491, d1.loss_bbox: 0.4339, d2.loss_cls: 0.2376, d2.loss_bbox: 0.4156, d3.loss_cls: 0.2306, d3.loss_bbox: 0.4112, d4.loss_cls: 0.2259, d4.loss_bbox: 0.4123, d5.loss_cls: 0.2238, d5.loss_bbox: 0.4138, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1964, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0291, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9919, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9811, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9941, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9968, d0.loss_map_cls_all: 0.2314, d0.loss_map_pts_all: 1.4452, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2314, d0.loss_map_pts: 1.4452, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2141, d1.loss_map_pts: 1.0231, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1988, d2.loss_map_pts: 0.8755, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1895, d3.loss_map_pts: 0.8194, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1830, d4.loss_map_pts: 0.8011, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1812, d5.loss_map_pts: 0.7937, d5.loss_map_dir: 0.0089, loss: 34.6366, grad_norm: 153.7366 +2026-02-25 17:43:13,125 - DriveTransformer - INFO - Epoch [5][18200/39528] lr: 9.337e-05, eta: 7 days, 4:44:49, time: 0.823, data_time: 0.045, memory: 19865, loss_cls: 0.2360, loss_bbox: 0.4397, loss_traj: 0.7885, loss_traj_cls: 0.0011, loss_map_cls: 0.1790, loss_map_pts: 0.7708, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.4285, d0.loss_plan_l1_fix_dist: 0.3940, d1.loss_plan_l1_fix_time: 1.2804, d1.loss_plan_l1_fix_dist: 0.2102, d2.loss_plan_l1_fix_time: 1.2628, d2.loss_plan_l1_fix_dist: 0.2168, d3.loss_plan_l1_fix_time: 1.2625, d3.loss_plan_l1_fix_dist: 0.2256, d4.loss_plan_l1_fix_time: 1.2653, d4.loss_plan_l1_fix_dist: 0.2378, d5.loss_plan_l1_fix_time: 1.2692, d5.loss_plan_l1_fix_dist: 0.2516, d6.loss_plan_l1_fix_time: 1.2741, d6.loss_plan_l1_fix_dist: 0.2646, d0.loss_cls_all: 0.2816, d0.loss_bbox_all: 0.4905, d0.loss_cls: 0.2816, d0.loss_bbox: 0.4905, d1.loss_cls: 0.2724, d1.loss_bbox: 0.4587, d2.loss_cls: 0.2549, d2.loss_bbox: 0.4419, d3.loss_cls: 0.2451, d3.loss_bbox: 0.4394, d4.loss_cls: 0.2373, d4.loss_bbox: 0.4389, d5.loss_cls: 0.2360, d5.loss_bbox: 0.4388, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9860, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8478, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8008, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7898, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7880, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7866, d0.loss_map_cls_all: 0.2530, d0.loss_map_pts_all: 1.4724, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2530, d0.loss_map_pts: 1.4724, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2171, d1.loss_map_pts: 1.0203, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.1975, d2.loss_map_pts: 0.8591, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1873, d3.loss_map_pts: 0.7986, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1836, d4.loss_map_pts: 0.7783, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1795, d5.loss_map_pts: 0.7712, d5.loss_map_dir: 0.0113, loss: 33.0001, grad_norm: 154.5663 +2026-02-25 17:43:55,543 - DriveTransformer - INFO - Epoch [5][18250/39528] lr: 9.337e-05, eta: 7 days, 4:44:18, time: 0.848, data_time: 0.047, memory: 19865, loss_cls: 0.2504, loss_bbox: 0.4304, loss_traj: 0.6501, loss_traj_cls: 0.0011, loss_map_cls: 0.2103, loss_map_pts: 0.8825, loss_map_dir: 0.0157, d0.loss_plan_l1_fix_time: 2.7134, d0.loss_plan_l1_fix_dist: 0.3812, d1.loss_plan_l1_fix_time: 1.3313, d1.loss_plan_l1_fix_dist: 0.1998, d2.loss_plan_l1_fix_time: 1.3140, d2.loss_plan_l1_fix_dist: 0.2077, d3.loss_plan_l1_fix_time: 1.3194, d3.loss_plan_l1_fix_dist: 0.2189, d4.loss_plan_l1_fix_time: 1.3219, d4.loss_plan_l1_fix_dist: 0.2308, d5.loss_plan_l1_fix_time: 1.3245, d5.loss_plan_l1_fix_dist: 0.2448, d6.loss_plan_l1_fix_time: 1.3286, d6.loss_plan_l1_fix_dist: 0.2642, d0.loss_cls_all: 0.2882, d0.loss_bbox_all: 0.4850, d0.loss_cls: 0.2882, d0.loss_bbox: 0.4850, d1.loss_cls: 0.2779, d1.loss_bbox: 0.4516, d2.loss_cls: 0.2633, d2.loss_bbox: 0.4378, d3.loss_cls: 0.2556, d3.loss_bbox: 0.4354, d4.loss_cls: 0.2507, d4.loss_bbox: 0.4336, d5.loss_cls: 0.2509, d5.loss_bbox: 0.4306, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8598, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6840, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6458, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6388, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6395, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6454, d0.loss_map_cls_all: 0.2741, d0.loss_map_pts_all: 1.7994, d0.loss_map_dir_all: 0.0145, d0.loss_map_cls: 0.2741, d0.loss_map_pts: 1.7994, d0.loss_map_dir: 0.0145, d1.loss_map_cls: 0.2452, d1.loss_map_pts: 1.1822, d1.loss_map_dir: 0.0141, d2.loss_map_cls: 0.2272, d2.loss_map_pts: 0.9760, d2.loss_map_dir: 0.0145, d3.loss_map_cls: 0.2183, d3.loss_map_pts: 0.9065, d3.loss_map_dir: 0.0151, d4.loss_map_cls: 0.2131, d4.loss_map_pts: 0.8885, d4.loss_map_dir: 0.0154, d5.loss_map_cls: 0.2108, d5.loss_map_pts: 0.8831, d5.loss_map_dir: 0.0156, loss: 34.1956, grad_norm: 154.8793 +2026-02-25 17:44:37,133 - DriveTransformer - INFO - Epoch [5][18300/39528] lr: 9.337e-05, eta: 7 days, 4:43:44, time: 0.832, data_time: 0.041, memory: 19865, loss_cls: 0.1918, loss_bbox: 0.3765, loss_traj: 0.7346, loss_traj_cls: 0.0011, loss_map_cls: 0.1706, loss_map_pts: 0.7905, loss_map_dir: 0.0138, d0.loss_plan_l1_fix_time: 2.1844, d0.loss_plan_l1_fix_dist: 0.4603, d1.loss_plan_l1_fix_time: 1.0688, d1.loss_plan_l1_fix_dist: 0.2014, d2.loss_plan_l1_fix_time: 1.0467, d2.loss_plan_l1_fix_dist: 0.2105, d3.loss_plan_l1_fix_time: 1.0495, d3.loss_plan_l1_fix_dist: 0.2251, d4.loss_plan_l1_fix_time: 1.0525, d4.loss_plan_l1_fix_dist: 0.2417, d5.loss_plan_l1_fix_time: 1.0556, d5.loss_plan_l1_fix_dist: 0.2605, d6.loss_plan_l1_fix_time: 1.0596, d6.loss_plan_l1_fix_dist: 0.2831, d0.loss_cls_all: 0.2305, d0.loss_bbox_all: 0.4247, d0.loss_cls: 0.2305, d0.loss_bbox: 0.4247, d1.loss_cls: 0.2180, d1.loss_bbox: 0.3983, d2.loss_cls: 0.2047, d2.loss_bbox: 0.3836, d3.loss_cls: 0.1984, d3.loss_bbox: 0.3776, d4.loss_cls: 0.1918, d4.loss_bbox: 0.3763, d5.loss_cls: 0.1908, d5.loss_bbox: 0.3768, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8777, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7614, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7416, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7368, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7401, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7398, d0.loss_map_cls_all: 0.2288, d0.loss_map_pts_all: 1.6755, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.2288, d0.loss_map_pts: 1.6755, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2012, d1.loss_map_pts: 1.1006, d1.loss_map_dir: 0.0126, d2.loss_map_cls: 0.1871, d2.loss_map_pts: 0.8936, d2.loss_map_dir: 0.0127, d3.loss_map_cls: 0.1761, d3.loss_map_pts: 0.8259, d3.loss_map_dir: 0.0133, d4.loss_map_cls: 0.1720, d4.loss_map_pts: 0.8027, d4.loss_map_dir: 0.0136, d5.loss_map_cls: 0.1710, d5.loss_map_pts: 0.7945, d5.loss_map_dir: 0.0138, loss: 30.7342, grad_norm: 157.0345 +2026-02-25 17:45:18,024 - DriveTransformer - INFO - Epoch [5][18350/39528] lr: 9.337e-05, eta: 7 days, 4:43:06, time: 0.818, data_time: 0.042, memory: 19865, loss_cls: 0.2227, loss_bbox: 0.4646, loss_traj: 1.0358, loss_traj_cls: 0.0010, loss_map_cls: 0.2249, loss_map_pts: 1.0700, loss_map_dir: 0.0141, d0.loss_plan_l1_fix_time: 2.9196, d0.loss_plan_l1_fix_dist: 0.4561, d1.loss_plan_l1_fix_time: 1.5501, d1.loss_plan_l1_fix_dist: 0.2433, d2.loss_plan_l1_fix_time: 1.5232, d2.loss_plan_l1_fix_dist: 0.2466, d3.loss_plan_l1_fix_time: 1.5178, d3.loss_plan_l1_fix_dist: 0.2556, d4.loss_plan_l1_fix_time: 1.5188, d4.loss_plan_l1_fix_dist: 0.2670, d5.loss_plan_l1_fix_time: 1.5201, d5.loss_plan_l1_fix_dist: 0.2791, d6.loss_plan_l1_fix_time: 1.5221, d6.loss_plan_l1_fix_dist: 0.2901, d0.loss_cls_all: 0.2598, d0.loss_bbox_all: 0.5192, d0.loss_cls: 0.2598, d0.loss_bbox: 0.5192, d1.loss_cls: 0.2506, d1.loss_bbox: 0.4864, d2.loss_cls: 0.2382, d2.loss_bbox: 0.4694, d3.loss_cls: 0.2299, d3.loss_bbox: 0.4643, d4.loss_cls: 0.2261, d4.loss_bbox: 0.4631, d5.loss_cls: 0.2239, d5.loss_bbox: 0.4636, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2344, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0574, d2.loss_traj_cls: 0.0015, d2.loss_traj: 1.0254, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0248, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0373, d5.loss_traj_cls: 0.0011, d5.loss_traj: 1.0360, d0.loss_map_cls_all: 0.2952, d0.loss_map_pts_all: 1.9313, d0.loss_map_dir_all: 0.0129, d0.loss_map_cls: 0.2952, d0.loss_map_pts: 1.9313, d0.loss_map_dir: 0.0129, d1.loss_map_cls: 0.2634, d1.loss_map_pts: 1.3920, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2451, d2.loss_map_pts: 1.1849, d2.loss_map_dir: 0.0131, d3.loss_map_cls: 0.2337, d3.loss_map_pts: 1.1132, d3.loss_map_dir: 0.0137, d4.loss_map_cls: 0.2289, d4.loss_map_pts: 1.0828, d4.loss_map_dir: 0.0139, d5.loss_map_cls: 0.2271, d5.loss_map_pts: 1.0699, d5.loss_map_dir: 0.0140, loss: 40.2247, grad_norm: 156.6632 +2026-02-25 17:45:57,204 - DriveTransformer - INFO - Epoch [5][18400/39528] lr: 9.337e-05, eta: 7 days, 4:42:21, time: 0.785, data_time: 0.041, memory: 19865, loss_cls: 0.2138, loss_bbox: 0.4200, loss_traj: 0.7549, loss_traj_cls: 0.0010, loss_map_cls: 0.2061, loss_map_pts: 0.8608, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.2588, d0.loss_plan_l1_fix_dist: 0.4460, d1.loss_plan_l1_fix_time: 1.2316, d1.loss_plan_l1_fix_dist: 0.2079, d2.loss_plan_l1_fix_time: 1.2128, d2.loss_plan_l1_fix_dist: 0.2110, d3.loss_plan_l1_fix_time: 1.2110, d3.loss_plan_l1_fix_dist: 0.2217, d4.loss_plan_l1_fix_time: 1.2131, d4.loss_plan_l1_fix_dist: 0.2348, d5.loss_plan_l1_fix_time: 1.2162, d5.loss_plan_l1_fix_dist: 0.2497, d6.loss_plan_l1_fix_time: 1.2205, d6.loss_plan_l1_fix_dist: 0.2688, d0.loss_cls_all: 0.2510, d0.loss_bbox_all: 0.4628, d0.loss_cls: 0.2510, d0.loss_bbox: 0.4628, d1.loss_cls: 0.2397, d1.loss_bbox: 0.4328, d2.loss_cls: 0.2261, d2.loss_bbox: 0.4191, d3.loss_cls: 0.2191, d3.loss_bbox: 0.4131, d4.loss_cls: 0.2137, d4.loss_bbox: 0.4154, d5.loss_cls: 0.2121, d5.loss_bbox: 0.4183, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0497, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8336, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7678, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7670, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7619, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7561, d0.loss_map_cls_all: 0.2702, d0.loss_map_pts_all: 1.5773, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2702, d0.loss_map_pts: 1.5773, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2476, d1.loss_map_pts: 1.1547, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2287, d2.loss_map_pts: 0.9692, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.2176, d3.loss_map_pts: 0.8977, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.2138, d4.loss_map_pts: 0.8714, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.2086, d5.loss_map_pts: 0.8615, d5.loss_map_dir: 0.0117, loss: 33.0949, grad_norm: 155.1620 +2026-02-25 17:46:37,183 - DriveTransformer - INFO - Epoch [5][18450/39528] lr: 9.337e-05, eta: 7 days, 4:41:40, time: 0.798, data_time: 0.040, memory: 19865, loss_cls: 0.2476, loss_bbox: 0.4240, loss_traj: 0.7693, loss_traj_cls: 0.0010, loss_map_cls: 0.1932, loss_map_pts: 0.8430, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.6944, d0.loss_plan_l1_fix_dist: 0.3243, d1.loss_plan_l1_fix_time: 1.3584, d1.loss_plan_l1_fix_dist: 0.1840, d2.loss_plan_l1_fix_time: 1.3499, d2.loss_plan_l1_fix_dist: 0.1898, d3.loss_plan_l1_fix_time: 1.3498, d3.loss_plan_l1_fix_dist: 0.1997, d4.loss_plan_l1_fix_time: 1.3523, d4.loss_plan_l1_fix_dist: 0.2117, d5.loss_plan_l1_fix_time: 1.3547, d5.loss_plan_l1_fix_dist: 0.2240, d6.loss_plan_l1_fix_time: 1.3579, d6.loss_plan_l1_fix_dist: 0.2367, d0.loss_cls_all: 0.2837, d0.loss_bbox_all: 0.4817, d0.loss_cls: 0.2837, d0.loss_bbox: 0.4817, d1.loss_cls: 0.2764, d1.loss_bbox: 0.4489, d2.loss_cls: 0.2625, d2.loss_bbox: 0.4301, d3.loss_cls: 0.2542, d3.loss_bbox: 0.4241, d4.loss_cls: 0.2511, d4.loss_bbox: 0.4222, d5.loss_cls: 0.2493, d5.loss_bbox: 0.4237, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9883, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8125, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7812, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7745, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7668, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7685, d0.loss_map_cls_all: 0.2552, d0.loss_map_pts_all: 1.5951, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2552, d0.loss_map_pts: 1.5951, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2314, d1.loss_map_pts: 1.1156, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2133, d2.loss_map_pts: 0.9390, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.2020, d3.loss_map_pts: 0.8737, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.1971, d4.loss_map_pts: 0.8474, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.1933, d5.loss_map_pts: 0.8451, d5.loss_map_dir: 0.0121, loss: 34.1892, grad_norm: 156.4860 +2026-02-25 17:47:18,763 - DriveTransformer - INFO - Epoch [5][18500/39528] lr: 9.337e-05, eta: 7 days, 4:41:05, time: 0.832, data_time: 0.045, memory: 19865, loss_cls: 0.2281, loss_bbox: 0.4322, loss_traj: 0.7516, loss_traj_cls: 0.0010, loss_map_cls: 0.1975, loss_map_pts: 0.9481, loss_map_dir: 0.0139, d0.loss_plan_l1_fix_time: 2.8357, d0.loss_plan_l1_fix_dist: 0.5304, d1.loss_plan_l1_fix_time: 1.4577, d1.loss_plan_l1_fix_dist: 0.2539, d2.loss_plan_l1_fix_time: 1.4478, d2.loss_plan_l1_fix_dist: 0.2624, d3.loss_plan_l1_fix_time: 1.4470, d3.loss_plan_l1_fix_dist: 0.2735, d4.loss_plan_l1_fix_time: 1.4505, d4.loss_plan_l1_fix_dist: 0.2869, d5.loss_plan_l1_fix_time: 1.4551, d5.loss_plan_l1_fix_dist: 0.3019, d6.loss_plan_l1_fix_time: 1.4608, d6.loss_plan_l1_fix_dist: 0.3177, d0.loss_cls_all: 0.2624, d0.loss_bbox_all: 0.4819, d0.loss_cls: 0.2624, d0.loss_bbox: 0.4819, d1.loss_cls: 0.2552, d1.loss_bbox: 0.4537, d2.loss_cls: 0.2404, d2.loss_bbox: 0.4358, d3.loss_cls: 0.2352, d3.loss_bbox: 0.4294, d4.loss_cls: 0.2290, d4.loss_bbox: 0.4296, d5.loss_cls: 0.2260, d5.loss_bbox: 0.4327, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9838, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8229, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7690, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7543, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7508, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7523, d0.loss_map_cls_all: 0.2618, d0.loss_map_pts_all: 1.8276, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.2618, d0.loss_map_pts: 1.8276, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.2352, d1.loss_map_pts: 1.2598, d1.loss_map_dir: 0.0128, d2.loss_map_cls: 0.2193, d2.loss_map_pts: 1.0596, d2.loss_map_dir: 0.0131, d3.loss_map_cls: 0.2089, d3.loss_map_pts: 0.9848, d3.loss_map_dir: 0.0136, d4.loss_map_cls: 0.2023, d4.loss_map_pts: 0.9579, d4.loss_map_dir: 0.0138, d5.loss_map_cls: 0.1985, d5.loss_map_pts: 0.9520, d5.loss_map_dir: 0.0139, loss: 36.6000, grad_norm: 156.1622 +2026-02-25 17:47:58,795 - DriveTransformer - INFO - Epoch [5][18550/39528] lr: 9.337e-05, eta: 7 days, 4:40:24, time: 0.801, data_time: 0.048, memory: 19865, loss_cls: 0.2288, loss_bbox: 0.4409, loss_traj: 0.8795, loss_traj_cls: 0.0010, loss_map_cls: 0.2190, loss_map_pts: 0.9348, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 2.7838, d0.loss_plan_l1_fix_dist: 0.4665, d1.loss_plan_l1_fix_time: 1.4784, d1.loss_plan_l1_fix_dist: 0.2008, d2.loss_plan_l1_fix_time: 1.4662, d2.loss_plan_l1_fix_dist: 0.2103, d3.loss_plan_l1_fix_time: 1.4669, d3.loss_plan_l1_fix_dist: 0.2200, d4.loss_plan_l1_fix_time: 1.4684, d4.loss_plan_l1_fix_dist: 0.2317, d5.loss_plan_l1_fix_time: 1.4707, d5.loss_plan_l1_fix_dist: 0.2463, d6.loss_plan_l1_fix_time: 1.4734, d6.loss_plan_l1_fix_dist: 0.2623, d0.loss_cls_all: 0.2637, d0.loss_bbox_all: 0.4927, d0.loss_cls: 0.2637, d0.loss_bbox: 0.4927, d1.loss_cls: 0.2532, d1.loss_bbox: 0.4587, d2.loss_cls: 0.2416, d2.loss_bbox: 0.4421, d3.loss_cls: 0.2351, d3.loss_bbox: 0.4373, d4.loss_cls: 0.2291, d4.loss_bbox: 0.4366, d5.loss_cls: 0.2275, d5.loss_bbox: 0.4395, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1714, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9823, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.9150, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.8953, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8899, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8821, d0.loss_map_cls_all: 0.2842, d0.loss_map_pts_all: 1.7127, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.2842, d0.loss_map_pts: 1.7127, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.2541, d1.loss_map_pts: 1.2250, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2384, d2.loss_map_pts: 1.0439, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.2284, d3.loss_map_pts: 0.9766, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.2221, d4.loss_map_pts: 0.9545, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.2193, d5.loss_map_pts: 0.9395, d5.loss_map_dir: 0.0122, loss: 37.1961, grad_norm: 156.7558 +2026-02-25 17:48:39,479 - DriveTransformer - INFO - Epoch [5][18600/39528] lr: 9.337e-05, eta: 7 days, 4:39:46, time: 0.814, data_time: 0.045, memory: 19865, loss_cls: 0.2279, loss_bbox: 0.4486, loss_traj: 0.7807, loss_traj_cls: 0.0011, loss_map_cls: 0.2263, loss_map_pts: 0.9956, loss_map_dir: 0.0140, d0.loss_plan_l1_fix_time: 2.6959, d0.loss_plan_l1_fix_dist: 0.4641, d1.loss_plan_l1_fix_time: 1.3166, d1.loss_plan_l1_fix_dist: 0.2340, d2.loss_plan_l1_fix_time: 1.2959, d2.loss_plan_l1_fix_dist: 0.2363, d3.loss_plan_l1_fix_time: 1.2961, d3.loss_plan_l1_fix_dist: 0.2463, d4.loss_plan_l1_fix_time: 1.2988, d4.loss_plan_l1_fix_dist: 0.2584, d5.loss_plan_l1_fix_time: 1.3020, d5.loss_plan_l1_fix_dist: 0.2717, d6.loss_plan_l1_fix_time: 1.3061, d6.loss_plan_l1_fix_dist: 0.2880, d0.loss_cls_all: 0.2680, d0.loss_bbox_all: 0.4835, d0.loss_cls: 0.2680, d0.loss_bbox: 0.4835, d1.loss_cls: 0.2522, d1.loss_bbox: 0.4531, d2.loss_cls: 0.2433, d2.loss_bbox: 0.4382, d3.loss_cls: 0.2366, d3.loss_bbox: 0.4360, d4.loss_cls: 0.2305, d4.loss_bbox: 0.4403, d5.loss_cls: 0.2297, d5.loss_bbox: 0.4438, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0208, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8456, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7783, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7781, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7784, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7764, d0.loss_map_cls_all: 0.2883, d0.loss_map_pts_all: 1.8446, d0.loss_map_dir_all: 0.0129, d0.loss_map_cls: 0.2883, d0.loss_map_pts: 1.8446, d0.loss_map_dir: 0.0129, d1.loss_map_cls: 0.2621, d1.loss_map_pts: 1.2831, d1.loss_map_dir: 0.0125, d2.loss_map_cls: 0.2498, d2.loss_map_pts: 1.0955, d2.loss_map_dir: 0.0130, d3.loss_map_cls: 0.2375, d3.loss_map_pts: 1.0275, d3.loss_map_dir: 0.0134, d4.loss_map_cls: 0.2295, d4.loss_map_pts: 1.0065, d4.loss_map_dir: 0.0138, d5.loss_map_cls: 0.2269, d5.loss_map_pts: 0.9969, d5.loss_map_dir: 0.0140, loss: 36.0687, grad_norm: 154.2784 +2026-02-25 17:49:19,509 - DriveTransformer - INFO - Epoch [5][18650/39528] lr: 9.337e-05, eta: 7 days, 4:39:04, time: 0.801, data_time: 0.049, memory: 19865, loss_cls: 0.2339, loss_bbox: 0.4018, loss_traj: 0.9682, loss_traj_cls: 0.0010, loss_map_cls: 0.1785, loss_map_pts: 0.7103, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.7251, d0.loss_plan_l1_fix_dist: 0.4570, d1.loss_plan_l1_fix_time: 1.5340, d1.loss_plan_l1_fix_dist: 0.1788, d2.loss_plan_l1_fix_time: 1.5120, d2.loss_plan_l1_fix_dist: 0.1830, d3.loss_plan_l1_fix_time: 1.5109, d3.loss_plan_l1_fix_dist: 0.1926, d4.loss_plan_l1_fix_time: 1.5120, d4.loss_plan_l1_fix_dist: 0.2045, d5.loss_plan_l1_fix_time: 1.5136, d5.loss_plan_l1_fix_dist: 0.2169, d6.loss_plan_l1_fix_time: 1.5160, d6.loss_plan_l1_fix_dist: 0.2312, d0.loss_cls_all: 0.2596, d0.loss_bbox_all: 0.4598, d0.loss_cls: 0.2596, d0.loss_bbox: 0.4598, d1.loss_cls: 0.2548, d1.loss_bbox: 0.4240, d2.loss_cls: 0.2474, d2.loss_bbox: 0.4054, d3.loss_cls: 0.2407, d3.loss_bbox: 0.4000, d4.loss_cls: 0.2370, d4.loss_bbox: 0.3998, d5.loss_cls: 0.2342, d5.loss_bbox: 0.4015, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2766, d1.loss_traj_cls: 0.0007, d1.loss_traj: 1.0494, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.9794, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.9677, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9663, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9638, d0.loss_map_cls_all: 0.2324, d0.loss_map_pts_all: 1.2719, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2324, d0.loss_map_pts: 1.2719, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2110, d1.loss_map_pts: 0.9145, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1970, d2.loss_map_pts: 0.7850, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1833, d3.loss_map_pts: 0.7326, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1808, d4.loss_map_pts: 0.7132, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1794, d5.loss_map_pts: 0.7065, d5.loss_map_dir: 0.0089, loss: 34.7542, grad_norm: 154.4870 +2026-02-25 17:50:00,499 - DriveTransformer - INFO - Epoch [5][18700/39528] lr: 9.337e-05, eta: 7 days, 4:38:27, time: 0.820, data_time: 0.050, memory: 19865, loss_cls: 0.2576, loss_bbox: 0.4626, loss_traj: 0.8987, loss_traj_cls: 0.0010, loss_map_cls: 0.2310, loss_map_pts: 0.9910, loss_map_dir: 0.0143, d0.loss_plan_l1_fix_time: 2.5242, d0.loss_plan_l1_fix_dist: 0.4080, d1.loss_plan_l1_fix_time: 1.4008, d1.loss_plan_l1_fix_dist: 0.2142, d2.loss_plan_l1_fix_time: 1.3858, d2.loss_plan_l1_fix_dist: 0.2173, d3.loss_plan_l1_fix_time: 1.3813, d3.loss_plan_l1_fix_dist: 0.2257, d4.loss_plan_l1_fix_time: 1.3856, d4.loss_plan_l1_fix_dist: 0.2360, d5.loss_plan_l1_fix_time: 1.3906, d5.loss_plan_l1_fix_dist: 0.2501, d6.loss_plan_l1_fix_time: 1.3948, d6.loss_plan_l1_fix_dist: 0.2663, d0.loss_cls_all: 0.2853, d0.loss_bbox_all: 0.5128, d0.loss_cls: 0.2853, d0.loss_bbox: 0.5128, d1.loss_cls: 0.2757, d1.loss_bbox: 0.4819, d2.loss_cls: 0.2663, d2.loss_bbox: 0.4651, d3.loss_cls: 0.2588, d3.loss_bbox: 0.4617, d4.loss_cls: 0.2550, d4.loss_bbox: 0.4608, d5.loss_cls: 0.2571, d5.loss_bbox: 0.4596, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0960, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9462, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8969, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.8988, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8989, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8961, d0.loss_map_cls_all: 0.2945, d0.loss_map_pts_all: 1.9570, d0.loss_map_dir_all: 0.0129, d0.loss_map_cls: 0.2945, d0.loss_map_pts: 1.9570, d0.loss_map_dir: 0.0129, d1.loss_map_cls: 0.2680, d1.loss_map_pts: 1.3174, d1.loss_map_dir: 0.0128, d2.loss_map_cls: 0.2572, d2.loss_map_pts: 1.1086, d2.loss_map_dir: 0.0132, d3.loss_map_cls: 0.2414, d3.loss_map_pts: 1.0319, d3.loss_map_dir: 0.0138, d4.loss_map_cls: 0.2360, d4.loss_map_pts: 1.0032, d4.loss_map_dir: 0.0141, d5.loss_map_cls: 0.2312, d5.loss_map_pts: 0.9928, d5.loss_map_dir: 0.0142, loss: 37.6986, grad_norm: 155.8869 +2026-02-25 17:50:40,299 - DriveTransformer - INFO - Epoch [5][18750/39528] lr: 9.337e-05, eta: 7 days, 4:37:45, time: 0.796, data_time: 0.043, memory: 19865, loss_cls: 0.2240, loss_bbox: 0.4285, loss_traj: 0.7828, loss_traj_cls: 0.0010, loss_map_cls: 0.2028, loss_map_pts: 0.9210, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.8400, d0.loss_plan_l1_fix_dist: 0.4116, d1.loss_plan_l1_fix_time: 1.4549, d1.loss_plan_l1_fix_dist: 0.2350, d2.loss_plan_l1_fix_time: 1.4299, d2.loss_plan_l1_fix_dist: 0.2401, d3.loss_plan_l1_fix_time: 1.4311, d3.loss_plan_l1_fix_dist: 0.2487, d4.loss_plan_l1_fix_time: 1.4341, d4.loss_plan_l1_fix_dist: 0.2579, d5.loss_plan_l1_fix_time: 1.4377, d5.loss_plan_l1_fix_dist: 0.2677, d6.loss_plan_l1_fix_time: 1.4419, d6.loss_plan_l1_fix_dist: 0.2775, d0.loss_cls_all: 0.2543, d0.loss_bbox_all: 0.4779, d0.loss_cls: 0.2543, d0.loss_bbox: 0.4779, d1.loss_cls: 0.2461, d1.loss_bbox: 0.4473, d2.loss_cls: 0.2387, d2.loss_bbox: 0.4308, d3.loss_cls: 0.2301, d3.loss_bbox: 0.4251, d4.loss_cls: 0.2243, d4.loss_bbox: 0.4241, d5.loss_cls: 0.2248, d5.loss_bbox: 0.4251, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0325, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8821, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8001, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.8052, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7889, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7848, d0.loss_map_cls_all: 0.2603, d0.loss_map_pts_all: 1.6928, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2603, d0.loss_map_pts: 1.6928, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2337, d1.loss_map_pts: 1.2064, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2217, d2.loss_map_pts: 1.0168, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2120, d3.loss_map_pts: 0.9472, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2063, d4.loss_map_pts: 0.9239, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.2043, d5.loss_map_pts: 0.9196, d5.loss_map_dir: 0.0126, loss: 35.9439, grad_norm: 154.6379 +2026-02-25 17:51:21,262 - DriveTransformer - INFO - Epoch [5][18800/39528] lr: 9.337e-05, eta: 7 days, 4:37:08, time: 0.819, data_time: 0.046, memory: 19865, loss_cls: 0.2357, loss_bbox: 0.4380, loss_traj: 0.8362, loss_traj_cls: 0.0010, loss_map_cls: 0.2278, loss_map_pts: 0.9700, loss_map_dir: 0.0158, d0.loss_plan_l1_fix_time: 2.4044, d0.loss_plan_l1_fix_dist: 0.4088, d1.loss_plan_l1_fix_time: 1.2919, d1.loss_plan_l1_fix_dist: 0.2288, d2.loss_plan_l1_fix_time: 1.2730, d2.loss_plan_l1_fix_dist: 0.2398, d3.loss_plan_l1_fix_time: 1.2737, d3.loss_plan_l1_fix_dist: 0.2550, d4.loss_plan_l1_fix_time: 1.2761, d4.loss_plan_l1_fix_dist: 0.2717, d5.loss_plan_l1_fix_time: 1.2799, d5.loss_plan_l1_fix_dist: 0.2872, d6.loss_plan_l1_fix_time: 1.2854, d6.loss_plan_l1_fix_dist: 0.3021, d0.loss_cls_all: 0.2699, d0.loss_bbox_all: 0.4895, d0.loss_cls: 0.2699, d0.loss_bbox: 0.4895, d1.loss_cls: 0.2604, d1.loss_bbox: 0.4572, d2.loss_cls: 0.2509, d2.loss_bbox: 0.4393, d3.loss_cls: 0.2436, d3.loss_bbox: 0.4356, d4.loss_cls: 0.2371, d4.loss_bbox: 0.4352, d5.loss_cls: 0.2358, d5.loss_bbox: 0.4353, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0879, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8989, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8420, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8347, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8389, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8382, d0.loss_map_cls_all: 0.2946, d0.loss_map_pts_all: 1.8668, d0.loss_map_dir_all: 0.0138, d0.loss_map_cls: 0.2946, d0.loss_map_pts: 1.8668, d0.loss_map_dir: 0.0138, d1.loss_map_cls: 0.2676, d1.loss_map_pts: 1.2487, d1.loss_map_dir: 0.0137, d2.loss_map_cls: 0.2507, d2.loss_map_pts: 1.0543, d2.loss_map_dir: 0.0146, d3.loss_map_cls: 0.2388, d3.loss_map_pts: 0.9949, d3.loss_map_dir: 0.0152, d4.loss_map_cls: 0.2315, d4.loss_map_pts: 0.9751, d4.loss_map_dir: 0.0157, d5.loss_map_cls: 0.2290, d5.loss_map_pts: 0.9689, d5.loss_map_dir: 0.0158, loss: 35.9833, grad_norm: 157.2399 +2026-02-25 17:52:01,697 - DriveTransformer - INFO - Epoch [5][18850/39528] lr: 9.337e-05, eta: 7 days, 4:36:28, time: 0.809, data_time: 0.051, memory: 19865, loss_cls: 0.2458, loss_bbox: 0.4465, loss_traj: 0.8080, loss_traj_cls: 0.0010, loss_map_cls: 0.2454, loss_map_pts: 0.9309, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.6200, d0.loss_plan_l1_fix_dist: 0.3892, d1.loss_plan_l1_fix_time: 1.2840, d1.loss_plan_l1_fix_dist: 0.2216, d2.loss_plan_l1_fix_time: 1.2645, d2.loss_plan_l1_fix_dist: 0.2315, d3.loss_plan_l1_fix_time: 1.2622, d3.loss_plan_l1_fix_dist: 0.2476, d4.loss_plan_l1_fix_time: 1.2633, d4.loss_plan_l1_fix_dist: 0.2660, d5.loss_plan_l1_fix_time: 1.2649, d5.loss_plan_l1_fix_dist: 0.2850, d6.loss_plan_l1_fix_time: 1.2674, d6.loss_plan_l1_fix_dist: 0.3036, d0.loss_cls_all: 0.2839, d0.loss_bbox_all: 0.5031, d0.loss_cls: 0.2839, d0.loss_bbox: 0.5031, d1.loss_cls: 0.2724, d1.loss_bbox: 0.4702, d2.loss_cls: 0.2617, d2.loss_bbox: 0.4536, d3.loss_cls: 0.2515, d3.loss_bbox: 0.4492, d4.loss_cls: 0.2465, d4.loss_bbox: 0.4463, d5.loss_cls: 0.2445, d5.loss_bbox: 0.4479, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9332, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8437, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8129, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.8053, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8042, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8065, d0.loss_map_cls_all: 0.3155, d0.loss_map_pts_all: 1.7070, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.3155, d0.loss_map_pts: 1.7070, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2903, d1.loss_map_pts: 1.2224, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2761, d2.loss_map_pts: 1.0398, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2606, d3.loss_map_pts: 0.9697, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2517, d4.loss_map_pts: 0.9393, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.2462, d5.loss_map_pts: 0.9320, d5.loss_map_dir: 0.0128, loss: 35.5477, grad_norm: 158.5518 +2026-02-25 17:52:42,557 - DriveTransformer - INFO - Epoch [5][18900/39528] lr: 9.337e-05, eta: 7 days, 4:35:51, time: 0.817, data_time: 0.051, memory: 19865, loss_cls: 0.2239, loss_bbox: 0.4278, loss_traj: 0.8992, loss_traj_cls: 0.0011, loss_map_cls: 0.1924, loss_map_pts: 0.8184, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.4570, d0.loss_plan_l1_fix_dist: 0.3965, d1.loss_plan_l1_fix_time: 1.2334, d1.loss_plan_l1_fix_dist: 0.2000, d2.loss_plan_l1_fix_time: 1.2300, d2.loss_plan_l1_fix_dist: 0.2150, d3.loss_plan_l1_fix_time: 1.2330, d3.loss_plan_l1_fix_dist: 0.2338, d4.loss_plan_l1_fix_time: 1.2373, d4.loss_plan_l1_fix_dist: 0.2575, d5.loss_plan_l1_fix_time: 1.2414, d5.loss_plan_l1_fix_dist: 0.2861, d6.loss_plan_l1_fix_time: 1.2458, d6.loss_plan_l1_fix_dist: 0.3201, d0.loss_cls_all: 0.2482, d0.loss_bbox_all: 0.4866, d0.loss_cls: 0.2482, d0.loss_bbox: 0.4866, d1.loss_cls: 0.2408, d1.loss_bbox: 0.4550, d2.loss_cls: 0.2300, d2.loss_bbox: 0.4380, d3.loss_cls: 0.2237, d3.loss_bbox: 0.4324, d4.loss_cls: 0.2227, d4.loss_bbox: 0.4285, d5.loss_cls: 0.2216, d5.loss_bbox: 0.4297, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1209, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9577, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.9057, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.8979, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8944, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8981, d0.loss_map_cls_all: 0.2565, d0.loss_map_pts_all: 1.4745, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2565, d0.loss_map_pts: 1.4745, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2314, d1.loss_map_pts: 1.0249, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2143, d2.loss_map_pts: 0.8925, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.2039, d3.loss_map_pts: 0.8454, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.1978, d4.loss_map_pts: 0.8284, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.1932, d5.loss_map_pts: 0.8245, d5.loss_map_dir: 0.0121, loss: 33.8348, grad_norm: 159.0788 +2026-02-25 17:53:22,031 - DriveTransformer - INFO - Epoch [5][18950/39528] lr: 9.337e-05, eta: 7 days, 4:35:07, time: 0.789, data_time: 0.047, memory: 19865, loss_cls: 0.1979, loss_bbox: 0.3944, loss_traj: 0.6854, loss_traj_cls: 0.0011, loss_map_cls: 0.2003, loss_map_pts: 0.7279, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.4126, d0.loss_plan_l1_fix_dist: 0.4534, d1.loss_plan_l1_fix_time: 1.0276, d1.loss_plan_l1_fix_dist: 0.1904, d2.loss_plan_l1_fix_time: 1.0140, d2.loss_plan_l1_fix_dist: 0.2015, d3.loss_plan_l1_fix_time: 1.0172, d3.loss_plan_l1_fix_dist: 0.2126, d4.loss_plan_l1_fix_time: 1.0229, d4.loss_plan_l1_fix_dist: 0.2269, d5.loss_plan_l1_fix_time: 1.0287, d5.loss_plan_l1_fix_dist: 0.2440, d6.loss_plan_l1_fix_time: 1.0350, d6.loss_plan_l1_fix_dist: 0.2675, d0.loss_cls_all: 0.2279, d0.loss_bbox_all: 0.4352, d0.loss_cls: 0.2279, d0.loss_bbox: 0.4352, d1.loss_cls: 0.2202, d1.loss_bbox: 0.4071, d2.loss_cls: 0.2116, d2.loss_bbox: 0.3899, d3.loss_cls: 0.2044, d3.loss_bbox: 0.3868, d4.loss_cls: 0.1983, d4.loss_bbox: 0.3875, d5.loss_cls: 0.1970, d5.loss_bbox: 0.3904, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8156, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7211, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6741, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6653, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6773, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6815, d0.loss_map_cls_all: 0.2481, d0.loss_map_pts_all: 1.3530, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2481, d0.loss_map_pts: 1.3530, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2290, d1.loss_map_pts: 0.9466, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.2174, d2.loss_map_pts: 0.7994, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.2080, d3.loss_map_pts: 0.7520, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.2019, d4.loss_map_pts: 0.7346, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.2017, d5.loss_map_pts: 0.7318, d5.loss_map_dir: 0.0101, loss: 29.4230, grad_norm: 165.3055 +2026-02-25 17:54:04,271 - DriveTransformer - INFO - Epoch [5][19000/39528] lr: 9.337e-05, eta: 7 days, 4:34:35, time: 0.845, data_time: 0.046, memory: 19865, loss_cls: 0.2430, loss_bbox: 0.4399, loss_traj: 0.8945, loss_traj_cls: 0.0010, loss_map_cls: 0.2139, loss_map_pts: 0.8963, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 3.3014, d0.loss_plan_l1_fix_dist: 0.3762, d1.loss_plan_l1_fix_time: 1.5587, d1.loss_plan_l1_fix_dist: 0.2433, d2.loss_plan_l1_fix_time: 1.5359, d2.loss_plan_l1_fix_dist: 0.2535, d3.loss_plan_l1_fix_time: 1.5289, d3.loss_plan_l1_fix_dist: 0.2672, d4.loss_plan_l1_fix_time: 1.5305, d4.loss_plan_l1_fix_dist: 0.2813, d5.loss_plan_l1_fix_time: 1.5334, d5.loss_plan_l1_fix_dist: 0.2968, d6.loss_plan_l1_fix_time: 1.5367, d6.loss_plan_l1_fix_dist: 0.3118, d0.loss_cls_all: 0.2712, d0.loss_bbox_all: 0.4912, d0.loss_cls: 0.2712, d0.loss_bbox: 0.4912, d1.loss_cls: 0.2649, d1.loss_bbox: 0.4573, d2.loss_cls: 0.2569, d2.loss_bbox: 0.4428, d3.loss_cls: 0.2521, d3.loss_bbox: 0.4382, d4.loss_cls: 0.2464, d4.loss_bbox: 0.4346, d5.loss_cls: 0.2444, d5.loss_bbox: 0.4347, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0808, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9508, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.9025, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.8891, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8901, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8888, d0.loss_map_cls_all: 0.2854, d0.loss_map_pts_all: 1.6736, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2854, d0.loss_map_pts: 1.6736, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2567, d1.loss_map_pts: 1.1866, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2400, d2.loss_map_pts: 1.0034, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2274, d3.loss_map_pts: 0.9418, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.2203, d4.loss_map_pts: 0.9135, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.2167, d5.loss_map_pts: 0.9001, d5.loss_map_dir: 0.0121, loss: 37.9652, grad_norm: 166.5078 +2026-02-25 17:54:47,929 - DriveTransformer - INFO - Epoch [5][19050/39528] lr: 9.337e-05, eta: 7 days, 4:34:10, time: 0.873, data_time: 0.050, memory: 19865, loss_cls: 0.2172, loss_bbox: 0.4231, loss_traj: 0.8202, loss_traj_cls: 0.0010, loss_map_cls: 0.1999, loss_map_pts: 0.9368, loss_map_dir: 0.0135, d0.loss_plan_l1_fix_time: 2.4070, d0.loss_plan_l1_fix_dist: 0.4232, d1.loss_plan_l1_fix_time: 1.3045, d1.loss_plan_l1_fix_dist: 0.2245, d2.loss_plan_l1_fix_time: 1.3008, d2.loss_plan_l1_fix_dist: 0.2279, d3.loss_plan_l1_fix_time: 1.3045, d3.loss_plan_l1_fix_dist: 0.2375, d4.loss_plan_l1_fix_time: 1.3076, d4.loss_plan_l1_fix_dist: 0.2485, d5.loss_plan_l1_fix_time: 1.3106, d5.loss_plan_l1_fix_dist: 0.2620, d6.loss_plan_l1_fix_time: 1.3141, d6.loss_plan_l1_fix_dist: 0.2755, d0.loss_cls_all: 0.2393, d0.loss_bbox_all: 0.4796, d0.loss_cls: 0.2393, d0.loss_bbox: 0.4796, d1.loss_cls: 0.2360, d1.loss_bbox: 0.4465, d2.loss_cls: 0.2268, d2.loss_bbox: 0.4290, d3.loss_cls: 0.2211, d3.loss_bbox: 0.4227, d4.loss_cls: 0.2170, d4.loss_bbox: 0.4215, d5.loss_cls: 0.2169, d5.loss_bbox: 0.4217, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9829, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8773, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8168, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8091, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8134, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8172, d0.loss_map_cls_all: 0.2822, d0.loss_map_pts_all: 1.9779, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.2822, d0.loss_map_pts: 1.9779, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2441, d1.loss_map_pts: 1.2834, d1.loss_map_dir: 0.0122, d2.loss_map_cls: 0.2279, d2.loss_map_pts: 1.0600, d2.loss_map_dir: 0.0123, d3.loss_map_cls: 0.2150, d3.loss_map_pts: 0.9784, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.2062, d4.loss_map_pts: 0.9507, d4.loss_map_dir: 0.0132, d5.loss_map_cls: 0.2012, d5.loss_map_pts: 0.9405, d5.loss_map_dir: 0.0134, loss: 35.4957, grad_norm: 166.6718 +2026-02-25 17:55:28,993 - DriveTransformer - INFO - Epoch [5][19100/39528] lr: 9.337e-05, eta: 7 days, 4:33:33, time: 0.821, data_time: 0.042, memory: 19865, loss_cls: 0.2124, loss_bbox: 0.4049, loss_traj: 0.7472, loss_traj_cls: 0.0011, loss_map_cls: 0.2061, loss_map_pts: 0.8744, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.4347, d0.loss_plan_l1_fix_dist: 0.4060, d1.loss_plan_l1_fix_time: 1.3039, d1.loss_plan_l1_fix_dist: 0.2099, d2.loss_plan_l1_fix_time: 1.2963, d2.loss_plan_l1_fix_dist: 0.2156, d3.loss_plan_l1_fix_time: 1.2976, d3.loss_plan_l1_fix_dist: 0.2241, d4.loss_plan_l1_fix_time: 1.3001, d4.loss_plan_l1_fix_dist: 0.2361, d5.loss_plan_l1_fix_time: 1.3030, d5.loss_plan_l1_fix_dist: 0.2504, d6.loss_plan_l1_fix_time: 1.3067, d6.loss_plan_l1_fix_dist: 0.2648, d0.loss_cls_all: 0.2427, d0.loss_bbox_all: 0.4605, d0.loss_cls: 0.2427, d0.loss_bbox: 0.4605, d1.loss_cls: 0.2316, d1.loss_bbox: 0.4286, d2.loss_cls: 0.2217, d2.loss_bbox: 0.4114, d3.loss_cls: 0.2138, d3.loss_bbox: 0.4060, d4.loss_cls: 0.2104, d4.loss_bbox: 0.4059, d5.loss_cls: 0.2120, d5.loss_bbox: 0.4035, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9755, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8136, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7599, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7470, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7480, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7448, d0.loss_map_cls_all: 0.2742, d0.loss_map_pts_all: 1.7373, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2742, d0.loss_map_pts: 1.7373, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2470, d1.loss_map_pts: 1.1886, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2319, d2.loss_map_pts: 0.9976, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.2197, d3.loss_map_pts: 0.9209, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.2109, d4.loss_map_pts: 0.8876, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.2074, d5.loss_map_pts: 0.8775, d5.loss_map_dir: 0.0109, loss: 33.9390, grad_norm: 166.5504 +2026-02-25 17:56:08,028 - DriveTransformer - INFO - Epoch [5][19150/39528] lr: 9.337e-05, eta: 7 days, 4:32:47, time: 0.781, data_time: 0.047, memory: 19865, loss_cls: 0.2127, loss_bbox: 0.3885, loss_traj: 0.7680, loss_traj_cls: 0.0010, loss_map_cls: 0.1924, loss_map_pts: 0.7944, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.6871, d0.loss_plan_l1_fix_dist: 0.4103, d1.loss_plan_l1_fix_time: 1.3353, d1.loss_plan_l1_fix_dist: 0.2067, d2.loss_plan_l1_fix_time: 1.3163, d2.loss_plan_l1_fix_dist: 0.2197, d3.loss_plan_l1_fix_time: 1.3180, d3.loss_plan_l1_fix_dist: 0.2427, d4.loss_plan_l1_fix_time: 1.3210, d4.loss_plan_l1_fix_dist: 0.2669, d5.loss_plan_l1_fix_time: 1.3243, d5.loss_plan_l1_fix_dist: 0.2948, d6.loss_plan_l1_fix_time: 1.3276, d6.loss_plan_l1_fix_dist: 0.3255, d0.loss_cls_all: 0.2427, d0.loss_bbox_all: 0.4370, d0.loss_cls: 0.2427, d0.loss_bbox: 0.4370, d1.loss_cls: 0.2318, d1.loss_bbox: 0.4033, d2.loss_cls: 0.2215, d2.loss_bbox: 0.3888, d3.loss_cls: 0.2172, d3.loss_bbox: 0.3851, d4.loss_cls: 0.2102, d4.loss_bbox: 0.3875, d5.loss_cls: 0.2115, d5.loss_bbox: 0.3875, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9421, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7941, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7612, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7567, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7646, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7656, d0.loss_map_cls_all: 0.2615, d0.loss_map_pts_all: 1.6247, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2615, d0.loss_map_pts: 1.6247, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2282, d1.loss_map_pts: 1.1049, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2133, d2.loss_map_pts: 0.9097, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.2021, d3.loss_map_pts: 0.8400, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1958, d4.loss_map_pts: 0.8087, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1935, d5.loss_map_pts: 0.7951, d5.loss_map_dir: 0.0113, loss: 33.4972, grad_norm: 166.1542 +2026-02-25 17:56:51,788 - DriveTransformer - INFO - Epoch [5][19200/39528] lr: 9.337e-05, eta: 7 days, 4:32:23, time: 0.877, data_time: 0.049, memory: 19865, loss_cls: 0.2218, loss_bbox: 0.4232, loss_traj: 0.9227, loss_traj_cls: 0.0010, loss_map_cls: 0.1828, loss_map_pts: 0.8187, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.5122, d0.loss_plan_l1_fix_dist: 0.4627, d1.loss_plan_l1_fix_time: 1.3318, d1.loss_plan_l1_fix_dist: 0.2312, d2.loss_plan_l1_fix_time: 1.3217, d2.loss_plan_l1_fix_dist: 0.2430, d3.loss_plan_l1_fix_time: 1.3250, d3.loss_plan_l1_fix_dist: 0.2611, d4.loss_plan_l1_fix_time: 1.3283, d4.loss_plan_l1_fix_dist: 0.2829, d5.loss_plan_l1_fix_time: 1.3318, d5.loss_plan_l1_fix_dist: 0.3071, d6.loss_plan_l1_fix_time: 1.3350, d6.loss_plan_l1_fix_dist: 0.3379, d0.loss_cls_all: 0.2514, d0.loss_bbox_all: 0.4754, d0.loss_cls: 0.2514, d0.loss_bbox: 0.4754, d1.loss_cls: 0.2415, d1.loss_bbox: 0.4428, d2.loss_cls: 0.2291, d2.loss_bbox: 0.4286, d3.loss_cls: 0.2223, d3.loss_bbox: 0.4237, d4.loss_cls: 0.2188, d4.loss_bbox: 0.4214, d5.loss_cls: 0.2195, d5.loss_bbox: 0.4226, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1088, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9858, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9457, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9295, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9308, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9204, d0.loss_map_cls_all: 0.2572, d0.loss_map_pts_all: 1.6281, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2572, d0.loss_map_pts: 1.6281, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2246, d1.loss_map_pts: 1.0836, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2049, d2.loss_map_pts: 0.9146, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.1964, d3.loss_map_pts: 0.8559, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.1869, d4.loss_map_pts: 0.8323, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.1844, d5.loss_map_pts: 0.8202, d5.loss_map_dir: 0.0122, loss: 35.1006, grad_norm: 166.6868 +2026-02-25 17:57:31,191 - DriveTransformer - INFO - Epoch [5][19250/39528] lr: 9.337e-05, eta: 7 days, 4:31:38, time: 0.787, data_time: 0.042, memory: 19865, loss_cls: 0.2124, loss_bbox: 0.4157, loss_traj: 0.6973, loss_traj_cls: 0.0010, loss_map_cls: 0.1911, loss_map_pts: 0.7718, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.7357, d0.loss_plan_l1_fix_dist: 0.4291, d1.loss_plan_l1_fix_time: 1.3754, d1.loss_plan_l1_fix_dist: 0.2364, d2.loss_plan_l1_fix_time: 1.3594, d2.loss_plan_l1_fix_dist: 0.2595, d3.loss_plan_l1_fix_time: 1.3645, d3.loss_plan_l1_fix_dist: 0.2854, d4.loss_plan_l1_fix_time: 1.3695, d4.loss_plan_l1_fix_dist: 0.3140, d5.loss_plan_l1_fix_time: 1.3743, d5.loss_plan_l1_fix_dist: 0.3393, d6.loss_plan_l1_fix_time: 1.3797, d6.loss_plan_l1_fix_dist: 0.3645, d0.loss_cls_all: 0.2427, d0.loss_bbox_all: 0.4693, d0.loss_cls: 0.2427, d0.loss_bbox: 0.4693, d1.loss_cls: 0.2285, d1.loss_bbox: 0.4404, d2.loss_cls: 0.2178, d2.loss_bbox: 0.4227, d3.loss_cls: 0.2110, d3.loss_bbox: 0.4151, d4.loss_cls: 0.2094, d4.loss_bbox: 0.4130, d5.loss_cls: 0.2100, d5.loss_bbox: 0.4141, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9200, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7472, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7094, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6973, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7000, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7002, d0.loss_map_cls_all: 0.2528, d0.loss_map_pts_all: 1.5013, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2528, d0.loss_map_pts: 1.5013, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2248, d1.loss_map_pts: 1.0408, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2100, d2.loss_map_pts: 0.8640, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.1981, d3.loss_map_pts: 0.7983, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.1943, d4.loss_map_pts: 0.7776, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.1910, d5.loss_map_pts: 0.7719, d5.loss_map_dir: 0.0121, loss: 33.4342, grad_norm: 166.7328 +2026-02-25 17:58:09,765 - DriveTransformer - INFO - Epoch [5][19300/39528] lr: 9.337e-05, eta: 7 days, 4:30:51, time: 0.771, data_time: 0.041, memory: 19865, loss_cls: 0.2178, loss_bbox: 0.4057, loss_traj: 0.9412, loss_traj_cls: 0.0010, loss_map_cls: 0.1629, loss_map_pts: 0.7033, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.6882, d0.loss_plan_l1_fix_dist: 0.4636, d1.loss_plan_l1_fix_time: 1.1718, d1.loss_plan_l1_fix_dist: 0.2380, d2.loss_plan_l1_fix_time: 1.1726, d2.loss_plan_l1_fix_dist: 0.2533, d3.loss_plan_l1_fix_time: 1.1860, d3.loss_plan_l1_fix_dist: 0.2732, d4.loss_plan_l1_fix_time: 1.1922, d4.loss_plan_l1_fix_dist: 0.2926, d5.loss_plan_l1_fix_time: 1.1977, d5.loss_plan_l1_fix_dist: 0.3116, d6.loss_plan_l1_fix_time: 1.2039, d6.loss_plan_l1_fix_dist: 0.3317, d0.loss_cls_all: 0.2427, d0.loss_bbox_all: 0.4546, d0.loss_cls: 0.2427, d0.loss_bbox: 0.4546, d1.loss_cls: 0.2293, d1.loss_bbox: 0.4257, d2.loss_cls: 0.2214, d2.loss_bbox: 0.4091, d3.loss_cls: 0.2176, d3.loss_bbox: 0.4030, d4.loss_cls: 0.2163, d4.loss_bbox: 0.4025, d5.loss_cls: 0.2160, d5.loss_bbox: 0.4038, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1619, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9856, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.9496, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.9460, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9378, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9389, d0.loss_map_cls_all: 0.2338, d0.loss_map_pts_all: 1.3463, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2338, d0.loss_map_pts: 1.3463, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2005, d1.loss_map_pts: 0.9484, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1846, d2.loss_map_pts: 0.7919, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1712, d3.loss_map_pts: 0.7333, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1656, d4.loss_map_pts: 0.7101, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1638, d5.loss_map_pts: 0.7024, d5.loss_map_dir: 0.0099, loss: 32.8838, grad_norm: 165.5087 +2026-02-25 17:58:51,402 - DriveTransformer - INFO - Epoch [5][19350/39528] lr: 9.337e-05, eta: 7 days, 4:30:16, time: 0.833, data_time: 0.045, memory: 19865, loss_cls: 0.1875, loss_bbox: 0.4005, loss_traj: 0.7433, loss_traj_cls: 0.0010, loss_map_cls: 0.1917, loss_map_pts: 0.7812, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.5788, d0.loss_plan_l1_fix_dist: 0.4142, d1.loss_plan_l1_fix_time: 1.1897, d1.loss_plan_l1_fix_dist: 0.2245, d2.loss_plan_l1_fix_time: 1.1850, d2.loss_plan_l1_fix_dist: 0.2414, d3.loss_plan_l1_fix_time: 1.1905, d3.loss_plan_l1_fix_dist: 0.2685, d4.loss_plan_l1_fix_time: 1.1958, d4.loss_plan_l1_fix_dist: 0.2980, d5.loss_plan_l1_fix_time: 1.2017, d5.loss_plan_l1_fix_dist: 0.3302, d6.loss_plan_l1_fix_time: 1.2076, d6.loss_plan_l1_fix_dist: 0.3606, d0.loss_cls_all: 0.2175, d0.loss_bbox_all: 0.4543, d0.loss_cls: 0.2175, d0.loss_bbox: 0.4543, d1.loss_cls: 0.2109, d1.loss_bbox: 0.4216, d2.loss_cls: 0.2001, d2.loss_bbox: 0.4038, d3.loss_cls: 0.1948, d3.loss_bbox: 0.3981, d4.loss_cls: 0.1900, d4.loss_bbox: 0.3963, d5.loss_cls: 0.1879, d5.loss_bbox: 0.3975, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9926, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8124, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7597, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7486, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7448, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7398, d0.loss_map_cls_all: 0.2616, d0.loss_map_pts_all: 1.5913, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2616, d0.loss_map_pts: 1.5913, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2308, d1.loss_map_pts: 1.0601, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2167, d2.loss_map_pts: 0.8716, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.2052, d3.loss_map_pts: 0.8125, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1963, d4.loss_map_pts: 0.7886, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1917, d5.loss_map_pts: 0.7827, d5.loss_map_dir: 0.0109, loss: 32.4871, grad_norm: 166.1113 +2026-02-25 17:59:32,567 - DriveTransformer - INFO - Epoch [5][19400/39528] lr: 9.337e-05, eta: 7 days, 4:29:40, time: 0.823, data_time: 0.040, memory: 19865, loss_cls: 0.2392, loss_bbox: 0.4354, loss_traj: 0.7570, loss_traj_cls: 0.0010, loss_map_cls: 0.1896, loss_map_pts: 0.9086, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 2.5731, d0.loss_plan_l1_fix_dist: 0.3515, d1.loss_plan_l1_fix_time: 1.4298, d1.loss_plan_l1_fix_dist: 0.1930, d2.loss_plan_l1_fix_time: 1.4221, d2.loss_plan_l1_fix_dist: 0.2078, d3.loss_plan_l1_fix_time: 1.4217, d3.loss_plan_l1_fix_dist: 0.2270, d4.loss_plan_l1_fix_time: 1.4250, d4.loss_plan_l1_fix_dist: 0.2514, d5.loss_plan_l1_fix_time: 1.4293, d5.loss_plan_l1_fix_dist: 0.2764, d6.loss_plan_l1_fix_time: 1.4339, d6.loss_plan_l1_fix_dist: 0.3016, d0.loss_cls_all: 0.2702, d0.loss_bbox_all: 0.4893, d0.loss_cls: 0.2702, d0.loss_bbox: 0.4893, d1.loss_cls: 0.2633, d1.loss_bbox: 0.4594, d2.loss_cls: 0.2476, d2.loss_bbox: 0.4448, d3.loss_cls: 0.2408, d3.loss_bbox: 0.4352, d4.loss_cls: 0.2349, d4.loss_bbox: 0.4344, d5.loss_cls: 0.2355, d5.loss_bbox: 0.4347, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9244, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7824, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7678, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7650, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7565, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7551, d0.loss_map_cls_all: 0.2561, d0.loss_map_pts_all: 1.7548, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.2561, d0.loss_map_pts: 1.7548, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2224, d1.loss_map_pts: 1.1589, d1.loss_map_dir: 0.0129, d2.loss_map_cls: 0.2118, d2.loss_map_pts: 0.9801, d2.loss_map_dir: 0.0132, d3.loss_map_cls: 0.1999, d3.loss_map_pts: 0.9262, d3.loss_map_dir: 0.0137, d4.loss_map_cls: 0.1951, d4.loss_map_pts: 0.9119, d4.loss_map_dir: 0.0142, d5.loss_map_cls: 0.1899, d5.loss_map_pts: 0.9103, d5.loss_map_dir: 0.0141, loss: 35.2184, grad_norm: 164.1341 +2026-02-25 18:00:11,180 - DriveTransformer - INFO - Epoch [5][19450/39528] lr: 9.337e-05, eta: 7 days, 4:28:53, time: 0.772, data_time: 0.046, memory: 19865, loss_cls: 0.2077, loss_bbox: 0.3929, loss_traj: 0.8321, loss_traj_cls: 0.0010, loss_map_cls: 0.1927, loss_map_pts: 0.7600, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.4162, d0.loss_plan_l1_fix_dist: 0.3972, d1.loss_plan_l1_fix_time: 1.2239, d1.loss_plan_l1_fix_dist: 0.1931, d2.loss_plan_l1_fix_time: 1.2053, d2.loss_plan_l1_fix_dist: 0.2075, d3.loss_plan_l1_fix_time: 1.2093, d3.loss_plan_l1_fix_dist: 0.2249, d4.loss_plan_l1_fix_time: 1.2129, d4.loss_plan_l1_fix_dist: 0.2460, d5.loss_plan_l1_fix_time: 1.2172, d5.loss_plan_l1_fix_dist: 0.2698, d6.loss_plan_l1_fix_time: 1.2224, d6.loss_plan_l1_fix_dist: 0.3011, d0.loss_cls_all: 0.2306, d0.loss_bbox_all: 0.4531, d0.loss_cls: 0.2306, d0.loss_bbox: 0.4531, d1.loss_cls: 0.2216, d1.loss_bbox: 0.4187, d2.loss_cls: 0.2087, d2.loss_bbox: 0.4014, d3.loss_cls: 0.2046, d3.loss_bbox: 0.3955, d4.loss_cls: 0.2030, d4.loss_bbox: 0.3928, d5.loss_cls: 0.2051, d5.loss_bbox: 0.3917, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0735, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8815, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8378, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.8278, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8268, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8281, d0.loss_map_cls_all: 0.2735, d0.loss_map_pts_all: 1.3631, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2735, d0.loss_map_pts: 1.3631, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2401, d1.loss_map_pts: 0.9814, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.2179, d2.loss_map_pts: 0.8397, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.2048, d3.loss_map_pts: 0.7833, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1966, d4.loss_map_pts: 0.7658, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1923, d5.loss_map_pts: 0.7621, d5.loss_map_dir: 0.0101, loss: 32.1606, grad_norm: 163.6241 +2026-02-25 18:00:51,837 - DriveTransformer - INFO - Epoch [5][19500/39528] lr: 9.337e-05, eta: 7 days, 4:28:14, time: 0.813, data_time: 0.046, memory: 19865, loss_cls: 0.2168, loss_bbox: 0.4167, loss_traj: 0.8006, loss_traj_cls: 0.0010, loss_map_cls: 0.2140, loss_map_pts: 0.8622, loss_map_dir: 0.0135, d0.loss_plan_l1_fix_time: 2.7207, d0.loss_plan_l1_fix_dist: 0.3682, d1.loss_plan_l1_fix_time: 1.3431, d1.loss_plan_l1_fix_dist: 0.1820, d2.loss_plan_l1_fix_time: 1.3352, d2.loss_plan_l1_fix_dist: 0.1940, d3.loss_plan_l1_fix_time: 1.3375, d3.loss_plan_l1_fix_dist: 0.2153, d4.loss_plan_l1_fix_time: 1.3407, d4.loss_plan_l1_fix_dist: 0.2360, d5.loss_plan_l1_fix_time: 1.3448, d5.loss_plan_l1_fix_dist: 0.2607, d6.loss_plan_l1_fix_time: 1.3501, d6.loss_plan_l1_fix_dist: 0.2854, d0.loss_cls_all: 0.2432, d0.loss_bbox_all: 0.4657, d0.loss_cls: 0.2432, d0.loss_bbox: 0.4657, d1.loss_cls: 0.2406, d1.loss_bbox: 0.4367, d2.loss_cls: 0.2260, d2.loss_bbox: 0.4251, d3.loss_cls: 0.2195, d3.loss_bbox: 0.4186, d4.loss_cls: 0.2148, d4.loss_bbox: 0.4184, d5.loss_cls: 0.2148, d5.loss_bbox: 0.4166, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9963, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8315, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8031, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.8025, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7958, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8001, d0.loss_map_cls_all: 0.2775, d0.loss_map_pts_all: 1.7728, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.2775, d0.loss_map_pts: 1.7728, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2459, d1.loss_map_pts: 1.1579, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2322, d2.loss_map_pts: 0.9554, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2232, d3.loss_map_pts: 0.8901, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.2148, d4.loss_map_pts: 0.8703, d4.loss_map_dir: 0.0131, d5.loss_map_cls: 0.2127, d5.loss_map_pts: 0.8625, d5.loss_map_dir: 0.0133, loss: 34.7773, grad_norm: 165.6042 +2026-02-25 18:01:31,523 - DriveTransformer - INFO - Epoch [5][19550/39528] lr: 9.337e-05, eta: 7 days, 4:27:31, time: 0.794, data_time: 0.043, memory: 19865, loss_cls: 0.2322, loss_bbox: 0.4273, loss_traj: 0.7750, loss_traj_cls: 0.0009, loss_map_cls: 0.1998, loss_map_pts: 0.7706, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 3.1110, d0.loss_plan_l1_fix_dist: 0.4110, d1.loss_plan_l1_fix_time: 1.4283, d1.loss_plan_l1_fix_dist: 0.2166, d2.loss_plan_l1_fix_time: 1.4205, d2.loss_plan_l1_fix_dist: 0.2284, d3.loss_plan_l1_fix_time: 1.4192, d3.loss_plan_l1_fix_dist: 0.2475, d4.loss_plan_l1_fix_time: 1.4226, d4.loss_plan_l1_fix_dist: 0.2692, d5.loss_plan_l1_fix_time: 1.4270, d5.loss_plan_l1_fix_dist: 0.2921, d6.loss_plan_l1_fix_time: 1.4315, d6.loss_plan_l1_fix_dist: 0.3156, d0.loss_cls_all: 0.2639, d0.loss_bbox_all: 0.4870, d0.loss_cls: 0.2639, d0.loss_bbox: 0.4870, d1.loss_cls: 0.2524, d1.loss_bbox: 0.4566, d2.loss_cls: 0.2396, d2.loss_bbox: 0.4396, d3.loss_cls: 0.2350, d3.loss_bbox: 0.4329, d4.loss_cls: 0.2319, d4.loss_bbox: 0.4299, d5.loss_cls: 0.2309, d5.loss_bbox: 0.4287, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9738, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8200, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7839, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7704, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7692, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7717, d0.loss_map_cls_all: 0.2750, d0.loss_map_pts_all: 1.6131, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2750, d0.loss_map_pts: 1.6131, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2416, d1.loss_map_pts: 1.0639, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2214, d2.loss_map_pts: 0.8725, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2126, d3.loss_map_pts: 0.8030, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.2056, d4.loss_map_pts: 0.7784, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.2025, d5.loss_map_pts: 0.7706, d5.loss_map_dir: 0.0113, loss: 35.0566, grad_norm: 166.7361 +2026-02-25 18:02:14,888 - DriveTransformer - INFO - Epoch [5][19600/39528] lr: 9.337e-05, eta: 7 days, 4:27:05, time: 0.867, data_time: 0.047, memory: 19865, loss_cls: 0.2062, loss_bbox: 0.4138, loss_traj: 0.7519, loss_traj_cls: 0.0009, loss_map_cls: 0.2014, loss_map_pts: 0.9289, loss_map_dir: 0.0143, d0.loss_plan_l1_fix_time: 2.8477, d0.loss_plan_l1_fix_dist: 0.3860, d1.loss_plan_l1_fix_time: 1.4008, d1.loss_plan_l1_fix_dist: 0.2221, d2.loss_plan_l1_fix_time: 1.3862, d2.loss_plan_l1_fix_dist: 0.2297, d3.loss_plan_l1_fix_time: 1.3839, d3.loss_plan_l1_fix_dist: 0.2435, d4.loss_plan_l1_fix_time: 1.3875, d4.loss_plan_l1_fix_dist: 0.2602, d5.loss_plan_l1_fix_time: 1.3913, d5.loss_plan_l1_fix_dist: 0.2766, d6.loss_plan_l1_fix_time: 1.3949, d6.loss_plan_l1_fix_dist: 0.2964, d0.loss_cls_all: 0.2351, d0.loss_bbox_all: 0.4730, d0.loss_cls: 0.2351, d0.loss_bbox: 0.4730, d1.loss_cls: 0.2265, d1.loss_bbox: 0.4429, d2.loss_cls: 0.2189, d2.loss_bbox: 0.4253, d3.loss_cls: 0.2131, d3.loss_bbox: 0.4156, d4.loss_cls: 0.2039, d4.loss_bbox: 0.4179, d5.loss_cls: 0.2051, d5.loss_bbox: 0.4154, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0131, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8134, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7681, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7503, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7480, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7495, d0.loss_map_cls_all: 0.2720, d0.loss_map_pts_all: 1.8787, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.2720, d0.loss_map_pts: 1.8787, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2456, d1.loss_map_pts: 1.2481, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2249, d2.loss_map_pts: 1.0378, d2.loss_map_dir: 0.0131, d3.loss_map_cls: 0.2153, d3.loss_map_pts: 0.9608, d3.loss_map_dir: 0.0136, d4.loss_map_cls: 0.2092, d4.loss_map_pts: 0.9368, d4.loss_map_dir: 0.0140, d5.loss_map_cls: 0.2041, d5.loss_map_pts: 0.9308, d5.loss_map_dir: 0.0141, loss: 35.6826, grad_norm: 166.2415 +2026-02-25 18:02:55,302 - DriveTransformer - INFO - Epoch [5][19650/39528] lr: 9.337e-05, eta: 7 days, 4:26:25, time: 0.809, data_time: 0.041, memory: 19865, loss_cls: 0.2247, loss_bbox: 0.3974, loss_traj: 0.7423, loss_traj_cls: 0.0009, loss_map_cls: 0.1710, loss_map_pts: 0.7527, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.9533, d0.loss_plan_l1_fix_dist: 0.4492, d1.loss_plan_l1_fix_time: 1.3317, d1.loss_plan_l1_fix_dist: 0.2158, d2.loss_plan_l1_fix_time: 1.3042, d2.loss_plan_l1_fix_dist: 0.2268, d3.loss_plan_l1_fix_time: 1.3026, d3.loss_plan_l1_fix_dist: 0.2427, d4.loss_plan_l1_fix_time: 1.3052, d4.loss_plan_l1_fix_dist: 0.2608, d5.loss_plan_l1_fix_time: 1.3085, d5.loss_plan_l1_fix_dist: 0.2819, d6.loss_plan_l1_fix_time: 1.3125, d6.loss_plan_l1_fix_dist: 0.3051, d0.loss_cls_all: 0.2496, d0.loss_bbox_all: 0.4561, d0.loss_cls: 0.2496, d0.loss_bbox: 0.4561, d1.loss_cls: 0.2433, d1.loss_bbox: 0.4175, d2.loss_cls: 0.2296, d2.loss_bbox: 0.4042, d3.loss_cls: 0.2278, d3.loss_bbox: 0.3963, d4.loss_cls: 0.2239, d4.loss_bbox: 0.3971, d5.loss_cls: 0.2236, d5.loss_bbox: 0.3968, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9769, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7813, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7386, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7351, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7344, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7331, d0.loss_map_cls_all: 0.2396, d0.loss_map_pts_all: 1.4251, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2396, d0.loss_map_pts: 1.4251, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2075, d1.loss_map_pts: 1.0011, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1922, d2.loss_map_pts: 0.8365, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1821, d3.loss_map_pts: 0.7773, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1751, d4.loss_map_pts: 0.7591, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1719, d5.loss_map_pts: 0.7532, d5.loss_map_dir: 0.0097, loss: 32.8244, grad_norm: 166.2082 +2026-02-25 18:03:35,072 - DriveTransformer - INFO - Epoch [5][19700/39528] lr: 9.337e-05, eta: 7 days, 4:25:43, time: 0.795, data_time: 0.043, memory: 19865, loss_cls: 0.2131, loss_bbox: 0.4257, loss_traj: 0.7483, loss_traj_cls: 0.0009, loss_map_cls: 0.2083, loss_map_pts: 0.8379, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 3.0350, d0.loss_plan_l1_fix_dist: 0.4848, d1.loss_plan_l1_fix_time: 1.5037, d1.loss_plan_l1_fix_dist: 0.2350, d2.loss_plan_l1_fix_time: 1.4963, d2.loss_plan_l1_fix_dist: 0.2489, d3.loss_plan_l1_fix_time: 1.5015, d3.loss_plan_l1_fix_dist: 0.2708, d4.loss_plan_l1_fix_time: 1.5076, d4.loss_plan_l1_fix_dist: 0.2983, d5.loss_plan_l1_fix_time: 1.5146, d5.loss_plan_l1_fix_dist: 0.3282, d6.loss_plan_l1_fix_time: 1.5225, d6.loss_plan_l1_fix_dist: 0.3574, d0.loss_cls_all: 0.2386, d0.loss_bbox_all: 0.4700, d0.loss_cls: 0.2386, d0.loss_bbox: 0.4700, d1.loss_cls: 0.2332, d1.loss_bbox: 0.4391, d2.loss_cls: 0.2257, d2.loss_bbox: 0.4262, d3.loss_cls: 0.2167, d3.loss_bbox: 0.4242, d4.loss_cls: 0.2125, d4.loss_bbox: 0.4243, d5.loss_cls: 0.2118, d5.loss_bbox: 0.4255, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9310, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8015, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7475, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7407, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7471, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7477, d0.loss_map_cls_all: 0.2585, d0.loss_map_pts_all: 1.5428, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2585, d0.loss_map_pts: 1.5428, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2368, d1.loss_map_pts: 1.0960, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.2256, d2.loss_map_pts: 0.9286, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.2184, d3.loss_map_pts: 0.8670, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.2126, d4.loss_map_pts: 0.8468, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.2091, d5.loss_map_pts: 0.8386, d5.loss_map_dir: 0.0107, loss: 35.4789, grad_norm: 165.7714 +2026-02-25 18:04:15,368 - DriveTransformer - INFO - Epoch [5][19750/39528] lr: 9.337e-05, eta: 7 days, 4:25:02, time: 0.806, data_time: 0.039, memory: 19865, loss_cls: 0.2504, loss_bbox: 0.4468, loss_traj: 0.8072, loss_traj_cls: 0.0008, loss_map_cls: 0.2204, loss_map_pts: 0.9191, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 2.4153, d0.loss_plan_l1_fix_dist: 0.3281, d1.loss_plan_l1_fix_time: 1.2196, d1.loss_plan_l1_fix_dist: 0.2105, d2.loss_plan_l1_fix_time: 1.2089, d2.loss_plan_l1_fix_dist: 0.2200, d3.loss_plan_l1_fix_time: 1.2114, d3.loss_plan_l1_fix_dist: 0.2327, d4.loss_plan_l1_fix_time: 1.2165, d4.loss_plan_l1_fix_dist: 0.2445, d5.loss_plan_l1_fix_time: 1.2221, d5.loss_plan_l1_fix_dist: 0.2564, d6.loss_plan_l1_fix_time: 1.2285, d6.loss_plan_l1_fix_dist: 0.2687, d0.loss_cls_all: 0.2743, d0.loss_bbox_all: 0.5081, d0.loss_cls: 0.2743, d0.loss_bbox: 0.5081, d1.loss_cls: 0.2718, d1.loss_bbox: 0.4722, d2.loss_cls: 0.2621, d2.loss_bbox: 0.4549, d3.loss_cls: 0.2530, d3.loss_bbox: 0.4498, d4.loss_cls: 0.2496, d4.loss_bbox: 0.4470, d5.loss_cls: 0.2481, d5.loss_bbox: 0.4469, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0131, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8704, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8161, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8134, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8124, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8145, d0.loss_map_cls_all: 0.2810, d0.loss_map_pts_all: 1.8073, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2810, d0.loss_map_pts: 1.8073, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2523, d1.loss_map_pts: 1.2282, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2399, d2.loss_map_pts: 1.0212, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.2304, d3.loss_map_pts: 0.9480, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.2232, d4.loss_map_pts: 0.9275, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.2219, d5.loss_map_pts: 0.9220, d5.loss_map_dir: 0.0124, loss: 34.8790, grad_norm: 161.9063 +2026-02-25 18:04:55,188 - DriveTransformer - INFO - Epoch [5][19800/39528] lr: 9.337e-05, eta: 7 days, 4:24:20, time: 0.796, data_time: 0.045, memory: 19865, loss_cls: 0.2375, loss_bbox: 0.4326, loss_traj: 0.9158, loss_traj_cls: 0.0009, loss_map_cls: 0.2017, loss_map_pts: 0.9173, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.4135, d0.loss_plan_l1_fix_dist: 0.4388, d1.loss_plan_l1_fix_time: 1.2462, d1.loss_plan_l1_fix_dist: 0.1837, d2.loss_plan_l1_fix_time: 1.2297, d2.loss_plan_l1_fix_dist: 0.1922, d3.loss_plan_l1_fix_time: 1.2292, d3.loss_plan_l1_fix_dist: 0.2064, d4.loss_plan_l1_fix_time: 1.2317, d4.loss_plan_l1_fix_dist: 0.2206, d5.loss_plan_l1_fix_time: 1.2354, d5.loss_plan_l1_fix_dist: 0.2361, d6.loss_plan_l1_fix_time: 1.2398, d6.loss_plan_l1_fix_dist: 0.2549, d0.loss_cls_all: 0.2633, d0.loss_bbox_all: 0.4911, d0.loss_cls: 0.2633, d0.loss_bbox: 0.4911, d1.loss_cls: 0.2591, d1.loss_bbox: 0.4579, d2.loss_cls: 0.2482, d2.loss_bbox: 0.4416, d3.loss_cls: 0.2426, d3.loss_bbox: 0.4345, d4.loss_cls: 0.2367, d4.loss_bbox: 0.4328, d5.loss_cls: 0.2369, d5.loss_bbox: 0.4319, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1873, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9763, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9210, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9127, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9114, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.9146, d0.loss_map_cls_all: 0.2645, d0.loss_map_pts_all: 1.6267, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2645, d0.loss_map_pts: 1.6267, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2343, d1.loss_map_pts: 1.1928, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.2212, d2.loss_map_pts: 1.0202, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.2119, d3.loss_map_pts: 0.9526, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.2075, d4.loss_map_pts: 0.9282, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.2028, d5.loss_map_pts: 0.9197, d5.loss_map_dir: 0.0089, loss: 34.9650, grad_norm: 159.7153 +2026-02-25 18:05:35,282 - DriveTransformer - INFO - Epoch [5][19850/39528] lr: 9.337e-05, eta: 7 days, 4:23:39, time: 0.802, data_time: 0.044, memory: 19865, loss_cls: 0.1990, loss_bbox: 0.3953, loss_traj: 0.8840, loss_traj_cls: 0.0009, loss_map_cls: 0.2059, loss_map_pts: 0.8737, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.5912, d0.loss_plan_l1_fix_dist: 0.3799, d1.loss_plan_l1_fix_time: 1.3835, d1.loss_plan_l1_fix_dist: 0.1945, d2.loss_plan_l1_fix_time: 1.3764, d2.loss_plan_l1_fix_dist: 0.2048, d3.loss_plan_l1_fix_time: 1.3737, d3.loss_plan_l1_fix_dist: 0.2199, d4.loss_plan_l1_fix_time: 1.3759, d4.loss_plan_l1_fix_dist: 0.2394, d5.loss_plan_l1_fix_time: 1.3792, d5.loss_plan_l1_fix_dist: 0.2618, d6.loss_plan_l1_fix_time: 1.3834, d6.loss_plan_l1_fix_dist: 0.2858, d0.loss_cls_all: 0.2279, d0.loss_bbox_all: 0.4498, d0.loss_cls: 0.2279, d0.loss_bbox: 0.4498, d1.loss_cls: 0.2191, d1.loss_bbox: 0.4148, d2.loss_cls: 0.2099, d2.loss_bbox: 0.3997, d3.loss_cls: 0.2027, d3.loss_bbox: 0.3950, d4.loss_cls: 0.1990, d4.loss_bbox: 0.3939, d5.loss_cls: 0.1981, d5.loss_bbox: 0.3941, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1574, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9282, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8709, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8724, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8756, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8770, d0.loss_map_cls_all: 0.2588, d0.loss_map_pts_all: 1.5722, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2588, d0.loss_map_pts: 1.5722, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2349, d1.loss_map_pts: 1.1286, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.2220, d2.loss_map_pts: 0.9666, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.2165, d3.loss_map_pts: 0.9046, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.2086, d4.loss_map_pts: 0.8819, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.2070, d5.loss_map_pts: 0.8760, d5.loss_map_dir: 0.0107, loss: 34.7654, grad_norm: 159.1953 +2026-02-25 18:06:17,825 - DriveTransformer - INFO - Epoch [5][19900/39528] lr: 9.337e-05, eta: 7 days, 4:23:09, time: 0.851, data_time: 0.041, memory: 19865, loss_cls: 0.2202, loss_bbox: 0.4167, loss_traj: 0.6002, loss_traj_cls: 0.0009, loss_map_cls: 0.1886, loss_map_pts: 0.8200, loss_map_dir: 0.0139, d0.loss_plan_l1_fix_time: 2.6555, d0.loss_plan_l1_fix_dist: 0.3968, d1.loss_plan_l1_fix_time: 1.2211, d1.loss_plan_l1_fix_dist: 0.2022, d2.loss_plan_l1_fix_time: 1.1972, d2.loss_plan_l1_fix_dist: 0.2099, d3.loss_plan_l1_fix_time: 1.1976, d3.loss_plan_l1_fix_dist: 0.2235, d4.loss_plan_l1_fix_time: 1.2011, d4.loss_plan_l1_fix_dist: 0.2403, d5.loss_plan_l1_fix_time: 1.2048, d5.loss_plan_l1_fix_dist: 0.2605, d6.loss_plan_l1_fix_time: 1.2091, d6.loss_plan_l1_fix_dist: 0.2845, d0.loss_cls_all: 0.2522, d0.loss_bbox_all: 0.4613, d0.loss_cls: 0.2522, d0.loss_bbox: 0.4613, d1.loss_cls: 0.2435, d1.loss_bbox: 0.4369, d2.loss_cls: 0.2304, d2.loss_bbox: 0.4249, d3.loss_cls: 0.2244, d3.loss_bbox: 0.4200, d4.loss_cls: 0.2201, d4.loss_bbox: 0.4177, d5.loss_cls: 0.2196, d5.loss_bbox: 0.4178, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8692, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7154, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6314, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6098, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6086, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6085, d0.loss_map_cls_all: 0.2456, d0.loss_map_pts_all: 1.7766, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2456, d0.loss_map_pts: 1.7766, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2167, d1.loss_map_pts: 1.1188, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2062, d2.loss_map_pts: 0.9194, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.1979, d3.loss_map_pts: 0.8497, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.1904, d4.loss_map_pts: 0.8287, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.1889, d5.loss_map_pts: 0.8223, d5.loss_map_dir: 0.0137, loss: 32.3675, grad_norm: 157.4889 +2026-02-25 18:07:00,024 - DriveTransformer - INFO - Epoch [5][19950/39528] lr: 9.337e-05, eta: 7 days, 4:22:37, time: 0.844, data_time: 0.041, memory: 19865, loss_cls: 0.2087, loss_bbox: 0.4107, loss_traj: 0.7629, loss_traj_cls: 0.0009, loss_map_cls: 0.1744, loss_map_pts: 0.7345, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.6783, d0.loss_plan_l1_fix_dist: 0.4055, d1.loss_plan_l1_fix_time: 1.3643, d1.loss_plan_l1_fix_dist: 0.2265, d2.loss_plan_l1_fix_time: 1.3398, d2.loss_plan_l1_fix_dist: 0.2397, d3.loss_plan_l1_fix_time: 1.3383, d3.loss_plan_l1_fix_dist: 0.2615, d4.loss_plan_l1_fix_time: 1.3423, d4.loss_plan_l1_fix_dist: 0.2858, d5.loss_plan_l1_fix_time: 1.3467, d5.loss_plan_l1_fix_dist: 0.3130, d6.loss_plan_l1_fix_time: 1.3506, d6.loss_plan_l1_fix_dist: 0.3423, d0.loss_cls_all: 0.2385, d0.loss_bbox_all: 0.4663, d0.loss_cls: 0.2385, d0.loss_bbox: 0.4663, d1.loss_cls: 0.2301, d1.loss_bbox: 0.4345, d2.loss_cls: 0.2172, d2.loss_bbox: 0.4190, d3.loss_cls: 0.2112, d3.loss_bbox: 0.4122, d4.loss_cls: 0.2074, d4.loss_bbox: 0.4101, d5.loss_cls: 0.2069, d5.loss_bbox: 0.4105, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0344, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8517, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7858, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7750, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7628, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7665, d0.loss_map_cls_all: 0.2300, d0.loss_map_pts_all: 1.4734, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2300, d0.loss_map_pts: 1.4734, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2053, d1.loss_map_pts: 0.9862, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1926, d2.loss_map_pts: 0.8239, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1850, d3.loss_map_pts: 0.7603, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1779, d4.loss_map_pts: 0.7429, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1768, d5.loss_map_pts: 0.7363, d5.loss_map_dir: 0.0101, loss: 33.1485, grad_norm: 160.8511 +2026-02-25 18:07:41,011 - DriveTransformer - INFO - Epoch [5][20000/39528] lr: 9.337e-05, eta: 7 days, 4:22:00, time: 0.821, data_time: 0.049, memory: 19865, loss_cls: 0.2233, loss_bbox: 0.4482, loss_traj: 0.8764, loss_traj_cls: 0.0009, loss_map_cls: 0.2406, loss_map_pts: 0.9892, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.4573, d0.loss_plan_l1_fix_dist: 0.4073, d1.loss_plan_l1_fix_time: 1.2513, d1.loss_plan_l1_fix_dist: 0.2102, d2.loss_plan_l1_fix_time: 1.2318, d2.loss_plan_l1_fix_dist: 0.2176, d3.loss_plan_l1_fix_time: 1.2355, d3.loss_plan_l1_fix_dist: 0.2288, d4.loss_plan_l1_fix_time: 1.2391, d4.loss_plan_l1_fix_dist: 0.2427, d5.loss_plan_l1_fix_time: 1.2427, d5.loss_plan_l1_fix_dist: 0.2582, d6.loss_plan_l1_fix_time: 1.2460, d6.loss_plan_l1_fix_dist: 0.2727, d0.loss_cls_all: 0.2462, d0.loss_bbox_all: 0.5092, d0.loss_cls: 0.2462, d0.loss_bbox: 0.5092, d1.loss_cls: 0.2411, d1.loss_bbox: 0.4718, d2.loss_cls: 0.2335, d2.loss_bbox: 0.4546, d3.loss_cls: 0.2274, d3.loss_bbox: 0.4507, d4.loss_cls: 0.2222, d4.loss_bbox: 0.4491, d5.loss_cls: 0.2226, d5.loss_bbox: 0.4474, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1190, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.9353, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8934, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8811, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8768, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8750, d0.loss_map_cls_all: 0.2937, d0.loss_map_pts_all: 1.8573, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2937, d0.loss_map_pts: 1.8573, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2703, d1.loss_map_pts: 1.3006, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2590, d2.loss_map_pts: 1.1019, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.2503, d3.loss_map_pts: 1.0264, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.2440, d4.loss_map_pts: 0.9990, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.2425, d5.loss_map_pts: 0.9910, d5.loss_map_dir: 0.0119, loss: 36.1130, grad_norm: 162.3625 +2026-02-25 18:08:20,302 - DriveTransformer - INFO - Epoch [5][20050/39528] lr: 9.337e-05, eta: 7 days, 4:21:15, time: 0.784, data_time: 0.045, memory: 19865, loss_cls: 0.2124, loss_bbox: 0.4055, loss_traj: 0.7800, loss_traj_cls: 0.0009, loss_map_cls: 0.2133, loss_map_pts: 0.8763, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.7388, d0.loss_plan_l1_fix_dist: 0.3694, d1.loss_plan_l1_fix_time: 1.2680, d1.loss_plan_l1_fix_dist: 0.2053, d2.loss_plan_l1_fix_time: 1.2606, d2.loss_plan_l1_fix_dist: 0.2183, d3.loss_plan_l1_fix_time: 1.2633, d3.loss_plan_l1_fix_dist: 0.2339, d4.loss_plan_l1_fix_time: 1.2671, d4.loss_plan_l1_fix_dist: 0.2503, d5.loss_plan_l1_fix_time: 1.2709, d5.loss_plan_l1_fix_dist: 0.2674, d6.loss_plan_l1_fix_time: 1.2758, d6.loss_plan_l1_fix_dist: 0.2857, d0.loss_cls_all: 0.2450, d0.loss_bbox_all: 0.4647, d0.loss_cls: 0.2450, d0.loss_bbox: 0.4647, d1.loss_cls: 0.2396, d1.loss_bbox: 0.4337, d2.loss_cls: 0.2280, d2.loss_bbox: 0.4171, d3.loss_cls: 0.2196, d3.loss_bbox: 0.4090, d4.loss_cls: 0.2130, d4.loss_bbox: 0.4074, d5.loss_cls: 0.2121, d5.loss_bbox: 0.4043, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9802, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8403, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7893, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7807, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7822, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7806, d0.loss_map_cls_all: 0.2779, d0.loss_map_pts_all: 1.6756, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2779, d0.loss_map_pts: 1.6756, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2516, d1.loss_map_pts: 1.1376, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2403, d2.loss_map_pts: 0.9688, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.2266, d3.loss_map_pts: 0.9068, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.2175, d4.loss_map_pts: 0.8832, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.2149, d5.loss_map_pts: 0.8767, d5.loss_map_dir: 0.0107, loss: 34.1382, grad_norm: 160.5799 +2026-02-25 18:09:01,090 - DriveTransformer - INFO - Epoch [5][20100/39528] lr: 9.337e-05, eta: 7 days, 4:20:37, time: 0.816, data_time: 0.044, memory: 19865, loss_cls: 0.2265, loss_bbox: 0.4323, loss_traj: 0.8305, loss_traj_cls: 0.0009, loss_map_cls: 0.2229, loss_map_pts: 0.9785, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 2.8359, d0.loss_plan_l1_fix_dist: 0.3149, d1.loss_plan_l1_fix_time: 1.4045, d1.loss_plan_l1_fix_dist: 0.2073, d2.loss_plan_l1_fix_time: 1.3908, d2.loss_plan_l1_fix_dist: 0.2193, d3.loss_plan_l1_fix_time: 1.3907, d3.loss_plan_l1_fix_dist: 0.2353, d4.loss_plan_l1_fix_time: 1.3936, d4.loss_plan_l1_fix_dist: 0.2542, d5.loss_plan_l1_fix_time: 1.3971, d5.loss_plan_l1_fix_dist: 0.2756, d6.loss_plan_l1_fix_time: 1.4015, d6.loss_plan_l1_fix_dist: 0.3011, d0.loss_cls_all: 0.2613, d0.loss_bbox_all: 0.4955, d0.loss_cls: 0.2613, d0.loss_bbox: 0.4955, d1.loss_cls: 0.2507, d1.loss_bbox: 0.4640, d2.loss_cls: 0.2393, d2.loss_bbox: 0.4445, d3.loss_cls: 0.2330, d3.loss_bbox: 0.4363, d4.loss_cls: 0.2262, d4.loss_bbox: 0.4356, d5.loss_cls: 0.2265, d5.loss_bbox: 0.4322, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9756, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8669, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8424, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8316, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8236, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8279, d0.loss_map_cls_all: 0.2824, d0.loss_map_pts_all: 1.9073, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2824, d0.loss_map_pts: 1.9073, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2593, d1.loss_map_pts: 1.2623, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2436, d2.loss_map_pts: 1.0638, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2335, d3.loss_map_pts: 0.9994, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.2291, d4.loss_map_pts: 0.9818, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.2240, d5.loss_map_pts: 0.9781, d5.loss_map_dir: 0.0123, loss: 36.7350, grad_norm: 161.4572 +2026-02-25 18:09:41,456 - DriveTransformer - INFO - Epoch [5][20150/39528] lr: 9.337e-05, eta: 7 days, 4:19:57, time: 0.807, data_time: 0.049, memory: 19865, loss_cls: 0.2257, loss_bbox: 0.4193, loss_traj: 0.8486, loss_traj_cls: 0.0009, loss_map_cls: 0.2099, loss_map_pts: 0.8268, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.8239, d0.loss_plan_l1_fix_dist: 0.4710, d1.loss_plan_l1_fix_time: 1.4776, d1.loss_plan_l1_fix_dist: 0.2282, d2.loss_plan_l1_fix_time: 1.4571, d2.loss_plan_l1_fix_dist: 0.2347, d3.loss_plan_l1_fix_time: 1.4573, d3.loss_plan_l1_fix_dist: 0.2491, d4.loss_plan_l1_fix_time: 1.4597, d4.loss_plan_l1_fix_dist: 0.2658, d5.loss_plan_l1_fix_time: 1.4629, d5.loss_plan_l1_fix_dist: 0.2844, d6.loss_plan_l1_fix_time: 1.4665, d6.loss_plan_l1_fix_dist: 0.3056, d0.loss_cls_all: 0.2584, d0.loss_bbox_all: 0.4788, d0.loss_cls: 0.2584, d0.loss_bbox: 0.4788, d1.loss_cls: 0.2490, d1.loss_bbox: 0.4500, d2.loss_cls: 0.2364, d2.loss_bbox: 0.4314, d3.loss_cls: 0.2314, d3.loss_bbox: 0.4225, d4.loss_cls: 0.2247, d4.loss_bbox: 0.4210, d5.loss_cls: 0.2244, d5.loss_bbox: 0.4210, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1806, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9302, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8652, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8615, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8525, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8486, d0.loss_map_cls_all: 0.2799, d0.loss_map_pts_all: 1.6279, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2799, d0.loss_map_pts: 1.6279, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2390, d1.loss_map_pts: 1.0935, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2287, d2.loss_map_pts: 0.9162, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.2168, d3.loss_map_pts: 0.8574, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.2107, d4.loss_map_pts: 0.8344, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.2098, d5.loss_map_pts: 0.8272, d5.loss_map_dir: 0.0117, loss: 36.0428, grad_norm: 160.7095 +2026-02-25 18:10:23,672 - DriveTransformer - INFO - Epoch [5][20200/39528] lr: 9.337e-05, eta: 7 days, 4:19:26, time: 0.844, data_time: 0.045, memory: 19865, loss_cls: 0.2076, loss_bbox: 0.4064, loss_traj: 0.8139, loss_traj_cls: 0.0009, loss_map_cls: 0.2018, loss_map_pts: 0.9140, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.5464, d0.loss_plan_l1_fix_dist: 0.4248, d1.loss_plan_l1_fix_time: 1.3361, d1.loss_plan_l1_fix_dist: 0.2278, d2.loss_plan_l1_fix_time: 1.3262, d2.loss_plan_l1_fix_dist: 0.2357, d3.loss_plan_l1_fix_time: 1.3264, d3.loss_plan_l1_fix_dist: 0.2491, d4.loss_plan_l1_fix_time: 1.3288, d4.loss_plan_l1_fix_dist: 0.2634, d5.loss_plan_l1_fix_time: 1.3318, d5.loss_plan_l1_fix_dist: 0.2796, d6.loss_plan_l1_fix_time: 1.3358, d6.loss_plan_l1_fix_dist: 0.2949, d0.loss_cls_all: 0.2332, d0.loss_bbox_all: 0.4573, d0.loss_cls: 0.2332, d0.loss_bbox: 0.4573, d1.loss_cls: 0.2238, d1.loss_bbox: 0.4281, d2.loss_cls: 0.2172, d2.loss_bbox: 0.4141, d3.loss_cls: 0.2120, d3.loss_bbox: 0.4074, d4.loss_cls: 0.2075, d4.loss_bbox: 0.4064, d5.loss_cls: 0.2067, d5.loss_bbox: 0.4060, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0655, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8652, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8328, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8294, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8210, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8191, d0.loss_map_cls_all: 0.2597, d0.loss_map_pts_all: 1.7452, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2597, d0.loss_map_pts: 1.7452, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2284, d1.loss_map_pts: 1.1971, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2225, d2.loss_map_pts: 1.0032, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.2109, d3.loss_map_pts: 0.9411, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.2046, d4.loss_map_pts: 0.9186, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.2025, d5.loss_map_pts: 0.9117, d5.loss_map_dir: 0.0111, loss: 34.9354, grad_norm: 158.5217 +2026-02-25 18:11:05,102 - DriveTransformer - INFO - Epoch [5][20250/39528] lr: 9.337e-05, eta: 7 days, 4:18:50, time: 0.829, data_time: 0.044, memory: 19865, loss_cls: 0.1892, loss_bbox: 0.3897, loss_traj: 0.6886, loss_traj_cls: 0.0010, loss_map_cls: 0.1935, loss_map_pts: 0.7716, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.7607, d0.loss_plan_l1_fix_dist: 0.4167, d1.loss_plan_l1_fix_time: 1.1282, d1.loss_plan_l1_fix_dist: 0.2077, d2.loss_plan_l1_fix_time: 1.1107, d2.loss_plan_l1_fix_dist: 0.2219, d3.loss_plan_l1_fix_time: 1.1103, d3.loss_plan_l1_fix_dist: 0.2405, d4.loss_plan_l1_fix_time: 1.1128, d4.loss_plan_l1_fix_dist: 0.2603, d5.loss_plan_l1_fix_time: 1.1157, d5.loss_plan_l1_fix_dist: 0.2809, d6.loss_plan_l1_fix_time: 1.1194, d6.loss_plan_l1_fix_dist: 0.3032, d0.loss_cls_all: 0.2232, d0.loss_bbox_all: 0.4389, d0.loss_cls: 0.2232, d0.loss_bbox: 0.4389, d1.loss_cls: 0.2165, d1.loss_bbox: 0.4061, d2.loss_cls: 0.2069, d2.loss_bbox: 0.3906, d3.loss_cls: 0.1984, d3.loss_bbox: 0.3865, d4.loss_cls: 0.1914, d4.loss_bbox: 0.3876, d5.loss_cls: 0.1889, d5.loss_bbox: 0.3878, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8868, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7275, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6975, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6882, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6835, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6840, d0.loss_map_cls_all: 0.2512, d0.loss_map_pts_all: 1.5730, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2512, d0.loss_map_pts: 1.5730, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2222, d1.loss_map_pts: 1.0448, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.2116, d2.loss_map_pts: 0.8632, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.2026, d3.loss_map_pts: 0.8023, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1962, d4.loss_map_pts: 0.7822, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1943, d5.loss_map_pts: 0.7738, d5.loss_map_dir: 0.0102, loss: 31.2980, grad_norm: 158.6482 +2026-02-25 18:11:45,305 - DriveTransformer - INFO - Epoch [5][20300/39528] lr: 9.337e-05, eta: 7 days, 4:18:10, time: 0.804, data_time: 0.045, memory: 19865, loss_cls: 0.2289, loss_bbox: 0.4309, loss_traj: 0.8104, loss_traj_cls: 0.0009, loss_map_cls: 0.2015, loss_map_pts: 0.8542, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.7828, d0.loss_plan_l1_fix_dist: 0.4076, d1.loss_plan_l1_fix_time: 1.4661, d1.loss_plan_l1_fix_dist: 0.2363, d2.loss_plan_l1_fix_time: 1.4449, d2.loss_plan_l1_fix_dist: 0.2472, d3.loss_plan_l1_fix_time: 1.4406, d3.loss_plan_l1_fix_dist: 0.2608, d4.loss_plan_l1_fix_time: 1.4434, d4.loss_plan_l1_fix_dist: 0.2781, d5.loss_plan_l1_fix_time: 1.4470, d5.loss_plan_l1_fix_dist: 0.2970, d6.loss_plan_l1_fix_time: 1.4508, d6.loss_plan_l1_fix_dist: 0.3194, d0.loss_cls_all: 0.2604, d0.loss_bbox_all: 0.4839, d0.loss_cls: 0.2604, d0.loss_bbox: 0.4839, d1.loss_cls: 0.2513, d1.loss_bbox: 0.4533, d2.loss_cls: 0.2427, d2.loss_bbox: 0.4382, d3.loss_cls: 0.2352, d3.loss_bbox: 0.4329, d4.loss_cls: 0.2292, d4.loss_bbox: 0.4306, d5.loss_cls: 0.2276, d5.loss_bbox: 0.4308, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9991, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8714, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8173, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7984, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8018, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8068, d0.loss_map_cls_all: 0.2603, d0.loss_map_pts_all: 1.5997, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2603, d0.loss_map_pts: 1.5997, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2336, d1.loss_map_pts: 1.1251, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.2201, d2.loss_map_pts: 0.9493, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.2100, d3.loss_map_pts: 0.8869, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.2050, d4.loss_map_pts: 0.8660, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.2029, d5.loss_map_pts: 0.8549, d5.loss_map_dir: 0.0107, loss: 35.5655, grad_norm: 160.8554 +2026-02-25 18:12:26,873 - DriveTransformer - INFO - Epoch [5][20350/39528] lr: 9.337e-05, eta: 7 days, 4:17:35, time: 0.831, data_time: 0.047, memory: 19865, loss_cls: 0.2378, loss_bbox: 0.4102, loss_traj: 0.7344, loss_traj_cls: 0.0009, loss_map_cls: 0.2352, loss_map_pts: 0.9564, loss_map_dir: 0.0133, d0.loss_plan_l1_fix_time: 2.7863, d0.loss_plan_l1_fix_dist: 0.3577, d1.loss_plan_l1_fix_time: 1.3382, d1.loss_plan_l1_fix_dist: 0.1794, d2.loss_plan_l1_fix_time: 1.3240, d2.loss_plan_l1_fix_dist: 0.1857, d3.loss_plan_l1_fix_time: 1.3263, d3.loss_plan_l1_fix_dist: 0.1970, d4.loss_plan_l1_fix_time: 1.3299, d4.loss_plan_l1_fix_dist: 0.2088, d5.loss_plan_l1_fix_time: 1.3339, d5.loss_plan_l1_fix_dist: 0.2234, d6.loss_plan_l1_fix_time: 1.3379, d6.loss_plan_l1_fix_dist: 0.2415, d0.loss_cls_all: 0.2741, d0.loss_bbox_all: 0.4732, d0.loss_cls: 0.2741, d0.loss_bbox: 0.4732, d1.loss_cls: 0.2609, d1.loss_bbox: 0.4364, d2.loss_cls: 0.2491, d2.loss_bbox: 0.4193, d3.loss_cls: 0.2446, d3.loss_bbox: 0.4121, d4.loss_cls: 0.2369, d4.loss_bbox: 0.4120, d5.loss_cls: 0.2369, d5.loss_bbox: 0.4104, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9911, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7822, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7416, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7369, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7340, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7357, d0.loss_map_cls_all: 0.2923, d0.loss_map_pts_all: 1.9371, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.2923, d0.loss_map_pts: 1.9371, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2624, d1.loss_map_pts: 1.2928, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2510, d2.loss_map_pts: 1.0675, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2435, d3.loss_map_pts: 0.9919, d3.loss_map_dir: 0.0129, d4.loss_map_cls: 0.2374, d4.loss_map_pts: 0.9658, d4.loss_map_dir: 0.0132, d5.loss_map_cls: 0.2339, d5.loss_map_pts: 0.9608, d5.loss_map_dir: 0.0133, loss: 35.5526, grad_norm: 161.7252 +2026-02-25 18:13:07,406 - DriveTransformer - INFO - Epoch [5][20400/39528] lr: 9.337e-05, eta: 7 days, 4:16:56, time: 0.811, data_time: 0.039, memory: 19865, loss_cls: 0.2209, loss_bbox: 0.4071, loss_traj: 0.6321, loss_traj_cls: 0.0010, loss_map_cls: 0.2071, loss_map_pts: 0.9053, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.5260, d0.loss_plan_l1_fix_dist: 0.4561, d1.loss_plan_l1_fix_time: 1.1032, d1.loss_plan_l1_fix_dist: 0.2146, d2.loss_plan_l1_fix_time: 1.0880, d2.loss_plan_l1_fix_dist: 0.2204, d3.loss_plan_l1_fix_time: 1.0896, d3.loss_plan_l1_fix_dist: 0.2330, d4.loss_plan_l1_fix_time: 1.0927, d4.loss_plan_l1_fix_dist: 0.2487, d5.loss_plan_l1_fix_time: 1.0961, d5.loss_plan_l1_fix_dist: 0.2661, d6.loss_plan_l1_fix_time: 1.0999, d6.loss_plan_l1_fix_dist: 0.2851, d0.loss_cls_all: 0.2514, d0.loss_bbox_all: 0.4698, d0.loss_cls: 0.2514, d0.loss_bbox: 0.4698, d1.loss_cls: 0.2426, d1.loss_bbox: 0.4368, d2.loss_cls: 0.2327, d2.loss_bbox: 0.4157, d3.loss_cls: 0.2246, d3.loss_bbox: 0.4090, d4.loss_cls: 0.2221, d4.loss_bbox: 0.4051, d5.loss_cls: 0.2197, d5.loss_bbox: 0.4072, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8129, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6752, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6393, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6325, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6319, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6324, d0.loss_map_cls_all: 0.2739, d0.loss_map_pts_all: 1.7934, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2739, d0.loss_map_pts: 1.7934, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2441, d1.loss_map_pts: 1.1999, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2297, d2.loss_map_pts: 1.0015, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.2198, d3.loss_map_pts: 0.9342, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2127, d4.loss_map_pts: 0.9122, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.2084, d5.loss_map_pts: 0.9057, d5.loss_map_dir: 0.0127, loss: 32.3810, grad_norm: 159.6678 +2026-02-25 18:13:48,669 - DriveTransformer - INFO - Epoch [5][20450/39528] lr: 9.337e-05, eta: 7 days, 4:16:20, time: 0.825, data_time: 0.044, memory: 19865, loss_cls: 0.2327, loss_bbox: 0.4378, loss_traj: 0.9165, loss_traj_cls: 0.0010, loss_map_cls: 0.2057, loss_map_pts: 0.8985, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.7983, d0.loss_plan_l1_fix_dist: 0.4434, d1.loss_plan_l1_fix_time: 1.2658, d1.loss_plan_l1_fix_dist: 0.2219, d2.loss_plan_l1_fix_time: 1.2355, d2.loss_plan_l1_fix_dist: 0.2251, d3.loss_plan_l1_fix_time: 1.2348, d3.loss_plan_l1_fix_dist: 0.2345, d4.loss_plan_l1_fix_time: 1.2369, d4.loss_plan_l1_fix_dist: 0.2480, d5.loss_plan_l1_fix_time: 1.2400, d5.loss_plan_l1_fix_dist: 0.2612, d6.loss_plan_l1_fix_time: 1.2436, d6.loss_plan_l1_fix_dist: 0.2755, d0.loss_cls_all: 0.2692, d0.loss_bbox_all: 0.4958, d0.loss_cls: 0.2692, d0.loss_bbox: 0.4958, d1.loss_cls: 0.2642, d1.loss_bbox: 0.4573, d2.loss_cls: 0.2529, d2.loss_bbox: 0.4386, d3.loss_cls: 0.2447, d3.loss_bbox: 0.4318, d4.loss_cls: 0.2389, d4.loss_bbox: 0.4320, d5.loss_cls: 0.2366, d5.loss_bbox: 0.4333, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1864, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9954, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9418, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9254, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9166, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9180, d0.loss_map_cls_all: 0.2787, d0.loss_map_pts_all: 1.6632, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2787, d0.loss_map_pts: 1.6632, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2519, d1.loss_map_pts: 1.1885, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2364, d2.loss_map_pts: 1.0034, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.2225, d3.loss_map_pts: 0.9376, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.2135, d4.loss_map_pts: 0.9101, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.2075, d5.loss_map_pts: 0.8997, d5.loss_map_dir: 0.0118, loss: 35.7502, grad_norm: 160.9285 +2026-02-25 18:14:30,465 - DriveTransformer - INFO - Epoch [5][20500/39528] lr: 9.337e-05, eta: 7 days, 4:15:47, time: 0.836, data_time: 0.046, memory: 19865, loss_cls: 0.2095, loss_bbox: 0.4077, loss_traj: 0.7859, loss_traj_cls: 0.0011, loss_map_cls: 0.1973, loss_map_pts: 0.8959, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.5412, d0.loss_plan_l1_fix_dist: 0.4034, d1.loss_plan_l1_fix_time: 1.1965, d1.loss_plan_l1_fix_dist: 0.2058, d2.loss_plan_l1_fix_time: 1.1802, d2.loss_plan_l1_fix_dist: 0.2113, d3.loss_plan_l1_fix_time: 1.1805, d3.loss_plan_l1_fix_dist: 0.2220, d4.loss_plan_l1_fix_time: 1.1836, d4.loss_plan_l1_fix_dist: 0.2338, d5.loss_plan_l1_fix_time: 1.1876, d5.loss_plan_l1_fix_dist: 0.2469, d6.loss_plan_l1_fix_time: 1.1920, d6.loss_plan_l1_fix_dist: 0.2623, d0.loss_cls_all: 0.2373, d0.loss_bbox_all: 0.4576, d0.loss_cls: 0.2373, d0.loss_bbox: 0.4576, d1.loss_cls: 0.2320, d1.loss_bbox: 0.4238, d2.loss_cls: 0.2212, d2.loss_bbox: 0.4112, d3.loss_cls: 0.2176, d3.loss_bbox: 0.4062, d4.loss_cls: 0.2107, d4.loss_bbox: 0.4070, d5.loss_cls: 0.2085, d5.loss_bbox: 0.4065, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9988, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8301, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7832, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7791, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7785, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7881, d0.loss_map_cls_all: 0.2607, d0.loss_map_pts_all: 1.7787, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2607, d0.loss_map_pts: 1.7787, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2314, d1.loss_map_pts: 1.2216, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2157, d2.loss_map_pts: 1.0155, d2.loss_map_dir: 0.0119, d3.loss_map_cls: 0.2096, d3.loss_map_pts: 0.9388, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.2035, d4.loss_map_pts: 0.9094, d4.loss_map_dir: 0.0132, d5.loss_map_cls: 0.1991, d5.loss_map_pts: 0.9003, d5.loss_map_dir: 0.0133, loss: 33.6667, grad_norm: 160.0803 +2026-02-25 18:15:12,656 - DriveTransformer - INFO - Epoch [5][20550/39528] lr: 9.337e-05, eta: 7 days, 4:15:15, time: 0.844, data_time: 0.043, memory: 19865, loss_cls: 0.1999, loss_bbox: 0.4052, loss_traj: 0.7704, loss_traj_cls: 0.0010, loss_map_cls: 0.2020, loss_map_pts: 0.8396, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.7005, d0.loss_plan_l1_fix_dist: 0.3841, d1.loss_plan_l1_fix_time: 1.2393, d1.loss_plan_l1_fix_dist: 0.1786, d2.loss_plan_l1_fix_time: 1.2187, d2.loss_plan_l1_fix_dist: 0.1818, d3.loss_plan_l1_fix_time: 1.2143, d3.loss_plan_l1_fix_dist: 0.1937, d4.loss_plan_l1_fix_time: 1.2152, d4.loss_plan_l1_fix_dist: 0.2048, d5.loss_plan_l1_fix_time: 1.2172, d5.loss_plan_l1_fix_dist: 0.2181, d6.loss_plan_l1_fix_time: 1.2197, d6.loss_plan_l1_fix_dist: 0.2342, d0.loss_cls_all: 0.2280, d0.loss_bbox_all: 0.4522, d0.loss_cls: 0.2280, d0.loss_bbox: 0.4522, d1.loss_cls: 0.2186, d1.loss_bbox: 0.4248, d2.loss_cls: 0.2091, d2.loss_bbox: 0.4107, d3.loss_cls: 0.2050, d3.loss_bbox: 0.4049, d4.loss_cls: 0.2010, d4.loss_bbox: 0.4051, d5.loss_cls: 0.1995, d5.loss_bbox: 0.4041, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9720, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8334, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7831, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7737, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7683, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7710, d0.loss_map_cls_all: 0.2597, d0.loss_map_pts_all: 1.6869, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2597, d0.loss_map_pts: 1.6869, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2350, d1.loss_map_pts: 1.1640, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.2191, d2.loss_map_pts: 0.9518, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2103, d3.loss_map_pts: 0.8731, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.2060, d4.loss_map_pts: 0.8484, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.2029, d5.loss_map_pts: 0.8419, d5.loss_map_dir: 0.0116, loss: 33.1220, grad_norm: 155.9542 +2026-02-25 18:15:52,746 - DriveTransformer - INFO - Epoch [5][20600/39528] lr: 9.337e-05, eta: 7 days, 4:14:33, time: 0.802, data_time: 0.044, memory: 19865, loss_cls: 0.2236, loss_bbox: 0.4198, loss_traj: 0.7851, loss_traj_cls: 0.0010, loss_map_cls: 0.1806, loss_map_pts: 0.7855, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.5072, d0.loss_plan_l1_fix_dist: 0.3343, d1.loss_plan_l1_fix_time: 1.3403, d1.loss_plan_l1_fix_dist: 0.1946, d2.loss_plan_l1_fix_time: 1.3254, d2.loss_plan_l1_fix_dist: 0.1984, d3.loss_plan_l1_fix_time: 1.3274, d3.loss_plan_l1_fix_dist: 0.2063, d4.loss_plan_l1_fix_time: 1.3302, d4.loss_plan_l1_fix_dist: 0.2192, d5.loss_plan_l1_fix_time: 1.3335, d5.loss_plan_l1_fix_dist: 0.2330, d6.loss_plan_l1_fix_time: 1.3369, d6.loss_plan_l1_fix_dist: 0.2482, d0.loss_cls_all: 0.2542, d0.loss_bbox_all: 0.4786, d0.loss_cls: 0.2542, d0.loss_bbox: 0.4786, d1.loss_cls: 0.2438, d1.loss_bbox: 0.4446, d2.loss_cls: 0.2359, d2.loss_bbox: 0.4279, d3.loss_cls: 0.2268, d3.loss_bbox: 0.4230, d4.loss_cls: 0.2235, d4.loss_bbox: 0.4211, d5.loss_cls: 0.2231, d5.loss_bbox: 0.4190, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9914, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8357, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8068, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7863, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7837, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7835, d0.loss_map_cls_all: 0.2359, d0.loss_map_pts_all: 1.6234, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2359, d0.loss_map_pts: 1.6234, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2114, d1.loss_map_pts: 1.0709, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1985, d2.loss_map_pts: 0.8803, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1871, d3.loss_map_pts: 0.8142, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1835, d4.loss_map_pts: 0.7917, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1816, d5.loss_map_pts: 0.7865, d5.loss_map_dir: 0.0106, loss: 33.3839, grad_norm: 154.3857 +2026-02-25 18:16:32,220 - DriveTransformer - INFO - Epoch [5][20650/39528] lr: 9.337e-05, eta: 7 days, 4:13:50, time: 0.789, data_time: 0.043, memory: 19865, loss_cls: 0.1964, loss_bbox: 0.3800, loss_traj: 0.7793, loss_traj_cls: 0.0010, loss_map_cls: 0.2095, loss_map_pts: 0.8196, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.3257, d0.loss_plan_l1_fix_dist: 0.3325, d1.loss_plan_l1_fix_time: 1.2843, d1.loss_plan_l1_fix_dist: 0.1725, d2.loss_plan_l1_fix_time: 1.2748, d2.loss_plan_l1_fix_dist: 0.1849, d3.loss_plan_l1_fix_time: 1.2794, d3.loss_plan_l1_fix_dist: 0.2016, d4.loss_plan_l1_fix_time: 1.2832, d4.loss_plan_l1_fix_dist: 0.2200, d5.loss_plan_l1_fix_time: 1.2876, d5.loss_plan_l1_fix_dist: 0.2411, d6.loss_plan_l1_fix_time: 1.2923, d6.loss_plan_l1_fix_dist: 0.2651, d0.loss_cls_all: 0.2279, d0.loss_bbox_all: 0.4343, d0.loss_cls: 0.2279, d0.loss_bbox: 0.4343, d1.loss_cls: 0.2200, d1.loss_bbox: 0.3998, d2.loss_cls: 0.2068, d2.loss_bbox: 0.3881, d3.loss_cls: 0.2007, d3.loss_bbox: 0.3818, d4.loss_cls: 0.1977, d4.loss_bbox: 0.3788, d5.loss_cls: 0.1952, d5.loss_bbox: 0.3801, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0631, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8684, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8043, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7972, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7861, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7762, d0.loss_map_cls_all: 0.2783, d0.loss_map_pts_all: 1.6506, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2783, d0.loss_map_pts: 1.6506, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2510, d1.loss_map_pts: 1.1013, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.2340, d2.loss_map_pts: 0.9098, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.2217, d3.loss_map_pts: 0.8491, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.2134, d4.loss_map_pts: 0.8287, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.2099, d5.loss_map_pts: 0.8209, d5.loss_map_dir: 0.0102, loss: 32.9794, grad_norm: 154.1337 +2026-02-25 18:17:13,113 - DriveTransformer - INFO - Epoch [5][20700/39528] lr: 9.337e-05, eta: 7 days, 4:13:12, time: 0.819, data_time: 0.042, memory: 19865, loss_cls: 0.2182, loss_bbox: 0.4151, loss_traj: 0.7080, loss_traj_cls: 0.0010, loss_map_cls: 0.2107, loss_map_pts: 0.9000, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.3441, d0.loss_plan_l1_fix_dist: 0.3626, d1.loss_plan_l1_fix_time: 1.1951, d1.loss_plan_l1_fix_dist: 0.1913, d2.loss_plan_l1_fix_time: 1.1849, d2.loss_plan_l1_fix_dist: 0.1977, d3.loss_plan_l1_fix_time: 1.1884, d3.loss_plan_l1_fix_dist: 0.2080, d4.loss_plan_l1_fix_time: 1.1917, d4.loss_plan_l1_fix_dist: 0.2203, d5.loss_plan_l1_fix_time: 1.1953, d5.loss_plan_l1_fix_dist: 0.2339, d6.loss_plan_l1_fix_time: 1.1991, d6.loss_plan_l1_fix_dist: 0.2484, d0.loss_cls_all: 0.2528, d0.loss_bbox_all: 0.4657, d0.loss_cls: 0.2528, d0.loss_bbox: 0.4657, d1.loss_cls: 0.2426, d1.loss_bbox: 0.4382, d2.loss_cls: 0.2301, d2.loss_bbox: 0.4230, d3.loss_cls: 0.2267, d3.loss_bbox: 0.4151, d4.loss_cls: 0.2214, d4.loss_bbox: 0.4136, d5.loss_cls: 0.2183, d5.loss_bbox: 0.4137, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8466, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7452, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7178, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7092, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7068, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7026, d0.loss_map_cls_all: 0.2657, d0.loss_map_pts_all: 1.6413, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2657, d0.loss_map_pts: 1.6413, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2465, d1.loss_map_pts: 1.1837, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2311, d2.loss_map_pts: 0.9892, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.2222, d3.loss_map_pts: 0.9260, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.2146, d4.loss_map_pts: 0.9088, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.2125, d5.loss_map_pts: 0.9007, d5.loss_map_dir: 0.0111, loss: 32.6602, grad_norm: 153.1179 +2026-02-25 18:17:54,376 - DriveTransformer - INFO - Epoch [5][20750/39528] lr: 9.337e-05, eta: 7 days, 4:12:36, time: 0.824, data_time: 0.040, memory: 19865, loss_cls: 0.1981, loss_bbox: 0.4122, loss_traj: 0.6463, loss_traj_cls: 0.0009, loss_map_cls: 0.2269, loss_map_pts: 0.9645, loss_map_dir: 0.0143, d0.loss_plan_l1_fix_time: 2.2928, d0.loss_plan_l1_fix_dist: 0.4240, d1.loss_plan_l1_fix_time: 1.1708, d1.loss_plan_l1_fix_dist: 0.2007, d2.loss_plan_l1_fix_time: 1.1547, d2.loss_plan_l1_fix_dist: 0.2141, d3.loss_plan_l1_fix_time: 1.1546, d3.loss_plan_l1_fix_dist: 0.2338, d4.loss_plan_l1_fix_time: 1.1587, d4.loss_plan_l1_fix_dist: 0.2569, d5.loss_plan_l1_fix_time: 1.1631, d5.loss_plan_l1_fix_dist: 0.2816, d6.loss_plan_l1_fix_time: 1.1680, d6.loss_plan_l1_fix_dist: 0.3099, d0.loss_cls_all: 0.2340, d0.loss_bbox_all: 0.4723, d0.loss_cls: 0.2340, d0.loss_bbox: 0.4723, d1.loss_cls: 0.2239, d1.loss_bbox: 0.4369, d2.loss_cls: 0.2110, d2.loss_bbox: 0.4204, d3.loss_cls: 0.2043, d3.loss_bbox: 0.4153, d4.loss_cls: 0.1974, d4.loss_bbox: 0.4145, d5.loss_cls: 0.1985, d5.loss_bbox: 0.4126, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7892, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6992, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6542, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6451, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6426, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6454, d0.loss_map_cls_all: 0.2997, d0.loss_map_pts_all: 1.8306, d0.loss_map_dir_all: 0.0129, d0.loss_map_cls: 0.2997, d0.loss_map_pts: 1.8306, d0.loss_map_dir: 0.0129, d1.loss_map_cls: 0.2676, d1.loss_map_pts: 1.2440, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2498, d2.loss_map_pts: 1.0474, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2367, d3.loss_map_pts: 0.9887, d3.loss_map_dir: 0.0135, d4.loss_map_cls: 0.2303, d4.loss_map_pts: 0.9735, d4.loss_map_dir: 0.0141, d5.loss_map_cls: 0.2289, d5.loss_map_pts: 0.9677, d5.loss_map_dir: 0.0142, loss: 33.0635, grad_norm: 157.0953 +2026-02-25 18:18:34,646 - DriveTransformer - INFO - Epoch [5][20800/39528] lr: 9.337e-05, eta: 7 days, 4:11:56, time: 0.807, data_time: 0.044, memory: 19865, loss_cls: 0.2040, loss_bbox: 0.4000, loss_traj: 0.7670, loss_traj_cls: 0.0010, loss_map_cls: 0.2015, loss_map_pts: 0.7814, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.7806, d0.loss_plan_l1_fix_dist: 0.5047, d1.loss_plan_l1_fix_time: 1.4260, d1.loss_plan_l1_fix_dist: 0.2078, d2.loss_plan_l1_fix_time: 1.4077, d2.loss_plan_l1_fix_dist: 0.2138, d3.loss_plan_l1_fix_time: 1.4061, d3.loss_plan_l1_fix_dist: 0.2253, d4.loss_plan_l1_fix_time: 1.4085, d4.loss_plan_l1_fix_dist: 0.2386, d5.loss_plan_l1_fix_time: 1.4120, d5.loss_plan_l1_fix_dist: 0.2540, d6.loss_plan_l1_fix_time: 1.4158, d6.loss_plan_l1_fix_dist: 0.2702, d0.loss_cls_all: 0.2429, d0.loss_bbox_all: 0.4622, d0.loss_cls: 0.2429, d0.loss_bbox: 0.4622, d1.loss_cls: 0.2282, d1.loss_bbox: 0.4312, d2.loss_cls: 0.2165, d2.loss_bbox: 0.4106, d3.loss_cls: 0.2080, d3.loss_bbox: 0.4050, d4.loss_cls: 0.2050, d4.loss_bbox: 0.4012, d5.loss_cls: 0.2046, d5.loss_bbox: 0.3997, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0144, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8410, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7806, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7662, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7671, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7681, d0.loss_map_cls_all: 0.2598, d0.loss_map_pts_all: 1.5441, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2598, d0.loss_map_pts: 1.5441, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2343, d1.loss_map_pts: 1.0439, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.2227, d2.loss_map_pts: 0.8727, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.2112, d3.loss_map_pts: 0.8089, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.2070, d4.loss_map_pts: 0.7902, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.2031, d5.loss_map_pts: 0.7836, d5.loss_map_dir: 0.0104, loss: 34.0536, grad_norm: 156.0785 +2026-02-25 18:19:14,895 - DriveTransformer - INFO - Epoch [5][20850/39528] lr: 9.337e-05, eta: 7 days, 4:11:16, time: 0.804, data_time: 0.043, memory: 19865, loss_cls: 0.2284, loss_bbox: 0.4188, loss_traj: 0.7936, loss_traj_cls: 0.0010, loss_map_cls: 0.2088, loss_map_pts: 0.8668, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.5962, d0.loss_plan_l1_fix_dist: 0.4581, d1.loss_plan_l1_fix_time: 1.4044, d1.loss_plan_l1_fix_dist: 0.2246, d2.loss_plan_l1_fix_time: 1.3974, d2.loss_plan_l1_fix_dist: 0.2342, d3.loss_plan_l1_fix_time: 1.4014, d3.loss_plan_l1_fix_dist: 0.2484, d4.loss_plan_l1_fix_time: 1.4058, d4.loss_plan_l1_fix_dist: 0.2665, d5.loss_plan_l1_fix_time: 1.4104, d5.loss_plan_l1_fix_dist: 0.2842, d6.loss_plan_l1_fix_time: 1.4153, d6.loss_plan_l1_fix_dist: 0.3014, d0.loss_cls_all: 0.2641, d0.loss_bbox_all: 0.4657, d0.loss_cls: 0.2641, d0.loss_bbox: 0.4657, d1.loss_cls: 0.2551, d1.loss_bbox: 0.4338, d2.loss_cls: 0.2397, d2.loss_bbox: 0.4232, d3.loss_cls: 0.2340, d3.loss_bbox: 0.4189, d4.loss_cls: 0.2276, d4.loss_bbox: 0.4193, d5.loss_cls: 0.2276, d5.loss_bbox: 0.4179, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0216, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8533, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8063, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8012, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8047, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7991, d0.loss_map_cls_all: 0.2664, d0.loss_map_pts_all: 1.6557, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2664, d0.loss_map_pts: 1.6557, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2337, d1.loss_map_pts: 1.1609, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.2221, d2.loss_map_pts: 0.9610, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.2114, d3.loss_map_pts: 0.8965, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.2099, d4.loss_map_pts: 0.8744, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.2082, d5.loss_map_pts: 0.8695, d5.loss_map_dir: 0.0110, loss: 35.1899, grad_norm: 158.0063 +2026-02-25 18:19:54,391 - DriveTransformer - INFO - Epoch [5][20900/39528] lr: 9.337e-05, eta: 7 days, 4:10:32, time: 0.790, data_time: 0.043, memory: 19865, loss_cls: 0.2461, loss_bbox: 0.4447, loss_traj: 0.7660, loss_traj_cls: 0.0009, loss_map_cls: 0.2406, loss_map_pts: 0.8604, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.8857, d0.loss_plan_l1_fix_dist: 0.3215, d1.loss_plan_l1_fix_time: 1.4635, d1.loss_plan_l1_fix_dist: 0.1895, d2.loss_plan_l1_fix_time: 1.4466, d2.loss_plan_l1_fix_dist: 0.2011, d3.loss_plan_l1_fix_time: 1.4452, d3.loss_plan_l1_fix_dist: 0.2170, d4.loss_plan_l1_fix_time: 1.4487, d4.loss_plan_l1_fix_dist: 0.2340, d5.loss_plan_l1_fix_time: 1.4532, d5.loss_plan_l1_fix_dist: 0.2533, d6.loss_plan_l1_fix_time: 1.4581, d6.loss_plan_l1_fix_dist: 0.2761, d0.loss_cls_all: 0.2825, d0.loss_bbox_all: 0.4952, d0.loss_cls: 0.2825, d0.loss_bbox: 0.4952, d1.loss_cls: 0.2684, d1.loss_bbox: 0.4628, d2.loss_cls: 0.2567, d2.loss_bbox: 0.4474, d3.loss_cls: 0.2498, d3.loss_bbox: 0.4427, d4.loss_cls: 0.2480, d4.loss_bbox: 0.4412, d5.loss_cls: 0.2450, d5.loss_bbox: 0.4440, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9269, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7984, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7703, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7681, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7661, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7651, d0.loss_map_cls_all: 0.3044, d0.loss_map_pts_all: 1.6316, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.3044, d0.loss_map_pts: 1.6316, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2766, d1.loss_map_pts: 1.1334, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.2644, d2.loss_map_pts: 0.9514, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.2526, d3.loss_map_pts: 0.8905, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.2453, d4.loss_map_pts: 0.8660, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.2409, d5.loss_map_pts: 0.8611, d5.loss_map_dir: 0.0111, loss: 35.6534, grad_norm: 158.9733 +2026-02-25 18:20:37,006 - DriveTransformer - INFO - Epoch [5][20950/39528] lr: 9.337e-05, eta: 7 days, 4:10:02, time: 0.852, data_time: 0.043, memory: 19865, loss_cls: 0.2021, loss_bbox: 0.4005, loss_traj: 0.8859, loss_traj_cls: 0.0009, loss_map_cls: 0.1745, loss_map_pts: 0.7564, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.7171, d0.loss_plan_l1_fix_dist: 0.4109, d1.loss_plan_l1_fix_time: 1.3979, d1.loss_plan_l1_fix_dist: 0.2280, d2.loss_plan_l1_fix_time: 1.3859, d2.loss_plan_l1_fix_dist: 0.2352, d3.loss_plan_l1_fix_time: 1.3831, d3.loss_plan_l1_fix_dist: 0.2462, d4.loss_plan_l1_fix_time: 1.3855, d4.loss_plan_l1_fix_dist: 0.2589, d5.loss_plan_l1_fix_time: 1.3888, d5.loss_plan_l1_fix_dist: 0.2739, d6.loss_plan_l1_fix_time: 1.3927, d6.loss_plan_l1_fix_dist: 0.2914, d0.loss_cls_all: 0.2287, d0.loss_bbox_all: 0.4608, d0.loss_cls: 0.2287, d0.loss_bbox: 0.4608, d1.loss_cls: 0.2242, d1.loss_bbox: 0.4223, d2.loss_cls: 0.2137, d2.loss_bbox: 0.4042, d3.loss_cls: 0.2068, d3.loss_bbox: 0.3997, d4.loss_cls: 0.2033, d4.loss_bbox: 0.3980, d5.loss_cls: 0.2017, d5.loss_bbox: 0.3985, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1524, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9398, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9067, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8871, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8896, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8904, d0.loss_map_cls_all: 0.2426, d0.loss_map_pts_all: 1.6282, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2426, d0.loss_map_pts: 1.6282, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2083, d1.loss_map_pts: 1.0445, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1963, d2.loss_map_pts: 0.8571, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1848, d3.loss_map_pts: 0.7910, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1772, d4.loss_map_pts: 0.7693, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1744, d5.loss_map_pts: 0.7586, d5.loss_map_dir: 0.0105, loss: 34.5245, grad_norm: 160.3501 +2026-02-25 18:21:18,617 - DriveTransformer - INFO - Epoch [5][21000/39528] lr: 9.337e-05, eta: 7 days, 4:09:27, time: 0.832, data_time: 0.047, memory: 19865, loss_cls: 0.2152, loss_bbox: 0.4043, loss_traj: 0.7051, loss_traj_cls: 0.0009, loss_map_cls: 0.2097, loss_map_pts: 0.9644, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.6527, d0.loss_plan_l1_fix_dist: 0.4285, d1.loss_plan_l1_fix_time: 1.2890, d1.loss_plan_l1_fix_dist: 0.2172, d2.loss_plan_l1_fix_time: 1.2715, d2.loss_plan_l1_fix_dist: 0.2265, d3.loss_plan_l1_fix_time: 1.2698, d3.loss_plan_l1_fix_dist: 0.2390, d4.loss_plan_l1_fix_time: 1.2722, d4.loss_plan_l1_fix_dist: 0.2538, d5.loss_plan_l1_fix_time: 1.2758, d5.loss_plan_l1_fix_dist: 0.2693, d6.loss_plan_l1_fix_time: 1.2802, d6.loss_plan_l1_fix_dist: 0.2856, d0.loss_cls_all: 0.2417, d0.loss_bbox_all: 0.4682, d0.loss_cls: 0.2417, d0.loss_bbox: 0.4682, d1.loss_cls: 0.2316, d1.loss_bbox: 0.4328, d2.loss_cls: 0.2237, d2.loss_bbox: 0.4138, d3.loss_cls: 0.2169, d3.loss_bbox: 0.4100, d4.loss_cls: 0.2161, d4.loss_bbox: 0.4066, d5.loss_cls: 0.2154, d5.loss_bbox: 0.4034, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8941, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7570, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7148, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7049, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7015, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7038, d0.loss_map_cls_all: 0.2743, d0.loss_map_pts_all: 1.7444, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2743, d0.loss_map_pts: 1.7444, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2449, d1.loss_map_pts: 1.2839, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.2277, d2.loss_map_pts: 1.0846, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.2167, d3.loss_map_pts: 1.0047, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.2111, d4.loss_map_pts: 0.9744, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.2101, d5.loss_map_pts: 0.9652, d5.loss_map_dir: 0.0103, loss: 34.3430, grad_norm: 161.4258 +2026-02-25 18:21:59,379 - DriveTransformer - INFO - Epoch [5][21050/39528] lr: 9.337e-05, eta: 7 days, 4:08:49, time: 0.815, data_time: 0.051, memory: 19865, loss_cls: 0.2591, loss_bbox: 0.4780, loss_traj: 0.8853, loss_traj_cls: 0.0009, loss_map_cls: 0.2631, loss_map_pts: 1.1140, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.8281, d0.loss_plan_l1_fix_dist: 0.4520, d1.loss_plan_l1_fix_time: 1.4315, d1.loss_plan_l1_fix_dist: 0.2335, d2.loss_plan_l1_fix_time: 1.4223, d2.loss_plan_l1_fix_dist: 0.2378, d3.loss_plan_l1_fix_time: 1.4198, d3.loss_plan_l1_fix_dist: 0.2491, d4.loss_plan_l1_fix_time: 1.4222, d4.loss_plan_l1_fix_dist: 0.2625, d5.loss_plan_l1_fix_time: 1.4247, d5.loss_plan_l1_fix_dist: 0.2791, d6.loss_plan_l1_fix_time: 1.4276, d6.loss_plan_l1_fix_dist: 0.2990, d0.loss_cls_all: 0.2930, d0.loss_bbox_all: 0.5566, d0.loss_cls: 0.2930, d0.loss_bbox: 0.5566, d1.loss_cls: 0.2893, d1.loss_bbox: 0.5175, d2.loss_cls: 0.2758, d2.loss_bbox: 0.4962, d3.loss_cls: 0.2670, d3.loss_bbox: 0.4860, d4.loss_cls: 0.2628, d4.loss_bbox: 0.4800, d5.loss_cls: 0.2599, d5.loss_bbox: 0.4787, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1786, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9365, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8911, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8783, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8835, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8782, d0.loss_map_cls_all: 0.3240, d0.loss_map_pts_all: 1.9983, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.3240, d0.loss_map_pts: 1.9983, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2994, d1.loss_map_pts: 1.4608, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2815, d2.loss_map_pts: 1.2373, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2746, d3.loss_map_pts: 1.1591, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.2674, d4.loss_map_pts: 1.1291, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.2644, d5.loss_map_pts: 1.1168, d5.loss_map_dir: 0.0125, loss: 39.7824, grad_norm: 160.6526 +2026-02-25 18:22:41,222 - DriveTransformer - INFO - Epoch [5][21100/39528] lr: 9.337e-05, eta: 7 days, 4:08:16, time: 0.837, data_time: 0.044, memory: 19865, loss_cls: 0.1881, loss_bbox: 0.4001, loss_traj: 0.7210, loss_traj_cls: 0.0009, loss_map_cls: 0.2039, loss_map_pts: 0.9094, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.3989, d0.loss_plan_l1_fix_dist: 0.3957, d1.loss_plan_l1_fix_time: 1.2704, d1.loss_plan_l1_fix_dist: 0.1915, d2.loss_plan_l1_fix_time: 1.2453, d2.loss_plan_l1_fix_dist: 0.2008, d3.loss_plan_l1_fix_time: 1.2468, d3.loss_plan_l1_fix_dist: 0.2190, d4.loss_plan_l1_fix_time: 1.2521, d4.loss_plan_l1_fix_dist: 0.2402, d5.loss_plan_l1_fix_time: 1.2576, d5.loss_plan_l1_fix_dist: 0.2628, d6.loss_plan_l1_fix_time: 1.2629, d6.loss_plan_l1_fix_dist: 0.2843, d0.loss_cls_all: 0.2182, d0.loss_bbox_all: 0.4543, d0.loss_cls: 0.2182, d0.loss_bbox: 0.4543, d1.loss_cls: 0.2087, d1.loss_bbox: 0.4223, d2.loss_cls: 0.1975, d2.loss_bbox: 0.4093, d3.loss_cls: 0.1937, d3.loss_bbox: 0.4013, d4.loss_cls: 0.1898, d4.loss_bbox: 0.3985, d5.loss_cls: 0.1875, d5.loss_bbox: 0.3993, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9239, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7501, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7218, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7159, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7148, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7198, d0.loss_map_cls_all: 0.2679, d0.loss_map_pts_all: 1.7926, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2679, d0.loss_map_pts: 1.7926, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2328, d1.loss_map_pts: 1.2385, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2176, d2.loss_map_pts: 1.0187, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.2097, d3.loss_map_pts: 0.9445, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.2058, d4.loss_map_pts: 0.9187, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.2047, d5.loss_map_pts: 0.9123, d5.loss_map_dir: 0.0120, loss: 33.3706, grad_norm: 160.7268 +2026-02-25 18:23:22,985 - DriveTransformer - INFO - Epoch [5][21150/39528] lr: 9.337e-05, eta: 7 days, 4:07:42, time: 0.835, data_time: 0.052, memory: 19865, loss_cls: 0.2024, loss_bbox: 0.4049, loss_traj: 0.6166, loss_traj_cls: 0.0009, loss_map_cls: 0.2065, loss_map_pts: 0.9068, loss_map_dir: 0.0133, d0.loss_plan_l1_fix_time: 2.6414, d0.loss_plan_l1_fix_dist: 0.4734, d1.loss_plan_l1_fix_time: 1.3096, d1.loss_plan_l1_fix_dist: 0.2171, d2.loss_plan_l1_fix_time: 1.2864, d2.loss_plan_l1_fix_dist: 0.2262, d3.loss_plan_l1_fix_time: 1.2831, d3.loss_plan_l1_fix_dist: 0.2422, d4.loss_plan_l1_fix_time: 1.2863, d4.loss_plan_l1_fix_dist: 0.2603, d5.loss_plan_l1_fix_time: 1.2907, d5.loss_plan_l1_fix_dist: 0.2796, d6.loss_plan_l1_fix_time: 1.2952, d6.loss_plan_l1_fix_dist: 0.2991, d0.loss_cls_all: 0.2321, d0.loss_bbox_all: 0.4603, d0.loss_cls: 0.2321, d0.loss_bbox: 0.4603, d1.loss_cls: 0.2200, d1.loss_bbox: 0.4264, d2.loss_cls: 0.2092, d2.loss_bbox: 0.4148, d3.loss_cls: 0.2036, d3.loss_bbox: 0.4061, d4.loss_cls: 0.2022, d4.loss_bbox: 0.4034, d5.loss_cls: 0.2013, d5.loss_bbox: 0.4029, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7534, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6705, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6435, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6301, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6232, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6169, d0.loss_map_cls_all: 0.2705, d0.loss_map_pts_all: 1.8245, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2705, d0.loss_map_pts: 1.8245, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2389, d1.loss_map_pts: 1.1997, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2231, d2.loss_map_pts: 0.9930, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2134, d3.loss_map_pts: 0.9300, d3.loss_map_dir: 0.0125, d4.loss_map_cls: 0.2071, d4.loss_map_pts: 0.9114, d4.loss_map_dir: 0.0131, d5.loss_map_cls: 0.2066, d5.loss_map_pts: 0.9081, d5.loss_map_dir: 0.0131, loss: 33.4662, grad_norm: 161.9554 +2026-02-25 18:24:03,864 - DriveTransformer - INFO - Epoch [5][21200/39528] lr: 9.337e-05, eta: 7 days, 4:07:04, time: 0.818, data_time: 0.043, memory: 19865, loss_cls: 0.2347, loss_bbox: 0.4367, loss_traj: 0.7098, loss_traj_cls: 0.0009, loss_map_cls: 0.2383, loss_map_pts: 0.9886, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 2.5433, d0.loss_plan_l1_fix_dist: 0.4140, d1.loss_plan_l1_fix_time: 1.2715, d1.loss_plan_l1_fix_dist: 0.2114, d2.loss_plan_l1_fix_time: 1.2527, d2.loss_plan_l1_fix_dist: 0.2186, d3.loss_plan_l1_fix_time: 1.2553, d3.loss_plan_l1_fix_dist: 0.2310, d4.loss_plan_l1_fix_time: 1.2602, d4.loss_plan_l1_fix_dist: 0.2478, d5.loss_plan_l1_fix_time: 1.2654, d5.loss_plan_l1_fix_dist: 0.2678, d6.loss_plan_l1_fix_time: 1.2711, d6.loss_plan_l1_fix_dist: 0.2921, d0.loss_cls_all: 0.2678, d0.loss_bbox_all: 0.4926, d0.loss_cls: 0.2678, d0.loss_bbox: 0.4926, d1.loss_cls: 0.2597, d1.loss_bbox: 0.4624, d2.loss_cls: 0.2469, d2.loss_bbox: 0.4477, d3.loss_cls: 0.2404, d3.loss_bbox: 0.4363, d4.loss_cls: 0.2353, d4.loss_bbox: 0.4358, d5.loss_cls: 0.2335, d5.loss_bbox: 0.4362, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9694, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7942, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7180, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7051, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7047, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7088, d0.loss_map_cls_all: 0.2932, d0.loss_map_pts_all: 1.8810, d0.loss_map_dir_all: 0.0132, d0.loss_map_cls: 0.2932, d0.loss_map_pts: 1.8810, d0.loss_map_dir: 0.0132, d1.loss_map_cls: 0.2629, d1.loss_map_pts: 1.3109, d1.loss_map_dir: 0.0125, d2.loss_map_cls: 0.2531, d2.loss_map_pts: 1.0930, d2.loss_map_dir: 0.0132, d3.loss_map_cls: 0.2449, d3.loss_map_pts: 1.0197, d3.loss_map_dir: 0.0137, d4.loss_map_cls: 0.2412, d4.loss_map_pts: 0.9952, d4.loss_map_dir: 0.0142, d5.loss_map_cls: 0.2390, d5.loss_map_pts: 0.9900, d5.loss_map_dir: 0.0143, loss: 35.2794, grad_norm: 163.6156 +2026-02-25 18:24:44,022 - DriveTransformer - INFO - Epoch [5][21250/39528] lr: 9.337e-05, eta: 7 days, 4:06:23, time: 0.803, data_time: 0.041, memory: 19865, loss_cls: 0.2534, loss_bbox: 0.4292, loss_traj: 0.8051, loss_traj_cls: 0.0009, loss_map_cls: 0.2369, loss_map_pts: 0.9437, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.9803, d0.loss_plan_l1_fix_dist: 0.3323, d1.loss_plan_l1_fix_time: 1.4532, d1.loss_plan_l1_fix_dist: 0.2152, d2.loss_plan_l1_fix_time: 1.4517, d2.loss_plan_l1_fix_dist: 0.2328, d3.loss_plan_l1_fix_time: 1.4604, d3.loss_plan_l1_fix_dist: 0.2582, d4.loss_plan_l1_fix_time: 1.4671, d4.loss_plan_l1_fix_dist: 0.2894, d5.loss_plan_l1_fix_time: 1.4738, d5.loss_plan_l1_fix_dist: 0.3244, d6.loss_plan_l1_fix_time: 1.4807, d6.loss_plan_l1_fix_dist: 0.3585, d0.loss_cls_all: 0.2813, d0.loss_bbox_all: 0.4965, d0.loss_cls: 0.2813, d0.loss_bbox: 0.4965, d1.loss_cls: 0.2695, d1.loss_bbox: 0.4601, d2.loss_cls: 0.2616, d2.loss_bbox: 0.4409, d3.loss_cls: 0.2566, d3.loss_bbox: 0.4315, d4.loss_cls: 0.2525, d4.loss_bbox: 0.4295, d5.loss_cls: 0.2523, d5.loss_bbox: 0.4294, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0779, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9035, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8324, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8152, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8069, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8039, d0.loss_map_cls_all: 0.2948, d0.loss_map_pts_all: 1.8147, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2948, d0.loss_map_pts: 1.8147, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2671, d1.loss_map_pts: 1.2233, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2530, d2.loss_map_pts: 1.0339, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2420, d3.loss_map_pts: 0.9702, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.2370, d4.loss_map_pts: 0.9502, d4.loss_map_dir: 0.0131, d5.loss_map_cls: 0.2364, d5.loss_map_pts: 0.9454, d5.loss_map_dir: 0.0133, loss: 37.4096, grad_norm: 165.9173 +2026-02-25 18:25:25,801 - DriveTransformer - INFO - Epoch [5][21300/39528] lr: 9.337e-05, eta: 7 days, 4:05:50, time: 0.836, data_time: 0.042, memory: 19865, loss_cls: 0.2428, loss_bbox: 0.4485, loss_traj: 0.7720, loss_traj_cls: 0.0009, loss_map_cls: 0.2020, loss_map_pts: 0.8627, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 3.3016, d0.loss_plan_l1_fix_dist: 0.5210, d1.loss_plan_l1_fix_time: 1.4018, d1.loss_plan_l1_fix_dist: 0.2750, d2.loss_plan_l1_fix_time: 1.3874, d2.loss_plan_l1_fix_dist: 0.2866, d3.loss_plan_l1_fix_time: 1.3928, d3.loss_plan_l1_fix_dist: 0.3038, d4.loss_plan_l1_fix_time: 1.3990, d4.loss_plan_l1_fix_dist: 0.3231, d5.loss_plan_l1_fix_time: 1.4057, d5.loss_plan_l1_fix_dist: 0.3461, d6.loss_plan_l1_fix_time: 1.4134, d6.loss_plan_l1_fix_dist: 0.3717, d0.loss_cls_all: 0.2648, d0.loss_bbox_all: 0.5010, d0.loss_cls: 0.2648, d0.loss_bbox: 0.5010, d1.loss_cls: 0.2549, d1.loss_bbox: 0.4711, d2.loss_cls: 0.2444, d2.loss_bbox: 0.4538, d3.loss_cls: 0.2413, d3.loss_bbox: 0.4466, d4.loss_cls: 0.2388, d4.loss_bbox: 0.4460, d5.loss_cls: 0.2409, d5.loss_bbox: 0.4463, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0143, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8238, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7810, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7717, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7655, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7756, d0.loss_map_cls_all: 0.2649, d0.loss_map_pts_all: 1.7322, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2649, d0.loss_map_pts: 1.7322, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2327, d1.loss_map_pts: 1.1442, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2219, d2.loss_map_pts: 0.9549, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.2125, d3.loss_map_pts: 0.8895, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2081, d4.loss_map_pts: 0.8697, d4.loss_map_dir: 0.0126, d5.loss_map_cls: 0.2039, d5.loss_map_pts: 0.8638, d5.loss_map_dir: 0.0127, loss: 36.5029, grad_norm: 164.9275 +2026-02-25 18:26:08,048 - DriveTransformer - INFO - Epoch [5][21350/39528] lr: 9.337e-05, eta: 7 days, 4:05:18, time: 0.845, data_time: 0.040, memory: 19865, loss_cls: 0.2166, loss_bbox: 0.4155, loss_traj: 0.7411, loss_traj_cls: 0.0009, loss_map_cls: 0.1774, loss_map_pts: 0.8421, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.8930, d0.loss_plan_l1_fix_dist: 0.4013, d1.loss_plan_l1_fix_time: 1.3755, d1.loss_plan_l1_fix_dist: 0.2231, d2.loss_plan_l1_fix_time: 1.3566, d2.loss_plan_l1_fix_dist: 0.2382, d3.loss_plan_l1_fix_time: 1.3541, d3.loss_plan_l1_fix_dist: 0.2565, d4.loss_plan_l1_fix_time: 1.3569, d4.loss_plan_l1_fix_dist: 0.2737, d5.loss_plan_l1_fix_time: 1.3604, d5.loss_plan_l1_fix_dist: 0.2917, d6.loss_plan_l1_fix_time: 1.3655, d6.loss_plan_l1_fix_dist: 0.3143, d0.loss_cls_all: 0.2405, d0.loss_bbox_all: 0.4711, d0.loss_cls: 0.2405, d0.loss_bbox: 0.4711, d1.loss_cls: 0.2335, d1.loss_bbox: 0.4398, d2.loss_cls: 0.2235, d2.loss_bbox: 0.4242, d3.loss_cls: 0.2197, d3.loss_bbox: 0.4153, d4.loss_cls: 0.2172, d4.loss_bbox: 0.4134, d5.loss_cls: 0.2166, d5.loss_bbox: 0.4134, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9170, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7988, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7601, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7467, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7421, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7403, d0.loss_map_cls_all: 0.2359, d0.loss_map_pts_all: 1.6779, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2359, d0.loss_map_pts: 1.6779, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2079, d1.loss_map_pts: 1.1337, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.1942, d2.loss_map_pts: 0.9474, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1854, d3.loss_map_pts: 0.8784, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.1808, d4.loss_map_pts: 0.8522, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1787, d5.loss_map_pts: 0.8429, d5.loss_map_dir: 0.0118, loss: 34.3238, grad_norm: 164.0837 +2026-02-25 18:26:49,968 - DriveTransformer - INFO - Epoch [5][21400/39528] lr: 9.337e-05, eta: 7 days, 4:04:45, time: 0.838, data_time: 0.047, memory: 19865, loss_cls: 0.2553, loss_bbox: 0.4463, loss_traj: 0.6473, loss_traj_cls: 0.0009, loss_map_cls: 0.2241, loss_map_pts: 1.0111, loss_map_dir: 0.0146, d0.loss_plan_l1_fix_time: 2.7843, d0.loss_plan_l1_fix_dist: 0.4652, d1.loss_plan_l1_fix_time: 1.2998, d1.loss_plan_l1_fix_dist: 0.2172, d2.loss_plan_l1_fix_time: 1.2990, d2.loss_plan_l1_fix_dist: 0.2271, d3.loss_plan_l1_fix_time: 1.3062, d3.loss_plan_l1_fix_dist: 0.2411, d4.loss_plan_l1_fix_time: 1.3113, d4.loss_plan_l1_fix_dist: 0.2596, d5.loss_plan_l1_fix_time: 1.3167, d5.loss_plan_l1_fix_dist: 0.2790, d6.loss_plan_l1_fix_time: 1.3228, d6.loss_plan_l1_fix_dist: 0.2966, d0.loss_cls_all: 0.2853, d0.loss_bbox_all: 0.5101, d0.loss_cls: 0.2853, d0.loss_bbox: 0.5101, d1.loss_cls: 0.2792, d1.loss_bbox: 0.4802, d2.loss_cls: 0.2652, d2.loss_bbox: 0.4618, d3.loss_cls: 0.2579, d3.loss_bbox: 0.4512, d4.loss_cls: 0.2536, d4.loss_bbox: 0.4468, d5.loss_cls: 0.2522, d5.loss_bbox: 0.4461, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8082, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6877, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6540, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6441, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6436, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6444, d0.loss_map_cls_all: 0.2744, d0.loss_map_pts_all: 1.9712, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2744, d0.loss_map_pts: 1.9712, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2529, d1.loss_map_pts: 1.3406, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2410, d2.loss_map_pts: 1.1187, d2.loss_map_dir: 0.0131, d3.loss_map_cls: 0.2327, d3.loss_map_pts: 1.0438, d3.loss_map_dir: 0.0138, d4.loss_map_cls: 0.2272, d4.loss_map_pts: 1.0186, d4.loss_map_dir: 0.0143, d5.loss_map_cls: 0.2244, d5.loss_map_pts: 1.0143, d5.loss_map_dir: 0.0144, loss: 35.7971, grad_norm: 165.3214 +2026-02-25 18:27:30,517 - DriveTransformer - INFO - Epoch [5][21450/39528] lr: 9.337e-05, eta: 7 days, 4:04:06, time: 0.811, data_time: 0.044, memory: 19865, loss_cls: 0.2050, loss_bbox: 0.3950, loss_traj: 0.7538, loss_traj_cls: 0.0009, loss_map_cls: 0.1758, loss_map_pts: 0.7353, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.4936, d0.loss_plan_l1_fix_dist: 0.3738, d1.loss_plan_l1_fix_time: 1.1693, d1.loss_plan_l1_fix_dist: 0.2143, d2.loss_plan_l1_fix_time: 1.1425, d2.loss_plan_l1_fix_dist: 0.2202, d3.loss_plan_l1_fix_time: 1.1465, d3.loss_plan_l1_fix_dist: 0.2356, d4.loss_plan_l1_fix_time: 1.1505, d4.loss_plan_l1_fix_dist: 0.2547, d5.loss_plan_l1_fix_time: 1.1552, d5.loss_plan_l1_fix_dist: 0.2755, d6.loss_plan_l1_fix_time: 1.1599, d6.loss_plan_l1_fix_dist: 0.2938, d0.loss_cls_all: 0.2319, d0.loss_bbox_all: 0.4374, d0.loss_cls: 0.2319, d0.loss_bbox: 0.4374, d1.loss_cls: 0.2248, d1.loss_bbox: 0.4106, d2.loss_cls: 0.2129, d2.loss_bbox: 0.3988, d3.loss_cls: 0.2085, d3.loss_bbox: 0.3911, d4.loss_cls: 0.2022, d4.loss_bbox: 0.3907, d5.loss_cls: 0.2033, d5.loss_bbox: 0.3908, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9277, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8206, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7787, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7659, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7569, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7564, d0.loss_map_cls_all: 0.2475, d0.loss_map_pts_all: 1.5104, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2475, d0.loss_map_pts: 1.5104, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2163, d1.loss_map_pts: 1.0142, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.1968, d2.loss_map_pts: 0.8283, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1852, d3.loss_map_pts: 0.7634, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1798, d4.loss_map_pts: 0.7437, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.1779, d5.loss_map_pts: 0.7363, d5.loss_map_dir: 0.0118, loss: 31.3839, grad_norm: 166.8152 +2026-02-25 18:28:10,661 - DriveTransformer - INFO - Epoch [5][21500/39528] lr: 9.337e-05, eta: 7 days, 4:03:25, time: 0.803, data_time: 0.043, memory: 19865, loss_cls: 0.2108, loss_bbox: 0.3825, loss_traj: 0.6086, loss_traj_cls: 0.0010, loss_map_cls: 0.1958, loss_map_pts: 0.8340, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.4595, d0.loss_plan_l1_fix_dist: 0.4018, d1.loss_plan_l1_fix_time: 1.2296, d1.loss_plan_l1_fix_dist: 0.2153, d2.loss_plan_l1_fix_time: 1.2241, d2.loss_plan_l1_fix_dist: 0.2231, d3.loss_plan_l1_fix_time: 1.2317, d3.loss_plan_l1_fix_dist: 0.2415, d4.loss_plan_l1_fix_time: 1.2363, d4.loss_plan_l1_fix_dist: 0.2608, d5.loss_plan_l1_fix_time: 1.2407, d5.loss_plan_l1_fix_dist: 0.2823, d6.loss_plan_l1_fix_time: 1.2450, d6.loss_plan_l1_fix_dist: 0.3079, d0.loss_cls_all: 0.2420, d0.loss_bbox_all: 0.4353, d0.loss_cls: 0.2420, d0.loss_bbox: 0.4353, d1.loss_cls: 0.2307, d1.loss_bbox: 0.4023, d2.loss_cls: 0.2180, d2.loss_bbox: 0.3872, d3.loss_cls: 0.2127, d3.loss_bbox: 0.3822, d4.loss_cls: 0.2092, d4.loss_bbox: 0.3808, d5.loss_cls: 0.2089, d5.loss_bbox: 0.3808, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7466, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6570, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6279, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6222, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6123, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6116, d0.loss_map_cls_all: 0.2572, d0.loss_map_pts_all: 1.6461, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2572, d0.loss_map_pts: 1.6461, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2318, d1.loss_map_pts: 1.1211, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2123, d2.loss_map_pts: 0.9311, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.2051, d3.loss_map_pts: 0.8635, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1995, d4.loss_map_pts: 0.8397, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.1967, d5.loss_map_pts: 0.8348, d5.loss_map_dir: 0.0120, loss: 31.8157, grad_norm: 166.6566 +2026-02-25 18:28:51,525 - DriveTransformer - INFO - Epoch [5][21550/39528] lr: 9.337e-05, eta: 7 days, 4:02:47, time: 0.817, data_time: 0.047, memory: 19865, loss_cls: 0.2333, loss_bbox: 0.4196, loss_traj: 0.7882, loss_traj_cls: 0.0009, loss_map_cls: 0.2068, loss_map_pts: 0.8871, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.6508, d0.loss_plan_l1_fix_dist: 0.3478, d1.loss_plan_l1_fix_time: 1.4178, d1.loss_plan_l1_fix_dist: 0.1936, d2.loss_plan_l1_fix_time: 1.4127, d2.loss_plan_l1_fix_dist: 0.2032, d3.loss_plan_l1_fix_time: 1.4135, d3.loss_plan_l1_fix_dist: 0.2154, d4.loss_plan_l1_fix_time: 1.4170, d4.loss_plan_l1_fix_dist: 0.2302, d5.loss_plan_l1_fix_time: 1.4211, d5.loss_plan_l1_fix_dist: 0.2471, d6.loss_plan_l1_fix_time: 1.4255, d6.loss_plan_l1_fix_dist: 0.2685, d0.loss_cls_all: 0.2666, d0.loss_bbox_all: 0.4696, d0.loss_cls: 0.2666, d0.loss_bbox: 0.4696, d1.loss_cls: 0.2535, d1.loss_bbox: 0.4425, d2.loss_cls: 0.2423, d2.loss_bbox: 0.4272, d3.loss_cls: 0.2392, d3.loss_bbox: 0.4196, d4.loss_cls: 0.2359, d4.loss_bbox: 0.4171, d5.loss_cls: 0.2342, d5.loss_bbox: 0.4170, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0132, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8534, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8012, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7882, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7867, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7878, d0.loss_map_cls_all: 0.2754, d0.loss_map_pts_all: 1.7464, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2754, d0.loss_map_pts: 1.7464, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2468, d1.loss_map_pts: 1.2056, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2304, d2.loss_map_pts: 1.0040, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.2161, d3.loss_map_pts: 0.9258, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.2115, d4.loss_map_pts: 0.8981, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.2079, d5.loss_map_pts: 0.8885, d5.loss_map_dir: 0.0116, loss: 35.4027, grad_norm: 162.7485 +2026-02-25 18:29:33,987 - DriveTransformer - INFO - Epoch [5][21600/39528] lr: 9.337e-05, eta: 7 days, 4:02:16, time: 0.851, data_time: 0.046, memory: 19865, loss_cls: 0.2109, loss_bbox: 0.4120, loss_traj: 0.7348, loss_traj_cls: 0.0009, loss_map_cls: 0.1874, loss_map_pts: 0.8735, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.8154, d0.loss_plan_l1_fix_dist: 0.3553, d1.loss_plan_l1_fix_time: 1.4107, d1.loss_plan_l1_fix_dist: 0.2024, d2.loss_plan_l1_fix_time: 1.4163, d2.loss_plan_l1_fix_dist: 0.2098, d3.loss_plan_l1_fix_time: 1.4176, d3.loss_plan_l1_fix_dist: 0.2197, d4.loss_plan_l1_fix_time: 1.4237, d4.loss_plan_l1_fix_dist: 0.2326, d5.loss_plan_l1_fix_time: 1.4298, d5.loss_plan_l1_fix_dist: 0.2464, d6.loss_plan_l1_fix_time: 1.4362, d6.loss_plan_l1_fix_dist: 0.2592, d0.loss_cls_all: 0.2372, d0.loss_bbox_all: 0.4694, d0.loss_cls: 0.2372, d0.loss_bbox: 0.4694, d1.loss_cls: 0.2335, d1.loss_bbox: 0.4370, d2.loss_cls: 0.2250, d2.loss_bbox: 0.4194, d3.loss_cls: 0.2173, d3.loss_bbox: 0.4133, d4.loss_cls: 0.2117, d4.loss_bbox: 0.4109, d5.loss_cls: 0.2115, d5.loss_bbox: 0.4101, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9814, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8061, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7279, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7241, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7259, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7294, d0.loss_map_cls_all: 0.2575, d0.loss_map_pts_all: 1.6974, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2575, d0.loss_map_pts: 1.6974, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2270, d1.loss_map_pts: 1.1400, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.2128, d2.loss_map_pts: 0.9562, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.2003, d3.loss_map_pts: 0.8960, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1930, d4.loss_map_pts: 0.8772, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1905, d5.loss_map_pts: 0.8713, d5.loss_map_dir: 0.0115, loss: 34.5586, grad_norm: 163.6042 +2026-02-25 18:30:13,073 - DriveTransformer - INFO - Epoch [5][21650/39528] lr: 9.337e-05, eta: 7 days, 4:01:31, time: 0.780, data_time: 0.039, memory: 19865, loss_cls: 0.2207, loss_bbox: 0.3992, loss_traj: 0.7902, loss_traj_cls: 0.0010, loss_map_cls: 0.1920, loss_map_pts: 0.7540, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.7027, d0.loss_plan_l1_fix_dist: 0.3726, d1.loss_plan_l1_fix_time: 1.2912, d1.loss_plan_l1_fix_dist: 0.1836, d2.loss_plan_l1_fix_time: 1.2646, d2.loss_plan_l1_fix_dist: 0.1933, d3.loss_plan_l1_fix_time: 1.2697, d3.loss_plan_l1_fix_dist: 0.2116, d4.loss_plan_l1_fix_time: 1.2758, d4.loss_plan_l1_fix_dist: 0.2331, d5.loss_plan_l1_fix_time: 1.2824, d5.loss_plan_l1_fix_dist: 0.2582, d6.loss_plan_l1_fix_time: 1.2899, d6.loss_plan_l1_fix_dist: 0.2831, d0.loss_cls_all: 0.2493, d0.loss_bbox_all: 0.4611, d0.loss_cls: 0.2493, d0.loss_bbox: 0.4611, d1.loss_cls: 0.2411, d1.loss_bbox: 0.4278, d2.loss_cls: 0.2263, d2.loss_bbox: 0.4107, d3.loss_cls: 0.2198, d3.loss_bbox: 0.4026, d4.loss_cls: 0.2157, d4.loss_bbox: 0.4012, d5.loss_cls: 0.2168, d5.loss_bbox: 0.4004, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9952, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8440, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8101, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8041, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7949, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7909, d0.loss_map_cls_all: 0.2617, d0.loss_map_pts_all: 1.6151, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2617, d0.loss_map_pts: 1.6151, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2297, d1.loss_map_pts: 1.0580, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.2151, d2.loss_map_pts: 0.8675, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.2029, d3.loss_map_pts: 0.7953, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1960, d4.loss_map_pts: 0.7682, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1924, d5.loss_map_pts: 0.7581, d5.loss_map_dir: 0.0099, loss: 33.2106, grad_norm: 168.6259 +2026-02-25 18:30:53,745 - DriveTransformer - INFO - Epoch [5][21700/39528] lr: 9.337e-05, eta: 7 days, 4:00:52, time: 0.813, data_time: 0.045, memory: 19865, loss_cls: 0.2210, loss_bbox: 0.4079, loss_traj: 0.6935, loss_traj_cls: 0.0010, loss_map_cls: 0.2101, loss_map_pts: 0.8745, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.6513, d0.loss_plan_l1_fix_dist: 0.3832, d1.loss_plan_l1_fix_time: 1.4420, d1.loss_plan_l1_fix_dist: 0.1893, d2.loss_plan_l1_fix_time: 1.4294, d2.loss_plan_l1_fix_dist: 0.1942, d3.loss_plan_l1_fix_time: 1.4348, d3.loss_plan_l1_fix_dist: 0.2054, d4.loss_plan_l1_fix_time: 1.4407, d4.loss_plan_l1_fix_dist: 0.2186, d5.loss_plan_l1_fix_time: 1.4472, d5.loss_plan_l1_fix_dist: 0.2333, d6.loss_plan_l1_fix_time: 1.4549, d6.loss_plan_l1_fix_dist: 0.2490, d0.loss_cls_all: 0.2495, d0.loss_bbox_all: 0.4646, d0.loss_cls: 0.2495, d0.loss_bbox: 0.4646, d1.loss_cls: 0.2399, d1.loss_bbox: 0.4334, d2.loss_cls: 0.2325, d2.loss_bbox: 0.4151, d3.loss_cls: 0.2267, d3.loss_bbox: 0.4080, d4.loss_cls: 0.2205, d4.loss_bbox: 0.4062, d5.loss_cls: 0.2205, d5.loss_bbox: 0.4058, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8769, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7380, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7067, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6972, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6940, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6945, d0.loss_map_cls_all: 0.2841, d0.loss_map_pts_all: 1.6679, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2841, d0.loss_map_pts: 1.6679, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2511, d1.loss_map_pts: 1.1617, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2343, d2.loss_map_pts: 0.9797, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.2223, d3.loss_map_pts: 0.9143, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.2144, d4.loss_map_pts: 0.8887, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.2112, d5.loss_map_pts: 0.8789, d5.loss_map_dir: 0.0115, loss: 34.3788, grad_norm: 167.7383 +2026-02-25 18:31:33,564 - DriveTransformer - INFO - Epoch [5][21750/39528] lr: 9.337e-05, eta: 7 days, 4:00:10, time: 0.797, data_time: 0.039, memory: 19865, loss_cls: 0.2423, loss_bbox: 0.4033, loss_traj: 0.7547, loss_traj_cls: 0.0009, loss_map_cls: 0.2312, loss_map_pts: 0.9162, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 3.0246, d0.loss_plan_l1_fix_dist: 0.4455, d1.loss_plan_l1_fix_time: 1.3687, d1.loss_plan_l1_fix_dist: 0.2249, d2.loss_plan_l1_fix_time: 1.3164, d2.loss_plan_l1_fix_dist: 0.2373, d3.loss_plan_l1_fix_time: 1.2997, d3.loss_plan_l1_fix_dist: 0.2564, d4.loss_plan_l1_fix_time: 1.2994, d4.loss_plan_l1_fix_dist: 0.2787, d5.loss_plan_l1_fix_time: 1.3021, d5.loss_plan_l1_fix_dist: 0.3001, d6.loss_plan_l1_fix_time: 1.3073, d6.loss_plan_l1_fix_dist: 0.3252, d0.loss_cls_all: 0.2737, d0.loss_bbox_all: 0.4661, d0.loss_cls: 0.2737, d0.loss_bbox: 0.4661, d1.loss_cls: 0.2636, d1.loss_bbox: 0.4375, d2.loss_cls: 0.2523, d2.loss_bbox: 0.4217, d3.loss_cls: 0.2470, d3.loss_bbox: 0.4120, d4.loss_cls: 0.2425, d4.loss_bbox: 0.4070, d5.loss_cls: 0.2415, d5.loss_bbox: 0.4053, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9118, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7994, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7634, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7564, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7564, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7567, d0.loss_map_cls_all: 0.2921, d0.loss_map_pts_all: 1.6852, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2921, d0.loss_map_pts: 1.6852, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2649, d1.loss_map_pts: 1.1753, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2492, d2.loss_map_pts: 1.0005, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.2386, d3.loss_map_pts: 0.9400, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2334, d4.loss_map_pts: 0.9202, d4.loss_map_dir: 0.0126, d5.loss_map_cls: 0.2322, d5.loss_map_pts: 0.9141, d5.loss_map_dir: 0.0128, loss: 35.3143, grad_norm: 168.6281 +2026-02-25 18:32:15,117 - DriveTransformer - INFO - Epoch [5][21800/39528] lr: 9.337e-05, eta: 7 days, 3:59:35, time: 0.831, data_time: 0.043, memory: 19865, loss_cls: 0.2292, loss_bbox: 0.4037, loss_traj: 0.8365, loss_traj_cls: 0.0010, loss_map_cls: 0.2035, loss_map_pts: 0.7846, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.3411, d0.loss_plan_l1_fix_dist: 0.3578, d1.loss_plan_l1_fix_time: 1.1793, d1.loss_plan_l1_fix_dist: 0.2163, d2.loss_plan_l1_fix_time: 1.1460, d2.loss_plan_l1_fix_dist: 0.2252, d3.loss_plan_l1_fix_time: 1.1409, d3.loss_plan_l1_fix_dist: 0.2453, d4.loss_plan_l1_fix_time: 1.1434, d4.loss_plan_l1_fix_dist: 0.2669, d5.loss_plan_l1_fix_time: 1.1466, d5.loss_plan_l1_fix_dist: 0.2912, d6.loss_plan_l1_fix_time: 1.1509, d6.loss_plan_l1_fix_dist: 0.3177, d0.loss_cls_all: 0.2508, d0.loss_bbox_all: 0.4667, d0.loss_cls: 0.2508, d0.loss_bbox: 0.4667, d1.loss_cls: 0.2442, d1.loss_bbox: 0.4303, d2.loss_cls: 0.2283, d2.loss_bbox: 0.4192, d3.loss_cls: 0.2248, d3.loss_bbox: 0.4109, d4.loss_cls: 0.2248, d4.loss_bbox: 0.4081, d5.loss_cls: 0.2268, d5.loss_bbox: 0.4053, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0499, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8660, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8234, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8239, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8318, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8337, d0.loss_map_cls_all: 0.2619, d0.loss_map_pts_all: 1.5845, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2619, d0.loss_map_pts: 1.5845, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2361, d1.loss_map_pts: 1.0565, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.2242, d2.loss_map_pts: 0.8707, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.2134, d3.loss_map_pts: 0.8080, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.2071, d4.loss_map_pts: 0.7900, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.2042, d5.loss_map_pts: 0.7842, d5.loss_map_dir: 0.0111, loss: 32.6908, grad_norm: 170.1241 +2026-02-25 18:32:54,753 - DriveTransformer - INFO - Epoch [5][21850/39528] lr: 9.337e-05, eta: 7 days, 3:58:52, time: 0.793, data_time: 0.041, memory: 19865, loss_cls: 0.2146, loss_bbox: 0.3834, loss_traj: 0.8667, loss_traj_cls: 0.0010, loss_map_cls: 0.1760, loss_map_pts: 0.7874, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.4213, d0.loss_plan_l1_fix_dist: 0.4142, d1.loss_plan_l1_fix_time: 1.1951, d1.loss_plan_l1_fix_dist: 0.2123, d2.loss_plan_l1_fix_time: 1.1829, d2.loss_plan_l1_fix_dist: 0.2214, d3.loss_plan_l1_fix_time: 1.1854, d3.loss_plan_l1_fix_dist: 0.2362, d4.loss_plan_l1_fix_time: 1.1899, d4.loss_plan_l1_fix_dist: 0.2534, d5.loss_plan_l1_fix_time: 1.1939, d5.loss_plan_l1_fix_dist: 0.2721, d6.loss_plan_l1_fix_time: 1.1977, d6.loss_plan_l1_fix_dist: 0.2905, d0.loss_cls_all: 0.2387, d0.loss_bbox_all: 0.4425, d0.loss_cls: 0.2387, d0.loss_bbox: 0.4425, d1.loss_cls: 0.2298, d1.loss_bbox: 0.4094, d2.loss_cls: 0.2236, d2.loss_bbox: 0.3913, d3.loss_cls: 0.2181, d3.loss_bbox: 0.3858, d4.loss_cls: 0.2121, d4.loss_bbox: 0.3858, d5.loss_cls: 0.2118, d5.loss_bbox: 0.3853, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0943, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9159, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8641, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8548, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8590, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8632, d0.loss_map_cls_all: 0.2360, d0.loss_map_pts_all: 1.5575, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2360, d0.loss_map_pts: 1.5575, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2094, d1.loss_map_pts: 1.0528, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1947, d2.loss_map_pts: 0.8678, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1840, d3.loss_map_pts: 0.8097, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1784, d4.loss_map_pts: 0.7911, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1769, d5.loss_map_pts: 0.7864, d5.loss_map_dir: 0.0101, loss: 32.6815, grad_norm: 169.7557 +2026-02-25 18:33:35,253 - DriveTransformer - INFO - Epoch [5][21900/39528] lr: 9.337e-05, eta: 7 days, 3:58:13, time: 0.810, data_time: 0.045, memory: 19865, loss_cls: 0.2249, loss_bbox: 0.4196, loss_traj: 0.7626, loss_traj_cls: 0.0009, loss_map_cls: 0.1843, loss_map_pts: 0.7637, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.7345, d0.loss_plan_l1_fix_dist: 0.3494, d1.loss_plan_l1_fix_time: 1.2661, d1.loss_plan_l1_fix_dist: 0.2033, d2.loss_plan_l1_fix_time: 1.2521, d2.loss_plan_l1_fix_dist: 0.2159, d3.loss_plan_l1_fix_time: 1.2575, d3.loss_plan_l1_fix_dist: 0.2317, d4.loss_plan_l1_fix_time: 1.2614, d4.loss_plan_l1_fix_dist: 0.2502, d5.loss_plan_l1_fix_time: 1.2646, d5.loss_plan_l1_fix_dist: 0.2676, d6.loss_plan_l1_fix_time: 1.2669, d6.loss_plan_l1_fix_dist: 0.2873, d0.loss_cls_all: 0.2497, d0.loss_bbox_all: 0.4750, d0.loss_cls: 0.2497, d0.loss_bbox: 0.4750, d1.loss_cls: 0.2498, d1.loss_bbox: 0.4436, d2.loss_cls: 0.2338, d2.loss_bbox: 0.4284, d3.loss_cls: 0.2281, d3.loss_bbox: 0.4216, d4.loss_cls: 0.2257, d4.loss_bbox: 0.4194, d5.loss_cls: 0.2250, d5.loss_bbox: 0.4182, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9539, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7973, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7592, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7548, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7545, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7597, d0.loss_map_cls_all: 0.2532, d0.loss_map_pts_all: 1.6049, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2532, d0.loss_map_pts: 1.6049, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2217, d1.loss_map_pts: 1.0493, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.2041, d2.loss_map_pts: 0.8602, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1945, d3.loss_map_pts: 0.7920, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1880, d4.loss_map_pts: 0.7696, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1845, d5.loss_map_pts: 0.7665, d5.loss_map_dir: 0.0106, loss: 33.0187, grad_norm: 167.6173 +2026-02-25 18:34:14,782 - DriveTransformer - INFO - Epoch [5][21950/39528] lr: 9.337e-05, eta: 7 days, 3:57:30, time: 0.791, data_time: 0.043, memory: 19865, loss_cls: 0.2207, loss_bbox: 0.3956, loss_traj: 0.8079, loss_traj_cls: 0.0009, loss_map_cls: 0.1988, loss_map_pts: 0.8395, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.3655, d0.loss_plan_l1_fix_dist: 0.4319, d1.loss_plan_l1_fix_time: 1.1397, d1.loss_plan_l1_fix_dist: 0.2043, d2.loss_plan_l1_fix_time: 1.1381, d2.loss_plan_l1_fix_dist: 0.2132, d3.loss_plan_l1_fix_time: 1.1437, d3.loss_plan_l1_fix_dist: 0.2277, d4.loss_plan_l1_fix_time: 1.1477, d4.loss_plan_l1_fix_dist: 0.2445, d5.loss_plan_l1_fix_time: 1.1513, d5.loss_plan_l1_fix_dist: 0.2632, d6.loss_plan_l1_fix_time: 1.1557, d6.loss_plan_l1_fix_dist: 0.2850, d0.loss_cls_all: 0.2433, d0.loss_bbox_all: 0.4601, d0.loss_cls: 0.2433, d0.loss_bbox: 0.4601, d1.loss_cls: 0.2388, d1.loss_bbox: 0.4285, d2.loss_cls: 0.2308, d2.loss_bbox: 0.4099, d3.loss_cls: 0.2208, d3.loss_bbox: 0.4027, d4.loss_cls: 0.2179, d4.loss_bbox: 0.3995, d5.loss_cls: 0.2200, d5.loss_bbox: 0.3948, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9906, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8598, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8112, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8022, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8035, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8036, d0.loss_map_cls_all: 0.2674, d0.loss_map_pts_all: 1.6829, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2674, d0.loss_map_pts: 1.6829, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2397, d1.loss_map_pts: 1.1444, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2234, d2.loss_map_pts: 0.9558, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.2109, d3.loss_map_pts: 0.8828, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.2047, d4.loss_map_pts: 0.8535, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.2002, d5.loss_map_pts: 0.8414, d5.loss_map_dir: 0.0110, loss: 32.9628, grad_norm: 167.4958 +2026-02-25 18:34:56,077 - DriveTransformer - INFO - Epoch [5][22000/39528] lr: 9.337e-05, eta: 7 days, 3:56:54, time: 0.826, data_time: 0.041, memory: 19865, loss_cls: 0.2125, loss_bbox: 0.4151, loss_traj: 0.7331, loss_traj_cls: 0.0009, loss_map_cls: 0.1596, loss_map_pts: 0.8103, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.4119, d0.loss_plan_l1_fix_dist: 0.3610, d1.loss_plan_l1_fix_time: 1.1832, d1.loss_plan_l1_fix_dist: 0.1946, d2.loss_plan_l1_fix_time: 1.1751, d2.loss_plan_l1_fix_dist: 0.2034, d3.loss_plan_l1_fix_time: 1.1751, d3.loss_plan_l1_fix_dist: 0.2152, d4.loss_plan_l1_fix_time: 1.1797, d4.loss_plan_l1_fix_dist: 0.2305, d5.loss_plan_l1_fix_time: 1.1863, d5.loss_plan_l1_fix_dist: 0.2493, d6.loss_plan_l1_fix_time: 1.1945, d6.loss_plan_l1_fix_dist: 0.2695, d0.loss_cls_all: 0.2415, d0.loss_bbox_all: 0.4676, d0.loss_cls: 0.2415, d0.loss_bbox: 0.4676, d1.loss_cls: 0.2310, d1.loss_bbox: 0.4402, d2.loss_cls: 0.2224, d2.loss_bbox: 0.4220, d3.loss_cls: 0.2168, d3.loss_bbox: 0.4167, d4.loss_cls: 0.2125, d4.loss_bbox: 0.4151, d5.loss_cls: 0.2132, d5.loss_bbox: 0.4135, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9164, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7972, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7516, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7374, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7332, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7311, d0.loss_map_cls_all: 0.2183, d0.loss_map_pts_all: 1.6408, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2183, d0.loss_map_pts: 1.6408, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.1944, d1.loss_map_pts: 1.0813, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.1799, d2.loss_map_pts: 0.9036, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.1686, d3.loss_map_pts: 0.8395, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.1631, d4.loss_map_pts: 0.8167, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1606, d5.loss_map_pts: 0.8099, d5.loss_map_dir: 0.0120, loss: 31.9818, grad_norm: 167.0362 +2026-02-25 18:35:36,947 - DriveTransformer - INFO - Epoch [5][22050/39528] lr: 9.337e-05, eta: 7 days, 3:56:16, time: 0.817, data_time: 0.046, memory: 19865, loss_cls: 0.2154, loss_bbox: 0.4212, loss_traj: 0.8419, loss_traj_cls: 0.0009, loss_map_cls: 0.2103, loss_map_pts: 0.8314, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.7022, d0.loss_plan_l1_fix_dist: 0.4117, d1.loss_plan_l1_fix_time: 1.1554, d1.loss_plan_l1_fix_dist: 0.2220, d2.loss_plan_l1_fix_time: 1.1395, d2.loss_plan_l1_fix_dist: 0.2294, d3.loss_plan_l1_fix_time: 1.1407, d3.loss_plan_l1_fix_dist: 0.2428, d4.loss_plan_l1_fix_time: 1.1449, d4.loss_plan_l1_fix_dist: 0.2593, d5.loss_plan_l1_fix_time: 1.1503, d5.loss_plan_l1_fix_dist: 0.2790, d6.loss_plan_l1_fix_time: 1.1569, d6.loss_plan_l1_fix_dist: 0.3017, d0.loss_cls_all: 0.2436, d0.loss_bbox_all: 0.4757, d0.loss_cls: 0.2436, d0.loss_bbox: 0.4757, d1.loss_cls: 0.2373, d1.loss_bbox: 0.4470, d2.loss_cls: 0.2248, d2.loss_bbox: 0.4318, d3.loss_cls: 0.2200, d3.loss_bbox: 0.4237, d4.loss_cls: 0.2165, d4.loss_bbox: 0.4224, d5.loss_cls: 0.2157, d5.loss_bbox: 0.4221, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0669, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9245, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8681, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8591, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8403, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8416, d0.loss_map_cls_all: 0.2735, d0.loss_map_pts_all: 1.6721, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2735, d0.loss_map_pts: 1.6721, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2460, d1.loss_map_pts: 1.1356, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2304, d2.loss_map_pts: 0.9282, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2205, d3.loss_map_pts: 0.8605, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.2153, d4.loss_map_pts: 0.8380, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.2109, d5.loss_map_pts: 0.8317, d5.loss_map_dir: 0.0121, loss: 33.8643, grad_norm: 164.8147 +2026-02-25 18:36:17,500 - DriveTransformer - INFO - Epoch [5][22100/39528] lr: 9.337e-05, eta: 7 days, 3:55:37, time: 0.811, data_time: 0.047, memory: 19865, loss_cls: 0.2352, loss_bbox: 0.4313, loss_traj: 0.8184, loss_traj_cls: 0.0009, loss_map_cls: 0.2026, loss_map_pts: 0.8484, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.5672, d0.loss_plan_l1_fix_dist: 0.3823, d1.loss_plan_l1_fix_time: 1.2964, d1.loss_plan_l1_fix_dist: 0.1868, d2.loss_plan_l1_fix_time: 1.2749, d2.loss_plan_l1_fix_dist: 0.1968, d3.loss_plan_l1_fix_time: 1.2760, d3.loss_plan_l1_fix_dist: 0.2107, d4.loss_plan_l1_fix_time: 1.2786, d4.loss_plan_l1_fix_dist: 0.2280, d5.loss_plan_l1_fix_time: 1.2817, d5.loss_plan_l1_fix_dist: 0.2471, d6.loss_plan_l1_fix_time: 1.2858, d6.loss_plan_l1_fix_dist: 0.2670, d0.loss_cls_all: 0.2562, d0.loss_bbox_all: 0.4967, d0.loss_cls: 0.2562, d0.loss_bbox: 0.4967, d1.loss_cls: 0.2546, d1.loss_bbox: 0.4653, d2.loss_cls: 0.2443, d2.loss_bbox: 0.4444, d3.loss_cls: 0.2362, d3.loss_bbox: 0.4365, d4.loss_cls: 0.2330, d4.loss_bbox: 0.4343, d5.loss_cls: 0.2351, d5.loss_bbox: 0.4308, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0208, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8754, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8251, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8209, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8179, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8180, d0.loss_map_cls_all: 0.2689, d0.loss_map_pts_all: 1.6283, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2689, d0.loss_map_pts: 1.6283, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2384, d1.loss_map_pts: 1.1326, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2223, d2.loss_map_pts: 0.9411, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.2140, d3.loss_map_pts: 0.8719, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.2084, d4.loss_map_pts: 0.8529, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.2041, d5.loss_map_pts: 0.8482, d5.loss_map_dir: 0.0113, loss: 34.2350, grad_norm: 164.0525 +2026-02-25 18:37:00,580 - DriveTransformer - INFO - Epoch [5][22150/39528] lr: 9.337e-05, eta: 7 days, 3:55:09, time: 0.862, data_time: 0.049, memory: 19865, loss_cls: 0.2206, loss_bbox: 0.4016, loss_traj: 0.7305, loss_traj_cls: 0.0009, loss_map_cls: 0.1969, loss_map_pts: 0.9059, loss_map_dir: 0.0148, d0.loss_plan_l1_fix_time: 2.5958, d0.loss_plan_l1_fix_dist: 0.3501, d1.loss_plan_l1_fix_time: 1.3578, d1.loss_plan_l1_fix_dist: 0.2189, d2.loss_plan_l1_fix_time: 1.3438, d2.loss_plan_l1_fix_dist: 0.2261, d3.loss_plan_l1_fix_time: 1.3415, d3.loss_plan_l1_fix_dist: 0.2386, d4.loss_plan_l1_fix_time: 1.3436, d4.loss_plan_l1_fix_dist: 0.2523, d5.loss_plan_l1_fix_time: 1.3460, d5.loss_plan_l1_fix_dist: 0.2667, d6.loss_plan_l1_fix_time: 1.3490, d6.loss_plan_l1_fix_dist: 0.2810, d0.loss_cls_all: 0.2483, d0.loss_bbox_all: 0.4557, d0.loss_cls: 0.2483, d0.loss_bbox: 0.4557, d1.loss_cls: 0.2420, d1.loss_bbox: 0.4299, d2.loss_cls: 0.2311, d2.loss_bbox: 0.4142, d3.loss_cls: 0.2238, d3.loss_bbox: 0.4071, d4.loss_cls: 0.2209, d4.loss_bbox: 0.4019, d5.loss_cls: 0.2196, d5.loss_bbox: 0.4018, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8951, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7735, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7404, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7378, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7307, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7296, d0.loss_map_cls_all: 0.2611, d0.loss_map_pts_all: 1.8205, d0.loss_map_dir_all: 0.0136, d0.loss_map_cls: 0.2611, d0.loss_map_pts: 1.8205, d0.loss_map_dir: 0.0136, d1.loss_map_cls: 0.2352, d1.loss_map_pts: 1.2293, d1.loss_map_dir: 0.0130, d2.loss_map_cls: 0.2159, d2.loss_map_pts: 1.0045, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2051, d3.loss_map_pts: 0.9274, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.1993, d4.loss_map_pts: 0.9095, d4.loss_map_dir: 0.0145, d5.loss_map_cls: 0.1966, d5.loss_map_pts: 0.9049, d5.loss_map_dir: 0.0147, loss: 34.4835, grad_norm: 162.0696 +2026-02-25 18:37:40,571 - DriveTransformer - INFO - Epoch [5][22200/39528] lr: 9.337e-05, eta: 7 days, 3:54:27, time: 0.800, data_time: 0.041, memory: 19865, loss_cls: 0.2147, loss_bbox: 0.3877, loss_traj: 0.6687, loss_traj_cls: 0.0009, loss_map_cls: 0.1637, loss_map_pts: 0.8396, loss_map_dir: 0.0130, d0.loss_plan_l1_fix_time: 2.4730, d0.loss_plan_l1_fix_dist: 0.3249, d1.loss_plan_l1_fix_time: 1.1929, d1.loss_plan_l1_fix_dist: 0.1766, d2.loss_plan_l1_fix_time: 1.1864, d2.loss_plan_l1_fix_dist: 0.1872, d3.loss_plan_l1_fix_time: 1.1941, d3.loss_plan_l1_fix_dist: 0.2022, d4.loss_plan_l1_fix_time: 1.1992, d4.loss_plan_l1_fix_dist: 0.2182, d5.loss_plan_l1_fix_time: 1.2033, d5.loss_plan_l1_fix_dist: 0.2349, d6.loss_plan_l1_fix_time: 1.2072, d6.loss_plan_l1_fix_dist: 0.2566, d0.loss_cls_all: 0.2410, d0.loss_bbox_all: 0.4403, d0.loss_cls: 0.2410, d0.loss_bbox: 0.4403, d1.loss_cls: 0.2331, d1.loss_bbox: 0.4107, d2.loss_cls: 0.2246, d2.loss_bbox: 0.3960, d3.loss_cls: 0.2204, d3.loss_bbox: 0.3885, d4.loss_cls: 0.2153, d4.loss_bbox: 0.3877, d5.loss_cls: 0.2144, d5.loss_bbox: 0.3870, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8811, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7195, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6835, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6709, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6689, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6661, d0.loss_map_cls_all: 0.2326, d0.loss_map_pts_all: 1.6233, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.2326, d0.loss_map_pts: 1.6233, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2000, d1.loss_map_pts: 1.0966, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.1810, d2.loss_map_pts: 0.9171, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.1712, d3.loss_map_pts: 0.8583, d3.loss_map_dir: 0.0125, d4.loss_map_cls: 0.1666, d4.loss_map_pts: 0.8395, d4.loss_map_dir: 0.0129, d5.loss_map_cls: 0.1643, d5.loss_map_pts: 0.8377, d5.loss_map_dir: 0.0130, loss: 31.5123, grad_norm: 163.0155 +2026-02-25 18:38:21,263 - DriveTransformer - INFO - Epoch [5][22250/39528] lr: 9.337e-05, eta: 7 days, 3:53:49, time: 0.814, data_time: 0.045, memory: 19865, loss_cls: 0.2268, loss_bbox: 0.4096, loss_traj: 0.7229, loss_traj_cls: 0.0010, loss_map_cls: 0.1930, loss_map_pts: 0.8646, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.7054, d0.loss_plan_l1_fix_dist: 0.4248, d1.loss_plan_l1_fix_time: 1.2890, d1.loss_plan_l1_fix_dist: 0.2513, d2.loss_plan_l1_fix_time: 1.2697, d2.loss_plan_l1_fix_dist: 0.2560, d3.loss_plan_l1_fix_time: 1.2632, d3.loss_plan_l1_fix_dist: 0.2677, d4.loss_plan_l1_fix_time: 1.2648, d4.loss_plan_l1_fix_dist: 0.2833, d5.loss_plan_l1_fix_time: 1.2670, d5.loss_plan_l1_fix_dist: 0.3004, d6.loss_plan_l1_fix_time: 1.2699, d6.loss_plan_l1_fix_dist: 0.3216, d0.loss_cls_all: 0.2526, d0.loss_bbox_all: 0.4645, d0.loss_cls: 0.2526, d0.loss_bbox: 0.4645, d1.loss_cls: 0.2471, d1.loss_bbox: 0.4348, d2.loss_cls: 0.2365, d2.loss_bbox: 0.4186, d3.loss_cls: 0.2307, d3.loss_bbox: 0.4124, d4.loss_cls: 0.2242, d4.loss_bbox: 0.4119, d5.loss_cls: 0.2246, d5.loss_bbox: 0.4103, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8765, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7652, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7254, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7209, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7193, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7184, d0.loss_map_cls_all: 0.2641, d0.loss_map_pts_all: 1.7116, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.2641, d0.loss_map_pts: 1.7116, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2319, d1.loss_map_pts: 1.1486, d1.loss_map_dir: 0.0121, d2.loss_map_cls: 0.2155, d2.loss_map_pts: 0.9616, d2.loss_map_dir: 0.0126, d3.loss_map_cls: 0.2080, d3.loss_map_pts: 0.8954, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.1997, d4.loss_map_pts: 0.8722, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.1950, d5.loss_map_pts: 0.8634, d5.loss_map_dir: 0.0136, loss: 33.9149, grad_norm: 166.4312 +2026-02-25 18:39:03,550 - DriveTransformer - INFO - Epoch [5][22300/39528] lr: 9.337e-05, eta: 7 days, 3:53:17, time: 0.846, data_time: 0.043, memory: 19865, loss_cls: 0.2236, loss_bbox: 0.4030, loss_traj: 0.9019, loss_traj_cls: 0.0010, loss_map_cls: 0.1973, loss_map_pts: 0.9874, loss_map_dir: 0.0136, d0.loss_plan_l1_fix_time: 2.8854, d0.loss_plan_l1_fix_dist: 0.4533, d1.loss_plan_l1_fix_time: 1.3440, d1.loss_plan_l1_fix_dist: 0.2563, d2.loss_plan_l1_fix_time: 1.3309, d2.loss_plan_l1_fix_dist: 0.2621, d3.loss_plan_l1_fix_time: 1.3285, d3.loss_plan_l1_fix_dist: 0.2741, d4.loss_plan_l1_fix_time: 1.3312, d4.loss_plan_l1_fix_dist: 0.2896, d5.loss_plan_l1_fix_time: 1.3354, d5.loss_plan_l1_fix_dist: 0.3075, d6.loss_plan_l1_fix_time: 1.3418, d6.loss_plan_l1_fix_dist: 0.3275, d0.loss_cls_all: 0.2460, d0.loss_bbox_all: 0.4622, d0.loss_cls: 0.2460, d0.loss_bbox: 0.4622, d1.loss_cls: 0.2492, d1.loss_bbox: 0.4309, d2.loss_cls: 0.2346, d2.loss_bbox: 0.4142, d3.loss_cls: 0.2302, d3.loss_bbox: 0.4083, d4.loss_cls: 0.2257, d4.loss_bbox: 0.4024, d5.loss_cls: 0.2238, d5.loss_bbox: 0.4012, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1776, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0070, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9419, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9048, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8988, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9018, d0.loss_map_cls_all: 0.2678, d0.loss_map_pts_all: 1.7797, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.2678, d0.loss_map_pts: 1.7797, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.2313, d1.loss_map_pts: 1.2463, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2179, d2.loss_map_pts: 1.0730, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2069, d3.loss_map_pts: 1.0147, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.2026, d4.loss_map_pts: 0.9896, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.1998, d5.loss_map_pts: 0.9848, d5.loss_map_dir: 0.0135, loss: 36.8197, grad_norm: 169.1880 +2026-02-25 18:39:42,206 - DriveTransformer - INFO - Epoch [5][22350/39528] lr: 9.337e-05, eta: 7 days, 3:52:30, time: 0.773, data_time: 0.044, memory: 19865, loss_cls: 0.2304, loss_bbox: 0.3989, loss_traj: 0.9524, loss_traj_cls: 0.0010, loss_map_cls: 0.2023, loss_map_pts: 0.8539, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.8610, d0.loss_plan_l1_fix_dist: 0.3715, d1.loss_plan_l1_fix_time: 1.2810, d1.loss_plan_l1_fix_dist: 0.1858, d2.loss_plan_l1_fix_time: 1.2608, d2.loss_plan_l1_fix_dist: 0.1875, d3.loss_plan_l1_fix_time: 1.2608, d3.loss_plan_l1_fix_dist: 0.1970, d4.loss_plan_l1_fix_time: 1.2637, d4.loss_plan_l1_fix_dist: 0.2077, d5.loss_plan_l1_fix_time: 1.2677, d5.loss_plan_l1_fix_dist: 0.2212, d6.loss_plan_l1_fix_time: 1.2732, d6.loss_plan_l1_fix_dist: 0.2354, d0.loss_cls_all: 0.2565, d0.loss_bbox_all: 0.4576, d0.loss_cls: 0.2565, d0.loss_bbox: 0.4576, d1.loss_cls: 0.2490, d1.loss_bbox: 0.4321, d2.loss_cls: 0.2354, d2.loss_bbox: 0.4114, d3.loss_cls: 0.2318, d3.loss_bbox: 0.4047, d4.loss_cls: 0.2283, d4.loss_bbox: 0.4015, d5.loss_cls: 0.2280, d5.loss_bbox: 0.3999, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2990, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0592, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9630, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9496, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9478, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9484, d0.loss_map_cls_all: 0.2762, d0.loss_map_pts_all: 1.5352, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2762, d0.loss_map_pts: 1.5352, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2380, d1.loss_map_pts: 1.1139, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.2204, d2.loss_map_pts: 0.9388, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.2089, d3.loss_map_pts: 0.8831, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.2059, d4.loss_map_pts: 0.8608, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.2029, d5.loss_map_pts: 0.8560, d5.loss_map_dir: 0.0108, loss: 34.9690, grad_norm: 169.1069 +2026-02-25 18:40:23,190 - DriveTransformer - INFO - Epoch [5][22400/39528] lr: 9.337e-05, eta: 7 days, 3:51:53, time: 0.821, data_time: 0.042, memory: 19865, loss_cls: 0.2316, loss_bbox: 0.4113, loss_traj: 0.6652, loss_traj_cls: 0.0010, loss_map_cls: 0.2208, loss_map_pts: 0.9522, loss_map_dir: 0.0145, d0.loss_plan_l1_fix_time: 3.2437, d0.loss_plan_l1_fix_dist: 0.4127, d1.loss_plan_l1_fix_time: 1.2846, d1.loss_plan_l1_fix_dist: 0.2041, d2.loss_plan_l1_fix_time: 1.2682, d2.loss_plan_l1_fix_dist: 0.2091, d3.loss_plan_l1_fix_time: 1.2694, d3.loss_plan_l1_fix_dist: 0.2189, d4.loss_plan_l1_fix_time: 1.2740, d4.loss_plan_l1_fix_dist: 0.2319, d5.loss_plan_l1_fix_time: 1.2787, d5.loss_plan_l1_fix_dist: 0.2468, d6.loss_plan_l1_fix_time: 1.2844, d6.loss_plan_l1_fix_dist: 0.2644, d0.loss_cls_all: 0.2564, d0.loss_bbox_all: 0.4699, d0.loss_cls: 0.2564, d0.loss_bbox: 0.4699, d1.loss_cls: 0.2499, d1.loss_bbox: 0.4372, d2.loss_cls: 0.2410, d2.loss_bbox: 0.4203, d3.loss_cls: 0.2361, d3.loss_bbox: 0.4136, d4.loss_cls: 0.2313, d4.loss_bbox: 0.4120, d5.loss_cls: 0.2305, d5.loss_bbox: 0.4105, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8425, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7088, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6716, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6598, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6576, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6601, d0.loss_map_cls_all: 0.2883, d0.loss_map_pts_all: 1.7607, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.2883, d0.loss_map_pts: 1.7607, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2578, d1.loss_map_pts: 1.2076, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2397, d2.loss_map_pts: 1.0268, d2.loss_map_dir: 0.0132, d3.loss_map_cls: 0.2276, d3.loss_map_pts: 0.9712, d3.loss_map_dir: 0.0139, d4.loss_map_cls: 0.2239, d4.loss_map_pts: 0.9536, d4.loss_map_dir: 0.0143, d5.loss_map_cls: 0.2216, d5.loss_map_pts: 0.9524, d5.loss_map_dir: 0.0144, loss: 34.6042, grad_norm: 172.3856 +2026-02-25 18:41:04,041 - DriveTransformer - INFO - Epoch [5][22450/39528] lr: 9.337e-05, eta: 7 days, 3:51:15, time: 0.816, data_time: 0.039, memory: 19865, loss_cls: 0.1988, loss_bbox: 0.3805, loss_traj: 0.7328, loss_traj_cls: 0.0010, loss_map_cls: 0.1890, loss_map_pts: 0.8355, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.3022, d0.loss_plan_l1_fix_dist: 0.3786, d1.loss_plan_l1_fix_time: 1.2047, d1.loss_plan_l1_fix_dist: 0.2054, d2.loss_plan_l1_fix_time: 1.1895, d2.loss_plan_l1_fix_dist: 0.2087, d3.loss_plan_l1_fix_time: 1.1972, d3.loss_plan_l1_fix_dist: 0.2179, d4.loss_plan_l1_fix_time: 1.2020, d4.loss_plan_l1_fix_dist: 0.2288, d5.loss_plan_l1_fix_time: 1.2068, d5.loss_plan_l1_fix_dist: 0.2396, d6.loss_plan_l1_fix_time: 1.2126, d6.loss_plan_l1_fix_dist: 0.2532, d0.loss_cls_all: 0.2246, d0.loss_bbox_all: 0.4321, d0.loss_cls: 0.2246, d0.loss_bbox: 0.4321, d1.loss_cls: 0.2159, d1.loss_bbox: 0.4049, d2.loss_cls: 0.2053, d2.loss_bbox: 0.3905, d3.loss_cls: 0.2019, d3.loss_bbox: 0.3844, d4.loss_cls: 0.1978, d4.loss_bbox: 0.3828, d5.loss_cls: 0.1979, d5.loss_bbox: 0.3810, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9690, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7916, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7552, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7430, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7360, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7394, d0.loss_map_cls_all: 0.2593, d0.loss_map_pts_all: 1.6865, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.2593, d0.loss_map_pts: 1.6865, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.2279, d1.loss_map_pts: 1.0997, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2109, d2.loss_map_pts: 0.9099, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.1989, d3.loss_map_pts: 0.8579, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.1916, d4.loss_map_pts: 0.8390, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.1877, d5.loss_map_pts: 0.8364, d5.loss_map_dir: 0.0124, loss: 32.1476, grad_norm: 171.5609 +2026-02-25 18:41:45,270 - DriveTransformer - INFO - Epoch [5][22500/39528] lr: 9.337e-05, eta: 7 days, 3:50:38, time: 0.825, data_time: 0.043, memory: 19865, loss_cls: 0.2048, loss_bbox: 0.3938, loss_traj: 0.6695, loss_traj_cls: 0.0010, loss_map_cls: 0.2130, loss_map_pts: 0.9268, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 2.7518, d0.loss_plan_l1_fix_dist: 0.3517, d1.loss_plan_l1_fix_time: 1.3754, d1.loss_plan_l1_fix_dist: 0.2165, d2.loss_plan_l1_fix_time: 1.3623, d2.loss_plan_l1_fix_dist: 0.2186, d3.loss_plan_l1_fix_time: 1.3633, d3.loss_plan_l1_fix_dist: 0.2260, d4.loss_plan_l1_fix_time: 1.3656, d4.loss_plan_l1_fix_dist: 0.2335, d5.loss_plan_l1_fix_time: 1.3687, d5.loss_plan_l1_fix_dist: 0.2419, d6.loss_plan_l1_fix_time: 1.3728, d6.loss_plan_l1_fix_dist: 0.2510, d0.loss_cls_all: 0.2374, d0.loss_bbox_all: 0.4382, d0.loss_cls: 0.2374, d0.loss_bbox: 0.4382, d1.loss_cls: 0.2271, d1.loss_bbox: 0.4099, d2.loss_cls: 0.2132, d2.loss_bbox: 0.3984, d3.loss_cls: 0.2114, d3.loss_bbox: 0.3942, d4.loss_cls: 0.2072, d4.loss_bbox: 0.3911, d5.loss_cls: 0.2043, d5.loss_bbox: 0.3934, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8940, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7157, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6845, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6707, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6719, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6706, d0.loss_map_cls_all: 0.2721, d0.loss_map_pts_all: 1.6749, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2721, d0.loss_map_pts: 1.6749, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2491, d1.loss_map_pts: 1.1795, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2324, d2.loss_map_pts: 1.0050, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.2218, d3.loss_map_pts: 0.9525, d3.loss_map_dir: 0.0121, d4.loss_map_cls: 0.2183, d4.loss_map_pts: 0.9305, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.2136, d5.loss_map_pts: 0.9259, d5.loss_map_dir: 0.0124, loss: 33.9410, grad_norm: 170.4319 +2026-02-25 18:42:26,340 - DriveTransformer - INFO - Epoch [5][22550/39528] lr: 9.337e-05, eta: 7 days, 3:50:02, time: 0.821, data_time: 0.044, memory: 19865, loss_cls: 0.2183, loss_bbox: 0.4121, loss_traj: 0.8364, loss_traj_cls: 0.0010, loss_map_cls: 0.1880, loss_map_pts: 0.8362, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.5514, d0.loss_plan_l1_fix_dist: 0.3917, d1.loss_plan_l1_fix_time: 1.2172, d1.loss_plan_l1_fix_dist: 0.1874, d2.loss_plan_l1_fix_time: 1.2033, d2.loss_plan_l1_fix_dist: 0.1905, d3.loss_plan_l1_fix_time: 1.2035, d3.loss_plan_l1_fix_dist: 0.1985, d4.loss_plan_l1_fix_time: 1.2059, d4.loss_plan_l1_fix_dist: 0.2098, d5.loss_plan_l1_fix_time: 1.2090, d5.loss_plan_l1_fix_dist: 0.2246, d6.loss_plan_l1_fix_time: 1.2130, d6.loss_plan_l1_fix_dist: 0.2404, d0.loss_cls_all: 0.2406, d0.loss_bbox_all: 0.4712, d0.loss_cls: 0.2406, d0.loss_bbox: 0.4712, d1.loss_cls: 0.2308, d1.loss_bbox: 0.4391, d2.loss_cls: 0.2221, d2.loss_bbox: 0.4223, d3.loss_cls: 0.2189, d3.loss_bbox: 0.4170, d4.loss_cls: 0.2167, d4.loss_bbox: 0.4148, d5.loss_cls: 0.2167, d5.loss_bbox: 0.4139, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0638, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9188, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8700, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8476, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8414, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8361, d0.loss_map_cls_all: 0.2626, d0.loss_map_pts_all: 1.6603, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2626, d0.loss_map_pts: 1.6603, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2284, d1.loss_map_pts: 1.1195, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2097, d2.loss_map_pts: 0.9334, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.1999, d3.loss_map_pts: 0.8744, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1943, d4.loss_map_pts: 0.8504, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1905, d5.loss_map_pts: 0.8398, d5.loss_map_dir: 0.0114, loss: 33.5321, grad_norm: 170.2175 +2026-02-25 18:43:06,733 - DriveTransformer - INFO - Epoch [5][22600/39528] lr: 9.337e-05, eta: 7 days, 3:49:22, time: 0.808, data_time: 0.044, memory: 19865, loss_cls: 0.2136, loss_bbox: 0.4157, loss_traj: 0.7789, loss_traj_cls: 0.0010, loss_map_cls: 0.2274, loss_map_pts: 0.9127, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.6344, d0.loss_plan_l1_fix_dist: 0.3516, d1.loss_plan_l1_fix_time: 1.3159, d1.loss_plan_l1_fix_dist: 0.1996, d2.loss_plan_l1_fix_time: 1.2997, d2.loss_plan_l1_fix_dist: 0.2031, d3.loss_plan_l1_fix_time: 1.2990, d3.loss_plan_l1_fix_dist: 0.2107, d4.loss_plan_l1_fix_time: 1.3012, d4.loss_plan_l1_fix_dist: 0.2203, d5.loss_plan_l1_fix_time: 1.3037, d5.loss_plan_l1_fix_dist: 0.2314, d6.loss_plan_l1_fix_time: 1.3067, d6.loss_plan_l1_fix_dist: 0.2450, d0.loss_cls_all: 0.2424, d0.loss_bbox_all: 0.4776, d0.loss_cls: 0.2424, d0.loss_bbox: 0.4776, d1.loss_cls: 0.2350, d1.loss_bbox: 0.4436, d2.loss_cls: 0.2220, d2.loss_bbox: 0.4268, d3.loss_cls: 0.2180, d3.loss_bbox: 0.4190, d4.loss_cls: 0.2139, d4.loss_bbox: 0.4146, d5.loss_cls: 0.2131, d5.loss_bbox: 0.4144, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0058, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8480, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7927, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7799, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7801, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7773, d0.loss_map_cls_all: 0.2958, d0.loss_map_pts_all: 1.7578, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.2958, d0.loss_map_pts: 1.7578, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2690, d1.loss_map_pts: 1.1967, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2519, d2.loss_map_pts: 1.0072, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2407, d3.loss_map_pts: 0.9469, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2334, d4.loss_map_pts: 0.9233, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.2291, d5.loss_map_pts: 0.9133, d5.loss_map_dir: 0.0127, loss: 34.7388, grad_norm: 168.4629 +2026-02-25 18:43:48,152 - DriveTransformer - INFO - Epoch [5][22650/39528] lr: 9.337e-05, eta: 7 days, 3:48:46, time: 0.828, data_time: 0.045, memory: 19865, loss_cls: 0.2236, loss_bbox: 0.3979, loss_traj: 0.8863, loss_traj_cls: 0.0010, loss_map_cls: 0.2005, loss_map_pts: 0.8474, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.9454, d0.loss_plan_l1_fix_dist: 0.3493, d1.loss_plan_l1_fix_time: 1.3409, d1.loss_plan_l1_fix_dist: 0.2006, d2.loss_plan_l1_fix_time: 1.3223, d2.loss_plan_l1_fix_dist: 0.2036, d3.loss_plan_l1_fix_time: 1.3237, d3.loss_plan_l1_fix_dist: 0.2119, d4.loss_plan_l1_fix_time: 1.3278, d4.loss_plan_l1_fix_dist: 0.2214, d5.loss_plan_l1_fix_time: 1.3315, d5.loss_plan_l1_fix_dist: 0.2324, d6.loss_plan_l1_fix_time: 1.3349, d6.loss_plan_l1_fix_dist: 0.2453, d0.loss_cls_all: 0.2453, d0.loss_bbox_all: 0.4530, d0.loss_cls: 0.2453, d0.loss_bbox: 0.4530, d1.loss_cls: 0.2395, d1.loss_bbox: 0.4231, d2.loss_cls: 0.2271, d2.loss_bbox: 0.4057, d3.loss_cls: 0.2237, d3.loss_bbox: 0.3984, d4.loss_cls: 0.2223, d4.loss_bbox: 0.3968, d5.loss_cls: 0.2226, d5.loss_bbox: 0.3969, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2046, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9521, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8939, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8839, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8866, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8865, d0.loss_map_cls_all: 0.2548, d0.loss_map_pts_all: 1.6832, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2548, d0.loss_map_pts: 1.6832, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2307, d1.loss_map_pts: 1.1496, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2168, d2.loss_map_pts: 0.9565, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.2089, d3.loss_map_pts: 0.8833, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.2040, d4.loss_map_pts: 0.8581, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.2006, d5.loss_map_pts: 0.8503, d5.loss_map_dir: 0.0116, loss: 35.1378, grad_norm: 169.4839 +2026-02-25 18:44:29,963 - DriveTransformer - INFO - Epoch [5][22700/39528] lr: 9.337e-05, eta: 7 days, 3:48:13, time: 0.836, data_time: 0.040, memory: 19865, loss_cls: 0.2190, loss_bbox: 0.4330, loss_traj: 0.7312, loss_traj_cls: 0.0010, loss_map_cls: 0.2150, loss_map_pts: 0.9092, loss_map_dir: 0.0130, d0.loss_plan_l1_fix_time: 3.0477, d0.loss_plan_l1_fix_dist: 0.3847, d1.loss_plan_l1_fix_time: 1.5646, d1.loss_plan_l1_fix_dist: 0.1969, d2.loss_plan_l1_fix_time: 1.5465, d2.loss_plan_l1_fix_dist: 0.2006, d3.loss_plan_l1_fix_time: 1.5470, d3.loss_plan_l1_fix_dist: 0.2102, d4.loss_plan_l1_fix_time: 1.5499, d4.loss_plan_l1_fix_dist: 0.2215, d5.loss_plan_l1_fix_time: 1.5532, d5.loss_plan_l1_fix_dist: 0.2324, d6.loss_plan_l1_fix_time: 1.5572, d6.loss_plan_l1_fix_dist: 0.2424, d0.loss_cls_all: 0.2474, d0.loss_bbox_all: 0.4957, d0.loss_cls: 0.2474, d0.loss_bbox: 0.4957, d1.loss_cls: 0.2366, d1.loss_bbox: 0.4677, d2.loss_cls: 0.2278, d2.loss_bbox: 0.4457, d3.loss_cls: 0.2258, d3.loss_bbox: 0.4361, d4.loss_cls: 0.2212, d4.loss_bbox: 0.4330, d5.loss_cls: 0.2191, d5.loss_bbox: 0.4325, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0222, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8120, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7504, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7400, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7315, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7292, d0.loss_map_cls_all: 0.2824, d0.loss_map_pts_all: 1.8173, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.2824, d0.loss_map_pts: 1.8173, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2579, d1.loss_map_pts: 1.2094, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2399, d2.loss_map_pts: 1.0165, d2.loss_map_dir: 0.0122, d3.loss_map_cls: 0.2255, d3.loss_map_pts: 0.9401, d3.loss_map_dir: 0.0125, d4.loss_map_cls: 0.2179, d4.loss_map_pts: 0.9138, d4.loss_map_dir: 0.0129, d5.loss_map_cls: 0.2153, d5.loss_map_pts: 0.9101, d5.loss_map_dir: 0.0129, loss: 36.6328, grad_norm: 171.3301 +2026-02-25 18:45:11,681 - DriveTransformer - INFO - Epoch [5][22750/39528] lr: 9.337e-05, eta: 7 days, 3:47:39, time: 0.834, data_time: 0.050, memory: 19865, loss_cls: 0.1875, loss_bbox: 0.3609, loss_traj: 0.6232, loss_traj_cls: 0.0010, loss_map_cls: 0.1745, loss_map_pts: 0.8938, loss_map_dir: 0.0132, d0.loss_plan_l1_fix_time: 2.3522, d0.loss_plan_l1_fix_dist: 0.4477, d1.loss_plan_l1_fix_time: 1.0971, d1.loss_plan_l1_fix_dist: 0.2043, d2.loss_plan_l1_fix_time: 1.0779, d2.loss_plan_l1_fix_dist: 0.2100, d3.loss_plan_l1_fix_time: 1.0809, d3.loss_plan_l1_fix_dist: 0.2175, d4.loss_plan_l1_fix_time: 1.0835, d4.loss_plan_l1_fix_dist: 0.2263, d5.loss_plan_l1_fix_time: 1.0864, d5.loss_plan_l1_fix_dist: 0.2359, d6.loss_plan_l1_fix_time: 1.0904, d6.loss_plan_l1_fix_dist: 0.2473, d0.loss_cls_all: 0.2192, d0.loss_bbox_all: 0.4171, d0.loss_cls: 0.2192, d0.loss_bbox: 0.4171, d1.loss_cls: 0.2126, d1.loss_bbox: 0.3858, d2.loss_cls: 0.1999, d2.loss_bbox: 0.3733, d3.loss_cls: 0.1942, d3.loss_bbox: 0.3642, d4.loss_cls: 0.1891, d4.loss_bbox: 0.3612, d5.loss_cls: 0.1873, d5.loss_bbox: 0.3618, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8070, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6666, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6333, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6277, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6196, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6160, d0.loss_map_cls_all: 0.2424, d0.loss_map_pts_all: 1.8047, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.2424, d0.loss_map_pts: 1.8047, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2111, d1.loss_map_pts: 1.1963, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.1946, d2.loss_map_pts: 1.0010, d2.loss_map_dir: 0.0122, d3.loss_map_cls: 0.1842, d3.loss_map_pts: 0.9214, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.1785, d4.loss_map_pts: 0.8983, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.1752, d5.loss_map_pts: 0.8931, d5.loss_map_dir: 0.0131, loss: 31.0253, grad_norm: 170.7155 +2026-02-25 18:45:53,439 - DriveTransformer - INFO - Epoch [5][22800/39528] lr: 9.337e-05, eta: 7 days, 3:47:05, time: 0.835, data_time: 0.047, memory: 19865, loss_cls: 0.2062, loss_bbox: 0.4088, loss_traj: 0.6292, loss_traj_cls: 0.0010, loss_map_cls: 0.2105, loss_map_pts: 0.9381, loss_map_dir: 0.0148, d0.loss_plan_l1_fix_time: 2.6359, d0.loss_plan_l1_fix_dist: 0.3720, d1.loss_plan_l1_fix_time: 1.2147, d1.loss_plan_l1_fix_dist: 0.1987, d2.loss_plan_l1_fix_time: 1.1941, d2.loss_plan_l1_fix_dist: 0.2010, d3.loss_plan_l1_fix_time: 1.1943, d3.loss_plan_l1_fix_dist: 0.2087, d4.loss_plan_l1_fix_time: 1.1968, d4.loss_plan_l1_fix_dist: 0.2204, d5.loss_plan_l1_fix_time: 1.2004, d5.loss_plan_l1_fix_dist: 0.2355, d6.loss_plan_l1_fix_time: 1.2046, d6.loss_plan_l1_fix_dist: 0.2513, d0.loss_cls_all: 0.2395, d0.loss_bbox_all: 0.4668, d0.loss_cls: 0.2395, d0.loss_bbox: 0.4668, d1.loss_cls: 0.2314, d1.loss_bbox: 0.4318, d2.loss_cls: 0.2187, d2.loss_bbox: 0.4164, d3.loss_cls: 0.2129, d3.loss_bbox: 0.4110, d4.loss_cls: 0.2081, d4.loss_bbox: 0.4087, d5.loss_cls: 0.2060, d5.loss_bbox: 0.4087, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8482, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6865, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6260, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6269, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6216, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6224, d0.loss_map_cls_all: 0.2762, d0.loss_map_pts_all: 1.9674, d0.loss_map_dir_all: 0.0149, d0.loss_map_cls: 0.2762, d0.loss_map_pts: 1.9674, d0.loss_map_dir: 0.0149, d1.loss_map_cls: 0.2446, d1.loss_map_pts: 1.2777, d1.loss_map_dir: 0.0138, d2.loss_map_cls: 0.2299, d2.loss_map_pts: 1.0621, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2209, d3.loss_map_pts: 0.9842, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2146, d4.loss_map_pts: 0.9504, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.2119, d5.loss_map_pts: 0.9389, d5.loss_map_dir: 0.0147, loss: 33.4645, grad_norm: 170.1592 +2026-02-25 18:46:33,918 - DriveTransformer - INFO - Epoch [5][22850/39528] lr: 9.337e-05, eta: 7 days, 3:46:25, time: 0.810, data_time: 0.044, memory: 19865, loss_cls: 0.2091, loss_bbox: 0.4094, loss_traj: 0.7896, loss_traj_cls: 0.0010, loss_map_cls: 0.2175, loss_map_pts: 0.9023, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 3.4136, d0.loss_plan_l1_fix_dist: 0.3861, d1.loss_plan_l1_fix_time: 1.4332, d1.loss_plan_l1_fix_dist: 0.1717, d2.loss_plan_l1_fix_time: 1.4176, d2.loss_plan_l1_fix_dist: 0.1748, d3.loss_plan_l1_fix_time: 1.4187, d3.loss_plan_l1_fix_dist: 0.1811, d4.loss_plan_l1_fix_time: 1.4217, d4.loss_plan_l1_fix_dist: 0.1915, d5.loss_plan_l1_fix_time: 1.4254, d5.loss_plan_l1_fix_dist: 0.2046, d6.loss_plan_l1_fix_time: 1.4302, d6.loss_plan_l1_fix_dist: 0.2212, d0.loss_cls_all: 0.2456, d0.loss_bbox_all: 0.4688, d0.loss_cls: 0.2456, d0.loss_bbox: 0.4688, d1.loss_cls: 0.2331, d1.loss_bbox: 0.4366, d2.loss_cls: 0.2220, d2.loss_bbox: 0.4189, d3.loss_cls: 0.2151, d3.loss_bbox: 0.4114, d4.loss_cls: 0.2115, d4.loss_bbox: 0.4082, d5.loss_cls: 0.2095, d5.loss_bbox: 0.4084, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1046, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8537, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7897, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7993, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7887, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7915, d0.loss_map_cls_all: 0.2855, d0.loss_map_pts_all: 1.7224, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2855, d0.loss_map_pts: 1.7224, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2540, d1.loss_map_pts: 1.1668, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2403, d2.loss_map_pts: 0.9946, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2269, d3.loss_map_pts: 0.9365, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.2222, d4.loss_map_pts: 0.9101, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.2187, d5.loss_map_pts: 0.9033, d5.loss_map_dir: 0.0122, loss: 35.9406, grad_norm: 166.3082 +2026-02-25 18:47:15,412 - DriveTransformer - INFO - Epoch [5][22900/39528] lr: 9.337e-05, eta: 7 days, 3:45:50, time: 0.830, data_time: 0.052, memory: 19865, loss_cls: 0.2024, loss_bbox: 0.3832, loss_traj: 0.6404, loss_traj_cls: 0.0011, loss_map_cls: 0.1900, loss_map_pts: 0.8537, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.4221, d0.loss_plan_l1_fix_dist: 0.4226, d1.loss_plan_l1_fix_time: 1.1591, d1.loss_plan_l1_fix_dist: 0.1928, d2.loss_plan_l1_fix_time: 1.1461, d2.loss_plan_l1_fix_dist: 0.1986, d3.loss_plan_l1_fix_time: 1.1448, d3.loss_plan_l1_fix_dist: 0.2112, d4.loss_plan_l1_fix_time: 1.1497, d4.loss_plan_l1_fix_dist: 0.2242, d5.loss_plan_l1_fix_time: 1.1552, d5.loss_plan_l1_fix_dist: 0.2369, d6.loss_plan_l1_fix_time: 1.1609, d6.loss_plan_l1_fix_dist: 0.2496, d0.loss_cls_all: 0.2357, d0.loss_bbox_all: 0.4231, d0.loss_cls: 0.2357, d0.loss_bbox: 0.4231, d1.loss_cls: 0.2254, d1.loss_bbox: 0.3991, d2.loss_cls: 0.2141, d2.loss_bbox: 0.3831, d3.loss_cls: 0.2076, d3.loss_bbox: 0.3800, d4.loss_cls: 0.2027, d4.loss_bbox: 0.3814, d5.loss_cls: 0.2021, d5.loss_bbox: 0.3823, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8245, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6959, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6516, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6520, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6448, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6426, d0.loss_map_cls_all: 0.2510, d0.loss_map_pts_all: 1.6654, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2510, d0.loss_map_pts: 1.6654, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2298, d1.loss_map_pts: 1.1097, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2098, d2.loss_map_pts: 0.9400, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2012, d3.loss_map_pts: 0.8805, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.1964, d4.loss_map_pts: 0.8598, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.1927, d5.loss_map_pts: 0.8552, d5.loss_map_dir: 0.0126, loss: 31.3628, grad_norm: 165.5500 +2026-02-25 18:47:55,522 - DriveTransformer - INFO - Epoch [5][22950/39528] lr: 9.337e-05, eta: 7 days, 3:45:09, time: 0.802, data_time: 0.044, memory: 19865, loss_cls: 0.2102, loss_bbox: 0.3969, loss_traj: 0.9017, loss_traj_cls: 0.0010, loss_map_cls: 0.1788, loss_map_pts: 0.7984, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.7880, d0.loss_plan_l1_fix_dist: 0.4322, d1.loss_plan_l1_fix_time: 1.2377, d1.loss_plan_l1_fix_dist: 0.2212, d2.loss_plan_l1_fix_time: 1.2218, d2.loss_plan_l1_fix_dist: 0.2200, d3.loss_plan_l1_fix_time: 1.2282, d3.loss_plan_l1_fix_dist: 0.2275, d4.loss_plan_l1_fix_time: 1.2328, d4.loss_plan_l1_fix_dist: 0.2366, d5.loss_plan_l1_fix_time: 1.2384, d5.loss_plan_l1_fix_dist: 0.2490, d6.loss_plan_l1_fix_time: 1.2441, d6.loss_plan_l1_fix_dist: 0.2661, d0.loss_cls_all: 0.2434, d0.loss_bbox_all: 0.4494, d0.loss_cls: 0.2434, d0.loss_bbox: 0.4494, d1.loss_cls: 0.2325, d1.loss_bbox: 0.4213, d2.loss_cls: 0.2170, d2.loss_bbox: 0.4072, d3.loss_cls: 0.2106, d3.loss_bbox: 0.4016, d4.loss_cls: 0.2077, d4.loss_bbox: 0.3996, d5.loss_cls: 0.2090, d5.loss_bbox: 0.3974, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1571, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9780, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9193, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9105, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9052, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9003, d0.loss_map_cls_all: 0.2485, d0.loss_map_pts_all: 1.6327, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2485, d0.loss_map_pts: 1.6327, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2161, d1.loss_map_pts: 1.0615, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2023, d2.loss_map_pts: 0.8829, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.1924, d3.loss_map_pts: 0.8273, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.1851, d4.loss_map_pts: 0.8033, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.1805, d5.loss_map_pts: 0.7969, d5.loss_map_dir: 0.0126, loss: 34.0036, grad_norm: 166.5728 +2026-02-25 18:48:37,087 - DriveTransformer - INFO - Epoch [5][23000/39528] lr: 9.337e-05, eta: 7 days, 3:44:34, time: 0.831, data_time: 0.048, memory: 19865, loss_cls: 0.2221, loss_bbox: 0.4219, loss_traj: 0.7996, loss_traj_cls: 0.0010, loss_map_cls: 0.1927, loss_map_pts: 0.9455, loss_map_dir: 0.0160, d0.loss_plan_l1_fix_time: 2.5495, d0.loss_plan_l1_fix_dist: 0.4527, d1.loss_plan_l1_fix_time: 1.2831, d1.loss_plan_l1_fix_dist: 0.2047, d2.loss_plan_l1_fix_time: 1.2637, d2.loss_plan_l1_fix_dist: 0.2075, d3.loss_plan_l1_fix_time: 1.2646, d3.loss_plan_l1_fix_dist: 0.2175, d4.loss_plan_l1_fix_time: 1.2681, d4.loss_plan_l1_fix_dist: 0.2287, d5.loss_plan_l1_fix_time: 1.2727, d5.loss_plan_l1_fix_dist: 0.2415, d6.loss_plan_l1_fix_time: 1.2781, d6.loss_plan_l1_fix_dist: 0.2550, d0.loss_cls_all: 0.2572, d0.loss_bbox_all: 0.4806, d0.loss_cls: 0.2572, d0.loss_bbox: 0.4806, d1.loss_cls: 0.2408, d1.loss_bbox: 0.4512, d2.loss_cls: 0.2323, d2.loss_bbox: 0.4324, d3.loss_cls: 0.2256, d3.loss_bbox: 0.4274, d4.loss_cls: 0.2219, d4.loss_bbox: 0.4233, d5.loss_cls: 0.2211, d5.loss_bbox: 0.4217, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0125, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8623, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8177, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8054, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8024, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8003, d0.loss_map_cls_all: 0.2562, d0.loss_map_pts_all: 1.8059, d0.loss_map_dir_all: 0.0144, d0.loss_map_cls: 0.2562, d0.loss_map_pts: 1.8059, d0.loss_map_dir: 0.0144, d1.loss_map_cls: 0.2250, d1.loss_map_pts: 1.2129, d1.loss_map_dir: 0.0138, d2.loss_map_cls: 0.2130, d2.loss_map_pts: 1.0294, d2.loss_map_dir: 0.0145, d3.loss_map_cls: 0.2024, d3.loss_map_pts: 0.9755, d3.loss_map_dir: 0.0153, d4.loss_map_cls: 0.1968, d4.loss_map_pts: 0.9520, d4.loss_map_dir: 0.0157, d5.loss_map_cls: 0.1942, d5.loss_map_pts: 0.9469, d5.loss_map_dir: 0.0159, loss: 34.8426, grad_norm: 167.2025 +2026-02-25 18:49:17,020 - DriveTransformer - INFO - Epoch [5][23050/39528] lr: 9.337e-05, eta: 7 days, 3:43:53, time: 0.799, data_time: 0.053, memory: 19865, loss_cls: 0.2596, loss_bbox: 0.4183, loss_traj: 0.6802, loss_traj_cls: 0.0010, loss_map_cls: 0.1937, loss_map_pts: 0.8405, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.6922, d0.loss_plan_l1_fix_dist: 0.4023, d1.loss_plan_l1_fix_time: 1.3176, d1.loss_plan_l1_fix_dist: 0.1922, d2.loss_plan_l1_fix_time: 1.2929, d2.loss_plan_l1_fix_dist: 0.1944, d3.loss_plan_l1_fix_time: 1.2959, d3.loss_plan_l1_fix_dist: 0.2012, d4.loss_plan_l1_fix_time: 1.3003, d4.loss_plan_l1_fix_dist: 0.2106, d5.loss_plan_l1_fix_time: 1.3048, d5.loss_plan_l1_fix_dist: 0.2209, d6.loss_plan_l1_fix_time: 1.3100, d6.loss_plan_l1_fix_dist: 0.2320, d0.loss_cls_all: 0.2829, d0.loss_bbox_all: 0.4827, d0.loss_cls: 0.2829, d0.loss_bbox: 0.4827, d1.loss_cls: 0.2768, d1.loss_bbox: 0.4517, d2.loss_cls: 0.2712, d2.loss_bbox: 0.4307, d3.loss_cls: 0.2618, d3.loss_bbox: 0.4245, d4.loss_cls: 0.2584, d4.loss_bbox: 0.4222, d5.loss_cls: 0.2566, d5.loss_bbox: 0.4228, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8916, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7497, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6942, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6845, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6785, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6776, d0.loss_map_cls_all: 0.2533, d0.loss_map_pts_all: 1.6104, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2533, d0.loss_map_pts: 1.6104, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2216, d1.loss_map_pts: 1.1010, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2066, d2.loss_map_pts: 0.9261, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.1969, d3.loss_map_pts: 0.8754, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.1947, d4.loss_map_pts: 0.8560, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1944, d5.loss_map_pts: 0.8427, d5.loss_map_dir: 0.0120, loss: 33.3859, grad_norm: 166.6613 +2026-02-25 18:49:57,885 - DriveTransformer - INFO - Epoch [5][23100/39528] lr: 9.337e-05, eta: 7 days, 3:43:15, time: 0.817, data_time: 0.045, memory: 19865, loss_cls: 0.2079, loss_bbox: 0.4089, loss_traj: 0.8023, loss_traj_cls: 0.0010, loss_map_cls: 0.2266, loss_map_pts: 0.9450, loss_map_dir: 0.0135, d0.loss_plan_l1_fix_time: 2.5208, d0.loss_plan_l1_fix_dist: 0.3715, d1.loss_plan_l1_fix_time: 1.2904, d1.loss_plan_l1_fix_dist: 0.2019, d2.loss_plan_l1_fix_time: 1.2687, d2.loss_plan_l1_fix_dist: 0.2110, d3.loss_plan_l1_fix_time: 1.2700, d3.loss_plan_l1_fix_dist: 0.2223, d4.loss_plan_l1_fix_time: 1.2741, d4.loss_plan_l1_fix_dist: 0.2363, d5.loss_plan_l1_fix_time: 1.2786, d5.loss_plan_l1_fix_dist: 0.2521, d6.loss_plan_l1_fix_time: 1.2836, d6.loss_plan_l1_fix_dist: 0.2710, d0.loss_cls_all: 0.2419, d0.loss_bbox_all: 0.4606, d0.loss_cls: 0.2419, d0.loss_bbox: 0.4606, d1.loss_cls: 0.2311, d1.loss_bbox: 0.4333, d2.loss_cls: 0.2212, d2.loss_bbox: 0.4126, d3.loss_cls: 0.2132, d3.loss_bbox: 0.4083, d4.loss_cls: 0.2100, d4.loss_bbox: 0.4065, d5.loss_cls: 0.2091, d5.loss_bbox: 0.4065, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0413, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8626, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8127, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8038, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8055, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8008, d0.loss_map_cls_all: 0.3039, d0.loss_map_pts_all: 1.8320, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.3039, d0.loss_map_pts: 1.8320, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2665, d1.loss_map_pts: 1.2473, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2451, d2.loss_map_pts: 1.0383, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2331, d3.loss_map_pts: 0.9712, d3.loss_map_dir: 0.0129, d4.loss_map_cls: 0.2280, d4.loss_map_pts: 0.9499, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.2256, d5.loss_map_pts: 0.9452, d5.loss_map_dir: 0.0135, loss: 34.9586, grad_norm: 167.7823 +2026-02-25 18:50:38,867 - DriveTransformer - INFO - Epoch [5][23150/39528] lr: 9.337e-05, eta: 7 days, 3:42:37, time: 0.820, data_time: 0.045, memory: 19865, loss_cls: 0.2006, loss_bbox: 0.4179, loss_traj: 0.9044, loss_traj_cls: 0.0010, loss_map_cls: 0.2055, loss_map_pts: 0.9560, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 2.9706, d0.loss_plan_l1_fix_dist: 0.3396, d1.loss_plan_l1_fix_time: 1.4978, d1.loss_plan_l1_fix_dist: 0.2062, d2.loss_plan_l1_fix_time: 1.4683, d2.loss_plan_l1_fix_dist: 0.2101, d3.loss_plan_l1_fix_time: 1.4630, d3.loss_plan_l1_fix_dist: 0.2222, d4.loss_plan_l1_fix_time: 1.4643, d4.loss_plan_l1_fix_dist: 0.2352, d5.loss_plan_l1_fix_time: 1.4667, d5.loss_plan_l1_fix_dist: 0.2478, d6.loss_plan_l1_fix_time: 1.4703, d6.loss_plan_l1_fix_dist: 0.2610, d0.loss_cls_all: 0.2288, d0.loss_bbox_all: 0.4785, d0.loss_cls: 0.2288, d0.loss_bbox: 0.4785, d1.loss_cls: 0.2221, d1.loss_bbox: 0.4463, d2.loss_cls: 0.2129, d2.loss_bbox: 0.4300, d3.loss_cls: 0.2071, d3.loss_bbox: 0.4236, d4.loss_cls: 0.2025, d4.loss_bbox: 0.4189, d5.loss_cls: 0.2002, d5.loss_bbox: 0.4184, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0958, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9642, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9207, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9172, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9097, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9060, d0.loss_map_cls_all: 0.2601, d0.loss_map_pts_all: 1.7424, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.2601, d0.loss_map_pts: 1.7424, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2388, d1.loss_map_pts: 1.2073, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2235, d2.loss_map_pts: 1.0367, d2.loss_map_dir: 0.0132, d3.loss_map_cls: 0.2118, d3.loss_map_pts: 0.9813, d3.loss_map_dir: 0.0137, d4.loss_map_cls: 0.2075, d4.loss_map_pts: 0.9624, d4.loss_map_dir: 0.0140, d5.loss_map_cls: 0.2056, d5.loss_map_pts: 0.9559, d5.loss_map_dir: 0.0141, loss: 36.8683, grad_norm: 168.1615 +2026-02-25 18:51:19,860 - DriveTransformer - INFO - Epoch [5][23200/39528] lr: 9.337e-05, eta: 7 days, 3:42:01, time: 0.821, data_time: 0.049, memory: 19865, loss_cls: 0.2215, loss_bbox: 0.4193, loss_traj: 0.7864, loss_traj_cls: 0.0010, loss_map_cls: 0.2103, loss_map_pts: 0.8187, loss_map_dir: 0.0135, d0.loss_plan_l1_fix_time: 2.8465, d0.loss_plan_l1_fix_dist: 0.3526, d1.loss_plan_l1_fix_time: 1.4196, d1.loss_plan_l1_fix_dist: 0.1925, d2.loss_plan_l1_fix_time: 1.3977, d2.loss_plan_l1_fix_dist: 0.1968, d3.loss_plan_l1_fix_time: 1.3909, d3.loss_plan_l1_fix_dist: 0.2082, d4.loss_plan_l1_fix_time: 1.3924, d4.loss_plan_l1_fix_dist: 0.2221, d5.loss_plan_l1_fix_time: 1.3956, d5.loss_plan_l1_fix_dist: 0.2383, d6.loss_plan_l1_fix_time: 1.4005, d6.loss_plan_l1_fix_dist: 0.2582, d0.loss_cls_all: 0.2552, d0.loss_bbox_all: 0.4791, d0.loss_cls: 0.2552, d0.loss_bbox: 0.4791, d1.loss_cls: 0.2488, d1.loss_bbox: 0.4424, d2.loss_cls: 0.2375, d2.loss_bbox: 0.4279, d3.loss_cls: 0.2279, d3.loss_bbox: 0.4233, d4.loss_cls: 0.2229, d4.loss_bbox: 0.4213, d5.loss_cls: 0.2210, d5.loss_bbox: 0.4196, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0046, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8263, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7868, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7841, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7767, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7815, d0.loss_map_cls_all: 0.2754, d0.loss_map_pts_all: 1.6603, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.2754, d0.loss_map_pts: 1.6603, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2432, d1.loss_map_pts: 1.0960, d1.loss_map_dir: 0.0121, d2.loss_map_cls: 0.2279, d2.loss_map_pts: 0.9007, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2179, d3.loss_map_pts: 0.8441, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.2138, d4.loss_map_pts: 0.8255, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.2110, d5.loss_map_pts: 0.8192, d5.loss_map_dir: 0.0134, loss: 34.6698, grad_norm: 169.6459 +2026-02-25 18:51:59,684 - DriveTransformer - INFO - Epoch [5][23250/39528] lr: 9.337e-05, eta: 7 days, 3:41:18, time: 0.795, data_time: 0.045, memory: 19865, loss_cls: 0.2048, loss_bbox: 0.4094, loss_traj: 0.8389, loss_traj_cls: 0.0010, loss_map_cls: 0.2018, loss_map_pts: 0.8181, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.8417, d0.loss_plan_l1_fix_dist: 0.4257, d1.loss_plan_l1_fix_time: 1.2959, d1.loss_plan_l1_fix_dist: 0.1964, d2.loss_plan_l1_fix_time: 1.2717, d2.loss_plan_l1_fix_dist: 0.2059, d3.loss_plan_l1_fix_time: 1.2685, d3.loss_plan_l1_fix_dist: 0.2212, d4.loss_plan_l1_fix_time: 1.2702, d4.loss_plan_l1_fix_dist: 0.2415, d5.loss_plan_l1_fix_time: 1.2727, d5.loss_plan_l1_fix_dist: 0.2662, d6.loss_plan_l1_fix_time: 1.2766, d6.loss_plan_l1_fix_dist: 0.2945, d0.loss_cls_all: 0.2303, d0.loss_bbox_all: 0.4662, d0.loss_cls: 0.2303, d0.loss_bbox: 0.4662, d1.loss_cls: 0.2249, d1.loss_bbox: 0.4385, d2.loss_cls: 0.2157, d2.loss_bbox: 0.4198, d3.loss_cls: 0.2094, d3.loss_bbox: 0.4124, d4.loss_cls: 0.2043, d4.loss_bbox: 0.4112, d5.loss_cls: 0.2040, d5.loss_bbox: 0.4102, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0879, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8970, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8543, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8414, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8466, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8404, d0.loss_map_cls_all: 0.2609, d0.loss_map_pts_all: 1.5830, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2609, d0.loss_map_pts: 1.5830, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2325, d1.loss_map_pts: 1.0834, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2193, d2.loss_map_pts: 0.9003, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2091, d3.loss_map_pts: 0.8490, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.2055, d4.loss_map_pts: 0.8257, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.2029, d5.loss_map_pts: 0.8190, d5.loss_map_dir: 0.0115, loss: 34.0611, grad_norm: 166.9405 +2026-02-25 18:52:41,184 - DriveTransformer - INFO - Epoch [5][23300/39528] lr: 9.337e-05, eta: 7 days, 3:40:43, time: 0.830, data_time: 0.041, memory: 19865, loss_cls: 0.1640, loss_bbox: 0.3504, loss_traj: 0.7522, loss_traj_cls: 0.0010, loss_map_cls: 0.1518, loss_map_pts: 0.6968, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.3086, d0.loss_plan_l1_fix_dist: 0.3260, d1.loss_plan_l1_fix_time: 1.1339, d1.loss_plan_l1_fix_dist: 0.1569, d2.loss_plan_l1_fix_time: 1.1286, d2.loss_plan_l1_fix_dist: 0.1628, d3.loss_plan_l1_fix_time: 1.1312, d3.loss_plan_l1_fix_dist: 0.1733, d4.loss_plan_l1_fix_time: 1.1341, d4.loss_plan_l1_fix_dist: 0.1855, d5.loss_plan_l1_fix_time: 1.1368, d5.loss_plan_l1_fix_dist: 0.1999, d6.loss_plan_l1_fix_time: 1.1401, d6.loss_plan_l1_fix_dist: 0.2172, d0.loss_cls_all: 0.1926, d0.loss_bbox_all: 0.3976, d0.loss_cls: 0.1926, d0.loss_bbox: 0.3976, d1.loss_cls: 0.1867, d1.loss_bbox: 0.3687, d2.loss_cls: 0.1746, d2.loss_bbox: 0.3552, d3.loss_cls: 0.1686, d3.loss_bbox: 0.3495, d4.loss_cls: 0.1649, d4.loss_bbox: 0.3486, d5.loss_cls: 0.1640, d5.loss_bbox: 0.3488, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9589, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7899, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7569, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7545, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7628, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7550, d0.loss_map_cls_all: 0.2121, d0.loss_map_pts_all: 1.4745, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2121, d0.loss_map_pts: 1.4745, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.1831, d1.loss_map_pts: 0.9563, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.1697, d2.loss_map_pts: 0.7748, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1606, d3.loss_map_pts: 0.7248, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.1536, d4.loss_map_pts: 0.7071, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1530, d5.loss_map_pts: 0.6965, d5.loss_map_dir: 0.0119, loss: 29.3886, grad_norm: 166.5773 +2026-02-25 18:53:21,784 - DriveTransformer - INFO - Epoch [5][23350/39528] lr: 9.337e-05, eta: 7 days, 3:40:04, time: 0.812, data_time: 0.040, memory: 19865, loss_cls: 0.1936, loss_bbox: 0.3805, loss_traj: 0.8114, loss_traj_cls: 0.0010, loss_map_cls: 0.2017, loss_map_pts: 0.8234, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.6409, d0.loss_plan_l1_fix_dist: 0.4091, d1.loss_plan_l1_fix_time: 1.2426, d1.loss_plan_l1_fix_dist: 0.2293, d2.loss_plan_l1_fix_time: 1.2309, d2.loss_plan_l1_fix_dist: 0.2372, d3.loss_plan_l1_fix_time: 1.2340, d3.loss_plan_l1_fix_dist: 0.2519, d4.loss_plan_l1_fix_time: 1.2376, d4.loss_plan_l1_fix_dist: 0.2667, d5.loss_plan_l1_fix_time: 1.2421, d5.loss_plan_l1_fix_dist: 0.2807, d6.loss_plan_l1_fix_time: 1.2467, d6.loss_plan_l1_fix_dist: 0.2942, d0.loss_cls_all: 0.2253, d0.loss_bbox_all: 0.4467, d0.loss_cls: 0.2253, d0.loss_bbox: 0.4467, d1.loss_cls: 0.2188, d1.loss_bbox: 0.4140, d2.loss_cls: 0.2094, d2.loss_bbox: 0.3918, d3.loss_cls: 0.2014, d3.loss_bbox: 0.3845, d4.loss_cls: 0.1944, d4.loss_bbox: 0.3824, d5.loss_cls: 0.1932, d5.loss_bbox: 0.3804, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9446, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8348, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8209, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8181, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8064, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8100, d0.loss_map_cls_all: 0.2626, d0.loss_map_pts_all: 1.6142, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2626, d0.loss_map_pts: 1.6142, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2375, d1.loss_map_pts: 1.1044, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.2207, d2.loss_map_pts: 0.9108, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.2091, d3.loss_map_pts: 0.8447, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.2053, d4.loss_map_pts: 0.8302, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.2025, d5.loss_map_pts: 0.8269, d5.loss_map_dir: 0.0112, loss: 33.2421, grad_norm: 167.0995 +2026-02-25 18:54:04,432 - DriveTransformer - INFO - Epoch [5][23400/39528] lr: 9.337e-05, eta: 7 days, 3:39:34, time: 0.853, data_time: 0.044, memory: 19865, loss_cls: 0.2070, loss_bbox: 0.3998, loss_traj: 0.8353, loss_traj_cls: 0.0010, loss_map_cls: 0.2119, loss_map_pts: 0.8923, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.9083, d0.loss_plan_l1_fix_dist: 0.3724, d1.loss_plan_l1_fix_time: 1.1983, d1.loss_plan_l1_fix_dist: 0.2070, d2.loss_plan_l1_fix_time: 1.1905, d2.loss_plan_l1_fix_dist: 0.2108, d3.loss_plan_l1_fix_time: 1.1941, d3.loss_plan_l1_fix_dist: 0.2189, d4.loss_plan_l1_fix_time: 1.1977, d4.loss_plan_l1_fix_dist: 0.2293, d5.loss_plan_l1_fix_time: 1.2015, d5.loss_plan_l1_fix_dist: 0.2410, d6.loss_plan_l1_fix_time: 1.2053, d6.loss_plan_l1_fix_dist: 0.2544, d0.loss_cls_all: 0.2380, d0.loss_bbox_all: 0.4513, d0.loss_cls: 0.2380, d0.loss_bbox: 0.4513, d1.loss_cls: 0.2324, d1.loss_bbox: 0.4210, d2.loss_cls: 0.2262, d2.loss_bbox: 0.4039, d3.loss_cls: 0.2166, d3.loss_bbox: 0.4021, d4.loss_cls: 0.2109, d4.loss_bbox: 0.3988, d5.loss_cls: 0.2082, d5.loss_bbox: 0.3992, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0583, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8842, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8459, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8397, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8388, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8367, d0.loss_map_cls_all: 0.2788, d0.loss_map_pts_all: 1.6764, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2788, d0.loss_map_pts: 1.6764, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2510, d1.loss_map_pts: 1.1818, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.2333, d2.loss_map_pts: 0.9851, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.2212, d3.loss_map_pts: 0.9176, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.2164, d4.loss_map_pts: 0.9000, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.2142, d5.loss_map_pts: 0.8944, d5.loss_map_dir: 0.0117, loss: 34.1971, grad_norm: 167.5486 +2026-02-25 18:54:43,102 - DriveTransformer - INFO - Epoch [5][23450/39528] lr: 9.337e-05, eta: 7 days, 3:38:47, time: 0.773, data_time: 0.047, memory: 19865, loss_cls: 0.2122, loss_bbox: 0.4055, loss_traj: 0.7090, loss_traj_cls: 0.0010, loss_map_cls: 0.2085, loss_map_pts: 0.8788, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.1383, d0.loss_plan_l1_fix_dist: 0.4059, d1.loss_plan_l1_fix_time: 1.1587, d1.loss_plan_l1_fix_dist: 0.1835, d2.loss_plan_l1_fix_time: 1.1343, d2.loss_plan_l1_fix_dist: 0.1870, d3.loss_plan_l1_fix_time: 1.1310, d3.loss_plan_l1_fix_dist: 0.1962, d4.loss_plan_l1_fix_time: 1.1336, d4.loss_plan_l1_fix_dist: 0.2081, d5.loss_plan_l1_fix_time: 1.1365, d5.loss_plan_l1_fix_dist: 0.2211, d6.loss_plan_l1_fix_time: 1.1403, d6.loss_plan_l1_fix_dist: 0.2348, d0.loss_cls_all: 0.2390, d0.loss_bbox_all: 0.4623, d0.loss_cls: 0.2390, d0.loss_bbox: 0.4623, d1.loss_cls: 0.2353, d1.loss_bbox: 0.4298, d2.loss_cls: 0.2249, d2.loss_bbox: 0.4123, d3.loss_cls: 0.2178, d3.loss_bbox: 0.4071, d4.loss_cls: 0.2110, d4.loss_bbox: 0.4054, d5.loss_cls: 0.2115, d5.loss_bbox: 0.4050, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9201, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7812, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7288, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7293, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7251, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7153, d0.loss_map_cls_all: 0.2646, d0.loss_map_pts_all: 1.5520, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2646, d0.loss_map_pts: 1.5520, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2388, d1.loss_map_pts: 1.1231, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2251, d2.loss_map_pts: 0.9577, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2155, d3.loss_map_pts: 0.9034, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.2110, d4.loss_map_pts: 0.8841, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.2097, d5.loss_map_pts: 0.8765, d5.loss_map_dir: 0.0120, loss: 31.7629, grad_norm: 167.8587 +2026-02-25 18:55:23,226 - DriveTransformer - INFO - Epoch [5][23500/39528] lr: 9.337e-05, eta: 7 days, 3:38:06, time: 0.802, data_time: 0.042, memory: 19865, loss_cls: 0.2290, loss_bbox: 0.4263, loss_traj: 0.9804, loss_traj_cls: 0.0010, loss_map_cls: 0.2339, loss_map_pts: 0.9168, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.9817, d0.loss_plan_l1_fix_dist: 0.4655, d1.loss_plan_l1_fix_time: 1.4711, d1.loss_plan_l1_fix_dist: 0.2080, d2.loss_plan_l1_fix_time: 1.4542, d2.loss_plan_l1_fix_dist: 0.2101, d3.loss_plan_l1_fix_time: 1.4538, d3.loss_plan_l1_fix_dist: 0.2178, d4.loss_plan_l1_fix_time: 1.4563, d4.loss_plan_l1_fix_dist: 0.2286, d5.loss_plan_l1_fix_time: 1.4593, d5.loss_plan_l1_fix_dist: 0.2433, d6.loss_plan_l1_fix_time: 1.4629, d6.loss_plan_l1_fix_dist: 0.2601, d0.loss_cls_all: 0.2523, d0.loss_bbox_all: 0.4884, d0.loss_cls: 0.2523, d0.loss_bbox: 0.4884, d1.loss_cls: 0.2455, d1.loss_bbox: 0.4586, d2.loss_cls: 0.2338, d2.loss_bbox: 0.4393, d3.loss_cls: 0.2319, d3.loss_bbox: 0.4305, d4.loss_cls: 0.2297, d4.loss_bbox: 0.4289, d5.loss_cls: 0.2296, d5.loss_bbox: 0.4272, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2173, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0167, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.9860, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9853, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9808, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9795, d0.loss_map_cls_all: 0.2990, d0.loss_map_pts_all: 1.6160, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2990, d0.loss_map_pts: 1.6160, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2725, d1.loss_map_pts: 1.1984, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.2545, d2.loss_map_pts: 1.0108, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.2428, d3.loss_map_pts: 0.9462, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.2360, d4.loss_map_pts: 0.9216, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.2358, d5.loss_map_pts: 0.9146, d5.loss_map_dir: 0.0112, loss: 37.5132, grad_norm: 166.8314 +2026-02-25 18:56:02,646 - DriveTransformer - INFO - Epoch [5][23550/39528] lr: 9.337e-05, eta: 7 days, 3:37:22, time: 0.788, data_time: 0.041, memory: 19865, loss_cls: 0.2430, loss_bbox: 0.4129, loss_traj: 0.8204, loss_traj_cls: 0.0011, loss_map_cls: 0.2126, loss_map_pts: 0.8912, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.7126, d0.loss_plan_l1_fix_dist: 0.5274, d1.loss_plan_l1_fix_time: 1.4107, d1.loss_plan_l1_fix_dist: 0.1957, d2.loss_plan_l1_fix_time: 1.3743, d2.loss_plan_l1_fix_dist: 0.2006, d3.loss_plan_l1_fix_time: 1.3674, d3.loss_plan_l1_fix_dist: 0.2102, d4.loss_plan_l1_fix_time: 1.3687, d4.loss_plan_l1_fix_dist: 0.2240, d5.loss_plan_l1_fix_time: 1.3715, d5.loss_plan_l1_fix_dist: 0.2407, d6.loss_plan_l1_fix_time: 1.3757, d6.loss_plan_l1_fix_dist: 0.2602, d0.loss_cls_all: 0.2644, d0.loss_bbox_all: 0.4789, d0.loss_cls: 0.2644, d0.loss_bbox: 0.4789, d1.loss_cls: 0.2629, d1.loss_bbox: 0.4471, d2.loss_cls: 0.2539, d2.loss_bbox: 0.4287, d3.loss_cls: 0.2461, d3.loss_bbox: 0.4208, d4.loss_cls: 0.2450, d4.loss_bbox: 0.4157, d5.loss_cls: 0.2440, d5.loss_bbox: 0.4137, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9984, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8579, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8417, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8305, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8206, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8203, d0.loss_map_cls_all: 0.2588, d0.loss_map_pts_all: 1.6406, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2588, d0.loss_map_pts: 1.6406, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2386, d1.loss_map_pts: 1.1477, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2290, d2.loss_map_pts: 0.9812, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.2203, d3.loss_map_pts: 0.9217, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.2165, d4.loss_map_pts: 0.8994, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.2141, d5.loss_map_pts: 0.8928, d5.loss_map_dir: 0.0115, loss: 35.3096, grad_norm: 166.3761 +2026-02-25 18:56:43,449 - DriveTransformer - INFO - Epoch [5][23600/39528] lr: 9.337e-05, eta: 7 days, 3:36:44, time: 0.816, data_time: 0.048, memory: 19865, loss_cls: 0.1916, loss_bbox: 0.3898, loss_traj: 0.6814, loss_traj_cls: 0.0011, loss_map_cls: 0.2014, loss_map_pts: 0.8160, loss_map_dir: 0.0143, d0.loss_plan_l1_fix_time: 2.2278, d0.loss_plan_l1_fix_dist: 0.4258, d1.loss_plan_l1_fix_time: 1.2187, d1.loss_plan_l1_fix_dist: 0.1988, d2.loss_plan_l1_fix_time: 1.1903, d2.loss_plan_l1_fix_dist: 0.2082, d3.loss_plan_l1_fix_time: 1.1851, d3.loss_plan_l1_fix_dist: 0.2199, d4.loss_plan_l1_fix_time: 1.1873, d4.loss_plan_l1_fix_dist: 0.2310, d5.loss_plan_l1_fix_time: 1.1896, d5.loss_plan_l1_fix_dist: 0.2419, d6.loss_plan_l1_fix_time: 1.1918, d6.loss_plan_l1_fix_dist: 0.2545, d0.loss_cls_all: 0.2263, d0.loss_bbox_all: 0.4457, d0.loss_cls: 0.2263, d0.loss_bbox: 0.4457, d1.loss_cls: 0.2197, d1.loss_bbox: 0.4125, d2.loss_cls: 0.2087, d2.loss_bbox: 0.3912, d3.loss_cls: 0.1993, d3.loss_bbox: 0.3895, d4.loss_cls: 0.1908, d4.loss_bbox: 0.3880, d5.loss_cls: 0.1908, d5.loss_bbox: 0.3880, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8740, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7328, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6944, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6780, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6810, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6823, d0.loss_map_cls_all: 0.2538, d0.loss_map_pts_all: 1.6064, d0.loss_map_dir_all: 0.0132, d0.loss_map_cls: 0.2538, d0.loss_map_pts: 1.6064, d0.loss_map_dir: 0.0132, d1.loss_map_cls: 0.2274, d1.loss_map_pts: 1.0860, d1.loss_map_dir: 0.0125, d2.loss_map_cls: 0.2148, d2.loss_map_pts: 0.8994, d2.loss_map_dir: 0.0130, d3.loss_map_cls: 0.2064, d3.loss_map_pts: 0.8403, d3.loss_map_dir: 0.0136, d4.loss_map_cls: 0.2039, d4.loss_map_pts: 0.8244, d4.loss_map_dir: 0.0139, d5.loss_map_cls: 0.2018, d5.loss_map_pts: 0.8167, d5.loss_map_dir: 0.0141, loss: 31.4728, grad_norm: 166.9651 +2026-02-25 18:57:23,981 - DriveTransformer - INFO - Epoch [5][23650/39528] lr: 9.337e-05, eta: 7 days, 3:36:05, time: 0.811, data_time: 0.041, memory: 19865, loss_cls: 0.1973, loss_bbox: 0.4005, loss_traj: 0.7224, loss_traj_cls: 0.0011, loss_map_cls: 0.1944, loss_map_pts: 0.8526, loss_map_dir: 0.0133, d0.loss_plan_l1_fix_time: 2.5115, d0.loss_plan_l1_fix_dist: 0.4439, d1.loss_plan_l1_fix_time: 1.2978, d1.loss_plan_l1_fix_dist: 0.2155, d2.loss_plan_l1_fix_time: 1.2760, d2.loss_plan_l1_fix_dist: 0.2214, d3.loss_plan_l1_fix_time: 1.2761, d3.loss_plan_l1_fix_dist: 0.2308, d4.loss_plan_l1_fix_time: 1.2789, d4.loss_plan_l1_fix_dist: 0.2426, d5.loss_plan_l1_fix_time: 1.2817, d5.loss_plan_l1_fix_dist: 0.2526, d6.loss_plan_l1_fix_time: 1.2846, d6.loss_plan_l1_fix_dist: 0.2635, d0.loss_cls_all: 0.2341, d0.loss_bbox_all: 0.4561, d0.loss_cls: 0.2341, d0.loss_bbox: 0.4561, d1.loss_cls: 0.2292, d1.loss_bbox: 0.4234, d2.loss_cls: 0.2140, d2.loss_bbox: 0.4072, d3.loss_cls: 0.2083, d3.loss_bbox: 0.4009, d4.loss_cls: 0.2019, d4.loss_bbox: 0.3990, d5.loss_cls: 0.1980, d5.loss_bbox: 0.3989, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8934, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7650, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7293, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7246, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7219, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7225, d0.loss_map_cls_all: 0.2586, d0.loss_map_pts_all: 1.6726, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2586, d0.loss_map_pts: 1.6726, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2282, d1.loss_map_pts: 1.1413, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2142, d2.loss_map_pts: 0.9487, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2027, d3.loss_map_pts: 0.8861, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.1958, d4.loss_map_pts: 0.8629, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.1948, d5.loss_map_pts: 0.8546, d5.loss_map_dir: 0.0131, loss: 33.1606, grad_norm: 167.4932 +2026-02-25 18:58:04,688 - DriveTransformer - INFO - Epoch [5][23700/39528] lr: 9.337e-05, eta: 7 days, 3:35:26, time: 0.814, data_time: 0.042, memory: 19865, loss_cls: 0.1973, loss_bbox: 0.4028, loss_traj: 0.6795, loss_traj_cls: 0.0011, loss_map_cls: 0.2117, loss_map_pts: 0.9031, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 2.4488, d0.loss_plan_l1_fix_dist: 0.4281, d1.loss_plan_l1_fix_time: 1.3891, d1.loss_plan_l1_fix_dist: 0.2117, d2.loss_plan_l1_fix_time: 1.3615, d2.loss_plan_l1_fix_dist: 0.2162, d3.loss_plan_l1_fix_time: 1.3614, d3.loss_plan_l1_fix_dist: 0.2279, d4.loss_plan_l1_fix_time: 1.3646, d4.loss_plan_l1_fix_dist: 0.2460, d5.loss_plan_l1_fix_time: 1.3687, d5.loss_plan_l1_fix_dist: 0.2693, d6.loss_plan_l1_fix_time: 1.3729, d6.loss_plan_l1_fix_dist: 0.2908, d0.loss_cls_all: 0.2357, d0.loss_bbox_all: 0.4645, d0.loss_cls: 0.2357, d0.loss_bbox: 0.4645, d1.loss_cls: 0.2235, d1.loss_bbox: 0.4339, d2.loss_cls: 0.2117, d2.loss_bbox: 0.4143, d3.loss_cls: 0.2058, d3.loss_bbox: 0.4053, d4.loss_cls: 0.1988, d4.loss_bbox: 0.4046, d5.loss_cls: 0.1982, d5.loss_bbox: 0.4024, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8206, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7032, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6785, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6712, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6731, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6770, d0.loss_map_cls_all: 0.2785, d0.loss_map_pts_all: 1.7636, d0.loss_map_dir_all: 0.0140, d0.loss_map_cls: 0.2785, d0.loss_map_pts: 1.7636, d0.loss_map_dir: 0.0140, d1.loss_map_cls: 0.2469, d1.loss_map_pts: 1.1844, d1.loss_map_dir: 0.0132, d2.loss_map_cls: 0.2341, d2.loss_map_pts: 0.9819, d2.loss_map_dir: 0.0135, d3.loss_map_cls: 0.2246, d3.loss_map_pts: 0.9266, d3.loss_map_dir: 0.0140, d4.loss_map_cls: 0.2165, d4.loss_map_pts: 0.9093, d4.loss_map_dir: 0.0142, d5.loss_map_cls: 0.2146, d5.loss_map_pts: 0.9035, d5.loss_map_dir: 0.0143, loss: 33.9198, grad_norm: 171.2972 +2026-02-25 18:58:44,490 - DriveTransformer - INFO - Epoch [5][23750/39528] lr: 9.337e-05, eta: 7 days, 3:34:44, time: 0.796, data_time: 0.049, memory: 19865, loss_cls: 0.2169, loss_bbox: 0.4220, loss_traj: 0.8211, loss_traj_cls: 0.0011, loss_map_cls: 0.2082, loss_map_pts: 0.8275, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.9069, d0.loss_plan_l1_fix_dist: 0.3735, d1.loss_plan_l1_fix_time: 1.4251, d1.loss_plan_l1_fix_dist: 0.2110, d2.loss_plan_l1_fix_time: 1.4112, d2.loss_plan_l1_fix_dist: 0.2175, d3.loss_plan_l1_fix_time: 1.4132, d3.loss_plan_l1_fix_dist: 0.2280, d4.loss_plan_l1_fix_time: 1.4152, d4.loss_plan_l1_fix_dist: 0.2398, d5.loss_plan_l1_fix_time: 1.4176, d5.loss_plan_l1_fix_dist: 0.2541, d6.loss_plan_l1_fix_time: 1.4203, d6.loss_plan_l1_fix_dist: 0.2725, d0.loss_cls_all: 0.2548, d0.loss_bbox_all: 0.4903, d0.loss_cls: 0.2548, d0.loss_bbox: 0.4903, d1.loss_cls: 0.2431, d1.loss_bbox: 0.4551, d2.loss_cls: 0.2296, d2.loss_bbox: 0.4350, d3.loss_cls: 0.2239, d3.loss_bbox: 0.4254, d4.loss_cls: 0.2188, d4.loss_bbox: 0.4221, d5.loss_cls: 0.2173, d5.loss_bbox: 0.4220, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0817, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9078, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8470, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8238, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8143, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8138, d0.loss_map_cls_all: 0.2776, d0.loss_map_pts_all: 1.5560, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2776, d0.loss_map_pts: 1.5560, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2438, d1.loss_map_pts: 1.1273, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.2289, d2.loss_map_pts: 0.9379, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.2168, d3.loss_map_pts: 0.8725, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.2124, d4.loss_map_pts: 0.8429, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.2092, d5.loss_map_pts: 0.8311, d5.loss_map_dir: 0.0107, loss: 35.2525, grad_norm: 170.3811 +2026-02-25 18:59:25,640 - DriveTransformer - INFO - Epoch [5][23800/39528] lr: 9.337e-05, eta: 7 days, 3:34:07, time: 0.823, data_time: 0.054, memory: 19865, loss_cls: 0.1913, loss_bbox: 0.3927, loss_traj: 0.7591, loss_traj_cls: 0.0011, loss_map_cls: 0.1827, loss_map_pts: 0.7605, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.6494, d0.loss_plan_l1_fix_dist: 0.3634, d1.loss_plan_l1_fix_time: 1.1092, d1.loss_plan_l1_fix_dist: 0.1744, d2.loss_plan_l1_fix_time: 1.0962, d2.loss_plan_l1_fix_dist: 0.1822, d3.loss_plan_l1_fix_time: 1.0945, d3.loss_plan_l1_fix_dist: 0.1956, d4.loss_plan_l1_fix_time: 1.0969, d4.loss_plan_l1_fix_dist: 0.2124, d5.loss_plan_l1_fix_time: 1.0999, d5.loss_plan_l1_fix_dist: 0.2299, d6.loss_plan_l1_fix_time: 1.1046, d6.loss_plan_l1_fix_dist: 0.2490, d0.loss_cls_all: 0.2270, d0.loss_bbox_all: 0.4398, d0.loss_cls: 0.2270, d0.loss_bbox: 0.4398, d1.loss_cls: 0.2159, d1.loss_bbox: 0.4144, d2.loss_cls: 0.2026, d2.loss_bbox: 0.4009, d3.loss_cls: 0.1947, d3.loss_bbox: 0.3968, d4.loss_cls: 0.1919, d4.loss_bbox: 0.3931, d5.loss_cls: 0.1915, d5.loss_bbox: 0.3919, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9071, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7946, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7675, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7574, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7513, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7530, d0.loss_map_cls_all: 0.2449, d0.loss_map_pts_all: 1.5627, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2449, d0.loss_map_pts: 1.5627, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2101, d1.loss_map_pts: 1.0276, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2010, d2.loss_map_pts: 0.8462, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.1919, d3.loss_map_pts: 0.7900, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.1867, d4.loss_map_pts: 0.7733, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1843, d5.loss_map_pts: 0.7616, d5.loss_map_dir: 0.0120, loss: 31.0897, grad_norm: 169.8596 +2026-02-25 19:00:07,866 - DriveTransformer - INFO - Epoch [5][23850/39528] lr: 9.337e-05, eta: 7 days, 3:33:35, time: 0.844, data_time: 0.049, memory: 19865, loss_cls: 0.2107, loss_bbox: 0.4041, loss_traj: 0.7263, loss_traj_cls: 0.0011, loss_map_cls: 0.1919, loss_map_pts: 0.8710, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.6260, d0.loss_plan_l1_fix_dist: 0.4143, d1.loss_plan_l1_fix_time: 1.3231, d1.loss_plan_l1_fix_dist: 0.1925, d2.loss_plan_l1_fix_time: 1.3028, d2.loss_plan_l1_fix_dist: 0.1962, d3.loss_plan_l1_fix_time: 1.3079, d3.loss_plan_l1_fix_dist: 0.2071, d4.loss_plan_l1_fix_time: 1.3134, d4.loss_plan_l1_fix_dist: 0.2181, d5.loss_plan_l1_fix_time: 1.3195, d5.loss_plan_l1_fix_dist: 0.2303, d6.loss_plan_l1_fix_time: 1.3264, d6.loss_plan_l1_fix_dist: 0.2427, d0.loss_cls_all: 0.2357, d0.loss_bbox_all: 0.4691, d0.loss_cls: 0.2357, d0.loss_bbox: 0.4691, d1.loss_cls: 0.2290, d1.loss_bbox: 0.4340, d2.loss_cls: 0.2195, d2.loss_bbox: 0.4161, d3.loss_cls: 0.2147, d3.loss_bbox: 0.4087, d4.loss_cls: 0.2107, d4.loss_bbox: 0.4064, d5.loss_cls: 0.2093, d5.loss_bbox: 0.4052, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9896, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8059, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7521, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7418, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7324, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7286, d0.loss_map_cls_all: 0.2603, d0.loss_map_pts_all: 1.7016, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2603, d0.loss_map_pts: 1.7016, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2305, d1.loss_map_pts: 1.1455, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2149, d2.loss_map_pts: 0.9569, d2.loss_map_dir: 0.0119, d3.loss_map_cls: 0.2043, d3.loss_map_pts: 0.8987, d3.loss_map_dir: 0.0124, d4.loss_map_cls: 0.1976, d4.loss_map_pts: 0.8814, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.1947, d5.loss_map_pts: 0.8707, d5.loss_map_dir: 0.0128, loss: 33.7617, grad_norm: 165.0890 +2026-02-25 19:00:48,480 - DriveTransformer - INFO - Epoch [5][23900/39528] lr: 9.337e-05, eta: 7 days, 3:32:56, time: 0.812, data_time: 0.043, memory: 19865, loss_cls: 0.1778, loss_bbox: 0.3675, loss_traj: 0.7277, loss_traj_cls: 0.0010, loss_map_cls: 0.1774, loss_map_pts: 0.7597, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.4270, d0.loss_plan_l1_fix_dist: 0.4112, d1.loss_plan_l1_fix_time: 1.2597, d1.loss_plan_l1_fix_dist: 0.1851, d2.loss_plan_l1_fix_time: 1.2426, d2.loss_plan_l1_fix_dist: 0.1951, d3.loss_plan_l1_fix_time: 1.2466, d3.loss_plan_l1_fix_dist: 0.2091, d4.loss_plan_l1_fix_time: 1.2507, d4.loss_plan_l1_fix_dist: 0.2248, d5.loss_plan_l1_fix_time: 1.2555, d5.loss_plan_l1_fix_dist: 0.2444, d6.loss_plan_l1_fix_time: 1.2608, d6.loss_plan_l1_fix_dist: 0.2655, d0.loss_cls_all: 0.1994, d0.loss_bbox_all: 0.4198, d0.loss_cls: 0.1994, d0.loss_bbox: 0.4198, d1.loss_cls: 0.1964, d1.loss_bbox: 0.3914, d2.loss_cls: 0.1920, d2.loss_bbox: 0.3765, d3.loss_cls: 0.1839, d3.loss_bbox: 0.3697, d4.loss_cls: 0.1765, d4.loss_bbox: 0.3697, d5.loss_cls: 0.1765, d5.loss_bbox: 0.3685, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8806, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7645, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7288, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7202, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7188, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7250, d0.loss_map_cls_all: 0.2406, d0.loss_map_pts_all: 1.5004, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2406, d0.loss_map_pts: 1.5004, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2135, d1.loss_map_pts: 1.0139, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1989, d2.loss_map_pts: 0.8438, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1863, d3.loss_map_pts: 0.7850, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1805, d4.loss_map_pts: 0.7673, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1771, d5.loss_map_pts: 0.7620, d5.loss_map_dir: 0.0113, loss: 31.1677, grad_norm: 163.1489 +2026-02-25 19:01:31,694 - DriveTransformer - INFO - Epoch [5][23950/39528] lr: 9.337e-05, eta: 7 days, 3:32:28, time: 0.864, data_time: 0.041, memory: 19865, loss_cls: 0.2504, loss_bbox: 0.4534, loss_traj: 0.6607, loss_traj_cls: 0.0010, loss_map_cls: 0.2155, loss_map_pts: 0.9827, loss_map_dir: 0.0162, d0.loss_plan_l1_fix_time: 2.8762, d0.loss_plan_l1_fix_dist: 0.4287, d1.loss_plan_l1_fix_time: 1.4511, d1.loss_plan_l1_fix_dist: 0.2638, d2.loss_plan_l1_fix_time: 1.4425, d2.loss_plan_l1_fix_dist: 0.2694, d3.loss_plan_l1_fix_time: 1.4493, d3.loss_plan_l1_fix_dist: 0.2762, d4.loss_plan_l1_fix_time: 1.4542, d4.loss_plan_l1_fix_dist: 0.2865, d5.loss_plan_l1_fix_time: 1.4598, d5.loss_plan_l1_fix_dist: 0.2985, d6.loss_plan_l1_fix_time: 1.4659, d6.loss_plan_l1_fix_dist: 0.3128, d0.loss_cls_all: 0.2755, d0.loss_bbox_all: 0.5025, d0.loss_cls: 0.2755, d0.loss_bbox: 0.5025, d1.loss_cls: 0.2703, d1.loss_bbox: 0.4723, d2.loss_cls: 0.2571, d2.loss_bbox: 0.4598, d3.loss_cls: 0.2519, d3.loss_bbox: 0.4534, d4.loss_cls: 0.2479, d4.loss_bbox: 0.4533, d5.loss_cls: 0.2505, d5.loss_bbox: 0.4532, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8285, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6984, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6693, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6566, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6534, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6543, d0.loss_map_cls_all: 0.2881, d0.loss_map_pts_all: 1.9237, d0.loss_map_dir_all: 0.0151, d0.loss_map_cls: 0.2881, d0.loss_map_pts: 1.9237, d0.loss_map_dir: 0.0151, d1.loss_map_cls: 0.2525, d1.loss_map_pts: 1.2996, d1.loss_map_dir: 0.0146, d2.loss_map_cls: 0.2352, d2.loss_map_pts: 1.0817, d2.loss_map_dir: 0.0151, d3.loss_map_cls: 0.2273, d3.loss_map_pts: 1.0148, d3.loss_map_dir: 0.0157, d4.loss_map_cls: 0.2205, d4.loss_map_pts: 0.9911, d4.loss_map_dir: 0.0161, d5.loss_map_cls: 0.2181, d5.loss_map_pts: 0.9853, d5.loss_map_dir: 0.0162, loss: 36.6647, grad_norm: 163.0028 +2026-02-25 19:02:14,044 - DriveTransformer - INFO - Epoch [5][24000/39528] lr: 9.337e-05, eta: 7 days, 3:31:57, time: 0.848, data_time: 0.046, memory: 19865, loss_cls: 0.2031, loss_bbox: 0.3931, loss_traj: 0.5857, loss_traj_cls: 0.0010, loss_map_cls: 0.1888, loss_map_pts: 0.8320, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 2.2004, d0.loss_plan_l1_fix_dist: 0.4430, d1.loss_plan_l1_fix_time: 1.0240, d1.loss_plan_l1_fix_dist: 0.2048, d2.loss_plan_l1_fix_time: 1.0278, d2.loss_plan_l1_fix_dist: 0.2086, d3.loss_plan_l1_fix_time: 1.0313, d3.loss_plan_l1_fix_dist: 0.2169, d4.loss_plan_l1_fix_time: 1.0378, d4.loss_plan_l1_fix_dist: 0.2272, d5.loss_plan_l1_fix_time: 1.0458, d5.loss_plan_l1_fix_dist: 0.2381, d6.loss_plan_l1_fix_time: 1.0552, d6.loss_plan_l1_fix_dist: 0.2540, d0.loss_cls_all: 0.2359, d0.loss_bbox_all: 0.4453, d0.loss_cls: 0.2359, d0.loss_bbox: 0.4453, d1.loss_cls: 0.2244, d1.loss_bbox: 0.4145, d2.loss_cls: 0.2135, d2.loss_bbox: 0.3990, d3.loss_cls: 0.2075, d3.loss_bbox: 0.3907, d4.loss_cls: 0.2053, d4.loss_bbox: 0.3890, d5.loss_cls: 0.2043, d5.loss_bbox: 0.3915, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7152, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6085, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5858, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5789, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5728, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5809, d0.loss_map_cls_all: 0.2579, d0.loss_map_pts_all: 1.8185, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.2579, d0.loss_map_pts: 1.8185, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.2241, d1.loss_map_pts: 1.1316, d1.loss_map_dir: 0.0128, d2.loss_map_cls: 0.2096, d2.loss_map_pts: 0.9127, d2.loss_map_dir: 0.0132, d3.loss_map_cls: 0.1994, d3.loss_map_pts: 0.8516, d3.loss_map_dir: 0.0137, d4.loss_map_cls: 0.1935, d4.loss_map_pts: 0.8347, d4.loss_map_dir: 0.0141, d5.loss_map_cls: 0.1898, d5.loss_map_pts: 0.8324, d5.loss_map_dir: 0.0141, loss: 30.3103, grad_norm: 162.9984 +2026-02-25 19:02:54,558 - DriveTransformer - INFO - Epoch [5][24050/39528] lr: 9.337e-05, eta: 7 days, 3:31:18, time: 0.809, data_time: 0.040, memory: 19865, loss_cls: 0.2064, loss_bbox: 0.3809, loss_traj: 0.6552, loss_traj_cls: 0.0010, loss_map_cls: 0.1968, loss_map_pts: 0.7431, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.6605, d0.loss_plan_l1_fix_dist: 0.4200, d1.loss_plan_l1_fix_time: 1.3008, d1.loss_plan_l1_fix_dist: 0.1902, d2.loss_plan_l1_fix_time: 1.2875, d2.loss_plan_l1_fix_dist: 0.1941, d3.loss_plan_l1_fix_time: 1.2818, d3.loss_plan_l1_fix_dist: 0.2043, d4.loss_plan_l1_fix_time: 1.2847, d4.loss_plan_l1_fix_dist: 0.2155, d5.loss_plan_l1_fix_time: 1.2900, d5.loss_plan_l1_fix_dist: 0.2274, d6.loss_plan_l1_fix_time: 1.2983, d6.loss_plan_l1_fix_dist: 0.2436, d0.loss_cls_all: 0.2375, d0.loss_bbox_all: 0.4309, d0.loss_cls: 0.2375, d0.loss_bbox: 0.4309, d1.loss_cls: 0.2312, d1.loss_bbox: 0.3995, d2.loss_cls: 0.2199, d2.loss_bbox: 0.3870, d3.loss_cls: 0.2132, d3.loss_bbox: 0.3816, d4.loss_cls: 0.2066, d4.loss_bbox: 0.3790, d5.loss_cls: 0.2048, d5.loss_bbox: 0.3796, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7945, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7019, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6630, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6528, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6459, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6514, d0.loss_map_cls_all: 0.2556, d0.loss_map_pts_all: 1.5156, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2556, d0.loss_map_pts: 1.5156, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2337, d1.loss_map_pts: 1.0162, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2169, d2.loss_map_pts: 0.8265, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2053, d3.loss_map_pts: 0.7635, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.2002, d4.loss_map_pts: 0.7477, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.1983, d5.loss_map_pts: 0.7420, d5.loss_map_dir: 0.0121, loss: 31.5238, grad_norm: 161.8837 +2026-02-25 19:03:36,183 - DriveTransformer - INFO - Epoch [5][24100/39528] lr: 9.337e-05, eta: 7 days, 3:30:43, time: 0.832, data_time: 0.044, memory: 19865, loss_cls: 0.2118, loss_bbox: 0.4171, loss_traj: 0.8775, loss_traj_cls: 0.0010, loss_map_cls: 0.1937, loss_map_pts: 0.8534, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.7106, d0.loss_plan_l1_fix_dist: 0.4560, d1.loss_plan_l1_fix_time: 1.3804, d1.loss_plan_l1_fix_dist: 0.2181, d2.loss_plan_l1_fix_time: 1.3798, d2.loss_plan_l1_fix_dist: 0.2233, d3.loss_plan_l1_fix_time: 1.3823, d3.loss_plan_l1_fix_dist: 0.2321, d4.loss_plan_l1_fix_time: 1.3845, d4.loss_plan_l1_fix_dist: 0.2428, d5.loss_plan_l1_fix_time: 1.3866, d5.loss_plan_l1_fix_dist: 0.2540, d6.loss_plan_l1_fix_time: 1.3894, d6.loss_plan_l1_fix_dist: 0.2618, d0.loss_cls_all: 0.2405, d0.loss_bbox_all: 0.4710, d0.loss_cls: 0.2405, d0.loss_bbox: 0.4710, d1.loss_cls: 0.2322, d1.loss_bbox: 0.4394, d2.loss_cls: 0.2223, d2.loss_bbox: 0.4228, d3.loss_cls: 0.2193, d3.loss_bbox: 0.4183, d4.loss_cls: 0.2119, d4.loss_bbox: 0.4161, d5.loss_cls: 0.2112, d5.loss_bbox: 0.4153, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1549, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9513, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8917, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8810, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8717, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8727, d0.loss_map_cls_all: 0.2563, d0.loss_map_pts_all: 1.6840, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2563, d0.loss_map_pts: 1.6840, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2275, d1.loss_map_pts: 1.1690, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2114, d2.loss_map_pts: 0.9666, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.2018, d3.loss_map_pts: 0.8910, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1969, d4.loss_map_pts: 0.8624, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1951, d5.loss_map_pts: 0.8535, d5.loss_map_dir: 0.0119, loss: 35.4631, grad_norm: 161.7685 +2026-02-25 19:04:17,489 - DriveTransformer - INFO - Epoch [5][24150/39528] lr: 9.337e-05, eta: 7 days, 3:30:07, time: 0.826, data_time: 0.049, memory: 19865, loss_cls: 0.2212, loss_bbox: 0.4406, loss_traj: 0.9285, loss_traj_cls: 0.0009, loss_map_cls: 0.2065, loss_map_pts: 0.9107, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.7822, d0.loss_plan_l1_fix_dist: 0.3449, d1.loss_plan_l1_fix_time: 1.5178, d1.loss_plan_l1_fix_dist: 0.1917, d2.loss_plan_l1_fix_time: 1.5062, d2.loss_plan_l1_fix_dist: 0.1945, d3.loss_plan_l1_fix_time: 1.5067, d3.loss_plan_l1_fix_dist: 0.2030, d4.loss_plan_l1_fix_time: 1.5092, d4.loss_plan_l1_fix_dist: 0.2122, d5.loss_plan_l1_fix_time: 1.5115, d5.loss_plan_l1_fix_dist: 0.2235, d6.loss_plan_l1_fix_time: 1.5130, d6.loss_plan_l1_fix_dist: 0.2374, d0.loss_cls_all: 0.2629, d0.loss_bbox_all: 0.4985, d0.loss_cls: 0.2629, d0.loss_bbox: 0.4985, d1.loss_cls: 0.2537, d1.loss_bbox: 0.4626, d2.loss_cls: 0.2406, d2.loss_bbox: 0.4489, d3.loss_cls: 0.2315, d3.loss_bbox: 0.4416, d4.loss_cls: 0.2243, d4.loss_bbox: 0.4382, d5.loss_cls: 0.2220, d5.loss_bbox: 0.4386, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1631, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9775, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9410, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9297, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9280, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9288, d0.loss_map_cls_all: 0.2540, d0.loss_map_pts_all: 1.6959, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2540, d0.loss_map_pts: 1.6959, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2267, d1.loss_map_pts: 1.2038, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2165, d2.loss_map_pts: 1.0059, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.2094, d3.loss_map_pts: 0.9404, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2070, d4.loss_map_pts: 0.9167, d4.loss_map_dir: 0.0126, d5.loss_map_cls: 0.2072, d5.loss_map_pts: 0.9107, d5.loss_map_dir: 0.0126, loss: 37.0014, grad_norm: 160.1038 +2026-02-25 19:05:00,444 - DriveTransformer - INFO - Epoch [5][24200/39528] lr: 9.337e-05, eta: 7 days, 3:29:38, time: 0.859, data_time: 0.042, memory: 19865, loss_cls: 0.2178, loss_bbox: 0.4184, loss_traj: 0.6747, loss_traj_cls: 0.0009, loss_map_cls: 0.1858, loss_map_pts: 0.9425, loss_map_dir: 0.0159, d0.loss_plan_l1_fix_time: 2.7116, d0.loss_plan_l1_fix_dist: 0.3715, d1.loss_plan_l1_fix_time: 1.2972, d1.loss_plan_l1_fix_dist: 0.1750, d2.loss_plan_l1_fix_time: 1.2770, d2.loss_plan_l1_fix_dist: 0.1781, d3.loss_plan_l1_fix_time: 1.2760, d3.loss_plan_l1_fix_dist: 0.1838, d4.loss_plan_l1_fix_time: 1.2787, d4.loss_plan_l1_fix_dist: 0.1918, d5.loss_plan_l1_fix_time: 1.2816, d5.loss_plan_l1_fix_dist: 0.2021, d6.loss_plan_l1_fix_time: 1.2845, d6.loss_plan_l1_fix_dist: 0.2146, d0.loss_cls_all: 0.2536, d0.loss_bbox_all: 0.4715, d0.loss_cls: 0.2536, d0.loss_bbox: 0.4715, d1.loss_cls: 0.2463, d1.loss_bbox: 0.4415, d2.loss_cls: 0.2330, d2.loss_bbox: 0.4270, d3.loss_cls: 0.2237, d3.loss_bbox: 0.4197, d4.loss_cls: 0.2194, d4.loss_bbox: 0.4171, d5.loss_cls: 0.2184, d5.loss_bbox: 0.4164, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8290, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7184, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6791, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6678, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6695, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6711, d0.loss_map_cls_all: 0.2540, d0.loss_map_pts_all: 1.8849, d0.loss_map_dir_all: 0.0142, d0.loss_map_cls: 0.2540, d0.loss_map_pts: 1.8849, d0.loss_map_dir: 0.0142, d1.loss_map_cls: 0.2270, d1.loss_map_pts: 1.2335, d1.loss_map_dir: 0.0139, d2.loss_map_cls: 0.2064, d2.loss_map_pts: 1.0324, d2.loss_map_dir: 0.0145, d3.loss_map_cls: 0.1948, d3.loss_map_pts: 0.9678, d3.loss_map_dir: 0.0152, d4.loss_map_cls: 0.1904, d4.loss_map_pts: 0.9470, d4.loss_map_dir: 0.0156, d5.loss_map_cls: 0.1874, d5.loss_map_pts: 0.9407, d5.loss_map_dir: 0.0158, loss: 33.8412, grad_norm: 161.2394 +2026-02-25 19:05:40,952 - DriveTransformer - INFO - Epoch [5][24250/39528] lr: 9.337e-05, eta: 7 days, 3:28:59, time: 0.810, data_time: 0.039, memory: 19865, loss_cls: 0.2021, loss_bbox: 0.4075, loss_traj: 0.7344, loss_traj_cls: 0.0009, loss_map_cls: 0.1867, loss_map_pts: 0.8028, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.4410, d0.loss_plan_l1_fix_dist: 0.4585, d1.loss_plan_l1_fix_time: 1.2318, d1.loss_plan_l1_fix_dist: 0.2010, d2.loss_plan_l1_fix_time: 1.2243, d2.loss_plan_l1_fix_dist: 0.2027, d3.loss_plan_l1_fix_time: 1.2302, d3.loss_plan_l1_fix_dist: 0.2084, d4.loss_plan_l1_fix_time: 1.2339, d4.loss_plan_l1_fix_dist: 0.2167, d5.loss_plan_l1_fix_time: 1.2376, d5.loss_plan_l1_fix_dist: 0.2266, d6.loss_plan_l1_fix_time: 1.2419, d6.loss_plan_l1_fix_dist: 0.2408, d0.loss_cls_all: 0.2244, d0.loss_bbox_all: 0.4551, d0.loss_cls: 0.2244, d0.loss_bbox: 0.4551, d1.loss_cls: 0.2167, d1.loss_bbox: 0.4258, d2.loss_cls: 0.2087, d2.loss_bbox: 0.4118, d3.loss_cls: 0.2034, d3.loss_bbox: 0.4059, d4.loss_cls: 0.1989, d4.loss_bbox: 0.4062, d5.loss_cls: 0.1988, d5.loss_bbox: 0.4076, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9345, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7926, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7389, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7294, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7294, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7260, d0.loss_map_cls_all: 0.2563, d0.loss_map_pts_all: 1.6001, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2563, d0.loss_map_pts: 1.6001, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2256, d1.loss_map_pts: 1.0898, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2071, d2.loss_map_pts: 0.8924, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1954, d3.loss_map_pts: 0.8248, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1888, d4.loss_map_pts: 0.8076, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1869, d5.loss_map_pts: 0.8020, d5.loss_map_dir: 0.0118, loss: 32.2527, grad_norm: 160.9342 +2026-02-25 19:06:22,479 - DriveTransformer - INFO - Epoch [5][24300/39528] lr: 9.337e-05, eta: 7 days, 3:28:24, time: 0.831, data_time: 0.040, memory: 19865, loss_cls: 0.2049, loss_bbox: 0.3997, loss_traj: 0.7682, loss_traj_cls: 0.0010, loss_map_cls: 0.1722, loss_map_pts: 0.8148, loss_map_dir: 0.0132, d0.loss_plan_l1_fix_time: 2.0046, d0.loss_plan_l1_fix_dist: 0.4267, d1.loss_plan_l1_fix_time: 1.0069, d1.loss_plan_l1_fix_dist: 0.1816, d2.loss_plan_l1_fix_time: 0.9936, d2.loss_plan_l1_fix_dist: 0.1829, d3.loss_plan_l1_fix_time: 0.9944, d3.loss_plan_l1_fix_dist: 0.1890, d4.loss_plan_l1_fix_time: 0.9976, d4.loss_plan_l1_fix_dist: 0.1981, d5.loss_plan_l1_fix_time: 1.0016, d5.loss_plan_l1_fix_dist: 0.2087, d6.loss_plan_l1_fix_time: 1.0062, d6.loss_plan_l1_fix_dist: 0.2183, d0.loss_cls_all: 0.2370, d0.loss_bbox_all: 0.4510, d0.loss_cls: 0.2370, d0.loss_bbox: 0.4510, d1.loss_cls: 0.2273, d1.loss_bbox: 0.4203, d2.loss_cls: 0.2130, d2.loss_bbox: 0.4077, d3.loss_cls: 0.2080, d3.loss_bbox: 0.4005, d4.loss_cls: 0.2034, d4.loss_bbox: 0.3996, d5.loss_cls: 0.2033, d5.loss_bbox: 0.3996, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0077, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7916, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7557, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7597, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7618, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7665, d0.loss_map_cls_all: 0.2384, d0.loss_map_pts_all: 1.5838, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.2384, d0.loss_map_pts: 1.5838, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2079, d1.loss_map_pts: 1.0883, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.1929, d2.loss_map_pts: 0.9106, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.1812, d3.loss_map_pts: 0.8448, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.1766, d4.loss_map_pts: 0.8225, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.1727, d5.loss_map_pts: 0.8160, d5.loss_map_dir: 0.0131, loss: 30.4374, grad_norm: 158.5018 +2026-02-25 19:07:05,445 - DriveTransformer - INFO - Epoch [5][24350/39528] lr: 9.337e-05, eta: 7 days, 3:27:55, time: 0.859, data_time: 0.047, memory: 19865, loss_cls: 0.2173, loss_bbox: 0.4112, loss_traj: 0.6640, loss_traj_cls: 0.0010, loss_map_cls: 0.1909, loss_map_pts: 0.8399, loss_map_dir: 0.0146, d0.loss_plan_l1_fix_time: 2.5716, d0.loss_plan_l1_fix_dist: 0.4135, d1.loss_plan_l1_fix_time: 1.2156, d1.loss_plan_l1_fix_dist: 0.1741, d2.loss_plan_l1_fix_time: 1.2021, d2.loss_plan_l1_fix_dist: 0.1803, d3.loss_plan_l1_fix_time: 1.2023, d3.loss_plan_l1_fix_dist: 0.1908, d4.loss_plan_l1_fix_time: 1.2062, d4.loss_plan_l1_fix_dist: 0.2039, d5.loss_plan_l1_fix_time: 1.2112, d5.loss_plan_l1_fix_dist: 0.2193, d6.loss_plan_l1_fix_time: 1.2165, d6.loss_plan_l1_fix_dist: 0.2356, d0.loss_cls_all: 0.2521, d0.loss_bbox_all: 0.4692, d0.loss_cls: 0.2521, d0.loss_bbox: 0.4692, d1.loss_cls: 0.2423, d1.loss_bbox: 0.4353, d2.loss_cls: 0.2328, d2.loss_bbox: 0.4188, d3.loss_cls: 0.2231, d3.loss_bbox: 0.4136, d4.loss_cls: 0.2174, d4.loss_bbox: 0.4117, d5.loss_cls: 0.2160, d5.loss_bbox: 0.4121, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8712, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7076, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6596, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6582, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6578, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6604, d0.loss_map_cls_all: 0.2474, d0.loss_map_pts_all: 1.7385, d0.loss_map_dir_all: 0.0140, d0.loss_map_cls: 0.2474, d0.loss_map_pts: 1.7385, d0.loss_map_dir: 0.0140, d1.loss_map_cls: 0.2215, d1.loss_map_pts: 1.1275, d1.loss_map_dir: 0.0135, d2.loss_map_cls: 0.2092, d2.loss_map_pts: 0.9353, d2.loss_map_dir: 0.0138, d3.loss_map_cls: 0.2012, d3.loss_map_pts: 0.8678, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.1956, d4.loss_map_pts: 0.8469, d4.loss_map_dir: 0.0144, d5.loss_map_cls: 0.1916, d5.loss_map_pts: 0.8413, d5.loss_map_dir: 0.0144, loss: 32.3765, grad_norm: 156.7403 +2026-02-25 19:07:45,739 - DriveTransformer - INFO - Epoch [5][24400/39528] lr: 9.337e-05, eta: 7 days, 3:27:14, time: 0.806, data_time: 0.045, memory: 19865, loss_cls: 0.2231, loss_bbox: 0.4117, loss_traj: 0.8012, loss_traj_cls: 0.0010, loss_map_cls: 0.2252, loss_map_pts: 0.9005, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.5371, d0.loss_plan_l1_fix_dist: 0.4676, d1.loss_plan_l1_fix_time: 1.4421, d1.loss_plan_l1_fix_dist: 0.2110, d2.loss_plan_l1_fix_time: 1.4324, d2.loss_plan_l1_fix_dist: 0.2234, d3.loss_plan_l1_fix_time: 1.4352, d3.loss_plan_l1_fix_dist: 0.2401, d4.loss_plan_l1_fix_time: 1.4398, d4.loss_plan_l1_fix_dist: 0.2581, d5.loss_plan_l1_fix_time: 1.4453, d5.loss_plan_l1_fix_dist: 0.2771, d6.loss_plan_l1_fix_time: 1.4515, d6.loss_plan_l1_fix_dist: 0.2972, d0.loss_cls_all: 0.2578, d0.loss_bbox_all: 0.4721, d0.loss_cls: 0.2578, d0.loss_bbox: 0.4721, d1.loss_cls: 0.2463, d1.loss_bbox: 0.4368, d2.loss_cls: 0.2371, d2.loss_bbox: 0.4147, d3.loss_cls: 0.2292, d3.loss_bbox: 0.4102, d4.loss_cls: 0.2232, d4.loss_bbox: 0.4098, d5.loss_cls: 0.2219, d5.loss_bbox: 0.4102, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1107, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8766, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8281, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8099, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8017, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8023, d0.loss_map_cls_all: 0.2992, d0.loss_map_pts_all: 1.7699, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2992, d0.loss_map_pts: 1.7699, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2638, d1.loss_map_pts: 1.2181, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2452, d2.loss_map_pts: 1.0006, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.2327, d3.loss_map_pts: 0.9356, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.2270, d4.loss_map_pts: 0.9110, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.2260, d5.loss_map_pts: 0.9038, d5.loss_map_dir: 0.0120, loss: 36.0477, grad_norm: 156.9181 +2026-02-25 19:08:25,908 - DriveTransformer - INFO - Epoch [5][24450/39528] lr: 9.337e-05, eta: 7 days, 3:26:34, time: 0.803, data_time: 0.045, memory: 19865, loss_cls: 0.2253, loss_bbox: 0.4259, loss_traj: 0.6386, loss_traj_cls: 0.0010, loss_map_cls: 0.2074, loss_map_pts: 0.8902, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.6800, d0.loss_plan_l1_fix_dist: 0.3566, d1.loss_plan_l1_fix_time: 1.2121, d1.loss_plan_l1_fix_dist: 0.1798, d2.loss_plan_l1_fix_time: 1.1960, d2.loss_plan_l1_fix_dist: 0.1929, d3.loss_plan_l1_fix_time: 1.1968, d3.loss_plan_l1_fix_dist: 0.2109, d4.loss_plan_l1_fix_time: 1.1994, d4.loss_plan_l1_fix_dist: 0.2297, d5.loss_plan_l1_fix_time: 1.2030, d5.loss_plan_l1_fix_dist: 0.2496, d6.loss_plan_l1_fix_time: 1.2084, d6.loss_plan_l1_fix_dist: 0.2751, d0.loss_cls_all: 0.2509, d0.loss_bbox_all: 0.4670, d0.loss_cls: 0.2509, d0.loss_bbox: 0.4670, d1.loss_cls: 0.2437, d1.loss_bbox: 0.4383, d2.loss_cls: 0.2363, d2.loss_bbox: 0.4244, d3.loss_cls: 0.2287, d3.loss_bbox: 0.4218, d4.loss_cls: 0.2249, d4.loss_bbox: 0.4244, d5.loss_cls: 0.2219, d5.loss_bbox: 0.4270, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8722, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6834, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6515, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6448, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6495, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6443, d0.loss_map_cls_all: 0.2705, d0.loss_map_pts_all: 1.7378, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2705, d0.loss_map_pts: 1.7378, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2450, d1.loss_map_pts: 1.1723, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2283, d2.loss_map_pts: 0.9737, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2170, d3.loss_map_pts: 0.9152, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.2135, d4.loss_map_pts: 0.8963, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.2082, d5.loss_map_pts: 0.8925, d5.loss_map_dir: 0.0119, loss: 32.9280, grad_norm: 160.1359 +2026-02-25 19:09:06,390 - DriveTransformer - INFO - Epoch [5][24500/39528] lr: 9.337e-05, eta: 7 days, 3:25:54, time: 0.810, data_time: 0.040, memory: 19865, loss_cls: 0.2061, loss_bbox: 0.4051, loss_traj: 0.7212, loss_traj_cls: 0.0010, loss_map_cls: 0.2025, loss_map_pts: 0.8951, loss_map_dir: 0.0138, d0.loss_plan_l1_fix_time: 2.3928, d0.loss_plan_l1_fix_dist: 0.3396, d1.loss_plan_l1_fix_time: 1.1105, d1.loss_plan_l1_fix_dist: 0.1871, d2.loss_plan_l1_fix_time: 1.1007, d2.loss_plan_l1_fix_dist: 0.1981, d3.loss_plan_l1_fix_time: 1.1081, d3.loss_plan_l1_fix_dist: 0.2150, d4.loss_plan_l1_fix_time: 1.1133, d4.loss_plan_l1_fix_dist: 0.2349, d5.loss_plan_l1_fix_time: 1.1187, d5.loss_plan_l1_fix_dist: 0.2549, d6.loss_plan_l1_fix_time: 1.1247, d6.loss_plan_l1_fix_dist: 0.2770, d0.loss_cls_all: 0.2440, d0.loss_bbox_all: 0.4428, d0.loss_cls: 0.2440, d0.loss_bbox: 0.4428, d1.loss_cls: 0.2318, d1.loss_bbox: 0.4123, d2.loss_cls: 0.2218, d2.loss_bbox: 0.4022, d3.loss_cls: 0.2122, d3.loss_bbox: 0.3997, d4.loss_cls: 0.2073, d4.loss_bbox: 0.4009, d5.loss_cls: 0.2057, d5.loss_bbox: 0.4027, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8704, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7563, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7262, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7215, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7236, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7237, d0.loss_map_cls_all: 0.2659, d0.loss_map_pts_all: 1.7089, d0.loss_map_dir_all: 0.0130, d0.loss_map_cls: 0.2659, d0.loss_map_pts: 1.7089, d0.loss_map_dir: 0.0130, d1.loss_map_cls: 0.2345, d1.loss_map_pts: 1.1799, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2165, d2.loss_map_pts: 0.9915, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2079, d3.loss_map_pts: 0.9273, d3.loss_map_dir: 0.0133, d4.loss_map_cls: 0.2048, d4.loss_map_pts: 0.9044, d4.loss_map_dir: 0.0136, d5.loss_map_cls: 0.2029, d5.loss_map_pts: 0.8965, d5.loss_map_dir: 0.0137, loss: 32.2256, grad_norm: 161.4954 +2026-02-25 19:09:49,389 - DriveTransformer - INFO - Epoch [5][24550/39528] lr: 9.337e-05, eta: 7 days, 3:25:25, time: 0.860, data_time: 0.046, memory: 19865, loss_cls: 0.2343, loss_bbox: 0.4465, loss_traj: 0.8537, loss_traj_cls: 0.0010, loss_map_cls: 0.2205, loss_map_pts: 0.9286, loss_map_dir: 0.0136, d0.loss_plan_l1_fix_time: 3.1431, d0.loss_plan_l1_fix_dist: 0.4438, d1.loss_plan_l1_fix_time: 1.6585, d1.loss_plan_l1_fix_dist: 0.2364, d2.loss_plan_l1_fix_time: 1.6512, d2.loss_plan_l1_fix_dist: 0.2457, d3.loss_plan_l1_fix_time: 1.6532, d3.loss_plan_l1_fix_dist: 0.2612, d4.loss_plan_l1_fix_time: 1.6564, d4.loss_plan_l1_fix_dist: 0.2793, d5.loss_plan_l1_fix_time: 1.6602, d5.loss_plan_l1_fix_dist: 0.2993, d6.loss_plan_l1_fix_time: 1.6638, d6.loss_plan_l1_fix_dist: 0.3158, d0.loss_cls_all: 0.2628, d0.loss_bbox_all: 0.5037, d0.loss_cls: 0.2628, d0.loss_bbox: 0.5037, d1.loss_cls: 0.2555, d1.loss_bbox: 0.4725, d2.loss_cls: 0.2438, d2.loss_bbox: 0.4545, d3.loss_cls: 0.2379, d3.loss_bbox: 0.4477, d4.loss_cls: 0.2356, d4.loss_bbox: 0.4447, d5.loss_cls: 0.2335, d5.loss_bbox: 0.4462, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0779, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9180, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8762, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8671, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8567, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8530, d0.loss_map_cls_all: 0.2870, d0.loss_map_pts_all: 1.8091, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2870, d0.loss_map_pts: 1.8091, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2513, d1.loss_map_pts: 1.2376, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2357, d2.loss_map_pts: 1.0382, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2241, d3.loss_map_pts: 0.9718, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2211, d4.loss_map_pts: 0.9418, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.2213, d5.loss_map_pts: 0.9305, d5.loss_map_dir: 0.0136, loss: 38.8798, grad_norm: 161.9082 +2026-02-25 19:10:29,129 - DriveTransformer - INFO - Epoch [5][24600/39528] lr: 9.337e-05, eta: 7 days, 3:24:43, time: 0.795, data_time: 0.041, memory: 19865, loss_cls: 0.2106, loss_bbox: 0.4302, loss_traj: 0.6944, loss_traj_cls: 0.0010, loss_map_cls: 0.2115, loss_map_pts: 0.8545, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.4541, d0.loss_plan_l1_fix_dist: 0.4745, d1.loss_plan_l1_fix_time: 1.1621, d1.loss_plan_l1_fix_dist: 0.2298, d2.loss_plan_l1_fix_time: 1.1593, d2.loss_plan_l1_fix_dist: 0.2428, d3.loss_plan_l1_fix_time: 1.1627, d3.loss_plan_l1_fix_dist: 0.2606, d4.loss_plan_l1_fix_time: 1.1662, d4.loss_plan_l1_fix_dist: 0.2806, d5.loss_plan_l1_fix_time: 1.1698, d5.loss_plan_l1_fix_dist: 0.3045, d6.loss_plan_l1_fix_time: 1.1743, d6.loss_plan_l1_fix_dist: 0.3290, d0.loss_cls_all: 0.2409, d0.loss_bbox_all: 0.4756, d0.loss_cls: 0.2409, d0.loss_bbox: 0.4756, d1.loss_cls: 0.2315, d1.loss_bbox: 0.4480, d2.loss_cls: 0.2206, d2.loss_bbox: 0.4325, d3.loss_cls: 0.2151, d3.loss_bbox: 0.4265, d4.loss_cls: 0.2108, d4.loss_bbox: 0.4277, d5.loss_cls: 0.2100, d5.loss_bbox: 0.4294, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9401, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7676, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7077, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7035, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6969, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6943, d0.loss_map_cls_all: 0.2848, d0.loss_map_pts_all: 1.6149, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2848, d0.loss_map_pts: 1.6149, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2506, d1.loss_map_pts: 1.1310, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2339, d2.loss_map_pts: 0.9604, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2230, d3.loss_map_pts: 0.8936, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.2154, d4.loss_map_pts: 0.8670, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.2121, d5.loss_map_pts: 0.8564, d5.loss_map_dir: 0.0120, loss: 32.9090, grad_norm: 162.3391 +2026-02-25 19:11:09,917 - DriveTransformer - INFO - Epoch [5][24650/39528] lr: 9.337e-05, eta: 7 days, 3:24:05, time: 0.816, data_time: 0.046, memory: 19865, loss_cls: 0.2199, loss_bbox: 0.4317, loss_traj: 0.6923, loss_traj_cls: 0.0010, loss_map_cls: 0.2148, loss_map_pts: 0.8108, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 3.1389, d0.loss_plan_l1_fix_dist: 0.3995, d1.loss_plan_l1_fix_time: 1.5374, d1.loss_plan_l1_fix_dist: 0.2128, d2.loss_plan_l1_fix_time: 1.5233, d2.loss_plan_l1_fix_dist: 0.2211, d3.loss_plan_l1_fix_time: 1.5247, d3.loss_plan_l1_fix_dist: 0.2336, d4.loss_plan_l1_fix_time: 1.5270, d4.loss_plan_l1_fix_dist: 0.2490, d5.loss_plan_l1_fix_time: 1.5298, d5.loss_plan_l1_fix_dist: 0.2649, d6.loss_plan_l1_fix_time: 1.5340, d6.loss_plan_l1_fix_dist: 0.2839, d0.loss_cls_all: 0.2483, d0.loss_bbox_all: 0.4809, d0.loss_cls: 0.2483, d0.loss_bbox: 0.4809, d1.loss_cls: 0.2432, d1.loss_bbox: 0.4511, d2.loss_cls: 0.2320, d2.loss_bbox: 0.4333, d3.loss_cls: 0.2229, d3.loss_bbox: 0.4299, d4.loss_cls: 0.2199, d4.loss_bbox: 0.4307, d5.loss_cls: 0.2194, d5.loss_bbox: 0.4313, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8907, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7651, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7133, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6987, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6955, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6925, d0.loss_map_cls_all: 0.2662, d0.loss_map_pts_all: 1.5489, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2662, d0.loss_map_pts: 1.5489, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2451, d1.loss_map_pts: 1.0735, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.2303, d2.loss_map_pts: 0.9090, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.2201, d3.loss_map_pts: 0.8464, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.2184, d4.loss_map_pts: 0.8225, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.2158, d5.loss_map_pts: 0.8139, d5.loss_map_dir: 0.0097, loss: 35.0838, grad_norm: 162.2732 +2026-02-25 19:11:50,649 - DriveTransformer - INFO - Epoch [5][24700/39528] lr: 9.337e-05, eta: 7 days, 3:23:26, time: 0.815, data_time: 0.039, memory: 19865, loss_cls: 0.1908, loss_bbox: 0.3797, loss_traj: 0.6730, loss_traj_cls: 0.0010, loss_map_cls: 0.1982, loss_map_pts: 0.8811, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.4022, d0.loss_plan_l1_fix_dist: 0.4590, d1.loss_plan_l1_fix_time: 1.1988, d1.loss_plan_l1_fix_dist: 0.2068, d2.loss_plan_l1_fix_time: 1.1898, d2.loss_plan_l1_fix_dist: 0.2122, d3.loss_plan_l1_fix_time: 1.1917, d3.loss_plan_l1_fix_dist: 0.2244, d4.loss_plan_l1_fix_time: 1.1944, d4.loss_plan_l1_fix_dist: 0.2403, d5.loss_plan_l1_fix_time: 1.1975, d5.loss_plan_l1_fix_dist: 0.2580, d6.loss_plan_l1_fix_time: 1.2010, d6.loss_plan_l1_fix_dist: 0.2758, d0.loss_cls_all: 0.2182, d0.loss_bbox_all: 0.4308, d0.loss_cls: 0.2182, d0.loss_bbox: 0.4308, d1.loss_cls: 0.2143, d1.loss_bbox: 0.4002, d2.loss_cls: 0.2010, d2.loss_bbox: 0.3866, d3.loss_cls: 0.1919, d3.loss_bbox: 0.3820, d4.loss_cls: 0.1900, d4.loss_bbox: 0.3801, d5.loss_cls: 0.1914, d5.loss_bbox: 0.3786, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8703, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7177, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6885, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6775, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6740, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6725, d0.loss_map_cls_all: 0.2728, d0.loss_map_pts_all: 1.7057, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2728, d0.loss_map_pts: 1.7057, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2404, d1.loss_map_pts: 1.1968, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2207, d2.loss_map_pts: 0.9920, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.2091, d3.loss_map_pts: 0.9173, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.2037, d4.loss_map_pts: 0.8911, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.2010, d5.loss_map_pts: 0.8825, d5.loss_map_dir: 0.0117, loss: 32.2977, grad_norm: 160.1016 +2026-02-25 19:12:31,061 - DriveTransformer - INFO - Epoch [5][24750/39528] lr: 9.337e-05, eta: 7 days, 3:22:46, time: 0.808, data_time: 0.046, memory: 19865, loss_cls: 0.2411, loss_bbox: 0.4501, loss_traj: 0.7387, loss_traj_cls: 0.0009, loss_map_cls: 0.2145, loss_map_pts: 0.8966, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.8373, d0.loss_plan_l1_fix_dist: 0.3518, d1.loss_plan_l1_fix_time: 1.4237, d1.loss_plan_l1_fix_dist: 0.2109, d2.loss_plan_l1_fix_time: 1.4048, d2.loss_plan_l1_fix_dist: 0.2187, d3.loss_plan_l1_fix_time: 1.4014, d3.loss_plan_l1_fix_dist: 0.2332, d4.loss_plan_l1_fix_time: 1.4031, d4.loss_plan_l1_fix_dist: 0.2496, d5.loss_plan_l1_fix_time: 1.4053, d5.loss_plan_l1_fix_dist: 0.2695, d6.loss_plan_l1_fix_time: 1.4072, d6.loss_plan_l1_fix_dist: 0.2908, d0.loss_cls_all: 0.2690, d0.loss_bbox_all: 0.5047, d0.loss_cls: 0.2690, d0.loss_bbox: 0.5047, d1.loss_cls: 0.2652, d1.loss_bbox: 0.4712, d2.loss_cls: 0.2547, d2.loss_bbox: 0.4520, d3.loss_cls: 0.2456, d3.loss_bbox: 0.4471, d4.loss_cls: 0.2419, d4.loss_bbox: 0.4469, d5.loss_cls: 0.2418, d5.loss_bbox: 0.4475, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0369, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7874, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7417, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7423, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7341, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7317, d0.loss_map_cls_all: 0.2813, d0.loss_map_pts_all: 1.7171, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2813, d0.loss_map_pts: 1.7171, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2504, d1.loss_map_pts: 1.2224, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2355, d2.loss_map_pts: 1.0146, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.2260, d3.loss_map_pts: 0.9377, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.2180, d4.loss_map_pts: 0.9121, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.2160, d5.loss_map_pts: 0.8969, d5.loss_map_dir: 0.0111, loss: 35.7026, grad_norm: 160.0405 +2026-02-25 19:13:10,884 - DriveTransformer - INFO - Epoch [5][24800/39528] lr: 9.337e-05, eta: 7 days, 3:22:05, time: 0.798, data_time: 0.053, memory: 19865, loss_cls: 0.2296, loss_bbox: 0.4295, loss_traj: 0.7246, loss_traj_cls: 0.0010, loss_map_cls: 0.2090, loss_map_pts: 0.8902, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.6348, d0.loss_plan_l1_fix_dist: 0.4375, d1.loss_plan_l1_fix_time: 1.2677, d1.loss_plan_l1_fix_dist: 0.2091, d2.loss_plan_l1_fix_time: 1.2471, d2.loss_plan_l1_fix_dist: 0.2191, d3.loss_plan_l1_fix_time: 1.2431, d3.loss_plan_l1_fix_dist: 0.2312, d4.loss_plan_l1_fix_time: 1.2448, d4.loss_plan_l1_fix_dist: 0.2431, d5.loss_plan_l1_fix_time: 1.2475, d5.loss_plan_l1_fix_dist: 0.2562, d6.loss_plan_l1_fix_time: 1.2505, d6.loss_plan_l1_fix_dist: 0.2712, d0.loss_cls_all: 0.2579, d0.loss_bbox_all: 0.4812, d0.loss_cls: 0.2579, d0.loss_bbox: 0.4812, d1.loss_cls: 0.2535, d1.loss_bbox: 0.4464, d2.loss_cls: 0.2389, d2.loss_bbox: 0.4317, d3.loss_cls: 0.2328, d3.loss_bbox: 0.4281, d4.loss_cls: 0.2301, d4.loss_bbox: 0.4261, d5.loss_cls: 0.2282, d5.loss_bbox: 0.4284, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9520, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7826, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7364, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7296, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7258, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7208, d0.loss_map_cls_all: 0.2727, d0.loss_map_pts_all: 1.7054, d0.loss_map_dir_all: 0.0122, d0.loss_map_cls: 0.2727, d0.loss_map_pts: 1.7054, d0.loss_map_dir: 0.0122, d1.loss_map_cls: 0.2415, d1.loss_map_pts: 1.1643, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2316, d2.loss_map_pts: 0.9807, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2200, d3.loss_map_pts: 0.9190, d3.loss_map_dir: 0.0125, d4.loss_map_cls: 0.2135, d4.loss_map_pts: 0.8987, d4.loss_map_dir: 0.0126, d5.loss_map_cls: 0.2108, d5.loss_map_pts: 0.8910, d5.loss_map_dir: 0.0126, loss: 33.9887, grad_norm: 156.2698 +2026-02-25 19:13:53,187 - DriveTransformer - INFO - Epoch [5][24850/39528] lr: 9.337e-05, eta: 7 days, 3:21:33, time: 0.845, data_time: 0.049, memory: 19865, loss_cls: 0.2237, loss_bbox: 0.4092, loss_traj: 0.8256, loss_traj_cls: 0.0009, loss_map_cls: 0.1760, loss_map_pts: 0.8290, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.8438, d0.loss_plan_l1_fix_dist: 0.3541, d1.loss_plan_l1_fix_time: 1.3751, d1.loss_plan_l1_fix_dist: 0.1840, d2.loss_plan_l1_fix_time: 1.3727, d2.loss_plan_l1_fix_dist: 0.1889, d3.loss_plan_l1_fix_time: 1.3768, d3.loss_plan_l1_fix_dist: 0.1988, d4.loss_plan_l1_fix_time: 1.3802, d4.loss_plan_l1_fix_dist: 0.2127, d5.loss_plan_l1_fix_time: 1.3834, d5.loss_plan_l1_fix_dist: 0.2274, d6.loss_plan_l1_fix_time: 1.3866, d6.loss_plan_l1_fix_dist: 0.2426, d0.loss_cls_all: 0.2473, d0.loss_bbox_all: 0.4527, d0.loss_cls: 0.2473, d0.loss_bbox: 0.4527, d1.loss_cls: 0.2400, d1.loss_bbox: 0.4263, d2.loss_cls: 0.2298, d2.loss_bbox: 0.4102, d3.loss_cls: 0.2234, d3.loss_bbox: 0.4069, d4.loss_cls: 0.2207, d4.loss_bbox: 0.4053, d5.loss_cls: 0.2214, d5.loss_bbox: 0.4067, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0464, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8825, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8338, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8214, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8162, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8180, d0.loss_map_cls_all: 0.2339, d0.loss_map_pts_all: 1.6396, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2339, d0.loss_map_pts: 1.6396, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2099, d1.loss_map_pts: 1.0861, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.1964, d2.loss_map_pts: 0.9175, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.1860, d3.loss_map_pts: 0.8588, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.1785, d4.loss_map_pts: 0.8363, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1773, d5.loss_map_pts: 0.8322, d5.loss_map_dir: 0.0121, loss: 34.3248, grad_norm: 154.6286 +2026-02-25 19:14:33,558 - DriveTransformer - INFO - Epoch [5][24900/39528] lr: 9.337e-05, eta: 7 days, 3:20:53, time: 0.807, data_time: 0.047, memory: 19865, loss_cls: 0.2126, loss_bbox: 0.4019, loss_traj: 0.8065, loss_traj_cls: 0.0010, loss_map_cls: 0.1708, loss_map_pts: 0.7851, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.5544, d0.loss_plan_l1_fix_dist: 0.4168, d1.loss_plan_l1_fix_time: 1.1376, d1.loss_plan_l1_fix_dist: 0.1934, d2.loss_plan_l1_fix_time: 1.1305, d2.loss_plan_l1_fix_dist: 0.1985, d3.loss_plan_l1_fix_time: 1.1332, d3.loss_plan_l1_fix_dist: 0.2084, d4.loss_plan_l1_fix_time: 1.1371, d4.loss_plan_l1_fix_dist: 0.2200, d5.loss_plan_l1_fix_time: 1.1409, d5.loss_plan_l1_fix_dist: 0.2340, d6.loss_plan_l1_fix_time: 1.1451, d6.loss_plan_l1_fix_dist: 0.2489, d0.loss_cls_all: 0.2344, d0.loss_bbox_all: 0.4585, d0.loss_cls: 0.2344, d0.loss_bbox: 0.4585, d1.loss_cls: 0.2335, d1.loss_bbox: 0.4248, d2.loss_cls: 0.2262, d2.loss_bbox: 0.4053, d3.loss_cls: 0.2181, d3.loss_bbox: 0.3994, d4.loss_cls: 0.2150, d4.loss_bbox: 0.3978, d5.loss_cls: 0.2126, d5.loss_bbox: 0.4005, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0208, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8640, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8248, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8105, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8063, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8035, d0.loss_map_cls_all: 0.2360, d0.loss_map_pts_all: 1.5065, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2360, d0.loss_map_pts: 1.5065, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2072, d1.loss_map_pts: 1.0511, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1909, d2.loss_map_pts: 0.8853, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1810, d3.loss_map_pts: 0.8230, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1725, d4.loss_map_pts: 0.7975, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1703, d5.loss_map_pts: 0.7901, d5.loss_map_dir: 0.0111, loss: 31.9703, grad_norm: 154.0447 +2026-02-25 19:15:13,288 - DriveTransformer - INFO - Epoch [5][24950/39528] lr: 9.337e-05, eta: 7 days, 3:20:10, time: 0.795, data_time: 0.044, memory: 19865, loss_cls: 0.1985, loss_bbox: 0.4130, loss_traj: 0.7115, loss_traj_cls: 0.0010, loss_map_cls: 0.1915, loss_map_pts: 0.8162, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 3.0635, d0.loss_plan_l1_fix_dist: 0.4600, d1.loss_plan_l1_fix_time: 1.3807, d1.loss_plan_l1_fix_dist: 0.2035, d2.loss_plan_l1_fix_time: 1.3731, d2.loss_plan_l1_fix_dist: 0.2065, d3.loss_plan_l1_fix_time: 1.3772, d3.loss_plan_l1_fix_dist: 0.2148, d4.loss_plan_l1_fix_time: 1.3807, d4.loss_plan_l1_fix_dist: 0.2238, d5.loss_plan_l1_fix_time: 1.3845, d5.loss_plan_l1_fix_dist: 0.2346, d6.loss_plan_l1_fix_time: 1.3895, d6.loss_plan_l1_fix_dist: 0.2467, d0.loss_cls_all: 0.2278, d0.loss_bbox_all: 0.4723, d0.loss_cls: 0.2278, d0.loss_bbox: 0.4723, d1.loss_cls: 0.2228, d1.loss_bbox: 0.4384, d2.loss_cls: 0.2140, d2.loss_bbox: 0.4205, d3.loss_cls: 0.2047, d3.loss_bbox: 0.4143, d4.loss_cls: 0.2003, d4.loss_bbox: 0.4135, d5.loss_cls: 0.1979, d5.loss_bbox: 0.4136, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9551, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7707, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7248, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7126, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7174, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7125, d0.loss_map_cls_all: 0.2592, d0.loss_map_pts_all: 1.5630, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2592, d0.loss_map_pts: 1.5630, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2277, d1.loss_map_pts: 1.0758, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2117, d2.loss_map_pts: 0.9035, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.2019, d3.loss_map_pts: 0.8480, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1944, d4.loss_map_pts: 0.8256, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1922, d5.loss_map_pts: 0.8201, d5.loss_map_dir: 0.0117, loss: 33.8456, grad_norm: 153.2482 +2026-02-25 19:15:54,775 - DriveTransformer - INFO - Epoch [5][25000/39528] lr: 9.337e-05, eta: 7 days, 3:19:35, time: 0.830, data_time: 0.042, memory: 19865, loss_cls: 0.1968, loss_bbox: 0.3884, loss_traj: 0.6915, loss_traj_cls: 0.0011, loss_map_cls: 0.1769, loss_map_pts: 0.7715, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.6837, d0.loss_plan_l1_fix_dist: 0.4940, d1.loss_plan_l1_fix_time: 1.2535, d1.loss_plan_l1_fix_dist: 0.2082, d2.loss_plan_l1_fix_time: 1.2372, d2.loss_plan_l1_fix_dist: 0.2123, d3.loss_plan_l1_fix_time: 1.2416, d3.loss_plan_l1_fix_dist: 0.2225, d4.loss_plan_l1_fix_time: 1.2457, d4.loss_plan_l1_fix_dist: 0.2360, d5.loss_plan_l1_fix_time: 1.2508, d5.loss_plan_l1_fix_dist: 0.2502, d6.loss_plan_l1_fix_time: 1.2574, d6.loss_plan_l1_fix_dist: 0.2691, d0.loss_cls_all: 0.2175, d0.loss_bbox_all: 0.4431, d0.loss_cls: 0.2175, d0.loss_bbox: 0.4431, d1.loss_cls: 0.2156, d1.loss_bbox: 0.4108, d2.loss_cls: 0.2060, d2.loss_bbox: 0.3942, d3.loss_cls: 0.2012, d3.loss_bbox: 0.3884, d4.loss_cls: 0.1968, d4.loss_bbox: 0.3866, d5.loss_cls: 0.1963, d5.loss_bbox: 0.3854, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9013, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7559, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7220, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7074, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7022, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6931, d0.loss_map_cls_all: 0.2424, d0.loss_map_pts_all: 1.5704, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2424, d0.loss_map_pts: 1.5704, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2124, d1.loss_map_pts: 1.0488, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1953, d2.loss_map_pts: 0.8708, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1861, d3.loss_map_pts: 0.8078, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1817, d4.loss_map_pts: 0.7838, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1765, d5.loss_map_pts: 0.7764, d5.loss_map_dir: 0.0109, loss: 32.0287, grad_norm: 154.6702 +2026-02-25 19:16:35,624 - DriveTransformer - INFO - Epoch [5][25050/39528] lr: 9.337e-05, eta: 7 days, 3:18:57, time: 0.817, data_time: 0.045, memory: 19865, loss_cls: 0.2036, loss_bbox: 0.4023, loss_traj: 0.7148, loss_traj_cls: 0.0010, loss_map_cls: 0.2002, loss_map_pts: 0.8478, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.5101, d0.loss_plan_l1_fix_dist: 0.3741, d1.loss_plan_l1_fix_time: 1.2434, d1.loss_plan_l1_fix_dist: 0.1940, d2.loss_plan_l1_fix_time: 1.2211, d2.loss_plan_l1_fix_dist: 0.1974, d3.loss_plan_l1_fix_time: 1.2151, d3.loss_plan_l1_fix_dist: 0.2059, d4.loss_plan_l1_fix_time: 1.2171, d4.loss_plan_l1_fix_dist: 0.2164, d5.loss_plan_l1_fix_time: 1.2209, d5.loss_plan_l1_fix_dist: 0.2275, d6.loss_plan_l1_fix_time: 1.2262, d6.loss_plan_l1_fix_dist: 0.2381, d0.loss_cls_all: 0.2314, d0.loss_bbox_all: 0.4579, d0.loss_cls: 0.2314, d0.loss_bbox: 0.4579, d1.loss_cls: 0.2227, d1.loss_bbox: 0.4285, d2.loss_cls: 0.2131, d2.loss_bbox: 0.4096, d3.loss_cls: 0.2069, d3.loss_bbox: 0.4027, d4.loss_cls: 0.2028, d4.loss_bbox: 0.4002, d5.loss_cls: 0.2038, d5.loss_bbox: 0.3983, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9233, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7432, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7260, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7224, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7224, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7236, d0.loss_map_cls_all: 0.2715, d0.loss_map_pts_all: 1.6619, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2715, d0.loss_map_pts: 1.6619, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2373, d1.loss_map_pts: 1.1329, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2201, d2.loss_map_pts: 0.9396, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.2099, d3.loss_map_pts: 0.8800, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.2025, d4.loss_map_pts: 0.8566, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.2003, d5.loss_map_pts: 0.8484, d5.loss_map_dir: 0.0121, loss: 32.5989, grad_norm: 155.2678 +2026-02-25 19:17:15,575 - DriveTransformer - INFO - Epoch [5][25100/39528] lr: 9.337e-05, eta: 7 days, 3:18:15, time: 0.799, data_time: 0.046, memory: 19865, loss_cls: 0.2111, loss_bbox: 0.4014, loss_traj: 0.7224, loss_traj_cls: 0.0010, loss_map_cls: 0.2314, loss_map_pts: 0.8963, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 3.0119, d0.loss_plan_l1_fix_dist: 0.4225, d1.loss_plan_l1_fix_time: 1.3728, d1.loss_plan_l1_fix_dist: 0.2133, d2.loss_plan_l1_fix_time: 1.3437, d2.loss_plan_l1_fix_dist: 0.2150, d3.loss_plan_l1_fix_time: 1.3394, d3.loss_plan_l1_fix_dist: 0.2214, d4.loss_plan_l1_fix_time: 1.3413, d4.loss_plan_l1_fix_dist: 0.2293, d5.loss_plan_l1_fix_time: 1.3438, d5.loss_plan_l1_fix_dist: 0.2399, d6.loss_plan_l1_fix_time: 1.3466, d6.loss_plan_l1_fix_dist: 0.2522, d0.loss_cls_all: 0.2381, d0.loss_bbox_all: 0.4676, d0.loss_cls: 0.2381, d0.loss_bbox: 0.4676, d1.loss_cls: 0.2315, d1.loss_bbox: 0.4322, d2.loss_cls: 0.2193, d2.loss_bbox: 0.4126, d3.loss_cls: 0.2158, d3.loss_bbox: 0.4048, d4.loss_cls: 0.2122, d4.loss_bbox: 0.4019, d5.loss_cls: 0.2113, d5.loss_bbox: 0.4006, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9340, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7843, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7355, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7382, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7335, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7277, d0.loss_map_cls_all: 0.3014, d0.loss_map_pts_all: 1.5819, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.3014, d0.loss_map_pts: 1.5819, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2686, d1.loss_map_pts: 1.1533, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2498, d2.loss_map_pts: 0.9867, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.2406, d3.loss_map_pts: 0.9285, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.2361, d4.loss_map_pts: 0.9080, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.2319, d5.loss_map_pts: 0.8984, d5.loss_map_dir: 0.0116, loss: 34.5268, grad_norm: 154.3276 +2026-02-25 19:17:56,412 - DriveTransformer - INFO - Epoch [5][25150/39528] lr: 9.337e-05, eta: 7 days, 3:17:37, time: 0.817, data_time: 0.047, memory: 19865, loss_cls: 0.2186, loss_bbox: 0.4123, loss_traj: 0.7499, loss_traj_cls: 0.0010, loss_map_cls: 0.2100, loss_map_pts: 0.9055, loss_map_dir: 0.0140, d0.loss_plan_l1_fix_time: 2.7216, d0.loss_plan_l1_fix_dist: 0.3659, d1.loss_plan_l1_fix_time: 1.1822, d1.loss_plan_l1_fix_dist: 0.1798, d2.loss_plan_l1_fix_time: 1.1621, d2.loss_plan_l1_fix_dist: 0.1843, d3.loss_plan_l1_fix_time: 1.1646, d3.loss_plan_l1_fix_dist: 0.1922, d4.loss_plan_l1_fix_time: 1.1689, d4.loss_plan_l1_fix_dist: 0.2051, d5.loss_plan_l1_fix_time: 1.1727, d5.loss_plan_l1_fix_dist: 0.2197, d6.loss_plan_l1_fix_time: 1.1756, d6.loss_plan_l1_fix_dist: 0.2388, d0.loss_cls_all: 0.2537, d0.loss_bbox_all: 0.4759, d0.loss_cls: 0.2537, d0.loss_bbox: 0.4759, d1.loss_cls: 0.2436, d1.loss_bbox: 0.4401, d2.loss_cls: 0.2358, d2.loss_bbox: 0.4178, d3.loss_cls: 0.2278, d3.loss_bbox: 0.4110, d4.loss_cls: 0.2198, d4.loss_bbox: 0.4088, d5.loss_cls: 0.2185, d5.loss_bbox: 0.4086, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0342, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8178, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7635, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7639, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7662, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7581, d0.loss_map_cls_all: 0.2738, d0.loss_map_pts_all: 1.7838, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2738, d0.loss_map_pts: 1.7838, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2416, d1.loss_map_pts: 1.2091, d1.loss_map_dir: 0.0126, d2.loss_map_cls: 0.2289, d2.loss_map_pts: 1.0012, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2207, d3.loss_map_pts: 0.9396, d3.loss_map_dir: 0.0134, d4.loss_map_cls: 0.2147, d4.loss_map_pts: 0.9127, d4.loss_map_dir: 0.0137, d5.loss_map_cls: 0.2113, d5.loss_map_pts: 0.9099, d5.loss_map_dir: 0.0139, loss: 33.7425, grad_norm: 154.7312 +2026-02-25 19:18:37,921 - DriveTransformer - INFO - Epoch [5][25200/39528] lr: 9.337e-05, eta: 7 days, 3:17:02, time: 0.830, data_time: 0.051, memory: 19865, loss_cls: 0.2052, loss_bbox: 0.4100, loss_traj: 0.9124, loss_traj_cls: 0.0010, loss_map_cls: 0.2014, loss_map_pts: 0.8136, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.8970, d0.loss_plan_l1_fix_dist: 0.4531, d1.loss_plan_l1_fix_time: 1.3763, d1.loss_plan_l1_fix_dist: 0.2013, d2.loss_plan_l1_fix_time: 1.3568, d2.loss_plan_l1_fix_dist: 0.2036, d3.loss_plan_l1_fix_time: 1.3554, d3.loss_plan_l1_fix_dist: 0.2112, d4.loss_plan_l1_fix_time: 1.3578, d4.loss_plan_l1_fix_dist: 0.2209, d5.loss_plan_l1_fix_time: 1.3605, d5.loss_plan_l1_fix_dist: 0.2312, d6.loss_plan_l1_fix_time: 1.3634, d6.loss_plan_l1_fix_dist: 0.2424, d0.loss_cls_all: 0.2385, d0.loss_bbox_all: 0.4662, d0.loss_cls: 0.2385, d0.loss_bbox: 0.4662, d1.loss_cls: 0.2262, d1.loss_bbox: 0.4350, d2.loss_cls: 0.2168, d2.loss_bbox: 0.4218, d3.loss_cls: 0.2086, d3.loss_bbox: 0.4142, d4.loss_cls: 0.2045, d4.loss_bbox: 0.4109, d5.loss_cls: 0.2052, d5.loss_bbox: 0.4085, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1399, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9591, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.9166, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9067, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9101, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9135, d0.loss_map_cls_all: 0.2649, d0.loss_map_pts_all: 1.6315, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2649, d0.loss_map_pts: 1.6315, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2348, d1.loss_map_pts: 1.1308, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2205, d2.loss_map_pts: 0.9245, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.2097, d3.loss_map_pts: 0.8532, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.2043, d4.loss_map_pts: 0.8265, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.2004, d5.loss_map_pts: 0.8170, d5.loss_map_dir: 0.0118, loss: 35.1920, grad_norm: 154.6998 +2026-02-25 19:19:19,623 - DriveTransformer - INFO - Epoch [5][25250/39528] lr: 9.337e-05, eta: 7 days, 3:16:28, time: 0.834, data_time: 0.043, memory: 19865, loss_cls: 0.2151, loss_bbox: 0.4034, loss_traj: 0.7511, loss_traj_cls: 0.0010, loss_map_cls: 0.2232, loss_map_pts: 0.9296, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.6795, d0.loss_plan_l1_fix_dist: 0.4581, d1.loss_plan_l1_fix_time: 1.2573, d1.loss_plan_l1_fix_dist: 0.2047, d2.loss_plan_l1_fix_time: 1.2497, d2.loss_plan_l1_fix_dist: 0.2103, d3.loss_plan_l1_fix_time: 1.2559, d3.loss_plan_l1_fix_dist: 0.2196, d4.loss_plan_l1_fix_time: 1.2601, d4.loss_plan_l1_fix_dist: 0.2296, d5.loss_plan_l1_fix_time: 1.2646, d5.loss_plan_l1_fix_dist: 0.2404, d6.loss_plan_l1_fix_time: 1.2702, d6.loss_plan_l1_fix_dist: 0.2524, d0.loss_cls_all: 0.2429, d0.loss_bbox_all: 0.4765, d0.loss_cls: 0.2429, d0.loss_bbox: 0.4765, d1.loss_cls: 0.2390, d1.loss_bbox: 0.4383, d2.loss_cls: 0.2283, d2.loss_bbox: 0.4215, d3.loss_cls: 0.2179, d3.loss_bbox: 0.4126, d4.loss_cls: 0.2153, d4.loss_bbox: 0.4075, d5.loss_cls: 0.2160, d5.loss_bbox: 0.4033, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9696, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8066, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7626, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7538, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7516, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7522, d0.loss_map_cls_all: 0.2730, d0.loss_map_pts_all: 1.6781, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2730, d0.loss_map_pts: 1.6781, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2502, d1.loss_map_pts: 1.2020, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2391, d2.loss_map_pts: 1.0213, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.2304, d3.loss_map_pts: 0.9598, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.2259, d4.loss_map_pts: 0.9367, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.2238, d5.loss_map_pts: 0.9303, d5.loss_map_dir: 0.0116, loss: 34.2272, grad_norm: 153.8435 +2026-02-25 19:20:00,676 - DriveTransformer - INFO - Epoch [5][25300/39528] lr: 9.337e-05, eta: 7 days, 3:15:51, time: 0.821, data_time: 0.048, memory: 19865, loss_cls: 0.2323, loss_bbox: 0.4300, loss_traj: 1.0156, loss_traj_cls: 0.0010, loss_map_cls: 0.2215, loss_map_pts: 0.9621, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.8655, d0.loss_plan_l1_fix_dist: 0.3431, d1.loss_plan_l1_fix_time: 1.4263, d1.loss_plan_l1_fix_dist: 0.1863, d2.loss_plan_l1_fix_time: 1.4170, d2.loss_plan_l1_fix_dist: 0.1918, d3.loss_plan_l1_fix_time: 1.4220, d3.loss_plan_l1_fix_dist: 0.2008, d4.loss_plan_l1_fix_time: 1.4271, d4.loss_plan_l1_fix_dist: 0.2129, d5.loss_plan_l1_fix_time: 1.4318, d5.loss_plan_l1_fix_dist: 0.2245, d6.loss_plan_l1_fix_time: 1.4371, d6.loss_plan_l1_fix_dist: 0.2367, d0.loss_cls_all: 0.2674, d0.loss_bbox_all: 0.4971, d0.loss_cls: 0.2674, d0.loss_bbox: 0.4971, d1.loss_cls: 0.2559, d1.loss_bbox: 0.4634, d2.loss_cls: 0.2472, d2.loss_bbox: 0.4417, d3.loss_cls: 0.2381, d3.loss_bbox: 0.4339, d4.loss_cls: 0.2321, d4.loss_bbox: 0.4312, d5.loss_cls: 0.2316, d5.loss_bbox: 0.4296, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.3197, d1.loss_traj_cls: 0.0008, d1.loss_traj: 1.0739, d2.loss_traj_cls: 0.0015, d2.loss_traj: 1.0150, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0042, d4.loss_traj_cls: 0.0011, d4.loss_traj: 1.0123, d5.loss_traj_cls: 0.0011, d5.loss_traj: 1.0121, d0.loss_map_cls_all: 0.2837, d0.loss_map_pts_all: 1.7699, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2837, d0.loss_map_pts: 1.7699, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2530, d1.loss_map_pts: 1.2450, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2390, d2.loss_map_pts: 1.0634, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.2301, d3.loss_map_pts: 1.0008, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.2275, d4.loss_map_pts: 0.9749, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.2223, d5.loss_map_pts: 0.9637, d5.loss_map_dir: 0.0119, loss: 37.8786, grad_norm: 150.6672 +2026-02-25 19:20:41,724 - DriveTransformer - INFO - Epoch [5][25350/39528] lr: 9.337e-05, eta: 7 days, 3:15:13, time: 0.821, data_time: 0.043, memory: 19865, loss_cls: 0.2059, loss_bbox: 0.4072, loss_traj: 0.8486, loss_traj_cls: 0.0010, loss_map_cls: 0.2134, loss_map_pts: 0.8150, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.8199, d0.loss_plan_l1_fix_dist: 0.3780, d1.loss_plan_l1_fix_time: 1.3327, d1.loss_plan_l1_fix_dist: 0.1945, d2.loss_plan_l1_fix_time: 1.3205, d2.loss_plan_l1_fix_dist: 0.1977, d3.loss_plan_l1_fix_time: 1.3220, d3.loss_plan_l1_fix_dist: 0.2056, d4.loss_plan_l1_fix_time: 1.3264, d4.loss_plan_l1_fix_dist: 0.2145, d5.loss_plan_l1_fix_time: 1.3310, d5.loss_plan_l1_fix_dist: 0.2261, d6.loss_plan_l1_fix_time: 1.3359, d6.loss_plan_l1_fix_dist: 0.2402, d0.loss_cls_all: 0.2326, d0.loss_bbox_all: 0.4734, d0.loss_cls: 0.2326, d0.loss_bbox: 0.4734, d1.loss_cls: 0.2213, d1.loss_bbox: 0.4395, d2.loss_cls: 0.2156, d2.loss_bbox: 0.4215, d3.loss_cls: 0.2092, d3.loss_bbox: 0.4123, d4.loss_cls: 0.2068, d4.loss_bbox: 0.4098, d5.loss_cls: 0.2057, d5.loss_bbox: 0.4076, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0781, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8930, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8494, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8396, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8385, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8480, d0.loss_map_cls_all: 0.2819, d0.loss_map_pts_all: 1.6225, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2819, d0.loss_map_pts: 1.6225, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2444, d1.loss_map_pts: 1.1176, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2332, d2.loss_map_pts: 0.9182, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.2218, d3.loss_map_pts: 0.8510, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.2174, d4.loss_map_pts: 0.8271, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.2141, d5.loss_map_pts: 0.8186, d5.loss_map_dir: 0.0120, loss: 34.4132, grad_norm: 151.7015 +2026-02-25 19:21:21,777 - DriveTransformer - INFO - Epoch [5][25400/39528] lr: 9.337e-05, eta: 7 days, 3:14:32, time: 0.801, data_time: 0.040, memory: 19865, loss_cls: 0.2055, loss_bbox: 0.3976, loss_traj: 0.7762, loss_traj_cls: 0.0011, loss_map_cls: 0.1573, loss_map_pts: 0.7326, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.6986, d0.loss_plan_l1_fix_dist: 0.4434, d1.loss_plan_l1_fix_time: 1.4787, d1.loss_plan_l1_fix_dist: 0.2202, d2.loss_plan_l1_fix_time: 1.4449, d2.loss_plan_l1_fix_dist: 0.2236, d3.loss_plan_l1_fix_time: 1.4411, d3.loss_plan_l1_fix_dist: 0.2344, d4.loss_plan_l1_fix_time: 1.4442, d4.loss_plan_l1_fix_dist: 0.2455, d5.loss_plan_l1_fix_time: 1.4482, d5.loss_plan_l1_fix_dist: 0.2587, d6.loss_plan_l1_fix_time: 1.4524, d6.loss_plan_l1_fix_dist: 0.2727, d0.loss_cls_all: 0.2338, d0.loss_bbox_all: 0.4597, d0.loss_cls: 0.2338, d0.loss_bbox: 0.4597, d1.loss_cls: 0.2285, d1.loss_bbox: 0.4244, d2.loss_cls: 0.2167, d2.loss_bbox: 0.4085, d3.loss_cls: 0.2106, d3.loss_bbox: 0.4013, d4.loss_cls: 0.2067, d4.loss_bbox: 0.3978, d5.loss_cls: 0.2048, d5.loss_bbox: 0.3977, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9937, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8249, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7817, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7820, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7739, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7767, d0.loss_map_cls_all: 0.2154, d0.loss_map_pts_all: 1.4599, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2154, d0.loss_map_pts: 1.4599, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.1921, d1.loss_map_pts: 0.9766, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1773, d2.loss_map_pts: 0.8195, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1684, d3.loss_map_pts: 0.7648, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1620, d4.loss_map_pts: 0.7428, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1593, d5.loss_map_pts: 0.7362, d5.loss_map_dir: 0.0106, loss: 33.3307, grad_norm: 151.8941 +2026-02-25 19:22:03,217 - DriveTransformer - INFO - Epoch [5][25450/39528] lr: 9.337e-05, eta: 7 days, 3:13:57, time: 0.829, data_time: 0.044, memory: 19865, loss_cls: 0.2275, loss_bbox: 0.4098, loss_traj: 0.7188, loss_traj_cls: 0.0011, loss_map_cls: 0.2242, loss_map_pts: 0.9087, loss_map_dir: 0.0136, d0.loss_plan_l1_fix_time: 2.8002, d0.loss_plan_l1_fix_dist: 0.4046, d1.loss_plan_l1_fix_time: 1.2927, d1.loss_plan_l1_fix_dist: 0.2316, d2.loss_plan_l1_fix_time: 1.2749, d2.loss_plan_l1_fix_dist: 0.2353, d3.loss_plan_l1_fix_time: 1.2766, d3.loss_plan_l1_fix_dist: 0.2462, d4.loss_plan_l1_fix_time: 1.2810, d4.loss_plan_l1_fix_dist: 0.2580, d5.loss_plan_l1_fix_time: 1.2862, d5.loss_plan_l1_fix_dist: 0.2706, d6.loss_plan_l1_fix_time: 1.2920, d6.loss_plan_l1_fix_dist: 0.2840, d0.loss_cls_all: 0.2548, d0.loss_bbox_all: 0.4676, d0.loss_cls: 0.2548, d0.loss_bbox: 0.4676, d1.loss_cls: 0.2479, d1.loss_bbox: 0.4348, d2.loss_cls: 0.2382, d2.loss_bbox: 0.4185, d3.loss_cls: 0.2337, d3.loss_bbox: 0.4126, d4.loss_cls: 0.2269, d4.loss_bbox: 0.4115, d5.loss_cls: 0.2269, d5.loss_bbox: 0.4093, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8859, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7670, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7293, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7176, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7187, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7184, d0.loss_map_cls_all: 0.2911, d0.loss_map_pts_all: 1.7683, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.2911, d0.loss_map_pts: 1.7683, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2600, d1.loss_map_pts: 1.1934, d1.loss_map_dir: 0.0121, d2.loss_map_cls: 0.2467, d2.loss_map_pts: 0.9956, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2363, d3.loss_map_pts: 0.9344, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.2285, d4.loss_map_pts: 0.9139, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.2257, d5.loss_map_pts: 0.9081, d5.loss_map_dir: 0.0134, loss: 34.5364, grad_norm: 156.7526 +2026-02-25 19:22:44,816 - DriveTransformer - INFO - Epoch [5][25500/39528] lr: 9.337e-05, eta: 7 days, 3:13:22, time: 0.832, data_time: 0.038, memory: 19865, loss_cls: 0.2091, loss_bbox: 0.4168, loss_traj: 0.7617, loss_traj_cls: 0.0011, loss_map_cls: 0.2099, loss_map_pts: 0.9788, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 2.8337, d0.loss_plan_l1_fix_dist: 0.4189, d1.loss_plan_l1_fix_time: 1.5172, d1.loss_plan_l1_fix_dist: 0.2041, d2.loss_plan_l1_fix_time: 1.5117, d2.loss_plan_l1_fix_dist: 0.2082, d3.loss_plan_l1_fix_time: 1.5150, d3.loss_plan_l1_fix_dist: 0.2173, d4.loss_plan_l1_fix_time: 1.5196, d4.loss_plan_l1_fix_dist: 0.2282, d5.loss_plan_l1_fix_time: 1.5254, d5.loss_plan_l1_fix_dist: 0.2415, d6.loss_plan_l1_fix_time: 1.5324, d6.loss_plan_l1_fix_dist: 0.2562, d0.loss_cls_all: 0.2413, d0.loss_bbox_all: 0.4736, d0.loss_cls: 0.2413, d0.loss_bbox: 0.4736, d1.loss_cls: 0.2285, d1.loss_bbox: 0.4387, d2.loss_cls: 0.2201, d2.loss_bbox: 0.4210, d3.loss_cls: 0.2135, d3.loss_bbox: 0.4147, d4.loss_cls: 0.2097, d4.loss_bbox: 0.4137, d5.loss_cls: 0.2085, d5.loss_bbox: 0.4142, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9171, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7918, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7545, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7479, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7526, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7567, d0.loss_map_cls_all: 0.2792, d0.loss_map_pts_all: 1.8696, d0.loss_map_dir_all: 0.0126, d0.loss_map_cls: 0.2792, d0.loss_map_pts: 1.8696, d0.loss_map_dir: 0.0126, d1.loss_map_cls: 0.2475, d1.loss_map_pts: 1.3017, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2314, d2.loss_map_pts: 1.0869, d2.loss_map_dir: 0.0130, d3.loss_map_cls: 0.2228, d3.loss_map_pts: 1.0132, d3.loss_map_dir: 0.0135, d4.loss_map_cls: 0.2148, d4.loss_map_pts: 0.9886, d4.loss_map_dir: 0.0140, d5.loss_map_cls: 0.2118, d5.loss_map_pts: 0.9792, d5.loss_map_dir: 0.0141, loss: 36.5473, grad_norm: 156.4497 +2026-02-25 19:23:25,924 - DriveTransformer - INFO - Epoch [5][25550/39528] lr: 9.337e-05, eta: 7 days, 3:12:45, time: 0.822, data_time: 0.043, memory: 19865, loss_cls: 0.2145, loss_bbox: 0.3981, loss_traj: 0.7618, loss_traj_cls: 0.0011, loss_map_cls: 0.2021, loss_map_pts: 0.7601, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.3918, d0.loss_plan_l1_fix_dist: 0.4664, d1.loss_plan_l1_fix_time: 1.2734, d1.loss_plan_l1_fix_dist: 0.1974, d2.loss_plan_l1_fix_time: 1.2661, d2.loss_plan_l1_fix_dist: 0.2018, d3.loss_plan_l1_fix_time: 1.2721, d3.loss_plan_l1_fix_dist: 0.2109, d4.loss_plan_l1_fix_time: 1.2747, d4.loss_plan_l1_fix_dist: 0.2226, d5.loss_plan_l1_fix_time: 1.2777, d5.loss_plan_l1_fix_dist: 0.2359, d6.loss_plan_l1_fix_time: 1.2817, d6.loss_plan_l1_fix_dist: 0.2493, d0.loss_cls_all: 0.2506, d0.loss_bbox_all: 0.4589, d0.loss_cls: 0.2506, d0.loss_bbox: 0.4589, d1.loss_cls: 0.2399, d1.loss_bbox: 0.4188, d2.loss_cls: 0.2309, d2.loss_bbox: 0.4019, d3.loss_cls: 0.2230, d3.loss_bbox: 0.3977, d4.loss_cls: 0.2147, d4.loss_bbox: 0.3969, d5.loss_cls: 0.2138, d5.loss_bbox: 0.3953, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9853, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8136, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7643, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7570, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7615, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7585, d0.loss_map_cls_all: 0.2660, d0.loss_map_pts_all: 1.4576, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2660, d0.loss_map_pts: 1.4576, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2376, d1.loss_map_pts: 1.0178, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.2218, d2.loss_map_pts: 0.8514, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.2127, d3.loss_map_pts: 0.7934, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.2067, d4.loss_map_pts: 0.7673, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.2040, d5.loss_map_pts: 0.7597, d5.loss_map_dir: 0.0106, loss: 32.3610, grad_norm: 153.1449 +2026-02-25 19:24:07,356 - DriveTransformer - INFO - Epoch [5][25600/39528] lr: 9.337e-05, eta: 7 days, 3:12:10, time: 0.830, data_time: 0.042, memory: 19865, loss_cls: 0.2110, loss_bbox: 0.4131, loss_traj: 0.8883, loss_traj_cls: 0.0011, loss_map_cls: 0.1840, loss_map_pts: 0.8112, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.2856, d0.loss_plan_l1_fix_dist: 0.5364, d1.loss_plan_l1_fix_time: 1.2352, d1.loss_plan_l1_fix_dist: 0.2139, d2.loss_plan_l1_fix_time: 1.2199, d2.loss_plan_l1_fix_dist: 0.2199, d3.loss_plan_l1_fix_time: 1.2282, d3.loss_plan_l1_fix_dist: 0.2321, d4.loss_plan_l1_fix_time: 1.2337, d4.loss_plan_l1_fix_dist: 0.2474, d5.loss_plan_l1_fix_time: 1.2387, d5.loss_plan_l1_fix_dist: 0.2640, d6.loss_plan_l1_fix_time: 1.2443, d6.loss_plan_l1_fix_dist: 0.2827, d0.loss_cls_all: 0.2322, d0.loss_bbox_all: 0.4699, d0.loss_cls: 0.2322, d0.loss_bbox: 0.4699, d1.loss_cls: 0.2286, d1.loss_bbox: 0.4305, d2.loss_cls: 0.2169, d2.loss_bbox: 0.4164, d3.loss_cls: 0.2142, d3.loss_bbox: 0.4119, d4.loss_cls: 0.2106, d4.loss_bbox: 0.4104, d5.loss_cls: 0.2103, d5.loss_bbox: 0.4111, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0326, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9110, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8864, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8760, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8795, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8835, d0.loss_map_cls_all: 0.2558, d0.loss_map_pts_all: 1.5792, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2558, d0.loss_map_pts: 1.5792, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2217, d1.loss_map_pts: 1.0847, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2027, d2.loss_map_pts: 0.9001, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1924, d3.loss_map_pts: 0.8430, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1872, d4.loss_map_pts: 0.8175, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1836, d5.loss_map_pts: 0.8120, d5.loss_map_dir: 0.0117, loss: 33.4342, grad_norm: 151.6715 +2026-02-25 19:24:49,556 - DriveTransformer - INFO - Epoch [5][25650/39528] lr: 9.337e-05, eta: 7 days, 3:11:37, time: 0.843, data_time: 0.043, memory: 19865, loss_cls: 0.2272, loss_bbox: 0.4245, loss_traj: 0.7088, loss_traj_cls: 0.0010, loss_map_cls: 0.2435, loss_map_pts: 0.9925, loss_map_dir: 0.0146, d0.loss_plan_l1_fix_time: 2.8950, d0.loss_plan_l1_fix_dist: 0.4560, d1.loss_plan_l1_fix_time: 1.4904, d1.loss_plan_l1_fix_dist: 0.2366, d2.loss_plan_l1_fix_time: 1.4904, d2.loss_plan_l1_fix_dist: 0.2399, d3.loss_plan_l1_fix_time: 1.4970, d3.loss_plan_l1_fix_dist: 0.2496, d4.loss_plan_l1_fix_time: 1.5027, d4.loss_plan_l1_fix_dist: 0.2593, d5.loss_plan_l1_fix_time: 1.5082, d5.loss_plan_l1_fix_dist: 0.2712, d6.loss_plan_l1_fix_time: 1.5136, d6.loss_plan_l1_fix_dist: 0.2850, d0.loss_cls_all: 0.2600, d0.loss_bbox_all: 0.4721, d0.loss_cls: 0.2600, d0.loss_bbox: 0.4721, d1.loss_cls: 0.2521, d1.loss_bbox: 0.4425, d2.loss_cls: 0.2412, d2.loss_bbox: 0.4247, d3.loss_cls: 0.2341, d3.loss_bbox: 0.4211, d4.loss_cls: 0.2283, d4.loss_bbox: 0.4222, d5.loss_cls: 0.2282, d5.loss_bbox: 0.4214, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9092, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7619, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7109, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6962, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6997, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7083, d0.loss_map_cls_all: 0.3018, d0.loss_map_pts_all: 1.9331, d0.loss_map_dir_all: 0.0137, d0.loss_map_cls: 0.3018, d0.loss_map_pts: 1.9331, d0.loss_map_dir: 0.0137, d1.loss_map_cls: 0.2803, d1.loss_map_pts: 1.3106, d1.loss_map_dir: 0.0131, d2.loss_map_cls: 0.2660, d2.loss_map_pts: 1.1000, d2.loss_map_dir: 0.0135, d3.loss_map_cls: 0.2548, d3.loss_map_pts: 1.0294, d3.loss_map_dir: 0.0140, d4.loss_map_cls: 0.2501, d4.loss_map_pts: 1.0019, d4.loss_map_dir: 0.0143, d5.loss_map_cls: 0.2456, d5.loss_map_pts: 0.9944, d5.loss_map_dir: 0.0144, loss: 37.0787, grad_norm: 151.2282 +2026-02-25 19:25:30,150 - DriveTransformer - INFO - Epoch [5][25700/39528] lr: 9.337e-05, eta: 7 days, 3:10:58, time: 0.812, data_time: 0.040, memory: 19865, loss_cls: 0.2374, loss_bbox: 0.4385, loss_traj: 0.8343, loss_traj_cls: 0.0010, loss_map_cls: 0.1806, loss_map_pts: 0.8568, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.5159, d0.loss_plan_l1_fix_dist: 0.3916, d1.loss_plan_l1_fix_time: 1.3747, d1.loss_plan_l1_fix_dist: 0.2229, d2.loss_plan_l1_fix_time: 1.3541, d2.loss_plan_l1_fix_dist: 0.2261, d3.loss_plan_l1_fix_time: 1.3559, d3.loss_plan_l1_fix_dist: 0.2373, d4.loss_plan_l1_fix_time: 1.3608, d4.loss_plan_l1_fix_dist: 0.2505, d5.loss_plan_l1_fix_time: 1.3662, d5.loss_plan_l1_fix_dist: 0.2653, d6.loss_plan_l1_fix_time: 1.3712, d6.loss_plan_l1_fix_dist: 0.2804, d0.loss_cls_all: 0.2699, d0.loss_bbox_all: 0.4898, d0.loss_cls: 0.2699, d0.loss_bbox: 0.4898, d1.loss_cls: 0.2616, d1.loss_bbox: 0.4592, d2.loss_cls: 0.2508, d2.loss_bbox: 0.4437, d3.loss_cls: 0.2423, d3.loss_bbox: 0.4389, d4.loss_cls: 0.2396, d4.loss_bbox: 0.4373, d5.loss_cls: 0.2370, d5.loss_bbox: 0.4377, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0345, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8809, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8346, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8336, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8316, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8315, d0.loss_map_cls_all: 0.2427, d0.loss_map_pts_all: 1.6339, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2427, d0.loss_map_pts: 1.6339, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2110, d1.loss_map_pts: 1.1433, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2021, d2.loss_map_pts: 0.9588, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.1936, d3.loss_map_pts: 0.8932, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.1848, d4.loss_map_pts: 0.8680, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.1823, d5.loss_map_pts: 0.8581, d5.loss_map_dir: 0.0122, loss: 34.8839, grad_norm: 153.0251 +2026-02-25 19:26:10,331 - DriveTransformer - INFO - Epoch [5][25750/39528] lr: 9.337e-05, eta: 7 days, 3:10:17, time: 0.804, data_time: 0.044, memory: 19865, loss_cls: 0.2339, loss_bbox: 0.4360, loss_traj: 0.6980, loss_traj_cls: 0.0010, loss_map_cls: 0.2107, loss_map_pts: 0.9209, loss_map_dir: 0.0148, d0.loss_plan_l1_fix_time: 2.9610, d0.loss_plan_l1_fix_dist: 0.3889, d1.loss_plan_l1_fix_time: 1.4727, d1.loss_plan_l1_fix_dist: 0.1942, d2.loss_plan_l1_fix_time: 1.4574, d2.loss_plan_l1_fix_dist: 0.1997, d3.loss_plan_l1_fix_time: 1.4614, d3.loss_plan_l1_fix_dist: 0.2103, d4.loss_plan_l1_fix_time: 1.4692, d4.loss_plan_l1_fix_dist: 0.2225, d5.loss_plan_l1_fix_time: 1.4776, d5.loss_plan_l1_fix_dist: 0.2346, d6.loss_plan_l1_fix_time: 1.4857, d6.loss_plan_l1_fix_dist: 0.2497, d0.loss_cls_all: 0.2613, d0.loss_bbox_all: 0.4838, d0.loss_cls: 0.2613, d0.loss_bbox: 0.4838, d1.loss_cls: 0.2542, d1.loss_bbox: 0.4500, d2.loss_cls: 0.2472, d2.loss_bbox: 0.4316, d3.loss_cls: 0.2415, d3.loss_bbox: 0.4301, d4.loss_cls: 0.2367, d4.loss_bbox: 0.4322, d5.loss_cls: 0.2342, d5.loss_bbox: 0.4330, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8882, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7373, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7004, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6997, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6978, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6979, d0.loss_map_cls_all: 0.2754, d0.loss_map_pts_all: 1.8210, d0.loss_map_dir_all: 0.0140, d0.loss_map_cls: 0.2754, d0.loss_map_pts: 1.8210, d0.loss_map_dir: 0.0140, d1.loss_map_cls: 0.2484, d1.loss_map_pts: 1.2352, d1.loss_map_dir: 0.0132, d2.loss_map_cls: 0.2331, d2.loss_map_pts: 1.0208, d2.loss_map_dir: 0.0136, d3.loss_map_cls: 0.2257, d3.loss_map_pts: 0.9512, d3.loss_map_dir: 0.0141, d4.loss_map_cls: 0.2163, d4.loss_map_pts: 0.9308, d4.loss_map_dir: 0.0145, d5.loss_map_cls: 0.2128, d5.loss_map_pts: 0.9229, d5.loss_map_dir: 0.0147, loss: 35.7965, grad_norm: 153.7738 +2026-02-25 19:26:50,558 - DriveTransformer - INFO - Epoch [5][25800/39528] lr: 9.337e-05, eta: 7 days, 3:09:37, time: 0.805, data_time: 0.047, memory: 19865, loss_cls: 0.2313, loss_bbox: 0.4170, loss_traj: 0.7124, loss_traj_cls: 0.0010, loss_map_cls: 0.1995, loss_map_pts: 0.8204, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.6228, d0.loss_plan_l1_fix_dist: 0.4732, d1.loss_plan_l1_fix_time: 1.3343, d1.loss_plan_l1_fix_dist: 0.1964, d2.loss_plan_l1_fix_time: 1.3173, d2.loss_plan_l1_fix_dist: 0.2029, d3.loss_plan_l1_fix_time: 1.3183, d3.loss_plan_l1_fix_dist: 0.2108, d4.loss_plan_l1_fix_time: 1.3233, d4.loss_plan_l1_fix_dist: 0.2201, d5.loss_plan_l1_fix_time: 1.3294, d5.loss_plan_l1_fix_dist: 0.2324, d6.loss_plan_l1_fix_time: 1.3365, d6.loss_plan_l1_fix_dist: 0.2470, d0.loss_cls_all: 0.2615, d0.loss_bbox_all: 0.4736, d0.loss_cls: 0.2615, d0.loss_bbox: 0.4736, d1.loss_cls: 0.2556, d1.loss_bbox: 0.4428, d2.loss_cls: 0.2399, d2.loss_bbox: 0.4270, d3.loss_cls: 0.2349, d3.loss_bbox: 0.4218, d4.loss_cls: 0.2322, d4.loss_bbox: 0.4196, d5.loss_cls: 0.2307, d5.loss_bbox: 0.4176, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8955, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7446, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7143, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7068, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7047, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7083, d0.loss_map_cls_all: 0.2634, d0.loss_map_pts_all: 1.5751, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2634, d0.loss_map_pts: 1.5751, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2331, d1.loss_map_pts: 1.0916, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2172, d2.loss_map_pts: 0.9091, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.2082, d3.loss_map_pts: 0.8520, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.2018, d4.loss_map_pts: 0.8300, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.2011, d5.loss_map_pts: 0.8216, d5.loss_map_dir: 0.0116, loss: 33.3490, grad_norm: 153.2722 +2026-02-25 19:27:29,753 - DriveTransformer - INFO - Epoch [5][25850/39528] lr: 9.337e-05, eta: 7 days, 3:08:52, time: 0.784, data_time: 0.046, memory: 19865, loss_cls: 0.1958, loss_bbox: 0.3953, loss_traj: 0.7061, loss_traj_cls: 0.0010, loss_map_cls: 0.2068, loss_map_pts: 0.8215, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.6313, d0.loss_plan_l1_fix_dist: 0.4075, d1.loss_plan_l1_fix_time: 1.2163, d1.loss_plan_l1_fix_dist: 0.1998, d2.loss_plan_l1_fix_time: 1.2124, d2.loss_plan_l1_fix_dist: 0.2056, d3.loss_plan_l1_fix_time: 1.2138, d3.loss_plan_l1_fix_dist: 0.2169, d4.loss_plan_l1_fix_time: 1.2175, d4.loss_plan_l1_fix_dist: 0.2314, d5.loss_plan_l1_fix_time: 1.2223, d5.loss_plan_l1_fix_dist: 0.2471, d6.loss_plan_l1_fix_time: 1.2277, d6.loss_plan_l1_fix_dist: 0.2624, d0.loss_cls_all: 0.2319, d0.loss_bbox_all: 0.4503, d0.loss_cls: 0.2319, d0.loss_bbox: 0.4503, d1.loss_cls: 0.2267, d1.loss_bbox: 0.4203, d2.loss_cls: 0.2140, d2.loss_bbox: 0.4053, d3.loss_cls: 0.2018, d3.loss_bbox: 0.4030, d4.loss_cls: 0.1974, d4.loss_bbox: 0.3997, d5.loss_cls: 0.1963, d5.loss_bbox: 0.3977, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8841, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7385, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7104, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7046, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7024, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7035, d0.loss_map_cls_all: 0.2692, d0.loss_map_pts_all: 1.5648, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2692, d0.loss_map_pts: 1.5648, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2470, d1.loss_map_pts: 1.0779, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2288, d2.loss_map_pts: 0.9059, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2167, d3.loss_map_pts: 0.8457, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.2102, d4.loss_map_pts: 0.8296, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.2075, d5.loss_map_pts: 0.8226, d5.loss_map_dir: 0.0114, loss: 32.2603, grad_norm: 153.6353 +2026-02-25 19:28:11,292 - DriveTransformer - INFO - Epoch [5][25900/39528] lr: 9.337e-05, eta: 7 days, 3:08:17, time: 0.831, data_time: 0.042, memory: 19865, loss_cls: 0.1918, loss_bbox: 0.3818, loss_traj: 0.7862, loss_traj_cls: 0.0010, loss_map_cls: 0.1985, loss_map_pts: 0.8840, loss_map_dir: 0.0133, d0.loss_plan_l1_fix_time: 2.3545, d0.loss_plan_l1_fix_dist: 0.3823, d1.loss_plan_l1_fix_time: 1.2010, d1.loss_plan_l1_fix_dist: 0.1869, d2.loss_plan_l1_fix_time: 1.1672, d2.loss_plan_l1_fix_dist: 0.1908, d3.loss_plan_l1_fix_time: 1.1639, d3.loss_plan_l1_fix_dist: 0.2006, d4.loss_plan_l1_fix_time: 1.1679, d4.loss_plan_l1_fix_dist: 0.2131, d5.loss_plan_l1_fix_time: 1.1731, d5.loss_plan_l1_fix_dist: 0.2286, d6.loss_plan_l1_fix_time: 1.1789, d6.loss_plan_l1_fix_dist: 0.2492, d0.loss_cls_all: 0.2227, d0.loss_bbox_all: 0.4344, d0.loss_cls: 0.2227, d0.loss_bbox: 0.4344, d1.loss_cls: 0.2156, d1.loss_bbox: 0.4026, d2.loss_cls: 0.2024, d2.loss_bbox: 0.3874, d3.loss_cls: 0.1984, d3.loss_bbox: 0.3811, d4.loss_cls: 0.1929, d4.loss_bbox: 0.3812, d5.loss_cls: 0.1911, d5.loss_bbox: 0.3803, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0743, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8483, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7933, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7821, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7796, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7784, d0.loss_map_cls_all: 0.2655, d0.loss_map_pts_all: 1.7103, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2655, d0.loss_map_pts: 1.7103, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2326, d1.loss_map_pts: 1.1889, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.2189, d2.loss_map_pts: 0.9877, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2055, d3.loss_map_pts: 0.9162, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.2009, d4.loss_map_pts: 0.8880, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.1997, d5.loss_map_pts: 0.8831, d5.loss_map_dir: 0.0131, loss: 32.7832, grad_norm: 154.9197 +2026-02-25 19:28:53,318 - DriveTransformer - INFO - Epoch [5][25950/39528] lr: 9.337e-05, eta: 7 days, 3:07:44, time: 0.840, data_time: 0.046, memory: 19865, loss_cls: 0.2077, loss_bbox: 0.4239, loss_traj: 0.7583, loss_traj_cls: 0.0010, loss_map_cls: 0.2036, loss_map_pts: 1.0246, loss_map_dir: 0.0154, d0.loss_plan_l1_fix_time: 2.7472, d0.loss_plan_l1_fix_dist: 0.4190, d1.loss_plan_l1_fix_time: 1.3356, d1.loss_plan_l1_fix_dist: 0.2081, d2.loss_plan_l1_fix_time: 1.3162, d2.loss_plan_l1_fix_dist: 0.2096, d3.loss_plan_l1_fix_time: 1.3202, d3.loss_plan_l1_fix_dist: 0.2193, d4.loss_plan_l1_fix_time: 1.3237, d4.loss_plan_l1_fix_dist: 0.2301, d5.loss_plan_l1_fix_time: 1.3278, d5.loss_plan_l1_fix_dist: 0.2414, d6.loss_plan_l1_fix_time: 1.3328, d6.loss_plan_l1_fix_dist: 0.2519, d0.loss_cls_all: 0.2439, d0.loss_bbox_all: 0.4763, d0.loss_cls: 0.2439, d0.loss_bbox: 0.4763, d1.loss_cls: 0.2331, d1.loss_bbox: 0.4438, d2.loss_cls: 0.2203, d2.loss_bbox: 0.4294, d3.loss_cls: 0.2129, d3.loss_bbox: 0.4245, d4.loss_cls: 0.2078, d4.loss_bbox: 0.4237, d5.loss_cls: 0.2084, d5.loss_bbox: 0.4221, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9133, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8047, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7772, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7627, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7566, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7570, d0.loss_map_cls_all: 0.2789, d0.loss_map_pts_all: 1.9376, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.2789, d0.loss_map_pts: 1.9376, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2415, d1.loss_map_pts: 1.3194, d1.loss_map_dir: 0.0131, d2.loss_map_cls: 0.2246, d2.loss_map_pts: 1.1227, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2117, d3.loss_map_pts: 1.0574, d3.loss_map_dir: 0.0146, d4.loss_map_cls: 0.2052, d4.loss_map_pts: 1.0363, d4.loss_map_dir: 0.0151, d5.loss_map_cls: 0.2045, d5.loss_map_pts: 1.0272, d5.loss_map_dir: 0.0152, loss: 35.7428, grad_norm: 156.3513 +2026-02-25 19:29:32,836 - DriveTransformer - INFO - Epoch [5][26000/39528] lr: 9.337e-05, eta: 7 days, 3:07:01, time: 0.790, data_time: 0.048, memory: 19865, loss_cls: 0.1919, loss_bbox: 0.4006, loss_traj: 0.7696, loss_traj_cls: 0.0011, loss_map_cls: 0.1971, loss_map_pts: 0.7435, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.8904, d0.loss_plan_l1_fix_dist: 0.4511, d1.loss_plan_l1_fix_time: 1.4539, d1.loss_plan_l1_fix_dist: 0.1894, d2.loss_plan_l1_fix_time: 1.4429, d2.loss_plan_l1_fix_dist: 0.1917, d3.loss_plan_l1_fix_time: 1.4428, d3.loss_plan_l1_fix_dist: 0.1988, d4.loss_plan_l1_fix_time: 1.4454, d4.loss_plan_l1_fix_dist: 0.2076, d5.loss_plan_l1_fix_time: 1.4486, d5.loss_plan_l1_fix_dist: 0.2167, d6.loss_plan_l1_fix_time: 1.4525, d6.loss_plan_l1_fix_dist: 0.2251, d0.loss_cls_all: 0.2275, d0.loss_bbox_all: 0.4451, d0.loss_cls: 0.2275, d0.loss_bbox: 0.4451, d1.loss_cls: 0.2201, d1.loss_bbox: 0.4216, d2.loss_cls: 0.2061, d2.loss_bbox: 0.4046, d3.loss_cls: 0.1978, d3.loss_bbox: 0.3986, d4.loss_cls: 0.1914, d4.loss_bbox: 0.3981, d5.loss_cls: 0.1903, d5.loss_bbox: 0.3999, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9541, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8397, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7842, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7722, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7744, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7704, d0.loss_map_cls_all: 0.2493, d0.loss_map_pts_all: 1.4124, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2493, d0.loss_map_pts: 1.4124, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2242, d1.loss_map_pts: 0.9515, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2116, d2.loss_map_pts: 0.8050, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.2058, d3.loss_map_pts: 0.7601, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1989, d4.loss_map_pts: 0.7481, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1988, d5.loss_map_pts: 0.7437, d5.loss_map_dir: 0.0115, loss: 33.2936, grad_norm: 155.8091 +2026-02-25 19:30:12,991 - DriveTransformer - INFO - Epoch [5][26050/39528] lr: 9.337e-05, eta: 7 days, 3:06:20, time: 0.803, data_time: 0.041, memory: 19865, loss_cls: 0.2315, loss_bbox: 0.4157, loss_traj: 0.7858, loss_traj_cls: 0.0010, loss_map_cls: 0.2285, loss_map_pts: 0.9823, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.7090, d0.loss_plan_l1_fix_dist: 0.3378, d1.loss_plan_l1_fix_time: 1.4243, d1.loss_plan_l1_fix_dist: 0.2008, d2.loss_plan_l1_fix_time: 1.4226, d2.loss_plan_l1_fix_dist: 0.2032, d3.loss_plan_l1_fix_time: 1.4306, d3.loss_plan_l1_fix_dist: 0.2115, d4.loss_plan_l1_fix_time: 1.4369, d4.loss_plan_l1_fix_dist: 0.2232, d5.loss_plan_l1_fix_time: 1.4436, d5.loss_plan_l1_fix_dist: 0.2368, d6.loss_plan_l1_fix_time: 1.4503, d6.loss_plan_l1_fix_dist: 0.2545, d0.loss_cls_all: 0.2665, d0.loss_bbox_all: 0.4852, d0.loss_cls: 0.2665, d0.loss_bbox: 0.4852, d1.loss_cls: 0.2530, d1.loss_bbox: 0.4514, d2.loss_cls: 0.2393, d2.loss_bbox: 0.4288, d3.loss_cls: 0.2347, d3.loss_bbox: 0.4194, d4.loss_cls: 0.2310, d4.loss_bbox: 0.4159, d5.loss_cls: 0.2315, d5.loss_bbox: 0.4149, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0213, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8474, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8053, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7827, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7820, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7834, d0.loss_map_cls_all: 0.2948, d0.loss_map_pts_all: 1.8159, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2948, d0.loss_map_pts: 1.8159, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2645, d1.loss_map_pts: 1.2858, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2488, d2.loss_map_pts: 1.0905, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.2387, d3.loss_map_pts: 1.0218, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.2349, d4.loss_map_pts: 0.9930, d4.loss_map_dir: 0.0131, d5.loss_map_cls: 0.2294, d5.loss_map_pts: 0.9830, d5.loss_map_dir: 0.0133, loss: 36.3916, grad_norm: 154.0640 +2026-02-25 19:30:54,971 - DriveTransformer - INFO - Epoch [5][26100/39528] lr: 9.337e-05, eta: 7 days, 3:05:46, time: 0.840, data_time: 0.040, memory: 19865, loss_cls: 0.2171, loss_bbox: 0.3996, loss_traj: 0.6870, loss_traj_cls: 0.0011, loss_map_cls: 0.1693, loss_map_pts: 0.8674, loss_map_dir: 0.0139, d0.loss_plan_l1_fix_time: 2.8275, d0.loss_plan_l1_fix_dist: 0.4927, d1.loss_plan_l1_fix_time: 1.3889, d1.loss_plan_l1_fix_dist: 0.2263, d2.loss_plan_l1_fix_time: 1.3779, d2.loss_plan_l1_fix_dist: 0.2288, d3.loss_plan_l1_fix_time: 1.3861, d3.loss_plan_l1_fix_dist: 0.2368, d4.loss_plan_l1_fix_time: 1.3908, d4.loss_plan_l1_fix_dist: 0.2471, d5.loss_plan_l1_fix_time: 1.3952, d5.loss_plan_l1_fix_dist: 0.2585, d6.loss_plan_l1_fix_time: 1.4000, d6.loss_plan_l1_fix_dist: 0.2713, d0.loss_cls_all: 0.2479, d0.loss_bbox_all: 0.4641, d0.loss_cls: 0.2479, d0.loss_bbox: 0.4641, d1.loss_cls: 0.2410, d1.loss_bbox: 0.4303, d2.loss_cls: 0.2293, d2.loss_bbox: 0.4113, d3.loss_cls: 0.2225, d3.loss_bbox: 0.4039, d4.loss_cls: 0.2193, d4.loss_bbox: 0.3996, d5.loss_cls: 0.2172, d5.loss_bbox: 0.3994, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9587, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7597, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7025, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6938, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6839, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6854, d0.loss_map_cls_all: 0.2499, d0.loss_map_pts_all: 1.7681, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.2499, d0.loss_map_pts: 1.7681, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2144, d1.loss_map_pts: 1.1496, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.1947, d2.loss_map_pts: 0.9569, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.1825, d3.loss_map_pts: 0.8943, d3.loss_map_dir: 0.0133, d4.loss_map_cls: 0.1764, d4.loss_map_pts: 0.8712, d4.loss_map_dir: 0.0137, d5.loss_map_cls: 0.1708, d5.loss_map_pts: 0.8672, d5.loss_map_dir: 0.0137, loss: 34.3775, grad_norm: 152.6266 +2026-02-25 19:31:35,378 - DriveTransformer - INFO - Epoch [5][26150/39528] lr: 9.337e-05, eta: 7 days, 3:05:07, time: 0.808, data_time: 0.047, memory: 19865, loss_cls: 0.2304, loss_bbox: 0.4308, loss_traj: 0.8533, loss_traj_cls: 0.0010, loss_map_cls: 0.2031, loss_map_pts: 0.7966, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 3.2895, d0.loss_plan_l1_fix_dist: 0.4028, d1.loss_plan_l1_fix_time: 1.3162, d1.loss_plan_l1_fix_dist: 0.2236, d2.loss_plan_l1_fix_time: 1.2972, d2.loss_plan_l1_fix_dist: 0.2292, d3.loss_plan_l1_fix_time: 1.2968, d3.loss_plan_l1_fix_dist: 0.2407, d4.loss_plan_l1_fix_time: 1.2999, d4.loss_plan_l1_fix_dist: 0.2558, d5.loss_plan_l1_fix_time: 1.3041, d5.loss_plan_l1_fix_dist: 0.2734, d6.loss_plan_l1_fix_time: 1.3102, d6.loss_plan_l1_fix_dist: 0.2910, d0.loss_cls_all: 0.2551, d0.loss_bbox_all: 0.4887, d0.loss_cls: 0.2551, d0.loss_bbox: 0.4887, d1.loss_cls: 0.2515, d1.loss_bbox: 0.4533, d2.loss_cls: 0.2389, d2.loss_bbox: 0.4394, d3.loss_cls: 0.2301, d3.loss_bbox: 0.4352, d4.loss_cls: 0.2276, d4.loss_bbox: 0.4322, d5.loss_cls: 0.2301, d5.loss_bbox: 0.4304, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1102, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8967, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8623, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8560, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8534, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8536, d0.loss_map_cls_all: 0.2632, d0.loss_map_pts_all: 1.4407, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2632, d0.loss_map_pts: 1.4407, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.2381, d1.loss_map_pts: 1.0293, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.2236, d2.loss_map_pts: 0.8814, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.2117, d3.loss_map_pts: 0.8330, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.2076, d4.loss_map_pts: 0.8072, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.2046, d5.loss_map_pts: 0.7984, d5.loss_map_dir: 0.0086, loss: 34.7467, grad_norm: 151.5342 +2026-02-25 19:32:18,274 - DriveTransformer - INFO - Epoch [5][26200/39528] lr: 9.337e-05, eta: 7 days, 3:04:37, time: 0.858, data_time: 0.043, memory: 19865, loss_cls: 0.1980, loss_bbox: 0.4133, loss_traj: 0.8328, loss_traj_cls: 0.0010, loss_map_cls: 0.1802, loss_map_pts: 0.8231, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.3817, d0.loss_plan_l1_fix_dist: 0.3562, d1.loss_plan_l1_fix_time: 1.1583, d1.loss_plan_l1_fix_dist: 0.1850, d2.loss_plan_l1_fix_time: 1.1461, d2.loss_plan_l1_fix_dist: 0.1875, d3.loss_plan_l1_fix_time: 1.1514, d3.loss_plan_l1_fix_dist: 0.1942, d4.loss_plan_l1_fix_time: 1.1574, d4.loss_plan_l1_fix_dist: 0.2023, d5.loss_plan_l1_fix_time: 1.1644, d5.loss_plan_l1_fix_dist: 0.2122, d6.loss_plan_l1_fix_time: 1.1729, d6.loss_plan_l1_fix_dist: 0.2249, d0.loss_cls_all: 0.2393, d0.loss_bbox_all: 0.4618, d0.loss_cls: 0.2393, d0.loss_bbox: 0.4618, d1.loss_cls: 0.2290, d1.loss_bbox: 0.4329, d2.loss_cls: 0.2134, d2.loss_bbox: 0.4188, d3.loss_cls: 0.2044, d3.loss_bbox: 0.4116, d4.loss_cls: 0.1979, d4.loss_bbox: 0.4110, d5.loss_cls: 0.1979, d5.loss_bbox: 0.4119, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0253, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8990, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8542, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8392, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8341, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8322, d0.loss_map_cls_all: 0.2612, d0.loss_map_pts_all: 1.7903, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.2612, d0.loss_map_pts: 1.7903, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.2276, d1.loss_map_pts: 1.1312, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2083, d2.loss_map_pts: 0.9294, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.1946, d3.loss_map_pts: 0.8582, d3.loss_map_dir: 0.0121, d4.loss_map_cls: 0.1864, d4.loss_map_pts: 0.8325, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.1813, d5.loss_map_pts: 0.8231, d5.loss_map_dir: 0.0125, loss: 32.9360, grad_norm: 149.7146 +2026-02-25 19:32:58,665 - DriveTransformer - INFO - Epoch [5][26250/39528] lr: 9.337e-05, eta: 7 days, 3:03:57, time: 0.808, data_time: 0.043, memory: 19865, loss_cls: 0.1900, loss_bbox: 0.3711, loss_traj: 0.7253, loss_traj_cls: 0.0011, loss_map_cls: 0.1756, loss_map_pts: 0.7712, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.7141, d0.loss_plan_l1_fix_dist: 0.4275, d1.loss_plan_l1_fix_time: 1.2348, d1.loss_plan_l1_fix_dist: 0.1907, d2.loss_plan_l1_fix_time: 1.2225, d2.loss_plan_l1_fix_dist: 0.1950, d3.loss_plan_l1_fix_time: 1.2278, d3.loss_plan_l1_fix_dist: 0.2020, d4.loss_plan_l1_fix_time: 1.2326, d4.loss_plan_l1_fix_dist: 0.2117, d5.loss_plan_l1_fix_time: 1.2372, d5.loss_plan_l1_fix_dist: 0.2228, d6.loss_plan_l1_fix_time: 1.2420, d6.loss_plan_l1_fix_dist: 0.2363, d0.loss_cls_all: 0.2231, d0.loss_bbox_all: 0.4294, d0.loss_cls: 0.2231, d0.loss_bbox: 0.4294, d1.loss_cls: 0.2144, d1.loss_bbox: 0.3925, d2.loss_cls: 0.1991, d2.loss_bbox: 0.3764, d3.loss_cls: 0.1918, d3.loss_bbox: 0.3713, d4.loss_cls: 0.1895, d4.loss_bbox: 0.3705, d5.loss_cls: 0.1888, d5.loss_bbox: 0.3716, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9239, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7782, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7318, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7155, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7200, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7235, d0.loss_map_cls_all: 0.2395, d0.loss_map_pts_all: 1.5891, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2395, d0.loss_map_pts: 1.5891, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2088, d1.loss_map_pts: 1.0627, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.1947, d2.loss_map_pts: 0.8702, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1854, d3.loss_map_pts: 0.8040, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1801, d4.loss_map_pts: 0.7787, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1773, d5.loss_map_pts: 0.7726, d5.loss_map_dir: 0.0117, loss: 31.7809, grad_norm: 149.6731 +2026-02-25 19:33:38,349 - DriveTransformer - INFO - Epoch [5][26300/39528] lr: 9.337e-05, eta: 7 days, 3:03:15, time: 0.794, data_time: 0.044, memory: 19865, loss_cls: 0.2226, loss_bbox: 0.4216, loss_traj: 0.7701, loss_traj_cls: 0.0010, loss_map_cls: 0.2024, loss_map_pts: 0.8879, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.6687, d0.loss_plan_l1_fix_dist: 0.4107, d1.loss_plan_l1_fix_time: 1.2940, d1.loss_plan_l1_fix_dist: 0.1864, d2.loss_plan_l1_fix_time: 1.2734, d2.loss_plan_l1_fix_dist: 0.1885, d3.loss_plan_l1_fix_time: 1.2729, d3.loss_plan_l1_fix_dist: 0.1974, d4.loss_plan_l1_fix_time: 1.2762, d4.loss_plan_l1_fix_dist: 0.2089, d5.loss_plan_l1_fix_time: 1.2796, d5.loss_plan_l1_fix_dist: 0.2219, d6.loss_plan_l1_fix_time: 1.2836, d6.loss_plan_l1_fix_dist: 0.2360, d0.loss_cls_all: 0.2592, d0.loss_bbox_all: 0.4819, d0.loss_cls: 0.2592, d0.loss_bbox: 0.4819, d1.loss_cls: 0.2490, d1.loss_bbox: 0.4491, d2.loss_cls: 0.2336, d2.loss_bbox: 0.4309, d3.loss_cls: 0.2245, d3.loss_bbox: 0.4234, d4.loss_cls: 0.2226, d4.loss_bbox: 0.4208, d5.loss_cls: 0.2230, d5.loss_bbox: 0.4197, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9248, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7919, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7646, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7576, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7631, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7628, d0.loss_map_cls_all: 0.2802, d0.loss_map_pts_all: 1.6328, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2802, d0.loss_map_pts: 1.6328, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2465, d1.loss_map_pts: 1.1907, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.2294, d2.loss_map_pts: 1.0013, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.2142, d3.loss_map_pts: 0.9360, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.2073, d4.loss_map_pts: 0.9056, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.2043, d5.loss_map_pts: 0.8904, d5.loss_map_dir: 0.0102, loss: 33.9828, grad_norm: 149.0471 +2026-02-25 19:34:20,227 - DriveTransformer - INFO - Epoch [5][26350/39528] lr: 9.337e-05, eta: 7 days, 3:02:41, time: 0.838, data_time: 0.038, memory: 19865, loss_cls: 0.2283, loss_bbox: 0.4405, loss_traj: 0.8033, loss_traj_cls: 0.0010, loss_map_cls: 0.1916, loss_map_pts: 0.9335, loss_map_dir: 0.0133, d0.loss_plan_l1_fix_time: 2.8868, d0.loss_plan_l1_fix_dist: 0.3754, d1.loss_plan_l1_fix_time: 1.5617, d1.loss_plan_l1_fix_dist: 0.2286, d2.loss_plan_l1_fix_time: 1.5475, d2.loss_plan_l1_fix_dist: 0.2359, d3.loss_plan_l1_fix_time: 1.5443, d3.loss_plan_l1_fix_dist: 0.2472, d4.loss_plan_l1_fix_time: 1.5494, d4.loss_plan_l1_fix_dist: 0.2619, d5.loss_plan_l1_fix_time: 1.5553, d5.loss_plan_l1_fix_dist: 0.2797, d6.loss_plan_l1_fix_time: 1.5629, d6.loss_plan_l1_fix_dist: 0.3017, d0.loss_cls_all: 0.2654, d0.loss_bbox_all: 0.5099, d0.loss_cls: 0.2654, d0.loss_bbox: 0.5099, d1.loss_cls: 0.2542, d1.loss_bbox: 0.4717, d2.loss_cls: 0.2432, d2.loss_bbox: 0.4522, d3.loss_cls: 0.2359, d3.loss_bbox: 0.4464, d4.loss_cls: 0.2311, d4.loss_bbox: 0.4424, d5.loss_cls: 0.2275, d5.loss_bbox: 0.4424, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0394, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8723, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8223, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8047, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8053, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8057, d0.loss_map_cls_all: 0.2520, d0.loss_map_pts_all: 1.7326, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.2520, d0.loss_map_pts: 1.7326, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.2239, d1.loss_map_pts: 1.2137, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2092, d2.loss_map_pts: 1.0288, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.2002, d3.loss_map_pts: 0.9596, d3.loss_map_dir: 0.0125, d4.loss_map_cls: 0.1950, d4.loss_map_pts: 0.9384, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.1931, d5.loss_map_pts: 0.9358, d5.loss_map_dir: 0.0132, loss: 37.0563, grad_norm: 149.6962 +2026-02-25 19:35:00,752 - DriveTransformer - INFO - Epoch [5][26400/39528] lr: 9.337e-05, eta: 7 days, 3:02:02, time: 0.812, data_time: 0.044, memory: 19865, loss_cls: 0.2197, loss_bbox: 0.4103, loss_traj: 0.8107, loss_traj_cls: 0.0010, loss_map_cls: 0.2150, loss_map_pts: 0.8894, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.4707, d0.loss_plan_l1_fix_dist: 0.4001, d1.loss_plan_l1_fix_time: 1.3525, d1.loss_plan_l1_fix_dist: 0.1994, d2.loss_plan_l1_fix_time: 1.3344, d2.loss_plan_l1_fix_dist: 0.2036, d3.loss_plan_l1_fix_time: 1.3346, d3.loss_plan_l1_fix_dist: 0.2113, d4.loss_plan_l1_fix_time: 1.3368, d4.loss_plan_l1_fix_dist: 0.2211, d5.loss_plan_l1_fix_time: 1.3398, d5.loss_plan_l1_fix_dist: 0.2331, d6.loss_plan_l1_fix_time: 1.3444, d6.loss_plan_l1_fix_dist: 0.2494, d0.loss_cls_all: 0.2531, d0.loss_bbox_all: 0.4665, d0.loss_cls: 0.2531, d0.loss_bbox: 0.4665, d1.loss_cls: 0.2442, d1.loss_bbox: 0.4372, d2.loss_cls: 0.2343, d2.loss_bbox: 0.4210, d3.loss_cls: 0.2259, d3.loss_bbox: 0.4136, d4.loss_cls: 0.2195, d4.loss_bbox: 0.4122, d5.loss_cls: 0.2195, d5.loss_bbox: 0.4101, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0348, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8574, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8148, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8057, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8124, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8102, d0.loss_map_cls_all: 0.2808, d0.loss_map_pts_all: 1.6946, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2808, d0.loss_map_pts: 1.6946, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2519, d1.loss_map_pts: 1.1586, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2344, d2.loss_map_pts: 0.9907, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2239, d3.loss_map_pts: 0.9231, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.2185, d4.loss_map_pts: 0.9040, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.2141, d5.loss_map_pts: 0.8934, d5.loss_map_dir: 0.0122, loss: 34.6530, grad_norm: 155.9944 +2026-02-25 19:35:42,190 - DriveTransformer - INFO - Epoch [5][26450/39528] lr: 9.337e-05, eta: 7 days, 3:01:26, time: 0.827, data_time: 0.043, memory: 19865, loss_cls: 0.2018, loss_bbox: 0.3875, loss_traj: 0.7997, loss_traj_cls: 0.0010, loss_map_cls: 0.1847, loss_map_pts: 0.8406, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.2557, d0.loss_plan_l1_fix_dist: 0.3600, d1.loss_plan_l1_fix_time: 1.2608, d1.loss_plan_l1_fix_dist: 0.2085, d2.loss_plan_l1_fix_time: 1.2516, d2.loss_plan_l1_fix_dist: 0.2153, d3.loss_plan_l1_fix_time: 1.2559, d3.loss_plan_l1_fix_dist: 0.2267, d4.loss_plan_l1_fix_time: 1.2619, d4.loss_plan_l1_fix_dist: 0.2392, d5.loss_plan_l1_fix_time: 1.2683, d5.loss_plan_l1_fix_dist: 0.2523, d6.loss_plan_l1_fix_time: 1.2752, d6.loss_plan_l1_fix_dist: 0.2658, d0.loss_cls_all: 0.2301, d0.loss_bbox_all: 0.4412, d0.loss_cls: 0.2301, d0.loss_bbox: 0.4412, d1.loss_cls: 0.2246, d1.loss_bbox: 0.4091, d2.loss_cls: 0.2094, d2.loss_bbox: 0.3948, d3.loss_cls: 0.2037, d3.loss_bbox: 0.3903, d4.loss_cls: 0.2010, d4.loss_bbox: 0.3868, d5.loss_cls: 0.2017, d5.loss_bbox: 0.3866, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0190, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8168, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7888, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7846, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7958, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7957, d0.loss_map_cls_all: 0.2584, d0.loss_map_pts_all: 1.5802, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2584, d0.loss_map_pts: 1.5802, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2177, d1.loss_map_pts: 1.1080, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.2034, d2.loss_map_pts: 0.9390, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1944, d3.loss_map_pts: 0.8734, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1875, d4.loss_map_pts: 0.8475, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1849, d5.loss_map_pts: 0.8407, d5.loss_map_dir: 0.0110, loss: 32.7283, grad_norm: 156.0097 +2026-02-25 19:36:24,206 - DriveTransformer - INFO - Epoch [5][26500/39528] lr: 9.337e-05, eta: 7 days, 3:00:53, time: 0.840, data_time: 0.048, memory: 19865, loss_cls: 0.1994, loss_bbox: 0.3931, loss_traj: 0.8602, loss_traj_cls: 0.0010, loss_map_cls: 0.1803, loss_map_pts: 0.7890, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.8065, d0.loss_plan_l1_fix_dist: 0.3649, d1.loss_plan_l1_fix_time: 1.2932, d1.loss_plan_l1_fix_dist: 0.1805, d2.loss_plan_l1_fix_time: 1.2727, d2.loss_plan_l1_fix_dist: 0.1860, d3.loss_plan_l1_fix_time: 1.2760, d3.loss_plan_l1_fix_dist: 0.1956, d4.loss_plan_l1_fix_time: 1.2791, d4.loss_plan_l1_fix_dist: 0.2070, d5.loss_plan_l1_fix_time: 1.2830, d5.loss_plan_l1_fix_dist: 0.2198, d6.loss_plan_l1_fix_time: 1.2883, d6.loss_plan_l1_fix_dist: 0.2315, d0.loss_cls_all: 0.2318, d0.loss_bbox_all: 0.4451, d0.loss_cls: 0.2318, d0.loss_bbox: 0.4451, d1.loss_cls: 0.2202, d1.loss_bbox: 0.4162, d2.loss_cls: 0.2101, d2.loss_bbox: 0.3998, d3.loss_cls: 0.2022, d3.loss_bbox: 0.3957, d4.loss_cls: 0.1995, d4.loss_bbox: 0.3931, d5.loss_cls: 0.1986, d5.loss_bbox: 0.3933, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0629, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8997, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8527, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8458, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8509, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8551, d0.loss_map_cls_all: 0.2463, d0.loss_map_pts_all: 1.6005, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2463, d0.loss_map_pts: 1.6005, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2186, d1.loss_map_pts: 1.0742, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.2036, d2.loss_map_pts: 0.8846, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1942, d3.loss_map_pts: 0.8216, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1849, d4.loss_map_pts: 0.8010, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1811, d5.loss_map_pts: 0.7892, d5.loss_map_dir: 0.0111, loss: 33.3939, grad_norm: 157.4390 +2026-02-25 19:37:03,250 - DriveTransformer - INFO - Epoch [5][26550/39528] lr: 9.337e-05, eta: 7 days, 3:00:07, time: 0.781, data_time: 0.040, memory: 19865, loss_cls: 0.2449, loss_bbox: 0.4414, loss_traj: 0.8564, loss_traj_cls: 0.0010, loss_map_cls: 0.2030, loss_map_pts: 0.8504, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.7973, d0.loss_plan_l1_fix_dist: 0.4468, d1.loss_plan_l1_fix_time: 1.5297, d1.loss_plan_l1_fix_dist: 0.2210, d2.loss_plan_l1_fix_time: 1.5102, d2.loss_plan_l1_fix_dist: 0.2275, d3.loss_plan_l1_fix_time: 1.5093, d3.loss_plan_l1_fix_dist: 0.2396, d4.loss_plan_l1_fix_time: 1.5125, d4.loss_plan_l1_fix_dist: 0.2534, d5.loss_plan_l1_fix_time: 1.5165, d5.loss_plan_l1_fix_dist: 0.2690, d6.loss_plan_l1_fix_time: 1.5211, d6.loss_plan_l1_fix_dist: 0.2879, d0.loss_cls_all: 0.2868, d0.loss_bbox_all: 0.5058, d0.loss_cls: 0.2868, d0.loss_bbox: 0.5058, d1.loss_cls: 0.2735, d1.loss_bbox: 0.4715, d2.loss_cls: 0.2570, d2.loss_bbox: 0.4553, d3.loss_cls: 0.2492, d3.loss_bbox: 0.4466, d4.loss_cls: 0.2455, d4.loss_bbox: 0.4428, d5.loss_cls: 0.2445, d5.loss_bbox: 0.4423, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0512, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9074, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8532, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8444, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8414, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8461, d0.loss_map_cls_all: 0.2729, d0.loss_map_pts_all: 1.5626, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2729, d0.loss_map_pts: 1.5626, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2413, d1.loss_map_pts: 1.1195, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2268, d2.loss_map_pts: 0.9460, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2164, d3.loss_map_pts: 0.8802, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.2101, d4.loss_map_pts: 0.8575, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.2049, d5.loss_map_pts: 0.8512, d5.loss_map_dir: 0.0119, loss: 36.4194, grad_norm: 157.1297 +2026-02-25 19:37:42,588 - DriveTransformer - INFO - Epoch [5][26600/39528] lr: 9.337e-05, eta: 7 days, 2:59:23, time: 0.787, data_time: 0.043, memory: 19865, loss_cls: 0.2164, loss_bbox: 0.4148, loss_traj: 0.7495, loss_traj_cls: 0.0010, loss_map_cls: 0.2161, loss_map_pts: 0.8685, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.8283, d0.loss_plan_l1_fix_dist: 0.4126, d1.loss_plan_l1_fix_time: 1.2426, d1.loss_plan_l1_fix_dist: 0.2017, d2.loss_plan_l1_fix_time: 1.2349, d2.loss_plan_l1_fix_dist: 0.2071, d3.loss_plan_l1_fix_time: 1.2367, d3.loss_plan_l1_fix_dist: 0.2162, d4.loss_plan_l1_fix_time: 1.2404, d4.loss_plan_l1_fix_dist: 0.2278, d5.loss_plan_l1_fix_time: 1.2444, d5.loss_plan_l1_fix_dist: 0.2425, d6.loss_plan_l1_fix_time: 1.2490, d6.loss_plan_l1_fix_dist: 0.2602, d0.loss_cls_all: 0.2455, d0.loss_bbox_all: 0.4692, d0.loss_cls: 0.2455, d0.loss_bbox: 0.4692, d1.loss_cls: 0.2376, d1.loss_bbox: 0.4378, d2.loss_cls: 0.2310, d2.loss_bbox: 0.4189, d3.loss_cls: 0.2222, d3.loss_bbox: 0.4162, d4.loss_cls: 0.2162, d4.loss_bbox: 0.4142, d5.loss_cls: 0.2155, d5.loss_bbox: 0.4129, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9820, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7992, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7594, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7505, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7408, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7452, d0.loss_map_cls_all: 0.2900, d0.loss_map_pts_all: 1.6660, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2900, d0.loss_map_pts: 1.6660, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2588, d1.loss_map_pts: 1.1798, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2395, d2.loss_map_pts: 0.9861, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2283, d3.loss_map_pts: 0.9091, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.2204, d4.loss_map_pts: 0.8781, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.2170, d5.loss_map_pts: 0.8694, d5.loss_map_dir: 0.0121, loss: 33.9369, grad_norm: 155.3633 +2026-02-25 19:38:21,769 - DriveTransformer - INFO - Epoch [5][26650/39528] lr: 9.337e-05, eta: 7 days, 2:58:38, time: 0.784, data_time: 0.041, memory: 19865, loss_cls: 0.2432, loss_bbox: 0.4538, loss_traj: 0.7914, loss_traj_cls: 0.0010, loss_map_cls: 0.2022, loss_map_pts: 0.8647, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.9842, d0.loss_plan_l1_fix_dist: 0.4086, d1.loss_plan_l1_fix_time: 1.5007, d1.loss_plan_l1_fix_dist: 0.2236, d2.loss_plan_l1_fix_time: 1.4817, d2.loss_plan_l1_fix_dist: 0.2256, d3.loss_plan_l1_fix_time: 1.4816, d3.loss_plan_l1_fix_dist: 0.2339, d4.loss_plan_l1_fix_time: 1.4839, d4.loss_plan_l1_fix_dist: 0.2443, d5.loss_plan_l1_fix_time: 1.4867, d5.loss_plan_l1_fix_dist: 0.2558, d6.loss_plan_l1_fix_time: 1.4904, d6.loss_plan_l1_fix_dist: 0.2670, d0.loss_cls_all: 0.2781, d0.loss_bbox_all: 0.5120, d0.loss_cls: 0.2781, d0.loss_bbox: 0.5120, d1.loss_cls: 0.2715, d1.loss_bbox: 0.4767, d2.loss_cls: 0.2579, d2.loss_bbox: 0.4622, d3.loss_cls: 0.2480, d3.loss_bbox: 0.4567, d4.loss_cls: 0.2436, d4.loss_bbox: 0.4535, d5.loss_cls: 0.2433, d5.loss_bbox: 0.4526, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0591, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8751, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8152, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8006, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7934, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7911, d0.loss_map_cls_all: 0.2787, d0.loss_map_pts_all: 1.6349, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2787, d0.loss_map_pts: 1.6349, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2409, d1.loss_map_pts: 1.1415, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2274, d2.loss_map_pts: 0.9673, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.2159, d3.loss_map_pts: 0.9031, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.2093, d4.loss_map_pts: 0.8778, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.2057, d5.loss_map_pts: 0.8653, d5.loss_map_dir: 0.0125, loss: 36.3878, grad_norm: 153.7496 +2026-02-25 19:39:02,403 - DriveTransformer - INFO - Epoch [5][26700/39528] lr: 9.337e-05, eta: 7 days, 2:57:59, time: 0.813, data_time: 0.040, memory: 19865, loss_cls: 0.2299, loss_bbox: 0.4069, loss_traj: 0.7244, loss_traj_cls: 0.0010, loss_map_cls: 0.1959, loss_map_pts: 0.8025, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.7114, d0.loss_plan_l1_fix_dist: 0.3407, d1.loss_plan_l1_fix_time: 1.2614, d1.loss_plan_l1_fix_dist: 0.1787, d2.loss_plan_l1_fix_time: 1.2479, d2.loss_plan_l1_fix_dist: 0.1843, d3.loss_plan_l1_fix_time: 1.2518, d3.loss_plan_l1_fix_dist: 0.1950, d4.loss_plan_l1_fix_time: 1.2562, d4.loss_plan_l1_fix_dist: 0.2077, d5.loss_plan_l1_fix_time: 1.2610, d5.loss_plan_l1_fix_dist: 0.2224, d6.loss_plan_l1_fix_time: 1.2665, d6.loss_plan_l1_fix_dist: 0.2403, d0.loss_cls_all: 0.2635, d0.loss_bbox_all: 0.4627, d0.loss_cls: 0.2635, d0.loss_bbox: 0.4627, d1.loss_cls: 0.2511, d1.loss_bbox: 0.4309, d2.loss_cls: 0.2396, d2.loss_bbox: 0.4173, d3.loss_cls: 0.2342, d3.loss_bbox: 0.4098, d4.loss_cls: 0.2308, d4.loss_bbox: 0.4071, d5.loss_cls: 0.2305, d5.loss_bbox: 0.4065, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9436, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7741, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7351, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7300, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7268, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7234, d0.loss_map_cls_all: 0.2603, d0.loss_map_pts_all: 1.4963, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2603, d0.loss_map_pts: 1.4963, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2286, d1.loss_map_pts: 1.0680, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2157, d2.loss_map_pts: 0.9000, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.2072, d3.loss_map_pts: 0.8380, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.2009, d4.loss_map_pts: 0.8149, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1973, d5.loss_map_pts: 0.8053, d5.loss_map_dir: 0.0117, loss: 32.6145, grad_norm: 154.2746 +2026-02-25 19:39:43,137 - DriveTransformer - INFO - Epoch [5][26750/39528] lr: 9.337e-05, eta: 7 days, 2:57:21, time: 0.815, data_time: 0.044, memory: 19865, loss_cls: 0.2168, loss_bbox: 0.3981, loss_traj: 0.6938, loss_traj_cls: 0.0010, loss_map_cls: 0.1668, loss_map_pts: 0.8112, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.5040, d0.loss_plan_l1_fix_dist: 0.3927, d1.loss_plan_l1_fix_time: 1.3397, d1.loss_plan_l1_fix_dist: 0.1968, d2.loss_plan_l1_fix_time: 1.3392, d2.loss_plan_l1_fix_dist: 0.1981, d3.loss_plan_l1_fix_time: 1.3459, d3.loss_plan_l1_fix_dist: 0.2066, d4.loss_plan_l1_fix_time: 1.3506, d4.loss_plan_l1_fix_dist: 0.2164, d5.loss_plan_l1_fix_time: 1.3558, d5.loss_plan_l1_fix_dist: 0.2283, d6.loss_plan_l1_fix_time: 1.3611, d6.loss_plan_l1_fix_dist: 0.2439, d0.loss_cls_all: 0.2466, d0.loss_bbox_all: 0.4625, d0.loss_cls: 0.2466, d0.loss_bbox: 0.4625, d1.loss_cls: 0.2412, d1.loss_bbox: 0.4298, d2.loss_cls: 0.2318, d2.loss_bbox: 0.4121, d3.loss_cls: 0.2212, d3.loss_bbox: 0.4044, d4.loss_cls: 0.2168, d4.loss_bbox: 0.3994, d5.loss_cls: 0.2159, d5.loss_bbox: 0.3998, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8749, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7593, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7123, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7011, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6979, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6928, d0.loss_map_cls_all: 0.2303, d0.loss_map_pts_all: 1.5529, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2303, d0.loss_map_pts: 1.5529, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.1985, d1.loss_map_pts: 1.0774, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.1865, d2.loss_map_pts: 0.9091, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.1759, d3.loss_map_pts: 0.8452, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1713, d4.loss_map_pts: 0.8232, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1682, d5.loss_map_pts: 0.8143, d5.loss_map_dir: 0.0120, loss: 32.6297, grad_norm: 153.8111 +2026-02-25 19:40:24,879 - DriveTransformer - INFO - Epoch [5][26800/39528] lr: 9.337e-05, eta: 7 days, 2:56:47, time: 0.835, data_time: 0.040, memory: 19865, loss_cls: 0.2275, loss_bbox: 0.4265, loss_traj: 0.7803, loss_traj_cls: 0.0010, loss_map_cls: 0.2288, loss_map_pts: 0.9352, loss_map_dir: 0.0135, d0.loss_plan_l1_fix_time: 2.6830, d0.loss_plan_l1_fix_dist: 0.3371, d1.loss_plan_l1_fix_time: 1.4499, d1.loss_plan_l1_fix_dist: 0.1932, d2.loss_plan_l1_fix_time: 1.4405, d2.loss_plan_l1_fix_dist: 0.2014, d3.loss_plan_l1_fix_time: 1.4413, d3.loss_plan_l1_fix_dist: 0.2147, d4.loss_plan_l1_fix_time: 1.4445, d4.loss_plan_l1_fix_dist: 0.2299, d5.loss_plan_l1_fix_time: 1.4479, d5.loss_plan_l1_fix_dist: 0.2459, d6.loss_plan_l1_fix_time: 1.4520, d6.loss_plan_l1_fix_dist: 0.2583, d0.loss_cls_all: 0.2555, d0.loss_bbox_all: 0.4843, d0.loss_cls: 0.2555, d0.loss_bbox: 0.4843, d1.loss_cls: 0.2489, d1.loss_bbox: 0.4476, d2.loss_cls: 0.2387, d2.loss_bbox: 0.4332, d3.loss_cls: 0.2303, d3.loss_bbox: 0.4288, d4.loss_cls: 0.2276, d4.loss_bbox: 0.4262, d5.loss_cls: 0.2276, d5.loss_bbox: 0.4255, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9767, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8351, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7881, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7865, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7807, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7770, d0.loss_map_cls_all: 0.2918, d0.loss_map_pts_all: 1.7805, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.2918, d0.loss_map_pts: 1.7805, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.2705, d1.loss_map_pts: 1.2472, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2583, d2.loss_map_pts: 1.0360, d2.loss_map_dir: 0.0122, d3.loss_map_cls: 0.2440, d3.loss_map_pts: 0.9650, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.2377, d4.loss_map_pts: 0.9390, d4.loss_map_dir: 0.0132, d5.loss_map_cls: 0.2318, d5.loss_map_pts: 0.9339, d5.loss_map_dir: 0.0134, loss: 36.0116, grad_norm: 153.2653 +2026-02-25 19:41:07,028 - DriveTransformer - INFO - Epoch [5][26850/39528] lr: 9.337e-05, eta: 7 days, 2:56:14, time: 0.843, data_time: 0.041, memory: 19865, loss_cls: 0.2111, loss_bbox: 0.4103, loss_traj: 0.7133, loss_traj_cls: 0.0010, loss_map_cls: 0.2020, loss_map_pts: 0.8898, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 3.0620, d0.loss_plan_l1_fix_dist: 0.4485, d1.loss_plan_l1_fix_time: 1.4517, d1.loss_plan_l1_fix_dist: 0.2196, d2.loss_plan_l1_fix_time: 1.4377, d2.loss_plan_l1_fix_dist: 0.2244, d3.loss_plan_l1_fix_time: 1.4362, d3.loss_plan_l1_fix_dist: 0.2346, d4.loss_plan_l1_fix_time: 1.4389, d4.loss_plan_l1_fix_dist: 0.2464, d5.loss_plan_l1_fix_time: 1.4420, d5.loss_plan_l1_fix_dist: 0.2591, d6.loss_plan_l1_fix_time: 1.4460, d6.loss_plan_l1_fix_dist: 0.2712, d0.loss_cls_all: 0.2437, d0.loss_bbox_all: 0.4737, d0.loss_cls: 0.2437, d0.loss_bbox: 0.4737, d1.loss_cls: 0.2347, d1.loss_bbox: 0.4407, d2.loss_cls: 0.2223, d2.loss_bbox: 0.4204, d3.loss_cls: 0.2154, d3.loss_bbox: 0.4134, d4.loss_cls: 0.2105, d4.loss_bbox: 0.4123, d5.loss_cls: 0.2107, d5.loss_bbox: 0.4102, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9325, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7812, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7360, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7227, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7157, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7131, d0.loss_map_cls_all: 0.2686, d0.loss_map_pts_all: 1.6126, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2686, d0.loss_map_pts: 1.6126, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2410, d1.loss_map_pts: 1.1467, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2264, d2.loss_map_pts: 0.9833, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2142, d3.loss_map_pts: 0.9206, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.2079, d4.loss_map_pts: 0.8991, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.2039, d5.loss_map_pts: 0.8909, d5.loss_map_dir: 0.0119, loss: 35.0660, grad_norm: 153.2970 +2026-02-25 19:41:47,649 - DriveTransformer - INFO - Epoch [5][26900/39528] lr: 9.337e-05, eta: 7 days, 2:55:35, time: 0.812, data_time: 0.045, memory: 19865, loss_cls: 0.2053, loss_bbox: 0.4036, loss_traj: 0.7376, loss_traj_cls: 0.0010, loss_map_cls: 0.1678, loss_map_pts: 0.7467, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.7467, d0.loss_plan_l1_fix_dist: 0.4842, d1.loss_plan_l1_fix_time: 1.1685, d1.loss_plan_l1_fix_dist: 0.1871, d2.loss_plan_l1_fix_time: 1.1466, d2.loss_plan_l1_fix_dist: 0.1921, d3.loss_plan_l1_fix_time: 1.1473, d3.loss_plan_l1_fix_dist: 0.2062, d4.loss_plan_l1_fix_time: 1.1506, d4.loss_plan_l1_fix_dist: 0.2232, d5.loss_plan_l1_fix_time: 1.1542, d5.loss_plan_l1_fix_dist: 0.2417, d6.loss_plan_l1_fix_time: 1.1581, d6.loss_plan_l1_fix_dist: 0.2694, d0.loss_cls_all: 0.2333, d0.loss_bbox_all: 0.4631, d0.loss_cls: 0.2333, d0.loss_bbox: 0.4631, d1.loss_cls: 0.2274, d1.loss_bbox: 0.4283, d2.loss_cls: 0.2181, d2.loss_bbox: 0.4113, d3.loss_cls: 0.2117, d3.loss_bbox: 0.4056, d4.loss_cls: 0.2078, d4.loss_bbox: 0.4031, d5.loss_cls: 0.2044, d5.loss_bbox: 0.4045, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9342, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7738, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7433, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7313, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7332, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7334, d0.loss_map_cls_all: 0.2302, d0.loss_map_pts_all: 1.4549, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2302, d0.loss_map_pts: 1.4549, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1988, d1.loss_map_pts: 1.0388, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1831, d2.loss_map_pts: 0.8616, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1742, d3.loss_map_pts: 0.7928, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1703, d4.loss_map_pts: 0.7637, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1681, d5.loss_map_pts: 0.7501, d5.loss_map_dir: 0.0095, loss: 31.4533, grad_norm: 153.9278 +2026-02-25 19:42:28,753 - DriveTransformer - INFO - Epoch [5][26950/39528] lr: 9.337e-05, eta: 7 days, 2:54:58, time: 0.822, data_time: 0.041, memory: 19865, loss_cls: 0.2094, loss_bbox: 0.3944, loss_traj: 0.7437, loss_traj_cls: 0.0010, loss_map_cls: 0.1951, loss_map_pts: 0.7774, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.7026, d0.loss_plan_l1_fix_dist: 0.3969, d1.loss_plan_l1_fix_time: 1.4973, d1.loss_plan_l1_fix_dist: 0.1821, d2.loss_plan_l1_fix_time: 1.4758, d2.loss_plan_l1_fix_dist: 0.1861, d3.loss_plan_l1_fix_time: 1.4749, d3.loss_plan_l1_fix_dist: 0.1954, d4.loss_plan_l1_fix_time: 1.4773, d4.loss_plan_l1_fix_dist: 0.2070, d5.loss_plan_l1_fix_time: 1.4803, d5.loss_plan_l1_fix_dist: 0.2197, d6.loss_plan_l1_fix_time: 1.4843, d6.loss_plan_l1_fix_dist: 0.2328, d0.loss_cls_all: 0.2375, d0.loss_bbox_all: 0.4554, d0.loss_cls: 0.2375, d0.loss_bbox: 0.4554, d1.loss_cls: 0.2347, d1.loss_bbox: 0.4185, d2.loss_cls: 0.2199, d2.loss_bbox: 0.4023, d3.loss_cls: 0.2176, d3.loss_bbox: 0.3940, d4.loss_cls: 0.2128, d4.loss_bbox: 0.3924, d5.loss_cls: 0.2091, d5.loss_bbox: 0.3947, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9674, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8126, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7529, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7435, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7420, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7399, d0.loss_map_cls_all: 0.2579, d0.loss_map_pts_all: 1.5251, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2579, d0.loss_map_pts: 1.5251, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2281, d1.loss_map_pts: 1.0386, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2118, d2.loss_map_pts: 0.8645, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.2035, d3.loss_map_pts: 0.8102, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1999, d4.loss_map_pts: 0.7870, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1965, d5.loss_map_pts: 0.7788, d5.loss_map_dir: 0.0104, loss: 33.7455, grad_norm: 154.1661 +2026-02-25 19:43:12,514 - DriveTransformer - INFO - Epoch [5][27000/39528] lr: 9.337e-05, eta: 7 days, 2:54:32, time: 0.875, data_time: 0.044, memory: 19865, loss_cls: 0.1790, loss_bbox: 0.3638, loss_traj: 0.5238, loss_traj_cls: 0.0010, loss_map_cls: 0.1656, loss_map_pts: 0.8561, loss_map_dir: 0.0135, d0.loss_plan_l1_fix_time: 1.9694, d0.loss_plan_l1_fix_dist: 0.3214, d1.loss_plan_l1_fix_time: 0.9829, d1.loss_plan_l1_fix_dist: 0.1932, d2.loss_plan_l1_fix_time: 0.9708, d2.loss_plan_l1_fix_dist: 0.1946, d3.loss_plan_l1_fix_time: 0.9735, d3.loss_plan_l1_fix_dist: 0.2019, d4.loss_plan_l1_fix_time: 0.9776, d4.loss_plan_l1_fix_dist: 0.2118, d5.loss_plan_l1_fix_time: 0.9822, d5.loss_plan_l1_fix_dist: 0.2253, d6.loss_plan_l1_fix_time: 0.9882, d6.loss_plan_l1_fix_dist: 0.2396, d0.loss_cls_all: 0.2113, d0.loss_bbox_all: 0.4094, d0.loss_cls: 0.2113, d0.loss_bbox: 0.4094, d1.loss_cls: 0.2029, d1.loss_bbox: 0.3831, d2.loss_cls: 0.1912, d2.loss_bbox: 0.3693, d3.loss_cls: 0.1871, d3.loss_bbox: 0.3627, d4.loss_cls: 0.1814, d4.loss_bbox: 0.3622, d5.loss_cls: 0.1794, d5.loss_bbox: 0.3634, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6918, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5810, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5322, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5281, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5242, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5242, d0.loss_map_cls_all: 0.2235, d0.loss_map_pts_all: 1.7879, d0.loss_map_dir_all: 0.0122, d0.loss_map_cls: 0.2235, d0.loss_map_pts: 1.7879, d0.loss_map_dir: 0.0122, d1.loss_map_cls: 0.1967, d1.loss_map_pts: 1.2017, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.1854, d2.loss_map_pts: 0.9739, d2.loss_map_dir: 0.0123, d3.loss_map_cls: 0.1781, d3.loss_map_pts: 0.8955, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.1716, d4.loss_map_pts: 0.8648, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.1669, d5.loss_map_pts: 0.8568, d5.loss_map_dir: 0.0134, loss: 28.7491, grad_norm: 154.6385 +2026-02-25 19:43:54,467 - DriveTransformer - INFO - Epoch [5][27050/39528] lr: 9.337e-05, eta: 7 days, 2:53:59, time: 0.839, data_time: 0.043, memory: 19865, loss_cls: 0.2133, loss_bbox: 0.4196, loss_traj: 0.6538, loss_traj_cls: 0.0010, loss_map_cls: 0.1827, loss_map_pts: 0.8725, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.8386, d0.loss_plan_l1_fix_dist: 0.3648, d1.loss_plan_l1_fix_time: 1.1936, d1.loss_plan_l1_fix_dist: 0.2031, d2.loss_plan_l1_fix_time: 1.1764, d2.loss_plan_l1_fix_dist: 0.2092, d3.loss_plan_l1_fix_time: 1.1758, d3.loss_plan_l1_fix_dist: 0.2193, d4.loss_plan_l1_fix_time: 1.1785, d4.loss_plan_l1_fix_dist: 0.2321, d5.loss_plan_l1_fix_time: 1.1820, d5.loss_plan_l1_fix_dist: 0.2461, d6.loss_plan_l1_fix_time: 1.1860, d6.loss_plan_l1_fix_dist: 0.2621, d0.loss_cls_all: 0.2510, d0.loss_bbox_all: 0.4811, d0.loss_cls: 0.2510, d0.loss_bbox: 0.4811, d1.loss_cls: 0.2431, d1.loss_bbox: 0.4454, d2.loss_cls: 0.2304, d2.loss_bbox: 0.4280, d3.loss_cls: 0.2203, d3.loss_bbox: 0.4235, d4.loss_cls: 0.2145, d4.loss_bbox: 0.4207, d5.loss_cls: 0.2123, d5.loss_bbox: 0.4205, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8477, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7131, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6748, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6576, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6547, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6571, d0.loss_map_cls_all: 0.2329, d0.loss_map_pts_all: 1.7299, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2329, d0.loss_map_pts: 1.7299, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2139, d1.loss_map_pts: 1.1964, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2003, d2.loss_map_pts: 0.9870, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.1906, d3.loss_map_pts: 0.9114, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.1862, d4.loss_map_pts: 0.8848, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.1841, d5.loss_map_pts: 0.8751, d5.loss_map_dir: 0.0123, loss: 32.7938, grad_norm: 153.0872 +2026-02-25 19:44:35,422 - DriveTransformer - INFO - Epoch [5][27100/39528] lr: 9.337e-05, eta: 7 days, 2:53:21, time: 0.819, data_time: 0.044, memory: 19865, loss_cls: 0.2063, loss_bbox: 0.4151, loss_traj: 0.7084, loss_traj_cls: 0.0010, loss_map_cls: 0.2142, loss_map_pts: 0.9173, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.4331, d0.loss_plan_l1_fix_dist: 0.3589, d1.loss_plan_l1_fix_time: 1.2349, d1.loss_plan_l1_fix_dist: 0.1938, d2.loss_plan_l1_fix_time: 1.2204, d2.loss_plan_l1_fix_dist: 0.1964, d3.loss_plan_l1_fix_time: 1.2246, d3.loss_plan_l1_fix_dist: 0.2027, d4.loss_plan_l1_fix_time: 1.2278, d4.loss_plan_l1_fix_dist: 0.2108, d5.loss_plan_l1_fix_time: 1.2313, d5.loss_plan_l1_fix_dist: 0.2191, d6.loss_plan_l1_fix_time: 1.2350, d6.loss_plan_l1_fix_dist: 0.2291, d0.loss_cls_all: 0.2435, d0.loss_bbox_all: 0.4664, d0.loss_cls: 0.2435, d0.loss_bbox: 0.4664, d1.loss_cls: 0.2371, d1.loss_bbox: 0.4389, d2.loss_cls: 0.2224, d2.loss_bbox: 0.4238, d3.loss_cls: 0.2137, d3.loss_bbox: 0.4169, d4.loss_cls: 0.2080, d4.loss_bbox: 0.4163, d5.loss_cls: 0.2069, d5.loss_bbox: 0.4148, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8731, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7549, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7147, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7133, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7132, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7124, d0.loss_map_cls_all: 0.2876, d0.loss_map_pts_all: 1.8527, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.2876, d0.loss_map_pts: 1.8527, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2562, d1.loss_map_pts: 1.2456, d1.loss_map_dir: 0.0125, d2.loss_map_cls: 0.2390, d2.loss_map_pts: 1.0283, d2.loss_map_dir: 0.0126, d3.loss_map_cls: 0.2261, d3.loss_map_pts: 0.9547, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.2184, d4.loss_map_pts: 0.9315, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.2147, d5.loss_map_pts: 0.9204, d5.loss_map_dir: 0.0134, loss: 33.6062, grad_norm: 154.0824 +2026-02-25 19:45:16,373 - DriveTransformer - INFO - Epoch [5][27150/39528] lr: 9.337e-05, eta: 7 days, 2:52:44, time: 0.819, data_time: 0.042, memory: 19865, loss_cls: 0.2179, loss_bbox: 0.4005, loss_traj: 0.8720, loss_traj_cls: 0.0010, loss_map_cls: 0.1688, loss_map_pts: 0.7598, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 3.2138, d0.loss_plan_l1_fix_dist: 0.3847, d1.loss_plan_l1_fix_time: 1.3190, d1.loss_plan_l1_fix_dist: 0.1819, d2.loss_plan_l1_fix_time: 1.2994, d2.loss_plan_l1_fix_dist: 0.1930, d3.loss_plan_l1_fix_time: 1.3011, d3.loss_plan_l1_fix_dist: 0.2091, d4.loss_plan_l1_fix_time: 1.3039, d4.loss_plan_l1_fix_dist: 0.2279, d5.loss_plan_l1_fix_time: 1.3070, d5.loss_plan_l1_fix_dist: 0.2489, d6.loss_plan_l1_fix_time: 1.3102, d6.loss_plan_l1_fix_dist: 0.2708, d0.loss_cls_all: 0.2489, d0.loss_bbox_all: 0.4578, d0.loss_cls: 0.2489, d0.loss_bbox: 0.4578, d1.loss_cls: 0.2399, d1.loss_bbox: 0.4269, d2.loss_cls: 0.2300, d2.loss_bbox: 0.4096, d3.loss_cls: 0.2218, d3.loss_bbox: 0.4019, d4.loss_cls: 0.2180, d4.loss_bbox: 0.4004, d5.loss_cls: 0.2176, d5.loss_bbox: 0.4007, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1183, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9092, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8725, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8568, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8663, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8617, d0.loss_map_cls_all: 0.2453, d0.loss_map_pts_all: 1.5443, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2453, d0.loss_map_pts: 1.5443, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2134, d1.loss_map_pts: 1.0237, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.1922, d2.loss_map_pts: 0.8514, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1800, d3.loss_map_pts: 0.7884, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1735, d4.loss_map_pts: 0.7687, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1702, d5.loss_map_pts: 0.7631, d5.loss_map_dir: 0.0110, loss: 34.0507, grad_norm: 152.6405 +2026-02-25 19:45:59,588 - DriveTransformer - INFO - Epoch [5][27200/39528] lr: 9.337e-05, eta: 7 days, 2:52:16, time: 0.866, data_time: 0.049, memory: 19865, loss_cls: 0.2200, loss_bbox: 0.3871, loss_traj: 0.7639, loss_traj_cls: 0.0010, loss_map_cls: 0.1757, loss_map_pts: 0.7718, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.5569, d0.loss_plan_l1_fix_dist: 0.5065, d1.loss_plan_l1_fix_time: 1.3676, d1.loss_plan_l1_fix_dist: 0.2290, d2.loss_plan_l1_fix_time: 1.3552, d2.loss_plan_l1_fix_dist: 0.2359, d3.loss_plan_l1_fix_time: 1.3506, d3.loss_plan_l1_fix_dist: 0.2464, d4.loss_plan_l1_fix_time: 1.3524, d4.loss_plan_l1_fix_dist: 0.2580, d5.loss_plan_l1_fix_time: 1.3547, d5.loss_plan_l1_fix_dist: 0.2719, d6.loss_plan_l1_fix_time: 1.3574, d6.loss_plan_l1_fix_dist: 0.2875, d0.loss_cls_all: 0.2423, d0.loss_bbox_all: 0.4461, d0.loss_cls: 0.2423, d0.loss_bbox: 0.4461, d1.loss_cls: 0.2334, d1.loss_bbox: 0.4137, d2.loss_cls: 0.2287, d2.loss_bbox: 0.3985, d3.loss_cls: 0.2219, d3.loss_bbox: 0.3918, d4.loss_cls: 0.2199, d4.loss_bbox: 0.3894, d5.loss_cls: 0.2178, d5.loss_bbox: 0.3884, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0115, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8243, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7721, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7644, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7613, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7618, d0.loss_map_cls_all: 0.2325, d0.loss_map_pts_all: 1.5354, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2325, d0.loss_map_pts: 1.5354, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2063, d1.loss_map_pts: 1.0450, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1937, d2.loss_map_pts: 0.8647, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1843, d3.loss_map_pts: 0.8061, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1815, d4.loss_map_pts: 0.7826, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1768, d5.loss_map_pts: 0.7751, d5.loss_map_dir: 0.0108, loss: 33.2668, grad_norm: 150.1014 +2026-02-25 19:46:40,122 - DriveTransformer - INFO - Epoch [5][27250/39528] lr: 9.337e-05, eta: 7 days, 2:51:36, time: 0.809, data_time: 0.039, memory: 19865, loss_cls: 0.2161, loss_bbox: 0.3962, loss_traj: 0.8392, loss_traj_cls: 0.0010, loss_map_cls: 0.1797, loss_map_pts: 0.7569, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.5982, d0.loss_plan_l1_fix_dist: 0.4360, d1.loss_plan_l1_fix_time: 1.2992, d1.loss_plan_l1_fix_dist: 0.1834, d2.loss_plan_l1_fix_time: 1.2818, d2.loss_plan_l1_fix_dist: 0.1909, d3.loss_plan_l1_fix_time: 1.2793, d3.loss_plan_l1_fix_dist: 0.2030, d4.loss_plan_l1_fix_time: 1.2827, d4.loss_plan_l1_fix_dist: 0.2196, d5.loss_plan_l1_fix_time: 1.2871, d5.loss_plan_l1_fix_dist: 0.2397, d6.loss_plan_l1_fix_time: 1.2919, d6.loss_plan_l1_fix_dist: 0.2622, d0.loss_cls_all: 0.2479, d0.loss_bbox_all: 0.4518, d0.loss_cls: 0.2479, d0.loss_bbox: 0.4518, d1.loss_cls: 0.2397, d1.loss_bbox: 0.4212, d2.loss_cls: 0.2280, d2.loss_bbox: 0.4053, d3.loss_cls: 0.2232, d3.loss_bbox: 0.3991, d4.loss_cls: 0.2175, d4.loss_bbox: 0.3970, d5.loss_cls: 0.2166, d5.loss_bbox: 0.3960, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9986, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8740, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8444, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.8375, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8391, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8380, d0.loss_map_cls_all: 0.2448, d0.loss_map_pts_all: 1.4170, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2448, d0.loss_map_pts: 1.4170, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2156, d1.loss_map_pts: 0.9810, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.1961, d2.loss_map_pts: 0.8340, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.1869, d3.loss_map_pts: 0.7820, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1823, d4.loss_map_pts: 0.7650, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1800, d5.loss_map_pts: 0.7592, d5.loss_map_dir: 0.0108, loss: 32.7155, grad_norm: 151.9570 +2026-02-25 19:47:20,149 - DriveTransformer - INFO - Epoch [5][27300/39528] lr: 9.337e-05, eta: 7 days, 2:50:55, time: 0.800, data_time: 0.045, memory: 19865, loss_cls: 0.2011, loss_bbox: 0.3863, loss_traj: 0.7300, loss_traj_cls: 0.0010, loss_map_cls: 0.1663, loss_map_pts: 0.7081, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.5658, d0.loss_plan_l1_fix_dist: 0.4392, d1.loss_plan_l1_fix_time: 1.3117, d1.loss_plan_l1_fix_dist: 0.1880, d2.loss_plan_l1_fix_time: 1.2947, d2.loss_plan_l1_fix_dist: 0.1935, d3.loss_plan_l1_fix_time: 1.2943, d3.loss_plan_l1_fix_dist: 0.2017, d4.loss_plan_l1_fix_time: 1.2968, d4.loss_plan_l1_fix_dist: 0.2129, d5.loss_plan_l1_fix_time: 1.3004, d5.loss_plan_l1_fix_dist: 0.2276, d6.loss_plan_l1_fix_time: 1.3042, d6.loss_plan_l1_fix_dist: 0.2448, d0.loss_cls_all: 0.2239, d0.loss_bbox_all: 0.4420, d0.loss_cls: 0.2239, d0.loss_bbox: 0.4420, d1.loss_cls: 0.2201, d1.loss_bbox: 0.4107, d2.loss_cls: 0.2108, d2.loss_bbox: 0.3944, d3.loss_cls: 0.2060, d3.loss_bbox: 0.3885, d4.loss_cls: 0.2008, d4.loss_bbox: 0.3866, d5.loss_cls: 0.2008, d5.loss_bbox: 0.3848, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0040, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7991, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7449, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7325, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7294, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7287, d0.loss_map_cls_all: 0.2268, d0.loss_map_pts_all: 1.4058, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2268, d0.loss_map_pts: 1.4058, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2006, d1.loss_map_pts: 0.9690, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1795, d2.loss_map_pts: 0.8110, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1748, d3.loss_map_pts: 0.7432, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1697, d4.loss_map_pts: 0.7240, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1664, d5.loss_map_pts: 0.7116, d5.loss_map_dir: 0.0086, loss: 31.5300, grad_norm: 149.3379 +2026-02-25 19:48:01,621 - DriveTransformer - INFO - Epoch [5][27350/39528] lr: 9.337e-05, eta: 7 days, 2:50:19, time: 0.829, data_time: 0.038, memory: 19865, loss_cls: 0.2181, loss_bbox: 0.4215, loss_traj: 0.6061, loss_traj_cls: 0.0010, loss_map_cls: 0.1917, loss_map_pts: 0.8543, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.6803, d0.loss_plan_l1_fix_dist: 0.4348, d1.loss_plan_l1_fix_time: 1.2137, d1.loss_plan_l1_fix_dist: 0.2309, d2.loss_plan_l1_fix_time: 1.1853, d2.loss_plan_l1_fix_dist: 0.2361, d3.loss_plan_l1_fix_time: 1.1819, d3.loss_plan_l1_fix_dist: 0.2490, d4.loss_plan_l1_fix_time: 1.1860, d4.loss_plan_l1_fix_dist: 0.2624, d5.loss_plan_l1_fix_time: 1.1919, d5.loss_plan_l1_fix_dist: 0.2759, d6.loss_plan_l1_fix_time: 1.1985, d6.loss_plan_l1_fix_dist: 0.2894, d0.loss_cls_all: 0.2502, d0.loss_bbox_all: 0.4792, d0.loss_cls: 0.2502, d0.loss_bbox: 0.4792, d1.loss_cls: 0.2434, d1.loss_bbox: 0.4468, d2.loss_cls: 0.2280, d2.loss_bbox: 0.4318, d3.loss_cls: 0.2216, d3.loss_bbox: 0.4255, d4.loss_cls: 0.2183, d4.loss_bbox: 0.4204, d5.loss_cls: 0.2168, d5.loss_bbox: 0.4202, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7739, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6581, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6089, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6034, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6009, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6039, d0.loss_map_cls_all: 0.2638, d0.loss_map_pts_all: 1.6778, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.2638, d0.loss_map_pts: 1.6778, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2304, d1.loss_map_pts: 1.1159, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2105, d2.loss_map_pts: 0.9403, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2003, d3.loss_map_pts: 0.8821, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.1965, d4.loss_map_pts: 0.8604, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.1922, d5.loss_map_pts: 0.8562, d5.loss_map_dir: 0.0133, loss: 32.3668, grad_norm: 148.1559 +2026-02-25 19:48:43,005 - DriveTransformer - INFO - Epoch [5][27400/39528] lr: 9.337e-05, eta: 7 days, 2:49:44, time: 0.828, data_time: 0.042, memory: 19865, loss_cls: 0.2138, loss_bbox: 0.4117, loss_traj: 0.8002, loss_traj_cls: 0.0010, loss_map_cls: 0.2194, loss_map_pts: 0.9099, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.5789, d0.loss_plan_l1_fix_dist: 0.3723, d1.loss_plan_l1_fix_time: 1.3204, d1.loss_plan_l1_fix_dist: 0.2048, d2.loss_plan_l1_fix_time: 1.3124, d2.loss_plan_l1_fix_dist: 0.2094, d3.loss_plan_l1_fix_time: 1.3164, d3.loss_plan_l1_fix_dist: 0.2201, d4.loss_plan_l1_fix_time: 1.3237, d4.loss_plan_l1_fix_dist: 0.2319, d5.loss_plan_l1_fix_time: 1.3320, d5.loss_plan_l1_fix_dist: 0.2441, d6.loss_plan_l1_fix_time: 1.3415, d6.loss_plan_l1_fix_dist: 0.2590, d0.loss_cls_all: 0.2359, d0.loss_bbox_all: 0.4709, d0.loss_cls: 0.2359, d0.loss_bbox: 0.4709, d1.loss_cls: 0.2287, d1.loss_bbox: 0.4369, d2.loss_cls: 0.2183, d2.loss_bbox: 0.4215, d3.loss_cls: 0.2140, d3.loss_bbox: 0.4174, d4.loss_cls: 0.2116, d4.loss_bbox: 0.4132, d5.loss_cls: 0.2125, d5.loss_bbox: 0.4107, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9630, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8340, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8040, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7969, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7930, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7955, d0.loss_map_cls_all: 0.2947, d0.loss_map_pts_all: 1.7465, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2947, d0.loss_map_pts: 1.7465, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2650, d1.loss_map_pts: 1.2132, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2453, d2.loss_map_pts: 1.0271, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2338, d3.loss_map_pts: 0.9545, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.2271, d4.loss_map_pts: 0.9229, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.2215, d5.loss_map_pts: 0.9130, d5.loss_map_dir: 0.0125, loss: 34.8123, grad_norm: 148.1846 +2026-02-25 19:49:26,498 - DriveTransformer - INFO - Epoch [5][27450/39528] lr: 9.337e-05, eta: 7 days, 2:49:17, time: 0.869, data_time: 0.054, memory: 19865, loss_cls: 0.2478, loss_bbox: 0.4302, loss_traj: 0.6762, loss_traj_cls: 0.0010, loss_map_cls: 0.2072, loss_map_pts: 1.0216, loss_map_dir: 0.0148, d0.loss_plan_l1_fix_time: 2.6331, d0.loss_plan_l1_fix_dist: 0.5007, d1.loss_plan_l1_fix_time: 1.2728, d1.loss_plan_l1_fix_dist: 0.2439, d2.loss_plan_l1_fix_time: 1.2511, d2.loss_plan_l1_fix_dist: 0.2490, d3.loss_plan_l1_fix_time: 1.2515, d3.loss_plan_l1_fix_dist: 0.2572, d4.loss_plan_l1_fix_time: 1.2570, d4.loss_plan_l1_fix_dist: 0.2690, d5.loss_plan_l1_fix_time: 1.2635, d5.loss_plan_l1_fix_dist: 0.2825, d6.loss_plan_l1_fix_time: 1.2715, d6.loss_plan_l1_fix_dist: 0.2987, d0.loss_cls_all: 0.2810, d0.loss_bbox_all: 0.5004, d0.loss_cls: 0.2810, d0.loss_bbox: 0.5004, d1.loss_cls: 0.2707, d1.loss_bbox: 0.4638, d2.loss_cls: 0.2624, d2.loss_bbox: 0.4420, d3.loss_cls: 0.2543, d3.loss_bbox: 0.4332, d4.loss_cls: 0.2487, d4.loss_bbox: 0.4308, d5.loss_cls: 0.2470, d5.loss_bbox: 0.4318, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8859, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7513, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6986, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6880, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6749, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6781, d0.loss_map_cls_all: 0.2802, d0.loss_map_pts_all: 1.9533, d0.loss_map_dir_all: 0.0136, d0.loss_map_cls: 0.2802, d0.loss_map_pts: 1.9533, d0.loss_map_dir: 0.0136, d1.loss_map_cls: 0.2491, d1.loss_map_pts: 1.3703, d1.loss_map_dir: 0.0134, d2.loss_map_cls: 0.2310, d2.loss_map_pts: 1.1447, d2.loss_map_dir: 0.0136, d3.loss_map_cls: 0.2218, d3.loss_map_pts: 1.0636, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.2139, d4.loss_map_pts: 1.0325, d4.loss_map_dir: 0.0145, d5.loss_map_cls: 0.2086, d5.loss_map_pts: 1.0226, d5.loss_map_dir: 0.0146, loss: 35.6537, grad_norm: 147.8217 +2026-02-25 19:50:06,083 - DriveTransformer - INFO - Epoch [5][27500/39528] lr: 9.337e-05, eta: 7 days, 2:48:33, time: 0.792, data_time: 0.040, memory: 19865, loss_cls: 0.2351, loss_bbox: 0.4133, loss_traj: 0.6972, loss_traj_cls: 0.0010, loss_map_cls: 0.1965, loss_map_pts: 0.8056, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.6489, d0.loss_plan_l1_fix_dist: 0.4888, d1.loss_plan_l1_fix_time: 1.4343, d1.loss_plan_l1_fix_dist: 0.2483, d2.loss_plan_l1_fix_time: 1.4290, d2.loss_plan_l1_fix_dist: 0.2524, d3.loss_plan_l1_fix_time: 1.4314, d3.loss_plan_l1_fix_dist: 0.2610, d4.loss_plan_l1_fix_time: 1.4355, d4.loss_plan_l1_fix_dist: 0.2718, d5.loss_plan_l1_fix_time: 1.4404, d5.loss_plan_l1_fix_dist: 0.2825, d6.loss_plan_l1_fix_time: 1.4454, d6.loss_plan_l1_fix_dist: 0.2941, d0.loss_cls_all: 0.2686, d0.loss_bbox_all: 0.4814, d0.loss_cls: 0.2686, d0.loss_bbox: 0.4814, d1.loss_cls: 0.2584, d1.loss_bbox: 0.4449, d2.loss_cls: 0.2467, d2.loss_bbox: 0.4239, d3.loss_cls: 0.2416, d3.loss_bbox: 0.4160, d4.loss_cls: 0.2363, d4.loss_bbox: 0.4158, d5.loss_cls: 0.2361, d5.loss_bbox: 0.4136, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8989, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7512, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7027, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6944, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6947, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6933, d0.loss_map_cls_all: 0.2660, d0.loss_map_pts_all: 1.5603, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2660, d0.loss_map_pts: 1.5603, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2331, d1.loss_map_pts: 1.0593, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2189, d2.loss_map_pts: 0.8916, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2061, d3.loss_map_pts: 0.8323, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.1997, d4.loss_map_pts: 0.8149, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1957, d5.loss_map_pts: 0.8091, d5.loss_map_dir: 0.0120, loss: 34.1928, grad_norm: 147.1386 +2026-02-25 19:50:46,805 - DriveTransformer - INFO - Epoch [5][27550/39528] lr: 9.337e-05, eta: 7 days, 2:47:55, time: 0.814, data_time: 0.048, memory: 19865, loss_cls: 0.1994, loss_bbox: 0.4022, loss_traj: 0.7800, loss_traj_cls: 0.0011, loss_map_cls: 0.1879, loss_map_pts: 0.7259, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.7706, d0.loss_plan_l1_fix_dist: 0.3330, d1.loss_plan_l1_fix_time: 1.3518, d1.loss_plan_l1_fix_dist: 0.1977, d2.loss_plan_l1_fix_time: 1.3379, d2.loss_plan_l1_fix_dist: 0.2034, d3.loss_plan_l1_fix_time: 1.3401, d3.loss_plan_l1_fix_dist: 0.2105, d4.loss_plan_l1_fix_time: 1.3429, d4.loss_plan_l1_fix_dist: 0.2208, d5.loss_plan_l1_fix_time: 1.3461, d5.loss_plan_l1_fix_dist: 0.2334, d6.loss_plan_l1_fix_time: 1.3499, d6.loss_plan_l1_fix_dist: 0.2490, d0.loss_cls_all: 0.2316, d0.loss_bbox_all: 0.4623, d0.loss_cls: 0.2316, d0.loss_bbox: 0.4623, d1.loss_cls: 0.2196, d1.loss_bbox: 0.4343, d2.loss_cls: 0.2084, d2.loss_bbox: 0.4161, d3.loss_cls: 0.2032, d3.loss_bbox: 0.4070, d4.loss_cls: 0.1985, d4.loss_bbox: 0.4030, d5.loss_cls: 0.1984, d5.loss_bbox: 0.4021, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0055, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8434, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7942, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7894, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7871, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7866, d0.loss_map_cls_all: 0.2508, d0.loss_map_pts_all: 1.3134, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2508, d0.loss_map_pts: 1.3134, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2253, d1.loss_map_pts: 0.9563, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.2104, d2.loss_map_pts: 0.8077, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1992, d3.loss_map_pts: 0.7517, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1929, d4.loss_map_pts: 0.7348, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1881, d5.loss_map_pts: 0.7281, d5.loss_map_dir: 0.0086, loss: 32.4634, grad_norm: 146.2513 +2026-02-25 19:51:28,563 - DriveTransformer - INFO - Epoch [5][27600/39528] lr: 9.337e-05, eta: 7 days, 2:47:20, time: 0.835, data_time: 0.039, memory: 19865, loss_cls: 0.2031, loss_bbox: 0.4099, loss_traj: 0.6789, loss_traj_cls: 0.0010, loss_map_cls: 0.1944, loss_map_pts: 0.7969, loss_map_dir: 0.0130, d0.loss_plan_l1_fix_time: 2.3324, d0.loss_plan_l1_fix_dist: 0.4277, d1.loss_plan_l1_fix_time: 1.2359, d1.loss_plan_l1_fix_dist: 0.1978, d2.loss_plan_l1_fix_time: 1.2203, d2.loss_plan_l1_fix_dist: 0.2009, d3.loss_plan_l1_fix_time: 1.2232, d3.loss_plan_l1_fix_dist: 0.2078, d4.loss_plan_l1_fix_time: 1.2257, d4.loss_plan_l1_fix_dist: 0.2185, d5.loss_plan_l1_fix_time: 1.2280, d5.loss_plan_l1_fix_dist: 0.2331, d6.loss_plan_l1_fix_time: 1.2313, d6.loss_plan_l1_fix_dist: 0.2500, d0.loss_cls_all: 0.2402, d0.loss_bbox_all: 0.4577, d0.loss_cls: 0.2402, d0.loss_bbox: 0.4577, d1.loss_cls: 0.2305, d1.loss_bbox: 0.4299, d2.loss_cls: 0.2150, d2.loss_bbox: 0.4150, d3.loss_cls: 0.2089, d3.loss_bbox: 0.4088, d4.loss_cls: 0.2042, d4.loss_bbox: 0.4067, d5.loss_cls: 0.2031, d5.loss_bbox: 0.4070, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8695, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7337, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6870, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6816, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6770, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6793, d0.loss_map_cls_all: 0.2745, d0.loss_map_pts_all: 1.7082, d0.loss_map_dir_all: 0.0122, d0.loss_map_cls: 0.2745, d0.loss_map_pts: 1.7082, d0.loss_map_dir: 0.0122, d1.loss_map_cls: 0.2339, d1.loss_map_pts: 1.1128, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.2208, d2.loss_map_pts: 0.9048, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.2072, d3.loss_map_pts: 0.8348, d3.loss_map_dir: 0.0125, d4.loss_map_cls: 0.2008, d4.loss_map_pts: 0.8083, d4.loss_map_dir: 0.0128, d5.loss_map_cls: 0.1952, d5.loss_map_pts: 0.7988, d5.loss_map_dir: 0.0129, loss: 32.1581, grad_norm: 147.8500 +2026-02-25 19:52:09,910 - DriveTransformer - INFO - Epoch [5][27650/39528] lr: 9.337e-05, eta: 7 days, 2:46:45, time: 0.827, data_time: 0.051, memory: 19865, loss_cls: 0.1969, loss_bbox: 0.3949, loss_traj: 0.7433, loss_traj_cls: 0.0010, loss_map_cls: 0.1852, loss_map_pts: 0.7965, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.8234, d0.loss_plan_l1_fix_dist: 0.3851, d1.loss_plan_l1_fix_time: 1.3258, d1.loss_plan_l1_fix_dist: 0.1928, d2.loss_plan_l1_fix_time: 1.3071, d2.loss_plan_l1_fix_dist: 0.1958, d3.loss_plan_l1_fix_time: 1.3075, d3.loss_plan_l1_fix_dist: 0.2063, d4.loss_plan_l1_fix_time: 1.3114, d4.loss_plan_l1_fix_dist: 0.2182, d5.loss_plan_l1_fix_time: 1.3158, d5.loss_plan_l1_fix_dist: 0.2289, d6.loss_plan_l1_fix_time: 1.3201, d6.loss_plan_l1_fix_dist: 0.2386, d0.loss_cls_all: 0.2338, d0.loss_bbox_all: 0.4399, d0.loss_cls: 0.2338, d0.loss_bbox: 0.4399, d1.loss_cls: 0.2254, d1.loss_bbox: 0.4130, d2.loss_cls: 0.2137, d2.loss_bbox: 0.3972, d3.loss_cls: 0.2054, d3.loss_bbox: 0.3950, d4.loss_cls: 0.1991, d4.loss_bbox: 0.3921, d5.loss_cls: 0.1965, d5.loss_bbox: 0.3932, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9339, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7947, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7450, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7411, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7427, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7399, d0.loss_map_cls_all: 0.2620, d0.loss_map_pts_all: 1.5903, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2620, d0.loss_map_pts: 1.5903, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2219, d1.loss_map_pts: 1.0622, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2089, d2.loss_map_pts: 0.8721, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.1955, d3.loss_map_pts: 0.8176, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1882, d4.loss_map_pts: 0.8029, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.1856, d5.loss_map_pts: 0.7963, d5.loss_map_dir: 0.0119, loss: 32.9243, grad_norm: 147.6059 +2026-02-25 19:52:51,374 - DriveTransformer - INFO - Epoch [5][27700/39528] lr: 9.337e-05, eta: 7 days, 2:46:09, time: 0.829, data_time: 0.048, memory: 19865, loss_cls: 0.1866, loss_bbox: 0.3808, loss_traj: 0.7845, loss_traj_cls: 0.0010, loss_map_cls: 0.1866, loss_map_pts: 0.8157, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.6500, d0.loss_plan_l1_fix_dist: 0.3881, d1.loss_plan_l1_fix_time: 1.2655, d1.loss_plan_l1_fix_dist: 0.2168, d2.loss_plan_l1_fix_time: 1.2467, d2.loss_plan_l1_fix_dist: 0.2214, d3.loss_plan_l1_fix_time: 1.2529, d3.loss_plan_l1_fix_dist: 0.2296, d4.loss_plan_l1_fix_time: 1.2577, d4.loss_plan_l1_fix_dist: 0.2397, d5.loss_plan_l1_fix_time: 1.2629, d5.loss_plan_l1_fix_dist: 0.2516, d6.loss_plan_l1_fix_time: 1.2676, d6.loss_plan_l1_fix_dist: 0.2724, d0.loss_cls_all: 0.2211, d0.loss_bbox_all: 0.4311, d0.loss_cls: 0.2211, d0.loss_bbox: 0.4311, d1.loss_cls: 0.2114, d1.loss_bbox: 0.3974, d2.loss_cls: 0.2034, d2.loss_bbox: 0.3831, d3.loss_cls: 0.1935, d3.loss_bbox: 0.3808, d4.loss_cls: 0.1888, d4.loss_bbox: 0.3789, d5.loss_cls: 0.1868, d5.loss_bbox: 0.3794, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9798, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8393, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7864, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7778, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7749, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7790, d0.loss_map_cls_all: 0.2519, d0.loss_map_pts_all: 1.5597, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2519, d0.loss_map_pts: 1.5597, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2244, d1.loss_map_pts: 1.0862, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.2092, d2.loss_map_pts: 0.9102, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1976, d3.loss_map_pts: 0.8533, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1911, d4.loss_map_pts: 0.8246, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1879, d5.loss_map_pts: 0.8167, d5.loss_map_dir: 0.0103, loss: 32.7319, grad_norm: 148.5297 +2026-02-25 19:53:32,649 - DriveTransformer - INFO - Epoch [5][27750/39528] lr: 9.337e-05, eta: 7 days, 2:45:33, time: 0.825, data_time: 0.039, memory: 19865, loss_cls: 0.2148, loss_bbox: 0.4562, loss_traj: 0.8350, loss_traj_cls: 0.0009, loss_map_cls: 0.2178, loss_map_pts: 0.9121, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.8378, d0.loss_plan_l1_fix_dist: 0.3004, d1.loss_plan_l1_fix_time: 1.3280, d1.loss_plan_l1_fix_dist: 0.1929, d2.loss_plan_l1_fix_time: 1.3031, d2.loss_plan_l1_fix_dist: 0.1956, d3.loss_plan_l1_fix_time: 1.3019, d3.loss_plan_l1_fix_dist: 0.2051, d4.loss_plan_l1_fix_time: 1.3057, d4.loss_plan_l1_fix_dist: 0.2159, d5.loss_plan_l1_fix_time: 1.3109, d5.loss_plan_l1_fix_dist: 0.2265, d6.loss_plan_l1_fix_time: 1.3175, d6.loss_plan_l1_fix_dist: 0.2377, d0.loss_cls_all: 0.2485, d0.loss_bbox_all: 0.5047, d0.loss_cls: 0.2485, d0.loss_bbox: 0.5047, d1.loss_cls: 0.2407, d1.loss_bbox: 0.4741, d2.loss_cls: 0.2293, d2.loss_bbox: 0.4588, d3.loss_cls: 0.2188, d3.loss_bbox: 0.4584, d4.loss_cls: 0.2150, d4.loss_bbox: 0.4556, d5.loss_cls: 0.2130, d5.loss_bbox: 0.4568, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0588, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8978, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8464, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8339, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8296, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8308, d0.loss_map_cls_all: 0.2723, d0.loss_map_pts_all: 1.6569, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2723, d0.loss_map_pts: 1.6569, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2526, d1.loss_map_pts: 1.1667, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2390, d2.loss_map_pts: 0.9992, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.2265, d3.loss_map_pts: 0.9367, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.2204, d4.loss_map_pts: 0.9196, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.2178, d5.loss_map_pts: 0.9121, d5.loss_map_dir: 0.0114, loss: 35.1827, grad_norm: 148.7588 +2026-02-25 19:54:13,916 - DriveTransformer - INFO - Epoch [5][27800/39528] lr: 9.337e-05, eta: 7 days, 2:44:56, time: 0.825, data_time: 0.047, memory: 19865, loss_cls: 0.2424, loss_bbox: 0.4409, loss_traj: 0.9344, loss_traj_cls: 0.0009, loss_map_cls: 0.2063, loss_map_pts: 0.8466, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.9783, d0.loss_plan_l1_fix_dist: 0.4049, d1.loss_plan_l1_fix_time: 1.4871, d1.loss_plan_l1_fix_dist: 0.2038, d2.loss_plan_l1_fix_time: 1.4726, d2.loss_plan_l1_fix_dist: 0.2094, d3.loss_plan_l1_fix_time: 1.4744, d3.loss_plan_l1_fix_dist: 0.2186, d4.loss_plan_l1_fix_time: 1.4784, d4.loss_plan_l1_fix_dist: 0.2294, d5.loss_plan_l1_fix_time: 1.4834, d5.loss_plan_l1_fix_dist: 0.2419, d6.loss_plan_l1_fix_time: 1.4904, d6.loss_plan_l1_fix_dist: 0.2550, d0.loss_cls_all: 0.2784, d0.loss_bbox_all: 0.4996, d0.loss_cls: 0.2784, d0.loss_bbox: 0.4996, d1.loss_cls: 0.2704, d1.loss_bbox: 0.4663, d2.loss_cls: 0.2577, d2.loss_bbox: 0.4513, d3.loss_cls: 0.2479, d3.loss_bbox: 0.4449, d4.loss_cls: 0.2464, d4.loss_bbox: 0.4394, d5.loss_cls: 0.2423, d5.loss_bbox: 0.4413, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2373, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9874, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.9450, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9322, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9302, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.9346, d0.loss_map_cls_all: 0.2642, d0.loss_map_pts_all: 1.6103, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2642, d0.loss_map_pts: 1.6103, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2353, d1.loss_map_pts: 1.1382, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.2190, d2.loss_map_pts: 0.9571, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.2145, d3.loss_map_pts: 0.8914, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.2087, d4.loss_map_pts: 0.8616, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.2069, d5.loss_map_pts: 0.8486, d5.loss_map_dir: 0.0101, loss: 36.9419, grad_norm: 149.2417 +2026-02-25 19:54:53,852 - DriveTransformer - INFO - Epoch [5][27850/39528] lr: 9.337e-05, eta: 7 days, 2:44:15, time: 0.799, data_time: 0.042, memory: 19865, loss_cls: 0.2147, loss_bbox: 0.3917, loss_traj: 0.8236, loss_traj_cls: 0.0009, loss_map_cls: 0.1934, loss_map_pts: 0.8378, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.5777, d0.loss_plan_l1_fix_dist: 0.3998, d1.loss_plan_l1_fix_time: 1.3490, d1.loss_plan_l1_fix_dist: 0.1959, d2.loss_plan_l1_fix_time: 1.3284, d2.loss_plan_l1_fix_dist: 0.2028, d3.loss_plan_l1_fix_time: 1.3327, d3.loss_plan_l1_fix_dist: 0.2159, d4.loss_plan_l1_fix_time: 1.3386, d4.loss_plan_l1_fix_dist: 0.2311, d5.loss_plan_l1_fix_time: 1.3447, d5.loss_plan_l1_fix_dist: 0.2477, d6.loss_plan_l1_fix_time: 1.3517, d6.loss_plan_l1_fix_dist: 0.2657, d0.loss_cls_all: 0.2509, d0.loss_bbox_all: 0.4538, d0.loss_cls: 0.2509, d0.loss_bbox: 0.4538, d1.loss_cls: 0.2391, d1.loss_bbox: 0.4204, d2.loss_cls: 0.2278, d2.loss_bbox: 0.4060, d3.loss_cls: 0.2197, d3.loss_bbox: 0.3976, d4.loss_cls: 0.2156, d4.loss_bbox: 0.3944, d5.loss_cls: 0.2146, d5.loss_bbox: 0.3930, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0018, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8551, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8348, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8190, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8187, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8197, d0.loss_map_cls_all: 0.2644, d0.loss_map_pts_all: 1.5781, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2644, d0.loss_map_pts: 1.5781, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2324, d1.loss_map_pts: 1.1116, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.2148, d2.loss_map_pts: 0.9401, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.2009, d3.loss_map_pts: 0.8786, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1952, d4.loss_map_pts: 0.8523, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1933, d5.loss_map_pts: 0.8420, d5.loss_map_dir: 0.0101, loss: 33.9598, grad_norm: 150.4263 +2026-02-25 19:55:34,587 - DriveTransformer - INFO - Epoch [5][27900/39528] lr: 9.337e-05, eta: 7 days, 2:43:36, time: 0.815, data_time: 0.043, memory: 19865, loss_cls: 0.2250, loss_bbox: 0.3991, loss_traj: 0.8073, loss_traj_cls: 0.0009, loss_map_cls: 0.1885, loss_map_pts: 0.8100, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.8384, d0.loss_plan_l1_fix_dist: 0.3902, d1.loss_plan_l1_fix_time: 1.4452, d1.loss_plan_l1_fix_dist: 0.1909, d2.loss_plan_l1_fix_time: 1.4443, d2.loss_plan_l1_fix_dist: 0.1973, d3.loss_plan_l1_fix_time: 1.4571, d3.loss_plan_l1_fix_dist: 0.2106, d4.loss_plan_l1_fix_time: 1.4676, d4.loss_plan_l1_fix_dist: 0.2259, d5.loss_plan_l1_fix_time: 1.4779, d5.loss_plan_l1_fix_dist: 0.2405, d6.loss_plan_l1_fix_time: 1.4878, d6.loss_plan_l1_fix_dist: 0.2585, d0.loss_cls_all: 0.2569, d0.loss_bbox_all: 0.4508, d0.loss_cls: 0.2569, d0.loss_bbox: 0.4508, d1.loss_cls: 0.2454, d1.loss_bbox: 0.4193, d2.loss_cls: 0.2362, d2.loss_bbox: 0.4052, d3.loss_cls: 0.2330, d3.loss_bbox: 0.3994, d4.loss_cls: 0.2254, d4.loss_bbox: 0.3998, d5.loss_cls: 0.2229, d5.loss_bbox: 0.4008, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9672, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8381, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8017, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8025, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7962, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7989, d0.loss_map_cls_all: 0.2440, d0.loss_map_pts_all: 1.5562, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2440, d0.loss_map_pts: 1.5562, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2199, d1.loss_map_pts: 1.0800, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.2048, d2.loss_map_pts: 0.9000, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1984, d3.loss_map_pts: 0.8409, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1933, d4.loss_map_pts: 0.8193, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1893, d5.loss_map_pts: 0.8129, d5.loss_map_dir: 0.0107, loss: 34.5191, grad_norm: 151.7569 +2026-02-25 19:56:14,828 - DriveTransformer - INFO - Epoch [5][27950/39528] lr: 9.337e-05, eta: 7 days, 2:42:56, time: 0.805, data_time: 0.044, memory: 19865, loss_cls: 0.2125, loss_bbox: 0.3925, loss_traj: 0.8202, loss_traj_cls: 0.0010, loss_map_cls: 0.1566, loss_map_pts: 0.7850, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.2677, d0.loss_plan_l1_fix_dist: 0.4589, d1.loss_plan_l1_fix_time: 1.3080, d1.loss_plan_l1_fix_dist: 0.1863, d2.loss_plan_l1_fix_time: 1.2973, d2.loss_plan_l1_fix_dist: 0.1953, d3.loss_plan_l1_fix_time: 1.3031, d3.loss_plan_l1_fix_dist: 0.2074, d4.loss_plan_l1_fix_time: 1.3079, d4.loss_plan_l1_fix_dist: 0.2220, d5.loss_plan_l1_fix_time: 1.3127, d5.loss_plan_l1_fix_dist: 0.2379, d6.loss_plan_l1_fix_time: 1.3176, d6.loss_plan_l1_fix_dist: 0.2547, d0.loss_cls_all: 0.2476, d0.loss_bbox_all: 0.4482, d0.loss_cls: 0.2476, d0.loss_bbox: 0.4482, d1.loss_cls: 0.2360, d1.loss_bbox: 0.4143, d2.loss_cls: 0.2260, d2.loss_bbox: 0.3954, d3.loss_cls: 0.2198, d3.loss_bbox: 0.3882, d4.loss_cls: 0.2150, d4.loss_bbox: 0.3879, d5.loss_cls: 0.2127, d5.loss_bbox: 0.3901, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9967, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8679, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8289, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8213, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8213, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8150, d0.loss_map_cls_all: 0.2270, d0.loss_map_pts_all: 1.4688, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2270, d0.loss_map_pts: 1.4688, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.1956, d1.loss_map_pts: 1.0062, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1759, d2.loss_map_pts: 0.8751, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1658, d3.loss_map_pts: 0.8188, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1598, d4.loss_map_pts: 0.7961, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1579, d5.loss_map_pts: 0.7877, d5.loss_map_dir: 0.0098, loss: 32.4851, grad_norm: 150.0407 +2026-02-25 19:56:56,072 - DriveTransformer - INFO - Epoch [5][28000/39528] lr: 9.337e-05, eta: 7 days, 2:42:20, time: 0.826, data_time: 0.040, memory: 19865, loss_cls: 0.2363, loss_bbox: 0.4566, loss_traj: 0.8453, loss_traj_cls: 0.0009, loss_map_cls: 0.2113, loss_map_pts: 0.9672, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 3.1128, d0.loss_plan_l1_fix_dist: 0.3523, d1.loss_plan_l1_fix_time: 1.5367, d1.loss_plan_l1_fix_dist: 0.2039, d2.loss_plan_l1_fix_time: 1.5253, d2.loss_plan_l1_fix_dist: 0.2071, d3.loss_plan_l1_fix_time: 1.5245, d3.loss_plan_l1_fix_dist: 0.2152, d4.loss_plan_l1_fix_time: 1.5279, d4.loss_plan_l1_fix_dist: 0.2249, d5.loss_plan_l1_fix_time: 1.5315, d5.loss_plan_l1_fix_dist: 0.2376, d6.loss_plan_l1_fix_time: 1.5356, d6.loss_plan_l1_fix_dist: 0.2550, d0.loss_cls_all: 0.2778, d0.loss_bbox_all: 0.5148, d0.loss_cls: 0.2778, d0.loss_bbox: 0.5148, d1.loss_cls: 0.2633, d1.loss_bbox: 0.4825, d2.loss_cls: 0.2513, d2.loss_bbox: 0.4649, d3.loss_cls: 0.2400, d3.loss_bbox: 0.4567, d4.loss_cls: 0.2349, d4.loss_bbox: 0.4556, d5.loss_cls: 0.2364, d5.loss_bbox: 0.4538, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0606, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8927, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8501, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8443, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8449, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8371, d0.loss_map_cls_all: 0.2801, d0.loss_map_pts_all: 1.8162, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2801, d0.loss_map_pts: 1.8162, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2456, d1.loss_map_pts: 1.2707, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2278, d2.loss_map_pts: 1.0770, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.2179, d3.loss_map_pts: 1.0081, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2145, d4.loss_map_pts: 0.9804, d4.loss_map_dir: 0.0126, d5.loss_map_cls: 0.2132, d5.loss_map_pts: 0.9693, d5.loss_map_dir: 0.0128, loss: 37.8810, grad_norm: 146.3384 +2026-02-25 19:57:35,789 - DriveTransformer - INFO - Epoch [5][28050/39528] lr: 9.337e-05, eta: 7 days, 2:41:37, time: 0.793, data_time: 0.042, memory: 19865, loss_cls: 0.2457, loss_bbox: 0.4391, loss_traj: 0.7042, loss_traj_cls: 0.0010, loss_map_cls: 0.2181, loss_map_pts: 0.9231, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 3.1615, d0.loss_plan_l1_fix_dist: 0.4096, d1.loss_plan_l1_fix_time: 1.6770, d1.loss_plan_l1_fix_dist: 0.2113, d2.loss_plan_l1_fix_time: 1.6556, d2.loss_plan_l1_fix_dist: 0.2159, d3.loss_plan_l1_fix_time: 1.6533, d3.loss_plan_l1_fix_dist: 0.2232, d4.loss_plan_l1_fix_time: 1.6566, d4.loss_plan_l1_fix_dist: 0.2319, d5.loss_plan_l1_fix_time: 1.6604, d5.loss_plan_l1_fix_dist: 0.2433, d6.loss_plan_l1_fix_time: 1.6661, d6.loss_plan_l1_fix_dist: 0.2608, d0.loss_cls_all: 0.2800, d0.loss_bbox_all: 0.4976, d0.loss_cls: 0.2800, d0.loss_bbox: 0.4976, d1.loss_cls: 0.2702, d1.loss_bbox: 0.4642, d2.loss_cls: 0.2603, d2.loss_bbox: 0.4446, d3.loss_cls: 0.2535, d3.loss_bbox: 0.4376, d4.loss_cls: 0.2455, d4.loss_bbox: 0.4390, d5.loss_cls: 0.2442, d5.loss_bbox: 0.4387, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9140, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7618, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7116, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7071, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7028, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7028, d0.loss_map_cls_all: 0.2771, d0.loss_map_pts_all: 1.7142, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2771, d0.loss_map_pts: 1.7142, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2449, d1.loss_map_pts: 1.2246, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2344, d2.loss_map_pts: 1.0317, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.2247, d3.loss_map_pts: 0.9617, d3.loss_map_dir: 0.0125, d4.loss_map_cls: 0.2184, d4.loss_map_pts: 0.9348, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.2180, d5.loss_map_pts: 0.9257, d5.loss_map_dir: 0.0128, loss: 37.3161, grad_norm: 147.0457 +2026-02-25 19:58:16,676 - DriveTransformer - INFO - Epoch [5][28100/39528] lr: 9.337e-05, eta: 7 days, 2:40:59, time: 0.818, data_time: 0.047, memory: 19865, loss_cls: 0.2098, loss_bbox: 0.4138, loss_traj: 0.8484, loss_traj_cls: 0.0010, loss_map_cls: 0.1991, loss_map_pts: 0.9175, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.6489, d0.loss_plan_l1_fix_dist: 0.4138, d1.loss_plan_l1_fix_time: 1.3043, d1.loss_plan_l1_fix_dist: 0.1987, d2.loss_plan_l1_fix_time: 1.2923, d2.loss_plan_l1_fix_dist: 0.2028, d3.loss_plan_l1_fix_time: 1.2908, d3.loss_plan_l1_fix_dist: 0.2092, d4.loss_plan_l1_fix_time: 1.2946, d4.loss_plan_l1_fix_dist: 0.2171, d5.loss_plan_l1_fix_time: 1.2994, d5.loss_plan_l1_fix_dist: 0.2252, d6.loss_plan_l1_fix_time: 1.3056, d6.loss_plan_l1_fix_dist: 0.2341, d0.loss_cls_all: 0.2435, d0.loss_bbox_all: 0.4642, d0.loss_cls: 0.2435, d0.loss_bbox: 0.4642, d1.loss_cls: 0.2356, d1.loss_bbox: 0.4369, d2.loss_cls: 0.2223, d2.loss_bbox: 0.4201, d3.loss_cls: 0.2153, d3.loss_bbox: 0.4124, d4.loss_cls: 0.2118, d4.loss_bbox: 0.4101, d5.loss_cls: 0.2088, d5.loss_bbox: 0.4123, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0793, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8969, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8564, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8478, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8417, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8445, d0.loss_map_cls_all: 0.2718, d0.loss_map_pts_all: 1.7512, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2718, d0.loss_map_pts: 1.7512, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2445, d1.loss_map_pts: 1.2072, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2233, d2.loss_map_pts: 1.0168, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.2098, d3.loss_map_pts: 0.9477, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.2029, d4.loss_map_pts: 0.9232, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1999, d5.loss_map_pts: 0.9188, d5.loss_map_dir: 0.0115, loss: 34.9285, grad_norm: 146.4079 +2026-02-25 19:58:57,332 - DriveTransformer - INFO - Epoch [5][28150/39528] lr: 9.337e-05, eta: 7 days, 2:40:20, time: 0.813, data_time: 0.038, memory: 19865, loss_cls: 0.2293, loss_bbox: 0.4203, loss_traj: 0.8188, loss_traj_cls: 0.0010, loss_map_cls: 0.2129, loss_map_pts: 0.9478, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.8799, d0.loss_plan_l1_fix_dist: 0.3818, d1.loss_plan_l1_fix_time: 1.4718, d1.loss_plan_l1_fix_dist: 0.2152, d2.loss_plan_l1_fix_time: 1.4612, d2.loss_plan_l1_fix_dist: 0.2180, d3.loss_plan_l1_fix_time: 1.4648, d3.loss_plan_l1_fix_dist: 0.2228, d4.loss_plan_l1_fix_time: 1.4712, d4.loss_plan_l1_fix_dist: 0.2295, d5.loss_plan_l1_fix_time: 1.4780, d5.loss_plan_l1_fix_dist: 0.2390, d6.loss_plan_l1_fix_time: 1.4853, d6.loss_plan_l1_fix_dist: 0.2514, d0.loss_cls_all: 0.2575, d0.loss_bbox_all: 0.4789, d0.loss_cls: 0.2575, d0.loss_bbox: 0.4789, d1.loss_cls: 0.2506, d1.loss_bbox: 0.4455, d2.loss_cls: 0.2433, d2.loss_bbox: 0.4271, d3.loss_cls: 0.2331, d3.loss_bbox: 0.4222, d4.loss_cls: 0.2286, d4.loss_bbox: 0.4202, d5.loss_cls: 0.2283, d5.loss_bbox: 0.4194, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0306, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8656, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8271, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8213, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8176, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8142, d0.loss_map_cls_all: 0.2894, d0.loss_map_pts_all: 1.6960, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2894, d0.loss_map_pts: 1.6960, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2522, d1.loss_map_pts: 1.2013, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2317, d2.loss_map_pts: 1.0356, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.2210, d3.loss_map_pts: 0.9765, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.2159, d4.loss_map_pts: 0.9558, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.2131, d5.loss_map_pts: 0.9494, d5.loss_map_dir: 0.0124, loss: 36.3917, grad_norm: 146.4305 +2026-02-25 19:59:38,746 - DriveTransformer - INFO - Epoch [5][28200/39528] lr: 9.337e-05, eta: 7 days, 2:39:44, time: 0.828, data_time: 0.048, memory: 19865, loss_cls: 0.2216, loss_bbox: 0.4198, loss_traj: 0.7186, loss_traj_cls: 0.0010, loss_map_cls: 0.2247, loss_map_pts: 0.9766, loss_map_dir: 0.0132, d0.loss_plan_l1_fix_time: 2.7034, d0.loss_plan_l1_fix_dist: 0.3881, d1.loss_plan_l1_fix_time: 1.4619, d1.loss_plan_l1_fix_dist: 0.2146, d2.loss_plan_l1_fix_time: 1.4453, d2.loss_plan_l1_fix_dist: 0.2171, d3.loss_plan_l1_fix_time: 1.4550, d3.loss_plan_l1_fix_dist: 0.2230, d4.loss_plan_l1_fix_time: 1.4615, d4.loss_plan_l1_fix_dist: 0.2297, d5.loss_plan_l1_fix_time: 1.4679, d5.loss_plan_l1_fix_dist: 0.2377, d6.loss_plan_l1_fix_time: 1.4743, d6.loss_plan_l1_fix_dist: 0.2486, d0.loss_cls_all: 0.2500, d0.loss_bbox_all: 0.4853, d0.loss_cls: 0.2500, d0.loss_bbox: 0.4853, d1.loss_cls: 0.2419, d1.loss_bbox: 0.4490, d2.loss_cls: 0.2312, d2.loss_bbox: 0.4296, d3.loss_cls: 0.2265, d3.loss_bbox: 0.4211, d4.loss_cls: 0.2211, d4.loss_bbox: 0.4201, d5.loss_cls: 0.2218, d5.loss_bbox: 0.4188, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9190, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7762, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7203, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7170, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7194, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7176, d0.loss_map_cls_all: 0.2880, d0.loss_map_pts_all: 1.8045, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2880, d0.loss_map_pts: 1.8045, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2609, d1.loss_map_pts: 1.2873, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2437, d2.loss_map_pts: 1.0942, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.2341, d3.loss_map_pts: 1.0196, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.2282, d4.loss_map_pts: 0.9902, d4.loss_map_dir: 0.0129, d5.loss_map_cls: 0.2260, d5.loss_map_pts: 0.9777, d5.loss_map_dir: 0.0131, loss: 35.9633, grad_norm: 144.9310 +2026-02-25 20:00:18,714 - DriveTransformer - INFO - Epoch [5][28250/39528] lr: 9.337e-05, eta: 7 days, 2:39:03, time: 0.799, data_time: 0.042, memory: 19865, loss_cls: 0.2321, loss_bbox: 0.4030, loss_traj: 0.7015, loss_traj_cls: 0.0011, loss_map_cls: 0.1811, loss_map_pts: 0.8097, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 3.0442, d0.loss_plan_l1_fix_dist: 0.3648, d1.loss_plan_l1_fix_time: 1.4168, d1.loss_plan_l1_fix_dist: 0.2000, d2.loss_plan_l1_fix_time: 1.4076, d2.loss_plan_l1_fix_dist: 0.2063, d3.loss_plan_l1_fix_time: 1.4126, d3.loss_plan_l1_fix_dist: 0.2153, d4.loss_plan_l1_fix_time: 1.4176, d4.loss_plan_l1_fix_dist: 0.2286, d5.loss_plan_l1_fix_time: 1.4235, d5.loss_plan_l1_fix_dist: 0.2441, d6.loss_plan_l1_fix_time: 1.4305, d6.loss_plan_l1_fix_dist: 0.2601, d0.loss_cls_all: 0.2564, d0.loss_bbox_all: 0.4617, d0.loss_cls: 0.2564, d0.loss_bbox: 0.4617, d1.loss_cls: 0.2502, d1.loss_bbox: 0.4286, d2.loss_cls: 0.2395, d2.loss_bbox: 0.4134, d3.loss_cls: 0.2332, d3.loss_bbox: 0.4090, d4.loss_cls: 0.2304, d4.loss_bbox: 0.4068, d5.loss_cls: 0.2307, d5.loss_bbox: 0.4038, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9334, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7737, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7226, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7082, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7016, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6984, d0.loss_map_cls_all: 0.2487, d0.loss_map_pts_all: 1.5732, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2487, d0.loss_map_pts: 1.5732, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2154, d1.loss_map_pts: 1.0629, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1987, d2.loss_map_pts: 0.8927, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1870, d3.loss_map_pts: 0.8374, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1823, d4.loss_map_pts: 0.8205, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1812, d5.loss_map_pts: 0.8140, d5.loss_map_dir: 0.0115, loss: 33.9500, grad_norm: 145.3898 +2026-02-25 20:00:58,633 - DriveTransformer - INFO - Epoch [5][28300/39528] lr: 9.337e-05, eta: 7 days, 2:38:21, time: 0.799, data_time: 0.041, memory: 19865, loss_cls: 0.2111, loss_bbox: 0.4146, loss_traj: 0.8137, loss_traj_cls: 0.0011, loss_map_cls: 0.1945, loss_map_pts: 0.7603, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.6256, d0.loss_plan_l1_fix_dist: 0.4052, d1.loss_plan_l1_fix_time: 1.4148, d1.loss_plan_l1_fix_dist: 0.1862, d2.loss_plan_l1_fix_time: 1.3999, d2.loss_plan_l1_fix_dist: 0.1895, d3.loss_plan_l1_fix_time: 1.4021, d3.loss_plan_l1_fix_dist: 0.1981, d4.loss_plan_l1_fix_time: 1.4058, d4.loss_plan_l1_fix_dist: 0.2061, d5.loss_plan_l1_fix_time: 1.4102, d5.loss_plan_l1_fix_dist: 0.2154, d6.loss_plan_l1_fix_time: 1.4155, d6.loss_plan_l1_fix_dist: 0.2273, d0.loss_cls_all: 0.2467, d0.loss_bbox_all: 0.4657, d0.loss_cls: 0.2467, d0.loss_bbox: 0.4657, d1.loss_cls: 0.2354, d1.loss_bbox: 0.4343, d2.loss_cls: 0.2255, d2.loss_bbox: 0.4165, d3.loss_cls: 0.2174, d3.loss_bbox: 0.4121, d4.loss_cls: 0.2124, d4.loss_bbox: 0.4122, d5.loss_cls: 0.2125, d5.loss_bbox: 0.4119, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0511, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8553, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8192, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8122, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8070, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8115, d0.loss_map_cls_all: 0.2535, d0.loss_map_pts_all: 1.4989, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2535, d0.loss_map_pts: 1.4989, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2244, d1.loss_map_pts: 1.0345, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.2144, d2.loss_map_pts: 0.8587, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.2019, d3.loss_map_pts: 0.7910, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1983, d4.loss_map_pts: 0.7672, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1961, d5.loss_map_pts: 0.7630, d5.loss_map_dir: 0.0107, loss: 33.7103, grad_norm: 145.6451 +2026-02-25 20:01:37,442 - DriveTransformer - INFO - Epoch [5][28350/39528] lr: 9.337e-05, eta: 7 days, 2:37:34, time: 0.776, data_time: 0.049, memory: 19865, loss_cls: 0.2207, loss_bbox: 0.4228, loss_traj: 0.9181, loss_traj_cls: 0.0010, loss_map_cls: 0.2142, loss_map_pts: 0.8246, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 3.1720, d0.loss_plan_l1_fix_dist: 0.3171, d1.loss_plan_l1_fix_time: 1.7632, d1.loss_plan_l1_fix_dist: 0.1890, d2.loss_plan_l1_fix_time: 1.7491, d2.loss_plan_l1_fix_dist: 0.1929, d3.loss_plan_l1_fix_time: 1.7557, d3.loss_plan_l1_fix_dist: 0.2001, d4.loss_plan_l1_fix_time: 1.7615, d4.loss_plan_l1_fix_dist: 0.2089, d5.loss_plan_l1_fix_time: 1.7671, d5.loss_plan_l1_fix_dist: 0.2189, d6.loss_plan_l1_fix_time: 1.7724, d6.loss_plan_l1_fix_dist: 0.2296, d0.loss_cls_all: 0.2603, d0.loss_bbox_all: 0.4852, d0.loss_cls: 0.2603, d0.loss_bbox: 0.4852, d1.loss_cls: 0.2529, d1.loss_bbox: 0.4467, d2.loss_cls: 0.2370, d2.loss_bbox: 0.4292, d3.loss_cls: 0.2278, d3.loss_bbox: 0.4219, d4.loss_cls: 0.2219, d4.loss_bbox: 0.4194, d5.loss_cls: 0.2197, d5.loss_bbox: 0.4215, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1674, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9638, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.9339, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9147, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9167, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.9184, d0.loss_map_cls_all: 0.2729, d0.loss_map_pts_all: 1.5271, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2729, d0.loss_map_pts: 1.5271, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2425, d1.loss_map_pts: 1.0702, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2331, d2.loss_map_pts: 0.9121, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2231, d3.loss_map_pts: 0.8537, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.2169, d4.loss_map_pts: 0.8322, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.2147, d5.loss_map_pts: 0.8255, d5.loss_map_dir: 0.0111, loss: 37.8184, grad_norm: 145.4589 +2026-02-25 20:02:18,801 - DriveTransformer - INFO - Epoch [5][28400/39528] lr: 9.337e-05, eta: 7 days, 2:36:58, time: 0.827, data_time: 0.040, memory: 19865, loss_cls: 0.1888, loss_bbox: 0.4079, loss_traj: 0.6970, loss_traj_cls: 0.0010, loss_map_cls: 0.1875, loss_map_pts: 0.7911, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.4981, d0.loss_plan_l1_fix_dist: 0.4868, d1.loss_plan_l1_fix_time: 1.2035, d1.loss_plan_l1_fix_dist: 0.2154, d2.loss_plan_l1_fix_time: 1.1922, d2.loss_plan_l1_fix_dist: 0.2178, d3.loss_plan_l1_fix_time: 1.2016, d3.loss_plan_l1_fix_dist: 0.2253, d4.loss_plan_l1_fix_time: 1.2101, d4.loss_plan_l1_fix_dist: 0.2367, d5.loss_plan_l1_fix_time: 1.2179, d5.loss_plan_l1_fix_dist: 0.2488, d6.loss_plan_l1_fix_time: 1.2254, d6.loss_plan_l1_fix_dist: 0.2596, d0.loss_cls_all: 0.2213, d0.loss_bbox_all: 0.4516, d0.loss_cls: 0.2213, d0.loss_bbox: 0.4516, d1.loss_cls: 0.2124, d1.loss_bbox: 0.4205, d2.loss_cls: 0.1998, d2.loss_bbox: 0.4049, d3.loss_cls: 0.1936, d3.loss_bbox: 0.4016, d4.loss_cls: 0.1885, d4.loss_bbox: 0.4044, d5.loss_cls: 0.1884, d5.loss_bbox: 0.4052, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8827, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7490, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7105, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6973, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7031, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6998, d0.loss_map_cls_all: 0.2494, d0.loss_map_pts_all: 1.6008, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2494, d0.loss_map_pts: 1.6008, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2232, d1.loss_map_pts: 1.0859, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.2132, d2.loss_map_pts: 0.8942, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.2008, d3.loss_map_pts: 0.8308, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1952, d4.loss_map_pts: 0.8026, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1881, d5.loss_map_pts: 0.7919, d5.loss_map_dir: 0.0114, loss: 31.9392, grad_norm: 147.1180 +2026-02-25 20:02:58,945 - DriveTransformer - INFO - Epoch [5][28450/39528] lr: 9.337e-05, eta: 7 days, 2:36:18, time: 0.803, data_time: 0.041, memory: 19865, loss_cls: 0.2013, loss_bbox: 0.4380, loss_traj: 0.8913, loss_traj_cls: 0.0010, loss_map_cls: 0.1937, loss_map_pts: 0.8239, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.8961, d0.loss_plan_l1_fix_dist: 0.3567, d1.loss_plan_l1_fix_time: 1.5349, d1.loss_plan_l1_fix_dist: 0.2073, d2.loss_plan_l1_fix_time: 1.5076, d2.loss_plan_l1_fix_dist: 0.2075, d3.loss_plan_l1_fix_time: 1.5119, d3.loss_plan_l1_fix_dist: 0.2127, d4.loss_plan_l1_fix_time: 1.5191, d4.loss_plan_l1_fix_dist: 0.2172, d5.loss_plan_l1_fix_time: 1.5265, d5.loss_plan_l1_fix_dist: 0.2244, d6.loss_plan_l1_fix_time: 1.5349, d6.loss_plan_l1_fix_dist: 0.2338, d0.loss_cls_all: 0.2329, d0.loss_bbox_all: 0.4924, d0.loss_cls: 0.2329, d0.loss_bbox: 0.4924, d1.loss_cls: 0.2277, d1.loss_bbox: 0.4552, d2.loss_cls: 0.2167, d2.loss_bbox: 0.4417, d3.loss_cls: 0.2065, d3.loss_bbox: 0.4371, d4.loss_cls: 0.2010, d4.loss_bbox: 0.4391, d5.loss_cls: 0.1993, d5.loss_bbox: 0.4405, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1492, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9794, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.9124, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9036, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8985, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8955, d0.loss_map_cls_all: 0.2697, d0.loss_map_pts_all: 1.6724, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2697, d0.loss_map_pts: 1.6724, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2336, d1.loss_map_pts: 1.1176, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.2195, d2.loss_map_pts: 0.9253, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.2045, d3.loss_map_pts: 0.8551, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.2009, d4.loss_map_pts: 0.8312, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1952, d5.loss_map_pts: 0.8219, d5.loss_map_dir: 0.0113, loss: 36.2740, grad_norm: 149.2661 +2026-02-25 20:03:39,367 - DriveTransformer - INFO - Epoch [5][28500/39528] lr: 9.337e-05, eta: 7 days, 2:35:38, time: 0.808, data_time: 0.040, memory: 19865, loss_cls: 0.2014, loss_bbox: 0.3962, loss_traj: 0.8424, loss_traj_cls: 0.0010, loss_map_cls: 0.2054, loss_map_pts: 0.9074, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.4803, d0.loss_plan_l1_fix_dist: 0.4321, d1.loss_plan_l1_fix_time: 1.3317, d1.loss_plan_l1_fix_dist: 0.2087, d2.loss_plan_l1_fix_time: 1.3191, d2.loss_plan_l1_fix_dist: 0.2143, d3.loss_plan_l1_fix_time: 1.3269, d3.loss_plan_l1_fix_dist: 0.2246, d4.loss_plan_l1_fix_time: 1.3352, d4.loss_plan_l1_fix_dist: 0.2358, d5.loss_plan_l1_fix_time: 1.3445, d5.loss_plan_l1_fix_dist: 0.2463, d6.loss_plan_l1_fix_time: 1.3538, d6.loss_plan_l1_fix_dist: 0.2585, d0.loss_cls_all: 0.2341, d0.loss_bbox_all: 0.4455, d0.loss_cls: 0.2341, d0.loss_bbox: 0.4455, d1.loss_cls: 0.2266, d1.loss_bbox: 0.4144, d2.loss_cls: 0.2180, d2.loss_bbox: 0.3988, d3.loss_cls: 0.2087, d3.loss_bbox: 0.3929, d4.loss_cls: 0.2027, d4.loss_bbox: 0.3943, d5.loss_cls: 0.2008, d5.loss_bbox: 0.3951, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0407, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8718, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8415, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8375, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8373, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8432, d0.loss_map_cls_all: 0.2665, d0.loss_map_pts_all: 1.7190, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2665, d0.loss_map_pts: 1.7190, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2418, d1.loss_map_pts: 1.1859, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2248, d2.loss_map_pts: 0.9881, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.2144, d3.loss_map_pts: 0.9279, d3.loss_map_dir: 0.0121, d4.loss_map_cls: 0.2103, d4.loss_map_pts: 0.9094, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.2072, d5.loss_map_pts: 0.9069, d5.loss_map_dir: 0.0125, loss: 34.6380, grad_norm: 149.1282 +2026-02-25 20:04:19,381 - DriveTransformer - INFO - Epoch [5][28550/39528] lr: 9.337e-05, eta: 7 days, 2:34:56, time: 0.800, data_time: 0.044, memory: 19865, loss_cls: 0.2017, loss_bbox: 0.3920, loss_traj: 0.6956, loss_traj_cls: 0.0010, loss_map_cls: 0.2026, loss_map_pts: 0.7450, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.9405, d0.loss_plan_l1_fix_dist: 0.4364, d1.loss_plan_l1_fix_time: 1.2621, d1.loss_plan_l1_fix_dist: 0.1947, d2.loss_plan_l1_fix_time: 1.2516, d2.loss_plan_l1_fix_dist: 0.2011, d3.loss_plan_l1_fix_time: 1.2570, d3.loss_plan_l1_fix_dist: 0.2137, d4.loss_plan_l1_fix_time: 1.2641, d4.loss_plan_l1_fix_dist: 0.2295, d5.loss_plan_l1_fix_time: 1.2720, d5.loss_plan_l1_fix_dist: 0.2454, d6.loss_plan_l1_fix_time: 1.2802, d6.loss_plan_l1_fix_dist: 0.2604, d0.loss_cls_all: 0.2424, d0.loss_bbox_all: 0.4396, d0.loss_cls: 0.2424, d0.loss_bbox: 0.4396, d1.loss_cls: 0.2284, d1.loss_bbox: 0.4148, d2.loss_cls: 0.2153, d2.loss_bbox: 0.3984, d3.loss_cls: 0.2093, d3.loss_bbox: 0.3934, d4.loss_cls: 0.2044, d4.loss_bbox: 0.3909, d5.loss_cls: 0.2017, d5.loss_bbox: 0.3915, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8594, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7263, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6891, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6889, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6905, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6932, d0.loss_map_cls_all: 0.2627, d0.loss_map_pts_all: 1.4223, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2627, d0.loss_map_pts: 1.4223, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2402, d1.loss_map_pts: 0.9852, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.2247, d2.loss_map_pts: 0.8223, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.2127, d3.loss_map_pts: 0.7708, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.2076, d4.loss_map_pts: 0.7515, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.2046, d5.loss_map_pts: 0.7449, d5.loss_map_dir: 0.0091, loss: 31.9161, grad_norm: 150.4273 +2026-02-25 20:05:00,801 - DriveTransformer - INFO - Epoch [5][28600/39528] lr: 9.337e-05, eta: 7 days, 2:34:21, time: 0.828, data_time: 0.043, memory: 19865, loss_cls: 0.2123, loss_bbox: 0.4183, loss_traj: 0.6639, loss_traj_cls: 0.0010, loss_map_cls: 0.1830, loss_map_pts: 0.8490, loss_map_dir: 0.0131, d0.loss_plan_l1_fix_time: 2.8297, d0.loss_plan_l1_fix_dist: 0.4343, d1.loss_plan_l1_fix_time: 1.4242, d1.loss_plan_l1_fix_dist: 0.2259, d2.loss_plan_l1_fix_time: 1.4159, d2.loss_plan_l1_fix_dist: 0.2357, d3.loss_plan_l1_fix_time: 1.4170, d3.loss_plan_l1_fix_dist: 0.2522, d4.loss_plan_l1_fix_time: 1.4215, d4.loss_plan_l1_fix_dist: 0.2724, d5.loss_plan_l1_fix_time: 1.4269, d5.loss_plan_l1_fix_dist: 0.2989, d6.loss_plan_l1_fix_time: 1.4335, d6.loss_plan_l1_fix_dist: 0.3275, d0.loss_cls_all: 0.2467, d0.loss_bbox_all: 0.4662, d0.loss_cls: 0.2467, d0.loss_bbox: 0.4662, d1.loss_cls: 0.2361, d1.loss_bbox: 0.4361, d2.loss_cls: 0.2238, d2.loss_bbox: 0.4223, d3.loss_cls: 0.2162, d3.loss_bbox: 0.4171, d4.loss_cls: 0.2126, d4.loss_bbox: 0.4160, d5.loss_cls: 0.2121, d5.loss_bbox: 0.4160, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7992, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6906, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6640, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6561, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6542, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6580, d0.loss_map_cls_all: 0.2534, d0.loss_map_pts_all: 1.6546, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.2534, d0.loss_map_pts: 1.6546, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2229, d1.loss_map_pts: 1.1004, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2058, d2.loss_map_pts: 0.9237, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.1965, d3.loss_map_pts: 0.8674, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.1890, d4.loss_map_pts: 0.8486, d4.loss_map_dir: 0.0129, d5.loss_map_cls: 0.1841, d5.loss_map_pts: 0.8455, d5.loss_map_dir: 0.0131, loss: 34.0058, grad_norm: 156.2031 +2026-02-25 20:05:42,906 - DriveTransformer - INFO - Epoch [5][28650/39528] lr: 9.337e-05, eta: 7 days, 2:33:48, time: 0.842, data_time: 0.049, memory: 19865, loss_cls: 0.2518, loss_bbox: 0.4573, loss_traj: 0.7847, loss_traj_cls: 0.0010, loss_map_cls: 0.2129, loss_map_pts: 1.0045, loss_map_dir: 0.0135, d0.loss_plan_l1_fix_time: 2.7800, d0.loss_plan_l1_fix_dist: 0.4420, d1.loss_plan_l1_fix_time: 1.3401, d1.loss_plan_l1_fix_dist: 0.2734, d2.loss_plan_l1_fix_time: 1.3313, d2.loss_plan_l1_fix_dist: 0.2901, d3.loss_plan_l1_fix_time: 1.3343, d3.loss_plan_l1_fix_dist: 0.3133, d4.loss_plan_l1_fix_time: 1.3408, d4.loss_plan_l1_fix_dist: 0.3414, d5.loss_plan_l1_fix_time: 1.3487, d5.loss_plan_l1_fix_dist: 0.3764, d6.loss_plan_l1_fix_time: 1.3588, d6.loss_plan_l1_fix_dist: 0.4133, d0.loss_cls_all: 0.2840, d0.loss_bbox_all: 0.5056, d0.loss_cls: 0.2840, d0.loss_bbox: 0.5056, d1.loss_cls: 0.2776, d1.loss_bbox: 0.4738, d2.loss_cls: 0.2662, d2.loss_bbox: 0.4571, d3.loss_cls: 0.2587, d3.loss_bbox: 0.4532, d4.loss_cls: 0.2534, d4.loss_bbox: 0.4532, d5.loss_cls: 0.2518, d5.loss_bbox: 0.4540, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0000, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8352, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7851, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7750, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7754, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7783, d0.loss_map_cls_all: 0.2865, d0.loss_map_pts_all: 1.9011, d0.loss_map_dir_all: 0.0126, d0.loss_map_cls: 0.2865, d0.loss_map_pts: 1.9011, d0.loss_map_dir: 0.0126, d1.loss_map_cls: 0.2533, d1.loss_map_pts: 1.3222, d1.loss_map_dir: 0.0122, d2.loss_map_cls: 0.2366, d2.loss_map_pts: 1.1163, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2236, d3.loss_map_pts: 1.0415, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.2186, d4.loss_map_pts: 1.0133, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.2146, d5.loss_map_pts: 1.0027, d5.loss_map_dir: 0.0134, loss: 37.2509, grad_norm: 158.8685 +2026-02-25 20:06:23,477 - DriveTransformer - INFO - Epoch [5][28700/39528] lr: 9.337e-05, eta: 7 days, 2:33:09, time: 0.811, data_time: 0.055, memory: 19865, loss_cls: 0.2132, loss_bbox: 0.4186, loss_traj: 0.8042, loss_traj_cls: 0.0010, loss_map_cls: 0.2299, loss_map_pts: 0.8794, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.7262, d0.loss_plan_l1_fix_dist: 0.3327, d1.loss_plan_l1_fix_time: 1.3696, d1.loss_plan_l1_fix_dist: 0.2017, d2.loss_plan_l1_fix_time: 1.3591, d2.loss_plan_l1_fix_dist: 0.2143, d3.loss_plan_l1_fix_time: 1.3597, d3.loss_plan_l1_fix_dist: 0.2284, d4.loss_plan_l1_fix_time: 1.3644, d4.loss_plan_l1_fix_dist: 0.2459, d5.loss_plan_l1_fix_time: 1.3705, d5.loss_plan_l1_fix_dist: 0.2632, d6.loss_plan_l1_fix_time: 1.3778, d6.loss_plan_l1_fix_dist: 0.2841, d0.loss_cls_all: 0.2445, d0.loss_bbox_all: 0.4674, d0.loss_cls: 0.2445, d0.loss_bbox: 0.4674, d1.loss_cls: 0.2354, d1.loss_bbox: 0.4358, d2.loss_cls: 0.2242, d2.loss_bbox: 0.4181, d3.loss_cls: 0.2163, d3.loss_bbox: 0.4160, d4.loss_cls: 0.2098, d4.loss_bbox: 0.4168, d5.loss_cls: 0.2114, d5.loss_bbox: 0.4179, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0729, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8774, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8290, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8158, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8123, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8067, d0.loss_map_cls_all: 0.2915, d0.loss_map_pts_all: 1.7042, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2915, d0.loss_map_pts: 1.7042, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2629, d1.loss_map_pts: 1.1816, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2472, d2.loss_map_pts: 0.9872, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.2387, d3.loss_map_pts: 0.9156, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.2323, d4.loss_map_pts: 0.8919, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.2284, d5.loss_map_pts: 0.8835, d5.loss_map_dir: 0.0112, loss: 35.2360, grad_norm: 159.0380 +2026-02-25 20:07:04,232 - DriveTransformer - INFO - Epoch [5][28750/39528] lr: 9.337e-05, eta: 7 days, 2:32:30, time: 0.815, data_time: 0.042, memory: 19865, loss_cls: 0.1949, loss_bbox: 0.3852, loss_traj: 0.5657, loss_traj_cls: 0.0010, loss_map_cls: 0.1542, loss_map_pts: 0.7230, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.2570, d0.loss_plan_l1_fix_dist: 0.4566, d1.loss_plan_l1_fix_time: 1.0317, d1.loss_plan_l1_fix_dist: 0.1941, d2.loss_plan_l1_fix_time: 1.0186, d2.loss_plan_l1_fix_dist: 0.2049, d3.loss_plan_l1_fix_time: 1.0227, d3.loss_plan_l1_fix_dist: 0.2219, d4.loss_plan_l1_fix_time: 1.0267, d4.loss_plan_l1_fix_dist: 0.2401, d5.loss_plan_l1_fix_time: 1.0304, d5.loss_plan_l1_fix_dist: 0.2571, d6.loss_plan_l1_fix_time: 1.0344, d6.loss_plan_l1_fix_dist: 0.2741, d0.loss_cls_all: 0.2179, d0.loss_bbox_all: 0.4343, d0.loss_cls: 0.2179, d0.loss_bbox: 0.4343, d1.loss_cls: 0.2178, d1.loss_bbox: 0.4055, d2.loss_cls: 0.2061, d2.loss_bbox: 0.3889, d3.loss_cls: 0.1996, d3.loss_bbox: 0.3853, d4.loss_cls: 0.1955, d4.loss_bbox: 0.3837, d5.loss_cls: 0.1945, d5.loss_bbox: 0.3845, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7381, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6161, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5796, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5688, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5657, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5645, d0.loss_map_cls_all: 0.2253, d0.loss_map_pts_all: 1.5800, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2253, d0.loss_map_pts: 1.5800, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.1921, d1.loss_map_pts: 1.0017, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.1756, d2.loss_map_pts: 0.8215, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1670, d3.loss_map_pts: 0.7499, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1595, d4.loss_map_pts: 0.7293, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1554, d5.loss_map_pts: 0.7240, d5.loss_map_dir: 0.0110, loss: 28.7723, grad_norm: 160.2690 +2026-02-25 20:07:43,060 - DriveTransformer - INFO - Epoch [5][28800/39528] lr: 9.337e-05, eta: 7 days, 2:31:44, time: 0.778, data_time: 0.042, memory: 19865, loss_cls: 0.2262, loss_bbox: 0.3998, loss_traj: 0.8757, loss_traj_cls: 0.0011, loss_map_cls: 0.1543, loss_map_pts: 0.7315, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.7104, d0.loss_plan_l1_fix_dist: 0.3658, d1.loss_plan_l1_fix_time: 1.1087, d1.loss_plan_l1_fix_dist: 0.2033, d2.loss_plan_l1_fix_time: 1.0979, d2.loss_plan_l1_fix_dist: 0.2131, d3.loss_plan_l1_fix_time: 1.0999, d3.loss_plan_l1_fix_dist: 0.2311, d4.loss_plan_l1_fix_time: 1.1039, d4.loss_plan_l1_fix_dist: 0.2533, d5.loss_plan_l1_fix_time: 1.1080, d5.loss_plan_l1_fix_dist: 0.2784, d6.loss_plan_l1_fix_time: 1.1114, d6.loss_plan_l1_fix_dist: 0.3029, d0.loss_cls_all: 0.2474, d0.loss_bbox_all: 0.4524, d0.loss_cls: 0.2474, d0.loss_bbox: 0.4524, d1.loss_cls: 0.2365, d1.loss_bbox: 0.4194, d2.loss_cls: 0.2300, d2.loss_bbox: 0.4032, d3.loss_cls: 0.2302, d3.loss_bbox: 0.3968, d4.loss_cls: 0.2262, d4.loss_bbox: 0.3958, d5.loss_cls: 0.2265, d5.loss_bbox: 0.3970, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1522, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9472, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.9030, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8940, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8769, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8740, d0.loss_map_cls_all: 0.2169, d0.loss_map_pts_all: 1.4241, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2169, d0.loss_map_pts: 1.4241, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1891, d1.loss_map_pts: 0.9752, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1732, d2.loss_map_pts: 0.8247, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1645, d3.loss_map_pts: 0.7627, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1578, d4.loss_map_pts: 0.7449, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1562, d5.loss_map_pts: 0.7336, d5.loss_map_dir: 0.0099, loss: 32.0311, grad_norm: 160.3631 +2026-02-25 20:08:22,806 - DriveTransformer - INFO - Epoch [5][28850/39528] lr: 9.337e-05, eta: 7 days, 2:31:01, time: 0.794, data_time: 0.045, memory: 19865, loss_cls: 0.2165, loss_bbox: 0.4126, loss_traj: 0.8113, loss_traj_cls: 0.0010, loss_map_cls: 0.1741, loss_map_pts: 0.7945, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.9094, d0.loss_plan_l1_fix_dist: 0.4317, d1.loss_plan_l1_fix_time: 1.3884, d1.loss_plan_l1_fix_dist: 0.2170, d2.loss_plan_l1_fix_time: 1.3717, d2.loss_plan_l1_fix_dist: 0.2319, d3.loss_plan_l1_fix_time: 1.3720, d3.loss_plan_l1_fix_dist: 0.2496, d4.loss_plan_l1_fix_time: 1.3758, d4.loss_plan_l1_fix_dist: 0.2690, d5.loss_plan_l1_fix_time: 1.3800, d5.loss_plan_l1_fix_dist: 0.2898, d6.loss_plan_l1_fix_time: 1.3844, d6.loss_plan_l1_fix_dist: 0.3157, d0.loss_cls_all: 0.2417, d0.loss_bbox_all: 0.4698, d0.loss_cls: 0.2417, d0.loss_bbox: 0.4698, d1.loss_cls: 0.2335, d1.loss_bbox: 0.4411, d2.loss_cls: 0.2252, d2.loss_bbox: 0.4216, d3.loss_cls: 0.2202, d3.loss_bbox: 0.4144, d4.loss_cls: 0.2166, d4.loss_bbox: 0.4124, d5.loss_cls: 0.2161, d5.loss_bbox: 0.4111, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0294, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8798, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8398, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8183, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8113, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8085, d0.loss_map_cls_all: 0.2483, d0.loss_map_pts_all: 1.5185, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2483, d0.loss_map_pts: 1.5185, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2160, d1.loss_map_pts: 1.0474, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1969, d2.loss_map_pts: 0.8909, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1843, d3.loss_map_pts: 0.8343, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1779, d4.loss_map_pts: 0.8087, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1760, d5.loss_map_pts: 0.7969, d5.loss_map_dir: 0.0112, loss: 34.3709, grad_norm: 159.3700 +2026-02-25 20:09:04,356 - DriveTransformer - INFO - Epoch [5][28900/39528] lr: 9.337e-05, eta: 7 days, 2:30:26, time: 0.831, data_time: 0.044, memory: 19865, loss_cls: 0.2171, loss_bbox: 0.4198, loss_traj: 0.7020, loss_traj_cls: 0.0010, loss_map_cls: 0.1972, loss_map_pts: 0.8958, loss_map_dir: 0.0133, d0.loss_plan_l1_fix_time: 2.6638, d0.loss_plan_l1_fix_dist: 0.3606, d1.loss_plan_l1_fix_time: 1.2903, d1.loss_plan_l1_fix_dist: 0.2002, d2.loss_plan_l1_fix_time: 1.2841, d2.loss_plan_l1_fix_dist: 0.2152, d3.loss_plan_l1_fix_time: 1.2861, d3.loss_plan_l1_fix_dist: 0.2375, d4.loss_plan_l1_fix_time: 1.2926, d4.loss_plan_l1_fix_dist: 0.2592, d5.loss_plan_l1_fix_time: 1.3000, d5.loss_plan_l1_fix_dist: 0.2837, d6.loss_plan_l1_fix_time: 1.3082, d6.loss_plan_l1_fix_dist: 0.3137, d0.loss_cls_all: 0.2467, d0.loss_bbox_all: 0.4740, d0.loss_cls: 0.2467, d0.loss_bbox: 0.4740, d1.loss_cls: 0.2413, d1.loss_bbox: 0.4407, d2.loss_cls: 0.2298, d2.loss_bbox: 0.4243, d3.loss_cls: 0.2204, d3.loss_bbox: 0.4213, d4.loss_cls: 0.2170, d4.loss_bbox: 0.4212, d5.loss_cls: 0.2178, d5.loss_bbox: 0.4186, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9756, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7677, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7225, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7069, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7013, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6992, d0.loss_map_cls_all: 0.2622, d0.loss_map_pts_all: 1.6938, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2622, d0.loss_map_pts: 1.6938, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2289, d1.loss_map_pts: 1.1710, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2130, d2.loss_map_pts: 0.9910, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.2045, d3.loss_map_pts: 0.9276, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.2014, d4.loss_map_pts: 0.9028, d4.loss_map_dir: 0.0131, d5.loss_map_cls: 0.1984, d5.loss_map_pts: 0.8946, d5.loss_map_dir: 0.0132, loss: 33.9455, grad_norm: 169.7545 +2026-02-25 20:09:44,811 - DriveTransformer - INFO - Epoch [5][28950/39528] lr: 9.337e-05, eta: 7 days, 2:29:46, time: 0.809, data_time: 0.040, memory: 19865, loss_cls: 0.2263, loss_bbox: 0.4336, loss_traj: 0.9124, loss_traj_cls: 0.0010, loss_map_cls: 0.2175, loss_map_pts: 0.9094, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.7138, d0.loss_plan_l1_fix_dist: 0.4437, d1.loss_plan_l1_fix_time: 1.4059, d1.loss_plan_l1_fix_dist: 0.2109, d2.loss_plan_l1_fix_time: 1.3928, d2.loss_plan_l1_fix_dist: 0.2147, d3.loss_plan_l1_fix_time: 1.3967, d3.loss_plan_l1_fix_dist: 0.2259, d4.loss_plan_l1_fix_time: 1.4051, d4.loss_plan_l1_fix_dist: 0.2385, d5.loss_plan_l1_fix_time: 1.4148, d5.loss_plan_l1_fix_dist: 0.2520, d6.loss_plan_l1_fix_time: 1.4256, d6.loss_plan_l1_fix_dist: 0.2654, d0.loss_cls_all: 0.2516, d0.loss_bbox_all: 0.4840, d0.loss_cls: 0.2516, d0.loss_bbox: 0.4840, d1.loss_cls: 0.2433, d1.loss_bbox: 0.4534, d2.loss_cls: 0.2339, d2.loss_bbox: 0.4416, d3.loss_cls: 0.2276, d3.loss_bbox: 0.4368, d4.loss_cls: 0.2256, d4.loss_bbox: 0.4368, d5.loss_cls: 0.2241, d5.loss_bbox: 0.4367, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1205, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9673, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.9204, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9156, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9079, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9075, d0.loss_map_cls_all: 0.2724, d0.loss_map_pts_all: 1.6436, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2724, d0.loss_map_pts: 1.6436, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2456, d1.loss_map_pts: 1.1864, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.2317, d2.loss_map_pts: 1.0121, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.2228, d3.loss_map_pts: 0.9419, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.2196, d4.loss_map_pts: 0.9181, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.2178, d5.loss_map_pts: 0.9101, d5.loss_map_dir: 0.0109, loss: 36.3036, grad_norm: 170.9261 +2026-02-25 20:10:26,351 - DriveTransformer - INFO - Epoch [5][29000/39528] lr: 9.337e-05, eta: 7 days, 2:29:11, time: 0.831, data_time: 0.039, memory: 19865, loss_cls: 0.2374, loss_bbox: 0.4353, loss_traj: 0.6984, loss_traj_cls: 0.0010, loss_map_cls: 0.2068, loss_map_pts: 0.9671, loss_map_dir: 0.0145, d0.loss_plan_l1_fix_time: 2.6821, d0.loss_plan_l1_fix_dist: 0.4690, d1.loss_plan_l1_fix_time: 1.4693, d1.loss_plan_l1_fix_dist: 0.2295, d2.loss_plan_l1_fix_time: 1.4654, d2.loss_plan_l1_fix_dist: 0.2379, d3.loss_plan_l1_fix_time: 1.4669, d3.loss_plan_l1_fix_dist: 0.2511, d4.loss_plan_l1_fix_time: 1.4709, d4.loss_plan_l1_fix_dist: 0.2683, d5.loss_plan_l1_fix_time: 1.4755, d5.loss_plan_l1_fix_dist: 0.2863, d6.loss_plan_l1_fix_time: 1.4810, d6.loss_plan_l1_fix_dist: 0.3055, d0.loss_cls_all: 0.2614, d0.loss_bbox_all: 0.4908, d0.loss_cls: 0.2614, d0.loss_bbox: 0.4908, d1.loss_cls: 0.2563, d1.loss_bbox: 0.4589, d2.loss_cls: 0.2459, d2.loss_bbox: 0.4420, d3.loss_cls: 0.2402, d3.loss_bbox: 0.4347, d4.loss_cls: 0.2359, d4.loss_bbox: 0.4345, d5.loss_cls: 0.2361, d5.loss_bbox: 0.4337, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9100, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7428, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7025, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6968, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6947, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6955, d0.loss_map_cls_all: 0.2799, d0.loss_map_pts_all: 1.9179, d0.loss_map_dir_all: 0.0134, d0.loss_map_cls: 0.2799, d0.loss_map_pts: 1.9179, d0.loss_map_dir: 0.0134, d1.loss_map_cls: 0.2472, d1.loss_map_pts: 1.2982, d1.loss_map_dir: 0.0128, d2.loss_map_cls: 0.2326, d2.loss_map_pts: 1.0828, d2.loss_map_dir: 0.0132, d3.loss_map_cls: 0.2188, d3.loss_map_pts: 1.0063, d3.loss_map_dir: 0.0139, d4.loss_map_cls: 0.2109, d4.loss_map_pts: 0.9780, d4.loss_map_dir: 0.0141, d5.loss_map_cls: 0.2072, d5.loss_map_pts: 0.9666, d5.loss_map_dir: 0.0144, loss: 36.4292, grad_norm: 172.1316 +2026-02-25 20:11:07,947 - DriveTransformer - INFO - Epoch [5][29050/39528] lr: 9.337e-05, eta: 7 days, 2:28:36, time: 0.832, data_time: 0.044, memory: 19865, loss_cls: 0.2098, loss_bbox: 0.4409, loss_traj: 0.8542, loss_traj_cls: 0.0010, loss_map_cls: 0.2221, loss_map_pts: 0.9131, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.5558, d0.loss_plan_l1_fix_dist: 0.3392, d1.loss_plan_l1_fix_time: 1.3218, d1.loss_plan_l1_fix_dist: 0.1773, d2.loss_plan_l1_fix_time: 1.3165, d2.loss_plan_l1_fix_dist: 0.1797, d3.loss_plan_l1_fix_time: 1.3208, d3.loss_plan_l1_fix_dist: 0.1878, d4.loss_plan_l1_fix_time: 1.3246, d4.loss_plan_l1_fix_dist: 0.1992, d5.loss_plan_l1_fix_time: 1.3283, d5.loss_plan_l1_fix_dist: 0.2120, d6.loss_plan_l1_fix_time: 1.3321, d6.loss_plan_l1_fix_dist: 0.2259, d0.loss_cls_all: 0.2384, d0.loss_bbox_all: 0.4850, d0.loss_cls: 0.2384, d0.loss_bbox: 0.4850, d1.loss_cls: 0.2309, d1.loss_bbox: 0.4557, d2.loss_cls: 0.2249, d2.loss_bbox: 0.4386, d3.loss_cls: 0.2148, d3.loss_bbox: 0.4365, d4.loss_cls: 0.2103, d4.loss_bbox: 0.4371, d5.loss_cls: 0.2099, d5.loss_bbox: 0.4392, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0967, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.9193, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8802, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8630, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8601, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8547, d0.loss_map_cls_all: 0.2794, d0.loss_map_pts_all: 1.8256, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2794, d0.loss_map_pts: 1.8256, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2555, d1.loss_map_pts: 1.2173, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2414, d2.loss_map_pts: 1.0161, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2340, d3.loss_map_pts: 0.9440, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2286, d4.loss_map_pts: 0.9221, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.2226, d5.loss_map_pts: 0.9118, d5.loss_map_dir: 0.0136, loss: 35.3925, grad_norm: 173.8282 +2026-02-25 20:11:47,675 - DriveTransformer - INFO - Epoch [5][29100/39528] lr: 9.337e-05, eta: 7 days, 2:27:54, time: 0.795, data_time: 0.044, memory: 19865, loss_cls: 0.2100, loss_bbox: 0.4067, loss_traj: 0.8312, loss_traj_cls: 0.0010, loss_map_cls: 0.2048, loss_map_pts: 0.8089, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.6397, d0.loss_plan_l1_fix_dist: 0.4413, d1.loss_plan_l1_fix_time: 1.3174, d1.loss_plan_l1_fix_dist: 0.1766, d2.loss_plan_l1_fix_time: 1.3022, d2.loss_plan_l1_fix_dist: 0.1810, d3.loss_plan_l1_fix_time: 1.3026, d3.loss_plan_l1_fix_dist: 0.1895, d4.loss_plan_l1_fix_time: 1.3063, d4.loss_plan_l1_fix_dist: 0.1993, d5.loss_plan_l1_fix_time: 1.3102, d5.loss_plan_l1_fix_dist: 0.2106, d6.loss_plan_l1_fix_time: 1.3145, d6.loss_plan_l1_fix_dist: 0.2238, d0.loss_cls_all: 0.2365, d0.loss_bbox_all: 0.4553, d0.loss_cls: 0.2365, d0.loss_bbox: 0.4553, d1.loss_cls: 0.2305, d1.loss_bbox: 0.4278, d2.loss_cls: 0.2198, d2.loss_bbox: 0.4099, d3.loss_cls: 0.2118, d3.loss_bbox: 0.4069, d4.loss_cls: 0.2081, d4.loss_bbox: 0.4064, d5.loss_cls: 0.2091, d5.loss_bbox: 0.4061, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0821, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8982, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8510, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8323, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8333, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8269, d0.loss_map_cls_all: 0.2701, d0.loss_map_pts_all: 1.5360, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2701, d0.loss_map_pts: 1.5360, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2393, d1.loss_map_pts: 1.0755, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.2266, d2.loss_map_pts: 0.8969, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.2147, d3.loss_map_pts: 0.8338, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.2091, d4.loss_map_pts: 0.8180, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.2071, d5.loss_map_pts: 0.8100, d5.loss_map_dir: 0.0106, loss: 33.6501, grad_norm: 172.5641 +2026-02-25 20:12:26,821 - DriveTransformer - INFO - Epoch [5][29150/39528] lr: 9.337e-05, eta: 7 days, 2:27:09, time: 0.783, data_time: 0.045, memory: 19865, loss_cls: 0.2020, loss_bbox: 0.3944, loss_traj: 0.8412, loss_traj_cls: 0.0010, loss_map_cls: 0.1825, loss_map_pts: 0.7535, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.8583, d0.loss_plan_l1_fix_dist: 0.3603, d1.loss_plan_l1_fix_time: 1.3795, d1.loss_plan_l1_fix_dist: 0.1828, d2.loss_plan_l1_fix_time: 1.3634, d2.loss_plan_l1_fix_dist: 0.1878, d3.loss_plan_l1_fix_time: 1.3622, d3.loss_plan_l1_fix_dist: 0.1971, d4.loss_plan_l1_fix_time: 1.3639, d4.loss_plan_l1_fix_dist: 0.2078, d5.loss_plan_l1_fix_time: 1.3668, d5.loss_plan_l1_fix_dist: 0.2190, d6.loss_plan_l1_fix_time: 1.3702, d6.loss_plan_l1_fix_dist: 0.2316, d0.loss_cls_all: 0.2279, d0.loss_bbox_all: 0.4560, d0.loss_cls: 0.2279, d0.loss_bbox: 0.4560, d1.loss_cls: 0.2231, d1.loss_bbox: 0.4251, d2.loss_cls: 0.2107, d2.loss_bbox: 0.4064, d3.loss_cls: 0.2029, d3.loss_bbox: 0.3987, d4.loss_cls: 0.1988, d4.loss_bbox: 0.3972, d5.loss_cls: 0.1995, d5.loss_bbox: 0.3959, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1549, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9190, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8672, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8563, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8500, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8405, d0.loss_map_cls_all: 0.2487, d0.loss_map_pts_all: 1.4122, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2487, d0.loss_map_pts: 1.4122, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2123, d1.loss_map_pts: 0.9903, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.2006, d2.loss_map_pts: 0.8325, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1932, d3.loss_map_pts: 0.7782, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1858, d4.loss_map_pts: 0.7619, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1835, d5.loss_map_pts: 0.7553, d5.loss_map_dir: 0.0092, loss: 33.4300, grad_norm: 171.9802 +2026-02-25 20:13:08,288 - DriveTransformer - INFO - Epoch [5][29200/39528] lr: 9.337e-05, eta: 7 days, 2:26:33, time: 0.829, data_time: 0.043, memory: 19865, loss_cls: 0.2211, loss_bbox: 0.4132, loss_traj: 0.6812, loss_traj_cls: 0.0010, loss_map_cls: 0.2062, loss_map_pts: 0.8450, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 2.5007, d0.loss_plan_l1_fix_dist: 0.3463, d1.loss_plan_l1_fix_time: 1.2672, d1.loss_plan_l1_fix_dist: 0.1904, d2.loss_plan_l1_fix_time: 1.2572, d2.loss_plan_l1_fix_dist: 0.1950, d3.loss_plan_l1_fix_time: 1.2573, d3.loss_plan_l1_fix_dist: 0.2038, d4.loss_plan_l1_fix_time: 1.2601, d4.loss_plan_l1_fix_dist: 0.2142, d5.loss_plan_l1_fix_time: 1.2632, d5.loss_plan_l1_fix_dist: 0.2269, d6.loss_plan_l1_fix_time: 1.2666, d6.loss_plan_l1_fix_dist: 0.2393, d0.loss_cls_all: 0.2436, d0.loss_bbox_all: 0.4625, d0.loss_cls: 0.2436, d0.loss_bbox: 0.4625, d1.loss_cls: 0.2442, d1.loss_bbox: 0.4272, d2.loss_cls: 0.2317, d2.loss_bbox: 0.4140, d3.loss_cls: 0.2241, d3.loss_bbox: 0.4093, d4.loss_cls: 0.2216, d4.loss_bbox: 0.4096, d5.loss_cls: 0.2203, d5.loss_bbox: 0.4124, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9155, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7410, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6925, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6880, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6874, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6843, d0.loss_map_cls_all: 0.2767, d0.loss_map_pts_all: 1.7294, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2767, d0.loss_map_pts: 1.7294, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2449, d1.loss_map_pts: 1.1573, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2289, d2.loss_map_pts: 0.9552, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2174, d3.loss_map_pts: 0.8831, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.2117, d4.loss_map_pts: 0.8545, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.2073, d5.loss_map_pts: 0.8473, d5.loss_map_dir: 0.0123, loss: 33.0106, grad_norm: 168.8069 +2026-02-25 20:13:49,294 - DriveTransformer - INFO - Epoch [5][29250/39528] lr: 9.337e-05, eta: 7 days, 2:25:56, time: 0.820, data_time: 0.039, memory: 19865, loss_cls: 0.2023, loss_bbox: 0.4120, loss_traj: 0.6932, loss_traj_cls: 0.0009, loss_map_cls: 0.1845, loss_map_pts: 0.8292, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.3438, d0.loss_plan_l1_fix_dist: 0.4040, d1.loss_plan_l1_fix_time: 1.2056, d1.loss_plan_l1_fix_dist: 0.1933, d2.loss_plan_l1_fix_time: 1.1883, d2.loss_plan_l1_fix_dist: 0.1967, d3.loss_plan_l1_fix_time: 1.1850, d3.loss_plan_l1_fix_dist: 0.2052, d4.loss_plan_l1_fix_time: 1.1871, d4.loss_plan_l1_fix_dist: 0.2173, d5.loss_plan_l1_fix_time: 1.1895, d5.loss_plan_l1_fix_dist: 0.2321, d6.loss_plan_l1_fix_time: 1.1922, d6.loss_plan_l1_fix_dist: 0.2467, d0.loss_cls_all: 0.2361, d0.loss_bbox_all: 0.4661, d0.loss_cls: 0.2361, d0.loss_bbox: 0.4661, d1.loss_cls: 0.2287, d1.loss_bbox: 0.4321, d2.loss_cls: 0.2149, d2.loss_bbox: 0.4173, d3.loss_cls: 0.2069, d3.loss_bbox: 0.4124, d4.loss_cls: 0.2042, d4.loss_bbox: 0.4111, d5.loss_cls: 0.2031, d5.loss_bbox: 0.4113, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9086, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7508, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6986, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6961, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6908, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6881, d0.loss_map_cls_all: 0.2574, d0.loss_map_pts_all: 1.6120, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2574, d0.loss_map_pts: 1.6120, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2254, d1.loss_map_pts: 1.1008, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2062, d2.loss_map_pts: 0.9238, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1966, d3.loss_map_pts: 0.8615, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1887, d4.loss_map_pts: 0.8404, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1854, d5.loss_map_pts: 0.8320, d5.loss_map_dir: 0.0116, loss: 31.8817, grad_norm: 168.0874 +2026-02-25 20:14:29,572 - DriveTransformer - INFO - Epoch [5][29300/39528] lr: 9.337e-05, eta: 7 days, 2:25:15, time: 0.806, data_time: 0.048, memory: 19865, loss_cls: 0.2173, loss_bbox: 0.4181, loss_traj: 0.8272, loss_traj_cls: 0.0010, loss_map_cls: 0.1913, loss_map_pts: 0.8296, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.8073, d0.loss_plan_l1_fix_dist: 0.4643, d1.loss_plan_l1_fix_time: 1.2849, d1.loss_plan_l1_fix_dist: 0.2037, d2.loss_plan_l1_fix_time: 1.2686, d2.loss_plan_l1_fix_dist: 0.2071, d3.loss_plan_l1_fix_time: 1.2668, d3.loss_plan_l1_fix_dist: 0.2173, d4.loss_plan_l1_fix_time: 1.2702, d4.loss_plan_l1_fix_dist: 0.2277, d5.loss_plan_l1_fix_time: 1.2738, d5.loss_plan_l1_fix_dist: 0.2405, d6.loss_plan_l1_fix_time: 1.2777, d6.loss_plan_l1_fix_dist: 0.2579, d0.loss_cls_all: 0.2454, d0.loss_bbox_all: 0.4683, d0.loss_cls: 0.2454, d0.loss_bbox: 0.4683, d1.loss_cls: 0.2392, d1.loss_bbox: 0.4397, d2.loss_cls: 0.2256, d2.loss_bbox: 0.4255, d3.loss_cls: 0.2189, d3.loss_bbox: 0.4205, d4.loss_cls: 0.2170, d4.loss_bbox: 0.4183, d5.loss_cls: 0.2163, d5.loss_bbox: 0.4178, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9771, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8479, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8159, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8214, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8212, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8222, d0.loss_map_cls_all: 0.2569, d0.loss_map_pts_all: 1.5611, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2569, d0.loss_map_pts: 1.5611, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2326, d1.loss_map_pts: 1.0878, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.2175, d2.loss_map_pts: 0.9187, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.2030, d3.loss_map_pts: 0.8572, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1965, d4.loss_map_pts: 0.8394, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1916, d5.loss_map_pts: 0.8317, d5.loss_map_dir: 0.0113, loss: 33.8278, grad_norm: 168.3113 +2026-02-25 20:15:09,638 - DriveTransformer - INFO - Epoch [5][29350/39528] lr: 9.337e-05, eta: 7 days, 2:24:34, time: 0.801, data_time: 0.046, memory: 19865, loss_cls: 0.1879, loss_bbox: 0.3743, loss_traj: 0.6853, loss_traj_cls: 0.0010, loss_map_cls: 0.1717, loss_map_pts: 0.6966, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.5848, d0.loss_plan_l1_fix_dist: 0.4113, d1.loss_plan_l1_fix_time: 1.1327, d1.loss_plan_l1_fix_dist: 0.2109, d2.loss_plan_l1_fix_time: 1.1148, d2.loss_plan_l1_fix_dist: 0.2159, d3.loss_plan_l1_fix_time: 1.1115, d3.loss_plan_l1_fix_dist: 0.2248, d4.loss_plan_l1_fix_time: 1.1144, d4.loss_plan_l1_fix_dist: 0.2365, d5.loss_plan_l1_fix_time: 1.1185, d5.loss_plan_l1_fix_dist: 0.2484, d6.loss_plan_l1_fix_time: 1.1235, d6.loss_plan_l1_fix_dist: 0.2596, d0.loss_cls_all: 0.2113, d0.loss_bbox_all: 0.4287, d0.loss_cls: 0.2113, d0.loss_bbox: 0.4287, d1.loss_cls: 0.2040, d1.loss_bbox: 0.4016, d2.loss_cls: 0.1918, d2.loss_bbox: 0.3862, d3.loss_cls: 0.1886, d3.loss_bbox: 0.3788, d4.loss_cls: 0.1870, d4.loss_bbox: 0.3754, d5.loss_cls: 0.1866, d5.loss_bbox: 0.3753, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8332, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7042, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6688, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6714, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6777, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6786, d0.loss_map_cls_all: 0.2331, d0.loss_map_pts_all: 1.4541, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2331, d0.loss_map_pts: 1.4541, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2088, d1.loss_map_pts: 0.9598, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1932, d2.loss_map_pts: 0.7825, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1831, d3.loss_map_pts: 0.7221, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1784, d4.loss_map_pts: 0.7039, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1744, d5.loss_map_pts: 0.6974, d5.loss_map_dir: 0.0109, loss: 29.8814, grad_norm: 166.8962 +2026-02-25 20:15:49,345 - DriveTransformer - INFO - Epoch [5][29400/39528] lr: 9.337e-05, eta: 7 days, 2:23:51, time: 0.794, data_time: 0.044, memory: 19865, loss_cls: 0.1693, loss_bbox: 0.3486, loss_traj: 0.6682, loss_traj_cls: 0.0010, loss_map_cls: 0.1579, loss_map_pts: 0.6275, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.3770, d0.loss_plan_l1_fix_dist: 0.4771, d1.loss_plan_l1_fix_time: 1.1789, d1.loss_plan_l1_fix_dist: 0.1779, d2.loss_plan_l1_fix_time: 1.1573, d2.loss_plan_l1_fix_dist: 0.1824, d3.loss_plan_l1_fix_time: 1.1585, d3.loss_plan_l1_fix_dist: 0.1932, d4.loss_plan_l1_fix_time: 1.1628, d4.loss_plan_l1_fix_dist: 0.2074, d5.loss_plan_l1_fix_time: 1.1678, d5.loss_plan_l1_fix_dist: 0.2240, d6.loss_plan_l1_fix_time: 1.1736, d6.loss_plan_l1_fix_dist: 0.2420, d0.loss_cls_all: 0.1999, d0.loss_bbox_all: 0.3950, d0.loss_cls: 0.1999, d0.loss_bbox: 0.3950, d1.loss_cls: 0.1910, d1.loss_bbox: 0.3682, d2.loss_cls: 0.1813, d2.loss_bbox: 0.3526, d3.loss_cls: 0.1747, d3.loss_bbox: 0.3481, d4.loss_cls: 0.1713, d4.loss_bbox: 0.3473, d5.loss_cls: 0.1692, d5.loss_bbox: 0.3479, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8164, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7070, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6755, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6696, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6677, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6663, d0.loss_map_cls_all: 0.2123, d0.loss_map_pts_all: 1.3069, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2123, d0.loss_map_pts: 1.3069, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1896, d1.loss_map_pts: 0.8604, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1729, d2.loss_map_pts: 0.7091, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1665, d3.loss_map_pts: 0.6596, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1634, d4.loss_map_pts: 0.6380, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1605, d5.loss_map_pts: 0.6277, d5.loss_map_dir: 0.0091, loss: 28.5582, grad_norm: 167.2374 +2026-02-25 20:16:30,378 - DriveTransformer - INFO - Epoch [5][29450/39528] lr: 9.337e-05, eta: 7 days, 2:23:14, time: 0.821, data_time: 0.040, memory: 19865, loss_cls: 0.2056, loss_bbox: 0.3892, loss_traj: 0.6364, loss_traj_cls: 0.0010, loss_map_cls: 0.1891, loss_map_pts: 0.8334, loss_map_dir: 0.0143, d0.loss_plan_l1_fix_time: 2.3719, d0.loss_plan_l1_fix_dist: 0.4211, d1.loss_plan_l1_fix_time: 1.3856, d1.loss_plan_l1_fix_dist: 0.2163, d2.loss_plan_l1_fix_time: 1.3679, d2.loss_plan_l1_fix_dist: 0.2207, d3.loss_plan_l1_fix_time: 1.3679, d3.loss_plan_l1_fix_dist: 0.2292, d4.loss_plan_l1_fix_time: 1.3703, d4.loss_plan_l1_fix_dist: 0.2390, d5.loss_plan_l1_fix_time: 1.3733, d5.loss_plan_l1_fix_dist: 0.2517, d6.loss_plan_l1_fix_time: 1.3768, d6.loss_plan_l1_fix_dist: 0.2672, d0.loss_cls_all: 0.2330, d0.loss_bbox_all: 0.4504, d0.loss_cls: 0.2330, d0.loss_bbox: 0.4504, d1.loss_cls: 0.2255, d1.loss_bbox: 0.4179, d2.loss_cls: 0.2158, d2.loss_bbox: 0.4003, d3.loss_cls: 0.2086, d3.loss_bbox: 0.3947, d4.loss_cls: 0.2072, d4.loss_bbox: 0.3904, d5.loss_cls: 0.2053, d5.loss_bbox: 0.3891, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7876, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6778, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6436, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6389, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6326, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6332, d0.loss_map_cls_all: 0.2654, d0.loss_map_pts_all: 1.7618, d0.loss_map_dir_all: 0.0126, d0.loss_map_cls: 0.2654, d0.loss_map_pts: 1.7618, d0.loss_map_dir: 0.0126, d1.loss_map_cls: 0.2309, d1.loss_map_pts: 1.1476, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2109, d2.loss_map_pts: 0.9326, d2.loss_map_dir: 0.0130, d3.loss_map_cls: 0.2005, d3.loss_map_pts: 0.8650, d3.loss_map_dir: 0.0136, d4.loss_map_cls: 0.1927, d4.loss_map_pts: 0.8427, d4.loss_map_dir: 0.0141, d5.loss_map_cls: 0.1913, d5.loss_map_pts: 0.8351, d5.loss_map_dir: 0.0142, loss: 32.9655, grad_norm: 164.7890 +2026-02-25 20:17:10,634 - DriveTransformer - INFO - Epoch [5][29500/39528] lr: 9.337e-05, eta: 7 days, 2:22:34, time: 0.805, data_time: 0.045, memory: 19865, loss_cls: 0.2279, loss_bbox: 0.4429, loss_traj: 0.7410, loss_traj_cls: 0.0010, loss_map_cls: 0.2153, loss_map_pts: 0.8847, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.5873, d0.loss_plan_l1_fix_dist: 0.3625, d1.loss_plan_l1_fix_time: 1.2424, d1.loss_plan_l1_fix_dist: 0.1838, d2.loss_plan_l1_fix_time: 1.2359, d2.loss_plan_l1_fix_dist: 0.1904, d3.loss_plan_l1_fix_time: 1.2400, d3.loss_plan_l1_fix_dist: 0.2039, d4.loss_plan_l1_fix_time: 1.2433, d4.loss_plan_l1_fix_dist: 0.2196, d5.loss_plan_l1_fix_time: 1.2471, d5.loss_plan_l1_fix_dist: 0.2354, d6.loss_plan_l1_fix_time: 1.2511, d6.loss_plan_l1_fix_dist: 0.2527, d0.loss_cls_all: 0.2565, d0.loss_bbox_all: 0.4907, d0.loss_cls: 0.2565, d0.loss_bbox: 0.4907, d1.loss_cls: 0.2510, d1.loss_bbox: 0.4623, d2.loss_cls: 0.2397, d2.loss_bbox: 0.4459, d3.loss_cls: 0.2325, d3.loss_bbox: 0.4415, d4.loss_cls: 0.2262, d4.loss_bbox: 0.4409, d5.loss_cls: 0.2270, d5.loss_bbox: 0.4393, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9142, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7661, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7325, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7365, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7361, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7378, d0.loss_map_cls_all: 0.2847, d0.loss_map_pts_all: 1.6170, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2847, d0.loss_map_pts: 1.6170, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2510, d1.loss_map_pts: 1.1385, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2367, d2.loss_map_pts: 0.9647, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2250, d3.loss_map_pts: 0.9051, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.2183, d4.loss_map_pts: 0.8889, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.2166, d5.loss_map_pts: 0.8850, d5.loss_map_dir: 0.0121, loss: 33.5630, grad_norm: 164.1205 +2026-02-25 20:17:51,625 - DriveTransformer - INFO - Epoch [5][29550/39528] lr: 9.337e-05, eta: 7 days, 2:21:56, time: 0.820, data_time: 0.048, memory: 19865, loss_cls: 0.1952, loss_bbox: 0.4039, loss_traj: 0.7452, loss_traj_cls: 0.0010, loss_map_cls: 0.1628, loss_map_pts: 0.7115, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.4205, d0.loss_plan_l1_fix_dist: 0.4460, d1.loss_plan_l1_fix_time: 1.1693, d1.loss_plan_l1_fix_dist: 0.1904, d2.loss_plan_l1_fix_time: 1.1446, d2.loss_plan_l1_fix_dist: 0.1943, d3.loss_plan_l1_fix_time: 1.1439, d3.loss_plan_l1_fix_dist: 0.2072, d4.loss_plan_l1_fix_time: 1.1465, d4.loss_plan_l1_fix_dist: 0.2219, d5.loss_plan_l1_fix_time: 1.1490, d5.loss_plan_l1_fix_dist: 0.2387, d6.loss_plan_l1_fix_time: 1.1522, d6.loss_plan_l1_fix_dist: 0.2581, d0.loss_cls_all: 0.2286, d0.loss_bbox_all: 0.4561, d0.loss_cls: 0.2286, d0.loss_bbox: 0.4561, d1.loss_cls: 0.2236, d1.loss_bbox: 0.4203, d2.loss_cls: 0.2106, d2.loss_bbox: 0.4066, d3.loss_cls: 0.2036, d3.loss_bbox: 0.3993, d4.loss_cls: 0.1990, d4.loss_bbox: 0.3980, d5.loss_cls: 0.1964, d5.loss_bbox: 0.3999, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9758, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7893, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7666, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7483, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7500, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7433, d0.loss_map_cls_all: 0.2210, d0.loss_map_pts_all: 1.4649, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2210, d0.loss_map_pts: 1.4649, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1943, d1.loss_map_pts: 0.9989, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1802, d2.loss_map_pts: 0.8189, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1707, d3.loss_map_pts: 0.7505, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1639, d4.loss_map_pts: 0.7253, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1629, d5.loss_map_pts: 0.7147, d5.loss_map_dir: 0.0104, loss: 30.8402, grad_norm: 165.4117 +2026-02-25 20:18:29,723 - DriveTransformer - INFO - Epoch [5][29600/39528] lr: 9.337e-05, eta: 7 days, 2:21:07, time: 0.763, data_time: 0.042, memory: 19865, loss_cls: 0.2002, loss_bbox: 0.4020, loss_traj: 0.6875, loss_traj_cls: 0.0010, loss_map_cls: 0.2152, loss_map_pts: 0.7716, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.1892, d0.loss_plan_l1_fix_dist: 0.4147, d1.loss_plan_l1_fix_time: 1.1946, d1.loss_plan_l1_fix_dist: 0.1835, d2.loss_plan_l1_fix_time: 1.1835, d2.loss_plan_l1_fix_dist: 0.1871, d3.loss_plan_l1_fix_time: 1.1880, d3.loss_plan_l1_fix_dist: 0.1958, d4.loss_plan_l1_fix_time: 1.1913, d4.loss_plan_l1_fix_dist: 0.2084, d5.loss_plan_l1_fix_time: 1.1943, d5.loss_plan_l1_fix_dist: 0.2252, d6.loss_plan_l1_fix_time: 1.1976, d6.loss_plan_l1_fix_dist: 0.2490, d0.loss_cls_all: 0.2337, d0.loss_bbox_all: 0.4589, d0.loss_cls: 0.2337, d0.loss_bbox: 0.4589, d1.loss_cls: 0.2269, d1.loss_bbox: 0.4268, d2.loss_cls: 0.2146, d2.loss_bbox: 0.4122, d3.loss_cls: 0.2065, d3.loss_bbox: 0.4046, d4.loss_cls: 0.2020, d4.loss_bbox: 0.4017, d5.loss_cls: 0.2008, d5.loss_bbox: 0.4009, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8409, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7190, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6923, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6851, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6827, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6836, d0.loss_map_cls_all: 0.2841, d0.loss_map_pts_all: 1.4606, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2841, d0.loss_map_pts: 1.4606, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.2518, d1.loss_map_pts: 1.0278, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.2309, d2.loss_map_pts: 0.8530, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.2224, d3.loss_map_pts: 0.7966, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.2173, d4.loss_map_pts: 0.7788, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.2150, d5.loss_map_pts: 0.7730, d5.loss_map_dir: 0.0086, loss: 30.9938, grad_norm: 164.2001 +2026-02-25 20:19:09,993 - DriveTransformer - INFO - Epoch [5][29650/39528] lr: 9.337e-05, eta: 7 days, 2:20:27, time: 0.804, data_time: 0.042, memory: 19865, loss_cls: 0.2137, loss_bbox: 0.4031, loss_traj: 0.7825, loss_traj_cls: 0.0011, loss_map_cls: 0.1968, loss_map_pts: 0.7608, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.3032, d0.loss_plan_l1_fix_dist: 0.2913, d1.loss_plan_l1_fix_time: 1.3422, d1.loss_plan_l1_fix_dist: 0.2060, d2.loss_plan_l1_fix_time: 1.3216, d2.loss_plan_l1_fix_dist: 0.2189, d3.loss_plan_l1_fix_time: 1.3220, d3.loss_plan_l1_fix_dist: 0.2332, d4.loss_plan_l1_fix_time: 1.3250, d4.loss_plan_l1_fix_dist: 0.2472, d5.loss_plan_l1_fix_time: 1.3288, d5.loss_plan_l1_fix_dist: 0.2586, d6.loss_plan_l1_fix_time: 1.3328, d6.loss_plan_l1_fix_dist: 0.2686, d0.loss_cls_all: 0.2409, d0.loss_bbox_all: 0.4655, d0.loss_cls: 0.2409, d0.loss_bbox: 0.4655, d1.loss_cls: 0.2388, d1.loss_bbox: 0.4301, d2.loss_cls: 0.2255, d2.loss_bbox: 0.4115, d3.loss_cls: 0.2215, d3.loss_bbox: 0.4035, d4.loss_cls: 0.2138, d4.loss_bbox: 0.4051, d5.loss_cls: 0.2123, d5.loss_bbox: 0.4028, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9919, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8302, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7911, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7809, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7788, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7805, d0.loss_map_cls_all: 0.2757, d0.loss_map_pts_all: 1.4892, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2757, d0.loss_map_pts: 1.4892, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2404, d1.loss_map_pts: 1.0443, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.2182, d2.loss_map_pts: 0.8545, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.2043, d3.loss_map_pts: 0.7915, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1974, d4.loss_map_pts: 0.7676, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1952, d5.loss_map_pts: 0.7610, d5.loss_map_dir: 0.0103, loss: 32.7762, grad_norm: 163.5628 +2026-02-25 20:19:50,456 - DriveTransformer - INFO - Epoch [5][29700/39528] lr: 9.337e-05, eta: 7 days, 2:19:47, time: 0.809, data_time: 0.048, memory: 19865, loss_cls: 0.1814, loss_bbox: 0.3826, loss_traj: 0.7836, loss_traj_cls: 0.0011, loss_map_cls: 0.1665, loss_map_pts: 0.6800, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.6620, d0.loss_plan_l1_fix_dist: 0.4179, d1.loss_plan_l1_fix_time: 1.1645, d1.loss_plan_l1_fix_dist: 0.2084, d2.loss_plan_l1_fix_time: 1.1476, d2.loss_plan_l1_fix_dist: 0.2160, d3.loss_plan_l1_fix_time: 1.1440, d3.loss_plan_l1_fix_dist: 0.2311, d4.loss_plan_l1_fix_time: 1.1462, d4.loss_plan_l1_fix_dist: 0.2460, d5.loss_plan_l1_fix_time: 1.1499, d5.loss_plan_l1_fix_dist: 0.2606, d6.loss_plan_l1_fix_time: 1.1546, d6.loss_plan_l1_fix_dist: 0.2702, d0.loss_cls_all: 0.1999, d0.loss_bbox_all: 0.4296, d0.loss_cls: 0.1999, d0.loss_bbox: 0.4296, d1.loss_cls: 0.1960, d1.loss_bbox: 0.4000, d2.loss_cls: 0.1919, d2.loss_bbox: 0.3836, d3.loss_cls: 0.1878, d3.loss_bbox: 0.3773, d4.loss_cls: 0.1845, d4.loss_bbox: 0.3774, d5.loss_cls: 0.1822, d5.loss_bbox: 0.3795, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0271, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8273, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7835, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7744, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7772, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7804, d0.loss_map_cls_all: 0.2368, d0.loss_map_pts_all: 1.3202, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2368, d0.loss_map_pts: 1.3202, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2069, d1.loss_map_pts: 0.9087, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1863, d2.loss_map_pts: 0.7590, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1762, d3.loss_map_pts: 0.7063, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1711, d4.loss_map_pts: 0.6902, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1668, d5.loss_map_pts: 0.6813, d5.loss_map_dir: 0.0096, loss: 30.5491, grad_norm: 164.5303 +2026-02-25 20:20:31,105 - DriveTransformer - INFO - Epoch [5][29750/39528] lr: 9.337e-05, eta: 7 days, 2:19:08, time: 0.813, data_time: 0.048, memory: 19865, loss_cls: 0.2297, loss_bbox: 0.4354, loss_traj: 0.7321, loss_traj_cls: 0.0011, loss_map_cls: 0.1943, loss_map_pts: 0.7958, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.8483, d0.loss_plan_l1_fix_dist: 0.4232, d1.loss_plan_l1_fix_time: 1.3905, d1.loss_plan_l1_fix_dist: 0.2294, d2.loss_plan_l1_fix_time: 1.3752, d2.loss_plan_l1_fix_dist: 0.2343, d3.loss_plan_l1_fix_time: 1.3706, d3.loss_plan_l1_fix_dist: 0.2457, d4.loss_plan_l1_fix_time: 1.3720, d4.loss_plan_l1_fix_dist: 0.2594, d5.loss_plan_l1_fix_time: 1.3743, d5.loss_plan_l1_fix_dist: 0.2756, d6.loss_plan_l1_fix_time: 1.3777, d6.loss_plan_l1_fix_dist: 0.2962, d0.loss_cls_all: 0.2556, d0.loss_bbox_all: 0.5009, d0.loss_cls: 0.2556, d0.loss_bbox: 0.5009, d1.loss_cls: 0.2539, d1.loss_bbox: 0.4626, d2.loss_cls: 0.2448, d2.loss_bbox: 0.4434, d3.loss_cls: 0.2398, d3.loss_bbox: 0.4355, d4.loss_cls: 0.2323, d4.loss_bbox: 0.4329, d5.loss_cls: 0.2300, d5.loss_bbox: 0.4337, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9299, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7748, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7355, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7235, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7168, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7205, d0.loss_map_cls_all: 0.2502, d0.loss_map_pts_all: 1.4812, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2502, d0.loss_map_pts: 1.4812, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2225, d1.loss_map_pts: 1.0214, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2088, d2.loss_map_pts: 0.8680, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.2008, d3.loss_map_pts: 0.8228, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1977, d4.loss_map_pts: 0.8069, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1944, d5.loss_map_pts: 0.7971, d5.loss_map_dir: 0.0116, loss: 33.8830, grad_norm: 163.1485 +2026-02-25 20:21:11,810 - DriveTransformer - INFO - Epoch [5][29800/39528] lr: 9.337e-05, eta: 7 days, 2:18:29, time: 0.814, data_time: 0.046, memory: 19865, loss_cls: 0.1990, loss_bbox: 0.4098, loss_traj: 0.7828, loss_traj_cls: 0.0011, loss_map_cls: 0.2086, loss_map_pts: 0.7850, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.7448, d0.loss_plan_l1_fix_dist: 0.4201, d1.loss_plan_l1_fix_time: 1.3940, d1.loss_plan_l1_fix_dist: 0.2278, d2.loss_plan_l1_fix_time: 1.3855, d2.loss_plan_l1_fix_dist: 0.2370, d3.loss_plan_l1_fix_time: 1.3881, d3.loss_plan_l1_fix_dist: 0.2513, d4.loss_plan_l1_fix_time: 1.3923, d4.loss_plan_l1_fix_dist: 0.2682, d5.loss_plan_l1_fix_time: 1.3962, d5.loss_plan_l1_fix_dist: 0.2875, d6.loss_plan_l1_fix_time: 1.4001, d6.loss_plan_l1_fix_dist: 0.3125, d0.loss_cls_all: 0.2290, d0.loss_bbox_all: 0.4658, d0.loss_cls: 0.2290, d0.loss_bbox: 0.4658, d1.loss_cls: 0.2204, d1.loss_bbox: 0.4314, d2.loss_cls: 0.2080, d2.loss_bbox: 0.4157, d3.loss_cls: 0.2032, d3.loss_bbox: 0.4094, d4.loss_cls: 0.1988, d4.loss_bbox: 0.4093, d5.loss_cls: 0.1975, d5.loss_bbox: 0.4098, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1070, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8515, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7973, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7879, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7776, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7767, d0.loss_map_cls_all: 0.2652, d0.loss_map_pts_all: 1.5702, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2652, d0.loss_map_pts: 1.5702, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2382, d1.loss_map_pts: 1.0630, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2263, d2.loss_map_pts: 0.8787, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.2140, d3.loss_map_pts: 0.8196, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.2099, d4.loss_map_pts: 0.7966, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.2084, d5.loss_map_pts: 0.7862, d5.loss_map_dir: 0.0123, loss: 34.2957, grad_norm: 165.1712 +2026-02-25 20:21:53,066 - DriveTransformer - INFO - Epoch [5][29850/39528] lr: 9.337e-05, eta: 7 days, 2:17:53, time: 0.825, data_time: 0.044, memory: 19865, loss_cls: 0.2130, loss_bbox: 0.4020, loss_traj: 0.7780, loss_traj_cls: 0.0011, loss_map_cls: 0.2020, loss_map_pts: 0.8179, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.6426, d0.loss_plan_l1_fix_dist: 0.3795, d1.loss_plan_l1_fix_time: 1.4542, d1.loss_plan_l1_fix_dist: 0.2233, d2.loss_plan_l1_fix_time: 1.4500, d2.loss_plan_l1_fix_dist: 0.2256, d3.loss_plan_l1_fix_time: 1.4521, d3.loss_plan_l1_fix_dist: 0.2341, d4.loss_plan_l1_fix_time: 1.4550, d4.loss_plan_l1_fix_dist: 0.2448, d5.loss_plan_l1_fix_time: 1.4582, d5.loss_plan_l1_fix_dist: 0.2594, d6.loss_plan_l1_fix_time: 1.4618, d6.loss_plan_l1_fix_dist: 0.2775, d0.loss_cls_all: 0.2478, d0.loss_bbox_all: 0.4546, d0.loss_cls: 0.2478, d0.loss_bbox: 0.4546, d1.loss_cls: 0.2389, d1.loss_bbox: 0.4237, d2.loss_cls: 0.2250, d2.loss_bbox: 0.4076, d3.loss_cls: 0.2195, d3.loss_bbox: 0.3991, d4.loss_cls: 0.2168, d4.loss_bbox: 0.3962, d5.loss_cls: 0.2134, d5.loss_bbox: 0.3992, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9625, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8202, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7860, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7765, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7732, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7729, d0.loss_map_cls_all: 0.2625, d0.loss_map_pts_all: 1.6558, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2625, d0.loss_map_pts: 1.6558, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2342, d1.loss_map_pts: 1.1318, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2189, d2.loss_map_pts: 0.9256, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.2117, d3.loss_map_pts: 0.8567, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2057, d4.loss_map_pts: 0.8313, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.2032, d5.loss_map_pts: 0.8196, d5.loss_map_dir: 0.0125, loss: 34.6442, grad_norm: 165.3499 +2026-02-25 20:22:32,365 - DriveTransformer - INFO - Epoch [5][29900/39528] lr: 9.337e-05, eta: 7 days, 2:17:09, time: 0.786, data_time: 0.046, memory: 19865, loss_cls: 0.2280, loss_bbox: 0.4441, loss_traj: 0.9961, loss_traj_cls: 0.0011, loss_map_cls: 0.2128, loss_map_pts: 0.9214, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 3.1310, d0.loss_plan_l1_fix_dist: 0.3774, d1.loss_plan_l1_fix_time: 1.5170, d1.loss_plan_l1_fix_dist: 0.2283, d2.loss_plan_l1_fix_time: 1.4908, d2.loss_plan_l1_fix_dist: 0.2341, d3.loss_plan_l1_fix_time: 1.4928, d3.loss_plan_l1_fix_dist: 0.2469, d4.loss_plan_l1_fix_time: 1.4954, d4.loss_plan_l1_fix_dist: 0.2602, d5.loss_plan_l1_fix_time: 1.4983, d5.loss_plan_l1_fix_dist: 0.2760, d6.loss_plan_l1_fix_time: 1.5016, d6.loss_plan_l1_fix_dist: 0.2938, d0.loss_cls_all: 0.2619, d0.loss_bbox_all: 0.5094, d0.loss_cls: 0.2619, d0.loss_bbox: 0.5094, d1.loss_cls: 0.2511, d1.loss_bbox: 0.4738, d2.loss_cls: 0.2412, d2.loss_bbox: 0.4530, d3.loss_cls: 0.2362, d3.loss_bbox: 0.4448, d4.loss_cls: 0.2312, d4.loss_bbox: 0.4415, d5.loss_cls: 0.2287, d5.loss_bbox: 0.4428, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2504, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0582, d2.loss_traj_cls: 0.0016, d2.loss_traj: 1.0156, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9971, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9924, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9933, d0.loss_map_cls_all: 0.2785, d0.loss_map_pts_all: 1.6275, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2785, d0.loss_map_pts: 1.6275, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2505, d1.loss_map_pts: 1.2003, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2338, d2.loss_map_pts: 1.0325, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.2220, d3.loss_map_pts: 0.9618, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.2152, d4.loss_map_pts: 0.9331, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.2147, d5.loss_map_pts: 0.9222, d5.loss_map_dir: 0.0116, loss: 38.2329, grad_norm: 173.4662 +2026-02-25 20:23:12,598 - DriveTransformer - INFO - Epoch [5][29950/39528] lr: 9.337e-05, eta: 7 days, 2:16:28, time: 0.805, data_time: 0.047, memory: 19865, loss_cls: 0.2331, loss_bbox: 0.4174, loss_traj: 0.7091, loss_traj_cls: 0.0011, loss_map_cls: 0.2002, loss_map_pts: 0.8531, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.9283, d0.loss_plan_l1_fix_dist: 0.4158, d1.loss_plan_l1_fix_time: 1.3814, d1.loss_plan_l1_fix_dist: 0.2331, d2.loss_plan_l1_fix_time: 1.3600, d2.loss_plan_l1_fix_dist: 0.2458, d3.loss_plan_l1_fix_time: 1.3620, d3.loss_plan_l1_fix_dist: 0.2676, d4.loss_plan_l1_fix_time: 1.3666, d4.loss_plan_l1_fix_dist: 0.2875, d5.loss_plan_l1_fix_time: 1.3718, d5.loss_plan_l1_fix_dist: 0.3085, d6.loss_plan_l1_fix_time: 1.3774, d6.loss_plan_l1_fix_dist: 0.3310, d0.loss_cls_all: 0.2615, d0.loss_bbox_all: 0.4723, d0.loss_cls: 0.2615, d0.loss_bbox: 0.4723, d1.loss_cls: 0.2538, d1.loss_bbox: 0.4394, d2.loss_cls: 0.2430, d2.loss_bbox: 0.4232, d3.loss_cls: 0.2372, d3.loss_bbox: 0.4167, d4.loss_cls: 0.2346, d4.loss_bbox: 0.4138, d5.loss_cls: 0.2322, d5.loss_bbox: 0.4157, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9599, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7935, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7247, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7175, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7094, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7068, d0.loss_map_cls_all: 0.2618, d0.loss_map_pts_all: 1.6227, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2618, d0.loss_map_pts: 1.6227, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2353, d1.loss_map_pts: 1.1233, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2222, d2.loss_map_pts: 0.9482, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.2128, d3.loss_map_pts: 0.8829, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.2052, d4.loss_map_pts: 0.8577, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.2010, d5.loss_map_pts: 0.8516, d5.loss_map_dir: 0.0118, loss: 34.6448, grad_norm: 176.0819 +2026-02-25 20:23:53,699 - DriveTransformer - INFO - Epoch [5][30000/39528] lr: 9.337e-05, eta: 7 days, 2:15:51, time: 0.822, data_time: 0.042, memory: 19865, loss_cls: 0.2138, loss_bbox: 0.4456, loss_traj: 0.7749, loss_traj_cls: 0.0010, loss_map_cls: 0.2334, loss_map_pts: 0.9910, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.5945, d0.loss_plan_l1_fix_dist: 0.3784, d1.loss_plan_l1_fix_time: 1.4062, d1.loss_plan_l1_fix_dist: 0.1992, d2.loss_plan_l1_fix_time: 1.3892, d2.loss_plan_l1_fix_dist: 0.2067, d3.loss_plan_l1_fix_time: 1.3906, d3.loss_plan_l1_fix_dist: 0.2185, d4.loss_plan_l1_fix_time: 1.3943, d4.loss_plan_l1_fix_dist: 0.2309, d5.loss_plan_l1_fix_time: 1.3981, d5.loss_plan_l1_fix_dist: 0.2465, d6.loss_plan_l1_fix_time: 1.4023, d6.loss_plan_l1_fix_dist: 0.2713, d0.loss_cls_all: 0.2435, d0.loss_bbox_all: 0.4976, d0.loss_cls: 0.2435, d0.loss_bbox: 0.4976, d1.loss_cls: 0.2342, d1.loss_bbox: 0.4691, d2.loss_cls: 0.2268, d2.loss_bbox: 0.4494, d3.loss_cls: 0.2172, d3.loss_bbox: 0.4452, d4.loss_cls: 0.2148, d4.loss_bbox: 0.4426, d5.loss_cls: 0.2144, d5.loss_bbox: 0.4439, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0263, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8527, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7947, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7785, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7742, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7746, d0.loss_map_cls_all: 0.2997, d0.loss_map_pts_all: 1.8237, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2997, d0.loss_map_pts: 1.8237, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2696, d1.loss_map_pts: 1.2996, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2520, d2.loss_map_pts: 1.1064, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.2431, d3.loss_map_pts: 1.0331, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.2370, d4.loss_map_pts: 1.0063, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.2347, d5.loss_map_pts: 0.9908, d5.loss_map_dir: 0.0121, loss: 36.2424, grad_norm: 175.9994 +2026-02-25 20:24:33,802 - DriveTransformer - INFO - Epoch [5][30050/39528] lr: 9.337e-05, eta: 7 days, 2:15:10, time: 0.802, data_time: 0.045, memory: 19865, loss_cls: 0.2215, loss_bbox: 0.4219, loss_traj: 0.8529, loss_traj_cls: 0.0010, loss_map_cls: 0.2205, loss_map_pts: 0.9608, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 3.0690, d0.loss_plan_l1_fix_dist: 0.4216, d1.loss_plan_l1_fix_time: 1.4980, d1.loss_plan_l1_fix_dist: 0.2087, d2.loss_plan_l1_fix_time: 1.4796, d2.loss_plan_l1_fix_dist: 0.2159, d3.loss_plan_l1_fix_time: 1.4809, d3.loss_plan_l1_fix_dist: 0.2293, d4.loss_plan_l1_fix_time: 1.4835, d4.loss_plan_l1_fix_dist: 0.2451, d5.loss_plan_l1_fix_time: 1.4864, d5.loss_plan_l1_fix_dist: 0.2613, d6.loss_plan_l1_fix_time: 1.4902, d6.loss_plan_l1_fix_dist: 0.2809, d0.loss_cls_all: 0.2565, d0.loss_bbox_all: 0.4787, d0.loss_cls: 0.2565, d0.loss_bbox: 0.4787, d1.loss_cls: 0.2444, d1.loss_bbox: 0.4489, d2.loss_cls: 0.2329, d2.loss_bbox: 0.4287, d3.loss_cls: 0.2265, d3.loss_bbox: 0.4229, d4.loss_cls: 0.2236, d4.loss_bbox: 0.4201, d5.loss_cls: 0.2225, d5.loss_bbox: 0.4197, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1035, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9210, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8680, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8593, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8523, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8503, d0.loss_map_cls_all: 0.2720, d0.loss_map_pts_all: 1.7590, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2720, d0.loss_map_pts: 1.7590, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2529, d1.loss_map_pts: 1.2694, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2344, d2.loss_map_pts: 1.0747, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2280, d3.loss_map_pts: 0.9967, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.2223, d4.loss_map_pts: 0.9723, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.2214, d5.loss_map_pts: 0.9632, d5.loss_map_dir: 0.0121, loss: 37.3390, grad_norm: 173.8948 +2026-02-25 20:25:16,815 - DriveTransformer - INFO - Epoch [5][30100/39528] lr: 9.337e-05, eta: 7 days, 2:14:41, time: 0.860, data_time: 0.046, memory: 19865, loss_cls: 0.2180, loss_bbox: 0.4076, loss_traj: 0.7492, loss_traj_cls: 0.0010, loss_map_cls: 0.2033, loss_map_pts: 0.9504, loss_map_dir: 0.0146, d0.loss_plan_l1_fix_time: 2.5999, d0.loss_plan_l1_fix_dist: 0.3818, d1.loss_plan_l1_fix_time: 1.2074, d1.loss_plan_l1_fix_dist: 0.2018, d2.loss_plan_l1_fix_time: 1.1703, d2.loss_plan_l1_fix_dist: 0.2126, d3.loss_plan_l1_fix_time: 1.1682, d3.loss_plan_l1_fix_dist: 0.2309, d4.loss_plan_l1_fix_time: 1.1707, d4.loss_plan_l1_fix_dist: 0.2495, d5.loss_plan_l1_fix_time: 1.1740, d5.loss_plan_l1_fix_dist: 0.2685, d6.loss_plan_l1_fix_time: 1.1787, d6.loss_plan_l1_fix_dist: 0.2823, d0.loss_cls_all: 0.2503, d0.loss_bbox_all: 0.4675, d0.loss_cls: 0.2503, d0.loss_bbox: 0.4675, d1.loss_cls: 0.2400, d1.loss_bbox: 0.4314, d2.loss_cls: 0.2303, d2.loss_bbox: 0.4170, d3.loss_cls: 0.2227, d3.loss_bbox: 0.4108, d4.loss_cls: 0.2182, d4.loss_bbox: 0.4091, d5.loss_cls: 0.2187, d5.loss_bbox: 0.4079, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9680, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8174, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7711, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7592, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7528, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7431, d0.loss_map_cls_all: 0.2713, d0.loss_map_pts_all: 1.9365, d0.loss_map_dir_all: 0.0137, d0.loss_map_cls: 0.2713, d0.loss_map_pts: 1.9365, d0.loss_map_dir: 0.0137, d1.loss_map_cls: 0.2419, d1.loss_map_pts: 1.2758, d1.loss_map_dir: 0.0130, d2.loss_map_cls: 0.2266, d2.loss_map_pts: 1.0563, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2137, d3.loss_map_pts: 0.9866, d3.loss_map_dir: 0.0141, d4.loss_map_cls: 0.2075, d4.loss_map_pts: 0.9614, d4.loss_map_dir: 0.0144, d5.loss_map_cls: 0.2043, d5.loss_map_pts: 0.9541, d5.loss_map_dir: 0.0145, loss: 34.3408, grad_norm: 173.0235 +2026-02-25 20:25:55,931 - DriveTransformer - INFO - Epoch [5][30150/39528] lr: 9.337e-05, eta: 7 days, 2:13:56, time: 0.782, data_time: 0.041, memory: 19865, loss_cls: 0.2149, loss_bbox: 0.4097, loss_traj: 0.7760, loss_traj_cls: 0.0010, loss_map_cls: 0.2016, loss_map_pts: 0.7314, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.7870, d0.loss_plan_l1_fix_dist: 0.4200, d1.loss_plan_l1_fix_time: 1.3028, d1.loss_plan_l1_fix_dist: 0.2078, d2.loss_plan_l1_fix_time: 1.2932, d2.loss_plan_l1_fix_dist: 0.2138, d3.loss_plan_l1_fix_time: 1.2916, d3.loss_plan_l1_fix_dist: 0.2235, d4.loss_plan_l1_fix_time: 1.2945, d4.loss_plan_l1_fix_dist: 0.2344, d5.loss_plan_l1_fix_time: 1.2979, d5.loss_plan_l1_fix_dist: 0.2480, d6.loss_plan_l1_fix_time: 1.3011, d6.loss_plan_l1_fix_dist: 0.2637, d0.loss_cls_all: 0.2447, d0.loss_bbox_all: 0.4691, d0.loss_cls: 0.2447, d0.loss_bbox: 0.4691, d1.loss_cls: 0.2378, d1.loss_bbox: 0.4403, d2.loss_cls: 0.2274, d2.loss_bbox: 0.4217, d3.loss_cls: 0.2199, d3.loss_bbox: 0.4139, d4.loss_cls: 0.2153, d4.loss_bbox: 0.4130, d5.loss_cls: 0.2125, d5.loss_bbox: 0.4131, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0050, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8452, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7906, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7818, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7818, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7765, d0.loss_map_cls_all: 0.2641, d0.loss_map_pts_all: 1.4103, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2641, d0.loss_map_pts: 1.4103, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2357, d1.loss_map_pts: 0.9649, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2208, d2.loss_map_pts: 0.8079, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.2109, d3.loss_map_pts: 0.7548, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.2047, d4.loss_map_pts: 0.7367, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.2024, d5.loss_map_pts: 0.7311, d5.loss_map_dir: 0.0106, loss: 32.8438, grad_norm: 172.3340 +2026-02-25 20:26:37,620 - DriveTransformer - INFO - Epoch [5][30200/39528] lr: 9.337e-05, eta: 7 days, 2:13:21, time: 0.834, data_time: 0.043, memory: 19865, loss_cls: 0.2381, loss_bbox: 0.4453, loss_traj: 0.8094, loss_traj_cls: 0.0010, loss_map_cls: 0.2119, loss_map_pts: 0.9659, loss_map_dir: 0.0141, d0.loss_plan_l1_fix_time: 2.6391, d0.loss_plan_l1_fix_dist: 0.3945, d1.loss_plan_l1_fix_time: 1.2552, d1.loss_plan_l1_fix_dist: 0.2091, d2.loss_plan_l1_fix_time: 1.2513, d2.loss_plan_l1_fix_dist: 0.2178, d3.loss_plan_l1_fix_time: 1.2527, d3.loss_plan_l1_fix_dist: 0.2320, d4.loss_plan_l1_fix_time: 1.2558, d4.loss_plan_l1_fix_dist: 0.2504, d5.loss_plan_l1_fix_time: 1.2589, d5.loss_plan_l1_fix_dist: 0.2704, d6.loss_plan_l1_fix_time: 1.2625, d6.loss_plan_l1_fix_dist: 0.2925, d0.loss_cls_all: 0.2695, d0.loss_bbox_all: 0.5081, d0.loss_cls: 0.2695, d0.loss_bbox: 0.5081, d1.loss_cls: 0.2623, d1.loss_bbox: 0.4734, d2.loss_cls: 0.2525, d2.loss_bbox: 0.4563, d3.loss_cls: 0.2417, d3.loss_bbox: 0.4514, d4.loss_cls: 0.2370, d4.loss_bbox: 0.4491, d5.loss_cls: 0.2376, d5.loss_bbox: 0.4461, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9815, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8598, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8294, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8225, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8150, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8122, d0.loss_map_cls_all: 0.2736, d0.loss_map_pts_all: 1.7995, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2736, d0.loss_map_pts: 1.7995, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2478, d1.loss_map_pts: 1.2202, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2318, d2.loss_map_pts: 1.0435, d2.loss_map_dir: 0.0131, d3.loss_map_cls: 0.2231, d3.loss_map_pts: 0.9882, d3.loss_map_dir: 0.0136, d4.loss_map_cls: 0.2165, d4.loss_map_pts: 0.9734, d4.loss_map_dir: 0.0139, d5.loss_map_cls: 0.2120, d5.loss_map_pts: 0.9685, d5.loss_map_dir: 0.0140, loss: 35.4812, grad_norm: 167.0769 +2026-02-25 20:27:20,011 - DriveTransformer - INFO - Epoch [5][30250/39528] lr: 9.337e-05, eta: 7 days, 2:12:49, time: 0.848, data_time: 0.042, memory: 19865, loss_cls: 0.2042, loss_bbox: 0.3772, loss_traj: 0.6559, loss_traj_cls: 0.0010, loss_map_cls: 0.1974, loss_map_pts: 0.8892, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 2.4905, d0.loss_plan_l1_fix_dist: 0.4678, d1.loss_plan_l1_fix_time: 1.0735, d1.loss_plan_l1_fix_dist: 0.2035, d2.loss_plan_l1_fix_time: 1.0641, d2.loss_plan_l1_fix_dist: 0.2134, d3.loss_plan_l1_fix_time: 1.0638, d3.loss_plan_l1_fix_dist: 0.2287, d4.loss_plan_l1_fix_time: 1.0675, d4.loss_plan_l1_fix_dist: 0.2469, d5.loss_plan_l1_fix_time: 1.0720, d5.loss_plan_l1_fix_dist: 0.2676, d6.loss_plan_l1_fix_time: 1.0774, d6.loss_plan_l1_fix_dist: 0.2884, d0.loss_cls_all: 0.2361, d0.loss_bbox_all: 0.4291, d0.loss_cls: 0.2361, d0.loss_bbox: 0.4291, d1.loss_cls: 0.2285, d1.loss_bbox: 0.3982, d2.loss_cls: 0.2180, d2.loss_bbox: 0.3822, d3.loss_cls: 0.2069, d3.loss_bbox: 0.3775, d4.loss_cls: 0.2045, d4.loss_bbox: 0.3755, d5.loss_cls: 0.2045, d5.loss_bbox: 0.3762, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8664, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7153, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6624, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6595, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6586, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6545, d0.loss_map_cls_all: 0.2573, d0.loss_map_pts_all: 1.7324, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2573, d0.loss_map_pts: 1.7324, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2308, d1.loss_map_pts: 1.1684, d1.loss_map_dir: 0.0126, d2.loss_map_cls: 0.2164, d2.loss_map_pts: 0.9762, d2.loss_map_dir: 0.0133, d3.loss_map_cls: 0.2072, d3.loss_map_pts: 0.9171, d3.loss_map_dir: 0.0138, d4.loss_map_cls: 0.2032, d4.loss_map_pts: 0.9002, d4.loss_map_dir: 0.0142, d5.loss_map_cls: 0.1995, d5.loss_map_pts: 0.8923, d5.loss_map_dir: 0.0143, loss: 31.6739, grad_norm: 161.2570 +2026-02-25 20:27:59,160 - DriveTransformer - INFO - Epoch [5][30300/39528] lr: 9.337e-05, eta: 7 days, 2:12:04, time: 0.783, data_time: 0.044, memory: 19865, loss_cls: 0.1845, loss_bbox: 0.3744, loss_traj: 0.7718, loss_traj_cls: 0.0010, loss_map_cls: 0.1576, loss_map_pts: 0.6006, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.8655, d0.loss_plan_l1_fix_dist: 0.4369, d1.loss_plan_l1_fix_time: 1.1474, d1.loss_plan_l1_fix_dist: 0.1891, d2.loss_plan_l1_fix_time: 1.1413, d2.loss_plan_l1_fix_dist: 0.1976, d3.loss_plan_l1_fix_time: 1.1429, d3.loss_plan_l1_fix_dist: 0.2114, d4.loss_plan_l1_fix_time: 1.1464, d4.loss_plan_l1_fix_dist: 0.2286, d5.loss_plan_l1_fix_time: 1.1501, d5.loss_plan_l1_fix_dist: 0.2469, d6.loss_plan_l1_fix_time: 1.1543, d6.loss_plan_l1_fix_dist: 0.2671, d0.loss_cls_all: 0.2237, d0.loss_bbox_all: 0.4237, d0.loss_cls: 0.2237, d0.loss_bbox: 0.4237, d1.loss_cls: 0.2112, d1.loss_bbox: 0.3969, d2.loss_cls: 0.1961, d2.loss_bbox: 0.3801, d3.loss_cls: 0.1900, d3.loss_bbox: 0.3727, d4.loss_cls: 0.1857, d4.loss_bbox: 0.3723, d5.loss_cls: 0.1845, d5.loss_bbox: 0.3722, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9574, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8305, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7893, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7835, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7762, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7712, d0.loss_map_cls_all: 0.2108, d0.loss_map_pts_all: 1.2218, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2108, d0.loss_map_pts: 1.2218, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1838, d1.loss_map_pts: 0.8188, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1743, d2.loss_map_pts: 0.6808, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1658, d3.loss_map_pts: 0.6295, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1610, d4.loss_map_pts: 0.6081, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1581, d5.loss_map_pts: 0.6038, d5.loss_map_dir: 0.0090, loss: 29.8044, grad_norm: 159.5354 +2026-02-25 20:28:41,392 - DriveTransformer - INFO - Epoch [5][30350/39528] lr: 9.337e-05, eta: 7 days, 2:11:32, time: 0.845, data_time: 0.047, memory: 19865, loss_cls: 0.1958, loss_bbox: 0.3782, loss_traj: 0.6614, loss_traj_cls: 0.0010, loss_map_cls: 0.2030, loss_map_pts: 0.8638, loss_map_dir: 0.0135, d0.loss_plan_l1_fix_time: 2.5084, d0.loss_plan_l1_fix_dist: 0.4774, d1.loss_plan_l1_fix_time: 1.3189, d1.loss_plan_l1_fix_dist: 0.2135, d2.loss_plan_l1_fix_time: 1.3011, d2.loss_plan_l1_fix_dist: 0.2311, d3.loss_plan_l1_fix_time: 1.3158, d3.loss_plan_l1_fix_dist: 0.2527, d4.loss_plan_l1_fix_time: 1.3232, d4.loss_plan_l1_fix_dist: 0.2719, d5.loss_plan_l1_fix_time: 1.3306, d5.loss_plan_l1_fix_dist: 0.2911, d6.loss_plan_l1_fix_time: 1.3389, d6.loss_plan_l1_fix_dist: 0.3098, d0.loss_cls_all: 0.2285, d0.loss_bbox_all: 0.4388, d0.loss_cls: 0.2285, d0.loss_bbox: 0.4388, d1.loss_cls: 0.2229, d1.loss_bbox: 0.4039, d2.loss_cls: 0.2098, d2.loss_bbox: 0.3874, d3.loss_cls: 0.2010, d3.loss_bbox: 0.3807, d4.loss_cls: 0.1984, d4.loss_bbox: 0.3775, d5.loss_cls: 0.1960, d5.loss_bbox: 0.3765, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8876, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7324, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6926, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6770, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6702, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6648, d0.loss_map_cls_all: 0.2646, d0.loss_map_pts_all: 1.7363, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2646, d0.loss_map_pts: 1.7363, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2413, d1.loss_map_pts: 1.1969, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2245, d2.loss_map_pts: 0.9893, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2146, d3.loss_map_pts: 0.9117, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.2077, d4.loss_map_pts: 0.8806, d4.loss_map_dir: 0.0131, d5.loss_map_cls: 0.2045, d5.loss_map_pts: 0.8700, d5.loss_map_dir: 0.0133, loss: 33.4498, grad_norm: 161.8656 +2026-02-25 20:29:22,072 - DriveTransformer - INFO - Epoch [5][30400/39528] lr: 9.337e-05, eta: 7 days, 2:10:53, time: 0.815, data_time: 0.048, memory: 19865, loss_cls: 0.1840, loss_bbox: 0.3762, loss_traj: 0.7730, loss_traj_cls: 0.0010, loss_map_cls: 0.1808, loss_map_pts: 0.7511, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.8226, d0.loss_plan_l1_fix_dist: 0.3573, d1.loss_plan_l1_fix_time: 1.4311, d1.loss_plan_l1_fix_dist: 0.1972, d2.loss_plan_l1_fix_time: 1.4240, d2.loss_plan_l1_fix_dist: 0.2053, d3.loss_plan_l1_fix_time: 1.4309, d3.loss_plan_l1_fix_dist: 0.2213, d4.loss_plan_l1_fix_time: 1.4366, d4.loss_plan_l1_fix_dist: 0.2384, d5.loss_plan_l1_fix_time: 1.4428, d5.loss_plan_l1_fix_dist: 0.2580, d6.loss_plan_l1_fix_time: 1.4501, d6.loss_plan_l1_fix_dist: 0.2796, d0.loss_cls_all: 0.2166, d0.loss_bbox_all: 0.4399, d0.loss_cls: 0.2166, d0.loss_bbox: 0.4399, d1.loss_cls: 0.2055, d1.loss_bbox: 0.4066, d2.loss_cls: 0.1983, d2.loss_bbox: 0.3854, d3.loss_cls: 0.1892, d3.loss_bbox: 0.3786, d4.loss_cls: 0.1862, d4.loss_bbox: 0.3770, d5.loss_cls: 0.1843, d5.loss_bbox: 0.3760, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0852, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8596, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8025, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7882, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7728, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7705, d0.loss_map_cls_all: 0.2423, d0.loss_map_pts_all: 1.4651, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2423, d0.loss_map_pts: 1.4651, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2193, d1.loss_map_pts: 1.0116, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1988, d2.loss_map_pts: 0.8373, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1915, d3.loss_map_pts: 0.7824, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1865, d4.loss_map_pts: 0.7603, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1823, d5.loss_map_pts: 0.7523, d5.loss_map_dir: 0.0089, loss: 33.3516, grad_norm: 161.9654 +2026-02-25 20:30:02,579 - DriveTransformer - INFO - Epoch [5][30450/39528] lr: 9.337e-05, eta: 7 days, 2:10:13, time: 0.809, data_time: 0.040, memory: 19865, loss_cls: 0.2119, loss_bbox: 0.4033, loss_traj: 0.7635, loss_traj_cls: 0.0010, loss_map_cls: 0.1765, loss_map_pts: 0.7745, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.6481, d0.loss_plan_l1_fix_dist: 0.4698, d1.loss_plan_l1_fix_time: 1.2267, d1.loss_plan_l1_fix_dist: 0.2269, d2.loss_plan_l1_fix_time: 1.2100, d2.loss_plan_l1_fix_dist: 0.2304, d3.loss_plan_l1_fix_time: 1.2129, d3.loss_plan_l1_fix_dist: 0.2416, d4.loss_plan_l1_fix_time: 1.2166, d4.loss_plan_l1_fix_dist: 0.2552, d5.loss_plan_l1_fix_time: 1.2208, d5.loss_plan_l1_fix_dist: 0.2684, d6.loss_plan_l1_fix_time: 1.2260, d6.loss_plan_l1_fix_dist: 0.2812, d0.loss_cls_all: 0.2522, d0.loss_bbox_all: 0.4607, d0.loss_cls: 0.2522, d0.loss_bbox: 0.4607, d1.loss_cls: 0.2418, d1.loss_bbox: 0.4272, d2.loss_cls: 0.2281, d2.loss_bbox: 0.4112, d3.loss_cls: 0.2184, d3.loss_bbox: 0.4035, d4.loss_cls: 0.2147, d4.loss_bbox: 0.4011, d5.loss_cls: 0.2110, d5.loss_bbox: 0.4032, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0248, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8139, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7681, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7490, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7577, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7623, d0.loss_map_cls_all: 0.2309, d0.loss_map_pts_all: 1.4677, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2309, d0.loss_map_pts: 1.4677, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2064, d1.loss_map_pts: 1.0095, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.1928, d2.loss_map_pts: 0.8628, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.1851, d3.loss_map_pts: 0.7983, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1808, d4.loss_map_pts: 0.7794, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1775, d5.loss_map_pts: 0.7717, d5.loss_map_dir: 0.0117, loss: 32.3852, grad_norm: 165.5541 +2026-02-25 20:30:44,207 - DriveTransformer - INFO - Epoch [5][30500/39528] lr: 9.337e-05, eta: 7 days, 2:09:38, time: 0.833, data_time: 0.044, memory: 19865, loss_cls: 0.1955, loss_bbox: 0.4020, loss_traj: 0.7339, loss_traj_cls: 0.0010, loss_map_cls: 0.1889, loss_map_pts: 0.7904, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.6094, d0.loss_plan_l1_fix_dist: 0.4047, d1.loss_plan_l1_fix_time: 1.2996, d1.loss_plan_l1_fix_dist: 0.2226, d2.loss_plan_l1_fix_time: 1.2912, d2.loss_plan_l1_fix_dist: 0.2359, d3.loss_plan_l1_fix_time: 1.2985, d3.loss_plan_l1_fix_dist: 0.2537, d4.loss_plan_l1_fix_time: 1.3054, d4.loss_plan_l1_fix_dist: 0.2718, d5.loss_plan_l1_fix_time: 1.3129, d5.loss_plan_l1_fix_dist: 0.2914, d6.loss_plan_l1_fix_time: 1.3217, d6.loss_plan_l1_fix_dist: 0.3162, d0.loss_cls_all: 0.2256, d0.loss_bbox_all: 0.4538, d0.loss_cls: 0.2256, d0.loss_bbox: 0.4538, d1.loss_cls: 0.2151, d1.loss_bbox: 0.4286, d2.loss_cls: 0.2036, d2.loss_bbox: 0.4118, d3.loss_cls: 0.1971, d3.loss_bbox: 0.4044, d4.loss_cls: 0.1967, d4.loss_bbox: 0.4035, d5.loss_cls: 0.1940, d5.loss_bbox: 0.4042, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9504, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8027, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7480, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7371, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7254, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7298, d0.loss_map_cls_all: 0.2455, d0.loss_map_pts_all: 1.4750, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2455, d0.loss_map_pts: 1.4750, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2210, d1.loss_map_pts: 1.0464, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2082, d2.loss_map_pts: 0.8838, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1985, d3.loss_map_pts: 0.8168, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1945, d4.loss_map_pts: 0.7936, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1910, d5.loss_map_pts: 0.7868, d5.loss_map_dir: 0.0104, loss: 32.7273, grad_norm: 156.7927 +2026-02-25 20:31:24,771 - DriveTransformer - INFO - Epoch [5][30550/39528] lr: 9.337e-05, eta: 7 days, 2:08:59, time: 0.811, data_time: 0.046, memory: 19865, loss_cls: 0.2095, loss_bbox: 0.4167, loss_traj: 0.5258, loss_traj_cls: 0.0010, loss_map_cls: 0.1963, loss_map_pts: 0.8752, loss_map_dir: 0.0143, d0.loss_plan_l1_fix_time: 2.6590, d0.loss_plan_l1_fix_dist: 0.5062, d1.loss_plan_l1_fix_time: 1.1664, d1.loss_plan_l1_fix_dist: 0.2216, d2.loss_plan_l1_fix_time: 1.1493, d2.loss_plan_l1_fix_dist: 0.2375, d3.loss_plan_l1_fix_time: 1.1497, d3.loss_plan_l1_fix_dist: 0.2556, d4.loss_plan_l1_fix_time: 1.1526, d4.loss_plan_l1_fix_dist: 0.2759, d5.loss_plan_l1_fix_time: 1.1563, d5.loss_plan_l1_fix_dist: 0.2976, d6.loss_plan_l1_fix_time: 1.1609, d6.loss_plan_l1_fix_dist: 0.3220, d0.loss_cls_all: 0.2451, d0.loss_bbox_all: 0.4787, d0.loss_cls: 0.2451, d0.loss_bbox: 0.4787, d1.loss_cls: 0.2389, d1.loss_bbox: 0.4452, d2.loss_cls: 0.2252, d2.loss_bbox: 0.4277, d3.loss_cls: 0.2171, d3.loss_bbox: 0.4203, d4.loss_cls: 0.2144, d4.loss_bbox: 0.4168, d5.loss_cls: 0.2105, d5.loss_bbox: 0.4164, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6495, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5569, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5361, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5282, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5272, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5253, d0.loss_map_cls_all: 0.2605, d0.loss_map_pts_all: 1.7196, d0.loss_map_dir_all: 0.0132, d0.loss_map_cls: 0.2605, d0.loss_map_pts: 1.7196, d0.loss_map_dir: 0.0132, d1.loss_map_cls: 0.2336, d1.loss_map_pts: 1.1688, d1.loss_map_dir: 0.0126, d2.loss_map_cls: 0.2189, d2.loss_map_pts: 0.9808, d2.loss_map_dir: 0.0132, d3.loss_map_cls: 0.2089, d3.loss_map_pts: 0.9098, d3.loss_map_dir: 0.0138, d4.loss_map_cls: 0.2033, d4.loss_map_pts: 0.8837, d4.loss_map_dir: 0.0141, d5.loss_map_cls: 0.1990, d5.loss_map_pts: 0.8758, d5.loss_map_dir: 0.0143, loss: 31.8964, grad_norm: 164.7173 +2026-02-25 20:32:06,153 - DriveTransformer - INFO - Epoch [5][30600/39528] lr: 9.337e-05, eta: 7 days, 2:08:23, time: 0.827, data_time: 0.047, memory: 19865, loss_cls: 0.2018, loss_bbox: 0.4150, loss_traj: 0.7293, loss_traj_cls: 0.0010, loss_map_cls: 0.1877, loss_map_pts: 0.8876, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.4143, d0.loss_plan_l1_fix_dist: 0.4287, d1.loss_plan_l1_fix_time: 1.2672, d1.loss_plan_l1_fix_dist: 0.2345, d2.loss_plan_l1_fix_time: 1.2436, d2.loss_plan_l1_fix_dist: 0.2404, d3.loss_plan_l1_fix_time: 1.2434, d3.loss_plan_l1_fix_dist: 0.2536, d4.loss_plan_l1_fix_time: 1.2476, d4.loss_plan_l1_fix_dist: 0.2690, d5.loss_plan_l1_fix_time: 1.2519, d5.loss_plan_l1_fix_dist: 0.2847, d6.loss_plan_l1_fix_time: 1.2573, d6.loss_plan_l1_fix_dist: 0.2996, d0.loss_cls_all: 0.2302, d0.loss_bbox_all: 0.4702, d0.loss_cls: 0.2302, d0.loss_bbox: 0.4702, d1.loss_cls: 0.2237, d1.loss_bbox: 0.4385, d2.loss_cls: 0.2098, d2.loss_bbox: 0.4243, d3.loss_cls: 0.2029, d3.loss_bbox: 0.4202, d4.loss_cls: 0.2009, d4.loss_bbox: 0.4160, d5.loss_cls: 0.2013, d5.loss_bbox: 0.4149, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8601, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7796, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7582, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7356, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7290, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7265, d0.loss_map_cls_all: 0.2560, d0.loss_map_pts_all: 1.7786, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2560, d0.loss_map_pts: 1.7786, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2308, d1.loss_map_pts: 1.1949, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2107, d2.loss_map_pts: 0.9936, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1994, d3.loss_map_pts: 0.9248, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.1918, d4.loss_map_pts: 0.8984, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1896, d5.loss_map_pts: 0.8891, d5.loss_map_dir: 0.0117, loss: 33.5890, grad_norm: 164.3489 +2026-02-25 20:32:48,093 - DriveTransformer - INFO - Epoch [5][30650/39528] lr: 9.337e-05, eta: 7 days, 2:07:50, time: 0.839, data_time: 0.045, memory: 19865, loss_cls: 0.1914, loss_bbox: 0.3901, loss_traj: 0.6963, loss_traj_cls: 0.0010, loss_map_cls: 0.1787, loss_map_pts: 0.7730, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.9017, d0.loss_plan_l1_fix_dist: 0.3772, d1.loss_plan_l1_fix_time: 1.2755, d1.loss_plan_l1_fix_dist: 0.2163, d2.loss_plan_l1_fix_time: 1.2474, d2.loss_plan_l1_fix_dist: 0.2285, d3.loss_plan_l1_fix_time: 1.2417, d3.loss_plan_l1_fix_dist: 0.2459, d4.loss_plan_l1_fix_time: 1.2439, d4.loss_plan_l1_fix_dist: 0.2637, d5.loss_plan_l1_fix_time: 1.2466, d5.loss_plan_l1_fix_dist: 0.2842, d6.loss_plan_l1_fix_time: 1.2495, d6.loss_plan_l1_fix_dist: 0.3066, d0.loss_cls_all: 0.2210, d0.loss_bbox_all: 0.4416, d0.loss_cls: 0.2210, d0.loss_bbox: 0.4416, d1.loss_cls: 0.2146, d1.loss_bbox: 0.4133, d2.loss_cls: 0.2028, d2.loss_bbox: 0.3982, d3.loss_cls: 0.1954, d3.loss_bbox: 0.3951, d4.loss_cls: 0.1919, d4.loss_bbox: 0.3914, d5.loss_cls: 0.1910, d5.loss_bbox: 0.3907, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9203, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7467, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6981, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6913, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6867, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6948, d0.loss_map_cls_all: 0.2418, d0.loss_map_pts_all: 1.5970, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2418, d0.loss_map_pts: 1.5970, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2168, d1.loss_map_pts: 1.0427, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.1998, d2.loss_map_pts: 0.8644, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.1909, d3.loss_map_pts: 0.8024, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.1842, d4.loss_map_pts: 0.7831, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1805, d5.loss_map_pts: 0.7740, d5.loss_map_dir: 0.0121, loss: 32.3218, grad_norm: 162.2526 +2026-02-25 20:33:28,410 - DriveTransformer - INFO - Epoch [5][30700/39528] lr: 9.337e-05, eta: 7 days, 2:07:09, time: 0.807, data_time: 0.046, memory: 19865, loss_cls: 0.1983, loss_bbox: 0.4011, loss_traj: 0.6589, loss_traj_cls: 0.0010, loss_map_cls: 0.1918, loss_map_pts: 0.8061, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.4689, d0.loss_plan_l1_fix_dist: 0.3630, d1.loss_plan_l1_fix_time: 1.2465, d1.loss_plan_l1_fix_dist: 0.1841, d2.loss_plan_l1_fix_time: 1.2348, d2.loss_plan_l1_fix_dist: 0.1933, d3.loss_plan_l1_fix_time: 1.2382, d3.loss_plan_l1_fix_dist: 0.2114, d4.loss_plan_l1_fix_time: 1.2427, d4.loss_plan_l1_fix_dist: 0.2338, d5.loss_plan_l1_fix_time: 1.2474, d5.loss_plan_l1_fix_dist: 0.2556, d6.loss_plan_l1_fix_time: 1.2520, d6.loss_plan_l1_fix_dist: 0.2802, d0.loss_cls_all: 0.2209, d0.loss_bbox_all: 0.4667, d0.loss_cls: 0.2209, d0.loss_bbox: 0.4667, d1.loss_cls: 0.2148, d1.loss_bbox: 0.4333, d2.loss_cls: 0.2091, d2.loss_bbox: 0.4095, d3.loss_cls: 0.2011, d3.loss_bbox: 0.4029, d4.loss_cls: 0.1994, d4.loss_bbox: 0.3998, d5.loss_cls: 0.1977, d5.loss_bbox: 0.4006, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8496, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7021, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6646, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6575, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6608, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6584, d0.loss_map_cls_all: 0.2516, d0.loss_map_pts_all: 1.5145, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2516, d0.loss_map_pts: 1.5145, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2292, d1.loss_map_pts: 1.0425, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2107, d2.loss_map_pts: 0.8942, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.2016, d3.loss_map_pts: 0.8344, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.1956, d4.loss_map_pts: 0.8176, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.1935, d5.loss_map_pts: 0.8102, d5.loss_map_dir: 0.0122, loss: 31.6088, grad_norm: 162.1122 +2026-02-25 20:34:08,569 - DriveTransformer - INFO - Epoch [5][30750/39528] lr: 9.337e-05, eta: 7 days, 2:06:29, time: 0.803, data_time: 0.044, memory: 19865, loss_cls: 0.2166, loss_bbox: 0.4267, loss_traj: 0.7616, loss_traj_cls: 0.0010, loss_map_cls: 0.1819, loss_map_pts: 0.7807, loss_map_dir: 0.0132, d0.loss_plan_l1_fix_time: 2.6114, d0.loss_plan_l1_fix_dist: 0.4953, d1.loss_plan_l1_fix_time: 1.3599, d1.loss_plan_l1_fix_dist: 0.2458, d2.loss_plan_l1_fix_time: 1.3497, d2.loss_plan_l1_fix_dist: 0.2571, d3.loss_plan_l1_fix_time: 1.3469, d3.loss_plan_l1_fix_dist: 0.2739, d4.loss_plan_l1_fix_time: 1.3498, d4.loss_plan_l1_fix_dist: 0.2915, d5.loss_plan_l1_fix_time: 1.3537, d5.loss_plan_l1_fix_dist: 0.3112, d6.loss_plan_l1_fix_time: 1.3583, d6.loss_plan_l1_fix_dist: 0.3303, d0.loss_cls_all: 0.2541, d0.loss_bbox_all: 0.4841, d0.loss_cls: 0.2541, d0.loss_bbox: 0.4841, d1.loss_cls: 0.2479, d1.loss_bbox: 0.4527, d2.loss_cls: 0.2322, d2.loss_bbox: 0.4356, d3.loss_cls: 0.2256, d3.loss_bbox: 0.4274, d4.loss_cls: 0.2214, d4.loss_bbox: 0.4225, d5.loss_cls: 0.2174, d5.loss_bbox: 0.4243, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9571, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7994, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7613, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7558, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7568, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7585, d0.loss_map_cls_all: 0.2510, d0.loss_map_pts_all: 1.5494, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.2510, d0.loss_map_pts: 1.5494, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.2237, d1.loss_map_pts: 1.0486, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2073, d2.loss_map_pts: 0.8817, d2.loss_map_dir: 0.0123, d3.loss_map_cls: 0.1945, d3.loss_map_pts: 0.8144, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.1868, d4.loss_map_pts: 0.7912, d4.loss_map_dir: 0.0131, d5.loss_map_cls: 0.1840, d5.loss_map_pts: 0.7843, d5.loss_map_dir: 0.0131, loss: 33.8998, grad_norm: 163.4077 +2026-02-25 20:34:49,305 - DriveTransformer - INFO - Epoch [5][30800/39528] lr: 9.337e-05, eta: 7 days, 2:05:50, time: 0.815, data_time: 0.040, memory: 19865, loss_cls: 0.2140, loss_bbox: 0.4140, loss_traj: 0.6638, loss_traj_cls: 0.0010, loss_map_cls: 0.2139, loss_map_pts: 0.9324, loss_map_dir: 0.0151, d0.loss_plan_l1_fix_time: 3.0236, d0.loss_plan_l1_fix_dist: 0.4141, d1.loss_plan_l1_fix_time: 1.3855, d1.loss_plan_l1_fix_dist: 0.2054, d2.loss_plan_l1_fix_time: 1.3612, d2.loss_plan_l1_fix_dist: 0.2152, d3.loss_plan_l1_fix_time: 1.3590, d3.loss_plan_l1_fix_dist: 0.2300, d4.loss_plan_l1_fix_time: 1.3612, d4.loss_plan_l1_fix_dist: 0.2473, d5.loss_plan_l1_fix_time: 1.3645, d5.loss_plan_l1_fix_dist: 0.2698, d6.loss_plan_l1_fix_time: 1.3687, d6.loss_plan_l1_fix_dist: 0.2929, d0.loss_cls_all: 0.2511, d0.loss_bbox_all: 0.4771, d0.loss_cls: 0.2511, d0.loss_bbox: 0.4771, d1.loss_cls: 0.2429, d1.loss_bbox: 0.4421, d2.loss_cls: 0.2313, d2.loss_bbox: 0.4241, d3.loss_cls: 0.2222, d3.loss_bbox: 0.4198, d4.loss_cls: 0.2156, d4.loss_bbox: 0.4179, d5.loss_cls: 0.2140, d5.loss_bbox: 0.4155, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8784, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7284, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6799, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6680, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6615, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6630, d0.loss_map_cls_all: 0.2834, d0.loss_map_pts_all: 1.8272, d0.loss_map_dir_all: 0.0132, d0.loss_map_cls: 0.2834, d0.loss_map_pts: 1.8272, d0.loss_map_dir: 0.0132, d1.loss_map_cls: 0.2542, d1.loss_map_pts: 1.2319, d1.loss_map_dir: 0.0134, d2.loss_map_cls: 0.2342, d2.loss_map_pts: 1.0458, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2220, d3.loss_map_pts: 0.9740, d3.loss_map_dir: 0.0145, d4.loss_map_cls: 0.2173, d4.loss_map_pts: 0.9453, d4.loss_map_dir: 0.0148, d5.loss_map_cls: 0.2144, d5.loss_map_pts: 0.9353, d5.loss_map_dir: 0.0150, loss: 35.1337, grad_norm: 163.8728 +2026-02-25 20:35:29,129 - DriveTransformer - INFO - Epoch [5][30850/39528] lr: 9.337e-05, eta: 7 days, 2:05:08, time: 0.796, data_time: 0.041, memory: 19865, loss_cls: 0.1828, loss_bbox: 0.3918, loss_traj: 0.7888, loss_traj_cls: 0.0010, loss_map_cls: 0.1792, loss_map_pts: 0.7840, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.6567, d0.loss_plan_l1_fix_dist: 0.4504, d1.loss_plan_l1_fix_time: 1.0938, d1.loss_plan_l1_fix_dist: 0.2068, d2.loss_plan_l1_fix_time: 1.0674, d2.loss_plan_l1_fix_dist: 0.2203, d3.loss_plan_l1_fix_time: 1.0624, d3.loss_plan_l1_fix_dist: 0.2403, d4.loss_plan_l1_fix_time: 1.0641, d4.loss_plan_l1_fix_dist: 0.2634, d5.loss_plan_l1_fix_time: 1.0666, d5.loss_plan_l1_fix_dist: 0.2845, d6.loss_plan_l1_fix_time: 1.0697, d6.loss_plan_l1_fix_dist: 0.3065, d0.loss_cls_all: 0.2060, d0.loss_bbox_all: 0.4558, d0.loss_cls: 0.2060, d0.loss_bbox: 0.4558, d1.loss_cls: 0.2060, d1.loss_bbox: 0.4179, d2.loss_cls: 0.1942, d2.loss_bbox: 0.3996, d3.loss_cls: 0.1901, d3.loss_bbox: 0.3950, d4.loss_cls: 0.1826, d4.loss_bbox: 0.3931, d5.loss_cls: 0.1823, d5.loss_bbox: 0.3907, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9820, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8408, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7949, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7841, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7838, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7820, d0.loss_map_cls_all: 0.2559, d0.loss_map_pts_all: 1.4470, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2559, d0.loss_map_pts: 1.4470, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2239, d1.loss_map_pts: 1.0378, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1995, d2.loss_map_pts: 0.8921, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1905, d3.loss_map_pts: 0.8289, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1844, d4.loss_map_pts: 0.7974, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1810, d5.loss_map_pts: 0.7861, d5.loss_map_dir: 0.0093, loss: 31.4284, grad_norm: 164.7188 +2026-02-25 20:36:10,748 - DriveTransformer - INFO - Epoch [5][30900/39528] lr: 9.337e-05, eta: 7 days, 2:04:33, time: 0.832, data_time: 0.044, memory: 19865, loss_cls: 0.1987, loss_bbox: 0.3946, loss_traj: 0.7104, loss_traj_cls: 0.0010, loss_map_cls: 0.1782, loss_map_pts: 0.7680, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.6889, d0.loss_plan_l1_fix_dist: 0.4655, d1.loss_plan_l1_fix_time: 1.3584, d1.loss_plan_l1_fix_dist: 0.2076, d2.loss_plan_l1_fix_time: 1.3384, d2.loss_plan_l1_fix_dist: 0.2149, d3.loss_plan_l1_fix_time: 1.3352, d3.loss_plan_l1_fix_dist: 0.2306, d4.loss_plan_l1_fix_time: 1.3374, d4.loss_plan_l1_fix_dist: 0.2482, d5.loss_plan_l1_fix_time: 1.3404, d5.loss_plan_l1_fix_dist: 0.2684, d6.loss_plan_l1_fix_time: 1.3442, d6.loss_plan_l1_fix_dist: 0.2879, d0.loss_cls_all: 0.2395, d0.loss_bbox_all: 0.4518, d0.loss_cls: 0.2395, d0.loss_bbox: 0.4518, d1.loss_cls: 0.2283, d1.loss_bbox: 0.4215, d2.loss_cls: 0.2082, d2.loss_bbox: 0.4077, d3.loss_cls: 0.2037, d3.loss_bbox: 0.3995, d4.loss_cls: 0.1984, d4.loss_bbox: 0.3960, d5.loss_cls: 0.1990, d5.loss_bbox: 0.3944, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9073, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7385, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7284, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7192, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7130, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7099, d0.loss_map_cls_all: 0.2399, d0.loss_map_pts_all: 1.5528, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2399, d0.loss_map_pts: 1.5528, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2120, d1.loss_map_pts: 1.0191, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.1983, d2.loss_map_pts: 0.8490, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.1901, d3.loss_map_pts: 0.7931, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.1840, d4.loss_map_pts: 0.7774, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.1790, d5.loss_map_pts: 0.7699, d5.loss_map_dir: 0.0124, loss: 32.7311, grad_norm: 163.6599 +2026-02-25 20:36:52,927 - DriveTransformer - INFO - Epoch [5][30950/39528] lr: 9.337e-05, eta: 7 days, 2:04:00, time: 0.844, data_time: 0.052, memory: 19865, loss_cls: 0.2226, loss_bbox: 0.4156, loss_traj: 0.7175, loss_traj_cls: 0.0010, loss_map_cls: 0.2019, loss_map_pts: 0.9214, loss_map_dir: 0.0141, d0.loss_plan_l1_fix_time: 2.8847, d0.loss_plan_l1_fix_dist: 0.5425, d1.loss_plan_l1_fix_time: 1.3423, d1.loss_plan_l1_fix_dist: 0.2579, d2.loss_plan_l1_fix_time: 1.3252, d2.loss_plan_l1_fix_dist: 0.2706, d3.loss_plan_l1_fix_time: 1.3244, d3.loss_plan_l1_fix_dist: 0.2943, d4.loss_plan_l1_fix_time: 1.3273, d4.loss_plan_l1_fix_dist: 0.3232, d5.loss_plan_l1_fix_time: 1.3305, d5.loss_plan_l1_fix_dist: 0.3558, d6.loss_plan_l1_fix_time: 1.3344, d6.loss_plan_l1_fix_dist: 0.3897, d0.loss_cls_all: 0.2580, d0.loss_bbox_all: 0.4804, d0.loss_cls: 0.2580, d0.loss_bbox: 0.4804, d1.loss_cls: 0.2512, d1.loss_bbox: 0.4450, d2.loss_cls: 0.2362, d2.loss_bbox: 0.4270, d3.loss_cls: 0.2269, d3.loss_bbox: 0.4192, d4.loss_cls: 0.2235, d4.loss_bbox: 0.4148, d5.loss_cls: 0.2214, d5.loss_bbox: 0.4162, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9381, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7412, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7176, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7146, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7125, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7126, d0.loss_map_cls_all: 0.2711, d0.loss_map_pts_all: 1.7751, d0.loss_map_dir_all: 0.0129, d0.loss_map_cls: 0.2711, d0.loss_map_pts: 1.7751, d0.loss_map_dir: 0.0129, d1.loss_map_cls: 0.2389, d1.loss_map_pts: 1.2264, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2221, d2.loss_map_pts: 1.0281, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2111, d3.loss_map_pts: 0.9621, d3.loss_map_dir: 0.0135, d4.loss_map_cls: 0.2065, d4.loss_map_pts: 0.9349, d4.loss_map_dir: 0.0137, d5.loss_map_cls: 0.2037, d5.loss_map_pts: 0.9220, d5.loss_map_dir: 0.0139, loss: 35.4385, grad_norm: 167.0762 +2026-02-25 20:37:33,985 - DriveTransformer - INFO - Epoch [5][31000/39528] lr: 9.337e-05, eta: 7 days, 2:03:23, time: 0.821, data_time: 0.041, memory: 19865, loss_cls: 0.2069, loss_bbox: 0.4004, loss_traj: 0.8074, loss_traj_cls: 0.0010, loss_map_cls: 0.1765, loss_map_pts: 0.7802, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.3803, d0.loss_plan_l1_fix_dist: 0.3849, d1.loss_plan_l1_fix_time: 1.1479, d1.loss_plan_l1_fix_dist: 0.1940, d2.loss_plan_l1_fix_time: 1.1536, d2.loss_plan_l1_fix_dist: 0.2067, d3.loss_plan_l1_fix_time: 1.1596, d3.loss_plan_l1_fix_dist: 0.2228, d4.loss_plan_l1_fix_time: 1.1638, d4.loss_plan_l1_fix_dist: 0.2423, d5.loss_plan_l1_fix_time: 1.1679, d5.loss_plan_l1_fix_dist: 0.2659, d6.loss_plan_l1_fix_time: 1.1726, d6.loss_plan_l1_fix_dist: 0.2946, d0.loss_cls_all: 0.2340, d0.loss_bbox_all: 0.4383, d0.loss_cls: 0.2340, d0.loss_bbox: 0.4383, d1.loss_cls: 0.2275, d1.loss_bbox: 0.4119, d2.loss_cls: 0.2161, d2.loss_bbox: 0.3986, d3.loss_cls: 0.2108, d3.loss_bbox: 0.3934, d4.loss_cls: 0.2070, d4.loss_bbox: 0.3937, d5.loss_cls: 0.2064, d5.loss_bbox: 0.3959, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0331, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8701, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8195, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8056, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8006, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8029, d0.loss_map_cls_all: 0.2415, d0.loss_map_pts_all: 1.5441, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2415, d0.loss_map_pts: 1.5441, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2161, d1.loss_map_pts: 1.0371, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1969, d2.loss_map_pts: 0.8690, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1888, d3.loss_map_pts: 0.8062, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1816, d4.loss_map_pts: 0.7875, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1779, d5.loss_map_pts: 0.7804, d5.loss_map_dir: 0.0115, loss: 31.9721, grad_norm: 166.2163 +2026-02-25 20:38:14,003 - DriveTransformer - INFO - Epoch [5][31050/39528] lr: 9.337e-05, eta: 7 days, 2:02:41, time: 0.801, data_time: 0.038, memory: 19865, loss_cls: 0.2031, loss_bbox: 0.4023, loss_traj: 0.6959, loss_traj_cls: 0.0010, loss_map_cls: 0.1800, loss_map_pts: 0.7625, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.7811, d0.loss_plan_l1_fix_dist: 0.3898, d1.loss_plan_l1_fix_time: 1.3089, d1.loss_plan_l1_fix_dist: 0.2133, d2.loss_plan_l1_fix_time: 1.2958, d2.loss_plan_l1_fix_dist: 0.2338, d3.loss_plan_l1_fix_time: 1.2996, d3.loss_plan_l1_fix_dist: 0.2595, d4.loss_plan_l1_fix_time: 1.3035, d4.loss_plan_l1_fix_dist: 0.2898, d5.loss_plan_l1_fix_time: 1.3076, d5.loss_plan_l1_fix_dist: 0.3229, d6.loss_plan_l1_fix_time: 1.3120, d6.loss_plan_l1_fix_dist: 0.3593, d0.loss_cls_all: 0.2367, d0.loss_bbox_all: 0.4527, d0.loss_cls: 0.2367, d0.loss_bbox: 0.4527, d1.loss_cls: 0.2307, d1.loss_bbox: 0.4213, d2.loss_cls: 0.2152, d2.loss_bbox: 0.4049, d3.loss_cls: 0.2093, d3.loss_bbox: 0.3966, d4.loss_cls: 0.2043, d4.loss_bbox: 0.3972, d5.loss_cls: 0.2016, d5.loss_bbox: 0.4000, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9301, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7845, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7164, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7069, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6931, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6957, d0.loss_map_cls_all: 0.2482, d0.loss_map_pts_all: 1.6090, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2482, d0.loss_map_pts: 1.6090, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2174, d1.loss_map_pts: 1.0355, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.2005, d2.loss_map_pts: 0.8502, d2.loss_map_dir: 0.0119, d3.loss_map_cls: 0.1908, d3.loss_map_pts: 0.7895, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.1848, d4.loss_map_pts: 0.7701, d4.loss_map_dir: 0.0126, d5.loss_map_cls: 0.1818, d5.loss_map_pts: 0.7630, d5.loss_map_dir: 0.0128, loss: 32.9106, grad_norm: 167.9574 +2026-02-25 20:38:52,848 - DriveTransformer - INFO - Epoch [5][31100/39528] lr: 9.337e-05, eta: 7 days, 2:01:55, time: 0.776, data_time: 0.047, memory: 19865, loss_cls: 0.2100, loss_bbox: 0.4021, loss_traj: 0.6674, loss_traj_cls: 0.0011, loss_map_cls: 0.1804, loss_map_pts: 0.7994, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.6356, d0.loss_plan_l1_fix_dist: 0.4146, d1.loss_plan_l1_fix_time: 1.1408, d1.loss_plan_l1_fix_dist: 0.1889, d2.loss_plan_l1_fix_time: 1.1228, d2.loss_plan_l1_fix_dist: 0.1981, d3.loss_plan_l1_fix_time: 1.1302, d3.loss_plan_l1_fix_dist: 0.2157, d4.loss_plan_l1_fix_time: 1.1350, d4.loss_plan_l1_fix_dist: 0.2344, d5.loss_plan_l1_fix_time: 1.1398, d5.loss_plan_l1_fix_dist: 0.2536, d6.loss_plan_l1_fix_time: 1.1452, d6.loss_plan_l1_fix_dist: 0.2720, d0.loss_cls_all: 0.2504, d0.loss_bbox_all: 0.4585, d0.loss_cls: 0.2504, d0.loss_bbox: 0.4585, d1.loss_cls: 0.2385, d1.loss_bbox: 0.4272, d2.loss_cls: 0.2248, d2.loss_bbox: 0.4094, d3.loss_cls: 0.2158, d3.loss_bbox: 0.4038, d4.loss_cls: 0.2110, d4.loss_bbox: 0.4026, d5.loss_cls: 0.2100, d5.loss_bbox: 0.4014, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8517, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7132, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6796, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6685, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6667, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6652, d0.loss_map_cls_all: 0.2467, d0.loss_map_pts_all: 1.6020, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2467, d0.loss_map_pts: 1.6020, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2133, d1.loss_map_pts: 1.0609, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.1980, d2.loss_map_pts: 0.8870, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.1942, d3.loss_map_pts: 0.8248, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.1859, d4.loss_map_pts: 0.8039, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1820, d5.loss_map_pts: 0.8000, d5.loss_map_dir: 0.0117, loss: 31.4392, grad_norm: 167.9180 +2026-02-25 20:39:33,000 - DriveTransformer - INFO - Epoch [5][31150/39528] lr: 9.337e-05, eta: 7 days, 2:01:14, time: 0.803, data_time: 0.044, memory: 19865, loss_cls: 0.2187, loss_bbox: 0.4134, loss_traj: 0.7698, loss_traj_cls: 0.0010, loss_map_cls: 0.2289, loss_map_pts: 0.8463, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.7466, d0.loss_plan_l1_fix_dist: 0.4182, d1.loss_plan_l1_fix_time: 1.1246, d1.loss_plan_l1_fix_dist: 0.2242, d2.loss_plan_l1_fix_time: 1.1099, d2.loss_plan_l1_fix_dist: 0.2388, d3.loss_plan_l1_fix_time: 1.1138, d3.loss_plan_l1_fix_dist: 0.2641, d4.loss_plan_l1_fix_time: 1.1185, d4.loss_plan_l1_fix_dist: 0.2896, d5.loss_plan_l1_fix_time: 1.1232, d5.loss_plan_l1_fix_dist: 0.3126, d6.loss_plan_l1_fix_time: 1.1281, d6.loss_plan_l1_fix_dist: 0.3331, d0.loss_cls_all: 0.2474, d0.loss_bbox_all: 0.4743, d0.loss_cls: 0.2474, d0.loss_bbox: 0.4743, d1.loss_cls: 0.2394, d1.loss_bbox: 0.4432, d2.loss_cls: 0.2300, d2.loss_bbox: 0.4225, d3.loss_cls: 0.2226, d3.loss_bbox: 0.4151, d4.loss_cls: 0.2197, d4.loss_bbox: 0.4128, d5.loss_cls: 0.2194, d5.loss_bbox: 0.4120, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0308, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8430, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7899, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7739, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7700, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7672, d0.loss_map_cls_all: 0.2951, d0.loss_map_pts_all: 1.6065, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2951, d0.loss_map_pts: 1.6065, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2654, d1.loss_map_pts: 1.1377, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.2514, d2.loss_map_pts: 0.9533, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.2392, d3.loss_map_pts: 0.8860, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.2340, d4.loss_map_pts: 0.8601, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.2289, d5.loss_map_pts: 0.8495, d5.loss_map_dir: 0.0111, loss: 33.4774, grad_norm: 167.6820 +2026-02-25 20:40:14,216 - DriveTransformer - INFO - Epoch [5][31200/39528] lr: 9.337e-05, eta: 7 days, 2:00:38, time: 0.826, data_time: 0.040, memory: 19865, loss_cls: 0.2169, loss_bbox: 0.4340, loss_traj: 0.8639, loss_traj_cls: 0.0010, loss_map_cls: 0.2071, loss_map_pts: 0.8442, loss_map_dir: 0.0140, d0.loss_plan_l1_fix_time: 3.0955, d0.loss_plan_l1_fix_dist: 0.3682, d1.loss_plan_l1_fix_time: 1.4446, d1.loss_plan_l1_fix_dist: 0.2283, d2.loss_plan_l1_fix_time: 1.4394, d2.loss_plan_l1_fix_dist: 0.2348, d3.loss_plan_l1_fix_time: 1.4336, d3.loss_plan_l1_fix_dist: 0.2511, d4.loss_plan_l1_fix_time: 1.4351, d4.loss_plan_l1_fix_dist: 0.2694, d5.loss_plan_l1_fix_time: 1.4374, d5.loss_plan_l1_fix_dist: 0.2867, d6.loss_plan_l1_fix_time: 1.4403, d6.loss_plan_l1_fix_dist: 0.3035, d0.loss_cls_all: 0.2583, d0.loss_bbox_all: 0.4792, d0.loss_cls: 0.2583, d0.loss_bbox: 0.4792, d1.loss_cls: 0.2455, d1.loss_bbox: 0.4538, d2.loss_cls: 0.2307, d2.loss_bbox: 0.4393, d3.loss_cls: 0.2224, d3.loss_bbox: 0.4344, d4.loss_cls: 0.2175, d4.loss_bbox: 0.4327, d5.loss_cls: 0.2160, d5.loss_bbox: 0.4346, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0405, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8864, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8591, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8581, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8614, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8656, d0.loss_map_cls_all: 0.2665, d0.loss_map_pts_all: 1.6862, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2665, d0.loss_map_pts: 1.6862, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2425, d1.loss_map_pts: 1.1303, d1.loss_map_dir: 0.0122, d2.loss_map_cls: 0.2268, d2.loss_map_pts: 0.9378, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2173, d3.loss_map_pts: 0.8753, d3.loss_map_dir: 0.0134, d4.loss_map_cls: 0.2122, d4.loss_map_pts: 0.8523, d4.loss_map_dir: 0.0137, d5.loss_map_cls: 0.2085, d5.loss_map_pts: 0.8448, d5.loss_map_dir: 0.0138, loss: 36.1714, grad_norm: 166.8830 +2026-02-25 20:40:54,460 - DriveTransformer - INFO - Epoch [5][31250/39528] lr: 9.337e-05, eta: 7 days, 1:59:57, time: 0.804, data_time: 0.038, memory: 19865, loss_cls: 0.2126, loss_bbox: 0.4165, loss_traj: 0.7560, loss_traj_cls: 0.0010, loss_map_cls: 0.1963, loss_map_pts: 0.8788, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.9866, d0.loss_plan_l1_fix_dist: 0.3974, d1.loss_plan_l1_fix_time: 1.4022, d1.loss_plan_l1_fix_dist: 0.2177, d2.loss_plan_l1_fix_time: 1.3931, d2.loss_plan_l1_fix_dist: 0.2286, d3.loss_plan_l1_fix_time: 1.3918, d3.loss_plan_l1_fix_dist: 0.2491, d4.loss_plan_l1_fix_time: 1.3956, d4.loss_plan_l1_fix_dist: 0.2710, d5.loss_plan_l1_fix_time: 1.4003, d5.loss_plan_l1_fix_dist: 0.2979, d6.loss_plan_l1_fix_time: 1.4056, d6.loss_plan_l1_fix_dist: 0.3286, d0.loss_cls_all: 0.2473, d0.loss_bbox_all: 0.4754, d0.loss_cls: 0.2473, d0.loss_bbox: 0.4754, d1.loss_cls: 0.2396, d1.loss_bbox: 0.4418, d2.loss_cls: 0.2258, d2.loss_bbox: 0.4261, d3.loss_cls: 0.2198, d3.loss_bbox: 0.4174, d4.loss_cls: 0.2146, d4.loss_bbox: 0.4154, d5.loss_cls: 0.2136, d5.loss_bbox: 0.4156, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0408, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8538, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7808, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7681, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7631, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7559, d0.loss_map_cls_all: 0.2643, d0.loss_map_pts_all: 1.7109, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2643, d0.loss_map_pts: 1.7109, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2382, d1.loss_map_pts: 1.1812, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2212, d2.loss_map_pts: 0.9899, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.2099, d3.loss_map_pts: 0.9183, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.2035, d4.loss_map_pts: 0.8903, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1984, d5.loss_map_pts: 0.8830, d5.loss_map_dir: 0.0114, loss: 35.4420, grad_norm: 166.2278 +2026-02-25 20:41:35,453 - DriveTransformer - INFO - Epoch [5][31300/39528] lr: 9.337e-05, eta: 7 days, 1:59:20, time: 0.820, data_time: 0.039, memory: 19865, loss_cls: 0.1942, loss_bbox: 0.4229, loss_traj: 0.7586, loss_traj_cls: 0.0010, loss_map_cls: 0.1847, loss_map_pts: 0.8010, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.7573, d0.loss_plan_l1_fix_dist: 0.3769, d1.loss_plan_l1_fix_time: 1.2999, d1.loss_plan_l1_fix_dist: 0.2156, d2.loss_plan_l1_fix_time: 1.2877, d2.loss_plan_l1_fix_dist: 0.2262, d3.loss_plan_l1_fix_time: 1.2849, d3.loss_plan_l1_fix_dist: 0.2406, d4.loss_plan_l1_fix_time: 1.2883, d4.loss_plan_l1_fix_dist: 0.2576, d5.loss_plan_l1_fix_time: 1.2923, d5.loss_plan_l1_fix_dist: 0.2798, d6.loss_plan_l1_fix_time: 1.2967, d6.loss_plan_l1_fix_dist: 0.3062, d0.loss_cls_all: 0.2239, d0.loss_bbox_all: 0.4747, d0.loss_cls: 0.2239, d0.loss_bbox: 0.4747, d1.loss_cls: 0.2157, d1.loss_bbox: 0.4402, d2.loss_cls: 0.2043, d2.loss_bbox: 0.4259, d3.loss_cls: 0.1990, d3.loss_bbox: 0.4187, d4.loss_cls: 0.1961, d4.loss_bbox: 0.4184, d5.loss_cls: 0.1939, d5.loss_bbox: 0.4220, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9393, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8259, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7748, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7626, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7577, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7553, d0.loss_map_cls_all: 0.2457, d0.loss_map_pts_all: 1.5744, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.2457, d0.loss_map_pts: 1.5744, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.2182, d1.loss_map_pts: 1.0391, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2063, d2.loss_map_pts: 0.8790, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.1961, d3.loss_map_pts: 0.8229, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.1895, d4.loss_map_pts: 0.8081, d4.loss_map_dir: 0.0126, d5.loss_map_cls: 0.1854, d5.loss_map_pts: 0.8026, d5.loss_map_dir: 0.0128, loss: 33.2106, grad_norm: 166.2344 +2026-02-25 20:42:15,625 - DriveTransformer - INFO - Epoch [5][31350/39528] lr: 9.337e-05, eta: 7 days, 1:58:39, time: 0.803, data_time: 0.044, memory: 19865, loss_cls: 0.2059, loss_bbox: 0.4237, loss_traj: 0.8235, loss_traj_cls: 0.0010, loss_map_cls: 0.2127, loss_map_pts: 0.8706, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.8359, d0.loss_plan_l1_fix_dist: 0.4212, d1.loss_plan_l1_fix_time: 1.4445, d1.loss_plan_l1_fix_dist: 0.2031, d2.loss_plan_l1_fix_time: 1.4257, d2.loss_plan_l1_fix_dist: 0.2121, d3.loss_plan_l1_fix_time: 1.4255, d3.loss_plan_l1_fix_dist: 0.2288, d4.loss_plan_l1_fix_time: 1.4280, d4.loss_plan_l1_fix_dist: 0.2463, d5.loss_plan_l1_fix_time: 1.4307, d5.loss_plan_l1_fix_dist: 0.2642, d6.loss_plan_l1_fix_time: 1.4339, d6.loss_plan_l1_fix_dist: 0.2821, d0.loss_cls_all: 0.2413, d0.loss_bbox_all: 0.4716, d0.loss_cls: 0.2413, d0.loss_bbox: 0.4716, d1.loss_cls: 0.2311, d1.loss_bbox: 0.4411, d2.loss_cls: 0.2202, d2.loss_bbox: 0.4232, d3.loss_cls: 0.2110, d3.loss_bbox: 0.4177, d4.loss_cls: 0.2059, d4.loss_bbox: 0.4191, d5.loss_cls: 0.2052, d5.loss_bbox: 0.4207, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0937, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9025, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8244, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8268, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8226, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8243, d0.loss_map_cls_all: 0.2757, d0.loss_map_pts_all: 1.7180, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.2757, d0.loss_map_pts: 1.7180, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.2528, d1.loss_map_pts: 1.1601, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.2362, d2.loss_map_pts: 0.9778, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2245, d3.loss_map_pts: 0.9052, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2181, d4.loss_map_pts: 0.8785, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.2145, d5.loss_map_pts: 0.8734, d5.loss_map_dir: 0.0125, loss: 35.7661, grad_norm: 166.7740 +2026-02-25 20:42:54,535 - DriveTransformer - INFO - Epoch [5][31400/39528] lr: 9.337e-05, eta: 7 days, 1:57:53, time: 0.778, data_time: 0.048, memory: 19865, loss_cls: 0.2045, loss_bbox: 0.4116, loss_traj: 0.7576, loss_traj_cls: 0.0010, loss_map_cls: 0.2194, loss_map_pts: 0.8261, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.7583, d0.loss_plan_l1_fix_dist: 0.3737, d1.loss_plan_l1_fix_time: 1.3241, d1.loss_plan_l1_fix_dist: 0.1942, d2.loss_plan_l1_fix_time: 1.3020, d2.loss_plan_l1_fix_dist: 0.2005, d3.loss_plan_l1_fix_time: 1.3029, d3.loss_plan_l1_fix_dist: 0.2116, d4.loss_plan_l1_fix_time: 1.3055, d4.loss_plan_l1_fix_dist: 0.2261, d5.loss_plan_l1_fix_time: 1.3094, d5.loss_plan_l1_fix_dist: 0.2429, d6.loss_plan_l1_fix_time: 1.3139, d6.loss_plan_l1_fix_dist: 0.2634, d0.loss_cls_all: 0.2423, d0.loss_bbox_all: 0.4666, d0.loss_cls: 0.2423, d0.loss_bbox: 0.4666, d1.loss_cls: 0.2291, d1.loss_bbox: 0.4310, d2.loss_cls: 0.2182, d2.loss_bbox: 0.4138, d3.loss_cls: 0.2110, d3.loss_bbox: 0.4094, d4.loss_cls: 0.2064, d4.loss_bbox: 0.4084, d5.loss_cls: 0.2035, d5.loss_bbox: 0.4106, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0597, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8413, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7901, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7748, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7694, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7596, d0.loss_map_cls_all: 0.2941, d0.loss_map_pts_all: 1.5836, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2941, d0.loss_map_pts: 1.5836, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2620, d1.loss_map_pts: 1.1056, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.2453, d2.loss_map_pts: 0.9372, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.2312, d3.loss_map_pts: 0.8680, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.2244, d4.loss_map_pts: 0.8401, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.2209, d5.loss_map_pts: 0.8311, d5.loss_map_dir: 0.0095, loss: 33.9037, grad_norm: 165.0874 +2026-02-25 20:43:35,556 - DriveTransformer - INFO - Epoch [5][31450/39528] lr: 9.337e-05, eta: 7 days, 1:57:16, time: 0.820, data_time: 0.040, memory: 19865, loss_cls: 0.2154, loss_bbox: 0.4029, loss_traj: 0.7626, loss_traj_cls: 0.0010, loss_map_cls: 0.1773, loss_map_pts: 0.8179, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.4726, d0.loss_plan_l1_fix_dist: 0.3236, d1.loss_plan_l1_fix_time: 1.1818, d1.loss_plan_l1_fix_dist: 0.1904, d2.loss_plan_l1_fix_time: 1.1553, d2.loss_plan_l1_fix_dist: 0.1978, d3.loss_plan_l1_fix_time: 1.1520, d3.loss_plan_l1_fix_dist: 0.2084, d4.loss_plan_l1_fix_time: 1.1540, d4.loss_plan_l1_fix_dist: 0.2258, d5.loss_plan_l1_fix_time: 1.1573, d5.loss_plan_l1_fix_dist: 0.2431, d6.loss_plan_l1_fix_time: 1.1614, d6.loss_plan_l1_fix_dist: 0.2589, d0.loss_cls_all: 0.2456, d0.loss_bbox_all: 0.4538, d0.loss_cls: 0.2456, d0.loss_bbox: 0.4538, d1.loss_cls: 0.2400, d1.loss_bbox: 0.4227, d2.loss_cls: 0.2318, d2.loss_bbox: 0.4077, d3.loss_cls: 0.2214, d3.loss_bbox: 0.4034, d4.loss_cls: 0.2162, d4.loss_bbox: 0.4023, d5.loss_cls: 0.2151, d5.loss_bbox: 0.4032, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9319, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8053, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7781, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7646, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7670, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7644, d0.loss_map_cls_all: 0.2497, d0.loss_map_pts_all: 1.5984, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2497, d0.loss_map_pts: 1.5984, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2206, d1.loss_map_pts: 1.0751, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2002, d2.loss_map_pts: 0.9079, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.1849, d3.loss_map_pts: 0.8498, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.1795, d4.loss_map_pts: 0.8291, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1772, d5.loss_map_pts: 0.8208, d5.loss_map_dir: 0.0118, loss: 32.0714, grad_norm: 164.3492 +2026-02-25 20:44:16,199 - DriveTransformer - INFO - Epoch [5][31500/39528] lr: 9.337e-05, eta: 7 days, 1:56:37, time: 0.813, data_time: 0.040, memory: 19865, loss_cls: 0.2052, loss_bbox: 0.3945, loss_traj: 0.7277, loss_traj_cls: 0.0010, loss_map_cls: 0.2074, loss_map_pts: 0.9223, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.4938, d0.loss_plan_l1_fix_dist: 0.3530, d1.loss_plan_l1_fix_time: 1.3931, d1.loss_plan_l1_fix_dist: 0.2058, d2.loss_plan_l1_fix_time: 1.3845, d2.loss_plan_l1_fix_dist: 0.2128, d3.loss_plan_l1_fix_time: 1.3853, d3.loss_plan_l1_fix_dist: 0.2299, d4.loss_plan_l1_fix_time: 1.3894, d4.loss_plan_l1_fix_dist: 0.2474, d5.loss_plan_l1_fix_time: 1.3936, d5.loss_plan_l1_fix_dist: 0.2668, d6.loss_plan_l1_fix_time: 1.3981, d6.loss_plan_l1_fix_dist: 0.2909, d0.loss_cls_all: 0.2348, d0.loss_bbox_all: 0.4602, d0.loss_cls: 0.2348, d0.loss_bbox: 0.4602, d1.loss_cls: 0.2303, d1.loss_bbox: 0.4223, d2.loss_cls: 0.2144, d2.loss_bbox: 0.4049, d3.loss_cls: 0.2113, d3.loss_bbox: 0.3957, d4.loss_cls: 0.2069, d4.loss_bbox: 0.3928, d5.loss_cls: 0.2050, d5.loss_bbox: 0.3927, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9401, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7713, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7310, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7187, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7189, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7238, d0.loss_map_cls_all: 0.2761, d0.loss_map_pts_all: 1.6931, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2761, d0.loss_map_pts: 1.6931, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2409, d1.loss_map_pts: 1.2078, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2250, d2.loss_map_pts: 1.0340, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2154, d3.loss_map_pts: 0.9649, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.2097, d4.loss_map_pts: 0.9372, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.2078, d5.loss_map_pts: 0.9256, d5.loss_map_dir: 0.0119, loss: 34.3767, grad_norm: 157.2382 +2026-02-25 20:44:55,928 - DriveTransformer - INFO - Epoch [5][31550/39528] lr: 9.337e-05, eta: 7 days, 1:55:54, time: 0.794, data_time: 0.044, memory: 19865, loss_cls: 0.2317, loss_bbox: 0.4388, loss_traj: 0.9084, loss_traj_cls: 0.0010, loss_map_cls: 0.2109, loss_map_pts: 0.9035, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.7846, d0.loss_plan_l1_fix_dist: 0.4559, d1.loss_plan_l1_fix_time: 1.4164, d1.loss_plan_l1_fix_dist: 0.2359, d2.loss_plan_l1_fix_time: 1.3996, d2.loss_plan_l1_fix_dist: 0.2367, d3.loss_plan_l1_fix_time: 1.4003, d3.loss_plan_l1_fix_dist: 0.2535, d4.loss_plan_l1_fix_time: 1.4041, d4.loss_plan_l1_fix_dist: 0.2720, d5.loss_plan_l1_fix_time: 1.4082, d5.loss_plan_l1_fix_dist: 0.2964, d6.loss_plan_l1_fix_time: 1.4125, d6.loss_plan_l1_fix_dist: 0.3281, d0.loss_cls_all: 0.2599, d0.loss_bbox_all: 0.5081, d0.loss_cls: 0.2599, d0.loss_bbox: 0.5081, d1.loss_cls: 0.2564, d1.loss_bbox: 0.4695, d2.loss_cls: 0.2443, d2.loss_bbox: 0.4506, d3.loss_cls: 0.2366, d3.loss_bbox: 0.4429, d4.loss_cls: 0.2315, d4.loss_bbox: 0.4408, d5.loss_cls: 0.2306, d5.loss_bbox: 0.4384, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1866, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9785, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.9242, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9080, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9019, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9094, d0.loss_map_cls_all: 0.2783, d0.loss_map_pts_all: 1.6096, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2783, d0.loss_map_pts: 1.6096, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2465, d1.loss_map_pts: 1.1855, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.2308, d2.loss_map_pts: 1.0196, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.2231, d3.loss_map_pts: 0.9449, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.2162, d4.loss_map_pts: 0.9168, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.2120, d5.loss_map_pts: 0.9086, d5.loss_map_dir: 0.0098, loss: 36.7441, grad_norm: 155.8864 +2026-02-25 20:45:38,509 - DriveTransformer - INFO - Epoch [5][31600/39528] lr: 9.337e-05, eta: 7 days, 1:55:23, time: 0.852, data_time: 0.038, memory: 19865, loss_cls: 0.2151, loss_bbox: 0.4156, loss_traj: 0.5742, loss_traj_cls: 0.0011, loss_map_cls: 0.2006, loss_map_pts: 0.9042, loss_map_dir: 0.0147, d0.loss_plan_l1_fix_time: 2.7789, d0.loss_plan_l1_fix_dist: 0.4714, d1.loss_plan_l1_fix_time: 1.3969, d1.loss_plan_l1_fix_dist: 0.2416, d2.loss_plan_l1_fix_time: 1.3723, d2.loss_plan_l1_fix_dist: 0.2493, d3.loss_plan_l1_fix_time: 1.3724, d3.loss_plan_l1_fix_dist: 0.2585, d4.loss_plan_l1_fix_time: 1.3760, d4.loss_plan_l1_fix_dist: 0.2698, d5.loss_plan_l1_fix_time: 1.3803, d5.loss_plan_l1_fix_dist: 0.2794, d6.loss_plan_l1_fix_time: 1.3855, d6.loss_plan_l1_fix_dist: 0.2886, d0.loss_cls_all: 0.2485, d0.loss_bbox_all: 0.4712, d0.loss_cls: 0.2485, d0.loss_bbox: 0.4712, d1.loss_cls: 0.2427, d1.loss_bbox: 0.4389, d2.loss_cls: 0.2277, d2.loss_bbox: 0.4240, d3.loss_cls: 0.2208, d3.loss_bbox: 0.4176, d4.loss_cls: 0.2122, d4.loss_bbox: 0.4176, d5.loss_cls: 0.2117, d5.loss_bbox: 0.4172, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6871, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6022, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5816, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5793, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5741, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5733, d0.loss_map_cls_all: 0.2721, d0.loss_map_pts_all: 1.7645, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.2721, d0.loss_map_pts: 1.7645, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2468, d1.loss_map_pts: 1.1807, d1.loss_map_dir: 0.0131, d2.loss_map_cls: 0.2299, d2.loss_map_pts: 0.9969, d2.loss_map_dir: 0.0133, d3.loss_map_cls: 0.2172, d3.loss_map_pts: 0.9323, d3.loss_map_dir: 0.0140, d4.loss_map_cls: 0.2090, d4.loss_map_pts: 0.9097, d4.loss_map_dir: 0.0143, d5.loss_map_cls: 0.2031, d5.loss_map_pts: 0.9026, d5.loss_map_dir: 0.0145, loss: 33.9171, grad_norm: 155.7541 +2026-02-25 20:46:18,805 - DriveTransformer - INFO - Epoch [5][31650/39528] lr: 9.337e-05, eta: 7 days, 1:54:43, time: 0.806, data_time: 0.046, memory: 19865, loss_cls: 0.2203, loss_bbox: 0.4009, loss_traj: 0.8861, loss_traj_cls: 0.0010, loss_map_cls: 0.1984, loss_map_pts: 0.8580, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.8434, d0.loss_plan_l1_fix_dist: 0.4284, d1.loss_plan_l1_fix_time: 1.5200, d1.loss_plan_l1_fix_dist: 0.2207, d2.loss_plan_l1_fix_time: 1.4990, d2.loss_plan_l1_fix_dist: 0.2280, d3.loss_plan_l1_fix_time: 1.4975, d3.loss_plan_l1_fix_dist: 0.2386, d4.loss_plan_l1_fix_time: 1.4996, d4.loss_plan_l1_fix_dist: 0.2516, d5.loss_plan_l1_fix_time: 1.5022, d5.loss_plan_l1_fix_dist: 0.2650, d6.loss_plan_l1_fix_time: 1.5050, d6.loss_plan_l1_fix_dist: 0.2761, d0.loss_cls_all: 0.2478, d0.loss_bbox_all: 0.4665, d0.loss_cls: 0.2478, d0.loss_bbox: 0.4665, d1.loss_cls: 0.2430, d1.loss_bbox: 0.4315, d2.loss_cls: 0.2299, d2.loss_bbox: 0.4113, d3.loss_cls: 0.2228, d3.loss_bbox: 0.4043, d4.loss_cls: 0.2198, d4.loss_bbox: 0.4022, d5.loss_cls: 0.2187, d5.loss_bbox: 0.4018, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1004, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9556, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8985, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8863, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8865, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8840, d0.loss_map_cls_all: 0.2632, d0.loss_map_pts_all: 1.6155, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2632, d0.loss_map_pts: 1.6155, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2317, d1.loss_map_pts: 1.1198, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2166, d2.loss_map_pts: 0.9535, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2104, d3.loss_map_pts: 0.8909, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.2033, d4.loss_map_pts: 0.8688, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1998, d5.loss_map_pts: 0.8585, d5.loss_map_dir: 0.0113, loss: 36.1676, grad_norm: 155.2401 +2026-02-25 20:47:00,308 - DriveTransformer - INFO - Epoch [5][31700/39528] lr: 9.337e-05, eta: 7 days, 1:54:07, time: 0.830, data_time: 0.044, memory: 19865, loss_cls: 0.2148, loss_bbox: 0.4412, loss_traj: 0.6534, loss_traj_cls: 0.0010, loss_map_cls: 0.2231, loss_map_pts: 0.9768, loss_map_dir: 0.0131, d0.loss_plan_l1_fix_time: 2.7947, d0.loss_plan_l1_fix_dist: 0.3843, d1.loss_plan_l1_fix_time: 1.3810, d1.loss_plan_l1_fix_dist: 0.2267, d2.loss_plan_l1_fix_time: 1.3614, d2.loss_plan_l1_fix_dist: 0.2302, d3.loss_plan_l1_fix_time: 1.3672, d3.loss_plan_l1_fix_dist: 0.2390, d4.loss_plan_l1_fix_time: 1.3711, d4.loss_plan_l1_fix_dist: 0.2497, d5.loss_plan_l1_fix_time: 1.3746, d5.loss_plan_l1_fix_dist: 0.2634, d6.loss_plan_l1_fix_time: 1.3780, d6.loss_plan_l1_fix_dist: 0.2801, d0.loss_cls_all: 0.2500, d0.loss_bbox_all: 0.4920, d0.loss_cls: 0.2500, d0.loss_bbox: 0.4920, d1.loss_cls: 0.2393, d1.loss_bbox: 0.4606, d2.loss_cls: 0.2310, d2.loss_bbox: 0.4459, d3.loss_cls: 0.2181, d3.loss_bbox: 0.4396, d4.loss_cls: 0.2143, d4.loss_bbox: 0.4377, d5.loss_cls: 0.2127, d5.loss_bbox: 0.4393, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8624, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6900, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6569, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6483, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6451, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6489, d0.loss_map_cls_all: 0.2895, d0.loss_map_pts_all: 1.8294, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2895, d0.loss_map_pts: 1.8294, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2620, d1.loss_map_pts: 1.2604, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.2435, d2.loss_map_pts: 1.0787, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2343, d3.loss_map_pts: 1.0110, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.2265, d4.loss_map_pts: 0.9881, d4.loss_map_dir: 0.0128, d5.loss_map_cls: 0.2236, d5.loss_map_pts: 0.9794, d5.loss_map_dir: 0.0130, loss: 35.2355, grad_norm: 155.4246 +2026-02-25 20:47:41,392 - DriveTransformer - INFO - Epoch [5][31750/39528] lr: 9.337e-05, eta: 7 days, 1:53:30, time: 0.822, data_time: 0.042, memory: 19865, loss_cls: 0.2053, loss_bbox: 0.4176, loss_traj: 0.7266, loss_traj_cls: 0.0010, loss_map_cls: 0.1999, loss_map_pts: 0.8342, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.9812, d0.loss_plan_l1_fix_dist: 0.4824, d1.loss_plan_l1_fix_time: 1.3330, d1.loss_plan_l1_fix_dist: 0.2400, d2.loss_plan_l1_fix_time: 1.3161, d2.loss_plan_l1_fix_dist: 0.2415, d3.loss_plan_l1_fix_time: 1.3248, d3.loss_plan_l1_fix_dist: 0.2563, d4.loss_plan_l1_fix_time: 1.3296, d4.loss_plan_l1_fix_dist: 0.2747, d5.loss_plan_l1_fix_time: 1.3345, d5.loss_plan_l1_fix_dist: 0.2943, d6.loss_plan_l1_fix_time: 1.3408, d6.loss_plan_l1_fix_dist: 0.3195, d0.loss_cls_all: 0.2400, d0.loss_bbox_all: 0.4688, d0.loss_cls: 0.2400, d0.loss_bbox: 0.4688, d1.loss_cls: 0.2252, d1.loss_bbox: 0.4388, d2.loss_cls: 0.2167, d2.loss_bbox: 0.4212, d3.loss_cls: 0.2106, d3.loss_bbox: 0.4154, d4.loss_cls: 0.2078, d4.loss_bbox: 0.4125, d5.loss_cls: 0.2053, d5.loss_bbox: 0.4148, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9275, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7536, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7306, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7294, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7211, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7230, d0.loss_map_cls_all: 0.2501, d0.loss_map_pts_all: 1.5802, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2501, d0.loss_map_pts: 1.5802, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2309, d1.loss_map_pts: 1.0812, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2199, d2.loss_map_pts: 0.9136, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.2106, d3.loss_map_pts: 0.8556, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.2049, d4.loss_map_pts: 0.8373, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.2015, d5.loss_map_pts: 0.8349, d5.loss_map_dir: 0.0114, loss: 33.9703, grad_norm: 156.3369 +2026-02-25 20:48:23,177 - DriveTransformer - INFO - Epoch [5][31800/39528] lr: 9.337e-05, eta: 7 days, 1:52:56, time: 0.836, data_time: 0.042, memory: 19865, loss_cls: 0.2075, loss_bbox: 0.4230, loss_traj: 0.7673, loss_traj_cls: 0.0010, loss_map_cls: 0.2191, loss_map_pts: 0.9001, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.6522, d0.loss_plan_l1_fix_dist: 0.4077, d1.loss_plan_l1_fix_time: 1.2374, d1.loss_plan_l1_fix_dist: 0.2216, d2.loss_plan_l1_fix_time: 1.2184, d2.loss_plan_l1_fix_dist: 0.2222, d3.loss_plan_l1_fix_time: 1.2183, d3.loss_plan_l1_fix_dist: 0.2286, d4.loss_plan_l1_fix_time: 1.2233, d4.loss_plan_l1_fix_dist: 0.2398, d5.loss_plan_l1_fix_time: 1.2292, d5.loss_plan_l1_fix_dist: 0.2523, d6.loss_plan_l1_fix_time: 1.2365, d6.loss_plan_l1_fix_dist: 0.2694, d0.loss_cls_all: 0.2419, d0.loss_bbox_all: 0.4754, d0.loss_cls: 0.2419, d0.loss_bbox: 0.4754, d1.loss_cls: 0.2365, d1.loss_bbox: 0.4446, d2.loss_cls: 0.2248, d2.loss_bbox: 0.4280, d3.loss_cls: 0.2143, d3.loss_bbox: 0.4228, d4.loss_cls: 0.2091, d4.loss_bbox: 0.4212, d5.loss_cls: 0.2077, d5.loss_bbox: 0.4201, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9321, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8064, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7791, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7636, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7640, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7581, d0.loss_map_cls_all: 0.2853, d0.loss_map_pts_all: 1.6832, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2853, d0.loss_map_pts: 1.6832, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2559, d1.loss_map_pts: 1.1554, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2399, d2.loss_map_pts: 0.9852, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.2304, d3.loss_map_pts: 0.9290, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.2239, d4.loss_map_pts: 0.9078, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.2221, d5.loss_map_pts: 0.8999, d5.loss_map_dir: 0.0114, loss: 33.9223, grad_norm: 155.5514 +2026-02-25 20:49:02,234 - DriveTransformer - INFO - Epoch [5][31850/39528] lr: 9.337e-05, eta: 7 days, 1:52:10, time: 0.781, data_time: 0.045, memory: 19865, loss_cls: 0.2009, loss_bbox: 0.4012, loss_traj: 0.8106, loss_traj_cls: 0.0010, loss_map_cls: 0.2041, loss_map_pts: 0.7500, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.8448, d0.loss_plan_l1_fix_dist: 0.3699, d1.loss_plan_l1_fix_time: 1.3132, d1.loss_plan_l1_fix_dist: 0.1957, d2.loss_plan_l1_fix_time: 1.3022, d2.loss_plan_l1_fix_dist: 0.2016, d3.loss_plan_l1_fix_time: 1.3021, d3.loss_plan_l1_fix_dist: 0.2141, d4.loss_plan_l1_fix_time: 1.3068, d4.loss_plan_l1_fix_dist: 0.2287, d5.loss_plan_l1_fix_time: 1.3117, d5.loss_plan_l1_fix_dist: 0.2440, d6.loss_plan_l1_fix_time: 1.3172, d6.loss_plan_l1_fix_dist: 0.2578, d0.loss_cls_all: 0.2322, d0.loss_bbox_all: 0.4615, d0.loss_cls: 0.2322, d0.loss_bbox: 0.4615, d1.loss_cls: 0.2229, d1.loss_bbox: 0.4277, d2.loss_cls: 0.2113, d2.loss_bbox: 0.4141, d3.loss_cls: 0.2047, d3.loss_bbox: 0.4041, d4.loss_cls: 0.2014, d4.loss_bbox: 0.4009, d5.loss_cls: 0.2011, d5.loss_bbox: 0.3993, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0267, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8888, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8355, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8184, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8105, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8077, d0.loss_map_cls_all: 0.2720, d0.loss_map_pts_all: 1.4433, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2720, d0.loss_map_pts: 1.4433, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2461, d1.loss_map_pts: 0.9979, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2321, d2.loss_map_pts: 0.8441, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.2163, d3.loss_map_pts: 0.7770, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.2088, d4.loss_map_pts: 0.7566, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.2044, d5.loss_map_pts: 0.7533, d5.loss_map_dir: 0.0106, loss: 33.1951, grad_norm: 156.7330 +2026-02-25 20:49:42,088 - DriveTransformer - INFO - Epoch [5][31900/39528] lr: 9.337e-05, eta: 7 days, 1:51:28, time: 0.797, data_time: 0.040, memory: 19865, loss_cls: 0.1916, loss_bbox: 0.4014, loss_traj: 0.9277, loss_traj_cls: 0.0010, loss_map_cls: 0.1746, loss_map_pts: 0.7637, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.4580, d0.loss_plan_l1_fix_dist: 0.4191, d1.loss_plan_l1_fix_time: 1.1626, d1.loss_plan_l1_fix_dist: 0.2153, d2.loss_plan_l1_fix_time: 1.1577, d2.loss_plan_l1_fix_dist: 0.2188, d3.loss_plan_l1_fix_time: 1.1620, d3.loss_plan_l1_fix_dist: 0.2338, d4.loss_plan_l1_fix_time: 1.1673, d4.loss_plan_l1_fix_dist: 0.2464, d5.loss_plan_l1_fix_time: 1.1732, d5.loss_plan_l1_fix_dist: 0.2616, d6.loss_plan_l1_fix_time: 1.1800, d6.loss_plan_l1_fix_dist: 0.2757, d0.loss_cls_all: 0.2234, d0.loss_bbox_all: 0.4485, d0.loss_cls: 0.2234, d0.loss_bbox: 0.4485, d1.loss_cls: 0.2186, d1.loss_bbox: 0.4228, d2.loss_cls: 0.2067, d2.loss_bbox: 0.4050, d3.loss_cls: 0.1971, d3.loss_bbox: 0.3991, d4.loss_cls: 0.1923, d4.loss_bbox: 0.3991, d5.loss_cls: 0.1900, d5.loss_bbox: 0.4009, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1274, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9706, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.9377, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9295, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9313, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9305, d0.loss_map_cls_all: 0.2299, d0.loss_map_pts_all: 1.3764, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2299, d0.loss_map_pts: 1.3764, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2068, d1.loss_map_pts: 0.9912, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1951, d2.loss_map_pts: 0.8532, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1833, d3.loss_map_pts: 0.7988, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1768, d4.loss_map_pts: 0.7787, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1742, d5.loss_map_pts: 0.7659, d5.loss_map_dir: 0.0107, loss: 32.4190, grad_norm: 156.9736 +2026-02-25 20:50:23,804 - DriveTransformer - INFO - Epoch [5][31950/39528] lr: 9.337e-05, eta: 7 days, 1:50:53, time: 0.834, data_time: 0.048, memory: 19865, loss_cls: 0.2178, loss_bbox: 0.3960, loss_traj: 0.8207, loss_traj_cls: 0.0010, loss_map_cls: 0.1640, loss_map_pts: 0.7354, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.5065, d0.loss_plan_l1_fix_dist: 0.3498, d1.loss_plan_l1_fix_time: 1.1705, d1.loss_plan_l1_fix_dist: 0.1678, d2.loss_plan_l1_fix_time: 1.1575, d2.loss_plan_l1_fix_dist: 0.1763, d3.loss_plan_l1_fix_time: 1.1547, d3.loss_plan_l1_fix_dist: 0.1806, d4.loss_plan_l1_fix_time: 1.1569, d4.loss_plan_l1_fix_dist: 0.1902, d5.loss_plan_l1_fix_time: 1.1602, d5.loss_plan_l1_fix_dist: 0.2029, d6.loss_plan_l1_fix_time: 1.1645, d6.loss_plan_l1_fix_dist: 0.2184, d0.loss_cls_all: 0.2480, d0.loss_bbox_all: 0.4581, d0.loss_cls: 0.2480, d0.loss_bbox: 0.4581, d1.loss_cls: 0.2408, d1.loss_bbox: 0.4290, d2.loss_cls: 0.2285, d2.loss_bbox: 0.4129, d3.loss_cls: 0.2217, d3.loss_bbox: 0.4028, d4.loss_cls: 0.2177, d4.loss_bbox: 0.3993, d5.loss_cls: 0.2170, d5.loss_bbox: 0.3978, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0189, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8784, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8480, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8330, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8196, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8200, d0.loss_map_cls_all: 0.2251, d0.loss_map_pts_all: 1.3985, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2251, d0.loss_map_pts: 1.3985, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1885, d1.loss_map_pts: 0.9702, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1776, d2.loss_map_pts: 0.8131, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1726, d3.loss_map_pts: 0.7641, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1672, d4.loss_map_pts: 0.7462, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1633, d5.loss_map_pts: 0.7354, d5.loss_map_dir: 0.0102, loss: 31.3179, grad_norm: 156.0592 +2026-02-25 20:51:04,697 - DriveTransformer - INFO - Epoch [5][32000/39528] lr: 9.337e-05, eta: 7 days, 1:50:16, time: 0.819, data_time: 0.045, memory: 19865, loss_cls: 0.2108, loss_bbox: 0.3917, loss_traj: 0.5798, loss_traj_cls: 0.0010, loss_map_cls: 0.1899, loss_map_pts: 0.8222, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.8325, d0.loss_plan_l1_fix_dist: 0.4092, d1.loss_plan_l1_fix_time: 1.2049, d1.loss_plan_l1_fix_dist: 0.1865, d2.loss_plan_l1_fix_time: 1.1896, d2.loss_plan_l1_fix_dist: 0.1986, d3.loss_plan_l1_fix_time: 1.1904, d3.loss_plan_l1_fix_dist: 0.2093, d4.loss_plan_l1_fix_time: 1.1958, d4.loss_plan_l1_fix_dist: 0.2271, d5.loss_plan_l1_fix_time: 1.2022, d5.loss_plan_l1_fix_dist: 0.2452, d6.loss_plan_l1_fix_time: 1.2094, d6.loss_plan_l1_fix_dist: 0.2631, d0.loss_cls_all: 0.2444, d0.loss_bbox_all: 0.4472, d0.loss_cls: 0.2444, d0.loss_bbox: 0.4472, d1.loss_cls: 0.2377, d1.loss_bbox: 0.4193, d2.loss_cls: 0.2225, d2.loss_bbox: 0.4008, d3.loss_cls: 0.2180, d3.loss_bbox: 0.3911, d4.loss_cls: 0.2116, d4.loss_bbox: 0.3910, d5.loss_cls: 0.2116, d5.loss_bbox: 0.3900, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7586, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6237, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5922, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5775, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5791, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5784, d0.loss_map_cls_all: 0.2479, d0.loss_map_pts_all: 1.5912, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2479, d0.loss_map_pts: 1.5912, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2145, d1.loss_map_pts: 1.0905, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2059, d2.loss_map_pts: 0.9182, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.1987, d3.loss_map_pts: 0.8602, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.1940, d4.loss_map_pts: 0.8378, d4.loss_map_dir: 0.0129, d5.loss_map_cls: 0.1898, d5.loss_map_pts: 0.8236, d5.loss_map_dir: 0.0129, loss: 31.4616, grad_norm: 157.2383 +2026-02-25 20:51:43,371 - DriveTransformer - INFO - Epoch [5][32050/39528] lr: 9.337e-05, eta: 7 days, 1:49:29, time: 0.772, data_time: 0.039, memory: 19865, loss_cls: 0.2003, loss_bbox: 0.4247, loss_traj: 0.8134, loss_traj_cls: 0.0010, loss_map_cls: 0.2027, loss_map_pts: 0.8325, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.7124, d0.loss_plan_l1_fix_dist: 0.4504, d1.loss_plan_l1_fix_time: 1.2866, d1.loss_plan_l1_fix_dist: 0.1948, d2.loss_plan_l1_fix_time: 1.2656, d2.loss_plan_l1_fix_dist: 0.1890, d3.loss_plan_l1_fix_time: 1.2650, d3.loss_plan_l1_fix_dist: 0.1934, d4.loss_plan_l1_fix_time: 1.2677, d4.loss_plan_l1_fix_dist: 0.2021, d5.loss_plan_l1_fix_time: 1.2712, d5.loss_plan_l1_fix_dist: 0.2132, d6.loss_plan_l1_fix_time: 1.2755, d6.loss_plan_l1_fix_dist: 0.2270, d0.loss_cls_all: 0.2349, d0.loss_bbox_all: 0.4769, d0.loss_cls: 0.2349, d0.loss_bbox: 0.4769, d1.loss_cls: 0.2305, d1.loss_bbox: 0.4454, d2.loss_cls: 0.2135, d2.loss_bbox: 0.4288, d3.loss_cls: 0.2059, d3.loss_bbox: 0.4218, d4.loss_cls: 0.2018, d4.loss_bbox: 0.4219, d5.loss_cls: 0.2012, d5.loss_bbox: 0.4230, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0776, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8931, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8396, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8217, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8196, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8203, d0.loss_map_cls_all: 0.2625, d0.loss_map_pts_all: 1.5343, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2625, d0.loss_map_pts: 1.5343, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2372, d1.loss_map_pts: 1.0781, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2219, d2.loss_map_pts: 0.9216, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.2127, d3.loss_map_pts: 0.8603, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.2058, d4.loss_map_pts: 0.8404, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.2037, d5.loss_map_pts: 0.8328, d5.loss_map_dir: 0.0118, loss: 33.6810, grad_norm: 152.9361 +2026-02-25 20:52:24,915 - DriveTransformer - INFO - Epoch [5][32100/39528] lr: 9.337e-05, eta: 7 days, 1:48:53, time: 0.831, data_time: 0.043, memory: 19865, loss_cls: 0.2035, loss_bbox: 0.4000, loss_traj: 0.7712, loss_traj_cls: 0.0010, loss_map_cls: 0.1765, loss_map_pts: 0.7695, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.6811, d0.loss_plan_l1_fix_dist: 0.4678, d1.loss_plan_l1_fix_time: 1.3395, d1.loss_plan_l1_fix_dist: 0.2010, d2.loss_plan_l1_fix_time: 1.3224, d2.loss_plan_l1_fix_dist: 0.1916, d3.loss_plan_l1_fix_time: 1.3231, d3.loss_plan_l1_fix_dist: 0.1995, d4.loss_plan_l1_fix_time: 1.3260, d4.loss_plan_l1_fix_dist: 0.2111, d5.loss_plan_l1_fix_time: 1.3293, d5.loss_plan_l1_fix_dist: 0.2250, d6.loss_plan_l1_fix_time: 1.3331, d6.loss_plan_l1_fix_dist: 0.2386, d0.loss_cls_all: 0.2279, d0.loss_bbox_all: 0.4560, d0.loss_cls: 0.2279, d0.loss_bbox: 0.4560, d1.loss_cls: 0.2221, d1.loss_bbox: 0.4248, d2.loss_cls: 0.2105, d2.loss_bbox: 0.4098, d3.loss_cls: 0.2045, d3.loss_bbox: 0.4034, d4.loss_cls: 0.2024, d4.loss_bbox: 0.4010, d5.loss_cls: 0.2033, d5.loss_bbox: 0.3997, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9629, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8174, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7832, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7730, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7701, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7683, d0.loss_map_cls_all: 0.2388, d0.loss_map_pts_all: 1.4803, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2388, d0.loss_map_pts: 1.4803, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2139, d1.loss_map_pts: 1.0178, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1982, d2.loss_map_pts: 0.8632, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1858, d3.loss_map_pts: 0.8047, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1790, d4.loss_map_pts: 0.7806, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1762, d5.loss_map_pts: 0.7717, d5.loss_map_dir: 0.0106, loss: 32.7498, grad_norm: 152.1378 +2026-02-25 20:53:05,857 - DriveTransformer - INFO - Epoch [5][32150/39528] lr: 9.337e-05, eta: 7 days, 1:48:16, time: 0.819, data_time: 0.046, memory: 19865, loss_cls: 0.2105, loss_bbox: 0.4200, loss_traj: 0.7458, loss_traj_cls: 0.0009, loss_map_cls: 0.2194, loss_map_pts: 0.9006, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.7950, d0.loss_plan_l1_fix_dist: 0.4626, d1.loss_plan_l1_fix_time: 1.4717, d1.loss_plan_l1_fix_dist: 0.2031, d2.loss_plan_l1_fix_time: 1.4568, d2.loss_plan_l1_fix_dist: 0.1963, d3.loss_plan_l1_fix_time: 1.4573, d3.loss_plan_l1_fix_dist: 0.2053, d4.loss_plan_l1_fix_time: 1.4608, d4.loss_plan_l1_fix_dist: 0.2162, d5.loss_plan_l1_fix_time: 1.4641, d5.loss_plan_l1_fix_dist: 0.2284, d6.loss_plan_l1_fix_time: 1.4678, d6.loss_plan_l1_fix_dist: 0.2413, d0.loss_cls_all: 0.2459, d0.loss_bbox_all: 0.4733, d0.loss_cls: 0.2459, d0.loss_bbox: 0.4733, d1.loss_cls: 0.2328, d1.loss_bbox: 0.4396, d2.loss_cls: 0.2192, d2.loss_bbox: 0.4219, d3.loss_cls: 0.2146, d3.loss_bbox: 0.4175, d4.loss_cls: 0.2119, d4.loss_bbox: 0.4154, d5.loss_cls: 0.2102, d5.loss_bbox: 0.4175, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9155, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8049, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7544, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7480, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7500, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7481, d0.loss_map_cls_all: 0.2658, d0.loss_map_pts_all: 1.6362, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2658, d0.loss_map_pts: 1.6362, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2430, d1.loss_map_pts: 1.1528, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.2325, d2.loss_map_pts: 0.9922, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2238, d3.loss_map_pts: 0.9283, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.2203, d4.loss_map_pts: 0.9057, d4.loss_map_dir: 0.0128, d5.loss_map_cls: 0.2198, d5.loss_map_pts: 0.9001, d5.loss_map_dir: 0.0129, loss: 35.1113, grad_norm: 147.8737 +2026-02-25 20:53:46,732 - DriveTransformer - INFO - Epoch [5][32200/39528] lr: 9.337e-05, eta: 7 days, 1:47:38, time: 0.817, data_time: 0.041, memory: 19865, loss_cls: 0.1991, loss_bbox: 0.4005, loss_traj: 0.6946, loss_traj_cls: 0.0010, loss_map_cls: 0.1621, loss_map_pts: 0.7362, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.4136, d0.loss_plan_l1_fix_dist: 0.4383, d1.loss_plan_l1_fix_time: 1.1718, d1.loss_plan_l1_fix_dist: 0.1905, d2.loss_plan_l1_fix_time: 1.1556, d2.loss_plan_l1_fix_dist: 0.1813, d3.loss_plan_l1_fix_time: 1.1520, d3.loss_plan_l1_fix_dist: 0.1903, d4.loss_plan_l1_fix_time: 1.1561, d4.loss_plan_l1_fix_dist: 0.2050, d5.loss_plan_l1_fix_time: 1.1606, d5.loss_plan_l1_fix_dist: 0.2219, d6.loss_plan_l1_fix_time: 1.1659, d6.loss_plan_l1_fix_dist: 0.2391, d0.loss_cls_all: 0.2319, d0.loss_bbox_all: 0.4527, d0.loss_cls: 0.2319, d0.loss_bbox: 0.4527, d1.loss_cls: 0.2237, d1.loss_bbox: 0.4204, d2.loss_cls: 0.2097, d2.loss_bbox: 0.4034, d3.loss_cls: 0.2054, d3.loss_bbox: 0.3954, d4.loss_cls: 0.2002, d4.loss_bbox: 0.3954, d5.loss_cls: 0.1997, d5.loss_bbox: 0.3975, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9369, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7478, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7082, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6991, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6979, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6965, d0.loss_map_cls_all: 0.2118, d0.loss_map_pts_all: 1.4189, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2118, d0.loss_map_pts: 1.4189, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1912, d1.loss_map_pts: 0.9604, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1807, d2.loss_map_pts: 0.8205, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1716, d3.loss_map_pts: 0.7669, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1657, d4.loss_map_pts: 0.7443, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1644, d5.loss_map_pts: 0.7363, d5.loss_map_dir: 0.0100, loss: 30.3881, grad_norm: 150.4948 +2026-02-25 20:54:27,838 - DriveTransformer - INFO - Epoch [5][32250/39528] lr: 9.337e-05, eta: 7 days, 1:47:01, time: 0.822, data_time: 0.045, memory: 19865, loss_cls: 0.1999, loss_bbox: 0.4087, loss_traj: 0.7736, loss_traj_cls: 0.0009, loss_map_cls: 0.1865, loss_map_pts: 0.7911, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.6153, d0.loss_plan_l1_fix_dist: 0.4653, d1.loss_plan_l1_fix_time: 1.2565, d1.loss_plan_l1_fix_dist: 0.2119, d2.loss_plan_l1_fix_time: 1.2470, d2.loss_plan_l1_fix_dist: 0.2050, d3.loss_plan_l1_fix_time: 1.2471, d3.loss_plan_l1_fix_dist: 0.2108, d4.loss_plan_l1_fix_time: 1.2510, d4.loss_plan_l1_fix_dist: 0.2210, d5.loss_plan_l1_fix_time: 1.2554, d5.loss_plan_l1_fix_dist: 0.2356, d6.loss_plan_l1_fix_time: 1.2601, d6.loss_plan_l1_fix_dist: 0.2523, d0.loss_cls_all: 0.2339, d0.loss_bbox_all: 0.4747, d0.loss_cls: 0.2339, d0.loss_bbox: 0.4747, d1.loss_cls: 0.2228, d1.loss_bbox: 0.4381, d2.loss_cls: 0.2125, d2.loss_bbox: 0.4177, d3.loss_cls: 0.2068, d3.loss_bbox: 0.4085, d4.loss_cls: 0.2020, d4.loss_bbox: 0.4076, d5.loss_cls: 0.1996, d5.loss_bbox: 0.4091, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9674, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8217, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7801, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7728, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7720, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7741, d0.loss_map_cls_all: 0.2473, d0.loss_map_pts_all: 1.6134, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2473, d0.loss_map_pts: 1.6134, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2222, d1.loss_map_pts: 1.0495, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2121, d2.loss_map_pts: 0.8750, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1985, d3.loss_map_pts: 0.8171, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1910, d4.loss_map_pts: 0.7956, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1883, d5.loss_map_pts: 0.7909, d5.loss_map_dir: 0.0112, loss: 32.8796, grad_norm: 151.3467 +2026-02-25 20:55:07,315 - DriveTransformer - INFO - Epoch [5][32300/39528] lr: 9.337e-05, eta: 7 days, 1:46:17, time: 0.789, data_time: 0.044, memory: 19865, loss_cls: 0.2168, loss_bbox: 0.3985, loss_traj: 0.8325, loss_traj_cls: 0.0009, loss_map_cls: 0.1992, loss_map_pts: 0.7906, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 3.0527, d0.loss_plan_l1_fix_dist: 0.3502, d1.loss_plan_l1_fix_time: 1.4070, d1.loss_plan_l1_fix_dist: 0.2110, d2.loss_plan_l1_fix_time: 1.3818, d2.loss_plan_l1_fix_dist: 0.2168, d3.loss_plan_l1_fix_time: 1.3832, d3.loss_plan_l1_fix_dist: 0.2185, d4.loss_plan_l1_fix_time: 1.3859, d4.loss_plan_l1_fix_dist: 0.2346, d5.loss_plan_l1_fix_time: 1.3887, d5.loss_plan_l1_fix_dist: 0.2511, d6.loss_plan_l1_fix_time: 1.3921, d6.loss_plan_l1_fix_dist: 0.2695, d0.loss_cls_all: 0.2471, d0.loss_bbox_all: 0.4653, d0.loss_cls: 0.2471, d0.loss_bbox: 0.4653, d1.loss_cls: 0.2420, d1.loss_bbox: 0.4241, d2.loss_cls: 0.2307, d2.loss_bbox: 0.4067, d3.loss_cls: 0.2220, d3.loss_bbox: 0.4003, d4.loss_cls: 0.2182, d4.loss_bbox: 0.3954, d5.loss_cls: 0.2154, d5.loss_bbox: 0.3979, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1659, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8944, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8291, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8138, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8136, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8241, d0.loss_map_cls_all: 0.2573, d0.loss_map_pts_all: 1.4318, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2573, d0.loss_map_pts: 1.4318, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2308, d1.loss_map_pts: 1.0355, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.2176, d2.loss_map_pts: 0.8879, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.2069, d3.loss_map_pts: 0.8265, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.2028, d4.loss_map_pts: 0.8034, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.2009, d5.loss_map_pts: 0.7936, d5.loss_map_dir: 0.0091, loss: 34.3590, grad_norm: 151.0327 +2026-02-25 20:55:46,860 - DriveTransformer - INFO - Epoch [5][32350/39528] lr: 9.337e-05, eta: 7 days, 1:45:34, time: 0.791, data_time: 0.045, memory: 19865, loss_cls: 0.2058, loss_bbox: 0.4084, loss_traj: 0.8351, loss_traj_cls: 0.0009, loss_map_cls: 0.2050, loss_map_pts: 0.8506, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.4535, d0.loss_plan_l1_fix_dist: 0.4454, d1.loss_plan_l1_fix_time: 1.2216, d1.loss_plan_l1_fix_dist: 0.2040, d2.loss_plan_l1_fix_time: 1.2035, d2.loss_plan_l1_fix_dist: 0.2108, d3.loss_plan_l1_fix_time: 1.2043, d3.loss_plan_l1_fix_dist: 0.2165, d4.loss_plan_l1_fix_time: 1.2086, d4.loss_plan_l1_fix_dist: 0.2275, d5.loss_plan_l1_fix_time: 1.2137, d5.loss_plan_l1_fix_dist: 0.2408, d6.loss_plan_l1_fix_time: 1.2196, d6.loss_plan_l1_fix_dist: 0.2553, d0.loss_cls_all: 0.2437, d0.loss_bbox_all: 0.4645, d0.loss_cls: 0.2437, d0.loss_bbox: 0.4645, d1.loss_cls: 0.2346, d1.loss_bbox: 0.4288, d2.loss_cls: 0.2236, d2.loss_bbox: 0.4141, d3.loss_cls: 0.2163, d3.loss_bbox: 0.4067, d4.loss_cls: 0.2084, d4.loss_bbox: 0.4045, d5.loss_cls: 0.2052, d5.loss_bbox: 0.4064, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0720, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9137, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8593, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8423, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8333, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8403, d0.loss_map_cls_all: 0.2586, d0.loss_map_pts_all: 1.5946, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2586, d0.loss_map_pts: 1.5946, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2374, d1.loss_map_pts: 1.1030, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2254, d2.loss_map_pts: 0.9456, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2156, d3.loss_map_pts: 0.8872, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.2092, d4.loss_map_pts: 0.8614, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.2067, d5.loss_map_pts: 0.8519, d5.loss_map_dir: 0.0119, loss: 33.5051, grad_norm: 150.5809 +2026-02-25 20:56:26,006 - DriveTransformer - INFO - Epoch [5][32400/39528] lr: 9.337e-05, eta: 7 days, 1:44:49, time: 0.783, data_time: 0.045, memory: 19865, loss_cls: 0.1918, loss_bbox: 0.3790, loss_traj: 0.7311, loss_traj_cls: 0.0010, loss_map_cls: 0.1958, loss_map_pts: 0.7636, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.4875, d0.loss_plan_l1_fix_dist: 0.4234, d1.loss_plan_l1_fix_time: 1.0712, d1.loss_plan_l1_fix_dist: 0.2018, d2.loss_plan_l1_fix_time: 1.0570, d2.loss_plan_l1_fix_dist: 0.1961, d3.loss_plan_l1_fix_time: 1.0585, d3.loss_plan_l1_fix_dist: 0.2032, d4.loss_plan_l1_fix_time: 1.0623, d4.loss_plan_l1_fix_dist: 0.2124, d5.loss_plan_l1_fix_time: 1.0670, d5.loss_plan_l1_fix_dist: 0.2230, d6.loss_plan_l1_fix_time: 1.0728, d6.loss_plan_l1_fix_dist: 0.2335, d0.loss_cls_all: 0.2256, d0.loss_bbox_all: 0.4382, d0.loss_cls: 0.2256, d0.loss_bbox: 0.4382, d1.loss_cls: 0.2169, d1.loss_bbox: 0.4038, d2.loss_cls: 0.2055, d2.loss_bbox: 0.3863, d3.loss_cls: 0.1960, d3.loss_bbox: 0.3801, d4.loss_cls: 0.1942, d4.loss_bbox: 0.3751, d5.loss_cls: 0.1932, d5.loss_bbox: 0.3754, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9078, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7826, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7316, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7197, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7203, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7227, d0.loss_map_cls_all: 0.2478, d0.loss_map_pts_all: 1.5253, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2478, d0.loss_map_pts: 1.5253, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2335, d1.loss_map_pts: 1.0233, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2210, d2.loss_map_pts: 0.8550, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.2089, d3.loss_map_pts: 0.7953, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.2023, d4.loss_map_pts: 0.7728, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1973, d5.loss_map_pts: 0.7650, d5.loss_map_dir: 0.0119, loss: 30.5868, grad_norm: 151.8131 +2026-02-25 20:57:05,739 - DriveTransformer - INFO - Epoch [5][32450/39528] lr: 9.337e-05, eta: 7 days, 1:44:06, time: 0.795, data_time: 0.044, memory: 19865, loss_cls: 0.2211, loss_bbox: 0.4134, loss_traj: 0.7277, loss_traj_cls: 0.0010, loss_map_cls: 0.2064, loss_map_pts: 0.7774, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.8750, d0.loss_plan_l1_fix_dist: 0.3770, d1.loss_plan_l1_fix_time: 1.3824, d1.loss_plan_l1_fix_dist: 0.2132, d2.loss_plan_l1_fix_time: 1.3634, d2.loss_plan_l1_fix_dist: 0.1927, d3.loss_plan_l1_fix_time: 1.3610, d3.loss_plan_l1_fix_dist: 0.1941, d4.loss_plan_l1_fix_time: 1.3627, d4.loss_plan_l1_fix_dist: 0.2045, d5.loss_plan_l1_fix_time: 1.3657, d5.loss_plan_l1_fix_dist: 0.2164, d6.loss_plan_l1_fix_time: 1.3692, d6.loss_plan_l1_fix_dist: 0.2284, d0.loss_cls_all: 0.2485, d0.loss_bbox_all: 0.4739, d0.loss_cls: 0.2485, d0.loss_bbox: 0.4739, d1.loss_cls: 0.2468, d1.loss_bbox: 0.4379, d2.loss_cls: 0.2318, d2.loss_bbox: 0.4234, d3.loss_cls: 0.2225, d3.loss_bbox: 0.4165, d4.loss_cls: 0.2196, d4.loss_bbox: 0.4150, d5.loss_cls: 0.2187, d5.loss_bbox: 0.4143, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9598, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8108, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7514, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7442, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7343, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7281, d0.loss_map_cls_all: 0.2630, d0.loss_map_pts_all: 1.4718, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2630, d0.loss_map_pts: 1.4718, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2408, d1.loss_map_pts: 1.0329, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.2271, d2.loss_map_pts: 0.8768, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.2135, d3.loss_map_pts: 0.8120, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.2123, d4.loss_map_pts: 0.7857, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.2086, d5.loss_map_pts: 0.7776, d5.loss_map_dir: 0.0103, loss: 33.4149, grad_norm: 152.9463 +2026-02-25 20:57:47,066 - DriveTransformer - INFO - Epoch [5][32500/39528] lr: 9.337e-05, eta: 7 days, 1:43:30, time: 0.827, data_time: 0.041, memory: 19865, loss_cls: 0.2080, loss_bbox: 0.4139, loss_traj: 0.7531, loss_traj_cls: 0.0010, loss_map_cls: 0.2099, loss_map_pts: 0.8719, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.5932, d0.loss_plan_l1_fix_dist: 0.4166, d1.loss_plan_l1_fix_time: 1.2673, d1.loss_plan_l1_fix_dist: 0.2162, d2.loss_plan_l1_fix_time: 1.2393, d2.loss_plan_l1_fix_dist: 0.1869, d3.loss_plan_l1_fix_time: 1.2352, d3.loss_plan_l1_fix_dist: 0.1907, d4.loss_plan_l1_fix_time: 1.2370, d4.loss_plan_l1_fix_dist: 0.2005, d5.loss_plan_l1_fix_time: 1.2399, d5.loss_plan_l1_fix_dist: 0.2137, d6.loss_plan_l1_fix_time: 1.2438, d6.loss_plan_l1_fix_dist: 0.2281, d0.loss_cls_all: 0.2383, d0.loss_bbox_all: 0.4656, d0.loss_cls: 0.2383, d0.loss_bbox: 0.4656, d1.loss_cls: 0.2320, d1.loss_bbox: 0.4366, d2.loss_cls: 0.2236, d2.loss_bbox: 0.4178, d3.loss_cls: 0.2178, d3.loss_bbox: 0.4114, d4.loss_cls: 0.2125, d4.loss_bbox: 0.4109, d5.loss_cls: 0.2091, d5.loss_bbox: 0.4129, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0182, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8539, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7840, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7671, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7579, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7479, d0.loss_map_cls_all: 0.2746, d0.loss_map_pts_all: 1.6843, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2746, d0.loss_map_pts: 1.6843, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2537, d1.loss_map_pts: 1.1500, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2337, d2.loss_map_pts: 0.9660, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2202, d3.loss_map_pts: 0.9030, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.2140, d4.loss_map_pts: 0.8788, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.2111, d5.loss_map_pts: 0.8723, d5.loss_map_dir: 0.0121, loss: 33.6051, grad_norm: 153.1558 +2026-02-25 20:58:29,018 - DriveTransformer - INFO - Epoch [5][32550/39528] lr: 9.337e-05, eta: 7 days, 1:42:56, time: 0.839, data_time: 0.041, memory: 19865, loss_cls: 0.1894, loss_bbox: 0.3874, loss_traj: 0.6787, loss_traj_cls: 0.0010, loss_map_cls: 0.2014, loss_map_pts: 0.8474, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.7730, d0.loss_plan_l1_fix_dist: 0.4767, d1.loss_plan_l1_fix_time: 1.2557, d1.loss_plan_l1_fix_dist: 0.2378, d2.loss_plan_l1_fix_time: 1.2175, d2.loss_plan_l1_fix_dist: 0.1957, d3.loss_plan_l1_fix_time: 1.2123, d3.loss_plan_l1_fix_dist: 0.2000, d4.loss_plan_l1_fix_time: 1.2131, d4.loss_plan_l1_fix_dist: 0.2100, d5.loss_plan_l1_fix_time: 1.2149, d5.loss_plan_l1_fix_dist: 0.2215, d6.loss_plan_l1_fix_time: 1.2180, d6.loss_plan_l1_fix_dist: 0.2401, d0.loss_cls_all: 0.2203, d0.loss_bbox_all: 0.4434, d0.loss_cls: 0.2203, d0.loss_bbox: 0.4434, d1.loss_cls: 0.2115, d1.loss_bbox: 0.4101, d2.loss_cls: 0.2040, d2.loss_bbox: 0.3933, d3.loss_cls: 0.1938, d3.loss_bbox: 0.3900, d4.loss_cls: 0.1895, d4.loss_bbox: 0.3876, d5.loss_cls: 0.1886, d5.loss_bbox: 0.3870, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8280, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7218, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6950, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6914, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6826, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6795, d0.loss_map_cls_all: 0.2625, d0.loss_map_pts_all: 1.7290, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2625, d0.loss_map_pts: 1.7290, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2385, d1.loss_map_pts: 1.1198, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2220, d2.loss_map_pts: 0.9369, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2111, d3.loss_map_pts: 0.8787, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2061, d4.loss_map_pts: 0.8572, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.2025, d5.loss_map_pts: 0.8482, d5.loss_map_dir: 0.0127, loss: 32.5792, grad_norm: 151.6486 +2026-02-25 20:59:10,156 - DriveTransformer - INFO - Epoch [5][32600/39528] lr: 9.337e-05, eta: 7 days, 1:42:19, time: 0.823, data_time: 0.046, memory: 19865, loss_cls: 0.2002, loss_bbox: 0.4064, loss_traj: 0.6921, loss_traj_cls: 0.0011, loss_map_cls: 0.2058, loss_map_pts: 0.8762, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.3387, d0.loss_plan_l1_fix_dist: 0.3925, d1.loss_plan_l1_fix_time: 1.0767, d1.loss_plan_l1_fix_dist: 0.2494, d2.loss_plan_l1_fix_time: 1.0577, d2.loss_plan_l1_fix_dist: 0.2016, d3.loss_plan_l1_fix_time: 1.0592, d3.loss_plan_l1_fix_dist: 0.2028, d4.loss_plan_l1_fix_time: 1.0624, d4.loss_plan_l1_fix_dist: 0.2103, d5.loss_plan_l1_fix_time: 1.0658, d5.loss_plan_l1_fix_dist: 0.2177, d6.loss_plan_l1_fix_time: 1.0697, d6.loss_plan_l1_fix_dist: 0.2262, d0.loss_cls_all: 0.2367, d0.loss_bbox_all: 0.4623, d0.loss_cls: 0.2367, d0.loss_bbox: 0.4623, d1.loss_cls: 0.2257, d1.loss_bbox: 0.4292, d2.loss_cls: 0.2155, d2.loss_bbox: 0.4125, d3.loss_cls: 0.2061, d3.loss_bbox: 0.4069, d4.loss_cls: 0.2013, d4.loss_bbox: 0.4040, d5.loss_cls: 0.1989, d5.loss_bbox: 0.4045, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9213, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7243, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6955, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6856, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6821, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6900, d0.loss_map_cls_all: 0.2571, d0.loss_map_pts_all: 1.7482, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2571, d0.loss_map_pts: 1.7482, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2354, d1.loss_map_pts: 1.1681, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2231, d2.loss_map_pts: 0.9836, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.2152, d3.loss_map_pts: 0.9139, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2098, d4.loss_map_pts: 0.8887, d4.loss_map_dir: 0.0126, d5.loss_map_cls: 0.2080, d5.loss_map_pts: 0.8777, d5.loss_map_dir: 0.0128, loss: 31.7507, grad_norm: 152.5806 +2026-02-25 20:59:52,835 - DriveTransformer - INFO - Epoch [5][32650/39528] lr: 9.337e-05, eta: 7 days, 1:41:48, time: 0.854, data_time: 0.043, memory: 19865, loss_cls: 0.2159, loss_bbox: 0.4138, loss_traj: 0.6939, loss_traj_cls: 0.0011, loss_map_cls: 0.2134, loss_map_pts: 0.9268, loss_map_dir: 0.0139, d0.loss_plan_l1_fix_time: 2.6403, d0.loss_plan_l1_fix_dist: 0.4025, d1.loss_plan_l1_fix_time: 1.2741, d1.loss_plan_l1_fix_dist: 0.2588, d2.loss_plan_l1_fix_time: 1.2590, d2.loss_plan_l1_fix_dist: 0.2327, d3.loss_plan_l1_fix_time: 1.2660, d3.loss_plan_l1_fix_dist: 0.2363, d4.loss_plan_l1_fix_time: 1.2690, d4.loss_plan_l1_fix_dist: 0.2464, d5.loss_plan_l1_fix_time: 1.2715, d5.loss_plan_l1_fix_dist: 0.2587, d6.loss_plan_l1_fix_time: 1.2747, d6.loss_plan_l1_fix_dist: 0.2701, d0.loss_cls_all: 0.2517, d0.loss_bbox_all: 0.4707, d0.loss_cls: 0.2517, d0.loss_bbox: 0.4707, d1.loss_cls: 0.2390, d1.loss_bbox: 0.4387, d2.loss_cls: 0.2289, d2.loss_bbox: 0.4164, d3.loss_cls: 0.2203, d3.loss_bbox: 0.4113, d4.loss_cls: 0.2162, d4.loss_bbox: 0.4094, d5.loss_cls: 0.2139, d5.loss_bbox: 0.4123, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9286, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7550, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7099, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6935, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6888, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6932, d0.loss_map_cls_all: 0.2801, d0.loss_map_pts_all: 1.8768, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2801, d0.loss_map_pts: 1.8768, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2528, d1.loss_map_pts: 1.2666, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2341, d2.loss_map_pts: 1.0557, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2267, d3.loss_map_pts: 0.9764, d3.loss_map_dir: 0.0135, d4.loss_map_cls: 0.2197, d4.loss_map_pts: 0.9401, d4.loss_map_dir: 0.0137, d5.loss_map_cls: 0.2148, d5.loss_map_pts: 0.9290, d5.loss_map_dir: 0.0139, loss: 34.4875, grad_norm: 150.9957 +2026-02-25 21:00:34,973 - DriveTransformer - INFO - Epoch [5][32700/39528] lr: 9.337e-05, eta: 7 days, 1:41:15, time: 0.843, data_time: 0.041, memory: 19865, loss_cls: 0.1929, loss_bbox: 0.3903, loss_traj: 0.7026, loss_traj_cls: 0.0011, loss_map_cls: 0.1873, loss_map_pts: 0.7765, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.5770, d0.loss_plan_l1_fix_dist: 0.4724, d1.loss_plan_l1_fix_time: 1.1492, d1.loss_plan_l1_fix_dist: 0.2288, d2.loss_plan_l1_fix_time: 1.1327, d2.loss_plan_l1_fix_dist: 0.2107, d3.loss_plan_l1_fix_time: 1.1321, d3.loss_plan_l1_fix_dist: 0.2118, d4.loss_plan_l1_fix_time: 1.1347, d4.loss_plan_l1_fix_dist: 0.2175, d5.loss_plan_l1_fix_time: 1.1385, d5.loss_plan_l1_fix_dist: 0.2258, d6.loss_plan_l1_fix_time: 1.1427, d6.loss_plan_l1_fix_dist: 0.2390, d0.loss_cls_all: 0.2331, d0.loss_bbox_all: 0.4445, d0.loss_cls: 0.2331, d0.loss_bbox: 0.4445, d1.loss_cls: 0.2217, d1.loss_bbox: 0.4127, d2.loss_cls: 0.2084, d2.loss_bbox: 0.3945, d3.loss_cls: 0.1988, d3.loss_bbox: 0.3894, d4.loss_cls: 0.1949, d4.loss_bbox: 0.3875, d5.loss_cls: 0.1938, d5.loss_bbox: 0.3883, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9356, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7464, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7012, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7071, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7051, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7036, d0.loss_map_cls_all: 0.2489, d0.loss_map_pts_all: 1.6615, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2489, d0.loss_map_pts: 1.6615, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2241, d1.loss_map_pts: 1.0518, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.2098, d2.loss_map_pts: 0.8687, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.1983, d3.loss_map_pts: 0.8052, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.1928, d4.loss_map_pts: 0.7810, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.1888, d5.loss_map_pts: 0.7768, d5.loss_map_dir: 0.0121, loss: 31.5278, grad_norm: 151.0447 +2026-02-25 21:01:16,818 - DriveTransformer - INFO - Epoch [5][32750/39528] lr: 9.337e-05, eta: 7 days, 1:40:41, time: 0.837, data_time: 0.045, memory: 19865, loss_cls: 0.2138, loss_bbox: 0.4153, loss_traj: 0.8324, loss_traj_cls: 0.0011, loss_map_cls: 0.2184, loss_map_pts: 0.8829, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.9708, d0.loss_plan_l1_fix_dist: 0.4246, d1.loss_plan_l1_fix_time: 1.5969, d1.loss_plan_l1_fix_dist: 0.2321, d2.loss_plan_l1_fix_time: 1.5685, d2.loss_plan_l1_fix_dist: 0.2331, d3.loss_plan_l1_fix_time: 1.5633, d3.loss_plan_l1_fix_dist: 0.2254, d4.loss_plan_l1_fix_time: 1.5642, d4.loss_plan_l1_fix_dist: 0.2338, d5.loss_plan_l1_fix_time: 1.5662, d5.loss_plan_l1_fix_dist: 0.2418, d6.loss_plan_l1_fix_time: 1.5688, d6.loss_plan_l1_fix_dist: 0.2489, d0.loss_cls_all: 0.2563, d0.loss_bbox_all: 0.4803, d0.loss_cls: 0.2563, d0.loss_bbox: 0.4803, d1.loss_cls: 0.2445, d1.loss_bbox: 0.4471, d2.loss_cls: 0.2306, d2.loss_bbox: 0.4239, d3.loss_cls: 0.2230, d3.loss_bbox: 0.4164, d4.loss_cls: 0.2129, d4.loss_bbox: 0.4165, d5.loss_cls: 0.2119, d5.loss_bbox: 0.4160, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0455, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8839, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8473, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8317, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8330, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8273, d0.loss_map_cls_all: 0.2789, d0.loss_map_pts_all: 1.7122, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2789, d0.loss_map_pts: 1.7122, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2565, d1.loss_map_pts: 1.1686, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2394, d2.loss_map_pts: 0.9824, d2.loss_map_dir: 0.0119, d3.loss_map_cls: 0.2311, d3.loss_map_pts: 0.9155, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2257, d4.loss_map_pts: 0.8918, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.2191, d5.loss_map_pts: 0.8844, d5.loss_map_dir: 0.0126, loss: 36.8863, grad_norm: 149.9859 +2026-02-25 21:01:57,939 - DriveTransformer - INFO - Epoch [5][32800/39528] lr: 9.337e-05, eta: 7 days, 1:40:04, time: 0.824, data_time: 0.042, memory: 19865, loss_cls: 0.2122, loss_bbox: 0.4032, loss_traj: 0.6977, loss_traj_cls: 0.0011, loss_map_cls: 0.2015, loss_map_pts: 0.8679, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.9279, d0.loss_plan_l1_fix_dist: 0.4085, d1.loss_plan_l1_fix_time: 1.3708, d1.loss_plan_l1_fix_dist: 0.2145, d2.loss_plan_l1_fix_time: 1.3497, d2.loss_plan_l1_fix_dist: 0.2176, d3.loss_plan_l1_fix_time: 1.3418, d3.loss_plan_l1_fix_dist: 0.2134, d4.loss_plan_l1_fix_time: 1.3426, d4.loss_plan_l1_fix_dist: 0.2210, d5.loss_plan_l1_fix_time: 1.3444, d5.loss_plan_l1_fix_dist: 0.2297, d6.loss_plan_l1_fix_time: 1.3475, d6.loss_plan_l1_fix_dist: 0.2394, d0.loss_cls_all: 0.2424, d0.loss_bbox_all: 0.4593, d0.loss_cls: 0.2424, d0.loss_bbox: 0.4593, d1.loss_cls: 0.2325, d1.loss_bbox: 0.4322, d2.loss_cls: 0.2229, d2.loss_bbox: 0.4120, d3.loss_cls: 0.2183, d3.loss_bbox: 0.4048, d4.loss_cls: 0.2131, d4.loss_bbox: 0.4028, d5.loss_cls: 0.2119, d5.loss_bbox: 0.4024, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8503, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7361, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6967, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6888, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6921, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6963, d0.loss_map_cls_all: 0.2668, d0.loss_map_pts_all: 1.6728, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2668, d0.loss_map_pts: 1.6728, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2394, d1.loss_map_pts: 1.1609, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2225, d2.loss_map_pts: 0.9754, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.2100, d3.loss_map_pts: 0.9072, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2065, d4.loss_map_pts: 0.8775, d4.loss_map_dir: 0.0126, d5.loss_map_cls: 0.2027, d5.loss_map_pts: 0.8688, d5.loss_map_dir: 0.0127, loss: 33.9210, grad_norm: 150.5344 +2026-02-25 21:02:39,318 - DriveTransformer - INFO - Epoch [5][32850/39528] lr: 9.337e-05, eta: 7 days, 1:39:28, time: 0.826, data_time: 0.045, memory: 19865, loss_cls: 0.2359, loss_bbox: 0.4301, loss_traj: 0.8019, loss_traj_cls: 0.0011, loss_map_cls: 0.2373, loss_map_pts: 0.9591, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.5723, d0.loss_plan_l1_fix_dist: 0.4284, d1.loss_plan_l1_fix_time: 1.2023, d1.loss_plan_l1_fix_dist: 0.2386, d2.loss_plan_l1_fix_time: 1.2031, d2.loss_plan_l1_fix_dist: 0.2127, d3.loss_plan_l1_fix_time: 1.2101, d3.loss_plan_l1_fix_dist: 0.2120, d4.loss_plan_l1_fix_time: 1.2134, d4.loss_plan_l1_fix_dist: 0.2195, d5.loss_plan_l1_fix_time: 1.2158, d5.loss_plan_l1_fix_dist: 0.2308, d6.loss_plan_l1_fix_time: 1.2184, d6.loss_plan_l1_fix_dist: 0.2443, d0.loss_cls_all: 0.2668, d0.loss_bbox_all: 0.4777, d0.loss_cls: 0.2668, d0.loss_bbox: 0.4777, d1.loss_cls: 0.2594, d1.loss_bbox: 0.4494, d2.loss_cls: 0.2458, d2.loss_bbox: 0.4337, d3.loss_cls: 0.2364, d3.loss_bbox: 0.4275, d4.loss_cls: 0.2337, d4.loss_bbox: 0.4275, d5.loss_cls: 0.2356, d5.loss_bbox: 0.4275, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9376, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8260, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7998, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7967, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7969, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8003, d0.loss_map_cls_all: 0.3015, d0.loss_map_pts_all: 1.7361, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.3015, d0.loss_map_pts: 1.7361, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2773, d1.loss_map_pts: 1.2212, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2605, d2.loss_map_pts: 1.0546, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.2485, d3.loss_map_pts: 0.9909, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.2432, d4.loss_map_pts: 0.9656, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.2388, d5.loss_map_pts: 0.9614, d5.loss_map_dir: 0.0123, loss: 34.7460, grad_norm: 151.0802 +2026-02-25 21:03:19,897 - DriveTransformer - INFO - Epoch [5][32900/39528] lr: 9.337e-05, eta: 7 days, 1:38:49, time: 0.812, data_time: 0.048, memory: 19865, loss_cls: 0.1924, loss_bbox: 0.3860, loss_traj: 0.9030, loss_traj_cls: 0.0011, loss_map_cls: 0.1691, loss_map_pts: 0.7493, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.5504, d0.loss_plan_l1_fix_dist: 0.4247, d1.loss_plan_l1_fix_time: 1.2921, d1.loss_plan_l1_fix_dist: 0.2500, d2.loss_plan_l1_fix_time: 1.2744, d2.loss_plan_l1_fix_dist: 0.1991, d3.loss_plan_l1_fix_time: 1.2748, d3.loss_plan_l1_fix_dist: 0.1982, d4.loss_plan_l1_fix_time: 1.2791, d4.loss_plan_l1_fix_dist: 0.2014, d5.loss_plan_l1_fix_time: 1.2840, d5.loss_plan_l1_fix_dist: 0.2070, d6.loss_plan_l1_fix_time: 1.2893, d6.loss_plan_l1_fix_dist: 0.2150, d0.loss_cls_all: 0.2284, d0.loss_bbox_all: 0.4342, d0.loss_cls: 0.2284, d0.loss_bbox: 0.4342, d1.loss_cls: 0.2172, d1.loss_bbox: 0.4012, d2.loss_cls: 0.2048, d2.loss_bbox: 0.3895, d3.loss_cls: 0.1985, d3.loss_bbox: 0.3849, d4.loss_cls: 0.1953, d4.loss_bbox: 0.3832, d5.loss_cls: 0.1929, d5.loss_bbox: 0.3852, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1777, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0024, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.9297, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9115, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9048, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8977, d0.loss_map_cls_all: 0.2410, d0.loss_map_pts_all: 1.4895, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2410, d0.loss_map_pts: 1.4895, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2093, d1.loss_map_pts: 0.9966, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1927, d2.loss_map_pts: 0.8394, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1804, d3.loss_map_pts: 0.7784, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1750, d4.loss_map_pts: 0.7596, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1710, d5.loss_map_pts: 0.7503, d5.loss_map_dir: 0.0112, loss: 33.0476, grad_norm: 150.3408 +2026-02-25 21:04:00,182 - DriveTransformer - INFO - Epoch [5][32950/39528] lr: 9.337e-05, eta: 7 days, 1:38:09, time: 0.806, data_time: 0.046, memory: 19865, loss_cls: 0.1991, loss_bbox: 0.3954, loss_traj: 0.7842, loss_traj_cls: 0.0011, loss_map_cls: 0.1751, loss_map_pts: 0.7744, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 3.0483, d0.loss_plan_l1_fix_dist: 0.4597, d1.loss_plan_l1_fix_time: 1.4332, d1.loss_plan_l1_fix_dist: 0.2697, d2.loss_plan_l1_fix_time: 1.4123, d2.loss_plan_l1_fix_dist: 0.2249, d3.loss_plan_l1_fix_time: 1.4059, d3.loss_plan_l1_fix_dist: 0.2226, d4.loss_plan_l1_fix_time: 1.4091, d4.loss_plan_l1_fix_dist: 0.2263, d5.loss_plan_l1_fix_time: 1.4135, d5.loss_plan_l1_fix_dist: 0.2307, d6.loss_plan_l1_fix_time: 1.4180, d6.loss_plan_l1_fix_dist: 0.2371, d0.loss_cls_all: 0.2213, d0.loss_bbox_all: 0.4529, d0.loss_cls: 0.2213, d0.loss_bbox: 0.4529, d1.loss_cls: 0.2179, d1.loss_bbox: 0.4215, d2.loss_cls: 0.2097, d2.loss_bbox: 0.4069, d3.loss_cls: 0.2046, d3.loss_bbox: 0.3981, d4.loss_cls: 0.1984, d4.loss_bbox: 0.3980, d5.loss_cls: 0.1996, d5.loss_bbox: 0.3944, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0519, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8686, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8140, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8038, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7955, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7875, d0.loss_map_cls_all: 0.2342, d0.loss_map_pts_all: 1.4761, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2342, d0.loss_map_pts: 1.4761, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.2058, d1.loss_map_pts: 1.0382, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1951, d2.loss_map_pts: 0.8718, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1838, d3.loss_map_pts: 0.8055, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1775, d4.loss_map_pts: 0.7828, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1749, d5.loss_map_pts: 0.7755, d5.loss_map_dir: 0.0092, loss: 33.9666, grad_norm: 150.1912 +2026-02-25 21:04:40,503 - DriveTransformer - INFO - Epoch [5][33000/39528] lr: 9.337e-05, eta: 7 days, 1:37:28, time: 0.806, data_time: 0.043, memory: 19865, loss_cls: 0.2099, loss_bbox: 0.4104, loss_traj: 0.8602, loss_traj_cls: 0.0011, loss_map_cls: 0.1925, loss_map_pts: 0.8269, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.9573, d0.loss_plan_l1_fix_dist: 0.3849, d1.loss_plan_l1_fix_time: 1.4108, d1.loss_plan_l1_fix_dist: 0.2692, d2.loss_plan_l1_fix_time: 1.3884, d2.loss_plan_l1_fix_dist: 0.2350, d3.loss_plan_l1_fix_time: 1.3883, d3.loss_plan_l1_fix_dist: 0.2360, d4.loss_plan_l1_fix_time: 1.3913, d4.loss_plan_l1_fix_dist: 0.2447, d5.loss_plan_l1_fix_time: 1.3956, d5.loss_plan_l1_fix_dist: 0.2562, d6.loss_plan_l1_fix_time: 1.4012, d6.loss_plan_l1_fix_dist: 0.2686, d0.loss_cls_all: 0.2474, d0.loss_bbox_all: 0.4536, d0.loss_cls: 0.2474, d0.loss_bbox: 0.4536, d1.loss_cls: 0.2398, d1.loss_bbox: 0.4216, d2.loss_cls: 0.2259, d2.loss_bbox: 0.4082, d3.loss_cls: 0.2172, d3.loss_bbox: 0.4029, d4.loss_cls: 0.2114, d4.loss_bbox: 0.4032, d5.loss_cls: 0.2092, d5.loss_bbox: 0.4053, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0978, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9288, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8782, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8723, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8657, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8681, d0.loss_map_cls_all: 0.2517, d0.loss_map_pts_all: 1.5687, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2517, d0.loss_map_pts: 1.5687, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2309, d1.loss_map_pts: 1.0889, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2130, d2.loss_map_pts: 0.9173, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2013, d3.loss_map_pts: 0.8547, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1970, d4.loss_map_pts: 0.8312, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1940, d5.loss_map_pts: 0.8283, d5.loss_map_dir: 0.0111, loss: 35.0742, grad_norm: 150.1314 +2026-02-25 21:05:19,912 - DriveTransformer - INFO - Epoch [5][33050/39528] lr: 9.337e-05, eta: 7 days, 1:36:44, time: 0.788, data_time: 0.042, memory: 19865, loss_cls: 0.1873, loss_bbox: 0.3729, loss_traj: 0.8089, loss_traj_cls: 0.0011, loss_map_cls: 0.1867, loss_map_pts: 0.7514, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.1002, d0.loss_plan_l1_fix_dist: 0.3888, d1.loss_plan_l1_fix_time: 1.1022, d1.loss_plan_l1_fix_dist: 0.2247, d2.loss_plan_l1_fix_time: 1.0919, d2.loss_plan_l1_fix_dist: 0.2014, d3.loss_plan_l1_fix_time: 1.0967, d3.loss_plan_l1_fix_dist: 0.2028, d4.loss_plan_l1_fix_time: 1.1015, d4.loss_plan_l1_fix_dist: 0.2116, d5.loss_plan_l1_fix_time: 1.1072, d5.loss_plan_l1_fix_dist: 0.2245, d6.loss_plan_l1_fix_time: 1.1142, d6.loss_plan_l1_fix_dist: 0.2413, d0.loss_cls_all: 0.2138, d0.loss_bbox_all: 0.4258, d0.loss_cls: 0.2138, d0.loss_bbox: 0.4258, d1.loss_cls: 0.2098, d1.loss_bbox: 0.3950, d2.loss_cls: 0.1976, d2.loss_bbox: 0.3796, d3.loss_cls: 0.1904, d3.loss_bbox: 0.3730, d4.loss_cls: 0.1886, d4.loss_bbox: 0.3702, d5.loss_cls: 0.1874, d5.loss_bbox: 0.3707, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0313, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8416, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8109, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8071, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8056, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8059, d0.loss_map_cls_all: 0.2489, d0.loss_map_pts_all: 1.4829, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2489, d0.loss_map_pts: 1.4829, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2238, d1.loss_map_pts: 1.0131, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.2092, d2.loss_map_pts: 0.8395, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.2008, d3.loss_map_pts: 0.7787, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1949, d4.loss_map_pts: 0.7562, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1894, d5.loss_map_pts: 0.7511, d5.loss_map_dir: 0.0093, loss: 30.6611, grad_norm: 150.7310 +2026-02-25 21:06:01,555 - DriveTransformer - INFO - Epoch [5][33100/39528] lr: 9.337e-05, eta: 7 days, 1:36:09, time: 0.833, data_time: 0.041, memory: 19865, loss_cls: 0.2114, loss_bbox: 0.4217, loss_traj: 0.8283, loss_traj_cls: 0.0011, loss_map_cls: 0.2075, loss_map_pts: 0.8790, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.6485, d0.loss_plan_l1_fix_dist: 0.4263, d1.loss_plan_l1_fix_time: 1.3577, d1.loss_plan_l1_fix_dist: 0.2471, d2.loss_plan_l1_fix_time: 1.3354, d2.loss_plan_l1_fix_dist: 0.2403, d3.loss_plan_l1_fix_time: 1.3386, d3.loss_plan_l1_fix_dist: 0.2443, d4.loss_plan_l1_fix_time: 1.3422, d4.loss_plan_l1_fix_dist: 0.2544, d5.loss_plan_l1_fix_time: 1.3460, d5.loss_plan_l1_fix_dist: 0.2634, d6.loss_plan_l1_fix_time: 1.3510, d6.loss_plan_l1_fix_dist: 0.2757, d0.loss_cls_all: 0.2413, d0.loss_bbox_all: 0.4744, d0.loss_cls: 0.2413, d0.loss_bbox: 0.4744, d1.loss_cls: 0.2306, d1.loss_bbox: 0.4470, d2.loss_cls: 0.2184, d2.loss_bbox: 0.4320, d3.loss_cls: 0.2116, d3.loss_bbox: 0.4261, d4.loss_cls: 0.2106, d4.loss_bbox: 0.4215, d5.loss_cls: 0.2100, d5.loss_bbox: 0.4219, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9957, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8600, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8330, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8292, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8239, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8247, d0.loss_map_cls_all: 0.2750, d0.loss_map_pts_all: 1.6888, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2750, d0.loss_map_pts: 1.6888, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2491, d1.loss_map_pts: 1.1538, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2266, d2.loss_map_pts: 0.9658, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.2172, d3.loss_map_pts: 0.9056, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.2124, d4.loss_map_pts: 0.8866, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.2088, d5.loss_map_pts: 0.8799, d5.loss_map_dir: 0.0124, loss: 34.9823, grad_norm: 153.5093 +2026-02-25 21:06:41,643 - DriveTransformer - INFO - Epoch [5][33150/39528] lr: 9.337e-05, eta: 7 days, 1:35:28, time: 0.802, data_time: 0.045, memory: 19865, loss_cls: 0.2155, loss_bbox: 0.4113, loss_traj: 0.7026, loss_traj_cls: 0.0011, loss_map_cls: 0.1789, loss_map_pts: 0.7567, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.5445, d0.loss_plan_l1_fix_dist: 0.4685, d1.loss_plan_l1_fix_time: 1.3449, d1.loss_plan_l1_fix_dist: 0.2463, d2.loss_plan_l1_fix_time: 1.3156, d2.loss_plan_l1_fix_dist: 0.2487, d3.loss_plan_l1_fix_time: 1.3191, d3.loss_plan_l1_fix_dist: 0.2487, d4.loss_plan_l1_fix_time: 1.3227, d4.loss_plan_l1_fix_dist: 0.2564, d5.loss_plan_l1_fix_time: 1.3267, d5.loss_plan_l1_fix_dist: 0.2651, d6.loss_plan_l1_fix_time: 1.3314, d6.loss_plan_l1_fix_dist: 0.2738, d0.loss_cls_all: 0.2438, d0.loss_bbox_all: 0.4583, d0.loss_cls: 0.2438, d0.loss_bbox: 0.4583, d1.loss_cls: 0.2396, d1.loss_bbox: 0.4275, d2.loss_cls: 0.2278, d2.loss_bbox: 0.4155, d3.loss_cls: 0.2189, d3.loss_bbox: 0.4110, d4.loss_cls: 0.2115, d4.loss_bbox: 0.4121, d5.loss_cls: 0.2133, d5.loss_bbox: 0.4118, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9136, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7484, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7145, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7028, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6991, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6997, d0.loss_map_cls_all: 0.2457, d0.loss_map_pts_all: 1.4993, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2457, d0.loss_map_pts: 1.4993, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2216, d1.loss_map_pts: 0.9864, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1996, d2.loss_map_pts: 0.8273, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1908, d3.loss_map_pts: 0.7822, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1830, d4.loss_map_pts: 0.7663, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1793, d5.loss_map_pts: 0.7589, d5.loss_map_dir: 0.0104, loss: 32.5235, grad_norm: 152.5431 +2026-02-25 21:07:22,462 - DriveTransformer - INFO - Epoch [5][33200/39528] lr: 9.337e-05, eta: 7 days, 1:34:50, time: 0.816, data_time: 0.043, memory: 19865, loss_cls: 0.2027, loss_bbox: 0.4220, loss_traj: 0.7426, loss_traj_cls: 0.0011, loss_map_cls: 0.2118, loss_map_pts: 0.8831, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.7418, d0.loss_plan_l1_fix_dist: 0.5730, d1.loss_plan_l1_fix_time: 1.3406, d1.loss_plan_l1_fix_dist: 0.2490, d2.loss_plan_l1_fix_time: 1.3215, d2.loss_plan_l1_fix_dist: 0.2406, d3.loss_plan_l1_fix_time: 1.3228, d3.loss_plan_l1_fix_dist: 0.2526, d4.loss_plan_l1_fix_time: 1.3251, d4.loss_plan_l1_fix_dist: 0.2674, d5.loss_plan_l1_fix_time: 1.3276, d5.loss_plan_l1_fix_dist: 0.2848, d6.loss_plan_l1_fix_time: 1.3306, d6.loss_plan_l1_fix_dist: 0.3011, d0.loss_cls_all: 0.2402, d0.loss_bbox_all: 0.4663, d0.loss_cls: 0.2402, d0.loss_bbox: 0.4663, d1.loss_cls: 0.2313, d1.loss_bbox: 0.4415, d2.loss_cls: 0.2173, d2.loss_bbox: 0.4287, d3.loss_cls: 0.2083, d3.loss_bbox: 0.4218, d4.loss_cls: 0.2020, d4.loss_bbox: 0.4221, d5.loss_cls: 0.2018, d5.loss_bbox: 0.4216, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9815, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8400, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7583, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7471, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7419, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7414, d0.loss_map_cls_all: 0.2745, d0.loss_map_pts_all: 1.6976, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2745, d0.loss_map_pts: 1.6976, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2512, d1.loss_map_pts: 1.1726, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2348, d2.loss_map_pts: 0.9842, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.2218, d3.loss_map_pts: 0.9153, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.2163, d4.loss_map_pts: 0.8899, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.2120, d5.loss_map_pts: 0.8842, d5.loss_map_dir: 0.0116, loss: 34.7832, grad_norm: 150.6433 +2026-02-25 21:08:04,269 - DriveTransformer - INFO - Epoch [5][33250/39528] lr: 9.337e-05, eta: 7 days, 1:34:16, time: 0.836, data_time: 0.044, memory: 19865, loss_cls: 0.2054, loss_bbox: 0.3922, loss_traj: 0.7469, loss_traj_cls: 0.0011, loss_map_cls: 0.1925, loss_map_pts: 0.8621, loss_map_dir: 0.0140, d0.loss_plan_l1_fix_time: 2.8843, d0.loss_plan_l1_fix_dist: 0.4736, d1.loss_plan_l1_fix_time: 1.3211, d1.loss_plan_l1_fix_dist: 0.2344, d2.loss_plan_l1_fix_time: 1.3127, d2.loss_plan_l1_fix_dist: 0.2297, d3.loss_plan_l1_fix_time: 1.3185, d3.loss_plan_l1_fix_dist: 0.2420, d4.loss_plan_l1_fix_time: 1.3222, d4.loss_plan_l1_fix_dist: 0.2523, d5.loss_plan_l1_fix_time: 1.3257, d5.loss_plan_l1_fix_dist: 0.2629, d6.loss_plan_l1_fix_time: 1.3293, d6.loss_plan_l1_fix_dist: 0.2761, d0.loss_cls_all: 0.2426, d0.loss_bbox_all: 0.4393, d0.loss_cls: 0.2426, d0.loss_bbox: 0.4393, d1.loss_cls: 0.2306, d1.loss_bbox: 0.4106, d2.loss_cls: 0.2186, d2.loss_bbox: 0.3943, d3.loss_cls: 0.2112, d3.loss_bbox: 0.3896, d4.loss_cls: 0.2076, d4.loss_bbox: 0.3890, d5.loss_cls: 0.2059, d5.loss_bbox: 0.3893, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0083, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8043, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7598, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7470, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7414, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7438, d0.loss_map_cls_all: 0.2618, d0.loss_map_pts_all: 1.8215, d0.loss_map_dir_all: 0.0129, d0.loss_map_cls: 0.2618, d0.loss_map_pts: 1.8215, d0.loss_map_dir: 0.0129, d1.loss_map_cls: 0.2240, d1.loss_map_pts: 1.1938, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2144, d2.loss_map_pts: 0.9766, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2044, d3.loss_map_pts: 0.9000, d3.loss_map_dir: 0.0134, d4.loss_map_cls: 0.1963, d4.loss_map_pts: 0.8710, d4.loss_map_dir: 0.0138, d5.loss_map_cls: 0.1925, d5.loss_map_pts: 0.8644, d5.loss_map_dir: 0.0139, loss: 34.5165, grad_norm: 150.7534 +2026-02-25 21:08:44,444 - DriveTransformer - INFO - Epoch [5][33300/39528] lr: 9.337e-05, eta: 7 days, 1:33:35, time: 0.803, data_time: 0.044, memory: 19865, loss_cls: 0.2132, loss_bbox: 0.4063, loss_traj: 0.7488, loss_traj_cls: 0.0011, loss_map_cls: 0.2139, loss_map_pts: 0.8504, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.7340, d0.loss_plan_l1_fix_dist: 0.4185, d1.loss_plan_l1_fix_time: 1.3300, d1.loss_plan_l1_fix_dist: 0.2072, d2.loss_plan_l1_fix_time: 1.3098, d2.loss_plan_l1_fix_dist: 0.1941, d3.loss_plan_l1_fix_time: 1.3131, d3.loss_plan_l1_fix_dist: 0.2018, d4.loss_plan_l1_fix_time: 1.3168, d4.loss_plan_l1_fix_dist: 0.2169, d5.loss_plan_l1_fix_time: 1.3205, d5.loss_plan_l1_fix_dist: 0.2385, d6.loss_plan_l1_fix_time: 1.3248, d6.loss_plan_l1_fix_dist: 0.2666, d0.loss_cls_all: 0.2510, d0.loss_bbox_all: 0.4581, d0.loss_cls: 0.2510, d0.loss_bbox: 0.4581, d1.loss_cls: 0.2456, d1.loss_bbox: 0.4239, d2.loss_cls: 0.2292, d2.loss_bbox: 0.4098, d3.loss_cls: 0.2196, d3.loss_bbox: 0.4044, d4.loss_cls: 0.2154, d4.loss_bbox: 0.4035, d5.loss_cls: 0.2123, d5.loss_bbox: 0.4052, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9382, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8246, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7731, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7605, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7510, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7490, d0.loss_map_cls_all: 0.2820, d0.loss_map_pts_all: 1.5775, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2820, d0.loss_map_pts: 1.5775, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2495, d1.loss_map_pts: 1.1073, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2339, d2.loss_map_pts: 0.9403, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2228, d3.loss_map_pts: 0.8797, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.2181, d4.loss_map_pts: 0.8595, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.2136, d5.loss_map_pts: 0.8512, d5.loss_map_dir: 0.0111, loss: 33.7977, grad_norm: 152.6653 +2026-02-25 21:09:25,700 - DriveTransformer - INFO - Epoch [5][33350/39528] lr: 9.337e-05, eta: 7 days, 1:32:58, time: 0.825, data_time: 0.041, memory: 19865, loss_cls: 0.2040, loss_bbox: 0.4218, loss_traj: 0.7930, loss_traj_cls: 0.0010, loss_map_cls: 0.1991, loss_map_pts: 0.7642, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.5534, d0.loss_plan_l1_fix_dist: 0.4354, d1.loss_plan_l1_fix_time: 1.3438, d1.loss_plan_l1_fix_dist: 0.2323, d2.loss_plan_l1_fix_time: 1.3228, d2.loss_plan_l1_fix_dist: 0.2110, d3.loss_plan_l1_fix_time: 1.3206, d3.loss_plan_l1_fix_dist: 0.2160, d4.loss_plan_l1_fix_time: 1.3232, d4.loss_plan_l1_fix_dist: 0.2298, d5.loss_plan_l1_fix_time: 1.3266, d5.loss_plan_l1_fix_dist: 0.2485, d6.loss_plan_l1_fix_time: 1.3310, d6.loss_plan_l1_fix_dist: 0.2686, d0.loss_cls_all: 0.2425, d0.loss_bbox_all: 0.4695, d0.loss_cls: 0.2425, d0.loss_bbox: 0.4695, d1.loss_cls: 0.2355, d1.loss_bbox: 0.4373, d2.loss_cls: 0.2188, d2.loss_bbox: 0.4255, d3.loss_cls: 0.2093, d3.loss_bbox: 0.4215, d4.loss_cls: 0.2036, d4.loss_bbox: 0.4207, d5.loss_cls: 0.2023, d5.loss_bbox: 0.4215, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9165, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8201, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7984, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7887, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7885, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7822, d0.loss_map_cls_all: 0.2595, d0.loss_map_pts_all: 1.4928, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2595, d0.loss_map_pts: 1.4928, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2338, d1.loss_map_pts: 1.0130, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2179, d2.loss_map_pts: 0.8538, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.2105, d3.loss_map_pts: 0.7888, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.2043, d4.loss_map_pts: 0.7742, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.2003, d5.loss_map_pts: 0.7643, d5.loss_map_dir: 0.0113, loss: 33.1203, grad_norm: 153.3579 +2026-02-25 21:10:06,152 - DriveTransformer - INFO - Epoch [5][33400/39528] lr: 9.337e-05, eta: 7 days, 1:32:19, time: 0.809, data_time: 0.048, memory: 19865, loss_cls: 0.2252, loss_bbox: 0.4273, loss_traj: 0.7454, loss_traj_cls: 0.0010, loss_map_cls: 0.2016, loss_map_pts: 0.8371, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.5138, d0.loss_plan_l1_fix_dist: 0.4546, d1.loss_plan_l1_fix_time: 1.4215, d1.loss_plan_l1_fix_dist: 0.2817, d2.loss_plan_l1_fix_time: 1.3958, d2.loss_plan_l1_fix_dist: 0.2684, d3.loss_plan_l1_fix_time: 1.3953, d3.loss_plan_l1_fix_dist: 0.2748, d4.loss_plan_l1_fix_time: 1.3993, d4.loss_plan_l1_fix_dist: 0.2837, d5.loss_plan_l1_fix_time: 1.4040, d5.loss_plan_l1_fix_dist: 0.2930, d6.loss_plan_l1_fix_time: 1.4098, d6.loss_plan_l1_fix_dist: 0.3020, d0.loss_cls_all: 0.2665, d0.loss_bbox_all: 0.4923, d0.loss_cls: 0.2665, d0.loss_bbox: 0.4923, d1.loss_cls: 0.2584, d1.loss_bbox: 0.4522, d2.loss_cls: 0.2406, d2.loss_bbox: 0.4363, d3.loss_cls: 0.2322, d3.loss_bbox: 0.4291, d4.loss_cls: 0.2241, d4.loss_bbox: 0.4286, d5.loss_cls: 0.2240, d5.loss_bbox: 0.4276, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9537, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7682, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7488, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7407, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7400, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7408, d0.loss_map_cls_all: 0.2662, d0.loss_map_pts_all: 1.5213, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2662, d0.loss_map_pts: 1.5213, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2418, d1.loss_map_pts: 1.0771, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2232, d2.loss_map_pts: 0.9208, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.2142, d3.loss_map_pts: 0.8619, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.2082, d4.loss_map_pts: 0.8448, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.2030, d5.loss_map_pts: 0.8386, d5.loss_map_dir: 0.0113, loss: 34.4013, grad_norm: 154.1505 +2026-02-25 21:10:48,052 - DriveTransformer - INFO - Epoch [5][33450/39528] lr: 9.337e-05, eta: 7 days, 1:31:45, time: 0.838, data_time: 0.049, memory: 19865, loss_cls: 0.2209, loss_bbox: 0.3915, loss_traj: 0.7062, loss_traj_cls: 0.0010, loss_map_cls: 0.2155, loss_map_pts: 0.9349, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 2.5339, d0.loss_plan_l1_fix_dist: 0.4954, d1.loss_plan_l1_fix_time: 1.2558, d1.loss_plan_l1_fix_dist: 0.2461, d2.loss_plan_l1_fix_time: 1.2230, d2.loss_plan_l1_fix_dist: 0.2370, d3.loss_plan_l1_fix_time: 1.2124, d3.loss_plan_l1_fix_dist: 0.2385, d4.loss_plan_l1_fix_time: 1.2145, d4.loss_plan_l1_fix_dist: 0.2445, d5.loss_plan_l1_fix_time: 1.2183, d5.loss_plan_l1_fix_dist: 0.2514, d6.loss_plan_l1_fix_time: 1.2242, d6.loss_plan_l1_fix_dist: 0.2618, d0.loss_cls_all: 0.2544, d0.loss_bbox_all: 0.4562, d0.loss_cls: 0.2544, d0.loss_bbox: 0.4562, d1.loss_cls: 0.2483, d1.loss_bbox: 0.4198, d2.loss_cls: 0.2311, d2.loss_bbox: 0.4031, d3.loss_cls: 0.2243, d3.loss_bbox: 0.3945, d4.loss_cls: 0.2206, d4.loss_bbox: 0.3929, d5.loss_cls: 0.2205, d5.loss_bbox: 0.3925, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9318, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7633, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7176, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7114, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7069, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7020, d0.loss_map_cls_all: 0.2767, d0.loss_map_pts_all: 1.6919, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2767, d0.loss_map_pts: 1.6919, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2519, d1.loss_map_pts: 1.2029, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2297, d2.loss_map_pts: 1.0264, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2199, d3.loss_map_pts: 0.9676, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.2161, d4.loss_map_pts: 0.9435, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.2150, d5.loss_map_pts: 0.9367, d5.loss_map_dir: 0.0124, loss: 33.6742, grad_norm: 156.8583 +2026-02-25 21:11:28,789 - DriveTransformer - INFO - Epoch [5][33500/39528] lr: 9.337e-05, eta: 7 days, 1:31:06, time: 0.815, data_time: 0.041, memory: 19865, loss_cls: 0.2445, loss_bbox: 0.4359, loss_traj: 0.6392, loss_traj_cls: 0.0010, loss_map_cls: 0.2081, loss_map_pts: 0.9734, loss_map_dir: 0.0152, d0.loss_plan_l1_fix_time: 2.5953, d0.loss_plan_l1_fix_dist: 0.4102, d1.loss_plan_l1_fix_time: 1.4039, d1.loss_plan_l1_fix_dist: 0.2371, d2.loss_plan_l1_fix_time: 1.3833, d2.loss_plan_l1_fix_dist: 0.2283, d3.loss_plan_l1_fix_time: 1.3739, d3.loss_plan_l1_fix_dist: 0.2264, d4.loss_plan_l1_fix_time: 1.3747, d4.loss_plan_l1_fix_dist: 0.2347, d5.loss_plan_l1_fix_time: 1.3773, d5.loss_plan_l1_fix_dist: 0.2456, d6.loss_plan_l1_fix_time: 1.3825, d6.loss_plan_l1_fix_dist: 0.2573, d0.loss_cls_all: 0.2731, d0.loss_bbox_all: 0.4959, d0.loss_cls: 0.2731, d0.loss_bbox: 0.4959, d1.loss_cls: 0.2697, d1.loss_bbox: 0.4628, d2.loss_cls: 0.2527, d2.loss_bbox: 0.4448, d3.loss_cls: 0.2471, d3.loss_bbox: 0.4385, d4.loss_cls: 0.2430, d4.loss_bbox: 0.4357, d5.loss_cls: 0.2438, d5.loss_bbox: 0.4358, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7331, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6484, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6271, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6304, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6293, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6377, d0.loss_map_cls_all: 0.2678, d0.loss_map_pts_all: 1.8650, d0.loss_map_dir_all: 0.0135, d0.loss_map_cls: 0.2678, d0.loss_map_pts: 1.8650, d0.loss_map_dir: 0.0135, d1.loss_map_cls: 0.2427, d1.loss_map_pts: 1.3033, d1.loss_map_dir: 0.0134, d2.loss_map_cls: 0.2250, d2.loss_map_pts: 1.0811, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2164, d3.loss_map_pts: 1.0075, d3.loss_map_dir: 0.0145, d4.loss_map_cls: 0.2114, d4.loss_map_pts: 0.9836, d4.loss_map_dir: 0.0148, d5.loss_map_cls: 0.2086, d5.loss_map_pts: 0.9762, d5.loss_map_dir: 0.0150, loss: 34.9918, grad_norm: 157.4292 +2026-02-25 21:12:11,202 - DriveTransformer - INFO - Epoch [5][33550/39528] lr: 9.337e-05, eta: 7 days, 1:30:34, time: 0.848, data_time: 0.045, memory: 19865, loss_cls: 0.2137, loss_bbox: 0.4311, loss_traj: 0.7187, loss_traj_cls: 0.0009, loss_map_cls: 0.1979, loss_map_pts: 0.9000, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.5387, d0.loss_plan_l1_fix_dist: 0.5006, d1.loss_plan_l1_fix_time: 1.3135, d1.loss_plan_l1_fix_dist: 0.2493, d2.loss_plan_l1_fix_time: 1.3015, d2.loss_plan_l1_fix_dist: 0.2450, d3.loss_plan_l1_fix_time: 1.2989, d3.loss_plan_l1_fix_dist: 0.2560, d4.loss_plan_l1_fix_time: 1.3021, d4.loss_plan_l1_fix_dist: 0.2718, d5.loss_plan_l1_fix_time: 1.3057, d5.loss_plan_l1_fix_dist: 0.2840, d6.loss_plan_l1_fix_time: 1.3097, d6.loss_plan_l1_fix_dist: 0.2941, d0.loss_cls_all: 0.2445, d0.loss_bbox_all: 0.4708, d0.loss_cls: 0.2445, d0.loss_bbox: 0.4708, d1.loss_cls: 0.2375, d1.loss_bbox: 0.4450, d2.loss_cls: 0.2249, d2.loss_bbox: 0.4299, d3.loss_cls: 0.2183, d3.loss_bbox: 0.4230, d4.loss_cls: 0.2140, d4.loss_bbox: 0.4228, d5.loss_cls: 0.2135, d5.loss_bbox: 0.4259, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9049, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7569, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7234, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7155, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7145, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7188, d0.loss_map_cls_all: 0.2745, d0.loss_map_pts_all: 1.7392, d0.loss_map_dir_all: 0.0126, d0.loss_map_cls: 0.2745, d0.loss_map_pts: 1.7392, d0.loss_map_dir: 0.0126, d1.loss_map_cls: 0.2431, d1.loss_map_pts: 1.1846, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2252, d2.loss_map_pts: 0.9939, d2.loss_map_dir: 0.0127, d3.loss_map_cls: 0.2103, d3.loss_map_pts: 0.9324, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2038, d4.loss_map_pts: 0.9070, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.2003, d5.loss_map_pts: 0.9001, d5.loss_map_dir: 0.0135, loss: 34.2910, grad_norm: 157.0498 +2026-02-25 21:12:50,458 - DriveTransformer - INFO - Epoch [5][33600/39528] lr: 9.337e-05, eta: 7 days, 1:29:50, time: 0.787, data_time: 0.042, memory: 19865, loss_cls: 0.2261, loss_bbox: 0.4239, loss_traj: 0.8276, loss_traj_cls: 0.0009, loss_map_cls: 0.2179, loss_map_pts: 0.9144, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.4456, d0.loss_plan_l1_fix_dist: 0.3817, d1.loss_plan_l1_fix_time: 1.4344, d1.loss_plan_l1_fix_dist: 0.2162, d2.loss_plan_l1_fix_time: 1.4106, d2.loss_plan_l1_fix_dist: 0.2192, d3.loss_plan_l1_fix_time: 1.4041, d3.loss_plan_l1_fix_dist: 0.2248, d4.loss_plan_l1_fix_time: 1.4064, d4.loss_plan_l1_fix_dist: 0.2350, d5.loss_plan_l1_fix_time: 1.4093, d5.loss_plan_l1_fix_dist: 0.2513, d6.loss_plan_l1_fix_time: 1.4126, d6.loss_plan_l1_fix_dist: 0.2784, d0.loss_cls_all: 0.2686, d0.loss_bbox_all: 0.4858, d0.loss_cls: 0.2686, d0.loss_bbox: 0.4858, d1.loss_cls: 0.2554, d1.loss_bbox: 0.4519, d2.loss_cls: 0.2416, d2.loss_bbox: 0.4348, d3.loss_cls: 0.2328, d3.loss_bbox: 0.4272, d4.loss_cls: 0.2269, d4.loss_bbox: 0.4237, d5.loss_cls: 0.2264, d5.loss_bbox: 0.4226, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0301, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8752, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8365, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8270, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8209, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8210, d0.loss_map_cls_all: 0.2887, d0.loss_map_pts_all: 1.6439, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2887, d0.loss_map_pts: 1.6439, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2601, d1.loss_map_pts: 1.2018, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2438, d2.loss_map_pts: 1.0256, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.2303, d3.loss_map_pts: 0.9489, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.2242, d4.loss_map_pts: 0.9235, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.2186, d5.loss_map_pts: 0.9155, d5.loss_map_dir: 0.0112, loss: 35.5515, grad_norm: 155.9717 +2026-02-25 21:13:31,681 - DriveTransformer - INFO - Epoch [5][33650/39528] lr: 9.337e-05, eta: 7 days, 1:29:13, time: 0.823, data_time: 0.046, memory: 19865, loss_cls: 0.2143, loss_bbox: 0.3954, loss_traj: 0.8403, loss_traj_cls: 0.0010, loss_map_cls: 0.2089, loss_map_pts: 0.9753, loss_map_dir: 0.0132, d0.loss_plan_l1_fix_time: 2.7957, d0.loss_plan_l1_fix_dist: 0.4771, d1.loss_plan_l1_fix_time: 1.3458, d1.loss_plan_l1_fix_dist: 0.2052, d2.loss_plan_l1_fix_time: 1.3300, d2.loss_plan_l1_fix_dist: 0.2038, d3.loss_plan_l1_fix_time: 1.3291, d3.loss_plan_l1_fix_dist: 0.2091, d4.loss_plan_l1_fix_time: 1.3320, d4.loss_plan_l1_fix_dist: 0.2197, d5.loss_plan_l1_fix_time: 1.3356, d5.loss_plan_l1_fix_dist: 0.2399, d6.loss_plan_l1_fix_time: 1.3402, d6.loss_plan_l1_fix_dist: 0.2664, d0.loss_cls_all: 0.2493, d0.loss_bbox_all: 0.4627, d0.loss_cls: 0.2493, d0.loss_bbox: 0.4627, d1.loss_cls: 0.2431, d1.loss_bbox: 0.4253, d2.loss_cls: 0.2301, d2.loss_bbox: 0.4095, d3.loss_cls: 0.2182, d3.loss_bbox: 0.4025, d4.loss_cls: 0.2145, d4.loss_bbox: 0.3979, d5.loss_cls: 0.2143, d5.loss_bbox: 0.3957, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0343, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8714, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8402, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8311, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8356, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8383, d0.loss_map_cls_all: 0.2662, d0.loss_map_pts_all: 1.7685, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2662, d0.loss_map_pts: 1.7685, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2466, d1.loss_map_pts: 1.2706, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2320, d2.loss_map_pts: 1.0870, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.2218, d3.loss_map_pts: 1.0087, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.2145, d4.loss_map_pts: 0.9821, d4.loss_map_dir: 0.0129, d5.loss_map_cls: 0.2116, d5.loss_map_pts: 0.9748, d5.loss_map_dir: 0.0130, loss: 35.7148, grad_norm: 157.2678 +2026-02-25 21:14:11,600 - DriveTransformer - INFO - Epoch [5][33700/39528] lr: 9.337e-05, eta: 7 days, 1:28:31, time: 0.798, data_time: 0.045, memory: 19865, loss_cls: 0.2088, loss_bbox: 0.4139, loss_traj: 0.9660, loss_traj_cls: 0.0010, loss_map_cls: 0.1843, loss_map_pts: 0.8090, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.9569, d0.loss_plan_l1_fix_dist: 0.4625, d1.loss_plan_l1_fix_time: 1.4030, d1.loss_plan_l1_fix_dist: 0.2300, d2.loss_plan_l1_fix_time: 1.3870, d2.loss_plan_l1_fix_dist: 0.2229, d3.loss_plan_l1_fix_time: 1.3864, d3.loss_plan_l1_fix_dist: 0.2328, d4.loss_plan_l1_fix_time: 1.3898, d4.loss_plan_l1_fix_dist: 0.2397, d5.loss_plan_l1_fix_time: 1.3937, d5.loss_plan_l1_fix_dist: 0.2431, d6.loss_plan_l1_fix_time: 1.3982, d6.loss_plan_l1_fix_dist: 0.2445, d0.loss_cls_all: 0.2411, d0.loss_bbox_all: 0.4622, d0.loss_cls: 0.2411, d0.loss_bbox: 0.4622, d1.loss_cls: 0.2349, d1.loss_bbox: 0.4299, d2.loss_cls: 0.2207, d2.loss_bbox: 0.4174, d3.loss_cls: 0.2148, d3.loss_bbox: 0.4121, d4.loss_cls: 0.2096, d4.loss_bbox: 0.4116, d5.loss_cls: 0.2077, d5.loss_bbox: 0.4124, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1887, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0190, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.9869, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9758, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9694, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.9672, d0.loss_map_cls_all: 0.2464, d0.loss_map_pts_all: 1.4439, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2464, d0.loss_map_pts: 1.4439, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2204, d1.loss_map_pts: 1.0419, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.2071, d2.loss_map_pts: 0.8973, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1952, d3.loss_map_pts: 0.8231, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1869, d4.loss_map_pts: 0.8052, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1839, d5.loss_map_pts: 0.8035, d5.loss_map_dir: 0.0099, loss: 35.2846, grad_norm: 157.9488 +2026-02-25 21:14:52,212 - DriveTransformer - INFO - Epoch [5][33750/39528] lr: 9.337e-05, eta: 7 days, 1:27:52, time: 0.812, data_time: 0.047, memory: 19865, loss_cls: 0.2182, loss_bbox: 0.4207, loss_traj: 0.7110, loss_traj_cls: 0.0009, loss_map_cls: 0.2088, loss_map_pts: 0.8835, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.5895, d0.loss_plan_l1_fix_dist: 0.4209, d1.loss_plan_l1_fix_time: 1.2055, d1.loss_plan_l1_fix_dist: 0.2350, d2.loss_plan_l1_fix_time: 1.1787, d2.loss_plan_l1_fix_dist: 0.2271, d3.loss_plan_l1_fix_time: 1.1808, d3.loss_plan_l1_fix_dist: 0.2318, d4.loss_plan_l1_fix_time: 1.1854, d4.loss_plan_l1_fix_dist: 0.2354, d5.loss_plan_l1_fix_time: 1.1909, d5.loss_plan_l1_fix_dist: 0.2386, d6.loss_plan_l1_fix_time: 1.1971, d6.loss_plan_l1_fix_dist: 0.2488, d0.loss_cls_all: 0.2508, d0.loss_bbox_all: 0.4654, d0.loss_cls: 0.2508, d0.loss_bbox: 0.4654, d1.loss_cls: 0.2377, d1.loss_bbox: 0.4372, d2.loss_cls: 0.2272, d2.loss_bbox: 0.4209, d3.loss_cls: 0.2220, d3.loss_bbox: 0.4184, d4.loss_cls: 0.2186, d4.loss_bbox: 0.4177, d5.loss_cls: 0.2178, d5.loss_bbox: 0.4182, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8329, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7264, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7190, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7059, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7026, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7050, d0.loss_map_cls_all: 0.2806, d0.loss_map_pts_all: 1.5871, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2806, d0.loss_map_pts: 1.5871, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2547, d1.loss_map_pts: 1.1161, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2326, d2.loss_map_pts: 0.9555, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.2199, d3.loss_map_pts: 0.9019, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.2126, d4.loss_map_pts: 0.8848, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.2088, d5.loss_map_pts: 0.8822, d5.loss_map_dir: 0.0117, loss: 32.7686, grad_norm: 154.5345 +2026-02-25 21:15:31,852 - DriveTransformer - INFO - Epoch [5][33800/39528] lr: 9.337e-05, eta: 7 days, 1:27:09, time: 0.793, data_time: 0.043, memory: 19865, loss_cls: 0.2476, loss_bbox: 0.4313, loss_traj: 0.7912, loss_traj_cls: 0.0009, loss_map_cls: 0.2069, loss_map_pts: 0.8952, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.8751, d0.loss_plan_l1_fix_dist: 0.4195, d1.loss_plan_l1_fix_time: 1.4131, d1.loss_plan_l1_fix_dist: 0.2343, d2.loss_plan_l1_fix_time: 1.4019, d2.loss_plan_l1_fix_dist: 0.2252, d3.loss_plan_l1_fix_time: 1.4033, d3.loss_plan_l1_fix_dist: 0.2270, d4.loss_plan_l1_fix_time: 1.4070, d4.loss_plan_l1_fix_dist: 0.2311, d5.loss_plan_l1_fix_time: 1.4117, d5.loss_plan_l1_fix_dist: 0.2389, d6.loss_plan_l1_fix_time: 1.4179, d6.loss_plan_l1_fix_dist: 0.2507, d0.loss_cls_all: 0.2698, d0.loss_bbox_all: 0.4932, d0.loss_cls: 0.2698, d0.loss_bbox: 0.4932, d1.loss_cls: 0.2705, d1.loss_bbox: 0.4536, d2.loss_cls: 0.2599, d2.loss_bbox: 0.4326, d3.loss_cls: 0.2503, d3.loss_bbox: 0.4305, d4.loss_cls: 0.2464, d4.loss_bbox: 0.4288, d5.loss_cls: 0.2468, d5.loss_bbox: 0.4303, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0917, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8483, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8073, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7986, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7979, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7990, d0.loss_map_cls_all: 0.2719, d0.loss_map_pts_all: 1.6548, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2719, d0.loss_map_pts: 1.6548, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2484, d1.loss_map_pts: 1.1941, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2294, d2.loss_map_pts: 1.0012, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.2157, d3.loss_map_pts: 0.9302, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.2115, d4.loss_map_pts: 0.9053, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.2092, d5.loss_map_pts: 0.8956, d5.loss_map_dir: 0.0116, loss: 35.8369, grad_norm: 150.8336 +2026-02-25 21:16:13,795 - DriveTransformer - INFO - Epoch [5][33850/39528] lr: 9.337e-05, eta: 7 days, 1:26:35, time: 0.839, data_time: 0.044, memory: 19865, loss_cls: 0.2075, loss_bbox: 0.4099, loss_traj: 0.6348, loss_traj_cls: 0.0010, loss_map_cls: 0.1802, loss_map_pts: 0.8003, loss_map_dir: 0.0133, d0.loss_plan_l1_fix_time: 2.6801, d0.loss_plan_l1_fix_dist: 0.4517, d1.loss_plan_l1_fix_time: 1.1484, d1.loss_plan_l1_fix_dist: 0.1979, d2.loss_plan_l1_fix_time: 1.1399, d2.loss_plan_l1_fix_dist: 0.1955, d3.loss_plan_l1_fix_time: 1.1493, d3.loss_plan_l1_fix_dist: 0.2037, d4.loss_plan_l1_fix_time: 1.1541, d4.loss_plan_l1_fix_dist: 0.2144, d5.loss_plan_l1_fix_time: 1.1590, d5.loss_plan_l1_fix_dist: 0.2234, d6.loss_plan_l1_fix_time: 1.1645, d6.loss_plan_l1_fix_dist: 0.2340, d0.loss_cls_all: 0.2465, d0.loss_bbox_all: 0.4652, d0.loss_cls: 0.2465, d0.loss_bbox: 0.4652, d1.loss_cls: 0.2360, d1.loss_bbox: 0.4340, d2.loss_cls: 0.2218, d2.loss_bbox: 0.4195, d3.loss_cls: 0.2150, d3.loss_bbox: 0.4149, d4.loss_cls: 0.2081, d4.loss_bbox: 0.4136, d5.loss_cls: 0.2061, d5.loss_bbox: 0.4128, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7893, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6746, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6474, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6363, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6323, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6316, d0.loss_map_cls_all: 0.2416, d0.loss_map_pts_all: 1.6505, d0.loss_map_dir_all: 0.0126, d0.loss_map_cls: 0.2416, d0.loss_map_pts: 1.6505, d0.loss_map_dir: 0.0126, d1.loss_map_cls: 0.2180, d1.loss_map_pts: 1.0788, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2003, d2.loss_map_pts: 0.8957, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.1893, d3.loss_map_pts: 0.8344, d3.loss_map_dir: 0.0129, d4.loss_map_cls: 0.1834, d4.loss_map_pts: 0.8084, d4.loss_map_dir: 0.0132, d5.loss_map_cls: 0.1817, d5.loss_map_pts: 0.8015, d5.loss_map_dir: 0.0133, loss: 31.4509, grad_norm: 149.3102 +2026-02-25 21:16:55,032 - DriveTransformer - INFO - Epoch [5][33900/39528] lr: 9.337e-05, eta: 7 days, 1:25:59, time: 0.825, data_time: 0.043, memory: 19865, loss_cls: 0.2108, loss_bbox: 0.4114, loss_traj: 0.7421, loss_traj_cls: 0.0010, loss_map_cls: 0.1830, loss_map_pts: 0.8200, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.7172, d0.loss_plan_l1_fix_dist: 0.4466, d1.loss_plan_l1_fix_time: 1.4120, d1.loss_plan_l1_fix_dist: 0.2277, d2.loss_plan_l1_fix_time: 1.3973, d2.loss_plan_l1_fix_dist: 0.2270, d3.loss_plan_l1_fix_time: 1.4017, d3.loss_plan_l1_fix_dist: 0.2319, d4.loss_plan_l1_fix_time: 1.4054, d4.loss_plan_l1_fix_dist: 0.2401, d5.loss_plan_l1_fix_time: 1.4101, d5.loss_plan_l1_fix_dist: 0.2529, d6.loss_plan_l1_fix_time: 1.4158, d6.loss_plan_l1_fix_dist: 0.2700, d0.loss_cls_all: 0.2447, d0.loss_bbox_all: 0.4622, d0.loss_cls: 0.2447, d0.loss_bbox: 0.4622, d1.loss_cls: 0.2345, d1.loss_bbox: 0.4330, d2.loss_cls: 0.2233, d2.loss_bbox: 0.4157, d3.loss_cls: 0.2171, d3.loss_bbox: 0.4097, d4.loss_cls: 0.2116, d4.loss_bbox: 0.4095, d5.loss_cls: 0.2104, d5.loss_bbox: 0.4105, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9796, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7900, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7542, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7472, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7407, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7382, d0.loss_map_cls_all: 0.2558, d0.loss_map_pts_all: 1.6422, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2558, d0.loss_map_pts: 1.6422, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2303, d1.loss_map_pts: 1.0872, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2094, d2.loss_map_pts: 0.9080, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.1966, d3.loss_map_pts: 0.8448, d3.loss_map_dir: 0.0124, d4.loss_map_cls: 0.1894, d4.loss_map_pts: 0.8241, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.1852, d5.loss_map_pts: 0.8196, d5.loss_map_dir: 0.0129, loss: 34.1569, grad_norm: 151.2446 +2026-02-25 21:17:35,696 - DriveTransformer - INFO - Epoch [5][33950/39528] lr: 9.337e-05, eta: 7 days, 1:25:20, time: 0.813, data_time: 0.047, memory: 19865, loss_cls: 0.2218, loss_bbox: 0.4329, loss_traj: 0.8020, loss_traj_cls: 0.0010, loss_map_cls: 0.1988, loss_map_pts: 0.8233, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.5867, d0.loss_plan_l1_fix_dist: 0.3428, d1.loss_plan_l1_fix_time: 1.3152, d1.loss_plan_l1_fix_dist: 0.2072, d2.loss_plan_l1_fix_time: 1.3075, d2.loss_plan_l1_fix_dist: 0.2158, d3.loss_plan_l1_fix_time: 1.3091, d3.loss_plan_l1_fix_dist: 0.2237, d4.loss_plan_l1_fix_time: 1.3129, d4.loss_plan_l1_fix_dist: 0.2316, d5.loss_plan_l1_fix_time: 1.3182, d5.loss_plan_l1_fix_dist: 0.2387, d6.loss_plan_l1_fix_time: 1.3245, d6.loss_plan_l1_fix_dist: 0.2454, d0.loss_cls_all: 0.2533, d0.loss_bbox_all: 0.4834, d0.loss_cls: 0.2533, d0.loss_bbox: 0.4834, d1.loss_cls: 0.2413, d1.loss_bbox: 0.4495, d2.loss_cls: 0.2309, d2.loss_bbox: 0.4351, d3.loss_cls: 0.2267, d3.loss_bbox: 0.4308, d4.loss_cls: 0.2209, d4.loss_bbox: 0.4303, d5.loss_cls: 0.2202, d5.loss_bbox: 0.4322, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0426, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8685, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8100, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7985, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7974, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8020, d0.loss_map_cls_all: 0.2827, d0.loss_map_pts_all: 1.5883, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2827, d0.loss_map_pts: 1.5883, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2378, d1.loss_map_pts: 1.0600, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2208, d2.loss_map_pts: 0.8978, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.2073, d3.loss_map_pts: 0.8448, d3.loss_map_dir: 0.0121, d4.loss_map_cls: 0.2005, d4.loss_map_pts: 0.8284, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.2010, d5.loss_map_pts: 0.8232, d5.loss_map_dir: 0.0125, loss: 33.9346, grad_norm: 152.8599 +2026-02-25 21:18:16,263 - DriveTransformer - INFO - Epoch [5][34000/39528] lr: 9.337e-05, eta: 7 days, 1:24:40, time: 0.811, data_time: 0.044, memory: 19865, loss_cls: 0.2075, loss_bbox: 0.4067, loss_traj: 0.7834, loss_traj_cls: 0.0010, loss_map_cls: 0.2000, loss_map_pts: 0.8436, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 2.8665, d0.loss_plan_l1_fix_dist: 0.4801, d1.loss_plan_l1_fix_time: 1.5168, d1.loss_plan_l1_fix_dist: 0.2360, d2.loss_plan_l1_fix_time: 1.4995, d2.loss_plan_l1_fix_dist: 0.2378, d3.loss_plan_l1_fix_time: 1.4994, d3.loss_plan_l1_fix_dist: 0.2454, d4.loss_plan_l1_fix_time: 1.5028, d4.loss_plan_l1_fix_dist: 0.2520, d5.loss_plan_l1_fix_time: 1.5070, d5.loss_plan_l1_fix_dist: 0.2591, d6.loss_plan_l1_fix_time: 1.5120, d6.loss_plan_l1_fix_dist: 0.2715, d0.loss_cls_all: 0.2330, d0.loss_bbox_all: 0.4494, d0.loss_cls: 0.2330, d0.loss_bbox: 0.4494, d1.loss_cls: 0.2217, d1.loss_bbox: 0.4236, d2.loss_cls: 0.2107, d2.loss_bbox: 0.4102, d3.loss_cls: 0.2083, d3.loss_bbox: 0.4048, d4.loss_cls: 0.2063, d4.loss_bbox: 0.4060, d5.loss_cls: 0.2067, d5.loss_bbox: 0.4067, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9795, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8223, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7836, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7783, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7819, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7840, d0.loss_map_cls_all: 0.2669, d0.loss_map_pts_all: 1.5597, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2669, d0.loss_map_pts: 1.5597, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2383, d1.loss_map_pts: 1.0985, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2197, d2.loss_map_pts: 0.9265, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2076, d3.loss_map_pts: 0.8760, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.2019, d4.loss_map_pts: 0.8555, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.2006, d5.loss_map_pts: 0.8467, d5.loss_map_dir: 0.0123, loss: 35.1494, grad_norm: 153.5692 +2026-02-25 21:18:57,057 - DriveTransformer - INFO - Epoch [5][34050/39528] lr: 9.337e-05, eta: 7 days, 1:24:02, time: 0.816, data_time: 0.048, memory: 19865, loss_cls: 0.2189, loss_bbox: 0.4238, loss_traj: 0.9187, loss_traj_cls: 0.0010, loss_map_cls: 0.1829, loss_map_pts: 0.7735, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 3.0883, d0.loss_plan_l1_fix_dist: 0.4514, d1.loss_plan_l1_fix_time: 1.4833, d1.loss_plan_l1_fix_dist: 0.2285, d2.loss_plan_l1_fix_time: 1.4616, d2.loss_plan_l1_fix_dist: 0.2249, d3.loss_plan_l1_fix_time: 1.4561, d3.loss_plan_l1_fix_dist: 0.2332, d4.loss_plan_l1_fix_time: 1.4576, d4.loss_plan_l1_fix_dist: 0.2414, d5.loss_plan_l1_fix_time: 1.4604, d5.loss_plan_l1_fix_dist: 0.2533, d6.loss_plan_l1_fix_time: 1.4650, d6.loss_plan_l1_fix_dist: 0.2668, d0.loss_cls_all: 0.2446, d0.loss_bbox_all: 0.4717, d0.loss_cls: 0.2446, d0.loss_bbox: 0.4717, d1.loss_cls: 0.2366, d1.loss_bbox: 0.4451, d2.loss_cls: 0.2262, d2.loss_bbox: 0.4299, d3.loss_cls: 0.2224, d3.loss_bbox: 0.4239, d4.loss_cls: 0.2175, d4.loss_bbox: 0.4251, d5.loss_cls: 0.2184, d5.loss_bbox: 0.4240, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0610, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9560, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.9338, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9230, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9161, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.9195, d0.loss_map_cls_all: 0.2409, d0.loss_map_pts_all: 1.4840, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2409, d0.loss_map_pts: 1.4840, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2166, d1.loss_map_pts: 1.0056, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.1986, d2.loss_map_pts: 0.8564, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.1896, d3.loss_map_pts: 0.8031, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.1842, d4.loss_map_pts: 0.7848, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.1826, d5.loss_map_pts: 0.7770, d5.loss_map_dir: 0.0124, loss: 35.4509, grad_norm: 155.8231 +2026-02-25 21:19:37,373 - DriveTransformer - INFO - Epoch [5][34100/39528] lr: 9.337e-05, eta: 7 days, 1:23:22, time: 0.806, data_time: 0.053, memory: 19865, loss_cls: 0.2284, loss_bbox: 0.4253, loss_traj: 0.9399, loss_traj_cls: 0.0010, loss_map_cls: 0.2242, loss_map_pts: 0.8584, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.9450, d0.loss_plan_l1_fix_dist: 0.4523, d1.loss_plan_l1_fix_time: 1.4074, d1.loss_plan_l1_fix_dist: 0.2323, d2.loss_plan_l1_fix_time: 1.3798, d2.loss_plan_l1_fix_dist: 0.2337, d3.loss_plan_l1_fix_time: 1.3759, d3.loss_plan_l1_fix_dist: 0.2441, d4.loss_plan_l1_fix_time: 1.3771, d4.loss_plan_l1_fix_dist: 0.2575, d5.loss_plan_l1_fix_time: 1.3794, d5.loss_plan_l1_fix_dist: 0.2748, d6.loss_plan_l1_fix_time: 1.3828, d6.loss_plan_l1_fix_dist: 0.2911, d0.loss_cls_all: 0.2585, d0.loss_bbox_all: 0.4819, d0.loss_cls: 0.2585, d0.loss_bbox: 0.4819, d1.loss_cls: 0.2493, d1.loss_bbox: 0.4555, d2.loss_cls: 0.2399, d2.loss_bbox: 0.4357, d3.loss_cls: 0.2315, d3.loss_bbox: 0.4289, d4.loss_cls: 0.2285, d4.loss_bbox: 0.4267, d5.loss_cls: 0.2286, d5.loss_bbox: 0.4251, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1680, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0177, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.9594, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9400, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9377, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.9386, d0.loss_map_cls_all: 0.2802, d0.loss_map_pts_all: 1.4903, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2802, d0.loss_map_pts: 1.4903, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2647, d1.loss_map_pts: 1.0833, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.2460, d2.loss_map_pts: 0.9406, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.2351, d3.loss_map_pts: 0.8889, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.2281, d4.loss_map_pts: 0.8691, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.2260, d5.loss_map_pts: 0.8592, d5.loss_map_dir: 0.0103, loss: 36.1672, grad_norm: 156.6759 +2026-02-25 21:20:17,351 - DriveTransformer - INFO - Epoch [5][34150/39528] lr: 9.337e-05, eta: 7 days, 1:22:40, time: 0.800, data_time: 0.040, memory: 19865, loss_cls: 0.2103, loss_bbox: 0.4158, loss_traj: 0.9325, loss_traj_cls: 0.0010, loss_map_cls: 0.1867, loss_map_pts: 0.7683, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.5390, d0.loss_plan_l1_fix_dist: 0.3447, d1.loss_plan_l1_fix_time: 1.4798, d1.loss_plan_l1_fix_dist: 0.1859, d2.loss_plan_l1_fix_time: 1.4541, d2.loss_plan_l1_fix_dist: 0.1903, d3.loss_plan_l1_fix_time: 1.4529, d3.loss_plan_l1_fix_dist: 0.2013, d4.loss_plan_l1_fix_time: 1.4536, d4.loss_plan_l1_fix_dist: 0.2113, d5.loss_plan_l1_fix_time: 1.4546, d5.loss_plan_l1_fix_dist: 0.2237, d6.loss_plan_l1_fix_time: 1.4566, d6.loss_plan_l1_fix_dist: 0.2362, d0.loss_cls_all: 0.2546, d0.loss_bbox_all: 0.4653, d0.loss_cls: 0.2546, d0.loss_bbox: 0.4653, d1.loss_cls: 0.2394, d1.loss_bbox: 0.4392, d2.loss_cls: 0.2260, d2.loss_bbox: 0.4241, d3.loss_cls: 0.2170, d3.loss_bbox: 0.4167, d4.loss_cls: 0.2129, d4.loss_bbox: 0.4132, d5.loss_cls: 0.2104, d5.loss_bbox: 0.4147, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1509, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9881, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.9493, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9323, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9265, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9301, d0.loss_map_cls_all: 0.2424, d0.loss_map_pts_all: 1.5102, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2424, d0.loss_map_pts: 1.5102, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2173, d1.loss_map_pts: 1.0387, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2025, d2.loss_map_pts: 0.8644, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.1925, d3.loss_map_pts: 0.8038, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.1880, d4.loss_map_pts: 0.7802, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1861, d5.loss_map_pts: 0.7705, d5.loss_map_dir: 0.0120, loss: 34.7757, grad_norm: 156.4968 +2026-02-25 21:21:00,553 - DriveTransformer - INFO - Epoch [5][34200/39528] lr: 9.337e-05, eta: 7 days, 1:22:11, time: 0.864, data_time: 0.046, memory: 19865, loss_cls: 0.1992, loss_bbox: 0.4046, loss_traj: 0.8212, loss_traj_cls: 0.0010, loss_map_cls: 0.1868, loss_map_pts: 0.8323, loss_map_dir: 0.0148, d0.loss_plan_l1_fix_time: 2.6001, d0.loss_plan_l1_fix_dist: 0.3673, d1.loss_plan_l1_fix_time: 1.2983, d1.loss_plan_l1_fix_dist: 0.1957, d2.loss_plan_l1_fix_time: 1.2692, d2.loss_plan_l1_fix_dist: 0.2013, d3.loss_plan_l1_fix_time: 1.2621, d3.loss_plan_l1_fix_dist: 0.2126, d4.loss_plan_l1_fix_time: 1.2629, d4.loss_plan_l1_fix_dist: 0.2252, d5.loss_plan_l1_fix_time: 1.2648, d5.loss_plan_l1_fix_dist: 0.2376, d6.loss_plan_l1_fix_time: 1.2684, d6.loss_plan_l1_fix_dist: 0.2533, d0.loss_cls_all: 0.2287, d0.loss_bbox_all: 0.4564, d0.loss_cls: 0.2287, d0.loss_bbox: 0.4564, d1.loss_cls: 0.2246, d1.loss_bbox: 0.4243, d2.loss_cls: 0.2122, d2.loss_bbox: 0.4088, d3.loss_cls: 0.2040, d3.loss_bbox: 0.4046, d4.loss_cls: 0.1992, d4.loss_bbox: 0.4047, d5.loss_cls: 0.1987, d5.loss_bbox: 0.4039, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9960, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8681, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8292, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8195, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8171, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8151, d0.loss_map_cls_all: 0.2672, d0.loss_map_pts_all: 1.8212, d0.loss_map_dir_all: 0.0132, d0.loss_map_cls: 0.2672, d0.loss_map_pts: 1.8212, d0.loss_map_dir: 0.0132, d1.loss_map_cls: 0.2273, d1.loss_map_pts: 1.1671, d1.loss_map_dir: 0.0129, d2.loss_map_cls: 0.2070, d2.loss_map_pts: 0.9426, d2.loss_map_dir: 0.0135, d3.loss_map_cls: 0.1971, d3.loss_map_pts: 0.8687, d3.loss_map_dir: 0.0141, d4.loss_map_cls: 0.1900, d4.loss_map_pts: 0.8445, d4.loss_map_dir: 0.0145, d5.loss_map_cls: 0.1881, d5.loss_map_pts: 0.8352, d5.loss_map_dir: 0.0146, loss: 33.9256, grad_norm: 155.9028 +2026-02-25 21:21:40,342 - DriveTransformer - INFO - Epoch [5][34250/39528] lr: 9.337e-05, eta: 7 days, 1:21:29, time: 0.796, data_time: 0.046, memory: 19865, loss_cls: 0.2249, loss_bbox: 0.4046, loss_traj: 0.9522, loss_traj_cls: 0.0011, loss_map_cls: 0.1932, loss_map_pts: 0.7528, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.8538, d0.loss_plan_l1_fix_dist: 0.4229, d1.loss_plan_l1_fix_time: 1.3147, d1.loss_plan_l1_fix_dist: 0.2163, d2.loss_plan_l1_fix_time: 1.2889, d2.loss_plan_l1_fix_dist: 0.2252, d3.loss_plan_l1_fix_time: 1.2848, d3.loss_plan_l1_fix_dist: 0.2399, d4.loss_plan_l1_fix_time: 1.2872, d4.loss_plan_l1_fix_dist: 0.2594, d5.loss_plan_l1_fix_time: 1.2899, d5.loss_plan_l1_fix_dist: 0.2830, d6.loss_plan_l1_fix_time: 1.2929, d6.loss_plan_l1_fix_dist: 0.3093, d0.loss_cls_all: 0.2451, d0.loss_bbox_all: 0.4567, d0.loss_cls: 0.2451, d0.loss_bbox: 0.4567, d1.loss_cls: 0.2466, d1.loss_bbox: 0.4250, d2.loss_cls: 0.2366, d2.loss_bbox: 0.4099, d3.loss_cls: 0.2295, d3.loss_bbox: 0.4069, d4.loss_cls: 0.2235, d4.loss_bbox: 0.4074, d5.loss_cls: 0.2244, d5.loss_bbox: 0.4050, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1753, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0117, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.9543, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9469, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9519, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9580, d0.loss_map_cls_all: 0.2508, d0.loss_map_pts_all: 1.3797, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2508, d0.loss_map_pts: 1.3797, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.2276, d1.loss_map_pts: 0.9998, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.2153, d2.loss_map_pts: 0.8416, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.2022, d3.loss_map_pts: 0.7819, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1966, d4.loss_map_pts: 0.7597, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1944, d5.loss_map_pts: 0.7519, d5.loss_map_dir: 0.0094, loss: 34.2217, grad_norm: 156.5057 +2026-02-25 21:22:23,098 - DriveTransformer - INFO - Epoch [5][34300/39528] lr: 9.337e-05, eta: 7 days, 1:20:58, time: 0.855, data_time: 0.041, memory: 19865, loss_cls: 0.1916, loss_bbox: 0.3959, loss_traj: 0.7997, loss_traj_cls: 0.0010, loss_map_cls: 0.1451, loss_map_pts: 0.7276, loss_map_dir: 0.0131, d0.loss_plan_l1_fix_time: 2.5327, d0.loss_plan_l1_fix_dist: 0.3982, d1.loss_plan_l1_fix_time: 1.2585, d1.loss_plan_l1_fix_dist: 0.2284, d2.loss_plan_l1_fix_time: 1.2415, d2.loss_plan_l1_fix_dist: 0.2401, d3.loss_plan_l1_fix_time: 1.2366, d3.loss_plan_l1_fix_dist: 0.2583, d4.loss_plan_l1_fix_time: 1.2399, d4.loss_plan_l1_fix_dist: 0.2762, d5.loss_plan_l1_fix_time: 1.2437, d5.loss_plan_l1_fix_dist: 0.2979, d6.loss_plan_l1_fix_time: 1.2488, d6.loss_plan_l1_fix_dist: 0.3214, d0.loss_cls_all: 0.2224, d0.loss_bbox_all: 0.4480, d0.loss_cls: 0.2224, d0.loss_bbox: 0.4480, d1.loss_cls: 0.2168, d1.loss_bbox: 0.4203, d2.loss_cls: 0.2067, d2.loss_bbox: 0.4054, d3.loss_cls: 0.2003, d3.loss_bbox: 0.3998, d4.loss_cls: 0.1940, d4.loss_bbox: 0.3967, d5.loss_cls: 0.1911, d5.loss_bbox: 0.3960, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9925, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8481, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8066, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7974, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7996, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7968, d0.loss_map_cls_all: 0.2092, d0.loss_map_pts_all: 1.4924, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.2092, d0.loss_map_pts: 1.4924, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.1819, d1.loss_map_pts: 0.9608, d1.loss_map_dir: 0.0122, d2.loss_map_cls: 0.1598, d2.loss_map_pts: 0.8031, d2.loss_map_dir: 0.0123, d3.loss_map_cls: 0.1521, d3.loss_map_pts: 0.7494, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.1493, d4.loss_map_pts: 0.7308, d4.loss_map_dir: 0.0129, d5.loss_map_cls: 0.1479, d5.loss_map_pts: 0.7280, d5.loss_map_dir: 0.0130, loss: 31.9651, grad_norm: 157.3076 +2026-02-25 21:23:03,087 - DriveTransformer - INFO - Epoch [5][34350/39528] lr: 9.337e-05, eta: 7 days, 1:20:17, time: 0.800, data_time: 0.043, memory: 19865, loss_cls: 0.1948, loss_bbox: 0.3913, loss_traj: 0.9679, loss_traj_cls: 0.0011, loss_map_cls: 0.1816, loss_map_pts: 0.7317, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.5526, d0.loss_plan_l1_fix_dist: 0.4242, d1.loss_plan_l1_fix_time: 1.3675, d1.loss_plan_l1_fix_dist: 0.2095, d2.loss_plan_l1_fix_time: 1.3374, d2.loss_plan_l1_fix_dist: 0.2139, d3.loss_plan_l1_fix_time: 1.3388, d3.loss_plan_l1_fix_dist: 0.2274, d4.loss_plan_l1_fix_time: 1.3420, d4.loss_plan_l1_fix_dist: 0.2426, d5.loss_plan_l1_fix_time: 1.3455, d5.loss_plan_l1_fix_dist: 0.2582, d6.loss_plan_l1_fix_time: 1.3501, d6.loss_plan_l1_fix_dist: 0.2766, d0.loss_cls_all: 0.2208, d0.loss_bbox_all: 0.4481, d0.loss_cls: 0.2208, d0.loss_bbox: 0.4481, d1.loss_cls: 0.2193, d1.loss_bbox: 0.4161, d2.loss_cls: 0.2096, d2.loss_bbox: 0.4019, d3.loss_cls: 0.1974, d3.loss_bbox: 0.3951, d4.loss_cls: 0.1941, d4.loss_bbox: 0.3910, d5.loss_cls: 0.1931, d5.loss_bbox: 0.3915, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1749, d1.loss_traj_cls: 0.0009, d1.loss_traj: 1.0108, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.9666, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9571, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9630, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9682, d0.loss_map_cls_all: 0.2611, d0.loss_map_pts_all: 1.5172, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2611, d0.loss_map_pts: 1.5172, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2228, d1.loss_map_pts: 1.0078, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.2020, d2.loss_map_pts: 0.8314, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1909, d3.loss_map_pts: 0.7667, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1843, d4.loss_map_pts: 0.7446, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1830, d5.loss_map_pts: 0.7334, d5.loss_map_dir: 0.0107, loss: 34.0552, grad_norm: 159.3689 +2026-02-25 21:23:43,026 - DriveTransformer - INFO - Epoch [5][34400/39528] lr: 9.337e-05, eta: 7 days, 1:19:35, time: 0.800, data_time: 0.047, memory: 19865, loss_cls: 0.1976, loss_bbox: 0.3916, loss_traj: 0.6761, loss_traj_cls: 0.0010, loss_map_cls: 0.2073, loss_map_pts: 0.9400, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.6514, d0.loss_plan_l1_fix_dist: 0.4421, d1.loss_plan_l1_fix_time: 1.4445, d1.loss_plan_l1_fix_dist: 0.2218, d2.loss_plan_l1_fix_time: 1.4277, d2.loss_plan_l1_fix_dist: 0.2237, d3.loss_plan_l1_fix_time: 1.4339, d3.loss_plan_l1_fix_dist: 0.2350, d4.loss_plan_l1_fix_time: 1.4379, d4.loss_plan_l1_fix_dist: 0.2516, d5.loss_plan_l1_fix_time: 1.4418, d5.loss_plan_l1_fix_dist: 0.2654, d6.loss_plan_l1_fix_time: 1.4468, d6.loss_plan_l1_fix_dist: 0.2782, d0.loss_cls_all: 0.2309, d0.loss_bbox_all: 0.4523, d0.loss_cls: 0.2309, d0.loss_bbox: 0.4523, d1.loss_cls: 0.2221, d1.loss_bbox: 0.4182, d2.loss_cls: 0.2105, d2.loss_bbox: 0.4034, d3.loss_cls: 0.1978, d3.loss_bbox: 0.3984, d4.loss_cls: 0.1942, d4.loss_bbox: 0.3947, d5.loss_cls: 0.1963, d5.loss_bbox: 0.3915, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8226, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6943, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6807, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6700, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6694, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6733, d0.loss_map_cls_all: 0.2713, d0.loss_map_pts_all: 1.7402, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2713, d0.loss_map_pts: 1.7402, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2404, d1.loss_map_pts: 1.2137, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2241, d2.loss_map_pts: 1.0367, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.2138, d3.loss_map_pts: 0.9717, d3.loss_map_dir: 0.0121, d4.loss_map_cls: 0.2091, d4.loss_map_pts: 0.9470, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.2079, d5.loss_map_pts: 0.9419, d5.loss_map_dir: 0.0124, loss: 34.5494, grad_norm: 161.1469 +2026-02-25 21:24:24,459 - DriveTransformer - INFO - Epoch [5][34450/39528] lr: 9.337e-05, eta: 7 days, 1:18:59, time: 0.827, data_time: 0.046, memory: 19865, loss_cls: 0.1865, loss_bbox: 0.3786, loss_traj: 0.8436, loss_traj_cls: 0.0011, loss_map_cls: 0.1629, loss_map_pts: 0.7016, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.5641, d0.loss_plan_l1_fix_dist: 0.4057, d1.loss_plan_l1_fix_time: 1.1523, d1.loss_plan_l1_fix_dist: 0.2054, d2.loss_plan_l1_fix_time: 1.1312, d2.loss_plan_l1_fix_dist: 0.2102, d3.loss_plan_l1_fix_time: 1.1306, d3.loss_plan_l1_fix_dist: 0.2209, d4.loss_plan_l1_fix_time: 1.1343, d4.loss_plan_l1_fix_dist: 0.2324, d5.loss_plan_l1_fix_time: 1.1390, d5.loss_plan_l1_fix_dist: 0.2448, d6.loss_plan_l1_fix_time: 1.1454, d6.loss_plan_l1_fix_dist: 0.2597, d0.loss_cls_all: 0.2111, d0.loss_bbox_all: 0.4224, d0.loss_cls: 0.2111, d0.loss_bbox: 0.4224, d1.loss_cls: 0.2030, d1.loss_bbox: 0.3926, d2.loss_cls: 0.1946, d2.loss_bbox: 0.3774, d3.loss_cls: 0.1899, d3.loss_bbox: 0.3737, d4.loss_cls: 0.1860, d4.loss_bbox: 0.3747, d5.loss_cls: 0.1854, d5.loss_bbox: 0.3767, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0880, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8815, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8496, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8306, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8259, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8325, d0.loss_map_cls_all: 0.2322, d0.loss_map_pts_all: 1.4874, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2322, d0.loss_map_pts: 1.4874, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2003, d1.loss_map_pts: 0.9635, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.1833, d2.loss_map_pts: 0.7881, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.1745, d3.loss_map_pts: 0.7285, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1675, d4.loss_map_pts: 0.7099, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1645, d5.loss_map_pts: 0.7035, d5.loss_map_dir: 0.0116, loss: 31.1975, grad_norm: 160.6287 +2026-02-25 21:25:04,702 - DriveTransformer - INFO - Epoch [5][34500/39528] lr: 9.337e-05, eta: 7 days, 1:18:18, time: 0.805, data_time: 0.043, memory: 19865, loss_cls: 0.2079, loss_bbox: 0.3943, loss_traj: 0.6680, loss_traj_cls: 0.0011, loss_map_cls: 0.1862, loss_map_pts: 0.7461, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.7471, d0.loss_plan_l1_fix_dist: 0.3426, d1.loss_plan_l1_fix_time: 1.2206, d1.loss_plan_l1_fix_dist: 0.1714, d2.loss_plan_l1_fix_time: 1.2021, d2.loss_plan_l1_fix_dist: 0.1789, d3.loss_plan_l1_fix_time: 1.1984, d3.loss_plan_l1_fix_dist: 0.1906, d4.loss_plan_l1_fix_time: 1.2000, d4.loss_plan_l1_fix_dist: 0.2040, d5.loss_plan_l1_fix_time: 1.2025, d5.loss_plan_l1_fix_dist: 0.2223, d6.loss_plan_l1_fix_time: 1.2064, d6.loss_plan_l1_fix_dist: 0.2398, d0.loss_cls_all: 0.2381, d0.loss_bbox_all: 0.4495, d0.loss_cls: 0.2381, d0.loss_bbox: 0.4495, d1.loss_cls: 0.2325, d1.loss_bbox: 0.4166, d2.loss_cls: 0.2203, d2.loss_bbox: 0.4028, d3.loss_cls: 0.2135, d3.loss_bbox: 0.3972, d4.loss_cls: 0.2092, d4.loss_bbox: 0.3950, d5.loss_cls: 0.2072, d5.loss_bbox: 0.3942, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9346, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7296, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6907, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6788, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6724, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6672, d0.loss_map_cls_all: 0.2460, d0.loss_map_pts_all: 1.4740, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2460, d0.loss_map_pts: 1.4740, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2247, d1.loss_map_pts: 1.0016, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.2095, d2.loss_map_pts: 0.8354, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1945, d3.loss_map_pts: 0.7787, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1895, d4.loss_map_pts: 0.7570, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1873, d5.loss_map_pts: 0.7446, d5.loss_map_dir: 0.0097, loss: 31.2100, grad_norm: 159.8038 +2026-02-25 21:25:46,733 - DriveTransformer - INFO - Epoch [5][34550/39528] lr: 9.337e-05, eta: 7 days, 1:17:45, time: 0.841, data_time: 0.041, memory: 19865, loss_cls: 0.1967, loss_bbox: 0.3871, loss_traj: 0.6511, loss_traj_cls: 0.0010, loss_map_cls: 0.1802, loss_map_pts: 0.9490, loss_map_dir: 0.0166, d0.loss_plan_l1_fix_time: 2.1900, d0.loss_plan_l1_fix_dist: 0.4806, d1.loss_plan_l1_fix_time: 0.9455, d1.loss_plan_l1_fix_dist: 0.2166, d2.loss_plan_l1_fix_time: 0.9288, d2.loss_plan_l1_fix_dist: 0.2269, d3.loss_plan_l1_fix_time: 0.9291, d3.loss_plan_l1_fix_dist: 0.2464, d4.loss_plan_l1_fix_time: 0.9321, d4.loss_plan_l1_fix_dist: 0.2710, d5.loss_plan_l1_fix_time: 0.9359, d5.loss_plan_l1_fix_dist: 0.2929, d6.loss_plan_l1_fix_time: 0.9413, d6.loss_plan_l1_fix_dist: 0.3204, d0.loss_cls_all: 0.2342, d0.loss_bbox_all: 0.4489, d0.loss_cls: 0.2342, d0.loss_bbox: 0.4489, d1.loss_cls: 0.2252, d1.loss_bbox: 0.4130, d2.loss_cls: 0.2111, d2.loss_bbox: 0.3949, d3.loss_cls: 0.2015, d3.loss_bbox: 0.3889, d4.loss_cls: 0.1970, d4.loss_bbox: 0.3871, d5.loss_cls: 0.1969, d5.loss_bbox: 0.3858, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7948, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6873, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6509, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6437, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6461, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6474, d0.loss_map_cls_all: 0.2649, d0.loss_map_pts_all: 2.0097, d0.loss_map_dir_all: 0.0149, d0.loss_map_cls: 0.2649, d0.loss_map_pts: 2.0097, d0.loss_map_dir: 0.0149, d1.loss_map_cls: 0.2276, d1.loss_map_pts: 1.2986, d1.loss_map_dir: 0.0145, d2.loss_map_cls: 0.2077, d2.loss_map_pts: 1.0629, d2.loss_map_dir: 0.0149, d3.loss_map_cls: 0.1933, d3.loss_map_pts: 0.9864, d3.loss_map_dir: 0.0156, d4.loss_map_cls: 0.1841, d4.loss_map_pts: 0.9603, d4.loss_map_dir: 0.0161, d5.loss_map_cls: 0.1810, d5.loss_map_pts: 0.9510, d5.loss_map_dir: 0.0164, loss: 31.5922, grad_norm: 161.2357 +2026-02-25 21:26:27,705 - DriveTransformer - INFO - Epoch [5][34600/39528] lr: 9.337e-05, eta: 7 days, 1:17:07, time: 0.819, data_time: 0.041, memory: 19865, loss_cls: 0.1773, loss_bbox: 0.3821, loss_traj: 0.6118, loss_traj_cls: 0.0011, loss_map_cls: 0.1614, loss_map_pts: 0.7036, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.4009, d0.loss_plan_l1_fix_dist: 0.4788, d1.loss_plan_l1_fix_time: 1.1748, d1.loss_plan_l1_fix_dist: 0.1986, d2.loss_plan_l1_fix_time: 1.1649, d2.loss_plan_l1_fix_dist: 0.2054, d3.loss_plan_l1_fix_time: 1.1614, d3.loss_plan_l1_fix_dist: 0.2180, d4.loss_plan_l1_fix_time: 1.1626, d4.loss_plan_l1_fix_dist: 0.2319, d5.loss_plan_l1_fix_time: 1.1646, d5.loss_plan_l1_fix_dist: 0.2464, d6.loss_plan_l1_fix_time: 1.1672, d6.loss_plan_l1_fix_dist: 0.2673, d0.loss_cls_all: 0.2120, d0.loss_bbox_all: 0.4342, d0.loss_cls: 0.2120, d0.loss_bbox: 0.4342, d1.loss_cls: 0.2057, d1.loss_bbox: 0.3999, d2.loss_cls: 0.1896, d2.loss_bbox: 0.3861, d3.loss_cls: 0.1797, d3.loss_bbox: 0.3788, d4.loss_cls: 0.1761, d4.loss_bbox: 0.3788, d5.loss_cls: 0.1760, d5.loss_bbox: 0.3804, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8075, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6736, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6256, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6170, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6172, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6139, d0.loss_map_cls_all: 0.2219, d0.loss_map_pts_all: 1.3989, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2219, d0.loss_map_pts: 1.3989, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1927, d1.loss_map_pts: 0.9566, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1788, d2.loss_map_pts: 0.7849, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1697, d3.loss_map_pts: 0.7256, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1641, d4.loss_map_pts: 0.7108, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1627, d5.loss_map_pts: 0.7057, d5.loss_map_dir: 0.0100, loss: 29.4550, grad_norm: 160.7883 +2026-02-25 21:27:08,770 - DriveTransformer - INFO - Epoch [5][34650/39528] lr: 9.337e-05, eta: 7 days, 1:16:30, time: 0.821, data_time: 0.041, memory: 19865, loss_cls: 0.2187, loss_bbox: 0.4042, loss_traj: 0.7710, loss_traj_cls: 0.0011, loss_map_cls: 0.1970, loss_map_pts: 0.9149, loss_map_dir: 0.0136, d0.loss_plan_l1_fix_time: 2.4650, d0.loss_plan_l1_fix_dist: 0.4074, d1.loss_plan_l1_fix_time: 1.2528, d1.loss_plan_l1_fix_dist: 0.2118, d2.loss_plan_l1_fix_time: 1.2343, d2.loss_plan_l1_fix_dist: 0.2197, d3.loss_plan_l1_fix_time: 1.2307, d3.loss_plan_l1_fix_dist: 0.2327, d4.loss_plan_l1_fix_time: 1.2322, d4.loss_plan_l1_fix_dist: 0.2506, d5.loss_plan_l1_fix_time: 1.2345, d5.loss_plan_l1_fix_dist: 0.2750, d6.loss_plan_l1_fix_time: 1.2374, d6.loss_plan_l1_fix_dist: 0.2910, d0.loss_cls_all: 0.2499, d0.loss_bbox_all: 0.4544, d0.loss_cls: 0.2499, d0.loss_bbox: 0.4544, d1.loss_cls: 0.2410, d1.loss_bbox: 0.4254, d2.loss_cls: 0.2319, d2.loss_bbox: 0.4087, d3.loss_cls: 0.2231, d3.loss_bbox: 0.4034, d4.loss_cls: 0.2194, d4.loss_bbox: 0.4019, d5.loss_cls: 0.2191, d5.loss_bbox: 0.4015, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9317, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8187, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7701, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7673, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7678, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7658, d0.loss_map_cls_all: 0.2665, d0.loss_map_pts_all: 1.8086, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2665, d0.loss_map_pts: 1.8086, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2393, d1.loss_map_pts: 1.2656, d1.loss_map_dir: 0.0121, d2.loss_map_cls: 0.2198, d2.loss_map_pts: 1.0460, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2095, d3.loss_map_pts: 0.9645, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.2017, d4.loss_map_pts: 0.9292, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.1988, d5.loss_map_pts: 0.9170, d5.loss_map_dir: 0.0136, loss: 34.1389, grad_norm: 161.0191 +2026-02-25 21:27:48,031 - DriveTransformer - INFO - Epoch [5][34700/39528] lr: 9.337e-05, eta: 7 days, 1:15:45, time: 0.785, data_time: 0.043, memory: 19865, loss_cls: 0.2125, loss_bbox: 0.3929, loss_traj: 0.6252, loss_traj_cls: 0.0011, loss_map_cls: 0.1887, loss_map_pts: 0.7052, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.6374, d0.loss_plan_l1_fix_dist: 0.4512, d1.loss_plan_l1_fix_time: 1.2656, d1.loss_plan_l1_fix_dist: 0.1988, d2.loss_plan_l1_fix_time: 1.2489, d2.loss_plan_l1_fix_dist: 0.2057, d3.loss_plan_l1_fix_time: 1.2405, d3.loss_plan_l1_fix_dist: 0.2147, d4.loss_plan_l1_fix_time: 1.2410, d4.loss_plan_l1_fix_dist: 0.2260, d5.loss_plan_l1_fix_time: 1.2427, d5.loss_plan_l1_fix_dist: 0.2388, d6.loss_plan_l1_fix_time: 1.2458, d6.loss_plan_l1_fix_dist: 0.2476, d0.loss_cls_all: 0.2360, d0.loss_bbox_all: 0.4534, d0.loss_cls: 0.2360, d0.loss_bbox: 0.4534, d1.loss_cls: 0.2338, d1.loss_bbox: 0.4192, d2.loss_cls: 0.2241, d2.loss_bbox: 0.4009, d3.loss_cls: 0.2178, d3.loss_bbox: 0.3960, d4.loss_cls: 0.2122, d4.loss_bbox: 0.3931, d5.loss_cls: 0.2120, d5.loss_bbox: 0.3917, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7930, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6705, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6380, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6296, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6283, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6242, d0.loss_map_cls_all: 0.2521, d0.loss_map_pts_all: 1.4344, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2521, d0.loss_map_pts: 1.4344, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2213, d1.loss_map_pts: 0.9613, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.2057, d2.loss_map_pts: 0.7997, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1967, d3.loss_map_pts: 0.7419, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1895, d4.loss_map_pts: 0.7145, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1888, d5.loss_map_pts: 0.7062, d5.loss_map_dir: 0.0094, loss: 30.8708, grad_norm: 157.9042 +2026-02-25 21:28:29,324 - DriveTransformer - INFO - Epoch [5][34750/39528] lr: 9.337e-05, eta: 7 days, 1:15:09, time: 0.826, data_time: 0.052, memory: 19865, loss_cls: 0.2090, loss_bbox: 0.4197, loss_traj: 0.9357, loss_traj_cls: 0.0011, loss_map_cls: 0.2127, loss_map_pts: 0.9080, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.5420, d0.loss_plan_l1_fix_dist: 0.4521, d1.loss_plan_l1_fix_time: 1.2224, d1.loss_plan_l1_fix_dist: 0.2027, d2.loss_plan_l1_fix_time: 1.2075, d2.loss_plan_l1_fix_dist: 0.2043, d3.loss_plan_l1_fix_time: 1.2081, d3.loss_plan_l1_fix_dist: 0.2136, d4.loss_plan_l1_fix_time: 1.2100, d4.loss_plan_l1_fix_dist: 0.2248, d5.loss_plan_l1_fix_time: 1.2118, d5.loss_plan_l1_fix_dist: 0.2372, d6.loss_plan_l1_fix_time: 1.2145, d6.loss_plan_l1_fix_dist: 0.2594, d0.loss_cls_all: 0.2416, d0.loss_bbox_all: 0.4781, d0.loss_cls: 0.2416, d0.loss_bbox: 0.4781, d1.loss_cls: 0.2276, d1.loss_bbox: 0.4490, d2.loss_cls: 0.2183, d2.loss_bbox: 0.4299, d3.loss_cls: 0.2125, d3.loss_bbox: 0.4246, d4.loss_cls: 0.2083, d4.loss_bbox: 0.4224, d5.loss_cls: 0.2091, d5.loss_bbox: 0.4190, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1339, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9664, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.9231, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9173, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9192, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9256, d0.loss_map_cls_all: 0.2740, d0.loss_map_pts_all: 1.7676, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2740, d0.loss_map_pts: 1.7676, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2515, d1.loss_map_pts: 1.2329, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2353, d2.loss_map_pts: 1.0225, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.2235, d3.loss_map_pts: 0.9477, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.2178, d4.loss_map_pts: 0.9155, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.2145, d5.loss_map_pts: 0.9076, d5.loss_map_dir: 0.0116, loss: 35.0889, grad_norm: 158.3180 +2026-02-25 21:29:09,206 - DriveTransformer - INFO - Epoch [5][34800/39528] lr: 9.337e-05, eta: 7 days, 1:14:27, time: 0.798, data_time: 0.047, memory: 19865, loss_cls: 0.2265, loss_bbox: 0.4292, loss_traj: 0.8033, loss_traj_cls: 0.0011, loss_map_cls: 0.2044, loss_map_pts: 0.8335, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.9851, d0.loss_plan_l1_fix_dist: 0.3935, d1.loss_plan_l1_fix_time: 1.3881, d1.loss_plan_l1_fix_dist: 0.2367, d2.loss_plan_l1_fix_time: 1.3780, d2.loss_plan_l1_fix_dist: 0.2396, d3.loss_plan_l1_fix_time: 1.3741, d3.loss_plan_l1_fix_dist: 0.2488, d4.loss_plan_l1_fix_time: 1.3753, d4.loss_plan_l1_fix_dist: 0.2610, d5.loss_plan_l1_fix_time: 1.3773, d5.loss_plan_l1_fix_dist: 0.2763, d6.loss_plan_l1_fix_time: 1.3795, d6.loss_plan_l1_fix_dist: 0.2956, d0.loss_cls_all: 0.2486, d0.loss_bbox_all: 0.4869, d0.loss_cls: 0.2486, d0.loss_bbox: 0.4869, d1.loss_cls: 0.2459, d1.loss_bbox: 0.4584, d2.loss_cls: 0.2369, d2.loss_bbox: 0.4391, d3.loss_cls: 0.2290, d3.loss_bbox: 0.4310, d4.loss_cls: 0.2247, d4.loss_bbox: 0.4310, d5.loss_cls: 0.2240, d5.loss_bbox: 0.4294, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9850, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8578, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8181, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8055, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8199, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8004, d0.loss_map_cls_all: 0.2650, d0.loss_map_pts_all: 1.5622, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2650, d0.loss_map_pts: 1.5622, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2433, d1.loss_map_pts: 1.1100, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2227, d2.loss_map_pts: 0.9343, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.2117, d3.loss_map_pts: 0.8696, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.2064, d4.loss_map_pts: 0.8463, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.2045, d5.loss_map_pts: 0.8362, d5.loss_map_dir: 0.0110, loss: 35.0418, grad_norm: 158.5428 +2026-02-25 21:29:50,376 - DriveTransformer - INFO - Epoch [5][34850/39528] lr: 9.337e-05, eta: 7 days, 1:13:50, time: 0.823, data_time: 0.046, memory: 19865, loss_cls: 0.2171, loss_bbox: 0.4073, loss_traj: 0.7172, loss_traj_cls: 0.0011, loss_map_cls: 0.1945, loss_map_pts: 0.8363, loss_map_dir: 0.0132, d0.loss_plan_l1_fix_time: 2.6897, d0.loss_plan_l1_fix_dist: 0.3568, d1.loss_plan_l1_fix_time: 1.3789, d1.loss_plan_l1_fix_dist: 0.2027, d2.loss_plan_l1_fix_time: 1.3661, d2.loss_plan_l1_fix_dist: 0.2084, d3.loss_plan_l1_fix_time: 1.3750, d3.loss_plan_l1_fix_dist: 0.2218, d4.loss_plan_l1_fix_time: 1.3778, d4.loss_plan_l1_fix_dist: 0.2398, d5.loss_plan_l1_fix_time: 1.3803, d5.loss_plan_l1_fix_dist: 0.2621, d6.loss_plan_l1_fix_time: 1.3830, d6.loss_plan_l1_fix_dist: 0.2812, d0.loss_cls_all: 0.2484, d0.loss_bbox_all: 0.4678, d0.loss_cls: 0.2484, d0.loss_bbox: 0.4678, d1.loss_cls: 0.2440, d1.loss_bbox: 0.4341, d2.loss_cls: 0.2287, d2.loss_bbox: 0.4173, d3.loss_cls: 0.2240, d3.loss_bbox: 0.4090, d4.loss_cls: 0.2192, d4.loss_bbox: 0.4067, d5.loss_cls: 0.2173, d5.loss_bbox: 0.4061, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9850, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7799, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7337, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7218, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7193, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7166, d0.loss_map_cls_all: 0.2549, d0.loss_map_pts_all: 1.7047, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.2549, d0.loss_map_pts: 1.7047, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2299, d1.loss_map_pts: 1.1349, d1.loss_map_dir: 0.0122, d2.loss_map_cls: 0.2159, d2.loss_map_pts: 0.9341, d2.loss_map_dir: 0.0122, d3.loss_map_cls: 0.2033, d3.loss_map_pts: 0.8649, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.1977, d4.loss_map_pts: 0.8400, d4.loss_map_dir: 0.0129, d5.loss_map_cls: 0.1961, d5.loss_map_pts: 0.8357, d5.loss_map_dir: 0.0131, loss: 34.0718, grad_norm: 161.1775 +2026-02-25 21:30:30,897 - DriveTransformer - INFO - Epoch [5][34900/39528] lr: 9.337e-05, eta: 7 days, 1:13:10, time: 0.810, data_time: 0.046, memory: 19865, loss_cls: 0.1946, loss_bbox: 0.4377, loss_traj: 0.7990, loss_traj_cls: 0.0011, loss_map_cls: 0.1865, loss_map_pts: 0.7876, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.4859, d0.loss_plan_l1_fix_dist: 0.5055, d1.loss_plan_l1_fix_time: 1.2412, d1.loss_plan_l1_fix_dist: 0.2328, d2.loss_plan_l1_fix_time: 1.2178, d2.loss_plan_l1_fix_dist: 0.2336, d3.loss_plan_l1_fix_time: 1.2159, d3.loss_plan_l1_fix_dist: 0.2404, d4.loss_plan_l1_fix_time: 1.2176, d4.loss_plan_l1_fix_dist: 0.2511, d5.loss_plan_l1_fix_time: 1.2195, d5.loss_plan_l1_fix_dist: 0.2638, d6.loss_plan_l1_fix_time: 1.2221, d6.loss_plan_l1_fix_dist: 0.2762, d0.loss_cls_all: 0.2328, d0.loss_bbox_all: 0.4907, d0.loss_cls: 0.2328, d0.loss_bbox: 0.4907, d1.loss_cls: 0.2262, d1.loss_bbox: 0.4602, d2.loss_cls: 0.2097, d2.loss_bbox: 0.4452, d3.loss_cls: 0.2040, d3.loss_bbox: 0.4377, d4.loss_cls: 0.1965, d4.loss_bbox: 0.4395, d5.loss_cls: 0.1950, d5.loss_bbox: 0.4376, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0053, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8577, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8138, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8005, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7984, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7956, d0.loss_map_cls_all: 0.2560, d0.loss_map_pts_all: 1.5631, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2560, d0.loss_map_pts: 1.5631, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2276, d1.loss_map_pts: 1.0775, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.2092, d2.loss_map_pts: 0.8872, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1968, d3.loss_map_pts: 0.8163, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1913, d4.loss_map_pts: 0.7958, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1884, d5.loss_map_pts: 0.7860, d5.loss_map_dir: 0.0107, loss: 33.1017, grad_norm: 159.8285 +2026-02-25 21:31:12,046 - DriveTransformer - INFO - Epoch [5][34950/39528] lr: 9.337e-05, eta: 7 days, 1:12:33, time: 0.823, data_time: 0.044, memory: 19865, loss_cls: 0.2012, loss_bbox: 0.3870, loss_traj: 0.6365, loss_traj_cls: 0.0011, loss_map_cls: 0.1924, loss_map_pts: 0.7528, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.8482, d0.loss_plan_l1_fix_dist: 0.4659, d1.loss_plan_l1_fix_time: 1.3196, d1.loss_plan_l1_fix_dist: 0.2223, d2.loss_plan_l1_fix_time: 1.2888, d2.loss_plan_l1_fix_dist: 0.2286, d3.loss_plan_l1_fix_time: 1.2894, d3.loss_plan_l1_fix_dist: 0.2402, d4.loss_plan_l1_fix_time: 1.2920, d4.loss_plan_l1_fix_dist: 0.2513, d5.loss_plan_l1_fix_time: 1.2948, d5.loss_plan_l1_fix_dist: 0.2622, d6.loss_plan_l1_fix_time: 1.2980, d6.loss_plan_l1_fix_dist: 0.2745, d0.loss_cls_all: 0.2407, d0.loss_bbox_all: 0.4491, d0.loss_cls: 0.2407, d0.loss_bbox: 0.4491, d1.loss_cls: 0.2283, d1.loss_bbox: 0.4172, d2.loss_cls: 0.2126, d2.loss_bbox: 0.3956, d3.loss_cls: 0.2063, d3.loss_bbox: 0.3905, d4.loss_cls: 0.2027, d4.loss_bbox: 0.3873, d5.loss_cls: 0.2013, d5.loss_bbox: 0.3859, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8233, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6828, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6458, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6377, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6369, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6332, d0.loss_map_cls_all: 0.2586, d0.loss_map_pts_all: 1.5374, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2586, d0.loss_map_pts: 1.5374, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2247, d1.loss_map_pts: 1.0306, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2087, d2.loss_map_pts: 0.8480, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.2022, d3.loss_map_pts: 0.7870, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1964, d4.loss_map_pts: 0.7636, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1929, d5.loss_map_pts: 0.7546, d5.loss_map_dir: 0.0118, loss: 32.1098, grad_norm: 159.4033 +2026-02-25 21:31:53,408 - DriveTransformer - INFO - Epoch [5][35000/39528] lr: 9.337e-05, eta: 7 days, 1:11:57, time: 0.827, data_time: 0.046, memory: 19865, loss_cls: 0.2088, loss_bbox: 0.4215, loss_traj: 0.7334, loss_traj_cls: 0.0010, loss_map_cls: 0.2219, loss_map_pts: 0.9002, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.8891, d0.loss_plan_l1_fix_dist: 0.4515, d1.loss_plan_l1_fix_time: 1.3143, d1.loss_plan_l1_fix_dist: 0.2328, d2.loss_plan_l1_fix_time: 1.3105, d2.loss_plan_l1_fix_dist: 0.2364, d3.loss_plan_l1_fix_time: 1.3220, d3.loss_plan_l1_fix_dist: 0.2455, d4.loss_plan_l1_fix_time: 1.3267, d4.loss_plan_l1_fix_dist: 0.2581, d5.loss_plan_l1_fix_time: 1.3311, d5.loss_plan_l1_fix_dist: 0.2733, d6.loss_plan_l1_fix_time: 1.3357, d6.loss_plan_l1_fix_dist: 0.2910, d0.loss_cls_all: 0.2484, d0.loss_bbox_all: 0.4784, d0.loss_cls: 0.2484, d0.loss_bbox: 0.4784, d1.loss_cls: 0.2346, d1.loss_bbox: 0.4470, d2.loss_cls: 0.2223, d2.loss_bbox: 0.4288, d3.loss_cls: 0.2119, d3.loss_bbox: 0.4214, d4.loss_cls: 0.2083, d4.loss_bbox: 0.4204, d5.loss_cls: 0.2083, d5.loss_bbox: 0.4201, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9261, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8105, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7570, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7393, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7336, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7342, d0.loss_map_cls_all: 0.2862, d0.loss_map_pts_all: 1.7846, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2862, d0.loss_map_pts: 1.7846, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2608, d1.loss_map_pts: 1.2026, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2426, d2.loss_map_pts: 1.0072, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2301, d3.loss_map_pts: 0.9415, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.2245, d4.loss_map_pts: 0.9131, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.2225, d5.loss_map_pts: 0.9023, d5.loss_map_dir: 0.0123, loss: 35.0694, grad_norm: 157.5780 +2026-02-25 21:32:33,434 - DriveTransformer - INFO - Epoch [5][35050/39528] lr: 9.337e-05, eta: 7 days, 1:11:16, time: 0.801, data_time: 0.043, memory: 19865, loss_cls: 0.2019, loss_bbox: 0.4082, loss_traj: 0.6044, loss_traj_cls: 0.0011, loss_map_cls: 0.1891, loss_map_pts: 0.8376, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.4784, d0.loss_plan_l1_fix_dist: 0.4255, d1.loss_plan_l1_fix_time: 1.1937, d1.loss_plan_l1_fix_dist: 0.2374, d2.loss_plan_l1_fix_time: 1.1784, d2.loss_plan_l1_fix_dist: 0.2500, d3.loss_plan_l1_fix_time: 1.1814, d3.loss_plan_l1_fix_dist: 0.2754, d4.loss_plan_l1_fix_time: 1.1873, d4.loss_plan_l1_fix_dist: 0.3083, d5.loss_plan_l1_fix_time: 1.1940, d5.loss_plan_l1_fix_dist: 0.3454, d6.loss_plan_l1_fix_time: 1.2012, d6.loss_plan_l1_fix_dist: 0.3857, d0.loss_cls_all: 0.2382, d0.loss_bbox_all: 0.4588, d0.loss_cls: 0.2382, d0.loss_bbox: 0.4588, d1.loss_cls: 0.2311, d1.loss_bbox: 0.4288, d2.loss_cls: 0.2169, d2.loss_bbox: 0.4153, d3.loss_cls: 0.2111, d3.loss_bbox: 0.4095, d4.loss_cls: 0.2037, d4.loss_bbox: 0.4091, d5.loss_cls: 0.2002, d5.loss_bbox: 0.4090, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7756, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6548, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6195, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6088, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6046, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6037, d0.loss_map_cls_all: 0.2570, d0.loss_map_pts_all: 1.6988, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2570, d0.loss_map_pts: 1.6988, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2228, d1.loss_map_pts: 1.1444, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2063, d2.loss_map_pts: 0.9441, d2.loss_map_dir: 0.0126, d3.loss_map_cls: 0.1991, d3.loss_map_pts: 0.8766, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.1927, d4.loss_map_pts: 0.8473, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.1898, d5.loss_map_pts: 0.8388, d5.loss_map_dir: 0.0136, loss: 32.1644, grad_norm: 157.5302 +2026-02-25 21:33:14,960 - DriveTransformer - INFO - Epoch [5][35100/39528] lr: 9.337e-05, eta: 7 days, 1:10:40, time: 0.830, data_time: 0.046, memory: 19865, loss_cls: 0.2114, loss_bbox: 0.4071, loss_traj: 0.6265, loss_traj_cls: 0.0011, loss_map_cls: 0.2225, loss_map_pts: 0.9627, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.9688, d0.loss_plan_l1_fix_dist: 0.4247, d1.loss_plan_l1_fix_time: 1.6074, d1.loss_plan_l1_fix_dist: 0.2366, d2.loss_plan_l1_fix_time: 1.5846, d2.loss_plan_l1_fix_dist: 0.2442, d3.loss_plan_l1_fix_time: 1.5893, d3.loss_plan_l1_fix_dist: 0.2587, d4.loss_plan_l1_fix_time: 1.5931, d4.loss_plan_l1_fix_dist: 0.2760, d5.loss_plan_l1_fix_time: 1.5977, d5.loss_plan_l1_fix_dist: 0.2962, d6.loss_plan_l1_fix_time: 1.6037, d6.loss_plan_l1_fix_dist: 0.3188, d0.loss_cls_all: 0.2459, d0.loss_bbox_all: 0.4752, d0.loss_cls: 0.2459, d0.loss_bbox: 0.4752, d1.loss_cls: 0.2413, d1.loss_bbox: 0.4418, d2.loss_cls: 0.2275, d2.loss_bbox: 0.4223, d3.loss_cls: 0.2170, d3.loss_bbox: 0.4127, d4.loss_cls: 0.2118, d4.loss_bbox: 0.4099, d5.loss_cls: 0.2111, d5.loss_bbox: 0.4074, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8281, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6743, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6368, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6336, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6281, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6278, d0.loss_map_cls_all: 0.2740, d0.loss_map_pts_all: 1.7165, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2740, d0.loss_map_pts: 1.7165, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2565, d1.loss_map_pts: 1.2495, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2427, d2.loss_map_pts: 1.0696, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2331, d3.loss_map_pts: 0.9999, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.2263, d4.loss_map_pts: 0.9719, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.2235, d5.loss_map_pts: 0.9630, d5.loss_map_dir: 0.0121, loss: 36.2217, grad_norm: 156.9740 +2026-02-25 21:33:57,255 - DriveTransformer - INFO - Epoch [5][35150/39528] lr: 9.337e-05, eta: 7 days, 1:10:08, time: 0.846, data_time: 0.061, memory: 19865, loss_cls: 0.2064, loss_bbox: 0.4027, loss_traj: 0.7567, loss_traj_cls: 0.0011, loss_map_cls: 0.1770, loss_map_pts: 0.7521, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.6120, d0.loss_plan_l1_fix_dist: 0.4095, d1.loss_plan_l1_fix_time: 1.2295, d1.loss_plan_l1_fix_dist: 0.2076, d2.loss_plan_l1_fix_time: 1.2127, d2.loss_plan_l1_fix_dist: 0.2303, d3.loss_plan_l1_fix_time: 1.2054, d3.loss_plan_l1_fix_dist: 0.2580, d4.loss_plan_l1_fix_time: 1.2073, d4.loss_plan_l1_fix_dist: 0.2845, d5.loss_plan_l1_fix_time: 1.2106, d5.loss_plan_l1_fix_dist: 0.3085, d6.loss_plan_l1_fix_time: 1.2149, d6.loss_plan_l1_fix_dist: 0.3308, d0.loss_cls_all: 0.2418, d0.loss_bbox_all: 0.4503, d0.loss_cls: 0.2418, d0.loss_bbox: 0.4503, d1.loss_cls: 0.2346, d1.loss_bbox: 0.4234, d2.loss_cls: 0.2219, d2.loss_bbox: 0.4031, d3.loss_cls: 0.2144, d3.loss_bbox: 0.3992, d4.loss_cls: 0.2095, d4.loss_bbox: 0.3996, d5.loss_cls: 0.2073, d5.loss_bbox: 0.4006, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9505, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8163, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7680, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7633, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7589, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7616, d0.loss_map_cls_all: 0.2361, d0.loss_map_pts_all: 1.5971, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2361, d0.loss_map_pts: 1.5971, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2097, d1.loss_map_pts: 1.0432, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.1948, d2.loss_map_pts: 0.8509, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1856, d3.loss_map_pts: 0.7826, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1807, d4.loss_map_pts: 0.7595, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1783, d5.loss_map_pts: 0.7534, d5.loss_map_dir: 0.0117, loss: 32.4348, grad_norm: 157.8366 +2026-02-25 21:34:37,566 - DriveTransformer - INFO - Epoch [5][35200/39528] lr: 9.337e-05, eta: 7 days, 1:09:28, time: 0.808, data_time: 0.043, memory: 19865, loss_cls: 0.2081, loss_bbox: 0.4070, loss_traj: 0.7626, loss_traj_cls: 0.0011, loss_map_cls: 0.1712, loss_map_pts: 0.7247, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.8380, d0.loss_plan_l1_fix_dist: 0.4488, d1.loss_plan_l1_fix_time: 1.5466, d1.loss_plan_l1_fix_dist: 0.2193, d2.loss_plan_l1_fix_time: 1.5295, d2.loss_plan_l1_fix_dist: 0.2286, d3.loss_plan_l1_fix_time: 1.5302, d3.loss_plan_l1_fix_dist: 0.2423, d4.loss_plan_l1_fix_time: 1.5332, d4.loss_plan_l1_fix_dist: 0.2554, d5.loss_plan_l1_fix_time: 1.5355, d5.loss_plan_l1_fix_dist: 0.2696, d6.loss_plan_l1_fix_time: 1.5381, d6.loss_plan_l1_fix_dist: 0.2863, d0.loss_cls_all: 0.2459, d0.loss_bbox_all: 0.4580, d0.loss_cls: 0.2459, d0.loss_bbox: 0.4580, d1.loss_cls: 0.2349, d1.loss_bbox: 0.4285, d2.loss_cls: 0.2206, d2.loss_bbox: 0.4153, d3.loss_cls: 0.2142, d3.loss_bbox: 0.4082, d4.loss_cls: 0.2105, d4.loss_bbox: 0.4060, d5.loss_cls: 0.2084, d5.loss_bbox: 0.4053, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9562, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8021, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7598, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7586, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7592, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7625, d0.loss_map_cls_all: 0.2412, d0.loss_map_pts_all: 1.4345, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2412, d0.loss_map_pts: 1.4345, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2062, d1.loss_map_pts: 0.9826, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1885, d2.loss_map_pts: 0.8170, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1806, d3.loss_map_pts: 0.7586, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1759, d4.loss_map_pts: 0.7369, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1705, d5.loss_map_pts: 0.7267, d5.loss_map_dir: 0.0099, loss: 34.0112, grad_norm: 158.1326 +2026-02-25 21:35:19,570 - DriveTransformer - INFO - Epoch [5][35250/39528] lr: 9.337e-05, eta: 7 days, 1:08:54, time: 0.839, data_time: 0.040, memory: 19865, loss_cls: 0.2432, loss_bbox: 0.4654, loss_traj: 0.7781, loss_traj_cls: 0.0009, loss_map_cls: 0.2448, loss_map_pts: 1.0707, loss_map_dir: 0.0148, d0.loss_plan_l1_fix_time: 2.6922, d0.loss_plan_l1_fix_dist: 0.3728, d1.loss_plan_l1_fix_time: 1.1486, d1.loss_plan_l1_fix_dist: 0.2146, d2.loss_plan_l1_fix_time: 1.1341, d2.loss_plan_l1_fix_dist: 0.2231, d3.loss_plan_l1_fix_time: 1.1303, d3.loss_plan_l1_fix_dist: 0.2395, d4.loss_plan_l1_fix_time: 1.1319, d4.loss_plan_l1_fix_dist: 0.2623, d5.loss_plan_l1_fix_time: 1.1345, d5.loss_plan_l1_fix_dist: 0.2901, d6.loss_plan_l1_fix_time: 1.1379, d6.loss_plan_l1_fix_dist: 0.3191, d0.loss_cls_all: 0.2739, d0.loss_bbox_all: 0.5205, d0.loss_cls: 0.2739, d0.loss_bbox: 0.5205, d1.loss_cls: 0.2685, d1.loss_bbox: 0.4860, d2.loss_cls: 0.2563, d2.loss_bbox: 0.4722, d3.loss_cls: 0.2504, d3.loss_bbox: 0.4638, d4.loss_cls: 0.2452, d4.loss_bbox: 0.4647, d5.loss_cls: 0.2444, d5.loss_bbox: 0.4643, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0437, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8690, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8070, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7937, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7887, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7819, d0.loss_map_cls_all: 0.3149, d0.loss_map_pts_all: 1.9826, d0.loss_map_dir_all: 0.0132, d0.loss_map_cls: 0.3149, d0.loss_map_pts: 1.9826, d0.loss_map_dir: 0.0132, d1.loss_map_cls: 0.2846, d1.loss_map_pts: 1.4211, d1.loss_map_dir: 0.0126, d2.loss_map_cls: 0.2679, d2.loss_map_pts: 1.2001, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2566, d3.loss_map_pts: 1.1189, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.2493, d4.loss_map_pts: 1.0847, d4.loss_map_dir: 0.0146, d5.loss_map_cls: 0.2471, d5.loss_map_pts: 1.0732, d5.loss_map_dir: 0.0148, loss: 36.4379, grad_norm: 157.7400 +2026-02-25 21:35:59,566 - DriveTransformer - INFO - Epoch [5][35300/39528] lr: 9.337e-05, eta: 7 days, 1:08:12, time: 0.800, data_time: 0.045, memory: 19865, loss_cls: 0.2124, loss_bbox: 0.4003, loss_traj: 0.8350, loss_traj_cls: 0.0010, loss_map_cls: 0.1674, loss_map_pts: 0.7526, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.8596, d0.loss_plan_l1_fix_dist: 0.3559, d1.loss_plan_l1_fix_time: 1.1748, d1.loss_plan_l1_fix_dist: 0.1708, d2.loss_plan_l1_fix_time: 1.1534, d2.loss_plan_l1_fix_dist: 0.1829, d3.loss_plan_l1_fix_time: 1.1546, d3.loss_plan_l1_fix_dist: 0.2005, d4.loss_plan_l1_fix_time: 1.1570, d4.loss_plan_l1_fix_dist: 0.2207, d5.loss_plan_l1_fix_time: 1.1597, d5.loss_plan_l1_fix_dist: 0.2430, d6.loss_plan_l1_fix_time: 1.1628, d6.loss_plan_l1_fix_dist: 0.2663, d0.loss_cls_all: 0.2391, d0.loss_bbox_all: 0.4586, d0.loss_cls: 0.2391, d0.loss_bbox: 0.4586, d1.loss_cls: 0.2334, d1.loss_bbox: 0.4265, d2.loss_cls: 0.2231, d2.loss_bbox: 0.4120, d3.loss_cls: 0.2175, d3.loss_bbox: 0.4036, d4.loss_cls: 0.2137, d4.loss_bbox: 0.4000, d5.loss_cls: 0.2126, d5.loss_bbox: 0.4000, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0869, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9032, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8498, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8222, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8235, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8253, d0.loss_map_cls_all: 0.2275, d0.loss_map_pts_all: 1.3871, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2275, d0.loss_map_pts: 1.3871, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2034, d1.loss_map_pts: 0.9905, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1866, d2.loss_map_pts: 0.8365, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1771, d3.loss_map_pts: 0.7832, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1719, d4.loss_map_pts: 0.7619, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1675, d5.loss_map_pts: 0.7537, d5.loss_map_dir: 0.0085, loss: 32.0128, grad_norm: 158.0004 +2026-02-25 21:36:40,654 - DriveTransformer - INFO - Epoch [5][35350/39528] lr: 9.337e-05, eta: 7 days, 1:07:35, time: 0.822, data_time: 0.044, memory: 19865, loss_cls: 0.2111, loss_bbox: 0.4164, loss_traj: 0.7724, loss_traj_cls: 0.0010, loss_map_cls: 0.1845, loss_map_pts: 0.8186, loss_map_dir: 0.0130, d0.loss_plan_l1_fix_time: 2.4737, d0.loss_plan_l1_fix_dist: 0.4425, d1.loss_plan_l1_fix_time: 1.2967, d1.loss_plan_l1_fix_dist: 0.2186, d2.loss_plan_l1_fix_time: 1.2757, d2.loss_plan_l1_fix_dist: 0.2307, d3.loss_plan_l1_fix_time: 1.2674, d3.loss_plan_l1_fix_dist: 0.2505, d4.loss_plan_l1_fix_time: 1.2677, d4.loss_plan_l1_fix_dist: 0.2706, d5.loss_plan_l1_fix_time: 1.2688, d5.loss_plan_l1_fix_dist: 0.2913, d6.loss_plan_l1_fix_time: 1.2712, d6.loss_plan_l1_fix_dist: 0.3162, d0.loss_cls_all: 0.2406, d0.loss_bbox_all: 0.4810, d0.loss_cls: 0.2406, d0.loss_bbox: 0.4810, d1.loss_cls: 0.2360, d1.loss_bbox: 0.4483, d2.loss_cls: 0.2230, d2.loss_bbox: 0.4303, d3.loss_cls: 0.2170, d3.loss_bbox: 0.4209, d4.loss_cls: 0.2104, d4.loss_bbox: 0.4199, d5.loss_cls: 0.2107, d5.loss_bbox: 0.4172, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9726, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8337, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7762, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7707, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7690, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7648, d0.loss_map_cls_all: 0.2598, d0.loss_map_pts_all: 1.6505, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2598, d0.loss_map_pts: 1.6505, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2265, d1.loss_map_pts: 1.1278, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2072, d2.loss_map_pts: 0.9330, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.1958, d3.loss_map_pts: 0.8564, d3.loss_map_dir: 0.0124, d4.loss_map_cls: 0.1914, d4.loss_map_pts: 0.8322, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.1853, d5.loss_map_pts: 0.8206, d5.loss_map_dir: 0.0130, loss: 33.6107, grad_norm: 156.8099 +2026-02-25 21:37:19,822 - DriveTransformer - INFO - Epoch [5][35400/39528] lr: 9.337e-05, eta: 7 days, 1:06:50, time: 0.783, data_time: 0.044, memory: 19865, loss_cls: 0.2333, loss_bbox: 0.4179, loss_traj: 0.6975, loss_traj_cls: 0.0010, loss_map_cls: 0.2212, loss_map_pts: 0.8205, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.5339, d0.loss_plan_l1_fix_dist: 0.3329, d1.loss_plan_l1_fix_time: 1.0452, d1.loss_plan_l1_fix_dist: 0.1838, d2.loss_plan_l1_fix_time: 1.0287, d2.loss_plan_l1_fix_dist: 0.1918, d3.loss_plan_l1_fix_time: 1.0276, d3.loss_plan_l1_fix_dist: 0.2077, d4.loss_plan_l1_fix_time: 1.0294, d4.loss_plan_l1_fix_dist: 0.2262, d5.loss_plan_l1_fix_time: 1.0319, d5.loss_plan_l1_fix_dist: 0.2464, d6.loss_plan_l1_fix_time: 1.0345, d6.loss_plan_l1_fix_dist: 0.2658, d0.loss_cls_all: 0.2697, d0.loss_bbox_all: 0.4809, d0.loss_cls: 0.2697, d0.loss_bbox: 0.4809, d1.loss_cls: 0.2635, d1.loss_bbox: 0.4408, d2.loss_cls: 0.2505, d2.loss_bbox: 0.4229, d3.loss_cls: 0.2391, d3.loss_bbox: 0.4202, d4.loss_cls: 0.2336, d4.loss_bbox: 0.4176, d5.loss_cls: 0.2323, d5.loss_bbox: 0.4168, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9399, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7810, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7173, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7036, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6988, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6946, d0.loss_map_cls_all: 0.2916, d0.loss_map_pts_all: 1.5339, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2916, d0.loss_map_pts: 1.5339, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2697, d1.loss_map_pts: 1.0628, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2485, d2.loss_map_pts: 0.8976, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2335, d3.loss_map_pts: 0.8455, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.2263, d4.loss_map_pts: 0.8283, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.2228, d5.loss_map_pts: 0.8226, d5.loss_map_dir: 0.0122, loss: 31.5589, grad_norm: 156.8361 +2026-02-25 21:38:00,340 - DriveTransformer - INFO - Epoch [5][35450/39528] lr: 9.337e-05, eta: 7 days, 1:06:11, time: 0.810, data_time: 0.046, memory: 19865, loss_cls: 0.2066, loss_bbox: 0.3886, loss_traj: 0.7411, loss_traj_cls: 0.0010, loss_map_cls: 0.1637, loss_map_pts: 0.7281, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.4135, d0.loss_plan_l1_fix_dist: 0.3418, d1.loss_plan_l1_fix_time: 1.1766, d1.loss_plan_l1_fix_dist: 0.1800, d2.loss_plan_l1_fix_time: 1.1588, d2.loss_plan_l1_fix_dist: 0.1923, d3.loss_plan_l1_fix_time: 1.1583, d3.loss_plan_l1_fix_dist: 0.2115, d4.loss_plan_l1_fix_time: 1.1604, d4.loss_plan_l1_fix_dist: 0.2331, d5.loss_plan_l1_fix_time: 1.1631, d5.loss_plan_l1_fix_dist: 0.2575, d6.loss_plan_l1_fix_time: 1.1661, d6.loss_plan_l1_fix_dist: 0.2831, d0.loss_cls_all: 0.2312, d0.loss_bbox_all: 0.4377, d0.loss_cls: 0.2312, d0.loss_bbox: 0.4377, d1.loss_cls: 0.2281, d1.loss_bbox: 0.4064, d2.loss_cls: 0.2188, d2.loss_bbox: 0.3933, d3.loss_cls: 0.2113, d3.loss_bbox: 0.3871, d4.loss_cls: 0.2073, d4.loss_bbox: 0.3858, d5.loss_cls: 0.2064, d5.loss_bbox: 0.3865, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9618, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8060, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7549, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7474, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7427, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7397, d0.loss_map_cls_all: 0.2228, d0.loss_map_pts_all: 1.4817, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.2228, d0.loss_map_pts: 1.4817, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.1942, d1.loss_map_pts: 0.9895, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.1784, d2.loss_map_pts: 0.8132, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.1704, d3.loss_map_pts: 0.7528, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.1669, d4.loss_map_pts: 0.7312, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.1642, d5.loss_map_pts: 0.7286, d5.loss_map_dir: 0.0121, loss: 30.8465, grad_norm: 157.9877 +2026-02-25 21:38:39,668 - DriveTransformer - INFO - Epoch [5][35500/39528] lr: 9.337e-05, eta: 7 days, 1:05:27, time: 0.787, data_time: 0.042, memory: 19865, loss_cls: 0.1894, loss_bbox: 0.3902, loss_traj: 0.7728, loss_traj_cls: 0.0010, loss_map_cls: 0.1741, loss_map_pts: 0.7467, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.5695, d0.loss_plan_l1_fix_dist: 0.3990, d1.loss_plan_l1_fix_time: 1.1874, d1.loss_plan_l1_fix_dist: 0.1875, d2.loss_plan_l1_fix_time: 1.1734, d2.loss_plan_l1_fix_dist: 0.1913, d3.loss_plan_l1_fix_time: 1.1775, d3.loss_plan_l1_fix_dist: 0.2041, d4.loss_plan_l1_fix_time: 1.1804, d4.loss_plan_l1_fix_dist: 0.2186, d5.loss_plan_l1_fix_time: 1.1835, d5.loss_plan_l1_fix_dist: 0.2340, d6.loss_plan_l1_fix_time: 1.1871, d6.loss_plan_l1_fix_dist: 0.2509, d0.loss_cls_all: 0.2188, d0.loss_bbox_all: 0.4332, d0.loss_cls: 0.2188, d0.loss_bbox: 0.4332, d1.loss_cls: 0.2103, d1.loss_bbox: 0.4022, d2.loss_cls: 0.2024, d2.loss_bbox: 0.3900, d3.loss_cls: 0.1959, d3.loss_bbox: 0.3874, d4.loss_cls: 0.1914, d4.loss_bbox: 0.3857, d5.loss_cls: 0.1891, d5.loss_bbox: 0.3876, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9358, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8087, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7809, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7704, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7695, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7670, d0.loss_map_cls_all: 0.2436, d0.loss_map_pts_all: 1.4540, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2436, d0.loss_map_pts: 1.4540, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2102, d1.loss_map_pts: 1.0145, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1938, d2.loss_map_pts: 0.8502, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1833, d3.loss_map_pts: 0.7836, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1783, d4.loss_map_pts: 0.7572, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1752, d5.loss_map_pts: 0.7477, d5.loss_map_dir: 0.0088, loss: 31.2609, grad_norm: 157.1649 +2026-02-25 21:39:21,673 - DriveTransformer - INFO - Epoch [5][35550/39528] lr: 9.337e-05, eta: 7 days, 1:04:53, time: 0.840, data_time: 0.057, memory: 19865, loss_cls: 0.1946, loss_bbox: 0.4109, loss_traj: 0.7722, loss_traj_cls: 0.0010, loss_map_cls: 0.1963, loss_map_pts: 0.8117, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.4298, d0.loss_plan_l1_fix_dist: 0.3403, d1.loss_plan_l1_fix_time: 1.2976, d1.loss_plan_l1_fix_dist: 0.2083, d2.loss_plan_l1_fix_time: 1.2893, d2.loss_plan_l1_fix_dist: 0.2134, d3.loss_plan_l1_fix_time: 1.2919, d3.loss_plan_l1_fix_dist: 0.2272, d4.loss_plan_l1_fix_time: 1.2955, d4.loss_plan_l1_fix_dist: 0.2442, d5.loss_plan_l1_fix_time: 1.2989, d5.loss_plan_l1_fix_dist: 0.2618, d6.loss_plan_l1_fix_time: 1.3029, d6.loss_plan_l1_fix_dist: 0.2790, d0.loss_cls_all: 0.2287, d0.loss_bbox_all: 0.4680, d0.loss_cls: 0.2287, d0.loss_bbox: 0.4680, d1.loss_cls: 0.2206, d1.loss_bbox: 0.4298, d2.loss_cls: 0.2060, d2.loss_bbox: 0.4152, d3.loss_cls: 0.1990, d3.loss_bbox: 0.4109, d4.loss_cls: 0.1940, d4.loss_bbox: 0.4109, d5.loss_cls: 0.1947, d5.loss_bbox: 0.4107, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9655, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8204, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7784, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7669, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7599, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7637, d0.loss_map_cls_all: 0.2680, d0.loss_map_pts_all: 1.7235, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2680, d0.loss_map_pts: 1.7235, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2391, d1.loss_map_pts: 1.1286, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2196, d2.loss_map_pts: 0.9264, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.2056, d3.loss_map_pts: 0.8577, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1997, d4.loss_map_pts: 0.8267, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.1964, d5.loss_map_pts: 0.8134, d5.loss_map_dir: 0.0120, loss: 33.4014, grad_norm: 154.5428 +2026-02-25 21:40:03,104 - DriveTransformer - INFO - Epoch [5][35600/39528] lr: 9.337e-05, eta: 7 days, 1:04:17, time: 0.829, data_time: 0.042, memory: 19865, loss_cls: 0.2113, loss_bbox: 0.4080, loss_traj: 0.6997, loss_traj_cls: 0.0011, loss_map_cls: 0.1966, loss_map_pts: 0.8787, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.4061, d0.loss_plan_l1_fix_dist: 0.4418, d1.loss_plan_l1_fix_time: 1.2842, d1.loss_plan_l1_fix_dist: 0.1937, d2.loss_plan_l1_fix_time: 1.2715, d2.loss_plan_l1_fix_dist: 0.2016, d3.loss_plan_l1_fix_time: 1.2719, d3.loss_plan_l1_fix_dist: 0.2142, d4.loss_plan_l1_fix_time: 1.2748, d4.loss_plan_l1_fix_dist: 0.2296, d5.loss_plan_l1_fix_time: 1.2777, d5.loss_plan_l1_fix_dist: 0.2486, d6.loss_plan_l1_fix_time: 1.2810, d6.loss_plan_l1_fix_dist: 0.2697, d0.loss_cls_all: 0.2454, d0.loss_bbox_all: 0.4644, d0.loss_cls: 0.2454, d0.loss_bbox: 0.4644, d1.loss_cls: 0.2328, d1.loss_bbox: 0.4338, d2.loss_cls: 0.2241, d2.loss_bbox: 0.4161, d3.loss_cls: 0.2177, d3.loss_bbox: 0.4090, d4.loss_cls: 0.2128, d4.loss_bbox: 0.4062, d5.loss_cls: 0.2107, d5.loss_bbox: 0.4071, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8673, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7264, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6880, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6864, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6902, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6915, d0.loss_map_cls_all: 0.2554, d0.loss_map_pts_all: 1.6909, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2554, d0.loss_map_pts: 1.6909, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2303, d1.loss_map_pts: 1.2009, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2135, d2.loss_map_pts: 0.9964, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.2051, d3.loss_map_pts: 0.9192, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.2010, d4.loss_map_pts: 0.8890, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.1969, d5.loss_map_pts: 0.8802, d5.loss_map_dir: 0.0125, loss: 33.1279, grad_norm: 152.7263 +2026-02-25 21:40:42,400 - DriveTransformer - INFO - Epoch [5][35650/39528] lr: 9.337e-05, eta: 7 days, 1:03:33, time: 0.786, data_time: 0.043, memory: 19865, loss_cls: 0.1835, loss_bbox: 0.3782, loss_traj: 0.8070, loss_traj_cls: 0.0010, loss_map_cls: 0.1809, loss_map_pts: 0.7334, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.5888, d0.loss_plan_l1_fix_dist: 0.3683, d1.loss_plan_l1_fix_time: 1.1137, d1.loss_plan_l1_fix_dist: 0.1909, d2.loss_plan_l1_fix_time: 1.1055, d2.loss_plan_l1_fix_dist: 0.1991, d3.loss_plan_l1_fix_time: 1.1091, d3.loss_plan_l1_fix_dist: 0.2128, d4.loss_plan_l1_fix_time: 1.1125, d4.loss_plan_l1_fix_dist: 0.2260, d5.loss_plan_l1_fix_time: 1.1159, d5.loss_plan_l1_fix_dist: 0.2423, d6.loss_plan_l1_fix_time: 1.1195, d6.loss_plan_l1_fix_dist: 0.2624, d0.loss_cls_all: 0.2043, d0.loss_bbox_all: 0.4311, d0.loss_cls: 0.2043, d0.loss_bbox: 0.4311, d1.loss_cls: 0.2017, d1.loss_bbox: 0.3968, d2.loss_cls: 0.1895, d2.loss_bbox: 0.3814, d3.loss_cls: 0.1841, d3.loss_bbox: 0.3779, d4.loss_cls: 0.1826, d4.loss_bbox: 0.3756, d5.loss_cls: 0.1829, d5.loss_bbox: 0.3761, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0686, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8858, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8270, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8192, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8180, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8141, d0.loss_map_cls_all: 0.2572, d0.loss_map_pts_all: 1.3530, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2572, d0.loss_map_pts: 1.3530, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.2217, d1.loss_map_pts: 0.9986, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.2035, d2.loss_map_pts: 0.8406, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1936, d3.loss_map_pts: 0.7766, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1886, d4.loss_map_pts: 0.7440, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1826, d5.loss_map_pts: 0.7355, d5.loss_map_dir: 0.0083, loss: 30.9775, grad_norm: 148.6346 +2026-02-25 21:41:23,583 - DriveTransformer - INFO - Epoch [5][35700/39528] lr: 9.337e-05, eta: 7 days, 1:02:56, time: 0.824, data_time: 0.044, memory: 19865, loss_cls: 0.2010, loss_bbox: 0.4068, loss_traj: 0.7103, loss_traj_cls: 0.0010, loss_map_cls: 0.1548, loss_map_pts: 0.7941, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.8124, d0.loss_plan_l1_fix_dist: 0.5132, d1.loss_plan_l1_fix_time: 1.2183, d1.loss_plan_l1_fix_dist: 0.2345, d2.loss_plan_l1_fix_time: 1.2071, d2.loss_plan_l1_fix_dist: 0.2457, d3.loss_plan_l1_fix_time: 1.2067, d3.loss_plan_l1_fix_dist: 0.2593, d4.loss_plan_l1_fix_time: 1.2093, d4.loss_plan_l1_fix_dist: 0.2757, d5.loss_plan_l1_fix_time: 1.2127, d5.loss_plan_l1_fix_dist: 0.2928, d6.loss_plan_l1_fix_time: 1.2162, d6.loss_plan_l1_fix_dist: 0.3087, d0.loss_cls_all: 0.2357, d0.loss_bbox_all: 0.4490, d0.loss_cls: 0.2357, d0.loss_bbox: 0.4490, d1.loss_cls: 0.2234, d1.loss_bbox: 0.4234, d2.loss_cls: 0.2095, d2.loss_bbox: 0.4076, d3.loss_cls: 0.2023, d3.loss_bbox: 0.4037, d4.loss_cls: 0.1987, d4.loss_bbox: 0.4040, d5.loss_cls: 0.1985, d5.loss_bbox: 0.4053, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8512, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7323, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6999, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6966, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6979, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7056, d0.loss_map_cls_all: 0.2252, d0.loss_map_pts_all: 1.4970, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2252, d0.loss_map_pts: 1.4970, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.1890, d1.loss_map_pts: 1.0481, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.1723, d2.loss_map_pts: 0.8856, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.1633, d3.loss_map_pts: 0.8227, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.1595, d4.loss_map_pts: 0.8009, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.1545, d5.loss_map_pts: 0.7932, d5.loss_map_dir: 0.0125, loss: 32.0446, grad_norm: 149.3186 +2026-02-25 21:42:04,895 - DriveTransformer - INFO - Epoch [5][35750/39528] lr: 9.337e-05, eta: 7 days, 1:02:19, time: 0.826, data_time: 0.046, memory: 19865, loss_cls: 0.2167, loss_bbox: 0.4087, loss_traj: 0.7155, loss_traj_cls: 0.0010, loss_map_cls: 0.1967, loss_map_pts: 0.7911, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.7842, d0.loss_plan_l1_fix_dist: 0.3939, d1.loss_plan_l1_fix_time: 1.2613, d1.loss_plan_l1_fix_dist: 0.2213, d2.loss_plan_l1_fix_time: 1.2375, d2.loss_plan_l1_fix_dist: 0.2282, d3.loss_plan_l1_fix_time: 1.2346, d3.loss_plan_l1_fix_dist: 0.2410, d4.loss_plan_l1_fix_time: 1.2364, d4.loss_plan_l1_fix_dist: 0.2557, d5.loss_plan_l1_fix_time: 1.2390, d5.loss_plan_l1_fix_dist: 0.2703, d6.loss_plan_l1_fix_time: 1.2425, d6.loss_plan_l1_fix_dist: 0.2843, d0.loss_cls_all: 0.2462, d0.loss_bbox_all: 0.4576, d0.loss_cls: 0.2462, d0.loss_bbox: 0.4576, d1.loss_cls: 0.2361, d1.loss_bbox: 0.4286, d2.loss_cls: 0.2267, d2.loss_bbox: 0.4126, d3.loss_cls: 0.2205, d3.loss_bbox: 0.4074, d4.loss_cls: 0.2179, d4.loss_bbox: 0.4058, d5.loss_cls: 0.2161, d5.loss_bbox: 0.4065, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9288, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7433, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7210, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7188, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7133, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7093, d0.loss_map_cls_all: 0.2666, d0.loss_map_pts_all: 1.4594, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2666, d0.loss_map_pts: 1.4594, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2347, d1.loss_map_pts: 1.0556, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.2195, d2.loss_map_pts: 0.8854, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.2065, d3.loss_map_pts: 0.8211, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.2014, d4.loss_map_pts: 0.7952, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1976, d5.loss_map_pts: 0.7907, d5.loss_map_dir: 0.0092, loss: 32.5162, grad_norm: 148.7129 +2026-02-25 21:42:45,869 - DriveTransformer - INFO - Epoch [5][35800/39528] lr: 9.337e-05, eta: 7 days, 1:01:42, time: 0.819, data_time: 0.041, memory: 19865, loss_cls: 0.1974, loss_bbox: 0.4025, loss_traj: 0.7772, loss_traj_cls: 0.0010, loss_map_cls: 0.2076, loss_map_pts: 0.9102, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.7573, d0.loss_plan_l1_fix_dist: 0.4421, d1.loss_plan_l1_fix_time: 1.2092, d1.loss_plan_l1_fix_dist: 0.1954, d2.loss_plan_l1_fix_time: 1.1950, d2.loss_plan_l1_fix_dist: 0.2067, d3.loss_plan_l1_fix_time: 1.1937, d3.loss_plan_l1_fix_dist: 0.2220, d4.loss_plan_l1_fix_time: 1.1961, d4.loss_plan_l1_fix_dist: 0.2404, d5.loss_plan_l1_fix_time: 1.1989, d5.loss_plan_l1_fix_dist: 0.2618, d6.loss_plan_l1_fix_time: 1.2026, d6.loss_plan_l1_fix_dist: 0.2848, d0.loss_cls_all: 0.2320, d0.loss_bbox_all: 0.4527, d0.loss_cls: 0.2320, d0.loss_bbox: 0.4527, d1.loss_cls: 0.2208, d1.loss_bbox: 0.4206, d2.loss_cls: 0.2120, d2.loss_bbox: 0.4059, d3.loss_cls: 0.2012, d3.loss_bbox: 0.3998, d4.loss_cls: 0.1966, d4.loss_bbox: 0.3992, d5.loss_cls: 0.1964, d5.loss_bbox: 0.4010, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9945, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8279, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7920, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7821, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7752, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7766, d0.loss_map_cls_all: 0.2842, d0.loss_map_pts_all: 1.7645, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2842, d0.loss_map_pts: 1.7645, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2479, d1.loss_map_pts: 1.2368, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2297, d2.loss_map_pts: 1.0337, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.2203, d3.loss_map_pts: 0.9591, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.2136, d4.loss_map_pts: 0.9242, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.2089, d5.loss_map_pts: 0.9119, d5.loss_map_dir: 0.0125, loss: 34.0578, grad_norm: 148.7061 +2026-02-25 21:43:28,737 - DriveTransformer - INFO - Epoch [5][35850/39528] lr: 9.337e-05, eta: 7 days, 1:01:11, time: 0.857, data_time: 0.046, memory: 19865, loss_cls: 0.1910, loss_bbox: 0.4162, loss_traj: 0.7954, loss_traj_cls: 0.0010, loss_map_cls: 0.1945, loss_map_pts: 0.8316, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.5567, d0.loss_plan_l1_fix_dist: 0.3643, d1.loss_plan_l1_fix_time: 1.2988, d1.loss_plan_l1_fix_dist: 0.1692, d2.loss_plan_l1_fix_time: 1.2638, d2.loss_plan_l1_fix_dist: 0.1744, d3.loss_plan_l1_fix_time: 1.2581, d3.loss_plan_l1_fix_dist: 0.1895, d4.loss_plan_l1_fix_time: 1.2592, d4.loss_plan_l1_fix_dist: 0.2059, d5.loss_plan_l1_fix_time: 1.2611, d5.loss_plan_l1_fix_dist: 0.2245, d6.loss_plan_l1_fix_time: 1.2633, d6.loss_plan_l1_fix_dist: 0.2444, d0.loss_cls_all: 0.2221, d0.loss_bbox_all: 0.4594, d0.loss_cls: 0.2221, d0.loss_bbox: 0.4594, d1.loss_cls: 0.2154, d1.loss_bbox: 0.4288, d2.loss_cls: 0.2043, d2.loss_bbox: 0.4126, d3.loss_cls: 0.1997, d3.loss_bbox: 0.4068, d4.loss_cls: 0.1918, d4.loss_bbox: 0.4112, d5.loss_cls: 0.1896, d5.loss_bbox: 0.4145, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9747, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8344, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7981, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7918, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7891, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7914, d0.loss_map_cls_all: 0.2718, d0.loss_map_pts_all: 1.7278, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.2718, d0.loss_map_pts: 1.7278, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2287, d1.loss_map_pts: 1.1368, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2113, d2.loss_map_pts: 0.9329, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.2031, d3.loss_map_pts: 0.8681, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.1995, d4.loss_map_pts: 0.8430, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.1943, d5.loss_map_pts: 0.8335, d5.loss_map_dir: 0.0127, loss: 33.3352, grad_norm: 148.5793 +2026-02-25 21:44:11,640 - DriveTransformer - INFO - Epoch [5][35900/39528] lr: 9.337e-05, eta: 7 days, 1:00:41, time: 0.858, data_time: 0.045, memory: 19865, loss_cls: 0.1959, loss_bbox: 0.3981, loss_traj: 0.8571, loss_traj_cls: 0.0010, loss_map_cls: 0.1961, loss_map_pts: 0.8419, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 3.0646, d0.loss_plan_l1_fix_dist: 0.4237, d1.loss_plan_l1_fix_time: 1.4157, d1.loss_plan_l1_fix_dist: 0.2232, d2.loss_plan_l1_fix_time: 1.3883, d2.loss_plan_l1_fix_dist: 0.2263, d3.loss_plan_l1_fix_time: 1.3859, d3.loss_plan_l1_fix_dist: 0.2368, d4.loss_plan_l1_fix_time: 1.3894, d4.loss_plan_l1_fix_dist: 0.2506, d5.loss_plan_l1_fix_time: 1.3928, d5.loss_plan_l1_fix_dist: 0.2660, d6.loss_plan_l1_fix_time: 1.3963, d6.loss_plan_l1_fix_dist: 0.2847, d0.loss_cls_all: 0.2386, d0.loss_bbox_all: 0.4455, d0.loss_cls: 0.2386, d0.loss_bbox: 0.4455, d1.loss_cls: 0.2286, d1.loss_bbox: 0.4142, d2.loss_cls: 0.2139, d2.loss_bbox: 0.3998, d3.loss_cls: 0.2047, d3.loss_bbox: 0.3956, d4.loss_cls: 0.1968, d4.loss_bbox: 0.3959, d5.loss_cls: 0.1954, d5.loss_bbox: 0.3961, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1353, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9185, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8644, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8509, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8445, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8405, d0.loss_map_cls_all: 0.2631, d0.loss_map_pts_all: 1.6403, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2631, d0.loss_map_pts: 1.6403, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2280, d1.loss_map_pts: 1.1205, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2122, d2.loss_map_pts: 0.9392, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2053, d3.loss_map_pts: 0.8739, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.2018, d4.loss_map_pts: 0.8498, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1968, d5.loss_map_pts: 0.8443, d5.loss_map_dir: 0.0113, loss: 35.2698, grad_norm: 148.1164 +2026-02-25 21:44:53,010 - DriveTransformer - INFO - Epoch [5][35950/39528] lr: 9.337e-05, eta: 7 days, 1:00:05, time: 0.827, data_time: 0.040, memory: 19865, loss_cls: 0.2201, loss_bbox: 0.4053, loss_traj: 0.7626, loss_traj_cls: 0.0010, loss_map_cls: 0.1932, loss_map_pts: 0.8453, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.6054, d0.loss_plan_l1_fix_dist: 0.4413, d1.loss_plan_l1_fix_time: 1.1048, d1.loss_plan_l1_fix_dist: 0.2267, d2.loss_plan_l1_fix_time: 1.0917, d2.loss_plan_l1_fix_dist: 0.2377, d3.loss_plan_l1_fix_time: 1.0950, d3.loss_plan_l1_fix_dist: 0.2538, d4.loss_plan_l1_fix_time: 1.0999, d4.loss_plan_l1_fix_dist: 0.2730, d5.loss_plan_l1_fix_time: 1.1054, d5.loss_plan_l1_fix_dist: 0.2943, d6.loss_plan_l1_fix_time: 1.1118, d6.loss_plan_l1_fix_dist: 0.3114, d0.loss_cls_all: 0.2469, d0.loss_bbox_all: 0.4575, d0.loss_cls: 0.2469, d0.loss_bbox: 0.4575, d1.loss_cls: 0.2393, d1.loss_bbox: 0.4270, d2.loss_cls: 0.2268, d2.loss_bbox: 0.4106, d3.loss_cls: 0.2189, d3.loss_bbox: 0.4034, d4.loss_cls: 0.2171, d4.loss_bbox: 0.4022, d5.loss_cls: 0.2179, d5.loss_bbox: 0.4021, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9651, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8229, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7711, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7628, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7588, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7653, d0.loss_map_cls_all: 0.2631, d0.loss_map_pts_all: 1.6013, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2631, d0.loss_map_pts: 1.6013, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2363, d1.loss_map_pts: 1.1211, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.2127, d2.loss_map_pts: 0.9365, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.2018, d3.loss_map_pts: 0.8735, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1955, d4.loss_map_pts: 0.8536, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1931, d5.loss_map_pts: 0.8476, d5.loss_map_dir: 0.0109, loss: 32.5891, grad_norm: 146.4644 +2026-02-25 21:45:33,195 - DriveTransformer - INFO - Epoch [5][36000/39528] lr: 9.337e-05, eta: 7 days, 0:59:24, time: 0.805, data_time: 0.041, memory: 19865, loss_cls: 0.1926, loss_bbox: 0.4249, loss_traj: 0.9780, loss_traj_cls: 0.0010, loss_map_cls: 0.1782, loss_map_pts: 0.7750, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.5689, d0.loss_plan_l1_fix_dist: 0.3838, d1.loss_plan_l1_fix_time: 1.1939, d1.loss_plan_l1_fix_dist: 0.2156, d2.loss_plan_l1_fix_time: 1.1835, d2.loss_plan_l1_fix_dist: 0.2279, d3.loss_plan_l1_fix_time: 1.1850, d3.loss_plan_l1_fix_dist: 0.2491, d4.loss_plan_l1_fix_time: 1.1896, d4.loss_plan_l1_fix_dist: 0.2737, d5.loss_plan_l1_fix_time: 1.1957, d5.loss_plan_l1_fix_dist: 0.3003, d6.loss_plan_l1_fix_time: 1.2036, d6.loss_plan_l1_fix_dist: 0.3229, d0.loss_cls_all: 0.2212, d0.loss_bbox_all: 0.4736, d0.loss_cls: 0.2212, d0.loss_bbox: 0.4736, d1.loss_cls: 0.2159, d1.loss_bbox: 0.4419, d2.loss_cls: 0.1991, d2.loss_bbox: 0.4270, d3.loss_cls: 0.1932, d3.loss_bbox: 0.4214, d4.loss_cls: 0.1929, d4.loss_bbox: 0.4184, d5.loss_cls: 0.1927, d5.loss_bbox: 0.4215, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2939, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0443, d2.loss_traj_cls: 0.0016, d2.loss_traj: 1.0007, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9844, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.9801, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.9818, d0.loss_map_cls_all: 0.2463, d0.loss_map_pts_all: 1.5137, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2463, d0.loss_map_pts: 1.5137, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2125, d1.loss_map_pts: 1.0295, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1979, d2.loss_map_pts: 0.8653, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1863, d3.loss_map_pts: 0.8025, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1807, d4.loss_map_pts: 0.7806, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1798, d5.loss_map_pts: 0.7747, d5.loss_map_dir: 0.0109, loss: 33.8608, grad_norm: 145.9003 +2026-02-25 21:46:15,178 - DriveTransformer - INFO - Epoch [5][36050/39528] lr: 9.337e-05, eta: 7 days, 0:58:50, time: 0.838, data_time: 0.045, memory: 19865, loss_cls: 0.1773, loss_bbox: 0.3834, loss_traj: 0.7105, loss_traj_cls: 0.0010, loss_map_cls: 0.1971, loss_map_pts: 0.9142, loss_map_dir: 0.0132, d0.loss_plan_l1_fix_time: 2.4587, d0.loss_plan_l1_fix_dist: 0.4063, d1.loss_plan_l1_fix_time: 1.1271, d1.loss_plan_l1_fix_dist: 0.1870, d2.loss_plan_l1_fix_time: 1.1035, d2.loss_plan_l1_fix_dist: 0.1939, d3.loss_plan_l1_fix_time: 1.1056, d3.loss_plan_l1_fix_dist: 0.2083, d4.loss_plan_l1_fix_time: 1.1099, d4.loss_plan_l1_fix_dist: 0.2223, d5.loss_plan_l1_fix_time: 1.1153, d5.loss_plan_l1_fix_dist: 0.2381, d6.loss_plan_l1_fix_time: 1.1219, d6.loss_plan_l1_fix_dist: 0.2598, d0.loss_cls_all: 0.2173, d0.loss_bbox_all: 0.4386, d0.loss_cls: 0.2173, d0.loss_bbox: 0.4386, d1.loss_cls: 0.2069, d1.loss_bbox: 0.4087, d2.loss_cls: 0.1904, d2.loss_bbox: 0.3966, d3.loss_cls: 0.1812, d3.loss_bbox: 0.3904, d4.loss_cls: 0.1773, d4.loss_bbox: 0.3859, d5.loss_cls: 0.1762, d5.loss_bbox: 0.3834, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8853, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7482, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7123, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7120, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7106, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7106, d0.loss_map_cls_all: 0.2671, d0.loss_map_pts_all: 1.7320, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2671, d0.loss_map_pts: 1.7320, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2279, d1.loss_map_pts: 1.1823, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.2166, d2.loss_map_pts: 0.9973, d2.loss_map_dir: 0.0122, d3.loss_map_cls: 0.2062, d3.loss_map_pts: 0.9371, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.2000, d4.loss_map_pts: 0.9186, d4.loss_map_dir: 0.0129, d5.loss_map_cls: 0.1973, d5.loss_map_pts: 0.9146, d5.loss_map_dir: 0.0130, loss: 32.0308, grad_norm: 146.7303 +2026-02-25 21:46:57,386 - DriveTransformer - INFO - Epoch [5][36100/39528] lr: 9.337e-05, eta: 7 days, 0:58:17, time: 0.844, data_time: 0.049, memory: 19865, loss_cls: 0.1914, loss_bbox: 0.4052, loss_traj: 0.6601, loss_traj_cls: 0.0010, loss_map_cls: 0.2011, loss_map_pts: 0.8517, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.2130, d0.loss_plan_l1_fix_dist: 0.4429, d1.loss_plan_l1_fix_time: 1.0162, d1.loss_plan_l1_fix_dist: 0.2119, d2.loss_plan_l1_fix_time: 0.9976, d2.loss_plan_l1_fix_dist: 0.2240, d3.loss_plan_l1_fix_time: 0.9984, d3.loss_plan_l1_fix_dist: 0.2377, d4.loss_plan_l1_fix_time: 1.0034, d4.loss_plan_l1_fix_dist: 0.2535, d5.loss_plan_l1_fix_time: 1.0089, d5.loss_plan_l1_fix_dist: 0.2708, d6.loss_plan_l1_fix_time: 1.0145, d6.loss_plan_l1_fix_dist: 0.2938, d0.loss_cls_all: 0.2279, d0.loss_bbox_all: 0.4549, d0.loss_cls: 0.2279, d0.loss_bbox: 0.4549, d1.loss_cls: 0.2157, d1.loss_bbox: 0.4277, d2.loss_cls: 0.2045, d2.loss_bbox: 0.4119, d3.loss_cls: 0.1958, d3.loss_bbox: 0.4074, d4.loss_cls: 0.1899, d4.loss_bbox: 0.4070, d5.loss_cls: 0.1907, d5.loss_bbox: 0.4045, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8522, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6928, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6643, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6608, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6584, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6579, d0.loss_map_cls_all: 0.2588, d0.loss_map_pts_all: 1.6974, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2588, d0.loss_map_pts: 1.6974, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2329, d1.loss_map_pts: 1.1544, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.2204, d2.loss_map_pts: 0.9517, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.2107, d3.loss_map_pts: 0.8828, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.2051, d4.loss_map_pts: 0.8618, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.2016, d5.loss_map_pts: 0.8536, d5.loss_map_dir: 0.0109, loss: 30.8787, grad_norm: 148.0229 +2026-02-25 21:47:35,689 - DriveTransformer - INFO - Epoch [5][36150/39528] lr: 9.337e-05, eta: 7 days, 0:57:29, time: 0.766, data_time: 0.041, memory: 19865, loss_cls: 0.2068, loss_bbox: 0.4039, loss_traj: 0.9019, loss_traj_cls: 0.0010, loss_map_cls: 0.1992, loss_map_pts: 0.7810, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.7874, d0.loss_plan_l1_fix_dist: 0.3804, d1.loss_plan_l1_fix_time: 1.3387, d1.loss_plan_l1_fix_dist: 0.2109, d2.loss_plan_l1_fix_time: 1.3223, d2.loss_plan_l1_fix_dist: 0.2199, d3.loss_plan_l1_fix_time: 1.3232, d3.loss_plan_l1_fix_dist: 0.2367, d4.loss_plan_l1_fix_time: 1.3271, d4.loss_plan_l1_fix_dist: 0.2548, d5.loss_plan_l1_fix_time: 1.3312, d5.loss_plan_l1_fix_dist: 0.2723, d6.loss_plan_l1_fix_time: 1.3354, d6.loss_plan_l1_fix_dist: 0.2856, d0.loss_cls_all: 0.2402, d0.loss_bbox_all: 0.4618, d0.loss_cls: 0.2402, d0.loss_bbox: 0.4618, d1.loss_cls: 0.2335, d1.loss_bbox: 0.4274, d2.loss_cls: 0.2183, d2.loss_bbox: 0.4107, d3.loss_cls: 0.2105, d3.loss_bbox: 0.4052, d4.loss_cls: 0.2068, d4.loss_bbox: 0.4031, d5.loss_cls: 0.2062, d5.loss_bbox: 0.4028, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0962, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9377, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8963, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8994, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9014, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8975, d0.loss_map_cls_all: 0.2584, d0.loss_map_pts_all: 1.3980, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2584, d0.loss_map_pts: 1.3980, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2308, d1.loss_map_pts: 1.0265, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.2175, d2.loss_map_pts: 0.8739, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.2077, d3.loss_map_pts: 0.8135, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.2042, d4.loss_map_pts: 0.7882, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.2012, d5.loss_map_pts: 0.7825, d5.loss_map_dir: 0.0095, loss: 34.0157, grad_norm: 146.6747 +2026-02-25 21:48:16,230 - DriveTransformer - INFO - Epoch [5][36200/39528] lr: 9.337e-05, eta: 7 days, 0:56:50, time: 0.811, data_time: 0.044, memory: 19865, loss_cls: 0.2109, loss_bbox: 0.4027, loss_traj: 0.7683, loss_traj_cls: 0.0010, loss_map_cls: 0.2015, loss_map_pts: 0.8707, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.6748, d0.loss_plan_l1_fix_dist: 0.3686, d1.loss_plan_l1_fix_time: 1.1991, d1.loss_plan_l1_fix_dist: 0.1820, d2.loss_plan_l1_fix_time: 1.1882, d2.loss_plan_l1_fix_dist: 0.1896, d3.loss_plan_l1_fix_time: 1.1904, d3.loss_plan_l1_fix_dist: 0.2008, d4.loss_plan_l1_fix_time: 1.1936, d4.loss_plan_l1_fix_dist: 0.2171, d5.loss_plan_l1_fix_time: 1.1975, d5.loss_plan_l1_fix_dist: 0.2361, d6.loss_plan_l1_fix_time: 1.2024, d6.loss_plan_l1_fix_dist: 0.2566, d0.loss_cls_all: 0.2363, d0.loss_bbox_all: 0.4511, d0.loss_cls: 0.2363, d0.loss_bbox: 0.4511, d1.loss_cls: 0.2273, d1.loss_bbox: 0.4206, d2.loss_cls: 0.2185, d2.loss_bbox: 0.4050, d3.loss_cls: 0.2099, d3.loss_bbox: 0.3990, d4.loss_cls: 0.2086, d4.loss_bbox: 0.3975, d5.loss_cls: 0.2078, d5.loss_bbox: 0.4016, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9456, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8202, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7798, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7733, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7709, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7670, d0.loss_map_cls_all: 0.2705, d0.loss_map_pts_all: 1.7300, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2705, d0.loss_map_pts: 1.7300, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2365, d1.loss_map_pts: 1.1943, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.2188, d2.loss_map_pts: 0.9939, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.2078, d3.loss_map_pts: 0.9205, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.2019, d4.loss_map_pts: 0.8857, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.2017, d5.loss_map_pts: 0.8740, d5.loss_map_dir: 0.0109, loss: 33.3051, grad_norm: 146.6951 +2026-02-25 21:48:55,747 - DriveTransformer - INFO - Epoch [5][36250/39528] lr: 9.337e-05, eta: 7 days, 0:56:06, time: 0.790, data_time: 0.043, memory: 19865, loss_cls: 0.2192, loss_bbox: 0.4209, loss_traj: 0.8234, loss_traj_cls: 0.0010, loss_map_cls: 0.2473, loss_map_pts: 0.9829, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.8390, d0.loss_plan_l1_fix_dist: 0.3796, d1.loss_plan_l1_fix_time: 1.3984, d1.loss_plan_l1_fix_dist: 0.1741, d2.loss_plan_l1_fix_time: 1.3910, d2.loss_plan_l1_fix_dist: 0.1780, d3.loss_plan_l1_fix_time: 1.3933, d3.loss_plan_l1_fix_dist: 0.1898, d4.loss_plan_l1_fix_time: 1.3970, d4.loss_plan_l1_fix_dist: 0.2026, d5.loss_plan_l1_fix_time: 1.4015, d5.loss_plan_l1_fix_dist: 0.2183, d6.loss_plan_l1_fix_time: 1.4069, d6.loss_plan_l1_fix_dist: 0.2369, d0.loss_cls_all: 0.2602, d0.loss_bbox_all: 0.4868, d0.loss_cls: 0.2602, d0.loss_bbox: 0.4868, d1.loss_cls: 0.2464, d1.loss_bbox: 0.4532, d2.loss_cls: 0.2382, d2.loss_bbox: 0.4297, d3.loss_cls: 0.2258, d3.loss_bbox: 0.4239, d4.loss_cls: 0.2201, d4.loss_bbox: 0.4199, d5.loss_cls: 0.2195, d5.loss_bbox: 0.4190, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0521, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8684, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8299, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8251, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8258, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8178, d0.loss_map_cls_all: 0.3249, d0.loss_map_pts_all: 1.7577, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.3249, d0.loss_map_pts: 1.7577, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2944, d1.loss_map_pts: 1.2954, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2707, d2.loss_map_pts: 1.0959, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.2574, d3.loss_map_pts: 1.0245, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.2509, d4.loss_map_pts: 0.9948, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.2485, d5.loss_map_pts: 0.9839, d5.loss_map_dir: 0.0118, loss: 36.4863, grad_norm: 146.8462 +2026-02-25 21:49:35,931 - DriveTransformer - INFO - Epoch [5][36300/39528] lr: 9.337e-05, eta: 7 days, 0:55:25, time: 0.804, data_time: 0.041, memory: 19865, loss_cls: 0.2258, loss_bbox: 0.3947, loss_traj: 0.8155, loss_traj_cls: 0.0010, loss_map_cls: 0.2069, loss_map_pts: 0.8304, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 3.0664, d0.loss_plan_l1_fix_dist: 0.3924, d1.loss_plan_l1_fix_time: 1.3102, d1.loss_plan_l1_fix_dist: 0.1917, d2.loss_plan_l1_fix_time: 1.2914, d2.loss_plan_l1_fix_dist: 0.1939, d3.loss_plan_l1_fix_time: 1.2901, d3.loss_plan_l1_fix_dist: 0.2043, d4.loss_plan_l1_fix_time: 1.2929, d4.loss_plan_l1_fix_dist: 0.2147, d5.loss_plan_l1_fix_time: 1.2961, d5.loss_plan_l1_fix_dist: 0.2257, d6.loss_plan_l1_fix_time: 1.2993, d6.loss_plan_l1_fix_dist: 0.2394, d0.loss_cls_all: 0.2590, d0.loss_bbox_all: 0.4541, d0.loss_cls: 0.2590, d0.loss_bbox: 0.4541, d1.loss_cls: 0.2511, d1.loss_bbox: 0.4203, d2.loss_cls: 0.2382, d2.loss_bbox: 0.4047, d3.loss_cls: 0.2310, d3.loss_bbox: 0.4000, d4.loss_cls: 0.2256, d4.loss_bbox: 0.3954, d5.loss_cls: 0.2247, d5.loss_bbox: 0.3933, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0650, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8841, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8315, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8208, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8151, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8131, d0.loss_map_cls_all: 0.2639, d0.loss_map_pts_all: 1.5887, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2639, d0.loss_map_pts: 1.5887, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2422, d1.loss_map_pts: 1.1195, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2246, d2.loss_map_pts: 0.9343, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2148, d3.loss_map_pts: 0.8658, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.2113, d4.loss_map_pts: 0.8382, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.2090, d5.loss_map_pts: 0.8329, d5.loss_map_dir: 0.0119, loss: 34.3182, grad_norm: 146.9176 +2026-02-25 21:50:16,987 - DriveTransformer - INFO - Epoch [5][36350/39528] lr: 9.337e-05, eta: 7 days, 0:54:48, time: 0.821, data_time: 0.045, memory: 19865, loss_cls: 0.2040, loss_bbox: 0.3909, loss_traj: 0.6631, loss_traj_cls: 0.0010, loss_map_cls: 0.1716, loss_map_pts: 0.7028, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.4898, d0.loss_plan_l1_fix_dist: 0.4098, d1.loss_plan_l1_fix_time: 1.1800, d1.loss_plan_l1_fix_dist: 0.2011, d2.loss_plan_l1_fix_time: 1.1594, d2.loss_plan_l1_fix_dist: 0.2042, d3.loss_plan_l1_fix_time: 1.1632, d3.loss_plan_l1_fix_dist: 0.2115, d4.loss_plan_l1_fix_time: 1.1666, d4.loss_plan_l1_fix_dist: 0.2222, d5.loss_plan_l1_fix_time: 1.1701, d5.loss_plan_l1_fix_dist: 0.2333, d6.loss_plan_l1_fix_time: 1.1739, d6.loss_plan_l1_fix_dist: 0.2437, d0.loss_cls_all: 0.2298, d0.loss_bbox_all: 0.4473, d0.loss_cls: 0.2298, d0.loss_bbox: 0.4473, d1.loss_cls: 0.2228, d1.loss_bbox: 0.4166, d2.loss_cls: 0.2167, d2.loss_bbox: 0.4022, d3.loss_cls: 0.2082, d3.loss_bbox: 0.3957, d4.loss_cls: 0.2032, d4.loss_bbox: 0.3919, d5.loss_cls: 0.2008, d5.loss_bbox: 0.3934, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8343, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6843, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6655, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6617, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6584, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6645, d0.loss_map_cls_all: 0.2399, d0.loss_map_pts_all: 1.4018, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2399, d0.loss_map_pts: 1.4018, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2038, d1.loss_map_pts: 0.9399, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.1905, d2.loss_map_pts: 0.7916, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1797, d3.loss_map_pts: 0.7319, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1755, d4.loss_map_pts: 0.7112, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1731, d5.loss_map_pts: 0.7030, d5.loss_map_dir: 0.0113, loss: 30.1133, grad_norm: 146.3233 +2026-02-25 21:50:56,551 - DriveTransformer - INFO - Epoch [5][36400/39528] lr: 9.337e-05, eta: 7 days, 0:54:05, time: 0.791, data_time: 0.042, memory: 19865, loss_cls: 0.1949, loss_bbox: 0.3901, loss_traj: 0.9106, loss_traj_cls: 0.0010, loss_map_cls: 0.1726, loss_map_pts: 0.7396, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.7978, d0.loss_plan_l1_fix_dist: 0.3937, d1.loss_plan_l1_fix_time: 1.4137, d1.loss_plan_l1_fix_dist: 0.1909, d2.loss_plan_l1_fix_time: 1.4000, d2.loss_plan_l1_fix_dist: 0.1958, d3.loss_plan_l1_fix_time: 1.3930, d3.loss_plan_l1_fix_dist: 0.2070, d4.loss_plan_l1_fix_time: 1.3955, d4.loss_plan_l1_fix_dist: 0.2215, d5.loss_plan_l1_fix_time: 1.3994, d5.loss_plan_l1_fix_dist: 0.2386, d6.loss_plan_l1_fix_time: 1.4039, d6.loss_plan_l1_fix_dist: 0.2556, d0.loss_cls_all: 0.2178, d0.loss_bbox_all: 0.4440, d0.loss_cls: 0.2178, d0.loss_bbox: 0.4440, d1.loss_cls: 0.2102, d1.loss_bbox: 0.4140, d2.loss_cls: 0.2005, d2.loss_bbox: 0.3972, d3.loss_cls: 0.1943, d3.loss_bbox: 0.3907, d4.loss_cls: 0.1926, d4.loss_bbox: 0.3903, d5.loss_cls: 0.1938, d5.loss_bbox: 0.3884, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1979, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9997, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.9446, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9245, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9162, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9119, d0.loss_map_cls_all: 0.2443, d0.loss_map_pts_all: 1.4474, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2443, d0.loss_map_pts: 1.4474, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2103, d1.loss_map_pts: 0.9866, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1953, d2.loss_map_pts: 0.8215, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1833, d3.loss_map_pts: 0.7596, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1789, d4.loss_map_pts: 0.7411, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1748, d5.loss_map_pts: 0.7376, d5.loss_map_dir: 0.0098, loss: 33.9588, grad_norm: 146.8824 +2026-02-25 21:51:38,659 - DriveTransformer - INFO - Epoch [5][36450/39528] lr: 9.337e-05, eta: 7 days, 0:53:31, time: 0.842, data_time: 0.043, memory: 19865, loss_cls: 0.1987, loss_bbox: 0.4359, loss_traj: 0.6956, loss_traj_cls: 0.0011, loss_map_cls: 0.1865, loss_map_pts: 0.8607, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.4083, d0.loss_plan_l1_fix_dist: 0.3964, d1.loss_plan_l1_fix_time: 1.1031, d1.loss_plan_l1_fix_dist: 0.2247, d2.loss_plan_l1_fix_time: 1.1043, d2.loss_plan_l1_fix_dist: 0.2309, d3.loss_plan_l1_fix_time: 1.1110, d3.loss_plan_l1_fix_dist: 0.2446, d4.loss_plan_l1_fix_time: 1.1167, d4.loss_plan_l1_fix_dist: 0.2600, d5.loss_plan_l1_fix_time: 1.1226, d5.loss_plan_l1_fix_dist: 0.2787, d6.loss_plan_l1_fix_time: 1.1294, d6.loss_plan_l1_fix_dist: 0.3026, d0.loss_cls_all: 0.2331, d0.loss_bbox_all: 0.4729, d0.loss_cls: 0.2331, d0.loss_bbox: 0.4729, d1.loss_cls: 0.2289, d1.loss_bbox: 0.4424, d2.loss_cls: 0.2170, d2.loss_bbox: 0.4295, d3.loss_cls: 0.2065, d3.loss_bbox: 0.4257, d4.loss_cls: 0.1994, d4.loss_bbox: 0.4294, d5.loss_cls: 0.1979, d5.loss_bbox: 0.4320, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8640, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7439, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6982, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6909, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6888, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6890, d0.loss_map_cls_all: 0.2521, d0.loss_map_pts_all: 1.7162, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.2521, d0.loss_map_pts: 1.7162, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2192, d1.loss_map_pts: 1.1489, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2035, d2.loss_map_pts: 0.9586, d2.loss_map_dir: 0.0126, d3.loss_map_cls: 0.1970, d3.loss_map_pts: 0.8909, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.1923, d4.loss_map_pts: 0.8669, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.1889, d5.loss_map_pts: 0.8617, d5.loss_map_dir: 0.0134, loss: 32.1815, grad_norm: 144.7544 +2026-02-25 21:52:22,552 - DriveTransformer - INFO - Epoch [5][36500/39528] lr: 9.337e-05, eta: 7 days, 0:53:05, time: 0.878, data_time: 0.044, memory: 19865, loss_cls: 0.2157, loss_bbox: 0.4089, loss_traj: 0.8772, loss_traj_cls: 0.0010, loss_map_cls: 0.2109, loss_map_pts: 0.9125, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.8279, d0.loss_plan_l1_fix_dist: 0.3337, d1.loss_plan_l1_fix_time: 1.4873, d1.loss_plan_l1_fix_dist: 0.1858, d2.loss_plan_l1_fix_time: 1.4689, d2.loss_plan_l1_fix_dist: 0.1948, d3.loss_plan_l1_fix_time: 1.4641, d3.loss_plan_l1_fix_dist: 0.2096, d4.loss_plan_l1_fix_time: 1.4664, d4.loss_plan_l1_fix_dist: 0.2290, d5.loss_plan_l1_fix_time: 1.4696, d5.loss_plan_l1_fix_dist: 0.2477, d6.loss_plan_l1_fix_time: 1.4741, d6.loss_plan_l1_fix_dist: 0.2687, d0.loss_cls_all: 0.2378, d0.loss_bbox_all: 0.4585, d0.loss_cls: 0.2378, d0.loss_bbox: 0.4585, d1.loss_cls: 0.2282, d1.loss_bbox: 0.4311, d2.loss_cls: 0.2237, d2.loss_bbox: 0.4156, d3.loss_cls: 0.2181, d3.loss_bbox: 0.4087, d4.loss_cls: 0.2145, d4.loss_bbox: 0.4063, d5.loss_cls: 0.2148, d5.loss_bbox: 0.4079, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1053, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9374, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8837, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8758, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8732, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8753, d0.loss_map_cls_all: 0.2799, d0.loss_map_pts_all: 1.6855, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2799, d0.loss_map_pts: 1.6855, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2468, d1.loss_map_pts: 1.1729, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2288, d2.loss_map_pts: 1.0009, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.2194, d3.loss_map_pts: 0.9417, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.2141, d4.loss_map_pts: 0.9195, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.2109, d5.loss_map_pts: 0.9129, d5.loss_map_dir: 0.0120, loss: 36.1619, grad_norm: 146.4334 +2026-02-25 21:53:04,619 - DriveTransformer - INFO - Epoch [5][36550/39528] lr: 9.337e-05, eta: 7 days, 0:52:31, time: 0.841, data_time: 0.043, memory: 19865, loss_cls: 0.2052, loss_bbox: 0.3869, loss_traj: 0.7116, loss_traj_cls: 0.0011, loss_map_cls: 0.1883, loss_map_pts: 0.8525, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.3852, d0.loss_plan_l1_fix_dist: 0.3353, d1.loss_plan_l1_fix_time: 1.3346, d1.loss_plan_l1_fix_dist: 0.2041, d2.loss_plan_l1_fix_time: 1.3238, d2.loss_plan_l1_fix_dist: 0.2122, d3.loss_plan_l1_fix_time: 1.3211, d3.loss_plan_l1_fix_dist: 0.2263, d4.loss_plan_l1_fix_time: 1.3249, d4.loss_plan_l1_fix_dist: 0.2433, d5.loss_plan_l1_fix_time: 1.3299, d5.loss_plan_l1_fix_dist: 0.2621, d6.loss_plan_l1_fix_time: 1.3361, d6.loss_plan_l1_fix_dist: 0.2817, d0.loss_cls_all: 0.2288, d0.loss_bbox_all: 0.4365, d0.loss_cls: 0.2288, d0.loss_bbox: 0.4365, d1.loss_cls: 0.2186, d1.loss_bbox: 0.4056, d2.loss_cls: 0.2147, d2.loss_bbox: 0.3921, d3.loss_cls: 0.2039, d3.loss_bbox: 0.3907, d4.loss_cls: 0.2022, d4.loss_bbox: 0.3878, d5.loss_cls: 0.2047, d5.loss_bbox: 0.3847, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9083, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7420, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6981, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7046, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7061, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6954, d0.loss_map_cls_all: 0.2543, d0.loss_map_pts_all: 1.6564, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2543, d0.loss_map_pts: 1.6564, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2243, d1.loss_map_pts: 1.1256, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2068, d2.loss_map_pts: 0.9478, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1976, d3.loss_map_pts: 0.8859, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1920, d4.loss_map_pts: 0.8646, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1897, d5.loss_map_pts: 0.8536, d5.loss_map_dir: 0.0113, loss: 32.8590, grad_norm: 145.0039 +2026-02-25 21:53:45,609 - DriveTransformer - INFO - Epoch [5][36600/39528] lr: 9.337e-05, eta: 7 days, 0:51:54, time: 0.820, data_time: 0.045, memory: 19865, loss_cls: 0.2253, loss_bbox: 0.3970, loss_traj: 0.7448, loss_traj_cls: 0.0011, loss_map_cls: 0.2017, loss_map_pts: 0.8396, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 3.0600, d0.loss_plan_l1_fix_dist: 0.4294, d1.loss_plan_l1_fix_time: 1.5716, d1.loss_plan_l1_fix_dist: 0.1962, d2.loss_plan_l1_fix_time: 1.5544, d2.loss_plan_l1_fix_dist: 0.2053, d3.loss_plan_l1_fix_time: 1.5635, d3.loss_plan_l1_fix_dist: 0.2267, d4.loss_plan_l1_fix_time: 1.5704, d4.loss_plan_l1_fix_dist: 0.2491, d5.loss_plan_l1_fix_time: 1.5780, d5.loss_plan_l1_fix_dist: 0.2727, d6.loss_plan_l1_fix_time: 1.5864, d6.loss_plan_l1_fix_dist: 0.2954, d0.loss_cls_all: 0.2603, d0.loss_bbox_all: 0.4427, d0.loss_cls: 0.2603, d0.loss_bbox: 0.4427, d1.loss_cls: 0.2487, d1.loss_bbox: 0.4168, d2.loss_cls: 0.2377, d2.loss_bbox: 0.4017, d3.loss_cls: 0.2318, d3.loss_bbox: 0.3974, d4.loss_cls: 0.2247, d4.loss_bbox: 0.3975, d5.loss_cls: 0.2248, d5.loss_bbox: 0.3955, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8906, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7505, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7337, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7308, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7326, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7381, d0.loss_map_cls_all: 0.2756, d0.loss_map_pts_all: 1.7222, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2756, d0.loss_map_pts: 1.7222, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2383, d1.loss_map_pts: 1.1569, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2225, d2.loss_map_pts: 0.9508, d2.loss_map_dir: 0.0119, d3.loss_map_cls: 0.2133, d3.loss_map_pts: 0.8754, d3.loss_map_dir: 0.0124, d4.loss_map_cls: 0.2072, d4.loss_map_pts: 0.8504, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.2033, d5.loss_map_pts: 0.8416, d5.loss_map_dir: 0.0129, loss: 35.7872, grad_norm: 146.6742 +2026-02-25 21:54:25,397 - DriveTransformer - INFO - Epoch [5][36650/39528] lr: 9.337e-05, eta: 7 days, 0:51:11, time: 0.796, data_time: 0.047, memory: 19865, loss_cls: 0.2302, loss_bbox: 0.4267, loss_traj: 0.8427, loss_traj_cls: 0.0011, loss_map_cls: 0.2197, loss_map_pts: 0.9074, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.8518, d0.loss_plan_l1_fix_dist: 0.4437, d1.loss_plan_l1_fix_time: 1.2440, d1.loss_plan_l1_fix_dist: 0.2189, d2.loss_plan_l1_fix_time: 1.2197, d2.loss_plan_l1_fix_dist: 0.2230, d3.loss_plan_l1_fix_time: 1.2215, d3.loss_plan_l1_fix_dist: 0.2380, d4.loss_plan_l1_fix_time: 1.2264, d4.loss_plan_l1_fix_dist: 0.2556, d5.loss_plan_l1_fix_time: 1.2313, d5.loss_plan_l1_fix_dist: 0.2739, d6.loss_plan_l1_fix_time: 1.2365, d6.loss_plan_l1_fix_dist: 0.2938, d0.loss_cls_all: 0.2554, d0.loss_bbox_all: 0.4819, d0.loss_cls: 0.2554, d0.loss_bbox: 0.4819, d1.loss_cls: 0.2493, d1.loss_bbox: 0.4519, d2.loss_cls: 0.2391, d2.loss_bbox: 0.4381, d3.loss_cls: 0.2312, d3.loss_bbox: 0.4331, d4.loss_cls: 0.2296, d4.loss_bbox: 0.4293, d5.loss_cls: 0.2309, d5.loss_bbox: 0.4256, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0892, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9104, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8523, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8416, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8398, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8382, d0.loss_map_cls_all: 0.2930, d0.loss_map_pts_all: 1.6236, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2930, d0.loss_map_pts: 1.6236, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2577, d1.loss_map_pts: 1.1593, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2446, d2.loss_map_pts: 0.9923, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.2337, d3.loss_map_pts: 0.9336, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.2254, d4.loss_map_pts: 0.9139, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.2214, d5.loss_map_pts: 0.9088, d5.loss_map_dir: 0.0116, loss: 35.0273, grad_norm: 144.6931 +2026-02-25 21:55:05,771 - DriveTransformer - INFO - Epoch [5][36700/39528] lr: 9.337e-05, eta: 7 days, 0:50:31, time: 0.807, data_time: 0.050, memory: 19865, loss_cls: 0.2146, loss_bbox: 0.4041, loss_traj: 0.8053, loss_traj_cls: 0.0011, loss_map_cls: 0.2413, loss_map_pts: 0.9459, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.8601, d0.loss_plan_l1_fix_dist: 0.4335, d1.loss_plan_l1_fix_time: 1.2354, d1.loss_plan_l1_fix_dist: 0.1919, d2.loss_plan_l1_fix_time: 1.2136, d2.loss_plan_l1_fix_dist: 0.2005, d3.loss_plan_l1_fix_time: 1.2175, d3.loss_plan_l1_fix_dist: 0.2131, d4.loss_plan_l1_fix_time: 1.2207, d4.loss_plan_l1_fix_dist: 0.2298, d5.loss_plan_l1_fix_time: 1.2235, d5.loss_plan_l1_fix_dist: 0.2491, d6.loss_plan_l1_fix_time: 1.2266, d6.loss_plan_l1_fix_dist: 0.2713, d0.loss_cls_all: 0.2519, d0.loss_bbox_all: 0.4612, d0.loss_cls: 0.2519, d0.loss_bbox: 0.4612, d1.loss_cls: 0.2379, d1.loss_bbox: 0.4280, d2.loss_cls: 0.2277, d2.loss_bbox: 0.4116, d3.loss_cls: 0.2169, d3.loss_bbox: 0.4093, d4.loss_cls: 0.2137, d4.loss_bbox: 0.4048, d5.loss_cls: 0.2138, d5.loss_bbox: 0.4039, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0678, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8738, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8080, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8003, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7967, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7993, d0.loss_map_cls_all: 0.3052, d0.loss_map_pts_all: 1.7829, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.3052, d0.loss_map_pts: 1.7829, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2791, d1.loss_map_pts: 1.2559, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2596, d2.loss_map_pts: 1.0574, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.2519, d3.loss_map_pts: 0.9833, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.2470, d4.loss_map_pts: 0.9556, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.2438, d5.loss_map_pts: 0.9465, d5.loss_map_dir: 0.0119, loss: 35.0897, grad_norm: 144.4408 +2026-02-25 21:55:47,531 - DriveTransformer - INFO - Epoch [5][36750/39528] lr: 9.337e-05, eta: 7 days, 0:49:57, time: 0.835, data_time: 0.043, memory: 19865, loss_cls: 0.2029, loss_bbox: 0.3924, loss_traj: 0.6476, loss_traj_cls: 0.0012, loss_map_cls: 0.1704, loss_map_pts: 0.8030, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.1931, d0.loss_plan_l1_fix_dist: 0.4442, d1.loss_plan_l1_fix_time: 1.1765, d1.loss_plan_l1_fix_dist: 0.2119, d2.loss_plan_l1_fix_time: 1.1719, d2.loss_plan_l1_fix_dist: 0.2190, d3.loss_plan_l1_fix_time: 1.1739, d3.loss_plan_l1_fix_dist: 0.2324, d4.loss_plan_l1_fix_time: 1.1780, d4.loss_plan_l1_fix_dist: 0.2480, d5.loss_plan_l1_fix_time: 1.1828, d5.loss_plan_l1_fix_dist: 0.2651, d6.loss_plan_l1_fix_time: 1.1877, d6.loss_plan_l1_fix_dist: 0.2860, d0.loss_cls_all: 0.2339, d0.loss_bbox_all: 0.4488, d0.loss_cls: 0.2339, d0.loss_bbox: 0.4488, d1.loss_cls: 0.2272, d1.loss_bbox: 0.4144, d2.loss_cls: 0.2166, d2.loss_bbox: 0.4016, d3.loss_cls: 0.2079, d3.loss_bbox: 0.3951, d4.loss_cls: 0.2039, d4.loss_bbox: 0.3927, d5.loss_cls: 0.2031, d5.loss_bbox: 0.3920, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8293, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6903, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6558, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6444, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6500, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6444, d0.loss_map_cls_all: 0.2347, d0.loss_map_pts_all: 1.5926, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2347, d0.loss_map_pts: 1.5926, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2032, d1.loss_map_pts: 1.0588, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.1881, d2.loss_map_pts: 0.8900, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.1784, d3.loss_map_pts: 0.8334, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1742, d4.loss_map_pts: 0.8105, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1707, d5.loss_map_pts: 0.8047, d5.loss_map_dir: 0.0117, loss: 30.9863, grad_norm: 144.0615 +2026-02-25 21:56:26,559 - DriveTransformer - INFO - Epoch [5][36800/39528] lr: 9.337e-05, eta: 7 days, 0:49:12, time: 0.782, data_time: 0.041, memory: 19865, loss_cls: 0.2099, loss_bbox: 0.3822, loss_traj: 0.6684, loss_traj_cls: 0.0012, loss_map_cls: 0.1983, loss_map_pts: 0.7599, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.4435, d0.loss_plan_l1_fix_dist: 0.3592, d1.loss_plan_l1_fix_time: 1.1892, d1.loss_plan_l1_fix_dist: 0.1615, d2.loss_plan_l1_fix_time: 1.1928, d2.loss_plan_l1_fix_dist: 0.1695, d3.loss_plan_l1_fix_time: 1.1997, d3.loss_plan_l1_fix_dist: 0.1859, d4.loss_plan_l1_fix_time: 1.2065, d4.loss_plan_l1_fix_dist: 0.2038, d5.loss_plan_l1_fix_time: 1.2137, d5.loss_plan_l1_fix_dist: 0.2226, d6.loss_plan_l1_fix_time: 1.2209, d6.loss_plan_l1_fix_dist: 0.2431, d0.loss_cls_all: 0.2399, d0.loss_bbox_all: 0.4428, d0.loss_cls: 0.2399, d0.loss_bbox: 0.4428, d1.loss_cls: 0.2316, d1.loss_bbox: 0.4089, d2.loss_cls: 0.2181, d2.loss_bbox: 0.3955, d3.loss_cls: 0.2131, d3.loss_bbox: 0.3875, d4.loss_cls: 0.2108, d4.loss_bbox: 0.3849, d5.loss_cls: 0.2099, d5.loss_bbox: 0.3826, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8327, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7093, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6784, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6717, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6690, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6634, d0.loss_map_cls_all: 0.2517, d0.loss_map_pts_all: 1.4188, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2517, d0.loss_map_pts: 1.4188, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2275, d1.loss_map_pts: 0.9871, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2136, d2.loss_map_pts: 0.8364, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.2055, d3.loss_map_pts: 0.7835, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.2007, d4.loss_map_pts: 0.7650, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1989, d5.loss_map_pts: 0.7616, d5.loss_map_dir: 0.0105, loss: 30.6730, grad_norm: 146.6049 +2026-02-25 21:57:07,158 - DriveTransformer - INFO - Epoch [5][36850/39528] lr: 9.337e-05, eta: 7 days, 0:48:32, time: 0.811, data_time: 0.050, memory: 19865, loss_cls: 0.2034, loss_bbox: 0.3962, loss_traj: 0.7385, loss_traj_cls: 0.0012, loss_map_cls: 0.1796, loss_map_pts: 0.7877, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.5202, d0.loss_plan_l1_fix_dist: 0.4821, d1.loss_plan_l1_fix_time: 1.1613, d1.loss_plan_l1_fix_dist: 0.2020, d2.loss_plan_l1_fix_time: 1.1521, d2.loss_plan_l1_fix_dist: 0.2075, d3.loss_plan_l1_fix_time: 1.1583, d3.loss_plan_l1_fix_dist: 0.2181, d4.loss_plan_l1_fix_time: 1.1634, d4.loss_plan_l1_fix_dist: 0.2311, d5.loss_plan_l1_fix_time: 1.1690, d5.loss_plan_l1_fix_dist: 0.2467, d6.loss_plan_l1_fix_time: 1.1750, d6.loss_plan_l1_fix_dist: 0.2632, d0.loss_cls_all: 0.2366, d0.loss_bbox_all: 0.4598, d0.loss_cls: 0.2366, d0.loss_bbox: 0.4598, d1.loss_cls: 0.2293, d1.loss_bbox: 0.4211, d2.loss_cls: 0.2155, d2.loss_bbox: 0.4031, d3.loss_cls: 0.2063, d3.loss_bbox: 0.3983, d4.loss_cls: 0.2034, d4.loss_bbox: 0.3963, d5.loss_cls: 0.2027, d5.loss_bbox: 0.3960, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9564, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7884, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7521, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7463, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7456, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7398, d0.loss_map_cls_all: 0.2435, d0.loss_map_pts_all: 1.4714, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2435, d0.loss_map_pts: 1.4714, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2163, d1.loss_map_pts: 1.0584, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1988, d2.loss_map_pts: 0.8979, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1894, d3.loss_map_pts: 0.8324, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1832, d4.loss_map_pts: 0.8002, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1806, d5.loss_map_pts: 0.7886, d5.loss_map_dir: 0.0096, loss: 31.7056, grad_norm: 148.4122 +2026-02-25 21:57:47,528 - DriveTransformer - INFO - Epoch [5][36900/39528] lr: 9.337e-05, eta: 7 days, 0:47:52, time: 0.807, data_time: 0.043, memory: 19865, loss_cls: 0.1929, loss_bbox: 0.3959, loss_traj: 0.6727, loss_traj_cls: 0.0011, loss_map_cls: 0.1736, loss_map_pts: 0.7332, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.7281, d0.loss_plan_l1_fix_dist: 0.4364, d1.loss_plan_l1_fix_time: 1.2273, d1.loss_plan_l1_fix_dist: 0.1831, d2.loss_plan_l1_fix_time: 1.2011, d2.loss_plan_l1_fix_dist: 0.1881, d3.loss_plan_l1_fix_time: 1.2010, d3.loss_plan_l1_fix_dist: 0.1975, d4.loss_plan_l1_fix_time: 1.2041, d4.loss_plan_l1_fix_dist: 0.2103, d5.loss_plan_l1_fix_time: 1.2074, d5.loss_plan_l1_fix_dist: 0.2242, d6.loss_plan_l1_fix_time: 1.2113, d6.loss_plan_l1_fix_dist: 0.2393, d0.loss_cls_all: 0.2309, d0.loss_bbox_all: 0.4496, d0.loss_cls: 0.2309, d0.loss_bbox: 0.4496, d1.loss_cls: 0.2218, d1.loss_bbox: 0.4186, d2.loss_cls: 0.2099, d2.loss_bbox: 0.4012, d3.loss_cls: 0.2012, d3.loss_bbox: 0.3951, d4.loss_cls: 0.1945, d4.loss_bbox: 0.3921, d5.loss_cls: 0.1931, d5.loss_bbox: 0.3932, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8165, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7020, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6762, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6736, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6678, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6696, d0.loss_map_cls_all: 0.2328, d0.loss_map_pts_all: 1.4688, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2328, d0.loss_map_pts: 1.4688, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2030, d1.loss_map_pts: 1.0059, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1877, d2.loss_map_pts: 0.8303, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1792, d3.loss_map_pts: 0.7653, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1757, d4.loss_map_pts: 0.7387, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1746, d5.loss_map_pts: 0.7343, d5.loss_map_dir: 0.0101, loss: 30.8983, grad_norm: 147.6704 +2026-02-25 21:58:28,773 - DriveTransformer - INFO - Epoch [5][36950/39528] lr: 9.337e-05, eta: 7 days, 0:47:15, time: 0.825, data_time: 0.045, memory: 19865, loss_cls: 0.2140, loss_bbox: 0.4095, loss_traj: 0.8881, loss_traj_cls: 0.0011, loss_map_cls: 0.1806, loss_map_pts: 0.8835, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.8465, d0.loss_plan_l1_fix_dist: 0.4031, d1.loss_plan_l1_fix_time: 1.3810, d1.loss_plan_l1_fix_dist: 0.2066, d2.loss_plan_l1_fix_time: 1.3656, d2.loss_plan_l1_fix_dist: 0.2197, d3.loss_plan_l1_fix_time: 1.3641, d3.loss_plan_l1_fix_dist: 0.2405, d4.loss_plan_l1_fix_time: 1.3666, d4.loss_plan_l1_fix_dist: 0.2617, d5.loss_plan_l1_fix_time: 1.3704, d5.loss_plan_l1_fix_dist: 0.2860, d6.loss_plan_l1_fix_time: 1.3752, d6.loss_plan_l1_fix_dist: 0.3113, d0.loss_cls_all: 0.2502, d0.loss_bbox_all: 0.4716, d0.loss_cls: 0.2502, d0.loss_bbox: 0.4716, d1.loss_cls: 0.2402, d1.loss_bbox: 0.4376, d2.loss_cls: 0.2265, d2.loss_bbox: 0.4236, d3.loss_cls: 0.2189, d3.loss_bbox: 0.4149, d4.loss_cls: 0.2152, d4.loss_bbox: 0.4103, d5.loss_cls: 0.2136, d5.loss_bbox: 0.4087, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0593, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9367, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8864, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8841, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8909, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8857, d0.loss_map_cls_all: 0.2469, d0.loss_map_pts_all: 1.6701, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2469, d0.loss_map_pts: 1.6701, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2175, d1.loss_map_pts: 1.1673, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2023, d2.loss_map_pts: 0.9914, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1909, d3.loss_map_pts: 0.9207, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1871, d4.loss_map_pts: 0.8946, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1827, d5.loss_map_pts: 0.8855, d5.loss_map_dir: 0.0115, loss: 35.5416, grad_norm: 148.5972 +2026-02-25 21:59:10,759 - DriveTransformer - INFO - Epoch [5][37000/39528] lr: 9.337e-05, eta: 7 days, 0:46:41, time: 0.840, data_time: 0.040, memory: 19865, loss_cls: 0.2133, loss_bbox: 0.3867, loss_traj: 0.7263, loss_traj_cls: 0.0011, loss_map_cls: 0.1872, loss_map_pts: 0.8036, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.6575, d0.loss_plan_l1_fix_dist: 0.4094, d1.loss_plan_l1_fix_time: 1.2271, d1.loss_plan_l1_fix_dist: 0.1979, d2.loss_plan_l1_fix_time: 1.2138, d2.loss_plan_l1_fix_dist: 0.2093, d3.loss_plan_l1_fix_time: 1.2190, d3.loss_plan_l1_fix_dist: 0.2255, d4.loss_plan_l1_fix_time: 1.2237, d4.loss_plan_l1_fix_dist: 0.2445, d5.loss_plan_l1_fix_time: 1.2292, d5.loss_plan_l1_fix_dist: 0.2661, d6.loss_plan_l1_fix_time: 1.2358, d6.loss_plan_l1_fix_dist: 0.2914, d0.loss_cls_all: 0.2426, d0.loss_bbox_all: 0.4478, d0.loss_cls: 0.2426, d0.loss_bbox: 0.4478, d1.loss_cls: 0.2343, d1.loss_bbox: 0.4173, d2.loss_cls: 0.2240, d2.loss_bbox: 0.3986, d3.loss_cls: 0.2173, d3.loss_bbox: 0.3912, d4.loss_cls: 0.2126, d4.loss_bbox: 0.3885, d5.loss_cls: 0.2138, d5.loss_bbox: 0.3859, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9008, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7820, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7351, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7292, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7233, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7198, d0.loss_map_cls_all: 0.2657, d0.loss_map_pts_all: 1.6433, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2657, d0.loss_map_pts: 1.6433, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2298, d1.loss_map_pts: 1.0867, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2117, d2.loss_map_pts: 0.8994, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1967, d3.loss_map_pts: 0.8384, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1908, d4.loss_map_pts: 0.8173, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1888, d5.loss_map_pts: 0.8052, d5.loss_map_dir: 0.0118, loss: 32.6014, grad_norm: 149.7425 +2026-02-25 21:59:51,038 - DriveTransformer - INFO - Epoch [5][37050/39528] lr: 9.337e-05, eta: 7 days, 0:46:01, time: 0.806, data_time: 0.044, memory: 19865, loss_cls: 0.2273, loss_bbox: 0.4331, loss_traj: 0.7118, loss_traj_cls: 0.0010, loss_map_cls: 0.2182, loss_map_pts: 0.9291, loss_map_dir: 0.0140, d0.loss_plan_l1_fix_time: 2.7313, d0.loss_plan_l1_fix_dist: 0.4054, d1.loss_plan_l1_fix_time: 1.3229, d1.loss_plan_l1_fix_dist: 0.2258, d2.loss_plan_l1_fix_time: 1.3064, d2.loss_plan_l1_fix_dist: 0.2321, d3.loss_plan_l1_fix_time: 1.3019, d3.loss_plan_l1_fix_dist: 0.2478, d4.loss_plan_l1_fix_time: 1.3039, d4.loss_plan_l1_fix_dist: 0.2672, d5.loss_plan_l1_fix_time: 1.3067, d5.loss_plan_l1_fix_dist: 0.2871, d6.loss_plan_l1_fix_time: 1.3102, d6.loss_plan_l1_fix_dist: 0.3070, d0.loss_cls_all: 0.2641, d0.loss_bbox_all: 0.5001, d0.loss_cls: 0.2641, d0.loss_bbox: 0.5001, d1.loss_cls: 0.2598, d1.loss_bbox: 0.4623, d2.loss_cls: 0.2447, d2.loss_bbox: 0.4452, d3.loss_cls: 0.2345, d3.loss_bbox: 0.4397, d4.loss_cls: 0.2292, d4.loss_bbox: 0.4357, d5.loss_cls: 0.2272, d5.loss_bbox: 0.4330, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8561, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7572, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7166, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7110, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7109, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7112, d0.loss_map_cls_all: 0.2779, d0.loss_map_pts_all: 1.7814, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.2779, d0.loss_map_pts: 1.7814, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2538, d1.loss_map_pts: 1.2333, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2363, d2.loss_map_pts: 1.0362, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2269, d3.loss_map_pts: 0.9611, d3.loss_map_dir: 0.0134, d4.loss_map_cls: 0.2208, d4.loss_map_pts: 0.9339, d4.loss_map_dir: 0.0137, d5.loss_map_cls: 0.2180, d5.loss_map_pts: 0.9293, d5.loss_map_dir: 0.0139, loss: 34.9582, grad_norm: 149.1473 +2026-02-25 22:00:33,365 - DriveTransformer - INFO - Epoch [5][37100/39528] lr: 9.337e-05, eta: 7 days, 0:45:28, time: 0.847, data_time: 0.040, memory: 19865, loss_cls: 0.2228, loss_bbox: 0.4253, loss_traj: 0.7404, loss_traj_cls: 0.0011, loss_map_cls: 0.1793, loss_map_pts: 0.8562, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 3.0595, d0.loss_plan_l1_fix_dist: 0.4276, d1.loss_plan_l1_fix_time: 1.3399, d1.loss_plan_l1_fix_dist: 0.2127, d2.loss_plan_l1_fix_time: 1.3262, d2.loss_plan_l1_fix_dist: 0.2208, d3.loss_plan_l1_fix_time: 1.3246, d3.loss_plan_l1_fix_dist: 0.2349, d4.loss_plan_l1_fix_time: 1.3288, d4.loss_plan_l1_fix_dist: 0.2517, d5.loss_plan_l1_fix_time: 1.3338, d5.loss_plan_l1_fix_dist: 0.2665, d6.loss_plan_l1_fix_time: 1.3392, d6.loss_plan_l1_fix_dist: 0.2781, d0.loss_cls_all: 0.2549, d0.loss_bbox_all: 0.4875, d0.loss_cls: 0.2549, d0.loss_bbox: 0.4875, d1.loss_cls: 0.2449, d1.loss_bbox: 0.4570, d2.loss_cls: 0.2341, d2.loss_bbox: 0.4359, d3.loss_cls: 0.2269, d3.loss_bbox: 0.4290, d4.loss_cls: 0.2240, d4.loss_bbox: 0.4259, d5.loss_cls: 0.2224, d5.loss_bbox: 0.4251, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9610, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8006, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7419, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7355, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7404, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7401, d0.loss_map_cls_all: 0.2413, d0.loss_map_pts_all: 1.7076, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2413, d0.loss_map_pts: 1.7076, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2120, d1.loss_map_pts: 1.1456, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.1970, d2.loss_map_pts: 0.9477, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.1886, d3.loss_map_pts: 0.8837, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.1832, d4.loss_map_pts: 0.8627, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.1801, d5.loss_map_pts: 0.8592, d5.loss_map_dir: 0.0122, loss: 34.5545, grad_norm: 153.1792 +2026-02-25 22:01:14,667 - DriveTransformer - INFO - Epoch [5][37150/39528] lr: 9.337e-05, eta: 7 days, 0:44:52, time: 0.826, data_time: 0.045, memory: 19865, loss_cls: 0.2261, loss_bbox: 0.4133, loss_traj: 0.8547, loss_traj_cls: 0.0011, loss_map_cls: 0.1886, loss_map_pts: 0.8656, loss_map_dir: 0.0139, d0.loss_plan_l1_fix_time: 2.6447, d0.loss_plan_l1_fix_dist: 0.3484, d1.loss_plan_l1_fix_time: 1.2805, d1.loss_plan_l1_fix_dist: 0.1903, d2.loss_plan_l1_fix_time: 1.2731, d2.loss_plan_l1_fix_dist: 0.1924, d3.loss_plan_l1_fix_time: 1.2737, d3.loss_plan_l1_fix_dist: 0.2034, d4.loss_plan_l1_fix_time: 1.2784, d4.loss_plan_l1_fix_dist: 0.2176, d5.loss_plan_l1_fix_time: 1.2838, d5.loss_plan_l1_fix_dist: 0.2350, d6.loss_plan_l1_fix_time: 1.2898, d6.loss_plan_l1_fix_dist: 0.2546, d0.loss_cls_all: 0.2646, d0.loss_bbox_all: 0.4695, d0.loss_cls: 0.2646, d0.loss_bbox: 0.4695, d1.loss_cls: 0.2555, d1.loss_bbox: 0.4402, d2.loss_cls: 0.2397, d2.loss_bbox: 0.4261, d3.loss_cls: 0.2318, d3.loss_bbox: 0.4190, d4.loss_cls: 0.2269, d4.loss_bbox: 0.4153, d5.loss_cls: 0.2258, d5.loss_bbox: 0.4129, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9967, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8901, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8543, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8532, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8592, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8568, d0.loss_map_cls_all: 0.2591, d0.loss_map_pts_all: 1.6873, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2591, d0.loss_map_pts: 1.6873, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2275, d1.loss_map_pts: 1.1554, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2131, d2.loss_map_pts: 0.9593, d2.loss_map_dir: 0.0126, d3.loss_map_cls: 0.1982, d3.loss_map_pts: 0.8962, d3.loss_map_dir: 0.0133, d4.loss_map_cls: 0.1939, d4.loss_map_pts: 0.8761, d4.loss_map_dir: 0.0137, d5.loss_map_cls: 0.1893, d5.loss_map_pts: 0.8684, d5.loss_map_dir: 0.0137, loss: 34.3659, grad_norm: 153.9533 +2026-02-25 22:01:53,642 - DriveTransformer - INFO - Epoch [5][37200/39528] lr: 9.337e-05, eta: 7 days, 0:44:06, time: 0.779, data_time: 0.043, memory: 19865, loss_cls: 0.1940, loss_bbox: 0.3940, loss_traj: 0.8200, loss_traj_cls: 0.0010, loss_map_cls: 0.1845, loss_map_pts: 0.8177, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.8728, d0.loss_plan_l1_fix_dist: 0.3703, d1.loss_plan_l1_fix_time: 1.2275, d1.loss_plan_l1_fix_dist: 0.1898, d2.loss_plan_l1_fix_time: 1.2156, d2.loss_plan_l1_fix_dist: 0.1977, d3.loss_plan_l1_fix_time: 1.2162, d3.loss_plan_l1_fix_dist: 0.2104, d4.loss_plan_l1_fix_time: 1.2202, d4.loss_plan_l1_fix_dist: 0.2252, d5.loss_plan_l1_fix_time: 1.2247, d5.loss_plan_l1_fix_dist: 0.2436, d6.loss_plan_l1_fix_time: 1.2297, d6.loss_plan_l1_fix_dist: 0.2663, d0.loss_cls_all: 0.2249, d0.loss_bbox_all: 0.4582, d0.loss_cls: 0.2249, d0.loss_bbox: 0.4582, d1.loss_cls: 0.2198, d1.loss_bbox: 0.4273, d2.loss_cls: 0.2111, d2.loss_bbox: 0.4061, d3.loss_cls: 0.2004, d3.loss_bbox: 0.4006, d4.loss_cls: 0.1971, d4.loss_bbox: 0.3956, d5.loss_cls: 0.1943, d5.loss_bbox: 0.3946, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0200, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8578, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8164, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8161, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8123, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8182, d0.loss_map_cls_all: 0.2585, d0.loss_map_pts_all: 1.5894, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2585, d0.loss_map_pts: 1.5894, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2212, d1.loss_map_pts: 1.1061, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2076, d2.loss_map_pts: 0.9240, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.1971, d3.loss_map_pts: 0.8579, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.1912, d4.loss_map_pts: 0.8303, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1870, d5.loss_map_pts: 0.8200, d5.loss_map_dir: 0.0118, loss: 33.2081, grad_norm: 154.7230 +2026-02-25 22:02:35,785 - DriveTransformer - INFO - Epoch [5][37250/39528] lr: 9.337e-05, eta: 7 days, 0:43:33, time: 0.843, data_time: 0.039, memory: 19865, loss_cls: 0.2051, loss_bbox: 0.4077, loss_traj: 0.6046, loss_traj_cls: 0.0010, loss_map_cls: 0.1976, loss_map_pts: 0.9068, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.4674, d0.loss_plan_l1_fix_dist: 0.4025, d1.loss_plan_l1_fix_time: 1.1037, d1.loss_plan_l1_fix_dist: 0.1962, d2.loss_plan_l1_fix_time: 1.0935, d2.loss_plan_l1_fix_dist: 0.2013, d3.loss_plan_l1_fix_time: 1.1017, d3.loss_plan_l1_fix_dist: 0.2163, d4.loss_plan_l1_fix_time: 1.1084, d4.loss_plan_l1_fix_dist: 0.2357, d5.loss_plan_l1_fix_time: 1.1153, d5.loss_plan_l1_fix_dist: 0.2554, d6.loss_plan_l1_fix_time: 1.1223, d6.loss_plan_l1_fix_dist: 0.2766, d0.loss_cls_all: 0.2424, d0.loss_bbox_all: 0.4718, d0.loss_cls: 0.2424, d0.loss_bbox: 0.4718, d1.loss_cls: 0.2366, d1.loss_bbox: 0.4413, d2.loss_cls: 0.2195, d2.loss_bbox: 0.4251, d3.loss_cls: 0.2090, d3.loss_bbox: 0.4180, d4.loss_cls: 0.2071, d4.loss_bbox: 0.4114, d5.loss_cls: 0.2050, d5.loss_bbox: 0.4104, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7688, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6464, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6162, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6024, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5976, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6011, d0.loss_map_cls_all: 0.2535, d0.loss_map_pts_all: 1.8277, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.2535, d0.loss_map_pts: 1.8277, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2294, d1.loss_map_pts: 1.2060, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2133, d2.loss_map_pts: 1.0161, d2.loss_map_dir: 0.0123, d3.loss_map_cls: 0.2055, d3.loss_map_pts: 0.9441, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.2006, d4.loss_map_pts: 0.9172, d4.loss_map_dir: 0.0132, d5.loss_map_cls: 0.1984, d5.loss_map_pts: 0.9079, d5.loss_map_dir: 0.0132, loss: 31.9722, grad_norm: 161.1032 +2026-02-25 22:03:17,057 - DriveTransformer - INFO - Epoch [5][37300/39528] lr: 9.337e-05, eta: 7 days, 0:42:56, time: 0.825, data_time: 0.042, memory: 19865, loss_cls: 0.1823, loss_bbox: 0.3743, loss_traj: 0.7727, loss_traj_cls: 0.0010, loss_map_cls: 0.1896, loss_map_pts: 0.7915, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.4148, d0.loss_plan_l1_fix_dist: 0.3703, d1.loss_plan_l1_fix_time: 1.0359, d1.loss_plan_l1_fix_dist: 0.1796, d2.loss_plan_l1_fix_time: 1.0139, d2.loss_plan_l1_fix_dist: 0.1863, d3.loss_plan_l1_fix_time: 1.0198, d3.loss_plan_l1_fix_dist: 0.1981, d4.loss_plan_l1_fix_time: 1.0265, d4.loss_plan_l1_fix_dist: 0.2117, d5.loss_plan_l1_fix_time: 1.0339, d5.loss_plan_l1_fix_dist: 0.2253, d6.loss_plan_l1_fix_time: 1.0418, d6.loss_plan_l1_fix_dist: 0.2403, d0.loss_cls_all: 0.2210, d0.loss_bbox_all: 0.4333, d0.loss_cls: 0.2210, d0.loss_bbox: 0.4333, d1.loss_cls: 0.2151, d1.loss_bbox: 0.4006, d2.loss_cls: 0.2015, d2.loss_bbox: 0.3850, d3.loss_cls: 0.1922, d3.loss_bbox: 0.3795, d4.loss_cls: 0.1858, d4.loss_bbox: 0.3749, d5.loss_cls: 0.1831, d5.loss_bbox: 0.3735, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9739, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8174, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7688, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7564, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7551, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7602, d0.loss_map_cls_all: 0.2427, d0.loss_map_pts_all: 1.6168, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2427, d0.loss_map_pts: 1.6168, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2180, d1.loss_map_pts: 1.0720, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2049, d2.loss_map_pts: 0.8943, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1959, d3.loss_map_pts: 0.8239, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1926, d4.loss_map_pts: 0.8005, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1894, d5.loss_map_pts: 0.7928, d5.loss_map_dir: 0.0114, loss: 30.7382, grad_norm: 160.4022 +2026-02-25 22:03:57,171 - DriveTransformer - INFO - Epoch [5][37350/39528] lr: 9.337e-05, eta: 7 days, 0:42:15, time: 0.802, data_time: 0.044, memory: 19865, loss_cls: 0.2187, loss_bbox: 0.4013, loss_traj: 0.8880, loss_traj_cls: 0.0010, loss_map_cls: 0.1819, loss_map_pts: 0.7805, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.9600, d0.loss_plan_l1_fix_dist: 0.3484, d1.loss_plan_l1_fix_time: 1.2205, d1.loss_plan_l1_fix_dist: 0.1938, d2.loss_plan_l1_fix_time: 1.2066, d2.loss_plan_l1_fix_dist: 0.2072, d3.loss_plan_l1_fix_time: 1.2113, d3.loss_plan_l1_fix_dist: 0.2178, d4.loss_plan_l1_fix_time: 1.2169, d4.loss_plan_l1_fix_dist: 0.2281, d5.loss_plan_l1_fix_time: 1.2229, d5.loss_plan_l1_fix_dist: 0.2411, d6.loss_plan_l1_fix_time: 1.2297, d6.loss_plan_l1_fix_dist: 0.2530, d0.loss_cls_all: 0.2498, d0.loss_bbox_all: 0.4601, d0.loss_cls: 0.2498, d0.loss_bbox: 0.4601, d1.loss_cls: 0.2448, d1.loss_bbox: 0.4290, d2.loss_cls: 0.2325, d2.loss_bbox: 0.4133, d3.loss_cls: 0.2267, d3.loss_bbox: 0.4055, d4.loss_cls: 0.2193, d4.loss_bbox: 0.4030, d5.loss_cls: 0.2167, d5.loss_bbox: 0.4030, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1201, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9330, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8793, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8860, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8944, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8955, d0.loss_map_cls_all: 0.2437, d0.loss_map_pts_all: 1.5297, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2437, d0.loss_map_pts: 1.5297, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2226, d1.loss_map_pts: 1.0447, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2042, d2.loss_map_pts: 0.8749, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.1948, d3.loss_map_pts: 0.8075, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.1904, d4.loss_map_pts: 0.7889, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.1857, d5.loss_map_pts: 0.7802, d5.loss_map_dir: 0.0123, loss: 33.5902, grad_norm: 161.5751 +2026-02-25 22:04:36,916 - DriveTransformer - INFO - Epoch [5][37400/39528] lr: 9.337e-05, eta: 7 days, 0:41:33, time: 0.795, data_time: 0.043, memory: 19865, loss_cls: 0.2031, loss_bbox: 0.4010, loss_traj: 0.7818, loss_traj_cls: 0.0010, loss_map_cls: 0.2069, loss_map_pts: 0.8994, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.6474, d0.loss_plan_l1_fix_dist: 0.4681, d1.loss_plan_l1_fix_time: 1.2991, d1.loss_plan_l1_fix_dist: 0.2068, d2.loss_plan_l1_fix_time: 1.2957, d2.loss_plan_l1_fix_dist: 0.2118, d3.loss_plan_l1_fix_time: 1.3024, d3.loss_plan_l1_fix_dist: 0.2238, d4.loss_plan_l1_fix_time: 1.3093, d4.loss_plan_l1_fix_dist: 0.2399, d5.loss_plan_l1_fix_time: 1.3165, d5.loss_plan_l1_fix_dist: 0.2575, d6.loss_plan_l1_fix_time: 1.3246, d6.loss_plan_l1_fix_dist: 0.2766, d0.loss_cls_all: 0.2339, d0.loss_bbox_all: 0.4562, d0.loss_cls: 0.2339, d0.loss_bbox: 0.4562, d1.loss_cls: 0.2285, d1.loss_bbox: 0.4264, d2.loss_cls: 0.2140, d2.loss_bbox: 0.4104, d3.loss_cls: 0.2053, d3.loss_bbox: 0.4026, d4.loss_cls: 0.2032, d4.loss_bbox: 0.3997, d5.loss_cls: 0.2022, d5.loss_bbox: 0.4006, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9368, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8110, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7843, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7810, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7844, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7822, d0.loss_map_cls_all: 0.2804, d0.loss_map_pts_all: 1.6517, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2804, d0.loss_map_pts: 1.6517, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2455, d1.loss_map_pts: 1.1533, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2317, d2.loss_map_pts: 0.9837, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.2196, d3.loss_map_pts: 0.9243, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.2134, d4.loss_map_pts: 0.9036, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.2093, d5.loss_map_pts: 0.8996, d5.loss_map_dir: 0.0111, loss: 34.1652, grad_norm: 162.2982 +2026-02-25 22:05:15,144 - DriveTransformer - INFO - Epoch [5][37450/39528] lr: 9.337e-05, eta: 7 days, 0:40:44, time: 0.765, data_time: 0.040, memory: 19865, loss_cls: 0.2058, loss_bbox: 0.3879, loss_traj: 0.8440, loss_traj_cls: 0.0010, loss_map_cls: 0.1886, loss_map_pts: 0.7762, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.7549, d0.loss_plan_l1_fix_dist: 0.3512, d1.loss_plan_l1_fix_time: 1.3661, d1.loss_plan_l1_fix_dist: 0.1867, d2.loss_plan_l1_fix_time: 1.3557, d2.loss_plan_l1_fix_dist: 0.1938, d3.loss_plan_l1_fix_time: 1.3584, d3.loss_plan_l1_fix_dist: 0.2016, d4.loss_plan_l1_fix_time: 1.3626, d4.loss_plan_l1_fix_dist: 0.2114, d5.loss_plan_l1_fix_time: 1.3673, d5.loss_plan_l1_fix_dist: 0.2233, d6.loss_plan_l1_fix_time: 1.3725, d6.loss_plan_l1_fix_dist: 0.2365, d0.loss_cls_all: 0.2428, d0.loss_bbox_all: 0.4422, d0.loss_cls: 0.2428, d0.loss_bbox: 0.4422, d1.loss_cls: 0.2362, d1.loss_bbox: 0.4081, d2.loss_cls: 0.2207, d2.loss_bbox: 0.3915, d3.loss_cls: 0.2121, d3.loss_bbox: 0.3868, d4.loss_cls: 0.2111, d4.loss_bbox: 0.3830, d5.loss_cls: 0.2065, d5.loss_bbox: 0.3852, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0933, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8911, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8590, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8532, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8444, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8461, d0.loss_map_cls_all: 0.2437, d0.loss_map_pts_all: 1.3671, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2437, d0.loss_map_pts: 1.3671, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2210, d1.loss_map_pts: 1.0007, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.2079, d2.loss_map_pts: 0.8502, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1973, d3.loss_map_pts: 0.7957, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1917, d4.loss_map_pts: 0.7779, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1896, d5.loss_map_pts: 0.7761, d5.loss_map_dir: 0.0094, loss: 33.2535, grad_norm: 161.1394 +2026-02-25 22:05:56,710 - DriveTransformer - INFO - Epoch [5][37500/39528] lr: 9.337e-05, eta: 7 days, 0:40:09, time: 0.831, data_time: 0.045, memory: 19865, loss_cls: 0.2092, loss_bbox: 0.4008, loss_traj: 0.7433, loss_traj_cls: 0.0010, loss_map_cls: 0.1846, loss_map_pts: 0.8339, loss_map_dir: 0.0131, d0.loss_plan_l1_fix_time: 2.7987, d0.loss_plan_l1_fix_dist: 0.3685, d1.loss_plan_l1_fix_time: 1.4377, d1.loss_plan_l1_fix_dist: 0.1890, d2.loss_plan_l1_fix_time: 1.4155, d2.loss_plan_l1_fix_dist: 0.1991, d3.loss_plan_l1_fix_time: 1.4133, d3.loss_plan_l1_fix_dist: 0.2162, d4.loss_plan_l1_fix_time: 1.4179, d4.loss_plan_l1_fix_dist: 0.2366, d5.loss_plan_l1_fix_time: 1.4228, d5.loss_plan_l1_fix_dist: 0.2594, d6.loss_plan_l1_fix_time: 1.4277, d6.loss_plan_l1_fix_dist: 0.2854, d0.loss_cls_all: 0.2421, d0.loss_bbox_all: 0.4554, d0.loss_cls: 0.2421, d0.loss_bbox: 0.4554, d1.loss_cls: 0.2358, d1.loss_bbox: 0.4235, d2.loss_cls: 0.2260, d2.loss_bbox: 0.4062, d3.loss_cls: 0.2177, d3.loss_bbox: 0.4019, d4.loss_cls: 0.2125, d4.loss_bbox: 0.3999, d5.loss_cls: 0.2088, d5.loss_bbox: 0.4007, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9512, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8144, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7728, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7510, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7517, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7438, d0.loss_map_cls_all: 0.2443, d0.loss_map_pts_all: 1.6335, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.2443, d0.loss_map_pts: 1.6335, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.2181, d1.loss_map_pts: 1.1220, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2040, d2.loss_map_pts: 0.9331, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.1959, d3.loss_map_pts: 0.8679, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.1899, d4.loss_map_pts: 0.8442, d4.loss_map_dir: 0.0131, d5.loss_map_cls: 0.1855, d5.loss_map_pts: 0.8327, d5.loss_map_dir: 0.0131, loss: 34.2294, grad_norm: 161.9876 +2026-02-25 22:06:36,710 - DriveTransformer - INFO - Epoch [5][37550/39528] lr: 9.337e-05, eta: 7 days, 0:39:27, time: 0.800, data_time: 0.045, memory: 19865, loss_cls: 0.1905, loss_bbox: 0.3969, loss_traj: 0.8152, loss_traj_cls: 0.0010, loss_map_cls: 0.1888, loss_map_pts: 0.8335, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.9338, d0.loss_plan_l1_fix_dist: 0.4941, d1.loss_plan_l1_fix_time: 1.2749, d1.loss_plan_l1_fix_dist: 0.2311, d2.loss_plan_l1_fix_time: 1.2474, d2.loss_plan_l1_fix_dist: 0.2330, d3.loss_plan_l1_fix_time: 1.2461, d3.loss_plan_l1_fix_dist: 0.2422, d4.loss_plan_l1_fix_time: 1.2507, d4.loss_plan_l1_fix_dist: 0.2522, d5.loss_plan_l1_fix_time: 1.2562, d5.loss_plan_l1_fix_dist: 0.2617, d6.loss_plan_l1_fix_time: 1.2620, d6.loss_plan_l1_fix_dist: 0.2725, d0.loss_cls_all: 0.2225, d0.loss_bbox_all: 0.4575, d0.loss_cls: 0.2225, d0.loss_bbox: 0.4575, d1.loss_cls: 0.2143, d1.loss_bbox: 0.4177, d2.loss_cls: 0.2027, d2.loss_bbox: 0.4011, d3.loss_cls: 0.1972, d3.loss_bbox: 0.3942, d4.loss_cls: 0.1924, d4.loss_bbox: 0.3924, d5.loss_cls: 0.1894, d5.loss_bbox: 0.3945, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0345, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8567, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8133, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7883, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7966, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8051, d0.loss_map_cls_all: 0.2593, d0.loss_map_pts_all: 1.5451, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2593, d0.loss_map_pts: 1.5451, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2271, d1.loss_map_pts: 1.0765, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2098, d2.loss_map_pts: 0.9203, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1973, d3.loss_map_pts: 0.8607, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1924, d4.loss_map_pts: 0.8410, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1902, d5.loss_map_pts: 0.8340, d5.loss_map_dir: 0.0109, loss: 33.5825, grad_norm: 164.7781 +2026-02-25 22:07:18,368 - DriveTransformer - INFO - Epoch [5][37600/39528] lr: 9.337e-05, eta: 7 days, 0:38:53, time: 0.835, data_time: 0.042, memory: 19865, loss_cls: 0.1950, loss_bbox: 0.3747, loss_traj: 0.7378, loss_traj_cls: 0.0011, loss_map_cls: 0.1405, loss_map_pts: 0.7216, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.5306, d0.loss_plan_l1_fix_dist: 0.4832, d1.loss_plan_l1_fix_time: 1.2159, d1.loss_plan_l1_fix_dist: 0.1974, d2.loss_plan_l1_fix_time: 1.1940, d2.loss_plan_l1_fix_dist: 0.2043, d3.loss_plan_l1_fix_time: 1.1890, d3.loss_plan_l1_fix_dist: 0.2165, d4.loss_plan_l1_fix_time: 1.1934, d4.loss_plan_l1_fix_dist: 0.2286, d5.loss_plan_l1_fix_time: 1.1990, d5.loss_plan_l1_fix_dist: 0.2407, d6.loss_plan_l1_fix_time: 1.2056, d6.loss_plan_l1_fix_dist: 0.2522, d0.loss_cls_all: 0.2149, d0.loss_bbox_all: 0.4264, d0.loss_cls: 0.2149, d0.loss_bbox: 0.4264, d1.loss_cls: 0.2101, d1.loss_bbox: 0.3948, d2.loss_cls: 0.2003, d2.loss_bbox: 0.3792, d3.loss_cls: 0.1968, d3.loss_bbox: 0.3750, d4.loss_cls: 0.1910, d4.loss_bbox: 0.3745, d5.loss_cls: 0.1921, d5.loss_bbox: 0.3742, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8857, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7549, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7226, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7247, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7261, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7303, d0.loss_map_cls_all: 0.1975, d0.loss_map_pts_all: 1.4590, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.1975, d0.loss_map_pts: 1.4590, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.1719, d1.loss_map_pts: 0.9839, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1593, d2.loss_map_pts: 0.8116, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1491, d3.loss_map_pts: 0.7515, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1449, d4.loss_map_pts: 0.7285, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1417, d5.loss_map_pts: 0.7216, d5.loss_map_dir: 0.0114, loss: 30.6060, grad_norm: 164.7886 +2026-02-25 22:07:58,784 - DriveTransformer - INFO - Epoch [5][37650/39528] lr: 9.337e-05, eta: 7 days, 0:38:12, time: 0.807, data_time: 0.042, memory: 19865, loss_cls: 0.2107, loss_bbox: 0.3934, loss_traj: 0.8690, loss_traj_cls: 0.0009, loss_map_cls: 0.2133, loss_map_pts: 0.8874, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.9535, d0.loss_plan_l1_fix_dist: 0.3749, d1.loss_plan_l1_fix_time: 1.4842, d1.loss_plan_l1_fix_dist: 0.1932, d2.loss_plan_l1_fix_time: 1.4665, d2.loss_plan_l1_fix_dist: 0.1962, d3.loss_plan_l1_fix_time: 1.4631, d3.loss_plan_l1_fix_dist: 0.2058, d4.loss_plan_l1_fix_time: 1.4665, d4.loss_plan_l1_fix_dist: 0.2196, d5.loss_plan_l1_fix_time: 1.4704, d5.loss_plan_l1_fix_dist: 0.2362, d6.loss_plan_l1_fix_time: 1.4748, d6.loss_plan_l1_fix_dist: 0.2563, d0.loss_cls_all: 0.2415, d0.loss_bbox_all: 0.4572, d0.loss_cls: 0.2415, d0.loss_bbox: 0.4572, d1.loss_cls: 0.2354, d1.loss_bbox: 0.4219, d2.loss_cls: 0.2213, d2.loss_bbox: 0.4056, d3.loss_cls: 0.2148, d3.loss_bbox: 0.3973, d4.loss_cls: 0.2112, d4.loss_bbox: 0.3933, d5.loss_cls: 0.2100, d5.loss_bbox: 0.3939, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0884, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.9064, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8729, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8644, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8636, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8656, d0.loss_map_cls_all: 0.2855, d0.loss_map_pts_all: 1.4865, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2855, d0.loss_map_pts: 1.4865, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2580, d1.loss_map_pts: 1.1356, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.2415, d2.loss_map_pts: 0.9815, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.2284, d3.loss_map_pts: 0.9226, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.2229, d4.loss_map_pts: 0.8961, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.2159, d5.loss_map_pts: 0.8891, d5.loss_map_dir: 0.0104, loss: 35.6208, grad_norm: 163.9966 +2026-02-25 22:08:39,979 - DriveTransformer - INFO - Epoch [5][37700/39528] lr: 9.337e-05, eta: 7 days, 0:37:35, time: 0.824, data_time: 0.044, memory: 19865, loss_cls: 0.2033, loss_bbox: 0.3975, loss_traj: 0.7096, loss_traj_cls: 0.0009, loss_map_cls: 0.1864, loss_map_pts: 0.8405, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.4156, d0.loss_plan_l1_fix_dist: 0.3715, d1.loss_plan_l1_fix_time: 1.3878, d1.loss_plan_l1_fix_dist: 0.1910, d2.loss_plan_l1_fix_time: 1.3716, d2.loss_plan_l1_fix_dist: 0.1952, d3.loss_plan_l1_fix_time: 1.3702, d3.loss_plan_l1_fix_dist: 0.2070, d4.loss_plan_l1_fix_time: 1.3735, d4.loss_plan_l1_fix_dist: 0.2216, d5.loss_plan_l1_fix_time: 1.3772, d5.loss_plan_l1_fix_dist: 0.2391, d6.loss_plan_l1_fix_time: 1.3812, d6.loss_plan_l1_fix_dist: 0.2576, d0.loss_cls_all: 0.2361, d0.loss_bbox_all: 0.4597, d0.loss_cls: 0.2361, d0.loss_bbox: 0.4597, d1.loss_cls: 0.2300, d1.loss_bbox: 0.4268, d2.loss_cls: 0.2168, d2.loss_bbox: 0.4132, d3.loss_cls: 0.2085, d3.loss_bbox: 0.4057, d4.loss_cls: 0.2040, d4.loss_bbox: 0.4031, d5.loss_cls: 0.2031, d5.loss_bbox: 0.4004, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8554, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7319, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7024, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7021, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6988, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7014, d0.loss_map_cls_all: 0.2713, d0.loss_map_pts_all: 1.6399, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2713, d0.loss_map_pts: 1.6399, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2366, d1.loss_map_pts: 1.1171, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2122, d2.loss_map_pts: 0.9391, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2010, d3.loss_map_pts: 0.8758, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1942, d4.loss_map_pts: 0.8547, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.1888, d5.loss_map_pts: 0.8440, d5.loss_map_dir: 0.0119, loss: 33.1771, grad_norm: 166.6462 +2026-02-25 22:09:21,219 - DriveTransformer - INFO - Epoch [5][37750/39528] lr: 9.337e-05, eta: 7 days, 0:36:59, time: 0.825, data_time: 0.046, memory: 19865, loss_cls: 0.2018, loss_bbox: 0.3882, loss_traj: 0.7252, loss_traj_cls: 0.0010, loss_map_cls: 0.1787, loss_map_pts: 0.7698, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.0832, d0.loss_plan_l1_fix_dist: 0.3873, d1.loss_plan_l1_fix_time: 1.0938, d1.loss_plan_l1_fix_dist: 0.1879, d2.loss_plan_l1_fix_time: 1.0792, d2.loss_plan_l1_fix_dist: 0.1969, d3.loss_plan_l1_fix_time: 1.0844, d3.loss_plan_l1_fix_dist: 0.2119, d4.loss_plan_l1_fix_time: 1.0892, d4.loss_plan_l1_fix_dist: 0.2293, d5.loss_plan_l1_fix_time: 1.0948, d5.loss_plan_l1_fix_dist: 0.2470, d6.loss_plan_l1_fix_time: 1.1011, d6.loss_plan_l1_fix_dist: 0.2671, d0.loss_cls_all: 0.2288, d0.loss_bbox_all: 0.4511, d0.loss_cls: 0.2288, d0.loss_bbox: 0.4511, d1.loss_cls: 0.2282, d1.loss_bbox: 0.4191, d2.loss_cls: 0.2116, d2.loss_bbox: 0.4006, d3.loss_cls: 0.2038, d3.loss_bbox: 0.3924, d4.loss_cls: 0.2001, d4.loss_bbox: 0.3915, d5.loss_cls: 0.2007, d5.loss_bbox: 0.3885, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8836, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7815, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7368, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7173, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7144, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7127, d0.loss_map_cls_all: 0.2463, d0.loss_map_pts_all: 1.5479, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2463, d0.loss_map_pts: 1.5479, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2154, d1.loss_map_pts: 1.0747, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.2026, d2.loss_map_pts: 0.8815, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1882, d3.loss_map_pts: 0.8099, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1823, d4.loss_map_pts: 0.7844, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1797, d5.loss_map_pts: 0.7744, d5.loss_map_dir: 0.0105, loss: 30.5275, grad_norm: 166.7962 +2026-02-25 22:10:00,145 - DriveTransformer - INFO - Epoch [5][37800/39528] lr: 9.337e-05, eta: 7 days, 0:36:13, time: 0.779, data_time: 0.040, memory: 19865, loss_cls: 0.1672, loss_bbox: 0.3644, loss_traj: 0.7118, loss_traj_cls: 0.0010, loss_map_cls: 0.1580, loss_map_pts: 0.7091, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.3595, d0.loss_plan_l1_fix_dist: 0.4259, d1.loss_plan_l1_fix_time: 1.0298, d1.loss_plan_l1_fix_dist: 0.2002, d2.loss_plan_l1_fix_time: 1.0069, d2.loss_plan_l1_fix_dist: 0.2037, d3.loss_plan_l1_fix_time: 1.0061, d3.loss_plan_l1_fix_dist: 0.2129, d4.loss_plan_l1_fix_time: 1.0101, d4.loss_plan_l1_fix_dist: 0.2248, d5.loss_plan_l1_fix_time: 1.0148, d5.loss_plan_l1_fix_dist: 0.2382, d6.loss_plan_l1_fix_time: 1.0201, d6.loss_plan_l1_fix_dist: 0.2524, d0.loss_cls_all: 0.1968, d0.loss_bbox_all: 0.4164, d0.loss_cls: 0.1968, d0.loss_bbox: 0.4164, d1.loss_cls: 0.1913, d1.loss_bbox: 0.3867, d2.loss_cls: 0.1780, d2.loss_bbox: 0.3726, d3.loss_cls: 0.1732, d3.loss_bbox: 0.3660, d4.loss_cls: 0.1687, d4.loss_bbox: 0.3637, d5.loss_cls: 0.1684, d5.loss_bbox: 0.3627, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8729, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7578, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7197, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7125, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7101, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7108, d0.loss_map_cls_all: 0.2232, d0.loss_map_pts_all: 1.3674, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2232, d0.loss_map_pts: 1.3674, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2013, d1.loss_map_pts: 0.9529, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1821, d2.loss_map_pts: 0.7956, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1713, d3.loss_map_pts: 0.7353, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1647, d4.loss_map_pts: 0.7122, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1602, d5.loss_map_pts: 0.7085, d5.loss_map_dir: 0.0094, loss: 28.8037, grad_norm: 165.5626 +2026-02-25 22:10:41,558 - DriveTransformer - INFO - Epoch [5][37850/39528] lr: 9.337e-05, eta: 7 days, 0:35:37, time: 0.828, data_time: 0.046, memory: 19865, loss_cls: 0.2162, loss_bbox: 0.4207, loss_traj: 0.7678, loss_traj_cls: 0.0009, loss_map_cls: 0.1958, loss_map_pts: 0.9358, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.8330, d0.loss_plan_l1_fix_dist: 0.3138, d1.loss_plan_l1_fix_time: 1.2381, d1.loss_plan_l1_fix_dist: 0.1772, d2.loss_plan_l1_fix_time: 1.2175, d2.loss_plan_l1_fix_dist: 0.1856, d3.loss_plan_l1_fix_time: 1.2226, d3.loss_plan_l1_fix_dist: 0.1972, d4.loss_plan_l1_fix_time: 1.2268, d4.loss_plan_l1_fix_dist: 0.2104, d5.loss_plan_l1_fix_time: 1.2316, d5.loss_plan_l1_fix_dist: 0.2261, d6.loss_plan_l1_fix_time: 1.2374, d6.loss_plan_l1_fix_dist: 0.2435, d0.loss_cls_all: 0.2558, d0.loss_bbox_all: 0.4841, d0.loss_cls: 0.2558, d0.loss_bbox: 0.4841, d1.loss_cls: 0.2472, d1.loss_bbox: 0.4490, d2.loss_cls: 0.2356, d2.loss_bbox: 0.4318, d3.loss_cls: 0.2244, d3.loss_bbox: 0.4223, d4.loss_cls: 0.2170, d4.loss_bbox: 0.4211, d5.loss_cls: 0.2164, d5.loss_bbox: 0.4200, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9684, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8142, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7747, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7652, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7627, d5.loss_traj_cls: 0.0009, d5.loss_traj: 0.7644, d0.loss_map_cls_all: 0.2676, d0.loss_map_pts_all: 1.7053, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.2676, d0.loss_map_pts: 1.7053, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2338, d1.loss_map_pts: 1.2178, d1.loss_map_dir: 0.0122, d2.loss_map_cls: 0.2169, d2.loss_map_pts: 1.0289, d2.loss_map_dir: 0.0127, d3.loss_map_cls: 0.2059, d3.loss_map_pts: 0.9696, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2009, d4.loss_map_pts: 0.9483, d4.loss_map_dir: 0.0136, d5.loss_map_cls: 0.1968, d5.loss_map_pts: 0.9361, d5.loss_map_dir: 0.0136, loss: 34.1225, grad_norm: 164.4725 +2026-02-25 22:11:21,630 - DriveTransformer - INFO - Epoch [5][37900/39528] lr: 9.337e-05, eta: 7 days, 0:34:56, time: 0.801, data_time: 0.042, memory: 19865, loss_cls: 0.1890, loss_bbox: 0.3992, loss_traj: 0.8417, loss_traj_cls: 0.0009, loss_map_cls: 0.1665, loss_map_pts: 0.7501, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.7872, d0.loss_plan_l1_fix_dist: 0.4457, d1.loss_plan_l1_fix_time: 1.3607, d1.loss_plan_l1_fix_dist: 0.2046, d2.loss_plan_l1_fix_time: 1.3460, d2.loss_plan_l1_fix_dist: 0.2116, d3.loss_plan_l1_fix_time: 1.3447, d3.loss_plan_l1_fix_dist: 0.2243, d4.loss_plan_l1_fix_time: 1.3492, d4.loss_plan_l1_fix_dist: 0.2396, d5.loss_plan_l1_fix_time: 1.3550, d5.loss_plan_l1_fix_dist: 0.2569, d6.loss_plan_l1_fix_time: 1.3618, d6.loss_plan_l1_fix_dist: 0.2788, d0.loss_cls_all: 0.2208, d0.loss_bbox_all: 0.4530, d0.loss_cls: 0.2208, d0.loss_bbox: 0.4530, d1.loss_cls: 0.2137, d1.loss_bbox: 0.4223, d2.loss_cls: 0.2032, d2.loss_bbox: 0.4067, d3.loss_cls: 0.1950, d3.loss_bbox: 0.4003, d4.loss_cls: 0.1912, d4.loss_bbox: 0.3985, d5.loss_cls: 0.1892, d5.loss_bbox: 0.3986, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0877, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9026, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8378, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8337, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8322, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8364, d0.loss_map_cls_all: 0.2404, d0.loss_map_pts_all: 1.5042, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2404, d0.loss_map_pts: 1.5042, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2109, d1.loss_map_pts: 1.0362, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1909, d2.loss_map_pts: 0.8524, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1767, d3.loss_map_pts: 0.7854, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1707, d4.loss_map_pts: 0.7595, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1680, d5.loss_map_pts: 0.7522, d5.loss_map_dir: 0.0110, loss: 33.4914, grad_norm: 164.2723 +2026-02-25 22:12:00,773 - DriveTransformer - INFO - Epoch [5][37950/39528] lr: 9.337e-05, eta: 7 days, 0:34:11, time: 0.783, data_time: 0.049, memory: 19865, loss_cls: 0.2011, loss_bbox: 0.3888, loss_traj: 0.7627, loss_traj_cls: 0.0009, loss_map_cls: 0.2050, loss_map_pts: 0.8520, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.5935, d0.loss_plan_l1_fix_dist: 0.3765, d1.loss_plan_l1_fix_time: 1.0898, d1.loss_plan_l1_fix_dist: 0.1854, d2.loss_plan_l1_fix_time: 1.0828, d2.loss_plan_l1_fix_dist: 0.1918, d3.loss_plan_l1_fix_time: 1.0872, d3.loss_plan_l1_fix_dist: 0.2057, d4.loss_plan_l1_fix_time: 1.0908, d4.loss_plan_l1_fix_dist: 0.2220, d5.loss_plan_l1_fix_time: 1.0950, d5.loss_plan_l1_fix_dist: 0.2388, d6.loss_plan_l1_fix_time: 1.1001, d6.loss_plan_l1_fix_dist: 0.2551, d0.loss_cls_all: 0.2405, d0.loss_bbox_all: 0.4465, d0.loss_cls: 0.2405, d0.loss_bbox: 0.4465, d1.loss_cls: 0.2335, d1.loss_bbox: 0.4117, d2.loss_cls: 0.2180, d2.loss_bbox: 0.3999, d3.loss_cls: 0.2102, d3.loss_bbox: 0.3901, d4.loss_cls: 0.2037, d4.loss_bbox: 0.3887, d5.loss_cls: 0.2018, d5.loss_bbox: 0.3888, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9723, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8202, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7599, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7536, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7513, d5.loss_traj_cls: 0.0009, d5.loss_traj: 0.7551, d0.loss_map_cls_all: 0.2749, d0.loss_map_pts_all: 1.6364, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2749, d0.loss_map_pts: 1.6364, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2466, d1.loss_map_pts: 1.1407, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2299, d2.loss_map_pts: 0.9539, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.2174, d3.loss_map_pts: 0.8839, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.2102, d4.loss_map_pts: 0.8604, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.2056, d5.loss_map_pts: 0.8524, d5.loss_map_dir: 0.0110, loss: 32.1734, grad_norm: 163.6757 +2026-02-25 22:12:43,088 - DriveTransformer - INFO - Epoch [5][38000/39528] lr: 9.337e-05, eta: 7 days, 0:33:38, time: 0.846, data_time: 0.043, memory: 19865, loss_cls: 0.2311, loss_bbox: 0.4194, loss_traj: 0.7310, loss_traj_cls: 0.0009, loss_map_cls: 0.1981, loss_map_pts: 0.8858, loss_map_dir: 0.0147, d0.loss_plan_l1_fix_time: 2.6455, d0.loss_plan_l1_fix_dist: 0.3692, d1.loss_plan_l1_fix_time: 1.2354, d1.loss_plan_l1_fix_dist: 0.2201, d2.loss_plan_l1_fix_time: 1.2169, d2.loss_plan_l1_fix_dist: 0.2314, d3.loss_plan_l1_fix_time: 1.2210, d3.loss_plan_l1_fix_dist: 0.2480, d4.loss_plan_l1_fix_time: 1.2260, d4.loss_plan_l1_fix_dist: 0.2692, d5.loss_plan_l1_fix_time: 1.2312, d5.loss_plan_l1_fix_dist: 0.2922, d6.loss_plan_l1_fix_time: 1.2366, d6.loss_plan_l1_fix_dist: 0.3179, d0.loss_cls_all: 0.2648, d0.loss_bbox_all: 0.4733, d0.loss_cls: 0.2648, d0.loss_bbox: 0.4733, d1.loss_cls: 0.2568, d1.loss_bbox: 0.4430, d2.loss_cls: 0.2474, d2.loss_bbox: 0.4256, d3.loss_cls: 0.2378, d3.loss_bbox: 0.4221, d4.loss_cls: 0.2317, d4.loss_bbox: 0.4192, d5.loss_cls: 0.2310, d5.loss_bbox: 0.4190, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9041, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7608, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7250, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7261, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7257, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7278, d0.loss_map_cls_all: 0.2725, d0.loss_map_pts_all: 1.7630, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.2725, d0.loss_map_pts: 1.7630, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2474, d1.loss_map_pts: 1.1625, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2255, d2.loss_map_pts: 0.9655, d2.loss_map_dir: 0.0134, d3.loss_map_cls: 0.2123, d3.loss_map_pts: 0.9059, d3.loss_map_dir: 0.0142, d4.loss_map_cls: 0.2038, d4.loss_map_pts: 0.8889, d4.loss_map_dir: 0.0144, d5.loss_map_cls: 0.1991, d5.loss_map_pts: 0.8862, d5.loss_map_dir: 0.0147, loss: 33.8909, grad_norm: 166.0088 +2026-02-25 22:13:22,473 - DriveTransformer - INFO - Epoch [5][38050/39528] lr: 9.337e-05, eta: 7 days, 0:32:54, time: 0.788, data_time: 0.045, memory: 19865, loss_cls: 0.1901, loss_bbox: 0.3905, loss_traj: 0.8173, loss_traj_cls: 0.0009, loss_map_cls: 0.2057, loss_map_pts: 0.7481, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.5589, d0.loss_plan_l1_fix_dist: 0.3736, d1.loss_plan_l1_fix_time: 1.2829, d1.loss_plan_l1_fix_dist: 0.1988, d2.loss_plan_l1_fix_time: 1.2689, d2.loss_plan_l1_fix_dist: 0.2038, d3.loss_plan_l1_fix_time: 1.2809, d3.loss_plan_l1_fix_dist: 0.2123, d4.loss_plan_l1_fix_time: 1.2891, d4.loss_plan_l1_fix_dist: 0.2232, d5.loss_plan_l1_fix_time: 1.2969, d5.loss_plan_l1_fix_dist: 0.2366, d6.loss_plan_l1_fix_time: 1.3051, d6.loss_plan_l1_fix_dist: 0.2507, d0.loss_cls_all: 0.2219, d0.loss_bbox_all: 0.4399, d0.loss_cls: 0.2219, d0.loss_bbox: 0.4399, d1.loss_cls: 0.2151, d1.loss_bbox: 0.4108, d2.loss_cls: 0.2046, d2.loss_bbox: 0.3920, d3.loss_cls: 0.1951, d3.loss_bbox: 0.3890, d4.loss_cls: 0.1918, d4.loss_bbox: 0.3888, d5.loss_cls: 0.1889, d5.loss_bbox: 0.3893, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0361, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8397, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8036, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8109, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8073, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8145, d0.loss_map_cls_all: 0.2569, d0.loss_map_pts_all: 1.4268, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2569, d0.loss_map_pts: 1.4268, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2360, d1.loss_map_pts: 0.9887, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.2252, d2.loss_map_pts: 0.8307, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.2176, d3.loss_map_pts: 0.7748, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.2123, d4.loss_map_pts: 0.7563, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.2056, d5.loss_map_pts: 0.7489, d5.loss_map_dir: 0.0097, loss: 32.3780, grad_norm: 166.4791 +2026-02-25 22:14:04,017 - DriveTransformer - INFO - Epoch [5][38100/39528] lr: 9.337e-05, eta: 7 days, 0:32:19, time: 0.831, data_time: 0.047, memory: 19865, loss_cls: 0.2137, loss_bbox: 0.4137, loss_traj: 0.8484, loss_traj_cls: 0.0010, loss_map_cls: 0.1903, loss_map_pts: 0.7813, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.7597, d0.loss_plan_l1_fix_dist: 0.3462, d1.loss_plan_l1_fix_time: 1.2786, d1.loss_plan_l1_fix_dist: 0.1901, d2.loss_plan_l1_fix_time: 1.2508, d2.loss_plan_l1_fix_dist: 0.1986, d3.loss_plan_l1_fix_time: 1.2445, d3.loss_plan_l1_fix_dist: 0.2104, d4.loss_plan_l1_fix_time: 1.2481, d4.loss_plan_l1_fix_dist: 0.2248, d5.loss_plan_l1_fix_time: 1.2526, d5.loss_plan_l1_fix_dist: 0.2417, d6.loss_plan_l1_fix_time: 1.2585, d6.loss_plan_l1_fix_dist: 0.2610, d0.loss_cls_all: 0.2531, d0.loss_bbox_all: 0.4658, d0.loss_cls: 0.2531, d0.loss_bbox: 0.4658, d1.loss_cls: 0.2412, d1.loss_bbox: 0.4388, d2.loss_cls: 0.2276, d2.loss_bbox: 0.4234, d3.loss_cls: 0.2210, d3.loss_bbox: 0.4187, d4.loss_cls: 0.2159, d4.loss_bbox: 0.4168, d5.loss_cls: 0.2145, d5.loss_bbox: 0.4145, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0386, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8957, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8537, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8528, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8414, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8466, d0.loss_map_cls_all: 0.2575, d0.loss_map_pts_all: 1.5413, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2575, d0.loss_map_pts: 1.5413, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2312, d1.loss_map_pts: 1.0498, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2141, d2.loss_map_pts: 0.8759, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2003, d3.loss_map_pts: 0.8088, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1945, d4.loss_map_pts: 0.7877, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.1927, d5.loss_map_pts: 0.7813, d5.loss_map_dir: 0.0119, loss: 33.4449, grad_norm: 164.4608 +2026-02-25 22:14:43,375 - DriveTransformer - INFO - Epoch [5][38150/39528] lr: 9.337e-05, eta: 7 days, 0:31:35, time: 0.787, data_time: 0.048, memory: 19865, loss_cls: 0.1855, loss_bbox: 0.4061, loss_traj: 0.7887, loss_traj_cls: 0.0010, loss_map_cls: 0.2100, loss_map_pts: 0.7632, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.5737, d0.loss_plan_l1_fix_dist: 0.4425, d1.loss_plan_l1_fix_time: 1.2178, d1.loss_plan_l1_fix_dist: 0.1877, d2.loss_plan_l1_fix_time: 1.2015, d2.loss_plan_l1_fix_dist: 0.1917, d3.loss_plan_l1_fix_time: 1.2024, d3.loss_plan_l1_fix_dist: 0.2011, d4.loss_plan_l1_fix_time: 1.2065, d4.loss_plan_l1_fix_dist: 0.2128, d5.loss_plan_l1_fix_time: 1.2110, d5.loss_plan_l1_fix_dist: 0.2237, d6.loss_plan_l1_fix_time: 1.2164, d6.loss_plan_l1_fix_dist: 0.2373, d0.loss_cls_all: 0.2277, d0.loss_bbox_all: 0.4594, d0.loss_cls: 0.2277, d0.loss_bbox: 0.4594, d1.loss_cls: 0.2216, d1.loss_bbox: 0.4291, d2.loss_cls: 0.2051, d2.loss_bbox: 0.4140, d3.loss_cls: 0.1946, d3.loss_bbox: 0.4074, d4.loss_cls: 0.1873, d4.loss_bbox: 0.4072, d5.loss_cls: 0.1858, d5.loss_bbox: 0.4047, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9736, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8143, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7972, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7914, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7920, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7918, d0.loss_map_cls_all: 0.2626, d0.loss_map_pts_all: 1.4673, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2626, d0.loss_map_pts: 1.4673, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2392, d1.loss_map_pts: 1.0060, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.2263, d2.loss_map_pts: 0.8432, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.2189, d3.loss_map_pts: 0.7858, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.2143, d4.loss_map_pts: 0.7664, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.2109, d5.loss_map_pts: 0.7635, d5.loss_map_dir: 0.0100, loss: 32.0894, grad_norm: 165.3922 +2026-02-25 22:15:22,751 - DriveTransformer - INFO - Epoch [5][38200/39528] lr: 9.337e-05, eta: 7 days, 0:30:51, time: 0.788, data_time: 0.039, memory: 19865, loss_cls: 0.2167, loss_bbox: 0.4033, loss_traj: 0.7958, loss_traj_cls: 0.0009, loss_map_cls: 0.1990, loss_map_pts: 0.8126, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 3.0454, d0.loss_plan_l1_fix_dist: 0.4725, d1.loss_plan_l1_fix_time: 1.2779, d1.loss_plan_l1_fix_dist: 0.2082, d2.loss_plan_l1_fix_time: 1.2606, d2.loss_plan_l1_fix_dist: 0.2141, d3.loss_plan_l1_fix_time: 1.2627, d3.loss_plan_l1_fix_dist: 0.2240, d4.loss_plan_l1_fix_time: 1.2671, d4.loss_plan_l1_fix_dist: 0.2362, d5.loss_plan_l1_fix_time: 1.2723, d5.loss_plan_l1_fix_dist: 0.2499, d6.loss_plan_l1_fix_time: 1.2780, d6.loss_plan_l1_fix_dist: 0.2610, d0.loss_cls_all: 0.2506, d0.loss_bbox_all: 0.4548, d0.loss_cls: 0.2506, d0.loss_bbox: 0.4548, d1.loss_cls: 0.2519, d1.loss_bbox: 0.4263, d2.loss_cls: 0.2341, d2.loss_bbox: 0.4114, d3.loss_cls: 0.2274, d3.loss_bbox: 0.4031, d4.loss_cls: 0.2195, d4.loss_bbox: 0.4026, d5.loss_cls: 0.2175, d5.loss_bbox: 0.4008, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0104, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8511, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8147, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8030, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8025, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8003, d0.loss_map_cls_all: 0.2637, d0.loss_map_pts_all: 1.5896, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2637, d0.loss_map_pts: 1.5896, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2368, d1.loss_map_pts: 1.1077, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2183, d2.loss_map_pts: 0.9165, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.2095, d3.loss_map_pts: 0.8470, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.2034, d4.loss_map_pts: 0.8209, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1994, d5.loss_map_pts: 0.8118, d5.loss_map_dir: 0.0115, loss: 34.0178, grad_norm: 165.2414 +2026-02-25 22:16:01,801 - DriveTransformer - INFO - Epoch [5][38250/39528] lr: 9.337e-05, eta: 7 days, 0:30:06, time: 0.781, data_time: 0.039, memory: 19865, loss_cls: 0.2507, loss_bbox: 0.4252, loss_traj: 0.8285, loss_traj_cls: 0.0009, loss_map_cls: 0.2519, loss_map_pts: 0.9422, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 3.1042, d0.loss_plan_l1_fix_dist: 0.3678, d1.loss_plan_l1_fix_time: 1.2724, d1.loss_plan_l1_fix_dist: 0.2043, d2.loss_plan_l1_fix_time: 1.2566, d2.loss_plan_l1_fix_dist: 0.2092, d3.loss_plan_l1_fix_time: 1.2553, d3.loss_plan_l1_fix_dist: 0.2214, d4.loss_plan_l1_fix_time: 1.2582, d4.loss_plan_l1_fix_dist: 0.2335, d5.loss_plan_l1_fix_time: 1.2618, d5.loss_plan_l1_fix_dist: 0.2479, d6.loss_plan_l1_fix_time: 1.2658, d6.loss_plan_l1_fix_dist: 0.2646, d0.loss_cls_all: 0.2816, d0.loss_bbox_all: 0.5037, d0.loss_cls: 0.2816, d0.loss_bbox: 0.5037, d1.loss_cls: 0.2745, d1.loss_bbox: 0.4597, d2.loss_cls: 0.2603, d2.loss_bbox: 0.4412, d3.loss_cls: 0.2532, d3.loss_bbox: 0.4300, d4.loss_cls: 0.2476, d4.loss_bbox: 0.4258, d5.loss_cls: 0.2486, d5.loss_bbox: 0.4247, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0657, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8916, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8615, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8392, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8297, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8357, d0.loss_map_cls_all: 0.3102, d0.loss_map_pts_all: 1.6888, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.3102, d0.loss_map_pts: 1.6888, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2904, d1.loss_map_pts: 1.2404, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.2721, d2.loss_map_pts: 1.0521, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.2622, d3.loss_map_pts: 0.9776, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.2574, d4.loss_map_pts: 0.9514, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.2532, d5.loss_map_pts: 0.9446, d5.loss_map_dir: 0.0106, loss: 36.0689, grad_norm: 164.5359 +2026-02-25 22:16:40,792 - DriveTransformer - INFO - Epoch [5][38300/39528] lr: 9.337e-05, eta: 7 days, 0:29:20, time: 0.780, data_time: 0.041, memory: 19865, loss_cls: 0.2113, loss_bbox: 0.4040, loss_traj: 0.9593, loss_traj_cls: 0.0010, loss_map_cls: 0.1658, loss_map_pts: 0.7410, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.8847, d0.loss_plan_l1_fix_dist: 0.4317, d1.loss_plan_l1_fix_time: 1.3447, d1.loss_plan_l1_fix_dist: 0.1950, d2.loss_plan_l1_fix_time: 1.3271, d2.loss_plan_l1_fix_dist: 0.2002, d3.loss_plan_l1_fix_time: 1.3299, d3.loss_plan_l1_fix_dist: 0.2113, d4.loss_plan_l1_fix_time: 1.3328, d4.loss_plan_l1_fix_dist: 0.2241, d5.loss_plan_l1_fix_time: 1.3362, d5.loss_plan_l1_fix_dist: 0.2388, d6.loss_plan_l1_fix_time: 1.3405, d6.loss_plan_l1_fix_dist: 0.2595, d0.loss_cls_all: 0.2402, d0.loss_bbox_all: 0.4711, d0.loss_cls: 0.2402, d0.loss_bbox: 0.4711, d1.loss_cls: 0.2317, d1.loss_bbox: 0.4359, d2.loss_cls: 0.2211, d2.loss_bbox: 0.4178, d3.loss_cls: 0.2139, d3.loss_bbox: 0.4090, d4.loss_cls: 0.2106, d4.loss_bbox: 0.4058, d5.loss_cls: 0.2099, d5.loss_bbox: 0.4041, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2685, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0283, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.9756, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9677, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9684, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.9630, d0.loss_map_cls_all: 0.2410, d0.loss_map_pts_all: 1.3697, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2410, d0.loss_map_pts: 1.3697, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2080, d1.loss_map_pts: 0.9868, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1870, d2.loss_map_pts: 0.8405, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1804, d3.loss_map_pts: 0.7782, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1717, d4.loss_map_pts: 0.7555, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1672, d5.loss_map_pts: 0.7435, d5.loss_map_dir: 0.0088, loss: 34.2062, grad_norm: 164.4964 +2026-02-25 22:17:22,680 - DriveTransformer - INFO - Epoch [5][38350/39528] lr: 9.337e-05, eta: 7 days, 0:28:46, time: 0.838, data_time: 0.047, memory: 19865, loss_cls: 0.1952, loss_bbox: 0.4001, loss_traj: 0.7591, loss_traj_cls: 0.0010, loss_map_cls: 0.1781, loss_map_pts: 0.7832, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.5831, d0.loss_plan_l1_fix_dist: 0.4373, d1.loss_plan_l1_fix_time: 1.4051, d1.loss_plan_l1_fix_dist: 0.1971, d2.loss_plan_l1_fix_time: 1.3881, d2.loss_plan_l1_fix_dist: 0.2024, d3.loss_plan_l1_fix_time: 1.3862, d3.loss_plan_l1_fix_dist: 0.2125, d4.loss_plan_l1_fix_time: 1.3884, d4.loss_plan_l1_fix_dist: 0.2263, d5.loss_plan_l1_fix_time: 1.3913, d5.loss_plan_l1_fix_dist: 0.2433, d6.loss_plan_l1_fix_time: 1.3956, d6.loss_plan_l1_fix_dist: 0.2591, d0.loss_cls_all: 0.2268, d0.loss_bbox_all: 0.4607, d0.loss_cls: 0.2268, d0.loss_bbox: 0.4607, d1.loss_cls: 0.2220, d1.loss_bbox: 0.4275, d2.loss_cls: 0.2092, d2.loss_bbox: 0.4089, d3.loss_cls: 0.2018, d3.loss_bbox: 0.4019, d4.loss_cls: 0.1981, d4.loss_bbox: 0.3992, d5.loss_cls: 0.1961, d5.loss_bbox: 0.3990, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0058, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8266, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7724, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7638, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7574, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7600, d0.loss_map_cls_all: 0.2499, d0.loss_map_pts_all: 1.5249, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2499, d0.loss_map_pts: 1.5249, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2177, d1.loss_map_pts: 1.0576, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.2018, d2.loss_map_pts: 0.8861, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1909, d3.loss_map_pts: 0.8204, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1826, d4.loss_map_pts: 0.7951, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1790, d5.loss_map_pts: 0.7873, d5.loss_map_dir: 0.0099, loss: 33.3075, grad_norm: 163.4744 +2026-02-25 22:18:03,903 - DriveTransformer - INFO - Epoch [5][38400/39528] lr: 9.337e-05, eta: 7 days, 0:28:09, time: 0.826, data_time: 0.044, memory: 19865, loss_cls: 0.1938, loss_bbox: 0.4234, loss_traj: 0.5595, loss_traj_cls: 0.0010, loss_map_cls: 0.2060, loss_map_pts: 0.8653, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.5668, d0.loss_plan_l1_fix_dist: 0.4088, d1.loss_plan_l1_fix_time: 1.2715, d1.loss_plan_l1_fix_dist: 0.1894, d2.loss_plan_l1_fix_time: 1.2622, d2.loss_plan_l1_fix_dist: 0.1987, d3.loss_plan_l1_fix_time: 1.2686, d3.loss_plan_l1_fix_dist: 0.2139, d4.loss_plan_l1_fix_time: 1.2729, d4.loss_plan_l1_fix_dist: 0.2310, d5.loss_plan_l1_fix_time: 1.2776, d5.loss_plan_l1_fix_dist: 0.2500, d6.loss_plan_l1_fix_time: 1.2831, d6.loss_plan_l1_fix_dist: 0.2677, d0.loss_cls_all: 0.2291, d0.loss_bbox_all: 0.4756, d0.loss_cls: 0.2291, d0.loss_bbox: 0.4756, d1.loss_cls: 0.2226, d1.loss_bbox: 0.4423, d2.loss_cls: 0.2089, d2.loss_bbox: 0.4278, d3.loss_cls: 0.2006, d3.loss_bbox: 0.4239, d4.loss_cls: 0.1936, d4.loss_bbox: 0.4243, d5.loss_cls: 0.1940, d5.loss_bbox: 0.4237, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7225, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6085, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5698, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5612, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5567, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5576, d0.loss_map_cls_all: 0.2741, d0.loss_map_pts_all: 1.7672, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2741, d0.loss_map_pts: 1.7672, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2466, d1.loss_map_pts: 1.1797, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2280, d2.loss_map_pts: 0.9747, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.2192, d3.loss_map_pts: 0.9011, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2107, d4.loss_map_pts: 0.8727, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.2081, d5.loss_map_pts: 0.8655, d5.loss_map_dir: 0.0127, loss: 32.4506, grad_norm: 162.4740 +2026-02-25 22:18:44,684 - DriveTransformer - INFO - Epoch [5][38450/39528] lr: 9.337e-05, eta: 7 days, 0:27:30, time: 0.814, data_time: 0.046, memory: 19865, loss_cls: 0.2058, loss_bbox: 0.4037, loss_traj: 0.6261, loss_traj_cls: 0.0010, loss_map_cls: 0.2149, loss_map_pts: 0.8908, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.6091, d0.loss_plan_l1_fix_dist: 0.4628, d1.loss_plan_l1_fix_time: 1.3640, d1.loss_plan_l1_fix_dist: 0.2008, d2.loss_plan_l1_fix_time: 1.3629, d2.loss_plan_l1_fix_dist: 0.2089, d3.loss_plan_l1_fix_time: 1.3687, d3.loss_plan_l1_fix_dist: 0.2220, d4.loss_plan_l1_fix_time: 1.3724, d4.loss_plan_l1_fix_dist: 0.2364, d5.loss_plan_l1_fix_time: 1.3764, d5.loss_plan_l1_fix_dist: 0.2521, d6.loss_plan_l1_fix_time: 1.3816, d6.loss_plan_l1_fix_dist: 0.2700, d0.loss_cls_all: 0.2376, d0.loss_bbox_all: 0.4588, d0.loss_cls: 0.2376, d0.loss_bbox: 0.4588, d1.loss_cls: 0.2343, d1.loss_bbox: 0.4273, d2.loss_cls: 0.2187, d2.loss_bbox: 0.4132, d3.loss_cls: 0.2076, d3.loss_bbox: 0.4046, d4.loss_cls: 0.2049, d4.loss_bbox: 0.4023, d5.loss_cls: 0.2064, d5.loss_bbox: 0.4028, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8141, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6766, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6264, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6179, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6192, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6235, d0.loss_map_cls_all: 0.2710, d0.loss_map_pts_all: 1.7048, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2710, d0.loss_map_pts: 1.7048, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2513, d1.loss_map_pts: 1.2006, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2324, d2.loss_map_pts: 0.9964, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2222, d3.loss_map_pts: 0.9267, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.2189, d4.loss_map_pts: 0.8992, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.2159, d5.loss_map_pts: 0.8920, d5.loss_map_dir: 0.0121, loss: 33.6293, grad_norm: 160.1544 +2026-02-25 22:19:25,038 - DriveTransformer - INFO - Epoch [5][38500/39528] lr: 9.337e-05, eta: 7 days, 0:26:50, time: 0.807, data_time: 0.046, memory: 19865, loss_cls: 0.2324, loss_bbox: 0.4105, loss_traj: 0.8361, loss_traj_cls: 0.0010, loss_map_cls: 0.1863, loss_map_pts: 0.7258, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.4858, d0.loss_plan_l1_fix_dist: 0.3983, d1.loss_plan_l1_fix_time: 1.3108, d1.loss_plan_l1_fix_dist: 0.1827, d2.loss_plan_l1_fix_time: 1.3025, d2.loss_plan_l1_fix_dist: 0.1905, d3.loss_plan_l1_fix_time: 1.3043, d3.loss_plan_l1_fix_dist: 0.2005, d4.loss_plan_l1_fix_time: 1.3086, d4.loss_plan_l1_fix_dist: 0.2124, d5.loss_plan_l1_fix_time: 1.3135, d5.loss_plan_l1_fix_dist: 0.2244, d6.loss_plan_l1_fix_time: 1.3193, d6.loss_plan_l1_fix_dist: 0.2377, d0.loss_cls_all: 0.2647, d0.loss_bbox_all: 0.4625, d0.loss_cls: 0.2647, d0.loss_bbox: 0.4625, d1.loss_cls: 0.2589, d1.loss_bbox: 0.4325, d2.loss_cls: 0.2458, d2.loss_bbox: 0.4153, d3.loss_cls: 0.2391, d3.loss_bbox: 0.4085, d4.loss_cls: 0.2320, d4.loss_bbox: 0.4099, d5.loss_cls: 0.2319, d5.loss_bbox: 0.4105, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0408, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8860, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8343, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8296, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8287, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8357, d0.loss_map_cls_all: 0.2577, d0.loss_map_pts_all: 1.3577, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2577, d0.loss_map_pts: 1.3577, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2302, d1.loss_map_pts: 0.9508, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.2104, d2.loss_map_pts: 0.7959, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.2001, d3.loss_map_pts: 0.7383, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1912, d4.loss_map_pts: 0.7283, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1876, d5.loss_map_pts: 0.7236, d5.loss_map_dir: 0.0106, loss: 32.6501, grad_norm: 161.5285 +2026-02-25 22:20:06,130 - DriveTransformer - INFO - Epoch [5][38550/39528] lr: 9.337e-05, eta: 7 days, 0:26:13, time: 0.822, data_time: 0.041, memory: 19865, loss_cls: 0.2068, loss_bbox: 0.3901, loss_traj: 0.7295, loss_traj_cls: 0.0010, loss_map_cls: 0.1825, loss_map_pts: 0.7456, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.7203, d0.loss_plan_l1_fix_dist: 0.5107, d1.loss_plan_l1_fix_time: 1.0974, d1.loss_plan_l1_fix_dist: 0.2335, d2.loss_plan_l1_fix_time: 1.0741, d2.loss_plan_l1_fix_dist: 0.2364, d3.loss_plan_l1_fix_time: 1.0742, d3.loss_plan_l1_fix_dist: 0.2471, d4.loss_plan_l1_fix_time: 1.0793, d4.loss_plan_l1_fix_dist: 0.2594, d5.loss_plan_l1_fix_time: 1.0846, d5.loss_plan_l1_fix_dist: 0.2738, d6.loss_plan_l1_fix_time: 1.0896, d6.loss_plan_l1_fix_dist: 0.2911, d0.loss_cls_all: 0.2339, d0.loss_bbox_all: 0.4415, d0.loss_cls: 0.2339, d0.loss_bbox: 0.4415, d1.loss_cls: 0.2277, d1.loss_bbox: 0.4129, d2.loss_cls: 0.2164, d2.loss_bbox: 0.3967, d3.loss_cls: 0.2104, d3.loss_bbox: 0.3902, d4.loss_cls: 0.2069, d4.loss_bbox: 0.3895, d5.loss_cls: 0.2064, d5.loss_bbox: 0.3897, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9187, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7661, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7250, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7134, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7180, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7218, d0.loss_map_cls_all: 0.2496, d0.loss_map_pts_all: 1.5263, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2496, d0.loss_map_pts: 1.5263, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2193, d1.loss_map_pts: 1.0516, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2035, d2.loss_map_pts: 0.8589, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.1963, d3.loss_map_pts: 0.7782, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1883, d4.loss_map_pts: 0.7521, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1838, d5.loss_map_pts: 0.7472, d5.loss_map_dir: 0.0117, loss: 31.3155, grad_norm: 160.7483 +2026-02-25 22:20:48,187 - DriveTransformer - INFO - Epoch [5][38600/39528] lr: 9.337e-05, eta: 7 days, 0:25:39, time: 0.841, data_time: 0.039, memory: 19865, loss_cls: 0.2019, loss_bbox: 0.4032, loss_traj: 0.6382, loss_traj_cls: 0.0010, loss_map_cls: 0.1813, loss_map_pts: 0.8643, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.4824, d0.loss_plan_l1_fix_dist: 0.5004, d1.loss_plan_l1_fix_time: 0.9807, d1.loss_plan_l1_fix_dist: 0.2111, d2.loss_plan_l1_fix_time: 0.9584, d2.loss_plan_l1_fix_dist: 0.2158, d3.loss_plan_l1_fix_time: 0.9628, d3.loss_plan_l1_fix_dist: 0.2291, d4.loss_plan_l1_fix_time: 0.9672, d4.loss_plan_l1_fix_dist: 0.2460, d5.loss_plan_l1_fix_time: 0.9714, d5.loss_plan_l1_fix_dist: 0.2637, d6.loss_plan_l1_fix_time: 0.9755, d6.loss_plan_l1_fix_dist: 0.2824, d0.loss_cls_all: 0.2382, d0.loss_bbox_all: 0.4581, d0.loss_cls: 0.2382, d0.loss_bbox: 0.4581, d1.loss_cls: 0.2322, d1.loss_bbox: 0.4281, d2.loss_cls: 0.2183, d2.loss_bbox: 0.4103, d3.loss_cls: 0.2074, d3.loss_bbox: 0.4053, d4.loss_cls: 0.2011, d4.loss_bbox: 0.4046, d5.loss_cls: 0.2011, d5.loss_bbox: 0.4042, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8849, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7056, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6526, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6397, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6372, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6361, d0.loss_map_cls_all: 0.2486, d0.loss_map_pts_all: 1.7543, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2486, d0.loss_map_pts: 1.7543, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2170, d1.loss_map_pts: 1.1727, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2033, d2.loss_map_pts: 0.9625, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.1949, d3.loss_map_pts: 0.8918, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.1891, d4.loss_map_pts: 0.8692, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.1848, d5.loss_map_pts: 0.8642, d5.loss_map_dir: 0.0128, loss: 31.0573, grad_norm: 162.1628 +2026-02-25 22:21:27,895 - DriveTransformer - INFO - Epoch [5][38650/39528] lr: 9.337e-05, eta: 7 days, 0:24:57, time: 0.794, data_time: 0.047, memory: 19865, loss_cls: 0.2177, loss_bbox: 0.4083, loss_traj: 0.9519, loss_traj_cls: 0.0009, loss_map_cls: 0.2119, loss_map_pts: 0.8251, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.7324, d0.loss_plan_l1_fix_dist: 0.4077, d1.loss_plan_l1_fix_time: 1.3638, d1.loss_plan_l1_fix_dist: 0.2306, d2.loss_plan_l1_fix_time: 1.3579, d2.loss_plan_l1_fix_dist: 0.2418, d3.loss_plan_l1_fix_time: 1.3656, d3.loss_plan_l1_fix_dist: 0.2602, d4.loss_plan_l1_fix_time: 1.3701, d4.loss_plan_l1_fix_dist: 0.2819, d5.loss_plan_l1_fix_time: 1.3750, d5.loss_plan_l1_fix_dist: 0.3074, d6.loss_plan_l1_fix_time: 1.3814, d6.loss_plan_l1_fix_dist: 0.3328, d0.loss_cls_all: 0.2492, d0.loss_bbox_all: 0.4641, d0.loss_cls: 0.2492, d0.loss_bbox: 0.4641, d1.loss_cls: 0.2441, d1.loss_bbox: 0.4321, d2.loss_cls: 0.2334, d2.loss_bbox: 0.4152, d3.loss_cls: 0.2254, d3.loss_bbox: 0.4104, d4.loss_cls: 0.2193, d4.loss_bbox: 0.4089, d5.loss_cls: 0.2183, d5.loss_bbox: 0.4079, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2563, d1.loss_traj_cls: 0.0010, d1.loss_traj: 1.0214, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.9634, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9534, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9519, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9492, d0.loss_map_cls_all: 0.2745, d0.loss_map_pts_all: 1.5607, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2745, d0.loss_map_pts: 1.5607, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2529, d1.loss_map_pts: 1.0927, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.2356, d2.loss_map_pts: 0.9188, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.2252, d3.loss_map_pts: 0.8546, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.2188, d4.loss_map_pts: 0.8338, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.2149, d5.loss_map_pts: 0.8254, d5.loss_map_dir: 0.0107, loss: 35.7924, grad_norm: 163.6682 +2026-02-25 22:22:09,352 - DriveTransformer - INFO - Epoch [5][38700/39528] lr: 9.337e-05, eta: 7 days, 0:24:21, time: 0.829, data_time: 0.046, memory: 19865, loss_cls: 0.2157, loss_bbox: 0.3922, loss_traj: 0.7518, loss_traj_cls: 0.0010, loss_map_cls: 0.1962, loss_map_pts: 0.9065, loss_map_dir: 0.0139, d0.loss_plan_l1_fix_time: 2.4209, d0.loss_plan_l1_fix_dist: 0.3787, d1.loss_plan_l1_fix_time: 1.2685, d1.loss_plan_l1_fix_dist: 0.2040, d2.loss_plan_l1_fix_time: 1.2521, d2.loss_plan_l1_fix_dist: 0.2080, d3.loss_plan_l1_fix_time: 1.2558, d3.loss_plan_l1_fix_dist: 0.2184, d4.loss_plan_l1_fix_time: 1.2600, d4.loss_plan_l1_fix_dist: 0.2328, d5.loss_plan_l1_fix_time: 1.2646, d5.loss_plan_l1_fix_dist: 0.2492, d6.loss_plan_l1_fix_time: 1.2694, d6.loss_plan_l1_fix_dist: 0.2695, d0.loss_cls_all: 0.2462, d0.loss_bbox_all: 0.4529, d0.loss_cls: 0.2462, d0.loss_bbox: 0.4529, d1.loss_cls: 0.2440, d1.loss_bbox: 0.4191, d2.loss_cls: 0.2315, d2.loss_bbox: 0.4014, d3.loss_cls: 0.2223, d3.loss_bbox: 0.3934, d4.loss_cls: 0.2167, d4.loss_bbox: 0.3924, d5.loss_cls: 0.2154, d5.loss_bbox: 0.3923, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9459, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7949, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7532, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7478, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7479, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7489, d0.loss_map_cls_all: 0.2707, d0.loss_map_pts_all: 1.8491, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.2707, d0.loss_map_pts: 1.8491, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2389, d1.loss_map_pts: 1.2434, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2209, d2.loss_map_pts: 1.0246, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2129, d3.loss_map_pts: 0.9429, d3.loss_map_dir: 0.0132, d4.loss_map_cls: 0.2040, d4.loss_map_pts: 0.9149, d4.loss_map_dir: 0.0138, d5.loss_map_cls: 0.1991, d5.loss_map_pts: 0.9066, d5.loss_map_dir: 0.0139, loss: 33.9390, grad_norm: 158.4402 +2026-02-25 22:22:49,708 - DriveTransformer - INFO - Epoch [5][38750/39528] lr: 9.337e-05, eta: 7 days, 0:23:40, time: 0.807, data_time: 0.044, memory: 19865, loss_cls: 0.2193, loss_bbox: 0.4368, loss_traj: 0.9536, loss_traj_cls: 0.0009, loss_map_cls: 0.2147, loss_map_pts: 0.8619, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.9422, d0.loss_plan_l1_fix_dist: 0.3814, d1.loss_plan_l1_fix_time: 1.4046, d1.loss_plan_l1_fix_dist: 0.2012, d2.loss_plan_l1_fix_time: 1.3987, d2.loss_plan_l1_fix_dist: 0.2106, d3.loss_plan_l1_fix_time: 1.4051, d3.loss_plan_l1_fix_dist: 0.2275, d4.loss_plan_l1_fix_time: 1.4109, d4.loss_plan_l1_fix_dist: 0.2467, d5.loss_plan_l1_fix_time: 1.4164, d5.loss_plan_l1_fix_dist: 0.2658, d6.loss_plan_l1_fix_time: 1.4214, d6.loss_plan_l1_fix_dist: 0.2882, d0.loss_cls_all: 0.2516, d0.loss_bbox_all: 0.5015, d0.loss_cls: 0.2516, d0.loss_bbox: 0.5015, d1.loss_cls: 0.2470, d1.loss_bbox: 0.4690, d2.loss_cls: 0.2341, d2.loss_bbox: 0.4503, d3.loss_cls: 0.2240, d3.loss_bbox: 0.4413, d4.loss_cls: 0.2187, d4.loss_bbox: 0.4388, d5.loss_cls: 0.2190, d5.loss_bbox: 0.4384, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1383, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9859, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.9516, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9574, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9536, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.9568, d0.loss_map_cls_all: 0.2908, d0.loss_map_pts_all: 1.6249, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2908, d0.loss_map_pts: 1.6249, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2555, d1.loss_map_pts: 1.1650, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.2378, d2.loss_map_pts: 0.9783, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.2266, d3.loss_map_pts: 0.9029, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.2213, d4.loss_map_pts: 0.8741, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.2172, d5.loss_map_pts: 0.8642, d5.loss_map_dir: 0.0111, loss: 36.6007, grad_norm: 159.9703 +2026-02-25 22:23:29,617 - DriveTransformer - INFO - Epoch [5][38800/39528] lr: 9.337e-05, eta: 7 days, 0:22:59, time: 0.798, data_time: 0.041, memory: 19865, loss_cls: 0.1882, loss_bbox: 0.4084, loss_traj: 0.6864, loss_traj_cls: 0.0010, loss_map_cls: 0.1841, loss_map_pts: 0.8165, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.4641, d0.loss_plan_l1_fix_dist: 0.4761, d1.loss_plan_l1_fix_time: 1.1892, d1.loss_plan_l1_fix_dist: 0.2086, d2.loss_plan_l1_fix_time: 1.1783, d2.loss_plan_l1_fix_dist: 0.2148, d3.loss_plan_l1_fix_time: 1.1811, d3.loss_plan_l1_fix_dist: 0.2282, d4.loss_plan_l1_fix_time: 1.1858, d4.loss_plan_l1_fix_dist: 0.2430, d5.loss_plan_l1_fix_time: 1.1907, d5.loss_plan_l1_fix_dist: 0.2590, d6.loss_plan_l1_fix_time: 1.1956, d6.loss_plan_l1_fix_dist: 0.2756, d0.loss_cls_all: 0.2222, d0.loss_bbox_all: 0.4630, d0.loss_cls: 0.2222, d0.loss_bbox: 0.4630, d1.loss_cls: 0.2144, d1.loss_bbox: 0.4303, d2.loss_cls: 0.1983, d2.loss_bbox: 0.4167, d3.loss_cls: 0.1916, d3.loss_bbox: 0.4117, d4.loss_cls: 0.1876, d4.loss_bbox: 0.4100, d5.loss_cls: 0.1872, d5.loss_bbox: 0.4087, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8996, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7215, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6890, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6908, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6857, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6879, d0.loss_map_cls_all: 0.2522, d0.loss_map_pts_all: 1.5491, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2522, d0.loss_map_pts: 1.5491, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2190, d1.loss_map_pts: 1.0846, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2059, d2.loss_map_pts: 0.9116, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1947, d3.loss_map_pts: 0.8465, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1890, d4.loss_map_pts: 0.8231, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1855, d5.loss_map_pts: 0.8166, d5.loss_map_dir: 0.0111, loss: 31.7452, grad_norm: 159.3894 +2026-02-25 22:24:11,086 - DriveTransformer - INFO - Epoch [5][38850/39528] lr: 9.337e-05, eta: 7 days, 0:22:23, time: 0.829, data_time: 0.046, memory: 19865, loss_cls: 0.2225, loss_bbox: 0.4141, loss_traj: 0.7175, loss_traj_cls: 0.0009, loss_map_cls: 0.1886, loss_map_pts: 0.8352, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.7958, d0.loss_plan_l1_fix_dist: 0.4848, d1.loss_plan_l1_fix_time: 1.3940, d1.loss_plan_l1_fix_dist: 0.2395, d2.loss_plan_l1_fix_time: 1.3784, d2.loss_plan_l1_fix_dist: 0.2485, d3.loss_plan_l1_fix_time: 1.3692, d3.loss_plan_l1_fix_dist: 0.2625, d4.loss_plan_l1_fix_time: 1.3707, d4.loss_plan_l1_fix_dist: 0.2792, d5.loss_plan_l1_fix_time: 1.3736, d5.loss_plan_l1_fix_dist: 0.2983, d6.loss_plan_l1_fix_time: 1.3775, d6.loss_plan_l1_fix_dist: 0.3168, d0.loss_cls_all: 0.2514, d0.loss_bbox_all: 0.4677, d0.loss_cls: 0.2514, d0.loss_bbox: 0.4677, d1.loss_cls: 0.2475, d1.loss_bbox: 0.4344, d2.loss_cls: 0.2358, d2.loss_bbox: 0.4199, d3.loss_cls: 0.2294, d3.loss_bbox: 0.4121, d4.loss_cls: 0.2242, d4.loss_bbox: 0.4118, d5.loss_cls: 0.2221, d5.loss_bbox: 0.4133, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8872, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7407, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7153, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7172, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7155, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7149, d0.loss_map_cls_all: 0.2499, d0.loss_map_pts_all: 1.6993, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2499, d0.loss_map_pts: 1.6993, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2228, d1.loss_map_pts: 1.1542, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2084, d2.loss_map_pts: 0.9573, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.1996, d3.loss_map_pts: 0.8788, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.1942, d4.loss_map_pts: 0.8465, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.1899, d5.loss_map_pts: 0.8377, d5.loss_map_dir: 0.0120, loss: 34.4350, grad_norm: 152.9450 +2026-02-25 22:24:53,088 - DriveTransformer - INFO - Epoch [5][38900/39528] lr: 9.337e-05, eta: 7 days, 0:21:49, time: 0.840, data_time: 0.051, memory: 19865, loss_cls: 0.2322, loss_bbox: 0.4339, loss_traj: 0.6893, loss_traj_cls: 0.0009, loss_map_cls: 0.2108, loss_map_pts: 0.9012, loss_map_dir: 0.0130, d0.loss_plan_l1_fix_time: 2.8914, d0.loss_plan_l1_fix_dist: 0.3930, d1.loss_plan_l1_fix_time: 1.5894, d1.loss_plan_l1_fix_dist: 0.2343, d2.loss_plan_l1_fix_time: 1.5734, d2.loss_plan_l1_fix_dist: 0.2432, d3.loss_plan_l1_fix_time: 1.5672, d3.loss_plan_l1_fix_dist: 0.2572, d4.loss_plan_l1_fix_time: 1.5689, d4.loss_plan_l1_fix_dist: 0.2731, d5.loss_plan_l1_fix_time: 1.5726, d5.loss_plan_l1_fix_dist: 0.2916, d6.loss_plan_l1_fix_time: 1.5782, d6.loss_plan_l1_fix_dist: 0.3125, d0.loss_cls_all: 0.2641, d0.loss_bbox_all: 0.4935, d0.loss_cls: 0.2641, d0.loss_bbox: 0.4935, d1.loss_cls: 0.2586, d1.loss_bbox: 0.4585, d2.loss_cls: 0.2453, d2.loss_bbox: 0.4425, d3.loss_cls: 0.2387, d3.loss_bbox: 0.4337, d4.loss_cls: 0.2324, d4.loss_bbox: 0.4329, d5.loss_cls: 0.2317, d5.loss_bbox: 0.4339, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9722, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7215, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6799, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6862, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6835, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6845, d0.loss_map_cls_all: 0.2666, d0.loss_map_pts_all: 1.7118, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2666, d0.loss_map_pts: 1.7118, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2430, d1.loss_map_pts: 1.1882, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2292, d2.loss_map_pts: 1.0057, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2185, d3.loss_map_pts: 0.9402, d3.loss_map_dir: 0.0124, d4.loss_map_cls: 0.2141, d4.loss_map_pts: 0.9136, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.2118, d5.loss_map_pts: 0.9031, d5.loss_map_dir: 0.0129, loss: 36.2928, grad_norm: 152.5996 +2026-02-25 22:25:33,948 - DriveTransformer - INFO - Epoch [5][38950/39528] lr: 9.337e-05, eta: 7 days, 0:21:11, time: 0.818, data_time: 0.040, memory: 19865, loss_cls: 0.1834, loss_bbox: 0.3827, loss_traj: 0.6912, loss_traj_cls: 0.0010, loss_map_cls: 0.1713, loss_map_pts: 0.7394, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.3842, d0.loss_plan_l1_fix_dist: 0.4141, d1.loss_plan_l1_fix_time: 1.0652, d1.loss_plan_l1_fix_dist: 0.1914, d2.loss_plan_l1_fix_time: 1.0457, d2.loss_plan_l1_fix_dist: 0.2005, d3.loss_plan_l1_fix_time: 1.0448, d3.loss_plan_l1_fix_dist: 0.2181, d4.loss_plan_l1_fix_time: 1.0475, d4.loss_plan_l1_fix_dist: 0.2381, d5.loss_plan_l1_fix_time: 1.0517, d5.loss_plan_l1_fix_dist: 0.2602, d6.loss_plan_l1_fix_time: 1.0575, d6.loss_plan_l1_fix_dist: 0.2859, d0.loss_cls_all: 0.2126, d0.loss_bbox_all: 0.4396, d0.loss_cls: 0.2126, d0.loss_bbox: 0.4396, d1.loss_cls: 0.2048, d1.loss_bbox: 0.4078, d2.loss_cls: 0.1944, d2.loss_bbox: 0.3883, d3.loss_cls: 0.1868, d3.loss_bbox: 0.3815, d4.loss_cls: 0.1842, d4.loss_bbox: 0.3788, d5.loss_cls: 0.1820, d5.loss_bbox: 0.3820, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8267, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6878, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6672, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6697, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6710, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6880, d0.loss_map_cls_all: 0.2311, d0.loss_map_pts_all: 1.5340, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2311, d0.loss_map_pts: 1.5340, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2019, d1.loss_map_pts: 1.0084, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.1885, d2.loss_map_pts: 0.8339, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.1798, d3.loss_map_pts: 0.7713, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.1729, d4.loss_map_pts: 0.7517, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.1713, d5.loss_map_pts: 0.7410, d5.loss_map_dir: 0.0125, loss: 29.7322, grad_norm: 152.0999 +2026-02-25 22:26:14,659 - DriveTransformer - INFO - Epoch [5][39000/39528] lr: 9.337e-05, eta: 7 days, 0:20:32, time: 0.814, data_time: 0.046, memory: 19865, loss_cls: 0.2178, loss_bbox: 0.4201, loss_traj: 0.8732, loss_traj_cls: 0.0009, loss_map_cls: 0.2285, loss_map_pts: 0.8956, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.4790, d0.loss_plan_l1_fix_dist: 0.4096, d1.loss_plan_l1_fix_time: 1.3756, d1.loss_plan_l1_fix_dist: 0.1983, d2.loss_plan_l1_fix_time: 1.3716, d2.loss_plan_l1_fix_dist: 0.2015, d3.loss_plan_l1_fix_time: 1.3727, d3.loss_plan_l1_fix_dist: 0.2112, d4.loss_plan_l1_fix_time: 1.3752, d4.loss_plan_l1_fix_dist: 0.2249, d5.loss_plan_l1_fix_time: 1.3783, d5.loss_plan_l1_fix_dist: 0.2413, d6.loss_plan_l1_fix_time: 1.3815, d6.loss_plan_l1_fix_dist: 0.2585, d0.loss_cls_all: 0.2558, d0.loss_bbox_all: 0.4930, d0.loss_cls: 0.2558, d0.loss_bbox: 0.4930, d1.loss_cls: 0.2462, d1.loss_bbox: 0.4525, d2.loss_cls: 0.2309, d2.loss_bbox: 0.4344, d3.loss_cls: 0.2250, d3.loss_bbox: 0.4234, d4.loss_cls: 0.2197, d4.loss_bbox: 0.4213, d5.loss_cls: 0.2184, d5.loss_bbox: 0.4208, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0972, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9467, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8827, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8802, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8714, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8721, d0.loss_map_cls_all: 0.2820, d0.loss_map_pts_all: 1.6290, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2820, d0.loss_map_pts: 1.6290, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2608, d1.loss_map_pts: 1.1670, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.2496, d2.loss_map_pts: 0.9967, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.2399, d3.loss_map_pts: 0.9309, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.2354, d4.loss_map_pts: 0.9053, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.2298, d5.loss_map_pts: 0.8979, d5.loss_map_dir: 0.0110, loss: 35.4800, grad_norm: 151.6051 +2026-02-25 22:26:57,086 - DriveTransformer - INFO - Epoch [5][39050/39528] lr: 9.337e-05, eta: 7 days, 0:19:59, time: 0.849, data_time: 0.043, memory: 19865, loss_cls: 0.1863, loss_bbox: 0.3787, loss_traj: 0.6667, loss_traj_cls: 0.0009, loss_map_cls: 0.1829, loss_map_pts: 0.8021, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.2959, d0.loss_plan_l1_fix_dist: 0.4226, d1.loss_plan_l1_fix_time: 1.2067, d1.loss_plan_l1_fix_dist: 0.2050, d2.loss_plan_l1_fix_time: 1.1946, d2.loss_plan_l1_fix_dist: 0.2142, d3.loss_plan_l1_fix_time: 1.1935, d3.loss_plan_l1_fix_dist: 0.2293, d4.loss_plan_l1_fix_time: 1.1976, d4.loss_plan_l1_fix_dist: 0.2442, d5.loss_plan_l1_fix_time: 1.2022, d5.loss_plan_l1_fix_dist: 0.2596, d6.loss_plan_l1_fix_time: 1.2071, d6.loss_plan_l1_fix_dist: 0.2745, d0.loss_cls_all: 0.2087, d0.loss_bbox_all: 0.4282, d0.loss_cls: 0.2087, d0.loss_bbox: 0.4282, d1.loss_cls: 0.2063, d1.loss_bbox: 0.3992, d2.loss_cls: 0.1951, d2.loss_bbox: 0.3849, d3.loss_cls: 0.1900, d3.loss_bbox: 0.3811, d4.loss_cls: 0.1840, d4.loss_bbox: 0.3804, d5.loss_cls: 0.1846, d5.loss_bbox: 0.3795, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8529, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7030, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6678, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6658, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6668, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6676, d0.loss_map_cls_all: 0.2515, d0.loss_map_pts_all: 1.5559, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2515, d0.loss_map_pts: 1.5559, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2206, d1.loss_map_pts: 1.0760, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2064, d2.loss_map_pts: 0.9034, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.1943, d3.loss_map_pts: 0.8419, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1889, d4.loss_map_pts: 0.8137, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1832, d5.loss_map_pts: 0.8042, d5.loss_map_dir: 0.0116, loss: 31.0893, grad_norm: 153.3602 +2026-02-25 22:27:37,252 - DriveTransformer - INFO - Epoch [5][39100/39528] lr: 9.337e-05, eta: 7 days, 0:19:18, time: 0.803, data_time: 0.043, memory: 19865, loss_cls: 0.2110, loss_bbox: 0.4040, loss_traj: 0.6613, loss_traj_cls: 0.0009, loss_map_cls: 0.1854, loss_map_pts: 0.7886, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.3778, d0.loss_plan_l1_fix_dist: 0.4774, d1.loss_plan_l1_fix_time: 1.2202, d1.loss_plan_l1_fix_dist: 0.1986, d2.loss_plan_l1_fix_time: 1.2028, d2.loss_plan_l1_fix_dist: 0.2054, d3.loss_plan_l1_fix_time: 1.2025, d3.loss_plan_l1_fix_dist: 0.2174, d4.loss_plan_l1_fix_time: 1.2052, d4.loss_plan_l1_fix_dist: 0.2325, d5.loss_plan_l1_fix_time: 1.2081, d5.loss_plan_l1_fix_dist: 0.2477, d6.loss_plan_l1_fix_time: 1.2120, d6.loss_plan_l1_fix_dist: 0.2666, d0.loss_cls_all: 0.2467, d0.loss_bbox_all: 0.4522, d0.loss_cls: 0.2467, d0.loss_bbox: 0.4522, d1.loss_cls: 0.2398, d1.loss_bbox: 0.4282, d2.loss_cls: 0.2259, d2.loss_bbox: 0.4103, d3.loss_cls: 0.2181, d3.loss_bbox: 0.4042, d4.loss_cls: 0.2132, d4.loss_bbox: 0.4023, d5.loss_cls: 0.2114, d5.loss_bbox: 0.4024, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8468, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7196, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6848, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6764, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6748, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6626, d0.loss_map_cls_all: 0.2422, d0.loss_map_pts_all: 1.4524, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2422, d0.loss_map_pts: 1.4524, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2165, d1.loss_map_pts: 1.0388, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.2025, d2.loss_map_pts: 0.8832, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1950, d3.loss_map_pts: 0.8201, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1892, d4.loss_map_pts: 0.7973, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1852, d5.loss_map_pts: 0.7910, d5.loss_map_dir: 0.0105, loss: 31.3385, grad_norm: 153.6421 +2026-02-25 22:28:18,078 - DriveTransformer - INFO - Epoch [5][39150/39528] lr: 9.337e-05, eta: 7 days, 0:18:40, time: 0.817, data_time: 0.052, memory: 19865, loss_cls: 0.1883, loss_bbox: 0.3907, loss_traj: 0.6459, loss_traj_cls: 0.0009, loss_map_cls: 0.2076, loss_map_pts: 0.7712, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.6827, d0.loss_plan_l1_fix_dist: 0.4364, d1.loss_plan_l1_fix_time: 1.2782, d1.loss_plan_l1_fix_dist: 0.2225, d2.loss_plan_l1_fix_time: 1.2478, d2.loss_plan_l1_fix_dist: 0.2309, d3.loss_plan_l1_fix_time: 1.2419, d3.loss_plan_l1_fix_dist: 0.2461, d4.loss_plan_l1_fix_time: 1.2447, d4.loss_plan_l1_fix_dist: 0.2672, d5.loss_plan_l1_fix_time: 1.2482, d5.loss_plan_l1_fix_dist: 0.2893, d6.loss_plan_l1_fix_time: 1.2527, d6.loss_plan_l1_fix_dist: 0.3146, d0.loss_cls_all: 0.2196, d0.loss_bbox_all: 0.4426, d0.loss_cls: 0.2196, d0.loss_bbox: 0.4426, d1.loss_cls: 0.2121, d1.loss_bbox: 0.4155, d2.loss_cls: 0.2001, d2.loss_bbox: 0.3968, d3.loss_cls: 0.1918, d3.loss_bbox: 0.3916, d4.loss_cls: 0.1877, d4.loss_bbox: 0.3896, d5.loss_cls: 0.1872, d5.loss_bbox: 0.3896, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8726, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7181, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6592, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6486, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6458, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6469, d0.loss_map_cls_all: 0.2679, d0.loss_map_pts_all: 1.4763, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2679, d0.loss_map_pts: 1.4763, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2409, d1.loss_map_pts: 1.0305, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2288, d2.loss_map_pts: 0.8651, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2147, d3.loss_map_pts: 0.8043, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.2106, d4.loss_map_pts: 0.7797, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.2068, d5.loss_map_pts: 0.7725, d5.loss_map_dir: 0.0120, loss: 31.8267, grad_norm: 155.9133 +2026-02-25 22:28:58,453 - DriveTransformer - INFO - Epoch [5][39200/39528] lr: 9.337e-05, eta: 7 days, 0:18:00, time: 0.808, data_time: 0.041, memory: 19865, loss_cls: 0.1926, loss_bbox: 0.3816, loss_traj: 0.8253, loss_traj_cls: 0.0010, loss_map_cls: 0.1519, loss_map_pts: 0.6605, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.7126, d0.loss_plan_l1_fix_dist: 0.4240, d1.loss_plan_l1_fix_time: 1.2411, d1.loss_plan_l1_fix_dist: 0.2133, d2.loss_plan_l1_fix_time: 1.2143, d2.loss_plan_l1_fix_dist: 0.2232, d3.loss_plan_l1_fix_time: 1.2088, d3.loss_plan_l1_fix_dist: 0.2361, d4.loss_plan_l1_fix_time: 1.2100, d4.loss_plan_l1_fix_dist: 0.2497, d5.loss_plan_l1_fix_time: 1.2122, d5.loss_plan_l1_fix_dist: 0.2664, d6.loss_plan_l1_fix_time: 1.2150, d6.loss_plan_l1_fix_dist: 0.2835, d0.loss_cls_all: 0.2204, d0.loss_bbox_all: 0.4424, d0.loss_cls: 0.2204, d0.loss_bbox: 0.4424, d1.loss_cls: 0.2133, d1.loss_bbox: 0.4108, d2.loss_cls: 0.2009, d2.loss_bbox: 0.3924, d3.loss_cls: 0.1933, d3.loss_bbox: 0.3851, d4.loss_cls: 0.1930, d4.loss_bbox: 0.3823, d5.loss_cls: 0.1923, d5.loss_bbox: 0.3820, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9969, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8454, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8226, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8257, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8213, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8221, d0.loss_map_cls_all: 0.2228, d0.loss_map_pts_all: 1.3011, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2228, d0.loss_map_pts: 1.3011, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1900, d1.loss_map_pts: 0.8710, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1711, d2.loss_map_pts: 0.7400, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1604, d3.loss_map_pts: 0.6908, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1535, d4.loss_map_pts: 0.6703, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1513, d5.loss_map_pts: 0.6619, d5.loss_map_dir: 0.0097, loss: 31.1181, grad_norm: 153.6659 +2026-02-25 22:29:40,292 - DriveTransformer - INFO - Epoch [5][39250/39528] lr: 9.337e-05, eta: 7 days, 0:17:25, time: 0.835, data_time: 0.046, memory: 19865, loss_cls: 0.1961, loss_bbox: 0.3916, loss_traj: 0.6434, loss_traj_cls: 0.0010, loss_map_cls: 0.1858, loss_map_pts: 0.7551, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.5450, d0.loss_plan_l1_fix_dist: 0.5183, d1.loss_plan_l1_fix_time: 1.2766, d1.loss_plan_l1_fix_dist: 0.1933, d2.loss_plan_l1_fix_time: 1.2527, d2.loss_plan_l1_fix_dist: 0.2020, d3.loss_plan_l1_fix_time: 1.2471, d3.loss_plan_l1_fix_dist: 0.2166, d4.loss_plan_l1_fix_time: 1.2489, d4.loss_plan_l1_fix_dist: 0.2320, d5.loss_plan_l1_fix_time: 1.2514, d5.loss_plan_l1_fix_dist: 0.2510, d6.loss_plan_l1_fix_time: 1.2539, d6.loss_plan_l1_fix_dist: 0.2708, d0.loss_cls_all: 0.2280, d0.loss_bbox_all: 0.4560, d0.loss_cls: 0.2280, d0.loss_bbox: 0.4560, d1.loss_cls: 0.2227, d1.loss_bbox: 0.4192, d2.loss_cls: 0.2085, d2.loss_bbox: 0.4016, d3.loss_cls: 0.2029, d3.loss_bbox: 0.3935, d4.loss_cls: 0.1976, d4.loss_bbox: 0.3913, d5.loss_cls: 0.1964, d5.loss_bbox: 0.3906, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8137, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6759, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6380, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6333, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6323, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6384, d0.loss_map_cls_all: 0.2488, d0.loss_map_pts_all: 1.4576, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2488, d0.loss_map_pts: 1.4576, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2216, d1.loss_map_pts: 1.0274, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2062, d2.loss_map_pts: 0.8616, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1951, d3.loss_map_pts: 0.7957, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1886, d4.loss_map_pts: 0.7668, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1872, d5.loss_map_pts: 0.7573, d5.loss_map_dir: 0.0113, loss: 31.2702, grad_norm: 153.6580 +2026-02-25 22:30:18,875 - DriveTransformer - INFO - Epoch [5][39300/39528] lr: 9.337e-05, eta: 7 days, 0:16:39, time: 0.772, data_time: 0.043, memory: 19865, loss_cls: 0.2151, loss_bbox: 0.4236, loss_traj: 0.8727, loss_traj_cls: 0.0010, loss_map_cls: 0.1934, loss_map_pts: 0.8356, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.6754, d0.loss_plan_l1_fix_dist: 0.4264, d1.loss_plan_l1_fix_time: 1.3719, d1.loss_plan_l1_fix_dist: 0.2310, d2.loss_plan_l1_fix_time: 1.3614, d2.loss_plan_l1_fix_dist: 0.2361, d3.loss_plan_l1_fix_time: 1.3635, d3.loss_plan_l1_fix_dist: 0.2477, d4.loss_plan_l1_fix_time: 1.3660, d4.loss_plan_l1_fix_dist: 0.2609, d5.loss_plan_l1_fix_time: 1.3691, d5.loss_plan_l1_fix_dist: 0.2752, d6.loss_plan_l1_fix_time: 1.3728, d6.loss_plan_l1_fix_dist: 0.2895, d0.loss_cls_all: 0.2425, d0.loss_bbox_all: 0.4888, d0.loss_cls: 0.2425, d0.loss_bbox: 0.4888, d1.loss_cls: 0.2344, d1.loss_bbox: 0.4515, d2.loss_cls: 0.2257, d2.loss_bbox: 0.4329, d3.loss_cls: 0.2173, d3.loss_bbox: 0.4260, d4.loss_cls: 0.2163, d4.loss_bbox: 0.4233, d5.loss_cls: 0.2156, d5.loss_bbox: 0.4236, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0715, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8892, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8578, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8525, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8628, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8690, d0.loss_map_cls_all: 0.2609, d0.loss_map_pts_all: 1.5323, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2609, d0.loss_map_pts: 1.5323, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2332, d1.loss_map_pts: 1.1035, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2160, d2.loss_map_pts: 0.9465, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.2055, d3.loss_map_pts: 0.8790, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1985, d4.loss_map_pts: 0.8473, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1937, d5.loss_map_pts: 0.8386, d5.loss_map_dir: 0.0105, loss: 34.8565, grad_norm: 149.5312 +2026-02-25 22:31:00,550 - DriveTransformer - INFO - Epoch [5][39350/39528] lr: 9.337e-05, eta: 7 days, 0:16:03, time: 0.833, data_time: 0.045, memory: 19865, loss_cls: 0.1721, loss_bbox: 0.3689, loss_traj: 0.7435, loss_traj_cls: 0.0010, loss_map_cls: 0.1615, loss_map_pts: 0.7152, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.9177, d0.loss_plan_l1_fix_dist: 0.4435, d1.loss_plan_l1_fix_time: 1.1642, d1.loss_plan_l1_fix_dist: 0.1964, d2.loss_plan_l1_fix_time: 1.1553, d2.loss_plan_l1_fix_dist: 0.2024, d3.loss_plan_l1_fix_time: 1.1584, d3.loss_plan_l1_fix_dist: 0.2124, d4.loss_plan_l1_fix_time: 1.1623, d4.loss_plan_l1_fix_dist: 0.2248, d5.loss_plan_l1_fix_time: 1.1664, d5.loss_plan_l1_fix_dist: 0.2403, d6.loss_plan_l1_fix_time: 1.1705, d6.loss_plan_l1_fix_dist: 0.2574, d0.loss_cls_all: 0.2013, d0.loss_bbox_all: 0.4275, d0.loss_cls: 0.2013, d0.loss_bbox: 0.4275, d1.loss_cls: 0.1981, d1.loss_bbox: 0.3937, d2.loss_cls: 0.1839, d2.loss_bbox: 0.3790, d3.loss_cls: 0.1779, d3.loss_bbox: 0.3720, d4.loss_cls: 0.1724, d4.loss_bbox: 0.3695, d5.loss_cls: 0.1717, d5.loss_bbox: 0.3692, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9337, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7926, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7588, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7503, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7448, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7456, d0.loss_map_cls_all: 0.2368, d0.loss_map_pts_all: 1.4225, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2368, d0.loss_map_pts: 1.4225, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2028, d1.loss_map_pts: 0.9565, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.1813, d2.loss_map_pts: 0.7998, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.1708, d3.loss_map_pts: 0.7401, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1644, d4.loss_map_pts: 0.7196, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1623, d5.loss_map_pts: 0.7140, d5.loss_map_dir: 0.0115, loss: 30.8314, grad_norm: 150.9386 +2026-02-25 22:31:41,924 - DriveTransformer - INFO - Epoch [5][39400/39528] lr: 9.337e-05, eta: 7 days, 0:15:27, time: 0.827, data_time: 0.044, memory: 19865, loss_cls: 0.2013, loss_bbox: 0.4054, loss_traj: 0.8349, loss_traj_cls: 0.0010, loss_map_cls: 0.1857, loss_map_pts: 0.7819, loss_map_dir: 0.0130, d0.loss_plan_l1_fix_time: 2.4528, d0.loss_plan_l1_fix_dist: 0.4230, d1.loss_plan_l1_fix_time: 1.1371, d1.loss_plan_l1_fix_dist: 0.1872, d2.loss_plan_l1_fix_time: 1.1169, d2.loss_plan_l1_fix_dist: 0.1903, d3.loss_plan_l1_fix_time: 1.1153, d3.loss_plan_l1_fix_dist: 0.2005, d4.loss_plan_l1_fix_time: 1.1176, d4.loss_plan_l1_fix_dist: 0.2143, d5.loss_plan_l1_fix_time: 1.1209, d5.loss_plan_l1_fix_dist: 0.2296, d6.loss_plan_l1_fix_time: 1.1247, d6.loss_plan_l1_fix_dist: 0.2494, d0.loss_cls_all: 0.2397, d0.loss_bbox_all: 0.4611, d0.loss_cls: 0.2397, d0.loss_bbox: 0.4611, d1.loss_cls: 0.2286, d1.loss_bbox: 0.4304, d2.loss_cls: 0.2158, d2.loss_bbox: 0.4155, d3.loss_cls: 0.2093, d3.loss_bbox: 0.4061, d4.loss_cls: 0.2018, d4.loss_bbox: 0.4055, d5.loss_cls: 0.2012, d5.loss_bbox: 0.4045, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0291, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8706, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8331, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8251, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8283, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8301, d0.loss_map_cls_all: 0.2515, d0.loss_map_pts_all: 1.5773, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2515, d0.loss_map_pts: 1.5773, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2171, d1.loss_map_pts: 1.0358, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.2039, d2.loss_map_pts: 0.8697, d2.loss_map_dir: 0.0119, d3.loss_map_cls: 0.1948, d3.loss_map_pts: 0.8122, d3.loss_map_dir: 0.0125, d4.loss_map_cls: 0.1912, d4.loss_map_pts: 0.7904, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.1868, d5.loss_map_pts: 0.7841, d5.loss_map_dir: 0.0128, loss: 32.0745, grad_norm: 152.0848 +2026-02-25 22:32:19,226 - DriveTransformer - INFO - Epoch [5][39450/39528] lr: 9.337e-05, eta: 7 days, 0:14:35, time: 0.746, data_time: 0.041, memory: 19865, loss_cls: 0.2102, loss_bbox: 0.3944, loss_traj: 0.8733, loss_traj_cls: 0.0009, loss_map_cls: 0.1958, loss_map_pts: 0.7874, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.8979, d0.loss_plan_l1_fix_dist: 0.3306, d1.loss_plan_l1_fix_time: 1.4630, d1.loss_plan_l1_fix_dist: 0.1912, d2.loss_plan_l1_fix_time: 1.4463, d2.loss_plan_l1_fix_dist: 0.1971, d3.loss_plan_l1_fix_time: 1.4483, d3.loss_plan_l1_fix_dist: 0.2088, d4.loss_plan_l1_fix_time: 1.4503, d4.loss_plan_l1_fix_dist: 0.2243, d5.loss_plan_l1_fix_time: 1.4523, d5.loss_plan_l1_fix_dist: 0.2418, d6.loss_plan_l1_fix_time: 1.4550, d6.loss_plan_l1_fix_dist: 0.2599, d0.loss_cls_all: 0.2458, d0.loss_bbox_all: 0.4579, d0.loss_cls: 0.2458, d0.loss_bbox: 0.4579, d1.loss_cls: 0.2387, d1.loss_bbox: 0.4188, d2.loss_cls: 0.2244, d2.loss_bbox: 0.4035, d3.loss_cls: 0.2172, d3.loss_bbox: 0.3968, d4.loss_cls: 0.2116, d4.loss_bbox: 0.3954, d5.loss_cls: 0.2089, d5.loss_bbox: 0.3948, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0945, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9356, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8873, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8698, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8705, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8708, d0.loss_map_cls_all: 0.2668, d0.loss_map_pts_all: 1.4426, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2668, d0.loss_map_pts: 1.4426, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2329, d1.loss_map_pts: 1.0300, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2142, d2.loss_map_pts: 0.8784, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.2047, d3.loss_map_pts: 0.8185, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1986, d4.loss_map_pts: 0.7962, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1945, d5.loss_map_pts: 0.7890, d5.loss_map_dir: 0.0102, loss: 34.6356, grad_norm: 152.2668 +2026-02-25 22:32:59,900 - DriveTransformer - INFO - Epoch [5][39500/39528] lr: 9.337e-05, eta: 7 days, 0:13:56, time: 0.814, data_time: 0.044, memory: 19865, loss_cls: 0.2014, loss_bbox: 0.4043, loss_traj: 0.8119, loss_traj_cls: 0.0010, loss_map_cls: 0.1861, loss_map_pts: 0.8136, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.7772, d0.loss_plan_l1_fix_dist: 0.3440, d1.loss_plan_l1_fix_time: 1.4330, d1.loss_plan_l1_fix_dist: 0.2092, d2.loss_plan_l1_fix_time: 1.4213, d2.loss_plan_l1_fix_dist: 0.2179, d3.loss_plan_l1_fix_time: 1.4207, d3.loss_plan_l1_fix_dist: 0.2324, d4.loss_plan_l1_fix_time: 1.4233, d4.loss_plan_l1_fix_dist: 0.2492, d5.loss_plan_l1_fix_time: 1.4267, d5.loss_plan_l1_fix_dist: 0.2676, d6.loss_plan_l1_fix_time: 1.4310, d6.loss_plan_l1_fix_dist: 0.2853, d0.loss_cls_all: 0.2439, d0.loss_bbox_all: 0.4599, d0.loss_cls: 0.2439, d0.loss_bbox: 0.4599, d1.loss_cls: 0.2296, d1.loss_bbox: 0.4244, d2.loss_cls: 0.2152, d2.loss_bbox: 0.4102, d3.loss_cls: 0.2109, d3.loss_bbox: 0.4007, d4.loss_cls: 0.2054, d4.loss_bbox: 0.4008, d5.loss_cls: 0.2023, d5.loss_bbox: 0.4027, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9954, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8650, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8189, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8098, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8042, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8099, d0.loss_map_cls_all: 0.2686, d0.loss_map_pts_all: 1.6105, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2686, d0.loss_map_pts: 1.6105, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2313, d1.loss_map_pts: 1.0755, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2099, d2.loss_map_pts: 0.9095, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.1982, d3.loss_map_pts: 0.8427, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.1915, d4.loss_map_pts: 0.8209, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.1890, d5.loss_map_pts: 0.8123, d5.loss_map_dir: 0.0126, loss: 34.5110, grad_norm: 155.4940 +2026-02-25 22:33:21,441 - DriveTransformer - INFO - Saving checkpoint at 5 epochs +2026-02-25 22:34:12,166 - DriveTransformer - INFO - Epoch [6][50/39528] lr: 8.977e-05, eta: 7 days, 0:11:58, time: 0.969, data_time: 0.181, memory: 19865, loss_cls: 0.2056, loss_bbox: 0.4196, loss_traj: 0.7771, loss_traj_cls: 0.0009, loss_map_cls: 0.2139, loss_map_pts: 0.9450, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 2.6440, d0.loss_plan_l1_fix_dist: 0.4261, d1.loss_plan_l1_fix_time: 1.1632, d1.loss_plan_l1_fix_dist: 0.2193, d2.loss_plan_l1_fix_time: 1.1554, d2.loss_plan_l1_fix_dist: 0.2261, d3.loss_plan_l1_fix_time: 1.1574, d3.loss_plan_l1_fix_dist: 0.2361, d4.loss_plan_l1_fix_time: 1.1608, d4.loss_plan_l1_fix_dist: 0.2461, d5.loss_plan_l1_fix_time: 1.1645, d5.loss_plan_l1_fix_dist: 0.2554, d6.loss_plan_l1_fix_time: 1.1687, d6.loss_plan_l1_fix_dist: 0.2672, d0.loss_cls_all: 0.2315, d0.loss_bbox_all: 0.4770, d0.loss_cls: 0.2315, d0.loss_bbox: 0.4770, d1.loss_cls: 0.2222, d1.loss_bbox: 0.4438, d2.loss_cls: 0.2167, d2.loss_bbox: 0.4273, d3.loss_cls: 0.2134, d3.loss_bbox: 0.4212, d4.loss_cls: 0.2079, d4.loss_bbox: 0.4195, d5.loss_cls: 0.2073, d5.loss_bbox: 0.4177, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9742, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8239, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7826, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7761, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7757, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7751, d0.loss_map_cls_all: 0.2819, d0.loss_map_pts_all: 1.8492, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.2819, d0.loss_map_pts: 1.8492, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2483, d1.loss_map_pts: 1.2827, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2318, d2.loss_map_pts: 1.0701, d2.loss_map_dir: 0.0130, d3.loss_map_cls: 0.2221, d3.loss_map_pts: 0.9871, d3.loss_map_dir: 0.0136, d4.loss_map_cls: 0.2168, d4.loss_map_pts: 0.9597, d4.loss_map_dir: 0.0140, d5.loss_map_cls: 0.2151, d5.loss_map_pts: 0.9482, d5.loss_map_dir: 0.0141, loss: 34.3308, grad_norm: 154.9582 +2026-02-25 22:34:51,496 - DriveTransformer - INFO - Epoch [6][100/39528] lr: 8.977e-05, eta: 7 days, 0:11:14, time: 0.787, data_time: 0.038, memory: 19865, loss_cls: 0.2048, loss_bbox: 0.3994, loss_traj: 0.8210, loss_traj_cls: 0.0010, loss_map_cls: 0.1955, loss_map_pts: 0.7917, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.5973, d0.loss_plan_l1_fix_dist: 0.3828, d1.loss_plan_l1_fix_time: 1.2572, d1.loss_plan_l1_fix_dist: 0.1846, d2.loss_plan_l1_fix_time: 1.2374, d2.loss_plan_l1_fix_dist: 0.1890, d3.loss_plan_l1_fix_time: 1.2408, d3.loss_plan_l1_fix_dist: 0.2003, d4.loss_plan_l1_fix_time: 1.2441, d4.loss_plan_l1_fix_dist: 0.2132, d5.loss_plan_l1_fix_time: 1.2470, d5.loss_plan_l1_fix_dist: 0.2264, d6.loss_plan_l1_fix_time: 1.2502, d6.loss_plan_l1_fix_dist: 0.2391, d0.loss_cls_all: 0.2346, d0.loss_bbox_all: 0.4603, d0.loss_cls: 0.2346, d0.loss_bbox: 0.4603, d1.loss_cls: 0.2262, d1.loss_bbox: 0.4273, d2.loss_cls: 0.2168, d2.loss_bbox: 0.4093, d3.loss_cls: 0.2076, d3.loss_bbox: 0.4028, d4.loss_cls: 0.2059, d4.loss_bbox: 0.3998, d5.loss_cls: 0.2036, d5.loss_bbox: 0.3997, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0797, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8784, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8257, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8169, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8145, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8184, d0.loss_map_cls_all: 0.2708, d0.loss_map_pts_all: 1.5211, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2708, d0.loss_map_pts: 1.5211, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2380, d1.loss_map_pts: 1.0727, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.2191, d2.loss_map_pts: 0.9072, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.2061, d3.loss_map_pts: 0.8318, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.2025, d4.loss_map_pts: 0.7993, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1992, d5.loss_map_pts: 0.7937, d5.loss_map_dir: 0.0105, loss: 32.9870, grad_norm: 151.9396 +2026-02-25 22:35:32,183 - DriveTransformer - INFO - Epoch [6][150/39528] lr: 8.977e-05, eta: 7 days, 0:10:35, time: 0.814, data_time: 0.040, memory: 19865, loss_cls: 0.1920, loss_bbox: 0.3871, loss_traj: 0.6579, loss_traj_cls: 0.0010, loss_map_cls: 0.1929, loss_map_pts: 0.8387, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.5953, d0.loss_plan_l1_fix_dist: 0.3353, d1.loss_plan_l1_fix_time: 1.1148, d1.loss_plan_l1_fix_dist: 0.1933, d2.loss_plan_l1_fix_time: 1.1012, d2.loss_plan_l1_fix_dist: 0.1985, d3.loss_plan_l1_fix_time: 1.1042, d3.loss_plan_l1_fix_dist: 0.2095, d4.loss_plan_l1_fix_time: 1.1074, d4.loss_plan_l1_fix_dist: 0.2232, d5.loss_plan_l1_fix_time: 1.1105, d5.loss_plan_l1_fix_dist: 0.2398, d6.loss_plan_l1_fix_time: 1.1139, d6.loss_plan_l1_fix_dist: 0.2598, d0.loss_cls_all: 0.2212, d0.loss_bbox_all: 0.4388, d0.loss_cls: 0.2212, d0.loss_bbox: 0.4388, d1.loss_cls: 0.2142, d1.loss_bbox: 0.4081, d2.loss_cls: 0.2041, d2.loss_bbox: 0.3946, d3.loss_cls: 0.1979, d3.loss_bbox: 0.3857, d4.loss_cls: 0.1935, d4.loss_bbox: 0.3850, d5.loss_cls: 0.1912, d5.loss_bbox: 0.3856, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8306, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7096, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6783, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6622, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6652, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6567, d0.loss_map_cls_all: 0.2567, d0.loss_map_pts_all: 1.6930, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2567, d0.loss_map_pts: 1.6930, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2280, d1.loss_map_pts: 1.1311, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2143, d2.loss_map_pts: 0.9444, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2010, d3.loss_map_pts: 0.8696, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.1957, d4.loss_map_pts: 0.8480, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1942, d5.loss_map_pts: 0.8405, d5.loss_map_dir: 0.0120, loss: 31.3239, grad_norm: 143.1678 +2026-02-25 22:36:12,259 - DriveTransformer - INFO - Epoch [6][200/39528] lr: 8.977e-05, eta: 7 days, 0:09:54, time: 0.802, data_time: 0.042, memory: 19865, loss_cls: 0.1934, loss_bbox: 0.3910, loss_traj: 0.6480, loss_traj_cls: 0.0010, loss_map_cls: 0.1778, loss_map_pts: 0.7257, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.7648, d0.loss_plan_l1_fix_dist: 0.5476, d1.loss_plan_l1_fix_time: 1.1718, d1.loss_plan_l1_fix_dist: 0.2085, d2.loss_plan_l1_fix_time: 1.1648, d2.loss_plan_l1_fix_dist: 0.2096, d3.loss_plan_l1_fix_time: 1.1633, d3.loss_plan_l1_fix_dist: 0.2176, d4.loss_plan_l1_fix_time: 1.1664, d4.loss_plan_l1_fix_dist: 0.2287, d5.loss_plan_l1_fix_time: 1.1707, d5.loss_plan_l1_fix_dist: 0.2414, d6.loss_plan_l1_fix_time: 1.1754, d6.loss_plan_l1_fix_dist: 0.2540, d0.loss_cls_all: 0.2271, d0.loss_bbox_all: 0.4454, d0.loss_cls: 0.2271, d0.loss_bbox: 0.4454, d1.loss_cls: 0.2176, d1.loss_bbox: 0.4193, d2.loss_cls: 0.2038, d2.loss_bbox: 0.4019, d3.loss_cls: 0.1979, d3.loss_bbox: 0.3917, d4.loss_cls: 0.1943, d4.loss_bbox: 0.3907, d5.loss_cls: 0.1941, d5.loss_bbox: 0.3901, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8236, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6965, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6614, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6552, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6534, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6503, d0.loss_map_cls_all: 0.2475, d0.loss_map_pts_all: 1.4878, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2475, d0.loss_map_pts: 1.4878, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2189, d1.loss_map_pts: 1.0107, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.2006, d2.loss_map_pts: 0.8351, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1876, d3.loss_map_pts: 0.7657, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1810, d4.loss_map_pts: 0.7381, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1791, d5.loss_map_pts: 0.7277, d5.loss_map_dir: 0.0107, loss: 30.9104, grad_norm: 141.9717 +2026-02-25 22:36:54,154 - DriveTransformer - INFO - Epoch [6][250/39528] lr: 8.977e-05, eta: 7 days, 0:09:20, time: 0.838, data_time: 0.042, memory: 19865, loss_cls: 0.1975, loss_bbox: 0.3921, loss_traj: 0.7943, loss_traj_cls: 0.0009, loss_map_cls: 0.1886, loss_map_pts: 0.8594, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.9026, d0.loss_plan_l1_fix_dist: 0.4708, d1.loss_plan_l1_fix_time: 1.3200, d1.loss_plan_l1_fix_dist: 0.2189, d2.loss_plan_l1_fix_time: 1.3042, d2.loss_plan_l1_fix_dist: 0.2283, d3.loss_plan_l1_fix_time: 1.3005, d3.loss_plan_l1_fix_dist: 0.2431, d4.loss_plan_l1_fix_time: 1.3031, d4.loss_plan_l1_fix_dist: 0.2612, d5.loss_plan_l1_fix_time: 1.3069, d5.loss_plan_l1_fix_dist: 0.2791, d6.loss_plan_l1_fix_time: 1.3116, d6.loss_plan_l1_fix_dist: 0.2969, d0.loss_cls_all: 0.2318, d0.loss_bbox_all: 0.4532, d0.loss_cls: 0.2318, d0.loss_bbox: 0.4532, d1.loss_cls: 0.2212, d1.loss_bbox: 0.4186, d2.loss_cls: 0.2098, d2.loss_bbox: 0.4027, d3.loss_cls: 0.2017, d3.loss_bbox: 0.3963, d4.loss_cls: 0.1998, d4.loss_bbox: 0.3933, d5.loss_cls: 0.1978, d5.loss_bbox: 0.3926, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0531, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8826, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8233, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8022, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7986, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8120, d0.loss_map_cls_all: 0.2643, d0.loss_map_pts_all: 1.7618, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2643, d0.loss_map_pts: 1.7618, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2318, d1.loss_map_pts: 1.1866, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2128, d2.loss_map_pts: 0.9860, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1995, d3.loss_map_pts: 0.9073, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1939, d4.loss_map_pts: 0.8755, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1896, d5.loss_map_pts: 0.8613, d5.loss_map_dir: 0.0116, loss: 34.7463, grad_norm: 148.4567 +2026-02-25 22:37:32,795 - DriveTransformer - INFO - Epoch [6][300/39528] lr: 8.977e-05, eta: 7 days, 0:08:33, time: 0.773, data_time: 0.043, memory: 19865, loss_cls: 0.1870, loss_bbox: 0.3985, loss_traj: 0.8737, loss_traj_cls: 0.0009, loss_map_cls: 0.1975, loss_map_pts: 0.8337, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.9488, d0.loss_plan_l1_fix_dist: 0.4048, d1.loss_plan_l1_fix_time: 1.3225, d1.loss_plan_l1_fix_dist: 0.1839, d2.loss_plan_l1_fix_time: 1.3123, d2.loss_plan_l1_fix_dist: 0.1875, d3.loss_plan_l1_fix_time: 1.3086, d3.loss_plan_l1_fix_dist: 0.1967, d4.loss_plan_l1_fix_time: 1.3108, d4.loss_plan_l1_fix_dist: 0.2078, d5.loss_plan_l1_fix_time: 1.3141, d5.loss_plan_l1_fix_dist: 0.2219, d6.loss_plan_l1_fix_time: 1.3189, d6.loss_plan_l1_fix_dist: 0.2405, d0.loss_cls_all: 0.2242, d0.loss_bbox_all: 0.4562, d0.loss_cls: 0.2242, d0.loss_bbox: 0.4562, d1.loss_cls: 0.2108, d1.loss_bbox: 0.4248, d2.loss_cls: 0.1981, d2.loss_bbox: 0.4087, d3.loss_cls: 0.1936, d3.loss_bbox: 0.4008, d4.loss_cls: 0.1885, d4.loss_bbox: 0.3998, d5.loss_cls: 0.1869, d5.loss_bbox: 0.3997, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1112, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9604, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.9041, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8900, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8758, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8770, d0.loss_map_cls_all: 0.2572, d0.loss_map_pts_all: 1.5306, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2572, d0.loss_map_pts: 1.5306, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2328, d1.loss_map_pts: 1.1297, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.2133, d2.loss_map_pts: 0.9553, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.2047, d3.loss_map_pts: 0.8776, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.2011, d4.loss_map_pts: 0.8479, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1976, d5.loss_map_pts: 0.8352, d5.loss_map_dir: 0.0101, loss: 34.3152, grad_norm: 144.6467 +2026-02-25 22:38:12,641 - DriveTransformer - INFO - Epoch [6][350/39528] lr: 8.977e-05, eta: 7 days, 0:07:51, time: 0.797, data_time: 0.043, memory: 19865, loss_cls: 0.2013, loss_bbox: 0.3919, loss_traj: 0.7579, loss_traj_cls: 0.0009, loss_map_cls: 0.1953, loss_map_pts: 0.8008, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.2790, d0.loss_plan_l1_fix_dist: 0.3373, d1.loss_plan_l1_fix_time: 1.0819, d1.loss_plan_l1_fix_dist: 0.1648, d2.loss_plan_l1_fix_time: 1.0726, d2.loss_plan_l1_fix_dist: 0.1726, d3.loss_plan_l1_fix_time: 1.0718, d3.loss_plan_l1_fix_dist: 0.1864, d4.loss_plan_l1_fix_time: 1.0747, d4.loss_plan_l1_fix_dist: 0.2039, d5.loss_plan_l1_fix_time: 1.0785, d5.loss_plan_l1_fix_dist: 0.2233, d6.loss_plan_l1_fix_time: 1.0836, d6.loss_plan_l1_fix_dist: 0.2410, d0.loss_cls_all: 0.2251, d0.loss_bbox_all: 0.4570, d0.loss_cls: 0.2251, d0.loss_bbox: 0.4570, d1.loss_cls: 0.2200, d1.loss_bbox: 0.4230, d2.loss_cls: 0.2107, d2.loss_bbox: 0.4039, d3.loss_cls: 0.2069, d3.loss_bbox: 0.3956, d4.loss_cls: 0.2006, d4.loss_bbox: 0.3946, d5.loss_cls: 0.2008, d5.loss_bbox: 0.3924, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0126, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8367, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7787, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7643, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7649, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7565, d0.loss_map_cls_all: 0.2585, d0.loss_map_pts_all: 1.5678, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2585, d0.loss_map_pts: 1.5678, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2310, d1.loss_map_pts: 1.0801, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.2134, d2.loss_map_pts: 0.9106, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.2020, d3.loss_map_pts: 0.8375, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1973, d4.loss_map_pts: 0.8110, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1960, d5.loss_map_pts: 0.8036, d5.loss_map_dir: 0.0102, loss: 31.1657, grad_norm: 139.6655 +2026-02-25 22:38:53,716 - DriveTransformer - INFO - Epoch [6][400/39528] lr: 8.977e-05, eta: 7 days, 0:07:14, time: 0.821, data_time: 0.039, memory: 19865, loss_cls: 0.2011, loss_bbox: 0.4164, loss_traj: 0.8761, loss_traj_cls: 0.0009, loss_map_cls: 0.1905, loss_map_pts: 0.7797, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.3234, d0.loss_plan_l1_fix_dist: 0.3932, d1.loss_plan_l1_fix_time: 1.1770, d1.loss_plan_l1_fix_dist: 0.1936, d2.loss_plan_l1_fix_time: 1.1658, d2.loss_plan_l1_fix_dist: 0.2011, d3.loss_plan_l1_fix_time: 1.1729, d3.loss_plan_l1_fix_dist: 0.2121, d4.loss_plan_l1_fix_time: 1.1769, d4.loss_plan_l1_fix_dist: 0.2250, d5.loss_plan_l1_fix_time: 1.1812, d5.loss_plan_l1_fix_dist: 0.2384, d6.loss_plan_l1_fix_time: 1.1863, d6.loss_plan_l1_fix_dist: 0.2560, d0.loss_cls_all: 0.2374, d0.loss_bbox_all: 0.4727, d0.loss_cls: 0.2374, d0.loss_bbox: 0.4727, d1.loss_cls: 0.2314, d1.loss_bbox: 0.4394, d2.loss_cls: 0.2152, d2.loss_bbox: 0.4241, d3.loss_cls: 0.2078, d3.loss_bbox: 0.4180, d4.loss_cls: 0.2028, d4.loss_bbox: 0.4175, d5.loss_cls: 0.2014, d5.loss_bbox: 0.4161, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1403, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9394, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8928, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8807, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8717, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8781, d0.loss_map_cls_all: 0.2690, d0.loss_map_pts_all: 1.5916, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2690, d0.loss_map_pts: 1.5916, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2346, d1.loss_map_pts: 1.0831, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2151, d2.loss_map_pts: 0.8985, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.2009, d3.loss_map_pts: 0.8215, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1964, d4.loss_map_pts: 0.7923, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1916, d5.loss_map_pts: 0.7816, d5.loss_map_dir: 0.0116, loss: 32.9965, grad_norm: 140.9190 +2026-02-25 22:39:32,382 - DriveTransformer - INFO - Epoch [6][450/39528] lr: 8.977e-05, eta: 7 days, 0:06:27, time: 0.773, data_time: 0.044, memory: 19865, loss_cls: 0.2096, loss_bbox: 0.3969, loss_traj: 0.8066, loss_traj_cls: 0.0009, loss_map_cls: 0.1849, loss_map_pts: 0.8077, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.9290, d0.loss_plan_l1_fix_dist: 0.3914, d1.loss_plan_l1_fix_time: 1.3043, d1.loss_plan_l1_fix_dist: 0.2019, d2.loss_plan_l1_fix_time: 1.2806, d2.loss_plan_l1_fix_dist: 0.2082, d3.loss_plan_l1_fix_time: 1.2839, d3.loss_plan_l1_fix_dist: 0.2197, d4.loss_plan_l1_fix_time: 1.2885, d4.loss_plan_l1_fix_dist: 0.2325, d5.loss_plan_l1_fix_time: 1.2936, d5.loss_plan_l1_fix_dist: 0.2456, d6.loss_plan_l1_fix_time: 1.2994, d6.loss_plan_l1_fix_dist: 0.2592, d0.loss_cls_all: 0.2341, d0.loss_bbox_all: 0.4582, d0.loss_cls: 0.2341, d0.loss_bbox: 0.4582, d1.loss_cls: 0.2294, d1.loss_bbox: 0.4266, d2.loss_cls: 0.2178, d2.loss_bbox: 0.4085, d3.loss_cls: 0.2115, d3.loss_bbox: 0.3997, d4.loss_cls: 0.2062, d4.loss_bbox: 0.4002, d5.loss_cls: 0.2069, d5.loss_bbox: 0.3985, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0502, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8511, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8183, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8105, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8025, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8014, d0.loss_map_cls_all: 0.2479, d0.loss_map_pts_all: 1.4766, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2479, d0.loss_map_pts: 1.4766, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2253, d1.loss_map_pts: 1.0847, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.2053, d2.loss_map_pts: 0.9108, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1958, d3.loss_map_pts: 0.8376, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1914, d4.loss_map_pts: 0.8144, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1879, d5.loss_map_pts: 0.8081, d5.loss_map_dir: 0.0089, loss: 33.4542, grad_norm: 149.1785 +2026-02-25 22:40:13,170 - DriveTransformer - INFO - Epoch [6][500/39528] lr: 8.977e-05, eta: 7 days, 0:05:49, time: 0.816, data_time: 0.038, memory: 19865, loss_cls: 0.1997, loss_bbox: 0.3952, loss_traj: 0.6772, loss_traj_cls: 0.0009, loss_map_cls: 0.1803, loss_map_pts: 0.8249, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.8614, d0.loss_plan_l1_fix_dist: 0.4626, d1.loss_plan_l1_fix_time: 1.2117, d1.loss_plan_l1_fix_dist: 0.2096, d2.loss_plan_l1_fix_time: 1.1883, d2.loss_plan_l1_fix_dist: 0.2103, d3.loss_plan_l1_fix_time: 1.1857, d3.loss_plan_l1_fix_dist: 0.2181, d4.loss_plan_l1_fix_time: 1.1881, d4.loss_plan_l1_fix_dist: 0.2278, d5.loss_plan_l1_fix_time: 1.1904, d5.loss_plan_l1_fix_dist: 0.2389, d6.loss_plan_l1_fix_time: 1.1932, d6.loss_plan_l1_fix_dist: 0.2512, d0.loss_cls_all: 0.2363, d0.loss_bbox_all: 0.4566, d0.loss_cls: 0.2363, d0.loss_bbox: 0.4566, d1.loss_cls: 0.2282, d1.loss_bbox: 0.4197, d2.loss_cls: 0.2136, d2.loss_bbox: 0.4040, d3.loss_cls: 0.2061, d3.loss_bbox: 0.3953, d4.loss_cls: 0.2024, d4.loss_bbox: 0.3933, d5.loss_cls: 0.2018, d5.loss_bbox: 0.3931, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8934, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7362, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6848, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6773, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6776, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6795, d0.loss_map_cls_all: 0.2508, d0.loss_map_pts_all: 1.6697, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2508, d0.loss_map_pts: 1.6697, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2199, d1.loss_map_pts: 1.1252, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2021, d2.loss_map_pts: 0.9362, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1924, d3.loss_map_pts: 0.8626, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.1871, d4.loss_map_pts: 0.8337, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1832, d5.loss_map_pts: 0.8250, d5.loss_map_dir: 0.0118, loss: 32.4126, grad_norm: 148.2736 +2026-02-25 22:40:54,596 - DriveTransformer - INFO - Epoch [6][550/39528] lr: 8.977e-05, eta: 7 days, 0:05:13, time: 0.829, data_time: 0.042, memory: 19865, loss_cls: 0.1865, loss_bbox: 0.3926, loss_traj: 0.6363, loss_traj_cls: 0.0010, loss_map_cls: 0.1797, loss_map_pts: 0.8028, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.6948, d0.loss_plan_l1_fix_dist: 0.4574, d1.loss_plan_l1_fix_time: 1.1094, d1.loss_plan_l1_fix_dist: 0.1863, d2.loss_plan_l1_fix_time: 1.0902, d2.loss_plan_l1_fix_dist: 0.1902, d3.loss_plan_l1_fix_time: 1.0931, d3.loss_plan_l1_fix_dist: 0.1983, d4.loss_plan_l1_fix_time: 1.0960, d4.loss_plan_l1_fix_dist: 0.2089, d5.loss_plan_l1_fix_time: 1.0991, d5.loss_plan_l1_fix_dist: 0.2197, d6.loss_plan_l1_fix_time: 1.1027, d6.loss_plan_l1_fix_dist: 0.2343, d0.loss_cls_all: 0.2107, d0.loss_bbox_all: 0.4525, d0.loss_cls: 0.2107, d0.loss_bbox: 0.4525, d1.loss_cls: 0.2054, d1.loss_bbox: 0.4202, d2.loss_cls: 0.1940, d2.loss_bbox: 0.4057, d3.loss_cls: 0.1882, d3.loss_bbox: 0.3978, d4.loss_cls: 0.1885, d4.loss_bbox: 0.3931, d5.loss_cls: 0.1874, d5.loss_bbox: 0.3921, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8138, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6763, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6437, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6379, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6341, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6364, d0.loss_map_cls_all: 0.2499, d0.loss_map_pts_all: 1.6894, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2499, d0.loss_map_pts: 1.6894, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2189, d1.loss_map_pts: 1.1088, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2023, d2.loss_map_pts: 0.9118, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1899, d3.loss_map_pts: 0.8414, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1855, d4.loss_map_pts: 0.8121, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.1815, d5.loss_map_pts: 0.8039, d5.loss_map_dir: 0.0119, loss: 30.9516, grad_norm: 144.7853 +2026-02-25 22:41:36,652 - DriveTransformer - INFO - Epoch [6][600/39528] lr: 8.977e-05, eta: 7 days, 0:04:39, time: 0.842, data_time: 0.045, memory: 19865, loss_cls: 0.2100, loss_bbox: 0.4108, loss_traj: 0.7910, loss_traj_cls: 0.0010, loss_map_cls: 0.2095, loss_map_pts: 0.9305, loss_map_dir: 0.0139, d0.loss_plan_l1_fix_time: 2.4226, d0.loss_plan_l1_fix_dist: 0.3916, d1.loss_plan_l1_fix_time: 1.3108, d1.loss_plan_l1_fix_dist: 0.1836, d2.loss_plan_l1_fix_time: 1.3021, d2.loss_plan_l1_fix_dist: 0.1854, d3.loss_plan_l1_fix_time: 1.3053, d3.loss_plan_l1_fix_dist: 0.1930, d4.loss_plan_l1_fix_time: 1.3082, d4.loss_plan_l1_fix_dist: 0.2033, d5.loss_plan_l1_fix_time: 1.3119, d5.loss_plan_l1_fix_dist: 0.2147, d6.loss_plan_l1_fix_time: 1.3160, d6.loss_plan_l1_fix_dist: 0.2266, d0.loss_cls_all: 0.2492, d0.loss_bbox_all: 0.4682, d0.loss_cls: 0.2492, d0.loss_bbox: 0.4682, d1.loss_cls: 0.2378, d1.loss_bbox: 0.4394, d2.loss_cls: 0.2261, d2.loss_bbox: 0.4207, d3.loss_cls: 0.2145, d3.loss_bbox: 0.4155, d4.loss_cls: 0.2103, d4.loss_bbox: 0.4129, d5.loss_cls: 0.2088, d5.loss_bbox: 0.4116, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0009, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8308, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7960, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7828, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7883, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7900, d0.loss_map_cls_all: 0.2758, d0.loss_map_pts_all: 1.8664, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.2758, d0.loss_map_pts: 1.8664, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2461, d1.loss_map_pts: 1.2612, d1.loss_map_dir: 0.0122, d2.loss_map_cls: 0.2313, d2.loss_map_pts: 1.0522, d2.loss_map_dir: 0.0126, d3.loss_map_cls: 0.2216, d3.loss_map_pts: 0.9735, d3.loss_map_dir: 0.0133, d4.loss_map_cls: 0.2156, d4.loss_map_pts: 0.9404, d4.loss_map_dir: 0.0136, d5.loss_map_cls: 0.2112, d5.loss_map_pts: 0.9341, d5.loss_map_dir: 0.0138, loss: 34.7312, grad_norm: 144.3654 +2026-02-25 22:42:17,089 - DriveTransformer - INFO - Epoch [6][650/39528] lr: 8.977e-05, eta: 7 days, 0:03:59, time: 0.808, data_time: 0.044, memory: 19865, loss_cls: 0.2181, loss_bbox: 0.4285, loss_traj: 0.7582, loss_traj_cls: 0.0010, loss_map_cls: 0.2063, loss_map_pts: 0.9039, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.6450, d0.loss_plan_l1_fix_dist: 0.3907, d1.loss_plan_l1_fix_time: 1.2087, d1.loss_plan_l1_fix_dist: 0.1725, d2.loss_plan_l1_fix_time: 1.1935, d2.loss_plan_l1_fix_dist: 0.1781, d3.loss_plan_l1_fix_time: 1.1897, d3.loss_plan_l1_fix_dist: 0.1873, d4.loss_plan_l1_fix_time: 1.1919, d4.loss_plan_l1_fix_dist: 0.2001, d5.loss_plan_l1_fix_time: 1.1950, d5.loss_plan_l1_fix_dist: 0.2137, d6.loss_plan_l1_fix_time: 1.1987, d6.loss_plan_l1_fix_dist: 0.2292, d0.loss_cls_all: 0.2497, d0.loss_bbox_all: 0.4838, d0.loss_cls: 0.2497, d0.loss_bbox: 0.4838, d1.loss_cls: 0.2440, d1.loss_bbox: 0.4511, d2.loss_cls: 0.2323, d2.loss_bbox: 0.4367, d3.loss_cls: 0.2254, d3.loss_bbox: 0.4299, d4.loss_cls: 0.2203, d4.loss_bbox: 0.4290, d5.loss_cls: 0.2194, d5.loss_bbox: 0.4279, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9636, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8091, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7735, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7615, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7592, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7577, d0.loss_map_cls_all: 0.2785, d0.loss_map_pts_all: 1.7106, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2785, d0.loss_map_pts: 1.7106, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2493, d1.loss_map_pts: 1.2113, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2288, d2.loss_map_pts: 1.0230, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2207, d3.loss_map_pts: 0.9448, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.2104, d4.loss_map_pts: 0.9145, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.2086, d5.loss_map_pts: 0.9063, d5.loss_map_dir: 0.0122, loss: 33.7125, grad_norm: 142.3408 +2026-02-25 22:42:58,236 - DriveTransformer - INFO - Epoch [6][700/39528] lr: 8.977e-05, eta: 7 days, 0:03:22, time: 0.822, data_time: 0.038, memory: 19865, loss_cls: 0.1774, loss_bbox: 0.3680, loss_traj: 0.7798, loss_traj_cls: 0.0010, loss_map_cls: 0.1579, loss_map_pts: 0.6540, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.5704, d0.loss_plan_l1_fix_dist: 0.4515, d1.loss_plan_l1_fix_time: 1.0912, d1.loss_plan_l1_fix_dist: 0.1856, d2.loss_plan_l1_fix_time: 1.0870, d2.loss_plan_l1_fix_dist: 0.1905, d3.loss_plan_l1_fix_time: 1.0869, d3.loss_plan_l1_fix_dist: 0.1991, d4.loss_plan_l1_fix_time: 1.0894, d4.loss_plan_l1_fix_dist: 0.2096, d5.loss_plan_l1_fix_time: 1.0919, d5.loss_plan_l1_fix_dist: 0.2233, d6.loss_plan_l1_fix_time: 1.0948, d6.loss_plan_l1_fix_dist: 0.2395, d0.loss_cls_all: 0.2020, d0.loss_bbox_all: 0.4286, d0.loss_cls: 0.2020, d0.loss_bbox: 0.4286, d1.loss_cls: 0.1956, d1.loss_bbox: 0.3942, d2.loss_cls: 0.1841, d2.loss_bbox: 0.3759, d3.loss_cls: 0.1793, d3.loss_bbox: 0.3697, d4.loss_cls: 0.1775, d4.loss_bbox: 0.3690, d5.loss_cls: 0.1774, d5.loss_bbox: 0.3676, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0484, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8784, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8125, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7944, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7839, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7796, d0.loss_map_cls_all: 0.2114, d0.loss_map_pts_all: 1.2924, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2114, d0.loss_map_pts: 1.2924, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1881, d1.loss_map_pts: 0.8957, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1769, d2.loss_map_pts: 0.7420, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1686, d3.loss_map_pts: 0.6824, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1620, d4.loss_map_pts: 0.6626, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1596, d5.loss_map_pts: 0.6545, d5.loss_map_dir: 0.0103, loss: 29.6820, grad_norm: 141.7954 +2026-02-25 22:43:40,158 - DriveTransformer - INFO - Epoch [6][750/39528] lr: 8.977e-05, eta: 7 days, 0:02:48, time: 0.838, data_time: 0.044, memory: 19865, loss_cls: 0.2194, loss_bbox: 0.4084, loss_traj: 0.7136, loss_traj_cls: 0.0009, loss_map_cls: 0.2003, loss_map_pts: 0.8742, loss_map_dir: 0.0143, d0.loss_plan_l1_fix_time: 2.7092, d0.loss_plan_l1_fix_dist: 0.3257, d1.loss_plan_l1_fix_time: 1.3242, d1.loss_plan_l1_fix_dist: 0.1881, d2.loss_plan_l1_fix_time: 1.3078, d2.loss_plan_l1_fix_dist: 0.1936, d3.loss_plan_l1_fix_time: 1.3019, d3.loss_plan_l1_fix_dist: 0.2028, d4.loss_plan_l1_fix_time: 1.3028, d4.loss_plan_l1_fix_dist: 0.2132, d5.loss_plan_l1_fix_time: 1.3041, d5.loss_plan_l1_fix_dist: 0.2253, d6.loss_plan_l1_fix_time: 1.3061, d6.loss_plan_l1_fix_dist: 0.2381, d0.loss_cls_all: 0.2536, d0.loss_bbox_all: 0.4698, d0.loss_cls: 0.2536, d0.loss_bbox: 0.4698, d1.loss_cls: 0.2443, d1.loss_bbox: 0.4310, d2.loss_cls: 0.2297, d2.loss_bbox: 0.4148, d3.loss_cls: 0.2233, d3.loss_bbox: 0.4075, d4.loss_cls: 0.2211, d4.loss_bbox: 0.4035, d5.loss_cls: 0.2189, d5.loss_bbox: 0.4056, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9399, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7591, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7211, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7129, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7158, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7147, d0.loss_map_cls_all: 0.2563, d0.loss_map_pts_all: 1.6868, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.2563, d0.loss_map_pts: 1.6868, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2260, d1.loss_map_pts: 1.1713, d1.loss_map_dir: 0.0125, d2.loss_map_cls: 0.2127, d2.loss_map_pts: 0.9803, d2.loss_map_dir: 0.0131, d3.loss_map_cls: 0.2066, d3.loss_map_pts: 0.9097, d3.loss_map_dir: 0.0137, d4.loss_map_cls: 0.2029, d4.loss_map_pts: 0.8856, d4.loss_map_dir: 0.0140, d5.loss_map_cls: 0.2014, d5.loss_map_pts: 0.8765, d5.loss_map_dir: 0.0143, loss: 33.6419, grad_norm: 140.3545 +2026-02-25 22:44:20,182 - DriveTransformer - INFO - Epoch [6][800/39528] lr: 8.977e-05, eta: 7 days, 0:02:06, time: 0.800, data_time: 0.037, memory: 19865, loss_cls: 0.1901, loss_bbox: 0.3802, loss_traj: 0.7067, loss_traj_cls: 0.0009, loss_map_cls: 0.1994, loss_map_pts: 0.8452, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.3803, d0.loss_plan_l1_fix_dist: 0.4113, d1.loss_plan_l1_fix_time: 1.1634, d1.loss_plan_l1_fix_dist: 0.2096, d2.loss_plan_l1_fix_time: 1.1547, d2.loss_plan_l1_fix_dist: 0.2198, d3.loss_plan_l1_fix_time: 1.1579, d3.loss_plan_l1_fix_dist: 0.2358, d4.loss_plan_l1_fix_time: 1.1611, d4.loss_plan_l1_fix_dist: 0.2562, d5.loss_plan_l1_fix_time: 1.1647, d5.loss_plan_l1_fix_dist: 0.2773, d6.loss_plan_l1_fix_time: 1.1686, d6.loss_plan_l1_fix_dist: 0.3001, d0.loss_cls_all: 0.2151, d0.loss_bbox_all: 0.4388, d0.loss_cls: 0.2151, d0.loss_bbox: 0.4388, d1.loss_cls: 0.2041, d1.loss_bbox: 0.4065, d2.loss_cls: 0.1964, d2.loss_bbox: 0.3892, d3.loss_cls: 0.1905, d3.loss_bbox: 0.3830, d4.loss_cls: 0.1880, d4.loss_bbox: 0.3807, d5.loss_cls: 0.1896, d5.loss_bbox: 0.3788, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9556, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7727, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7267, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7111, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7076, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7043, d0.loss_map_cls_all: 0.2602, d0.loss_map_pts_all: 1.6440, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2602, d0.loss_map_pts: 1.6440, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2344, d1.loss_map_pts: 1.1550, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2189, d2.loss_map_pts: 0.9534, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.2086, d3.loss_map_pts: 0.8798, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2038, d4.loss_map_pts: 0.8547, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.2000, d5.loss_map_pts: 0.8453, d5.loss_map_dir: 0.0127, loss: 32.0398, grad_norm: 146.2004 +2026-02-25 22:45:01,609 - DriveTransformer - INFO - Epoch [6][850/39528] lr: 8.977e-05, eta: 7 days, 0:01:30, time: 0.829, data_time: 0.038, memory: 19865, loss_cls: 0.2120, loss_bbox: 0.4242, loss_traj: 0.6354, loss_traj_cls: 0.0009, loss_map_cls: 0.1995, loss_map_pts: 0.8450, loss_map_dir: 0.0136, d0.loss_plan_l1_fix_time: 2.8174, d0.loss_plan_l1_fix_dist: 0.4265, d1.loss_plan_l1_fix_time: 1.2587, d1.loss_plan_l1_fix_dist: 0.2166, d2.loss_plan_l1_fix_time: 1.2405, d2.loss_plan_l1_fix_dist: 0.2247, d3.loss_plan_l1_fix_time: 1.2376, d3.loss_plan_l1_fix_dist: 0.2349, d4.loss_plan_l1_fix_time: 1.2396, d4.loss_plan_l1_fix_dist: 0.2481, d5.loss_plan_l1_fix_time: 1.2425, d5.loss_plan_l1_fix_dist: 0.2613, d6.loss_plan_l1_fix_time: 1.2463, d6.loss_plan_l1_fix_dist: 0.2757, d0.loss_cls_all: 0.2493, d0.loss_bbox_all: 0.4871, d0.loss_cls: 0.2493, d0.loss_bbox: 0.4871, d1.loss_cls: 0.2371, d1.loss_bbox: 0.4506, d2.loss_cls: 0.2252, d2.loss_bbox: 0.4354, d3.loss_cls: 0.2191, d3.loss_bbox: 0.4257, d4.loss_cls: 0.2143, d4.loss_bbox: 0.4242, d5.loss_cls: 0.2124, d5.loss_bbox: 0.4236, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8996, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7380, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6742, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6587, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6481, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6420, d0.loss_map_cls_all: 0.2645, d0.loss_map_pts_all: 1.6476, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2645, d0.loss_map_pts: 1.6476, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2378, d1.loss_map_pts: 1.1224, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2218, d2.loss_map_pts: 0.9353, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2132, d3.loss_map_pts: 0.8707, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.2062, d4.loss_map_pts: 0.8483, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.2019, d5.loss_map_pts: 0.8429, d5.loss_map_dir: 0.0135, loss: 33.1219, grad_norm: 145.1469 +2026-02-25 22:45:42,710 - DriveTransformer - INFO - Epoch [6][900/39528] lr: 8.977e-05, eta: 7 days, 0:00:53, time: 0.822, data_time: 0.044, memory: 19865, loss_cls: 0.1974, loss_bbox: 0.3994, loss_traj: 0.8526, loss_traj_cls: 0.0009, loss_map_cls: 0.1740, loss_map_pts: 0.7185, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 3.0056, d0.loss_plan_l1_fix_dist: 0.3951, d1.loss_plan_l1_fix_time: 1.4339, d1.loss_plan_l1_fix_dist: 0.2026, d2.loss_plan_l1_fix_time: 1.4223, d2.loss_plan_l1_fix_dist: 0.2147, d3.loss_plan_l1_fix_time: 1.4243, d3.loss_plan_l1_fix_dist: 0.2334, d4.loss_plan_l1_fix_time: 1.4271, d4.loss_plan_l1_fix_dist: 0.2550, d5.loss_plan_l1_fix_time: 1.4303, d5.loss_plan_l1_fix_dist: 0.2792, d6.loss_plan_l1_fix_time: 1.4339, d6.loss_plan_l1_fix_dist: 0.3031, d0.loss_cls_all: 0.2289, d0.loss_bbox_all: 0.4604, d0.loss_cls: 0.2289, d0.loss_bbox: 0.4604, d1.loss_cls: 0.2196, d1.loss_bbox: 0.4302, d2.loss_cls: 0.2110, d2.loss_bbox: 0.4092, d3.loss_cls: 0.2019, d3.loss_bbox: 0.4034, d4.loss_cls: 0.1978, d4.loss_bbox: 0.4005, d5.loss_cls: 0.1978, d5.loss_bbox: 0.3991, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1178, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9115, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8666, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.8631, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8560, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8505, d0.loss_map_cls_all: 0.2216, d0.loss_map_pts_all: 1.4141, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2216, d0.loss_map_pts: 1.4141, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2005, d1.loss_map_pts: 0.9736, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1873, d2.loss_map_pts: 0.8115, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1817, d3.loss_map_pts: 0.7500, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1791, d4.loss_map_pts: 0.7303, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1755, d5.loss_map_pts: 0.7195, d5.loss_map_dir: 0.0111, loss: 33.9880, grad_norm: 148.1968 +2026-02-25 22:46:23,190 - DriveTransformer - INFO - Epoch [6][950/39528] lr: 8.977e-05, eta: 7 days, 0:00:13, time: 0.810, data_time: 0.048, memory: 19865, loss_cls: 0.2131, loss_bbox: 0.4241, loss_traj: 0.7684, loss_traj_cls: 0.0009, loss_map_cls: 0.2024, loss_map_pts: 0.8795, loss_map_dir: 0.0138, d0.loss_plan_l1_fix_time: 2.9587, d0.loss_plan_l1_fix_dist: 0.4661, d1.loss_plan_l1_fix_time: 1.4397, d1.loss_plan_l1_fix_dist: 0.2240, d2.loss_plan_l1_fix_time: 1.4262, d2.loss_plan_l1_fix_dist: 0.2307, d3.loss_plan_l1_fix_time: 1.4298, d3.loss_plan_l1_fix_dist: 0.2423, d4.loss_plan_l1_fix_time: 1.4323, d4.loss_plan_l1_fix_dist: 0.2559, d5.loss_plan_l1_fix_time: 1.4350, d5.loss_plan_l1_fix_dist: 0.2712, d6.loss_plan_l1_fix_time: 1.4381, d6.loss_plan_l1_fix_dist: 0.2893, d0.loss_cls_all: 0.2540, d0.loss_bbox_all: 0.4848, d0.loss_cls: 0.2540, d0.loss_bbox: 0.4848, d1.loss_cls: 0.2444, d1.loss_bbox: 0.4527, d2.loss_cls: 0.2308, d2.loss_bbox: 0.4330, d3.loss_cls: 0.2224, d3.loss_bbox: 0.4246, d4.loss_cls: 0.2161, d4.loss_bbox: 0.4235, d5.loss_cls: 0.2127, d5.loss_bbox: 0.4238, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9891, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8342, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7858, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7702, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7683, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7664, d0.loss_map_cls_all: 0.2665, d0.loss_map_pts_all: 1.7218, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2665, d0.loss_map_pts: 1.7218, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2407, d1.loss_map_pts: 1.2023, d1.loss_map_dir: 0.0126, d2.loss_map_cls: 0.2273, d2.loss_map_pts: 1.0020, d2.loss_map_dir: 0.0128, d3.loss_map_cls: 0.2121, d3.loss_map_pts: 0.9185, d3.loss_map_dir: 0.0132, d4.loss_map_cls: 0.2082, d4.loss_map_pts: 0.8880, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.2040, d5.loss_map_pts: 0.8800, d5.loss_map_dir: 0.0137, loss: 35.7750, grad_norm: 146.8810 +2026-02-25 22:47:04,790 - DriveTransformer - INFO - Epoch [6][1000/39528] lr: 8.977e-05, eta: 6 days, 23:59:37, time: 0.832, data_time: 0.038, memory: 19865, loss_cls: 0.1941, loss_bbox: 0.3967, loss_traj: 0.5672, loss_traj_cls: 0.0010, loss_map_cls: 0.1670, loss_map_pts: 0.7901, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.4975, d0.loss_plan_l1_fix_dist: 0.4176, d1.loss_plan_l1_fix_time: 1.2157, d1.loss_plan_l1_fix_dist: 0.1959, d2.loss_plan_l1_fix_time: 1.2018, d2.loss_plan_l1_fix_dist: 0.2051, d3.loss_plan_l1_fix_time: 1.2055, d3.loss_plan_l1_fix_dist: 0.2223, d4.loss_plan_l1_fix_time: 1.2101, d4.loss_plan_l1_fix_dist: 0.2421, d5.loss_plan_l1_fix_time: 1.2153, d5.loss_plan_l1_fix_dist: 0.2627, d6.loss_plan_l1_fix_time: 1.2208, d6.loss_plan_l1_fix_dist: 0.2857, d0.loss_cls_all: 0.2298, d0.loss_bbox_all: 0.4452, d0.loss_cls: 0.2298, d0.loss_bbox: 0.4452, d1.loss_cls: 0.2208, d1.loss_bbox: 0.4147, d2.loss_cls: 0.2060, d2.loss_bbox: 0.4002, d3.loss_cls: 0.1993, d3.loss_bbox: 0.3948, d4.loss_cls: 0.1934, d4.loss_bbox: 0.3954, d5.loss_cls: 0.1940, d5.loss_bbox: 0.3961, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7532, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6317, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5855, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5812, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5704, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5704, d0.loss_map_cls_all: 0.2233, d0.loss_map_pts_all: 1.5894, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2233, d0.loss_map_pts: 1.5894, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.1984, d1.loss_map_pts: 1.0716, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.1854, d2.loss_map_pts: 0.8948, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.1777, d3.loss_map_pts: 0.8209, d3.loss_map_dir: 0.0124, d4.loss_map_cls: 0.1718, d4.loss_map_pts: 0.7990, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.1677, d5.loss_map_pts: 0.7913, d5.loss_map_dir: 0.0127, loss: 30.7784, grad_norm: 147.0416 +2026-02-25 22:47:43,546 - DriveTransformer - INFO - Epoch [6][1050/39528] lr: 8.977e-05, eta: 6 days, 23:58:51, time: 0.775, data_time: 0.040, memory: 19865, loss_cls: 0.1986, loss_bbox: 0.4103, loss_traj: 0.8248, loss_traj_cls: 0.0009, loss_map_cls: 0.2142, loss_map_pts: 0.8488, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.6500, d0.loss_plan_l1_fix_dist: 0.3835, d1.loss_plan_l1_fix_time: 1.2337, d1.loss_plan_l1_fix_dist: 0.1991, d2.loss_plan_l1_fix_time: 1.2200, d2.loss_plan_l1_fix_dist: 0.2067, d3.loss_plan_l1_fix_time: 1.2263, d3.loss_plan_l1_fix_dist: 0.2211, d4.loss_plan_l1_fix_time: 1.2314, d4.loss_plan_l1_fix_dist: 0.2392, d5.loss_plan_l1_fix_time: 1.2366, d5.loss_plan_l1_fix_dist: 0.2592, d6.loss_plan_l1_fix_time: 1.2421, d6.loss_plan_l1_fix_dist: 0.2803, d0.loss_cls_all: 0.2283, d0.loss_bbox_all: 0.4752, d0.loss_cls: 0.2283, d0.loss_bbox: 0.4752, d1.loss_cls: 0.2155, d1.loss_bbox: 0.4381, d2.loss_cls: 0.2048, d2.loss_bbox: 0.4214, d3.loss_cls: 0.2026, d3.loss_bbox: 0.4123, d4.loss_cls: 0.1962, d4.loss_bbox: 0.4112, d5.loss_cls: 0.1961, d5.loss_bbox: 0.4106, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1689, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8987, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8361, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8225, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8230, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8246, d0.loss_map_cls_all: 0.2879, d0.loss_map_pts_all: 1.5664, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2879, d0.loss_map_pts: 1.5664, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2577, d1.loss_map_pts: 1.1330, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2399, d2.loss_map_pts: 0.9505, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.2253, d3.loss_map_pts: 0.8841, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.2199, d4.loss_map_pts: 0.8561, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.2164, d5.loss_map_pts: 0.8496, d5.loss_map_dir: 0.0109, loss: 33.8466, grad_norm: 147.9480 +2026-02-25 22:48:23,088 - DriveTransformer - INFO - Epoch [6][1100/39528] lr: 8.977e-05, eta: 6 days, 23:58:08, time: 0.791, data_time: 0.044, memory: 19865, loss_cls: 0.1990, loss_bbox: 0.3898, loss_traj: 0.7605, loss_traj_cls: 0.0009, loss_map_cls: 0.1981, loss_map_pts: 0.7774, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.5572, d0.loss_plan_l1_fix_dist: 0.4633, d1.loss_plan_l1_fix_time: 1.0333, d1.loss_plan_l1_fix_dist: 0.2025, d2.loss_plan_l1_fix_time: 1.0227, d2.loss_plan_l1_fix_dist: 0.2064, d3.loss_plan_l1_fix_time: 1.0268, d3.loss_plan_l1_fix_dist: 0.2165, d4.loss_plan_l1_fix_time: 1.0314, d4.loss_plan_l1_fix_dist: 0.2301, d5.loss_plan_l1_fix_time: 1.0361, d5.loss_plan_l1_fix_dist: 0.2455, d6.loss_plan_l1_fix_time: 1.0408, d6.loss_plan_l1_fix_dist: 0.2622, d0.loss_cls_all: 0.2365, d0.loss_bbox_all: 0.4469, d0.loss_cls: 0.2365, d0.loss_bbox: 0.4469, d1.loss_cls: 0.2231, d1.loss_bbox: 0.4161, d2.loss_cls: 0.2099, d2.loss_bbox: 0.3987, d3.loss_cls: 0.2055, d3.loss_bbox: 0.3917, d4.loss_cls: 0.1993, d4.loss_bbox: 0.3906, d5.loss_cls: 0.1990, d5.loss_bbox: 0.3904, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9437, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8068, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7721, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7589, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7560, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7542, d0.loss_map_cls_all: 0.2611, d0.loss_map_pts_all: 1.5050, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2611, d0.loss_map_pts: 1.5050, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2354, d1.loss_map_pts: 1.0448, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.2185, d2.loss_map_pts: 0.8724, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.2077, d3.loss_map_pts: 0.8085, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.2035, d4.loss_map_pts: 0.7855, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1999, d5.loss_map_pts: 0.7776, d5.loss_map_dir: 0.0108, loss: 31.0592, grad_norm: 147.1703 +2026-02-25 22:49:03,347 - DriveTransformer - INFO - Epoch [6][1150/39528] lr: 8.977e-05, eta: 6 days, 23:57:27, time: 0.805, data_time: 0.043, memory: 19865, loss_cls: 0.1847, loss_bbox: 0.4064, loss_traj: 0.6571, loss_traj_cls: 0.0009, loss_map_cls: 0.2084, loss_map_pts: 0.8440, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.6144, d0.loss_plan_l1_fix_dist: 0.4468, d1.loss_plan_l1_fix_time: 1.2270, d1.loss_plan_l1_fix_dist: 0.2020, d2.loss_plan_l1_fix_time: 1.2132, d2.loss_plan_l1_fix_dist: 0.2099, d3.loss_plan_l1_fix_time: 1.2165, d3.loss_plan_l1_fix_dist: 0.2228, d4.loss_plan_l1_fix_time: 1.2205, d4.loss_plan_l1_fix_dist: 0.2389, d5.loss_plan_l1_fix_time: 1.2248, d5.loss_plan_l1_fix_dist: 0.2554, d6.loss_plan_l1_fix_time: 1.2295, d6.loss_plan_l1_fix_dist: 0.2728, d0.loss_cls_all: 0.2184, d0.loss_bbox_all: 0.4662, d0.loss_cls: 0.2184, d0.loss_bbox: 0.4662, d1.loss_cls: 0.2058, d1.loss_bbox: 0.4292, d2.loss_cls: 0.1971, d2.loss_bbox: 0.4128, d3.loss_cls: 0.1891, d3.loss_bbox: 0.4095, d4.loss_cls: 0.1875, d4.loss_bbox: 0.4052, d5.loss_cls: 0.1849, d5.loss_bbox: 0.4061, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8457, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7094, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6753, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6603, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6625, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6582, d0.loss_map_cls_all: 0.2700, d0.loss_map_pts_all: 1.6992, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2700, d0.loss_map_pts: 1.6992, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2423, d1.loss_map_pts: 1.1443, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2278, d2.loss_map_pts: 0.9429, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.2177, d3.loss_map_pts: 0.8735, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.2122, d4.loss_map_pts: 0.8513, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.2094, d5.loss_map_pts: 0.8449, d5.loss_map_dir: 0.0118, loss: 32.5041, grad_norm: 146.1637 +2026-02-25 22:49:46,171 - DriveTransformer - INFO - Epoch [6][1200/39528] lr: 8.977e-05, eta: 6 days, 23:56:57, time: 0.856, data_time: 0.042, memory: 19865, loss_cls: 0.1875, loss_bbox: 0.3832, loss_traj: 0.7640, loss_traj_cls: 0.0009, loss_map_cls: 0.1855, loss_map_pts: 0.8649, loss_map_dir: 0.0132, d0.loss_plan_l1_fix_time: 2.7108, d0.loss_plan_l1_fix_dist: 0.4067, d1.loss_plan_l1_fix_time: 1.2171, d1.loss_plan_l1_fix_dist: 0.2112, d2.loss_plan_l1_fix_time: 1.2158, d2.loss_plan_l1_fix_dist: 0.2166, d3.loss_plan_l1_fix_time: 1.2254, d3.loss_plan_l1_fix_dist: 0.2259, d4.loss_plan_l1_fix_time: 1.2312, d4.loss_plan_l1_fix_dist: 0.2367, d5.loss_plan_l1_fix_time: 1.2374, d5.loss_plan_l1_fix_dist: 0.2492, d6.loss_plan_l1_fix_time: 1.2438, d6.loss_plan_l1_fix_dist: 0.2618, d0.loss_cls_all: 0.2238, d0.loss_bbox_all: 0.4452, d0.loss_cls: 0.2238, d0.loss_bbox: 0.4452, d1.loss_cls: 0.2164, d1.loss_bbox: 0.4102, d2.loss_cls: 0.2055, d2.loss_bbox: 0.3933, d3.loss_cls: 0.1980, d3.loss_bbox: 0.3841, d4.loss_cls: 0.1898, d4.loss_bbox: 0.3827, d5.loss_cls: 0.1883, d5.loss_bbox: 0.3827, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9591, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8064, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7742, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7666, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7631, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7644, d0.loss_map_cls_all: 0.2613, d0.loss_map_pts_all: 1.8032, d0.loss_map_dir_all: 0.0122, d0.loss_map_cls: 0.2613, d0.loss_map_pts: 1.8032, d0.loss_map_dir: 0.0122, d1.loss_map_cls: 0.2238, d1.loss_map_pts: 1.1974, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2085, d2.loss_map_pts: 0.9791, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.1996, d3.loss_map_pts: 0.8960, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.1925, d4.loss_map_pts: 0.8678, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.1872, d5.loss_map_pts: 0.8648, d5.loss_map_dir: 0.0131, loss: 33.4509, grad_norm: 146.0501 +2026-02-25 22:50:27,906 - DriveTransformer - INFO - Epoch [6][1250/39528] lr: 8.977e-05, eta: 6 days, 23:56:22, time: 0.835, data_time: 0.046, memory: 19865, loss_cls: 0.1917, loss_bbox: 0.3664, loss_traj: 0.6141, loss_traj_cls: 0.0010, loss_map_cls: 0.1757, loss_map_pts: 0.7232, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.5124, d0.loss_plan_l1_fix_dist: 0.3805, d1.loss_plan_l1_fix_time: 1.1050, d1.loss_plan_l1_fix_dist: 0.1915, d2.loss_plan_l1_fix_time: 1.0792, d2.loss_plan_l1_fix_dist: 0.1971, d3.loss_plan_l1_fix_time: 1.0739, d3.loss_plan_l1_fix_dist: 0.2062, d4.loss_plan_l1_fix_time: 1.0771, d4.loss_plan_l1_fix_dist: 0.2171, d5.loss_plan_l1_fix_time: 1.0818, d5.loss_plan_l1_fix_dist: 0.2286, d6.loss_plan_l1_fix_time: 1.0867, d6.loss_plan_l1_fix_dist: 0.2414, d0.loss_cls_all: 0.2196, d0.loss_bbox_all: 0.4207, d0.loss_cls: 0.2196, d0.loss_bbox: 0.4207, d1.loss_cls: 0.2092, d1.loss_bbox: 0.3933, d2.loss_cls: 0.2021, d2.loss_bbox: 0.3754, d3.loss_cls: 0.1965, d3.loss_bbox: 0.3677, d4.loss_cls: 0.1912, d4.loss_bbox: 0.3660, d5.loss_cls: 0.1908, d5.loss_bbox: 0.3660, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7549, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6515, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6216, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6121, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6128, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6162, d0.loss_map_cls_all: 0.2407, d0.loss_map_pts_all: 1.5188, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2407, d0.loss_map_pts: 1.5188, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2127, d1.loss_map_pts: 0.9954, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1972, d2.loss_map_pts: 0.8282, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1860, d3.loss_map_pts: 0.7576, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1831, d4.loss_map_pts: 0.7331, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1768, d5.loss_map_pts: 0.7257, d5.loss_map_dir: 0.0110, loss: 29.3636, grad_norm: 145.8936 +2026-02-25 22:51:08,501 - DriveTransformer - INFO - Epoch [6][1300/39528] lr: 8.977e-05, eta: 6 days, 23:55:42, time: 0.812, data_time: 0.048, memory: 19865, loss_cls: 0.1729, loss_bbox: 0.3621, loss_traj: 0.6102, loss_traj_cls: 0.0010, loss_map_cls: 0.1656, loss_map_pts: 0.6975, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.1399, d0.loss_plan_l1_fix_dist: 0.4501, d1.loss_plan_l1_fix_time: 0.9881, d1.loss_plan_l1_fix_dist: 0.1849, d2.loss_plan_l1_fix_time: 0.9783, d2.loss_plan_l1_fix_dist: 0.1917, d3.loss_plan_l1_fix_time: 0.9830, d3.loss_plan_l1_fix_dist: 0.2029, d4.loss_plan_l1_fix_time: 0.9882, d4.loss_plan_l1_fix_dist: 0.2147, d5.loss_plan_l1_fix_time: 0.9936, d5.loss_plan_l1_fix_dist: 0.2293, d6.loss_plan_l1_fix_time: 0.9993, d6.loss_plan_l1_fix_dist: 0.2441, d0.loss_cls_all: 0.2068, d0.loss_bbox_all: 0.4200, d0.loss_cls: 0.2068, d0.loss_bbox: 0.4200, d1.loss_cls: 0.2007, d1.loss_bbox: 0.3905, d2.loss_cls: 0.1890, d2.loss_bbox: 0.3725, d3.loss_cls: 0.1802, d3.loss_bbox: 0.3660, d4.loss_cls: 0.1742, d4.loss_bbox: 0.3642, d5.loss_cls: 0.1721, d5.loss_bbox: 0.3637, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7530, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6450, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6101, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6037, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6073, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6094, d0.loss_map_cls_all: 0.2336, d0.loss_map_pts_all: 1.4840, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2336, d0.loss_map_pts: 1.4840, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2081, d1.loss_map_pts: 0.9846, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1919, d2.loss_map_pts: 0.8079, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1785, d3.loss_map_pts: 0.7373, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1720, d4.loss_map_pts: 0.7104, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1682, d5.loss_map_pts: 0.6979, d5.loss_map_dir: 0.0098, loss: 28.0250, grad_norm: 145.6250 +2026-02-25 22:51:49,450 - DriveTransformer - INFO - Epoch [6][1350/39528] lr: 8.977e-05, eta: 6 days, 23:55:04, time: 0.819, data_time: 0.050, memory: 19865, loss_cls: 0.1943, loss_bbox: 0.3905, loss_traj: 0.6872, loss_traj_cls: 0.0010, loss_map_cls: 0.1814, loss_map_pts: 0.7918, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.9742, d0.loss_plan_l1_fix_dist: 0.4290, d1.loss_plan_l1_fix_time: 1.3726, d1.loss_plan_l1_fix_dist: 0.2170, d2.loss_plan_l1_fix_time: 1.3607, d2.loss_plan_l1_fix_dist: 0.2220, d3.loss_plan_l1_fix_time: 1.3701, d3.loss_plan_l1_fix_dist: 0.2334, d4.loss_plan_l1_fix_time: 1.3769, d4.loss_plan_l1_fix_dist: 0.2478, d5.loss_plan_l1_fix_time: 1.3831, d5.loss_plan_l1_fix_dist: 0.2643, d6.loss_plan_l1_fix_time: 1.3896, d6.loss_plan_l1_fix_dist: 0.2822, d0.loss_cls_all: 0.2282, d0.loss_bbox_all: 0.4549, d0.loss_cls: 0.2282, d0.loss_bbox: 0.4549, d1.loss_cls: 0.2207, d1.loss_bbox: 0.4192, d2.loss_cls: 0.2073, d2.loss_bbox: 0.4004, d3.loss_cls: 0.2005, d3.loss_bbox: 0.3928, d4.loss_cls: 0.1953, d4.loss_bbox: 0.3903, d5.loss_cls: 0.1946, d5.loss_bbox: 0.3889, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9171, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7404, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6894, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6793, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6777, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6818, d0.loss_map_cls_all: 0.2443, d0.loss_map_pts_all: 1.6188, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2443, d0.loss_map_pts: 1.6188, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2180, d1.loss_map_pts: 1.0894, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.1994, d2.loss_map_pts: 0.8965, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.1899, d3.loss_map_pts: 0.8240, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.1859, d4.loss_map_pts: 0.8021, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1828, d5.loss_map_pts: 0.7923, d5.loss_map_dir: 0.0119, loss: 33.3348, grad_norm: 146.5175 +2026-02-25 22:52:29,314 - DriveTransformer - INFO - Epoch [6][1400/39528] lr: 8.977e-05, eta: 6 days, 23:54:23, time: 0.799, data_time: 0.048, memory: 19865, loss_cls: 0.1984, loss_bbox: 0.3814, loss_traj: 0.6835, loss_traj_cls: 0.0009, loss_map_cls: 0.2137, loss_map_pts: 0.8077, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 3.0106, d0.loss_plan_l1_fix_dist: 0.4243, d1.loss_plan_l1_fix_time: 1.2676, d1.loss_plan_l1_fix_dist: 0.2016, d2.loss_plan_l1_fix_time: 1.2555, d2.loss_plan_l1_fix_dist: 0.2053, d3.loss_plan_l1_fix_time: 1.2556, d3.loss_plan_l1_fix_dist: 0.2140, d4.loss_plan_l1_fix_time: 1.2596, d4.loss_plan_l1_fix_dist: 0.2256, d5.loss_plan_l1_fix_time: 1.2641, d5.loss_plan_l1_fix_dist: 0.2422, d6.loss_plan_l1_fix_time: 1.2693, d6.loss_plan_l1_fix_dist: 0.2634, d0.loss_cls_all: 0.2375, d0.loss_bbox_all: 0.4340, d0.loss_cls: 0.2375, d0.loss_bbox: 0.4340, d1.loss_cls: 0.2275, d1.loss_bbox: 0.4011, d2.loss_cls: 0.2134, d2.loss_bbox: 0.3876, d3.loss_cls: 0.2044, d3.loss_bbox: 0.3813, d4.loss_cls: 0.1990, d4.loss_bbox: 0.3809, d5.loss_cls: 0.1988, d5.loss_bbox: 0.3802, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9364, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7589, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7117, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6978, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6923, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6874, d0.loss_map_cls_all: 0.2827, d0.loss_map_pts_all: 1.4978, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2827, d0.loss_map_pts: 1.4978, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2513, d1.loss_map_pts: 1.0797, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.2301, d2.loss_map_pts: 0.9060, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.2211, d3.loss_map_pts: 0.8407, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.2155, d4.loss_map_pts: 0.8176, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.2136, d5.loss_map_pts: 0.8098, d5.loss_map_dir: 0.0095, loss: 32.6705, grad_norm: 146.3786 +2026-02-25 22:53:09,479 - DriveTransformer - INFO - Epoch [6][1450/39528] lr: 8.977e-05, eta: 6 days, 23:53:41, time: 0.802, data_time: 0.041, memory: 19865, loss_cls: 0.1927, loss_bbox: 0.3974, loss_traj: 0.6526, loss_traj_cls: 0.0010, loss_map_cls: 0.1784, loss_map_pts: 0.8003, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.7536, d0.loss_plan_l1_fix_dist: 0.4770, d1.loss_plan_l1_fix_time: 1.1906, d1.loss_plan_l1_fix_dist: 0.1897, d2.loss_plan_l1_fix_time: 1.1628, d2.loss_plan_l1_fix_dist: 0.1968, d3.loss_plan_l1_fix_time: 1.1591, d3.loss_plan_l1_fix_dist: 0.2071, d4.loss_plan_l1_fix_time: 1.1615, d4.loss_plan_l1_fix_dist: 0.2175, d5.loss_plan_l1_fix_time: 1.1646, d5.loss_plan_l1_fix_dist: 0.2283, d6.loss_plan_l1_fix_time: 1.1682, d6.loss_plan_l1_fix_dist: 0.2398, d0.loss_cls_all: 0.2297, d0.loss_bbox_all: 0.4542, d0.loss_cls: 0.2297, d0.loss_bbox: 0.4542, d1.loss_cls: 0.2209, d1.loss_bbox: 0.4222, d2.loss_cls: 0.2097, d2.loss_bbox: 0.4044, d3.loss_cls: 0.1998, d3.loss_bbox: 0.3984, d4.loss_cls: 0.1959, d4.loss_bbox: 0.3966, d5.loss_cls: 0.1944, d5.loss_bbox: 0.3967, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8477, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6991, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6545, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6471, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6518, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6508, d0.loss_map_cls_all: 0.2388, d0.loss_map_pts_all: 1.5101, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2388, d0.loss_map_pts: 1.5101, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2129, d1.loss_map_pts: 1.0413, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1941, d2.loss_map_pts: 0.8817, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1863, d3.loss_map_pts: 0.8278, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1809, d4.loss_map_pts: 0.8093, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1788, d5.loss_map_pts: 0.8009, d5.loss_map_dir: 0.0105, loss: 31.1955, grad_norm: 145.4439 +2026-02-25 22:53:49,735 - DriveTransformer - INFO - Epoch [6][1500/39528] lr: 8.977e-05, eta: 6 days, 23:53:01, time: 0.805, data_time: 0.041, memory: 19865, loss_cls: 0.1747, loss_bbox: 0.3735, loss_traj: 0.8290, loss_traj_cls: 0.0010, loss_map_cls: 0.1858, loss_map_pts: 0.7778, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.8901, d0.loss_plan_l1_fix_dist: 0.3809, d1.loss_plan_l1_fix_time: 1.3738, d1.loss_plan_l1_fix_dist: 0.2013, d2.loss_plan_l1_fix_time: 1.3620, d2.loss_plan_l1_fix_dist: 0.2069, d3.loss_plan_l1_fix_time: 1.3619, d3.loss_plan_l1_fix_dist: 0.2161, d4.loss_plan_l1_fix_time: 1.3648, d4.loss_plan_l1_fix_dist: 0.2255, d5.loss_plan_l1_fix_time: 1.3687, d5.loss_plan_l1_fix_dist: 0.2361, d6.loss_plan_l1_fix_time: 1.3730, d6.loss_plan_l1_fix_dist: 0.2448, d0.loss_cls_all: 0.2066, d0.loss_bbox_all: 0.4301, d0.loss_cls: 0.2066, d0.loss_bbox: 0.4301, d1.loss_cls: 0.2012, d1.loss_bbox: 0.3978, d2.loss_cls: 0.1894, d2.loss_bbox: 0.3829, d3.loss_cls: 0.1802, d3.loss_bbox: 0.3765, d4.loss_cls: 0.1753, d4.loss_bbox: 0.3736, d5.loss_cls: 0.1746, d5.loss_bbox: 0.3732, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0644, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8907, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8432, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.8345, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.8280, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8275, d0.loss_map_cls_all: 0.2457, d0.loss_map_pts_all: 1.4540, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2457, d0.loss_map_pts: 1.4540, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.2241, d1.loss_map_pts: 1.0232, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.2051, d2.loss_map_pts: 0.8719, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1944, d3.loss_map_pts: 0.8097, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1897, d4.loss_map_pts: 0.7852, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1868, d5.loss_map_pts: 0.7772, d5.loss_map_dir: 0.0096, loss: 33.2781, grad_norm: 145.6080 +2026-02-25 22:54:28,439 - DriveTransformer - INFO - Epoch [6][1550/39528] lr: 8.977e-05, eta: 6 days, 23:52:15, time: 0.774, data_time: 0.055, memory: 19865, loss_cls: 0.1752, loss_bbox: 0.3654, loss_traj: 0.8041, loss_traj_cls: 0.0010, loss_map_cls: 0.1443, loss_map_pts: 0.5907, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.5986, d0.loss_plan_l1_fix_dist: 0.4055, d1.loss_plan_l1_fix_time: 1.1617, d1.loss_plan_l1_fix_dist: 0.1877, d2.loss_plan_l1_fix_time: 1.1453, d2.loss_plan_l1_fix_dist: 0.1939, d3.loss_plan_l1_fix_time: 1.1476, d3.loss_plan_l1_fix_dist: 0.2048, d4.loss_plan_l1_fix_time: 1.1522, d4.loss_plan_l1_fix_dist: 0.2175, d5.loss_plan_l1_fix_time: 1.1575, d5.loss_plan_l1_fix_dist: 0.2330, d6.loss_plan_l1_fix_time: 1.1634, d6.loss_plan_l1_fix_dist: 0.2510, d0.loss_cls_all: 0.2067, d0.loss_bbox_all: 0.4238, d0.loss_cls: 0.2067, d0.loss_bbox: 0.4238, d1.loss_cls: 0.1998, d1.loss_bbox: 0.3881, d2.loss_cls: 0.1894, d2.loss_bbox: 0.3725, d3.loss_cls: 0.1816, d3.loss_bbox: 0.3659, d4.loss_cls: 0.1778, d4.loss_bbox: 0.3623, d5.loss_cls: 0.1759, d5.loss_bbox: 0.3639, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9891, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8425, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8134, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.8086, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8017, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8047, d0.loss_map_cls_all: 0.2175, d0.loss_map_pts_all: 1.1346, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2175, d0.loss_map_pts: 1.1346, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1907, d1.loss_map_pts: 0.8030, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1711, d2.loss_map_pts: 0.6637, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1581, d3.loss_map_pts: 0.6087, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1515, d4.loss_map_pts: 0.5908, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1473, d5.loss_map_pts: 0.5892, d5.loss_map_dir: 0.0075, loss: 29.2409, grad_norm: 147.5742 +2026-02-25 22:55:09,891 - DriveTransformer - INFO - Epoch [6][1600/39528] lr: 8.977e-05, eta: 6 days, 23:51:38, time: 0.829, data_time: 0.042, memory: 19865, loss_cls: 0.1943, loss_bbox: 0.3873, loss_traj: 0.7064, loss_traj_cls: 0.0010, loss_map_cls: 0.1865, loss_map_pts: 0.8237, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.6517, d0.loss_plan_l1_fix_dist: 0.4517, d1.loss_plan_l1_fix_time: 1.2646, d1.loss_plan_l1_fix_dist: 0.2230, d2.loss_plan_l1_fix_time: 1.2548, d2.loss_plan_l1_fix_dist: 0.2223, d3.loss_plan_l1_fix_time: 1.2532, d3.loss_plan_l1_fix_dist: 0.2297, d4.loss_plan_l1_fix_time: 1.2559, d4.loss_plan_l1_fix_dist: 0.2396, d5.loss_plan_l1_fix_time: 1.2598, d5.loss_plan_l1_fix_dist: 0.2528, d6.loss_plan_l1_fix_time: 1.2647, d6.loss_plan_l1_fix_dist: 0.2726, d0.loss_cls_all: 0.2310, d0.loss_bbox_all: 0.4395, d0.loss_cls: 0.2310, d0.loss_bbox: 0.4395, d1.loss_cls: 0.2218, d1.loss_bbox: 0.4127, d2.loss_cls: 0.2076, d2.loss_bbox: 0.3950, d3.loss_cls: 0.1979, d3.loss_bbox: 0.3884, d4.loss_cls: 0.1937, d4.loss_bbox: 0.3858, d5.loss_cls: 0.1922, d5.loss_bbox: 0.3864, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8832, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7531, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7112, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7050, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7048, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7051, d0.loss_map_cls_all: 0.2528, d0.loss_map_pts_all: 1.6779, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2528, d0.loss_map_pts: 1.6779, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2290, d1.loss_map_pts: 1.1258, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2081, d2.loss_map_pts: 0.9298, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1984, d3.loss_map_pts: 0.8547, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1928, d4.loss_map_pts: 0.8327, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1883, d5.loss_map_pts: 0.8247, d5.loss_map_dir: 0.0112, loss: 32.7194, grad_norm: 149.7787 +2026-02-25 22:55:49,711 - DriveTransformer - INFO - Epoch [6][1650/39528] lr: 8.977e-05, eta: 6 days, 23:50:56, time: 0.796, data_time: 0.044, memory: 19865, loss_cls: 0.1753, loss_bbox: 0.3827, loss_traj: 0.6142, loss_traj_cls: 0.0009, loss_map_cls: 0.1804, loss_map_pts: 0.7522, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.6371, d0.loss_plan_l1_fix_dist: 0.4640, d1.loss_plan_l1_fix_time: 1.1443, d1.loss_plan_l1_fix_dist: 0.2005, d2.loss_plan_l1_fix_time: 1.1379, d2.loss_plan_l1_fix_dist: 0.2039, d3.loss_plan_l1_fix_time: 1.1434, d3.loss_plan_l1_fix_dist: 0.2149, d4.loss_plan_l1_fix_time: 1.1501, d4.loss_plan_l1_fix_dist: 0.2274, d5.loss_plan_l1_fix_time: 1.1569, d5.loss_plan_l1_fix_dist: 0.2426, d6.loss_plan_l1_fix_time: 1.1637, d6.loss_plan_l1_fix_dist: 0.2603, d0.loss_cls_all: 0.2165, d0.loss_bbox_all: 0.4396, d0.loss_cls: 0.2165, d0.loss_bbox: 0.4396, d1.loss_cls: 0.2032, d1.loss_bbox: 0.4098, d2.loss_cls: 0.1911, d2.loss_bbox: 0.3927, d3.loss_cls: 0.1848, d3.loss_bbox: 0.3833, d4.loss_cls: 0.1781, d4.loss_bbox: 0.3820, d5.loss_cls: 0.1750, d5.loss_bbox: 0.3825, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8004, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6561, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6263, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6160, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6131, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6165, d0.loss_map_cls_all: 0.2516, d0.loss_map_pts_all: 1.5262, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2516, d0.loss_map_pts: 1.5262, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2160, d1.loss_map_pts: 1.0144, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1967, d2.loss_map_pts: 0.8463, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1875, d3.loss_map_pts: 0.7771, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1844, d4.loss_map_pts: 0.7557, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1814, d5.loss_map_pts: 0.7521, d5.loss_map_dir: 0.0100, loss: 30.3276, grad_norm: 149.2730 +2026-02-25 22:56:32,011 - DriveTransformer - INFO - Epoch [6][1700/39528] lr: 8.977e-05, eta: 6 days, 23:50:23, time: 0.846, data_time: 0.047, memory: 19865, loss_cls: 0.2033, loss_bbox: 0.3983, loss_traj: 0.6010, loss_traj_cls: 0.0010, loss_map_cls: 0.1767, loss_map_pts: 0.8279, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.4912, d0.loss_plan_l1_fix_dist: 0.4822, d1.loss_plan_l1_fix_time: 1.2194, d1.loss_plan_l1_fix_dist: 0.2362, d2.loss_plan_l1_fix_time: 1.2082, d2.loss_plan_l1_fix_dist: 0.2428, d3.loss_plan_l1_fix_time: 1.2070, d3.loss_plan_l1_fix_dist: 0.2560, d4.loss_plan_l1_fix_time: 1.2112, d4.loss_plan_l1_fix_dist: 0.2723, d5.loss_plan_l1_fix_time: 1.2159, d5.loss_plan_l1_fix_dist: 0.2928, d6.loss_plan_l1_fix_time: 1.2205, d6.loss_plan_l1_fix_dist: 0.3170, d0.loss_cls_all: 0.2381, d0.loss_bbox_all: 0.4584, d0.loss_cls: 0.2381, d0.loss_bbox: 0.4584, d1.loss_cls: 0.2282, d1.loss_bbox: 0.4287, d2.loss_cls: 0.2197, d2.loss_bbox: 0.4097, d3.loss_cls: 0.2110, d3.loss_bbox: 0.4042, d4.loss_cls: 0.2051, d4.loss_bbox: 0.4021, d5.loss_cls: 0.2044, d5.loss_bbox: 0.3990, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7943, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6782, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6359, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6133, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6074, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5999, d0.loss_map_cls_all: 0.2341, d0.loss_map_pts_all: 1.6304, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2341, d0.loss_map_pts: 1.6304, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2094, d1.loss_map_pts: 1.0932, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.1948, d2.loss_map_pts: 0.9246, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.1865, d3.loss_map_pts: 0.8620, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.1834, d4.loss_map_pts: 0.8367, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.1784, d5.loss_map_pts: 0.8310, d5.loss_map_dir: 0.0121, loss: 31.8449, grad_norm: 151.3227 +2026-02-25 22:57:14,342 - DriveTransformer - INFO - Epoch [6][1750/39528] lr: 8.977e-05, eta: 6 days, 23:49:51, time: 0.847, data_time: 0.051, memory: 19865, loss_cls: 0.1750, loss_bbox: 0.3773, loss_traj: 0.7494, loss_traj_cls: 0.0009, loss_map_cls: 0.1862, loss_map_pts: 0.9239, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.1687, d0.loss_plan_l1_fix_dist: 0.3810, d1.loss_plan_l1_fix_time: 1.1678, d1.loss_plan_l1_fix_dist: 0.1976, d2.loss_plan_l1_fix_time: 1.1600, d2.loss_plan_l1_fix_dist: 0.2032, d3.loss_plan_l1_fix_time: 1.1619, d3.loss_plan_l1_fix_dist: 0.2149, d4.loss_plan_l1_fix_time: 1.1651, d4.loss_plan_l1_fix_dist: 0.2293, d5.loss_plan_l1_fix_time: 1.1686, d5.loss_plan_l1_fix_dist: 0.2469, d6.loss_plan_l1_fix_time: 1.1727, d6.loss_plan_l1_fix_dist: 0.2650, d0.loss_cls_all: 0.2087, d0.loss_bbox_all: 0.4336, d0.loss_cls: 0.2087, d0.loss_bbox: 0.4336, d1.loss_cls: 0.2022, d1.loss_bbox: 0.4022, d2.loss_cls: 0.1915, d2.loss_bbox: 0.3880, d3.loss_cls: 0.1826, d3.loss_bbox: 0.3795, d4.loss_cls: 0.1777, d4.loss_bbox: 0.3756, d5.loss_cls: 0.1756, d5.loss_bbox: 0.3758, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0418, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8248, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7711, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7559, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7498, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7518, d0.loss_map_cls_all: 0.2610, d0.loss_map_pts_all: 1.7762, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2610, d0.loss_map_pts: 1.7762, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2310, d1.loss_map_pts: 1.2115, d1.loss_map_dir: 0.0122, d2.loss_map_cls: 0.2127, d2.loss_map_pts: 1.0250, d2.loss_map_dir: 0.0127, d3.loss_map_cls: 0.1990, d3.loss_map_pts: 0.9563, d3.loss_map_dir: 0.0133, d4.loss_map_cls: 0.1905, d4.loss_map_pts: 0.9311, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.1870, d5.loss_map_pts: 0.9228, d5.loss_map_dir: 0.0136, loss: 32.5985, grad_norm: 151.3364 +2026-02-25 22:57:55,112 - DriveTransformer - INFO - Epoch [6][1800/39528] lr: 8.977e-05, eta: 6 days, 23:49:12, time: 0.815, data_time: 0.041, memory: 19865, loss_cls: 0.2033, loss_bbox: 0.3969, loss_traj: 0.6878, loss_traj_cls: 0.0009, loss_map_cls: 0.2045, loss_map_pts: 0.9305, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.7305, d0.loss_plan_l1_fix_dist: 0.4008, d1.loss_plan_l1_fix_time: 1.2794, d1.loss_plan_l1_fix_dist: 0.2029, d2.loss_plan_l1_fix_time: 1.2596, d2.loss_plan_l1_fix_dist: 0.2139, d3.loss_plan_l1_fix_time: 1.2589, d3.loss_plan_l1_fix_dist: 0.2319, d4.loss_plan_l1_fix_time: 1.2616, d4.loss_plan_l1_fix_dist: 0.2501, d5.loss_plan_l1_fix_time: 1.2646, d5.loss_plan_l1_fix_dist: 0.2682, d6.loss_plan_l1_fix_time: 1.2680, d6.loss_plan_l1_fix_dist: 0.2876, d0.loss_cls_all: 0.2377, d0.loss_bbox_all: 0.4535, d0.loss_cls: 0.2377, d0.loss_bbox: 0.4535, d1.loss_cls: 0.2317, d1.loss_bbox: 0.4209, d2.loss_cls: 0.2198, d2.loss_bbox: 0.4020, d3.loss_cls: 0.2096, d3.loss_bbox: 0.3982, d4.loss_cls: 0.2045, d4.loss_bbox: 0.3954, d5.loss_cls: 0.2028, d5.loss_bbox: 0.3962, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9282, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7441, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7096, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6944, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6901, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6863, d0.loss_map_cls_all: 0.2819, d0.loss_map_pts_all: 1.7272, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2819, d0.loss_map_pts: 1.7272, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2577, d1.loss_map_pts: 1.2130, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2306, d2.loss_map_pts: 1.0313, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2205, d3.loss_map_pts: 0.9662, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.2121, d4.loss_map_pts: 0.9379, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.2063, d5.loss_map_pts: 0.9291, d5.loss_map_dir: 0.0120, loss: 33.8391, grad_norm: 151.2280 +2026-02-25 22:58:33,875 - DriveTransformer - INFO - Epoch [6][1850/39528] lr: 8.977e-05, eta: 6 days, 23:48:26, time: 0.775, data_time: 0.047, memory: 19865, loss_cls: 0.1839, loss_bbox: 0.3712, loss_traj: 0.7584, loss_traj_cls: 0.0009, loss_map_cls: 0.2021, loss_map_pts: 0.7655, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.9617, d0.loss_plan_l1_fix_dist: 0.2916, d1.loss_plan_l1_fix_time: 1.1413, d1.loss_plan_l1_fix_dist: 0.1875, d2.loss_plan_l1_fix_time: 1.1243, d2.loss_plan_l1_fix_dist: 0.1958, d3.loss_plan_l1_fix_time: 1.1242, d3.loss_plan_l1_fix_dist: 0.2093, d4.loss_plan_l1_fix_time: 1.1263, d4.loss_plan_l1_fix_dist: 0.2257, d5.loss_plan_l1_fix_time: 1.1291, d5.loss_plan_l1_fix_dist: 0.2427, d6.loss_plan_l1_fix_time: 1.1321, d6.loss_plan_l1_fix_dist: 0.2635, d0.loss_cls_all: 0.2218, d0.loss_bbox_all: 0.4231, d0.loss_cls: 0.2218, d0.loss_bbox: 0.4231, d1.loss_cls: 0.2098, d1.loss_bbox: 0.3938, d2.loss_cls: 0.1994, d2.loss_bbox: 0.3780, d3.loss_cls: 0.1899, d3.loss_bbox: 0.3732, d4.loss_cls: 0.1850, d4.loss_bbox: 0.3712, d5.loss_cls: 0.1831, d5.loss_bbox: 0.3712, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9659, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8277, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7960, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7616, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7544, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7551, d0.loss_map_cls_all: 0.2585, d0.loss_map_pts_all: 1.3558, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2585, d0.loss_map_pts: 1.3558, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.2387, d1.loss_map_pts: 0.9952, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.2201, d2.loss_map_pts: 0.8510, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.2136, d3.loss_map_pts: 0.7993, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.2068, d4.loss_map_pts: 0.7758, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.2033, d5.loss_map_pts: 0.7680, d5.loss_map_dir: 0.0082, loss: 31.2107, grad_norm: 148.5134 +2026-02-25 22:59:14,496 - DriveTransformer - INFO - Epoch [6][1900/39528] lr: 8.977e-05, eta: 6 days, 23:47:47, time: 0.812, data_time: 0.044, memory: 19865, loss_cls: 0.1745, loss_bbox: 0.3764, loss_traj: 0.7976, loss_traj_cls: 0.0009, loss_map_cls: 0.1739, loss_map_pts: 0.8054, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.5456, d0.loss_plan_l1_fix_dist: 0.4337, d1.loss_plan_l1_fix_time: 1.1581, d1.loss_plan_l1_fix_dist: 0.1895, d2.loss_plan_l1_fix_time: 1.1464, d2.loss_plan_l1_fix_dist: 0.1979, d3.loss_plan_l1_fix_time: 1.1495, d3.loss_plan_l1_fix_dist: 0.2101, d4.loss_plan_l1_fix_time: 1.1530, d4.loss_plan_l1_fix_dist: 0.2252, d5.loss_plan_l1_fix_time: 1.1576, d5.loss_plan_l1_fix_dist: 0.2435, d6.loss_plan_l1_fix_time: 1.1632, d6.loss_plan_l1_fix_dist: 0.2625, d0.loss_cls_all: 0.2038, d0.loss_bbox_all: 0.4309, d0.loss_cls: 0.2038, d0.loss_bbox: 0.4309, d1.loss_cls: 0.2005, d1.loss_bbox: 0.4002, d2.loss_cls: 0.1930, d2.loss_bbox: 0.3811, d3.loss_cls: 0.1800, d3.loss_bbox: 0.3780, d4.loss_cls: 0.1766, d4.loss_bbox: 0.3754, d5.loss_cls: 0.1737, d5.loss_bbox: 0.3768, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0214, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8670, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8099, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7951, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7956, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7939, d0.loss_map_cls_all: 0.2291, d0.loss_map_pts_all: 1.5469, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2291, d0.loss_map_pts: 1.5469, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2069, d1.loss_map_pts: 1.0831, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1949, d2.loss_map_pts: 0.9041, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1876, d3.loss_map_pts: 0.8354, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1806, d4.loss_map_pts: 0.8129, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1753, d5.loss_map_pts: 0.8053, d5.loss_map_dir: 0.0108, loss: 31.7788, grad_norm: 148.7944 +2026-02-25 22:59:53,505 - DriveTransformer - INFO - Epoch [6][1950/39528] lr: 8.977e-05, eta: 6 days, 23:47:01, time: 0.780, data_time: 0.043, memory: 19865, loss_cls: 0.1922, loss_bbox: 0.3885, loss_traj: 0.6576, loss_traj_cls: 0.0009, loss_map_cls: 0.1894, loss_map_pts: 0.8234, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.8670, d0.loss_plan_l1_fix_dist: 0.4241, d1.loss_plan_l1_fix_time: 1.2968, d1.loss_plan_l1_fix_dist: 0.2241, d2.loss_plan_l1_fix_time: 1.2703, d2.loss_plan_l1_fix_dist: 0.2356, d3.loss_plan_l1_fix_time: 1.2668, d3.loss_plan_l1_fix_dist: 0.2550, d4.loss_plan_l1_fix_time: 1.2690, d4.loss_plan_l1_fix_dist: 0.2758, d5.loss_plan_l1_fix_time: 1.2724, d5.loss_plan_l1_fix_dist: 0.3014, d6.loss_plan_l1_fix_time: 1.2768, d6.loss_plan_l1_fix_dist: 0.3287, d0.loss_cls_all: 0.2237, d0.loss_bbox_all: 0.4436, d0.loss_cls: 0.2237, d0.loss_bbox: 0.4436, d1.loss_cls: 0.2149, d1.loss_bbox: 0.4145, d2.loss_cls: 0.2055, d2.loss_bbox: 0.3991, d3.loss_cls: 0.1968, d3.loss_bbox: 0.3924, d4.loss_cls: 0.1940, d4.loss_bbox: 0.3888, d5.loss_cls: 0.1920, d5.loss_bbox: 0.3898, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8866, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7236, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6779, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6612, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6599, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6563, d0.loss_map_cls_all: 0.2627, d0.loss_map_pts_all: 1.5306, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2627, d0.loss_map_pts: 1.5306, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2308, d1.loss_map_pts: 1.0682, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2103, d2.loss_map_pts: 0.9101, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.1982, d3.loss_map_pts: 0.8577, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1936, d4.loss_map_pts: 0.8363, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1905, d5.loss_map_pts: 0.8236, d5.loss_map_dir: 0.0113, loss: 32.6070, grad_norm: 151.2784 +2026-02-25 23:00:34,103 - DriveTransformer - INFO - Epoch [6][2000/39528] lr: 8.977e-05, eta: 6 days, 23:46:22, time: 0.812, data_time: 0.041, memory: 19865, loss_cls: 0.1869, loss_bbox: 0.3927, loss_traj: 0.6651, loss_traj_cls: 0.0009, loss_map_cls: 0.1945, loss_map_pts: 0.8341, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.3619, d0.loss_plan_l1_fix_dist: 0.4863, d1.loss_plan_l1_fix_time: 1.0967, d1.loss_plan_l1_fix_dist: 0.2005, d2.loss_plan_l1_fix_time: 1.0770, d2.loss_plan_l1_fix_dist: 0.2048, d3.loss_plan_l1_fix_time: 1.0779, d3.loss_plan_l1_fix_dist: 0.2174, d4.loss_plan_l1_fix_time: 1.0806, d4.loss_plan_l1_fix_dist: 0.2340, d5.loss_plan_l1_fix_time: 1.0846, d5.loss_plan_l1_fix_dist: 0.2530, d6.loss_plan_l1_fix_time: 1.0893, d6.loss_plan_l1_fix_dist: 0.2743, d0.loss_cls_all: 0.2206, d0.loss_bbox_all: 0.4455, d0.loss_cls: 0.2206, d0.loss_bbox: 0.4455, d1.loss_cls: 0.2115, d1.loss_bbox: 0.4153, d2.loss_cls: 0.1987, d2.loss_bbox: 0.4012, d3.loss_cls: 0.1904, d3.loss_bbox: 0.3979, d4.loss_cls: 0.1880, d4.loss_bbox: 0.3944, d5.loss_cls: 0.1880, d5.loss_bbox: 0.3921, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8256, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6969, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6740, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6630, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6625, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6646, d0.loss_map_cls_all: 0.2453, d0.loss_map_pts_all: 1.5498, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2453, d0.loss_map_pts: 1.5498, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2259, d1.loss_map_pts: 1.1165, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2116, d2.loss_map_pts: 0.9372, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.2049, d3.loss_map_pts: 0.8690, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1999, d4.loss_map_pts: 0.8474, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1957, d5.loss_map_pts: 0.8363, d5.loss_map_dir: 0.0114, loss: 30.8374, grad_norm: 151.5332 +2026-02-25 23:01:14,409 - DriveTransformer - INFO - Epoch [6][2050/39528] lr: 8.977e-05, eta: 6 days, 23:45:42, time: 0.806, data_time: 0.046, memory: 19865, loss_cls: 0.1979, loss_bbox: 0.3922, loss_traj: 0.7820, loss_traj_cls: 0.0009, loss_map_cls: 0.2174, loss_map_pts: 0.8707, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.5227, d0.loss_plan_l1_fix_dist: 0.3860, d1.loss_plan_l1_fix_time: 1.0936, d1.loss_plan_l1_fix_dist: 0.1841, d2.loss_plan_l1_fix_time: 1.0918, d2.loss_plan_l1_fix_dist: 0.1935, d3.loss_plan_l1_fix_time: 1.0968, d3.loss_plan_l1_fix_dist: 0.2061, d4.loss_plan_l1_fix_time: 1.1005, d4.loss_plan_l1_fix_dist: 0.2229, d5.loss_plan_l1_fix_time: 1.1037, d5.loss_plan_l1_fix_dist: 0.2379, d6.loss_plan_l1_fix_time: 1.1072, d6.loss_plan_l1_fix_dist: 0.2562, d0.loss_cls_all: 0.2282, d0.loss_bbox_all: 0.4396, d0.loss_cls: 0.2282, d0.loss_bbox: 0.4396, d1.loss_cls: 0.2265, d1.loss_bbox: 0.4096, d2.loss_cls: 0.2135, d2.loss_bbox: 0.3959, d3.loss_cls: 0.2065, d3.loss_bbox: 0.3898, d4.loss_cls: 0.2000, d4.loss_bbox: 0.3897, d5.loss_cls: 0.1978, d5.loss_bbox: 0.3894, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9607, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8006, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7770, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7722, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7806, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7800, d0.loss_map_cls_all: 0.2728, d0.loss_map_pts_all: 1.5905, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2728, d0.loss_map_pts: 1.5905, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2480, d1.loss_map_pts: 1.1332, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.2355, d2.loss_map_pts: 0.9649, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.2288, d3.loss_map_pts: 0.8990, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.2231, d4.loss_map_pts: 0.8759, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.2176, d5.loss_map_pts: 0.8726, d5.loss_map_dir: 0.0113, loss: 32.2058, grad_norm: 152.3805 +2026-02-25 23:01:55,003 - DriveTransformer - INFO - Epoch [6][2100/39528] lr: 8.977e-05, eta: 6 days, 23:45:03, time: 0.812, data_time: 0.049, memory: 19865, loss_cls: 0.1623, loss_bbox: 0.3583, loss_traj: 0.7854, loss_traj_cls: 0.0010, loss_map_cls: 0.1462, loss_map_pts: 0.6679, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.3451, d0.loss_plan_l1_fix_dist: 0.3864, d1.loss_plan_l1_fix_time: 1.0269, d1.loss_plan_l1_fix_dist: 0.1878, d2.loss_plan_l1_fix_time: 1.0177, d2.loss_plan_l1_fix_dist: 0.1964, d3.loss_plan_l1_fix_time: 1.0185, d3.loss_plan_l1_fix_dist: 0.2095, d4.loss_plan_l1_fix_time: 1.0213, d4.loss_plan_l1_fix_dist: 0.2244, d5.loss_plan_l1_fix_time: 1.0245, d5.loss_plan_l1_fix_dist: 0.2399, d6.loss_plan_l1_fix_time: 1.0280, d6.loss_plan_l1_fix_dist: 0.2574, d0.loss_cls_all: 0.1853, d0.loss_bbox_all: 0.4104, d0.loss_cls: 0.1853, d0.loss_bbox: 0.4104, d1.loss_cls: 0.1838, d1.loss_bbox: 0.3813, d2.loss_cls: 0.1717, d2.loss_bbox: 0.3661, d3.loss_cls: 0.1677, d3.loss_bbox: 0.3606, d4.loss_cls: 0.1651, d4.loss_bbox: 0.3579, d5.loss_cls: 0.1623, d5.loss_bbox: 0.3590, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9711, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8383, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8027, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7952, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7881, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7899, d0.loss_map_cls_all: 0.2087, d0.loss_map_pts_all: 1.3471, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2087, d0.loss_map_pts: 1.3471, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.1865, d1.loss_map_pts: 0.9000, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1684, d2.loss_map_pts: 0.7549, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1567, d3.loss_map_pts: 0.6965, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1505, d4.loss_map_pts: 0.6752, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1489, d5.loss_map_pts: 0.6711, d5.loss_map_dir: 0.0104, loss: 28.8638, grad_norm: 151.7040 +2026-02-25 23:02:34,727 - DriveTransformer - INFO - Epoch [6][2150/39528] lr: 8.977e-05, eta: 6 days, 23:44:20, time: 0.794, data_time: 0.041, memory: 19865, loss_cls: 0.1860, loss_bbox: 0.4043, loss_traj: 0.7146, loss_traj_cls: 0.0010, loss_map_cls: 0.1726, loss_map_pts: 0.7506, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.2488, d0.loss_plan_l1_fix_dist: 0.4222, d1.loss_plan_l1_fix_time: 1.0542, d1.loss_plan_l1_fix_dist: 0.1954, d2.loss_plan_l1_fix_time: 1.0368, d2.loss_plan_l1_fix_dist: 0.2059, d3.loss_plan_l1_fix_time: 1.0363, d3.loss_plan_l1_fix_dist: 0.2216, d4.loss_plan_l1_fix_time: 1.0395, d4.loss_plan_l1_fix_dist: 0.2392, d5.loss_plan_l1_fix_time: 1.0435, d5.loss_plan_l1_fix_dist: 0.2602, d6.loss_plan_l1_fix_time: 1.0482, d6.loss_plan_l1_fix_dist: 0.2808, d0.loss_cls_all: 0.2231, d0.loss_bbox_all: 0.4630, d0.loss_cls: 0.2231, d0.loss_bbox: 0.4630, d1.loss_cls: 0.2148, d1.loss_bbox: 0.4307, d2.loss_cls: 0.1987, d2.loss_bbox: 0.4148, d3.loss_cls: 0.1915, d3.loss_bbox: 0.4075, d4.loss_cls: 0.1878, d4.loss_bbox: 0.4059, d5.loss_cls: 0.1867, d5.loss_bbox: 0.4047, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8713, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7663, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7306, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7217, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7176, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7187, d0.loss_map_cls_all: 0.2424, d0.loss_map_pts_all: 1.4223, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2424, d0.loss_map_pts: 1.4223, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2063, d1.loss_map_pts: 0.9738, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.1923, d2.loss_map_pts: 0.8305, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1829, d3.loss_map_pts: 0.7796, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1782, d4.loss_map_pts: 0.7598, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1744, d5.loss_map_pts: 0.7517, d5.loss_map_dir: 0.0116, loss: 29.9578, grad_norm: 155.4362 +2026-02-25 23:03:16,146 - DriveTransformer - INFO - Epoch [6][2200/39528] lr: 8.977e-05, eta: 6 days, 23:43:44, time: 0.830, data_time: 0.038, memory: 19865, loss_cls: 0.1855, loss_bbox: 0.3756, loss_traj: 0.6657, loss_traj_cls: 0.0010, loss_map_cls: 0.1933, loss_map_pts: 0.8642, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.1455, d0.loss_plan_l1_fix_dist: 0.4458, d1.loss_plan_l1_fix_time: 1.1427, d1.loss_plan_l1_fix_dist: 0.2156, d2.loss_plan_l1_fix_time: 1.1313, d2.loss_plan_l1_fix_dist: 0.2293, d3.loss_plan_l1_fix_time: 1.1351, d3.loss_plan_l1_fix_dist: 0.2478, d4.loss_plan_l1_fix_time: 1.1391, d4.loss_plan_l1_fix_dist: 0.2676, d5.loss_plan_l1_fix_time: 1.1436, d5.loss_plan_l1_fix_dist: 0.2892, d6.loss_plan_l1_fix_time: 1.1484, d6.loss_plan_l1_fix_dist: 0.3105, d0.loss_cls_all: 0.2114, d0.loss_bbox_all: 0.4232, d0.loss_cls: 0.2114, d0.loss_bbox: 0.4232, d1.loss_cls: 0.2043, d1.loss_bbox: 0.3951, d2.loss_cls: 0.1935, d2.loss_bbox: 0.3787, d3.loss_cls: 0.1879, d3.loss_bbox: 0.3749, d4.loss_cls: 0.1853, d4.loss_bbox: 0.3742, d5.loss_cls: 0.1859, d5.loss_bbox: 0.3737, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8786, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7353, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6756, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6665, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6656, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6675, d0.loss_map_cls_all: 0.2527, d0.loss_map_pts_all: 1.6871, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2527, d0.loss_map_pts: 1.6871, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2322, d1.loss_map_pts: 1.1384, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2146, d2.loss_map_pts: 0.9585, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.2040, d3.loss_map_pts: 0.8958, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1980, d4.loss_map_pts: 0.8728, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1945, d5.loss_map_pts: 0.8646, d5.loss_map_dir: 0.0113, loss: 31.4353, grad_norm: 155.5399 +2026-02-25 23:03:56,711 - DriveTransformer - INFO - Epoch [6][2250/39528] lr: 8.977e-05, eta: 6 days, 23:43:04, time: 0.810, data_time: 0.043, memory: 19865, loss_cls: 0.2023, loss_bbox: 0.3875, loss_traj: 0.7404, loss_traj_cls: 0.0010, loss_map_cls: 0.1796, loss_map_pts: 0.8256, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 3.0264, d0.loss_plan_l1_fix_dist: 0.3528, d1.loss_plan_l1_fix_time: 1.3335, d1.loss_plan_l1_fix_dist: 0.1727, d2.loss_plan_l1_fix_time: 1.3170, d2.loss_plan_l1_fix_dist: 0.1817, d3.loss_plan_l1_fix_time: 1.3171, d3.loss_plan_l1_fix_dist: 0.1962, d4.loss_plan_l1_fix_time: 1.3190, d4.loss_plan_l1_fix_dist: 0.2130, d5.loss_plan_l1_fix_time: 1.3209, d5.loss_plan_l1_fix_dist: 0.2312, d6.loss_plan_l1_fix_time: 1.3231, d6.loss_plan_l1_fix_dist: 0.2519, d0.loss_cls_all: 0.2336, d0.loss_bbox_all: 0.4585, d0.loss_cls: 0.2336, d0.loss_bbox: 0.4585, d1.loss_cls: 0.2249, d1.loss_bbox: 0.4192, d2.loss_cls: 0.2133, d2.loss_bbox: 0.4016, d3.loss_cls: 0.2049, d3.loss_bbox: 0.3961, d4.loss_cls: 0.2010, d4.loss_bbox: 0.3913, d5.loss_cls: 0.2021, d5.loss_bbox: 0.3880, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9135, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7816, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7462, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7379, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7333, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7331, d0.loss_map_cls_all: 0.2481, d0.loss_map_pts_all: 1.5808, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2481, d0.loss_map_pts: 1.5808, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2199, d1.loss_map_pts: 1.0998, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.1999, d2.loss_map_pts: 0.9147, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1885, d3.loss_map_pts: 0.8553, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1824, d4.loss_map_pts: 0.8351, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1799, d5.loss_map_pts: 0.8280, d5.loss_map_dir: 0.0111, loss: 33.2173, grad_norm: 155.8715 +2026-02-25 23:04:36,724 - DriveTransformer - INFO - Epoch [6][2300/39528] lr: 8.977e-05, eta: 6 days, 23:42:23, time: 0.800, data_time: 0.041, memory: 19865, loss_cls: 0.1864, loss_bbox: 0.3770, loss_traj: 0.7613, loss_traj_cls: 0.0010, loss_map_cls: 0.1545, loss_map_pts: 0.6611, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.5844, d0.loss_plan_l1_fix_dist: 0.3686, d1.loss_plan_l1_fix_time: 1.0325, d1.loss_plan_l1_fix_dist: 0.1699, d2.loss_plan_l1_fix_time: 1.0185, d2.loss_plan_l1_fix_dist: 0.1824, d3.loss_plan_l1_fix_time: 1.0200, d3.loss_plan_l1_fix_dist: 0.2022, d4.loss_plan_l1_fix_time: 1.0234, d4.loss_plan_l1_fix_dist: 0.2264, d5.loss_plan_l1_fix_time: 1.0272, d5.loss_plan_l1_fix_dist: 0.2521, d6.loss_plan_l1_fix_time: 1.0316, d6.loss_plan_l1_fix_dist: 0.2821, d0.loss_cls_all: 0.2202, d0.loss_bbox_all: 0.4272, d0.loss_cls: 0.2202, d0.loss_bbox: 0.4272, d1.loss_cls: 0.2129, d1.loss_bbox: 0.3983, d2.loss_cls: 0.2019, d2.loss_bbox: 0.3834, d3.loss_cls: 0.1951, d3.loss_bbox: 0.3749, d4.loss_cls: 0.1889, d4.loss_bbox: 0.3740, d5.loss_cls: 0.1874, d5.loss_bbox: 0.3749, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0137, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8388, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7883, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7700, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7688, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7678, d0.loss_map_cls_all: 0.2139, d0.loss_map_pts_all: 1.3513, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2139, d0.loss_map_pts: 1.3513, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.1876, d1.loss_map_pts: 0.9023, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1734, d2.loss_map_pts: 0.7515, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1633, d3.loss_map_pts: 0.6920, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1568, d4.loss_map_pts: 0.6716, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1562, d5.loss_map_pts: 0.6616, d5.loss_map_dir: 0.0107, loss: 29.4320, grad_norm: 155.7417 +2026-02-25 23:05:18,748 - DriveTransformer - INFO - Epoch [6][2350/39528] lr: 8.977e-05, eta: 6 days, 23:41:49, time: 0.840, data_time: 0.041, memory: 19865, loss_cls: 0.2094, loss_bbox: 0.4072, loss_traj: 0.7047, loss_traj_cls: 0.0010, loss_map_cls: 0.1903, loss_map_pts: 0.8419, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.8307, d0.loss_plan_l1_fix_dist: 0.3640, d1.loss_plan_l1_fix_time: 1.2856, d1.loss_plan_l1_fix_dist: 0.1954, d2.loss_plan_l1_fix_time: 1.2662, d2.loss_plan_l1_fix_dist: 0.2071, d3.loss_plan_l1_fix_time: 1.2640, d3.loss_plan_l1_fix_dist: 0.2289, d4.loss_plan_l1_fix_time: 1.2664, d4.loss_plan_l1_fix_dist: 0.2508, d5.loss_plan_l1_fix_time: 1.2697, d5.loss_plan_l1_fix_dist: 0.2758, d6.loss_plan_l1_fix_time: 1.2729, d6.loss_plan_l1_fix_dist: 0.2997, d0.loss_cls_all: 0.2427, d0.loss_bbox_all: 0.4679, d0.loss_cls: 0.2427, d0.loss_bbox: 0.4679, d1.loss_cls: 0.2361, d1.loss_bbox: 0.4343, d2.loss_cls: 0.2210, d2.loss_bbox: 0.4210, d3.loss_cls: 0.2125, d3.loss_bbox: 0.4144, d4.loss_cls: 0.2100, d4.loss_bbox: 0.4100, d5.loss_cls: 0.2093, d5.loss_bbox: 0.4088, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9084, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7596, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7150, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7053, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7034, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7079, d0.loss_map_cls_all: 0.2571, d0.loss_map_pts_all: 1.6094, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2571, d0.loss_map_pts: 1.6094, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2308, d1.loss_map_pts: 1.1104, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2099, d2.loss_map_pts: 0.9445, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1991, d3.loss_map_pts: 0.8820, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1927, d4.loss_map_pts: 0.8534, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1900, d5.loss_map_pts: 0.8447, d5.loss_map_dir: 0.0112, loss: 33.2111, grad_norm: 156.3040 +2026-02-25 23:05:57,148 - DriveTransformer - INFO - Epoch [6][2400/39528] lr: 8.977e-05, eta: 6 days, 23:41:02, time: 0.768, data_time: 0.046, memory: 19865, loss_cls: 0.2101, loss_bbox: 0.4224, loss_traj: 0.8081, loss_traj_cls: 0.0010, loss_map_cls: 0.2253, loss_map_pts: 0.9502, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 3.2752, d0.loss_plan_l1_fix_dist: 0.4340, d1.loss_plan_l1_fix_time: 1.4440, d1.loss_plan_l1_fix_dist: 0.2051, d2.loss_plan_l1_fix_time: 1.4204, d2.loss_plan_l1_fix_dist: 0.2155, d3.loss_plan_l1_fix_time: 1.4167, d3.loss_plan_l1_fix_dist: 0.2323, d4.loss_plan_l1_fix_time: 1.4189, d4.loss_plan_l1_fix_dist: 0.2513, d5.loss_plan_l1_fix_time: 1.4221, d5.loss_plan_l1_fix_dist: 0.2737, d6.loss_plan_l1_fix_time: 1.4257, d6.loss_plan_l1_fix_dist: 0.3003, d0.loss_cls_all: 0.2381, d0.loss_bbox_all: 0.4765, d0.loss_cls: 0.2381, d0.loss_bbox: 0.4765, d1.loss_cls: 0.2313, d1.loss_bbox: 0.4460, d2.loss_cls: 0.2221, d2.loss_bbox: 0.4316, d3.loss_cls: 0.2143, d3.loss_bbox: 0.4253, d4.loss_cls: 0.2094, d4.loss_bbox: 0.4235, d5.loss_cls: 0.2105, d5.loss_bbox: 0.4224, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0831, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8961, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8344, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8180, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8146, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8110, d0.loss_map_cls_all: 0.2902, d0.loss_map_pts_all: 1.7166, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2902, d0.loss_map_pts: 1.7166, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2676, d1.loss_map_pts: 1.2330, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.2484, d2.loss_map_pts: 1.0498, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.2372, d3.loss_map_pts: 0.9836, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.2312, d4.loss_map_pts: 0.9590, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.2267, d5.loss_map_pts: 0.9503, d5.loss_map_dir: 0.0100, loss: 36.7574, grad_norm: 153.8562 +2026-02-25 23:06:39,039 - DriveTransformer - INFO - Epoch [6][2450/39528] lr: 8.977e-05, eta: 6 days, 23:40:27, time: 0.838, data_time: 0.045, memory: 19865, loss_cls: 0.1696, loss_bbox: 0.3760, loss_traj: 0.7178, loss_traj_cls: 0.0010, loss_map_cls: 0.1606, loss_map_pts: 0.7316, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.4069, d0.loss_plan_l1_fix_dist: 0.4080, d1.loss_plan_l1_fix_time: 1.1642, d1.loss_plan_l1_fix_dist: 0.1907, d2.loss_plan_l1_fix_time: 1.1419, d2.loss_plan_l1_fix_dist: 0.2013, d3.loss_plan_l1_fix_time: 1.1417, d3.loss_plan_l1_fix_dist: 0.2133, d4.loss_plan_l1_fix_time: 1.1446, d4.loss_plan_l1_fix_dist: 0.2289, d5.loss_plan_l1_fix_time: 1.1481, d5.loss_plan_l1_fix_dist: 0.2455, d6.loss_plan_l1_fix_time: 1.1525, d6.loss_plan_l1_fix_dist: 0.2651, d0.loss_cls_all: 0.2022, d0.loss_bbox_all: 0.4270, d0.loss_cls: 0.2022, d0.loss_bbox: 0.4270, d1.loss_cls: 0.1955, d1.loss_bbox: 0.3981, d2.loss_cls: 0.1842, d2.loss_bbox: 0.3798, d3.loss_cls: 0.1754, d3.loss_bbox: 0.3768, d4.loss_cls: 0.1703, d4.loss_bbox: 0.3767, d5.loss_cls: 0.1694, d5.loss_bbox: 0.3753, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9481, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7759, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7260, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7187, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7192, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7203, d0.loss_map_cls_all: 0.2314, d0.loss_map_pts_all: 1.4838, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2314, d0.loss_map_pts: 1.4838, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2008, d1.loss_map_pts: 0.9843, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1810, d2.loss_map_pts: 0.8156, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1723, d3.loss_map_pts: 0.7568, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1650, d4.loss_map_pts: 0.7342, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1616, d5.loss_map_pts: 0.7304, d5.loss_map_dir: 0.0098, loss: 30.2929, grad_norm: 154.3018 +2026-02-25 23:07:19,315 - DriveTransformer - INFO - Epoch [6][2500/39528] lr: 8.977e-05, eta: 6 days, 23:39:47, time: 0.805, data_time: 0.042, memory: 19865, loss_cls: 0.2041, loss_bbox: 0.4208, loss_traj: 0.7557, loss_traj_cls: 0.0010, loss_map_cls: 0.1941, loss_map_pts: 0.7682, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 3.0317, d0.loss_plan_l1_fix_dist: 0.4227, d1.loss_plan_l1_fix_time: 1.3407, d1.loss_plan_l1_fix_dist: 0.1943, d2.loss_plan_l1_fix_time: 1.3280, d2.loss_plan_l1_fix_dist: 0.2024, d3.loss_plan_l1_fix_time: 1.3293, d3.loss_plan_l1_fix_dist: 0.2147, d4.loss_plan_l1_fix_time: 1.3312, d4.loss_plan_l1_fix_dist: 0.2288, d5.loss_plan_l1_fix_time: 1.3335, d5.loss_plan_l1_fix_dist: 0.2456, d6.loss_plan_l1_fix_time: 1.3365, d6.loss_plan_l1_fix_dist: 0.2609, d0.loss_cls_all: 0.2393, d0.loss_bbox_all: 0.4795, d0.loss_cls: 0.2393, d0.loss_bbox: 0.4795, d1.loss_cls: 0.2289, d1.loss_bbox: 0.4474, d2.loss_cls: 0.2181, d2.loss_bbox: 0.4311, d3.loss_cls: 0.2081, d3.loss_bbox: 0.4234, d4.loss_cls: 0.2042, d4.loss_bbox: 0.4210, d5.loss_cls: 0.2029, d5.loss_bbox: 0.4214, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0423, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8337, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7797, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7664, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7548, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7552, d0.loss_map_cls_all: 0.2564, d0.loss_map_pts_all: 1.4711, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2564, d0.loss_map_pts: 1.4711, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.2323, d1.loss_map_pts: 1.0321, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.2149, d2.loss_map_pts: 0.8731, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.2024, d3.loss_map_pts: 0.8106, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1991, d4.loss_map_pts: 0.7878, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1965, d5.loss_map_pts: 0.7711, d5.loss_map_dir: 0.0094, loss: 33.5727, grad_norm: 151.8919 +2026-02-25 23:08:00,874 - DriveTransformer - INFO - Epoch [6][2550/39528] lr: 8.977e-05, eta: 6 days, 23:39:11, time: 0.831, data_time: 0.040, memory: 19865, loss_cls: 0.1744, loss_bbox: 0.3823, loss_traj: 0.6542, loss_traj_cls: 0.0010, loss_map_cls: 0.1936, loss_map_pts: 0.8433, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.4057, d0.loss_plan_l1_fix_dist: 0.3740, d1.loss_plan_l1_fix_time: 1.1923, d1.loss_plan_l1_fix_dist: 0.1969, d2.loss_plan_l1_fix_time: 1.1761, d2.loss_plan_l1_fix_dist: 0.2003, d3.loss_plan_l1_fix_time: 1.1735, d3.loss_plan_l1_fix_dist: 0.2162, d4.loss_plan_l1_fix_time: 1.1771, d4.loss_plan_l1_fix_dist: 0.2313, d5.loss_plan_l1_fix_time: 1.1819, d5.loss_plan_l1_fix_dist: 0.2474, d6.loss_plan_l1_fix_time: 1.1874, d6.loss_plan_l1_fix_dist: 0.2639, d0.loss_cls_all: 0.2003, d0.loss_bbox_all: 0.4417, d0.loss_cls: 0.2003, d0.loss_bbox: 0.4417, d1.loss_cls: 0.1966, d1.loss_bbox: 0.4070, d2.loss_cls: 0.1876, d2.loss_bbox: 0.3901, d3.loss_cls: 0.1791, d3.loss_bbox: 0.3848, d4.loss_cls: 0.1759, d4.loss_bbox: 0.3805, d5.loss_cls: 0.1739, d5.loss_bbox: 0.3811, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7620, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6675, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6592, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6543, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6475, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6466, d0.loss_map_cls_all: 0.2661, d0.loss_map_pts_all: 1.6639, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2661, d0.loss_map_pts: 1.6639, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2363, d1.loss_map_pts: 1.1153, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2204, d2.loss_map_pts: 0.9414, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2080, d3.loss_map_pts: 0.8714, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.1991, d4.loss_map_pts: 0.8501, d4.loss_map_dir: 0.0132, d5.loss_map_cls: 0.1945, d5.loss_map_pts: 0.8481, d5.loss_map_dir: 0.0133, loss: 31.3009, grad_norm: 153.2678 +2026-02-25 23:08:40,192 - DriveTransformer - INFO - Epoch [6][2600/39528] lr: 8.977e-05, eta: 6 days, 23:38:27, time: 0.786, data_time: 0.042, memory: 19865, loss_cls: 0.1792, loss_bbox: 0.3908, loss_traj: 0.7133, loss_traj_cls: 0.0011, loss_map_cls: 0.1751, loss_map_pts: 0.7900, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.4935, d0.loss_plan_l1_fix_dist: 0.4553, d1.loss_plan_l1_fix_time: 1.1191, d1.loss_plan_l1_fix_dist: 0.2203, d2.loss_plan_l1_fix_time: 1.1014, d2.loss_plan_l1_fix_dist: 0.2253, d3.loss_plan_l1_fix_time: 1.1030, d3.loss_plan_l1_fix_dist: 0.2377, d4.loss_plan_l1_fix_time: 1.1075, d4.loss_plan_l1_fix_dist: 0.2516, d5.loss_plan_l1_fix_time: 1.1122, d5.loss_plan_l1_fix_dist: 0.2653, d6.loss_plan_l1_fix_time: 1.1174, d6.loss_plan_l1_fix_dist: 0.2814, d0.loss_cls_all: 0.2070, d0.loss_bbox_all: 0.4506, d0.loss_cls: 0.2070, d0.loss_bbox: 0.4506, d1.loss_cls: 0.1998, d1.loss_bbox: 0.4196, d2.loss_cls: 0.1899, d2.loss_bbox: 0.4006, d3.loss_cls: 0.1850, d3.loss_bbox: 0.3920, d4.loss_cls: 0.1789, d4.loss_bbox: 0.3914, d5.loss_cls: 0.1792, d5.loss_bbox: 0.3892, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9313, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7648, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7131, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7095, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7054, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7154, d0.loss_map_cls_all: 0.2457, d0.loss_map_pts_all: 1.6043, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2457, d0.loss_map_pts: 1.6043, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2132, d1.loss_map_pts: 1.0782, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1976, d2.loss_map_pts: 0.8889, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1846, d3.loss_map_pts: 0.8134, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1799, d4.loss_map_pts: 0.7896, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1763, d5.loss_map_pts: 0.7904, d5.loss_map_dir: 0.0113, loss: 31.2240, grad_norm: 154.9358 +2026-02-25 23:09:21,607 - DriveTransformer - INFO - Epoch [6][2650/39528] lr: 8.977e-05, eta: 6 days, 23:37:51, time: 0.828, data_time: 0.043, memory: 19865, loss_cls: 0.1972, loss_bbox: 0.3742, loss_traj: 0.6790, loss_traj_cls: 0.0010, loss_map_cls: 0.1661, loss_map_pts: 0.7283, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.5352, d0.loss_plan_l1_fix_dist: 0.3734, d1.loss_plan_l1_fix_time: 1.1003, d1.loss_plan_l1_fix_dist: 0.1818, d2.loss_plan_l1_fix_time: 1.0937, d2.loss_plan_l1_fix_dist: 0.1856, d3.loss_plan_l1_fix_time: 1.0940, d3.loss_plan_l1_fix_dist: 0.1940, d4.loss_plan_l1_fix_time: 1.0977, d4.loss_plan_l1_fix_dist: 0.2045, d5.loss_plan_l1_fix_time: 1.1008, d5.loss_plan_l1_fix_dist: 0.2189, d6.loss_plan_l1_fix_time: 1.1040, d6.loss_plan_l1_fix_dist: 0.2400, d0.loss_cls_all: 0.2349, d0.loss_bbox_all: 0.4414, d0.loss_cls: 0.2349, d0.loss_bbox: 0.4414, d1.loss_cls: 0.2272, d1.loss_bbox: 0.4077, d2.loss_cls: 0.2143, d2.loss_bbox: 0.3877, d3.loss_cls: 0.2048, d3.loss_bbox: 0.3804, d4.loss_cls: 0.1971, d4.loss_bbox: 0.3784, d5.loss_cls: 0.1981, d5.loss_bbox: 0.3749, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8997, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7485, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6814, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6760, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6805, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6782, d0.loss_map_cls_all: 0.2321, d0.loss_map_pts_all: 1.4453, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2321, d0.loss_map_pts: 1.4453, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2037, d1.loss_map_pts: 0.9814, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1883, d2.loss_map_pts: 0.8158, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1786, d3.loss_map_pts: 0.7529, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1715, d4.loss_map_pts: 0.7352, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1674, d5.loss_map_pts: 0.7321, d5.loss_map_dir: 0.0108, loss: 29.9291, grad_norm: 156.2541 +2026-02-25 23:10:02,608 - DriveTransformer - INFO - Epoch [6][2700/39528] lr: 8.977e-05, eta: 6 days, 23:37:13, time: 0.820, data_time: 0.038, memory: 19865, loss_cls: 0.1706, loss_bbox: 0.3969, loss_traj: 0.5724, loss_traj_cls: 0.0010, loss_map_cls: 0.1757, loss_map_pts: 0.7958, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.3734, d0.loss_plan_l1_fix_dist: 0.3968, d1.loss_plan_l1_fix_time: 1.0016, d1.loss_plan_l1_fix_dist: 0.1845, d2.loss_plan_l1_fix_time: 0.9974, d2.loss_plan_l1_fix_dist: 0.1919, d3.loss_plan_l1_fix_time: 0.9961, d3.loss_plan_l1_fix_dist: 0.2070, d4.loss_plan_l1_fix_time: 0.9986, d4.loss_plan_l1_fix_dist: 0.2238, d5.loss_plan_l1_fix_time: 1.0019, d5.loss_plan_l1_fix_dist: 0.2427, d6.loss_plan_l1_fix_time: 1.0062, d6.loss_plan_l1_fix_dist: 0.2646, d0.loss_cls_all: 0.2136, d0.loss_bbox_all: 0.4509, d0.loss_cls: 0.2136, d0.loss_bbox: 0.4509, d1.loss_cls: 0.1982, d1.loss_bbox: 0.4223, d2.loss_cls: 0.1868, d2.loss_bbox: 0.4052, d3.loss_cls: 0.1786, d3.loss_bbox: 0.3982, d4.loss_cls: 0.1725, d4.loss_bbox: 0.3978, d5.loss_cls: 0.1707, d5.loss_bbox: 0.3969, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7132, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6239, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5902, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5788, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5758, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5749, d0.loss_map_cls_all: 0.2327, d0.loss_map_pts_all: 1.5920, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2327, d0.loss_map_pts: 1.5920, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2090, d1.loss_map_pts: 1.0562, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1957, d2.loss_map_pts: 0.8818, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1861, d3.loss_map_pts: 0.8220, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1810, d4.loss_map_pts: 0.8015, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1774, d5.loss_map_pts: 0.7976, d5.loss_map_dir: 0.0112, loss: 29.1612, grad_norm: 157.7953 +2026-02-25 23:10:44,308 - DriveTransformer - INFO - Epoch [6][2750/39528] lr: 8.977e-05, eta: 6 days, 23:36:38, time: 0.834, data_time: 0.044, memory: 19865, loss_cls: 0.1874, loss_bbox: 0.3900, loss_traj: 0.6931, loss_traj_cls: 0.0010, loss_map_cls: 0.1748, loss_map_pts: 0.8372, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.6095, d0.loss_plan_l1_fix_dist: 0.3709, d1.loss_plan_l1_fix_time: 1.0807, d1.loss_plan_l1_fix_dist: 0.1952, d2.loss_plan_l1_fix_time: 1.0807, d2.loss_plan_l1_fix_dist: 0.2025, d3.loss_plan_l1_fix_time: 1.0855, d3.loss_plan_l1_fix_dist: 0.2147, d4.loss_plan_l1_fix_time: 1.0892, d4.loss_plan_l1_fix_dist: 0.2278, d5.loss_plan_l1_fix_time: 1.0933, d5.loss_plan_l1_fix_dist: 0.2407, d6.loss_plan_l1_fix_time: 1.0983, d6.loss_plan_l1_fix_dist: 0.2537, d0.loss_cls_all: 0.2237, d0.loss_bbox_all: 0.4463, d0.loss_cls: 0.2237, d0.loss_bbox: 0.4463, d1.loss_cls: 0.2154, d1.loss_bbox: 0.4168, d2.loss_cls: 0.2010, d2.loss_bbox: 0.4012, d3.loss_cls: 0.1932, d3.loss_bbox: 0.3937, d4.loss_cls: 0.1864, d4.loss_bbox: 0.3912, d5.loss_cls: 0.1853, d5.loss_bbox: 0.3910, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9506, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7884, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7103, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7016, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6927, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6886, d0.loss_map_cls_all: 0.2411, d0.loss_map_pts_all: 1.6962, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2411, d0.loss_map_pts: 1.6962, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2128, d1.loss_map_pts: 1.1097, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.1934, d2.loss_map_pts: 0.9299, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.1852, d3.loss_map_pts: 0.8674, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.1794, d4.loss_map_pts: 0.8450, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.1750, d5.loss_map_pts: 0.8400, d5.loss_map_dir: 0.0121, loss: 31.4845, grad_norm: 159.2830 +2026-02-25 23:11:25,243 - DriveTransformer - INFO - Epoch [6][2800/39528] lr: 8.977e-05, eta: 6 days, 23:36:00, time: 0.819, data_time: 0.043, memory: 19865, loss_cls: 0.1882, loss_bbox: 0.3745, loss_traj: 0.7511, loss_traj_cls: 0.0010, loss_map_cls: 0.1347, loss_map_pts: 0.6606, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.4994, d0.loss_plan_l1_fix_dist: 0.4177, d1.loss_plan_l1_fix_time: 1.2871, d1.loss_plan_l1_fix_dist: 0.2286, d2.loss_plan_l1_fix_time: 1.2695, d2.loss_plan_l1_fix_dist: 0.2387, d3.loss_plan_l1_fix_time: 1.2745, d3.loss_plan_l1_fix_dist: 0.2518, d4.loss_plan_l1_fix_time: 1.2784, d4.loss_plan_l1_fix_dist: 0.2654, d5.loss_plan_l1_fix_time: 1.2817, d5.loss_plan_l1_fix_dist: 0.2801, d6.loss_plan_l1_fix_time: 1.2851, d6.loss_plan_l1_fix_dist: 0.2950, d0.loss_cls_all: 0.2223, d0.loss_bbox_all: 0.4273, d0.loss_cls: 0.2223, d0.loss_bbox: 0.4273, d1.loss_cls: 0.2114, d1.loss_bbox: 0.3978, d2.loss_cls: 0.2005, d2.loss_bbox: 0.3818, d3.loss_cls: 0.1943, d3.loss_bbox: 0.3755, d4.loss_cls: 0.1894, d4.loss_bbox: 0.3738, d5.loss_cls: 0.1878, d5.loss_bbox: 0.3743, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9410, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7968, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7586, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7473, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7477, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7485, d0.loss_map_cls_all: 0.1973, d0.loss_map_pts_all: 1.4253, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.1973, d0.loss_map_pts: 1.4253, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1694, d1.loss_map_pts: 0.9198, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1535, d2.loss_map_pts: 0.7523, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1462, d3.loss_map_pts: 0.6913, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1399, d4.loss_map_pts: 0.6717, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1356, d5.loss_map_pts: 0.6640, d5.loss_map_dir: 0.0102, loss: 30.9629, grad_norm: 161.2702 +2026-02-25 23:12:05,989 - DriveTransformer - INFO - Epoch [6][2850/39528] lr: 8.977e-05, eta: 6 days, 23:35:21, time: 0.815, data_time: 0.043, memory: 19865, loss_cls: 0.1925, loss_bbox: 0.3829, loss_traj: 0.6414, loss_traj_cls: 0.0010, loss_map_cls: 0.1932, loss_map_pts: 0.8186, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.9439, d0.loss_plan_l1_fix_dist: 0.4065, d1.loss_plan_l1_fix_time: 1.0887, d1.loss_plan_l1_fix_dist: 0.1856, d2.loss_plan_l1_fix_time: 1.0493, d2.loss_plan_l1_fix_dist: 0.1936, d3.loss_plan_l1_fix_time: 1.0527, d3.loss_plan_l1_fix_dist: 0.2087, d4.loss_plan_l1_fix_time: 1.0557, d4.loss_plan_l1_fix_dist: 0.2238, d5.loss_plan_l1_fix_time: 1.0590, d5.loss_plan_l1_fix_dist: 0.2374, d6.loss_plan_l1_fix_time: 1.0618, d6.loss_plan_l1_fix_dist: 0.2514, d0.loss_cls_all: 0.2299, d0.loss_bbox_all: 0.4379, d0.loss_cls: 0.2299, d0.loss_bbox: 0.4379, d1.loss_cls: 0.2241, d1.loss_bbox: 0.4063, d2.loss_cls: 0.2101, d2.loss_bbox: 0.3877, d3.loss_cls: 0.1992, d3.loss_bbox: 0.3836, d4.loss_cls: 0.1945, d4.loss_bbox: 0.3827, d5.loss_cls: 0.1928, d5.loss_bbox: 0.3821, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8042, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6808, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6557, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6480, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6474, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6419, d0.loss_map_cls_all: 0.2583, d0.loss_map_pts_all: 1.6220, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2583, d0.loss_map_pts: 1.6220, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2331, d1.loss_map_pts: 1.0979, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2141, d2.loss_map_pts: 0.9181, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2030, d3.loss_map_pts: 0.8529, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1966, d4.loss_map_pts: 0.8283, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1947, d5.loss_map_pts: 0.8185, d5.loss_map_dir: 0.0114, loss: 31.0358, grad_norm: 165.8517 +2026-02-25 23:12:45,969 - DriveTransformer - INFO - Epoch [6][2900/39528] lr: 8.977e-05, eta: 6 days, 23:34:39, time: 0.800, data_time: 0.043, memory: 19865, loss_cls: 0.2017, loss_bbox: 0.3996, loss_traj: 0.8277, loss_traj_cls: 0.0010, loss_map_cls: 0.2150, loss_map_pts: 0.8844, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.7332, d0.loss_plan_l1_fix_dist: 0.3131, d1.loss_plan_l1_fix_time: 1.2343, d1.loss_plan_l1_fix_dist: 0.1892, d2.loss_plan_l1_fix_time: 1.2170, d2.loss_plan_l1_fix_dist: 0.1960, d3.loss_plan_l1_fix_time: 1.2197, d3.loss_plan_l1_fix_dist: 0.2104, d4.loss_plan_l1_fix_time: 1.2226, d4.loss_plan_l1_fix_dist: 0.2262, d5.loss_plan_l1_fix_time: 1.2256, d5.loss_plan_l1_fix_dist: 0.2447, d6.loss_plan_l1_fix_time: 1.2286, d6.loss_plan_l1_fix_dist: 0.2643, d0.loss_cls_all: 0.2393, d0.loss_bbox_all: 0.4568, d0.loss_cls: 0.2393, d0.loss_bbox: 0.4568, d1.loss_cls: 0.2285, d1.loss_bbox: 0.4225, d2.loss_cls: 0.2162, d2.loss_bbox: 0.4070, d3.loss_cls: 0.2102, d3.loss_bbox: 0.3997, d4.loss_cls: 0.2029, d4.loss_bbox: 0.4015, d5.loss_cls: 0.2010, d5.loss_bbox: 0.3998, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0823, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8749, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8429, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8264, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8255, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.8245, d0.loss_map_cls_all: 0.2748, d0.loss_map_pts_all: 1.6457, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2748, d0.loss_map_pts: 1.6457, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2559, d1.loss_map_pts: 1.1776, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2385, d2.loss_map_pts: 0.9893, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.2249, d3.loss_map_pts: 0.9164, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.2200, d4.loss_map_pts: 0.8883, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.2176, d5.loss_map_pts: 0.8825, d5.loss_map_dir: 0.0107, loss: 33.9519, grad_norm: 165.5706 +2026-02-25 23:13:26,167 - DriveTransformer - INFO - Epoch [6][2950/39528] lr: 8.977e-05, eta: 6 days, 23:33:59, time: 0.804, data_time: 0.044, memory: 19865, loss_cls: 0.2089, loss_bbox: 0.4277, loss_traj: 0.7071, loss_traj_cls: 0.0010, loss_map_cls: 0.2261, loss_map_pts: 0.9624, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.9327, d0.loss_plan_l1_fix_dist: 0.4087, d1.loss_plan_l1_fix_time: 1.3439, d1.loss_plan_l1_fix_dist: 0.2098, d2.loss_plan_l1_fix_time: 1.3284, d2.loss_plan_l1_fix_dist: 0.2199, d3.loss_plan_l1_fix_time: 1.3250, d3.loss_plan_l1_fix_dist: 0.2332, d4.loss_plan_l1_fix_time: 1.3268, d4.loss_plan_l1_fix_dist: 0.2520, d5.loss_plan_l1_fix_time: 1.3293, d5.loss_plan_l1_fix_dist: 0.2728, d6.loss_plan_l1_fix_time: 1.3327, d6.loss_plan_l1_fix_dist: 0.2942, d0.loss_cls_all: 0.2491, d0.loss_bbox_all: 0.4872, d0.loss_cls: 0.2491, d0.loss_bbox: 0.4872, d1.loss_cls: 0.2435, d1.loss_bbox: 0.4534, d2.loss_cls: 0.2284, d2.loss_bbox: 0.4340, d3.loss_cls: 0.2167, d3.loss_bbox: 0.4284, d4.loss_cls: 0.2104, d4.loss_bbox: 0.4282, d5.loss_cls: 0.2095, d5.loss_bbox: 0.4267, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9651, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7709, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7239, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7239, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7153, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7132, d0.loss_map_cls_all: 0.2978, d0.loss_map_pts_all: 1.7159, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2978, d0.loss_map_pts: 1.7159, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2704, d1.loss_map_pts: 1.2552, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.2511, d2.loss_map_pts: 1.0664, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.2369, d3.loss_map_pts: 0.9960, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.2313, d4.loss_map_pts: 0.9706, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.2274, d5.loss_map_pts: 0.9637, d5.loss_map_dir: 0.0111, loss: 35.2938, grad_norm: 164.5285 +2026-02-25 23:14:04,795 - DriveTransformer - INFO - Epoch [6][3000/39528] lr: 8.977e-05, eta: 6 days, 23:33:12, time: 0.774, data_time: 0.044, memory: 19865, loss_cls: 0.1896, loss_bbox: 0.4038, loss_traj: 0.8537, loss_traj_cls: 0.0010, loss_map_cls: 0.1803, loss_map_pts: 0.7342, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 3.3741, d0.loss_plan_l1_fix_dist: 0.4535, d1.loss_plan_l1_fix_time: 1.4580, d1.loss_plan_l1_fix_dist: 0.2151, d2.loss_plan_l1_fix_time: 1.4460, d2.loss_plan_l1_fix_dist: 0.2232, d3.loss_plan_l1_fix_time: 1.4426, d3.loss_plan_l1_fix_dist: 0.2381, d4.loss_plan_l1_fix_time: 1.4434, d4.loss_plan_l1_fix_dist: 0.2535, d5.loss_plan_l1_fix_time: 1.4451, d5.loss_plan_l1_fix_dist: 0.2712, d6.loss_plan_l1_fix_time: 1.4473, d6.loss_plan_l1_fix_dist: 0.2917, d0.loss_cls_all: 0.2239, d0.loss_bbox_all: 0.4649, d0.loss_cls: 0.2239, d0.loss_bbox: 0.4649, d1.loss_cls: 0.2173, d1.loss_bbox: 0.4300, d2.loss_cls: 0.2051, d2.loss_bbox: 0.4114, d3.loss_cls: 0.1981, d3.loss_bbox: 0.4024, d4.loss_cls: 0.1912, d4.loss_bbox: 0.4039, d5.loss_cls: 0.1905, d5.loss_bbox: 0.4023, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1236, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8996, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8546, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8516, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8471, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8521, d0.loss_map_cls_all: 0.2368, d0.loss_map_pts_all: 1.3622, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2368, d0.loss_map_pts: 1.3622, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.2141, d1.loss_map_pts: 0.9737, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1981, d2.loss_map_pts: 0.8248, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1890, d3.loss_map_pts: 0.7648, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1846, d4.loss_map_pts: 0.7410, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1829, d5.loss_map_pts: 0.7340, d5.loss_map_dir: 0.0086, loss: 34.5007, grad_norm: 163.1833 +2026-02-25 23:14:43,610 - DriveTransformer - INFO - Epoch [6][3050/39528] lr: 8.977e-05, eta: 6 days, 23:32:26, time: 0.775, data_time: 0.042, memory: 19865, loss_cls: 0.1950, loss_bbox: 0.3954, loss_traj: 0.6680, loss_traj_cls: 0.0010, loss_map_cls: 0.1779, loss_map_pts: 0.7690, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 3.1407, d0.loss_plan_l1_fix_dist: 0.3881, d1.loss_plan_l1_fix_time: 1.1752, d1.loss_plan_l1_fix_dist: 0.1976, d2.loss_plan_l1_fix_time: 1.1621, d2.loss_plan_l1_fix_dist: 0.2079, d3.loss_plan_l1_fix_time: 1.1607, d3.loss_plan_l1_fix_dist: 0.2290, d4.loss_plan_l1_fix_time: 1.1637, d4.loss_plan_l1_fix_dist: 0.2523, d5.loss_plan_l1_fix_time: 1.1673, d5.loss_plan_l1_fix_dist: 0.2771, d6.loss_plan_l1_fix_time: 1.1714, d6.loss_plan_l1_fix_dist: 0.3040, d0.loss_cls_all: 0.2367, d0.loss_bbox_all: 0.4569, d0.loss_cls: 0.2367, d0.loss_bbox: 0.4569, d1.loss_cls: 0.2255, d1.loss_bbox: 0.4214, d2.loss_cls: 0.2126, d2.loss_bbox: 0.4032, d3.loss_cls: 0.2046, d3.loss_bbox: 0.3964, d4.loss_cls: 0.1967, d4.loss_bbox: 0.3946, d5.loss_cls: 0.1939, d5.loss_bbox: 0.3939, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8559, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7104, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6858, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6743, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6776, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6686, d0.loss_map_cls_all: 0.2423, d0.loss_map_pts_all: 1.4591, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2423, d0.loss_map_pts: 1.4591, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2152, d1.loss_map_pts: 1.0040, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.1985, d2.loss_map_pts: 0.8459, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.1850, d3.loss_map_pts: 0.7932, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1824, d4.loss_map_pts: 0.7740, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1777, d5.loss_map_pts: 0.7701, d5.loss_map_dir: 0.0116, loss: 31.5501, grad_norm: 164.8060 +2026-02-25 23:15:22,833 - DriveTransformer - INFO - Epoch [6][3100/39528] lr: 8.977e-05, eta: 6 days, 23:31:42, time: 0.784, data_time: 0.042, memory: 19865, loss_cls: 0.1815, loss_bbox: 0.3484, loss_traj: 0.8132, loss_traj_cls: 0.0011, loss_map_cls: 0.1342, loss_map_pts: 0.6201, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.3062, d0.loss_plan_l1_fix_dist: 0.3991, d1.loss_plan_l1_fix_time: 0.9162, d1.loss_plan_l1_fix_dist: 0.1874, d2.loss_plan_l1_fix_time: 0.9059, d2.loss_plan_l1_fix_dist: 0.1911, d3.loss_plan_l1_fix_time: 0.9084, d3.loss_plan_l1_fix_dist: 0.1994, d4.loss_plan_l1_fix_time: 0.9122, d4.loss_plan_l1_fix_dist: 0.2110, d5.loss_plan_l1_fix_time: 0.9163, d5.loss_plan_l1_fix_dist: 0.2250, d6.loss_plan_l1_fix_time: 0.9213, d6.loss_plan_l1_fix_dist: 0.2401, d0.loss_cls_all: 0.2136, d0.loss_bbox_all: 0.4015, d0.loss_cls: 0.2136, d0.loss_bbox: 0.4015, d1.loss_cls: 0.2078, d1.loss_bbox: 0.3684, d2.loss_cls: 0.1920, d2.loss_bbox: 0.3577, d3.loss_cls: 0.1860, d3.loss_bbox: 0.3514, d4.loss_cls: 0.1820, d4.loss_bbox: 0.3501, d5.loss_cls: 0.1811, d5.loss_bbox: 0.3474, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1066, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9025, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8337, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8257, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8131, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8117, d0.loss_map_cls_all: 0.2066, d0.loss_map_pts_all: 1.2723, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2066, d0.loss_map_pts: 1.2723, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1749, d1.loss_map_pts: 0.8499, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1565, d2.loss_map_pts: 0.7008, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1451, d3.loss_map_pts: 0.6456, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1378, d4.loss_map_pts: 0.6264, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1358, d5.loss_map_pts: 0.6203, d5.loss_map_dir: 0.0084, loss: 28.0088, grad_norm: 163.9131 +2026-02-25 23:16:02,050 - DriveTransformer - INFO - Epoch [6][3150/39528] lr: 8.977e-05, eta: 6 days, 23:30:57, time: 0.784, data_time: 0.042, memory: 19865, loss_cls: 0.1913, loss_bbox: 0.4177, loss_traj: 0.9679, loss_traj_cls: 0.0011, loss_map_cls: 0.1976, loss_map_pts: 0.8104, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.6963, d0.loss_plan_l1_fix_dist: 0.4280, d1.loss_plan_l1_fix_time: 1.2539, d1.loss_plan_l1_fix_dist: 0.2291, d2.loss_plan_l1_fix_time: 1.2369, d2.loss_plan_l1_fix_dist: 0.2430, d3.loss_plan_l1_fix_time: 1.2336, d3.loss_plan_l1_fix_dist: 0.2630, d4.loss_plan_l1_fix_time: 1.2360, d4.loss_plan_l1_fix_dist: 0.2833, d5.loss_plan_l1_fix_time: 1.2394, d5.loss_plan_l1_fix_dist: 0.3050, d6.loss_plan_l1_fix_time: 1.2434, d6.loss_plan_l1_fix_dist: 0.3249, d0.loss_cls_all: 0.2268, d0.loss_bbox_all: 0.4686, d0.loss_cls: 0.2268, d0.loss_bbox: 0.4686, d1.loss_cls: 0.2197, d1.loss_bbox: 0.4344, d2.loss_cls: 0.2085, d2.loss_bbox: 0.4190, d3.loss_cls: 0.2012, d3.loss_bbox: 0.4140, d4.loss_cls: 0.1937, d4.loss_bbox: 0.4144, d5.loss_cls: 0.1909, d5.loss_bbox: 0.4161, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2748, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0174, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.9776, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9800, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9703, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9608, d0.loss_map_cls_all: 0.2597, d0.loss_map_pts_all: 1.5873, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2597, d0.loss_map_pts: 1.5873, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2319, d1.loss_map_pts: 1.0700, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2170, d2.loss_map_pts: 0.8968, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.2045, d3.loss_map_pts: 0.8403, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1999, d4.loss_map_pts: 0.8199, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1992, d5.loss_map_pts: 0.8116, d5.loss_map_dir: 0.0114, loss: 34.7640, grad_norm: 163.2149 +2026-02-25 23:16:43,056 - DriveTransformer - INFO - Epoch [6][3200/39528] lr: 8.977e-05, eta: 6 days, 23:30:19, time: 0.820, data_time: 0.040, memory: 19865, loss_cls: 0.1717, loss_bbox: 0.3666, loss_traj: 0.7274, loss_traj_cls: 0.0011, loss_map_cls: 0.1821, loss_map_pts: 0.7825, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.3664, d0.loss_plan_l1_fix_dist: 0.3489, d1.loss_plan_l1_fix_time: 1.1471, d1.loss_plan_l1_fix_dist: 0.1820, d2.loss_plan_l1_fix_time: 1.1480, d2.loss_plan_l1_fix_dist: 0.1870, d3.loss_plan_l1_fix_time: 1.1499, d3.loss_plan_l1_fix_dist: 0.2014, d4.loss_plan_l1_fix_time: 1.1532, d4.loss_plan_l1_fix_dist: 0.2172, d5.loss_plan_l1_fix_time: 1.1571, d5.loss_plan_l1_fix_dist: 0.2347, d6.loss_plan_l1_fix_time: 1.1616, d6.loss_plan_l1_fix_dist: 0.2541, d0.loss_cls_all: 0.2056, d0.loss_bbox_all: 0.4280, d0.loss_cls: 0.2056, d0.loss_bbox: 0.4280, d1.loss_cls: 0.2007, d1.loss_bbox: 0.3912, d2.loss_cls: 0.1894, d2.loss_bbox: 0.3741, d3.loss_cls: 0.1824, d3.loss_bbox: 0.3681, d4.loss_cls: 0.1740, d4.loss_bbox: 0.3680, d5.loss_cls: 0.1708, d5.loss_bbox: 0.3667, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8994, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7802, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7404, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7320, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7306, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7284, d0.loss_map_cls_all: 0.2551, d0.loss_map_pts_all: 1.6131, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2551, d0.loss_map_pts: 1.6131, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2276, d1.loss_map_pts: 1.0643, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2058, d2.loss_map_pts: 0.8848, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.1936, d3.loss_map_pts: 0.8181, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1859, d4.loss_map_pts: 0.7906, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1820, d5.loss_map_pts: 0.7847, d5.loss_map_dir: 0.0118, loss: 30.9733, grad_norm: 160.1161 +2026-02-25 23:17:23,058 - DriveTransformer - INFO - Epoch [6][3250/39528] lr: 8.977e-05, eta: 6 days, 23:29:38, time: 0.800, data_time: 0.047, memory: 19865, loss_cls: 0.1799, loss_bbox: 0.3663, loss_traj: 0.6702, loss_traj_cls: 0.0011, loss_map_cls: 0.1636, loss_map_pts: 0.6884, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.8951, d0.loss_plan_l1_fix_dist: 0.4901, d1.loss_plan_l1_fix_time: 1.1353, d1.loss_plan_l1_fix_dist: 0.2410, d2.loss_plan_l1_fix_time: 1.1082, d2.loss_plan_l1_fix_dist: 0.2526, d3.loss_plan_l1_fix_time: 1.1094, d3.loss_plan_l1_fix_dist: 0.2749, d4.loss_plan_l1_fix_time: 1.1116, d4.loss_plan_l1_fix_dist: 0.3028, d5.loss_plan_l1_fix_time: 1.1141, d5.loss_plan_l1_fix_dist: 0.3310, d6.loss_plan_l1_fix_time: 1.1175, d6.loss_plan_l1_fix_dist: 0.3626, d0.loss_cls_all: 0.2069, d0.loss_bbox_all: 0.4249, d0.loss_cls: 0.2069, d0.loss_bbox: 0.4249, d1.loss_cls: 0.1992, d1.loss_bbox: 0.3921, d2.loss_cls: 0.1908, d2.loss_bbox: 0.3786, d3.loss_cls: 0.1866, d3.loss_bbox: 0.3703, d4.loss_cls: 0.1829, d4.loss_bbox: 0.3676, d5.loss_cls: 0.1800, d5.loss_bbox: 0.3676, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9119, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7228, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6749, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6711, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6677, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6668, d0.loss_map_cls_all: 0.2225, d0.loss_map_pts_all: 1.3868, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2225, d0.loss_map_pts: 1.3868, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1979, d1.loss_map_pts: 0.9470, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1833, d2.loss_map_pts: 0.7908, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1724, d3.loss_map_pts: 0.7255, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1673, d4.loss_map_pts: 0.7003, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1633, d5.loss_map_pts: 0.6922, d5.loss_map_dir: 0.0096, loss: 30.3458, grad_norm: 162.1243 +2026-02-25 23:18:03,010 - DriveTransformer - INFO - Epoch [6][3300/39528] lr: 8.977e-05, eta: 6 days, 23:28:56, time: 0.799, data_time: 0.050, memory: 19865, loss_cls: 0.1820, loss_bbox: 0.3789, loss_traj: 0.7531, loss_traj_cls: 0.0011, loss_map_cls: 0.1652, loss_map_pts: 0.7092, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.8621, d0.loss_plan_l1_fix_dist: 0.4512, d1.loss_plan_l1_fix_time: 1.3501, d1.loss_plan_l1_fix_dist: 0.1987, d2.loss_plan_l1_fix_time: 1.3361, d2.loss_plan_l1_fix_dist: 0.2137, d3.loss_plan_l1_fix_time: 1.3367, d3.loss_plan_l1_fix_dist: 0.2332, d4.loss_plan_l1_fix_time: 1.3399, d4.loss_plan_l1_fix_dist: 0.2548, d5.loss_plan_l1_fix_time: 1.3434, d5.loss_plan_l1_fix_dist: 0.2761, d6.loss_plan_l1_fix_time: 1.3476, d6.loss_plan_l1_fix_dist: 0.2970, d0.loss_cls_all: 0.2182, d0.loss_bbox_all: 0.4349, d0.loss_cls: 0.2182, d0.loss_bbox: 0.4349, d1.loss_cls: 0.2080, d1.loss_bbox: 0.4054, d2.loss_cls: 0.1936, d2.loss_bbox: 0.3928, d3.loss_cls: 0.1865, d3.loss_bbox: 0.3839, d4.loss_cls: 0.1830, d4.loss_bbox: 0.3814, d5.loss_cls: 0.1821, d5.loss_bbox: 0.3791, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0309, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8228, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7742, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7649, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7582, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7533, d0.loss_map_cls_all: 0.2289, d0.loss_map_pts_all: 1.4245, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2289, d0.loss_map_pts: 1.4245, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2032, d1.loss_map_pts: 0.9462, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1868, d2.loss_map_pts: 0.7944, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1743, d3.loss_map_pts: 0.7386, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1688, d4.loss_map_pts: 0.7182, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1663, d5.loss_map_pts: 0.7116, d5.loss_map_dir: 0.0094, loss: 32.3302, grad_norm: 160.7115 +2026-02-25 23:18:42,658 - DriveTransformer - INFO - Epoch [6][3350/39528] lr: 8.977e-05, eta: 6 days, 23:28:14, time: 0.793, data_time: 0.046, memory: 19865, loss_cls: 0.1919, loss_bbox: 0.3815, loss_traj: 0.8192, loss_traj_cls: 0.0011, loss_map_cls: 0.2014, loss_map_pts: 0.7607, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.9872, d0.loss_plan_l1_fix_dist: 0.3738, d1.loss_plan_l1_fix_time: 1.0945, d1.loss_plan_l1_fix_dist: 0.1817, d2.loss_plan_l1_fix_time: 1.0765, d2.loss_plan_l1_fix_dist: 0.1934, d3.loss_plan_l1_fix_time: 1.0811, d3.loss_plan_l1_fix_dist: 0.2073, d4.loss_plan_l1_fix_time: 1.0843, d4.loss_plan_l1_fix_dist: 0.2231, d5.loss_plan_l1_fix_time: 1.0877, d5.loss_plan_l1_fix_dist: 0.2414, d6.loss_plan_l1_fix_time: 1.0917, d6.loss_plan_l1_fix_dist: 0.2605, d0.loss_cls_all: 0.2315, d0.loss_bbox_all: 0.4422, d0.loss_cls: 0.2315, d0.loss_bbox: 0.4422, d1.loss_cls: 0.2195, d1.loss_bbox: 0.4095, d2.loss_cls: 0.2065, d2.loss_bbox: 0.3937, d3.loss_cls: 0.1992, d3.loss_bbox: 0.3852, d4.loss_cls: 0.1927, d4.loss_bbox: 0.3828, d5.loss_cls: 0.1917, d5.loss_bbox: 0.3813, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0290, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8772, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8357, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8364, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8268, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8186, d0.loss_map_cls_all: 0.2662, d0.loss_map_pts_all: 1.5242, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2662, d0.loss_map_pts: 1.5242, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2399, d1.loss_map_pts: 1.0343, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.2201, d2.loss_map_pts: 0.8635, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.2101, d3.loss_map_pts: 0.7950, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.2049, d4.loss_map_pts: 0.7705, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.2025, d5.loss_map_pts: 0.7629, d5.loss_map_dir: 0.0093, loss: 32.0356, grad_norm: 161.7271 +2026-02-25 23:19:22,397 - DriveTransformer - INFO - Epoch [6][3400/39528] lr: 8.977e-05, eta: 6 days, 23:27:31, time: 0.795, data_time: 0.048, memory: 19865, loss_cls: 0.1764, loss_bbox: 0.3710, loss_traj: 0.6212, loss_traj_cls: 0.0011, loss_map_cls: 0.1842, loss_map_pts: 0.6555, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.5953, d0.loss_plan_l1_fix_dist: 0.4689, d1.loss_plan_l1_fix_time: 1.2044, d1.loss_plan_l1_fix_dist: 0.2140, d2.loss_plan_l1_fix_time: 1.1916, d2.loss_plan_l1_fix_dist: 0.2262, d3.loss_plan_l1_fix_time: 1.1926, d3.loss_plan_l1_fix_dist: 0.2426, d4.loss_plan_l1_fix_time: 1.1956, d4.loss_plan_l1_fix_dist: 0.2603, d5.loss_plan_l1_fix_time: 1.1990, d5.loss_plan_l1_fix_dist: 0.2822, d6.loss_plan_l1_fix_time: 1.2024, d6.loss_plan_l1_fix_dist: 0.3064, d0.loss_cls_all: 0.2075, d0.loss_bbox_all: 0.4210, d0.loss_cls: 0.2075, d0.loss_bbox: 0.4210, d1.loss_cls: 0.2006, d1.loss_bbox: 0.3919, d2.loss_cls: 0.1901, d2.loss_bbox: 0.3772, d3.loss_cls: 0.1844, d3.loss_bbox: 0.3718, d4.loss_cls: 0.1782, d4.loss_bbox: 0.3715, d5.loss_cls: 0.1764, d5.loss_bbox: 0.3695, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8160, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6821, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6408, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6279, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6225, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6224, d0.loss_map_cls_all: 0.2472, d0.loss_map_pts_all: 1.3472, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2472, d0.loss_map_pts: 1.3472, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2190, d1.loss_map_pts: 0.9175, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.2040, d2.loss_map_pts: 0.7537, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1950, d3.loss_map_pts: 0.6859, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1877, d4.loss_map_pts: 0.6657, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1843, d5.loss_map_pts: 0.6587, d5.loss_map_dir: 0.0087, loss: 29.8063, grad_norm: 162.7008 +2026-02-25 23:20:01,975 - DriveTransformer - INFO - Epoch [6][3450/39528] lr: 8.977e-05, eta: 6 days, 23:26:48, time: 0.792, data_time: 0.045, memory: 19865, loss_cls: 0.1878, loss_bbox: 0.3845, loss_traj: 0.5264, loss_traj_cls: 0.0011, loss_map_cls: 0.1775, loss_map_pts: 0.7773, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.5268, d0.loss_plan_l1_fix_dist: 0.5376, d1.loss_plan_l1_fix_time: 1.3387, d1.loss_plan_l1_fix_dist: 0.2199, d2.loss_plan_l1_fix_time: 1.3131, d2.loss_plan_l1_fix_dist: 0.2298, d3.loss_plan_l1_fix_time: 1.3090, d3.loss_plan_l1_fix_dist: 0.2444, d4.loss_plan_l1_fix_time: 1.3107, d4.loss_plan_l1_fix_dist: 0.2630, d5.loss_plan_l1_fix_time: 1.3131, d5.loss_plan_l1_fix_dist: 0.2839, d6.loss_plan_l1_fix_time: 1.3160, d6.loss_plan_l1_fix_dist: 0.3045, d0.loss_cls_all: 0.2230, d0.loss_bbox_all: 0.4428, d0.loss_cls: 0.2230, d0.loss_bbox: 0.4428, d1.loss_cls: 0.2139, d1.loss_bbox: 0.4097, d2.loss_cls: 0.2026, d2.loss_bbox: 0.3920, d3.loss_cls: 0.1948, d3.loss_bbox: 0.3856, d4.loss_cls: 0.1914, d4.loss_bbox: 0.3824, d5.loss_cls: 0.1890, d5.loss_bbox: 0.3832, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7434, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6077, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5582, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5396, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5347, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5307, d0.loss_map_cls_all: 0.2447, d0.loss_map_pts_all: 1.5849, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2447, d0.loss_map_pts: 1.5849, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2174, d1.loss_map_pts: 1.0388, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2004, d2.loss_map_pts: 0.8679, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1892, d3.loss_map_pts: 0.8067, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1815, d4.loss_map_pts: 0.7839, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1789, d5.loss_map_pts: 0.7773, d5.loss_map_dir: 0.0113, loss: 31.3522, grad_norm: 164.0570 +2026-02-25 23:20:42,181 - DriveTransformer - INFO - Epoch [6][3500/39528] lr: 8.977e-05, eta: 6 days, 23:26:07, time: 0.804, data_time: 0.038, memory: 19865, loss_cls: 0.2098, loss_bbox: 0.4244, loss_traj: 0.8012, loss_traj_cls: 0.0010, loss_map_cls: 0.2376, loss_map_pts: 0.9508, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.4852, d0.loss_plan_l1_fix_dist: 0.2970, d1.loss_plan_l1_fix_time: 1.1782, d1.loss_plan_l1_fix_dist: 0.1717, d2.loss_plan_l1_fix_time: 1.1666, d2.loss_plan_l1_fix_dist: 0.1760, d3.loss_plan_l1_fix_time: 1.1644, d3.loss_plan_l1_fix_dist: 0.1875, d4.loss_plan_l1_fix_time: 1.1662, d4.loss_plan_l1_fix_dist: 0.2019, d5.loss_plan_l1_fix_time: 1.1689, d5.loss_plan_l1_fix_dist: 0.2172, d6.loss_plan_l1_fix_time: 1.1727, d6.loss_plan_l1_fix_dist: 0.2353, d0.loss_cls_all: 0.2518, d0.loss_bbox_all: 0.4748, d0.loss_cls: 0.2518, d0.loss_bbox: 0.4748, d1.loss_cls: 0.2430, d1.loss_bbox: 0.4420, d2.loss_cls: 0.2334, d2.loss_bbox: 0.4257, d3.loss_cls: 0.2201, d3.loss_bbox: 0.4210, d4.loss_cls: 0.2144, d4.loss_bbox: 0.4199, d5.loss_cls: 0.2114, d5.loss_bbox: 0.4226, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0728, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8295, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8065, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8031, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8038, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8029, d0.loss_map_cls_all: 0.3064, d0.loss_map_pts_all: 1.7571, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.3064, d0.loss_map_pts: 1.7571, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2799, d1.loss_map_pts: 1.2637, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2600, d2.loss_map_pts: 1.0698, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.2493, d3.loss_map_pts: 0.9928, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.2440, d4.loss_map_pts: 0.9641, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.2390, d5.loss_map_pts: 0.9529, d5.loss_map_dir: 0.0111, loss: 34.1708, grad_norm: 163.9729 +2026-02-25 23:21:22,476 - DriveTransformer - INFO - Epoch [6][3550/39528] lr: 8.977e-05, eta: 6 days, 23:25:27, time: 0.806, data_time: 0.042, memory: 19865, loss_cls: 0.1967, loss_bbox: 0.4124, loss_traj: 0.6845, loss_traj_cls: 0.0011, loss_map_cls: 0.2053, loss_map_pts: 0.9146, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.3524, d0.loss_plan_l1_fix_dist: 0.3905, d1.loss_plan_l1_fix_time: 1.0437, d1.loss_plan_l1_fix_dist: 0.1896, d2.loss_plan_l1_fix_time: 1.0173, d2.loss_plan_l1_fix_dist: 0.1945, d3.loss_plan_l1_fix_time: 1.0149, d3.loss_plan_l1_fix_dist: 0.2065, d4.loss_plan_l1_fix_time: 1.0164, d4.loss_plan_l1_fix_dist: 0.2197, d5.loss_plan_l1_fix_time: 1.0185, d5.loss_plan_l1_fix_dist: 0.2346, d6.loss_plan_l1_fix_time: 1.0213, d6.loss_plan_l1_fix_dist: 0.2523, d0.loss_cls_all: 0.2256, d0.loss_bbox_all: 0.4657, d0.loss_cls: 0.2256, d0.loss_bbox: 0.4657, d1.loss_cls: 0.2166, d1.loss_bbox: 0.4333, d2.loss_cls: 0.2075, d2.loss_bbox: 0.4162, d3.loss_cls: 0.2041, d3.loss_bbox: 0.4106, d4.loss_cls: 0.1973, d4.loss_bbox: 0.4112, d5.loss_cls: 0.1970, d5.loss_bbox: 0.4100, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8960, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7163, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6809, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6689, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6741, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6779, d0.loss_map_cls_all: 0.2797, d0.loss_map_pts_all: 1.7384, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2797, d0.loss_map_pts: 1.7384, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2485, d1.loss_map_pts: 1.2435, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2309, d2.loss_map_pts: 1.0429, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.2181, d3.loss_map_pts: 0.9600, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.2131, d4.loss_map_pts: 0.9276, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.2077, d5.loss_map_pts: 0.9179, d5.loss_map_dir: 0.0111, loss: 31.7261, grad_norm: 161.9081 +2026-02-25 23:22:03,753 - DriveTransformer - INFO - Epoch [6][3600/39528] lr: 8.977e-05, eta: 6 days, 23:24:50, time: 0.826, data_time: 0.046, memory: 19865, loss_cls: 0.1845, loss_bbox: 0.3878, loss_traj: 0.8134, loss_traj_cls: 0.0010, loss_map_cls: 0.1514, loss_map_pts: 0.7472, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.5217, d0.loss_plan_l1_fix_dist: 0.4147, d1.loss_plan_l1_fix_time: 1.0661, d1.loss_plan_l1_fix_dist: 0.1921, d2.loss_plan_l1_fix_time: 1.0415, d2.loss_plan_l1_fix_dist: 0.2000, d3.loss_plan_l1_fix_time: 1.0397, d3.loss_plan_l1_fix_dist: 0.2140, d4.loss_plan_l1_fix_time: 1.0419, d4.loss_plan_l1_fix_dist: 0.2279, d5.loss_plan_l1_fix_time: 1.0444, d5.loss_plan_l1_fix_dist: 0.2436, d6.loss_plan_l1_fix_time: 1.0472, d6.loss_plan_l1_fix_dist: 0.2602, d0.loss_cls_all: 0.2192, d0.loss_bbox_all: 0.4393, d0.loss_cls: 0.2192, d0.loss_bbox: 0.4393, d1.loss_cls: 0.2092, d1.loss_bbox: 0.4090, d2.loss_cls: 0.2019, d2.loss_bbox: 0.3928, d3.loss_cls: 0.1908, d3.loss_bbox: 0.3898, d4.loss_cls: 0.1867, d4.loss_bbox: 0.3884, d5.loss_cls: 0.1845, d5.loss_bbox: 0.3889, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9920, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8530, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8125, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8058, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8070, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8071, d0.loss_map_cls_all: 0.2298, d0.loss_map_pts_all: 1.5381, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2298, d0.loss_map_pts: 1.5381, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1899, d1.loss_map_pts: 1.0425, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1727, d2.loss_map_pts: 0.8623, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1610, d3.loss_map_pts: 0.7900, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1550, d4.loss_map_pts: 0.7658, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1524, d5.loss_map_pts: 0.7532, d5.loss_map_dir: 0.0093, loss: 30.8356, grad_norm: 165.5283 +2026-02-25 23:22:44,010 - DriveTransformer - INFO - Epoch [6][3650/39528] lr: 8.977e-05, eta: 6 days, 23:24:10, time: 0.805, data_time: 0.040, memory: 19865, loss_cls: 0.1969, loss_bbox: 0.4191, loss_traj: 0.7342, loss_traj_cls: 0.0010, loss_map_cls: 0.2005, loss_map_pts: 0.8438, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.7138, d0.loss_plan_l1_fix_dist: 0.5009, d1.loss_plan_l1_fix_time: 1.3944, d1.loss_plan_l1_fix_dist: 0.2042, d2.loss_plan_l1_fix_time: 1.3785, d2.loss_plan_l1_fix_dist: 0.2098, d3.loss_plan_l1_fix_time: 1.3725, d3.loss_plan_l1_fix_dist: 0.2215, d4.loss_plan_l1_fix_time: 1.3739, d4.loss_plan_l1_fix_dist: 0.2356, d5.loss_plan_l1_fix_time: 1.3763, d5.loss_plan_l1_fix_dist: 0.2519, d6.loss_plan_l1_fix_time: 1.3793, d6.loss_plan_l1_fix_dist: 0.2683, d0.loss_cls_all: 0.2301, d0.loss_bbox_all: 0.4755, d0.loss_cls: 0.2301, d0.loss_bbox: 0.4755, d1.loss_cls: 0.2219, d1.loss_bbox: 0.4419, d2.loss_cls: 0.2115, d2.loss_bbox: 0.4243, d3.loss_cls: 0.2011, d3.loss_bbox: 0.4209, d4.loss_cls: 0.1960, d4.loss_bbox: 0.4212, d5.loss_cls: 0.1967, d5.loss_bbox: 0.4215, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9078, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7848, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7266, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7242, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7248, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7281, d0.loss_map_cls_all: 0.2719, d0.loss_map_pts_all: 1.6376, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2719, d0.loss_map_pts: 1.6376, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2430, d1.loss_map_pts: 1.1357, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.2257, d2.loss_map_pts: 0.9601, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.2162, d3.loss_map_pts: 0.8864, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.2095, d4.loss_map_pts: 0.8567, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.2027, d5.loss_map_pts: 0.8469, d5.loss_map_dir: 0.0104, loss: 34.1267, grad_norm: 163.4386 +2026-02-25 23:23:25,309 - DriveTransformer - INFO - Epoch [6][3700/39528] lr: 8.977e-05, eta: 6 days, 23:23:33, time: 0.826, data_time: 0.042, memory: 19865, loss_cls: 0.1779, loss_bbox: 0.3934, loss_traj: 0.6317, loss_traj_cls: 0.0010, loss_map_cls: 0.1755, loss_map_pts: 0.7737, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.1113, d0.loss_plan_l1_fix_dist: 0.4383, d1.loss_plan_l1_fix_time: 0.9370, d1.loss_plan_l1_fix_dist: 0.1786, d2.loss_plan_l1_fix_time: 0.9151, d2.loss_plan_l1_fix_dist: 0.1860, d3.loss_plan_l1_fix_time: 0.9077, d3.loss_plan_l1_fix_dist: 0.1992, d4.loss_plan_l1_fix_time: 0.9089, d4.loss_plan_l1_fix_dist: 0.2136, d5.loss_plan_l1_fix_time: 0.9111, d5.loss_plan_l1_fix_dist: 0.2292, d6.loss_plan_l1_fix_time: 0.9142, d6.loss_plan_l1_fix_dist: 0.2478, d0.loss_cls_all: 0.2085, d0.loss_bbox_all: 0.4344, d0.loss_cls: 0.2085, d0.loss_bbox: 0.4344, d1.loss_cls: 0.2028, d1.loss_bbox: 0.4072, d2.loss_cls: 0.1898, d2.loss_bbox: 0.3960, d3.loss_cls: 0.1821, d3.loss_bbox: 0.3896, d4.loss_cls: 0.1798, d4.loss_bbox: 0.3891, d5.loss_cls: 0.1783, d5.loss_bbox: 0.3904, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7835, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6672, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6299, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6294, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6309, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6308, d0.loss_map_cls_all: 0.2298, d0.loss_map_pts_all: 1.5497, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2298, d0.loss_map_pts: 1.5497, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2075, d1.loss_map_pts: 1.0240, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.1913, d2.loss_map_pts: 0.8564, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1811, d3.loss_map_pts: 0.7954, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1782, d4.loss_map_pts: 0.7781, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1759, d5.loss_map_pts: 0.7728, d5.loss_map_dir: 0.0115, loss: 28.4285, grad_norm: 163.9167 +2026-02-25 23:24:06,922 - DriveTransformer - INFO - Epoch [6][3750/39528] lr: 8.977e-05, eta: 6 days, 23:22:57, time: 0.832, data_time: 0.047, memory: 19865, loss_cls: 0.1966, loss_bbox: 0.4204, loss_traj: 0.8017, loss_traj_cls: 0.0010, loss_map_cls: 0.1929, loss_map_pts: 0.8545, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.7018, d0.loss_plan_l1_fix_dist: 0.3675, d1.loss_plan_l1_fix_time: 1.1492, d1.loss_plan_l1_fix_dist: 0.1705, d2.loss_plan_l1_fix_time: 1.1346, d2.loss_plan_l1_fix_dist: 0.1756, d3.loss_plan_l1_fix_time: 1.1323, d3.loss_plan_l1_fix_dist: 0.1884, d4.loss_plan_l1_fix_time: 1.1343, d4.loss_plan_l1_fix_dist: 0.2027, d5.loss_plan_l1_fix_time: 1.1368, d5.loss_plan_l1_fix_dist: 0.2195, d6.loss_plan_l1_fix_time: 1.1398, d6.loss_plan_l1_fix_dist: 0.2404, d0.loss_cls_all: 0.2287, d0.loss_bbox_all: 0.4754, d0.loss_cls: 0.2287, d0.loss_bbox: 0.4754, d1.loss_cls: 0.2219, d1.loss_bbox: 0.4434, d2.loss_cls: 0.2110, d2.loss_bbox: 0.4224, d3.loss_cls: 0.2011, d3.loss_bbox: 0.4160, d4.loss_cls: 0.1971, d4.loss_bbox: 0.4162, d5.loss_cls: 0.1968, d5.loss_bbox: 0.4177, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0719, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8893, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8067, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7966, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7919, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7914, d0.loss_map_cls_all: 0.2483, d0.loss_map_pts_all: 1.6556, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2483, d0.loss_map_pts: 1.6556, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2274, d1.loss_map_pts: 1.1543, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.2133, d2.loss_map_pts: 0.9640, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.2047, d3.loss_map_pts: 0.8906, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1984, d4.loss_map_pts: 0.8626, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1941, d5.loss_map_pts: 0.8551, d5.loss_map_dir: 0.0107, loss: 32.9171, grad_norm: 162.3806 +2026-02-25 23:24:48,828 - DriveTransformer - INFO - Epoch [6][3800/39528] lr: 8.977e-05, eta: 6 days, 23:22:23, time: 0.839, data_time: 0.044, memory: 19865, loss_cls: 0.1623, loss_bbox: 0.3723, loss_traj: 0.7924, loss_traj_cls: 0.0009, loss_map_cls: 0.2010, loss_map_pts: 0.8806, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.5671, d0.loss_plan_l1_fix_dist: 0.4006, d1.loss_plan_l1_fix_time: 1.3363, d1.loss_plan_l1_fix_dist: 0.1953, d2.loss_plan_l1_fix_time: 1.3305, d2.loss_plan_l1_fix_dist: 0.2002, d3.loss_plan_l1_fix_time: 1.3320, d3.loss_plan_l1_fix_dist: 0.2120, d4.loss_plan_l1_fix_time: 1.3346, d4.loss_plan_l1_fix_dist: 0.2268, d5.loss_plan_l1_fix_time: 1.3378, d5.loss_plan_l1_fix_dist: 0.2410, d6.loss_plan_l1_fix_time: 1.3416, d6.loss_plan_l1_fix_dist: 0.2580, d0.loss_cls_all: 0.1974, d0.loss_bbox_all: 0.4192, d0.loss_cls: 0.1974, d0.loss_bbox: 0.4192, d1.loss_cls: 0.1874, d1.loss_bbox: 0.3874, d2.loss_cls: 0.1744, d2.loss_bbox: 0.3748, d3.loss_cls: 0.1678, d3.loss_bbox: 0.3698, d4.loss_cls: 0.1641, d4.loss_bbox: 0.3685, d5.loss_cls: 0.1622, d5.loss_bbox: 0.3705, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0359, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8499, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8074, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7953, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7893, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7912, d0.loss_map_cls_all: 0.2777, d0.loss_map_pts_all: 1.7887, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2777, d0.loss_map_pts: 1.7887, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2436, d1.loss_map_pts: 1.1945, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2294, d2.loss_map_pts: 0.9848, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2157, d3.loss_map_pts: 0.9154, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.2076, d4.loss_map_pts: 0.8856, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.2042, d5.loss_map_pts: 0.8798, d5.loss_map_dir: 0.0115, loss: 33.9397, grad_norm: 163.0388 +2026-02-25 23:25:30,078 - DriveTransformer - INFO - Epoch [6][3850/39528] lr: 8.977e-05, eta: 6 days, 23:21:46, time: 0.824, data_time: 0.043, memory: 19865, loss_cls: 0.1896, loss_bbox: 0.3840, loss_traj: 0.7653, loss_traj_cls: 0.0009, loss_map_cls: 0.1787, loss_map_pts: 0.7601, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.6539, d0.loss_plan_l1_fix_dist: 0.2562, d1.loss_plan_l1_fix_time: 1.1356, d1.loss_plan_l1_fix_dist: 0.1776, d2.loss_plan_l1_fix_time: 1.1171, d2.loss_plan_l1_fix_dist: 0.1843, d3.loss_plan_l1_fix_time: 1.1228, d3.loss_plan_l1_fix_dist: 0.1956, d4.loss_plan_l1_fix_time: 1.1268, d4.loss_plan_l1_fix_dist: 0.2103, d5.loss_plan_l1_fix_time: 1.1307, d5.loss_plan_l1_fix_dist: 0.2252, d6.loss_plan_l1_fix_time: 1.1349, d6.loss_plan_l1_fix_dist: 0.2377, d0.loss_cls_all: 0.2221, d0.loss_bbox_all: 0.4301, d0.loss_cls: 0.2221, d0.loss_bbox: 0.4301, d1.loss_cls: 0.2113, d1.loss_bbox: 0.4002, d2.loss_cls: 0.1978, d2.loss_bbox: 0.3882, d3.loss_cls: 0.1956, d3.loss_bbox: 0.3831, d4.loss_cls: 0.1897, d4.loss_bbox: 0.3848, d5.loss_cls: 0.1901, d5.loss_bbox: 0.3845, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9931, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8212, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7922, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7752, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7730, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7676, d0.loss_map_cls_all: 0.2393, d0.loss_map_pts_all: 1.4584, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2393, d0.loss_map_pts: 1.4584, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2136, d1.loss_map_pts: 0.9858, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1963, d2.loss_map_pts: 0.8429, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1859, d3.loss_map_pts: 0.7908, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1813, d4.loss_map_pts: 0.7721, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1784, d5.loss_map_pts: 0.7604, d5.loss_map_dir: 0.0100, loss: 30.9240, grad_norm: 163.8393 +2026-02-25 23:26:11,096 - DriveTransformer - INFO - Epoch [6][3900/39528] lr: 8.977e-05, eta: 6 days, 23:21:08, time: 0.821, data_time: 0.051, memory: 19865, loss_cls: 0.2256, loss_bbox: 0.4265, loss_traj: 0.7133, loss_traj_cls: 0.0009, loss_map_cls: 0.2074, loss_map_pts: 0.8764, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 3.0623, d0.loss_plan_l1_fix_dist: 0.3723, d1.loss_plan_l1_fix_time: 1.4945, d1.loss_plan_l1_fix_dist: 0.2135, d2.loss_plan_l1_fix_time: 1.4848, d2.loss_plan_l1_fix_dist: 0.2174, d3.loss_plan_l1_fix_time: 1.4850, d3.loss_plan_l1_fix_dist: 0.2276, d4.loss_plan_l1_fix_time: 1.4876, d4.loss_plan_l1_fix_dist: 0.2399, d5.loss_plan_l1_fix_time: 1.4907, d5.loss_plan_l1_fix_dist: 0.2555, d6.loss_plan_l1_fix_time: 1.4943, d6.loss_plan_l1_fix_dist: 0.2708, d0.loss_cls_all: 0.2675, d0.loss_bbox_all: 0.4792, d0.loss_cls: 0.2675, d0.loss_bbox: 0.4792, d1.loss_cls: 0.2577, d1.loss_bbox: 0.4457, d2.loss_cls: 0.2438, d2.loss_bbox: 0.4295, d3.loss_cls: 0.2330, d3.loss_bbox: 0.4244, d4.loss_cls: 0.2263, d4.loss_bbox: 0.4235, d5.loss_cls: 0.2256, d5.loss_bbox: 0.4248, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9918, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8093, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7385, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7253, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7178, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7182, d0.loss_map_cls_all: 0.2833, d0.loss_map_pts_all: 1.7621, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2833, d0.loss_map_pts: 1.7621, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2524, d1.loss_map_pts: 1.1570, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2343, d2.loss_map_pts: 0.9710, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2208, d3.loss_map_pts: 0.9078, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.2119, d4.loss_map_pts: 0.8882, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.2099, d5.loss_map_pts: 0.8770, d5.loss_map_dir: 0.0122, loss: 35.8960, grad_norm: 165.1419 +2026-02-25 23:26:51,424 - DriveTransformer - INFO - Epoch [6][3950/39528] lr: 8.977e-05, eta: 6 days, 23:20:28, time: 0.806, data_time: 0.045, memory: 19865, loss_cls: 0.1812, loss_bbox: 0.3955, loss_traj: 0.5647, loss_traj_cls: 0.0009, loss_map_cls: 0.1742, loss_map_pts: 0.7276, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.8262, d0.loss_plan_l1_fix_dist: 0.3676, d1.loss_plan_l1_fix_time: 1.3046, d1.loss_plan_l1_fix_dist: 0.1779, d2.loss_plan_l1_fix_time: 1.2953, d2.loss_plan_l1_fix_dist: 0.1881, d3.loss_plan_l1_fix_time: 1.2955, d3.loss_plan_l1_fix_dist: 0.2025, d4.loss_plan_l1_fix_time: 1.2981, d4.loss_plan_l1_fix_dist: 0.2167, d5.loss_plan_l1_fix_time: 1.3012, d5.loss_plan_l1_fix_dist: 0.2296, d6.loss_plan_l1_fix_time: 1.3048, d6.loss_plan_l1_fix_dist: 0.2484, d0.loss_cls_all: 0.2277, d0.loss_bbox_all: 0.4411, d0.loss_cls: 0.2277, d0.loss_bbox: 0.4411, d1.loss_cls: 0.2127, d1.loss_bbox: 0.4154, d2.loss_cls: 0.2023, d2.loss_bbox: 0.3984, d3.loss_cls: 0.1910, d3.loss_bbox: 0.3940, d4.loss_cls: 0.1834, d4.loss_bbox: 0.3951, d5.loss_cls: 0.1810, d5.loss_bbox: 0.3957, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7176, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5711, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5615, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5577, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5648, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5637, d0.loss_map_cls_all: 0.2401, d0.loss_map_pts_all: 1.5121, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2401, d0.loss_map_pts: 1.5121, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2115, d1.loss_map_pts: 1.0027, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1956, d2.loss_map_pts: 0.8441, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1863, d3.loss_map_pts: 0.7663, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1803, d4.loss_map_pts: 0.7371, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1762, d5.loss_map_pts: 0.7291, d5.loss_map_dir: 0.0095, loss: 30.7567, grad_norm: 169.8811 +2026-02-25 23:27:32,033 - DriveTransformer - INFO - Epoch [6][4000/39528] lr: 8.977e-05, eta: 6 days, 23:19:49, time: 0.812, data_time: 0.041, memory: 19865, loss_cls: 0.1838, loss_bbox: 0.4064, loss_traj: 0.7162, loss_traj_cls: 0.0010, loss_map_cls: 0.1758, loss_map_pts: 0.8045, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.4784, d0.loss_plan_l1_fix_dist: 0.4696, d1.loss_plan_l1_fix_time: 1.2720, d1.loss_plan_l1_fix_dist: 0.1976, d2.loss_plan_l1_fix_time: 1.2577, d2.loss_plan_l1_fix_dist: 0.2031, d3.loss_plan_l1_fix_time: 1.2601, d3.loss_plan_l1_fix_dist: 0.2131, d4.loss_plan_l1_fix_time: 1.2628, d4.loss_plan_l1_fix_dist: 0.2259, d5.loss_plan_l1_fix_time: 1.2655, d5.loss_plan_l1_fix_dist: 0.2381, d6.loss_plan_l1_fix_time: 1.2685, d6.loss_plan_l1_fix_dist: 0.2537, d0.loss_cls_all: 0.2158, d0.loss_bbox_all: 0.4600, d0.loss_cls: 0.2158, d0.loss_bbox: 0.4600, d1.loss_cls: 0.2121, d1.loss_bbox: 0.4296, d2.loss_cls: 0.1984, d2.loss_bbox: 0.4134, d3.loss_cls: 0.1870, d3.loss_bbox: 0.4087, d4.loss_cls: 0.1855, d4.loss_bbox: 0.4061, d5.loss_cls: 0.1844, d5.loss_bbox: 0.4066, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8921, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7624, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7269, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7177, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7170, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7146, d0.loss_map_cls_all: 0.2436, d0.loss_map_pts_all: 1.6427, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2436, d0.loss_map_pts: 1.6427, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2135, d1.loss_map_pts: 1.0859, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1958, d2.loss_map_pts: 0.9122, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1880, d3.loss_map_pts: 0.8438, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1817, d4.loss_map_pts: 0.8153, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1764, d5.loss_map_pts: 0.8056, d5.loss_map_dir: 0.0103, loss: 32.3457, grad_norm: 169.4037 +2026-02-25 23:28:13,130 - DriveTransformer - INFO - Epoch [6][4050/39528] lr: 8.977e-05, eta: 6 days, 23:19:11, time: 0.822, data_time: 0.045, memory: 19865, loss_cls: 0.1763, loss_bbox: 0.3854, loss_traj: 0.6895, loss_traj_cls: 0.0010, loss_map_cls: 0.1619, loss_map_pts: 0.7262, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.2522, d0.loss_plan_l1_fix_dist: 0.4939, d1.loss_plan_l1_fix_time: 1.0497, d1.loss_plan_l1_fix_dist: 0.1970, d2.loss_plan_l1_fix_time: 1.0284, d2.loss_plan_l1_fix_dist: 0.2010, d3.loss_plan_l1_fix_time: 1.0327, d3.loss_plan_l1_fix_dist: 0.2114, d4.loss_plan_l1_fix_time: 1.0365, d4.loss_plan_l1_fix_dist: 0.2255, d5.loss_plan_l1_fix_time: 1.0399, d5.loss_plan_l1_fix_dist: 0.2437, d6.loss_plan_l1_fix_time: 1.0436, d6.loss_plan_l1_fix_dist: 0.2597, d0.loss_cls_all: 0.2032, d0.loss_bbox_all: 0.4415, d0.loss_cls: 0.2032, d0.loss_bbox: 0.4415, d1.loss_cls: 0.2015, d1.loss_bbox: 0.4097, d2.loss_cls: 0.1885, d2.loss_bbox: 0.3939, d3.loss_cls: 0.1833, d3.loss_bbox: 0.3874, d4.loss_cls: 0.1752, d4.loss_bbox: 0.3897, d5.loss_cls: 0.1755, d5.loss_bbox: 0.3882, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8776, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7526, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7047, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6897, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6945, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6948, d0.loss_map_cls_all: 0.2359, d0.loss_map_pts_all: 1.5051, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2359, d0.loss_map_pts: 1.5051, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2055, d1.loss_map_pts: 1.0018, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1864, d2.loss_map_pts: 0.8278, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1753, d3.loss_map_pts: 0.7662, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1694, d4.loss_map_pts: 0.7374, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1636, d5.loss_map_pts: 0.7288, d5.loss_map_dir: 0.0097, loss: 29.5780, grad_norm: 169.3784 +2026-02-25 23:28:53,236 - DriveTransformer - INFO - Epoch [6][4100/39528] lr: 8.977e-05, eta: 6 days, 23:18:30, time: 0.802, data_time: 0.041, memory: 19865, loss_cls: 0.1908, loss_bbox: 0.4045, loss_traj: 0.7007, loss_traj_cls: 0.0010, loss_map_cls: 0.1716, loss_map_pts: 0.7249, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.6705, d0.loss_plan_l1_fix_dist: 0.3796, d1.loss_plan_l1_fix_time: 1.0951, d1.loss_plan_l1_fix_dist: 0.1791, d2.loss_plan_l1_fix_time: 1.0848, d2.loss_plan_l1_fix_dist: 0.1943, d3.loss_plan_l1_fix_time: 1.0837, d3.loss_plan_l1_fix_dist: 0.2159, d4.loss_plan_l1_fix_time: 1.0855, d4.loss_plan_l1_fix_dist: 0.2390, d5.loss_plan_l1_fix_time: 1.0880, d5.loss_plan_l1_fix_dist: 0.2631, d6.loss_plan_l1_fix_time: 1.0912, d6.loss_plan_l1_fix_dist: 0.2916, d0.loss_cls_all: 0.2324, d0.loss_bbox_all: 0.4579, d0.loss_cls: 0.2324, d0.loss_bbox: 0.4579, d1.loss_cls: 0.2278, d1.loss_bbox: 0.4236, d2.loss_cls: 0.2140, d2.loss_bbox: 0.4062, d3.loss_cls: 0.2011, d3.loss_bbox: 0.4018, d4.loss_cls: 0.1948, d4.loss_bbox: 0.4023, d5.loss_cls: 0.1908, d5.loss_bbox: 0.4040, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9127, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7505, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7165, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7032, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6985, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6963, d0.loss_map_cls_all: 0.2415, d0.loss_map_pts_all: 1.4871, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2415, d0.loss_map_pts: 1.4871, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2079, d1.loss_map_pts: 0.9884, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1919, d2.loss_map_pts: 0.8194, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1799, d3.loss_map_pts: 0.7583, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1754, d4.loss_map_pts: 0.7341, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1717, d5.loss_map_pts: 0.7269, d5.loss_map_dir: 0.0103, loss: 30.5747, grad_norm: 167.9953 +2026-02-25 23:29:33,706 - DriveTransformer - INFO - Epoch [6][4150/39528] lr: 8.977e-05, eta: 6 days, 23:17:50, time: 0.809, data_time: 0.040, memory: 19865, loss_cls: 0.1827, loss_bbox: 0.4195, loss_traj: 0.6413, loss_traj_cls: 0.0010, loss_map_cls: 0.1704, loss_map_pts: 0.7552, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.7341, d0.loss_plan_l1_fix_dist: 0.3501, d1.loss_plan_l1_fix_time: 1.2242, d1.loss_plan_l1_fix_dist: 0.1871, d2.loss_plan_l1_fix_time: 1.2085, d2.loss_plan_l1_fix_dist: 0.2015, d3.loss_plan_l1_fix_time: 1.2172, d3.loss_plan_l1_fix_dist: 0.2222, d4.loss_plan_l1_fix_time: 1.2218, d4.loss_plan_l1_fix_dist: 0.2446, d5.loss_plan_l1_fix_time: 1.2259, d5.loss_plan_l1_fix_dist: 0.2680, d6.loss_plan_l1_fix_time: 1.2305, d6.loss_plan_l1_fix_dist: 0.2902, d0.loss_cls_all: 0.2123, d0.loss_bbox_all: 0.4650, d0.loss_cls: 0.2123, d0.loss_bbox: 0.4650, d1.loss_cls: 0.2072, d1.loss_bbox: 0.4396, d2.loss_cls: 0.1958, d2.loss_bbox: 0.4235, d3.loss_cls: 0.1880, d3.loss_bbox: 0.4192, d4.loss_cls: 0.1831, d4.loss_bbox: 0.4184, d5.loss_cls: 0.1828, d5.loss_bbox: 0.4192, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8692, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6989, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6515, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6425, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6405, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6406, d0.loss_map_cls_all: 0.2351, d0.loss_map_pts_all: 1.5892, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2351, d0.loss_map_pts: 1.5892, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2087, d1.loss_map_pts: 1.0339, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1905, d2.loss_map_pts: 0.8521, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1814, d3.loss_map_pts: 0.7821, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1768, d4.loss_map_pts: 0.7644, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.1716, d5.loss_map_pts: 0.7570, d5.loss_map_dir: 0.0121, loss: 31.4347, grad_norm: 166.6215 +2026-02-25 23:30:14,702 - DriveTransformer - INFO - Epoch [6][4200/39528] lr: 8.977e-05, eta: 6 days, 23:17:13, time: 0.820, data_time: 0.041, memory: 19865, loss_cls: 0.1996, loss_bbox: 0.3941, loss_traj: 0.6579, loss_traj_cls: 0.0010, loss_map_cls: 0.1903, loss_map_pts: 0.8224, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.5650, d0.loss_plan_l1_fix_dist: 0.3712, d1.loss_plan_l1_fix_time: 1.2920, d1.loss_plan_l1_fix_dist: 0.1912, d2.loss_plan_l1_fix_time: 1.2755, d2.loss_plan_l1_fix_dist: 0.2043, d3.loss_plan_l1_fix_time: 1.2793, d3.loss_plan_l1_fix_dist: 0.2247, d4.loss_plan_l1_fix_time: 1.2835, d4.loss_plan_l1_fix_dist: 0.2485, d5.loss_plan_l1_fix_time: 1.2879, d5.loss_plan_l1_fix_dist: 0.2711, d6.loss_plan_l1_fix_time: 1.2924, d6.loss_plan_l1_fix_dist: 0.2900, d0.loss_cls_all: 0.2130, d0.loss_bbox_all: 0.4509, d0.loss_cls: 0.2130, d0.loss_bbox: 0.4509, d1.loss_cls: 0.2062, d1.loss_bbox: 0.4209, d2.loss_cls: 0.2015, d2.loss_bbox: 0.4033, d3.loss_cls: 0.1982, d3.loss_bbox: 0.3961, d4.loss_cls: 0.1953, d4.loss_bbox: 0.3934, d5.loss_cls: 0.1970, d5.loss_bbox: 0.3937, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8883, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7047, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6484, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6432, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6406, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6516, d0.loss_map_cls_all: 0.2595, d0.loss_map_pts_all: 1.6041, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2595, d0.loss_map_pts: 1.6041, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2318, d1.loss_map_pts: 1.0809, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2143, d2.loss_map_pts: 0.9056, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.2019, d3.loss_map_pts: 0.8445, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.1950, d4.loss_map_pts: 0.8249, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.1920, d5.loss_map_pts: 0.8215, d5.loss_map_dir: 0.0125, loss: 32.1925, grad_norm: 165.0190 +2026-02-25 23:30:54,485 - DriveTransformer - INFO - Epoch [6][4250/39528] lr: 8.977e-05, eta: 6 days, 23:16:30, time: 0.796, data_time: 0.043, memory: 19865, loss_cls: 0.1985, loss_bbox: 0.4115, loss_traj: 0.6654, loss_traj_cls: 0.0010, loss_map_cls: 0.1691, loss_map_pts: 0.7727, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.4249, d0.loss_plan_l1_fix_dist: 0.5378, d1.loss_plan_l1_fix_time: 1.0486, d1.loss_plan_l1_fix_dist: 0.2086, d2.loss_plan_l1_fix_time: 1.0299, d2.loss_plan_l1_fix_dist: 0.2193, d3.loss_plan_l1_fix_time: 1.0276, d3.loss_plan_l1_fix_dist: 0.2342, d4.loss_plan_l1_fix_time: 1.0309, d4.loss_plan_l1_fix_dist: 0.2503, d5.loss_plan_l1_fix_time: 1.0348, d5.loss_plan_l1_fix_dist: 0.2717, d6.loss_plan_l1_fix_time: 1.0392, d6.loss_plan_l1_fix_dist: 0.2981, d0.loss_cls_all: 0.2175, d0.loss_bbox_all: 0.4571, d0.loss_cls: 0.2175, d0.loss_bbox: 0.4571, d1.loss_cls: 0.2123, d1.loss_bbox: 0.4252, d2.loss_cls: 0.2031, d2.loss_bbox: 0.4090, d3.loss_cls: 0.2014, d3.loss_bbox: 0.4054, d4.loss_cls: 0.1989, d4.loss_bbox: 0.4060, d5.loss_cls: 0.1979, d5.loss_bbox: 0.4078, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8566, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7218, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6665, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6605, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6548, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6636, d0.loss_map_cls_all: 0.2485, d0.loss_map_pts_all: 1.5503, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2485, d0.loss_map_pts: 1.5503, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2125, d1.loss_map_pts: 1.0502, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1930, d2.loss_map_pts: 0.8615, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1812, d3.loss_map_pts: 0.7975, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1740, d4.loss_map_pts: 0.7760, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1699, d5.loss_map_pts: 0.7723, d5.loss_map_dir: 0.0115, loss: 30.3923, grad_norm: 165.1999 +2026-02-25 23:31:34,759 - DriveTransformer - INFO - Epoch [6][4300/39528] lr: 8.977e-05, eta: 6 days, 23:15:50, time: 0.805, data_time: 0.040, memory: 19865, loss_cls: 0.2085, loss_bbox: 0.4494, loss_traj: 0.7153, loss_traj_cls: 0.0010, loss_map_cls: 0.1750, loss_map_pts: 0.7828, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.6652, d0.loss_plan_l1_fix_dist: 0.3773, d1.loss_plan_l1_fix_time: 1.1847, d1.loss_plan_l1_fix_dist: 0.1961, d2.loss_plan_l1_fix_time: 1.1687, d2.loss_plan_l1_fix_dist: 0.2102, d3.loss_plan_l1_fix_time: 1.1687, d3.loss_plan_l1_fix_dist: 0.2296, d4.loss_plan_l1_fix_time: 1.1715, d4.loss_plan_l1_fix_dist: 0.2508, d5.loss_plan_l1_fix_time: 1.1750, d5.loss_plan_l1_fix_dist: 0.2792, d6.loss_plan_l1_fix_time: 1.1792, d6.loss_plan_l1_fix_dist: 0.3134, d0.loss_cls_all: 0.2417, d0.loss_bbox_all: 0.4821, d0.loss_cls: 0.2417, d0.loss_bbox: 0.4821, d1.loss_cls: 0.2391, d1.loss_bbox: 0.4549, d2.loss_cls: 0.2301, d2.loss_bbox: 0.4426, d3.loss_cls: 0.2188, d3.loss_bbox: 0.4417, d4.loss_cls: 0.2112, d4.loss_bbox: 0.4435, d5.loss_cls: 0.2072, d5.loss_bbox: 0.4485, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9651, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7947, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7390, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7216, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7164, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7114, d0.loss_map_cls_all: 0.2405, d0.loss_map_pts_all: 1.5821, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.2405, d0.loss_map_pts: 1.5821, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.2112, d1.loss_map_pts: 1.0737, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.1961, d2.loss_map_pts: 0.8818, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.1849, d3.loss_map_pts: 0.8195, d3.loss_map_dir: 0.0124, d4.loss_map_cls: 0.1793, d4.loss_map_pts: 0.7956, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.1758, d5.loss_map_pts: 0.7837, d5.loss_map_dir: 0.0129, loss: 32.3867, grad_norm: 164.2929 +2026-02-25 23:32:16,706 - DriveTransformer - INFO - Epoch [6][4350/39528] lr: 8.977e-05, eta: 6 days, 23:15:16, time: 0.839, data_time: 0.043, memory: 19865, loss_cls: 0.1930, loss_bbox: 0.3990, loss_traj: 0.6193, loss_traj_cls: 0.0010, loss_map_cls: 0.1773, loss_map_pts: 0.8315, loss_map_dir: 0.0139, d0.loss_plan_l1_fix_time: 2.8405, d0.loss_plan_l1_fix_dist: 0.3945, d1.loss_plan_l1_fix_time: 1.3069, d1.loss_plan_l1_fix_dist: 0.2160, d2.loss_plan_l1_fix_time: 1.2998, d2.loss_plan_l1_fix_dist: 0.2285, d3.loss_plan_l1_fix_time: 1.2968, d3.loss_plan_l1_fix_dist: 0.2528, d4.loss_plan_l1_fix_time: 1.2991, d4.loss_plan_l1_fix_dist: 0.2819, d5.loss_plan_l1_fix_time: 1.3020, d5.loss_plan_l1_fix_dist: 0.3098, d6.loss_plan_l1_fix_time: 1.3060, d6.loss_plan_l1_fix_dist: 0.3383, d0.loss_cls_all: 0.2218, d0.loss_bbox_all: 0.4496, d0.loss_cls: 0.2218, d0.loss_bbox: 0.4496, d1.loss_cls: 0.2167, d1.loss_bbox: 0.4220, d2.loss_cls: 0.2058, d2.loss_bbox: 0.4047, d3.loss_cls: 0.1969, d3.loss_bbox: 0.3996, d4.loss_cls: 0.1923, d4.loss_bbox: 0.3992, d5.loss_cls: 0.1922, d5.loss_bbox: 0.3988, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8051, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6676, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6305, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6167, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6141, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6195, d0.loss_map_cls_all: 0.2471, d0.loss_map_pts_all: 1.6755, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.2471, d0.loss_map_pts: 1.6755, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2185, d1.loss_map_pts: 1.0974, d1.loss_map_dir: 0.0121, d2.loss_map_cls: 0.2005, d2.loss_map_pts: 0.9157, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.1873, d3.loss_map_pts: 0.8569, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.1806, d4.loss_map_pts: 0.8355, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.1783, d5.loss_map_pts: 0.8305, d5.loss_map_dir: 0.0138, loss: 32.6756, grad_norm: 164.6766 +2026-02-25 23:32:54,520 - DriveTransformer - INFO - Epoch [6][4400/39528] lr: 8.977e-05, eta: 6 days, 23:14:26, time: 0.756, data_time: 0.038, memory: 19865, loss_cls: 0.2138, loss_bbox: 0.4314, loss_traj: 0.8692, loss_traj_cls: 0.0010, loss_map_cls: 0.1708, loss_map_pts: 0.8075, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.4480, d0.loss_plan_l1_fix_dist: 0.4590, d1.loss_plan_l1_fix_time: 1.0703, d1.loss_plan_l1_fix_dist: 0.2360, d2.loss_plan_l1_fix_time: 1.0592, d2.loss_plan_l1_fix_dist: 0.2653, d3.loss_plan_l1_fix_time: 1.0606, d3.loss_plan_l1_fix_dist: 0.3047, d4.loss_plan_l1_fix_time: 1.0654, d4.loss_plan_l1_fix_dist: 0.3494, d5.loss_plan_l1_fix_time: 1.0705, d5.loss_plan_l1_fix_dist: 0.3914, d6.loss_plan_l1_fix_time: 1.0763, d6.loss_plan_l1_fix_dist: 0.4346, d0.loss_cls_all: 0.2436, d0.loss_bbox_all: 0.4707, d0.loss_cls: 0.2436, d0.loss_bbox: 0.4707, d1.loss_cls: 0.2343, d1.loss_bbox: 0.4410, d2.loss_cls: 0.2209, d2.loss_bbox: 0.4311, d3.loss_cls: 0.2171, d3.loss_bbox: 0.4284, d4.loss_cls: 0.2120, d4.loss_bbox: 0.4311, d5.loss_cls: 0.2130, d5.loss_bbox: 0.4315, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0908, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9235, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8711, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8683, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.8715, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8698, d0.loss_map_cls_all: 0.2465, d0.loss_map_pts_all: 1.5049, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2465, d0.loss_map_pts: 1.5049, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2136, d1.loss_map_pts: 1.0351, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.1970, d2.loss_map_pts: 0.8893, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.1853, d3.loss_map_pts: 0.8336, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1771, d4.loss_map_pts: 0.8119, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1732, d5.loss_map_pts: 0.8072, d5.loss_map_dir: 0.0117, loss: 32.8916, grad_norm: 163.5065 +2026-02-25 23:33:34,734 - DriveTransformer - INFO - Epoch [6][4450/39528] lr: 8.977e-05, eta: 6 days, 23:13:45, time: 0.804, data_time: 0.041, memory: 19865, loss_cls: 0.2489, loss_bbox: 0.4437, loss_traj: 0.8268, loss_traj_cls: 0.0009, loss_map_cls: 0.1956, loss_map_pts: 0.9194, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 3.2968, d0.loss_plan_l1_fix_dist: 0.3659, d1.loss_plan_l1_fix_time: 1.4636, d1.loss_plan_l1_fix_dist: 0.2339, d2.loss_plan_l1_fix_time: 1.4391, d2.loss_plan_l1_fix_dist: 0.2453, d3.loss_plan_l1_fix_time: 1.4358, d3.loss_plan_l1_fix_dist: 0.2627, d4.loss_plan_l1_fix_time: 1.4377, d4.loss_plan_l1_fix_dist: 0.2831, d5.loss_plan_l1_fix_time: 1.4408, d5.loss_plan_l1_fix_dist: 0.3050, d6.loss_plan_l1_fix_time: 1.4440, d6.loss_plan_l1_fix_dist: 0.3254, d0.loss_cls_all: 0.2813, d0.loss_bbox_all: 0.5042, d0.loss_cls: 0.2813, d0.loss_bbox: 0.5042, d1.loss_cls: 0.2738, d1.loss_bbox: 0.4744, d2.loss_cls: 0.2651, d2.loss_bbox: 0.4501, d3.loss_cls: 0.2568, d3.loss_bbox: 0.4452, d4.loss_cls: 0.2503, d4.loss_bbox: 0.4434, d5.loss_cls: 0.2485, d5.loss_bbox: 0.4446, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0658, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9000, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8547, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8374, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8280, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8271, d0.loss_map_cls_all: 0.2749, d0.loss_map_pts_all: 1.6619, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2749, d0.loss_map_pts: 1.6619, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2425, d1.loss_map_pts: 1.1716, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2223, d2.loss_map_pts: 1.0005, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2052, d3.loss_map_pts: 0.9446, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1993, d4.loss_map_pts: 0.9248, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1965, d5.loss_map_pts: 0.9207, d5.loss_map_dir: 0.0118, loss: 37.0492, grad_norm: 158.3523 +2026-02-25 23:34:14,276 - DriveTransformer - INFO - Epoch [6][4500/39528] lr: 8.977e-05, eta: 6 days, 23:13:02, time: 0.791, data_time: 0.042, memory: 19865, loss_cls: 0.1954, loss_bbox: 0.3900, loss_traj: 0.8441, loss_traj_cls: 0.0010, loss_map_cls: 0.1658, loss_map_pts: 0.6803, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.9491, d0.loss_plan_l1_fix_dist: 0.4744, d1.loss_plan_l1_fix_time: 1.2269, d1.loss_plan_l1_fix_dist: 0.2087, d2.loss_plan_l1_fix_time: 1.2031, d2.loss_plan_l1_fix_dist: 0.2291, d3.loss_plan_l1_fix_time: 1.2026, d3.loss_plan_l1_fix_dist: 0.2536, d4.loss_plan_l1_fix_time: 1.2058, d4.loss_plan_l1_fix_dist: 0.2798, d5.loss_plan_l1_fix_time: 1.2097, d5.loss_plan_l1_fix_dist: 0.3112, d6.loss_plan_l1_fix_time: 1.2142, d6.loss_plan_l1_fix_dist: 0.3423, d0.loss_cls_all: 0.2251, d0.loss_bbox_all: 0.4447, d0.loss_cls: 0.2251, d0.loss_bbox: 0.4447, d1.loss_cls: 0.2195, d1.loss_bbox: 0.4147, d2.loss_cls: 0.2077, d2.loss_bbox: 0.3971, d3.loss_cls: 0.2005, d3.loss_bbox: 0.3907, d4.loss_cls: 0.1962, d4.loss_bbox: 0.3889, d5.loss_cls: 0.1956, d5.loss_bbox: 0.3888, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1398, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9155, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8560, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8404, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8432, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8386, d0.loss_map_cls_all: 0.2210, d0.loss_map_pts_all: 1.2572, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2210, d0.loss_map_pts: 1.2572, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.2022, d1.loss_map_pts: 0.8932, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1857, d2.loss_map_pts: 0.7543, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1761, d3.loss_map_pts: 0.7031, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1691, d4.loss_map_pts: 0.6856, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1662, d5.loss_map_pts: 0.6800, d5.loss_map_dir: 0.0084, loss: 32.0032, grad_norm: 158.7257 +2026-02-25 23:34:55,776 - DriveTransformer - INFO - Epoch [6][4550/39528] lr: 8.977e-05, eta: 6 days, 23:12:26, time: 0.830, data_time: 0.040, memory: 19865, loss_cls: 0.2123, loss_bbox: 0.4014, loss_traj: 0.6444, loss_traj_cls: 0.0010, loss_map_cls: 0.1785, loss_map_pts: 0.7758, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.6912, d0.loss_plan_l1_fix_dist: 0.4498, d1.loss_plan_l1_fix_time: 1.2426, d1.loss_plan_l1_fix_dist: 0.2165, d2.loss_plan_l1_fix_time: 1.2153, d2.loss_plan_l1_fix_dist: 0.2327, d3.loss_plan_l1_fix_time: 1.2109, d3.loss_plan_l1_fix_dist: 0.2568, d4.loss_plan_l1_fix_time: 1.2131, d4.loss_plan_l1_fix_dist: 0.2855, d5.loss_plan_l1_fix_time: 1.2157, d5.loss_plan_l1_fix_dist: 0.3152, d6.loss_plan_l1_fix_time: 1.2188, d6.loss_plan_l1_fix_dist: 0.3497, d0.loss_cls_all: 0.2395, d0.loss_bbox_all: 0.4719, d0.loss_cls: 0.2395, d0.loss_bbox: 0.4719, d1.loss_cls: 0.2321, d1.loss_bbox: 0.4315, d2.loss_cls: 0.2192, d2.loss_bbox: 0.4092, d3.loss_cls: 0.2115, d3.loss_bbox: 0.4019, d4.loss_cls: 0.2106, d4.loss_bbox: 0.4001, d5.loss_cls: 0.2103, d5.loss_bbox: 0.4018, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8804, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7204, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6627, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6620, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6505, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6464, d0.loss_map_cls_all: 0.2533, d0.loss_map_pts_all: 1.5897, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2533, d0.loss_map_pts: 1.5897, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2222, d1.loss_map_pts: 1.0681, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.1999, d2.loss_map_pts: 0.8843, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1886, d3.loss_map_pts: 0.8117, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1825, d4.loss_map_pts: 0.7867, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1799, d5.loss_map_pts: 0.7756, d5.loss_map_dir: 0.0116, loss: 32.1808, grad_norm: 157.6928 +2026-02-25 23:35:36,543 - DriveTransformer - INFO - Epoch [6][4600/39528] lr: 8.977e-05, eta: 6 days, 23:11:48, time: 0.817, data_time: 0.043, memory: 19865, loss_cls: 0.2168, loss_bbox: 0.4218, loss_traj: 0.9852, loss_traj_cls: 0.0009, loss_map_cls: 0.1801, loss_map_pts: 0.9282, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 3.0612, d0.loss_plan_l1_fix_dist: 0.4175, d1.loss_plan_l1_fix_time: 1.3970, d1.loss_plan_l1_fix_dist: 0.2396, d2.loss_plan_l1_fix_time: 1.3734, d2.loss_plan_l1_fix_dist: 0.2562, d3.loss_plan_l1_fix_time: 1.3688, d3.loss_plan_l1_fix_dist: 0.2786, d4.loss_plan_l1_fix_time: 1.3704, d4.loss_plan_l1_fix_dist: 0.3048, d5.loss_plan_l1_fix_time: 1.3726, d5.loss_plan_l1_fix_dist: 0.3300, d6.loss_plan_l1_fix_time: 1.3752, d6.loss_plan_l1_fix_dist: 0.3585, d0.loss_cls_all: 0.2471, d0.loss_bbox_all: 0.4863, d0.loss_cls: 0.2471, d0.loss_bbox: 0.4863, d1.loss_cls: 0.2386, d1.loss_bbox: 0.4492, d2.loss_cls: 0.2249, d2.loss_bbox: 0.4321, d3.loss_cls: 0.2171, d3.loss_bbox: 0.4264, d4.loss_cls: 0.2148, d4.loss_bbox: 0.4226, d5.loss_cls: 0.2152, d5.loss_bbox: 0.4230, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2846, d1.loss_traj_cls: 0.0011, d1.loss_traj: 1.0860, d2.loss_traj_cls: 0.0017, d2.loss_traj: 1.0225, d3.loss_traj_cls: 0.0013, d3.loss_traj: 1.0054, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9939, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9858, d0.loss_map_cls_all: 0.2643, d0.loss_map_pts_all: 1.7217, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2643, d0.loss_map_pts: 1.7217, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2318, d1.loss_map_pts: 1.2091, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2079, d2.loss_map_pts: 1.0353, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.1936, d3.loss_map_pts: 0.9640, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.1850, d4.loss_map_pts: 0.9369, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.1810, d5.loss_map_pts: 0.9309, d5.loss_map_dir: 0.0123, loss: 37.4939, grad_norm: 158.5847 +2026-02-25 23:36:16,567 - DriveTransformer - INFO - Epoch [6][4650/39528] lr: 8.977e-05, eta: 6 days, 23:11:06, time: 0.799, data_time: 0.040, memory: 19865, loss_cls: 0.1922, loss_bbox: 0.3886, loss_traj: 0.8064, loss_traj_cls: 0.0010, loss_map_cls: 0.1864, loss_map_pts: 0.7882, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.9170, d0.loss_plan_l1_fix_dist: 0.4631, d1.loss_plan_l1_fix_time: 1.1198, d1.loss_plan_l1_fix_dist: 0.2059, d2.loss_plan_l1_fix_time: 1.1014, d2.loss_plan_l1_fix_dist: 0.2196, d3.loss_plan_l1_fix_time: 1.1045, d3.loss_plan_l1_fix_dist: 0.2418, d4.loss_plan_l1_fix_time: 1.1084, d4.loss_plan_l1_fix_dist: 0.2675, d5.loss_plan_l1_fix_time: 1.1128, d5.loss_plan_l1_fix_dist: 0.2952, d6.loss_plan_l1_fix_time: 1.1172, d6.loss_plan_l1_fix_dist: 0.3241, d0.loss_cls_all: 0.2309, d0.loss_bbox_all: 0.4426, d0.loss_cls: 0.2309, d0.loss_bbox: 0.4426, d1.loss_cls: 0.2202, d1.loss_bbox: 0.4141, d2.loss_cls: 0.2057, d2.loss_bbox: 0.3970, d3.loss_cls: 0.1960, d3.loss_bbox: 0.3897, d4.loss_cls: 0.1913, d4.loss_bbox: 0.3886, d5.loss_cls: 0.1902, d5.loss_bbox: 0.3891, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9294, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8396, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8094, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8042, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7932, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7986, d0.loss_map_cls_all: 0.2485, d0.loss_map_pts_all: 1.5878, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2485, d0.loss_map_pts: 1.5878, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2267, d1.loss_map_pts: 1.0649, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2100, d2.loss_map_pts: 0.8903, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1982, d3.loss_map_pts: 0.8212, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1894, d4.loss_map_pts: 0.7974, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1855, d5.loss_map_pts: 0.7914, d5.loss_map_dir: 0.0107, loss: 32.4010, grad_norm: 156.8830 +2026-02-25 23:36:56,019 - DriveTransformer - INFO - Epoch [6][4700/39528] lr: 8.977e-05, eta: 6 days, 23:10:23, time: 0.789, data_time: 0.042, memory: 19865, loss_cls: 0.1969, loss_bbox: 0.4128, loss_traj: 0.7484, loss_traj_cls: 0.0010, loss_map_cls: 0.1730, loss_map_pts: 0.7950, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.6231, d0.loss_plan_l1_fix_dist: 0.4184, d1.loss_plan_l1_fix_time: 1.2822, d1.loss_plan_l1_fix_dist: 0.1878, d2.loss_plan_l1_fix_time: 1.2666, d2.loss_plan_l1_fix_dist: 0.1967, d3.loss_plan_l1_fix_time: 1.2656, d3.loss_plan_l1_fix_dist: 0.2164, d4.loss_plan_l1_fix_time: 1.2697, d4.loss_plan_l1_fix_dist: 0.2385, d5.loss_plan_l1_fix_time: 1.2747, d5.loss_plan_l1_fix_dist: 0.2627, d6.loss_plan_l1_fix_time: 1.2799, d6.loss_plan_l1_fix_dist: 0.2871, d0.loss_cls_all: 0.2305, d0.loss_bbox_all: 0.4666, d0.loss_cls: 0.2305, d0.loss_bbox: 0.4666, d1.loss_cls: 0.2186, d1.loss_bbox: 0.4345, d2.loss_cls: 0.2045, d2.loss_bbox: 0.4202, d3.loss_cls: 0.1964, d3.loss_bbox: 0.4153, d4.loss_cls: 0.1933, d4.loss_bbox: 0.4153, d5.loss_cls: 0.1945, d5.loss_bbox: 0.4124, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9339, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7849, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7497, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7415, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7412, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7429, d0.loss_map_cls_all: 0.2385, d0.loss_map_pts_all: 1.4609, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2385, d0.loss_map_pts: 1.4609, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2145, d1.loss_map_pts: 1.0408, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1948, d2.loss_map_pts: 0.8787, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1850, d3.loss_map_pts: 0.8185, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1785, d4.loss_map_pts: 0.8021, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1765, d5.loss_map_pts: 0.7934, d5.loss_map_dir: 0.0102, loss: 32.3534, grad_norm: 157.4139 +2026-02-25 23:37:36,972 - DriveTransformer - INFO - Epoch [6][4750/39528] lr: 8.977e-05, eta: 6 days, 23:09:45, time: 0.819, data_time: 0.044, memory: 19865, loss_cls: 0.1832, loss_bbox: 0.3749, loss_traj: 0.6970, loss_traj_cls: 0.0010, loss_map_cls: 0.1842, loss_map_pts: 0.7561, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.6109, d0.loss_plan_l1_fix_dist: 0.4458, d1.loss_plan_l1_fix_time: 1.2560, d1.loss_plan_l1_fix_dist: 0.2078, d2.loss_plan_l1_fix_time: 1.2486, d2.loss_plan_l1_fix_dist: 0.2192, d3.loss_plan_l1_fix_time: 1.2504, d3.loss_plan_l1_fix_dist: 0.2360, d4.loss_plan_l1_fix_time: 1.2551, d4.loss_plan_l1_fix_dist: 0.2554, d5.loss_plan_l1_fix_time: 1.2605, d5.loss_plan_l1_fix_dist: 0.2789, d6.loss_plan_l1_fix_time: 1.2666, d6.loss_plan_l1_fix_dist: 0.3044, d0.loss_cls_all: 0.2252, d0.loss_bbox_all: 0.4313, d0.loss_cls: 0.2252, d0.loss_bbox: 0.4313, d1.loss_cls: 0.2151, d1.loss_bbox: 0.3974, d2.loss_cls: 0.1986, d2.loss_bbox: 0.3819, d3.loss_cls: 0.1899, d3.loss_bbox: 0.3768, d4.loss_cls: 0.1840, d4.loss_bbox: 0.3769, d5.loss_cls: 0.1843, d5.loss_bbox: 0.3738, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9209, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7555, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7133, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6979, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6940, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6968, d0.loss_map_cls_all: 0.2491, d0.loss_map_pts_all: 1.4394, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2491, d0.loss_map_pts: 1.4394, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2214, d1.loss_map_pts: 1.0043, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.2057, d2.loss_map_pts: 0.8461, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1938, d3.loss_map_pts: 0.7849, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1885, d4.loss_map_pts: 0.7652, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1838, d5.loss_map_pts: 0.7556, d5.loss_map_dir: 0.0098, loss: 31.5698, grad_norm: 155.8875 +2026-02-25 23:38:16,831 - DriveTransformer - INFO - Epoch [6][4800/39528] lr: 8.977e-05, eta: 6 days, 23:09:03, time: 0.797, data_time: 0.046, memory: 19865, loss_cls: 0.1844, loss_bbox: 0.3843, loss_traj: 0.6957, loss_traj_cls: 0.0010, loss_map_cls: 0.2041, loss_map_pts: 0.7908, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.8037, d0.loss_plan_l1_fix_dist: 0.4576, d1.loss_plan_l1_fix_time: 1.2293, d1.loss_plan_l1_fix_dist: 0.2075, d2.loss_plan_l1_fix_time: 1.2199, d2.loss_plan_l1_fix_dist: 0.2198, d3.loss_plan_l1_fix_time: 1.2239, d3.loss_plan_l1_fix_dist: 0.2390, d4.loss_plan_l1_fix_time: 1.2281, d4.loss_plan_l1_fix_dist: 0.2606, d5.loss_plan_l1_fix_time: 1.2325, d5.loss_plan_l1_fix_dist: 0.2838, d6.loss_plan_l1_fix_time: 1.2378, d6.loss_plan_l1_fix_dist: 0.3100, d0.loss_cls_all: 0.2205, d0.loss_bbox_all: 0.4377, d0.loss_cls: 0.2205, d0.loss_bbox: 0.4377, d1.loss_cls: 0.2131, d1.loss_bbox: 0.4023, d2.loss_cls: 0.1994, d2.loss_bbox: 0.3856, d3.loss_cls: 0.1906, d3.loss_bbox: 0.3793, d4.loss_cls: 0.1858, d4.loss_bbox: 0.3795, d5.loss_cls: 0.1843, d5.loss_bbox: 0.3821, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8950, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7594, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7043, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6964, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6927, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6981, d0.loss_map_cls_all: 0.2686, d0.loss_map_pts_all: 1.4794, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2686, d0.loss_map_pts: 1.4794, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2445, d1.loss_map_pts: 1.0383, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.2268, d2.loss_map_pts: 0.8801, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.2128, d3.loss_map_pts: 0.8206, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.2071, d4.loss_map_pts: 0.7981, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.2047, d5.loss_map_pts: 0.7914, d5.loss_map_dir: 0.0099, loss: 32.0802, grad_norm: 158.1284 +2026-02-25 23:38:59,498 - DriveTransformer - INFO - Epoch [6][4850/39528] lr: 8.977e-05, eta: 6 days, 23:08:31, time: 0.853, data_time: 0.045, memory: 19865, loss_cls: 0.2046, loss_bbox: 0.3950, loss_traj: 0.7894, loss_traj_cls: 0.0010, loss_map_cls: 0.2143, loss_map_pts: 0.9406, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 3.1388, d0.loss_plan_l1_fix_dist: 0.3765, d1.loss_plan_l1_fix_time: 1.3007, d1.loss_plan_l1_fix_dist: 0.2105, d2.loss_plan_l1_fix_time: 1.2846, d2.loss_plan_l1_fix_dist: 0.2192, d3.loss_plan_l1_fix_time: 1.2912, d3.loss_plan_l1_fix_dist: 0.2335, d4.loss_plan_l1_fix_time: 1.2950, d4.loss_plan_l1_fix_dist: 0.2509, d5.loss_plan_l1_fix_time: 1.2990, d5.loss_plan_l1_fix_dist: 0.2690, d6.loss_plan_l1_fix_time: 1.3039, d6.loss_plan_l1_fix_dist: 0.2897, d0.loss_cls_all: 0.2359, d0.loss_bbox_all: 0.4530, d0.loss_cls: 0.2359, d0.loss_bbox: 0.4530, d1.loss_cls: 0.2270, d1.loss_bbox: 0.4277, d2.loss_cls: 0.2124, d2.loss_bbox: 0.4117, d3.loss_cls: 0.2072, d3.loss_bbox: 0.4022, d4.loss_cls: 0.2021, d4.loss_bbox: 0.3994, d5.loss_cls: 0.2035, d5.loss_bbox: 0.3955, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0092, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8711, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8122, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8002, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7904, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7891, d0.loss_map_cls_all: 0.2810, d0.loss_map_pts_all: 1.8164, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2810, d0.loss_map_pts: 1.8164, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2591, d1.loss_map_pts: 1.2334, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2424, d2.loss_map_pts: 1.0452, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2266, d3.loss_map_pts: 0.9711, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.2192, d4.loss_map_pts: 0.9467, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.2154, d5.loss_map_pts: 0.9409, d5.loss_map_dir: 0.0124, loss: 35.4412, grad_norm: 156.1769 +2026-02-25 23:39:40,591 - DriveTransformer - INFO - Epoch [6][4900/39528] lr: 8.977e-05, eta: 6 days, 23:07:53, time: 0.822, data_time: 0.042, memory: 19865, loss_cls: 0.1944, loss_bbox: 0.3908, loss_traj: 0.8171, loss_traj_cls: 0.0010, loss_map_cls: 0.1833, loss_map_pts: 0.8027, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.7745, d0.loss_plan_l1_fix_dist: 0.4780, d1.loss_plan_l1_fix_time: 1.4357, d1.loss_plan_l1_fix_dist: 0.2189, d2.loss_plan_l1_fix_time: 1.4214, d2.loss_plan_l1_fix_dist: 0.2296, d3.loss_plan_l1_fix_time: 1.4185, d3.loss_plan_l1_fix_dist: 0.2458, d4.loss_plan_l1_fix_time: 1.4206, d4.loss_plan_l1_fix_dist: 0.2650, d5.loss_plan_l1_fix_time: 1.4233, d5.loss_plan_l1_fix_dist: 0.2873, d6.loss_plan_l1_fix_time: 1.4261, d6.loss_plan_l1_fix_dist: 0.3098, d0.loss_cls_all: 0.2391, d0.loss_bbox_all: 0.4401, d0.loss_cls: 0.2391, d0.loss_bbox: 0.4401, d1.loss_cls: 0.2267, d1.loss_bbox: 0.4097, d2.loss_cls: 0.2112, d2.loss_bbox: 0.3941, d3.loss_cls: 0.1993, d3.loss_bbox: 0.3889, d4.loss_cls: 0.1952, d4.loss_bbox: 0.3881, d5.loss_cls: 0.1939, d5.loss_bbox: 0.3884, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0328, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8685, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8268, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8237, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8146, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8125, d0.loss_map_cls_all: 0.2596, d0.loss_map_pts_all: 1.5652, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2596, d0.loss_map_pts: 1.5652, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2324, d1.loss_map_pts: 1.0873, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.2061, d2.loss_map_pts: 0.9091, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1962, d3.loss_map_pts: 0.8385, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1890, d4.loss_map_pts: 0.8118, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1851, d5.loss_map_pts: 0.8029, d5.loss_map_dir: 0.0107, loss: 34.4731, grad_norm: 153.7920 +2026-02-25 23:40:20,497 - DriveTransformer - INFO - Epoch [6][4950/39528] lr: 8.977e-05, eta: 6 days, 23:07:12, time: 0.798, data_time: 0.042, memory: 19865, loss_cls: 0.1749, loss_bbox: 0.3533, loss_traj: 0.6404, loss_traj_cls: 0.0010, loss_map_cls: 0.1494, loss_map_pts: 0.6708, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.5139, d0.loss_plan_l1_fix_dist: 0.4890, d1.loss_plan_l1_fix_time: 0.9610, d1.loss_plan_l1_fix_dist: 0.1842, d2.loss_plan_l1_fix_time: 0.9440, d2.loss_plan_l1_fix_dist: 0.1928, d3.loss_plan_l1_fix_time: 0.9436, d3.loss_plan_l1_fix_dist: 0.2066, d4.loss_plan_l1_fix_time: 0.9464, d4.loss_plan_l1_fix_dist: 0.2218, d5.loss_plan_l1_fix_time: 0.9489, d5.loss_plan_l1_fix_dist: 0.2368, d6.loss_plan_l1_fix_time: 0.9525, d6.loss_plan_l1_fix_dist: 0.2541, d0.loss_cls_all: 0.2139, d0.loss_bbox_all: 0.4119, d0.loss_cls: 0.2139, d0.loss_bbox: 0.4119, d1.loss_cls: 0.2058, d1.loss_bbox: 0.3784, d2.loss_cls: 0.1858, d2.loss_bbox: 0.3612, d3.loss_cls: 0.1782, d3.loss_bbox: 0.3542, d4.loss_cls: 0.1752, d4.loss_bbox: 0.3517, d5.loss_cls: 0.1744, d5.loss_bbox: 0.3525, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8380, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6823, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6535, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6414, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6407, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6391, d0.loss_map_cls_all: 0.2181, d0.loss_map_pts_all: 1.4149, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2181, d0.loss_map_pts: 1.4149, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.1887, d1.loss_map_pts: 0.9192, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1697, d2.loss_map_pts: 0.7534, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1577, d3.loss_map_pts: 0.6910, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1539, d4.loss_map_pts: 0.6721, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1503, d5.loss_map_pts: 0.6686, d5.loss_map_dir: 0.0107, loss: 27.9291, grad_norm: 152.7111 +2026-02-25 23:41:00,751 - DriveTransformer - INFO - Epoch [6][5000/39528] lr: 8.977e-05, eta: 6 days, 23:06:31, time: 0.805, data_time: 0.044, memory: 19865, loss_cls: 0.2175, loss_bbox: 0.4087, loss_traj: 0.7128, loss_traj_cls: 0.0010, loss_map_cls: 0.1881, loss_map_pts: 0.8030, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.6355, d0.loss_plan_l1_fix_dist: 0.4388, d1.loss_plan_l1_fix_time: 1.3123, d1.loss_plan_l1_fix_dist: 0.2228, d2.loss_plan_l1_fix_time: 1.3015, d2.loss_plan_l1_fix_dist: 0.2346, d3.loss_plan_l1_fix_time: 1.3016, d3.loss_plan_l1_fix_dist: 0.2488, d4.loss_plan_l1_fix_time: 1.3040, d4.loss_plan_l1_fix_dist: 0.2649, d5.loss_plan_l1_fix_time: 1.3066, d5.loss_plan_l1_fix_dist: 0.2828, d6.loss_plan_l1_fix_time: 1.3104, d6.loss_plan_l1_fix_dist: 0.3023, d0.loss_cls_all: 0.2485, d0.loss_bbox_all: 0.4774, d0.loss_cls: 0.2485, d0.loss_bbox: 0.4774, d1.loss_cls: 0.2444, d1.loss_bbox: 0.4396, d2.loss_cls: 0.2298, d2.loss_bbox: 0.4216, d3.loss_cls: 0.2205, d3.loss_bbox: 0.4144, d4.loss_cls: 0.2130, d4.loss_bbox: 0.4145, d5.loss_cls: 0.2143, d5.loss_bbox: 0.4121, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9196, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7751, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7272, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7208, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7156, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7152, d0.loss_map_cls_all: 0.2649, d0.loss_map_pts_all: 1.5464, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2649, d0.loss_map_pts: 1.5464, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2321, d1.loss_map_pts: 1.0946, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.2128, d2.loss_map_pts: 0.9198, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1975, d3.loss_map_pts: 0.8450, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1916, d4.loss_map_pts: 0.8154, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1877, d5.loss_map_pts: 0.8057, d5.loss_map_dir: 0.0101, loss: 33.2574, grad_norm: 150.6811 +2026-02-25 23:41:41,717 - DriveTransformer - INFO - Epoch [6][5050/39528] lr: 8.977e-05, eta: 6 days, 23:05:53, time: 0.819, data_time: 0.044, memory: 19865, loss_cls: 0.1793, loss_bbox: 0.3703, loss_traj: 0.7573, loss_traj_cls: 0.0010, loss_map_cls: 0.1519, loss_map_pts: 0.7162, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.3980, d0.loss_plan_l1_fix_dist: 0.3686, d1.loss_plan_l1_fix_time: 1.0531, d1.loss_plan_l1_fix_dist: 0.1895, d2.loss_plan_l1_fix_time: 1.0350, d2.loss_plan_l1_fix_dist: 0.1981, d3.loss_plan_l1_fix_time: 1.0378, d3.loss_plan_l1_fix_dist: 0.2116, d4.loss_plan_l1_fix_time: 1.0410, d4.loss_plan_l1_fix_dist: 0.2303, d5.loss_plan_l1_fix_time: 1.0447, d5.loss_plan_l1_fix_dist: 0.2494, d6.loss_plan_l1_fix_time: 1.0490, d6.loss_plan_l1_fix_dist: 0.2703, d0.loss_cls_all: 0.2026, d0.loss_bbox_all: 0.4285, d0.loss_cls: 0.2026, d0.loss_bbox: 0.4285, d1.loss_cls: 0.1970, d1.loss_bbox: 0.3950, d2.loss_cls: 0.1887, d2.loss_bbox: 0.3795, d3.loss_cls: 0.1833, d3.loss_bbox: 0.3708, d4.loss_cls: 0.1798, d4.loss_bbox: 0.3695, d5.loss_cls: 0.1796, d5.loss_bbox: 0.3681, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9506, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8276, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7814, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7628, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7608, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7574, d0.loss_map_cls_all: 0.2318, d0.loss_map_pts_all: 1.5002, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2318, d0.loss_map_pts: 1.5002, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.1949, d1.loss_map_pts: 0.9874, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1731, d2.loss_map_pts: 0.8191, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1613, d3.loss_map_pts: 0.7505, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1583, d4.loss_map_pts: 0.7267, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1532, d5.loss_map_pts: 0.7195, d5.loss_map_dir: 0.0100, loss: 29.8583, grad_norm: 152.2148 +2026-02-25 23:42:21,114 - DriveTransformer - INFO - Epoch [6][5100/39528] lr: 8.977e-05, eta: 6 days, 23:05:09, time: 0.788, data_time: 0.046, memory: 19865, loss_cls: 0.1988, loss_bbox: 0.3832, loss_traj: 0.6352, loss_traj_cls: 0.0010, loss_map_cls: 0.1488, loss_map_pts: 0.6362, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.7517, d0.loss_plan_l1_fix_dist: 0.4424, d1.loss_plan_l1_fix_time: 1.3169, d1.loss_plan_l1_fix_dist: 0.2146, d2.loss_plan_l1_fix_time: 1.2940, d2.loss_plan_l1_fix_dist: 0.2176, d3.loss_plan_l1_fix_time: 1.2906, d3.loss_plan_l1_fix_dist: 0.2287, d4.loss_plan_l1_fix_time: 1.2930, d4.loss_plan_l1_fix_dist: 0.2430, d5.loss_plan_l1_fix_time: 1.2961, d5.loss_plan_l1_fix_dist: 0.2598, d6.loss_plan_l1_fix_time: 1.2998, d6.loss_plan_l1_fix_dist: 0.2792, d0.loss_cls_all: 0.2249, d0.loss_bbox_all: 0.4403, d0.loss_cls: 0.2249, d0.loss_bbox: 0.4403, d1.loss_cls: 0.2132, d1.loss_bbox: 0.4107, d2.loss_cls: 0.2068, d2.loss_bbox: 0.3933, d3.loss_cls: 0.2019, d3.loss_bbox: 0.3845, d4.loss_cls: 0.1976, d4.loss_bbox: 0.3831, d5.loss_cls: 0.1974, d5.loss_bbox: 0.3833, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8603, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6863, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6476, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6302, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6307, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6304, d0.loss_map_cls_all: 0.2181, d0.loss_map_pts_all: 1.2878, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2181, d0.loss_map_pts: 1.2878, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1889, d1.loss_map_pts: 0.8409, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1710, d2.loss_map_pts: 0.7077, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1607, d3.loss_map_pts: 0.6586, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1534, d4.loss_map_pts: 0.6442, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1496, d5.loss_map_pts: 0.6388, d5.loss_map_dir: 0.0095, loss: 30.2240, grad_norm: 152.4091 +2026-02-25 23:43:00,120 - DriveTransformer - INFO - Epoch [6][5150/39528] lr: 8.977e-05, eta: 6 days, 23:04:24, time: 0.780, data_time: 0.040, memory: 19865, loss_cls: 0.2262, loss_bbox: 0.4409, loss_traj: 0.7780, loss_traj_cls: 0.0009, loss_map_cls: 0.2071, loss_map_pts: 0.9116, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 3.2062, d0.loss_plan_l1_fix_dist: 0.3911, d1.loss_plan_l1_fix_time: 1.4390, d1.loss_plan_l1_fix_dist: 0.2248, d2.loss_plan_l1_fix_time: 1.4272, d2.loss_plan_l1_fix_dist: 0.2276, d3.loss_plan_l1_fix_time: 1.4240, d3.loss_plan_l1_fix_dist: 0.2436, d4.loss_plan_l1_fix_time: 1.4278, d4.loss_plan_l1_fix_dist: 0.2602, d5.loss_plan_l1_fix_time: 1.4320, d5.loss_plan_l1_fix_dist: 0.2785, d6.loss_plan_l1_fix_time: 1.4363, d6.loss_plan_l1_fix_dist: 0.2988, d0.loss_cls_all: 0.2583, d0.loss_bbox_all: 0.5001, d0.loss_cls: 0.2583, d0.loss_bbox: 0.5001, d1.loss_cls: 0.2466, d1.loss_bbox: 0.4647, d2.loss_cls: 0.2371, d2.loss_bbox: 0.4463, d3.loss_cls: 0.2308, d3.loss_bbox: 0.4411, d4.loss_cls: 0.2267, d4.loss_bbox: 0.4400, d5.loss_cls: 0.2261, d5.loss_bbox: 0.4406, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9980, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8508, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7992, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7850, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7801, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7779, d0.loss_map_cls_all: 0.2790, d0.loss_map_pts_all: 1.6008, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2790, d0.loss_map_pts: 1.6008, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2474, d1.loss_map_pts: 1.1707, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2270, d2.loss_map_pts: 1.0122, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.2183, d3.loss_map_pts: 0.9481, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.2137, d4.loss_map_pts: 0.9232, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.2085, d5.loss_map_pts: 0.9149, d5.loss_map_dir: 0.0106, loss: 36.1222, grad_norm: 154.1247 +2026-02-25 23:43:40,746 - DriveTransformer - INFO - Epoch [6][5200/39528] lr: 8.977e-05, eta: 6 days, 23:03:45, time: 0.812, data_time: 0.046, memory: 19865, loss_cls: 0.2150, loss_bbox: 0.4183, loss_traj: 0.7508, loss_traj_cls: 0.0010, loss_map_cls: 0.1927, loss_map_pts: 0.8842, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 3.1330, d0.loss_plan_l1_fix_dist: 0.4631, d1.loss_plan_l1_fix_time: 1.3772, d1.loss_plan_l1_fix_dist: 0.2399, d2.loss_plan_l1_fix_time: 1.3600, d2.loss_plan_l1_fix_dist: 0.2469, d3.loss_plan_l1_fix_time: 1.3639, d3.loss_plan_l1_fix_dist: 0.2611, d4.loss_plan_l1_fix_time: 1.3699, d4.loss_plan_l1_fix_dist: 0.2743, d5.loss_plan_l1_fix_time: 1.3762, d5.loss_plan_l1_fix_dist: 0.2903, d6.loss_plan_l1_fix_time: 1.3822, d6.loss_plan_l1_fix_dist: 0.3075, d0.loss_cls_all: 0.2447, d0.loss_bbox_all: 0.4815, d0.loss_cls: 0.2447, d0.loss_bbox: 0.4815, d1.loss_cls: 0.2388, d1.loss_bbox: 0.4472, d2.loss_cls: 0.2271, d2.loss_bbox: 0.4247, d3.loss_cls: 0.2186, d3.loss_bbox: 0.4203, d4.loss_cls: 0.2154, d4.loss_bbox: 0.4166, d5.loss_cls: 0.2148, d5.loss_bbox: 0.4171, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0225, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8254, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7665, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7571, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.7483, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7479, d0.loss_map_cls_all: 0.2622, d0.loss_map_pts_all: 1.6851, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.2622, d0.loss_map_pts: 1.6851, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.2314, d1.loss_map_pts: 1.1581, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2140, d2.loss_map_pts: 0.9695, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.2036, d3.loss_map_pts: 0.9084, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.1977, d4.loss_map_pts: 0.8882, d4.loss_map_dir: 0.0131, d5.loss_map_cls: 0.1939, d5.loss_map_pts: 0.8845, d5.loss_map_dir: 0.0133, loss: 35.3189, grad_norm: 151.7902 +2026-02-25 23:44:20,992 - DriveTransformer - INFO - Epoch [6][5250/39528] lr: 8.977e-05, eta: 6 days, 23:03:04, time: 0.805, data_time: 0.045, memory: 19865, loss_cls: 0.2095, loss_bbox: 0.4087, loss_traj: 0.7602, loss_traj_cls: 0.0010, loss_map_cls: 0.2111, loss_map_pts: 0.8383, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.6854, d0.loss_plan_l1_fix_dist: 0.3750, d1.loss_plan_l1_fix_time: 1.1980, d1.loss_plan_l1_fix_dist: 0.1839, d2.loss_plan_l1_fix_time: 1.1990, d2.loss_plan_l1_fix_dist: 0.1876, d3.loss_plan_l1_fix_time: 1.2073, d3.loss_plan_l1_fix_dist: 0.1981, d4.loss_plan_l1_fix_time: 1.2147, d4.loss_plan_l1_fix_dist: 0.2122, d5.loss_plan_l1_fix_time: 1.2227, d5.loss_plan_l1_fix_dist: 0.2298, d6.loss_plan_l1_fix_time: 1.2301, d6.loss_plan_l1_fix_dist: 0.2487, d0.loss_cls_all: 0.2400, d0.loss_bbox_all: 0.4690, d0.loss_cls: 0.2400, d0.loss_bbox: 0.4690, d1.loss_cls: 0.2303, d1.loss_bbox: 0.4312, d2.loss_cls: 0.2188, d2.loss_bbox: 0.4145, d3.loss_cls: 0.2126, d3.loss_bbox: 0.4067, d4.loss_cls: 0.2094, d4.loss_bbox: 0.4056, d5.loss_cls: 0.2090, d5.loss_bbox: 0.4063, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0699, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8381, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7614, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7573, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7584, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7623, d0.loss_map_cls_all: 0.2819, d0.loss_map_pts_all: 1.6113, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2819, d0.loss_map_pts: 1.6113, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2557, d1.loss_map_pts: 1.1175, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.2347, d2.loss_map_pts: 0.9404, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.2246, d3.loss_map_pts: 0.8733, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.2182, d4.loss_map_pts: 0.8506, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.2125, d5.loss_map_pts: 0.8401, d5.loss_map_dir: 0.0101, loss: 33.1657, grad_norm: 152.6270 +2026-02-25 23:45:03,254 - DriveTransformer - INFO - Epoch [6][5300/39528] lr: 8.977e-05, eta: 6 days, 23:02:31, time: 0.846, data_time: 0.044, memory: 19865, loss_cls: 0.1885, loss_bbox: 0.3863, loss_traj: 0.5549, loss_traj_cls: 0.0010, loss_map_cls: 0.1737, loss_map_pts: 0.8008, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.6648, d0.loss_plan_l1_fix_dist: 0.4056, d1.loss_plan_l1_fix_time: 1.1505, d1.loss_plan_l1_fix_dist: 0.2190, d2.loss_plan_l1_fix_time: 1.1211, d2.loss_plan_l1_fix_dist: 0.2255, d3.loss_plan_l1_fix_time: 1.1234, d3.loss_plan_l1_fix_dist: 0.2370, d4.loss_plan_l1_fix_time: 1.1267, d4.loss_plan_l1_fix_dist: 0.2523, d5.loss_plan_l1_fix_time: 1.1311, d5.loss_plan_l1_fix_dist: 0.2673, d6.loss_plan_l1_fix_time: 1.1359, d6.loss_plan_l1_fix_dist: 0.2830, d0.loss_cls_all: 0.2210, d0.loss_bbox_all: 0.4396, d0.loss_cls: 0.2210, d0.loss_bbox: 0.4396, d1.loss_cls: 0.2134, d1.loss_bbox: 0.4070, d2.loss_cls: 0.2002, d2.loss_bbox: 0.3923, d3.loss_cls: 0.1943, d3.loss_bbox: 0.3828, d4.loss_cls: 0.1892, d4.loss_bbox: 0.3823, d5.loss_cls: 0.1885, d5.loss_bbox: 0.3830, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7603, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6203, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5751, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5625, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5590, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5556, d0.loss_map_cls_all: 0.2446, d0.loss_map_pts_all: 1.7077, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2446, d0.loss_map_pts: 1.7077, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2161, d1.loss_map_pts: 1.0849, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.1986, d2.loss_map_pts: 0.8876, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.1865, d3.loss_map_pts: 0.8239, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.1783, d4.loss_map_pts: 0.8050, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1767, d5.loss_map_pts: 0.8000, d5.loss_map_dir: 0.0119, loss: 30.6945, grad_norm: 152.8008 +2026-02-25 23:45:44,573 - DriveTransformer - INFO - Epoch [6][5350/39528] lr: 8.977e-05, eta: 6 days, 23:01:55, time: 0.826, data_time: 0.046, memory: 19865, loss_cls: 0.2053, loss_bbox: 0.4040, loss_traj: 0.6289, loss_traj_cls: 0.0010, loss_map_cls: 0.1823, loss_map_pts: 0.7907, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.2123, d0.loss_plan_l1_fix_dist: 0.5015, d1.loss_plan_l1_fix_time: 1.0799, d1.loss_plan_l1_fix_dist: 0.2049, d2.loss_plan_l1_fix_time: 1.0560, d2.loss_plan_l1_fix_dist: 0.2073, d3.loss_plan_l1_fix_time: 1.0545, d3.loss_plan_l1_fix_dist: 0.2162, d4.loss_plan_l1_fix_time: 1.0570, d4.loss_plan_l1_fix_dist: 0.2282, d5.loss_plan_l1_fix_time: 1.0608, d5.loss_plan_l1_fix_dist: 0.2417, d6.loss_plan_l1_fix_time: 1.0664, d6.loss_plan_l1_fix_dist: 0.2571, d0.loss_cls_all: 0.2327, d0.loss_bbox_all: 0.4553, d0.loss_cls: 0.2327, d0.loss_bbox: 0.4553, d1.loss_cls: 0.2314, d1.loss_bbox: 0.4231, d2.loss_cls: 0.2187, d2.loss_bbox: 0.4092, d3.loss_cls: 0.2094, d3.loss_bbox: 0.4051, d4.loss_cls: 0.2045, d4.loss_bbox: 0.4040, d5.loss_cls: 0.2031, d5.loss_bbox: 0.4053, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8313, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6992, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6467, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6369, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6375, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6353, d0.loss_map_cls_all: 0.2495, d0.loss_map_pts_all: 1.5501, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2495, d0.loss_map_pts: 1.5501, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2207, d1.loss_map_pts: 1.0337, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2026, d2.loss_map_pts: 0.8736, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1923, d3.loss_map_pts: 0.8196, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1876, d4.loss_map_pts: 0.7999, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1838, d5.loss_map_pts: 0.7934, d5.loss_map_dir: 0.0117, loss: 30.2338, grad_norm: 151.3794 +2026-02-25 23:46:25,326 - DriveTransformer - INFO - Epoch [6][5400/39528] lr: 8.977e-05, eta: 6 days, 23:01:16, time: 0.816, data_time: 0.040, memory: 19865, loss_cls: 0.2076, loss_bbox: 0.3924, loss_traj: 0.6719, loss_traj_cls: 0.0010, loss_map_cls: 0.1768, loss_map_pts: 0.7697, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.1622, d0.loss_plan_l1_fix_dist: 0.3455, d1.loss_plan_l1_fix_time: 1.1090, d1.loss_plan_l1_fix_dist: 0.1837, d2.loss_plan_l1_fix_time: 1.0902, d2.loss_plan_l1_fix_dist: 0.1865, d3.loss_plan_l1_fix_time: 1.0897, d3.loss_plan_l1_fix_dist: 0.1965, d4.loss_plan_l1_fix_time: 1.0923, d4.loss_plan_l1_fix_dist: 0.2065, d5.loss_plan_l1_fix_time: 1.0958, d5.loss_plan_l1_fix_dist: 0.2192, d6.loss_plan_l1_fix_time: 1.1012, d6.loss_plan_l1_fix_dist: 0.2322, d0.loss_cls_all: 0.2358, d0.loss_bbox_all: 0.4543, d0.loss_cls: 0.2358, d0.loss_bbox: 0.4543, d1.loss_cls: 0.2314, d1.loss_bbox: 0.4179, d2.loss_cls: 0.2197, d2.loss_bbox: 0.4031, d3.loss_cls: 0.2128, d3.loss_bbox: 0.3957, d4.loss_cls: 0.2071, d4.loss_bbox: 0.3940, d5.loss_cls: 0.2061, d5.loss_bbox: 0.3938, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8504, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7145, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6698, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6613, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6699, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6726, d0.loss_map_cls_all: 0.2510, d0.loss_map_pts_all: 1.5388, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2510, d0.loss_map_pts: 1.5388, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2197, d1.loss_map_pts: 1.0284, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.2004, d2.loss_map_pts: 0.8534, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1875, d3.loss_map_pts: 0.7916, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1822, d4.loss_map_pts: 0.7734, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1783, d5.loss_map_pts: 0.7705, d5.loss_map_dir: 0.0115, loss: 30.0888, grad_norm: 149.7616 +2026-02-25 23:47:06,198 - DriveTransformer - INFO - Epoch [6][5450/39528] lr: 8.977e-05, eta: 6 days, 23:00:38, time: 0.816, data_time: 0.044, memory: 19865, loss_cls: 0.1955, loss_bbox: 0.4101, loss_traj: 0.7276, loss_traj_cls: 0.0010, loss_map_cls: 0.1903, loss_map_pts: 0.8512, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.5323, d0.loss_plan_l1_fix_dist: 0.4282, d1.loss_plan_l1_fix_time: 1.2608, d1.loss_plan_l1_fix_dist: 0.1968, d2.loss_plan_l1_fix_time: 1.2624, d2.loss_plan_l1_fix_dist: 0.2050, d3.loss_plan_l1_fix_time: 1.2680, d3.loss_plan_l1_fix_dist: 0.2154, d4.loss_plan_l1_fix_time: 1.2716, d4.loss_plan_l1_fix_dist: 0.2287, d5.loss_plan_l1_fix_time: 1.2749, d5.loss_plan_l1_fix_dist: 0.2433, d6.loss_plan_l1_fix_time: 1.2786, d6.loss_plan_l1_fix_dist: 0.2596, d0.loss_cls_all: 0.2175, d0.loss_bbox_all: 0.4743, d0.loss_cls: 0.2175, d0.loss_bbox: 0.4743, d1.loss_cls: 0.2103, d1.loss_bbox: 0.4376, d2.loss_cls: 0.1977, d2.loss_bbox: 0.4217, d3.loss_cls: 0.1937, d3.loss_bbox: 0.4128, d4.loss_cls: 0.1923, d4.loss_bbox: 0.4112, d5.loss_cls: 0.1930, d5.loss_bbox: 0.4106, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9646, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7780, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7213, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7212, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7244, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7269, d0.loss_map_cls_all: 0.2595, d0.loss_map_pts_all: 1.7572, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2595, d0.loss_map_pts: 1.7572, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2289, d1.loss_map_pts: 1.1851, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.2145, d2.loss_map_pts: 0.9757, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.2007, d3.loss_map_pts: 0.8975, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1936, d4.loss_map_pts: 0.8650, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.1921, d5.loss_map_pts: 0.8536, d5.loss_map_dir: 0.0121, loss: 33.3382, grad_norm: 149.3034 +2026-02-25 23:47:47,245 - DriveTransformer - INFO - Epoch [6][5500/39528] lr: 8.977e-05, eta: 6 days, 23:00:00, time: 0.821, data_time: 0.050, memory: 19865, loss_cls: 0.2058, loss_bbox: 0.4090, loss_traj: 0.7658, loss_traj_cls: 0.0010, loss_map_cls: 0.2168, loss_map_pts: 0.8524, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.8810, d0.loss_plan_l1_fix_dist: 0.3828, d1.loss_plan_l1_fix_time: 1.2443, d1.loss_plan_l1_fix_dist: 0.1825, d2.loss_plan_l1_fix_time: 1.2367, d2.loss_plan_l1_fix_dist: 0.1857, d3.loss_plan_l1_fix_time: 1.2388, d3.loss_plan_l1_fix_dist: 0.1937, d4.loss_plan_l1_fix_time: 1.2425, d4.loss_plan_l1_fix_dist: 0.2040, d5.loss_plan_l1_fix_time: 1.2453, d5.loss_plan_l1_fix_dist: 0.2159, d6.loss_plan_l1_fix_time: 1.2479, d6.loss_plan_l1_fix_dist: 0.2294, d0.loss_cls_all: 0.2310, d0.loss_bbox_all: 0.4598, d0.loss_cls: 0.2310, d0.loss_bbox: 0.4598, d1.loss_cls: 0.2296, d1.loss_bbox: 0.4295, d2.loss_cls: 0.2152, d2.loss_bbox: 0.4144, d3.loss_cls: 0.2094, d3.loss_bbox: 0.4068, d4.loss_cls: 0.2068, d4.loss_bbox: 0.4052, d5.loss_cls: 0.2061, d5.loss_bbox: 0.4071, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0334, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8061, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7710, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7691, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7684, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7651, d0.loss_map_cls_all: 0.2869, d0.loss_map_pts_all: 1.6975, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2869, d0.loss_map_pts: 1.6975, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2552, d1.loss_map_pts: 1.1791, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2345, d2.loss_map_pts: 0.9810, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.2236, d3.loss_map_pts: 0.8972, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.2190, d4.loss_map_pts: 0.8654, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.2175, d5.loss_map_pts: 0.8543, d5.loss_map_dir: 0.0107, loss: 33.7892, grad_norm: 149.5466 +2026-02-25 23:48:28,709 - DriveTransformer - INFO - Epoch [6][5550/39528] lr: 8.977e-05, eta: 6 days, 22:59:24, time: 0.829, data_time: 0.044, memory: 19865, loss_cls: 0.2177, loss_bbox: 0.4226, loss_traj: 0.7317, loss_traj_cls: 0.0011, loss_map_cls: 0.1869, loss_map_pts: 0.7534, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.7612, d0.loss_plan_l1_fix_dist: 0.4030, d1.loss_plan_l1_fix_time: 1.3616, d1.loss_plan_l1_fix_dist: 0.1865, d2.loss_plan_l1_fix_time: 1.3541, d2.loss_plan_l1_fix_dist: 0.1872, d3.loss_plan_l1_fix_time: 1.3605, d3.loss_plan_l1_fix_dist: 0.1972, d4.loss_plan_l1_fix_time: 1.3646, d4.loss_plan_l1_fix_dist: 0.2091, d5.loss_plan_l1_fix_time: 1.3682, d5.loss_plan_l1_fix_dist: 0.2240, d6.loss_plan_l1_fix_time: 1.3717, d6.loss_plan_l1_fix_dist: 0.2395, d0.loss_cls_all: 0.2491, d0.loss_bbox_all: 0.4793, d0.loss_cls: 0.2491, d0.loss_bbox: 0.4793, d1.loss_cls: 0.2447, d1.loss_bbox: 0.4445, d2.loss_cls: 0.2304, d2.loss_bbox: 0.4279, d3.loss_cls: 0.2238, d3.loss_bbox: 0.4200, d4.loss_cls: 0.2186, d4.loss_bbox: 0.4189, d5.loss_cls: 0.2172, d5.loss_bbox: 0.4214, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9459, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7852, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7491, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7366, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7294, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7271, d0.loss_map_cls_all: 0.2531, d0.loss_map_pts_all: 1.5203, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2531, d0.loss_map_pts: 1.5203, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2234, d1.loss_map_pts: 1.0523, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.2050, d2.loss_map_pts: 0.8723, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1953, d3.loss_map_pts: 0.7963, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1898, d4.loss_map_pts: 0.7640, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1889, d5.loss_map_pts: 0.7551, d5.loss_map_dir: 0.0103, loss: 33.1727, grad_norm: 145.3608 +2026-02-25 23:49:06,048 - DriveTransformer - INFO - Epoch [6][5600/39528] lr: 8.977e-05, eta: 6 days, 22:58:32, time: 0.747, data_time: 0.040, memory: 19865, loss_cls: 0.1934, loss_bbox: 0.3877, loss_traj: 0.6775, loss_traj_cls: 0.0011, loss_map_cls: 0.1749, loss_map_pts: 0.6729, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.3041, d0.loss_plan_l1_fix_dist: 0.3528, d1.loss_plan_l1_fix_time: 1.1102, d1.loss_plan_l1_fix_dist: 0.1706, d2.loss_plan_l1_fix_time: 1.0829, d2.loss_plan_l1_fix_dist: 0.1741, d3.loss_plan_l1_fix_time: 1.0790, d3.loss_plan_l1_fix_dist: 0.1842, d4.loss_plan_l1_fix_time: 1.0808, d4.loss_plan_l1_fix_dist: 0.1973, d5.loss_plan_l1_fix_time: 1.0829, d5.loss_plan_l1_fix_dist: 0.2123, d6.loss_plan_l1_fix_time: 1.0854, d6.loss_plan_l1_fix_dist: 0.2284, d0.loss_cls_all: 0.2238, d0.loss_bbox_all: 0.4399, d0.loss_cls: 0.2238, d0.loss_bbox: 0.4399, d1.loss_cls: 0.2161, d1.loss_bbox: 0.4089, d2.loss_cls: 0.2023, d2.loss_bbox: 0.3912, d3.loss_cls: 0.1946, d3.loss_bbox: 0.3850, d4.loss_cls: 0.1913, d4.loss_bbox: 0.3845, d5.loss_cls: 0.1922, d5.loss_bbox: 0.3854, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9044, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7380, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6977, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6899, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6813, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6782, d0.loss_map_cls_all: 0.2542, d0.loss_map_pts_all: 1.3292, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2542, d0.loss_map_pts: 1.3292, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2214, d1.loss_map_pts: 0.9220, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.2011, d2.loss_map_pts: 0.7639, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1869, d3.loss_map_pts: 0.7045, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1816, d4.loss_map_pts: 0.6820, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1758, d5.loss_map_pts: 0.6735, d5.loss_map_dir: 0.0097, loss: 29.0816, grad_norm: 143.8819 +2026-02-25 23:49:46,277 - DriveTransformer - INFO - Epoch [6][5650/39528] lr: 8.977e-05, eta: 6 days, 22:57:52, time: 0.805, data_time: 0.046, memory: 19865, loss_cls: 0.1702, loss_bbox: 0.3632, loss_traj: 0.6498, loss_traj_cls: 0.0011, loss_map_cls: 0.1593, loss_map_pts: 0.6468, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.4347, d0.loss_plan_l1_fix_dist: 0.4575, d1.loss_plan_l1_fix_time: 1.1703, d1.loss_plan_l1_fix_dist: 0.1871, d2.loss_plan_l1_fix_time: 1.1593, d2.loss_plan_l1_fix_dist: 0.1918, d3.loss_plan_l1_fix_time: 1.1635, d3.loss_plan_l1_fix_dist: 0.2035, d4.loss_plan_l1_fix_time: 1.1677, d4.loss_plan_l1_fix_dist: 0.2163, d5.loss_plan_l1_fix_time: 1.1725, d5.loss_plan_l1_fix_dist: 0.2304, d6.loss_plan_l1_fix_time: 1.1782, d6.loss_plan_l1_fix_dist: 0.2458, d0.loss_cls_all: 0.1999, d0.loss_bbox_all: 0.4182, d0.loss_cls: 0.1999, d0.loss_bbox: 0.4182, d1.loss_cls: 0.1944, d1.loss_bbox: 0.3842, d2.loss_cls: 0.1837, d2.loss_bbox: 0.3643, d3.loss_cls: 0.1746, d3.loss_bbox: 0.3609, d4.loss_cls: 0.1724, d4.loss_bbox: 0.3579, d5.loss_cls: 0.1698, d5.loss_bbox: 0.3614, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8722, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6825, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6418, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6344, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6387, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6443, d0.loss_map_cls_all: 0.2325, d0.loss_map_pts_all: 1.3078, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2325, d0.loss_map_pts: 1.3078, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1986, d1.loss_map_pts: 0.8906, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1820, d2.loss_map_pts: 0.7317, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1710, d3.loss_map_pts: 0.6752, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1642, d4.loss_map_pts: 0.6540, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1606, d5.loss_map_pts: 0.6478, d5.loss_map_dir: 0.0080, loss: 28.8682, grad_norm: 144.6216 +2026-02-25 23:50:27,951 - DriveTransformer - INFO - Epoch [6][5700/39528] lr: 8.977e-05, eta: 6 days, 22:57:16, time: 0.833, data_time: 0.041, memory: 19865, loss_cls: 0.2188, loss_bbox: 0.4171, loss_traj: 0.8150, loss_traj_cls: 0.0010, loss_map_cls: 0.2201, loss_map_pts: 0.9296, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.5604, d0.loss_plan_l1_fix_dist: 0.3929, d1.loss_plan_l1_fix_time: 1.3137, d1.loss_plan_l1_fix_dist: 0.1762, d2.loss_plan_l1_fix_time: 1.3023, d2.loss_plan_l1_fix_dist: 0.1764, d3.loss_plan_l1_fix_time: 1.3073, d3.loss_plan_l1_fix_dist: 0.1829, d4.loss_plan_l1_fix_time: 1.3122, d4.loss_plan_l1_fix_dist: 0.1894, d5.loss_plan_l1_fix_time: 1.3178, d5.loss_plan_l1_fix_dist: 0.1985, d6.loss_plan_l1_fix_time: 1.3245, d6.loss_plan_l1_fix_dist: 0.2090, d0.loss_cls_all: 0.2497, d0.loss_bbox_all: 0.4670, d0.loss_cls: 0.2497, d0.loss_bbox: 0.4670, d1.loss_cls: 0.2410, d1.loss_bbox: 0.4401, d2.loss_cls: 0.2330, d2.loss_bbox: 0.4223, d3.loss_cls: 0.2229, d3.loss_bbox: 0.4159, d4.loss_cls: 0.2193, d4.loss_bbox: 0.4149, d5.loss_cls: 0.2165, d5.loss_bbox: 0.4172, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0212, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8763, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8215, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8126, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8118, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8149, d0.loss_map_cls_all: 0.2861, d0.loss_map_pts_all: 1.8063, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2861, d0.loss_map_pts: 1.8063, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2588, d1.loss_map_pts: 1.2664, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2385, d2.loss_map_pts: 1.0570, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.2275, d3.loss_map_pts: 0.9745, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.2219, d4.loss_map_pts: 0.9453, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.2194, d5.loss_map_pts: 0.9325, d5.loss_map_dir: 0.0119, loss: 35.0228, grad_norm: 145.9209 +2026-02-25 23:51:07,566 - DriveTransformer - INFO - Epoch [6][5750/39528] lr: 8.977e-05, eta: 6 days, 22:56:34, time: 0.792, data_time: 0.044, memory: 19865, loss_cls: 0.1925, loss_bbox: 0.3876, loss_traj: 0.6090, loss_traj_cls: 0.0011, loss_map_cls: 0.1830, loss_map_pts: 0.7849, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.4913, d0.loss_plan_l1_fix_dist: 0.4667, d1.loss_plan_l1_fix_time: 1.0394, d1.loss_plan_l1_fix_dist: 0.1929, d2.loss_plan_l1_fix_time: 1.0201, d2.loss_plan_l1_fix_dist: 0.1931, d3.loss_plan_l1_fix_time: 1.0215, d3.loss_plan_l1_fix_dist: 0.2011, d4.loss_plan_l1_fix_time: 1.0244, d4.loss_plan_l1_fix_dist: 0.2135, d5.loss_plan_l1_fix_time: 1.0282, d5.loss_plan_l1_fix_dist: 0.2286, d6.loss_plan_l1_fix_time: 1.0326, d6.loss_plan_l1_fix_dist: 0.2459, d0.loss_cls_all: 0.2253, d0.loss_bbox_all: 0.4450, d0.loss_cls: 0.2253, d0.loss_bbox: 0.4450, d1.loss_cls: 0.2155, d1.loss_bbox: 0.4122, d2.loss_cls: 0.2019, d2.loss_bbox: 0.3962, d3.loss_cls: 0.1953, d3.loss_bbox: 0.3885, d4.loss_cls: 0.1913, d4.loss_bbox: 0.3886, d5.loss_cls: 0.1911, d5.loss_bbox: 0.3887, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7958, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6635, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6186, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6108, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6072, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6080, d0.loss_map_cls_all: 0.2452, d0.loss_map_pts_all: 1.5563, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2452, d0.loss_map_pts: 1.5563, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2164, d1.loss_map_pts: 1.0693, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.2003, d2.loss_map_pts: 0.8895, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1911, d3.loss_map_pts: 0.8208, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1867, d4.loss_map_pts: 0.7950, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1829, d5.loss_map_pts: 0.7873, d5.loss_map_dir: 0.0105, loss: 29.8003, grad_norm: 147.0960 +2026-02-25 23:51:48,317 - DriveTransformer - INFO - Epoch [6][5800/39528] lr: 8.977e-05, eta: 6 days, 22:55:55, time: 0.815, data_time: 0.050, memory: 19865, loss_cls: 0.2142, loss_bbox: 0.4237, loss_traj: 0.7513, loss_traj_cls: 0.0010, loss_map_cls: 0.1791, loss_map_pts: 0.8124, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.7250, d0.loss_plan_l1_fix_dist: 0.4763, d1.loss_plan_l1_fix_time: 1.1725, d1.loss_plan_l1_fix_dist: 0.1996, d2.loss_plan_l1_fix_time: 1.1529, d2.loss_plan_l1_fix_dist: 0.2004, d3.loss_plan_l1_fix_time: 1.1527, d3.loss_plan_l1_fix_dist: 0.2080, d4.loss_plan_l1_fix_time: 1.1552, d4.loss_plan_l1_fix_dist: 0.2174, d5.loss_plan_l1_fix_time: 1.1574, d5.loss_plan_l1_fix_dist: 0.2287, d6.loss_plan_l1_fix_time: 1.1598, d6.loss_plan_l1_fix_dist: 0.2419, d0.loss_cls_all: 0.2448, d0.loss_bbox_all: 0.4771, d0.loss_cls: 0.2448, d0.loss_bbox: 0.4771, d1.loss_cls: 0.2376, d1.loss_bbox: 0.4457, d2.loss_cls: 0.2266, d2.loss_bbox: 0.4296, d3.loss_cls: 0.2198, d3.loss_bbox: 0.4241, d4.loss_cls: 0.2161, d4.loss_bbox: 0.4220, d5.loss_cls: 0.2142, d5.loss_bbox: 0.4212, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9536, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7874, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7652, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7505, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7477, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7479, d0.loss_map_cls_all: 0.2440, d0.loss_map_pts_all: 1.5208, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2440, d0.loss_map_pts: 1.5208, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2156, d1.loss_map_pts: 1.0616, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1995, d2.loss_map_pts: 0.9051, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1887, d3.loss_map_pts: 0.8476, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1846, d4.loss_map_pts: 0.8262, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1803, d5.loss_map_pts: 0.8124, d5.loss_map_dir: 0.0102, loss: 32.3196, grad_norm: 146.7601 +2026-02-25 23:52:27,657 - DriveTransformer - INFO - Epoch [6][5850/39528] lr: 8.977e-05, eta: 6 days, 22:55:11, time: 0.787, data_time: 0.042, memory: 19865, loss_cls: 0.2149, loss_bbox: 0.4043, loss_traj: 0.7342, loss_traj_cls: 0.0011, loss_map_cls: 0.1727, loss_map_pts: 0.7459, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.7347, d0.loss_plan_l1_fix_dist: 0.4142, d1.loss_plan_l1_fix_time: 1.1434, d1.loss_plan_l1_fix_dist: 0.2039, d2.loss_plan_l1_fix_time: 1.1358, d2.loss_plan_l1_fix_dist: 0.2031, d3.loss_plan_l1_fix_time: 1.1316, d3.loss_plan_l1_fix_dist: 0.2108, d4.loss_plan_l1_fix_time: 1.1347, d4.loss_plan_l1_fix_dist: 0.2205, d5.loss_plan_l1_fix_time: 1.1379, d5.loss_plan_l1_fix_dist: 0.2329, d6.loss_plan_l1_fix_time: 1.1417, d6.loss_plan_l1_fix_dist: 0.2461, d0.loss_cls_all: 0.2451, d0.loss_bbox_all: 0.4664, d0.loss_cls: 0.2451, d0.loss_bbox: 0.4664, d1.loss_cls: 0.2366, d1.loss_bbox: 0.4339, d2.loss_cls: 0.2242, d2.loss_bbox: 0.4135, d3.loss_cls: 0.2161, d3.loss_bbox: 0.4068, d4.loss_cls: 0.2159, d4.loss_bbox: 0.4015, d5.loss_cls: 0.2141, d5.loss_bbox: 0.4017, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9168, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7648, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7346, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7344, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7302, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7329, d0.loss_map_cls_all: 0.2424, d0.loss_map_pts_all: 1.4328, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2424, d0.loss_map_pts: 1.4328, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2088, d1.loss_map_pts: 1.0010, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.1926, d2.loss_map_pts: 0.8368, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1802, d3.loss_map_pts: 0.7790, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1742, d4.loss_map_pts: 0.7572, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1724, d5.loss_map_pts: 0.7467, d5.loss_map_dir: 0.0110, loss: 31.2568, grad_norm: 145.2057 +2026-02-25 23:53:07,431 - DriveTransformer - INFO - Epoch [6][5900/39528] lr: 8.977e-05, eta: 6 days, 22:54:29, time: 0.795, data_time: 0.049, memory: 19865, loss_cls: 0.1824, loss_bbox: 0.3844, loss_traj: 0.9060, loss_traj_cls: 0.0010, loss_map_cls: 0.1485, loss_map_pts: 0.6788, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 3.0711, d0.loss_plan_l1_fix_dist: 0.3620, d1.loss_plan_l1_fix_time: 1.5751, d1.loss_plan_l1_fix_dist: 0.1957, d2.loss_plan_l1_fix_time: 1.5620, d2.loss_plan_l1_fix_dist: 0.1958, d3.loss_plan_l1_fix_time: 1.5564, d3.loss_plan_l1_fix_dist: 0.2036, d4.loss_plan_l1_fix_time: 1.5582, d4.loss_plan_l1_fix_dist: 0.2117, d5.loss_plan_l1_fix_time: 1.5609, d5.loss_plan_l1_fix_dist: 0.2212, d6.loss_plan_l1_fix_time: 1.5643, d6.loss_plan_l1_fix_dist: 0.2348, d0.loss_cls_all: 0.2173, d0.loss_bbox_all: 0.4432, d0.loss_cls: 0.2173, d0.loss_bbox: 0.4432, d1.loss_cls: 0.2074, d1.loss_bbox: 0.4128, d2.loss_cls: 0.1944, d2.loss_bbox: 0.3983, d3.loss_cls: 0.1842, d3.loss_bbox: 0.3925, d4.loss_cls: 0.1819, d4.loss_bbox: 0.3868, d5.loss_cls: 0.1830, d5.loss_bbox: 0.3833, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1255, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9437, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.9084, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9060, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9075, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.9025, d0.loss_map_cls_all: 0.2120, d0.loss_map_pts_all: 1.3798, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2120, d0.loss_map_pts: 1.3798, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1864, d1.loss_map_pts: 0.9280, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1677, d2.loss_map_pts: 0.7722, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1590, d3.loss_map_pts: 0.7096, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1540, d4.loss_map_pts: 0.6900, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1500, d5.loss_map_pts: 0.6781, d5.loss_map_dir: 0.0090, loss: 34.1681, grad_norm: 144.2956 +2026-02-25 23:53:48,306 - DriveTransformer - INFO - Epoch [6][5950/39528] lr: 8.977e-05, eta: 6 days, 22:53:50, time: 0.817, data_time: 0.043, memory: 19865, loss_cls: 0.1890, loss_bbox: 0.3804, loss_traj: 0.7783, loss_traj_cls: 0.0010, loss_map_cls: 0.1851, loss_map_pts: 0.7798, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 3.0185, d0.loss_plan_l1_fix_dist: 0.4085, d1.loss_plan_l1_fix_time: 1.3793, d1.loss_plan_l1_fix_dist: 0.2024, d2.loss_plan_l1_fix_time: 1.3732, d2.loss_plan_l1_fix_dist: 0.2028, d3.loss_plan_l1_fix_time: 1.3740, d3.loss_plan_l1_fix_dist: 0.2091, d4.loss_plan_l1_fix_time: 1.3776, d4.loss_plan_l1_fix_dist: 0.2164, d5.loss_plan_l1_fix_time: 1.3815, d5.loss_plan_l1_fix_dist: 0.2240, d6.loss_plan_l1_fix_time: 1.3851, d6.loss_plan_l1_fix_dist: 0.2330, d0.loss_cls_all: 0.2222, d0.loss_bbox_all: 0.4326, d0.loss_cls: 0.2222, d0.loss_bbox: 0.4326, d1.loss_cls: 0.2180, d1.loss_bbox: 0.4007, d2.loss_cls: 0.2091, d2.loss_bbox: 0.3853, d3.loss_cls: 0.1951, d3.loss_bbox: 0.3829, d4.loss_cls: 0.1893, d4.loss_bbox: 0.3841, d5.loss_cls: 0.1879, d5.loss_bbox: 0.3821, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9580, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8141, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7895, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7794, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7771, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7772, d0.loss_map_cls_all: 0.2548, d0.loss_map_pts_all: 1.5263, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2548, d0.loss_map_pts: 1.5263, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2210, d1.loss_map_pts: 1.0693, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.2053, d2.loss_map_pts: 0.8864, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1950, d3.loss_map_pts: 0.8220, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1888, d4.loss_map_pts: 0.7957, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1865, d5.loss_map_pts: 0.7820, d5.loss_map_dir: 0.0111, loss: 33.4418, grad_norm: 143.3499 +2026-02-25 23:54:28,881 - DriveTransformer - INFO - Epoch [6][6000/39528] lr: 8.977e-05, eta: 6 days, 22:53:11, time: 0.812, data_time: 0.048, memory: 19865, loss_cls: 0.2107, loss_bbox: 0.4074, loss_traj: 0.6883, loss_traj_cls: 0.0010, loss_map_cls: 0.2003, loss_map_pts: 0.7698, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 3.1430, d0.loss_plan_l1_fix_dist: 0.3829, d1.loss_plan_l1_fix_time: 1.2474, d1.loss_plan_l1_fix_dist: 0.1793, d2.loss_plan_l1_fix_time: 1.2447, d2.loss_plan_l1_fix_dist: 0.1816, d3.loss_plan_l1_fix_time: 1.2520, d3.loss_plan_l1_fix_dist: 0.1876, d4.loss_plan_l1_fix_time: 1.2571, d4.loss_plan_l1_fix_dist: 0.1932, d5.loss_plan_l1_fix_time: 1.2620, d5.loss_plan_l1_fix_dist: 0.2001, d6.loss_plan_l1_fix_time: 1.2676, d6.loss_plan_l1_fix_dist: 0.2103, d0.loss_cls_all: 0.2489, d0.loss_bbox_all: 0.4661, d0.loss_cls: 0.2489, d0.loss_bbox: 0.4661, d1.loss_cls: 0.2425, d1.loss_bbox: 0.4332, d2.loss_cls: 0.2313, d2.loss_bbox: 0.4137, d3.loss_cls: 0.2210, d3.loss_bbox: 0.4079, d4.loss_cls: 0.2147, d4.loss_bbox: 0.4066, d5.loss_cls: 0.2113, d5.loss_bbox: 0.4069, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8897, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7494, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7089, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6959, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6905, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6894, d0.loss_map_cls_all: 0.2704, d0.loss_map_pts_all: 1.5135, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2704, d0.loss_map_pts: 1.5135, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2344, d1.loss_map_pts: 1.0064, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2200, d2.loss_map_pts: 0.8499, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2118, d3.loss_map_pts: 0.7982, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.2062, d4.loss_map_pts: 0.7766, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.2023, d5.loss_map_pts: 0.7711, d5.loss_map_dir: 0.0114, loss: 32.4685, grad_norm: 141.7939 +2026-02-25 23:55:07,653 - DriveTransformer - INFO - Epoch [6][6050/39528] lr: 8.977e-05, eta: 6 days, 22:52:25, time: 0.775, data_time: 0.043, memory: 19865, loss_cls: 0.2015, loss_bbox: 0.3963, loss_traj: 0.7800, loss_traj_cls: 0.0010, loss_map_cls: 0.1601, loss_map_pts: 0.6945, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.4306, d0.loss_plan_l1_fix_dist: 0.4186, d1.loss_plan_l1_fix_time: 1.2106, d1.loss_plan_l1_fix_dist: 0.1943, d2.loss_plan_l1_fix_time: 1.2018, d2.loss_plan_l1_fix_dist: 0.1947, d3.loss_plan_l1_fix_time: 1.2037, d3.loss_plan_l1_fix_dist: 0.2004, d4.loss_plan_l1_fix_time: 1.2064, d4.loss_plan_l1_fix_dist: 0.2085, d5.loss_plan_l1_fix_time: 1.2097, d5.loss_plan_l1_fix_dist: 0.2173, d6.loss_plan_l1_fix_time: 1.2139, d6.loss_plan_l1_fix_dist: 0.2258, d0.loss_cls_all: 0.2310, d0.loss_bbox_all: 0.4641, d0.loss_cls: 0.2310, d0.loss_bbox: 0.4641, d1.loss_cls: 0.2259, d1.loss_bbox: 0.4276, d2.loss_cls: 0.2161, d2.loss_bbox: 0.4102, d3.loss_cls: 0.2062, d3.loss_bbox: 0.4017, d4.loss_cls: 0.2014, d4.loss_bbox: 0.3993, d5.loss_cls: 0.2020, d5.loss_bbox: 0.3970, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0658, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8559, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8051, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7801, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7739, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7753, d0.loss_map_cls_all: 0.2275, d0.loss_map_pts_all: 1.3233, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2275, d0.loss_map_pts: 1.3233, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.2001, d1.loss_map_pts: 0.9362, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1832, d2.loss_map_pts: 0.7910, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1719, d3.loss_map_pts: 0.7287, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1659, d4.loss_map_pts: 0.7037, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1616, d5.loss_map_pts: 0.6954, d5.loss_map_dir: 0.0083, loss: 31.0128, grad_norm: 140.2953 +2026-02-25 23:55:48,465 - DriveTransformer - INFO - Epoch [6][6100/39528] lr: 8.977e-05, eta: 6 days, 22:51:46, time: 0.816, data_time: 0.040, memory: 19865, loss_cls: 0.2029, loss_bbox: 0.3925, loss_traj: 0.6918, loss_traj_cls: 0.0010, loss_map_cls: 0.2107, loss_map_pts: 0.8161, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.3239, d0.loss_plan_l1_fix_dist: 0.3903, d1.loss_plan_l1_fix_time: 1.1507, d1.loss_plan_l1_fix_dist: 0.1670, d2.loss_plan_l1_fix_time: 1.1253, d2.loss_plan_l1_fix_dist: 0.1692, d3.loss_plan_l1_fix_time: 1.1212, d3.loss_plan_l1_fix_dist: 0.1745, d4.loss_plan_l1_fix_time: 1.1240, d4.loss_plan_l1_fix_dist: 0.1828, d5.loss_plan_l1_fix_time: 1.1283, d5.loss_plan_l1_fix_dist: 0.1922, d6.loss_plan_l1_fix_time: 1.1331, d6.loss_plan_l1_fix_dist: 0.2041, d0.loss_cls_all: 0.2337, d0.loss_bbox_all: 0.4443, d0.loss_cls: 0.2337, d0.loss_bbox: 0.4443, d1.loss_cls: 0.2253, d1.loss_bbox: 0.4129, d2.loss_cls: 0.2167, d2.loss_bbox: 0.3943, d3.loss_cls: 0.2088, d3.loss_bbox: 0.3880, d4.loss_cls: 0.2043, d4.loss_bbox: 0.3880, d5.loss_cls: 0.2025, d5.loss_bbox: 0.3898, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9542, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7561, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7059, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6964, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6901, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6906, d0.loss_map_cls_all: 0.2754, d0.loss_map_pts_all: 1.5346, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2754, d0.loss_map_pts: 1.5346, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2447, d1.loss_map_pts: 1.0762, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.2261, d2.loss_map_pts: 0.9136, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.2184, d3.loss_map_pts: 0.8533, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.2153, d4.loss_map_pts: 0.8280, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.2120, d5.loss_map_pts: 0.8178, d5.loss_map_dir: 0.0096, loss: 31.0881, grad_norm: 140.1468 +2026-02-25 23:56:28,113 - DriveTransformer - INFO - Epoch [6][6150/39528] lr: 8.977e-05, eta: 6 days, 22:51:04, time: 0.793, data_time: 0.043, memory: 19865, loss_cls: 0.2245, loss_bbox: 0.4334, loss_traj: 0.7845, loss_traj_cls: 0.0010, loss_map_cls: 0.1685, loss_map_pts: 0.7321, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.9353, d0.loss_plan_l1_fix_dist: 0.3838, d1.loss_plan_l1_fix_time: 1.1390, d1.loss_plan_l1_fix_dist: 0.1926, d2.loss_plan_l1_fix_time: 1.1218, d2.loss_plan_l1_fix_dist: 0.1941, d3.loss_plan_l1_fix_time: 1.1263, d3.loss_plan_l1_fix_dist: 0.2003, d4.loss_plan_l1_fix_time: 1.1291, d4.loss_plan_l1_fix_dist: 0.2079, d5.loss_plan_l1_fix_time: 1.1321, d5.loss_plan_l1_fix_dist: 0.2175, d6.loss_plan_l1_fix_time: 1.1354, d6.loss_plan_l1_fix_dist: 0.2341, d0.loss_cls_all: 0.2582, d0.loss_bbox_all: 0.4895, d0.loss_cls: 0.2582, d0.loss_bbox: 0.4895, d1.loss_cls: 0.2549, d1.loss_bbox: 0.4556, d2.loss_cls: 0.2389, d2.loss_bbox: 0.4391, d3.loss_cls: 0.2315, d3.loss_bbox: 0.4320, d4.loss_cls: 0.2267, d4.loss_bbox: 0.4290, d5.loss_cls: 0.2240, d5.loss_bbox: 0.4302, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0239, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8438, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8035, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7912, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7844, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7806, d0.loss_map_cls_all: 0.2332, d0.loss_map_pts_all: 1.4613, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2332, d0.loss_map_pts: 1.4613, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2000, d1.loss_map_pts: 0.9820, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1854, d2.loss_map_pts: 0.8242, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1760, d3.loss_map_pts: 0.7624, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1713, d4.loss_map_pts: 0.7441, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1673, d5.loss_map_pts: 0.7353, d5.loss_map_dir: 0.0108, loss: 32.0041, grad_norm: 140.8163 +2026-02-25 23:57:06,769 - DriveTransformer - INFO - Epoch [6][6200/39528] lr: 8.977e-05, eta: 6 days, 22:50:17, time: 0.774, data_time: 0.048, memory: 19865, loss_cls: 0.1834, loss_bbox: 0.3970, loss_traj: 0.8021, loss_traj_cls: 0.0010, loss_map_cls: 0.1854, loss_map_pts: 0.7632, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.5867, d0.loss_plan_l1_fix_dist: 0.3858, d1.loss_plan_l1_fix_time: 1.2596, d1.loss_plan_l1_fix_dist: 0.1899, d2.loss_plan_l1_fix_time: 1.2507, d2.loss_plan_l1_fix_dist: 0.1919, d3.loss_plan_l1_fix_time: 1.2502, d3.loss_plan_l1_fix_dist: 0.1985, d4.loss_plan_l1_fix_time: 1.2528, d4.loss_plan_l1_fix_dist: 0.2067, d5.loss_plan_l1_fix_time: 1.2561, d5.loss_plan_l1_fix_dist: 0.2151, d6.loss_plan_l1_fix_time: 1.2604, d6.loss_plan_l1_fix_dist: 0.2240, d0.loss_cls_all: 0.2169, d0.loss_bbox_all: 0.4486, d0.loss_cls: 0.2169, d0.loss_bbox: 0.4486, d1.loss_cls: 0.2065, d1.loss_bbox: 0.4187, d2.loss_cls: 0.1973, d2.loss_bbox: 0.4032, d3.loss_cls: 0.1908, d3.loss_bbox: 0.3972, d4.loss_cls: 0.1844, d4.loss_bbox: 0.3952, d5.loss_cls: 0.1829, d5.loss_bbox: 0.3953, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0280, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8435, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7930, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7932, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7936, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7963, d0.loss_map_cls_all: 0.2541, d0.loss_map_pts_all: 1.4752, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2541, d0.loss_map_pts: 1.4752, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2249, d1.loss_map_pts: 1.0315, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.2060, d2.loss_map_pts: 0.8670, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1970, d3.loss_map_pts: 0.7962, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1925, d4.loss_map_pts: 0.7729, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1869, d5.loss_map_pts: 0.7640, d5.loss_map_dir: 0.0109, loss: 32.1964, grad_norm: 141.4194 +2026-02-25 23:57:46,233 - DriveTransformer - INFO - Epoch [6][6250/39528] lr: 8.977e-05, eta: 6 days, 22:49:34, time: 0.788, data_time: 0.041, memory: 19865, loss_cls: 0.1976, loss_bbox: 0.3938, loss_traj: 0.6842, loss_traj_cls: 0.0009, loss_map_cls: 0.1920, loss_map_pts: 0.8256, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.6369, d0.loss_plan_l1_fix_dist: 0.3848, d1.loss_plan_l1_fix_time: 1.2444, d1.loss_plan_l1_fix_dist: 0.1969, d2.loss_plan_l1_fix_time: 1.2300, d2.loss_plan_l1_fix_dist: 0.1986, d3.loss_plan_l1_fix_time: 1.2310, d3.loss_plan_l1_fix_dist: 0.2057, d4.loss_plan_l1_fix_time: 1.2335, d4.loss_plan_l1_fix_dist: 0.2161, d5.loss_plan_l1_fix_time: 1.2367, d5.loss_plan_l1_fix_dist: 0.2279, d6.loss_plan_l1_fix_time: 1.2410, d6.loss_plan_l1_fix_dist: 0.2384, d0.loss_cls_all: 0.2364, d0.loss_bbox_all: 0.4485, d0.loss_cls: 0.2364, d0.loss_bbox: 0.4485, d1.loss_cls: 0.2258, d1.loss_bbox: 0.4147, d2.loss_cls: 0.2132, d2.loss_bbox: 0.3990, d3.loss_cls: 0.2036, d3.loss_bbox: 0.3924, d4.loss_cls: 0.1995, d4.loss_bbox: 0.3918, d5.loss_cls: 0.1972, d5.loss_bbox: 0.3922, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8682, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7401, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7023, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6924, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6860, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6862, d0.loss_map_cls_all: 0.2584, d0.loss_map_pts_all: 1.5969, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2584, d0.loss_map_pts: 1.5969, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2312, d1.loss_map_pts: 1.1104, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.2124, d2.loss_map_pts: 0.9290, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.2019, d3.loss_map_pts: 0.8603, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1963, d4.loss_map_pts: 0.8362, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1920, d5.loss_map_pts: 0.8279, d5.loss_map_dir: 0.0106, loss: 32.1839, grad_norm: 142.4920 +2026-02-25 23:58:28,940 - DriveTransformer - INFO - Epoch [6][6300/39528] lr: 8.977e-05, eta: 6 days, 22:49:02, time: 0.854, data_time: 0.041, memory: 19865, loss_cls: 0.1840, loss_bbox: 0.4040, loss_traj: 0.7250, loss_traj_cls: 0.0009, loss_map_cls: 0.1979, loss_map_pts: 0.8815, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.4308, d0.loss_plan_l1_fix_dist: 0.3436, d1.loss_plan_l1_fix_time: 1.1156, d1.loss_plan_l1_fix_dist: 0.1839, d2.loss_plan_l1_fix_time: 1.1017, d2.loss_plan_l1_fix_dist: 0.1857, d3.loss_plan_l1_fix_time: 1.1001, d3.loss_plan_l1_fix_dist: 0.1921, d4.loss_plan_l1_fix_time: 1.1028, d4.loss_plan_l1_fix_dist: 0.1982, d5.loss_plan_l1_fix_time: 1.1057, d5.loss_plan_l1_fix_dist: 0.2067, d6.loss_plan_l1_fix_time: 1.1093, d6.loss_plan_l1_fix_dist: 0.2215, d0.loss_cls_all: 0.2236, d0.loss_bbox_all: 0.4493, d0.loss_cls: 0.2236, d0.loss_bbox: 0.4493, d1.loss_cls: 0.2129, d1.loss_bbox: 0.4200, d2.loss_cls: 0.2021, d2.loss_bbox: 0.4056, d3.loss_cls: 0.1931, d3.loss_bbox: 0.3985, d4.loss_cls: 0.1858, d4.loss_bbox: 0.4015, d5.loss_cls: 0.1843, d5.loss_bbox: 0.4024, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9304, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7680, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7182, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7204, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7232, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7194, d0.loss_map_cls_all: 0.2695, d0.loss_map_pts_all: 1.7878, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2695, d0.loss_map_pts: 1.7878, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2398, d1.loss_map_pts: 1.2077, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2227, d2.loss_map_pts: 0.9978, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2104, d3.loss_map_pts: 0.9210, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.2041, d4.loss_map_pts: 0.8903, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.1983, d5.loss_map_pts: 0.8822, d5.loss_map_dir: 0.0121, loss: 32.1101, grad_norm: 143.6899 +2026-02-25 23:59:07,713 - DriveTransformer - INFO - Epoch [6][6350/39528] lr: 8.977e-05, eta: 6 days, 22:48:16, time: 0.775, data_time: 0.040, memory: 19865, loss_cls: 0.2076, loss_bbox: 0.3818, loss_traj: 0.7475, loss_traj_cls: 0.0010, loss_map_cls: 0.1912, loss_map_pts: 0.6798, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.5938, d0.loss_plan_l1_fix_dist: 0.3049, d1.loss_plan_l1_fix_time: 1.1772, d1.loss_plan_l1_fix_dist: 0.1648, d2.loss_plan_l1_fix_time: 1.1671, d2.loss_plan_l1_fix_dist: 0.1655, d3.loss_plan_l1_fix_time: 1.1636, d3.loss_plan_l1_fix_dist: 0.1726, d4.loss_plan_l1_fix_time: 1.1653, d4.loss_plan_l1_fix_dist: 0.1820, d5.loss_plan_l1_fix_time: 1.1671, d5.loss_plan_l1_fix_dist: 0.1887, d6.loss_plan_l1_fix_time: 1.1684, d6.loss_plan_l1_fix_dist: 0.1941, d0.loss_cls_all: 0.2385, d0.loss_bbox_all: 0.4317, d0.loss_cls: 0.2385, d0.loss_bbox: 0.4317, d1.loss_cls: 0.2334, d1.loss_bbox: 0.4009, d2.loss_cls: 0.2204, d2.loss_bbox: 0.3862, d3.loss_cls: 0.2110, d3.loss_bbox: 0.3812, d4.loss_cls: 0.2082, d4.loss_bbox: 0.3797, d5.loss_cls: 0.2073, d5.loss_bbox: 0.3806, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9046, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7923, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7571, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7509, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7443, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7424, d0.loss_map_cls_all: 0.2594, d0.loss_map_pts_all: 1.4144, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2594, d0.loss_map_pts: 1.4144, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2337, d1.loss_map_pts: 0.9625, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.2154, d2.loss_map_pts: 0.7778, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.2002, d3.loss_map_pts: 0.7118, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1956, d4.loss_map_pts: 0.6833, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1915, d5.loss_map_pts: 0.6796, d5.loss_map_dir: 0.0090, loss: 30.5000, grad_norm: 143.4192 +2026-02-25 23:59:49,541 - DriveTransformer - INFO - Epoch [6][6400/39528] lr: 8.977e-05, eta: 6 days, 22:47:41, time: 0.837, data_time: 0.047, memory: 19865, loss_cls: 0.1845, loss_bbox: 0.4074, loss_traj: 0.6218, loss_traj_cls: 0.0010, loss_map_cls: 0.2020, loss_map_pts: 0.8532, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.5262, d0.loss_plan_l1_fix_dist: 0.4544, d1.loss_plan_l1_fix_time: 1.2702, d1.loss_plan_l1_fix_dist: 0.1991, d2.loss_plan_l1_fix_time: 1.2575, d2.loss_plan_l1_fix_dist: 0.2092, d3.loss_plan_l1_fix_time: 1.2528, d3.loss_plan_l1_fix_dist: 0.2198, d4.loss_plan_l1_fix_time: 1.2551, d4.loss_plan_l1_fix_dist: 0.2312, d5.loss_plan_l1_fix_time: 1.2573, d5.loss_plan_l1_fix_dist: 0.2487, d6.loss_plan_l1_fix_time: 1.2600, d6.loss_plan_l1_fix_dist: 0.2706, d0.loss_cls_all: 0.2215, d0.loss_bbox_all: 0.4580, d0.loss_cls: 0.2215, d0.loss_bbox: 0.4580, d1.loss_cls: 0.2123, d1.loss_bbox: 0.4337, d2.loss_cls: 0.2012, d2.loss_bbox: 0.4151, d3.loss_cls: 0.1900, d3.loss_bbox: 0.4104, d4.loss_cls: 0.1838, d4.loss_bbox: 0.4105, d5.loss_cls: 0.1831, d5.loss_bbox: 0.4085, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7759, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6754, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6268, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6200, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6228, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6188, d0.loss_map_cls_all: 0.2698, d0.loss_map_pts_all: 1.6968, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2698, d0.loss_map_pts: 1.6968, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2412, d1.loss_map_pts: 1.1643, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2222, d2.loss_map_pts: 0.9614, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.2119, d3.loss_map_pts: 0.8885, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2072, d4.loss_map_pts: 0.8602, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.2033, d5.loss_map_pts: 0.8535, d5.loss_map_dir: 0.0126, loss: 32.3774, grad_norm: 142.1795 +2026-02-26 00:00:29,453 - DriveTransformer - INFO - Epoch [6][6450/39528] lr: 8.977e-05, eta: 6 days, 22:47:00, time: 0.798, data_time: 0.043, memory: 19865, loss_cls: 0.1912, loss_bbox: 0.4082, loss_traj: 0.8055, loss_traj_cls: 0.0009, loss_map_cls: 0.2044, loss_map_pts: 0.7975, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.7634, d0.loss_plan_l1_fix_dist: 0.4115, d1.loss_plan_l1_fix_time: 1.2287, d1.loss_plan_l1_fix_dist: 0.1937, d2.loss_plan_l1_fix_time: 1.2130, d2.loss_plan_l1_fix_dist: 0.2011, d3.loss_plan_l1_fix_time: 1.2112, d3.loss_plan_l1_fix_dist: 0.2133, d4.loss_plan_l1_fix_time: 1.2146, d4.loss_plan_l1_fix_dist: 0.2280, d5.loss_plan_l1_fix_time: 1.2192, d5.loss_plan_l1_fix_dist: 0.2487, d6.loss_plan_l1_fix_time: 1.2253, d6.loss_plan_l1_fix_dist: 0.2742, d0.loss_cls_all: 0.2242, d0.loss_bbox_all: 0.4548, d0.loss_cls: 0.2242, d0.loss_bbox: 0.4548, d1.loss_cls: 0.2160, d1.loss_bbox: 0.4272, d2.loss_cls: 0.2053, d2.loss_bbox: 0.4097, d3.loss_cls: 0.1952, d3.loss_bbox: 0.4056, d4.loss_cls: 0.1909, d4.loss_bbox: 0.4057, d5.loss_cls: 0.1910, d5.loss_bbox: 0.4068, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0619, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8668, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8172, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8108, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8068, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8067, d0.loss_map_cls_all: 0.2794, d0.loss_map_pts_all: 1.4650, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2794, d0.loss_map_pts: 1.4650, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2511, d1.loss_map_pts: 1.0485, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.2270, d2.loss_map_pts: 0.8890, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.2146, d3.loss_map_pts: 0.8312, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.2079, d4.loss_map_pts: 0.8093, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.2044, d5.loss_map_pts: 0.7979, d5.loss_map_dir: 0.0095, loss: 32.8819, grad_norm: 143.3120 +2026-02-26 00:01:10,502 - DriveTransformer - INFO - Epoch [6][6500/39528] lr: 8.977e-05, eta: 6 days, 22:46:22, time: 0.821, data_time: 0.041, memory: 19865, loss_cls: 0.1753, loss_bbox: 0.3967, loss_traj: 0.6654, loss_traj_cls: 0.0010, loss_map_cls: 0.1732, loss_map_pts: 0.7163, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 3.0039, d0.loss_plan_l1_fix_dist: 0.4964, d1.loss_plan_l1_fix_time: 1.4882, d1.loss_plan_l1_fix_dist: 0.2098, d2.loss_plan_l1_fix_time: 1.4695, d2.loss_plan_l1_fix_dist: 0.2113, d3.loss_plan_l1_fix_time: 1.4719, d3.loss_plan_l1_fix_dist: 0.2195, d4.loss_plan_l1_fix_time: 1.4754, d4.loss_plan_l1_fix_dist: 0.2282, d5.loss_plan_l1_fix_time: 1.4802, d5.loss_plan_l1_fix_dist: 0.2366, d6.loss_plan_l1_fix_time: 1.4859, d6.loss_plan_l1_fix_dist: 0.2465, d0.loss_cls_all: 0.2097, d0.loss_bbox_all: 0.4392, d0.loss_cls: 0.2097, d0.loss_bbox: 0.4392, d1.loss_cls: 0.2040, d1.loss_bbox: 0.4081, d2.loss_cls: 0.1923, d2.loss_bbox: 0.3941, d3.loss_cls: 0.1829, d3.loss_bbox: 0.3930, d4.loss_cls: 0.1755, d4.loss_bbox: 0.3936, d5.loss_cls: 0.1755, d5.loss_bbox: 0.3946, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9445, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7241, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6719, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6641, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6641, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6647, d0.loss_map_cls_all: 0.2522, d0.loss_map_pts_all: 1.5438, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2522, d0.loss_map_pts: 1.5438, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2206, d1.loss_map_pts: 0.9916, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1997, d2.loss_map_pts: 0.8108, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.1877, d3.loss_map_pts: 0.7447, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1798, d4.loss_map_pts: 0.7252, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1747, d5.loss_map_pts: 0.7177, d5.loss_map_dir: 0.0116, loss: 33.0340, grad_norm: 144.8937 +2026-02-26 00:01:51,141 - DriveTransformer - INFO - Epoch [6][6550/39528] lr: 8.977e-05, eta: 6 days, 22:45:43, time: 0.813, data_time: 0.041, memory: 19865, loss_cls: 0.1982, loss_bbox: 0.4272, loss_traj: 0.7477, loss_traj_cls: 0.0010, loss_map_cls: 0.1910, loss_map_pts: 0.8088, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.6303, d0.loss_plan_l1_fix_dist: 0.3830, d1.loss_plan_l1_fix_time: 1.1271, d1.loss_plan_l1_fix_dist: 0.1883, d2.loss_plan_l1_fix_time: 1.1091, d2.loss_plan_l1_fix_dist: 0.1944, d3.loss_plan_l1_fix_time: 1.1085, d3.loss_plan_l1_fix_dist: 0.2030, d4.loss_plan_l1_fix_time: 1.1099, d4.loss_plan_l1_fix_dist: 0.2135, d5.loss_plan_l1_fix_time: 1.1125, d5.loss_plan_l1_fix_dist: 0.2248, d6.loss_plan_l1_fix_time: 1.1166, d6.loss_plan_l1_fix_dist: 0.2384, d0.loss_cls_all: 0.2349, d0.loss_bbox_all: 0.4780, d0.loss_cls: 0.2349, d0.loss_bbox: 0.4780, d1.loss_cls: 0.2235, d1.loss_bbox: 0.4479, d2.loss_cls: 0.2116, d2.loss_bbox: 0.4350, d3.loss_cls: 0.2038, d3.loss_bbox: 0.4287, d4.loss_cls: 0.1975, d4.loss_bbox: 0.4287, d5.loss_cls: 0.1976, d5.loss_bbox: 0.4277, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9759, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7931, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7617, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7537, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7494, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7467, d0.loss_map_cls_all: 0.2695, d0.loss_map_pts_all: 1.5691, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2695, d0.loss_map_pts: 1.5691, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2418, d1.loss_map_pts: 1.0708, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.2196, d2.loss_map_pts: 0.9040, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.2047, d3.loss_map_pts: 0.8420, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1981, d4.loss_map_pts: 0.8166, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1928, d5.loss_map_pts: 0.8092, d5.loss_map_dir: 0.0103, loss: 32.0015, grad_norm: 145.2230 +2026-02-26 00:02:30,925 - DriveTransformer - INFO - Epoch [6][6600/39528] lr: 8.977e-05, eta: 6 days, 22:45:01, time: 0.795, data_time: 0.043, memory: 19865, loss_cls: 0.2016, loss_bbox: 0.4143, loss_traj: 0.7865, loss_traj_cls: 0.0010, loss_map_cls: 0.1844, loss_map_pts: 0.8134, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.8092, d0.loss_plan_l1_fix_dist: 0.4118, d1.loss_plan_l1_fix_time: 1.2069, d1.loss_plan_l1_fix_dist: 0.1852, d2.loss_plan_l1_fix_time: 1.1875, d2.loss_plan_l1_fix_dist: 0.1896, d3.loss_plan_l1_fix_time: 1.1871, d3.loss_plan_l1_fix_dist: 0.2082, d4.loss_plan_l1_fix_time: 1.1894, d4.loss_plan_l1_fix_dist: 0.2277, d5.loss_plan_l1_fix_time: 1.1919, d5.loss_plan_l1_fix_dist: 0.2463, d6.loss_plan_l1_fix_time: 1.1946, d6.loss_plan_l1_fix_dist: 0.2664, d0.loss_cls_all: 0.2277, d0.loss_bbox_all: 0.4680, d0.loss_cls: 0.2277, d0.loss_bbox: 0.4680, d1.loss_cls: 0.2215, d1.loss_bbox: 0.4367, d2.loss_cls: 0.2109, d2.loss_bbox: 0.4225, d3.loss_cls: 0.2018, d3.loss_bbox: 0.4183, d4.loss_cls: 0.2000, d4.loss_bbox: 0.4169, d5.loss_cls: 0.2006, d5.loss_bbox: 0.4143, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9637, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8444, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7980, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7896, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7892, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7879, d0.loss_map_cls_all: 0.2477, d0.loss_map_pts_all: 1.5715, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2477, d0.loss_map_pts: 1.5715, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2184, d1.loss_map_pts: 1.0880, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2003, d2.loss_map_pts: 0.9164, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1930, d3.loss_map_pts: 0.8484, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1883, d4.loss_map_pts: 0.8262, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1840, d5.loss_map_pts: 0.8155, d5.loss_map_dir: 0.0113, loss: 32.8196, grad_norm: 146.0422 +2026-02-26 00:03:11,930 - DriveTransformer - INFO - Epoch [6][6650/39528] lr: 8.977e-05, eta: 6 days, 22:44:23, time: 0.820, data_time: 0.042, memory: 19865, loss_cls: 0.1995, loss_bbox: 0.4058, loss_traj: 0.6742, loss_traj_cls: 0.0010, loss_map_cls: 0.1793, loss_map_pts: 0.7665, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.8780, d0.loss_plan_l1_fix_dist: 0.4019, d1.loss_plan_l1_fix_time: 1.5035, d1.loss_plan_l1_fix_dist: 0.2096, d2.loss_plan_l1_fix_time: 1.4811, d2.loss_plan_l1_fix_dist: 0.2131, d3.loss_plan_l1_fix_time: 1.4787, d3.loss_plan_l1_fix_dist: 0.2266, d4.loss_plan_l1_fix_time: 1.4802, d4.loss_plan_l1_fix_dist: 0.2416, d5.loss_plan_l1_fix_time: 1.4822, d5.loss_plan_l1_fix_dist: 0.2578, d6.loss_plan_l1_fix_time: 1.4849, d6.loss_plan_l1_fix_dist: 0.2765, d0.loss_cls_all: 0.2315, d0.loss_bbox_all: 0.4635, d0.loss_cls: 0.2315, d0.loss_bbox: 0.4635, d1.loss_cls: 0.2257, d1.loss_bbox: 0.4281, d2.loss_cls: 0.2138, d2.loss_bbox: 0.4089, d3.loss_cls: 0.2057, d3.loss_bbox: 0.4053, d4.loss_cls: 0.2009, d4.loss_bbox: 0.4059, d5.loss_cls: 0.1990, d5.loss_bbox: 0.4056, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8883, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7414, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6868, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6755, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6759, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6733, d0.loss_map_cls_all: 0.2495, d0.loss_map_pts_all: 1.6128, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2495, d0.loss_map_pts: 1.6128, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2211, d1.loss_map_pts: 1.0497, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.1991, d2.loss_map_pts: 0.8691, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.1883, d3.loss_map_pts: 0.8009, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.1842, d4.loss_map_pts: 0.7775, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.1801, d5.loss_map_pts: 0.7676, d5.loss_map_dir: 0.0122, loss: 33.7337, grad_norm: 146.1009 +2026-02-26 00:03:54,067 - DriveTransformer - INFO - Epoch [6][6700/39528] lr: 8.977e-05, eta: 6 days, 22:43:49, time: 0.843, data_time: 0.039, memory: 19865, loss_cls: 0.2131, loss_bbox: 0.4152, loss_traj: 0.5734, loss_traj_cls: 0.0010, loss_map_cls: 0.1775, loss_map_pts: 0.8071, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.6275, d0.loss_plan_l1_fix_dist: 0.4192, d1.loss_plan_l1_fix_time: 1.1110, d1.loss_plan_l1_fix_dist: 0.1995, d2.loss_plan_l1_fix_time: 1.0836, d2.loss_plan_l1_fix_dist: 0.2010, d3.loss_plan_l1_fix_time: 1.0789, d3.loss_plan_l1_fix_dist: 0.2099, d4.loss_plan_l1_fix_time: 1.0805, d4.loss_plan_l1_fix_dist: 0.2244, d5.loss_plan_l1_fix_time: 1.0832, d5.loss_plan_l1_fix_dist: 0.2440, d6.loss_plan_l1_fix_time: 1.0868, d6.loss_plan_l1_fix_dist: 0.2636, d0.loss_cls_all: 0.2485, d0.loss_bbox_all: 0.4633, d0.loss_cls: 0.2485, d0.loss_bbox: 0.4633, d1.loss_cls: 0.2371, d1.loss_bbox: 0.4319, d2.loss_cls: 0.2275, d2.loss_bbox: 0.4148, d3.loss_cls: 0.2206, d3.loss_bbox: 0.4127, d4.loss_cls: 0.2151, d4.loss_bbox: 0.4129, d5.loss_cls: 0.2133, d5.loss_bbox: 0.4131, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7463, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6138, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5751, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5728, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5717, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5712, d0.loss_map_cls_all: 0.2539, d0.loss_map_pts_all: 1.6030, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2539, d0.loss_map_pts: 1.6030, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2210, d1.loss_map_pts: 1.0776, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2000, d2.loss_map_pts: 0.9047, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.1915, d3.loss_map_pts: 0.8377, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.1841, d4.loss_map_pts: 0.8128, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1795, d5.loss_map_pts: 0.8070, d5.loss_map_dir: 0.0118, loss: 30.6011, grad_norm: 148.3077 +2026-02-26 00:04:35,033 - DriveTransformer - INFO - Epoch [6][6750/39528] lr: 8.977e-05, eta: 6 days, 22:43:11, time: 0.819, data_time: 0.045, memory: 19865, loss_cls: 0.1782, loss_bbox: 0.3823, loss_traj: 0.7654, loss_traj_cls: 0.0010, loss_map_cls: 0.1554, loss_map_pts: 0.7216, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.2764, d0.loss_plan_l1_fix_dist: 0.4203, d1.loss_plan_l1_fix_time: 1.0934, d1.loss_plan_l1_fix_dist: 0.1793, d2.loss_plan_l1_fix_time: 1.0758, d2.loss_plan_l1_fix_dist: 0.1872, d3.loss_plan_l1_fix_time: 1.0747, d3.loss_plan_l1_fix_dist: 0.1989, d4.loss_plan_l1_fix_time: 1.0763, d4.loss_plan_l1_fix_dist: 0.2133, d5.loss_plan_l1_fix_time: 1.0785, d5.loss_plan_l1_fix_dist: 0.2305, d6.loss_plan_l1_fix_time: 1.0815, d6.loss_plan_l1_fix_dist: 0.2511, d0.loss_cls_all: 0.2141, d0.loss_bbox_all: 0.4348, d0.loss_cls: 0.2141, d0.loss_bbox: 0.4348, d1.loss_cls: 0.2066, d1.loss_bbox: 0.4021, d2.loss_cls: 0.1946, d2.loss_bbox: 0.3871, d3.loss_cls: 0.1847, d3.loss_bbox: 0.3827, d4.loss_cls: 0.1793, d4.loss_bbox: 0.3820, d5.loss_cls: 0.1790, d5.loss_bbox: 0.3812, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9664, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8109, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7759, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7633, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7625, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7599, d0.loss_map_cls_all: 0.2283, d0.loss_map_pts_all: 1.4902, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2283, d0.loss_map_pts: 1.4902, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1948, d1.loss_map_pts: 1.0065, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1786, d2.loss_map_pts: 0.8338, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1697, d3.loss_map_pts: 0.7602, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1612, d4.loss_map_pts: 0.7394, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1571, d5.loss_map_pts: 0.7227, d5.loss_map_dir: 0.0106, loss: 30.1060, grad_norm: 146.1692 +2026-02-26 00:05:16,108 - DriveTransformer - INFO - Epoch [6][6800/39528] lr: 8.977e-05, eta: 6 days, 22:42:33, time: 0.821, data_time: 0.043, memory: 19865, loss_cls: 0.2017, loss_bbox: 0.3951, loss_traj: 0.6255, loss_traj_cls: 0.0009, loss_map_cls: 0.1816, loss_map_pts: 0.9152, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.4671, d0.loss_plan_l1_fix_dist: 0.3999, d1.loss_plan_l1_fix_time: 1.1037, d1.loss_plan_l1_fix_dist: 0.2035, d2.loss_plan_l1_fix_time: 1.0969, d2.loss_plan_l1_fix_dist: 0.2130, d3.loss_plan_l1_fix_time: 1.0958, d3.loss_plan_l1_fix_dist: 0.2262, d4.loss_plan_l1_fix_time: 1.0986, d4.loss_plan_l1_fix_dist: 0.2400, d5.loss_plan_l1_fix_time: 1.1015, d5.loss_plan_l1_fix_dist: 0.2551, d6.loss_plan_l1_fix_time: 1.1050, d6.loss_plan_l1_fix_dist: 0.2713, d0.loss_cls_all: 0.2397, d0.loss_bbox_all: 0.4555, d0.loss_cls: 0.2397, d0.loss_bbox: 0.4555, d1.loss_cls: 0.2321, d1.loss_bbox: 0.4253, d2.loss_cls: 0.2210, d2.loss_bbox: 0.4056, d3.loss_cls: 0.2087, d3.loss_bbox: 0.3996, d4.loss_cls: 0.2046, d4.loss_bbox: 0.3970, d5.loss_cls: 0.2021, d5.loss_bbox: 0.3964, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7805, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6493, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6273, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6248, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6233, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6253, d0.loss_map_cls_all: 0.2406, d0.loss_map_pts_all: 1.7028, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2406, d0.loss_map_pts: 1.7028, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2197, d1.loss_map_pts: 1.1667, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2013, d2.loss_map_pts: 1.0038, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.1938, d3.loss_map_pts: 0.9463, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.1885, d4.loss_map_pts: 0.9237, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.1836, d5.loss_map_pts: 0.9169, d5.loss_map_dir: 0.0121, loss: 31.5419, grad_norm: 144.4360 +2026-02-26 00:05:56,708 - DriveTransformer - INFO - Epoch [6][6850/39528] lr: 8.977e-05, eta: 6 days, 22:41:54, time: 0.812, data_time: 0.041, memory: 19865, loss_cls: 0.1934, loss_bbox: 0.4042, loss_traj: 0.7236, loss_traj_cls: 0.0009, loss_map_cls: 0.2022, loss_map_pts: 0.8468, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.7772, d0.loss_plan_l1_fix_dist: 0.4129, d1.loss_plan_l1_fix_time: 1.3069, d1.loss_plan_l1_fix_dist: 0.1798, d2.loss_plan_l1_fix_time: 1.3033, d2.loss_plan_l1_fix_dist: 0.1910, d3.loss_plan_l1_fix_time: 1.3029, d3.loss_plan_l1_fix_dist: 0.2086, d4.loss_plan_l1_fix_time: 1.3057, d4.loss_plan_l1_fix_dist: 0.2279, d5.loss_plan_l1_fix_time: 1.3087, d5.loss_plan_l1_fix_dist: 0.2502, d6.loss_plan_l1_fix_time: 1.3122, d6.loss_plan_l1_fix_dist: 0.2722, d0.loss_cls_all: 0.2349, d0.loss_bbox_all: 0.4568, d0.loss_cls: 0.2349, d0.loss_bbox: 0.4568, d1.loss_cls: 0.2260, d1.loss_bbox: 0.4290, d2.loss_cls: 0.2080, d2.loss_bbox: 0.4151, d3.loss_cls: 0.2006, d3.loss_bbox: 0.4089, d4.loss_cls: 0.1964, d4.loss_bbox: 0.4074, d5.loss_cls: 0.1940, d5.loss_bbox: 0.4054, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8988, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7634, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7429, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7319, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7256, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7229, d0.loss_map_cls_all: 0.2718, d0.loss_map_pts_all: 1.6009, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2718, d0.loss_map_pts: 1.6009, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2397, d1.loss_map_pts: 1.1288, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.2240, d2.loss_map_pts: 0.9530, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.2120, d3.loss_map_pts: 0.8817, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.2055, d4.loss_map_pts: 0.8586, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.2028, d5.loss_map_pts: 0.8486, d5.loss_map_dir: 0.0108, loss: 33.3799, grad_norm: 144.7167 +2026-02-26 00:06:37,174 - DriveTransformer - INFO - Epoch [6][6900/39528] lr: 8.977e-05, eta: 6 days, 22:41:14, time: 0.809, data_time: 0.045, memory: 19865, loss_cls: 0.1917, loss_bbox: 0.4013, loss_traj: 0.8136, loss_traj_cls: 0.0010, loss_map_cls: 0.2156, loss_map_pts: 0.8724, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.7092, d0.loss_plan_l1_fix_dist: 0.4125, d1.loss_plan_l1_fix_time: 1.2118, d1.loss_plan_l1_fix_dist: 0.1951, d2.loss_plan_l1_fix_time: 1.2065, d2.loss_plan_l1_fix_dist: 0.1987, d3.loss_plan_l1_fix_time: 1.2104, d3.loss_plan_l1_fix_dist: 0.2081, d4.loss_plan_l1_fix_time: 1.2140, d4.loss_plan_l1_fix_dist: 0.2202, d5.loss_plan_l1_fix_time: 1.2184, d5.loss_plan_l1_fix_dist: 0.2353, d6.loss_plan_l1_fix_time: 1.2237, d6.loss_plan_l1_fix_dist: 0.2529, d0.loss_cls_all: 0.2319, d0.loss_bbox_all: 0.4584, d0.loss_cls: 0.2319, d0.loss_bbox: 0.4584, d1.loss_cls: 0.2276, d1.loss_bbox: 0.4214, d2.loss_cls: 0.2115, d2.loss_bbox: 0.4062, d3.loss_cls: 0.1997, d3.loss_bbox: 0.4019, d4.loss_cls: 0.1956, d4.loss_bbox: 0.3999, d5.loss_cls: 0.1910, d5.loss_bbox: 0.4022, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0145, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8604, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8424, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8298, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8209, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8146, d0.loss_map_cls_all: 0.2942, d0.loss_map_pts_all: 1.6124, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2942, d0.loss_map_pts: 1.6124, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2645, d1.loss_map_pts: 1.1296, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.2444, d2.loss_map_pts: 0.9696, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.2296, d3.loss_map_pts: 0.9143, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.2209, d4.loss_map_pts: 0.8863, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.2164, d5.loss_map_pts: 0.8750, d5.loss_map_dir: 0.0097, loss: 33.6771, grad_norm: 145.0014 +2026-02-26 00:07:17,646 - DriveTransformer - INFO - Epoch [6][6950/39528] lr: 8.977e-05, eta: 6 days, 22:40:35, time: 0.809, data_time: 0.038, memory: 19865, loss_cls: 0.2018, loss_bbox: 0.4024, loss_traj: 0.6819, loss_traj_cls: 0.0010, loss_map_cls: 0.1860, loss_map_pts: 0.8489, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.8056, d0.loss_plan_l1_fix_dist: 0.4212, d1.loss_plan_l1_fix_time: 1.1492, d1.loss_plan_l1_fix_dist: 0.2043, d2.loss_plan_l1_fix_time: 1.1367, d2.loss_plan_l1_fix_dist: 0.2148, d3.loss_plan_l1_fix_time: 1.1441, d3.loss_plan_l1_fix_dist: 0.2270, d4.loss_plan_l1_fix_time: 1.1486, d4.loss_plan_l1_fix_dist: 0.2434, d5.loss_plan_l1_fix_time: 1.1534, d5.loss_plan_l1_fix_dist: 0.2596, d6.loss_plan_l1_fix_time: 1.1583, d6.loss_plan_l1_fix_dist: 0.2767, d0.loss_cls_all: 0.2333, d0.loss_bbox_all: 0.4578, d0.loss_cls: 0.2333, d0.loss_bbox: 0.4578, d1.loss_cls: 0.2274, d1.loss_bbox: 0.4291, d2.loss_cls: 0.2130, d2.loss_bbox: 0.4097, d3.loss_cls: 0.2064, d3.loss_bbox: 0.4017, d4.loss_cls: 0.2043, d4.loss_bbox: 0.3996, d5.loss_cls: 0.2029, d5.loss_bbox: 0.4023, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8964, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7485, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6973, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6911, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6833, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6831, d0.loss_map_cls_all: 0.2587, d0.loss_map_pts_all: 1.6496, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2587, d0.loss_map_pts: 1.6496, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2299, d1.loss_map_pts: 1.1465, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2134, d2.loss_map_pts: 0.9639, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.1988, d3.loss_map_pts: 0.8866, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.1920, d4.loss_map_pts: 0.8611, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.1883, d5.loss_map_pts: 0.8517, d5.loss_map_dir: 0.0123, loss: 32.3930, grad_norm: 145.6959 +2026-02-26 00:07:58,407 - DriveTransformer - INFO - Epoch [6][7000/39528] lr: 8.977e-05, eta: 6 days, 22:39:56, time: 0.817, data_time: 0.047, memory: 19865, loss_cls: 0.1828, loss_bbox: 0.3972, loss_traj: 0.5312, loss_traj_cls: 0.0010, loss_map_cls: 0.1658, loss_map_pts: 0.7791, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.5405, d0.loss_plan_l1_fix_dist: 0.5782, d1.loss_plan_l1_fix_time: 1.1709, d1.loss_plan_l1_fix_dist: 0.2230, d2.loss_plan_l1_fix_time: 1.1594, d2.loss_plan_l1_fix_dist: 0.2279, d3.loss_plan_l1_fix_time: 1.1582, d3.loss_plan_l1_fix_dist: 0.2364, d4.loss_plan_l1_fix_time: 1.1601, d4.loss_plan_l1_fix_dist: 0.2476, d5.loss_plan_l1_fix_time: 1.1620, d5.loss_plan_l1_fix_dist: 0.2597, d6.loss_plan_l1_fix_time: 1.1644, d6.loss_plan_l1_fix_dist: 0.2723, d0.loss_cls_all: 0.2155, d0.loss_bbox_all: 0.4593, d0.loss_cls: 0.2155, d0.loss_bbox: 0.4593, d1.loss_cls: 0.2080, d1.loss_bbox: 0.4281, d2.loss_cls: 0.1974, d2.loss_bbox: 0.4099, d3.loss_cls: 0.1892, d3.loss_bbox: 0.4015, d4.loss_cls: 0.1854, d4.loss_bbox: 0.3983, d5.loss_cls: 0.1832, d5.loss_bbox: 0.3988, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7303, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6031, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5523, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5439, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5382, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5340, d0.loss_map_cls_all: 0.2189, d0.loss_map_pts_all: 1.6065, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2189, d0.loss_map_pts: 1.6065, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.1919, d1.loss_map_pts: 1.0744, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1799, d2.loss_map_pts: 0.8979, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1738, d3.loss_map_pts: 0.8211, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1688, d4.loss_map_pts: 0.7911, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1665, d5.loss_map_pts: 0.7819, d5.loss_map_dir: 0.0110, loss: 30.4596, grad_norm: 147.4231 +2026-02-26 00:08:37,738 - DriveTransformer - INFO - Epoch [6][7050/39528] lr: 8.977e-05, eta: 6 days, 22:39:12, time: 0.785, data_time: 0.041, memory: 19865, loss_cls: 0.1910, loss_bbox: 0.3720, loss_traj: 0.7686, loss_traj_cls: 0.0010, loss_map_cls: 0.1867, loss_map_pts: 0.7740, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.6880, d0.loss_plan_l1_fix_dist: 0.4386, d1.loss_plan_l1_fix_time: 1.2356, d1.loss_plan_l1_fix_dist: 0.1912, d2.loss_plan_l1_fix_time: 1.2186, d2.loss_plan_l1_fix_dist: 0.1998, d3.loss_plan_l1_fix_time: 1.2142, d3.loss_plan_l1_fix_dist: 0.2176, d4.loss_plan_l1_fix_time: 1.2158, d4.loss_plan_l1_fix_dist: 0.2368, d5.loss_plan_l1_fix_time: 1.2177, d5.loss_plan_l1_fix_dist: 0.2586, d6.loss_plan_l1_fix_time: 1.2199, d6.loss_plan_l1_fix_dist: 0.2841, d0.loss_cls_all: 0.2210, d0.loss_bbox_all: 0.4369, d0.loss_cls: 0.2210, d0.loss_bbox: 0.4369, d1.loss_cls: 0.2147, d1.loss_bbox: 0.3998, d2.loss_cls: 0.2066, d2.loss_bbox: 0.3816, d3.loss_cls: 0.1961, d3.loss_bbox: 0.3754, d4.loss_cls: 0.1926, d4.loss_bbox: 0.3734, d5.loss_cls: 0.1902, d5.loss_bbox: 0.3737, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0014, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8256, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7764, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7673, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7646, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7652, d0.loss_map_cls_all: 0.2562, d0.loss_map_pts_all: 1.5404, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2562, d0.loss_map_pts: 1.5404, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2206, d1.loss_map_pts: 1.0652, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.2084, d2.loss_map_pts: 0.9017, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1950, d3.loss_map_pts: 0.8237, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1895, d4.loss_map_pts: 0.7915, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1888, d5.loss_map_pts: 0.7769, d5.loss_map_dir: 0.0103, loss: 32.2905, grad_norm: 147.6959 +2026-02-26 00:09:18,521 - DriveTransformer - INFO - Epoch [6][7100/39528] lr: 8.977e-05, eta: 6 days, 22:38:33, time: 0.816, data_time: 0.047, memory: 19865, loss_cls: 0.2153, loss_bbox: 0.3802, loss_traj: 0.7439, loss_traj_cls: 0.0010, loss_map_cls: 0.2223, loss_map_pts: 0.9432, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.7159, d0.loss_plan_l1_fix_dist: 0.3743, d1.loss_plan_l1_fix_time: 1.2905, d1.loss_plan_l1_fix_dist: 0.1948, d2.loss_plan_l1_fix_time: 1.2764, d2.loss_plan_l1_fix_dist: 0.1971, d3.loss_plan_l1_fix_time: 1.2788, d3.loss_plan_l1_fix_dist: 0.2074, d4.loss_plan_l1_fix_time: 1.2805, d4.loss_plan_l1_fix_dist: 0.2215, d5.loss_plan_l1_fix_time: 1.2823, d5.loss_plan_l1_fix_dist: 0.2357, d6.loss_plan_l1_fix_time: 1.2848, d6.loss_plan_l1_fix_dist: 0.2507, d0.loss_cls_all: 0.2396, d0.loss_bbox_all: 0.4508, d0.loss_cls: 0.2396, d0.loss_bbox: 0.4508, d1.loss_cls: 0.2368, d1.loss_bbox: 0.4131, d2.loss_cls: 0.2268, d2.loss_bbox: 0.3931, d3.loss_cls: 0.2164, d3.loss_bbox: 0.3862, d4.loss_cls: 0.2156, d4.loss_bbox: 0.3813, d5.loss_cls: 0.2145, d5.loss_bbox: 0.3805, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0461, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8117, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7619, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7517, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7486, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7441, d0.loss_map_cls_all: 0.2788, d0.loss_map_pts_all: 1.6855, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2788, d0.loss_map_pts: 1.6855, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2561, d1.loss_map_pts: 1.2372, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2397, d2.loss_map_pts: 1.0518, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.2311, d3.loss_map_pts: 0.9785, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.2251, d4.loss_map_pts: 0.9489, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.2231, d5.loss_map_pts: 0.9432, d5.loss_map_dir: 0.0113, loss: 34.2620, grad_norm: 146.5690 +2026-02-26 00:09:57,824 - DriveTransformer - INFO - Epoch [6][7150/39528] lr: 8.977e-05, eta: 6 days, 22:37:49, time: 0.786, data_time: 0.048, memory: 19865, loss_cls: 0.2116, loss_bbox: 0.3845, loss_traj: 0.6931, loss_traj_cls: 0.0010, loss_map_cls: 0.1997, loss_map_pts: 0.8059, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.8919, d0.loss_plan_l1_fix_dist: 0.3228, d1.loss_plan_l1_fix_time: 1.2659, d1.loss_plan_l1_fix_dist: 0.1852, d2.loss_plan_l1_fix_time: 1.2506, d2.loss_plan_l1_fix_dist: 0.1920, d3.loss_plan_l1_fix_time: 1.2493, d3.loss_plan_l1_fix_dist: 0.2026, d4.loss_plan_l1_fix_time: 1.2510, d4.loss_plan_l1_fix_dist: 0.2167, d5.loss_plan_l1_fix_time: 1.2533, d5.loss_plan_l1_fix_dist: 0.2342, d6.loss_plan_l1_fix_time: 1.2564, d6.loss_plan_l1_fix_dist: 0.2535, d0.loss_cls_all: 0.2391, d0.loss_bbox_all: 0.4464, d0.loss_cls: 0.2391, d0.loss_bbox: 0.4464, d1.loss_cls: 0.2313, d1.loss_bbox: 0.4125, d2.loss_cls: 0.2203, d2.loss_bbox: 0.3945, d3.loss_cls: 0.2141, d3.loss_bbox: 0.3897, d4.loss_cls: 0.2110, d4.loss_bbox: 0.3864, d5.loss_cls: 0.2105, d5.loss_bbox: 0.3861, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9673, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7418, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7090, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7021, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7023, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6960, d0.loss_map_cls_all: 0.2755, d0.loss_map_pts_all: 1.4738, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2755, d0.loss_map_pts: 1.4738, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2417, d1.loss_map_pts: 1.0609, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.2215, d2.loss_map_pts: 0.9004, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.2087, d3.loss_map_pts: 0.8348, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.2049, d4.loss_map_pts: 0.8108, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.2018, d5.loss_map_pts: 0.8047, d5.loss_map_dir: 0.0097, loss: 32.3378, grad_norm: 145.8126 +2026-02-26 00:10:40,852 - DriveTransformer - INFO - Epoch [6][7200/39528] lr: 8.977e-05, eta: 6 days, 22:37:19, time: 0.861, data_time: 0.042, memory: 19865, loss_cls: 0.2121, loss_bbox: 0.4047, loss_traj: 0.6791, loss_traj_cls: 0.0010, loss_map_cls: 0.2044, loss_map_pts: 0.9770, loss_map_dir: 0.0132, d0.loss_plan_l1_fix_time: 2.3542, d0.loss_plan_l1_fix_dist: 0.3693, d1.loss_plan_l1_fix_time: 1.1618, d1.loss_plan_l1_fix_dist: 0.2179, d2.loss_plan_l1_fix_time: 1.1509, d2.loss_plan_l1_fix_dist: 0.2240, d3.loss_plan_l1_fix_time: 1.1554, d3.loss_plan_l1_fix_dist: 0.2352, d4.loss_plan_l1_fix_time: 1.1588, d4.loss_plan_l1_fix_dist: 0.2459, d5.loss_plan_l1_fix_time: 1.1626, d5.loss_plan_l1_fix_dist: 0.2572, d6.loss_plan_l1_fix_time: 1.1668, d6.loss_plan_l1_fix_dist: 0.2693, d0.loss_cls_all: 0.2489, d0.loss_bbox_all: 0.4679, d0.loss_cls: 0.2489, d0.loss_bbox: 0.4679, d1.loss_cls: 0.2373, d1.loss_bbox: 0.4361, d2.loss_cls: 0.2297, d2.loss_bbox: 0.4175, d3.loss_cls: 0.2207, d3.loss_bbox: 0.4072, d4.loss_cls: 0.2129, d4.loss_bbox: 0.4071, d5.loss_cls: 0.2120, d5.loss_bbox: 0.4063, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9176, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7545, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6944, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6784, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6770, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6772, d0.loss_map_cls_all: 0.2790, d0.loss_map_pts_all: 1.8496, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2790, d0.loss_map_pts: 1.8496, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2475, d1.loss_map_pts: 1.2829, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2288, d2.loss_map_pts: 1.0847, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.2157, d3.loss_map_pts: 1.0140, d3.loss_map_dir: 0.0124, d4.loss_map_cls: 0.2092, d4.loss_map_pts: 0.9893, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.2058, d5.loss_map_pts: 0.9793, d5.loss_map_dir: 0.0130, loss: 33.4475, grad_norm: 150.7431 +2026-02-26 00:11:22,400 - DriveTransformer - INFO - Epoch [6][7250/39528] lr: 8.977e-05, eta: 6 days, 22:36:43, time: 0.831, data_time: 0.041, memory: 19865, loss_cls: 0.1824, loss_bbox: 0.3804, loss_traj: 0.7777, loss_traj_cls: 0.0011, loss_map_cls: 0.1750, loss_map_pts: 0.8240, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.6062, d0.loss_plan_l1_fix_dist: 0.4415, d1.loss_plan_l1_fix_time: 1.2979, d1.loss_plan_l1_fix_dist: 0.2072, d2.loss_plan_l1_fix_time: 1.2775, d2.loss_plan_l1_fix_dist: 0.2103, d3.loss_plan_l1_fix_time: 1.2763, d3.loss_plan_l1_fix_dist: 0.2194, d4.loss_plan_l1_fix_time: 1.2785, d4.loss_plan_l1_fix_dist: 0.2305, d5.loss_plan_l1_fix_time: 1.2819, d5.loss_plan_l1_fix_dist: 0.2408, d6.loss_plan_l1_fix_time: 1.2863, d6.loss_plan_l1_fix_dist: 0.2545, d0.loss_cls_all: 0.2199, d0.loss_bbox_all: 0.4421, d0.loss_cls: 0.2199, d0.loss_bbox: 0.4421, d1.loss_cls: 0.2081, d1.loss_bbox: 0.4091, d2.loss_cls: 0.1969, d2.loss_bbox: 0.3925, d3.loss_cls: 0.1893, d3.loss_bbox: 0.3827, d4.loss_cls: 0.1849, d4.loss_bbox: 0.3811, d5.loss_cls: 0.1826, d5.loss_bbox: 0.3812, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0097, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8468, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7904, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7803, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7760, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7802, d0.loss_map_cls_all: 0.2553, d0.loss_map_pts_all: 1.6092, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2553, d0.loss_map_pts: 1.6092, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2212, d1.loss_map_pts: 1.0931, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2030, d2.loss_map_pts: 0.9126, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1883, d3.loss_map_pts: 0.8523, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1795, d4.loss_map_pts: 0.8315, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1765, d5.loss_map_pts: 0.8244, d5.loss_map_dir: 0.0118, loss: 32.9729, grad_norm: 149.7176 +2026-02-26 00:12:01,257 - DriveTransformer - INFO - Epoch [6][7300/39528] lr: 8.977e-05, eta: 6 days, 22:35:57, time: 0.777, data_time: 0.039, memory: 19865, loss_cls: 0.1970, loss_bbox: 0.3793, loss_traj: 0.7326, loss_traj_cls: 0.0010, loss_map_cls: 0.1895, loss_map_pts: 0.7403, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.7043, d0.loss_plan_l1_fix_dist: 0.4191, d1.loss_plan_l1_fix_time: 1.2889, d1.loss_plan_l1_fix_dist: 0.2060, d2.loss_plan_l1_fix_time: 1.2697, d2.loss_plan_l1_fix_dist: 0.2122, d3.loss_plan_l1_fix_time: 1.2646, d3.loss_plan_l1_fix_dist: 0.2252, d4.loss_plan_l1_fix_time: 1.2661, d4.loss_plan_l1_fix_dist: 0.2409, d5.loss_plan_l1_fix_time: 1.2681, d5.loss_plan_l1_fix_dist: 0.2590, d6.loss_plan_l1_fix_time: 1.2709, d6.loss_plan_l1_fix_dist: 0.2779, d0.loss_cls_all: 0.2235, d0.loss_bbox_all: 0.4485, d0.loss_cls: 0.2235, d0.loss_bbox: 0.4485, d1.loss_cls: 0.2198, d1.loss_bbox: 0.4121, d2.loss_cls: 0.2132, d2.loss_bbox: 0.3940, d3.loss_cls: 0.2024, d3.loss_bbox: 0.3856, d4.loss_cls: 0.1967, d4.loss_bbox: 0.3809, d5.loss_cls: 0.1964, d5.loss_bbox: 0.3802, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9324, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7799, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7331, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7334, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7335, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7327, d0.loss_map_cls_all: 0.2596, d0.loss_map_pts_all: 1.4981, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2596, d0.loss_map_pts: 1.4981, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2297, d1.loss_map_pts: 1.0060, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.2103, d2.loss_map_pts: 0.8431, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1983, d3.loss_map_pts: 0.7769, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1922, d4.loss_map_pts: 0.7493, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1904, d5.loss_map_pts: 0.7396, d5.loss_map_dir: 0.0094, loss: 32.1144, grad_norm: 150.7902 +2026-02-26 00:12:42,221 - DriveTransformer - INFO - Epoch [6][7350/39528] lr: 8.977e-05, eta: 6 days, 22:35:19, time: 0.819, data_time: 0.041, memory: 19865, loss_cls: 0.1961, loss_bbox: 0.3887, loss_traj: 0.8185, loss_traj_cls: 0.0010, loss_map_cls: 0.1817, loss_map_pts: 0.8172, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.4597, d0.loss_plan_l1_fix_dist: 0.4585, d1.loss_plan_l1_fix_time: 1.2376, d1.loss_plan_l1_fix_dist: 0.2106, d2.loss_plan_l1_fix_time: 1.2220, d2.loss_plan_l1_fix_dist: 0.2177, d3.loss_plan_l1_fix_time: 1.2208, d3.loss_plan_l1_fix_dist: 0.2291, d4.loss_plan_l1_fix_time: 1.2219, d4.loss_plan_l1_fix_dist: 0.2430, d5.loss_plan_l1_fix_time: 1.2232, d5.loss_plan_l1_fix_dist: 0.2620, d6.loss_plan_l1_fix_time: 1.2254, d6.loss_plan_l1_fix_dist: 0.2858, d0.loss_cls_all: 0.2276, d0.loss_bbox_all: 0.4539, d0.loss_cls: 0.2276, d0.loss_bbox: 0.4539, d1.loss_cls: 0.2199, d1.loss_bbox: 0.4186, d2.loss_cls: 0.2125, d2.loss_bbox: 0.3964, d3.loss_cls: 0.2024, d3.loss_bbox: 0.3925, d4.loss_cls: 0.1956, d4.loss_bbox: 0.3890, d5.loss_cls: 0.1961, d5.loss_bbox: 0.3885, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0703, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8705, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8215, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8147, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8145, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8142, d0.loss_map_cls_all: 0.2702, d0.loss_map_pts_all: 1.6524, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2702, d0.loss_map_pts: 1.6524, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2286, d1.loss_map_pts: 1.1425, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.2076, d2.loss_map_pts: 0.9432, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1950, d3.loss_map_pts: 0.8579, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1869, d4.loss_map_pts: 0.8264, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1832, d5.loss_map_pts: 0.8169, d5.loss_map_dir: 0.0104, loss: 33.2215, grad_norm: 151.0918 +2026-02-26 00:13:23,638 - DriveTransformer - INFO - Epoch [6][7400/39528] lr: 8.977e-05, eta: 6 days, 22:34:43, time: 0.828, data_time: 0.047, memory: 19865, loss_cls: 0.2029, loss_bbox: 0.4006, loss_traj: 0.5337, loss_traj_cls: 0.0010, loss_map_cls: 0.2005, loss_map_pts: 0.9332, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.6855, d0.loss_plan_l1_fix_dist: 0.4491, d1.loss_plan_l1_fix_time: 1.2295, d1.loss_plan_l1_fix_dist: 0.2262, d2.loss_plan_l1_fix_time: 1.2213, d2.loss_plan_l1_fix_dist: 0.2375, d3.loss_plan_l1_fix_time: 1.2223, d3.loss_plan_l1_fix_dist: 0.2593, d4.loss_plan_l1_fix_time: 1.2251, d4.loss_plan_l1_fix_dist: 0.2830, d5.loss_plan_l1_fix_time: 1.2282, d5.loss_plan_l1_fix_dist: 0.3027, d6.loss_plan_l1_fix_time: 1.2319, d6.loss_plan_l1_fix_dist: 0.3223, d0.loss_cls_all: 0.2318, d0.loss_bbox_all: 0.4680, d0.loss_cls: 0.2318, d0.loss_bbox: 0.4680, d1.loss_cls: 0.2271, d1.loss_bbox: 0.4303, d2.loss_cls: 0.2156, d2.loss_bbox: 0.4110, d3.loss_cls: 0.2115, d3.loss_bbox: 0.4022, d4.loss_cls: 0.2048, d4.loss_bbox: 0.3997, d5.loss_cls: 0.2030, d5.loss_bbox: 0.4006, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7009, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5772, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5508, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5374, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5351, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5356, d0.loss_map_cls_all: 0.2790, d0.loss_map_pts_all: 1.8505, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2790, d0.loss_map_pts: 1.8505, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2446, d1.loss_map_pts: 1.2710, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2224, d2.loss_map_pts: 1.0641, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.2136, d3.loss_map_pts: 0.9762, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.2075, d4.loss_map_pts: 0.9461, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.2035, d5.loss_map_pts: 0.9366, d5.loss_map_dir: 0.0120, loss: 32.9811, grad_norm: 152.8395 +2026-02-26 00:14:03,593 - DriveTransformer - INFO - Epoch [6][7450/39528] lr: 8.977e-05, eta: 6 days, 22:34:01, time: 0.799, data_time: 0.041, memory: 19865, loss_cls: 0.2011, loss_bbox: 0.3759, loss_traj: 0.7426, loss_traj_cls: 0.0010, loss_map_cls: 0.2001, loss_map_pts: 0.8222, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.6414, d0.loss_plan_l1_fix_dist: 0.4142, d1.loss_plan_l1_fix_time: 1.2110, d1.loss_plan_l1_fix_dist: 0.2075, d2.loss_plan_l1_fix_time: 1.2003, d2.loss_plan_l1_fix_dist: 0.2215, d3.loss_plan_l1_fix_time: 1.2000, d3.loss_plan_l1_fix_dist: 0.2482, d4.loss_plan_l1_fix_time: 1.2031, d4.loss_plan_l1_fix_dist: 0.2780, d5.loss_plan_l1_fix_time: 1.2064, d5.loss_plan_l1_fix_dist: 0.3044, d6.loss_plan_l1_fix_time: 1.2098, d6.loss_plan_l1_fix_dist: 0.3321, d0.loss_cls_all: 0.2301, d0.loss_bbox_all: 0.4378, d0.loss_cls: 0.2301, d0.loss_bbox: 0.4378, d1.loss_cls: 0.2222, d1.loss_bbox: 0.4059, d2.loss_cls: 0.2157, d2.loss_bbox: 0.3880, d3.loss_cls: 0.2086, d3.loss_bbox: 0.3803, d4.loss_cls: 0.2014, d4.loss_bbox: 0.3793, d5.loss_cls: 0.2020, d5.loss_bbox: 0.3763, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0076, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8113, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7574, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7390, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7380, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7367, d0.loss_map_cls_all: 0.2705, d0.loss_map_pts_all: 1.6519, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2705, d0.loss_map_pts: 1.6519, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2374, d1.loss_map_pts: 1.1448, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.2242, d2.loss_map_pts: 0.9489, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.2112, d3.loss_map_pts: 0.8696, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.2062, d4.loss_map_pts: 0.8377, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.2016, d5.loss_map_pts: 0.8241, d5.loss_map_dir: 0.0100, loss: 32.9593, grad_norm: 151.9862 +2026-02-26 00:14:43,076 - DriveTransformer - INFO - Epoch [6][7500/39528] lr: 8.977e-05, eta: 6 days, 22:33:18, time: 0.790, data_time: 0.043, memory: 19865, loss_cls: 0.1898, loss_bbox: 0.3741, loss_traj: 0.6922, loss_traj_cls: 0.0010, loss_map_cls: 0.1849, loss_map_pts: 0.7739, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.7232, d0.loss_plan_l1_fix_dist: 0.3833, d1.loss_plan_l1_fix_time: 1.1748, d1.loss_plan_l1_fix_dist: 0.2007, d2.loss_plan_l1_fix_time: 1.1518, d2.loss_plan_l1_fix_dist: 0.2145, d3.loss_plan_l1_fix_time: 1.1509, d3.loss_plan_l1_fix_dist: 0.2319, d4.loss_plan_l1_fix_time: 1.1531, d4.loss_plan_l1_fix_dist: 0.2512, d5.loss_plan_l1_fix_time: 1.1563, d5.loss_plan_l1_fix_dist: 0.2761, d6.loss_plan_l1_fix_time: 1.1608, d6.loss_plan_l1_fix_dist: 0.3008, d0.loss_cls_all: 0.2151, d0.loss_bbox_all: 0.4397, d0.loss_cls: 0.2151, d0.loss_bbox: 0.4397, d1.loss_cls: 0.2074, d1.loss_bbox: 0.4049, d2.loss_cls: 0.1973, d2.loss_bbox: 0.3852, d3.loss_cls: 0.1942, d3.loss_bbox: 0.3758, d4.loss_cls: 0.1906, d4.loss_bbox: 0.3746, d5.loss_cls: 0.1880, d5.loss_bbox: 0.3745, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9446, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7329, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6984, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6913, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6923, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6870, d0.loss_map_cls_all: 0.2545, d0.loss_map_pts_all: 1.5522, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2545, d0.loss_map_pts: 1.5522, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2238, d1.loss_map_pts: 1.0667, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.2078, d2.loss_map_pts: 0.8854, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1962, d3.loss_map_pts: 0.8098, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1901, d4.loss_map_pts: 0.7829, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1871, d5.loss_map_pts: 0.7754, d5.loss_map_dir: 0.0095, loss: 31.4111, grad_norm: 153.0125 +2026-02-26 00:15:22,585 - DriveTransformer - INFO - Epoch [6][7550/39528] lr: 8.977e-05, eta: 6 days, 22:32:35, time: 0.790, data_time: 0.040, memory: 19865, loss_cls: 0.1757, loss_bbox: 0.3768, loss_traj: 0.6504, loss_traj_cls: 0.0010, loss_map_cls: 0.2128, loss_map_pts: 0.8259, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.5543, d0.loss_plan_l1_fix_dist: 0.3623, d1.loss_plan_l1_fix_time: 1.1703, d1.loss_plan_l1_fix_dist: 0.1992, d2.loss_plan_l1_fix_time: 1.1633, d2.loss_plan_l1_fix_dist: 0.2184, d3.loss_plan_l1_fix_time: 1.1615, d3.loss_plan_l1_fix_dist: 0.2422, d4.loss_plan_l1_fix_time: 1.1648, d4.loss_plan_l1_fix_dist: 0.2673, d5.loss_plan_l1_fix_time: 1.1694, d5.loss_plan_l1_fix_dist: 0.2953, d6.loss_plan_l1_fix_time: 1.1761, d6.loss_plan_l1_fix_dist: 0.3221, d0.loss_cls_all: 0.2148, d0.loss_bbox_all: 0.4349, d0.loss_cls: 0.2148, d0.loss_bbox: 0.4349, d1.loss_cls: 0.2074, d1.loss_bbox: 0.4020, d2.loss_cls: 0.1915, d2.loss_bbox: 0.3837, d3.loss_cls: 0.1815, d3.loss_bbox: 0.3808, d4.loss_cls: 0.1765, d4.loss_bbox: 0.3769, d5.loss_cls: 0.1733, d5.loss_bbox: 0.3791, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8673, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6987, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6631, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6544, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6428, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6472, d0.loss_map_cls_all: 0.2797, d0.loss_map_pts_all: 1.5789, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2797, d0.loss_map_pts: 1.5789, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2508, d1.loss_map_pts: 1.1103, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.2382, d2.loss_map_pts: 0.9305, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.2275, d3.loss_map_pts: 0.8642, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.2204, d4.loss_map_pts: 0.8385, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.2151, d5.loss_map_pts: 0.8275, d5.loss_map_dir: 0.0103, loss: 31.5594, grad_norm: 153.8747 +2026-02-26 00:16:01,508 - DriveTransformer - INFO - Epoch [6][7600/39528] lr: 8.977e-05, eta: 6 days, 22:31:49, time: 0.778, data_time: 0.047, memory: 19865, loss_cls: 0.1786, loss_bbox: 0.3781, loss_traj: 0.8063, loss_traj_cls: 0.0009, loss_map_cls: 0.1619, loss_map_pts: 0.6771, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.9578, d0.loss_plan_l1_fix_dist: 0.3699, d1.loss_plan_l1_fix_time: 1.2368, d1.loss_plan_l1_fix_dist: 0.2110, d2.loss_plan_l1_fix_time: 1.2189, d2.loss_plan_l1_fix_dist: 0.2236, d3.loss_plan_l1_fix_time: 1.2192, d3.loss_plan_l1_fix_dist: 0.2441, d4.loss_plan_l1_fix_time: 1.2233, d4.loss_plan_l1_fix_dist: 0.2667, d5.loss_plan_l1_fix_time: 1.2275, d5.loss_plan_l1_fix_dist: 0.2880, d6.loss_plan_l1_fix_time: 1.2329, d6.loss_plan_l1_fix_dist: 0.3094, d0.loss_cls_all: 0.2041, d0.loss_bbox_all: 0.4400, d0.loss_cls: 0.2041, d0.loss_bbox: 0.4400, d1.loss_cls: 0.2007, d1.loss_bbox: 0.4013, d2.loss_cls: 0.1904, d2.loss_bbox: 0.3864, d3.loss_cls: 0.1847, d3.loss_bbox: 0.3798, d4.loss_cls: 0.1816, d4.loss_bbox: 0.3758, d5.loss_cls: 0.1793, d5.loss_bbox: 0.3774, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0555, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8923, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8258, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8092, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8052, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8036, d0.loss_map_cls_all: 0.2320, d0.loss_map_pts_all: 1.3188, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2320, d0.loss_map_pts: 1.3188, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2005, d1.loss_map_pts: 0.9238, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1828, d2.loss_map_pts: 0.7685, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1737, d3.loss_map_pts: 0.7069, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1660, d4.loss_map_pts: 0.6831, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1645, d5.loss_map_pts: 0.6751, d5.loss_map_dir: 0.0087, loss: 31.5887, grad_norm: 155.4751 +2026-02-26 00:16:42,028 - DriveTransformer - INFO - Epoch [6][7650/39528] lr: 8.977e-05, eta: 6 days, 22:31:10, time: 0.810, data_time: 0.049, memory: 19865, loss_cls: 0.1826, loss_bbox: 0.4039, loss_traj: 0.6958, loss_traj_cls: 0.0010, loss_map_cls: 0.1674, loss_map_pts: 0.7795, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.4627, d0.loss_plan_l1_fix_dist: 0.3871, d1.loss_plan_l1_fix_time: 1.1123, d1.loss_plan_l1_fix_dist: 0.2009, d2.loss_plan_l1_fix_time: 1.0942, d2.loss_plan_l1_fix_dist: 0.2117, d3.loss_plan_l1_fix_time: 1.1021, d3.loss_plan_l1_fix_dist: 0.2302, d4.loss_plan_l1_fix_time: 1.1073, d4.loss_plan_l1_fix_dist: 0.2518, d5.loss_plan_l1_fix_time: 1.1118, d5.loss_plan_l1_fix_dist: 0.2743, d6.loss_plan_l1_fix_time: 1.1168, d6.loss_plan_l1_fix_dist: 0.2978, d0.loss_cls_all: 0.2152, d0.loss_bbox_all: 0.4479, d0.loss_cls: 0.2152, d0.loss_bbox: 0.4479, d1.loss_cls: 0.2101, d1.loss_bbox: 0.4159, d2.loss_cls: 0.1990, d2.loss_bbox: 0.4022, d3.loss_cls: 0.1882, d3.loss_bbox: 0.4016, d4.loss_cls: 0.1840, d4.loss_bbox: 0.3993, d5.loss_cls: 0.1834, d5.loss_bbox: 0.4007, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9019, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7588, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7140, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6974, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6979, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6919, d0.loss_map_cls_all: 0.2402, d0.loss_map_pts_all: 1.5842, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2402, d0.loss_map_pts: 1.5842, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2049, d1.loss_map_pts: 1.0411, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1892, d2.loss_map_pts: 0.8655, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1784, d3.loss_map_pts: 0.8083, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1720, d4.loss_map_pts: 0.7854, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1683, d5.loss_map_pts: 0.7807, d5.loss_map_dir: 0.0104, loss: 30.8941, grad_norm: 157.1191 +2026-02-26 00:17:20,919 - DriveTransformer - INFO - Epoch [6][7700/39528] lr: 8.977e-05, eta: 6 days, 22:30:24, time: 0.778, data_time: 0.045, memory: 19865, loss_cls: 0.1778, loss_bbox: 0.3596, loss_traj: 0.7077, loss_traj_cls: 0.0009, loss_map_cls: 0.1881, loss_map_pts: 0.7599, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.6588, d0.loss_plan_l1_fix_dist: 0.3523, d1.loss_plan_l1_fix_time: 1.1712, d1.loss_plan_l1_fix_dist: 0.1761, d2.loss_plan_l1_fix_time: 1.1495, d2.loss_plan_l1_fix_dist: 0.1914, d3.loss_plan_l1_fix_time: 1.1466, d3.loss_plan_l1_fix_dist: 0.2119, d4.loss_plan_l1_fix_time: 1.1497, d4.loss_plan_l1_fix_dist: 0.2350, d5.loss_plan_l1_fix_time: 1.1536, d5.loss_plan_l1_fix_dist: 0.2622, d6.loss_plan_l1_fix_time: 1.1583, d6.loss_plan_l1_fix_dist: 0.2922, d0.loss_cls_all: 0.2091, d0.loss_bbox_all: 0.4075, d0.loss_cls: 0.2091, d0.loss_bbox: 0.4075, d1.loss_cls: 0.2011, d1.loss_bbox: 0.3817, d2.loss_cls: 0.1884, d2.loss_bbox: 0.3651, d3.loss_cls: 0.1816, d3.loss_bbox: 0.3619, d4.loss_cls: 0.1794, d4.loss_bbox: 0.3596, d5.loss_cls: 0.1785, d5.loss_bbox: 0.3598, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9147, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7417, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7075, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7006, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7024, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7018, d0.loss_map_cls_all: 0.2620, d0.loss_map_pts_all: 1.5410, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2620, d0.loss_map_pts: 1.5410, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2313, d1.loss_map_pts: 1.0650, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.2096, d2.loss_map_pts: 0.8752, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1959, d3.loss_map_pts: 0.7976, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1931, d4.loss_map_pts: 0.7726, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1910, d5.loss_map_pts: 0.7622, d5.loss_map_dir: 0.0092, loss: 30.9377, grad_norm: 157.3097 +2026-02-26 00:17:58,924 - DriveTransformer - INFO - Epoch [6][7750/39528] lr: 8.977e-05, eta: 6 days, 22:29:36, time: 0.761, data_time: 0.044, memory: 19865, loss_cls: 0.2101, loss_bbox: 0.3858, loss_traj: 0.6340, loss_traj_cls: 0.0010, loss_map_cls: 0.1860, loss_map_pts: 0.7255, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.7153, d0.loss_plan_l1_fix_dist: 0.3311, d1.loss_plan_l1_fix_time: 1.1645, d1.loss_plan_l1_fix_dist: 0.1850, d2.loss_plan_l1_fix_time: 1.1568, d2.loss_plan_l1_fix_dist: 0.1989, d3.loss_plan_l1_fix_time: 1.1590, d3.loss_plan_l1_fix_dist: 0.2199, d4.loss_plan_l1_fix_time: 1.1625, d4.loss_plan_l1_fix_dist: 0.2429, d5.loss_plan_l1_fix_time: 1.1659, d5.loss_plan_l1_fix_dist: 0.2661, d6.loss_plan_l1_fix_time: 1.1695, d6.loss_plan_l1_fix_dist: 0.2921, d0.loss_cls_all: 0.2438, d0.loss_bbox_all: 0.4460, d0.loss_cls: 0.2438, d0.loss_bbox: 0.4460, d1.loss_cls: 0.2362, d1.loss_bbox: 0.4149, d2.loss_cls: 0.2221, d2.loss_bbox: 0.3963, d3.loss_cls: 0.2142, d3.loss_bbox: 0.3901, d4.loss_cls: 0.2093, d4.loss_bbox: 0.3881, d5.loss_cls: 0.2090, d5.loss_bbox: 0.3865, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8130, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6802, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6410, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6337, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6307, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6302, d0.loss_map_cls_all: 0.2544, d0.loss_map_pts_all: 1.3596, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2544, d0.loss_map_pts: 1.3596, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.2263, d1.loss_map_pts: 0.9711, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.2111, d2.loss_map_pts: 0.8184, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1965, d3.loss_map_pts: 0.7609, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1929, d4.loss_map_pts: 0.7389, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1892, d5.loss_map_pts: 0.7264, d5.loss_map_dir: 0.0088, loss: 30.3798, grad_norm: 157.5956 +2026-02-26 00:18:39,631 - DriveTransformer - INFO - Epoch [6][7800/39528] lr: 8.977e-05, eta: 6 days, 22:28:57, time: 0.815, data_time: 0.046, memory: 19865, loss_cls: 0.1914, loss_bbox: 0.3847, loss_traj: 0.6706, loss_traj_cls: 0.0009, loss_map_cls: 0.1957, loss_map_pts: 0.8854, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.6691, d0.loss_plan_l1_fix_dist: 0.3631, d1.loss_plan_l1_fix_time: 1.3457, d1.loss_plan_l1_fix_dist: 0.2294, d2.loss_plan_l1_fix_time: 1.3426, d2.loss_plan_l1_fix_dist: 0.2441, d3.loss_plan_l1_fix_time: 1.3475, d3.loss_plan_l1_fix_dist: 0.2717, d4.loss_plan_l1_fix_time: 1.3519, d4.loss_plan_l1_fix_dist: 0.3033, d5.loss_plan_l1_fix_time: 1.3563, d5.loss_plan_l1_fix_dist: 0.3383, d6.loss_plan_l1_fix_time: 1.3610, d6.loss_plan_l1_fix_dist: 0.3774, d0.loss_cls_all: 0.2277, d0.loss_bbox_all: 0.4489, d0.loss_cls: 0.2277, d0.loss_bbox: 0.4489, d1.loss_cls: 0.2215, d1.loss_bbox: 0.4131, d2.loss_cls: 0.2094, d2.loss_bbox: 0.3942, d3.loss_cls: 0.1983, d3.loss_bbox: 0.3888, d4.loss_cls: 0.1952, d4.loss_bbox: 0.3852, d5.loss_cls: 0.1914, d5.loss_bbox: 0.3858, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8781, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7378, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6915, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6795, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6733, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6716, d0.loss_map_cls_all: 0.2710, d0.loss_map_pts_all: 1.7233, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2710, d0.loss_map_pts: 1.7233, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2420, d1.loss_map_pts: 1.1848, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2262, d2.loss_map_pts: 0.9968, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.2123, d3.loss_map_pts: 0.9219, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.2034, d4.loss_map_pts: 0.8938, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1980, d5.loss_map_pts: 0.8868, d5.loss_map_dir: 0.0117, loss: 33.9464, grad_norm: 160.2426 +2026-02-26 00:19:21,373 - DriveTransformer - INFO - Epoch [6][7850/39528] lr: 8.977e-05, eta: 6 days, 22:28:21, time: 0.833, data_time: 0.050, memory: 19865, loss_cls: 0.1883, loss_bbox: 0.4029, loss_traj: 0.7777, loss_traj_cls: 0.0010, loss_map_cls: 0.2123, loss_map_pts: 0.8710, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.9606, d0.loss_plan_l1_fix_dist: 0.3883, d1.loss_plan_l1_fix_time: 1.3383, d1.loss_plan_l1_fix_dist: 0.2143, d2.loss_plan_l1_fix_time: 1.3375, d2.loss_plan_l1_fix_dist: 0.2336, d3.loss_plan_l1_fix_time: 1.3413, d3.loss_plan_l1_fix_dist: 0.2554, d4.loss_plan_l1_fix_time: 1.3462, d4.loss_plan_l1_fix_dist: 0.2823, d5.loss_plan_l1_fix_time: 1.3516, d5.loss_plan_l1_fix_dist: 0.3122, d6.loss_plan_l1_fix_time: 1.3565, d6.loss_plan_l1_fix_dist: 0.3424, d0.loss_cls_all: 0.2261, d0.loss_bbox_all: 0.4523, d0.loss_cls: 0.2261, d0.loss_bbox: 0.4523, d1.loss_cls: 0.2181, d1.loss_bbox: 0.4174, d2.loss_cls: 0.2041, d2.loss_bbox: 0.4024, d3.loss_cls: 0.1960, d3.loss_bbox: 0.3996, d4.loss_cls: 0.1904, d4.loss_bbox: 0.4000, d5.loss_cls: 0.1886, d5.loss_bbox: 0.4018, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9942, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8116, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7701, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7642, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7736, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7733, d0.loss_map_cls_all: 0.2746, d0.loss_map_pts_all: 1.6791, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2746, d0.loss_map_pts: 1.6791, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2485, d1.loss_map_pts: 1.1799, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.2290, d2.loss_map_pts: 0.9926, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.2196, d3.loss_map_pts: 0.9108, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.2174, d4.loss_map_pts: 0.8796, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.2139, d5.loss_map_pts: 0.8720, d5.loss_map_dir: 0.0104, loss: 34.7292, grad_norm: 161.4665 +2026-02-26 00:20:01,338 - DriveTransformer - INFO - Epoch [6][7900/39528] lr: 8.977e-05, eta: 6 days, 22:27:40, time: 0.800, data_time: 0.040, memory: 19865, loss_cls: 0.2099, loss_bbox: 0.4024, loss_traj: 0.7193, loss_traj_cls: 0.0009, loss_map_cls: 0.2111, loss_map_pts: 0.8480, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.8320, d0.loss_plan_l1_fix_dist: 0.3592, d1.loss_plan_l1_fix_time: 1.2829, d1.loss_plan_l1_fix_dist: 0.1918, d2.loss_plan_l1_fix_time: 1.2730, d2.loss_plan_l1_fix_dist: 0.2074, d3.loss_plan_l1_fix_time: 1.2766, d3.loss_plan_l1_fix_dist: 0.2257, d4.loss_plan_l1_fix_time: 1.2809, d4.loss_plan_l1_fix_dist: 0.2467, d5.loss_plan_l1_fix_time: 1.2855, d5.loss_plan_l1_fix_dist: 0.2681, d6.loss_plan_l1_fix_time: 1.2905, d6.loss_plan_l1_fix_dist: 0.2864, d0.loss_cls_all: 0.2497, d0.loss_bbox_all: 0.4608, d0.loss_cls: 0.2497, d0.loss_bbox: 0.4608, d1.loss_cls: 0.2405, d1.loss_bbox: 0.4257, d2.loss_cls: 0.2284, d2.loss_bbox: 0.4071, d3.loss_cls: 0.2181, d3.loss_bbox: 0.4016, d4.loss_cls: 0.2129, d4.loss_bbox: 0.3996, d5.loss_cls: 0.2108, d5.loss_bbox: 0.4002, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9648, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7769, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7357, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7228, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7204, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7163, d0.loss_map_cls_all: 0.2730, d0.loss_map_pts_all: 1.5856, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2730, d0.loss_map_pts: 1.5856, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2471, d1.loss_map_pts: 1.1311, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.2289, d2.loss_map_pts: 0.9527, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.2181, d3.loss_map_pts: 0.8854, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.2136, d4.loss_map_pts: 0.8585, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.2120, d5.loss_map_pts: 0.8495, d5.loss_map_dir: 0.0100, loss: 33.4958, grad_norm: 160.4287 +2026-02-26 00:20:41,971 - DriveTransformer - INFO - Epoch [6][7950/39528] lr: 8.977e-05, eta: 6 days, 22:27:01, time: 0.812, data_time: 0.044, memory: 19865, loss_cls: 0.1745, loss_bbox: 0.3676, loss_traj: 0.6690, loss_traj_cls: 0.0010, loss_map_cls: 0.1776, loss_map_pts: 0.7689, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.6676, d0.loss_plan_l1_fix_dist: 0.4644, d1.loss_plan_l1_fix_time: 1.1932, d1.loss_plan_l1_fix_dist: 0.2011, d2.loss_plan_l1_fix_time: 1.1781, d2.loss_plan_l1_fix_dist: 0.2147, d3.loss_plan_l1_fix_time: 1.1786, d3.loss_plan_l1_fix_dist: 0.2372, d4.loss_plan_l1_fix_time: 1.1821, d4.loss_plan_l1_fix_dist: 0.2607, d5.loss_plan_l1_fix_time: 1.1862, d5.loss_plan_l1_fix_dist: 0.2866, d6.loss_plan_l1_fix_time: 1.1919, d6.loss_plan_l1_fix_dist: 0.3151, d0.loss_cls_all: 0.2063, d0.loss_bbox_all: 0.4195, d0.loss_cls: 0.2063, d0.loss_bbox: 0.4195, d1.loss_cls: 0.2011, d1.loss_bbox: 0.3903, d2.loss_cls: 0.1905, d2.loss_bbox: 0.3730, d3.loss_cls: 0.1814, d3.loss_bbox: 0.3666, d4.loss_cls: 0.1759, d4.loss_bbox: 0.3665, d5.loss_cls: 0.1747, d5.loss_bbox: 0.3674, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8645, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7313, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6856, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6742, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6737, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6710, d0.loss_map_cls_all: 0.2344, d0.loss_map_pts_all: 1.4857, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2344, d0.loss_map_pts: 1.4857, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.2074, d1.loss_map_pts: 1.0360, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1929, d2.loss_map_pts: 0.8628, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1832, d3.loss_map_pts: 0.8023, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1815, d4.loss_map_pts: 0.7749, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1797, d5.loss_map_pts: 0.7680, d5.loss_map_dir: 0.0089, loss: 30.9572, grad_norm: 161.1694 +2026-02-26 00:21:23,367 - DriveTransformer - INFO - Epoch [6][8000/39528] lr: 8.977e-05, eta: 6 days, 22:26:24, time: 0.828, data_time: 0.043, memory: 19865, loss_cls: 0.2197, loss_bbox: 0.4333, loss_traj: 0.7633, loss_traj_cls: 0.0010, loss_map_cls: 0.1987, loss_map_pts: 0.8209, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.9642, d0.loss_plan_l1_fix_dist: 0.3942, d1.loss_plan_l1_fix_time: 1.3729, d1.loss_plan_l1_fix_dist: 0.1946, d2.loss_plan_l1_fix_time: 1.3636, d2.loss_plan_l1_fix_dist: 0.2037, d3.loss_plan_l1_fix_time: 1.3646, d3.loss_plan_l1_fix_dist: 0.2218, d4.loss_plan_l1_fix_time: 1.3678, d4.loss_plan_l1_fix_dist: 0.2409, d5.loss_plan_l1_fix_time: 1.3713, d5.loss_plan_l1_fix_dist: 0.2612, d6.loss_plan_l1_fix_time: 1.3750, d6.loss_plan_l1_fix_dist: 0.2850, d0.loss_cls_all: 0.2613, d0.loss_bbox_all: 0.4870, d0.loss_cls: 0.2613, d0.loss_bbox: 0.4870, d1.loss_cls: 0.2511, d1.loss_bbox: 0.4579, d2.loss_cls: 0.2384, d2.loss_bbox: 0.4385, d3.loss_cls: 0.2288, d3.loss_bbox: 0.4327, d4.loss_cls: 0.2217, d4.loss_bbox: 0.4311, d5.loss_cls: 0.2209, d5.loss_bbox: 0.4311, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0038, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8412, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7713, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7588, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7550, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7585, d0.loss_map_cls_all: 0.2654, d0.loss_map_pts_all: 1.5806, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2654, d0.loss_map_pts: 1.5806, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2385, d1.loss_map_pts: 1.1001, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.2220, d2.loss_map_pts: 0.9225, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.2111, d3.loss_map_pts: 0.8559, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.2038, d4.loss_map_pts: 0.8292, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.2003, d5.loss_map_pts: 0.8194, d5.loss_map_dir: 0.0102, loss: 34.5332, grad_norm: 160.4615 +2026-02-26 00:22:04,177 - DriveTransformer - INFO - Epoch [6][8050/39528] lr: 8.977e-05, eta: 6 days, 22:25:46, time: 0.816, data_time: 0.045, memory: 19865, loss_cls: 0.1914, loss_bbox: 0.3765, loss_traj: 0.6605, loss_traj_cls: 0.0010, loss_map_cls: 0.1512, loss_map_pts: 0.7023, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.6859, d0.loss_plan_l1_fix_dist: 0.4632, d1.loss_plan_l1_fix_time: 1.2129, d1.loss_plan_l1_fix_dist: 0.2121, d2.loss_plan_l1_fix_time: 1.2009, d2.loss_plan_l1_fix_dist: 0.2221, d3.loss_plan_l1_fix_time: 1.2019, d3.loss_plan_l1_fix_dist: 0.2381, d4.loss_plan_l1_fix_time: 1.2058, d4.loss_plan_l1_fix_dist: 0.2593, d5.loss_plan_l1_fix_time: 1.2103, d5.loss_plan_l1_fix_dist: 0.2832, d6.loss_plan_l1_fix_time: 1.2146, d6.loss_plan_l1_fix_dist: 0.3074, d0.loss_cls_all: 0.2295, d0.loss_bbox_all: 0.4322, d0.loss_cls: 0.2295, d0.loss_bbox: 0.4322, d1.loss_cls: 0.2190, d1.loss_bbox: 0.3981, d2.loss_cls: 0.2061, d2.loss_bbox: 0.3829, d3.loss_cls: 0.1981, d3.loss_bbox: 0.3769, d4.loss_cls: 0.1922, d4.loss_bbox: 0.3748, d5.loss_cls: 0.1909, d5.loss_bbox: 0.3751, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8798, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7147, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6808, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6686, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6636, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6600, d0.loss_map_cls_all: 0.2270, d0.loss_map_pts_all: 1.4838, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2270, d0.loss_map_pts: 1.4838, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.1913, d1.loss_map_pts: 0.9549, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.1721, d2.loss_map_pts: 0.7852, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1642, d3.loss_map_pts: 0.7290, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1569, d4.loss_map_pts: 0.7109, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1522, d5.loss_map_pts: 0.7020, d5.loss_map_dir: 0.0113, loss: 30.7399, grad_norm: 158.9451 +2026-02-26 00:22:46,129 - DriveTransformer - INFO - Epoch [6][8100/39528] lr: 8.977e-05, eta: 6 days, 22:25:11, time: 0.839, data_time: 0.044, memory: 19865, loss_cls: 0.1658, loss_bbox: 0.3537, loss_traj: 0.5812, loss_traj_cls: 0.0010, loss_map_cls: 0.1791, loss_map_pts: 0.7571, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.6077, d0.loss_plan_l1_fix_dist: 0.3923, d1.loss_plan_l1_fix_time: 1.2608, d1.loss_plan_l1_fix_dist: 0.1968, d2.loss_plan_l1_fix_time: 1.2494, d2.loss_plan_l1_fix_dist: 0.2073, d3.loss_plan_l1_fix_time: 1.2473, d3.loss_plan_l1_fix_dist: 0.2221, d4.loss_plan_l1_fix_time: 1.2503, d4.loss_plan_l1_fix_dist: 0.2410, d5.loss_plan_l1_fix_time: 1.2538, d5.loss_plan_l1_fix_dist: 0.2620, d6.loss_plan_l1_fix_time: 1.2577, d6.loss_plan_l1_fix_dist: 0.2824, d0.loss_cls_all: 0.1975, d0.loss_bbox_all: 0.4086, d0.loss_cls: 0.1975, d0.loss_bbox: 0.4086, d1.loss_cls: 0.1932, d1.loss_bbox: 0.3736, d2.loss_cls: 0.1829, d2.loss_bbox: 0.3570, d3.loss_cls: 0.1735, d3.loss_bbox: 0.3532, d4.loss_cls: 0.1673, d4.loss_bbox: 0.3540, d5.loss_cls: 0.1653, d5.loss_bbox: 0.3537, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7816, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6222, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5949, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5933, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5885, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5842, d0.loss_map_cls_all: 0.2485, d0.loss_map_pts_all: 1.6170, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2485, d0.loss_map_pts: 1.6170, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2135, d1.loss_map_pts: 1.0574, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1974, d2.loss_map_pts: 0.8555, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1888, d3.loss_map_pts: 0.7860, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1820, d4.loss_map_pts: 0.7628, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1796, d5.loss_map_pts: 0.7558, d5.loss_map_dir: 0.0112, loss: 30.6204, grad_norm: 160.3348 +2026-02-26 00:23:29,417 - DriveTransformer - INFO - Epoch [6][8150/39528] lr: 8.977e-05, eta: 6 days, 22:24:42, time: 0.866, data_time: 0.046, memory: 19865, loss_cls: 0.1839, loss_bbox: 0.4080, loss_traj: 0.6688, loss_traj_cls: 0.0009, loss_map_cls: 0.1935, loss_map_pts: 0.9194, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 2.4455, d0.loss_plan_l1_fix_dist: 0.4339, d1.loss_plan_l1_fix_time: 1.1916, d1.loss_plan_l1_fix_dist: 0.2052, d2.loss_plan_l1_fix_time: 1.1713, d2.loss_plan_l1_fix_dist: 0.2165, d3.loss_plan_l1_fix_time: 1.1727, d3.loss_plan_l1_fix_dist: 0.2342, d4.loss_plan_l1_fix_time: 1.1770, d4.loss_plan_l1_fix_dist: 0.2535, d5.loss_plan_l1_fix_time: 1.1813, d5.loss_plan_l1_fix_dist: 0.2727, d6.loss_plan_l1_fix_time: 1.1866, d6.loss_plan_l1_fix_dist: 0.2916, d0.loss_cls_all: 0.2251, d0.loss_bbox_all: 0.4680, d0.loss_cls: 0.2251, d0.loss_bbox: 0.4680, d1.loss_cls: 0.2198, d1.loss_bbox: 0.4361, d2.loss_cls: 0.2015, d2.loss_bbox: 0.4198, d3.loss_cls: 0.1921, d3.loss_bbox: 0.4129, d4.loss_cls: 0.1857, d4.loss_bbox: 0.4089, d5.loss_cls: 0.1835, d5.loss_bbox: 0.4093, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8797, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7243, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6839, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6685, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6727, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6659, d0.loss_map_cls_all: 0.2638, d0.loss_map_pts_all: 1.8461, d0.loss_map_dir_all: 0.0126, d0.loss_map_cls: 0.2638, d0.loss_map_pts: 1.8461, d0.loss_map_dir: 0.0126, d1.loss_map_cls: 0.2304, d1.loss_map_pts: 1.2464, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2123, d2.loss_map_pts: 1.0250, d2.loss_map_dir: 0.0131, d3.loss_map_cls: 0.2045, d3.loss_map_pts: 0.9531, d3.loss_map_dir: 0.0138, d4.loss_map_cls: 0.1985, d4.loss_map_pts: 0.9263, d4.loss_map_dir: 0.0141, d5.loss_map_cls: 0.1961, d5.loss_map_pts: 0.9172, d5.loss_map_dir: 0.0143, loss: 33.0028, grad_norm: 161.4481 +2026-02-26 00:24:09,929 - DriveTransformer - INFO - Epoch [6][8200/39528] lr: 8.977e-05, eta: 6 days, 22:24:02, time: 0.810, data_time: 0.039, memory: 19865, loss_cls: 0.1805, loss_bbox: 0.3805, loss_traj: 0.6627, loss_traj_cls: 0.0010, loss_map_cls: 0.1488, loss_map_pts: 0.7250, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.5765, d0.loss_plan_l1_fix_dist: 0.4067, d1.loss_plan_l1_fix_time: 1.1316, d1.loss_plan_l1_fix_dist: 0.2447, d2.loss_plan_l1_fix_time: 1.1104, d2.loss_plan_l1_fix_dist: 0.2496, d3.loss_plan_l1_fix_time: 1.1057, d3.loss_plan_l1_fix_dist: 0.2612, d4.loss_plan_l1_fix_time: 1.1085, d4.loss_plan_l1_fix_dist: 0.2755, d5.loss_plan_l1_fix_time: 1.1119, d5.loss_plan_l1_fix_dist: 0.2923, d6.loss_plan_l1_fix_time: 1.1166, d6.loss_plan_l1_fix_dist: 0.3120, d0.loss_cls_all: 0.2149, d0.loss_bbox_all: 0.4324, d0.loss_cls: 0.2149, d0.loss_bbox: 0.4324, d1.loss_cls: 0.2044, d1.loss_bbox: 0.4070, d2.loss_cls: 0.1931, d2.loss_bbox: 0.3921, d3.loss_cls: 0.1860, d3.loss_bbox: 0.3866, d4.loss_cls: 0.1803, d4.loss_bbox: 0.3842, d5.loss_cls: 0.1806, d5.loss_bbox: 0.3826, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8978, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7329, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6745, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6557, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6589, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6580, d0.loss_map_cls_all: 0.2248, d0.loss_map_pts_all: 1.4574, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2248, d0.loss_map_pts: 1.4574, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.1887, d1.loss_map_pts: 0.9773, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1696, d2.loss_map_pts: 0.8176, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1609, d3.loss_map_pts: 0.7573, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1544, d4.loss_map_pts: 0.7343, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1513, d5.loss_map_pts: 0.7263, d5.loss_map_dir: 0.0112, loss: 30.1665, grad_norm: 161.6151 +2026-02-26 00:24:51,046 - DriveTransformer - INFO - Epoch [6][8250/39528] lr: 8.977e-05, eta: 6 days, 22:23:24, time: 0.822, data_time: 0.041, memory: 19865, loss_cls: 0.1734, loss_bbox: 0.3650, loss_traj: 0.6400, loss_traj_cls: 0.0010, loss_map_cls: 0.2153, loss_map_pts: 0.9346, loss_map_dir: 0.0131, d0.loss_plan_l1_fix_time: 2.4341, d0.loss_plan_l1_fix_dist: 0.4796, d1.loss_plan_l1_fix_time: 1.0667, d1.loss_plan_l1_fix_dist: 0.1927, d2.loss_plan_l1_fix_time: 1.0665, d2.loss_plan_l1_fix_dist: 0.1997, d3.loss_plan_l1_fix_time: 1.0731, d3.loss_plan_l1_fix_dist: 0.2105, d4.loss_plan_l1_fix_time: 1.0785, d4.loss_plan_l1_fix_dist: 0.2249, d5.loss_plan_l1_fix_time: 1.0841, d5.loss_plan_l1_fix_dist: 0.2420, d6.loss_plan_l1_fix_time: 1.0899, d6.loss_plan_l1_fix_dist: 0.2590, d0.loss_cls_all: 0.2108, d0.loss_bbox_all: 0.4275, d0.loss_cls: 0.2108, d0.loss_bbox: 0.4275, d1.loss_cls: 0.2007, d1.loss_bbox: 0.3950, d2.loss_cls: 0.1902, d2.loss_bbox: 0.3748, d3.loss_cls: 0.1787, d3.loss_bbox: 0.3702, d4.loss_cls: 0.1747, d4.loss_bbox: 0.3667, d5.loss_cls: 0.1732, d5.loss_bbox: 0.3663, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8391, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6854, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6488, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6347, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6363, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6365, d0.loss_map_cls_all: 0.2869, d0.loss_map_pts_all: 1.8322, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2869, d0.loss_map_pts: 1.8322, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2580, d1.loss_map_pts: 1.2729, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2395, d2.loss_map_pts: 1.0567, d2.loss_map_dir: 0.0119, d3.loss_map_cls: 0.2295, d3.loss_map_pts: 0.9768, d3.loss_map_dir: 0.0125, d4.loss_map_cls: 0.2208, d4.loss_map_pts: 0.9485, d4.loss_map_dir: 0.0129, d5.loss_map_cls: 0.2164, d5.loss_map_pts: 0.9375, d5.loss_map_dir: 0.0130, loss: 31.8773, grad_norm: 160.6336 +2026-02-26 00:25:30,760 - DriveTransformer - INFO - Epoch [6][8300/39528] lr: 8.977e-05, eta: 6 days, 22:22:42, time: 0.794, data_time: 0.046, memory: 19865, loss_cls: 0.1853, loss_bbox: 0.3815, loss_traj: 0.7839, loss_traj_cls: 0.0010, loss_map_cls: 0.2028, loss_map_pts: 0.7915, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.8906, d0.loss_plan_l1_fix_dist: 0.4105, d1.loss_plan_l1_fix_time: 1.2361, d1.loss_plan_l1_fix_dist: 0.2050, d2.loss_plan_l1_fix_time: 1.2317, d2.loss_plan_l1_fix_dist: 0.2131, d3.loss_plan_l1_fix_time: 1.2341, d3.loss_plan_l1_fix_dist: 0.2276, d4.loss_plan_l1_fix_time: 1.2377, d4.loss_plan_l1_fix_dist: 0.2429, d5.loss_plan_l1_fix_time: 1.2420, d5.loss_plan_l1_fix_dist: 0.2588, d6.loss_plan_l1_fix_time: 1.2465, d6.loss_plan_l1_fix_dist: 0.2766, d0.loss_cls_all: 0.2156, d0.loss_bbox_all: 0.4331, d0.loss_cls: 0.2156, d0.loss_bbox: 0.4331, d1.loss_cls: 0.2115, d1.loss_bbox: 0.4015, d2.loss_cls: 0.2024, d2.loss_bbox: 0.3848, d3.loss_cls: 0.1928, d3.loss_bbox: 0.3800, d4.loss_cls: 0.1865, d4.loss_bbox: 0.3805, d5.loss_cls: 0.1853, d5.loss_bbox: 0.3799, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9884, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8366, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7920, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7877, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7861, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7861, d0.loss_map_cls_all: 0.2702, d0.loss_map_pts_all: 1.4694, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2702, d0.loss_map_pts: 1.4694, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2384, d1.loss_map_pts: 1.0697, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.2216, d2.loss_map_pts: 0.8989, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.2123, d3.loss_map_pts: 0.8257, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.2066, d4.loss_map_pts: 0.7995, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.2042, d5.loss_map_pts: 0.7926, d5.loss_map_dir: 0.0095, loss: 32.7051, grad_norm: 158.5316 +2026-02-26 00:26:11,012 - DriveTransformer - INFO - Epoch [6][8350/39528] lr: 8.977e-05, eta: 6 days, 22:22:01, time: 0.805, data_time: 0.042, memory: 19865, loss_cls: 0.1816, loss_bbox: 0.3719, loss_traj: 0.6248, loss_traj_cls: 0.0010, loss_map_cls: 0.1657, loss_map_pts: 0.7459, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.4948, d0.loss_plan_l1_fix_dist: 0.4059, d1.loss_plan_l1_fix_time: 1.2336, d1.loss_plan_l1_fix_dist: 0.1887, d2.loss_plan_l1_fix_time: 1.2205, d2.loss_plan_l1_fix_dist: 0.1961, d3.loss_plan_l1_fix_time: 1.2250, d3.loss_plan_l1_fix_dist: 0.2112, d4.loss_plan_l1_fix_time: 1.2307, d4.loss_plan_l1_fix_dist: 0.2301, d5.loss_plan_l1_fix_time: 1.2372, d5.loss_plan_l1_fix_dist: 0.2491, d6.loss_plan_l1_fix_time: 1.2442, d6.loss_plan_l1_fix_dist: 0.2702, d0.loss_cls_all: 0.2140, d0.loss_bbox_all: 0.4271, d0.loss_cls: 0.2140, d0.loss_bbox: 0.4271, d1.loss_cls: 0.2095, d1.loss_bbox: 0.3915, d2.loss_cls: 0.1911, d2.loss_bbox: 0.3801, d3.loss_cls: 0.1877, d3.loss_bbox: 0.3731, d4.loss_cls: 0.1828, d4.loss_bbox: 0.3711, d5.loss_cls: 0.1815, d5.loss_bbox: 0.3717, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7614, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6642, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6244, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6130, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6145, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6165, d0.loss_map_cls_all: 0.2228, d0.loss_map_pts_all: 1.5158, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2228, d0.loss_map_pts: 1.5158, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.1984, d1.loss_map_pts: 1.0283, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1842, d2.loss_map_pts: 0.8369, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1751, d3.loss_map_pts: 0.7699, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1697, d4.loss_map_pts: 0.7477, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1662, d5.loss_map_pts: 0.7457, d5.loss_map_dir: 0.0115, loss: 30.3385, grad_norm: 161.1232 +2026-02-26 00:26:51,741 - DriveTransformer - INFO - Epoch [6][8400/39528] lr: 8.977e-05, eta: 6 days, 22:21:23, time: 0.815, data_time: 0.041, memory: 19865, loss_cls: 0.2156, loss_bbox: 0.4165, loss_traj: 0.7618, loss_traj_cls: 0.0010, loss_map_cls: 0.1901, loss_map_pts: 0.8306, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.8753, d0.loss_plan_l1_fix_dist: 0.4257, d1.loss_plan_l1_fix_time: 1.3398, d1.loss_plan_l1_fix_dist: 0.1996, d2.loss_plan_l1_fix_time: 1.3113, d2.loss_plan_l1_fix_dist: 0.2032, d3.loss_plan_l1_fix_time: 1.3090, d3.loss_plan_l1_fix_dist: 0.2112, d4.loss_plan_l1_fix_time: 1.3116, d4.loss_plan_l1_fix_dist: 0.2206, d5.loss_plan_l1_fix_time: 1.3148, d5.loss_plan_l1_fix_dist: 0.2326, d6.loss_plan_l1_fix_time: 1.3186, d6.loss_plan_l1_fix_dist: 0.2452, d0.loss_cls_all: 0.2511, d0.loss_bbox_all: 0.4764, d0.loss_cls: 0.2511, d0.loss_bbox: 0.4764, d1.loss_cls: 0.2436, d1.loss_bbox: 0.4441, d2.loss_cls: 0.2270, d2.loss_bbox: 0.4259, d3.loss_cls: 0.2190, d3.loss_bbox: 0.4190, d4.loss_cls: 0.2142, d4.loss_bbox: 0.4171, d5.loss_cls: 0.2120, d5.loss_bbox: 0.4191, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9780, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8422, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7807, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7577, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7654, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7651, d0.loss_map_cls_all: 0.2537, d0.loss_map_pts_all: 1.5898, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2537, d0.loss_map_pts: 1.5898, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2245, d1.loss_map_pts: 1.1279, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2117, d2.loss_map_pts: 0.9473, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2008, d3.loss_map_pts: 0.8737, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1960, d4.loss_map_pts: 0.8470, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1919, d5.loss_map_pts: 0.8316, d5.loss_map_dir: 0.0119, loss: 33.9573, grad_norm: 160.5898 +2026-02-26 00:27:31,932 - DriveTransformer - INFO - Epoch [6][8450/39528] lr: 8.977e-05, eta: 6 days, 22:20:42, time: 0.804, data_time: 0.039, memory: 19865, loss_cls: 0.2072, loss_bbox: 0.3837, loss_traj: 0.6860, loss_traj_cls: 0.0010, loss_map_cls: 0.1810, loss_map_pts: 0.7785, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.7447, d0.loss_plan_l1_fix_dist: 0.3747, d1.loss_plan_l1_fix_time: 1.1551, d1.loss_plan_l1_fix_dist: 0.1913, d2.loss_plan_l1_fix_time: 1.1314, d2.loss_plan_l1_fix_dist: 0.1962, d3.loss_plan_l1_fix_time: 1.1308, d3.loss_plan_l1_fix_dist: 0.2080, d4.loss_plan_l1_fix_time: 1.1330, d4.loss_plan_l1_fix_dist: 0.2210, d5.loss_plan_l1_fix_time: 1.1352, d5.loss_plan_l1_fix_dist: 0.2342, d6.loss_plan_l1_fix_time: 1.1381, d6.loss_plan_l1_fix_dist: 0.2494, d0.loss_cls_all: 0.2490, d0.loss_bbox_all: 0.4449, d0.loss_cls: 0.2490, d0.loss_bbox: 0.4449, d1.loss_cls: 0.2438, d1.loss_bbox: 0.4100, d2.loss_cls: 0.2254, d2.loss_bbox: 0.3921, d3.loss_cls: 0.2161, d3.loss_bbox: 0.3838, d4.loss_cls: 0.2093, d4.loss_bbox: 0.3827, d5.loss_cls: 0.2079, d5.loss_bbox: 0.3829, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8773, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7629, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6999, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6913, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6968, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6969, d0.loss_map_cls_all: 0.2547, d0.loss_map_pts_all: 1.5634, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2547, d0.loss_map_pts: 1.5634, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2228, d1.loss_map_pts: 1.0620, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2038, d2.loss_map_pts: 0.8891, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1910, d3.loss_map_pts: 0.8210, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1851, d4.loss_map_pts: 0.7887, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1828, d5.loss_map_pts: 0.7801, d5.loss_map_dir: 0.0109, loss: 31.4012, grad_norm: 157.3485 +2026-02-26 00:28:12,200 - DriveTransformer - INFO - Epoch [6][8500/39528] lr: 8.977e-05, eta: 6 days, 22:20:01, time: 0.805, data_time: 0.043, memory: 19865, loss_cls: 0.2109, loss_bbox: 0.3987, loss_traj: 0.7303, loss_traj_cls: 0.0010, loss_map_cls: 0.1657, loss_map_pts: 0.7527, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.6618, d0.loss_plan_l1_fix_dist: 0.4443, d1.loss_plan_l1_fix_time: 1.2078, d1.loss_plan_l1_fix_dist: 0.2085, d2.loss_plan_l1_fix_time: 1.1876, d2.loss_plan_l1_fix_dist: 0.2149, d3.loss_plan_l1_fix_time: 1.1847, d3.loss_plan_l1_fix_dist: 0.2272, d4.loss_plan_l1_fix_time: 1.1864, d4.loss_plan_l1_fix_dist: 0.2411, d5.loss_plan_l1_fix_time: 1.1891, d5.loss_plan_l1_fix_dist: 0.2566, d6.loss_plan_l1_fix_time: 1.1920, d6.loss_plan_l1_fix_dist: 0.2737, d0.loss_cls_all: 0.2465, d0.loss_bbox_all: 0.4682, d0.loss_cls: 0.2465, d0.loss_bbox: 0.4682, d1.loss_cls: 0.2397, d1.loss_bbox: 0.4327, d2.loss_cls: 0.2236, d2.loss_bbox: 0.4159, d3.loss_cls: 0.2154, d3.loss_bbox: 0.4055, d4.loss_cls: 0.2105, d4.loss_bbox: 0.4011, d5.loss_cls: 0.2098, d5.loss_bbox: 0.4000, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9744, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8051, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7419, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7361, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7291, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7305, d0.loss_map_cls_all: 0.2271, d0.loss_map_pts_all: 1.5069, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2271, d0.loss_map_pts: 1.5069, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2002, d1.loss_map_pts: 1.0263, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1830, d2.loss_map_pts: 0.8587, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1741, d3.loss_map_pts: 0.7906, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1693, d4.loss_map_pts: 0.7627, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1666, d5.loss_map_pts: 0.7549, d5.loss_map_dir: 0.0113, loss: 31.8835, grad_norm: 157.4115 +2026-02-26 00:28:51,268 - DriveTransformer - INFO - Epoch [6][8550/39528] lr: 8.977e-05, eta: 6 days, 22:19:16, time: 0.781, data_time: 0.043, memory: 19865, loss_cls: 0.1640, loss_bbox: 0.3835, loss_traj: 0.6554, loss_traj_cls: 0.0011, loss_map_cls: 0.1707, loss_map_pts: 0.7146, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.4688, d0.loss_plan_l1_fix_dist: 0.5217, d1.loss_plan_l1_fix_time: 1.1579, d1.loss_plan_l1_fix_dist: 0.1944, d2.loss_plan_l1_fix_time: 1.1407, d2.loss_plan_l1_fix_dist: 0.2048, d3.loss_plan_l1_fix_time: 1.1432, d3.loss_plan_l1_fix_dist: 0.2183, d4.loss_plan_l1_fix_time: 1.1486, d4.loss_plan_l1_fix_dist: 0.2348, d5.loss_plan_l1_fix_time: 1.1544, d5.loss_plan_l1_fix_dist: 0.2536, d6.loss_plan_l1_fix_time: 1.1605, d6.loss_plan_l1_fix_dist: 0.2729, d0.loss_cls_all: 0.2022, d0.loss_bbox_all: 0.4331, d0.loss_cls: 0.2022, d0.loss_bbox: 0.4331, d1.loss_cls: 0.1937, d1.loss_bbox: 0.4039, d2.loss_cls: 0.1794, d2.loss_bbox: 0.3896, d3.loss_cls: 0.1700, d3.loss_bbox: 0.3823, d4.loss_cls: 0.1650, d4.loss_bbox: 0.3813, d5.loss_cls: 0.1645, d5.loss_bbox: 0.3814, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8718, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7227, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6728, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6633, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6574, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6517, d0.loss_map_cls_all: 0.2349, d0.loss_map_pts_all: 1.4254, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2349, d0.loss_map_pts: 1.4254, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2081, d1.loss_map_pts: 0.9781, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1903, d2.loss_map_pts: 0.8070, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1797, d3.loss_map_pts: 0.7452, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1748, d4.loss_map_pts: 0.7242, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1714, d5.loss_map_pts: 0.7150, d5.loss_map_dir: 0.0092, loss: 29.9779, grad_norm: 160.2831 +2026-02-26 00:29:31,639 - DriveTransformer - INFO - Epoch [6][8600/39528] lr: 8.977e-05, eta: 6 days, 22:18:36, time: 0.809, data_time: 0.040, memory: 19865, loss_cls: 0.1875, loss_bbox: 0.4065, loss_traj: 0.5812, loss_traj_cls: 0.0010, loss_map_cls: 0.2069, loss_map_pts: 0.8735, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.5386, d0.loss_plan_l1_fix_dist: 0.5188, d1.loss_plan_l1_fix_time: 1.1128, d1.loss_plan_l1_fix_dist: 0.2044, d2.loss_plan_l1_fix_time: 1.1054, d2.loss_plan_l1_fix_dist: 0.2101, d3.loss_plan_l1_fix_time: 1.1026, d3.loss_plan_l1_fix_dist: 0.2181, d4.loss_plan_l1_fix_time: 1.1062, d4.loss_plan_l1_fix_dist: 0.2289, d5.loss_plan_l1_fix_time: 1.1104, d5.loss_plan_l1_fix_dist: 0.2413, d6.loss_plan_l1_fix_time: 1.1148, d6.loss_plan_l1_fix_dist: 0.2561, d0.loss_cls_all: 0.2204, d0.loss_bbox_all: 0.4568, d0.loss_cls: 0.2204, d0.loss_bbox: 0.4568, d1.loss_cls: 0.2133, d1.loss_bbox: 0.4318, d2.loss_cls: 0.1967, d2.loss_bbox: 0.4179, d3.loss_cls: 0.1905, d3.loss_bbox: 0.4087, d4.loss_cls: 0.1868, d4.loss_bbox: 0.4073, d5.loss_cls: 0.1857, d5.loss_bbox: 0.4067, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7967, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6332, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6007, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5882, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5855, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5842, d0.loss_map_cls_all: 0.2806, d0.loss_map_pts_all: 1.7270, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2806, d0.loss_map_pts: 1.7270, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2478, d1.loss_map_pts: 1.2045, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.2314, d2.loss_map_pts: 0.9974, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.2193, d3.loss_map_pts: 0.9166, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.2117, d4.loss_map_pts: 0.8858, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.2086, d5.loss_map_pts: 0.8754, d5.loss_map_dir: 0.0111, loss: 31.6162, grad_norm: 159.7194 +2026-02-26 00:30:12,124 - DriveTransformer - INFO - Epoch [6][8650/39528] lr: 8.977e-05, eta: 6 days, 22:17:56, time: 0.808, data_time: 0.046, memory: 19865, loss_cls: 0.1676, loss_bbox: 0.3495, loss_traj: 0.7478, loss_traj_cls: 0.0010, loss_map_cls: 0.1900, loss_map_pts: 0.7456, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.2736, d0.loss_plan_l1_fix_dist: 0.4103, d1.loss_plan_l1_fix_time: 0.9434, d1.loss_plan_l1_fix_dist: 0.1862, d2.loss_plan_l1_fix_time: 0.9378, d2.loss_plan_l1_fix_dist: 0.1913, d3.loss_plan_l1_fix_time: 0.9404, d3.loss_plan_l1_fix_dist: 0.2034, d4.loss_plan_l1_fix_time: 0.9443, d4.loss_plan_l1_fix_dist: 0.2176, d5.loss_plan_l1_fix_time: 0.9484, d5.loss_plan_l1_fix_dist: 0.2347, d6.loss_plan_l1_fix_time: 0.9532, d6.loss_plan_l1_fix_dist: 0.2527, d0.loss_cls_all: 0.2059, d0.loss_bbox_all: 0.3995, d0.loss_cls: 0.2059, d0.loss_bbox: 0.3995, d1.loss_cls: 0.1937, d1.loss_bbox: 0.3716, d2.loss_cls: 0.1819, d2.loss_bbox: 0.3591, d3.loss_cls: 0.1732, d3.loss_bbox: 0.3540, d4.loss_cls: 0.1682, d4.loss_bbox: 0.3513, d5.loss_cls: 0.1674, d5.loss_bbox: 0.3498, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9866, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8131, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7631, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7518, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7477, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7419, d0.loss_map_cls_all: 0.2694, d0.loss_map_pts_all: 1.5232, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2694, d0.loss_map_pts: 1.5232, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2389, d1.loss_map_pts: 1.0381, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.2165, d2.loss_map_pts: 0.8480, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.2012, d3.loss_map_pts: 0.7782, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1927, d4.loss_map_pts: 0.7543, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1913, d5.loss_map_pts: 0.7470, d5.loss_map_dir: 0.0097, loss: 29.3947, grad_norm: 159.3572 +2026-02-26 00:30:51,640 - DriveTransformer - INFO - Epoch [6][8700/39528] lr: 8.977e-05, eta: 6 days, 22:17:13, time: 0.790, data_time: 0.046, memory: 19865, loss_cls: 0.1727, loss_bbox: 0.3859, loss_traj: 0.6615, loss_traj_cls: 0.0010, loss_map_cls: 0.1682, loss_map_pts: 0.6542, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.5916, d0.loss_plan_l1_fix_dist: 0.4335, d1.loss_plan_l1_fix_time: 1.1696, d1.loss_plan_l1_fix_dist: 0.1755, d2.loss_plan_l1_fix_time: 1.1539, d2.loss_plan_l1_fix_dist: 0.1795, d3.loss_plan_l1_fix_time: 1.1510, d3.loss_plan_l1_fix_dist: 0.1917, d4.loss_plan_l1_fix_time: 1.1537, d4.loss_plan_l1_fix_dist: 0.2072, d5.loss_plan_l1_fix_time: 1.1572, d5.loss_plan_l1_fix_dist: 0.2245, d6.loss_plan_l1_fix_time: 1.1611, d6.loss_plan_l1_fix_dist: 0.2437, d0.loss_cls_all: 0.2080, d0.loss_bbox_all: 0.4383, d0.loss_cls: 0.2080, d0.loss_bbox: 0.4383, d1.loss_cls: 0.1992, d1.loss_bbox: 0.4075, d2.loss_cls: 0.1861, d2.loss_bbox: 0.3934, d3.loss_cls: 0.1775, d3.loss_bbox: 0.3887, d4.loss_cls: 0.1720, d4.loss_bbox: 0.3866, d5.loss_cls: 0.1728, d5.loss_bbox: 0.3847, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8690, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7194, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6700, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6593, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6597, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6594, d0.loss_map_cls_all: 0.2452, d0.loss_map_pts_all: 1.3483, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2452, d0.loss_map_pts: 1.3483, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2077, d1.loss_map_pts: 0.9149, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1860, d2.loss_map_pts: 0.7490, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1762, d3.loss_map_pts: 0.6871, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1696, d4.loss_map_pts: 0.6652, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1683, d5.loss_map_pts: 0.6561, d5.loss_map_dir: 0.0094, loss: 29.4805, grad_norm: 159.0381 +2026-02-26 00:31:31,578 - DriveTransformer - INFO - Epoch [6][8750/39528] lr: 8.977e-05, eta: 6 days, 22:16:32, time: 0.799, data_time: 0.040, memory: 19865, loss_cls: 0.1678, loss_bbox: 0.3624, loss_traj: 0.7745, loss_traj_cls: 0.0011, loss_map_cls: 0.1530, loss_map_pts: 0.6695, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.5891, d0.loss_plan_l1_fix_dist: 0.4306, d1.loss_plan_l1_fix_time: 1.0479, d1.loss_plan_l1_fix_dist: 0.1929, d2.loss_plan_l1_fix_time: 1.0375, d2.loss_plan_l1_fix_dist: 0.2018, d3.loss_plan_l1_fix_time: 1.0382, d3.loss_plan_l1_fix_dist: 0.2121, d4.loss_plan_l1_fix_time: 1.0410, d4.loss_plan_l1_fix_dist: 0.2251, d5.loss_plan_l1_fix_time: 1.0448, d5.loss_plan_l1_fix_dist: 0.2405, d6.loss_plan_l1_fix_time: 1.0496, d6.loss_plan_l1_fix_dist: 0.2584, d0.loss_cls_all: 0.2034, d0.loss_bbox_all: 0.4195, d0.loss_cls: 0.2034, d0.loss_bbox: 0.4195, d1.loss_cls: 0.1957, d1.loss_bbox: 0.3862, d2.loss_cls: 0.1843, d2.loss_bbox: 0.3702, d3.loss_cls: 0.1772, d3.loss_bbox: 0.3641, d4.loss_cls: 0.1694, d4.loss_bbox: 0.3623, d5.loss_cls: 0.1661, d5.loss_bbox: 0.3628, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9811, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8224, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7797, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7727, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7693, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7706, d0.loss_map_cls_all: 0.2266, d0.loss_map_pts_all: 1.3880, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2266, d0.loss_map_pts: 1.3880, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.1926, d1.loss_map_pts: 0.9185, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1761, d2.loss_map_pts: 0.7596, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1632, d3.loss_map_pts: 0.6997, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1581, d4.loss_map_pts: 0.6758, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1556, d5.loss_map_pts: 0.6706, d5.loss_map_dir: 0.0107, loss: 29.5058, grad_norm: 159.1841 +2026-02-26 00:32:11,074 - DriveTransformer - INFO - Epoch [6][8800/39528] lr: 8.977e-05, eta: 6 days, 22:15:48, time: 0.790, data_time: 0.041, memory: 19865, loss_cls: 0.1904, loss_bbox: 0.3897, loss_traj: 0.7175, loss_traj_cls: 0.0010, loss_map_cls: 0.1961, loss_map_pts: 0.7660, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.9908, d0.loss_plan_l1_fix_dist: 0.3291, d1.loss_plan_l1_fix_time: 1.2856, d1.loss_plan_l1_fix_dist: 0.1959, d2.loss_plan_l1_fix_time: 1.2698, d2.loss_plan_l1_fix_dist: 0.2023, d3.loss_plan_l1_fix_time: 1.2708, d3.loss_plan_l1_fix_dist: 0.2107, d4.loss_plan_l1_fix_time: 1.2730, d4.loss_plan_l1_fix_dist: 0.2207, d5.loss_plan_l1_fix_time: 1.2759, d5.loss_plan_l1_fix_dist: 0.2325, d6.loss_plan_l1_fix_time: 1.2798, d6.loss_plan_l1_fix_dist: 0.2446, d0.loss_cls_all: 0.2322, d0.loss_bbox_all: 0.4489, d0.loss_cls: 0.2322, d0.loss_bbox: 0.4489, d1.loss_cls: 0.2211, d1.loss_bbox: 0.4149, d2.loss_cls: 0.2065, d2.loss_bbox: 0.3971, d3.loss_cls: 0.1988, d3.loss_bbox: 0.3904, d4.loss_cls: 0.1920, d4.loss_bbox: 0.3898, d5.loss_cls: 0.1911, d5.loss_bbox: 0.3896, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9197, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7705, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7286, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7242, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7213, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7215, d0.loss_map_cls_all: 0.2764, d0.loss_map_pts_all: 1.5609, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2764, d0.loss_map_pts: 1.5609, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2404, d1.loss_map_pts: 1.0594, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.2259, d2.loss_map_pts: 0.8697, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2115, d3.loss_map_pts: 0.7985, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.2041, d4.loss_map_pts: 0.7734, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1975, d5.loss_map_pts: 0.7671, d5.loss_map_dir: 0.0114, loss: 32.5961, grad_norm: 155.0650 +2026-02-26 00:32:54,545 - DriveTransformer - INFO - Epoch [6][8850/39528] lr: 8.977e-05, eta: 6 days, 22:15:19, time: 0.869, data_time: 0.042, memory: 19865, loss_cls: 0.1856, loss_bbox: 0.3871, loss_traj: 0.7070, loss_traj_cls: 0.0010, loss_map_cls: 0.1895, loss_map_pts: 0.8807, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.9960, d0.loss_plan_l1_fix_dist: 0.3777, d1.loss_plan_l1_fix_time: 1.3573, d1.loss_plan_l1_fix_dist: 0.2167, d2.loss_plan_l1_fix_time: 1.3490, d2.loss_plan_l1_fix_dist: 0.2301, d3.loss_plan_l1_fix_time: 1.3414, d3.loss_plan_l1_fix_dist: 0.2516, d4.loss_plan_l1_fix_time: 1.3423, d4.loss_plan_l1_fix_dist: 0.2720, d5.loss_plan_l1_fix_time: 1.3442, d5.loss_plan_l1_fix_dist: 0.2907, d6.loss_plan_l1_fix_time: 1.3468, d6.loss_plan_l1_fix_dist: 0.3115, d0.loss_cls_all: 0.2279, d0.loss_bbox_all: 0.4530, d0.loss_cls: 0.2279, d0.loss_bbox: 0.4530, d1.loss_cls: 0.2195, d1.loss_bbox: 0.4178, d2.loss_cls: 0.2023, d2.loss_bbox: 0.3987, d3.loss_cls: 0.1942, d3.loss_bbox: 0.3912, d4.loss_cls: 0.1867, d4.loss_bbox: 0.3889, d5.loss_cls: 0.1856, d5.loss_bbox: 0.3881, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0187, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7868, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7228, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7090, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7133, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7049, d0.loss_map_cls_all: 0.2548, d0.loss_map_pts_all: 1.7516, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.2548, d0.loss_map_pts: 1.7516, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2298, d1.loss_map_pts: 1.1888, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2116, d2.loss_map_pts: 0.9823, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.1998, d3.loss_map_pts: 0.9120, d3.loss_map_dir: 0.0131, d4.loss_map_cls: 0.1947, d4.loss_map_pts: 0.8887, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.1915, d5.loss_map_pts: 0.8806, d5.loss_map_dir: 0.0137, loss: 34.3708, grad_norm: 155.9279 +2026-02-26 00:33:35,661 - DriveTransformer - INFO - Epoch [6][8900/39528] lr: 8.977e-05, eta: 6 days, 22:14:42, time: 0.822, data_time: 0.043, memory: 19865, loss_cls: 0.2028, loss_bbox: 0.3965, loss_traj: 0.5961, loss_traj_cls: 0.0010, loss_map_cls: 0.1926, loss_map_pts: 0.8987, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.4760, d0.loss_plan_l1_fix_dist: 0.4079, d1.loss_plan_l1_fix_time: 1.0999, d1.loss_plan_l1_fix_dist: 0.2044, d2.loss_plan_l1_fix_time: 1.0809, d2.loss_plan_l1_fix_dist: 0.2063, d3.loss_plan_l1_fix_time: 1.0819, d3.loss_plan_l1_fix_dist: 0.2148, d4.loss_plan_l1_fix_time: 1.0849, d4.loss_plan_l1_fix_dist: 0.2268, d5.loss_plan_l1_fix_time: 1.0884, d5.loss_plan_l1_fix_dist: 0.2391, d6.loss_plan_l1_fix_time: 1.0917, d6.loss_plan_l1_fix_dist: 0.2520, d0.loss_cls_all: 0.2388, d0.loss_bbox_all: 0.4555, d0.loss_cls: 0.2388, d0.loss_bbox: 0.4555, d1.loss_cls: 0.2313, d1.loss_bbox: 0.4213, d2.loss_cls: 0.2178, d2.loss_bbox: 0.4064, d3.loss_cls: 0.2095, d3.loss_bbox: 0.3992, d4.loss_cls: 0.2054, d4.loss_bbox: 0.3971, d5.loss_cls: 0.2039, d5.loss_bbox: 0.3957, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8464, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6625, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6159, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6063, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5981, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5967, d0.loss_map_cls_all: 0.2623, d0.loss_map_pts_all: 1.7776, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2623, d0.loss_map_pts: 1.7776, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2347, d1.loss_map_pts: 1.1839, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2174, d2.loss_map_pts: 1.0024, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2034, d3.loss_map_pts: 0.9328, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.1971, d4.loss_map_pts: 0.9047, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.1934, d5.loss_map_pts: 0.9000, d5.loss_map_dir: 0.0125, loss: 31.5948, grad_norm: 156.0177 +2026-02-26 00:34:15,651 - DriveTransformer - INFO - Epoch [6][8950/39528] lr: 8.977e-05, eta: 6 days, 22:14:00, time: 0.800, data_time: 0.042, memory: 19865, loss_cls: 0.1800, loss_bbox: 0.3817, loss_traj: 0.6744, loss_traj_cls: 0.0010, loss_map_cls: 0.1926, loss_map_pts: 0.7934, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.4296, d0.loss_plan_l1_fix_dist: 0.3597, d1.loss_plan_l1_fix_time: 1.2418, d1.loss_plan_l1_fix_dist: 0.1893, d2.loss_plan_l1_fix_time: 1.2275, d2.loss_plan_l1_fix_dist: 0.1942, d3.loss_plan_l1_fix_time: 1.2251, d3.loss_plan_l1_fix_dist: 0.2045, d4.loss_plan_l1_fix_time: 1.2271, d4.loss_plan_l1_fix_dist: 0.2192, d5.loss_plan_l1_fix_time: 1.2290, d5.loss_plan_l1_fix_dist: 0.2364, d6.loss_plan_l1_fix_time: 1.2311, d6.loss_plan_l1_fix_dist: 0.2550, d0.loss_cls_all: 0.2161, d0.loss_bbox_all: 0.4327, d0.loss_cls: 0.2161, d0.loss_bbox: 0.4327, d1.loss_cls: 0.2095, d1.loss_bbox: 0.4041, d2.loss_cls: 0.1935, d2.loss_bbox: 0.3897, d3.loss_cls: 0.1848, d3.loss_bbox: 0.3845, d4.loss_cls: 0.1813, d4.loss_bbox: 0.3813, d5.loss_cls: 0.1803, d5.loss_bbox: 0.3800, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8708, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7095, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6696, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6684, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6753, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6777, d0.loss_map_cls_all: 0.2592, d0.loss_map_pts_all: 1.5802, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2592, d0.loss_map_pts: 1.5802, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2327, d1.loss_map_pts: 1.0804, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.2141, d2.loss_map_pts: 0.8995, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.2012, d3.loss_map_pts: 0.8229, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1951, d4.loss_map_pts: 0.7978, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1936, d5.loss_map_pts: 0.7917, d5.loss_map_dir: 0.0104, loss: 31.3435, grad_norm: 156.3569 +2026-02-26 00:34:55,575 - DriveTransformer - INFO - Epoch [6][9000/39528] lr: 8.977e-05, eta: 6 days, 22:13:19, time: 0.798, data_time: 0.047, memory: 19865, loss_cls: 0.1874, loss_bbox: 0.3988, loss_traj: 0.8108, loss_traj_cls: 0.0010, loss_map_cls: 0.1914, loss_map_pts: 0.7905, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 3.0130, d0.loss_plan_l1_fix_dist: 0.4253, d1.loss_plan_l1_fix_time: 1.2670, d1.loss_plan_l1_fix_dist: 0.2064, d2.loss_plan_l1_fix_time: 1.2538, d2.loss_plan_l1_fix_dist: 0.2096, d3.loss_plan_l1_fix_time: 1.2528, d3.loss_plan_l1_fix_dist: 0.2190, d4.loss_plan_l1_fix_time: 1.2544, d4.loss_plan_l1_fix_dist: 0.2299, d5.loss_plan_l1_fix_time: 1.2565, d5.loss_plan_l1_fix_dist: 0.2430, d6.loss_plan_l1_fix_time: 1.2606, d6.loss_plan_l1_fix_dist: 0.2569, d0.loss_cls_all: 0.2249, d0.loss_bbox_all: 0.4523, d0.loss_cls: 0.2249, d0.loss_bbox: 0.4523, d1.loss_cls: 0.2175, d1.loss_bbox: 0.4156, d2.loss_cls: 0.2028, d2.loss_bbox: 0.3994, d3.loss_cls: 0.1937, d3.loss_bbox: 0.3965, d4.loss_cls: 0.1885, d4.loss_bbox: 0.3951, d5.loss_cls: 0.1867, d5.loss_bbox: 0.3973, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0501, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8820, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8357, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8201, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8174, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8121, d0.loss_map_cls_all: 0.2517, d0.loss_map_pts_all: 1.5512, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2517, d0.loss_map_pts: 1.5512, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2263, d1.loss_map_pts: 1.0977, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.2113, d2.loss_map_pts: 0.9155, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.2009, d3.loss_map_pts: 0.8320, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1959, d4.loss_map_pts: 0.8005, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1924, d5.loss_map_pts: 0.7921, d5.loss_map_dir: 0.0095, loss: 33.4430, grad_norm: 155.9289 +2026-02-26 00:35:35,802 - DriveTransformer - INFO - Epoch [6][9050/39528] lr: 8.977e-05, eta: 6 days, 22:12:38, time: 0.805, data_time: 0.047, memory: 19865, loss_cls: 0.1762, loss_bbox: 0.3769, loss_traj: 0.7088, loss_traj_cls: 0.0010, loss_map_cls: 0.1720, loss_map_pts: 0.7384, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.5495, d0.loss_plan_l1_fix_dist: 0.4284, d1.loss_plan_l1_fix_time: 1.1850, d1.loss_plan_l1_fix_dist: 0.2058, d2.loss_plan_l1_fix_time: 1.1644, d2.loss_plan_l1_fix_dist: 0.2059, d3.loss_plan_l1_fix_time: 1.1637, d3.loss_plan_l1_fix_dist: 0.2146, d4.loss_plan_l1_fix_time: 1.1664, d4.loss_plan_l1_fix_dist: 0.2243, d5.loss_plan_l1_fix_time: 1.1701, d5.loss_plan_l1_fix_dist: 0.2349, d6.loss_plan_l1_fix_time: 1.1750, d6.loss_plan_l1_fix_dist: 0.2463, d0.loss_cls_all: 0.2065, d0.loss_bbox_all: 0.4402, d0.loss_cls: 0.2065, d0.loss_bbox: 0.4402, d1.loss_cls: 0.2002, d1.loss_bbox: 0.4046, d2.loss_cls: 0.1877, d2.loss_bbox: 0.3868, d3.loss_cls: 0.1803, d3.loss_bbox: 0.3791, d4.loss_cls: 0.1759, d4.loss_bbox: 0.3768, d5.loss_cls: 0.1754, d5.loss_bbox: 0.3762, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9044, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7354, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6969, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6938, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6921, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6984, d0.loss_map_cls_all: 0.2382, d0.loss_map_pts_all: 1.4312, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2382, d0.loss_map_pts: 1.4312, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2106, d1.loss_map_pts: 1.0013, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1911, d2.loss_map_pts: 0.8355, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1843, d3.loss_map_pts: 0.7682, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1773, d4.loss_map_pts: 0.7483, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1731, d5.loss_map_pts: 0.7407, d5.loss_map_dir: 0.0094, loss: 30.5139, grad_norm: 155.6198 +2026-02-26 00:36:16,339 - DriveTransformer - INFO - Epoch [6][9100/39528] lr: 8.977e-05, eta: 6 days, 22:11:58, time: 0.811, data_time: 0.048, memory: 19865, loss_cls: 0.1978, loss_bbox: 0.3994, loss_traj: 0.7093, loss_traj_cls: 0.0010, loss_map_cls: 0.2133, loss_map_pts: 0.8444, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.7874, d0.loss_plan_l1_fix_dist: 0.2971, d1.loss_plan_l1_fix_time: 1.3368, d1.loss_plan_l1_fix_dist: 0.1834, d2.loss_plan_l1_fix_time: 1.3214, d2.loss_plan_l1_fix_dist: 0.1945, d3.loss_plan_l1_fix_time: 1.3161, d3.loss_plan_l1_fix_dist: 0.2073, d4.loss_plan_l1_fix_time: 1.3176, d4.loss_plan_l1_fix_dist: 0.2214, d5.loss_plan_l1_fix_time: 1.3198, d5.loss_plan_l1_fix_dist: 0.2364, d6.loss_plan_l1_fix_time: 1.3222, d6.loss_plan_l1_fix_dist: 0.2546, d0.loss_cls_all: 0.2392, d0.loss_bbox_all: 0.4625, d0.loss_cls: 0.2392, d0.loss_bbox: 0.4625, d1.loss_cls: 0.2270, d1.loss_bbox: 0.4284, d2.loss_cls: 0.2122, d2.loss_bbox: 0.4125, d3.loss_cls: 0.2034, d3.loss_bbox: 0.4053, d4.loss_cls: 0.1983, d4.loss_bbox: 0.4026, d5.loss_cls: 0.1979, d5.loss_bbox: 0.4000, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9112, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7700, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7342, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7233, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7206, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7132, d0.loss_map_cls_all: 0.2792, d0.loss_map_pts_all: 1.6008, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2792, d0.loss_map_pts: 1.6008, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2530, d1.loss_map_pts: 1.0951, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2326, d2.loss_map_pts: 0.9264, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2223, d3.loss_map_pts: 0.8668, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.2175, d4.loss_map_pts: 0.8495, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.2143, d5.loss_map_pts: 0.8457, d5.loss_map_dir: 0.0114, loss: 33.3216, grad_norm: 154.4808 +2026-02-26 00:36:57,211 - DriveTransformer - INFO - Epoch [6][9150/39528] lr: 8.977e-05, eta: 6 days, 22:11:20, time: 0.817, data_time: 0.044, memory: 19865, loss_cls: 0.1741, loss_bbox: 0.3623, loss_traj: 0.7240, loss_traj_cls: 0.0010, loss_map_cls: 0.1657, loss_map_pts: 0.7103, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.3272, d0.loss_plan_l1_fix_dist: 0.4252, d1.loss_plan_l1_fix_time: 1.0833, d1.loss_plan_l1_fix_dist: 0.1940, d2.loss_plan_l1_fix_time: 1.0733, d2.loss_plan_l1_fix_dist: 0.2025, d3.loss_plan_l1_fix_time: 1.0744, d3.loss_plan_l1_fix_dist: 0.2186, d4.loss_plan_l1_fix_time: 1.0772, d4.loss_plan_l1_fix_dist: 0.2392, d5.loss_plan_l1_fix_time: 1.0800, d5.loss_plan_l1_fix_dist: 0.2620, d6.loss_plan_l1_fix_time: 1.0837, d6.loss_plan_l1_fix_dist: 0.2857, d0.loss_cls_all: 0.2019, d0.loss_bbox_all: 0.4122, d0.loss_cls: 0.2019, d0.loss_bbox: 0.4122, d1.loss_cls: 0.1974, d1.loss_bbox: 0.3821, d2.loss_cls: 0.1890, d2.loss_bbox: 0.3664, d3.loss_cls: 0.1799, d3.loss_bbox: 0.3611, d4.loss_cls: 0.1765, d4.loss_bbox: 0.3599, d5.loss_cls: 0.1743, d5.loss_bbox: 0.3609, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9597, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7951, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7518, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7400, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7287, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7210, d0.loss_map_cls_all: 0.2340, d0.loss_map_pts_all: 1.4394, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2340, d0.loss_map_pts: 1.4394, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2081, d1.loss_map_pts: 0.9824, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.1882, d2.loss_map_pts: 0.8169, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1763, d3.loss_map_pts: 0.7463, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1710, d4.loss_map_pts: 0.7238, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1676, d5.loss_map_pts: 0.7113, d5.loss_map_dir: 0.0114, loss: 29.7692, grad_norm: 155.0687 +2026-02-26 00:37:37,068 - DriveTransformer - INFO - Epoch [6][9200/39528] lr: 8.977e-05, eta: 6 days, 22:10:38, time: 0.797, data_time: 0.041, memory: 19865, loss_cls: 0.1926, loss_bbox: 0.3900, loss_traj: 0.7639, loss_traj_cls: 0.0011, loss_map_cls: 0.1849, loss_map_pts: 0.7519, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.6850, d0.loss_plan_l1_fix_dist: 0.3544, d1.loss_plan_l1_fix_time: 1.1286, d1.loss_plan_l1_fix_dist: 0.1883, d2.loss_plan_l1_fix_time: 1.1158, d2.loss_plan_l1_fix_dist: 0.1961, d3.loss_plan_l1_fix_time: 1.1171, d3.loss_plan_l1_fix_dist: 0.2115, d4.loss_plan_l1_fix_time: 1.1195, d4.loss_plan_l1_fix_dist: 0.2302, d5.loss_plan_l1_fix_time: 1.1226, d5.loss_plan_l1_fix_dist: 0.2517, d6.loss_plan_l1_fix_time: 1.1263, d6.loss_plan_l1_fix_dist: 0.2737, d0.loss_cls_all: 0.2296, d0.loss_bbox_all: 0.4455, d0.loss_cls: 0.2296, d0.loss_bbox: 0.4455, d1.loss_cls: 0.2225, d1.loss_bbox: 0.4137, d2.loss_cls: 0.2094, d2.loss_bbox: 0.3957, d3.loss_cls: 0.1997, d3.loss_bbox: 0.3898, d4.loss_cls: 0.1951, d4.loss_bbox: 0.3894, d5.loss_cls: 0.1943, d5.loss_bbox: 0.3881, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9841, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8304, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7689, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7572, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7578, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7593, d0.loss_map_cls_all: 0.2503, d0.loss_map_pts_all: 1.5580, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2503, d0.loss_map_pts: 1.5580, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2213, d1.loss_map_pts: 1.0251, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2038, d2.loss_map_pts: 0.8407, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1901, d3.loss_map_pts: 0.7853, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1872, d4.loss_map_pts: 0.7613, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1853, d5.loss_map_pts: 0.7541, d5.loss_map_dir: 0.0106, loss: 31.4700, grad_norm: 154.9149 +2026-02-26 00:38:17,819 - DriveTransformer - INFO - Epoch [6][9250/39528] lr: 8.977e-05, eta: 6 days, 22:09:59, time: 0.815, data_time: 0.046, memory: 19865, loss_cls: 0.1775, loss_bbox: 0.3685, loss_traj: 0.5961, loss_traj_cls: 0.0011, loss_map_cls: 0.1428, loss_map_pts: 0.6917, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.4731, d0.loss_plan_l1_fix_dist: 0.4621, d1.loss_plan_l1_fix_time: 1.0026, d1.loss_plan_l1_fix_dist: 0.2070, d2.loss_plan_l1_fix_time: 0.9800, d2.loss_plan_l1_fix_dist: 0.2088, d3.loss_plan_l1_fix_time: 0.9791, d3.loss_plan_l1_fix_dist: 0.2169, d4.loss_plan_l1_fix_time: 0.9807, d4.loss_plan_l1_fix_dist: 0.2274, d5.loss_plan_l1_fix_time: 0.9829, d5.loss_plan_l1_fix_dist: 0.2386, d6.loss_plan_l1_fix_time: 0.9859, d6.loss_plan_l1_fix_dist: 0.2517, d0.loss_cls_all: 0.2166, d0.loss_bbox_all: 0.4330, d0.loss_cls: 0.2166, d0.loss_bbox: 0.4330, d1.loss_cls: 0.2063, d1.loss_bbox: 0.3999, d2.loss_cls: 0.1964, d2.loss_bbox: 0.3809, d3.loss_cls: 0.1853, d3.loss_bbox: 0.3742, d4.loss_cls: 0.1799, d4.loss_bbox: 0.3711, d5.loss_cls: 0.1781, d5.loss_bbox: 0.3693, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7439, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6335, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6124, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6036, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5961, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5958, d0.loss_map_cls_all: 0.2016, d0.loss_map_pts_all: 1.3350, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2016, d0.loss_map_pts: 1.3350, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1747, d1.loss_map_pts: 0.9099, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1581, d2.loss_map_pts: 0.7708, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1508, d3.loss_map_pts: 0.7168, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1479, d4.loss_map_pts: 0.6978, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1450, d5.loss_map_pts: 0.6931, d5.loss_map_dir: 0.0093, loss: 27.8178, grad_norm: 154.4394 +2026-02-26 00:38:59,023 - DriveTransformer - INFO - Epoch [6][9300/39528] lr: 8.977e-05, eta: 6 days, 22:09:22, time: 0.824, data_time: 0.042, memory: 19865, loss_cls: 0.2058, loss_bbox: 0.4232, loss_traj: 0.7001, loss_traj_cls: 0.0010, loss_map_cls: 0.1728, loss_map_pts: 0.7768, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.8244, d0.loss_plan_l1_fix_dist: 0.4803, d1.loss_plan_l1_fix_time: 1.3232, d1.loss_plan_l1_fix_dist: 0.2184, d2.loss_plan_l1_fix_time: 1.3080, d2.loss_plan_l1_fix_dist: 0.2233, d3.loss_plan_l1_fix_time: 1.3084, d3.loss_plan_l1_fix_dist: 0.2330, d4.loss_plan_l1_fix_time: 1.3098, d4.loss_plan_l1_fix_dist: 0.2448, d5.loss_plan_l1_fix_time: 1.3112, d5.loss_plan_l1_fix_dist: 0.2559, d6.loss_plan_l1_fix_time: 1.3127, d6.loss_plan_l1_fix_dist: 0.2703, d0.loss_cls_all: 0.2393, d0.loss_bbox_all: 0.4931, d0.loss_cls: 0.2393, d0.loss_bbox: 0.4931, d1.loss_cls: 0.2322, d1.loss_bbox: 0.4560, d2.loss_cls: 0.2236, d2.loss_bbox: 0.4352, d3.loss_cls: 0.2138, d3.loss_bbox: 0.4282, d4.loss_cls: 0.2082, d4.loss_bbox: 0.4258, d5.loss_cls: 0.2069, d5.loss_bbox: 0.4245, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9504, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7690, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7196, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7069, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7013, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7012, d0.loss_map_cls_all: 0.2395, d0.loss_map_pts_all: 1.5295, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2395, d0.loss_map_pts: 1.5295, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2142, d1.loss_map_pts: 1.0407, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.1948, d2.loss_map_pts: 0.8714, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1856, d3.loss_map_pts: 0.8094, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1790, d4.loss_map_pts: 0.7893, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1753, d5.loss_map_pts: 0.7787, d5.loss_map_dir: 0.0116, loss: 33.0421, grad_norm: 154.0507 +2026-02-26 00:39:39,010 - DriveTransformer - INFO - Epoch [6][9350/39528] lr: 8.977e-05, eta: 6 days, 22:08:41, time: 0.800, data_time: 0.043, memory: 19865, loss_cls: 0.2033, loss_bbox: 0.4195, loss_traj: 0.7201, loss_traj_cls: 0.0009, loss_map_cls: 0.1904, loss_map_pts: 0.7948, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.7283, d0.loss_plan_l1_fix_dist: 0.3579, d1.loss_plan_l1_fix_time: 1.2516, d1.loss_plan_l1_fix_dist: 0.1931, d2.loss_plan_l1_fix_time: 1.2411, d2.loss_plan_l1_fix_dist: 0.1999, d3.loss_plan_l1_fix_time: 1.2430, d3.loss_plan_l1_fix_dist: 0.2121, d4.loss_plan_l1_fix_time: 1.2458, d4.loss_plan_l1_fix_dist: 0.2263, d5.loss_plan_l1_fix_time: 1.2484, d5.loss_plan_l1_fix_dist: 0.2429, d6.loss_plan_l1_fix_time: 1.2508, d6.loss_plan_l1_fix_dist: 0.2590, d0.loss_cls_all: 0.2439, d0.loss_bbox_all: 0.4765, d0.loss_cls: 0.2439, d0.loss_bbox: 0.4765, d1.loss_cls: 0.2335, d1.loss_bbox: 0.4427, d2.loss_cls: 0.2207, d2.loss_bbox: 0.4243, d3.loss_cls: 0.2102, d3.loss_bbox: 0.4211, d4.loss_cls: 0.2042, d4.loss_bbox: 0.4201, d5.loss_cls: 0.2038, d5.loss_bbox: 0.4193, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9142, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7708, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7255, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7138, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7122, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7132, d0.loss_map_cls_all: 0.2707, d0.loss_map_pts_all: 1.5519, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2707, d0.loss_map_pts: 1.5519, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2364, d1.loss_map_pts: 1.0524, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2200, d2.loss_map_pts: 0.8826, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.2048, d3.loss_map_pts: 0.8239, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1991, d4.loss_map_pts: 0.7992, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1926, d5.loss_map_pts: 0.7951, d5.loss_map_dir: 0.0114, loss: 32.5655, grad_norm: 154.3605 +2026-02-26 00:40:16,741 - DriveTransformer - INFO - Epoch [6][9400/39528] lr: 8.977e-05, eta: 6 days, 22:07:51, time: 0.756, data_time: 0.042, memory: 19865, loss_cls: 0.1962, loss_bbox: 0.3819, loss_traj: 0.7659, loss_traj_cls: 0.0010, loss_map_cls: 0.1330, loss_map_pts: 0.6245, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.6183, d0.loss_plan_l1_fix_dist: 0.3973, d1.loss_plan_l1_fix_time: 1.1052, d1.loss_plan_l1_fix_dist: 0.1862, d2.loss_plan_l1_fix_time: 1.0954, d2.loss_plan_l1_fix_dist: 0.1929, d3.loss_plan_l1_fix_time: 1.0938, d3.loss_plan_l1_fix_dist: 0.2028, d4.loss_plan_l1_fix_time: 1.0966, d4.loss_plan_l1_fix_dist: 0.2133, d5.loss_plan_l1_fix_time: 1.0996, d5.loss_plan_l1_fix_dist: 0.2256, d6.loss_plan_l1_fix_time: 1.1035, d6.loss_plan_l1_fix_dist: 0.2389, d0.loss_cls_all: 0.2331, d0.loss_bbox_all: 0.4440, d0.loss_cls: 0.2331, d0.loss_bbox: 0.4440, d1.loss_cls: 0.2239, d1.loss_bbox: 0.4104, d2.loss_cls: 0.2113, d2.loss_bbox: 0.3908, d3.loss_cls: 0.2015, d3.loss_bbox: 0.3844, d4.loss_cls: 0.1992, d4.loss_bbox: 0.3819, d5.loss_cls: 0.1978, d5.loss_bbox: 0.3816, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0934, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8910, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7974, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7742, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7640, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7608, d0.loss_map_cls_all: 0.2004, d0.loss_map_pts_all: 1.2533, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2004, d0.loss_map_pts: 1.2533, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1697, d1.loss_map_pts: 0.8779, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1566, d2.loss_map_pts: 0.7284, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1476, d3.loss_map_pts: 0.6624, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1396, d4.loss_map_pts: 0.6334, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1344, d5.loss_map_pts: 0.6245, d5.loss_map_dir: 0.0082, loss: 29.6396, grad_norm: 153.5501 +2026-02-26 00:40:55,749 - DriveTransformer - INFO - Epoch [6][9450/39528] lr: 8.977e-05, eta: 6 days, 22:07:06, time: 0.779, data_time: 0.044, memory: 19865, loss_cls: 0.1887, loss_bbox: 0.3740, loss_traj: 0.5849, loss_traj_cls: 0.0009, loss_map_cls: 0.1887, loss_map_pts: 0.7698, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.4675, d0.loss_plan_l1_fix_dist: 0.3886, d1.loss_plan_l1_fix_time: 1.1845, d1.loss_plan_l1_fix_dist: 0.1869, d2.loss_plan_l1_fix_time: 1.1751, d2.loss_plan_l1_fix_dist: 0.1889, d3.loss_plan_l1_fix_time: 1.1715, d3.loss_plan_l1_fix_dist: 0.1945, d4.loss_plan_l1_fix_time: 1.1736, d4.loss_plan_l1_fix_dist: 0.2018, d5.loss_plan_l1_fix_time: 1.1762, d5.loss_plan_l1_fix_dist: 0.2109, d6.loss_plan_l1_fix_time: 1.1795, d6.loss_plan_l1_fix_dist: 0.2228, d0.loss_cls_all: 0.2258, d0.loss_bbox_all: 0.4327, d0.loss_cls: 0.2258, d0.loss_bbox: 0.4327, d1.loss_cls: 0.2186, d1.loss_bbox: 0.3988, d2.loss_cls: 0.2052, d2.loss_bbox: 0.3825, d3.loss_cls: 0.1958, d3.loss_bbox: 0.3765, d4.loss_cls: 0.1917, d4.loss_bbox: 0.3739, d5.loss_cls: 0.1877, d5.loss_bbox: 0.3755, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7660, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6331, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5939, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5839, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5810, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5828, d0.loss_map_cls_all: 0.2576, d0.loss_map_pts_all: 1.5066, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2576, d0.loss_map_pts: 1.5066, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2297, d1.loss_map_pts: 1.0368, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.2091, d2.loss_map_pts: 0.8654, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1992, d3.loss_map_pts: 0.7999, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1917, d4.loss_map_pts: 0.7749, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1896, d5.loss_map_pts: 0.7695, d5.loss_map_dir: 0.0108, loss: 30.0749, grad_norm: 152.7639 +2026-02-26 00:41:35,719 - DriveTransformer - INFO - Epoch [6][9500/39528] lr: 8.977e-05, eta: 6 days, 22:06:24, time: 0.799, data_time: 0.043, memory: 19865, loss_cls: 0.1936, loss_bbox: 0.3899, loss_traj: 0.6670, loss_traj_cls: 0.0010, loss_map_cls: 0.1593, loss_map_pts: 0.6642, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.5864, d0.loss_plan_l1_fix_dist: 0.3469, d1.loss_plan_l1_fix_time: 1.0980, d1.loss_plan_l1_fix_dist: 0.2015, d2.loss_plan_l1_fix_time: 1.0865, d2.loss_plan_l1_fix_dist: 0.2044, d3.loss_plan_l1_fix_time: 1.0779, d3.loss_plan_l1_fix_dist: 0.2140, d4.loss_plan_l1_fix_time: 1.0791, d4.loss_plan_l1_fix_dist: 0.2274, d5.loss_plan_l1_fix_time: 1.0811, d5.loss_plan_l1_fix_dist: 0.2409, d6.loss_plan_l1_fix_time: 1.0841, d6.loss_plan_l1_fix_dist: 0.2523, d0.loss_cls_all: 0.2306, d0.loss_bbox_all: 0.4480, d0.loss_cls: 0.2306, d0.loss_bbox: 0.4480, d1.loss_cls: 0.2216, d1.loss_bbox: 0.4151, d2.loss_cls: 0.2102, d2.loss_bbox: 0.3988, d3.loss_cls: 0.2004, d3.loss_bbox: 0.3912, d4.loss_cls: 0.1952, d4.loss_bbox: 0.3900, d5.loss_cls: 0.1937, d5.loss_bbox: 0.3902, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8690, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7309, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6896, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6742, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6720, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6688, d0.loss_map_cls_all: 0.2263, d0.loss_map_pts_all: 1.3131, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2263, d0.loss_map_pts: 1.3131, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.1967, d1.loss_map_pts: 0.8895, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1794, d2.loss_map_pts: 0.7387, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1683, d3.loss_map_pts: 0.6852, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1630, d4.loss_map_pts: 0.6698, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1597, d5.loss_map_pts: 0.6639, d5.loss_map_dir: 0.0101, loss: 29.2023, grad_norm: 152.2481 +2026-02-26 00:42:17,005 - DriveTransformer - INFO - Epoch [6][9550/39528] lr: 8.977e-05, eta: 6 days, 22:05:47, time: 0.826, data_time: 0.045, memory: 19865, loss_cls: 0.2065, loss_bbox: 0.4010, loss_traj: 0.8015, loss_traj_cls: 0.0009, loss_map_cls: 0.1722, loss_map_pts: 0.7460, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.9666, d0.loss_plan_l1_fix_dist: 0.3510, d1.loss_plan_l1_fix_time: 1.2683, d1.loss_plan_l1_fix_dist: 0.2010, d2.loss_plan_l1_fix_time: 1.2458, d2.loss_plan_l1_fix_dist: 0.2056, d3.loss_plan_l1_fix_time: 1.2497, d3.loss_plan_l1_fix_dist: 0.2144, d4.loss_plan_l1_fix_time: 1.2521, d4.loss_plan_l1_fix_dist: 0.2248, d5.loss_plan_l1_fix_time: 1.2546, d5.loss_plan_l1_fix_dist: 0.2394, d6.loss_plan_l1_fix_time: 1.2576, d6.loss_plan_l1_fix_dist: 0.2591, d0.loss_cls_all: 0.2387, d0.loss_bbox_all: 0.4604, d0.loss_cls: 0.2387, d0.loss_bbox: 0.4604, d1.loss_cls: 0.2311, d1.loss_bbox: 0.4254, d2.loss_cls: 0.2173, d2.loss_bbox: 0.4064, d3.loss_cls: 0.2084, d3.loss_bbox: 0.4006, d4.loss_cls: 0.2056, d4.loss_bbox: 0.4008, d5.loss_cls: 0.2046, d5.loss_bbox: 0.4013, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0504, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8539, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8029, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8003, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7948, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.7938, d0.loss_map_cls_all: 0.2402, d0.loss_map_pts_all: 1.5277, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.2402, d0.loss_map_pts: 1.5277, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2139, d1.loss_map_pts: 1.0059, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.1949, d2.loss_map_pts: 0.8365, d2.loss_map_dir: 0.0119, d3.loss_map_cls: 0.1855, d3.loss_map_pts: 0.7762, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.1782, d4.loss_map_pts: 0.7564, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.1742, d5.loss_map_pts: 0.7475, d5.loss_map_dir: 0.0125, loss: 32.8237, grad_norm: 151.6857 +2026-02-26 00:42:57,274 - DriveTransformer - INFO - Epoch [6][9600/39528] lr: 8.977e-05, eta: 6 days, 22:05:07, time: 0.805, data_time: 0.040, memory: 19865, loss_cls: 0.1996, loss_bbox: 0.3710, loss_traj: 0.8231, loss_traj_cls: 0.0010, loss_map_cls: 0.1697, loss_map_pts: 0.7291, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 3.1073, d0.loss_plan_l1_fix_dist: 0.4167, d1.loss_plan_l1_fix_time: 1.2630, d1.loss_plan_l1_fix_dist: 0.1771, d2.loss_plan_l1_fix_time: 1.2386, d2.loss_plan_l1_fix_dist: 0.1812, d3.loss_plan_l1_fix_time: 1.2380, d3.loss_plan_l1_fix_dist: 0.1917, d4.loss_plan_l1_fix_time: 1.2410, d4.loss_plan_l1_fix_dist: 0.2044, d5.loss_plan_l1_fix_time: 1.2446, d5.loss_plan_l1_fix_dist: 0.2208, d6.loss_plan_l1_fix_time: 1.2490, d6.loss_plan_l1_fix_dist: 0.2411, d0.loss_cls_all: 0.2313, d0.loss_bbox_all: 0.4371, d0.loss_cls: 0.2313, d0.loss_bbox: 0.4371, d1.loss_cls: 0.2240, d1.loss_bbox: 0.4014, d2.loss_cls: 0.2146, d2.loss_bbox: 0.3833, d3.loss_cls: 0.2087, d3.loss_bbox: 0.3763, d4.loss_cls: 0.2026, d4.loss_bbox: 0.3715, d5.loss_cls: 0.1998, d5.loss_bbox: 0.3707, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0807, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8798, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8378, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8265, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8243, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8224, d0.loss_map_cls_all: 0.2310, d0.loss_map_pts_all: 1.4964, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2310, d0.loss_map_pts: 1.4964, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2052, d1.loss_map_pts: 0.9888, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1898, d2.loss_map_pts: 0.8189, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1788, d3.loss_map_pts: 0.7600, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1742, d4.loss_map_pts: 0.7364, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1717, d5.loss_map_pts: 0.7293, d5.loss_map_dir: 0.0104, loss: 32.5637, grad_norm: 152.3022 +2026-02-26 00:43:36,675 - DriveTransformer - INFO - Epoch [6][9650/39528] lr: 8.977e-05, eta: 6 days, 22:04:23, time: 0.788, data_time: 0.043, memory: 19865, loss_cls: 0.1786, loss_bbox: 0.3516, loss_traj: 0.6850, loss_traj_cls: 0.0011, loss_map_cls: 0.1536, loss_map_pts: 0.6617, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.3130, d0.loss_plan_l1_fix_dist: 0.3736, d1.loss_plan_l1_fix_time: 1.0999, d1.loss_plan_l1_fix_dist: 0.1913, d2.loss_plan_l1_fix_time: 1.0823, d2.loss_plan_l1_fix_dist: 0.1942, d3.loss_plan_l1_fix_time: 1.0852, d3.loss_plan_l1_fix_dist: 0.2021, d4.loss_plan_l1_fix_time: 1.0889, d4.loss_plan_l1_fix_dist: 0.2116, d5.loss_plan_l1_fix_time: 1.0930, d5.loss_plan_l1_fix_dist: 0.2185, d6.loss_plan_l1_fix_time: 1.0973, d6.loss_plan_l1_fix_dist: 0.2240, d0.loss_cls_all: 0.2132, d0.loss_bbox_all: 0.4057, d0.loss_cls: 0.2132, d0.loss_bbox: 0.4057, d1.loss_cls: 0.2012, d1.loss_bbox: 0.3763, d2.loss_cls: 0.1884, d2.loss_bbox: 0.3611, d3.loss_cls: 0.1791, d3.loss_bbox: 0.3580, d4.loss_cls: 0.1763, d4.loss_bbox: 0.3542, d5.loss_cls: 0.1784, d5.loss_bbox: 0.3507, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8297, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7249, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7056, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6959, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6952, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6877, d0.loss_map_cls_all: 0.2203, d0.loss_map_pts_all: 1.4527, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2203, d0.loss_map_pts: 1.4527, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1865, d1.loss_map_pts: 0.9659, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1729, d2.loss_map_pts: 0.7690, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1647, d3.loss_map_pts: 0.6932, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1582, d4.loss_map_pts: 0.6683, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1540, d5.loss_map_pts: 0.6644, d5.loss_map_dir: 0.0101, loss: 28.8334, grad_norm: 152.9277 +2026-02-26 00:44:17,744 - DriveTransformer - INFO - Epoch [6][9700/39528] lr: 8.977e-05, eta: 6 days, 22:03:46, time: 0.821, data_time: 0.039, memory: 19865, loss_cls: 0.1752, loss_bbox: 0.3732, loss_traj: 0.7416, loss_traj_cls: 0.0010, loss_map_cls: 0.1641, loss_map_pts: 0.7585, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.2749, d0.loss_plan_l1_fix_dist: 0.3861, d1.loss_plan_l1_fix_time: 1.1461, d1.loss_plan_l1_fix_dist: 0.1773, d2.loss_plan_l1_fix_time: 1.1235, d2.loss_plan_l1_fix_dist: 0.1777, d3.loss_plan_l1_fix_time: 1.1214, d3.loss_plan_l1_fix_dist: 0.1841, d4.loss_plan_l1_fix_time: 1.1237, d4.loss_plan_l1_fix_dist: 0.1925, d5.loss_plan_l1_fix_time: 1.1266, d5.loss_plan_l1_fix_dist: 0.2031, d6.loss_plan_l1_fix_time: 1.1297, d6.loss_plan_l1_fix_dist: 0.2133, d0.loss_cls_all: 0.2122, d0.loss_bbox_all: 0.4407, d0.loss_cls: 0.2122, d0.loss_bbox: 0.4407, d1.loss_cls: 0.2010, d1.loss_bbox: 0.4073, d2.loss_cls: 0.1863, d2.loss_bbox: 0.3897, d3.loss_cls: 0.1762, d3.loss_bbox: 0.3814, d4.loss_cls: 0.1731, d4.loss_bbox: 0.3765, d5.loss_cls: 0.1721, d5.loss_bbox: 0.3745, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0172, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8151, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7641, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7503, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7425, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7436, d0.loss_map_cls_all: 0.2576, d0.loss_map_pts_all: 1.6567, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2576, d0.loss_map_pts: 1.6567, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2183, d1.loss_map_pts: 1.0932, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1948, d2.loss_map_pts: 0.8714, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1801, d3.loss_map_pts: 0.7949, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1701, d4.loss_map_pts: 0.7680, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1652, d5.loss_map_pts: 0.7613, d5.loss_map_dir: 0.0111, loss: 30.9072, grad_norm: 150.7894 +2026-02-26 00:44:58,888 - DriveTransformer - INFO - Epoch [6][9750/39528] lr: 8.977e-05, eta: 6 days, 22:03:08, time: 0.823, data_time: 0.049, memory: 19865, loss_cls: 0.1890, loss_bbox: 0.3870, loss_traj: 0.6911, loss_traj_cls: 0.0010, loss_map_cls: 0.1629, loss_map_pts: 0.7649, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.7036, d0.loss_plan_l1_fix_dist: 0.3963, d1.loss_plan_l1_fix_time: 1.2558, d1.loss_plan_l1_fix_dist: 0.2100, d2.loss_plan_l1_fix_time: 1.2562, d2.loss_plan_l1_fix_dist: 0.2117, d3.loss_plan_l1_fix_time: 1.2689, d3.loss_plan_l1_fix_dist: 0.2161, d4.loss_plan_l1_fix_time: 1.2743, d4.loss_plan_l1_fix_dist: 0.2231, d5.loss_plan_l1_fix_time: 1.2794, d5.loss_plan_l1_fix_dist: 0.2312, d6.loss_plan_l1_fix_time: 1.2845, d6.loss_plan_l1_fix_dist: 0.2443, d0.loss_cls_all: 0.2240, d0.loss_bbox_all: 0.4508, d0.loss_cls: 0.2240, d0.loss_bbox: 0.4508, d1.loss_cls: 0.2200, d1.loss_bbox: 0.4141, d2.loss_cls: 0.2037, d2.loss_bbox: 0.4004, d3.loss_cls: 0.1944, d3.loss_bbox: 0.3935, d4.loss_cls: 0.1901, d4.loss_bbox: 0.3897, d5.loss_cls: 0.1874, d5.loss_bbox: 0.3879, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8806, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7454, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7026, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6957, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6887, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6881, d0.loss_map_cls_all: 0.2331, d0.loss_map_pts_all: 1.4385, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2331, d0.loss_map_pts: 1.4385, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2030, d1.loss_map_pts: 1.0002, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1848, d2.loss_map_pts: 0.8510, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1756, d3.loss_map_pts: 0.8003, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1698, d4.loss_map_pts: 0.7758, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1642, d5.loss_map_pts: 0.7680, d5.loss_map_dir: 0.0110, loss: 31.5097, grad_norm: 149.7542 +2026-02-26 00:45:42,032 - DriveTransformer - INFO - Epoch [6][9800/39528] lr: 8.977e-05, eta: 6 days, 22:02:38, time: 0.863, data_time: 0.049, memory: 19865, loss_cls: 0.2123, loss_bbox: 0.4104, loss_traj: 0.7761, loss_traj_cls: 0.0010, loss_map_cls: 0.2108, loss_map_pts: 0.9826, loss_map_dir: 0.0146, d0.loss_plan_l1_fix_time: 2.5779, d0.loss_plan_l1_fix_dist: 0.5053, d1.loss_plan_l1_fix_time: 1.1127, d1.loss_plan_l1_fix_dist: 0.2055, d2.loss_plan_l1_fix_time: 1.1073, d2.loss_plan_l1_fix_dist: 0.2089, d3.loss_plan_l1_fix_time: 1.1110, d3.loss_plan_l1_fix_dist: 0.2185, d4.loss_plan_l1_fix_time: 1.1147, d4.loss_plan_l1_fix_dist: 0.2299, d5.loss_plan_l1_fix_time: 1.1187, d5.loss_plan_l1_fix_dist: 0.2451, d6.loss_plan_l1_fix_time: 1.1234, d6.loss_plan_l1_fix_dist: 0.2645, d0.loss_cls_all: 0.2543, d0.loss_bbox_all: 0.4778, d0.loss_cls: 0.2543, d0.loss_bbox: 0.4778, d1.loss_cls: 0.2449, d1.loss_bbox: 0.4407, d2.loss_cls: 0.2279, d2.loss_bbox: 0.4233, d3.loss_cls: 0.2226, d3.loss_bbox: 0.4143, d4.loss_cls: 0.2145, d4.loss_bbox: 0.4128, d5.loss_cls: 0.2112, d5.loss_bbox: 0.4122, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9860, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8327, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7798, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7728, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7805, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7755, d0.loss_map_cls_all: 0.2824, d0.loss_map_pts_all: 1.8648, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2824, d0.loss_map_pts: 1.8648, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2515, d1.loss_map_pts: 1.3173, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2341, d2.loss_map_pts: 1.1028, d2.loss_map_dir: 0.0132, d3.loss_map_cls: 0.2231, d3.loss_map_pts: 1.0237, d3.loss_map_dir: 0.0139, d4.loss_map_cls: 0.2153, d4.loss_map_pts: 0.9947, d4.loss_map_dir: 0.0143, d5.loss_map_cls: 0.2117, d5.loss_map_pts: 0.9836, d5.loss_map_dir: 0.0145, loss: 34.3193, grad_norm: 149.6207 +2026-02-26 00:46:21,919 - DriveTransformer - INFO - Epoch [6][9850/39528] lr: 8.977e-05, eta: 6 days, 22:01:56, time: 0.798, data_time: 0.039, memory: 19865, loss_cls: 0.1853, loss_bbox: 0.3817, loss_traj: 0.9099, loss_traj_cls: 0.0010, loss_map_cls: 0.1890, loss_map_pts: 0.8281, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.6019, d0.loss_plan_l1_fix_dist: 0.3233, d1.loss_plan_l1_fix_time: 1.2794, d1.loss_plan_l1_fix_dist: 0.1867, d2.loss_plan_l1_fix_time: 1.2757, d2.loss_plan_l1_fix_dist: 0.1899, d3.loss_plan_l1_fix_time: 1.2702, d3.loss_plan_l1_fix_dist: 0.2019, d4.loss_plan_l1_fix_time: 1.2715, d4.loss_plan_l1_fix_dist: 0.2176, d5.loss_plan_l1_fix_time: 1.2738, d5.loss_plan_l1_fix_dist: 0.2344, d6.loss_plan_l1_fix_time: 1.2768, d6.loss_plan_l1_fix_dist: 0.2493, d0.loss_cls_all: 0.2219, d0.loss_bbox_all: 0.4363, d0.loss_cls: 0.2219, d0.loss_bbox: 0.4363, d1.loss_cls: 0.2122, d1.loss_bbox: 0.4060, d2.loss_cls: 0.2040, d2.loss_bbox: 0.3869, d3.loss_cls: 0.1934, d3.loss_bbox: 0.3833, d4.loss_cls: 0.1878, d4.loss_bbox: 0.3805, d5.loss_cls: 0.1858, d5.loss_bbox: 0.3806, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1524, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9840, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.9325, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9170, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9113, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9117, d0.loss_map_cls_all: 0.2683, d0.loss_map_pts_all: 1.6101, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2683, d0.loss_map_pts: 1.6101, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2344, d1.loss_map_pts: 1.1315, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.2146, d2.loss_map_pts: 0.9456, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.2019, d3.loss_map_pts: 0.8721, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1946, d4.loss_map_pts: 0.8398, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1919, d5.loss_map_pts: 0.8303, d5.loss_map_dir: 0.0099, loss: 33.8886, grad_norm: 150.1035 +2026-02-26 00:47:02,343 - DriveTransformer - INFO - Epoch [6][9900/39528] lr: 8.977e-05, eta: 6 days, 22:01:16, time: 0.808, data_time: 0.046, memory: 19865, loss_cls: 0.2128, loss_bbox: 0.4035, loss_traj: 0.7358, loss_traj_cls: 0.0010, loss_map_cls: 0.2086, loss_map_pts: 0.8697, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.9506, d0.loss_plan_l1_fix_dist: 0.3680, d1.loss_plan_l1_fix_time: 1.3123, d1.loss_plan_l1_fix_dist: 0.1955, d2.loss_plan_l1_fix_time: 1.2955, d2.loss_plan_l1_fix_dist: 0.2003, d3.loss_plan_l1_fix_time: 1.2949, d3.loss_plan_l1_fix_dist: 0.2084, d4.loss_plan_l1_fix_time: 1.2972, d4.loss_plan_l1_fix_dist: 0.2191, d5.loss_plan_l1_fix_time: 1.2998, d5.loss_plan_l1_fix_dist: 0.2306, d6.loss_plan_l1_fix_time: 1.3025, d6.loss_plan_l1_fix_dist: 0.2431, d0.loss_cls_all: 0.2527, d0.loss_bbox_all: 0.4673, d0.loss_cls: 0.2527, d0.loss_bbox: 0.4673, d1.loss_cls: 0.2455, d1.loss_bbox: 0.4323, d2.loss_cls: 0.2349, d2.loss_bbox: 0.4154, d3.loss_cls: 0.2213, d3.loss_bbox: 0.4096, d4.loss_cls: 0.2130, d4.loss_bbox: 0.4072, d5.loss_cls: 0.2123, d5.loss_bbox: 0.4045, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0049, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7847, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7429, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7336, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7336, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7338, d0.loss_map_cls_all: 0.2687, d0.loss_map_pts_all: 1.6623, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2687, d0.loss_map_pts: 1.6623, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2390, d1.loss_map_pts: 1.1780, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2257, d2.loss_map_pts: 0.9882, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2192, d3.loss_map_pts: 0.9110, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.2139, d4.loss_map_pts: 0.8800, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.2106, d5.loss_map_pts: 0.8721, d5.loss_map_dir: 0.0112, loss: 34.1122, grad_norm: 149.8371 +2026-02-26 00:47:42,636 - DriveTransformer - INFO - Epoch [6][9950/39528] lr: 8.977e-05, eta: 6 days, 22:00:36, time: 0.806, data_time: 0.041, memory: 19865, loss_cls: 0.1914, loss_bbox: 0.3794, loss_traj: 0.7725, loss_traj_cls: 0.0010, loss_map_cls: 0.1583, loss_map_pts: 0.7817, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.9424, d0.loss_plan_l1_fix_dist: 0.4994, d1.loss_plan_l1_fix_time: 1.1881, d1.loss_plan_l1_fix_dist: 0.2182, d2.loss_plan_l1_fix_time: 1.1816, d2.loss_plan_l1_fix_dist: 0.2186, d3.loss_plan_l1_fix_time: 1.1853, d3.loss_plan_l1_fix_dist: 0.2227, d4.loss_plan_l1_fix_time: 1.1881, d4.loss_plan_l1_fix_dist: 0.2291, d5.loss_plan_l1_fix_time: 1.1910, d5.loss_plan_l1_fix_dist: 0.2381, d6.loss_plan_l1_fix_time: 1.1947, d6.loss_plan_l1_fix_dist: 0.2507, d0.loss_cls_all: 0.2273, d0.loss_bbox_all: 0.4524, d0.loss_cls: 0.2273, d0.loss_bbox: 0.4524, d1.loss_cls: 0.2181, d1.loss_bbox: 0.4116, d2.loss_cls: 0.2052, d2.loss_bbox: 0.3938, d3.loss_cls: 0.1970, d3.loss_bbox: 0.3841, d4.loss_cls: 0.1931, d4.loss_bbox: 0.3806, d5.loss_cls: 0.1898, d5.loss_bbox: 0.3802, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1934, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8540, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7867, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7744, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7749, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7767, d0.loss_map_cls_all: 0.2256, d0.loss_map_pts_all: 1.5921, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2256, d0.loss_map_pts: 1.5921, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.1993, d1.loss_map_pts: 1.0664, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1806, d2.loss_map_pts: 0.8775, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1696, d3.loss_map_pts: 0.8123, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1653, d4.loss_map_pts: 0.7905, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1620, d5.loss_map_pts: 0.7811, d5.loss_map_dir: 0.0107, loss: 32.6356, grad_norm: 147.5476 +2026-02-26 00:48:23,000 - DriveTransformer - INFO - Epoch [6][10000/39528] lr: 8.977e-05, eta: 6 days, 21:59:56, time: 0.807, data_time: 0.047, memory: 19865, loss_cls: 0.2099, loss_bbox: 0.4091, loss_traj: 0.6611, loss_traj_cls: 0.0010, loss_map_cls: 0.2373, loss_map_pts: 0.8969, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.5153, d0.loss_plan_l1_fix_dist: 0.3313, d1.loss_plan_l1_fix_time: 1.1108, d1.loss_plan_l1_fix_dist: 0.1825, d2.loss_plan_l1_fix_time: 1.0964, d2.loss_plan_l1_fix_dist: 0.1837, d3.loss_plan_l1_fix_time: 1.0963, d3.loss_plan_l1_fix_dist: 0.1925, d4.loss_plan_l1_fix_time: 1.0987, d4.loss_plan_l1_fix_dist: 0.2033, d5.loss_plan_l1_fix_time: 1.1016, d5.loss_plan_l1_fix_dist: 0.2125, d6.loss_plan_l1_fix_time: 1.1049, d6.loss_plan_l1_fix_dist: 0.2230, d0.loss_cls_all: 0.2468, d0.loss_bbox_all: 0.4651, d0.loss_cls: 0.2468, d0.loss_bbox: 0.4651, d1.loss_cls: 0.2384, d1.loss_bbox: 0.4343, d2.loss_cls: 0.2243, d2.loss_bbox: 0.4184, d3.loss_cls: 0.2157, d3.loss_bbox: 0.4120, d4.loss_cls: 0.2093, d4.loss_bbox: 0.4097, d5.loss_cls: 0.2103, d5.loss_bbox: 0.4074, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8771, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7023, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6677, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6617, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6614, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6636, d0.loss_map_cls_all: 0.3074, d0.loss_map_pts_all: 1.6720, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.3074, d0.loss_map_pts: 1.6720, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2827, d1.loss_map_pts: 1.1938, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.2616, d2.loss_map_pts: 1.0076, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.2479, d3.loss_map_pts: 0.9325, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.2405, d4.loss_map_pts: 0.9062, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.2378, d5.loss_map_pts: 0.8976, d5.loss_map_dir: 0.0098, loss: 32.1543, grad_norm: 147.6704 +2026-02-26 00:49:02,855 - DriveTransformer - INFO - Epoch [6][10050/39528] lr: 8.977e-05, eta: 6 days, 21:59:14, time: 0.797, data_time: 0.048, memory: 19865, loss_cls: 0.2025, loss_bbox: 0.3676, loss_traj: 0.6865, loss_traj_cls: 0.0010, loss_map_cls: 0.1476, loss_map_pts: 0.5991, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.8244, d0.loss_plan_l1_fix_dist: 0.4012, d1.loss_plan_l1_fix_time: 1.1142, d1.loss_plan_l1_fix_dist: 0.1684, d2.loss_plan_l1_fix_time: 1.1095, d2.loss_plan_l1_fix_dist: 0.1684, d3.loss_plan_l1_fix_time: 1.1166, d3.loss_plan_l1_fix_dist: 0.1789, d4.loss_plan_l1_fix_time: 1.1201, d4.loss_plan_l1_fix_dist: 0.1909, d5.loss_plan_l1_fix_time: 1.1238, d5.loss_plan_l1_fix_dist: 0.2056, d6.loss_plan_l1_fix_time: 1.1274, d6.loss_plan_l1_fix_dist: 0.2202, d0.loss_cls_all: 0.2347, d0.loss_bbox_all: 0.4269, d0.loss_cls: 0.2347, d0.loss_bbox: 0.4269, d1.loss_cls: 0.2283, d1.loss_bbox: 0.3944, d2.loss_cls: 0.2168, d2.loss_bbox: 0.3783, d3.loss_cls: 0.2076, d3.loss_bbox: 0.3713, d4.loss_cls: 0.2034, d4.loss_bbox: 0.3702, d5.loss_cls: 0.2022, d5.loss_bbox: 0.3684, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9432, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7677, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7126, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7031, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6965, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6881, d0.loss_map_cls_all: 0.2085, d0.loss_map_pts_all: 1.2095, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2085, d0.loss_map_pts: 1.2095, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1771, d1.loss_map_pts: 0.8203, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1650, d2.loss_map_pts: 0.6807, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1534, d3.loss_map_pts: 0.6238, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1489, d4.loss_map_pts: 0.6082, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1482, d5.loss_map_pts: 0.6005, d5.loss_map_dir: 0.0075, loss: 28.8760, grad_norm: 147.9413 +2026-02-26 00:49:44,376 - DriveTransformer - INFO - Epoch [6][10100/39528] lr: 8.977e-05, eta: 6 days, 21:58:38, time: 0.831, data_time: 0.047, memory: 19865, loss_cls: 0.1633, loss_bbox: 0.3494, loss_traj: 0.6302, loss_traj_cls: 0.0010, loss_map_cls: 0.1548, loss_map_pts: 0.7055, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.3457, d0.loss_plan_l1_fix_dist: 0.4251, d1.loss_plan_l1_fix_time: 1.0680, d1.loss_plan_l1_fix_dist: 0.1734, d2.loss_plan_l1_fix_time: 1.0575, d2.loss_plan_l1_fix_dist: 0.1808, d3.loss_plan_l1_fix_time: 1.0553, d3.loss_plan_l1_fix_dist: 0.1927, d4.loss_plan_l1_fix_time: 1.0576, d4.loss_plan_l1_fix_dist: 0.2076, d5.loss_plan_l1_fix_time: 1.0605, d5.loss_plan_l1_fix_dist: 0.2249, d6.loss_plan_l1_fix_time: 1.0640, d6.loss_plan_l1_fix_dist: 0.2461, d0.loss_cls_all: 0.1944, d0.loss_bbox_all: 0.4062, d0.loss_cls: 0.1944, d0.loss_bbox: 0.4062, d1.loss_cls: 0.1884, d1.loss_bbox: 0.3719, d2.loss_cls: 0.1785, d2.loss_bbox: 0.3567, d3.loss_cls: 0.1695, d3.loss_bbox: 0.3518, d4.loss_cls: 0.1641, d4.loss_bbox: 0.3506, d5.loss_cls: 0.1614, d5.loss_bbox: 0.3517, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7964, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6659, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6442, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6389, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6302, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6293, d0.loss_map_cls_all: 0.2212, d0.loss_map_pts_all: 1.4105, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2212, d0.loss_map_pts: 1.4105, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1925, d1.loss_map_pts: 0.9639, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1767, d2.loss_map_pts: 0.7994, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1656, d3.loss_map_pts: 0.7398, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1613, d4.loss_map_pts: 0.7165, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1555, d5.loss_map_pts: 0.7078, d5.loss_map_dir: 0.0103, loss: 28.3416, grad_norm: 146.9135 +2026-02-26 00:50:26,280 - DriveTransformer - INFO - Epoch [6][10150/39528] lr: 8.977e-05, eta: 6 days, 21:58:03, time: 0.838, data_time: 0.046, memory: 19865, loss_cls: 0.1888, loss_bbox: 0.4186, loss_traj: 0.9046, loss_traj_cls: 0.0010, loss_map_cls: 0.1993, loss_map_pts: 0.8259, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 3.0239, d0.loss_plan_l1_fix_dist: 0.4052, d1.loss_plan_l1_fix_time: 1.4926, d1.loss_plan_l1_fix_dist: 0.1884, d2.loss_plan_l1_fix_time: 1.4690, d2.loss_plan_l1_fix_dist: 0.1967, d3.loss_plan_l1_fix_time: 1.4662, d3.loss_plan_l1_fix_dist: 0.2062, d4.loss_plan_l1_fix_time: 1.4682, d4.loss_plan_l1_fix_dist: 0.2205, d5.loss_plan_l1_fix_time: 1.4714, d5.loss_plan_l1_fix_dist: 0.2372, d6.loss_plan_l1_fix_time: 1.4755, d6.loss_plan_l1_fix_dist: 0.2618, d0.loss_cls_all: 0.2167, d0.loss_bbox_all: 0.4804, d0.loss_cls: 0.2167, d0.loss_bbox: 0.4804, d1.loss_cls: 0.2134, d1.loss_bbox: 0.4416, d2.loss_cls: 0.2064, d2.loss_bbox: 0.4230, d3.loss_cls: 0.1941, d3.loss_bbox: 0.4195, d4.loss_cls: 0.1891, d4.loss_bbox: 0.4191, d5.loss_cls: 0.1880, d5.loss_bbox: 0.4195, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2052, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9797, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.9288, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9188, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.9124, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.9097, d0.loss_map_cls_all: 0.2834, d0.loss_map_pts_all: 1.5549, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2834, d0.loss_map_pts: 1.5549, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2448, d1.loss_map_pts: 1.1060, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.2224, d2.loss_map_pts: 0.9271, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.2127, d3.loss_map_pts: 0.8567, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.2059, d4.loss_map_pts: 0.8327, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.2010, d5.loss_map_pts: 0.8262, d5.loss_map_dir: 0.0104, loss: 35.8806, grad_norm: 144.4501 +2026-02-26 00:51:05,789 - DriveTransformer - INFO - Epoch [6][10200/39528] lr: 8.977e-05, eta: 6 days, 21:57:20, time: 0.792, data_time: 0.040, memory: 19865, loss_cls: 0.1821, loss_bbox: 0.3809, loss_traj: 0.8065, loss_traj_cls: 0.0010, loss_map_cls: 0.1635, loss_map_pts: 0.8021, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.4497, d0.loss_plan_l1_fix_dist: 0.4368, d1.loss_plan_l1_fix_time: 1.0268, d1.loss_plan_l1_fix_dist: 0.1977, d2.loss_plan_l1_fix_time: 1.0147, d2.loss_plan_l1_fix_dist: 0.2042, d3.loss_plan_l1_fix_time: 1.0171, d3.loss_plan_l1_fix_dist: 0.2115, d4.loss_plan_l1_fix_time: 1.0206, d4.loss_plan_l1_fix_dist: 0.2172, d5.loss_plan_l1_fix_time: 1.0238, d5.loss_plan_l1_fix_dist: 0.2233, d6.loss_plan_l1_fix_time: 1.0278, d6.loss_plan_l1_fix_dist: 0.2297, d0.loss_cls_all: 0.2168, d0.loss_bbox_all: 0.4428, d0.loss_cls: 0.2168, d0.loss_bbox: 0.4428, d1.loss_cls: 0.2074, d1.loss_bbox: 0.4094, d2.loss_cls: 0.1965, d2.loss_bbox: 0.3938, d3.loss_cls: 0.1880, d3.loss_bbox: 0.3855, d4.loss_cls: 0.1824, d4.loss_bbox: 0.3844, d5.loss_cls: 0.1815, d5.loss_bbox: 0.3828, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0363, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8692, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8062, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7951, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8053, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8076, d0.loss_map_cls_all: 0.2300, d0.loss_map_pts_all: 1.4876, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2300, d0.loss_map_pts: 1.4876, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2012, d1.loss_map_pts: 1.0794, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1831, d2.loss_map_pts: 0.9010, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1726, d3.loss_map_pts: 0.8330, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1658, d4.loss_map_pts: 0.8092, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1640, d5.loss_map_pts: 0.8030, d5.loss_map_dir: 0.0102, loss: 30.8194, grad_norm: 145.3641 +2026-02-26 00:51:47,257 - DriveTransformer - INFO - Epoch [6][10250/39528] lr: 8.977e-05, eta: 6 days, 21:56:43, time: 0.828, data_time: 0.039, memory: 19865, loss_cls: 0.1960, loss_bbox: 0.4027, loss_traj: 0.7121, loss_traj_cls: 0.0010, loss_map_cls: 0.2048, loss_map_pts: 0.9168, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.6165, d0.loss_plan_l1_fix_dist: 0.4177, d1.loss_plan_l1_fix_time: 1.2917, d1.loss_plan_l1_fix_dist: 0.2061, d2.loss_plan_l1_fix_time: 1.2911, d2.loss_plan_l1_fix_dist: 0.2076, d3.loss_plan_l1_fix_time: 1.2993, d3.loss_plan_l1_fix_dist: 0.2182, d4.loss_plan_l1_fix_time: 1.3065, d4.loss_plan_l1_fix_dist: 0.2313, d5.loss_plan_l1_fix_time: 1.3129, d5.loss_plan_l1_fix_dist: 0.2456, d6.loss_plan_l1_fix_time: 1.3190, d6.loss_plan_l1_fix_dist: 0.2612, d0.loss_cls_all: 0.2266, d0.loss_bbox_all: 0.4678, d0.loss_cls: 0.2266, d0.loss_bbox: 0.4678, d1.loss_cls: 0.2196, d1.loss_bbox: 0.4336, d2.loss_cls: 0.2131, d2.loss_bbox: 0.4138, d3.loss_cls: 0.2027, d3.loss_bbox: 0.4059, d4.loss_cls: 0.1957, d4.loss_bbox: 0.4049, d5.loss_cls: 0.1946, d5.loss_bbox: 0.4036, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9464, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7673, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7243, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7208, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7122, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7126, d0.loss_map_cls_all: 0.2657, d0.loss_map_pts_all: 1.8330, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2657, d0.loss_map_pts: 1.8330, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2408, d1.loss_map_pts: 1.2228, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2204, d2.loss_map_pts: 1.0256, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.2140, d3.loss_map_pts: 0.9527, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2079, d4.loss_map_pts: 0.9244, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.2061, d5.loss_map_pts: 0.9179, d5.loss_map_dir: 0.0126, loss: 34.1508, grad_norm: 147.7924 +2026-02-26 00:52:28,303 - DriveTransformer - INFO - Epoch [6][10300/39528] lr: 8.977e-05, eta: 6 days, 21:56:06, time: 0.821, data_time: 0.040, memory: 19865, loss_cls: 0.1844, loss_bbox: 0.3737, loss_traj: 0.6980, loss_traj_cls: 0.0009, loss_map_cls: 0.1818, loss_map_pts: 0.7683, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.3692, d0.loss_plan_l1_fix_dist: 0.3675, d1.loss_plan_l1_fix_time: 1.1176, d1.loss_plan_l1_fix_dist: 0.1895, d2.loss_plan_l1_fix_time: 1.1059, d2.loss_plan_l1_fix_dist: 0.1912, d3.loss_plan_l1_fix_time: 1.1136, d3.loss_plan_l1_fix_dist: 0.1983, d4.loss_plan_l1_fix_time: 1.1217, d4.loss_plan_l1_fix_dist: 0.2089, d5.loss_plan_l1_fix_time: 1.1290, d5.loss_plan_l1_fix_dist: 0.2213, d6.loss_plan_l1_fix_time: 1.1355, d6.loss_plan_l1_fix_dist: 0.2355, d0.loss_cls_all: 0.2168, d0.loss_bbox_all: 0.4315, d0.loss_cls: 0.2168, d0.loss_bbox: 0.4315, d1.loss_cls: 0.2059, d1.loss_bbox: 0.4017, d2.loss_cls: 0.1957, d2.loss_bbox: 0.3869, d3.loss_cls: 0.1922, d3.loss_bbox: 0.3756, d4.loss_cls: 0.1846, d4.loss_bbox: 0.3749, d5.loss_cls: 0.1830, d5.loss_bbox: 0.3751, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8549, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7187, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6950, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6895, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6927, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6933, d0.loss_map_cls_all: 0.2534, d0.loss_map_pts_all: 1.5748, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2534, d0.loss_map_pts: 1.5748, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2248, d1.loss_map_pts: 1.0709, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2033, d2.loss_map_pts: 0.8763, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1919, d3.loss_map_pts: 0.8067, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1860, d4.loss_map_pts: 0.7800, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1818, d5.loss_map_pts: 0.7704, d5.loss_map_dir: 0.0118, loss: 30.4732, grad_norm: 148.6035 +2026-02-26 00:53:10,769 - DriveTransformer - INFO - Epoch [6][10350/39528] lr: 8.977e-05, eta: 6 days, 21:55:33, time: 0.849, data_time: 0.041, memory: 19865, loss_cls: 0.2022, loss_bbox: 0.3866, loss_traj: 0.6338, loss_traj_cls: 0.0009, loss_map_cls: 0.2013, loss_map_pts: 0.8693, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.8235, d0.loss_plan_l1_fix_dist: 0.3674, d1.loss_plan_l1_fix_time: 1.2931, d1.loss_plan_l1_fix_dist: 0.1967, d2.loss_plan_l1_fix_time: 1.2748, d2.loss_plan_l1_fix_dist: 0.1961, d3.loss_plan_l1_fix_time: 1.2761, d3.loss_plan_l1_fix_dist: 0.2051, d4.loss_plan_l1_fix_time: 1.2793, d4.loss_plan_l1_fix_dist: 0.2166, d5.loss_plan_l1_fix_time: 1.2834, d5.loss_plan_l1_fix_dist: 0.2309, d6.loss_plan_l1_fix_time: 1.2879, d6.loss_plan_l1_fix_dist: 0.2491, d0.loss_cls_all: 0.2387, d0.loss_bbox_all: 0.4573, d0.loss_cls: 0.2387, d0.loss_bbox: 0.4573, d1.loss_cls: 0.2347, d1.loss_bbox: 0.4221, d2.loss_cls: 0.2200, d2.loss_bbox: 0.4028, d3.loss_cls: 0.2140, d3.loss_bbox: 0.3947, d4.loss_cls: 0.2056, d4.loss_bbox: 0.3909, d5.loss_cls: 0.2022, d5.loss_bbox: 0.3900, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8553, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7009, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6556, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6399, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6409, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6359, d0.loss_map_cls_all: 0.2704, d0.loss_map_pts_all: 1.7417, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2704, d0.loss_map_pts: 1.7417, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2382, d1.loss_map_pts: 1.1761, d1.loss_map_dir: 0.0122, d2.loss_map_cls: 0.2206, d2.loss_map_pts: 0.9692, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.2110, d3.loss_map_pts: 0.9016, d3.loss_map_dir: 0.0129, d4.loss_map_cls: 0.2066, d4.loss_map_pts: 0.8772, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.2019, d5.loss_map_pts: 0.8714, d5.loss_map_dir: 0.0133, loss: 33.0795, grad_norm: 149.6675 +2026-02-26 00:53:51,448 - DriveTransformer - INFO - Epoch [6][10400/39528] lr: 8.977e-05, eta: 6 days, 21:54:54, time: 0.814, data_time: 0.043, memory: 19865, loss_cls: 0.1646, loss_bbox: 0.3761, loss_traj: 0.7027, loss_traj_cls: 0.0009, loss_map_cls: 0.1643, loss_map_pts: 0.7069, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.3365, d0.loss_plan_l1_fix_dist: 0.3767, d1.loss_plan_l1_fix_time: 1.2352, d1.loss_plan_l1_fix_dist: 0.1887, d2.loss_plan_l1_fix_time: 1.2199, d2.loss_plan_l1_fix_dist: 0.1898, d3.loss_plan_l1_fix_time: 1.2169, d3.loss_plan_l1_fix_dist: 0.1967, d4.loss_plan_l1_fix_time: 1.2202, d4.loss_plan_l1_fix_dist: 0.2035, d5.loss_plan_l1_fix_time: 1.2253, d5.loss_plan_l1_fix_dist: 0.2114, d6.loss_plan_l1_fix_time: 1.2316, d6.loss_plan_l1_fix_dist: 0.2218, d0.loss_cls_all: 0.2003, d0.loss_bbox_all: 0.4399, d0.loss_cls: 0.2003, d0.loss_bbox: 0.4399, d1.loss_cls: 0.1962, d1.loss_bbox: 0.4033, d2.loss_cls: 0.1822, d2.loss_bbox: 0.3841, d3.loss_cls: 0.1721, d3.loss_bbox: 0.3781, d4.loss_cls: 0.1667, d4.loss_bbox: 0.3760, d5.loss_cls: 0.1658, d5.loss_bbox: 0.3760, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9083, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7520, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7024, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7001, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6971, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6991, d0.loss_map_cls_all: 0.2340, d0.loss_map_pts_all: 1.5167, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2340, d0.loss_map_pts: 1.5167, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2060, d1.loss_map_pts: 1.0352, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1886, d2.loss_map_pts: 0.8334, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1775, d3.loss_map_pts: 0.7511, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1695, d4.loss_map_pts: 0.7180, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1650, d5.loss_map_pts: 0.7083, d5.loss_map_dir: 0.0098, loss: 30.4637, grad_norm: 150.6478 +2026-02-26 00:54:32,327 - DriveTransformer - INFO - Epoch [6][10450/39528] lr: 8.977e-05, eta: 6 days, 21:54:16, time: 0.818, data_time: 0.044, memory: 19865, loss_cls: 0.1779, loss_bbox: 0.3679, loss_traj: 0.6549, loss_traj_cls: 0.0009, loss_map_cls: 0.1892, loss_map_pts: 0.7870, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.9490, d0.loss_plan_l1_fix_dist: 0.4385, d1.loss_plan_l1_fix_time: 1.0821, d1.loss_plan_l1_fix_dist: 0.1924, d2.loss_plan_l1_fix_time: 1.0523, d2.loss_plan_l1_fix_dist: 0.2003, d3.loss_plan_l1_fix_time: 1.0523, d3.loss_plan_l1_fix_dist: 0.2115, d4.loss_plan_l1_fix_time: 1.0549, d4.loss_plan_l1_fix_dist: 0.2230, d5.loss_plan_l1_fix_time: 1.0582, d5.loss_plan_l1_fix_dist: 0.2349, d6.loss_plan_l1_fix_time: 1.0626, d6.loss_plan_l1_fix_dist: 0.2468, d0.loss_cls_all: 0.2182, d0.loss_bbox_all: 0.4219, d0.loss_cls: 0.2182, d0.loss_bbox: 0.4219, d1.loss_cls: 0.2057, d1.loss_bbox: 0.3906, d2.loss_cls: 0.1937, d2.loss_bbox: 0.3728, d3.loss_cls: 0.1839, d3.loss_bbox: 0.3705, d4.loss_cls: 0.1775, d4.loss_bbox: 0.3689, d5.loss_cls: 0.1783, d5.loss_bbox: 0.3678, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8651, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7184, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6571, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6576, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6534, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6531, d0.loss_map_cls_all: 0.2544, d0.loss_map_pts_all: 1.5554, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2544, d0.loss_map_pts: 1.5554, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2310, d1.loss_map_pts: 1.0861, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2127, d2.loss_map_pts: 0.8926, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.2009, d3.loss_map_pts: 0.8231, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1943, d4.loss_map_pts: 0.7954, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1903, d5.loss_map_pts: 0.7882, d5.loss_map_dir: 0.0108, loss: 30.6553, grad_norm: 152.8303 +2026-02-26 00:55:12,807 - DriveTransformer - INFO - Epoch [6][10500/39528] lr: 8.977e-05, eta: 6 days, 21:53:36, time: 0.809, data_time: 0.053, memory: 19865, loss_cls: 0.1731, loss_bbox: 0.3860, loss_traj: 0.7246, loss_traj_cls: 0.0009, loss_map_cls: 0.1738, loss_map_pts: 0.7557, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.5200, d0.loss_plan_l1_fix_dist: 0.2857, d1.loss_plan_l1_fix_time: 1.1478, d1.loss_plan_l1_fix_dist: 0.1838, d2.loss_plan_l1_fix_time: 1.1359, d2.loss_plan_l1_fix_dist: 0.1935, d3.loss_plan_l1_fix_time: 1.1327, d3.loss_plan_l1_fix_dist: 0.2071, d4.loss_plan_l1_fix_time: 1.1357, d4.loss_plan_l1_fix_dist: 0.2228, d5.loss_plan_l1_fix_time: 1.1387, d5.loss_plan_l1_fix_dist: 0.2399, d6.loss_plan_l1_fix_time: 1.1423, d6.loss_plan_l1_fix_dist: 0.2610, d0.loss_cls_all: 0.2131, d0.loss_bbox_all: 0.4469, d0.loss_cls: 0.2131, d0.loss_bbox: 0.4469, d1.loss_cls: 0.2025, d1.loss_bbox: 0.4106, d2.loss_cls: 0.1922, d2.loss_bbox: 0.3927, d3.loss_cls: 0.1818, d3.loss_bbox: 0.3861, d4.loss_cls: 0.1772, d4.loss_bbox: 0.3839, d5.loss_cls: 0.1739, d5.loss_bbox: 0.3847, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9813, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7796, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7204, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7229, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7263, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7264, d0.loss_map_cls_all: 0.2537, d0.loss_map_pts_all: 1.4564, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2537, d0.loss_map_pts: 1.4564, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2180, d1.loss_map_pts: 1.0198, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1968, d2.loss_map_pts: 0.8495, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1853, d3.loss_map_pts: 0.7845, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1797, d4.loss_map_pts: 0.7609, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1759, d5.loss_map_pts: 0.7552, d5.loss_map_dir: 0.0098, loss: 30.6501, grad_norm: 153.3936 +2026-02-26 00:55:52,950 - DriveTransformer - INFO - Epoch [6][10550/39528] lr: 8.977e-05, eta: 6 days, 21:52:55, time: 0.803, data_time: 0.044, memory: 19865, loss_cls: 0.1771, loss_bbox: 0.3805, loss_traj: 0.7404, loss_traj_cls: 0.0010, loss_map_cls: 0.1665, loss_map_pts: 0.6911, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.5818, d0.loss_plan_l1_fix_dist: 0.3396, d1.loss_plan_l1_fix_time: 1.2731, d1.loss_plan_l1_fix_dist: 0.1821, d2.loss_plan_l1_fix_time: 1.2686, d2.loss_plan_l1_fix_dist: 0.1960, d3.loss_plan_l1_fix_time: 1.2710, d3.loss_plan_l1_fix_dist: 0.2154, d4.loss_plan_l1_fix_time: 1.2753, d4.loss_plan_l1_fix_dist: 0.2376, d5.loss_plan_l1_fix_time: 1.2788, d5.loss_plan_l1_fix_dist: 0.2597, d6.loss_plan_l1_fix_time: 1.2822, d6.loss_plan_l1_fix_dist: 0.2830, d0.loss_cls_all: 0.2180, d0.loss_bbox_all: 0.4476, d0.loss_cls: 0.2180, d0.loss_bbox: 0.4476, d1.loss_cls: 0.2076, d1.loss_bbox: 0.4125, d2.loss_cls: 0.1924, d2.loss_bbox: 0.3944, d3.loss_cls: 0.1848, d3.loss_bbox: 0.3852, d4.loss_cls: 0.1791, d4.loss_bbox: 0.3824, d5.loss_cls: 0.1772, d5.loss_bbox: 0.3820, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9922, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8190, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7586, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7537, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7459, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7402, d0.loss_map_cls_all: 0.2285, d0.loss_map_pts_all: 1.3924, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2285, d0.loss_map_pts: 1.3924, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2035, d1.loss_map_pts: 0.9595, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1852, d2.loss_map_pts: 0.7843, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1769, d3.loss_map_pts: 0.7207, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1705, d4.loss_map_pts: 0.7001, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1665, d5.loss_map_pts: 0.6934, d5.loss_map_dir: 0.0087, loss: 31.2141, grad_norm: 153.7061 +2026-02-26 00:56:31,801 - DriveTransformer - INFO - Epoch [6][10600/39528] lr: 8.977e-05, eta: 6 days, 21:52:09, time: 0.777, data_time: 0.041, memory: 19865, loss_cls: 0.1904, loss_bbox: 0.3739, loss_traj: 0.7143, loss_traj_cls: 0.0010, loss_map_cls: 0.1563, loss_map_pts: 0.5807, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.7165, d0.loss_plan_l1_fix_dist: 0.3215, d1.loss_plan_l1_fix_time: 1.1919, d1.loss_plan_l1_fix_dist: 0.1648, d2.loss_plan_l1_fix_time: 1.1790, d2.loss_plan_l1_fix_dist: 0.1708, d3.loss_plan_l1_fix_time: 1.1783, d3.loss_plan_l1_fix_dist: 0.1844, d4.loss_plan_l1_fix_time: 1.1804, d4.loss_plan_l1_fix_dist: 0.2015, d5.loss_plan_l1_fix_time: 1.1833, d5.loss_plan_l1_fix_dist: 0.2235, d6.loss_plan_l1_fix_time: 1.1871, d6.loss_plan_l1_fix_dist: 0.2486, d0.loss_cls_all: 0.2265, d0.loss_bbox_all: 0.4250, d0.loss_cls: 0.2265, d0.loss_bbox: 0.4250, d1.loss_cls: 0.2204, d1.loss_bbox: 0.3958, d2.loss_cls: 0.2048, d2.loss_bbox: 0.3800, d3.loss_cls: 0.1964, d3.loss_bbox: 0.3724, d4.loss_cls: 0.1921, d4.loss_bbox: 0.3721, d5.loss_cls: 0.1893, d5.loss_bbox: 0.3739, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9063, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7642, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7317, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7254, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7166, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7134, d0.loss_map_cls_all: 0.2193, d0.loss_map_pts_all: 1.2059, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2193, d0.loss_map_pts: 1.2059, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1886, d1.loss_map_pts: 0.8183, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1708, d2.loss_map_pts: 0.6722, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1637, d3.loss_map_pts: 0.6100, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1599, d4.loss_map_pts: 0.5909, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1575, d5.loss_map_pts: 0.5818, d5.loss_map_dir: 0.0078, loss: 29.1377, grad_norm: 150.8936 +2026-02-26 00:57:12,407 - DriveTransformer - INFO - Epoch [6][10650/39528] lr: 8.977e-05, eta: 6 days, 21:51:30, time: 0.812, data_time: 0.049, memory: 19865, loss_cls: 0.1725, loss_bbox: 0.3851, loss_traj: 0.6894, loss_traj_cls: 0.0010, loss_map_cls: 0.1688, loss_map_pts: 0.7804, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.2095, d0.loss_plan_l1_fix_dist: 0.4078, d1.loss_plan_l1_fix_time: 1.0751, d1.loss_plan_l1_fix_dist: 0.1799, d2.loss_plan_l1_fix_time: 1.0586, d2.loss_plan_l1_fix_dist: 0.1944, d3.loss_plan_l1_fix_time: 1.0580, d3.loss_plan_l1_fix_dist: 0.2156, d4.loss_plan_l1_fix_time: 1.0613, d4.loss_plan_l1_fix_dist: 0.2364, d5.loss_plan_l1_fix_time: 1.0653, d5.loss_plan_l1_fix_dist: 0.2577, d6.loss_plan_l1_fix_time: 1.0696, d6.loss_plan_l1_fix_dist: 0.2803, d0.loss_cls_all: 0.2017, d0.loss_bbox_all: 0.4287, d0.loss_cls: 0.2017, d0.loss_bbox: 0.4287, d1.loss_cls: 0.1964, d1.loss_bbox: 0.3990, d2.loss_cls: 0.1865, d2.loss_bbox: 0.3866, d3.loss_cls: 0.1797, d3.loss_bbox: 0.3801, d4.loss_cls: 0.1712, d4.loss_bbox: 0.3820, d5.loss_cls: 0.1704, d5.loss_bbox: 0.3842, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8468, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7446, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7033, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6958, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6925, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6891, d0.loss_map_cls_all: 0.2468, d0.loss_map_pts_all: 1.5830, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2468, d0.loss_map_pts: 1.5830, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2087, d1.loss_map_pts: 1.0858, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1911, d2.loss_map_pts: 0.8877, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1811, d3.loss_map_pts: 0.8155, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1746, d4.loss_map_pts: 0.7922, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1701, d5.loss_map_pts: 0.7825, d5.loss_map_dir: 0.0112, loss: 30.0770, grad_norm: 154.1413 +2026-02-26 00:57:53,242 - DriveTransformer - INFO - Epoch [6][10700/39528] lr: 8.977e-05, eta: 6 days, 21:50:51, time: 0.817, data_time: 0.048, memory: 19865, loss_cls: 0.1957, loss_bbox: 0.4103, loss_traj: 0.6791, loss_traj_cls: 0.0010, loss_map_cls: 0.1812, loss_map_pts: 0.8122, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.9936, d0.loss_plan_l1_fix_dist: 0.3797, d1.loss_plan_l1_fix_time: 1.3125, d1.loss_plan_l1_fix_dist: 0.1971, d2.loss_plan_l1_fix_time: 1.2828, d2.loss_plan_l1_fix_dist: 0.2182, d3.loss_plan_l1_fix_time: 1.2825, d3.loss_plan_l1_fix_dist: 0.2462, d4.loss_plan_l1_fix_time: 1.2866, d4.loss_plan_l1_fix_dist: 0.2748, d5.loss_plan_l1_fix_time: 1.2914, d5.loss_plan_l1_fix_dist: 0.3025, d6.loss_plan_l1_fix_time: 1.2966, d6.loss_plan_l1_fix_dist: 0.3338, d0.loss_cls_all: 0.2367, d0.loss_bbox_all: 0.4727, d0.loss_cls: 0.2367, d0.loss_bbox: 0.4727, d1.loss_cls: 0.2273, d1.loss_bbox: 0.4381, d2.loss_cls: 0.2128, d2.loss_bbox: 0.4178, d3.loss_cls: 0.2047, d3.loss_bbox: 0.4109, d4.loss_cls: 0.1989, d4.loss_bbox: 0.4097, d5.loss_cls: 0.1977, d5.loss_bbox: 0.4081, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8433, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7160, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6797, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6708, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6727, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6737, d0.loss_map_cls_all: 0.2367, d0.loss_map_pts_all: 1.6398, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2367, d0.loss_map_pts: 1.6398, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2104, d1.loss_map_pts: 1.1163, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.1971, d2.loss_map_pts: 0.9122, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.1881, d3.loss_map_pts: 0.8399, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.1841, d4.loss_map_pts: 0.8176, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.1823, d5.loss_map_pts: 0.8122, d5.loss_map_dir: 0.0125, loss: 33.0930, grad_norm: 155.9803 +2026-02-26 00:58:33,130 - DriveTransformer - INFO - Epoch [6][10750/39528] lr: 8.977e-05, eta: 6 days, 21:50:10, time: 0.798, data_time: 0.047, memory: 19865, loss_cls: 0.2060, loss_bbox: 0.3945, loss_traj: 0.6626, loss_traj_cls: 0.0010, loss_map_cls: 0.1939, loss_map_pts: 0.8222, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.6231, d0.loss_plan_l1_fix_dist: 0.3949, d1.loss_plan_l1_fix_time: 1.1828, d1.loss_plan_l1_fix_dist: 0.1857, d2.loss_plan_l1_fix_time: 1.1663, d2.loss_plan_l1_fix_dist: 0.1953, d3.loss_plan_l1_fix_time: 1.1727, d3.loss_plan_l1_fix_dist: 0.2076, d4.loss_plan_l1_fix_time: 1.1774, d4.loss_plan_l1_fix_dist: 0.2232, d5.loss_plan_l1_fix_time: 1.1820, d5.loss_plan_l1_fix_dist: 0.2401, d6.loss_plan_l1_fix_time: 1.1868, d6.loss_plan_l1_fix_dist: 0.2603, d0.loss_cls_all: 0.2474, d0.loss_bbox_all: 0.4606, d0.loss_cls: 0.2474, d0.loss_bbox: 0.4606, d1.loss_cls: 0.2385, d1.loss_bbox: 0.4235, d2.loss_cls: 0.2228, d2.loss_bbox: 0.4023, d3.loss_cls: 0.2143, d3.loss_bbox: 0.3939, d4.loss_cls: 0.2115, d4.loss_bbox: 0.3918, d5.loss_cls: 0.2080, d5.loss_bbox: 0.3936, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8171, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6898, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6512, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6463, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6457, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6504, d0.loss_map_cls_all: 0.2595, d0.loss_map_pts_all: 1.5725, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2595, d0.loss_map_pts: 1.5725, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2315, d1.loss_map_pts: 1.1075, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2150, d2.loss_map_pts: 0.9256, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.2062, d3.loss_map_pts: 0.8565, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1987, d4.loss_map_pts: 0.8307, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1954, d5.loss_map_pts: 0.8245, d5.loss_map_dir: 0.0114, loss: 31.6449, grad_norm: 155.3000 +2026-02-26 00:59:12,054 - DriveTransformer - INFO - Epoch [6][10800/39528] lr: 8.977e-05, eta: 6 days, 21:49:24, time: 0.778, data_time: 0.043, memory: 19865, loss_cls: 0.1963, loss_bbox: 0.3921, loss_traj: 0.6265, loss_traj_cls: 0.0010, loss_map_cls: 0.1782, loss_map_pts: 0.7160, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.4829, d0.loss_plan_l1_fix_dist: 0.3703, d1.loss_plan_l1_fix_time: 1.2812, d1.loss_plan_l1_fix_dist: 0.1784, d2.loss_plan_l1_fix_time: 1.2851, d2.loss_plan_l1_fix_dist: 0.1901, d3.loss_plan_l1_fix_time: 1.2925, d3.loss_plan_l1_fix_dist: 0.2071, d4.loss_plan_l1_fix_time: 1.2969, d4.loss_plan_l1_fix_dist: 0.2271, d5.loss_plan_l1_fix_time: 1.3005, d5.loss_plan_l1_fix_dist: 0.2470, d6.loss_plan_l1_fix_time: 1.3047, d6.loss_plan_l1_fix_dist: 0.2649, d0.loss_cls_all: 0.2278, d0.loss_bbox_all: 0.4564, d0.loss_cls: 0.2278, d0.loss_bbox: 0.4564, d1.loss_cls: 0.2219, d1.loss_bbox: 0.4219, d2.loss_cls: 0.2100, d2.loss_bbox: 0.4028, d3.loss_cls: 0.2026, d3.loss_bbox: 0.3947, d4.loss_cls: 0.1984, d4.loss_bbox: 0.3937, d5.loss_cls: 0.1967, d5.loss_bbox: 0.3928, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8173, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6912, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6492, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6300, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6271, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6228, d0.loss_map_cls_all: 0.2476, d0.loss_map_pts_all: 1.4191, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2476, d0.loss_map_pts: 1.4191, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2187, d1.loss_map_pts: 0.9972, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1999, d2.loss_map_pts: 0.8296, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1865, d3.loss_map_pts: 0.7613, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1828, d4.loss_map_pts: 0.7318, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1792, d5.loss_map_pts: 0.7189, d5.loss_map_dir: 0.0098, loss: 30.8998, grad_norm: 155.6171 +2026-02-26 00:59:52,200 - DriveTransformer - INFO - Epoch [6][10850/39528] lr: 8.977e-05, eta: 6 days, 21:48:43, time: 0.803, data_time: 0.042, memory: 19865, loss_cls: 0.2135, loss_bbox: 0.4067, loss_traj: 0.9147, loss_traj_cls: 0.0010, loss_map_cls: 0.2033, loss_map_pts: 0.8263, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.7851, d0.loss_plan_l1_fix_dist: 0.3823, d1.loss_plan_l1_fix_time: 1.2226, d1.loss_plan_l1_fix_dist: 0.2182, d2.loss_plan_l1_fix_time: 1.2136, d2.loss_plan_l1_fix_dist: 0.2266, d3.loss_plan_l1_fix_time: 1.2136, d3.loss_plan_l1_fix_dist: 0.2402, d4.loss_plan_l1_fix_time: 1.2163, d4.loss_plan_l1_fix_dist: 0.2566, d5.loss_plan_l1_fix_time: 1.2196, d5.loss_plan_l1_fix_dist: 0.2740, d6.loss_plan_l1_fix_time: 1.2232, d6.loss_plan_l1_fix_dist: 0.2912, d0.loss_cls_all: 0.2510, d0.loss_bbox_all: 0.4744, d0.loss_cls: 0.2510, d0.loss_bbox: 0.4744, d1.loss_cls: 0.2411, d1.loss_bbox: 0.4356, d2.loss_cls: 0.2288, d2.loss_bbox: 0.4176, d3.loss_cls: 0.2192, d3.loss_bbox: 0.4117, d4.loss_cls: 0.2144, d4.loss_bbox: 0.4079, d5.loss_cls: 0.2140, d5.loss_bbox: 0.4061, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2071, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9713, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.9031, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8918, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8984, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8940, d0.loss_map_cls_all: 0.2657, d0.loss_map_pts_all: 1.5462, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2657, d0.loss_map_pts: 1.5462, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2383, d1.loss_map_pts: 1.0978, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.2208, d2.loss_map_pts: 0.9217, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.2133, d3.loss_map_pts: 0.8593, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.2071, d4.loss_map_pts: 0.8368, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.2045, d5.loss_map_pts: 0.8287, d5.loss_map_dir: 0.0108, loss: 34.3001, grad_norm: 155.9248 +2026-02-26 01:00:31,767 - DriveTransformer - INFO - Epoch [6][10900/39528] lr: 8.977e-05, eta: 6 days, 21:48:00, time: 0.791, data_time: 0.043, memory: 19865, loss_cls: 0.1914, loss_bbox: 0.3715, loss_traj: 0.6977, loss_traj_cls: 0.0010, loss_map_cls: 0.1715, loss_map_pts: 0.7694, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.3961, d0.loss_plan_l1_fix_dist: 0.4175, d1.loss_plan_l1_fix_time: 1.0875, d1.loss_plan_l1_fix_dist: 0.1865, d2.loss_plan_l1_fix_time: 1.0687, d2.loss_plan_l1_fix_dist: 0.2010, d3.loss_plan_l1_fix_time: 1.0708, d3.loss_plan_l1_fix_dist: 0.2219, d4.loss_plan_l1_fix_time: 1.0757, d4.loss_plan_l1_fix_dist: 0.2446, d5.loss_plan_l1_fix_time: 1.0810, d5.loss_plan_l1_fix_dist: 0.2676, d6.loss_plan_l1_fix_time: 1.0862, d6.loss_plan_l1_fix_dist: 0.2926, d0.loss_cls_all: 0.2191, d0.loss_bbox_all: 0.4339, d0.loss_cls: 0.2191, d0.loss_bbox: 0.4339, d1.loss_cls: 0.2139, d1.loss_bbox: 0.4020, d2.loss_cls: 0.2017, d2.loss_bbox: 0.3841, d3.loss_cls: 0.1939, d3.loss_bbox: 0.3760, d4.loss_cls: 0.1911, d4.loss_bbox: 0.3743, d5.loss_cls: 0.1909, d5.loss_bbox: 0.3726, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9677, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7875, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7108, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6968, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6958, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6957, d0.loss_map_cls_all: 0.2408, d0.loss_map_pts_all: 1.6309, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2408, d0.loss_map_pts: 1.6309, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2094, d1.loss_map_pts: 1.1048, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1901, d2.loss_map_pts: 0.8864, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1809, d3.loss_map_pts: 0.8057, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1749, d4.loss_map_pts: 0.7810, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1725, d5.loss_map_pts: 0.7719, d5.loss_map_dir: 0.0106, loss: 30.7678, grad_norm: 156.4605 +2026-02-26 01:01:11,652 - DriveTransformer - INFO - Epoch [6][10950/39528] lr: 8.977e-05, eta: 6 days, 21:47:18, time: 0.798, data_time: 0.043, memory: 19865, loss_cls: 0.1837, loss_bbox: 0.3825, loss_traj: 0.7404, loss_traj_cls: 0.0009, loss_map_cls: 0.1954, loss_map_pts: 0.8026, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.9266, d0.loss_plan_l1_fix_dist: 0.3271, d1.loss_plan_l1_fix_time: 1.1939, d1.loss_plan_l1_fix_dist: 0.1919, d2.loss_plan_l1_fix_time: 1.1912, d2.loss_plan_l1_fix_dist: 0.1955, d3.loss_plan_l1_fix_time: 1.1961, d3.loss_plan_l1_fix_dist: 0.2087, d4.loss_plan_l1_fix_time: 1.2001, d4.loss_plan_l1_fix_dist: 0.2244, d5.loss_plan_l1_fix_time: 1.2045, d5.loss_plan_l1_fix_dist: 0.2416, d6.loss_plan_l1_fix_time: 1.2088, d6.loss_plan_l1_fix_dist: 0.2631, d0.loss_cls_all: 0.2210, d0.loss_bbox_all: 0.4457, d0.loss_cls: 0.2210, d0.loss_bbox: 0.4457, d1.loss_cls: 0.2134, d1.loss_bbox: 0.4091, d2.loss_cls: 0.1989, d2.loss_bbox: 0.3922, d3.loss_cls: 0.1910, d3.loss_bbox: 0.3826, d4.loss_cls: 0.1857, d4.loss_bbox: 0.3807, d5.loss_cls: 0.1815, d5.loss_bbox: 0.3836, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9950, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8112, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7510, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7380, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7432, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7415, d0.loss_map_cls_all: 0.2663, d0.loss_map_pts_all: 1.5995, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2663, d0.loss_map_pts: 1.5995, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2372, d1.loss_map_pts: 1.1059, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2155, d2.loss_map_pts: 0.9178, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.2039, d3.loss_map_pts: 0.8416, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1976, d4.loss_map_pts: 0.8139, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1956, d5.loss_map_pts: 0.8049, d5.loss_map_dir: 0.0109, loss: 32.4654, grad_norm: 157.2609 +2026-02-26 01:01:52,079 - DriveTransformer - INFO - Epoch [6][11000/39528] lr: 8.977e-05, eta: 6 days, 21:46:39, time: 0.810, data_time: 0.045, memory: 19865, loss_cls: 0.1832, loss_bbox: 0.3683, loss_traj: 0.6275, loss_traj_cls: 0.0010, loss_map_cls: 0.1505, loss_map_pts: 0.6178, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.4387, d0.loss_plan_l1_fix_dist: 0.4058, d1.loss_plan_l1_fix_time: 1.1128, d1.loss_plan_l1_fix_dist: 0.1815, d2.loss_plan_l1_fix_time: 1.1103, d2.loss_plan_l1_fix_dist: 0.1849, d3.loss_plan_l1_fix_time: 1.1136, d3.loss_plan_l1_fix_dist: 0.1975, d4.loss_plan_l1_fix_time: 1.1169, d4.loss_plan_l1_fix_dist: 0.2118, d5.loss_plan_l1_fix_time: 1.1202, d5.loss_plan_l1_fix_dist: 0.2291, d6.loss_plan_l1_fix_time: 1.1241, d6.loss_plan_l1_fix_dist: 0.2480, d0.loss_cls_all: 0.2158, d0.loss_bbox_all: 0.4366, d0.loss_cls: 0.2158, d0.loss_bbox: 0.4366, d1.loss_cls: 0.2108, d1.loss_bbox: 0.4008, d2.loss_cls: 0.1987, d2.loss_bbox: 0.3811, d3.loss_cls: 0.1855, d3.loss_bbox: 0.3752, d4.loss_cls: 0.1825, d4.loss_bbox: 0.3720, d5.loss_cls: 0.1819, d5.loss_bbox: 0.3695, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8062, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6791, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6346, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6311, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6301, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6289, d0.loss_map_cls_all: 0.2112, d0.loss_map_pts_all: 1.3101, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2112, d0.loss_map_pts: 1.3101, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1837, d1.loss_map_pts: 0.8743, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1670, d2.loss_map_pts: 0.7021, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1580, d3.loss_map_pts: 0.6476, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1541, d4.loss_map_pts: 0.6263, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1513, d5.loss_map_pts: 0.6187, d5.loss_map_dir: 0.0094, loss: 28.3202, grad_norm: 154.5394 +2026-02-26 01:02:34,567 - DriveTransformer - INFO - Epoch [6][11050/39528] lr: 8.977e-05, eta: 6 days, 21:46:06, time: 0.849, data_time: 0.054, memory: 19865, loss_cls: 0.1771, loss_bbox: 0.3533, loss_traj: 0.6652, loss_traj_cls: 0.0010, loss_map_cls: 0.1746, loss_map_pts: 0.7279, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.5186, d0.loss_plan_l1_fix_dist: 0.3816, d1.loss_plan_l1_fix_time: 1.1532, d1.loss_plan_l1_fix_dist: 0.1935, d2.loss_plan_l1_fix_time: 1.1436, d2.loss_plan_l1_fix_dist: 0.1979, d3.loss_plan_l1_fix_time: 1.1434, d3.loss_plan_l1_fix_dist: 0.2115, d4.loss_plan_l1_fix_time: 1.1463, d4.loss_plan_l1_fix_dist: 0.2294, d5.loss_plan_l1_fix_time: 1.1497, d5.loss_plan_l1_fix_dist: 0.2496, d6.loss_plan_l1_fix_time: 1.1540, d6.loss_plan_l1_fix_dist: 0.2712, d0.loss_cls_all: 0.2088, d0.loss_bbox_all: 0.4093, d0.loss_cls: 0.2088, d0.loss_bbox: 0.4093, d1.loss_cls: 0.2003, d1.loss_bbox: 0.3755, d2.loss_cls: 0.1884, d2.loss_bbox: 0.3606, d3.loss_cls: 0.1810, d3.loss_bbox: 0.3561, d4.loss_cls: 0.1786, d4.loss_bbox: 0.3534, d5.loss_cls: 0.1768, d5.loss_bbox: 0.3531, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8587, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7180, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6752, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6674, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6638, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6624, d0.loss_map_cls_all: 0.2420, d0.loss_map_pts_all: 1.5345, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2420, d0.loss_map_pts: 1.5345, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2115, d1.loss_map_pts: 0.9951, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1931, d2.loss_map_pts: 0.8144, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1849, d3.loss_map_pts: 0.7559, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1809, d4.loss_map_pts: 0.7360, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1759, d5.loss_map_pts: 0.7294, d5.loss_map_dir: 0.0109, loss: 30.0691, grad_norm: 153.2313 +2026-02-26 01:03:15,605 - DriveTransformer - INFO - Epoch [6][11100/39528] lr: 8.977e-05, eta: 6 days, 21:45:28, time: 0.820, data_time: 0.038, memory: 19865, loss_cls: 0.1866, loss_bbox: 0.3850, loss_traj: 0.7270, loss_traj_cls: 0.0010, loss_map_cls: 0.1806, loss_map_pts: 0.7523, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.6314, d0.loss_plan_l1_fix_dist: 0.4092, d1.loss_plan_l1_fix_time: 1.2138, d1.loss_plan_l1_fix_dist: 0.2107, d2.loss_plan_l1_fix_time: 1.2021, d2.loss_plan_l1_fix_dist: 0.2213, d3.loss_plan_l1_fix_time: 1.2073, d3.loss_plan_l1_fix_dist: 0.2350, d4.loss_plan_l1_fix_time: 1.2103, d4.loss_plan_l1_fix_dist: 0.2499, d5.loss_plan_l1_fix_time: 1.2136, d5.loss_plan_l1_fix_dist: 0.2654, d6.loss_plan_l1_fix_time: 1.2171, d6.loss_plan_l1_fix_dist: 0.2801, d0.loss_cls_all: 0.2247, d0.loss_bbox_all: 0.4539, d0.loss_cls: 0.2247, d0.loss_bbox: 0.4539, d1.loss_cls: 0.2198, d1.loss_bbox: 0.4179, d2.loss_cls: 0.2035, d2.loss_bbox: 0.3953, d3.loss_cls: 0.1928, d3.loss_bbox: 0.3888, d4.loss_cls: 0.1864, d4.loss_bbox: 0.3891, d5.loss_cls: 0.1853, d5.loss_bbox: 0.3868, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9001, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7718, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7451, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7344, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7315, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7295, d0.loss_map_cls_all: 0.2420, d0.loss_map_pts_all: 1.4186, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2420, d0.loss_map_pts: 1.4186, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2165, d1.loss_map_pts: 1.0028, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.2012, d2.loss_map_pts: 0.8405, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1918, d3.loss_map_pts: 0.7788, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1863, d4.loss_map_pts: 0.7607, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1827, d5.loss_map_pts: 0.7528, d5.loss_map_dir: 0.0100, loss: 31.4520, grad_norm: 153.0931 +2026-02-26 01:03:54,180 - DriveTransformer - INFO - Epoch [6][11150/39528] lr: 8.977e-05, eta: 6 days, 21:44:42, time: 0.772, data_time: 0.043, memory: 19865, loss_cls: 0.1989, loss_bbox: 0.3913, loss_traj: 0.7058, loss_traj_cls: 0.0010, loss_map_cls: 0.1958, loss_map_pts: 0.7791, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.7262, d0.loss_plan_l1_fix_dist: 0.3639, d1.loss_plan_l1_fix_time: 1.0618, d1.loss_plan_l1_fix_dist: 0.1714, d2.loss_plan_l1_fix_time: 1.0452, d2.loss_plan_l1_fix_dist: 0.1823, d3.loss_plan_l1_fix_time: 1.0487, d3.loss_plan_l1_fix_dist: 0.1999, d4.loss_plan_l1_fix_time: 1.0519, d4.loss_plan_l1_fix_dist: 0.2179, d5.loss_plan_l1_fix_time: 1.0549, d5.loss_plan_l1_fix_dist: 0.2374, d6.loss_plan_l1_fix_time: 1.0580, d6.loss_plan_l1_fix_dist: 0.2577, d0.loss_cls_all: 0.2435, d0.loss_bbox_all: 0.4635, d0.loss_cls: 0.2435, d0.loss_bbox: 0.4635, d1.loss_cls: 0.2360, d1.loss_bbox: 0.4302, d2.loss_cls: 0.2163, d2.loss_bbox: 0.4089, d3.loss_cls: 0.2058, d3.loss_bbox: 0.3985, d4.loss_cls: 0.2002, d4.loss_bbox: 0.3954, d5.loss_cls: 0.1983, d5.loss_bbox: 0.3938, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9674, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7781, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7214, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7126, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7093, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7075, d0.loss_map_cls_all: 0.2757, d0.loss_map_pts_all: 1.4230, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2757, d0.loss_map_pts: 1.4230, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2458, d1.loss_map_pts: 1.0397, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.2233, d2.loss_map_pts: 0.8846, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.2084, d3.loss_map_pts: 0.8159, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.2026, d4.loss_map_pts: 0.7904, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1985, d5.loss_map_pts: 0.7794, d5.loss_map_dir: 0.0092, loss: 30.9050, grad_norm: 156.7271 +2026-02-26 01:04:35,520 - DriveTransformer - INFO - Epoch [6][11200/39528] lr: 8.977e-05, eta: 6 days, 21:44:05, time: 0.826, data_time: 0.041, memory: 19865, loss_cls: 0.1963, loss_bbox: 0.3828, loss_traj: 0.7271, loss_traj_cls: 0.0010, loss_map_cls: 0.1979, loss_map_pts: 0.8795, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.5672, d0.loss_plan_l1_fix_dist: 0.4256, d1.loss_plan_l1_fix_time: 1.1452, d1.loss_plan_l1_fix_dist: 0.2025, d2.loss_plan_l1_fix_time: 1.1223, d2.loss_plan_l1_fix_dist: 0.2120, d3.loss_plan_l1_fix_time: 1.1215, d3.loss_plan_l1_fix_dist: 0.2277, d4.loss_plan_l1_fix_time: 1.1246, d4.loss_plan_l1_fix_dist: 0.2453, d5.loss_plan_l1_fix_time: 1.1280, d5.loss_plan_l1_fix_dist: 0.2659, d6.loss_plan_l1_fix_time: 1.1318, d6.loss_plan_l1_fix_dist: 0.2911, d0.loss_cls_all: 0.2226, d0.loss_bbox_all: 0.4533, d0.loss_cls: 0.2226, d0.loss_bbox: 0.4533, d1.loss_cls: 0.2158, d1.loss_bbox: 0.4143, d2.loss_cls: 0.2014, d2.loss_bbox: 0.3966, d3.loss_cls: 0.1961, d3.loss_bbox: 0.3883, d4.loss_cls: 0.1943, d4.loss_bbox: 0.3854, d5.loss_cls: 0.1951, d5.loss_bbox: 0.3840, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9181, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7760, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7283, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7207, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7221, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7309, d0.loss_map_cls_all: 0.2727, d0.loss_map_pts_all: 1.7025, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2727, d0.loss_map_pts: 1.7025, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2388, d1.loss_map_pts: 1.1731, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2183, d2.loss_map_pts: 0.9814, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2082, d3.loss_map_pts: 0.9148, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.2036, d4.loss_map_pts: 0.8942, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.1993, d5.loss_map_pts: 0.8814, d5.loss_map_dir: 0.0120, loss: 32.4760, grad_norm: 157.4493 +2026-02-26 01:05:13,611 - DriveTransformer - INFO - Epoch [6][11250/39528] lr: 8.977e-05, eta: 6 days, 21:43:17, time: 0.762, data_time: 0.045, memory: 19865, loss_cls: 0.1843, loss_bbox: 0.3771, loss_traj: 0.7800, loss_traj_cls: 0.0010, loss_map_cls: 0.1850, loss_map_pts: 0.7243, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.5202, d0.loss_plan_l1_fix_dist: 0.3659, d1.loss_plan_l1_fix_time: 1.1643, d1.loss_plan_l1_fix_dist: 0.1735, d2.loss_plan_l1_fix_time: 1.1444, d2.loss_plan_l1_fix_dist: 0.1839, d3.loss_plan_l1_fix_time: 1.1444, d3.loss_plan_l1_fix_dist: 0.1987, d4.loss_plan_l1_fix_time: 1.1483, d4.loss_plan_l1_fix_dist: 0.2198, d5.loss_plan_l1_fix_time: 1.1527, d5.loss_plan_l1_fix_dist: 0.2432, d6.loss_plan_l1_fix_time: 1.1575, d6.loss_plan_l1_fix_dist: 0.2709, d0.loss_cls_all: 0.2087, d0.loss_bbox_all: 0.4406, d0.loss_cls: 0.2087, d0.loss_bbox: 0.4406, d1.loss_cls: 0.2041, d1.loss_bbox: 0.4054, d2.loss_cls: 0.1921, d2.loss_bbox: 0.3907, d3.loss_cls: 0.1878, d3.loss_bbox: 0.3798, d4.loss_cls: 0.1837, d4.loss_bbox: 0.3789, d5.loss_cls: 0.1830, d5.loss_bbox: 0.3787, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0425, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8194, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7837, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7755, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7707, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7788, d0.loss_map_cls_all: 0.2616, d0.loss_map_pts_all: 1.3628, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2616, d0.loss_map_pts: 1.3628, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.2327, d1.loss_map_pts: 0.9945, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.2079, d2.loss_map_pts: 0.8279, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1950, d3.loss_map_pts: 0.7557, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1882, d4.loss_map_pts: 0.7345, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1846, d5.loss_map_pts: 0.7256, d5.loss_map_dir: 0.0087, loss: 30.8601, grad_norm: 161.3788 +2026-02-26 01:05:53,318 - DriveTransformer - INFO - Epoch [6][11300/39528] lr: 8.977e-05, eta: 6 days, 21:42:34, time: 0.794, data_time: 0.045, memory: 19865, loss_cls: 0.1869, loss_bbox: 0.3830, loss_traj: 0.7040, loss_traj_cls: 0.0010, loss_map_cls: 0.1767, loss_map_pts: 0.7184, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.6210, d0.loss_plan_l1_fix_dist: 0.5722, d1.loss_plan_l1_fix_time: 1.2250, d1.loss_plan_l1_fix_dist: 0.2083, d2.loss_plan_l1_fix_time: 1.2151, d2.loss_plan_l1_fix_dist: 0.2114, d3.loss_plan_l1_fix_time: 1.2170, d3.loss_plan_l1_fix_dist: 0.2223, d4.loss_plan_l1_fix_time: 1.2217, d4.loss_plan_l1_fix_dist: 0.2373, d5.loss_plan_l1_fix_time: 1.2271, d5.loss_plan_l1_fix_dist: 0.2551, d6.loss_plan_l1_fix_time: 1.2331, d6.loss_plan_l1_fix_dist: 0.2740, d0.loss_cls_all: 0.2129, d0.loss_bbox_all: 0.4540, d0.loss_cls: 0.2129, d0.loss_bbox: 0.4540, d1.loss_cls: 0.2101, d1.loss_bbox: 0.4167, d2.loss_cls: 0.2023, d2.loss_bbox: 0.3960, d3.loss_cls: 0.1941, d3.loss_bbox: 0.3864, d4.loss_cls: 0.1870, d4.loss_bbox: 0.3863, d5.loss_cls: 0.1861, d5.loss_bbox: 0.3865, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9425, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7754, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7169, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7022, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.7067, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7063, d0.loss_map_cls_all: 0.2362, d0.loss_map_pts_all: 1.4201, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2362, d0.loss_map_pts: 1.4201, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2097, d1.loss_map_pts: 0.9699, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1920, d2.loss_map_pts: 0.8119, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1842, d3.loss_map_pts: 0.7544, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1796, d4.loss_map_pts: 0.7284, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1781, d5.loss_map_pts: 0.7188, d5.loss_map_dir: 0.0092, loss: 31.2626, grad_norm: 162.7872 +2026-02-26 01:06:32,921 - DriveTransformer - INFO - Epoch [6][11350/39528] lr: 8.977e-05, eta: 6 days, 21:41:51, time: 0.792, data_time: 0.047, memory: 19865, loss_cls: 0.1888, loss_bbox: 0.3893, loss_traj: 0.6494, loss_traj_cls: 0.0011, loss_map_cls: 0.1761, loss_map_pts: 0.7516, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.8560, d0.loss_plan_l1_fix_dist: 0.5636, d1.loss_plan_l1_fix_time: 1.1667, d1.loss_plan_l1_fix_dist: 0.2159, d2.loss_plan_l1_fix_time: 1.1447, d2.loss_plan_l1_fix_dist: 0.2205, d3.loss_plan_l1_fix_time: 1.1421, d3.loss_plan_l1_fix_dist: 0.2343, d4.loss_plan_l1_fix_time: 1.1441, d4.loss_plan_l1_fix_dist: 0.2488, d5.loss_plan_l1_fix_time: 1.1470, d5.loss_plan_l1_fix_dist: 0.2655, d6.loss_plan_l1_fix_time: 1.1505, d6.loss_plan_l1_fix_dist: 0.2827, d0.loss_cls_all: 0.2208, d0.loss_bbox_all: 0.4489, d0.loss_cls: 0.2208, d0.loss_bbox: 0.4489, d1.loss_cls: 0.2158, d1.loss_bbox: 0.4149, d2.loss_cls: 0.2049, d2.loss_bbox: 0.4011, d3.loss_cls: 0.1966, d3.loss_bbox: 0.3941, d4.loss_cls: 0.1893, d4.loss_bbox: 0.3916, d5.loss_cls: 0.1880, d5.loss_bbox: 0.3911, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7917, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6790, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6490, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6424, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6444, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6447, d0.loss_map_cls_all: 0.2377, d0.loss_map_pts_all: 1.4781, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2377, d0.loss_map_pts: 1.4781, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2150, d1.loss_map_pts: 0.9987, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1994, d2.loss_map_pts: 0.8346, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1887, d3.loss_map_pts: 0.7797, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1820, d4.loss_map_pts: 0.7601, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1775, d5.loss_map_pts: 0.7525, d5.loss_map_dir: 0.0101, loss: 30.9231, grad_norm: 162.7609 +2026-02-26 01:07:11,692 - DriveTransformer - INFO - Epoch [6][11400/39528] lr: 8.977e-05, eta: 6 days, 21:41:05, time: 0.775, data_time: 0.046, memory: 19865, loss_cls: 0.1822, loss_bbox: 0.3519, loss_traj: 0.6512, loss_traj_cls: 0.0010, loss_map_cls: 0.1619, loss_map_pts: 0.7001, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.2361, d0.loss_plan_l1_fix_dist: 0.4383, d1.loss_plan_l1_fix_time: 0.9557, d1.loss_plan_l1_fix_dist: 0.1931, d2.loss_plan_l1_fix_time: 0.9400, d2.loss_plan_l1_fix_dist: 0.2009, d3.loss_plan_l1_fix_time: 0.9393, d3.loss_plan_l1_fix_dist: 0.2147, d4.loss_plan_l1_fix_time: 0.9420, d4.loss_plan_l1_fix_dist: 0.2321, d5.loss_plan_l1_fix_time: 0.9456, d5.loss_plan_l1_fix_dist: 0.2503, d6.loss_plan_l1_fix_time: 0.9493, d6.loss_plan_l1_fix_dist: 0.2693, d0.loss_cls_all: 0.2149, d0.loss_bbox_all: 0.4166, d0.loss_cls: 0.2149, d0.loss_bbox: 0.4166, d1.loss_cls: 0.2058, d1.loss_bbox: 0.3808, d2.loss_cls: 0.1938, d2.loss_bbox: 0.3608, d3.loss_cls: 0.1860, d3.loss_bbox: 0.3538, d4.loss_cls: 0.1832, d4.loss_bbox: 0.3524, d5.loss_cls: 0.1809, d5.loss_bbox: 0.3532, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8356, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6913, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6529, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6429, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6414, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6519, d0.loss_map_cls_all: 0.2320, d0.loss_map_pts_all: 1.3610, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2320, d0.loss_map_pts: 1.3610, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2070, d1.loss_map_pts: 0.9636, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1880, d2.loss_map_pts: 0.7944, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1740, d3.loss_map_pts: 0.7300, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1691, d4.loss_map_pts: 0.7058, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1642, d5.loss_map_pts: 0.6991, d5.loss_map_dir: 0.0102, loss: 27.9520, grad_norm: 162.6893 +2026-02-26 01:07:53,359 - DriveTransformer - INFO - Epoch [6][11450/39528] lr: 8.977e-05, eta: 6 days, 21:40:30, time: 0.833, data_time: 0.044, memory: 19865, loss_cls: 0.1686, loss_bbox: 0.3674, loss_traj: 0.5725, loss_traj_cls: 0.0011, loss_map_cls: 0.1736, loss_map_pts: 0.8249, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.4151, d0.loss_plan_l1_fix_dist: 0.4463, d1.loss_plan_l1_fix_time: 1.0390, d1.loss_plan_l1_fix_dist: 0.1841, d2.loss_plan_l1_fix_time: 1.0138, d2.loss_plan_l1_fix_dist: 0.1920, d3.loss_plan_l1_fix_time: 1.0162, d3.loss_plan_l1_fix_dist: 0.2060, d4.loss_plan_l1_fix_time: 1.0205, d4.loss_plan_l1_fix_dist: 0.2219, d5.loss_plan_l1_fix_time: 1.0255, d5.loss_plan_l1_fix_dist: 0.2388, d6.loss_plan_l1_fix_time: 1.0310, d6.loss_plan_l1_fix_dist: 0.2577, d0.loss_cls_all: 0.1970, d0.loss_bbox_all: 0.4215, d0.loss_cls: 0.1970, d0.loss_bbox: 0.4215, d1.loss_cls: 0.1914, d1.loss_bbox: 0.3890, d2.loss_cls: 0.1791, d2.loss_bbox: 0.3727, d3.loss_cls: 0.1728, d3.loss_bbox: 0.3659, d4.loss_cls: 0.1691, d4.loss_bbox: 0.3659, d5.loss_cls: 0.1681, d5.loss_bbox: 0.3658, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7500, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6294, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5934, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.5884, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.5778, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5730, d0.loss_map_cls_all: 0.2446, d0.loss_map_pts_all: 1.6268, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2446, d0.loss_map_pts: 1.6268, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2149, d1.loss_map_pts: 1.1329, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.1941, d2.loss_map_pts: 0.9390, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.1855, d3.loss_map_pts: 0.8657, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1783, d4.loss_map_pts: 0.8369, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1751, d5.loss_map_pts: 0.8270, d5.loss_map_dir: 0.0116, loss: 29.4927, grad_norm: 163.0783 +2026-02-26 01:08:32,736 - DriveTransformer - INFO - Epoch [6][11500/39528] lr: 8.977e-05, eta: 6 days, 21:39:46, time: 0.788, data_time: 0.041, memory: 19865, loss_cls: 0.1849, loss_bbox: 0.3665, loss_traj: 0.6694, loss_traj_cls: 0.0011, loss_map_cls: 0.1806, loss_map_pts: 0.7163, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.9275, d0.loss_plan_l1_fix_dist: 0.4668, d1.loss_plan_l1_fix_time: 1.1587, d1.loss_plan_l1_fix_dist: 0.1779, d2.loss_plan_l1_fix_time: 1.1455, d2.loss_plan_l1_fix_dist: 0.1816, d3.loss_plan_l1_fix_time: 1.1465, d3.loss_plan_l1_fix_dist: 0.1920, d4.loss_plan_l1_fix_time: 1.1500, d4.loss_plan_l1_fix_dist: 0.2057, d5.loss_plan_l1_fix_time: 1.1538, d5.loss_plan_l1_fix_dist: 0.2217, d6.loss_plan_l1_fix_time: 1.1588, d6.loss_plan_l1_fix_dist: 0.2429, d0.loss_cls_all: 0.2185, d0.loss_bbox_all: 0.4265, d0.loss_cls: 0.2185, d0.loss_bbox: 0.4265, d1.loss_cls: 0.2106, d1.loss_bbox: 0.3952, d2.loss_cls: 0.2012, d2.loss_bbox: 0.3766, d3.loss_cls: 0.1930, d3.loss_bbox: 0.3672, d4.loss_cls: 0.1865, d4.loss_bbox: 0.3652, d5.loss_cls: 0.1862, d5.loss_bbox: 0.3654, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8919, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7416, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6806, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6669, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6728, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6732, d0.loss_map_cls_all: 0.2414, d0.loss_map_pts_all: 1.4372, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2414, d0.loss_map_pts: 1.4372, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2125, d1.loss_map_pts: 0.9821, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1978, d2.loss_map_pts: 0.8097, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1897, d3.loss_map_pts: 0.7442, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1826, d4.loss_map_pts: 0.7238, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1804, d5.loss_map_pts: 0.7189, d5.loss_map_dir: 0.0099, loss: 30.4928, grad_norm: 164.5012 +2026-02-26 01:09:12,407 - DriveTransformer - INFO - Epoch [6][11550/39528] lr: 8.977e-05, eta: 6 days, 21:39:04, time: 0.793, data_time: 0.045, memory: 19865, loss_cls: 0.1920, loss_bbox: 0.3796, loss_traj: 0.7086, loss_traj_cls: 0.0010, loss_map_cls: 0.1747, loss_map_pts: 0.7912, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.8096, d0.loss_plan_l1_fix_dist: 0.3543, d1.loss_plan_l1_fix_time: 1.1760, d1.loss_plan_l1_fix_dist: 0.1696, d2.loss_plan_l1_fix_time: 1.1616, d2.loss_plan_l1_fix_dist: 0.1760, d3.loss_plan_l1_fix_time: 1.1596, d3.loss_plan_l1_fix_dist: 0.1847, d4.loss_plan_l1_fix_time: 1.1618, d4.loss_plan_l1_fix_dist: 0.1974, d5.loss_plan_l1_fix_time: 1.1649, d5.loss_plan_l1_fix_dist: 0.2111, d6.loss_plan_l1_fix_time: 1.1685, d6.loss_plan_l1_fix_dist: 0.2257, d0.loss_cls_all: 0.2203, d0.loss_bbox_all: 0.4346, d0.loss_cls: 0.2203, d0.loss_bbox: 0.4346, d1.loss_cls: 0.2166, d1.loss_bbox: 0.4051, d2.loss_cls: 0.2067, d2.loss_bbox: 0.3900, d3.loss_cls: 0.1955, d3.loss_bbox: 0.3838, d4.loss_cls: 0.1897, d4.loss_bbox: 0.3811, d5.loss_cls: 0.1919, d5.loss_bbox: 0.3797, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8623, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7304, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7023, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7012, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.7015, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7032, d0.loss_map_cls_all: 0.2464, d0.loss_map_pts_all: 1.5721, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2464, d0.loss_map_pts: 1.5721, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2157, d1.loss_map_pts: 1.0768, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.1977, d2.loss_map_pts: 0.8906, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1871, d3.loss_map_pts: 0.8238, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1790, d4.loss_map_pts: 0.8018, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1768, d5.loss_map_pts: 0.7918, d5.loss_map_dir: 0.0115, loss: 31.2916, grad_norm: 165.3971 +2026-02-26 01:09:54,395 - DriveTransformer - INFO - Epoch [6][11600/39528] lr: 8.977e-05, eta: 6 days, 21:38:29, time: 0.840, data_time: 0.048, memory: 19865, loss_cls: 0.1681, loss_bbox: 0.3680, loss_traj: 0.7038, loss_traj_cls: 0.0011, loss_map_cls: 0.1973, loss_map_pts: 0.8282, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.3522, d0.loss_plan_l1_fix_dist: 0.4525, d1.loss_plan_l1_fix_time: 1.1317, d1.loss_plan_l1_fix_dist: 0.1895, d2.loss_plan_l1_fix_time: 1.1253, d2.loss_plan_l1_fix_dist: 0.1927, d3.loss_plan_l1_fix_time: 1.1275, d3.loss_plan_l1_fix_dist: 0.2046, d4.loss_plan_l1_fix_time: 1.1300, d4.loss_plan_l1_fix_dist: 0.2192, d5.loss_plan_l1_fix_time: 1.1330, d5.loss_plan_l1_fix_dist: 0.2337, d6.loss_plan_l1_fix_time: 1.1362, d6.loss_plan_l1_fix_dist: 0.2481, d0.loss_cls_all: 0.2067, d0.loss_bbox_all: 0.4246, d0.loss_cls: 0.2067, d0.loss_bbox: 0.4246, d1.loss_cls: 0.1955, d1.loss_bbox: 0.3936, d2.loss_cls: 0.1829, d2.loss_bbox: 0.3766, d3.loss_cls: 0.1734, d3.loss_bbox: 0.3707, d4.loss_cls: 0.1693, d4.loss_bbox: 0.3676, d5.loss_cls: 0.1677, d5.loss_bbox: 0.3675, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8741, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7532, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7157, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7065, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.7090, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7064, d0.loss_map_cls_all: 0.2590, d0.loss_map_pts_all: 1.6099, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2590, d0.loss_map_pts: 1.6099, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2356, d1.loss_map_pts: 1.1334, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.2197, d2.loss_map_pts: 0.9356, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.2094, d3.loss_map_pts: 0.8631, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.2024, d4.loss_map_pts: 0.8348, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1982, d5.loss_map_pts: 0.8275, d5.loss_map_dir: 0.0109, loss: 31.1234, grad_norm: 165.2891 +2026-02-26 01:10:35,290 - DriveTransformer - INFO - Epoch [6][11650/39528] lr: 8.977e-05, eta: 6 days, 21:37:51, time: 0.818, data_time: 0.044, memory: 19865, loss_cls: 0.1912, loss_bbox: 0.3714, loss_traj: 0.7142, loss_traj_cls: 0.0011, loss_map_cls: 0.1637, loss_map_pts: 0.7065, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.5238, d0.loss_plan_l1_fix_dist: 0.3776, d1.loss_plan_l1_fix_time: 1.1363, d1.loss_plan_l1_fix_dist: 0.1843, d2.loss_plan_l1_fix_time: 1.1135, d2.loss_plan_l1_fix_dist: 0.1859, d3.loss_plan_l1_fix_time: 1.1053, d3.loss_plan_l1_fix_dist: 0.1945, d4.loss_plan_l1_fix_time: 1.1064, d4.loss_plan_l1_fix_dist: 0.2066, d5.loss_plan_l1_fix_time: 1.1082, d5.loss_plan_l1_fix_dist: 0.2194, d6.loss_plan_l1_fix_time: 1.1109, d6.loss_plan_l1_fix_dist: 0.2356, d0.loss_cls_all: 0.2183, d0.loss_bbox_all: 0.4270, d0.loss_cls: 0.2183, d0.loss_bbox: 0.4270, d1.loss_cls: 0.2156, d1.loss_bbox: 0.3958, d2.loss_cls: 0.2019, d2.loss_bbox: 0.3815, d3.loss_cls: 0.1947, d3.loss_bbox: 0.3748, d4.loss_cls: 0.1903, d4.loss_bbox: 0.3706, d5.loss_cls: 0.1916, d5.loss_bbox: 0.3706, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8781, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7512, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7163, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7140, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.7128, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7121, d0.loss_map_cls_all: 0.2393, d0.loss_map_pts_all: 1.4551, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2393, d0.loss_map_pts: 1.4551, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2091, d1.loss_map_pts: 0.9632, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1906, d2.loss_map_pts: 0.7889, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1751, d3.loss_map_pts: 0.7284, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1668, d4.loss_map_pts: 0.7064, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1647, d5.loss_map_pts: 0.7027, d5.loss_map_dir: 0.0095, loss: 29.8842, grad_norm: 166.8035 +2026-02-26 01:11:16,043 - DriveTransformer - INFO - Epoch [6][11700/39528] lr: 8.977e-05, eta: 6 days, 21:37:12, time: 0.815, data_time: 0.041, memory: 19865, loss_cls: 0.2022, loss_bbox: 0.3925, loss_traj: 0.6112, loss_traj_cls: 0.0011, loss_map_cls: 0.1751, loss_map_pts: 0.8095, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.4792, d0.loss_plan_l1_fix_dist: 0.3407, d1.loss_plan_l1_fix_time: 1.1262, d1.loss_plan_l1_fix_dist: 0.1849, d2.loss_plan_l1_fix_time: 1.1143, d2.loss_plan_l1_fix_dist: 0.1890, d3.loss_plan_l1_fix_time: 1.1153, d3.loss_plan_l1_fix_dist: 0.1997, d4.loss_plan_l1_fix_time: 1.1186, d4.loss_plan_l1_fix_dist: 0.2111, d5.loss_plan_l1_fix_time: 1.1221, d5.loss_plan_l1_fix_dist: 0.2234, d6.loss_plan_l1_fix_time: 1.1256, d6.loss_plan_l1_fix_dist: 0.2371, d0.loss_cls_all: 0.2346, d0.loss_bbox_all: 0.4554, d0.loss_cls: 0.2346, d0.loss_bbox: 0.4554, d1.loss_cls: 0.2268, d1.loss_bbox: 0.4218, d2.loss_cls: 0.2151, d2.loss_bbox: 0.4037, d3.loss_cls: 0.2077, d3.loss_bbox: 0.3958, d4.loss_cls: 0.2029, d4.loss_bbox: 0.3938, d5.loss_cls: 0.2015, d5.loss_bbox: 0.3941, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8151, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6577, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6236, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6082, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6084, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6107, d0.loss_map_cls_all: 0.2543, d0.loss_map_pts_all: 1.5669, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2543, d0.loss_map_pts: 1.5669, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2251, d1.loss_map_pts: 1.0791, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2006, d2.loss_map_pts: 0.9056, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1871, d3.loss_map_pts: 0.8439, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.1794, d4.loss_map_pts: 0.8203, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1761, d5.loss_map_pts: 0.8115, d5.loss_map_dir: 0.0119, loss: 30.5136, grad_norm: 166.9815 +2026-02-26 01:11:56,817 - DriveTransformer - INFO - Epoch [6][11750/39528] lr: 8.977e-05, eta: 6 days, 21:36:33, time: 0.815, data_time: 0.041, memory: 19865, loss_cls: 0.1711, loss_bbox: 0.3613, loss_traj: 0.6024, loss_traj_cls: 0.0010, loss_map_cls: 0.1646, loss_map_pts: 0.6940, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.4916, d0.loss_plan_l1_fix_dist: 0.3440, d1.loss_plan_l1_fix_time: 1.1289, d1.loss_plan_l1_fix_dist: 0.1738, d2.loss_plan_l1_fix_time: 1.1158, d2.loss_plan_l1_fix_dist: 0.1802, d3.loss_plan_l1_fix_time: 1.1139, d3.loss_plan_l1_fix_dist: 0.1922, d4.loss_plan_l1_fix_time: 1.1156, d4.loss_plan_l1_fix_dist: 0.2080, d5.loss_plan_l1_fix_time: 1.1178, d5.loss_plan_l1_fix_dist: 0.2257, d6.loss_plan_l1_fix_time: 1.1202, d6.loss_plan_l1_fix_dist: 0.2437, d0.loss_cls_all: 0.2009, d0.loss_bbox_all: 0.4171, d0.loss_cls: 0.2009, d0.loss_bbox: 0.4171, d1.loss_cls: 0.1948, d1.loss_bbox: 0.3829, d2.loss_cls: 0.1854, d2.loss_bbox: 0.3658, d3.loss_cls: 0.1777, d3.loss_bbox: 0.3610, d4.loss_cls: 0.1718, d4.loss_bbox: 0.3613, d5.loss_cls: 0.1704, d5.loss_bbox: 0.3611, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7993, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6541, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6225, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6142, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6084, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6039, d0.loss_map_cls_all: 0.2280, d0.loss_map_pts_all: 1.4152, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2280, d0.loss_map_pts: 1.4152, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2034, d1.loss_map_pts: 0.9744, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1885, d2.loss_map_pts: 0.7881, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1768, d3.loss_map_pts: 0.7242, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1698, d4.loss_map_pts: 0.7031, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1658, d5.loss_map_pts: 0.6947, d5.loss_map_dir: 0.0100, loss: 28.7962, grad_norm: 164.7357 +2026-02-26 01:12:37,908 - DriveTransformer - INFO - Epoch [6][11800/39528] lr: 8.977e-05, eta: 6 days, 21:35:56, time: 0.823, data_time: 0.044, memory: 19865, loss_cls: 0.1857, loss_bbox: 0.3715, loss_traj: 0.6922, loss_traj_cls: 0.0010, loss_map_cls: 0.1663, loss_map_pts: 0.7523, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.5328, d0.loss_plan_l1_fix_dist: 0.3604, d1.loss_plan_l1_fix_time: 1.0745, d1.loss_plan_l1_fix_dist: 0.1862, d2.loss_plan_l1_fix_time: 1.0595, d2.loss_plan_l1_fix_dist: 0.1931, d3.loss_plan_l1_fix_time: 1.0656, d3.loss_plan_l1_fix_dist: 0.2041, d4.loss_plan_l1_fix_time: 1.0690, d4.loss_plan_l1_fix_dist: 0.2171, d5.loss_plan_l1_fix_time: 1.0726, d5.loss_plan_l1_fix_dist: 0.2320, d6.loss_plan_l1_fix_time: 1.0762, d6.loss_plan_l1_fix_dist: 0.2472, d0.loss_cls_all: 0.2267, d0.loss_bbox_all: 0.4306, d0.loss_cls: 0.2267, d0.loss_bbox: 0.4306, d1.loss_cls: 0.2141, d1.loss_bbox: 0.3988, d2.loss_cls: 0.1979, d2.loss_bbox: 0.3817, d3.loss_cls: 0.1934, d3.loss_bbox: 0.3737, d4.loss_cls: 0.1864, d4.loss_bbox: 0.3727, d5.loss_cls: 0.1854, d5.loss_bbox: 0.3725, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8438, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7369, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7088, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6974, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6957, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6894, d0.loss_map_cls_all: 0.2336, d0.loss_map_pts_all: 1.5395, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2336, d0.loss_map_pts: 1.5395, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2051, d1.loss_map_pts: 1.0340, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.1859, d2.loss_map_pts: 0.8480, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1777, d3.loss_map_pts: 0.7851, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1706, d4.loss_map_pts: 0.7637, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1676, d5.loss_map_pts: 0.7539, d5.loss_map_dir: 0.0121, loss: 30.0582, grad_norm: 165.9014 +2026-02-26 01:13:19,382 - DriveTransformer - INFO - Epoch [6][11850/39528] lr: 8.977e-05, eta: 6 days, 21:35:19, time: 0.828, data_time: 0.041, memory: 19865, loss_cls: 0.2171, loss_bbox: 0.4316, loss_traj: 0.8493, loss_traj_cls: 0.0010, loss_map_cls: 0.2109, loss_map_pts: 0.8752, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.6018, d0.loss_plan_l1_fix_dist: 0.3856, d1.loss_plan_l1_fix_time: 1.2182, d1.loss_plan_l1_fix_dist: 0.2085, d2.loss_plan_l1_fix_time: 1.2125, d2.loss_plan_l1_fix_dist: 0.2171, d3.loss_plan_l1_fix_time: 1.2148, d3.loss_plan_l1_fix_dist: 0.2317, d4.loss_plan_l1_fix_time: 1.2172, d4.loss_plan_l1_fix_dist: 0.2478, d5.loss_plan_l1_fix_time: 1.2202, d5.loss_plan_l1_fix_dist: 0.2629, d6.loss_plan_l1_fix_time: 1.2236, d6.loss_plan_l1_fix_dist: 0.2782, d0.loss_cls_all: 0.2528, d0.loss_bbox_all: 0.4921, d0.loss_cls: 0.2528, d0.loss_bbox: 0.4921, d1.loss_cls: 0.2469, d1.loss_bbox: 0.4604, d2.loss_cls: 0.2360, d2.loss_bbox: 0.4394, d3.loss_cls: 0.2230, d3.loss_bbox: 0.4341, d4.loss_cls: 0.2173, d4.loss_bbox: 0.4330, d5.loss_cls: 0.2170, d5.loss_bbox: 0.4312, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1433, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9408, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8755, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8690, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8486, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8558, d0.loss_map_cls_all: 0.2785, d0.loss_map_pts_all: 1.7326, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2785, d0.loss_map_pts: 1.7326, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2572, d1.loss_map_pts: 1.1629, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2337, d2.loss_map_pts: 0.9767, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2212, d3.loss_map_pts: 0.9057, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.2163, d4.loss_map_pts: 0.8802, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.2113, d5.loss_map_pts: 0.8745, d5.loss_map_dir: 0.0119, loss: 34.7427, grad_norm: 167.2020 +2026-02-26 01:14:00,318 - DriveTransformer - INFO - Epoch [6][11900/39528] lr: 8.977e-05, eta: 6 days, 21:34:41, time: 0.819, data_time: 0.042, memory: 19865, loss_cls: 0.1862, loss_bbox: 0.3864, loss_traj: 0.6775, loss_traj_cls: 0.0009, loss_map_cls: 0.1738, loss_map_pts: 0.7306, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 3.0099, d0.loss_plan_l1_fix_dist: 0.4198, d1.loss_plan_l1_fix_time: 1.3162, d1.loss_plan_l1_fix_dist: 0.1952, d2.loss_plan_l1_fix_time: 1.3026, d2.loss_plan_l1_fix_dist: 0.2018, d3.loss_plan_l1_fix_time: 1.3065, d3.loss_plan_l1_fix_dist: 0.2163, d4.loss_plan_l1_fix_time: 1.3100, d4.loss_plan_l1_fix_dist: 0.2312, d5.loss_plan_l1_fix_time: 1.3141, d5.loss_plan_l1_fix_dist: 0.2450, d6.loss_plan_l1_fix_time: 1.3190, d6.loss_plan_l1_fix_dist: 0.2608, d0.loss_cls_all: 0.2231, d0.loss_bbox_all: 0.4382, d0.loss_cls: 0.2231, d0.loss_bbox: 0.4382, d1.loss_cls: 0.2151, d1.loss_bbox: 0.4126, d2.loss_cls: 0.2012, d2.loss_bbox: 0.3967, d3.loss_cls: 0.1926, d3.loss_bbox: 0.3891, d4.loss_cls: 0.1862, d4.loss_bbox: 0.3873, d5.loss_cls: 0.1853, d5.loss_bbox: 0.3861, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9268, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7356, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6934, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6886, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6839, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6785, d0.loss_map_cls_all: 0.2300, d0.loss_map_pts_all: 1.3602, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2300, d0.loss_map_pts: 1.3602, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2095, d1.loss_map_pts: 0.9524, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1931, d2.loss_map_pts: 0.8002, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1839, d3.loss_map_pts: 0.7490, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1799, d4.loss_map_pts: 0.7318, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1749, d5.loss_map_pts: 0.7285, d5.loss_map_dir: 0.0104, loss: 31.6540, grad_norm: 167.6023 +2026-02-26 01:14:40,136 - DriveTransformer - INFO - Epoch [6][11950/39528] lr: 8.977e-05, eta: 6 days, 21:33:59, time: 0.796, data_time: 0.044, memory: 19865, loss_cls: 0.1653, loss_bbox: 0.3622, loss_traj: 0.6988, loss_traj_cls: 0.0010, loss_map_cls: 0.1652, loss_map_pts: 0.7067, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.2564, d0.loss_plan_l1_fix_dist: 0.3811, d1.loss_plan_l1_fix_time: 1.0818, d1.loss_plan_l1_fix_dist: 0.1854, d2.loss_plan_l1_fix_time: 1.0783, d2.loss_plan_l1_fix_dist: 0.1923, d3.loss_plan_l1_fix_time: 1.0808, d3.loss_plan_l1_fix_dist: 0.2098, d4.loss_plan_l1_fix_time: 1.0836, d4.loss_plan_l1_fix_dist: 0.2313, d5.loss_plan_l1_fix_time: 1.0866, d5.loss_plan_l1_fix_dist: 0.2573, d6.loss_plan_l1_fix_time: 1.0903, d6.loss_plan_l1_fix_dist: 0.2843, d0.loss_cls_all: 0.1979, d0.loss_bbox_all: 0.4232, d0.loss_cls: 0.1979, d0.loss_bbox: 0.4232, d1.loss_cls: 0.1937, d1.loss_bbox: 0.3887, d2.loss_cls: 0.1811, d2.loss_bbox: 0.3675, d3.loss_cls: 0.1716, d3.loss_bbox: 0.3627, d4.loss_cls: 0.1652, d4.loss_bbox: 0.3615, d5.loss_cls: 0.1656, d5.loss_bbox: 0.3612, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9306, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7680, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7144, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7041, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6995, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6976, d0.loss_map_cls_all: 0.2350, d0.loss_map_pts_all: 1.3500, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2350, d0.loss_map_pts: 1.3500, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2061, d1.loss_map_pts: 0.9576, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1845, d2.loss_map_pts: 0.8017, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1782, d3.loss_map_pts: 0.7354, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1715, d4.loss_map_pts: 0.7147, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1662, d5.loss_map_pts: 0.7082, d5.loss_map_dir: 0.0092, loss: 29.1435, grad_norm: 167.4437 +2026-02-26 01:15:21,043 - DriveTransformer - INFO - Epoch [6][12000/39528] lr: 8.977e-05, eta: 6 days, 21:33:21, time: 0.818, data_time: 0.049, memory: 19865, loss_cls: 0.1742, loss_bbox: 0.3615, loss_traj: 0.6468, loss_traj_cls: 0.0009, loss_map_cls: 0.1872, loss_map_pts: 0.8588, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.4688, d0.loss_plan_l1_fix_dist: 0.4074, d1.loss_plan_l1_fix_time: 1.0757, d1.loss_plan_l1_fix_dist: 0.1813, d2.loss_plan_l1_fix_time: 1.0593, d2.loss_plan_l1_fix_dist: 0.1822, d3.loss_plan_l1_fix_time: 1.0568, d3.loss_plan_l1_fix_dist: 0.1933, d4.loss_plan_l1_fix_time: 1.0583, d4.loss_plan_l1_fix_dist: 0.2071, d5.loss_plan_l1_fix_time: 1.0609, d5.loss_plan_l1_fix_dist: 0.2246, d6.loss_plan_l1_fix_time: 1.0640, d6.loss_plan_l1_fix_dist: 0.2439, d0.loss_cls_all: 0.2057, d0.loss_bbox_all: 0.4219, d0.loss_cls: 0.2057, d0.loss_bbox: 0.4219, d1.loss_cls: 0.2003, d1.loss_bbox: 0.3883, d2.loss_cls: 0.1880, d2.loss_bbox: 0.3689, d3.loss_cls: 0.1790, d3.loss_bbox: 0.3630, d4.loss_cls: 0.1744, d4.loss_bbox: 0.3620, d5.loss_cls: 0.1739, d5.loss_bbox: 0.3618, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8281, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6903, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6572, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6465, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6453, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6472, d0.loss_map_cls_all: 0.2608, d0.loss_map_pts_all: 1.6430, d0.loss_map_dir_all: 0.0126, d0.loss_map_cls: 0.2608, d0.loss_map_pts: 1.6430, d0.loss_map_dir: 0.0126, d1.loss_map_cls: 0.2283, d1.loss_map_pts: 1.1486, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2121, d2.loss_map_pts: 0.9534, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.1993, d3.loss_map_pts: 0.8856, d3.loss_map_dir: 0.0125, d4.loss_map_cls: 0.1911, d4.loss_map_pts: 0.8641, d4.loss_map_dir: 0.0128, d5.loss_map_cls: 0.1877, d5.loss_map_pts: 0.8579, d5.loss_map_dir: 0.0129, loss: 30.4846, grad_norm: 167.5197 +2026-02-26 01:16:03,508 - DriveTransformer - INFO - Epoch [6][12050/39528] lr: 8.977e-05, eta: 6 days, 21:32:48, time: 0.849, data_time: 0.045, memory: 19865, loss_cls: 0.1618, loss_bbox: 0.3627, loss_traj: 0.6541, loss_traj_cls: 0.0009, loss_map_cls: 0.1725, loss_map_pts: 0.7752, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.3000, d0.loss_plan_l1_fix_dist: 0.4335, d1.loss_plan_l1_fix_time: 1.0272, d1.loss_plan_l1_fix_dist: 0.1880, d2.loss_plan_l1_fix_time: 1.0253, d2.loss_plan_l1_fix_dist: 0.2024, d3.loss_plan_l1_fix_time: 1.0272, d3.loss_plan_l1_fix_dist: 0.2162, d4.loss_plan_l1_fix_time: 1.0302, d4.loss_plan_l1_fix_dist: 0.2321, d5.loss_plan_l1_fix_time: 1.0336, d5.loss_plan_l1_fix_dist: 0.2499, d6.loss_plan_l1_fix_time: 1.0375, d6.loss_plan_l1_fix_dist: 0.2690, d0.loss_cls_all: 0.1962, d0.loss_bbox_all: 0.4195, d0.loss_cls: 0.1962, d0.loss_bbox: 0.4195, d1.loss_cls: 0.1851, d1.loss_bbox: 0.3861, d2.loss_cls: 0.1749, d2.loss_bbox: 0.3694, d3.loss_cls: 0.1673, d3.loss_bbox: 0.3636, d4.loss_cls: 0.1622, d4.loss_bbox: 0.3614, d5.loss_cls: 0.1620, d5.loss_bbox: 0.3612, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8553, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7058, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6600, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6463, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6450, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6482, d0.loss_map_cls_all: 0.2403, d0.loss_map_pts_all: 1.5834, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2403, d0.loss_map_pts: 1.5834, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2087, d1.loss_map_pts: 1.0764, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1916, d2.loss_map_pts: 0.8723, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1849, d3.loss_map_pts: 0.7998, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1781, d4.loss_map_pts: 0.7740, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1739, d5.loss_map_pts: 0.7727, d5.loss_map_dir: 0.0115, loss: 29.4589, grad_norm: 165.1590 +2026-02-26 01:16:44,518 - DriveTransformer - INFO - Epoch [6][12100/39528] lr: 8.977e-05, eta: 6 days, 21:32:10, time: 0.820, data_time: 0.044, memory: 19865, loss_cls: 0.1724, loss_bbox: 0.3880, loss_traj: 0.6863, loss_traj_cls: 0.0010, loss_map_cls: 0.1672, loss_map_pts: 0.7657, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.6015, d0.loss_plan_l1_fix_dist: 0.4385, d1.loss_plan_l1_fix_time: 1.1532, d1.loss_plan_l1_fix_dist: 0.1996, d2.loss_plan_l1_fix_time: 1.1333, d2.loss_plan_l1_fix_dist: 0.2019, d3.loss_plan_l1_fix_time: 1.1375, d3.loss_plan_l1_fix_dist: 0.2118, d4.loss_plan_l1_fix_time: 1.1412, d4.loss_plan_l1_fix_dist: 0.2250, d5.loss_plan_l1_fix_time: 1.1451, d5.loss_plan_l1_fix_dist: 0.2386, d6.loss_plan_l1_fix_time: 1.1494, d6.loss_plan_l1_fix_dist: 0.2533, d0.loss_cls_all: 0.2069, d0.loss_bbox_all: 0.4416, d0.loss_cls: 0.2069, d0.loss_bbox: 0.4416, d1.loss_cls: 0.1997, d1.loss_bbox: 0.4091, d2.loss_cls: 0.1864, d2.loss_bbox: 0.3943, d3.loss_cls: 0.1779, d3.loss_bbox: 0.3896, d4.loss_cls: 0.1729, d4.loss_bbox: 0.3883, d5.loss_cls: 0.1734, d5.loss_bbox: 0.3874, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8623, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7396, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7005, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6873, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6877, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6876, d0.loss_map_cls_all: 0.2372, d0.loss_map_pts_all: 1.5453, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2372, d0.loss_map_pts: 1.5453, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2031, d1.loss_map_pts: 1.0505, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.1863, d2.loss_map_pts: 0.8593, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.1792, d3.loss_map_pts: 0.7939, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.1732, d4.loss_map_pts: 0.7695, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.1695, d5.loss_map_pts: 0.7660, d5.loss_map_dir: 0.0121, loss: 30.7668, grad_norm: 163.3986 +2026-02-26 01:17:28,148 - DriveTransformer - INFO - Epoch [6][12150/39528] lr: 8.977e-05, eta: 6 days, 21:31:42, time: 0.873, data_time: 0.043, memory: 19865, loss_cls: 0.1946, loss_bbox: 0.3824, loss_traj: 0.5935, loss_traj_cls: 0.0009, loss_map_cls: 0.2077, loss_map_pts: 0.9566, loss_map_dir: 0.0150, d0.loss_plan_l1_fix_time: 2.3661, d0.loss_plan_l1_fix_dist: 0.3138, d1.loss_plan_l1_fix_time: 1.0489, d1.loss_plan_l1_fix_dist: 0.1727, d2.loss_plan_l1_fix_time: 1.0368, d2.loss_plan_l1_fix_dist: 0.1716, d3.loss_plan_l1_fix_time: 1.0404, d3.loss_plan_l1_fix_dist: 0.1873, d4.loss_plan_l1_fix_time: 1.0447, d4.loss_plan_l1_fix_dist: 0.2031, d5.loss_plan_l1_fix_time: 1.0494, d5.loss_plan_l1_fix_dist: 0.2207, d6.loss_plan_l1_fix_time: 1.0544, d6.loss_plan_l1_fix_dist: 0.2379, d0.loss_cls_all: 0.2350, d0.loss_bbox_all: 0.4503, d0.loss_cls: 0.2350, d0.loss_bbox: 0.4503, d1.loss_cls: 0.2265, d1.loss_bbox: 0.4182, d2.loss_cls: 0.2126, d2.loss_bbox: 0.3964, d3.loss_cls: 0.2034, d3.loss_bbox: 0.3871, d4.loss_cls: 0.1976, d4.loss_bbox: 0.3851, d5.loss_cls: 0.1962, d5.loss_bbox: 0.3828, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8030, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6389, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6021, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5928, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5941, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5935, d0.loss_map_cls_all: 0.2798, d0.loss_map_pts_all: 1.8736, d0.loss_map_dir_all: 0.0140, d0.loss_map_cls: 0.2798, d0.loss_map_pts: 1.8736, d0.loss_map_dir: 0.0140, d1.loss_map_cls: 0.2467, d1.loss_map_pts: 1.2896, d1.loss_map_dir: 0.0135, d2.loss_map_cls: 0.2273, d2.loss_map_pts: 1.0797, d2.loss_map_dir: 0.0139, d3.loss_map_cls: 0.2168, d3.loss_map_pts: 0.9952, d3.loss_map_dir: 0.0144, d4.loss_map_cls: 0.2119, d4.loss_map_pts: 0.9629, d4.loss_map_dir: 0.0147, d5.loss_map_cls: 0.2094, d5.loss_map_pts: 0.9571, d5.loss_map_dir: 0.0149, loss: 31.5087, grad_norm: 161.6553 +2026-02-26 01:18:09,544 - DriveTransformer - INFO - Epoch [6][12200/39528] lr: 8.977e-05, eta: 6 days, 21:31:05, time: 0.828, data_time: 0.052, memory: 19865, loss_cls: 0.1860, loss_bbox: 0.3950, loss_traj: 0.7431, loss_traj_cls: 0.0010, loss_map_cls: 0.1876, loss_map_pts: 0.8677, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 2.8601, d0.loss_plan_l1_fix_dist: 0.3971, d1.loss_plan_l1_fix_time: 1.2973, d1.loss_plan_l1_fix_dist: 0.1830, d2.loss_plan_l1_fix_time: 1.2902, d2.loss_plan_l1_fix_dist: 0.1828, d3.loss_plan_l1_fix_time: 1.2871, d3.loss_plan_l1_fix_dist: 0.1919, d4.loss_plan_l1_fix_time: 1.2904, d4.loss_plan_l1_fix_dist: 0.2036, d5.loss_plan_l1_fix_time: 1.2941, d5.loss_plan_l1_fix_dist: 0.2188, d6.loss_plan_l1_fix_time: 1.2981, d6.loss_plan_l1_fix_dist: 0.2370, d0.loss_cls_all: 0.2242, d0.loss_bbox_all: 0.4574, d0.loss_cls: 0.2242, d0.loss_bbox: 0.4574, d1.loss_cls: 0.2129, d1.loss_bbox: 0.4248, d2.loss_cls: 0.2021, d2.loss_bbox: 0.4070, d3.loss_cls: 0.1907, d3.loss_bbox: 0.4031, d4.loss_cls: 0.1867, d4.loss_bbox: 0.3965, d5.loss_cls: 0.1851, d5.loss_bbox: 0.3953, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9973, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8285, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7773, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7592, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7513, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7477, d0.loss_map_cls_all: 0.2435, d0.loss_map_pts_all: 1.7198, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2435, d0.loss_map_pts: 1.7198, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2200, d1.loss_map_pts: 1.1791, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2019, d2.loss_map_pts: 0.9852, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.1954, d3.loss_map_pts: 0.9100, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.1907, d4.loss_map_pts: 0.8806, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.1886, d5.loss_map_pts: 0.8686, d5.loss_map_dir: 0.0122, loss: 33.6870, grad_norm: 165.5036 +2026-02-26 01:18:49,714 - DriveTransformer - INFO - Epoch [6][12250/39528] lr: 8.977e-05, eta: 6 days, 21:30:24, time: 0.803, data_time: 0.040, memory: 19865, loss_cls: 0.1720, loss_bbox: 0.3705, loss_traj: 0.5599, loss_traj_cls: 0.0010, loss_map_cls: 0.1692, loss_map_pts: 0.8507, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.3249, d0.loss_plan_l1_fix_dist: 0.4443, d1.loss_plan_l1_fix_time: 1.0354, d1.loss_plan_l1_fix_dist: 0.1965, d2.loss_plan_l1_fix_time: 1.0249, d2.loss_plan_l1_fix_dist: 0.1980, d3.loss_plan_l1_fix_time: 1.0289, d3.loss_plan_l1_fix_dist: 0.2062, d4.loss_plan_l1_fix_time: 1.0332, d4.loss_plan_l1_fix_dist: 0.2149, d5.loss_plan_l1_fix_time: 1.0381, d5.loss_plan_l1_fix_dist: 0.2260, d6.loss_plan_l1_fix_time: 1.0436, d6.loss_plan_l1_fix_dist: 0.2396, d0.loss_cls_all: 0.1989, d0.loss_bbox_all: 0.4233, d0.loss_cls: 0.1989, d0.loss_bbox: 0.4233, d1.loss_cls: 0.1938, d1.loss_bbox: 0.3929, d2.loss_cls: 0.1814, d2.loss_bbox: 0.3772, d3.loss_cls: 0.1757, d3.loss_bbox: 0.3700, d4.loss_cls: 0.1730, d4.loss_bbox: 0.3672, d5.loss_cls: 0.1722, d5.loss_bbox: 0.3670, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7184, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6078, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5826, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5700, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5669, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5607, d0.loss_map_cls_all: 0.2263, d0.loss_map_pts_all: 1.5747, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2263, d0.loss_map_pts: 1.5747, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.1998, d1.loss_map_pts: 1.0986, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1848, d2.loss_map_pts: 0.9244, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1764, d3.loss_map_pts: 0.8775, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1740, d4.loss_map_pts: 0.8545, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1722, d5.loss_map_pts: 0.8500, d5.loss_map_dir: 0.0116, loss: 29.2084, grad_norm: 162.3097 +2026-02-26 01:19:30,716 - DriveTransformer - INFO - Epoch [6][12300/39528] lr: 8.977e-05, eta: 6 days, 21:29:46, time: 0.820, data_time: 0.046, memory: 19865, loss_cls: 0.1866, loss_bbox: 0.3730, loss_traj: 0.6720, loss_traj_cls: 0.0009, loss_map_cls: 0.1924, loss_map_pts: 0.7695, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.6182, d0.loss_plan_l1_fix_dist: 0.3858, d1.loss_plan_l1_fix_time: 1.2615, d1.loss_plan_l1_fix_dist: 0.1860, d2.loss_plan_l1_fix_time: 1.2471, d2.loss_plan_l1_fix_dist: 0.1911, d3.loss_plan_l1_fix_time: 1.2464, d3.loss_plan_l1_fix_dist: 0.2031, d4.loss_plan_l1_fix_time: 1.2485, d4.loss_plan_l1_fix_dist: 0.2155, d5.loss_plan_l1_fix_time: 1.2512, d5.loss_plan_l1_fix_dist: 0.2284, d6.loss_plan_l1_fix_time: 1.2552, d6.loss_plan_l1_fix_dist: 0.2408, d0.loss_cls_all: 0.2259, d0.loss_bbox_all: 0.4295, d0.loss_cls: 0.2259, d0.loss_bbox: 0.4295, d1.loss_cls: 0.2155, d1.loss_bbox: 0.3997, d2.loss_cls: 0.2033, d2.loss_bbox: 0.3812, d3.loss_cls: 0.1939, d3.loss_bbox: 0.3734, d4.loss_cls: 0.1881, d4.loss_bbox: 0.3713, d5.loss_cls: 0.1855, d5.loss_bbox: 0.3717, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9115, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6983, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6625, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6616, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6621, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6610, d0.loss_map_cls_all: 0.2506, d0.loss_map_pts_all: 1.5166, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2506, d0.loss_map_pts: 1.5166, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2243, d1.loss_map_pts: 1.0403, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.2076, d2.loss_map_pts: 0.8567, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1985, d3.loss_map_pts: 0.7899, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1954, d4.loss_map_pts: 0.7710, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1938, d5.loss_map_pts: 0.7671, d5.loss_map_dir: 0.0094, loss: 31.2816, grad_norm: 161.2377 +2026-02-26 01:20:11,155 - DriveTransformer - INFO - Epoch [6][12350/39528] lr: 8.977e-05, eta: 6 days, 21:29:06, time: 0.809, data_time: 0.041, memory: 19865, loss_cls: 0.1875, loss_bbox: 0.3795, loss_traj: 0.6194, loss_traj_cls: 0.0009, loss_map_cls: 0.1677, loss_map_pts: 0.7291, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.6305, d0.loss_plan_l1_fix_dist: 0.3679, d1.loss_plan_l1_fix_time: 1.0439, d1.loss_plan_l1_fix_dist: 0.1614, d2.loss_plan_l1_fix_time: 1.0239, d2.loss_plan_l1_fix_dist: 0.1651, d3.loss_plan_l1_fix_time: 1.0178, d3.loss_plan_l1_fix_dist: 0.1741, d4.loss_plan_l1_fix_time: 1.0201, d4.loss_plan_l1_fix_dist: 0.1851, d5.loss_plan_l1_fix_time: 1.0234, d5.loss_plan_l1_fix_dist: 0.1981, d6.loss_plan_l1_fix_time: 1.0280, d6.loss_plan_l1_fix_dist: 0.2140, d0.loss_cls_all: 0.2272, d0.loss_bbox_all: 0.4340, d0.loss_cls: 0.2272, d0.loss_bbox: 0.4340, d1.loss_cls: 0.2221, d1.loss_bbox: 0.4028, d2.loss_cls: 0.2079, d2.loss_bbox: 0.3876, d3.loss_cls: 0.1974, d3.loss_bbox: 0.3814, d4.loss_cls: 0.1920, d4.loss_bbox: 0.3796, d5.loss_cls: 0.1866, d5.loss_bbox: 0.3803, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8361, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6703, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6246, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6190, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6217, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6172, d0.loss_map_cls_all: 0.2376, d0.loss_map_pts_all: 1.4464, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2376, d0.loss_map_pts: 1.4464, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2085, d1.loss_map_pts: 1.0010, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1936, d2.loss_map_pts: 0.8210, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1800, d3.loss_map_pts: 0.7567, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1725, d4.loss_map_pts: 0.7345, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1688, d5.loss_map_pts: 0.7295, d5.loss_map_dir: 0.0107, loss: 29.0089, grad_norm: 163.4514 +2026-02-26 01:20:51,004 - DriveTransformer - INFO - Epoch [6][12400/39528] lr: 8.977e-05, eta: 6 days, 21:28:24, time: 0.797, data_time: 0.043, memory: 19865, loss_cls: 0.1918, loss_bbox: 0.3884, loss_traj: 0.6968, loss_traj_cls: 0.0009, loss_map_cls: 0.1868, loss_map_pts: 0.8261, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.6071, d0.loss_plan_l1_fix_dist: 0.3818, d1.loss_plan_l1_fix_time: 1.1929, d1.loss_plan_l1_fix_dist: 0.1889, d2.loss_plan_l1_fix_time: 1.1860, d2.loss_plan_l1_fix_dist: 0.1982, d3.loss_plan_l1_fix_time: 1.1900, d3.loss_plan_l1_fix_dist: 0.2094, d4.loss_plan_l1_fix_time: 1.1952, d4.loss_plan_l1_fix_dist: 0.2224, d5.loss_plan_l1_fix_time: 1.2006, d5.loss_plan_l1_fix_dist: 0.2371, d6.loss_plan_l1_fix_time: 1.2073, d6.loss_plan_l1_fix_dist: 0.2535, d0.loss_cls_all: 0.2305, d0.loss_bbox_all: 0.4498, d0.loss_cls: 0.2305, d0.loss_bbox: 0.4498, d1.loss_cls: 0.2251, d1.loss_bbox: 0.4135, d2.loss_cls: 0.2071, d2.loss_bbox: 0.3967, d3.loss_cls: 0.1989, d3.loss_bbox: 0.3888, d4.loss_cls: 0.1928, d4.loss_bbox: 0.3876, d5.loss_cls: 0.1918, d5.loss_bbox: 0.3875, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9444, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7765, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7109, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7005, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6908, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6906, d0.loss_map_cls_all: 0.2466, d0.loss_map_pts_all: 1.5380, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2466, d0.loss_map_pts: 1.5380, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2192, d1.loss_map_pts: 1.1289, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.2018, d2.loss_map_pts: 0.9476, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1923, d3.loss_map_pts: 0.8726, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1915, d4.loss_map_pts: 0.8400, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1866, d5.loss_map_pts: 0.8298, d5.loss_map_dir: 0.0103, loss: 31.8887, grad_norm: 162.7002 +2026-02-26 01:21:30,903 - DriveTransformer - INFO - Epoch [6][12450/39528] lr: 8.977e-05, eta: 6 days, 21:27:42, time: 0.798, data_time: 0.047, memory: 19865, loss_cls: 0.1926, loss_bbox: 0.3843, loss_traj: 0.7194, loss_traj_cls: 0.0009, loss_map_cls: 0.1697, loss_map_pts: 0.7483, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.7391, d0.loss_plan_l1_fix_dist: 0.3619, d1.loss_plan_l1_fix_time: 1.2045, d1.loss_plan_l1_fix_dist: 0.1645, d2.loss_plan_l1_fix_time: 1.1862, d2.loss_plan_l1_fix_dist: 0.1685, d3.loss_plan_l1_fix_time: 1.1853, d3.loss_plan_l1_fix_dist: 0.1801, d4.loss_plan_l1_fix_time: 1.1892, d4.loss_plan_l1_fix_dist: 0.1930, d5.loss_plan_l1_fix_time: 1.1937, d5.loss_plan_l1_fix_dist: 0.2079, d6.loss_plan_l1_fix_time: 1.1985, d6.loss_plan_l1_fix_dist: 0.2264, d0.loss_cls_all: 0.2278, d0.loss_bbox_all: 0.4379, d0.loss_cls: 0.2278, d0.loss_bbox: 0.4379, d1.loss_cls: 0.2205, d1.loss_bbox: 0.4062, d2.loss_cls: 0.2094, d2.loss_bbox: 0.3906, d3.loss_cls: 0.1974, d3.loss_bbox: 0.3854, d4.loss_cls: 0.1923, d4.loss_bbox: 0.3875, d5.loss_cls: 0.1923, d5.loss_bbox: 0.3856, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9042, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7834, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7347, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7178, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7133, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7138, d0.loss_map_cls_all: 0.2353, d0.loss_map_pts_all: 1.4420, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2353, d0.loss_map_pts: 1.4420, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2027, d1.loss_map_pts: 1.0003, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1898, d2.loss_map_pts: 0.8348, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1790, d3.loss_map_pts: 0.7742, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1725, d4.loss_map_pts: 0.7578, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1694, d5.loss_map_pts: 0.7500, d5.loss_map_dir: 0.0101, loss: 30.9486, grad_norm: 162.8762 +2026-02-26 01:22:10,237 - DriveTransformer - INFO - Epoch [6][12500/39528] lr: 8.977e-05, eta: 6 days, 21:26:59, time: 0.787, data_time: 0.043, memory: 19865, loss_cls: 0.1895, loss_bbox: 0.4031, loss_traj: 0.7924, loss_traj_cls: 0.0009, loss_map_cls: 0.1820, loss_map_pts: 0.8115, loss_map_dir: 0.0130, d0.loss_plan_l1_fix_time: 2.8260, d0.loss_plan_l1_fix_dist: 0.4416, d1.loss_plan_l1_fix_time: 1.1679, d1.loss_plan_l1_fix_dist: 0.1921, d2.loss_plan_l1_fix_time: 1.1633, d2.loss_plan_l1_fix_dist: 0.1942, d3.loss_plan_l1_fix_time: 1.1634, d3.loss_plan_l1_fix_dist: 0.2061, d4.loss_plan_l1_fix_time: 1.1656, d4.loss_plan_l1_fix_dist: 0.2195, d5.loss_plan_l1_fix_time: 1.1684, d5.loss_plan_l1_fix_dist: 0.2346, d6.loss_plan_l1_fix_time: 1.1721, d6.loss_plan_l1_fix_dist: 0.2492, d0.loss_cls_all: 0.2292, d0.loss_bbox_all: 0.4688, d0.loss_cls: 0.2292, d0.loss_bbox: 0.4688, d1.loss_cls: 0.2232, d1.loss_bbox: 0.4284, d2.loss_cls: 0.2093, d2.loss_bbox: 0.4130, d3.loss_cls: 0.1987, d3.loss_bbox: 0.4031, d4.loss_cls: 0.1914, d4.loss_bbox: 0.4029, d5.loss_cls: 0.1884, d5.loss_bbox: 0.4046, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0576, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8361, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7926, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7825, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7837, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7826, d0.loss_map_cls_all: 0.2505, d0.loss_map_pts_all: 1.6332, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.2505, d0.loss_map_pts: 1.6332, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2222, d1.loss_map_pts: 1.0910, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2021, d2.loss_map_pts: 0.9049, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.1925, d3.loss_map_pts: 0.8356, d3.loss_map_dir: 0.0125, d4.loss_map_cls: 0.1870, d4.loss_map_pts: 0.8144, d4.loss_map_dir: 0.0129, d5.loss_map_cls: 0.1820, d5.loss_map_pts: 0.8108, d5.loss_map_dir: 0.0129, loss: 32.7538, grad_norm: 162.0624 +2026-02-26 01:22:52,628 - DriveTransformer - INFO - Epoch [6][12550/39528] lr: 8.977e-05, eta: 6 days, 21:26:26, time: 0.848, data_time: 0.048, memory: 19865, loss_cls: 0.1524, loss_bbox: 0.3712, loss_traj: 0.6090, loss_traj_cls: 0.0009, loss_map_cls: 0.1545, loss_map_pts: 0.8504, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.4455, d0.loss_plan_l1_fix_dist: 0.4580, d1.loss_plan_l1_fix_time: 1.0409, d1.loss_plan_l1_fix_dist: 0.1670, d2.loss_plan_l1_fix_time: 1.0271, d2.loss_plan_l1_fix_dist: 0.1693, d3.loss_plan_l1_fix_time: 1.0300, d3.loss_plan_l1_fix_dist: 0.1776, d4.loss_plan_l1_fix_time: 1.0341, d4.loss_plan_l1_fix_dist: 0.1882, d5.loss_plan_l1_fix_time: 1.0385, d5.loss_plan_l1_fix_dist: 0.2007, d6.loss_plan_l1_fix_time: 1.0437, d6.loss_plan_l1_fix_dist: 0.2149, d0.loss_cls_all: 0.1922, d0.loss_bbox_all: 0.4224, d0.loss_cls: 0.1922, d0.loss_bbox: 0.4224, d1.loss_cls: 0.1861, d1.loss_bbox: 0.3883, d2.loss_cls: 0.1728, d2.loss_bbox: 0.3747, d3.loss_cls: 0.1589, d3.loss_bbox: 0.3702, d4.loss_cls: 0.1536, d4.loss_bbox: 0.3710, d5.loss_cls: 0.1509, d5.loss_bbox: 0.3722, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7938, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6570, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6235, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6095, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6038, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6057, d0.loss_map_cls_all: 0.2240, d0.loss_map_pts_all: 1.6802, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2240, d0.loss_map_pts: 1.6802, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.1932, d1.loss_map_pts: 1.1247, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.1762, d2.loss_map_pts: 0.9326, d2.loss_map_dir: 0.0123, d3.loss_map_cls: 0.1670, d3.loss_map_pts: 0.8695, d3.loss_map_dir: 0.0132, d4.loss_map_cls: 0.1617, d4.loss_map_pts: 0.8437, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.1574, d5.loss_map_pts: 0.8449, d5.loss_map_dir: 0.0136, loss: 29.5835, grad_norm: 160.9400 +2026-02-26 01:23:32,259 - DriveTransformer - INFO - Epoch [6][12600/39528] lr: 8.977e-05, eta: 6 days, 21:25:43, time: 0.794, data_time: 0.049, memory: 19865, loss_cls: 0.1713, loss_bbox: 0.3728, loss_traj: 0.6099, loss_traj_cls: 0.0009, loss_map_cls: 0.1663, loss_map_pts: 0.7217, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.7049, d0.loss_plan_l1_fix_dist: 0.4653, d1.loss_plan_l1_fix_time: 1.1452, d1.loss_plan_l1_fix_dist: 0.1927, d2.loss_plan_l1_fix_time: 1.1249, d2.loss_plan_l1_fix_dist: 0.1949, d3.loss_plan_l1_fix_time: 1.1224, d3.loss_plan_l1_fix_dist: 0.2036, d4.loss_plan_l1_fix_time: 1.1254, d4.loss_plan_l1_fix_dist: 0.2145, d5.loss_plan_l1_fix_time: 1.1289, d5.loss_plan_l1_fix_dist: 0.2284, d6.loss_plan_l1_fix_time: 1.1335, d6.loss_plan_l1_fix_dist: 0.2503, d0.loss_cls_all: 0.1995, d0.loss_bbox_all: 0.4260, d0.loss_cls: 0.1995, d0.loss_bbox: 0.4260, d1.loss_cls: 0.1948, d1.loss_bbox: 0.3950, d2.loss_cls: 0.1811, d2.loss_bbox: 0.3803, d3.loss_cls: 0.1740, d3.loss_bbox: 0.3740, d4.loss_cls: 0.1710, d4.loss_bbox: 0.3711, d5.loss_cls: 0.1711, d5.loss_bbox: 0.3724, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8037, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6805, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6361, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6192, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6149, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6096, d0.loss_map_cls_all: 0.2399, d0.loss_map_pts_all: 1.4116, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2399, d0.loss_map_pts: 1.4116, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2051, d1.loss_map_pts: 0.9833, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1870, d2.loss_map_pts: 0.8120, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1767, d3.loss_map_pts: 0.7508, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1729, d4.loss_map_pts: 0.7240, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1682, d5.loss_map_pts: 0.7217, d5.loss_map_dir: 0.0105, loss: 29.5678, grad_norm: 162.3188 +2026-02-26 01:24:14,612 - DriveTransformer - INFO - Epoch [6][12650/39528] lr: 8.977e-05, eta: 6 days, 21:25:10, time: 0.846, data_time: 0.039, memory: 19865, loss_cls: 0.1693, loss_bbox: 0.3743, loss_traj: 0.5393, loss_traj_cls: 0.0010, loss_map_cls: 0.1810, loss_map_pts: 0.8093, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.5783, d0.loss_plan_l1_fix_dist: 0.3344, d1.loss_plan_l1_fix_time: 1.3376, d1.loss_plan_l1_fix_dist: 0.1761, d2.loss_plan_l1_fix_time: 1.3303, d2.loss_plan_l1_fix_dist: 0.1775, d3.loss_plan_l1_fix_time: 1.3307, d3.loss_plan_l1_fix_dist: 0.1865, d4.loss_plan_l1_fix_time: 1.3334, d4.loss_plan_l1_fix_dist: 0.1979, d5.loss_plan_l1_fix_time: 1.3359, d5.loss_plan_l1_fix_dist: 0.2103, d6.loss_plan_l1_fix_time: 1.3389, d6.loss_plan_l1_fix_dist: 0.2226, d0.loss_cls_all: 0.2153, d0.loss_bbox_all: 0.4352, d0.loss_cls: 0.2153, d0.loss_bbox: 0.4352, d1.loss_cls: 0.2056, d1.loss_bbox: 0.3979, d2.loss_cls: 0.1888, d2.loss_bbox: 0.3816, d3.loss_cls: 0.1781, d3.loss_bbox: 0.3741, d4.loss_cls: 0.1702, d4.loss_bbox: 0.3747, d5.loss_cls: 0.1688, d5.loss_bbox: 0.3746, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7348, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5887, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5452, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5415, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5388, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5378, d0.loss_map_cls_all: 0.2516, d0.loss_map_pts_all: 1.6829, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2516, d0.loss_map_pts: 1.6829, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2227, d1.loss_map_pts: 1.1417, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2065, d2.loss_map_pts: 0.9180, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.1925, d3.loss_map_pts: 0.8452, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.1858, d4.loss_map_pts: 0.8190, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.1833, d5.loss_map_pts: 0.8104, d5.loss_map_dir: 0.0127, loss: 31.2630, grad_norm: 163.2478 +2026-02-26 01:24:57,502 - DriveTransformer - INFO - Epoch [6][12700/39528] lr: 8.977e-05, eta: 6 days, 21:24:38, time: 0.858, data_time: 0.041, memory: 19865, loss_cls: 0.1694, loss_bbox: 0.3434, loss_traj: 0.5823, loss_traj_cls: 0.0009, loss_map_cls: 0.1863, loss_map_pts: 0.7989, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.4996, d0.loss_plan_l1_fix_dist: 0.3656, d1.loss_plan_l1_fix_time: 1.1634, d1.loss_plan_l1_fix_dist: 0.1794, d2.loss_plan_l1_fix_time: 1.1504, d2.loss_plan_l1_fix_dist: 0.1778, d3.loss_plan_l1_fix_time: 1.1513, d3.loss_plan_l1_fix_dist: 0.1854, d4.loss_plan_l1_fix_time: 1.1541, d4.loss_plan_l1_fix_dist: 0.1962, d5.loss_plan_l1_fix_time: 1.1575, d5.loss_plan_l1_fix_dist: 0.2080, d6.loss_plan_l1_fix_time: 1.1616, d6.loss_plan_l1_fix_dist: 0.2201, d0.loss_cls_all: 0.2024, d0.loss_bbox_all: 0.3968, d0.loss_cls: 0.2024, d0.loss_bbox: 0.3968, d1.loss_cls: 0.1963, d1.loss_bbox: 0.3659, d2.loss_cls: 0.1842, d2.loss_bbox: 0.3494, d3.loss_cls: 0.1751, d3.loss_bbox: 0.3457, d4.loss_cls: 0.1693, d4.loss_bbox: 0.3443, d5.loss_cls: 0.1690, d5.loss_bbox: 0.3436, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7971, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6404, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5984, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5897, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5864, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5858, d0.loss_map_cls_all: 0.2528, d0.loss_map_pts_all: 1.6097, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2528, d0.loss_map_pts: 1.6097, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2275, d1.loss_map_pts: 1.1036, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.2116, d2.loss_map_pts: 0.9021, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1987, d3.loss_map_pts: 0.8366, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1913, d4.loss_map_pts: 0.8113, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1876, d5.loss_map_pts: 0.8001, d5.loss_map_dir: 0.0110, loss: 29.9760, grad_norm: 163.2176 +2026-02-26 01:25:39,568 - DriveTransformer - INFO - Epoch [6][12750/39528] lr: 8.977e-05, eta: 6 days, 21:24:04, time: 0.841, data_time: 0.045, memory: 19865, loss_cls: 0.1735, loss_bbox: 0.3683, loss_traj: 0.6446, loss_traj_cls: 0.0010, loss_map_cls: 0.1674, loss_map_pts: 0.7383, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.8713, d0.loss_plan_l1_fix_dist: 0.4075, d1.loss_plan_l1_fix_time: 1.1975, d1.loss_plan_l1_fix_dist: 0.2123, d2.loss_plan_l1_fix_time: 1.1903, d2.loss_plan_l1_fix_dist: 0.2194, d3.loss_plan_l1_fix_time: 1.1930, d3.loss_plan_l1_fix_dist: 0.2339, d4.loss_plan_l1_fix_time: 1.1965, d4.loss_plan_l1_fix_dist: 0.2516, d5.loss_plan_l1_fix_time: 1.2009, d5.loss_plan_l1_fix_dist: 0.2716, d6.loss_plan_l1_fix_time: 1.2065, d6.loss_plan_l1_fix_dist: 0.2927, d0.loss_cls_all: 0.2061, d0.loss_bbox_all: 0.4233, d0.loss_cls: 0.2061, d0.loss_bbox: 0.4233, d1.loss_cls: 0.1983, d1.loss_bbox: 0.3930, d2.loss_cls: 0.1883, d2.loss_bbox: 0.3756, d3.loss_cls: 0.1784, d3.loss_bbox: 0.3705, d4.loss_cls: 0.1745, d4.loss_bbox: 0.3684, d5.loss_cls: 0.1727, d5.loss_bbox: 0.3688, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8138, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7022, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6552, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6412, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6474, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6446, d0.loss_map_cls_all: 0.2367, d0.loss_map_pts_all: 1.4744, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2367, d0.loss_map_pts: 1.4744, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2043, d1.loss_map_pts: 0.9904, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1887, d2.loss_map_pts: 0.8226, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1773, d3.loss_map_pts: 0.7624, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1715, d4.loss_map_pts: 0.7442, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1691, d5.loss_map_pts: 0.7377, d5.loss_map_dir: 0.0103, loss: 30.6659, grad_norm: 159.0499 +2026-02-26 01:26:21,433 - DriveTransformer - INFO - Epoch [6][12800/39528] lr: 8.977e-05, eta: 6 days, 21:23:29, time: 0.837, data_time: 0.043, memory: 19865, loss_cls: 0.1864, loss_bbox: 0.3801, loss_traj: 0.6030, loss_traj_cls: 0.0010, loss_map_cls: 0.1890, loss_map_pts: 0.8007, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.3743, d0.loss_plan_l1_fix_dist: 0.5113, d1.loss_plan_l1_fix_time: 1.1152, d1.loss_plan_l1_fix_dist: 0.2102, d2.loss_plan_l1_fix_time: 1.1018, d2.loss_plan_l1_fix_dist: 0.2235, d3.loss_plan_l1_fix_time: 1.1004, d3.loss_plan_l1_fix_dist: 0.2422, d4.loss_plan_l1_fix_time: 1.1035, d4.loss_plan_l1_fix_dist: 0.2600, d5.loss_plan_l1_fix_time: 1.1073, d5.loss_plan_l1_fix_dist: 0.2794, d6.loss_plan_l1_fix_time: 1.1118, d6.loss_plan_l1_fix_dist: 0.2998, d0.loss_cls_all: 0.2274, d0.loss_bbox_all: 0.4311, d0.loss_cls: 0.2274, d0.loss_bbox: 0.4311, d1.loss_cls: 0.2155, d1.loss_bbox: 0.4054, d2.loss_cls: 0.2003, d2.loss_bbox: 0.3888, d3.loss_cls: 0.1928, d3.loss_bbox: 0.3826, d4.loss_cls: 0.1859, d4.loss_bbox: 0.3822, d5.loss_cls: 0.1868, d5.loss_bbox: 0.3799, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7646, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6470, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6117, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6042, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6004, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6035, d0.loss_map_cls_all: 0.2543, d0.loss_map_pts_all: 1.5527, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2543, d0.loss_map_pts: 1.5527, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2227, d1.loss_map_pts: 1.0867, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.2044, d2.loss_map_pts: 0.9026, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1966, d3.loss_map_pts: 0.8320, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1932, d4.loss_map_pts: 0.8065, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1904, d5.loss_map_pts: 0.8015, d5.loss_map_dir: 0.0110, loss: 30.4085, grad_norm: 158.6689 +2026-02-26 01:27:03,368 - DriveTransformer - INFO - Epoch [6][12850/39528] lr: 8.977e-05, eta: 6 days, 21:22:54, time: 0.839, data_time: 0.042, memory: 19865, loss_cls: 0.1870, loss_bbox: 0.3630, loss_traj: 0.6308, loss_traj_cls: 0.0010, loss_map_cls: 0.1659, loss_map_pts: 0.7290, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.5334, d0.loss_plan_l1_fix_dist: 0.4589, d1.loss_plan_l1_fix_time: 1.2192, d1.loss_plan_l1_fix_dist: 0.2164, d2.loss_plan_l1_fix_time: 1.1913, d2.loss_plan_l1_fix_dist: 0.2214, d3.loss_plan_l1_fix_time: 1.1865, d3.loss_plan_l1_fix_dist: 0.2358, d4.loss_plan_l1_fix_time: 1.1879, d4.loss_plan_l1_fix_dist: 0.2518, d5.loss_plan_l1_fix_time: 1.1902, d5.loss_plan_l1_fix_dist: 0.2704, d6.loss_plan_l1_fix_time: 1.1935, d6.loss_plan_l1_fix_dist: 0.2889, d0.loss_cls_all: 0.2187, d0.loss_bbox_all: 0.4240, d0.loss_cls: 0.2187, d0.loss_bbox: 0.4240, d1.loss_cls: 0.2147, d1.loss_bbox: 0.3924, d2.loss_cls: 0.1992, d2.loss_bbox: 0.3748, d3.loss_cls: 0.1901, d3.loss_bbox: 0.3679, d4.loss_cls: 0.1859, d4.loss_bbox: 0.3657, d5.loss_cls: 0.1870, d5.loss_bbox: 0.3638, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8489, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6845, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6446, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6332, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6341, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6298, d0.loss_map_cls_all: 0.2286, d0.loss_map_pts_all: 1.6099, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2286, d0.loss_map_pts: 1.6099, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2020, d1.loss_map_pts: 1.0143, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.1880, d2.loss_map_pts: 0.8325, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.1777, d3.loss_map_pts: 0.7677, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1709, d4.loss_map_pts: 0.7382, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1674, d5.loss_map_pts: 0.7291, d5.loss_map_dir: 0.0114, loss: 30.6864, grad_norm: 154.8042 +2026-02-26 01:27:42,506 - DriveTransformer - INFO - Epoch [6][12900/39528] lr: 8.977e-05, eta: 6 days, 21:22:10, time: 0.783, data_time: 0.046, memory: 19865, loss_cls: 0.1809, loss_bbox: 0.3688, loss_traj: 0.6058, loss_traj_cls: 0.0009, loss_map_cls: 0.1813, loss_map_pts: 0.7501, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.7269, d0.loss_plan_l1_fix_dist: 0.3691, d1.loss_plan_l1_fix_time: 1.2243, d1.loss_plan_l1_fix_dist: 0.1924, d2.loss_plan_l1_fix_time: 1.2002, d2.loss_plan_l1_fix_dist: 0.2033, d3.loss_plan_l1_fix_time: 1.1968, d3.loss_plan_l1_fix_dist: 0.2207, d4.loss_plan_l1_fix_time: 1.1982, d4.loss_plan_l1_fix_dist: 0.2440, d5.loss_plan_l1_fix_time: 1.2000, d5.loss_plan_l1_fix_dist: 0.2689, d6.loss_plan_l1_fix_time: 1.2026, d6.loss_plan_l1_fix_dist: 0.2921, d0.loss_cls_all: 0.2161, d0.loss_bbox_all: 0.4318, d0.loss_cls: 0.2161, d0.loss_bbox: 0.4318, d1.loss_cls: 0.2063, d1.loss_bbox: 0.3963, d2.loss_cls: 0.1965, d2.loss_bbox: 0.3783, d3.loss_cls: 0.1869, d3.loss_bbox: 0.3732, d4.loss_cls: 0.1820, d4.loss_bbox: 0.3721, d5.loss_cls: 0.1804, d5.loss_bbox: 0.3709, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8655, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6664, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6324, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6159, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6112, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6059, d0.loss_map_cls_all: 0.2508, d0.loss_map_pts_all: 1.4829, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2508, d0.loss_map_pts: 1.4829, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2235, d1.loss_map_pts: 1.0039, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.2037, d2.loss_map_pts: 0.8373, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1953, d3.loss_map_pts: 0.7748, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1867, d4.loss_map_pts: 0.7569, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1830, d5.loss_map_pts: 0.7520, d5.loss_map_dir: 0.0103, loss: 30.6359, grad_norm: 159.6756 +2026-02-26 01:28:20,204 - DriveTransformer - INFO - Epoch [6][12950/39528] lr: 8.977e-05, eta: 6 days, 21:21:20, time: 0.754, data_time: 0.038, memory: 19865, loss_cls: 0.1681, loss_bbox: 0.3679, loss_traj: 0.6400, loss_traj_cls: 0.0009, loss_map_cls: 0.1824, loss_map_pts: 0.7477, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.6824, d0.loss_plan_l1_fix_dist: 0.4169, d1.loss_plan_l1_fix_time: 1.0851, d1.loss_plan_l1_fix_dist: 0.1855, d2.loss_plan_l1_fix_time: 1.0605, d2.loss_plan_l1_fix_dist: 0.1910, d3.loss_plan_l1_fix_time: 1.0603, d3.loss_plan_l1_fix_dist: 0.2038, d4.loss_plan_l1_fix_time: 1.0614, d4.loss_plan_l1_fix_dist: 0.2194, d5.loss_plan_l1_fix_time: 1.0628, d5.loss_plan_l1_fix_dist: 0.2359, d6.loss_plan_l1_fix_time: 1.0651, d6.loss_plan_l1_fix_dist: 0.2570, d0.loss_cls_all: 0.2053, d0.loss_bbox_all: 0.4236, d0.loss_cls: 0.2053, d0.loss_bbox: 0.4236, d1.loss_cls: 0.1961, d1.loss_bbox: 0.3907, d2.loss_cls: 0.1856, d2.loss_bbox: 0.3735, d3.loss_cls: 0.1745, d3.loss_bbox: 0.3659, d4.loss_cls: 0.1684, d4.loss_bbox: 0.3657, d5.loss_cls: 0.1673, d5.loss_bbox: 0.3669, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7974, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6696, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6415, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6391, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6355, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6399, d0.loss_map_cls_all: 0.2407, d0.loss_map_pts_all: 1.4467, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2407, d0.loss_map_pts: 1.4467, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2150, d1.loss_map_pts: 1.0165, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1983, d2.loss_map_pts: 0.8552, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1905, d3.loss_map_pts: 0.7883, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1853, d4.loss_map_pts: 0.7579, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1831, d5.loss_map_pts: 0.7518, d5.loss_map_dir: 0.0092, loss: 29.5225, grad_norm: 159.3859 +2026-02-26 01:29:00,605 - DriveTransformer - INFO - Epoch [6][13000/39528] lr: 8.977e-05, eta: 6 days, 21:20:40, time: 0.808, data_time: 0.044, memory: 19865, loss_cls: 0.2101, loss_bbox: 0.4149, loss_traj: 0.6571, loss_traj_cls: 0.0010, loss_map_cls: 0.1828, loss_map_pts: 0.8556, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.6627, d0.loss_plan_l1_fix_dist: 0.4381, d1.loss_plan_l1_fix_time: 1.1974, d1.loss_plan_l1_fix_dist: 0.2302, d2.loss_plan_l1_fix_time: 1.1779, d2.loss_plan_l1_fix_dist: 0.2343, d3.loss_plan_l1_fix_time: 1.1798, d3.loss_plan_l1_fix_dist: 0.2476, d4.loss_plan_l1_fix_time: 1.1827, d4.loss_plan_l1_fix_dist: 0.2624, d5.loss_plan_l1_fix_time: 1.1858, d5.loss_plan_l1_fix_dist: 0.2795, d6.loss_plan_l1_fix_time: 1.1894, d6.loss_plan_l1_fix_dist: 0.2994, d0.loss_cls_all: 0.2447, d0.loss_bbox_all: 0.4756, d0.loss_cls: 0.2447, d0.loss_bbox: 0.4756, d1.loss_cls: 0.2355, d1.loss_bbox: 0.4433, d2.loss_cls: 0.2209, d2.loss_bbox: 0.4208, d3.loss_cls: 0.2145, d3.loss_bbox: 0.4130, d4.loss_cls: 0.2100, d4.loss_bbox: 0.4126, d5.loss_cls: 0.2098, d5.loss_bbox: 0.4135, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8858, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7371, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6886, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6797, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6759, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6737, d0.loss_map_cls_all: 0.2552, d0.loss_map_pts_all: 1.5879, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2552, d0.loss_map_pts: 1.5879, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2228, d1.loss_map_pts: 1.1178, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.2049, d2.loss_map_pts: 0.9435, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1940, d3.loss_map_pts: 0.8766, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1889, d4.loss_map_pts: 0.8556, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1843, d5.loss_map_pts: 0.8512, d5.loss_map_dir: 0.0110, loss: 32.4785, grad_norm: 160.5934 +2026-02-26 01:29:40,197 - DriveTransformer - INFO - Epoch [6][13050/39528] lr: 8.977e-05, eta: 6 days, 21:19:57, time: 0.792, data_time: 0.038, memory: 19865, loss_cls: 0.1823, loss_bbox: 0.4001, loss_traj: 0.6728, loss_traj_cls: 0.0010, loss_map_cls: 0.1789, loss_map_pts: 0.7844, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.2993, d0.loss_plan_l1_fix_dist: 0.3910, d1.loss_plan_l1_fix_time: 1.1668, d1.loss_plan_l1_fix_dist: 0.1882, d2.loss_plan_l1_fix_time: 1.1642, d2.loss_plan_l1_fix_dist: 0.1859, d3.loss_plan_l1_fix_time: 1.1635, d3.loss_plan_l1_fix_dist: 0.1971, d4.loss_plan_l1_fix_time: 1.1661, d4.loss_plan_l1_fix_dist: 0.2117, d5.loss_plan_l1_fix_time: 1.1692, d5.loss_plan_l1_fix_dist: 0.2285, d6.loss_plan_l1_fix_time: 1.1720, d6.loss_plan_l1_fix_dist: 0.2436, d0.loss_cls_all: 0.2256, d0.loss_bbox_all: 0.4521, d0.loss_cls: 0.2256, d0.loss_bbox: 0.4521, d1.loss_cls: 0.2163, d1.loss_bbox: 0.4214, d2.loss_cls: 0.2011, d2.loss_bbox: 0.4060, d3.loss_cls: 0.1912, d3.loss_bbox: 0.3995, d4.loss_cls: 0.1831, d4.loss_bbox: 0.4003, d5.loss_cls: 0.1829, d5.loss_bbox: 0.3990, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9135, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7431, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6942, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6818, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6701, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6685, d0.loss_map_cls_all: 0.2450, d0.loss_map_pts_all: 1.5847, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2450, d0.loss_map_pts: 1.5847, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2131, d1.loss_map_pts: 1.0835, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1988, d2.loss_map_pts: 0.8861, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1900, d3.loss_map_pts: 0.8142, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1839, d4.loss_map_pts: 0.7892, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1796, d5.loss_map_pts: 0.7845, d5.loss_map_dir: 0.0102, loss: 30.9611, grad_norm: 159.0860 +2026-02-26 01:30:19,640 - DriveTransformer - INFO - Epoch [6][13100/39528] lr: 8.977e-05, eta: 6 days, 21:19:14, time: 0.789, data_time: 0.044, memory: 19865, loss_cls: 0.1852, loss_bbox: 0.3885, loss_traj: 0.7295, loss_traj_cls: 0.0010, loss_map_cls: 0.1426, loss_map_pts: 0.6793, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.6758, d0.loss_plan_l1_fix_dist: 0.3818, d1.loss_plan_l1_fix_time: 1.1141, d1.loss_plan_l1_fix_dist: 0.1911, d2.loss_plan_l1_fix_time: 1.1058, d2.loss_plan_l1_fix_dist: 0.1983, d3.loss_plan_l1_fix_time: 1.1061, d3.loss_plan_l1_fix_dist: 0.2147, d4.loss_plan_l1_fix_time: 1.1093, d4.loss_plan_l1_fix_dist: 0.2294, d5.loss_plan_l1_fix_time: 1.1125, d5.loss_plan_l1_fix_dist: 0.2432, d6.loss_plan_l1_fix_time: 1.1168, d6.loss_plan_l1_fix_dist: 0.2578, d0.loss_cls_all: 0.2192, d0.loss_bbox_all: 0.4507, d0.loss_cls: 0.2192, d0.loss_bbox: 0.4507, d1.loss_cls: 0.2129, d1.loss_bbox: 0.4148, d2.loss_cls: 0.1997, d2.loss_bbox: 0.3995, d3.loss_cls: 0.1901, d3.loss_bbox: 0.3921, d4.loss_cls: 0.1843, d4.loss_bbox: 0.3907, d5.loss_cls: 0.1840, d5.loss_bbox: 0.3902, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8934, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7708, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7306, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7306, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7287, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7281, d0.loss_map_cls_all: 0.2145, d0.loss_map_pts_all: 1.3565, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2145, d0.loss_map_pts: 1.3565, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1849, d1.loss_map_pts: 0.9197, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1652, d2.loss_map_pts: 0.7597, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1537, d3.loss_map_pts: 0.6990, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1468, d4.loss_map_pts: 0.6811, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1437, d5.loss_map_pts: 0.6773, d5.loss_map_dir: 0.0085, loss: 29.8085, grad_norm: 159.7995 +2026-02-26 01:30:58,889 - DriveTransformer - INFO - Epoch [6][13150/39528] lr: 8.977e-05, eta: 6 days, 21:18:30, time: 0.785, data_time: 0.039, memory: 19865, loss_cls: 0.1768, loss_bbox: 0.3536, loss_traj: 0.6397, loss_traj_cls: 0.0009, loss_map_cls: 0.1600, loss_map_pts: 0.7306, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.6685, d0.loss_plan_l1_fix_dist: 0.3707, d1.loss_plan_l1_fix_time: 1.0683, d1.loss_plan_l1_fix_dist: 0.2001, d2.loss_plan_l1_fix_time: 1.0624, d2.loss_plan_l1_fix_dist: 0.2081, d3.loss_plan_l1_fix_time: 1.0662, d3.loss_plan_l1_fix_dist: 0.2208, d4.loss_plan_l1_fix_time: 1.0723, d4.loss_plan_l1_fix_dist: 0.2341, d5.loss_plan_l1_fix_time: 1.0787, d5.loss_plan_l1_fix_dist: 0.2482, d6.loss_plan_l1_fix_time: 1.0856, d6.loss_plan_l1_fix_dist: 0.2657, d0.loss_cls_all: 0.2072, d0.loss_bbox_all: 0.4154, d0.loss_cls: 0.2072, d0.loss_bbox: 0.4154, d1.loss_cls: 0.2010, d1.loss_bbox: 0.3798, d2.loss_cls: 0.1928, d2.loss_bbox: 0.3646, d3.loss_cls: 0.1818, d3.loss_bbox: 0.3569, d4.loss_cls: 0.1769, d4.loss_bbox: 0.3536, d5.loss_cls: 0.1769, d5.loss_bbox: 0.3535, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8308, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6863, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6539, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6469, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6418, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6359, d0.loss_map_cls_all: 0.2331, d0.loss_map_pts_all: 1.4426, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2331, d0.loss_map_pts: 1.4426, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2006, d1.loss_map_pts: 0.9772, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1826, d2.loss_map_pts: 0.8125, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1715, d3.loss_map_pts: 0.7568, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1641, d4.loss_map_pts: 0.7369, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1613, d5.loss_map_pts: 0.7328, d5.loss_map_dir: 0.0097, loss: 29.3196, grad_norm: 160.1796 +2026-02-26 01:31:38,350 - DriveTransformer - INFO - Epoch [6][13200/39528] lr: 8.977e-05, eta: 6 days, 21:17:47, time: 0.789, data_time: 0.046, memory: 19865, loss_cls: 0.1741, loss_bbox: 0.3650, loss_traj: 0.6801, loss_traj_cls: 0.0010, loss_map_cls: 0.1911, loss_map_pts: 0.8679, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.5878, d0.loss_plan_l1_fix_dist: 0.4015, d1.loss_plan_l1_fix_time: 1.1055, d1.loss_plan_l1_fix_dist: 0.1886, d2.loss_plan_l1_fix_time: 1.0890, d2.loss_plan_l1_fix_dist: 0.1977, d3.loss_plan_l1_fix_time: 1.0867, d3.loss_plan_l1_fix_dist: 0.2121, d4.loss_plan_l1_fix_time: 1.0889, d4.loss_plan_l1_fix_dist: 0.2276, d5.loss_plan_l1_fix_time: 1.0923, d5.loss_plan_l1_fix_dist: 0.2433, d6.loss_plan_l1_fix_time: 1.0962, d6.loss_plan_l1_fix_dist: 0.2584, d0.loss_cls_all: 0.2013, d0.loss_bbox_all: 0.4232, d0.loss_cls: 0.2013, d0.loss_bbox: 0.4232, d1.loss_cls: 0.1941, d1.loss_bbox: 0.3923, d2.loss_cls: 0.1879, d2.loss_bbox: 0.3756, d3.loss_cls: 0.1791, d3.loss_bbox: 0.3693, d4.loss_cls: 0.1740, d4.loss_bbox: 0.3672, d5.loss_cls: 0.1730, d5.loss_bbox: 0.3656, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9015, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7487, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6981, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6930, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6828, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6792, d0.loss_map_cls_all: 0.2595, d0.loss_map_pts_all: 1.5631, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2595, d0.loss_map_pts: 1.5631, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2316, d1.loss_map_pts: 1.1780, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.2132, d2.loss_map_pts: 0.9830, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.2041, d3.loss_map_pts: 0.9078, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1966, d4.loss_map_pts: 0.8798, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1935, d5.loss_map_pts: 0.8711, d5.loss_map_dir: 0.0106, loss: 31.1752, grad_norm: 163.7350 +2026-02-26 01:32:18,820 - DriveTransformer - INFO - Epoch [6][13250/39528] lr: 8.977e-05, eta: 6 days, 21:17:07, time: 0.809, data_time: 0.046, memory: 19865, loss_cls: 0.1709, loss_bbox: 0.3610, loss_traj: 0.8278, loss_traj_cls: 0.0010, loss_map_cls: 0.1660, loss_map_pts: 0.6611, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.5520, d0.loss_plan_l1_fix_dist: 0.4367, d1.loss_plan_l1_fix_time: 1.2329, d1.loss_plan_l1_fix_dist: 0.1914, d2.loss_plan_l1_fix_time: 1.2228, d2.loss_plan_l1_fix_dist: 0.1987, d3.loss_plan_l1_fix_time: 1.2291, d3.loss_plan_l1_fix_dist: 0.2066, d4.loss_plan_l1_fix_time: 1.2329, d4.loss_plan_l1_fix_dist: 0.2183, d5.loss_plan_l1_fix_time: 1.2372, d5.loss_plan_l1_fix_dist: 0.2320, d6.loss_plan_l1_fix_time: 1.2420, d6.loss_plan_l1_fix_dist: 0.2460, d0.loss_cls_all: 0.2005, d0.loss_bbox_all: 0.4136, d0.loss_cls: 0.2005, d0.loss_bbox: 0.4136, d1.loss_cls: 0.1976, d1.loss_bbox: 0.3868, d2.loss_cls: 0.1834, d2.loss_bbox: 0.3698, d3.loss_cls: 0.1772, d3.loss_bbox: 0.3640, d4.loss_cls: 0.1723, d4.loss_bbox: 0.3626, d5.loss_cls: 0.1701, d5.loss_bbox: 0.3618, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0665, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8891, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8389, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8252, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8233, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8256, d0.loss_map_cls_all: 0.2318, d0.loss_map_pts_all: 1.4272, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2318, d0.loss_map_pts: 1.4272, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2012, d1.loss_map_pts: 0.9559, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1844, d2.loss_map_pts: 0.7702, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1762, d3.loss_map_pts: 0.6966, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1710, d4.loss_map_pts: 0.6686, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1679, d5.loss_map_pts: 0.6614, d5.loss_map_dir: 0.0102, loss: 31.1644, grad_norm: 163.2762 +2026-02-26 01:32:57,552 - DriveTransformer - INFO - Epoch [6][13300/39528] lr: 8.977e-05, eta: 6 days, 21:16:21, time: 0.775, data_time: 0.040, memory: 19865, loss_cls: 0.2006, loss_bbox: 0.3839, loss_traj: 0.6655, loss_traj_cls: 0.0009, loss_map_cls: 0.1768, loss_map_pts: 0.8096, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.9632, d0.loss_plan_l1_fix_dist: 0.4410, d1.loss_plan_l1_fix_time: 1.2723, d1.loss_plan_l1_fix_dist: 0.2151, d2.loss_plan_l1_fix_time: 1.2811, d2.loss_plan_l1_fix_dist: 0.2237, d3.loss_plan_l1_fix_time: 1.2872, d3.loss_plan_l1_fix_dist: 0.2329, d4.loss_plan_l1_fix_time: 1.2915, d4.loss_plan_l1_fix_dist: 0.2460, d5.loss_plan_l1_fix_time: 1.2956, d5.loss_plan_l1_fix_dist: 0.2606, d6.loss_plan_l1_fix_time: 1.3002, d6.loss_plan_l1_fix_dist: 0.2764, d0.loss_cls_all: 0.2413, d0.loss_bbox_all: 0.4483, d0.loss_cls: 0.2413, d0.loss_bbox: 0.4483, d1.loss_cls: 0.2314, d1.loss_bbox: 0.4101, d2.loss_cls: 0.2162, d2.loss_bbox: 0.3920, d3.loss_cls: 0.2094, d3.loss_bbox: 0.3859, d4.loss_cls: 0.2032, d4.loss_bbox: 0.3840, d5.loss_cls: 0.1995, d5.loss_bbox: 0.3848, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8877, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7354, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6881, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6704, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6651, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6644, d0.loss_map_cls_all: 0.2407, d0.loss_map_pts_all: 1.5361, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2407, d0.loss_map_pts: 1.5361, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2114, d1.loss_map_pts: 1.0919, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.1944, d2.loss_map_pts: 0.9085, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1851, d3.loss_map_pts: 0.8424, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1814, d4.loss_map_pts: 0.8159, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1790, d5.loss_map_pts: 0.8108, d5.loss_map_dir: 0.0111, loss: 32.5973, grad_norm: 164.0393 +2026-02-26 01:33:38,408 - DriveTransformer - INFO - Epoch [6][13350/39528] lr: 8.977e-05, eta: 6 days, 21:15:42, time: 0.817, data_time: 0.043, memory: 19865, loss_cls: 0.1758, loss_bbox: 0.3777, loss_traj: 0.7904, loss_traj_cls: 0.0010, loss_map_cls: 0.1748, loss_map_pts: 0.7790, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.4007, d0.loss_plan_l1_fix_dist: 0.5026, d1.loss_plan_l1_fix_time: 1.0032, d1.loss_plan_l1_fix_dist: 0.2017, d2.loss_plan_l1_fix_time: 0.9853, d2.loss_plan_l1_fix_dist: 0.2031, d3.loss_plan_l1_fix_time: 0.9860, d3.loss_plan_l1_fix_dist: 0.2138, d4.loss_plan_l1_fix_time: 0.9885, d4.loss_plan_l1_fix_dist: 0.2266, d5.loss_plan_l1_fix_time: 0.9922, d5.loss_plan_l1_fix_dist: 0.2405, d6.loss_plan_l1_fix_time: 0.9967, d6.loss_plan_l1_fix_dist: 0.2578, d0.loss_cls_all: 0.2058, d0.loss_bbox_all: 0.4337, d0.loss_cls: 0.2058, d0.loss_bbox: 0.4337, d1.loss_cls: 0.1983, d1.loss_bbox: 0.4045, d2.loss_cls: 0.1892, d2.loss_bbox: 0.3859, d3.loss_cls: 0.1813, d3.loss_bbox: 0.3808, d4.loss_cls: 0.1745, d4.loss_bbox: 0.3800, d5.loss_cls: 0.1756, d5.loss_bbox: 0.3778, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9938, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8343, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7936, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7899, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7876, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7902, d0.loss_map_cls_all: 0.2424, d0.loss_map_pts_all: 1.5887, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2424, d0.loss_map_pts: 1.5887, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2071, d1.loss_map_pts: 1.0652, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.1909, d2.loss_map_pts: 0.8796, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1824, d3.loss_map_pts: 0.8107, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1784, d4.loss_map_pts: 0.7853, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1751, d5.loss_map_pts: 0.7806, d5.loss_map_dir: 0.0112, loss: 30.6243, grad_norm: 165.8444 +2026-02-26 01:34:16,586 - DriveTransformer - INFO - Epoch [6][13400/39528] lr: 8.977e-05, eta: 6 days, 21:14:55, time: 0.765, data_time: 0.038, memory: 19865, loss_cls: 0.2010, loss_bbox: 0.3933, loss_traj: 0.7496, loss_traj_cls: 0.0010, loss_map_cls: 0.2073, loss_map_pts: 0.8476, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.6173, d0.loss_plan_l1_fix_dist: 0.3720, d1.loss_plan_l1_fix_time: 1.2625, d1.loss_plan_l1_fix_dist: 0.1795, d2.loss_plan_l1_fix_time: 1.2428, d2.loss_plan_l1_fix_dist: 0.1844, d3.loss_plan_l1_fix_time: 1.2455, d3.loss_plan_l1_fix_dist: 0.1958, d4.loss_plan_l1_fix_time: 1.2479, d4.loss_plan_l1_fix_dist: 0.2104, d5.loss_plan_l1_fix_time: 1.2505, d5.loss_plan_l1_fix_dist: 0.2271, d6.loss_plan_l1_fix_time: 1.2534, d6.loss_plan_l1_fix_dist: 0.2451, d0.loss_cls_all: 0.2395, d0.loss_bbox_all: 0.4483, d0.loss_cls: 0.2395, d0.loss_bbox: 0.4483, d1.loss_cls: 0.2307, d1.loss_bbox: 0.4158, d2.loss_cls: 0.2169, d2.loss_bbox: 0.4005, d3.loss_cls: 0.2080, d3.loss_bbox: 0.3929, d4.loss_cls: 0.2024, d4.loss_bbox: 0.3928, d5.loss_cls: 0.2011, d5.loss_bbox: 0.3936, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9770, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7887, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7438, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7365, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7304, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7516, d0.loss_map_cls_all: 0.2708, d0.loss_map_pts_all: 1.5970, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2708, d0.loss_map_pts: 1.5970, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2402, d1.loss_map_pts: 1.1697, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.2271, d2.loss_map_pts: 0.9787, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.2193, d3.loss_map_pts: 0.8946, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.2139, d4.loss_map_pts: 0.8626, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.2088, d5.loss_map_pts: 0.8512, d5.loss_map_dir: 0.0094, loss: 32.9733, grad_norm: 162.4855 +2026-02-26 01:34:57,838 - DriveTransformer - INFO - Epoch [6][13450/39528] lr: 8.977e-05, eta: 6 days, 21:14:17, time: 0.824, data_time: 0.044, memory: 19865, loss_cls: 0.1794, loss_bbox: 0.3638, loss_traj: 0.5911, loss_traj_cls: 0.0010, loss_map_cls: 0.1791, loss_map_pts: 0.7805, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.3397, d0.loss_plan_l1_fix_dist: 0.5207, d1.loss_plan_l1_fix_time: 0.9888, d1.loss_plan_l1_fix_dist: 0.2018, d2.loss_plan_l1_fix_time: 0.9739, d2.loss_plan_l1_fix_dist: 0.2115, d3.loss_plan_l1_fix_time: 0.9744, d3.loss_plan_l1_fix_dist: 0.2257, d4.loss_plan_l1_fix_time: 0.9785, d4.loss_plan_l1_fix_dist: 0.2427, d5.loss_plan_l1_fix_time: 0.9824, d5.loss_plan_l1_fix_dist: 0.2632, d6.loss_plan_l1_fix_time: 0.9864, d6.loss_plan_l1_fix_dist: 0.2824, d0.loss_cls_all: 0.2189, d0.loss_bbox_all: 0.4178, d0.loss_cls: 0.2189, d0.loss_bbox: 0.4178, d1.loss_cls: 0.2114, d1.loss_bbox: 0.3849, d2.loss_cls: 0.1976, d2.loss_bbox: 0.3668, d3.loss_cls: 0.1857, d3.loss_bbox: 0.3624, d4.loss_cls: 0.1829, d4.loss_bbox: 0.3602, d5.loss_cls: 0.1796, d5.loss_bbox: 0.3614, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8481, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6700, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6045, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5983, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5944, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5924, d0.loss_map_cls_all: 0.2487, d0.loss_map_pts_all: 1.5645, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2487, d0.loss_map_pts: 1.5645, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2209, d1.loss_map_pts: 1.0781, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.2036, d2.loss_map_pts: 0.8863, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1932, d3.loss_map_pts: 0.8187, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1847, d4.loss_map_pts: 0.7856, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1803, d5.loss_map_pts: 0.7790, d5.loss_map_dir: 0.0100, loss: 29.2822, grad_norm: 159.7207 +2026-02-26 01:35:37,901 - DriveTransformer - INFO - Epoch [6][13500/39528] lr: 8.977e-05, eta: 6 days, 21:13:36, time: 0.801, data_time: 0.043, memory: 19865, loss_cls: 0.2066, loss_bbox: 0.4001, loss_traj: 0.7719, loss_traj_cls: 0.0009, loss_map_cls: 0.2171, loss_map_pts: 0.8377, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 3.0985, d0.loss_plan_l1_fix_dist: 0.3616, d1.loss_plan_l1_fix_time: 1.3522, d1.loss_plan_l1_fix_dist: 0.1985, d2.loss_plan_l1_fix_time: 1.3379, d2.loss_plan_l1_fix_dist: 0.1999, d3.loss_plan_l1_fix_time: 1.3374, d3.loss_plan_l1_fix_dist: 0.2085, d4.loss_plan_l1_fix_time: 1.3403, d4.loss_plan_l1_fix_dist: 0.2196, d5.loss_plan_l1_fix_time: 1.3431, d5.loss_plan_l1_fix_dist: 0.2334, d6.loss_plan_l1_fix_time: 1.3463, d6.loss_plan_l1_fix_dist: 0.2492, d0.loss_cls_all: 0.2404, d0.loss_bbox_all: 0.4646, d0.loss_cls: 0.2404, d0.loss_bbox: 0.4646, d1.loss_cls: 0.2343, d1.loss_bbox: 0.4283, d2.loss_cls: 0.2188, d2.loss_bbox: 0.4079, d3.loss_cls: 0.2134, d3.loss_bbox: 0.4003, d4.loss_cls: 0.2072, d4.loss_bbox: 0.3993, d5.loss_cls: 0.2060, d5.loss_bbox: 0.4001, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0193, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8447, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7740, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7749, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7692, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7678, d0.loss_map_cls_all: 0.2849, d0.loss_map_pts_all: 1.6728, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2849, d0.loss_map_pts: 1.6728, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2552, d1.loss_map_pts: 1.1375, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2385, d2.loss_map_pts: 0.9375, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.2263, d3.loss_map_pts: 0.8728, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.2213, d4.loss_map_pts: 0.8476, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.2188, d5.loss_map_pts: 0.8372, d5.loss_map_dir: 0.0111, loss: 34.5367, grad_norm: 157.7920 +2026-02-26 01:36:16,558 - DriveTransformer - INFO - Epoch [6][13550/39528] lr: 8.977e-05, eta: 6 days, 21:12:50, time: 0.773, data_time: 0.042, memory: 19865, loss_cls: 0.1680, loss_bbox: 0.3511, loss_traj: 0.6719, loss_traj_cls: 0.0009, loss_map_cls: 0.1872, loss_map_pts: 0.7296, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.7775, d0.loss_plan_l1_fix_dist: 0.4116, d1.loss_plan_l1_fix_time: 1.2188, d1.loss_plan_l1_fix_dist: 0.1939, d2.loss_plan_l1_fix_time: 1.2023, d2.loss_plan_l1_fix_dist: 0.1958, d3.loss_plan_l1_fix_time: 1.2034, d3.loss_plan_l1_fix_dist: 0.2068, d4.loss_plan_l1_fix_time: 1.2058, d4.loss_plan_l1_fix_dist: 0.2221, d5.loss_plan_l1_fix_time: 1.2089, d5.loss_plan_l1_fix_dist: 0.2385, d6.loss_plan_l1_fix_time: 1.2127, d6.loss_plan_l1_fix_dist: 0.2583, d0.loss_cls_all: 0.2041, d0.loss_bbox_all: 0.4010, d0.loss_cls: 0.2041, d0.loss_bbox: 0.4010, d1.loss_cls: 0.1945, d1.loss_bbox: 0.3696, d2.loss_cls: 0.1838, d2.loss_bbox: 0.3547, d3.loss_cls: 0.1718, d3.loss_bbox: 0.3527, d4.loss_cls: 0.1674, d4.loss_bbox: 0.3508, d5.loss_cls: 0.1678, d5.loss_bbox: 0.3508, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8569, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7138, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6788, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6729, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6700, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6716, d0.loss_map_cls_all: 0.2525, d0.loss_map_pts_all: 1.4133, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2525, d0.loss_map_pts: 1.4133, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2284, d1.loss_map_pts: 1.0042, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.2083, d2.loss_map_pts: 0.8295, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1980, d3.loss_map_pts: 0.7581, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1908, d4.loss_map_pts: 0.7314, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1884, d5.loss_map_pts: 0.7269, d5.loss_map_dir: 0.0086, loss: 30.4712, grad_norm: 157.0687 +2026-02-26 01:36:57,684 - DriveTransformer - INFO - Epoch [6][13600/39528] lr: 8.977e-05, eta: 6 days, 21:12:12, time: 0.822, data_time: 0.046, memory: 19865, loss_cls: 0.2154, loss_bbox: 0.4167, loss_traj: 0.8549, loss_traj_cls: 0.0009, loss_map_cls: 0.1908, loss_map_pts: 0.8681, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.6274, d0.loss_plan_l1_fix_dist: 0.3803, d1.loss_plan_l1_fix_time: 1.1105, d1.loss_plan_l1_fix_dist: 0.1949, d2.loss_plan_l1_fix_time: 1.1086, d2.loss_plan_l1_fix_dist: 0.2017, d3.loss_plan_l1_fix_time: 1.1150, d3.loss_plan_l1_fix_dist: 0.2130, d4.loss_plan_l1_fix_time: 1.1188, d4.loss_plan_l1_fix_dist: 0.2270, d5.loss_plan_l1_fix_time: 1.1237, d5.loss_plan_l1_fix_dist: 0.2429, d6.loss_plan_l1_fix_time: 1.1294, d6.loss_plan_l1_fix_dist: 0.2564, d0.loss_cls_all: 0.2430, d0.loss_bbox_all: 0.4861, d0.loss_cls: 0.2430, d0.loss_bbox: 0.4861, d1.loss_cls: 0.2405, d1.loss_bbox: 0.4468, d2.loss_cls: 0.2234, d2.loss_bbox: 0.4302, d3.loss_cls: 0.2180, d3.loss_bbox: 0.4235, d4.loss_cls: 0.2144, d4.loss_bbox: 0.4195, d5.loss_cls: 0.2136, d5.loss_bbox: 0.4181, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1074, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9219, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8815, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8595, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8561, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8513, d0.loss_map_cls_all: 0.2656, d0.loss_map_pts_all: 1.6656, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2656, d0.loss_map_pts: 1.6656, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2298, d1.loss_map_pts: 1.1731, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.2145, d2.loss_map_pts: 0.9853, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.2020, d3.loss_map_pts: 0.9114, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1951, d4.loss_map_pts: 0.8782, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1914, d5.loss_map_pts: 0.8685, d5.loss_map_dir: 0.0110, loss: 33.5829, grad_norm: 159.8076 +2026-02-26 01:37:35,387 - DriveTransformer - INFO - Epoch [6][13650/39528] lr: 8.977e-05, eta: 6 days, 21:11:23, time: 0.755, data_time: 0.045, memory: 19865, loss_cls: 0.1989, loss_bbox: 0.4059, loss_traj: 0.8240, loss_traj_cls: 0.0009, loss_map_cls: 0.1698, loss_map_pts: 0.6774, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.7798, d0.loss_plan_l1_fix_dist: 0.4177, d1.loss_plan_l1_fix_time: 1.1137, d1.loss_plan_l1_fix_dist: 0.1872, d2.loss_plan_l1_fix_time: 1.0943, d2.loss_plan_l1_fix_dist: 0.1950, d3.loss_plan_l1_fix_time: 1.0880, d3.loss_plan_l1_fix_dist: 0.2080, d4.loss_plan_l1_fix_time: 1.0897, d4.loss_plan_l1_fix_dist: 0.2231, d5.loss_plan_l1_fix_time: 1.0926, d5.loss_plan_l1_fix_dist: 0.2384, d6.loss_plan_l1_fix_time: 1.0964, d6.loss_plan_l1_fix_dist: 0.2538, d0.loss_cls_all: 0.2211, d0.loss_bbox_all: 0.4659, d0.loss_cls: 0.2211, d0.loss_bbox: 0.4659, d1.loss_cls: 0.2201, d1.loss_bbox: 0.4331, d2.loss_cls: 0.2090, d2.loss_bbox: 0.4169, d3.loss_cls: 0.2017, d3.loss_bbox: 0.4110, d4.loss_cls: 0.1985, d4.loss_bbox: 0.4078, d5.loss_cls: 0.1980, d5.loss_bbox: 0.4054, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0795, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8782, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8458, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8254, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8278, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8276, d0.loss_map_cls_all: 0.2379, d0.loss_map_pts_all: 1.2698, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2379, d0.loss_map_pts: 1.2698, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.2071, d1.loss_map_pts: 0.9328, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1916, d2.loss_map_pts: 0.7732, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1812, d3.loss_map_pts: 0.7061, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1758, d4.loss_map_pts: 0.6820, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1709, d5.loss_map_pts: 0.6808, d5.loss_map_dir: 0.0069, loss: 30.8905, grad_norm: 159.5687 +2026-02-26 01:38:15,724 - DriveTransformer - INFO - Epoch [6][13700/39528] lr: 8.977e-05, eta: 6 days, 21:10:43, time: 0.806, data_time: 0.049, memory: 19865, loss_cls: 0.1918, loss_bbox: 0.3924, loss_traj: 0.6724, loss_traj_cls: 0.0009, loss_map_cls: 0.1983, loss_map_pts: 0.8856, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.3903, d0.loss_plan_l1_fix_dist: 0.4491, d1.loss_plan_l1_fix_time: 1.1903, d1.loss_plan_l1_fix_dist: 0.1917, d2.loss_plan_l1_fix_time: 1.1875, d2.loss_plan_l1_fix_dist: 0.1947, d3.loss_plan_l1_fix_time: 1.1946, d3.loss_plan_l1_fix_dist: 0.2029, d4.loss_plan_l1_fix_time: 1.1986, d4.loss_plan_l1_fix_dist: 0.2152, d5.loss_plan_l1_fix_time: 1.2018, d5.loss_plan_l1_fix_dist: 0.2292, d6.loss_plan_l1_fix_time: 1.2055, d6.loss_plan_l1_fix_dist: 0.2476, d0.loss_cls_all: 0.2279, d0.loss_bbox_all: 0.4539, d0.loss_cls: 0.2279, d0.loss_bbox: 0.4539, d1.loss_cls: 0.2221, d1.loss_bbox: 0.4163, d2.loss_cls: 0.2071, d2.loss_bbox: 0.4029, d3.loss_cls: 0.1984, d3.loss_bbox: 0.3963, d4.loss_cls: 0.1946, d4.loss_bbox: 0.3927, d5.loss_cls: 0.1930, d5.loss_bbox: 0.3917, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8699, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7409, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6944, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6753, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6700, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6716, d0.loss_map_cls_all: 0.2610, d0.loss_map_pts_all: 1.6491, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2610, d0.loss_map_pts: 1.6491, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2346, d1.loss_map_pts: 1.1794, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2194, d2.loss_map_pts: 0.9997, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.2074, d3.loss_map_pts: 0.9277, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.2018, d4.loss_map_pts: 0.8974, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1983, d5.loss_map_pts: 0.8878, d5.loss_map_dir: 0.0111, loss: 32.2061, grad_norm: 159.4495 +2026-02-26 01:38:56,157 - DriveTransformer - INFO - Epoch [6][13750/39528] lr: 8.977e-05, eta: 6 days, 21:10:03, time: 0.809, data_time: 0.041, memory: 19865, loss_cls: 0.2024, loss_bbox: 0.4157, loss_traj: 0.7437, loss_traj_cls: 0.0009, loss_map_cls: 0.1900, loss_map_pts: 0.8014, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.9526, d0.loss_plan_l1_fix_dist: 0.3548, d1.loss_plan_l1_fix_time: 1.3015, d1.loss_plan_l1_fix_dist: 0.1611, d2.loss_plan_l1_fix_time: 1.2897, d2.loss_plan_l1_fix_dist: 0.1657, d3.loss_plan_l1_fix_time: 1.2930, d3.loss_plan_l1_fix_dist: 0.1733, d4.loss_plan_l1_fix_time: 1.2984, d4.loss_plan_l1_fix_dist: 0.1848, d5.loss_plan_l1_fix_time: 1.3034, d5.loss_plan_l1_fix_dist: 0.2001, d6.loss_plan_l1_fix_time: 1.3088, d6.loss_plan_l1_fix_dist: 0.2175, d0.loss_cls_all: 0.2314, d0.loss_bbox_all: 0.4771, d0.loss_cls: 0.2314, d0.loss_bbox: 0.4771, d1.loss_cls: 0.2257, d1.loss_bbox: 0.4437, d2.loss_cls: 0.2114, d2.loss_bbox: 0.4263, d3.loss_cls: 0.2068, d3.loss_bbox: 0.4180, d4.loss_cls: 0.2016, d4.loss_bbox: 0.4154, d5.loss_cls: 0.2013, d5.loss_bbox: 0.4160, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9542, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7755, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7538, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7396, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7460, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7427, d0.loss_map_cls_all: 0.2540, d0.loss_map_pts_all: 1.4674, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2540, d0.loss_map_pts: 1.4674, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2270, d1.loss_map_pts: 1.0609, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.2074, d2.loss_map_pts: 0.9108, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.2000, d3.loss_map_pts: 0.8402, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1963, d4.loss_map_pts: 0.8142, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1927, d5.loss_map_pts: 0.8029, d5.loss_map_dir: 0.0099, loss: 32.8327, grad_norm: 162.8520 +2026-02-26 01:39:37,813 - DriveTransformer - INFO - Epoch [6][13800/39528] lr: 8.977e-05, eta: 6 days, 21:09:27, time: 0.833, data_time: 0.041, memory: 19865, loss_cls: 0.2037, loss_bbox: 0.4272, loss_traj: 0.7807, loss_traj_cls: 0.0010, loss_map_cls: 0.2040, loss_map_pts: 0.9058, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 3.1178, d0.loss_plan_l1_fix_dist: 0.3767, d1.loss_plan_l1_fix_time: 1.2871, d1.loss_plan_l1_fix_dist: 0.1930, d2.loss_plan_l1_fix_time: 1.2783, d2.loss_plan_l1_fix_dist: 0.1923, d3.loss_plan_l1_fix_time: 1.2794, d3.loss_plan_l1_fix_dist: 0.1962, d4.loss_plan_l1_fix_time: 1.2830, d4.loss_plan_l1_fix_dist: 0.2033, d5.loss_plan_l1_fix_time: 1.2868, d5.loss_plan_l1_fix_dist: 0.2132, d6.loss_plan_l1_fix_time: 1.2909, d6.loss_plan_l1_fix_dist: 0.2265, d0.loss_cls_all: 0.2443, d0.loss_bbox_all: 0.4827, d0.loss_cls: 0.2443, d0.loss_bbox: 0.4827, d1.loss_cls: 0.2355, d1.loss_bbox: 0.4501, d2.loss_cls: 0.2246, d2.loss_bbox: 0.4320, d3.loss_cls: 0.2119, d3.loss_bbox: 0.4250, d4.loss_cls: 0.2074, d4.loss_bbox: 0.4260, d5.loss_cls: 0.2027, d5.loss_bbox: 0.4283, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9843, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8490, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7955, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7751, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7761, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7722, d0.loss_map_cls_all: 0.2757, d0.loss_map_pts_all: 1.7918, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2757, d0.loss_map_pts: 1.7918, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2442, d1.loss_map_pts: 1.2296, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2265, d2.loss_map_pts: 1.0408, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.2163, d3.loss_map_pts: 0.9536, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.2094, d4.loss_map_pts: 0.9195, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.2061, d5.loss_map_pts: 0.9098, d5.loss_map_dir: 0.0113, loss: 34.9805, grad_norm: 161.3922 +2026-02-26 01:40:18,946 - DriveTransformer - INFO - Epoch [6][13850/39528] lr: 8.977e-05, eta: 6 days, 21:08:50, time: 0.823, data_time: 0.042, memory: 19865, loss_cls: 0.1900, loss_bbox: 0.3916, loss_traj: 0.7361, loss_traj_cls: 0.0010, loss_map_cls: 0.1882, loss_map_pts: 0.8895, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 3.1621, d0.loss_plan_l1_fix_dist: 0.4265, d1.loss_plan_l1_fix_time: 1.6369, d1.loss_plan_l1_fix_dist: 0.2197, d2.loss_plan_l1_fix_time: 1.6195, d2.loss_plan_l1_fix_dist: 0.2125, d3.loss_plan_l1_fix_time: 1.6214, d3.loss_plan_l1_fix_dist: 0.2173, d4.loss_plan_l1_fix_time: 1.6249, d4.loss_plan_l1_fix_dist: 0.2239, d5.loss_plan_l1_fix_time: 1.6290, d5.loss_plan_l1_fix_dist: 0.2325, d6.loss_plan_l1_fix_time: 1.6335, d6.loss_plan_l1_fix_dist: 0.2405, d0.loss_cls_all: 0.2287, d0.loss_bbox_all: 0.4528, d0.loss_cls: 0.2287, d0.loss_bbox: 0.4528, d1.loss_cls: 0.2214, d1.loss_bbox: 0.4222, d2.loss_cls: 0.2075, d2.loss_bbox: 0.4027, d3.loss_cls: 0.1979, d3.loss_bbox: 0.3955, d4.loss_cls: 0.1911, d4.loss_bbox: 0.3959, d5.loss_cls: 0.1907, d5.loss_bbox: 0.3924, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9654, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7827, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7317, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7240, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7231, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7304, d0.loss_map_cls_all: 0.2535, d0.loss_map_pts_all: 1.7274, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2535, d0.loss_map_pts: 1.7274, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2220, d1.loss_map_pts: 1.1856, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2079, d2.loss_map_pts: 1.0024, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.1999, d3.loss_map_pts: 0.9296, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.1949, d4.loss_map_pts: 0.9040, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.1908, d5.loss_map_pts: 0.8928, d5.loss_map_dir: 0.0119, loss: 36.1262, grad_norm: 162.7461 +2026-02-26 01:40:57,461 - DriveTransformer - INFO - Epoch [6][13900/39528] lr: 8.977e-05, eta: 6 days, 21:08:03, time: 0.770, data_time: 0.042, memory: 19865, loss_cls: 0.1973, loss_bbox: 0.4255, loss_traj: 0.6810, loss_traj_cls: 0.0010, loss_map_cls: 0.1865, loss_map_pts: 0.7975, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.6342, d0.loss_plan_l1_fix_dist: 0.3518, d1.loss_plan_l1_fix_time: 1.3183, d1.loss_plan_l1_fix_dist: 0.1848, d2.loss_plan_l1_fix_time: 1.3073, d2.loss_plan_l1_fix_dist: 0.1826, d3.loss_plan_l1_fix_time: 1.3132, d3.loss_plan_l1_fix_dist: 0.1900, d4.loss_plan_l1_fix_time: 1.3192, d4.loss_plan_l1_fix_dist: 0.1997, d5.loss_plan_l1_fix_time: 1.3258, d5.loss_plan_l1_fix_dist: 0.2108, d6.loss_plan_l1_fix_time: 1.3330, d6.loss_plan_l1_fix_dist: 0.2238, d0.loss_cls_all: 0.2296, d0.loss_bbox_all: 0.4808, d0.loss_cls: 0.2296, d0.loss_bbox: 0.4808, d1.loss_cls: 0.2270, d1.loss_bbox: 0.4510, d2.loss_cls: 0.2137, d2.loss_bbox: 0.4335, d3.loss_cls: 0.2025, d3.loss_bbox: 0.4282, d4.loss_cls: 0.1993, d4.loss_bbox: 0.4247, d5.loss_cls: 0.1988, d5.loss_bbox: 0.4227, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9182, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7286, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6903, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6771, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6742, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6759, d0.loss_map_cls_all: 0.2666, d0.loss_map_pts_all: 1.4396, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2666, d0.loss_map_pts: 1.4396, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.2346, d1.loss_map_pts: 1.0517, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.2083, d2.loss_map_pts: 0.8928, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1969, d3.loss_map_pts: 0.8269, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1929, d4.loss_map_pts: 0.8040, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1893, d5.loss_map_pts: 0.7985, d5.loss_map_dir: 0.0084, loss: 32.2501, grad_norm: 162.9897 +2026-02-26 01:41:36,385 - DriveTransformer - INFO - Epoch [6][13950/39528] lr: 8.977e-05, eta: 6 days, 21:07:18, time: 0.779, data_time: 0.046, memory: 19865, loss_cls: 0.1815, loss_bbox: 0.3916, loss_traj: 0.7811, loss_traj_cls: 0.0010, loss_map_cls: 0.1955, loss_map_pts: 0.8925, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.6387, d0.loss_plan_l1_fix_dist: 0.4490, d1.loss_plan_l1_fix_time: 1.1926, d1.loss_plan_l1_fix_dist: 0.2035, d2.loss_plan_l1_fix_time: 1.1819, d2.loss_plan_l1_fix_dist: 0.2005, d3.loss_plan_l1_fix_time: 1.1864, d3.loss_plan_l1_fix_dist: 0.2068, d4.loss_plan_l1_fix_time: 1.1911, d4.loss_plan_l1_fix_dist: 0.2145, d5.loss_plan_l1_fix_time: 1.1965, d5.loss_plan_l1_fix_dist: 0.2242, d6.loss_plan_l1_fix_time: 1.2032, d6.loss_plan_l1_fix_dist: 0.2366, d0.loss_cls_all: 0.2152, d0.loss_bbox_all: 0.4507, d0.loss_cls: 0.2152, d0.loss_bbox: 0.4507, d1.loss_cls: 0.2076, d1.loss_bbox: 0.4184, d2.loss_cls: 0.1962, d2.loss_bbox: 0.4007, d3.loss_cls: 0.1880, d3.loss_bbox: 0.3949, d4.loss_cls: 0.1828, d4.loss_bbox: 0.3922, d5.loss_cls: 0.1813, d5.loss_bbox: 0.3917, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0142, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8583, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7961, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7790, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7741, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7745, d0.loss_map_cls_all: 0.2764, d0.loss_map_pts_all: 1.6723, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2764, d0.loss_map_pts: 1.6723, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2420, d1.loss_map_pts: 1.2109, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.2215, d2.loss_map_pts: 1.0093, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.2083, d3.loss_map_pts: 0.9364, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.2015, d4.loss_map_pts: 0.9047, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1974, d5.loss_map_pts: 0.8935, d5.loss_map_dir: 0.0115, loss: 33.2666, grad_norm: 159.0491 +2026-02-26 01:42:16,807 - DriveTransformer - INFO - Epoch [6][14000/39528] lr: 8.977e-05, eta: 6 days, 21:06:38, time: 0.808, data_time: 0.051, memory: 19865, loss_cls: 0.1732, loss_bbox: 0.3687, loss_traj: 0.7321, loss_traj_cls: 0.0011, loss_map_cls: 0.1667, loss_map_pts: 0.7886, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.7642, d0.loss_plan_l1_fix_dist: 0.4813, d1.loss_plan_l1_fix_time: 1.2822, d1.loss_plan_l1_fix_dist: 0.2208, d2.loss_plan_l1_fix_time: 1.2762, d2.loss_plan_l1_fix_dist: 0.2220, d3.loss_plan_l1_fix_time: 1.2777, d3.loss_plan_l1_fix_dist: 0.2308, d4.loss_plan_l1_fix_time: 1.2832, d4.loss_plan_l1_fix_dist: 0.2405, d5.loss_plan_l1_fix_time: 1.2887, d5.loss_plan_l1_fix_dist: 0.2508, d6.loss_plan_l1_fix_time: 1.2945, d6.loss_plan_l1_fix_dist: 0.2613, d0.loss_cls_all: 0.2129, d0.loss_bbox_all: 0.4225, d0.loss_cls: 0.2129, d0.loss_bbox: 0.4225, d1.loss_cls: 0.2039, d1.loss_bbox: 0.3922, d2.loss_cls: 0.1913, d2.loss_bbox: 0.3760, d3.loss_cls: 0.1801, d3.loss_bbox: 0.3694, d4.loss_cls: 0.1731, d4.loss_bbox: 0.3706, d5.loss_cls: 0.1716, d5.loss_bbox: 0.3698, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9358, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7730, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7356, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7307, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7352, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7357, d0.loss_map_cls_all: 0.2306, d0.loss_map_pts_all: 1.4781, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2306, d0.loss_map_pts: 1.4781, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1988, d1.loss_map_pts: 1.0241, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1860, d2.loss_map_pts: 0.8725, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1781, d3.loss_map_pts: 0.8151, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1724, d4.loss_map_pts: 0.7949, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1682, d5.loss_map_pts: 0.7895, d5.loss_map_dir: 0.0098, loss: 32.0190, grad_norm: 158.4584 +2026-02-26 01:42:56,950 - DriveTransformer - INFO - Epoch [6][14050/39528] lr: 8.977e-05, eta: 6 days, 21:05:57, time: 0.803, data_time: 0.045, memory: 19865, loss_cls: 0.1812, loss_bbox: 0.3790, loss_traj: 0.7390, loss_traj_cls: 0.0010, loss_map_cls: 0.1823, loss_map_pts: 0.8190, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.7590, d0.loss_plan_l1_fix_dist: 0.4231, d1.loss_plan_l1_fix_time: 1.1478, d1.loss_plan_l1_fix_dist: 0.1925, d2.loss_plan_l1_fix_time: 1.1338, d2.loss_plan_l1_fix_dist: 0.1912, d3.loss_plan_l1_fix_time: 1.1401, d3.loss_plan_l1_fix_dist: 0.1950, d4.loss_plan_l1_fix_time: 1.1471, d4.loss_plan_l1_fix_dist: 0.2024, d5.loss_plan_l1_fix_time: 1.1535, d5.loss_plan_l1_fix_dist: 0.2123, d6.loss_plan_l1_fix_time: 1.1603, d6.loss_plan_l1_fix_dist: 0.2242, d0.loss_cls_all: 0.2128, d0.loss_bbox_all: 0.4344, d0.loss_cls: 0.2128, d0.loss_bbox: 0.4344, d1.loss_cls: 0.2038, d1.loss_bbox: 0.4020, d2.loss_cls: 0.1924, d2.loss_bbox: 0.3858, d3.loss_cls: 0.1835, d3.loss_bbox: 0.3813, d4.loss_cls: 0.1797, d4.loss_bbox: 0.3796, d5.loss_cls: 0.1809, d5.loss_bbox: 0.3790, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9635, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7855, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7442, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7358, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7345, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7344, d0.loss_map_cls_all: 0.2587, d0.loss_map_pts_all: 1.5500, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2587, d0.loss_map_pts: 1.5500, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2229, d1.loss_map_pts: 1.1089, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.2044, d2.loss_map_pts: 0.9224, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1934, d3.loss_map_pts: 0.8531, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1863, d4.loss_map_pts: 0.8263, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1828, d5.loss_map_pts: 0.8203, d5.loss_map_dir: 0.0100, loss: 31.6656, grad_norm: 159.1589 +2026-02-26 01:43:37,103 - DriveTransformer - INFO - Epoch [6][14100/39528] lr: 8.977e-05, eta: 6 days, 21:05:16, time: 0.803, data_time: 0.045, memory: 19865, loss_cls: 0.1887, loss_bbox: 0.3978, loss_traj: 0.7715, loss_traj_cls: 0.0010, loss_map_cls: 0.1763, loss_map_pts: 0.8066, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 3.1032, d0.loss_plan_l1_fix_dist: 0.4341, d1.loss_plan_l1_fix_time: 1.3582, d1.loss_plan_l1_fix_dist: 0.1993, d2.loss_plan_l1_fix_time: 1.3385, d2.loss_plan_l1_fix_dist: 0.2008, d3.loss_plan_l1_fix_time: 1.3346, d3.loss_plan_l1_fix_dist: 0.2040, d4.loss_plan_l1_fix_time: 1.3389, d4.loss_plan_l1_fix_dist: 0.2125, d5.loss_plan_l1_fix_time: 1.3438, d5.loss_plan_l1_fix_dist: 0.2253, d6.loss_plan_l1_fix_time: 1.3491, d6.loss_plan_l1_fix_dist: 0.2431, d0.loss_cls_all: 0.2280, d0.loss_bbox_all: 0.4512, d0.loss_cls: 0.2280, d0.loss_bbox: 0.4512, d1.loss_cls: 0.2204, d1.loss_bbox: 0.4194, d2.loss_cls: 0.2034, d2.loss_bbox: 0.4032, d3.loss_cls: 0.1956, d3.loss_bbox: 0.3953, d4.loss_cls: 0.1903, d4.loss_bbox: 0.3961, d5.loss_cls: 0.1908, d5.loss_bbox: 0.3960, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9933, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8395, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7846, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7787, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7728, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7691, d0.loss_map_cls_all: 0.2520, d0.loss_map_pts_all: 1.5236, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2520, d0.loss_map_pts: 1.5236, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2182, d1.loss_map_pts: 1.1018, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1971, d2.loss_map_pts: 0.9192, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1879, d3.loss_map_pts: 0.8444, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1824, d4.loss_map_pts: 0.8197, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1763, d5.loss_map_pts: 0.8088, d5.loss_map_dir: 0.0104, loss: 33.6269, grad_norm: 160.9695 +2026-02-26 01:44:17,098 - DriveTransformer - INFO - Epoch [6][14150/39528] lr: 8.977e-05, eta: 6 days, 21:04:34, time: 0.800, data_time: 0.043, memory: 19865, loss_cls: 0.1956, loss_bbox: 0.4003, loss_traj: 0.6574, loss_traj_cls: 0.0010, loss_map_cls: 0.1820, loss_map_pts: 0.7778, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.8519, d0.loss_plan_l1_fix_dist: 0.4868, d1.loss_plan_l1_fix_time: 1.2430, d1.loss_plan_l1_fix_dist: 0.1996, d2.loss_plan_l1_fix_time: 1.2332, d2.loss_plan_l1_fix_dist: 0.1999, d3.loss_plan_l1_fix_time: 1.2360, d3.loss_plan_l1_fix_dist: 0.2043, d4.loss_plan_l1_fix_time: 1.2410, d4.loss_plan_l1_fix_dist: 0.2123, d5.loss_plan_l1_fix_time: 1.2468, d5.loss_plan_l1_fix_dist: 0.2223, d6.loss_plan_l1_fix_time: 1.2522, d6.loss_plan_l1_fix_dist: 0.2353, d0.loss_cls_all: 0.2409, d0.loss_bbox_all: 0.4570, d0.loss_cls: 0.2409, d0.loss_bbox: 0.4570, d1.loss_cls: 0.2330, d1.loss_bbox: 0.4243, d2.loss_cls: 0.2169, d2.loss_bbox: 0.4084, d3.loss_cls: 0.2060, d3.loss_bbox: 0.3999, d4.loss_cls: 0.2015, d4.loss_bbox: 0.3991, d5.loss_cls: 0.1977, d5.loss_bbox: 0.3997, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8239, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7105, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6650, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6580, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6558, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6546, d0.loss_map_cls_all: 0.2557, d0.loss_map_pts_all: 1.5281, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2557, d0.loss_map_pts: 1.5281, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2242, d1.loss_map_pts: 1.0544, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2036, d2.loss_map_pts: 0.8741, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1920, d3.loss_map_pts: 0.8079, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1857, d4.loss_map_pts: 0.7867, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1821, d5.loss_map_pts: 0.7786, d5.loss_map_dir: 0.0112, loss: 31.8773, grad_norm: 162.0083 +2026-02-26 01:44:59,333 - DriveTransformer - INFO - Epoch [6][14200/39528] lr: 8.977e-05, eta: 6 days, 21:04:01, time: 0.846, data_time: 0.047, memory: 19865, loss_cls: 0.1685, loss_bbox: 0.3996, loss_traj: 0.6580, loss_traj_cls: 0.0010, loss_map_cls: 0.1662, loss_map_pts: 0.8064, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.6879, d0.loss_plan_l1_fix_dist: 0.4676, d1.loss_plan_l1_fix_time: 1.2114, d1.loss_plan_l1_fix_dist: 0.2143, d2.loss_plan_l1_fix_time: 1.2030, d2.loss_plan_l1_fix_dist: 0.2180, d3.loss_plan_l1_fix_time: 1.2040, d3.loss_plan_l1_fix_dist: 0.2270, d4.loss_plan_l1_fix_time: 1.2081, d4.loss_plan_l1_fix_dist: 0.2380, d5.loss_plan_l1_fix_time: 1.2133, d5.loss_plan_l1_fix_dist: 0.2503, d6.loss_plan_l1_fix_time: 1.2193, d6.loss_plan_l1_fix_dist: 0.2648, d0.loss_cls_all: 0.2100, d0.loss_bbox_all: 0.4551, d0.loss_cls: 0.2100, d0.loss_bbox: 0.4551, d1.loss_cls: 0.2022, d1.loss_bbox: 0.4242, d2.loss_cls: 0.1875, d2.loss_bbox: 0.4086, d3.loss_cls: 0.1755, d3.loss_bbox: 0.4031, d4.loss_cls: 0.1708, d4.loss_bbox: 0.3996, d5.loss_cls: 0.1681, d5.loss_bbox: 0.3997, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8341, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7251, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6793, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6703, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6642, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6593, d0.loss_map_cls_all: 0.2395, d0.loss_map_pts_all: 1.6023, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2395, d0.loss_map_pts: 1.6023, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2036, d1.loss_map_pts: 1.0782, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.1875, d2.loss_map_pts: 0.8937, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.1762, d3.loss_map_pts: 0.8363, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1712, d4.loss_map_pts: 0.8137, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1676, d5.loss_map_pts: 0.8070, d5.loss_map_dir: 0.0115, loss: 31.6430, grad_norm: 161.8333 +2026-02-26 01:45:38,252 - DriveTransformer - INFO - Epoch [6][14250/39528] lr: 8.977e-05, eta: 6 days, 21:03:16, time: 0.777, data_time: 0.045, memory: 19865, loss_cls: 0.2017, loss_bbox: 0.3893, loss_traj: 0.7556, loss_traj_cls: 0.0010, loss_map_cls: 0.1819, loss_map_pts: 0.7543, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.9431, d0.loss_plan_l1_fix_dist: 0.3960, d1.loss_plan_l1_fix_time: 1.0904, d1.loss_plan_l1_fix_dist: 0.1946, d2.loss_plan_l1_fix_time: 1.0769, d2.loss_plan_l1_fix_dist: 0.1926, d3.loss_plan_l1_fix_time: 1.0812, d3.loss_plan_l1_fix_dist: 0.1995, d4.loss_plan_l1_fix_time: 1.0862, d4.loss_plan_l1_fix_dist: 0.2095, d5.loss_plan_l1_fix_time: 1.0923, d5.loss_plan_l1_fix_dist: 0.2208, d6.loss_plan_l1_fix_time: 1.0995, d6.loss_plan_l1_fix_dist: 0.2329, d0.loss_cls_all: 0.2362, d0.loss_bbox_all: 0.4356, d0.loss_cls: 0.2362, d0.loss_bbox: 0.4356, d1.loss_cls: 0.2306, d1.loss_bbox: 0.4049, d2.loss_cls: 0.2128, d2.loss_bbox: 0.3921, d3.loss_cls: 0.2078, d3.loss_bbox: 0.3864, d4.loss_cls: 0.2028, d4.loss_bbox: 0.3849, d5.loss_cls: 0.2011, d5.loss_bbox: 0.3868, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9512, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7899, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7585, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7551, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7496, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7519, d0.loss_map_cls_all: 0.2406, d0.loss_map_pts_all: 1.4023, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2406, d0.loss_map_pts: 1.4023, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2100, d1.loss_map_pts: 0.9812, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1950, d2.loss_map_pts: 0.8253, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1867, d3.loss_map_pts: 0.7717, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1834, d4.loss_map_pts: 0.7548, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1822, d5.loss_map_pts: 0.7544, d5.loss_map_dir: 0.0091, loss: 30.9139, grad_norm: 161.7632 +2026-02-26 01:46:18,715 - DriveTransformer - INFO - Epoch [6][14300/39528] lr: 8.977e-05, eta: 6 days, 21:02:36, time: 0.809, data_time: 0.045, memory: 19865, loss_cls: 0.1959, loss_bbox: 0.4088, loss_traj: 0.7523, loss_traj_cls: 0.0010, loss_map_cls: 0.2336, loss_map_pts: 0.9041, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.5517, d0.loss_plan_l1_fix_dist: 0.3848, d1.loss_plan_l1_fix_time: 1.2173, d1.loss_plan_l1_fix_dist: 0.1995, d2.loss_plan_l1_fix_time: 1.1976, d2.loss_plan_l1_fix_dist: 0.1953, d3.loss_plan_l1_fix_time: 1.1964, d3.loss_plan_l1_fix_dist: 0.2052, d4.loss_plan_l1_fix_time: 1.1995, d4.loss_plan_l1_fix_dist: 0.2147, d5.loss_plan_l1_fix_time: 1.2038, d5.loss_plan_l1_fix_dist: 0.2228, d6.loss_plan_l1_fix_time: 1.2086, d6.loss_plan_l1_fix_dist: 0.2321, d0.loss_cls_all: 0.2439, d0.loss_bbox_all: 0.4638, d0.loss_cls: 0.2439, d0.loss_bbox: 0.4638, d1.loss_cls: 0.2323, d1.loss_bbox: 0.4328, d2.loss_cls: 0.2159, d2.loss_bbox: 0.4162, d3.loss_cls: 0.2059, d3.loss_bbox: 0.4073, d4.loss_cls: 0.1961, d4.loss_bbox: 0.4096, d5.loss_cls: 0.1960, d5.loss_bbox: 0.4080, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0486, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8421, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7761, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7596, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7511, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7508, d0.loss_map_cls_all: 0.3072, d0.loss_map_pts_all: 1.6084, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.3072, d0.loss_map_pts: 1.6084, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2780, d1.loss_map_pts: 1.1779, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.2548, d2.loss_map_pts: 0.9970, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.2403, d3.loss_map_pts: 0.9336, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.2370, d4.loss_map_pts: 0.9126, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.2345, d5.loss_map_pts: 0.9072, d5.loss_map_dir: 0.0108, loss: 33.4800, grad_norm: 162.1627 +2026-02-26 01:46:58,060 - DriveTransformer - INFO - Epoch [6][14350/39528] lr: 8.977e-05, eta: 6 days, 21:01:52, time: 0.787, data_time: 0.043, memory: 19865, loss_cls: 0.1808, loss_bbox: 0.4129, loss_traj: 0.8230, loss_traj_cls: 0.0010, loss_map_cls: 0.1872, loss_map_pts: 0.7109, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.4745, d0.loss_plan_l1_fix_dist: 0.4113, d1.loss_plan_l1_fix_time: 1.1644, d1.loss_plan_l1_fix_dist: 0.2181, d2.loss_plan_l1_fix_time: 1.1619, d2.loss_plan_l1_fix_dist: 0.2143, d3.loss_plan_l1_fix_time: 1.1643, d3.loss_plan_l1_fix_dist: 0.2210, d4.loss_plan_l1_fix_time: 1.1686, d4.loss_plan_l1_fix_dist: 0.2311, d5.loss_plan_l1_fix_time: 1.1728, d5.loss_plan_l1_fix_dist: 0.2440, d6.loss_plan_l1_fix_time: 1.1771, d6.loss_plan_l1_fix_dist: 0.2591, d0.loss_cls_all: 0.2124, d0.loss_bbox_all: 0.4651, d0.loss_cls: 0.2124, d0.loss_bbox: 0.4651, d1.loss_cls: 0.2069, d1.loss_bbox: 0.4367, d2.loss_cls: 0.2009, d2.loss_bbox: 0.4184, d3.loss_cls: 0.1898, d3.loss_bbox: 0.4139, d4.loss_cls: 0.1835, d4.loss_bbox: 0.4121, d5.loss_cls: 0.1814, d5.loss_bbox: 0.4112, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0246, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8617, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8355, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8281, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8268, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8220, d0.loss_map_cls_all: 0.2580, d0.loss_map_pts_all: 1.4638, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2580, d0.loss_map_pts: 1.4638, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2317, d1.loss_map_pts: 0.9958, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.2071, d2.loss_map_pts: 0.8162, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1906, d3.loss_map_pts: 0.7505, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1869, d4.loss_map_pts: 0.7193, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1869, d5.loss_map_pts: 0.7111, d5.loss_map_dir: 0.0104, loss: 31.7319, grad_norm: 163.7029 +2026-02-26 01:47:38,397 - DriveTransformer - INFO - Epoch [6][14400/39528] lr: 8.977e-05, eta: 6 days, 21:01:12, time: 0.806, data_time: 0.042, memory: 19865, loss_cls: 0.1976, loss_bbox: 0.3837, loss_traj: 0.6044, loss_traj_cls: 0.0010, loss_map_cls: 0.1834, loss_map_pts: 0.7496, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.2774, d0.loss_plan_l1_fix_dist: 0.3914, d1.loss_plan_l1_fix_time: 1.1630, d1.loss_plan_l1_fix_dist: 0.2048, d2.loss_plan_l1_fix_time: 1.1595, d2.loss_plan_l1_fix_dist: 0.2011, d3.loss_plan_l1_fix_time: 1.1591, d3.loss_plan_l1_fix_dist: 0.2081, d4.loss_plan_l1_fix_time: 1.1623, d4.loss_plan_l1_fix_dist: 0.2173, d5.loss_plan_l1_fix_time: 1.1655, d5.loss_plan_l1_fix_dist: 0.2293, d6.loss_plan_l1_fix_time: 1.1693, d6.loss_plan_l1_fix_dist: 0.2432, d0.loss_cls_all: 0.2270, d0.loss_bbox_all: 0.4424, d0.loss_cls: 0.2270, d0.loss_bbox: 0.4424, d1.loss_cls: 0.2218, d1.loss_bbox: 0.4109, d2.loss_cls: 0.2139, d2.loss_bbox: 0.3916, d3.loss_cls: 0.2043, d3.loss_bbox: 0.3866, d4.loss_cls: 0.1990, d4.loss_bbox: 0.3840, d5.loss_cls: 0.1972, d5.loss_bbox: 0.3842, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8339, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6563, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6154, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6082, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6098, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6061, d0.loss_map_cls_all: 0.2541, d0.loss_map_pts_all: 1.5274, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2541, d0.loss_map_pts: 1.5274, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2258, d1.loss_map_pts: 1.0314, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.2029, d2.loss_map_pts: 0.8521, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1908, d3.loss_map_pts: 0.7898, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1857, d4.loss_map_pts: 0.7608, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1842, d5.loss_map_pts: 0.7529, d5.loss_map_dir: 0.0104, loss: 30.1583, grad_norm: 163.8346 +2026-02-26 01:48:19,767 - DriveTransformer - INFO - Epoch [6][14450/39528] lr: 8.977e-05, eta: 6 days, 21:00:35, time: 0.827, data_time: 0.040, memory: 19865, loss_cls: 0.1709, loss_bbox: 0.3736, loss_traj: 0.7345, loss_traj_cls: 0.0010, loss_map_cls: 0.1844, loss_map_pts: 0.7964, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.2953, d0.loss_plan_l1_fix_dist: 0.3347, d1.loss_plan_l1_fix_time: 1.0915, d1.loss_plan_l1_fix_dist: 0.1911, d2.loss_plan_l1_fix_time: 1.0782, d2.loss_plan_l1_fix_dist: 0.1912, d3.loss_plan_l1_fix_time: 1.0772, d3.loss_plan_l1_fix_dist: 0.2002, d4.loss_plan_l1_fix_time: 1.0799, d4.loss_plan_l1_fix_dist: 0.2100, d5.loss_plan_l1_fix_time: 1.0835, d5.loss_plan_l1_fix_dist: 0.2204, d6.loss_plan_l1_fix_time: 1.0879, d6.loss_plan_l1_fix_dist: 0.2334, d0.loss_cls_all: 0.2020, d0.loss_bbox_all: 0.4241, d0.loss_cls: 0.2020, d0.loss_bbox: 0.4241, d1.loss_cls: 0.2004, d1.loss_bbox: 0.3921, d2.loss_cls: 0.1857, d2.loss_bbox: 0.3780, d3.loss_cls: 0.1785, d3.loss_bbox: 0.3716, d4.loss_cls: 0.1704, d4.loss_bbox: 0.3728, d5.loss_cls: 0.1720, d5.loss_bbox: 0.3709, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0013, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8114, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7485, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7358, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7308, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7279, d0.loss_map_cls_all: 0.2577, d0.loss_map_pts_all: 1.5871, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2577, d0.loss_map_pts: 1.5871, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2217, d1.loss_map_pts: 1.0731, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.2045, d2.loss_map_pts: 0.8978, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1902, d3.loss_map_pts: 0.8319, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1868, d4.loss_map_pts: 0.8029, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1851, d5.loss_map_pts: 0.7952, d5.loss_map_dir: 0.0097, loss: 30.5965, grad_norm: 163.1686 +2026-02-26 01:49:00,147 - DriveTransformer - INFO - Epoch [6][14500/39528] lr: 8.977e-05, eta: 6 days, 20:59:55, time: 0.808, data_time: 0.043, memory: 19865, loss_cls: 0.1835, loss_bbox: 0.3790, loss_traj: 0.7169, loss_traj_cls: 0.0010, loss_map_cls: 0.1937, loss_map_pts: 0.8368, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.5931, d0.loss_plan_l1_fix_dist: 0.3702, d1.loss_plan_l1_fix_time: 1.1341, d1.loss_plan_l1_fix_dist: 0.1765, d2.loss_plan_l1_fix_time: 1.1182, d2.loss_plan_l1_fix_dist: 0.1763, d3.loss_plan_l1_fix_time: 1.1172, d3.loss_plan_l1_fix_dist: 0.1822, d4.loss_plan_l1_fix_time: 1.1201, d4.loss_plan_l1_fix_dist: 0.1910, d5.loss_plan_l1_fix_time: 1.1242, d5.loss_plan_l1_fix_dist: 0.2012, d6.loss_plan_l1_fix_time: 1.1283, d6.loss_plan_l1_fix_dist: 0.2106, d0.loss_cls_all: 0.2216, d0.loss_bbox_all: 0.4399, d0.loss_cls: 0.2216, d0.loss_bbox: 0.4399, d1.loss_cls: 0.2159, d1.loss_bbox: 0.4036, d2.loss_cls: 0.2033, d2.loss_bbox: 0.3839, d3.loss_cls: 0.1917, d3.loss_bbox: 0.3784, d4.loss_cls: 0.1850, d4.loss_bbox: 0.3777, d5.loss_cls: 0.1833, d5.loss_bbox: 0.3779, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9405, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7778, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7252, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7183, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7153, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7151, d0.loss_map_cls_all: 0.2693, d0.loss_map_pts_all: 1.6700, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2693, d0.loss_map_pts: 1.6700, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2436, d1.loss_map_pts: 1.1559, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2218, d2.loss_map_pts: 0.9587, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.2082, d3.loss_map_pts: 0.8770, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.2003, d4.loss_map_pts: 0.8456, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1959, d5.loss_map_pts: 0.8371, d5.loss_map_dir: 0.0116, loss: 31.6869, grad_norm: 156.5018 +2026-02-26 01:49:44,026 - DriveTransformer - INFO - Epoch [6][14550/39528] lr: 8.977e-05, eta: 6 days, 20:59:27, time: 0.878, data_time: 0.046, memory: 19865, loss_cls: 0.1859, loss_bbox: 0.3815, loss_traj: 0.6325, loss_traj_cls: 0.0010, loss_map_cls: 0.1837, loss_map_pts: 0.8764, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.8655, d0.loss_plan_l1_fix_dist: 0.4243, d1.loss_plan_l1_fix_time: 1.1294, d1.loss_plan_l1_fix_dist: 0.1918, d2.loss_plan_l1_fix_time: 1.1173, d2.loss_plan_l1_fix_dist: 0.1968, d3.loss_plan_l1_fix_time: 1.1192, d3.loss_plan_l1_fix_dist: 0.2001, d4.loss_plan_l1_fix_time: 1.1229, d4.loss_plan_l1_fix_dist: 0.2052, d5.loss_plan_l1_fix_time: 1.1270, d5.loss_plan_l1_fix_dist: 0.2118, d6.loss_plan_l1_fix_time: 1.1312, d6.loss_plan_l1_fix_dist: 0.2198, d0.loss_cls_all: 0.2207, d0.loss_bbox_all: 0.4393, d0.loss_cls: 0.2207, d0.loss_bbox: 0.4393, d1.loss_cls: 0.2167, d1.loss_bbox: 0.4059, d2.loss_cls: 0.2050, d2.loss_bbox: 0.3886, d3.loss_cls: 0.1960, d3.loss_bbox: 0.3828, d4.loss_cls: 0.1881, d4.loss_bbox: 0.3813, d5.loss_cls: 0.1859, d5.loss_bbox: 0.3815, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8618, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6911, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6412, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6402, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6332, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6330, d0.loss_map_cls_all: 0.2420, d0.loss_map_pts_all: 1.7368, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2420, d0.loss_map_pts: 1.7368, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2216, d1.loss_map_pts: 1.1710, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2065, d2.loss_map_pts: 0.9902, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.1954, d3.loss_map_pts: 0.9117, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.1893, d4.loss_map_pts: 0.8821, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1845, d5.loss_map_pts: 0.8764, d5.loss_map_dir: 0.0120, loss: 31.7604, grad_norm: 157.3776 +2026-02-26 01:50:25,066 - DriveTransformer - INFO - Epoch [6][14600/39528] lr: 8.977e-05, eta: 6 days, 20:58:49, time: 0.821, data_time: 0.041, memory: 19865, loss_cls: 0.1866, loss_bbox: 0.3843, loss_traj: 0.7148, loss_traj_cls: 0.0010, loss_map_cls: 0.1809, loss_map_pts: 0.7833, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.5981, d0.loss_plan_l1_fix_dist: 0.4163, d1.loss_plan_l1_fix_time: 1.1297, d1.loss_plan_l1_fix_dist: 0.1937, d2.loss_plan_l1_fix_time: 1.1208, d2.loss_plan_l1_fix_dist: 0.1874, d3.loss_plan_l1_fix_time: 1.1259, d3.loss_plan_l1_fix_dist: 0.1905, d4.loss_plan_l1_fix_time: 1.1311, d4.loss_plan_l1_fix_dist: 0.1963, d5.loss_plan_l1_fix_time: 1.1363, d5.loss_plan_l1_fix_dist: 0.2023, d6.loss_plan_l1_fix_time: 1.1422, d6.loss_plan_l1_fix_dist: 0.2088, d0.loss_cls_all: 0.2157, d0.loss_bbox_all: 0.4441, d0.loss_cls: 0.2157, d0.loss_bbox: 0.4441, d1.loss_cls: 0.2082, d1.loss_bbox: 0.4122, d2.loss_cls: 0.1972, d2.loss_bbox: 0.3909, d3.loss_cls: 0.1881, d3.loss_bbox: 0.3861, d4.loss_cls: 0.1861, d4.loss_bbox: 0.3829, d5.loss_cls: 0.1851, d5.loss_bbox: 0.3834, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9517, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7837, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7404, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7209, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7132, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7131, d0.loss_map_cls_all: 0.2558, d0.loss_map_pts_all: 1.5959, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2558, d0.loss_map_pts: 1.5959, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2220, d1.loss_map_pts: 1.0787, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.2043, d2.loss_map_pts: 0.8860, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1907, d3.loss_map_pts: 0.8143, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1839, d4.loss_map_pts: 0.7897, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1809, d5.loss_map_pts: 0.7848, d5.loss_map_dir: 0.0108, loss: 31.2191, grad_norm: 155.4997 +2026-02-26 01:51:05,124 - DriveTransformer - INFO - Epoch [6][14650/39528] lr: 8.977e-05, eta: 6 days, 20:58:08, time: 0.801, data_time: 0.042, memory: 19865, loss_cls: 0.1822, loss_bbox: 0.3740, loss_traj: 0.7371, loss_traj_cls: 0.0010, loss_map_cls: 0.1910, loss_map_pts: 0.8113, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 3.0451, d0.loss_plan_l1_fix_dist: 0.4149, d1.loss_plan_l1_fix_time: 1.1399, d1.loss_plan_l1_fix_dist: 0.1799, d2.loss_plan_l1_fix_time: 1.1231, d2.loss_plan_l1_fix_dist: 0.1699, d3.loss_plan_l1_fix_time: 1.1278, d3.loss_plan_l1_fix_dist: 0.1727, d4.loss_plan_l1_fix_time: 1.1324, d4.loss_plan_l1_fix_dist: 0.1784, d5.loss_plan_l1_fix_time: 1.1372, d5.loss_plan_l1_fix_dist: 0.1851, d6.loss_plan_l1_fix_time: 1.1434, d6.loss_plan_l1_fix_dist: 0.1925, d0.loss_cls_all: 0.2202, d0.loss_bbox_all: 0.4210, d0.loss_cls: 0.2202, d0.loss_bbox: 0.4210, d1.loss_cls: 0.2111, d1.loss_bbox: 0.3873, d2.loss_cls: 0.1977, d2.loss_bbox: 0.3741, d3.loss_cls: 0.1857, d3.loss_bbox: 0.3705, d4.loss_cls: 0.1814, d4.loss_bbox: 0.3705, d5.loss_cls: 0.1810, d5.loss_bbox: 0.3713, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9744, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7963, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7692, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7572, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7479, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7414, d0.loss_map_cls_all: 0.2613, d0.loss_map_pts_all: 1.5672, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2613, d0.loss_map_pts: 1.5672, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2327, d1.loss_map_pts: 1.0789, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.2134, d2.loss_map_pts: 0.9066, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1994, d3.loss_map_pts: 0.8425, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1933, d4.loss_map_pts: 0.8179, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1900, d5.loss_map_pts: 0.8120, d5.loss_map_dir: 0.0102, loss: 31.7666, grad_norm: 156.7560 +2026-02-26 01:51:46,521 - DriveTransformer - INFO - Epoch [6][14700/39528] lr: 8.977e-05, eta: 6 days, 20:57:31, time: 0.828, data_time: 0.045, memory: 19865, loss_cls: 0.1685, loss_bbox: 0.3472, loss_traj: 0.5460, loss_traj_cls: 0.0010, loss_map_cls: 0.1384, loss_map_pts: 0.6855, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.1644, d0.loss_plan_l1_fix_dist: 0.4114, d1.loss_plan_l1_fix_time: 1.0044, d1.loss_plan_l1_fix_dist: 0.1966, d2.loss_plan_l1_fix_time: 0.9908, d2.loss_plan_l1_fix_dist: 0.1853, d3.loss_plan_l1_fix_time: 0.9876, d3.loss_plan_l1_fix_dist: 0.1894, d4.loss_plan_l1_fix_time: 0.9914, d4.loss_plan_l1_fix_dist: 0.1963, d5.loss_plan_l1_fix_time: 0.9965, d5.loss_plan_l1_fix_dist: 0.2078, d6.loss_plan_l1_fix_time: 1.0029, d6.loss_plan_l1_fix_dist: 0.2219, d0.loss_cls_all: 0.2019, d0.loss_bbox_all: 0.3877, d0.loss_cls: 0.2019, d0.loss_bbox: 0.3877, d1.loss_cls: 0.1946, d1.loss_bbox: 0.3625, d2.loss_cls: 0.1837, d2.loss_bbox: 0.3471, d3.loss_cls: 0.1773, d3.loss_bbox: 0.3440, d4.loss_cls: 0.1720, d4.loss_bbox: 0.3443, d5.loss_cls: 0.1694, d5.loss_bbox: 0.3466, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7125, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6069, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5614, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5460, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5451, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5447, d0.loss_map_cls_all: 0.2101, d0.loss_map_pts_all: 1.4579, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2101, d0.loss_map_pts: 1.4579, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.1775, d1.loss_map_pts: 0.9064, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1588, d2.loss_map_pts: 0.7468, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1477, d3.loss_map_pts: 0.6986, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1411, d4.loss_map_pts: 0.6871, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1386, d5.loss_map_pts: 0.6810, d5.loss_map_dir: 0.0105, loss: 26.8787, grad_norm: 157.4088 +2026-02-26 01:52:26,561 - DriveTransformer - INFO - Epoch [6][14750/39528] lr: 8.977e-05, eta: 6 days, 20:56:50, time: 0.801, data_time: 0.051, memory: 19865, loss_cls: 0.1888, loss_bbox: 0.3855, loss_traj: 0.7533, loss_traj_cls: 0.0010, loss_map_cls: 0.1868, loss_map_pts: 0.7918, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 3.0399, d0.loss_plan_l1_fix_dist: 0.4029, d1.loss_plan_l1_fix_time: 1.2773, d1.loss_plan_l1_fix_dist: 0.1966, d2.loss_plan_l1_fix_time: 1.2554, d2.loss_plan_l1_fix_dist: 0.1844, d3.loss_plan_l1_fix_time: 1.2524, d3.loss_plan_l1_fix_dist: 0.1864, d4.loss_plan_l1_fix_time: 1.2567, d4.loss_plan_l1_fix_dist: 0.1915, d5.loss_plan_l1_fix_time: 1.2624, d5.loss_plan_l1_fix_dist: 0.1984, d6.loss_plan_l1_fix_time: 1.2685, d6.loss_plan_l1_fix_dist: 0.2092, d0.loss_cls_all: 0.2208, d0.loss_bbox_all: 0.4361, d0.loss_cls: 0.2208, d0.loss_bbox: 0.4361, d1.loss_cls: 0.2169, d1.loss_bbox: 0.4057, d2.loss_cls: 0.2072, d2.loss_bbox: 0.3897, d3.loss_cls: 0.1954, d3.loss_bbox: 0.3854, d4.loss_cls: 0.1903, d4.loss_bbox: 0.3844, d5.loss_cls: 0.1885, d5.loss_bbox: 0.3853, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9958, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8373, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7791, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7646, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7507, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7529, d0.loss_map_cls_all: 0.2495, d0.loss_map_pts_all: 1.4957, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2495, d0.loss_map_pts: 1.4957, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2204, d1.loss_map_pts: 1.0422, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.2054, d2.loss_map_pts: 0.8707, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1969, d3.loss_map_pts: 0.8075, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1902, d4.loss_map_pts: 0.7933, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1873, d5.loss_map_pts: 0.7915, d5.loss_map_dir: 0.0103, loss: 32.5111, grad_norm: 158.6329 +2026-02-26 01:53:08,851 - DriveTransformer - INFO - Epoch [6][14800/39528] lr: 8.977e-05, eta: 6 days, 20:56:16, time: 0.846, data_time: 0.045, memory: 19865, loss_cls: 0.1634, loss_bbox: 0.3586, loss_traj: 0.7121, loss_traj_cls: 0.0010, loss_map_cls: 0.1312, loss_map_pts: 0.6544, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.1832, d0.loss_plan_l1_fix_dist: 0.3382, d1.loss_plan_l1_fix_time: 0.9404, d1.loss_plan_l1_fix_dist: 0.1693, d2.loss_plan_l1_fix_time: 0.9287, d2.loss_plan_l1_fix_dist: 0.1723, d3.loss_plan_l1_fix_time: 0.9276, d3.loss_plan_l1_fix_dist: 0.1845, d4.loss_plan_l1_fix_time: 0.9304, d4.loss_plan_l1_fix_dist: 0.1947, d5.loss_plan_l1_fix_time: 0.9340, d5.loss_plan_l1_fix_dist: 0.2042, d6.loss_plan_l1_fix_time: 0.9382, d6.loss_plan_l1_fix_dist: 0.2163, d0.loss_cls_all: 0.1951, d0.loss_bbox_all: 0.4103, d0.loss_cls: 0.1951, d0.loss_bbox: 0.4103, d1.loss_cls: 0.1926, d1.loss_bbox: 0.3780, d2.loss_cls: 0.1803, d2.loss_bbox: 0.3632, d3.loss_cls: 0.1724, d3.loss_bbox: 0.3583, d4.loss_cls: 0.1654, d4.loss_bbox: 0.3574, d5.loss_cls: 0.1638, d5.loss_bbox: 0.3572, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9280, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7691, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7290, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7190, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7119, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7123, d0.loss_map_cls_all: 0.1967, d0.loss_map_pts_all: 1.4193, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.1967, d0.loss_map_pts: 1.4193, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1642, d1.loss_map_pts: 0.9428, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1475, d2.loss_map_pts: 0.7606, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1390, d3.loss_map_pts: 0.6780, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1336, d4.loss_map_pts: 0.6571, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1295, d5.loss_map_pts: 0.6582, d5.loss_map_dir: 0.0097, loss: 27.4743, grad_norm: 159.8160 +2026-02-26 01:53:50,324 - DriveTransformer - INFO - Epoch [6][14850/39528] lr: 8.977e-05, eta: 6 days, 20:55:40, time: 0.829, data_time: 0.045, memory: 19865, loss_cls: 0.1965, loss_bbox: 0.3961, loss_traj: 0.6964, loss_traj_cls: 0.0010, loss_map_cls: 0.1739, loss_map_pts: 0.7912, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.8649, d0.loss_plan_l1_fix_dist: 0.4449, d1.loss_plan_l1_fix_time: 1.2338, d1.loss_plan_l1_fix_dist: 0.2048, d2.loss_plan_l1_fix_time: 1.2152, d2.loss_plan_l1_fix_dist: 0.2048, d3.loss_plan_l1_fix_time: 1.2098, d3.loss_plan_l1_fix_dist: 0.2125, d4.loss_plan_l1_fix_time: 1.2112, d4.loss_plan_l1_fix_dist: 0.2216, d5.loss_plan_l1_fix_time: 1.2131, d5.loss_plan_l1_fix_dist: 0.2311, d6.loss_plan_l1_fix_time: 1.2159, d6.loss_plan_l1_fix_dist: 0.2394, d0.loss_cls_all: 0.2314, d0.loss_bbox_all: 0.4529, d0.loss_cls: 0.2314, d0.loss_bbox: 0.4529, d1.loss_cls: 0.2249, d1.loss_bbox: 0.4178, d2.loss_cls: 0.2114, d2.loss_bbox: 0.4016, d3.loss_cls: 0.2048, d3.loss_bbox: 0.3947, d4.loss_cls: 0.2004, d4.loss_bbox: 0.3943, d5.loss_cls: 0.1985, d5.loss_bbox: 0.3939, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9583, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7853, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7242, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7050, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6975, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6957, d0.loss_map_cls_all: 0.2392, d0.loss_map_pts_all: 1.4863, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2392, d0.loss_map_pts: 1.4863, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2113, d1.loss_map_pts: 1.0361, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1928, d2.loss_map_pts: 0.8776, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1837, d3.loss_map_pts: 0.8169, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1781, d4.loss_map_pts: 0.7960, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1751, d5.loss_map_pts: 0.7920, d5.loss_map_dir: 0.0108, loss: 31.9547, grad_norm: 160.8111 +2026-02-26 01:54:31,751 - DriveTransformer - INFO - Epoch [6][14900/39528] lr: 8.977e-05, eta: 6 days, 20:55:03, time: 0.829, data_time: 0.045, memory: 19865, loss_cls: 0.1770, loss_bbox: 0.3701, loss_traj: 0.6976, loss_traj_cls: 0.0010, loss_map_cls: 0.1417, loss_map_pts: 0.7365, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.4476, d0.loss_plan_l1_fix_dist: 0.3731, d1.loss_plan_l1_fix_time: 1.1251, d1.loss_plan_l1_fix_dist: 0.1937, d2.loss_plan_l1_fix_time: 1.1099, d2.loss_plan_l1_fix_dist: 0.1997, d3.loss_plan_l1_fix_time: 1.1105, d3.loss_plan_l1_fix_dist: 0.2120, d4.loss_plan_l1_fix_time: 1.1140, d4.loss_plan_l1_fix_dist: 0.2295, d5.loss_plan_l1_fix_time: 1.1170, d5.loss_plan_l1_fix_dist: 0.2477, d6.loss_plan_l1_fix_time: 1.1203, d6.loss_plan_l1_fix_dist: 0.2628, d0.loss_cls_all: 0.2029, d0.loss_bbox_all: 0.4211, d0.loss_cls: 0.2029, d0.loss_bbox: 0.4211, d1.loss_cls: 0.2036, d1.loss_bbox: 0.3892, d2.loss_cls: 0.1909, d2.loss_bbox: 0.3765, d3.loss_cls: 0.1797, d3.loss_bbox: 0.3710, d4.loss_cls: 0.1772, d4.loss_bbox: 0.3686, d5.loss_cls: 0.1766, d5.loss_bbox: 0.3688, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8987, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7579, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7083, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6975, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6955, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6975, d0.loss_map_cls_all: 0.2105, d0.loss_map_pts_all: 1.5245, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2105, d0.loss_map_pts: 1.5245, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.1809, d1.loss_map_pts: 1.0191, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1637, d2.loss_map_pts: 0.8366, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1540, d3.loss_map_pts: 0.7686, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1465, d4.loss_map_pts: 0.7422, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1425, d5.loss_map_pts: 0.7377, d5.loss_map_dir: 0.0106, loss: 29.9419, grad_norm: 162.2510 +2026-02-26 01:55:13,646 - DriveTransformer - INFO - Epoch [6][14950/39528] lr: 8.977e-05, eta: 6 days, 20:54:29, time: 0.838, data_time: 0.048, memory: 19865, loss_cls: 0.1826, loss_bbox: 0.3971, loss_traj: 0.5561, loss_traj_cls: 0.0010, loss_map_cls: 0.1987, loss_map_pts: 0.8351, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.4372, d0.loss_plan_l1_fix_dist: 0.4818, d1.loss_plan_l1_fix_time: 1.1796, d1.loss_plan_l1_fix_dist: 0.1942, d2.loss_plan_l1_fix_time: 1.1655, d2.loss_plan_l1_fix_dist: 0.1993, d3.loss_plan_l1_fix_time: 1.1593, d3.loss_plan_l1_fix_dist: 0.2064, d4.loss_plan_l1_fix_time: 1.1613, d4.loss_plan_l1_fix_dist: 0.2162, d5.loss_plan_l1_fix_time: 1.1632, d5.loss_plan_l1_fix_dist: 0.2264, d6.loss_plan_l1_fix_time: 1.1656, d6.loss_plan_l1_fix_dist: 0.2393, d0.loss_cls_all: 0.2218, d0.loss_bbox_all: 0.4577, d0.loss_cls: 0.2218, d0.loss_bbox: 0.4577, d1.loss_cls: 0.2106, d1.loss_bbox: 0.4246, d2.loss_cls: 0.2015, d2.loss_bbox: 0.4050, d3.loss_cls: 0.1910, d3.loss_bbox: 0.3985, d4.loss_cls: 0.1841, d4.loss_bbox: 0.3994, d5.loss_cls: 0.1821, d5.loss_bbox: 0.3975, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7529, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6277, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5803, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5630, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5622, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5569, d0.loss_map_cls_all: 0.2533, d0.loss_map_pts_all: 1.6104, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2533, d0.loss_map_pts: 1.6104, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2304, d1.loss_map_pts: 1.0958, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2155, d2.loss_map_pts: 0.9220, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2060, d3.loss_map_pts: 0.8666, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.2010, d4.loss_map_pts: 0.8442, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1986, d5.loss_map_pts: 0.8379, d5.loss_map_dir: 0.0114, loss: 30.8011, grad_norm: 162.3559 +2026-02-26 01:55:52,160 - DriveTransformer - INFO - Epoch [6][15000/39528] lr: 8.977e-05, eta: 6 days, 20:53:42, time: 0.772, data_time: 0.047, memory: 19865, loss_cls: 0.1894, loss_bbox: 0.3715, loss_traj: 0.7714, loss_traj_cls: 0.0010, loss_map_cls: 0.1743, loss_map_pts: 0.6964, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.7677, d0.loss_plan_l1_fix_dist: 0.4234, d1.loss_plan_l1_fix_time: 1.4119, d1.loss_plan_l1_fix_dist: 0.1749, d2.loss_plan_l1_fix_time: 1.3972, d2.loss_plan_l1_fix_dist: 0.1795, d3.loss_plan_l1_fix_time: 1.3971, d3.loss_plan_l1_fix_dist: 0.1922, d4.loss_plan_l1_fix_time: 1.4004, d4.loss_plan_l1_fix_dist: 0.2063, d5.loss_plan_l1_fix_time: 1.4045, d5.loss_plan_l1_fix_dist: 0.2242, d6.loss_plan_l1_fix_time: 1.4096, d6.loss_plan_l1_fix_dist: 0.2468, d0.loss_cls_all: 0.2249, d0.loss_bbox_all: 0.4332, d0.loss_cls: 0.2249, d0.loss_bbox: 0.4332, d1.loss_cls: 0.2191, d1.loss_bbox: 0.4016, d2.loss_cls: 0.2062, d2.loss_bbox: 0.3826, d3.loss_cls: 0.1959, d3.loss_bbox: 0.3763, d4.loss_cls: 0.1886, d4.loss_bbox: 0.3752, d5.loss_cls: 0.1882, d5.loss_bbox: 0.3727, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9806, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8378, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7841, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7758, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7715, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7724, d0.loss_map_cls_all: 0.2341, d0.loss_map_pts_all: 1.3644, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2341, d0.loss_map_pts: 1.3644, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.2073, d1.loss_map_pts: 0.9789, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1930, d2.loss_map_pts: 0.8058, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1838, d3.loss_map_pts: 0.7361, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1773, d4.loss_map_pts: 0.7065, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1747, d5.loss_map_pts: 0.6969, d5.loss_map_dir: 0.0087, loss: 32.3138, grad_norm: 164.2676 +2026-02-26 01:56:30,949 - DriveTransformer - INFO - Epoch [6][15050/39528] lr: 8.977e-05, eta: 6 days, 20:52:56, time: 0.774, data_time: 0.049, memory: 19865, loss_cls: 0.2000, loss_bbox: 0.3966, loss_traj: 0.7291, loss_traj_cls: 0.0010, loss_map_cls: 0.1771, loss_map_pts: 0.8394, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.8627, d0.loss_plan_l1_fix_dist: 0.4178, d1.loss_plan_l1_fix_time: 1.2702, d1.loss_plan_l1_fix_dist: 0.2019, d2.loss_plan_l1_fix_time: 1.2466, d2.loss_plan_l1_fix_dist: 0.2029, d3.loss_plan_l1_fix_time: 1.2530, d3.loss_plan_l1_fix_dist: 0.2104, d4.loss_plan_l1_fix_time: 1.2604, d4.loss_plan_l1_fix_dist: 0.2217, d5.loss_plan_l1_fix_time: 1.2689, d5.loss_plan_l1_fix_dist: 0.2348, d6.loss_plan_l1_fix_time: 1.2783, d6.loss_plan_l1_fix_dist: 0.2486, d0.loss_cls_all: 0.2359, d0.loss_bbox_all: 0.4542, d0.loss_cls: 0.2359, d0.loss_bbox: 0.4542, d1.loss_cls: 0.2307, d1.loss_bbox: 0.4236, d2.loss_cls: 0.2154, d2.loss_bbox: 0.4095, d3.loss_cls: 0.2059, d3.loss_bbox: 0.4018, d4.loss_cls: 0.2012, d4.loss_bbox: 0.3977, d5.loss_cls: 0.1984, d5.loss_bbox: 0.3981, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9532, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7808, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7366, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7305, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7280, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7303, d0.loss_map_cls_all: 0.2407, d0.loss_map_pts_all: 1.5277, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2407, d0.loss_map_pts: 1.5277, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2145, d1.loss_map_pts: 1.0946, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1963, d2.loss_map_pts: 0.9303, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1853, d3.loss_map_pts: 0.8711, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1808, d4.loss_map_pts: 0.8479, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1783, d5.loss_map_pts: 0.8421, d5.loss_map_dir: 0.0106, loss: 32.8080, grad_norm: 165.7276 +2026-02-26 01:57:10,880 - DriveTransformer - INFO - Epoch [6][15100/39528] lr: 8.977e-05, eta: 6 days, 20:52:15, time: 0.799, data_time: 0.042, memory: 19865, loss_cls: 0.1831, loss_bbox: 0.3906, loss_traj: 0.7960, loss_traj_cls: 0.0010, loss_map_cls: 0.1929, loss_map_pts: 0.7669, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.9030, d0.loss_plan_l1_fix_dist: 0.3889, d1.loss_plan_l1_fix_time: 1.3150, d1.loss_plan_l1_fix_dist: 0.2028, d2.loss_plan_l1_fix_time: 1.3063, d2.loss_plan_l1_fix_dist: 0.2012, d3.loss_plan_l1_fix_time: 1.3122, d3.loss_plan_l1_fix_dist: 0.2072, d4.loss_plan_l1_fix_time: 1.3186, d4.loss_plan_l1_fix_dist: 0.2153, d5.loss_plan_l1_fix_time: 1.3264, d5.loss_plan_l1_fix_dist: 0.2239, d6.loss_plan_l1_fix_time: 1.3347, d6.loss_plan_l1_fix_dist: 0.2334, d0.loss_cls_all: 0.2172, d0.loss_bbox_all: 0.4508, d0.loss_cls: 0.2172, d0.loss_bbox: 0.4508, d1.loss_cls: 0.2112, d1.loss_bbox: 0.4173, d2.loss_cls: 0.1990, d2.loss_bbox: 0.4021, d3.loss_cls: 0.1916, d3.loss_bbox: 0.3938, d4.loss_cls: 0.1852, d4.loss_bbox: 0.3911, d5.loss_cls: 0.1831, d5.loss_bbox: 0.3909, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9828, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8404, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8040, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7947, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7976, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7981, d0.loss_map_cls_all: 0.2540, d0.loss_map_pts_all: 1.4586, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2540, d0.loss_map_pts: 1.4586, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2265, d1.loss_map_pts: 1.0122, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.2123, d2.loss_map_pts: 0.8523, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.2009, d3.loss_map_pts: 0.8012, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1954, d4.loss_map_pts: 0.7778, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1930, d5.loss_map_pts: 0.7714, d5.loss_map_dir: 0.0097, loss: 32.8848, grad_norm: 166.3040 +2026-02-26 01:57:51,051 - DriveTransformer - INFO - Epoch [6][15150/39528] lr: 8.977e-05, eta: 6 days, 20:51:34, time: 0.803, data_time: 0.051, memory: 19865, loss_cls: 0.1721, loss_bbox: 0.3695, loss_traj: 0.7975, loss_traj_cls: 0.0010, loss_map_cls: 0.1614, loss_map_pts: 0.6805, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.7373, d0.loss_plan_l1_fix_dist: 0.4331, d1.loss_plan_l1_fix_time: 1.1977, d1.loss_plan_l1_fix_dist: 0.1962, d2.loss_plan_l1_fix_time: 1.1759, d2.loss_plan_l1_fix_dist: 0.2019, d3.loss_plan_l1_fix_time: 1.1798, d3.loss_plan_l1_fix_dist: 0.2121, d4.loss_plan_l1_fix_time: 1.1831, d4.loss_plan_l1_fix_dist: 0.2231, d5.loss_plan_l1_fix_time: 1.1872, d5.loss_plan_l1_fix_dist: 0.2332, d6.loss_plan_l1_fix_time: 1.1921, d6.loss_plan_l1_fix_dist: 0.2444, d0.loss_cls_all: 0.2092, d0.loss_bbox_all: 0.4267, d0.loss_cls: 0.2092, d0.loss_bbox: 0.4267, d1.loss_cls: 0.2000, d1.loss_bbox: 0.3969, d2.loss_cls: 0.1890, d2.loss_bbox: 0.3777, d3.loss_cls: 0.1788, d3.loss_bbox: 0.3704, d4.loss_cls: 0.1716, d4.loss_bbox: 0.3714, d5.loss_cls: 0.1726, d5.loss_bbox: 0.3678, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0270, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8581, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8235, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8018, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7970, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7920, d0.loss_map_cls_all: 0.2104, d0.loss_map_pts_all: 1.2912, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2104, d0.loss_map_pts: 1.2912, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1905, d1.loss_map_pts: 0.9184, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1778, d2.loss_map_pts: 0.7669, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1704, d3.loss_map_pts: 0.7116, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1646, d4.loss_map_pts: 0.6894, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1614, d5.loss_map_pts: 0.6844, d5.loss_map_dir: 0.0086, loss: 30.6580, grad_norm: 166.0830 +2026-02-26 01:58:28,212 - DriveTransformer - INFO - Epoch [6][15200/39528] lr: 8.977e-05, eta: 6 days, 20:50:43, time: 0.743, data_time: 0.040, memory: 19865, loss_cls: 0.1796, loss_bbox: 0.3635, loss_traj: 0.7645, loss_traj_cls: 0.0010, loss_map_cls: 0.1647, loss_map_pts: 0.7100, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.7691, d0.loss_plan_l1_fix_dist: 0.4266, d1.loss_plan_l1_fix_time: 1.2435, d1.loss_plan_l1_fix_dist: 0.1732, d2.loss_plan_l1_fix_time: 1.2352, d2.loss_plan_l1_fix_dist: 0.1843, d3.loss_plan_l1_fix_time: 1.2426, d3.loss_plan_l1_fix_dist: 0.2010, d4.loss_plan_l1_fix_time: 1.2479, d4.loss_plan_l1_fix_dist: 0.2184, d5.loss_plan_l1_fix_time: 1.2524, d5.loss_plan_l1_fix_dist: 0.2321, d6.loss_plan_l1_fix_time: 1.2573, d6.loss_plan_l1_fix_dist: 0.2427, d0.loss_cls_all: 0.2085, d0.loss_bbox_all: 0.4202, d0.loss_cls: 0.2085, d0.loss_bbox: 0.4202, d1.loss_cls: 0.2009, d1.loss_bbox: 0.3924, d2.loss_cls: 0.1910, d2.loss_bbox: 0.3765, d3.loss_cls: 0.1815, d3.loss_bbox: 0.3698, d4.loss_cls: 0.1789, d4.loss_bbox: 0.3665, d5.loss_cls: 0.1783, d5.loss_bbox: 0.3641, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0371, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8513, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7946, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7783, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7700, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7635, d0.loss_map_cls_all: 0.2258, d0.loss_map_pts_all: 1.2896, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2258, d0.loss_map_pts: 1.2896, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.2010, d1.loss_map_pts: 0.9627, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1877, d2.loss_map_pts: 0.8194, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1760, d3.loss_map_pts: 0.7504, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1701, d4.loss_map_pts: 0.7206, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1648, d5.loss_map_pts: 0.7139, d5.loss_map_dir: 0.0073, loss: 31.1219, grad_norm: 164.6268 +2026-02-26 01:59:08,699 - DriveTransformer - INFO - Epoch [6][15250/39528] lr: 8.977e-05, eta: 6 days, 20:50:03, time: 0.810, data_time: 0.039, memory: 19865, loss_cls: 0.1837, loss_bbox: 0.4060, loss_traj: 0.7428, loss_traj_cls: 0.0010, loss_map_cls: 0.1913, loss_map_pts: 0.9059, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.6365, d0.loss_plan_l1_fix_dist: 0.4552, d1.loss_plan_l1_fix_time: 1.2534, d1.loss_plan_l1_fix_dist: 0.1965, d2.loss_plan_l1_fix_time: 1.2489, d2.loss_plan_l1_fix_dist: 0.1990, d3.loss_plan_l1_fix_time: 1.2525, d3.loss_plan_l1_fix_dist: 0.2078, d4.loss_plan_l1_fix_time: 1.2563, d4.loss_plan_l1_fix_dist: 0.2216, d5.loss_plan_l1_fix_time: 1.2605, d5.loss_plan_l1_fix_dist: 0.2402, d6.loss_plan_l1_fix_time: 1.2662, d6.loss_plan_l1_fix_dist: 0.2604, d0.loss_cls_all: 0.2166, d0.loss_bbox_all: 0.4726, d0.loss_cls: 0.2166, d0.loss_bbox: 0.4726, d1.loss_cls: 0.2087, d1.loss_bbox: 0.4360, d2.loss_cls: 0.1984, d2.loss_bbox: 0.4171, d3.loss_cls: 0.1886, d3.loss_bbox: 0.4100, d4.loss_cls: 0.1849, d4.loss_bbox: 0.4070, d5.loss_cls: 0.1836, d5.loss_bbox: 0.4064, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9153, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7842, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7627, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7496, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7497, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7448, d0.loss_map_cls_all: 0.2604, d0.loss_map_pts_all: 1.7288, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2604, d0.loss_map_pts: 1.7288, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2289, d1.loss_map_pts: 1.1971, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.2107, d2.loss_map_pts: 1.0265, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.2013, d3.loss_map_pts: 0.9518, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1950, d4.loss_map_pts: 0.9186, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1924, d5.loss_map_pts: 0.9118, d5.loss_map_dir: 0.0115, loss: 33.6159, grad_norm: 164.5946 +2026-02-26 01:59:49,918 - DriveTransformer - INFO - Epoch [6][15300/39528] lr: 8.977e-05, eta: 6 days, 20:49:26, time: 0.824, data_time: 0.048, memory: 19865, loss_cls: 0.1599, loss_bbox: 0.3604, loss_traj: 0.7079, loss_traj_cls: 0.0010, loss_map_cls: 0.1591, loss_map_pts: 0.6904, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.3586, d0.loss_plan_l1_fix_dist: 0.4864, d1.loss_plan_l1_fix_time: 1.0206, d1.loss_plan_l1_fix_dist: 0.1718, d2.loss_plan_l1_fix_time: 1.0182, d2.loss_plan_l1_fix_dist: 0.1814, d3.loss_plan_l1_fix_time: 1.0184, d3.loss_plan_l1_fix_dist: 0.1975, d4.loss_plan_l1_fix_time: 1.0213, d4.loss_plan_l1_fix_dist: 0.2172, d5.loss_plan_l1_fix_time: 1.0244, d5.loss_plan_l1_fix_dist: 0.2436, d6.loss_plan_l1_fix_time: 1.0280, d6.loss_plan_l1_fix_dist: 0.2728, d0.loss_cls_all: 0.1934, d0.loss_bbox_all: 0.4182, d0.loss_cls: 0.1934, d0.loss_bbox: 0.4182, d1.loss_cls: 0.1842, d1.loss_bbox: 0.3870, d2.loss_cls: 0.1728, d2.loss_bbox: 0.3673, d3.loss_cls: 0.1662, d3.loss_bbox: 0.3589, d4.loss_cls: 0.1614, d4.loss_bbox: 0.3592, d5.loss_cls: 0.1602, d5.loss_bbox: 0.3599, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8923, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7656, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7203, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7058, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7057, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7053, d0.loss_map_cls_all: 0.2276, d0.loss_map_pts_all: 1.4883, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2276, d0.loss_map_pts: 1.4883, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1935, d1.loss_map_pts: 0.9670, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1764, d2.loss_map_pts: 0.7940, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1661, d3.loss_map_pts: 0.7309, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1608, d4.loss_map_pts: 0.7017, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1588, d5.loss_map_pts: 0.6923, d5.loss_map_dir: 0.0097, loss: 28.9892, grad_norm: 166.2091 +2026-02-26 02:00:29,592 - DriveTransformer - INFO - Epoch [6][15350/39528] lr: 8.977e-05, eta: 6 days, 20:48:43, time: 0.793, data_time: 0.046, memory: 19865, loss_cls: 0.2020, loss_bbox: 0.3897, loss_traj: 0.5940, loss_traj_cls: 0.0010, loss_map_cls: 0.1863, loss_map_pts: 0.8240, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.6387, d0.loss_plan_l1_fix_dist: 0.3199, d1.loss_plan_l1_fix_time: 1.0665, d1.loss_plan_l1_fix_dist: 0.1808, d2.loss_plan_l1_fix_time: 1.0436, d2.loss_plan_l1_fix_dist: 0.1886, d3.loss_plan_l1_fix_time: 1.0434, d3.loss_plan_l1_fix_dist: 0.1986, d4.loss_plan_l1_fix_time: 1.0463, d4.loss_plan_l1_fix_dist: 0.2091, d5.loss_plan_l1_fix_time: 1.0487, d5.loss_plan_l1_fix_dist: 0.2218, d6.loss_plan_l1_fix_time: 1.0501, d6.loss_plan_l1_fix_dist: 0.2391, d0.loss_cls_all: 0.2361, d0.loss_bbox_all: 0.4470, d0.loss_cls: 0.2361, d0.loss_bbox: 0.4470, d1.loss_cls: 0.2266, d1.loss_bbox: 0.4129, d2.loss_cls: 0.2167, d2.loss_bbox: 0.3961, d3.loss_cls: 0.2070, d3.loss_bbox: 0.3896, d4.loss_cls: 0.2029, d4.loss_bbox: 0.3886, d5.loss_cls: 0.2012, d5.loss_bbox: 0.3897, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7996, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6754, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6104, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6059, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5994, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5946, d0.loss_map_cls_all: 0.2514, d0.loss_map_pts_all: 1.6039, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2514, d0.loss_map_pts: 1.6039, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2169, d1.loss_map_pts: 1.0792, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2018, d2.loss_map_pts: 0.9125, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1916, d3.loss_map_pts: 0.8531, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1878, d4.loss_map_pts: 0.8326, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1875, d5.loss_map_pts: 0.8241, d5.loss_map_dir: 0.0113, loss: 30.2663, grad_norm: 163.5479 +2026-02-26 02:01:09,398 - DriveTransformer - INFO - Epoch [6][15400/39528] lr: 8.977e-05, eta: 6 days, 20:48:01, time: 0.796, data_time: 0.046, memory: 19865, loss_cls: 0.1870, loss_bbox: 0.3822, loss_traj: 0.7778, loss_traj_cls: 0.0010, loss_map_cls: 0.1617, loss_map_pts: 0.7764, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.7606, d0.loss_plan_l1_fix_dist: 0.4309, d1.loss_plan_l1_fix_time: 1.1585, d1.loss_plan_l1_fix_dist: 0.2022, d2.loss_plan_l1_fix_time: 1.1517, d2.loss_plan_l1_fix_dist: 0.2146, d3.loss_plan_l1_fix_time: 1.1529, d3.loss_plan_l1_fix_dist: 0.2313, d4.loss_plan_l1_fix_time: 1.1557, d4.loss_plan_l1_fix_dist: 0.2498, d5.loss_plan_l1_fix_time: 1.1584, d5.loss_plan_l1_fix_dist: 0.2655, d6.loss_plan_l1_fix_time: 1.1604, d6.loss_plan_l1_fix_dist: 0.2802, d0.loss_cls_all: 0.2196, d0.loss_bbox_all: 0.4487, d0.loss_cls: 0.2196, d0.loss_bbox: 0.4487, d1.loss_cls: 0.2125, d1.loss_bbox: 0.4151, d2.loss_cls: 0.2003, d2.loss_bbox: 0.3915, d3.loss_cls: 0.1929, d3.loss_bbox: 0.3854, d4.loss_cls: 0.1883, d4.loss_bbox: 0.3812, d5.loss_cls: 0.1881, d5.loss_bbox: 0.3808, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0157, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8346, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7879, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7816, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7785, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7774, d0.loss_map_cls_all: 0.2280, d0.loss_map_pts_all: 1.4781, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2280, d0.loss_map_pts: 1.4781, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2007, d1.loss_map_pts: 1.0253, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1836, d2.loss_map_pts: 0.8712, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1701, d3.loss_map_pts: 0.8053, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1667, d4.loss_map_pts: 0.7857, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1640, d5.loss_map_pts: 0.7790, d5.loss_map_dir: 0.0102, loss: 31.7555, grad_norm: 162.6312 +2026-02-26 02:01:49,164 - DriveTransformer - INFO - Epoch [6][15450/39528] lr: 8.977e-05, eta: 6 days, 20:47:19, time: 0.795, data_time: 0.048, memory: 19865, loss_cls: 0.1592, loss_bbox: 0.3480, loss_traj: 0.7655, loss_traj_cls: 0.0010, loss_map_cls: 0.1638, loss_map_pts: 0.7195, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.5573, d0.loss_plan_l1_fix_dist: 0.4317, d1.loss_plan_l1_fix_time: 1.1302, d1.loss_plan_l1_fix_dist: 0.2064, d2.loss_plan_l1_fix_time: 1.1122, d2.loss_plan_l1_fix_dist: 0.2137, d3.loss_plan_l1_fix_time: 1.1106, d3.loss_plan_l1_fix_dist: 0.2285, d4.loss_plan_l1_fix_time: 1.1131, d4.loss_plan_l1_fix_dist: 0.2469, d5.loss_plan_l1_fix_time: 1.1169, d5.loss_plan_l1_fix_dist: 0.2698, d6.loss_plan_l1_fix_time: 1.1217, d6.loss_plan_l1_fix_dist: 0.2925, d0.loss_cls_all: 0.1909, d0.loss_bbox_all: 0.4085, d0.loss_cls: 0.1909, d0.loss_bbox: 0.4085, d1.loss_cls: 0.1830, d1.loss_bbox: 0.3728, d2.loss_cls: 0.1719, d2.loss_bbox: 0.3571, d3.loss_cls: 0.1643, d3.loss_bbox: 0.3522, d4.loss_cls: 0.1613, d4.loss_bbox: 0.3483, d5.loss_cls: 0.1600, d5.loss_bbox: 0.3473, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9741, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8036, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7682, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7600, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7591, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7628, d0.loss_map_cls_all: 0.2302, d0.loss_map_pts_all: 1.4438, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2302, d0.loss_map_pts: 1.4438, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1990, d1.loss_map_pts: 1.0119, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1820, d2.loss_map_pts: 0.8355, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1737, d3.loss_map_pts: 0.7601, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1676, d4.loss_map_pts: 0.7336, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1656, d5.loss_map_pts: 0.7215, d5.loss_map_dir: 0.0102, loss: 30.3360, grad_norm: 160.6469 +2026-02-26 02:02:29,857 - DriveTransformer - INFO - Epoch [6][15500/39528] lr: 8.977e-05, eta: 6 days, 20:46:40, time: 0.814, data_time: 0.044, memory: 19865, loss_cls: 0.1697, loss_bbox: 0.3687, loss_traj: 0.7679, loss_traj_cls: 0.0010, loss_map_cls: 0.1921, loss_map_pts: 0.8352, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.6415, d0.loss_plan_l1_fix_dist: 0.4793, d1.loss_plan_l1_fix_time: 1.2994, d1.loss_plan_l1_fix_dist: 0.2016, d2.loss_plan_l1_fix_time: 1.2867, d2.loss_plan_l1_fix_dist: 0.2083, d3.loss_plan_l1_fix_time: 1.2866, d3.loss_plan_l1_fix_dist: 0.2212, d4.loss_plan_l1_fix_time: 1.2898, d4.loss_plan_l1_fix_dist: 0.2378, d5.loss_plan_l1_fix_time: 1.2939, d5.loss_plan_l1_fix_dist: 0.2574, d6.loss_plan_l1_fix_time: 1.2993, d6.loss_plan_l1_fix_dist: 0.2806, d0.loss_cls_all: 0.2149, d0.loss_bbox_all: 0.4252, d0.loss_cls: 0.2149, d0.loss_bbox: 0.4252, d1.loss_cls: 0.1984, d1.loss_bbox: 0.3943, d2.loss_cls: 0.1844, d2.loss_bbox: 0.3789, d3.loss_cls: 0.1771, d3.loss_bbox: 0.3722, d4.loss_cls: 0.1726, d4.loss_bbox: 0.3695, d5.loss_cls: 0.1710, d5.loss_bbox: 0.3681, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0498, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8378, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7856, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7711, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7699, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7685, d0.loss_map_cls_all: 0.2653, d0.loss_map_pts_all: 1.6931, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2653, d0.loss_map_pts: 1.6931, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2368, d1.loss_map_pts: 1.1706, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2172, d2.loss_map_pts: 0.9651, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.2046, d3.loss_map_pts: 0.8818, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1994, d4.loss_map_pts: 0.8502, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1937, d5.loss_map_pts: 0.8381, d5.loss_map_dir: 0.0121, loss: 33.4370, grad_norm: 159.8782 +2026-02-26 02:03:10,927 - DriveTransformer - INFO - Epoch [6][15550/39528] lr: 8.977e-05, eta: 6 days, 20:46:02, time: 0.821, data_time: 0.041, memory: 19865, loss_cls: 0.1855, loss_bbox: 0.3942, loss_traj: 0.6535, loss_traj_cls: 0.0010, loss_map_cls: 0.1848, loss_map_pts: 0.8252, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.7296, d0.loss_plan_l1_fix_dist: 0.4084, d1.loss_plan_l1_fix_time: 1.2964, d1.loss_plan_l1_fix_dist: 0.1910, d2.loss_plan_l1_fix_time: 1.2755, d2.loss_plan_l1_fix_dist: 0.2002, d3.loss_plan_l1_fix_time: 1.2749, d3.loss_plan_l1_fix_dist: 0.2156, d4.loss_plan_l1_fix_time: 1.2776, d4.loss_plan_l1_fix_dist: 0.2348, d5.loss_plan_l1_fix_time: 1.2808, d5.loss_plan_l1_fix_dist: 0.2541, d6.loss_plan_l1_fix_time: 1.2845, d6.loss_plan_l1_fix_dist: 0.2785, d0.loss_cls_all: 0.2186, d0.loss_bbox_all: 0.4538, d0.loss_cls: 0.2186, d0.loss_bbox: 0.4538, d1.loss_cls: 0.2069, d1.loss_bbox: 0.4222, d2.loss_cls: 0.1968, d2.loss_bbox: 0.4066, d3.loss_cls: 0.1914, d3.loss_bbox: 0.3984, d4.loss_cls: 0.1847, d4.loss_bbox: 0.3975, d5.loss_cls: 0.1843, d5.loss_bbox: 0.3949, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8575, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7177, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6797, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6699, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6602, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6557, d0.loss_map_cls_all: 0.2489, d0.loss_map_pts_all: 1.6363, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2489, d0.loss_map_pts: 1.6363, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2250, d1.loss_map_pts: 1.1309, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.2063, d2.loss_map_pts: 0.9326, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1946, d3.loss_map_pts: 0.8598, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1889, d4.loss_map_pts: 0.8369, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1850, d5.loss_map_pts: 0.8283, d5.loss_map_dir: 0.0108, loss: 32.4606, grad_norm: 160.1714 +2026-02-26 02:03:50,306 - DriveTransformer - INFO - Epoch [6][15600/39528] lr: 8.977e-05, eta: 6 days, 20:45:18, time: 0.788, data_time: 0.042, memory: 19865, loss_cls: 0.1641, loss_bbox: 0.3596, loss_traj: 0.7672, loss_traj_cls: 0.0009, loss_map_cls: 0.1965, loss_map_pts: 0.8206, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.3619, d0.loss_plan_l1_fix_dist: 0.3240, d1.loss_plan_l1_fix_time: 1.1582, d1.loss_plan_l1_fix_dist: 0.1579, d2.loss_plan_l1_fix_time: 1.1358, d2.loss_plan_l1_fix_dist: 0.1641, d3.loss_plan_l1_fix_time: 1.1361, d3.loss_plan_l1_fix_dist: 0.1787, d4.loss_plan_l1_fix_time: 1.1383, d4.loss_plan_l1_fix_dist: 0.1954, d5.loss_plan_l1_fix_time: 1.1410, d5.loss_plan_l1_fix_dist: 0.2109, d6.loss_plan_l1_fix_time: 1.1449, d6.loss_plan_l1_fix_dist: 0.2260, d0.loss_cls_all: 0.2044, d0.loss_bbox_all: 0.4142, d0.loss_cls: 0.2044, d0.loss_bbox: 0.4142, d1.loss_cls: 0.1994, d1.loss_bbox: 0.3814, d2.loss_cls: 0.1837, d2.loss_bbox: 0.3658, d3.loss_cls: 0.1721, d3.loss_bbox: 0.3614, d4.loss_cls: 0.1674, d4.loss_bbox: 0.3581, d5.loss_cls: 0.1650, d5.loss_bbox: 0.3582, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0049, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8424, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7956, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7746, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7709, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7727, d0.loss_map_cls_all: 0.2668, d0.loss_map_pts_all: 1.5409, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2668, d0.loss_map_pts: 1.5409, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2394, d1.loss_map_pts: 1.0865, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.2208, d2.loss_map_pts: 0.9171, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.2091, d3.loss_map_pts: 0.8491, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.2017, d4.loss_map_pts: 0.8252, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1978, d5.loss_map_pts: 0.8221, d5.loss_map_dir: 0.0102, loss: 31.1588, grad_norm: 160.3665 +2026-02-26 02:04:29,496 - DriveTransformer - INFO - Epoch [6][15650/39528] lr: 8.977e-05, eta: 6 days, 20:44:34, time: 0.784, data_time: 0.041, memory: 19865, loss_cls: 0.1662, loss_bbox: 0.3630, loss_traj: 0.6330, loss_traj_cls: 0.0010, loss_map_cls: 0.1639, loss_map_pts: 0.7216, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.5031, d0.loss_plan_l1_fix_dist: 0.4266, d1.loss_plan_l1_fix_time: 1.2256, d1.loss_plan_l1_fix_dist: 0.1756, d2.loss_plan_l1_fix_time: 1.2144, d2.loss_plan_l1_fix_dist: 0.1816, d3.loss_plan_l1_fix_time: 1.2162, d3.loss_plan_l1_fix_dist: 0.1947, d4.loss_plan_l1_fix_time: 1.2194, d4.loss_plan_l1_fix_dist: 0.2109, d5.loss_plan_l1_fix_time: 1.2225, d5.loss_plan_l1_fix_dist: 0.2300, d6.loss_plan_l1_fix_time: 1.2257, d6.loss_plan_l1_fix_dist: 0.2500, d0.loss_cls_all: 0.2052, d0.loss_bbox_all: 0.4188, d0.loss_cls: 0.2052, d0.loss_bbox: 0.4188, d1.loss_cls: 0.2022, d1.loss_bbox: 0.3870, d2.loss_cls: 0.1864, d2.loss_bbox: 0.3699, d3.loss_cls: 0.1741, d3.loss_bbox: 0.3632, d4.loss_cls: 0.1673, d4.loss_bbox: 0.3631, d5.loss_cls: 0.1658, d5.loss_bbox: 0.3621, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8863, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6942, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6327, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6240, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6261, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6258, d0.loss_map_cls_all: 0.2267, d0.loss_map_pts_all: 1.5085, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2267, d0.loss_map_pts: 1.5085, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.1945, d1.loss_map_pts: 0.9988, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1803, d2.loss_map_pts: 0.8208, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1723, d3.loss_map_pts: 0.7603, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1690, d4.loss_map_pts: 0.7305, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1650, d5.loss_map_pts: 0.7239, d5.loss_map_dir: 0.0106, loss: 30.0964, grad_norm: 157.6608 +2026-02-26 02:05:07,903 - DriveTransformer - INFO - Epoch [6][15700/39528] lr: 8.977e-05, eta: 6 days, 20:43:47, time: 0.768, data_time: 0.045, memory: 19865, loss_cls: 0.1774, loss_bbox: 0.3721, loss_traj: 0.7821, loss_traj_cls: 0.0010, loss_map_cls: 0.1613, loss_map_pts: 0.6653, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.6246, d0.loss_plan_l1_fix_dist: 0.4771, d1.loss_plan_l1_fix_time: 1.2157, d1.loss_plan_l1_fix_dist: 0.2047, d2.loss_plan_l1_fix_time: 1.2041, d2.loss_plan_l1_fix_dist: 0.2336, d3.loss_plan_l1_fix_time: 1.2022, d3.loss_plan_l1_fix_dist: 0.2696, d4.loss_plan_l1_fix_time: 1.2053, d4.loss_plan_l1_fix_dist: 0.3098, d5.loss_plan_l1_fix_time: 1.2089, d5.loss_plan_l1_fix_dist: 0.3501, d6.loss_plan_l1_fix_time: 1.2126, d6.loss_plan_l1_fix_dist: 0.3968, d0.loss_cls_all: 0.2182, d0.loss_bbox_all: 0.4219, d0.loss_cls: 0.2182, d0.loss_bbox: 0.4219, d1.loss_cls: 0.2096, d1.loss_bbox: 0.3927, d2.loss_cls: 0.1913, d2.loss_bbox: 0.3774, d3.loss_cls: 0.1830, d3.loss_bbox: 0.3707, d4.loss_cls: 0.1767, d4.loss_bbox: 0.3709, d5.loss_cls: 0.1763, d5.loss_bbox: 0.3703, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9926, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8400, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8069, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7940, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7879, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7847, d0.loss_map_cls_all: 0.2263, d0.loss_map_pts_all: 1.3023, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2263, d0.loss_map_pts: 1.3023, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2045, d1.loss_map_pts: 0.8908, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1851, d2.loss_map_pts: 0.7455, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1735, d3.loss_map_pts: 0.6911, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1661, d4.loss_map_pts: 0.6722, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1628, d5.loss_map_pts: 0.6692, d5.loss_map_dir: 0.0089, loss: 31.0738, grad_norm: 159.4019 +2026-02-26 02:05:48,500 - DriveTransformer - INFO - Epoch [6][15750/39528] lr: 8.977e-05, eta: 6 days, 20:43:08, time: 0.812, data_time: 0.045, memory: 19865, loss_cls: 0.1529, loss_bbox: 0.3807, loss_traj: 0.5923, loss_traj_cls: 0.0010, loss_map_cls: 0.1392, loss_map_pts: 0.5695, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.2273, d0.loss_plan_l1_fix_dist: 0.4585, d1.loss_plan_l1_fix_time: 1.0452, d1.loss_plan_l1_fix_dist: 0.2045, d2.loss_plan_l1_fix_time: 1.0341, d2.loss_plan_l1_fix_dist: 0.2286, d3.loss_plan_l1_fix_time: 1.0402, d3.loss_plan_l1_fix_dist: 0.2620, d4.loss_plan_l1_fix_time: 1.0462, d4.loss_plan_l1_fix_dist: 0.3023, d5.loss_plan_l1_fix_time: 1.0528, d5.loss_plan_l1_fix_dist: 0.3438, d6.loss_plan_l1_fix_time: 1.0595, d6.loss_plan_l1_fix_dist: 0.3930, d0.loss_cls_all: 0.1858, d0.loss_bbox_all: 0.4168, d0.loss_cls: 0.1858, d0.loss_bbox: 0.4168, d1.loss_cls: 0.1782, d1.loss_bbox: 0.3864, d2.loss_cls: 0.1657, d2.loss_bbox: 0.3742, d3.loss_cls: 0.1577, d3.loss_bbox: 0.3726, d4.loss_cls: 0.1536, d4.loss_bbox: 0.3747, d5.loss_cls: 0.1523, d5.loss_bbox: 0.3756, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7449, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6509, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6055, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.5922, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5972, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5961, d0.loss_map_cls_all: 0.2097, d0.loss_map_pts_all: 1.2291, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2097, d0.loss_map_pts: 1.2291, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1830, d1.loss_map_pts: 0.7896, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1644, d2.loss_map_pts: 0.6514, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1489, d3.loss_map_pts: 0.5980, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1453, d4.loss_map_pts: 0.5811, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1405, d5.loss_map_pts: 0.5722, d5.loss_map_dir: 0.0084, loss: 27.1423, grad_norm: 160.0237 +2026-02-26 02:06:28,975 - DriveTransformer - INFO - Epoch [6][15800/39528] lr: 8.977e-05, eta: 6 days, 20:42:28, time: 0.811, data_time: 0.039, memory: 19865, loss_cls: 0.2082, loss_bbox: 0.4198, loss_traj: 0.6762, loss_traj_cls: 0.0010, loss_map_cls: 0.1762, loss_map_pts: 0.7930, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.6119, d0.loss_plan_l1_fix_dist: 0.4477, d1.loss_plan_l1_fix_time: 1.1495, d1.loss_plan_l1_fix_dist: 0.1981, d2.loss_plan_l1_fix_time: 1.1318, d2.loss_plan_l1_fix_dist: 0.2093, d3.loss_plan_l1_fix_time: 1.1308, d3.loss_plan_l1_fix_dist: 0.2296, d4.loss_plan_l1_fix_time: 1.1336, d4.loss_plan_l1_fix_dist: 0.2564, d5.loss_plan_l1_fix_time: 1.1367, d5.loss_plan_l1_fix_dist: 0.2836, d6.loss_plan_l1_fix_time: 1.1403, d6.loss_plan_l1_fix_dist: 0.3081, d0.loss_cls_all: 0.2473, d0.loss_bbox_all: 0.4745, d0.loss_cls: 0.2473, d0.loss_bbox: 0.4745, d1.loss_cls: 0.2371, d1.loss_bbox: 0.4445, d2.loss_cls: 0.2191, d2.loss_bbox: 0.4290, d3.loss_cls: 0.2111, d3.loss_bbox: 0.4220, d4.loss_cls: 0.2070, d4.loss_bbox: 0.4200, d5.loss_cls: 0.2086, d5.loss_bbox: 0.4167, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8738, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7208, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6944, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6798, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6771, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6768, d0.loss_map_cls_all: 0.2423, d0.loss_map_pts_all: 1.5833, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2423, d0.loss_map_pts: 1.5833, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2120, d1.loss_map_pts: 1.0741, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.1956, d2.loss_map_pts: 0.8882, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1866, d3.loss_map_pts: 0.8183, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1827, d4.loss_map_pts: 0.7986, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1793, d5.loss_map_pts: 0.7930, d5.loss_map_dir: 0.0116, loss: 31.6981, grad_norm: 159.1336 +2026-02-26 02:07:07,232 - DriveTransformer - INFO - Epoch [6][15850/39528] lr: 8.977e-05, eta: 6 days, 20:41:40, time: 0.764, data_time: 0.040, memory: 19865, loss_cls: 0.1672, loss_bbox: 0.3823, loss_traj: 0.6852, loss_traj_cls: 0.0010, loss_map_cls: 0.1441, loss_map_pts: 0.6268, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.4856, d0.loss_plan_l1_fix_dist: 0.4836, d1.loss_plan_l1_fix_time: 1.0860, d1.loss_plan_l1_fix_dist: 0.2340, d2.loss_plan_l1_fix_time: 1.0648, d2.loss_plan_l1_fix_dist: 0.2546, d3.loss_plan_l1_fix_time: 1.0653, d3.loss_plan_l1_fix_dist: 0.2798, d4.loss_plan_l1_fix_time: 1.0677, d4.loss_plan_l1_fix_dist: 0.3067, d5.loss_plan_l1_fix_time: 1.0706, d5.loss_plan_l1_fix_dist: 0.3356, d6.loss_plan_l1_fix_time: 1.0741, d6.loss_plan_l1_fix_dist: 0.3664, d0.loss_cls_all: 0.2002, d0.loss_bbox_all: 0.4338, d0.loss_cls: 0.2002, d0.loss_bbox: 0.4338, d1.loss_cls: 0.1924, d1.loss_bbox: 0.4046, d2.loss_cls: 0.1800, d2.loss_bbox: 0.3848, d3.loss_cls: 0.1706, d3.loss_bbox: 0.3798, d4.loss_cls: 0.1670, d4.loss_bbox: 0.3818, d5.loss_cls: 0.1670, d5.loss_bbox: 0.3807, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8850, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7321, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6918, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6824, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6840, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6815, d0.loss_map_cls_all: 0.2067, d0.loss_map_pts_all: 1.2781, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2067, d0.loss_map_pts: 1.2781, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1794, d1.loss_map_pts: 0.8610, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1642, d2.loss_map_pts: 0.7244, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1559, d3.loss_map_pts: 0.6559, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1504, d4.loss_map_pts: 0.6356, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1469, d5.loss_map_pts: 0.6309, d5.loss_map_dir: 0.0076, loss: 28.9550, grad_norm: 158.4031 +2026-02-26 02:07:46,295 - DriveTransformer - INFO - Epoch [6][15900/39528] lr: 8.977e-05, eta: 6 days, 20:40:56, time: 0.781, data_time: 0.040, memory: 19865, loss_cls: 0.1897, loss_bbox: 0.3990, loss_traj: 0.7370, loss_traj_cls: 0.0010, loss_map_cls: 0.1705, loss_map_pts: 0.7571, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.4574, d0.loss_plan_l1_fix_dist: 0.3883, d1.loss_plan_l1_fix_time: 1.1862, d1.loss_plan_l1_fix_dist: 0.1934, d2.loss_plan_l1_fix_time: 1.1587, d2.loss_plan_l1_fix_dist: 0.2194, d3.loss_plan_l1_fix_time: 1.1583, d3.loss_plan_l1_fix_dist: 0.2546, d4.loss_plan_l1_fix_time: 1.1631, d4.loss_plan_l1_fix_dist: 0.2899, d5.loss_plan_l1_fix_time: 1.1687, d5.loss_plan_l1_fix_dist: 0.3249, d6.loss_plan_l1_fix_time: 1.1752, d6.loss_plan_l1_fix_dist: 0.3653, d0.loss_cls_all: 0.2242, d0.loss_bbox_all: 0.4488, d0.loss_cls: 0.2242, d0.loss_bbox: 0.4488, d1.loss_cls: 0.2126, d1.loss_bbox: 0.4165, d2.loss_cls: 0.1987, d2.loss_bbox: 0.4020, d3.loss_cls: 0.1905, d3.loss_bbox: 0.3973, d4.loss_cls: 0.1892, d4.loss_bbox: 0.3958, d5.loss_cls: 0.1891, d5.loss_bbox: 0.3964, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9453, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7777, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7399, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7355, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7316, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7362, d0.loss_map_cls_all: 0.2426, d0.loss_map_pts_all: 1.4478, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2426, d0.loss_map_pts: 1.4478, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2184, d1.loss_map_pts: 1.0260, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1950, d2.loss_map_pts: 0.8623, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1840, d3.loss_map_pts: 0.7937, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1765, d4.loss_map_pts: 0.7642, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1721, d5.loss_map_pts: 0.7580, d5.loss_map_dir: 0.0092, loss: 31.3667, grad_norm: 158.7267 +2026-02-26 02:08:24,782 - DriveTransformer - INFO - Epoch [6][15950/39528] lr: 8.977e-05, eta: 6 days, 20:40:09, time: 0.770, data_time: 0.044, memory: 19865, loss_cls: 0.1824, loss_bbox: 0.3980, loss_traj: 0.7751, loss_traj_cls: 0.0010, loss_map_cls: 0.1942, loss_map_pts: 0.7799, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.3365, d0.loss_plan_l1_fix_dist: 0.4313, d1.loss_plan_l1_fix_time: 1.1702, d1.loss_plan_l1_fix_dist: 0.1956, d2.loss_plan_l1_fix_time: 1.1508, d2.loss_plan_l1_fix_dist: 0.2092, d3.loss_plan_l1_fix_time: 1.1506, d3.loss_plan_l1_fix_dist: 0.2321, d4.loss_plan_l1_fix_time: 1.1555, d4.loss_plan_l1_fix_dist: 0.2571, d5.loss_plan_l1_fix_time: 1.1616, d5.loss_plan_l1_fix_dist: 0.2830, d6.loss_plan_l1_fix_time: 1.1684, d6.loss_plan_l1_fix_dist: 0.3101, d0.loss_cls_all: 0.2260, d0.loss_bbox_all: 0.4490, d0.loss_cls: 0.2260, d0.loss_bbox: 0.4490, d1.loss_cls: 0.2221, d1.loss_bbox: 0.4174, d2.loss_cls: 0.2054, d2.loss_bbox: 0.4037, d3.loss_cls: 0.1896, d3.loss_bbox: 0.3988, d4.loss_cls: 0.1849, d4.loss_bbox: 0.3962, d5.loss_cls: 0.1835, d5.loss_bbox: 0.3966, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0696, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8575, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7971, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7864, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7755, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7769, d0.loss_map_cls_all: 0.2658, d0.loss_map_pts_all: 1.5356, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2658, d0.loss_map_pts: 1.5356, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2384, d1.loss_map_pts: 1.0961, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.2229, d2.loss_map_pts: 0.9106, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.2087, d3.loss_map_pts: 0.8249, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1991, d4.loss_map_pts: 0.7926, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1948, d5.loss_map_pts: 0.7809, d5.loss_map_dir: 0.0095, loss: 32.1050, grad_norm: 157.5699 +2026-02-26 02:09:06,689 - DriveTransformer - INFO - Epoch [6][16000/39528] lr: 8.977e-05, eta: 6 days, 20:39:34, time: 0.838, data_time: 0.043, memory: 19865, loss_cls: 0.1829, loss_bbox: 0.4070, loss_traj: 0.5981, loss_traj_cls: 0.0010, loss_map_cls: 0.1651, loss_map_pts: 0.6944, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.7533, d0.loss_plan_l1_fix_dist: 0.4703, d1.loss_plan_l1_fix_time: 1.2986, d1.loss_plan_l1_fix_dist: 0.2451, d2.loss_plan_l1_fix_time: 1.2925, d2.loss_plan_l1_fix_dist: 0.2718, d3.loss_plan_l1_fix_time: 1.2935, d3.loss_plan_l1_fix_dist: 0.3114, d4.loss_plan_l1_fix_time: 1.2976, d4.loss_plan_l1_fix_dist: 0.3572, d5.loss_plan_l1_fix_time: 1.3021, d5.loss_plan_l1_fix_dist: 0.4019, d6.loss_plan_l1_fix_time: 1.3067, d6.loss_plan_l1_fix_dist: 0.4376, d0.loss_cls_all: 0.2230, d0.loss_bbox_all: 0.4665, d0.loss_cls: 0.2230, d0.loss_bbox: 0.4665, d1.loss_cls: 0.2163, d1.loss_bbox: 0.4318, d2.loss_cls: 0.2026, d2.loss_bbox: 0.4163, d3.loss_cls: 0.1911, d3.loss_bbox: 0.4088, d4.loss_cls: 0.1840, d4.loss_bbox: 0.4095, d5.loss_cls: 0.1839, d5.loss_bbox: 0.4069, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7786, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6243, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6045, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6039, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6030, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5995, d0.loss_map_cls_all: 0.2367, d0.loss_map_pts_all: 1.4711, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2367, d0.loss_map_pts: 1.4711, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2094, d1.loss_map_pts: 0.9692, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.1891, d2.loss_map_pts: 0.7907, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1756, d3.loss_map_pts: 0.7198, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1687, d4.loss_map_pts: 0.6998, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1661, d5.loss_map_pts: 0.6935, d5.loss_map_dir: 0.0112, loss: 31.6252, grad_norm: 159.4494 +2026-02-26 02:09:46,930 - DriveTransformer - INFO - Epoch [6][16050/39528] lr: 8.977e-05, eta: 6 days, 20:38:54, time: 0.805, data_time: 0.043, memory: 19865, loss_cls: 0.1913, loss_bbox: 0.4033, loss_traj: 0.7368, loss_traj_cls: 0.0010, loss_map_cls: 0.2037, loss_map_pts: 0.8104, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.8393, d0.loss_plan_l1_fix_dist: 0.3648, d1.loss_plan_l1_fix_time: 1.1734, d1.loss_plan_l1_fix_dist: 0.2162, d2.loss_plan_l1_fix_time: 1.1589, d2.loss_plan_l1_fix_dist: 0.2467, d3.loss_plan_l1_fix_time: 1.1608, d3.loss_plan_l1_fix_dist: 0.2836, d4.loss_plan_l1_fix_time: 1.1658, d4.loss_plan_l1_fix_dist: 0.3244, d5.loss_plan_l1_fix_time: 1.1705, d5.loss_plan_l1_fix_dist: 0.3644, d6.loss_plan_l1_fix_time: 1.1754, d6.loss_plan_l1_fix_dist: 0.3987, d0.loss_cls_all: 0.2331, d0.loss_bbox_all: 0.4609, d0.loss_cls: 0.2331, d0.loss_bbox: 0.4609, d1.loss_cls: 0.2227, d1.loss_bbox: 0.4249, d2.loss_cls: 0.2067, d2.loss_bbox: 0.4090, d3.loss_cls: 0.1982, d3.loss_bbox: 0.4016, d4.loss_cls: 0.1937, d4.loss_bbox: 0.4012, d5.loss_cls: 0.1907, d5.loss_bbox: 0.4019, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0091, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8270, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7574, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7393, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7342, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7312, d0.loss_map_cls_all: 0.2630, d0.loss_map_pts_all: 1.6112, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2630, d0.loss_map_pts: 1.6112, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2438, d1.loss_map_pts: 1.1083, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2311, d2.loss_map_pts: 0.9340, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.2154, d3.loss_map_pts: 0.8533, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.2095, d4.loss_map_pts: 0.8190, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.2052, d5.loss_map_pts: 0.8118, d5.loss_map_dir: 0.0111, loss: 33.0965, grad_norm: 160.8893 +2026-02-26 02:10:27,906 - DriveTransformer - INFO - Epoch [6][16100/39528] lr: 8.977e-05, eta: 6 days, 20:38:16, time: 0.819, data_time: 0.047, memory: 19865, loss_cls: 0.1910, loss_bbox: 0.3954, loss_traj: 0.6963, loss_traj_cls: 0.0010, loss_map_cls: 0.1899, loss_map_pts: 0.7709, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.5150, d0.loss_plan_l1_fix_dist: 0.4260, d1.loss_plan_l1_fix_time: 1.2153, d1.loss_plan_l1_fix_dist: 0.2190, d2.loss_plan_l1_fix_time: 1.2093, d2.loss_plan_l1_fix_dist: 0.2328, d3.loss_plan_l1_fix_time: 1.2150, d3.loss_plan_l1_fix_dist: 0.2486, d4.loss_plan_l1_fix_time: 1.2203, d4.loss_plan_l1_fix_dist: 0.2639, d5.loss_plan_l1_fix_time: 1.2248, d5.loss_plan_l1_fix_dist: 0.2809, d6.loss_plan_l1_fix_time: 1.2295, d6.loss_plan_l1_fix_dist: 0.3042, d0.loss_cls_all: 0.2283, d0.loss_bbox_all: 0.4525, d0.loss_cls: 0.2283, d0.loss_bbox: 0.4525, d1.loss_cls: 0.2148, d1.loss_bbox: 0.4153, d2.loss_cls: 0.2022, d2.loss_bbox: 0.3986, d3.loss_cls: 0.1935, d3.loss_bbox: 0.3921, d4.loss_cls: 0.1905, d4.loss_bbox: 0.3925, d5.loss_cls: 0.1905, d5.loss_bbox: 0.3932, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9408, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7695, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7371, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7054, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6974, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6960, d0.loss_map_cls_all: 0.2658, d0.loss_map_pts_all: 1.4896, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2658, d0.loss_map_pts: 1.4896, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2388, d1.loss_map_pts: 1.0203, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.2190, d2.loss_map_pts: 0.8681, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.2031, d3.loss_map_pts: 0.8021, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1949, d4.loss_map_pts: 0.7760, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1900, d5.loss_map_pts: 0.7742, d5.loss_map_dir: 0.0098, loss: 31.8203, grad_norm: 160.7313 +2026-02-26 02:11:08,103 - DriveTransformer - INFO - Epoch [6][16150/39528] lr: 8.977e-05, eta: 6 days, 20:37:35, time: 0.804, data_time: 0.043, memory: 19865, loss_cls: 0.1850, loss_bbox: 0.3786, loss_traj: 0.5998, loss_traj_cls: 0.0009, loss_map_cls: 0.1951, loss_map_pts: 0.8035, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.4471, d0.loss_plan_l1_fix_dist: 0.3600, d1.loss_plan_l1_fix_time: 0.9922, d1.loss_plan_l1_fix_dist: 0.1948, d2.loss_plan_l1_fix_time: 0.9863, d2.loss_plan_l1_fix_dist: 0.2147, d3.loss_plan_l1_fix_time: 0.9929, d3.loss_plan_l1_fix_dist: 0.2437, d4.loss_plan_l1_fix_time: 0.9990, d4.loss_plan_l1_fix_dist: 0.2745, d5.loss_plan_l1_fix_time: 1.0050, d5.loss_plan_l1_fix_dist: 0.3044, d6.loss_plan_l1_fix_time: 1.0113, d6.loss_plan_l1_fix_dist: 0.3407, d0.loss_cls_all: 0.2246, d0.loss_bbox_all: 0.4383, d0.loss_cls: 0.2246, d0.loss_bbox: 0.4383, d1.loss_cls: 0.2164, d1.loss_bbox: 0.4025, d2.loss_cls: 0.2033, d2.loss_bbox: 0.3854, d3.loss_cls: 0.1900, d3.loss_bbox: 0.3791, d4.loss_cls: 0.1860, d4.loss_bbox: 0.3768, d5.loss_cls: 0.1855, d5.loss_bbox: 0.3761, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8818, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6893, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6385, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6102, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6053, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5983, d0.loss_map_cls_all: 0.2678, d0.loss_map_pts_all: 1.6250, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2678, d0.loss_map_pts: 1.6250, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2339, d1.loss_map_pts: 1.0733, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2162, d2.loss_map_pts: 0.9047, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2075, d3.loss_map_pts: 0.8434, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.2016, d4.loss_map_pts: 0.8124, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1981, d5.loss_map_pts: 0.8044, d5.loss_map_dir: 0.0109, loss: 30.1532, grad_norm: 160.2516 +2026-02-26 02:11:49,806 - DriveTransformer - INFO - Epoch [6][16200/39528] lr: 8.977e-05, eta: 6 days, 20:36:59, time: 0.834, data_time: 0.044, memory: 19865, loss_cls: 0.1893, loss_bbox: 0.3832, loss_traj: 0.5754, loss_traj_cls: 0.0009, loss_map_cls: 0.1815, loss_map_pts: 0.7222, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.2931, d0.loss_plan_l1_fix_dist: 0.3801, d1.loss_plan_l1_fix_time: 1.1478, d1.loss_plan_l1_fix_dist: 0.1902, d2.loss_plan_l1_fix_time: 1.1505, d2.loss_plan_l1_fix_dist: 0.1966, d3.loss_plan_l1_fix_time: 1.1576, d3.loss_plan_l1_fix_dist: 0.2159, d4.loss_plan_l1_fix_time: 1.1632, d4.loss_plan_l1_fix_dist: 0.2412, d5.loss_plan_l1_fix_time: 1.1689, d5.loss_plan_l1_fix_dist: 0.2680, d6.loss_plan_l1_fix_time: 1.1749, d6.loss_plan_l1_fix_dist: 0.2942, d0.loss_cls_all: 0.2126, d0.loss_bbox_all: 0.4395, d0.loss_cls: 0.2126, d0.loss_bbox: 0.4395, d1.loss_cls: 0.2087, d1.loss_bbox: 0.4062, d2.loss_cls: 0.1990, d2.loss_bbox: 0.3914, d3.loss_cls: 0.1936, d3.loss_bbox: 0.3861, d4.loss_cls: 0.1879, d4.loss_bbox: 0.3838, d5.loss_cls: 0.1881, d5.loss_bbox: 0.3824, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7468, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6382, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5997, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5849, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5816, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5788, d0.loss_map_cls_all: 0.2427, d0.loss_map_pts_all: 1.5067, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2427, d0.loss_map_pts: 1.5067, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2138, d1.loss_map_pts: 1.0003, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1985, d2.loss_map_pts: 0.8195, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1900, d3.loss_map_pts: 0.7554, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1859, d4.loss_map_pts: 0.7312, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1820, d5.loss_map_pts: 0.7246, d5.loss_map_dir: 0.0102, loss: 29.6405, grad_norm: 161.0660 +2026-02-26 02:12:29,817 - DriveTransformer - INFO - Epoch [6][16250/39528] lr: 8.977e-05, eta: 6 days, 20:36:18, time: 0.800, data_time: 0.040, memory: 19865, loss_cls: 0.1997, loss_bbox: 0.4134, loss_traj: 0.6821, loss_traj_cls: 0.0009, loss_map_cls: 0.2103, loss_map_pts: 0.9220, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.5742, d0.loss_plan_l1_fix_dist: 0.3394, d1.loss_plan_l1_fix_time: 1.2356, d1.loss_plan_l1_fix_dist: 0.1817, d2.loss_plan_l1_fix_time: 1.2320, d2.loss_plan_l1_fix_dist: 0.1964, d3.loss_plan_l1_fix_time: 1.2321, d3.loss_plan_l1_fix_dist: 0.2145, d4.loss_plan_l1_fix_time: 1.2361, d4.loss_plan_l1_fix_dist: 0.2363, d5.loss_plan_l1_fix_time: 1.2407, d5.loss_plan_l1_fix_dist: 0.2593, d6.loss_plan_l1_fix_time: 1.2456, d6.loss_plan_l1_fix_dist: 0.2823, d0.loss_cls_all: 0.2301, d0.loss_bbox_all: 0.4746, d0.loss_cls: 0.2301, d0.loss_bbox: 0.4746, d1.loss_cls: 0.2234, d1.loss_bbox: 0.4397, d2.loss_cls: 0.2195, d2.loss_bbox: 0.4178, d3.loss_cls: 0.2084, d3.loss_bbox: 0.4128, d4.loss_cls: 0.2048, d4.loss_bbox: 0.4100, d5.loss_cls: 0.2013, d5.loss_bbox: 0.4114, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9543, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7519, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7044, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6889, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6849, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6824, d0.loss_map_cls_all: 0.2692, d0.loss_map_pts_all: 1.7116, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2692, d0.loss_map_pts: 1.7116, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2483, d1.loss_map_pts: 1.2457, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.2330, d2.loss_map_pts: 1.0433, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.2241, d3.loss_map_pts: 0.9668, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.2166, d4.loss_map_pts: 0.9336, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.2115, d5.loss_map_pts: 0.9263, d5.loss_map_dir: 0.0105, loss: 33.4561, grad_norm: 159.6421 +2026-02-26 02:13:11,124 - DriveTransformer - INFO - Epoch [6][16300/39528] lr: 8.977e-05, eta: 6 days, 20:35:41, time: 0.826, data_time: 0.051, memory: 19865, loss_cls: 0.1757, loss_bbox: 0.3660, loss_traj: 0.6026, loss_traj_cls: 0.0010, loss_map_cls: 0.1651, loss_map_pts: 0.7918, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.3006, d0.loss_plan_l1_fix_dist: 0.4144, d1.loss_plan_l1_fix_time: 1.0943, d1.loss_plan_l1_fix_dist: 0.1958, d2.loss_plan_l1_fix_time: 1.0806, d2.loss_plan_l1_fix_dist: 0.2053, d3.loss_plan_l1_fix_time: 1.0800, d3.loss_plan_l1_fix_dist: 0.2197, d4.loss_plan_l1_fix_time: 1.0842, d4.loss_plan_l1_fix_dist: 0.2348, d5.loss_plan_l1_fix_time: 1.0897, d5.loss_plan_l1_fix_dist: 0.2524, d6.loss_plan_l1_fix_time: 1.0966, d6.loss_plan_l1_fix_dist: 0.2727, d0.loss_cls_all: 0.2102, d0.loss_bbox_all: 0.4243, d0.loss_cls: 0.2102, d0.loss_bbox: 0.4243, d1.loss_cls: 0.2048, d1.loss_bbox: 0.3905, d2.loss_cls: 0.1909, d2.loss_bbox: 0.3719, d3.loss_cls: 0.1831, d3.loss_bbox: 0.3656, d4.loss_cls: 0.1802, d4.loss_bbox: 0.3636, d5.loss_cls: 0.1774, d5.loss_bbox: 0.3650, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8042, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6599, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6170, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6088, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6033, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6020, d0.loss_map_cls_all: 0.2314, d0.loss_map_pts_all: 1.5921, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2314, d0.loss_map_pts: 1.5921, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2015, d1.loss_map_pts: 1.0686, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.1832, d2.loss_map_pts: 0.8995, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.1752, d3.loss_map_pts: 0.8305, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.1698, d4.loss_map_pts: 0.8030, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.1658, d5.loss_map_pts: 0.7943, d5.loss_map_dir: 0.0119, loss: 29.7172, grad_norm: 156.6862 +2026-02-26 02:13:51,343 - DriveTransformer - INFO - Epoch [6][16350/39528] lr: 8.977e-05, eta: 6 days, 20:35:00, time: 0.804, data_time: 0.045, memory: 19865, loss_cls: 0.1761, loss_bbox: 0.3702, loss_traj: 0.5873, loss_traj_cls: 0.0010, loss_map_cls: 0.1539, loss_map_pts: 0.6816, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.3830, d0.loss_plan_l1_fix_dist: 0.4920, d1.loss_plan_l1_fix_time: 1.0366, d1.loss_plan_l1_fix_dist: 0.2202, d2.loss_plan_l1_fix_time: 1.0253, d2.loss_plan_l1_fix_dist: 0.2258, d3.loss_plan_l1_fix_time: 1.0244, d3.loss_plan_l1_fix_dist: 0.2387, d4.loss_plan_l1_fix_time: 1.0282, d4.loss_plan_l1_fix_dist: 0.2536, d5.loss_plan_l1_fix_time: 1.0324, d5.loss_plan_l1_fix_dist: 0.2711, d6.loss_plan_l1_fix_time: 1.0377, d6.loss_plan_l1_fix_dist: 0.2888, d0.loss_cls_all: 0.2113, d0.loss_bbox_all: 0.4390, d0.loss_cls: 0.2113, d0.loss_bbox: 0.4390, d1.loss_cls: 0.2060, d1.loss_bbox: 0.4014, d2.loss_cls: 0.1922, d2.loss_bbox: 0.3800, d3.loss_cls: 0.1831, d3.loss_bbox: 0.3711, d4.loss_cls: 0.1764, d4.loss_bbox: 0.3701, d5.loss_cls: 0.1758, d5.loss_bbox: 0.3686, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7745, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6385, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5947, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5817, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5868, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5839, d0.loss_map_cls_all: 0.2287, d0.loss_map_pts_all: 1.4148, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2287, d0.loss_map_pts: 1.4148, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1943, d1.loss_map_pts: 0.9467, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1778, d2.loss_map_pts: 0.7939, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1663, d3.loss_map_pts: 0.7224, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1599, d4.loss_map_pts: 0.6905, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1548, d5.loss_map_pts: 0.6825, d5.loss_map_dir: 0.0098, loss: 28.4716, grad_norm: 155.5591 +2026-02-26 02:14:30,273 - DriveTransformer - INFO - Epoch [6][16400/39528] lr: 8.977e-05, eta: 6 days, 20:34:15, time: 0.779, data_time: 0.047, memory: 19865, loss_cls: 0.1903, loss_bbox: 0.3783, loss_traj: 0.5881, loss_traj_cls: 0.0010, loss_map_cls: 0.1802, loss_map_pts: 0.7505, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.3154, d0.loss_plan_l1_fix_dist: 0.3694, d1.loss_plan_l1_fix_time: 1.0342, d1.loss_plan_l1_fix_dist: 0.1811, d2.loss_plan_l1_fix_time: 1.0233, d2.loss_plan_l1_fix_dist: 0.1909, d3.loss_plan_l1_fix_time: 1.0264, d3.loss_plan_l1_fix_dist: 0.2075, d4.loss_plan_l1_fix_time: 1.0301, d4.loss_plan_l1_fix_dist: 0.2269, d5.loss_plan_l1_fix_time: 1.0339, d5.loss_plan_l1_fix_dist: 0.2474, d6.loss_plan_l1_fix_time: 1.0388, d6.loss_plan_l1_fix_dist: 0.2701, d0.loss_cls_all: 0.2258, d0.loss_bbox_all: 0.4286, d0.loss_cls: 0.2258, d0.loss_bbox: 0.4286, d1.loss_cls: 0.2165, d1.loss_bbox: 0.4009, d2.loss_cls: 0.2038, d2.loss_bbox: 0.3859, d3.loss_cls: 0.1959, d3.loss_bbox: 0.3800, d4.loss_cls: 0.1903, d4.loss_bbox: 0.3782, d5.loss_cls: 0.1900, d5.loss_bbox: 0.3768, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7675, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6478, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6057, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5956, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5921, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5903, d0.loss_map_cls_all: 0.2479, d0.loss_map_pts_all: 1.4671, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2479, d0.loss_map_pts: 1.4671, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2217, d1.loss_map_pts: 1.0199, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1995, d2.loss_map_pts: 0.8575, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1888, d3.loss_map_pts: 0.7940, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1843, d4.loss_map_pts: 0.7613, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1802, d5.loss_map_pts: 0.7538, d5.loss_map_dir: 0.0103, loss: 28.9874, grad_norm: 150.7799 +2026-02-26 02:15:09,251 - DriveTransformer - INFO - Epoch [6][16450/39528] lr: 8.977e-05, eta: 6 days, 20:33:30, time: 0.780, data_time: 0.042, memory: 19865, loss_cls: 0.1591, loss_bbox: 0.3703, loss_traj: 0.6612, loss_traj_cls: 0.0009, loss_map_cls: 0.1633, loss_map_pts: 0.6840, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.3128, d0.loss_plan_l1_fix_dist: 0.3342, d1.loss_plan_l1_fix_time: 1.0683, d1.loss_plan_l1_fix_dist: 0.1924, d2.loss_plan_l1_fix_time: 1.0550, d2.loss_plan_l1_fix_dist: 0.2014, d3.loss_plan_l1_fix_time: 1.0575, d3.loss_plan_l1_fix_dist: 0.2132, d4.loss_plan_l1_fix_time: 1.0611, d4.loss_plan_l1_fix_dist: 0.2271, d5.loss_plan_l1_fix_time: 1.0650, d5.loss_plan_l1_fix_dist: 0.2424, d6.loss_plan_l1_fix_time: 1.0691, d6.loss_plan_l1_fix_dist: 0.2608, d0.loss_cls_all: 0.1895, d0.loss_bbox_all: 0.4234, d0.loss_cls: 0.1895, d0.loss_bbox: 0.4234, d1.loss_cls: 0.1819, d1.loss_bbox: 0.3951, d2.loss_cls: 0.1722, d2.loss_bbox: 0.3762, d3.loss_cls: 0.1642, d3.loss_bbox: 0.3686, d4.loss_cls: 0.1600, d4.loss_bbox: 0.3676, d5.loss_cls: 0.1593, d5.loss_bbox: 0.3675, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8677, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7175, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6823, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6687, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6604, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6583, d0.loss_map_cls_all: 0.2342, d0.loss_map_pts_all: 1.4698, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2342, d0.loss_map_pts: 1.4698, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2043, d1.loss_map_pts: 0.9717, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1840, d2.loss_map_pts: 0.7926, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1730, d3.loss_map_pts: 0.7240, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1672, d4.loss_map_pts: 0.6977, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1646, d5.loss_map_pts: 0.6884, d5.loss_map_dir: 0.0093, loss: 28.8479, grad_norm: 151.1375 +2026-02-26 02:15:49,117 - DriveTransformer - INFO - Epoch [6][16500/39528] lr: 8.977e-05, eta: 6 days, 20:32:48, time: 0.797, data_time: 0.043, memory: 19865, loss_cls: 0.2099, loss_bbox: 0.4070, loss_traj: 0.8751, loss_traj_cls: 0.0009, loss_map_cls: 0.1717, loss_map_pts: 0.7162, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 3.0325, d0.loss_plan_l1_fix_dist: 0.4778, d1.loss_plan_l1_fix_time: 1.3638, d1.loss_plan_l1_fix_dist: 0.2321, d2.loss_plan_l1_fix_time: 1.3511, d2.loss_plan_l1_fix_dist: 0.2407, d3.loss_plan_l1_fix_time: 1.3531, d3.loss_plan_l1_fix_dist: 0.2566, d4.loss_plan_l1_fix_time: 1.3569, d4.loss_plan_l1_fix_dist: 0.2750, d5.loss_plan_l1_fix_time: 1.3612, d5.loss_plan_l1_fix_dist: 0.2954, d6.loss_plan_l1_fix_time: 1.3661, d6.loss_plan_l1_fix_dist: 0.3158, d0.loss_cls_all: 0.2405, d0.loss_bbox_all: 0.4672, d0.loss_cls: 0.2405, d0.loss_bbox: 0.4672, d1.loss_cls: 0.2339, d1.loss_bbox: 0.4336, d2.loss_cls: 0.2223, d2.loss_bbox: 0.4174, d3.loss_cls: 0.2173, d3.loss_bbox: 0.4062, d4.loss_cls: 0.2134, d4.loss_bbox: 0.4039, d5.loss_cls: 0.2105, d5.loss_bbox: 0.4045, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1135, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.9412, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8859, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8742, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8695, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8712, d0.loss_map_cls_all: 0.2313, d0.loss_map_pts_all: 1.3297, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2313, d0.loss_map_pts: 1.3297, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2076, d1.loss_map_pts: 0.9712, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1911, d2.loss_map_pts: 0.8086, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1826, d3.loss_map_pts: 0.7528, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1756, d4.loss_map_pts: 0.7322, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1723, d5.loss_map_pts: 0.7206, d5.loss_map_dir: 0.0095, loss: 33.9090, grad_norm: 148.7057 +2026-02-26 02:16:26,918 - DriveTransformer - INFO - Epoch [6][16550/39528] lr: 8.977e-05, eta: 6 days, 20:31:59, time: 0.756, data_time: 0.044, memory: 19865, loss_cls: 0.2007, loss_bbox: 0.3923, loss_traj: 0.6926, loss_traj_cls: 0.0009, loss_map_cls: 0.1615, loss_map_pts: 0.6611, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 3.0234, d0.loss_plan_l1_fix_dist: 0.3587, d1.loss_plan_l1_fix_time: 1.3128, d1.loss_plan_l1_fix_dist: 0.1893, d2.loss_plan_l1_fix_time: 1.2893, d2.loss_plan_l1_fix_dist: 0.1994, d3.loss_plan_l1_fix_time: 1.2890, d3.loss_plan_l1_fix_dist: 0.2218, d4.loss_plan_l1_fix_time: 1.2927, d4.loss_plan_l1_fix_dist: 0.2466, d5.loss_plan_l1_fix_time: 1.2977, d5.loss_plan_l1_fix_dist: 0.2711, d6.loss_plan_l1_fix_time: 1.3029, d6.loss_plan_l1_fix_dist: 0.2953, d0.loss_cls_all: 0.2414, d0.loss_bbox_all: 0.4504, d0.loss_cls: 0.2414, d0.loss_bbox: 0.4504, d1.loss_cls: 0.2288, d1.loss_bbox: 0.4190, d2.loss_cls: 0.2160, d2.loss_bbox: 0.4014, d3.loss_cls: 0.2060, d3.loss_bbox: 0.3967, d4.loss_cls: 0.2021, d4.loss_bbox: 0.3933, d5.loss_cls: 0.2012, d5.loss_bbox: 0.3910, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8866, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7420, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7025, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6948, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6888, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6921, d0.loss_map_cls_all: 0.2381, d0.loss_map_pts_all: 1.2951, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2381, d0.loss_map_pts: 1.2951, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2102, d1.loss_map_pts: 0.8850, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1882, d2.loss_map_pts: 0.7464, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1737, d3.loss_map_pts: 0.6896, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1666, d4.loss_map_pts: 0.6707, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1618, d5.loss_map_pts: 0.6656, d5.loss_map_dir: 0.0092, loss: 31.2478, grad_norm: 150.9581 +2026-02-26 02:17:04,956 - DriveTransformer - INFO - Epoch [6][16600/39528] lr: 8.977e-05, eta: 6 days, 20:31:11, time: 0.762, data_time: 0.041, memory: 19865, loss_cls: 0.1771, loss_bbox: 0.3654, loss_traj: 0.7327, loss_traj_cls: 0.0009, loss_map_cls: 0.1657, loss_map_pts: 0.7140, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.5667, d0.loss_plan_l1_fix_dist: 0.4236, d1.loss_plan_l1_fix_time: 1.2412, d1.loss_plan_l1_fix_dist: 0.1967, d2.loss_plan_l1_fix_time: 1.2409, d2.loss_plan_l1_fix_dist: 0.2044, d3.loss_plan_l1_fix_time: 1.2391, d3.loss_plan_l1_fix_dist: 0.2164, d4.loss_plan_l1_fix_time: 1.2423, d4.loss_plan_l1_fix_dist: 0.2316, d5.loss_plan_l1_fix_time: 1.2468, d5.loss_plan_l1_fix_dist: 0.2502, d6.loss_plan_l1_fix_time: 1.2518, d6.loss_plan_l1_fix_dist: 0.2713, d0.loss_cls_all: 0.2158, d0.loss_bbox_all: 0.4240, d0.loss_cls: 0.2158, d0.loss_bbox: 0.4240, d1.loss_cls: 0.2055, d1.loss_bbox: 0.3926, d2.loss_cls: 0.1934, d2.loss_bbox: 0.3749, d3.loss_cls: 0.1828, d3.loss_bbox: 0.3679, d4.loss_cls: 0.1806, d4.loss_bbox: 0.3651, d5.loss_cls: 0.1782, d5.loss_bbox: 0.3649, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9433, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7871, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7336, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7288, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7348, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7393, d0.loss_map_cls_all: 0.2355, d0.loss_map_pts_all: 1.3111, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2355, d0.loss_map_pts: 1.3111, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.2109, d1.loss_map_pts: 0.9557, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1923, d2.loss_map_pts: 0.8168, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1803, d3.loss_map_pts: 0.7500, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1723, d4.loss_map_pts: 0.7261, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1683, d5.loss_map_pts: 0.7190, d5.loss_map_dir: 0.0081, loss: 30.7856, grad_norm: 150.7689 +2026-02-26 02:17:43,194 - DriveTransformer - INFO - Epoch [6][16650/39528] lr: 8.977e-05, eta: 6 days, 20:30:24, time: 0.763, data_time: 0.041, memory: 19865, loss_cls: 0.1650, loss_bbox: 0.3562, loss_traj: 0.7223, loss_traj_cls: 0.0010, loss_map_cls: 0.1549, loss_map_pts: 0.6536, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.7872, d0.loss_plan_l1_fix_dist: 0.4326, d1.loss_plan_l1_fix_time: 1.1457, d1.loss_plan_l1_fix_dist: 0.2114, d2.loss_plan_l1_fix_time: 1.1344, d2.loss_plan_l1_fix_dist: 0.2268, d3.loss_plan_l1_fix_time: 1.1366, d3.loss_plan_l1_fix_dist: 0.2477, d4.loss_plan_l1_fix_time: 1.1406, d4.loss_plan_l1_fix_dist: 0.2724, d5.loss_plan_l1_fix_time: 1.1448, d5.loss_plan_l1_fix_dist: 0.2983, d6.loss_plan_l1_fix_time: 1.1500, d6.loss_plan_l1_fix_dist: 0.3281, d0.loss_cls_all: 0.1957, d0.loss_bbox_all: 0.4182, d0.loss_cls: 0.1957, d0.loss_bbox: 0.4182, d1.loss_cls: 0.1861, d1.loss_bbox: 0.3877, d2.loss_cls: 0.1776, d2.loss_bbox: 0.3696, d3.loss_cls: 0.1686, d3.loss_bbox: 0.3621, d4.loss_cls: 0.1640, d4.loss_bbox: 0.3588, d5.loss_cls: 0.1643, d5.loss_bbox: 0.3571, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9314, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7860, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7444, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7267, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.7224, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7232, d0.loss_map_cls_all: 0.2205, d0.loss_map_pts_all: 1.3264, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2205, d0.loss_map_pts: 1.3264, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1893, d1.loss_map_pts: 0.9378, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1743, d2.loss_map_pts: 0.7695, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1659, d3.loss_map_pts: 0.6955, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1612, d4.loss_map_pts: 0.6672, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1565, d5.loss_map_pts: 0.6558, d5.loss_map_dir: 0.0080, loss: 30.0007, grad_norm: 149.3463 +2026-02-26 02:18:23,843 - DriveTransformer - INFO - Epoch [6][16700/39528] lr: 8.977e-05, eta: 6 days, 20:29:44, time: 0.813, data_time: 0.049, memory: 19865, loss_cls: 0.1702, loss_bbox: 0.3558, loss_traj: 0.7867, loss_traj_cls: 0.0010, loss_map_cls: 0.1557, loss_map_pts: 0.6829, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.9279, d0.loss_plan_l1_fix_dist: 0.4567, d1.loss_plan_l1_fix_time: 1.4145, d1.loss_plan_l1_fix_dist: 0.2425, d2.loss_plan_l1_fix_time: 1.4033, d2.loss_plan_l1_fix_dist: 0.2493, d3.loss_plan_l1_fix_time: 1.4040, d3.loss_plan_l1_fix_dist: 0.2666, d4.loss_plan_l1_fix_time: 1.4075, d4.loss_plan_l1_fix_dist: 0.2865, d5.loss_plan_l1_fix_time: 1.4112, d5.loss_plan_l1_fix_dist: 0.3080, d6.loss_plan_l1_fix_time: 1.4158, d6.loss_plan_l1_fix_dist: 0.3301, d0.loss_cls_all: 0.2053, d0.loss_bbox_all: 0.4085, d0.loss_cls: 0.2053, d0.loss_bbox: 0.4085, d1.loss_cls: 0.1955, d1.loss_bbox: 0.3819, d2.loss_cls: 0.1830, d2.loss_bbox: 0.3648, d3.loss_cls: 0.1758, d3.loss_bbox: 0.3580, d4.loss_cls: 0.1687, d4.loss_bbox: 0.3594, d5.loss_cls: 0.1687, d5.loss_bbox: 0.3577, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0512, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8345, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7738, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7771, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.7809, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7908, d0.loss_map_cls_all: 0.2280, d0.loss_map_pts_all: 1.3869, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2280, d0.loss_map_pts: 1.3869, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1965, d1.loss_map_pts: 0.9581, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1779, d2.loss_map_pts: 0.7859, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1678, d3.loss_map_pts: 0.7161, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1616, d4.loss_map_pts: 0.6906, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1587, d5.loss_map_pts: 0.6839, d5.loss_map_dir: 0.0090, loss: 32.6270, grad_norm: 149.2912 +2026-02-26 02:19:05,407 - DriveTransformer - INFO - Epoch [6][16750/39528] lr: 8.977e-05, eta: 6 days, 20:29:08, time: 0.831, data_time: 0.043, memory: 19865, loss_cls: 0.1727, loss_bbox: 0.3597, loss_traj: 0.6328, loss_traj_cls: 0.0009, loss_map_cls: 0.1784, loss_map_pts: 0.8073, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.6349, d0.loss_plan_l1_fix_dist: 0.3320, d1.loss_plan_l1_fix_time: 1.3913, d1.loss_plan_l1_fix_dist: 0.1866, d2.loss_plan_l1_fix_time: 1.3687, d2.loss_plan_l1_fix_dist: 0.1962, d3.loss_plan_l1_fix_time: 1.3698, d3.loss_plan_l1_fix_dist: 0.2132, d4.loss_plan_l1_fix_time: 1.3728, d4.loss_plan_l1_fix_dist: 0.2336, d5.loss_plan_l1_fix_time: 1.3758, d5.loss_plan_l1_fix_dist: 0.2566, d6.loss_plan_l1_fix_time: 1.3790, d6.loss_plan_l1_fix_dist: 0.2803, d0.loss_cls_all: 0.2210, d0.loss_bbox_all: 0.4113, d0.loss_cls: 0.2210, d0.loss_bbox: 0.4113, d1.loss_cls: 0.2054, d1.loss_bbox: 0.3844, d2.loss_cls: 0.1872, d2.loss_bbox: 0.3704, d3.loss_cls: 0.1782, d3.loss_bbox: 0.3639, d4.loss_cls: 0.1728, d4.loss_bbox: 0.3609, d5.loss_cls: 0.1725, d5.loss_bbox: 0.3599, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8133, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6878, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6606, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6399, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6306, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6318, d0.loss_map_cls_all: 0.2489, d0.loss_map_pts_all: 1.6275, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2489, d0.loss_map_pts: 1.6275, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2221, d1.loss_map_pts: 1.0904, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2017, d2.loss_map_pts: 0.9062, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.1916, d3.loss_map_pts: 0.8362, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.1838, d4.loss_map_pts: 0.8165, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1793, d5.loss_map_pts: 0.8098, d5.loss_map_dir: 0.0120, loss: 32.1163, grad_norm: 150.5700 +2026-02-26 02:19:47,599 - DriveTransformer - INFO - Epoch [6][16800/39528] lr: 8.977e-05, eta: 6 days, 20:28:34, time: 0.844, data_time: 0.042, memory: 19865, loss_cls: 0.2037, loss_bbox: 0.3921, loss_traj: 0.8036, loss_traj_cls: 0.0009, loss_map_cls: 0.1632, loss_map_pts: 0.8071, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.9724, d0.loss_plan_l1_fix_dist: 0.4033, d1.loss_plan_l1_fix_time: 1.4369, d1.loss_plan_l1_fix_dist: 0.1867, d2.loss_plan_l1_fix_time: 1.4242, d2.loss_plan_l1_fix_dist: 0.1918, d3.loss_plan_l1_fix_time: 1.4246, d3.loss_plan_l1_fix_dist: 0.2042, d4.loss_plan_l1_fix_time: 1.4277, d4.loss_plan_l1_fix_dist: 0.2199, d5.loss_plan_l1_fix_time: 1.4310, d5.loss_plan_l1_fix_dist: 0.2377, d6.loss_plan_l1_fix_time: 1.4343, d6.loss_plan_l1_fix_dist: 0.2586, d0.loss_cls_all: 0.2377, d0.loss_bbox_all: 0.4512, d0.loss_cls: 0.2377, d0.loss_bbox: 0.4512, d1.loss_cls: 0.2306, d1.loss_bbox: 0.4221, d2.loss_cls: 0.2161, d2.loss_bbox: 0.4054, d3.loss_cls: 0.2098, d3.loss_bbox: 0.3957, d4.loss_cls: 0.2029, d4.loss_bbox: 0.3938, d5.loss_cls: 0.2035, d5.loss_bbox: 0.3917, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9980, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8369, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8066, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7911, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7924, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7983, d0.loss_map_cls_all: 0.2277, d0.loss_map_pts_all: 1.5211, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2277, d0.loss_map_pts: 1.5211, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.1962, d1.loss_map_pts: 1.0794, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.1854, d2.loss_map_pts: 0.9047, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1765, d3.loss_map_pts: 0.8399, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1688, d4.loss_map_pts: 0.8164, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1643, d5.loss_map_pts: 0.8083, d5.loss_map_dir: 0.0115, loss: 34.0289, grad_norm: 150.0422 +2026-02-26 02:20:27,401 - DriveTransformer - INFO - Epoch [6][16850/39528] lr: 8.977e-05, eta: 6 days, 20:27:52, time: 0.796, data_time: 0.043, memory: 19865, loss_cls: 0.2008, loss_bbox: 0.3913, loss_traj: 0.7041, loss_traj_cls: 0.0009, loss_map_cls: 0.1796, loss_map_pts: 0.8134, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.8173, d0.loss_plan_l1_fix_dist: 0.3981, d1.loss_plan_l1_fix_time: 1.3954, d1.loss_plan_l1_fix_dist: 0.1905, d2.loss_plan_l1_fix_time: 1.3813, d2.loss_plan_l1_fix_dist: 0.1970, d3.loss_plan_l1_fix_time: 1.3833, d3.loss_plan_l1_fix_dist: 0.2070, d4.loss_plan_l1_fix_time: 1.3857, d4.loss_plan_l1_fix_dist: 0.2211, d5.loss_plan_l1_fix_time: 1.3887, d5.loss_plan_l1_fix_dist: 0.2368, d6.loss_plan_l1_fix_time: 1.3924, d6.loss_plan_l1_fix_dist: 0.2541, d0.loss_cls_all: 0.2378, d0.loss_bbox_all: 0.4498, d0.loss_cls: 0.2378, d0.loss_bbox: 0.4498, d1.loss_cls: 0.2287, d1.loss_bbox: 0.4184, d2.loss_cls: 0.2145, d2.loss_bbox: 0.3998, d3.loss_cls: 0.2047, d3.loss_bbox: 0.3920, d4.loss_cls: 0.2003, d4.loss_bbox: 0.3897, d5.loss_cls: 0.1994, d5.loss_bbox: 0.3902, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8760, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7487, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7129, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6965, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6966, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7009, d0.loss_map_cls_all: 0.2566, d0.loss_map_pts_all: 1.5480, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2566, d0.loss_map_pts: 1.5480, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2264, d1.loss_map_pts: 1.0676, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2055, d2.loss_map_pts: 0.9032, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1937, d3.loss_map_pts: 0.8437, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1865, d4.loss_map_pts: 0.8205, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1817, d5.loss_map_pts: 0.8148, d5.loss_map_dir: 0.0109, loss: 33.1266, grad_norm: 150.1945 +2026-02-26 02:21:07,942 - DriveTransformer - INFO - Epoch [6][16900/39528] lr: 8.977e-05, eta: 6 days, 20:27:13, time: 0.811, data_time: 0.040, memory: 19865, loss_cls: 0.2122, loss_bbox: 0.4175, loss_traj: 0.7021, loss_traj_cls: 0.0010, loss_map_cls: 0.1916, loss_map_pts: 0.8432, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.9623, d0.loss_plan_l1_fix_dist: 0.4010, d1.loss_plan_l1_fix_time: 1.2935, d1.loss_plan_l1_fix_dist: 0.2069, d2.loss_plan_l1_fix_time: 1.2828, d2.loss_plan_l1_fix_dist: 0.2089, d3.loss_plan_l1_fix_time: 1.2763, d3.loss_plan_l1_fix_dist: 0.2190, d4.loss_plan_l1_fix_time: 1.2779, d4.loss_plan_l1_fix_dist: 0.2300, d5.loss_plan_l1_fix_time: 1.2808, d5.loss_plan_l1_fix_dist: 0.2438, d6.loss_plan_l1_fix_time: 1.2849, d6.loss_plan_l1_fix_dist: 0.2569, d0.loss_cls_all: 0.2513, d0.loss_bbox_all: 0.4769, d0.loss_cls: 0.2513, d0.loss_bbox: 0.4769, d1.loss_cls: 0.2466, d1.loss_bbox: 0.4443, d2.loss_cls: 0.2316, d2.loss_bbox: 0.4255, d3.loss_cls: 0.2195, d3.loss_bbox: 0.4184, d4.loss_cls: 0.2125, d4.loss_bbox: 0.4175, d5.loss_cls: 0.2124, d5.loss_bbox: 0.4164, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8897, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7674, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7295, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7149, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7065, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7019, d0.loss_map_cls_all: 0.2648, d0.loss_map_pts_all: 1.6598, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2648, d0.loss_map_pts: 1.6598, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2315, d1.loss_map_pts: 1.1374, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2165, d2.loss_map_pts: 0.9449, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.2059, d3.loss_map_pts: 0.8821, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1961, d4.loss_map_pts: 0.8572, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1925, d5.loss_map_pts: 0.8439, d5.loss_map_dir: 0.0111, loss: 33.6530, grad_norm: 149.2370 +2026-02-26 02:21:49,955 - DriveTransformer - INFO - Epoch [6][16950/39528] lr: 8.977e-05, eta: 6 days, 20:26:38, time: 0.840, data_time: 0.045, memory: 19865, loss_cls: 0.1891, loss_bbox: 0.3905, loss_traj: 0.6738, loss_traj_cls: 0.0010, loss_map_cls: 0.1833, loss_map_pts: 0.8765, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.7234, d0.loss_plan_l1_fix_dist: 0.4685, d1.loss_plan_l1_fix_time: 1.2260, d1.loss_plan_l1_fix_dist: 0.2029, d2.loss_plan_l1_fix_time: 1.2125, d2.loss_plan_l1_fix_dist: 0.2060, d3.loss_plan_l1_fix_time: 1.2083, d3.loss_plan_l1_fix_dist: 0.2169, d4.loss_plan_l1_fix_time: 1.2105, d4.loss_plan_l1_fix_dist: 0.2300, d5.loss_plan_l1_fix_time: 1.2131, d5.loss_plan_l1_fix_dist: 0.2478, d6.loss_plan_l1_fix_time: 1.2163, d6.loss_plan_l1_fix_dist: 0.2693, d0.loss_cls_all: 0.2290, d0.loss_bbox_all: 0.4593, d0.loss_cls: 0.2290, d0.loss_bbox: 0.4593, d1.loss_cls: 0.2194, d1.loss_bbox: 0.4280, d2.loss_cls: 0.2037, d2.loss_bbox: 0.4078, d3.loss_cls: 0.1931, d3.loss_bbox: 0.3991, d4.loss_cls: 0.1874, d4.loss_bbox: 0.3959, d5.loss_cls: 0.1873, d5.loss_bbox: 0.3922, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9248, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7638, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7060, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6900, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6786, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6752, d0.loss_map_cls_all: 0.2657, d0.loss_map_pts_all: 1.7047, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2657, d0.loss_map_pts: 1.7047, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2414, d1.loss_map_pts: 1.1799, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2185, d2.loss_map_pts: 0.9885, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.2001, d3.loss_map_pts: 0.9160, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1910, d4.loss_map_pts: 0.8887, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1859, d5.loss_map_pts: 0.8763, d5.loss_map_dir: 0.0112, loss: 32.9138, grad_norm: 148.6082 +2026-02-26 02:22:30,054 - DriveTransformer - INFO - Epoch [6][17000/39528] lr: 8.977e-05, eta: 6 days, 20:25:57, time: 0.802, data_time: 0.045, memory: 19865, loss_cls: 0.1993, loss_bbox: 0.3969, loss_traj: 0.8192, loss_traj_cls: 0.0010, loss_map_cls: 0.1991, loss_map_pts: 0.8118, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.6103, d0.loss_plan_l1_fix_dist: 0.3830, d1.loss_plan_l1_fix_time: 1.1869, d1.loss_plan_l1_fix_dist: 0.1917, d2.loss_plan_l1_fix_time: 1.1785, d2.loss_plan_l1_fix_dist: 0.1989, d3.loss_plan_l1_fix_time: 1.1890, d3.loss_plan_l1_fix_dist: 0.2101, d4.loss_plan_l1_fix_time: 1.1940, d4.loss_plan_l1_fix_dist: 0.2240, d5.loss_plan_l1_fix_time: 1.1982, d5.loss_plan_l1_fix_dist: 0.2401, d6.loss_plan_l1_fix_time: 1.2025, d6.loss_plan_l1_fix_dist: 0.2571, d0.loss_cls_all: 0.2361, d0.loss_bbox_all: 0.4704, d0.loss_cls: 0.2361, d0.loss_bbox: 0.4704, d1.loss_cls: 0.2298, d1.loss_bbox: 0.4328, d2.loss_cls: 0.2167, d2.loss_bbox: 0.4132, d3.loss_cls: 0.2029, d3.loss_bbox: 0.4053, d4.loss_cls: 0.1981, d4.loss_bbox: 0.4006, d5.loss_cls: 0.1976, d5.loss_bbox: 0.3983, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0712, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8776, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8446, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8205, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8182, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8178, d0.loss_map_cls_all: 0.2777, d0.loss_map_pts_all: 1.5257, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2777, d0.loss_map_pts: 1.5257, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2487, d1.loss_map_pts: 1.0937, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.2264, d2.loss_map_pts: 0.9253, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.2138, d3.loss_map_pts: 0.8509, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.2065, d4.loss_map_pts: 0.8205, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.2008, d5.loss_map_pts: 0.8140, d5.loss_map_dir: 0.0092, loss: 32.9351, grad_norm: 148.0213 +2026-02-26 02:23:09,561 - DriveTransformer - INFO - Epoch [6][17050/39528] lr: 8.977e-05, eta: 6 days, 20:25:14, time: 0.790, data_time: 0.044, memory: 19865, loss_cls: 0.2101, loss_bbox: 0.4029, loss_traj: 0.7273, loss_traj_cls: 0.0010, loss_map_cls: 0.2039, loss_map_pts: 0.8732, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.5962, d0.loss_plan_l1_fix_dist: 0.3027, d1.loss_plan_l1_fix_time: 1.2453, d1.loss_plan_l1_fix_dist: 0.1822, d2.loss_plan_l1_fix_time: 1.2338, d2.loss_plan_l1_fix_dist: 0.1895, d3.loss_plan_l1_fix_time: 1.2351, d3.loss_plan_l1_fix_dist: 0.2005, d4.loss_plan_l1_fix_time: 1.2377, d4.loss_plan_l1_fix_dist: 0.2140, d5.loss_plan_l1_fix_time: 1.2405, d5.loss_plan_l1_fix_dist: 0.2280, d6.loss_plan_l1_fix_time: 1.2438, d6.loss_plan_l1_fix_dist: 0.2395, d0.loss_cls_all: 0.2490, d0.loss_bbox_all: 0.4707, d0.loss_cls: 0.2490, d0.loss_bbox: 0.4707, d1.loss_cls: 0.2384, d1.loss_bbox: 0.4381, d2.loss_cls: 0.2266, d2.loss_bbox: 0.4172, d3.loss_cls: 0.2169, d3.loss_bbox: 0.4076, d4.loss_cls: 0.2124, d4.loss_bbox: 0.4043, d5.loss_cls: 0.2105, d5.loss_bbox: 0.4036, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9297, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7715, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7356, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7235, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7222, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7218, d0.loss_map_cls_all: 0.2674, d0.loss_map_pts_all: 1.5516, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2674, d0.loss_map_pts: 1.5516, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2461, d1.loss_map_pts: 1.1337, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.2274, d2.loss_map_pts: 0.9728, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.2158, d3.loss_map_pts: 0.9142, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.2084, d4.loss_map_pts: 0.8835, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.2055, d5.loss_map_pts: 0.8747, d5.loss_map_dir: 0.0111, loss: 32.8375, grad_norm: 149.4372 +2026-02-26 02:23:50,853 - DriveTransformer - INFO - Epoch [6][17100/39528] lr: 8.977e-05, eta: 6 days, 20:24:37, time: 0.826, data_time: 0.049, memory: 19865, loss_cls: 0.1761, loss_bbox: 0.3661, loss_traj: 0.7171, loss_traj_cls: 0.0010, loss_map_cls: 0.1643, loss_map_pts: 0.7705, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.9793, d0.loss_plan_l1_fix_dist: 0.3888, d1.loss_plan_l1_fix_time: 1.3431, d1.loss_plan_l1_fix_dist: 0.2003, d2.loss_plan_l1_fix_time: 1.3334, d2.loss_plan_l1_fix_dist: 0.2070, d3.loss_plan_l1_fix_time: 1.3327, d3.loss_plan_l1_fix_dist: 0.2191, d4.loss_plan_l1_fix_time: 1.3362, d4.loss_plan_l1_fix_dist: 0.2339, d5.loss_plan_l1_fix_time: 1.3408, d5.loss_plan_l1_fix_dist: 0.2508, d6.loss_plan_l1_fix_time: 1.3454, d6.loss_plan_l1_fix_dist: 0.2709, d0.loss_cls_all: 0.2154, d0.loss_bbox_all: 0.4301, d0.loss_cls: 0.2154, d0.loss_bbox: 0.4301, d1.loss_cls: 0.2056, d1.loss_bbox: 0.3963, d2.loss_cls: 0.1950, d2.loss_bbox: 0.3772, d3.loss_cls: 0.1825, d3.loss_bbox: 0.3729, d4.loss_cls: 0.1789, d4.loss_bbox: 0.3698, d5.loss_cls: 0.1761, d5.loss_bbox: 0.3676, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9533, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7519, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7145, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7134, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7157, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7152, d0.loss_map_cls_all: 0.2350, d0.loss_map_pts_all: 1.5026, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2350, d0.loss_map_pts: 1.5026, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2079, d1.loss_map_pts: 1.0291, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1896, d2.loss_map_pts: 0.8655, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1786, d3.loss_map_pts: 0.8019, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1704, d4.loss_map_pts: 0.7776, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1664, d5.loss_map_pts: 0.7725, d5.loss_map_dir: 0.0108, loss: 32.3777, grad_norm: 150.7994 +2026-02-26 02:24:32,285 - DriveTransformer - INFO - Epoch [6][17150/39528] lr: 8.977e-05, eta: 6 days, 20:24:00, time: 0.829, data_time: 0.048, memory: 19865, loss_cls: 0.1832, loss_bbox: 0.3674, loss_traj: 0.7594, loss_traj_cls: 0.0010, loss_map_cls: 0.1916, loss_map_pts: 0.8355, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 3.0171, d0.loss_plan_l1_fix_dist: 0.4255, d1.loss_plan_l1_fix_time: 1.1216, d1.loss_plan_l1_fix_dist: 0.1847, d2.loss_plan_l1_fix_time: 1.1027, d2.loss_plan_l1_fix_dist: 0.1901, d3.loss_plan_l1_fix_time: 1.1014, d3.loss_plan_l1_fix_dist: 0.2002, d4.loss_plan_l1_fix_time: 1.1057, d4.loss_plan_l1_fix_dist: 0.2156, d5.loss_plan_l1_fix_time: 1.1107, d5.loss_plan_l1_fix_dist: 0.2343, d6.loss_plan_l1_fix_time: 1.1156, d6.loss_plan_l1_fix_dist: 0.2590, d0.loss_cls_all: 0.2172, d0.loss_bbox_all: 0.4327, d0.loss_cls: 0.2172, d0.loss_bbox: 0.4327, d1.loss_cls: 0.2091, d1.loss_bbox: 0.3997, d2.loss_cls: 0.1990, d2.loss_bbox: 0.3794, d3.loss_cls: 0.1912, d3.loss_bbox: 0.3713, d4.loss_cls: 0.1860, d4.loss_bbox: 0.3677, d5.loss_cls: 0.1842, d5.loss_bbox: 0.3664, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9976, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7990, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7640, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7600, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7526, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7556, d0.loss_map_cls_all: 0.2552, d0.loss_map_pts_all: 1.5902, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2552, d0.loss_map_pts: 1.5902, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2280, d1.loss_map_pts: 1.1387, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2110, d2.loss_map_pts: 0.9528, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.2007, d3.loss_map_pts: 0.8819, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1963, d4.loss_map_pts: 0.8472, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1934, d5.loss_map_pts: 0.8381, d5.loss_map_dir: 0.0111, loss: 32.1737, grad_norm: 151.6358 +2026-02-26 02:25:13,589 - DriveTransformer - INFO - Epoch [6][17200/39528] lr: 8.977e-05, eta: 6 days, 20:23:23, time: 0.826, data_time: 0.044, memory: 19865, loss_cls: 0.1709, loss_bbox: 0.3790, loss_traj: 0.6257, loss_traj_cls: 0.0011, loss_map_cls: 0.1692, loss_map_pts: 0.7864, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.6426, d0.loss_plan_l1_fix_dist: 0.4520, d1.loss_plan_l1_fix_time: 1.0775, d1.loss_plan_l1_fix_dist: 0.1846, d2.loss_plan_l1_fix_time: 1.0644, d2.loss_plan_l1_fix_dist: 0.1867, d3.loss_plan_l1_fix_time: 1.0595, d3.loss_plan_l1_fix_dist: 0.1941, d4.loss_plan_l1_fix_time: 1.0624, d4.loss_plan_l1_fix_dist: 0.2029, d5.loss_plan_l1_fix_time: 1.0662, d5.loss_plan_l1_fix_dist: 0.2148, d6.loss_plan_l1_fix_time: 1.0709, d6.loss_plan_l1_fix_dist: 0.2275, d0.loss_cls_all: 0.2109, d0.loss_bbox_all: 0.4327, d0.loss_cls: 0.2109, d0.loss_bbox: 0.4327, d1.loss_cls: 0.2045, d1.loss_bbox: 0.4004, d2.loss_cls: 0.1885, d2.loss_bbox: 0.3872, d3.loss_cls: 0.1788, d3.loss_bbox: 0.3802, d4.loss_cls: 0.1745, d4.loss_bbox: 0.3796, d5.loss_cls: 0.1724, d5.loss_bbox: 0.3789, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8540, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6690, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6445, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6248, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6231, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6254, d0.loss_map_cls_all: 0.2315, d0.loss_map_pts_all: 1.5217, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2315, d0.loss_map_pts: 1.5217, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2059, d1.loss_map_pts: 1.0611, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1890, d2.loss_map_pts: 0.8808, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.1790, d3.loss_map_pts: 0.8215, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1726, d4.loss_map_pts: 0.7930, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1689, d5.loss_map_pts: 0.7871, d5.loss_map_dir: 0.0112, loss: 29.8694, grad_norm: 151.5291 +2026-02-26 02:25:54,963 - DriveTransformer - INFO - Epoch [6][17250/39528] lr: 8.977e-05, eta: 6 days, 20:22:47, time: 0.828, data_time: 0.043, memory: 19865, loss_cls: 0.1949, loss_bbox: 0.4149, loss_traj: 0.7334, loss_traj_cls: 0.0010, loss_map_cls: 0.1727, loss_map_pts: 0.7373, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.6073, d0.loss_plan_l1_fix_dist: 0.4527, d1.loss_plan_l1_fix_time: 1.2117, d1.loss_plan_l1_fix_dist: 0.2021, d2.loss_plan_l1_fix_time: 1.2078, d2.loss_plan_l1_fix_dist: 0.2064, d3.loss_plan_l1_fix_time: 1.2138, d3.loss_plan_l1_fix_dist: 0.2146, d4.loss_plan_l1_fix_time: 1.2187, d4.loss_plan_l1_fix_dist: 0.2222, d5.loss_plan_l1_fix_time: 1.2232, d5.loss_plan_l1_fix_dist: 0.2312, d6.loss_plan_l1_fix_time: 1.2284, d6.loss_plan_l1_fix_dist: 0.2420, d0.loss_cls_all: 0.2264, d0.loss_bbox_all: 0.4757, d0.loss_cls: 0.2264, d0.loss_bbox: 0.4757, d1.loss_cls: 0.2187, d1.loss_bbox: 0.4447, d2.loss_cls: 0.2079, d2.loss_bbox: 0.4238, d3.loss_cls: 0.1984, d3.loss_bbox: 0.4191, d4.loss_cls: 0.1960, d4.loss_bbox: 0.4179, d5.loss_cls: 0.1950, d5.loss_bbox: 0.4158, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9800, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7909, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7387, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7209, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7281, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7253, d0.loss_map_cls_all: 0.2489, d0.loss_map_pts_all: 1.4990, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2489, d0.loss_map_pts: 1.4990, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2147, d1.loss_map_pts: 0.9928, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1912, d2.loss_map_pts: 0.8291, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1828, d3.loss_map_pts: 0.7705, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1757, d4.loss_map_pts: 0.7451, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1730, d5.loss_map_pts: 0.7400, d5.loss_map_dir: 0.0109, loss: 31.7631, grad_norm: 153.2085 +2026-02-26 02:26:35,691 - DriveTransformer - INFO - Epoch [6][17300/39528] lr: 8.977e-05, eta: 6 days, 20:22:08, time: 0.814, data_time: 0.040, memory: 19865, loss_cls: 0.1805, loss_bbox: 0.3931, loss_traj: 0.7599, loss_traj_cls: 0.0010, loss_map_cls: 0.1723, loss_map_pts: 0.7784, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.6775, d0.loss_plan_l1_fix_dist: 0.4032, d1.loss_plan_l1_fix_time: 1.1320, d1.loss_plan_l1_fix_dist: 0.1861, d2.loss_plan_l1_fix_time: 1.1203, d2.loss_plan_l1_fix_dist: 0.1931, d3.loss_plan_l1_fix_time: 1.1218, d3.loss_plan_l1_fix_dist: 0.2024, d4.loss_plan_l1_fix_time: 1.1262, d4.loss_plan_l1_fix_dist: 0.2159, d5.loss_plan_l1_fix_time: 1.1311, d5.loss_plan_l1_fix_dist: 0.2283, d6.loss_plan_l1_fix_time: 1.1361, d6.loss_plan_l1_fix_dist: 0.2412, d0.loss_cls_all: 0.2231, d0.loss_bbox_all: 0.4484, d0.loss_cls: 0.2231, d0.loss_bbox: 0.4484, d1.loss_cls: 0.2122, d1.loss_bbox: 0.4180, d2.loss_cls: 0.1998, d2.loss_bbox: 0.4037, d3.loss_cls: 0.1865, d3.loss_bbox: 0.4006, d4.loss_cls: 0.1816, d4.loss_bbox: 0.3968, d5.loss_cls: 0.1781, d5.loss_bbox: 0.3959, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9866, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8055, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7637, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7592, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7556, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7573, d0.loss_map_cls_all: 0.2361, d0.loss_map_pts_all: 1.4618, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2361, d0.loss_map_pts: 1.4618, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2066, d1.loss_map_pts: 1.0458, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1881, d2.loss_map_pts: 0.8839, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1799, d3.loss_map_pts: 0.8197, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1758, d4.loss_map_pts: 0.7922, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1742, d5.loss_map_pts: 0.7779, d5.loss_map_dir: 0.0097, loss: 31.2633, grad_norm: 152.0298 +2026-02-26 02:27:18,000 - DriveTransformer - INFO - Epoch [6][17350/39528] lr: 8.977e-05, eta: 6 days, 20:21:34, time: 0.846, data_time: 0.044, memory: 19865, loss_cls: 0.1890, loss_bbox: 0.3946, loss_traj: 0.8030, loss_traj_cls: 0.0010, loss_map_cls: 0.1798, loss_map_pts: 0.7804, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.7537, d0.loss_plan_l1_fix_dist: 0.3912, d1.loss_plan_l1_fix_time: 1.2270, d1.loss_plan_l1_fix_dist: 0.1831, d2.loss_plan_l1_fix_time: 1.2150, d2.loss_plan_l1_fix_dist: 0.1840, d3.loss_plan_l1_fix_time: 1.2163, d3.loss_plan_l1_fix_dist: 0.1908, d4.loss_plan_l1_fix_time: 1.2195, d4.loss_plan_l1_fix_dist: 0.1993, d5.loss_plan_l1_fix_time: 1.2231, d5.loss_plan_l1_fix_dist: 0.2084, d6.loss_plan_l1_fix_time: 1.2269, d6.loss_plan_l1_fix_dist: 0.2185, d0.loss_cls_all: 0.2224, d0.loss_bbox_all: 0.4559, d0.loss_cls: 0.2224, d0.loss_bbox: 0.4559, d1.loss_cls: 0.2169, d1.loss_bbox: 0.4203, d2.loss_cls: 0.2062, d2.loss_bbox: 0.4025, d3.loss_cls: 0.1956, d3.loss_bbox: 0.3971, d4.loss_cls: 0.1901, d4.loss_bbox: 0.3954, d5.loss_cls: 0.1885, d5.loss_bbox: 0.3952, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0767, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8438, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7997, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7938, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7996, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8015, d0.loss_map_cls_all: 0.2432, d0.loss_map_pts_all: 1.5257, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2432, d0.loss_map_pts: 1.5257, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2201, d1.loss_map_pts: 1.0806, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1995, d2.loss_map_pts: 0.8912, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1903, d3.loss_map_pts: 0.8164, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1821, d4.loss_map_pts: 0.7928, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1797, d5.loss_map_pts: 0.7838, d5.loss_map_dir: 0.0099, loss: 32.4392, grad_norm: 150.5272 +2026-02-26 02:27:57,772 - DriveTransformer - INFO - Epoch [6][17400/39528] lr: 8.977e-05, eta: 6 days, 20:20:52, time: 0.797, data_time: 0.040, memory: 19865, loss_cls: 0.1935, loss_bbox: 0.4022, loss_traj: 0.7100, loss_traj_cls: 0.0010, loss_map_cls: 0.1835, loss_map_pts: 0.7483, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.7241, d0.loss_plan_l1_fix_dist: 0.4326, d1.loss_plan_l1_fix_time: 1.0453, d1.loss_plan_l1_fix_dist: 0.2117, d2.loss_plan_l1_fix_time: 1.0354, d2.loss_plan_l1_fix_dist: 0.2111, d3.loss_plan_l1_fix_time: 1.0367, d3.loss_plan_l1_fix_dist: 0.2163, d4.loss_plan_l1_fix_time: 1.0389, d4.loss_plan_l1_fix_dist: 0.2229, d5.loss_plan_l1_fix_time: 1.0415, d5.loss_plan_l1_fix_dist: 0.2318, d6.loss_plan_l1_fix_time: 1.0448, d6.loss_plan_l1_fix_dist: 0.2488, d0.loss_cls_all: 0.2295, d0.loss_bbox_all: 0.4655, d0.loss_cls: 0.2295, d0.loss_bbox: 0.4655, d1.loss_cls: 0.2246, d1.loss_bbox: 0.4255, d2.loss_cls: 0.2125, d2.loss_bbox: 0.4087, d3.loss_cls: 0.2002, d3.loss_bbox: 0.4047, d4.loss_cls: 0.1957, d4.loss_bbox: 0.4024, d5.loss_cls: 0.1942, d5.loss_bbox: 0.4014, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9141, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7777, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7259, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7171, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7093, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7057, d0.loss_map_cls_all: 0.2516, d0.loss_map_pts_all: 1.4379, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2516, d0.loss_map_pts: 1.4379, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2210, d1.loss_map_pts: 1.0220, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.2006, d2.loss_map_pts: 0.8525, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1912, d3.loss_map_pts: 0.7823, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1874, d4.loss_map_pts: 0.7561, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1860, d5.loss_map_pts: 0.7492, d5.loss_map_dir: 0.0093, loss: 30.5943, grad_norm: 150.8503 +2026-02-26 02:28:37,921 - DriveTransformer - INFO - Epoch [6][17450/39528] lr: 8.977e-05, eta: 6 days, 20:20:11, time: 0.802, data_time: 0.038, memory: 19865, loss_cls: 0.2023, loss_bbox: 0.3985, loss_traj: 0.7510, loss_traj_cls: 0.0010, loss_map_cls: 0.1926, loss_map_pts: 0.7983, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.7420, d0.loss_plan_l1_fix_dist: 0.3625, d1.loss_plan_l1_fix_time: 1.2198, d1.loss_plan_l1_fix_dist: 0.1946, d2.loss_plan_l1_fix_time: 1.1976, d2.loss_plan_l1_fix_dist: 0.1966, d3.loss_plan_l1_fix_time: 1.1962, d3.loss_plan_l1_fix_dist: 0.2064, d4.loss_plan_l1_fix_time: 1.1980, d4.loss_plan_l1_fix_dist: 0.2174, d5.loss_plan_l1_fix_time: 1.2006, d5.loss_plan_l1_fix_dist: 0.2265, d6.loss_plan_l1_fix_time: 1.2040, d6.loss_plan_l1_fix_dist: 0.2365, d0.loss_cls_all: 0.2365, d0.loss_bbox_all: 0.4524, d0.loss_cls: 0.2365, d0.loss_bbox: 0.4524, d1.loss_cls: 0.2301, d1.loss_bbox: 0.4222, d2.loss_cls: 0.2196, d2.loss_bbox: 0.4079, d3.loss_cls: 0.2106, d3.loss_bbox: 0.4023, d4.loss_cls: 0.2043, d4.loss_bbox: 0.3989, d5.loss_cls: 0.2030, d5.loss_bbox: 0.3972, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9677, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8028, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7629, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7521, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7487, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7500, d0.loss_map_cls_all: 0.2633, d0.loss_map_pts_all: 1.5431, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2633, d0.loss_map_pts: 1.5431, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2312, d1.loss_map_pts: 1.0607, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.2117, d2.loss_map_pts: 0.8953, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.2011, d3.loss_map_pts: 0.8304, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1969, d4.loss_map_pts: 0.8038, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1940, d5.loss_map_pts: 0.7989, d5.loss_map_dir: 0.0103, loss: 32.3223, grad_norm: 157.0059 +2026-02-26 02:29:18,565 - DriveTransformer - INFO - Epoch [6][17500/39528] lr: 8.977e-05, eta: 6 days, 20:19:32, time: 0.813, data_time: 0.045, memory: 19865, loss_cls: 0.1715, loss_bbox: 0.3916, loss_traj: 0.7246, loss_traj_cls: 0.0009, loss_map_cls: 0.1686, loss_map_pts: 0.7773, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.3730, d0.loss_plan_l1_fix_dist: 0.4397, d1.loss_plan_l1_fix_time: 1.2423, d1.loss_plan_l1_fix_dist: 0.2146, d2.loss_plan_l1_fix_time: 1.2315, d2.loss_plan_l1_fix_dist: 0.2179, d3.loss_plan_l1_fix_time: 1.2297, d3.loss_plan_l1_fix_dist: 0.2287, d4.loss_plan_l1_fix_time: 1.2343, d4.loss_plan_l1_fix_dist: 0.2406, d5.loss_plan_l1_fix_time: 1.2396, d5.loss_plan_l1_fix_dist: 0.2523, d6.loss_plan_l1_fix_time: 1.2456, d6.loss_plan_l1_fix_dist: 0.2618, d0.loss_cls_all: 0.2081, d0.loss_bbox_all: 0.4448, d0.loss_cls: 0.2081, d0.loss_bbox: 0.4448, d1.loss_cls: 0.2025, d1.loss_bbox: 0.4123, d2.loss_cls: 0.1864, d2.loss_bbox: 0.3955, d3.loss_cls: 0.1761, d3.loss_bbox: 0.3933, d4.loss_cls: 0.1717, d4.loss_bbox: 0.3914, d5.loss_cls: 0.1706, d5.loss_bbox: 0.3912, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9369, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7898, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7514, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7290, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7186, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7274, d0.loss_map_cls_all: 0.2387, d0.loss_map_pts_all: 1.5631, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2387, d0.loss_map_pts: 1.5631, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2126, d1.loss_map_pts: 1.0519, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1924, d2.loss_map_pts: 0.8743, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1779, d3.loss_map_pts: 0.8112, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1718, d4.loss_map_pts: 0.7855, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1687, d5.loss_map_pts: 0.7800, d5.loss_map_dir: 0.0100, loss: 31.6497, grad_norm: 163.4380 +2026-02-26 02:29:58,584 - DriveTransformer - INFO - Epoch [6][17550/39528] lr: 8.977e-05, eta: 6 days, 20:18:51, time: 0.800, data_time: 0.044, memory: 19865, loss_cls: 0.1900, loss_bbox: 0.3945, loss_traj: 0.8131, loss_traj_cls: 0.0009, loss_map_cls: 0.1940, loss_map_pts: 0.7606, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 3.3592, d0.loss_plan_l1_fix_dist: 0.3483, d1.loss_plan_l1_fix_time: 1.5223, d1.loss_plan_l1_fix_dist: 0.1811, d2.loss_plan_l1_fix_time: 1.4967, d2.loss_plan_l1_fix_dist: 0.1839, d3.loss_plan_l1_fix_time: 1.4918, d3.loss_plan_l1_fix_dist: 0.1902, d4.loss_plan_l1_fix_time: 1.4945, d4.loss_plan_l1_fix_dist: 0.1968, d5.loss_plan_l1_fix_time: 1.4980, d5.loss_plan_l1_fix_dist: 0.2052, d6.loss_plan_l1_fix_time: 1.5017, d6.loss_plan_l1_fix_dist: 0.2156, d0.loss_cls_all: 0.2377, d0.loss_bbox_all: 0.4581, d0.loss_cls: 0.2377, d0.loss_bbox: 0.4581, d1.loss_cls: 0.2267, d1.loss_bbox: 0.4248, d2.loss_cls: 0.2082, d2.loss_bbox: 0.4089, d3.loss_cls: 0.1949, d3.loss_bbox: 0.4045, d4.loss_cls: 0.1899, d4.loss_bbox: 0.4007, d5.loss_cls: 0.1904, d5.loss_bbox: 0.3968, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0685, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8888, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8298, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8274, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8189, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8157, d0.loss_map_cls_all: 0.2475, d0.loss_map_pts_all: 1.4764, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2475, d0.loss_map_pts: 1.4764, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.2285, d1.loss_map_pts: 1.0440, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.2109, d2.loss_map_pts: 0.8615, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.2006, d3.loss_map_pts: 0.7942, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1969, d4.loss_map_pts: 0.7698, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1931, d5.loss_map_pts: 0.7630, d5.loss_map_dir: 0.0093, loss: 34.7112, grad_norm: 163.3606 +2026-02-26 02:30:39,063 - DriveTransformer - INFO - Epoch [6][17600/39528] lr: 8.977e-05, eta: 6 days, 20:18:11, time: 0.810, data_time: 0.043, memory: 19865, loss_cls: 0.1937, loss_bbox: 0.3892, loss_traj: 0.5886, loss_traj_cls: 0.0010, loss_map_cls: 0.1766, loss_map_pts: 0.8523, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.4530, d0.loss_plan_l1_fix_dist: 0.4345, d1.loss_plan_l1_fix_time: 1.2160, d1.loss_plan_l1_fix_dist: 0.1949, d2.loss_plan_l1_fix_time: 1.2078, d2.loss_plan_l1_fix_dist: 0.1972, d3.loss_plan_l1_fix_time: 1.2089, d3.loss_plan_l1_fix_dist: 0.2054, d4.loss_plan_l1_fix_time: 1.2132, d4.loss_plan_l1_fix_dist: 0.2159, d5.loss_plan_l1_fix_time: 1.2186, d5.loss_plan_l1_fix_dist: 0.2304, d6.loss_plan_l1_fix_time: 1.2245, d6.loss_plan_l1_fix_dist: 0.2517, d0.loss_cls_all: 0.2434, d0.loss_bbox_all: 0.4517, d0.loss_cls: 0.2434, d0.loss_bbox: 0.4517, d1.loss_cls: 0.2358, d1.loss_bbox: 0.4157, d2.loss_cls: 0.2171, d2.loss_bbox: 0.3957, d3.loss_cls: 0.2044, d3.loss_bbox: 0.3899, d4.loss_cls: 0.1956, d4.loss_bbox: 0.3915, d5.loss_cls: 0.1933, d5.loss_bbox: 0.3904, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7703, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6554, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6140, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6023, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5914, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5872, d0.loss_map_cls_all: 0.2525, d0.loss_map_pts_all: 1.6081, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2525, d0.loss_map_pts: 1.6081, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2225, d1.loss_map_pts: 1.1160, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2012, d2.loss_map_pts: 0.9414, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1893, d3.loss_map_pts: 0.8819, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1824, d4.loss_map_pts: 0.8630, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1769, d5.loss_map_pts: 0.8539, d5.loss_map_dir: 0.0110, loss: 31.3528, grad_norm: 161.2040 +2026-02-26 02:31:19,373 - DriveTransformer - INFO - Epoch [6][17650/39528] lr: 8.977e-05, eta: 6 days, 20:17:30, time: 0.806, data_time: 0.047, memory: 19865, loss_cls: 0.1931, loss_bbox: 0.3890, loss_traj: 0.8622, loss_traj_cls: 0.0009, loss_map_cls: 0.2018, loss_map_pts: 0.8327, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.5171, d0.loss_plan_l1_fix_dist: 0.2942, d1.loss_plan_l1_fix_time: 1.1682, d1.loss_plan_l1_fix_dist: 0.1833, d2.loss_plan_l1_fix_time: 1.1513, d2.loss_plan_l1_fix_dist: 0.1840, d3.loss_plan_l1_fix_time: 1.1572, d3.loss_plan_l1_fix_dist: 0.1890, d4.loss_plan_l1_fix_time: 1.1614, d4.loss_plan_l1_fix_dist: 0.1960, d5.loss_plan_l1_fix_time: 1.1661, d5.loss_plan_l1_fix_dist: 0.2034, d6.loss_plan_l1_fix_time: 1.1713, d6.loss_plan_l1_fix_dist: 0.2100, d0.loss_cls_all: 0.2402, d0.loss_bbox_all: 0.4459, d0.loss_cls: 0.2402, d0.loss_bbox: 0.4459, d1.loss_cls: 0.2245, d1.loss_bbox: 0.4126, d2.loss_cls: 0.2098, d2.loss_bbox: 0.3990, d3.loss_cls: 0.1989, d3.loss_bbox: 0.3952, d4.loss_cls: 0.1956, d4.loss_bbox: 0.3917, d5.loss_cls: 0.1941, d5.loss_bbox: 0.3895, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1296, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9263, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8786, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8709, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8637, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8584, d0.loss_map_cls_all: 0.2716, d0.loss_map_pts_all: 1.6290, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2716, d0.loss_map_pts: 1.6290, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2454, d1.loss_map_pts: 1.1292, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.2270, d2.loss_map_pts: 0.9384, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.2136, d3.loss_map_pts: 0.8638, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.2076, d4.loss_map_pts: 0.8403, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.2035, d5.loss_map_pts: 0.8317, d5.loss_map_dir: 0.0099, loss: 32.9257, grad_norm: 160.3106 +2026-02-26 02:32:04,412 - DriveTransformer - INFO - Epoch [6][17700/39528] lr: 8.977e-05, eta: 6 days, 20:17:06, time: 0.901, data_time: 0.052, memory: 19865, loss_cls: 0.1797, loss_bbox: 0.4259, loss_traj: 0.6725, loss_traj_cls: 0.0010, loss_map_cls: 0.2058, loss_map_pts: 0.9047, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.7040, d0.loss_plan_l1_fix_dist: 0.3361, d1.loss_plan_l1_fix_time: 1.2434, d1.loss_plan_l1_fix_dist: 0.1639, d2.loss_plan_l1_fix_time: 1.2356, d2.loss_plan_l1_fix_dist: 0.1690, d3.loss_plan_l1_fix_time: 1.2343, d3.loss_plan_l1_fix_dist: 0.1767, d4.loss_plan_l1_fix_time: 1.2371, d4.loss_plan_l1_fix_dist: 0.1843, d5.loss_plan_l1_fix_time: 1.2405, d5.loss_plan_l1_fix_dist: 0.1929, d6.loss_plan_l1_fix_time: 1.2449, d6.loss_plan_l1_fix_dist: 0.2054, d0.loss_cls_all: 0.2317, d0.loss_bbox_all: 0.4812, d0.loss_cls: 0.2317, d0.loss_bbox: 0.4812, d1.loss_cls: 0.2203, d1.loss_bbox: 0.4489, d2.loss_cls: 0.2046, d2.loss_bbox: 0.4312, d3.loss_cls: 0.1912, d3.loss_bbox: 0.4268, d4.loss_cls: 0.1831, d4.loss_bbox: 0.4267, d5.loss_cls: 0.1813, d5.loss_bbox: 0.4244, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9002, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7250, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6777, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6580, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6585, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6661, d0.loss_map_cls_all: 0.2773, d0.loss_map_pts_all: 1.8271, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2773, d0.loss_map_pts: 1.8271, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2480, d1.loss_map_pts: 1.2470, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2307, d2.loss_map_pts: 1.0311, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.2183, d3.loss_map_pts: 0.9485, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2113, d4.loss_map_pts: 0.9151, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.2066, d5.loss_map_pts: 0.9058, d5.loss_map_dir: 0.0128, loss: 33.2815, grad_norm: 161.7995 +2026-02-26 02:32:44,461 - DriveTransformer - INFO - Epoch [6][17750/39528] lr: 8.977e-05, eta: 6 days, 20:16:25, time: 0.801, data_time: 0.049, memory: 19865, loss_cls: 0.1931, loss_bbox: 0.3991, loss_traj: 0.7860, loss_traj_cls: 0.0010, loss_map_cls: 0.1725, loss_map_pts: 0.7329, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.7333, d0.loss_plan_l1_fix_dist: 0.3315, d1.loss_plan_l1_fix_time: 1.2286, d1.loss_plan_l1_fix_dist: 0.1467, d2.loss_plan_l1_fix_time: 1.2182, d2.loss_plan_l1_fix_dist: 0.1520, d3.loss_plan_l1_fix_time: 1.2163, d3.loss_plan_l1_fix_dist: 0.1604, d4.loss_plan_l1_fix_time: 1.2191, d4.loss_plan_l1_fix_dist: 0.1708, d5.loss_plan_l1_fix_time: 1.2221, d5.loss_plan_l1_fix_dist: 0.1835, d6.loss_plan_l1_fix_time: 1.2254, d6.loss_plan_l1_fix_dist: 0.1964, d0.loss_cls_all: 0.2350, d0.loss_bbox_all: 0.4575, d0.loss_cls: 0.2350, d0.loss_bbox: 0.4575, d1.loss_cls: 0.2235, d1.loss_bbox: 0.4237, d2.loss_cls: 0.2096, d2.loss_bbox: 0.4078, d3.loss_cls: 0.1993, d3.loss_bbox: 0.4018, d4.loss_cls: 0.1926, d4.loss_bbox: 0.3995, d5.loss_cls: 0.1914, d5.loss_bbox: 0.3984, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0559, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8709, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8148, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8058, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7940, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7937, d0.loss_map_cls_all: 0.2567, d0.loss_map_pts_all: 1.3936, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2567, d0.loss_map_pts: 1.3936, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.2202, d1.loss_map_pts: 0.9951, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1968, d2.loss_map_pts: 0.8415, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1858, d3.loss_map_pts: 0.7705, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1786, d4.loss_map_pts: 0.7455, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1748, d5.loss_map_pts: 0.7345, d5.loss_map_dir: 0.0086, loss: 31.6712, grad_norm: 161.0897 +2026-02-26 02:33:24,619 - DriveTransformer - INFO - Epoch [6][17800/39528] lr: 8.977e-05, eta: 6 days, 20:15:44, time: 0.803, data_time: 0.050, memory: 19865, loss_cls: 0.1776, loss_bbox: 0.3893, loss_traj: 0.8297, loss_traj_cls: 0.0010, loss_map_cls: 0.1717, loss_map_pts: 0.7849, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.5773, d0.loss_plan_l1_fix_dist: 0.3760, d1.loss_plan_l1_fix_time: 1.3429, d1.loss_plan_l1_fix_dist: 0.1911, d2.loss_plan_l1_fix_time: 1.3246, d2.loss_plan_l1_fix_dist: 0.1909, d3.loss_plan_l1_fix_time: 1.3232, d3.loss_plan_l1_fix_dist: 0.1961, d4.loss_plan_l1_fix_time: 1.3259, d4.loss_plan_l1_fix_dist: 0.2031, d5.loss_plan_l1_fix_time: 1.3291, d5.loss_plan_l1_fix_dist: 0.2113, d6.loss_plan_l1_fix_time: 1.3327, d6.loss_plan_l1_fix_dist: 0.2213, d0.loss_cls_all: 0.2255, d0.loss_bbox_all: 0.4375, d0.loss_cls: 0.2255, d0.loss_bbox: 0.4375, d1.loss_cls: 0.2153, d1.loss_bbox: 0.4090, d2.loss_cls: 0.2004, d2.loss_bbox: 0.3938, d3.loss_cls: 0.1890, d3.loss_bbox: 0.3895, d4.loss_cls: 0.1800, d4.loss_bbox: 0.3896, d5.loss_cls: 0.1768, d5.loss_bbox: 0.3893, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0202, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8726, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8350, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8303, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8264, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8292, d0.loss_map_cls_all: 0.2463, d0.loss_map_pts_all: 1.4921, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2463, d0.loss_map_pts: 1.4921, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2178, d1.loss_map_pts: 1.0635, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1977, d2.loss_map_pts: 0.8996, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1844, d3.loss_map_pts: 0.8295, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1782, d4.loss_map_pts: 0.7990, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1740, d5.loss_map_pts: 0.7880, d5.loss_map_dir: 0.0103, loss: 32.8660, grad_norm: 160.0727 +2026-02-26 02:34:04,577 - DriveTransformer - INFO - Epoch [6][17850/39528] lr: 8.977e-05, eta: 6 days, 20:15:02, time: 0.799, data_time: 0.042, memory: 19865, loss_cls: 0.1951, loss_bbox: 0.4090, loss_traj: 0.6076, loss_traj_cls: 0.0010, loss_map_cls: 0.1931, loss_map_pts: 0.9190, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.6574, d0.loss_plan_l1_fix_dist: 0.3977, d1.loss_plan_l1_fix_time: 1.1039, d1.loss_plan_l1_fix_dist: 0.1831, d2.loss_plan_l1_fix_time: 1.0957, d2.loss_plan_l1_fix_dist: 0.1838, d3.loss_plan_l1_fix_time: 1.0961, d3.loss_plan_l1_fix_dist: 0.1889, d4.loss_plan_l1_fix_time: 1.0990, d4.loss_plan_l1_fix_dist: 0.1960, d5.loss_plan_l1_fix_time: 1.1025, d5.loss_plan_l1_fix_dist: 0.2047, d6.loss_plan_l1_fix_time: 1.1061, d6.loss_plan_l1_fix_dist: 0.2147, d0.loss_cls_all: 0.2391, d0.loss_bbox_all: 0.4704, d0.loss_cls: 0.2391, d0.loss_bbox: 0.4704, d1.loss_cls: 0.2311, d1.loss_bbox: 0.4395, d2.loss_cls: 0.2175, d2.loss_bbox: 0.4203, d3.loss_cls: 0.2042, d3.loss_bbox: 0.4142, d4.loss_cls: 0.1980, d4.loss_bbox: 0.4121, d5.loss_cls: 0.1955, d5.loss_bbox: 0.4093, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8451, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6905, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6290, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6214, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6140, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6087, d0.loss_map_cls_all: 0.2788, d0.loss_map_pts_all: 1.7637, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2788, d0.loss_map_pts: 1.7637, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2431, d1.loss_map_pts: 1.2285, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2182, d2.loss_map_pts: 1.0340, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2052, d3.loss_map_pts: 0.9537, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.1976, d4.loss_map_pts: 0.9295, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1950, d5.loss_map_pts: 0.9204, d5.loss_map_dir: 0.0120, loss: 32.0332, grad_norm: 161.0107 +2026-02-26 02:34:45,217 - DriveTransformer - INFO - Epoch [6][17900/39528] lr: 8.977e-05, eta: 6 days, 20:14:23, time: 0.813, data_time: 0.046, memory: 19865, loss_cls: 0.1906, loss_bbox: 0.3955, loss_traj: 0.7189, loss_traj_cls: 0.0010, loss_map_cls: 0.1765, loss_map_pts: 0.7640, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.4487, d0.loss_plan_l1_fix_dist: 0.4036, d1.loss_plan_l1_fix_time: 1.0847, d1.loss_plan_l1_fix_dist: 0.1959, d2.loss_plan_l1_fix_time: 1.0766, d2.loss_plan_l1_fix_dist: 0.1948, d3.loss_plan_l1_fix_time: 1.0831, d3.loss_plan_l1_fix_dist: 0.1989, d4.loss_plan_l1_fix_time: 1.0880, d4.loss_plan_l1_fix_dist: 0.2054, d5.loss_plan_l1_fix_time: 1.0931, d5.loss_plan_l1_fix_dist: 0.2124, d6.loss_plan_l1_fix_time: 1.0990, d6.loss_plan_l1_fix_dist: 0.2218, d0.loss_cls_all: 0.2358, d0.loss_bbox_all: 0.4460, d0.loss_cls: 0.2358, d0.loss_bbox: 0.4460, d1.loss_cls: 0.2271, d1.loss_bbox: 0.4135, d2.loss_cls: 0.2101, d2.loss_bbox: 0.3995, d3.loss_cls: 0.1976, d3.loss_bbox: 0.3973, d4.loss_cls: 0.1916, d4.loss_bbox: 0.3956, d5.loss_cls: 0.1897, d5.loss_bbox: 0.3943, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9992, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7628, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7294, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7226, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7147, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7146, d0.loss_map_cls_all: 0.2559, d0.loss_map_pts_all: 1.5178, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2559, d0.loss_map_pts: 1.5178, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2193, d1.loss_map_pts: 1.0505, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.2002, d2.loss_map_pts: 0.8722, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1856, d3.loss_map_pts: 0.7978, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1794, d4.loss_map_pts: 0.7757, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1781, d5.loss_map_pts: 0.7670, d5.loss_map_dir: 0.0098, loss: 30.7302, grad_norm: 161.3807 +2026-02-26 02:35:27,922 - DriveTransformer - INFO - Epoch [6][17950/39528] lr: 8.977e-05, eta: 6 days, 20:13:51, time: 0.854, data_time: 0.050, memory: 19865, loss_cls: 0.1756, loss_bbox: 0.4069, loss_traj: 0.6054, loss_traj_cls: 0.0010, loss_map_cls: 0.1629, loss_map_pts: 0.8049, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.4666, d0.loss_plan_l1_fix_dist: 0.4170, d1.loss_plan_l1_fix_time: 1.0279, d1.loss_plan_l1_fix_dist: 0.2041, d2.loss_plan_l1_fix_time: 1.0149, d2.loss_plan_l1_fix_dist: 0.2046, d3.loss_plan_l1_fix_time: 1.0189, d3.loss_plan_l1_fix_dist: 0.2103, d4.loss_plan_l1_fix_time: 1.0224, d4.loss_plan_l1_fix_dist: 0.2203, d5.loss_plan_l1_fix_time: 1.0265, d5.loss_plan_l1_fix_dist: 0.2304, d6.loss_plan_l1_fix_time: 1.0314, d6.loss_plan_l1_fix_dist: 0.2430, d0.loss_cls_all: 0.2168, d0.loss_bbox_all: 0.4560, d0.loss_cls: 0.2168, d0.loss_bbox: 0.4560, d1.loss_cls: 0.2046, d1.loss_bbox: 0.4287, d2.loss_cls: 0.1905, d2.loss_bbox: 0.4146, d3.loss_cls: 0.1828, d3.loss_bbox: 0.4093, d4.loss_cls: 0.1764, d4.loss_bbox: 0.4083, d5.loss_cls: 0.1762, d5.loss_bbox: 0.4062, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7458, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6522, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6074, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6008, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6070, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6058, d0.loss_map_cls_all: 0.2430, d0.loss_map_pts_all: 1.6001, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2430, d0.loss_map_pts: 1.6001, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2128, d1.loss_map_pts: 1.0831, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1900, d2.loss_map_pts: 0.9031, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1780, d3.loss_map_pts: 0.8344, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1694, d4.loss_map_pts: 0.8127, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1656, d5.loss_map_pts: 0.8069, d5.loss_map_dir: 0.0113, loss: 29.7920, grad_norm: 169.0013 +2026-02-26 02:36:09,873 - DriveTransformer - INFO - Epoch [6][18000/39528] lr: 8.977e-05, eta: 6 days, 20:13:16, time: 0.839, data_time: 0.043, memory: 19865, loss_cls: 0.2063, loss_bbox: 0.4406, loss_traj: 0.7273, loss_traj_cls: 0.0010, loss_map_cls: 0.1880, loss_map_pts: 0.8535, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.7016, d0.loss_plan_l1_fix_dist: 0.3425, d1.loss_plan_l1_fix_time: 1.1635, d1.loss_plan_l1_fix_dist: 0.1903, d2.loss_plan_l1_fix_time: 1.1519, d2.loss_plan_l1_fix_dist: 0.1949, d3.loss_plan_l1_fix_time: 1.1506, d3.loss_plan_l1_fix_dist: 0.2033, d4.loss_plan_l1_fix_time: 1.1531, d4.loss_plan_l1_fix_dist: 0.2124, d5.loss_plan_l1_fix_time: 1.1568, d5.loss_plan_l1_fix_dist: 0.2227, d6.loss_plan_l1_fix_time: 1.1610, d6.loss_plan_l1_fix_dist: 0.2345, d0.loss_cls_all: 0.2414, d0.loss_bbox_all: 0.5007, d0.loss_cls: 0.2414, d0.loss_bbox: 0.5007, d1.loss_cls: 0.2333, d1.loss_bbox: 0.4728, d2.loss_cls: 0.2239, d2.loss_bbox: 0.4560, d3.loss_cls: 0.2127, d3.loss_bbox: 0.4460, d4.loss_cls: 0.2068, d4.loss_bbox: 0.4443, d5.loss_cls: 0.2076, d5.loss_bbox: 0.4412, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9544, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7970, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7366, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7387, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7307, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7250, d0.loss_map_cls_all: 0.2698, d0.loss_map_pts_all: 1.6668, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2698, d0.loss_map_pts: 1.6668, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2367, d1.loss_map_pts: 1.1618, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2159, d2.loss_map_pts: 0.9675, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.2005, d3.loss_map_pts: 0.8950, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1933, d4.loss_map_pts: 0.8680, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1911, d5.loss_map_pts: 0.8549, d5.loss_map_dir: 0.0121, loss: 32.9216, grad_norm: 169.2567 +2026-02-26 02:36:51,507 - DriveTransformer - INFO - Epoch [6][18050/39528] lr: 8.977e-05, eta: 6 days, 20:12:40, time: 0.833, data_time: 0.051, memory: 19865, loss_cls: 0.1735, loss_bbox: 0.3844, loss_traj: 0.7142, loss_traj_cls: 0.0010, loss_map_cls: 0.2070, loss_map_pts: 0.8925, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.8252, d0.loss_plan_l1_fix_dist: 0.4286, d1.loss_plan_l1_fix_time: 1.2959, d1.loss_plan_l1_fix_dist: 0.1800, d2.loss_plan_l1_fix_time: 1.2750, d2.loss_plan_l1_fix_dist: 0.1843, d3.loss_plan_l1_fix_time: 1.2743, d3.loss_plan_l1_fix_dist: 0.1946, d4.loss_plan_l1_fix_time: 1.2772, d4.loss_plan_l1_fix_dist: 0.2051, d5.loss_plan_l1_fix_time: 1.2807, d5.loss_plan_l1_fix_dist: 0.2165, d6.loss_plan_l1_fix_time: 1.2842, d6.loss_plan_l1_fix_dist: 0.2293, d0.loss_cls_all: 0.2077, d0.loss_bbox_all: 0.4570, d0.loss_cls: 0.2077, d0.loss_bbox: 0.4570, d1.loss_cls: 0.1998, d1.loss_bbox: 0.4198, d2.loss_cls: 0.1928, d2.loss_bbox: 0.4008, d3.loss_cls: 0.1804, d3.loss_bbox: 0.3892, d4.loss_cls: 0.1734, d4.loss_bbox: 0.3883, d5.loss_cls: 0.1733, d5.loss_bbox: 0.3839, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9696, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7788, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7173, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7127, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7231, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7159, d0.loss_map_cls_all: 0.2747, d0.loss_map_pts_all: 1.7804, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2747, d0.loss_map_pts: 1.7804, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2475, d1.loss_map_pts: 1.2210, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2322, d2.loss_map_pts: 1.0114, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2191, d3.loss_map_pts: 0.9371, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.2144, d4.loss_map_pts: 0.9033, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.2091, d5.loss_map_pts: 0.8942, d5.loss_map_dir: 0.0121, loss: 33.6694, grad_norm: 166.8352 +2026-02-26 02:37:33,007 - DriveTransformer - INFO - Epoch [6][18100/39528] lr: 8.977e-05, eta: 6 days, 20:12:04, time: 0.830, data_time: 0.042, memory: 19865, loss_cls: 0.1989, loss_bbox: 0.4094, loss_traj: 0.7225, loss_traj_cls: 0.0010, loss_map_cls: 0.1911, loss_map_pts: 0.8142, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.6243, d0.loss_plan_l1_fix_dist: 0.4113, d1.loss_plan_l1_fix_time: 1.3061, d1.loss_plan_l1_fix_dist: 0.1939, d2.loss_plan_l1_fix_time: 1.2903, d2.loss_plan_l1_fix_dist: 0.1955, d3.loss_plan_l1_fix_time: 1.2910, d3.loss_plan_l1_fix_dist: 0.2040, d4.loss_plan_l1_fix_time: 1.2938, d4.loss_plan_l1_fix_dist: 0.2167, d5.loss_plan_l1_fix_time: 1.2969, d5.loss_plan_l1_fix_dist: 0.2331, d6.loss_plan_l1_fix_time: 1.3008, d6.loss_plan_l1_fix_dist: 0.2499, d0.loss_cls_all: 0.2367, d0.loss_bbox_all: 0.4729, d0.loss_cls: 0.2367, d0.loss_bbox: 0.4729, d1.loss_cls: 0.2264, d1.loss_bbox: 0.4358, d2.loss_cls: 0.2144, d2.loss_bbox: 0.4179, d3.loss_cls: 0.2038, d3.loss_bbox: 0.4103, d4.loss_cls: 0.1993, d4.loss_bbox: 0.4084, d5.loss_cls: 0.1987, d5.loss_bbox: 0.4087, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9041, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7742, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7318, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7190, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7169, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7198, d0.loss_map_cls_all: 0.2615, d0.loss_map_pts_all: 1.6399, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2615, d0.loss_map_pts: 1.6399, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2293, d1.loss_map_pts: 1.1012, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2141, d2.loss_map_pts: 0.9107, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2034, d3.loss_map_pts: 0.8461, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1956, d4.loss_map_pts: 0.8201, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1932, d5.loss_map_pts: 0.8146, d5.loss_map_dir: 0.0114, loss: 32.9782, grad_norm: 168.4879 +2026-02-26 02:38:14,449 - DriveTransformer - INFO - Epoch [6][18150/39528] lr: 8.977e-05, eta: 6 days, 20:11:27, time: 0.829, data_time: 0.042, memory: 19865, loss_cls: 0.2271, loss_bbox: 0.4391, loss_traj: 0.6866, loss_traj_cls: 0.0010, loss_map_cls: 0.1961, loss_map_pts: 0.9230, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.9330, d0.loss_plan_l1_fix_dist: 0.3714, d1.loss_plan_l1_fix_time: 1.3234, d1.loss_plan_l1_fix_dist: 0.2060, d2.loss_plan_l1_fix_time: 1.3094, d2.loss_plan_l1_fix_dist: 0.2103, d3.loss_plan_l1_fix_time: 1.3073, d3.loss_plan_l1_fix_dist: 0.2178, d4.loss_plan_l1_fix_time: 1.3098, d4.loss_plan_l1_fix_dist: 0.2290, d5.loss_plan_l1_fix_time: 1.3131, d5.loss_plan_l1_fix_dist: 0.2437, d6.loss_plan_l1_fix_time: 1.3174, d6.loss_plan_l1_fix_dist: 0.2605, d0.loss_cls_all: 0.2676, d0.loss_bbox_all: 0.4961, d0.loss_cls: 0.2676, d0.loss_bbox: 0.4961, d1.loss_cls: 0.2544, d1.loss_bbox: 0.4600, d2.loss_cls: 0.2421, d2.loss_bbox: 0.4464, d3.loss_cls: 0.2351, d3.loss_bbox: 0.4402, d4.loss_cls: 0.2284, d4.loss_bbox: 0.4402, d5.loss_cls: 0.2273, d5.loss_bbox: 0.4396, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8789, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7259, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6998, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6897, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6852, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6804, d0.loss_map_cls_all: 0.2721, d0.loss_map_pts_all: 1.6474, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2721, d0.loss_map_pts: 1.6474, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2404, d1.loss_map_pts: 1.1953, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2173, d2.loss_map_pts: 1.0210, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2077, d3.loss_map_pts: 0.9542, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2000, d4.loss_map_pts: 0.9269, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.1975, d5.loss_map_pts: 0.9238, d5.loss_map_dir: 0.0126, loss: 34.3519, grad_norm: 165.9463 +2026-02-26 02:38:56,364 - DriveTransformer - INFO - Epoch [6][18200/39528] lr: 8.977e-05, eta: 6 days, 20:10:53, time: 0.840, data_time: 0.044, memory: 19865, loss_cls: 0.1768, loss_bbox: 0.3936, loss_traj: 0.6521, loss_traj_cls: 0.0011, loss_map_cls: 0.1964, loss_map_pts: 0.8104, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.8192, d0.loss_plan_l1_fix_dist: 0.3260, d1.loss_plan_l1_fix_time: 1.2998, d1.loss_plan_l1_fix_dist: 0.1896, d2.loss_plan_l1_fix_time: 1.2878, d2.loss_plan_l1_fix_dist: 0.1939, d3.loss_plan_l1_fix_time: 1.2912, d3.loss_plan_l1_fix_dist: 0.2066, d4.loss_plan_l1_fix_time: 1.2947, d4.loss_plan_l1_fix_dist: 0.2219, d5.loss_plan_l1_fix_time: 1.2983, d5.loss_plan_l1_fix_dist: 0.2358, d6.loss_plan_l1_fix_time: 1.3024, d6.loss_plan_l1_fix_dist: 0.2497, d0.loss_cls_all: 0.2242, d0.loss_bbox_all: 0.4515, d0.loss_cls: 0.2242, d0.loss_bbox: 0.4515, d1.loss_cls: 0.2099, d1.loss_bbox: 0.4248, d2.loss_cls: 0.1937, d2.loss_bbox: 0.4064, d3.loss_cls: 0.1810, d3.loss_bbox: 0.4014, d4.loss_cls: 0.1750, d4.loss_bbox: 0.3982, d5.loss_cls: 0.1744, d5.loss_bbox: 0.3961, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7857, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6789, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6418, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6430, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6453, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6452, d0.loss_map_cls_all: 0.2645, d0.loss_map_pts_all: 1.6482, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2645, d0.loss_map_pts: 1.6482, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2359, d1.loss_map_pts: 1.1143, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2157, d2.loss_map_pts: 0.9175, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.2044, d3.loss_map_pts: 0.8488, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.1989, d4.loss_map_pts: 0.8216, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.1963, d5.loss_map_pts: 0.8119, d5.loss_map_dir: 0.0125, loss: 32.2904, grad_norm: 167.8568 +2026-02-26 02:39:37,089 - DriveTransformer - INFO - Epoch [6][18250/39528] lr: 8.977e-05, eta: 6 days, 20:10:13, time: 0.813, data_time: 0.042, memory: 19865, loss_cls: 0.1627, loss_bbox: 0.3551, loss_traj: 0.5971, loss_traj_cls: 0.0010, loss_map_cls: 0.1667, loss_map_pts: 0.7610, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.5598, d0.loss_plan_l1_fix_dist: 0.4993, d1.loss_plan_l1_fix_time: 1.1260, d1.loss_plan_l1_fix_dist: 0.2002, d2.loss_plan_l1_fix_time: 1.1166, d2.loss_plan_l1_fix_dist: 0.2078, d3.loss_plan_l1_fix_time: 1.1199, d3.loss_plan_l1_fix_dist: 0.2199, d4.loss_plan_l1_fix_time: 1.1238, d4.loss_plan_l1_fix_dist: 0.2322, d5.loss_plan_l1_fix_time: 1.1275, d5.loss_plan_l1_fix_dist: 0.2455, d6.loss_plan_l1_fix_time: 1.1311, d6.loss_plan_l1_fix_dist: 0.2612, d0.loss_cls_all: 0.1988, d0.loss_bbox_all: 0.4151, d0.loss_cls: 0.1988, d0.loss_bbox: 0.4151, d1.loss_cls: 0.1905, d1.loss_bbox: 0.3866, d2.loss_cls: 0.1792, d2.loss_bbox: 0.3670, d3.loss_cls: 0.1680, d3.loss_bbox: 0.3605, d4.loss_cls: 0.1633, d4.loss_bbox: 0.3582, d5.loss_cls: 0.1619, d5.loss_bbox: 0.3565, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7449, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6415, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5966, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5868, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5893, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5926, d0.loss_map_cls_all: 0.2174, d0.loss_map_pts_all: 1.5222, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2174, d0.loss_map_pts: 1.5222, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.1968, d1.loss_map_pts: 1.0340, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1846, d2.loss_map_pts: 0.8456, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1735, d3.loss_map_pts: 0.7848, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1710, d4.loss_map_pts: 0.7646, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1670, d5.loss_map_pts: 0.7613, d5.loss_map_dir: 0.0107, loss: 29.5377, grad_norm: 167.0854 +2026-02-26 02:40:15,742 - DriveTransformer - INFO - Epoch [6][18300/39528] lr: 8.977e-05, eta: 6 days, 20:09:27, time: 0.773, data_time: 0.042, memory: 19865, loss_cls: 0.1981, loss_bbox: 0.3976, loss_traj: 0.7796, loss_traj_cls: 0.0010, loss_map_cls: 0.1999, loss_map_pts: 0.7994, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.5003, d0.loss_plan_l1_fix_dist: 0.3762, d1.loss_plan_l1_fix_time: 1.2212, d1.loss_plan_l1_fix_dist: 0.1900, d2.loss_plan_l1_fix_time: 1.2099, d2.loss_plan_l1_fix_dist: 0.1917, d3.loss_plan_l1_fix_time: 1.2143, d3.loss_plan_l1_fix_dist: 0.1985, d4.loss_plan_l1_fix_time: 1.2174, d4.loss_plan_l1_fix_dist: 0.2065, d5.loss_plan_l1_fix_time: 1.2206, d5.loss_plan_l1_fix_dist: 0.2160, d6.loss_plan_l1_fix_time: 1.2237, d6.loss_plan_l1_fix_dist: 0.2255, d0.loss_cls_all: 0.2230, d0.loss_bbox_all: 0.4512, d0.loss_cls: 0.2230, d0.loss_bbox: 0.4512, d1.loss_cls: 0.2197, d1.loss_bbox: 0.4172, d2.loss_cls: 0.2087, d2.loss_bbox: 0.4026, d3.loss_cls: 0.2022, d3.loss_bbox: 0.3965, d4.loss_cls: 0.1990, d4.loss_bbox: 0.3945, d5.loss_cls: 0.1966, d5.loss_bbox: 0.3972, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0220, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8402, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7886, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7773, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7669, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7770, d0.loss_map_cls_all: 0.2627, d0.loss_map_pts_all: 1.5755, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2627, d0.loss_map_pts: 1.5755, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2386, d1.loss_map_pts: 1.0956, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.2217, d2.loss_map_pts: 0.9079, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.2086, d3.loss_map_pts: 0.8363, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.2026, d4.loss_map_pts: 0.8060, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.2006, d5.loss_map_pts: 0.8005, d5.loss_map_dir: 0.0106, loss: 32.4237, grad_norm: 167.3181 +2026-02-26 02:40:54,813 - DriveTransformer - INFO - Epoch [6][18350/39528] lr: 8.977e-05, eta: 6 days, 20:08:43, time: 0.781, data_time: 0.046, memory: 19865, loss_cls: 0.1841, loss_bbox: 0.3688, loss_traj: 0.7195, loss_traj_cls: 0.0010, loss_map_cls: 0.1788, loss_map_pts: 0.7693, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.2631, d0.loss_plan_l1_fix_dist: 0.4400, d1.loss_plan_l1_fix_time: 1.2209, d1.loss_plan_l1_fix_dist: 0.1960, d2.loss_plan_l1_fix_time: 1.2126, d2.loss_plan_l1_fix_dist: 0.1992, d3.loss_plan_l1_fix_time: 1.2160, d3.loss_plan_l1_fix_dist: 0.2114, d4.loss_plan_l1_fix_time: 1.2201, d4.loss_plan_l1_fix_dist: 0.2253, d5.loss_plan_l1_fix_time: 1.2250, d5.loss_plan_l1_fix_dist: 0.2416, d6.loss_plan_l1_fix_time: 1.2306, d6.loss_plan_l1_fix_dist: 0.2590, d0.loss_cls_all: 0.2150, d0.loss_bbox_all: 0.4279, d0.loss_cls: 0.2150, d0.loss_bbox: 0.4279, d1.loss_cls: 0.2060, d1.loss_bbox: 0.3956, d2.loss_cls: 0.1952, d2.loss_bbox: 0.3762, d3.loss_cls: 0.1881, d3.loss_bbox: 0.3701, d4.loss_cls: 0.1842, d4.loss_bbox: 0.3668, d5.loss_cls: 0.1848, d5.loss_bbox: 0.3658, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9114, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7735, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7381, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7306, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7166, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7167, d0.loss_map_cls_all: 0.2503, d0.loss_map_pts_all: 1.4711, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2503, d0.loss_map_pts: 1.4711, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2183, d1.loss_map_pts: 1.0305, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1962, d2.loss_map_pts: 0.8610, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1849, d3.loss_map_pts: 0.7988, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1794, d4.loss_map_pts: 0.7713, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1787, d5.loss_map_pts: 0.7668, d5.loss_map_dir: 0.0100, loss: 30.9974, grad_norm: 167.2445 +2026-02-26 02:41:34,450 - DriveTransformer - INFO - Epoch [6][18400/39528] lr: 8.977e-05, eta: 6 days, 20:08:00, time: 0.793, data_time: 0.036, memory: 19865, loss_cls: 0.1830, loss_bbox: 0.3973, loss_traj: 0.6465, loss_traj_cls: 0.0010, loss_map_cls: 0.1990, loss_map_pts: 0.9420, loss_map_dir: 0.0131, d0.loss_plan_l1_fix_time: 2.3778, d0.loss_plan_l1_fix_dist: 0.4098, d1.loss_plan_l1_fix_time: 1.1726, d1.loss_plan_l1_fix_dist: 0.1754, d2.loss_plan_l1_fix_time: 1.1654, d2.loss_plan_l1_fix_dist: 0.1802, d3.loss_plan_l1_fix_time: 1.1691, d3.loss_plan_l1_fix_dist: 0.1909, d4.loss_plan_l1_fix_time: 1.1741, d4.loss_plan_l1_fix_dist: 0.2019, d5.loss_plan_l1_fix_time: 1.1802, d5.loss_plan_l1_fix_dist: 0.2170, d6.loss_plan_l1_fix_time: 1.1872, d6.loss_plan_l1_fix_dist: 0.2335, d0.loss_cls_all: 0.2198, d0.loss_bbox_all: 0.4540, d0.loss_cls: 0.2198, d0.loss_bbox: 0.4540, d1.loss_cls: 0.2132, d1.loss_bbox: 0.4187, d2.loss_cls: 0.1971, d2.loss_bbox: 0.4037, d3.loss_cls: 0.1894, d3.loss_bbox: 0.3953, d4.loss_cls: 0.1846, d4.loss_bbox: 0.3945, d5.loss_cls: 0.1825, d5.loss_bbox: 0.3965, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8033, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6876, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6459, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6434, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6392, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6425, d0.loss_map_cls_all: 0.2656, d0.loss_map_pts_all: 1.8208, d0.loss_map_dir_all: 0.0122, d0.loss_map_cls: 0.2656, d0.loss_map_pts: 1.8208, d0.loss_map_dir: 0.0122, d1.loss_map_cls: 0.2379, d1.loss_map_pts: 1.2648, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2224, d2.loss_map_pts: 1.0589, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2122, d3.loss_map_pts: 0.9833, d3.loss_map_dir: 0.0124, d4.loss_map_cls: 0.2068, d4.loss_map_pts: 0.9551, d4.loss_map_dir: 0.0128, d5.loss_map_cls: 0.2016, d5.loss_map_pts: 0.9445, d5.loss_map_dir: 0.0130, loss: 32.3553, grad_norm: 166.9893 +2026-02-26 02:42:13,843 - DriveTransformer - INFO - Epoch [6][18450/39528] lr: 8.977e-05, eta: 6 days, 20:07:17, time: 0.788, data_time: 0.043, memory: 19865, loss_cls: 0.1780, loss_bbox: 0.3759, loss_traj: 0.6146, loss_traj_cls: 0.0011, loss_map_cls: 0.1919, loss_map_pts: 0.8229, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 1.8643, d0.loss_plan_l1_fix_dist: 0.4280, d1.loss_plan_l1_fix_time: 1.0170, d1.loss_plan_l1_fix_dist: 0.1679, d2.loss_plan_l1_fix_time: 1.0108, d2.loss_plan_l1_fix_dist: 0.1755, d3.loss_plan_l1_fix_time: 1.0097, d3.loss_plan_l1_fix_dist: 0.1888, d4.loss_plan_l1_fix_time: 1.0124, d4.loss_plan_l1_fix_dist: 0.2041, d5.loss_plan_l1_fix_time: 1.0159, d5.loss_plan_l1_fix_dist: 0.2211, d6.loss_plan_l1_fix_time: 1.0203, d6.loss_plan_l1_fix_dist: 0.2393, d0.loss_cls_all: 0.2113, d0.loss_bbox_all: 0.4342, d0.loss_cls: 0.2113, d0.loss_bbox: 0.4342, d1.loss_cls: 0.2044, d1.loss_bbox: 0.3998, d2.loss_cls: 0.1907, d2.loss_bbox: 0.3850, d3.loss_cls: 0.1837, d3.loss_bbox: 0.3771, d4.loss_cls: 0.1793, d4.loss_bbox: 0.3748, d5.loss_cls: 0.1771, d5.loss_bbox: 0.3755, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8078, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6657, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6266, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6146, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6152, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6169, d0.loss_map_cls_all: 0.2695, d0.loss_map_pts_all: 1.6688, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2695, d0.loss_map_pts: 1.6688, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2360, d1.loss_map_pts: 1.1632, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2191, d2.loss_map_pts: 0.9601, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.2067, d3.loss_map_pts: 0.8784, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1982, d4.loss_map_pts: 0.8419, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1939, d5.loss_map_pts: 0.8267, d5.loss_map_dir: 0.0109, loss: 29.5347, grad_norm: 166.9607 +2026-02-26 02:42:54,156 - DriveTransformer - INFO - Epoch [6][18500/39528] lr: 8.977e-05, eta: 6 days, 20:06:36, time: 0.806, data_time: 0.039, memory: 19865, loss_cls: 0.1821, loss_bbox: 0.3654, loss_traj: 0.6914, loss_traj_cls: 0.0010, loss_map_cls: 0.1757, loss_map_pts: 0.7811, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.6274, d0.loss_plan_l1_fix_dist: 0.3705, d1.loss_plan_l1_fix_time: 1.2370, d1.loss_plan_l1_fix_dist: 0.1799, d2.loss_plan_l1_fix_time: 1.2294, d2.loss_plan_l1_fix_dist: 0.1872, d3.loss_plan_l1_fix_time: 1.2313, d3.loss_plan_l1_fix_dist: 0.2013, d4.loss_plan_l1_fix_time: 1.2367, d4.loss_plan_l1_fix_dist: 0.2175, d5.loss_plan_l1_fix_time: 1.2429, d5.loss_plan_l1_fix_dist: 0.2344, d6.loss_plan_l1_fix_time: 1.2495, d6.loss_plan_l1_fix_dist: 0.2540, d0.loss_cls_all: 0.2178, d0.loss_bbox_all: 0.4219, d0.loss_cls: 0.2178, d0.loss_bbox: 0.4219, d1.loss_cls: 0.2094, d1.loss_bbox: 0.3909, d2.loss_cls: 0.2005, d2.loss_bbox: 0.3731, d3.loss_cls: 0.1902, d3.loss_bbox: 0.3659, d4.loss_cls: 0.1844, d4.loss_bbox: 0.3634, d5.loss_cls: 0.1812, d5.loss_bbox: 0.3645, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8337, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7099, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6752, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6802, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6817, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6876, d0.loss_map_cls_all: 0.2390, d0.loss_map_pts_all: 1.6696, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2390, d0.loss_map_pts: 1.6696, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2153, d1.loss_map_pts: 1.1122, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.1938, d2.loss_map_pts: 0.8987, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.1860, d3.loss_map_pts: 0.8203, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1795, d4.loss_map_pts: 0.7937, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.1763, d5.loss_map_pts: 0.7809, d5.loss_map_dir: 0.0120, loss: 31.5390, grad_norm: 169.6173 +2026-02-26 02:43:32,993 - DriveTransformer - INFO - Epoch [6][18550/39528] lr: 8.977e-05, eta: 6 days, 20:05:51, time: 0.777, data_time: 0.037, memory: 19865, loss_cls: 0.1703, loss_bbox: 0.3775, loss_traj: 0.6684, loss_traj_cls: 0.0010, loss_map_cls: 0.1477, loss_map_pts: 0.6944, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.7948, d0.loss_plan_l1_fix_dist: 0.4831, d1.loss_plan_l1_fix_time: 1.2984, d1.loss_plan_l1_fix_dist: 0.1948, d2.loss_plan_l1_fix_time: 1.2872, d2.loss_plan_l1_fix_dist: 0.2006, d3.loss_plan_l1_fix_time: 1.2888, d3.loss_plan_l1_fix_dist: 0.2089, d4.loss_plan_l1_fix_time: 1.2936, d4.loss_plan_l1_fix_dist: 0.2200, d5.loss_plan_l1_fix_time: 1.2994, d5.loss_plan_l1_fix_dist: 0.2309, d6.loss_plan_l1_fix_time: 1.3060, d6.loss_plan_l1_fix_dist: 0.2424, d0.loss_cls_all: 0.2068, d0.loss_bbox_all: 0.4381, d0.loss_cls: 0.2068, d0.loss_bbox: 0.4381, d1.loss_cls: 0.1979, d1.loss_bbox: 0.4056, d2.loss_cls: 0.1839, d2.loss_bbox: 0.3883, d3.loss_cls: 0.1760, d3.loss_bbox: 0.3790, d4.loss_cls: 0.1702, d4.loss_bbox: 0.3783, d5.loss_cls: 0.1698, d5.loss_bbox: 0.3777, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8609, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7160, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6807, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6723, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6703, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6687, d0.loss_map_cls_all: 0.2131, d0.loss_map_pts_all: 1.4516, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2131, d0.loss_map_pts: 1.4516, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1794, d1.loss_map_pts: 0.9721, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1633, d2.loss_map_pts: 0.7962, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1585, d3.loss_map_pts: 0.7291, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1536, d4.loss_map_pts: 0.7033, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1492, d5.loss_map_pts: 0.6947, d5.loss_map_dir: 0.0101, loss: 30.9074, grad_norm: 170.3516 +2026-02-26 02:44:12,480 - DriveTransformer - INFO - Epoch [6][18600/39528] lr: 8.977e-05, eta: 6 days, 20:05:08, time: 0.790, data_time: 0.043, memory: 19865, loss_cls: 0.2031, loss_bbox: 0.4266, loss_traj: 0.8445, loss_traj_cls: 0.0010, loss_map_cls: 0.1881, loss_map_pts: 0.8810, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.7894, d0.loss_plan_l1_fix_dist: 0.4605, d1.loss_plan_l1_fix_time: 1.3786, d1.loss_plan_l1_fix_dist: 0.2381, d2.loss_plan_l1_fix_time: 1.3545, d2.loss_plan_l1_fix_dist: 0.2427, d3.loss_plan_l1_fix_time: 1.3507, d3.loss_plan_l1_fix_dist: 0.2532, d4.loss_plan_l1_fix_time: 1.3528, d4.loss_plan_l1_fix_dist: 0.2646, d5.loss_plan_l1_fix_time: 1.3554, d5.loss_plan_l1_fix_dist: 0.2786, d6.loss_plan_l1_fix_time: 1.3578, d6.loss_plan_l1_fix_dist: 0.2931, d0.loss_cls_all: 0.2422, d0.loss_bbox_all: 0.4754, d0.loss_cls: 0.2422, d0.loss_bbox: 0.4754, d1.loss_cls: 0.2367, d1.loss_bbox: 0.4455, d2.loss_cls: 0.2213, d2.loss_bbox: 0.4305, d3.loss_cls: 0.2101, d3.loss_bbox: 0.4262, d4.loss_cls: 0.2063, d4.loss_bbox: 0.4248, d5.loss_cls: 0.2032, d5.loss_bbox: 0.4265, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0705, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9049, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8808, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8461, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8417, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8464, d0.loss_map_cls_all: 0.2654, d0.loss_map_pts_all: 1.7722, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2654, d0.loss_map_pts: 1.7722, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2333, d1.loss_map_pts: 1.2361, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.2088, d2.loss_map_pts: 1.0157, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1986, d3.loss_map_pts: 0.9328, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1927, d4.loss_map_pts: 0.8971, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1889, d5.loss_map_pts: 0.8856, d5.loss_map_dir: 0.0109, loss: 35.7260, grad_norm: 169.8769 +2026-02-26 02:44:50,281 - DriveTransformer - INFO - Epoch [6][18650/39528] lr: 8.977e-05, eta: 6 days, 20:04:19, time: 0.756, data_time: 0.045, memory: 19865, loss_cls: 0.1804, loss_bbox: 0.3667, loss_traj: 0.6480, loss_traj_cls: 0.0010, loss_map_cls: 0.2010, loss_map_pts: 0.7738, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.6544, d0.loss_plan_l1_fix_dist: 0.4617, d1.loss_plan_l1_fix_time: 1.2030, d1.loss_plan_l1_fix_dist: 0.1881, d2.loss_plan_l1_fix_time: 1.1704, d2.loss_plan_l1_fix_dist: 0.1895, d3.loss_plan_l1_fix_time: 1.1587, d3.loss_plan_l1_fix_dist: 0.2007, d4.loss_plan_l1_fix_time: 1.1621, d4.loss_plan_l1_fix_dist: 0.2144, d5.loss_plan_l1_fix_time: 1.1666, d5.loss_plan_l1_fix_dist: 0.2309, d6.loss_plan_l1_fix_time: 1.1716, d6.loss_plan_l1_fix_dist: 0.2512, d0.loss_cls_all: 0.2227, d0.loss_bbox_all: 0.4067, d0.loss_cls: 0.2227, d0.loss_bbox: 0.4067, d1.loss_cls: 0.2148, d1.loss_bbox: 0.3800, d2.loss_cls: 0.2005, d2.loss_bbox: 0.3673, d3.loss_cls: 0.1902, d3.loss_bbox: 0.3642, d4.loss_cls: 0.1831, d4.loss_bbox: 0.3657, d5.loss_cls: 0.1801, d5.loss_bbox: 0.3663, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8186, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7005, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6537, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6477, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6443, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6409, d0.loss_map_cls_all: 0.2671, d0.loss_map_pts_all: 1.4615, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2671, d0.loss_map_pts: 1.4615, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2425, d1.loss_map_pts: 1.0414, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.2226, d2.loss_map_pts: 0.8616, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.2081, d3.loss_map_pts: 0.8078, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.2044, d4.loss_map_pts: 0.7807, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.2002, d5.loss_map_pts: 0.7758, d5.loss_map_dir: 0.0097, loss: 30.6544, grad_norm: 172.4905 +2026-02-26 02:45:28,704 - DriveTransformer - INFO - Epoch [6][18700/39528] lr: 8.977e-05, eta: 6 days, 20:03:32, time: 0.768, data_time: 0.040, memory: 19865, loss_cls: 0.2001, loss_bbox: 0.3992, loss_traj: 0.7928, loss_traj_cls: 0.0010, loss_map_cls: 0.1966, loss_map_pts: 0.9308, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.7293, d0.loss_plan_l1_fix_dist: 0.4874, d1.loss_plan_l1_fix_time: 1.3172, d1.loss_plan_l1_fix_dist: 0.2104, d2.loss_plan_l1_fix_time: 1.2965, d2.loss_plan_l1_fix_dist: 0.2056, d3.loss_plan_l1_fix_time: 1.2980, d3.loss_plan_l1_fix_dist: 0.2133, d4.loss_plan_l1_fix_time: 1.3043, d4.loss_plan_l1_fix_dist: 0.2224, d5.loss_plan_l1_fix_time: 1.3110, d5.loss_plan_l1_fix_dist: 0.2335, d6.loss_plan_l1_fix_time: 1.3180, d6.loss_plan_l1_fix_dist: 0.2475, d0.loss_cls_all: 0.2363, d0.loss_bbox_all: 0.4510, d0.loss_cls: 0.2363, d0.loss_bbox: 0.4510, d1.loss_cls: 0.2277, d1.loss_bbox: 0.4184, d2.loss_cls: 0.2134, d2.loss_bbox: 0.4052, d3.loss_cls: 0.2060, d3.loss_bbox: 0.4005, d4.loss_cls: 0.2002, d4.loss_bbox: 0.3986, d5.loss_cls: 0.1999, d5.loss_bbox: 0.3979, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1022, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8851, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8193, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7973, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7929, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7928, d0.loss_map_cls_all: 0.2609, d0.loss_map_pts_all: 1.6729, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2609, d0.loss_map_pts: 1.6729, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2303, d1.loss_map_pts: 1.1834, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2154, d2.loss_map_pts: 1.0156, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.2055, d3.loss_map_pts: 0.9571, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.2013, d4.loss_map_pts: 0.9396, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.1985, d5.loss_map_pts: 0.9336, d5.loss_map_dir: 0.0125, loss: 34.5972, grad_norm: 172.3292 +2026-02-26 02:46:06,642 - DriveTransformer - INFO - Epoch [6][18750/39528] lr: 8.977e-05, eta: 6 days, 20:02:44, time: 0.759, data_time: 0.044, memory: 19865, loss_cls: 0.1805, loss_bbox: 0.3817, loss_traj: 0.7459, loss_traj_cls: 0.0010, loss_map_cls: 0.1706, loss_map_pts: 0.7466, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.8929, d0.loss_plan_l1_fix_dist: 0.4185, d1.loss_plan_l1_fix_time: 1.1167, d1.loss_plan_l1_fix_dist: 0.2068, d2.loss_plan_l1_fix_time: 1.1069, d2.loss_plan_l1_fix_dist: 0.2084, d3.loss_plan_l1_fix_time: 1.1075, d3.loss_plan_l1_fix_dist: 0.2128, d4.loss_plan_l1_fix_time: 1.1119, d4.loss_plan_l1_fix_dist: 0.2212, d5.loss_plan_l1_fix_time: 1.1162, d5.loss_plan_l1_fix_dist: 0.2312, d6.loss_plan_l1_fix_time: 1.1208, d6.loss_plan_l1_fix_dist: 0.2414, d0.loss_cls_all: 0.2110, d0.loss_bbox_all: 0.4340, d0.loss_cls: 0.2110, d0.loss_bbox: 0.4340, d1.loss_cls: 0.2045, d1.loss_bbox: 0.4047, d2.loss_cls: 0.1951, d2.loss_bbox: 0.3880, d3.loss_cls: 0.1872, d3.loss_bbox: 0.3850, d4.loss_cls: 0.1818, d4.loss_bbox: 0.3822, d5.loss_cls: 0.1803, d5.loss_bbox: 0.3811, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9662, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8135, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7583, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7497, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7438, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7456, d0.loss_map_cls_all: 0.2420, d0.loss_map_pts_all: 1.4531, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2420, d0.loss_map_pts: 1.4531, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2191, d1.loss_map_pts: 1.0181, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1965, d2.loss_map_pts: 0.8476, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1839, d3.loss_map_pts: 0.7846, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1776, d4.loss_map_pts: 0.7576, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1736, d5.loss_map_pts: 0.7483, d5.loss_map_dir: 0.0102, loss: 31.0772, grad_norm: 171.5901 +2026-02-26 02:46:45,235 - DriveTransformer - INFO - Epoch [6][18800/39528] lr: 8.977e-05, eta: 6 days, 20:01:58, time: 0.772, data_time: 0.037, memory: 19865, loss_cls: 0.1807, loss_bbox: 0.3906, loss_traj: 0.7096, loss_traj_cls: 0.0010, loss_map_cls: 0.2161, loss_map_pts: 0.8673, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.8504, d0.loss_plan_l1_fix_dist: 0.3327, d1.loss_plan_l1_fix_time: 1.2699, d1.loss_plan_l1_fix_dist: 0.1724, d2.loss_plan_l1_fix_time: 1.2508, d2.loss_plan_l1_fix_dist: 0.1784, d3.loss_plan_l1_fix_time: 1.2481, d3.loss_plan_l1_fix_dist: 0.1873, d4.loss_plan_l1_fix_time: 1.2495, d4.loss_plan_l1_fix_dist: 0.1944, d5.loss_plan_l1_fix_time: 1.2518, d5.loss_plan_l1_fix_dist: 0.2033, d6.loss_plan_l1_fix_time: 1.2550, d6.loss_plan_l1_fix_dist: 0.2167, d0.loss_cls_all: 0.2295, d0.loss_bbox_all: 0.4464, d0.loss_cls: 0.2295, d0.loss_bbox: 0.4464, d1.loss_cls: 0.2178, d1.loss_bbox: 0.4146, d2.loss_cls: 0.2038, d2.loss_bbox: 0.3957, d3.loss_cls: 0.1900, d3.loss_bbox: 0.3897, d4.loss_cls: 0.1840, d4.loss_bbox: 0.3876, d5.loss_cls: 0.1814, d5.loss_bbox: 0.3883, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9375, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7802, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7287, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7239, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7172, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7112, d0.loss_map_cls_all: 0.2831, d0.loss_map_pts_all: 1.6152, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2831, d0.loss_map_pts: 1.6152, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2606, d1.loss_map_pts: 1.1209, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2404, d2.loss_map_pts: 0.9540, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.2280, d3.loss_map_pts: 0.8962, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.2216, d4.loss_map_pts: 0.8756, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.2182, d5.loss_map_pts: 0.8675, d5.loss_map_dir: 0.0120, loss: 32.9061, grad_norm: 170.9588 +2026-02-26 02:47:23,788 - DriveTransformer - INFO - Epoch [6][18850/39528] lr: 8.977e-05, eta: 6 days, 20:01:11, time: 0.771, data_time: 0.042, memory: 19865, loss_cls: 0.1746, loss_bbox: 0.3821, loss_traj: 0.8476, loss_traj_cls: 0.0010, loss_map_cls: 0.1509, loss_map_pts: 0.6972, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.8350, d0.loss_plan_l1_fix_dist: 0.3657, d1.loss_plan_l1_fix_time: 1.3292, d1.loss_plan_l1_fix_dist: 0.1949, d2.loss_plan_l1_fix_time: 1.3218, d2.loss_plan_l1_fix_dist: 0.1960, d3.loss_plan_l1_fix_time: 1.3240, d3.loss_plan_l1_fix_dist: 0.2032, d4.loss_plan_l1_fix_time: 1.3254, d4.loss_plan_l1_fix_dist: 0.2139, d5.loss_plan_l1_fix_time: 1.3275, d5.loss_plan_l1_fix_dist: 0.2287, d6.loss_plan_l1_fix_time: 1.3303, d6.loss_plan_l1_fix_dist: 0.2472, d0.loss_cls_all: 0.2101, d0.loss_bbox_all: 0.4352, d0.loss_cls: 0.2101, d0.loss_bbox: 0.4352, d1.loss_cls: 0.2064, d1.loss_bbox: 0.3993, d2.loss_cls: 0.1916, d2.loss_bbox: 0.3836, d3.loss_cls: 0.1823, d3.loss_bbox: 0.3787, d4.loss_cls: 0.1770, d4.loss_bbox: 0.3781, d5.loss_cls: 0.1746, d5.loss_bbox: 0.3804, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0890, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9038, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8554, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8624, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8554, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8559, d0.loss_map_cls_all: 0.2270, d0.loss_map_pts_all: 1.4330, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2270, d0.loss_map_pts: 1.4330, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1961, d1.loss_map_pts: 0.9548, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1739, d2.loss_map_pts: 0.7954, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1635, d3.loss_map_pts: 0.7352, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1559, d4.loss_map_pts: 0.7077, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1526, d5.loss_map_pts: 0.6944, d5.loss_map_dir: 0.0096, loss: 32.3930, grad_norm: 170.5878 +2026-02-26 02:48:01,886 - DriveTransformer - INFO - Epoch [6][18900/39528] lr: 8.977e-05, eta: 6 days, 20:00:23, time: 0.762, data_time: 0.042, memory: 19865, loss_cls: 0.1718, loss_bbox: 0.3642, loss_traj: 0.6310, loss_traj_cls: 0.0011, loss_map_cls: 0.1712, loss_map_pts: 0.7326, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.6789, d0.loss_plan_l1_fix_dist: 0.4081, d1.loss_plan_l1_fix_time: 1.2422, d1.loss_plan_l1_fix_dist: 0.1923, d2.loss_plan_l1_fix_time: 1.2330, d2.loss_plan_l1_fix_dist: 0.1978, d3.loss_plan_l1_fix_time: 1.2350, d3.loss_plan_l1_fix_dist: 0.2088, d4.loss_plan_l1_fix_time: 1.2384, d4.loss_plan_l1_fix_dist: 0.2238, d5.loss_plan_l1_fix_time: 1.2426, d5.loss_plan_l1_fix_dist: 0.2403, d6.loss_plan_l1_fix_time: 1.2477, d6.loss_plan_l1_fix_dist: 0.2570, d0.loss_cls_all: 0.2053, d0.loss_bbox_all: 0.4299, d0.loss_cls: 0.2053, d0.loss_bbox: 0.4299, d1.loss_cls: 0.1979, d1.loss_bbox: 0.3904, d2.loss_cls: 0.1849, d2.loss_bbox: 0.3726, d3.loss_cls: 0.1748, d3.loss_bbox: 0.3695, d4.loss_cls: 0.1728, d4.loss_bbox: 0.3640, d5.loss_cls: 0.1707, d5.loss_bbox: 0.3644, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9759, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6989, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6441, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6611, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6289, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6533, d0.loss_map_cls_all: 0.2432, d0.loss_map_pts_all: 1.3350, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2432, d0.loss_map_pts: 1.3350, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2103, d1.loss_map_pts: 0.9649, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1932, d2.loss_map_pts: 0.8248, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1835, d3.loss_map_pts: 0.7686, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1777, d4.loss_map_pts: 0.7430, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1730, d5.loss_map_pts: 0.7345, d5.loss_map_dir: 0.0092, loss: 30.4202, grad_norm: 169.8460 +2026-02-26 02:48:41,661 - DriveTransformer - INFO - Epoch [6][18950/39528] lr: 8.977e-05, eta: 6 days, 19:59:41, time: 0.795, data_time: 0.034, memory: 19865, loss_cls: 0.1986, loss_bbox: 0.4211, loss_traj: 0.6989, loss_traj_cls: 0.0010, loss_map_cls: 0.2061, loss_map_pts: 1.0000, loss_map_dir: 0.0138, d0.loss_plan_l1_fix_time: 2.4630, d0.loss_plan_l1_fix_dist: 0.3844, d1.loss_plan_l1_fix_time: 1.1607, d1.loss_plan_l1_fix_dist: 0.1893, d2.loss_plan_l1_fix_time: 1.1544, d2.loss_plan_l1_fix_dist: 0.1951, d3.loss_plan_l1_fix_time: 1.1596, d3.loss_plan_l1_fix_dist: 0.2040, d4.loss_plan_l1_fix_time: 1.1643, d4.loss_plan_l1_fix_dist: 0.2157, d5.loss_plan_l1_fix_time: 1.1693, d5.loss_plan_l1_fix_dist: 0.2289, d6.loss_plan_l1_fix_time: 1.1750, d6.loss_plan_l1_fix_dist: 0.2441, d0.loss_cls_all: 0.2361, d0.loss_bbox_all: 0.4833, d0.loss_cls: 0.2361, d0.loss_bbox: 0.4833, d1.loss_cls: 0.2318, d1.loss_bbox: 0.4466, d2.loss_cls: 0.2157, d2.loss_bbox: 0.4304, d3.loss_cls: 0.2070, d3.loss_bbox: 0.4242, d4.loss_cls: 0.2016, d4.loss_bbox: 0.4210, d5.loss_cls: 0.1993, d5.loss_bbox: 0.4203, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9444, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7640, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7135, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6982, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6935, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6937, d0.loss_map_cls_all: 0.2730, d0.loss_map_pts_all: 1.8889, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.2730, d0.loss_map_pts: 1.8889, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2451, d1.loss_map_pts: 1.3242, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2284, d2.loss_map_pts: 1.1273, d2.loss_map_dir: 0.0122, d3.loss_map_cls: 0.2174, d3.loss_map_pts: 1.0522, d3.loss_map_dir: 0.0129, d4.loss_map_cls: 0.2128, d4.loss_map_pts: 1.0130, d4.loss_map_dir: 0.0136, d5.loss_map_cls: 0.2090, d5.loss_map_pts: 1.0033, d5.loss_map_dir: 0.0137, loss: 33.8434, grad_norm: 170.9774 +2026-02-26 02:49:19,329 - DriveTransformer - INFO - Epoch [6][19000/39528] lr: 8.977e-05, eta: 6 days, 19:58:52, time: 0.755, data_time: 0.043, memory: 19865, loss_cls: 0.1993, loss_bbox: 0.4130, loss_traj: 0.8394, loss_traj_cls: 0.0010, loss_map_cls: 0.1937, loss_map_pts: 0.8021, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.6848, d0.loss_plan_l1_fix_dist: 0.3717, d1.loss_plan_l1_fix_time: 1.3929, d1.loss_plan_l1_fix_dist: 0.1846, d2.loss_plan_l1_fix_time: 1.3779, d2.loss_plan_l1_fix_dist: 0.1886, d3.loss_plan_l1_fix_time: 1.3799, d3.loss_plan_l1_fix_dist: 0.1989, d4.loss_plan_l1_fix_time: 1.3833, d4.loss_plan_l1_fix_dist: 0.2100, d5.loss_plan_l1_fix_time: 1.3873, d5.loss_plan_l1_fix_dist: 0.2242, d6.loss_plan_l1_fix_time: 1.3924, d6.loss_plan_l1_fix_dist: 0.2431, d0.loss_cls_all: 0.2465, d0.loss_bbox_all: 0.4762, d0.loss_cls: 0.2465, d0.loss_bbox: 0.4762, d1.loss_cls: 0.2360, d1.loss_bbox: 0.4409, d2.loss_cls: 0.2154, d2.loss_bbox: 0.4266, d3.loss_cls: 0.2056, d3.loss_bbox: 0.4206, d4.loss_cls: 0.2006, d4.loss_bbox: 0.4154, d5.loss_cls: 0.1993, d5.loss_bbox: 0.4144, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1132, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9110, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8449, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8385, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8389, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8360, d0.loss_map_cls_all: 0.2631, d0.loss_map_pts_all: 1.5882, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2631, d0.loss_map_pts: 1.5882, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2367, d1.loss_map_pts: 1.1067, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2148, d2.loss_map_pts: 0.9218, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.2043, d3.loss_map_pts: 0.8423, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1991, d4.loss_map_pts: 0.8106, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1943, d5.loss_map_pts: 0.8056, d5.loss_map_dir: 0.0108, loss: 34.3991, grad_norm: 175.0285 +2026-02-26 02:49:56,876 - DriveTransformer - INFO - Epoch [6][19050/39528] lr: 8.977e-05, eta: 6 days, 19:58:02, time: 0.750, data_time: 0.039, memory: 19865, loss_cls: 0.2029, loss_bbox: 0.3945, loss_traj: 0.7355, loss_traj_cls: 0.0010, loss_map_cls: 0.1998, loss_map_pts: 0.8532, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.6824, d0.loss_plan_l1_fix_dist: 0.4013, d1.loss_plan_l1_fix_time: 1.2037, d1.loss_plan_l1_fix_dist: 0.1869, d2.loss_plan_l1_fix_time: 1.1937, d2.loss_plan_l1_fix_dist: 0.1919, d3.loss_plan_l1_fix_time: 1.1961, d3.loss_plan_l1_fix_dist: 0.2025, d4.loss_plan_l1_fix_time: 1.2022, d4.loss_plan_l1_fix_dist: 0.2138, d5.loss_plan_l1_fix_time: 1.2098, d5.loss_plan_l1_fix_dist: 0.2276, d6.loss_plan_l1_fix_time: 1.2185, d6.loss_plan_l1_fix_dist: 0.2435, d0.loss_cls_all: 0.2375, d0.loss_bbox_all: 0.4520, d0.loss_cls: 0.2375, d0.loss_bbox: 0.4520, d1.loss_cls: 0.2287, d1.loss_bbox: 0.4205, d2.loss_cls: 0.2174, d2.loss_bbox: 0.4022, d3.loss_cls: 0.2100, d3.loss_bbox: 0.3934, d4.loss_cls: 0.2029, d4.loss_bbox: 0.3916, d5.loss_cls: 0.2025, d5.loss_bbox: 0.3917, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9664, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8132, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7474, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7401, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7361, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7320, d0.loss_map_cls_all: 0.2688, d0.loss_map_pts_all: 1.6931, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2688, d0.loss_map_pts: 1.6931, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2439, d1.loss_map_pts: 1.1956, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.2251, d2.loss_map_pts: 0.9909, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.2135, d3.loss_map_pts: 0.9036, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.2054, d4.loss_map_pts: 0.8687, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.2028, d5.loss_map_pts: 0.8549, d5.loss_map_dir: 0.0108, loss: 33.0514, grad_norm: 169.2144 +2026-02-26 02:50:35,706 - DriveTransformer - INFO - Epoch [6][19100/39528] lr: 8.977e-05, eta: 6 days, 19:57:17, time: 0.777, data_time: 0.036, memory: 19865, loss_cls: 0.1819, loss_bbox: 0.3727, loss_traj: 0.7313, loss_traj_cls: 0.0010, loss_map_cls: 0.1769, loss_map_pts: 0.7544, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.5748, d0.loss_plan_l1_fix_dist: 0.3749, d1.loss_plan_l1_fix_time: 1.2402, d1.loss_plan_l1_fix_dist: 0.1932, d2.loss_plan_l1_fix_time: 1.2201, d2.loss_plan_l1_fix_dist: 0.2005, d3.loss_plan_l1_fix_time: 1.2204, d3.loss_plan_l1_fix_dist: 0.2096, d4.loss_plan_l1_fix_time: 1.2243, d4.loss_plan_l1_fix_dist: 0.2234, d5.loss_plan_l1_fix_time: 1.2292, d5.loss_plan_l1_fix_dist: 0.2379, d6.loss_plan_l1_fix_time: 1.2355, d6.loss_plan_l1_fix_dist: 0.2541, d0.loss_cls_all: 0.2192, d0.loss_bbox_all: 0.4289, d0.loss_cls: 0.2192, d0.loss_bbox: 0.4289, d1.loss_cls: 0.2133, d1.loss_bbox: 0.3943, d2.loss_cls: 0.2004, d2.loss_bbox: 0.3790, d3.loss_cls: 0.1892, d3.loss_bbox: 0.3740, d4.loss_cls: 0.1836, d4.loss_bbox: 0.3715, d5.loss_cls: 0.1819, d5.loss_bbox: 0.3716, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9653, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7914, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7451, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7361, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7325, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7304, d0.loss_map_cls_all: 0.2497, d0.loss_map_pts_all: 1.4401, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2497, d0.loss_map_pts: 1.4401, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2206, d1.loss_map_pts: 1.0054, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1990, d2.loss_map_pts: 0.8481, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1857, d3.loss_map_pts: 0.7859, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1820, d4.loss_map_pts: 0.7606, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1779, d5.loss_map_pts: 0.7560, d5.loss_map_dir: 0.0102, loss: 31.2961, grad_norm: 162.3104 +2026-02-26 02:51:16,488 - DriveTransformer - INFO - Epoch [6][19150/39528] lr: 8.977e-05, eta: 6 days, 19:56:38, time: 0.816, data_time: 0.037, memory: 19865, loss_cls: 0.2206, loss_bbox: 0.4086, loss_traj: 0.5762, loss_traj_cls: 0.0010, loss_map_cls: 0.2149, loss_map_pts: 0.9293, loss_map_dir: 0.0135, d0.loss_plan_l1_fix_time: 2.2871, d0.loss_plan_l1_fix_dist: 0.3597, d1.loss_plan_l1_fix_time: 1.2720, d1.loss_plan_l1_fix_dist: 0.1991, d2.loss_plan_l1_fix_time: 1.2720, d2.loss_plan_l1_fix_dist: 0.2041, d3.loss_plan_l1_fix_time: 1.2710, d3.loss_plan_l1_fix_dist: 0.2142, d4.loss_plan_l1_fix_time: 1.2752, d4.loss_plan_l1_fix_dist: 0.2287, d5.loss_plan_l1_fix_time: 1.2801, d5.loss_plan_l1_fix_dist: 0.2450, d6.loss_plan_l1_fix_time: 1.2858, d6.loss_plan_l1_fix_dist: 0.2615, d0.loss_cls_all: 0.2468, d0.loss_bbox_all: 0.4686, d0.loss_cls: 0.2468, d0.loss_bbox: 0.4686, d1.loss_cls: 0.2455, d1.loss_bbox: 0.4351, d2.loss_cls: 0.2334, d2.loss_bbox: 0.4178, d3.loss_cls: 0.2281, d3.loss_bbox: 0.4088, d4.loss_cls: 0.2226, d4.loss_bbox: 0.4076, d5.loss_cls: 0.2199, d5.loss_bbox: 0.4097, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7796, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6534, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6034, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5866, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5833, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5778, d0.loss_map_cls_all: 0.2874, d0.loss_map_pts_all: 1.8256, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2874, d0.loss_map_pts: 1.8256, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2642, d1.loss_map_pts: 1.2181, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2412, d2.loss_map_pts: 1.0132, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2276, d3.loss_map_pts: 0.9531, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.2210, d4.loss_map_pts: 0.9344, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.2192, d5.loss_map_pts: 0.9285, d5.loss_map_dir: 0.0134, loss: 33.0033, grad_norm: 163.8414 +2026-02-26 02:51:54,080 - DriveTransformer - INFO - Epoch [6][19200/39528] lr: 8.977e-05, eta: 6 days, 19:55:49, time: 0.752, data_time: 0.047, memory: 19865, loss_cls: 0.1793, loss_bbox: 0.3767, loss_traj: 0.6042, loss_traj_cls: 0.0010, loss_map_cls: 0.1551, loss_map_pts: 0.7622, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.5090, d0.loss_plan_l1_fix_dist: 0.3947, d1.loss_plan_l1_fix_time: 1.1329, d1.loss_plan_l1_fix_dist: 0.1777, d2.loss_plan_l1_fix_time: 1.1292, d2.loss_plan_l1_fix_dist: 0.1807, d3.loss_plan_l1_fix_time: 1.1368, d3.loss_plan_l1_fix_dist: 0.1923, d4.loss_plan_l1_fix_time: 1.1419, d4.loss_plan_l1_fix_dist: 0.2053, d5.loss_plan_l1_fix_time: 1.1471, d5.loss_plan_l1_fix_dist: 0.2193, d6.loss_plan_l1_fix_time: 1.1534, d6.loss_plan_l1_fix_dist: 0.2357, d0.loss_cls_all: 0.2109, d0.loss_bbox_all: 0.4326, d0.loss_cls: 0.2109, d0.loss_bbox: 0.4326, d1.loss_cls: 0.2076, d1.loss_bbox: 0.4004, d2.loss_cls: 0.1934, d2.loss_bbox: 0.3844, d3.loss_cls: 0.1879, d3.loss_bbox: 0.3762, d4.loss_cls: 0.1819, d4.loss_bbox: 0.3758, d5.loss_cls: 0.1804, d5.loss_bbox: 0.3756, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7996, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6651, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6188, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6078, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6088, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6059, d0.loss_map_cls_all: 0.2223, d0.loss_map_pts_all: 1.4547, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2223, d0.loss_map_pts: 1.4547, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1977, d1.loss_map_pts: 1.0185, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1777, d2.loss_map_pts: 0.8464, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1667, d3.loss_map_pts: 0.7850, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1596, d4.loss_map_pts: 0.7651, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1572, d5.loss_map_pts: 0.7614, d5.loss_map_dir: 0.0092, loss: 29.5578, grad_norm: 162.3930 +2026-02-26 02:52:33,566 - DriveTransformer - INFO - Epoch [6][19250/39528] lr: 8.977e-05, eta: 6 days, 19:55:05, time: 0.790, data_time: 0.037, memory: 19865, loss_cls: 0.1873, loss_bbox: 0.4008, loss_traj: 0.6917, loss_traj_cls: 0.0010, loss_map_cls: 0.2251, loss_map_pts: 0.9201, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.4950, d0.loss_plan_l1_fix_dist: 0.3462, d1.loss_plan_l1_fix_time: 1.1795, d1.loss_plan_l1_fix_dist: 0.1765, d2.loss_plan_l1_fix_time: 1.1720, d2.loss_plan_l1_fix_dist: 0.1852, d3.loss_plan_l1_fix_time: 1.1701, d3.loss_plan_l1_fix_dist: 0.1970, d4.loss_plan_l1_fix_time: 1.1723, d4.loss_plan_l1_fix_dist: 0.2105, d5.loss_plan_l1_fix_time: 1.1754, d5.loss_plan_l1_fix_dist: 0.2244, d6.loss_plan_l1_fix_time: 1.1799, d6.loss_plan_l1_fix_dist: 0.2385, d0.loss_cls_all: 0.2169, d0.loss_bbox_all: 0.4539, d0.loss_cls: 0.2169, d0.loss_bbox: 0.4539, d1.loss_cls: 0.2075, d1.loss_bbox: 0.4221, d2.loss_cls: 0.2000, d2.loss_bbox: 0.4069, d3.loss_cls: 0.1892, d3.loss_bbox: 0.4048, d4.loss_cls: 0.1855, d4.loss_bbox: 0.4022, d5.loss_cls: 0.1865, d5.loss_bbox: 0.4005, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9443, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7450, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7038, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6939, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6978, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6946, d0.loss_map_cls_all: 0.2955, d0.loss_map_pts_all: 1.7893, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2955, d0.loss_map_pts: 1.7893, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2751, d1.loss_map_pts: 1.2564, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.2486, d2.loss_map_pts: 1.0446, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.2368, d3.loss_map_pts: 0.9658, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.2286, d4.loss_map_pts: 0.9324, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.2263, d5.loss_map_pts: 0.9222, d5.loss_map_dir: 0.0114, loss: 32.9726, grad_norm: 162.2014 +2026-02-26 02:53:10,475 - DriveTransformer - INFO - Epoch [6][19300/39528] lr: 8.977e-05, eta: 6 days, 19:54:14, time: 0.738, data_time: 0.036, memory: 19865, loss_cls: 0.1935, loss_bbox: 0.3976, loss_traj: 0.7950, loss_traj_cls: 0.0010, loss_map_cls: 0.1759, loss_map_pts: 0.7089, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.5768, d0.loss_plan_l1_fix_dist: 0.3135, d1.loss_plan_l1_fix_time: 1.1529, d1.loss_plan_l1_fix_dist: 0.1814, d2.loss_plan_l1_fix_time: 1.1461, d2.loss_plan_l1_fix_dist: 0.1867, d3.loss_plan_l1_fix_time: 1.1461, d3.loss_plan_l1_fix_dist: 0.1969, d4.loss_plan_l1_fix_time: 1.1487, d4.loss_plan_l1_fix_dist: 0.2076, d5.loss_plan_l1_fix_time: 1.1520, d5.loss_plan_l1_fix_dist: 0.2201, d6.loss_plan_l1_fix_time: 1.1553, d6.loss_plan_l1_fix_dist: 0.2346, d0.loss_cls_all: 0.2236, d0.loss_bbox_all: 0.4563, d0.loss_cls: 0.2236, d0.loss_bbox: 0.4563, d1.loss_cls: 0.2173, d1.loss_bbox: 0.4222, d2.loss_cls: 0.2072, d2.loss_bbox: 0.4057, d3.loss_cls: 0.2009, d3.loss_bbox: 0.4001, d4.loss_cls: 0.1931, d4.loss_bbox: 0.3988, d5.loss_cls: 0.1906, d5.loss_bbox: 0.4001, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0537, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8502, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8064, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8001, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7937, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7925, d0.loss_map_cls_all: 0.2475, d0.loss_map_pts_all: 1.3466, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2475, d0.loss_map_pts: 1.3466, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2186, d1.loss_map_pts: 0.9296, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1972, d2.loss_map_pts: 0.7854, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1835, d3.loss_map_pts: 0.7397, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1799, d4.loss_map_pts: 0.7196, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1762, d5.loss_map_pts: 0.7122, d5.loss_map_dir: 0.0094, loss: 30.8921, grad_norm: 160.3354 +2026-02-26 02:53:49,002 - DriveTransformer - INFO - Epoch [6][19350/39528] lr: 8.977e-05, eta: 6 days, 19:53:27, time: 0.771, data_time: 0.042, memory: 19865, loss_cls: 0.1726, loss_bbox: 0.3771, loss_traj: 0.7935, loss_traj_cls: 0.0010, loss_map_cls: 0.1762, loss_map_pts: 0.7655, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.7883, d0.loss_plan_l1_fix_dist: 0.4031, d1.loss_plan_l1_fix_time: 1.2056, d1.loss_plan_l1_fix_dist: 0.1969, d2.loss_plan_l1_fix_time: 1.1916, d2.loss_plan_l1_fix_dist: 0.2002, d3.loss_plan_l1_fix_time: 1.1902, d3.loss_plan_l1_fix_dist: 0.2090, d4.loss_plan_l1_fix_time: 1.1925, d4.loss_plan_l1_fix_dist: 0.2207, d5.loss_plan_l1_fix_time: 1.1952, d5.loss_plan_l1_fix_dist: 0.2352, d6.loss_plan_l1_fix_time: 1.1981, d6.loss_plan_l1_fix_dist: 0.2523, d0.loss_cls_all: 0.2192, d0.loss_bbox_all: 0.4398, d0.loss_cls: 0.2192, d0.loss_bbox: 0.4398, d1.loss_cls: 0.2082, d1.loss_bbox: 0.4089, d2.loss_cls: 0.1937, d2.loss_bbox: 0.3905, d3.loss_cls: 0.1804, d3.loss_bbox: 0.3820, d4.loss_cls: 0.1750, d4.loss_bbox: 0.3779, d5.loss_cls: 0.1721, d5.loss_bbox: 0.3773, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0408, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8182, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7947, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7864, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7872, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7889, d0.loss_map_cls_all: 0.2415, d0.loss_map_pts_all: 1.5777, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2415, d0.loss_map_pts: 1.5777, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2175, d1.loss_map_pts: 1.0719, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1973, d2.loss_map_pts: 0.8794, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1886, d3.loss_map_pts: 0.8064, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1803, d4.loss_map_pts: 0.7763, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1767, d5.loss_map_pts: 0.7677, d5.loss_map_dir: 0.0096, loss: 32.1463, grad_norm: 160.6435 +2026-02-26 02:54:28,359 - DriveTransformer - INFO - Epoch [6][19400/39528] lr: 8.977e-05, eta: 6 days, 19:52:44, time: 0.787, data_time: 0.042, memory: 19865, loss_cls: 0.1971, loss_bbox: 0.4009, loss_traj: 0.7716, loss_traj_cls: 0.0009, loss_map_cls: 0.1993, loss_map_pts: 0.8294, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.4823, d0.loss_plan_l1_fix_dist: 0.4091, d1.loss_plan_l1_fix_time: 1.1103, d1.loss_plan_l1_fix_dist: 0.2126, d2.loss_plan_l1_fix_time: 1.0955, d2.loss_plan_l1_fix_dist: 0.2207, d3.loss_plan_l1_fix_time: 1.0963, d3.loss_plan_l1_fix_dist: 0.2308, d4.loss_plan_l1_fix_time: 1.1001, d4.loss_plan_l1_fix_dist: 0.2469, d5.loss_plan_l1_fix_time: 1.1043, d5.loss_plan_l1_fix_dist: 0.2643, d6.loss_plan_l1_fix_time: 1.1088, d6.loss_plan_l1_fix_dist: 0.2834, d0.loss_cls_all: 0.2288, d0.loss_bbox_all: 0.4706, d0.loss_cls: 0.2288, d0.loss_bbox: 0.4706, d1.loss_cls: 0.2183, d1.loss_bbox: 0.4345, d2.loss_cls: 0.2099, d2.loss_bbox: 0.4118, d3.loss_cls: 0.2007, d3.loss_bbox: 0.4045, d4.loss_cls: 0.1973, d4.loss_bbox: 0.4004, d5.loss_cls: 0.1957, d5.loss_bbox: 0.4013, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0020, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8188, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7787, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7691, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7629, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7650, d0.loss_map_cls_all: 0.2750, d0.loss_map_pts_all: 1.6134, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2750, d0.loss_map_pts: 1.6134, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2440, d1.loss_map_pts: 1.1254, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2253, d2.loss_map_pts: 0.9388, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.2124, d3.loss_map_pts: 0.8701, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.2056, d4.loss_map_pts: 0.8405, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.2003, d5.loss_map_pts: 0.8300, d5.loss_map_dir: 0.0111, loss: 32.2966, grad_norm: 162.8900 +2026-02-26 02:55:07,481 - DriveTransformer - INFO - Epoch [6][19450/39528] lr: 8.977e-05, eta: 6 days, 19:51:59, time: 0.782, data_time: 0.043, memory: 19865, loss_cls: 0.1745, loss_bbox: 0.3748, loss_traj: 0.6105, loss_traj_cls: 0.0009, loss_map_cls: 0.1861, loss_map_pts: 0.7590, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.5148, d0.loss_plan_l1_fix_dist: 0.3315, d1.loss_plan_l1_fix_time: 1.1350, d1.loss_plan_l1_fix_dist: 0.1738, d2.loss_plan_l1_fix_time: 1.1153, d2.loss_plan_l1_fix_dist: 0.1858, d3.loss_plan_l1_fix_time: 1.1116, d3.loss_plan_l1_fix_dist: 0.1983, d4.loss_plan_l1_fix_time: 1.1152, d4.loss_plan_l1_fix_dist: 0.2128, d5.loss_plan_l1_fix_time: 1.1190, d5.loss_plan_l1_fix_dist: 0.2290, d6.loss_plan_l1_fix_time: 1.1234, d6.loss_plan_l1_fix_dist: 0.2456, d0.loss_cls_all: 0.2031, d0.loss_bbox_all: 0.4345, d0.loss_cls: 0.2031, d0.loss_bbox: 0.4345, d1.loss_cls: 0.1998, d1.loss_bbox: 0.3996, d2.loss_cls: 0.1870, d2.loss_bbox: 0.3819, d3.loss_cls: 0.1804, d3.loss_bbox: 0.3741, d4.loss_cls: 0.1733, d4.loss_bbox: 0.3720, d5.loss_cls: 0.1712, d5.loss_bbox: 0.3741, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8218, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6874, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6331, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6181, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6123, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6130, d0.loss_map_cls_all: 0.2543, d0.loss_map_pts_all: 1.5812, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2543, d0.loss_map_pts: 1.5812, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2319, d1.loss_map_pts: 1.0501, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2072, d2.loss_map_pts: 0.8565, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.1962, d3.loss_map_pts: 0.7931, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.1919, d4.loss_map_pts: 0.7684, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1873, d5.loss_map_pts: 0.7592, d5.loss_map_dir: 0.0118, loss: 30.0010, grad_norm: 163.5730 +2026-02-26 02:55:44,656 - DriveTransformer - INFO - Epoch [6][19500/39528] lr: 8.977e-05, eta: 6 days, 19:51:08, time: 0.743, data_time: 0.040, memory: 19865, loss_cls: 0.1953, loss_bbox: 0.4181, loss_traj: 0.7441, loss_traj_cls: 0.0009, loss_map_cls: 0.1888, loss_map_pts: 0.8178, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.5257, d0.loss_plan_l1_fix_dist: 0.3870, d1.loss_plan_l1_fix_time: 1.1877, d1.loss_plan_l1_fix_dist: 0.1917, d2.loss_plan_l1_fix_time: 1.1820, d2.loss_plan_l1_fix_dist: 0.2048, d3.loss_plan_l1_fix_time: 1.1869, d3.loss_plan_l1_fix_dist: 0.2285, d4.loss_plan_l1_fix_time: 1.1914, d4.loss_plan_l1_fix_dist: 0.2527, d5.loss_plan_l1_fix_time: 1.1960, d5.loss_plan_l1_fix_dist: 0.2763, d6.loss_plan_l1_fix_time: 1.2013, d6.loss_plan_l1_fix_dist: 0.2997, d0.loss_cls_all: 0.2223, d0.loss_bbox_all: 0.4787, d0.loss_cls: 0.2223, d0.loss_bbox: 0.4787, d1.loss_cls: 0.2128, d1.loss_bbox: 0.4454, d2.loss_cls: 0.2022, d2.loss_bbox: 0.4249, d3.loss_cls: 0.1952, d3.loss_bbox: 0.4207, d4.loss_cls: 0.1950, d4.loss_bbox: 0.4161, d5.loss_cls: 0.1943, d5.loss_bbox: 0.4181, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9638, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8172, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7616, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7489, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7464, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7433, d0.loss_map_cls_all: 0.2512, d0.loss_map_pts_all: 1.4687, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2512, d0.loss_map_pts: 1.4687, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2276, d1.loss_map_pts: 1.0878, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.2102, d2.loss_map_pts: 0.9213, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.2002, d3.loss_map_pts: 0.8494, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1943, d4.loss_map_pts: 0.8254, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1901, d5.loss_map_pts: 0.8184, d5.loss_map_dir: 0.0095, loss: 32.2268, grad_norm: 163.8779 +2026-02-26 02:56:22,860 - DriveTransformer - INFO - Epoch [6][19550/39528] lr: 8.977e-05, eta: 6 days, 19:50:21, time: 0.764, data_time: 0.037, memory: 19865, loss_cls: 0.1908, loss_bbox: 0.3881, loss_traj: 0.7530, loss_traj_cls: 0.0009, loss_map_cls: 0.1790, loss_map_pts: 0.7764, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.5761, d0.loss_plan_l1_fix_dist: 0.3638, d1.loss_plan_l1_fix_time: 1.2469, d1.loss_plan_l1_fix_dist: 0.1946, d2.loss_plan_l1_fix_time: 1.2421, d2.loss_plan_l1_fix_dist: 0.1995, d3.loss_plan_l1_fix_time: 1.2448, d3.loss_plan_l1_fix_dist: 0.2138, d4.loss_plan_l1_fix_time: 1.2511, d4.loss_plan_l1_fix_dist: 0.2308, d5.loss_plan_l1_fix_time: 1.2585, d5.loss_plan_l1_fix_dist: 0.2479, d6.loss_plan_l1_fix_time: 1.2666, d6.loss_plan_l1_fix_dist: 0.2685, d0.loss_cls_all: 0.2116, d0.loss_bbox_all: 0.4371, d0.loss_cls: 0.2116, d0.loss_bbox: 0.4371, d1.loss_cls: 0.2068, d1.loss_bbox: 0.4066, d2.loss_cls: 0.1970, d2.loss_bbox: 0.3918, d3.loss_cls: 0.1898, d3.loss_bbox: 0.3869, d4.loss_cls: 0.1876, d4.loss_bbox: 0.3865, d5.loss_cls: 0.1873, d5.loss_bbox: 0.3880, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9983, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8270, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7748, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7633, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7547, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7538, d0.loss_map_cls_all: 0.2428, d0.loss_map_pts_all: 1.4389, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2428, d0.loss_map_pts: 1.4389, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2201, d1.loss_map_pts: 1.0408, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.2031, d2.loss_map_pts: 0.8700, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1914, d3.loss_map_pts: 0.8105, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1842, d4.loss_map_pts: 0.7910, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1793, d5.loss_map_pts: 0.7785, d5.loss_map_dir: 0.0104, loss: 31.9065, grad_norm: 156.0117 +2026-02-26 02:57:02,327 - DriveTransformer - INFO - Epoch [6][19600/39528] lr: 8.977e-05, eta: 6 days, 19:49:38, time: 0.789, data_time: 0.038, memory: 19865, loss_cls: 0.1927, loss_bbox: 0.4002, loss_traj: 0.7660, loss_traj_cls: 0.0010, loss_map_cls: 0.1909, loss_map_pts: 0.7891, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 3.0152, d0.loss_plan_l1_fix_dist: 0.3919, d1.loss_plan_l1_fix_time: 1.3012, d1.loss_plan_l1_fix_dist: 0.2149, d2.loss_plan_l1_fix_time: 1.2815, d2.loss_plan_l1_fix_dist: 0.2240, d3.loss_plan_l1_fix_time: 1.2849, d3.loss_plan_l1_fix_dist: 0.2402, d4.loss_plan_l1_fix_time: 1.2896, d4.loss_plan_l1_fix_dist: 0.2592, d5.loss_plan_l1_fix_time: 1.2956, d5.loss_plan_l1_fix_dist: 0.2831, d6.loss_plan_l1_fix_time: 1.3031, d6.loss_plan_l1_fix_dist: 0.3104, d0.loss_cls_all: 0.2248, d0.loss_bbox_all: 0.4696, d0.loss_cls: 0.2248, d0.loss_bbox: 0.4696, d1.loss_cls: 0.2156, d1.loss_bbox: 0.4325, d2.loss_cls: 0.2066, d2.loss_bbox: 0.4121, d3.loss_cls: 0.1962, d3.loss_bbox: 0.4058, d4.loss_cls: 0.1924, d4.loss_bbox: 0.4032, d5.loss_cls: 0.1923, d5.loss_bbox: 0.4026, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9572, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8233, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7812, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7677, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7690, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7673, d0.loss_map_cls_all: 0.2666, d0.loss_map_pts_all: 1.5095, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2666, d0.loss_map_pts: 1.5095, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2376, d1.loss_map_pts: 1.0501, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.2168, d2.loss_map_pts: 0.8725, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.2022, d3.loss_map_pts: 0.8136, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1951, d4.loss_map_pts: 0.7946, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1912, d5.loss_map_pts: 0.7905, d5.loss_map_dir: 0.0110, loss: 33.3553, grad_norm: 157.9056 +2026-02-26 02:57:40,193 - DriveTransformer - INFO - Epoch [6][19650/39528] lr: 8.977e-05, eta: 6 days, 19:48:49, time: 0.757, data_time: 0.038, memory: 19865, loss_cls: 0.1786, loss_bbox: 0.4071, loss_traj: 0.7769, loss_traj_cls: 0.0009, loss_map_cls: 0.2091, loss_map_pts: 0.8720, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.6517, d0.loss_plan_l1_fix_dist: 0.4170, d1.loss_plan_l1_fix_time: 1.1094, d1.loss_plan_l1_fix_dist: 0.2014, d2.loss_plan_l1_fix_time: 1.0850, d2.loss_plan_l1_fix_dist: 0.2114, d3.loss_plan_l1_fix_time: 1.0840, d3.loss_plan_l1_fix_dist: 0.2253, d4.loss_plan_l1_fix_time: 1.0878, d4.loss_plan_l1_fix_dist: 0.2417, d5.loss_plan_l1_fix_time: 1.0933, d5.loss_plan_l1_fix_dist: 0.2626, d6.loss_plan_l1_fix_time: 1.1007, d6.loss_plan_l1_fix_dist: 0.2832, d0.loss_cls_all: 0.2220, d0.loss_bbox_all: 0.4593, d0.loss_cls: 0.2220, d0.loss_bbox: 0.4593, d1.loss_cls: 0.2112, d1.loss_bbox: 0.4256, d2.loss_cls: 0.1948, d2.loss_bbox: 0.4124, d3.loss_cls: 0.1857, d3.loss_bbox: 0.4052, d4.loss_cls: 0.1787, d4.loss_bbox: 0.4064, d5.loss_cls: 0.1776, d5.loss_bbox: 0.4059, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0384, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8581, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7978, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7804, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7785, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7747, d0.loss_map_cls_all: 0.2693, d0.loss_map_pts_all: 1.6456, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2693, d0.loss_map_pts: 1.6456, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2427, d1.loss_map_pts: 1.1789, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2237, d2.loss_map_pts: 0.9825, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.2152, d3.loss_map_pts: 0.9132, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.2112, d4.loss_map_pts: 0.8805, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.2098, d5.loss_map_pts: 0.8734, d5.loss_map_dir: 0.0117, loss: 32.7496, grad_norm: 162.1521 +2026-02-26 02:58:18,405 - DriveTransformer - INFO - Epoch [6][19700/39528] lr: 8.977e-05, eta: 6 days, 19:48:02, time: 0.764, data_time: 0.035, memory: 19865, loss_cls: 0.1880, loss_bbox: 0.3989, loss_traj: 0.6612, loss_traj_cls: 0.0010, loss_map_cls: 0.2036, loss_map_pts: 0.8978, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.6528, d0.loss_plan_l1_fix_dist: 0.4573, d1.loss_plan_l1_fix_time: 1.1179, d1.loss_plan_l1_fix_dist: 0.2128, d2.loss_plan_l1_fix_time: 1.1008, d2.loss_plan_l1_fix_dist: 0.2162, d3.loss_plan_l1_fix_time: 1.1024, d3.loss_plan_l1_fix_dist: 0.2250, d4.loss_plan_l1_fix_time: 1.1061, d4.loss_plan_l1_fix_dist: 0.2387, d5.loss_plan_l1_fix_time: 1.1108, d5.loss_plan_l1_fix_dist: 0.2543, d6.loss_plan_l1_fix_time: 1.1173, d6.loss_plan_l1_fix_dist: 0.2722, d0.loss_cls_all: 0.2242, d0.loss_bbox_all: 0.4674, d0.loss_cls: 0.2242, d0.loss_bbox: 0.4674, d1.loss_cls: 0.2145, d1.loss_bbox: 0.4301, d2.loss_cls: 0.2002, d2.loss_bbox: 0.4101, d3.loss_cls: 0.1897, d3.loss_bbox: 0.4019, d4.loss_cls: 0.1873, d4.loss_bbox: 0.3997, d5.loss_cls: 0.1865, d5.loss_bbox: 0.3990, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8741, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6996, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6674, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6519, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6571, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6545, d0.loss_map_cls_all: 0.2712, d0.loss_map_pts_all: 1.7384, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2712, d0.loss_map_pts: 1.7384, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2381, d1.loss_map_pts: 1.1902, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.2220, d2.loss_map_pts: 0.9967, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.2123, d3.loss_map_pts: 0.9359, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.2063, d4.loss_map_pts: 0.9106, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.2047, d5.loss_map_pts: 0.8988, d5.loss_map_dir: 0.0109, loss: 32.2660, grad_norm: 161.7599 +2026-02-26 02:58:56,435 - DriveTransformer - INFO - Epoch [6][19750/39528] lr: 8.977e-05, eta: 6 days, 19:47:14, time: 0.761, data_time: 0.038, memory: 19865, loss_cls: 0.1957, loss_bbox: 0.4132, loss_traj: 0.6619, loss_traj_cls: 0.0010, loss_map_cls: 0.2059, loss_map_pts: 0.9117, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 3.1733, d0.loss_plan_l1_fix_dist: 0.4536, d1.loss_plan_l1_fix_time: 1.1750, d1.loss_plan_l1_fix_dist: 0.2026, d2.loss_plan_l1_fix_time: 1.1701, d2.loss_plan_l1_fix_dist: 0.2108, d3.loss_plan_l1_fix_time: 1.1777, d3.loss_plan_l1_fix_dist: 0.2284, d4.loss_plan_l1_fix_time: 1.1836, d4.loss_plan_l1_fix_dist: 0.2504, d5.loss_plan_l1_fix_time: 1.1885, d5.loss_plan_l1_fix_dist: 0.2724, d6.loss_plan_l1_fix_time: 1.1938, d6.loss_plan_l1_fix_dist: 0.2988, d0.loss_cls_all: 0.2321, d0.loss_bbox_all: 0.4710, d0.loss_cls: 0.2321, d0.loss_bbox: 0.4710, d1.loss_cls: 0.2250, d1.loss_bbox: 0.4349, d2.loss_cls: 0.2127, d2.loss_bbox: 0.4165, d3.loss_cls: 0.2012, d3.loss_bbox: 0.4121, d4.loss_cls: 0.1969, d4.loss_bbox: 0.4116, d5.loss_cls: 0.1935, d5.loss_bbox: 0.4129, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8403, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6908, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6650, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6542, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6535, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6556, d0.loss_map_cls_all: 0.2641, d0.loss_map_pts_all: 1.7474, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2641, d0.loss_map_pts: 1.7474, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2395, d1.loss_map_pts: 1.1853, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2249, d2.loss_map_pts: 1.0076, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.2153, d3.loss_map_pts: 0.9484, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.2087, d4.loss_map_pts: 0.9235, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.2066, d5.loss_map_pts: 0.9130, d5.loss_map_dir: 0.0114, loss: 33.4411, grad_norm: 162.7919 +2026-02-26 02:59:32,909 - DriveTransformer - INFO - Epoch [6][19800/39528] lr: 8.977e-05, eta: 6 days, 19:46:21, time: 0.731, data_time: 0.039, memory: 19865, loss_cls: 0.1783, loss_bbox: 0.3779, loss_traj: 0.7082, loss_traj_cls: 0.0010, loss_map_cls: 0.1992, loss_map_pts: 0.9541, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.6376, d0.loss_plan_l1_fix_dist: 0.4082, d1.loss_plan_l1_fix_time: 1.1707, d1.loss_plan_l1_fix_dist: 0.1944, d2.loss_plan_l1_fix_time: 1.1566, d2.loss_plan_l1_fix_dist: 0.1989, d3.loss_plan_l1_fix_time: 1.1603, d3.loss_plan_l1_fix_dist: 0.2116, d4.loss_plan_l1_fix_time: 1.1651, d4.loss_plan_l1_fix_dist: 0.2254, d5.loss_plan_l1_fix_time: 1.1697, d5.loss_plan_l1_fix_dist: 0.2429, d6.loss_plan_l1_fix_time: 1.1739, d6.loss_plan_l1_fix_dist: 0.2618, d0.loss_cls_all: 0.2231, d0.loss_bbox_all: 0.4327, d0.loss_cls: 0.2231, d0.loss_bbox: 0.4327, d1.loss_cls: 0.2112, d1.loss_bbox: 0.4015, d2.loss_cls: 0.1987, d2.loss_bbox: 0.3850, d3.loss_cls: 0.1915, d3.loss_bbox: 0.3784, d4.loss_cls: 0.1820, d4.loss_bbox: 0.3776, d5.loss_cls: 0.1792, d5.loss_bbox: 0.3772, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9112, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7401, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7113, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7041, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7079, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7077, d0.loss_map_cls_all: 0.2700, d0.loss_map_pts_all: 1.7848, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2700, d0.loss_map_pts: 1.7848, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2461, d1.loss_map_pts: 1.2547, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2223, d2.loss_map_pts: 1.0709, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.2087, d3.loss_map_pts: 0.9988, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.2058, d4.loss_map_pts: 0.9628, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.2013, d5.loss_map_pts: 0.9545, d5.loss_map_dir: 0.0111, loss: 32.9973, grad_norm: 161.9833 +2026-02-26 03:00:12,263 - DriveTransformer - INFO - Epoch [6][19850/39528] lr: 8.977e-05, eta: 6 days, 19:45:37, time: 0.786, data_time: 0.038, memory: 19865, loss_cls: 0.1949, loss_bbox: 0.3924, loss_traj: 0.7063, loss_traj_cls: 0.0010, loss_map_cls: 0.1978, loss_map_pts: 0.8809, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.5223, d0.loss_plan_l1_fix_dist: 0.3627, d1.loss_plan_l1_fix_time: 0.9808, d1.loss_plan_l1_fix_dist: 0.1891, d2.loss_plan_l1_fix_time: 0.9634, d2.loss_plan_l1_fix_dist: 0.1981, d3.loss_plan_l1_fix_time: 0.9655, d3.loss_plan_l1_fix_dist: 0.2120, d4.loss_plan_l1_fix_time: 0.9694, d4.loss_plan_l1_fix_dist: 0.2278, d5.loss_plan_l1_fix_time: 0.9735, d5.loss_plan_l1_fix_dist: 0.2461, d6.loss_plan_l1_fix_time: 0.9778, d6.loss_plan_l1_fix_dist: 0.2630, d0.loss_cls_all: 0.2362, d0.loss_bbox_all: 0.4622, d0.loss_cls: 0.2362, d0.loss_bbox: 0.4622, d1.loss_cls: 0.2262, d1.loss_bbox: 0.4264, d2.loss_cls: 0.2138, d2.loss_bbox: 0.4055, d3.loss_cls: 0.2027, d3.loss_bbox: 0.3971, d4.loss_cls: 0.1963, d4.loss_bbox: 0.3943, d5.loss_cls: 0.1940, d5.loss_bbox: 0.3945, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9361, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7791, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7336, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7173, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7151, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7137, d0.loss_map_cls_all: 0.2739, d0.loss_map_pts_all: 1.7255, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2739, d0.loss_map_pts: 1.7255, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2418, d1.loss_map_pts: 1.1745, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2246, d2.loss_map_pts: 0.9900, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2111, d3.loss_map_pts: 0.9204, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.2023, d4.loss_map_pts: 0.8919, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1987, d5.loss_map_pts: 0.8830, d5.loss_map_dir: 0.0118, loss: 31.5010, grad_norm: 161.1472 +2026-02-26 03:00:49,426 - DriveTransformer - INFO - Epoch [6][19900/39528] lr: 8.977e-05, eta: 6 days, 19:44:46, time: 0.743, data_time: 0.036, memory: 19865, loss_cls: 0.1759, loss_bbox: 0.3740, loss_traj: 0.6286, loss_traj_cls: 0.0010, loss_map_cls: 0.1797, loss_map_pts: 0.7989, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.5399, d0.loss_plan_l1_fix_dist: 0.3911, d1.loss_plan_l1_fix_time: 1.1843, d1.loss_plan_l1_fix_dist: 0.1789, d2.loss_plan_l1_fix_time: 1.1754, d2.loss_plan_l1_fix_dist: 0.1920, d3.loss_plan_l1_fix_time: 1.1767, d3.loss_plan_l1_fix_dist: 0.2073, d4.loss_plan_l1_fix_time: 1.1806, d4.loss_plan_l1_fix_dist: 0.2241, d5.loss_plan_l1_fix_time: 1.1854, d5.loss_plan_l1_fix_dist: 0.2408, d6.loss_plan_l1_fix_time: 1.1903, d6.loss_plan_l1_fix_dist: 0.2609, d0.loss_cls_all: 0.2134, d0.loss_bbox_all: 0.4309, d0.loss_cls: 0.2134, d0.loss_bbox: 0.4309, d1.loss_cls: 0.2042, d1.loss_bbox: 0.3963, d2.loss_cls: 0.1936, d2.loss_bbox: 0.3776, d3.loss_cls: 0.1825, d3.loss_bbox: 0.3744, d4.loss_cls: 0.1772, d4.loss_bbox: 0.3724, d5.loss_cls: 0.1759, d5.loss_bbox: 0.3724, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8068, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6816, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6438, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6329, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6279, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6270, d0.loss_map_cls_all: 0.2428, d0.loss_map_pts_all: 1.4509, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2428, d0.loss_map_pts: 1.4509, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2137, d1.loss_map_pts: 1.0231, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1941, d2.loss_map_pts: 0.8759, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1877, d3.loss_map_pts: 0.8189, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1826, d4.loss_map_pts: 0.7985, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1796, d5.loss_map_pts: 0.7970, d5.loss_map_dir: 0.0099, loss: 30.3592, grad_norm: 160.8690 +2026-02-26 03:01:27,942 - DriveTransformer - INFO - Epoch [6][19950/39528] lr: 8.977e-05, eta: 6 days, 19:44:00, time: 0.770, data_time: 0.038, memory: 19865, loss_cls: 0.1792, loss_bbox: 0.3802, loss_traj: 0.7555, loss_traj_cls: 0.0010, loss_map_cls: 0.1758, loss_map_pts: 0.7968, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.5739, d0.loss_plan_l1_fix_dist: 0.3450, d1.loss_plan_l1_fix_time: 1.0996, d1.loss_plan_l1_fix_dist: 0.1870, d2.loss_plan_l1_fix_time: 1.0918, d2.loss_plan_l1_fix_dist: 0.1918, d3.loss_plan_l1_fix_time: 1.0932, d3.loss_plan_l1_fix_dist: 0.2053, d4.loss_plan_l1_fix_time: 1.0965, d4.loss_plan_l1_fix_dist: 0.2207, d5.loss_plan_l1_fix_time: 1.1005, d5.loss_plan_l1_fix_dist: 0.2372, d6.loss_plan_l1_fix_time: 1.1057, d6.loss_plan_l1_fix_dist: 0.2536, d0.loss_cls_all: 0.2089, d0.loss_bbox_all: 0.4419, d0.loss_cls: 0.2089, d0.loss_bbox: 0.4419, d1.loss_cls: 0.2010, d1.loss_bbox: 0.4076, d2.loss_cls: 0.1916, d2.loss_bbox: 0.3905, d3.loss_cls: 0.1831, d3.loss_bbox: 0.3844, d4.loss_cls: 0.1792, d4.loss_bbox: 0.3809, d5.loss_cls: 0.1783, d5.loss_bbox: 0.3808, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0335, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8251, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7811, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7643, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7532, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7525, d0.loss_map_cls_all: 0.2503, d0.loss_map_pts_all: 1.5975, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2503, d0.loss_map_pts: 1.5975, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2171, d1.loss_map_pts: 1.0984, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.1995, d2.loss_map_pts: 0.9128, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1857, d3.loss_map_pts: 0.8401, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1826, d4.loss_map_pts: 0.8102, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1779, d5.loss_map_pts: 0.7994, d5.loss_map_dir: 0.0108, loss: 31.3874, grad_norm: 159.3201 +2026-02-26 03:02:06,048 - DriveTransformer - INFO - Epoch [6][20000/39528] lr: 8.977e-05, eta: 6 days, 19:43:12, time: 0.762, data_time: 0.047, memory: 19865, loss_cls: 0.1920, loss_bbox: 0.3680, loss_traj: 0.6161, loss_traj_cls: 0.0010, loss_map_cls: 0.1613, loss_map_pts: 0.7536, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.9213, d0.loss_plan_l1_fix_dist: 0.5115, d1.loss_plan_l1_fix_time: 1.2252, d1.loss_plan_l1_fix_dist: 0.2092, d2.loss_plan_l1_fix_time: 1.2106, d2.loss_plan_l1_fix_dist: 0.2111, d3.loss_plan_l1_fix_time: 1.2070, d3.loss_plan_l1_fix_dist: 0.2259, d4.loss_plan_l1_fix_time: 1.2089, d4.loss_plan_l1_fix_dist: 0.2424, d5.loss_plan_l1_fix_time: 1.2116, d5.loss_plan_l1_fix_dist: 0.2606, d6.loss_plan_l1_fix_time: 1.2155, d6.loss_plan_l1_fix_dist: 0.2816, d0.loss_cls_all: 0.2216, d0.loss_bbox_all: 0.4292, d0.loss_cls: 0.2216, d0.loss_bbox: 0.4292, d1.loss_cls: 0.2188, d1.loss_bbox: 0.3928, d2.loss_cls: 0.2052, d2.loss_bbox: 0.3762, d3.loss_cls: 0.1956, d3.loss_bbox: 0.3724, d4.loss_cls: 0.1921, d4.loss_bbox: 0.3705, d5.loss_cls: 0.1903, d5.loss_bbox: 0.3697, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8133, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6616, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6278, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6202, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6157, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6173, d0.loss_map_cls_all: 0.2289, d0.loss_map_pts_all: 1.4304, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2289, d0.loss_map_pts: 1.4304, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2020, d1.loss_map_pts: 0.9644, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1817, d2.loss_map_pts: 0.8297, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1687, d3.loss_map_pts: 0.7816, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1654, d4.loss_map_pts: 0.7595, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1611, d5.loss_map_pts: 0.7563, d5.loss_map_dir: 0.0107, loss: 30.7543, grad_norm: 157.7244 +2026-02-26 03:02:44,633 - DriveTransformer - INFO - Epoch [6][20050/39528] lr: 8.977e-05, eta: 6 days, 19:42:26, time: 0.772, data_time: 0.036, memory: 19865, loss_cls: 0.2022, loss_bbox: 0.3994, loss_traj: 0.6741, loss_traj_cls: 0.0011, loss_map_cls: 0.1814, loss_map_pts: 0.8244, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.9783, d0.loss_plan_l1_fix_dist: 0.4813, d1.loss_plan_l1_fix_time: 1.3014, d1.loss_plan_l1_fix_dist: 0.2177, d2.loss_plan_l1_fix_time: 1.2870, d2.loss_plan_l1_fix_dist: 0.2187, d3.loss_plan_l1_fix_time: 1.2890, d3.loss_plan_l1_fix_dist: 0.2278, d4.loss_plan_l1_fix_time: 1.2921, d4.loss_plan_l1_fix_dist: 0.2378, d5.loss_plan_l1_fix_time: 1.2951, d5.loss_plan_l1_fix_dist: 0.2500, d6.loss_plan_l1_fix_time: 1.2982, d6.loss_plan_l1_fix_dist: 0.2642, d0.loss_cls_all: 0.2390, d0.loss_bbox_all: 0.4585, d0.loss_cls: 0.2390, d0.loss_bbox: 0.4585, d1.loss_cls: 0.2318, d1.loss_bbox: 0.4238, d2.loss_cls: 0.2190, d2.loss_bbox: 0.4055, d3.loss_cls: 0.2080, d3.loss_bbox: 0.4010, d4.loss_cls: 0.2040, d4.loss_bbox: 0.3974, d5.loss_cls: 0.2013, d5.loss_bbox: 0.3997, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8945, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7121, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6752, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6714, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6704, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6719, d0.loss_map_cls_all: 0.2523, d0.loss_map_pts_all: 1.6739, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2523, d0.loss_map_pts: 1.6739, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2192, d1.loss_map_pts: 1.1271, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.1995, d2.loss_map_pts: 0.9432, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1916, d3.loss_map_pts: 0.8736, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1859, d4.loss_map_pts: 0.8362, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1820, d5.loss_map_pts: 0.8269, d5.loss_map_dir: 0.0116, loss: 33.2355, grad_norm: 157.5239 +2026-02-26 03:03:23,324 - DriveTransformer - INFO - Epoch [6][20100/39528] lr: 8.977e-05, eta: 6 days, 19:41:40, time: 0.774, data_time: 0.041, memory: 19865, loss_cls: 0.2024, loss_bbox: 0.3963, loss_traj: 0.6940, loss_traj_cls: 0.0010, loss_map_cls: 0.2178, loss_map_pts: 0.9174, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 3.2203, d0.loss_plan_l1_fix_dist: 0.4305, d1.loss_plan_l1_fix_time: 1.3198, d1.loss_plan_l1_fix_dist: 0.1955, d2.loss_plan_l1_fix_time: 1.2977, d2.loss_plan_l1_fix_dist: 0.2030, d3.loss_plan_l1_fix_time: 1.2922, d3.loss_plan_l1_fix_dist: 0.2177, d4.loss_plan_l1_fix_time: 1.2948, d4.loss_plan_l1_fix_dist: 0.2339, d5.loss_plan_l1_fix_time: 1.2983, d5.loss_plan_l1_fix_dist: 0.2526, d6.loss_plan_l1_fix_time: 1.3013, d6.loss_plan_l1_fix_dist: 0.2721, d0.loss_cls_all: 0.2395, d0.loss_bbox_all: 0.4563, d0.loss_cls: 0.2395, d0.loss_bbox: 0.4563, d1.loss_cls: 0.2311, d1.loss_bbox: 0.4227, d2.loss_cls: 0.2182, d2.loss_bbox: 0.4047, d3.loss_cls: 0.2081, d3.loss_bbox: 0.3971, d4.loss_cls: 0.2038, d4.loss_bbox: 0.3960, d5.loss_cls: 0.2027, d5.loss_bbox: 0.3965, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8660, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7188, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7039, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6972, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6994, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6965, d0.loss_map_cls_all: 0.2890, d0.loss_map_pts_all: 1.7366, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2890, d0.loss_map_pts: 1.7366, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2624, d1.loss_map_pts: 1.2313, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2405, d2.loss_map_pts: 1.0313, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.2298, d3.loss_map_pts: 0.9549, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.2237, d4.loss_map_pts: 0.9265, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.2188, d5.loss_map_pts: 0.9202, d5.loss_map_dir: 0.0120, loss: 34.5021, grad_norm: 155.8900 +2026-02-26 03:04:02,974 - DriveTransformer - INFO - Epoch [6][20150/39528] lr: 8.977e-05, eta: 6 days, 19:40:58, time: 0.793, data_time: 0.040, memory: 19865, loss_cls: 0.1906, loss_bbox: 0.4160, loss_traj: 0.7477, loss_traj_cls: 0.0010, loss_map_cls: 0.2131, loss_map_pts: 1.0068, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.6272, d0.loss_plan_l1_fix_dist: 0.3840, d1.loss_plan_l1_fix_time: 1.3505, d1.loss_plan_l1_fix_dist: 0.2129, d2.loss_plan_l1_fix_time: 1.3354, d2.loss_plan_l1_fix_dist: 0.2106, d3.loss_plan_l1_fix_time: 1.3356, d3.loss_plan_l1_fix_dist: 0.2192, d4.loss_plan_l1_fix_time: 1.3382, d4.loss_plan_l1_fix_dist: 0.2293, d5.loss_plan_l1_fix_time: 1.3413, d5.loss_plan_l1_fix_dist: 0.2404, d6.loss_plan_l1_fix_time: 1.3450, d6.loss_plan_l1_fix_dist: 0.2523, d0.loss_cls_all: 0.2328, d0.loss_bbox_all: 0.4853, d0.loss_cls: 0.2328, d0.loss_bbox: 0.4853, d1.loss_cls: 0.2244, d1.loss_bbox: 0.4455, d2.loss_cls: 0.2080, d2.loss_bbox: 0.4258, d3.loss_cls: 0.1984, d3.loss_bbox: 0.4176, d4.loss_cls: 0.1927, d4.loss_bbox: 0.4168, d5.loss_cls: 0.1916, d5.loss_bbox: 0.4157, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9664, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8200, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7662, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7545, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7503, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7444, d0.loss_map_cls_all: 0.2846, d0.loss_map_pts_all: 1.8802, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.2846, d0.loss_map_pts: 1.8802, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2604, d1.loss_map_pts: 1.3072, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2387, d2.loss_map_pts: 1.1225, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2253, d3.loss_map_pts: 1.0499, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.2196, d4.loss_map_pts: 1.0212, d4.loss_map_dir: 0.0131, d5.loss_map_cls: 0.2149, d5.loss_map_pts: 1.0074, d5.loss_map_dir: 0.0134, loss: 35.4769, grad_norm: 154.5444 +2026-02-26 03:04:40,847 - DriveTransformer - INFO - Epoch [6][20200/39528] lr: 8.977e-05, eta: 6 days, 19:40:09, time: 0.757, data_time: 0.043, memory: 19865, loss_cls: 0.1692, loss_bbox: 0.3794, loss_traj: 0.8048, loss_traj_cls: 0.0011, loss_map_cls: 0.1965, loss_map_pts: 0.7021, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.7432, d0.loss_plan_l1_fix_dist: 0.4665, d1.loss_plan_l1_fix_time: 1.2739, d1.loss_plan_l1_fix_dist: 0.1846, d2.loss_plan_l1_fix_time: 1.2614, d2.loss_plan_l1_fix_dist: 0.1864, d3.loss_plan_l1_fix_time: 1.2607, d3.loss_plan_l1_fix_dist: 0.1974, d4.loss_plan_l1_fix_time: 1.2631, d4.loss_plan_l1_fix_dist: 0.2101, d5.loss_plan_l1_fix_time: 1.2662, d5.loss_plan_l1_fix_dist: 0.2247, d6.loss_plan_l1_fix_time: 1.2705, d6.loss_plan_l1_fix_dist: 0.2414, d0.loss_cls_all: 0.2041, d0.loss_bbox_all: 0.4306, d0.loss_cls: 0.2041, d0.loss_bbox: 0.4306, d1.loss_cls: 0.1986, d1.loss_bbox: 0.3984, d2.loss_cls: 0.1878, d2.loss_bbox: 0.3844, d3.loss_cls: 0.1779, d3.loss_bbox: 0.3796, d4.loss_cls: 0.1720, d4.loss_bbox: 0.3784, d5.loss_cls: 0.1692, d5.loss_bbox: 0.3793, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0466, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8707, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8263, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8158, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8101, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8084, d0.loss_map_cls_all: 0.2640, d0.loss_map_pts_all: 1.4022, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2640, d0.loss_map_pts: 1.4022, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2465, d1.loss_map_pts: 0.9556, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.2230, d2.loss_map_pts: 0.7941, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.2068, d3.loss_map_pts: 0.7334, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.2021, d4.loss_map_pts: 0.7104, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1995, d5.loss_map_pts: 0.7041, d5.loss_map_dir: 0.0096, loss: 31.9632, grad_norm: 153.2573 +2026-02-26 03:05:21,823 - DriveTransformer - INFO - Epoch [6][20250/39528] lr: 8.977e-05, eta: 6 days, 19:39:31, time: 0.819, data_time: 0.040, memory: 19865, loss_cls: 0.1722, loss_bbox: 0.3678, loss_traj: 0.7676, loss_traj_cls: 0.0010, loss_map_cls: 0.1749, loss_map_pts: 0.7983, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.9889, d0.loss_plan_l1_fix_dist: 0.4138, d1.loss_plan_l1_fix_time: 1.1839, d1.loss_plan_l1_fix_dist: 0.1878, d2.loss_plan_l1_fix_time: 1.1729, d2.loss_plan_l1_fix_dist: 0.1898, d3.loss_plan_l1_fix_time: 1.1708, d3.loss_plan_l1_fix_dist: 0.2011, d4.loss_plan_l1_fix_time: 1.1740, d4.loss_plan_l1_fix_dist: 0.2157, d5.loss_plan_l1_fix_time: 1.1773, d5.loss_plan_l1_fix_dist: 0.2313, d6.loss_plan_l1_fix_time: 1.1809, d6.loss_plan_l1_fix_dist: 0.2471, d0.loss_cls_all: 0.2054, d0.loss_bbox_all: 0.4334, d0.loss_cls: 0.2054, d0.loss_bbox: 0.4334, d1.loss_cls: 0.2003, d1.loss_bbox: 0.3980, d2.loss_cls: 0.1883, d2.loss_bbox: 0.3786, d3.loss_cls: 0.1768, d3.loss_bbox: 0.3722, d4.loss_cls: 0.1711, d4.loss_bbox: 0.3703, d5.loss_cls: 0.1705, d5.loss_bbox: 0.3694, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0193, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8287, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7959, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7832, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7813, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7826, d0.loss_map_cls_all: 0.2467, d0.loss_map_pts_all: 1.5985, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2467, d0.loss_map_pts: 1.5985, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2173, d1.loss_map_pts: 1.0673, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1992, d2.loss_map_pts: 0.8923, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1889, d3.loss_map_pts: 0.8318, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1815, d4.loss_map_pts: 0.8077, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1763, d5.loss_map_pts: 0.8003, d5.loss_map_dir: 0.0112, loss: 32.2259, grad_norm: 149.8212 +2026-02-26 03:06:02,271 - DriveTransformer - INFO - Epoch [6][20300/39528] lr: 8.977e-05, eta: 6 days, 19:38:51, time: 0.809, data_time: 0.036, memory: 19865, loss_cls: 0.1814, loss_bbox: 0.3814, loss_traj: 0.6414, loss_traj_cls: 0.0011, loss_map_cls: 0.1914, loss_map_pts: 0.8311, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.7737, d0.loss_plan_l1_fix_dist: 0.4091, d1.loss_plan_l1_fix_time: 1.1522, d1.loss_plan_l1_fix_dist: 0.1823, d2.loss_plan_l1_fix_time: 1.1480, d2.loss_plan_l1_fix_dist: 0.1884, d3.loss_plan_l1_fix_time: 1.1463, d3.loss_plan_l1_fix_dist: 0.1947, d4.loss_plan_l1_fix_time: 1.1505, d4.loss_plan_l1_fix_dist: 0.2058, d5.loss_plan_l1_fix_time: 1.1554, d5.loss_plan_l1_fix_dist: 0.2192, d6.loss_plan_l1_fix_time: 1.1607, d6.loss_plan_l1_fix_dist: 0.2354, d0.loss_cls_all: 0.2218, d0.loss_bbox_all: 0.4411, d0.loss_cls: 0.2218, d0.loss_bbox: 0.4411, d1.loss_cls: 0.2120, d1.loss_bbox: 0.4075, d2.loss_cls: 0.2012, d2.loss_bbox: 0.3907, d3.loss_cls: 0.1900, d3.loss_bbox: 0.3846, d4.loss_cls: 0.1831, d4.loss_bbox: 0.3824, d5.loss_cls: 0.1817, d5.loss_bbox: 0.3824, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8680, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7230, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6636, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6465, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6349, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6370, d0.loss_map_cls_all: 0.2541, d0.loss_map_pts_all: 1.6695, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2541, d0.loss_map_pts: 1.6695, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2307, d1.loss_map_pts: 1.1279, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2129, d2.loss_map_pts: 0.9360, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.2040, d3.loss_map_pts: 0.8681, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1975, d4.loss_map_pts: 0.8391, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1931, d5.loss_map_pts: 0.8323, d5.loss_map_dir: 0.0118, loss: 31.5486, grad_norm: 149.4206 +2026-02-26 03:06:41,410 - DriveTransformer - INFO - Epoch [6][20350/39528] lr: 8.977e-05, eta: 6 days, 19:38:07, time: 0.783, data_time: 0.038, memory: 19865, loss_cls: 0.1683, loss_bbox: 0.3570, loss_traj: 0.7613, loss_traj_cls: 0.0011, loss_map_cls: 0.1550, loss_map_pts: 0.6989, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.6850, d0.loss_plan_l1_fix_dist: 0.3971, d1.loss_plan_l1_fix_time: 1.0385, d1.loss_plan_l1_fix_dist: 0.1911, d2.loss_plan_l1_fix_time: 1.0318, d2.loss_plan_l1_fix_dist: 0.1943, d3.loss_plan_l1_fix_time: 1.0369, d3.loss_plan_l1_fix_dist: 0.2030, d4.loss_plan_l1_fix_time: 1.0416, d4.loss_plan_l1_fix_dist: 0.2145, d5.loss_plan_l1_fix_time: 1.0465, d5.loss_plan_l1_fix_dist: 0.2283, d6.loss_plan_l1_fix_time: 1.0517, d6.loss_plan_l1_fix_dist: 0.2446, d0.loss_cls_all: 0.2108, d0.loss_bbox_all: 0.4163, d0.loss_cls: 0.2108, d0.loss_bbox: 0.4163, d1.loss_cls: 0.1990, d1.loss_bbox: 0.3843, d2.loss_cls: 0.1843, d2.loss_bbox: 0.3688, d3.loss_cls: 0.1740, d3.loss_bbox: 0.3631, d4.loss_cls: 0.1693, d4.loss_bbox: 0.3598, d5.loss_cls: 0.1686, d5.loss_bbox: 0.3583, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9459, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8032, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7653, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7515, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.7546, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7593, d0.loss_map_cls_all: 0.2110, d0.loss_map_pts_all: 1.4173, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2110, d0.loss_map_pts: 1.4173, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1892, d1.loss_map_pts: 0.9580, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1716, d2.loss_map_pts: 0.7954, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1646, d3.loss_map_pts: 0.7336, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1603, d4.loss_map_pts: 0.7086, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1539, d5.loss_map_pts: 0.7012, d5.loss_map_dir: 0.0099, loss: 29.5847, grad_norm: 148.7247 +2026-02-26 03:07:17,770 - DriveTransformer - INFO - Epoch [6][20400/39528] lr: 8.977e-05, eta: 6 days, 19:37:13, time: 0.727, data_time: 0.039, memory: 19865, loss_cls: 0.1994, loss_bbox: 0.3779, loss_traj: 0.8007, loss_traj_cls: 0.0011, loss_map_cls: 0.1948, loss_map_pts: 0.7523, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.8250, d0.loss_plan_l1_fix_dist: 0.3916, d1.loss_plan_l1_fix_time: 1.3647, d1.loss_plan_l1_fix_dist: 0.1829, d2.loss_plan_l1_fix_time: 1.3494, d2.loss_plan_l1_fix_dist: 0.1809, d3.loss_plan_l1_fix_time: 1.3556, d3.loss_plan_l1_fix_dist: 0.1938, d4.loss_plan_l1_fix_time: 1.3614, d4.loss_plan_l1_fix_dist: 0.2080, d5.loss_plan_l1_fix_time: 1.3668, d5.loss_plan_l1_fix_dist: 0.2228, d6.loss_plan_l1_fix_time: 1.3725, d6.loss_plan_l1_fix_dist: 0.2365, d0.loss_cls_all: 0.2375, d0.loss_bbox_all: 0.4433, d0.loss_cls: 0.2375, d0.loss_bbox: 0.4433, d1.loss_cls: 0.2251, d1.loss_bbox: 0.4087, d2.loss_cls: 0.2151, d2.loss_bbox: 0.3910, d3.loss_cls: 0.2039, d3.loss_bbox: 0.3853, d4.loss_cls: 0.2009, d4.loss_bbox: 0.3805, d5.loss_cls: 0.1991, d5.loss_bbox: 0.3785, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0256, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8546, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8122, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8033, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8010, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7936, d0.loss_map_cls_all: 0.2639, d0.loss_map_pts_all: 1.4824, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2639, d0.loss_map_pts: 1.4824, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2413, d1.loss_map_pts: 1.0175, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.2210, d2.loss_map_pts: 0.8528, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.2099, d3.loss_map_pts: 0.7880, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.2026, d4.loss_map_pts: 0.7584, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1971, d5.loss_map_pts: 0.7524, d5.loss_map_dir: 0.0105, loss: 33.1979, grad_norm: 150.5779 +2026-02-26 03:07:55,106 - DriveTransformer - INFO - Epoch [6][20450/39528] lr: 8.977e-05, eta: 6 days, 19:36:23, time: 0.747, data_time: 0.042, memory: 19865, loss_cls: 0.1729, loss_bbox: 0.3681, loss_traj: 0.6729, loss_traj_cls: 0.0011, loss_map_cls: 0.1264, loss_map_pts: 0.6197, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 3.0300, d0.loss_plan_l1_fix_dist: 0.4762, d1.loss_plan_l1_fix_time: 1.1232, d1.loss_plan_l1_fix_dist: 0.1997, d2.loss_plan_l1_fix_time: 1.1053, d2.loss_plan_l1_fix_dist: 0.1923, d3.loss_plan_l1_fix_time: 1.1033, d3.loss_plan_l1_fix_dist: 0.2048, d4.loss_plan_l1_fix_time: 1.1073, d4.loss_plan_l1_fix_dist: 0.2195, d5.loss_plan_l1_fix_time: 1.1122, d5.loss_plan_l1_fix_dist: 0.2336, d6.loss_plan_l1_fix_time: 1.1178, d6.loss_plan_l1_fix_dist: 0.2475, d0.loss_cls_all: 0.2091, d0.loss_bbox_all: 0.4310, d0.loss_cls: 0.2091, d0.loss_bbox: 0.4310, d1.loss_cls: 0.2011, d1.loss_bbox: 0.3981, d2.loss_cls: 0.1896, d2.loss_bbox: 0.3816, d3.loss_cls: 0.1799, d3.loss_bbox: 0.3754, d4.loss_cls: 0.1744, d4.loss_bbox: 0.3722, d5.loss_cls: 0.1734, d5.loss_bbox: 0.3702, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9571, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7290, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6823, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6686, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6662, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6713, d0.loss_map_cls_all: 0.1875, d0.loss_map_pts_all: 1.2141, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.1875, d0.loss_map_pts: 1.2141, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1597, d1.loss_map_pts: 0.8248, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1432, d2.loss_map_pts: 0.6939, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1340, d3.loss_map_pts: 0.6478, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1305, d4.loss_map_pts: 0.6294, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1272, d5.loss_map_pts: 0.6203, d5.loss_map_dir: 0.0088, loss: 28.8966, grad_norm: 152.1095 +2026-02-26 03:08:33,356 - DriveTransformer - INFO - Epoch [6][20500/39528] lr: 8.977e-05, eta: 6 days, 19:35:36, time: 0.765, data_time: 0.037, memory: 19865, loss_cls: 0.1780, loss_bbox: 0.3657, loss_traj: 0.6259, loss_traj_cls: 0.0011, loss_map_cls: 0.1776, loss_map_pts: 0.7837, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.7028, d0.loss_plan_l1_fix_dist: 0.3746, d1.loss_plan_l1_fix_time: 1.0274, d1.loss_plan_l1_fix_dist: 0.1799, d2.loss_plan_l1_fix_time: 1.0128, d2.loss_plan_l1_fix_dist: 0.1736, d3.loss_plan_l1_fix_time: 1.0160, d3.loss_plan_l1_fix_dist: 0.1812, d4.loss_plan_l1_fix_time: 1.0213, d4.loss_plan_l1_fix_dist: 0.1927, d5.loss_plan_l1_fix_time: 1.0272, d5.loss_plan_l1_fix_dist: 0.2061, d6.loss_plan_l1_fix_time: 1.0339, d6.loss_plan_l1_fix_dist: 0.2210, d0.loss_cls_all: 0.2115, d0.loss_bbox_all: 0.4140, d0.loss_cls: 0.2115, d0.loss_bbox: 0.4140, d1.loss_cls: 0.2042, d1.loss_bbox: 0.3857, d2.loss_cls: 0.1908, d2.loss_bbox: 0.3723, d3.loss_cls: 0.1855, d3.loss_bbox: 0.3649, d4.loss_cls: 0.1792, d4.loss_bbox: 0.3652, d5.loss_cls: 0.1787, d5.loss_bbox: 0.3657, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8434, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6919, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6564, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6342, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6235, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6252, d0.loss_map_cls_all: 0.2394, d0.loss_map_pts_all: 1.5165, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2394, d0.loss_map_pts: 1.5165, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2179, d1.loss_map_pts: 1.0510, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1970, d2.loss_map_pts: 0.8832, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1866, d3.loss_map_pts: 0.8199, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1803, d4.loss_map_pts: 0.7933, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1783, d5.loss_map_pts: 0.7839, d5.loss_map_dir: 0.0098, loss: 29.5049, grad_norm: 151.1710 +2026-02-26 03:09:11,954 - DriveTransformer - INFO - Epoch [6][20550/39528] lr: 8.977e-05, eta: 6 days, 19:34:50, time: 0.772, data_time: 0.041, memory: 19865, loss_cls: 0.1738, loss_bbox: 0.3610, loss_traj: 0.6547, loss_traj_cls: 0.0011, loss_map_cls: 0.1403, loss_map_pts: 0.6688, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.6216, d0.loss_plan_l1_fix_dist: 0.4313, d1.loss_plan_l1_fix_time: 1.1136, d1.loss_plan_l1_fix_dist: 0.1852, d2.loss_plan_l1_fix_time: 1.0949, d2.loss_plan_l1_fix_dist: 0.1878, d3.loss_plan_l1_fix_time: 1.0953, d3.loss_plan_l1_fix_dist: 0.1993, d4.loss_plan_l1_fix_time: 1.1000, d4.loss_plan_l1_fix_dist: 0.2141, d5.loss_plan_l1_fix_time: 1.1050, d5.loss_plan_l1_fix_dist: 0.2322, d6.loss_plan_l1_fix_time: 1.1102, d6.loss_plan_l1_fix_dist: 0.2545, d0.loss_cls_all: 0.2116, d0.loss_bbox_all: 0.4191, d0.loss_cls: 0.2116, d0.loss_bbox: 0.4191, d1.loss_cls: 0.2011, d1.loss_bbox: 0.3853, d2.loss_cls: 0.1885, d2.loss_bbox: 0.3693, d3.loss_cls: 0.1802, d3.loss_bbox: 0.3615, d4.loss_cls: 0.1759, d4.loss_bbox: 0.3600, d5.loss_cls: 0.1733, d5.loss_bbox: 0.3607, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8372, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7122, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6708, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6622, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6538, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6530, d0.loss_map_cls_all: 0.2094, d0.loss_map_pts_all: 1.3650, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2094, d0.loss_map_pts: 1.3650, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1798, d1.loss_map_pts: 0.9106, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1602, d2.loss_map_pts: 0.7491, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1499, d3.loss_map_pts: 0.6975, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1465, d4.loss_map_pts: 0.6795, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1415, d5.loss_map_pts: 0.6694, d5.loss_map_dir: 0.0099, loss: 28.8674, grad_norm: 149.6087 +2026-02-26 03:09:50,478 - DriveTransformer - INFO - Epoch [6][20600/39528] lr: 8.977e-05, eta: 6 days, 19:34:04, time: 0.772, data_time: 0.040, memory: 19865, loss_cls: 0.1941, loss_bbox: 0.4106, loss_traj: 0.7701, loss_traj_cls: 0.0011, loss_map_cls: 0.2072, loss_map_pts: 0.8638, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.6600, d0.loss_plan_l1_fix_dist: 0.4268, d1.loss_plan_l1_fix_time: 1.2105, d1.loss_plan_l1_fix_dist: 0.2032, d2.loss_plan_l1_fix_time: 1.1930, d2.loss_plan_l1_fix_dist: 0.2048, d3.loss_plan_l1_fix_time: 1.1926, d3.loss_plan_l1_fix_dist: 0.2166, d4.loss_plan_l1_fix_time: 1.1967, d4.loss_plan_l1_fix_dist: 0.2282, d5.loss_plan_l1_fix_time: 1.2012, d5.loss_plan_l1_fix_dist: 0.2430, d6.loss_plan_l1_fix_time: 1.2060, d6.loss_plan_l1_fix_dist: 0.2564, d0.loss_cls_all: 0.2215, d0.loss_bbox_all: 0.4724, d0.loss_cls: 0.2215, d0.loss_bbox: 0.4724, d1.loss_cls: 0.2157, d1.loss_bbox: 0.4409, d2.loss_cls: 0.2064, d2.loss_bbox: 0.4207, d3.loss_cls: 0.2007, d3.loss_bbox: 0.4123, d4.loss_cls: 0.1957, d4.loss_bbox: 0.4092, d5.loss_cls: 0.1931, d5.loss_bbox: 0.4103, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0353, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8511, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7819, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7700, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7689, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7683, d0.loss_map_cls_all: 0.2839, d0.loss_map_pts_all: 1.6555, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2839, d0.loss_map_pts: 1.6555, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2527, d1.loss_map_pts: 1.1683, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2323, d2.loss_map_pts: 0.9712, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.2204, d3.loss_map_pts: 0.9000, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.2126, d4.loss_map_pts: 0.8709, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.2089, d5.loss_map_pts: 0.8627, d5.loss_map_dir: 0.0113, loss: 33.4262, grad_norm: 146.1017 +2026-02-26 03:10:29,598 - DriveTransformer - INFO - Epoch [6][20650/39528] lr: 8.977e-05, eta: 6 days, 19:33:19, time: 0.781, data_time: 0.036, memory: 19865, loss_cls: 0.1913, loss_bbox: 0.3892, loss_traj: 0.6780, loss_traj_cls: 0.0011, loss_map_cls: 0.1687, loss_map_pts: 0.7680, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.4282, d0.loss_plan_l1_fix_dist: 0.4677, d1.loss_plan_l1_fix_time: 1.0941, d1.loss_plan_l1_fix_dist: 0.1955, d2.loss_plan_l1_fix_time: 1.0701, d2.loss_plan_l1_fix_dist: 0.2027, d3.loss_plan_l1_fix_time: 1.0715, d3.loss_plan_l1_fix_dist: 0.2144, d4.loss_plan_l1_fix_time: 1.0752, d4.loss_plan_l1_fix_dist: 0.2265, d5.loss_plan_l1_fix_time: 1.0797, d5.loss_plan_l1_fix_dist: 0.2392, d6.loss_plan_l1_fix_time: 1.0848, d6.loss_plan_l1_fix_dist: 0.2528, d0.loss_cls_all: 0.2246, d0.loss_bbox_all: 0.4495, d0.loss_cls: 0.2246, d0.loss_bbox: 0.4495, d1.loss_cls: 0.2183, d1.loss_bbox: 0.4141, d2.loss_cls: 0.2082, d2.loss_bbox: 0.3941, d3.loss_cls: 0.1976, d3.loss_bbox: 0.3877, d4.loss_cls: 0.1925, d4.loss_bbox: 0.3867, d5.loss_cls: 0.1908, d5.loss_bbox: 0.3876, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8433, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7185, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6915, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6852, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6755, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6793, d0.loss_map_cls_all: 0.2339, d0.loss_map_pts_all: 1.5148, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2339, d0.loss_map_pts: 1.5148, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2118, d1.loss_map_pts: 1.0343, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1933, d2.loss_map_pts: 0.8616, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1794, d3.loss_map_pts: 0.7970, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1741, d4.loss_map_pts: 0.7738, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1703, d5.loss_map_pts: 0.7678, d5.loss_map_dir: 0.0101, loss: 30.2647, grad_norm: 146.7514 +2026-02-26 03:11:11,337 - DriveTransformer - INFO - Epoch [6][20700/39528] lr: 8.977e-05, eta: 6 days, 19:32:44, time: 0.835, data_time: 0.041, memory: 19865, loss_cls: 0.1845, loss_bbox: 0.3701, loss_traj: 0.6416, loss_traj_cls: 0.0011, loss_map_cls: 0.1781, loss_map_pts: 0.8906, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.6077, d0.loss_plan_l1_fix_dist: 0.3563, d1.loss_plan_l1_fix_time: 1.1948, d1.loss_plan_l1_fix_dist: 0.1932, d2.loss_plan_l1_fix_time: 1.1781, d2.loss_plan_l1_fix_dist: 0.1984, d3.loss_plan_l1_fix_time: 1.1813, d3.loss_plan_l1_fix_dist: 0.2049, d4.loss_plan_l1_fix_time: 1.1839, d4.loss_plan_l1_fix_dist: 0.2147, d5.loss_plan_l1_fix_time: 1.1869, d5.loss_plan_l1_fix_dist: 0.2243, d6.loss_plan_l1_fix_time: 1.1903, d6.loss_plan_l1_fix_dist: 0.2367, d0.loss_cls_all: 0.2148, d0.loss_bbox_all: 0.4342, d0.loss_cls: 0.2148, d0.loss_bbox: 0.4342, d1.loss_cls: 0.2085, d1.loss_bbox: 0.3980, d2.loss_cls: 0.1962, d2.loss_bbox: 0.3812, d3.loss_cls: 0.1870, d3.loss_bbox: 0.3745, d4.loss_cls: 0.1828, d4.loss_bbox: 0.3716, d5.loss_cls: 0.1829, d5.loss_bbox: 0.3714, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7830, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6685, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6350, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6357, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6398, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6403, d0.loss_map_cls_all: 0.2453, d0.loss_map_pts_all: 1.8790, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.2453, d0.loss_map_pts: 1.8790, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2223, d1.loss_map_pts: 1.2420, d1.loss_map_dir: 0.0118, d2.loss_map_cls: 0.2002, d2.loss_map_pts: 1.0278, d2.loss_map_dir: 0.0119, d3.loss_map_cls: 0.1922, d3.loss_map_pts: 0.9434, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.1850, d4.loss_map_pts: 0.9067, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.1797, d5.loss_map_pts: 0.8941, d5.loss_map_dir: 0.0129, loss: 32.1194, grad_norm: 146.0683 +2026-02-26 03:11:48,849 - DriveTransformer - INFO - Epoch [6][20750/39528] lr: 8.977e-05, eta: 6 days, 19:31:54, time: 0.750, data_time: 0.042, memory: 19865, loss_cls: 0.1667, loss_bbox: 0.3656, loss_traj: 0.7161, loss_traj_cls: 0.0011, loss_map_cls: 0.1731, loss_map_pts: 0.7271, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.5490, d0.loss_plan_l1_fix_dist: 0.4103, d1.loss_plan_l1_fix_time: 1.2003, d1.loss_plan_l1_fix_dist: 0.2066, d2.loss_plan_l1_fix_time: 1.1839, d2.loss_plan_l1_fix_dist: 0.2103, d3.loss_plan_l1_fix_time: 1.1856, d3.loss_plan_l1_fix_dist: 0.2219, d4.loss_plan_l1_fix_time: 1.1889, d4.loss_plan_l1_fix_dist: 0.2347, d5.loss_plan_l1_fix_time: 1.1926, d5.loss_plan_l1_fix_dist: 0.2491, d6.loss_plan_l1_fix_time: 1.1965, d6.loss_plan_l1_fix_dist: 0.2630, d0.loss_cls_all: 0.2055, d0.loss_bbox_all: 0.4216, d0.loss_cls: 0.2055, d0.loss_bbox: 0.4216, d1.loss_cls: 0.1996, d1.loss_bbox: 0.3887, d2.loss_cls: 0.1877, d2.loss_bbox: 0.3737, d3.loss_cls: 0.1759, d3.loss_bbox: 0.3666, d4.loss_cls: 0.1688, d4.loss_bbox: 0.3665, d5.loss_cls: 0.1672, d5.loss_bbox: 0.3658, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8697, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7530, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7251, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7146, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7132, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7110, d0.loss_map_cls_all: 0.2401, d0.loss_map_pts_all: 1.4075, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2401, d0.loss_map_pts: 1.4075, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2126, d1.loss_map_pts: 0.9780, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1897, d2.loss_map_pts: 0.8211, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1799, d3.loss_map_pts: 0.7587, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1775, d4.loss_map_pts: 0.7349, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1743, d5.loss_map_pts: 0.7286, d5.loss_map_dir: 0.0098, loss: 30.4776, grad_norm: 144.5990 +2026-02-26 03:12:25,739 - DriveTransformer - INFO - Epoch [6][20800/39528] lr: 8.977e-05, eta: 6 days, 19:31:02, time: 0.738, data_time: 0.044, memory: 19865, loss_cls: 0.1809, loss_bbox: 0.3752, loss_traj: 0.6008, loss_traj_cls: 0.0011, loss_map_cls: 0.1753, loss_map_pts: 0.7531, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.3732, d0.loss_plan_l1_fix_dist: 0.4523, d1.loss_plan_l1_fix_time: 1.1125, d1.loss_plan_l1_fix_dist: 0.2207, d2.loss_plan_l1_fix_time: 1.1017, d2.loss_plan_l1_fix_dist: 0.2239, d3.loss_plan_l1_fix_time: 1.1000, d3.loss_plan_l1_fix_dist: 0.2382, d4.loss_plan_l1_fix_time: 1.1028, d4.loss_plan_l1_fix_dist: 0.2562, d5.loss_plan_l1_fix_time: 1.1061, d5.loss_plan_l1_fix_dist: 0.2754, d6.loss_plan_l1_fix_time: 1.1098, d6.loss_plan_l1_fix_dist: 0.2926, d0.loss_cls_all: 0.2180, d0.loss_bbox_all: 0.4320, d0.loss_cls: 0.2180, d0.loss_bbox: 0.4320, d1.loss_cls: 0.2085, d1.loss_bbox: 0.3981, d2.loss_cls: 0.1965, d2.loss_bbox: 0.3828, d3.loss_cls: 0.1861, d3.loss_bbox: 0.3779, d4.loss_cls: 0.1838, d4.loss_bbox: 0.3743, d5.loss_cls: 0.1807, d5.loss_bbox: 0.3748, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8298, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6300, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6059, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5973, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5980, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5983, d0.loss_map_cls_all: 0.2442, d0.loss_map_pts_all: 1.4422, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2442, d0.loss_map_pts: 1.4422, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2190, d1.loss_map_pts: 0.9970, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1974, d2.loss_map_pts: 0.8406, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1859, d3.loss_map_pts: 0.7838, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1798, d4.loss_map_pts: 0.7588, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1768, d5.loss_map_pts: 0.7552, d5.loss_map_dir: 0.0099, loss: 29.6244, grad_norm: 144.5475 +2026-02-26 03:13:03,309 - DriveTransformer - INFO - Epoch [6][20850/39528] lr: 8.977e-05, eta: 6 days, 19:30:13, time: 0.751, data_time: 0.041, memory: 19865, loss_cls: 0.1723, loss_bbox: 0.3646, loss_traj: 0.7397, loss_traj_cls: 0.0011, loss_map_cls: 0.1588, loss_map_pts: 0.6860, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 3.1724, d0.loss_plan_l1_fix_dist: 0.3473, d1.loss_plan_l1_fix_time: 1.2521, d1.loss_plan_l1_fix_dist: 0.2031, d2.loss_plan_l1_fix_time: 1.2423, d2.loss_plan_l1_fix_dist: 0.2013, d3.loss_plan_l1_fix_time: 1.2428, d3.loss_plan_l1_fix_dist: 0.2147, d4.loss_plan_l1_fix_time: 1.2465, d4.loss_plan_l1_fix_dist: 0.2353, d5.loss_plan_l1_fix_time: 1.2509, d5.loss_plan_l1_fix_dist: 0.2596, d6.loss_plan_l1_fix_time: 1.2555, d6.loss_plan_l1_fix_dist: 0.2888, d0.loss_cls_all: 0.2089, d0.loss_bbox_all: 0.4167, d0.loss_cls: 0.2089, d0.loss_bbox: 0.4167, d1.loss_cls: 0.2021, d1.loss_bbox: 0.3853, d2.loss_cls: 0.1849, d2.loss_bbox: 0.3708, d3.loss_cls: 0.1758, d3.loss_bbox: 0.3664, d4.loss_cls: 0.1721, d4.loss_bbox: 0.3638, d5.loss_cls: 0.1726, d5.loss_bbox: 0.3640, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9987, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8092, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7592, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7460, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7411, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7392, d0.loss_map_cls_all: 0.2198, d0.loss_map_pts_all: 1.3798, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2198, d0.loss_map_pts: 1.3798, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.1929, d1.loss_map_pts: 0.9223, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1738, d2.loss_map_pts: 0.7631, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1667, d3.loss_map_pts: 0.7107, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1630, d4.loss_map_pts: 0.6917, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1599, d5.loss_map_pts: 0.6863, d5.loss_map_dir: 0.0103, loss: 31.2547, grad_norm: 145.4089 +2026-02-26 03:13:41,630 - DriveTransformer - INFO - Epoch [6][20900/39528] lr: 8.977e-05, eta: 6 days, 19:29:26, time: 0.766, data_time: 0.042, memory: 19865, loss_cls: 0.1854, loss_bbox: 0.3917, loss_traj: 0.5808, loss_traj_cls: 0.0011, loss_map_cls: 0.1845, loss_map_pts: 0.8128, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.6702, d0.loss_plan_l1_fix_dist: 0.4192, d1.loss_plan_l1_fix_time: 1.1083, d1.loss_plan_l1_fix_dist: 0.2214, d2.loss_plan_l1_fix_time: 1.0933, d2.loss_plan_l1_fix_dist: 0.2173, d3.loss_plan_l1_fix_time: 1.0920, d3.loss_plan_l1_fix_dist: 0.2318, d4.loss_plan_l1_fix_time: 1.0959, d4.loss_plan_l1_fix_dist: 0.2495, d5.loss_plan_l1_fix_time: 1.1008, d5.loss_plan_l1_fix_dist: 0.2733, d6.loss_plan_l1_fix_time: 1.1055, d6.loss_plan_l1_fix_dist: 0.3011, d0.loss_cls_all: 0.2299, d0.loss_bbox_all: 0.4510, d0.loss_cls: 0.2299, d0.loss_bbox: 0.4510, d1.loss_cls: 0.2205, d1.loss_bbox: 0.4175, d2.loss_cls: 0.2020, d2.loss_bbox: 0.4016, d3.loss_cls: 0.1906, d3.loss_bbox: 0.3929, d4.loss_cls: 0.1854, d4.loss_bbox: 0.3920, d5.loss_cls: 0.1849, d5.loss_bbox: 0.3924, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7828, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6292, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5972, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5837, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5820, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5801, d0.loss_map_cls_all: 0.2501, d0.loss_map_pts_all: 1.5635, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2501, d0.loss_map_pts: 1.5635, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2281, d1.loss_map_pts: 1.0693, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2082, d2.loss_map_pts: 0.9044, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1955, d3.loss_map_pts: 0.8427, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1907, d4.loss_map_pts: 0.8211, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1864, d5.loss_map_pts: 0.8140, d5.loss_map_dir: 0.0113, loss: 30.6142, grad_norm: 147.1478 +2026-02-26 03:14:20,094 - DriveTransformer - INFO - Epoch [6][20950/39528] lr: 8.977e-05, eta: 6 days, 19:28:40, time: 0.769, data_time: 0.038, memory: 19865, loss_cls: 0.1936, loss_bbox: 0.3973, loss_traj: 0.7092, loss_traj_cls: 0.0011, loss_map_cls: 0.1717, loss_map_pts: 0.7469, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.5002, d0.loss_plan_l1_fix_dist: 0.4714, d1.loss_plan_l1_fix_time: 1.2915, d1.loss_plan_l1_fix_dist: 0.2100, d2.loss_plan_l1_fix_time: 1.2671, d2.loss_plan_l1_fix_dist: 0.2113, d3.loss_plan_l1_fix_time: 1.2641, d3.loss_plan_l1_fix_dist: 0.2275, d4.loss_plan_l1_fix_time: 1.2677, d4.loss_plan_l1_fix_dist: 0.2439, d5.loss_plan_l1_fix_time: 1.2723, d5.loss_plan_l1_fix_dist: 0.2613, d6.loss_plan_l1_fix_time: 1.2771, d6.loss_plan_l1_fix_dist: 0.2757, d0.loss_cls_all: 0.2310, d0.loss_bbox_all: 0.4566, d0.loss_cls: 0.2310, d0.loss_bbox: 0.4566, d1.loss_cls: 0.2276, d1.loss_bbox: 0.4184, d2.loss_cls: 0.2129, d2.loss_bbox: 0.4035, d3.loss_cls: 0.2011, d3.loss_bbox: 0.3974, d4.loss_cls: 0.1953, d4.loss_bbox: 0.3957, d5.loss_cls: 0.1931, d5.loss_bbox: 0.3964, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9333, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7500, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7140, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7082, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7115, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7092, d0.loss_map_cls_all: 0.2340, d0.loss_map_pts_all: 1.5018, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2340, d0.loss_map_pts: 1.5018, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2049, d1.loss_map_pts: 1.0295, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.1913, d2.loss_map_pts: 0.8508, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1826, d3.loss_map_pts: 0.7792, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1759, d4.loss_map_pts: 0.7535, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1736, d5.loss_map_pts: 0.7473, d5.loss_map_dir: 0.0115, loss: 31.8587, grad_norm: 148.5621 +2026-02-26 03:14:57,963 - DriveTransformer - INFO - Epoch [6][21000/39528] lr: 8.977e-05, eta: 6 days, 19:27:51, time: 0.757, data_time: 0.045, memory: 19865, loss_cls: 0.1728, loss_bbox: 0.3774, loss_traj: 0.7615, loss_traj_cls: 0.0010, loss_map_cls: 0.1696, loss_map_pts: 0.7973, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.8422, d0.loss_plan_l1_fix_dist: 0.3512, d1.loss_plan_l1_fix_time: 1.2967, d1.loss_plan_l1_fix_dist: 0.1931, d2.loss_plan_l1_fix_time: 1.2915, d2.loss_plan_l1_fix_dist: 0.2026, d3.loss_plan_l1_fix_time: 1.2921, d3.loss_plan_l1_fix_dist: 0.2146, d4.loss_plan_l1_fix_time: 1.2968, d4.loss_plan_l1_fix_dist: 0.2292, d5.loss_plan_l1_fix_time: 1.3023, d5.loss_plan_l1_fix_dist: 0.2452, d6.loss_plan_l1_fix_time: 1.3094, d6.loss_plan_l1_fix_dist: 0.2609, d0.loss_cls_all: 0.2063, d0.loss_bbox_all: 0.4345, d0.loss_cls: 0.2063, d0.loss_bbox: 0.4345, d1.loss_cls: 0.1976, d1.loss_bbox: 0.4022, d2.loss_cls: 0.1876, d2.loss_bbox: 0.3842, d3.loss_cls: 0.1785, d3.loss_bbox: 0.3762, d4.loss_cls: 0.1733, d4.loss_bbox: 0.3757, d5.loss_cls: 0.1729, d5.loss_bbox: 0.3761, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0778, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8500, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7871, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7671, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7674, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7639, d0.loss_map_cls_all: 0.2412, d0.loss_map_pts_all: 1.5626, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2412, d0.loss_map_pts: 1.5626, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2104, d1.loss_map_pts: 1.0682, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1931, d2.loss_map_pts: 0.8961, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1794, d3.loss_map_pts: 0.8271, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1730, d4.loss_map_pts: 0.8040, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1715, d5.loss_map_pts: 0.7985, d5.loss_map_dir: 0.0107, loss: 32.7456, grad_norm: 149.8897 +2026-02-26 03:15:36,110 - DriveTransformer - INFO - Epoch [6][21050/39528] lr: 8.977e-05, eta: 6 days, 19:27:04, time: 0.763, data_time: 0.040, memory: 19865, loss_cls: 0.1900, loss_bbox: 0.4007, loss_traj: 0.7165, loss_traj_cls: 0.0011, loss_map_cls: 0.1853, loss_map_pts: 0.8252, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 3.0520, d0.loss_plan_l1_fix_dist: 0.4128, d1.loss_plan_l1_fix_time: 1.2121, d1.loss_plan_l1_fix_dist: 0.1981, d2.loss_plan_l1_fix_time: 1.2120, d2.loss_plan_l1_fix_dist: 0.2040, d3.loss_plan_l1_fix_time: 1.2102, d3.loss_plan_l1_fix_dist: 0.2089, d4.loss_plan_l1_fix_time: 1.2127, d4.loss_plan_l1_fix_dist: 0.2183, d5.loss_plan_l1_fix_time: 1.2162, d5.loss_plan_l1_fix_dist: 0.2291, d6.loss_plan_l1_fix_time: 1.2209, d6.loss_plan_l1_fix_dist: 0.2427, d0.loss_cls_all: 0.2284, d0.loss_bbox_all: 0.4673, d0.loss_cls: 0.2284, d0.loss_bbox: 0.4673, d1.loss_cls: 0.2172, d1.loss_bbox: 0.4288, d2.loss_cls: 0.2041, d2.loss_bbox: 0.4121, d3.loss_cls: 0.1960, d3.loss_bbox: 0.4020, d4.loss_cls: 0.1925, d4.loss_bbox: 0.3995, d5.loss_cls: 0.1913, d5.loss_bbox: 0.3998, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9917, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8081, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7411, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7307, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7213, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7190, d0.loss_map_cls_all: 0.2606, d0.loss_map_pts_all: 1.5477, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2606, d0.loss_map_pts: 1.5477, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2367, d1.loss_map_pts: 1.1181, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.2168, d2.loss_map_pts: 0.9498, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.2021, d3.loss_map_pts: 0.8705, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1930, d4.loss_map_pts: 0.8370, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1873, d5.loss_map_pts: 0.8270, d5.loss_map_dir: 0.0098, loss: 32.8521, grad_norm: 148.5506 +2026-02-26 03:16:13,120 - DriveTransformer - INFO - Epoch [6][21100/39528] lr: 8.977e-05, eta: 6 days, 19:26:12, time: 0.740, data_time: 0.037, memory: 19865, loss_cls: 0.2037, loss_bbox: 0.4034, loss_traj: 0.8255, loss_traj_cls: 0.0011, loss_map_cls: 0.1921, loss_map_pts: 0.8279, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.9968, d0.loss_plan_l1_fix_dist: 0.4833, d1.loss_plan_l1_fix_time: 1.1811, d1.loss_plan_l1_fix_dist: 0.2086, d2.loss_plan_l1_fix_time: 1.1699, d2.loss_plan_l1_fix_dist: 0.2151, d3.loss_plan_l1_fix_time: 1.1676, d3.loss_plan_l1_fix_dist: 0.2238, d4.loss_plan_l1_fix_time: 1.1693, d4.loss_plan_l1_fix_dist: 0.2374, d5.loss_plan_l1_fix_time: 1.1716, d5.loss_plan_l1_fix_dist: 0.2536, d6.loss_plan_l1_fix_time: 1.1743, d6.loss_plan_l1_fix_dist: 0.2717, d0.loss_cls_all: 0.2399, d0.loss_bbox_all: 0.4607, d0.loss_cls: 0.2399, d0.loss_bbox: 0.4607, d1.loss_cls: 0.2339, d1.loss_bbox: 0.4250, d2.loss_cls: 0.2219, d2.loss_bbox: 0.4055, d3.loss_cls: 0.2095, d3.loss_bbox: 0.4007, d4.loss_cls: 0.2047, d4.loss_bbox: 0.3998, d5.loss_cls: 0.2041, d5.loss_bbox: 0.3993, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1069, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8959, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8410, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8307, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8205, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8244, d0.loss_map_cls_all: 0.2602, d0.loss_map_pts_all: 1.4594, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2602, d0.loss_map_pts: 1.4594, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.2360, d1.loss_map_pts: 1.0703, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.2170, d2.loss_map_pts: 0.9170, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.2062, d3.loss_map_pts: 0.8565, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1982, d4.loss_map_pts: 0.8338, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1941, d5.loss_map_pts: 0.8293, d5.loss_map_dir: 0.0092, loss: 33.2760, grad_norm: 148.4779 +2026-02-26 03:16:52,257 - DriveTransformer - INFO - Epoch [6][21150/39528] lr: 8.977e-05, eta: 6 days, 19:25:28, time: 0.783, data_time: 0.041, memory: 19865, loss_cls: 0.1919, loss_bbox: 0.3943, loss_traj: 0.8328, loss_traj_cls: 0.0011, loss_map_cls: 0.1740, loss_map_pts: 0.8080, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.9526, d0.loss_plan_l1_fix_dist: 0.4762, d1.loss_plan_l1_fix_time: 1.4045, d1.loss_plan_l1_fix_dist: 0.2190, d2.loss_plan_l1_fix_time: 1.3849, d2.loss_plan_l1_fix_dist: 0.2185, d3.loss_plan_l1_fix_time: 1.3831, d3.loss_plan_l1_fix_dist: 0.2288, d4.loss_plan_l1_fix_time: 1.3844, d4.loss_plan_l1_fix_dist: 0.2415, d5.loss_plan_l1_fix_time: 1.3861, d5.loss_plan_l1_fix_dist: 0.2569, d6.loss_plan_l1_fix_time: 1.3883, d6.loss_plan_l1_fix_dist: 0.2749, d0.loss_cls_all: 0.2229, d0.loss_bbox_all: 0.4552, d0.loss_cls: 0.2229, d0.loss_bbox: 0.4552, d1.loss_cls: 0.2163, d1.loss_bbox: 0.4245, d2.loss_cls: 0.2039, d2.loss_bbox: 0.4094, d3.loss_cls: 0.1960, d3.loss_bbox: 0.4008, d4.loss_cls: 0.1901, d4.loss_bbox: 0.3993, d5.loss_cls: 0.1889, d5.loss_bbox: 0.3969, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1159, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9242, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8537, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8348, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8289, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8326, d0.loss_map_cls_all: 0.2477, d0.loss_map_pts_all: 1.5301, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2477, d0.loss_map_pts: 1.5301, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2146, d1.loss_map_pts: 1.0771, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.1931, d2.loss_map_pts: 0.9068, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.1860, d3.loss_map_pts: 0.8459, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1791, d4.loss_map_pts: 0.8196, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1737, d5.loss_map_pts: 0.8107, d5.loss_map_dir: 0.0117, loss: 34.4327, grad_norm: 148.2224 +2026-02-26 03:17:28,086 - DriveTransformer - INFO - Epoch [6][21200/39528] lr: 8.977e-05, eta: 6 days, 19:24:33, time: 0.717, data_time: 0.042, memory: 19865, loss_cls: 0.1837, loss_bbox: 0.3662, loss_traj: 0.7522, loss_traj_cls: 0.0011, loss_map_cls: 0.1424, loss_map_pts: 0.6307, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.4928, d0.loss_plan_l1_fix_dist: 0.4451, d1.loss_plan_l1_fix_time: 1.4356, d1.loss_plan_l1_fix_dist: 0.2176, d2.loss_plan_l1_fix_time: 1.4046, d2.loss_plan_l1_fix_dist: 0.2125, d3.loss_plan_l1_fix_time: 1.3961, d3.loss_plan_l1_fix_dist: 0.2223, d4.loss_plan_l1_fix_time: 1.3967, d4.loss_plan_l1_fix_dist: 0.2326, d5.loss_plan_l1_fix_time: 1.3976, d5.loss_plan_l1_fix_dist: 0.2435, d6.loss_plan_l1_fix_time: 1.3991, d6.loss_plan_l1_fix_dist: 0.2552, d0.loss_cls_all: 0.2140, d0.loss_bbox_all: 0.4287, d0.loss_cls: 0.2140, d0.loss_bbox: 0.4287, d1.loss_cls: 0.2085, d1.loss_bbox: 0.3961, d2.loss_cls: 0.1981, d2.loss_bbox: 0.3781, d3.loss_cls: 0.1856, d3.loss_bbox: 0.3709, d4.loss_cls: 0.1837, d4.loss_bbox: 0.3678, d5.loss_cls: 0.1823, d5.loss_bbox: 0.3673, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0136, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8357, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7719, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7547, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.7518, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7504, d0.loss_map_cls_all: 0.2094, d0.loss_map_pts_all: 1.2357, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2094, d0.loss_map_pts: 1.2357, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1818, d1.loss_map_pts: 0.8511, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1651, d2.loss_map_pts: 0.7135, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1552, d3.loss_map_pts: 0.6586, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1504, d4.loss_map_pts: 0.6373, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1442, d5.loss_map_pts: 0.6300, d5.loss_map_dir: 0.0080, loss: 31.0756, grad_norm: 146.5859 +2026-02-26 03:18:05,800 - DriveTransformer - INFO - Epoch [6][21250/39528] lr: 8.977e-05, eta: 6 days, 19:23:44, time: 0.754, data_time: 0.037, memory: 19865, loss_cls: 0.1908, loss_bbox: 0.3884, loss_traj: 0.7274, loss_traj_cls: 0.0011, loss_map_cls: 0.1595, loss_map_pts: 0.7221, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.7556, d0.loss_plan_l1_fix_dist: 0.5247, d1.loss_plan_l1_fix_time: 1.1666, d1.loss_plan_l1_fix_dist: 0.2052, d2.loss_plan_l1_fix_time: 1.1664, d2.loss_plan_l1_fix_dist: 0.2066, d3.loss_plan_l1_fix_time: 1.1705, d3.loss_plan_l1_fix_dist: 0.2190, d4.loss_plan_l1_fix_time: 1.1740, d4.loss_plan_l1_fix_dist: 0.2348, d5.loss_plan_l1_fix_time: 1.1774, d5.loss_plan_l1_fix_dist: 0.2511, d6.loss_plan_l1_fix_time: 1.1814, d6.loss_plan_l1_fix_dist: 0.2677, d0.loss_cls_all: 0.2253, d0.loss_bbox_all: 0.4534, d0.loss_cls: 0.2253, d0.loss_bbox: 0.4534, d1.loss_cls: 0.2203, d1.loss_bbox: 0.4199, d2.loss_cls: 0.2077, d2.loss_bbox: 0.4000, d3.loss_cls: 0.1989, d3.loss_bbox: 0.3925, d4.loss_cls: 0.1920, d4.loss_bbox: 0.3905, d5.loss_cls: 0.1900, d5.loss_bbox: 0.3889, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0014, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8254, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7506, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7367, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.7345, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7321, d0.loss_map_cls_all: 0.2244, d0.loss_map_pts_all: 1.3955, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2244, d0.loss_map_pts: 1.3955, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1994, d1.loss_map_pts: 0.9807, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1787, d2.loss_map_pts: 0.8334, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1686, d3.loss_map_pts: 0.7640, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1645, d4.loss_map_pts: 0.7348, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1595, d5.loss_map_pts: 0.7248, d5.loss_map_dir: 0.0094, loss: 31.2591, grad_norm: 142.3470 +2026-02-26 03:18:44,598 - DriveTransformer - INFO - Epoch [6][21300/39528] lr: 8.977e-05, eta: 6 days, 19:22:59, time: 0.776, data_time: 0.046, memory: 19865, loss_cls: 0.1964, loss_bbox: 0.4017, loss_traj: 0.6893, loss_traj_cls: 0.0011, loss_map_cls: 0.1517, loss_map_pts: 0.7262, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.6784, d0.loss_plan_l1_fix_dist: 0.3569, d1.loss_plan_l1_fix_time: 1.1508, d1.loss_plan_l1_fix_dist: 0.2245, d2.loss_plan_l1_fix_time: 1.1371, d2.loss_plan_l1_fix_dist: 0.2236, d3.loss_plan_l1_fix_time: 1.1396, d3.loss_plan_l1_fix_dist: 0.2376, d4.loss_plan_l1_fix_time: 1.1436, d4.loss_plan_l1_fix_dist: 0.2538, d5.loss_plan_l1_fix_time: 1.1482, d5.loss_plan_l1_fix_dist: 0.2743, d6.loss_plan_l1_fix_time: 1.1532, d6.loss_plan_l1_fix_dist: 0.2952, d0.loss_cls_all: 0.2289, d0.loss_bbox_all: 0.4591, d0.loss_cls: 0.2289, d0.loss_bbox: 0.4591, d1.loss_cls: 0.2202, d1.loss_bbox: 0.4261, d2.loss_cls: 0.2108, d2.loss_bbox: 0.4130, d3.loss_cls: 0.2039, d3.loss_bbox: 0.4071, d4.loss_cls: 0.1970, d4.loss_bbox: 0.4054, d5.loss_cls: 0.1952, d5.loss_bbox: 0.4034, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9037, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7454, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7063, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6928, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6871, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6870, d0.loss_map_cls_all: 0.2246, d0.loss_map_pts_all: 1.4607, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2246, d0.loss_map_pts: 1.4607, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.1930, d1.loss_map_pts: 0.9592, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.1729, d2.loss_map_pts: 0.8060, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1633, d3.loss_map_pts: 0.7530, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1569, d4.loss_map_pts: 0.7304, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1525, d5.loss_map_pts: 0.7262, d5.loss_map_dir: 0.0114, loss: 30.7430, grad_norm: 143.8505 +2026-02-26 03:19:23,321 - DriveTransformer - INFO - Epoch [6][21350/39528] lr: 8.977e-05, eta: 6 days, 19:22:13, time: 0.774, data_time: 0.038, memory: 19865, loss_cls: 0.1945, loss_bbox: 0.3950, loss_traj: 0.6327, loss_traj_cls: 0.0011, loss_map_cls: 0.1919, loss_map_pts: 0.7990, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.5286, d0.loss_plan_l1_fix_dist: 0.3613, d1.loss_plan_l1_fix_time: 1.1795, d1.loss_plan_l1_fix_dist: 0.1945, d2.loss_plan_l1_fix_time: 1.1696, d2.loss_plan_l1_fix_dist: 0.1907, d3.loss_plan_l1_fix_time: 1.1709, d3.loss_plan_l1_fix_dist: 0.2002, d4.loss_plan_l1_fix_time: 1.1736, d4.loss_plan_l1_fix_dist: 0.2163, d5.loss_plan_l1_fix_time: 1.1775, d5.loss_plan_l1_fix_dist: 0.2383, d6.loss_plan_l1_fix_time: 1.1822, d6.loss_plan_l1_fix_dist: 0.2646, d0.loss_cls_all: 0.2268, d0.loss_bbox_all: 0.4567, d0.loss_cls: 0.2268, d0.loss_bbox: 0.4567, d1.loss_cls: 0.2197, d1.loss_bbox: 0.4214, d2.loss_cls: 0.2061, d2.loss_bbox: 0.4049, d3.loss_cls: 0.1988, d3.loss_bbox: 0.3986, d4.loss_cls: 0.1939, d4.loss_bbox: 0.3951, d5.loss_cls: 0.1947, d5.loss_bbox: 0.3936, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8285, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6820, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6504, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6360, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6363, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6366, d0.loss_map_cls_all: 0.2720, d0.loss_map_pts_all: 1.5961, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2720, d0.loss_map_pts: 1.5961, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2418, d1.loss_map_pts: 1.1093, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.2186, d2.loss_map_pts: 0.9142, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.2041, d3.loss_map_pts: 0.8410, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1943, d4.loss_map_pts: 0.8078, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1923, d5.loss_map_pts: 0.8001, d5.loss_map_dir: 0.0111, loss: 31.2774, grad_norm: 143.0879 +2026-02-26 03:20:01,229 - DriveTransformer - INFO - Epoch [6][21400/39528] lr: 8.977e-05, eta: 6 days, 19:21:25, time: 0.760, data_time: 0.039, memory: 19865, loss_cls: 0.1807, loss_bbox: 0.3827, loss_traj: 0.6808, loss_traj_cls: 0.0011, loss_map_cls: 0.1548, loss_map_pts: 0.6943, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.7689, d0.loss_plan_l1_fix_dist: 0.3738, d1.loss_plan_l1_fix_time: 1.1768, d1.loss_plan_l1_fix_dist: 0.1821, d2.loss_plan_l1_fix_time: 1.1560, d2.loss_plan_l1_fix_dist: 0.1828, d3.loss_plan_l1_fix_time: 1.1534, d3.loss_plan_l1_fix_dist: 0.1893, d4.loss_plan_l1_fix_time: 1.1556, d4.loss_plan_l1_fix_dist: 0.2021, d5.loss_plan_l1_fix_time: 1.1588, d5.loss_plan_l1_fix_dist: 0.2150, d6.loss_plan_l1_fix_time: 1.1630, d6.loss_plan_l1_fix_dist: 0.2306, d0.loss_cls_all: 0.2096, d0.loss_bbox_all: 0.4394, d0.loss_cls: 0.2096, d0.loss_bbox: 0.4394, d1.loss_cls: 0.2022, d1.loss_bbox: 0.4087, d2.loss_cls: 0.1919, d2.loss_bbox: 0.3928, d3.loss_cls: 0.1850, d3.loss_bbox: 0.3866, d4.loss_cls: 0.1815, d4.loss_bbox: 0.3855, d5.loss_cls: 0.1797, d5.loss_bbox: 0.3848, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8045, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6923, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6821, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6835, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6840, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6817, d0.loss_map_cls_all: 0.2182, d0.loss_map_pts_all: 1.4210, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2182, d0.loss_map_pts: 1.4210, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.1925, d1.loss_map_pts: 0.9593, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1751, d2.loss_map_pts: 0.7876, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1644, d3.loss_map_pts: 0.7268, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1585, d4.loss_map_pts: 0.7008, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1556, d5.loss_map_pts: 0.6936, d5.loss_map_dir: 0.0104, loss: 29.9077, grad_norm: 141.4872 +2026-02-26 03:20:40,559 - DriveTransformer - INFO - Epoch [6][21450/39528] lr: 8.977e-05, eta: 6 days, 19:20:41, time: 0.785, data_time: 0.034, memory: 19865, loss_cls: 0.2022, loss_bbox: 0.3731, loss_traj: 0.6655, loss_traj_cls: 0.0010, loss_map_cls: 0.1591, loss_map_pts: 0.7171, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.8827, d0.loss_plan_l1_fix_dist: 0.3517, d1.loss_plan_l1_fix_time: 1.0736, d1.loss_plan_l1_fix_dist: 0.2137, d2.loss_plan_l1_fix_time: 1.0532, d2.loss_plan_l1_fix_dist: 0.2191, d3.loss_plan_l1_fix_time: 1.0488, d3.loss_plan_l1_fix_dist: 0.2298, d4.loss_plan_l1_fix_time: 1.0501, d4.loss_plan_l1_fix_dist: 0.2400, d5.loss_plan_l1_fix_time: 1.0524, d5.loss_plan_l1_fix_dist: 0.2525, d6.loss_plan_l1_fix_time: 1.0554, d6.loss_plan_l1_fix_dist: 0.2663, d0.loss_cls_all: 0.2326, d0.loss_bbox_all: 0.4349, d0.loss_cls: 0.2326, d0.loss_bbox: 0.4349, d1.loss_cls: 0.2271, d1.loss_bbox: 0.4029, d2.loss_cls: 0.2158, d2.loss_bbox: 0.3844, d3.loss_cls: 0.2092, d3.loss_bbox: 0.3765, d4.loss_cls: 0.2039, d4.loss_bbox: 0.3733, d5.loss_cls: 0.2019, d5.loss_bbox: 0.3726, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9082, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7251, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6863, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6652, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6584, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6589, d0.loss_map_cls_all: 0.2305, d0.loss_map_pts_all: 1.5423, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2305, d0.loss_map_pts: 1.5423, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2017, d1.loss_map_pts: 1.0171, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.1832, d2.loss_map_pts: 0.8209, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.1731, d3.loss_map_pts: 0.7522, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.1657, d4.loss_map_pts: 0.7284, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.1614, d5.loss_map_pts: 0.7189, d5.loss_map_dir: 0.0125, loss: 30.2834, grad_norm: 142.4936 +2026-02-26 03:21:17,958 - DriveTransformer - INFO - Epoch [6][21500/39528] lr: 8.977e-05, eta: 6 days, 19:19:51, time: 0.748, data_time: 0.037, memory: 19865, loss_cls: 0.1772, loss_bbox: 0.3920, loss_traj: 0.6454, loss_traj_cls: 0.0010, loss_map_cls: 0.1979, loss_map_pts: 0.8238, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.6700, d0.loss_plan_l1_fix_dist: 0.4458, d1.loss_plan_l1_fix_time: 1.0200, d1.loss_plan_l1_fix_dist: 0.1910, d2.loss_plan_l1_fix_time: 0.9939, d2.loss_plan_l1_fix_dist: 0.1926, d3.loss_plan_l1_fix_time: 0.9900, d3.loss_plan_l1_fix_dist: 0.2041, d4.loss_plan_l1_fix_time: 0.9915, d4.loss_plan_l1_fix_dist: 0.2172, d5.loss_plan_l1_fix_time: 0.9932, d5.loss_plan_l1_fix_dist: 0.2296, d6.loss_plan_l1_fix_time: 0.9953, d6.loss_plan_l1_fix_dist: 0.2433, d0.loss_cls_all: 0.2164, d0.loss_bbox_all: 0.4512, d0.loss_cls: 0.2164, d0.loss_bbox: 0.4512, d1.loss_cls: 0.2076, d1.loss_bbox: 0.4191, d2.loss_cls: 0.1928, d2.loss_bbox: 0.4041, d3.loss_cls: 0.1828, d3.loss_bbox: 0.3957, d4.loss_cls: 0.1784, d4.loss_bbox: 0.3913, d5.loss_cls: 0.1773, d5.loss_bbox: 0.3915, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9156, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7336, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6703, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6529, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6429, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6394, d0.loss_map_cls_all: 0.2686, d0.loss_map_pts_all: 1.6343, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2686, d0.loss_map_pts: 1.6343, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2394, d1.loss_map_pts: 1.1249, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.2212, d2.loss_map_pts: 0.9272, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.2101, d3.loss_map_pts: 0.8536, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.2029, d4.loss_map_pts: 0.8290, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1976, d5.loss_map_pts: 0.8253, d5.loss_map_dir: 0.0103, loss: 30.6668, grad_norm: 143.5872 +2026-02-26 03:21:54,079 - DriveTransformer - INFO - Epoch [6][21550/39528] lr: 8.977e-05, eta: 6 days, 19:18:57, time: 0.722, data_time: 0.040, memory: 19865, loss_cls: 0.1974, loss_bbox: 0.4039, loss_traj: 0.7824, loss_traj_cls: 0.0011, loss_map_cls: 0.1768, loss_map_pts: 0.6846, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.7390, d0.loss_plan_l1_fix_dist: 0.3683, d1.loss_plan_l1_fix_time: 1.2335, d1.loss_plan_l1_fix_dist: 0.2119, d2.loss_plan_l1_fix_time: 1.2173, d2.loss_plan_l1_fix_dist: 0.2181, d3.loss_plan_l1_fix_time: 1.2184, d3.loss_plan_l1_fix_dist: 0.2350, d4.loss_plan_l1_fix_time: 1.2212, d4.loss_plan_l1_fix_dist: 0.2536, d5.loss_plan_l1_fix_time: 1.2238, d5.loss_plan_l1_fix_dist: 0.2706, d6.loss_plan_l1_fix_time: 1.2274, d6.loss_plan_l1_fix_dist: 0.2887, d0.loss_cls_all: 0.2332, d0.loss_bbox_all: 0.4627, d0.loss_cls: 0.2332, d0.loss_bbox: 0.4627, d1.loss_cls: 0.2250, d1.loss_bbox: 0.4294, d2.loss_cls: 0.2164, d2.loss_bbox: 0.4101, d3.loss_cls: 0.2060, d3.loss_bbox: 0.4056, d4.loss_cls: 0.2006, d4.loss_bbox: 0.4031, d5.loss_cls: 0.1965, d5.loss_bbox: 0.4038, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0233, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8596, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.8038, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7992, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.7972, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7957, d0.loss_map_cls_all: 0.2382, d0.loss_map_pts_all: 1.3639, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2382, d0.loss_map_pts: 1.3639, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.2097, d1.loss_map_pts: 0.9685, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1955, d2.loss_map_pts: 0.7950, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1853, d3.loss_map_pts: 0.7248, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1799, d4.loss_map_pts: 0.6935, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1760, d5.loss_map_pts: 0.6866, d5.loss_map_dir: 0.0085, loss: 31.8314, grad_norm: 143.8564 +2026-02-26 03:22:31,490 - DriveTransformer - INFO - Epoch [6][21600/39528] lr: 8.977e-05, eta: 6 days, 19:18:07, time: 0.748, data_time: 0.040, memory: 19865, loss_cls: 0.1778, loss_bbox: 0.3761, loss_traj: 0.7313, loss_traj_cls: 0.0011, loss_map_cls: 0.1788, loss_map_pts: 0.7694, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.4954, d0.loss_plan_l1_fix_dist: 0.3962, d1.loss_plan_l1_fix_time: 1.1224, d1.loss_plan_l1_fix_dist: 0.2038, d2.loss_plan_l1_fix_time: 1.1099, d2.loss_plan_l1_fix_dist: 0.2078, d3.loss_plan_l1_fix_time: 1.1114, d3.loss_plan_l1_fix_dist: 0.2211, d4.loss_plan_l1_fix_time: 1.1141, d4.loss_plan_l1_fix_dist: 0.2362, d5.loss_plan_l1_fix_time: 1.1174, d5.loss_plan_l1_fix_dist: 0.2537, d6.loss_plan_l1_fix_time: 1.1211, d6.loss_plan_l1_fix_dist: 0.2718, d0.loss_cls_all: 0.2178, d0.loss_bbox_all: 0.4318, d0.loss_cls: 0.2178, d0.loss_bbox: 0.4318, d1.loss_cls: 0.2124, d1.loss_bbox: 0.3975, d2.loss_cls: 0.1978, d2.loss_bbox: 0.3811, d3.loss_cls: 0.1872, d3.loss_bbox: 0.3752, d4.loss_cls: 0.1795, d4.loss_bbox: 0.3766, d5.loss_cls: 0.1785, d5.loss_bbox: 0.3750, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9394, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7996, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7619, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7459, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7343, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7320, d0.loss_map_cls_all: 0.2477, d0.loss_map_pts_all: 1.5413, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2477, d0.loss_map_pts: 1.5413, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2171, d1.loss_map_pts: 1.1109, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1984, d2.loss_map_pts: 0.9035, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1903, d3.loss_map_pts: 0.8155, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1839, d4.loss_map_pts: 0.7789, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1806, d5.loss_map_pts: 0.7719, d5.loss_map_dir: 0.0100, loss: 31.1019, grad_norm: 146.3263 +2026-02-26 03:23:11,474 - DriveTransformer - INFO - Epoch [6][21650/39528] lr: 8.977e-05, eta: 6 days, 19:17:26, time: 0.800, data_time: 0.039, memory: 19865, loss_cls: 0.1573, loss_bbox: 0.3617, loss_traj: 0.6604, loss_traj_cls: 0.0010, loss_map_cls: 0.1586, loss_map_pts: 0.7238, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.4427, d0.loss_plan_l1_fix_dist: 0.4670, d1.loss_plan_l1_fix_time: 1.1653, d1.loss_plan_l1_fix_dist: 0.2062, d2.loss_plan_l1_fix_time: 1.1566, d2.loss_plan_l1_fix_dist: 0.2243, d3.loss_plan_l1_fix_time: 1.1548, d3.loss_plan_l1_fix_dist: 0.2502, d4.loss_plan_l1_fix_time: 1.1585, d4.loss_plan_l1_fix_dist: 0.2772, d5.loss_plan_l1_fix_time: 1.1630, d5.loss_plan_l1_fix_dist: 0.3049, d6.loss_plan_l1_fix_time: 1.1685, d6.loss_plan_l1_fix_dist: 0.3358, d0.loss_cls_all: 0.1930, d0.loss_bbox_all: 0.4149, d0.loss_cls: 0.1930, d0.loss_bbox: 0.4149, d1.loss_cls: 0.1899, d1.loss_bbox: 0.3800, d2.loss_cls: 0.1741, d2.loss_bbox: 0.3658, d3.loss_cls: 0.1658, d3.loss_bbox: 0.3593, d4.loss_cls: 0.1598, d4.loss_bbox: 0.3584, d5.loss_cls: 0.1576, d5.loss_bbox: 0.3600, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8417, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7294, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6779, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6656, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6627, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6611, d0.loss_map_cls_all: 0.2227, d0.loss_map_pts_all: 1.5294, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2227, d0.loss_map_pts: 1.5294, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.1993, d1.loss_map_pts: 1.0153, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.1767, d2.loss_map_pts: 0.8318, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1700, d3.loss_map_pts: 0.7604, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1627, d4.loss_map_pts: 0.7355, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1606, d5.loss_map_pts: 0.7251, d5.loss_map_dir: 0.0113, loss: 30.1990, grad_norm: 148.0961 +2026-02-26 03:23:50,065 - DriveTransformer - INFO - Epoch [6][21700/39528] lr: 8.977e-05, eta: 6 days, 19:16:40, time: 0.772, data_time: 0.041, memory: 19865, loss_cls: 0.1650, loss_bbox: 0.3633, loss_traj: 0.7221, loss_traj_cls: 0.0011, loss_map_cls: 0.1496, loss_map_pts: 0.6812, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.9171, d0.loss_plan_l1_fix_dist: 0.3627, d1.loss_plan_l1_fix_time: 1.1844, d1.loss_plan_l1_fix_dist: 0.1697, d2.loss_plan_l1_fix_time: 1.1777, d2.loss_plan_l1_fix_dist: 0.1788, d3.loss_plan_l1_fix_time: 1.1769, d3.loss_plan_l1_fix_dist: 0.1959, d4.loss_plan_l1_fix_time: 1.1792, d4.loss_plan_l1_fix_dist: 0.2172, d5.loss_plan_l1_fix_time: 1.1815, d5.loss_plan_l1_fix_dist: 0.2462, d6.loss_plan_l1_fix_time: 1.1843, d6.loss_plan_l1_fix_dist: 0.2775, d0.loss_cls_all: 0.1992, d0.loss_bbox_all: 0.4210, d0.loss_cls: 0.1992, d0.loss_bbox: 0.4210, d1.loss_cls: 0.1972, d1.loss_bbox: 0.3864, d2.loss_cls: 0.1836, d2.loss_bbox: 0.3710, d3.loss_cls: 0.1726, d3.loss_bbox: 0.3657, d4.loss_cls: 0.1661, d4.loss_bbox: 0.3639, d5.loss_cls: 0.1638, d5.loss_bbox: 0.3635, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8851, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7646, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7299, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7296, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7201, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7169, d0.loss_map_cls_all: 0.2118, d0.loss_map_pts_all: 1.3358, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2118, d0.loss_map_pts: 1.3358, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1893, d1.loss_map_pts: 0.9146, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1706, d2.loss_map_pts: 0.7659, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1601, d3.loss_map_pts: 0.7055, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1551, d4.loss_map_pts: 0.6846, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1532, d5.loss_map_pts: 0.6802, d5.loss_map_dir: 0.0092, loss: 30.0032, grad_norm: 148.1551 +2026-02-26 03:24:28,426 - DriveTransformer - INFO - Epoch [6][21750/39528] lr: 8.977e-05, eta: 6 days, 19:15:53, time: 0.767, data_time: 0.041, memory: 19865, loss_cls: 0.1916, loss_bbox: 0.3742, loss_traj: 0.6923, loss_traj_cls: 0.0010, loss_map_cls: 0.1655, loss_map_pts: 0.7956, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.5125, d0.loss_plan_l1_fix_dist: 0.3453, d1.loss_plan_l1_fix_time: 1.1189, d1.loss_plan_l1_fix_dist: 0.1985, d2.loss_plan_l1_fix_time: 1.1219, d2.loss_plan_l1_fix_dist: 0.2018, d3.loss_plan_l1_fix_time: 1.1333, d3.loss_plan_l1_fix_dist: 0.2148, d4.loss_plan_l1_fix_time: 1.1394, d4.loss_plan_l1_fix_dist: 0.2292, d5.loss_plan_l1_fix_time: 1.1444, d5.loss_plan_l1_fix_dist: 0.2461, d6.loss_plan_l1_fix_time: 1.1491, d6.loss_plan_l1_fix_dist: 0.2635, d0.loss_cls_all: 0.2182, d0.loss_bbox_all: 0.4256, d0.loss_cls: 0.2182, d0.loss_bbox: 0.4256, d1.loss_cls: 0.2111, d1.loss_bbox: 0.3930, d2.loss_cls: 0.2048, d2.loss_bbox: 0.3796, d3.loss_cls: 0.1962, d3.loss_bbox: 0.3733, d4.loss_cls: 0.1900, d4.loss_bbox: 0.3725, d5.loss_cls: 0.1886, d5.loss_bbox: 0.3760, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8262, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7063, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6826, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6849, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6839, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6850, d0.loss_map_cls_all: 0.2417, d0.loss_map_pts_all: 1.5965, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2417, d0.loss_map_pts: 1.5965, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2047, d1.loss_map_pts: 1.0905, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.1883, d2.loss_map_pts: 0.9036, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.1796, d3.loss_map_pts: 0.8329, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1715, d4.loss_map_pts: 0.8033, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1681, d5.loss_map_pts: 0.7951, d5.loss_map_dir: 0.0117, loss: 30.7932, grad_norm: 149.1717 +2026-02-26 03:25:07,045 - DriveTransformer - INFO - Epoch [6][21800/39528] lr: 8.977e-05, eta: 6 days, 19:15:07, time: 0.772, data_time: 0.037, memory: 19865, loss_cls: 0.1595, loss_bbox: 0.3608, loss_traj: 0.7478, loss_traj_cls: 0.0010, loss_map_cls: 0.1932, loss_map_pts: 0.7794, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.6612, d0.loss_plan_l1_fix_dist: 0.4089, d1.loss_plan_l1_fix_time: 1.2400, d1.loss_plan_l1_fix_dist: 0.1828, d2.loss_plan_l1_fix_time: 1.2331, d2.loss_plan_l1_fix_dist: 0.1912, d3.loss_plan_l1_fix_time: 1.2421, d3.loss_plan_l1_fix_dist: 0.2066, d4.loss_plan_l1_fix_time: 1.2479, d4.loss_plan_l1_fix_dist: 0.2225, d5.loss_plan_l1_fix_time: 1.2531, d5.loss_plan_l1_fix_dist: 0.2369, d6.loss_plan_l1_fix_time: 1.2586, d6.loss_plan_l1_fix_dist: 0.2528, d0.loss_cls_all: 0.1940, d0.loss_bbox_all: 0.4171, d0.loss_cls: 0.1940, d0.loss_bbox: 0.4171, d1.loss_cls: 0.1880, d1.loss_bbox: 0.3862, d2.loss_cls: 0.1746, d2.loss_bbox: 0.3681, d3.loss_cls: 0.1666, d3.loss_bbox: 0.3616, d4.loss_cls: 0.1597, d4.loss_bbox: 0.3623, d5.loss_cls: 0.1588, d5.loss_bbox: 0.3611, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9642, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8287, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7692, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7538, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7442, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7466, d0.loss_map_cls_all: 0.2529, d0.loss_map_pts_all: 1.5268, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2529, d0.loss_map_pts: 1.5268, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2333, d1.loss_map_pts: 1.0709, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.2145, d2.loss_map_pts: 0.8905, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.2050, d3.loss_map_pts: 0.8216, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1975, d4.loss_map_pts: 0.7872, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1941, d5.loss_map_pts: 0.7802, d5.loss_map_dir: 0.0096, loss: 31.8311, grad_norm: 151.5081 +2026-02-26 03:25:45,107 - DriveTransformer - INFO - Epoch [6][21850/39528] lr: 8.977e-05, eta: 6 days, 19:14:20, time: 0.761, data_time: 0.036, memory: 19865, loss_cls: 0.1693, loss_bbox: 0.3838, loss_traj: 0.7190, loss_traj_cls: 0.0010, loss_map_cls: 0.1673, loss_map_pts: 0.7546, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.7865, d0.loss_plan_l1_fix_dist: 0.4622, d1.loss_plan_l1_fix_time: 1.1744, d1.loss_plan_l1_fix_dist: 0.1854, d2.loss_plan_l1_fix_time: 1.1563, d2.loss_plan_l1_fix_dist: 0.1926, d3.loss_plan_l1_fix_time: 1.1556, d3.loss_plan_l1_fix_dist: 0.2057, d4.loss_plan_l1_fix_time: 1.1599, d4.loss_plan_l1_fix_dist: 0.2221, d5.loss_plan_l1_fix_time: 1.1649, d5.loss_plan_l1_fix_dist: 0.2373, d6.loss_plan_l1_fix_time: 1.1707, d6.loss_plan_l1_fix_dist: 0.2523, d0.loss_cls_all: 0.2073, d0.loss_bbox_all: 0.4416, d0.loss_cls: 0.2073, d0.loss_bbox: 0.4416, d1.loss_cls: 0.1999, d1.loss_bbox: 0.4109, d2.loss_cls: 0.1898, d2.loss_bbox: 0.3916, d3.loss_cls: 0.1785, d3.loss_bbox: 0.3865, d4.loss_cls: 0.1714, d4.loss_bbox: 0.3852, d5.loss_cls: 0.1693, d5.loss_bbox: 0.3834, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9182, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7707, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7218, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7105, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7122, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7167, d0.loss_map_cls_all: 0.2368, d0.loss_map_pts_all: 1.5190, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2368, d0.loss_map_pts: 1.5190, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2095, d1.loss_map_pts: 1.0524, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1855, d2.loss_map_pts: 0.8637, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1740, d3.loss_map_pts: 0.7877, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1713, d4.loss_map_pts: 0.7575, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1688, d5.loss_map_pts: 0.7494, d5.loss_map_dir: 0.0106, loss: 31.1552, grad_norm: 152.2160 +2026-02-26 03:26:23,322 - DriveTransformer - INFO - Epoch [6][21900/39528] lr: 8.977e-05, eta: 6 days, 19:13:32, time: 0.764, data_time: 0.040, memory: 19865, loss_cls: 0.1690, loss_bbox: 0.3585, loss_traj: 0.7811, loss_traj_cls: 0.0010, loss_map_cls: 0.1608, loss_map_pts: 0.7430, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.3826, d0.loss_plan_l1_fix_dist: 0.3588, d1.loss_plan_l1_fix_time: 1.2211, d1.loss_plan_l1_fix_dist: 0.1882, d2.loss_plan_l1_fix_time: 1.2084, d2.loss_plan_l1_fix_dist: 0.1963, d3.loss_plan_l1_fix_time: 1.2058, d3.loss_plan_l1_fix_dist: 0.2104, d4.loss_plan_l1_fix_time: 1.2094, d4.loss_plan_l1_fix_dist: 0.2251, d5.loss_plan_l1_fix_time: 1.2148, d5.loss_plan_l1_fix_dist: 0.2450, d6.loss_plan_l1_fix_time: 1.2221, d6.loss_plan_l1_fix_dist: 0.2667, d0.loss_cls_all: 0.2078, d0.loss_bbox_all: 0.4095, d0.loss_cls: 0.2078, d0.loss_bbox: 0.4095, d1.loss_cls: 0.1971, d1.loss_bbox: 0.3781, d2.loss_cls: 0.1837, d2.loss_bbox: 0.3616, d3.loss_cls: 0.1739, d3.loss_bbox: 0.3573, d4.loss_cls: 0.1683, d4.loss_bbox: 0.3572, d5.loss_cls: 0.1666, d5.loss_bbox: 0.3575, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9554, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8164, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7852, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7739, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7809, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7770, d0.loss_map_cls_all: 0.2299, d0.loss_map_pts_all: 1.5497, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2299, d0.loss_map_pts: 1.5497, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.1949, d1.loss_map_pts: 1.0341, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.1784, d2.loss_map_pts: 0.8428, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1682, d3.loss_map_pts: 0.7783, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1640, d4.loss_map_pts: 0.7500, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1606, d5.loss_map_pts: 0.7435, d5.loss_map_dir: 0.0114, loss: 31.0624, grad_norm: 152.4363 +2026-02-26 03:27:01,163 - DriveTransformer - INFO - Epoch [6][21950/39528] lr: 8.977e-05, eta: 6 days, 19:12:44, time: 0.757, data_time: 0.040, memory: 19865, loss_cls: 0.1734, loss_bbox: 0.3713, loss_traj: 0.7698, loss_traj_cls: 0.0010, loss_map_cls: 0.1885, loss_map_pts: 0.7486, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.7783, d0.loss_plan_l1_fix_dist: 0.4073, d1.loss_plan_l1_fix_time: 1.0810, d1.loss_plan_l1_fix_dist: 0.1869, d2.loss_plan_l1_fix_time: 1.0752, d2.loss_plan_l1_fix_dist: 0.1963, d3.loss_plan_l1_fix_time: 1.0778, d3.loss_plan_l1_fix_dist: 0.2120, d4.loss_plan_l1_fix_time: 1.0814, d4.loss_plan_l1_fix_dist: 0.2321, d5.loss_plan_l1_fix_time: 1.0858, d5.loss_plan_l1_fix_dist: 0.2553, d6.loss_plan_l1_fix_time: 1.0909, d6.loss_plan_l1_fix_dist: 0.2775, d0.loss_cls_all: 0.2025, d0.loss_bbox_all: 0.4250, d0.loss_cls: 0.2025, d0.loss_bbox: 0.4250, d1.loss_cls: 0.1953, d1.loss_bbox: 0.3903, d2.loss_cls: 0.1859, d2.loss_bbox: 0.3755, d3.loss_cls: 0.1752, d3.loss_bbox: 0.3738, d4.loss_cls: 0.1728, d4.loss_bbox: 0.3700, d5.loss_cls: 0.1719, d5.loss_bbox: 0.3712, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0388, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8259, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7810, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7621, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7629, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7655, d0.loss_map_cls_all: 0.2584, d0.loss_map_pts_all: 1.4112, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2584, d0.loss_map_pts: 1.4112, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.2316, d1.loss_map_pts: 1.0001, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.2148, d2.loss_map_pts: 0.8395, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.2048, d3.loss_map_pts: 0.7793, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1958, d4.loss_map_pts: 0.7560, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1934, d5.loss_map_pts: 0.7477, d5.loss_map_dir: 0.0087, loss: 30.8389, grad_norm: 154.8475 +2026-02-26 03:27:38,385 - DriveTransformer - INFO - Epoch [6][22000/39528] lr: 8.977e-05, eta: 6 days, 19:11:53, time: 0.744, data_time: 0.037, memory: 19865, loss_cls: 0.2040, loss_bbox: 0.3916, loss_traj: 0.7561, loss_traj_cls: 0.0010, loss_map_cls: 0.1718, loss_map_pts: 0.6982, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.7101, d0.loss_plan_l1_fix_dist: 0.3379, d1.loss_plan_l1_fix_time: 1.1993, d1.loss_plan_l1_fix_dist: 0.1872, d2.loss_plan_l1_fix_time: 1.1871, d2.loss_plan_l1_fix_dist: 0.1886, d3.loss_plan_l1_fix_time: 1.1917, d3.loss_plan_l1_fix_dist: 0.1976, d4.loss_plan_l1_fix_time: 1.1949, d4.loss_plan_l1_fix_dist: 0.2102, d5.loss_plan_l1_fix_time: 1.1975, d5.loss_plan_l1_fix_dist: 0.2221, d6.loss_plan_l1_fix_time: 1.1999, d6.loss_plan_l1_fix_dist: 0.2372, d0.loss_cls_all: 0.2355, d0.loss_bbox_all: 0.4522, d0.loss_cls: 0.2355, d0.loss_bbox: 0.4522, d1.loss_cls: 0.2316, d1.loss_bbox: 0.4170, d2.loss_cls: 0.2196, d2.loss_bbox: 0.4001, d3.loss_cls: 0.2117, d3.loss_bbox: 0.3947, d4.loss_cls: 0.2062, d4.loss_bbox: 0.3926, d5.loss_cls: 0.2041, d5.loss_bbox: 0.3932, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0048, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8150, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7658, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7549, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7519, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7551, d0.loss_map_cls_all: 0.2367, d0.loss_map_pts_all: 1.3375, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2367, d0.loss_map_pts: 1.3375, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2104, d1.loss_map_pts: 0.9323, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1913, d2.loss_map_pts: 0.7893, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1814, d3.loss_map_pts: 0.7311, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1751, d4.loss_map_pts: 0.7091, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1721, d5.loss_map_pts: 0.6992, d5.loss_map_dir: 0.0100, loss: 31.0014, grad_norm: 153.5939 +2026-02-26 03:28:18,757 - DriveTransformer - INFO - Epoch [6][22050/39528] lr: 8.977e-05, eta: 6 days, 19:11:13, time: 0.807, data_time: 0.041, memory: 19865, loss_cls: 0.1775, loss_bbox: 0.3847, loss_traj: 0.7462, loss_traj_cls: 0.0010, loss_map_cls: 0.1938, loss_map_pts: 0.8535, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.8879, d0.loss_plan_l1_fix_dist: 0.5544, d1.loss_plan_l1_fix_time: 1.3011, d1.loss_plan_l1_fix_dist: 0.2176, d2.loss_plan_l1_fix_time: 1.2908, d2.loss_plan_l1_fix_dist: 0.2243, d3.loss_plan_l1_fix_time: 1.2894, d3.loss_plan_l1_fix_dist: 0.2395, d4.loss_plan_l1_fix_time: 1.2916, d4.loss_plan_l1_fix_dist: 0.2540, d5.loss_plan_l1_fix_time: 1.2941, d5.loss_plan_l1_fix_dist: 0.2696, d6.loss_plan_l1_fix_time: 1.2967, d6.loss_plan_l1_fix_dist: 0.2868, d0.loss_cls_all: 0.2120, d0.loss_bbox_all: 0.4397, d0.loss_cls: 0.2120, d0.loss_bbox: 0.4397, d1.loss_cls: 0.2028, d1.loss_bbox: 0.4071, d2.loss_cls: 0.1918, d2.loss_bbox: 0.3890, d3.loss_cls: 0.1821, d3.loss_bbox: 0.3827, d4.loss_cls: 0.1786, d4.loss_bbox: 0.3801, d5.loss_cls: 0.1777, d5.loss_bbox: 0.3819, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9794, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8030, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7493, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7442, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7463, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7421, d0.loss_map_cls_all: 0.2599, d0.loss_map_pts_all: 1.6341, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2599, d0.loss_map_pts: 1.6341, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2341, d1.loss_map_pts: 1.1552, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2142, d2.loss_map_pts: 0.9728, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2045, d3.loss_map_pts: 0.8950, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.1980, d4.loss_map_pts: 0.8639, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1950, d5.loss_map_pts: 0.8548, d5.loss_map_dir: 0.0120, loss: 33.6686, grad_norm: 155.2679 +2026-02-26 03:28:55,770 - DriveTransformer - INFO - Epoch [6][22100/39528] lr: 8.977e-05, eta: 6 days, 19:10:22, time: 0.740, data_time: 0.038, memory: 19865, loss_cls: 0.1946, loss_bbox: 0.3918, loss_traj: 0.6855, loss_traj_cls: 0.0010, loss_map_cls: 0.1578, loss_map_pts: 0.7626, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.4883, d0.loss_plan_l1_fix_dist: 0.2980, d1.loss_plan_l1_fix_time: 1.2162, d1.loss_plan_l1_fix_dist: 0.1817, d2.loss_plan_l1_fix_time: 1.2043, d2.loss_plan_l1_fix_dist: 0.1907, d3.loss_plan_l1_fix_time: 1.2068, d3.loss_plan_l1_fix_dist: 0.2076, d4.loss_plan_l1_fix_time: 1.2097, d4.loss_plan_l1_fix_dist: 0.2245, d5.loss_plan_l1_fix_time: 1.2128, d5.loss_plan_l1_fix_dist: 0.2415, d6.loss_plan_l1_fix_time: 1.2167, d6.loss_plan_l1_fix_dist: 0.2610, d0.loss_cls_all: 0.2253, d0.loss_bbox_all: 0.4312, d0.loss_cls: 0.2253, d0.loss_bbox: 0.4312, d1.loss_cls: 0.2170, d1.loss_bbox: 0.4016, d2.loss_cls: 0.2035, d2.loss_bbox: 0.3887, d3.loss_cls: 0.1961, d3.loss_bbox: 0.3856, d4.loss_cls: 0.1915, d4.loss_bbox: 0.3867, d5.loss_cls: 0.1922, d5.loss_bbox: 0.3890, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9207, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7439, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6968, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6826, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6821, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6823, d0.loss_map_cls_all: 0.2228, d0.loss_map_pts_all: 1.3399, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2228, d0.loss_map_pts: 1.3399, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1990, d1.loss_map_pts: 0.9687, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1799, d2.loss_map_pts: 0.8386, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1697, d3.loss_map_pts: 0.7857, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1635, d4.loss_map_pts: 0.7676, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1607, d5.loss_map_pts: 0.7635, d5.loss_map_dir: 0.0099, loss: 30.4310, grad_norm: 155.8327 +2026-02-26 03:29:36,223 - DriveTransformer - INFO - Epoch [6][22150/39528] lr: 8.977e-05, eta: 6 days, 19:09:42, time: 0.809, data_time: 0.046, memory: 19865, loss_cls: 0.1813, loss_bbox: 0.3739, loss_traj: 0.6123, loss_traj_cls: 0.0010, loss_map_cls: 0.1720, loss_map_pts: 0.7997, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.7397, d0.loss_plan_l1_fix_dist: 0.4212, d1.loss_plan_l1_fix_time: 1.1609, d1.loss_plan_l1_fix_dist: 0.1906, d2.loss_plan_l1_fix_time: 1.1441, d2.loss_plan_l1_fix_dist: 0.1934, d3.loss_plan_l1_fix_time: 1.1444, d3.loss_plan_l1_fix_dist: 0.2023, d4.loss_plan_l1_fix_time: 1.1473, d4.loss_plan_l1_fix_dist: 0.2145, d5.loss_plan_l1_fix_time: 1.1508, d5.loss_plan_l1_fix_dist: 0.2286, d6.loss_plan_l1_fix_time: 1.1556, d6.loss_plan_l1_fix_dist: 0.2427, d0.loss_cls_all: 0.2059, d0.loss_bbox_all: 0.4255, d0.loss_cls: 0.2059, d0.loss_bbox: 0.4255, d1.loss_cls: 0.2006, d1.loss_bbox: 0.3938, d2.loss_cls: 0.1931, d2.loss_bbox: 0.3773, d3.loss_cls: 0.1853, d3.loss_bbox: 0.3745, d4.loss_cls: 0.1787, d4.loss_bbox: 0.3728, d5.loss_cls: 0.1802, d5.loss_bbox: 0.3732, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7657, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6577, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6259, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6128, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6167, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6091, d0.loss_map_cls_all: 0.2396, d0.loss_map_pts_all: 1.5451, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2396, d0.loss_map_pts: 1.5451, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2158, d1.loss_map_pts: 1.0210, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.1961, d2.loss_map_pts: 0.8654, d2.loss_map_dir: 0.0119, d3.loss_map_cls: 0.1838, d3.loss_map_pts: 0.8117, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.1771, d4.loss_map_pts: 0.7966, d4.loss_map_dir: 0.0126, d5.loss_map_cls: 0.1726, d5.loss_map_pts: 0.7946, d5.loss_map_dir: 0.0127, loss: 30.3643, grad_norm: 156.8294 +2026-02-26 03:30:13,626 - DriveTransformer - INFO - Epoch [6][22200/39528] lr: 8.977e-05, eta: 6 days, 19:08:53, time: 0.749, data_time: 0.039, memory: 19865, loss_cls: 0.2073, loss_bbox: 0.3973, loss_traj: 0.7414, loss_traj_cls: 0.0009, loss_map_cls: 0.2052, loss_map_pts: 0.8570, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.9704, d0.loss_plan_l1_fix_dist: 0.3437, d1.loss_plan_l1_fix_time: 1.2544, d1.loss_plan_l1_fix_dist: 0.1985, d2.loss_plan_l1_fix_time: 1.2378, d2.loss_plan_l1_fix_dist: 0.2095, d3.loss_plan_l1_fix_time: 1.2359, d3.loss_plan_l1_fix_dist: 0.2282, d4.loss_plan_l1_fix_time: 1.2381, d4.loss_plan_l1_fix_dist: 0.2499, d5.loss_plan_l1_fix_time: 1.2411, d5.loss_plan_l1_fix_dist: 0.2739, d6.loss_plan_l1_fix_time: 1.2447, d6.loss_plan_l1_fix_dist: 0.2952, d0.loss_cls_all: 0.2467, d0.loss_bbox_all: 0.4563, d0.loss_cls: 0.2467, d0.loss_bbox: 0.4563, d1.loss_cls: 0.2363, d1.loss_bbox: 0.4256, d2.loss_cls: 0.2265, d2.loss_bbox: 0.4074, d3.loss_cls: 0.2161, d3.loss_bbox: 0.4023, d4.loss_cls: 0.2066, d4.loss_bbox: 0.4005, d5.loss_cls: 0.2071, d5.loss_bbox: 0.3981, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9429, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7986, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7632, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7507, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7397, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7337, d0.loss_map_cls_all: 0.2744, d0.loss_map_pts_all: 1.5317, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2744, d0.loss_map_pts: 1.5317, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2486, d1.loss_map_pts: 1.0946, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.2282, d2.loss_map_pts: 0.9312, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.2146, d3.loss_map_pts: 0.8763, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.2089, d4.loss_map_pts: 0.8547, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.2063, d5.loss_map_pts: 0.8490, d5.loss_map_dir: 0.0115, loss: 33.3092, grad_norm: 158.3824 +2026-02-26 03:30:53,512 - DriveTransformer - INFO - Epoch [6][22250/39528] lr: 8.977e-05, eta: 6 days, 19:08:11, time: 0.796, data_time: 0.036, memory: 19865, loss_cls: 0.1829, loss_bbox: 0.3896, loss_traj: 0.5944, loss_traj_cls: 0.0010, loss_map_cls: 0.1806, loss_map_pts: 0.8253, loss_map_dir: 0.0142, d0.loss_plan_l1_fix_time: 2.4549, d0.loss_plan_l1_fix_dist: 0.4257, d1.loss_plan_l1_fix_time: 1.0753, d1.loss_plan_l1_fix_dist: 0.1907, d2.loss_plan_l1_fix_time: 1.0618, d2.loss_plan_l1_fix_dist: 0.1974, d3.loss_plan_l1_fix_time: 1.0587, d3.loss_plan_l1_fix_dist: 0.2118, d4.loss_plan_l1_fix_time: 1.0611, d4.loss_plan_l1_fix_dist: 0.2297, d5.loss_plan_l1_fix_time: 1.0640, d5.loss_plan_l1_fix_dist: 0.2502, d6.loss_plan_l1_fix_time: 1.0675, d6.loss_plan_l1_fix_dist: 0.2738, d0.loss_cls_all: 0.2019, d0.loss_bbox_all: 0.4472, d0.loss_cls: 0.2019, d0.loss_bbox: 0.4472, d1.loss_cls: 0.1962, d1.loss_bbox: 0.4146, d2.loss_cls: 0.1890, d2.loss_bbox: 0.3947, d3.loss_cls: 0.1783, d3.loss_bbox: 0.3914, d4.loss_cls: 0.1786, d4.loss_bbox: 0.3894, d5.loss_cls: 0.1795, d5.loss_bbox: 0.3890, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7969, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6634, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6149, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6011, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5958, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5938, d0.loss_map_cls_all: 0.2498, d0.loss_map_pts_all: 1.7201, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.2498, d0.loss_map_pts: 1.7201, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2185, d1.loss_map_pts: 1.1297, d1.loss_map_dir: 0.0129, d2.loss_map_cls: 0.2004, d2.loss_map_pts: 0.9311, d2.loss_map_dir: 0.0135, d3.loss_map_cls: 0.1923, d3.loss_map_pts: 0.8659, d3.loss_map_dir: 0.0140, d4.loss_map_cls: 0.1833, d4.loss_map_pts: 0.8353, d4.loss_map_dir: 0.0143, d5.loss_map_cls: 0.1810, d5.loss_map_pts: 0.8274, d5.loss_map_dir: 0.0142, loss: 30.4824, grad_norm: 157.7191 +2026-02-26 03:31:31,473 - DriveTransformer - INFO - Epoch [6][22300/39528] lr: 8.977e-05, eta: 6 days, 19:07:23, time: 0.759, data_time: 0.036, memory: 19865, loss_cls: 0.2041, loss_bbox: 0.3931, loss_traj: 0.7293, loss_traj_cls: 0.0010, loss_map_cls: 0.1939, loss_map_pts: 0.8115, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.7650, d0.loss_plan_l1_fix_dist: 0.3317, d1.loss_plan_l1_fix_time: 1.1810, d1.loss_plan_l1_fix_dist: 0.2092, d2.loss_plan_l1_fix_time: 1.1648, d2.loss_plan_l1_fix_dist: 0.2166, d3.loss_plan_l1_fix_time: 1.1690, d3.loss_plan_l1_fix_dist: 0.2320, d4.loss_plan_l1_fix_time: 1.1724, d4.loss_plan_l1_fix_dist: 0.2491, d5.loss_plan_l1_fix_time: 1.1756, d5.loss_plan_l1_fix_dist: 0.2661, d6.loss_plan_l1_fix_time: 1.1786, d6.loss_plan_l1_fix_dist: 0.2850, d0.loss_cls_all: 0.2333, d0.loss_bbox_all: 0.4408, d0.loss_cls: 0.2333, d0.loss_bbox: 0.4408, d1.loss_cls: 0.2286, d1.loss_bbox: 0.4118, d2.loss_cls: 0.2186, d2.loss_bbox: 0.3971, d3.loss_cls: 0.2087, d3.loss_bbox: 0.3922, d4.loss_cls: 0.2037, d4.loss_bbox: 0.3917, d5.loss_cls: 0.2031, d5.loss_bbox: 0.3923, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9471, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7974, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7523, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7374, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7308, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7238, d0.loss_map_cls_all: 0.2554, d0.loss_map_pts_all: 1.5256, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2554, d0.loss_map_pts: 1.5256, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2322, d1.loss_map_pts: 1.0737, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2131, d2.loss_map_pts: 0.9238, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.2021, d3.loss_map_pts: 0.8528, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.1968, d4.loss_map_pts: 0.8233, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.1951, d5.loss_map_pts: 0.8159, d5.loss_map_dir: 0.0123, loss: 32.2060, grad_norm: 159.1177 +2026-02-26 03:32:09,622 - DriveTransformer - INFO - Epoch [6][22350/39528] lr: 8.977e-05, eta: 6 days, 19:06:36, time: 0.763, data_time: 0.048, memory: 19865, loss_cls: 0.1798, loss_bbox: 0.3757, loss_traj: 0.8901, loss_traj_cls: 0.0010, loss_map_cls: 0.1674, loss_map_pts: 0.6586, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.9340, d0.loss_plan_l1_fix_dist: 0.3782, d1.loss_plan_l1_fix_time: 1.3040, d1.loss_plan_l1_fix_dist: 0.1767, d2.loss_plan_l1_fix_time: 1.2817, d2.loss_plan_l1_fix_dist: 0.1866, d3.loss_plan_l1_fix_time: 1.2777, d3.loss_plan_l1_fix_dist: 0.2038, d4.loss_plan_l1_fix_time: 1.2799, d4.loss_plan_l1_fix_dist: 0.2245, d5.loss_plan_l1_fix_time: 1.2825, d5.loss_plan_l1_fix_dist: 0.2474, d6.loss_plan_l1_fix_time: 1.2854, d6.loss_plan_l1_fix_dist: 0.2727, d0.loss_cls_all: 0.2105, d0.loss_bbox_all: 0.4156, d0.loss_cls: 0.2105, d0.loss_bbox: 0.4156, d1.loss_cls: 0.2061, d1.loss_bbox: 0.3874, d2.loss_cls: 0.1930, d2.loss_bbox: 0.3745, d3.loss_cls: 0.1846, d3.loss_bbox: 0.3724, d4.loss_cls: 0.1792, d4.loss_bbox: 0.3747, d5.loss_cls: 0.1798, d5.loss_bbox: 0.3743, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1956, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9736, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.9126, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.9002, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8931, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8898, d0.loss_map_cls_all: 0.2248, d0.loss_map_pts_all: 1.3423, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2248, d0.loss_map_pts: 1.3423, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2020, d1.loss_map_pts: 0.9033, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1848, d2.loss_map_pts: 0.7563, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1781, d3.loss_map_pts: 0.6928, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1704, d4.loss_map_pts: 0.6664, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1683, d5.loss_map_pts: 0.6609, d5.loss_map_dir: 0.0096, loss: 32.2504, grad_norm: 159.6722 +2026-02-26 03:32:50,352 - DriveTransformer - INFO - Epoch [6][22400/39528] lr: 8.977e-05, eta: 6 days, 19:05:57, time: 0.815, data_time: 0.042, memory: 19865, loss_cls: 0.1683, loss_bbox: 0.3795, loss_traj: 0.6272, loss_traj_cls: 0.0010, loss_map_cls: 0.1785, loss_map_pts: 0.8143, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.2062, d0.loss_plan_l1_fix_dist: 0.4857, d1.loss_plan_l1_fix_time: 0.9419, d1.loss_plan_l1_fix_dist: 0.1912, d2.loss_plan_l1_fix_time: 0.9303, d2.loss_plan_l1_fix_dist: 0.1955, d3.loss_plan_l1_fix_time: 0.9329, d3.loss_plan_l1_fix_dist: 0.2081, d4.loss_plan_l1_fix_time: 0.9367, d4.loss_plan_l1_fix_dist: 0.2214, d5.loss_plan_l1_fix_time: 0.9409, d5.loss_plan_l1_fix_dist: 0.2354, d6.loss_plan_l1_fix_time: 0.9457, d6.loss_plan_l1_fix_dist: 0.2484, d0.loss_cls_all: 0.1970, d0.loss_bbox_all: 0.4302, d0.loss_cls: 0.1970, d0.loss_bbox: 0.4302, d1.loss_cls: 0.1976, d1.loss_bbox: 0.4009, d2.loss_cls: 0.1821, d2.loss_bbox: 0.3819, d3.loss_cls: 0.1718, d3.loss_bbox: 0.3794, d4.loss_cls: 0.1670, d4.loss_bbox: 0.3802, d5.loss_cls: 0.1680, d5.loss_bbox: 0.3794, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8234, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6736, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6324, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6256, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6287, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6261, d0.loss_map_cls_all: 0.2424, d0.loss_map_pts_all: 1.5814, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2424, d0.loss_map_pts: 1.5814, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2170, d1.loss_map_pts: 1.1086, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.1969, d2.loss_map_pts: 0.9204, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.1898, d3.loss_map_pts: 0.8523, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1821, d4.loss_map_pts: 0.8242, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.1787, d5.loss_map_pts: 0.8159, d5.loss_map_dir: 0.0119, loss: 29.0935, grad_norm: 162.1852 +2026-02-26 03:33:27,799 - DriveTransformer - INFO - Epoch [6][22450/39528] lr: 8.977e-05, eta: 6 days, 19:05:07, time: 0.749, data_time: 0.041, memory: 19865, loss_cls: 0.1812, loss_bbox: 0.3766, loss_traj: 0.7461, loss_traj_cls: 0.0010, loss_map_cls: 0.1809, loss_map_pts: 0.7271, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.8092, d0.loss_plan_l1_fix_dist: 0.4719, d1.loss_plan_l1_fix_time: 1.1846, d1.loss_plan_l1_fix_dist: 0.1967, d2.loss_plan_l1_fix_time: 1.1736, d2.loss_plan_l1_fix_dist: 0.1991, d3.loss_plan_l1_fix_time: 1.1784, d3.loss_plan_l1_fix_dist: 0.2107, d4.loss_plan_l1_fix_time: 1.1820, d4.loss_plan_l1_fix_dist: 0.2231, d5.loss_plan_l1_fix_time: 1.1863, d5.loss_plan_l1_fix_dist: 0.2343, d6.loss_plan_l1_fix_time: 1.1911, d6.loss_plan_l1_fix_dist: 0.2488, d0.loss_cls_all: 0.2139, d0.loss_bbox_all: 0.4462, d0.loss_cls: 0.2139, d0.loss_bbox: 0.4462, d1.loss_cls: 0.2066, d1.loss_bbox: 0.4103, d2.loss_cls: 0.1932, d2.loss_bbox: 0.3889, d3.loss_cls: 0.1804, d3.loss_bbox: 0.3827, d4.loss_cls: 0.1775, d4.loss_bbox: 0.3797, d5.loss_cls: 0.1783, d5.loss_bbox: 0.3779, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9619, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8099, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7534, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7515, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7463, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7466, d0.loss_map_cls_all: 0.2360, d0.loss_map_pts_all: 1.3897, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2360, d0.loss_map_pts: 1.3897, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2126, d1.loss_map_pts: 0.9612, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1971, d2.loss_map_pts: 0.8070, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1873, d3.loss_map_pts: 0.7547, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1825, d4.loss_map_pts: 0.7319, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1808, d5.loss_map_pts: 0.7280, d5.loss_map_dir: 0.0098, loss: 31.1428, grad_norm: 161.1812 +2026-02-26 03:34:04,821 - DriveTransformer - INFO - Epoch [6][22500/39528] lr: 8.977e-05, eta: 6 days, 19:04:16, time: 0.740, data_time: 0.040, memory: 19865, loss_cls: 0.1829, loss_bbox: 0.3930, loss_traj: 0.5652, loss_traj_cls: 0.0009, loss_map_cls: 0.1936, loss_map_pts: 0.8343, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.6699, d0.loss_plan_l1_fix_dist: 0.3871, d1.loss_plan_l1_fix_time: 1.2142, d1.loss_plan_l1_fix_dist: 0.1827, d2.loss_plan_l1_fix_time: 1.1985, d2.loss_plan_l1_fix_dist: 0.1924, d3.loss_plan_l1_fix_time: 1.1970, d3.loss_plan_l1_fix_dist: 0.2077, d4.loss_plan_l1_fix_time: 1.2006, d4.loss_plan_l1_fix_dist: 0.2276, d5.loss_plan_l1_fix_time: 1.2052, d5.loss_plan_l1_fix_dist: 0.2511, d6.loss_plan_l1_fix_time: 1.2101, d6.loss_plan_l1_fix_dist: 0.2743, d0.loss_cls_all: 0.2204, d0.loss_bbox_all: 0.4458, d0.loss_cls: 0.2204, d0.loss_bbox: 0.4458, d1.loss_cls: 0.2093, d1.loss_bbox: 0.4109, d2.loss_cls: 0.1973, d2.loss_bbox: 0.3949, d3.loss_cls: 0.1864, d3.loss_bbox: 0.3904, d4.loss_cls: 0.1837, d4.loss_bbox: 0.3900, d5.loss_cls: 0.1824, d5.loss_bbox: 0.3916, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7984, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6342, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5783, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5685, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5689, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5690, d0.loss_map_cls_all: 0.2707, d0.loss_map_pts_all: 1.6155, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2707, d0.loss_map_pts: 1.6155, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2362, d1.loss_map_pts: 1.1017, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2137, d2.loss_map_pts: 0.9280, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.2036, d3.loss_map_pts: 0.8623, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1983, d4.loss_map_pts: 0.8376, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1949, d5.loss_map_pts: 0.8328, d5.loss_map_dir: 0.0118, loss: 31.2509, grad_norm: 162.8420 +2026-02-26 03:34:42,612 - DriveTransformer - INFO - Epoch [6][22550/39528] lr: 8.977e-05, eta: 6 days, 19:03:27, time: 0.756, data_time: 0.042, memory: 19865, loss_cls: 0.1968, loss_bbox: 0.4080, loss_traj: 0.8120, loss_traj_cls: 0.0010, loss_map_cls: 0.1758, loss_map_pts: 0.7546, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.8020, d0.loss_plan_l1_fix_dist: 0.4113, d1.loss_plan_l1_fix_time: 1.2204, d1.loss_plan_l1_fix_dist: 0.2004, d2.loss_plan_l1_fix_time: 1.2115, d2.loss_plan_l1_fix_dist: 0.2043, d3.loss_plan_l1_fix_time: 1.2069, d3.loss_plan_l1_fix_dist: 0.2142, d4.loss_plan_l1_fix_time: 1.2090, d4.loss_plan_l1_fix_dist: 0.2274, d5.loss_plan_l1_fix_time: 1.2119, d5.loss_plan_l1_fix_dist: 0.2440, d6.loss_plan_l1_fix_time: 1.2156, d6.loss_plan_l1_fix_dist: 0.2585, d0.loss_cls_all: 0.2247, d0.loss_bbox_all: 0.4541, d0.loss_cls: 0.2247, d0.loss_bbox: 0.4541, d1.loss_cls: 0.2214, d1.loss_bbox: 0.4230, d2.loss_cls: 0.2077, d2.loss_bbox: 0.4045, d3.loss_cls: 0.1985, d3.loss_bbox: 0.4019, d4.loss_cls: 0.1956, d4.loss_bbox: 0.4029, d5.loss_cls: 0.1958, d5.loss_bbox: 0.4053, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0824, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8840, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8346, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8179, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8125, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8087, d0.loss_map_cls_all: 0.2510, d0.loss_map_pts_all: 1.4047, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2510, d0.loss_map_pts: 1.4047, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2184, d1.loss_map_pts: 0.9771, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1987, d2.loss_map_pts: 0.8399, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1902, d3.loss_map_pts: 0.7840, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1845, d4.loss_map_pts: 0.7610, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1792, d5.loss_map_pts: 0.7553, d5.loss_map_dir: 0.0106, loss: 32.3245, grad_norm: 162.4291 +2026-02-26 03:35:21,223 - DriveTransformer - INFO - Epoch [6][22600/39528] lr: 8.977e-05, eta: 6 days, 19:02:41, time: 0.772, data_time: 0.041, memory: 19865, loss_cls: 0.1942, loss_bbox: 0.3819, loss_traj: 0.7140, loss_traj_cls: 0.0010, loss_map_cls: 0.1710, loss_map_pts: 0.7321, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.8829, d0.loss_plan_l1_fix_dist: 0.4074, d1.loss_plan_l1_fix_time: 1.2236, d1.loss_plan_l1_fix_dist: 0.1828, d2.loss_plan_l1_fix_time: 1.2028, d2.loss_plan_l1_fix_dist: 0.1863, d3.loss_plan_l1_fix_time: 1.1956, d3.loss_plan_l1_fix_dist: 0.1973, d4.loss_plan_l1_fix_time: 1.1969, d4.loss_plan_l1_fix_dist: 0.2097, d5.loss_plan_l1_fix_time: 1.1994, d5.loss_plan_l1_fix_dist: 0.2237, d6.loss_plan_l1_fix_time: 1.2033, d6.loss_plan_l1_fix_dist: 0.2420, d0.loss_cls_all: 0.2168, d0.loss_bbox_all: 0.4464, d0.loss_cls: 0.2168, d0.loss_bbox: 0.4464, d1.loss_cls: 0.2136, d1.loss_bbox: 0.4094, d2.loss_cls: 0.2033, d2.loss_bbox: 0.3893, d3.loss_cls: 0.1980, d3.loss_bbox: 0.3811, d4.loss_cls: 0.1940, d4.loss_bbox: 0.3804, d5.loss_cls: 0.1929, d5.loss_bbox: 0.3810, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9555, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7964, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7474, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7319, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7274, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7177, d0.loss_map_cls_all: 0.2421, d0.loss_map_pts_all: 1.4851, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2421, d0.loss_map_pts: 1.4851, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2087, d1.loss_map_pts: 1.0045, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1937, d2.loss_map_pts: 0.8318, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1824, d3.loss_map_pts: 0.7682, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1737, d4.loss_map_pts: 0.7416, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1719, d5.loss_map_pts: 0.7331, d5.loss_map_dir: 0.0102, loss: 31.4414, grad_norm: 160.3686 +2026-02-26 03:35:58,258 - DriveTransformer - INFO - Epoch [6][22650/39528] lr: 8.977e-05, eta: 6 days, 19:01:50, time: 0.741, data_time: 0.041, memory: 19865, loss_cls: 0.1995, loss_bbox: 0.3932, loss_traj: 0.6127, loss_traj_cls: 0.0010, loss_map_cls: 0.1737, loss_map_pts: 0.7206, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.6564, d0.loss_plan_l1_fix_dist: 0.5397, d1.loss_plan_l1_fix_time: 1.1298, d1.loss_plan_l1_fix_dist: 0.1784, d2.loss_plan_l1_fix_time: 1.1052, d2.loss_plan_l1_fix_dist: 0.1840, d3.loss_plan_l1_fix_time: 1.1014, d3.loss_plan_l1_fix_dist: 0.1963, d4.loss_plan_l1_fix_time: 1.1043, d4.loss_plan_l1_fix_dist: 0.2094, d5.loss_plan_l1_fix_time: 1.1082, d5.loss_plan_l1_fix_dist: 0.2236, d6.loss_plan_l1_fix_time: 1.1129, d6.loss_plan_l1_fix_dist: 0.2428, d0.loss_cls_all: 0.2324, d0.loss_bbox_all: 0.4405, d0.loss_cls: 0.2324, d0.loss_bbox: 0.4405, d1.loss_cls: 0.2254, d1.loss_bbox: 0.4098, d2.loss_cls: 0.2128, d2.loss_bbox: 0.3950, d3.loss_cls: 0.2045, d3.loss_bbox: 0.3881, d4.loss_cls: 0.1993, d4.loss_bbox: 0.3886, d5.loss_cls: 0.1986, d5.loss_bbox: 0.3916, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8423, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6765, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6285, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6218, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6196, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6165, d0.loss_map_cls_all: 0.2447, d0.loss_map_pts_all: 1.3797, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2447, d0.loss_map_pts: 1.3797, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2236, d1.loss_map_pts: 0.9756, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1986, d2.loss_map_pts: 0.8240, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1870, d3.loss_map_pts: 0.7539, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1787, d4.loss_map_pts: 0.7297, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1733, d5.loss_map_pts: 0.7230, d5.loss_map_dir: 0.0096, loss: 29.8542, grad_norm: 161.8867 +2026-02-26 03:36:38,003 - DriveTransformer - INFO - Epoch [6][22700/39528] lr: 8.977e-05, eta: 6 days, 19:01:08, time: 0.795, data_time: 0.036, memory: 19865, loss_cls: 0.1877, loss_bbox: 0.3998, loss_traj: 0.7881, loss_traj_cls: 0.0010, loss_map_cls: 0.1776, loss_map_pts: 0.8672, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.5197, d0.loss_plan_l1_fix_dist: 0.4244, d1.loss_plan_l1_fix_time: 1.1190, d1.loss_plan_l1_fix_dist: 0.1989, d2.loss_plan_l1_fix_time: 1.1070, d2.loss_plan_l1_fix_dist: 0.2031, d3.loss_plan_l1_fix_time: 1.1087, d3.loss_plan_l1_fix_dist: 0.2135, d4.loss_plan_l1_fix_time: 1.1117, d4.loss_plan_l1_fix_dist: 0.2263, d5.loss_plan_l1_fix_time: 1.1151, d5.loss_plan_l1_fix_dist: 0.2415, d6.loss_plan_l1_fix_time: 1.1188, d6.loss_plan_l1_fix_dist: 0.2555, d0.loss_cls_all: 0.2162, d0.loss_bbox_all: 0.4592, d0.loss_cls: 0.2162, d0.loss_bbox: 0.4592, d1.loss_cls: 0.2106, d1.loss_bbox: 0.4237, d2.loss_cls: 0.2009, d2.loss_bbox: 0.4065, d3.loss_cls: 0.1916, d3.loss_bbox: 0.4018, d4.loss_cls: 0.1873, d4.loss_bbox: 0.4004, d5.loss_cls: 0.1861, d5.loss_bbox: 0.4015, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9581, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8184, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7863, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7818, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7816, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7837, d0.loss_map_cls_all: 0.2447, d0.loss_map_pts_all: 1.6952, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.2447, d0.loss_map_pts: 1.6952, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.2192, d1.loss_map_pts: 1.1550, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2016, d2.loss_map_pts: 0.9703, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.1914, d3.loss_map_pts: 0.8961, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.1836, d4.loss_map_pts: 0.8728, d4.loss_map_dir: 0.0126, d5.loss_map_cls: 0.1789, d5.loss_map_pts: 0.8645, d5.loss_map_dir: 0.0128, loss: 32.3732, grad_norm: 162.2304 +2026-02-26 03:37:15,220 - DriveTransformer - INFO - Epoch [6][22750/39528] lr: 8.977e-05, eta: 6 days, 19:00:18, time: 0.744, data_time: 0.038, memory: 19865, loss_cls: 0.1915, loss_bbox: 0.3862, loss_traj: 0.8968, loss_traj_cls: 0.0010, loss_map_cls: 0.1571, loss_map_pts: 0.7214, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.9769, d0.loss_plan_l1_fix_dist: 0.4173, d1.loss_plan_l1_fix_time: 1.2721, d1.loss_plan_l1_fix_dist: 0.1992, d2.loss_plan_l1_fix_time: 1.2599, d2.loss_plan_l1_fix_dist: 0.2051, d3.loss_plan_l1_fix_time: 1.2602, d3.loss_plan_l1_fix_dist: 0.2160, d4.loss_plan_l1_fix_time: 1.2630, d4.loss_plan_l1_fix_dist: 0.2283, d5.loss_plan_l1_fix_time: 1.2659, d5.loss_plan_l1_fix_dist: 0.2418, d6.loss_plan_l1_fix_time: 1.2696, d6.loss_plan_l1_fix_dist: 0.2536, d0.loss_cls_all: 0.2204, d0.loss_bbox_all: 0.4635, d0.loss_cls: 0.2204, d0.loss_bbox: 0.4635, d1.loss_cls: 0.2139, d1.loss_bbox: 0.4226, d2.loss_cls: 0.2021, d2.loss_bbox: 0.4040, d3.loss_cls: 0.1949, d3.loss_bbox: 0.3953, d4.loss_cls: 0.1912, d4.loss_bbox: 0.3919, d5.loss_cls: 0.1897, d5.loss_bbox: 0.3886, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2318, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.9706, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.9102, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8976, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8936, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8962, d0.loss_map_cls_all: 0.2234, d0.loss_map_pts_all: 1.3168, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2234, d0.loss_map_pts: 1.3168, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1968, d1.loss_map_pts: 0.9568, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1824, d2.loss_map_pts: 0.8133, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1698, d3.loss_map_pts: 0.7540, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1632, d4.loss_map_pts: 0.7292, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1582, d5.loss_map_pts: 0.7215, d5.loss_map_dir: 0.0080, loss: 32.8364, grad_norm: 161.9072 +2026-02-26 03:37:54,539 - DriveTransformer - INFO - Epoch [6][22800/39528] lr: 8.977e-05, eta: 6 days, 18:59:34, time: 0.786, data_time: 0.042, memory: 19865, loss_cls: 0.1829, loss_bbox: 0.3981, loss_traj: 0.6970, loss_traj_cls: 0.0010, loss_map_cls: 0.1825, loss_map_pts: 0.8107, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.7147, d0.loss_plan_l1_fix_dist: 0.3400, d1.loss_plan_l1_fix_time: 1.2070, d1.loss_plan_l1_fix_dist: 0.1934, d2.loss_plan_l1_fix_time: 1.1942, d2.loss_plan_l1_fix_dist: 0.2003, d3.loss_plan_l1_fix_time: 1.1929, d3.loss_plan_l1_fix_dist: 0.2164, d4.loss_plan_l1_fix_time: 1.1953, d4.loss_plan_l1_fix_dist: 0.2330, d5.loss_plan_l1_fix_time: 1.1982, d5.loss_plan_l1_fix_dist: 0.2505, d6.loss_plan_l1_fix_time: 1.2018, d6.loss_plan_l1_fix_dist: 0.2693, d0.loss_cls_all: 0.2160, d0.loss_bbox_all: 0.4590, d0.loss_cls: 0.2160, d0.loss_bbox: 0.4590, d1.loss_cls: 0.2112, d1.loss_bbox: 0.4258, d2.loss_cls: 0.2031, d2.loss_bbox: 0.4049, d3.loss_cls: 0.1921, d3.loss_bbox: 0.3979, d4.loss_cls: 0.1847, d4.loss_bbox: 0.3967, d5.loss_cls: 0.1830, d5.loss_bbox: 0.3960, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9539, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7658, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7186, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7086, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7046, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7016, d0.loss_map_cls_all: 0.2433, d0.loss_map_pts_all: 1.4498, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2433, d0.loss_map_pts: 1.4498, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2188, d1.loss_map_pts: 1.0228, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.2052, d2.loss_map_pts: 0.8795, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1953, d3.loss_map_pts: 0.8290, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1872, d4.loss_map_pts: 0.8128, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1831, d5.loss_map_pts: 0.8101, d5.loss_map_dir: 0.0101, loss: 31.5927, grad_norm: 162.1166 +2026-02-26 03:38:32,179 - DriveTransformer - INFO - Epoch [6][22850/39528] lr: 8.977e-05, eta: 6 days, 18:58:45, time: 0.753, data_time: 0.038, memory: 19865, loss_cls: 0.1733, loss_bbox: 0.3829, loss_traj: 0.5765, loss_traj_cls: 0.0011, loss_map_cls: 0.1753, loss_map_pts: 0.7360, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.8094, d0.loss_plan_l1_fix_dist: 0.4247, d1.loss_plan_l1_fix_time: 1.1561, d1.loss_plan_l1_fix_dist: 0.1682, d2.loss_plan_l1_fix_time: 1.1414, d2.loss_plan_l1_fix_dist: 0.1703, d3.loss_plan_l1_fix_time: 1.1408, d3.loss_plan_l1_fix_dist: 0.1789, d4.loss_plan_l1_fix_time: 1.1431, d4.loss_plan_l1_fix_dist: 0.1906, d5.loss_plan_l1_fix_time: 1.1461, d5.loss_plan_l1_fix_dist: 0.2043, d6.loss_plan_l1_fix_time: 1.1492, d6.loss_plan_l1_fix_dist: 0.2205, d0.loss_cls_all: 0.2077, d0.loss_bbox_all: 0.4447, d0.loss_cls: 0.2077, d0.loss_bbox: 0.4447, d1.loss_cls: 0.1980, d1.loss_bbox: 0.4090, d2.loss_cls: 0.1888, d2.loss_bbox: 0.3929, d3.loss_cls: 0.1792, d3.loss_bbox: 0.3856, d4.loss_cls: 0.1741, d4.loss_bbox: 0.3849, d5.loss_cls: 0.1713, d5.loss_bbox: 0.3854, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7859, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6229, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5881, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5798, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.5785, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5752, d0.loss_map_cls_all: 0.2297, d0.loss_map_pts_all: 1.4715, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2297, d0.loss_map_pts: 1.4715, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2074, d1.loss_map_pts: 0.9892, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1918, d2.loss_map_pts: 0.8272, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1845, d3.loss_map_pts: 0.7702, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1808, d4.loss_map_pts: 0.7474, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1765, d5.loss_map_pts: 0.7360, d5.loss_map_dir: 0.0105, loss: 29.6944, grad_norm: 162.5598 +2026-02-26 03:39:09,573 - DriveTransformer - INFO - Epoch [6][22900/39528] lr: 8.977e-05, eta: 6 days, 18:57:56, time: 0.748, data_time: 0.040, memory: 19865, loss_cls: 0.1751, loss_bbox: 0.3558, loss_traj: 0.7086, loss_traj_cls: 0.0010, loss_map_cls: 0.1472, loss_map_pts: 0.6723, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.7862, d0.loss_plan_l1_fix_dist: 0.3557, d1.loss_plan_l1_fix_time: 1.0984, d1.loss_plan_l1_fix_dist: 0.1570, d2.loss_plan_l1_fix_time: 1.0875, d2.loss_plan_l1_fix_dist: 0.1610, d3.loss_plan_l1_fix_time: 1.0922, d3.loss_plan_l1_fix_dist: 0.1711, d4.loss_plan_l1_fix_time: 1.0961, d4.loss_plan_l1_fix_dist: 0.1836, d5.loss_plan_l1_fix_time: 1.1004, d5.loss_plan_l1_fix_dist: 0.2003, d6.loss_plan_l1_fix_time: 1.1049, d6.loss_plan_l1_fix_dist: 0.2192, d0.loss_cls_all: 0.2112, d0.loss_bbox_all: 0.4041, d0.loss_cls: 0.2112, d0.loss_bbox: 0.4041, d1.loss_cls: 0.2023, d1.loss_bbox: 0.3745, d2.loss_cls: 0.1937, d2.loss_bbox: 0.3596, d3.loss_cls: 0.1837, d3.loss_bbox: 0.3543, d4.loss_cls: 0.1796, d4.loss_bbox: 0.3518, d5.loss_cls: 0.1774, d5.loss_bbox: 0.3520, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8904, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7518, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7215, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7126, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7064, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7047, d0.loss_map_cls_all: 0.2064, d0.loss_map_pts_all: 1.3182, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2064, d0.loss_map_pts: 1.3182, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1841, d1.loss_map_pts: 0.9097, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1670, d2.loss_map_pts: 0.7574, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1550, d3.loss_map_pts: 0.7010, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1500, d4.loss_map_pts: 0.6799, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1463, d5.loss_map_pts: 0.6744, d5.loss_map_dir: 0.0099, loss: 28.9774, grad_norm: 160.8153 +2026-02-26 03:39:46,672 - DriveTransformer - INFO - Epoch [6][22950/39528] lr: 8.977e-05, eta: 6 days, 18:57:05, time: 0.742, data_time: 0.041, memory: 19865, loss_cls: 0.1873, loss_bbox: 0.3776, loss_traj: 0.8182, loss_traj_cls: 0.0010, loss_map_cls: 0.1691, loss_map_pts: 0.6724, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.6748, d0.loss_plan_l1_fix_dist: 0.3850, d1.loss_plan_l1_fix_time: 1.2334, d1.loss_plan_l1_fix_dist: 0.1811, d2.loss_plan_l1_fix_time: 1.2179, d2.loss_plan_l1_fix_dist: 0.1873, d3.loss_plan_l1_fix_time: 1.2184, d3.loss_plan_l1_fix_dist: 0.1965, d4.loss_plan_l1_fix_time: 1.2222, d4.loss_plan_l1_fix_dist: 0.2066, d5.loss_plan_l1_fix_time: 1.2263, d5.loss_plan_l1_fix_dist: 0.2176, d6.loss_plan_l1_fix_time: 1.2311, d6.loss_plan_l1_fix_dist: 0.2292, d0.loss_cls_all: 0.2259, d0.loss_bbox_all: 0.4417, d0.loss_cls: 0.2259, d0.loss_bbox: 0.4417, d1.loss_cls: 0.2159, d1.loss_bbox: 0.4135, d2.loss_cls: 0.2047, d2.loss_bbox: 0.3932, d3.loss_cls: 0.1960, d3.loss_bbox: 0.3830, d4.loss_cls: 0.1894, d4.loss_bbox: 0.3801, d5.loss_cls: 0.1882, d5.loss_bbox: 0.3771, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0763, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8940, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8433, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8289, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8268, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8255, d0.loss_map_cls_all: 0.2427, d0.loss_map_pts_all: 1.3708, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2427, d0.loss_map_pts: 1.3708, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2088, d1.loss_map_pts: 0.9343, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1943, d2.loss_map_pts: 0.7638, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1833, d3.loss_map_pts: 0.6962, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1753, d4.loss_map_pts: 0.6742, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1700, d5.loss_map_pts: 0.6723, d5.loss_map_dir: 0.0093, loss: 31.4018, grad_norm: 161.9220 +2026-02-26 03:40:25,367 - DriveTransformer - INFO - Epoch [6][23000/39528] lr: 8.977e-05, eta: 6 days, 18:56:19, time: 0.775, data_time: 0.042, memory: 19865, loss_cls: 0.1665, loss_bbox: 0.3669, loss_traj: 0.6536, loss_traj_cls: 0.0010, loss_map_cls: 0.1681, loss_map_pts: 0.7214, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.5977, d0.loss_plan_l1_fix_dist: 0.4384, d1.loss_plan_l1_fix_time: 1.0581, d1.loss_plan_l1_fix_dist: 0.1575, d2.loss_plan_l1_fix_time: 1.0462, d2.loss_plan_l1_fix_dist: 0.1623, d3.loss_plan_l1_fix_time: 1.0458, d3.loss_plan_l1_fix_dist: 0.1706, d4.loss_plan_l1_fix_time: 1.0486, d4.loss_plan_l1_fix_dist: 0.1815, d5.loss_plan_l1_fix_time: 1.0527, d5.loss_plan_l1_fix_dist: 0.1922, d6.loss_plan_l1_fix_time: 1.0577, d6.loss_plan_l1_fix_dist: 0.2038, d0.loss_cls_all: 0.2000, d0.loss_bbox_all: 0.4216, d0.loss_cls: 0.2000, d0.loss_bbox: 0.4216, d1.loss_cls: 0.1966, d1.loss_bbox: 0.3896, d2.loss_cls: 0.1832, d2.loss_bbox: 0.3754, d3.loss_cls: 0.1735, d3.loss_bbox: 0.3670, d4.loss_cls: 0.1683, d4.loss_bbox: 0.3666, d5.loss_cls: 0.1668, d5.loss_bbox: 0.3662, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8569, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6883, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6613, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6586, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6506, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6491, d0.loss_map_cls_all: 0.2263, d0.loss_map_pts_all: 1.4113, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2263, d0.loss_map_pts: 1.4113, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2027, d1.loss_map_pts: 0.9555, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1856, d2.loss_map_pts: 0.8028, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1772, d3.loss_map_pts: 0.7441, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1714, d4.loss_map_pts: 0.7268, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1672, d5.loss_map_pts: 0.7219, d5.loss_map_dir: 0.0101, loss: 28.8657, grad_norm: 163.6067 +2026-02-26 03:41:03,534 - DriveTransformer - INFO - Epoch [6][23050/39528] lr: 8.977e-05, eta: 6 days, 18:55:32, time: 0.762, data_time: 0.035, memory: 19865, loss_cls: 0.1735, loss_bbox: 0.3710, loss_traj: 0.6726, loss_traj_cls: 0.0009, loss_map_cls: 0.1946, loss_map_pts: 0.8173, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.7133, d0.loss_plan_l1_fix_dist: 0.3310, d1.loss_plan_l1_fix_time: 1.2213, d1.loss_plan_l1_fix_dist: 0.1867, d2.loss_plan_l1_fix_time: 1.2075, d2.loss_plan_l1_fix_dist: 0.1918, d3.loss_plan_l1_fix_time: 1.2105, d3.loss_plan_l1_fix_dist: 0.2025, d4.loss_plan_l1_fix_time: 1.2140, d4.loss_plan_l1_fix_dist: 0.2148, d5.loss_plan_l1_fix_time: 1.2179, d5.loss_plan_l1_fix_dist: 0.2297, d6.loss_plan_l1_fix_time: 1.2226, d6.loss_plan_l1_fix_dist: 0.2451, d0.loss_cls_all: 0.2087, d0.loss_bbox_all: 0.4275, d0.loss_cls: 0.2087, d0.loss_bbox: 0.4275, d1.loss_cls: 0.2017, d1.loss_bbox: 0.3920, d2.loss_cls: 0.1908, d2.loss_bbox: 0.3790, d3.loss_cls: 0.1796, d3.loss_bbox: 0.3734, d4.loss_cls: 0.1743, d4.loss_bbox: 0.3723, d5.loss_cls: 0.1727, d5.loss_bbox: 0.3710, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8383, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7230, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6946, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6711, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6694, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6696, d0.loss_map_cls_all: 0.2638, d0.loss_map_pts_all: 1.5736, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2638, d0.loss_map_pts: 1.5736, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2358, d1.loss_map_pts: 1.0817, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2137, d2.loss_map_pts: 0.9116, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.2052, d3.loss_map_pts: 0.8464, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.1990, d4.loss_map_pts: 0.8245, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1962, d5.loss_map_pts: 0.8190, d5.loss_map_dir: 0.0119, loss: 31.4891, grad_norm: 163.7302 +2026-02-26 03:41:40,893 - DriveTransformer - INFO - Epoch [6][23100/39528] lr: 8.977e-05, eta: 6 days, 18:54:42, time: 0.747, data_time: 0.036, memory: 19865, loss_cls: 0.1834, loss_bbox: 0.3756, loss_traj: 0.6426, loss_traj_cls: 0.0009, loss_map_cls: 0.1787, loss_map_pts: 0.7507, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.8050, d0.loss_plan_l1_fix_dist: 0.4034, d1.loss_plan_l1_fix_time: 1.0783, d1.loss_plan_l1_fix_dist: 0.1901, d2.loss_plan_l1_fix_time: 1.0641, d2.loss_plan_l1_fix_dist: 0.1933, d3.loss_plan_l1_fix_time: 1.0607, d3.loss_plan_l1_fix_dist: 0.2034, d4.loss_plan_l1_fix_time: 1.0635, d4.loss_plan_l1_fix_dist: 0.2150, d5.loss_plan_l1_fix_time: 1.0666, d5.loss_plan_l1_fix_dist: 0.2292, d6.loss_plan_l1_fix_time: 1.0699, d6.loss_plan_l1_fix_dist: 0.2449, d0.loss_cls_all: 0.2203, d0.loss_bbox_all: 0.4455, d0.loss_cls: 0.2203, d0.loss_bbox: 0.4455, d1.loss_cls: 0.2125, d1.loss_bbox: 0.4082, d2.loss_cls: 0.1987, d2.loss_bbox: 0.3893, d3.loss_cls: 0.1885, d3.loss_bbox: 0.3811, d4.loss_cls: 0.1845, d4.loss_bbox: 0.3782, d5.loss_cls: 0.1836, d5.loss_bbox: 0.3762, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8634, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7091, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6562, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6475, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6446, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6434, d0.loss_map_cls_all: 0.2547, d0.loss_map_pts_all: 1.4917, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2547, d0.loss_map_pts: 1.4917, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2248, d1.loss_map_pts: 1.0182, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.2045, d2.loss_map_pts: 0.8452, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1947, d3.loss_map_pts: 0.7834, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1859, d4.loss_map_pts: 0.7625, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1805, d5.loss_map_pts: 0.7528, d5.loss_map_dir: 0.0111, loss: 30.1497, grad_norm: 164.2819 +2026-02-26 03:42:19,654 - DriveTransformer - INFO - Epoch [6][23150/39528] lr: 8.977e-05, eta: 6 days, 18:53:57, time: 0.775, data_time: 0.040, memory: 19865, loss_cls: 0.1846, loss_bbox: 0.3728, loss_traj: 0.6307, loss_traj_cls: 0.0010, loss_map_cls: 0.1660, loss_map_pts: 0.8052, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 3.1504, d0.loss_plan_l1_fix_dist: 0.3631, d1.loss_plan_l1_fix_time: 1.1585, d1.loss_plan_l1_fix_dist: 0.1720, d2.loss_plan_l1_fix_time: 1.1325, d2.loss_plan_l1_fix_dist: 0.1788, d3.loss_plan_l1_fix_time: 1.1298, d3.loss_plan_l1_fix_dist: 0.1905, d4.loss_plan_l1_fix_time: 1.1328, d4.loss_plan_l1_fix_dist: 0.2065, d5.loss_plan_l1_fix_time: 1.1362, d5.loss_plan_l1_fix_dist: 0.2235, d6.loss_plan_l1_fix_time: 1.1397, d6.loss_plan_l1_fix_dist: 0.2452, d0.loss_cls_all: 0.2203, d0.loss_bbox_all: 0.4332, d0.loss_cls: 0.2203, d0.loss_bbox: 0.4332, d1.loss_cls: 0.2125, d1.loss_bbox: 0.4013, d2.loss_cls: 0.2007, d2.loss_bbox: 0.3862, d3.loss_cls: 0.1876, d3.loss_bbox: 0.3798, d4.loss_cls: 0.1846, d4.loss_bbox: 0.3770, d5.loss_cls: 0.1844, d5.loss_bbox: 0.3749, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8502, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6839, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6498, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6372, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6285, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6264, d0.loss_map_cls_all: 0.2361, d0.loss_map_pts_all: 1.6039, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2361, d0.loss_map_pts: 1.6039, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2072, d1.loss_map_pts: 1.0526, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.1879, d2.loss_map_pts: 0.8874, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.1777, d3.loss_map_pts: 0.8291, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.1708, d4.loss_map_pts: 0.8118, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1663, d5.loss_map_pts: 0.8060, d5.loss_map_dir: 0.0120, loss: 31.0655, grad_norm: 164.8572 +2026-02-26 03:42:57,771 - DriveTransformer - INFO - Epoch [6][23200/39528] lr: 8.977e-05, eta: 6 days, 18:53:09, time: 0.762, data_time: 0.041, memory: 19865, loss_cls: 0.1808, loss_bbox: 0.3579, loss_traj: 0.7452, loss_traj_cls: 0.0010, loss_map_cls: 0.1767, loss_map_pts: 0.7092, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 3.2216, d0.loss_plan_l1_fix_dist: 0.4654, d1.loss_plan_l1_fix_time: 1.3555, d1.loss_plan_l1_fix_dist: 0.2023, d2.loss_plan_l1_fix_time: 1.3310, d2.loss_plan_l1_fix_dist: 0.2082, d3.loss_plan_l1_fix_time: 1.3261, d3.loss_plan_l1_fix_dist: 0.2194, d4.loss_plan_l1_fix_time: 1.3280, d4.loss_plan_l1_fix_dist: 0.2340, d5.loss_plan_l1_fix_time: 1.3310, d5.loss_plan_l1_fix_dist: 0.2484, d6.loss_plan_l1_fix_time: 1.3344, d6.loss_plan_l1_fix_dist: 0.2637, d0.loss_cls_all: 0.2128, d0.loss_bbox_all: 0.4118, d0.loss_cls: 0.2128, d0.loss_bbox: 0.4118, d1.loss_cls: 0.2055, d1.loss_bbox: 0.3838, d2.loss_cls: 0.1951, d2.loss_bbox: 0.3666, d3.loss_cls: 0.1871, d3.loss_bbox: 0.3608, d4.loss_cls: 0.1816, d4.loss_bbox: 0.3578, d5.loss_cls: 0.1809, d5.loss_bbox: 0.3572, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9589, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8059, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7688, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7517, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7448, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7445, d0.loss_map_cls_all: 0.2413, d0.loss_map_pts_all: 1.4347, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2413, d0.loss_map_pts: 1.4347, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2122, d1.loss_map_pts: 0.9788, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1927, d2.loss_map_pts: 0.8118, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1862, d3.loss_map_pts: 0.7432, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1799, d4.loss_map_pts: 0.7174, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1770, d5.loss_map_pts: 0.7090, d5.loss_map_dir: 0.0090, loss: 32.3771, grad_norm: 163.7169 +2026-02-26 03:43:34,587 - DriveTransformer - INFO - Epoch [6][23250/39528] lr: 8.977e-05, eta: 6 days, 18:52:18, time: 0.736, data_time: 0.042, memory: 19865, loss_cls: 0.1712, loss_bbox: 0.3688, loss_traj: 0.7219, loss_traj_cls: 0.0010, loss_map_cls: 0.1694, loss_map_pts: 0.7154, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.6795, d0.loss_plan_l1_fix_dist: 0.4048, d1.loss_plan_l1_fix_time: 1.0794, d1.loss_plan_l1_fix_dist: 0.1800, d2.loss_plan_l1_fix_time: 1.0708, d2.loss_plan_l1_fix_dist: 0.1856, d3.loss_plan_l1_fix_time: 1.0715, d3.loss_plan_l1_fix_dist: 0.1965, d4.loss_plan_l1_fix_time: 1.0765, d4.loss_plan_l1_fix_dist: 0.2082, d5.loss_plan_l1_fix_time: 1.0826, d5.loss_plan_l1_fix_dist: 0.2214, d6.loss_plan_l1_fix_time: 1.0890, d6.loss_plan_l1_fix_dist: 0.2348, d0.loss_cls_all: 0.2017, d0.loss_bbox_all: 0.4268, d0.loss_cls: 0.2017, d0.loss_bbox: 0.4268, d1.loss_cls: 0.1950, d1.loss_bbox: 0.3924, d2.loss_cls: 0.1814, d2.loss_bbox: 0.3770, d3.loss_cls: 0.1738, d3.loss_bbox: 0.3706, d4.loss_cls: 0.1708, d4.loss_bbox: 0.3687, d5.loss_cls: 0.1708, d5.loss_bbox: 0.3681, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9223, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7675, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7326, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7233, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7182, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7197, d0.loss_map_cls_all: 0.2437, d0.loss_map_pts_all: 1.3849, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2437, d0.loss_map_pts: 1.3849, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2135, d1.loss_map_pts: 0.9644, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1912, d2.loss_map_pts: 0.8121, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1808, d3.loss_map_pts: 0.7468, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1754, d4.loss_map_pts: 0.7260, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1712, d5.loss_map_pts: 0.7168, d5.loss_map_dir: 0.0087, loss: 29.7683, grad_norm: 164.0263 +2026-02-26 03:44:15,214 - DriveTransformer - INFO - Epoch [6][23300/39528] lr: 8.977e-05, eta: 6 days, 18:51:38, time: 0.813, data_time: 0.039, memory: 19865, loss_cls: 0.1844, loss_bbox: 0.3754, loss_traj: 0.6310, loss_traj_cls: 0.0010, loss_map_cls: 0.1759, loss_map_pts: 0.8153, loss_map_dir: 0.0133, d0.loss_plan_l1_fix_time: 2.6723, d0.loss_plan_l1_fix_dist: 0.3976, d1.loss_plan_l1_fix_time: 1.0739, d1.loss_plan_l1_fix_dist: 0.1993, d2.loss_plan_l1_fix_time: 1.0636, d2.loss_plan_l1_fix_dist: 0.2018, d3.loss_plan_l1_fix_time: 1.0667, d3.loss_plan_l1_fix_dist: 0.2107, d4.loss_plan_l1_fix_time: 1.0716, d4.loss_plan_l1_fix_dist: 0.2211, d5.loss_plan_l1_fix_time: 1.0769, d5.loss_plan_l1_fix_dist: 0.2331, d6.loss_plan_l1_fix_time: 1.0822, d6.loss_plan_l1_fix_dist: 0.2458, d0.loss_cls_all: 0.2184, d0.loss_bbox_all: 0.4233, d0.loss_cls: 0.2184, d0.loss_bbox: 0.4233, d1.loss_cls: 0.2117, d1.loss_bbox: 0.3938, d2.loss_cls: 0.1996, d2.loss_bbox: 0.3825, d3.loss_cls: 0.1896, d3.loss_bbox: 0.3773, d4.loss_cls: 0.1842, d4.loss_bbox: 0.3772, d5.loss_cls: 0.1842, d5.loss_bbox: 0.3759, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8186, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6792, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6474, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6337, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6307, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6317, d0.loss_map_cls_all: 0.2469, d0.loss_map_pts_all: 1.6461, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.2469, d0.loss_map_pts: 1.6461, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2158, d1.loss_map_pts: 1.1035, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.1989, d2.loss_map_pts: 0.9221, d2.loss_map_dir: 0.0124, d3.loss_map_cls: 0.1876, d3.loss_map_pts: 0.8544, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.1811, d4.loss_map_pts: 0.8287, d4.loss_map_dir: 0.0131, d5.loss_map_cls: 0.1770, d5.loss_map_pts: 0.8160, d5.loss_map_dir: 0.0132, loss: 30.5806, grad_norm: 162.3169 +2026-02-26 03:44:53,608 - DriveTransformer - INFO - Epoch [6][23350/39528] lr: 8.977e-05, eta: 6 days, 18:50:52, time: 0.768, data_time: 0.048, memory: 19865, loss_cls: 0.1597, loss_bbox: 0.3603, loss_traj: 0.5759, loss_traj_cls: 0.0010, loss_map_cls: 0.1587, loss_map_pts: 0.7935, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.3943, d0.loss_plan_l1_fix_dist: 0.3908, d1.loss_plan_l1_fix_time: 1.0144, d1.loss_plan_l1_fix_dist: 0.1775, d2.loss_plan_l1_fix_time: 0.9991, d2.loss_plan_l1_fix_dist: 0.1828, d3.loss_plan_l1_fix_time: 1.0000, d3.loss_plan_l1_fix_dist: 0.1944, d4.loss_plan_l1_fix_time: 1.0046, d4.loss_plan_l1_fix_dist: 0.2090, d5.loss_plan_l1_fix_time: 1.0098, d5.loss_plan_l1_fix_dist: 0.2248, d6.loss_plan_l1_fix_time: 1.0159, d6.loss_plan_l1_fix_dist: 0.2431, d0.loss_cls_all: 0.1954, d0.loss_bbox_all: 0.4190, d0.loss_cls: 0.1954, d0.loss_bbox: 0.4190, d1.loss_cls: 0.1882, d1.loss_bbox: 0.3868, d2.loss_cls: 0.1760, d2.loss_bbox: 0.3687, d3.loss_cls: 0.1671, d3.loss_bbox: 0.3626, d4.loss_cls: 0.1624, d4.loss_bbox: 0.3600, d5.loss_cls: 0.1597, d5.loss_bbox: 0.3606, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7733, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6282, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5867, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5785, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5740, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5755, d0.loss_map_cls_all: 0.2445, d0.loss_map_pts_all: 1.6001, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2445, d0.loss_map_pts: 1.6001, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2042, d1.loss_map_pts: 1.0533, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.1820, d2.loss_map_pts: 0.8890, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.1721, d3.loss_map_pts: 0.8224, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.1629, d4.loss_map_pts: 0.7999, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.1592, d5.loss_map_pts: 0.7942, d5.loss_map_dir: 0.0122, loss: 28.7769, grad_norm: 162.9305 +2026-02-26 03:45:33,744 - DriveTransformer - INFO - Epoch [6][23400/39528] lr: 8.977e-05, eta: 6 days, 18:50:11, time: 0.803, data_time: 0.044, memory: 19865, loss_cls: 0.1840, loss_bbox: 0.3673, loss_traj: 0.7311, loss_traj_cls: 0.0010, loss_map_cls: 0.1647, loss_map_pts: 0.7411, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.7638, d0.loss_plan_l1_fix_dist: 0.4165, d1.loss_plan_l1_fix_time: 1.0426, d1.loss_plan_l1_fix_dist: 0.1755, d2.loss_plan_l1_fix_time: 1.0318, d2.loss_plan_l1_fix_dist: 0.1799, d3.loss_plan_l1_fix_time: 1.0305, d3.loss_plan_l1_fix_dist: 0.1914, d4.loss_plan_l1_fix_time: 1.0335, d4.loss_plan_l1_fix_dist: 0.2064, d5.loss_plan_l1_fix_time: 1.0368, d5.loss_plan_l1_fix_dist: 0.2224, d6.loss_plan_l1_fix_time: 1.0412, d6.loss_plan_l1_fix_dist: 0.2393, d0.loss_cls_all: 0.2138, d0.loss_bbox_all: 0.4334, d0.loss_cls: 0.2138, d0.loss_bbox: 0.4334, d1.loss_cls: 0.2076, d1.loss_bbox: 0.3941, d2.loss_cls: 0.1971, d2.loss_bbox: 0.3767, d3.loss_cls: 0.1856, d3.loss_bbox: 0.3740, d4.loss_cls: 0.1834, d4.loss_bbox: 0.3696, d5.loss_cls: 0.1824, d5.loss_bbox: 0.3687, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9339, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7792, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7468, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7438, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7370, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7319, d0.loss_map_cls_all: 0.2346, d0.loss_map_pts_all: 1.4962, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2346, d0.loss_map_pts: 1.4962, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2057, d1.loss_map_pts: 1.0037, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.1909, d2.loss_map_pts: 0.8348, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.1807, d3.loss_map_pts: 0.7730, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1701, d4.loss_map_pts: 0.7489, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1651, d5.loss_map_pts: 0.7418, d5.loss_map_dir: 0.0118, loss: 30.1816, grad_norm: 161.4361 +2026-02-26 03:46:13,202 - DriveTransformer - INFO - Epoch [6][23450/39528] lr: 8.977e-05, eta: 6 days, 18:49:28, time: 0.789, data_time: 0.042, memory: 19865, loss_cls: 0.1786, loss_bbox: 0.3729, loss_traj: 0.6792, loss_traj_cls: 0.0010, loss_map_cls: 0.2100, loss_map_pts: 0.8321, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.6980, d0.loss_plan_l1_fix_dist: 0.4017, d1.loss_plan_l1_fix_time: 1.2251, d1.loss_plan_l1_fix_dist: 0.2062, d2.loss_plan_l1_fix_time: 1.2102, d2.loss_plan_l1_fix_dist: 0.2155, d3.loss_plan_l1_fix_time: 1.2135, d3.loss_plan_l1_fix_dist: 0.2277, d4.loss_plan_l1_fix_time: 1.2167, d4.loss_plan_l1_fix_dist: 0.2406, d5.loss_plan_l1_fix_time: 1.2202, d5.loss_plan_l1_fix_dist: 0.2551, d6.loss_plan_l1_fix_time: 1.2239, d6.loss_plan_l1_fix_dist: 0.2724, d0.loss_cls_all: 0.2249, d0.loss_bbox_all: 0.4301, d0.loss_cls: 0.2249, d0.loss_bbox: 0.4301, d1.loss_cls: 0.2109, d1.loss_bbox: 0.4011, d2.loss_cls: 0.1964, d2.loss_bbox: 0.3813, d3.loss_cls: 0.1844, d3.loss_bbox: 0.3780, d4.loss_cls: 0.1801, d4.loss_bbox: 0.3735, d5.loss_cls: 0.1788, d5.loss_bbox: 0.3712, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8849, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7457, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6956, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6750, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6780, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6774, d0.loss_map_cls_all: 0.2846, d0.loss_map_pts_all: 1.6098, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2846, d0.loss_map_pts: 1.6098, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2564, d1.loss_map_pts: 1.1375, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2335, d2.loss_map_pts: 0.9411, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2213, d3.loss_map_pts: 0.8659, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.2168, d4.loss_map_pts: 0.8389, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.2123, d5.loss_map_pts: 0.8326, d5.loss_map_dir: 0.0122, loss: 32.2669, grad_norm: 160.8502 +2026-02-26 03:46:52,026 - DriveTransformer - INFO - Epoch [6][23500/39528] lr: 8.977e-05, eta: 6 days, 18:48:43, time: 0.776, data_time: 0.040, memory: 19865, loss_cls: 0.1801, loss_bbox: 0.3558, loss_traj: 0.8024, loss_traj_cls: 0.0010, loss_map_cls: 0.1816, loss_map_pts: 0.8126, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.6556, d0.loss_plan_l1_fix_dist: 0.4157, d1.loss_plan_l1_fix_time: 1.0996, d1.loss_plan_l1_fix_dist: 0.1852, d2.loss_plan_l1_fix_time: 1.0897, d2.loss_plan_l1_fix_dist: 0.1955, d3.loss_plan_l1_fix_time: 1.0935, d3.loss_plan_l1_fix_dist: 0.2083, d4.loss_plan_l1_fix_time: 1.0986, d4.loss_plan_l1_fix_dist: 0.2244, d5.loss_plan_l1_fix_time: 1.1039, d5.loss_plan_l1_fix_dist: 0.2432, d6.loss_plan_l1_fix_time: 1.1092, d6.loss_plan_l1_fix_dist: 0.2640, d0.loss_cls_all: 0.2163, d0.loss_bbox_all: 0.4207, d0.loss_cls: 0.2163, d0.loss_bbox: 0.4207, d1.loss_cls: 0.2061, d1.loss_bbox: 0.3833, d2.loss_cls: 0.1894, d2.loss_bbox: 0.3676, d3.loss_cls: 0.1819, d3.loss_bbox: 0.3612, d4.loss_cls: 0.1794, d4.loss_bbox: 0.3568, d5.loss_cls: 0.1793, d5.loss_bbox: 0.3556, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1108, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8993, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8204, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8053, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7963, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7955, d0.loss_map_cls_all: 0.2461, d0.loss_map_pts_all: 1.5127, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2461, d0.loss_map_pts: 1.5127, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2181, d1.loss_map_pts: 1.0663, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2004, d2.loss_map_pts: 0.9017, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.1914, d3.loss_map_pts: 0.8403, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.1852, d4.loss_map_pts: 0.8203, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.1831, d5.loss_map_pts: 0.8138, d5.loss_map_dir: 0.0121, loss: 31.6207, grad_norm: 161.1648 +2026-02-26 03:47:30,700 - DriveTransformer - INFO - Epoch [6][23550/39528] lr: 8.977e-05, eta: 6 days, 18:47:57, time: 0.773, data_time: 0.043, memory: 19865, loss_cls: 0.1764, loss_bbox: 0.3806, loss_traj: 0.5433, loss_traj_cls: 0.0010, loss_map_cls: 0.1819, loss_map_pts: 0.7527, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.7433, d0.loss_plan_l1_fix_dist: 0.4011, d1.loss_plan_l1_fix_time: 1.2847, d1.loss_plan_l1_fix_dist: 0.2058, d2.loss_plan_l1_fix_time: 1.2727, d2.loss_plan_l1_fix_dist: 0.2068, d3.loss_plan_l1_fix_time: 1.2736, d3.loss_plan_l1_fix_dist: 0.2163, d4.loss_plan_l1_fix_time: 1.2776, d4.loss_plan_l1_fix_dist: 0.2303, d5.loss_plan_l1_fix_time: 1.2819, d5.loss_plan_l1_fix_dist: 0.2454, d6.loss_plan_l1_fix_time: 1.2862, d6.loss_plan_l1_fix_dist: 0.2612, d0.loss_cls_all: 0.2128, d0.loss_bbox_all: 0.4444, d0.loss_cls: 0.2128, d0.loss_bbox: 0.4444, d1.loss_cls: 0.2027, d1.loss_bbox: 0.4056, d2.loss_cls: 0.1889, d2.loss_bbox: 0.3893, d3.loss_cls: 0.1807, d3.loss_bbox: 0.3821, d4.loss_cls: 0.1760, d4.loss_bbox: 0.3803, d5.loss_cls: 0.1768, d5.loss_bbox: 0.3776, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6937, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5817, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5439, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5455, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5408, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5431, d0.loss_map_cls_all: 0.2521, d0.loss_map_pts_all: 1.4766, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.2521, d0.loss_map_pts: 1.4766, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2257, d1.loss_map_pts: 0.9929, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2023, d2.loss_map_pts: 0.8372, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.1900, d3.loss_map_pts: 0.7789, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.1840, d4.loss_map_pts: 0.7598, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1819, d5.loss_map_pts: 0.7535, d5.loss_map_dir: 0.0118, loss: 30.5107, grad_norm: 161.4569 +2026-02-26 03:48:09,078 - DriveTransformer - INFO - Epoch [6][23600/39528] lr: 8.977e-05, eta: 6 days, 18:47:11, time: 0.768, data_time: 0.040, memory: 19865, loss_cls: 0.1842, loss_bbox: 0.3741, loss_traj: 0.6777, loss_traj_cls: 0.0010, loss_map_cls: 0.2179, loss_map_pts: 0.9106, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.3480, d0.loss_plan_l1_fix_dist: 0.4052, d1.loss_plan_l1_fix_time: 1.0039, d1.loss_plan_l1_fix_dist: 0.1880, d2.loss_plan_l1_fix_time: 0.9884, d2.loss_plan_l1_fix_dist: 0.1953, d3.loss_plan_l1_fix_time: 0.9909, d3.loss_plan_l1_fix_dist: 0.2078, d4.loss_plan_l1_fix_time: 0.9946, d4.loss_plan_l1_fix_dist: 0.2209, d5.loss_plan_l1_fix_time: 0.9983, d5.loss_plan_l1_fix_dist: 0.2344, d6.loss_plan_l1_fix_time: 1.0024, d6.loss_plan_l1_fix_dist: 0.2467, d0.loss_cls_all: 0.2138, d0.loss_bbox_all: 0.4386, d0.loss_cls: 0.2138, d0.loss_bbox: 0.4386, d1.loss_cls: 0.2063, d1.loss_bbox: 0.4055, d2.loss_cls: 0.1942, d2.loss_bbox: 0.3868, d3.loss_cls: 0.1883, d3.loss_bbox: 0.3786, d4.loss_cls: 0.1839, d4.loss_bbox: 0.3767, d5.loss_cls: 0.1832, d5.loss_bbox: 0.3753, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8863, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7337, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7010, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6863, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6811, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6782, d0.loss_map_cls_all: 0.2929, d0.loss_map_pts_all: 1.6537, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2929, d0.loss_map_pts: 1.6537, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2647, d1.loss_map_pts: 1.2131, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2433, d2.loss_map_pts: 1.0231, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2348, d3.loss_map_pts: 0.9474, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.2250, d4.loss_map_pts: 0.9179, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.2205, d5.loss_map_pts: 0.9107, d5.loss_map_dir: 0.0115, loss: 31.1288, grad_norm: 162.8564 +2026-02-26 03:48:49,895 - DriveTransformer - INFO - Epoch [6][23650/39528] lr: 8.977e-05, eta: 6 days, 18:46:32, time: 0.816, data_time: 0.039, memory: 19865, loss_cls: 0.1514, loss_bbox: 0.3457, loss_traj: 0.5852, loss_traj_cls: 0.0010, loss_map_cls: 0.1742, loss_map_pts: 0.8071, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.5216, d0.loss_plan_l1_fix_dist: 0.3766, d1.loss_plan_l1_fix_time: 1.0882, d1.loss_plan_l1_fix_dist: 0.1744, d2.loss_plan_l1_fix_time: 1.0653, d2.loss_plan_l1_fix_dist: 0.1838, d3.loss_plan_l1_fix_time: 1.0631, d3.loss_plan_l1_fix_dist: 0.2001, d4.loss_plan_l1_fix_time: 1.0675, d4.loss_plan_l1_fix_dist: 0.2164, d5.loss_plan_l1_fix_time: 1.0723, d5.loss_plan_l1_fix_dist: 0.2337, d6.loss_plan_l1_fix_time: 1.0777, d6.loss_plan_l1_fix_dist: 0.2535, d0.loss_cls_all: 0.1840, d0.loss_bbox_all: 0.4034, d0.loss_cls: 0.1840, d0.loss_bbox: 0.4034, d1.loss_cls: 0.1767, d1.loss_bbox: 0.3717, d2.loss_cls: 0.1637, d2.loss_bbox: 0.3549, d3.loss_cls: 0.1558, d3.loss_bbox: 0.3498, d4.loss_cls: 0.1504, d4.loss_bbox: 0.3477, d5.loss_cls: 0.1508, d5.loss_bbox: 0.3462, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7810, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6226, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5841, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5822, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5801, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5809, d0.loss_map_cls_all: 0.2472, d0.loss_map_pts_all: 1.6663, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.2472, d0.loss_map_pts: 1.6663, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2142, d1.loss_map_pts: 1.1203, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.1958, d2.loss_map_pts: 0.9272, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.1878, d3.loss_map_pts: 0.8465, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.1790, d4.loss_map_pts: 0.8175, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.1763, d5.loss_map_pts: 0.8079, d5.loss_map_dir: 0.0125, loss: 29.5360, grad_norm: 164.4242 +2026-02-26 03:49:28,792 - DriveTransformer - INFO - Epoch [6][23700/39528] lr: 8.977e-05, eta: 6 days, 18:45:48, time: 0.778, data_time: 0.036, memory: 19865, loss_cls: 0.1906, loss_bbox: 0.3716, loss_traj: 0.6029, loss_traj_cls: 0.0010, loss_map_cls: 0.1816, loss_map_pts: 0.7913, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.9495, d0.loss_plan_l1_fix_dist: 0.3758, d1.loss_plan_l1_fix_time: 1.1811, d1.loss_plan_l1_fix_dist: 0.1756, d2.loss_plan_l1_fix_time: 1.1745, d2.loss_plan_l1_fix_dist: 0.1871, d3.loss_plan_l1_fix_time: 1.1785, d3.loss_plan_l1_fix_dist: 0.2057, d4.loss_plan_l1_fix_time: 1.1842, d4.loss_plan_l1_fix_dist: 0.2253, d5.loss_plan_l1_fix_time: 1.1898, d5.loss_plan_l1_fix_dist: 0.2444, d6.loss_plan_l1_fix_time: 1.1956, d6.loss_plan_l1_fix_dist: 0.2617, d0.loss_cls_all: 0.2248, d0.loss_bbox_all: 0.4399, d0.loss_cls: 0.2248, d0.loss_bbox: 0.4399, d1.loss_cls: 0.2177, d1.loss_bbox: 0.4065, d2.loss_cls: 0.2074, d2.loss_bbox: 0.3844, d3.loss_cls: 0.1993, d3.loss_bbox: 0.3746, d4.loss_cls: 0.1919, d4.loss_bbox: 0.3741, d5.loss_cls: 0.1904, d5.loss_bbox: 0.3713, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8045, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6641, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6143, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6074, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6005, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5983, d0.loss_map_cls_all: 0.2509, d0.loss_map_pts_all: 1.5606, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2509, d0.loss_map_pts: 1.5606, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2245, d1.loss_map_pts: 1.0611, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2023, d2.loss_map_pts: 0.8850, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.1892, d3.loss_map_pts: 0.8190, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1839, d4.loss_map_pts: 0.7982, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1827, d5.loss_map_pts: 0.7918, d5.loss_map_dir: 0.0117, loss: 31.0603, grad_norm: 163.9562 +2026-02-26 03:50:07,392 - DriveTransformer - INFO - Epoch [6][23750/39528] lr: 8.977e-05, eta: 6 days, 18:45:02, time: 0.772, data_time: 0.041, memory: 19865, loss_cls: 0.1606, loss_bbox: 0.3253, loss_traj: 0.5761, loss_traj_cls: 0.0011, loss_map_cls: 0.1594, loss_map_pts: 0.6986, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.8064, d0.loss_plan_l1_fix_dist: 0.4017, d1.loss_plan_l1_fix_time: 1.1583, d1.loss_plan_l1_fix_dist: 0.1783, d2.loss_plan_l1_fix_time: 1.1422, d2.loss_plan_l1_fix_dist: 0.1851, d3.loss_plan_l1_fix_time: 1.1431, d3.loss_plan_l1_fix_dist: 0.1970, d4.loss_plan_l1_fix_time: 1.1479, d4.loss_plan_l1_fix_dist: 0.2133, d5.loss_plan_l1_fix_time: 1.1532, d5.loss_plan_l1_fix_dist: 0.2325, d6.loss_plan_l1_fix_time: 1.1592, d6.loss_plan_l1_fix_dist: 0.2549, d0.loss_cls_all: 0.1880, d0.loss_bbox_all: 0.3880, d0.loss_cls: 0.1880, d0.loss_bbox: 0.3880, d1.loss_cls: 0.1790, d1.loss_bbox: 0.3593, d2.loss_cls: 0.1730, d2.loss_bbox: 0.3385, d3.loss_cls: 0.1654, d3.loss_bbox: 0.3295, d4.loss_cls: 0.1605, d4.loss_bbox: 0.3271, d5.loss_cls: 0.1595, d5.loss_bbox: 0.3256, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7511, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6080, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5793, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5731, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5729, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5737, d0.loss_map_cls_all: 0.2177, d0.loss_map_pts_all: 1.4204, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2177, d0.loss_map_pts: 1.4204, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1956, d1.loss_map_pts: 0.9724, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1813, d2.loss_map_pts: 0.7988, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1720, d3.loss_map_pts: 0.7302, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1658, d4.loss_map_pts: 0.7059, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1602, d5.loss_map_pts: 0.6988, d5.loss_map_dir: 0.0093, loss: 28.7575, grad_norm: 163.1199 +2026-02-26 03:50:47,878 - DriveTransformer - INFO - Epoch [6][23800/39528] lr: 8.977e-05, eta: 6 days, 18:44:22, time: 0.811, data_time: 0.050, memory: 19865, loss_cls: 0.1814, loss_bbox: 0.3777, loss_traj: 0.5864, loss_traj_cls: 0.0011, loss_map_cls: 0.1416, loss_map_pts: 0.6206, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.6884, d0.loss_plan_l1_fix_dist: 0.4502, d1.loss_plan_l1_fix_time: 1.1122, d1.loss_plan_l1_fix_dist: 0.1833, d2.loss_plan_l1_fix_time: 1.1100, d2.loss_plan_l1_fix_dist: 0.1885, d3.loss_plan_l1_fix_time: 1.1160, d3.loss_plan_l1_fix_dist: 0.2009, d4.loss_plan_l1_fix_time: 1.1201, d4.loss_plan_l1_fix_dist: 0.2169, d5.loss_plan_l1_fix_time: 1.1244, d5.loss_plan_l1_fix_dist: 0.2357, d6.loss_plan_l1_fix_time: 1.1290, d6.loss_plan_l1_fix_dist: 0.2538, d0.loss_cls_all: 0.2133, d0.loss_bbox_all: 0.4381, d0.loss_cls: 0.2133, d0.loss_bbox: 0.4381, d1.loss_cls: 0.2064, d1.loss_bbox: 0.4026, d2.loss_cls: 0.1942, d2.loss_bbox: 0.3863, d3.loss_cls: 0.1880, d3.loss_bbox: 0.3793, d4.loss_cls: 0.1851, d4.loss_bbox: 0.3756, d5.loss_cls: 0.1823, d5.loss_bbox: 0.3765, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7402, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6385, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5994, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5856, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5872, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5861, d0.loss_map_cls_all: 0.1997, d0.loss_map_pts_all: 1.3130, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.1997, d0.loss_map_pts: 1.3130, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1746, d1.loss_map_pts: 0.8601, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1573, d2.loss_map_pts: 0.7054, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1487, d3.loss_map_pts: 0.6471, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1436, d4.loss_map_pts: 0.6263, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1424, d5.loss_map_pts: 0.6212, d5.loss_map_dir: 0.0091, loss: 28.2827, grad_norm: 160.8812 +2026-02-26 03:51:27,469 - DriveTransformer - INFO - Epoch [6][23850/39528] lr: 8.977e-05, eta: 6 days, 18:43:40, time: 0.790, data_time: 0.039, memory: 19865, loss_cls: 0.1558, loss_bbox: 0.3580, loss_traj: 0.6092, loss_traj_cls: 0.0010, loss_map_cls: 0.1777, loss_map_pts: 0.7434, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.6361, d0.loss_plan_l1_fix_dist: 0.3549, d1.loss_plan_l1_fix_time: 1.0188, d1.loss_plan_l1_fix_dist: 0.1829, d2.loss_plan_l1_fix_time: 1.0123, d2.loss_plan_l1_fix_dist: 0.1931, d3.loss_plan_l1_fix_time: 1.0170, d3.loss_plan_l1_fix_dist: 0.2093, d4.loss_plan_l1_fix_time: 1.0230, d4.loss_plan_l1_fix_dist: 0.2262, d5.loss_plan_l1_fix_time: 1.0289, d5.loss_plan_l1_fix_dist: 0.2463, d6.loss_plan_l1_fix_time: 1.0353, d6.loss_plan_l1_fix_dist: 0.2708, d0.loss_cls_all: 0.2034, d0.loss_bbox_all: 0.4096, d0.loss_cls: 0.2034, d0.loss_bbox: 0.4096, d1.loss_cls: 0.1938, d1.loss_bbox: 0.3774, d2.loss_cls: 0.1756, d2.loss_bbox: 0.3617, d3.loss_cls: 0.1637, d3.loss_bbox: 0.3558, d4.loss_cls: 0.1582, d4.loss_bbox: 0.3551, d5.loss_cls: 0.1562, d5.loss_bbox: 0.3562, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7918, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6593, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6222, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6103, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6082, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6069, d0.loss_map_cls_all: 0.2613, d0.loss_map_pts_all: 1.4760, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2613, d0.loss_map_pts: 1.4760, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2258, d1.loss_map_pts: 1.0260, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.2043, d2.loss_map_pts: 0.8506, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1920, d3.loss_map_pts: 0.7795, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1829, d4.loss_map_pts: 0.7529, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1783, d5.loss_map_pts: 0.7453, d5.loss_map_dir: 0.0101, loss: 28.9749, grad_norm: 162.6137 +2026-02-26 03:52:06,355 - DriveTransformer - INFO - Epoch [6][23900/39528] lr: 8.977e-05, eta: 6 days, 18:42:55, time: 0.778, data_time: 0.038, memory: 19865, loss_cls: 0.2055, loss_bbox: 0.4119, loss_traj: 0.7356, loss_traj_cls: 0.0010, loss_map_cls: 0.1823, loss_map_pts: 0.8390, loss_map_dir: 0.0130, d0.loss_plan_l1_fix_time: 2.5933, d0.loss_plan_l1_fix_dist: 0.4361, d1.loss_plan_l1_fix_time: 1.3442, d1.loss_plan_l1_fix_dist: 0.2090, d2.loss_plan_l1_fix_time: 1.3207, d2.loss_plan_l1_fix_dist: 0.2174, d3.loss_plan_l1_fix_time: 1.3222, d3.loss_plan_l1_fix_dist: 0.2340, d4.loss_plan_l1_fix_time: 1.3253, d4.loss_plan_l1_fix_dist: 0.2538, d5.loss_plan_l1_fix_time: 1.3292, d5.loss_plan_l1_fix_dist: 0.2743, d6.loss_plan_l1_fix_time: 1.3334, d6.loss_plan_l1_fix_dist: 0.2942, d0.loss_cls_all: 0.2488, d0.loss_bbox_all: 0.4752, d0.loss_cls: 0.2488, d0.loss_bbox: 0.4752, d1.loss_cls: 0.2393, d1.loss_bbox: 0.4398, d2.loss_cls: 0.2206, d2.loss_bbox: 0.4243, d3.loss_cls: 0.2102, d3.loss_bbox: 0.4152, d4.loss_cls: 0.2065, d4.loss_bbox: 0.4127, d5.loss_cls: 0.2058, d5.loss_bbox: 0.4107, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9479, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8129, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7691, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7587, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7442, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7372, d0.loss_map_cls_all: 0.2697, d0.loss_map_pts_all: 1.7067, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2697, d0.loss_map_pts: 1.7067, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2315, d1.loss_map_pts: 1.1535, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2098, d2.loss_map_pts: 0.9531, d2.loss_map_dir: 0.0122, d3.loss_map_cls: 0.1964, d3.loss_map_pts: 0.8771, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.1887, d4.loss_map_pts: 0.8481, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.1826, d5.loss_map_pts: 0.8388, d5.loss_map_dir: 0.0130, loss: 34.0044, grad_norm: 161.9525 +2026-02-26 03:52:44,188 - DriveTransformer - INFO - Epoch [6][23950/39528] lr: 8.977e-05, eta: 6 days, 18:42:06, time: 0.757, data_time: 0.038, memory: 19865, loss_cls: 0.1758, loss_bbox: 0.3838, loss_traj: 0.7396, loss_traj_cls: 0.0010, loss_map_cls: 0.1827, loss_map_pts: 0.8047, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.4852, d0.loss_plan_l1_fix_dist: 0.3622, d1.loss_plan_l1_fix_time: 1.0664, d1.loss_plan_l1_fix_dist: 0.1891, d2.loss_plan_l1_fix_time: 1.0563, d2.loss_plan_l1_fix_dist: 0.2025, d3.loss_plan_l1_fix_time: 1.0570, d3.loss_plan_l1_fix_dist: 0.2224, d4.loss_plan_l1_fix_time: 1.0593, d4.loss_plan_l1_fix_dist: 0.2439, d5.loss_plan_l1_fix_time: 1.0624, d5.loss_plan_l1_fix_dist: 0.2640, d6.loss_plan_l1_fix_time: 1.0656, d6.loss_plan_l1_fix_dist: 0.2827, d0.loss_cls_all: 0.2090, d0.loss_bbox_all: 0.4504, d0.loss_cls: 0.2090, d0.loss_bbox: 0.4504, d1.loss_cls: 0.2037, d1.loss_bbox: 0.4163, d2.loss_cls: 0.1947, d2.loss_bbox: 0.3971, d3.loss_cls: 0.1824, d3.loss_bbox: 0.3859, d4.loss_cls: 0.1780, d4.loss_bbox: 0.3840, d5.loss_cls: 0.1749, d5.loss_bbox: 0.3850, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9819, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7991, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7513, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7394, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7408, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7359, d0.loss_map_cls_all: 0.2576, d0.loss_map_pts_all: 1.5538, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2576, d0.loss_map_pts: 1.5538, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2275, d1.loss_map_pts: 1.0950, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.2067, d2.loss_map_pts: 0.9270, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1974, d3.loss_map_pts: 0.8507, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1912, d4.loss_map_pts: 0.8176, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1836, d5.loss_map_pts: 0.8070, d5.loss_map_dir: 0.0102, loss: 31.0856, grad_norm: 161.6984 +2026-02-26 03:53:22,099 - DriveTransformer - INFO - Epoch [6][24000/39528] lr: 8.977e-05, eta: 6 days, 18:41:18, time: 0.758, data_time: 0.040, memory: 19865, loss_cls: 0.1813, loss_bbox: 0.3730, loss_traj: 0.6337, loss_traj_cls: 0.0010, loss_map_cls: 0.1570, loss_map_pts: 0.7227, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.3929, d0.loss_plan_l1_fix_dist: 0.3928, d1.loss_plan_l1_fix_time: 1.1401, d1.loss_plan_l1_fix_dist: 0.1809, d2.loss_plan_l1_fix_time: 1.1246, d2.loss_plan_l1_fix_dist: 0.1943, d3.loss_plan_l1_fix_time: 1.1252, d3.loss_plan_l1_fix_dist: 0.2129, d4.loss_plan_l1_fix_time: 1.1290, d4.loss_plan_l1_fix_dist: 0.2323, d5.loss_plan_l1_fix_time: 1.1328, d5.loss_plan_l1_fix_dist: 0.2519, d6.loss_plan_l1_fix_time: 1.1368, d6.loss_plan_l1_fix_dist: 0.2724, d0.loss_cls_all: 0.2184, d0.loss_bbox_all: 0.4241, d0.loss_cls: 0.2184, d0.loss_bbox: 0.4241, d1.loss_cls: 0.2087, d1.loss_bbox: 0.3902, d2.loss_cls: 0.1967, d2.loss_bbox: 0.3755, d3.loss_cls: 0.1880, d3.loss_bbox: 0.3699, d4.loss_cls: 0.1820, d4.loss_bbox: 0.3702, d5.loss_cls: 0.1804, d5.loss_bbox: 0.3719, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8135, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6738, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6431, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6321, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6342, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6381, d0.loss_map_cls_all: 0.2194, d0.loss_map_pts_all: 1.4273, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2194, d0.loss_map_pts: 1.4273, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1940, d1.loss_map_pts: 0.9678, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1761, d2.loss_map_pts: 0.8174, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1658, d3.loss_map_pts: 0.7533, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1611, d4.loss_map_pts: 0.7301, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1578, d5.loss_map_pts: 0.7232, d5.loss_map_dir: 0.0105, loss: 29.3680, grad_norm: 161.2358 +2026-02-26 03:54:00,460 - DriveTransformer - INFO - Epoch [6][24050/39528] lr: 8.977e-05, eta: 6 days, 18:40:32, time: 0.767, data_time: 0.048, memory: 19865, loss_cls: 0.1850, loss_bbox: 0.3662, loss_traj: 0.7131, loss_traj_cls: 0.0010, loss_map_cls: 0.1703, loss_map_pts: 0.6953, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.7592, d0.loss_plan_l1_fix_dist: 0.3425, d1.loss_plan_l1_fix_time: 1.3042, d1.loss_plan_l1_fix_dist: 0.1676, d2.loss_plan_l1_fix_time: 1.2932, d2.loss_plan_l1_fix_dist: 0.1755, d3.loss_plan_l1_fix_time: 1.2900, d3.loss_plan_l1_fix_dist: 0.1902, d4.loss_plan_l1_fix_time: 1.2917, d4.loss_plan_l1_fix_dist: 0.2060, d5.loss_plan_l1_fix_time: 1.2941, d5.loss_plan_l1_fix_dist: 0.2264, d6.loss_plan_l1_fix_time: 1.2972, d6.loss_plan_l1_fix_dist: 0.2500, d0.loss_cls_all: 0.2207, d0.loss_bbox_all: 0.4255, d0.loss_cls: 0.2207, d0.loss_bbox: 0.4255, d1.loss_cls: 0.2129, d1.loss_bbox: 0.3922, d2.loss_cls: 0.2010, d2.loss_bbox: 0.3741, d3.loss_cls: 0.1913, d3.loss_bbox: 0.3684, d4.loss_cls: 0.1887, d4.loss_bbox: 0.3642, d5.loss_cls: 0.1855, d5.loss_bbox: 0.3660, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9432, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7803, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7252, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7177, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7105, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7102, d0.loss_map_cls_all: 0.2408, d0.loss_map_pts_all: 1.3347, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2408, d0.loss_map_pts: 1.3347, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.2128, d1.loss_map_pts: 0.9478, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1913, d2.loss_map_pts: 0.8008, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1830, d3.loss_map_pts: 0.7266, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1765, d4.loss_map_pts: 0.7016, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1723, d5.loss_map_pts: 0.6963, d5.loss_map_dir: 0.0083, loss: 30.9725, grad_norm: 160.9099 +2026-02-26 03:54:40,446 - DriveTransformer - INFO - Epoch [6][24100/39528] lr: 8.977e-05, eta: 6 days, 18:39:51, time: 0.800, data_time: 0.047, memory: 19865, loss_cls: 0.1710, loss_bbox: 0.3825, loss_traj: 0.6128, loss_traj_cls: 0.0010, loss_map_cls: 0.1706, loss_map_pts: 0.7369, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.1486, d0.loss_plan_l1_fix_dist: 0.3009, d1.loss_plan_l1_fix_time: 1.0131, d1.loss_plan_l1_fix_dist: 0.1773, d2.loss_plan_l1_fix_time: 1.0065, d2.loss_plan_l1_fix_dist: 0.1834, d3.loss_plan_l1_fix_time: 1.0087, d3.loss_plan_l1_fix_dist: 0.1989, d4.loss_plan_l1_fix_time: 1.0126, d4.loss_plan_l1_fix_dist: 0.2192, d5.loss_plan_l1_fix_time: 1.0170, d5.loss_plan_l1_fix_dist: 0.2451, d6.loss_plan_l1_fix_time: 1.0220, d6.loss_plan_l1_fix_dist: 0.2739, d0.loss_cls_all: 0.2158, d0.loss_bbox_all: 0.4320, d0.loss_cls: 0.2158, d0.loss_bbox: 0.4320, d1.loss_cls: 0.2050, d1.loss_bbox: 0.4048, d2.loss_cls: 0.1907, d2.loss_bbox: 0.3912, d3.loss_cls: 0.1790, d3.loss_bbox: 0.3834, d4.loss_cls: 0.1737, d4.loss_bbox: 0.3815, d5.loss_cls: 0.1711, d5.loss_bbox: 0.3820, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7711, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6681, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6220, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6151, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6101, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6117, d0.loss_map_cls_all: 0.2347, d0.loss_map_pts_all: 1.5299, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2347, d0.loss_map_pts: 1.5299, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2043, d1.loss_map_pts: 1.0360, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.1904, d2.loss_map_pts: 0.8450, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1814, d3.loss_map_pts: 0.7683, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1757, d4.loss_map_pts: 0.7402, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1720, d5.loss_map_pts: 0.7371, d5.loss_map_dir: 0.0116, loss: 28.6331, grad_norm: 158.7196 +2026-02-26 03:55:22,021 - DriveTransformer - INFO - Epoch [6][24150/39528] lr: 8.977e-05, eta: 6 days, 18:39:15, time: 0.832, data_time: 0.045, memory: 19865, loss_cls: 0.1716, loss_bbox: 0.3612, loss_traj: 0.5974, loss_traj_cls: 0.0010, loss_map_cls: 0.1546, loss_map_pts: 0.7205, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.2821, d0.loss_plan_l1_fix_dist: 0.4423, d1.loss_plan_l1_fix_time: 1.1056, d1.loss_plan_l1_fix_dist: 0.1859, d2.loss_plan_l1_fix_time: 1.0913, d2.loss_plan_l1_fix_dist: 0.1901, d3.loss_plan_l1_fix_time: 1.0915, d3.loss_plan_l1_fix_dist: 0.2006, d4.loss_plan_l1_fix_time: 1.0967, d4.loss_plan_l1_fix_dist: 0.2156, d5.loss_plan_l1_fix_time: 1.1024, d5.loss_plan_l1_fix_dist: 0.2327, d6.loss_plan_l1_fix_time: 1.1091, d6.loss_plan_l1_fix_dist: 0.2514, d0.loss_cls_all: 0.2041, d0.loss_bbox_all: 0.4195, d0.loss_cls: 0.2041, d0.loss_bbox: 0.4195, d1.loss_cls: 0.1972, d1.loss_bbox: 0.3841, d2.loss_cls: 0.1860, d2.loss_bbox: 0.3668, d3.loss_cls: 0.1770, d3.loss_bbox: 0.3611, d4.loss_cls: 0.1714, d4.loss_bbox: 0.3610, d5.loss_cls: 0.1700, d5.loss_bbox: 0.3613, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7561, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6267, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6018, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5971, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6029, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6065, d0.loss_map_cls_all: 0.2196, d0.loss_map_pts_all: 1.4655, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2196, d0.loss_map_pts: 1.4655, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.1915, d1.loss_map_pts: 0.9836, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.1766, d2.loss_map_pts: 0.8116, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1658, d3.loss_map_pts: 0.7491, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1595, d4.loss_map_pts: 0.7241, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1557, d5.loss_map_pts: 0.7206, d5.loss_map_dir: 0.0106, loss: 28.6762, grad_norm: 158.4382 +2026-02-26 03:56:02,051 - DriveTransformer - INFO - Epoch [6][24200/39528] lr: 8.977e-05, eta: 6 days, 18:38:34, time: 0.801, data_time: 0.041, memory: 19865, loss_cls: 0.1882, loss_bbox: 0.3734, loss_traj: 0.8179, loss_traj_cls: 0.0010, loss_map_cls: 0.1902, loss_map_pts: 0.8131, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.9319, d0.loss_plan_l1_fix_dist: 0.4514, d1.loss_plan_l1_fix_time: 1.1728, d1.loss_plan_l1_fix_dist: 0.2083, d2.loss_plan_l1_fix_time: 1.1565, d2.loss_plan_l1_fix_dist: 0.2110, d3.loss_plan_l1_fix_time: 1.1549, d3.loss_plan_l1_fix_dist: 0.2235, d4.loss_plan_l1_fix_time: 1.1564, d4.loss_plan_l1_fix_dist: 0.2367, d5.loss_plan_l1_fix_time: 1.1585, d5.loss_plan_l1_fix_dist: 0.2493, d6.loss_plan_l1_fix_time: 1.1615, d6.loss_plan_l1_fix_dist: 0.2631, d0.loss_cls_all: 0.2261, d0.loss_bbox_all: 0.4336, d0.loss_cls: 0.2261, d0.loss_bbox: 0.4336, d1.loss_cls: 0.2139, d1.loss_bbox: 0.3988, d2.loss_cls: 0.2046, d2.loss_bbox: 0.3797, d3.loss_cls: 0.1959, d3.loss_bbox: 0.3741, d4.loss_cls: 0.1907, d4.loss_bbox: 0.3716, d5.loss_cls: 0.1889, d5.loss_bbox: 0.3714, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1020, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8880, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8360, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8206, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8207, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8208, d0.loss_map_cls_all: 0.2559, d0.loss_map_pts_all: 1.5202, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2559, d0.loss_map_pts: 1.5202, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2366, d1.loss_map_pts: 1.1087, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.2187, d2.loss_map_pts: 0.9239, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.2080, d3.loss_map_pts: 0.8442, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1996, d4.loss_map_pts: 0.8188, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1934, d5.loss_map_pts: 0.8134, d5.loss_map_dir: 0.0095, loss: 32.8123, grad_norm: 156.7684 +2026-02-26 03:56:40,689 - DriveTransformer - INFO - Epoch [6][24250/39528] lr: 8.977e-05, eta: 6 days, 18:37:48, time: 0.773, data_time: 0.036, memory: 19865, loss_cls: 0.1776, loss_bbox: 0.3874, loss_traj: 0.5945, loss_traj_cls: 0.0010, loss_map_cls: 0.2005, loss_map_pts: 0.7875, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.6942, d0.loss_plan_l1_fix_dist: 0.3179, d1.loss_plan_l1_fix_time: 1.3946, d1.loss_plan_l1_fix_dist: 0.1640, d2.loss_plan_l1_fix_time: 1.3793, d2.loss_plan_l1_fix_dist: 0.1708, d3.loss_plan_l1_fix_time: 1.3820, d3.loss_plan_l1_fix_dist: 0.1816, d4.loss_plan_l1_fix_time: 1.3859, d4.loss_plan_l1_fix_dist: 0.1944, d5.loss_plan_l1_fix_time: 1.3902, d5.loss_plan_l1_fix_dist: 0.2089, d6.loss_plan_l1_fix_time: 1.3951, d6.loss_plan_l1_fix_dist: 0.2240, d0.loss_cls_all: 0.2218, d0.loss_bbox_all: 0.4454, d0.loss_cls: 0.2218, d0.loss_bbox: 0.4454, d1.loss_cls: 0.2085, d1.loss_bbox: 0.4120, d2.loss_cls: 0.1976, d2.loss_bbox: 0.3951, d3.loss_cls: 0.1895, d3.loss_bbox: 0.3865, d4.loss_cls: 0.1802, d4.loss_bbox: 0.3880, d5.loss_cls: 0.1774, d5.loss_bbox: 0.3877, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8608, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6795, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6270, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5996, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6017, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5938, d0.loss_map_cls_all: 0.2717, d0.loss_map_pts_all: 1.5587, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2717, d0.loss_map_pts: 1.5587, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2424, d1.loss_map_pts: 1.0790, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.2225, d2.loss_map_pts: 0.8910, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.2098, d3.loss_map_pts: 0.8218, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.2029, d4.loss_map_pts: 0.7965, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.2009, d5.loss_map_pts: 0.7901, d5.loss_map_dir: 0.0102, loss: 32.0534, grad_norm: 155.4684 +2026-02-26 03:57:19,225 - DriveTransformer - INFO - Epoch [6][24300/39528] lr: 8.977e-05, eta: 6 days, 18:37:02, time: 0.771, data_time: 0.036, memory: 19865, loss_cls: 0.1736, loss_bbox: 0.3735, loss_traj: 0.7428, loss_traj_cls: 0.0010, loss_map_cls: 0.1662, loss_map_pts: 0.7244, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.7444, d0.loss_plan_l1_fix_dist: 0.3923, d1.loss_plan_l1_fix_time: 1.1923, d1.loss_plan_l1_fix_dist: 0.1920, d2.loss_plan_l1_fix_time: 1.1732, d2.loss_plan_l1_fix_dist: 0.1991, d3.loss_plan_l1_fix_time: 1.1682, d3.loss_plan_l1_fix_dist: 0.2090, d4.loss_plan_l1_fix_time: 1.1707, d4.loss_plan_l1_fix_dist: 0.2208, d5.loss_plan_l1_fix_time: 1.1738, d5.loss_plan_l1_fix_dist: 0.2345, d6.loss_plan_l1_fix_time: 1.1770, d6.loss_plan_l1_fix_dist: 0.2524, d0.loss_cls_all: 0.2138, d0.loss_bbox_all: 0.4307, d0.loss_cls: 0.2138, d0.loss_bbox: 0.4307, d1.loss_cls: 0.2036, d1.loss_bbox: 0.3977, d2.loss_cls: 0.1902, d2.loss_bbox: 0.3833, d3.loss_cls: 0.1787, d3.loss_bbox: 0.3759, d4.loss_cls: 0.1756, d4.loss_bbox: 0.3722, d5.loss_cls: 0.1731, d5.loss_bbox: 0.3725, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0033, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8222, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7603, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7540, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7463, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7452, d0.loss_map_cls_all: 0.2381, d0.loss_map_pts_all: 1.4601, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2381, d0.loss_map_pts: 1.4601, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2007, d1.loss_map_pts: 0.9872, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1834, d2.loss_map_pts: 0.8150, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1746, d3.loss_map_pts: 0.7519, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1706, d4.loss_map_pts: 0.7314, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1675, d5.loss_map_pts: 0.7264, d5.loss_map_dir: 0.0101, loss: 31.0138, grad_norm: 155.4527 +2026-02-26 03:57:59,924 - DriveTransformer - INFO - Epoch [6][24350/39528] lr: 8.977e-05, eta: 6 days, 18:36:23, time: 0.814, data_time: 0.039, memory: 19865, loss_cls: 0.2065, loss_bbox: 0.3935, loss_traj: 0.7362, loss_traj_cls: 0.0010, loss_map_cls: 0.1839, loss_map_pts: 0.8214, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.8223, d0.loss_plan_l1_fix_dist: 0.3708, d1.loss_plan_l1_fix_time: 1.2117, d1.loss_plan_l1_fix_dist: 0.2020, d2.loss_plan_l1_fix_time: 1.1714, d2.loss_plan_l1_fix_dist: 0.2083, d3.loss_plan_l1_fix_time: 1.1640, d3.loss_plan_l1_fix_dist: 0.2202, d4.loss_plan_l1_fix_time: 1.1662, d4.loss_plan_l1_fix_dist: 0.2350, d5.loss_plan_l1_fix_time: 1.1693, d5.loss_plan_l1_fix_dist: 0.2526, d6.loss_plan_l1_fix_time: 1.1726, d6.loss_plan_l1_fix_dist: 0.2714, d0.loss_cls_all: 0.2459, d0.loss_bbox_all: 0.4598, d0.loss_cls: 0.2459, d0.loss_bbox: 0.4598, d1.loss_cls: 0.2393, d1.loss_bbox: 0.4239, d2.loss_cls: 0.2291, d2.loss_bbox: 0.4047, d3.loss_cls: 0.2140, d3.loss_bbox: 0.3993, d4.loss_cls: 0.2053, d4.loss_bbox: 0.3962, d5.loss_cls: 0.2056, d5.loss_bbox: 0.3934, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9818, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8024, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7512, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7394, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7353, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7406, d0.loss_map_cls_all: 0.2644, d0.loss_map_pts_all: 1.6390, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2644, d0.loss_map_pts: 1.6390, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2327, d1.loss_map_pts: 1.1203, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2113, d2.loss_map_pts: 0.9310, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.1986, d3.loss_map_pts: 0.8616, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1905, d4.loss_map_pts: 0.8329, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1853, d5.loss_map_pts: 0.8222, d5.loss_map_dir: 0.0117, loss: 32.7435, grad_norm: 157.0955 +2026-02-26 03:58:39,148 - DriveTransformer - INFO - Epoch [6][24400/39528] lr: 8.977e-05, eta: 6 days, 18:35:39, time: 0.785, data_time: 0.040, memory: 19865, loss_cls: 0.1950, loss_bbox: 0.3984, loss_traj: 0.7967, loss_traj_cls: 0.0010, loss_map_cls: 0.1995, loss_map_pts: 0.8069, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.8378, d0.loss_plan_l1_fix_dist: 0.3505, d1.loss_plan_l1_fix_time: 1.3592, d1.loss_plan_l1_fix_dist: 0.1731, d2.loss_plan_l1_fix_time: 1.3402, d2.loss_plan_l1_fix_dist: 0.1767, d3.loss_plan_l1_fix_time: 1.3362, d3.loss_plan_l1_fix_dist: 0.1842, d4.loss_plan_l1_fix_time: 1.3379, d4.loss_plan_l1_fix_dist: 0.1950, d5.loss_plan_l1_fix_time: 1.3402, d5.loss_plan_l1_fix_dist: 0.2089, d6.loss_plan_l1_fix_time: 1.3437, d6.loss_plan_l1_fix_dist: 0.2247, d0.loss_cls_all: 0.2355, d0.loss_bbox_all: 0.4644, d0.loss_cls: 0.2355, d0.loss_bbox: 0.4644, d1.loss_cls: 0.2258, d1.loss_bbox: 0.4256, d2.loss_cls: 0.2095, d2.loss_bbox: 0.4116, d3.loss_cls: 0.1992, d3.loss_bbox: 0.4043, d4.loss_cls: 0.1956, d4.loss_bbox: 0.4002, d5.loss_cls: 0.1938, d5.loss_bbox: 0.4002, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0389, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8582, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8140, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7996, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7953, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7978, d0.loss_map_cls_all: 0.2617, d0.loss_map_pts_all: 1.5047, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2617, d0.loss_map_pts: 1.5047, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2405, d1.loss_map_pts: 1.0901, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2226, d2.loss_map_pts: 0.9152, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.2102, d3.loss_map_pts: 0.8456, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.2037, d4.loss_map_pts: 0.8186, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.2010, d5.loss_map_pts: 0.8082, d5.loss_map_dir: 0.0112, loss: 33.5560, grad_norm: 156.5832 +2026-02-26 03:59:18,583 - DriveTransformer - INFO - Epoch [6][24450/39528] lr: 8.977e-05, eta: 6 days, 18:34:56, time: 0.789, data_time: 0.040, memory: 19865, loss_cls: 0.1848, loss_bbox: 0.4002, loss_traj: 0.6797, loss_traj_cls: 0.0010, loss_map_cls: 0.2011, loss_map_pts: 0.8263, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 3.0238, d0.loss_plan_l1_fix_dist: 0.4021, d1.loss_plan_l1_fix_time: 1.4294, d1.loss_plan_l1_fix_dist: 0.2096, d2.loss_plan_l1_fix_time: 1.4203, d2.loss_plan_l1_fix_dist: 0.2145, d3.loss_plan_l1_fix_time: 1.4207, d3.loss_plan_l1_fix_dist: 0.2257, d4.loss_plan_l1_fix_time: 1.4232, d4.loss_plan_l1_fix_dist: 0.2379, d5.loss_plan_l1_fix_time: 1.4262, d5.loss_plan_l1_fix_dist: 0.2515, d6.loss_plan_l1_fix_time: 1.4302, d6.loss_plan_l1_fix_dist: 0.2675, d0.loss_cls_all: 0.2247, d0.loss_bbox_all: 0.4569, d0.loss_cls: 0.2247, d0.loss_bbox: 0.4569, d1.loss_cls: 0.2178, d1.loss_bbox: 0.4261, d2.loss_cls: 0.2028, d2.loss_bbox: 0.4093, d3.loss_cls: 0.1946, d3.loss_bbox: 0.4013, d4.loss_cls: 0.1880, d4.loss_bbox: 0.3995, d5.loss_cls: 0.1839, d5.loss_bbox: 0.4009, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8918, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7435, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7154, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7004, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6911, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6893, d0.loss_map_cls_all: 0.2744, d0.loss_map_pts_all: 1.5464, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2744, d0.loss_map_pts: 1.5464, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2454, d1.loss_map_pts: 1.0929, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2257, d2.loss_map_pts: 0.9193, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.2129, d3.loss_map_pts: 0.8573, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.2060, d4.loss_map_pts: 0.8309, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.2029, d5.loss_map_pts: 0.8256, d5.loss_map_dir: 0.0108, loss: 33.8448, grad_norm: 158.6664 +2026-02-26 03:59:57,127 - DriveTransformer - INFO - Epoch [6][24500/39528] lr: 8.977e-05, eta: 6 days, 18:34:10, time: 0.771, data_time: 0.041, memory: 19865, loss_cls: 0.1753, loss_bbox: 0.3739, loss_traj: 0.7790, loss_traj_cls: 0.0010, loss_map_cls: 0.1609, loss_map_pts: 0.7038, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.3582, d0.loss_plan_l1_fix_dist: 0.4181, d1.loss_plan_l1_fix_time: 1.1065, d1.loss_plan_l1_fix_dist: 0.1889, d2.loss_plan_l1_fix_time: 1.1084, d2.loss_plan_l1_fix_dist: 0.1919, d3.loss_plan_l1_fix_time: 1.1101, d3.loss_plan_l1_fix_dist: 0.1996, d4.loss_plan_l1_fix_time: 1.1133, d4.loss_plan_l1_fix_dist: 0.2107, d5.loss_plan_l1_fix_time: 1.1166, d5.loss_plan_l1_fix_dist: 0.2204, d6.loss_plan_l1_fix_time: 1.1213, d6.loss_plan_l1_fix_dist: 0.2314, d0.loss_cls_all: 0.2090, d0.loss_bbox_all: 0.4341, d0.loss_cls: 0.2090, d0.loss_bbox: 0.4341, d1.loss_cls: 0.2040, d1.loss_bbox: 0.3986, d2.loss_cls: 0.1892, d2.loss_bbox: 0.3808, d3.loss_cls: 0.1823, d3.loss_bbox: 0.3750, d4.loss_cls: 0.1763, d4.loss_bbox: 0.3720, d5.loss_cls: 0.1750, d5.loss_bbox: 0.3724, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1231, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8478, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7777, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7710, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7764, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7818, d0.loss_map_cls_all: 0.2248, d0.loss_map_pts_all: 1.4262, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2248, d0.loss_map_pts: 1.4262, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1996, d1.loss_map_pts: 0.9568, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1808, d2.loss_map_pts: 0.7912, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1700, d3.loss_map_pts: 0.7324, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1661, d4.loss_map_pts: 0.7092, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1613, d5.loss_map_pts: 0.7045, d5.loss_map_dir: 0.0097, loss: 30.2346, grad_norm: 157.9869 +2026-02-26 04:00:37,757 - DriveTransformer - INFO - Epoch [6][24550/39528] lr: 8.977e-05, eta: 6 days, 18:33:31, time: 0.813, data_time: 0.050, memory: 19865, loss_cls: 0.1647, loss_bbox: 0.3583, loss_traj: 0.6313, loss_traj_cls: 0.0010, loss_map_cls: 0.1538, loss_map_pts: 0.6698, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.6451, d0.loss_plan_l1_fix_dist: 0.4719, d1.loss_plan_l1_fix_time: 1.0798, d1.loss_plan_l1_fix_dist: 0.1649, d2.loss_plan_l1_fix_time: 1.0598, d2.loss_plan_l1_fix_dist: 0.1699, d3.loss_plan_l1_fix_time: 1.0596, d3.loss_plan_l1_fix_dist: 0.1794, d4.loss_plan_l1_fix_time: 1.0630, d4.loss_plan_l1_fix_dist: 0.1919, d5.loss_plan_l1_fix_time: 1.0675, d5.loss_plan_l1_fix_dist: 0.2068, d6.loss_plan_l1_fix_time: 1.0729, d6.loss_plan_l1_fix_dist: 0.2233, d0.loss_cls_all: 0.2028, d0.loss_bbox_all: 0.4128, d0.loss_cls: 0.2028, d0.loss_bbox: 0.4128, d1.loss_cls: 0.1904, d1.loss_bbox: 0.3863, d2.loss_cls: 0.1759, d2.loss_bbox: 0.3682, d3.loss_cls: 0.1680, d3.loss_bbox: 0.3601, d4.loss_cls: 0.1650, d4.loss_bbox: 0.3585, d5.loss_cls: 0.1638, d5.loss_bbox: 0.3588, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8488, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6896, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6437, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6360, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6388, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6370, d0.loss_map_cls_all: 0.2334, d0.loss_map_pts_all: 1.3549, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2334, d0.loss_map_pts: 1.3549, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.2001, d1.loss_map_pts: 0.9399, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1814, d2.loss_map_pts: 0.7885, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1682, d3.loss_map_pts: 0.7183, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1609, d4.loss_map_pts: 0.6857, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1546, d5.loss_map_pts: 0.6722, d5.loss_map_dir: 0.0086, loss: 28.5744, grad_norm: 155.6739 +2026-02-26 04:01:19,776 - DriveTransformer - INFO - Epoch [6][24600/39528] lr: 8.977e-05, eta: 6 days, 18:32:57, time: 0.842, data_time: 0.041, memory: 19865, loss_cls: 0.1843, loss_bbox: 0.3919, loss_traj: 0.5933, loss_traj_cls: 0.0010, loss_map_cls: 0.1774, loss_map_pts: 0.7694, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.7288, d0.loss_plan_l1_fix_dist: 0.4546, d1.loss_plan_l1_fix_time: 1.1207, d1.loss_plan_l1_fix_dist: 0.2122, d2.loss_plan_l1_fix_time: 1.1021, d2.loss_plan_l1_fix_dist: 0.2149, d3.loss_plan_l1_fix_time: 1.0948, d3.loss_plan_l1_fix_dist: 0.2195, d4.loss_plan_l1_fix_time: 1.0968, d4.loss_plan_l1_fix_dist: 0.2261, d5.loss_plan_l1_fix_time: 1.1000, d5.loss_plan_l1_fix_dist: 0.2369, d6.loss_plan_l1_fix_time: 1.1044, d6.loss_plan_l1_fix_dist: 0.2485, d0.loss_cls_all: 0.2210, d0.loss_bbox_all: 0.4586, d0.loss_cls: 0.2210, d0.loss_bbox: 0.4586, d1.loss_cls: 0.2132, d1.loss_bbox: 0.4262, d2.loss_cls: 0.1979, d2.loss_bbox: 0.4055, d3.loss_cls: 0.1878, d3.loss_bbox: 0.3985, d4.loss_cls: 0.1851, d4.loss_bbox: 0.3936, d5.loss_cls: 0.1834, d5.loss_bbox: 0.3930, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8219, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6751, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6204, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6080, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5978, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5929, d0.loss_map_cls_all: 0.2510, d0.loss_map_pts_all: 1.6368, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2510, d0.loss_map_pts: 1.6368, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2162, d1.loss_map_pts: 1.0797, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.1989, d2.loss_map_pts: 0.8838, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.1883, d3.loss_map_pts: 0.8096, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1835, d4.loss_map_pts: 0.7807, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1790, d5.loss_map_pts: 0.7717, d5.loss_map_dir: 0.0120, loss: 30.7031, grad_norm: 152.6273 +2026-02-26 04:01:59,925 - DriveTransformer - INFO - Epoch [6][24650/39528] lr: 8.977e-05, eta: 6 days, 18:32:16, time: 0.802, data_time: 0.042, memory: 19865, loss_cls: 0.1742, loss_bbox: 0.3984, loss_traj: 0.6930, loss_traj_cls: 0.0010, loss_map_cls: 0.1901, loss_map_pts: 0.8057, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.6992, d0.loss_plan_l1_fix_dist: 0.4251, d1.loss_plan_l1_fix_time: 1.1785, d1.loss_plan_l1_fix_dist: 0.1916, d2.loss_plan_l1_fix_time: 1.1640, d2.loss_plan_l1_fix_dist: 0.1939, d3.loss_plan_l1_fix_time: 1.1558, d3.loss_plan_l1_fix_dist: 0.2053, d4.loss_plan_l1_fix_time: 1.1574, d4.loss_plan_l1_fix_dist: 0.2201, d5.loss_plan_l1_fix_time: 1.1593, d5.loss_plan_l1_fix_dist: 0.2325, d6.loss_plan_l1_fix_time: 1.1620, d6.loss_plan_l1_fix_dist: 0.2484, d0.loss_cls_all: 0.2114, d0.loss_bbox_all: 0.4577, d0.loss_cls: 0.2114, d0.loss_bbox: 0.4577, d1.loss_cls: 0.2082, d1.loss_bbox: 0.4244, d2.loss_cls: 0.1913, d2.loss_bbox: 0.4058, d3.loss_cls: 0.1828, d3.loss_bbox: 0.3984, d4.loss_cls: 0.1758, d4.loss_bbox: 0.3972, d5.loss_cls: 0.1762, d5.loss_bbox: 0.3958, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9160, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7570, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7167, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7076, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7015, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6978, d0.loss_map_cls_all: 0.2581, d0.loss_map_pts_all: 1.5684, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2581, d0.loss_map_pts: 1.5684, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2336, d1.loss_map_pts: 1.0827, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2121, d2.loss_map_pts: 0.8978, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2017, d3.loss_map_pts: 0.8370, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1954, d4.loss_map_pts: 0.8171, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1914, d5.loss_map_pts: 0.8080, d5.loss_map_dir: 0.0116, loss: 31.6734, grad_norm: 152.1566 +2026-02-26 04:02:37,749 - DriveTransformer - INFO - Epoch [6][24700/39528] lr: 8.977e-05, eta: 6 days, 18:31:28, time: 0.756, data_time: 0.040, memory: 19865, loss_cls: 0.1901, loss_bbox: 0.3899, loss_traj: 0.7523, loss_traj_cls: 0.0010, loss_map_cls: 0.2018, loss_map_pts: 0.8217, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.6224, d0.loss_plan_l1_fix_dist: 0.3959, d1.loss_plan_l1_fix_time: 1.2823, d1.loss_plan_l1_fix_dist: 0.1689, d2.loss_plan_l1_fix_time: 1.2652, d2.loss_plan_l1_fix_dist: 0.1689, d3.loss_plan_l1_fix_time: 1.2559, d3.loss_plan_l1_fix_dist: 0.1781, d4.loss_plan_l1_fix_time: 1.2573, d4.loss_plan_l1_fix_dist: 0.1879, d5.loss_plan_l1_fix_time: 1.2589, d5.loss_plan_l1_fix_dist: 0.1994, d6.loss_plan_l1_fix_time: 1.2611, d6.loss_plan_l1_fix_dist: 0.2136, d0.loss_cls_all: 0.2246, d0.loss_bbox_all: 0.4435, d0.loss_cls: 0.2246, d0.loss_bbox: 0.4435, d1.loss_cls: 0.2123, d1.loss_bbox: 0.4136, d2.loss_cls: 0.2019, d2.loss_bbox: 0.3963, d3.loss_cls: 0.1937, d3.loss_bbox: 0.3920, d4.loss_cls: 0.1912, d4.loss_bbox: 0.3899, d5.loss_cls: 0.1899, d5.loss_bbox: 0.3902, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9854, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8083, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7610, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7529, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7573, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7509, d0.loss_map_cls_all: 0.2768, d0.loss_map_pts_all: 1.4418, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2768, d0.loss_map_pts: 1.4418, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2520, d1.loss_map_pts: 1.0592, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.2260, d2.loss_map_pts: 0.9150, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.2129, d3.loss_map_pts: 0.8540, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.2068, d4.loss_map_pts: 0.8330, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.2040, d5.loss_map_pts: 0.8230, d5.loss_map_dir: 0.0091, loss: 32.2949, grad_norm: 151.4437 +2026-02-26 04:03:18,335 - DriveTransformer - INFO - Epoch [6][24750/39528] lr: 8.977e-05, eta: 6 days, 18:30:48, time: 0.812, data_time: 0.040, memory: 19865, loss_cls: 0.1694, loss_bbox: 0.3605, loss_traj: 0.6963, loss_traj_cls: 0.0010, loss_map_cls: 0.1479, loss_map_pts: 0.7284, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.6701, d0.loss_plan_l1_fix_dist: 0.4844, d1.loss_plan_l1_fix_time: 1.1529, d1.loss_plan_l1_fix_dist: 0.2053, d2.loss_plan_l1_fix_time: 1.1314, d2.loss_plan_l1_fix_dist: 0.2078, d3.loss_plan_l1_fix_time: 1.1235, d3.loss_plan_l1_fix_dist: 0.2221, d4.loss_plan_l1_fix_time: 1.1254, d4.loss_plan_l1_fix_dist: 0.2389, d5.loss_plan_l1_fix_time: 1.1279, d5.loss_plan_l1_fix_dist: 0.2592, d6.loss_plan_l1_fix_time: 1.1313, d6.loss_plan_l1_fix_dist: 0.2788, d0.loss_cls_all: 0.2072, d0.loss_bbox_all: 0.4152, d0.loss_cls: 0.2072, d0.loss_bbox: 0.4152, d1.loss_cls: 0.1984, d1.loss_bbox: 0.3840, d2.loss_cls: 0.1862, d2.loss_bbox: 0.3672, d3.loss_cls: 0.1745, d3.loss_bbox: 0.3622, d4.loss_cls: 0.1717, d4.loss_bbox: 0.3589, d5.loss_cls: 0.1698, d5.loss_bbox: 0.3599, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8864, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7473, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7263, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7086, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7024, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6985, d0.loss_map_cls_all: 0.2208, d0.loss_map_pts_all: 1.4325, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2208, d0.loss_map_pts: 1.4325, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.1892, d1.loss_map_pts: 0.9709, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1704, d2.loss_map_pts: 0.8082, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.1603, d3.loss_map_pts: 0.7461, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1525, d4.loss_map_pts: 0.7266, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1489, d5.loss_map_pts: 0.7231, d5.loss_map_dir: 0.0110, loss: 30.1047, grad_norm: 153.2858 +2026-02-26 04:03:57,699 - DriveTransformer - INFO - Epoch [6][24800/39528] lr: 8.977e-05, eta: 6 days, 18:30:05, time: 0.787, data_time: 0.045, memory: 19865, loss_cls: 0.1511, loss_bbox: 0.3633, loss_traj: 0.6194, loss_traj_cls: 0.0009, loss_map_cls: 0.1533, loss_map_pts: 0.7810, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.0959, d0.loss_plan_l1_fix_dist: 0.3979, d1.loss_plan_l1_fix_time: 1.0655, d1.loss_plan_l1_fix_dist: 0.2164, d2.loss_plan_l1_fix_time: 1.0512, d2.loss_plan_l1_fix_dist: 0.2201, d3.loss_plan_l1_fix_time: 1.0559, d3.loss_plan_l1_fix_dist: 0.2356, d4.loss_plan_l1_fix_time: 1.0605, d4.loss_plan_l1_fix_dist: 0.2552, d5.loss_plan_l1_fix_time: 1.0654, d5.loss_plan_l1_fix_dist: 0.2767, d6.loss_plan_l1_fix_time: 1.0700, d6.loss_plan_l1_fix_dist: 0.2996, d0.loss_cls_all: 0.1908, d0.loss_bbox_all: 0.4107, d0.loss_cls: 0.1908, d0.loss_bbox: 0.4107, d1.loss_cls: 0.1850, d1.loss_bbox: 0.3813, d2.loss_cls: 0.1708, d2.loss_bbox: 0.3685, d3.loss_cls: 0.1609, d3.loss_bbox: 0.3626, d4.loss_cls: 0.1543, d4.loss_bbox: 0.3628, d5.loss_cls: 0.1518, d5.loss_bbox: 0.3633, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7830, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6631, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6102, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6108, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6127, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6164, d0.loss_map_cls_all: 0.2294, d0.loss_map_pts_all: 1.4662, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2294, d0.loss_map_pts: 1.4662, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1944, d1.loss_map_pts: 1.0358, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1778, d2.loss_map_pts: 0.8756, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1659, d3.loss_map_pts: 0.8088, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1592, d4.loss_map_pts: 0.7857, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1546, d5.loss_map_pts: 0.7760, d5.loss_map_dir: 0.0099, loss: 28.8026, grad_norm: 156.8479 +2026-02-26 04:04:36,781 - DriveTransformer - INFO - Epoch [6][24850/39528] lr: 8.977e-05, eta: 6 days, 18:29:21, time: 0.782, data_time: 0.044, memory: 19865, loss_cls: 0.2083, loss_bbox: 0.4107, loss_traj: 0.7295, loss_traj_cls: 0.0009, loss_map_cls: 0.1750, loss_map_pts: 0.8040, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 3.0651, d0.loss_plan_l1_fix_dist: 0.4132, d1.loss_plan_l1_fix_time: 1.3112, d1.loss_plan_l1_fix_dist: 0.2013, d2.loss_plan_l1_fix_time: 1.2875, d2.loss_plan_l1_fix_dist: 0.1995, d3.loss_plan_l1_fix_time: 1.2776, d3.loss_plan_l1_fix_dist: 0.2096, d4.loss_plan_l1_fix_time: 1.2787, d4.loss_plan_l1_fix_dist: 0.2223, d5.loss_plan_l1_fix_time: 1.2811, d5.loss_plan_l1_fix_dist: 0.2353, d6.loss_plan_l1_fix_time: 1.2847, d6.loss_plan_l1_fix_dist: 0.2515, d0.loss_cls_all: 0.2462, d0.loss_bbox_all: 0.4555, d0.loss_cls: 0.2462, d0.loss_bbox: 0.4555, d1.loss_cls: 0.2366, d1.loss_bbox: 0.4287, d2.loss_cls: 0.2253, d2.loss_bbox: 0.4157, d3.loss_cls: 0.2155, d3.loss_bbox: 0.4091, d4.loss_cls: 0.2103, d4.loss_bbox: 0.4083, d5.loss_cls: 0.2094, d5.loss_bbox: 0.4079, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9462, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7857, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7345, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7314, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7292, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7293, d0.loss_map_cls_all: 0.2487, d0.loss_map_pts_all: 1.5631, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2487, d0.loss_map_pts: 1.5631, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2162, d1.loss_map_pts: 1.0673, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.1968, d2.loss_map_pts: 0.9024, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.1854, d3.loss_map_pts: 0.8373, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.1806, d4.loss_map_pts: 0.8125, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1773, d5.loss_map_pts: 0.8061, d5.loss_map_dir: 0.0118, loss: 33.1767, grad_norm: 154.7158 +2026-02-26 04:05:16,064 - DriveTransformer - INFO - Epoch [6][24900/39528] lr: 8.977e-05, eta: 6 days, 18:28:37, time: 0.786, data_time: 0.038, memory: 19865, loss_cls: 0.1996, loss_bbox: 0.3954, loss_traj: 0.7443, loss_traj_cls: 0.0009, loss_map_cls: 0.1834, loss_map_pts: 0.7757, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.6773, d0.loss_plan_l1_fix_dist: 0.4338, d1.loss_plan_l1_fix_time: 1.2581, d1.loss_plan_l1_fix_dist: 0.2011, d2.loss_plan_l1_fix_time: 1.2430, d2.loss_plan_l1_fix_dist: 0.2157, d3.loss_plan_l1_fix_time: 1.2347, d3.loss_plan_l1_fix_dist: 0.2393, d4.loss_plan_l1_fix_time: 1.2374, d4.loss_plan_l1_fix_dist: 0.2663, d5.loss_plan_l1_fix_time: 1.2415, d5.loss_plan_l1_fix_dist: 0.2953, d6.loss_plan_l1_fix_time: 1.2475, d6.loss_plan_l1_fix_dist: 0.3246, d0.loss_cls_all: 0.2352, d0.loss_bbox_all: 0.4586, d0.loss_cls: 0.2352, d0.loss_bbox: 0.4586, d1.loss_cls: 0.2253, d1.loss_bbox: 0.4221, d2.loss_cls: 0.2114, d2.loss_bbox: 0.4064, d3.loss_cls: 0.2029, d3.loss_bbox: 0.3986, d4.loss_cls: 0.1997, d4.loss_bbox: 0.3954, d5.loss_cls: 0.1989, d5.loss_bbox: 0.3960, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9504, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7891, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7424, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7410, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7399, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7411, d0.loss_map_cls_all: 0.2612, d0.loss_map_pts_all: 1.5087, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2612, d0.loss_map_pts: 1.5087, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2289, d1.loss_map_pts: 1.0623, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2087, d2.loss_map_pts: 0.8856, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1948, d3.loss_map_pts: 0.8136, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1898, d4.loss_map_pts: 0.7869, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1849, d5.loss_map_pts: 0.7768, d5.loss_map_dir: 0.0103, loss: 32.5209, grad_norm: 158.4584 +2026-02-26 04:05:54,624 - DriveTransformer - INFO - Epoch [6][24950/39528] lr: 8.977e-05, eta: 6 days, 18:27:51, time: 0.771, data_time: 0.039, memory: 19865, loss_cls: 0.1905, loss_bbox: 0.3859, loss_traj: 0.7878, loss_traj_cls: 0.0009, loss_map_cls: 0.1654, loss_map_pts: 0.7684, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.7400, d0.loss_plan_l1_fix_dist: 0.3651, d1.loss_plan_l1_fix_time: 1.1944, d1.loss_plan_l1_fix_dist: 0.1849, d2.loss_plan_l1_fix_time: 1.1835, d2.loss_plan_l1_fix_dist: 0.1950, d3.loss_plan_l1_fix_time: 1.1744, d3.loss_plan_l1_fix_dist: 0.2085, d4.loss_plan_l1_fix_time: 1.1767, d4.loss_plan_l1_fix_dist: 0.2259, d5.loss_plan_l1_fix_time: 1.1802, d5.loss_plan_l1_fix_dist: 0.2449, d6.loss_plan_l1_fix_time: 1.1859, d6.loss_plan_l1_fix_dist: 0.2660, d0.loss_cls_all: 0.2229, d0.loss_bbox_all: 0.4516, d0.loss_cls: 0.2229, d0.loss_bbox: 0.4516, d1.loss_cls: 0.2148, d1.loss_bbox: 0.4162, d2.loss_cls: 0.2044, d2.loss_bbox: 0.3977, d3.loss_cls: 0.1943, d3.loss_bbox: 0.3902, d4.loss_cls: 0.1920, d4.loss_bbox: 0.3870, d5.loss_cls: 0.1912, d5.loss_bbox: 0.3867, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0444, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8373, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7945, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7789, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7792, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7835, d0.loss_map_cls_all: 0.2414, d0.loss_map_pts_all: 1.5170, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2414, d0.loss_map_pts: 1.5170, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2122, d1.loss_map_pts: 1.0492, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1934, d2.loss_map_pts: 0.8759, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1789, d3.loss_map_pts: 0.8124, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1746, d4.loss_map_pts: 0.7844, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1685, d5.loss_map_pts: 0.7697, d5.loss_map_dir: 0.0104, loss: 31.9884, grad_norm: 162.9430 +2026-02-26 04:06:33,516 - DriveTransformer - INFO - Epoch [6][25000/39528] lr: 8.977e-05, eta: 6 days, 18:27:07, time: 0.778, data_time: 0.042, memory: 19865, loss_cls: 0.2058, loss_bbox: 0.3896, loss_traj: 0.7681, loss_traj_cls: 0.0009, loss_map_cls: 0.1759, loss_map_pts: 0.8226, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 3.2149, d0.loss_plan_l1_fix_dist: 0.3602, d1.loss_plan_l1_fix_time: 1.5538, d1.loss_plan_l1_fix_dist: 0.1840, d2.loss_plan_l1_fix_time: 1.5319, d2.loss_plan_l1_fix_dist: 0.1903, d3.loss_plan_l1_fix_time: 1.5378, d3.loss_plan_l1_fix_dist: 0.2016, d4.loss_plan_l1_fix_time: 1.5405, d4.loss_plan_l1_fix_dist: 0.2160, d5.loss_plan_l1_fix_time: 1.5430, d5.loss_plan_l1_fix_dist: 0.2321, d6.loss_plan_l1_fix_time: 1.5467, d6.loss_plan_l1_fix_dist: 0.2487, d0.loss_cls_all: 0.2485, d0.loss_bbox_all: 0.4539, d0.loss_cls: 0.2485, d0.loss_bbox: 0.4539, d1.loss_cls: 0.2377, d1.loss_bbox: 0.4177, d2.loss_cls: 0.2235, d2.loss_bbox: 0.3976, d3.loss_cls: 0.2135, d3.loss_bbox: 0.3911, d4.loss_cls: 0.2084, d4.loss_bbox: 0.3881, d5.loss_cls: 0.2081, d5.loss_bbox: 0.3877, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9914, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7985, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7713, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7616, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7584, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7621, d0.loss_map_cls_all: 0.2419, d0.loss_map_pts_all: 1.5850, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2419, d0.loss_map_pts: 1.5850, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2146, d1.loss_map_pts: 1.1058, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.1973, d2.loss_map_pts: 0.9194, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.1866, d3.loss_map_pts: 0.8574, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1810, d4.loss_map_pts: 0.8304, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1781, d5.loss_map_pts: 0.8220, d5.loss_map_dir: 0.0118, loss: 35.0307, grad_norm: 164.9522 +2026-02-26 04:07:12,913 - DriveTransformer - INFO - Epoch [6][25050/39528] lr: 8.977e-05, eta: 6 days, 18:26:24, time: 0.788, data_time: 0.037, memory: 19865, loss_cls: 0.1767, loss_bbox: 0.3693, loss_traj: 0.7210, loss_traj_cls: 0.0009, loss_map_cls: 0.1545, loss_map_pts: 0.7585, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.3786, d0.loss_plan_l1_fix_dist: 0.4413, d1.loss_plan_l1_fix_time: 1.0939, d1.loss_plan_l1_fix_dist: 0.2055, d2.loss_plan_l1_fix_time: 1.0738, d2.loss_plan_l1_fix_dist: 0.2121, d3.loss_plan_l1_fix_time: 1.0677, d3.loss_plan_l1_fix_dist: 0.2262, d4.loss_plan_l1_fix_time: 1.0690, d4.loss_plan_l1_fix_dist: 0.2420, d5.loss_plan_l1_fix_time: 1.0712, d5.loss_plan_l1_fix_dist: 0.2621, d6.loss_plan_l1_fix_time: 1.0742, d6.loss_plan_l1_fix_dist: 0.2844, d0.loss_cls_all: 0.2160, d0.loss_bbox_all: 0.4251, d0.loss_cls: 0.2160, d0.loss_bbox: 0.4251, d1.loss_cls: 0.2099, d1.loss_bbox: 0.3953, d2.loss_cls: 0.1963, d2.loss_bbox: 0.3795, d3.loss_cls: 0.1854, d3.loss_bbox: 0.3710, d4.loss_cls: 0.1805, d4.loss_bbox: 0.3669, d5.loss_cls: 0.1787, d5.loss_bbox: 0.3675, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9121, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7621, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7335, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7198, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7192, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7189, d0.loss_map_cls_all: 0.2236, d0.loss_map_pts_all: 1.4416, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2236, d0.loss_map_pts: 1.4416, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.1927, d1.loss_map_pts: 0.9975, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.1732, d2.loss_map_pts: 0.8375, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1640, d3.loss_map_pts: 0.7808, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1573, d4.loss_map_pts: 0.7647, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1556, d5.loss_map_pts: 0.7585, d5.loss_map_dir: 0.0113, loss: 29.9700, grad_norm: 166.6431 +2026-02-26 04:07:52,004 - DriveTransformer - INFO - Epoch [6][25100/39528] lr: 8.977e-05, eta: 6 days, 18:25:39, time: 0.782, data_time: 0.047, memory: 19865, loss_cls: 0.1775, loss_bbox: 0.3784, loss_traj: 0.6944, loss_traj_cls: 0.0009, loss_map_cls: 0.1804, loss_map_pts: 0.7459, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.7774, d0.loss_plan_l1_fix_dist: 0.5552, d1.loss_plan_l1_fix_time: 1.1635, d1.loss_plan_l1_fix_dist: 0.2126, d2.loss_plan_l1_fix_time: 1.1486, d2.loss_plan_l1_fix_dist: 0.2155, d3.loss_plan_l1_fix_time: 1.1493, d3.loss_plan_l1_fix_dist: 0.2249, d4.loss_plan_l1_fix_time: 1.1518, d4.loss_plan_l1_fix_dist: 0.2394, d5.loss_plan_l1_fix_time: 1.1547, d5.loss_plan_l1_fix_dist: 0.2560, d6.loss_plan_l1_fix_time: 1.1579, d6.loss_plan_l1_fix_dist: 0.2764, d0.loss_cls_all: 0.2123, d0.loss_bbox_all: 0.4379, d0.loss_cls: 0.2123, d0.loss_bbox: 0.4379, d1.loss_cls: 0.2053, d1.loss_bbox: 0.4057, d2.loss_cls: 0.1958, d2.loss_bbox: 0.3847, d3.loss_cls: 0.1847, d3.loss_bbox: 0.3790, d4.loss_cls: 0.1803, d4.loss_bbox: 0.3769, d5.loss_cls: 0.1782, d5.loss_bbox: 0.3778, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9037, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7444, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7059, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6959, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6929, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6900, d0.loss_map_cls_all: 0.2606, d0.loss_map_pts_all: 1.4768, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2606, d0.loss_map_pts: 1.4768, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2209, d1.loss_map_pts: 1.0093, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.2033, d2.loss_map_pts: 0.8524, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1947, d3.loss_map_pts: 0.7840, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1873, d4.loss_map_pts: 0.7529, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1829, d5.loss_map_pts: 0.7457, d5.loss_map_dir: 0.0103, loss: 31.1565, grad_norm: 168.1021 +2026-02-26 04:08:30,919 - DriveTransformer - INFO - Epoch [6][25150/39528] lr: 8.977e-05, eta: 6 days, 18:24:55, time: 0.778, data_time: 0.037, memory: 19865, loss_cls: 0.1754, loss_bbox: 0.3789, loss_traj: 0.5961, loss_traj_cls: 0.0009, loss_map_cls: 0.1766, loss_map_pts: 0.7407, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.1742, d0.loss_plan_l1_fix_dist: 0.4947, d1.loss_plan_l1_fix_time: 0.8992, d1.loss_plan_l1_fix_dist: 0.1898, d2.loss_plan_l1_fix_time: 0.8929, d2.loss_plan_l1_fix_dist: 0.1901, d3.loss_plan_l1_fix_time: 0.8996, d3.loss_plan_l1_fix_dist: 0.1992, d4.loss_plan_l1_fix_time: 0.9035, d4.loss_plan_l1_fix_dist: 0.2113, d5.loss_plan_l1_fix_time: 0.9072, d5.loss_plan_l1_fix_dist: 0.2244, d6.loss_plan_l1_fix_time: 0.9114, d6.loss_plan_l1_fix_dist: 0.2383, d0.loss_cls_all: 0.2174, d0.loss_bbox_all: 0.4432, d0.loss_cls: 0.2174, d0.loss_bbox: 0.4432, d1.loss_cls: 0.2072, d1.loss_bbox: 0.4104, d2.loss_cls: 0.1911, d2.loss_bbox: 0.3934, d3.loss_cls: 0.1817, d3.loss_bbox: 0.3853, d4.loss_cls: 0.1768, d4.loss_bbox: 0.3805, d5.loss_cls: 0.1756, d5.loss_bbox: 0.3796, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8295, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6948, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6268, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6240, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6024, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5949, d0.loss_map_cls_all: 0.2444, d0.loss_map_pts_all: 1.5718, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2444, d0.loss_map_pts: 1.5718, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2158, d1.loss_map_pts: 1.0503, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1948, d2.loss_map_pts: 0.8515, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1843, d3.loss_map_pts: 0.7770, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1804, d4.loss_map_pts: 0.7484, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1765, d5.loss_map_pts: 0.7413, d5.loss_map_dir: 0.0109, loss: 28.4228, grad_norm: 165.8488 +2026-02-26 04:09:11,484 - DriveTransformer - INFO - Epoch [6][25200/39528] lr: 8.977e-05, eta: 6 days, 18:24:15, time: 0.811, data_time: 0.040, memory: 19865, loss_cls: 0.1573, loss_bbox: 0.3556, loss_traj: 0.5634, loss_traj_cls: 0.0009, loss_map_cls: 0.1667, loss_map_pts: 0.8065, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.7694, d0.loss_plan_l1_fix_dist: 0.3861, d1.loss_plan_l1_fix_time: 1.2723, d1.loss_plan_l1_fix_dist: 0.1977, d2.loss_plan_l1_fix_time: 1.2598, d2.loss_plan_l1_fix_dist: 0.2017, d3.loss_plan_l1_fix_time: 1.2628, d3.loss_plan_l1_fix_dist: 0.2177, d4.loss_plan_l1_fix_time: 1.2675, d4.loss_plan_l1_fix_dist: 0.2329, d5.loss_plan_l1_fix_time: 1.2715, d5.loss_plan_l1_fix_dist: 0.2474, d6.loss_plan_l1_fix_time: 1.2757, d6.loss_plan_l1_fix_dist: 0.2600, d0.loss_cls_all: 0.1947, d0.loss_bbox_all: 0.4039, d0.loss_cls: 0.1947, d0.loss_bbox: 0.4039, d1.loss_cls: 0.1874, d1.loss_bbox: 0.3731, d2.loss_cls: 0.1711, d2.loss_bbox: 0.3613, d3.loss_cls: 0.1621, d3.loss_bbox: 0.3560, d4.loss_cls: 0.1566, d4.loss_bbox: 0.3561, d5.loss_cls: 0.1565, d5.loss_bbox: 0.3562, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7212, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6083, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5737, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5665, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5660, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5606, d0.loss_map_cls_all: 0.2294, d0.loss_map_pts_all: 1.6598, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2294, d0.loss_map_pts: 1.6598, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2028, d1.loss_map_pts: 1.1060, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.1895, d2.loss_map_pts: 0.9111, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1770, d3.loss_map_pts: 0.8444, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1711, d4.loss_map_pts: 0.8176, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1672, d5.loss_map_pts: 0.8088, d5.loss_map_dir: 0.0114, loss: 30.8708, grad_norm: 164.8255 +2026-02-26 04:09:50,370 - DriveTransformer - INFO - Epoch [6][25250/39528] lr: 8.977e-05, eta: 6 days, 18:23:31, time: 0.778, data_time: 0.040, memory: 19865, loss_cls: 0.1697, loss_bbox: 0.3937, loss_traj: 0.7329, loss_traj_cls: 0.0009, loss_map_cls: 0.1779, loss_map_pts: 0.8632, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.5056, d0.loss_plan_l1_fix_dist: 0.3906, d1.loss_plan_l1_fix_time: 1.1659, d1.loss_plan_l1_fix_dist: 0.1950, d2.loss_plan_l1_fix_time: 1.1440, d2.loss_plan_l1_fix_dist: 0.1952, d3.loss_plan_l1_fix_time: 1.1379, d3.loss_plan_l1_fix_dist: 0.2068, d4.loss_plan_l1_fix_time: 1.1409, d4.loss_plan_l1_fix_dist: 0.2191, d5.loss_plan_l1_fix_time: 1.1449, d5.loss_plan_l1_fix_dist: 0.2300, d6.loss_plan_l1_fix_time: 1.1493, d6.loss_plan_l1_fix_dist: 0.2410, d0.loss_cls_all: 0.2071, d0.loss_bbox_all: 0.4542, d0.loss_cls: 0.2071, d0.loss_bbox: 0.4542, d1.loss_cls: 0.1971, d1.loss_bbox: 0.4211, d2.loss_cls: 0.1852, d2.loss_bbox: 0.4052, d3.loss_cls: 0.1741, d3.loss_bbox: 0.3996, d4.loss_cls: 0.1702, d4.loss_bbox: 0.3962, d5.loss_cls: 0.1702, d5.loss_bbox: 0.3937, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9308, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7664, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7401, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7307, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7333, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7280, d0.loss_map_cls_all: 0.2558, d0.loss_map_pts_all: 1.6202, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2558, d0.loss_map_pts: 1.6202, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2273, d1.loss_map_pts: 1.1500, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.2036, d2.loss_map_pts: 0.9794, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1911, d3.loss_map_pts: 0.9041, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1846, d4.loss_map_pts: 0.8733, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1814, d5.loss_map_pts: 0.8642, d5.loss_map_dir: 0.0104, loss: 31.8642, grad_norm: 163.5120 +2026-02-26 04:10:28,596 - DriveTransformer - INFO - Epoch [6][25300/39528] lr: 8.977e-05, eta: 6 days, 18:22:44, time: 0.765, data_time: 0.035, memory: 19865, loss_cls: 0.1760, loss_bbox: 0.3760, loss_traj: 0.6432, loss_traj_cls: 0.0009, loss_map_cls: 0.1496, loss_map_pts: 0.7604, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.4471, d0.loss_plan_l1_fix_dist: 0.4025, d1.loss_plan_l1_fix_time: 0.9829, d1.loss_plan_l1_fix_dist: 0.1807, d2.loss_plan_l1_fix_time: 0.9628, d2.loss_plan_l1_fix_dist: 0.1865, d3.loss_plan_l1_fix_time: 0.9600, d3.loss_plan_l1_fix_dist: 0.2038, d4.loss_plan_l1_fix_time: 0.9625, d4.loss_plan_l1_fix_dist: 0.2275, d5.loss_plan_l1_fix_time: 0.9666, d5.loss_plan_l1_fix_dist: 0.2557, d6.loss_plan_l1_fix_time: 0.9716, d6.loss_plan_l1_fix_dist: 0.2867, d0.loss_cls_all: 0.2163, d0.loss_bbox_all: 0.4334, d0.loss_cls: 0.2163, d0.loss_bbox: 0.4334, d1.loss_cls: 0.2062, d1.loss_bbox: 0.4036, d2.loss_cls: 0.1912, d2.loss_bbox: 0.3870, d3.loss_cls: 0.1811, d3.loss_bbox: 0.3789, d4.loss_cls: 0.1751, d4.loss_bbox: 0.3777, d5.loss_cls: 0.1754, d5.loss_bbox: 0.3773, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8428, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6765, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6557, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6405, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6374, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6379, d0.loss_map_cls_all: 0.2274, d0.loss_map_pts_all: 1.4547, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2274, d0.loss_map_pts: 1.4547, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1908, d1.loss_map_pts: 1.0235, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1714, d2.loss_map_pts: 0.8635, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1609, d3.loss_map_pts: 0.7974, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1540, d4.loss_map_pts: 0.7699, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1500, d5.loss_map_pts: 0.7600, d5.loss_map_dir: 0.0101, loss: 28.8348, grad_norm: 163.9642 +2026-02-26 04:11:07,617 - DriveTransformer - INFO - Epoch [6][25350/39528] lr: 8.977e-05, eta: 6 days, 18:21:59, time: 0.780, data_time: 0.039, memory: 19865, loss_cls: 0.1773, loss_bbox: 0.3643, loss_traj: 0.5907, loss_traj_cls: 0.0009, loss_map_cls: 0.1693, loss_map_pts: 0.7968, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.7820, d0.loss_plan_l1_fix_dist: 0.5230, d1.loss_plan_l1_fix_time: 1.1126, d1.loss_plan_l1_fix_dist: 0.1890, d2.loss_plan_l1_fix_time: 1.0979, d2.loss_plan_l1_fix_dist: 0.1909, d3.loss_plan_l1_fix_time: 1.0961, d3.loss_plan_l1_fix_dist: 0.2015, d4.loss_plan_l1_fix_time: 1.0974, d4.loss_plan_l1_fix_dist: 0.2156, d5.loss_plan_l1_fix_time: 1.0994, d5.loss_plan_l1_fix_dist: 0.2308, d6.loss_plan_l1_fix_time: 1.1019, d6.loss_plan_l1_fix_dist: 0.2462, d0.loss_cls_all: 0.2001, d0.loss_bbox_all: 0.4399, d0.loss_cls: 0.2001, d0.loss_bbox: 0.4399, d1.loss_cls: 0.1976, d1.loss_bbox: 0.4013, d2.loss_cls: 0.1872, d2.loss_bbox: 0.3812, d3.loss_cls: 0.1820, d3.loss_bbox: 0.3712, d4.loss_cls: 0.1773, d4.loss_bbox: 0.3679, d5.loss_cls: 0.1767, d5.loss_bbox: 0.3655, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7986, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6597, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6047, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5980, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5861, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5880, d0.loss_map_cls_all: 0.2358, d0.loss_map_pts_all: 1.5699, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2358, d0.loss_map_pts: 1.5699, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2090, d1.loss_map_pts: 1.1097, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1885, d2.loss_map_pts: 0.9192, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1780, d3.loss_map_pts: 0.8445, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1740, d4.loss_map_pts: 0.8089, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1698, d5.loss_map_pts: 0.7996, d5.loss_map_dir: 0.0107, loss: 30.3057, grad_norm: 163.4189 +2026-02-26 04:11:46,122 - DriveTransformer - INFO - Epoch [6][25400/39528] lr: 8.977e-05, eta: 6 days, 18:21:13, time: 0.772, data_time: 0.039, memory: 19865, loss_cls: 0.1598, loss_bbox: 0.3494, loss_traj: 0.7737, loss_traj_cls: 0.0010, loss_map_cls: 0.1545, loss_map_pts: 0.6386, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.5806, d0.loss_plan_l1_fix_dist: 0.3806, d1.loss_plan_l1_fix_time: 1.0776, d1.loss_plan_l1_fix_dist: 0.1807, d2.loss_plan_l1_fix_time: 1.0663, d2.loss_plan_l1_fix_dist: 0.1875, d3.loss_plan_l1_fix_time: 1.0682, d3.loss_plan_l1_fix_dist: 0.2009, d4.loss_plan_l1_fix_time: 1.0703, d4.loss_plan_l1_fix_dist: 0.2161, d5.loss_plan_l1_fix_time: 1.0725, d5.loss_plan_l1_fix_dist: 0.2331, d6.loss_plan_l1_fix_time: 1.0753, d6.loss_plan_l1_fix_dist: 0.2533, d0.loss_cls_all: 0.1959, d0.loss_bbox_all: 0.3966, d0.loss_cls: 0.1959, d0.loss_bbox: 0.3966, d1.loss_cls: 0.1887, d1.loss_bbox: 0.3717, d2.loss_cls: 0.1726, d2.loss_bbox: 0.3567, d3.loss_cls: 0.1646, d3.loss_bbox: 0.3495, d4.loss_cls: 0.1600, d4.loss_bbox: 0.3494, d5.loss_cls: 0.1585, d5.loss_bbox: 0.3497, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9351, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8004, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7732, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7727, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7740, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7745, d0.loss_map_cls_all: 0.2238, d0.loss_map_pts_all: 1.3477, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2238, d0.loss_map_pts: 1.3477, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1973, d1.loss_map_pts: 0.9087, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1775, d2.loss_map_pts: 0.7464, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1675, d3.loss_map_pts: 0.6800, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1598, d4.loss_map_pts: 0.6543, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1543, d5.loss_map_pts: 0.6413, d5.loss_map_dir: 0.0085, loss: 29.0794, grad_norm: 162.9892 +2026-02-26 04:12:25,868 - DriveTransformer - INFO - Epoch [6][25450/39528] lr: 8.977e-05, eta: 6 days, 18:20:31, time: 0.793, data_time: 0.045, memory: 19865, loss_cls: 0.1856, loss_bbox: 0.3733, loss_traj: 0.8045, loss_traj_cls: 0.0009, loss_map_cls: 0.1910, loss_map_pts: 0.7744, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.9468, d0.loss_plan_l1_fix_dist: 0.3544, d1.loss_plan_l1_fix_time: 1.2484, d1.loss_plan_l1_fix_dist: 0.1703, d2.loss_plan_l1_fix_time: 1.2274, d2.loss_plan_l1_fix_dist: 0.1762, d3.loss_plan_l1_fix_time: 1.2263, d3.loss_plan_l1_fix_dist: 0.1873, d4.loss_plan_l1_fix_time: 1.2280, d4.loss_plan_l1_fix_dist: 0.2009, d5.loss_plan_l1_fix_time: 1.2298, d5.loss_plan_l1_fix_dist: 0.2171, d6.loss_plan_l1_fix_time: 1.2322, d6.loss_plan_l1_fix_dist: 0.2315, d0.loss_cls_all: 0.2267, d0.loss_bbox_all: 0.4376, d0.loss_cls: 0.2267, d0.loss_bbox: 0.4376, d1.loss_cls: 0.2226, d1.loss_bbox: 0.4005, d2.loss_cls: 0.2036, d2.loss_bbox: 0.3855, d3.loss_cls: 0.1906, d3.loss_bbox: 0.3817, d4.loss_cls: 0.1839, d4.loss_bbox: 0.3784, d5.loss_cls: 0.1832, d5.loss_bbox: 0.3765, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0767, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8809, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8340, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8174, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8138, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8096, d0.loss_map_cls_all: 0.2602, d0.loss_map_pts_all: 1.5058, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2602, d0.loss_map_pts: 1.5058, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2340, d1.loss_map_pts: 1.0534, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.2140, d2.loss_map_pts: 0.8694, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.2013, d3.loss_map_pts: 0.8043, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1948, d4.loss_map_pts: 0.7810, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1922, d5.loss_map_pts: 0.7748, d5.loss_map_dir: 0.0107, loss: 32.6137, grad_norm: 161.2784 +2026-02-26 04:13:04,414 - DriveTransformer - INFO - Epoch [6][25500/39528] lr: 8.977e-05, eta: 6 days, 18:19:45, time: 0.771, data_time: 0.037, memory: 19865, loss_cls: 0.1637, loss_bbox: 0.3534, loss_traj: 0.6122, loss_traj_cls: 0.0009, loss_map_cls: 0.1359, loss_map_pts: 0.6594, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.4869, d0.loss_plan_l1_fix_dist: 0.3918, d1.loss_plan_l1_fix_time: 1.1223, d1.loss_plan_l1_fix_dist: 0.1879, d2.loss_plan_l1_fix_time: 1.1007, d2.loss_plan_l1_fix_dist: 0.1942, d3.loss_plan_l1_fix_time: 1.1027, d3.loss_plan_l1_fix_dist: 0.2108, d4.loss_plan_l1_fix_time: 1.1053, d4.loss_plan_l1_fix_dist: 0.2310, d5.loss_plan_l1_fix_time: 1.1077, d5.loss_plan_l1_fix_dist: 0.2515, d6.loss_plan_l1_fix_time: 1.1108, d6.loss_plan_l1_fix_dist: 0.2747, d0.loss_cls_all: 0.1973, d0.loss_bbox_all: 0.4134, d0.loss_cls: 0.1973, d0.loss_bbox: 0.4134, d1.loss_cls: 0.1877, d1.loss_bbox: 0.3793, d2.loss_cls: 0.1736, d2.loss_bbox: 0.3644, d3.loss_cls: 0.1651, d3.loss_bbox: 0.3583, d4.loss_cls: 0.1626, d4.loss_bbox: 0.3558, d5.loss_cls: 0.1626, d5.loss_bbox: 0.3540, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8552, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6713, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6358, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6170, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6152, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6099, d0.loss_map_cls_all: 0.2068, d0.loss_map_pts_all: 1.3319, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2068, d0.loss_map_pts: 1.3319, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1760, d1.loss_map_pts: 0.9028, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1559, d2.loss_map_pts: 0.7474, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1458, d3.loss_map_pts: 0.6895, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1416, d4.loss_map_pts: 0.6663, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1360, d5.loss_map_pts: 0.6594, d5.loss_map_dir: 0.0102, loss: 28.2743, grad_norm: 164.5174 +2026-02-26 04:13:42,411 - DriveTransformer - INFO - Epoch [6][25550/39528] lr: 8.977e-05, eta: 6 days, 18:18:58, time: 0.760, data_time: 0.040, memory: 19865, loss_cls: 0.1984, loss_bbox: 0.3859, loss_traj: 0.6354, loss_traj_cls: 0.0009, loss_map_cls: 0.1879, loss_map_pts: 0.7954, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.3725, d0.loss_plan_l1_fix_dist: 0.4709, d1.loss_plan_l1_fix_time: 1.1460, d1.loss_plan_l1_fix_dist: 0.1804, d2.loss_plan_l1_fix_time: 1.1318, d2.loss_plan_l1_fix_dist: 0.1840, d3.loss_plan_l1_fix_time: 1.1338, d3.loss_plan_l1_fix_dist: 0.1972, d4.loss_plan_l1_fix_time: 1.1364, d4.loss_plan_l1_fix_dist: 0.2125, d5.loss_plan_l1_fix_time: 1.1390, d5.loss_plan_l1_fix_dist: 0.2290, d6.loss_plan_l1_fix_time: 1.1417, d6.loss_plan_l1_fix_dist: 0.2477, d0.loss_cls_all: 0.2364, d0.loss_bbox_all: 0.4490, d0.loss_cls: 0.2364, d0.loss_bbox: 0.4490, d1.loss_cls: 0.2305, d1.loss_bbox: 0.4129, d2.loss_cls: 0.2169, d2.loss_bbox: 0.3937, d3.loss_cls: 0.2088, d3.loss_bbox: 0.3876, d4.loss_cls: 0.2015, d4.loss_bbox: 0.3873, d5.loss_cls: 0.1989, d5.loss_bbox: 0.3860, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8068, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6655, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6383, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6311, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6252, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6317, d0.loss_map_cls_all: 0.2529, d0.loss_map_pts_all: 1.5993, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2529, d0.loss_map_pts: 1.5993, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2238, d1.loss_map_pts: 1.1091, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.2094, d2.loss_map_pts: 0.9064, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1989, d3.loss_map_pts: 0.8288, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1935, d4.loss_map_pts: 0.8044, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1887, d5.loss_map_pts: 0.7961, d5.loss_map_dir: 0.0112, loss: 30.7760, grad_norm: 164.7133 +2026-02-26 04:14:22,212 - DriveTransformer - INFO - Epoch [6][25600/39528] lr: 8.977e-05, eta: 6 days, 18:18:16, time: 0.796, data_time: 0.041, memory: 19865, loss_cls: 0.1776, loss_bbox: 0.3905, loss_traj: 0.8380, loss_traj_cls: 0.0009, loss_map_cls: 0.1594, loss_map_pts: 0.7089, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.6963, d0.loss_plan_l1_fix_dist: 0.4597, d1.loss_plan_l1_fix_time: 1.2855, d1.loss_plan_l1_fix_dist: 0.2046, d2.loss_plan_l1_fix_time: 1.2708, d2.loss_plan_l1_fix_dist: 0.2052, d3.loss_plan_l1_fix_time: 1.2705, d3.loss_plan_l1_fix_dist: 0.2176, d4.loss_plan_l1_fix_time: 1.2723, d4.loss_plan_l1_fix_dist: 0.2329, d5.loss_plan_l1_fix_time: 1.2742, d5.loss_plan_l1_fix_dist: 0.2509, d6.loss_plan_l1_fix_time: 1.2764, d6.loss_plan_l1_fix_dist: 0.2691, d0.loss_cls_all: 0.2098, d0.loss_bbox_all: 0.4564, d0.loss_cls: 0.2098, d0.loss_bbox: 0.4564, d1.loss_cls: 0.2043, d1.loss_bbox: 0.4179, d2.loss_cls: 0.1936, d2.loss_bbox: 0.4000, d3.loss_cls: 0.1869, d3.loss_bbox: 0.3922, d4.loss_cls: 0.1776, d4.loss_bbox: 0.3907, d5.loss_cls: 0.1773, d5.loss_bbox: 0.3899, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1057, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8950, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8475, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8301, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8320, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8374, d0.loss_map_cls_all: 0.2185, d0.loss_map_pts_all: 1.4108, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2185, d0.loss_map_pts: 1.4108, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1940, d1.loss_map_pts: 0.9723, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1782, d2.loss_map_pts: 0.7971, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1710, d3.loss_map_pts: 0.7375, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1645, d4.loss_map_pts: 0.7160, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1602, d5.loss_map_pts: 0.7108, d5.loss_map_dir: 0.0103, loss: 32.2180, grad_norm: 163.3520 +2026-02-26 04:15:01,028 - DriveTransformer - INFO - Epoch [6][25650/39528] lr: 8.977e-05, eta: 6 days, 18:17:31, time: 0.776, data_time: 0.043, memory: 19865, loss_cls: 0.1478, loss_bbox: 0.3557, loss_traj: 0.6256, loss_traj_cls: 0.0009, loss_map_cls: 0.1369, loss_map_pts: 0.6117, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.6078, d0.loss_plan_l1_fix_dist: 0.3675, d1.loss_plan_l1_fix_time: 1.1094, d1.loss_plan_l1_fix_dist: 0.1734, d2.loss_plan_l1_fix_time: 1.1012, d2.loss_plan_l1_fix_dist: 0.1746, d3.loss_plan_l1_fix_time: 1.1033, d3.loss_plan_l1_fix_dist: 0.1875, d4.loss_plan_l1_fix_time: 1.1064, d4.loss_plan_l1_fix_dist: 0.2029, d5.loss_plan_l1_fix_time: 1.1103, d5.loss_plan_l1_fix_dist: 0.2192, d6.loss_plan_l1_fix_time: 1.1152, d6.loss_plan_l1_fix_dist: 0.2397, d0.loss_cls_all: 0.1832, d0.loss_bbox_all: 0.4117, d0.loss_cls: 0.1832, d0.loss_bbox: 0.4117, d1.loss_cls: 0.1785, d1.loss_bbox: 0.3799, d2.loss_cls: 0.1629, d2.loss_bbox: 0.3665, d3.loss_cls: 0.1537, d3.loss_bbox: 0.3589, d4.loss_cls: 0.1481, d4.loss_bbox: 0.3580, d5.loss_cls: 0.1474, d5.loss_bbox: 0.3551, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8154, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6917, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6434, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6303, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6284, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6279, d0.loss_map_cls_all: 0.2075, d0.loss_map_pts_all: 1.2713, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2075, d0.loss_map_pts: 1.2713, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1734, d1.loss_map_pts: 0.8491, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1557, d2.loss_map_pts: 0.6874, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1468, d3.loss_map_pts: 0.6310, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1415, d4.loss_map_pts: 0.6170, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1378, d5.loss_map_pts: 0.6110, d5.loss_map_dir: 0.0091, loss: 27.7171, grad_norm: 163.9665 +2026-02-26 04:15:40,620 - DriveTransformer - INFO - Epoch [6][25700/39528] lr: 8.977e-05, eta: 6 days, 18:16:48, time: 0.792, data_time: 0.040, memory: 19865, loss_cls: 0.2141, loss_bbox: 0.4226, loss_traj: 0.6572, loss_traj_cls: 0.0008, loss_map_cls: 0.1904, loss_map_pts: 0.7941, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.8607, d0.loss_plan_l1_fix_dist: 0.3421, d1.loss_plan_l1_fix_time: 0.9926, d1.loss_plan_l1_fix_dist: 0.1802, d2.loss_plan_l1_fix_time: 0.9846, d2.loss_plan_l1_fix_dist: 0.1893, d3.loss_plan_l1_fix_time: 0.9836, d3.loss_plan_l1_fix_dist: 0.2095, d4.loss_plan_l1_fix_time: 0.9854, d4.loss_plan_l1_fix_dist: 0.2311, d5.loss_plan_l1_fix_time: 0.9878, d5.loss_plan_l1_fix_dist: 0.2525, d6.loss_plan_l1_fix_time: 0.9910, d6.loss_plan_l1_fix_dist: 0.2750, d0.loss_cls_all: 0.2564, d0.loss_bbox_all: 0.4828, d0.loss_cls: 0.2564, d0.loss_bbox: 0.4828, d1.loss_cls: 0.2506, d1.loss_bbox: 0.4512, d2.loss_cls: 0.2334, d2.loss_bbox: 0.4319, d3.loss_cls: 0.2209, d3.loss_bbox: 0.4262, d4.loss_cls: 0.2163, d4.loss_bbox: 0.4239, d5.loss_cls: 0.2143, d5.loss_bbox: 0.4228, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8741, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7079, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6693, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6577, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6570, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6582, d0.loss_map_cls_all: 0.2590, d0.loss_map_pts_all: 1.6026, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2590, d0.loss_map_pts: 1.6026, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2345, d1.loss_map_pts: 1.0753, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.2147, d2.loss_map_pts: 0.8891, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2030, d3.loss_map_pts: 0.8244, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1959, d4.loss_map_pts: 0.8009, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1918, d5.loss_map_pts: 0.7948, d5.loss_map_dir: 0.0115, loss: 30.9792, grad_norm: 171.7190 +2026-02-26 04:16:21,178 - DriveTransformer - INFO - Epoch [6][25750/39528] lr: 8.977e-05, eta: 6 days, 18:16:09, time: 0.811, data_time: 0.046, memory: 19865, loss_cls: 0.1550, loss_bbox: 0.3405, loss_traj: 0.6166, loss_traj_cls: 0.0009, loss_map_cls: 0.1527, loss_map_pts: 0.6911, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.2547, d0.loss_plan_l1_fix_dist: 0.4335, d1.loss_plan_l1_fix_time: 0.9852, d1.loss_plan_l1_fix_dist: 0.1735, d2.loss_plan_l1_fix_time: 0.9700, d2.loss_plan_l1_fix_dist: 0.1798, d3.loss_plan_l1_fix_time: 0.9654, d3.loss_plan_l1_fix_dist: 0.1929, d4.loss_plan_l1_fix_time: 0.9664, d4.loss_plan_l1_fix_dist: 0.2093, d5.loss_plan_l1_fix_time: 0.9690, d5.loss_plan_l1_fix_dist: 0.2264, d6.loss_plan_l1_fix_time: 0.9726, d6.loss_plan_l1_fix_dist: 0.2425, d0.loss_cls_all: 0.1862, d0.loss_bbox_all: 0.3989, d0.loss_cls: 0.1862, d0.loss_bbox: 0.3989, d1.loss_cls: 0.1788, d1.loss_bbox: 0.3643, d2.loss_cls: 0.1666, d2.loss_bbox: 0.3464, d3.loss_cls: 0.1591, d3.loss_bbox: 0.3411, d4.loss_cls: 0.1569, d4.loss_bbox: 0.3390, d5.loss_cls: 0.1547, d5.loss_bbox: 0.3403, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8070, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6557, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6161, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6086, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6079, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6102, d0.loss_map_cls_all: 0.2295, d0.loss_map_pts_all: 1.5610, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2295, d0.loss_map_pts: 1.5610, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1984, d1.loss_map_pts: 1.0294, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1775, d2.loss_map_pts: 0.8231, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1668, d3.loss_map_pts: 0.7439, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1607, d4.loss_map_pts: 0.7080, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1546, d5.loss_map_pts: 0.6936, d5.loss_map_dir: 0.0099, loss: 27.8391, grad_norm: 171.4696 +2026-02-26 04:17:00,083 - DriveTransformer - INFO - Epoch [6][25800/39528] lr: 8.977e-05, eta: 6 days, 18:15:24, time: 0.778, data_time: 0.036, memory: 19865, loss_cls: 0.1723, loss_bbox: 0.3677, loss_traj: 0.6673, loss_traj_cls: 0.0009, loss_map_cls: 0.1609, loss_map_pts: 0.7736, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.8020, d0.loss_plan_l1_fix_dist: 0.4240, d1.loss_plan_l1_fix_time: 1.1629, d1.loss_plan_l1_fix_dist: 0.2079, d2.loss_plan_l1_fix_time: 1.1351, d2.loss_plan_l1_fix_dist: 0.2240, d3.loss_plan_l1_fix_time: 1.1319, d3.loss_plan_l1_fix_dist: 0.2448, d4.loss_plan_l1_fix_time: 1.1337, d4.loss_plan_l1_fix_dist: 0.2695, d5.loss_plan_l1_fix_time: 1.1356, d5.loss_plan_l1_fix_dist: 0.2973, d6.loss_plan_l1_fix_time: 1.1381, d6.loss_plan_l1_fix_dist: 0.3294, d0.loss_cls_all: 0.2090, d0.loss_bbox_all: 0.4276, d0.loss_cls: 0.2090, d0.loss_bbox: 0.4276, d1.loss_cls: 0.2017, d1.loss_bbox: 0.3942, d2.loss_cls: 0.1879, d2.loss_bbox: 0.3766, d3.loss_cls: 0.1805, d3.loss_bbox: 0.3681, d4.loss_cls: 0.1753, d4.loss_bbox: 0.3651, d5.loss_cls: 0.1729, d5.loss_bbox: 0.3667, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8683, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7053, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6773, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6689, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6679, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6696, d0.loss_map_cls_all: 0.2329, d0.loss_map_pts_all: 1.5245, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2329, d0.loss_map_pts: 1.5245, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2058, d1.loss_map_pts: 1.0749, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1842, d2.loss_map_pts: 0.8874, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1717, d3.loss_map_pts: 0.8123, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1664, d4.loss_map_pts: 0.7831, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1628, d5.loss_map_pts: 0.7727, d5.loss_map_dir: 0.0098, loss: 30.9177, grad_norm: 171.9756 +2026-02-26 04:17:37,486 - DriveTransformer - INFO - Epoch [6][25850/39528] lr: 8.977e-05, eta: 6 days, 18:14:35, time: 0.748, data_time: 0.038, memory: 19865, loss_cls: 0.1870, loss_bbox: 0.3894, loss_traj: 0.6583, loss_traj_cls: 0.0009, loss_map_cls: 0.1826, loss_map_pts: 0.7185, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.8943, d0.loss_plan_l1_fix_dist: 0.4036, d1.loss_plan_l1_fix_time: 1.1618, d1.loss_plan_l1_fix_dist: 0.1955, d2.loss_plan_l1_fix_time: 1.1477, d2.loss_plan_l1_fix_dist: 0.2051, d3.loss_plan_l1_fix_time: 1.1446, d3.loss_plan_l1_fix_dist: 0.2271, d4.loss_plan_l1_fix_time: 1.1455, d4.loss_plan_l1_fix_dist: 0.2532, d5.loss_plan_l1_fix_time: 1.1469, d5.loss_plan_l1_fix_dist: 0.2824, d6.loss_plan_l1_fix_time: 1.1493, d6.loss_plan_l1_fix_dist: 0.3134, d0.loss_cls_all: 0.2247, d0.loss_bbox_all: 0.4573, d0.loss_cls: 0.2247, d0.loss_bbox: 0.4573, d1.loss_cls: 0.2178, d1.loss_bbox: 0.4212, d2.loss_cls: 0.2050, d2.loss_bbox: 0.3986, d3.loss_cls: 0.1930, d3.loss_bbox: 0.3916, d4.loss_cls: 0.1875, d4.loss_bbox: 0.3903, d5.loss_cls: 0.1865, d5.loss_bbox: 0.3900, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8679, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7139, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6691, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6636, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6608, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6573, d0.loss_map_cls_all: 0.2455, d0.loss_map_pts_all: 1.4430, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2455, d0.loss_map_pts: 1.4430, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.2260, d1.loss_map_pts: 0.9731, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.2067, d2.loss_map_pts: 0.8164, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1934, d3.loss_map_pts: 0.7550, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1879, d4.loss_map_pts: 0.7245, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1828, d5.loss_map_pts: 0.7187, d5.loss_map_dir: 0.0087, loss: 30.8197, grad_norm: 171.6834 +2026-02-26 04:18:17,418 - DriveTransformer - INFO - Epoch [6][25900/39528] lr: 8.977e-05, eta: 6 days, 18:13:53, time: 0.799, data_time: 0.036, memory: 19865, loss_cls: 0.1738, loss_bbox: 0.3948, loss_traj: 0.7146, loss_traj_cls: 0.0009, loss_map_cls: 0.1896, loss_map_pts: 0.8457, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.5851, d0.loss_plan_l1_fix_dist: 0.5101, d1.loss_plan_l1_fix_time: 1.0752, d1.loss_plan_l1_fix_dist: 0.2248, d2.loss_plan_l1_fix_time: 1.0548, d2.loss_plan_l1_fix_dist: 0.2395, d3.loss_plan_l1_fix_time: 1.0626, d3.loss_plan_l1_fix_dist: 0.2642, d4.loss_plan_l1_fix_time: 1.0672, d4.loss_plan_l1_fix_dist: 0.2903, d5.loss_plan_l1_fix_time: 1.0715, d5.loss_plan_l1_fix_dist: 0.3179, d6.loss_plan_l1_fix_time: 1.0763, d6.loss_plan_l1_fix_dist: 0.3443, d0.loss_cls_all: 0.2192, d0.loss_bbox_all: 0.4461, d0.loss_cls: 0.2192, d0.loss_bbox: 0.4461, d1.loss_cls: 0.2066, d1.loss_bbox: 0.4161, d2.loss_cls: 0.1922, d2.loss_bbox: 0.4045, d3.loss_cls: 0.1812, d3.loss_bbox: 0.3967, d4.loss_cls: 0.1751, d4.loss_bbox: 0.3962, d5.loss_cls: 0.1739, d5.loss_bbox: 0.3953, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9405, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8058, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7463, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7293, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7244, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7170, d0.loss_map_cls_all: 0.2644, d0.loss_map_pts_all: 1.6314, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2644, d0.loss_map_pts: 1.6314, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2323, d1.loss_map_pts: 1.1389, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2157, d2.loss_map_pts: 0.9459, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.2030, d3.loss_map_pts: 0.8791, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1964, d4.loss_map_pts: 0.8522, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1917, d5.loss_map_pts: 0.8455, d5.loss_map_dir: 0.0116, loss: 32.0231, grad_norm: 172.7728 +2026-02-26 04:18:56,865 - DriveTransformer - INFO - Epoch [6][25950/39528] lr: 8.977e-05, eta: 6 days, 18:13:10, time: 0.789, data_time: 0.038, memory: 19865, loss_cls: 0.1713, loss_bbox: 0.3753, loss_traj: 0.7025, loss_traj_cls: 0.0009, loss_map_cls: 0.1556, loss_map_pts: 0.6874, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.4950, d0.loss_plan_l1_fix_dist: 0.3577, d1.loss_plan_l1_fix_time: 1.0881, d1.loss_plan_l1_fix_dist: 0.2159, d2.loss_plan_l1_fix_time: 1.0751, d2.loss_plan_l1_fix_dist: 0.2326, d3.loss_plan_l1_fix_time: 1.0739, d3.loss_plan_l1_fix_dist: 0.2557, d4.loss_plan_l1_fix_time: 1.0763, d4.loss_plan_l1_fix_dist: 0.2800, d5.loss_plan_l1_fix_time: 1.0796, d5.loss_plan_l1_fix_dist: 0.3047, d6.loss_plan_l1_fix_time: 1.0838, d6.loss_plan_l1_fix_dist: 0.3299, d0.loss_cls_all: 0.2114, d0.loss_bbox_all: 0.4309, d0.loss_cls: 0.2114, d0.loss_bbox: 0.4309, d1.loss_cls: 0.2042, d1.loss_bbox: 0.4018, d2.loss_cls: 0.1902, d2.loss_bbox: 0.3851, d3.loss_cls: 0.1761, d3.loss_bbox: 0.3806, d4.loss_cls: 0.1740, d4.loss_bbox: 0.3768, d5.loss_cls: 0.1719, d5.loss_bbox: 0.3757, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9236, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7651, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7118, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7013, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7004, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7016, d0.loss_map_cls_all: 0.2183, d0.loss_map_pts_all: 1.3482, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2183, d0.loss_map_pts: 1.3482, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1912, d1.loss_map_pts: 0.9169, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1747, d2.loss_map_pts: 0.7672, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1653, d3.loss_map_pts: 0.7135, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1611, d4.loss_map_pts: 0.6942, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1570, d5.loss_map_pts: 0.6868, d5.loss_map_dir: 0.0096, loss: 29.5079, grad_norm: 174.5743 +2026-02-26 04:19:35,793 - DriveTransformer - INFO - Epoch [6][26000/39528] lr: 8.977e-05, eta: 6 days, 18:12:26, time: 0.778, data_time: 0.038, memory: 19865, loss_cls: 0.1784, loss_bbox: 0.3783, loss_traj: 0.6669, loss_traj_cls: 0.0009, loss_map_cls: 0.2019, loss_map_pts: 0.8450, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.9958, d0.loss_plan_l1_fix_dist: 0.4729, d1.loss_plan_l1_fix_time: 1.2006, d1.loss_plan_l1_fix_dist: 0.2412, d2.loss_plan_l1_fix_time: 1.1778, d2.loss_plan_l1_fix_dist: 0.2595, d3.loss_plan_l1_fix_time: 1.1858, d3.loss_plan_l1_fix_dist: 0.2855, d4.loss_plan_l1_fix_time: 1.1896, d4.loss_plan_l1_fix_dist: 0.3149, d5.loss_plan_l1_fix_time: 1.1936, d5.loss_plan_l1_fix_dist: 0.3470, d6.loss_plan_l1_fix_time: 1.1983, d6.loss_plan_l1_fix_dist: 0.3817, d0.loss_cls_all: 0.2140, d0.loss_bbox_all: 0.4375, d0.loss_cls: 0.2140, d0.loss_bbox: 0.4375, d1.loss_cls: 0.2054, d1.loss_bbox: 0.4035, d2.loss_cls: 0.1935, d2.loss_bbox: 0.3859, d3.loss_cls: 0.1835, d3.loss_bbox: 0.3802, d4.loss_cls: 0.1765, d4.loss_bbox: 0.3805, d5.loss_cls: 0.1787, d5.loss_bbox: 0.3787, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8415, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7022, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6662, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6569, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6615, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6626, d0.loss_map_cls_all: 0.2648, d0.loss_map_pts_all: 1.6201, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2648, d0.loss_map_pts: 1.6201, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2362, d1.loss_map_pts: 1.1397, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2210, d2.loss_map_pts: 0.9448, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.2105, d3.loss_map_pts: 0.8751, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.2034, d4.loss_map_pts: 0.8517, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.2023, d5.loss_map_pts: 0.8457, d5.loss_map_dir: 0.0112, loss: 32.6688, grad_norm: 177.5925 +2026-02-26 04:20:14,236 - DriveTransformer - INFO - Epoch [6][26050/39528] lr: 8.977e-05, eta: 6 days, 18:11:40, time: 0.769, data_time: 0.045, memory: 19865, loss_cls: 0.1726, loss_bbox: 0.3620, loss_traj: 0.6428, loss_traj_cls: 0.0010, loss_map_cls: 0.1677, loss_map_pts: 0.7261, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.4395, d0.loss_plan_l1_fix_dist: 0.4594, d1.loss_plan_l1_fix_time: 1.0002, d1.loss_plan_l1_fix_dist: 0.1988, d2.loss_plan_l1_fix_time: 0.9768, d2.loss_plan_l1_fix_dist: 0.2111, d3.loss_plan_l1_fix_time: 0.9808, d3.loss_plan_l1_fix_dist: 0.2332, d4.loss_plan_l1_fix_time: 0.9838, d4.loss_plan_l1_fix_dist: 0.2575, d5.loss_plan_l1_fix_time: 0.9871, d5.loss_plan_l1_fix_dist: 0.2847, d6.loss_plan_l1_fix_time: 0.9914, d6.loss_plan_l1_fix_dist: 0.3127, d0.loss_cls_all: 0.2082, d0.loss_bbox_all: 0.4164, d0.loss_cls: 0.2082, d0.loss_bbox: 0.4164, d1.loss_cls: 0.1934, d1.loss_bbox: 0.3872, d2.loss_cls: 0.1821, d2.loss_bbox: 0.3707, d3.loss_cls: 0.1736, d3.loss_bbox: 0.3635, d4.loss_cls: 0.1731, d4.loss_bbox: 0.3607, d5.loss_cls: 0.1729, d5.loss_bbox: 0.3606, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8242, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6816, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6367, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6285, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6364, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6361, d0.loss_map_cls_all: 0.2479, d0.loss_map_pts_all: 1.5364, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2479, d0.loss_map_pts: 1.5364, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2201, d1.loss_map_pts: 1.0343, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1998, d2.loss_map_pts: 0.8269, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1834, d3.loss_map_pts: 0.7527, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1763, d4.loss_map_pts: 0.7324, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1707, d5.loss_map_pts: 0.7251, d5.loss_map_dir: 0.0101, loss: 29.0928, grad_norm: 180.4439 +2026-02-26 04:20:52,275 - DriveTransformer - INFO - Epoch [6][26100/39528] lr: 8.977e-05, eta: 6 days, 18:10:52, time: 0.761, data_time: 0.049, memory: 19865, loss_cls: 0.2016, loss_bbox: 0.3998, loss_traj: 0.8190, loss_traj_cls: 0.0010, loss_map_cls: 0.1616, loss_map_pts: 0.7075, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.6299, d0.loss_plan_l1_fix_dist: 0.3559, d1.loss_plan_l1_fix_time: 1.2001, d1.loss_plan_l1_fix_dist: 0.1823, d2.loss_plan_l1_fix_time: 1.1814, d2.loss_plan_l1_fix_dist: 0.1906, d3.loss_plan_l1_fix_time: 1.1837, d3.loss_plan_l1_fix_dist: 0.2076, d4.loss_plan_l1_fix_time: 1.1852, d4.loss_plan_l1_fix_dist: 0.2253, d5.loss_plan_l1_fix_time: 1.1868, d5.loss_plan_l1_fix_dist: 0.2445, d6.loss_plan_l1_fix_time: 1.1891, d6.loss_plan_l1_fix_dist: 0.2639, d0.loss_cls_all: 0.2370, d0.loss_bbox_all: 0.4544, d0.loss_cls: 0.2370, d0.loss_bbox: 0.4544, d1.loss_cls: 0.2233, d1.loss_bbox: 0.4231, d2.loss_cls: 0.2125, d2.loss_bbox: 0.4103, d3.loss_cls: 0.2052, d3.loss_bbox: 0.4042, d4.loss_cls: 0.2037, d4.loss_bbox: 0.4007, d5.loss_cls: 0.2014, d5.loss_bbox: 0.3993, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0598, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8657, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8335, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8249, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8209, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8161, d0.loss_map_cls_all: 0.2347, d0.loss_map_pts_all: 1.3740, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2347, d0.loss_map_pts: 1.3740, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2034, d1.loss_map_pts: 0.9483, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1833, d2.loss_map_pts: 0.8030, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1746, d3.loss_map_pts: 0.7449, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1700, d4.loss_map_pts: 0.7196, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1660, d5.loss_map_pts: 0.7088, d5.loss_map_dir: 0.0101, loss: 31.5289, grad_norm: 180.9959 +2026-02-26 04:21:30,399 - DriveTransformer - INFO - Epoch [6][26150/39528] lr: 8.977e-05, eta: 6 days, 18:10:05, time: 0.763, data_time: 0.040, memory: 19865, loss_cls: 0.1849, loss_bbox: 0.3890, loss_traj: 0.7242, loss_traj_cls: 0.0010, loss_map_cls: 0.1836, loss_map_pts: 0.7718, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.8428, d0.loss_plan_l1_fix_dist: 0.5086, d1.loss_plan_l1_fix_time: 1.2236, d1.loss_plan_l1_fix_dist: 0.2417, d2.loss_plan_l1_fix_time: 1.2055, d2.loss_plan_l1_fix_dist: 0.2557, d3.loss_plan_l1_fix_time: 1.2058, d3.loss_plan_l1_fix_dist: 0.2780, d4.loss_plan_l1_fix_time: 1.2083, d4.loss_plan_l1_fix_dist: 0.3048, d5.loss_plan_l1_fix_time: 1.2110, d5.loss_plan_l1_fix_dist: 0.3345, d6.loss_plan_l1_fix_time: 1.2141, d6.loss_plan_l1_fix_dist: 0.3700, d0.loss_cls_all: 0.2280, d0.loss_bbox_all: 0.4410, d0.loss_cls: 0.2280, d0.loss_bbox: 0.4410, d1.loss_cls: 0.2184, d1.loss_bbox: 0.4110, d2.loss_cls: 0.1993, d2.loss_bbox: 0.3935, d3.loss_cls: 0.1900, d3.loss_bbox: 0.3895, d4.loss_cls: 0.1839, d4.loss_bbox: 0.3900, d5.loss_cls: 0.1845, d5.loss_bbox: 0.3884, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9408, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7565, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7354, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7208, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7172, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7185, d0.loss_map_cls_all: 0.2526, d0.loss_map_pts_all: 1.4668, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2526, d0.loss_map_pts: 1.4668, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2287, d1.loss_map_pts: 1.0446, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.2057, d2.loss_map_pts: 0.8644, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1960, d3.loss_map_pts: 0.7982, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1892, d4.loss_map_pts: 0.7768, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1845, d5.loss_map_pts: 0.7718, d5.loss_map_dir: 0.0103, loss: 32.3182, grad_norm: 188.8562 +2026-02-26 04:22:10,072 - DriveTransformer - INFO - Epoch [6][26200/39528] lr: 8.977e-05, eta: 6 days, 18:09:23, time: 0.795, data_time: 0.037, memory: 19865, loss_cls: 0.1677, loss_bbox: 0.3576, loss_traj: 0.6901, loss_traj_cls: 0.0010, loss_map_cls: 0.1474, loss_map_pts: 0.6877, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.3557, d0.loss_plan_l1_fix_dist: 0.3977, d1.loss_plan_l1_fix_time: 1.1372, d1.loss_plan_l1_fix_dist: 0.1980, d2.loss_plan_l1_fix_time: 1.1169, d2.loss_plan_l1_fix_dist: 0.2078, d3.loss_plan_l1_fix_time: 1.1122, d3.loss_plan_l1_fix_dist: 0.2241, d4.loss_plan_l1_fix_time: 1.1137, d4.loss_plan_l1_fix_dist: 0.2432, d5.loss_plan_l1_fix_time: 1.1161, d5.loss_plan_l1_fix_dist: 0.2650, d6.loss_plan_l1_fix_time: 1.1195, d6.loss_plan_l1_fix_dist: 0.2884, d0.loss_cls_all: 0.2038, d0.loss_bbox_all: 0.4158, d0.loss_cls: 0.2038, d0.loss_bbox: 0.4158, d1.loss_cls: 0.1958, d1.loss_bbox: 0.3825, d2.loss_cls: 0.1799, d2.loss_bbox: 0.3693, d3.loss_cls: 0.1699, d3.loss_bbox: 0.3622, d4.loss_cls: 0.1675, d4.loss_bbox: 0.3593, d5.loss_cls: 0.1668, d5.loss_bbox: 0.3589, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9426, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7616, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7066, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6995, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6969, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6961, d0.loss_map_cls_all: 0.2277, d0.loss_map_pts_all: 1.4318, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2277, d0.loss_map_pts: 1.4318, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1936, d1.loss_map_pts: 0.9723, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1725, d2.loss_map_pts: 0.7947, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1624, d3.loss_map_pts: 0.7265, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1550, d4.loss_map_pts: 0.6975, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1503, d5.loss_map_pts: 0.6895, d5.loss_map_dir: 0.0100, loss: 29.5192, grad_norm: 189.5750 +2026-02-26 04:22:49,872 - DriveTransformer - INFO - Epoch [6][26250/39528] lr: 8.977e-05, eta: 6 days, 18:08:41, time: 0.795, data_time: 0.034, memory: 19865, loss_cls: 0.1777, loss_bbox: 0.4026, loss_traj: 0.5966, loss_traj_cls: 0.0010, loss_map_cls: 0.1698, loss_map_pts: 0.7948, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.8620, d0.loss_plan_l1_fix_dist: 0.3537, d1.loss_plan_l1_fix_time: 1.1650, d1.loss_plan_l1_fix_dist: 0.1895, d2.loss_plan_l1_fix_time: 1.1436, d2.loss_plan_l1_fix_dist: 0.1988, d3.loss_plan_l1_fix_time: 1.1408, d3.loss_plan_l1_fix_dist: 0.2160, d4.loss_plan_l1_fix_time: 1.1420, d4.loss_plan_l1_fix_dist: 0.2332, d5.loss_plan_l1_fix_time: 1.1439, d5.loss_plan_l1_fix_dist: 0.2522, d6.loss_plan_l1_fix_time: 1.1465, d6.loss_plan_l1_fix_dist: 0.2709, d0.loss_cls_all: 0.2127, d0.loss_bbox_all: 0.4584, d0.loss_cls: 0.2127, d0.loss_bbox: 0.4584, d1.loss_cls: 0.2097, d1.loss_bbox: 0.4267, d2.loss_cls: 0.1935, d2.loss_bbox: 0.4102, d3.loss_cls: 0.1838, d3.loss_bbox: 0.4038, d4.loss_cls: 0.1784, d4.loss_bbox: 0.4031, d5.loss_cls: 0.1770, d5.loss_bbox: 0.4032, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7484, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6341, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6014, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6012, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5986, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5941, d0.loss_map_cls_all: 0.2430, d0.loss_map_pts_all: 1.6261, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2430, d0.loss_map_pts: 1.6261, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2115, d1.loss_map_pts: 1.1161, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.1914, d2.loss_map_pts: 0.9106, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.1823, d3.loss_map_pts: 0.8353, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1759, d4.loss_map_pts: 0.8031, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1717, d5.loss_map_pts: 0.7966, d5.loss_map_dir: 0.0120, loss: 30.9409, grad_norm: 189.2579 +2026-02-26 04:23:29,877 - DriveTransformer - INFO - Epoch [6][26300/39528] lr: 8.977e-05, eta: 6 days, 18:08:00, time: 0.800, data_time: 0.039, memory: 19865, loss_cls: 0.1954, loss_bbox: 0.4208, loss_traj: 0.6942, loss_traj_cls: 0.0009, loss_map_cls: 0.2187, loss_map_pts: 0.9181, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 3.0681, d0.loss_plan_l1_fix_dist: 0.3860, d1.loss_plan_l1_fix_time: 1.2795, d1.loss_plan_l1_fix_dist: 0.2110, d2.loss_plan_l1_fix_time: 1.2639, d2.loss_plan_l1_fix_dist: 0.2199, d3.loss_plan_l1_fix_time: 1.2561, d3.loss_plan_l1_fix_dist: 0.2335, d4.loss_plan_l1_fix_time: 1.2572, d4.loss_plan_l1_fix_dist: 0.2517, d5.loss_plan_l1_fix_time: 1.2591, d5.loss_plan_l1_fix_dist: 0.2733, d6.loss_plan_l1_fix_time: 1.2615, d6.loss_plan_l1_fix_dist: 0.2973, d0.loss_cls_all: 0.2292, d0.loss_bbox_all: 0.4855, d0.loss_cls: 0.2292, d0.loss_bbox: 0.4855, d1.loss_cls: 0.2238, d1.loss_bbox: 0.4477, d2.loss_cls: 0.2105, d2.loss_bbox: 0.4295, d3.loss_cls: 0.2004, d3.loss_bbox: 0.4222, d4.loss_cls: 0.1951, d4.loss_bbox: 0.4223, d5.loss_cls: 0.1956, d5.loss_bbox: 0.4200, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9504, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7625, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7147, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7007, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7008, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6911, d0.loss_map_cls_all: 0.2867, d0.loss_map_pts_all: 1.7826, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2867, d0.loss_map_pts: 1.7826, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2639, d1.loss_map_pts: 1.2631, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2411, d2.loss_map_pts: 1.0534, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2305, d3.loss_map_pts: 0.9680, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.2252, d4.loss_map_pts: 0.9303, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.2205, d5.loss_map_pts: 0.9204, d5.loss_map_dir: 0.0122, loss: 34.6369, grad_norm: 190.2250 +2026-02-26 04:24:07,915 - DriveTransformer - INFO - Epoch [6][26350/39528] lr: 8.977e-05, eta: 6 days, 18:07:12, time: 0.761, data_time: 0.039, memory: 19865, loss_cls: 0.1674, loss_bbox: 0.3576, loss_traj: 0.7950, loss_traj_cls: 0.0009, loss_map_cls: 0.1652, loss_map_pts: 0.6974, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.5672, d0.loss_plan_l1_fix_dist: 0.4466, d1.loss_plan_l1_fix_time: 1.1924, d1.loss_plan_l1_fix_dist: 0.1773, d2.loss_plan_l1_fix_time: 1.1803, d2.loss_plan_l1_fix_dist: 0.1873, d3.loss_plan_l1_fix_time: 1.1798, d3.loss_plan_l1_fix_dist: 0.2044, d4.loss_plan_l1_fix_time: 1.1824, d4.loss_plan_l1_fix_dist: 0.2273, d5.loss_plan_l1_fix_time: 1.1853, d5.loss_plan_l1_fix_dist: 0.2507, d6.loss_plan_l1_fix_time: 1.1890, d6.loss_plan_l1_fix_dist: 0.2737, d0.loss_cls_all: 0.1922, d0.loss_bbox_all: 0.4168, d0.loss_cls: 0.1922, d0.loss_bbox: 0.4168, d1.loss_cls: 0.1897, d1.loss_bbox: 0.3802, d2.loss_cls: 0.1785, d2.loss_bbox: 0.3634, d3.loss_cls: 0.1710, d3.loss_bbox: 0.3583, d4.loss_cls: 0.1665, d4.loss_bbox: 0.3586, d5.loss_cls: 0.1652, d5.loss_bbox: 0.3576, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0799, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8842, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8069, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7978, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7970, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7928, d0.loss_map_cls_all: 0.2250, d0.loss_map_pts_all: 1.3951, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2250, d0.loss_map_pts: 1.3951, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2003, d1.loss_map_pts: 0.9818, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1851, d2.loss_map_pts: 0.8112, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1765, d3.loss_map_pts: 0.7397, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1706, d4.loss_map_pts: 0.7101, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1670, d5.loss_map_pts: 0.6994, d5.loss_map_dir: 0.0086, loss: 30.8476, grad_norm: 188.1237 +2026-02-26 04:24:46,391 - DriveTransformer - INFO - Epoch [6][26400/39528] lr: 8.977e-05, eta: 6 days, 18:06:26, time: 0.770, data_time: 0.038, memory: 19865, loss_cls: 0.1605, loss_bbox: 0.3673, loss_traj: 0.7579, loss_traj_cls: 0.0009, loss_map_cls: 0.1670, loss_map_pts: 0.6997, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.4675, d0.loss_plan_l1_fix_dist: 0.3336, d1.loss_plan_l1_fix_time: 1.1570, d1.loss_plan_l1_fix_dist: 0.1753, d2.loss_plan_l1_fix_time: 1.1505, d2.loss_plan_l1_fix_dist: 0.1833, d3.loss_plan_l1_fix_time: 1.1487, d3.loss_plan_l1_fix_dist: 0.2020, d4.loss_plan_l1_fix_time: 1.1503, d4.loss_plan_l1_fix_dist: 0.2204, d5.loss_plan_l1_fix_time: 1.1523, d5.loss_plan_l1_fix_dist: 0.2409, d6.loss_plan_l1_fix_time: 1.1549, d6.loss_plan_l1_fix_dist: 0.2653, d0.loss_cls_all: 0.1965, d0.loss_bbox_all: 0.4307, d0.loss_cls: 0.1965, d0.loss_bbox: 0.4307, d1.loss_cls: 0.1877, d1.loss_bbox: 0.3966, d2.loss_cls: 0.1787, d2.loss_bbox: 0.3769, d3.loss_cls: 0.1657, d3.loss_bbox: 0.3723, d4.loss_cls: 0.1608, d4.loss_bbox: 0.3688, d5.loss_cls: 0.1599, d5.loss_bbox: 0.3670, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0160, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8288, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7780, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7661, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7635, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7567, d0.loss_map_cls_all: 0.2489, d0.loss_map_pts_all: 1.5706, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2489, d0.loss_map_pts: 1.5706, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2147, d1.loss_map_pts: 1.0298, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.1981, d2.loss_map_pts: 0.8327, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1855, d3.loss_map_pts: 0.7518, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1773, d4.loss_map_pts: 0.7130, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1697, d5.loss_map_pts: 0.7006, d5.loss_map_dir: 0.0113, loss: 30.7583, grad_norm: 195.8040 +2026-02-26 04:25:24,391 - DriveTransformer - INFO - Epoch [6][26450/39528] lr: 8.977e-05, eta: 6 days, 18:05:39, time: 0.760, data_time: 0.034, memory: 19865, loss_cls: 0.1791, loss_bbox: 0.3954, loss_traj: 0.7239, loss_traj_cls: 0.0009, loss_map_cls: 0.1846, loss_map_pts: 0.7557, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.8297, d0.loss_plan_l1_fix_dist: 0.4485, d1.loss_plan_l1_fix_time: 1.1517, d1.loss_plan_l1_fix_dist: 0.2384, d2.loss_plan_l1_fix_time: 1.1360, d2.loss_plan_l1_fix_dist: 0.2576, d3.loss_plan_l1_fix_time: 1.1319, d3.loss_plan_l1_fix_dist: 0.2904, d4.loss_plan_l1_fix_time: 1.1339, d4.loss_plan_l1_fix_dist: 0.3258, d5.loss_plan_l1_fix_time: 1.1367, d5.loss_plan_l1_fix_dist: 0.3666, d6.loss_plan_l1_fix_time: 1.1401, d6.loss_plan_l1_fix_dist: 0.4114, d0.loss_cls_all: 0.2138, d0.loss_bbox_all: 0.4435, d0.loss_cls: 0.2138, d0.loss_bbox: 0.4435, d1.loss_cls: 0.2048, d1.loss_bbox: 0.4106, d2.loss_cls: 0.1918, d2.loss_bbox: 0.3971, d3.loss_cls: 0.1851, d3.loss_bbox: 0.3914, d4.loss_cls: 0.1788, d4.loss_bbox: 0.3918, d5.loss_cls: 0.1781, d5.loss_bbox: 0.3926, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9756, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7849, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7317, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7238, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7299, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7262, d0.loss_map_cls_all: 0.2495, d0.loss_map_pts_all: 1.4945, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2495, d0.loss_map_pts: 1.4945, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2240, d1.loss_map_pts: 1.0467, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2023, d2.loss_map_pts: 0.8704, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1943, d3.loss_map_pts: 0.7990, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1893, d4.loss_map_pts: 0.7700, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1860, d5.loss_map_pts: 0.7558, d5.loss_map_dir: 0.0109, loss: 31.9649, grad_norm: 196.6557 +2026-02-26 04:26:02,450 - DriveTransformer - INFO - Epoch [6][26500/39528] lr: 8.977e-05, eta: 6 days, 18:04:51, time: 0.761, data_time: 0.047, memory: 19865, loss_cls: 0.1710, loss_bbox: 0.3510, loss_traj: 0.7299, loss_traj_cls: 0.0009, loss_map_cls: 0.1185, loss_map_pts: 0.5673, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.4705, d0.loss_plan_l1_fix_dist: 0.3870, d1.loss_plan_l1_fix_time: 1.3295, d1.loss_plan_l1_fix_dist: 0.2056, d2.loss_plan_l1_fix_time: 1.3100, d2.loss_plan_l1_fix_dist: 0.2151, d3.loss_plan_l1_fix_time: 1.3066, d3.loss_plan_l1_fix_dist: 0.2337, d4.loss_plan_l1_fix_time: 1.3083, d4.loss_plan_l1_fix_dist: 0.2545, d5.loss_plan_l1_fix_time: 1.3106, d5.loss_plan_l1_fix_dist: 0.2762, d6.loss_plan_l1_fix_time: 1.3136, d6.loss_plan_l1_fix_dist: 0.3030, d0.loss_cls_all: 0.2066, d0.loss_bbox_all: 0.4008, d0.loss_cls: 0.2066, d0.loss_bbox: 0.4008, d1.loss_cls: 0.1992, d1.loss_bbox: 0.3697, d2.loss_cls: 0.1865, d2.loss_bbox: 0.3544, d3.loss_cls: 0.1781, d3.loss_bbox: 0.3491, d4.loss_cls: 0.1734, d4.loss_bbox: 0.3482, d5.loss_cls: 0.1717, d5.loss_bbox: 0.3491, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8986, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7875, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7327, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7240, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7315, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7275, d0.loss_map_cls_all: 0.1756, d0.loss_map_pts_all: 1.1604, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1756, d0.loss_map_pts: 1.1604, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1526, d1.loss_map_pts: 0.7919, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1389, d2.loss_map_pts: 0.6541, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1293, d3.loss_map_pts: 0.6003, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1245, d4.loss_map_pts: 0.5753, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1196, d5.loss_map_pts: 0.5683, d5.loss_map_dir: 0.0081, loss: 29.2559, grad_norm: 192.8439 +2026-02-26 04:26:42,082 - DriveTransformer - INFO - Epoch [6][26550/39528] lr: 8.977e-05, eta: 6 days, 18:04:09, time: 0.793, data_time: 0.039, memory: 19865, loss_cls: 0.1617, loss_bbox: 0.3614, loss_traj: 0.7424, loss_traj_cls: 0.0010, loss_map_cls: 0.1407, loss_map_pts: 0.6624, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.5746, d0.loss_plan_l1_fix_dist: 0.4029, d1.loss_plan_l1_fix_time: 1.2102, d1.loss_plan_l1_fix_dist: 0.1969, d2.loss_plan_l1_fix_time: 1.1895, d2.loss_plan_l1_fix_dist: 0.2100, d3.loss_plan_l1_fix_time: 1.1859, d3.loss_plan_l1_fix_dist: 0.2291, d4.loss_plan_l1_fix_time: 1.1894, d4.loss_plan_l1_fix_dist: 0.2495, d5.loss_plan_l1_fix_time: 1.1937, d5.loss_plan_l1_fix_dist: 0.2656, d6.loss_plan_l1_fix_time: 1.1990, d6.loss_plan_l1_fix_dist: 0.2803, d0.loss_cls_all: 0.2011, d0.loss_bbox_all: 0.4174, d0.loss_cls: 0.2011, d0.loss_bbox: 0.4174, d1.loss_cls: 0.1955, d1.loss_bbox: 0.3840, d2.loss_cls: 0.1852, d2.loss_bbox: 0.3672, d3.loss_cls: 0.1696, d3.loss_bbox: 0.3626, d4.loss_cls: 0.1655, d4.loss_bbox: 0.3587, d5.loss_cls: 0.1624, d5.loss_bbox: 0.3594, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9729, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8188, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7682, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7516, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7472, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7417, d0.loss_map_cls_all: 0.2177, d0.loss_map_pts_all: 1.4102, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2177, d0.loss_map_pts: 1.4102, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1903, d1.loss_map_pts: 0.9267, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1682, d2.loss_map_pts: 0.7548, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1546, d3.loss_map_pts: 0.6946, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1485, d4.loss_map_pts: 0.6701, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1412, d5.loss_map_pts: 0.6628, d5.loss_map_dir: 0.0106, loss: 30.2492, grad_norm: 187.6402 +2026-02-26 04:27:21,484 - DriveTransformer - INFO - Epoch [6][26600/39528] lr: 8.977e-05, eta: 6 days, 18:03:26, time: 0.788, data_time: 0.044, memory: 19865, loss_cls: 0.2052, loss_bbox: 0.4169, loss_traj: 0.8281, loss_traj_cls: 0.0009, loss_map_cls: 0.2150, loss_map_pts: 0.8979, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 3.1020, d0.loss_plan_l1_fix_dist: 0.3433, d1.loss_plan_l1_fix_time: 1.1407, d1.loss_plan_l1_fix_dist: 0.1891, d2.loss_plan_l1_fix_time: 1.1352, d2.loss_plan_l1_fix_dist: 0.2036, d3.loss_plan_l1_fix_time: 1.1397, d3.loss_plan_l1_fix_dist: 0.2207, d4.loss_plan_l1_fix_time: 1.1445, d4.loss_plan_l1_fix_dist: 0.2423, d5.loss_plan_l1_fix_time: 1.1494, d5.loss_plan_l1_fix_dist: 0.2640, d6.loss_plan_l1_fix_time: 1.1548, d6.loss_plan_l1_fix_dist: 0.2808, d0.loss_cls_all: 0.2588, d0.loss_bbox_all: 0.4721, d0.loss_cls: 0.2588, d0.loss_bbox: 0.4721, d1.loss_cls: 0.2441, d1.loss_bbox: 0.4409, d2.loss_cls: 0.2311, d2.loss_bbox: 0.4221, d3.loss_cls: 0.2166, d3.loss_bbox: 0.4157, d4.loss_cls: 0.2096, d4.loss_bbox: 0.4152, d5.loss_cls: 0.2070, d5.loss_bbox: 0.4150, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0640, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8892, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8381, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8304, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8243, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.8245, d0.loss_map_cls_all: 0.2937, d0.loss_map_pts_all: 1.7158, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2937, d0.loss_map_pts: 1.7158, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2604, d1.loss_map_pts: 1.2036, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2399, d2.loss_map_pts: 1.0180, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2275, d3.loss_map_pts: 0.9416, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.2198, d4.loss_map_pts: 0.9076, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.2153, d5.loss_map_pts: 0.8997, d5.loss_map_dir: 0.0118, loss: 34.4741, grad_norm: 188.2705 +2026-02-26 04:28:00,172 - DriveTransformer - INFO - Epoch [6][26650/39528] lr: 8.977e-05, eta: 6 days, 18:02:40, time: 0.774, data_time: 0.044, memory: 19865, loss_cls: 0.1479, loss_bbox: 0.3368, loss_traj: 0.6664, loss_traj_cls: 0.0010, loss_map_cls: 0.1400, loss_map_pts: 0.6584, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.3689, d0.loss_plan_l1_fix_dist: 0.4137, d1.loss_plan_l1_fix_time: 1.0624, d1.loss_plan_l1_fix_dist: 0.1988, d2.loss_plan_l1_fix_time: 1.0574, d2.loss_plan_l1_fix_dist: 0.2069, d3.loss_plan_l1_fix_time: 1.0616, d3.loss_plan_l1_fix_dist: 0.2191, d4.loss_plan_l1_fix_time: 1.0668, d4.loss_plan_l1_fix_dist: 0.2345, d5.loss_plan_l1_fix_time: 1.0718, d5.loss_plan_l1_fix_dist: 0.2522, d6.loss_plan_l1_fix_time: 1.0770, d6.loss_plan_l1_fix_dist: 0.2713, d0.loss_cls_all: 0.1756, d0.loss_bbox_all: 0.3979, d0.loss_cls: 0.1756, d0.loss_bbox: 0.3979, d1.loss_cls: 0.1685, d1.loss_bbox: 0.3635, d2.loss_cls: 0.1599, d2.loss_bbox: 0.3458, d3.loss_cls: 0.1511, d3.loss_bbox: 0.3405, d4.loss_cls: 0.1479, d4.loss_bbox: 0.3377, d5.loss_cls: 0.1476, d5.loss_bbox: 0.3366, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8970, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7202, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6697, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6614, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6709, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6670, d0.loss_map_cls_all: 0.2052, d0.loss_map_pts_all: 1.3880, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2052, d0.loss_map_pts: 1.3880, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1793, d1.loss_map_pts: 0.9365, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1589, d2.loss_map_pts: 0.7688, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1500, d3.loss_map_pts: 0.7012, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1457, d4.loss_map_pts: 0.6715, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1399, d5.loss_map_pts: 0.6596, d5.loss_map_dir: 0.0100, loss: 28.2270, grad_norm: 187.4099 +2026-02-26 04:28:37,983 - DriveTransformer - INFO - Epoch [6][26700/39528] lr: 8.977e-05, eta: 6 days, 18:01:52, time: 0.756, data_time: 0.038, memory: 19865, loss_cls: 0.1825, loss_bbox: 0.3769, loss_traj: 0.7746, loss_traj_cls: 0.0010, loss_map_cls: 0.1738, loss_map_pts: 0.7784, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 3.1438, d0.loss_plan_l1_fix_dist: 0.4964, d1.loss_plan_l1_fix_time: 1.3597, d1.loss_plan_l1_fix_dist: 0.2274, d2.loss_plan_l1_fix_time: 1.3483, d2.loss_plan_l1_fix_dist: 0.2400, d3.loss_plan_l1_fix_time: 1.3480, d3.loss_plan_l1_fix_dist: 0.2590, d4.loss_plan_l1_fix_time: 1.3517, d4.loss_plan_l1_fix_dist: 0.2795, d5.loss_plan_l1_fix_time: 1.3562, d5.loss_plan_l1_fix_dist: 0.3039, d6.loss_plan_l1_fix_time: 1.3613, d6.loss_plan_l1_fix_dist: 0.3334, d0.loss_cls_all: 0.2122, d0.loss_bbox_all: 0.4337, d0.loss_cls: 0.2122, d0.loss_bbox: 0.4337, d1.loss_cls: 0.2085, d1.loss_bbox: 0.4025, d2.loss_cls: 0.2004, d2.loss_bbox: 0.3843, d3.loss_cls: 0.1922, d3.loss_bbox: 0.3771, d4.loss_cls: 0.1838, d4.loss_bbox: 0.3773, d5.loss_cls: 0.1810, d5.loss_bbox: 0.3783, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9922, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8234, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7861, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7788, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7775, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7763, d0.loss_map_cls_all: 0.2341, d0.loss_map_pts_all: 1.4959, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2341, d0.loss_map_pts: 1.4959, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2083, d1.loss_map_pts: 1.0404, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1933, d2.loss_map_pts: 0.8782, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1844, d3.loss_map_pts: 0.8129, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1765, d4.loss_map_pts: 0.7907, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1732, d5.loss_map_pts: 0.7809, d5.loss_map_dir: 0.0105, loss: 33.5923, grad_norm: 185.3642 +2026-02-26 04:29:16,976 - DriveTransformer - INFO - Epoch [6][26750/39528] lr: 8.977e-05, eta: 6 days, 18:01:08, time: 0.780, data_time: 0.037, memory: 19865, loss_cls: 0.1634, loss_bbox: 0.3605, loss_traj: 0.7305, loss_traj_cls: 0.0010, loss_map_cls: 0.1923, loss_map_pts: 0.7801, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.4554, d0.loss_plan_l1_fix_dist: 0.4076, d1.loss_plan_l1_fix_time: 1.1319, d1.loss_plan_l1_fix_dist: 0.2063, d2.loss_plan_l1_fix_time: 1.1154, d2.loss_plan_l1_fix_dist: 0.2167, d3.loss_plan_l1_fix_time: 1.1209, d3.loss_plan_l1_fix_dist: 0.2321, d4.loss_plan_l1_fix_time: 1.1261, d4.loss_plan_l1_fix_dist: 0.2500, d5.loss_plan_l1_fix_time: 1.1320, d5.loss_plan_l1_fix_dist: 0.2709, d6.loss_plan_l1_fix_time: 1.1384, d6.loss_plan_l1_fix_dist: 0.2957, d0.loss_cls_all: 0.1958, d0.loss_bbox_all: 0.4147, d0.loss_cls: 0.1958, d0.loss_bbox: 0.4147, d1.loss_cls: 0.1883, d1.loss_bbox: 0.3840, d2.loss_cls: 0.1783, d2.loss_bbox: 0.3676, d3.loss_cls: 0.1703, d3.loss_bbox: 0.3612, d4.loss_cls: 0.1644, d4.loss_bbox: 0.3602, d5.loss_cls: 0.1620, d5.loss_bbox: 0.3606, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9741, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7896, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7473, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7359, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7351, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7328, d0.loss_map_cls_all: 0.2633, d0.loss_map_pts_all: 1.4901, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2633, d0.loss_map_pts: 1.4901, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2326, d1.loss_map_pts: 1.0463, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.2139, d2.loss_map_pts: 0.8742, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.2040, d3.loss_map_pts: 0.8112, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1961, d4.loss_map_pts: 0.7839, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1926, d5.loss_map_pts: 0.7793, d5.loss_map_dir: 0.0106, loss: 30.8880, grad_norm: 185.9365 +2026-02-26 04:29:55,985 - DriveTransformer - INFO - Epoch [6][26800/39528] lr: 8.977e-05, eta: 6 days, 18:00:24, time: 0.780, data_time: 0.047, memory: 19865, loss_cls: 0.1933, loss_bbox: 0.3929, loss_traj: 0.6896, loss_traj_cls: 0.0009, loss_map_cls: 0.1791, loss_map_pts: 0.7862, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.6269, d0.loss_plan_l1_fix_dist: 0.3857, d1.loss_plan_l1_fix_time: 1.1286, d1.loss_plan_l1_fix_dist: 0.2062, d2.loss_plan_l1_fix_time: 1.1207, d2.loss_plan_l1_fix_dist: 0.2160, d3.loss_plan_l1_fix_time: 1.1267, d3.loss_plan_l1_fix_dist: 0.2332, d4.loss_plan_l1_fix_time: 1.1317, d4.loss_plan_l1_fix_dist: 0.2564, d5.loss_plan_l1_fix_time: 1.1366, d5.loss_plan_l1_fix_dist: 0.2815, d6.loss_plan_l1_fix_time: 1.1420, d6.loss_plan_l1_fix_dist: 0.3085, d0.loss_cls_all: 0.2270, d0.loss_bbox_all: 0.4392, d0.loss_cls: 0.2270, d0.loss_bbox: 0.4392, d1.loss_cls: 0.2190, d1.loss_bbox: 0.4091, d2.loss_cls: 0.2055, d2.loss_bbox: 0.3925, d3.loss_cls: 0.2007, d3.loss_bbox: 0.3856, d4.loss_cls: 0.1937, d4.loss_bbox: 0.3875, d5.loss_cls: 0.1927, d5.loss_bbox: 0.3901, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8839, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7238, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6813, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6777, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6846, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6887, d0.loss_map_cls_all: 0.2462, d0.loss_map_pts_all: 1.6362, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2462, d0.loss_map_pts: 1.6362, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2259, d1.loss_map_pts: 1.1251, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2053, d2.loss_map_pts: 0.9121, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.1915, d3.loss_map_pts: 0.8321, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1821, d4.loss_map_pts: 0.7980, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1789, d5.loss_map_pts: 0.7887, d5.loss_map_dir: 0.0119, loss: 31.4919, grad_norm: 188.3438 +2026-02-26 04:30:36,670 - DriveTransformer - INFO - Epoch [6][26850/39528] lr: 8.977e-05, eta: 6 days, 17:59:45, time: 0.814, data_time: 0.045, memory: 19865, loss_cls: 0.1900, loss_bbox: 0.3960, loss_traj: 0.6301, loss_traj_cls: 0.0010, loss_map_cls: 0.1730, loss_map_pts: 0.8204, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.5333, d0.loss_plan_l1_fix_dist: 0.3701, d1.loss_plan_l1_fix_time: 1.2164, d1.loss_plan_l1_fix_dist: 0.1897, d2.loss_plan_l1_fix_time: 1.2132, d2.loss_plan_l1_fix_dist: 0.1971, d3.loss_plan_l1_fix_time: 1.2129, d3.loss_plan_l1_fix_dist: 0.2143, d4.loss_plan_l1_fix_time: 1.2162, d4.loss_plan_l1_fix_dist: 0.2363, d5.loss_plan_l1_fix_time: 1.2199, d5.loss_plan_l1_fix_dist: 0.2603, d6.loss_plan_l1_fix_time: 1.2238, d6.loss_plan_l1_fix_dist: 0.2847, d0.loss_cls_all: 0.2231, d0.loss_bbox_all: 0.4492, d0.loss_cls: 0.2231, d0.loss_bbox: 0.4492, d1.loss_cls: 0.2137, d1.loss_bbox: 0.4138, d2.loss_cls: 0.2041, d2.loss_bbox: 0.3990, d3.loss_cls: 0.1952, d3.loss_bbox: 0.3943, d4.loss_cls: 0.1894, d4.loss_bbox: 0.3932, d5.loss_cls: 0.1893, d5.loss_bbox: 0.3949, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8339, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6913, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6463, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6288, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6310, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6304, d0.loss_map_cls_all: 0.2395, d0.loss_map_pts_all: 1.7422, d0.loss_map_dir_all: 0.0125, d0.loss_map_cls: 0.2395, d0.loss_map_pts: 1.7422, d0.loss_map_dir: 0.0125, d1.loss_map_cls: 0.2150, d1.loss_map_pts: 1.1528, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.1980, d2.loss_map_pts: 0.9366, d2.loss_map_dir: 0.0126, d3.loss_map_cls: 0.1869, d3.loss_map_pts: 0.8603, d3.loss_map_dir: 0.0132, d4.loss_map_cls: 0.1781, d4.loss_map_pts: 0.8276, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.1752, d5.loss_map_pts: 0.8216, d5.loss_map_dir: 0.0137, loss: 31.8179, grad_norm: 185.4254 +2026-02-26 04:31:14,969 - DriveTransformer - INFO - Epoch [6][26900/39528] lr: 8.977e-05, eta: 6 days, 17:58:58, time: 0.766, data_time: 0.034, memory: 19865, loss_cls: 0.1781, loss_bbox: 0.3688, loss_traj: 0.7018, loss_traj_cls: 0.0009, loss_map_cls: 0.1985, loss_map_pts: 0.7821, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.7230, d0.loss_plan_l1_fix_dist: 0.3540, d1.loss_plan_l1_fix_time: 1.1054, d1.loss_plan_l1_fix_dist: 0.1865, d2.loss_plan_l1_fix_time: 1.0957, d2.loss_plan_l1_fix_dist: 0.1943, d3.loss_plan_l1_fix_time: 1.0971, d3.loss_plan_l1_fix_dist: 0.2079, d4.loss_plan_l1_fix_time: 1.0999, d4.loss_plan_l1_fix_dist: 0.2221, d5.loss_plan_l1_fix_time: 1.1032, d5.loss_plan_l1_fix_dist: 0.2394, d6.loss_plan_l1_fix_time: 1.1066, d6.loss_plan_l1_fix_dist: 0.2578, d0.loss_cls_all: 0.2111, d0.loss_bbox_all: 0.4282, d0.loss_cls: 0.2111, d0.loss_bbox: 0.4282, d1.loss_cls: 0.2018, d1.loss_bbox: 0.3902, d2.loss_cls: 0.1892, d2.loss_bbox: 0.3734, d3.loss_cls: 0.1842, d3.loss_bbox: 0.3672, d4.loss_cls: 0.1791, d4.loss_bbox: 0.3663, d5.loss_cls: 0.1773, d5.loss_bbox: 0.3673, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9349, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7531, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7004, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6953, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6905, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6892, d0.loss_map_cls_all: 0.2697, d0.loss_map_pts_all: 1.5617, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2697, d0.loss_map_pts: 1.5617, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2473, d1.loss_map_pts: 1.0850, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.2225, d2.loss_map_pts: 0.8865, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.2075, d3.loss_map_pts: 0.8105, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.2010, d4.loss_map_pts: 0.7868, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1987, d5.loss_map_pts: 0.7823, d5.loss_map_dir: 0.0106, loss: 30.9374, grad_norm: 184.0410 +2026-02-26 04:31:53,801 - DriveTransformer - INFO - Epoch [6][26950/39528] lr: 8.977e-05, eta: 6 days, 17:58:13, time: 0.777, data_time: 0.042, memory: 19865, loss_cls: 0.1898, loss_bbox: 0.3952, loss_traj: 0.7079, loss_traj_cls: 0.0010, loss_map_cls: 0.1870, loss_map_pts: 0.7054, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.6573, d0.loss_plan_l1_fix_dist: 0.3379, d1.loss_plan_l1_fix_time: 1.1633, d1.loss_plan_l1_fix_dist: 0.1760, d2.loss_plan_l1_fix_time: 1.1469, d2.loss_plan_l1_fix_dist: 0.1931, d3.loss_plan_l1_fix_time: 1.1454, d3.loss_plan_l1_fix_dist: 0.2170, d4.loss_plan_l1_fix_time: 1.1492, d4.loss_plan_l1_fix_dist: 0.2420, d5.loss_plan_l1_fix_time: 1.1535, d5.loss_plan_l1_fix_dist: 0.2665, d6.loss_plan_l1_fix_time: 1.1581, d6.loss_plan_l1_fix_dist: 0.2908, d0.loss_cls_all: 0.2213, d0.loss_bbox_all: 0.4524, d0.loss_cls: 0.2213, d0.loss_bbox: 0.4524, d1.loss_cls: 0.2144, d1.loss_bbox: 0.4206, d2.loss_cls: 0.2035, d2.loss_bbox: 0.4007, d3.loss_cls: 0.1965, d3.loss_bbox: 0.3939, d4.loss_cls: 0.1901, d4.loss_bbox: 0.3931, d5.loss_cls: 0.1900, d5.loss_bbox: 0.3927, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9125, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7633, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7149, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7058, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.7040, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7051, d0.loss_map_cls_all: 0.2492, d0.loss_map_pts_all: 1.3038, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2492, d0.loss_map_pts: 1.3038, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.2272, d1.loss_map_pts: 0.9457, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.2086, d2.loss_map_pts: 0.8038, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1965, d3.loss_map_pts: 0.7403, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1923, d4.loss_map_pts: 0.7151, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1876, d5.loss_map_pts: 0.7051, d5.loss_map_dir: 0.0080, loss: 30.4257, grad_norm: 185.7465 +2026-02-26 04:32:33,003 - DriveTransformer - INFO - Epoch [6][27000/39528] lr: 8.977e-05, eta: 6 days, 17:57:30, time: 0.785, data_time: 0.045, memory: 19865, loss_cls: 0.1478, loss_bbox: 0.3529, loss_traj: 0.7395, loss_traj_cls: 0.0010, loss_map_cls: 0.1811, loss_map_pts: 0.6983, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.4483, d0.loss_plan_l1_fix_dist: 0.4311, d1.loss_plan_l1_fix_time: 1.1412, d1.loss_plan_l1_fix_dist: 0.1978, d2.loss_plan_l1_fix_time: 1.1361, d2.loss_plan_l1_fix_dist: 0.2048, d3.loss_plan_l1_fix_time: 1.1370, d3.loss_plan_l1_fix_dist: 0.2198, d4.loss_plan_l1_fix_time: 1.1409, d4.loss_plan_l1_fix_dist: 0.2381, d5.loss_plan_l1_fix_time: 1.1450, d5.loss_plan_l1_fix_dist: 0.2558, d6.loss_plan_l1_fix_time: 1.1498, d6.loss_plan_l1_fix_dist: 0.2751, d0.loss_cls_all: 0.1797, d0.loss_bbox_all: 0.3999, d0.loss_cls: 0.1797, d0.loss_bbox: 0.3999, d1.loss_cls: 0.1706, d1.loss_bbox: 0.3726, d2.loss_cls: 0.1590, d2.loss_bbox: 0.3589, d3.loss_cls: 0.1495, d3.loss_bbox: 0.3564, d4.loss_cls: 0.1454, d4.loss_bbox: 0.3529, d5.loss_cls: 0.1463, d5.loss_bbox: 0.3526, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9093, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7824, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7374, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7430, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7425, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7352, d0.loss_map_cls_all: 0.2498, d0.loss_map_pts_all: 1.3878, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2498, d0.loss_map_pts: 1.3878, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2255, d1.loss_map_pts: 0.9600, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.2028, d2.loss_map_pts: 0.7922, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1919, d3.loss_map_pts: 0.7308, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1849, d4.loss_map_pts: 0.7062, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1813, d5.loss_map_pts: 0.6993, d5.loss_map_dir: 0.0107, loss: 29.8504, grad_norm: 187.8140 +2026-02-26 04:33:10,783 - DriveTransformer - INFO - Epoch [6][27050/39528] lr: 8.977e-05, eta: 6 days, 17:56:41, time: 0.754, data_time: 0.038, memory: 19865, loss_cls: 0.1919, loss_bbox: 0.3820, loss_traj: 0.7710, loss_traj_cls: 0.0009, loss_map_cls: 0.1717, loss_map_pts: 0.7069, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 3.1182, d0.loss_plan_l1_fix_dist: 0.3649, d1.loss_plan_l1_fix_time: 1.2848, d1.loss_plan_l1_fix_dist: 0.1989, d2.loss_plan_l1_fix_time: 1.2805, d2.loss_plan_l1_fix_dist: 0.2134, d3.loss_plan_l1_fix_time: 1.2869, d3.loss_plan_l1_fix_dist: 0.2332, d4.loss_plan_l1_fix_time: 1.2903, d4.loss_plan_l1_fix_dist: 0.2561, d5.loss_plan_l1_fix_time: 1.2938, d5.loss_plan_l1_fix_dist: 0.2844, d6.loss_plan_l1_fix_time: 1.2979, d6.loss_plan_l1_fix_dist: 0.3163, d0.loss_cls_all: 0.2218, d0.loss_bbox_all: 0.4507, d0.loss_cls: 0.2218, d0.loss_bbox: 0.4507, d1.loss_cls: 0.2147, d1.loss_bbox: 0.4173, d2.loss_cls: 0.2047, d2.loss_bbox: 0.3962, d3.loss_cls: 0.1953, d3.loss_bbox: 0.3877, d4.loss_cls: 0.1915, d4.loss_bbox: 0.3848, d5.loss_cls: 0.1902, d5.loss_bbox: 0.3842, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0054, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8253, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7839, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7685, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7640, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7658, d0.loss_map_cls_all: 0.2358, d0.loss_map_pts_all: 1.3191, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2358, d0.loss_map_pts: 1.3191, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.2056, d1.loss_map_pts: 0.9341, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1902, d2.loss_map_pts: 0.7896, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1825, d3.loss_map_pts: 0.7353, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1758, d4.loss_map_pts: 0.7136, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1714, d5.loss_map_pts: 0.7083, d5.loss_map_dir: 0.0093, loss: 32.1583, grad_norm: 188.5118 +2026-02-26 04:33:50,815 - DriveTransformer - INFO - Epoch [6][27100/39528] lr: 8.977e-05, eta: 6 days, 17:56:00, time: 0.801, data_time: 0.043, memory: 19865, loss_cls: 0.1514, loss_bbox: 0.3475, loss_traj: 0.6683, loss_traj_cls: 0.0010, loss_map_cls: 0.1553, loss_map_pts: 0.7107, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.3461, d0.loss_plan_l1_fix_dist: 0.4100, d1.loss_plan_l1_fix_time: 0.9793, d1.loss_plan_l1_fix_dist: 0.1908, d2.loss_plan_l1_fix_time: 0.9700, d2.loss_plan_l1_fix_dist: 0.1992, d3.loss_plan_l1_fix_time: 0.9750, d3.loss_plan_l1_fix_dist: 0.2133, d4.loss_plan_l1_fix_time: 0.9809, d4.loss_plan_l1_fix_dist: 0.2285, d5.loss_plan_l1_fix_time: 0.9870, d5.loss_plan_l1_fix_dist: 0.2471, d6.loss_plan_l1_fix_time: 0.9936, d6.loss_plan_l1_fix_dist: 0.2677, d0.loss_cls_all: 0.1764, d0.loss_bbox_all: 0.3946, d0.loss_cls: 0.1764, d0.loss_bbox: 0.3946, d1.loss_cls: 0.1713, d1.loss_bbox: 0.3633, d2.loss_cls: 0.1590, d2.loss_bbox: 0.3506, d3.loss_cls: 0.1521, d3.loss_bbox: 0.3473, d4.loss_cls: 0.1488, d4.loss_bbox: 0.3461, d5.loss_cls: 0.1494, d5.loss_bbox: 0.3463, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8485, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7187, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6803, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6712, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6718, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6715, d0.loss_map_cls_all: 0.2132, d0.loss_map_pts_all: 1.4459, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2132, d0.loss_map_pts: 1.4459, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1878, d1.loss_map_pts: 0.9862, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1727, d2.loss_map_pts: 0.8092, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1627, d3.loss_map_pts: 0.7438, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1583, d4.loss_map_pts: 0.7174, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1549, d5.loss_map_pts: 0.7111, d5.loss_map_dir: 0.0107, loss: 28.1694, grad_norm: 187.6641 +2026-02-26 04:34:29,029 - DriveTransformer - INFO - Epoch [6][27150/39528] lr: 8.977e-05, eta: 6 days, 17:55:13, time: 0.764, data_time: 0.035, memory: 19865, loss_cls: 0.1827, loss_bbox: 0.3591, loss_traj: 0.6602, loss_traj_cls: 0.0009, loss_map_cls: 0.1720, loss_map_pts: 0.7418, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.6841, d0.loss_plan_l1_fix_dist: 0.3849, d1.loss_plan_l1_fix_time: 1.1819, d1.loss_plan_l1_fix_dist: 0.1961, d2.loss_plan_l1_fix_time: 1.1709, d2.loss_plan_l1_fix_dist: 0.2062, d3.loss_plan_l1_fix_time: 1.1766, d3.loss_plan_l1_fix_dist: 0.2201, d4.loss_plan_l1_fix_time: 1.1799, d4.loss_plan_l1_fix_dist: 0.2384, d5.loss_plan_l1_fix_time: 1.1837, d5.loss_plan_l1_fix_dist: 0.2568, d6.loss_plan_l1_fix_time: 1.1877, d6.loss_plan_l1_fix_dist: 0.2740, d0.loss_cls_all: 0.2147, d0.loss_bbox_all: 0.4170, d0.loss_cls: 0.2147, d0.loss_bbox: 0.4170, d1.loss_cls: 0.2035, d1.loss_bbox: 0.3830, d2.loss_cls: 0.1912, d2.loss_bbox: 0.3681, d3.loss_cls: 0.1896, d3.loss_bbox: 0.3596, d4.loss_cls: 0.1844, d4.loss_bbox: 0.3594, d5.loss_cls: 0.1834, d5.loss_bbox: 0.3598, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8972, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7221, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6706, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6677, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6591, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6642, d0.loss_map_cls_all: 0.2307, d0.loss_map_pts_all: 1.5787, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2307, d0.loss_map_pts: 1.5787, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2049, d1.loss_map_pts: 1.0549, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1905, d2.loss_map_pts: 0.8539, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1799, d3.loss_map_pts: 0.7814, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1756, d4.loss_map_pts: 0.7520, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1713, d5.loss_map_pts: 0.7435, d5.loss_map_dir: 0.0105, loss: 30.7976, grad_norm: 187.5756 +2026-02-26 04:35:05,397 - DriveTransformer - INFO - Epoch [6][27200/39528] lr: 8.977e-05, eta: 6 days, 17:54:21, time: 0.727, data_time: 0.040, memory: 19865, loss_cls: 0.1840, loss_bbox: 0.3910, loss_traj: 0.7218, loss_traj_cls: 0.0009, loss_map_cls: 0.1769, loss_map_pts: 0.7138, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.6030, d0.loss_plan_l1_fix_dist: 0.4256, d1.loss_plan_l1_fix_time: 1.1158, d1.loss_plan_l1_fix_dist: 0.1982, d2.loss_plan_l1_fix_time: 1.1181, d2.loss_plan_l1_fix_dist: 0.2038, d3.loss_plan_l1_fix_time: 1.1232, d3.loss_plan_l1_fix_dist: 0.2179, d4.loss_plan_l1_fix_time: 1.1270, d4.loss_plan_l1_fix_dist: 0.2366, d5.loss_plan_l1_fix_time: 1.1308, d5.loss_plan_l1_fix_dist: 0.2553, d6.loss_plan_l1_fix_time: 1.1348, d6.loss_plan_l1_fix_dist: 0.2740, d0.loss_cls_all: 0.2188, d0.loss_bbox_all: 0.4628, d0.loss_cls: 0.2188, d0.loss_bbox: 0.4628, d1.loss_cls: 0.2134, d1.loss_bbox: 0.4255, d2.loss_cls: 0.1987, d2.loss_bbox: 0.4033, d3.loss_cls: 0.1891, d3.loss_bbox: 0.3963, d4.loss_cls: 0.1835, d4.loss_bbox: 0.3937, d5.loss_cls: 0.1829, d5.loss_bbox: 0.3932, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9242, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7952, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7458, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7301, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7244, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7205, d0.loss_map_cls_all: 0.2524, d0.loss_map_pts_all: 1.3852, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2524, d0.loss_map_pts: 1.3852, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.2252, d1.loss_map_pts: 0.9690, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.2031, d2.loss_map_pts: 0.8154, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1898, d3.loss_map_pts: 0.7516, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1817, d4.loss_map_pts: 0.7233, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1783, d5.loss_map_pts: 0.7145, d5.loss_map_dir: 0.0079, loss: 30.6307, grad_norm: 187.8805 +2026-02-26 04:35:44,927 - DriveTransformer - INFO - Epoch [6][27250/39528] lr: 8.977e-05, eta: 6 days, 17:53:38, time: 0.791, data_time: 0.044, memory: 19865, loss_cls: 0.1770, loss_bbox: 0.3531, loss_traj: 0.5917, loss_traj_cls: 0.0009, loss_map_cls: 0.1802, loss_map_pts: 0.7424, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.7773, d0.loss_plan_l1_fix_dist: 0.3882, d1.loss_plan_l1_fix_time: 1.1488, d1.loss_plan_l1_fix_dist: 0.1967, d2.loss_plan_l1_fix_time: 1.1297, d2.loss_plan_l1_fix_dist: 0.2055, d3.loss_plan_l1_fix_time: 1.1283, d3.loss_plan_l1_fix_dist: 0.2148, d4.loss_plan_l1_fix_time: 1.1327, d4.loss_plan_l1_fix_dist: 0.2258, d5.loss_plan_l1_fix_time: 1.1377, d5.loss_plan_l1_fix_dist: 0.2406, d6.loss_plan_l1_fix_time: 1.1431, d6.loss_plan_l1_fix_dist: 0.2591, d0.loss_cls_all: 0.2193, d0.loss_bbox_all: 0.4105, d0.loss_cls: 0.2193, d0.loss_bbox: 0.4105, d1.loss_cls: 0.2074, d1.loss_bbox: 0.3808, d2.loss_cls: 0.1915, d2.loss_bbox: 0.3666, d3.loss_cls: 0.1819, d3.loss_bbox: 0.3586, d4.loss_cls: 0.1758, d4.loss_bbox: 0.3577, d5.loss_cls: 0.1767, d5.loss_bbox: 0.3540, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8368, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6441, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6104, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6012, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6013, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5950, d0.loss_map_cls_all: 0.2519, d0.loss_map_pts_all: 1.4935, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2519, d0.loss_map_pts: 1.4935, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2188, d1.loss_map_pts: 1.0243, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.1983, d2.loss_map_pts: 0.8438, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1894, d3.loss_map_pts: 0.7744, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1835, d4.loss_map_pts: 0.7482, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1795, d5.loss_map_pts: 0.7438, d5.loss_map_dir: 0.0111, loss: 29.9587, grad_norm: 187.1765 +2026-02-26 04:36:23,303 - DriveTransformer - INFO - Epoch [6][27300/39528] lr: 8.977e-05, eta: 6 days, 17:52:52, time: 0.767, data_time: 0.038, memory: 19865, loss_cls: 0.1601, loss_bbox: 0.3439, loss_traj: 0.7181, loss_traj_cls: 0.0009, loss_map_cls: 0.1443, loss_map_pts: 0.6559, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.3858, d0.loss_plan_l1_fix_dist: 0.4418, d1.loss_plan_l1_fix_time: 0.9580, d1.loss_plan_l1_fix_dist: 0.1927, d2.loss_plan_l1_fix_time: 0.9397, d2.loss_plan_l1_fix_dist: 0.1999, d3.loss_plan_l1_fix_time: 0.9374, d3.loss_plan_l1_fix_dist: 0.2140, d4.loss_plan_l1_fix_time: 0.9404, d4.loss_plan_l1_fix_dist: 0.2313, d5.loss_plan_l1_fix_time: 0.9439, d5.loss_plan_l1_fix_dist: 0.2520, d6.loss_plan_l1_fix_time: 0.9478, d6.loss_plan_l1_fix_dist: 0.2753, d0.loss_cls_all: 0.1923, d0.loss_bbox_all: 0.4057, d0.loss_cls: 0.1923, d0.loss_bbox: 0.4057, d1.loss_cls: 0.1860, d1.loss_bbox: 0.3745, d2.loss_cls: 0.1726, d2.loss_bbox: 0.3559, d3.loss_cls: 0.1651, d3.loss_bbox: 0.3488, d4.loss_cls: 0.1595, d4.loss_bbox: 0.3468, d5.loss_cls: 0.1592, d5.loss_bbox: 0.3457, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9241, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7756, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7318, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7233, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7197, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7143, d0.loss_map_cls_all: 0.2155, d0.loss_map_pts_all: 1.2281, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2155, d0.loss_map_pts: 1.2281, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1879, d1.loss_map_pts: 0.8712, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1669, d2.loss_map_pts: 0.7285, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1549, d3.loss_map_pts: 0.6791, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1482, d4.loss_map_pts: 0.6613, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1444, d5.loss_map_pts: 0.6559, d5.loss_map_dir: 0.0082, loss: 27.6384, grad_norm: 181.3339 +2026-02-26 04:37:02,911 - DriveTransformer - INFO - Epoch [6][27350/39528] lr: 8.977e-05, eta: 6 days, 17:52:09, time: 0.792, data_time: 0.037, memory: 19865, loss_cls: 0.1828, loss_bbox: 0.3742, loss_traj: 0.5633, loss_traj_cls: 0.0010, loss_map_cls: 0.1472, loss_map_pts: 0.7054, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.5253, d0.loss_plan_l1_fix_dist: 0.3632, d1.loss_plan_l1_fix_time: 1.1156, d1.loss_plan_l1_fix_dist: 0.1926, d2.loss_plan_l1_fix_time: 1.1070, d2.loss_plan_l1_fix_dist: 0.1924, d3.loss_plan_l1_fix_time: 1.1074, d3.loss_plan_l1_fix_dist: 0.2012, d4.loss_plan_l1_fix_time: 1.1097, d4.loss_plan_l1_fix_dist: 0.2116, d5.loss_plan_l1_fix_time: 1.1122, d5.loss_plan_l1_fix_dist: 0.2244, d6.loss_plan_l1_fix_time: 1.1153, d6.loss_plan_l1_fix_dist: 0.2389, d0.loss_cls_all: 0.2152, d0.loss_bbox_all: 0.4370, d0.loss_cls: 0.2152, d0.loss_bbox: 0.4370, d1.loss_cls: 0.2076, d1.loss_bbox: 0.4020, d2.loss_cls: 0.1948, d2.loss_bbox: 0.3842, d3.loss_cls: 0.1879, d3.loss_bbox: 0.3762, d4.loss_cls: 0.1844, d4.loss_bbox: 0.3734, d5.loss_cls: 0.1837, d5.loss_bbox: 0.3735, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7544, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6177, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5786, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5733, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5707, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5664, d0.loss_map_cls_all: 0.2228, d0.loss_map_pts_all: 1.4333, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2228, d0.loss_map_pts: 1.4333, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.1965, d1.loss_map_pts: 0.9647, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1730, d2.loss_map_pts: 0.7968, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1620, d3.loss_map_pts: 0.7310, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1532, d4.loss_map_pts: 0.7090, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1487, d5.loss_map_pts: 0.7048, d5.loss_map_dir: 0.0101, loss: 28.7622, grad_norm: 181.5244 +2026-02-26 04:37:40,285 - DriveTransformer - INFO - Epoch [6][27400/39528] lr: 8.977e-05, eta: 6 days, 17:51:20, time: 0.747, data_time: 0.036, memory: 19865, loss_cls: 0.1653, loss_bbox: 0.3352, loss_traj: 0.7263, loss_traj_cls: 0.0010, loss_map_cls: 0.1551, loss_map_pts: 0.6505, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.4822, d0.loss_plan_l1_fix_dist: 0.3637, d1.loss_plan_l1_fix_time: 1.0570, d1.loss_plan_l1_fix_dist: 0.1718, d2.loss_plan_l1_fix_time: 1.0433, d2.loss_plan_l1_fix_dist: 0.1756, d3.loss_plan_l1_fix_time: 1.0387, d3.loss_plan_l1_fix_dist: 0.1872, d4.loss_plan_l1_fix_time: 1.0404, d4.loss_plan_l1_fix_dist: 0.2034, d5.loss_plan_l1_fix_time: 1.0429, d5.loss_plan_l1_fix_dist: 0.2211, d6.loss_plan_l1_fix_time: 1.0455, d6.loss_plan_l1_fix_dist: 0.2381, d0.loss_cls_all: 0.1983, d0.loss_bbox_all: 0.3935, d0.loss_cls: 0.1983, d0.loss_bbox: 0.3935, d1.loss_cls: 0.1917, d1.loss_bbox: 0.3592, d2.loss_cls: 0.1786, d2.loss_bbox: 0.3456, d3.loss_cls: 0.1712, d3.loss_bbox: 0.3392, d4.loss_cls: 0.1662, d4.loss_bbox: 0.3374, d5.loss_cls: 0.1657, d5.loss_bbox: 0.3362, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9516, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8067, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7499, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7259, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7264, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7276, d0.loss_map_cls_all: 0.2205, d0.loss_map_pts_all: 1.2676, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2205, d0.loss_map_pts: 1.2676, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1945, d1.loss_map_pts: 0.9125, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1775, d2.loss_map_pts: 0.7525, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1670, d3.loss_map_pts: 0.6833, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1606, d4.loss_map_pts: 0.6603, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1562, d5.loss_map_pts: 0.6503, d5.loss_map_dir: 0.0078, loss: 28.3638, grad_norm: 181.4536 +2026-02-26 04:38:18,478 - DriveTransformer - INFO - Epoch [6][27450/39528] lr: 8.977e-05, eta: 6 days, 17:50:33, time: 0.764, data_time: 0.040, memory: 19865, loss_cls: 0.1882, loss_bbox: 0.3723, loss_traj: 0.5187, loss_traj_cls: 0.0010, loss_map_cls: 0.1698, loss_map_pts: 0.6985, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.7927, d0.loss_plan_l1_fix_dist: 0.3930, d1.loss_plan_l1_fix_time: 1.1013, d1.loss_plan_l1_fix_dist: 0.1833, d2.loss_plan_l1_fix_time: 1.0862, d2.loss_plan_l1_fix_dist: 0.1888, d3.loss_plan_l1_fix_time: 1.0867, d3.loss_plan_l1_fix_dist: 0.1980, d4.loss_plan_l1_fix_time: 1.0889, d4.loss_plan_l1_fix_dist: 0.2100, d5.loss_plan_l1_fix_time: 1.0913, d5.loss_plan_l1_fix_dist: 0.2229, d6.loss_plan_l1_fix_time: 1.0942, d6.loss_plan_l1_fix_dist: 0.2371, d0.loss_cls_all: 0.2227, d0.loss_bbox_all: 0.4287, d0.loss_cls: 0.2227, d0.loss_bbox: 0.4287, d1.loss_cls: 0.2168, d1.loss_bbox: 0.3968, d2.loss_cls: 0.2033, d2.loss_bbox: 0.3839, d3.loss_cls: 0.1936, d3.loss_bbox: 0.3761, d4.loss_cls: 0.1907, d4.loss_bbox: 0.3718, d5.loss_cls: 0.1896, d5.loss_bbox: 0.3716, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7044, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5786, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5408, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5283, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5227, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5180, d0.loss_map_cls_all: 0.2381, d0.loss_map_pts_all: 1.3212, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2381, d0.loss_map_pts: 1.3212, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.2083, d1.loss_map_pts: 0.9438, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1897, d2.loss_map_pts: 0.7878, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1804, d3.loss_map_pts: 0.7329, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1758, d4.loss_map_pts: 0.7052, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1717, d5.loss_map_pts: 0.6994, d5.loss_map_dir: 0.0088, loss: 28.5009, grad_norm: 181.7421 +2026-02-26 04:38:57,023 - DriveTransformer - INFO - Epoch [6][27500/39528] lr: 8.977e-05, eta: 6 days, 17:49:47, time: 0.771, data_time: 0.039, memory: 19865, loss_cls: 0.1807, loss_bbox: 0.3599, loss_traj: 0.7289, loss_traj_cls: 0.0010, loss_map_cls: 0.1626, loss_map_pts: 0.6976, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.4001, d0.loss_plan_l1_fix_dist: 0.3691, d1.loss_plan_l1_fix_time: 1.1255, d1.loss_plan_l1_fix_dist: 0.1835, d2.loss_plan_l1_fix_time: 1.1076, d2.loss_plan_l1_fix_dist: 0.1935, d3.loss_plan_l1_fix_time: 1.1059, d3.loss_plan_l1_fix_dist: 0.2115, d4.loss_plan_l1_fix_time: 1.1089, d4.loss_plan_l1_fix_dist: 0.2287, d5.loss_plan_l1_fix_time: 1.1122, d5.loss_plan_l1_fix_dist: 0.2460, d6.loss_plan_l1_fix_time: 1.1161, d6.loss_plan_l1_fix_dist: 0.2620, d0.loss_cls_all: 0.2124, d0.loss_bbox_all: 0.4210, d0.loss_cls: 0.2124, d0.loss_bbox: 0.4210, d1.loss_cls: 0.2028, d1.loss_bbox: 0.3880, d2.loss_cls: 0.1935, d2.loss_bbox: 0.3704, d3.loss_cls: 0.1869, d3.loss_bbox: 0.3622, d4.loss_cls: 0.1817, d4.loss_bbox: 0.3608, d5.loss_cls: 0.1800, d5.loss_bbox: 0.3599, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9175, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7699, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7335, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7251, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7236, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7234, d0.loss_map_cls_all: 0.2368, d0.loss_map_pts_all: 1.4033, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2368, d0.loss_map_pts: 1.4033, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2082, d1.loss_map_pts: 0.9636, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1875, d2.loss_map_pts: 0.7928, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1743, d3.loss_map_pts: 0.7332, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1693, d4.loss_map_pts: 0.7084, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1649, d5.loss_map_pts: 0.6979, d5.loss_map_dir: 0.0098, loss: 29.7108, grad_norm: 180.7877 +2026-02-26 04:39:36,854 - DriveTransformer - INFO - Epoch [6][27550/39528] lr: 8.977e-05, eta: 6 days, 17:49:05, time: 0.797, data_time: 0.043, memory: 19865, loss_cls: 0.1538, loss_bbox: 0.3364, loss_traj: 0.5346, loss_traj_cls: 0.0010, loss_map_cls: 0.1708, loss_map_pts: 0.7247, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.2718, d0.loss_plan_l1_fix_dist: 0.3727, d1.loss_plan_l1_fix_time: 1.1062, d1.loss_plan_l1_fix_dist: 0.1861, d2.loss_plan_l1_fix_time: 1.0993, d2.loss_plan_l1_fix_dist: 0.1948, d3.loss_plan_l1_fix_time: 1.0977, d3.loss_plan_l1_fix_dist: 0.2091, d4.loss_plan_l1_fix_time: 1.1011, d4.loss_plan_l1_fix_dist: 0.2242, d5.loss_plan_l1_fix_time: 1.1045, d5.loss_plan_l1_fix_dist: 0.2391, d6.loss_plan_l1_fix_time: 1.1084, d6.loss_plan_l1_fix_dist: 0.2543, d0.loss_cls_all: 0.1896, d0.loss_bbox_all: 0.3965, d0.loss_cls: 0.1896, d0.loss_bbox: 0.3965, d1.loss_cls: 0.1785, d1.loss_bbox: 0.3623, d2.loss_cls: 0.1685, d2.loss_bbox: 0.3461, d3.loss_cls: 0.1600, d3.loss_bbox: 0.3385, d4.loss_cls: 0.1531, d4.loss_bbox: 0.3388, d5.loss_cls: 0.1527, d5.loss_bbox: 0.3373, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7284, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5759, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5341, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5332, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5345, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5362, d0.loss_map_cls_all: 0.2303, d0.loss_map_pts_all: 1.5277, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2303, d0.loss_map_pts: 1.5277, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2063, d1.loss_map_pts: 1.0046, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.1908, d2.loss_map_pts: 0.8254, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1811, d3.loss_map_pts: 0.7586, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1754, d4.loss_map_pts: 0.7323, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1719, d5.loss_map_pts: 0.7251, d5.loss_map_dir: 0.0112, loss: 28.2206, grad_norm: 177.1960 +2026-02-26 04:40:14,148 - DriveTransformer - INFO - Epoch [6][27600/39528] lr: 8.977e-05, eta: 6 days, 17:48:16, time: 0.746, data_time: 0.040, memory: 19865, loss_cls: 0.1789, loss_bbox: 0.3583, loss_traj: 0.7035, loss_traj_cls: 0.0009, loss_map_cls: 0.1653, loss_map_pts: 0.7664, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.4271, d0.loss_plan_l1_fix_dist: 0.3923, d1.loss_plan_l1_fix_time: 0.9844, d1.loss_plan_l1_fix_dist: 0.2012, d2.loss_plan_l1_fix_time: 0.9760, d2.loss_plan_l1_fix_dist: 0.2093, d3.loss_plan_l1_fix_time: 0.9783, d3.loss_plan_l1_fix_dist: 0.2200, d4.loss_plan_l1_fix_time: 0.9815, d4.loss_plan_l1_fix_dist: 0.2353, d5.loss_plan_l1_fix_time: 0.9848, d5.loss_plan_l1_fix_dist: 0.2549, d6.loss_plan_l1_fix_time: 0.9881, d6.loss_plan_l1_fix_dist: 0.2804, d0.loss_cls_all: 0.2151, d0.loss_bbox_all: 0.4156, d0.loss_cls: 0.2151, d0.loss_bbox: 0.4156, d1.loss_cls: 0.2011, d1.loss_bbox: 0.3882, d2.loss_cls: 0.1915, d2.loss_bbox: 0.3715, d3.loss_cls: 0.1846, d3.loss_bbox: 0.3618, d4.loss_cls: 0.1799, d4.loss_bbox: 0.3584, d5.loss_cls: 0.1787, d5.loss_bbox: 0.3572, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8886, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7494, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7087, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7051, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6987, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6993, d0.loss_map_cls_all: 0.2315, d0.loss_map_pts_all: 1.4906, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2315, d0.loss_map_pts: 1.4906, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2049, d1.loss_map_pts: 1.0603, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1895, d2.loss_map_pts: 0.8770, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1741, d3.loss_map_pts: 0.8021, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1692, d4.loss_map_pts: 0.7748, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1665, d5.loss_map_pts: 0.7664, d5.loss_map_dir: 0.0102, loss: 29.4849, grad_norm: 175.0237 +2026-02-26 04:40:54,100 - DriveTransformer - INFO - Epoch [6][27650/39528] lr: 8.977e-05, eta: 6 days, 17:47:34, time: 0.799, data_time: 0.036, memory: 19865, loss_cls: 0.1570, loss_bbox: 0.3527, loss_traj: 0.5708, loss_traj_cls: 0.0010, loss_map_cls: 0.1523, loss_map_pts: 0.6693, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.4289, d0.loss_plan_l1_fix_dist: 0.3640, d1.loss_plan_l1_fix_time: 1.0711, d1.loss_plan_l1_fix_dist: 0.2007, d2.loss_plan_l1_fix_time: 1.0642, d2.loss_plan_l1_fix_dist: 0.2050, d3.loss_plan_l1_fix_time: 1.0658, d3.loss_plan_l1_fix_dist: 0.2160, d4.loss_plan_l1_fix_time: 1.0698, d4.loss_plan_l1_fix_dist: 0.2285, d5.loss_plan_l1_fix_time: 1.0744, d5.loss_plan_l1_fix_dist: 0.2440, d6.loss_plan_l1_fix_time: 1.0792, d6.loss_plan_l1_fix_dist: 0.2605, d0.loss_cls_all: 0.1928, d0.loss_bbox_all: 0.4074, d0.loss_cls: 0.1928, d0.loss_bbox: 0.4074, d1.loss_cls: 0.1856, d1.loss_bbox: 0.3755, d2.loss_cls: 0.1712, d2.loss_bbox: 0.3591, d3.loss_cls: 0.1614, d3.loss_bbox: 0.3513, d4.loss_cls: 0.1553, d4.loss_bbox: 0.3518, d5.loss_cls: 0.1558, d5.loss_bbox: 0.3509, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7954, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6192, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5781, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5709, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5718, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5688, d0.loss_map_cls_all: 0.2220, d0.loss_map_pts_all: 1.4023, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2220, d0.loss_map_pts: 1.4023, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.1905, d1.loss_map_pts: 0.9184, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.1714, d2.loss_map_pts: 0.7557, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1598, d3.loss_map_pts: 0.6996, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1564, d4.loss_map_pts: 0.6777, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1535, d5.loss_map_pts: 0.6692, d5.loss_map_dir: 0.0113, loss: 27.8935, grad_norm: 171.0220 +2026-02-26 04:41:34,854 - DriveTransformer - INFO - Epoch [6][27700/39528] lr: 8.977e-05, eta: 6 days, 17:46:56, time: 0.815, data_time: 0.039, memory: 19865, loss_cls: 0.1543, loss_bbox: 0.3711, loss_traj: 0.5990, loss_traj_cls: 0.0010, loss_map_cls: 0.1963, loss_map_pts: 0.8315, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.6556, d0.loss_plan_l1_fix_dist: 0.4809, d1.loss_plan_l1_fix_time: 1.1786, d1.loss_plan_l1_fix_dist: 0.2150, d2.loss_plan_l1_fix_time: 1.1754, d2.loss_plan_l1_fix_dist: 0.2183, d3.loss_plan_l1_fix_time: 1.1854, d3.loss_plan_l1_fix_dist: 0.2314, d4.loss_plan_l1_fix_time: 1.1931, d4.loss_plan_l1_fix_dist: 0.2451, d5.loss_plan_l1_fix_time: 1.2006, d5.loss_plan_l1_fix_dist: 0.2586, d6.loss_plan_l1_fix_time: 1.2083, d6.loss_plan_l1_fix_dist: 0.2717, d0.loss_cls_all: 0.1932, d0.loss_bbox_all: 0.4237, d0.loss_cls: 0.1932, d0.loss_bbox: 0.4237, d1.loss_cls: 0.1872, d1.loss_bbox: 0.3928, d2.loss_cls: 0.1695, d2.loss_bbox: 0.3753, d3.loss_cls: 0.1584, d3.loss_bbox: 0.3704, d4.loss_cls: 0.1529, d4.loss_bbox: 0.3705, d5.loss_cls: 0.1533, d5.loss_bbox: 0.3685, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7843, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6547, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6101, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6022, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5993, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5989, d0.loss_map_cls_all: 0.2801, d0.loss_map_pts_all: 1.6400, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2801, d0.loss_map_pts: 1.6400, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2400, d1.loss_map_pts: 1.1410, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2216, d2.loss_map_pts: 0.9479, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.2093, d3.loss_map_pts: 0.8767, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.2029, d4.loss_map_pts: 0.8452, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.1962, d5.loss_map_pts: 0.8331, d5.loss_map_dir: 0.0121, loss: 31.3051, grad_norm: 172.3461 +2026-02-26 04:42:13,060 - DriveTransformer - INFO - Epoch [6][27750/39528] lr: 8.977e-05, eta: 6 days, 17:46:09, time: 0.764, data_time: 0.036, memory: 19865, loss_cls: 0.1873, loss_bbox: 0.3868, loss_traj: 0.7526, loss_traj_cls: 0.0010, loss_map_cls: 0.1831, loss_map_pts: 0.8132, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.9120, d0.loss_plan_l1_fix_dist: 0.3533, d1.loss_plan_l1_fix_time: 1.2685, d1.loss_plan_l1_fix_dist: 0.1906, d2.loss_plan_l1_fix_time: 1.2616, d2.loss_plan_l1_fix_dist: 0.1913, d3.loss_plan_l1_fix_time: 1.2611, d3.loss_plan_l1_fix_dist: 0.2012, d4.loss_plan_l1_fix_time: 1.2647, d4.loss_plan_l1_fix_dist: 0.2138, d5.loss_plan_l1_fix_time: 1.2683, d5.loss_plan_l1_fix_dist: 0.2278, d6.loss_plan_l1_fix_time: 1.2727, d6.loss_plan_l1_fix_dist: 0.2437, d0.loss_cls_all: 0.2178, d0.loss_bbox_all: 0.4540, d0.loss_cls: 0.2178, d0.loss_bbox: 0.4540, d1.loss_cls: 0.2071, d1.loss_bbox: 0.4168, d2.loss_cls: 0.1980, d2.loss_bbox: 0.3996, d3.loss_cls: 0.1888, d3.loss_bbox: 0.3931, d4.loss_cls: 0.1851, d4.loss_bbox: 0.3911, d5.loss_cls: 0.1870, d5.loss_bbox: 0.3873, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9497, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8054, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7671, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7559, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7579, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7556, d0.loss_map_cls_all: 0.2581, d0.loss_map_pts_all: 1.6110, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2581, d0.loss_map_pts: 1.6110, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2275, d1.loss_map_pts: 1.0858, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.2074, d2.loss_map_pts: 0.9102, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.1945, d3.loss_map_pts: 0.8460, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1871, d4.loss_map_pts: 0.8230, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1837, d5.loss_map_pts: 0.8138, d5.loss_map_dir: 0.0114, loss: 32.8525, grad_norm: 165.0838 +2026-02-26 04:42:51,975 - DriveTransformer - INFO - Epoch [6][27800/39528] lr: 8.977e-05, eta: 6 days, 17:45:24, time: 0.780, data_time: 0.044, memory: 19865, loss_cls: 0.1703, loss_bbox: 0.3577, loss_traj: 0.5515, loss_traj_cls: 0.0010, loss_map_cls: 0.1741, loss_map_pts: 0.7177, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.4279, d0.loss_plan_l1_fix_dist: 0.4060, d1.loss_plan_l1_fix_time: 1.1379, d1.loss_plan_l1_fix_dist: 0.2147, d2.loss_plan_l1_fix_time: 1.1140, d2.loss_plan_l1_fix_dist: 0.2129, d3.loss_plan_l1_fix_time: 1.1119, d3.loss_plan_l1_fix_dist: 0.2210, d4.loss_plan_l1_fix_time: 1.1149, d4.loss_plan_l1_fix_dist: 0.2328, d5.loss_plan_l1_fix_time: 1.1185, d5.loss_plan_l1_fix_dist: 0.2477, d6.loss_plan_l1_fix_time: 1.1227, d6.loss_plan_l1_fix_dist: 0.2671, d0.loss_cls_all: 0.2126, d0.loss_bbox_all: 0.4113, d0.loss_cls: 0.2126, d0.loss_bbox: 0.4113, d1.loss_cls: 0.2025, d1.loss_bbox: 0.3816, d2.loss_cls: 0.1897, d2.loss_bbox: 0.3645, d3.loss_cls: 0.1805, d3.loss_bbox: 0.3591, d4.loss_cls: 0.1723, d4.loss_bbox: 0.3578, d5.loss_cls: 0.1707, d5.loss_bbox: 0.3568, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7374, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6001, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5684, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5516, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5519, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5518, d0.loss_map_cls_all: 0.2447, d0.loss_map_pts_all: 1.4471, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2447, d0.loss_map_pts: 1.4471, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2119, d1.loss_map_pts: 0.9736, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1938, d2.loss_map_pts: 0.8046, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1830, d3.loss_map_pts: 0.7458, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1805, d4.loss_map_pts: 0.7221, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1761, d5.loss_map_pts: 0.7170, d5.loss_map_dir: 0.0105, loss: 28.8454, grad_norm: 165.6335 +2026-02-26 04:43:28,805 - DriveTransformer - INFO - Epoch [6][27850/39528] lr: 8.977e-05, eta: 6 days, 17:44:33, time: 0.735, data_time: 0.034, memory: 19865, loss_cls: 0.1909, loss_bbox: 0.3614, loss_traj: 0.7897, loss_traj_cls: 0.0010, loss_map_cls: 0.1711, loss_map_pts: 0.7048, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.9755, d0.loss_plan_l1_fix_dist: 0.3832, d1.loss_plan_l1_fix_time: 1.2236, d1.loss_plan_l1_fix_dist: 0.1821, d2.loss_plan_l1_fix_time: 1.2137, d2.loss_plan_l1_fix_dist: 0.1848, d3.loss_plan_l1_fix_time: 1.2136, d3.loss_plan_l1_fix_dist: 0.1935, d4.loss_plan_l1_fix_time: 1.2170, d4.loss_plan_l1_fix_dist: 0.2022, d5.loss_plan_l1_fix_time: 1.2208, d5.loss_plan_l1_fix_dist: 0.2123, d6.loss_plan_l1_fix_time: 1.2245, d6.loss_plan_l1_fix_dist: 0.2239, d0.loss_cls_all: 0.2205, d0.loss_bbox_all: 0.4215, d0.loss_cls: 0.2205, d0.loss_bbox: 0.4215, d1.loss_cls: 0.2170, d1.loss_bbox: 0.3916, d2.loss_cls: 0.2051, d2.loss_bbox: 0.3749, d3.loss_cls: 0.1987, d3.loss_bbox: 0.3664, d4.loss_cls: 0.1927, d4.loss_bbox: 0.3632, d5.loss_cls: 0.1904, d5.loss_bbox: 0.3620, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0109, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8329, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7966, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7935, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7835, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7848, d0.loss_map_cls_all: 0.2481, d0.loss_map_pts_all: 1.3858, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2481, d0.loss_map_pts: 1.3858, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.2245, d1.loss_map_pts: 0.9520, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1964, d2.loss_map_pts: 0.7968, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1834, d3.loss_map_pts: 0.7350, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1768, d4.loss_map_pts: 0.7111, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1740, d5.loss_map_pts: 0.7040, d5.loss_map_dir: 0.0093, loss: 31.4353, grad_norm: 165.5869 +2026-02-26 04:44:08,846 - DriveTransformer - INFO - Epoch [6][27900/39528] lr: 8.977e-05, eta: 6 days, 17:43:52, time: 0.801, data_time: 0.041, memory: 19865, loss_cls: 0.1464, loss_bbox: 0.3496, loss_traj: 0.6652, loss_traj_cls: 0.0010, loss_map_cls: 0.1459, loss_map_pts: 0.6329, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.5076, d0.loss_plan_l1_fix_dist: 0.4530, d1.loss_plan_l1_fix_time: 0.9661, d1.loss_plan_l1_fix_dist: 0.1778, d2.loss_plan_l1_fix_time: 0.9581, d2.loss_plan_l1_fix_dist: 0.1819, d3.loss_plan_l1_fix_time: 0.9621, d3.loss_plan_l1_fix_dist: 0.1957, d4.loss_plan_l1_fix_time: 0.9662, d4.loss_plan_l1_fix_dist: 0.2124, d5.loss_plan_l1_fix_time: 0.9704, d5.loss_plan_l1_fix_dist: 0.2305, d6.loss_plan_l1_fix_time: 0.9746, d6.loss_plan_l1_fix_dist: 0.2487, d0.loss_cls_all: 0.1867, d0.loss_bbox_all: 0.3943, d0.loss_cls: 0.1867, d0.loss_bbox: 0.3943, d1.loss_cls: 0.1826, d1.loss_bbox: 0.3643, d2.loss_cls: 0.1662, d2.loss_bbox: 0.3514, d3.loss_cls: 0.1563, d3.loss_bbox: 0.3470, d4.loss_cls: 0.1475, d4.loss_bbox: 0.3473, d5.loss_cls: 0.1460, d5.loss_bbox: 0.3482, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8788, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7275, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6818, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6705, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6626, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6616, d0.loss_map_cls_all: 0.2210, d0.loss_map_pts_all: 1.3841, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2210, d0.loss_map_pts: 1.3841, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1877, d1.loss_map_pts: 0.9126, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1676, d2.loss_map_pts: 0.7353, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1553, d3.loss_map_pts: 0.6668, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1505, d4.loss_map_pts: 0.6410, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1468, d5.loss_map_pts: 0.6339, d5.loss_map_dir: 0.0098, loss: 27.6375, grad_norm: 164.9502 +2026-02-26 04:44:46,248 - DriveTransformer - INFO - Epoch [6][27950/39528] lr: 8.977e-05, eta: 6 days, 17:43:03, time: 0.748, data_time: 0.037, memory: 19865, loss_cls: 0.1630, loss_bbox: 0.3635, loss_traj: 0.8012, loss_traj_cls: 0.0010, loss_map_cls: 0.1474, loss_map_pts: 0.6028, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.3916, d0.loss_plan_l1_fix_dist: 0.4771, d1.loss_plan_l1_fix_time: 1.1811, d1.loss_plan_l1_fix_dist: 0.1949, d2.loss_plan_l1_fix_time: 1.1668, d2.loss_plan_l1_fix_dist: 0.1987, d3.loss_plan_l1_fix_time: 1.1651, d3.loss_plan_l1_fix_dist: 0.2053, d4.loss_plan_l1_fix_time: 1.1680, d4.loss_plan_l1_fix_dist: 0.2137, d5.loss_plan_l1_fix_time: 1.1714, d5.loss_plan_l1_fix_dist: 0.2239, d6.loss_plan_l1_fix_time: 1.1750, d6.loss_plan_l1_fix_dist: 0.2370, d0.loss_cls_all: 0.2048, d0.loss_bbox_all: 0.4177, d0.loss_cls: 0.2048, d0.loss_bbox: 0.4177, d1.loss_cls: 0.1976, d1.loss_bbox: 0.3833, d2.loss_cls: 0.1807, d2.loss_bbox: 0.3692, d3.loss_cls: 0.1714, d3.loss_bbox: 0.3642, d4.loss_cls: 0.1661, d4.loss_bbox: 0.3630, d5.loss_cls: 0.1647, d5.loss_bbox: 0.3625, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0451, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8606, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7926, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7958, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7936, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7924, d0.loss_map_cls_all: 0.2284, d0.loss_map_pts_all: 1.2533, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2284, d0.loss_map_pts: 1.2533, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1930, d1.loss_map_pts: 0.8560, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1702, d2.loss_map_pts: 0.7006, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1570, d3.loss_map_pts: 0.6382, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1521, d4.loss_map_pts: 0.6123, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1485, d5.loss_map_pts: 0.6040, d5.loss_map_dir: 0.0083, loss: 29.5602, grad_norm: 164.1847 +2026-02-26 04:45:26,617 - DriveTransformer - INFO - Epoch [6][28000/39528] lr: 8.977e-05, eta: 6 days, 17:42:23, time: 0.807, data_time: 0.043, memory: 19865, loss_cls: 0.1575, loss_bbox: 0.3495, loss_traj: 0.7286, loss_traj_cls: 0.0010, loss_map_cls: 0.1642, loss_map_pts: 0.7520, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.8555, d0.loss_plan_l1_fix_dist: 0.3796, d1.loss_plan_l1_fix_time: 1.1761, d1.loss_plan_l1_fix_dist: 0.1700, d2.loss_plan_l1_fix_time: 1.1621, d2.loss_plan_l1_fix_dist: 0.1785, d3.loss_plan_l1_fix_time: 1.1560, d3.loss_plan_l1_fix_dist: 0.1930, d4.loss_plan_l1_fix_time: 1.1599, d4.loss_plan_l1_fix_dist: 0.2095, d5.loss_plan_l1_fix_time: 1.1646, d5.loss_plan_l1_fix_dist: 0.2260, d6.loss_plan_l1_fix_time: 1.1695, d6.loss_plan_l1_fix_dist: 0.2429, d0.loss_cls_all: 0.1922, d0.loss_bbox_all: 0.3931, d0.loss_cls: 0.1922, d0.loss_bbox: 0.3931, d1.loss_cls: 0.1819, d1.loss_bbox: 0.3662, d2.loss_cls: 0.1701, d2.loss_bbox: 0.3539, d3.loss_cls: 0.1639, d3.loss_bbox: 0.3494, d4.loss_cls: 0.1579, d4.loss_bbox: 0.3496, d5.loss_cls: 0.1568, d5.loss_bbox: 0.3494, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9645, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7906, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7356, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7286, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7255, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7248, d0.loss_map_cls_all: 0.2387, d0.loss_map_pts_all: 1.5363, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2387, d0.loss_map_pts: 1.5363, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2122, d1.loss_map_pts: 1.0303, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1905, d2.loss_map_pts: 0.8544, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1775, d3.loss_map_pts: 0.7841, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1708, d4.loss_map_pts: 0.7615, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1658, d5.loss_map_pts: 0.7543, d5.loss_map_dir: 0.0104, loss: 30.7715, grad_norm: 154.2860 +2026-02-26 04:46:06,733 - DriveTransformer - INFO - Epoch [6][28050/39528] lr: 8.977e-05, eta: 6 days, 17:41:42, time: 0.802, data_time: 0.037, memory: 19865, loss_cls: 0.1686, loss_bbox: 0.3516, loss_traj: 0.5825, loss_traj_cls: 0.0010, loss_map_cls: 0.1437, loss_map_pts: 0.7104, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.4977, d0.loss_plan_l1_fix_dist: 0.4594, d1.loss_plan_l1_fix_time: 1.0801, d1.loss_plan_l1_fix_dist: 0.1864, d2.loss_plan_l1_fix_time: 1.0546, d2.loss_plan_l1_fix_dist: 0.1838, d3.loss_plan_l1_fix_time: 1.0539, d3.loss_plan_l1_fix_dist: 0.1931, d4.loss_plan_l1_fix_time: 1.0585, d4.loss_plan_l1_fix_dist: 0.2044, d5.loss_plan_l1_fix_time: 1.0639, d5.loss_plan_l1_fix_dist: 0.2154, d6.loss_plan_l1_fix_time: 1.0702, d6.loss_plan_l1_fix_dist: 0.2263, d0.loss_cls_all: 0.2005, d0.loss_bbox_all: 0.4087, d0.loss_cls: 0.2005, d0.loss_bbox: 0.4087, d1.loss_cls: 0.1916, d1.loss_bbox: 0.3779, d2.loss_cls: 0.1824, d2.loss_bbox: 0.3634, d3.loss_cls: 0.1728, d3.loss_bbox: 0.3576, d4.loss_cls: 0.1687, d4.loss_bbox: 0.3533, d5.loss_cls: 0.1665, d5.loss_bbox: 0.3533, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7396, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6075, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5790, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5828, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5773, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5797, d0.loss_map_cls_all: 0.2085, d0.loss_map_pts_all: 1.4067, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2085, d0.loss_map_pts: 1.4067, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1782, d1.loss_map_pts: 0.9690, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1612, d2.loss_map_pts: 0.8036, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1542, d3.loss_map_pts: 0.7402, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1506, d4.loss_map_pts: 0.7152, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1454, d5.loss_map_pts: 0.7095, d5.loss_map_dir: 0.0107, loss: 28.1226, grad_norm: 153.0438 +2026-02-26 04:46:44,799 - DriveTransformer - INFO - Epoch [6][28100/39528] lr: 8.977e-05, eta: 6 days, 17:40:55, time: 0.761, data_time: 0.041, memory: 19865, loss_cls: 0.1602, loss_bbox: 0.3416, loss_traj: 0.6504, loss_traj_cls: 0.0010, loss_map_cls: 0.1284, loss_map_pts: 0.6024, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.4450, d0.loss_plan_l1_fix_dist: 0.4808, d1.loss_plan_l1_fix_time: 1.1037, d1.loss_plan_l1_fix_dist: 0.1771, d2.loss_plan_l1_fix_time: 1.0784, d2.loss_plan_l1_fix_dist: 0.1811, d3.loss_plan_l1_fix_time: 1.0753, d3.loss_plan_l1_fix_dist: 0.1927, d4.loss_plan_l1_fix_time: 1.0788, d4.loss_plan_l1_fix_dist: 0.2102, d5.loss_plan_l1_fix_time: 1.0831, d5.loss_plan_l1_fix_dist: 0.2330, d6.loss_plan_l1_fix_time: 1.0886, d6.loss_plan_l1_fix_dist: 0.2595, d0.loss_cls_all: 0.1942, d0.loss_bbox_all: 0.3969, d0.loss_cls: 0.1942, d0.loss_bbox: 0.3969, d1.loss_cls: 0.1862, d1.loss_bbox: 0.3683, d2.loss_cls: 0.1730, d2.loss_bbox: 0.3506, d3.loss_cls: 0.1643, d3.loss_bbox: 0.3444, d4.loss_cls: 0.1597, d4.loss_bbox: 0.3431, d5.loss_cls: 0.1599, d5.loss_bbox: 0.3420, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8110, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6994, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6638, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6566, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6510, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6513, d0.loss_map_cls_all: 0.1918, d0.loss_map_pts_all: 1.1976, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1918, d0.loss_map_pts: 1.1976, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1655, d1.loss_map_pts: 0.8143, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1506, d2.loss_map_pts: 0.6760, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1400, d3.loss_map_pts: 0.6250, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1341, d4.loss_map_pts: 0.6057, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1306, d5.loss_map_pts: 0.6000, d5.loss_map_dir: 0.0079, loss: 27.3654, grad_norm: 154.1059 +2026-02-26 04:47:22,926 - DriveTransformer - INFO - Epoch [6][28150/39528] lr: 8.977e-05, eta: 6 days, 17:40:08, time: 0.763, data_time: 0.037, memory: 19865, loss_cls: 0.1529, loss_bbox: 0.3297, loss_traj: 0.6261, loss_traj_cls: 0.0010, loss_map_cls: 0.1293, loss_map_pts: 0.5459, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.5323, d0.loss_plan_l1_fix_dist: 0.4017, d1.loss_plan_l1_fix_time: 0.9966, d1.loss_plan_l1_fix_dist: 0.1690, d2.loss_plan_l1_fix_time: 0.9665, d2.loss_plan_l1_fix_dist: 0.1696, d3.loss_plan_l1_fix_time: 0.9611, d3.loss_plan_l1_fix_dist: 0.1806, d4.loss_plan_l1_fix_time: 0.9640, d4.loss_plan_l1_fix_dist: 0.1930, d5.loss_plan_l1_fix_time: 0.9678, d5.loss_plan_l1_fix_dist: 0.2088, d6.loss_plan_l1_fix_time: 0.9723, d6.loss_plan_l1_fix_dist: 0.2286, d0.loss_cls_all: 0.1913, d0.loss_bbox_all: 0.3812, d0.loss_cls: 0.1913, d0.loss_bbox: 0.3812, d1.loss_cls: 0.1856, d1.loss_bbox: 0.3498, d2.loss_cls: 0.1713, d2.loss_bbox: 0.3345, d3.loss_cls: 0.1606, d3.loss_bbox: 0.3294, d4.loss_cls: 0.1559, d4.loss_bbox: 0.3285, d5.loss_cls: 0.1535, d5.loss_bbox: 0.3283, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7674, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6630, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6355, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6309, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6263, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6280, d0.loss_map_cls_all: 0.1851, d0.loss_map_pts_all: 1.1193, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1851, d0.loss_map_pts: 1.1193, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1630, d1.loss_map_pts: 0.7490, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1477, d2.loss_map_pts: 0.6212, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1386, d3.loss_map_pts: 0.5683, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1327, d4.loss_map_pts: 0.5531, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1303, d5.loss_map_pts: 0.5487, d5.loss_map_dir: 0.0078, loss: 25.7168, grad_norm: 154.6659 +2026-02-26 04:48:02,896 - DriveTransformer - INFO - Epoch [6][28200/39528] lr: 8.977e-05, eta: 6 days, 17:39:26, time: 0.799, data_time: 0.037, memory: 19865, loss_cls: 0.1543, loss_bbox: 0.3456, loss_traj: 0.7316, loss_traj_cls: 0.0010, loss_map_cls: 0.1350, loss_map_pts: 0.6817, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.3331, d0.loss_plan_l1_fix_dist: 0.4475, d1.loss_plan_l1_fix_time: 1.0536, d1.loss_plan_l1_fix_dist: 0.1706, d2.loss_plan_l1_fix_time: 1.0407, d2.loss_plan_l1_fix_dist: 0.1780, d3.loss_plan_l1_fix_time: 1.0447, d3.loss_plan_l1_fix_dist: 0.1940, d4.loss_plan_l1_fix_time: 1.0497, d4.loss_plan_l1_fix_dist: 0.2121, d5.loss_plan_l1_fix_time: 1.0542, d5.loss_plan_l1_fix_dist: 0.2299, d6.loss_plan_l1_fix_time: 1.0591, d6.loss_plan_l1_fix_dist: 0.2493, d0.loss_cls_all: 0.1883, d0.loss_bbox_all: 0.4071, d0.loss_cls: 0.1883, d0.loss_bbox: 0.4071, d1.loss_cls: 0.1843, d1.loss_bbox: 0.3742, d2.loss_cls: 0.1689, d2.loss_bbox: 0.3584, d3.loss_cls: 0.1604, d3.loss_bbox: 0.3506, d4.loss_cls: 0.1560, d4.loss_bbox: 0.3477, d5.loss_cls: 0.1546, d5.loss_bbox: 0.3460, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9315, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7816, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7391, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7305, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7248, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7301, d0.loss_map_cls_all: 0.1990, d0.loss_map_pts_all: 1.4641, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.1990, d0.loss_map_pts: 1.4641, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1689, d1.loss_map_pts: 0.9572, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1549, d2.loss_map_pts: 0.7817, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1460, d3.loss_map_pts: 0.7186, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1404, d4.loss_map_pts: 0.6917, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1361, d5.loss_map_pts: 0.6827, d5.loss_map_dir: 0.0102, loss: 28.7834, grad_norm: 153.2913 +2026-02-26 04:48:43,337 - DriveTransformer - INFO - Epoch [6][28250/39528] lr: 8.977e-05, eta: 6 days, 17:38:47, time: 0.809, data_time: 0.041, memory: 19865, loss_cls: 0.1426, loss_bbox: 0.3436, loss_traj: 0.6997, loss_traj_cls: 0.0010, loss_map_cls: 0.1725, loss_map_pts: 0.8338, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.4694, d0.loss_plan_l1_fix_dist: 0.4249, d1.loss_plan_l1_fix_time: 1.1122, d1.loss_plan_l1_fix_dist: 0.2037, d2.loss_plan_l1_fix_time: 1.0950, d2.loss_plan_l1_fix_dist: 0.2110, d3.loss_plan_l1_fix_time: 1.1020, d3.loss_plan_l1_fix_dist: 0.2246, d4.loss_plan_l1_fix_time: 1.1066, d4.loss_plan_l1_fix_dist: 0.2452, d5.loss_plan_l1_fix_time: 1.1109, d5.loss_plan_l1_fix_dist: 0.2656, d6.loss_plan_l1_fix_time: 1.1156, d6.loss_plan_l1_fix_dist: 0.2839, d0.loss_cls_all: 0.1799, d0.loss_bbox_all: 0.4017, d0.loss_cls: 0.1799, d0.loss_bbox: 0.4017, d1.loss_cls: 0.1682, d1.loss_bbox: 0.3703, d2.loss_cls: 0.1531, d2.loss_bbox: 0.3580, d3.loss_cls: 0.1487, d3.loss_bbox: 0.3507, d4.loss_cls: 0.1437, d4.loss_bbox: 0.3469, d5.loss_cls: 0.1437, d5.loss_bbox: 0.3448, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8896, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7728, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7264, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7118, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7070, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7032, d0.loss_map_cls_all: 0.2387, d0.loss_map_pts_all: 1.6572, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2387, d0.loss_map_pts: 1.6572, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2151, d1.loss_map_pts: 1.1471, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.1969, d2.loss_map_pts: 0.9481, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1852, d3.loss_map_pts: 0.8703, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1794, d4.loss_map_pts: 0.8412, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1737, d5.loss_map_pts: 0.8347, d5.loss_map_dir: 0.0117, loss: 30.8436, grad_norm: 153.5364 +2026-02-26 04:49:21,156 - DriveTransformer - INFO - Epoch [6][28300/39528] lr: 8.977e-05, eta: 6 days, 17:37:59, time: 0.756, data_time: 0.038, memory: 19865, loss_cls: 0.1764, loss_bbox: 0.3648, loss_traj: 0.5605, loss_traj_cls: 0.0009, loss_map_cls: 0.1696, loss_map_pts: 0.7362, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.3418, d0.loss_plan_l1_fix_dist: 0.3495, d1.loss_plan_l1_fix_time: 1.1477, d1.loss_plan_l1_fix_dist: 0.1749, d2.loss_plan_l1_fix_time: 1.1349, d2.loss_plan_l1_fix_dist: 0.1808, d3.loss_plan_l1_fix_time: 1.1339, d3.loss_plan_l1_fix_dist: 0.1910, d4.loss_plan_l1_fix_time: 1.1367, d4.loss_plan_l1_fix_dist: 0.2048, d5.loss_plan_l1_fix_time: 1.1405, d5.loss_plan_l1_fix_dist: 0.2216, d6.loss_plan_l1_fix_time: 1.1446, d6.loss_plan_l1_fix_dist: 0.2407, d0.loss_cls_all: 0.2158, d0.loss_bbox_all: 0.4214, d0.loss_cls: 0.2158, d0.loss_bbox: 0.4214, d1.loss_cls: 0.2092, d1.loss_bbox: 0.3887, d2.loss_cls: 0.1960, d2.loss_bbox: 0.3725, d3.loss_cls: 0.1851, d3.loss_bbox: 0.3659, d4.loss_cls: 0.1789, d4.loss_bbox: 0.3639, d5.loss_cls: 0.1771, d5.loss_bbox: 0.3650, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7317, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6010, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5671, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5661, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5648, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5684, d0.loss_map_cls_all: 0.2453, d0.loss_map_pts_all: 1.4751, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2453, d0.loss_map_pts: 1.4751, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2146, d1.loss_map_pts: 0.9748, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1950, d2.loss_map_pts: 0.8164, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1863, d3.loss_map_pts: 0.7599, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1762, d4.loss_map_pts: 0.7401, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1717, d5.loss_map_pts: 0.7348, d5.loss_map_dir: 0.0107, loss: 28.9273, grad_norm: 153.7397 +2026-02-26 04:50:00,280 - DriveTransformer - INFO - Epoch [6][28350/39528] lr: 8.977e-05, eta: 6 days, 17:37:15, time: 0.783, data_time: 0.042, memory: 19865, loss_cls: 0.1735, loss_bbox: 0.3911, loss_traj: 0.6700, loss_traj_cls: 0.0010, loss_map_cls: 0.1489, loss_map_pts: 0.6879, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 3.0403, d0.loss_plan_l1_fix_dist: 0.3852, d1.loss_plan_l1_fix_time: 1.1239, d1.loss_plan_l1_fix_dist: 0.1868, d2.loss_plan_l1_fix_time: 1.0950, d2.loss_plan_l1_fix_dist: 0.2028, d3.loss_plan_l1_fix_time: 1.0899, d3.loss_plan_l1_fix_dist: 0.2236, d4.loss_plan_l1_fix_time: 1.0915, d4.loss_plan_l1_fix_dist: 0.2443, d5.loss_plan_l1_fix_time: 1.0940, d5.loss_plan_l1_fix_dist: 0.2706, d6.loss_plan_l1_fix_time: 1.0965, d6.loss_plan_l1_fix_dist: 0.3033, d0.loss_cls_all: 0.2144, d0.loss_bbox_all: 0.4464, d0.loss_cls: 0.2144, d0.loss_bbox: 0.4464, d1.loss_cls: 0.2026, d1.loss_bbox: 0.4097, d2.loss_cls: 0.1927, d2.loss_bbox: 0.3945, d3.loss_cls: 0.1809, d3.loss_bbox: 0.3924, d4.loss_cls: 0.1753, d4.loss_bbox: 0.3919, d5.loss_cls: 0.1732, d5.loss_bbox: 0.3915, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9314, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7568, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6990, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6806, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6696, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6684, d0.loss_map_cls_all: 0.2083, d0.loss_map_pts_all: 1.3977, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2083, d0.loss_map_pts: 1.3977, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.1805, d1.loss_map_pts: 0.9332, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1675, d2.loss_map_pts: 0.7716, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1595, d3.loss_map_pts: 0.7183, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1544, d4.loss_map_pts: 0.6935, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1504, d5.loss_map_pts: 0.6885, d5.loss_map_dir: 0.0108, loss: 30.0691, grad_norm: 161.7654 +2026-02-26 04:50:40,122 - DriveTransformer - INFO - Epoch [6][28400/39528] lr: 8.977e-05, eta: 6 days, 17:36:33, time: 0.797, data_time: 0.038, memory: 19865, loss_cls: 0.1535, loss_bbox: 0.3683, loss_traj: 0.6293, loss_traj_cls: 0.0009, loss_map_cls: 0.1649, loss_map_pts: 0.7447, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.7625, d0.loss_plan_l1_fix_dist: 0.4376, d1.loss_plan_l1_fix_time: 1.1811, d1.loss_plan_l1_fix_dist: 0.1860, d2.loss_plan_l1_fix_time: 1.1727, d2.loss_plan_l1_fix_dist: 0.1907, d3.loss_plan_l1_fix_time: 1.1751, d3.loss_plan_l1_fix_dist: 0.2047, d4.loss_plan_l1_fix_time: 1.1794, d4.loss_plan_l1_fix_dist: 0.2185, d5.loss_plan_l1_fix_time: 1.1841, d5.loss_plan_l1_fix_dist: 0.2361, d6.loss_plan_l1_fix_time: 1.1892, d6.loss_plan_l1_fix_dist: 0.2589, d0.loss_cls_all: 0.1935, d0.loss_bbox_all: 0.4205, d0.loss_cls: 0.1935, d0.loss_bbox: 0.4205, d1.loss_cls: 0.1841, d1.loss_bbox: 0.3855, d2.loss_cls: 0.1734, d2.loss_bbox: 0.3704, d3.loss_cls: 0.1636, d3.loss_bbox: 0.3664, d4.loss_cls: 0.1571, d4.loss_bbox: 0.3670, d5.loss_cls: 0.1545, d5.loss_bbox: 0.3673, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8645, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6855, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6504, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6348, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6322, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6304, d0.loss_map_cls_all: 0.2205, d0.loss_map_pts_all: 1.4569, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2205, d0.loss_map_pts: 1.4569, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.1983, d1.loss_map_pts: 1.0152, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1849, d2.loss_map_pts: 0.8357, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1765, d3.loss_map_pts: 0.7766, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1681, d4.loss_map_pts: 0.7552, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1678, d5.loss_map_pts: 0.7459, d5.loss_map_dir: 0.0100, loss: 30.1174, grad_norm: 161.4009 +2026-02-26 04:51:20,324 - DriveTransformer - INFO - Epoch [6][28450/39528] lr: 8.977e-05, eta: 6 days, 17:35:53, time: 0.804, data_time: 0.045, memory: 19865, loss_cls: 0.1629, loss_bbox: 0.3641, loss_traj: 0.6512, loss_traj_cls: 0.0010, loss_map_cls: 0.1525, loss_map_pts: 0.6877, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.8301, d0.loss_plan_l1_fix_dist: 0.4892, d1.loss_plan_l1_fix_time: 1.2129, d1.loss_plan_l1_fix_dist: 0.2114, d2.loss_plan_l1_fix_time: 1.1970, d2.loss_plan_l1_fix_dist: 0.2123, d3.loss_plan_l1_fix_time: 1.1898, d3.loss_plan_l1_fix_dist: 0.2251, d4.loss_plan_l1_fix_time: 1.1920, d4.loss_plan_l1_fix_dist: 0.2413, d5.loss_plan_l1_fix_time: 1.1956, d5.loss_plan_l1_fix_dist: 0.2582, d6.loss_plan_l1_fix_time: 1.2003, d6.loss_plan_l1_fix_dist: 0.2735, d0.loss_cls_all: 0.1940, d0.loss_bbox_all: 0.4268, d0.loss_cls: 0.1940, d0.loss_bbox: 0.4268, d1.loss_cls: 0.1894, d1.loss_bbox: 0.3937, d2.loss_cls: 0.1748, d2.loss_bbox: 0.3764, d3.loss_cls: 0.1670, d3.loss_bbox: 0.3684, d4.loss_cls: 0.1643, d4.loss_bbox: 0.3652, d5.loss_cls: 0.1632, d5.loss_bbox: 0.3646, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8375, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7107, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6692, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6549, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6515, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6485, d0.loss_map_cls_all: 0.2188, d0.loss_map_pts_all: 1.3690, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2188, d0.loss_map_pts: 1.3690, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1864, d1.loss_map_pts: 0.9567, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1683, d2.loss_map_pts: 0.7856, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1628, d3.loss_map_pts: 0.7224, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1564, d4.loss_map_pts: 0.6966, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1537, d5.loss_map_pts: 0.6896, d5.loss_map_dir: 0.0095, loss: 30.0230, grad_norm: 161.2000 +2026-02-26 04:51:58,352 - DriveTransformer - INFO - Epoch [6][28500/39528] lr: 8.977e-05, eta: 6 days, 17:35:05, time: 0.760, data_time: 0.052, memory: 19865, loss_cls: 0.1550, loss_bbox: 0.3413, loss_traj: 0.5471, loss_traj_cls: 0.0010, loss_map_cls: 0.1386, loss_map_pts: 0.6390, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.0466, d0.loss_plan_l1_fix_dist: 0.5719, d1.loss_plan_l1_fix_time: 0.9008, d1.loss_plan_l1_fix_dist: 0.1782, d2.loss_plan_l1_fix_time: 0.8875, d2.loss_plan_l1_fix_dist: 0.1765, d3.loss_plan_l1_fix_time: 0.8901, d3.loss_plan_l1_fix_dist: 0.1856, d4.loss_plan_l1_fix_time: 0.8946, d4.loss_plan_l1_fix_dist: 0.1966, d5.loss_plan_l1_fix_time: 0.8995, d5.loss_plan_l1_fix_dist: 0.2099, d6.loss_plan_l1_fix_time: 0.9046, d6.loss_plan_l1_fix_dist: 0.2245, d0.loss_cls_all: 0.1952, d0.loss_bbox_all: 0.4003, d0.loss_cls: 0.1952, d0.loss_bbox: 0.4003, d1.loss_cls: 0.1860, d1.loss_bbox: 0.3670, d2.loss_cls: 0.1717, d2.loss_bbox: 0.3520, d3.loss_cls: 0.1625, d3.loss_bbox: 0.3466, d4.loss_cls: 0.1557, d4.loss_bbox: 0.3439, d5.loss_cls: 0.1553, d5.loss_bbox: 0.3408, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7206, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5982, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.5575, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5539, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.5451, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5467, d0.loss_map_cls_all: 0.2001, d0.loss_map_pts_all: 1.2850, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2001, d0.loss_map_pts: 1.2850, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1765, d1.loss_map_pts: 0.8824, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1581, d2.loss_map_pts: 0.7290, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1487, d3.loss_map_pts: 0.6676, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1442, d4.loss_map_pts: 0.6431, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1405, d5.loss_map_pts: 0.6389, d5.loss_map_dir: 0.0081, loss: 25.6514, grad_norm: 161.5482 +2026-02-26 04:52:38,992 - DriveTransformer - INFO - Epoch [6][28550/39528] lr: 8.977e-05, eta: 6 days, 17:34:26, time: 0.813, data_time: 0.040, memory: 19865, loss_cls: 0.1645, loss_bbox: 0.3590, loss_traj: 0.6749, loss_traj_cls: 0.0010, loss_map_cls: 0.1550, loss_map_pts: 0.6807, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.7461, d0.loss_plan_l1_fix_dist: 0.3269, d1.loss_plan_l1_fix_time: 1.1455, d1.loss_plan_l1_fix_dist: 0.1809, d2.loss_plan_l1_fix_time: 1.1265, d2.loss_plan_l1_fix_dist: 0.1906, d3.loss_plan_l1_fix_time: 1.1245, d3.loss_plan_l1_fix_dist: 0.2052, d4.loss_plan_l1_fix_time: 1.1275, d4.loss_plan_l1_fix_dist: 0.2210, d5.loss_plan_l1_fix_time: 1.1315, d5.loss_plan_l1_fix_dist: 0.2381, d6.loss_plan_l1_fix_time: 1.1363, d6.loss_plan_l1_fix_dist: 0.2570, d0.loss_cls_all: 0.1990, d0.loss_bbox_all: 0.4096, d0.loss_cls: 0.1990, d0.loss_bbox: 0.4096, d1.loss_cls: 0.1933, d1.loss_bbox: 0.3813, d2.loss_cls: 0.1837, d2.loss_bbox: 0.3661, d3.loss_cls: 0.1729, d3.loss_bbox: 0.3625, d4.loss_cls: 0.1652, d4.loss_bbox: 0.3600, d5.loss_cls: 0.1640, d5.loss_bbox: 0.3589, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8677, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7322, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6930, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6843, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6791, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6751, d0.loss_map_cls_all: 0.2175, d0.loss_map_pts_all: 1.4224, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2175, d0.loss_map_pts: 1.4224, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1912, d1.loss_map_pts: 0.9705, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1753, d2.loss_map_pts: 0.7940, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1659, d3.loss_map_pts: 0.7253, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1607, d4.loss_map_pts: 0.6927, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1551, d5.loss_map_pts: 0.6839, d5.loss_map_dir: 0.0106, loss: 29.5310, grad_norm: 161.1720 +2026-02-26 04:53:17,314 - DriveTransformer - INFO - Epoch [6][28600/39528] lr: 8.977e-05, eta: 6 days, 17:33:40, time: 0.768, data_time: 0.038, memory: 19865, loss_cls: 0.1739, loss_bbox: 0.3735, loss_traj: 0.6608, loss_traj_cls: 0.0010, loss_map_cls: 0.1857, loss_map_pts: 0.7844, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.4601, d0.loss_plan_l1_fix_dist: 0.4197, d1.loss_plan_l1_fix_time: 1.0311, d1.loss_plan_l1_fix_dist: 0.1735, d2.loss_plan_l1_fix_time: 1.0130, d2.loss_plan_l1_fix_dist: 0.1791, d3.loss_plan_l1_fix_time: 1.0200, d3.loss_plan_l1_fix_dist: 0.1913, d4.loss_plan_l1_fix_time: 1.0237, d4.loss_plan_l1_fix_dist: 0.2055, d5.loss_plan_l1_fix_time: 1.0278, d5.loss_plan_l1_fix_dist: 0.2241, d6.loss_plan_l1_fix_time: 1.0328, d6.loss_plan_l1_fix_dist: 0.2455, d0.loss_cls_all: 0.2058, d0.loss_bbox_all: 0.4351, d0.loss_cls: 0.2058, d0.loss_bbox: 0.4351, d1.loss_cls: 0.1980, d1.loss_bbox: 0.4019, d2.loss_cls: 0.1887, d2.loss_bbox: 0.3846, d3.loss_cls: 0.1800, d3.loss_bbox: 0.3772, d4.loss_cls: 0.1738, d4.loss_bbox: 0.3751, d5.loss_cls: 0.1742, d5.loss_bbox: 0.3733, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9170, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7368, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6876, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6695, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6643, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6657, d0.loss_map_cls_all: 0.2562, d0.loss_map_pts_all: 1.5755, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2562, d0.loss_map_pts: 1.5755, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2313, d1.loss_map_pts: 1.1018, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.2112, d2.loss_map_pts: 0.9100, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1984, d3.loss_map_pts: 0.8328, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1912, d4.loss_map_pts: 0.8007, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1867, d5.loss_map_pts: 0.7868, d5.loss_map_dir: 0.0104, loss: 30.0763, grad_norm: 159.3311 +2026-02-26 04:53:56,836 - DriveTransformer - INFO - Epoch [6][28650/39528] lr: 8.977e-05, eta: 6 days, 17:32:57, time: 0.789, data_time: 0.042, memory: 19865, loss_cls: 0.1539, loss_bbox: 0.3731, loss_traj: 0.6247, loss_traj_cls: 0.0010, loss_map_cls: 0.1631, loss_map_pts: 0.6559, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.2036, d0.loss_plan_l1_fix_dist: 0.3717, d1.loss_plan_l1_fix_time: 1.0221, d1.loss_plan_l1_fix_dist: 0.1627, d2.loss_plan_l1_fix_time: 1.0183, d2.loss_plan_l1_fix_dist: 0.1659, d3.loss_plan_l1_fix_time: 1.0209, d3.loss_plan_l1_fix_dist: 0.1768, d4.loss_plan_l1_fix_time: 1.0237, d4.loss_plan_l1_fix_dist: 0.1915, d5.loss_plan_l1_fix_time: 1.0261, d5.loss_plan_l1_fix_dist: 0.2083, d6.loss_plan_l1_fix_time: 1.0289, d6.loss_plan_l1_fix_dist: 0.2272, d0.loss_cls_all: 0.1856, d0.loss_bbox_all: 0.4246, d0.loss_cls: 0.1856, d0.loss_bbox: 0.4246, d1.loss_cls: 0.1836, d1.loss_bbox: 0.4006, d2.loss_cls: 0.1708, d2.loss_bbox: 0.3840, d3.loss_cls: 0.1592, d3.loss_bbox: 0.3791, d4.loss_cls: 0.1542, d4.loss_bbox: 0.3771, d5.loss_cls: 0.1530, d5.loss_bbox: 0.3748, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8011, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6724, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6305, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6281, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6167, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6221, d0.loss_map_cls_all: 0.2259, d0.loss_map_pts_all: 1.3791, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2259, d0.loss_map_pts: 1.3791, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1995, d1.loss_map_pts: 0.9154, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1802, d2.loss_map_pts: 0.7450, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1709, d3.loss_map_pts: 0.6810, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1668, d4.loss_map_pts: 0.6605, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1645, d5.loss_map_pts: 0.6563, d5.loss_map_dir: 0.0094, loss: 27.5762, grad_norm: 158.1856 +2026-02-26 04:54:35,728 - DriveTransformer - INFO - Epoch [6][28700/39528] lr: 8.977e-05, eta: 6 days, 17:32:13, time: 0.778, data_time: 0.041, memory: 19865, loss_cls: 0.1734, loss_bbox: 0.3831, loss_traj: 0.7477, loss_traj_cls: 0.0009, loss_map_cls: 0.1733, loss_map_pts: 0.7407, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.8795, d0.loss_plan_l1_fix_dist: 0.4102, d1.loss_plan_l1_fix_time: 1.2717, d1.loss_plan_l1_fix_dist: 0.1953, d2.loss_plan_l1_fix_time: 1.2614, d2.loss_plan_l1_fix_dist: 0.2020, d3.loss_plan_l1_fix_time: 1.2589, d3.loss_plan_l1_fix_dist: 0.2122, d4.loss_plan_l1_fix_time: 1.2606, d4.loss_plan_l1_fix_dist: 0.2237, d5.loss_plan_l1_fix_time: 1.2625, d5.loss_plan_l1_fix_dist: 0.2360, d6.loss_plan_l1_fix_time: 1.2641, d6.loss_plan_l1_fix_dist: 0.2494, d0.loss_cls_all: 0.2074, d0.loss_bbox_all: 0.4524, d0.loss_cls: 0.2074, d0.loss_bbox: 0.4524, d1.loss_cls: 0.2080, d1.loss_bbox: 0.4173, d2.loss_cls: 0.1930, d2.loss_bbox: 0.3976, d3.loss_cls: 0.1813, d3.loss_bbox: 0.3905, d4.loss_cls: 0.1749, d4.loss_bbox: 0.3859, d5.loss_cls: 0.1729, d5.loss_bbox: 0.3841, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9787, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8280, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7676, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7602, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7536, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7477, d0.loss_map_cls_all: 0.2490, d0.loss_map_pts_all: 1.5336, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2490, d0.loss_map_pts: 1.5336, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2212, d1.loss_map_pts: 1.0498, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1971, d2.loss_map_pts: 0.8643, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1853, d3.loss_map_pts: 0.7841, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1793, d4.loss_map_pts: 0.7530, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1739, d5.loss_map_pts: 0.7428, d5.loss_map_dir: 0.0099, loss: 32.2662, grad_norm: 154.7421 +2026-02-26 04:55:14,414 - DriveTransformer - INFO - Epoch [6][28750/39528] lr: 8.977e-05, eta: 6 days, 17:31:28, time: 0.773, data_time: 0.041, memory: 19865, loss_cls: 0.1890, loss_bbox: 0.3776, loss_traj: 0.6521, loss_traj_cls: 0.0009, loss_map_cls: 0.1476, loss_map_pts: 0.6734, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.9977, d0.loss_plan_l1_fix_dist: 0.4135, d1.loss_plan_l1_fix_time: 1.2211, d1.loss_plan_l1_fix_dist: 0.2063, d2.loss_plan_l1_fix_time: 1.2114, d2.loss_plan_l1_fix_dist: 0.2118, d3.loss_plan_l1_fix_time: 1.2205, d3.loss_plan_l1_fix_dist: 0.2265, d4.loss_plan_l1_fix_time: 1.2242, d4.loss_plan_l1_fix_dist: 0.2431, d5.loss_plan_l1_fix_time: 1.2276, d5.loss_plan_l1_fix_dist: 0.2579, d6.loss_plan_l1_fix_time: 1.2312, d6.loss_plan_l1_fix_dist: 0.2724, d0.loss_cls_all: 0.2178, d0.loss_bbox_all: 0.4275, d0.loss_cls: 0.2178, d0.loss_bbox: 0.4275, d1.loss_cls: 0.2103, d1.loss_bbox: 0.3920, d2.loss_cls: 0.2013, d2.loss_bbox: 0.3769, d3.loss_cls: 0.1912, d3.loss_bbox: 0.3706, d4.loss_cls: 0.1874, d4.loss_bbox: 0.3729, d5.loss_cls: 0.1874, d5.loss_bbox: 0.3745, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8743, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7088, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6766, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6683, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6566, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6511, d0.loss_map_cls_all: 0.2206, d0.loss_map_pts_all: 1.3667, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2206, d0.loss_map_pts: 1.3667, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.1944, d1.loss_map_pts: 0.9297, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.1720, d2.loss_map_pts: 0.7636, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1615, d3.loss_map_pts: 0.7006, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1537, d4.loss_map_pts: 0.6751, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1489, d5.loss_map_pts: 0.6718, d5.loss_map_dir: 0.0109, loss: 30.4336, grad_norm: 158.6815 +2026-02-26 04:55:53,916 - DriveTransformer - INFO - Epoch [6][28800/39528] lr: 8.977e-05, eta: 6 days, 17:30:45, time: 0.790, data_time: 0.036, memory: 19865, loss_cls: 0.1792, loss_bbox: 0.4111, loss_traj: 0.6604, loss_traj_cls: 0.0009, loss_map_cls: 0.1693, loss_map_pts: 0.7859, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.2252, d0.loss_plan_l1_fix_dist: 0.3875, d1.loss_plan_l1_fix_time: 1.0627, d1.loss_plan_l1_fix_dist: 0.1816, d2.loss_plan_l1_fix_time: 1.0497, d2.loss_plan_l1_fix_dist: 0.1841, d3.loss_plan_l1_fix_time: 1.0523, d3.loss_plan_l1_fix_dist: 0.1928, d4.loss_plan_l1_fix_time: 1.0554, d4.loss_plan_l1_fix_dist: 0.2034, d5.loss_plan_l1_fix_time: 1.0590, d5.loss_plan_l1_fix_dist: 0.2181, d6.loss_plan_l1_fix_time: 1.0631, d6.loss_plan_l1_fix_dist: 0.2343, d0.loss_cls_all: 0.2132, d0.loss_bbox_all: 0.4530, d0.loss_cls: 0.2132, d0.loss_bbox: 0.4530, d1.loss_cls: 0.2082, d1.loss_bbox: 0.4236, d2.loss_cls: 0.1940, d2.loss_bbox: 0.4085, d3.loss_cls: 0.1846, d3.loss_bbox: 0.4023, d4.loss_cls: 0.1788, d4.loss_bbox: 0.4055, d5.loss_cls: 0.1798, d5.loss_bbox: 0.4081, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8831, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7285, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6991, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6706, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6697, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6655, d0.loss_map_cls_all: 0.2498, d0.loss_map_pts_all: 1.5405, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2498, d0.loss_map_pts: 1.5405, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2224, d1.loss_map_pts: 1.0759, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.2017, d2.loss_map_pts: 0.9048, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1857, d3.loss_map_pts: 0.8319, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1762, d4.loss_map_pts: 0.7977, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1712, d5.loss_map_pts: 0.7870, d5.loss_map_dir: 0.0101, loss: 30.0373, grad_norm: 158.5159 +2026-02-26 04:56:33,193 - DriveTransformer - INFO - Epoch [6][28850/39528] lr: 8.977e-05, eta: 6 days, 17:30:02, time: 0.786, data_time: 0.042, memory: 19865, loss_cls: 0.1962, loss_bbox: 0.3865, loss_traj: 0.6268, loss_traj_cls: 0.0009, loss_map_cls: 0.1777, loss_map_pts: 0.7722, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 3.0262, d0.loss_plan_l1_fix_dist: 0.3992, d1.loss_plan_l1_fix_time: 1.1033, d1.loss_plan_l1_fix_dist: 0.1957, d2.loss_plan_l1_fix_time: 1.0925, d2.loss_plan_l1_fix_dist: 0.2016, d3.loss_plan_l1_fix_time: 1.0911, d3.loss_plan_l1_fix_dist: 0.2136, d4.loss_plan_l1_fix_time: 1.0943, d4.loss_plan_l1_fix_dist: 0.2277, d5.loss_plan_l1_fix_time: 1.0977, d5.loss_plan_l1_fix_dist: 0.2458, d6.loss_plan_l1_fix_time: 1.1016, d6.loss_plan_l1_fix_dist: 0.2671, d0.loss_cls_all: 0.2258, d0.loss_bbox_all: 0.4375, d0.loss_cls: 0.2258, d0.loss_bbox: 0.4375, d1.loss_cls: 0.2231, d1.loss_bbox: 0.4067, d2.loss_cls: 0.2133, d2.loss_bbox: 0.3930, d3.loss_cls: 0.2000, d3.loss_bbox: 0.3878, d4.loss_cls: 0.1953, d4.loss_bbox: 0.3854, d5.loss_cls: 0.1948, d5.loss_bbox: 0.3851, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8525, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6858, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6411, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6295, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6264, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6265, d0.loss_map_cls_all: 0.2676, d0.loss_map_pts_all: 1.6043, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2676, d0.loss_map_pts: 1.6043, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2319, d1.loss_map_pts: 1.1211, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.2084, d2.loss_map_pts: 0.9051, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1963, d3.loss_map_pts: 0.8210, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1868, d4.loss_map_pts: 0.7857, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1792, d5.loss_map_pts: 0.7747, d5.loss_map_dir: 0.0105, loss: 31.1317, grad_norm: 158.9318 +2026-02-26 04:57:10,611 - DriveTransformer - INFO - Epoch [6][28900/39528] lr: 8.977e-05, eta: 6 days, 17:29:12, time: 0.748, data_time: 0.040, memory: 19865, loss_cls: 0.1832, loss_bbox: 0.3635, loss_traj: 0.6995, loss_traj_cls: 0.0009, loss_map_cls: 0.1469, loss_map_pts: 0.6215, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.6708, d0.loss_plan_l1_fix_dist: 0.4029, d1.loss_plan_l1_fix_time: 0.9492, d1.loss_plan_l1_fix_dist: 0.1686, d2.loss_plan_l1_fix_time: 0.9305, d2.loss_plan_l1_fix_dist: 0.1718, d3.loss_plan_l1_fix_time: 0.9307, d3.loss_plan_l1_fix_dist: 0.1855, d4.loss_plan_l1_fix_time: 0.9342, d4.loss_plan_l1_fix_dist: 0.2048, d5.loss_plan_l1_fix_time: 0.9383, d5.loss_plan_l1_fix_dist: 0.2227, d6.loss_plan_l1_fix_time: 0.9436, d6.loss_plan_l1_fix_dist: 0.2419, d0.loss_cls_all: 0.2121, d0.loss_bbox_all: 0.4180, d0.loss_cls: 0.2121, d0.loss_bbox: 0.4180, d1.loss_cls: 0.2048, d1.loss_bbox: 0.3888, d2.loss_cls: 0.1925, d2.loss_bbox: 0.3734, d3.loss_cls: 0.1841, d3.loss_bbox: 0.3669, d4.loss_cls: 0.1824, d4.loss_bbox: 0.3631, d5.loss_cls: 0.1825, d5.loss_bbox: 0.3627, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8918, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7463, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7141, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6963, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6979, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7001, d0.loss_map_cls_all: 0.2106, d0.loss_map_pts_all: 1.2179, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2106, d0.loss_map_pts: 1.2179, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1862, d1.loss_map_pts: 0.8625, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1703, d2.loss_map_pts: 0.7189, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1598, d3.loss_map_pts: 0.6573, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1537, d4.loss_map_pts: 0.6299, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1490, d5.loss_map_pts: 0.6222, d5.loss_map_dir: 0.0080, loss: 27.6511, grad_norm: 160.6965 +2026-02-26 04:57:49,769 - DriveTransformer - INFO - Epoch [6][28950/39528] lr: 8.977e-05, eta: 6 days, 17:28:29, time: 0.783, data_time: 0.040, memory: 19865, loss_cls: 0.1922, loss_bbox: 0.3884, loss_traj: 0.6531, loss_traj_cls: 0.0009, loss_map_cls: 0.1755, loss_map_pts: 0.8068, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.7103, d0.loss_plan_l1_fix_dist: 0.3921, d1.loss_plan_l1_fix_time: 1.0428, d1.loss_plan_l1_fix_dist: 0.1974, d2.loss_plan_l1_fix_time: 1.0223, d2.loss_plan_l1_fix_dist: 0.1967, d3.loss_plan_l1_fix_time: 1.0234, d3.loss_plan_l1_fix_dist: 0.2081, d4.loss_plan_l1_fix_time: 1.0278, d4.loss_plan_l1_fix_dist: 0.2248, d5.loss_plan_l1_fix_time: 1.0327, d5.loss_plan_l1_fix_dist: 0.2415, d6.loss_plan_l1_fix_time: 1.0385, d6.loss_plan_l1_fix_dist: 0.2593, d0.loss_cls_all: 0.2315, d0.loss_bbox_all: 0.4449, d0.loss_cls: 0.2315, d0.loss_bbox: 0.4449, d1.loss_cls: 0.2253, d1.loss_bbox: 0.4123, d2.loss_cls: 0.2096, d2.loss_bbox: 0.3983, d3.loss_cls: 0.1976, d3.loss_bbox: 0.3927, d4.loss_cls: 0.1913, d4.loss_bbox: 0.3892, d5.loss_cls: 0.1907, d5.loss_bbox: 0.3887, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9137, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7126, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6667, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6553, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6511, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6499, d0.loss_map_cls_all: 0.2562, d0.loss_map_pts_all: 1.5037, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2562, d0.loss_map_pts: 1.5037, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2228, d1.loss_map_pts: 1.0468, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.1989, d2.loss_map_pts: 0.8932, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.1857, d3.loss_map_pts: 0.8301, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1798, d4.loss_map_pts: 0.8128, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1761, d5.loss_map_pts: 0.8079, d5.loss_map_dir: 0.0116, loss: 30.4013, grad_norm: 160.1631 +2026-02-26 04:58:28,690 - DriveTransformer - INFO - Epoch [6][29000/39528] lr: 8.977e-05, eta: 6 days, 17:27:44, time: 0.778, data_time: 0.039, memory: 19865, loss_cls: 0.1504, loss_bbox: 0.3259, loss_traj: 0.7073, loss_traj_cls: 0.0009, loss_map_cls: 0.1326, loss_map_pts: 0.5997, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.4241, d0.loss_plan_l1_fix_dist: 0.4670, d1.loss_plan_l1_fix_time: 1.0199, d1.loss_plan_l1_fix_dist: 0.2009, d2.loss_plan_l1_fix_time: 1.0035, d2.loss_plan_l1_fix_dist: 0.2097, d3.loss_plan_l1_fix_time: 1.0063, d3.loss_plan_l1_fix_dist: 0.2260, d4.loss_plan_l1_fix_time: 1.0096, d4.loss_plan_l1_fix_dist: 0.2422, d5.loss_plan_l1_fix_time: 1.0128, d5.loss_plan_l1_fix_dist: 0.2616, d6.loss_plan_l1_fix_time: 1.0164, d6.loss_plan_l1_fix_dist: 0.2812, d0.loss_cls_all: 0.1708, d0.loss_bbox_all: 0.3899, d0.loss_cls: 0.1708, d0.loss_bbox: 0.3899, d1.loss_cls: 0.1675, d1.loss_bbox: 0.3592, d2.loss_cls: 0.1580, d2.loss_bbox: 0.3381, d3.loss_cls: 0.1494, d3.loss_bbox: 0.3325, d4.loss_cls: 0.1497, d4.loss_bbox: 0.3267, d5.loss_cls: 0.1508, d5.loss_bbox: 0.3249, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9462, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7841, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7247, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7082, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7009, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7011, d0.loss_map_cls_all: 0.2095, d0.loss_map_pts_all: 1.2757, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2095, d0.loss_map_pts: 1.2757, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1751, d1.loss_map_pts: 0.8666, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1557, d2.loss_map_pts: 0.7081, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1472, d3.loss_map_pts: 0.6418, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1387, d4.loss_map_pts: 0.6134, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1350, d5.loss_map_pts: 0.6013, d5.loss_map_dir: 0.0078, loss: 27.6608, grad_norm: 160.9290 +2026-02-26 04:59:08,537 - DriveTransformer - INFO - Epoch [6][29050/39528] lr: 8.977e-05, eta: 6 days, 17:27:02, time: 0.797, data_time: 0.042, memory: 19865, loss_cls: 0.1845, loss_bbox: 0.3745, loss_traj: 0.6299, loss_traj_cls: 0.0010, loss_map_cls: 0.1801, loss_map_pts: 0.8177, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.3937, d0.loss_plan_l1_fix_dist: 0.3260, d1.loss_plan_l1_fix_time: 1.0971, d1.loss_plan_l1_fix_dist: 0.1662, d2.loss_plan_l1_fix_time: 1.0798, d2.loss_plan_l1_fix_dist: 0.1729, d3.loss_plan_l1_fix_time: 1.0747, d3.loss_plan_l1_fix_dist: 0.1854, d4.loss_plan_l1_fix_time: 1.0777, d4.loss_plan_l1_fix_dist: 0.1998, d5.loss_plan_l1_fix_time: 1.0810, d5.loss_plan_l1_fix_dist: 0.2163, d6.loss_plan_l1_fix_time: 1.0846, d6.loss_plan_l1_fix_dist: 0.2345, d0.loss_cls_all: 0.2107, d0.loss_bbox_all: 0.4301, d0.loss_cls: 0.2107, d0.loss_bbox: 0.4301, d1.loss_cls: 0.2089, d1.loss_bbox: 0.4012, d2.loss_cls: 0.1974, d2.loss_bbox: 0.3849, d3.loss_cls: 0.1861, d3.loss_bbox: 0.3795, d4.loss_cls: 0.1825, d4.loss_bbox: 0.3767, d5.loss_cls: 0.1828, d5.loss_bbox: 0.3750, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8220, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6647, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6498, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6365, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6257, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6293, d0.loss_map_cls_all: 0.2530, d0.loss_map_pts_all: 1.6466, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2530, d0.loss_map_pts: 1.6466, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2239, d1.loss_map_pts: 1.1331, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2078, d2.loss_map_pts: 0.9370, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1922, d3.loss_map_pts: 0.8633, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1865, d4.loss_map_pts: 0.8291, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1819, d5.loss_map_pts: 0.8191, d5.loss_map_dir: 0.0112, loss: 30.2260, grad_norm: 161.4709 +2026-02-26 04:59:47,141 - DriveTransformer - INFO - Epoch [6][29100/39528] lr: 8.977e-05, eta: 6 days, 17:26:17, time: 0.772, data_time: 0.037, memory: 19865, loss_cls: 0.1770, loss_bbox: 0.3714, loss_traj: 0.7492, loss_traj_cls: 0.0010, loss_map_cls: 0.1771, loss_map_pts: 0.7630, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 3.0706, d0.loss_plan_l1_fix_dist: 0.3968, d1.loss_plan_l1_fix_time: 1.3237, d1.loss_plan_l1_fix_dist: 0.1805, d2.loss_plan_l1_fix_time: 1.3113, d2.loss_plan_l1_fix_dist: 0.1881, d3.loss_plan_l1_fix_time: 1.3106, d3.loss_plan_l1_fix_dist: 0.2015, d4.loss_plan_l1_fix_time: 1.3130, d4.loss_plan_l1_fix_dist: 0.2165, d5.loss_plan_l1_fix_time: 1.3156, d5.loss_plan_l1_fix_dist: 0.2334, d6.loss_plan_l1_fix_time: 1.3185, d6.loss_plan_l1_fix_dist: 0.2515, d0.loss_cls_all: 0.2097, d0.loss_bbox_all: 0.4358, d0.loss_cls: 0.2097, d0.loss_bbox: 0.4358, d1.loss_cls: 0.2052, d1.loss_bbox: 0.4032, d2.loss_cls: 0.1906, d2.loss_bbox: 0.3847, d3.loss_cls: 0.1819, d3.loss_bbox: 0.3771, d4.loss_cls: 0.1769, d4.loss_bbox: 0.3738, d5.loss_cls: 0.1760, d5.loss_bbox: 0.3720, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0192, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8354, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7665, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7577, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7544, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7466, d0.loss_map_cls_all: 0.2431, d0.loss_map_pts_all: 1.4438, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2431, d0.loss_map_pts: 1.4438, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2171, d1.loss_map_pts: 1.0366, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1929, d2.loss_map_pts: 0.8722, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1874, d3.loss_map_pts: 0.8000, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1828, d4.loss_map_pts: 0.7720, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1774, d5.loss_map_pts: 0.7630, d5.loss_map_dir: 0.0093, loss: 32.5366, grad_norm: 160.6199 +2026-02-26 05:00:25,436 - DriveTransformer - INFO - Epoch [6][29150/39528] lr: 8.977e-05, eta: 6 days, 17:25:30, time: 0.766, data_time: 0.043, memory: 19865, loss_cls: 0.1747, loss_bbox: 0.3689, loss_traj: 0.6690, loss_traj_cls: 0.0010, loss_map_cls: 0.1793, loss_map_pts: 0.7293, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.9636, d0.loss_plan_l1_fix_dist: 0.4253, d1.loss_plan_l1_fix_time: 1.1152, d1.loss_plan_l1_fix_dist: 0.2065, d2.loss_plan_l1_fix_time: 1.0983, d2.loss_plan_l1_fix_dist: 0.2106, d3.loss_plan_l1_fix_time: 1.0974, d3.loss_plan_l1_fix_dist: 0.2193, d4.loss_plan_l1_fix_time: 1.0994, d4.loss_plan_l1_fix_dist: 0.2305, d5.loss_plan_l1_fix_time: 1.1020, d5.loss_plan_l1_fix_dist: 0.2431, d6.loss_plan_l1_fix_time: 1.1052, d6.loss_plan_l1_fix_dist: 0.2585, d0.loss_cls_all: 0.2125, d0.loss_bbox_all: 0.4343, d0.loss_cls: 0.2125, d0.loss_bbox: 0.4343, d1.loss_cls: 0.2046, d1.loss_bbox: 0.3997, d2.loss_cls: 0.1897, d2.loss_bbox: 0.3811, d3.loss_cls: 0.1798, d3.loss_bbox: 0.3744, d4.loss_cls: 0.1741, d4.loss_bbox: 0.3711, d5.loss_cls: 0.1732, d5.loss_bbox: 0.3694, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9040, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7432, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6891, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6726, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6656, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6683, d0.loss_map_cls_all: 0.2545, d0.loss_map_pts_all: 1.4418, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2545, d0.loss_map_pts: 1.4418, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2232, d1.loss_map_pts: 0.9927, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.2068, d2.loss_map_pts: 0.8207, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1927, d3.loss_map_pts: 0.7585, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1864, d4.loss_map_pts: 0.7373, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1820, d5.loss_map_pts: 0.7312, d5.loss_map_dir: 0.0103, loss: 30.4592, grad_norm: 159.2859 +2026-02-26 05:01:06,379 - DriveTransformer - INFO - Epoch [6][29200/39528] lr: 8.977e-05, eta: 6 days, 17:24:52, time: 0.819, data_time: 0.041, memory: 19865, loss_cls: 0.1483, loss_bbox: 0.3346, loss_traj: 0.5286, loss_traj_cls: 0.0010, loss_map_cls: 0.1571, loss_map_pts: 0.7399, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.3950, d0.loss_plan_l1_fix_dist: 0.3386, d1.loss_plan_l1_fix_time: 0.9936, d1.loss_plan_l1_fix_dist: 0.1751, d2.loss_plan_l1_fix_time: 0.9766, d2.loss_plan_l1_fix_dist: 0.1803, d3.loss_plan_l1_fix_time: 0.9786, d3.loss_plan_l1_fix_dist: 0.1918, d4.loss_plan_l1_fix_time: 0.9809, d4.loss_plan_l1_fix_dist: 0.2051, d5.loss_plan_l1_fix_time: 0.9833, d5.loss_plan_l1_fix_dist: 0.2187, d6.loss_plan_l1_fix_time: 0.9863, d6.loss_plan_l1_fix_dist: 0.2324, d0.loss_cls_all: 0.1789, d0.loss_bbox_all: 0.3887, d0.loss_cls: 0.1789, d0.loss_bbox: 0.3887, d1.loss_cls: 0.1734, d1.loss_bbox: 0.3564, d2.loss_cls: 0.1618, d2.loss_bbox: 0.3423, d3.loss_cls: 0.1523, d3.loss_bbox: 0.3352, d4.loss_cls: 0.1472, d4.loss_bbox: 0.3354, d5.loss_cls: 0.1471, d5.loss_bbox: 0.3345, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6729, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5634, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5411, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5297, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5348, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5295, d0.loss_map_cls_all: 0.2284, d0.loss_map_pts_all: 1.5361, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2284, d0.loss_map_pts: 1.5361, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.1997, d1.loss_map_pts: 1.0425, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1792, d2.loss_map_pts: 0.8516, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1691, d3.loss_map_pts: 0.7770, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1625, d4.loss_map_pts: 0.7489, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1590, d5.loss_map_pts: 0.7418, d5.loss_map_dir: 0.0110, loss: 27.3880, grad_norm: 157.8084 +2026-02-26 05:01:48,381 - DriveTransformer - INFO - Epoch [6][29250/39528] lr: 8.977e-05, eta: 6 days, 17:24:18, time: 0.840, data_time: 0.039, memory: 19865, loss_cls: 0.1465, loss_bbox: 0.3517, loss_traj: 0.6475, loss_traj_cls: 0.0010, loss_map_cls: 0.1464, loss_map_pts: 0.7524, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.5342, d0.loss_plan_l1_fix_dist: 0.3356, d1.loss_plan_l1_fix_time: 0.9961, d1.loss_plan_l1_fix_dist: 0.1793, d2.loss_plan_l1_fix_time: 0.9739, d2.loss_plan_l1_fix_dist: 0.1804, d3.loss_plan_l1_fix_time: 0.9744, d3.loss_plan_l1_fix_dist: 0.1911, d4.loss_plan_l1_fix_time: 0.9772, d4.loss_plan_l1_fix_dist: 0.2047, d5.loss_plan_l1_fix_time: 0.9805, d5.loss_plan_l1_fix_dist: 0.2204, d6.loss_plan_l1_fix_time: 0.9843, d6.loss_plan_l1_fix_dist: 0.2369, d0.loss_cls_all: 0.1778, d0.loss_bbox_all: 0.3979, d0.loss_cls: 0.1778, d0.loss_bbox: 0.3979, d1.loss_cls: 0.1712, d1.loss_bbox: 0.3663, d2.loss_cls: 0.1595, d2.loss_bbox: 0.3540, d3.loss_cls: 0.1526, d3.loss_bbox: 0.3488, d4.loss_cls: 0.1482, d4.loss_bbox: 0.3498, d5.loss_cls: 0.1470, d5.loss_bbox: 0.3504, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8334, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7059, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6734, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6577, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6542, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6491, d0.loss_map_cls_all: 0.2170, d0.loss_map_pts_all: 1.5266, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2170, d0.loss_map_pts: 1.5266, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1866, d1.loss_map_pts: 1.0381, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1679, d2.loss_map_pts: 0.8504, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1578, d3.loss_map_pts: 0.7854, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1516, d4.loss_map_pts: 0.7605, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1475, d5.loss_map_pts: 0.7543, d5.loss_map_dir: 0.0104, loss: 28.4592, grad_norm: 157.2943 +2026-02-26 05:02:27,978 - DriveTransformer - INFO - Epoch [6][29300/39528] lr: 8.977e-05, eta: 6 days, 17:23:35, time: 0.792, data_time: 0.037, memory: 19865, loss_cls: 0.1652, loss_bbox: 0.3727, loss_traj: 0.7187, loss_traj_cls: 0.0011, loss_map_cls: 0.1446, loss_map_pts: 0.6349, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.4456, d0.loss_plan_l1_fix_dist: 0.4588, d1.loss_plan_l1_fix_time: 1.1535, d1.loss_plan_l1_fix_dist: 0.1789, d2.loss_plan_l1_fix_time: 1.1387, d2.loss_plan_l1_fix_dist: 0.1822, d3.loss_plan_l1_fix_time: 1.1423, d3.loss_plan_l1_fix_dist: 0.1897, d4.loss_plan_l1_fix_time: 1.1454, d4.loss_plan_l1_fix_dist: 0.1974, d5.loss_plan_l1_fix_time: 1.1489, d5.loss_plan_l1_fix_dist: 0.2084, d6.loss_plan_l1_fix_time: 1.1527, d6.loss_plan_l1_fix_dist: 0.2223, d0.loss_cls_all: 0.2000, d0.loss_bbox_all: 0.4247, d0.loss_cls: 0.2000, d0.loss_bbox: 0.4247, d1.loss_cls: 0.1857, d1.loss_bbox: 0.3950, d2.loss_cls: 0.1799, d2.loss_bbox: 0.3773, d3.loss_cls: 0.1686, d3.loss_bbox: 0.3750, d4.loss_cls: 0.1653, d4.loss_bbox: 0.3728, d5.loss_cls: 0.1629, d5.loss_bbox: 0.3754, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8924, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7628, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7225, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7176, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7206, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7198, d0.loss_map_cls_all: 0.2151, d0.loss_map_pts_all: 1.2484, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2151, d0.loss_map_pts: 1.2484, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1830, d1.loss_map_pts: 0.8569, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1639, d2.loss_map_pts: 0.7121, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1527, d3.loss_map_pts: 0.6628, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1484, d4.loss_map_pts: 0.6439, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1455, d5.loss_map_pts: 0.6368, d5.loss_map_dir: 0.0088, loss: 28.8514, grad_norm: 156.3979 +2026-02-26 05:03:08,110 - DriveTransformer - INFO - Epoch [6][29350/39528] lr: 8.977e-05, eta: 6 days, 17:22:55, time: 0.803, data_time: 0.037, memory: 19865, loss_cls: 0.1735, loss_bbox: 0.3658, loss_traj: 0.6825, loss_traj_cls: 0.0010, loss_map_cls: 0.1717, loss_map_pts: 0.7579, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.6560, d0.loss_plan_l1_fix_dist: 0.4508, d1.loss_plan_l1_fix_time: 1.0501, d1.loss_plan_l1_fix_dist: 0.1871, d2.loss_plan_l1_fix_time: 1.0401, d2.loss_plan_l1_fix_dist: 0.1881, d3.loss_plan_l1_fix_time: 1.0394, d3.loss_plan_l1_fix_dist: 0.1965, d4.loss_plan_l1_fix_time: 1.0424, d4.loss_plan_l1_fix_dist: 0.2069, d5.loss_plan_l1_fix_time: 1.0459, d5.loss_plan_l1_fix_dist: 0.2180, d6.loss_plan_l1_fix_time: 1.0500, d6.loss_plan_l1_fix_dist: 0.2304, d0.loss_cls_all: 0.2077, d0.loss_bbox_all: 0.4171, d0.loss_cls: 0.2077, d0.loss_bbox: 0.4171, d1.loss_cls: 0.1970, d1.loss_bbox: 0.3862, d2.loss_cls: 0.1872, d2.loss_bbox: 0.3708, d3.loss_cls: 0.1796, d3.loss_bbox: 0.3657, d4.loss_cls: 0.1746, d4.loss_bbox: 0.3667, d5.loss_cls: 0.1729, d5.loss_bbox: 0.3667, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8324, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6990, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6796, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6831, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6792, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6786, d0.loss_map_cls_all: 0.2439, d0.loss_map_pts_all: 1.5427, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2439, d0.loss_map_pts: 1.5427, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2153, d1.loss_map_pts: 1.0259, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1898, d2.loss_map_pts: 0.8553, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1799, d3.loss_map_pts: 0.7880, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1757, d4.loss_map_pts: 0.7632, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1729, d5.loss_map_pts: 0.7579, d5.loss_map_dir: 0.0106, loss: 29.8070, grad_norm: 158.6543 +2026-02-26 05:03:47,168 - DriveTransformer - INFO - Epoch [6][29400/39528] lr: 8.977e-05, eta: 6 days, 17:22:11, time: 0.783, data_time: 0.040, memory: 19865, loss_cls: 0.1918, loss_bbox: 0.4052, loss_traj: 0.7790, loss_traj_cls: 0.0010, loss_map_cls: 0.1682, loss_map_pts: 0.7717, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 3.0415, d0.loss_plan_l1_fix_dist: 0.3532, d1.loss_plan_l1_fix_time: 1.2332, d1.loss_plan_l1_fix_dist: 0.1616, d2.loss_plan_l1_fix_time: 1.2203, d2.loss_plan_l1_fix_dist: 0.1571, d3.loss_plan_l1_fix_time: 1.2198, d3.loss_plan_l1_fix_dist: 0.1629, d4.loss_plan_l1_fix_time: 1.2213, d4.loss_plan_l1_fix_dist: 0.1700, d5.loss_plan_l1_fix_time: 1.2238, d5.loss_plan_l1_fix_dist: 0.1788, d6.loss_plan_l1_fix_time: 1.2269, d6.loss_plan_l1_fix_dist: 0.1883, d0.loss_cls_all: 0.2239, d0.loss_bbox_all: 0.4580, d0.loss_cls: 0.2239, d0.loss_bbox: 0.4580, d1.loss_cls: 0.2153, d1.loss_bbox: 0.4266, d2.loss_cls: 0.2053, d2.loss_bbox: 0.4098, d3.loss_cls: 0.1957, d3.loss_bbox: 0.4032, d4.loss_cls: 0.1906, d4.loss_bbox: 0.4026, d5.loss_cls: 0.1890, d5.loss_bbox: 0.4064, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0408, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8474, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7886, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7875, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7878, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7836, d0.loss_map_cls_all: 0.2404, d0.loss_map_pts_all: 1.5072, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2404, d0.loss_map_pts: 1.5072, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2146, d1.loss_map_pts: 1.0452, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1926, d2.loss_map_pts: 0.8684, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1812, d3.loss_map_pts: 0.8028, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1731, d4.loss_map_pts: 0.7790, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1696, d5.loss_map_pts: 0.7717, d5.loss_map_dir: 0.0100, loss: 32.2970, grad_norm: 159.2902 +2026-02-26 05:04:26,625 - DriveTransformer - INFO - Epoch [6][29450/39528] lr: 8.977e-05, eta: 6 days, 17:21:28, time: 0.788, data_time: 0.034, memory: 19865, loss_cls: 0.1771, loss_bbox: 0.3907, loss_traj: 0.7914, loss_traj_cls: 0.0010, loss_map_cls: 0.2037, loss_map_pts: 0.8897, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.8666, d0.loss_plan_l1_fix_dist: 0.3677, d1.loss_plan_l1_fix_time: 1.3440, d1.loss_plan_l1_fix_dist: 0.1764, d2.loss_plan_l1_fix_time: 1.3244, d2.loss_plan_l1_fix_dist: 0.1736, d3.loss_plan_l1_fix_time: 1.3183, d3.loss_plan_l1_fix_dist: 0.1784, d4.loss_plan_l1_fix_time: 1.3192, d4.loss_plan_l1_fix_dist: 0.1850, d5.loss_plan_l1_fix_time: 1.3212, d5.loss_plan_l1_fix_dist: 0.1949, d6.loss_plan_l1_fix_time: 1.3237, d6.loss_plan_l1_fix_dist: 0.2062, d0.loss_cls_all: 0.2105, d0.loss_bbox_all: 0.4501, d0.loss_cls: 0.2105, d0.loss_bbox: 0.4501, d1.loss_cls: 0.2016, d1.loss_bbox: 0.4190, d2.loss_cls: 0.1914, d2.loss_bbox: 0.3984, d3.loss_cls: 0.1827, d3.loss_bbox: 0.3893, d4.loss_cls: 0.1775, d4.loss_bbox: 0.3889, d5.loss_cls: 0.1763, d5.loss_bbox: 0.3894, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0598, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8583, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8093, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8070, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7979, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7949, d0.loss_map_cls_all: 0.2807, d0.loss_map_pts_all: 1.6746, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2807, d0.loss_map_pts: 1.6746, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2519, d1.loss_map_pts: 1.1970, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2286, d2.loss_map_pts: 0.9992, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.2157, d3.loss_map_pts: 0.9251, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.2111, d4.loss_map_pts: 0.8970, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.2057, d5.loss_map_pts: 0.8905, d5.loss_map_dir: 0.0111, loss: 34.1377, grad_norm: 159.5770 +2026-02-26 05:05:05,707 - DriveTransformer - INFO - Epoch [6][29500/39528] lr: 8.977e-05, eta: 6 days, 17:20:44, time: 0.782, data_time: 0.038, memory: 19865, loss_cls: 0.1699, loss_bbox: 0.3842, loss_traj: 0.7385, loss_traj_cls: 0.0010, loss_map_cls: 0.1950, loss_map_pts: 0.8465, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.4131, d0.loss_plan_l1_fix_dist: 0.3741, d1.loss_plan_l1_fix_time: 1.0474, d1.loss_plan_l1_fix_dist: 0.1874, d2.loss_plan_l1_fix_time: 1.0390, d2.loss_plan_l1_fix_dist: 0.1918, d3.loss_plan_l1_fix_time: 1.0396, d3.loss_plan_l1_fix_dist: 0.1994, d4.loss_plan_l1_fix_time: 1.0415, d4.loss_plan_l1_fix_dist: 0.2077, d5.loss_plan_l1_fix_time: 1.0439, d5.loss_plan_l1_fix_dist: 0.2161, d6.loss_plan_l1_fix_time: 1.0469, d6.loss_plan_l1_fix_dist: 0.2259, d0.loss_cls_all: 0.2116, d0.loss_bbox_all: 0.4304, d0.loss_cls: 0.2116, d0.loss_bbox: 0.4304, d1.loss_cls: 0.2065, d1.loss_bbox: 0.4028, d2.loss_cls: 0.1880, d2.loss_bbox: 0.3873, d3.loss_cls: 0.1775, d3.loss_bbox: 0.3809, d4.loss_cls: 0.1718, d4.loss_bbox: 0.3800, d5.loss_cls: 0.1692, d5.loss_bbox: 0.3815, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9904, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8165, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7618, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7564, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7433, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7402, d0.loss_map_cls_all: 0.2803, d0.loss_map_pts_all: 1.6711, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2803, d0.loss_map_pts: 1.6711, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2480, d1.loss_map_pts: 1.1497, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2235, d2.loss_map_pts: 0.9553, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.2097, d3.loss_map_pts: 0.8848, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1999, d4.loss_map_pts: 0.8549, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1968, d5.loss_map_pts: 0.8474, d5.loss_map_dir: 0.0118, loss: 31.3137, grad_norm: 158.9890 +2026-02-26 05:05:45,187 - DriveTransformer - INFO - Epoch [6][29550/39528] lr: 8.977e-05, eta: 6 days, 17:20:01, time: 0.790, data_time: 0.038, memory: 19865, loss_cls: 0.1648, loss_bbox: 0.3684, loss_traj: 0.6519, loss_traj_cls: 0.0010, loss_map_cls: 0.1700, loss_map_pts: 0.7525, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.6195, d0.loss_plan_l1_fix_dist: 0.4417, d1.loss_plan_l1_fix_time: 1.2492, d1.loss_plan_l1_fix_dist: 0.1869, d2.loss_plan_l1_fix_time: 1.2337, d2.loss_plan_l1_fix_dist: 0.1840, d3.loss_plan_l1_fix_time: 1.2322, d3.loss_plan_l1_fix_dist: 0.1878, d4.loss_plan_l1_fix_time: 1.2339, d4.loss_plan_l1_fix_dist: 0.1951, d5.loss_plan_l1_fix_time: 1.2366, d5.loss_plan_l1_fix_dist: 0.2028, d6.loss_plan_l1_fix_time: 1.2400, d6.loss_plan_l1_fix_dist: 0.2118, d0.loss_cls_all: 0.2016, d0.loss_bbox_all: 0.4236, d0.loss_cls: 0.2016, d0.loss_bbox: 0.4236, d1.loss_cls: 0.1946, d1.loss_bbox: 0.3892, d2.loss_cls: 0.1852, d2.loss_bbox: 0.3729, d3.loss_cls: 0.1739, d3.loss_bbox: 0.3670, d4.loss_cls: 0.1670, d4.loss_bbox: 0.3654, d5.loss_cls: 0.1654, d5.loss_bbox: 0.3659, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8176, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6956, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6534, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6471, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6482, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6510, d0.loss_map_cls_all: 0.2435, d0.loss_map_pts_all: 1.5778, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2435, d0.loss_map_pts: 1.5778, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2155, d1.loss_map_pts: 1.0639, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1946, d2.loss_map_pts: 0.8623, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1847, d3.loss_map_pts: 0.7862, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1774, d4.loss_map_pts: 0.7622, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1723, d5.loss_map_pts: 0.7530, d5.loss_map_dir: 0.0108, loss: 30.7759, grad_norm: 159.4353 +2026-02-26 05:06:23,070 - DriveTransformer - INFO - Epoch [6][29600/39528] lr: 8.977e-05, eta: 6 days, 17:19:14, time: 0.758, data_time: 0.034, memory: 19865, loss_cls: 0.1871, loss_bbox: 0.3651, loss_traj: 0.7055, loss_traj_cls: 0.0010, loss_map_cls: 0.1642, loss_map_pts: 0.6809, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.6694, d0.loss_plan_l1_fix_dist: 0.4255, d1.loss_plan_l1_fix_time: 1.0867, d1.loss_plan_l1_fix_dist: 0.1693, d2.loss_plan_l1_fix_time: 1.0816, d2.loss_plan_l1_fix_dist: 0.1716, d3.loss_plan_l1_fix_time: 1.0807, d3.loss_plan_l1_fix_dist: 0.1802, d4.loss_plan_l1_fix_time: 1.0827, d4.loss_plan_l1_fix_dist: 0.1930, d5.loss_plan_l1_fix_time: 1.0848, d5.loss_plan_l1_fix_dist: 0.2079, d6.loss_plan_l1_fix_time: 1.0875, d6.loss_plan_l1_fix_dist: 0.2242, d0.loss_cls_all: 0.2235, d0.loss_bbox_all: 0.4144, d0.loss_cls: 0.2235, d0.loss_bbox: 0.4144, d1.loss_cls: 0.2158, d1.loss_bbox: 0.3861, d2.loss_cls: 0.2033, d2.loss_bbox: 0.3702, d3.loss_cls: 0.1973, d3.loss_bbox: 0.3632, d4.loss_cls: 0.1908, d4.loss_bbox: 0.3630, d5.loss_cls: 0.1884, d5.loss_bbox: 0.3624, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9522, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7619, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7180, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7036, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7027, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7030, d0.loss_map_cls_all: 0.2399, d0.loss_map_pts_all: 1.4190, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2399, d0.loss_map_pts: 1.4190, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2038, d1.loss_map_pts: 0.9558, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1845, d2.loss_map_pts: 0.7822, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1740, d3.loss_map_pts: 0.7155, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1688, d4.loss_map_pts: 0.6935, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1645, d5.loss_map_pts: 0.6821, d5.loss_map_dir: 0.0103, loss: 29.6343, grad_norm: 160.8146 +2026-02-26 05:07:02,592 - DriveTransformer - INFO - Epoch [6][29650/39528] lr: 8.977e-05, eta: 6 days, 17:18:31, time: 0.790, data_time: 0.036, memory: 19865, loss_cls: 0.1485, loss_bbox: 0.3646, loss_traj: 0.6628, loss_traj_cls: 0.0010, loss_map_cls: 0.1431, loss_map_pts: 0.6595, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.7262, d0.loss_plan_l1_fix_dist: 0.4386, d1.loss_plan_l1_fix_time: 1.2460, d1.loss_plan_l1_fix_dist: 0.1884, d2.loss_plan_l1_fix_time: 1.2394, d2.loss_plan_l1_fix_dist: 0.1887, d3.loss_plan_l1_fix_time: 1.2392, d3.loss_plan_l1_fix_dist: 0.1931, d4.loss_plan_l1_fix_time: 1.2413, d4.loss_plan_l1_fix_dist: 0.1994, d5.loss_plan_l1_fix_time: 1.2439, d5.loss_plan_l1_fix_dist: 0.2085, d6.loss_plan_l1_fix_time: 1.2468, d6.loss_plan_l1_fix_dist: 0.2200, d0.loss_cls_all: 0.1853, d0.loss_bbox_all: 0.4190, d0.loss_cls: 0.1853, d0.loss_bbox: 0.4190, d1.loss_cls: 0.1824, d1.loss_bbox: 0.3874, d2.loss_cls: 0.1697, d2.loss_bbox: 0.3704, d3.loss_cls: 0.1589, d3.loss_bbox: 0.3660, d4.loss_cls: 0.1504, d4.loss_bbox: 0.3663, d5.loss_cls: 0.1485, d5.loss_bbox: 0.3636, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8418, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7011, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6699, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6640, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6627, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6581, d0.loss_map_cls_all: 0.2082, d0.loss_map_pts_all: 1.3698, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2082, d0.loss_map_pts: 1.3698, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1768, d1.loss_map_pts: 0.9302, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1634, d2.loss_map_pts: 0.7599, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1524, d3.loss_map_pts: 0.6992, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1471, d4.loss_map_pts: 0.6730, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1442, d5.loss_map_pts: 0.6615, d5.loss_map_dir: 0.0099, loss: 29.6130, grad_norm: 161.8661 +2026-02-26 05:07:42,103 - DriveTransformer - INFO - Epoch [6][29700/39528] lr: 8.977e-05, eta: 6 days, 17:17:48, time: 0.790, data_time: 0.044, memory: 19865, loss_cls: 0.1737, loss_bbox: 0.3735, loss_traj: 0.7435, loss_traj_cls: 0.0010, loss_map_cls: 0.1452, loss_map_pts: 0.6587, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.1836, d0.loss_plan_l1_fix_dist: 0.4125, d1.loss_plan_l1_fix_time: 0.9982, d1.loss_plan_l1_fix_dist: 0.1721, d2.loss_plan_l1_fix_time: 0.9783, d2.loss_plan_l1_fix_dist: 0.1674, d3.loss_plan_l1_fix_time: 0.9752, d3.loss_plan_l1_fix_dist: 0.1724, d4.loss_plan_l1_fix_time: 0.9767, d4.loss_plan_l1_fix_dist: 0.1787, d5.loss_plan_l1_fix_time: 0.9787, d5.loss_plan_l1_fix_dist: 0.1850, d6.loss_plan_l1_fix_time: 0.9808, d6.loss_plan_l1_fix_dist: 0.1941, d0.loss_cls_all: 0.2030, d0.loss_bbox_all: 0.4406, d0.loss_cls: 0.2030, d0.loss_bbox: 0.4406, d1.loss_cls: 0.1936, d1.loss_bbox: 0.4036, d2.loss_cls: 0.1886, d2.loss_bbox: 0.3833, d3.loss_cls: 0.1783, d3.loss_bbox: 0.3777, d4.loss_cls: 0.1758, d4.loss_bbox: 0.3745, d5.loss_cls: 0.1748, d5.loss_bbox: 0.3735, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9566, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7932, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7634, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7397, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.7409, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7484, d0.loss_map_cls_all: 0.2052, d0.loss_map_pts_all: 1.3075, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2052, d0.loss_map_pts: 1.3075, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1775, d1.loss_map_pts: 0.8827, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1612, d2.loss_map_pts: 0.7344, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1541, d3.loss_map_pts: 0.6849, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1488, d4.loss_map_pts: 0.6631, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1452, d5.loss_map_pts: 0.6601, d5.loss_map_dir: 0.0095, loss: 28.0180, grad_norm: 161.7433 +2026-02-26 05:08:21,338 - DriveTransformer - INFO - Epoch [6][29750/39528] lr: 8.977e-05, eta: 6 days, 17:17:05, time: 0.785, data_time: 0.040, memory: 19865, loss_cls: 0.1451, loss_bbox: 0.3675, loss_traj: 0.6320, loss_traj_cls: 0.0010, loss_map_cls: 0.1695, loss_map_pts: 0.6780, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.1613, d0.loss_plan_l1_fix_dist: 0.4139, d1.loss_plan_l1_fix_time: 0.8513, d1.loss_plan_l1_fix_dist: 0.1760, d2.loss_plan_l1_fix_time: 0.8473, d2.loss_plan_l1_fix_dist: 0.1703, d3.loss_plan_l1_fix_time: 0.8492, d3.loss_plan_l1_fix_dist: 0.1759, d4.loss_plan_l1_fix_time: 0.8519, d4.loss_plan_l1_fix_dist: 0.1845, d5.loss_plan_l1_fix_time: 0.8549, d5.loss_plan_l1_fix_dist: 0.1943, d6.loss_plan_l1_fix_time: 0.8583, d6.loss_plan_l1_fix_dist: 0.2033, d0.loss_cls_all: 0.1791, d0.loss_bbox_all: 0.4234, d0.loss_cls: 0.1791, d0.loss_bbox: 0.4234, d1.loss_cls: 0.1719, d1.loss_bbox: 0.3956, d2.loss_cls: 0.1629, d2.loss_bbox: 0.3784, d3.loss_cls: 0.1543, d3.loss_bbox: 0.3713, d4.loss_cls: 0.1439, d4.loss_bbox: 0.3733, d5.loss_cls: 0.1426, d5.loss_bbox: 0.3701, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8315, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6991, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6570, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6436, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6385, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6336, d0.loss_map_cls_all: 0.2477, d0.loss_map_pts_all: 1.3933, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2477, d0.loss_map_pts: 1.3933, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2117, d1.loss_map_pts: 0.9538, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1905, d2.loss_map_pts: 0.7703, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1801, d3.loss_map_pts: 0.7083, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1752, d4.loss_map_pts: 0.6864, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1710, d5.loss_map_pts: 0.6792, d5.loss_map_dir: 0.0106, loss: 26.8522, grad_norm: 161.1573 +2026-02-26 05:09:00,374 - DriveTransformer - INFO - Epoch [6][29800/39528] lr: 8.977e-05, eta: 6 days, 17:16:21, time: 0.781, data_time: 0.038, memory: 19865, loss_cls: 0.1634, loss_bbox: 0.3507, loss_traj: 0.6323, loss_traj_cls: 0.0010, loss_map_cls: 0.1465, loss_map_pts: 0.6849, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.8128, d0.loss_plan_l1_fix_dist: 0.4505, d1.loss_plan_l1_fix_time: 1.1677, d1.loss_plan_l1_fix_dist: 0.1841, d2.loss_plan_l1_fix_time: 1.1563, d2.loss_plan_l1_fix_dist: 0.1772, d3.loss_plan_l1_fix_time: 1.1565, d3.loss_plan_l1_fix_dist: 0.1820, d4.loss_plan_l1_fix_time: 1.1589, d4.loss_plan_l1_fix_dist: 0.1891, d5.loss_plan_l1_fix_time: 1.1615, d5.loss_plan_l1_fix_dist: 0.1967, d6.loss_plan_l1_fix_time: 1.1646, d6.loss_plan_l1_fix_dist: 0.2060, d0.loss_cls_all: 0.1927, d0.loss_bbox_all: 0.4070, d0.loss_cls: 0.1927, d0.loss_bbox: 0.4070, d1.loss_cls: 0.1837, d1.loss_bbox: 0.3746, d2.loss_cls: 0.1750, d2.loss_bbox: 0.3587, d3.loss_cls: 0.1695, d3.loss_bbox: 0.3512, d4.loss_cls: 0.1645, d4.loss_bbox: 0.3499, d5.loss_cls: 0.1635, d5.loss_bbox: 0.3493, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8751, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6855, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6466, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6414, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6365, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6320, d0.loss_map_cls_all: 0.2196, d0.loss_map_pts_all: 1.4787, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2196, d0.loss_map_pts: 1.4787, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.1918, d1.loss_map_pts: 0.9635, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.1698, d2.loss_map_pts: 0.7804, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1617, d3.loss_map_pts: 0.7137, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1561, d4.loss_map_pts: 0.6909, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1489, d5.loss_map_pts: 0.6855, d5.loss_map_dir: 0.0110, loss: 29.4495, grad_norm: 160.8996 +2026-02-26 05:09:40,253 - DriveTransformer - INFO - Epoch [6][29850/39528] lr: 8.977e-05, eta: 6 days, 17:15:39, time: 0.798, data_time: 0.041, memory: 19865, loss_cls: 0.1508, loss_bbox: 0.3436, loss_traj: 0.5848, loss_traj_cls: 0.0010, loss_map_cls: 0.1608, loss_map_pts: 0.7012, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.2971, d0.loss_plan_l1_fix_dist: 0.4665, d1.loss_plan_l1_fix_time: 0.8854, d1.loss_plan_l1_fix_dist: 0.1667, d2.loss_plan_l1_fix_time: 0.8748, d2.loss_plan_l1_fix_dist: 0.1646, d3.loss_plan_l1_fix_time: 0.8703, d3.loss_plan_l1_fix_dist: 0.1687, d4.loss_plan_l1_fix_time: 0.8727, d4.loss_plan_l1_fix_dist: 0.1749, d5.loss_plan_l1_fix_time: 0.8762, d5.loss_plan_l1_fix_dist: 0.1836, d6.loss_plan_l1_fix_time: 0.8799, d6.loss_plan_l1_fix_dist: 0.1955, d0.loss_cls_all: 0.1880, d0.loss_bbox_all: 0.4058, d0.loss_cls: 0.1880, d0.loss_bbox: 0.4058, d1.loss_cls: 0.1789, d1.loss_bbox: 0.3688, d2.loss_cls: 0.1681, d2.loss_bbox: 0.3540, d3.loss_cls: 0.1559, d3.loss_bbox: 0.3478, d4.loss_cls: 0.1513, d4.loss_bbox: 0.3457, d5.loss_cls: 0.1499, d5.loss_bbox: 0.3438, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7858, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6241, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5918, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5826, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5846, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5811, d0.loss_map_cls_all: 0.2295, d0.loss_map_pts_all: 1.4721, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2295, d0.loss_map_pts: 1.4721, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2051, d1.loss_map_pts: 0.9753, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.1852, d2.loss_map_pts: 0.7951, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1735, d3.loss_map_pts: 0.7331, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1664, d4.loss_map_pts: 0.7074, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1620, d5.loss_map_pts: 0.7028, d5.loss_map_dir: 0.0115, loss: 26.8259, grad_norm: 158.9636 +2026-02-26 05:10:20,157 - DriveTransformer - INFO - Epoch [6][29900/39528] lr: 8.977e-05, eta: 6 days, 17:14:58, time: 0.798, data_time: 0.040, memory: 19865, loss_cls: 0.1724, loss_bbox: 0.3908, loss_traj: 0.7001, loss_traj_cls: 0.0010, loss_map_cls: 0.1652, loss_map_pts: 0.7274, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.4035, d0.loss_plan_l1_fix_dist: 0.3558, d1.loss_plan_l1_fix_time: 1.1285, d1.loss_plan_l1_fix_dist: 0.1802, d2.loss_plan_l1_fix_time: 1.1169, d2.loss_plan_l1_fix_dist: 0.1796, d3.loss_plan_l1_fix_time: 1.1157, d3.loss_plan_l1_fix_dist: 0.1845, d4.loss_plan_l1_fix_time: 1.1187, d4.loss_plan_l1_fix_dist: 0.1920, d5.loss_plan_l1_fix_time: 1.1227, d5.loss_plan_l1_fix_dist: 0.1990, d6.loss_plan_l1_fix_time: 1.1275, d6.loss_plan_l1_fix_dist: 0.2069, d0.loss_cls_all: 0.2051, d0.loss_bbox_all: 0.4440, d0.loss_cls: 0.2051, d0.loss_bbox: 0.4440, d1.loss_cls: 0.1980, d1.loss_bbox: 0.4130, d2.loss_cls: 0.1867, d2.loss_bbox: 0.3988, d3.loss_cls: 0.1780, d3.loss_bbox: 0.3925, d4.loss_cls: 0.1730, d4.loss_bbox: 0.3916, d5.loss_cls: 0.1717, d5.loss_bbox: 0.3908, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9407, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7669, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7096, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7030, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7026, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7021, d0.loss_map_cls_all: 0.2300, d0.loss_map_pts_all: 1.4234, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2300, d0.loss_map_pts: 1.4234, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2050, d1.loss_map_pts: 0.9924, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1895, d2.loss_map_pts: 0.8299, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1781, d3.loss_map_pts: 0.7651, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1717, d4.loss_map_pts: 0.7363, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1669, d5.loss_map_pts: 0.7286, d5.loss_map_dir: 0.0103, loss: 29.8607, grad_norm: 158.5810 +2026-02-26 05:11:00,188 - DriveTransformer - INFO - Epoch [6][29950/39528] lr: 8.977e-05, eta: 6 days, 17:14:17, time: 0.801, data_time: 0.038, memory: 19865, loss_cls: 0.1599, loss_bbox: 0.3718, loss_traj: 0.7186, loss_traj_cls: 0.0010, loss_map_cls: 0.1575, loss_map_pts: 0.7210, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.2322, d0.loss_plan_l1_fix_dist: 0.3384, d1.loss_plan_l1_fix_time: 1.0917, d1.loss_plan_l1_fix_dist: 0.1781, d2.loss_plan_l1_fix_time: 1.0757, d2.loss_plan_l1_fix_dist: 0.1797, d3.loss_plan_l1_fix_time: 1.0699, d3.loss_plan_l1_fix_dist: 0.1872, d4.loss_plan_l1_fix_time: 1.0719, d4.loss_plan_l1_fix_dist: 0.1944, d5.loss_plan_l1_fix_time: 1.0747, d5.loss_plan_l1_fix_dist: 0.2025, d6.loss_plan_l1_fix_time: 1.0789, d6.loss_plan_l1_fix_dist: 0.2119, d0.loss_cls_all: 0.1967, d0.loss_bbox_all: 0.4314, d0.loss_cls: 0.1967, d0.loss_bbox: 0.4314, d1.loss_cls: 0.1883, d1.loss_bbox: 0.3983, d2.loss_cls: 0.1765, d2.loss_bbox: 0.3814, d3.loss_cls: 0.1663, d3.loss_bbox: 0.3742, d4.loss_cls: 0.1618, d4.loss_bbox: 0.3720, d5.loss_cls: 0.1600, d5.loss_bbox: 0.3712, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8707, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7542, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7205, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7093, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7193, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7193, d0.loss_map_cls_all: 0.2166, d0.loss_map_pts_all: 1.5132, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2166, d0.loss_map_pts: 1.5132, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.1923, d1.loss_map_pts: 1.0121, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.1725, d2.loss_map_pts: 0.8239, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.1641, d3.loss_map_pts: 0.7563, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1614, d4.loss_map_pts: 0.7299, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1588, d5.loss_map_pts: 0.7229, d5.loss_map_dir: 0.0117, loss: 29.2663, grad_norm: 154.4879 +2026-02-26 05:11:39,748 - DriveTransformer - INFO - Epoch [6][30000/39528] lr: 8.977e-05, eta: 6 days, 17:13:35, time: 0.791, data_time: 0.037, memory: 19865, loss_cls: 0.1678, loss_bbox: 0.3804, loss_traj: 0.6756, loss_traj_cls: 0.0010, loss_map_cls: 0.1641, loss_map_pts: 0.7251, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.7981, d0.loss_plan_l1_fix_dist: 0.4508, d1.loss_plan_l1_fix_time: 1.2989, d1.loss_plan_l1_fix_dist: 0.2081, d2.loss_plan_l1_fix_time: 1.2862, d2.loss_plan_l1_fix_dist: 0.2055, d3.loss_plan_l1_fix_time: 1.2884, d3.loss_plan_l1_fix_dist: 0.2124, d4.loss_plan_l1_fix_time: 1.2912, d4.loss_plan_l1_fix_dist: 0.2217, d5.loss_plan_l1_fix_time: 1.2941, d5.loss_plan_l1_fix_dist: 0.2339, d6.loss_plan_l1_fix_time: 1.2981, d6.loss_plan_l1_fix_dist: 0.2473, d0.loss_cls_all: 0.2058, d0.loss_bbox_all: 0.4406, d0.loss_cls: 0.2058, d0.loss_bbox: 0.4406, d1.loss_cls: 0.1978, d1.loss_bbox: 0.4094, d2.loss_cls: 0.1848, d2.loss_bbox: 0.3933, d3.loss_cls: 0.1736, d3.loss_bbox: 0.3851, d4.loss_cls: 0.1668, d4.loss_bbox: 0.3830, d5.loss_cls: 0.1662, d5.loss_bbox: 0.3818, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9060, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7324, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6938, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6782, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6762, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6751, d0.loss_map_cls_all: 0.2381, d0.loss_map_pts_all: 1.5357, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2381, d0.loss_map_pts: 1.5357, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2112, d1.loss_map_pts: 1.0116, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.1905, d2.loss_map_pts: 0.8222, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.1785, d3.loss_map_pts: 0.7582, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.1725, d4.loss_map_pts: 0.7352, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.1667, d5.loss_map_pts: 0.7253, d5.loss_map_dir: 0.0125, loss: 31.5638, grad_norm: 151.6633 +2026-02-26 05:12:18,993 - DriveTransformer - INFO - Epoch [6][30050/39528] lr: 8.977e-05, eta: 6 days, 17:12:51, time: 0.785, data_time: 0.044, memory: 19865, loss_cls: 0.1657, loss_bbox: 0.3638, loss_traj: 0.6953, loss_traj_cls: 0.0010, loss_map_cls: 0.1778, loss_map_pts: 0.6958, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.4587, d0.loss_plan_l1_fix_dist: 0.4350, d1.loss_plan_l1_fix_time: 1.1626, d1.loss_plan_l1_fix_dist: 0.2084, d2.loss_plan_l1_fix_time: 1.1504, d2.loss_plan_l1_fix_dist: 0.2060, d3.loss_plan_l1_fix_time: 1.1472, d3.loss_plan_l1_fix_dist: 0.2122, d4.loss_plan_l1_fix_time: 1.1485, d4.loss_plan_l1_fix_dist: 0.2220, d5.loss_plan_l1_fix_time: 1.1502, d5.loss_plan_l1_fix_dist: 0.2337, d6.loss_plan_l1_fix_time: 1.1520, d6.loss_plan_l1_fix_dist: 0.2471, d0.loss_cls_all: 0.1969, d0.loss_bbox_all: 0.4309, d0.loss_cls: 0.1969, d0.loss_bbox: 0.4309, d1.loss_cls: 0.1882, d1.loss_bbox: 0.3968, d2.loss_cls: 0.1756, d2.loss_bbox: 0.3786, d3.loss_cls: 0.1673, d3.loss_bbox: 0.3694, d4.loss_cls: 0.1648, d4.loss_bbox: 0.3674, d5.loss_cls: 0.1648, d5.loss_bbox: 0.3642, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9192, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7526, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7124, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7034, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6978, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6972, d0.loss_map_cls_all: 0.2413, d0.loss_map_pts_all: 1.3385, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2413, d0.loss_map_pts: 1.3385, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2213, d1.loss_map_pts: 0.9441, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.2005, d2.loss_map_pts: 0.7958, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1903, d3.loss_map_pts: 0.7355, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1848, d4.loss_map_pts: 0.7104, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1797, d5.loss_map_pts: 0.6984, d5.loss_map_dir: 0.0096, loss: 29.8087, grad_norm: 151.6800 +2026-02-26 05:12:59,980 - DriveTransformer - INFO - Epoch [6][30100/39528] lr: 8.977e-05, eta: 6 days, 17:12:13, time: 0.820, data_time: 0.039, memory: 19865, loss_cls: 0.1834, loss_bbox: 0.3975, loss_traj: 0.7366, loss_traj_cls: 0.0010, loss_map_cls: 0.1658, loss_map_pts: 0.7587, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.8027, d0.loss_plan_l1_fix_dist: 0.4238, d1.loss_plan_l1_fix_time: 1.2526, d1.loss_plan_l1_fix_dist: 0.2221, d2.loss_plan_l1_fix_time: 1.2369, d2.loss_plan_l1_fix_dist: 0.2204, d3.loss_plan_l1_fix_time: 1.2341, d3.loss_plan_l1_fix_dist: 0.2254, d4.loss_plan_l1_fix_time: 1.2370, d4.loss_plan_l1_fix_dist: 0.2297, d5.loss_plan_l1_fix_time: 1.2401, d5.loss_plan_l1_fix_dist: 0.2359, d6.loss_plan_l1_fix_time: 1.2424, d6.loss_plan_l1_fix_dist: 0.2441, d0.loss_cls_all: 0.2110, d0.loss_bbox_all: 0.4558, d0.loss_cls: 0.2110, d0.loss_bbox: 0.4558, d1.loss_cls: 0.2052, d1.loss_bbox: 0.4220, d2.loss_cls: 0.1966, d2.loss_bbox: 0.4036, d3.loss_cls: 0.1870, d3.loss_bbox: 0.3978, d4.loss_cls: 0.1838, d4.loss_bbox: 0.3944, d5.loss_cls: 0.1849, d5.loss_bbox: 0.3940, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9706, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8042, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7508, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7416, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7393, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7397, d0.loss_map_cls_all: 0.2414, d0.loss_map_pts_all: 1.5923, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2414, d0.loss_map_pts: 1.5923, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2059, d1.loss_map_pts: 1.0750, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.1854, d2.loss_map_pts: 0.8768, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1762, d3.loss_map_pts: 0.8061, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1706, d4.loss_map_pts: 0.7710, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1667, d5.loss_map_pts: 0.7594, d5.loss_map_dir: 0.0118, loss: 32.2958, grad_norm: 152.3823 +2026-02-26 05:13:39,606 - DriveTransformer - INFO - Epoch [6][30150/39528] lr: 8.977e-05, eta: 6 days, 17:11:31, time: 0.793, data_time: 0.044, memory: 19865, loss_cls: 0.1612, loss_bbox: 0.3723, loss_traj: 0.7020, loss_traj_cls: 0.0010, loss_map_cls: 0.1762, loss_map_pts: 0.7329, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.6559, d0.loss_plan_l1_fix_dist: 0.4299, d1.loss_plan_l1_fix_time: 1.0745, d1.loss_plan_l1_fix_dist: 0.1954, d2.loss_plan_l1_fix_time: 1.0635, d2.loss_plan_l1_fix_dist: 0.1908, d3.loss_plan_l1_fix_time: 1.0677, d3.loss_plan_l1_fix_dist: 0.1974, d4.loss_plan_l1_fix_time: 1.0712, d4.loss_plan_l1_fix_dist: 0.2061, d5.loss_plan_l1_fix_time: 1.0747, d5.loss_plan_l1_fix_dist: 0.2182, d6.loss_plan_l1_fix_time: 1.0784, d6.loss_plan_l1_fix_dist: 0.2353, d0.loss_cls_all: 0.1966, d0.loss_bbox_all: 0.4314, d0.loss_cls: 0.1966, d0.loss_bbox: 0.4314, d1.loss_cls: 0.1880, d1.loss_bbox: 0.3958, d2.loss_cls: 0.1766, d2.loss_bbox: 0.3799, d3.loss_cls: 0.1672, d3.loss_bbox: 0.3728, d4.loss_cls: 0.1629, d4.loss_bbox: 0.3709, d5.loss_cls: 0.1627, d5.loss_bbox: 0.3696, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0041, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7943, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7167, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7051, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7019, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7006, d0.loss_map_cls_all: 0.2578, d0.loss_map_pts_all: 1.4530, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2578, d0.loss_map_pts: 1.4530, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2236, d1.loss_map_pts: 0.9979, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.2061, d2.loss_map_pts: 0.8282, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1893, d3.loss_map_pts: 0.7652, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1821, d4.loss_map_pts: 0.7402, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1780, d5.loss_map_pts: 0.7322, d5.loss_map_dir: 0.0103, loss: 30.0790, grad_norm: 152.3624 +2026-02-26 05:14:18,654 - DriveTransformer - INFO - Epoch [6][30200/39528] lr: 8.977e-05, eta: 6 days, 17:10:47, time: 0.782, data_time: 0.040, memory: 19865, loss_cls: 0.1640, loss_bbox: 0.3754, loss_traj: 0.6837, loss_traj_cls: 0.0010, loss_map_cls: 0.1829, loss_map_pts: 0.7658, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.7355, d0.loss_plan_l1_fix_dist: 0.4820, d1.loss_plan_l1_fix_time: 1.0980, d1.loss_plan_l1_fix_dist: 0.1896, d2.loss_plan_l1_fix_time: 1.0805, d2.loss_plan_l1_fix_dist: 0.1846, d3.loss_plan_l1_fix_time: 1.0765, d3.loss_plan_l1_fix_dist: 0.1897, d4.loss_plan_l1_fix_time: 1.0785, d4.loss_plan_l1_fix_dist: 0.1973, d5.loss_plan_l1_fix_time: 1.0816, d5.loss_plan_l1_fix_dist: 0.2059, d6.loss_plan_l1_fix_time: 1.0855, d6.loss_plan_l1_fix_dist: 0.2157, d0.loss_cls_all: 0.2021, d0.loss_bbox_all: 0.4391, d0.loss_cls: 0.2021, d0.loss_bbox: 0.4391, d1.loss_cls: 0.1918, d1.loss_bbox: 0.4039, d2.loss_cls: 0.1822, d2.loss_bbox: 0.3813, d3.loss_cls: 0.1713, d3.loss_bbox: 0.3762, d4.loss_cls: 0.1666, d4.loss_bbox: 0.3767, d5.loss_cls: 0.1635, d5.loss_bbox: 0.3761, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9148, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7406, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6920, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6859, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6842, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6848, d0.loss_map_cls_all: 0.2456, d0.loss_map_pts_all: 1.4985, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2456, d0.loss_map_pts: 1.4985, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2229, d1.loss_map_pts: 1.0494, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.2061, d2.loss_map_pts: 0.8672, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1954, d3.loss_map_pts: 0.7979, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1875, d4.loss_map_pts: 0.7724, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1842, d5.loss_map_pts: 0.7662, d5.loss_map_dir: 0.0107, loss: 30.3740, grad_norm: 151.7403 +2026-02-26 05:14:56,665 - DriveTransformer - INFO - Epoch [6][30250/39528] lr: 8.977e-05, eta: 6 days, 17:10:00, time: 0.759, data_time: 0.043, memory: 19865, loss_cls: 0.1694, loss_bbox: 0.3635, loss_traj: 0.6439, loss_traj_cls: 0.0010, loss_map_cls: 0.1774, loss_map_pts: 0.7527, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.6647, d0.loss_plan_l1_fix_dist: 0.5089, d1.loss_plan_l1_fix_time: 1.2629, d1.loss_plan_l1_fix_dist: 0.1976, d2.loss_plan_l1_fix_time: 1.2334, d2.loss_plan_l1_fix_dist: 0.1968, d3.loss_plan_l1_fix_time: 1.2288, d3.loss_plan_l1_fix_dist: 0.2038, d4.loss_plan_l1_fix_time: 1.2298, d4.loss_plan_l1_fix_dist: 0.2132, d5.loss_plan_l1_fix_time: 1.2317, d5.loss_plan_l1_fix_dist: 0.2235, d6.loss_plan_l1_fix_time: 1.2349, d6.loss_plan_l1_fix_dist: 0.2362, d0.loss_cls_all: 0.2044, d0.loss_bbox_all: 0.4337, d0.loss_cls: 0.2044, d0.loss_bbox: 0.4337, d1.loss_cls: 0.1956, d1.loss_bbox: 0.3971, d2.loss_cls: 0.1836, d2.loss_bbox: 0.3772, d3.loss_cls: 0.1764, d3.loss_bbox: 0.3694, d4.loss_cls: 0.1712, d4.loss_bbox: 0.3669, d5.loss_cls: 0.1681, d5.loss_bbox: 0.3655, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8879, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7149, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6736, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6569, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6498, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6461, d0.loss_map_cls_all: 0.2439, d0.loss_map_pts_all: 1.4266, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2439, d0.loss_map_pts: 1.4266, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2180, d1.loss_map_pts: 1.0224, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1978, d2.loss_map_pts: 0.8481, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1864, d3.loss_map_pts: 0.7810, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1817, d4.loss_map_pts: 0.7608, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1781, d5.loss_map_pts: 0.7551, d5.loss_map_dir: 0.0096, loss: 30.8013, grad_norm: 151.5876 +2026-02-26 05:15:37,999 - DriveTransformer - INFO - Epoch [6][30300/39528] lr: 8.977e-05, eta: 6 days, 17:09:23, time: 0.827, data_time: 0.043, memory: 19865, loss_cls: 0.1701, loss_bbox: 0.3796, loss_traj: 0.5428, loss_traj_cls: 0.0010, loss_map_cls: 0.1645, loss_map_pts: 0.8005, loss_map_dir: 0.0136, d0.loss_plan_l1_fix_time: 2.5537, d0.loss_plan_l1_fix_dist: 0.4414, d1.loss_plan_l1_fix_time: 1.0328, d1.loss_plan_l1_fix_dist: 0.2069, d2.loss_plan_l1_fix_time: 1.0086, d2.loss_plan_l1_fix_dist: 0.2076, d3.loss_plan_l1_fix_time: 1.0054, d3.loss_plan_l1_fix_dist: 0.2149, d4.loss_plan_l1_fix_time: 1.0077, d4.loss_plan_l1_fix_dist: 0.2215, d5.loss_plan_l1_fix_time: 1.0106, d5.loss_plan_l1_fix_dist: 0.2272, d6.loss_plan_l1_fix_time: 1.0146, d6.loss_plan_l1_fix_dist: 0.2326, d0.loss_cls_all: 0.2133, d0.loss_bbox_all: 0.4465, d0.loss_cls: 0.2133, d0.loss_bbox: 0.4465, d1.loss_cls: 0.2052, d1.loss_bbox: 0.4110, d2.loss_cls: 0.1889, d2.loss_bbox: 0.3929, d3.loss_cls: 0.1783, d3.loss_bbox: 0.3848, d4.loss_cls: 0.1714, d4.loss_bbox: 0.3819, d5.loss_cls: 0.1708, d5.loss_bbox: 0.3796, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7185, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5924, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5625, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5520, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5464, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5438, d0.loss_map_cls_all: 0.2409, d0.loss_map_pts_all: 1.6137, d0.loss_map_dir_all: 0.0123, d0.loss_map_cls: 0.2409, d0.loss_map_pts: 1.6137, d0.loss_map_dir: 0.0123, d1.loss_map_cls: 0.2100, d1.loss_map_pts: 1.0908, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.1879, d2.loss_map_pts: 0.8941, d2.loss_map_dir: 0.0123, d3.loss_map_cls: 0.1780, d3.loss_map_pts: 0.8310, d3.loss_map_dir: 0.0129, d4.loss_map_cls: 0.1705, d4.loss_map_pts: 0.8073, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.1653, d5.loss_map_pts: 0.8005, d5.loss_map_dir: 0.0135, loss: 29.2972, grad_norm: 153.1806 +2026-02-26 05:16:16,952 - DriveTransformer - INFO - Epoch [6][30350/39528] lr: 8.977e-05, eta: 6 days, 17:08:39, time: 0.779, data_time: 0.037, memory: 19865, loss_cls: 0.1902, loss_bbox: 0.4135, loss_traj: 0.6722, loss_traj_cls: 0.0011, loss_map_cls: 0.1777, loss_map_pts: 0.8344, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 3.1807, d0.loss_plan_l1_fix_dist: 0.4765, d1.loss_plan_l1_fix_time: 1.2346, d1.loss_plan_l1_fix_dist: 0.2055, d2.loss_plan_l1_fix_time: 1.2040, d2.loss_plan_l1_fix_dist: 0.2039, d3.loss_plan_l1_fix_time: 1.2028, d3.loss_plan_l1_fix_dist: 0.2092, d4.loss_plan_l1_fix_time: 1.2046, d4.loss_plan_l1_fix_dist: 0.2188, d5.loss_plan_l1_fix_time: 1.2070, d5.loss_plan_l1_fix_dist: 0.2317, d6.loss_plan_l1_fix_time: 1.2103, d6.loss_plan_l1_fix_dist: 0.2478, d0.loss_cls_all: 0.2242, d0.loss_bbox_all: 0.4827, d0.loss_cls: 0.2242, d0.loss_bbox: 0.4827, d1.loss_cls: 0.2177, d1.loss_bbox: 0.4468, d2.loss_cls: 0.2064, d2.loss_bbox: 0.4285, d3.loss_cls: 0.1975, d3.loss_bbox: 0.4204, d4.loss_cls: 0.1882, d4.loss_bbox: 0.4199, d5.loss_cls: 0.1881, d5.loss_bbox: 0.4162, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9203, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7450, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7099, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6817, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6782, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6745, d0.loss_map_cls_all: 0.2580, d0.loss_map_pts_all: 1.6488, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2580, d0.loss_map_pts: 1.6488, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2233, d1.loss_map_pts: 1.1183, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.1995, d2.loss_map_pts: 0.9376, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.1899, d3.loss_map_pts: 0.8684, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.1842, d4.loss_map_pts: 0.8430, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.1785, d5.loss_map_pts: 0.8370, d5.loss_map_dir: 0.0123, loss: 32.9725, grad_norm: 150.6199 +2026-02-26 05:16:58,266 - DriveTransformer - INFO - Epoch [6][30400/39528] lr: 8.977e-05, eta: 6 days, 17:08:02, time: 0.826, data_time: 0.048, memory: 19865, loss_cls: 0.1567, loss_bbox: 0.3636, loss_traj: 0.5091, loss_traj_cls: 0.0010, loss_map_cls: 0.1722, loss_map_pts: 0.7879, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.5766, d0.loss_plan_l1_fix_dist: 0.4345, d1.loss_plan_l1_fix_time: 1.2197, d1.loss_plan_l1_fix_dist: 0.1776, d2.loss_plan_l1_fix_time: 1.2018, d2.loss_plan_l1_fix_dist: 0.1725, d3.loss_plan_l1_fix_time: 1.1971, d3.loss_plan_l1_fix_dist: 0.1777, d4.loss_plan_l1_fix_time: 1.1994, d4.loss_plan_l1_fix_dist: 0.1875, d5.loss_plan_l1_fix_time: 1.2026, d5.loss_plan_l1_fix_dist: 0.2013, d6.loss_plan_l1_fix_time: 1.2072, d6.loss_plan_l1_fix_dist: 0.2185, d0.loss_cls_all: 0.1977, d0.loss_bbox_all: 0.4189, d0.loss_cls: 0.1977, d0.loss_bbox: 0.4189, d1.loss_cls: 0.1881, d1.loss_bbox: 0.3887, d2.loss_cls: 0.1752, d2.loss_bbox: 0.3728, d3.loss_cls: 0.1664, d3.loss_bbox: 0.3660, d4.loss_cls: 0.1592, d4.loss_bbox: 0.3645, d5.loss_cls: 0.1558, d5.loss_bbox: 0.3647, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6834, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5653, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5211, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5105, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5110, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5082, d0.loss_map_cls_all: 0.2442, d0.loss_map_pts_all: 1.5631, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2442, d0.loss_map_pts: 1.5631, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2149, d1.loss_map_pts: 1.0698, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.1962, d2.loss_map_pts: 0.8842, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.1871, d3.loss_map_pts: 0.8225, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.1805, d4.loss_map_pts: 0.7944, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.1759, d5.loss_map_pts: 0.7874, d5.loss_map_dir: 0.0124, loss: 29.6277, grad_norm: 157.0957 +2026-02-26 05:17:37,082 - DriveTransformer - INFO - Epoch [6][30450/39528] lr: 8.977e-05, eta: 6 days, 17:07:17, time: 0.776, data_time: 0.037, memory: 19865, loss_cls: 0.1886, loss_bbox: 0.3966, loss_traj: 0.6390, loss_traj_cls: 0.0011, loss_map_cls: 0.1915, loss_map_pts: 0.8077, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.3274, d0.loss_plan_l1_fix_dist: 0.4264, d1.loss_plan_l1_fix_time: 1.1311, d1.loss_plan_l1_fix_dist: 0.2100, d2.loss_plan_l1_fix_time: 1.1285, d2.loss_plan_l1_fix_dist: 0.2074, d3.loss_plan_l1_fix_time: 1.1290, d3.loss_plan_l1_fix_dist: 0.2099, d4.loss_plan_l1_fix_time: 1.1313, d4.loss_plan_l1_fix_dist: 0.2142, d5.loss_plan_l1_fix_time: 1.1342, d5.loss_plan_l1_fix_dist: 0.2215, d6.loss_plan_l1_fix_time: 1.1377, d6.loss_plan_l1_fix_dist: 0.2313, d0.loss_cls_all: 0.2295, d0.loss_bbox_all: 0.4657, d0.loss_cls: 0.2295, d0.loss_bbox: 0.4657, d1.loss_cls: 0.2227, d1.loss_bbox: 0.4322, d2.loss_cls: 0.2085, d2.loss_bbox: 0.4126, d3.loss_cls: 0.1967, d3.loss_bbox: 0.4000, d4.loss_cls: 0.1889, d4.loss_bbox: 0.3977, d5.loss_cls: 0.1869, d5.loss_bbox: 0.3959, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8142, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6782, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6375, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6358, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6387, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6430, d0.loss_map_cls_all: 0.2626, d0.loss_map_pts_all: 1.5696, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2626, d0.loss_map_pts: 1.5696, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2344, d1.loss_map_pts: 1.1106, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2165, d2.loss_map_pts: 0.9148, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.2055, d3.loss_map_pts: 0.8454, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.2003, d4.loss_map_pts: 0.8197, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1935, d5.loss_map_pts: 0.8090, d5.loss_map_dir: 0.0109, loss: 30.8472, grad_norm: 157.3245 +2026-02-26 05:18:15,471 - DriveTransformer - INFO - Epoch [6][30500/39528] lr: 8.977e-05, eta: 6 days, 17:06:31, time: 0.768, data_time: 0.039, memory: 19865, loss_cls: 0.1674, loss_bbox: 0.3740, loss_traj: 0.7900, loss_traj_cls: 0.0011, loss_map_cls: 0.1686, loss_map_pts: 0.6752, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.6124, d0.loss_plan_l1_fix_dist: 0.3912, d1.loss_plan_l1_fix_time: 1.2502, d1.loss_plan_l1_fix_dist: 0.1841, d2.loss_plan_l1_fix_time: 1.2361, d2.loss_plan_l1_fix_dist: 0.1792, d3.loss_plan_l1_fix_time: 1.2341, d3.loss_plan_l1_fix_dist: 0.1845, d4.loss_plan_l1_fix_time: 1.2360, d4.loss_plan_l1_fix_dist: 0.1927, d5.loss_plan_l1_fix_time: 1.2383, d5.loss_plan_l1_fix_dist: 0.2011, d6.loss_plan_l1_fix_time: 1.2413, d6.loss_plan_l1_fix_dist: 0.2108, d0.loss_cls_all: 0.1952, d0.loss_bbox_all: 0.4293, d0.loss_cls: 0.1952, d0.loss_bbox: 0.4293, d1.loss_cls: 0.1887, d1.loss_bbox: 0.3960, d2.loss_cls: 0.1798, d2.loss_bbox: 0.3826, d3.loss_cls: 0.1704, d3.loss_bbox: 0.3767, d4.loss_cls: 0.1661, d4.loss_bbox: 0.3759, d5.loss_cls: 0.1652, d5.loss_bbox: 0.3735, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0630, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8416, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8148, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8000, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7977, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7932, d0.loss_map_cls_all: 0.2349, d0.loss_map_pts_all: 1.3861, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2349, d0.loss_map_pts: 1.3861, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2099, d1.loss_map_pts: 0.9569, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1896, d2.loss_map_pts: 0.7863, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1788, d3.loss_map_pts: 0.7154, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1737, d4.loss_map_pts: 0.6871, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1688, d5.loss_map_pts: 0.6778, d5.loss_map_dir: 0.0092, loss: 30.9651, grad_norm: 154.3506 +2026-02-26 05:18:53,998 - DriveTransformer - INFO - Epoch [6][30550/39528] lr: 8.977e-05, eta: 6 days, 17:05:45, time: 0.771, data_time: 0.038, memory: 19865, loss_cls: 0.1810, loss_bbox: 0.3689, loss_traj: 0.7531, loss_traj_cls: 0.0011, loss_map_cls: 0.1451, loss_map_pts: 0.6216, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.4383, d0.loss_plan_l1_fix_dist: 0.4959, d1.loss_plan_l1_fix_time: 1.0815, d1.loss_plan_l1_fix_dist: 0.1978, d2.loss_plan_l1_fix_time: 1.0604, d2.loss_plan_l1_fix_dist: 0.1959, d3.loss_plan_l1_fix_time: 1.0605, d3.loss_plan_l1_fix_dist: 0.2023, d4.loss_plan_l1_fix_time: 1.0641, d4.loss_plan_l1_fix_dist: 0.2097, d5.loss_plan_l1_fix_time: 1.0680, d5.loss_plan_l1_fix_dist: 0.2201, d6.loss_plan_l1_fix_time: 1.0724, d6.loss_plan_l1_fix_dist: 0.2301, d0.loss_cls_all: 0.2089, d0.loss_bbox_all: 0.4339, d0.loss_cls: 0.2089, d0.loss_bbox: 0.4339, d1.loss_cls: 0.2047, d1.loss_bbox: 0.3983, d2.loss_cls: 0.1939, d2.loss_bbox: 0.3776, d3.loss_cls: 0.1901, d3.loss_bbox: 0.3699, d4.loss_cls: 0.1837, d4.loss_bbox: 0.3675, d5.loss_cls: 0.1809, d5.loss_bbox: 0.3696, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9701, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8115, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7571, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7527, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7476, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7527, d0.loss_map_cls_all: 0.2013, d0.loss_map_pts_all: 1.2980, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2013, d0.loss_map_pts: 1.2980, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1776, d1.loss_map_pts: 0.8648, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1598, d2.loss_map_pts: 0.7206, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1509, d3.loss_map_pts: 0.6558, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1469, d4.loss_map_pts: 0.6294, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1445, d5.loss_map_pts: 0.6227, d5.loss_map_dir: 0.0091, loss: 28.9304, grad_norm: 155.3785 +2026-02-26 05:19:32,336 - DriveTransformer - INFO - Epoch [6][30600/39528] lr: 8.977e-05, eta: 6 days, 17:04:59, time: 0.767, data_time: 0.043, memory: 19865, loss_cls: 0.1562, loss_bbox: 0.3512, loss_traj: 0.7191, loss_traj_cls: 0.0011, loss_map_cls: 0.1564, loss_map_pts: 0.6555, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.4167, d0.loss_plan_l1_fix_dist: 0.3902, d1.loss_plan_l1_fix_time: 0.9187, d1.loss_plan_l1_fix_dist: 0.1564, d2.loss_plan_l1_fix_time: 0.9112, d2.loss_plan_l1_fix_dist: 0.1593, d3.loss_plan_l1_fix_time: 0.9135, d3.loss_plan_l1_fix_dist: 0.1648, d4.loss_plan_l1_fix_time: 0.9170, d4.loss_plan_l1_fix_dist: 0.1732, d5.loss_plan_l1_fix_time: 0.9209, d5.loss_plan_l1_fix_dist: 0.1833, d6.loss_plan_l1_fix_time: 0.9255, d6.loss_plan_l1_fix_dist: 0.1950, d0.loss_cls_all: 0.1845, d0.loss_bbox_all: 0.4098, d0.loss_cls: 0.1845, d0.loss_bbox: 0.4098, d1.loss_cls: 0.1797, d1.loss_bbox: 0.3756, d2.loss_cls: 0.1707, d2.loss_bbox: 0.3593, d3.loss_cls: 0.1615, d3.loss_bbox: 0.3538, d4.loss_cls: 0.1558, d4.loss_bbox: 0.3518, d5.loss_cls: 0.1560, d5.loss_bbox: 0.3510, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9190, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7734, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7329, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7227, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7169, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7202, d0.loss_map_cls_all: 0.2219, d0.loss_map_pts_all: 1.3410, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2219, d0.loss_map_pts: 1.3410, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1954, d1.loss_map_pts: 0.9060, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1791, d2.loss_map_pts: 0.7522, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1696, d3.loss_map_pts: 0.6877, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1625, d4.loss_map_pts: 0.6620, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1583, d5.loss_map_pts: 0.6554, d5.loss_map_dir: 0.0096, loss: 27.5076, grad_norm: 154.4814 +2026-02-26 05:20:10,987 - DriveTransformer - INFO - Epoch [6][30650/39528] lr: 8.977e-05, eta: 6 days, 17:04:14, time: 0.773, data_time: 0.041, memory: 19865, loss_cls: 0.1727, loss_bbox: 0.3737, loss_traj: 0.7638, loss_traj_cls: 0.0010, loss_map_cls: 0.1576, loss_map_pts: 0.6898, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.7512, d0.loss_plan_l1_fix_dist: 0.4640, d1.loss_plan_l1_fix_time: 0.9720, d1.loss_plan_l1_fix_dist: 0.1879, d2.loss_plan_l1_fix_time: 0.9582, d2.loss_plan_l1_fix_dist: 0.1938, d3.loss_plan_l1_fix_time: 0.9548, d3.loss_plan_l1_fix_dist: 0.2071, d4.loss_plan_l1_fix_time: 0.9561, d4.loss_plan_l1_fix_dist: 0.2198, d5.loss_plan_l1_fix_time: 0.9580, d5.loss_plan_l1_fix_dist: 0.2314, d6.loss_plan_l1_fix_time: 0.9603, d6.loss_plan_l1_fix_dist: 0.2457, d0.loss_cls_all: 0.2052, d0.loss_bbox_all: 0.4377, d0.loss_cls: 0.2052, d0.loss_bbox: 0.4377, d1.loss_cls: 0.1998, d1.loss_bbox: 0.4063, d2.loss_cls: 0.1874, d2.loss_bbox: 0.3876, d3.loss_cls: 0.1771, d3.loss_bbox: 0.3795, d4.loss_cls: 0.1719, d4.loss_bbox: 0.3761, d5.loss_cls: 0.1719, d5.loss_bbox: 0.3745, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9658, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8237, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7847, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7736, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7659, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7628, d0.loss_map_cls_all: 0.2269, d0.loss_map_pts_all: 1.4326, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2269, d0.loss_map_pts: 1.4326, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2001, d1.loss_map_pts: 0.9812, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1809, d2.loss_map_pts: 0.8031, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1717, d3.loss_map_pts: 0.7300, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1651, d4.loss_map_pts: 0.7042, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1596, d5.loss_map_pts: 0.6917, d5.loss_map_dir: 0.0096, loss: 29.6020, grad_norm: 154.0021 +2026-02-26 05:20:49,913 - DriveTransformer - INFO - Epoch [6][30700/39528] lr: 8.977e-05, eta: 6 days, 17:03:29, time: 0.778, data_time: 0.040, memory: 19865, loss_cls: 0.1679, loss_bbox: 0.3477, loss_traj: 0.6068, loss_traj_cls: 0.0011, loss_map_cls: 0.1634, loss_map_pts: 0.6532, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.1312, d0.loss_plan_l1_fix_dist: 0.4006, d1.loss_plan_l1_fix_time: 0.9147, d1.loss_plan_l1_fix_dist: 0.1566, d2.loss_plan_l1_fix_time: 0.9051, d2.loss_plan_l1_fix_dist: 0.1587, d3.loss_plan_l1_fix_time: 0.9066, d3.loss_plan_l1_fix_dist: 0.1652, d4.loss_plan_l1_fix_time: 0.9086, d4.loss_plan_l1_fix_dist: 0.1773, d5.loss_plan_l1_fix_time: 0.9106, d5.loss_plan_l1_fix_dist: 0.1886, d6.loss_plan_l1_fix_time: 0.9131, d6.loss_plan_l1_fix_dist: 0.1987, d0.loss_cls_all: 0.2010, d0.loss_bbox_all: 0.4040, d0.loss_cls: 0.2010, d0.loss_bbox: 0.4040, d1.loss_cls: 0.1904, d1.loss_bbox: 0.3717, d2.loss_cls: 0.1838, d2.loss_bbox: 0.3557, d3.loss_cls: 0.1747, d3.loss_bbox: 0.3492, d4.loss_cls: 0.1686, d4.loss_bbox: 0.3477, d5.loss_cls: 0.1680, d5.loss_bbox: 0.3467, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8133, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6352, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6063, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6099, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6103, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6168, d0.loss_map_cls_all: 0.2303, d0.loss_map_pts_all: 1.2564, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2303, d0.loss_map_pts: 1.2564, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.2007, d1.loss_map_pts: 0.8751, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1795, d2.loss_map_pts: 0.7330, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1713, d3.loss_map_pts: 0.6737, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1659, d4.loss_map_pts: 0.6552, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1635, d5.loss_map_pts: 0.6537, d5.loss_map_dir: 0.0081, loss: 26.2467, grad_norm: 154.3160 +2026-02-26 05:21:26,250 - DriveTransformer - INFO - Epoch [6][30750/39528] lr: 8.977e-05, eta: 6 days, 17:02:37, time: 0.727, data_time: 0.039, memory: 19865, loss_cls: 0.1738, loss_bbox: 0.3742, loss_traj: 0.6895, loss_traj_cls: 0.0010, loss_map_cls: 0.1547, loss_map_pts: 0.6463, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.5703, d0.loss_plan_l1_fix_dist: 0.5032, d1.loss_plan_l1_fix_time: 1.0731, d1.loss_plan_l1_fix_dist: 0.1762, d2.loss_plan_l1_fix_time: 1.0555, d2.loss_plan_l1_fix_dist: 0.1794, d3.loss_plan_l1_fix_time: 1.0579, d3.loss_plan_l1_fix_dist: 0.1864, d4.loss_plan_l1_fix_time: 1.0596, d4.loss_plan_l1_fix_dist: 0.1958, d5.loss_plan_l1_fix_time: 1.0617, d5.loss_plan_l1_fix_dist: 0.2083, d6.loss_plan_l1_fix_time: 1.0647, d6.loss_plan_l1_fix_dist: 0.2233, d0.loss_cls_all: 0.2068, d0.loss_bbox_all: 0.4356, d0.loss_cls: 0.2068, d0.loss_bbox: 0.4356, d1.loss_cls: 0.1945, d1.loss_bbox: 0.4049, d2.loss_cls: 0.1833, d2.loss_bbox: 0.3863, d3.loss_cls: 0.1757, d3.loss_bbox: 0.3764, d4.loss_cls: 0.1742, d4.loss_bbox: 0.3733, d5.loss_cls: 0.1727, d5.loss_bbox: 0.3729, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8555, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7229, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6885, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6891, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6849, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6857, d0.loss_map_cls_all: 0.2234, d0.loss_map_pts_all: 1.2297, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2234, d0.loss_map_pts: 1.2297, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1975, d1.loss_map_pts: 0.8898, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1793, d2.loss_map_pts: 0.7495, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1679, d3.loss_map_pts: 0.6831, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1619, d4.loss_map_pts: 0.6574, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1563, d5.loss_map_pts: 0.6483, d5.loss_map_dir: 0.0073, loss: 28.5386, grad_norm: 154.4592 +2026-02-26 05:22:05,102 - DriveTransformer - INFO - Epoch [6][30800/39528] lr: 8.977e-05, eta: 6 days, 17:01:52, time: 0.777, data_time: 0.036, memory: 19865, loss_cls: 0.1827, loss_bbox: 0.3754, loss_traj: 0.7340, loss_traj_cls: 0.0010, loss_map_cls: 0.1905, loss_map_pts: 0.8169, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 3.1610, d0.loss_plan_l1_fix_dist: 0.4550, d1.loss_plan_l1_fix_time: 1.2790, d1.loss_plan_l1_fix_dist: 0.1908, d2.loss_plan_l1_fix_time: 1.2707, d2.loss_plan_l1_fix_dist: 0.1990, d3.loss_plan_l1_fix_time: 1.2725, d3.loss_plan_l1_fix_dist: 0.2095, d4.loss_plan_l1_fix_time: 1.2748, d4.loss_plan_l1_fix_dist: 0.2215, d5.loss_plan_l1_fix_time: 1.2781, d5.loss_plan_l1_fix_dist: 0.2349, d6.loss_plan_l1_fix_time: 1.2818, d6.loss_plan_l1_fix_dist: 0.2497, d0.loss_cls_all: 0.2162, d0.loss_bbox_all: 0.4448, d0.loss_cls: 0.2162, d0.loss_bbox: 0.4448, d1.loss_cls: 0.2070, d1.loss_bbox: 0.4101, d2.loss_cls: 0.1945, d2.loss_bbox: 0.3904, d3.loss_cls: 0.1883, d3.loss_bbox: 0.3789, d4.loss_cls: 0.1836, d4.loss_bbox: 0.3746, d5.loss_cls: 0.1814, d5.loss_bbox: 0.3753, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9730, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7995, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7539, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7465, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7389, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7380, d0.loss_map_cls_all: 0.2692, d0.loss_map_pts_all: 1.7066, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2692, d0.loss_map_pts: 1.7066, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2338, d1.loss_map_pts: 1.1625, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2140, d2.loss_map_pts: 0.9414, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.2011, d3.loss_map_pts: 0.8596, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1972, d4.loss_map_pts: 0.8224, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1918, d5.loss_map_pts: 0.8168, d5.loss_map_dir: 0.0116, loss: 33.5206, grad_norm: 154.8153 +2026-02-26 05:22:44,308 - DriveTransformer - INFO - Epoch [6][30850/39528] lr: 8.977e-05, eta: 6 days, 17:01:08, time: 0.784, data_time: 0.036, memory: 19865, loss_cls: 0.2014, loss_bbox: 0.4200, loss_traj: 0.8573, loss_traj_cls: 0.0010, loss_map_cls: 0.2145, loss_map_pts: 0.9130, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 3.1535, d0.loss_plan_l1_fix_dist: 0.4226, d1.loss_plan_l1_fix_time: 1.0857, d1.loss_plan_l1_fix_dist: 0.1861, d2.loss_plan_l1_fix_time: 1.0665, d2.loss_plan_l1_fix_dist: 0.1873, d3.loss_plan_l1_fix_time: 1.0654, d3.loss_plan_l1_fix_dist: 0.1961, d4.loss_plan_l1_fix_time: 1.0670, d4.loss_plan_l1_fix_dist: 0.2063, d5.loss_plan_l1_fix_time: 1.0692, d5.loss_plan_l1_fix_dist: 0.2168, d6.loss_plan_l1_fix_time: 1.0715, d6.loss_plan_l1_fix_dist: 0.2267, d0.loss_cls_all: 0.2351, d0.loss_bbox_all: 0.4837, d0.loss_cls: 0.2351, d0.loss_bbox: 0.4837, d1.loss_cls: 0.2270, d1.loss_bbox: 0.4470, d2.loss_cls: 0.2159, d2.loss_bbox: 0.4304, d3.loss_cls: 0.2041, d3.loss_bbox: 0.4229, d4.loss_cls: 0.2002, d4.loss_bbox: 0.4182, d5.loss_cls: 0.2004, d5.loss_bbox: 0.4177, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0899, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9074, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8773, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8660, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8618, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8610, d0.loss_map_cls_all: 0.2777, d0.loss_map_pts_all: 1.6764, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2777, d0.loss_map_pts: 1.6764, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2541, d1.loss_map_pts: 1.2168, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2323, d2.loss_map_pts: 1.0370, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.2256, d3.loss_map_pts: 0.9564, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.2213, d4.loss_map_pts: 0.9230, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.2155, d5.loss_map_pts: 0.9157, d5.loss_map_dir: 0.0109, loss: 34.1067, grad_norm: 155.7236 +2026-02-26 05:23:23,290 - DriveTransformer - INFO - Epoch [6][30900/39528] lr: 8.977e-05, eta: 6 days, 17:00:24, time: 0.780, data_time: 0.042, memory: 19865, loss_cls: 0.1789, loss_bbox: 0.3813, loss_traj: 0.5974, loss_traj_cls: 0.0010, loss_map_cls: 0.1772, loss_map_pts: 0.7526, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.7942, d0.loss_plan_l1_fix_dist: 0.4255, d1.loss_plan_l1_fix_time: 1.0068, d1.loss_plan_l1_fix_dist: 0.1705, d2.loss_plan_l1_fix_time: 0.9926, d2.loss_plan_l1_fix_dist: 0.1737, d3.loss_plan_l1_fix_time: 0.9842, d3.loss_plan_l1_fix_dist: 0.1792, d4.loss_plan_l1_fix_time: 0.9855, d4.loss_plan_l1_fix_dist: 0.1857, d5.loss_plan_l1_fix_time: 0.9878, d5.loss_plan_l1_fix_dist: 0.1935, d6.loss_plan_l1_fix_time: 0.9914, d6.loss_plan_l1_fix_dist: 0.2042, d0.loss_cls_all: 0.2226, d0.loss_bbox_all: 0.4387, d0.loss_cls: 0.2226, d0.loss_bbox: 0.4387, d1.loss_cls: 0.2094, d1.loss_bbox: 0.4065, d2.loss_cls: 0.1990, d2.loss_bbox: 0.3893, d3.loss_cls: 0.1861, d3.loss_bbox: 0.3834, d4.loss_cls: 0.1788, d4.loss_bbox: 0.3818, d5.loss_cls: 0.1786, d5.loss_bbox: 0.3812, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8044, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6473, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6053, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6052, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5922, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5996, d0.loss_map_cls_all: 0.2303, d0.loss_map_pts_all: 1.4388, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2303, d0.loss_map_pts: 1.4388, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2071, d1.loss_map_pts: 1.0111, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1905, d2.loss_map_pts: 0.8413, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1839, d3.loss_map_pts: 0.7789, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1806, d4.loss_map_pts: 0.7586, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1773, d5.loss_map_pts: 0.7531, d5.loss_map_dir: 0.0113, loss: 28.9474, grad_norm: 155.3686 +2026-02-26 05:24:03,890 - DriveTransformer - INFO - Epoch [6][30950/39528] lr: 8.977e-05, eta: 6 days, 16:59:45, time: 0.812, data_time: 0.042, memory: 19865, loss_cls: 0.1914, loss_bbox: 0.3838, loss_traj: 0.6874, loss_traj_cls: 0.0009, loss_map_cls: 0.1954, loss_map_pts: 0.9174, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.5460, d0.loss_plan_l1_fix_dist: 0.4093, d1.loss_plan_l1_fix_time: 1.1488, d1.loss_plan_l1_fix_dist: 0.1858, d2.loss_plan_l1_fix_time: 1.1412, d2.loss_plan_l1_fix_dist: 0.1885, d3.loss_plan_l1_fix_time: 1.1419, d3.loss_plan_l1_fix_dist: 0.1964, d4.loss_plan_l1_fix_time: 1.1432, d4.loss_plan_l1_fix_dist: 0.2069, d5.loss_plan_l1_fix_time: 1.1455, d5.loss_plan_l1_fix_dist: 0.2184, d6.loss_plan_l1_fix_time: 1.1492, d6.loss_plan_l1_fix_dist: 0.2306, d0.loss_cls_all: 0.2267, d0.loss_bbox_all: 0.4526, d0.loss_cls: 0.2267, d0.loss_bbox: 0.4526, d1.loss_cls: 0.2209, d1.loss_bbox: 0.4160, d2.loss_cls: 0.2076, d2.loss_bbox: 0.3989, d3.loss_cls: 0.1940, d3.loss_bbox: 0.3927, d4.loss_cls: 0.1915, d4.loss_bbox: 0.3868, d5.loss_cls: 0.1907, d5.loss_bbox: 0.3852, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8961, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7490, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7112, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7022, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6943, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6898, d0.loss_map_cls_all: 0.2687, d0.loss_map_pts_all: 1.8085, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2687, d0.loss_map_pts: 1.8085, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2454, d1.loss_map_pts: 1.2730, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2219, d2.loss_map_pts: 1.0594, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.2085, d3.loss_map_pts: 0.9685, d3.loss_map_dir: 0.0121, d4.loss_map_cls: 0.2016, d4.loss_map_pts: 0.9315, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.1964, d5.loss_map_pts: 0.9187, d5.loss_map_dir: 0.0128, loss: 32.6945, grad_norm: 152.2746 +2026-02-26 05:24:41,877 - DriveTransformer - INFO - Epoch [6][31000/39528] lr: 8.977e-05, eta: 6 days, 16:58:58, time: 0.761, data_time: 0.040, memory: 19865, loss_cls: 0.1820, loss_bbox: 0.3707, loss_traj: 0.7380, loss_traj_cls: 0.0010, loss_map_cls: 0.1750, loss_map_pts: 0.7409, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.6085, d0.loss_plan_l1_fix_dist: 0.3931, d1.loss_plan_l1_fix_time: 1.0545, d1.loss_plan_l1_fix_dist: 0.1899, d2.loss_plan_l1_fix_time: 1.0372, d2.loss_plan_l1_fix_dist: 0.1933, d3.loss_plan_l1_fix_time: 1.0403, d3.loss_plan_l1_fix_dist: 0.2007, d4.loss_plan_l1_fix_time: 1.0427, d4.loss_plan_l1_fix_dist: 0.2117, d5.loss_plan_l1_fix_time: 1.0444, d5.loss_plan_l1_fix_dist: 0.2220, d6.loss_plan_l1_fix_time: 1.0463, d6.loss_plan_l1_fix_dist: 0.2305, d0.loss_cls_all: 0.2002, d0.loss_bbox_all: 0.4304, d0.loss_cls: 0.2002, d0.loss_bbox: 0.4304, d1.loss_cls: 0.1964, d1.loss_bbox: 0.3969, d2.loss_cls: 0.1897, d2.loss_bbox: 0.3786, d3.loss_cls: 0.1837, d3.loss_bbox: 0.3710, d4.loss_cls: 0.1795, d4.loss_bbox: 0.3705, d5.loss_cls: 0.1801, d5.loss_bbox: 0.3704, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9893, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7950, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7547, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7429, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7388, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7346, d0.loss_map_cls_all: 0.2248, d0.loss_map_pts_all: 1.4012, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2248, d0.loss_map_pts: 1.4012, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2064, d1.loss_map_pts: 0.9994, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1926, d2.loss_map_pts: 0.8414, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1850, d3.loss_map_pts: 0.7749, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1814, d4.loss_map_pts: 0.7492, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1757, d5.loss_map_pts: 0.7413, d5.loss_map_dir: 0.0092, loss: 29.9321, grad_norm: 152.6177 +2026-02-26 05:25:21,808 - DriveTransformer - INFO - Epoch [6][31050/39528] lr: 8.977e-05, eta: 6 days, 16:58:16, time: 0.797, data_time: 0.037, memory: 19865, loss_cls: 0.1956, loss_bbox: 0.3964, loss_traj: 0.7212, loss_traj_cls: 0.0010, loss_map_cls: 0.1872, loss_map_pts: 0.8717, loss_map_dir: 0.0136, d0.loss_plan_l1_fix_time: 2.7357, d0.loss_plan_l1_fix_dist: 0.3653, d1.loss_plan_l1_fix_time: 1.1196, d1.loss_plan_l1_fix_dist: 0.1815, d2.loss_plan_l1_fix_time: 1.0953, d2.loss_plan_l1_fix_dist: 0.1847, d3.loss_plan_l1_fix_time: 1.0947, d3.loss_plan_l1_fix_dist: 0.1935, d4.loss_plan_l1_fix_time: 1.0968, d4.loss_plan_l1_fix_dist: 0.2045, d5.loss_plan_l1_fix_time: 1.0987, d5.loss_plan_l1_fix_dist: 0.2175, d6.loss_plan_l1_fix_time: 1.1011, d6.loss_plan_l1_fix_dist: 0.2346, d0.loss_cls_all: 0.2240, d0.loss_bbox_all: 0.4617, d0.loss_cls: 0.2240, d0.loss_bbox: 0.4617, d1.loss_cls: 0.2227, d1.loss_bbox: 0.4255, d2.loss_cls: 0.2119, d2.loss_bbox: 0.4065, d3.loss_cls: 0.2033, d3.loss_bbox: 0.3982, d4.loss_cls: 0.1967, d4.loss_bbox: 0.3976, d5.loss_cls: 0.1948, d5.loss_bbox: 0.3965, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9869, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8062, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7564, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7382, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7292, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7241, d0.loss_map_cls_all: 0.2549, d0.loss_map_pts_all: 1.7460, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2549, d0.loss_map_pts: 1.7460, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2299, d1.loss_map_pts: 1.1846, d1.loss_map_dir: 0.0120, d2.loss_map_cls: 0.2087, d2.loss_map_pts: 0.9873, d2.loss_map_dir: 0.0123, d3.loss_map_cls: 0.1998, d3.loss_map_pts: 0.9099, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.1926, d4.loss_map_pts: 0.8805, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.1897, d5.loss_map_pts: 0.8725, d5.loss_map_dir: 0.0135, loss: 32.4285, grad_norm: 152.5120 +2026-02-26 05:26:02,663 - DriveTransformer - INFO - Epoch [6][31100/39528] lr: 8.977e-05, eta: 6 days, 16:57:38, time: 0.817, data_time: 0.040, memory: 19865, loss_cls: 0.1874, loss_bbox: 0.3660, loss_traj: 0.5842, loss_traj_cls: 0.0010, loss_map_cls: 0.1914, loss_map_pts: 0.8777, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.6987, d0.loss_plan_l1_fix_dist: 0.3878, d1.loss_plan_l1_fix_time: 1.3335, d1.loss_plan_l1_fix_dist: 0.1816, d2.loss_plan_l1_fix_time: 1.3174, d2.loss_plan_l1_fix_dist: 0.1835, d3.loss_plan_l1_fix_time: 1.3134, d3.loss_plan_l1_fix_dist: 0.1894, d4.loss_plan_l1_fix_time: 1.3146, d4.loss_plan_l1_fix_dist: 0.1965, d5.loss_plan_l1_fix_time: 1.3157, d5.loss_plan_l1_fix_dist: 0.2050, d6.loss_plan_l1_fix_time: 1.3173, d6.loss_plan_l1_fix_dist: 0.2171, d0.loss_cls_all: 0.2162, d0.loss_bbox_all: 0.4341, d0.loss_cls: 0.2162, d0.loss_bbox: 0.4341, d1.loss_cls: 0.2113, d1.loss_bbox: 0.3960, d2.loss_cls: 0.2007, d2.loss_bbox: 0.3771, d3.loss_cls: 0.1929, d3.loss_bbox: 0.3687, d4.loss_cls: 0.1889, d4.loss_bbox: 0.3655, d5.loss_cls: 0.1877, d5.loss_bbox: 0.3658, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7773, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6425, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6079, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5960, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5870, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5857, d0.loss_map_cls_all: 0.2530, d0.loss_map_pts_all: 1.5969, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2530, d0.loss_map_pts: 1.5969, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2291, d1.loss_map_pts: 1.1618, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2113, d2.loss_map_pts: 0.9808, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.2023, d3.loss_map_pts: 0.9109, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.1976, d4.loss_map_pts: 0.8858, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.1934, d5.loss_map_pts: 0.8801, d5.loss_map_dir: 0.0125, loss: 31.9845, grad_norm: 152.7554 +2026-02-26 05:26:44,549 - DriveTransformer - INFO - Epoch [6][31150/39528] lr: 8.977e-05, eta: 6 days, 16:57:03, time: 0.838, data_time: 0.038, memory: 19865, loss_cls: 0.1876, loss_bbox: 0.3765, loss_traj: 0.5937, loss_traj_cls: 0.0010, loss_map_cls: 0.1773, loss_map_pts: 0.7635, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.8206, d0.loss_plan_l1_fix_dist: 0.4450, d1.loss_plan_l1_fix_time: 1.1052, d1.loss_plan_l1_fix_dist: 0.1947, d2.loss_plan_l1_fix_time: 1.0849, d2.loss_plan_l1_fix_dist: 0.1999, d3.loss_plan_l1_fix_time: 1.0835, d3.loss_plan_l1_fix_dist: 0.2105, d4.loss_plan_l1_fix_time: 1.0863, d4.loss_plan_l1_fix_dist: 0.2225, d5.loss_plan_l1_fix_time: 1.0891, d5.loss_plan_l1_fix_dist: 0.2361, d6.loss_plan_l1_fix_time: 1.0921, d6.loss_plan_l1_fix_dist: 0.2481, d0.loss_cls_all: 0.2163, d0.loss_bbox_all: 0.4287, d0.loss_cls: 0.2163, d0.loss_bbox: 0.4287, d1.loss_cls: 0.2157, d1.loss_bbox: 0.3968, d2.loss_cls: 0.1999, d2.loss_bbox: 0.3826, d3.loss_cls: 0.1945, d3.loss_bbox: 0.3781, d4.loss_cls: 0.1887, d4.loss_bbox: 0.3759, d5.loss_cls: 0.1876, d5.loss_bbox: 0.3758, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8287, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6681, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6116, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6050, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5928, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5948, d0.loss_map_cls_all: 0.2483, d0.loss_map_pts_all: 1.6735, d0.loss_map_dir_all: 0.0121, d0.loss_map_cls: 0.2483, d0.loss_map_pts: 1.6735, d0.loss_map_dir: 0.0121, d1.loss_map_cls: 0.2206, d1.loss_map_pts: 1.0926, d1.loss_map_dir: 0.0122, d2.loss_map_cls: 0.1993, d2.loss_map_pts: 0.8794, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.1877, d3.loss_map_pts: 0.8012, d3.loss_map_dir: 0.0132, d4.loss_map_cls: 0.1831, d4.loss_map_pts: 0.7715, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.1781, d5.loss_map_pts: 0.7662, d5.loss_map_dir: 0.0137, loss: 30.5378, grad_norm: 153.0624 +2026-02-26 05:27:24,532 - DriveTransformer - INFO - Epoch [6][31200/39528] lr: 8.977e-05, eta: 6 days, 16:56:22, time: 0.800, data_time: 0.038, memory: 19865, loss_cls: 0.1646, loss_bbox: 0.3573, loss_traj: 0.5939, loss_traj_cls: 0.0011, loss_map_cls: 0.1676, loss_map_pts: 0.7519, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.1878, d0.loss_plan_l1_fix_dist: 0.3332, d1.loss_plan_l1_fix_time: 1.0279, d1.loss_plan_l1_fix_dist: 0.1740, d2.loss_plan_l1_fix_time: 1.0010, d2.loss_plan_l1_fix_dist: 0.1843, d3.loss_plan_l1_fix_time: 0.9997, d3.loss_plan_l1_fix_dist: 0.2014, d4.loss_plan_l1_fix_time: 1.0022, d4.loss_plan_l1_fix_dist: 0.2202, d5.loss_plan_l1_fix_time: 1.0057, d5.loss_plan_l1_fix_dist: 0.2417, d6.loss_plan_l1_fix_time: 1.0100, d6.loss_plan_l1_fix_dist: 0.2583, d0.loss_cls_all: 0.1998, d0.loss_bbox_all: 0.4148, d0.loss_cls: 0.1998, d0.loss_bbox: 0.4148, d1.loss_cls: 0.1948, d1.loss_bbox: 0.3803, d2.loss_cls: 0.1805, d2.loss_bbox: 0.3673, d3.loss_cls: 0.1705, d3.loss_bbox: 0.3613, d4.loss_cls: 0.1653, d4.loss_bbox: 0.3566, d5.loss_cls: 0.1645, d5.loss_bbox: 0.3566, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8293, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6663, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6027, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5915, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5946, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5884, d0.loss_map_cls_all: 0.2342, d0.loss_map_pts_all: 1.5618, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2342, d0.loss_map_pts: 1.5618, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2050, d1.loss_map_pts: 1.0585, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.1895, d2.loss_map_pts: 0.8631, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.1802, d3.loss_map_pts: 0.7938, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.1744, d4.loss_map_pts: 0.7641, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.1688, d5.loss_map_pts: 0.7550, d5.loss_map_dir: 0.0125, loss: 28.5278, grad_norm: 148.8748 +2026-02-26 05:28:02,688 - DriveTransformer - INFO - Epoch [6][31250/39528] lr: 8.977e-05, eta: 6 days, 16:55:35, time: 0.763, data_time: 0.039, memory: 19865, loss_cls: 0.2239, loss_bbox: 0.4095, loss_traj: 0.6788, loss_traj_cls: 0.0010, loss_map_cls: 0.1785, loss_map_pts: 0.7873, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.8983, d0.loss_plan_l1_fix_dist: 0.3390, d1.loss_plan_l1_fix_time: 1.2297, d1.loss_plan_l1_fix_dist: 0.1777, d2.loss_plan_l1_fix_time: 1.2185, d2.loss_plan_l1_fix_dist: 0.1882, d3.loss_plan_l1_fix_time: 1.2100, d3.loss_plan_l1_fix_dist: 0.2032, d4.loss_plan_l1_fix_time: 1.2117, d4.loss_plan_l1_fix_dist: 0.2201, d5.loss_plan_l1_fix_time: 1.2150, d5.loss_plan_l1_fix_dist: 0.2417, d6.loss_plan_l1_fix_time: 1.2193, d6.loss_plan_l1_fix_dist: 0.2734, d0.loss_cls_all: 0.2622, d0.loss_bbox_all: 0.4797, d0.loss_cls: 0.2622, d0.loss_bbox: 0.4797, d1.loss_cls: 0.2518, d1.loss_bbox: 0.4413, d2.loss_cls: 0.2364, d2.loss_bbox: 0.4247, d3.loss_cls: 0.2264, d3.loss_bbox: 0.4177, d4.loss_cls: 0.2220, d4.loss_bbox: 0.4153, d5.loss_cls: 0.2234, d5.loss_bbox: 0.4122, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8432, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7277, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6924, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6745, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6747, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6761, d0.loss_map_cls_all: 0.2494, d0.loss_map_pts_all: 1.6178, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2494, d0.loss_map_pts: 1.6178, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2226, d1.loss_map_pts: 1.0854, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2050, d2.loss_map_pts: 0.8960, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.1913, d3.loss_map_pts: 0.8193, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.1848, d4.loss_map_pts: 0.7945, d4.loss_map_dir: 0.0129, d5.loss_map_cls: 0.1800, d5.loss_map_pts: 0.7893, d5.loss_map_dir: 0.0129, loss: 32.3752, grad_norm: 149.5301 +2026-02-26 05:28:42,934 - DriveTransformer - INFO - Epoch [6][31300/39528] lr: 8.977e-05, eta: 6 days, 16:54:55, time: 0.805, data_time: 0.041, memory: 19865, loss_cls: 0.1751, loss_bbox: 0.3480, loss_traj: 0.5481, loss_traj_cls: 0.0010, loss_map_cls: 0.1563, loss_map_pts: 0.6888, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.2904, d0.loss_plan_l1_fix_dist: 0.3862, d1.loss_plan_l1_fix_time: 1.0006, d1.loss_plan_l1_fix_dist: 0.1681, d2.loss_plan_l1_fix_time: 0.9889, d2.loss_plan_l1_fix_dist: 0.1743, d3.loss_plan_l1_fix_time: 0.9874, d3.loss_plan_l1_fix_dist: 0.1868, d4.loss_plan_l1_fix_time: 0.9896, d4.loss_plan_l1_fix_dist: 0.2008, d5.loss_plan_l1_fix_time: 0.9927, d5.loss_plan_l1_fix_dist: 0.2142, d6.loss_plan_l1_fix_time: 0.9966, d6.loss_plan_l1_fix_dist: 0.2310, d0.loss_cls_all: 0.2028, d0.loss_bbox_all: 0.4077, d0.loss_cls: 0.2028, d0.loss_bbox: 0.4077, d1.loss_cls: 0.1941, d1.loss_bbox: 0.3751, d2.loss_cls: 0.1830, d2.loss_bbox: 0.3618, d3.loss_cls: 0.1759, d3.loss_bbox: 0.3533, d4.loss_cls: 0.1725, d4.loss_bbox: 0.3509, d5.loss_cls: 0.1725, d5.loss_bbox: 0.3504, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7324, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5998, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5656, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5522, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5473, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5497, d0.loss_map_cls_all: 0.2245, d0.loss_map_pts_all: 1.5079, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2245, d0.loss_map_pts: 1.5079, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2024, d1.loss_map_pts: 0.9696, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.1835, d2.loss_map_pts: 0.7918, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1722, d3.loss_map_pts: 0.7242, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1645, d4.loss_map_pts: 0.6983, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1598, d5.loss_map_pts: 0.6897, d5.loss_map_dir: 0.0112, loss: 27.4959, grad_norm: 148.9982 +2026-02-26 05:29:22,634 - DriveTransformer - INFO - Epoch [6][31350/39528] lr: 8.977e-05, eta: 6 days, 16:54:13, time: 0.794, data_time: 0.041, memory: 19865, loss_cls: 0.1506, loss_bbox: 0.3675, loss_traj: 0.7143, loss_traj_cls: 0.0010, loss_map_cls: 0.1791, loss_map_pts: 0.7665, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.6201, d0.loss_plan_l1_fix_dist: 0.4255, d1.loss_plan_l1_fix_time: 1.1586, d1.loss_plan_l1_fix_dist: 0.1892, d2.loss_plan_l1_fix_time: 1.1578, d2.loss_plan_l1_fix_dist: 0.1985, d3.loss_plan_l1_fix_time: 1.1601, d3.loss_plan_l1_fix_dist: 0.2159, d4.loss_plan_l1_fix_time: 1.1634, d4.loss_plan_l1_fix_dist: 0.2369, d5.loss_plan_l1_fix_time: 1.1667, d5.loss_plan_l1_fix_dist: 0.2558, d6.loss_plan_l1_fix_time: 1.1699, d6.loss_plan_l1_fix_dist: 0.2682, d0.loss_cls_all: 0.1843, d0.loss_bbox_all: 0.4291, d0.loss_cls: 0.1843, d0.loss_bbox: 0.4291, d1.loss_cls: 0.1772, d1.loss_bbox: 0.3933, d2.loss_cls: 0.1641, d2.loss_bbox: 0.3779, d3.loss_cls: 0.1549, d3.loss_bbox: 0.3705, d4.loss_cls: 0.1505, d4.loss_bbox: 0.3694, d5.loss_cls: 0.1495, d5.loss_bbox: 0.3692, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9866, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7923, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7313, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7239, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7170, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7139, d0.loss_map_cls_all: 0.2491, d0.loss_map_pts_all: 1.5188, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2491, d0.loss_map_pts: 1.5188, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2239, d1.loss_map_pts: 1.0585, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.2018, d2.loss_map_pts: 0.8820, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1921, d3.loss_map_pts: 0.8084, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1864, d4.loss_map_pts: 0.7758, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1801, d5.loss_map_pts: 0.7673, d5.loss_map_dir: 0.0106, loss: 31.0315, grad_norm: 150.4304 +2026-02-26 05:30:02,365 - DriveTransformer - INFO - Epoch [6][31400/39528] lr: 8.977e-05, eta: 6 days, 16:53:31, time: 0.794, data_time: 0.040, memory: 19865, loss_cls: 0.1726, loss_bbox: 0.3892, loss_traj: 0.6222, loss_traj_cls: 0.0010, loss_map_cls: 0.1880, loss_map_pts: 0.8420, loss_map_dir: 0.0130, d0.loss_plan_l1_fix_time: 2.6225, d0.loss_plan_l1_fix_dist: 0.3877, d1.loss_plan_l1_fix_time: 1.1209, d1.loss_plan_l1_fix_dist: 0.2054, d2.loss_plan_l1_fix_time: 1.1126, d2.loss_plan_l1_fix_dist: 0.2108, d3.loss_plan_l1_fix_time: 1.1195, d3.loss_plan_l1_fix_dist: 0.2232, d4.loss_plan_l1_fix_time: 1.1231, d4.loss_plan_l1_fix_dist: 0.2366, d5.loss_plan_l1_fix_time: 1.1263, d5.loss_plan_l1_fix_dist: 0.2518, d6.loss_plan_l1_fix_time: 1.1295, d6.loss_plan_l1_fix_dist: 0.2714, d0.loss_cls_all: 0.2037, d0.loss_bbox_all: 0.4487, d0.loss_cls: 0.2037, d0.loss_bbox: 0.4487, d1.loss_cls: 0.1986, d1.loss_bbox: 0.4135, d2.loss_cls: 0.1885, d2.loss_bbox: 0.3986, d3.loss_cls: 0.1785, d3.loss_bbox: 0.3911, d4.loss_cls: 0.1720, d4.loss_bbox: 0.3905, d5.loss_cls: 0.1730, d5.loss_bbox: 0.3897, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7948, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6780, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6387, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6246, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6169, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6220, d0.loss_map_cls_all: 0.2590, d0.loss_map_pts_all: 1.6943, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2590, d0.loss_map_pts: 1.6943, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2271, d1.loss_map_pts: 1.1472, d1.loss_map_dir: 0.0119, d2.loss_map_cls: 0.2096, d2.loss_map_pts: 0.9544, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.2004, d3.loss_map_pts: 0.8825, d3.loss_map_dir: 0.0125, d4.loss_map_cls: 0.1952, d4.loss_map_pts: 0.8476, d4.loss_map_dir: 0.0127, d5.loss_map_cls: 0.1904, d5.loss_map_pts: 0.8406, d5.loss_map_dir: 0.0128, loss: 31.2372, grad_norm: 151.2703 +2026-02-26 05:30:40,245 - DriveTransformer - INFO - Epoch [6][31450/39528] lr: 8.977e-05, eta: 6 days, 16:52:43, time: 0.758, data_time: 0.040, memory: 19865, loss_cls: 0.1642, loss_bbox: 0.3776, loss_traj: 0.7162, loss_traj_cls: 0.0010, loss_map_cls: 0.1739, loss_map_pts: 0.6581, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.9380, d0.loss_plan_l1_fix_dist: 0.4221, d1.loss_plan_l1_fix_time: 1.1032, d1.loss_plan_l1_fix_dist: 0.1962, d2.loss_plan_l1_fix_time: 1.0907, d2.loss_plan_l1_fix_dist: 0.2025, d3.loss_plan_l1_fix_time: 1.0896, d3.loss_plan_l1_fix_dist: 0.2160, d4.loss_plan_l1_fix_time: 1.0915, d4.loss_plan_l1_fix_dist: 0.2307, d5.loss_plan_l1_fix_time: 1.0938, d5.loss_plan_l1_fix_dist: 0.2491, d6.loss_plan_l1_fix_time: 1.0971, d6.loss_plan_l1_fix_dist: 0.2701, d0.loss_cls_all: 0.1960, d0.loss_bbox_all: 0.4338, d0.loss_cls: 0.1960, d0.loss_bbox: 0.4338, d1.loss_cls: 0.1872, d1.loss_bbox: 0.4025, d2.loss_cls: 0.1793, d2.loss_bbox: 0.3876, d3.loss_cls: 0.1681, d3.loss_bbox: 0.3801, d4.loss_cls: 0.1646, d4.loss_bbox: 0.3775, d5.loss_cls: 0.1641, d5.loss_bbox: 0.3767, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9340, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7858, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7518, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7298, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7230, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7194, d0.loss_map_cls_all: 0.2475, d0.loss_map_pts_all: 1.2628, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2475, d0.loss_map_pts: 1.2628, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2234, d1.loss_map_pts: 0.8972, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.2003, d2.loss_map_pts: 0.7517, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1859, d3.loss_map_pts: 0.6911, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1786, d4.loss_map_pts: 0.6657, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1741, d5.loss_map_pts: 0.6591, d5.loss_map_dir: 0.0094, loss: 29.7990, grad_norm: 154.1727 +2026-02-26 05:31:19,235 - DriveTransformer - INFO - Epoch [6][31500/39528] lr: 8.977e-05, eta: 6 days, 16:51:59, time: 0.780, data_time: 0.044, memory: 19865, loss_cls: 0.1736, loss_bbox: 0.3925, loss_traj: 0.6425, loss_traj_cls: 0.0009, loss_map_cls: 0.1915, loss_map_pts: 0.7796, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.7735, d0.loss_plan_l1_fix_dist: 0.3438, d1.loss_plan_l1_fix_time: 1.2339, d1.loss_plan_l1_fix_dist: 0.1913, d2.loss_plan_l1_fix_time: 1.2279, d2.loss_plan_l1_fix_dist: 0.2003, d3.loss_plan_l1_fix_time: 1.2293, d3.loss_plan_l1_fix_dist: 0.2170, d4.loss_plan_l1_fix_time: 1.2316, d4.loss_plan_l1_fix_dist: 0.2388, d5.loss_plan_l1_fix_time: 1.2345, d5.loss_plan_l1_fix_dist: 0.2613, d6.loss_plan_l1_fix_time: 1.2380, d6.loss_plan_l1_fix_dist: 0.2801, d0.loss_cls_all: 0.2143, d0.loss_bbox_all: 0.4584, d0.loss_cls: 0.2143, d0.loss_bbox: 0.4584, d1.loss_cls: 0.2029, d1.loss_bbox: 0.4226, d2.loss_cls: 0.1909, d2.loss_bbox: 0.4007, d3.loss_cls: 0.1777, d3.loss_bbox: 0.3955, d4.loss_cls: 0.1736, d4.loss_bbox: 0.3933, d5.loss_cls: 0.1730, d5.loss_bbox: 0.3940, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8722, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7075, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6695, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6537, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6424, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6385, d0.loss_map_cls_all: 0.2579, d0.loss_map_pts_all: 1.5175, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2579, d0.loss_map_pts: 1.5175, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2308, d1.loss_map_pts: 1.0669, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2118, d2.loss_map_pts: 0.8910, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.2024, d3.loss_map_pts: 0.8138, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1974, d4.loss_map_pts: 0.7847, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1927, d5.loss_map_pts: 0.7792, d5.loss_map_dir: 0.0108, loss: 31.5469, grad_norm: 153.8276 +2026-02-26 05:31:57,326 - DriveTransformer - INFO - Epoch [6][31550/39528] lr: 8.977e-05, eta: 6 days, 16:51:12, time: 0.762, data_time: 0.039, memory: 19865, loss_cls: 0.1870, loss_bbox: 0.3888, loss_traj: 0.7269, loss_traj_cls: 0.0009, loss_map_cls: 0.1761, loss_map_pts: 0.7720, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.8899, d0.loss_plan_l1_fix_dist: 0.4477, d1.loss_plan_l1_fix_time: 1.3199, d1.loss_plan_l1_fix_dist: 0.1934, d2.loss_plan_l1_fix_time: 1.3028, d2.loss_plan_l1_fix_dist: 0.1982, d3.loss_plan_l1_fix_time: 1.3007, d3.loss_plan_l1_fix_dist: 0.2084, d4.loss_plan_l1_fix_time: 1.3017, d4.loss_plan_l1_fix_dist: 0.2211, d5.loss_plan_l1_fix_time: 1.3030, d5.loss_plan_l1_fix_dist: 0.2355, d6.loss_plan_l1_fix_time: 1.3050, d6.loss_plan_l1_fix_dist: 0.2531, d0.loss_cls_all: 0.2264, d0.loss_bbox_all: 0.4615, d0.loss_cls: 0.2264, d0.loss_bbox: 0.4615, d1.loss_cls: 0.2211, d1.loss_bbox: 0.4257, d2.loss_cls: 0.2048, d2.loss_bbox: 0.4046, d3.loss_cls: 0.1953, d3.loss_bbox: 0.3952, d4.loss_cls: 0.1883, d4.loss_bbox: 0.3925, d5.loss_cls: 0.1868, d5.loss_bbox: 0.3906, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0541, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8177, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7458, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7370, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7284, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7271, d0.loss_map_cls_all: 0.2534, d0.loss_map_pts_all: 1.4778, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2534, d0.loss_map_pts: 1.4778, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2233, d1.loss_map_pts: 1.0398, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2041, d2.loss_map_pts: 0.8704, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1887, d3.loss_map_pts: 0.8070, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1829, d4.loss_map_pts: 0.7808, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1770, d5.loss_map_pts: 0.7743, d5.loss_map_dir: 0.0107, loss: 32.7208, grad_norm: 149.1190 +2026-02-26 05:32:35,770 - DriveTransformer - INFO - Epoch [6][31600/39528] lr: 8.977e-05, eta: 6 days, 16:50:26, time: 0.769, data_time: 0.040, memory: 19865, loss_cls: 0.1764, loss_bbox: 0.3741, loss_traj: 0.6829, loss_traj_cls: 0.0009, loss_map_cls: 0.1824, loss_map_pts: 0.7163, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.9946, d0.loss_plan_l1_fix_dist: 0.3235, d1.loss_plan_l1_fix_time: 1.3019, d1.loss_plan_l1_fix_dist: 0.2067, d2.loss_plan_l1_fix_time: 1.2936, d2.loss_plan_l1_fix_dist: 0.2159, d3.loss_plan_l1_fix_time: 1.2931, d3.loss_plan_l1_fix_dist: 0.2291, d4.loss_plan_l1_fix_time: 1.2944, d4.loss_plan_l1_fix_dist: 0.2434, d5.loss_plan_l1_fix_time: 1.2961, d5.loss_plan_l1_fix_dist: 0.2577, d6.loss_plan_l1_fix_time: 1.2980, d6.loss_plan_l1_fix_dist: 0.2756, d0.loss_cls_all: 0.2200, d0.loss_bbox_all: 0.4370, d0.loss_cls: 0.2200, d0.loss_bbox: 0.4370, d1.loss_cls: 0.2122, d1.loss_bbox: 0.3977, d2.loss_cls: 0.1952, d2.loss_bbox: 0.3833, d3.loss_cls: 0.1827, d3.loss_bbox: 0.3783, d4.loss_cls: 0.1763, d4.loss_bbox: 0.3761, d5.loss_cls: 0.1761, d5.loss_bbox: 0.3748, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9339, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7434, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6909, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6832, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6806, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6817, d0.loss_map_cls_all: 0.2531, d0.loss_map_pts_all: 1.4762, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2531, d0.loss_map_pts: 1.4762, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2246, d1.loss_map_pts: 0.9985, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2067, d2.loss_map_pts: 0.8155, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1956, d3.loss_map_pts: 0.7466, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1881, d4.loss_map_pts: 0.7247, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1847, d5.loss_map_pts: 0.7168, d5.loss_map_dir: 0.0118, loss: 31.7923, grad_norm: 148.7548 +2026-02-26 05:33:14,845 - DriveTransformer - INFO - Epoch [6][31650/39528] lr: 8.977e-05, eta: 6 days, 16:49:43, time: 0.781, data_time: 0.038, memory: 19865, loss_cls: 0.1936, loss_bbox: 0.4044, loss_traj: 0.7225, loss_traj_cls: 0.0009, loss_map_cls: 0.1768, loss_map_pts: 0.7533, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.9518, d0.loss_plan_l1_fix_dist: 0.3943, d1.loss_plan_l1_fix_time: 1.2330, d1.loss_plan_l1_fix_dist: 0.1832, d2.loss_plan_l1_fix_time: 1.2275, d2.loss_plan_l1_fix_dist: 0.1905, d3.loss_plan_l1_fix_time: 1.2335, d3.loss_plan_l1_fix_dist: 0.2043, d4.loss_plan_l1_fix_time: 1.2367, d4.loss_plan_l1_fix_dist: 0.2209, d5.loss_plan_l1_fix_time: 1.2401, d5.loss_plan_l1_fix_dist: 0.2382, d6.loss_plan_l1_fix_time: 1.2441, d6.loss_plan_l1_fix_dist: 0.2536, d0.loss_cls_all: 0.2349, d0.loss_bbox_all: 0.4677, d0.loss_cls: 0.2349, d0.loss_bbox: 0.4677, d1.loss_cls: 0.2275, d1.loss_bbox: 0.4313, d2.loss_cls: 0.2138, d2.loss_bbox: 0.4135, d3.loss_cls: 0.2014, d3.loss_bbox: 0.4040, d4.loss_cls: 0.1960, d4.loss_bbox: 0.4033, d5.loss_cls: 0.1934, d5.loss_bbox: 0.4047, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9701, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7932, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7460, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7285, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7255, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7236, d0.loss_map_cls_all: 0.2468, d0.loss_map_pts_all: 1.4985, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2468, d0.loss_map_pts: 1.4985, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2211, d1.loss_map_pts: 1.0366, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.1994, d2.loss_map_pts: 0.8596, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.1898, d3.loss_map_pts: 0.7893, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1843, d4.loss_map_pts: 0.7605, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1798, d5.loss_map_pts: 0.7540, d5.loss_map_dir: 0.0114, loss: 32.2417, grad_norm: 150.4824 +2026-02-26 05:33:54,047 - DriveTransformer - INFO - Epoch [6][31700/39528] lr: 8.977e-05, eta: 6 days, 16:48:59, time: 0.784, data_time: 0.037, memory: 19865, loss_cls: 0.1856, loss_bbox: 0.3995, loss_traj: 0.6778, loss_traj_cls: 0.0010, loss_map_cls: 0.1864, loss_map_pts: 0.8259, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.8322, d0.loss_plan_l1_fix_dist: 0.4109, d1.loss_plan_l1_fix_time: 1.2252, d1.loss_plan_l1_fix_dist: 0.1907, d2.loss_plan_l1_fix_time: 1.2132, d2.loss_plan_l1_fix_dist: 0.1989, d3.loss_plan_l1_fix_time: 1.2099, d3.loss_plan_l1_fix_dist: 0.2099, d4.loss_plan_l1_fix_time: 1.2114, d4.loss_plan_l1_fix_dist: 0.2250, d5.loss_plan_l1_fix_time: 1.2137, d5.loss_plan_l1_fix_dist: 0.2414, d6.loss_plan_l1_fix_time: 1.2164, d6.loss_plan_l1_fix_dist: 0.2573, d0.loss_cls_all: 0.2275, d0.loss_bbox_all: 0.4597, d0.loss_cls: 0.2275, d0.loss_bbox: 0.4597, d1.loss_cls: 0.2134, d1.loss_bbox: 0.4286, d2.loss_cls: 0.2029, d2.loss_bbox: 0.4102, d3.loss_cls: 0.1946, d3.loss_bbox: 0.4018, d4.loss_cls: 0.1893, d4.loss_bbox: 0.3985, d5.loss_cls: 0.1858, d5.loss_bbox: 0.3981, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9128, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7418, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6865, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6785, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6727, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6739, d0.loss_map_cls_all: 0.2615, d0.loss_map_pts_all: 1.5673, d0.loss_map_dir_all: 0.0117, d0.loss_map_cls: 0.2615, d0.loss_map_pts: 1.5673, d0.loss_map_dir: 0.0117, d1.loss_map_cls: 0.2315, d1.loss_map_pts: 1.1230, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2110, d2.loss_map_pts: 0.9282, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.1990, d3.loss_map_pts: 0.8620, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.1938, d4.loss_map_pts: 0.8305, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.1880, d5.loss_map_pts: 0.8254, d5.loss_map_dir: 0.0122, loss: 32.2471, grad_norm: 150.1808 +2026-02-26 05:34:32,224 - DriveTransformer - INFO - Epoch [6][31750/39528] lr: 8.977e-05, eta: 6 days, 16:48:12, time: 0.764, data_time: 0.040, memory: 19865, loss_cls: 0.1530, loss_bbox: 0.3634, loss_traj: 0.5730, loss_traj_cls: 0.0011, loss_map_cls: 0.1639, loss_map_pts: 0.6921, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.5258, d0.loss_plan_l1_fix_dist: 0.4277, d1.loss_plan_l1_fix_time: 1.0082, d1.loss_plan_l1_fix_dist: 0.1509, d2.loss_plan_l1_fix_time: 0.9955, d2.loss_plan_l1_fix_dist: 0.1563, d3.loss_plan_l1_fix_time: 0.9965, d3.loss_plan_l1_fix_dist: 0.1680, d4.loss_plan_l1_fix_time: 0.9995, d4.loss_plan_l1_fix_dist: 0.1817, d5.loss_plan_l1_fix_time: 1.0026, d5.loss_plan_l1_fix_dist: 0.1978, d6.loss_plan_l1_fix_time: 1.0062, d6.loss_plan_l1_fix_dist: 0.2144, d0.loss_cls_all: 0.1869, d0.loss_bbox_all: 0.4205, d0.loss_cls: 0.1869, d0.loss_bbox: 0.4205, d1.loss_cls: 0.1769, d1.loss_bbox: 0.3928, d2.loss_cls: 0.1634, d2.loss_bbox: 0.3747, d3.loss_cls: 0.1554, d3.loss_bbox: 0.3680, d4.loss_cls: 0.1540, d4.loss_bbox: 0.3644, d5.loss_cls: 0.1525, d5.loss_bbox: 0.3636, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7314, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6166, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5790, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5678, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5621, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5741, d0.loss_map_cls_all: 0.2213, d0.loss_map_pts_all: 1.3677, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2213, d0.loss_map_pts: 1.3677, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2033, d1.loss_map_pts: 0.9317, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1869, d2.loss_map_pts: 0.7753, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1764, d3.loss_map_pts: 0.7228, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1695, d4.loss_map_pts: 0.7006, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1647, d5.loss_map_pts: 0.6928, d5.loss_map_dir: 0.0107, loss: 27.4787, grad_norm: 148.9681 +2026-02-26 05:35:12,105 - DriveTransformer - INFO - Epoch [6][31800/39528] lr: 8.977e-05, eta: 6 days, 16:47:31, time: 0.799, data_time: 0.040, memory: 19865, loss_cls: 0.1690, loss_bbox: 0.3884, loss_traj: 0.6258, loss_traj_cls: 0.0010, loss_map_cls: 0.1952, loss_map_pts: 0.8366, loss_map_dir: 0.0139, d0.loss_plan_l1_fix_time: 2.5325, d0.loss_plan_l1_fix_dist: 0.3794, d1.loss_plan_l1_fix_time: 1.1406, d1.loss_plan_l1_fix_dist: 0.1943, d2.loss_plan_l1_fix_time: 1.1273, d2.loss_plan_l1_fix_dist: 0.2022, d3.loss_plan_l1_fix_time: 1.1259, d3.loss_plan_l1_fix_dist: 0.2183, d4.loss_plan_l1_fix_time: 1.1276, d4.loss_plan_l1_fix_dist: 0.2346, d5.loss_plan_l1_fix_time: 1.1297, d5.loss_plan_l1_fix_dist: 0.2500, d6.loss_plan_l1_fix_time: 1.1328, d6.loss_plan_l1_fix_dist: 0.2683, d0.loss_cls_all: 0.2070, d0.loss_bbox_all: 0.4524, d0.loss_cls: 0.2070, d0.loss_bbox: 0.4524, d1.loss_cls: 0.1972, d1.loss_bbox: 0.4198, d2.loss_cls: 0.1831, d2.loss_bbox: 0.4040, d3.loss_cls: 0.1759, d3.loss_bbox: 0.3942, d4.loss_cls: 0.1701, d4.loss_bbox: 0.3908, d5.loss_cls: 0.1693, d5.loss_bbox: 0.3889, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8663, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7012, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6423, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6312, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6262, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6286, d0.loss_map_cls_all: 0.2737, d0.loss_map_pts_all: 1.7633, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2737, d0.loss_map_pts: 1.7633, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2440, d1.loss_map_pts: 1.1815, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.2208, d2.loss_map_pts: 0.9651, d2.loss_map_dir: 0.0127, d3.loss_map_cls: 0.2096, d3.loss_map_pts: 0.8872, d3.loss_map_dir: 0.0133, d4.loss_map_cls: 0.2013, d4.loss_map_pts: 0.8499, d4.loss_map_dir: 0.0138, d5.loss_map_cls: 0.1967, d5.loss_map_pts: 0.8384, d5.loss_map_dir: 0.0138, loss: 31.5678, grad_norm: 149.4266 +2026-02-26 05:35:52,118 - DriveTransformer - INFO - Epoch [6][31850/39528] lr: 8.977e-05, eta: 6 days, 16:46:50, time: 0.799, data_time: 0.044, memory: 19865, loss_cls: 0.1567, loss_bbox: 0.3645, loss_traj: 0.6428, loss_traj_cls: 0.0010, loss_map_cls: 0.1759, loss_map_pts: 0.7359, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 3.0720, d0.loss_plan_l1_fix_dist: 0.3561, d1.loss_plan_l1_fix_time: 1.2771, d1.loss_plan_l1_fix_dist: 0.1747, d2.loss_plan_l1_fix_time: 1.2605, d2.loss_plan_l1_fix_dist: 0.1793, d3.loss_plan_l1_fix_time: 1.2578, d3.loss_plan_l1_fix_dist: 0.1906, d4.loss_plan_l1_fix_time: 1.2598, d4.loss_plan_l1_fix_dist: 0.2050, d5.loss_plan_l1_fix_time: 1.2625, d5.loss_plan_l1_fix_dist: 0.2222, d6.loss_plan_l1_fix_time: 1.2659, d6.loss_plan_l1_fix_dist: 0.2421, d0.loss_cls_all: 0.1920, d0.loss_bbox_all: 0.4208, d0.loss_cls: 0.1920, d0.loss_bbox: 0.4208, d1.loss_cls: 0.1872, d1.loss_bbox: 0.3910, d2.loss_cls: 0.1743, d2.loss_bbox: 0.3747, d3.loss_cls: 0.1642, d3.loss_bbox: 0.3691, d4.loss_cls: 0.1591, d4.loss_bbox: 0.3654, d5.loss_cls: 0.1559, d5.loss_bbox: 0.3650, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8420, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6786, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6575, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6447, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6385, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6395, d0.loss_map_cls_all: 0.2505, d0.loss_map_pts_all: 1.4580, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2505, d0.loss_map_pts: 1.4580, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2226, d1.loss_map_pts: 1.0056, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.2028, d2.loss_map_pts: 0.8342, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1903, d3.loss_map_pts: 0.7659, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1819, d4.loss_map_pts: 0.7439, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1769, d5.loss_map_pts: 0.7372, d5.loss_map_dir: 0.0108, loss: 30.9028, grad_norm: 150.0805 +2026-02-26 05:36:31,592 - DriveTransformer - INFO - Epoch [6][31900/39528] lr: 8.977e-05, eta: 6 days, 16:46:07, time: 0.790, data_time: 0.034, memory: 19865, loss_cls: 0.1800, loss_bbox: 0.3601, loss_traj: 0.7502, loss_traj_cls: 0.0010, loss_map_cls: 0.1389, loss_map_pts: 0.6543, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.8270, d0.loss_plan_l1_fix_dist: 0.3558, d1.loss_plan_l1_fix_time: 1.2098, d1.loss_plan_l1_fix_dist: 0.1733, d2.loss_plan_l1_fix_time: 1.1898, d2.loss_plan_l1_fix_dist: 0.1769, d3.loss_plan_l1_fix_time: 1.1863, d3.loss_plan_l1_fix_dist: 0.1859, d4.loss_plan_l1_fix_time: 1.1882, d4.loss_plan_l1_fix_dist: 0.1984, d5.loss_plan_l1_fix_time: 1.1904, d5.loss_plan_l1_fix_dist: 0.2123, d6.loss_plan_l1_fix_time: 1.1931, d6.loss_plan_l1_fix_dist: 0.2281, d0.loss_cls_all: 0.2119, d0.loss_bbox_all: 0.4252, d0.loss_cls: 0.2119, d0.loss_bbox: 0.4252, d1.loss_cls: 0.2057, d1.loss_bbox: 0.3865, d2.loss_cls: 0.1935, d2.loss_bbox: 0.3723, d3.loss_cls: 0.1845, d3.loss_bbox: 0.3647, d4.loss_cls: 0.1814, d4.loss_bbox: 0.3614, d5.loss_cls: 0.1799, d5.loss_bbox: 0.3594, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0077, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8301, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7691, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7555, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7517, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7516, d0.loss_map_cls_all: 0.2082, d0.loss_map_pts_all: 1.2740, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2082, d0.loss_map_pts: 1.2740, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1834, d1.loss_map_pts: 0.9066, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1659, d2.loss_map_pts: 0.7574, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1532, d3.loss_map_pts: 0.6922, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1449, d4.loss_map_pts: 0.6656, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1397, d5.loss_map_pts: 0.6569, d5.loss_map_dir: 0.0097, loss: 30.0377, grad_norm: 148.7910 +2026-02-26 05:37:12,361 - DriveTransformer - INFO - Epoch [6][31950/39528] lr: 8.977e-05, eta: 6 days, 16:45:29, time: 0.815, data_time: 0.050, memory: 19865, loss_cls: 0.1595, loss_bbox: 0.3581, loss_traj: 0.6389, loss_traj_cls: 0.0010, loss_map_cls: 0.1564, loss_map_pts: 0.7256, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.6229, d0.loss_plan_l1_fix_dist: 0.5048, d1.loss_plan_l1_fix_time: 1.0221, d1.loss_plan_l1_fix_dist: 0.1788, d2.loss_plan_l1_fix_time: 1.0090, d2.loss_plan_l1_fix_dist: 0.1899, d3.loss_plan_l1_fix_time: 1.0132, d3.loss_plan_l1_fix_dist: 0.2064, d4.loss_plan_l1_fix_time: 1.0168, d4.loss_plan_l1_fix_dist: 0.2257, d5.loss_plan_l1_fix_time: 1.0203, d5.loss_plan_l1_fix_dist: 0.2458, d6.loss_plan_l1_fix_time: 1.0241, d6.loss_plan_l1_fix_dist: 0.2682, d0.loss_cls_all: 0.1906, d0.loss_bbox_all: 0.4197, d0.loss_cls: 0.1906, d0.loss_bbox: 0.4197, d1.loss_cls: 0.1874, d1.loss_bbox: 0.3891, d2.loss_cls: 0.1757, d2.loss_bbox: 0.3700, d3.loss_cls: 0.1637, d3.loss_bbox: 0.3633, d4.loss_cls: 0.1591, d4.loss_bbox: 0.3587, d5.loss_cls: 0.1584, d5.loss_bbox: 0.3590, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8274, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6948, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6491, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6477, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6422, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6418, d0.loss_map_cls_all: 0.2229, d0.loss_map_pts_all: 1.5704, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2229, d0.loss_map_pts: 1.5704, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.1988, d1.loss_map_pts: 1.0323, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.1774, d2.loss_map_pts: 0.8360, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1698, d3.loss_map_pts: 0.7638, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.1625, d4.loss_map_pts: 0.7356, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.1582, d5.loss_map_pts: 0.7271, d5.loss_map_dir: 0.0120, loss: 29.2420, grad_norm: 148.6583 +2026-02-26 05:37:49,852 - DriveTransformer - INFO - Epoch [6][32000/39528] lr: 8.977e-05, eta: 6 days, 16:44:40, time: 0.750, data_time: 0.039, memory: 19865, loss_cls: 0.1750, loss_bbox: 0.3690, loss_traj: 0.6753, loss_traj_cls: 0.0010, loss_map_cls: 0.1661, loss_map_pts: 0.6913, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 3.0087, d0.loss_plan_l1_fix_dist: 0.3327, d1.loss_plan_l1_fix_time: 1.3197, d1.loss_plan_l1_fix_dist: 0.1657, d2.loss_plan_l1_fix_time: 1.3067, d2.loss_plan_l1_fix_dist: 0.1731, d3.loss_plan_l1_fix_time: 1.2989, d3.loss_plan_l1_fix_dist: 0.1890, d4.loss_plan_l1_fix_time: 1.3000, d4.loss_plan_l1_fix_dist: 0.2075, d5.loss_plan_l1_fix_time: 1.3019, d5.loss_plan_l1_fix_dist: 0.2282, d6.loss_plan_l1_fix_time: 1.3039, d6.loss_plan_l1_fix_dist: 0.2525, d0.loss_cls_all: 0.2031, d0.loss_bbox_all: 0.4251, d0.loss_cls: 0.2031, d0.loss_bbox: 0.4251, d1.loss_cls: 0.1958, d1.loss_bbox: 0.3953, d2.loss_cls: 0.1873, d2.loss_bbox: 0.3764, d3.loss_cls: 0.1780, d3.loss_bbox: 0.3712, d4.loss_cls: 0.1743, d4.loss_bbox: 0.3687, d5.loss_cls: 0.1739, d5.loss_bbox: 0.3685, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9116, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7378, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6936, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6872, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6744, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6741, d0.loss_map_cls_all: 0.2284, d0.loss_map_pts_all: 1.3531, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2284, d0.loss_map_pts: 1.3531, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2025, d1.loss_map_pts: 0.9430, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1884, d2.loss_map_pts: 0.7877, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1787, d3.loss_map_pts: 0.7242, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1696, d4.loss_map_pts: 0.7010, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1671, d5.loss_map_pts: 0.6919, d5.loss_map_dir: 0.0098, loss: 30.8896, grad_norm: 142.0547 +2026-02-26 05:38:29,192 - DriveTransformer - INFO - Epoch [6][32050/39528] lr: 8.977e-05, eta: 6 days, 16:43:57, time: 0.787, data_time: 0.039, memory: 19865, loss_cls: 0.1659, loss_bbox: 0.3692, loss_traj: 0.7613, loss_traj_cls: 0.0010, loss_map_cls: 0.1654, loss_map_pts: 0.7080, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.8221, d0.loss_plan_l1_fix_dist: 0.4355, d1.loss_plan_l1_fix_time: 1.2547, d1.loss_plan_l1_fix_dist: 0.1872, d2.loss_plan_l1_fix_time: 1.2313, d2.loss_plan_l1_fix_dist: 0.2090, d3.loss_plan_l1_fix_time: 1.2244, d3.loss_plan_l1_fix_dist: 0.2363, d4.loss_plan_l1_fix_time: 1.2279, d4.loss_plan_l1_fix_dist: 0.2653, d5.loss_plan_l1_fix_time: 1.2324, d5.loss_plan_l1_fix_dist: 0.2942, d6.loss_plan_l1_fix_time: 1.2368, d6.loss_plan_l1_fix_dist: 0.3187, d0.loss_cls_all: 0.2002, d0.loss_bbox_all: 0.4308, d0.loss_cls: 0.2002, d0.loss_bbox: 0.4308, d1.loss_cls: 0.1948, d1.loss_bbox: 0.3975, d2.loss_cls: 0.1806, d2.loss_bbox: 0.3803, d3.loss_cls: 0.1697, d3.loss_bbox: 0.3736, d4.loss_cls: 0.1662, d4.loss_bbox: 0.3700, d5.loss_cls: 0.1643, d5.loss_bbox: 0.3697, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9883, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8148, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7636, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7514, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7567, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7575, d0.loss_map_cls_all: 0.2433, d0.loss_map_pts_all: 1.4950, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2433, d0.loss_map_pts: 1.4950, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2147, d1.loss_map_pts: 0.9916, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1888, d2.loss_map_pts: 0.8084, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1791, d3.loss_map_pts: 0.7477, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1714, d4.loss_map_pts: 0.7173, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1665, d5.loss_map_pts: 0.7100, d5.loss_map_dir: 0.0112, loss: 31.6707, grad_norm: 142.4796 +2026-02-26 05:39:08,028 - DriveTransformer - INFO - Epoch [6][32100/39528] lr: 8.977e-05, eta: 6 days, 16:43:12, time: 0.777, data_time: 0.039, memory: 19865, loss_cls: 0.1716, loss_bbox: 0.3771, loss_traj: 0.7430, loss_traj_cls: 0.0010, loss_map_cls: 0.1683, loss_map_pts: 0.7235, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.9752, d0.loss_plan_l1_fix_dist: 0.3251, d1.loss_plan_l1_fix_time: 1.1784, d1.loss_plan_l1_fix_dist: 0.1761, d2.loss_plan_l1_fix_time: 1.1571, d2.loss_plan_l1_fix_dist: 0.2010, d3.loss_plan_l1_fix_time: 1.1577, d3.loss_plan_l1_fix_dist: 0.2296, d4.loss_plan_l1_fix_time: 1.1621, d4.loss_plan_l1_fix_dist: 0.2600, d5.loss_plan_l1_fix_time: 1.1670, d5.loss_plan_l1_fix_dist: 0.2903, d6.loss_plan_l1_fix_time: 1.1724, d6.loss_plan_l1_fix_dist: 0.3141, d0.loss_cls_all: 0.1989, d0.loss_bbox_all: 0.4258, d0.loss_cls: 0.1989, d0.loss_bbox: 0.4258, d1.loss_cls: 0.1899, d1.loss_bbox: 0.3997, d2.loss_cls: 0.1817, d2.loss_bbox: 0.3820, d3.loss_cls: 0.1724, d3.loss_bbox: 0.3766, d4.loss_cls: 0.1692, d4.loss_bbox: 0.3752, d5.loss_cls: 0.1699, d5.loss_bbox: 0.3758, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9835, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8054, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7634, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7464, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7520, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7464, d0.loss_map_cls_all: 0.2309, d0.loss_map_pts_all: 1.3883, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2309, d0.loss_map_pts: 1.3883, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2047, d1.loss_map_pts: 0.9620, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1880, d2.loss_map_pts: 0.8119, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1771, d3.loss_map_pts: 0.7594, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1714, d4.loss_map_pts: 0.7344, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1687, d5.loss_map_pts: 0.7237, d5.loss_map_dir: 0.0090, loss: 31.0058, grad_norm: 145.2751 +2026-02-26 05:39:47,631 - DriveTransformer - INFO - Epoch [6][32150/39528] lr: 8.977e-05, eta: 6 days, 16:42:30, time: 0.792, data_time: 0.041, memory: 19865, loss_cls: 0.2048, loss_bbox: 0.3834, loss_traj: 0.5579, loss_traj_cls: 0.0010, loss_map_cls: 0.1987, loss_map_pts: 0.8633, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.5351, d0.loss_plan_l1_fix_dist: 0.4455, d1.loss_plan_l1_fix_time: 1.1355, d1.loss_plan_l1_fix_dist: 0.1775, d2.loss_plan_l1_fix_time: 1.1139, d2.loss_plan_l1_fix_dist: 0.1855, d3.loss_plan_l1_fix_time: 1.1024, d3.loss_plan_l1_fix_dist: 0.1988, d4.loss_plan_l1_fix_time: 1.1034, d4.loss_plan_l1_fix_dist: 0.2136, d5.loss_plan_l1_fix_time: 1.1058, d5.loss_plan_l1_fix_dist: 0.2303, d6.loss_plan_l1_fix_time: 1.1096, d6.loss_plan_l1_fix_dist: 0.2491, d0.loss_cls_all: 0.2364, d0.loss_bbox_all: 0.4446, d0.loss_cls: 0.2364, d0.loss_bbox: 0.4446, d1.loss_cls: 0.2285, d1.loss_bbox: 0.4109, d2.loss_cls: 0.2144, d2.loss_bbox: 0.3934, d3.loss_cls: 0.2024, d3.loss_bbox: 0.3876, d4.loss_cls: 0.1989, d4.loss_bbox: 0.3845, d5.loss_cls: 0.2000, d5.loss_bbox: 0.3833, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7727, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6067, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5747, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5647, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5630, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5598, d0.loss_map_cls_all: 0.2683, d0.loss_map_pts_all: 1.7228, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.2683, d0.loss_map_pts: 1.7228, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2369, d1.loss_map_pts: 1.1679, d1.loss_map_dir: 0.0121, d2.loss_map_cls: 0.2207, d2.loss_map_pts: 0.9688, d2.loss_map_dir: 0.0122, d3.loss_map_cls: 0.2089, d3.loss_map_pts: 0.8973, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.2039, d4.loss_map_pts: 0.8696, d4.loss_map_dir: 0.0132, d5.loss_map_cls: 0.1993, d5.loss_map_pts: 0.8638, d5.loss_map_dir: 0.0134, loss: 31.0503, grad_norm: 144.1356 +2026-02-26 05:40:27,278 - DriveTransformer - INFO - Epoch [6][32200/39528] lr: 8.977e-05, eta: 6 days, 16:41:48, time: 0.793, data_time: 0.047, memory: 19865, loss_cls: 0.1820, loss_bbox: 0.3878, loss_traj: 0.6748, loss_traj_cls: 0.0010, loss_map_cls: 0.1953, loss_map_pts: 0.8379, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.8111, d0.loss_plan_l1_fix_dist: 0.4039, d1.loss_plan_l1_fix_time: 1.3032, d1.loss_plan_l1_fix_dist: 0.2251, d2.loss_plan_l1_fix_time: 1.2935, d2.loss_plan_l1_fix_dist: 0.2497, d3.loss_plan_l1_fix_time: 1.2987, d3.loss_plan_l1_fix_dist: 0.2837, d4.loss_plan_l1_fix_time: 1.3049, d4.loss_plan_l1_fix_dist: 0.3220, d5.loss_plan_l1_fix_time: 1.3110, d5.loss_plan_l1_fix_dist: 0.3629, d6.loss_plan_l1_fix_time: 1.3178, d6.loss_plan_l1_fix_dist: 0.4101, d0.loss_cls_all: 0.2237, d0.loss_bbox_all: 0.4451, d0.loss_cls: 0.2237, d0.loss_bbox: 0.4451, d1.loss_cls: 0.2108, d1.loss_bbox: 0.4097, d2.loss_cls: 0.1929, d2.loss_bbox: 0.3948, d3.loss_cls: 0.1851, d3.loss_bbox: 0.3880, d4.loss_cls: 0.1815, d4.loss_bbox: 0.3878, d5.loss_cls: 0.1811, d5.loss_bbox: 0.3871, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8752, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7272, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6797, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6709, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6730, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6723, d0.loss_map_cls_all: 0.2675, d0.loss_map_pts_all: 1.6349, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2675, d0.loss_map_pts: 1.6349, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2342, d1.loss_map_pts: 1.1217, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2182, d2.loss_map_pts: 0.9362, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.2076, d3.loss_map_pts: 0.8683, d3.loss_map_dir: 0.0124, d4.loss_map_cls: 0.2028, d4.loss_map_pts: 0.8402, d4.loss_map_dir: 0.0126, d5.loss_map_cls: 0.1973, d5.loss_map_pts: 0.8370, d5.loss_map_dir: 0.0127, loss: 33.3033, grad_norm: 148.1708 +2026-02-26 05:41:06,818 - DriveTransformer - INFO - Epoch [6][32250/39528] lr: 8.977e-05, eta: 6 days, 16:41:05, time: 0.791, data_time: 0.039, memory: 19865, loss_cls: 0.1593, loss_bbox: 0.3614, loss_traj: 0.5009, loss_traj_cls: 0.0010, loss_map_cls: 0.1697, loss_map_pts: 0.7197, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.6692, d0.loss_plan_l1_fix_dist: 0.4298, d1.loss_plan_l1_fix_time: 1.1348, d1.loss_plan_l1_fix_dist: 0.2005, d2.loss_plan_l1_fix_time: 1.1083, d2.loss_plan_l1_fix_dist: 0.2113, d3.loss_plan_l1_fix_time: 1.1036, d3.loss_plan_l1_fix_dist: 0.2328, d4.loss_plan_l1_fix_time: 1.1065, d4.loss_plan_l1_fix_dist: 0.2564, d5.loss_plan_l1_fix_time: 1.1103, d5.loss_plan_l1_fix_dist: 0.2805, d6.loss_plan_l1_fix_time: 1.1154, d6.loss_plan_l1_fix_dist: 0.3103, d0.loss_cls_all: 0.2023, d0.loss_bbox_all: 0.4144, d0.loss_cls: 0.2023, d0.loss_bbox: 0.4144, d1.loss_cls: 0.1929, d1.loss_bbox: 0.3844, d2.loss_cls: 0.1789, d2.loss_bbox: 0.3676, d3.loss_cls: 0.1659, d3.loss_bbox: 0.3659, d4.loss_cls: 0.1606, d4.loss_bbox: 0.3627, d5.loss_cls: 0.1579, d5.loss_bbox: 0.3635, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6901, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5591, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.5123, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5014, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.4999, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4999, d0.loss_map_cls_all: 0.2277, d0.loss_map_pts_all: 1.3967, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2277, d0.loss_map_pts: 1.3967, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2041, d1.loss_map_pts: 0.9679, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1893, d2.loss_map_pts: 0.8029, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1793, d3.loss_map_pts: 0.7525, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1741, d4.loss_map_pts: 0.7306, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1708, d5.loss_map_pts: 0.7201, d5.loss_map_dir: 0.0099, loss: 28.6009, grad_norm: 146.7038 +2026-02-26 05:41:46,146 - DriveTransformer - INFO - Epoch [6][32300/39528] lr: 8.977e-05, eta: 6 days, 16:40:22, time: 0.786, data_time: 0.038, memory: 19865, loss_cls: 0.1827, loss_bbox: 0.3922, loss_traj: 0.6971, loss_traj_cls: 0.0010, loss_map_cls: 0.1530, loss_map_pts: 0.7435, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.7237, d0.loss_plan_l1_fix_dist: 0.4171, d1.loss_plan_l1_fix_time: 1.1772, d1.loss_plan_l1_fix_dist: 0.2177, d2.loss_plan_l1_fix_time: 1.1607, d2.loss_plan_l1_fix_dist: 0.2430, d3.loss_plan_l1_fix_time: 1.1607, d3.loss_plan_l1_fix_dist: 0.2729, d4.loss_plan_l1_fix_time: 1.1651, d4.loss_plan_l1_fix_dist: 0.3066, d5.loss_plan_l1_fix_time: 1.1696, d5.loss_plan_l1_fix_dist: 0.3429, d6.loss_plan_l1_fix_time: 1.1737, d6.loss_plan_l1_fix_dist: 0.3741, d0.loss_cls_all: 0.2211, d0.loss_bbox_all: 0.4456, d0.loss_cls: 0.2211, d0.loss_bbox: 0.4456, d1.loss_cls: 0.2186, d1.loss_bbox: 0.4136, d2.loss_cls: 0.2012, d2.loss_bbox: 0.4010, d3.loss_cls: 0.1909, d3.loss_bbox: 0.3953, d4.loss_cls: 0.1837, d4.loss_bbox: 0.3941, d5.loss_cls: 0.1823, d5.loss_bbox: 0.3922, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9070, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7590, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7051, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7030, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7006, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7010, d0.loss_map_cls_all: 0.2265, d0.loss_map_pts_all: 1.4303, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2265, d0.loss_map_pts: 1.4303, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.1957, d1.loss_map_pts: 0.9850, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1768, d2.loss_map_pts: 0.8277, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1681, d3.loss_map_pts: 0.7668, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1608, d4.loss_map_pts: 0.7476, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1548, d5.loss_map_pts: 0.7417, d5.loss_map_dir: 0.0108, loss: 31.1853, grad_norm: 146.7282 +2026-02-26 05:42:25,304 - DriveTransformer - INFO - Epoch [6][32350/39528] lr: 8.977e-05, eta: 6 days, 16:39:39, time: 0.783, data_time: 0.039, memory: 19865, loss_cls: 0.1791, loss_bbox: 0.3999, loss_traj: 0.7628, loss_traj_cls: 0.0010, loss_map_cls: 0.1989, loss_map_pts: 0.7784, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.8994, d0.loss_plan_l1_fix_dist: 0.4426, d1.loss_plan_l1_fix_time: 1.2898, d1.loss_plan_l1_fix_dist: 0.2184, d2.loss_plan_l1_fix_time: 1.2741, d2.loss_plan_l1_fix_dist: 0.2467, d3.loss_plan_l1_fix_time: 1.2670, d3.loss_plan_l1_fix_dist: 0.2827, d4.loss_plan_l1_fix_time: 1.2715, d4.loss_plan_l1_fix_dist: 0.3252, d5.loss_plan_l1_fix_time: 1.2766, d5.loss_plan_l1_fix_dist: 0.3703, d6.loss_plan_l1_fix_time: 1.2808, d6.loss_plan_l1_fix_dist: 0.4140, d0.loss_cls_all: 0.2208, d0.loss_bbox_all: 0.4509, d0.loss_cls: 0.2208, d0.loss_bbox: 0.4509, d1.loss_cls: 0.2127, d1.loss_bbox: 0.4190, d2.loss_cls: 0.1957, d2.loss_bbox: 0.4044, d3.loss_cls: 0.1850, d3.loss_bbox: 0.3998, d4.loss_cls: 0.1794, d4.loss_bbox: 0.3990, d5.loss_cls: 0.1790, d5.loss_bbox: 0.3995, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9556, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8124, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7695, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7698, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7647, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7628, d0.loss_map_cls_all: 0.2677, d0.loss_map_pts_all: 1.5089, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2677, d0.loss_map_pts: 1.5089, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2424, d1.loss_map_pts: 1.0585, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2245, d2.loss_map_pts: 0.8765, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.2115, d3.loss_map_pts: 0.8103, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.2050, d4.loss_map_pts: 0.7855, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.2012, d5.loss_map_pts: 0.7787, d5.loss_map_dir: 0.0117, loss: 33.3751, grad_norm: 149.4702 +2026-02-26 05:43:04,165 - DriveTransformer - INFO - Epoch [6][32400/39528] lr: 8.977e-05, eta: 6 days, 16:38:54, time: 0.777, data_time: 0.036, memory: 19865, loss_cls: 0.1944, loss_bbox: 0.3689, loss_traj: 0.6032, loss_traj_cls: 0.0010, loss_map_cls: 0.1681, loss_map_pts: 0.8000, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.4484, d0.loss_plan_l1_fix_dist: 0.4260, d1.loss_plan_l1_fix_time: 1.0965, d1.loss_plan_l1_fix_dist: 0.2103, d2.loss_plan_l1_fix_time: 1.0810, d2.loss_plan_l1_fix_dist: 0.2209, d3.loss_plan_l1_fix_time: 1.0857, d3.loss_plan_l1_fix_dist: 0.2388, d4.loss_plan_l1_fix_time: 1.0901, d4.loss_plan_l1_fix_dist: 0.2602, d5.loss_plan_l1_fix_time: 1.0946, d5.loss_plan_l1_fix_dist: 0.2817, d6.loss_plan_l1_fix_time: 1.0994, d6.loss_plan_l1_fix_dist: 0.3056, d0.loss_cls_all: 0.2247, d0.loss_bbox_all: 0.4238, d0.loss_cls: 0.2247, d0.loss_bbox: 0.4238, d1.loss_cls: 0.2157, d1.loss_bbox: 0.3927, d2.loss_cls: 0.2080, d2.loss_bbox: 0.3777, d3.loss_cls: 0.1995, d3.loss_bbox: 0.3728, d4.loss_cls: 0.1936, d4.loss_bbox: 0.3700, d5.loss_cls: 0.1936, d5.loss_bbox: 0.3688, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8198, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6666, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6251, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6055, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6058, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5999, d0.loss_map_cls_all: 0.2368, d0.loss_map_pts_all: 1.5889, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2368, d0.loss_map_pts: 1.5889, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2101, d1.loss_map_pts: 1.1046, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.1896, d2.loss_map_pts: 0.9116, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.1795, d3.loss_map_pts: 0.8447, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.1735, d4.loss_map_pts: 0.8135, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.1684, d5.loss_map_pts: 0.8022, d5.loss_map_dir: 0.0122, loss: 30.3344, grad_norm: 150.4564 +2026-02-26 05:43:43,798 - DriveTransformer - INFO - Epoch [6][32450/39528] lr: 8.977e-05, eta: 6 days, 16:38:12, time: 0.793, data_time: 0.036, memory: 19865, loss_cls: 0.1653, loss_bbox: 0.3622, loss_traj: 0.6376, loss_traj_cls: 0.0010, loss_map_cls: 0.1549, loss_map_pts: 0.6856, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.5126, d0.loss_plan_l1_fix_dist: 0.4565, d1.loss_plan_l1_fix_time: 1.1806, d1.loss_plan_l1_fix_dist: 0.2259, d2.loss_plan_l1_fix_time: 1.1564, d2.loss_plan_l1_fix_dist: 0.2446, d3.loss_plan_l1_fix_time: 1.1520, d3.loss_plan_l1_fix_dist: 0.2664, d4.loss_plan_l1_fix_time: 1.1536, d4.loss_plan_l1_fix_dist: 0.2878, d5.loss_plan_l1_fix_time: 1.1569, d5.loss_plan_l1_fix_dist: 0.3071, d6.loss_plan_l1_fix_time: 1.1622, d6.loss_plan_l1_fix_dist: 0.3266, d0.loss_cls_all: 0.1950, d0.loss_bbox_all: 0.4184, d0.loss_cls: 0.1950, d0.loss_bbox: 0.4184, d1.loss_cls: 0.1867, d1.loss_bbox: 0.3842, d2.loss_cls: 0.1756, d2.loss_bbox: 0.3696, d3.loss_cls: 0.1706, d3.loss_bbox: 0.3597, d4.loss_cls: 0.1670, d4.loss_bbox: 0.3593, d5.loss_cls: 0.1656, d5.loss_bbox: 0.3609, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8918, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7063, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6545, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6421, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6370, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6363, d0.loss_map_cls_all: 0.2152, d0.loss_map_pts_all: 1.4317, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2152, d0.loss_map_pts: 1.4317, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.1928, d1.loss_map_pts: 0.9351, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1744, d2.loss_map_pts: 0.7709, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1650, d3.loss_map_pts: 0.7150, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1596, d4.loss_map_pts: 0.6908, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1555, d5.loss_map_pts: 0.6863, d5.loss_map_dir: 0.0102, loss: 29.7141, grad_norm: 149.6570 +2026-02-26 05:44:23,885 - DriveTransformer - INFO - Epoch [6][32500/39528] lr: 8.977e-05, eta: 6 days, 16:37:31, time: 0.802, data_time: 0.044, memory: 19865, loss_cls: 0.1892, loss_bbox: 0.3989, loss_traj: 0.7468, loss_traj_cls: 0.0010, loss_map_cls: 0.1828, loss_map_pts: 0.7767, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 3.0028, d0.loss_plan_l1_fix_dist: 0.3525, d1.loss_plan_l1_fix_time: 1.2735, d1.loss_plan_l1_fix_dist: 0.2168, d2.loss_plan_l1_fix_time: 1.2529, d2.loss_plan_l1_fix_dist: 0.2266, d3.loss_plan_l1_fix_time: 1.2498, d3.loss_plan_l1_fix_dist: 0.2414, d4.loss_plan_l1_fix_time: 1.2517, d4.loss_plan_l1_fix_dist: 0.2562, d5.loss_plan_l1_fix_time: 1.2547, d5.loss_plan_l1_fix_dist: 0.2710, d6.loss_plan_l1_fix_time: 1.2583, d6.loss_plan_l1_fix_dist: 0.2874, d0.loss_cls_all: 0.2172, d0.loss_bbox_all: 0.4503, d0.loss_cls: 0.2172, d0.loss_bbox: 0.4503, d1.loss_cls: 0.2089, d1.loss_bbox: 0.4198, d2.loss_cls: 0.1997, d2.loss_bbox: 0.4005, d3.loss_cls: 0.1896, d3.loss_bbox: 0.3968, d4.loss_cls: 0.1882, d4.loss_bbox: 0.3953, d5.loss_cls: 0.1868, d5.loss_bbox: 0.3973, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9142, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7996, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7474, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7409, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7425, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7457, d0.loss_map_cls_all: 0.2566, d0.loss_map_pts_all: 1.5553, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2566, d0.loss_map_pts: 1.5553, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2289, d1.loss_map_pts: 1.0598, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2088, d2.loss_map_pts: 0.8705, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1973, d3.loss_map_pts: 0.8053, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1903, d4.loss_map_pts: 0.7812, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1841, d5.loss_map_pts: 0.7769, d5.loss_map_dir: 0.0110, loss: 32.7159, grad_norm: 148.8540 +2026-02-26 05:45:02,617 - DriveTransformer - INFO - Epoch [6][32550/39528] lr: 8.977e-05, eta: 6 days, 16:36:46, time: 0.775, data_time: 0.044, memory: 19865, loss_cls: 0.1584, loss_bbox: 0.3519, loss_traj: 0.7425, loss_traj_cls: 0.0010, loss_map_cls: 0.1846, loss_map_pts: 0.7076, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.9187, d0.loss_plan_l1_fix_dist: 0.3850, d1.loss_plan_l1_fix_time: 1.2383, d1.loss_plan_l1_fix_dist: 0.1845, d2.loss_plan_l1_fix_time: 1.2247, d2.loss_plan_l1_fix_dist: 0.1970, d3.loss_plan_l1_fix_time: 1.2190, d3.loss_plan_l1_fix_dist: 0.2170, d4.loss_plan_l1_fix_time: 1.2232, d4.loss_plan_l1_fix_dist: 0.2430, d5.loss_plan_l1_fix_time: 1.2280, d5.loss_plan_l1_fix_dist: 0.2744, d6.loss_plan_l1_fix_time: 1.2327, d6.loss_plan_l1_fix_dist: 0.3091, d0.loss_cls_all: 0.1829, d0.loss_bbox_all: 0.4077, d0.loss_cls: 0.1829, d0.loss_bbox: 0.4077, d1.loss_cls: 0.1777, d1.loss_bbox: 0.3703, d2.loss_cls: 0.1709, d2.loss_bbox: 0.3532, d3.loss_cls: 0.1649, d3.loss_bbox: 0.3506, d4.loss_cls: 0.1585, d4.loss_bbox: 0.3506, d5.loss_cls: 0.1565, d5.loss_bbox: 0.3523, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9692, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7933, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7526, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7457, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7490, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7401, d0.loss_map_cls_all: 0.2484, d0.loss_map_pts_all: 1.3912, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2484, d0.loss_map_pts: 1.3912, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.2206, d1.loss_map_pts: 0.9785, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.2010, d2.loss_map_pts: 0.8030, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1919, d3.loss_map_pts: 0.7362, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1891, d4.loss_map_pts: 0.7097, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1869, d5.loss_map_pts: 0.7063, d5.loss_map_dir: 0.0088, loss: 31.0518, grad_norm: 151.7301 +2026-02-26 05:45:42,127 - DriveTransformer - INFO - Epoch [6][32600/39528] lr: 8.977e-05, eta: 6 days, 16:36:04, time: 0.792, data_time: 0.043, memory: 19865, loss_cls: 0.1971, loss_bbox: 0.3851, loss_traj: 0.6378, loss_traj_cls: 0.0010, loss_map_cls: 0.1725, loss_map_pts: 0.7528, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.3432, d0.loss_plan_l1_fix_dist: 0.2989, d1.loss_plan_l1_fix_time: 1.0477, d1.loss_plan_l1_fix_dist: 0.1770, d2.loss_plan_l1_fix_time: 1.0335, d2.loss_plan_l1_fix_dist: 0.1875, d3.loss_plan_l1_fix_time: 1.0366, d3.loss_plan_l1_fix_dist: 0.2051, d4.loss_plan_l1_fix_time: 1.0432, d4.loss_plan_l1_fix_dist: 0.2278, d5.loss_plan_l1_fix_time: 1.0493, d5.loss_plan_l1_fix_dist: 0.2541, d6.loss_plan_l1_fix_time: 1.0547, d6.loss_plan_l1_fix_dist: 0.2830, d0.loss_cls_all: 0.2305, d0.loss_bbox_all: 0.4408, d0.loss_cls: 0.2305, d0.loss_bbox: 0.4408, d1.loss_cls: 0.2262, d1.loss_bbox: 0.4067, d2.loss_cls: 0.2146, d2.loss_bbox: 0.3905, d3.loss_cls: 0.2033, d3.loss_bbox: 0.3835, d4.loss_cls: 0.1981, d4.loss_bbox: 0.3831, d5.loss_cls: 0.1965, d5.loss_bbox: 0.3842, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8076, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6980, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6593, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6493, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6462, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6427, d0.loss_map_cls_all: 0.2599, d0.loss_map_pts_all: 1.5159, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2599, d0.loss_map_pts: 1.5159, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2222, d1.loss_map_pts: 1.0307, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1980, d2.loss_map_pts: 0.8445, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1877, d3.loss_map_pts: 0.7829, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1805, d4.loss_map_pts: 0.7605, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1752, d5.loss_map_pts: 0.7530, d5.loss_map_dir: 0.0111, loss: 29.5970, grad_norm: 151.9461 +2026-02-26 05:46:20,879 - DriveTransformer - INFO - Epoch [6][32650/39528] lr: 8.977e-05, eta: 6 days, 16:35:19, time: 0.774, data_time: 0.036, memory: 19865, loss_cls: 0.1592, loss_bbox: 0.3629, loss_traj: 0.7824, loss_traj_cls: 0.0009, loss_map_cls: 0.1869, loss_map_pts: 0.7793, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.5518, d0.loss_plan_l1_fix_dist: 0.4253, d1.loss_plan_l1_fix_time: 1.1465, d1.loss_plan_l1_fix_dist: 0.1753, d2.loss_plan_l1_fix_time: 1.1294, d2.loss_plan_l1_fix_dist: 0.1845, d3.loss_plan_l1_fix_time: 1.1341, d3.loss_plan_l1_fix_dist: 0.2007, d4.loss_plan_l1_fix_time: 1.1393, d4.loss_plan_l1_fix_dist: 0.2180, d5.loss_plan_l1_fix_time: 1.1445, d5.loss_plan_l1_fix_dist: 0.2343, d6.loss_plan_l1_fix_time: 1.1497, d6.loss_plan_l1_fix_dist: 0.2511, d0.loss_cls_all: 0.1920, d0.loss_bbox_all: 0.4176, d0.loss_cls: 0.1920, d0.loss_bbox: 0.4176, d1.loss_cls: 0.1837, d1.loss_bbox: 0.3870, d2.loss_cls: 0.1718, d2.loss_bbox: 0.3668, d3.loss_cls: 0.1609, d3.loss_bbox: 0.3617, d4.loss_cls: 0.1590, d4.loss_bbox: 0.3608, d5.loss_cls: 0.1589, d5.loss_bbox: 0.3609, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0374, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8519, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7998, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7879, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7825, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7798, d0.loss_map_cls_all: 0.2497, d0.loss_map_pts_all: 1.4948, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2497, d0.loss_map_pts: 1.4948, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2255, d1.loss_map_pts: 1.0533, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.2042, d2.loss_map_pts: 0.8783, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1956, d3.loss_map_pts: 0.8158, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1916, d4.loss_map_pts: 0.7904, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1886, d5.loss_map_pts: 0.7802, d5.loss_map_dir: 0.0096, loss: 31.1797, grad_norm: 151.9493 +2026-02-26 05:46:59,378 - DriveTransformer - INFO - Epoch [6][32700/39528] lr: 8.977e-05, eta: 6 days, 16:34:33, time: 0.770, data_time: 0.044, memory: 19865, loss_cls: 0.1592, loss_bbox: 0.3277, loss_traj: 0.5530, loss_traj_cls: 0.0010, loss_map_cls: 0.1244, loss_map_pts: 0.5890, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.0728, d0.loss_plan_l1_fix_dist: 0.4775, d1.loss_plan_l1_fix_time: 0.8947, d1.loss_plan_l1_fix_dist: 0.1619, d2.loss_plan_l1_fix_time: 0.8917, d2.loss_plan_l1_fix_dist: 0.1715, d3.loss_plan_l1_fix_time: 0.8984, d3.loss_plan_l1_fix_dist: 0.1906, d4.loss_plan_l1_fix_time: 0.9039, d4.loss_plan_l1_fix_dist: 0.2107, d5.loss_plan_l1_fix_time: 0.9098, d5.loss_plan_l1_fix_dist: 0.2314, d6.loss_plan_l1_fix_time: 0.9161, d6.loss_plan_l1_fix_dist: 0.2533, d0.loss_cls_all: 0.1931, d0.loss_bbox_all: 0.3756, d0.loss_cls: 0.1931, d0.loss_bbox: 0.3756, d1.loss_cls: 0.1863, d1.loss_bbox: 0.3444, d2.loss_cls: 0.1734, d2.loss_bbox: 0.3280, d3.loss_cls: 0.1615, d3.loss_bbox: 0.3257, d4.loss_cls: 0.1582, d4.loss_bbox: 0.3239, d5.loss_cls: 0.1582, d5.loss_bbox: 0.3242, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7084, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5839, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5560, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5520, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5481, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5474, d0.loss_map_cls_all: 0.1869, d0.loss_map_pts_all: 1.1466, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.1869, d0.loss_map_pts: 1.1466, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1611, d1.loss_map_pts: 0.7689, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1426, d2.loss_map_pts: 0.6470, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1333, d3.loss_map_pts: 0.6011, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1296, d4.loss_map_pts: 0.5878, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1256, d5.loss_map_pts: 0.5850, d5.loss_map_dir: 0.0086, loss: 24.6779, grad_norm: 151.7467 +2026-02-26 05:47:39,444 - DriveTransformer - INFO - Epoch [6][32750/39528] lr: 8.977e-05, eta: 6 days, 16:33:53, time: 0.801, data_time: 0.039, memory: 19865, loss_cls: 0.1789, loss_bbox: 0.3973, loss_traj: 0.7509, loss_traj_cls: 0.0010, loss_map_cls: 0.1819, loss_map_pts: 0.8506, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 3.3127, d0.loss_plan_l1_fix_dist: 0.4671, d1.loss_plan_l1_fix_time: 1.4660, d1.loss_plan_l1_fix_dist: 0.2154, d2.loss_plan_l1_fix_time: 1.4548, d2.loss_plan_l1_fix_dist: 0.2244, d3.loss_plan_l1_fix_time: 1.4547, d3.loss_plan_l1_fix_dist: 0.2419, d4.loss_plan_l1_fix_time: 1.4585, d4.loss_plan_l1_fix_dist: 0.2657, d5.loss_plan_l1_fix_time: 1.4633, d5.loss_plan_l1_fix_dist: 0.2922, d6.loss_plan_l1_fix_time: 1.4692, d6.loss_plan_l1_fix_dist: 0.3197, d0.loss_cls_all: 0.2173, d0.loss_bbox_all: 0.4515, d0.loss_cls: 0.2173, d0.loss_bbox: 0.4515, d1.loss_cls: 0.2085, d1.loss_bbox: 0.4145, d2.loss_cls: 0.1946, d2.loss_bbox: 0.3995, d3.loss_cls: 0.1847, d3.loss_bbox: 0.3948, d4.loss_cls: 0.1802, d4.loss_bbox: 0.3933, d5.loss_cls: 0.1790, d5.loss_bbox: 0.3942, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9301, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7694, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7509, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7465, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7480, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7504, d0.loss_map_cls_all: 0.2532, d0.loss_map_pts_all: 1.5985, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2532, d0.loss_map_pts: 1.5985, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2205, d1.loss_map_pts: 1.1174, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2035, d2.loss_map_pts: 0.9460, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1899, d3.loss_map_pts: 0.8779, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1854, d4.loss_map_pts: 0.8566, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1826, d5.loss_map_pts: 0.8516, d5.loss_map_dir: 0.0116, loss: 34.8710, grad_norm: 152.8733 +2026-02-26 05:48:19,919 - DriveTransformer - INFO - Epoch [6][32800/39528] lr: 8.977e-05, eta: 6 days, 16:33:13, time: 0.809, data_time: 0.041, memory: 19865, loss_cls: 0.1785, loss_bbox: 0.3856, loss_traj: 0.5950, loss_traj_cls: 0.0011, loss_map_cls: 0.1656, loss_map_pts: 0.7146, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.3590, d0.loss_plan_l1_fix_dist: 0.4307, d1.loss_plan_l1_fix_time: 0.9716, d1.loss_plan_l1_fix_dist: 0.1911, d2.loss_plan_l1_fix_time: 0.9582, d2.loss_plan_l1_fix_dist: 0.2023, d3.loss_plan_l1_fix_time: 0.9584, d3.loss_plan_l1_fix_dist: 0.2175, d4.loss_plan_l1_fix_time: 0.9622, d4.loss_plan_l1_fix_dist: 0.2369, d5.loss_plan_l1_fix_time: 0.9673, d5.loss_plan_l1_fix_dist: 0.2579, d6.loss_plan_l1_fix_time: 0.9743, d6.loss_plan_l1_fix_dist: 0.2789, d0.loss_cls_all: 0.2188, d0.loss_bbox_all: 0.4427, d0.loss_cls: 0.2188, d0.loss_bbox: 0.4427, d1.loss_cls: 0.2117, d1.loss_bbox: 0.4089, d2.loss_cls: 0.1971, d2.loss_bbox: 0.3899, d3.loss_cls: 0.1858, d3.loss_bbox: 0.3840, d4.loss_cls: 0.1793, d4.loss_bbox: 0.3851, d5.loss_cls: 0.1794, d5.loss_bbox: 0.3839, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7710, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6471, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6076, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5953, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5910, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5917, d0.loss_map_cls_all: 0.2388, d0.loss_map_pts_all: 1.5246, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2388, d0.loss_map_pts: 1.5246, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2061, d1.loss_map_pts: 0.9913, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.1867, d2.loss_map_pts: 0.8068, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.1766, d3.loss_map_pts: 0.7440, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.1709, d4.loss_map_pts: 0.7212, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.1665, d5.loss_map_pts: 0.7157, d5.loss_map_dir: 0.0121, loss: 28.5513, grad_norm: 154.5526 +2026-02-26 05:49:00,446 - DriveTransformer - INFO - Epoch [6][32850/39528] lr: 8.977e-05, eta: 6 days, 16:32:34, time: 0.811, data_time: 0.040, memory: 19865, loss_cls: 0.1696, loss_bbox: 0.3631, loss_traj: 0.5549, loss_traj_cls: 0.0011, loss_map_cls: 0.1473, loss_map_pts: 0.6948, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.6034, d0.loss_plan_l1_fix_dist: 0.4102, d1.loss_plan_l1_fix_time: 1.0850, d1.loss_plan_l1_fix_dist: 0.1961, d2.loss_plan_l1_fix_time: 1.0760, d2.loss_plan_l1_fix_dist: 0.2013, d3.loss_plan_l1_fix_time: 1.0760, d3.loss_plan_l1_fix_dist: 0.2134, d4.loss_plan_l1_fix_time: 1.0789, d4.loss_plan_l1_fix_dist: 0.2258, d5.loss_plan_l1_fix_time: 1.0825, d5.loss_plan_l1_fix_dist: 0.2401, d6.loss_plan_l1_fix_time: 1.0872, d6.loss_plan_l1_fix_dist: 0.2551, d0.loss_cls_all: 0.2057, d0.loss_bbox_all: 0.4227, d0.loss_cls: 0.2057, d0.loss_bbox: 0.4227, d1.loss_cls: 0.1956, d1.loss_bbox: 0.3903, d2.loss_cls: 0.1860, d2.loss_bbox: 0.3723, d3.loss_cls: 0.1773, d3.loss_bbox: 0.3664, d4.loss_cls: 0.1705, d4.loss_bbox: 0.3648, d5.loss_cls: 0.1705, d5.loss_bbox: 0.3638, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7528, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6157, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5758, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5614, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5587, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5559, d0.loss_map_cls_all: 0.2155, d0.loss_map_pts_all: 1.5386, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2155, d0.loss_map_pts: 1.5386, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.1844, d1.loss_map_pts: 0.9966, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.1705, d2.loss_map_pts: 0.8089, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1612, d3.loss_map_pts: 0.7375, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1565, d4.loss_map_pts: 0.7100, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1501, d5.loss_map_pts: 0.6964, d5.loss_map_dir: 0.0115, loss: 28.7727, grad_norm: 153.7787 +2026-02-26 05:49:39,553 - DriveTransformer - INFO - Epoch [6][32900/39528] lr: 8.977e-05, eta: 6 days, 16:31:50, time: 0.782, data_time: 0.045, memory: 19865, loss_cls: 0.1620, loss_bbox: 0.3591, loss_traj: 0.6772, loss_traj_cls: 0.0011, loss_map_cls: 0.1769, loss_map_pts: 0.7884, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.9727, d0.loss_plan_l1_fix_dist: 0.3787, d1.loss_plan_l1_fix_time: 1.0989, d1.loss_plan_l1_fix_dist: 0.2007, d2.loss_plan_l1_fix_time: 1.0803, d2.loss_plan_l1_fix_dist: 0.2064, d3.loss_plan_l1_fix_time: 1.0784, d3.loss_plan_l1_fix_dist: 0.2225, d4.loss_plan_l1_fix_time: 1.0805, d4.loss_plan_l1_fix_dist: 0.2389, d5.loss_plan_l1_fix_time: 1.0836, d5.loss_plan_l1_fix_dist: 0.2557, d6.loss_plan_l1_fix_time: 1.0874, d6.loss_plan_l1_fix_dist: 0.2734, d0.loss_cls_all: 0.1972, d0.loss_bbox_all: 0.4236, d0.loss_cls: 0.1972, d0.loss_bbox: 0.4236, d1.loss_cls: 0.1867, d1.loss_bbox: 0.3891, d2.loss_cls: 0.1809, d2.loss_bbox: 0.3696, d3.loss_cls: 0.1685, d3.loss_bbox: 0.3647, d4.loss_cls: 0.1640, d4.loss_bbox: 0.3608, d5.loss_cls: 0.1624, d5.loss_bbox: 0.3588, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9170, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7514, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7013, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6848, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6719, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6715, d0.loss_map_cls_all: 0.2280, d0.loss_map_pts_all: 1.5239, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2280, d0.loss_map_pts: 1.5239, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2088, d1.loss_map_pts: 1.0407, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1940, d2.loss_map_pts: 0.8849, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1852, d3.loss_map_pts: 0.8227, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1820, d4.loss_map_pts: 0.7985, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1780, d5.loss_map_pts: 0.7898, d5.loss_map_dir: 0.0106, loss: 30.6442, grad_norm: 155.4703 +2026-02-26 05:50:18,192 - DriveTransformer - INFO - Epoch [6][32950/39528] lr: 8.977e-05, eta: 6 days, 16:31:05, time: 0.773, data_time: 0.050, memory: 19865, loss_cls: 0.1478, loss_bbox: 0.3393, loss_traj: 0.7057, loss_traj_cls: 0.0010, loss_map_cls: 0.1665, loss_map_pts: 0.6531, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.6909, d0.loss_plan_l1_fix_dist: 0.3300, d1.loss_plan_l1_fix_time: 1.0311, d1.loss_plan_l1_fix_dist: 0.1687, d2.loss_plan_l1_fix_time: 1.0142, d2.loss_plan_l1_fix_dist: 0.1737, d3.loss_plan_l1_fix_time: 1.0161, d3.loss_plan_l1_fix_dist: 0.1881, d4.loss_plan_l1_fix_time: 1.0186, d4.loss_plan_l1_fix_dist: 0.2043, d5.loss_plan_l1_fix_time: 1.0214, d5.loss_plan_l1_fix_dist: 0.2216, d6.loss_plan_l1_fix_time: 1.0245, d6.loss_plan_l1_fix_dist: 0.2391, d0.loss_cls_all: 0.1808, d0.loss_bbox_all: 0.4006, d0.loss_cls: 0.1808, d0.loss_bbox: 0.4006, d1.loss_cls: 0.1756, d1.loss_bbox: 0.3664, d2.loss_cls: 0.1644, d2.loss_bbox: 0.3508, d3.loss_cls: 0.1532, d3.loss_bbox: 0.3458, d4.loss_cls: 0.1481, d4.loss_bbox: 0.3414, d5.loss_cls: 0.1471, d5.loss_bbox: 0.3402, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8816, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7338, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7030, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7013, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7022, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6982, d0.loss_map_cls_all: 0.2218, d0.loss_map_pts_all: 1.3229, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2218, d0.loss_map_pts: 1.3229, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1991, d1.loss_map_pts: 0.9131, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1825, d2.loss_map_pts: 0.7566, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1726, d3.loss_map_pts: 0.6917, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1687, d4.loss_map_pts: 0.6604, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1666, d5.loss_map_pts: 0.6542, d5.loss_map_dir: 0.0088, loss: 28.1998, grad_norm: 153.1192 +2026-02-26 05:50:58,507 - DriveTransformer - INFO - Epoch [6][33000/39528] lr: 8.977e-05, eta: 6 days, 16:30:25, time: 0.806, data_time: 0.039, memory: 19865, loss_cls: 0.1620, loss_bbox: 0.3759, loss_traj: 0.6079, loss_traj_cls: 0.0010, loss_map_cls: 0.1504, loss_map_pts: 0.7907, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.4620, d0.loss_plan_l1_fix_dist: 0.4670, d1.loss_plan_l1_fix_time: 0.9940, d1.loss_plan_l1_fix_dist: 0.2172, d2.loss_plan_l1_fix_time: 0.9747, d2.loss_plan_l1_fix_dist: 0.2306, d3.loss_plan_l1_fix_time: 0.9729, d3.loss_plan_l1_fix_dist: 0.2523, d4.loss_plan_l1_fix_time: 0.9772, d4.loss_plan_l1_fix_dist: 0.2790, d5.loss_plan_l1_fix_time: 0.9822, d5.loss_plan_l1_fix_dist: 0.3088, d6.loss_plan_l1_fix_time: 0.9879, d6.loss_plan_l1_fix_dist: 0.3406, d0.loss_cls_all: 0.1918, d0.loss_bbox_all: 0.4353, d0.loss_cls: 0.1918, d0.loss_bbox: 0.4353, d1.loss_cls: 0.1818, d1.loss_bbox: 0.4081, d2.loss_cls: 0.1741, d2.loss_bbox: 0.3874, d3.loss_cls: 0.1662, d3.loss_bbox: 0.3817, d4.loss_cls: 0.1628, d4.loss_bbox: 0.3781, d5.loss_cls: 0.1624, d5.loss_bbox: 0.3762, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8375, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6706, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6328, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6151, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6155, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6082, d0.loss_map_cls_all: 0.2233, d0.loss_map_pts_all: 1.5503, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2233, d0.loss_map_pts: 1.5503, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.1910, d1.loss_map_pts: 1.0884, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.1744, d2.loss_map_pts: 0.8963, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1632, d3.loss_map_pts: 0.8244, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1573, d4.loss_map_pts: 0.7994, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1516, d5.loss_map_pts: 0.7922, d5.loss_map_dir: 0.0112, loss: 29.4249, grad_norm: 153.5475 +2026-02-26 05:51:37,850 - DriveTransformer - INFO - Epoch [6][33050/39528] lr: 8.977e-05, eta: 6 days, 16:29:42, time: 0.787, data_time: 0.041, memory: 19865, loss_cls: 0.1866, loss_bbox: 0.3777, loss_traj: 0.6718, loss_traj_cls: 0.0010, loss_map_cls: 0.1801, loss_map_pts: 0.7544, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.1258, d0.loss_plan_l1_fix_dist: 0.3532, d1.loss_plan_l1_fix_time: 0.9021, d1.loss_plan_l1_fix_dist: 0.1810, d2.loss_plan_l1_fix_time: 0.8871, d2.loss_plan_l1_fix_dist: 0.1864, d3.loss_plan_l1_fix_time: 0.8929, d3.loss_plan_l1_fix_dist: 0.2003, d4.loss_plan_l1_fix_time: 0.8967, d4.loss_plan_l1_fix_dist: 0.2159, d5.loss_plan_l1_fix_time: 0.9003, d5.loss_plan_l1_fix_dist: 0.2344, d6.loss_plan_l1_fix_time: 0.9051, d6.loss_plan_l1_fix_dist: 0.2559, d0.loss_cls_all: 0.2146, d0.loss_bbox_all: 0.4317, d0.loss_cls: 0.2146, d0.loss_bbox: 0.4317, d1.loss_cls: 0.2080, d1.loss_bbox: 0.4009, d2.loss_cls: 0.2008, d2.loss_bbox: 0.3827, d3.loss_cls: 0.1918, d3.loss_bbox: 0.3801, d4.loss_cls: 0.1861, d4.loss_bbox: 0.3780, d5.loss_cls: 0.1858, d5.loss_bbox: 0.3780, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8820, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7258, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6832, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6688, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6684, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6686, d0.loss_map_cls_all: 0.2456, d0.loss_map_pts_all: 1.5598, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2456, d0.loss_map_pts: 1.5598, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2200, d1.loss_map_pts: 1.0670, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.2023, d2.loss_map_pts: 0.8691, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1931, d3.loss_map_pts: 0.7929, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1866, d4.loss_map_pts: 0.7645, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1815, d5.loss_map_pts: 0.7564, d5.loss_map_dir: 0.0106, loss: 28.7196, grad_norm: 153.1900 +2026-02-26 05:52:17,890 - DriveTransformer - INFO - Epoch [6][33100/39528] lr: 8.977e-05, eta: 6 days, 16:29:01, time: 0.801, data_time: 0.042, memory: 19865, loss_cls: 0.1441, loss_bbox: 0.3490, loss_traj: 0.7365, loss_traj_cls: 0.0010, loss_map_cls: 0.1559, loss_map_pts: 0.7041, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.5013, d0.loss_plan_l1_fix_dist: 0.4268, d1.loss_plan_l1_fix_time: 1.1915, d1.loss_plan_l1_fix_dist: 0.1823, d2.loss_plan_l1_fix_time: 1.1850, d2.loss_plan_l1_fix_dist: 0.1899, d3.loss_plan_l1_fix_time: 1.1886, d3.loss_plan_l1_fix_dist: 0.2030, d4.loss_plan_l1_fix_time: 1.1916, d4.loss_plan_l1_fix_dist: 0.2168, d5.loss_plan_l1_fix_time: 1.1945, d5.loss_plan_l1_fix_dist: 0.2324, d6.loss_plan_l1_fix_time: 1.1982, d6.loss_plan_l1_fix_dist: 0.2501, d0.loss_cls_all: 0.1729, d0.loss_bbox_all: 0.3979, d0.loss_cls: 0.1729, d0.loss_bbox: 0.3979, d1.loss_cls: 0.1670, d1.loss_bbox: 0.3694, d2.loss_cls: 0.1533, d2.loss_bbox: 0.3542, d3.loss_cls: 0.1471, d3.loss_bbox: 0.3481, d4.loss_cls: 0.1435, d4.loss_bbox: 0.3469, d5.loss_cls: 0.1435, d5.loss_bbox: 0.3476, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8790, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7697, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7353, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7377, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7323, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7301, d0.loss_map_cls_all: 0.2125, d0.loss_map_pts_all: 1.4565, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2125, d0.loss_map_pts: 1.4565, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1899, d1.loss_map_pts: 0.9736, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1729, d2.loss_map_pts: 0.8005, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1667, d3.loss_map_pts: 0.7353, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1610, d4.loss_map_pts: 0.7107, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1563, d5.loss_map_pts: 0.7053, d5.loss_map_dir: 0.0091, loss: 29.8752, grad_norm: 153.1830 +2026-02-26 05:52:56,842 - DriveTransformer - INFO - Epoch [6][33150/39528] lr: 8.977e-05, eta: 6 days, 16:28:17, time: 0.779, data_time: 0.036, memory: 19865, loss_cls: 0.1969, loss_bbox: 0.4080, loss_traj: 0.7811, loss_traj_cls: 0.0010, loss_map_cls: 0.1722, loss_map_pts: 0.7793, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.7124, d0.loss_plan_l1_fix_dist: 0.3787, d1.loss_plan_l1_fix_time: 1.2924, d1.loss_plan_l1_fix_dist: 0.1827, d2.loss_plan_l1_fix_time: 1.2844, d2.loss_plan_l1_fix_dist: 0.1872, d3.loss_plan_l1_fix_time: 1.2864, d3.loss_plan_l1_fix_dist: 0.1992, d4.loss_plan_l1_fix_time: 1.2894, d4.loss_plan_l1_fix_dist: 0.2138, d5.loss_plan_l1_fix_time: 1.2931, d5.loss_plan_l1_fix_dist: 0.2308, d6.loss_plan_l1_fix_time: 1.2978, d6.loss_plan_l1_fix_dist: 0.2489, d0.loss_cls_all: 0.2314, d0.loss_bbox_all: 0.4743, d0.loss_cls: 0.2314, d0.loss_bbox: 0.4743, d1.loss_cls: 0.2227, d1.loss_bbox: 0.4389, d2.loss_cls: 0.2108, d2.loss_bbox: 0.4181, d3.loss_cls: 0.1999, d3.loss_bbox: 0.4097, d4.loss_cls: 0.1946, d4.loss_bbox: 0.4080, d5.loss_cls: 0.1942, d5.loss_bbox: 0.4084, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0259, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8521, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7982, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7899, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7886, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7821, d0.loss_map_cls_all: 0.2488, d0.loss_map_pts_all: 1.6099, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2488, d0.loss_map_pts: 1.6099, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2174, d1.loss_map_pts: 1.1039, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1970, d2.loss_map_pts: 0.9142, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1838, d3.loss_map_pts: 0.8355, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1761, d4.loss_map_pts: 0.7929, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1717, d5.loss_map_pts: 0.7821, d5.loss_map_dir: 0.0108, loss: 33.1699, grad_norm: 154.8131 +2026-02-26 05:53:36,259 - DriveTransformer - INFO - Epoch [6][33200/39528] lr: 8.977e-05, eta: 6 days, 16:27:34, time: 0.788, data_time: 0.049, memory: 19865, loss_cls: 0.1891, loss_bbox: 0.4013, loss_traj: 0.7778, loss_traj_cls: 0.0010, loss_map_cls: 0.1819, loss_map_pts: 0.7213, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.8626, d0.loss_plan_l1_fix_dist: 0.3642, d1.loss_plan_l1_fix_time: 1.1845, d1.loss_plan_l1_fix_dist: 0.1596, d2.loss_plan_l1_fix_time: 1.1675, d2.loss_plan_l1_fix_dist: 0.1661, d3.loss_plan_l1_fix_time: 1.1678, d3.loss_plan_l1_fix_dist: 0.1800, d4.loss_plan_l1_fix_time: 1.1695, d4.loss_plan_l1_fix_dist: 0.1955, d5.loss_plan_l1_fix_time: 1.1721, d5.loss_plan_l1_fix_dist: 0.2118, d6.loss_plan_l1_fix_time: 1.1757, d6.loss_plan_l1_fix_dist: 0.2269, d0.loss_cls_all: 0.2307, d0.loss_bbox_all: 0.4667, d0.loss_cls: 0.2307, d0.loss_bbox: 0.4667, d1.loss_cls: 0.2176, d1.loss_bbox: 0.4297, d2.loss_cls: 0.2066, d2.loss_bbox: 0.4095, d3.loss_cls: 0.1962, d3.loss_bbox: 0.4018, d4.loss_cls: 0.1892, d4.loss_bbox: 0.4006, d5.loss_cls: 0.1888, d5.loss_bbox: 0.3989, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9995, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8244, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8010, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7858, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7792, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7772, d0.loss_map_cls_all: 0.2492, d0.loss_map_pts_all: 1.4218, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2492, d0.loss_map_pts: 1.4218, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2215, d1.loss_map_pts: 0.9854, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1994, d2.loss_map_pts: 0.8086, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1895, d3.loss_map_pts: 0.7496, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1853, d4.loss_map_pts: 0.7272, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1830, d5.loss_map_pts: 0.7199, d5.loss_map_dir: 0.0093, loss: 31.4658, grad_norm: 155.9395 +2026-02-26 05:54:15,639 - DriveTransformer - INFO - Epoch [6][33250/39528] lr: 8.977e-05, eta: 6 days, 16:26:51, time: 0.788, data_time: 0.035, memory: 19865, loss_cls: 0.1671, loss_bbox: 0.3575, loss_traj: 0.6272, loss_traj_cls: 0.0010, loss_map_cls: 0.1657, loss_map_pts: 0.7466, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.6034, d0.loss_plan_l1_fix_dist: 0.4463, d1.loss_plan_l1_fix_time: 1.0651, d1.loss_plan_l1_fix_dist: 0.1722, d2.loss_plan_l1_fix_time: 1.0529, d2.loss_plan_l1_fix_dist: 0.1775, d3.loss_plan_l1_fix_time: 1.0505, d3.loss_plan_l1_fix_dist: 0.1889, d4.loss_plan_l1_fix_time: 1.0525, d4.loss_plan_l1_fix_dist: 0.2024, d5.loss_plan_l1_fix_time: 1.0549, d5.loss_plan_l1_fix_dist: 0.2179, d6.loss_plan_l1_fix_time: 1.0581, d6.loss_plan_l1_fix_dist: 0.2366, d0.loss_cls_all: 0.1999, d0.loss_bbox_all: 0.4243, d0.loss_cls: 0.1999, d0.loss_bbox: 0.4243, d1.loss_cls: 0.1943, d1.loss_bbox: 0.3853, d2.loss_cls: 0.1810, d2.loss_bbox: 0.3676, d3.loss_cls: 0.1729, d3.loss_bbox: 0.3603, d4.loss_cls: 0.1666, d4.loss_bbox: 0.3594, d5.loss_cls: 0.1666, d5.loss_bbox: 0.3569, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8578, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7156, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6640, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6497, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6363, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6318, d0.loss_map_cls_all: 0.2344, d0.loss_map_pts_all: 1.4372, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2344, d0.loss_map_pts: 1.4372, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2069, d1.loss_map_pts: 0.9989, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1889, d2.loss_map_pts: 0.8348, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1758, d3.loss_map_pts: 0.7737, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1709, d4.loss_map_pts: 0.7505, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1670, d5.loss_map_pts: 0.7467, d5.loss_map_dir: 0.0102, loss: 29.2003, grad_norm: 153.2953 +2026-02-26 05:54:56,072 - DriveTransformer - INFO - Epoch [6][33300/39528] lr: 8.977e-05, eta: 6 days, 16:26:11, time: 0.809, data_time: 0.037, memory: 19865, loss_cls: 0.1655, loss_bbox: 0.3573, loss_traj: 0.7054, loss_traj_cls: 0.0010, loss_map_cls: 0.1723, loss_map_pts: 0.7817, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.7630, d0.loss_plan_l1_fix_dist: 0.4071, d1.loss_plan_l1_fix_time: 1.1888, d1.loss_plan_l1_fix_dist: 0.1776, d2.loss_plan_l1_fix_time: 1.1711, d2.loss_plan_l1_fix_dist: 0.1868, d3.loss_plan_l1_fix_time: 1.1663, d3.loss_plan_l1_fix_dist: 0.2023, d4.loss_plan_l1_fix_time: 1.1675, d4.loss_plan_l1_fix_dist: 0.2177, d5.loss_plan_l1_fix_time: 1.1695, d5.loss_plan_l1_fix_dist: 0.2355, d6.loss_plan_l1_fix_time: 1.1724, d6.loss_plan_l1_fix_dist: 0.2542, d0.loss_cls_all: 0.2047, d0.loss_bbox_all: 0.4248, d0.loss_cls: 0.2047, d0.loss_bbox: 0.4248, d1.loss_cls: 0.1933, d1.loss_bbox: 0.3894, d2.loss_cls: 0.1823, d2.loss_bbox: 0.3704, d3.loss_cls: 0.1761, d3.loss_bbox: 0.3604, d4.loss_cls: 0.1664, d4.loss_bbox: 0.3585, d5.loss_cls: 0.1662, d5.loss_bbox: 0.3566, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9652, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7707, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7200, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7208, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7095, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7063, d0.loss_map_cls_all: 0.2395, d0.loss_map_pts_all: 1.6119, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2395, d0.loss_map_pts: 1.6119, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2118, d1.loss_map_pts: 1.0963, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1922, d2.loss_map_pts: 0.8882, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.1812, d3.loss_map_pts: 0.8182, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1765, d4.loss_map_pts: 0.7862, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1730, d5.loss_map_pts: 0.7818, d5.loss_map_dir: 0.0116, loss: 31.3356, grad_norm: 152.8012 +2026-02-26 05:55:35,714 - DriveTransformer - INFO - Epoch [6][33350/39528] lr: 8.977e-05, eta: 6 days, 16:25:29, time: 0.793, data_time: 0.040, memory: 19865, loss_cls: 0.1779, loss_bbox: 0.3751, loss_traj: 0.6749, loss_traj_cls: 0.0010, loss_map_cls: 0.1671, loss_map_pts: 0.7972, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.4714, d0.loss_plan_l1_fix_dist: 0.4576, d1.loss_plan_l1_fix_time: 1.0596, d1.loss_plan_l1_fix_dist: 0.1962, d2.loss_plan_l1_fix_time: 1.0436, d2.loss_plan_l1_fix_dist: 0.2011, d3.loss_plan_l1_fix_time: 1.0397, d3.loss_plan_l1_fix_dist: 0.2131, d4.loss_plan_l1_fix_time: 1.0413, d4.loss_plan_l1_fix_dist: 0.2289, d5.loss_plan_l1_fix_time: 1.0437, d5.loss_plan_l1_fix_dist: 0.2444, d6.loss_plan_l1_fix_time: 1.0473, d6.loss_plan_l1_fix_dist: 0.2625, d0.loss_cls_all: 0.2141, d0.loss_bbox_all: 0.4398, d0.loss_cls: 0.2141, d0.loss_bbox: 0.4398, d1.loss_cls: 0.2105, d1.loss_bbox: 0.4057, d2.loss_cls: 0.1981, d2.loss_bbox: 0.3867, d3.loss_cls: 0.1878, d3.loss_bbox: 0.3791, d4.loss_cls: 0.1804, d4.loss_bbox: 0.3762, d5.loss_cls: 0.1774, d5.loss_bbox: 0.3767, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9271, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7453, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7027, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6935, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6904, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6826, d0.loss_map_cls_all: 0.2413, d0.loss_map_pts_all: 1.6585, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2413, d0.loss_map_pts: 1.6585, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2112, d1.loss_map_pts: 1.1106, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1907, d2.loss_map_pts: 0.9102, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.1814, d3.loss_map_pts: 0.8366, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1740, d4.loss_map_pts: 0.8088, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1686, d5.loss_map_pts: 0.8011, d5.loss_map_dir: 0.0118, loss: 30.6587, grad_norm: 153.1642 +2026-02-26 05:56:15,753 - DriveTransformer - INFO - Epoch [6][33400/39528] lr: 8.977e-05, eta: 6 days, 16:24:49, time: 0.802, data_time: 0.038, memory: 19865, loss_cls: 0.1531, loss_bbox: 0.3644, loss_traj: 0.7029, loss_traj_cls: 0.0010, loss_map_cls: 0.1646, loss_map_pts: 0.7563, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.8160, d0.loss_plan_l1_fix_dist: 0.4142, d1.loss_plan_l1_fix_time: 1.1666, d1.loss_plan_l1_fix_dist: 0.2232, d2.loss_plan_l1_fix_time: 1.1592, d2.loss_plan_l1_fix_dist: 0.2310, d3.loss_plan_l1_fix_time: 1.1640, d3.loss_plan_l1_fix_dist: 0.2416, d4.loss_plan_l1_fix_time: 1.1679, d4.loss_plan_l1_fix_dist: 0.2555, d5.loss_plan_l1_fix_time: 1.1718, d5.loss_plan_l1_fix_dist: 0.2717, d6.loss_plan_l1_fix_time: 1.1761, d6.loss_plan_l1_fix_dist: 0.2893, d0.loss_cls_all: 0.1920, d0.loss_bbox_all: 0.4297, d0.loss_cls: 0.1920, d0.loss_bbox: 0.4297, d1.loss_cls: 0.1824, d1.loss_bbox: 0.3968, d2.loss_cls: 0.1755, d2.loss_bbox: 0.3772, d3.loss_cls: 0.1622, d3.loss_bbox: 0.3677, d4.loss_cls: 0.1543, d4.loss_bbox: 0.3672, d5.loss_cls: 0.1527, d5.loss_bbox: 0.3662, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9488, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7522, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7118, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7032, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7009, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7013, d0.loss_map_cls_all: 0.2299, d0.loss_map_pts_all: 1.4700, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2299, d0.loss_map_pts: 1.4700, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2006, d1.loss_map_pts: 1.0413, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1841, d2.loss_map_pts: 0.8657, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1777, d3.loss_map_pts: 0.7941, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1718, d4.loss_map_pts: 0.7694, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1658, d5.loss_map_pts: 0.7585, d5.loss_map_dir: 0.0101, loss: 30.9652, grad_norm: 155.0805 +2026-02-26 05:56:54,764 - DriveTransformer - INFO - Epoch [6][33450/39528] lr: 8.977e-05, eta: 6 days, 16:24:04, time: 0.779, data_time: 0.041, memory: 19865, loss_cls: 0.1711, loss_bbox: 0.3635, loss_traj: 0.7638, loss_traj_cls: 0.0010, loss_map_cls: 0.1674, loss_map_pts: 0.8305, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.7320, d0.loss_plan_l1_fix_dist: 0.3612, d1.loss_plan_l1_fix_time: 1.0298, d1.loss_plan_l1_fix_dist: 0.1858, d2.loss_plan_l1_fix_time: 1.0110, d2.loss_plan_l1_fix_dist: 0.1890, d3.loss_plan_l1_fix_time: 1.0076, d3.loss_plan_l1_fix_dist: 0.1970, d4.loss_plan_l1_fix_time: 1.0089, d4.loss_plan_l1_fix_dist: 0.2091, d5.loss_plan_l1_fix_time: 1.0111, d5.loss_plan_l1_fix_dist: 0.2246, d6.loss_plan_l1_fix_time: 1.0136, d6.loss_plan_l1_fix_dist: 0.2383, d0.loss_cls_all: 0.2046, d0.loss_bbox_all: 0.4287, d0.loss_cls: 0.2046, d0.loss_bbox: 0.4287, d1.loss_cls: 0.1997, d1.loss_bbox: 0.3947, d2.loss_cls: 0.1863, d2.loss_bbox: 0.3749, d3.loss_cls: 0.1774, d3.loss_bbox: 0.3660, d4.loss_cls: 0.1713, d4.loss_bbox: 0.3634, d5.loss_cls: 0.1702, d5.loss_bbox: 0.3638, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0074, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8194, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7722, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7690, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7710, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7663, d0.loss_map_cls_all: 0.2446, d0.loss_map_pts_all: 1.6540, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2446, d0.loss_map_pts: 1.6540, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2129, d1.loss_map_pts: 1.1625, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1915, d2.loss_map_pts: 0.9470, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1818, d3.loss_map_pts: 0.8558, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1740, d4.loss_map_pts: 0.8308, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1697, d5.loss_map_pts: 0.8266, d5.loss_map_dir: 0.0104, loss: 31.0895, grad_norm: 155.0055 +2026-02-26 05:57:32,088 - DriveTransformer - INFO - Epoch [6][33500/39528] lr: 8.977e-05, eta: 6 days, 16:23:15, time: 0.746, data_time: 0.044, memory: 19865, loss_cls: 0.1665, loss_bbox: 0.3534, loss_traj: 0.7556, loss_traj_cls: 0.0010, loss_map_cls: 0.1797, loss_map_pts: 0.7288, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.6184, d0.loss_plan_l1_fix_dist: 0.3202, d1.loss_plan_l1_fix_time: 1.1128, d1.loss_plan_l1_fix_dist: 0.1688, d2.loss_plan_l1_fix_time: 1.0989, d2.loss_plan_l1_fix_dist: 0.1717, d3.loss_plan_l1_fix_time: 1.0954, d3.loss_plan_l1_fix_dist: 0.1860, d4.loss_plan_l1_fix_time: 1.0964, d4.loss_plan_l1_fix_dist: 0.2011, d5.loss_plan_l1_fix_time: 1.0983, d5.loss_plan_l1_fix_dist: 0.2178, d6.loss_plan_l1_fix_time: 1.1010, d6.loss_plan_l1_fix_dist: 0.2390, d0.loss_cls_all: 0.2073, d0.loss_bbox_all: 0.4084, d0.loss_cls: 0.2073, d0.loss_bbox: 0.4084, d1.loss_cls: 0.1953, d1.loss_bbox: 0.3803, d2.loss_cls: 0.1817, d2.loss_bbox: 0.3621, d3.loss_cls: 0.1723, d3.loss_bbox: 0.3548, d4.loss_cls: 0.1679, d4.loss_bbox: 0.3521, d5.loss_cls: 0.1662, d5.loss_bbox: 0.3533, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0329, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8483, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7899, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7696, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7774, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.7568, d0.loss_map_cls_all: 0.2401, d0.loss_map_pts_all: 1.3622, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2401, d0.loss_map_pts: 1.3622, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.2125, d1.loss_map_pts: 0.9777, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1991, d2.loss_map_pts: 0.8157, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1879, d3.loss_map_pts: 0.7510, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1850, d4.loss_map_pts: 0.7329, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1798, d5.loss_map_pts: 0.7290, d5.loss_map_dir: 0.0080, loss: 30.0464, grad_norm: 155.5156 +2026-02-26 05:58:10,836 - DriveTransformer - INFO - Epoch [6][33550/39528] lr: 8.977e-05, eta: 6 days, 16:22:30, time: 0.775, data_time: 0.042, memory: 19865, loss_cls: 0.1564, loss_bbox: 0.3601, loss_traj: 0.6856, loss_traj_cls: 0.0010, loss_map_cls: 0.1811, loss_map_pts: 0.7635, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.8329, d0.loss_plan_l1_fix_dist: 0.4449, d1.loss_plan_l1_fix_time: 1.1433, d1.loss_plan_l1_fix_dist: 0.1853, d2.loss_plan_l1_fix_time: 1.1245, d2.loss_plan_l1_fix_dist: 0.1918, d3.loss_plan_l1_fix_time: 1.1259, d3.loss_plan_l1_fix_dist: 0.2071, d4.loss_plan_l1_fix_time: 1.1282, d4.loss_plan_l1_fix_dist: 0.2258, d5.loss_plan_l1_fix_time: 1.1305, d5.loss_plan_l1_fix_dist: 0.2479, d6.loss_plan_l1_fix_time: 1.1334, d6.loss_plan_l1_fix_dist: 0.2703, d0.loss_cls_all: 0.1947, d0.loss_bbox_all: 0.4235, d0.loss_cls: 0.1947, d0.loss_bbox: 0.4235, d1.loss_cls: 0.1889, d1.loss_bbox: 0.3909, d2.loss_cls: 0.1763, d2.loss_bbox: 0.3731, d3.loss_cls: 0.1637, d3.loss_bbox: 0.3643, d4.loss_cls: 0.1564, d4.loss_bbox: 0.3622, d5.loss_cls: 0.1557, d5.loss_bbox: 0.3606, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9162, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7435, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6949, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6834, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6794, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6782, d0.loss_map_cls_all: 0.2485, d0.loss_map_pts_all: 1.4792, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2485, d0.loss_map_pts: 1.4792, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2179, d1.loss_map_pts: 1.0196, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1990, d2.loss_map_pts: 0.8535, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1905, d3.loss_map_pts: 0.7925, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1853, d4.loss_map_pts: 0.7680, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1821, d5.loss_map_pts: 0.7646, d5.loss_map_dir: 0.0097, loss: 30.5745, grad_norm: 154.6949 +2026-02-26 05:58:49,352 - DriveTransformer - INFO - Epoch [6][33600/39528] lr: 8.977e-05, eta: 6 days, 16:21:45, time: 0.770, data_time: 0.036, memory: 19865, loss_cls: 0.2025, loss_bbox: 0.4065, loss_traj: 0.7031, loss_traj_cls: 0.0010, loss_map_cls: 0.1872, loss_map_pts: 0.8806, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 3.0155, d0.loss_plan_l1_fix_dist: 0.4705, d1.loss_plan_l1_fix_time: 1.3730, d1.loss_plan_l1_fix_dist: 0.2250, d2.loss_plan_l1_fix_time: 1.3652, d2.loss_plan_l1_fix_dist: 0.2323, d3.loss_plan_l1_fix_time: 1.3700, d3.loss_plan_l1_fix_dist: 0.2504, d4.loss_plan_l1_fix_time: 1.3729, d4.loss_plan_l1_fix_dist: 0.2745, d5.loss_plan_l1_fix_time: 1.3755, d5.loss_plan_l1_fix_dist: 0.3023, d6.loss_plan_l1_fix_time: 1.3783, d6.loss_plan_l1_fix_dist: 0.3292, d0.loss_cls_all: 0.2471, d0.loss_bbox_all: 0.4635, d0.loss_cls: 0.2471, d0.loss_bbox: 0.4635, d1.loss_cls: 0.2391, d1.loss_bbox: 0.4310, d2.loss_cls: 0.2236, d2.loss_bbox: 0.4128, d3.loss_cls: 0.2125, d3.loss_bbox: 0.4044, d4.loss_cls: 0.2030, d4.loss_bbox: 0.4041, d5.loss_cls: 0.2019, d5.loss_bbox: 0.4052, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9047, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7438, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7052, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7003, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6944, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6969, d0.loss_map_cls_all: 0.2618, d0.loss_map_pts_all: 1.5132, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2618, d0.loss_map_pts: 1.5132, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2308, d1.loss_map_pts: 1.1072, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2080, d2.loss_map_pts: 0.9609, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1975, d3.loss_map_pts: 0.9026, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1925, d4.loss_map_pts: 0.8809, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1869, d5.loss_map_pts: 0.8798, d5.loss_map_dir: 0.0111, loss: 34.1112, grad_norm: 156.8660 +2026-02-26 05:59:27,382 - DriveTransformer - INFO - Epoch [6][33650/39528] lr: 8.977e-05, eta: 6 days, 16:20:58, time: 0.761, data_time: 0.038, memory: 19865, loss_cls: 0.1849, loss_bbox: 0.3672, loss_traj: 0.7620, loss_traj_cls: 0.0010, loss_map_cls: 0.1672, loss_map_pts: 0.8027, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.7117, d0.loss_plan_l1_fix_dist: 0.4242, d1.loss_plan_l1_fix_time: 1.2136, d1.loss_plan_l1_fix_dist: 0.2074, d2.loss_plan_l1_fix_time: 1.1927, d2.loss_plan_l1_fix_dist: 0.2113, d3.loss_plan_l1_fix_time: 1.1891, d3.loss_plan_l1_fix_dist: 0.2203, d4.loss_plan_l1_fix_time: 1.1918, d4.loss_plan_l1_fix_dist: 0.2319, d5.loss_plan_l1_fix_time: 1.1944, d5.loss_plan_l1_fix_dist: 0.2470, d6.loss_plan_l1_fix_time: 1.1974, d6.loss_plan_l1_fix_dist: 0.2657, d0.loss_cls_all: 0.2153, d0.loss_bbox_all: 0.4181, d0.loss_cls: 0.2153, d0.loss_bbox: 0.4181, d1.loss_cls: 0.2092, d1.loss_bbox: 0.3878, d2.loss_cls: 0.2009, d2.loss_bbox: 0.3681, d3.loss_cls: 0.1904, d3.loss_bbox: 0.3653, d4.loss_cls: 0.1864, d4.loss_bbox: 0.3629, d5.loss_cls: 0.1847, d5.loss_bbox: 0.3644, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9512, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7759, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7555, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7532, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7590, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7583, d0.loss_map_cls_all: 0.2212, d0.loss_map_pts_all: 1.4122, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2212, d0.loss_map_pts: 1.4122, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1993, d1.loss_map_pts: 1.0664, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1811, d2.loss_map_pts: 0.9030, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1720, d3.loss_map_pts: 0.8276, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1688, d4.loss_map_pts: 0.8037, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1663, d5.loss_map_pts: 0.8030, d5.loss_map_dir: 0.0089, loss: 31.4563, grad_norm: 157.3613 +2026-02-26 06:00:06,338 - DriveTransformer - INFO - Epoch [6][33700/39528] lr: 8.977e-05, eta: 6 days, 16:20:13, time: 0.779, data_time: 0.044, memory: 19865, loss_cls: 0.1848, loss_bbox: 0.3712, loss_traj: 0.6873, loss_traj_cls: 0.0010, loss_map_cls: 0.1541, loss_map_pts: 0.6756, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.6285, d0.loss_plan_l1_fix_dist: 0.4412, d1.loss_plan_l1_fix_time: 1.3006, d1.loss_plan_l1_fix_dist: 0.2044, d2.loss_plan_l1_fix_time: 1.2881, d2.loss_plan_l1_fix_dist: 0.2163, d3.loss_plan_l1_fix_time: 1.2862, d3.loss_plan_l1_fix_dist: 0.2301, d4.loss_plan_l1_fix_time: 1.2879, d4.loss_plan_l1_fix_dist: 0.2453, d5.loss_plan_l1_fix_time: 1.2897, d5.loss_plan_l1_fix_dist: 0.2598, d6.loss_plan_l1_fix_time: 1.2916, d6.loss_plan_l1_fix_dist: 0.2797, d0.loss_cls_all: 0.2244, d0.loss_bbox_all: 0.4299, d0.loss_cls: 0.2244, d0.loss_bbox: 0.4299, d1.loss_cls: 0.2162, d1.loss_bbox: 0.3929, d2.loss_cls: 0.2036, d2.loss_bbox: 0.3762, d3.loss_cls: 0.1952, d3.loss_bbox: 0.3710, d4.loss_cls: 0.1872, d4.loss_bbox: 0.3715, d5.loss_cls: 0.1855, d5.loss_bbox: 0.3716, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9135, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7337, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6841, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6855, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6876, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6891, d0.loss_map_cls_all: 0.2189, d0.loss_map_pts_all: 1.3206, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2189, d0.loss_map_pts: 1.3206, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1979, d1.loss_map_pts: 0.9130, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1809, d2.loss_map_pts: 0.7704, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1676, d3.loss_map_pts: 0.7080, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1612, d4.loss_map_pts: 0.6879, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1563, d5.loss_map_pts: 0.6786, d5.loss_map_dir: 0.0088, loss: 30.6712, grad_norm: 153.9072 +2026-02-26 06:00:45,168 - DriveTransformer - INFO - Epoch [6][33750/39528] lr: 8.977e-05, eta: 6 days, 16:19:29, time: 0.777, data_time: 0.041, memory: 19865, loss_cls: 0.1935, loss_bbox: 0.3833, loss_traj: 0.6623, loss_traj_cls: 0.0010, loss_map_cls: 0.1795, loss_map_pts: 0.8085, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 3.0246, d0.loss_plan_l1_fix_dist: 0.4219, d1.loss_plan_l1_fix_time: 1.2506, d1.loss_plan_l1_fix_dist: 0.2078, d2.loss_plan_l1_fix_time: 1.2335, d2.loss_plan_l1_fix_dist: 0.2180, d3.loss_plan_l1_fix_time: 1.2276, d3.loss_plan_l1_fix_dist: 0.2385, d4.loss_plan_l1_fix_time: 1.2292, d4.loss_plan_l1_fix_dist: 0.2585, d5.loss_plan_l1_fix_time: 1.2319, d5.loss_plan_l1_fix_dist: 0.2781, d6.loss_plan_l1_fix_time: 1.2348, d6.loss_plan_l1_fix_dist: 0.2977, d0.loss_cls_all: 0.2340, d0.loss_bbox_all: 0.4434, d0.loss_cls: 0.2340, d0.loss_bbox: 0.4434, d1.loss_cls: 0.2251, d1.loss_bbox: 0.4134, d2.loss_cls: 0.2108, d2.loss_bbox: 0.3945, d3.loss_cls: 0.2008, d3.loss_bbox: 0.3867, d4.loss_cls: 0.1950, d4.loss_bbox: 0.3838, d5.loss_cls: 0.1934, d5.loss_bbox: 0.3832, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8906, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7222, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6708, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6623, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6567, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6609, d0.loss_map_cls_all: 0.2520, d0.loss_map_pts_all: 1.5053, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2520, d0.loss_map_pts: 1.5053, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2204, d1.loss_map_pts: 1.0980, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.2008, d2.loss_map_pts: 0.9394, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1891, d3.loss_map_pts: 0.8629, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1848, d4.loss_map_pts: 0.8233, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1802, d5.loss_map_pts: 0.8121, d5.loss_map_dir: 0.0099, loss: 32.2945, grad_norm: 154.0629 +2026-02-26 06:01:24,189 - DriveTransformer - INFO - Epoch [6][33800/39528] lr: 8.977e-05, eta: 6 days, 16:18:45, time: 0.780, data_time: 0.038, memory: 19865, loss_cls: 0.1634, loss_bbox: 0.3555, loss_traj: 0.6610, loss_traj_cls: 0.0010, loss_map_cls: 0.1592, loss_map_pts: 0.7412, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.5224, d0.loss_plan_l1_fix_dist: 0.4052, d1.loss_plan_l1_fix_time: 0.9879, d1.loss_plan_l1_fix_dist: 0.2089, d2.loss_plan_l1_fix_time: 0.9725, d2.loss_plan_l1_fix_dist: 0.2087, d3.loss_plan_l1_fix_time: 0.9732, d3.loss_plan_l1_fix_dist: 0.2267, d4.loss_plan_l1_fix_time: 0.9770, d4.loss_plan_l1_fix_dist: 0.2450, d5.loss_plan_l1_fix_time: 0.9816, d5.loss_plan_l1_fix_dist: 0.2696, d6.loss_plan_l1_fix_time: 0.9871, d6.loss_plan_l1_fix_dist: 0.2942, d0.loss_cls_all: 0.2020, d0.loss_bbox_all: 0.4133, d0.loss_cls: 0.2020, d0.loss_bbox: 0.4133, d1.loss_cls: 0.1939, d1.loss_bbox: 0.3804, d2.loss_cls: 0.1807, d2.loss_bbox: 0.3636, d3.loss_cls: 0.1714, d3.loss_bbox: 0.3562, d4.loss_cls: 0.1678, d4.loss_bbox: 0.3533, d5.loss_cls: 0.1649, d5.loss_bbox: 0.3532, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8463, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7222, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6674, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6628, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6587, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6580, d0.loss_map_cls_all: 0.2336, d0.loss_map_pts_all: 1.4214, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2336, d0.loss_map_pts: 1.4214, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2030, d1.loss_map_pts: 0.9814, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1807, d2.loss_map_pts: 0.8316, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1710, d3.loss_map_pts: 0.7709, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1644, d4.loss_map_pts: 0.7452, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1592, d5.loss_map_pts: 0.7455, d5.loss_map_dir: 0.0104, loss: 28.8239, grad_norm: 150.9825 +2026-02-26 06:02:04,133 - DriveTransformer - INFO - Epoch [6][33850/39528] lr: 8.977e-05, eta: 6 days, 16:18:04, time: 0.799, data_time: 0.041, memory: 19865, loss_cls: 0.1544, loss_bbox: 0.3544, loss_traj: 0.6567, loss_traj_cls: 0.0010, loss_map_cls: 0.1589, loss_map_pts: 0.7185, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.6243, d0.loss_plan_l1_fix_dist: 0.3697, d1.loss_plan_l1_fix_time: 1.2299, d1.loss_plan_l1_fix_dist: 0.1832, d2.loss_plan_l1_fix_time: 1.2192, d2.loss_plan_l1_fix_dist: 0.1904, d3.loss_plan_l1_fix_time: 1.2163, d3.loss_plan_l1_fix_dist: 0.2056, d4.loss_plan_l1_fix_time: 1.2193, d4.loss_plan_l1_fix_dist: 0.2249, d5.loss_plan_l1_fix_time: 1.2231, d5.loss_plan_l1_fix_dist: 0.2453, d6.loss_plan_l1_fix_time: 1.2289, d6.loss_plan_l1_fix_dist: 0.2676, d0.loss_cls_all: 0.1892, d0.loss_bbox_all: 0.4095, d0.loss_cls: 0.1892, d0.loss_bbox: 0.4095, d1.loss_cls: 0.1819, d1.loss_bbox: 0.3758, d2.loss_cls: 0.1709, d2.loss_bbox: 0.3588, d3.loss_cls: 0.1612, d3.loss_bbox: 0.3541, d4.loss_cls: 0.1552, d4.loss_bbox: 0.3537, d5.loss_cls: 0.1545, d5.loss_bbox: 0.3537, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8286, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6966, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6674, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6577, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6567, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6573, d0.loss_map_cls_all: 0.2297, d0.loss_map_pts_all: 1.4653, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2297, d0.loss_map_pts: 1.4653, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2011, d1.loss_map_pts: 0.9931, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1800, d2.loss_map_pts: 0.8256, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1677, d3.loss_map_pts: 0.7573, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1628, d4.loss_map_pts: 0.7287, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1595, d5.loss_map_pts: 0.7217, d5.loss_map_dir: 0.0107, loss: 30.0495, grad_norm: 151.7676 +2026-02-26 06:02:43,909 - DriveTransformer - INFO - Epoch [6][33900/39528] lr: 8.977e-05, eta: 6 days, 16:17:22, time: 0.796, data_time: 0.040, memory: 19865, loss_cls: 0.1531, loss_bbox: 0.3678, loss_traj: 0.7925, loss_traj_cls: 0.0010, loss_map_cls: 0.1636, loss_map_pts: 0.7398, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.3740, d0.loss_plan_l1_fix_dist: 0.3613, d1.loss_plan_l1_fix_time: 1.0041, d1.loss_plan_l1_fix_dist: 0.2038, d2.loss_plan_l1_fix_time: 0.9834, d2.loss_plan_l1_fix_dist: 0.2224, d3.loss_plan_l1_fix_time: 0.9820, d3.loss_plan_l1_fix_dist: 0.2424, d4.loss_plan_l1_fix_time: 0.9852, d4.loss_plan_l1_fix_dist: 0.2664, d5.loss_plan_l1_fix_time: 0.9896, d5.loss_plan_l1_fix_dist: 0.2893, d6.loss_plan_l1_fix_time: 0.9954, d6.loss_plan_l1_fix_dist: 0.3135, d0.loss_cls_all: 0.1885, d0.loss_bbox_all: 0.4296, d0.loss_cls: 0.1885, d0.loss_bbox: 0.4296, d1.loss_cls: 0.1819, d1.loss_bbox: 0.3946, d2.loss_cls: 0.1735, d2.loss_bbox: 0.3740, d3.loss_cls: 0.1605, d3.loss_bbox: 0.3688, d4.loss_cls: 0.1532, d4.loss_bbox: 0.3681, d5.loss_cls: 0.1528, d5.loss_bbox: 0.3677, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0109, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8629, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7983, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7945, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7959, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7911, d0.loss_map_cls_all: 0.2304, d0.loss_map_pts_all: 1.4239, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2304, d0.loss_map_pts: 1.4239, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2014, d1.loss_map_pts: 1.0130, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1839, d2.loss_map_pts: 0.8444, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1730, d3.loss_map_pts: 0.7756, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1680, d4.loss_map_pts: 0.7498, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1659, d5.loss_map_pts: 0.7382, d5.loss_map_dir: 0.0106, loss: 29.8255, grad_norm: 151.5817 +2026-02-26 06:03:23,856 - DriveTransformer - INFO - Epoch [6][33950/39528] lr: 8.977e-05, eta: 6 days, 16:16:41, time: 0.799, data_time: 0.037, memory: 19865, loss_cls: 0.1743, loss_bbox: 0.3961, loss_traj: 0.6233, loss_traj_cls: 0.0010, loss_map_cls: 0.1981, loss_map_pts: 0.8781, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.7367, d0.loss_plan_l1_fix_dist: 0.3594, d1.loss_plan_l1_fix_time: 1.1766, d1.loss_plan_l1_fix_dist: 0.1802, d2.loss_plan_l1_fix_time: 1.1529, d2.loss_plan_l1_fix_dist: 0.1924, d3.loss_plan_l1_fix_time: 1.1485, d3.loss_plan_l1_fix_dist: 0.2108, d4.loss_plan_l1_fix_time: 1.1508, d4.loss_plan_l1_fix_dist: 0.2322, d5.loss_plan_l1_fix_time: 1.1545, d5.loss_plan_l1_fix_dist: 0.2557, d6.loss_plan_l1_fix_time: 1.1590, d6.loss_plan_l1_fix_dist: 0.2776, d0.loss_cls_all: 0.2098, d0.loss_bbox_all: 0.4529, d0.loss_cls: 0.2098, d0.loss_bbox: 0.4529, d1.loss_cls: 0.2015, d1.loss_bbox: 0.4189, d2.loss_cls: 0.1915, d2.loss_bbox: 0.4002, d3.loss_cls: 0.1809, d3.loss_bbox: 0.3955, d4.loss_cls: 0.1773, d4.loss_bbox: 0.3937, d5.loss_cls: 0.1748, d5.loss_bbox: 0.3958, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8239, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6649, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6355, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6263, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6210, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6207, d0.loss_map_cls_all: 0.2643, d0.loss_map_pts_all: 1.6915, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2643, d0.loss_map_pts: 1.6915, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2399, d1.loss_map_pts: 1.2046, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2182, d2.loss_map_pts: 1.0112, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2107, d3.loss_map_pts: 0.9248, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.2045, d4.loss_map_pts: 0.8860, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.2013, d5.loss_map_pts: 0.8782, d5.loss_map_dir: 0.0112, loss: 31.8899, grad_norm: 152.4375 +2026-02-26 06:04:02,557 - DriveTransformer - INFO - Epoch [6][34000/39528] lr: 8.977e-05, eta: 6 days, 16:15:56, time: 0.774, data_time: 0.045, memory: 19865, loss_cls: 0.1670, loss_bbox: 0.3622, loss_traj: 0.7212, loss_traj_cls: 0.0010, loss_map_cls: 0.1520, loss_map_pts: 0.7357, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.9290, d0.loss_plan_l1_fix_dist: 0.4206, d1.loss_plan_l1_fix_time: 1.3751, d1.loss_plan_l1_fix_dist: 0.1883, d2.loss_plan_l1_fix_time: 1.3533, d2.loss_plan_l1_fix_dist: 0.1916, d3.loss_plan_l1_fix_time: 1.3565, d3.loss_plan_l1_fix_dist: 0.2054, d4.loss_plan_l1_fix_time: 1.3607, d4.loss_plan_l1_fix_dist: 0.2220, d5.loss_plan_l1_fix_time: 1.3652, d5.loss_plan_l1_fix_dist: 0.2411, d6.loss_plan_l1_fix_time: 1.3702, d6.loss_plan_l1_fix_dist: 0.2639, d0.loss_cls_all: 0.2002, d0.loss_bbox_all: 0.4257, d0.loss_cls: 0.2002, d0.loss_bbox: 0.4257, d1.loss_cls: 0.1944, d1.loss_bbox: 0.3931, d2.loss_cls: 0.1846, d2.loss_bbox: 0.3769, d3.loss_cls: 0.1715, d3.loss_bbox: 0.3691, d4.loss_cls: 0.1674, d4.loss_bbox: 0.3648, d5.loss_cls: 0.1668, d5.loss_bbox: 0.3629, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9058, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7827, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7242, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7254, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.7120, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7127, d0.loss_map_cls_all: 0.2302, d0.loss_map_pts_all: 1.4096, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2302, d0.loss_map_pts: 1.4096, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1989, d1.loss_map_pts: 1.0147, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1771, d2.loss_map_pts: 0.8448, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1662, d3.loss_map_pts: 0.7713, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1617, d4.loss_map_pts: 0.7451, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1548, d5.loss_map_pts: 0.7360, d5.loss_map_dir: 0.0099, loss: 31.8817, grad_norm: 151.5822 +2026-02-26 06:04:41,137 - DriveTransformer - INFO - Epoch [6][34050/39528] lr: 8.977e-05, eta: 6 days, 16:15:11, time: 0.772, data_time: 0.043, memory: 19865, loss_cls: 0.1830, loss_bbox: 0.3951, loss_traj: 0.6345, loss_traj_cls: 0.0010, loss_map_cls: 0.1565, loss_map_pts: 0.7440, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.8467, d0.loss_plan_l1_fix_dist: 0.4712, d1.loss_plan_l1_fix_time: 1.1996, d1.loss_plan_l1_fix_dist: 0.2330, d2.loss_plan_l1_fix_time: 1.1882, d2.loss_plan_l1_fix_dist: 0.2391, d3.loss_plan_l1_fix_time: 1.1908, d3.loss_plan_l1_fix_dist: 0.2535, d4.loss_plan_l1_fix_time: 1.1953, d4.loss_plan_l1_fix_dist: 0.2701, d5.loss_plan_l1_fix_time: 1.1996, d5.loss_plan_l1_fix_dist: 0.2885, d6.loss_plan_l1_fix_time: 1.2050, d6.loss_plan_l1_fix_dist: 0.3083, d0.loss_cls_all: 0.2235, d0.loss_bbox_all: 0.4586, d0.loss_cls: 0.2235, d0.loss_bbox: 0.4586, d1.loss_cls: 0.2149, d1.loss_bbox: 0.4264, d2.loss_cls: 0.2015, d2.loss_bbox: 0.4091, d3.loss_cls: 0.1911, d3.loss_bbox: 0.3989, d4.loss_cls: 0.1871, d4.loss_bbox: 0.3953, d5.loss_cls: 0.1838, d5.loss_bbox: 0.3944, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8137, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6763, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6373, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6249, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6288, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6329, d0.loss_map_cls_all: 0.2324, d0.loss_map_pts_all: 1.4260, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2324, d0.loss_map_pts: 1.4260, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.1992, d1.loss_map_pts: 1.0048, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.1786, d2.loss_map_pts: 0.8404, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.1662, d3.loss_map_pts: 0.7781, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1621, d4.loss_map_pts: 0.7519, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1583, d5.loss_map_pts: 0.7449, d5.loss_map_dir: 0.0109, loss: 30.9773, grad_norm: 150.3559 +2026-02-26 06:05:21,304 - DriveTransformer - INFO - Epoch [6][34100/39528] lr: 8.977e-05, eta: 6 days, 16:14:30, time: 0.803, data_time: 0.047, memory: 19865, loss_cls: 0.1589, loss_bbox: 0.3693, loss_traj: 0.7095, loss_traj_cls: 0.0010, loss_map_cls: 0.1711, loss_map_pts: 0.7330, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.6420, d0.loss_plan_l1_fix_dist: 0.4260, d1.loss_plan_l1_fix_time: 1.0587, d1.loss_plan_l1_fix_dist: 0.2038, d2.loss_plan_l1_fix_time: 1.0469, d2.loss_plan_l1_fix_dist: 0.2121, d3.loss_plan_l1_fix_time: 1.0476, d3.loss_plan_l1_fix_dist: 0.2272, d4.loss_plan_l1_fix_time: 1.0509, d4.loss_plan_l1_fix_dist: 0.2472, d5.loss_plan_l1_fix_time: 1.0546, d5.loss_plan_l1_fix_dist: 0.2669, d6.loss_plan_l1_fix_time: 1.0582, d6.loss_plan_l1_fix_dist: 0.2888, d0.loss_cls_all: 0.1962, d0.loss_bbox_all: 0.4323, d0.loss_cls: 0.1962, d0.loss_bbox: 0.4323, d1.loss_cls: 0.1844, d1.loss_bbox: 0.3947, d2.loss_cls: 0.1744, d2.loss_bbox: 0.3756, d3.loss_cls: 0.1642, d3.loss_bbox: 0.3691, d4.loss_cls: 0.1614, d4.loss_bbox: 0.3659, d5.loss_cls: 0.1593, d5.loss_bbox: 0.3678, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0097, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7894, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7408, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7196, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7150, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7116, d0.loss_map_cls_all: 0.2426, d0.loss_map_pts_all: 1.5373, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2426, d0.loss_map_pts: 1.5373, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2187, d1.loss_map_pts: 1.0440, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1971, d2.loss_map_pts: 0.8515, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1850, d3.loss_map_pts: 0.7725, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1774, d4.loss_map_pts: 0.7390, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1732, d5.loss_map_pts: 0.7336, d5.loss_map_dir: 0.0101, loss: 30.3693, grad_norm: 150.7693 +2026-02-26 06:06:00,685 - DriveTransformer - INFO - Epoch [6][34150/39528] lr: 8.977e-05, eta: 6 days, 16:13:47, time: 0.788, data_time: 0.041, memory: 19865, loss_cls: 0.1731, loss_bbox: 0.3692, loss_traj: 0.6518, loss_traj_cls: 0.0010, loss_map_cls: 0.1700, loss_map_pts: 0.7616, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.9944, d0.loss_plan_l1_fix_dist: 0.3887, d1.loss_plan_l1_fix_time: 1.1066, d1.loss_plan_l1_fix_dist: 0.1717, d2.loss_plan_l1_fix_time: 1.0884, d2.loss_plan_l1_fix_dist: 0.1899, d3.loss_plan_l1_fix_time: 1.0961, d3.loss_plan_l1_fix_dist: 0.2135, d4.loss_plan_l1_fix_time: 1.1026, d4.loss_plan_l1_fix_dist: 0.2401, d5.loss_plan_l1_fix_time: 1.1089, d5.loss_plan_l1_fix_dist: 0.2663, d6.loss_plan_l1_fix_time: 1.1145, d6.loss_plan_l1_fix_dist: 0.2927, d0.loss_cls_all: 0.2109, d0.loss_bbox_all: 0.4314, d0.loss_cls: 0.2109, d0.loss_bbox: 0.4314, d1.loss_cls: 0.2022, d1.loss_bbox: 0.3979, d2.loss_cls: 0.1867, d2.loss_bbox: 0.3771, d3.loss_cls: 0.1791, d3.loss_bbox: 0.3725, d4.loss_cls: 0.1731, d4.loss_bbox: 0.3708, d5.loss_cls: 0.1716, d5.loss_bbox: 0.3699, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8278, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7124, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6610, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6504, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6520, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6502, d0.loss_map_cls_all: 0.2379, d0.loss_map_pts_all: 1.5475, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2379, d0.loss_map_pts: 1.5475, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2066, d1.loss_map_pts: 1.0459, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.1884, d2.loss_map_pts: 0.8525, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1777, d3.loss_map_pts: 0.7872, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1739, d4.loss_map_pts: 0.7639, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1705, d5.loss_map_pts: 0.7586, d5.loss_map_dir: 0.0114, loss: 30.5298, grad_norm: 150.3022 +2026-02-26 06:06:38,718 - DriveTransformer - INFO - Epoch [6][34200/39528] lr: 8.977e-05, eta: 6 days, 16:13:01, time: 0.762, data_time: 0.037, memory: 19865, loss_cls: 0.1771, loss_bbox: 0.3716, loss_traj: 0.8144, loss_traj_cls: 0.0010, loss_map_cls: 0.1667, loss_map_pts: 0.6761, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.5790, d0.loss_plan_l1_fix_dist: 0.3865, d1.loss_plan_l1_fix_time: 1.0430, d1.loss_plan_l1_fix_dist: 0.1692, d2.loss_plan_l1_fix_time: 1.0237, d2.loss_plan_l1_fix_dist: 0.1728, d3.loss_plan_l1_fix_time: 1.0250, d3.loss_plan_l1_fix_dist: 0.1871, d4.loss_plan_l1_fix_time: 1.0297, d4.loss_plan_l1_fix_dist: 0.1990, d5.loss_plan_l1_fix_time: 1.0347, d5.loss_plan_l1_fix_dist: 0.2145, d6.loss_plan_l1_fix_time: 1.0396, d6.loss_plan_l1_fix_dist: 0.2311, d0.loss_cls_all: 0.2197, d0.loss_bbox_all: 0.4341, d0.loss_cls: 0.2197, d0.loss_bbox: 0.4341, d1.loss_cls: 0.2111, d1.loss_bbox: 0.4024, d2.loss_cls: 0.1959, d2.loss_bbox: 0.3814, d3.loss_cls: 0.1860, d3.loss_bbox: 0.3758, d4.loss_cls: 0.1792, d4.loss_bbox: 0.3726, d5.loss_cls: 0.1780, d5.loss_bbox: 0.3713, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0999, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8749, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8162, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8086, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8124, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8120, d0.loss_map_cls_all: 0.2474, d0.loss_map_pts_all: 1.3616, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2474, d0.loss_map_pts: 1.3616, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2203, d1.loss_map_pts: 0.9312, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1978, d2.loss_map_pts: 0.7605, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1839, d3.loss_map_pts: 0.6995, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1763, d4.loss_map_pts: 0.6817, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1697, d5.loss_map_pts: 0.6775, d5.loss_map_dir: 0.0096, loss: 29.9239, grad_norm: 148.4208 +2026-02-26 06:07:19,302 - DriveTransformer - INFO - Epoch [6][34250/39528] lr: 8.977e-05, eta: 6 days, 16:12:21, time: 0.810, data_time: 0.039, memory: 19865, loss_cls: 0.1913, loss_bbox: 0.3950, loss_traj: 0.5980, loss_traj_cls: 0.0010, loss_map_cls: 0.1659, loss_map_pts: 0.7556, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.3542, d0.loss_plan_l1_fix_dist: 0.5223, d1.loss_plan_l1_fix_time: 1.1342, d1.loss_plan_l1_fix_dist: 0.2226, d2.loss_plan_l1_fix_time: 1.1204, d2.loss_plan_l1_fix_dist: 0.2290, d3.loss_plan_l1_fix_time: 1.1151, d3.loss_plan_l1_fix_dist: 0.2463, d4.loss_plan_l1_fix_time: 1.1173, d4.loss_plan_l1_fix_dist: 0.2651, d5.loss_plan_l1_fix_time: 1.1207, d5.loss_plan_l1_fix_dist: 0.2880, d6.loss_plan_l1_fix_time: 1.1252, d6.loss_plan_l1_fix_dist: 0.3147, d0.loss_cls_all: 0.2389, d0.loss_bbox_all: 0.4519, d0.loss_cls: 0.2389, d0.loss_bbox: 0.4519, d1.loss_cls: 0.2262, d1.loss_bbox: 0.4215, d2.loss_cls: 0.2102, d2.loss_bbox: 0.4042, d3.loss_cls: 0.2009, d3.loss_bbox: 0.3969, d4.loss_cls: 0.1938, d4.loss_bbox: 0.3957, d5.loss_cls: 0.1913, d5.loss_bbox: 0.3948, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7772, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6557, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6157, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6066, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6028, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5994, d0.loss_map_cls_all: 0.2260, d0.loss_map_pts_all: 1.4917, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2260, d0.loss_map_pts: 1.4917, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.1986, d1.loss_map_pts: 1.0144, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.1833, d2.loss_map_pts: 0.8437, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1760, d3.loss_map_pts: 0.7803, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1698, d4.loss_map_pts: 0.7634, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1661, d5.loss_map_pts: 0.7579, d5.loss_map_dir: 0.0116, loss: 30.1413, grad_norm: 148.3043 +2026-02-26 06:07:58,100 - DriveTransformer - INFO - Epoch [6][34300/39528] lr: 8.977e-05, eta: 6 days, 16:11:36, time: 0.776, data_time: 0.036, memory: 19865, loss_cls: 0.1623, loss_bbox: 0.3597, loss_traj: 0.5819, loss_traj_cls: 0.0011, loss_map_cls: 0.1837, loss_map_pts: 0.7109, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.5058, d0.loss_plan_l1_fix_dist: 0.3668, d1.loss_plan_l1_fix_time: 1.1285, d1.loss_plan_l1_fix_dist: 0.1721, d2.loss_plan_l1_fix_time: 1.1124, d2.loss_plan_l1_fix_dist: 0.1779, d3.loss_plan_l1_fix_time: 1.1066, d3.loss_plan_l1_fix_dist: 0.1885, d4.loss_plan_l1_fix_time: 1.1091, d4.loss_plan_l1_fix_dist: 0.2032, d5.loss_plan_l1_fix_time: 1.1129, d5.loss_plan_l1_fix_dist: 0.2181, d6.loss_plan_l1_fix_time: 1.1178, d6.loss_plan_l1_fix_dist: 0.2337, d0.loss_cls_all: 0.2064, d0.loss_bbox_all: 0.4138, d0.loss_cls: 0.2064, d0.loss_bbox: 0.4138, d1.loss_cls: 0.1949, d1.loss_bbox: 0.3832, d2.loss_cls: 0.1808, d2.loss_bbox: 0.3650, d3.loss_cls: 0.1707, d3.loss_bbox: 0.3601, d4.loss_cls: 0.1650, d4.loss_bbox: 0.3599, d5.loss_cls: 0.1627, d5.loss_bbox: 0.3589, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8185, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6550, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6079, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5934, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5921, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5837, d0.loss_map_cls_all: 0.2483, d0.loss_map_pts_all: 1.3904, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2483, d0.loss_map_pts: 1.3904, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2206, d1.loss_map_pts: 0.9638, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.2057, d2.loss_map_pts: 0.8034, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1933, d3.loss_map_pts: 0.7425, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1899, d4.loss_map_pts: 0.7172, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1863, d5.loss_map_pts: 0.7122, d5.loss_map_dir: 0.0100, loss: 28.8421, grad_norm: 148.1702 +2026-02-26 06:08:35,771 - DriveTransformer - INFO - Epoch [6][34350/39528] lr: 8.977e-05, eta: 6 days, 16:10:48, time: 0.753, data_time: 0.040, memory: 19865, loss_cls: 0.1735, loss_bbox: 0.3746, loss_traj: 0.6959, loss_traj_cls: 0.0011, loss_map_cls: 0.1712, loss_map_pts: 0.6854, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.5760, d0.loss_plan_l1_fix_dist: 0.3373, d1.loss_plan_l1_fix_time: 1.1308, d1.loss_plan_l1_fix_dist: 0.1788, d2.loss_plan_l1_fix_time: 1.1197, d2.loss_plan_l1_fix_dist: 0.1898, d3.loss_plan_l1_fix_time: 1.1180, d3.loss_plan_l1_fix_dist: 0.2027, d4.loss_plan_l1_fix_time: 1.1207, d4.loss_plan_l1_fix_dist: 0.2199, d5.loss_plan_l1_fix_time: 1.1240, d5.loss_plan_l1_fix_dist: 0.2386, d6.loss_plan_l1_fix_time: 1.1276, d6.loss_plan_l1_fix_dist: 0.2570, d0.loss_cls_all: 0.2155, d0.loss_bbox_all: 0.4326, d0.loss_cls: 0.2155, d0.loss_bbox: 0.4326, d1.loss_cls: 0.2024, d1.loss_bbox: 0.3992, d2.loss_cls: 0.1888, d2.loss_bbox: 0.3883, d3.loss_cls: 0.1801, d3.loss_bbox: 0.3795, d4.loss_cls: 0.1746, d4.loss_bbox: 0.3767, d5.loss_cls: 0.1732, d5.loss_bbox: 0.3755, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9490, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7621, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7205, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7056, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.7035, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6948, d0.loss_map_cls_all: 0.2381, d0.loss_map_pts_all: 1.3634, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2381, d0.loss_map_pts: 1.3634, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2174, d1.loss_map_pts: 0.9502, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1981, d2.loss_map_pts: 0.7922, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1836, d3.loss_map_pts: 0.7311, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1782, d4.loss_map_pts: 0.6956, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1737, d5.loss_map_pts: 0.6893, d5.loss_map_dir: 0.0099, loss: 29.8088, grad_norm: 148.6292 +2026-02-26 06:09:15,343 - DriveTransformer - INFO - Epoch [6][34400/39528] lr: 8.977e-05, eta: 6 days, 16:10:06, time: 0.791, data_time: 0.034, memory: 19865, loss_cls: 0.2003, loss_bbox: 0.4183, loss_traj: 0.6723, loss_traj_cls: 0.0011, loss_map_cls: 0.1788, loss_map_pts: 0.8018, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 3.0831, d0.loss_plan_l1_fix_dist: 0.3709, d1.loss_plan_l1_fix_time: 1.3471, d1.loss_plan_l1_fix_dist: 0.1857, d2.loss_plan_l1_fix_time: 1.3356, d2.loss_plan_l1_fix_dist: 0.1909, d3.loss_plan_l1_fix_time: 1.3391, d3.loss_plan_l1_fix_dist: 0.1996, d4.loss_plan_l1_fix_time: 1.3431, d4.loss_plan_l1_fix_dist: 0.2110, d5.loss_plan_l1_fix_time: 1.3468, d5.loss_plan_l1_fix_dist: 0.2273, d6.loss_plan_l1_fix_time: 1.3506, d6.loss_plan_l1_fix_dist: 0.2416, d0.loss_cls_all: 0.2420, d0.loss_bbox_all: 0.4844, d0.loss_cls: 0.2420, d0.loss_bbox: 0.4844, d1.loss_cls: 0.2322, d1.loss_bbox: 0.4505, d2.loss_cls: 0.2179, d2.loss_bbox: 0.4336, d3.loss_cls: 0.2067, d3.loss_bbox: 0.4233, d4.loss_cls: 0.2026, d4.loss_bbox: 0.4192, d5.loss_cls: 0.2005, d5.loss_bbox: 0.4199, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8916, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7322, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6871, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6767, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6695, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6667, d0.loss_map_cls_all: 0.2367, d0.loss_map_pts_all: 1.5568, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2367, d0.loss_map_pts: 1.5568, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2197, d1.loss_map_pts: 1.0951, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2048, d2.loss_map_pts: 0.9197, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.1944, d3.loss_map_pts: 0.8534, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1879, d4.loss_map_pts: 0.8191, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1818, d5.loss_map_pts: 0.8085, d5.loss_map_dir: 0.0110, loss: 33.1929, grad_norm: 148.9827 +2026-02-26 06:09:54,507 - DriveTransformer - INFO - Epoch [6][34450/39528] lr: 8.977e-05, eta: 6 days, 16:09:23, time: 0.783, data_time: 0.041, memory: 19865, loss_cls: 0.1661, loss_bbox: 0.3765, loss_traj: 0.6186, loss_traj_cls: 0.0011, loss_map_cls: 0.1628, loss_map_pts: 0.6935, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.7975, d0.loss_plan_l1_fix_dist: 0.4945, d1.loss_plan_l1_fix_time: 1.1436, d1.loss_plan_l1_fix_dist: 0.1916, d2.loss_plan_l1_fix_time: 1.1348, d2.loss_plan_l1_fix_dist: 0.1906, d3.loss_plan_l1_fix_time: 1.1373, d3.loss_plan_l1_fix_dist: 0.2010, d4.loss_plan_l1_fix_time: 1.1400, d4.loss_plan_l1_fix_dist: 0.2141, d5.loss_plan_l1_fix_time: 1.1430, d5.loss_plan_l1_fix_dist: 0.2287, d6.loss_plan_l1_fix_time: 1.1464, d6.loss_plan_l1_fix_dist: 0.2451, d0.loss_cls_all: 0.2020, d0.loss_bbox_all: 0.4348, d0.loss_cls: 0.2020, d0.loss_bbox: 0.4348, d1.loss_cls: 0.1960, d1.loss_bbox: 0.4022, d2.loss_cls: 0.1845, d2.loss_bbox: 0.3845, d3.loss_cls: 0.1739, d3.loss_bbox: 0.3772, d4.loss_cls: 0.1678, d4.loss_bbox: 0.3758, d5.loss_cls: 0.1659, d5.loss_bbox: 0.3767, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8245, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6725, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6204, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6130, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6134, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6158, d0.loss_map_cls_all: 0.2368, d0.loss_map_pts_all: 1.3756, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2368, d0.loss_map_pts: 1.3756, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2067, d1.loss_map_pts: 0.9410, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1919, d2.loss_map_pts: 0.7793, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1769, d3.loss_map_pts: 0.7235, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1707, d4.loss_map_pts: 0.6994, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1644, d5.loss_map_pts: 0.6946, d5.loss_map_dir: 0.0093, loss: 29.5159, grad_norm: 148.2622 +2026-02-26 06:10:33,077 - DriveTransformer - INFO - Epoch [6][34500/39528] lr: 8.977e-05, eta: 6 days, 16:08:37, time: 0.771, data_time: 0.047, memory: 19865, loss_cls: 0.2028, loss_bbox: 0.4160, loss_traj: 0.7130, loss_traj_cls: 0.0011, loss_map_cls: 0.1951, loss_map_pts: 0.8552, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.6078, d0.loss_plan_l1_fix_dist: 0.3978, d1.loss_plan_l1_fix_time: 1.0520, d1.loss_plan_l1_fix_dist: 0.1764, d2.loss_plan_l1_fix_time: 1.0437, d2.loss_plan_l1_fix_dist: 0.1763, d3.loss_plan_l1_fix_time: 1.0487, d3.loss_plan_l1_fix_dist: 0.1847, d4.loss_plan_l1_fix_time: 1.0520, d4.loss_plan_l1_fix_dist: 0.1980, d5.loss_plan_l1_fix_time: 1.0554, d5.loss_plan_l1_fix_dist: 0.2098, d6.loss_plan_l1_fix_time: 1.0597, d6.loss_plan_l1_fix_dist: 0.2238, d0.loss_cls_all: 0.2513, d0.loss_bbox_all: 0.4776, d0.loss_cls: 0.2513, d0.loss_bbox: 0.4776, d1.loss_cls: 0.2470, d1.loss_bbox: 0.4424, d2.loss_cls: 0.2258, d2.loss_bbox: 0.4255, d3.loss_cls: 0.2131, d3.loss_bbox: 0.4188, d4.loss_cls: 0.2060, d4.loss_bbox: 0.4180, d5.loss_cls: 0.2033, d5.loss_bbox: 0.4168, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9321, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7794, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7321, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7180, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7114, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7117, d0.loss_map_cls_all: 0.2652, d0.loss_map_pts_all: 1.5500, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2652, d0.loss_map_pts: 1.5500, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2407, d1.loss_map_pts: 1.1344, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2190, d2.loss_map_pts: 0.9674, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.2109, d3.loss_map_pts: 0.8921, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.2044, d4.loss_map_pts: 0.8632, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1979, d5.loss_map_pts: 0.8551, d5.loss_map_dir: 0.0112, loss: 31.6371, grad_norm: 145.9462 +2026-02-26 06:11:11,989 - DriveTransformer - INFO - Epoch [6][34550/39528] lr: 8.977e-05, eta: 6 days, 16:07:53, time: 0.778, data_time: 0.037, memory: 19865, loss_cls: 0.1787, loss_bbox: 0.3853, loss_traj: 0.7004, loss_traj_cls: 0.0011, loss_map_cls: 0.1879, loss_map_pts: 0.7729, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.6948, d0.loss_plan_l1_fix_dist: 0.4148, d1.loss_plan_l1_fix_time: 1.2028, d1.loss_plan_l1_fix_dist: 0.1877, d2.loss_plan_l1_fix_time: 1.1983, d2.loss_plan_l1_fix_dist: 0.1911, d3.loss_plan_l1_fix_time: 1.1995, d3.loss_plan_l1_fix_dist: 0.2002, d4.loss_plan_l1_fix_time: 1.2026, d4.loss_plan_l1_fix_dist: 0.2106, d5.loss_plan_l1_fix_time: 1.2063, d5.loss_plan_l1_fix_dist: 0.2253, d6.loss_plan_l1_fix_time: 1.2106, d6.loss_plan_l1_fix_dist: 0.2409, d0.loss_cls_all: 0.2199, d0.loss_bbox_all: 0.4490, d0.loss_cls: 0.2199, d0.loss_bbox: 0.4490, d1.loss_cls: 0.2073, d1.loss_bbox: 0.4152, d2.loss_cls: 0.1922, d2.loss_bbox: 0.3990, d3.loss_cls: 0.1835, d3.loss_bbox: 0.3890, d4.loss_cls: 0.1808, d4.loss_bbox: 0.3858, d5.loss_cls: 0.1801, d5.loss_bbox: 0.3841, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9941, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7623, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7090, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6961, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6917, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6969, d0.loss_map_cls_all: 0.2515, d0.loss_map_pts_all: 1.4765, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2515, d0.loss_map_pts: 1.4765, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2285, d1.loss_map_pts: 1.0479, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2099, d2.loss_map_pts: 0.8864, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.2002, d3.loss_map_pts: 0.8066, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1940, d4.loss_map_pts: 0.7800, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1890, d5.loss_map_pts: 0.7766, d5.loss_map_dir: 0.0115, loss: 31.4864, grad_norm: 145.6699 +2026-02-26 06:11:51,543 - DriveTransformer - INFO - Epoch [6][34600/39528] lr: 8.977e-05, eta: 6 days, 16:07:11, time: 0.791, data_time: 0.042, memory: 19865, loss_cls: 0.1883, loss_bbox: 0.3861, loss_traj: 0.6902, loss_traj_cls: 0.0011, loss_map_cls: 0.1893, loss_map_pts: 0.8330, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.9276, d0.loss_plan_l1_fix_dist: 0.3713, d1.loss_plan_l1_fix_time: 1.2899, d1.loss_plan_l1_fix_dist: 0.1942, d2.loss_plan_l1_fix_time: 1.2715, d2.loss_plan_l1_fix_dist: 0.1982, d3.loss_plan_l1_fix_time: 1.2667, d3.loss_plan_l1_fix_dist: 0.2094, d4.loss_plan_l1_fix_time: 1.2695, d4.loss_plan_l1_fix_dist: 0.2184, d5.loss_plan_l1_fix_time: 1.2733, d5.loss_plan_l1_fix_dist: 0.2294, d6.loss_plan_l1_fix_time: 1.2774, d6.loss_plan_l1_fix_dist: 0.2421, d0.loss_cls_all: 0.2266, d0.loss_bbox_all: 0.4453, d0.loss_cls: 0.2266, d0.loss_bbox: 0.4453, d1.loss_cls: 0.2202, d1.loss_bbox: 0.4116, d2.loss_cls: 0.2048, d2.loss_bbox: 0.3941, d3.loss_cls: 0.1941, d3.loss_bbox: 0.3882, d4.loss_cls: 0.1870, d4.loss_bbox: 0.3883, d5.loss_cls: 0.1872, d5.loss_bbox: 0.3851, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9597, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7651, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7014, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6937, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6916, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6879, d0.loss_map_cls_all: 0.2720, d0.loss_map_pts_all: 1.5648, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2720, d0.loss_map_pts: 1.5648, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2401, d1.loss_map_pts: 1.1014, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2137, d2.loss_map_pts: 0.9266, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.2029, d3.loss_map_pts: 0.8652, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1953, d4.loss_map_pts: 0.8400, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1912, d5.loss_map_pts: 0.8318, d5.loss_map_dir: 0.0113, loss: 32.7043, grad_norm: 148.9949 +2026-02-26 06:12:31,588 - DriveTransformer - INFO - Epoch [6][34650/39528] lr: 8.977e-05, eta: 6 days, 16:06:30, time: 0.801, data_time: 0.040, memory: 19865, loss_cls: 0.1832, loss_bbox: 0.3890, loss_traj: 0.7462, loss_traj_cls: 0.0011, loss_map_cls: 0.1924, loss_map_pts: 0.8633, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.6172, d0.loss_plan_l1_fix_dist: 0.4254, d1.loss_plan_l1_fix_time: 1.2135, d1.loss_plan_l1_fix_dist: 0.2087, d2.loss_plan_l1_fix_time: 1.2008, d2.loss_plan_l1_fix_dist: 0.2124, d3.loss_plan_l1_fix_time: 1.2052, d3.loss_plan_l1_fix_dist: 0.2191, d4.loss_plan_l1_fix_time: 1.2093, d4.loss_plan_l1_fix_dist: 0.2270, d5.loss_plan_l1_fix_time: 1.2135, d5.loss_plan_l1_fix_dist: 0.2361, d6.loss_plan_l1_fix_time: 1.2185, d6.loss_plan_l1_fix_dist: 0.2463, d0.loss_cls_all: 0.2247, d0.loss_bbox_all: 0.4515, d0.loss_cls: 0.2247, d0.loss_bbox: 0.4515, d1.loss_cls: 0.2185, d1.loss_bbox: 0.4212, d2.loss_cls: 0.2024, d2.loss_bbox: 0.4032, d3.loss_cls: 0.1898, d3.loss_bbox: 0.3954, d4.loss_cls: 0.1849, d4.loss_bbox: 0.3915, d5.loss_cls: 0.1832, d5.loss_bbox: 0.3904, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9730, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7870, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7681, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7438, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7374, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7484, d0.loss_map_cls_all: 0.2686, d0.loss_map_pts_all: 1.6536, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2686, d0.loss_map_pts: 1.6536, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2329, d1.loss_map_pts: 1.1398, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2140, d2.loss_map_pts: 0.9520, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.2050, d3.loss_map_pts: 0.8900, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.1990, d4.loss_map_pts: 0.8703, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.1933, d5.loss_map_pts: 0.8631, d5.loss_map_dir: 0.0127, loss: 32.8222, grad_norm: 147.4841 +2026-02-26 06:13:11,135 - DriveTransformer - INFO - Epoch [6][34700/39528] lr: 8.977e-05, eta: 6 days, 16:05:47, time: 0.791, data_time: 0.039, memory: 19865, loss_cls: 0.1706, loss_bbox: 0.3818, loss_traj: 0.7196, loss_traj_cls: 0.0011, loss_map_cls: 0.1759, loss_map_pts: 0.8205, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.2070, d0.loss_plan_l1_fix_dist: 0.4061, d1.loss_plan_l1_fix_time: 0.9832, d1.loss_plan_l1_fix_dist: 0.1966, d2.loss_plan_l1_fix_time: 0.9635, d2.loss_plan_l1_fix_dist: 0.2014, d3.loss_plan_l1_fix_time: 0.9644, d3.loss_plan_l1_fix_dist: 0.2070, d4.loss_plan_l1_fix_time: 0.9672, d4.loss_plan_l1_fix_dist: 0.2181, d5.loss_plan_l1_fix_time: 0.9706, d5.loss_plan_l1_fix_dist: 0.2312, d6.loss_plan_l1_fix_time: 0.9748, d6.loss_plan_l1_fix_dist: 0.2448, d0.loss_cls_all: 0.2104, d0.loss_bbox_all: 0.4406, d0.loss_cls: 0.2104, d0.loss_bbox: 0.4406, d1.loss_cls: 0.2004, d1.loss_bbox: 0.4049, d2.loss_cls: 0.1870, d2.loss_bbox: 0.3900, d3.loss_cls: 0.1768, d3.loss_bbox: 0.3827, d4.loss_cls: 0.1723, d4.loss_bbox: 0.3805, d5.loss_cls: 0.1714, d5.loss_bbox: 0.3810, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9511, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7802, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7425, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7256, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7189, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7176, d0.loss_map_cls_all: 0.2631, d0.loss_map_pts_all: 1.5868, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2631, d0.loss_map_pts: 1.5868, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2300, d1.loss_map_pts: 1.1159, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2103, d2.loss_map_pts: 0.9280, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1951, d3.loss_map_pts: 0.8568, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1861, d4.loss_map_pts: 0.8291, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1778, d5.loss_map_pts: 0.8204, d5.loss_map_dir: 0.0110, loss: 30.1289, grad_norm: 148.0228 +2026-02-26 06:13:49,926 - DriveTransformer - INFO - Epoch [6][34750/39528] lr: 8.977e-05, eta: 6 days, 16:05:03, time: 0.776, data_time: 0.039, memory: 19865, loss_cls: 0.1771, loss_bbox: 0.3815, loss_traj: 0.6722, loss_traj_cls: 0.0011, loss_map_cls: 0.1901, loss_map_pts: 0.7812, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.7442, d0.loss_plan_l1_fix_dist: 0.3856, d1.loss_plan_l1_fix_time: 1.2776, d1.loss_plan_l1_fix_dist: 0.1960, d2.loss_plan_l1_fix_time: 1.2626, d2.loss_plan_l1_fix_dist: 0.1874, d3.loss_plan_l1_fix_time: 1.2624, d3.loss_plan_l1_fix_dist: 0.1931, d4.loss_plan_l1_fix_time: 1.2647, d4.loss_plan_l1_fix_dist: 0.2018, d5.loss_plan_l1_fix_time: 1.2672, d5.loss_plan_l1_fix_dist: 0.2114, d6.loss_plan_l1_fix_time: 1.2699, d6.loss_plan_l1_fix_dist: 0.2244, d0.loss_cls_all: 0.2190, d0.loss_bbox_all: 0.4353, d0.loss_cls: 0.2190, d0.loss_bbox: 0.4353, d1.loss_cls: 0.2117, d1.loss_bbox: 0.4007, d2.loss_cls: 0.2000, d2.loss_bbox: 0.3839, d3.loss_cls: 0.1857, d3.loss_bbox: 0.3804, d4.loss_cls: 0.1777, d4.loss_bbox: 0.3811, d5.loss_cls: 0.1773, d5.loss_bbox: 0.3809, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9064, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7439, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6987, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6786, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6742, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6731, d0.loss_map_cls_all: 0.2558, d0.loss_map_pts_all: 1.4557, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2558, d0.loss_map_pts: 1.4557, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2284, d1.loss_map_pts: 1.0354, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.2101, d2.loss_map_pts: 0.8799, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.2031, d3.loss_map_pts: 0.8183, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1970, d4.loss_map_pts: 0.7909, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1912, d5.loss_map_pts: 0.7846, d5.loss_map_dir: 0.0106, loss: 31.5614, grad_norm: 146.7008 +2026-02-26 06:14:32,845 - DriveTransformer - INFO - Epoch [6][34800/39528] lr: 8.977e-05, eta: 6 days, 16:04:31, time: 0.858, data_time: 0.045, memory: 19865, loss_cls: 0.1610, loss_bbox: 0.3590, loss_traj: 0.5419, loss_traj_cls: 0.0010, loss_map_cls: 0.1650, loss_map_pts: 0.8215, loss_map_dir: 0.0136, d0.loss_plan_l1_fix_time: 2.1718, d0.loss_plan_l1_fix_dist: 0.4137, d1.loss_plan_l1_fix_time: 0.9691, d1.loss_plan_l1_fix_dist: 0.1983, d2.loss_plan_l1_fix_time: 0.9512, d2.loss_plan_l1_fix_dist: 0.1928, d3.loss_plan_l1_fix_time: 0.9505, d3.loss_plan_l1_fix_dist: 0.2007, d4.loss_plan_l1_fix_time: 0.9534, d4.loss_plan_l1_fix_dist: 0.2117, d5.loss_plan_l1_fix_time: 0.9571, d5.loss_plan_l1_fix_dist: 0.2255, d6.loss_plan_l1_fix_time: 0.9614, d6.loss_plan_l1_fix_dist: 0.2409, d0.loss_cls_all: 0.2014, d0.loss_bbox_all: 0.4061, d0.loss_cls: 0.2014, d0.loss_bbox: 0.4061, d1.loss_cls: 0.1912, d1.loss_bbox: 0.3774, d2.loss_cls: 0.1774, d2.loss_bbox: 0.3614, d3.loss_cls: 0.1683, d3.loss_bbox: 0.3559, d4.loss_cls: 0.1622, d4.loss_bbox: 0.3561, d5.loss_cls: 0.1601, d5.loss_bbox: 0.3582, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7195, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5872, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5485, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5433, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5411, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5399, d0.loss_map_cls_all: 0.2374, d0.loss_map_pts_all: 1.6358, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2374, d0.loss_map_pts: 1.6358, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2077, d1.loss_map_pts: 1.1157, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.1872, d2.loss_map_pts: 0.9185, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.1780, d3.loss_map_pts: 0.8577, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.1711, d4.loss_map_pts: 0.8269, d4.loss_map_dir: 0.0134, d5.loss_map_cls: 0.1654, d5.loss_map_pts: 0.8213, d5.loss_map_dir: 0.0135, loss: 28.3165, grad_norm: 146.7399 +2026-02-26 06:15:11,261 - DriveTransformer - INFO - Epoch [6][34850/39528] lr: 8.977e-05, eta: 6 days, 16:03:45, time: 0.768, data_time: 0.036, memory: 19865, loss_cls: 0.1709, loss_bbox: 0.3813, loss_traj: 0.7395, loss_traj_cls: 0.0011, loss_map_cls: 0.1994, loss_map_pts: 0.7676, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.5650, d0.loss_plan_l1_fix_dist: 0.3937, d1.loss_plan_l1_fix_time: 1.0334, d1.loss_plan_l1_fix_dist: 0.1888, d2.loss_plan_l1_fix_time: 1.0157, d2.loss_plan_l1_fix_dist: 0.1839, d3.loss_plan_l1_fix_time: 1.0107, d3.loss_plan_l1_fix_dist: 0.1935, d4.loss_plan_l1_fix_time: 1.0119, d4.loss_plan_l1_fix_dist: 0.2074, d5.loss_plan_l1_fix_time: 1.0143, d5.loss_plan_l1_fix_dist: 0.2220, d6.loss_plan_l1_fix_time: 1.0178, d6.loss_plan_l1_fix_dist: 0.2372, d0.loss_cls_all: 0.2106, d0.loss_bbox_all: 0.4362, d0.loss_cls: 0.2106, d0.loss_bbox: 0.4362, d1.loss_cls: 0.2010, d1.loss_bbox: 0.4049, d2.loss_cls: 0.1890, d2.loss_bbox: 0.3873, d3.loss_cls: 0.1770, d3.loss_bbox: 0.3834, d4.loss_cls: 0.1734, d4.loss_bbox: 0.3816, d5.loss_cls: 0.1708, d5.loss_bbox: 0.3807, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9265, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7957, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7629, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7412, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7448, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7411, d0.loss_map_cls_all: 0.2704, d0.loss_map_pts_all: 1.4554, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2704, d0.loss_map_pts: 1.4554, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2335, d1.loss_map_pts: 1.0193, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.2152, d2.loss_map_pts: 0.8598, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.2058, d3.loss_map_pts: 0.7988, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.2028, d4.loss_map_pts: 0.7716, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1998, d5.loss_map_pts: 0.7669, d5.loss_map_dir: 0.0106, loss: 30.2214, grad_norm: 148.5138 +2026-02-26 06:15:49,713 - DriveTransformer - INFO - Epoch [6][34900/39528] lr: 8.977e-05, eta: 6 days, 16:02:59, time: 0.769, data_time: 0.039, memory: 19865, loss_cls: 0.1664, loss_bbox: 0.3727, loss_traj: 0.6209, loss_traj_cls: 0.0010, loss_map_cls: 0.1897, loss_map_pts: 0.7701, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.7122, d0.loss_plan_l1_fix_dist: 0.4593, d1.loss_plan_l1_fix_time: 1.0540, d1.loss_plan_l1_fix_dist: 0.2206, d2.loss_plan_l1_fix_time: 1.0306, d2.loss_plan_l1_fix_dist: 0.2190, d3.loss_plan_l1_fix_time: 1.0313, d3.loss_plan_l1_fix_dist: 0.2279, d4.loss_plan_l1_fix_time: 1.0341, d4.loss_plan_l1_fix_dist: 0.2385, d5.loss_plan_l1_fix_time: 1.0366, d5.loss_plan_l1_fix_dist: 0.2489, d6.loss_plan_l1_fix_time: 1.0394, d6.loss_plan_l1_fix_dist: 0.2639, d0.loss_cls_all: 0.2103, d0.loss_bbox_all: 0.4337, d0.loss_cls: 0.2103, d0.loss_bbox: 0.4337, d1.loss_cls: 0.2035, d1.loss_bbox: 0.3980, d2.loss_cls: 0.1894, d2.loss_bbox: 0.3789, d3.loss_cls: 0.1747, d3.loss_bbox: 0.3742, d4.loss_cls: 0.1679, d4.loss_bbox: 0.3745, d5.loss_cls: 0.1664, d5.loss_bbox: 0.3728, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8275, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6824, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6379, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6233, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6225, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6214, d0.loss_map_cls_all: 0.2646, d0.loss_map_pts_all: 1.5039, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2646, d0.loss_map_pts: 1.5039, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2302, d1.loss_map_pts: 1.0599, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2136, d2.loss_map_pts: 0.8848, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.2030, d3.loss_map_pts: 0.8143, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1955, d4.loss_map_pts: 0.7840, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1902, d5.loss_map_pts: 0.7732, d5.loss_map_dir: 0.0114, loss: 30.0222, grad_norm: 149.0264 +2026-02-26 06:16:29,106 - DriveTransformer - INFO - Epoch [6][34950/39528] lr: 8.977e-05, eta: 6 days, 16:02:17, time: 0.788, data_time: 0.039, memory: 19865, loss_cls: 0.1594, loss_bbox: 0.3578, loss_traj: 0.6179, loss_traj_cls: 0.0010, loss_map_cls: 0.1569, loss_map_pts: 0.7581, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.5772, d0.loss_plan_l1_fix_dist: 0.3533, d1.loss_plan_l1_fix_time: 1.0576, d1.loss_plan_l1_fix_dist: 0.1720, d2.loss_plan_l1_fix_time: 1.0369, d2.loss_plan_l1_fix_dist: 0.1739, d3.loss_plan_l1_fix_time: 1.0336, d3.loss_plan_l1_fix_dist: 0.1865, d4.loss_plan_l1_fix_time: 1.0369, d4.loss_plan_l1_fix_dist: 0.1972, d5.loss_plan_l1_fix_time: 1.0398, d5.loss_plan_l1_fix_dist: 0.2097, d6.loss_plan_l1_fix_time: 1.0430, d6.loss_plan_l1_fix_dist: 0.2226, d0.loss_cls_all: 0.1992, d0.loss_bbox_all: 0.4134, d0.loss_cls: 0.1992, d0.loss_bbox: 0.4134, d1.loss_cls: 0.1876, d1.loss_bbox: 0.3841, d2.loss_cls: 0.1785, d2.loss_bbox: 0.3680, d3.loss_cls: 0.1646, d3.loss_bbox: 0.3636, d4.loss_cls: 0.1596, d4.loss_bbox: 0.3593, d5.loss_cls: 0.1581, d5.loss_bbox: 0.3588, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8188, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6720, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6279, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6176, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6139, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6184, d0.loss_map_cls_all: 0.2319, d0.loss_map_pts_all: 1.5857, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2319, d0.loss_map_pts: 1.5857, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2004, d1.loss_map_pts: 1.0547, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1816, d2.loss_map_pts: 0.8696, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1701, d3.loss_map_pts: 0.8009, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1605, d4.loss_map_pts: 0.7715, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1575, d5.loss_map_pts: 0.7626, d5.loss_map_dir: 0.0108, loss: 29.1217, grad_norm: 150.9387 +2026-02-26 06:17:08,244 - DriveTransformer - INFO - Epoch [6][35000/39528] lr: 8.977e-05, eta: 6 days, 16:01:33, time: 0.784, data_time: 0.043, memory: 19865, loss_cls: 0.1440, loss_bbox: 0.3472, loss_traj: 0.6738, loss_traj_cls: 0.0011, loss_map_cls: 0.1510, loss_map_pts: 0.7110, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.3374, d0.loss_plan_l1_fix_dist: 0.5123, d1.loss_plan_l1_fix_time: 0.9126, d1.loss_plan_l1_fix_dist: 0.1918, d2.loss_plan_l1_fix_time: 0.8999, d2.loss_plan_l1_fix_dist: 0.1959, d3.loss_plan_l1_fix_time: 0.9003, d3.loss_plan_l1_fix_dist: 0.1999, d4.loss_plan_l1_fix_time: 0.9033, d4.loss_plan_l1_fix_dist: 0.2083, d5.loss_plan_l1_fix_time: 0.9065, d5.loss_plan_l1_fix_dist: 0.2195, d6.loss_plan_l1_fix_time: 0.9105, d6.loss_plan_l1_fix_dist: 0.2300, d0.loss_cls_all: 0.1716, d0.loss_bbox_all: 0.4020, d0.loss_cls: 0.1716, d0.loss_bbox: 0.4020, d1.loss_cls: 0.1630, d1.loss_bbox: 0.3730, d2.loss_cls: 0.1541, d2.loss_bbox: 0.3538, d3.loss_cls: 0.1499, d3.loss_bbox: 0.3473, d4.loss_cls: 0.1450, d4.loss_bbox: 0.3458, d5.loss_cls: 0.1441, d5.loss_bbox: 0.3464, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8714, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7343, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6926, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6781, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6733, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6724, d0.loss_map_cls_all: 0.2220, d0.loss_map_pts_all: 1.3942, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2220, d0.loss_map_pts: 1.3942, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1887, d1.loss_map_pts: 0.9433, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1689, d2.loss_map_pts: 0.7952, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1596, d3.loss_map_pts: 0.7364, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1533, d4.loss_map_pts: 0.7163, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1513, d5.loss_map_pts: 0.7128, d5.loss_map_dir: 0.0082, loss: 27.5794, grad_norm: 149.1514 +2026-02-26 06:17:47,221 - DriveTransformer - INFO - Epoch [6][35050/39528] lr: 8.977e-05, eta: 6 days, 16:00:49, time: 0.778, data_time: 0.036, memory: 19865, loss_cls: 0.1583, loss_bbox: 0.3641, loss_traj: 0.6427, loss_traj_cls: 0.0010, loss_map_cls: 0.1673, loss_map_pts: 0.7351, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.6934, d0.loss_plan_l1_fix_dist: 0.4854, d1.loss_plan_l1_fix_time: 1.0401, d1.loss_plan_l1_fix_dist: 0.1783, d2.loss_plan_l1_fix_time: 1.0285, d2.loss_plan_l1_fix_dist: 0.1906, d3.loss_plan_l1_fix_time: 1.0269, d3.loss_plan_l1_fix_dist: 0.1962, d4.loss_plan_l1_fix_time: 1.0296, d4.loss_plan_l1_fix_dist: 0.2097, d5.loss_plan_l1_fix_time: 1.0334, d5.loss_plan_l1_fix_dist: 0.2261, d6.loss_plan_l1_fix_time: 1.0383, d6.loss_plan_l1_fix_dist: 0.2451, d0.loss_cls_all: 0.2022, d0.loss_bbox_all: 0.4067, d0.loss_cls: 0.2022, d0.loss_bbox: 0.4067, d1.loss_cls: 0.1932, d1.loss_bbox: 0.3757, d2.loss_cls: 0.1826, d2.loss_bbox: 0.3605, d3.loss_cls: 0.1680, d3.loss_bbox: 0.3589, d4.loss_cls: 0.1593, d4.loss_bbox: 0.3606, d5.loss_cls: 0.1589, d5.loss_bbox: 0.3616, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8447, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6931, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6560, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6397, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6389, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6375, d0.loss_map_cls_all: 0.2434, d0.loss_map_pts_all: 1.4987, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2434, d0.loss_map_pts: 1.4987, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2111, d1.loss_map_pts: 1.0137, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.1917, d2.loss_map_pts: 0.8298, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.1798, d3.loss_map_pts: 0.7658, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.1738, d4.loss_map_pts: 0.7396, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1694, d5.loss_map_pts: 0.7351, d5.loss_map_dir: 0.0118, loss: 29.2892, grad_norm: 148.4538 +2026-02-26 06:18:26,405 - DriveTransformer - INFO - Epoch [6][35100/39528] lr: 8.977e-05, eta: 6 days, 16:00:05, time: 0.784, data_time: 0.039, memory: 19865, loss_cls: 0.1681, loss_bbox: 0.3772, loss_traj: 0.6435, loss_traj_cls: 0.0010, loss_map_cls: 0.1898, loss_map_pts: 0.7230, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.6616, d0.loss_plan_l1_fix_dist: 0.4063, d1.loss_plan_l1_fix_time: 1.2869, d1.loss_plan_l1_fix_dist: 0.1828, d2.loss_plan_l1_fix_time: 1.2677, d2.loss_plan_l1_fix_dist: 0.1843, d3.loss_plan_l1_fix_time: 1.2648, d3.loss_plan_l1_fix_dist: 0.1947, d4.loss_plan_l1_fix_time: 1.2675, d4.loss_plan_l1_fix_dist: 0.2090, d5.loss_plan_l1_fix_time: 1.2711, d5.loss_plan_l1_fix_dist: 0.2243, d6.loss_plan_l1_fix_time: 1.2756, d6.loss_plan_l1_fix_dist: 0.2438, d0.loss_cls_all: 0.2107, d0.loss_bbox_all: 0.4343, d0.loss_cls: 0.2107, d0.loss_bbox: 0.4343, d1.loss_cls: 0.2025, d1.loss_bbox: 0.3996, d2.loss_cls: 0.1894, d2.loss_bbox: 0.3813, d3.loss_cls: 0.1773, d3.loss_bbox: 0.3757, d4.loss_cls: 0.1698, d4.loss_bbox: 0.3757, d5.loss_cls: 0.1680, d5.loss_bbox: 0.3752, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8314, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6959, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6454, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6374, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6391, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6406, d0.loss_map_cls_all: 0.2580, d0.loss_map_pts_all: 1.3983, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2580, d0.loss_map_pts: 1.3983, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2332, d1.loss_map_pts: 0.9955, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.2145, d2.loss_map_pts: 0.8277, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.2012, d3.loss_map_pts: 0.7575, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1953, d4.loss_map_pts: 0.7312, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1910, d5.loss_map_pts: 0.7233, d5.loss_map_dir: 0.0100, loss: 30.7027, grad_norm: 149.2017 +2026-02-26 06:19:04,128 - DriveTransformer - INFO - Epoch [6][35150/39528] lr: 8.977e-05, eta: 6 days, 15:59:18, time: 0.754, data_time: 0.040, memory: 19865, loss_cls: 0.1813, loss_bbox: 0.3802, loss_traj: 0.7423, loss_traj_cls: 0.0010, loss_map_cls: 0.1717, loss_map_pts: 0.7228, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.7665, d0.loss_plan_l1_fix_dist: 0.4462, d1.loss_plan_l1_fix_time: 1.2009, d1.loss_plan_l1_fix_dist: 0.2273, d2.loss_plan_l1_fix_time: 1.1932, d2.loss_plan_l1_fix_dist: 0.2132, d3.loss_plan_l1_fix_time: 1.1902, d3.loss_plan_l1_fix_dist: 0.2187, d4.loss_plan_l1_fix_time: 1.1919, d4.loss_plan_l1_fix_dist: 0.2288, d5.loss_plan_l1_fix_time: 1.1939, d5.loss_plan_l1_fix_dist: 0.2387, d6.loss_plan_l1_fix_time: 1.1964, d6.loss_plan_l1_fix_dist: 0.2537, d0.loss_cls_all: 0.2095, d0.loss_bbox_all: 0.4330, d0.loss_cls: 0.2095, d0.loss_bbox: 0.4330, d1.loss_cls: 0.2062, d1.loss_bbox: 0.3986, d2.loss_cls: 0.1945, d2.loss_bbox: 0.3853, d3.loss_cls: 0.1866, d3.loss_bbox: 0.3789, d4.loss_cls: 0.1817, d4.loss_bbox: 0.3795, d5.loss_cls: 0.1804, d5.loss_bbox: 0.3797, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0160, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8329, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7697, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7721, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7449, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7400, d0.loss_map_cls_all: 0.2419, d0.loss_map_pts_all: 1.4446, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2419, d0.loss_map_pts: 1.4446, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2132, d1.loss_map_pts: 1.0067, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1958, d2.loss_map_pts: 0.8375, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1824, d3.loss_map_pts: 0.7619, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1767, d4.loss_map_pts: 0.7344, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1736, d5.loss_map_pts: 0.7256, d5.loss_map_dir: 0.0092, loss: 31.4492, grad_norm: 148.8867 +2026-02-26 06:19:44,897 - DriveTransformer - INFO - Epoch [6][35200/39528] lr: 8.977e-05, eta: 6 days, 15:58:39, time: 0.815, data_time: 0.039, memory: 19865, loss_cls: 0.1691, loss_bbox: 0.3676, loss_traj: 0.6453, loss_traj_cls: 0.0010, loss_map_cls: 0.1640, loss_map_pts: 0.7783, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.5948, d0.loss_plan_l1_fix_dist: 0.3638, d1.loss_plan_l1_fix_time: 1.2140, d1.loss_plan_l1_fix_dist: 0.2098, d2.loss_plan_l1_fix_time: 1.2045, d2.loss_plan_l1_fix_dist: 0.1950, d3.loss_plan_l1_fix_time: 1.2025, d3.loss_plan_l1_fix_dist: 0.2032, d4.loss_plan_l1_fix_time: 1.2046, d4.loss_plan_l1_fix_dist: 0.2139, d5.loss_plan_l1_fix_time: 1.2074, d5.loss_plan_l1_fix_dist: 0.2274, d6.loss_plan_l1_fix_time: 1.2109, d6.loss_plan_l1_fix_dist: 0.2388, d0.loss_cls_all: 0.2063, d0.loss_bbox_all: 0.4156, d0.loss_cls: 0.2063, d0.loss_bbox: 0.4156, d1.loss_cls: 0.1956, d1.loss_bbox: 0.3883, d2.loss_cls: 0.1847, d2.loss_bbox: 0.3727, d3.loss_cls: 0.1726, d3.loss_bbox: 0.3669, d4.loss_cls: 0.1692, d4.loss_bbox: 0.3648, d5.loss_cls: 0.1687, d5.loss_bbox: 0.3652, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8353, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6925, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6555, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6504, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6400, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6394, d0.loss_map_cls_all: 0.2254, d0.loss_map_pts_all: 1.5799, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2254, d0.loss_map_pts: 1.5799, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.1987, d1.loss_map_pts: 1.0700, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.1853, d2.loss_map_pts: 0.8819, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1748, d3.loss_map_pts: 0.8143, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1693, d4.loss_map_pts: 0.7887, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1646, d5.loss_map_pts: 0.7822, d5.loss_map_dir: 0.0115, loss: 30.6572, grad_norm: 150.9400 +2026-02-26 06:20:23,474 - DriveTransformer - INFO - Epoch [6][35250/39528] lr: 8.977e-05, eta: 6 days, 15:57:54, time: 0.772, data_time: 0.038, memory: 19865, loss_cls: 0.1620, loss_bbox: 0.3508, loss_traj: 0.7653, loss_traj_cls: 0.0011, loss_map_cls: 0.1685, loss_map_pts: 0.6549, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.5462, d0.loss_plan_l1_fix_dist: 0.4615, d1.loss_plan_l1_fix_time: 1.1141, d1.loss_plan_l1_fix_dist: 0.2183, d2.loss_plan_l1_fix_time: 1.1106, d2.loss_plan_l1_fix_dist: 0.2041, d3.loss_plan_l1_fix_time: 1.1172, d3.loss_plan_l1_fix_dist: 0.2121, d4.loss_plan_l1_fix_time: 1.1204, d4.loss_plan_l1_fix_dist: 0.2227, d5.loss_plan_l1_fix_time: 1.1233, d5.loss_plan_l1_fix_dist: 0.2342, d6.loss_plan_l1_fix_time: 1.1265, d6.loss_plan_l1_fix_dist: 0.2476, d0.loss_cls_all: 0.1969, d0.loss_bbox_all: 0.4048, d0.loss_cls: 0.1969, d0.loss_bbox: 0.4048, d1.loss_cls: 0.1958, d1.loss_bbox: 0.3740, d2.loss_cls: 0.1776, d2.loss_bbox: 0.3613, d3.loss_cls: 0.1686, d3.loss_bbox: 0.3520, d4.loss_cls: 0.1643, d4.loss_bbox: 0.3500, d5.loss_cls: 0.1629, d5.loss_bbox: 0.3497, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0084, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8132, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7657, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7609, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.7614, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7564, d0.loss_map_cls_all: 0.2344, d0.loss_map_pts_all: 1.3521, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2344, d0.loss_map_pts: 1.3521, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.2043, d1.loss_map_pts: 0.9131, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1881, d2.loss_map_pts: 0.7570, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1779, d3.loss_map_pts: 0.6909, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1725, d4.loss_map_pts: 0.6646, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1694, d5.loss_map_pts: 0.6562, d5.loss_map_dir: 0.0083, loss: 29.7248, grad_norm: 149.1802 +2026-02-26 06:21:02,680 - DriveTransformer - INFO - Epoch [6][35300/39528] lr: 8.977e-05, eta: 6 days, 15:57:10, time: 0.784, data_time: 0.038, memory: 19865, loss_cls: 0.1807, loss_bbox: 0.3817, loss_traj: 0.6826, loss_traj_cls: 0.0010, loss_map_cls: 0.1510, loss_map_pts: 0.7043, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.5650, d0.loss_plan_l1_fix_dist: 0.3285, d1.loss_plan_l1_fix_time: 1.1758, d1.loss_plan_l1_fix_dist: 0.2029, d2.loss_plan_l1_fix_time: 1.1725, d2.loss_plan_l1_fix_dist: 0.1975, d3.loss_plan_l1_fix_time: 1.1789, d3.loss_plan_l1_fix_dist: 0.2173, d4.loss_plan_l1_fix_time: 1.1820, d4.loss_plan_l1_fix_dist: 0.2355, d5.loss_plan_l1_fix_time: 1.1848, d5.loss_plan_l1_fix_dist: 0.2553, d6.loss_plan_l1_fix_time: 1.1873, d6.loss_plan_l1_fix_dist: 0.2772, d0.loss_cls_all: 0.2274, d0.loss_bbox_all: 0.4380, d0.loss_cls: 0.2274, d0.loss_bbox: 0.4380, d1.loss_cls: 0.2194, d1.loss_bbox: 0.4031, d2.loss_cls: 0.1998, d2.loss_bbox: 0.3913, d3.loss_cls: 0.1880, d3.loss_bbox: 0.3846, d4.loss_cls: 0.1819, d4.loss_bbox: 0.3830, d5.loss_cls: 0.1822, d5.loss_bbox: 0.3810, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8738, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7261, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6917, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6839, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6795, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6781, d0.loss_map_cls_all: 0.2247, d0.loss_map_pts_all: 1.3901, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2247, d0.loss_map_pts: 1.3901, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1917, d1.loss_map_pts: 0.9666, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1750, d2.loss_map_pts: 0.8008, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1645, d3.loss_map_pts: 0.7363, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1578, d4.loss_map_pts: 0.7089, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1530, d5.loss_map_pts: 0.7038, d5.loss_map_dir: 0.0105, loss: 30.1157, grad_norm: 150.5253 +2026-02-26 06:21:40,639 - DriveTransformer - INFO - Epoch [6][35350/39528] lr: 8.977e-05, eta: 6 days, 15:56:23, time: 0.759, data_time: 0.034, memory: 19865, loss_cls: 0.1782, loss_bbox: 0.4018, loss_traj: 0.6244, loss_traj_cls: 0.0010, loss_map_cls: 0.2054, loss_map_pts: 0.9303, loss_map_dir: 0.0137, d0.loss_plan_l1_fix_time: 2.5072, d0.loss_plan_l1_fix_dist: 0.4153, d1.loss_plan_l1_fix_time: 1.2685, d1.loss_plan_l1_fix_dist: 0.2180, d2.loss_plan_l1_fix_time: 1.2506, d2.loss_plan_l1_fix_dist: 0.2126, d3.loss_plan_l1_fix_time: 1.2435, d3.loss_plan_l1_fix_dist: 0.2229, d4.loss_plan_l1_fix_time: 1.2441, d4.loss_plan_l1_fix_dist: 0.2349, d5.loss_plan_l1_fix_time: 1.2460, d5.loss_plan_l1_fix_dist: 0.2510, d6.loss_plan_l1_fix_time: 1.2483, d6.loss_plan_l1_fix_dist: 0.2702, d0.loss_cls_all: 0.2231, d0.loss_bbox_all: 0.4646, d0.loss_cls: 0.2231, d0.loss_bbox: 0.4646, d1.loss_cls: 0.2160, d1.loss_bbox: 0.4279, d2.loss_cls: 0.1979, d2.loss_bbox: 0.4108, d3.loss_cls: 0.1860, d3.loss_bbox: 0.4034, d4.loss_cls: 0.1799, d4.loss_bbox: 0.4031, d5.loss_cls: 0.1776, d5.loss_bbox: 0.4020, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8249, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6656, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6255, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6205, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6150, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6145, d0.loss_map_cls_all: 0.2690, d0.loss_map_pts_all: 1.8212, d0.loss_map_dir_all: 0.0127, d0.loss_map_cls: 0.2690, d0.loss_map_pts: 1.8212, d0.loss_map_dir: 0.0127, d1.loss_map_cls: 0.2425, d1.loss_map_pts: 1.2608, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.2251, d2.loss_map_pts: 1.0527, d2.loss_map_dir: 0.0125, d3.loss_map_cls: 0.2140, d3.loss_map_pts: 0.9733, d3.loss_map_dir: 0.0130, d4.loss_map_cls: 0.2079, d4.loss_map_pts: 0.9413, d4.loss_map_dir: 0.0135, d5.loss_map_cls: 0.2055, d5.loss_map_pts: 0.9324, d5.loss_map_dir: 0.0136, loss: 33.0670, grad_norm: 151.8233 +2026-02-26 06:22:21,837 - DriveTransformer - INFO - Epoch [6][35400/39528] lr: 8.977e-05, eta: 6 days, 15:55:46, time: 0.824, data_time: 0.042, memory: 19865, loss_cls: 0.1526, loss_bbox: 0.3531, loss_traj: 0.6320, loss_traj_cls: 0.0011, loss_map_cls: 0.1404, loss_map_pts: 0.7594, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.4077, d0.loss_plan_l1_fix_dist: 0.4195, d1.loss_plan_l1_fix_time: 1.0776, d1.loss_plan_l1_fix_dist: 0.2244, d2.loss_plan_l1_fix_time: 1.0577, d2.loss_plan_l1_fix_dist: 0.2272, d3.loss_plan_l1_fix_time: 1.0579, d3.loss_plan_l1_fix_dist: 0.2329, d4.loss_plan_l1_fix_time: 1.0620, d4.loss_plan_l1_fix_dist: 0.2481, d5.loss_plan_l1_fix_time: 1.0673, d5.loss_plan_l1_fix_dist: 0.2641, d6.loss_plan_l1_fix_time: 1.0733, d6.loss_plan_l1_fix_dist: 0.2823, d0.loss_cls_all: 0.1904, d0.loss_bbox_all: 0.4100, d0.loss_cls: 0.1904, d0.loss_bbox: 0.4100, d1.loss_cls: 0.1869, d1.loss_bbox: 0.3789, d2.loss_cls: 0.1710, d2.loss_bbox: 0.3612, d3.loss_cls: 0.1585, d3.loss_bbox: 0.3549, d4.loss_cls: 0.1553, d4.loss_bbox: 0.3513, d5.loss_cls: 0.1526, d5.loss_bbox: 0.3515, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8167, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6691, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6366, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6285, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6278, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6257, d0.loss_map_cls_all: 0.2209, d0.loss_map_pts_all: 1.6159, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2209, d0.loss_map_pts: 1.6159, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.1829, d1.loss_map_pts: 1.0639, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.1625, d2.loss_map_pts: 0.8755, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.1519, d3.loss_map_pts: 0.8015, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.1441, d4.loss_map_pts: 0.7680, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.1402, d5.loss_map_pts: 0.7604, d5.loss_map_dir: 0.0122, loss: 29.3937, grad_norm: 152.5966 +2026-02-26 06:23:00,519 - DriveTransformer - INFO - Epoch [6][35450/39528] lr: 8.977e-05, eta: 6 days, 15:55:01, time: 0.774, data_time: 0.041, memory: 19865, loss_cls: 0.2065, loss_bbox: 0.3952, loss_traj: 0.8128, loss_traj_cls: 0.0010, loss_map_cls: 0.1787, loss_map_pts: 0.8281, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.9049, d0.loss_plan_l1_fix_dist: 0.3818, d1.loss_plan_l1_fix_time: 1.3250, d1.loss_plan_l1_fix_dist: 0.2038, d2.loss_plan_l1_fix_time: 1.3158, d2.loss_plan_l1_fix_dist: 0.2210, d3.loss_plan_l1_fix_time: 1.3213, d3.loss_plan_l1_fix_dist: 0.2395, d4.loss_plan_l1_fix_time: 1.3277, d4.loss_plan_l1_fix_dist: 0.2685, d5.loss_plan_l1_fix_time: 1.3345, d5.loss_plan_l1_fix_dist: 0.2988, d6.loss_plan_l1_fix_time: 1.3421, d6.loss_plan_l1_fix_dist: 0.3270, d0.loss_cls_all: 0.2494, d0.loss_bbox_all: 0.4547, d0.loss_cls: 0.2494, d0.loss_bbox: 0.4547, d1.loss_cls: 0.2400, d1.loss_bbox: 0.4177, d2.loss_cls: 0.2217, d2.loss_bbox: 0.4035, d3.loss_cls: 0.2117, d3.loss_bbox: 0.3974, d4.loss_cls: 0.2056, d4.loss_bbox: 0.3957, d5.loss_cls: 0.2047, d5.loss_bbox: 0.3940, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0688, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8848, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.8236, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8077, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.8072, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8102, d0.loss_map_cls_all: 0.2527, d0.loss_map_pts_all: 1.5553, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2527, d0.loss_map_pts: 1.5553, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2204, d1.loss_map_pts: 1.1348, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1994, d2.loss_map_pts: 0.9510, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1873, d3.loss_map_pts: 0.8649, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1812, d4.loss_map_pts: 0.8315, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1780, d5.loss_map_pts: 0.8246, d5.loss_map_dir: 0.0096, loss: 34.2062, grad_norm: 160.4882 +2026-02-26 06:23:39,927 - DriveTransformer - INFO - Epoch [6][35500/39528] lr: 8.977e-05, eta: 6 days, 15:54:18, time: 0.788, data_time: 0.039, memory: 19865, loss_cls: 0.1450, loss_bbox: 0.3543, loss_traj: 0.6692, loss_traj_cls: 0.0011, loss_map_cls: 0.1588, loss_map_pts: 0.7492, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.8355, d0.loss_plan_l1_fix_dist: 0.4071, d1.loss_plan_l1_fix_time: 1.3134, d1.loss_plan_l1_fix_dist: 0.2063, d2.loss_plan_l1_fix_time: 1.2916, d2.loss_plan_l1_fix_dist: 0.2214, d3.loss_plan_l1_fix_time: 1.2909, d3.loss_plan_l1_fix_dist: 0.2380, d4.loss_plan_l1_fix_time: 1.2958, d4.loss_plan_l1_fix_dist: 0.2623, d5.loss_plan_l1_fix_time: 1.3023, d5.loss_plan_l1_fix_dist: 0.2879, d6.loss_plan_l1_fix_time: 1.3101, d6.loss_plan_l1_fix_dist: 0.3132, d0.loss_cls_all: 0.1899, d0.loss_bbox_all: 0.4172, d0.loss_cls: 0.1899, d0.loss_bbox: 0.4172, d1.loss_cls: 0.1767, d1.loss_bbox: 0.3836, d2.loss_cls: 0.1652, d2.loss_bbox: 0.3636, d3.loss_cls: 0.1541, d3.loss_bbox: 0.3562, d4.loss_cls: 0.1481, d4.loss_bbox: 0.3529, d5.loss_cls: 0.1454, d5.loss_bbox: 0.3537, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8815, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7172, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6810, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6734, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6748, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6711, d0.loss_map_cls_all: 0.2251, d0.loss_map_pts_all: 1.5389, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2251, d0.loss_map_pts: 1.5389, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.1921, d1.loss_map_pts: 1.0473, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.1767, d2.loss_map_pts: 0.8567, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.1680, d3.loss_map_pts: 0.7850, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1635, d4.loss_map_pts: 0.7551, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1595, d5.loss_map_pts: 0.7471, d5.loss_map_dir: 0.0109, loss: 31.4386, grad_norm: 160.4108 +2026-02-26 06:24:18,729 - DriveTransformer - INFO - Epoch [6][35550/39528] lr: 8.977e-05, eta: 6 days, 15:53:34, time: 0.776, data_time: 0.036, memory: 19865, loss_cls: 0.1810, loss_bbox: 0.3680, loss_traj: 0.6438, loss_traj_cls: 0.0011, loss_map_cls: 0.1613, loss_map_pts: 0.7335, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.6606, d0.loss_plan_l1_fix_dist: 0.4570, d1.loss_plan_l1_fix_time: 1.1671, d1.loss_plan_l1_fix_dist: 0.1991, d2.loss_plan_l1_fix_time: 1.1444, d2.loss_plan_l1_fix_dist: 0.2048, d3.loss_plan_l1_fix_time: 1.1371, d3.loss_plan_l1_fix_dist: 0.2202, d4.loss_plan_l1_fix_time: 1.1390, d4.loss_plan_l1_fix_dist: 0.2420, d5.loss_plan_l1_fix_time: 1.1425, d5.loss_plan_l1_fix_dist: 0.2660, d6.loss_plan_l1_fix_time: 1.1472, d6.loss_plan_l1_fix_dist: 0.2952, d0.loss_cls_all: 0.2143, d0.loss_bbox_all: 0.4313, d0.loss_cls: 0.2143, d0.loss_bbox: 0.4313, d1.loss_cls: 0.2101, d1.loss_bbox: 0.3964, d2.loss_cls: 0.1962, d2.loss_bbox: 0.3810, d3.loss_cls: 0.1835, d3.loss_bbox: 0.3757, d4.loss_cls: 0.1817, d4.loss_bbox: 0.3703, d5.loss_cls: 0.1798, d5.loss_bbox: 0.3697, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8596, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7129, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6724, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6482, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6423, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6446, d0.loss_map_cls_all: 0.2408, d0.loss_map_pts_all: 1.4488, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2408, d0.loss_map_pts: 1.4488, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2102, d1.loss_map_pts: 0.9895, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1844, d2.loss_map_pts: 0.8235, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1724, d3.loss_map_pts: 0.7638, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1662, d4.loss_map_pts: 0.7399, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1626, d5.loss_map_pts: 0.7343, d5.loss_map_dir: 0.0111, loss: 30.2448, grad_norm: 158.0796 +2026-02-26 06:24:55,930 - DriveTransformer - INFO - Epoch [6][35600/39528] lr: 8.977e-05, eta: 6 days, 15:52:44, time: 0.744, data_time: 0.040, memory: 19865, loss_cls: 0.1547, loss_bbox: 0.3572, loss_traj: 0.6554, loss_traj_cls: 0.0011, loss_map_cls: 0.1553, loss_map_pts: 0.7020, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.7590, d0.loss_plan_l1_fix_dist: 0.5223, d1.loss_plan_l1_fix_time: 0.9994, d1.loss_plan_l1_fix_dist: 0.2141, d2.loss_plan_l1_fix_time: 0.9612, d2.loss_plan_l1_fix_dist: 0.2096, d3.loss_plan_l1_fix_time: 0.9505, d3.loss_plan_l1_fix_dist: 0.2289, d4.loss_plan_l1_fix_time: 0.9524, d4.loss_plan_l1_fix_dist: 0.2521, d5.loss_plan_l1_fix_time: 0.9553, d5.loss_plan_l1_fix_dist: 0.2763, d6.loss_plan_l1_fix_time: 0.9596, d6.loss_plan_l1_fix_dist: 0.3023, d0.loss_cls_all: 0.1941, d0.loss_bbox_all: 0.4232, d0.loss_cls: 0.1941, d0.loss_bbox: 0.4232, d1.loss_cls: 0.1902, d1.loss_bbox: 0.3886, d2.loss_cls: 0.1748, d2.loss_bbox: 0.3697, d3.loss_cls: 0.1643, d3.loss_bbox: 0.3617, d4.loss_cls: 0.1562, d4.loss_bbox: 0.3598, d5.loss_cls: 0.1551, d5.loss_bbox: 0.3567, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8756, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7204, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6764, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6677, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6601, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6606, d0.loss_map_cls_all: 0.2316, d0.loss_map_pts_all: 1.3161, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2316, d0.loss_map_pts: 1.3161, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1985, d1.loss_map_pts: 0.9274, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1778, d2.loss_map_pts: 0.7786, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1647, d3.loss_map_pts: 0.7261, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1619, d4.loss_map_pts: 0.7018, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1569, d5.loss_map_pts: 0.6992, d5.loss_map_dir: 0.0104, loss: 28.6171, grad_norm: 159.2737 +2026-02-26 06:25:35,156 - DriveTransformer - INFO - Epoch [6][35650/39528] lr: 8.977e-05, eta: 6 days, 15:52:01, time: 0.784, data_time: 0.041, memory: 19865, loss_cls: 0.1616, loss_bbox: 0.3506, loss_traj: 0.7126, loss_traj_cls: 0.0011, loss_map_cls: 0.1483, loss_map_pts: 0.6699, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.6408, d0.loss_plan_l1_fix_dist: 0.3903, d1.loss_plan_l1_fix_time: 1.1320, d1.loss_plan_l1_fix_dist: 0.2226, d2.loss_plan_l1_fix_time: 1.1223, d2.loss_plan_l1_fix_dist: 0.2095, d3.loss_plan_l1_fix_time: 1.1206, d3.loss_plan_l1_fix_dist: 0.2244, d4.loss_plan_l1_fix_time: 1.1240, d4.loss_plan_l1_fix_dist: 0.2437, d5.loss_plan_l1_fix_time: 1.1275, d5.loss_plan_l1_fix_dist: 0.2646, d6.loss_plan_l1_fix_time: 1.1320, d6.loss_plan_l1_fix_dist: 0.2851, d0.loss_cls_all: 0.1897, d0.loss_bbox_all: 0.4019, d0.loss_cls: 0.1897, d0.loss_bbox: 0.4019, d1.loss_cls: 0.1850, d1.loss_bbox: 0.3700, d2.loss_cls: 0.1732, d2.loss_bbox: 0.3552, d3.loss_cls: 0.1656, d3.loss_bbox: 0.3497, d4.loss_cls: 0.1615, d4.loss_bbox: 0.3486, d5.loss_cls: 0.1605, d5.loss_bbox: 0.3489, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9533, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7735, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7133, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7102, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.7107, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7134, d0.loss_map_cls_all: 0.2215, d0.loss_map_pts_all: 1.4439, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2215, d0.loss_map_pts: 1.4439, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1927, d1.loss_map_pts: 0.9588, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1725, d2.loss_map_pts: 0.7727, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1619, d3.loss_map_pts: 0.7046, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1559, d4.loss_map_pts: 0.6768, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1511, d5.loss_map_pts: 0.6700, d5.loss_map_dir: 0.0102, loss: 29.6914, grad_norm: 162.4267 +2026-02-26 06:26:12,975 - DriveTransformer - INFO - Epoch [6][35700/39528] lr: 8.977e-05, eta: 6 days, 15:51:13, time: 0.756, data_time: 0.041, memory: 19865, loss_cls: 0.1560, loss_bbox: 0.3600, loss_traj: 0.8015, loss_traj_cls: 0.0011, loss_map_cls: 0.1400, loss_map_pts: 0.6908, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.5991, d0.loss_plan_l1_fix_dist: 0.3906, d1.loss_plan_l1_fix_time: 1.1911, d1.loss_plan_l1_fix_dist: 0.2071, d2.loss_plan_l1_fix_time: 1.1825, d2.loss_plan_l1_fix_dist: 0.1963, d3.loss_plan_l1_fix_time: 1.1744, d3.loss_plan_l1_fix_dist: 0.2098, d4.loss_plan_l1_fix_time: 1.1760, d4.loss_plan_l1_fix_dist: 0.2312, d5.loss_plan_l1_fix_time: 1.1783, d5.loss_plan_l1_fix_dist: 0.2538, d6.loss_plan_l1_fix_time: 1.1808, d6.loss_plan_l1_fix_dist: 0.2755, d0.loss_cls_all: 0.1832, d0.loss_bbox_all: 0.4137, d0.loss_cls: 0.1832, d0.loss_bbox: 0.4137, d1.loss_cls: 0.1799, d1.loss_bbox: 0.3846, d2.loss_cls: 0.1696, d2.loss_bbox: 0.3686, d3.loss_cls: 0.1611, d3.loss_bbox: 0.3637, d4.loss_cls: 0.1567, d4.loss_bbox: 0.3614, d5.loss_cls: 0.1550, d5.loss_bbox: 0.3599, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0696, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8894, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.8141, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8010, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.8026, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8010, d0.loss_map_cls_all: 0.2234, d0.loss_map_pts_all: 1.4139, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2234, d0.loss_map_pts: 1.4139, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1883, d1.loss_map_pts: 0.9567, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1650, d2.loss_map_pts: 0.7891, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1532, d3.loss_map_pts: 0.7220, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1458, d4.loss_map_pts: 0.7006, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1414, d5.loss_map_pts: 0.6927, d5.loss_map_dir: 0.0102, loss: 30.6424, grad_norm: 162.1268 +2026-02-26 06:26:51,667 - DriveTransformer - INFO - Epoch [6][35750/39528] lr: 8.977e-05, eta: 6 days, 15:50:28, time: 0.774, data_time: 0.040, memory: 19865, loss_cls: 0.1620, loss_bbox: 0.3558, loss_traj: 0.6231, loss_traj_cls: 0.0011, loss_map_cls: 0.1598, loss_map_pts: 0.7024, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.8199, d0.loss_plan_l1_fix_dist: 0.4451, d1.loss_plan_l1_fix_time: 1.1495, d1.loss_plan_l1_fix_dist: 0.2176, d2.loss_plan_l1_fix_time: 1.1320, d2.loss_plan_l1_fix_dist: 0.2144, d3.loss_plan_l1_fix_time: 1.1359, d3.loss_plan_l1_fix_dist: 0.2356, d4.loss_plan_l1_fix_time: 1.1393, d4.loss_plan_l1_fix_dist: 0.2578, d5.loss_plan_l1_fix_time: 1.1432, d5.loss_plan_l1_fix_dist: 0.2841, d6.loss_plan_l1_fix_time: 1.1473, d6.loss_plan_l1_fix_dist: 0.3152, d0.loss_cls_all: 0.1949, d0.loss_bbox_all: 0.4061, d0.loss_cls: 0.1949, d0.loss_bbox: 0.4061, d1.loss_cls: 0.1858, d1.loss_bbox: 0.3802, d2.loss_cls: 0.1754, d2.loss_bbox: 0.3641, d3.loss_cls: 0.1668, d3.loss_bbox: 0.3587, d4.loss_cls: 0.1610, d4.loss_bbox: 0.3569, d5.loss_cls: 0.1610, d5.loss_bbox: 0.3559, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8168, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6799, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6372, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6258, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6256, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6252, d0.loss_map_cls_all: 0.2290, d0.loss_map_pts_all: 1.3826, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2290, d0.loss_map_pts: 1.3826, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.1988, d1.loss_map_pts: 0.9707, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1797, d2.loss_map_pts: 0.8032, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1707, d3.loss_map_pts: 0.7366, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1664, d4.loss_map_pts: 0.7112, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1608, d5.loss_map_pts: 0.7044, d5.loss_map_dir: 0.0101, loss: 29.6314, grad_norm: 160.5751 +2026-02-26 06:27:29,994 - DriveTransformer - INFO - Epoch [6][35800/39528] lr: 8.977e-05, eta: 6 days, 15:49:42, time: 0.768, data_time: 0.041, memory: 19865, loss_cls: 0.1504, loss_bbox: 0.3580, loss_traj: 0.7514, loss_traj_cls: 0.0011, loss_map_cls: 0.1431, loss_map_pts: 0.6249, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.7105, d0.loss_plan_l1_fix_dist: 0.3912, d1.loss_plan_l1_fix_time: 1.0488, d1.loss_plan_l1_fix_dist: 0.1954, d2.loss_plan_l1_fix_time: 1.0275, d2.loss_plan_l1_fix_dist: 0.1930, d3.loss_plan_l1_fix_time: 1.0235, d3.loss_plan_l1_fix_dist: 0.2029, d4.loss_plan_l1_fix_time: 1.0250, d4.loss_plan_l1_fix_dist: 0.2152, d5.loss_plan_l1_fix_time: 1.0279, d5.loss_plan_l1_fix_dist: 0.2326, d6.loss_plan_l1_fix_time: 1.0310, d6.loss_plan_l1_fix_dist: 0.2567, d0.loss_cls_all: 0.1763, d0.loss_bbox_all: 0.4061, d0.loss_cls: 0.1763, d0.loss_bbox: 0.4061, d1.loss_cls: 0.1738, d1.loss_bbox: 0.3768, d2.loss_cls: 0.1635, d2.loss_bbox: 0.3603, d3.loss_cls: 0.1548, d3.loss_bbox: 0.3583, d4.loss_cls: 0.1513, d4.loss_bbox: 0.3565, d5.loss_cls: 0.1506, d5.loss_bbox: 0.3564, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0091, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8083, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7636, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7515, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.7527, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7531, d0.loss_map_cls_all: 0.2133, d0.loss_map_pts_all: 1.3579, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2133, d0.loss_map_pts: 1.3579, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1836, d1.loss_map_pts: 0.9178, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1654, d2.loss_map_pts: 0.7454, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1552, d3.loss_map_pts: 0.6650, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1484, d4.loss_map_pts: 0.6341, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1441, d5.loss_map_pts: 0.6266, d5.loss_map_dir: 0.0091, loss: 28.8197, grad_norm: 159.7350 +2026-02-26 06:28:08,278 - DriveTransformer - INFO - Epoch [6][35850/39528] lr: 8.977e-05, eta: 6 days, 15:48:56, time: 0.764, data_time: 0.036, memory: 19865, loss_cls: 0.1823, loss_bbox: 0.3836, loss_traj: 0.7712, loss_traj_cls: 0.0010, loss_map_cls: 0.1818, loss_map_pts: 0.7928, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.4092, d0.loss_plan_l1_fix_dist: 0.3459, d1.loss_plan_l1_fix_time: 0.9545, d1.loss_plan_l1_fix_dist: 0.1759, d2.loss_plan_l1_fix_time: 0.9385, d2.loss_plan_l1_fix_dist: 0.1839, d3.loss_plan_l1_fix_time: 0.9395, d3.loss_plan_l1_fix_dist: 0.2020, d4.loss_plan_l1_fix_time: 0.9416, d4.loss_plan_l1_fix_dist: 0.2231, d5.loss_plan_l1_fix_time: 0.9443, d5.loss_plan_l1_fix_dist: 0.2436, d6.loss_plan_l1_fix_time: 0.9476, d6.loss_plan_l1_fix_dist: 0.2634, d0.loss_cls_all: 0.2246, d0.loss_bbox_all: 0.4433, d0.loss_cls: 0.2246, d0.loss_bbox: 0.4433, d1.loss_cls: 0.2148, d1.loss_bbox: 0.4100, d2.loss_cls: 0.2010, d2.loss_bbox: 0.3941, d3.loss_cls: 0.1892, d3.loss_bbox: 0.3868, d4.loss_cls: 0.1840, d4.loss_bbox: 0.3839, d5.loss_cls: 0.1815, d5.loss_bbox: 0.3844, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9719, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8021, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7612, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7550, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7605, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7671, d0.loss_map_cls_all: 0.2562, d0.loss_map_pts_all: 1.5055, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2562, d0.loss_map_pts: 1.5055, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2237, d1.loss_map_pts: 1.0723, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2090, d2.loss_map_pts: 0.9055, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1953, d3.loss_map_pts: 0.8339, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1882, d4.loss_map_pts: 0.8043, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1837, d5.loss_map_pts: 0.7941, d5.loss_map_dir: 0.0108, loss: 30.1335, grad_norm: 160.3555 +2026-02-26 06:28:48,077 - DriveTransformer - INFO - Epoch [6][35900/39528] lr: 8.977e-05, eta: 6 days, 15:48:14, time: 0.796, data_time: 0.039, memory: 19865, loss_cls: 0.1879, loss_bbox: 0.3840, loss_traj: 0.6536, loss_traj_cls: 0.0010, loss_map_cls: 0.1682, loss_map_pts: 0.8190, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.7635, d0.loss_plan_l1_fix_dist: 0.4206, d1.loss_plan_l1_fix_time: 1.1438, d1.loss_plan_l1_fix_dist: 0.1938, d2.loss_plan_l1_fix_time: 1.1354, d2.loss_plan_l1_fix_dist: 0.2063, d3.loss_plan_l1_fix_time: 1.1428, d3.loss_plan_l1_fix_dist: 0.2215, d4.loss_plan_l1_fix_time: 1.1462, d4.loss_plan_l1_fix_dist: 0.2382, d5.loss_plan_l1_fix_time: 1.1502, d5.loss_plan_l1_fix_dist: 0.2570, d6.loss_plan_l1_fix_time: 1.1551, d6.loss_plan_l1_fix_dist: 0.2764, d0.loss_cls_all: 0.2237, d0.loss_bbox_all: 0.4441, d0.loss_cls: 0.2237, d0.loss_bbox: 0.4441, d1.loss_cls: 0.2162, d1.loss_bbox: 0.4072, d2.loss_cls: 0.2037, d2.loss_bbox: 0.3890, d3.loss_cls: 0.1917, d3.loss_bbox: 0.3866, d4.loss_cls: 0.1873, d4.loss_bbox: 0.3843, d5.loss_cls: 0.1871, d5.loss_bbox: 0.3840, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8962, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7001, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6523, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6527, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6533, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6538, d0.loss_map_cls_all: 0.2244, d0.loss_map_pts_all: 1.5371, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.2244, d0.loss_map_pts: 1.5371, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.2025, d1.loss_map_pts: 1.0696, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.1887, d2.loss_map_pts: 0.9010, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.1783, d3.loss_map_pts: 0.8376, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.1727, d4.loss_map_pts: 0.8223, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.1694, d5.loss_map_pts: 0.8208, d5.loss_map_dir: 0.0123, loss: 31.1345, grad_norm: 159.9461 +2026-02-26 06:29:26,943 - DriveTransformer - INFO - Epoch [6][35950/39528] lr: 8.977e-05, eta: 6 days, 15:47:30, time: 0.777, data_time: 0.038, memory: 19865, loss_cls: 0.1840, loss_bbox: 0.3709, loss_traj: 0.6438, loss_traj_cls: 0.0010, loss_map_cls: 0.1769, loss_map_pts: 0.7387, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 3.0459, d0.loss_plan_l1_fix_dist: 0.3935, d1.loss_plan_l1_fix_time: 1.1701, d1.loss_plan_l1_fix_dist: 0.1885, d2.loss_plan_l1_fix_time: 1.1547, d2.loss_plan_l1_fix_dist: 0.1975, d3.loss_plan_l1_fix_time: 1.1536, d3.loss_plan_l1_fix_dist: 0.2100, d4.loss_plan_l1_fix_time: 1.1564, d4.loss_plan_l1_fix_dist: 0.2268, d5.loss_plan_l1_fix_time: 1.1599, d5.loss_plan_l1_fix_dist: 0.2451, d6.loss_plan_l1_fix_time: 1.1644, d6.loss_plan_l1_fix_dist: 0.2621, d0.loss_cls_all: 0.2180, d0.loss_bbox_all: 0.4341, d0.loss_cls: 0.2180, d0.loss_bbox: 0.4341, d1.loss_cls: 0.2110, d1.loss_bbox: 0.3992, d2.loss_cls: 0.2007, d2.loss_bbox: 0.3807, d3.loss_cls: 0.1872, d3.loss_bbox: 0.3761, d4.loss_cls: 0.1823, d4.loss_bbox: 0.3735, d5.loss_cls: 0.1828, d5.loss_bbox: 0.3716, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8431, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6986, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6564, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6474, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6441, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6479, d0.loss_map_cls_all: 0.2456, d0.loss_map_pts_all: 1.4162, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2456, d0.loss_map_pts: 1.4162, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2171, d1.loss_map_pts: 0.9956, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1973, d2.loss_map_pts: 0.8374, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1865, d3.loss_map_pts: 0.7683, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1814, d4.loss_map_pts: 0.7501, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1775, d5.loss_map_pts: 0.7411, d5.loss_map_dir: 0.0105, loss: 30.6152, grad_norm: 157.9191 +2026-02-26 06:30:02,856 - DriveTransformer - INFO - Epoch [6][36000/39528] lr: 8.977e-05, eta: 6 days, 15:46:37, time: 0.718, data_time: 0.038, memory: 19865, loss_cls: 0.1861, loss_bbox: 0.3695, loss_traj: 0.7695, loss_traj_cls: 0.0010, loss_map_cls: 0.1902, loss_map_pts: 0.7617, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.6895, d0.loss_plan_l1_fix_dist: 0.3766, d1.loss_plan_l1_fix_time: 1.2590, d1.loss_plan_l1_fix_dist: 0.1795, d2.loss_plan_l1_fix_time: 1.2516, d2.loss_plan_l1_fix_dist: 0.1739, d3.loss_plan_l1_fix_time: 1.2547, d3.loss_plan_l1_fix_dist: 0.1897, d4.loss_plan_l1_fix_time: 1.2584, d4.loss_plan_l1_fix_dist: 0.2126, d5.loss_plan_l1_fix_time: 1.2618, d5.loss_plan_l1_fix_dist: 0.2382, d6.loss_plan_l1_fix_time: 1.2659, d6.loss_plan_l1_fix_dist: 0.2644, d0.loss_cls_all: 0.2272, d0.loss_bbox_all: 0.4358, d0.loss_cls: 0.2272, d0.loss_bbox: 0.4358, d1.loss_cls: 0.2163, d1.loss_bbox: 0.4036, d2.loss_cls: 0.2040, d2.loss_bbox: 0.3835, d3.loss_cls: 0.1896, d3.loss_bbox: 0.3772, d4.loss_cls: 0.1846, d4.loss_bbox: 0.3737, d5.loss_cls: 0.1836, d5.loss_bbox: 0.3712, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9918, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8235, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7847, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7744, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7703, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7694, d0.loss_map_cls_all: 0.2536, d0.loss_map_pts_all: 1.4036, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2536, d0.loss_map_pts: 1.4036, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2337, d1.loss_map_pts: 1.0046, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.2168, d2.loss_map_pts: 0.8594, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.2036, d3.loss_map_pts: 0.7904, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1973, d4.loss_map_pts: 0.7702, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1925, d5.loss_map_pts: 0.7613, d5.loss_map_dir: 0.0094, loss: 31.9042, grad_norm: 160.8310 +2026-02-26 06:30:41,006 - DriveTransformer - INFO - Epoch [6][36050/39528] lr: 8.977e-05, eta: 6 days, 15:45:50, time: 0.763, data_time: 0.040, memory: 19865, loss_cls: 0.1869, loss_bbox: 0.3934, loss_traj: 0.7560, loss_traj_cls: 0.0009, loss_map_cls: 0.1857, loss_map_pts: 0.7801, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.5417, d0.loss_plan_l1_fix_dist: 0.4429, d1.loss_plan_l1_fix_time: 1.1441, d1.loss_plan_l1_fix_dist: 0.2243, d2.loss_plan_l1_fix_time: 1.1372, d2.loss_plan_l1_fix_dist: 0.2142, d3.loss_plan_l1_fix_time: 1.1359, d3.loss_plan_l1_fix_dist: 0.2225, d4.loss_plan_l1_fix_time: 1.1382, d4.loss_plan_l1_fix_dist: 0.2366, d5.loss_plan_l1_fix_time: 1.1412, d5.loss_plan_l1_fix_dist: 0.2570, d6.loss_plan_l1_fix_time: 1.1448, d6.loss_plan_l1_fix_dist: 0.2787, d0.loss_cls_all: 0.2250, d0.loss_bbox_all: 0.4497, d0.loss_cls: 0.2250, d0.loss_bbox: 0.4497, d1.loss_cls: 0.2113, d1.loss_bbox: 0.4143, d2.loss_cls: 0.2051, d2.loss_bbox: 0.3986, d3.loss_cls: 0.1940, d3.loss_bbox: 0.3919, d4.loss_cls: 0.1886, d4.loss_bbox: 0.3912, d5.loss_cls: 0.1861, d5.loss_bbox: 0.3911, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0362, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8356, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7799, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7618, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7545, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7512, d0.loss_map_cls_all: 0.2664, d0.loss_map_pts_all: 1.4688, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2664, d0.loss_map_pts: 1.4688, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2282, d1.loss_map_pts: 1.0518, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.2095, d2.loss_map_pts: 0.8833, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1965, d3.loss_map_pts: 0.8164, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1905, d4.loss_map_pts: 0.7868, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1865, d5.loss_map_pts: 0.7823, d5.loss_map_dir: 0.0103, loss: 31.6897, grad_norm: 162.4337 +2026-02-26 06:31:21,967 - DriveTransformer - INFO - Epoch [6][36100/39528] lr: 8.977e-05, eta: 6 days, 15:45:12, time: 0.819, data_time: 0.041, memory: 19865, loss_cls: 0.1652, loss_bbox: 0.3653, loss_traj: 0.6398, loss_traj_cls: 0.0011, loss_map_cls: 0.1566, loss_map_pts: 0.7281, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.5888, d0.loss_plan_l1_fix_dist: 0.5267, d1.loss_plan_l1_fix_time: 1.0180, d1.loss_plan_l1_fix_dist: 0.2081, d2.loss_plan_l1_fix_time: 1.0034, d2.loss_plan_l1_fix_dist: 0.1997, d3.loss_plan_l1_fix_time: 1.0035, d3.loss_plan_l1_fix_dist: 0.2069, d4.loss_plan_l1_fix_time: 1.0056, d4.loss_plan_l1_fix_dist: 0.2195, d5.loss_plan_l1_fix_time: 1.0075, d5.loss_plan_l1_fix_dist: 0.2336, d6.loss_plan_l1_fix_time: 1.0100, d6.loss_plan_l1_fix_dist: 0.2494, d0.loss_cls_all: 0.2027, d0.loss_bbox_all: 0.4220, d0.loss_cls: 0.2027, d0.loss_bbox: 0.4220, d1.loss_cls: 0.1955, d1.loss_bbox: 0.3886, d2.loss_cls: 0.1840, d2.loss_bbox: 0.3724, d3.loss_cls: 0.1722, d3.loss_bbox: 0.3675, d4.loss_cls: 0.1661, d4.loss_bbox: 0.3683, d5.loss_cls: 0.1649, d5.loss_bbox: 0.3664, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8293, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6755, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6369, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6260, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6355, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6340, d0.loss_map_cls_all: 0.2251, d0.loss_map_pts_all: 1.6208, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2251, d0.loss_map_pts: 1.6208, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.1916, d1.loss_map_pts: 1.0248, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.1743, d2.loss_map_pts: 0.8285, d2.loss_map_dir: 0.0117, d3.loss_map_cls: 0.1665, d3.loss_map_pts: 0.7650, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.1602, d4.loss_map_pts: 0.7382, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.1573, d5.loss_map_pts: 0.7295, d5.loss_map_dir: 0.0126, loss: 29.3011, grad_norm: 163.9934 +2026-02-26 06:31:59,290 - DriveTransformer - INFO - Epoch [6][36150/39528] lr: 8.977e-05, eta: 6 days, 15:44:23, time: 0.746, data_time: 0.039, memory: 19865, loss_cls: 0.1740, loss_bbox: 0.3741, loss_traj: 0.7561, loss_traj_cls: 0.0010, loss_map_cls: 0.1684, loss_map_pts: 0.7117, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.3429, d0.loss_plan_l1_fix_dist: 0.4628, d1.loss_plan_l1_fix_time: 1.1596, d1.loss_plan_l1_fix_dist: 0.2009, d2.loss_plan_l1_fix_time: 1.1332, d2.loss_plan_l1_fix_dist: 0.1996, d3.loss_plan_l1_fix_time: 1.1299, d3.loss_plan_l1_fix_dist: 0.2121, d4.loss_plan_l1_fix_time: 1.1311, d4.loss_plan_l1_fix_dist: 0.2232, d5.loss_plan_l1_fix_time: 1.1329, d5.loss_plan_l1_fix_dist: 0.2375, d6.loss_plan_l1_fix_time: 1.1361, d6.loss_plan_l1_fix_dist: 0.2587, d0.loss_cls_all: 0.2026, d0.loss_bbox_all: 0.4448, d0.loss_cls: 0.2026, d0.loss_bbox: 0.4448, d1.loss_cls: 0.1994, d1.loss_bbox: 0.4063, d2.loss_cls: 0.1888, d2.loss_bbox: 0.3854, d3.loss_cls: 0.1793, d3.loss_bbox: 0.3803, d4.loss_cls: 0.1756, d4.loss_bbox: 0.3776, d5.loss_cls: 0.1738, d5.loss_bbox: 0.3760, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0343, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8385, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7668, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7531, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7451, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7499, d0.loss_map_cls_all: 0.2380, d0.loss_map_pts_all: 1.3610, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2380, d0.loss_map_pts: 1.3610, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2074, d1.loss_map_pts: 0.9809, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1895, d2.loss_map_pts: 0.8153, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1821, d3.loss_map_pts: 0.7485, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1753, d4.loss_map_pts: 0.7217, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1691, d5.loss_map_pts: 0.7131, d5.loss_map_dir: 0.0090, loss: 30.3490, grad_norm: 165.2788 +2026-02-26 06:32:37,458 - DriveTransformer - INFO - Epoch [6][36200/39528] lr: 8.977e-05, eta: 6 days, 15:43:37, time: 0.763, data_time: 0.042, memory: 19865, loss_cls: 0.1659, loss_bbox: 0.3717, loss_traj: 0.7036, loss_traj_cls: 0.0010, loss_map_cls: 0.1682, loss_map_pts: 0.7462, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.6851, d0.loss_plan_l1_fix_dist: 0.4874, d1.loss_plan_l1_fix_time: 1.1037, d1.loss_plan_l1_fix_dist: 0.2247, d2.loss_plan_l1_fix_time: 1.0892, d2.loss_plan_l1_fix_dist: 0.2206, d3.loss_plan_l1_fix_time: 1.0897, d3.loss_plan_l1_fix_dist: 0.2334, d4.loss_plan_l1_fix_time: 1.0933, d4.loss_plan_l1_fix_dist: 0.2549, d5.loss_plan_l1_fix_time: 1.0980, d5.loss_plan_l1_fix_dist: 0.2752, d6.loss_plan_l1_fix_time: 1.1035, d6.loss_plan_l1_fix_dist: 0.2909, d0.loss_cls_all: 0.2016, d0.loss_bbox_all: 0.4305, d0.loss_cls: 0.2016, d0.loss_bbox: 0.4305, d1.loss_cls: 0.1954, d1.loss_bbox: 0.4003, d2.loss_cls: 0.1833, d2.loss_bbox: 0.3777, d3.loss_cls: 0.1717, d3.loss_bbox: 0.3706, d4.loss_cls: 0.1678, d4.loss_bbox: 0.3696, d5.loss_cls: 0.1659, d5.loss_bbox: 0.3693, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9396, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7664, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7149, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7099, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7084, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6989, d0.loss_map_cls_all: 0.2419, d0.loss_map_pts_all: 1.4338, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2419, d0.loss_map_pts: 1.4338, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2152, d1.loss_map_pts: 1.0319, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1945, d2.loss_map_pts: 0.8560, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1839, d3.loss_map_pts: 0.7854, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1756, d4.loss_map_pts: 0.7538, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1700, d5.loss_map_pts: 0.7490, d5.loss_map_dir: 0.0097, loss: 30.5275, grad_norm: 159.5879 +2026-02-26 06:33:17,805 - DriveTransformer - INFO - Epoch [6][36250/39528] lr: 8.977e-05, eta: 6 days, 15:42:57, time: 0.807, data_time: 0.042, memory: 19865, loss_cls: 0.1458, loss_bbox: 0.3689, loss_traj: 0.7651, loss_traj_cls: 0.0010, loss_map_cls: 0.1800, loss_map_pts: 0.8521, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.4149, d0.loss_plan_l1_fix_dist: 0.3650, d1.loss_plan_l1_fix_time: 1.0600, d1.loss_plan_l1_fix_dist: 0.2007, d2.loss_plan_l1_fix_time: 1.0406, d2.loss_plan_l1_fix_dist: 0.1987, d3.loss_plan_l1_fix_time: 1.0399, d3.loss_plan_l1_fix_dist: 0.2109, d4.loss_plan_l1_fix_time: 1.0423, d4.loss_plan_l1_fix_dist: 0.2300, d5.loss_plan_l1_fix_time: 1.0451, d5.loss_plan_l1_fix_dist: 0.2500, d6.loss_plan_l1_fix_time: 1.0484, d6.loss_plan_l1_fix_dist: 0.2694, d0.loss_cls_all: 0.1815, d0.loss_bbox_all: 0.4199, d0.loss_cls: 0.1815, d0.loss_bbox: 0.4199, d1.loss_cls: 0.1735, d1.loss_bbox: 0.3828, d2.loss_cls: 0.1628, d2.loss_bbox: 0.3639, d3.loss_cls: 0.1518, d3.loss_bbox: 0.3597, d4.loss_cls: 0.1484, d4.loss_bbox: 0.3612, d5.loss_cls: 0.1474, d5.loss_bbox: 0.3638, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9836, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8055, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7756, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7624, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7611, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7592, d0.loss_map_cls_all: 0.2569, d0.loss_map_pts_all: 1.6586, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2569, d0.loss_map_pts: 1.6586, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2257, d1.loss_map_pts: 1.1747, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2079, d2.loss_map_pts: 0.9709, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1933, d3.loss_map_pts: 0.8947, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1858, d4.loss_map_pts: 0.8618, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1814, d5.loss_map_pts: 0.8551, d5.loss_map_dir: 0.0115, loss: 31.0713, grad_norm: 158.6822 +2026-02-26 06:33:56,253 - DriveTransformer - INFO - Epoch [6][36300/39528] lr: 8.977e-05, eta: 6 days, 15:42:11, time: 0.769, data_time: 0.040, memory: 19865, loss_cls: 0.1707, loss_bbox: 0.3663, loss_traj: 0.7291, loss_traj_cls: 0.0010, loss_map_cls: 0.1534, loss_map_pts: 0.7559, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.9150, d0.loss_plan_l1_fix_dist: 0.4136, d1.loss_plan_l1_fix_time: 1.1730, d1.loss_plan_l1_fix_dist: 0.2044, d2.loss_plan_l1_fix_time: 1.1601, d2.loss_plan_l1_fix_dist: 0.2097, d3.loss_plan_l1_fix_time: 1.1590, d3.loss_plan_l1_fix_dist: 0.2204, d4.loss_plan_l1_fix_time: 1.1614, d4.loss_plan_l1_fix_dist: 0.2341, d5.loss_plan_l1_fix_time: 1.1641, d5.loss_plan_l1_fix_dist: 0.2523, d6.loss_plan_l1_fix_time: 1.1680, d6.loss_plan_l1_fix_dist: 0.2724, d0.loss_cls_all: 0.2069, d0.loss_bbox_all: 0.4205, d0.loss_cls: 0.2069, d0.loss_bbox: 0.4205, d1.loss_cls: 0.1996, d1.loss_bbox: 0.3854, d2.loss_cls: 0.1859, d2.loss_bbox: 0.3710, d3.loss_cls: 0.1760, d3.loss_bbox: 0.3676, d4.loss_cls: 0.1729, d4.loss_bbox: 0.3662, d5.loss_cls: 0.1706, d5.loss_bbox: 0.3659, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8777, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7391, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7213, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7222, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7252, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7195, d0.loss_map_cls_all: 0.2269, d0.loss_map_pts_all: 1.5987, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2269, d0.loss_map_pts: 1.5987, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.1931, d1.loss_map_pts: 1.0370, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.1746, d2.loss_map_pts: 0.8595, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1661, d3.loss_map_pts: 0.7889, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1593, d4.loss_map_pts: 0.7597, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1552, d5.loss_map_pts: 0.7553, d5.loss_map_dir: 0.0110, loss: 31.1990, grad_norm: 157.9569 +2026-02-26 06:34:35,175 - DriveTransformer - INFO - Epoch [6][36350/39528] lr: 8.977e-05, eta: 6 days, 15:41:27, time: 0.779, data_time: 0.036, memory: 19865, loss_cls: 0.1694, loss_bbox: 0.3952, loss_traj: 0.5888, loss_traj_cls: 0.0011, loss_map_cls: 0.1543, loss_map_pts: 0.7462, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.5321, d0.loss_plan_l1_fix_dist: 0.4498, d1.loss_plan_l1_fix_time: 1.1610, d1.loss_plan_l1_fix_dist: 0.1805, d2.loss_plan_l1_fix_time: 1.1398, d2.loss_plan_l1_fix_dist: 0.1902, d3.loss_plan_l1_fix_time: 1.1383, d3.loss_plan_l1_fix_dist: 0.2058, d4.loss_plan_l1_fix_time: 1.1403, d4.loss_plan_l1_fix_dist: 0.2192, d5.loss_plan_l1_fix_time: 1.1423, d5.loss_plan_l1_fix_dist: 0.2336, d6.loss_plan_l1_fix_time: 1.1445, d6.loss_plan_l1_fix_dist: 0.2522, d0.loss_cls_all: 0.2045, d0.loss_bbox_all: 0.4569, d0.loss_cls: 0.2045, d0.loss_bbox: 0.4569, d1.loss_cls: 0.1967, d1.loss_bbox: 0.4198, d2.loss_cls: 0.1854, d2.loss_bbox: 0.4034, d3.loss_cls: 0.1757, d3.loss_bbox: 0.3973, d4.loss_cls: 0.1713, d4.loss_bbox: 0.3943, d5.loss_cls: 0.1683, d5.loss_bbox: 0.3951, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7899, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6429, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6073, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5947, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5887, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5900, d0.loss_map_cls_all: 0.2202, d0.loss_map_pts_all: 1.4876, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2202, d0.loss_map_pts: 1.4876, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.1926, d1.loss_map_pts: 0.9990, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.1744, d2.loss_map_pts: 0.8256, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.1639, d3.loss_map_pts: 0.7670, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.1582, d4.loss_map_pts: 0.7463, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1563, d5.loss_map_pts: 0.7443, d5.loss_map_dir: 0.0117, loss: 29.6700, grad_norm: 160.2586 +2026-02-26 06:35:13,972 - DriveTransformer - INFO - Epoch [6][36400/39528] lr: 8.977e-05, eta: 6 days, 15:40:42, time: 0.776, data_time: 0.042, memory: 19865, loss_cls: 0.1661, loss_bbox: 0.3895, loss_traj: 0.6767, loss_traj_cls: 0.0010, loss_map_cls: 0.1570, loss_map_pts: 0.7640, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.5379, d0.loss_plan_l1_fix_dist: 0.4802, d1.loss_plan_l1_fix_time: 1.1979, d1.loss_plan_l1_fix_dist: 0.2113, d2.loss_plan_l1_fix_time: 1.1907, d2.loss_plan_l1_fix_dist: 0.2148, d3.loss_plan_l1_fix_time: 1.1940, d3.loss_plan_l1_fix_dist: 0.2283, d4.loss_plan_l1_fix_time: 1.1971, d4.loss_plan_l1_fix_dist: 0.2433, d5.loss_plan_l1_fix_time: 1.2002, d5.loss_plan_l1_fix_dist: 0.2582, d6.loss_plan_l1_fix_time: 1.2037, d6.loss_plan_l1_fix_dist: 0.2762, d0.loss_cls_all: 0.2037, d0.loss_bbox_all: 0.4485, d0.loss_cls: 0.2037, d0.loss_bbox: 0.4485, d1.loss_cls: 0.1966, d1.loss_bbox: 0.4104, d2.loss_cls: 0.1872, d2.loss_bbox: 0.3926, d3.loss_cls: 0.1771, d3.loss_bbox: 0.3864, d4.loss_cls: 0.1706, d4.loss_bbox: 0.3840, d5.loss_cls: 0.1687, d5.loss_bbox: 0.3853, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9020, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7406, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6873, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6845, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6773, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6730, d0.loss_map_cls_all: 0.2336, d0.loss_map_pts_all: 1.4525, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2336, d0.loss_map_pts: 1.4525, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2057, d1.loss_map_pts: 1.0092, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1812, d2.loss_map_pts: 0.8567, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1689, d3.loss_map_pts: 0.7943, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1608, d4.loss_map_pts: 0.7687, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1590, d5.loss_map_pts: 0.7642, d5.loss_map_dir: 0.0103, loss: 30.8429, grad_norm: 159.2631 +2026-02-26 06:35:54,654 - DriveTransformer - INFO - Epoch [6][36450/39528] lr: 8.977e-05, eta: 6 days, 15:40:04, time: 0.814, data_time: 0.044, memory: 19865, loss_cls: 0.1610, loss_bbox: 0.3550, loss_traj: 0.7237, loss_traj_cls: 0.0011, loss_map_cls: 0.1417, loss_map_pts: 0.6721, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.8737, d0.loss_plan_l1_fix_dist: 0.5424, d1.loss_plan_l1_fix_time: 1.1783, d1.loss_plan_l1_fix_dist: 0.2220, d2.loss_plan_l1_fix_time: 1.1618, d2.loss_plan_l1_fix_dist: 0.2271, d3.loss_plan_l1_fix_time: 1.1581, d3.loss_plan_l1_fix_dist: 0.2427, d4.loss_plan_l1_fix_time: 1.1614, d4.loss_plan_l1_fix_dist: 0.2679, d5.loss_plan_l1_fix_time: 1.1654, d5.loss_plan_l1_fix_dist: 0.2930, d6.loss_plan_l1_fix_time: 1.1710, d6.loss_plan_l1_fix_dist: 0.3168, d0.loss_cls_all: 0.2025, d0.loss_bbox_all: 0.4092, d0.loss_cls: 0.2025, d0.loss_bbox: 0.4092, d1.loss_cls: 0.1919, d1.loss_bbox: 0.3770, d2.loss_cls: 0.1804, d2.loss_bbox: 0.3618, d3.loss_cls: 0.1697, d3.loss_bbox: 0.3567, d4.loss_cls: 0.1643, d4.loss_bbox: 0.3525, d5.loss_cls: 0.1616, d5.loss_bbox: 0.3537, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9501, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7845, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7591, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7423, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.7305, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7331, d0.loss_map_cls_all: 0.2133, d0.loss_map_pts_all: 1.4088, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2133, d0.loss_map_pts: 1.4088, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.1813, d1.loss_map_pts: 0.9365, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1676, d2.loss_map_pts: 0.7672, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1553, d3.loss_map_pts: 0.7039, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1479, d4.loss_map_pts: 0.6819, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1437, d5.loss_map_pts: 0.6732, d5.loss_map_dir: 0.0105, loss: 30.5207, grad_norm: 160.0257 +2026-02-26 06:36:32,304 - DriveTransformer - INFO - Epoch [6][36500/39528] lr: 8.977e-05, eta: 6 days, 15:39:16, time: 0.753, data_time: 0.038, memory: 19865, loss_cls: 0.1699, loss_bbox: 0.3874, loss_traj: 0.7140, loss_traj_cls: 0.0011, loss_map_cls: 0.1576, loss_map_pts: 0.7157, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.5685, d0.loss_plan_l1_fix_dist: 0.4234, d1.loss_plan_l1_fix_time: 1.0857, d1.loss_plan_l1_fix_dist: 0.1873, d2.loss_plan_l1_fix_time: 1.0646, d2.loss_plan_l1_fix_dist: 0.1915, d3.loss_plan_l1_fix_time: 1.0630, d3.loss_plan_l1_fix_dist: 0.2084, d4.loss_plan_l1_fix_time: 1.0658, d4.loss_plan_l1_fix_dist: 0.2313, d5.loss_plan_l1_fix_time: 1.0692, d5.loss_plan_l1_fix_dist: 0.2556, d6.loss_plan_l1_fix_time: 1.0739, d6.loss_plan_l1_fix_dist: 0.2776, d0.loss_cls_all: 0.2063, d0.loss_bbox_all: 0.4511, d0.loss_cls: 0.2063, d0.loss_bbox: 0.4511, d1.loss_cls: 0.2006, d1.loss_bbox: 0.4159, d2.loss_cls: 0.1848, d2.loss_bbox: 0.3979, d3.loss_cls: 0.1737, d3.loss_bbox: 0.3910, d4.loss_cls: 0.1689, d4.loss_bbox: 0.3882, d5.loss_cls: 0.1696, d5.loss_bbox: 0.3866, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9187, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7666, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7229, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7166, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.7119, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7112, d0.loss_map_cls_all: 0.2298, d0.loss_map_pts_all: 1.4409, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2298, d0.loss_map_pts: 1.4409, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.1990, d1.loss_map_pts: 0.9909, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1823, d2.loss_map_pts: 0.8158, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1723, d3.loss_map_pts: 0.7498, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1664, d4.loss_map_pts: 0.7259, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1607, d5.loss_map_pts: 0.7160, d5.loss_map_dir: 0.0108, loss: 29.9612, grad_norm: 159.8361 +2026-02-26 06:37:10,050 - DriveTransformer - INFO - Epoch [6][36550/39528] lr: 8.977e-05, eta: 6 days, 15:38:28, time: 0.755, data_time: 0.040, memory: 19865, loss_cls: 0.1615, loss_bbox: 0.3563, loss_traj: 0.7244, loss_traj_cls: 0.0011, loss_map_cls: 0.1789, loss_map_pts: 0.7319, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.7776, d0.loss_plan_l1_fix_dist: 0.4888, d1.loss_plan_l1_fix_time: 1.0138, d1.loss_plan_l1_fix_dist: 0.1938, d2.loss_plan_l1_fix_time: 1.0070, d2.loss_plan_l1_fix_dist: 0.1982, d3.loss_plan_l1_fix_time: 1.0027, d3.loss_plan_l1_fix_dist: 0.2118, d4.loss_plan_l1_fix_time: 1.0047, d4.loss_plan_l1_fix_dist: 0.2268, d5.loss_plan_l1_fix_time: 1.0067, d5.loss_plan_l1_fix_dist: 0.2462, d6.loss_plan_l1_fix_time: 1.0090, d6.loss_plan_l1_fix_dist: 0.2678, d0.loss_cls_all: 0.1999, d0.loss_bbox_all: 0.4245, d0.loss_cls: 0.1999, d0.loss_bbox: 0.4245, d1.loss_cls: 0.1977, d1.loss_bbox: 0.3858, d2.loss_cls: 0.1841, d2.loss_bbox: 0.3658, d3.loss_cls: 0.1680, d3.loss_bbox: 0.3595, d4.loss_cls: 0.1626, d4.loss_bbox: 0.3558, d5.loss_cls: 0.1609, d5.loss_bbox: 0.3550, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9736, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7728, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7293, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7256, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.7171, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7204, d0.loss_map_cls_all: 0.2416, d0.loss_map_pts_all: 1.4248, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2416, d0.loss_map_pts: 1.4248, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2175, d1.loss_map_pts: 1.0049, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1993, d2.loss_map_pts: 0.8351, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1895, d3.loss_map_pts: 0.7697, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1841, d4.loss_map_pts: 0.7424, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1810, d5.loss_map_pts: 0.7338, d5.loss_map_dir: 0.0092, loss: 29.8594, grad_norm: 158.9337 +2026-02-26 06:37:48,710 - DriveTransformer - INFO - Epoch [6][36600/39528] lr: 8.977e-05, eta: 6 days, 15:37:43, time: 0.775, data_time: 0.038, memory: 19865, loss_cls: 0.1830, loss_bbox: 0.3649, loss_traj: 0.7085, loss_traj_cls: 0.0010, loss_map_cls: 0.1885, loss_map_pts: 0.8065, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.7612, d0.loss_plan_l1_fix_dist: 0.4714, d1.loss_plan_l1_fix_time: 1.3708, d1.loss_plan_l1_fix_dist: 0.2114, d2.loss_plan_l1_fix_time: 1.3671, d2.loss_plan_l1_fix_dist: 0.2174, d3.loss_plan_l1_fix_time: 1.3720, d3.loss_plan_l1_fix_dist: 0.2334, d4.loss_plan_l1_fix_time: 1.3745, d4.loss_plan_l1_fix_dist: 0.2494, d5.loss_plan_l1_fix_time: 1.3774, d5.loss_plan_l1_fix_dist: 0.2680, d6.loss_plan_l1_fix_time: 1.3801, d6.loss_plan_l1_fix_dist: 0.2917, d0.loss_cls_all: 0.2134, d0.loss_bbox_all: 0.4252, d0.loss_cls: 0.2134, d0.loss_bbox: 0.4252, d1.loss_cls: 0.2041, d1.loss_bbox: 0.3938, d2.loss_cls: 0.1959, d2.loss_bbox: 0.3721, d3.loss_cls: 0.1893, d3.loss_bbox: 0.3658, d4.loss_cls: 0.1836, d4.loss_bbox: 0.3630, d5.loss_cls: 0.1840, d5.loss_bbox: 0.3626, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8625, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7423, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7145, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7091, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7069, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7061, d0.loss_map_cls_all: 0.2578, d0.loss_map_pts_all: 1.5088, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2578, d0.loss_map_pts: 1.5088, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2297, d1.loss_map_pts: 1.0729, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2118, d2.loss_map_pts: 0.9079, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2011, d3.loss_map_pts: 0.8392, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1940, d4.loss_map_pts: 0.8167, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1900, d5.loss_map_pts: 0.8090, d5.loss_map_dir: 0.0113, loss: 32.8284, grad_norm: 160.1746 +2026-02-26 06:38:27,573 - DriveTransformer - INFO - Epoch [6][36650/39528] lr: 8.977e-05, eta: 6 days, 15:36:58, time: 0.776, data_time: 0.037, memory: 19865, loss_cls: 0.1558, loss_bbox: 0.3482, loss_traj: 0.6146, loss_traj_cls: 0.0010, loss_map_cls: 0.1869, loss_map_pts: 0.7864, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.5835, d0.loss_plan_l1_fix_dist: 0.3592, d1.loss_plan_l1_fix_time: 1.2547, d1.loss_plan_l1_fix_dist: 0.1638, d2.loss_plan_l1_fix_time: 1.2590, d2.loss_plan_l1_fix_dist: 0.1623, d3.loss_plan_l1_fix_time: 1.2558, d3.loss_plan_l1_fix_dist: 0.1709, d4.loss_plan_l1_fix_time: 1.2579, d4.loss_plan_l1_fix_dist: 0.1844, d5.loss_plan_l1_fix_time: 1.2607, d5.loss_plan_l1_fix_dist: 0.2003, d6.loss_plan_l1_fix_time: 1.2639, d6.loss_plan_l1_fix_dist: 0.2184, d0.loss_cls_all: 0.1926, d0.loss_bbox_all: 0.4115, d0.loss_cls: 0.1926, d0.loss_bbox: 0.4115, d1.loss_cls: 0.1857, d1.loss_bbox: 0.3764, d2.loss_cls: 0.1733, d2.loss_bbox: 0.3603, d3.loss_cls: 0.1603, d3.loss_bbox: 0.3546, d4.loss_cls: 0.1556, d4.loss_bbox: 0.3500, d5.loss_cls: 0.1549, d5.loss_bbox: 0.3481, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8213, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6811, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6349, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6341, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6194, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6168, d0.loss_map_cls_all: 0.2569, d0.loss_map_pts_all: 1.5744, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2569, d0.loss_map_pts: 1.5744, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2301, d1.loss_map_pts: 1.0744, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2111, d2.loss_map_pts: 0.8949, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.2031, d3.loss_map_pts: 0.8193, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1943, d4.loss_map_pts: 0.7955, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1893, d5.loss_map_pts: 0.7894, d5.loss_map_dir: 0.0108, loss: 30.6748, grad_norm: 160.6289 +2026-02-26 06:39:06,980 - DriveTransformer - INFO - Epoch [6][36700/39528] lr: 8.977e-05, eta: 6 days, 15:36:16, time: 0.788, data_time: 0.039, memory: 19865, loss_cls: 0.1746, loss_bbox: 0.3568, loss_traj: 0.6999, loss_traj_cls: 0.0010, loss_map_cls: 0.1436, loss_map_pts: 0.7045, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.4854, d0.loss_plan_l1_fix_dist: 0.4608, d1.loss_plan_l1_fix_time: 1.1795, d1.loss_plan_l1_fix_dist: 0.1901, d2.loss_plan_l1_fix_time: 1.1652, d2.loss_plan_l1_fix_dist: 0.1948, d3.loss_plan_l1_fix_time: 1.1655, d3.loss_plan_l1_fix_dist: 0.2105, d4.loss_plan_l1_fix_time: 1.1679, d4.loss_plan_l1_fix_dist: 0.2306, d5.loss_plan_l1_fix_time: 1.1705, d5.loss_plan_l1_fix_dist: 0.2520, d6.loss_plan_l1_fix_time: 1.1743, d6.loss_plan_l1_fix_dist: 0.2698, d0.loss_cls_all: 0.2101, d0.loss_bbox_all: 0.4223, d0.loss_cls: 0.2101, d0.loss_bbox: 0.4223, d1.loss_cls: 0.2023, d1.loss_bbox: 0.3886, d2.loss_cls: 0.1876, d2.loss_bbox: 0.3722, d3.loss_cls: 0.1784, d3.loss_bbox: 0.3638, d4.loss_cls: 0.1764, d4.loss_bbox: 0.3578, d5.loss_cls: 0.1757, d5.loss_bbox: 0.3553, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9535, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7606, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7120, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7009, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6950, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6936, d0.loss_map_cls_all: 0.2156, d0.loss_map_pts_all: 1.4619, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2156, d0.loss_map_pts: 1.4619, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1879, d1.loss_map_pts: 0.9869, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1661, d2.loss_map_pts: 0.8150, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1576, d3.loss_map_pts: 0.7453, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1498, d4.loss_map_pts: 0.7160, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1455, d5.loss_map_pts: 0.7055, d5.loss_map_dir: 0.0104, loss: 30.1524, grad_norm: 160.4719 +2026-02-26 06:39:45,451 - DriveTransformer - INFO - Epoch [6][36750/39528] lr: 8.977e-05, eta: 6 days, 15:35:30, time: 0.769, data_time: 0.042, memory: 19865, loss_cls: 0.1571, loss_bbox: 0.3510, loss_traj: 0.6446, loss_traj_cls: 0.0010, loss_map_cls: 0.1479, loss_map_pts: 0.6524, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.5466, d0.loss_plan_l1_fix_dist: 0.3728, d1.loss_plan_l1_fix_time: 1.0842, d1.loss_plan_l1_fix_dist: 0.1802, d2.loss_plan_l1_fix_time: 1.0660, d2.loss_plan_l1_fix_dist: 0.1860, d3.loss_plan_l1_fix_time: 1.0650, d3.loss_plan_l1_fix_dist: 0.1976, d4.loss_plan_l1_fix_time: 1.0683, d4.loss_plan_l1_fix_dist: 0.2118, d5.loss_plan_l1_fix_time: 1.0720, d5.loss_plan_l1_fix_dist: 0.2293, d6.loss_plan_l1_fix_time: 1.0763, d6.loss_plan_l1_fix_dist: 0.2458, d0.loss_cls_all: 0.1927, d0.loss_bbox_all: 0.4082, d0.loss_cls: 0.1927, d0.loss_bbox: 0.4082, d1.loss_cls: 0.1836, d1.loss_bbox: 0.3745, d2.loss_cls: 0.1730, d2.loss_bbox: 0.3586, d3.loss_cls: 0.1622, d3.loss_bbox: 0.3532, d4.loss_cls: 0.1569, d4.loss_bbox: 0.3500, d5.loss_cls: 0.1558, d5.loss_bbox: 0.3499, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8534, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7050, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6499, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6451, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6404, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6396, d0.loss_map_cls_all: 0.2181, d0.loss_map_pts_all: 1.4410, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2181, d0.loss_map_pts: 1.4410, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.1912, d1.loss_map_pts: 0.9431, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.1701, d2.loss_map_pts: 0.7623, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1606, d3.loss_map_pts: 0.6920, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1550, d4.loss_map_pts: 0.6612, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1494, d5.loss_map_pts: 0.6536, d5.loss_map_dir: 0.0110, loss: 28.4570, grad_norm: 162.3094 +2026-02-26 06:40:24,616 - DriveTransformer - INFO - Epoch [6][36800/39528] lr: 8.977e-05, eta: 6 days, 15:34:47, time: 0.783, data_time: 0.042, memory: 19865, loss_cls: 0.1843, loss_bbox: 0.3954, loss_traj: 0.7762, loss_traj_cls: 0.0010, loss_map_cls: 0.2038, loss_map_pts: 0.7926, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.8950, d0.loss_plan_l1_fix_dist: 0.4368, d1.loss_plan_l1_fix_time: 1.2914, d1.loss_plan_l1_fix_dist: 0.2266, d2.loss_plan_l1_fix_time: 1.2795, d2.loss_plan_l1_fix_dist: 0.2346, d3.loss_plan_l1_fix_time: 1.2823, d3.loss_plan_l1_fix_dist: 0.2466, d4.loss_plan_l1_fix_time: 1.2850, d4.loss_plan_l1_fix_dist: 0.2586, d5.loss_plan_l1_fix_time: 1.2878, d5.loss_plan_l1_fix_dist: 0.2701, d6.loss_plan_l1_fix_time: 1.2909, d6.loss_plan_l1_fix_dist: 0.2847, d0.loss_cls_all: 0.2253, d0.loss_bbox_all: 0.4586, d0.loss_cls: 0.2253, d0.loss_bbox: 0.4586, d1.loss_cls: 0.2183, d1.loss_bbox: 0.4289, d2.loss_cls: 0.2051, d2.loss_bbox: 0.4095, d3.loss_cls: 0.1925, d3.loss_bbox: 0.4036, d4.loss_cls: 0.1849, d4.loss_bbox: 0.4002, d5.loss_cls: 0.1830, d5.loss_bbox: 0.3979, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9761, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8367, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7838, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7738, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.7712, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7709, d0.loss_map_cls_all: 0.2802, d0.loss_map_pts_all: 1.5102, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2802, d0.loss_map_pts: 1.5102, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2474, d1.loss_map_pts: 1.0567, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2273, d2.loss_map_pts: 0.8943, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.2124, d3.loss_map_pts: 0.8233, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.2078, d4.loss_map_pts: 0.7982, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.2062, d5.loss_map_pts: 0.7946, d5.loss_map_dir: 0.0105, loss: 33.3648, grad_norm: 159.4038 +2026-02-26 06:41:01,332 - DriveTransformer - INFO - Epoch [6][36850/39528] lr: 8.977e-05, eta: 6 days, 15:33:56, time: 0.734, data_time: 0.036, memory: 19865, loss_cls: 0.1964, loss_bbox: 0.3659, loss_traj: 0.7237, loss_traj_cls: 0.0010, loss_map_cls: 0.1683, loss_map_pts: 0.7249, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.6154, d0.loss_plan_l1_fix_dist: 0.4160, d1.loss_plan_l1_fix_time: 1.1248, d1.loss_plan_l1_fix_dist: 0.1879, d2.loss_plan_l1_fix_time: 1.1140, d2.loss_plan_l1_fix_dist: 0.1990, d3.loss_plan_l1_fix_time: 1.1122, d3.loss_plan_l1_fix_dist: 0.2194, d4.loss_plan_l1_fix_time: 1.1152, d4.loss_plan_l1_fix_dist: 0.2418, d5.loss_plan_l1_fix_time: 1.1191, d5.loss_plan_l1_fix_dist: 0.2623, d6.loss_plan_l1_fix_time: 1.1230, d6.loss_plan_l1_fix_dist: 0.2846, d0.loss_cls_all: 0.2316, d0.loss_bbox_all: 0.4301, d0.loss_cls: 0.2316, d0.loss_bbox: 0.4301, d1.loss_cls: 0.2257, d1.loss_bbox: 0.4011, d2.loss_cls: 0.2138, d2.loss_bbox: 0.3806, d3.loss_cls: 0.2029, d3.loss_bbox: 0.3721, d4.loss_cls: 0.1989, d4.loss_bbox: 0.3666, d5.loss_cls: 0.1969, d5.loss_bbox: 0.3643, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0369, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8144, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7423, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7261, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7206, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7173, d0.loss_map_cls_all: 0.2457, d0.loss_map_pts_all: 1.4379, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2457, d0.loss_map_pts: 1.4379, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2187, d1.loss_map_pts: 0.9936, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1938, d2.loss_map_pts: 0.8259, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1818, d3.loss_map_pts: 0.7579, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1735, d4.loss_map_pts: 0.7339, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1705, d5.loss_map_pts: 0.7262, d5.loss_map_dir: 0.0093, loss: 30.7404, grad_norm: 160.0670 +2026-02-26 06:41:40,000 - DriveTransformer - INFO - Epoch [6][36900/39528] lr: 8.977e-05, eta: 6 days, 15:33:11, time: 0.773, data_time: 0.040, memory: 19865, loss_cls: 0.1984, loss_bbox: 0.3829, loss_traj: 0.7068, loss_traj_cls: 0.0010, loss_map_cls: 0.1780, loss_map_pts: 0.7871, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.6669, d0.loss_plan_l1_fix_dist: 0.3358, d1.loss_plan_l1_fix_time: 1.0843, d1.loss_plan_l1_fix_dist: 0.1827, d2.loss_plan_l1_fix_time: 1.0794, d2.loss_plan_l1_fix_dist: 0.1899, d3.loss_plan_l1_fix_time: 1.0810, d3.loss_plan_l1_fix_dist: 0.2016, d4.loss_plan_l1_fix_time: 1.0843, d4.loss_plan_l1_fix_dist: 0.2163, d5.loss_plan_l1_fix_time: 1.0875, d5.loss_plan_l1_fix_dist: 0.2349, d6.loss_plan_l1_fix_time: 1.0917, d6.loss_plan_l1_fix_dist: 0.2524, d0.loss_cls_all: 0.2379, d0.loss_bbox_all: 0.4524, d0.loss_cls: 0.2379, d0.loss_bbox: 0.4524, d1.loss_cls: 0.2263, d1.loss_bbox: 0.4172, d2.loss_cls: 0.2167, d2.loss_bbox: 0.3949, d3.loss_cls: 0.2069, d3.loss_bbox: 0.3871, d4.loss_cls: 0.2009, d4.loss_bbox: 0.3830, d5.loss_cls: 0.1979, d5.loss_bbox: 0.3826, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8998, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7443, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7253, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7167, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7077, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7084, d0.loss_map_cls_all: 0.2527, d0.loss_map_pts_all: 1.5550, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2527, d0.loss_map_pts: 1.5550, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2266, d1.loss_map_pts: 1.0721, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2023, d2.loss_map_pts: 0.8987, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1918, d3.loss_map_pts: 0.8243, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1846, d4.loss_map_pts: 0.7988, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1802, d5.loss_map_pts: 0.7888, d5.loss_map_dir: 0.0113, loss: 31.0159, grad_norm: 158.1662 +2026-02-26 06:42:17,319 - DriveTransformer - INFO - Epoch [6][36950/39528] lr: 8.977e-05, eta: 6 days, 15:32:22, time: 0.747, data_time: 0.040, memory: 19865, loss_cls: 0.1742, loss_bbox: 0.3874, loss_traj: 0.7467, loss_traj_cls: 0.0010, loss_map_cls: 0.1678, loss_map_pts: 0.7461, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.8637, d0.loss_plan_l1_fix_dist: 0.4519, d1.loss_plan_l1_fix_time: 1.1392, d1.loss_plan_l1_fix_dist: 0.2034, d2.loss_plan_l1_fix_time: 1.1244, d2.loss_plan_l1_fix_dist: 0.2078, d3.loss_plan_l1_fix_time: 1.1256, d3.loss_plan_l1_fix_dist: 0.2169, d4.loss_plan_l1_fix_time: 1.1275, d4.loss_plan_l1_fix_dist: 0.2293, d5.loss_plan_l1_fix_time: 1.1301, d5.loss_plan_l1_fix_dist: 0.2449, d6.loss_plan_l1_fix_time: 1.1330, d6.loss_plan_l1_fix_dist: 0.2658, d0.loss_cls_all: 0.2179, d0.loss_bbox_all: 0.4447, d0.loss_cls: 0.2179, d0.loss_bbox: 0.4447, d1.loss_cls: 0.2062, d1.loss_bbox: 0.4145, d2.loss_cls: 0.1910, d2.loss_bbox: 0.3963, d3.loss_cls: 0.1826, d3.loss_bbox: 0.3893, d4.loss_cls: 0.1770, d4.loss_bbox: 0.3872, d5.loss_cls: 0.1750, d5.loss_bbox: 0.3867, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9456, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7943, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7511, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7393, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7381, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7422, d0.loss_map_cls_all: 0.2483, d0.loss_map_pts_all: 1.4210, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2483, d0.loss_map_pts: 1.4210, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2166, d1.loss_map_pts: 0.9922, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1961, d2.loss_map_pts: 0.8398, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1823, d3.loss_map_pts: 0.7804, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1745, d4.loss_map_pts: 0.7569, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1690, d5.loss_map_pts: 0.7472, d5.loss_map_dir: 0.0102, loss: 31.1063, grad_norm: 156.3914 +2026-02-26 06:42:56,842 - DriveTransformer - INFO - Epoch [6][37000/39528] lr: 8.977e-05, eta: 6 days, 15:31:40, time: 0.790, data_time: 0.043, memory: 19865, loss_cls: 0.1881, loss_bbox: 0.3790, loss_traj: 0.6531, loss_traj_cls: 0.0010, loss_map_cls: 0.1583, loss_map_pts: 0.6790, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.8778, d0.loss_plan_l1_fix_dist: 0.3032, d1.loss_plan_l1_fix_time: 1.3093, d1.loss_plan_l1_fix_dist: 0.1671, d2.loss_plan_l1_fix_time: 1.2945, d2.loss_plan_l1_fix_dist: 0.1704, d3.loss_plan_l1_fix_time: 1.2916, d3.loss_plan_l1_fix_dist: 0.1837, d4.loss_plan_l1_fix_time: 1.2944, d4.loss_plan_l1_fix_dist: 0.1992, d5.loss_plan_l1_fix_time: 1.2978, d5.loss_plan_l1_fix_dist: 0.2152, d6.loss_plan_l1_fix_time: 1.3013, d6.loss_plan_l1_fix_dist: 0.2338, d0.loss_cls_all: 0.2313, d0.loss_bbox_all: 0.4330, d0.loss_cls: 0.2313, d0.loss_bbox: 0.4330, d1.loss_cls: 0.2224, d1.loss_bbox: 0.4025, d2.loss_cls: 0.2069, d2.loss_bbox: 0.3839, d3.loss_cls: 0.1994, d3.loss_bbox: 0.3789, d4.loss_cls: 0.1908, d4.loss_bbox: 0.3768, d5.loss_cls: 0.1887, d5.loss_bbox: 0.3773, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8895, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7262, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6747, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6550, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6521, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6512, d0.loss_map_cls_all: 0.2258, d0.loss_map_pts_all: 1.3475, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2258, d0.loss_map_pts: 1.3475, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2052, d1.loss_map_pts: 0.9142, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1818, d2.loss_map_pts: 0.7608, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1680, d3.loss_map_pts: 0.7053, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1642, d4.loss_map_pts: 0.6844, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1605, d5.loss_map_pts: 0.6798, d5.loss_map_dir: 0.0095, loss: 30.5528, grad_norm: 156.8569 +2026-02-26 06:43:34,863 - DriveTransformer - INFO - Epoch [6][37050/39528] lr: 8.977e-05, eta: 6 days, 15:30:53, time: 0.760, data_time: 0.040, memory: 19865, loss_cls: 0.1735, loss_bbox: 0.3650, loss_traj: 0.6455, loss_traj_cls: 0.0010, loss_map_cls: 0.1541, loss_map_pts: 0.6794, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.7464, d0.loss_plan_l1_fix_dist: 0.4332, d1.loss_plan_l1_fix_time: 1.0960, d1.loss_plan_l1_fix_dist: 0.1793, d2.loss_plan_l1_fix_time: 1.0817, d2.loss_plan_l1_fix_dist: 0.1881, d3.loss_plan_l1_fix_time: 1.0816, d3.loss_plan_l1_fix_dist: 0.1990, d4.loss_plan_l1_fix_time: 1.0846, d4.loss_plan_l1_fix_dist: 0.2167, d5.loss_plan_l1_fix_time: 1.0874, d5.loss_plan_l1_fix_dist: 0.2347, d6.loss_plan_l1_fix_time: 1.0910, d6.loss_plan_l1_fix_dist: 0.2502, d0.loss_cls_all: 0.2118, d0.loss_bbox_all: 0.4198, d0.loss_cls: 0.2118, d0.loss_bbox: 0.4198, d1.loss_cls: 0.2021, d1.loss_bbox: 0.3899, d2.loss_cls: 0.1888, d2.loss_bbox: 0.3726, d3.loss_cls: 0.1785, d3.loss_bbox: 0.3657, d4.loss_cls: 0.1738, d4.loss_bbox: 0.3645, d5.loss_cls: 0.1742, d5.loss_bbox: 0.3626, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7706, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6849, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6550, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6460, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6417, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6389, d0.loss_map_cls_all: 0.2197, d0.loss_map_pts_all: 1.2839, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2197, d0.loss_map_pts: 1.2839, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1916, d1.loss_map_pts: 0.9067, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1745, d2.loss_map_pts: 0.7587, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1640, d3.loss_map_pts: 0.7096, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1588, d4.loss_map_pts: 0.6877, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1540, d5.loss_map_pts: 0.6809, d5.loss_map_dir: 0.0099, loss: 28.7362, grad_norm: 149.8912 +2026-02-26 06:44:14,749 - DriveTransformer - INFO - Epoch [6][37100/39528] lr: 8.977e-05, eta: 6 days, 15:30:11, time: 0.798, data_time: 0.041, memory: 19865, loss_cls: 0.1819, loss_bbox: 0.3659, loss_traj: 0.6703, loss_traj_cls: 0.0010, loss_map_cls: 0.1902, loss_map_pts: 0.7405, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.4937, d0.loss_plan_l1_fix_dist: 0.3640, d1.loss_plan_l1_fix_time: 1.1173, d1.loss_plan_l1_fix_dist: 0.1747, d2.loss_plan_l1_fix_time: 1.1058, d2.loss_plan_l1_fix_dist: 0.1793, d3.loss_plan_l1_fix_time: 1.1031, d3.loss_plan_l1_fix_dist: 0.1867, d4.loss_plan_l1_fix_time: 1.1051, d4.loss_plan_l1_fix_dist: 0.1988, d5.loss_plan_l1_fix_time: 1.1075, d5.loss_plan_l1_fix_dist: 0.2123, d6.loss_plan_l1_fix_time: 1.1112, d6.loss_plan_l1_fix_dist: 0.2247, d0.loss_cls_all: 0.2248, d0.loss_bbox_all: 0.4238, d0.loss_cls: 0.2248, d0.loss_bbox: 0.4238, d1.loss_cls: 0.2129, d1.loss_bbox: 0.3901, d2.loss_cls: 0.1988, d2.loss_bbox: 0.3737, d3.loss_cls: 0.1885, d3.loss_bbox: 0.3672, d4.loss_cls: 0.1825, d4.loss_bbox: 0.3658, d5.loss_cls: 0.1823, d5.loss_bbox: 0.3646, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8782, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7149, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6741, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6742, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6715, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6690, d0.loss_map_cls_all: 0.2660, d0.loss_map_pts_all: 1.5331, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2660, d0.loss_map_pts: 1.5331, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2335, d1.loss_map_pts: 1.0345, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2121, d2.loss_map_pts: 0.8464, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.2045, d3.loss_map_pts: 0.7756, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1974, d4.loss_map_pts: 0.7448, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1909, d5.loss_map_pts: 0.7413, d5.loss_map_dir: 0.0108, loss: 30.1066, grad_norm: 150.9652 +2026-02-26 06:44:54,513 - DriveTransformer - INFO - Epoch [6][37150/39528] lr: 8.977e-05, eta: 6 days, 15:29:30, time: 0.795, data_time: 0.045, memory: 19865, loss_cls: 0.1620, loss_bbox: 0.3384, loss_traj: 0.6465, loss_traj_cls: 0.0010, loss_map_cls: 0.1453, loss_map_pts: 0.6780, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.7127, d0.loss_plan_l1_fix_dist: 0.4356, d1.loss_plan_l1_fix_time: 0.9882, d1.loss_plan_l1_fix_dist: 0.1630, d2.loss_plan_l1_fix_time: 0.9702, d2.loss_plan_l1_fix_dist: 0.1692, d3.loss_plan_l1_fix_time: 0.9701, d3.loss_plan_l1_fix_dist: 0.1846, d4.loss_plan_l1_fix_time: 0.9733, d4.loss_plan_l1_fix_dist: 0.1982, d5.loss_plan_l1_fix_time: 0.9767, d5.loss_plan_l1_fix_dist: 0.2129, d6.loss_plan_l1_fix_time: 0.9804, d6.loss_plan_l1_fix_dist: 0.2322, d0.loss_cls_all: 0.1994, d0.loss_bbox_all: 0.3976, d0.loss_cls: 0.1994, d0.loss_bbox: 0.3976, d1.loss_cls: 0.1939, d1.loss_bbox: 0.3615, d2.loss_cls: 0.1803, d2.loss_bbox: 0.3458, d3.loss_cls: 0.1664, d3.loss_bbox: 0.3407, d4.loss_cls: 0.1622, d4.loss_bbox: 0.3390, d5.loss_cls: 0.1610, d5.loss_bbox: 0.3390, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8194, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6874, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6593, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6477, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6478, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6483, d0.loss_map_cls_all: 0.2151, d0.loss_map_pts_all: 1.4062, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2151, d0.loss_map_pts: 1.4062, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.1854, d1.loss_map_pts: 0.9372, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1662, d2.loss_map_pts: 0.7758, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1559, d3.loss_map_pts: 0.7115, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1507, d4.loss_map_pts: 0.6869, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1468, d5.loss_map_pts: 0.6797, d5.loss_map_dir: 0.0112, loss: 27.9623, grad_norm: 149.7726 +2026-02-26 06:45:33,531 - DriveTransformer - INFO - Epoch [6][37200/39528] lr: 8.977e-05, eta: 6 days, 15:28:46, time: 0.780, data_time: 0.039, memory: 19865, loss_cls: 0.1462, loss_bbox: 0.3542, loss_traj: 0.5986, loss_traj_cls: 0.0010, loss_map_cls: 0.1875, loss_map_pts: 0.8301, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.4330, d0.loss_plan_l1_fix_dist: 0.4159, d1.loss_plan_l1_fix_time: 0.9763, d1.loss_plan_l1_fix_dist: 0.1874, d2.loss_plan_l1_fix_time: 0.9556, d2.loss_plan_l1_fix_dist: 0.1925, d3.loss_plan_l1_fix_time: 0.9592, d3.loss_plan_l1_fix_dist: 0.2006, d4.loss_plan_l1_fix_time: 0.9627, d4.loss_plan_l1_fix_dist: 0.2121, d5.loss_plan_l1_fix_time: 0.9662, d5.loss_plan_l1_fix_dist: 0.2260, d6.loss_plan_l1_fix_time: 0.9703, d6.loss_plan_l1_fix_dist: 0.2407, d0.loss_cls_all: 0.1801, d0.loss_bbox_all: 0.4186, d0.loss_cls: 0.1801, d0.loss_bbox: 0.4186, d1.loss_cls: 0.1754, d1.loss_bbox: 0.3811, d2.loss_cls: 0.1611, d2.loss_bbox: 0.3641, d3.loss_cls: 0.1521, d3.loss_bbox: 0.3596, d4.loss_cls: 0.1464, d4.loss_bbox: 0.3568, d5.loss_cls: 0.1456, d5.loss_bbox: 0.3546, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8023, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6496, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6196, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6062, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5997, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5991, d0.loss_map_cls_all: 0.2528, d0.loss_map_pts_all: 1.6607, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2528, d0.loss_map_pts: 1.6607, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2292, d1.loss_map_pts: 1.1500, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2099, d2.loss_map_pts: 0.9428, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.2019, d3.loss_map_pts: 0.8690, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1939, d4.loss_map_pts: 0.8369, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1884, d5.loss_map_pts: 0.8271, d5.loss_map_dir: 0.0111, loss: 29.2522, grad_norm: 148.6898 +2026-02-26 06:46:12,095 - DriveTransformer - INFO - Epoch [6][37250/39528] lr: 8.977e-05, eta: 6 days, 15:28:01, time: 0.771, data_time: 0.036, memory: 19865, loss_cls: 0.1678, loss_bbox: 0.3429, loss_traj: 0.6108, loss_traj_cls: 0.0011, loss_map_cls: 0.1578, loss_map_pts: 0.7006, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.0833, d0.loss_plan_l1_fix_dist: 0.4234, d1.loss_plan_l1_fix_time: 0.9703, d1.loss_plan_l1_fix_dist: 0.1547, d2.loss_plan_l1_fix_time: 0.9539, d2.loss_plan_l1_fix_dist: 0.1581, d3.loss_plan_l1_fix_time: 0.9515, d3.loss_plan_l1_fix_dist: 0.1662, d4.loss_plan_l1_fix_time: 0.9541, d4.loss_plan_l1_fix_dist: 0.1783, d5.loss_plan_l1_fix_time: 0.9578, d5.loss_plan_l1_fix_dist: 0.1917, d6.loss_plan_l1_fix_time: 0.9617, d6.loss_plan_l1_fix_dist: 0.2036, d0.loss_cls_all: 0.2073, d0.loss_bbox_all: 0.4040, d0.loss_cls: 0.2073, d0.loss_bbox: 0.4040, d1.loss_cls: 0.1966, d1.loss_bbox: 0.3723, d2.loss_cls: 0.1823, d2.loss_bbox: 0.3557, d3.loss_cls: 0.1704, d3.loss_bbox: 0.3497, d4.loss_cls: 0.1685, d4.loss_bbox: 0.3441, d5.loss_cls: 0.1653, d5.loss_bbox: 0.3461, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8637, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6512, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6143, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6092, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6073, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6094, d0.loss_map_cls_all: 0.2351, d0.loss_map_pts_all: 1.4345, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2351, d0.loss_map_pts: 1.4345, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2059, d1.loss_map_pts: 0.9643, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1868, d2.loss_map_pts: 0.7955, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1736, d3.loss_map_pts: 0.7350, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1653, d4.loss_map_pts: 0.7086, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1607, d5.loss_map_pts: 0.7004, d5.loss_map_dir: 0.0105, loss: 27.3401, grad_norm: 145.0067 +2026-02-26 06:46:50,802 - DriveTransformer - INFO - Epoch [6][37300/39528] lr: 8.977e-05, eta: 6 days, 15:27:16, time: 0.774, data_time: 0.046, memory: 19865, loss_cls: 0.1873, loss_bbox: 0.3840, loss_traj: 0.7470, loss_traj_cls: 0.0010, loss_map_cls: 0.1745, loss_map_pts: 0.7564, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 3.1050, d0.loss_plan_l1_fix_dist: 0.4675, d1.loss_plan_l1_fix_time: 1.2746, d1.loss_plan_l1_fix_dist: 0.2309, d2.loss_plan_l1_fix_time: 1.2664, d2.loss_plan_l1_fix_dist: 0.2349, d3.loss_plan_l1_fix_time: 1.2676, d3.loss_plan_l1_fix_dist: 0.2440, d4.loss_plan_l1_fix_time: 1.2712, d4.loss_plan_l1_fix_dist: 0.2544, d5.loss_plan_l1_fix_time: 1.2752, d5.loss_plan_l1_fix_dist: 0.2664, d6.loss_plan_l1_fix_time: 1.2793, d6.loss_plan_l1_fix_dist: 0.2858, d0.loss_cls_all: 0.2260, d0.loss_bbox_all: 0.4408, d0.loss_cls: 0.2260, d0.loss_bbox: 0.4408, d1.loss_cls: 0.2160, d1.loss_bbox: 0.4106, d2.loss_cls: 0.2034, d2.loss_bbox: 0.3929, d3.loss_cls: 0.1931, d3.loss_bbox: 0.3891, d4.loss_cls: 0.1877, d4.loss_bbox: 0.3860, d5.loss_cls: 0.1864, d5.loss_bbox: 0.3851, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9377, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7966, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7539, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7454, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7497, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7475, d0.loss_map_cls_all: 0.2468, d0.loss_map_pts_all: 1.3623, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2468, d0.loss_map_pts: 1.3623, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2147, d1.loss_map_pts: 1.0041, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1951, d2.loss_map_pts: 0.8552, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1855, d3.loss_map_pts: 0.7899, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1792, d4.loss_map_pts: 0.7655, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1750, d5.loss_map_pts: 0.7584, d5.loss_map_dir: 0.0097, loss: 32.4089, grad_norm: 146.1395 +2026-02-26 06:47:29,150 - DriveTransformer - INFO - Epoch [6][37350/39528] lr: 8.977e-05, eta: 6 days, 15:26:30, time: 0.767, data_time: 0.042, memory: 19865, loss_cls: 0.1671, loss_bbox: 0.3567, loss_traj: 0.6303, loss_traj_cls: 0.0011, loss_map_cls: 0.1522, loss_map_pts: 0.6321, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.6679, d0.loss_plan_l1_fix_dist: 0.3915, d1.loss_plan_l1_fix_time: 1.0886, d1.loss_plan_l1_fix_dist: 0.1751, d2.loss_plan_l1_fix_time: 1.0815, d2.loss_plan_l1_fix_dist: 0.1789, d3.loss_plan_l1_fix_time: 1.0824, d3.loss_plan_l1_fix_dist: 0.1905, d4.loss_plan_l1_fix_time: 1.0863, d4.loss_plan_l1_fix_dist: 0.2034, d5.loss_plan_l1_fix_time: 1.0903, d5.loss_plan_l1_fix_dist: 0.2193, d6.loss_plan_l1_fix_time: 1.0953, d6.loss_plan_l1_fix_dist: 0.2386, d0.loss_cls_all: 0.2066, d0.loss_bbox_all: 0.4095, d0.loss_cls: 0.2066, d0.loss_bbox: 0.4095, d1.loss_cls: 0.1994, d1.loss_bbox: 0.3755, d2.loss_cls: 0.1816, d2.loss_bbox: 0.3593, d3.loss_cls: 0.1715, d3.loss_bbox: 0.3551, d4.loss_cls: 0.1665, d4.loss_bbox: 0.3559, d5.loss_cls: 0.1662, d5.loss_bbox: 0.3559, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8574, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6913, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6444, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6386, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6312, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6291, d0.loss_map_cls_all: 0.2155, d0.loss_map_pts_all: 1.1931, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2155, d0.loss_map_pts: 1.1931, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1924, d1.loss_map_pts: 0.8451, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1753, d2.loss_map_pts: 0.7205, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1639, d3.loss_map_pts: 0.6657, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1562, d4.loss_map_pts: 0.6448, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1526, d5.loss_map_pts: 0.6339, d5.loss_map_dir: 0.0074, loss: 27.9720, grad_norm: 147.1986 +2026-02-26 06:48:07,175 - DriveTransformer - INFO - Epoch [6][37400/39528] lr: 8.977e-05, eta: 6 days, 15:25:43, time: 0.762, data_time: 0.037, memory: 19865, loss_cls: 0.1717, loss_bbox: 0.3557, loss_traj: 0.6383, loss_traj_cls: 0.0010, loss_map_cls: 0.1826, loss_map_pts: 0.7128, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.7762, d0.loss_plan_l1_fix_dist: 0.3826, d1.loss_plan_l1_fix_time: 1.1345, d1.loss_plan_l1_fix_dist: 0.1783, d2.loss_plan_l1_fix_time: 1.1121, d2.loss_plan_l1_fix_dist: 0.1845, d3.loss_plan_l1_fix_time: 1.1057, d3.loss_plan_l1_fix_dist: 0.1945, d4.loss_plan_l1_fix_time: 1.1082, d4.loss_plan_l1_fix_dist: 0.2055, d5.loss_plan_l1_fix_time: 1.1119, d5.loss_plan_l1_fix_dist: 0.2161, d6.loss_plan_l1_fix_time: 1.1168, d6.loss_plan_l1_fix_dist: 0.2267, d0.loss_cls_all: 0.2088, d0.loss_bbox_all: 0.4226, d0.loss_cls: 0.2088, d0.loss_bbox: 0.4226, d1.loss_cls: 0.2028, d1.loss_bbox: 0.3829, d2.loss_cls: 0.1897, d2.loss_bbox: 0.3652, d3.loss_cls: 0.1776, d3.loss_bbox: 0.3587, d4.loss_cls: 0.1718, d4.loss_bbox: 0.3568, d5.loss_cls: 0.1703, d5.loss_bbox: 0.3561, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9749, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6938, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6449, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6383, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6351, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6380, d0.loss_map_cls_all: 0.2518, d0.loss_map_pts_all: 1.2877, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2518, d0.loss_map_pts: 1.2877, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.2251, d1.loss_map_pts: 0.9474, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.2044, d2.loss_map_pts: 0.8137, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1947, d3.loss_map_pts: 0.7504, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1888, d4.loss_map_pts: 0.7242, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1844, d5.loss_map_pts: 0.7162, d5.loss_map_dir: 0.0087, loss: 29.4362, grad_norm: 146.8485 +2026-02-26 06:48:45,682 - DriveTransformer - INFO - Epoch [6][37450/39528] lr: 8.977e-05, eta: 6 days, 15:24:58, time: 0.769, data_time: 0.034, memory: 19865, loss_cls: 0.1658, loss_bbox: 0.3725, loss_traj: 0.7187, loss_traj_cls: 0.0010, loss_map_cls: 0.1423, loss_map_pts: 0.6204, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.8059, d0.loss_plan_l1_fix_dist: 0.3902, d1.loss_plan_l1_fix_time: 1.1451, d1.loss_plan_l1_fix_dist: 0.1967, d2.loss_plan_l1_fix_time: 1.1251, d2.loss_plan_l1_fix_dist: 0.2012, d3.loss_plan_l1_fix_time: 1.1255, d3.loss_plan_l1_fix_dist: 0.2099, d4.loss_plan_l1_fix_time: 1.1281, d4.loss_plan_l1_fix_dist: 0.2226, d5.loss_plan_l1_fix_time: 1.1312, d5.loss_plan_l1_fix_dist: 0.2377, d6.loss_plan_l1_fix_time: 1.1355, d6.loss_plan_l1_fix_dist: 0.2524, d0.loss_cls_all: 0.2065, d0.loss_bbox_all: 0.4339, d0.loss_cls: 0.2065, d0.loss_bbox: 0.4339, d1.loss_cls: 0.2045, d1.loss_bbox: 0.3959, d2.loss_cls: 0.1872, d2.loss_bbox: 0.3783, d3.loss_cls: 0.1719, d3.loss_bbox: 0.3725, d4.loss_cls: 0.1657, d4.loss_bbox: 0.3720, d5.loss_cls: 0.1656, d5.loss_bbox: 0.3718, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9388, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7839, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7350, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7188, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7114, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7142, d0.loss_map_cls_all: 0.2150, d0.loss_map_pts_all: 1.2598, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2150, d0.loss_map_pts: 1.2598, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1873, d1.loss_map_pts: 0.8553, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1666, d2.loss_map_pts: 0.7045, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1543, d3.loss_map_pts: 0.6515, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1487, d4.loss_map_pts: 0.6286, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1438, d5.loss_map_pts: 0.6220, d5.loss_map_dir: 0.0093, loss: 29.2879, grad_norm: 146.0290 +2026-02-26 06:49:22,564 - DriveTransformer - INFO - Epoch [6][37500/39528] lr: 8.977e-05, eta: 6 days, 15:24:08, time: 0.738, data_time: 0.041, memory: 19865, loss_cls: 0.1689, loss_bbox: 0.3716, loss_traj: 0.7393, loss_traj_cls: 0.0010, loss_map_cls: 0.1686, loss_map_pts: 0.7340, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.5647, d0.loss_plan_l1_fix_dist: 0.3410, d1.loss_plan_l1_fix_time: 1.1741, d1.loss_plan_l1_fix_dist: 0.1687, d2.loss_plan_l1_fix_time: 1.1635, d2.loss_plan_l1_fix_dist: 0.1752, d3.loss_plan_l1_fix_time: 1.1624, d3.loss_plan_l1_fix_dist: 0.1847, d4.loss_plan_l1_fix_time: 1.1645, d4.loss_plan_l1_fix_dist: 0.1942, d5.loss_plan_l1_fix_time: 1.1671, d5.loss_plan_l1_fix_dist: 0.2037, d6.loss_plan_l1_fix_time: 1.1706, d6.loss_plan_l1_fix_dist: 0.2141, d0.loss_cls_all: 0.2093, d0.loss_bbox_all: 0.4257, d0.loss_cls: 0.2093, d0.loss_bbox: 0.4257, d1.loss_cls: 0.2077, d1.loss_bbox: 0.3909, d2.loss_cls: 0.1911, d2.loss_bbox: 0.3783, d3.loss_cls: 0.1760, d3.loss_bbox: 0.3748, d4.loss_cls: 0.1711, d4.loss_bbox: 0.3717, d5.loss_cls: 0.1699, d5.loss_bbox: 0.3695, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9376, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7766, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7509, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7427, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7364, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7288, d0.loss_map_cls_all: 0.2445, d0.loss_map_pts_all: 1.3922, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2445, d0.loss_map_pts: 1.3922, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2138, d1.loss_map_pts: 0.9928, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1907, d2.loss_map_pts: 0.8261, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1792, d3.loss_map_pts: 0.7620, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1727, d4.loss_map_pts: 0.7414, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1688, d5.loss_map_pts: 0.7324, d5.loss_map_dir: 0.0102, loss: 30.3136, grad_norm: 146.7077 +2026-02-26 06:50:01,419 - DriveTransformer - INFO - Epoch [6][37550/39528] lr: 8.977e-05, eta: 6 days, 15:23:23, time: 0.777, data_time: 0.047, memory: 19865, loss_cls: 0.1544, loss_bbox: 0.3614, loss_traj: 0.5464, loss_traj_cls: 0.0010, loss_map_cls: 0.1403, loss_map_pts: 0.6053, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.3468, d0.loss_plan_l1_fix_dist: 0.4196, d1.loss_plan_l1_fix_time: 0.9738, d1.loss_plan_l1_fix_dist: 0.1820, d2.loss_plan_l1_fix_time: 0.9571, d2.loss_plan_l1_fix_dist: 0.1841, d3.loss_plan_l1_fix_time: 0.9512, d3.loss_plan_l1_fix_dist: 0.1927, d4.loss_plan_l1_fix_time: 0.9537, d4.loss_plan_l1_fix_dist: 0.2030, d5.loss_plan_l1_fix_time: 0.9568, d5.loss_plan_l1_fix_dist: 0.2161, d6.loss_plan_l1_fix_time: 0.9600, d6.loss_plan_l1_fix_dist: 0.2357, d0.loss_cls_all: 0.2065, d0.loss_bbox_all: 0.4077, d0.loss_cls: 0.2065, d0.loss_bbox: 0.4077, d1.loss_cls: 0.1947, d1.loss_bbox: 0.3794, d2.loss_cls: 0.1781, d2.loss_bbox: 0.3636, d3.loss_cls: 0.1660, d3.loss_bbox: 0.3559, d4.loss_cls: 0.1588, d4.loss_bbox: 0.3555, d5.loss_cls: 0.1553, d5.loss_bbox: 0.3570, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7235, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6054, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.5643, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5544, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5498, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5479, d0.loss_map_cls_all: 0.2117, d0.loss_map_pts_all: 1.2903, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2117, d0.loss_map_pts: 1.2903, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.1780, d1.loss_map_pts: 0.8549, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1607, d2.loss_map_pts: 0.6944, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1503, d3.loss_map_pts: 0.6353, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1445, d4.loss_map_pts: 0.6154, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1408, d5.loss_map_pts: 0.6060, d5.loss_map_dir: 0.0109, loss: 26.2536, grad_norm: 147.8365 +2026-02-26 06:50:39,349 - DriveTransformer - INFO - Epoch [6][37600/39528] lr: 8.977e-05, eta: 6 days, 15:22:36, time: 0.759, data_time: 0.038, memory: 19865, loss_cls: 0.1927, loss_bbox: 0.4131, loss_traj: 0.7172, loss_traj_cls: 0.0010, loss_map_cls: 0.1707, loss_map_pts: 0.6957, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 3.1741, d0.loss_plan_l1_fix_dist: 0.3806, d1.loss_plan_l1_fix_time: 1.2582, d1.loss_plan_l1_fix_dist: 0.1902, d2.loss_plan_l1_fix_time: 1.2432, d2.loss_plan_l1_fix_dist: 0.1898, d3.loss_plan_l1_fix_time: 1.2405, d3.loss_plan_l1_fix_dist: 0.1975, d4.loss_plan_l1_fix_time: 1.2425, d4.loss_plan_l1_fix_dist: 0.2093, d5.loss_plan_l1_fix_time: 1.2447, d5.loss_plan_l1_fix_dist: 0.2225, d6.loss_plan_l1_fix_time: 1.2475, d6.loss_plan_l1_fix_dist: 0.2342, d0.loss_cls_all: 0.2377, d0.loss_bbox_all: 0.4799, d0.loss_cls: 0.2377, d0.loss_bbox: 0.4799, d1.loss_cls: 0.2263, d1.loss_bbox: 0.4425, d2.loss_cls: 0.2141, d2.loss_bbox: 0.4209, d3.loss_cls: 0.2025, d3.loss_bbox: 0.4126, d4.loss_cls: 0.1952, d4.loss_bbox: 0.4115, d5.loss_cls: 0.1936, d5.loss_bbox: 0.4119, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9761, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8019, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7370, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7247, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7273, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7198, d0.loss_map_cls_all: 0.2406, d0.loss_map_pts_all: 1.3403, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2406, d0.loss_map_pts: 1.3403, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2057, d1.loss_map_pts: 0.9395, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1890, d2.loss_map_pts: 0.7955, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1802, d3.loss_map_pts: 0.7278, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1759, d4.loss_map_pts: 0.7034, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1712, d5.loss_map_pts: 0.6973, d5.loss_map_dir: 0.0105, loss: 31.7530, grad_norm: 143.8987 +2026-02-26 06:51:18,208 - DriveTransformer - INFO - Epoch [6][37650/39528] lr: 8.977e-05, eta: 6 days, 15:21:52, time: 0.777, data_time: 0.040, memory: 19865, loss_cls: 0.1826, loss_bbox: 0.3939, loss_traj: 0.8332, loss_traj_cls: 0.0010, loss_map_cls: 0.1646, loss_map_pts: 0.7422, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.5966, d0.loss_plan_l1_fix_dist: 0.4279, d1.loss_plan_l1_fix_time: 1.1327, d1.loss_plan_l1_fix_dist: 0.1993, d2.loss_plan_l1_fix_time: 1.1238, d2.loss_plan_l1_fix_dist: 0.2040, d3.loss_plan_l1_fix_time: 1.1196, d3.loss_plan_l1_fix_dist: 0.2114, d4.loss_plan_l1_fix_time: 1.1224, d4.loss_plan_l1_fix_dist: 0.2205, d5.loss_plan_l1_fix_time: 1.1251, d5.loss_plan_l1_fix_dist: 0.2295, d6.loss_plan_l1_fix_time: 1.1282, d6.loss_plan_l1_fix_dist: 0.2422, d0.loss_cls_all: 0.2165, d0.loss_bbox_all: 0.4555, d0.loss_cls: 0.2165, d0.loss_bbox: 0.4555, d1.loss_cls: 0.2094, d1.loss_bbox: 0.4195, d2.loss_cls: 0.1976, d2.loss_bbox: 0.3993, d3.loss_cls: 0.1874, d3.loss_bbox: 0.3950, d4.loss_cls: 0.1827, d4.loss_bbox: 0.3947, d5.loss_cls: 0.1832, d5.loss_bbox: 0.3933, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1158, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9147, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8626, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8493, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8385, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8324, d0.loss_map_cls_all: 0.2378, d0.loss_map_pts_all: 1.4559, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2378, d0.loss_map_pts: 1.4559, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2080, d1.loss_map_pts: 1.0457, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1891, d2.loss_map_pts: 0.8689, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1770, d3.loss_map_pts: 0.7832, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1715, d4.loss_map_pts: 0.7514, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1663, d5.loss_map_pts: 0.7444, d5.loss_map_dir: 0.0105, loss: 31.6989, grad_norm: 143.3852 +2026-02-26 06:51:56,800 - DriveTransformer - INFO - Epoch [6][37700/39528] lr: 8.977e-05, eta: 6 days, 15:21:07, time: 0.772, data_time: 0.038, memory: 19865, loss_cls: 0.1867, loss_bbox: 0.4043, loss_traj: 0.7878, loss_traj_cls: 0.0010, loss_map_cls: 0.1986, loss_map_pts: 0.8108, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 3.1887, d0.loss_plan_l1_fix_dist: 0.3600, d1.loss_plan_l1_fix_time: 1.3433, d1.loss_plan_l1_fix_dist: 0.1946, d2.loss_plan_l1_fix_time: 1.3357, d2.loss_plan_l1_fix_dist: 0.1944, d3.loss_plan_l1_fix_time: 1.3268, d3.loss_plan_l1_fix_dist: 0.2004, d4.loss_plan_l1_fix_time: 1.3276, d4.loss_plan_l1_fix_dist: 0.2050, d5.loss_plan_l1_fix_time: 1.3294, d5.loss_plan_l1_fix_dist: 0.2117, d6.loss_plan_l1_fix_time: 1.3320, d6.loss_plan_l1_fix_dist: 0.2197, d0.loss_cls_all: 0.2296, d0.loss_bbox_all: 0.4626, d0.loss_cls: 0.2296, d0.loss_bbox: 0.4626, d1.loss_cls: 0.2211, d1.loss_bbox: 0.4314, d2.loss_cls: 0.2119, d2.loss_bbox: 0.4098, d3.loss_cls: 0.1941, d3.loss_bbox: 0.4073, d4.loss_cls: 0.1873, d4.loss_bbox: 0.4064, d5.loss_cls: 0.1870, d5.loss_bbox: 0.4037, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0727, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8525, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8046, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7907, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7841, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7826, d0.loss_map_cls_all: 0.2807, d0.loss_map_pts_all: 1.5573, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2807, d0.loss_map_pts: 1.5573, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2506, d1.loss_map_pts: 1.0993, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.2268, d2.loss_map_pts: 0.9217, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.2134, d3.loss_map_pts: 0.8488, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.2051, d4.loss_map_pts: 0.8175, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1996, d5.loss_map_pts: 0.8124, d5.loss_map_dir: 0.0111, loss: 34.0525, grad_norm: 142.6238 +2026-02-26 06:52:35,990 - DriveTransformer - INFO - Epoch [6][37750/39528] lr: 8.977e-05, eta: 6 days, 15:20:23, time: 0.784, data_time: 0.040, memory: 19865, loss_cls: 0.1994, loss_bbox: 0.3946, loss_traj: 0.6569, loss_traj_cls: 0.0011, loss_map_cls: 0.1672, loss_map_pts: 0.7604, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.4848, d0.loss_plan_l1_fix_dist: 0.4687, d1.loss_plan_l1_fix_time: 0.9411, d1.loss_plan_l1_fix_dist: 0.1885, d2.loss_plan_l1_fix_time: 0.9330, d2.loss_plan_l1_fix_dist: 0.1883, d3.loss_plan_l1_fix_time: 0.9337, d3.loss_plan_l1_fix_dist: 0.1927, d4.loss_plan_l1_fix_time: 0.9353, d4.loss_plan_l1_fix_dist: 0.1973, d5.loss_plan_l1_fix_time: 0.9379, d5.loss_plan_l1_fix_dist: 0.2042, d6.loss_plan_l1_fix_time: 0.9418, d6.loss_plan_l1_fix_dist: 0.2108, d0.loss_cls_all: 0.2342, d0.loss_bbox_all: 0.4642, d0.loss_cls: 0.2342, d0.loss_bbox: 0.4642, d1.loss_cls: 0.2312, d1.loss_bbox: 0.4277, d2.loss_cls: 0.2161, d2.loss_bbox: 0.4092, d3.loss_cls: 0.2053, d3.loss_bbox: 0.4009, d4.loss_cls: 0.1998, d4.loss_bbox: 0.3969, d5.loss_cls: 0.1976, d5.loss_bbox: 0.3951, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8785, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7186, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6732, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6590, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6554, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6564, d0.loss_map_cls_all: 0.2454, d0.loss_map_pts_all: 1.4990, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2454, d0.loss_map_pts: 1.4990, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2110, d1.loss_map_pts: 1.0617, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1893, d2.loss_map_pts: 0.8778, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1777, d3.loss_map_pts: 0.8016, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1725, d4.loss_map_pts: 0.7719, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1694, d5.loss_map_pts: 0.7627, d5.loss_map_dir: 0.0105, loss: 29.4270, grad_norm: 141.5878 +2026-02-26 06:53:15,048 - DriveTransformer - INFO - Epoch [6][37800/39528] lr: 8.977e-05, eta: 6 days, 15:19:40, time: 0.781, data_time: 0.040, memory: 19865, loss_cls: 0.1741, loss_bbox: 0.3746, loss_traj: 0.6580, loss_traj_cls: 0.0011, loss_map_cls: 0.1478, loss_map_pts: 0.7342, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.1617, d0.loss_plan_l1_fix_dist: 0.3420, d1.loss_plan_l1_fix_time: 0.9017, d1.loss_plan_l1_fix_dist: 0.1506, d2.loss_plan_l1_fix_time: 0.8889, d2.loss_plan_l1_fix_dist: 0.1569, d3.loss_plan_l1_fix_time: 0.8874, d3.loss_plan_l1_fix_dist: 0.1620, d4.loss_plan_l1_fix_time: 0.8896, d4.loss_plan_l1_fix_dist: 0.1690, d5.loss_plan_l1_fix_time: 0.8931, d5.loss_plan_l1_fix_dist: 0.1775, d6.loss_plan_l1_fix_time: 0.8976, d6.loss_plan_l1_fix_dist: 0.1873, d0.loss_cls_all: 0.2102, d0.loss_bbox_all: 0.4379, d0.loss_cls: 0.2102, d0.loss_bbox: 0.4379, d1.loss_cls: 0.2037, d1.loss_bbox: 0.4051, d2.loss_cls: 0.1923, d2.loss_bbox: 0.3843, d3.loss_cls: 0.1815, d3.loss_bbox: 0.3784, d4.loss_cls: 0.1756, d4.loss_bbox: 0.3749, d5.loss_cls: 0.1737, d5.loss_bbox: 0.3742, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8366, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6997, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6603, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6524, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6497, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6571, d0.loss_map_cls_all: 0.2352, d0.loss_map_pts_all: 1.4803, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2352, d0.loss_map_pts: 1.4803, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1954, d1.loss_map_pts: 1.0060, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1715, d2.loss_map_pts: 0.8404, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1609, d3.loss_map_pts: 0.7772, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1532, d4.loss_map_pts: 0.7456, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1489, d5.loss_map_pts: 0.7367, d5.loss_map_dir: 0.0102, loss: 27.7032, grad_norm: 142.1055 +2026-02-26 06:53:54,446 - DriveTransformer - INFO - Epoch [6][37850/39528] lr: 8.977e-05, eta: 6 days, 15:18:57, time: 0.788, data_time: 0.043, memory: 19865, loss_cls: 0.1843, loss_bbox: 0.3724, loss_traj: 0.6484, loss_traj_cls: 0.0011, loss_map_cls: 0.1447, loss_map_pts: 0.6912, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.4726, d0.loss_plan_l1_fix_dist: 0.4086, d1.loss_plan_l1_fix_time: 1.0225, d1.loss_plan_l1_fix_dist: 0.1967, d2.loss_plan_l1_fix_time: 1.0090, d2.loss_plan_l1_fix_dist: 0.1997, d3.loss_plan_l1_fix_time: 1.0103, d3.loss_plan_l1_fix_dist: 0.2043, d4.loss_plan_l1_fix_time: 1.0130, d4.loss_plan_l1_fix_dist: 0.2131, d5.loss_plan_l1_fix_time: 1.0163, d5.loss_plan_l1_fix_dist: 0.2226, d6.loss_plan_l1_fix_time: 1.0198, d6.loss_plan_l1_fix_dist: 0.2320, d0.loss_cls_all: 0.2205, d0.loss_bbox_all: 0.4309, d0.loss_cls: 0.2205, d0.loss_bbox: 0.4309, d1.loss_cls: 0.2143, d1.loss_bbox: 0.3994, d2.loss_cls: 0.2019, d2.loss_bbox: 0.3806, d3.loss_cls: 0.1920, d3.loss_bbox: 0.3739, d4.loss_cls: 0.1834, d4.loss_bbox: 0.3722, d5.loss_cls: 0.1835, d5.loss_bbox: 0.3720, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8304, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6977, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6557, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6503, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6530, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6483, d0.loss_map_cls_all: 0.2250, d0.loss_map_pts_all: 1.3824, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2250, d0.loss_map_pts: 1.3824, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1899, d1.loss_map_pts: 0.9553, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1680, d2.loss_map_pts: 0.7944, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1589, d3.loss_map_pts: 0.7249, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1523, d4.loss_map_pts: 0.7005, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1469, d5.loss_map_pts: 0.6910, d5.loss_map_dir: 0.0104, loss: 28.5767, grad_norm: 143.8384 +2026-02-26 06:54:32,348 - DriveTransformer - INFO - Epoch [6][37900/39528] lr: 8.977e-05, eta: 6 days, 15:18:10, time: 0.758, data_time: 0.041, memory: 19865, loss_cls: 0.1718, loss_bbox: 0.3959, loss_traj: 0.7317, loss_traj_cls: 0.0011, loss_map_cls: 0.1850, loss_map_pts: 0.8034, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.9069, d0.loss_plan_l1_fix_dist: 0.3704, d1.loss_plan_l1_fix_time: 1.1909, d1.loss_plan_l1_fix_dist: 0.1952, d2.loss_plan_l1_fix_time: 1.1866, d2.loss_plan_l1_fix_dist: 0.2003, d3.loss_plan_l1_fix_time: 1.1919, d3.loss_plan_l1_fix_dist: 0.2122, d4.loss_plan_l1_fix_time: 1.1962, d4.loss_plan_l1_fix_dist: 0.2285, d5.loss_plan_l1_fix_time: 1.2005, d5.loss_plan_l1_fix_dist: 0.2444, d6.loss_plan_l1_fix_time: 1.2055, d6.loss_plan_l1_fix_dist: 0.2625, d0.loss_cls_all: 0.2085, d0.loss_bbox_all: 0.4585, d0.loss_cls: 0.2085, d0.loss_bbox: 0.4585, d1.loss_cls: 0.2023, d1.loss_bbox: 0.4244, d2.loss_cls: 0.1927, d2.loss_bbox: 0.4045, d3.loss_cls: 0.1815, d3.loss_bbox: 0.3963, d4.loss_cls: 0.1748, d4.loss_bbox: 0.3948, d5.loss_cls: 0.1723, d5.loss_bbox: 0.3957, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9916, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7968, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7553, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7376, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7328, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7288, d0.loss_map_cls_all: 0.2604, d0.loss_map_pts_all: 1.4841, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2604, d0.loss_map_pts: 1.4841, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2223, d1.loss_map_pts: 1.0892, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.2001, d2.loss_map_pts: 0.9253, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1933, d3.loss_map_pts: 0.8393, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1897, d4.loss_map_pts: 0.8088, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1855, d5.loss_map_pts: 0.8041, d5.loss_map_dir: 0.0096, loss: 32.1245, grad_norm: 146.4332 +2026-02-26 06:55:12,746 - DriveTransformer - INFO - Epoch [6][37950/39528] lr: 8.977e-05, eta: 6 days, 15:17:30, time: 0.808, data_time: 0.037, memory: 19865, loss_cls: 0.1700, loss_bbox: 0.3840, loss_traj: 0.6078, loss_traj_cls: 0.0011, loss_map_cls: 0.1843, loss_map_pts: 0.8352, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.4576, d0.loss_plan_l1_fix_dist: 0.3733, d1.loss_plan_l1_fix_time: 1.1028, d1.loss_plan_l1_fix_dist: 0.1804, d2.loss_plan_l1_fix_time: 1.0864, d2.loss_plan_l1_fix_dist: 0.1803, d3.loss_plan_l1_fix_time: 1.0872, d3.loss_plan_l1_fix_dist: 0.1883, d4.loss_plan_l1_fix_time: 1.0905, d4.loss_plan_l1_fix_dist: 0.1989, d5.loss_plan_l1_fix_time: 1.0942, d5.loss_plan_l1_fix_dist: 0.2104, d6.loss_plan_l1_fix_time: 1.0997, d6.loss_plan_l1_fix_dist: 0.2235, d0.loss_cls_all: 0.2136, d0.loss_bbox_all: 0.4395, d0.loss_cls: 0.2136, d0.loss_bbox: 0.4395, d1.loss_cls: 0.2001, d1.loss_bbox: 0.4137, d2.loss_cls: 0.1874, d2.loss_bbox: 0.3944, d3.loss_cls: 0.1759, d3.loss_bbox: 0.3859, d4.loss_cls: 0.1725, d4.loss_bbox: 0.3827, d5.loss_cls: 0.1716, d5.loss_bbox: 0.3822, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7999, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6611, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6313, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6188, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6106, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6108, d0.loss_map_cls_all: 0.2562, d0.loss_map_pts_all: 1.6842, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2562, d0.loss_map_pts: 1.6842, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2254, d1.loss_map_pts: 1.1525, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2073, d2.loss_map_pts: 0.9605, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1976, d3.loss_map_pts: 0.8739, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1891, d4.loss_map_pts: 0.8440, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1853, d5.loss_map_pts: 0.8370, d5.loss_map_dir: 0.0118, loss: 30.5101, grad_norm: 144.3749 +2026-02-26 06:55:51,215 - DriveTransformer - INFO - Epoch [6][38000/39528] lr: 8.977e-05, eta: 6 days, 15:16:45, time: 0.769, data_time: 0.044, memory: 19865, loss_cls: 0.1845, loss_bbox: 0.3785, loss_traj: 0.8058, loss_traj_cls: 0.0010, loss_map_cls: 0.1745, loss_map_pts: 0.6666, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 3.1355, d0.loss_plan_l1_fix_dist: 0.3724, d1.loss_plan_l1_fix_time: 1.2983, d1.loss_plan_l1_fix_dist: 0.1744, d2.loss_plan_l1_fix_time: 1.2822, d2.loss_plan_l1_fix_dist: 0.1778, d3.loss_plan_l1_fix_time: 1.2818, d3.loss_plan_l1_fix_dist: 0.1885, d4.loss_plan_l1_fix_time: 1.2844, d4.loss_plan_l1_fix_dist: 0.1994, d5.loss_plan_l1_fix_time: 1.2873, d5.loss_plan_l1_fix_dist: 0.2130, d6.loss_plan_l1_fix_time: 1.2904, d6.loss_plan_l1_fix_dist: 0.2288, d0.loss_cls_all: 0.2315, d0.loss_bbox_all: 0.4389, d0.loss_cls: 0.2315, d0.loss_bbox: 0.4389, d1.loss_cls: 0.2209, d1.loss_bbox: 0.4030, d2.loss_cls: 0.2078, d2.loss_bbox: 0.3842, d3.loss_cls: 0.1937, d3.loss_bbox: 0.3785, d4.loss_cls: 0.1864, d4.loss_bbox: 0.3779, d5.loss_cls: 0.1854, d5.loss_bbox: 0.3780, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0337, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8504, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8264, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8152, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8087, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8077, d0.loss_map_cls_all: 0.2518, d0.loss_map_pts_all: 1.2947, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2518, d0.loss_map_pts: 1.2947, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.2172, d1.loss_map_pts: 0.9161, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1977, d2.loss_map_pts: 0.7669, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1880, d3.loss_map_pts: 0.6958, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1800, d4.loss_map_pts: 0.6758, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1755, d5.loss_map_pts: 0.6669, d5.loss_map_dir: 0.0073, loss: 31.8581, grad_norm: 145.2880 +2026-02-26 06:56:29,380 - DriveTransformer - INFO - Epoch [6][38050/39528] lr: 8.977e-05, eta: 6 days, 15:15:58, time: 0.763, data_time: 0.034, memory: 19865, loss_cls: 0.1606, loss_bbox: 0.3723, loss_traj: 0.6772, loss_traj_cls: 0.0010, loss_map_cls: 0.1751, loss_map_pts: 0.7567, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.6372, d0.loss_plan_l1_fix_dist: 0.4173, d1.loss_plan_l1_fix_time: 1.0299, d1.loss_plan_l1_fix_dist: 0.1727, d2.loss_plan_l1_fix_time: 1.0158, d2.loss_plan_l1_fix_dist: 0.1754, d3.loss_plan_l1_fix_time: 1.0098, d3.loss_plan_l1_fix_dist: 0.1877, d4.loss_plan_l1_fix_time: 1.0132, d4.loss_plan_l1_fix_dist: 0.2013, d5.loss_plan_l1_fix_time: 1.0179, d5.loss_plan_l1_fix_dist: 0.2160, d6.loss_plan_l1_fix_time: 1.0229, d6.loss_plan_l1_fix_dist: 0.2332, d0.loss_cls_all: 0.2030, d0.loss_bbox_all: 0.4339, d0.loss_cls: 0.2030, d0.loss_bbox: 0.4339, d1.loss_cls: 0.1956, d1.loss_bbox: 0.4071, d2.loss_cls: 0.1847, d2.loss_bbox: 0.3841, d3.loss_cls: 0.1687, d3.loss_bbox: 0.3770, d4.loss_cls: 0.1624, d4.loss_bbox: 0.3739, d5.loss_cls: 0.1604, d5.loss_bbox: 0.3728, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8941, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7319, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6919, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6784, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6755, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6775, d0.loss_map_cls_all: 0.2594, d0.loss_map_pts_all: 1.4951, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2594, d0.loss_map_pts: 1.4951, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2216, d1.loss_map_pts: 1.0344, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1986, d2.loss_map_pts: 0.8402, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1869, d3.loss_map_pts: 0.7746, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1793, d4.loss_map_pts: 0.7578, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1759, d5.loss_map_pts: 0.7520, d5.loss_map_dir: 0.0106, loss: 29.6205, grad_norm: 148.7259 +2026-02-26 06:57:08,183 - DriveTransformer - INFO - Epoch [6][38100/39528] lr: 8.977e-05, eta: 6 days, 15:15:14, time: 0.776, data_time: 0.039, memory: 19865, loss_cls: 0.1718, loss_bbox: 0.3905, loss_traj: 0.6389, loss_traj_cls: 0.0010, loss_map_cls: 0.1831, loss_map_pts: 0.8405, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.5889, d0.loss_plan_l1_fix_dist: 0.4019, d1.loss_plan_l1_fix_time: 0.9963, d1.loss_plan_l1_fix_dist: 0.1832, d2.loss_plan_l1_fix_time: 0.9770, d2.loss_plan_l1_fix_dist: 0.1888, d3.loss_plan_l1_fix_time: 0.9746, d3.loss_plan_l1_fix_dist: 0.1992, d4.loss_plan_l1_fix_time: 0.9773, d4.loss_plan_l1_fix_dist: 0.2093, d5.loss_plan_l1_fix_time: 0.9809, d5.loss_plan_l1_fix_dist: 0.2211, d6.loss_plan_l1_fix_time: 0.9847, d6.loss_plan_l1_fix_dist: 0.2350, d0.loss_cls_all: 0.2140, d0.loss_bbox_all: 0.4498, d0.loss_cls: 0.2140, d0.loss_bbox: 0.4498, d1.loss_cls: 0.2031, d1.loss_bbox: 0.4173, d2.loss_cls: 0.1936, d2.loss_bbox: 0.3980, d3.loss_cls: 0.1812, d3.loss_bbox: 0.3930, d4.loss_cls: 0.1737, d4.loss_bbox: 0.3920, d5.loss_cls: 0.1699, d5.loss_bbox: 0.3916, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9011, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7226, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6606, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6524, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6433, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6394, d0.loss_map_cls_all: 0.2761, d0.loss_map_pts_all: 1.6340, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2761, d0.loss_map_pts: 1.6340, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2334, d1.loss_map_pts: 1.1712, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2059, d2.loss_map_pts: 0.9667, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.1958, d3.loss_map_pts: 0.8765, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1880, d4.loss_map_pts: 0.8490, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1843, d5.loss_map_pts: 0.8402, d5.loss_map_dir: 0.0114, loss: 30.4285, grad_norm: 148.4644 +2026-02-26 06:57:48,748 - DriveTransformer - INFO - Epoch [6][38150/39528] lr: 8.977e-05, eta: 6 days, 15:14:35, time: 0.811, data_time: 0.044, memory: 19865, loss_cls: 0.1582, loss_bbox: 0.3639, loss_traj: 0.7768, loss_traj_cls: 0.0010, loss_map_cls: 0.1554, loss_map_pts: 0.7239, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.5369, d0.loss_plan_l1_fix_dist: 0.2827, d1.loss_plan_l1_fix_time: 1.0335, d1.loss_plan_l1_fix_dist: 0.1708, d2.loss_plan_l1_fix_time: 1.0159, d2.loss_plan_l1_fix_dist: 0.1829, d3.loss_plan_l1_fix_time: 1.0128, d3.loss_plan_l1_fix_dist: 0.1953, d4.loss_plan_l1_fix_time: 1.0148, d4.loss_plan_l1_fix_dist: 0.2122, d5.loss_plan_l1_fix_time: 1.0174, d5.loss_plan_l1_fix_dist: 0.2325, d6.loss_plan_l1_fix_time: 1.0206, d6.loss_plan_l1_fix_dist: 0.2513, d0.loss_cls_all: 0.1952, d0.loss_bbox_all: 0.4182, d0.loss_cls: 0.1952, d0.loss_bbox: 0.4182, d1.loss_cls: 0.1878, d1.loss_bbox: 0.3864, d2.loss_cls: 0.1762, d2.loss_bbox: 0.3700, d3.loss_cls: 0.1654, d3.loss_bbox: 0.3652, d4.loss_cls: 0.1594, d4.loss_bbox: 0.3640, d5.loss_cls: 0.1577, d5.loss_bbox: 0.3623, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9839, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8170, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7777, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7611, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7634, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7685, d0.loss_map_cls_all: 0.2329, d0.loss_map_pts_all: 1.4442, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2329, d0.loss_map_pts: 1.4442, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2024, d1.loss_map_pts: 0.9806, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1818, d2.loss_map_pts: 0.8216, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1723, d3.loss_map_pts: 0.7539, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1638, d4.loss_map_pts: 0.7308, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1571, d5.loss_map_pts: 0.7247, d5.loss_map_dir: 0.0109, loss: 29.4856, grad_norm: 150.4377 +2026-02-26 06:58:28,308 - DriveTransformer - INFO - Epoch [6][38200/39528] lr: 8.977e-05, eta: 6 days, 15:13:53, time: 0.793, data_time: 0.039, memory: 19865, loss_cls: 0.1491, loss_bbox: 0.3740, loss_traj: 0.5833, loss_traj_cls: 0.0010, loss_map_cls: 0.1614, loss_map_pts: 0.7469, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.3884, d0.loss_plan_l1_fix_dist: 0.4138, d1.loss_plan_l1_fix_time: 1.1357, d1.loss_plan_l1_fix_dist: 0.2013, d2.loss_plan_l1_fix_time: 1.1354, d2.loss_plan_l1_fix_dist: 0.2033, d3.loss_plan_l1_fix_time: 1.1382, d3.loss_plan_l1_fix_dist: 0.2117, d4.loss_plan_l1_fix_time: 1.1429, d4.loss_plan_l1_fix_dist: 0.2225, d5.loss_plan_l1_fix_time: 1.1475, d5.loss_plan_l1_fix_dist: 0.2347, d6.loss_plan_l1_fix_time: 1.1527, d6.loss_plan_l1_fix_dist: 0.2492, d0.loss_cls_all: 0.1845, d0.loss_bbox_all: 0.4333, d0.loss_cls: 0.1845, d0.loss_bbox: 0.4333, d1.loss_cls: 0.1793, d1.loss_bbox: 0.4045, d2.loss_cls: 0.1666, d2.loss_bbox: 0.3875, d3.loss_cls: 0.1557, d3.loss_bbox: 0.3789, d4.loss_cls: 0.1493, d4.loss_bbox: 0.3763, d5.loss_cls: 0.1482, d5.loss_bbox: 0.3752, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7711, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6363, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5943, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5883, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5859, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5845, d0.loss_map_cls_all: 0.2449, d0.loss_map_pts_all: 1.5598, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2449, d0.loss_map_pts: 1.5598, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2124, d1.loss_map_pts: 1.0526, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1883, d2.loss_map_pts: 0.8523, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1759, d3.loss_map_pts: 0.7807, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1690, d4.loss_map_pts: 0.7528, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1637, d5.loss_map_pts: 0.7461, d5.loss_map_dir: 0.0111, loss: 29.5041, grad_norm: 150.7722 +2026-02-26 06:59:07,619 - DriveTransformer - INFO - Epoch [6][38250/39528] lr: 8.977e-05, eta: 6 days, 15:13:10, time: 0.785, data_time: 0.042, memory: 19865, loss_cls: 0.1629, loss_bbox: 0.3475, loss_traj: 0.7158, loss_traj_cls: 0.0010, loss_map_cls: 0.1663, loss_map_pts: 0.7727, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.6032, d0.loss_plan_l1_fix_dist: 0.3596, d1.loss_plan_l1_fix_time: 1.0665, d1.loss_plan_l1_fix_dist: 0.1779, d2.loss_plan_l1_fix_time: 1.0525, d2.loss_plan_l1_fix_dist: 0.1845, d3.loss_plan_l1_fix_time: 1.0574, d3.loss_plan_l1_fix_dist: 0.1958, d4.loss_plan_l1_fix_time: 1.0622, d4.loss_plan_l1_fix_dist: 0.2079, d5.loss_plan_l1_fix_time: 1.0666, d5.loss_plan_l1_fix_dist: 0.2195, d6.loss_plan_l1_fix_time: 1.0715, d6.loss_plan_l1_fix_dist: 0.2344, d0.loss_cls_all: 0.2005, d0.loss_bbox_all: 0.4052, d0.loss_cls: 0.2005, d0.loss_bbox: 0.4052, d1.loss_cls: 0.1871, d1.loss_bbox: 0.3793, d2.loss_cls: 0.1740, d2.loss_bbox: 0.3612, d3.loss_cls: 0.1675, d3.loss_bbox: 0.3538, d4.loss_cls: 0.1634, d4.loss_bbox: 0.3509, d5.loss_cls: 0.1626, d5.loss_bbox: 0.3481, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9393, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7877, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7321, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7213, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7157, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7127, d0.loss_map_cls_all: 0.2366, d0.loss_map_pts_all: 1.5343, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2366, d0.loss_map_pts: 1.5343, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2092, d1.loss_map_pts: 1.0666, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1845, d2.loss_map_pts: 0.8826, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1781, d3.loss_map_pts: 0.8096, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1717, d4.loss_map_pts: 0.7811, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1678, d5.loss_map_pts: 0.7733, d5.loss_map_dir: 0.0102, loss: 30.0435, grad_norm: 151.7000 +2026-02-26 06:59:46,069 - DriveTransformer - INFO - Epoch [6][38300/39528] lr: 8.977e-05, eta: 6 days, 15:12:24, time: 0.769, data_time: 0.040, memory: 19865, loss_cls: 0.1588, loss_bbox: 0.3681, loss_traj: 0.6935, loss_traj_cls: 0.0010, loss_map_cls: 0.1712, loss_map_pts: 0.7285, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.6431, d0.loss_plan_l1_fix_dist: 0.3699, d1.loss_plan_l1_fix_time: 1.2501, d1.loss_plan_l1_fix_dist: 0.1610, d2.loss_plan_l1_fix_time: 1.2349, d2.loss_plan_l1_fix_dist: 0.1669, d3.loss_plan_l1_fix_time: 1.2331, d3.loss_plan_l1_fix_dist: 0.1755, d4.loss_plan_l1_fix_time: 1.2358, d4.loss_plan_l1_fix_dist: 0.1898, d5.loss_plan_l1_fix_time: 1.2391, d5.loss_plan_l1_fix_dist: 0.2076, d6.loss_plan_l1_fix_time: 1.2437, d6.loss_plan_l1_fix_dist: 0.2231, d0.loss_cls_all: 0.1936, d0.loss_bbox_all: 0.4321, d0.loss_cls: 0.1936, d0.loss_bbox: 0.4321, d1.loss_cls: 0.1880, d1.loss_bbox: 0.3960, d2.loss_cls: 0.1761, d2.loss_bbox: 0.3757, d3.loss_cls: 0.1663, d3.loss_bbox: 0.3681, d4.loss_cls: 0.1592, d4.loss_bbox: 0.3689, d5.loss_cls: 0.1591, d5.loss_bbox: 0.3677, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9175, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7492, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7050, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6970, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6907, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6927, d0.loss_map_cls_all: 0.2463, d0.loss_map_pts_all: 1.4410, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2463, d0.loss_map_pts: 1.4410, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2101, d1.loss_map_pts: 0.9987, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1908, d2.loss_map_pts: 0.8352, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1830, d3.loss_map_pts: 0.7623, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1757, d4.loss_map_pts: 0.7376, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1727, d5.loss_map_pts: 0.7294, d5.loss_map_dir: 0.0103, loss: 30.5779, grad_norm: 151.7708 +2026-02-26 07:00:26,388 - DriveTransformer - INFO - Epoch [6][38350/39528] lr: 8.977e-05, eta: 6 days, 15:11:44, time: 0.806, data_time: 0.039, memory: 19865, loss_cls: 0.1721, loss_bbox: 0.3717, loss_traj: 0.6603, loss_traj_cls: 0.0010, loss_map_cls: 0.1537, loss_map_pts: 0.7746, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.3528, d0.loss_plan_l1_fix_dist: 0.4488, d1.loss_plan_l1_fix_time: 1.0939, d1.loss_plan_l1_fix_dist: 0.1701, d2.loss_plan_l1_fix_time: 1.0618, d2.loss_plan_l1_fix_dist: 0.1734, d3.loss_plan_l1_fix_time: 1.0579, d3.loss_plan_l1_fix_dist: 0.1849, d4.loss_plan_l1_fix_time: 1.0599, d4.loss_plan_l1_fix_dist: 0.1979, d5.loss_plan_l1_fix_time: 1.0634, d5.loss_plan_l1_fix_dist: 0.2093, d6.loss_plan_l1_fix_time: 1.0675, d6.loss_plan_l1_fix_dist: 0.2247, d0.loss_cls_all: 0.2071, d0.loss_bbox_all: 0.4305, d0.loss_cls: 0.2071, d0.loss_bbox: 0.4305, d1.loss_cls: 0.1979, d1.loss_bbox: 0.3999, d2.loss_cls: 0.1871, d2.loss_bbox: 0.3834, d3.loss_cls: 0.1780, d3.loss_bbox: 0.3779, d4.loss_cls: 0.1719, d4.loss_bbox: 0.3755, d5.loss_cls: 0.1721, d5.loss_bbox: 0.3737, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8299, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7004, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6693, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6645, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6580, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6610, d0.loss_map_cls_all: 0.2277, d0.loss_map_pts_all: 1.5328, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2277, d0.loss_map_pts: 1.5328, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.1927, d1.loss_map_pts: 1.0687, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.1770, d2.loss_map_pts: 0.8806, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.1653, d3.loss_map_pts: 0.8076, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1573, d4.loss_map_pts: 0.7858, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1545, d5.loss_map_pts: 0.7774, d5.loss_map_dir: 0.0121, loss: 29.5609, grad_norm: 151.0995 +2026-02-26 07:01:05,372 - DriveTransformer - INFO - Epoch [6][38400/39528] lr: 8.977e-05, eta: 6 days, 15:11:00, time: 0.780, data_time: 0.039, memory: 19865, loss_cls: 0.1692, loss_bbox: 0.3732, loss_traj: 0.6844, loss_traj_cls: 0.0011, loss_map_cls: 0.1569, loss_map_pts: 0.7339, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.9175, d0.loss_plan_l1_fix_dist: 0.5249, d1.loss_plan_l1_fix_time: 1.2379, d1.loss_plan_l1_fix_dist: 0.2245, d2.loss_plan_l1_fix_time: 1.2181, d2.loss_plan_l1_fix_dist: 0.2272, d3.loss_plan_l1_fix_time: 1.2200, d3.loss_plan_l1_fix_dist: 0.2345, d4.loss_plan_l1_fix_time: 1.2240, d4.loss_plan_l1_fix_dist: 0.2427, d5.loss_plan_l1_fix_time: 1.2282, d5.loss_plan_l1_fix_dist: 0.2509, d6.loss_plan_l1_fix_time: 1.2320, d6.loss_plan_l1_fix_dist: 0.2617, d0.loss_cls_all: 0.2079, d0.loss_bbox_all: 0.4370, d0.loss_cls: 0.2079, d0.loss_bbox: 0.4370, d1.loss_cls: 0.1984, d1.loss_bbox: 0.4020, d2.loss_cls: 0.1867, d2.loss_bbox: 0.3808, d3.loss_cls: 0.1796, d3.loss_bbox: 0.3719, d4.loss_cls: 0.1713, d4.loss_bbox: 0.3719, d5.loss_cls: 0.1688, d5.loss_bbox: 0.3729, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9291, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7335, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6955, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6795, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6818, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6792, d0.loss_map_cls_all: 0.2286, d0.loss_map_pts_all: 1.3932, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2286, d0.loss_map_pts: 1.3932, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1948, d1.loss_map_pts: 0.9687, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1768, d2.loss_map_pts: 0.8151, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1687, d3.loss_map_pts: 0.7532, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1618, d4.loss_map_pts: 0.7360, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1585, d5.loss_map_pts: 0.7326, d5.loss_map_dir: 0.0095, loss: 31.0456, grad_norm: 150.4723 +2026-02-26 07:01:47,605 - DriveTransformer - INFO - Epoch [6][38450/39528] lr: 8.977e-05, eta: 6 days, 15:10:26, time: 0.845, data_time: 0.041, memory: 19865, loss_cls: 0.1653, loss_bbox: 0.3720, loss_traj: 0.6027, loss_traj_cls: 0.0010, loss_map_cls: 0.1609, loss_map_pts: 0.7915, loss_map_dir: 0.0144, d0.loss_plan_l1_fix_time: 2.9005, d0.loss_plan_l1_fix_dist: 0.4494, d1.loss_plan_l1_fix_time: 1.1556, d1.loss_plan_l1_fix_dist: 0.1843, d2.loss_plan_l1_fix_time: 1.1456, d2.loss_plan_l1_fix_dist: 0.1904, d3.loss_plan_l1_fix_time: 1.1439, d3.loss_plan_l1_fix_dist: 0.2055, d4.loss_plan_l1_fix_time: 1.1467, d4.loss_plan_l1_fix_dist: 0.2204, d5.loss_plan_l1_fix_time: 1.1501, d5.loss_plan_l1_fix_dist: 0.2376, d6.loss_plan_l1_fix_time: 1.1550, d6.loss_plan_l1_fix_dist: 0.2506, d0.loss_cls_all: 0.2080, d0.loss_bbox_all: 0.4361, d0.loss_cls: 0.2080, d0.loss_bbox: 0.4361, d1.loss_cls: 0.2052, d1.loss_bbox: 0.4027, d2.loss_cls: 0.1873, d2.loss_bbox: 0.3845, d3.loss_cls: 0.1766, d3.loss_bbox: 0.3762, d4.loss_cls: 0.1669, d4.loss_bbox: 0.3747, d5.loss_cls: 0.1662, d5.loss_bbox: 0.3720, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7650, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6402, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6096, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5988, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5982, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5980, d0.loss_map_cls_all: 0.2387, d0.loss_map_pts_all: 1.7306, d0.loss_map_dir_all: 0.0137, d0.loss_map_cls: 0.2387, d0.loss_map_pts: 1.7306, d0.loss_map_dir: 0.0137, d1.loss_map_cls: 0.1986, d1.loss_map_pts: 1.1209, d1.loss_map_dir: 0.0131, d2.loss_map_cls: 0.1808, d2.loss_map_pts: 0.8960, d2.loss_map_dir: 0.0133, d3.loss_map_cls: 0.1722, d3.loss_map_pts: 0.8194, d3.loss_map_dir: 0.0138, d4.loss_map_cls: 0.1670, d4.loss_map_pts: 0.7964, d4.loss_map_dir: 0.0141, d5.loss_map_cls: 0.1629, d5.loss_map_pts: 0.7931, d5.loss_map_dir: 0.0143, loss: 30.9021, grad_norm: 152.3380 +2026-02-26 07:02:25,587 - DriveTransformer - INFO - Epoch [6][38500/39528] lr: 8.977e-05, eta: 6 days, 15:09:39, time: 0.760, data_time: 0.035, memory: 19865, loss_cls: 0.1619, loss_bbox: 0.3575, loss_traj: 0.5542, loss_traj_cls: 0.0010, loss_map_cls: 0.1664, loss_map_pts: 0.6599, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.6065, d0.loss_plan_l1_fix_dist: 0.3829, d1.loss_plan_l1_fix_time: 1.0449, d1.loss_plan_l1_fix_dist: 0.1780, d2.loss_plan_l1_fix_time: 1.0418, d2.loss_plan_l1_fix_dist: 0.1782, d3.loss_plan_l1_fix_time: 1.0386, d3.loss_plan_l1_fix_dist: 0.1887, d4.loss_plan_l1_fix_time: 1.0405, d4.loss_plan_l1_fix_dist: 0.2008, d5.loss_plan_l1_fix_time: 1.0430, d5.loss_plan_l1_fix_dist: 0.2140, d6.loss_plan_l1_fix_time: 1.0465, d6.loss_plan_l1_fix_dist: 0.2264, d0.loss_cls_all: 0.2018, d0.loss_bbox_all: 0.4258, d0.loss_cls: 0.2018, d0.loss_bbox: 0.4258, d1.loss_cls: 0.1923, d1.loss_bbox: 0.3914, d2.loss_cls: 0.1788, d2.loss_bbox: 0.3715, d3.loss_cls: 0.1692, d3.loss_bbox: 0.3641, d4.loss_cls: 0.1624, d4.loss_bbox: 0.3616, d5.loss_cls: 0.1612, d5.loss_bbox: 0.3592, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7802, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6279, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.5732, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5610, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.5571, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5542, d0.loss_map_cls_all: 0.2353, d0.loss_map_pts_all: 1.3844, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2353, d0.loss_map_pts: 1.3844, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2048, d1.loss_map_pts: 0.9218, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1912, d2.loss_map_pts: 0.7591, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1806, d3.loss_map_pts: 0.6930, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1740, d4.loss_map_pts: 0.6687, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1690, d5.loss_map_pts: 0.6607, d5.loss_map_dir: 0.0092, loss: 27.8926, grad_norm: 153.0522 +2026-02-26 07:03:05,957 - DriveTransformer - INFO - Epoch [6][38550/39528] lr: 8.977e-05, eta: 6 days, 15:09:00, time: 0.807, data_time: 0.039, memory: 19865, loss_cls: 0.1531, loss_bbox: 0.3489, loss_traj: 0.5728, loss_traj_cls: 0.0011, loss_map_cls: 0.1388, loss_map_pts: 0.6755, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.4835, d0.loss_plan_l1_fix_dist: 0.4700, d1.loss_plan_l1_fix_time: 0.9906, d1.loss_plan_l1_fix_dist: 0.1849, d2.loss_plan_l1_fix_time: 0.9784, d2.loss_plan_l1_fix_dist: 0.1843, d3.loss_plan_l1_fix_time: 0.9778, d3.loss_plan_l1_fix_dist: 0.1939, d4.loss_plan_l1_fix_time: 0.9812, d4.loss_plan_l1_fix_dist: 0.2130, d5.loss_plan_l1_fix_time: 0.9849, d5.loss_plan_l1_fix_dist: 0.2361, d6.loss_plan_l1_fix_time: 0.9890, d6.loss_plan_l1_fix_dist: 0.2660, d0.loss_cls_all: 0.1940, d0.loss_bbox_all: 0.4008, d0.loss_cls: 0.1940, d0.loss_bbox: 0.4008, d1.loss_cls: 0.1857, d1.loss_bbox: 0.3708, d2.loss_cls: 0.1745, d2.loss_bbox: 0.3538, d3.loss_cls: 0.1621, d3.loss_bbox: 0.3498, d4.loss_cls: 0.1547, d4.loss_bbox: 0.3497, d5.loss_cls: 0.1534, d5.loss_bbox: 0.3487, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7091, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6177, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.5862, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5800, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.5789, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5734, d0.loss_map_cls_all: 0.2114, d0.loss_map_pts_all: 1.4533, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2114, d0.loss_map_pts: 1.4533, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1819, d1.loss_map_pts: 0.9719, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1643, d2.loss_map_pts: 0.7837, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1523, d3.loss_map_pts: 0.7094, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1459, d4.loss_map_pts: 0.6836, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1397, d5.loss_map_pts: 0.6780, d5.loss_map_dir: 0.0100, loss: 27.4851, grad_norm: 153.9415 +2026-02-26 07:03:46,665 - DriveTransformer - INFO - Epoch [6][38600/39528] lr: 8.977e-05, eta: 6 days, 15:08:21, time: 0.814, data_time: 0.038, memory: 19865, loss_cls: 0.1644, loss_bbox: 0.3626, loss_traj: 0.6914, loss_traj_cls: 0.0010, loss_map_cls: 0.1560, loss_map_pts: 0.7525, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.9705, d0.loss_plan_l1_fix_dist: 0.3960, d1.loss_plan_l1_fix_time: 1.1984, d1.loss_plan_l1_fix_dist: 0.1745, d2.loss_plan_l1_fix_time: 1.1865, d2.loss_plan_l1_fix_dist: 0.1721, d3.loss_plan_l1_fix_time: 1.1831, d3.loss_plan_l1_fix_dist: 0.1787, d4.loss_plan_l1_fix_time: 1.1861, d4.loss_plan_l1_fix_dist: 0.1873, d5.loss_plan_l1_fix_time: 1.1898, d5.loss_plan_l1_fix_dist: 0.1964, d6.loss_plan_l1_fix_time: 1.1937, d6.loss_plan_l1_fix_dist: 0.2078, d0.loss_cls_all: 0.2022, d0.loss_bbox_all: 0.4250, d0.loss_cls: 0.2022, d0.loss_bbox: 0.4250, d1.loss_cls: 0.1949, d1.loss_bbox: 0.3883, d2.loss_cls: 0.1804, d2.loss_bbox: 0.3709, d3.loss_cls: 0.1734, d3.loss_bbox: 0.3641, d4.loss_cls: 0.1670, d4.loss_bbox: 0.3619, d5.loss_cls: 0.1638, d5.loss_bbox: 0.3632, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8987, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7384, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7070, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6976, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6928, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6899, d0.loss_map_cls_all: 0.2298, d0.loss_map_pts_all: 1.4926, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2298, d0.loss_map_pts: 1.4926, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1961, d1.loss_map_pts: 1.0206, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1770, d2.loss_map_pts: 0.8591, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1684, d3.loss_map_pts: 0.7890, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1627, d4.loss_map_pts: 0.7605, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1576, d5.loss_map_pts: 0.7540, d5.loss_map_dir: 0.0106, loss: 30.7310, grad_norm: 153.9139 +2026-02-26 07:04:24,865 - DriveTransformer - INFO - Epoch [6][38650/39528] lr: 8.977e-05, eta: 6 days, 15:07:35, time: 0.764, data_time: 0.040, memory: 19865, loss_cls: 0.1912, loss_bbox: 0.3662, loss_traj: 0.7986, loss_traj_cls: 0.0011, loss_map_cls: 0.1777, loss_map_pts: 0.7401, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.9659, d0.loss_plan_l1_fix_dist: 0.4310, d1.loss_plan_l1_fix_time: 1.0989, d1.loss_plan_l1_fix_dist: 0.1598, d2.loss_plan_l1_fix_time: 1.0890, d2.loss_plan_l1_fix_dist: 0.1610, d3.loss_plan_l1_fix_time: 1.0868, d3.loss_plan_l1_fix_dist: 0.1708, d4.loss_plan_l1_fix_time: 1.0902, d4.loss_plan_l1_fix_dist: 0.1804, d5.loss_plan_l1_fix_time: 1.0938, d5.loss_plan_l1_fix_dist: 0.1923, d6.loss_plan_l1_fix_time: 1.0974, d6.loss_plan_l1_fix_dist: 0.2025, d0.loss_cls_all: 0.2241, d0.loss_bbox_all: 0.4263, d0.loss_cls: 0.2241, d0.loss_bbox: 0.4263, d1.loss_cls: 0.2185, d1.loss_bbox: 0.3932, d2.loss_cls: 0.2063, d2.loss_bbox: 0.3778, d3.loss_cls: 0.1964, d3.loss_bbox: 0.3696, d4.loss_cls: 0.1920, d4.loss_bbox: 0.3687, d5.loss_cls: 0.1909, d5.loss_bbox: 0.3663, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0274, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8542, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.8062, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8038, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.7959, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7925, d0.loss_map_cls_all: 0.2417, d0.loss_map_pts_all: 1.4786, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2417, d0.loss_map_pts: 1.4786, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2214, d1.loss_map_pts: 1.0194, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.2025, d2.loss_map_pts: 0.8456, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1895, d3.loss_map_pts: 0.7783, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1832, d4.loss_map_pts: 0.7506, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1782, d5.loss_map_pts: 0.7425, d5.loss_map_dir: 0.0097, loss: 31.1868, grad_norm: 152.7336 +2026-02-26 07:05:04,109 - DriveTransformer - INFO - Epoch [6][38700/39528] lr: 8.977e-05, eta: 6 days, 15:06:51, time: 0.785, data_time: 0.039, memory: 19865, loss_cls: 0.1535, loss_bbox: 0.3533, loss_traj: 0.6645, loss_traj_cls: 0.0010, loss_map_cls: 0.1593, loss_map_pts: 0.6990, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.8043, d0.loss_plan_l1_fix_dist: 0.4847, d1.loss_plan_l1_fix_time: 1.1282, d1.loss_plan_l1_fix_dist: 0.1738, d2.loss_plan_l1_fix_time: 1.1055, d2.loss_plan_l1_fix_dist: 0.1757, d3.loss_plan_l1_fix_time: 1.1025, d3.loss_plan_l1_fix_dist: 0.1814, d4.loss_plan_l1_fix_time: 1.1053, d4.loss_plan_l1_fix_dist: 0.1903, d5.loss_plan_l1_fix_time: 1.1087, d5.loss_plan_l1_fix_dist: 0.2004, d6.loss_plan_l1_fix_time: 1.1126, d6.loss_plan_l1_fix_dist: 0.2135, d0.loss_cls_all: 0.1978, d0.loss_bbox_all: 0.4055, d0.loss_cls: 0.1978, d0.loss_bbox: 0.4055, d1.loss_cls: 0.1867, d1.loss_bbox: 0.3718, d2.loss_cls: 0.1712, d2.loss_bbox: 0.3557, d3.loss_cls: 0.1591, d3.loss_bbox: 0.3497, d4.loss_cls: 0.1551, d4.loss_bbox: 0.3500, d5.loss_cls: 0.1535, d5.loss_bbox: 0.3512, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8940, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7278, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6773, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6624, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6645, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6618, d0.loss_map_cls_all: 0.2304, d0.loss_map_pts_all: 1.4427, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2304, d0.loss_map_pts: 1.4427, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2010, d1.loss_map_pts: 0.9897, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1838, d2.loss_map_pts: 0.8055, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1738, d3.loss_map_pts: 0.7387, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1663, d4.loss_map_pts: 0.7084, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1605, d5.loss_map_pts: 0.7015, d5.loss_map_dir: 0.0096, loss: 29.4722, grad_norm: 151.8096 +2026-02-26 07:05:42,054 - DriveTransformer - INFO - Epoch [6][38750/39528] lr: 8.977e-05, eta: 6 days, 15:06:04, time: 0.759, data_time: 0.038, memory: 19865, loss_cls: 0.1631, loss_bbox: 0.3698, loss_traj: 0.6692, loss_traj_cls: 0.0010, loss_map_cls: 0.1630, loss_map_pts: 0.7759, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.7965, d0.loss_plan_l1_fix_dist: 0.4252, d1.loss_plan_l1_fix_time: 1.0681, d1.loss_plan_l1_fix_dist: 0.1761, d2.loss_plan_l1_fix_time: 1.0459, d2.loss_plan_l1_fix_dist: 0.1822, d3.loss_plan_l1_fix_time: 1.0419, d3.loss_plan_l1_fix_dist: 0.1878, d4.loss_plan_l1_fix_time: 1.0446, d4.loss_plan_l1_fix_dist: 0.1964, d5.loss_plan_l1_fix_time: 1.0478, d5.loss_plan_l1_fix_dist: 0.2079, d6.loss_plan_l1_fix_time: 1.0519, d6.loss_plan_l1_fix_dist: 0.2253, d0.loss_cls_all: 0.2035, d0.loss_bbox_all: 0.4319, d0.loss_cls: 0.2035, d0.loss_bbox: 0.4319, d1.loss_cls: 0.1941, d1.loss_bbox: 0.3983, d2.loss_cls: 0.1831, d2.loss_bbox: 0.3801, d3.loss_cls: 0.1713, d3.loss_bbox: 0.3729, d4.loss_cls: 0.1629, d4.loss_bbox: 0.3712, d5.loss_cls: 0.1636, d5.loss_bbox: 0.3685, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9112, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7266, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6819, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6727, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6694, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6680, d0.loss_map_cls_all: 0.2250, d0.loss_map_pts_all: 1.4517, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2250, d0.loss_map_pts: 1.4517, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.2031, d1.loss_map_pts: 1.0865, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1850, d2.loss_map_pts: 0.8985, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1734, d3.loss_map_pts: 0.8181, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1689, d4.loss_map_pts: 0.7864, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1644, d5.loss_map_pts: 0.7779, d5.loss_map_dir: 0.0089, loss: 29.8946, grad_norm: 153.2570 +2026-02-26 07:06:23,251 - DriveTransformer - INFO - Epoch [6][38800/39528] lr: 8.977e-05, eta: 6 days, 15:05:27, time: 0.824, data_time: 0.040, memory: 19865, loss_cls: 0.1706, loss_bbox: 0.3942, loss_traj: 0.5817, loss_traj_cls: 0.0010, loss_map_cls: 0.1925, loss_map_pts: 0.9124, loss_map_dir: 0.0136, d0.loss_plan_l1_fix_time: 2.8777, d0.loss_plan_l1_fix_dist: 0.3110, d1.loss_plan_l1_fix_time: 1.1783, d1.loss_plan_l1_fix_dist: 0.1855, d2.loss_plan_l1_fix_time: 1.1696, d2.loss_plan_l1_fix_dist: 0.1854, d3.loss_plan_l1_fix_time: 1.1645, d3.loss_plan_l1_fix_dist: 0.1948, d4.loss_plan_l1_fix_time: 1.1664, d4.loss_plan_l1_fix_dist: 0.2050, d5.loss_plan_l1_fix_time: 1.1694, d5.loss_plan_l1_fix_dist: 0.2146, d6.loss_plan_l1_fix_time: 1.1735, d6.loss_plan_l1_fix_dist: 0.2226, d0.loss_cls_all: 0.2091, d0.loss_bbox_all: 0.4520, d0.loss_cls: 0.2091, d0.loss_bbox: 0.4520, d1.loss_cls: 0.1983, d1.loss_bbox: 0.4237, d2.loss_cls: 0.1901, d2.loss_bbox: 0.4062, d3.loss_cls: 0.1742, d3.loss_bbox: 0.4017, d4.loss_cls: 0.1704, d4.loss_bbox: 0.3974, d5.loss_cls: 0.1679, d5.loss_bbox: 0.3977, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7847, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6313, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6002, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5865, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5845, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5808, d0.loss_map_cls_all: 0.2753, d0.loss_map_pts_all: 1.8252, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2753, d0.loss_map_pts: 1.8252, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2384, d1.loss_map_pts: 1.2530, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2186, d2.loss_map_pts: 1.0281, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.2048, d3.loss_map_pts: 0.9514, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.1974, d4.loss_map_pts: 0.9178, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.1941, d5.loss_map_pts: 0.9128, d5.loss_map_dir: 0.0135, loss: 32.1120, grad_norm: 153.2671 +2026-02-26 07:07:01,900 - DriveTransformer - INFO - Epoch [6][38850/39528] lr: 8.977e-05, eta: 6 days, 15:04:42, time: 0.773, data_time: 0.041, memory: 19865, loss_cls: 0.1531, loss_bbox: 0.3392, loss_traj: 0.6103, loss_traj_cls: 0.0011, loss_map_cls: 0.1586, loss_map_pts: 0.6591, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.3709, d0.loss_plan_l1_fix_dist: 0.4281, d1.loss_plan_l1_fix_time: 1.0084, d1.loss_plan_l1_fix_dist: 0.1863, d2.loss_plan_l1_fix_time: 0.9965, d2.loss_plan_l1_fix_dist: 0.1801, d3.loss_plan_l1_fix_time: 0.9987, d3.loss_plan_l1_fix_dist: 0.1877, d4.loss_plan_l1_fix_time: 1.0019, d4.loss_plan_l1_fix_dist: 0.1987, d5.loss_plan_l1_fix_time: 1.0054, d5.loss_plan_l1_fix_dist: 0.2111, d6.loss_plan_l1_fix_time: 1.0096, d6.loss_plan_l1_fix_dist: 0.2222, d0.loss_cls_all: 0.1862, d0.loss_bbox_all: 0.3953, d0.loss_cls: 0.1862, d0.loss_bbox: 0.3953, d1.loss_cls: 0.1803, d1.loss_bbox: 0.3640, d2.loss_cls: 0.1664, d2.loss_bbox: 0.3501, d3.loss_cls: 0.1588, d3.loss_bbox: 0.3418, d4.loss_cls: 0.1539, d4.loss_bbox: 0.3400, d5.loss_cls: 0.1531, d5.loss_bbox: 0.3394, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8099, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6640, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6273, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6127, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6147, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6083, d0.loss_map_cls_all: 0.2310, d0.loss_map_pts_all: 1.3109, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2310, d0.loss_map_pts: 1.3109, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2057, d1.loss_map_pts: 0.8963, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1817, d2.loss_map_pts: 0.7451, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1711, d3.loss_map_pts: 0.6830, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1633, d4.loss_map_pts: 0.6600, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1597, d5.loss_map_pts: 0.6589, d5.loss_map_dir: 0.0086, loss: 27.2565, grad_norm: 160.1934 +2026-02-26 07:07:40,060 - DriveTransformer - INFO - Epoch [6][38900/39528] lr: 8.977e-05, eta: 6 days, 15:03:56, time: 0.763, data_time: 0.037, memory: 19865, loss_cls: 0.1485, loss_bbox: 0.3511, loss_traj: 0.6713, loss_traj_cls: 0.0010, loss_map_cls: 0.1340, loss_map_pts: 0.5923, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.6645, d0.loss_plan_l1_fix_dist: 0.3974, d1.loss_plan_l1_fix_time: 1.0900, d1.loss_plan_l1_fix_dist: 0.2202, d2.loss_plan_l1_fix_time: 1.0816, d2.loss_plan_l1_fix_dist: 0.2040, d3.loss_plan_l1_fix_time: 1.0831, d3.loss_plan_l1_fix_dist: 0.2046, d4.loss_plan_l1_fix_time: 1.0859, d4.loss_plan_l1_fix_dist: 0.2117, d5.loss_plan_l1_fix_time: 1.0889, d5.loss_plan_l1_fix_dist: 0.2206, d6.loss_plan_l1_fix_time: 1.0925, d6.loss_plan_l1_fix_dist: 0.2311, d0.loss_cls_all: 0.1834, d0.loss_bbox_all: 0.4073, d0.loss_cls: 0.1834, d0.loss_bbox: 0.4073, d1.loss_cls: 0.1730, d1.loss_bbox: 0.3730, d2.loss_cls: 0.1643, d2.loss_bbox: 0.3560, d3.loss_cls: 0.1559, d3.loss_bbox: 0.3504, d4.loss_cls: 0.1504, d4.loss_bbox: 0.3495, d5.loss_cls: 0.1478, d5.loss_bbox: 0.3507, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9318, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7312, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6725, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6637, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6640, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6671, d0.loss_map_cls_all: 0.2033, d0.loss_map_pts_all: 1.2088, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2033, d0.loss_map_pts: 1.2088, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1752, d1.loss_map_pts: 0.8295, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1556, d2.loss_map_pts: 0.6764, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1442, d3.loss_map_pts: 0.6162, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1392, d4.loss_map_pts: 0.5948, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1355, d5.loss_map_pts: 0.5902, d5.loss_map_dir: 0.0071, loss: 27.7983, grad_norm: 160.4335 +2026-02-26 07:08:20,549 - DriveTransformer - INFO - Epoch [6][38950/39528] lr: 8.977e-05, eta: 6 days, 15:03:17, time: 0.810, data_time: 0.040, memory: 19865, loss_cls: 0.1455, loss_bbox: 0.3382, loss_traj: 0.5481, loss_traj_cls: 0.0010, loss_map_cls: 0.1396, loss_map_pts: 0.6672, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.4466, d0.loss_plan_l1_fix_dist: 0.4180, d1.loss_plan_l1_fix_time: 1.1847, d1.loss_plan_l1_fix_dist: 0.2036, d2.loss_plan_l1_fix_time: 1.1569, d2.loss_plan_l1_fix_dist: 0.1911, d3.loss_plan_l1_fix_time: 1.1519, d3.loss_plan_l1_fix_dist: 0.1950, d4.loss_plan_l1_fix_time: 1.1541, d4.loss_plan_l1_fix_dist: 0.2032, d5.loss_plan_l1_fix_time: 1.1568, d5.loss_plan_l1_fix_dist: 0.2127, d6.loss_plan_l1_fix_time: 1.1603, d6.loss_plan_l1_fix_dist: 0.2246, d0.loss_cls_all: 0.1782, d0.loss_bbox_all: 0.4041, d0.loss_cls: 0.1782, d0.loss_bbox: 0.4041, d1.loss_cls: 0.1720, d1.loss_bbox: 0.3693, d2.loss_cls: 0.1615, d2.loss_bbox: 0.3501, d3.loss_cls: 0.1511, d3.loss_bbox: 0.3433, d4.loss_cls: 0.1461, d4.loss_bbox: 0.3412, d5.loss_cls: 0.1452, d5.loss_bbox: 0.3388, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7412, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5877, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5469, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5417, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5460, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5453, d0.loss_map_cls_all: 0.2103, d0.loss_map_pts_all: 1.4994, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2103, d0.loss_map_pts: 1.4994, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1769, d1.loss_map_pts: 0.9809, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1593, d2.loss_map_pts: 0.7742, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1509, d3.loss_map_pts: 0.6980, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1464, d4.loss_map_pts: 0.6702, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1420, d5.loss_map_pts: 0.6649, d5.loss_map_dir: 0.0096, loss: 28.1533, grad_norm: 160.6128 +2026-02-26 07:09:00,946 - DriveTransformer - INFO - Epoch [6][39000/39528] lr: 8.977e-05, eta: 6 days, 15:02:37, time: 0.809, data_time: 0.036, memory: 19865, loss_cls: 0.1651, loss_bbox: 0.3682, loss_traj: 0.7417, loss_traj_cls: 0.0010, loss_map_cls: 0.1550, loss_map_pts: 0.7706, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.5294, d0.loss_plan_l1_fix_dist: 0.3748, d1.loss_plan_l1_fix_time: 1.1972, d1.loss_plan_l1_fix_dist: 0.1920, d2.loss_plan_l1_fix_time: 1.1841, d2.loss_plan_l1_fix_dist: 0.1873, d3.loss_plan_l1_fix_time: 1.1826, d3.loss_plan_l1_fix_dist: 0.1947, d4.loss_plan_l1_fix_time: 1.1868, d4.loss_plan_l1_fix_dist: 0.2048, d5.loss_plan_l1_fix_time: 1.1909, d5.loss_plan_l1_fix_dist: 0.2163, d6.loss_plan_l1_fix_time: 1.1960, d6.loss_plan_l1_fix_dist: 0.2307, d0.loss_cls_all: 0.2014, d0.loss_bbox_all: 0.4291, d0.loss_cls: 0.2014, d0.loss_bbox: 0.4291, d1.loss_cls: 0.1967, d1.loss_bbox: 0.3950, d2.loss_cls: 0.1830, d2.loss_bbox: 0.3795, d3.loss_cls: 0.1710, d3.loss_bbox: 0.3708, d4.loss_cls: 0.1662, d4.loss_bbox: 0.3688, d5.loss_cls: 0.1660, d5.loss_bbox: 0.3670, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9489, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8096, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7532, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7385, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7352, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7391, d0.loss_map_cls_all: 0.2299, d0.loss_map_pts_all: 1.6485, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2299, d0.loss_map_pts: 1.6485, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2014, d1.loss_map_pts: 1.1157, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1810, d2.loss_map_pts: 0.8930, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1693, d3.loss_map_pts: 0.8094, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1624, d4.loss_map_pts: 0.7790, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1567, d5.loss_map_pts: 0.7720, d5.loss_map_dir: 0.0115, loss: 31.3076, grad_norm: 163.7780 +2026-02-26 07:09:41,561 - DriveTransformer - INFO - Epoch [6][39050/39528] lr: 8.977e-05, eta: 6 days, 15:01:58, time: 0.811, data_time: 0.039, memory: 19865, loss_cls: 0.1684, loss_bbox: 0.3528, loss_traj: 0.6218, loss_traj_cls: 0.0010, loss_map_cls: 0.1412, loss_map_pts: 0.6657, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.3678, d0.loss_plan_l1_fix_dist: 0.3966, d1.loss_plan_l1_fix_time: 1.1600, d1.loss_plan_l1_fix_dist: 0.1889, d2.loss_plan_l1_fix_time: 1.1424, d2.loss_plan_l1_fix_dist: 0.1853, d3.loss_plan_l1_fix_time: 1.1448, d3.loss_plan_l1_fix_dist: 0.1923, d4.loss_plan_l1_fix_time: 1.1479, d4.loss_plan_l1_fix_dist: 0.2015, d5.loss_plan_l1_fix_time: 1.1513, d5.loss_plan_l1_fix_dist: 0.2113, d6.loss_plan_l1_fix_time: 1.1554, d6.loss_plan_l1_fix_dist: 0.2206, d0.loss_cls_all: 0.1980, d0.loss_bbox_all: 0.4063, d0.loss_cls: 0.1980, d0.loss_bbox: 0.4063, d1.loss_cls: 0.1923, d1.loss_bbox: 0.3754, d2.loss_cls: 0.1811, d2.loss_bbox: 0.3584, d3.loss_cls: 0.1699, d3.loss_bbox: 0.3553, d4.loss_cls: 0.1692, d4.loss_bbox: 0.3513, d5.loss_cls: 0.1682, d5.loss_bbox: 0.3518, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8627, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6903, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6514, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6345, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6276, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6237, d0.loss_map_cls_all: 0.2205, d0.loss_map_pts_all: 1.3920, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2205, d0.loss_map_pts: 1.3920, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1881, d1.loss_map_pts: 0.9572, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1659, d2.loss_map_pts: 0.7779, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1549, d3.loss_map_pts: 0.7026, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1475, d4.loss_map_pts: 0.6740, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1439, d5.loss_map_pts: 0.6663, d5.loss_map_dir: 0.0089, loss: 28.6673, grad_norm: 163.0968 +2026-02-26 07:10:19,084 - DriveTransformer - INFO - Epoch [6][39100/39528] lr: 8.977e-05, eta: 6 days, 15:01:10, time: 0.750, data_time: 0.043, memory: 19865, loss_cls: 0.1496, loss_bbox: 0.3405, loss_traj: 0.7365, loss_traj_cls: 0.0010, loss_map_cls: 0.1554, loss_map_pts: 0.5924, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.2691, d0.loss_plan_l1_fix_dist: 0.4898, d1.loss_plan_l1_fix_time: 0.9408, d1.loss_plan_l1_fix_dist: 0.1823, d2.loss_plan_l1_fix_time: 0.9198, d2.loss_plan_l1_fix_dist: 0.1840, d3.loss_plan_l1_fix_time: 0.9210, d3.loss_plan_l1_fix_dist: 0.1936, d4.loss_plan_l1_fix_time: 0.9256, d4.loss_plan_l1_fix_dist: 0.2069, d5.loss_plan_l1_fix_time: 0.9309, d5.loss_plan_l1_fix_dist: 0.2234, d6.loss_plan_l1_fix_time: 0.9364, d6.loss_plan_l1_fix_dist: 0.2439, d0.loss_cls_all: 0.1788, d0.loss_bbox_all: 0.3940, d0.loss_cls: 0.1788, d0.loss_bbox: 0.3940, d1.loss_cls: 0.1711, d1.loss_bbox: 0.3626, d2.loss_cls: 0.1572, d2.loss_bbox: 0.3478, d3.loss_cls: 0.1483, d3.loss_bbox: 0.3434, d4.loss_cls: 0.1469, d4.loss_bbox: 0.3420, d5.loss_cls: 0.1486, d5.loss_bbox: 0.3406, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9575, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7723, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7480, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7334, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7318, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7314, d0.loss_map_cls_all: 0.2244, d0.loss_map_pts_all: 1.2109, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2244, d0.loss_map_pts: 1.2109, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1951, d1.loss_map_pts: 0.8425, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1761, d2.loss_map_pts: 0.6937, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1654, d3.loss_map_pts: 0.6276, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1605, d4.loss_map_pts: 0.6004, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1569, d5.loss_map_pts: 0.5937, d5.loss_map_dir: 0.0078, loss: 27.0200, grad_norm: 163.7984 +2026-02-26 07:10:59,197 - DriveTransformer - INFO - Epoch [6][39150/39528] lr: 8.977e-05, eta: 6 days, 15:00:29, time: 0.802, data_time: 0.036, memory: 19865, loss_cls: 0.1689, loss_bbox: 0.3819, loss_traj: 0.6084, loss_traj_cls: 0.0010, loss_map_cls: 0.1614, loss_map_pts: 0.7831, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.8307, d0.loss_plan_l1_fix_dist: 0.4830, d1.loss_plan_l1_fix_time: 1.2399, d1.loss_plan_l1_fix_dist: 0.1950, d2.loss_plan_l1_fix_time: 1.2276, d2.loss_plan_l1_fix_dist: 0.1945, d3.loss_plan_l1_fix_time: 1.2254, d3.loss_plan_l1_fix_dist: 0.2014, d4.loss_plan_l1_fix_time: 1.2299, d4.loss_plan_l1_fix_dist: 0.2118, d5.loss_plan_l1_fix_time: 1.2349, d5.loss_plan_l1_fix_dist: 0.2252, d6.loss_plan_l1_fix_time: 1.2405, d6.loss_plan_l1_fix_dist: 0.2431, d0.loss_cls_all: 0.2002, d0.loss_bbox_all: 0.4435, d0.loss_cls: 0.2002, d0.loss_bbox: 0.4435, d1.loss_cls: 0.1912, d1.loss_bbox: 0.4141, d2.loss_cls: 0.1774, d2.loss_bbox: 0.3954, d3.loss_cls: 0.1657, d3.loss_bbox: 0.3867, d4.loss_cls: 0.1648, d4.loss_bbox: 0.3832, d5.loss_cls: 0.1666, d5.loss_bbox: 0.3821, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8897, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6889, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6227, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6071, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6056, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6053, d0.loss_map_cls_all: 0.2496, d0.loss_map_pts_all: 1.5570, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2496, d0.loss_map_pts: 1.5570, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2141, d1.loss_map_pts: 1.0500, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.1893, d2.loss_map_pts: 0.8735, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.1758, d3.loss_map_pts: 0.8134, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1673, d4.loss_map_pts: 0.7890, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.1623, d5.loss_map_pts: 0.7850, d5.loss_map_dir: 0.0119, loss: 31.1525, grad_norm: 162.8211 +2026-02-26 07:11:38,416 - DriveTransformer - INFO - Epoch [6][39200/39528] lr: 8.977e-05, eta: 6 days, 14:59:46, time: 0.784, data_time: 0.042, memory: 19865, loss_cls: 0.1754, loss_bbox: 0.3580, loss_traj: 0.5865, loss_traj_cls: 0.0010, loss_map_cls: 0.1673, loss_map_pts: 0.7397, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.7260, d0.loss_plan_l1_fix_dist: 0.3719, d1.loss_plan_l1_fix_time: 1.0408, d1.loss_plan_l1_fix_dist: 0.1878, d2.loss_plan_l1_fix_time: 1.0132, d2.loss_plan_l1_fix_dist: 0.1819, d3.loss_plan_l1_fix_time: 1.0043, d3.loss_plan_l1_fix_dist: 0.1877, d4.loss_plan_l1_fix_time: 1.0063, d4.loss_plan_l1_fix_dist: 0.1959, d5.loss_plan_l1_fix_time: 1.0088, d5.loss_plan_l1_fix_dist: 0.2044, d6.loss_plan_l1_fix_time: 1.0121, d6.loss_plan_l1_fix_dist: 0.2142, d0.loss_cls_all: 0.2115, d0.loss_bbox_all: 0.4227, d0.loss_cls: 0.2115, d0.loss_bbox: 0.4227, d1.loss_cls: 0.2052, d1.loss_bbox: 0.3863, d2.loss_cls: 0.1881, d2.loss_bbox: 0.3700, d3.loss_cls: 0.1787, d3.loss_bbox: 0.3611, d4.loss_cls: 0.1722, d4.loss_bbox: 0.3615, d5.loss_cls: 0.1726, d5.loss_bbox: 0.3600, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7538, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6276, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6059, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5940, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5897, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5888, d0.loss_map_cls_all: 0.2471, d0.loss_map_pts_all: 1.5245, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2471, d0.loss_map_pts: 1.5245, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2153, d1.loss_map_pts: 1.0551, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1921, d2.loss_map_pts: 0.8498, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1818, d3.loss_map_pts: 0.7720, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1736, d4.loss_map_pts: 0.7443, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1688, d5.loss_map_pts: 0.7399, d5.loss_map_dir: 0.0097, loss: 28.8812, grad_norm: 163.1182 +2026-02-26 07:12:17,340 - DriveTransformer - INFO - Epoch [6][39250/39528] lr: 8.977e-05, eta: 6 days, 14:59:02, time: 0.778, data_time: 0.042, memory: 19865, loss_cls: 0.1870, loss_bbox: 0.3693, loss_traj: 0.5981, loss_traj_cls: 0.0009, loss_map_cls: 0.1632, loss_map_pts: 0.6850, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.6994, d0.loss_plan_l1_fix_dist: 0.4467, d1.loss_plan_l1_fix_time: 1.1266, d1.loss_plan_l1_fix_dist: 0.2110, d2.loss_plan_l1_fix_time: 1.1072, d2.loss_plan_l1_fix_dist: 0.2040, d3.loss_plan_l1_fix_time: 1.1054, d3.loss_plan_l1_fix_dist: 0.2127, d4.loss_plan_l1_fix_time: 1.1080, d4.loss_plan_l1_fix_dist: 0.2245, d5.loss_plan_l1_fix_time: 1.1115, d5.loss_plan_l1_fix_dist: 0.2374, d6.loss_plan_l1_fix_time: 1.1162, d6.loss_plan_l1_fix_dist: 0.2517, d0.loss_cls_all: 0.2285, d0.loss_bbox_all: 0.4292, d0.loss_cls: 0.2285, d0.loss_bbox: 0.4292, d1.loss_cls: 0.2135, d1.loss_bbox: 0.3968, d2.loss_cls: 0.1992, d2.loss_bbox: 0.3804, d3.loss_cls: 0.1869, d3.loss_bbox: 0.3763, d4.loss_cls: 0.1848, d4.loss_bbox: 0.3724, d5.loss_cls: 0.1856, d5.loss_bbox: 0.3691, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8257, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6538, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6084, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5947, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5967, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5956, d0.loss_map_cls_all: 0.2387, d0.loss_map_pts_all: 1.4125, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2387, d0.loss_map_pts: 1.4125, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2049, d1.loss_map_pts: 0.9573, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1849, d2.loss_map_pts: 0.7800, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1769, d3.loss_map_pts: 0.7167, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1700, d4.loss_map_pts: 0.6955, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1643, d5.loss_map_pts: 0.6864, d5.loss_map_dir: 0.0110, loss: 29.3503, grad_norm: 161.5160 +2026-02-26 07:12:55,618 - DriveTransformer - INFO - Epoch [6][39300/39528] lr: 8.977e-05, eta: 6 days, 14:58:16, time: 0.766, data_time: 0.045, memory: 19865, loss_cls: 0.1788, loss_bbox: 0.3753, loss_traj: 0.6942, loss_traj_cls: 0.0010, loss_map_cls: 0.1617, loss_map_pts: 0.7134, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.6436, d0.loss_plan_l1_fix_dist: 0.4625, d1.loss_plan_l1_fix_time: 1.0077, d1.loss_plan_l1_fix_dist: 0.2025, d2.loss_plan_l1_fix_time: 0.9915, d2.loss_plan_l1_fix_dist: 0.1963, d3.loss_plan_l1_fix_time: 1.0012, d3.loss_plan_l1_fix_dist: 0.2043, d4.loss_plan_l1_fix_time: 1.0051, d4.loss_plan_l1_fix_dist: 0.2157, d5.loss_plan_l1_fix_time: 1.0094, d5.loss_plan_l1_fix_dist: 0.2299, d6.loss_plan_l1_fix_time: 1.0140, d6.loss_plan_l1_fix_dist: 0.2447, d0.loss_cls_all: 0.2136, d0.loss_bbox_all: 0.4352, d0.loss_cls: 0.2136, d0.loss_bbox: 0.4352, d1.loss_cls: 0.2130, d1.loss_bbox: 0.4027, d2.loss_cls: 0.1926, d2.loss_bbox: 0.3850, d3.loss_cls: 0.1815, d3.loss_bbox: 0.3818, d4.loss_cls: 0.1771, d4.loss_bbox: 0.3785, d5.loss_cls: 0.1763, d5.loss_bbox: 0.3771, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8378, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7301, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6948, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6842, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6874, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6902, d0.loss_map_cls_all: 0.2315, d0.loss_map_pts_all: 1.4311, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2315, d0.loss_map_pts: 1.4311, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2029, d1.loss_map_pts: 0.9871, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1851, d2.loss_map_pts: 0.8011, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1734, d3.loss_map_pts: 0.7392, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1664, d4.loss_map_pts: 0.7191, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1633, d5.loss_map_pts: 0.7131, d5.loss_map_dir: 0.0101, loss: 29.3004, grad_norm: 161.4258 +2026-02-26 07:13:33,361 - DriveTransformer - INFO - Epoch [6][39350/39528] lr: 8.977e-05, eta: 6 days, 14:57:29, time: 0.755, data_time: 0.037, memory: 19865, loss_cls: 0.1899, loss_bbox: 0.4036, loss_traj: 0.7207, loss_traj_cls: 0.0009, loss_map_cls: 0.1819, loss_map_pts: 0.8288, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.3556, d0.loss_plan_l1_fix_dist: 0.3569, d1.loss_plan_l1_fix_time: 1.2735, d1.loss_plan_l1_fix_dist: 0.1723, d2.loss_plan_l1_fix_time: 1.2632, d2.loss_plan_l1_fix_dist: 0.1749, d3.loss_plan_l1_fix_time: 1.2670, d3.loss_plan_l1_fix_dist: 0.1842, d4.loss_plan_l1_fix_time: 1.2701, d4.loss_plan_l1_fix_dist: 0.1924, d5.loss_plan_l1_fix_time: 1.2736, d5.loss_plan_l1_fix_dist: 0.2040, d6.loss_plan_l1_fix_time: 1.2775, d6.loss_plan_l1_fix_dist: 0.2180, d0.loss_cls_all: 0.2202, d0.loss_bbox_all: 0.4650, d0.loss_cls: 0.2202, d0.loss_bbox: 0.4650, d1.loss_cls: 0.2151, d1.loss_bbox: 0.4283, d2.loss_cls: 0.2014, d2.loss_bbox: 0.4130, d3.loss_cls: 0.1936, d3.loss_bbox: 0.4052, d4.loss_cls: 0.1902, d4.loss_bbox: 0.4039, d5.loss_cls: 0.1902, d5.loss_bbox: 0.4034, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9048, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7529, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7286, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7136, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7156, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7186, d0.loss_map_cls_all: 0.2589, d0.loss_map_pts_all: 1.5714, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2589, d0.loss_map_pts: 1.5714, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2261, d1.loss_map_pts: 1.1223, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.2041, d2.loss_map_pts: 0.9384, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1939, d3.loss_map_pts: 0.8646, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1866, d4.loss_map_pts: 0.8389, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1827, d5.loss_map_pts: 0.8310, d5.loss_map_dir: 0.0109, loss: 32.0967, grad_norm: 161.9851 +2026-02-26 07:14:11,833 - DriveTransformer - INFO - Epoch [6][39400/39528] lr: 8.977e-05, eta: 6 days, 14:56:43, time: 0.769, data_time: 0.043, memory: 19865, loss_cls: 0.1456, loss_bbox: 0.3639, loss_traj: 0.6475, loss_traj_cls: 0.0009, loss_map_cls: 0.1828, loss_map_pts: 0.7316, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.6888, d0.loss_plan_l1_fix_dist: 0.3592, d1.loss_plan_l1_fix_time: 1.1455, d1.loss_plan_l1_fix_dist: 0.1640, d2.loss_plan_l1_fix_time: 1.1342, d2.loss_plan_l1_fix_dist: 0.1647, d3.loss_plan_l1_fix_time: 1.1324, d3.loss_plan_l1_fix_dist: 0.1735, d4.loss_plan_l1_fix_time: 1.1339, d4.loss_plan_l1_fix_dist: 0.1843, d5.loss_plan_l1_fix_time: 1.1363, d5.loss_plan_l1_fix_dist: 0.1966, d6.loss_plan_l1_fix_time: 1.1393, d6.loss_plan_l1_fix_dist: 0.2107, d0.loss_cls_all: 0.1827, d0.loss_bbox_all: 0.4158, d0.loss_cls: 0.1827, d0.loss_bbox: 0.4158, d1.loss_cls: 0.1755, d1.loss_bbox: 0.3838, d2.loss_cls: 0.1641, d2.loss_bbox: 0.3683, d3.loss_cls: 0.1514, d3.loss_bbox: 0.3650, d4.loss_cls: 0.1467, d4.loss_bbox: 0.3640, d5.loss_cls: 0.1454, d5.loss_bbox: 0.3630, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8301, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7084, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6695, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6452, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6452, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6431, d0.loss_map_cls_all: 0.2630, d0.loss_map_pts_all: 1.4389, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2630, d0.loss_map_pts: 1.4389, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2286, d1.loss_map_pts: 1.0294, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.2040, d2.loss_map_pts: 0.8431, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1936, d3.loss_map_pts: 0.7702, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1882, d4.loss_map_pts: 0.7435, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1841, d5.loss_map_pts: 0.7345, d5.loss_map_dir: 0.0098, loss: 29.6058, grad_norm: 163.5963 +2026-02-26 07:14:52,213 - DriveTransformer - INFO - Epoch [6][39450/39528] lr: 8.977e-05, eta: 6 days, 14:56:03, time: 0.808, data_time: 0.037, memory: 19865, loss_cls: 0.1598, loss_bbox: 0.3668, loss_traj: 0.7038, loss_traj_cls: 0.0009, loss_map_cls: 0.1821, loss_map_pts: 0.7793, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.4833, d0.loss_plan_l1_fix_dist: 0.4147, d1.loss_plan_l1_fix_time: 1.1570, d1.loss_plan_l1_fix_dist: 0.1882, d2.loss_plan_l1_fix_time: 1.1409, d2.loss_plan_l1_fix_dist: 0.1897, d3.loss_plan_l1_fix_time: 1.1392, d3.loss_plan_l1_fix_dist: 0.2012, d4.loss_plan_l1_fix_time: 1.1409, d4.loss_plan_l1_fix_dist: 0.2141, d5.loss_plan_l1_fix_time: 1.1430, d5.loss_plan_l1_fix_dist: 0.2244, d6.loss_plan_l1_fix_time: 1.1461, d6.loss_plan_l1_fix_dist: 0.2332, d0.loss_cls_all: 0.1971, d0.loss_bbox_all: 0.4199, d0.loss_cls: 0.1971, d0.loss_bbox: 0.4199, d1.loss_cls: 0.1856, d1.loss_bbox: 0.3904, d2.loss_cls: 0.1736, d2.loss_bbox: 0.3738, d3.loss_cls: 0.1666, d3.loss_bbox: 0.3665, d4.loss_cls: 0.1598, d4.loss_bbox: 0.3650, d5.loss_cls: 0.1591, d5.loss_bbox: 0.3655, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8992, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7423, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7076, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7014, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7041, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7050, d0.loss_map_cls_all: 0.2561, d0.loss_map_pts_all: 1.6465, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2561, d0.loss_map_pts: 1.6465, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2299, d1.loss_map_pts: 1.1179, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2068, d2.loss_map_pts: 0.8992, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1978, d3.loss_map_pts: 0.8201, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1906, d4.loss_map_pts: 0.7921, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1851, d5.loss_map_pts: 0.7812, d5.loss_map_dir: 0.0114, loss: 30.9274, grad_norm: 166.5745 +2026-02-26 07:15:31,921 - DriveTransformer - INFO - Epoch [6][39500/39528] lr: 8.977e-05, eta: 6 days, 14:55:22, time: 0.794, data_time: 0.042, memory: 19865, loss_cls: 0.1712, loss_bbox: 0.3607, loss_traj: 0.6448, loss_traj_cls: 0.0009, loss_map_cls: 0.1586, loss_map_pts: 0.6757, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.4472, d0.loss_plan_l1_fix_dist: 0.3388, d1.loss_plan_l1_fix_time: 1.1136, d1.loss_plan_l1_fix_dist: 0.1458, d2.loss_plan_l1_fix_time: 1.1042, d2.loss_plan_l1_fix_dist: 0.1530, d3.loss_plan_l1_fix_time: 1.0977, d3.loss_plan_l1_fix_dist: 0.1651, d4.loss_plan_l1_fix_time: 1.1002, d4.loss_plan_l1_fix_dist: 0.1784, d5.loss_plan_l1_fix_time: 1.1036, d5.loss_plan_l1_fix_dist: 0.1960, d6.loss_plan_l1_fix_time: 1.1081, d6.loss_plan_l1_fix_dist: 0.2181, d0.loss_cls_all: 0.2041, d0.loss_bbox_all: 0.4050, d0.loss_cls: 0.2041, d0.loss_bbox: 0.4050, d1.loss_cls: 0.1997, d1.loss_bbox: 0.3725, d2.loss_cls: 0.1848, d2.loss_bbox: 0.3578, d3.loss_cls: 0.1757, d3.loss_bbox: 0.3541, d4.loss_cls: 0.1712, d4.loss_bbox: 0.3555, d5.loss_cls: 0.1716, d5.loss_bbox: 0.3582, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8396, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6918, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6447, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6410, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6417, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6444, d0.loss_map_cls_all: 0.2319, d0.loss_map_pts_all: 1.3459, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2319, d0.loss_map_pts: 1.3459, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2028, d1.loss_map_pts: 0.9102, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1827, d2.loss_map_pts: 0.7528, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1697, d3.loss_map_pts: 0.6999, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1653, d4.loss_map_pts: 0.6829, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1613, d5.loss_map_pts: 0.6751, d5.loss_map_dir: 0.0107, loss: 28.3504, grad_norm: 164.1513 +2026-02-26 07:15:52,404 - DriveTransformer - INFO - Saving checkpoint at 6 epochs +2026-02-26 07:16:43,119 - DriveTransformer - INFO - Epoch [7][50/39528] lr: 8.550e-05, eta: 6 days, 14:53:36, time: 0.970, data_time: 0.177, memory: 19865, loss_cls: 0.1542, loss_bbox: 0.3712, loss_traj: 0.6106, loss_traj_cls: 0.0010, loss_map_cls: 0.1484, loss_map_pts: 0.7574, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.6115, d0.loss_plan_l1_fix_dist: 0.4802, d1.loss_plan_l1_fix_time: 1.1063, d1.loss_plan_l1_fix_dist: 0.2028, d2.loss_plan_l1_fix_time: 1.0889, d2.loss_plan_l1_fix_dist: 0.2120, d3.loss_plan_l1_fix_time: 1.0891, d3.loss_plan_l1_fix_dist: 0.2278, d4.loss_plan_l1_fix_time: 1.0934, d4.loss_plan_l1_fix_dist: 0.2462, d5.loss_plan_l1_fix_time: 1.0989, d5.loss_plan_l1_fix_dist: 0.2640, d6.loss_plan_l1_fix_time: 1.1057, d6.loss_plan_l1_fix_dist: 0.2852, d0.loss_cls_all: 0.1874, d0.loss_bbox_all: 0.4182, d0.loss_cls: 0.1874, d0.loss_bbox: 0.4182, d1.loss_cls: 0.1801, d1.loss_bbox: 0.3873, d2.loss_cls: 0.1661, d2.loss_bbox: 0.3706, d3.loss_cls: 0.1561, d3.loss_bbox: 0.3668, d4.loss_cls: 0.1524, d4.loss_bbox: 0.3679, d5.loss_cls: 0.1529, d5.loss_bbox: 0.3698, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7711, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6428, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6127, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6108, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6093, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6066, d0.loss_map_cls_all: 0.2272, d0.loss_map_pts_all: 1.6085, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2272, d0.loss_map_pts: 1.6085, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.1940, d1.loss_map_pts: 1.0567, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.1732, d2.loss_map_pts: 0.8603, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.1634, d3.loss_map_pts: 0.7900, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.1561, d4.loss_map_pts: 0.7637, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.1493, d5.loss_map_pts: 0.7579, d5.loss_map_dir: 0.0121, loss: 29.7269, grad_norm: 265.2290 +2026-02-26 07:17:24,043 - DriveTransformer - INFO - Epoch [7][100/39528] lr: 8.550e-05, eta: 6 days, 14:52:58, time: 0.819, data_time: 0.037, memory: 19865, loss_cls: 0.1798, loss_bbox: 0.3932, loss_traj: 0.6651, loss_traj_cls: 0.0010, loss_map_cls: 0.1530, loss_map_pts: 0.7201, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.8703, d0.loss_plan_l1_fix_dist: 0.4707, d1.loss_plan_l1_fix_time: 1.2545, d1.loss_plan_l1_fix_dist: 0.2083, d2.loss_plan_l1_fix_time: 1.2244, d2.loss_plan_l1_fix_dist: 0.2184, d3.loss_plan_l1_fix_time: 1.2231, d3.loss_plan_l1_fix_dist: 0.2333, d4.loss_plan_l1_fix_time: 1.2278, d4.loss_plan_l1_fix_dist: 0.2509, d5.loss_plan_l1_fix_time: 1.2331, d5.loss_plan_l1_fix_dist: 0.2688, d6.loss_plan_l1_fix_time: 1.2387, d6.loss_plan_l1_fix_dist: 0.2880, d0.loss_cls_all: 0.2201, d0.loss_bbox_all: 0.4543, d0.loss_cls: 0.2201, d0.loss_bbox: 0.4543, d1.loss_cls: 0.2170, d1.loss_bbox: 0.4137, d2.loss_cls: 0.1969, d2.loss_bbox: 0.3994, d3.loss_cls: 0.1859, d3.loss_bbox: 0.3942, d4.loss_cls: 0.1806, d4.loss_bbox: 0.3927, d5.loss_cls: 0.1791, d5.loss_bbox: 0.3935, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8494, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7074, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6734, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6572, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6612, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6616, d0.loss_map_cls_all: 0.2348, d0.loss_map_pts_all: 1.4342, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2348, d0.loss_map_pts: 1.4342, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2021, d1.loss_map_pts: 0.9729, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1785, d2.loss_map_pts: 0.8097, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1635, d3.loss_map_pts: 0.7521, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1569, d4.loss_map_pts: 0.7262, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1542, d5.loss_map_pts: 0.7221, d5.loss_map_dir: 0.0110, loss: 31.1037, grad_norm: 241.1801 +2026-02-26 07:18:00,800 - DriveTransformer - INFO - Epoch [7][150/39528] lr: 8.550e-05, eta: 6 days, 14:52:08, time: 0.735, data_time: 0.036, memory: 19865, loss_cls: 0.1975, loss_bbox: 0.3945, loss_traj: 0.7590, loss_traj_cls: 0.0010, loss_map_cls: 0.1746, loss_map_pts: 0.7313, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 3.0104, d0.loss_plan_l1_fix_dist: 0.3641, d1.loss_plan_l1_fix_time: 1.2256, d1.loss_plan_l1_fix_dist: 0.1745, d2.loss_plan_l1_fix_time: 1.2118, d2.loss_plan_l1_fix_dist: 0.1807, d3.loss_plan_l1_fix_time: 1.2065, d3.loss_plan_l1_fix_dist: 0.1906, d4.loss_plan_l1_fix_time: 1.2092, d4.loss_plan_l1_fix_dist: 0.2032, d5.loss_plan_l1_fix_time: 1.2131, d5.loss_plan_l1_fix_dist: 0.2153, d6.loss_plan_l1_fix_time: 1.2174, d6.loss_plan_l1_fix_dist: 0.2242, d0.loss_cls_all: 0.2374, d0.loss_bbox_all: 0.4592, d0.loss_cls: 0.2374, d0.loss_bbox: 0.4592, d1.loss_cls: 0.2263, d1.loss_bbox: 0.4222, d2.loss_cls: 0.2099, d2.loss_bbox: 0.4048, d3.loss_cls: 0.2043, d3.loss_bbox: 0.3988, d4.loss_cls: 0.2011, d4.loss_bbox: 0.3943, d5.loss_cls: 0.1980, d5.loss_bbox: 0.3947, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9940, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8058, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7569, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7367, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7521, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7647, d0.loss_map_cls_all: 0.2484, d0.loss_map_pts_all: 1.3465, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2484, d0.loss_map_pts: 1.3465, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2227, d1.loss_map_pts: 0.9817, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1993, d2.loss_map_pts: 0.8237, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1861, d3.loss_map_pts: 0.7601, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1794, d4.loss_map_pts: 0.7389, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1760, d5.loss_map_pts: 0.7317, d5.loss_map_dir: 0.0099, loss: 31.6339, grad_norm: 215.1687 +2026-02-26 07:18:40,656 - DriveTransformer - INFO - Epoch [7][200/39528] lr: 8.550e-05, eta: 6 days, 14:51:26, time: 0.797, data_time: 0.044, memory: 19865, loss_cls: 0.1610, loss_bbox: 0.3791, loss_traj: 0.6793, loss_traj_cls: 0.0010, loss_map_cls: 0.1910, loss_map_pts: 0.7776, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.4301, d0.loss_plan_l1_fix_dist: 0.4263, d1.loss_plan_l1_fix_time: 1.1662, d1.loss_plan_l1_fix_dist: 0.1998, d2.loss_plan_l1_fix_time: 1.1620, d2.loss_plan_l1_fix_dist: 0.2031, d3.loss_plan_l1_fix_time: 1.1584, d3.loss_plan_l1_fix_dist: 0.2124, d4.loss_plan_l1_fix_time: 1.1634, d4.loss_plan_l1_fix_dist: 0.2235, d5.loss_plan_l1_fix_time: 1.1696, d5.loss_plan_l1_fix_dist: 0.2353, d6.loss_plan_l1_fix_time: 1.1763, d6.loss_plan_l1_fix_dist: 0.2476, d0.loss_cls_all: 0.1948, d0.loss_bbox_all: 0.4240, d0.loss_cls: 0.1948, d0.loss_bbox: 0.4240, d1.loss_cls: 0.1907, d1.loss_bbox: 0.3954, d2.loss_cls: 0.1762, d2.loss_bbox: 0.3812, d3.loss_cls: 0.1672, d3.loss_bbox: 0.3756, d4.loss_cls: 0.1643, d4.loss_bbox: 0.3745, d5.loss_cls: 0.1624, d5.loss_bbox: 0.3764, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8865, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7336, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6882, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6718, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6717, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6730, d0.loss_map_cls_all: 0.2553, d0.loss_map_pts_all: 1.5305, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2553, d0.loss_map_pts: 1.5305, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2277, d1.loss_map_pts: 1.0815, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2047, d2.loss_map_pts: 0.8861, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1982, d3.loss_map_pts: 0.8092, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1960, d4.loss_map_pts: 0.7824, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1923, d5.loss_map_pts: 0.7756, d5.loss_map_dir: 0.0116, loss: 30.7089, grad_norm: 210.4755 +2026-02-26 07:19:19,680 - DriveTransformer - INFO - Epoch [7][250/39528] lr: 8.550e-05, eta: 6 days, 14:50:43, time: 0.780, data_time: 0.036, memory: 19865, loss_cls: 0.1709, loss_bbox: 0.4019, loss_traj: 0.6468, loss_traj_cls: 0.0010, loss_map_cls: 0.1618, loss_map_pts: 0.6671, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.8396, d0.loss_plan_l1_fix_dist: 0.3534, d1.loss_plan_l1_fix_time: 1.1512, d1.loss_plan_l1_fix_dist: 0.1793, d2.loss_plan_l1_fix_time: 1.1484, d2.loss_plan_l1_fix_dist: 0.1838, d3.loss_plan_l1_fix_time: 1.1538, d3.loss_plan_l1_fix_dist: 0.1971, d4.loss_plan_l1_fix_time: 1.1617, d4.loss_plan_l1_fix_dist: 0.2110, d5.loss_plan_l1_fix_time: 1.1698, d5.loss_plan_l1_fix_dist: 0.2276, d6.loss_plan_l1_fix_time: 1.1787, d6.loss_plan_l1_fix_dist: 0.2490, d0.loss_cls_all: 0.2030, d0.loss_bbox_all: 0.4361, d0.loss_cls: 0.2030, d0.loss_bbox: 0.4361, d1.loss_cls: 0.1958, d1.loss_bbox: 0.4120, d2.loss_cls: 0.1829, d2.loss_bbox: 0.3978, d3.loss_cls: 0.1728, d3.loss_bbox: 0.3945, d4.loss_cls: 0.1710, d4.loss_bbox: 0.3932, d5.loss_cls: 0.1705, d5.loss_bbox: 0.3984, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7992, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6687, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6298, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6301, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6339, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6383, d0.loss_map_cls_all: 0.2259, d0.loss_map_pts_all: 1.3743, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2259, d0.loss_map_pts: 1.3743, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2013, d1.loss_map_pts: 0.9373, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1808, d2.loss_map_pts: 0.7604, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1708, d3.loss_map_pts: 0.6960, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1648, d4.loss_map_pts: 0.6729, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1626, d5.loss_map_pts: 0.6678, d5.loss_map_dir: 0.0103, loss: 29.5216, grad_norm: 213.4479 +2026-02-26 07:19:58,333 - DriveTransformer - INFO - Epoch [7][300/39528] lr: 8.550e-05, eta: 6 days, 14:49:58, time: 0.773, data_time: 0.044, memory: 19865, loss_cls: 0.1706, loss_bbox: 0.3638, loss_traj: 0.6925, loss_traj_cls: 0.0009, loss_map_cls: 0.1466, loss_map_pts: 0.7004, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.2698, d0.loss_plan_l1_fix_dist: 0.3442, d1.loss_plan_l1_fix_time: 0.9921, d1.loss_plan_l1_fix_dist: 0.1788, d2.loss_plan_l1_fix_time: 0.9837, d2.loss_plan_l1_fix_dist: 0.1754, d3.loss_plan_l1_fix_time: 0.9834, d3.loss_plan_l1_fix_dist: 0.1850, d4.loss_plan_l1_fix_time: 0.9887, d4.loss_plan_l1_fix_dist: 0.1964, d5.loss_plan_l1_fix_time: 0.9944, d5.loss_plan_l1_fix_dist: 0.2095, d6.loss_plan_l1_fix_time: 1.0008, d6.loss_plan_l1_fix_dist: 0.2230, d0.loss_cls_all: 0.2015, d0.loss_bbox_all: 0.4109, d0.loss_cls: 0.2015, d0.loss_bbox: 0.4109, d1.loss_cls: 0.1942, d1.loss_bbox: 0.3775, d2.loss_cls: 0.1831, d2.loss_bbox: 0.3619, d3.loss_cls: 0.1749, d3.loss_bbox: 0.3562, d4.loss_cls: 0.1715, d4.loss_bbox: 0.3558, d5.loss_cls: 0.1710, d5.loss_bbox: 0.3596, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8600, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7136, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6850, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6705, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6808, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6841, d0.loss_map_cls_all: 0.2256, d0.loss_map_pts_all: 1.3714, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2256, d0.loss_map_pts: 1.3714, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.1892, d1.loss_map_pts: 0.9710, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1681, d2.loss_map_pts: 0.7945, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1582, d3.loss_map_pts: 0.7324, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1518, d4.loss_map_pts: 0.7073, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1478, d5.loss_map_pts: 0.7000, d5.loss_map_dir: 0.0101, loss: 28.0243, grad_norm: 223.5920 +2026-02-26 07:20:35,344 - DriveTransformer - INFO - Epoch [7][350/39528] lr: 8.550e-05, eta: 6 days, 14:49:08, time: 0.740, data_time: 0.036, memory: 19865, loss_cls: 0.1747, loss_bbox: 0.3743, loss_traj: 0.7568, loss_traj_cls: 0.0010, loss_map_cls: 0.1833, loss_map_pts: 0.7129, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.5942, d0.loss_plan_l1_fix_dist: 0.3698, d1.loss_plan_l1_fix_time: 1.0437, d1.loss_plan_l1_fix_dist: 0.1928, d2.loss_plan_l1_fix_time: 1.0334, d2.loss_plan_l1_fix_dist: 0.1857, d3.loss_plan_l1_fix_time: 1.0354, d3.loss_plan_l1_fix_dist: 0.1935, d4.loss_plan_l1_fix_time: 1.0397, d4.loss_plan_l1_fix_dist: 0.2042, d5.loss_plan_l1_fix_time: 1.0445, d5.loss_plan_l1_fix_dist: 0.2157, d6.loss_plan_l1_fix_time: 1.0494, d6.loss_plan_l1_fix_dist: 0.2293, d0.loss_cls_all: 0.2069, d0.loss_bbox_all: 0.4320, d0.loss_cls: 0.2069, d0.loss_bbox: 0.4320, d1.loss_cls: 0.1979, d1.loss_bbox: 0.3957, d2.loss_cls: 0.1848, d2.loss_bbox: 0.3809, d3.loss_cls: 0.1770, d3.loss_bbox: 0.3748, d4.loss_cls: 0.1746, d4.loss_bbox: 0.3746, d5.loss_cls: 0.1730, d5.loss_bbox: 0.3753, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9615, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8025, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7532, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7450, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7492, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7540, d0.loss_map_cls_all: 0.2498, d0.loss_map_pts_all: 1.3417, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2498, d0.loss_map_pts: 1.3417, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.2231, d1.loss_map_pts: 0.9823, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1997, d2.loss_map_pts: 0.8135, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1907, d3.loss_map_pts: 0.7468, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1879, d4.loss_map_pts: 0.7175, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1850, d5.loss_map_pts: 0.7124, d5.loss_map_dir: 0.0072, loss: 29.6891, grad_norm: 205.1021 +2026-02-26 07:21:14,429 - DriveTransformer - INFO - Epoch [7][400/39528] lr: 8.550e-05, eta: 6 days, 14:48:25, time: 0.783, data_time: 0.036, memory: 19865, loss_cls: 0.1856, loss_bbox: 0.4000, loss_traj: 0.7426, loss_traj_cls: 0.0010, loss_map_cls: 0.1526, loss_map_pts: 0.7524, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.5750, d0.loss_plan_l1_fix_dist: 0.4745, d1.loss_plan_l1_fix_time: 1.0783, d1.loss_plan_l1_fix_dist: 0.1835, d2.loss_plan_l1_fix_time: 1.0687, d2.loss_plan_l1_fix_dist: 0.1856, d3.loss_plan_l1_fix_time: 1.0722, d3.loss_plan_l1_fix_dist: 0.1941, d4.loss_plan_l1_fix_time: 1.0792, d4.loss_plan_l1_fix_dist: 0.2031, d5.loss_plan_l1_fix_time: 1.0871, d5.loss_plan_l1_fix_dist: 0.2144, d6.loss_plan_l1_fix_time: 1.0947, d6.loss_plan_l1_fix_dist: 0.2253, d0.loss_cls_all: 0.2186, d0.loss_bbox_all: 0.4556, d0.loss_cls: 0.2186, d0.loss_bbox: 0.4556, d1.loss_cls: 0.2089, d1.loss_bbox: 0.4225, d2.loss_cls: 0.1969, d2.loss_bbox: 0.4072, d3.loss_cls: 0.1881, d3.loss_bbox: 0.3993, d4.loss_cls: 0.1854, d4.loss_bbox: 0.3983, d5.loss_cls: 0.1847, d5.loss_bbox: 0.3990, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9567, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7790, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7349, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7367, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7397, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7388, d0.loss_map_cls_all: 0.2235, d0.loss_map_pts_all: 1.5555, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2235, d0.loss_map_pts: 1.5555, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1949, d1.loss_map_pts: 1.0700, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1775, d2.loss_map_pts: 0.8766, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1652, d3.loss_map_pts: 0.7969, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1582, d4.loss_map_pts: 0.7637, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1547, d5.loss_map_pts: 0.7535, d5.loss_map_dir: 0.0103, loss: 30.7489, grad_norm: 208.3486 +2026-02-26 07:21:53,666 - DriveTransformer - INFO - Epoch [7][450/39528] lr: 8.550e-05, eta: 6 days, 14:47:42, time: 0.783, data_time: 0.039, memory: 19865, loss_cls: 0.1624, loss_bbox: 0.3820, loss_traj: 0.7463, loss_traj_cls: 0.0010, loss_map_cls: 0.1566, loss_map_pts: 0.7138, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.6602, d0.loss_plan_l1_fix_dist: 0.4322, d1.loss_plan_l1_fix_time: 1.0267, d1.loss_plan_l1_fix_dist: 0.1837, d2.loss_plan_l1_fix_time: 1.0141, d2.loss_plan_l1_fix_dist: 0.1903, d3.loss_plan_l1_fix_time: 1.0234, d3.loss_plan_l1_fix_dist: 0.2022, d4.loss_plan_l1_fix_time: 1.0324, d4.loss_plan_l1_fix_dist: 0.2156, d5.loss_plan_l1_fix_time: 1.0422, d5.loss_plan_l1_fix_dist: 0.2334, d6.loss_plan_l1_fix_time: 1.0525, d6.loss_plan_l1_fix_dist: 0.2541, d0.loss_cls_all: 0.1958, d0.loss_bbox_all: 0.4256, d0.loss_cls: 0.1958, d0.loss_bbox: 0.4256, d1.loss_cls: 0.1874, d1.loss_bbox: 0.3985, d2.loss_cls: 0.1737, d2.loss_bbox: 0.3837, d3.loss_cls: 0.1634, d3.loss_bbox: 0.3778, d4.loss_cls: 0.1611, d4.loss_bbox: 0.3769, d5.loss_cls: 0.1613, d5.loss_bbox: 0.3787, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9403, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8048, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7330, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7267, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7310, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7426, d0.loss_map_cls_all: 0.2259, d0.loss_map_pts_all: 1.4785, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2259, d0.loss_map_pts: 1.4785, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1982, d1.loss_map_pts: 1.0023, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1762, d2.loss_map_pts: 0.8249, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1675, d3.loss_map_pts: 0.7523, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1628, d4.loss_map_pts: 0.7229, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1576, d5.loss_map_pts: 0.7139, d5.loss_map_dir: 0.0097, loss: 29.7769, grad_norm: 212.0149 +2026-02-26 07:22:32,962 - DriveTransformer - INFO - Epoch [7][500/39528] lr: 8.550e-05, eta: 6 days, 14:46:59, time: 0.786, data_time: 0.040, memory: 19865, loss_cls: 0.1805, loss_bbox: 0.3790, loss_traj: 0.6692, loss_traj_cls: 0.0010, loss_map_cls: 0.1827, loss_map_pts: 0.8031, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.1542, d0.loss_plan_l1_fix_dist: 0.3827, d1.loss_plan_l1_fix_time: 0.9998, d1.loss_plan_l1_fix_dist: 0.1833, d2.loss_plan_l1_fix_time: 0.9888, d2.loss_plan_l1_fix_dist: 0.1879, d3.loss_plan_l1_fix_time: 0.9956, d3.loss_plan_l1_fix_dist: 0.1981, d4.loss_plan_l1_fix_time: 1.0020, d4.loss_plan_l1_fix_dist: 0.2116, d5.loss_plan_l1_fix_time: 1.0091, d5.loss_plan_l1_fix_dist: 0.2276, d6.loss_plan_l1_fix_time: 1.0176, d6.loss_plan_l1_fix_dist: 0.2474, d0.loss_cls_all: 0.2159, d0.loss_bbox_all: 0.4300, d0.loss_cls: 0.2159, d0.loss_bbox: 0.4300, d1.loss_cls: 0.2052, d1.loss_bbox: 0.3998, d2.loss_cls: 0.1907, d2.loss_bbox: 0.3842, d3.loss_cls: 0.1887, d3.loss_bbox: 0.3782, d4.loss_cls: 0.1803, d4.loss_bbox: 0.3762, d5.loss_cls: 0.1803, d5.loss_bbox: 0.3773, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8287, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7398, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6555, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6507, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6569, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6602, d0.loss_map_cls_all: 0.2498, d0.loss_map_pts_all: 1.6192, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2498, d0.loss_map_pts: 1.6192, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2268, d1.loss_map_pts: 1.1171, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2047, d2.loss_map_pts: 0.9111, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1936, d3.loss_map_pts: 0.8306, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1883, d4.loss_map_pts: 0.8081, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1848, d5.loss_map_pts: 0.8028, d5.loss_map_dir: 0.0117, loss: 29.6676, grad_norm: 210.5095 +2026-02-26 07:23:12,177 - DriveTransformer - INFO - Epoch [7][550/39528] lr: 8.550e-05, eta: 6 days, 14:46:15, time: 0.784, data_time: 0.038, memory: 19865, loss_cls: 0.1629, loss_bbox: 0.3641, loss_traj: 0.6454, loss_traj_cls: 0.0010, loss_map_cls: 0.1907, loss_map_pts: 0.7999, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 3.0406, d0.loss_plan_l1_fix_dist: 0.3254, d1.loss_plan_l1_fix_time: 1.1944, d1.loss_plan_l1_fix_dist: 0.1863, d2.loss_plan_l1_fix_time: 1.1810, d2.loss_plan_l1_fix_dist: 0.1894, d3.loss_plan_l1_fix_time: 1.1820, d3.loss_plan_l1_fix_dist: 0.1968, d4.loss_plan_l1_fix_time: 1.1850, d4.loss_plan_l1_fix_dist: 0.2062, d5.loss_plan_l1_fix_time: 1.1880, d5.loss_plan_l1_fix_dist: 0.2159, d6.loss_plan_l1_fix_time: 1.1910, d6.loss_plan_l1_fix_dist: 0.2242, d0.loss_cls_all: 0.2082, d0.loss_bbox_all: 0.4186, d0.loss_cls: 0.2082, d0.loss_bbox: 0.4186, d1.loss_cls: 0.2011, d1.loss_bbox: 0.3873, d2.loss_cls: 0.1858, d2.loss_bbox: 0.3739, d3.loss_cls: 0.1726, d3.loss_bbox: 0.3673, d4.loss_cls: 0.1673, d4.loss_bbox: 0.3633, d5.loss_cls: 0.1640, d5.loss_bbox: 0.3625, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8695, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6947, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6552, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6467, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6481, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6442, d0.loss_map_cls_all: 0.2564, d0.loss_map_pts_all: 1.6374, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2564, d0.loss_map_pts: 1.6374, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2331, d1.loss_map_pts: 1.1028, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2128, d2.loss_map_pts: 0.9034, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1999, d3.loss_map_pts: 0.8363, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1922, d4.loss_map_pts: 0.8081, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1901, d5.loss_map_pts: 0.8020, d5.loss_map_dir: 0.0111, loss: 31.3882, grad_norm: 205.1020 +2026-02-26 07:23:51,168 - DriveTransformer - INFO - Epoch [7][600/39528] lr: 8.550e-05, eta: 6 days, 14:45:32, time: 0.780, data_time: 0.039, memory: 19865, loss_cls: 0.1705, loss_bbox: 0.3733, loss_traj: 0.8556, loss_traj_cls: 0.0010, loss_map_cls: 0.1683, loss_map_pts: 0.7310, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.8441, d0.loss_plan_l1_fix_dist: 0.4006, d1.loss_plan_l1_fix_time: 1.1556, d1.loss_plan_l1_fix_dist: 0.1839, d2.loss_plan_l1_fix_time: 1.1442, d2.loss_plan_l1_fix_dist: 0.1862, d3.loss_plan_l1_fix_time: 1.1453, d3.loss_plan_l1_fix_dist: 0.1950, d4.loss_plan_l1_fix_time: 1.1486, d4.loss_plan_l1_fix_dist: 0.2048, d5.loss_plan_l1_fix_time: 1.1522, d5.loss_plan_l1_fix_dist: 0.2184, d6.loss_plan_l1_fix_time: 1.1559, d6.loss_plan_l1_fix_dist: 0.2357, d0.loss_cls_all: 0.2108, d0.loss_bbox_all: 0.4344, d0.loss_cls: 0.2108, d0.loss_bbox: 0.4344, d1.loss_cls: 0.1990, d1.loss_bbox: 0.3993, d2.loss_cls: 0.1858, d2.loss_bbox: 0.3842, d3.loss_cls: 0.1744, d3.loss_bbox: 0.3792, d4.loss_cls: 0.1710, d4.loss_bbox: 0.3748, d5.loss_cls: 0.1703, d5.loss_bbox: 0.3738, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1020, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.9088, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8674, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8598, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8577, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.8592, d0.loss_map_cls_all: 0.2251, d0.loss_map_pts_all: 1.3913, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2251, d0.loss_map_pts: 1.3913, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2062, d1.loss_map_pts: 0.9999, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1895, d2.loss_map_pts: 0.8289, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1776, d3.loss_map_pts: 0.7670, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1727, d4.loss_map_pts: 0.7402, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1689, d5.loss_map_pts: 0.7313, d5.loss_map_dir: 0.0090, loss: 31.5166, grad_norm: 197.5452 +2026-02-26 07:24:28,231 - DriveTransformer - INFO - Epoch [7][650/39528] lr: 8.550e-05, eta: 6 days, 14:44:42, time: 0.741, data_time: 0.039, memory: 19865, loss_cls: 0.1441, loss_bbox: 0.3417, loss_traj: 0.7434, loss_traj_cls: 0.0011, loss_map_cls: 0.1373, loss_map_pts: 0.5995, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.7734, d0.loss_plan_l1_fix_dist: 0.3644, d1.loss_plan_l1_fix_time: 1.1499, d1.loss_plan_l1_fix_dist: 0.1651, d2.loss_plan_l1_fix_time: 1.1370, d2.loss_plan_l1_fix_dist: 0.1685, d3.loss_plan_l1_fix_time: 1.1431, d3.loss_plan_l1_fix_dist: 0.1781, d4.loss_plan_l1_fix_time: 1.1471, d4.loss_plan_l1_fix_dist: 0.1903, d5.loss_plan_l1_fix_time: 1.1511, d5.loss_plan_l1_fix_dist: 0.2051, d6.loss_plan_l1_fix_time: 1.1555, d6.loss_plan_l1_fix_dist: 0.2225, d0.loss_cls_all: 0.1829, d0.loss_bbox_all: 0.3973, d0.loss_cls: 0.1829, d0.loss_bbox: 0.3973, d1.loss_cls: 0.1703, d1.loss_bbox: 0.3678, d2.loss_cls: 0.1586, d2.loss_bbox: 0.3496, d3.loss_cls: 0.1509, d3.loss_bbox: 0.3430, d4.loss_cls: 0.1440, d4.loss_bbox: 0.3420, d5.loss_cls: 0.1442, d5.loss_bbox: 0.3414, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9614, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7985, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7467, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7464, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7422, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7406, d0.loss_map_cls_all: 0.2033, d0.loss_map_pts_all: 1.2065, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2033, d0.loss_map_pts: 1.2065, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1775, d1.loss_map_pts: 0.8323, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1568, d2.loss_map_pts: 0.6811, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1464, d3.loss_map_pts: 0.6251, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1420, d4.loss_map_pts: 0.6079, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1392, d5.loss_map_pts: 0.5996, d5.loss_map_dir: 0.0080, loss: 28.5234, grad_norm: 192.0211 +2026-02-26 07:25:06,637 - DriveTransformer - INFO - Epoch [7][700/39528] lr: 8.550e-05, eta: 6 days, 14:43:57, time: 0.768, data_time: 0.055, memory: 19865, loss_cls: 0.1485, loss_bbox: 0.3394, loss_traj: 0.5992, loss_traj_cls: 0.0010, loss_map_cls: 0.1662, loss_map_pts: 0.6623, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.5934, d0.loss_plan_l1_fix_dist: 0.4164, d1.loss_plan_l1_fix_time: 0.9920, d1.loss_plan_l1_fix_dist: 0.1717, d2.loss_plan_l1_fix_time: 0.9792, d2.loss_plan_l1_fix_dist: 0.1786, d3.loss_plan_l1_fix_time: 0.9794, d3.loss_plan_l1_fix_dist: 0.1918, d4.loss_plan_l1_fix_time: 0.9838, d4.loss_plan_l1_fix_dist: 0.2058, d5.loss_plan_l1_fix_time: 0.9884, d5.loss_plan_l1_fix_dist: 0.2204, d6.loss_plan_l1_fix_time: 0.9935, d6.loss_plan_l1_fix_dist: 0.2354, d0.loss_cls_all: 0.1906, d0.loss_bbox_all: 0.3973, d0.loss_cls: 0.1906, d0.loss_bbox: 0.3973, d1.loss_cls: 0.1794, d1.loss_bbox: 0.3664, d2.loss_cls: 0.1651, d2.loss_bbox: 0.3512, d3.loss_cls: 0.1543, d3.loss_bbox: 0.3446, d4.loss_cls: 0.1479, d4.loss_bbox: 0.3419, d5.loss_cls: 0.1474, d5.loss_bbox: 0.3404, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7524, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6308, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6042, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6057, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6040, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5991, d0.loss_map_cls_all: 0.2412, d0.loss_map_pts_all: 1.4142, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2412, d0.loss_map_pts: 1.4142, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.2115, d1.loss_map_pts: 0.9458, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1883, d2.loss_map_pts: 0.7634, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1799, d3.loss_map_pts: 0.6946, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1728, d4.loss_map_pts: 0.6685, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1677, d5.loss_map_pts: 0.6640, d5.loss_map_dir: 0.0087, loss: 27.5981, grad_norm: 183.7990 +2026-02-26 07:25:48,004 - DriveTransformer - INFO - Epoch [7][750/39528] lr: 8.550e-05, eta: 6 days, 14:43:20, time: 0.827, data_time: 0.036, memory: 19865, loss_cls: 0.1521, loss_bbox: 0.3450, loss_traj: 0.5603, loss_traj_cls: 0.0010, loss_map_cls: 0.1592, loss_map_pts: 0.7595, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.5525, d0.loss_plan_l1_fix_dist: 0.3878, d1.loss_plan_l1_fix_time: 1.2138, d1.loss_plan_l1_fix_dist: 0.1814, d2.loss_plan_l1_fix_time: 1.2092, d2.loss_plan_l1_fix_dist: 0.1861, d3.loss_plan_l1_fix_time: 1.2094, d3.loss_plan_l1_fix_dist: 0.1992, d4.loss_plan_l1_fix_time: 1.2152, d4.loss_plan_l1_fix_dist: 0.2143, d5.loss_plan_l1_fix_time: 1.2217, d5.loss_plan_l1_fix_dist: 0.2313, d6.loss_plan_l1_fix_time: 1.2289, d6.loss_plan_l1_fix_dist: 0.2492, d0.loss_cls_all: 0.1921, d0.loss_bbox_all: 0.3920, d0.loss_cls: 0.1921, d0.loss_bbox: 0.3920, d1.loss_cls: 0.1809, d1.loss_bbox: 0.3627, d2.loss_cls: 0.1680, d2.loss_bbox: 0.3512, d3.loss_cls: 0.1593, d3.loss_bbox: 0.3436, d4.loss_cls: 0.1524, d4.loss_bbox: 0.3426, d5.loss_cls: 0.1526, d5.loss_bbox: 0.3428, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6906, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6016, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5728, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5647, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5670, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5635, d0.loss_map_cls_all: 0.2390, d0.loss_map_pts_all: 1.6269, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.2390, d0.loss_map_pts: 1.6269, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.2037, d1.loss_map_pts: 1.0631, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.1825, d2.loss_map_pts: 0.8618, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.1726, d3.loss_map_pts: 0.7956, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.1649, d4.loss_map_pts: 0.7677, d4.loss_map_dir: 0.0126, d5.loss_map_cls: 0.1605, d5.loss_map_pts: 0.7605, d5.loss_map_dir: 0.0127, loss: 29.7306, grad_norm: 185.4866 +2026-02-26 07:26:25,625 - DriveTransformer - INFO - Epoch [7][800/39528] lr: 8.550e-05, eta: 6 days, 14:42:32, time: 0.752, data_time: 0.036, memory: 19865, loss_cls: 0.1884, loss_bbox: 0.3710, loss_traj: 0.6734, loss_traj_cls: 0.0010, loss_map_cls: 0.1917, loss_map_pts: 0.7173, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 3.0076, d0.loss_plan_l1_fix_dist: 0.4228, d1.loss_plan_l1_fix_time: 1.2723, d1.loss_plan_l1_fix_dist: 0.2034, d2.loss_plan_l1_fix_time: 1.2575, d2.loss_plan_l1_fix_dist: 0.2013, d3.loss_plan_l1_fix_time: 1.2532, d3.loss_plan_l1_fix_dist: 0.2093, d4.loss_plan_l1_fix_time: 1.2587, d4.loss_plan_l1_fix_dist: 0.2203, d5.loss_plan_l1_fix_time: 1.2654, d5.loss_plan_l1_fix_dist: 0.2309, d6.loss_plan_l1_fix_time: 1.2729, d6.loss_plan_l1_fix_dist: 0.2412, d0.loss_cls_all: 0.2267, d0.loss_bbox_all: 0.4300, d0.loss_cls: 0.2267, d0.loss_bbox: 0.4300, d1.loss_cls: 0.2163, d1.loss_bbox: 0.3978, d2.loss_cls: 0.2070, d2.loss_bbox: 0.3802, d3.loss_cls: 0.1942, d3.loss_bbox: 0.3744, d4.loss_cls: 0.1887, d4.loss_bbox: 0.3703, d5.loss_cls: 0.1870, d5.loss_bbox: 0.3708, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8847, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7214, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6741, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6701, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6636, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6700, d0.loss_map_cls_all: 0.2605, d0.loss_map_pts_all: 1.3995, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2605, d0.loss_map_pts: 1.3995, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.2332, d1.loss_map_pts: 1.0088, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.2098, d2.loss_map_pts: 0.8267, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1996, d3.loss_map_pts: 0.7535, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1938, d4.loss_map_pts: 0.7263, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1908, d5.loss_map_pts: 0.7184, d5.loss_map_dir: 0.0090, loss: 31.3985, grad_norm: 183.6234 +2026-02-26 07:27:05,771 - DriveTransformer - INFO - Epoch [7][850/39528] lr: 8.550e-05, eta: 6 days, 14:41:52, time: 0.803, data_time: 0.034, memory: 19865, loss_cls: 0.1856, loss_bbox: 0.3812, loss_traj: 0.7521, loss_traj_cls: 0.0010, loss_map_cls: 0.1613, loss_map_pts: 0.7600, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 3.0437, d0.loss_plan_l1_fix_dist: 0.3875, d1.loss_plan_l1_fix_time: 1.2449, d1.loss_plan_l1_fix_dist: 0.1843, d2.loss_plan_l1_fix_time: 1.2323, d2.loss_plan_l1_fix_dist: 0.1844, d3.loss_plan_l1_fix_time: 1.2314, d3.loss_plan_l1_fix_dist: 0.1940, d4.loss_plan_l1_fix_time: 1.2357, d4.loss_plan_l1_fix_dist: 0.2046, d5.loss_plan_l1_fix_time: 1.2411, d5.loss_plan_l1_fix_dist: 0.2176, d6.loss_plan_l1_fix_time: 1.2471, d6.loss_plan_l1_fix_dist: 0.2330, d0.loss_cls_all: 0.2242, d0.loss_bbox_all: 0.4408, d0.loss_cls: 0.2242, d0.loss_bbox: 0.4408, d1.loss_cls: 0.2211, d1.loss_bbox: 0.4049, d2.loss_cls: 0.2052, d2.loss_bbox: 0.3895, d3.loss_cls: 0.1922, d3.loss_bbox: 0.3840, d4.loss_cls: 0.1856, d4.loss_bbox: 0.3821, d5.loss_cls: 0.1851, d5.loss_bbox: 0.3817, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9866, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8181, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7703, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7599, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7568, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7514, d0.loss_map_cls_all: 0.2372, d0.loss_map_pts_all: 1.5296, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2372, d0.loss_map_pts: 1.5296, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2076, d1.loss_map_pts: 1.0430, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.1835, d2.loss_map_pts: 0.8531, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.1725, d3.loss_map_pts: 0.7842, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.1654, d4.loss_map_pts: 0.7667, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.1627, d5.loss_map_pts: 0.7598, d5.loss_map_dir: 0.0124, loss: 32.1597, grad_norm: 182.6930 +2026-02-26 07:27:43,304 - DriveTransformer - INFO - Epoch [7][900/39528] lr: 8.550e-05, eta: 6 days, 14:41:03, time: 0.751, data_time: 0.041, memory: 19865, loss_cls: 0.1761, loss_bbox: 0.3611, loss_traj: 0.7174, loss_traj_cls: 0.0010, loss_map_cls: 0.1700, loss_map_pts: 0.6849, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.7818, d0.loss_plan_l1_fix_dist: 0.4150, d1.loss_plan_l1_fix_time: 1.2003, d1.loss_plan_l1_fix_dist: 0.1747, d2.loss_plan_l1_fix_time: 1.1891, d2.loss_plan_l1_fix_dist: 0.1777, d3.loss_plan_l1_fix_time: 1.1901, d3.loss_plan_l1_fix_dist: 0.1884, d4.loss_plan_l1_fix_time: 1.1937, d4.loss_plan_l1_fix_dist: 0.2008, d5.loss_plan_l1_fix_time: 1.1977, d5.loss_plan_l1_fix_dist: 0.2137, d6.loss_plan_l1_fix_time: 1.2019, d6.loss_plan_l1_fix_dist: 0.2293, d0.loss_cls_all: 0.2128, d0.loss_bbox_all: 0.4231, d0.loss_cls: 0.2128, d0.loss_bbox: 0.4231, d1.loss_cls: 0.2067, d1.loss_bbox: 0.3908, d2.loss_cls: 0.1936, d2.loss_bbox: 0.3724, d3.loss_cls: 0.1794, d3.loss_bbox: 0.3662, d4.loss_cls: 0.1748, d4.loss_bbox: 0.3625, d5.loss_cls: 0.1759, d5.loss_bbox: 0.3610, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9479, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7759, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7346, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7228, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7156, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7175, d0.loss_map_cls_all: 0.2503, d0.loss_map_pts_all: 1.3360, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2503, d0.loss_map_pts: 1.3360, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2225, d1.loss_map_pts: 0.9307, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1932, d2.loss_map_pts: 0.7707, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1797, d3.loss_map_pts: 0.7132, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1745, d4.loss_map_pts: 0.6911, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1712, d5.loss_map_pts: 0.6860, d5.loss_map_dir: 0.0093, loss: 30.3166, grad_norm: 180.5022 +2026-02-26 07:28:21,532 - DriveTransformer - INFO - Epoch [7][950/39528] lr: 8.550e-05, eta: 6 days, 14:40:17, time: 0.765, data_time: 0.044, memory: 19865, loss_cls: 0.1565, loss_bbox: 0.3349, loss_traj: 0.6767, loss_traj_cls: 0.0010, loss_map_cls: 0.1583, loss_map_pts: 0.6513, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.9094, d0.loss_plan_l1_fix_dist: 0.3823, d1.loss_plan_l1_fix_time: 1.0939, d1.loss_plan_l1_fix_dist: 0.1698, d2.loss_plan_l1_fix_time: 1.0717, d2.loss_plan_l1_fix_dist: 0.1712, d3.loss_plan_l1_fix_time: 1.0719, d3.loss_plan_l1_fix_dist: 0.1789, d4.loss_plan_l1_fix_time: 1.0751, d4.loss_plan_l1_fix_dist: 0.1887, d5.loss_plan_l1_fix_time: 1.0791, d5.loss_plan_l1_fix_dist: 0.2016, d6.loss_plan_l1_fix_time: 1.0835, d6.loss_plan_l1_fix_dist: 0.2135, d0.loss_cls_all: 0.1844, d0.loss_bbox_all: 0.3899, d0.loss_cls: 0.1844, d0.loss_bbox: 0.3899, d1.loss_cls: 0.1784, d1.loss_bbox: 0.3592, d2.loss_cls: 0.1682, d2.loss_bbox: 0.3422, d3.loss_cls: 0.1622, d3.loss_bbox: 0.3355, d4.loss_cls: 0.1563, d4.loss_bbox: 0.3329, d5.loss_cls: 0.1562, d5.loss_bbox: 0.3337, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8764, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7087, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6843, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6770, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6748, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6747, d0.loss_map_cls_all: 0.2318, d0.loss_map_pts_all: 1.3035, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2318, d0.loss_map_pts: 1.3035, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2056, d1.loss_map_pts: 0.8944, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1787, d2.loss_map_pts: 0.7407, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1683, d3.loss_map_pts: 0.6791, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1631, d4.loss_map_pts: 0.6590, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1598, d5.loss_map_pts: 0.6507, d5.loss_map_dir: 0.0090, loss: 28.4830, grad_norm: 175.5269 +2026-02-26 07:28:59,679 - DriveTransformer - INFO - Epoch [7][1000/39528] lr: 8.550e-05, eta: 6 days, 14:39:31, time: 0.763, data_time: 0.037, memory: 19865, loss_cls: 0.1620, loss_bbox: 0.3581, loss_traj: 0.7609, loss_traj_cls: 0.0010, loss_map_cls: 0.1738, loss_map_pts: 0.7202, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.6129, d0.loss_plan_l1_fix_dist: 0.4695, d1.loss_plan_l1_fix_time: 1.0862, d1.loss_plan_l1_fix_dist: 0.1804, d2.loss_plan_l1_fix_time: 1.0611, d2.loss_plan_l1_fix_dist: 0.1853, d3.loss_plan_l1_fix_time: 1.0647, d3.loss_plan_l1_fix_dist: 0.1972, d4.loss_plan_l1_fix_time: 1.0677, d4.loss_plan_l1_fix_dist: 0.2097, d5.loss_plan_l1_fix_time: 1.0709, d5.loss_plan_l1_fix_dist: 0.2232, d6.loss_plan_l1_fix_time: 1.0748, d6.loss_plan_l1_fix_dist: 0.2373, d0.loss_cls_all: 0.2057, d0.loss_bbox_all: 0.4189, d0.loss_cls: 0.2057, d0.loss_bbox: 0.4189, d1.loss_cls: 0.1967, d1.loss_bbox: 0.3851, d2.loss_cls: 0.1837, d2.loss_bbox: 0.3678, d3.loss_cls: 0.1715, d3.loss_bbox: 0.3599, d4.loss_cls: 0.1645, d4.loss_bbox: 0.3592, d5.loss_cls: 0.1629, d5.loss_bbox: 0.3575, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9869, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7942, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7698, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7600, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7581, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7615, d0.loss_map_cls_all: 0.2501, d0.loss_map_pts_all: 1.4430, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2501, d0.loss_map_pts: 1.4430, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2176, d1.loss_map_pts: 0.9928, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1944, d2.loss_map_pts: 0.8286, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1825, d3.loss_map_pts: 0.7547, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1769, d4.loss_map_pts: 0.7285, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1745, d5.loss_map_pts: 0.7202, d5.loss_map_dir: 0.0096, loss: 30.1433, grad_norm: 173.8657 +2026-02-26 07:29:38,314 - DriveTransformer - INFO - Epoch [7][1050/39528] lr: 8.550e-05, eta: 6 days, 14:38:46, time: 0.772, data_time: 0.040, memory: 19865, loss_cls: 0.1670, loss_bbox: 0.3631, loss_traj: 0.7386, loss_traj_cls: 0.0010, loss_map_cls: 0.1564, loss_map_pts: 0.6426, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.4233, d0.loss_plan_l1_fix_dist: 0.4524, d1.loss_plan_l1_fix_time: 1.0482, d1.loss_plan_l1_fix_dist: 0.1600, d2.loss_plan_l1_fix_time: 1.0187, d2.loss_plan_l1_fix_dist: 0.1601, d3.loss_plan_l1_fix_time: 1.0159, d3.loss_plan_l1_fix_dist: 0.1669, d4.loss_plan_l1_fix_time: 1.0197, d4.loss_plan_l1_fix_dist: 0.1760, d5.loss_plan_l1_fix_time: 1.0239, d5.loss_plan_l1_fix_dist: 0.1861, d6.loss_plan_l1_fix_time: 1.0288, d6.loss_plan_l1_fix_dist: 0.2007, d0.loss_cls_all: 0.1939, d0.loss_bbox_all: 0.4077, d0.loss_cls: 0.1939, d0.loss_bbox: 0.4077, d1.loss_cls: 0.1852, d1.loss_bbox: 0.3775, d2.loss_cls: 0.1717, d2.loss_bbox: 0.3646, d3.loss_cls: 0.1656, d3.loss_bbox: 0.3620, d4.loss_cls: 0.1653, d4.loss_bbox: 0.3623, d5.loss_cls: 0.1661, d5.loss_bbox: 0.3624, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0189, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7918, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7519, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7440, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7418, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7362, d0.loss_map_cls_all: 0.2336, d0.loss_map_pts_all: 1.3274, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2336, d0.loss_map_pts: 1.3274, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.2069, d1.loss_map_pts: 0.9221, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1839, d2.loss_map_pts: 0.7574, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1704, d3.loss_map_pts: 0.6759, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1636, d4.loss_map_pts: 0.6508, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1583, d5.loss_map_pts: 0.6435, d5.loss_map_dir: 0.0081, loss: 28.5443, grad_norm: 178.3312 +2026-02-26 07:30:17,845 - DriveTransformer - INFO - Epoch [7][1100/39528] lr: 8.550e-05, eta: 6 days, 14:38:04, time: 0.791, data_time: 0.037, memory: 19865, loss_cls: 0.1647, loss_bbox: 0.3655, loss_traj: 0.6192, loss_traj_cls: 0.0010, loss_map_cls: 0.1714, loss_map_pts: 0.6909, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.8631, d0.loss_plan_l1_fix_dist: 0.3473, d1.loss_plan_l1_fix_time: 1.2189, d1.loss_plan_l1_fix_dist: 0.1849, d2.loss_plan_l1_fix_time: 1.1972, d2.loss_plan_l1_fix_dist: 0.1844, d3.loss_plan_l1_fix_time: 1.2002, d3.loss_plan_l1_fix_dist: 0.1920, d4.loss_plan_l1_fix_time: 1.2038, d4.loss_plan_l1_fix_dist: 0.2004, d5.loss_plan_l1_fix_time: 1.2070, d5.loss_plan_l1_fix_dist: 0.2107, d6.loss_plan_l1_fix_time: 1.2107, d6.loss_plan_l1_fix_dist: 0.2211, d0.loss_cls_all: 0.1925, d0.loss_bbox_all: 0.4062, d0.loss_cls: 0.1925, d0.loss_bbox: 0.4062, d1.loss_cls: 0.1908, d1.loss_bbox: 0.3756, d2.loss_cls: 0.1773, d2.loss_bbox: 0.3651, d3.loss_cls: 0.1710, d3.loss_bbox: 0.3628, d4.loss_cls: 0.1641, d4.loss_bbox: 0.3640, d5.loss_cls: 0.1626, d5.loss_bbox: 0.3648, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8136, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6667, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6414, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6268, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6227, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6216, d0.loss_map_cls_all: 0.2455, d0.loss_map_pts_all: 1.5094, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2455, d0.loss_map_pts: 1.5094, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2124, d1.loss_map_pts: 0.9920, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1907, d2.loss_map_pts: 0.8024, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1790, d3.loss_map_pts: 0.7296, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1744, d4.loss_map_pts: 0.6994, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1730, d5.loss_map_pts: 0.6921, d5.loss_map_dir: 0.0100, loss: 29.9823, grad_norm: 175.8736 +2026-02-26 07:30:54,984 - DriveTransformer - INFO - Epoch [7][1150/39528] lr: 8.550e-05, eta: 6 days, 14:37:15, time: 0.743, data_time: 0.039, memory: 19865, loss_cls: 0.2077, loss_bbox: 0.4084, loss_traj: 0.7020, loss_traj_cls: 0.0009, loss_map_cls: 0.1914, loss_map_pts: 0.7376, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 3.2992, d0.loss_plan_l1_fix_dist: 0.3856, d1.loss_plan_l1_fix_time: 1.3523, d1.loss_plan_l1_fix_dist: 0.1944, d2.loss_plan_l1_fix_time: 1.3420, d2.loss_plan_l1_fix_dist: 0.1959, d3.loss_plan_l1_fix_time: 1.3432, d3.loss_plan_l1_fix_dist: 0.2062, d4.loss_plan_l1_fix_time: 1.3467, d4.loss_plan_l1_fix_dist: 0.2166, d5.loss_plan_l1_fix_time: 1.3501, d5.loss_plan_l1_fix_dist: 0.2284, d6.loss_plan_l1_fix_time: 1.3531, d6.loss_plan_l1_fix_dist: 0.2413, d0.loss_cls_all: 0.2534, d0.loss_bbox_all: 0.4676, d0.loss_cls: 0.2534, d0.loss_bbox: 0.4676, d1.loss_cls: 0.2395, d1.loss_bbox: 0.4356, d2.loss_cls: 0.2268, d2.loss_bbox: 0.4152, d3.loss_cls: 0.2152, d3.loss_bbox: 0.4094, d4.loss_cls: 0.2075, d4.loss_bbox: 0.4087, d5.loss_cls: 0.2087, d5.loss_bbox: 0.4073, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9503, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7839, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7317, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7189, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7070, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7004, d0.loss_map_cls_all: 0.2665, d0.loss_map_pts_all: 1.4178, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2665, d0.loss_map_pts: 1.4178, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2371, d1.loss_map_pts: 1.0288, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.2128, d2.loss_map_pts: 0.8666, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.2031, d3.loss_map_pts: 0.7800, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1994, d4.loss_map_pts: 0.7479, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1946, d5.loss_map_pts: 0.7375, d5.loss_map_dir: 0.0088, loss: 33.1609, grad_norm: 173.3913 +2026-02-26 07:31:35,816 - DriveTransformer - INFO - Epoch [7][1200/39528] lr: 8.550e-05, eta: 6 days, 14:36:37, time: 0.818, data_time: 0.036, memory: 19865, loss_cls: 0.1603, loss_bbox: 0.3596, loss_traj: 0.6014, loss_traj_cls: 0.0010, loss_map_cls: 0.1504, loss_map_pts: 0.6881, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.8275, d0.loss_plan_l1_fix_dist: 0.4414, d1.loss_plan_l1_fix_time: 1.1441, d1.loss_plan_l1_fix_dist: 0.1955, d2.loss_plan_l1_fix_time: 1.1307, d2.loss_plan_l1_fix_dist: 0.1946, d3.loss_plan_l1_fix_time: 1.1267, d3.loss_plan_l1_fix_dist: 0.2018, d4.loss_plan_l1_fix_time: 1.1305, d4.loss_plan_l1_fix_dist: 0.2108, d5.loss_plan_l1_fix_time: 1.1357, d5.loss_plan_l1_fix_dist: 0.2193, d6.loss_plan_l1_fix_time: 1.1415, d6.loss_plan_l1_fix_dist: 0.2281, d0.loss_cls_all: 0.2027, d0.loss_bbox_all: 0.4130, d0.loss_cls: 0.2027, d0.loss_bbox: 0.4130, d1.loss_cls: 0.1899, d1.loss_bbox: 0.3796, d2.loss_cls: 0.1757, d2.loss_bbox: 0.3609, d3.loss_cls: 0.1668, d3.loss_bbox: 0.3549, d4.loss_cls: 0.1598, d4.loss_bbox: 0.3546, d5.loss_cls: 0.1597, d5.loss_bbox: 0.3566, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8227, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6498, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6248, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6096, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6023, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6000, d0.loss_map_cls_all: 0.2164, d0.loss_map_pts_all: 1.4844, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2164, d0.loss_map_pts: 1.4844, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.1884, d1.loss_map_pts: 0.9901, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1732, d2.loss_map_pts: 0.7926, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1613, d3.loss_map_pts: 0.7225, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1571, d4.loss_map_pts: 0.6952, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1519, d5.loss_map_pts: 0.6885, d5.loss_map_dir: 0.0110, loss: 29.3010, grad_norm: 171.0306 +2026-02-26 07:32:15,794 - DriveTransformer - INFO - Epoch [7][1250/39528] lr: 8.550e-05, eta: 6 days, 14:35:56, time: 0.798, data_time: 0.036, memory: 19865, loss_cls: 0.1706, loss_bbox: 0.3470, loss_traj: 0.6166, loss_traj_cls: 0.0011, loss_map_cls: 0.1504, loss_map_pts: 0.6505, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.7651, d0.loss_plan_l1_fix_dist: 0.4329, d1.loss_plan_l1_fix_time: 0.9884, d1.loss_plan_l1_fix_dist: 0.1806, d2.loss_plan_l1_fix_time: 0.9899, d2.loss_plan_l1_fix_dist: 0.1807, d3.loss_plan_l1_fix_time: 0.9965, d3.loss_plan_l1_fix_dist: 0.1891, d4.loss_plan_l1_fix_time: 1.0029, d4.loss_plan_l1_fix_dist: 0.2007, d5.loss_plan_l1_fix_time: 1.0100, d5.loss_plan_l1_fix_dist: 0.2153, d6.loss_plan_l1_fix_time: 1.0181, d6.loss_plan_l1_fix_dist: 0.2309, d0.loss_cls_all: 0.1982, d0.loss_bbox_all: 0.4029, d0.loss_cls: 0.1982, d0.loss_bbox: 0.4029, d1.loss_cls: 0.1897, d1.loss_bbox: 0.3726, d2.loss_cls: 0.1795, d2.loss_bbox: 0.3563, d3.loss_cls: 0.1692, d3.loss_bbox: 0.3508, d4.loss_cls: 0.1692, d4.loss_bbox: 0.3457, d5.loss_cls: 0.1705, d5.loss_bbox: 0.3455, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8128, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6604, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6270, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6211, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6231, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6173, d0.loss_map_cls_all: 0.2241, d0.loss_map_pts_all: 1.3924, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2241, d0.loss_map_pts: 1.3924, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1914, d1.loss_map_pts: 0.9386, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1725, d2.loss_map_pts: 0.7547, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1621, d3.loss_map_pts: 0.6866, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1555, d4.loss_map_pts: 0.6617, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1508, d5.loss_map_pts: 0.6513, d5.loss_map_dir: 0.0101, loss: 27.9908, grad_norm: 169.4343 +2026-02-26 07:32:54,984 - DriveTransformer - INFO - Epoch [7][1300/39528] lr: 8.550e-05, eta: 6 days, 14:35:12, time: 0.784, data_time: 0.041, memory: 19865, loss_cls: 0.1830, loss_bbox: 0.3740, loss_traj: 0.6738, loss_traj_cls: 0.0011, loss_map_cls: 0.1624, loss_map_pts: 0.6893, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.7964, d0.loss_plan_l1_fix_dist: 0.2918, d1.loss_plan_l1_fix_time: 1.1421, d1.loss_plan_l1_fix_dist: 0.1715, d2.loss_plan_l1_fix_time: 1.1319, d2.loss_plan_l1_fix_dist: 0.1743, d3.loss_plan_l1_fix_time: 1.1342, d3.loss_plan_l1_fix_dist: 0.1851, d4.loss_plan_l1_fix_time: 1.1383, d4.loss_plan_l1_fix_dist: 0.1972, d5.loss_plan_l1_fix_time: 1.1433, d5.loss_plan_l1_fix_dist: 0.2106, d6.loss_plan_l1_fix_time: 1.1494, d6.loss_plan_l1_fix_dist: 0.2302, d0.loss_cls_all: 0.2200, d0.loss_bbox_all: 0.4377, d0.loss_cls: 0.2200, d0.loss_bbox: 0.4377, d1.loss_cls: 0.2087, d1.loss_bbox: 0.4038, d2.loss_cls: 0.1952, d2.loss_bbox: 0.3863, d3.loss_cls: 0.1872, d3.loss_bbox: 0.3784, d4.loss_cls: 0.1834, d4.loss_bbox: 0.3758, d5.loss_cls: 0.1828, d5.loss_bbox: 0.3751, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9173, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7347, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6865, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6760, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6709, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6691, d0.loss_map_cls_all: 0.2286, d0.loss_map_pts_all: 1.3933, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2286, d0.loss_map_pts: 1.3933, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2034, d1.loss_map_pts: 0.9576, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1810, d2.loss_map_pts: 0.7855, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1734, d3.loss_map_pts: 0.7257, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1691, d4.loss_map_pts: 0.7028, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1641, d5.loss_map_pts: 0.6905, d5.loss_map_dir: 0.0107, loss: 29.8138, grad_norm: 166.8749 +2026-02-26 07:33:33,727 - DriveTransformer - INFO - Epoch [7][1350/39528] lr: 8.550e-05, eta: 6 days, 14:34:28, time: 0.775, data_time: 0.036, memory: 19865, loss_cls: 0.1629, loss_bbox: 0.3642, loss_traj: 0.5867, loss_traj_cls: 0.0011, loss_map_cls: 0.1718, loss_map_pts: 0.7546, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.8576, d0.loss_plan_l1_fix_dist: 0.4865, d1.loss_plan_l1_fix_time: 1.0657, d1.loss_plan_l1_fix_dist: 0.1989, d2.loss_plan_l1_fix_time: 1.0510, d2.loss_plan_l1_fix_dist: 0.2014, d3.loss_plan_l1_fix_time: 1.0503, d3.loss_plan_l1_fix_dist: 0.2073, d4.loss_plan_l1_fix_time: 1.0535, d4.loss_plan_l1_fix_dist: 0.2163, d5.loss_plan_l1_fix_time: 1.0576, d5.loss_plan_l1_fix_dist: 0.2267, d6.loss_plan_l1_fix_time: 1.0623, d6.loss_plan_l1_fix_dist: 0.2371, d0.loss_cls_all: 0.1933, d0.loss_bbox_all: 0.4137, d0.loss_cls: 0.1933, d0.loss_bbox: 0.4137, d1.loss_cls: 0.1883, d1.loss_bbox: 0.3837, d2.loss_cls: 0.1793, d2.loss_bbox: 0.3697, d3.loss_cls: 0.1694, d3.loss_bbox: 0.3631, d4.loss_cls: 0.1652, d4.loss_bbox: 0.3617, d5.loss_cls: 0.1639, d5.loss_bbox: 0.3627, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8281, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6444, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5996, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5920, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5873, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5804, d0.loss_map_cls_all: 0.2358, d0.loss_map_pts_all: 1.5608, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2358, d0.loss_map_pts: 1.5608, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2117, d1.loss_map_pts: 1.0476, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1933, d2.loss_map_pts: 0.8682, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1839, d3.loss_map_pts: 0.7997, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1781, d4.loss_map_pts: 0.7641, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1740, d5.loss_map_pts: 0.7563, d5.loss_map_dir: 0.0109, loss: 29.6264, grad_norm: 165.0661 +2026-02-26 07:34:14,048 - DriveTransformer - INFO - Epoch [7][1400/39528] lr: 8.550e-05, eta: 6 days, 14:33:48, time: 0.806, data_time: 0.042, memory: 19865, loss_cls: 0.1657, loss_bbox: 0.3832, loss_traj: 0.6203, loss_traj_cls: 0.0011, loss_map_cls: 0.1493, loss_map_pts: 0.7413, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.7093, d0.loss_plan_l1_fix_dist: 0.3906, d1.loss_plan_l1_fix_time: 1.1121, d1.loss_plan_l1_fix_dist: 0.1724, d2.loss_plan_l1_fix_time: 1.0950, d2.loss_plan_l1_fix_dist: 0.1739, d3.loss_plan_l1_fix_time: 1.0958, d3.loss_plan_l1_fix_dist: 0.1802, d4.loss_plan_l1_fix_time: 1.0994, d4.loss_plan_l1_fix_dist: 0.1899, d5.loss_plan_l1_fix_time: 1.1035, d5.loss_plan_l1_fix_dist: 0.2017, d6.loss_plan_l1_fix_time: 1.1081, d6.loss_plan_l1_fix_dist: 0.2115, d0.loss_cls_all: 0.2017, d0.loss_bbox_all: 0.4378, d0.loss_cls: 0.2017, d0.loss_bbox: 0.4378, d1.loss_cls: 0.1928, d1.loss_bbox: 0.4060, d2.loss_cls: 0.1785, d2.loss_bbox: 0.3889, d3.loss_cls: 0.1709, d3.loss_bbox: 0.3800, d4.loss_cls: 0.1659, d4.loss_bbox: 0.3794, d5.loss_cls: 0.1652, d5.loss_bbox: 0.3817, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8168, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6801, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6376, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6215, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6199, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6194, d0.loss_map_cls_all: 0.2124, d0.loss_map_pts_all: 1.5847, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2124, d0.loss_map_pts: 1.5847, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.1858, d1.loss_map_pts: 1.0441, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.1690, d2.loss_map_pts: 0.8504, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1601, d3.loss_map_pts: 0.7785, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.1553, d4.loss_map_pts: 0.7502, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1528, d5.loss_map_pts: 0.7413, d5.loss_map_dir: 0.0118, loss: 29.6662, grad_norm: 165.0422 +2026-02-26 07:34:56,431 - DriveTransformer - INFO - Epoch [7][1450/39528] lr: 8.550e-05, eta: 6 days, 14:33:14, time: 0.848, data_time: 0.037, memory: 19865, loss_cls: 0.1488, loss_bbox: 0.3869, loss_traj: 0.5574, loss_traj_cls: 0.0011, loss_map_cls: 0.1473, loss_map_pts: 0.7754, loss_map_dir: 0.0141, d0.loss_plan_l1_fix_time: 2.7629, d0.loss_plan_l1_fix_dist: 0.4117, d1.loss_plan_l1_fix_time: 1.1737, d1.loss_plan_l1_fix_dist: 0.1996, d2.loss_plan_l1_fix_time: 1.1795, d2.loss_plan_l1_fix_dist: 0.1978, d3.loss_plan_l1_fix_time: 1.1833, d3.loss_plan_l1_fix_dist: 0.2053, d4.loss_plan_l1_fix_time: 1.1911, d4.loss_plan_l1_fix_dist: 0.2156, d5.loss_plan_l1_fix_time: 1.1993, d5.loss_plan_l1_fix_dist: 0.2281, d6.loss_plan_l1_fix_time: 1.2080, d6.loss_plan_l1_fix_dist: 0.2435, d0.loss_cls_all: 0.1871, d0.loss_bbox_all: 0.4222, d0.loss_cls: 0.1871, d0.loss_bbox: 0.4222, d1.loss_cls: 0.1821, d1.loss_bbox: 0.3915, d2.loss_cls: 0.1645, d2.loss_bbox: 0.3837, d3.loss_cls: 0.1547, d3.loss_bbox: 0.3795, d4.loss_cls: 0.1504, d4.loss_bbox: 0.3798, d5.loss_cls: 0.1479, d5.loss_bbox: 0.3834, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7284, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6053, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5716, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5623, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5557, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5568, d0.loss_map_cls_all: 0.2203, d0.loss_map_pts_all: 1.5845, d0.loss_map_dir_all: 0.0126, d0.loss_map_cls: 0.2203, d0.loss_map_pts: 1.5845, d0.loss_map_dir: 0.0126, d1.loss_map_cls: 0.1908, d1.loss_map_pts: 1.0464, d1.loss_map_dir: 0.0121, d2.loss_map_cls: 0.1686, d2.loss_map_pts: 0.8650, d2.loss_map_dir: 0.0127, d3.loss_map_cls: 0.1602, d3.loss_map_pts: 0.8006, d3.loss_map_dir: 0.0134, d4.loss_map_cls: 0.1533, d4.loss_map_pts: 0.7780, d4.loss_map_dir: 0.0138, d5.loss_map_cls: 0.1488, d5.loss_map_pts: 0.7724, d5.loss_map_dir: 0.0140, loss: 29.9379, grad_norm: 167.4033 +2026-02-26 07:35:35,373 - DriveTransformer - INFO - Epoch [7][1500/39528] lr: 8.550e-05, eta: 6 days, 14:32:31, time: 0.779, data_time: 0.039, memory: 19865, loss_cls: 0.1739, loss_bbox: 0.3612, loss_traj: 0.7506, loss_traj_cls: 0.0011, loss_map_cls: 0.1861, loss_map_pts: 0.8440, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.6151, d0.loss_plan_l1_fix_dist: 0.3575, d1.loss_plan_l1_fix_time: 1.1498, d1.loss_plan_l1_fix_dist: 0.1714, d2.loss_plan_l1_fix_time: 1.1309, d2.loss_plan_l1_fix_dist: 0.1667, d3.loss_plan_l1_fix_time: 1.1313, d3.loss_plan_l1_fix_dist: 0.1735, d4.loss_plan_l1_fix_time: 1.1370, d4.loss_plan_l1_fix_dist: 0.1803, d5.loss_plan_l1_fix_time: 1.1431, d5.loss_plan_l1_fix_dist: 0.1878, d6.loss_plan_l1_fix_time: 1.1498, d6.loss_plan_l1_fix_dist: 0.1972, d0.loss_cls_all: 0.2126, d0.loss_bbox_all: 0.4132, d0.loss_cls: 0.2126, d0.loss_bbox: 0.4132, d1.loss_cls: 0.1999, d1.loss_bbox: 0.3814, d2.loss_cls: 0.1943, d2.loss_bbox: 0.3673, d3.loss_cls: 0.1789, d3.loss_bbox: 0.3616, d4.loss_cls: 0.1740, d4.loss_bbox: 0.3595, d5.loss_cls: 0.1726, d5.loss_bbox: 0.3596, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0231, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8455, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7770, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7588, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7533, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7535, d0.loss_map_cls_all: 0.2601, d0.loss_map_pts_all: 1.5657, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2601, d0.loss_map_pts: 1.5657, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2290, d1.loss_map_pts: 1.1557, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2076, d2.loss_map_pts: 0.9574, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1975, d3.loss_map_pts: 0.8750, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1913, d4.loss_map_pts: 0.8487, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1869, d5.loss_map_pts: 0.8431, d5.loss_map_dir: 0.0115, loss: 31.5573, grad_norm: 166.5774 +2026-02-26 07:36:14,805 - DriveTransformer - INFO - Epoch [7][1550/39528] lr: 8.550e-05, eta: 6 days, 14:31:48, time: 0.789, data_time: 0.037, memory: 19865, loss_cls: 0.1731, loss_bbox: 0.3736, loss_traj: 0.6581, loss_traj_cls: 0.0010, loss_map_cls: 0.1888, loss_map_pts: 0.8289, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.7981, d0.loss_plan_l1_fix_dist: 0.3325, d1.loss_plan_l1_fix_time: 1.1621, d1.loss_plan_l1_fix_dist: 0.1781, d2.loss_plan_l1_fix_time: 1.1349, d2.loss_plan_l1_fix_dist: 0.1724, d3.loss_plan_l1_fix_time: 1.1305, d3.loss_plan_l1_fix_dist: 0.1787, d4.loss_plan_l1_fix_time: 1.1328, d4.loss_plan_l1_fix_dist: 0.1878, d5.loss_plan_l1_fix_time: 1.1355, d5.loss_plan_l1_fix_dist: 0.1983, d6.loss_plan_l1_fix_time: 1.1384, d6.loss_plan_l1_fix_dist: 0.2109, d0.loss_cls_all: 0.2119, d0.loss_bbox_all: 0.4348, d0.loss_cls: 0.2119, d0.loss_bbox: 0.4348, d1.loss_cls: 0.2043, d1.loss_bbox: 0.4006, d2.loss_cls: 0.1905, d2.loss_bbox: 0.3823, d3.loss_cls: 0.1790, d3.loss_bbox: 0.3764, d4.loss_cls: 0.1732, d4.loss_bbox: 0.3725, d5.loss_cls: 0.1731, d5.loss_bbox: 0.3716, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8863, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7076, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6706, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6596, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6570, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6583, d0.loss_map_cls_all: 0.2610, d0.loss_map_pts_all: 1.6825, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2610, d0.loss_map_pts: 1.6825, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2331, d1.loss_map_pts: 1.1538, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2131, d2.loss_map_pts: 0.9456, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.2014, d3.loss_map_pts: 0.8675, d3.loss_map_dir: 0.0121, d4.loss_map_cls: 0.1957, d4.loss_map_pts: 0.8369, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.1904, d5.loss_map_pts: 0.8302, d5.loss_map_dir: 0.0127, loss: 31.3282, grad_norm: 166.1515 +2026-02-26 07:36:53,939 - DriveTransformer - INFO - Epoch [7][1600/39528] lr: 8.550e-05, eta: 6 days, 14:31:05, time: 0.782, data_time: 0.035, memory: 19865, loss_cls: 0.1711, loss_bbox: 0.3687, loss_traj: 0.6983, loss_traj_cls: 0.0010, loss_map_cls: 0.1985, loss_map_pts: 0.7860, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.7747, d0.loss_plan_l1_fix_dist: 0.3731, d1.loss_plan_l1_fix_time: 1.1626, d1.loss_plan_l1_fix_dist: 0.1772, d2.loss_plan_l1_fix_time: 1.1434, d2.loss_plan_l1_fix_dist: 0.1722, d3.loss_plan_l1_fix_time: 1.1407, d3.loss_plan_l1_fix_dist: 0.1761, d4.loss_plan_l1_fix_time: 1.1427, d4.loss_plan_l1_fix_dist: 0.1831, d5.loss_plan_l1_fix_time: 1.1449, d5.loss_plan_l1_fix_dist: 0.1917, d6.loss_plan_l1_fix_time: 1.1474, d6.loss_plan_l1_fix_dist: 0.2015, d0.loss_cls_all: 0.2016, d0.loss_bbox_all: 0.4249, d0.loss_cls: 0.2016, d0.loss_bbox: 0.4249, d1.loss_cls: 0.1913, d1.loss_bbox: 0.3949, d2.loss_cls: 0.1795, d2.loss_bbox: 0.3778, d3.loss_cls: 0.1697, d3.loss_bbox: 0.3706, d4.loss_cls: 0.1700, d4.loss_bbox: 0.3666, d5.loss_cls: 0.1713, d5.loss_bbox: 0.3666, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9110, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7557, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7234, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7043, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6970, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6981, d0.loss_map_cls_all: 0.2677, d0.loss_map_pts_all: 1.5715, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2677, d0.loss_map_pts: 1.5715, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2381, d1.loss_map_pts: 1.0688, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2172, d2.loss_map_pts: 0.8826, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.2078, d3.loss_map_pts: 0.8181, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.2036, d4.loss_map_pts: 0.7937, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.2000, d5.loss_map_pts: 0.7861, d5.loss_map_dir: 0.0113, loss: 31.0424, grad_norm: 166.7307 +2026-02-26 07:37:33,140 - DriveTransformer - INFO - Epoch [7][1650/39528] lr: 8.550e-05, eta: 6 days, 14:30:22, time: 0.784, data_time: 0.037, memory: 19865, loss_cls: 0.1354, loss_bbox: 0.3380, loss_traj: 0.6372, loss_traj_cls: 0.0011, loss_map_cls: 0.1320, loss_map_pts: 0.6171, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.7264, d0.loss_plan_l1_fix_dist: 0.4200, d1.loss_plan_l1_fix_time: 1.0538, d1.loss_plan_l1_fix_dist: 0.1757, d2.loss_plan_l1_fix_time: 1.0475, d2.loss_plan_l1_fix_dist: 0.1730, d3.loss_plan_l1_fix_time: 1.0501, d3.loss_plan_l1_fix_dist: 0.1797, d4.loss_plan_l1_fix_time: 1.0538, d4.loss_plan_l1_fix_dist: 0.1880, d5.loss_plan_l1_fix_time: 1.0581, d5.loss_plan_l1_fix_dist: 0.1973, d6.loss_plan_l1_fix_time: 1.0631, d6.loss_plan_l1_fix_dist: 0.2065, d0.loss_cls_all: 0.1661, d0.loss_bbox_all: 0.3906, d0.loss_cls: 0.1661, d0.loss_bbox: 0.3906, d1.loss_cls: 0.1629, d1.loss_bbox: 0.3623, d2.loss_cls: 0.1496, d2.loss_bbox: 0.3456, d3.loss_cls: 0.1411, d3.loss_bbox: 0.3391, d4.loss_cls: 0.1368, d4.loss_bbox: 0.3369, d5.loss_cls: 0.1363, d5.loss_bbox: 0.3360, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8589, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6930, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6443, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6287, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6332, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6349, d0.loss_map_cls_all: 0.2103, d0.loss_map_pts_all: 1.2943, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2103, d0.loss_map_pts: 1.2943, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1750, d1.loss_map_pts: 0.8466, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1562, d2.loss_map_pts: 0.6872, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1441, d3.loss_map_pts: 0.6373, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1386, d4.loss_map_pts: 0.6223, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1347, d5.loss_map_pts: 0.6179, d5.loss_map_dir: 0.0095, loss: 27.3559, grad_norm: 161.8943 +2026-02-26 07:38:10,831 - DriveTransformer - INFO - Epoch [7][1700/39528] lr: 8.550e-05, eta: 6 days, 14:29:34, time: 0.754, data_time: 0.042, memory: 19865, loss_cls: 0.1497, loss_bbox: 0.3690, loss_traj: 0.6814, loss_traj_cls: 0.0011, loss_map_cls: 0.1574, loss_map_pts: 0.6736, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.6950, d0.loss_plan_l1_fix_dist: 0.3749, d1.loss_plan_l1_fix_time: 1.1716, d1.loss_plan_l1_fix_dist: 0.1760, d2.loss_plan_l1_fix_time: 1.1626, d2.loss_plan_l1_fix_dist: 0.1779, d3.loss_plan_l1_fix_time: 1.1627, d3.loss_plan_l1_fix_dist: 0.1863, d4.loss_plan_l1_fix_time: 1.1663, d4.loss_plan_l1_fix_dist: 0.1961, d5.loss_plan_l1_fix_time: 1.1705, d5.loss_plan_l1_fix_dist: 0.2086, d6.loss_plan_l1_fix_time: 1.1753, d6.loss_plan_l1_fix_dist: 0.2238, d0.loss_cls_all: 0.1978, d0.loss_bbox_all: 0.4286, d0.loss_cls: 0.1978, d0.loss_bbox: 0.4286, d1.loss_cls: 0.1858, d1.loss_bbox: 0.3951, d2.loss_cls: 0.1729, d2.loss_bbox: 0.3773, d3.loss_cls: 0.1597, d3.loss_bbox: 0.3725, d4.loss_cls: 0.1530, d4.loss_bbox: 0.3697, d5.loss_cls: 0.1510, d5.loss_bbox: 0.3681, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8907, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7395, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6943, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6801, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6790, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6790, d0.loss_map_cls_all: 0.2232, d0.loss_map_pts_all: 1.3394, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2232, d0.loss_map_pts: 1.3394, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1979, d1.loss_map_pts: 0.9119, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1784, d2.loss_map_pts: 0.7581, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1683, d3.loss_map_pts: 0.6970, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1622, d4.loss_map_pts: 0.6782, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1578, d5.loss_map_pts: 0.6757, d5.loss_map_dir: 0.0087, loss: 29.3825, grad_norm: 159.8202 +2026-02-26 07:38:49,048 - DriveTransformer - INFO - Epoch [7][1750/39528] lr: 8.550e-05, eta: 6 days, 14:28:48, time: 0.764, data_time: 0.040, memory: 19865, loss_cls: 0.1506, loss_bbox: 0.3626, loss_traj: 0.6963, loss_traj_cls: 0.0011, loss_map_cls: 0.1506, loss_map_pts: 0.5832, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.5693, d0.loss_plan_l1_fix_dist: 0.3598, d1.loss_plan_l1_fix_time: 0.9785, d1.loss_plan_l1_fix_dist: 0.1478, d2.loss_plan_l1_fix_time: 0.9703, d2.loss_plan_l1_fix_dist: 0.1551, d3.loss_plan_l1_fix_time: 0.9729, d3.loss_plan_l1_fix_dist: 0.1686, d4.loss_plan_l1_fix_time: 0.9775, d4.loss_plan_l1_fix_dist: 0.1849, d5.loss_plan_l1_fix_time: 0.9822, d5.loss_plan_l1_fix_dist: 0.2058, d6.loss_plan_l1_fix_time: 0.9874, d6.loss_plan_l1_fix_dist: 0.2313, d0.loss_cls_all: 0.1885, d0.loss_bbox_all: 0.4070, d0.loss_cls: 0.1885, d0.loss_bbox: 0.4070, d1.loss_cls: 0.1782, d1.loss_bbox: 0.3749, d2.loss_cls: 0.1698, d2.loss_bbox: 0.3580, d3.loss_cls: 0.1563, d3.loss_bbox: 0.3558, d4.loss_cls: 0.1502, d4.loss_bbox: 0.3568, d5.loss_cls: 0.1502, d5.loss_bbox: 0.3600, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9164, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7580, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7107, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6926, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6934, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6940, d0.loss_map_cls_all: 0.2203, d0.loss_map_pts_all: 1.1996, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2203, d0.loss_map_pts: 1.1996, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1952, d1.loss_map_pts: 0.8362, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1684, d2.loss_map_pts: 0.6850, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1591, d3.loss_map_pts: 0.6176, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1570, d4.loss_map_pts: 0.5891, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1518, d5.loss_map_pts: 0.5865, d5.loss_map_dir: 0.0076, loss: 27.1539, grad_norm: 159.6829 +2026-02-26 07:39:25,639 - DriveTransformer - INFO - Epoch [7][1800/39528] lr: 8.550e-05, eta: 6 days, 14:27:57, time: 0.732, data_time: 0.042, memory: 19865, loss_cls: 0.1820, loss_bbox: 0.3830, loss_traj: 0.6550, loss_traj_cls: 0.0011, loss_map_cls: 0.1723, loss_map_pts: 0.6953, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.9853, d0.loss_plan_l1_fix_dist: 0.3787, d1.loss_plan_l1_fix_time: 1.1540, d1.loss_plan_l1_fix_dist: 0.1762, d2.loss_plan_l1_fix_time: 1.1498, d2.loss_plan_l1_fix_dist: 0.1784, d3.loss_plan_l1_fix_time: 1.1553, d3.loss_plan_l1_fix_dist: 0.1847, d4.loss_plan_l1_fix_time: 1.1609, d4.loss_plan_l1_fix_dist: 0.1943, d5.loss_plan_l1_fix_time: 1.1669, d5.loss_plan_l1_fix_dist: 0.2057, d6.loss_plan_l1_fix_time: 1.1735, d6.loss_plan_l1_fix_dist: 0.2185, d0.loss_cls_all: 0.2249, d0.loss_bbox_all: 0.4335, d0.loss_cls: 0.2249, d0.loss_bbox: 0.4335, d1.loss_cls: 0.2098, d1.loss_bbox: 0.4068, d2.loss_cls: 0.1965, d2.loss_bbox: 0.3907, d3.loss_cls: 0.1844, d3.loss_bbox: 0.3853, d4.loss_cls: 0.1805, d4.loss_bbox: 0.3839, d5.loss_cls: 0.1817, d5.loss_bbox: 0.3837, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8577, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7308, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6676, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6546, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6527, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6520, d0.loss_map_cls_all: 0.2409, d0.loss_map_pts_all: 1.2793, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2409, d0.loss_map_pts: 1.2793, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.2118, d1.loss_map_pts: 0.9145, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1884, d2.loss_map_pts: 0.7760, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1803, d3.loss_map_pts: 0.7218, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1751, d4.loss_map_pts: 0.7001, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1713, d5.loss_map_pts: 0.6969, d5.loss_map_dir: 0.0086, loss: 29.8564, grad_norm: 158.7425 +2026-02-26 07:40:04,873 - DriveTransformer - INFO - Epoch [7][1850/39528] lr: 8.550e-05, eta: 6 days, 14:27:14, time: 0.785, data_time: 0.042, memory: 19865, loss_cls: 0.1619, loss_bbox: 0.3876, loss_traj: 0.7079, loss_traj_cls: 0.0011, loss_map_cls: 0.1896, loss_map_pts: 0.8344, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.6468, d0.loss_plan_l1_fix_dist: 0.4737, d1.loss_plan_l1_fix_time: 1.1107, d1.loss_plan_l1_fix_dist: 0.2127, d2.loss_plan_l1_fix_time: 1.0996, d2.loss_plan_l1_fix_dist: 0.2155, d3.loss_plan_l1_fix_time: 1.0983, d3.loss_plan_l1_fix_dist: 0.2216, d4.loss_plan_l1_fix_time: 1.1023, d4.loss_plan_l1_fix_dist: 0.2299, d5.loss_plan_l1_fix_time: 1.1073, d5.loss_plan_l1_fix_dist: 0.2387, d6.loss_plan_l1_fix_time: 1.1130, d6.loss_plan_l1_fix_dist: 0.2479, d0.loss_cls_all: 0.2043, d0.loss_bbox_all: 0.4499, d0.loss_cls: 0.2043, d0.loss_bbox: 0.4499, d1.loss_cls: 0.2007, d1.loss_bbox: 0.4129, d2.loss_cls: 0.1816, d2.loss_bbox: 0.3963, d3.loss_cls: 0.1702, d3.loss_bbox: 0.3888, d4.loss_cls: 0.1632, d4.loss_bbox: 0.3875, d5.loss_cls: 0.1618, d5.loss_bbox: 0.3868, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9265, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7728, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7220, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7037, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7103, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7077, d0.loss_map_cls_all: 0.2571, d0.loss_map_pts_all: 1.6299, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2571, d0.loss_map_pts: 1.6299, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2313, d1.loss_map_pts: 1.1488, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2109, d2.loss_map_pts: 0.9554, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2027, d3.loss_map_pts: 0.8760, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1966, d4.loss_map_pts: 0.8428, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1929, d5.loss_map_pts: 0.8334, d5.loss_map_dir: 0.0114, loss: 31.6604, grad_norm: 154.7746 +2026-02-26 07:40:43,178 - DriveTransformer - INFO - Epoch [7][1900/39528] lr: 8.550e-05, eta: 6 days, 14:26:28, time: 0.766, data_time: 0.045, memory: 19865, loss_cls: 0.1520, loss_bbox: 0.3588, loss_traj: 0.5426, loss_traj_cls: 0.0010, loss_map_cls: 0.1446, loss_map_pts: 0.6423, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.8235, d0.loss_plan_l1_fix_dist: 0.4493, d1.loss_plan_l1_fix_time: 0.9943, d1.loss_plan_l1_fix_dist: 0.1649, d2.loss_plan_l1_fix_time: 0.9807, d2.loss_plan_l1_fix_dist: 0.1653, d3.loss_plan_l1_fix_time: 0.9781, d3.loss_plan_l1_fix_dist: 0.1733, d4.loss_plan_l1_fix_time: 0.9802, d4.loss_plan_l1_fix_dist: 0.1820, d5.loss_plan_l1_fix_time: 0.9832, d5.loss_plan_l1_fix_dist: 0.1915, d6.loss_plan_l1_fix_time: 0.9872, d6.loss_plan_l1_fix_dist: 0.2028, d0.loss_cls_all: 0.1911, d0.loss_bbox_all: 0.3988, d0.loss_cls: 0.1911, d0.loss_bbox: 0.3988, d1.loss_cls: 0.1797, d1.loss_bbox: 0.3735, d2.loss_cls: 0.1656, d2.loss_bbox: 0.3591, d3.loss_cls: 0.1566, d3.loss_bbox: 0.3563, d4.loss_cls: 0.1512, d4.loss_bbox: 0.3566, d5.loss_cls: 0.1517, d5.loss_bbox: 0.3567, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7581, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6077, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5446, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5324, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5310, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5335, d0.loss_map_cls_all: 0.2136, d0.loss_map_pts_all: 1.3169, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2136, d0.loss_map_pts: 1.3169, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1821, d1.loss_map_pts: 0.8828, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1655, d2.loss_map_pts: 0.7313, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1567, d3.loss_map_pts: 0.6682, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1511, d4.loss_map_pts: 0.6483, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1470, d5.loss_map_pts: 0.6400, d5.loss_map_dir: 0.0096, loss: 26.9067, grad_norm: 151.0786 +2026-02-26 07:41:23,342 - DriveTransformer - INFO - Epoch [7][1950/39528] lr: 8.550e-05, eta: 6 days, 14:25:48, time: 0.803, data_time: 0.034, memory: 19865, loss_cls: 0.1741, loss_bbox: 0.3837, loss_traj: 0.6324, loss_traj_cls: 0.0010, loss_map_cls: 0.1701, loss_map_pts: 0.7532, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.2685, d0.loss_plan_l1_fix_dist: 0.4428, d1.loss_plan_l1_fix_time: 1.0557, d1.loss_plan_l1_fix_dist: 0.2035, d2.loss_plan_l1_fix_time: 1.0468, d2.loss_plan_l1_fix_dist: 0.2055, d3.loss_plan_l1_fix_time: 1.0498, d3.loss_plan_l1_fix_dist: 0.2170, d4.loss_plan_l1_fix_time: 1.0544, d4.loss_plan_l1_fix_dist: 0.2300, d5.loss_plan_l1_fix_time: 1.0591, d5.loss_plan_l1_fix_dist: 0.2422, d6.loss_plan_l1_fix_time: 1.0642, d6.loss_plan_l1_fix_dist: 0.2573, d0.loss_cls_all: 0.2063, d0.loss_bbox_all: 0.4385, d0.loss_cls: 0.2063, d0.loss_bbox: 0.4385, d1.loss_cls: 0.2003, d1.loss_bbox: 0.4084, d2.loss_cls: 0.1848, d2.loss_bbox: 0.3904, d3.loss_cls: 0.1749, d3.loss_bbox: 0.3837, d4.loss_cls: 0.1735, d4.loss_bbox: 0.3821, d5.loss_cls: 0.1736, d5.loss_bbox: 0.3830, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8811, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7118, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6514, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6241, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6248, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6228, d0.loss_map_cls_all: 0.2460, d0.loss_map_pts_all: 1.5165, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2460, d0.loss_map_pts: 1.5165, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2128, d1.loss_map_pts: 1.0170, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1903, d2.loss_map_pts: 0.8512, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1797, d3.loss_map_pts: 0.7832, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1758, d4.loss_map_pts: 0.7590, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1699, d5.loss_map_pts: 0.7524, d5.loss_map_dir: 0.0109, loss: 29.4780, grad_norm: 154.0547 +2026-02-26 07:42:00,858 - DriveTransformer - INFO - Epoch [7][2000/39528] lr: 8.550e-05, eta: 6 days, 14:25:00, time: 0.752, data_time: 0.038, memory: 19865, loss_cls: 0.1808, loss_bbox: 0.3951, loss_traj: 0.8534, loss_traj_cls: 0.0010, loss_map_cls: 0.1953, loss_map_pts: 0.7937, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 3.0911, d0.loss_plan_l1_fix_dist: 0.4009, d1.loss_plan_l1_fix_time: 1.0584, d1.loss_plan_l1_fix_dist: 0.1793, d2.loss_plan_l1_fix_time: 1.0381, d2.loss_plan_l1_fix_dist: 0.1808, d3.loss_plan_l1_fix_time: 1.0440, d3.loss_plan_l1_fix_dist: 0.1902, d4.loss_plan_l1_fix_time: 1.0487, d4.loss_plan_l1_fix_dist: 0.2009, d5.loss_plan_l1_fix_time: 1.0532, d5.loss_plan_l1_fix_dist: 0.2135, d6.loss_plan_l1_fix_time: 1.0571, d6.loss_plan_l1_fix_dist: 0.2253, d0.loss_cls_all: 0.2233, d0.loss_bbox_all: 0.4522, d0.loss_cls: 0.2233, d0.loss_bbox: 0.4522, d1.loss_cls: 0.2091, d1.loss_bbox: 0.4236, d2.loss_cls: 0.1950, d2.loss_bbox: 0.4043, d3.loss_cls: 0.1837, d3.loss_bbox: 0.3970, d4.loss_cls: 0.1800, d4.loss_bbox: 0.3939, d5.loss_cls: 0.1798, d5.loss_bbox: 0.3936, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1161, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9421, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8935, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8663, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8615, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8579, d0.loss_map_cls_all: 0.2665, d0.loss_map_pts_all: 1.4743, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2665, d0.loss_map_pts: 1.4743, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2374, d1.loss_map_pts: 1.0698, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.2149, d2.loss_map_pts: 0.8990, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.2040, d3.loss_map_pts: 0.8250, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1988, d4.loss_map_pts: 0.7999, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1962, d5.loss_map_pts: 0.7933, d5.loss_map_dir: 0.0100, loss: 32.2518, grad_norm: 150.1792 +2026-02-26 07:42:39,254 - DriveTransformer - INFO - Epoch [7][2050/39528] lr: 8.550e-05, eta: 6 days, 14:24:14, time: 0.766, data_time: 0.037, memory: 19865, loss_cls: 0.1456, loss_bbox: 0.3324, loss_traj: 0.5391, loss_traj_cls: 0.0011, loss_map_cls: 0.1524, loss_map_pts: 0.5818, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.3970, d0.loss_plan_l1_fix_dist: 0.4742, d1.loss_plan_l1_fix_time: 0.9479, d1.loss_plan_l1_fix_dist: 0.1821, d2.loss_plan_l1_fix_time: 0.9341, d2.loss_plan_l1_fix_dist: 0.1860, d3.loss_plan_l1_fix_time: 0.9363, d3.loss_plan_l1_fix_dist: 0.1994, d4.loss_plan_l1_fix_time: 0.9416, d4.loss_plan_l1_fix_dist: 0.2152, d5.loss_plan_l1_fix_time: 0.9466, d5.loss_plan_l1_fix_dist: 0.2372, d6.loss_plan_l1_fix_time: 0.9513, d6.loss_plan_l1_fix_dist: 0.2647, d0.loss_cls_all: 0.1756, d0.loss_bbox_all: 0.3836, d0.loss_cls: 0.1756, d0.loss_bbox: 0.3836, d1.loss_cls: 0.1709, d1.loss_bbox: 0.3541, d2.loss_cls: 0.1570, d2.loss_bbox: 0.3404, d3.loss_cls: 0.1455, d3.loss_bbox: 0.3348, d4.loss_cls: 0.1439, d4.loss_bbox: 0.3321, d5.loss_cls: 0.1450, d5.loss_bbox: 0.3320, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7417, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6192, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5660, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5505, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5419, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5400, d0.loss_map_cls_all: 0.2170, d0.loss_map_pts_all: 1.2748, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2170, d0.loss_map_pts: 1.2748, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1793, d1.loss_map_pts: 0.8671, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1672, d2.loss_map_pts: 0.6879, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1606, d3.loss_map_pts: 0.6147, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1558, d4.loss_map_pts: 0.5847, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1537, d5.loss_map_pts: 0.5805, d5.loss_map_dir: 0.0094, loss: 25.9118, grad_norm: 148.2840 +2026-02-26 07:43:18,928 - DriveTransformer - INFO - Epoch [7][2100/39528] lr: 8.550e-05, eta: 6 days, 14:23:33, time: 0.794, data_time: 0.040, memory: 19865, loss_cls: 0.1786, loss_bbox: 0.3714, loss_traj: 0.7041, loss_traj_cls: 0.0010, loss_map_cls: 0.1430, loss_map_pts: 0.7013, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 3.0411, d0.loss_plan_l1_fix_dist: 0.4118, d1.loss_plan_l1_fix_time: 1.0749, d1.loss_plan_l1_fix_dist: 0.1844, d2.loss_plan_l1_fix_time: 1.0579, d2.loss_plan_l1_fix_dist: 0.1892, d3.loss_plan_l1_fix_time: 1.0539, d3.loss_plan_l1_fix_dist: 0.2027, d4.loss_plan_l1_fix_time: 1.0573, d4.loss_plan_l1_fix_dist: 0.2178, d5.loss_plan_l1_fix_time: 1.0618, d5.loss_plan_l1_fix_dist: 0.2329, d6.loss_plan_l1_fix_time: 1.0673, d6.loss_plan_l1_fix_dist: 0.2499, d0.loss_cls_all: 0.2113, d0.loss_bbox_all: 0.4348, d0.loss_cls: 0.2113, d0.loss_bbox: 0.4348, d1.loss_cls: 0.2120, d1.loss_bbox: 0.4011, d2.loss_cls: 0.1974, d2.loss_bbox: 0.3811, d3.loss_cls: 0.1870, d3.loss_bbox: 0.3754, d4.loss_cls: 0.1788, d4.loss_bbox: 0.3722, d5.loss_cls: 0.1776, d5.loss_bbox: 0.3727, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9214, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7795, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7221, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7092, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7027, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7016, d0.loss_map_cls_all: 0.2173, d0.loss_map_pts_all: 1.4428, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2173, d0.loss_map_pts: 1.4428, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.1836, d1.loss_map_pts: 0.9975, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1620, d2.loss_map_pts: 0.8091, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1541, d3.loss_map_pts: 0.7345, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1480, d4.loss_map_pts: 0.7078, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1448, d5.loss_map_pts: 0.7022, d5.loss_map_dir: 0.0108, loss: 30.0399, grad_norm: 144.6921 +2026-02-26 07:43:57,020 - DriveTransformer - INFO - Epoch [7][2150/39528] lr: 8.550e-05, eta: 6 days, 14:22:46, time: 0.761, data_time: 0.039, memory: 19865, loss_cls: 0.1527, loss_bbox: 0.3354, loss_traj: 0.6455, loss_traj_cls: 0.0011, loss_map_cls: 0.1155, loss_map_pts: 0.5741, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.3707, d0.loss_plan_l1_fix_dist: 0.5056, d1.loss_plan_l1_fix_time: 0.9211, d1.loss_plan_l1_fix_dist: 0.1887, d2.loss_plan_l1_fix_time: 0.9053, d2.loss_plan_l1_fix_dist: 0.1954, d3.loss_plan_l1_fix_time: 0.9000, d3.loss_plan_l1_fix_dist: 0.2083, d4.loss_plan_l1_fix_time: 0.9026, d4.loss_plan_l1_fix_dist: 0.2209, d5.loss_plan_l1_fix_time: 0.9063, d5.loss_plan_l1_fix_dist: 0.2351, d6.loss_plan_l1_fix_time: 0.9113, d6.loss_plan_l1_fix_dist: 0.2525, d0.loss_cls_all: 0.1793, d0.loss_bbox_all: 0.3920, d0.loss_cls: 0.1793, d0.loss_bbox: 0.3920, d1.loss_cls: 0.1770, d1.loss_bbox: 0.3615, d2.loss_cls: 0.1674, d2.loss_bbox: 0.3431, d3.loss_cls: 0.1571, d3.loss_bbox: 0.3378, d4.loss_cls: 0.1540, d4.loss_bbox: 0.3355, d5.loss_cls: 0.1524, d5.loss_bbox: 0.3353, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8220, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7012, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6522, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6493, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6458, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6428, d0.loss_map_cls_all: 0.1879, d0.loss_map_pts_all: 1.2487, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.1879, d0.loss_map_pts: 1.2487, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1607, d1.loss_map_pts: 0.8438, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1390, d2.loss_map_pts: 0.6760, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1281, d3.loss_map_pts: 0.6058, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1218, d4.loss_map_pts: 0.5809, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1172, d5.loss_map_pts: 0.5748, d5.loss_map_dir: 0.0085, loss: 26.1199, grad_norm: 144.5710 +2026-02-26 07:44:34,489 - DriveTransformer - INFO - Epoch [7][2200/39528] lr: 8.550e-05, eta: 6 days, 14:21:58, time: 0.749, data_time: 0.048, memory: 19865, loss_cls: 0.1885, loss_bbox: 0.3674, loss_traj: 0.6587, loss_traj_cls: 0.0010, loss_map_cls: 0.1873, loss_map_pts: 0.6798, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.7436, d0.loss_plan_l1_fix_dist: 0.4035, d1.loss_plan_l1_fix_time: 1.1582, d1.loss_plan_l1_fix_dist: 0.1681, d2.loss_plan_l1_fix_time: 1.1431, d2.loss_plan_l1_fix_dist: 0.1739, d3.loss_plan_l1_fix_time: 1.1465, d3.loss_plan_l1_fix_dist: 0.1871, d4.loss_plan_l1_fix_time: 1.1492, d4.loss_plan_l1_fix_dist: 0.2039, d5.loss_plan_l1_fix_time: 1.1517, d5.loss_plan_l1_fix_dist: 0.2225, d6.loss_plan_l1_fix_time: 1.1543, d6.loss_plan_l1_fix_dist: 0.2411, d0.loss_cls_all: 0.2246, d0.loss_bbox_all: 0.4281, d0.loss_cls: 0.2246, d0.loss_bbox: 0.4281, d1.loss_cls: 0.2187, d1.loss_bbox: 0.3933, d2.loss_cls: 0.2061, d2.loss_bbox: 0.3766, d3.loss_cls: 0.1966, d3.loss_bbox: 0.3691, d4.loss_cls: 0.1915, d4.loss_bbox: 0.3676, d5.loss_cls: 0.1882, d5.loss_bbox: 0.3681, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8665, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7183, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6713, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6612, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6596, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6595, d0.loss_map_cls_all: 0.2513, d0.loss_map_pts_all: 1.3018, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2513, d0.loss_map_pts: 1.3018, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2183, d1.loss_map_pts: 0.9320, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1949, d2.loss_map_pts: 0.7789, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1911, d3.loss_map_pts: 0.7125, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1881, d4.loss_map_pts: 0.6883, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1891, d5.loss_map_pts: 0.6824, d5.loss_map_dir: 0.0088, loss: 29.7037, grad_norm: 144.6640 +2026-02-26 07:45:12,570 - DriveTransformer - INFO - Epoch [7][2250/39528] lr: 8.550e-05, eta: 6 days, 14:21:11, time: 0.762, data_time: 0.038, memory: 19865, loss_cls: 0.1711, loss_bbox: 0.3550, loss_traj: 0.5595, loss_traj_cls: 0.0010, loss_map_cls: 0.1615, loss_map_pts: 0.7195, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.5887, d0.loss_plan_l1_fix_dist: 0.4446, d1.loss_plan_l1_fix_time: 0.9934, d1.loss_plan_l1_fix_dist: 0.1725, d2.loss_plan_l1_fix_time: 0.9788, d2.loss_plan_l1_fix_dist: 0.1747, d3.loss_plan_l1_fix_time: 0.9861, d3.loss_plan_l1_fix_dist: 0.1840, d4.loss_plan_l1_fix_time: 0.9904, d4.loss_plan_l1_fix_dist: 0.1955, d5.loss_plan_l1_fix_time: 0.9940, d5.loss_plan_l1_fix_dist: 0.2083, d6.loss_plan_l1_fix_time: 0.9975, d6.loss_plan_l1_fix_dist: 0.2217, d0.loss_cls_all: 0.2017, d0.loss_bbox_all: 0.4159, d0.loss_cls: 0.2017, d0.loss_bbox: 0.4159, d1.loss_cls: 0.1959, d1.loss_bbox: 0.3861, d2.loss_cls: 0.1860, d2.loss_bbox: 0.3679, d3.loss_cls: 0.1789, d3.loss_bbox: 0.3592, d4.loss_cls: 0.1724, d4.loss_bbox: 0.3569, d5.loss_cls: 0.1705, d5.loss_bbox: 0.3556, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7160, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6021, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5647, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5557, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5562, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5581, d0.loss_map_cls_all: 0.2296, d0.loss_map_pts_all: 1.4641, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2296, d0.loss_map_pts: 1.4641, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2012, d1.loss_map_pts: 0.9978, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1843, d2.loss_map_pts: 0.8282, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1734, d3.loss_map_pts: 0.7552, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1663, d4.loss_map_pts: 0.7251, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1621, d5.loss_map_pts: 0.7187, d5.loss_map_dir: 0.0092, loss: 27.9935, grad_norm: 145.7343 +2026-02-26 07:45:51,729 - DriveTransformer - INFO - Epoch [7][2300/39528] lr: 8.550e-05, eta: 6 days, 14:20:28, time: 0.783, data_time: 0.042, memory: 19865, loss_cls: 0.1834, loss_bbox: 0.3758, loss_traj: 0.7322, loss_traj_cls: 0.0010, loss_map_cls: 0.1538, loss_map_pts: 0.7033, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.5946, d0.loss_plan_l1_fix_dist: 0.4573, d1.loss_plan_l1_fix_time: 1.0909, d1.loss_plan_l1_fix_dist: 0.2119, d2.loss_plan_l1_fix_time: 1.0813, d2.loss_plan_l1_fix_dist: 0.2143, d3.loss_plan_l1_fix_time: 1.0830, d3.loss_plan_l1_fix_dist: 0.2241, d4.loss_plan_l1_fix_time: 1.0851, d4.loss_plan_l1_fix_dist: 0.2373, d5.loss_plan_l1_fix_time: 1.0870, d5.loss_plan_l1_fix_dist: 0.2540, d6.loss_plan_l1_fix_time: 1.0893, d6.loss_plan_l1_fix_dist: 0.2731, d0.loss_cls_all: 0.2250, d0.loss_bbox_all: 0.4373, d0.loss_cls: 0.2250, d0.loss_bbox: 0.4373, d1.loss_cls: 0.2133, d1.loss_bbox: 0.4047, d2.loss_cls: 0.2054, d2.loss_bbox: 0.3833, d3.loss_cls: 0.1943, d3.loss_bbox: 0.3764, d4.loss_cls: 0.1860, d4.loss_bbox: 0.3761, d5.loss_cls: 0.1830, d5.loss_bbox: 0.3761, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9623, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7884, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7296, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7242, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7281, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7292, d0.loss_map_cls_all: 0.2339, d0.loss_map_pts_all: 1.4235, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2339, d0.loss_map_pts: 1.4235, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2043, d1.loss_map_pts: 0.9796, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1810, d2.loss_map_pts: 0.8129, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1679, d3.loss_map_pts: 0.7395, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1598, d4.loss_map_pts: 0.7126, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1554, d5.loss_map_pts: 0.7039, d5.loss_map_dir: 0.0093, loss: 30.2288, grad_norm: 147.0482 +2026-02-26 07:46:32,646 - DriveTransformer - INFO - Epoch [7][2350/39528] lr: 8.550e-05, eta: 6 days, 14:19:50, time: 0.818, data_time: 0.039, memory: 19865, loss_cls: 0.1598, loss_bbox: 0.3706, loss_traj: 0.6195, loss_traj_cls: 0.0011, loss_map_cls: 0.1649, loss_map_pts: 0.6840, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.6840, d0.loss_plan_l1_fix_dist: 0.3429, d1.loss_plan_l1_fix_time: 1.1082, d1.loss_plan_l1_fix_dist: 0.1632, d2.loss_plan_l1_fix_time: 1.0941, d2.loss_plan_l1_fix_dist: 0.1649, d3.loss_plan_l1_fix_time: 1.0885, d3.loss_plan_l1_fix_dist: 0.1765, d4.loss_plan_l1_fix_time: 1.0898, d4.loss_plan_l1_fix_dist: 0.1906, d5.loss_plan_l1_fix_time: 1.0925, d5.loss_plan_l1_fix_dist: 0.2058, d6.loss_plan_l1_fix_time: 1.0961, d6.loss_plan_l1_fix_dist: 0.2242, d0.loss_cls_all: 0.1938, d0.loss_bbox_all: 0.4237, d0.loss_cls: 0.1938, d0.loss_bbox: 0.4237, d1.loss_cls: 0.1858, d1.loss_bbox: 0.3920, d2.loss_cls: 0.1739, d2.loss_bbox: 0.3756, d3.loss_cls: 0.1666, d3.loss_bbox: 0.3706, d4.loss_cls: 0.1601, d4.loss_bbox: 0.3703, d5.loss_cls: 0.1584, d5.loss_bbox: 0.3707, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7867, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6968, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6334, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6194, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6189, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6217, d0.loss_map_cls_all: 0.2391, d0.loss_map_pts_all: 1.4551, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2391, d0.loss_map_pts: 1.4551, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2069, d1.loss_map_pts: 0.9476, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1867, d2.loss_map_pts: 0.7753, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1772, d3.loss_map_pts: 0.7164, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1711, d4.loss_map_pts: 0.6907, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1674, d5.loss_map_pts: 0.6844, d5.loss_map_dir: 0.0108, loss: 28.8585, grad_norm: 144.0344 +2026-02-26 07:47:11,755 - DriveTransformer - INFO - Epoch [7][2400/39528] lr: 8.550e-05, eta: 6 days, 14:19:07, time: 0.782, data_time: 0.035, memory: 19865, loss_cls: 0.1704, loss_bbox: 0.3618, loss_traj: 0.6228, loss_traj_cls: 0.0011, loss_map_cls: 0.1588, loss_map_pts: 0.7346, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.7872, d0.loss_plan_l1_fix_dist: 0.4427, d1.loss_plan_l1_fix_time: 0.9994, d1.loss_plan_l1_fix_dist: 0.1811, d2.loss_plan_l1_fix_time: 0.9771, d2.loss_plan_l1_fix_dist: 0.1912, d3.loss_plan_l1_fix_time: 0.9740, d3.loss_plan_l1_fix_dist: 0.2102, d4.loss_plan_l1_fix_time: 0.9759, d4.loss_plan_l1_fix_dist: 0.2343, d5.loss_plan_l1_fix_time: 0.9789, d5.loss_plan_l1_fix_dist: 0.2578, d6.loss_plan_l1_fix_time: 0.9822, d6.loss_plan_l1_fix_dist: 0.2837, d0.loss_cls_all: 0.2114, d0.loss_bbox_all: 0.4259, d0.loss_cls: 0.2114, d0.loss_bbox: 0.4259, d1.loss_cls: 0.2035, d1.loss_bbox: 0.3899, d2.loss_cls: 0.1888, d2.loss_bbox: 0.3728, d3.loss_cls: 0.1791, d3.loss_bbox: 0.3654, d4.loss_cls: 0.1711, d4.loss_bbox: 0.3643, d5.loss_cls: 0.1700, d5.loss_bbox: 0.3625, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8429, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6972, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6397, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6320, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6296, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6264, d0.loss_map_cls_all: 0.2395, d0.loss_map_pts_all: 1.5459, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2395, d0.loss_map_pts: 1.5459, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2047, d1.loss_map_pts: 1.0303, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.1851, d2.loss_map_pts: 0.8466, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1722, d3.loss_map_pts: 0.7784, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1660, d4.loss_map_pts: 0.7475, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1613, d5.loss_map_pts: 0.7358, d5.loss_map_dir: 0.0111, loss: 29.3263, grad_norm: 143.8644 +2026-02-26 07:47:51,610 - DriveTransformer - INFO - Epoch [7][2450/39528] lr: 8.550e-05, eta: 6 days, 14:18:26, time: 0.797, data_time: 0.049, memory: 19865, loss_cls: 0.1459, loss_bbox: 0.3415, loss_traj: 0.7151, loss_traj_cls: 0.0011, loss_map_cls: 0.1541, loss_map_pts: 0.6388, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.5838, d0.loss_plan_l1_fix_dist: 0.4066, d1.loss_plan_l1_fix_time: 1.1141, d1.loss_plan_l1_fix_dist: 0.1837, d2.loss_plan_l1_fix_time: 1.0922, d2.loss_plan_l1_fix_dist: 0.1890, d3.loss_plan_l1_fix_time: 1.0880, d3.loss_plan_l1_fix_dist: 0.2012, d4.loss_plan_l1_fix_time: 1.0904, d4.loss_plan_l1_fix_dist: 0.2156, d5.loss_plan_l1_fix_time: 1.0939, d5.loss_plan_l1_fix_dist: 0.2303, d6.loss_plan_l1_fix_time: 1.0981, d6.loss_plan_l1_fix_dist: 0.2431, d0.loss_cls_all: 0.1774, d0.loss_bbox_all: 0.4014, d0.loss_cls: 0.1774, d0.loss_bbox: 0.4014, d1.loss_cls: 0.1718, d1.loss_bbox: 0.3664, d2.loss_cls: 0.1607, d2.loss_bbox: 0.3501, d3.loss_cls: 0.1527, d3.loss_bbox: 0.3442, d4.loss_cls: 0.1457, d4.loss_bbox: 0.3430, d5.loss_cls: 0.1445, d5.loss_bbox: 0.3421, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9049, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7544, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7125, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7193, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7207, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7208, d0.loss_map_cls_all: 0.2233, d0.loss_map_pts_all: 1.3445, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2233, d0.loss_map_pts: 1.3445, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1955, d1.loss_map_pts: 0.9030, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1754, d2.loss_map_pts: 0.7326, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1646, d3.loss_map_pts: 0.6679, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1599, d4.loss_map_pts: 0.6427, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1565, d5.loss_map_pts: 0.6376, d5.loss_map_dir: 0.0087, loss: 28.6815, grad_norm: 147.1327 +2026-02-26 07:48:30,114 - DriveTransformer - INFO - Epoch [7][2500/39528] lr: 8.550e-05, eta: 6 days, 14:17:40, time: 0.770, data_time: 0.035, memory: 19865, loss_cls: 0.1768, loss_bbox: 0.3746, loss_traj: 0.6574, loss_traj_cls: 0.0010, loss_map_cls: 0.1908, loss_map_pts: 0.8711, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.7884, d0.loss_plan_l1_fix_dist: 0.3457, d1.loss_plan_l1_fix_time: 1.1359, d1.loss_plan_l1_fix_dist: 0.2156, d2.loss_plan_l1_fix_time: 1.1165, d2.loss_plan_l1_fix_dist: 0.2330, d3.loss_plan_l1_fix_time: 1.1112, d3.loss_plan_l1_fix_dist: 0.2585, d4.loss_plan_l1_fix_time: 1.1145, d4.loss_plan_l1_fix_dist: 0.2825, d5.loss_plan_l1_fix_time: 1.1189, d5.loss_plan_l1_fix_dist: 0.3105, d6.loss_plan_l1_fix_time: 1.1239, d6.loss_plan_l1_fix_dist: 0.3346, d0.loss_cls_all: 0.2138, d0.loss_bbox_all: 0.4362, d0.loss_cls: 0.2138, d0.loss_bbox: 0.4362, d1.loss_cls: 0.2045, d1.loss_bbox: 0.4021, d2.loss_cls: 0.1979, d2.loss_bbox: 0.3806, d3.loss_cls: 0.1909, d3.loss_bbox: 0.3744, d4.loss_cls: 0.1791, d4.loss_bbox: 0.3744, d5.loss_cls: 0.1765, d5.loss_bbox: 0.3750, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8085, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6818, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6459, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6561, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6603, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6565, d0.loss_map_cls_all: 0.2808, d0.loss_map_pts_all: 1.6670, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2808, d0.loss_map_pts: 1.6670, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2451, d1.loss_map_pts: 1.1657, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2219, d2.loss_map_pts: 0.9779, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.2070, d3.loss_map_pts: 0.9090, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1995, d4.loss_map_pts: 0.8794, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1938, d5.loss_map_pts: 0.8735, d5.loss_map_dir: 0.0113, loss: 31.8879, grad_norm: 150.3305 +2026-02-26 07:49:09,042 - DriveTransformer - INFO - Epoch [7][2550/39528] lr: 8.550e-05, eta: 6 days, 14:16:57, time: 0.779, data_time: 0.035, memory: 19865, loss_cls: 0.1473, loss_bbox: 0.3485, loss_traj: 0.6152, loss_traj_cls: 0.0010, loss_map_cls: 0.1624, loss_map_pts: 0.7156, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.5320, d0.loss_plan_l1_fix_dist: 0.3719, d1.loss_plan_l1_fix_time: 1.0870, d1.loss_plan_l1_fix_dist: 0.1856, d2.loss_plan_l1_fix_time: 1.0662, d2.loss_plan_l1_fix_dist: 0.1958, d3.loss_plan_l1_fix_time: 1.0652, d3.loss_plan_l1_fix_dist: 0.2150, d4.loss_plan_l1_fix_time: 1.0692, d4.loss_plan_l1_fix_dist: 0.2341, d5.loss_plan_l1_fix_time: 1.0734, d5.loss_plan_l1_fix_dist: 0.2552, d6.loss_plan_l1_fix_time: 1.0780, d6.loss_plan_l1_fix_dist: 0.2758, d0.loss_cls_all: 0.1831, d0.loss_bbox_all: 0.3971, d0.loss_cls: 0.1831, d0.loss_bbox: 0.3971, d1.loss_cls: 0.1769, d1.loss_bbox: 0.3635, d2.loss_cls: 0.1698, d2.loss_bbox: 0.3484, d3.loss_cls: 0.1597, d3.loss_bbox: 0.3452, d4.loss_cls: 0.1493, d4.loss_bbox: 0.3489, d5.loss_cls: 0.1467, d5.loss_bbox: 0.3487, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8512, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6762, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6234, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6155, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6208, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6205, d0.loss_map_cls_all: 0.2308, d0.loss_map_pts_all: 1.4933, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2308, d0.loss_map_pts: 1.4933, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2014, d1.loss_map_pts: 1.0261, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1835, d2.loss_map_pts: 0.8281, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1732, d3.loss_map_pts: 0.7549, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1687, d4.loss_map_pts: 0.7249, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1650, d5.loss_map_pts: 0.7151, d5.loss_map_dir: 0.0096, loss: 28.8887, grad_norm: 152.4950 +2026-02-26 07:49:48,230 - DriveTransformer - INFO - Epoch [7][2600/39528] lr: 8.550e-05, eta: 6 days, 14:16:13, time: 0.784, data_time: 0.038, memory: 19865, loss_cls: 0.1595, loss_bbox: 0.3717, loss_traj: 0.6594, loss_traj_cls: 0.0010, loss_map_cls: 0.1575, loss_map_pts: 0.7140, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.5835, d0.loss_plan_l1_fix_dist: 0.3884, d1.loss_plan_l1_fix_time: 1.0521, d1.loss_plan_l1_fix_dist: 0.2062, d2.loss_plan_l1_fix_time: 1.0318, d2.loss_plan_l1_fix_dist: 0.2218, d3.loss_plan_l1_fix_time: 1.0252, d3.loss_plan_l1_fix_dist: 0.2435, d4.loss_plan_l1_fix_time: 1.0274, d4.loss_plan_l1_fix_dist: 0.2678, d5.loss_plan_l1_fix_time: 1.0301, d5.loss_plan_l1_fix_dist: 0.2919, d6.loss_plan_l1_fix_time: 1.0332, d6.loss_plan_l1_fix_dist: 0.3212, d0.loss_cls_all: 0.2020, d0.loss_bbox_all: 0.4338, d0.loss_cls: 0.2020, d0.loss_bbox: 0.4338, d1.loss_cls: 0.1956, d1.loss_bbox: 0.3986, d2.loss_cls: 0.1814, d2.loss_bbox: 0.3795, d3.loss_cls: 0.1686, d3.loss_bbox: 0.3737, d4.loss_cls: 0.1611, d4.loss_bbox: 0.3722, d5.loss_cls: 0.1594, d5.loss_bbox: 0.3710, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8644, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7108, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6620, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6590, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6589, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6613, d0.loss_map_cls_all: 0.2390, d0.loss_map_pts_all: 1.4197, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2390, d0.loss_map_pts: 1.4197, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2059, d1.loss_map_pts: 0.9785, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1821, d2.loss_map_pts: 0.8107, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1718, d3.loss_map_pts: 0.7457, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1664, d4.loss_map_pts: 0.7178, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1598, d5.loss_map_pts: 0.7134, d5.loss_map_dir: 0.0105, loss: 29.2933, grad_norm: 155.0299 +2026-02-26 07:50:27,153 - DriveTransformer - INFO - Epoch [7][2650/39528] lr: 8.550e-05, eta: 6 days, 14:15:29, time: 0.778, data_time: 0.035, memory: 19865, loss_cls: 0.1536, loss_bbox: 0.3518, loss_traj: 0.6321, loss_traj_cls: 0.0010, loss_map_cls: 0.1559, loss_map_pts: 0.6512, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.6110, d0.loss_plan_l1_fix_dist: 0.5052, d1.loss_plan_l1_fix_time: 0.9822, d1.loss_plan_l1_fix_dist: 0.2031, d2.loss_plan_l1_fix_time: 0.9772, d2.loss_plan_l1_fix_dist: 0.2211, d3.loss_plan_l1_fix_time: 0.9816, d3.loss_plan_l1_fix_dist: 0.2451, d4.loss_plan_l1_fix_time: 0.9865, d4.loss_plan_l1_fix_dist: 0.2755, d5.loss_plan_l1_fix_time: 0.9914, d5.loss_plan_l1_fix_dist: 0.3085, d6.loss_plan_l1_fix_time: 0.9966, d6.loss_plan_l1_fix_dist: 0.3458, d0.loss_cls_all: 0.1928, d0.loss_bbox_all: 0.3999, d0.loss_cls: 0.1928, d0.loss_bbox: 0.3999, d1.loss_cls: 0.1864, d1.loss_bbox: 0.3696, d2.loss_cls: 0.1713, d2.loss_bbox: 0.3569, d3.loss_cls: 0.1615, d3.loss_bbox: 0.3522, d4.loss_cls: 0.1542, d4.loss_bbox: 0.3504, d5.loss_cls: 0.1531, d5.loss_bbox: 0.3507, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8814, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6848, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6380, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6325, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6318, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6301, d0.loss_map_cls_all: 0.2393, d0.loss_map_pts_all: 1.3381, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2393, d0.loss_map_pts: 1.3381, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2096, d1.loss_map_pts: 0.9042, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1820, d2.loss_map_pts: 0.7376, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1696, d3.loss_map_pts: 0.6776, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1622, d4.loss_map_pts: 0.6594, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1568, d5.loss_map_pts: 0.6529, d5.loss_map_dir: 0.0088, loss: 28.2072, grad_norm: 153.4820 +2026-02-26 07:51:06,902 - DriveTransformer - INFO - Epoch [7][2700/39528] lr: 8.550e-05, eta: 6 days, 14:14:48, time: 0.795, data_time: 0.044, memory: 19865, loss_cls: 0.1874, loss_bbox: 0.4005, loss_traj: 0.6893, loss_traj_cls: 0.0010, loss_map_cls: 0.1697, loss_map_pts: 0.8130, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.9130, d0.loss_plan_l1_fix_dist: 0.3655, d1.loss_plan_l1_fix_time: 1.1981, d1.loss_plan_l1_fix_dist: 0.1952, d2.loss_plan_l1_fix_time: 1.1785, d2.loss_plan_l1_fix_dist: 0.2053, d3.loss_plan_l1_fix_time: 1.1813, d3.loss_plan_l1_fix_dist: 0.2203, d4.loss_plan_l1_fix_time: 1.1850, d4.loss_plan_l1_fix_dist: 0.2394, d5.loss_plan_l1_fix_time: 1.1888, d5.loss_plan_l1_fix_dist: 0.2607, d6.loss_plan_l1_fix_time: 1.1928, d6.loss_plan_l1_fix_dist: 0.2826, d0.loss_cls_all: 0.2300, d0.loss_bbox_all: 0.4594, d0.loss_cls: 0.2300, d0.loss_bbox: 0.4594, d1.loss_cls: 0.2238, d1.loss_bbox: 0.4271, d2.loss_cls: 0.2088, d2.loss_bbox: 0.4070, d3.loss_cls: 0.1958, d3.loss_bbox: 0.4004, d4.loss_cls: 0.1880, d4.loss_bbox: 0.3993, d5.loss_cls: 0.1872, d5.loss_bbox: 0.3994, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8977, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7486, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7062, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6958, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6982, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6938, d0.loss_map_cls_all: 0.2335, d0.loss_map_pts_all: 1.5756, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2335, d0.loss_map_pts: 1.5756, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2098, d1.loss_map_pts: 1.1000, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1907, d2.loss_map_pts: 0.9176, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1797, d3.loss_map_pts: 0.8463, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1737, d4.loss_map_pts: 0.8203, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1699, d5.loss_map_pts: 0.8149, d5.loss_map_dir: 0.0108, loss: 32.0539, grad_norm: 154.4776 +2026-02-26 07:51:45,983 - DriveTransformer - INFO - Epoch [7][2750/39528] lr: 8.550e-05, eta: 6 days, 14:14:05, time: 0.782, data_time: 0.043, memory: 19865, loss_cls: 0.1677, loss_bbox: 0.3616, loss_traj: 0.6830, loss_traj_cls: 0.0010, loss_map_cls: 0.1635, loss_map_pts: 0.7587, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.4265, d0.loss_plan_l1_fix_dist: 0.3985, d1.loss_plan_l1_fix_time: 1.1572, d1.loss_plan_l1_fix_dist: 0.1840, d2.loss_plan_l1_fix_time: 1.1422, d2.loss_plan_l1_fix_dist: 0.1936, d3.loss_plan_l1_fix_time: 1.1393, d3.loss_plan_l1_fix_dist: 0.2109, d4.loss_plan_l1_fix_time: 1.1437, d4.loss_plan_l1_fix_dist: 0.2284, d5.loss_plan_l1_fix_time: 1.1491, d5.loss_plan_l1_fix_dist: 0.2491, d6.loss_plan_l1_fix_time: 1.1552, d6.loss_plan_l1_fix_dist: 0.2715, d0.loss_cls_all: 0.2064, d0.loss_bbox_all: 0.4214, d0.loss_cls: 0.2064, d0.loss_bbox: 0.4214, d1.loss_cls: 0.2030, d1.loss_bbox: 0.3874, d2.loss_cls: 0.1859, d2.loss_bbox: 0.3702, d3.loss_cls: 0.1754, d3.loss_bbox: 0.3623, d4.loss_cls: 0.1700, d4.loss_bbox: 0.3618, d5.loss_cls: 0.1683, d5.loss_bbox: 0.3607, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8827, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7410, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6917, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6867, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6788, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6777, d0.loss_map_cls_all: 0.2451, d0.loss_map_pts_all: 1.5509, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2451, d0.loss_map_pts: 1.5509, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2126, d1.loss_map_pts: 1.0858, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1855, d2.loss_map_pts: 0.8763, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1760, d3.loss_map_pts: 0.7942, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1703, d4.loss_map_pts: 0.7663, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1643, d5.loss_map_pts: 0.7591, d5.loss_map_dir: 0.0096, loss: 30.4054, grad_norm: 154.6825 +2026-02-26 07:52:24,148 - DriveTransformer - INFO - Epoch [7][2800/39528] lr: 8.550e-05, eta: 6 days, 14:13:19, time: 0.765, data_time: 0.041, memory: 19865, loss_cls: 0.1639, loss_bbox: 0.3827, loss_traj: 0.7765, loss_traj_cls: 0.0010, loss_map_cls: 0.1597, loss_map_pts: 0.7434, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.6138, d0.loss_plan_l1_fix_dist: 0.3511, d1.loss_plan_l1_fix_time: 1.0981, d1.loss_plan_l1_fix_dist: 0.1840, d2.loss_plan_l1_fix_time: 1.0948, d2.loss_plan_l1_fix_dist: 0.1977, d3.loss_plan_l1_fix_time: 1.1012, d3.loss_plan_l1_fix_dist: 0.2169, d4.loss_plan_l1_fix_time: 1.1078, d4.loss_plan_l1_fix_dist: 0.2384, d5.loss_plan_l1_fix_time: 1.1151, d5.loss_plan_l1_fix_dist: 0.2622, d6.loss_plan_l1_fix_time: 1.1237, d6.loss_plan_l1_fix_dist: 0.2901, d0.loss_cls_all: 0.2096, d0.loss_bbox_all: 0.4465, d0.loss_cls: 0.2096, d0.loss_bbox: 0.4465, d1.loss_cls: 0.2007, d1.loss_bbox: 0.4097, d2.loss_cls: 0.1880, d2.loss_bbox: 0.3931, d3.loss_cls: 0.1738, d3.loss_bbox: 0.3854, d4.loss_cls: 0.1643, d4.loss_bbox: 0.3851, d5.loss_cls: 0.1632, d5.loss_bbox: 0.3832, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0582, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8543, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7969, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7765, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7726, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7718, d0.loss_map_cls_all: 0.2282, d0.loss_map_pts_all: 1.4843, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2282, d0.loss_map_pts: 1.4843, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2013, d1.loss_map_pts: 1.0175, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1824, d2.loss_map_pts: 0.8423, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1731, d3.loss_map_pts: 0.7778, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1672, d4.loss_map_pts: 0.7532, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1619, d5.loss_map_pts: 0.7433, d5.loss_map_dir: 0.0105, loss: 30.9452, grad_norm: 156.9515 +2026-02-26 07:53:02,584 - DriveTransformer - INFO - Epoch [7][2850/39528] lr: 8.550e-05, eta: 6 days, 14:12:33, time: 0.767, data_time: 0.036, memory: 19865, loss_cls: 0.1796, loss_bbox: 0.3836, loss_traj: 0.7201, loss_traj_cls: 0.0010, loss_map_cls: 0.1891, loss_map_pts: 0.7453, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.7392, d0.loss_plan_l1_fix_dist: 0.3477, d1.loss_plan_l1_fix_time: 1.1308, d1.loss_plan_l1_fix_dist: 0.1730, d2.loss_plan_l1_fix_time: 1.1267, d2.loss_plan_l1_fix_dist: 0.1796, d3.loss_plan_l1_fix_time: 1.1315, d3.loss_plan_l1_fix_dist: 0.1910, d4.loss_plan_l1_fix_time: 1.1375, d4.loss_plan_l1_fix_dist: 0.2059, d5.loss_plan_l1_fix_time: 1.1440, d5.loss_plan_l1_fix_dist: 0.2213, d6.loss_plan_l1_fix_time: 1.1516, d6.loss_plan_l1_fix_dist: 0.2368, d0.loss_cls_all: 0.2164, d0.loss_bbox_all: 0.4417, d0.loss_cls: 0.2164, d0.loss_bbox: 0.4417, d1.loss_cls: 0.2080, d1.loss_bbox: 0.4081, d2.loss_cls: 0.1948, d2.loss_bbox: 0.3902, d3.loss_cls: 0.1861, d3.loss_bbox: 0.3833, d4.loss_cls: 0.1793, d4.loss_bbox: 0.3829, d5.loss_cls: 0.1787, d5.loss_bbox: 0.3836, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8725, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7453, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7159, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7062, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7101, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7149, d0.loss_map_cls_all: 0.2641, d0.loss_map_pts_all: 1.4838, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2641, d0.loss_map_pts: 1.4838, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.2330, d1.loss_map_pts: 1.0397, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.2110, d2.loss_map_pts: 0.8549, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.2001, d3.loss_map_pts: 0.7818, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1972, d4.loss_map_pts: 0.7545, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1915, d5.loss_map_pts: 0.7459, d5.loss_map_dir: 0.0093, loss: 30.7934, grad_norm: 157.2878 +2026-02-26 07:53:42,129 - DriveTransformer - INFO - Epoch [7][2900/39528] lr: 8.550e-05, eta: 6 days, 14:11:51, time: 0.791, data_time: 0.042, memory: 19865, loss_cls: 0.1703, loss_bbox: 0.3877, loss_traj: 0.6085, loss_traj_cls: 0.0010, loss_map_cls: 0.1669, loss_map_pts: 0.7361, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.8194, d0.loss_plan_l1_fix_dist: 0.3879, d1.loss_plan_l1_fix_time: 1.1472, d1.loss_plan_l1_fix_dist: 0.2096, d2.loss_plan_l1_fix_time: 1.1452, d2.loss_plan_l1_fix_dist: 0.2160, d3.loss_plan_l1_fix_time: 1.1458, d3.loss_plan_l1_fix_dist: 0.2290, d4.loss_plan_l1_fix_time: 1.1486, d4.loss_plan_l1_fix_dist: 0.2460, d5.loss_plan_l1_fix_time: 1.1518, d5.loss_plan_l1_fix_dist: 0.2654, d6.loss_plan_l1_fix_time: 1.1560, d6.loss_plan_l1_fix_dist: 0.2849, d0.loss_cls_all: 0.2108, d0.loss_bbox_all: 0.4560, d0.loss_cls: 0.2108, d0.loss_bbox: 0.4560, d1.loss_cls: 0.2020, d1.loss_bbox: 0.4179, d2.loss_cls: 0.1851, d2.loss_bbox: 0.4013, d3.loss_cls: 0.1752, d3.loss_bbox: 0.3915, d4.loss_cls: 0.1693, d4.loss_bbox: 0.3888, d5.loss_cls: 0.1696, d5.loss_bbox: 0.3881, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8429, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6652, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6075, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5989, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6044, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6074, d0.loss_map_cls_all: 0.2524, d0.loss_map_pts_all: 1.5571, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2524, d0.loss_map_pts: 1.5571, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2153, d1.loss_map_pts: 1.0501, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.1936, d2.loss_map_pts: 0.8538, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1805, d3.loss_map_pts: 0.7820, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1729, d4.loss_map_pts: 0.7497, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1686, d5.loss_map_pts: 0.7373, d5.loss_map_dir: 0.0111, loss: 30.5870, grad_norm: 158.4824 +2026-02-26 07:54:20,992 - DriveTransformer - INFO - Epoch [7][2950/39528] lr: 8.550e-05, eta: 6 days, 14:11:07, time: 0.777, data_time: 0.036, memory: 19865, loss_cls: 0.1450, loss_bbox: 0.3543, loss_traj: 0.5953, loss_traj_cls: 0.0010, loss_map_cls: 0.1653, loss_map_pts: 0.6652, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.2859, d0.loss_plan_l1_fix_dist: 0.4523, d1.loss_plan_l1_fix_time: 1.0531, d1.loss_plan_l1_fix_dist: 0.1786, d2.loss_plan_l1_fix_time: 1.0514, d2.loss_plan_l1_fix_dist: 0.1840, d3.loss_plan_l1_fix_time: 1.0452, d3.loss_plan_l1_fix_dist: 0.1974, d4.loss_plan_l1_fix_time: 1.0474, d4.loss_plan_l1_fix_dist: 0.2122, d5.loss_plan_l1_fix_time: 1.0497, d5.loss_plan_l1_fix_dist: 0.2286, d6.loss_plan_l1_fix_time: 1.0521, d6.loss_plan_l1_fix_dist: 0.2477, d0.loss_cls_all: 0.1771, d0.loss_bbox_all: 0.4153, d0.loss_cls: 0.1771, d0.loss_bbox: 0.4153, d1.loss_cls: 0.1745, d1.loss_bbox: 0.3822, d2.loss_cls: 0.1638, d2.loss_bbox: 0.3626, d3.loss_cls: 0.1504, d3.loss_bbox: 0.3577, d4.loss_cls: 0.1464, d4.loss_bbox: 0.3546, d5.loss_cls: 0.1447, d5.loss_bbox: 0.3548, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8000, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6441, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6007, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5878, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5932, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5936, d0.loss_map_cls_all: 0.2360, d0.loss_map_pts_all: 1.4102, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2360, d0.loss_map_pts: 1.4102, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2048, d1.loss_map_pts: 0.9572, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1833, d2.loss_map_pts: 0.7679, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1754, d3.loss_map_pts: 0.6980, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1687, d4.loss_map_pts: 0.6725, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1652, d5.loss_map_pts: 0.6660, d5.loss_map_dir: 0.0096, loss: 27.8400, grad_norm: 159.6259 +2026-02-26 07:55:00,224 - DriveTransformer - INFO - Epoch [7][3000/39528] lr: 8.550e-05, eta: 6 days, 14:10:24, time: 0.785, data_time: 0.048, memory: 19865, loss_cls: 0.1515, loss_bbox: 0.3699, loss_traj: 0.8057, loss_traj_cls: 0.0010, loss_map_cls: 0.1548, loss_map_pts: 0.7058, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.7404, d0.loss_plan_l1_fix_dist: 0.4823, d1.loss_plan_l1_fix_time: 1.1131, d1.loss_plan_l1_fix_dist: 0.1960, d2.loss_plan_l1_fix_time: 1.1020, d2.loss_plan_l1_fix_dist: 0.2038, d3.loss_plan_l1_fix_time: 1.1003, d3.loss_plan_l1_fix_dist: 0.2172, d4.loss_plan_l1_fix_time: 1.1025, d4.loss_plan_l1_fix_dist: 0.2341, d5.loss_plan_l1_fix_time: 1.1047, d5.loss_plan_l1_fix_dist: 0.2515, d6.loss_plan_l1_fix_time: 1.1074, d6.loss_plan_l1_fix_dist: 0.2719, d0.loss_cls_all: 0.1884, d0.loss_bbox_all: 0.4241, d0.loss_cls: 0.1884, d0.loss_bbox: 0.4241, d1.loss_cls: 0.1834, d1.loss_bbox: 0.3906, d2.loss_cls: 0.1727, d2.loss_bbox: 0.3739, d3.loss_cls: 0.1631, d3.loss_bbox: 0.3672, d4.loss_cls: 0.1557, d4.loss_bbox: 0.3656, d5.loss_cls: 0.1519, d5.loss_bbox: 0.3692, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0620, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8703, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8219, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8100, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8075, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7998, d0.loss_map_cls_all: 0.2348, d0.loss_map_pts_all: 1.4711, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2348, d0.loss_map_pts: 1.4711, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2007, d1.loss_map_pts: 0.9853, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1781, d2.loss_map_pts: 0.8001, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1669, d3.loss_map_pts: 0.7317, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1599, d4.loss_map_pts: 0.7073, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1558, d5.loss_map_pts: 0.7040, d5.loss_map_dir: 0.0100, loss: 30.7915, grad_norm: 159.6437 +2026-02-26 07:55:38,011 - DriveTransformer - INFO - Epoch [7][3050/39528] lr: 8.550e-05, eta: 6 days, 14:09:37, time: 0.756, data_time: 0.035, memory: 19865, loss_cls: 0.1708, loss_bbox: 0.3531, loss_traj: 0.6516, loss_traj_cls: 0.0011, loss_map_cls: 0.1470, loss_map_pts: 0.6527, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.7633, d0.loss_plan_l1_fix_dist: 0.4365, d1.loss_plan_l1_fix_time: 1.0477, d1.loss_plan_l1_fix_dist: 0.1648, d2.loss_plan_l1_fix_time: 1.0286, d2.loss_plan_l1_fix_dist: 0.1739, d3.loss_plan_l1_fix_time: 1.0308, d3.loss_plan_l1_fix_dist: 0.1864, d4.loss_plan_l1_fix_time: 1.0345, d4.loss_plan_l1_fix_dist: 0.2020, d5.loss_plan_l1_fix_time: 1.0390, d5.loss_plan_l1_fix_dist: 0.2173, d6.loss_plan_l1_fix_time: 1.0438, d6.loss_plan_l1_fix_dist: 0.2346, d0.loss_cls_all: 0.2092, d0.loss_bbox_all: 0.4104, d0.loss_cls: 0.2092, d0.loss_bbox: 0.4104, d1.loss_cls: 0.2011, d1.loss_bbox: 0.3778, d2.loss_cls: 0.1886, d2.loss_bbox: 0.3623, d3.loss_cls: 0.1773, d3.loss_bbox: 0.3547, d4.loss_cls: 0.1709, d4.loss_bbox: 0.3532, d5.loss_cls: 0.1711, d5.loss_bbox: 0.3515, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9184, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7077, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6600, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6476, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6441, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6473, d0.loss_map_cls_all: 0.2215, d0.loss_map_pts_all: 1.3584, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2215, d0.loss_map_pts: 1.3584, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1907, d1.loss_map_pts: 0.9062, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1730, d2.loss_map_pts: 0.7442, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1602, d3.loss_map_pts: 0.6809, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1535, d4.loss_map_pts: 0.6594, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1479, d5.loss_map_pts: 0.6537, d5.loss_map_dir: 0.0091, loss: 28.4564, grad_norm: 157.3814 +2026-02-26 07:56:17,973 - DriveTransformer - INFO - Epoch [7][3100/39528] lr: 8.550e-05, eta: 6 days, 14:08:56, time: 0.799, data_time: 0.037, memory: 19865, loss_cls: 0.1627, loss_bbox: 0.3485, loss_traj: 0.6265, loss_traj_cls: 0.0011, loss_map_cls: 0.1453, loss_map_pts: 0.6922, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.3768, d0.loss_plan_l1_fix_dist: 0.4121, d1.loss_plan_l1_fix_time: 1.0294, d1.loss_plan_l1_fix_dist: 0.1798, d2.loss_plan_l1_fix_time: 1.0069, d2.loss_plan_l1_fix_dist: 0.1834, d3.loss_plan_l1_fix_time: 1.0107, d3.loss_plan_l1_fix_dist: 0.1941, d4.loss_plan_l1_fix_time: 1.0159, d4.loss_plan_l1_fix_dist: 0.2075, d5.loss_plan_l1_fix_time: 1.0214, d5.loss_plan_l1_fix_dist: 0.2220, d6.loss_plan_l1_fix_time: 1.0262, d6.loss_plan_l1_fix_dist: 0.2354, d0.loss_cls_all: 0.1984, d0.loss_bbox_all: 0.4055, d0.loss_cls: 0.1984, d0.loss_bbox: 0.4055, d1.loss_cls: 0.1949, d1.loss_bbox: 0.3745, d2.loss_cls: 0.1828, d2.loss_bbox: 0.3572, d3.loss_cls: 0.1696, d3.loss_bbox: 0.3521, d4.loss_cls: 0.1623, d4.loss_bbox: 0.3504, d5.loss_cls: 0.1616, d5.loss_bbox: 0.3487, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8360, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7014, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6476, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6380, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6303, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6310, d0.loss_map_cls_all: 0.2122, d0.loss_map_pts_all: 1.4800, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2122, d0.loss_map_pts: 1.4800, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.1848, d1.loss_map_pts: 0.9398, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.1647, d2.loss_map_pts: 0.7681, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1584, d3.loss_map_pts: 0.7121, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1521, d4.loss_map_pts: 0.6948, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1465, d5.loss_map_pts: 0.6915, d5.loss_map_dir: 0.0110, loss: 28.1322, grad_norm: 160.0765 +2026-02-26 07:56:59,162 - DriveTransformer - INFO - Epoch [7][3150/39528] lr: 8.550e-05, eta: 6 days, 14:08:19, time: 0.824, data_time: 0.047, memory: 19865, loss_cls: 0.1498, loss_bbox: 0.3324, loss_traj: 0.5492, loss_traj_cls: 0.0011, loss_map_cls: 0.1464, loss_map_pts: 0.7069, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.6047, d0.loss_plan_l1_fix_dist: 0.3892, d1.loss_plan_l1_fix_time: 0.9110, d1.loss_plan_l1_fix_dist: 0.1600, d2.loss_plan_l1_fix_time: 0.8936, d2.loss_plan_l1_fix_dist: 0.1667, d3.loss_plan_l1_fix_time: 0.8951, d3.loss_plan_l1_fix_dist: 0.1769, d4.loss_plan_l1_fix_time: 0.8987, d4.loss_plan_l1_fix_dist: 0.1884, d5.loss_plan_l1_fix_time: 0.9025, d5.loss_plan_l1_fix_dist: 0.2014, d6.loss_plan_l1_fix_time: 0.9061, d6.loss_plan_l1_fix_dist: 0.2174, d0.loss_cls_all: 0.1947, d0.loss_bbox_all: 0.3968, d0.loss_cls: 0.1947, d0.loss_bbox: 0.3968, d1.loss_cls: 0.1868, d1.loss_bbox: 0.3637, d2.loss_cls: 0.1714, d2.loss_bbox: 0.3460, d3.loss_cls: 0.1577, d3.loss_bbox: 0.3370, d4.loss_cls: 0.1522, d4.loss_bbox: 0.3324, d5.loss_cls: 0.1510, d5.loss_bbox: 0.3312, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7242, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6007, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5491, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5474, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5440, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5487, d0.loss_map_cls_all: 0.2178, d0.loss_map_pts_all: 1.4496, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2178, d0.loss_map_pts: 1.4496, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1870, d1.loss_map_pts: 0.9520, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1682, d2.loss_map_pts: 0.7886, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1576, d3.loss_map_pts: 0.7296, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1516, d4.loss_map_pts: 0.7107, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1466, d5.loss_map_pts: 0.7062, d5.loss_map_dir: 0.0105, loss: 26.7433, grad_norm: 159.4923 +2026-02-26 07:57:38,901 - DriveTransformer - INFO - Epoch [7][3200/39528] lr: 8.550e-05, eta: 6 days, 14:07:37, time: 0.795, data_time: 0.038, memory: 19865, loss_cls: 0.1657, loss_bbox: 0.3469, loss_traj: 0.6656, loss_traj_cls: 0.0010, loss_map_cls: 0.1691, loss_map_pts: 0.7225, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.7007, d0.loss_plan_l1_fix_dist: 0.4248, d1.loss_plan_l1_fix_time: 1.0501, d1.loss_plan_l1_fix_dist: 0.1784, d2.loss_plan_l1_fix_time: 1.0324, d2.loss_plan_l1_fix_dist: 0.1853, d3.loss_plan_l1_fix_time: 1.0301, d3.loss_plan_l1_fix_dist: 0.1966, d4.loss_plan_l1_fix_time: 1.0332, d4.loss_plan_l1_fix_dist: 0.2114, d5.loss_plan_l1_fix_time: 1.0369, d5.loss_plan_l1_fix_dist: 0.2282, d6.loss_plan_l1_fix_time: 1.0424, d6.loss_plan_l1_fix_dist: 0.2499, d0.loss_cls_all: 0.1991, d0.loss_bbox_all: 0.4117, d0.loss_cls: 0.1991, d0.loss_bbox: 0.4117, d1.loss_cls: 0.1957, d1.loss_bbox: 0.3760, d2.loss_cls: 0.1833, d2.loss_bbox: 0.3585, d3.loss_cls: 0.1731, d3.loss_bbox: 0.3523, d4.loss_cls: 0.1687, d4.loss_bbox: 0.3471, d5.loss_cls: 0.1669, d5.loss_bbox: 0.3461, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8392, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7137, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6624, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6594, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6520, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6567, d0.loss_map_cls_all: 0.2401, d0.loss_map_pts_all: 1.5471, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2401, d0.loss_map_pts: 1.5471, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2139, d1.loss_map_pts: 1.0457, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1909, d2.loss_map_pts: 0.8299, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1816, d3.loss_map_pts: 0.7527, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1747, d4.loss_map_pts: 0.7273, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1700, d5.loss_map_pts: 0.7228, d5.loss_map_dir: 0.0103, loss: 29.4123, grad_norm: 159.7194 +2026-02-26 07:58:19,604 - DriveTransformer - INFO - Epoch [7][3250/39528] lr: 8.550e-05, eta: 6 days, 14:06:58, time: 0.814, data_time: 0.042, memory: 19865, loss_cls: 0.1602, loss_bbox: 0.3317, loss_traj: 0.5890, loss_traj_cls: 0.0010, loss_map_cls: 0.1551, loss_map_pts: 0.7256, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.2465, d0.loss_plan_l1_fix_dist: 0.4428, d1.loss_plan_l1_fix_time: 0.9427, d1.loss_plan_l1_fix_dist: 0.1784, d2.loss_plan_l1_fix_time: 0.9297, d2.loss_plan_l1_fix_dist: 0.1817, d3.loss_plan_l1_fix_time: 0.9311, d3.loss_plan_l1_fix_dist: 0.1916, d4.loss_plan_l1_fix_time: 0.9355, d4.loss_plan_l1_fix_dist: 0.2050, d5.loss_plan_l1_fix_time: 0.9410, d5.loss_plan_l1_fix_dist: 0.2210, d6.loss_plan_l1_fix_time: 0.9481, d6.loss_plan_l1_fix_dist: 0.2381, d0.loss_cls_all: 0.1968, d0.loss_bbox_all: 0.3829, d0.loss_cls: 0.1968, d0.loss_bbox: 0.3829, d1.loss_cls: 0.1894, d1.loss_bbox: 0.3502, d2.loss_cls: 0.1743, d2.loss_bbox: 0.3342, d3.loss_cls: 0.1671, d3.loss_bbox: 0.3286, d4.loss_cls: 0.1619, d4.loss_bbox: 0.3281, d5.loss_cls: 0.1596, d5.loss_bbox: 0.3317, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7915, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6478, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6130, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5948, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5879, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5889, d0.loss_map_cls_all: 0.2310, d0.loss_map_pts_all: 1.5339, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2310, d0.loss_map_pts: 1.5339, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2020, d1.loss_map_pts: 1.0517, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1824, d2.loss_map_pts: 0.8520, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1721, d3.loss_map_pts: 0.7666, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1629, d4.loss_map_pts: 0.7359, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1577, d5.loss_map_pts: 0.7253, d5.loss_map_dir: 0.0102, loss: 27.6282, grad_norm: 158.5988 +2026-02-26 07:58:57,171 - DriveTransformer - INFO - Epoch [7][3300/39528] lr: 8.550e-05, eta: 6 days, 14:06:10, time: 0.751, data_time: 0.043, memory: 19865, loss_cls: 0.1502, loss_bbox: 0.3396, loss_traj: 0.6819, loss_traj_cls: 0.0010, loss_map_cls: 0.1509, loss_map_pts: 0.5702, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.4849, d0.loss_plan_l1_fix_dist: 0.3775, d1.loss_plan_l1_fix_time: 0.8980, d1.loss_plan_l1_fix_dist: 0.1649, d2.loss_plan_l1_fix_time: 0.8922, d2.loss_plan_l1_fix_dist: 0.1684, d3.loss_plan_l1_fix_time: 0.8928, d3.loss_plan_l1_fix_dist: 0.1801, d4.loss_plan_l1_fix_time: 0.8959, d4.loss_plan_l1_fix_dist: 0.1945, d5.loss_plan_l1_fix_time: 0.8997, d5.loss_plan_l1_fix_dist: 0.2120, d6.loss_plan_l1_fix_time: 0.9039, d6.loss_plan_l1_fix_dist: 0.2303, d0.loss_cls_all: 0.1889, d0.loss_bbox_all: 0.3888, d0.loss_cls: 0.1889, d0.loss_bbox: 0.3888, d1.loss_cls: 0.1810, d1.loss_bbox: 0.3592, d2.loss_cls: 0.1695, d2.loss_bbox: 0.3420, d3.loss_cls: 0.1579, d3.loss_bbox: 0.3379, d4.loss_cls: 0.1536, d4.loss_bbox: 0.3372, d5.loss_cls: 0.1502, d5.loss_bbox: 0.3389, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8978, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7377, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6996, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6880, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6835, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6867, d0.loss_map_cls_all: 0.2239, d0.loss_map_pts_all: 1.1593, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2239, d0.loss_map_pts: 1.1593, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.2001, d1.loss_map_pts: 0.7912, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1746, d2.loss_map_pts: 0.6596, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1629, d3.loss_map_pts: 0.6038, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1574, d4.loss_map_pts: 0.5795, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1519, d5.loss_map_pts: 0.5717, d5.loss_map_dir: 0.0064, loss: 26.2413, grad_norm: 159.1914 +2026-02-26 07:59:35,524 - DriveTransformer - INFO - Epoch [7][3350/39528] lr: 8.550e-05, eta: 6 days, 14:05:25, time: 0.767, data_time: 0.040, memory: 19865, loss_cls: 0.1465, loss_bbox: 0.3487, loss_traj: 0.5402, loss_traj_cls: 0.0011, loss_map_cls: 0.1265, loss_map_pts: 0.6135, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.3495, d0.loss_plan_l1_fix_dist: 0.3730, d1.loss_plan_l1_fix_time: 1.0912, d1.loss_plan_l1_fix_dist: 0.1645, d2.loss_plan_l1_fix_time: 1.0852, d2.loss_plan_l1_fix_dist: 0.1648, d3.loss_plan_l1_fix_time: 1.0935, d3.loss_plan_l1_fix_dist: 0.1742, d4.loss_plan_l1_fix_time: 1.0984, d4.loss_plan_l1_fix_dist: 0.1869, d5.loss_plan_l1_fix_time: 1.1029, d5.loss_plan_l1_fix_dist: 0.1997, d6.loss_plan_l1_fix_time: 1.1070, d6.loss_plan_l1_fix_dist: 0.2139, d0.loss_cls_all: 0.1833, d0.loss_bbox_all: 0.4000, d0.loss_cls: 0.1833, d0.loss_bbox: 0.4000, d1.loss_cls: 0.1808, d1.loss_bbox: 0.3688, d2.loss_cls: 0.1632, d2.loss_bbox: 0.3554, d3.loss_cls: 0.1533, d3.loss_bbox: 0.3493, d4.loss_cls: 0.1469, d4.loss_bbox: 0.3482, d5.loss_cls: 0.1461, d5.loss_bbox: 0.3482, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7110, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5899, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5582, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5445, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5422, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5373, d0.loss_map_cls_all: 0.2038, d0.loss_map_pts_all: 1.3054, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2038, d0.loss_map_pts: 1.3054, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1717, d1.loss_map_pts: 0.8496, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1475, d2.loss_map_pts: 0.6962, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1379, d3.loss_map_pts: 0.6391, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1323, d4.loss_map_pts: 0.6208, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1275, d5.loss_map_pts: 0.6140, d5.loss_map_dir: 0.0093, loss: 26.6251, grad_norm: 157.4894 +2026-02-26 08:00:14,042 - DriveTransformer - INFO - Epoch [7][3400/39528] lr: 8.550e-05, eta: 6 days, 14:04:40, time: 0.770, data_time: 0.040, memory: 19865, loss_cls: 0.1610, loss_bbox: 0.3684, loss_traj: 0.7245, loss_traj_cls: 0.0011, loss_map_cls: 0.1712, loss_map_pts: 0.6858, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.7202, d0.loss_plan_l1_fix_dist: 0.4399, d1.loss_plan_l1_fix_time: 1.0398, d1.loss_plan_l1_fix_dist: 0.1849, d2.loss_plan_l1_fix_time: 1.0251, d2.loss_plan_l1_fix_dist: 0.1873, d3.loss_plan_l1_fix_time: 1.0258, d3.loss_plan_l1_fix_dist: 0.1959, d4.loss_plan_l1_fix_time: 1.0292, d4.loss_plan_l1_fix_dist: 0.2073, d5.loss_plan_l1_fix_time: 1.0322, d5.loss_plan_l1_fix_dist: 0.2186, d6.loss_plan_l1_fix_time: 1.0355, d6.loss_plan_l1_fix_dist: 0.2299, d0.loss_cls_all: 0.2028, d0.loss_bbox_all: 0.4213, d0.loss_cls: 0.2028, d0.loss_bbox: 0.4213, d1.loss_cls: 0.1932, d1.loss_bbox: 0.3896, d2.loss_cls: 0.1769, d2.loss_bbox: 0.3717, d3.loss_cls: 0.1664, d3.loss_bbox: 0.3671, d4.loss_cls: 0.1618, d4.loss_bbox: 0.3652, d5.loss_cls: 0.1604, d5.loss_bbox: 0.3670, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9270, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7648, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7376, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7284, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7266, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7235, d0.loss_map_cls_all: 0.2306, d0.loss_map_pts_all: 1.3701, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2306, d0.loss_map_pts: 1.3701, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.2074, d1.loss_map_pts: 0.9759, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1863, d2.loss_map_pts: 0.8097, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1768, d3.loss_map_pts: 0.7326, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1729, d4.loss_map_pts: 0.6993, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1709, d5.loss_map_pts: 0.6868, d5.loss_map_dir: 0.0077, loss: 29.3434, grad_norm: 157.9952 +2026-02-26 08:00:52,512 - DriveTransformer - INFO - Epoch [7][3450/39528] lr: 8.550e-05, eta: 6 days, 14:03:55, time: 0.770, data_time: 0.039, memory: 19865, loss_cls: 0.1480, loss_bbox: 0.3430, loss_traj: 0.5818, loss_traj_cls: 0.0011, loss_map_cls: 0.1651, loss_map_pts: 0.6980, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.4179, d0.loss_plan_l1_fix_dist: 0.4366, d1.loss_plan_l1_fix_time: 0.9886, d1.loss_plan_l1_fix_dist: 0.1607, d2.loss_plan_l1_fix_time: 0.9861, d2.loss_plan_l1_fix_dist: 0.1675, d3.loss_plan_l1_fix_time: 0.9918, d3.loss_plan_l1_fix_dist: 0.1794, d4.loss_plan_l1_fix_time: 0.9951, d4.loss_plan_l1_fix_dist: 0.1932, d5.loss_plan_l1_fix_time: 0.9986, d5.loss_plan_l1_fix_dist: 0.2096, d6.loss_plan_l1_fix_time: 1.0025, d6.loss_plan_l1_fix_dist: 0.2281, d0.loss_cls_all: 0.1862, d0.loss_bbox_all: 0.3958, d0.loss_cls: 0.1862, d0.loss_bbox: 0.3958, d1.loss_cls: 0.1776, d1.loss_bbox: 0.3647, d2.loss_cls: 0.1627, d2.loss_bbox: 0.3495, d3.loss_cls: 0.1532, d3.loss_bbox: 0.3441, d4.loss_cls: 0.1500, d4.loss_bbox: 0.3421, d5.loss_cls: 0.1477, d5.loss_bbox: 0.3434, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8263, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6541, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5987, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5875, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5810, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5827, d0.loss_map_cls_all: 0.2320, d0.loss_map_pts_all: 1.4397, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2320, d0.loss_map_pts: 1.4397, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2136, d1.loss_map_pts: 0.9888, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1926, d2.loss_map_pts: 0.8078, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1785, d3.loss_map_pts: 0.7350, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1719, d4.loss_map_pts: 0.7079, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1664, d5.loss_map_pts: 0.6984, d5.loss_map_dir: 0.0090, loss: 27.7001, grad_norm: 158.0509 +2026-02-26 08:01:31,475 - DriveTransformer - INFO - Epoch [7][3500/39528] lr: 8.550e-05, eta: 6 days, 14:03:11, time: 0.779, data_time: 0.041, memory: 19865, loss_cls: 0.1542, loss_bbox: 0.3547, loss_traj: 0.5386, loss_traj_cls: 0.0011, loss_map_cls: 0.1301, loss_map_pts: 0.5845, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.7292, d0.loss_plan_l1_fix_dist: 0.4209, d1.loss_plan_l1_fix_time: 0.9869, d1.loss_plan_l1_fix_dist: 0.1789, d2.loss_plan_l1_fix_time: 0.9752, d2.loss_plan_l1_fix_dist: 0.1905, d3.loss_plan_l1_fix_time: 0.9762, d3.loss_plan_l1_fix_dist: 0.2066, d4.loss_plan_l1_fix_time: 0.9801, d4.loss_plan_l1_fix_dist: 0.2265, d5.loss_plan_l1_fix_time: 0.9850, d5.loss_plan_l1_fix_dist: 0.2499, d6.loss_plan_l1_fix_time: 0.9911, d6.loss_plan_l1_fix_dist: 0.2767, d0.loss_cls_all: 0.1973, d0.loss_bbox_all: 0.4058, d0.loss_cls: 0.1973, d0.loss_bbox: 0.4058, d1.loss_cls: 0.1890, d1.loss_bbox: 0.3762, d2.loss_cls: 0.1702, d2.loss_bbox: 0.3607, d3.loss_cls: 0.1598, d3.loss_bbox: 0.3536, d4.loss_cls: 0.1552, d4.loss_bbox: 0.3520, d5.loss_cls: 0.1547, d5.loss_bbox: 0.3529, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7486, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6098, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5576, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5444, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5410, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5375, d0.loss_map_cls_all: 0.2003, d0.loss_map_pts_all: 1.2371, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2003, d0.loss_map_pts: 1.2371, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1706, d1.loss_map_pts: 0.8059, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1486, d2.loss_map_pts: 0.6567, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1385, d3.loss_map_pts: 0.6041, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1345, d4.loss_map_pts: 0.5870, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1297, d5.loss_map_pts: 0.5837, d5.loss_map_dir: 0.0093, loss: 26.4199, grad_norm: 164.1673 +2026-02-26 08:02:11,270 - DriveTransformer - INFO - Epoch [7][3550/39528] lr: 8.550e-05, eta: 6 days, 14:02:29, time: 0.796, data_time: 0.039, memory: 19865, loss_cls: 0.1442, loss_bbox: 0.3757, loss_traj: 0.5038, loss_traj_cls: 0.0010, loss_map_cls: 0.1679, loss_map_pts: 0.7239, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.7721, d0.loss_plan_l1_fix_dist: 0.3665, d1.loss_plan_l1_fix_time: 1.0128, d1.loss_plan_l1_fix_dist: 0.1501, d2.loss_plan_l1_fix_time: 1.0010, d2.loss_plan_l1_fix_dist: 0.1565, d3.loss_plan_l1_fix_time: 1.0008, d3.loss_plan_l1_fix_dist: 0.1670, d4.loss_plan_l1_fix_time: 1.0046, d4.loss_plan_l1_fix_dist: 0.1782, d5.loss_plan_l1_fix_time: 1.0092, d5.loss_plan_l1_fix_dist: 0.1914, d6.loss_plan_l1_fix_time: 1.0142, d6.loss_plan_l1_fix_dist: 0.2096, d0.loss_cls_all: 0.1893, d0.loss_bbox_all: 0.4236, d0.loss_cls: 0.1893, d0.loss_bbox: 0.4236, d1.loss_cls: 0.1818, d1.loss_bbox: 0.3958, d2.loss_cls: 0.1626, d2.loss_bbox: 0.3795, d3.loss_cls: 0.1524, d3.loss_bbox: 0.3733, d4.loss_cls: 0.1462, d4.loss_bbox: 0.3736, d5.loss_cls: 0.1441, d5.loss_bbox: 0.3745, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7673, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5815, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5256, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5142, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5062, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5045, d0.loss_map_cls_all: 0.2499, d0.loss_map_pts_all: 1.5642, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2499, d0.loss_map_pts: 1.5642, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2186, d1.loss_map_pts: 1.0290, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1930, d2.loss_map_pts: 0.8317, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1817, d3.loss_map_pts: 0.7532, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1733, d4.loss_map_pts: 0.7275, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1692, d5.loss_map_pts: 0.7237, d5.loss_map_dir: 0.0102, loss: 28.1729, grad_norm: 162.6157 +2026-02-26 08:02:50,810 - DriveTransformer - INFO - Epoch [7][3600/39528] lr: 8.550e-05, eta: 6 days, 14:01:48, time: 0.792, data_time: 0.039, memory: 19865, loss_cls: 0.1706, loss_bbox: 0.4028, loss_traj: 0.6083, loss_traj_cls: 0.0010, loss_map_cls: 0.1725, loss_map_pts: 0.7779, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.8694, d0.loss_plan_l1_fix_dist: 0.4037, d1.loss_plan_l1_fix_time: 1.1779, d1.loss_plan_l1_fix_dist: 0.1959, d2.loss_plan_l1_fix_time: 1.1610, d2.loss_plan_l1_fix_dist: 0.2011, d3.loss_plan_l1_fix_time: 1.1578, d3.loss_plan_l1_fix_dist: 0.2121, d4.loss_plan_l1_fix_time: 1.1593, d4.loss_plan_l1_fix_dist: 0.2249, d5.loss_plan_l1_fix_time: 1.1609, d5.loss_plan_l1_fix_dist: 0.2373, d6.loss_plan_l1_fix_time: 1.1628, d6.loss_plan_l1_fix_dist: 0.2476, d0.loss_cls_all: 0.2121, d0.loss_bbox_all: 0.4474, d0.loss_cls: 0.2121, d0.loss_bbox: 0.4474, d1.loss_cls: 0.2086, d1.loss_bbox: 0.4142, d2.loss_cls: 0.1934, d2.loss_bbox: 0.4022, d3.loss_cls: 0.1776, d3.loss_bbox: 0.4002, d4.loss_cls: 0.1724, d4.loss_bbox: 0.4000, d5.loss_cls: 0.1714, d5.loss_bbox: 0.4018, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8872, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6763, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6231, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6122, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6178, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6113, d0.loss_map_cls_all: 0.2385, d0.loss_map_pts_all: 1.5397, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2385, d0.loss_map_pts: 1.5397, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2116, d1.loss_map_pts: 1.0744, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1935, d2.loss_map_pts: 0.8720, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1808, d3.loss_map_pts: 0.8012, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1759, d4.loss_map_pts: 0.7791, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1730, d5.loss_map_pts: 0.7774, d5.loss_map_dir: 0.0108, loss: 30.8764, grad_norm: 161.9845 +2026-02-26 08:03:30,288 - DriveTransformer - INFO - Epoch [7][3650/39528] lr: 8.550e-05, eta: 6 days, 14:01:05, time: 0.788, data_time: 0.040, memory: 19865, loss_cls: 0.1511, loss_bbox: 0.3588, loss_traj: 0.5364, loss_traj_cls: 0.0011, loss_map_cls: 0.1222, loss_map_pts: 0.6802, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.3915, d0.loss_plan_l1_fix_dist: 0.5042, d1.loss_plan_l1_fix_time: 1.0070, d1.loss_plan_l1_fix_dist: 0.1996, d2.loss_plan_l1_fix_time: 0.9923, d2.loss_plan_l1_fix_dist: 0.2052, d3.loss_plan_l1_fix_time: 0.9951, d3.loss_plan_l1_fix_dist: 0.2149, d4.loss_plan_l1_fix_time: 0.9985, d4.loss_plan_l1_fix_dist: 0.2293, d5.loss_plan_l1_fix_time: 1.0022, d5.loss_plan_l1_fix_dist: 0.2465, d6.loss_plan_l1_fix_time: 1.0066, d6.loss_plan_l1_fix_dist: 0.2630, d0.loss_cls_all: 0.1814, d0.loss_bbox_all: 0.4148, d0.loss_cls: 0.1814, d0.loss_bbox: 0.4148, d1.loss_cls: 0.1764, d1.loss_bbox: 0.3840, d2.loss_cls: 0.1667, d2.loss_bbox: 0.3671, d3.loss_cls: 0.1571, d3.loss_bbox: 0.3620, d4.loss_cls: 0.1524, d4.loss_bbox: 0.3596, d5.loss_cls: 0.1523, d5.loss_bbox: 0.3572, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7334, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5861, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5473, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5382, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5381, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5358, d0.loss_map_cls_all: 0.2018, d0.loss_map_pts_all: 1.4419, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2018, d0.loss_map_pts: 1.4419, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1664, d1.loss_map_pts: 0.9515, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1467, d2.loss_map_pts: 0.7783, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1351, d3.loss_map_pts: 0.7146, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1282, d4.loss_map_pts: 0.6878, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1235, d5.loss_map_pts: 0.6806, d5.loss_map_dir: 0.0098, loss: 27.2935, grad_norm: 161.3423 +2026-02-26 08:04:10,390 - DriveTransformer - INFO - Epoch [7][3700/39528] lr: 8.550e-05, eta: 6 days, 14:00:25, time: 0.802, data_time: 0.039, memory: 19865, loss_cls: 0.1711, loss_bbox: 0.3972, loss_traj: 0.7808, loss_traj_cls: 0.0010, loss_map_cls: 0.1479, loss_map_pts: 0.7593, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.4819, d0.loss_plan_l1_fix_dist: 0.3770, d1.loss_plan_l1_fix_time: 0.9732, d1.loss_plan_l1_fix_dist: 0.1675, d2.loss_plan_l1_fix_time: 0.9670, d2.loss_plan_l1_fix_dist: 0.1698, d3.loss_plan_l1_fix_time: 0.9716, d3.loss_plan_l1_fix_dist: 0.1798, d4.loss_plan_l1_fix_time: 0.9766, d4.loss_plan_l1_fix_dist: 0.1911, d5.loss_plan_l1_fix_time: 0.9809, d5.loss_plan_l1_fix_dist: 0.2031, d6.loss_plan_l1_fix_time: 0.9855, d6.loss_plan_l1_fix_dist: 0.2175, d0.loss_cls_all: 0.2086, d0.loss_bbox_all: 0.4505, d0.loss_cls: 0.2086, d0.loss_bbox: 0.4505, d1.loss_cls: 0.2023, d1.loss_bbox: 0.4199, d2.loss_cls: 0.1884, d2.loss_bbox: 0.4005, d3.loss_cls: 0.1779, d3.loss_bbox: 0.3949, d4.loss_cls: 0.1734, d4.loss_bbox: 0.3925, d5.loss_cls: 0.1730, d5.loss_bbox: 0.3930, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0281, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8446, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7988, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7842, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7825, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7807, d0.loss_map_cls_all: 0.2328, d0.loss_map_pts_all: 1.5231, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2328, d0.loss_map_pts: 1.5231, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2016, d1.loss_map_pts: 1.0669, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1745, d2.loss_map_pts: 0.8755, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1644, d3.loss_map_pts: 0.8006, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1566, d4.loss_map_pts: 0.7709, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1506, d5.loss_map_pts: 0.7598, d5.loss_map_dir: 0.0106, loss: 30.0728, grad_norm: 164.6755 +2026-02-26 08:04:49,927 - DriveTransformer - INFO - Epoch [7][3750/39528] lr: 8.550e-05, eta: 6 days, 13:59:43, time: 0.791, data_time: 0.039, memory: 19865, loss_cls: 0.1457, loss_bbox: 0.3699, loss_traj: 0.6843, loss_traj_cls: 0.0010, loss_map_cls: 0.1809, loss_map_pts: 0.7723, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.7266, d0.loss_plan_l1_fix_dist: 0.3276, d1.loss_plan_l1_fix_time: 1.1503, d1.loss_plan_l1_fix_dist: 0.1788, d2.loss_plan_l1_fix_time: 1.1294, d2.loss_plan_l1_fix_dist: 0.1808, d3.loss_plan_l1_fix_time: 1.1283, d3.loss_plan_l1_fix_dist: 0.1904, d4.loss_plan_l1_fix_time: 1.1316, d4.loss_plan_l1_fix_dist: 0.2002, d5.loss_plan_l1_fix_time: 1.1350, d5.loss_plan_l1_fix_dist: 0.2099, d6.loss_plan_l1_fix_time: 1.1387, d6.loss_plan_l1_fix_dist: 0.2236, d0.loss_cls_all: 0.1892, d0.loss_bbox_all: 0.4060, d0.loss_cls: 0.1892, d0.loss_bbox: 0.4060, d1.loss_cls: 0.1783, d1.loss_bbox: 0.3739, d2.loss_cls: 0.1643, d2.loss_bbox: 0.3621, d3.loss_cls: 0.1548, d3.loss_bbox: 0.3604, d4.loss_cls: 0.1467, d4.loss_bbox: 0.3645, d5.loss_cls: 0.1457, d5.loss_bbox: 0.3669, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9297, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7826, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7095, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6836, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6747, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6771, d0.loss_map_cls_all: 0.2564, d0.loss_map_pts_all: 1.6001, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2564, d0.loss_map_pts: 1.6001, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2289, d1.loss_map_pts: 1.0815, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2034, d2.loss_map_pts: 0.8768, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1925, d3.loss_map_pts: 0.8056, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1862, d4.loss_map_pts: 0.7800, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1824, d5.loss_map_pts: 0.7729, d5.loss_map_dir: 0.0110, loss: 30.5826, grad_norm: 166.4074 +2026-02-26 08:05:28,660 - DriveTransformer - INFO - Epoch [7][3800/39528] lr: 8.550e-05, eta: 6 days, 13:58:58, time: 0.775, data_time: 0.041, memory: 19865, loss_cls: 0.1706, loss_bbox: 0.3845, loss_traj: 0.7165, loss_traj_cls: 0.0010, loss_map_cls: 0.1632, loss_map_pts: 0.6928, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.5320, d0.loss_plan_l1_fix_dist: 0.4129, d1.loss_plan_l1_fix_time: 0.9814, d1.loss_plan_l1_fix_dist: 0.1608, d2.loss_plan_l1_fix_time: 0.9772, d2.loss_plan_l1_fix_dist: 0.1632, d3.loss_plan_l1_fix_time: 0.9821, d3.loss_plan_l1_fix_dist: 0.1685, d4.loss_plan_l1_fix_time: 0.9870, d4.loss_plan_l1_fix_dist: 0.1768, d5.loss_plan_l1_fix_time: 0.9924, d5.loss_plan_l1_fix_dist: 0.1872, d6.loss_plan_l1_fix_time: 0.9979, d6.loss_plan_l1_fix_dist: 0.1993, d0.loss_cls_all: 0.2125, d0.loss_bbox_all: 0.4349, d0.loss_cls: 0.2125, d0.loss_bbox: 0.4349, d1.loss_cls: 0.2074, d1.loss_bbox: 0.4022, d2.loss_cls: 0.1925, d2.loss_bbox: 0.3879, d3.loss_cls: 0.1801, d3.loss_bbox: 0.3840, d4.loss_cls: 0.1721, d4.loss_bbox: 0.3850, d5.loss_cls: 0.1709, d5.loss_bbox: 0.3841, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9532, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7930, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7443, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7304, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7183, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7163, d0.loss_map_cls_all: 0.2440, d0.loss_map_pts_all: 1.4107, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2440, d0.loss_map_pts: 1.4107, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2116, d1.loss_map_pts: 0.9737, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1862, d2.loss_map_pts: 0.7925, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1753, d3.loss_map_pts: 0.7270, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1675, d4.loss_map_pts: 0.7017, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1641, d5.loss_map_pts: 0.6945, d5.loss_map_dir: 0.0090, loss: 29.0423, grad_norm: 167.0597 +2026-02-26 08:06:07,569 - DriveTransformer - INFO - Epoch [7][3850/39528] lr: 8.550e-05, eta: 6 days, 13:58:14, time: 0.778, data_time: 0.035, memory: 19865, loss_cls: 0.1662, loss_bbox: 0.3659, loss_traj: 0.7143, loss_traj_cls: 0.0009, loss_map_cls: 0.1811, loss_map_pts: 0.7286, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.9712, d0.loss_plan_l1_fix_dist: 0.4150, d1.loss_plan_l1_fix_time: 1.2110, d1.loss_plan_l1_fix_dist: 0.2062, d2.loss_plan_l1_fix_time: 1.2001, d2.loss_plan_l1_fix_dist: 0.2088, d3.loss_plan_l1_fix_time: 1.2001, d3.loss_plan_l1_fix_dist: 0.2148, d4.loss_plan_l1_fix_time: 1.2030, d4.loss_plan_l1_fix_dist: 0.2225, d5.loss_plan_l1_fix_time: 1.2061, d5.loss_plan_l1_fix_dist: 0.2320, d6.loss_plan_l1_fix_time: 1.2096, d6.loss_plan_l1_fix_dist: 0.2413, d0.loss_cls_all: 0.2042, d0.loss_bbox_all: 0.4367, d0.loss_cls: 0.2042, d0.loss_bbox: 0.4367, d1.loss_cls: 0.1928, d1.loss_bbox: 0.3969, d2.loss_cls: 0.1816, d2.loss_bbox: 0.3762, d3.loss_cls: 0.1726, d3.loss_bbox: 0.3696, d4.loss_cls: 0.1676, d4.loss_bbox: 0.3661, d5.loss_cls: 0.1669, d5.loss_bbox: 0.3654, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9665, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7917, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7459, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7250, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7122, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7110, d0.loss_map_cls_all: 0.2534, d0.loss_map_pts_all: 1.3910, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2534, d0.loss_map_pts: 1.3910, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.2226, d1.loss_map_pts: 0.9824, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.2033, d2.loss_map_pts: 0.8225, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1914, d3.loss_map_pts: 0.7596, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1855, d4.loss_map_pts: 0.7348, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1819, d5.loss_map_pts: 0.7297, d5.loss_map_dir: 0.0093, loss: 31.1681, grad_norm: 166.9169 +2026-02-26 08:06:46,868 - DriveTransformer - INFO - Epoch [7][3900/39528] lr: 8.550e-05, eta: 6 days, 13:57:32, time: 0.786, data_time: 0.045, memory: 19865, loss_cls: 0.1729, loss_bbox: 0.3662, loss_traj: 0.6408, loss_traj_cls: 0.0010, loss_map_cls: 0.1599, loss_map_pts: 0.7314, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.9906, d0.loss_plan_l1_fix_dist: 0.4051, d1.loss_plan_l1_fix_time: 1.2994, d1.loss_plan_l1_fix_dist: 0.1804, d2.loss_plan_l1_fix_time: 1.2894, d2.loss_plan_l1_fix_dist: 0.1817, d3.loss_plan_l1_fix_time: 1.2909, d3.loss_plan_l1_fix_dist: 0.1903, d4.loss_plan_l1_fix_time: 1.2951, d4.loss_plan_l1_fix_dist: 0.2001, d5.loss_plan_l1_fix_time: 1.3003, d5.loss_plan_l1_fix_dist: 0.2108, d6.loss_plan_l1_fix_time: 1.3066, d6.loss_plan_l1_fix_dist: 0.2223, d0.loss_cls_all: 0.2093, d0.loss_bbox_all: 0.4389, d0.loss_cls: 0.2093, d0.loss_bbox: 0.4389, d1.loss_cls: 0.2009, d1.loss_bbox: 0.4029, d2.loss_cls: 0.1865, d2.loss_bbox: 0.3793, d3.loss_cls: 0.1759, d3.loss_bbox: 0.3722, d4.loss_cls: 0.1724, d4.loss_bbox: 0.3688, d5.loss_cls: 0.1727, d5.loss_bbox: 0.3664, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8652, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7033, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6657, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6470, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6420, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6421, d0.loss_map_cls_all: 0.2339, d0.loss_map_pts_all: 1.4616, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2339, d0.loss_map_pts: 1.4616, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2040, d1.loss_map_pts: 1.0193, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1851, d2.loss_map_pts: 0.8288, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1736, d3.loss_map_pts: 0.7610, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1676, d4.loss_map_pts: 0.7362, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1623, d5.loss_map_pts: 0.7305, d5.loss_map_dir: 0.0096, loss: 31.1347, grad_norm: 170.3329 +2026-02-26 08:07:26,045 - DriveTransformer - INFO - Epoch [7][3950/39528] lr: 8.550e-05, eta: 6 days, 13:56:48, time: 0.784, data_time: 0.045, memory: 19865, loss_cls: 0.1679, loss_bbox: 0.3745, loss_traj: 0.7384, loss_traj_cls: 0.0010, loss_map_cls: 0.1650, loss_map_pts: 0.7681, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.9377, d0.loss_plan_l1_fix_dist: 0.3324, d1.loss_plan_l1_fix_time: 1.1485, d1.loss_plan_l1_fix_dist: 0.1653, d2.loss_plan_l1_fix_time: 1.1361, d2.loss_plan_l1_fix_dist: 0.1667, d3.loss_plan_l1_fix_time: 1.1276, d3.loss_plan_l1_fix_dist: 0.1748, d4.loss_plan_l1_fix_time: 1.1300, d4.loss_plan_l1_fix_dist: 0.1842, d5.loss_plan_l1_fix_time: 1.1333, d5.loss_plan_l1_fix_dist: 0.1944, d6.loss_plan_l1_fix_time: 1.1379, d6.loss_plan_l1_fix_dist: 0.2055, d0.loss_cls_all: 0.2072, d0.loss_bbox_all: 0.4281, d0.loss_cls: 0.2072, d0.loss_bbox: 0.4281, d1.loss_cls: 0.1948, d1.loss_bbox: 0.3983, d2.loss_cls: 0.1802, d2.loss_bbox: 0.3801, d3.loss_cls: 0.1710, d3.loss_bbox: 0.3757, d4.loss_cls: 0.1656, d4.loss_bbox: 0.3751, d5.loss_cls: 0.1664, d5.loss_bbox: 0.3734, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9417, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8012, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7626, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7490, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7494, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7395, d0.loss_map_cls_all: 0.2495, d0.loss_map_pts_all: 1.5612, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2495, d0.loss_map_pts: 1.5612, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2175, d1.loss_map_pts: 1.0499, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1898, d2.loss_map_pts: 0.8709, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1792, d3.loss_map_pts: 0.8015, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1727, d4.loss_map_pts: 0.7747, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1681, d5.loss_map_pts: 0.7669, d5.loss_map_dir: 0.0100, loss: 31.0800, grad_norm: 171.3111 +2026-02-26 08:08:04,132 - DriveTransformer - INFO - Epoch [7][4000/39528] lr: 8.550e-05, eta: 6 days, 13:56:02, time: 0.762, data_time: 0.044, memory: 19865, loss_cls: 0.1550, loss_bbox: 0.3493, loss_traj: 0.7272, loss_traj_cls: 0.0010, loss_map_cls: 0.1480, loss_map_pts: 0.7036, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.6398, d0.loss_plan_l1_fix_dist: 0.4027, d1.loss_plan_l1_fix_time: 1.0603, d1.loss_plan_l1_fix_dist: 0.1769, d2.loss_plan_l1_fix_time: 1.0448, d2.loss_plan_l1_fix_dist: 0.1877, d3.loss_plan_l1_fix_time: 1.0469, d3.loss_plan_l1_fix_dist: 0.2029, d4.loss_plan_l1_fix_time: 1.0495, d4.loss_plan_l1_fix_dist: 0.2225, d5.loss_plan_l1_fix_time: 1.0526, d5.loss_plan_l1_fix_dist: 0.2463, d6.loss_plan_l1_fix_time: 1.0558, d6.loss_plan_l1_fix_dist: 0.2742, d0.loss_cls_all: 0.1957, d0.loss_bbox_all: 0.4061, d0.loss_cls: 0.1957, d0.loss_bbox: 0.4061, d1.loss_cls: 0.1838, d1.loss_bbox: 0.3734, d2.loss_cls: 0.1717, d2.loss_bbox: 0.3575, d3.loss_cls: 0.1642, d3.loss_bbox: 0.3515, d4.loss_cls: 0.1572, d4.loss_bbox: 0.3497, d5.loss_cls: 0.1550, d5.loss_bbox: 0.3487, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9696, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7741, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7197, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7137, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7211, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7221, d0.loss_map_cls_all: 0.2208, d0.loss_map_pts_all: 1.3866, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2208, d0.loss_map_pts: 1.3866, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1930, d1.loss_map_pts: 0.9625, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1697, d2.loss_map_pts: 0.7958, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1600, d3.loss_map_pts: 0.7337, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1531, d4.loss_map_pts: 0.7143, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1493, d5.loss_map_pts: 0.7046, d5.loss_map_dir: 0.0096, loss: 29.2148, grad_norm: 169.0828 +2026-02-26 08:08:44,106 - DriveTransformer - INFO - Epoch [7][4050/39528] lr: 8.550e-05, eta: 6 days, 13:55:21, time: 0.799, data_time: 0.036, memory: 19865, loss_cls: 0.1520, loss_bbox: 0.3581, loss_traj: 0.6510, loss_traj_cls: 0.0010, loss_map_cls: 0.1270, loss_map_pts: 0.6109, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.7532, d0.loss_plan_l1_fix_dist: 0.4563, d1.loss_plan_l1_fix_time: 0.9803, d1.loss_plan_l1_fix_dist: 0.1770, d2.loss_plan_l1_fix_time: 0.9586, d2.loss_plan_l1_fix_dist: 0.1922, d3.loss_plan_l1_fix_time: 0.9575, d3.loss_plan_l1_fix_dist: 0.2136, d4.loss_plan_l1_fix_time: 0.9607, d4.loss_plan_l1_fix_dist: 0.2378, d5.loss_plan_l1_fix_time: 0.9648, d5.loss_plan_l1_fix_dist: 0.2670, d6.loss_plan_l1_fix_time: 0.9690, d6.loss_plan_l1_fix_dist: 0.3002, d0.loss_cls_all: 0.1846, d0.loss_bbox_all: 0.4081, d0.loss_cls: 0.1846, d0.loss_bbox: 0.4081, d1.loss_cls: 0.1785, d1.loss_bbox: 0.3734, d2.loss_cls: 0.1678, d2.loss_bbox: 0.3597, d3.loss_cls: 0.1562, d3.loss_bbox: 0.3568, d4.loss_cls: 0.1512, d4.loss_bbox: 0.3574, d5.loss_cls: 0.1516, d5.loss_bbox: 0.3579, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7718, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6555, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6369, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6385, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6394, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6515, d0.loss_map_cls_all: 0.2056, d0.loss_map_pts_all: 1.2741, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2056, d0.loss_map_pts: 1.2741, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1699, d1.loss_map_pts: 0.8634, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1488, d2.loss_map_pts: 0.7009, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1401, d3.loss_map_pts: 0.6434, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1332, d4.loss_map_pts: 0.6192, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1286, d5.loss_map_pts: 0.6108, d5.loss_map_dir: 0.0096, loss: 27.2742, grad_norm: 172.6349 +2026-02-26 08:09:22,640 - DriveTransformer - INFO - Epoch [7][4100/39528] lr: 8.550e-05, eta: 6 days, 13:54:36, time: 0.771, data_time: 0.034, memory: 19865, loss_cls: 0.1780, loss_bbox: 0.4243, loss_traj: 0.8924, loss_traj_cls: 0.0010, loss_map_cls: 0.1675, loss_map_pts: 0.6826, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 3.0805, d0.loss_plan_l1_fix_dist: 0.4030, d1.loss_plan_l1_fix_time: 1.2686, d1.loss_plan_l1_fix_dist: 0.1887, d2.loss_plan_l1_fix_time: 1.2539, d2.loss_plan_l1_fix_dist: 0.1969, d3.loss_plan_l1_fix_time: 1.2435, d3.loss_plan_l1_fix_dist: 0.2108, d4.loss_plan_l1_fix_time: 1.2460, d4.loss_plan_l1_fix_dist: 0.2235, d5.loss_plan_l1_fix_time: 1.2503, d5.loss_plan_l1_fix_dist: 0.2381, d6.loss_plan_l1_fix_time: 1.2554, d6.loss_plan_l1_fix_dist: 0.2564, d0.loss_cls_all: 0.2132, d0.loss_bbox_all: 0.4638, d0.loss_cls: 0.2132, d0.loss_bbox: 0.4638, d1.loss_cls: 0.2039, d1.loss_bbox: 0.4321, d2.loss_cls: 0.1895, d2.loss_bbox: 0.4203, d3.loss_cls: 0.1828, d3.loss_bbox: 0.4187, d4.loss_cls: 0.1778, d4.loss_bbox: 0.4219, d5.loss_cls: 0.1757, d5.loss_bbox: 0.4228, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0818, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8779, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8685, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8683, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8791, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.8867, d0.loss_map_cls_all: 0.2418, d0.loss_map_pts_all: 1.3717, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2418, d0.loss_map_pts: 1.3717, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.2073, d1.loss_map_pts: 0.9385, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1867, d2.loss_map_pts: 0.7725, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1774, d3.loss_map_pts: 0.7133, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1717, d4.loss_map_pts: 0.6891, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1679, d5.loss_map_pts: 0.6838, d5.loss_map_dir: 0.0093, loss: 32.5354, grad_norm: 173.1889 +2026-02-26 08:10:02,981 - DriveTransformer - INFO - Epoch [7][4150/39528] lr: 8.550e-05, eta: 6 days, 13:53:57, time: 0.807, data_time: 0.036, memory: 19865, loss_cls: 0.1737, loss_bbox: 0.3986, loss_traj: 0.6755, loss_traj_cls: 0.0010, loss_map_cls: 0.1595, loss_map_pts: 0.7513, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.4745, d0.loss_plan_l1_fix_dist: 0.4607, d1.loss_plan_l1_fix_time: 1.0848, d1.loss_plan_l1_fix_dist: 0.2067, d2.loss_plan_l1_fix_time: 1.0787, d2.loss_plan_l1_fix_dist: 0.2124, d3.loss_plan_l1_fix_time: 1.0888, d3.loss_plan_l1_fix_dist: 0.2228, d4.loss_plan_l1_fix_time: 1.0936, d4.loss_plan_l1_fix_dist: 0.2342, d5.loss_plan_l1_fix_time: 1.0989, d5.loss_plan_l1_fix_dist: 0.2437, d6.loss_plan_l1_fix_time: 1.1051, d6.loss_plan_l1_fix_dist: 0.2539, d0.loss_cls_all: 0.2123, d0.loss_bbox_all: 0.4431, d0.loss_cls: 0.2123, d0.loss_bbox: 0.4431, d1.loss_cls: 0.2030, d1.loss_bbox: 0.4134, d2.loss_cls: 0.1871, d2.loss_bbox: 0.3983, d3.loss_cls: 0.1770, d3.loss_bbox: 0.3961, d4.loss_cls: 0.1757, d4.loss_bbox: 0.3949, d5.loss_cls: 0.1729, d5.loss_bbox: 0.3963, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7861, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6764, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6828, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6781, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6731, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6791, d0.loss_map_cls_all: 0.2333, d0.loss_map_pts_all: 1.5345, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2333, d0.loss_map_pts: 1.5345, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2006, d1.loss_map_pts: 1.0375, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.1787, d2.loss_map_pts: 0.8510, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1694, d3.loss_map_pts: 0.7891, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1631, d4.loss_map_pts: 0.7607, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1596, d5.loss_map_pts: 0.7529, d5.loss_map_dir: 0.0111, loss: 30.1104, grad_norm: 172.4188 +2026-02-26 08:10:40,606 - DriveTransformer - INFO - Epoch [7][4200/39528] lr: 8.550e-05, eta: 6 days, 13:53:09, time: 0.753, data_time: 0.044, memory: 19865, loss_cls: 0.1851, loss_bbox: 0.3875, loss_traj: 0.6054, loss_traj_cls: 0.0010, loss_map_cls: 0.1694, loss_map_pts: 0.7058, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.6615, d0.loss_plan_l1_fix_dist: 0.4612, d1.loss_plan_l1_fix_time: 1.1956, d1.loss_plan_l1_fix_dist: 0.1725, d2.loss_plan_l1_fix_time: 1.1780, d2.loss_plan_l1_fix_dist: 0.1769, d3.loss_plan_l1_fix_time: 1.1753, d3.loss_plan_l1_fix_dist: 0.1845, d4.loss_plan_l1_fix_time: 1.1769, d4.loss_plan_l1_fix_dist: 0.1958, d5.loss_plan_l1_fix_time: 1.1793, d5.loss_plan_l1_fix_dist: 0.2091, d6.loss_plan_l1_fix_time: 1.1827, d6.loss_plan_l1_fix_dist: 0.2225, d0.loss_cls_all: 0.2346, d0.loss_bbox_all: 0.4364, d0.loss_cls: 0.2346, d0.loss_bbox: 0.4364, d1.loss_cls: 0.2205, d1.loss_bbox: 0.4046, d2.loss_cls: 0.2035, d2.loss_bbox: 0.3878, d3.loss_cls: 0.1923, d3.loss_bbox: 0.3825, d4.loss_cls: 0.1866, d4.loss_bbox: 0.3820, d5.loss_cls: 0.1839, d5.loss_bbox: 0.3851, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7864, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6425, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6014, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5989, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6014, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6031, d0.loss_map_cls_all: 0.2418, d0.loss_map_pts_all: 1.3248, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2418, d0.loss_map_pts: 1.3248, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.2097, d1.loss_map_pts: 0.9628, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1894, d2.loss_map_pts: 0.7985, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1801, d3.loss_map_pts: 0.7376, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1734, d4.loss_map_pts: 0.7156, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1716, d5.loss_map_pts: 0.7054, d5.loss_map_dir: 0.0087, loss: 29.5787, grad_norm: 169.7864 +2026-02-26 08:11:18,637 - DriveTransformer - INFO - Epoch [7][4250/39528] lr: 8.550e-05, eta: 6 days, 13:52:22, time: 0.761, data_time: 0.039, memory: 19865, loss_cls: 0.1594, loss_bbox: 0.3386, loss_traj: 0.6297, loss_traj_cls: 0.0010, loss_map_cls: 0.1240, loss_map_pts: 0.5630, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.4680, d0.loss_plan_l1_fix_dist: 0.4387, d1.loss_plan_l1_fix_time: 0.9075, d1.loss_plan_l1_fix_dist: 0.1621, d2.loss_plan_l1_fix_time: 0.8937, d2.loss_plan_l1_fix_dist: 0.1637, d3.loss_plan_l1_fix_time: 0.8966, d3.loss_plan_l1_fix_dist: 0.1751, d4.loss_plan_l1_fix_time: 0.9004, d4.loss_plan_l1_fix_dist: 0.1859, d5.loss_plan_l1_fix_time: 0.9040, d5.loss_plan_l1_fix_dist: 0.1976, d6.loss_plan_l1_fix_time: 0.9079, d6.loss_plan_l1_fix_dist: 0.2125, d0.loss_cls_all: 0.2001, d0.loss_bbox_all: 0.3923, d0.loss_cls: 0.2001, d0.loss_bbox: 0.3923, d1.loss_cls: 0.1852, d1.loss_bbox: 0.3625, d2.loss_cls: 0.1740, d2.loss_bbox: 0.3444, d3.loss_cls: 0.1638, d3.loss_bbox: 0.3392, d4.loss_cls: 0.1601, d4.loss_bbox: 0.3387, d5.loss_cls: 0.1590, d5.loss_bbox: 0.3381, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8165, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6562, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6285, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6230, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6240, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6289, d0.loss_map_cls_all: 0.2005, d0.loss_map_pts_all: 1.1110, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2005, d0.loss_map_pts: 1.1110, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1721, d1.loss_map_pts: 0.7659, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1467, d2.loss_map_pts: 0.6330, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1365, d3.loss_map_pts: 0.5793, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1285, d4.loss_map_pts: 0.5653, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1261, d5.loss_map_pts: 0.5615, d5.loss_map_dir: 0.0074, loss: 25.4573, grad_norm: 166.4332 +2026-02-26 08:11:57,960 - DriveTransformer - INFO - Epoch [7][4300/39528] lr: 8.550e-05, eta: 6 days, 13:51:40, time: 0.786, data_time: 0.043, memory: 19865, loss_cls: 0.1342, loss_bbox: 0.3418, loss_traj: 0.6098, loss_traj_cls: 0.0010, loss_map_cls: 0.1351, loss_map_pts: 0.6246, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.4709, d0.loss_plan_l1_fix_dist: 0.3874, d1.loss_plan_l1_fix_time: 0.9857, d1.loss_plan_l1_fix_dist: 0.1739, d2.loss_plan_l1_fix_time: 0.9757, d2.loss_plan_l1_fix_dist: 0.1711, d3.loss_plan_l1_fix_time: 0.9824, d3.loss_plan_l1_fix_dist: 0.1780, d4.loss_plan_l1_fix_time: 0.9877, d4.loss_plan_l1_fix_dist: 0.1867, d5.loss_plan_l1_fix_time: 0.9928, d5.loss_plan_l1_fix_dist: 0.1969, d6.loss_plan_l1_fix_time: 0.9982, d6.loss_plan_l1_fix_dist: 0.2114, d0.loss_cls_all: 0.1683, d0.loss_bbox_all: 0.3880, d0.loss_cls: 0.1683, d0.loss_bbox: 0.3880, d1.loss_cls: 0.1604, d1.loss_bbox: 0.3594, d2.loss_cls: 0.1476, d2.loss_bbox: 0.3439, d3.loss_cls: 0.1385, d3.loss_bbox: 0.3397, d4.loss_cls: 0.1345, d4.loss_bbox: 0.3399, d5.loss_cls: 0.1347, d5.loss_bbox: 0.3392, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8154, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6556, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6233, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6175, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6152, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6153, d0.loss_map_cls_all: 0.2179, d0.loss_map_pts_all: 1.3826, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2179, d0.loss_map_pts: 1.3826, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1838, d1.loss_map_pts: 0.9198, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1626, d2.loss_map_pts: 0.7275, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1501, d3.loss_map_pts: 0.6579, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1421, d4.loss_map_pts: 0.6316, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1367, d5.loss_map_pts: 0.6246, d5.loss_map_dir: 0.0095, loss: 26.8537, grad_norm: 167.2853 +2026-02-26 08:12:36,158 - DriveTransformer - INFO - Epoch [7][4350/39528] lr: 8.550e-05, eta: 6 days, 13:50:54, time: 0.764, data_time: 0.038, memory: 19865, loss_cls: 0.1538, loss_bbox: 0.3636, loss_traj: 0.7414, loss_traj_cls: 0.0010, loss_map_cls: 0.1386, loss_map_pts: 0.6254, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.5420, d0.loss_plan_l1_fix_dist: 0.3308, d1.loss_plan_l1_fix_time: 1.0719, d1.loss_plan_l1_fix_dist: 0.1648, d2.loss_plan_l1_fix_time: 1.0640, d2.loss_plan_l1_fix_dist: 0.1672, d3.loss_plan_l1_fix_time: 1.0612, d3.loss_plan_l1_fix_dist: 0.1737, d4.loss_plan_l1_fix_time: 1.0640, d4.loss_plan_l1_fix_dist: 0.1825, d5.loss_plan_l1_fix_time: 1.0674, d5.loss_plan_l1_fix_dist: 0.1925, d6.loss_plan_l1_fix_time: 1.0713, d6.loss_plan_l1_fix_dist: 0.2029, d0.loss_cls_all: 0.1892, d0.loss_bbox_all: 0.4144, d0.loss_cls: 0.1892, d0.loss_bbox: 0.4144, d1.loss_cls: 0.1805, d1.loss_bbox: 0.3815, d2.loss_cls: 0.1674, d2.loss_bbox: 0.3662, d3.loss_cls: 0.1607, d3.loss_bbox: 0.3580, d4.loss_cls: 0.1573, d4.loss_bbox: 0.3578, d5.loss_cls: 0.1539, d5.loss_bbox: 0.3596, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9805, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7916, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7508, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7408, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7421, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7439, d0.loss_map_cls_all: 0.2180, d0.loss_map_pts_all: 1.3075, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2180, d0.loss_map_pts: 1.3075, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1873, d1.loss_map_pts: 0.8989, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1641, d2.loss_map_pts: 0.7275, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1545, d3.loss_map_pts: 0.6626, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1452, d4.loss_map_pts: 0.6354, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1412, d5.loss_map_pts: 0.6257, d5.loss_map_dir: 0.0083, loss: 28.4426, grad_norm: 167.2026 +2026-02-26 08:13:15,666 - DriveTransformer - INFO - Epoch [7][4400/39528] lr: 8.550e-05, eta: 6 days, 13:50:12, time: 0.792, data_time: 0.035, memory: 19865, loss_cls: 0.1720, loss_bbox: 0.3665, loss_traj: 0.6912, loss_traj_cls: 0.0009, loss_map_cls: 0.1453, loss_map_pts: 0.6807, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.4729, d0.loss_plan_l1_fix_dist: 0.4381, d1.loss_plan_l1_fix_time: 0.9726, d1.loss_plan_l1_fix_dist: 0.1855, d2.loss_plan_l1_fix_time: 0.9594, d2.loss_plan_l1_fix_dist: 0.1884, d3.loss_plan_l1_fix_time: 0.9597, d3.loss_plan_l1_fix_dist: 0.1962, d4.loss_plan_l1_fix_time: 0.9631, d4.loss_plan_l1_fix_dist: 0.2050, d5.loss_plan_l1_fix_time: 0.9671, d5.loss_plan_l1_fix_dist: 0.2157, d6.loss_plan_l1_fix_time: 0.9719, d6.loss_plan_l1_fix_dist: 0.2282, d0.loss_cls_all: 0.2148, d0.loss_bbox_all: 0.4239, d0.loss_cls: 0.2148, d0.loss_bbox: 0.4239, d1.loss_cls: 0.2082, d1.loss_bbox: 0.3919, d2.loss_cls: 0.1879, d2.loss_bbox: 0.3762, d3.loss_cls: 0.1771, d3.loss_bbox: 0.3692, d4.loss_cls: 0.1739, d4.loss_bbox: 0.3669, d5.loss_cls: 0.1732, d5.loss_bbox: 0.3647, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9119, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7381, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6930, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6880, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6870, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6866, d0.loss_map_cls_all: 0.2188, d0.loss_map_pts_all: 1.3706, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2188, d0.loss_map_pts: 1.3706, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1916, d1.loss_map_pts: 0.9372, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1663, d2.loss_map_pts: 0.7640, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1566, d3.loss_map_pts: 0.7052, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1503, d4.loss_map_pts: 0.6867, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1466, d5.loss_map_pts: 0.6820, d5.loss_map_dir: 0.0096, loss: 28.2965, grad_norm: 168.3731 +2026-02-26 08:13:54,878 - DriveTransformer - INFO - Epoch [7][4450/39528] lr: 8.550e-05, eta: 6 days, 13:49:29, time: 0.783, data_time: 0.038, memory: 19865, loss_cls: 0.1510, loss_bbox: 0.3406, loss_traj: 0.6566, loss_traj_cls: 0.0010, loss_map_cls: 0.1428, loss_map_pts: 0.6548, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.3117, d0.loss_plan_l1_fix_dist: 0.3599, d1.loss_plan_l1_fix_time: 0.9169, d1.loss_plan_l1_fix_dist: 0.1562, d2.loss_plan_l1_fix_time: 0.9007, d2.loss_plan_l1_fix_dist: 0.1597, d3.loss_plan_l1_fix_time: 0.9052, d3.loss_plan_l1_fix_dist: 0.1664, d4.loss_plan_l1_fix_time: 0.9093, d4.loss_plan_l1_fix_dist: 0.1738, d5.loss_plan_l1_fix_time: 0.9138, d5.loss_plan_l1_fix_dist: 0.1825, d6.loss_plan_l1_fix_time: 0.9193, d6.loss_plan_l1_fix_dist: 0.1918, d0.loss_cls_all: 0.1904, d0.loss_bbox_all: 0.4006, d0.loss_cls: 0.1904, d0.loss_bbox: 0.4006, d1.loss_cls: 0.1805, d1.loss_bbox: 0.3665, d2.loss_cls: 0.1683, d2.loss_bbox: 0.3505, d3.loss_cls: 0.1558, d3.loss_bbox: 0.3451, d4.loss_cls: 0.1533, d4.loss_bbox: 0.3410, d5.loss_cls: 0.1512, d5.loss_bbox: 0.3402, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8290, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6902, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6647, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6526, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6572, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6583, d0.loss_map_cls_all: 0.2268, d0.loss_map_pts_all: 1.4405, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2268, d0.loss_map_pts: 1.4405, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1937, d1.loss_map_pts: 0.9537, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1723, d2.loss_map_pts: 0.7667, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1619, d3.loss_map_pts: 0.6958, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1504, d4.loss_map_pts: 0.6683, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1441, d5.loss_map_pts: 0.6557, d5.loss_map_dir: 0.0091, loss: 26.9750, grad_norm: 167.7666 +2026-02-26 08:14:33,588 - DriveTransformer - INFO - Epoch [7][4500/39528] lr: 8.550e-05, eta: 6 days, 13:48:44, time: 0.774, data_time: 0.037, memory: 19865, loss_cls: 0.1752, loss_bbox: 0.3860, loss_traj: 0.7685, loss_traj_cls: 0.0009, loss_map_cls: 0.1811, loss_map_pts: 0.7610, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.5338, d0.loss_plan_l1_fix_dist: 0.4176, d1.loss_plan_l1_fix_time: 1.2745, d1.loss_plan_l1_fix_dist: 0.1862, d2.loss_plan_l1_fix_time: 1.2725, d2.loss_plan_l1_fix_dist: 0.1872, d3.loss_plan_l1_fix_time: 1.2796, d3.loss_plan_l1_fix_dist: 0.1940, d4.loss_plan_l1_fix_time: 1.2836, d4.loss_plan_l1_fix_dist: 0.2035, d5.loss_plan_l1_fix_time: 1.2876, d5.loss_plan_l1_fix_dist: 0.2153, d6.loss_plan_l1_fix_time: 1.2920, d6.loss_plan_l1_fix_dist: 0.2279, d0.loss_cls_all: 0.2191, d0.loss_bbox_all: 0.4397, d0.loss_cls: 0.2191, d0.loss_bbox: 0.4397, d1.loss_cls: 0.2081, d1.loss_bbox: 0.4065, d2.loss_cls: 0.1938, d2.loss_bbox: 0.3900, d3.loss_cls: 0.1834, d3.loss_bbox: 0.3840, d4.loss_cls: 0.1774, d4.loss_bbox: 0.3847, d5.loss_cls: 0.1749, d5.loss_bbox: 0.3856, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9703, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8126, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7866, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7743, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7733, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7667, d0.loss_map_cls_all: 0.2611, d0.loss_map_pts_all: 1.5059, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2611, d0.loss_map_pts: 1.5059, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2289, d1.loss_map_pts: 1.0486, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.2062, d2.loss_map_pts: 0.8599, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1952, d3.loss_map_pts: 0.7960, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1888, d4.loss_map_pts: 0.7694, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1831, d5.loss_map_pts: 0.7606, d5.loss_map_dir: 0.0091, loss: 32.0652, grad_norm: 166.6517 +2026-02-26 08:15:12,245 - DriveTransformer - INFO - Epoch [7][4550/39528] lr: 8.550e-05, eta: 6 days, 13:47:59, time: 0.773, data_time: 0.038, memory: 19865, loss_cls: 0.1718, loss_bbox: 0.3943, loss_traj: 0.6556, loss_traj_cls: 0.0009, loss_map_cls: 0.1818, loss_map_pts: 0.7809, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.9206, d0.loss_plan_l1_fix_dist: 0.3964, d1.loss_plan_l1_fix_time: 1.2434, d1.loss_plan_l1_fix_dist: 0.1876, d2.loss_plan_l1_fix_time: 1.2370, d2.loss_plan_l1_fix_dist: 0.1900, d3.loss_plan_l1_fix_time: 1.2391, d3.loss_plan_l1_fix_dist: 0.1948, d4.loss_plan_l1_fix_time: 1.2439, d4.loss_plan_l1_fix_dist: 0.2011, d5.loss_plan_l1_fix_time: 1.2491, d5.loss_plan_l1_fix_dist: 0.2099, d6.loss_plan_l1_fix_time: 1.2541, d6.loss_plan_l1_fix_dist: 0.2216, d0.loss_cls_all: 0.2143, d0.loss_bbox_all: 0.4508, d0.loss_cls: 0.2143, d0.loss_bbox: 0.4508, d1.loss_cls: 0.2057, d1.loss_bbox: 0.4186, d2.loss_cls: 0.1898, d2.loss_bbox: 0.4032, d3.loss_cls: 0.1801, d3.loss_bbox: 0.3965, d4.loss_cls: 0.1750, d4.loss_bbox: 0.3939, d5.loss_cls: 0.1709, d5.loss_bbox: 0.3947, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8160, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6847, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6720, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6533, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6550, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6546, d0.loss_map_cls_all: 0.2630, d0.loss_map_pts_all: 1.5009, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2630, d0.loss_map_pts: 1.5009, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2282, d1.loss_map_pts: 1.0584, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.2089, d2.loss_map_pts: 0.8870, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1957, d3.loss_map_pts: 0.8109, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1889, d4.loss_map_pts: 0.7849, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1835, d5.loss_map_pts: 0.7794, d5.loss_map_dir: 0.0101, loss: 31.5053, grad_norm: 165.8449 +2026-02-26 08:15:50,879 - DriveTransformer - INFO - Epoch [7][4600/39528] lr: 8.550e-05, eta: 6 days, 13:47:15, time: 0.773, data_time: 0.034, memory: 19865, loss_cls: 0.1657, loss_bbox: 0.3721, loss_traj: 0.6465, loss_traj_cls: 0.0010, loss_map_cls: 0.1481, loss_map_pts: 0.6738, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.5581, d0.loss_plan_l1_fix_dist: 0.4869, d1.loss_plan_l1_fix_time: 1.0023, d1.loss_plan_l1_fix_dist: 0.1738, d2.loss_plan_l1_fix_time: 0.9883, d2.loss_plan_l1_fix_dist: 0.1746, d3.loss_plan_l1_fix_time: 0.9917, d3.loss_plan_l1_fix_dist: 0.1829, d4.loss_plan_l1_fix_time: 0.9957, d4.loss_plan_l1_fix_dist: 0.1949, d5.loss_plan_l1_fix_time: 0.9998, d5.loss_plan_l1_fix_dist: 0.2062, d6.loss_plan_l1_fix_time: 1.0041, d6.loss_plan_l1_fix_dist: 0.2149, d0.loss_cls_all: 0.2004, d0.loss_bbox_all: 0.4284, d0.loss_cls: 0.2004, d0.loss_bbox: 0.4284, d1.loss_cls: 0.1932, d1.loss_bbox: 0.3986, d2.loss_cls: 0.1810, d2.loss_bbox: 0.3821, d3.loss_cls: 0.1735, d3.loss_bbox: 0.3755, d4.loss_cls: 0.1683, d4.loss_bbox: 0.3719, d5.loss_cls: 0.1658, d5.loss_bbox: 0.3708, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8875, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7086, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6655, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6530, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6527, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6425, d0.loss_map_cls_all: 0.2148, d0.loss_map_pts_all: 1.3513, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2148, d0.loss_map_pts: 1.3513, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1914, d1.loss_map_pts: 0.9537, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1686, d2.loss_map_pts: 0.7763, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1591, d3.loss_map_pts: 0.7049, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1522, d4.loss_map_pts: 0.6830, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1495, d5.loss_map_pts: 0.6742, d5.loss_map_dir: 0.0093, loss: 28.2509, grad_norm: 165.2444 +2026-02-26 08:16:29,871 - DriveTransformer - INFO - Epoch [7][4650/39528] lr: 8.550e-05, eta: 6 days, 13:46:31, time: 0.780, data_time: 0.038, memory: 19865, loss_cls: 0.1707, loss_bbox: 0.3761, loss_traj: 0.5936, loss_traj_cls: 0.0010, loss_map_cls: 0.1462, loss_map_pts: 0.7070, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.3650, d0.loss_plan_l1_fix_dist: 0.4775, d1.loss_plan_l1_fix_time: 1.0746, d1.loss_plan_l1_fix_dist: 0.1607, d2.loss_plan_l1_fix_time: 1.0435, d2.loss_plan_l1_fix_dist: 0.1606, d3.loss_plan_l1_fix_time: 1.0395, d3.loss_plan_l1_fix_dist: 0.1701, d4.loss_plan_l1_fix_time: 1.0426, d4.loss_plan_l1_fix_dist: 0.1841, d5.loss_plan_l1_fix_time: 1.0466, d5.loss_plan_l1_fix_dist: 0.2011, d6.loss_plan_l1_fix_time: 1.0526, d6.loss_plan_l1_fix_dist: 0.2240, d0.loss_cls_all: 0.2129, d0.loss_bbox_all: 0.4273, d0.loss_cls: 0.2129, d0.loss_bbox: 0.4273, d1.loss_cls: 0.2025, d1.loss_bbox: 0.3978, d2.loss_cls: 0.1882, d2.loss_bbox: 0.3796, d3.loss_cls: 0.1774, d3.loss_bbox: 0.3713, d4.loss_cls: 0.1710, d4.loss_bbox: 0.3728, d5.loss_cls: 0.1711, d5.loss_bbox: 0.3736, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7678, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6348, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6008, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5901, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5967, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5895, d0.loss_map_cls_all: 0.2241, d0.loss_map_pts_all: 1.4473, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2241, d0.loss_map_pts: 1.4473, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1961, d1.loss_map_pts: 0.9873, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1732, d2.loss_map_pts: 0.8015, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1634, d3.loss_map_pts: 0.7332, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1543, d4.loss_map_pts: 0.7128, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1482, d5.loss_map_pts: 0.7087, d5.loss_map_dir: 0.0107, loss: 28.3118, grad_norm: 167.4371 +2026-02-26 08:17:08,906 - DriveTransformer - INFO - Epoch [7][4700/39528] lr: 8.550e-05, eta: 6 days, 13:45:48, time: 0.781, data_time: 0.044, memory: 19865, loss_cls: 0.1545, loss_bbox: 0.3574, loss_traj: 0.5981, loss_traj_cls: 0.0010, loss_map_cls: 0.1442, loss_map_pts: 0.6248, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.4581, d0.loss_plan_l1_fix_dist: 0.3422, d1.loss_plan_l1_fix_time: 0.9980, d1.loss_plan_l1_fix_dist: 0.1608, d2.loss_plan_l1_fix_time: 0.9786, d2.loss_plan_l1_fix_dist: 0.1658, d3.loss_plan_l1_fix_time: 0.9780, d3.loss_plan_l1_fix_dist: 0.1761, d4.loss_plan_l1_fix_time: 0.9808, d4.loss_plan_l1_fix_dist: 0.1866, d5.loss_plan_l1_fix_time: 0.9842, d5.loss_plan_l1_fix_dist: 0.1991, d6.loss_plan_l1_fix_time: 0.9884, d6.loss_plan_l1_fix_dist: 0.2157, d0.loss_cls_all: 0.1872, d0.loss_bbox_all: 0.4169, d0.loss_cls: 0.1872, d0.loss_bbox: 0.4169, d1.loss_cls: 0.1822, d1.loss_bbox: 0.3839, d2.loss_cls: 0.1693, d2.loss_bbox: 0.3664, d3.loss_cls: 0.1583, d3.loss_bbox: 0.3595, d4.loss_cls: 0.1556, d4.loss_bbox: 0.3563, d5.loss_cls: 0.1544, d5.loss_bbox: 0.3554, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7872, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6517, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6162, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6049, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5987, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5992, d0.loss_map_cls_all: 0.2198, d0.loss_map_pts_all: 1.3026, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2198, d0.loss_map_pts: 1.3026, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1881, d1.loss_map_pts: 0.8817, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1637, d2.loss_map_pts: 0.7199, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1527, d3.loss_map_pts: 0.6557, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1477, d4.loss_map_pts: 0.6327, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1460, d5.loss_map_pts: 0.6266, d5.loss_map_dir: 0.0091, loss: 26.8346, grad_norm: 164.3203 +2026-02-26 08:17:49,005 - DriveTransformer - INFO - Epoch [7][4750/39528] lr: 8.550e-05, eta: 6 days, 13:45:07, time: 0.802, data_time: 0.041, memory: 19865, loss_cls: 0.1628, loss_bbox: 0.3537, loss_traj: 0.5912, loss_traj_cls: 0.0010, loss_map_cls: 0.1569, loss_map_pts: 0.7094, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.5891, d0.loss_plan_l1_fix_dist: 0.4017, d1.loss_plan_l1_fix_time: 1.0847, d1.loss_plan_l1_fix_dist: 0.1701, d2.loss_plan_l1_fix_time: 1.0808, d2.loss_plan_l1_fix_dist: 0.1742, d3.loss_plan_l1_fix_time: 1.0822, d3.loss_plan_l1_fix_dist: 0.1845, d4.loss_plan_l1_fix_time: 1.0860, d4.loss_plan_l1_fix_dist: 0.1946, d5.loss_plan_l1_fix_time: 1.0903, d5.loss_plan_l1_fix_dist: 0.2058, d6.loss_plan_l1_fix_time: 1.0945, d6.loss_plan_l1_fix_dist: 0.2167, d0.loss_cls_all: 0.1952, d0.loss_bbox_all: 0.4095, d0.loss_cls: 0.1952, d0.loss_bbox: 0.4095, d1.loss_cls: 0.1926, d1.loss_bbox: 0.3776, d2.loss_cls: 0.1750, d2.loss_bbox: 0.3643, d3.loss_cls: 0.1663, d3.loss_bbox: 0.3579, d4.loss_cls: 0.1627, d4.loss_bbox: 0.3553, d5.loss_cls: 0.1613, d5.loss_bbox: 0.3544, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7744, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6484, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6002, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5887, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5870, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5870, d0.loss_map_cls_all: 0.2326, d0.loss_map_pts_all: 1.4910, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2326, d0.loss_map_pts: 1.4910, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1968, d1.loss_map_pts: 1.0127, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1760, d2.loss_map_pts: 0.8182, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1695, d3.loss_map_pts: 0.7496, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1655, d4.loss_map_pts: 0.7192, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1602, d5.loss_map_pts: 0.7114, d5.loss_map_dir: 0.0109, loss: 28.7073, grad_norm: 165.8242 +2026-02-26 08:18:27,639 - DriveTransformer - INFO - Epoch [7][4800/39528] lr: 8.550e-05, eta: 6 days, 13:44:23, time: 0.773, data_time: 0.037, memory: 19865, loss_cls: 0.1803, loss_bbox: 0.3910, loss_traj: 0.6764, loss_traj_cls: 0.0009, loss_map_cls: 0.1723, loss_map_pts: 0.7549, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.9231, d0.loss_plan_l1_fix_dist: 0.3574, d1.loss_plan_l1_fix_time: 1.2576, d1.loss_plan_l1_fix_dist: 0.1672, d2.loss_plan_l1_fix_time: 1.2493, d2.loss_plan_l1_fix_dist: 0.1702, d3.loss_plan_l1_fix_time: 1.2483, d3.loss_plan_l1_fix_dist: 0.1795, d4.loss_plan_l1_fix_time: 1.2512, d4.loss_plan_l1_fix_dist: 0.1904, d5.loss_plan_l1_fix_time: 1.2546, d5.loss_plan_l1_fix_dist: 0.2027, d6.loss_plan_l1_fix_time: 1.2583, d6.loss_plan_l1_fix_dist: 0.2162, d0.loss_cls_all: 0.2294, d0.loss_bbox_all: 0.4569, d0.loss_cls: 0.2294, d0.loss_bbox: 0.4569, d1.loss_cls: 0.2179, d1.loss_bbox: 0.4197, d2.loss_cls: 0.2055, d2.loss_bbox: 0.4022, d3.loss_cls: 0.1914, d3.loss_bbox: 0.3925, d4.loss_cls: 0.1848, d4.loss_bbox: 0.3913, d5.loss_cls: 0.1828, d5.loss_bbox: 0.3904, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8577, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7254, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6911, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6785, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6758, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6747, d0.loss_map_cls_all: 0.2495, d0.loss_map_pts_all: 1.4586, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2495, d0.loss_map_pts: 1.4586, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2124, d1.loss_map_pts: 1.0311, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1947, d2.loss_map_pts: 0.8514, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1840, d3.loss_map_pts: 0.7870, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1779, d4.loss_map_pts: 0.7653, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1740, d5.loss_map_pts: 0.7547, d5.loss_map_dir: 0.0099, loss: 31.3869, grad_norm: 164.6117 +2026-02-26 08:19:06,767 - DriveTransformer - INFO - Epoch [7][4850/39528] lr: 8.550e-05, eta: 6 days, 13:43:39, time: 0.783, data_time: 0.044, memory: 19865, loss_cls: 0.1590, loss_bbox: 0.3641, loss_traj: 0.6845, loss_traj_cls: 0.0010, loss_map_cls: 0.1651, loss_map_pts: 0.7731, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.6778, d0.loss_plan_l1_fix_dist: 0.3723, d1.loss_plan_l1_fix_time: 1.1288, d1.loss_plan_l1_fix_dist: 0.1669, d2.loss_plan_l1_fix_time: 1.1170, d2.loss_plan_l1_fix_dist: 0.1714, d3.loss_plan_l1_fix_time: 1.1115, d3.loss_plan_l1_fix_dist: 0.1795, d4.loss_plan_l1_fix_time: 1.1132, d4.loss_plan_l1_fix_dist: 0.1906, d5.loss_plan_l1_fix_time: 1.1159, d5.loss_plan_l1_fix_dist: 0.2024, d6.loss_plan_l1_fix_time: 1.1193, d6.loss_plan_l1_fix_dist: 0.2175, d0.loss_cls_all: 0.1936, d0.loss_bbox_all: 0.4186, d0.loss_cls: 0.1936, d0.loss_bbox: 0.4186, d1.loss_cls: 0.1833, d1.loss_bbox: 0.3868, d2.loss_cls: 0.1755, d2.loss_bbox: 0.3685, d3.loss_cls: 0.1660, d3.loss_bbox: 0.3643, d4.loss_cls: 0.1605, d4.loss_bbox: 0.3636, d5.loss_cls: 0.1594, d5.loss_bbox: 0.3635, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8779, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7366, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7037, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6907, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6874, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6811, d0.loss_map_cls_all: 0.2418, d0.loss_map_pts_all: 1.5047, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2418, d0.loss_map_pts: 1.5047, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2077, d1.loss_map_pts: 1.0651, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1868, d2.loss_map_pts: 0.8845, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1755, d3.loss_map_pts: 0.8083, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1710, d4.loss_map_pts: 0.7803, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1661, d5.loss_map_pts: 0.7743, d5.loss_map_dir: 0.0091, loss: 30.1133, grad_norm: 164.1472 +2026-02-26 08:19:45,201 - DriveTransformer - INFO - Epoch [7][4900/39528] lr: 8.550e-05, eta: 6 days, 13:42:54, time: 0.769, data_time: 0.042, memory: 19865, loss_cls: 0.1730, loss_bbox: 0.3938, loss_traj: 0.7375, loss_traj_cls: 0.0010, loss_map_cls: 0.1640, loss_map_pts: 0.7220, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.9647, d0.loss_plan_l1_fix_dist: 0.4018, d1.loss_plan_l1_fix_time: 1.1353, d1.loss_plan_l1_fix_dist: 0.2021, d2.loss_plan_l1_fix_time: 1.1260, d2.loss_plan_l1_fix_dist: 0.2050, d3.loss_plan_l1_fix_time: 1.1307, d3.loss_plan_l1_fix_dist: 0.2134, d4.loss_plan_l1_fix_time: 1.1342, d4.loss_plan_l1_fix_dist: 0.2230, d5.loss_plan_l1_fix_time: 1.1373, d5.loss_plan_l1_fix_dist: 0.2343, d6.loss_plan_l1_fix_time: 1.1406, d6.loss_plan_l1_fix_dist: 0.2456, d0.loss_cls_all: 0.2086, d0.loss_bbox_all: 0.4468, d0.loss_cls: 0.2086, d0.loss_bbox: 0.4468, d1.loss_cls: 0.2042, d1.loss_bbox: 0.4159, d2.loss_cls: 0.1933, d2.loss_bbox: 0.4000, d3.loss_cls: 0.1822, d3.loss_bbox: 0.3946, d4.loss_cls: 0.1766, d4.loss_bbox: 0.3920, d5.loss_cls: 0.1725, d5.loss_bbox: 0.3944, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9758, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7995, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7449, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7418, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7345, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7374, d0.loss_map_cls_all: 0.2381, d0.loss_map_pts_all: 1.4424, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2381, d0.loss_map_pts: 1.4424, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2127, d1.loss_map_pts: 1.0104, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1901, d2.loss_map_pts: 0.8286, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1794, d3.loss_map_pts: 0.7536, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1729, d4.loss_map_pts: 0.7269, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1665, d5.loss_map_pts: 0.7215, d5.loss_map_dir: 0.0101, loss: 31.0618, grad_norm: 163.6417 +2026-02-26 08:20:24,475 - DriveTransformer - INFO - Epoch [7][4950/39528] lr: 8.550e-05, eta: 6 days, 13:42:11, time: 0.785, data_time: 0.036, memory: 19865, loss_cls: 0.1566, loss_bbox: 0.3685, loss_traj: 0.6431, loss_traj_cls: 0.0009, loss_map_cls: 0.1584, loss_map_pts: 0.7043, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.4864, d0.loss_plan_l1_fix_dist: 0.3955, d1.loss_plan_l1_fix_time: 1.1827, d1.loss_plan_l1_fix_dist: 0.1795, d2.loss_plan_l1_fix_time: 1.1705, d2.loss_plan_l1_fix_dist: 0.1849, d3.loss_plan_l1_fix_time: 1.1714, d3.loss_plan_l1_fix_dist: 0.1953, d4.loss_plan_l1_fix_time: 1.1744, d4.loss_plan_l1_fix_dist: 0.2086, d5.loss_plan_l1_fix_time: 1.1780, d5.loss_plan_l1_fix_dist: 0.2211, d6.loss_plan_l1_fix_time: 1.1816, d6.loss_plan_l1_fix_dist: 0.2317, d0.loss_cls_all: 0.1999, d0.loss_bbox_all: 0.4247, d0.loss_cls: 0.1999, d0.loss_bbox: 0.4247, d1.loss_cls: 0.1916, d1.loss_bbox: 0.3923, d2.loss_cls: 0.1782, d2.loss_bbox: 0.3762, d3.loss_cls: 0.1648, d3.loss_bbox: 0.3718, d4.loss_cls: 0.1596, d4.loss_bbox: 0.3670, d5.loss_cls: 0.1577, d5.loss_bbox: 0.3676, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8095, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6900, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6513, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6430, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6370, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6420, d0.loss_map_cls_all: 0.2379, d0.loss_map_pts_all: 1.4846, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2379, d0.loss_map_pts: 1.4846, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2104, d1.loss_map_pts: 1.0007, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1848, d2.loss_map_pts: 0.8112, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1714, d3.loss_map_pts: 0.7438, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1647, d4.loss_map_pts: 0.7177, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1591, d5.loss_map_pts: 0.7071, d5.loss_map_dir: 0.0085, loss: 29.6298, grad_norm: 164.4368 +2026-02-26 08:21:02,215 - DriveTransformer - INFO - Epoch [7][5000/39528] lr: 8.550e-05, eta: 6 days, 13:41:24, time: 0.755, data_time: 0.039, memory: 19865, loss_cls: 0.1738, loss_bbox: 0.3546, loss_traj: 0.7191, loss_traj_cls: 0.0010, loss_map_cls: 0.1362, loss_map_pts: 0.6434, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.9892, d0.loss_plan_l1_fix_dist: 0.4608, d1.loss_plan_l1_fix_time: 1.0536, d1.loss_plan_l1_fix_dist: 0.1763, d2.loss_plan_l1_fix_time: 1.0392, d2.loss_plan_l1_fix_dist: 0.1810, d3.loss_plan_l1_fix_time: 1.0416, d3.loss_plan_l1_fix_dist: 0.1890, d4.loss_plan_l1_fix_time: 1.0463, d4.loss_plan_l1_fix_dist: 0.1983, d5.loss_plan_l1_fix_time: 1.0513, d5.loss_plan_l1_fix_dist: 0.2083, d6.loss_plan_l1_fix_time: 1.0568, d6.loss_plan_l1_fix_dist: 0.2211, d0.loss_cls_all: 0.2104, d0.loss_bbox_all: 0.4106, d0.loss_cls: 0.2104, d0.loss_bbox: 0.4106, d1.loss_cls: 0.2017, d1.loss_bbox: 0.3824, d2.loss_cls: 0.1899, d2.loss_bbox: 0.3640, d3.loss_cls: 0.1803, d3.loss_bbox: 0.3575, d4.loss_cls: 0.1762, d4.loss_bbox: 0.3545, d5.loss_cls: 0.1741, d5.loss_bbox: 0.3548, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9719, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7934, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7335, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7267, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7244, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7232, d0.loss_map_cls_all: 0.2163, d0.loss_map_pts_all: 1.3197, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2163, d0.loss_map_pts: 1.3197, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1845, d1.loss_map_pts: 0.9538, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1622, d2.loss_map_pts: 0.7654, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1523, d3.loss_map_pts: 0.6769, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1448, d4.loss_map_pts: 0.6516, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1383, d5.loss_map_pts: 0.6434, d5.loss_map_dir: 0.0077, loss: 29.2017, grad_norm: 163.4482 +2026-02-26 08:21:43,071 - DriveTransformer - INFO - Epoch [7][5050/39528] lr: 8.550e-05, eta: 6 days, 13:40:46, time: 0.817, data_time: 0.041, memory: 19865, loss_cls: 0.1485, loss_bbox: 0.3333, loss_traj: 0.5064, loss_traj_cls: 0.0010, loss_map_cls: 0.1350, loss_map_pts: 0.6637, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.4252, d0.loss_plan_l1_fix_dist: 0.4777, d1.loss_plan_l1_fix_time: 1.0559, d1.loss_plan_l1_fix_dist: 0.1832, d2.loss_plan_l1_fix_time: 1.0485, d2.loss_plan_l1_fix_dist: 0.1903, d3.loss_plan_l1_fix_time: 1.0489, d3.loss_plan_l1_fix_dist: 0.2028, d4.loss_plan_l1_fix_time: 1.0533, d4.loss_plan_l1_fix_dist: 0.2183, d5.loss_plan_l1_fix_time: 1.0576, d5.loss_plan_l1_fix_dist: 0.2363, d6.loss_plan_l1_fix_time: 1.0623, d6.loss_plan_l1_fix_dist: 0.2567, d0.loss_cls_all: 0.1883, d0.loss_bbox_all: 0.3909, d0.loss_cls: 0.1883, d0.loss_bbox: 0.3909, d1.loss_cls: 0.1821, d1.loss_bbox: 0.3590, d2.loss_cls: 0.1676, d2.loss_bbox: 0.3404, d3.loss_cls: 0.1541, d3.loss_bbox: 0.3347, d4.loss_cls: 0.1504, d4.loss_bbox: 0.3320, d5.loss_cls: 0.1474, d5.loss_bbox: 0.3332, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6518, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5346, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5041, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5027, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5001, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5050, d0.loss_map_cls_all: 0.2012, d0.loss_map_pts_all: 1.3944, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2012, d0.loss_map_pts: 1.3944, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.1718, d1.loss_map_pts: 0.9243, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1561, d2.loss_map_pts: 0.7479, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1473, d3.loss_map_pts: 0.6911, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1409, d4.loss_map_pts: 0.6694, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1362, d5.loss_map_pts: 0.6650, d5.loss_map_dir: 0.0103, loss: 26.8913, grad_norm: 163.8667 +2026-02-26 08:22:21,249 - DriveTransformer - INFO - Epoch [7][5100/39528] lr: 8.550e-05, eta: 6 days, 13:40:00, time: 0.764, data_time: 0.035, memory: 19865, loss_cls: 0.1688, loss_bbox: 0.3632, loss_traj: 0.6509, loss_traj_cls: 0.0010, loss_map_cls: 0.1689, loss_map_pts: 0.7106, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.4911, d0.loss_plan_l1_fix_dist: 0.3864, d1.loss_plan_l1_fix_time: 1.1391, d1.loss_plan_l1_fix_dist: 0.1769, d2.loss_plan_l1_fix_time: 1.1249, d2.loss_plan_l1_fix_dist: 0.1821, d3.loss_plan_l1_fix_time: 1.1226, d3.loss_plan_l1_fix_dist: 0.1917, d4.loss_plan_l1_fix_time: 1.1250, d4.loss_plan_l1_fix_dist: 0.2054, d5.loss_plan_l1_fix_time: 1.1282, d5.loss_plan_l1_fix_dist: 0.2202, d6.loss_plan_l1_fix_time: 1.1318, d6.loss_plan_l1_fix_dist: 0.2354, d0.loss_cls_all: 0.2042, d0.loss_bbox_all: 0.4182, d0.loss_cls: 0.2042, d0.loss_bbox: 0.4182, d1.loss_cls: 0.1960, d1.loss_bbox: 0.3838, d2.loss_cls: 0.1813, d2.loss_bbox: 0.3702, d3.loss_cls: 0.1736, d3.loss_bbox: 0.3650, d4.loss_cls: 0.1704, d4.loss_bbox: 0.3619, d5.loss_cls: 0.1688, d5.loss_bbox: 0.3611, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8748, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7118, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6612, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6459, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6405, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6440, d0.loss_map_cls_all: 0.2474, d0.loss_map_pts_all: 1.4195, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2474, d0.loss_map_pts: 1.4195, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2200, d1.loss_map_pts: 1.0213, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1976, d2.loss_map_pts: 0.8277, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1844, d3.loss_map_pts: 0.7484, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1757, d4.loss_map_pts: 0.7213, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1699, d5.loss_map_pts: 0.7119, d5.loss_map_dir: 0.0095, loss: 29.4692, grad_norm: 157.5602 +2026-02-26 08:22:59,321 - DriveTransformer - INFO - Epoch [7][5150/39528] lr: 8.550e-05, eta: 6 days, 13:39:13, time: 0.761, data_time: 0.044, memory: 19865, loss_cls: 0.1737, loss_bbox: 0.3919, loss_traj: 0.6609, loss_traj_cls: 0.0010, loss_map_cls: 0.1733, loss_map_pts: 0.7465, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.3832, d0.loss_plan_l1_fix_dist: 0.4257, d1.loss_plan_l1_fix_time: 1.1240, d1.loss_plan_l1_fix_dist: 0.2117, d2.loss_plan_l1_fix_time: 1.1176, d2.loss_plan_l1_fix_dist: 0.2223, d3.loss_plan_l1_fix_time: 1.1258, d3.loss_plan_l1_fix_dist: 0.2340, d4.loss_plan_l1_fix_time: 1.1315, d4.loss_plan_l1_fix_dist: 0.2472, d5.loss_plan_l1_fix_time: 1.1373, d5.loss_plan_l1_fix_dist: 0.2618, d6.loss_plan_l1_fix_time: 1.1438, d6.loss_plan_l1_fix_dist: 0.2772, d0.loss_cls_all: 0.2187, d0.loss_bbox_all: 0.4524, d0.loss_cls: 0.2187, d0.loss_bbox: 0.4524, d1.loss_cls: 0.2108, d1.loss_bbox: 0.4171, d2.loss_cls: 0.1950, d2.loss_bbox: 0.4016, d3.loss_cls: 0.1827, d3.loss_bbox: 0.3969, d4.loss_cls: 0.1756, d4.loss_bbox: 0.3937, d5.loss_cls: 0.1733, d5.loss_bbox: 0.3919, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8768, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7308, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6812, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6645, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6572, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6587, d0.loss_map_cls_all: 0.2502, d0.loss_map_pts_all: 1.5264, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2502, d0.loss_map_pts: 1.5264, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2183, d1.loss_map_pts: 1.0736, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.2005, d2.loss_map_pts: 0.8614, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1873, d3.loss_map_pts: 0.7822, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1806, d4.loss_map_pts: 0.7542, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1759, d5.loss_map_pts: 0.7468, d5.loss_map_dir: 0.0097, loss: 30.5563, grad_norm: 157.1308 +2026-02-26 08:23:35,357 - DriveTransformer - INFO - Epoch [7][5200/39528] lr: 8.550e-05, eta: 6 days, 13:38:21, time: 0.722, data_time: 0.037, memory: 19865, loss_cls: 0.1619, loss_bbox: 0.3624, loss_traj: 0.6742, loss_traj_cls: 0.0010, loss_map_cls: 0.1556, loss_map_pts: 0.6921, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.6893, d0.loss_plan_l1_fix_dist: 0.4012, d1.loss_plan_l1_fix_time: 1.1259, d1.loss_plan_l1_fix_dist: 0.1734, d2.loss_plan_l1_fix_time: 1.1187, d2.loss_plan_l1_fix_dist: 0.1845, d3.loss_plan_l1_fix_time: 1.1229, d3.loss_plan_l1_fix_dist: 0.2018, d4.loss_plan_l1_fix_time: 1.1280, d4.loss_plan_l1_fix_dist: 0.2183, d5.loss_plan_l1_fix_time: 1.1328, d5.loss_plan_l1_fix_dist: 0.2348, d6.loss_plan_l1_fix_time: 1.1377, d6.loss_plan_l1_fix_dist: 0.2521, d0.loss_cls_all: 0.2009, d0.loss_bbox_all: 0.4326, d0.loss_cls: 0.2009, d0.loss_bbox: 0.4326, d1.loss_cls: 0.1944, d1.loss_bbox: 0.3940, d2.loss_cls: 0.1825, d2.loss_bbox: 0.3737, d3.loss_cls: 0.1697, d3.loss_bbox: 0.3664, d4.loss_cls: 0.1624, d4.loss_bbox: 0.3637, d5.loss_cls: 0.1614, d5.loss_bbox: 0.3617, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9048, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7337, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6834, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6669, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6628, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6665, d0.loss_map_cls_all: 0.2323, d0.loss_map_pts_all: 1.3228, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2323, d0.loss_map_pts: 1.3228, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.2024, d1.loss_map_pts: 0.9684, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1820, d2.loss_map_pts: 0.7950, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1702, d3.loss_map_pts: 0.7288, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1621, d4.loss_map_pts: 0.7026, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1571, d5.loss_map_pts: 0.6934, d5.loss_map_dir: 0.0075, loss: 29.4199, grad_norm: 160.5258 +2026-02-26 08:24:13,950 - DriveTransformer - INFO - Epoch [7][5250/39528] lr: 8.550e-05, eta: 6 days, 13:37:36, time: 0.770, data_time: 0.036, memory: 19865, loss_cls: 0.1403, loss_bbox: 0.3323, loss_traj: 0.6090, loss_traj_cls: 0.0010, loss_map_cls: 0.1490, loss_map_pts: 0.6601, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.6303, d0.loss_plan_l1_fix_dist: 0.3586, d1.loss_plan_l1_fix_time: 1.1032, d1.loss_plan_l1_fix_dist: 0.1554, d2.loss_plan_l1_fix_time: 1.1018, d2.loss_plan_l1_fix_dist: 0.1576, d3.loss_plan_l1_fix_time: 1.1067, d3.loss_plan_l1_fix_dist: 0.1672, d4.loss_plan_l1_fix_time: 1.1104, d4.loss_plan_l1_fix_dist: 0.1779, d5.loss_plan_l1_fix_time: 1.1141, d5.loss_plan_l1_fix_dist: 0.1899, d6.loss_plan_l1_fix_time: 1.1178, d6.loss_plan_l1_fix_dist: 0.2031, d0.loss_cls_all: 0.1794, d0.loss_bbox_all: 0.3942, d0.loss_cls: 0.1794, d0.loss_bbox: 0.3942, d1.loss_cls: 0.1687, d1.loss_bbox: 0.3650, d2.loss_cls: 0.1554, d2.loss_bbox: 0.3469, d3.loss_cls: 0.1452, d3.loss_bbox: 0.3373, d4.loss_cls: 0.1405, d4.loss_bbox: 0.3336, d5.loss_cls: 0.1396, d5.loss_bbox: 0.3318, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8724, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6976, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6401, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6228, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6125, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6098, d0.loss_map_cls_all: 0.2164, d0.loss_map_pts_all: 1.3772, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2164, d0.loss_map_pts: 1.3772, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1852, d1.loss_map_pts: 0.9434, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1668, d2.loss_map_pts: 0.7509, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1556, d3.loss_map_pts: 0.6873, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1542, d4.loss_map_pts: 0.6661, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1511, d5.loss_map_pts: 0.6606, d5.loss_map_dir: 0.0091, loss: 28.0379, grad_norm: 161.1331 +2026-02-26 08:24:52,618 - DriveTransformer - INFO - Epoch [7][5300/39528] lr: 8.550e-05, eta: 6 days, 13:36:52, time: 0.773, data_time: 0.036, memory: 19865, loss_cls: 0.1394, loss_bbox: 0.3358, loss_traj: 0.6586, loss_traj_cls: 0.0011, loss_map_cls: 0.1315, loss_map_pts: 0.6230, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.3288, d0.loss_plan_l1_fix_dist: 0.4328, d1.loss_plan_l1_fix_time: 1.0621, d1.loss_plan_l1_fix_dist: 0.2033, d2.loss_plan_l1_fix_time: 1.0459, d2.loss_plan_l1_fix_dist: 0.2058, d3.loss_plan_l1_fix_time: 1.0473, d3.loss_plan_l1_fix_dist: 0.2128, d4.loss_plan_l1_fix_time: 1.0503, d4.loss_plan_l1_fix_dist: 0.2233, d5.loss_plan_l1_fix_time: 1.0540, d5.loss_plan_l1_fix_dist: 0.2366, d6.loss_plan_l1_fix_time: 1.0582, d6.loss_plan_l1_fix_dist: 0.2504, d0.loss_cls_all: 0.1703, d0.loss_bbox_all: 0.3931, d0.loss_cls: 0.1703, d0.loss_bbox: 0.3931, d1.loss_cls: 0.1653, d1.loss_bbox: 0.3604, d2.loss_cls: 0.1543, d2.loss_bbox: 0.3440, d3.loss_cls: 0.1447, d3.loss_bbox: 0.3356, d4.loss_cls: 0.1400, d4.loss_bbox: 0.3328, d5.loss_cls: 0.1394, d5.loss_bbox: 0.3333, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9555, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7164, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6678, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6501, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6425, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6495, d0.loss_map_cls_all: 0.1978, d0.loss_map_pts_all: 1.3000, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.1978, d0.loss_map_pts: 1.3000, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1712, d1.loss_map_pts: 0.8944, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1521, d2.loss_map_pts: 0.7223, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1427, d3.loss_map_pts: 0.6605, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1380, d4.loss_map_pts: 0.6375, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1326, d5.loss_map_pts: 0.6243, d5.loss_map_dir: 0.0088, loss: 27.5069, grad_norm: 158.6251 +2026-02-26 08:25:33,276 - DriveTransformer - INFO - Epoch [7][5350/39528] lr: 8.550e-05, eta: 6 days, 13:36:13, time: 0.813, data_time: 0.035, memory: 19865, loss_cls: 0.1525, loss_bbox: 0.3548, loss_traj: 0.5661, loss_traj_cls: 0.0011, loss_map_cls: 0.1478, loss_map_pts: 0.7359, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.3619, d0.loss_plan_l1_fix_dist: 0.3030, d1.loss_plan_l1_fix_time: 1.0834, d1.loss_plan_l1_fix_dist: 0.1657, d2.loss_plan_l1_fix_time: 1.0751, d2.loss_plan_l1_fix_dist: 0.1680, d3.loss_plan_l1_fix_time: 1.0766, d3.loss_plan_l1_fix_dist: 0.1775, d4.loss_plan_l1_fix_time: 1.0808, d4.loss_plan_l1_fix_dist: 0.1876, d5.loss_plan_l1_fix_time: 1.0849, d5.loss_plan_l1_fix_dist: 0.2001, d6.loss_plan_l1_fix_time: 1.0889, d6.loss_plan_l1_fix_dist: 0.2131, d0.loss_cls_all: 0.1882, d0.loss_bbox_all: 0.4118, d0.loss_cls: 0.1882, d0.loss_bbox: 0.4118, d1.loss_cls: 0.1822, d1.loss_bbox: 0.3790, d2.loss_cls: 0.1713, d2.loss_bbox: 0.3650, d3.loss_cls: 0.1594, d3.loss_bbox: 0.3585, d4.loss_cls: 0.1523, d4.loss_bbox: 0.3578, d5.loss_cls: 0.1508, d5.loss_bbox: 0.3572, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7852, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6459, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5891, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5762, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5694, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5681, d0.loss_map_cls_all: 0.2227, d0.loss_map_pts_all: 1.5382, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2227, d0.loss_map_pts: 1.5382, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.1918, d1.loss_map_pts: 1.0457, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.1699, d2.loss_map_pts: 0.8482, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.1583, d3.loss_map_pts: 0.7800, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.1538, d4.loss_map_pts: 0.7487, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1499, d5.loss_map_pts: 0.7378, d5.loss_map_dir: 0.0121, loss: 28.3970, grad_norm: 157.5302 +2026-02-26 08:26:11,352 - DriveTransformer - INFO - Epoch [7][5400/39528] lr: 8.550e-05, eta: 6 days, 13:35:27, time: 0.761, data_time: 0.040, memory: 19865, loss_cls: 0.1828, loss_bbox: 0.3694, loss_traj: 0.7784, loss_traj_cls: 0.0010, loss_map_cls: 0.1529, loss_map_pts: 0.6776, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 3.0061, d0.loss_plan_l1_fix_dist: 0.3357, d1.loss_plan_l1_fix_time: 1.2633, d1.loss_plan_l1_fix_dist: 0.1731, d2.loss_plan_l1_fix_time: 1.2501, d2.loss_plan_l1_fix_dist: 0.1770, d3.loss_plan_l1_fix_time: 1.2485, d3.loss_plan_l1_fix_dist: 0.1863, d4.loss_plan_l1_fix_time: 1.2530, d4.loss_plan_l1_fix_dist: 0.1970, d5.loss_plan_l1_fix_time: 1.2576, d5.loss_plan_l1_fix_dist: 0.2091, d6.loss_plan_l1_fix_time: 1.2626, d6.loss_plan_l1_fix_dist: 0.2219, d0.loss_cls_all: 0.2240, d0.loss_bbox_all: 0.4293, d0.loss_cls: 0.2240, d0.loss_bbox: 0.4293, d1.loss_cls: 0.2196, d1.loss_bbox: 0.3963, d2.loss_cls: 0.2029, d2.loss_bbox: 0.3752, d3.loss_cls: 0.1905, d3.loss_bbox: 0.3705, d4.loss_cls: 0.1842, d4.loss_bbox: 0.3696, d5.loss_cls: 0.1830, d5.loss_bbox: 0.3688, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1179, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.9001, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8187, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7957, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7809, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7757, d0.loss_map_cls_all: 0.2191, d0.loss_map_pts_all: 1.3400, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2191, d0.loss_map_pts: 1.3400, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1971, d1.loss_map_pts: 0.9221, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1716, d2.loss_map_pts: 0.7573, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1637, d3.loss_map_pts: 0.7014, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1576, d4.loss_map_pts: 0.6828, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1553, d5.loss_map_pts: 0.6786, d5.loss_map_dir: 0.0097, loss: 31.3461, grad_norm: 156.7081 +2026-02-26 08:26:49,106 - DriveTransformer - INFO - Epoch [7][5450/39528] lr: 8.550e-05, eta: 6 days, 13:34:40, time: 0.755, data_time: 0.042, memory: 19865, loss_cls: 0.1436, loss_bbox: 0.3354, loss_traj: 0.5887, loss_traj_cls: 0.0011, loss_map_cls: 0.1752, loss_map_pts: 0.6649, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.4349, d0.loss_plan_l1_fix_dist: 0.3489, d1.loss_plan_l1_fix_time: 1.0175, d1.loss_plan_l1_fix_dist: 0.1619, d2.loss_plan_l1_fix_time: 1.0087, d2.loss_plan_l1_fix_dist: 0.1680, d3.loss_plan_l1_fix_time: 1.0143, d3.loss_plan_l1_fix_dist: 0.1763, d4.loss_plan_l1_fix_time: 1.0211, d4.loss_plan_l1_fix_dist: 0.1867, d5.loss_plan_l1_fix_time: 1.0290, d5.loss_plan_l1_fix_dist: 0.1972, d6.loss_plan_l1_fix_time: 1.0374, d6.loss_plan_l1_fix_dist: 0.2085, d0.loss_cls_all: 0.1827, d0.loss_bbox_all: 0.3917, d0.loss_cls: 0.1827, d0.loss_bbox: 0.3917, d1.loss_cls: 0.1728, d1.loss_bbox: 0.3621, d2.loss_cls: 0.1601, d2.loss_bbox: 0.3467, d3.loss_cls: 0.1485, d3.loss_bbox: 0.3413, d4.loss_cls: 0.1436, d4.loss_bbox: 0.3386, d5.loss_cls: 0.1427, d5.loss_bbox: 0.3371, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7908, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6543, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6081, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6009, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5938, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5899, d0.loss_map_cls_all: 0.2320, d0.loss_map_pts_all: 1.3395, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2320, d0.loss_map_pts: 1.3395, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.2099, d1.loss_map_pts: 0.9377, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1943, d2.loss_map_pts: 0.7614, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1834, d3.loss_map_pts: 0.6919, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1801, d4.loss_map_pts: 0.6685, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1769, d5.loss_map_pts: 0.6646, d5.loss_map_dir: 0.0083, loss: 27.2806, grad_norm: 157.4558 +2026-02-26 08:27:28,790 - DriveTransformer - INFO - Epoch [7][5500/39528] lr: 8.550e-05, eta: 6 days, 13:33:58, time: 0.794, data_time: 0.035, memory: 19865, loss_cls: 0.1563, loss_bbox: 0.3518, loss_traj: 0.6668, loss_traj_cls: 0.0010, loss_map_cls: 0.1428, loss_map_pts: 0.6907, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.5017, d0.loss_plan_l1_fix_dist: 0.4482, d1.loss_plan_l1_fix_time: 1.0234, d1.loss_plan_l1_fix_dist: 0.1716, d2.loss_plan_l1_fix_time: 1.0088, d2.loss_plan_l1_fix_dist: 0.1768, d3.loss_plan_l1_fix_time: 1.0064, d3.loss_plan_l1_fix_dist: 0.1910, d4.loss_plan_l1_fix_time: 1.0133, d4.loss_plan_l1_fix_dist: 0.2058, d5.loss_plan_l1_fix_time: 1.0215, d5.loss_plan_l1_fix_dist: 0.2225, d6.loss_plan_l1_fix_time: 1.0304, d6.loss_plan_l1_fix_dist: 0.2421, d0.loss_cls_all: 0.1911, d0.loss_bbox_all: 0.4052, d0.loss_cls: 0.1911, d0.loss_bbox: 0.4052, d1.loss_cls: 0.1836, d1.loss_bbox: 0.3790, d2.loss_cls: 0.1712, d2.loss_bbox: 0.3635, d3.loss_cls: 0.1594, d3.loss_bbox: 0.3574, d4.loss_cls: 0.1558, d4.loss_bbox: 0.3535, d5.loss_cls: 0.1560, d5.loss_bbox: 0.3527, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8334, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7211, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6903, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6734, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6716, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6664, d0.loss_map_cls_all: 0.2190, d0.loss_map_pts_all: 1.4553, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2190, d0.loss_map_pts: 1.4553, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1890, d1.loss_map_pts: 0.9983, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1667, d2.loss_map_pts: 0.8054, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1617, d3.loss_map_pts: 0.7282, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1529, d4.loss_map_pts: 0.7002, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1461, d5.loss_map_pts: 0.6908, d5.loss_map_dir: 0.0098, loss: 28.5232, grad_norm: 160.8947 +2026-02-26 08:28:07,290 - DriveTransformer - INFO - Epoch [7][5550/39528] lr: 8.550e-05, eta: 6 days, 13:33:13, time: 0.770, data_time: 0.038, memory: 19865, loss_cls: 0.1468, loss_bbox: 0.3458, loss_traj: 0.5817, loss_traj_cls: 0.0010, loss_map_cls: 0.1600, loss_map_pts: 0.6771, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.1262, d0.loss_plan_l1_fix_dist: 0.4713, d1.loss_plan_l1_fix_time: 0.9677, d1.loss_plan_l1_fix_dist: 0.1529, d2.loss_plan_l1_fix_time: 0.9514, d2.loss_plan_l1_fix_dist: 0.1613, d3.loss_plan_l1_fix_time: 0.9578, d3.loss_plan_l1_fix_dist: 0.1731, d4.loss_plan_l1_fix_time: 0.9645, d4.loss_plan_l1_fix_dist: 0.1871, d5.loss_plan_l1_fix_time: 0.9713, d5.loss_plan_l1_fix_dist: 0.2025, d6.loss_plan_l1_fix_time: 0.9789, d6.loss_plan_l1_fix_dist: 0.2196, d0.loss_cls_all: 0.1791, d0.loss_bbox_all: 0.4034, d0.loss_cls: 0.1791, d0.loss_bbox: 0.4034, d1.loss_cls: 0.1712, d1.loss_bbox: 0.3708, d2.loss_cls: 0.1579, d2.loss_bbox: 0.3537, d3.loss_cls: 0.1468, d3.loss_bbox: 0.3501, d4.loss_cls: 0.1457, d4.loss_bbox: 0.3471, d5.loss_cls: 0.1467, d5.loss_bbox: 0.3469, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7581, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6286, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.5948, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5884, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5826, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5839, d0.loss_map_cls_all: 0.2271, d0.loss_map_pts_all: 1.3479, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2271, d0.loss_map_pts: 1.3479, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2056, d1.loss_map_pts: 0.9704, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1844, d2.loss_map_pts: 0.7988, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1723, d3.loss_map_pts: 0.7200, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1644, d4.loss_map_pts: 0.6875, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1616, d5.loss_map_pts: 0.6786, d5.loss_map_dir: 0.0086, loss: 26.8037, grad_norm: 162.0569 +2026-02-26 08:28:45,727 - DriveTransformer - INFO - Epoch [7][5600/39528] lr: 8.550e-05, eta: 6 days, 13:32:28, time: 0.769, data_time: 0.038, memory: 19865, loss_cls: 0.1644, loss_bbox: 0.3653, loss_traj: 0.7501, loss_traj_cls: 0.0010, loss_map_cls: 0.1760, loss_map_pts: 0.7218, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.7783, d0.loss_plan_l1_fix_dist: 0.3714, d1.loss_plan_l1_fix_time: 1.0338, d1.loss_plan_l1_fix_dist: 0.1833, d2.loss_plan_l1_fix_time: 1.0314, d2.loss_plan_l1_fix_dist: 0.1905, d3.loss_plan_l1_fix_time: 1.0363, d3.loss_plan_l1_fix_dist: 0.2014, d4.loss_plan_l1_fix_time: 1.0414, d4.loss_plan_l1_fix_dist: 0.2158, d5.loss_plan_l1_fix_time: 1.0465, d5.loss_plan_l1_fix_dist: 0.2313, d6.loss_plan_l1_fix_time: 1.0522, d6.loss_plan_l1_fix_dist: 0.2462, d0.loss_cls_all: 0.2111, d0.loss_bbox_all: 0.4289, d0.loss_cls: 0.2111, d0.loss_bbox: 0.4289, d1.loss_cls: 0.1977, d1.loss_bbox: 0.3946, d2.loss_cls: 0.1843, d2.loss_bbox: 0.3758, d3.loss_cls: 0.1751, d3.loss_bbox: 0.3656, d4.loss_cls: 0.1657, d4.loss_bbox: 0.3668, d5.loss_cls: 0.1631, d5.loss_bbox: 0.3650, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0182, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7971, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7495, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7449, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7554, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7552, d0.loss_map_cls_all: 0.2373, d0.loss_map_pts_all: 1.4277, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2373, d0.loss_map_pts: 1.4277, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2135, d1.loss_map_pts: 1.0122, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1943, d2.loss_map_pts: 0.8267, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1859, d3.loss_map_pts: 0.7555, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1798, d4.loss_map_pts: 0.7302, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1763, d5.loss_map_pts: 0.7218, d5.loss_map_dir: 0.0096, loss: 30.0992, grad_norm: 163.2088 +2026-02-26 08:29:27,212 - DriveTransformer - INFO - Epoch [7][5650/39528] lr: 8.550e-05, eta: 6 days, 13:31:51, time: 0.830, data_time: 0.040, memory: 19865, loss_cls: 0.1372, loss_bbox: 0.3429, loss_traj: 0.6005, loss_traj_cls: 0.0010, loss_map_cls: 0.1372, loss_map_pts: 0.6525, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.4188, d0.loss_plan_l1_fix_dist: 0.3934, d1.loss_plan_l1_fix_time: 0.8767, d1.loss_plan_l1_fix_dist: 0.1892, d2.loss_plan_l1_fix_time: 0.8684, d2.loss_plan_l1_fix_dist: 0.1977, d3.loss_plan_l1_fix_time: 0.8692, d3.loss_plan_l1_fix_dist: 0.2109, d4.loss_plan_l1_fix_time: 0.8744, d4.loss_plan_l1_fix_dist: 0.2263, d5.loss_plan_l1_fix_time: 0.8796, d5.loss_plan_l1_fix_dist: 0.2437, d6.loss_plan_l1_fix_time: 0.8853, d6.loss_plan_l1_fix_dist: 0.2631, d0.loss_cls_all: 0.1753, d0.loss_bbox_all: 0.3884, d0.loss_cls: 0.1753, d0.loss_bbox: 0.3884, d1.loss_cls: 0.1676, d1.loss_bbox: 0.3591, d2.loss_cls: 0.1553, d2.loss_bbox: 0.3425, d3.loss_cls: 0.1428, d3.loss_bbox: 0.3383, d4.loss_cls: 0.1374, d4.loss_bbox: 0.3385, d5.loss_cls: 0.1379, d5.loss_bbox: 0.3399, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8013, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6675, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6144, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6023, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6032, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6003, d0.loss_map_cls_all: 0.2179, d0.loss_map_pts_all: 1.4511, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2179, d0.loss_map_pts: 1.4511, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.1802, d1.loss_map_pts: 0.9433, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1660, d2.loss_map_pts: 0.7502, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1525, d3.loss_map_pts: 0.6885, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1451, d4.loss_map_pts: 0.6607, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1390, d5.loss_map_pts: 0.6534, d5.loss_map_dir: 0.0108, loss: 26.6514, grad_norm: 155.1456 +2026-02-26 08:30:03,930 - DriveTransformer - INFO - Epoch [7][5700/39528] lr: 8.550e-05, eta: 6 days, 13:31:01, time: 0.734, data_time: 0.038, memory: 19865, loss_cls: 0.1650, loss_bbox: 0.3572, loss_traj: 0.6263, loss_traj_cls: 0.0010, loss_map_cls: 0.1671, loss_map_pts: 0.6723, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.5505, d0.loss_plan_l1_fix_dist: 0.3576, d1.loss_plan_l1_fix_time: 1.0537, d1.loss_plan_l1_fix_dist: 0.1637, d2.loss_plan_l1_fix_time: 1.0379, d2.loss_plan_l1_fix_dist: 0.1682, d3.loss_plan_l1_fix_time: 1.0408, d3.loss_plan_l1_fix_dist: 0.1799, d4.loss_plan_l1_fix_time: 1.0455, d4.loss_plan_l1_fix_dist: 0.1931, d5.loss_plan_l1_fix_time: 1.0502, d5.loss_plan_l1_fix_dist: 0.2073, d6.loss_plan_l1_fix_time: 1.0545, d6.loss_plan_l1_fix_dist: 0.2225, d0.loss_cls_all: 0.2032, d0.loss_bbox_all: 0.4163, d0.loss_cls: 0.2032, d0.loss_bbox: 0.4163, d1.loss_cls: 0.1992, d1.loss_bbox: 0.3842, d2.loss_cls: 0.1821, d2.loss_bbox: 0.3637, d3.loss_cls: 0.1693, d3.loss_bbox: 0.3566, d4.loss_cls: 0.1652, d4.loss_bbox: 0.3541, d5.loss_cls: 0.1644, d5.loss_bbox: 0.3552, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8432, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7168, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6295, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6189, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6163, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6190, d0.loss_map_cls_all: 0.2149, d0.loss_map_pts_all: 1.2720, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.2149, d0.loss_map_pts: 1.2720, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.2035, d1.loss_map_pts: 0.9266, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1899, d2.loss_map_pts: 0.7603, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1812, d3.loss_map_pts: 0.7010, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1743, d4.loss_map_pts: 0.6803, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1693, d5.loss_map_pts: 0.6727, d5.loss_map_dir: 0.0075, loss: 27.9858, grad_norm: 151.5150 +2026-02-26 08:30:43,405 - DriveTransformer - INFO - Epoch [7][5750/39528] lr: 8.550e-05, eta: 6 days, 13:30:19, time: 0.790, data_time: 0.040, memory: 19865, loss_cls: 0.1565, loss_bbox: 0.3498, loss_traj: 0.5181, loss_traj_cls: 0.0010, loss_map_cls: 0.1657, loss_map_pts: 0.7341, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.3991, d0.loss_plan_l1_fix_dist: 0.4512, d1.loss_plan_l1_fix_time: 1.0344, d1.loss_plan_l1_fix_dist: 0.1956, d2.loss_plan_l1_fix_time: 1.0122, d2.loss_plan_l1_fix_dist: 0.2013, d3.loss_plan_l1_fix_time: 1.0101, d3.loss_plan_l1_fix_dist: 0.2137, d4.loss_plan_l1_fix_time: 1.0151, d4.loss_plan_l1_fix_dist: 0.2265, d5.loss_plan_l1_fix_time: 1.0211, d5.loss_plan_l1_fix_dist: 0.2396, d6.loss_plan_l1_fix_time: 1.0272, d6.loss_plan_l1_fix_dist: 0.2558, d0.loss_cls_all: 0.1872, d0.loss_bbox_all: 0.4088, d0.loss_cls: 0.1872, d0.loss_bbox: 0.4088, d1.loss_cls: 0.1805, d1.loss_bbox: 0.3771, d2.loss_cls: 0.1691, d2.loss_bbox: 0.3601, d3.loss_cls: 0.1633, d3.loss_bbox: 0.3529, d4.loss_cls: 0.1576, d4.loss_bbox: 0.3508, d5.loss_cls: 0.1574, d5.loss_bbox: 0.3482, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7004, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5798, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5350, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5267, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5234, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5211, d0.loss_map_cls_all: 0.2361, d0.loss_map_pts_all: 1.4829, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2361, d0.loss_map_pts: 1.4829, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2078, d1.loss_map_pts: 1.0122, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1874, d2.loss_map_pts: 0.8218, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1778, d3.loss_map_pts: 0.7616, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1708, d4.loss_map_pts: 0.7417, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1665, d5.loss_map_pts: 0.7351, d5.loss_map_dir: 0.0105, loss: 27.9326, grad_norm: 151.7367 +2026-02-26 08:31:22,459 - DriveTransformer - INFO - Epoch [7][5800/39528] lr: 8.550e-05, eta: 6 days, 13:29:36, time: 0.781, data_time: 0.040, memory: 19865, loss_cls: 0.1491, loss_bbox: 0.3752, loss_traj: 0.6494, loss_traj_cls: 0.0010, loss_map_cls: 0.1685, loss_map_pts: 0.7392, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.8219, d0.loss_plan_l1_fix_dist: 0.4004, d1.loss_plan_l1_fix_time: 1.0794, d1.loss_plan_l1_fix_dist: 0.1787, d2.loss_plan_l1_fix_time: 1.0489, d2.loss_plan_l1_fix_dist: 0.1840, d3.loss_plan_l1_fix_time: 1.0441, d3.loss_plan_l1_fix_dist: 0.1950, d4.loss_plan_l1_fix_time: 1.0499, d4.loss_plan_l1_fix_dist: 0.2068, d5.loss_plan_l1_fix_time: 1.0569, d5.loss_plan_l1_fix_dist: 0.2216, d6.loss_plan_l1_fix_time: 1.0643, d6.loss_plan_l1_fix_dist: 0.2388, d0.loss_cls_all: 0.1879, d0.loss_bbox_all: 0.4359, d0.loss_cls: 0.1879, d0.loss_bbox: 0.4359, d1.loss_cls: 0.1799, d1.loss_bbox: 0.4016, d2.loss_cls: 0.1662, d2.loss_bbox: 0.3834, d3.loss_cls: 0.1541, d3.loss_bbox: 0.3787, d4.loss_cls: 0.1496, d4.loss_bbox: 0.3760, d5.loss_cls: 0.1493, d5.loss_bbox: 0.3749, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9046, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7303, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6667, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6596, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6443, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6463, d0.loss_map_cls_all: 0.2340, d0.loss_map_pts_all: 1.4966, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2340, d0.loss_map_pts: 1.4966, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2092, d1.loss_map_pts: 1.0620, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1890, d2.loss_map_pts: 0.8592, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1804, d3.loss_map_pts: 0.7779, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1728, d4.loss_map_pts: 0.7488, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1704, d5.loss_map_pts: 0.7407, d5.loss_map_dir: 0.0099, loss: 29.7388, grad_norm: 152.8619 +2026-02-26 08:32:00,134 - DriveTransformer - INFO - Epoch [7][5850/39528] lr: 8.550e-05, eta: 6 days, 13:28:48, time: 0.754, data_time: 0.035, memory: 19865, loss_cls: 0.1421, loss_bbox: 0.3407, loss_traj: 0.5605, loss_traj_cls: 0.0010, loss_map_cls: 0.1436, loss_map_pts: 0.6763, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.2899, d0.loss_plan_l1_fix_dist: 0.3854, d1.loss_plan_l1_fix_time: 0.8465, d1.loss_plan_l1_fix_dist: 0.1823, d2.loss_plan_l1_fix_time: 0.8292, d2.loss_plan_l1_fix_dist: 0.1872, d3.loss_plan_l1_fix_time: 0.8316, d3.loss_plan_l1_fix_dist: 0.1971, d4.loss_plan_l1_fix_time: 0.8367, d4.loss_plan_l1_fix_dist: 0.2101, d5.loss_plan_l1_fix_time: 0.8421, d5.loss_plan_l1_fix_dist: 0.2244, d6.loss_plan_l1_fix_time: 0.8478, d6.loss_plan_l1_fix_dist: 0.2379, d0.loss_cls_all: 0.1781, d0.loss_bbox_all: 0.3870, d0.loss_cls: 0.1781, d0.loss_bbox: 0.3870, d1.loss_cls: 0.1709, d1.loss_bbox: 0.3549, d2.loss_cls: 0.1573, d2.loss_bbox: 0.3427, d3.loss_cls: 0.1481, d3.loss_bbox: 0.3382, d4.loss_cls: 0.1432, d4.loss_bbox: 0.3368, d5.loss_cls: 0.1420, d5.loss_bbox: 0.3375, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7510, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5960, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5690, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5634, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5599, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5600, d0.loss_map_cls_all: 0.2171, d0.loss_map_pts_all: 1.3351, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2171, d0.loss_map_pts: 1.3351, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1870, d1.loss_map_pts: 0.9350, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1688, d2.loss_map_pts: 0.7722, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1578, d3.loss_map_pts: 0.7090, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1510, d4.loss_map_pts: 0.6863, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1454, d5.loss_map_pts: 0.6766, d5.loss_map_dir: 0.0089, loss: 25.7823, grad_norm: 153.5751 +2026-02-26 08:32:37,776 - DriveTransformer - INFO - Epoch [7][5900/39528] lr: 8.550e-05, eta: 6 days, 13:28:01, time: 0.753, data_time: 0.038, memory: 19865, loss_cls: 0.1677, loss_bbox: 0.3742, loss_traj: 0.7263, loss_traj_cls: 0.0010, loss_map_cls: 0.1532, loss_map_pts: 0.6609, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.6464, d0.loss_plan_l1_fix_dist: 0.3758, d1.loss_plan_l1_fix_time: 1.1688, d1.loss_plan_l1_fix_dist: 0.1984, d2.loss_plan_l1_fix_time: 1.1662, d2.loss_plan_l1_fix_dist: 0.2039, d3.loss_plan_l1_fix_time: 1.1709, d3.loss_plan_l1_fix_dist: 0.2139, d4.loss_plan_l1_fix_time: 1.1747, d4.loss_plan_l1_fix_dist: 0.2262, d5.loss_plan_l1_fix_time: 1.1779, d5.loss_plan_l1_fix_dist: 0.2401, d6.loss_plan_l1_fix_time: 1.1821, d6.loss_plan_l1_fix_dist: 0.2555, d0.loss_cls_all: 0.2039, d0.loss_bbox_all: 0.4353, d0.loss_cls: 0.2039, d0.loss_bbox: 0.4353, d1.loss_cls: 0.1996, d1.loss_bbox: 0.3985, d2.loss_cls: 0.1864, d2.loss_bbox: 0.3820, d3.loss_cls: 0.1766, d3.loss_bbox: 0.3747, d4.loss_cls: 0.1708, d4.loss_bbox: 0.3733, d5.loss_cls: 0.1677, d5.loss_bbox: 0.3740, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9936, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8131, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7654, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7246, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7234, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7229, d0.loss_map_cls_all: 0.2393, d0.loss_map_pts_all: 1.2824, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2393, d0.loss_map_pts: 1.2824, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.2014, d1.loss_map_pts: 0.9317, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1797, d2.loss_map_pts: 0.7655, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1674, d3.loss_map_pts: 0.6960, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1606, d4.loss_map_pts: 0.6691, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1562, d5.loss_map_pts: 0.6615, d5.loss_map_dir: 0.0075, loss: 30.0081, grad_norm: 152.5292 +2026-02-26 08:33:17,316 - DriveTransformer - INFO - Epoch [7][5950/39528] lr: 8.550e-05, eta: 6 days, 13:27:19, time: 0.791, data_time: 0.040, memory: 19865, loss_cls: 0.1513, loss_bbox: 0.3615, loss_traj: 0.6253, loss_traj_cls: 0.0010, loss_map_cls: 0.1458, loss_map_pts: 0.6683, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.5883, d0.loss_plan_l1_fix_dist: 0.4406, d1.loss_plan_l1_fix_time: 0.9570, d1.loss_plan_l1_fix_dist: 0.1849, d2.loss_plan_l1_fix_time: 0.9462, d2.loss_plan_l1_fix_dist: 0.1906, d3.loss_plan_l1_fix_time: 0.9462, d3.loss_plan_l1_fix_dist: 0.2025, d4.loss_plan_l1_fix_time: 0.9497, d4.loss_plan_l1_fix_dist: 0.2170, d5.loss_plan_l1_fix_time: 0.9539, d5.loss_plan_l1_fix_dist: 0.2336, d6.loss_plan_l1_fix_time: 0.9590, d6.loss_plan_l1_fix_dist: 0.2514, d0.loss_cls_all: 0.1894, d0.loss_bbox_all: 0.4173, d0.loss_cls: 0.1894, d0.loss_bbox: 0.4173, d1.loss_cls: 0.1858, d1.loss_bbox: 0.3858, d2.loss_cls: 0.1689, d2.loss_bbox: 0.3692, d3.loss_cls: 0.1543, d3.loss_bbox: 0.3675, d4.loss_cls: 0.1516, d4.loss_bbox: 0.3644, d5.loss_cls: 0.1514, d5.loss_bbox: 0.3633, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7979, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6842, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6458, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6306, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6225, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6239, d0.loss_map_cls_all: 0.2172, d0.loss_map_pts_all: 1.3600, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2172, d0.loss_map_pts: 1.3600, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1862, d1.loss_map_pts: 0.9292, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1650, d2.loss_map_pts: 0.7510, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1563, d3.loss_map_pts: 0.6915, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1510, d4.loss_map_pts: 0.6695, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1478, d5.loss_map_pts: 0.6678, d5.loss_map_dir: 0.0098, loss: 27.6082, grad_norm: 151.4502 +2026-02-26 08:33:54,738 - DriveTransformer - INFO - Epoch [7][6000/39528] lr: 8.550e-05, eta: 6 days, 13:26:31, time: 0.750, data_time: 0.040, memory: 19865, loss_cls: 0.1483, loss_bbox: 0.3555, loss_traj: 0.7102, loss_traj_cls: 0.0010, loss_map_cls: 0.1328, loss_map_pts: 0.5597, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.5255, d0.loss_plan_l1_fix_dist: 0.3579, d1.loss_plan_l1_fix_time: 1.1699, d1.loss_plan_l1_fix_dist: 0.1483, d2.loss_plan_l1_fix_time: 1.1601, d2.loss_plan_l1_fix_dist: 0.1531, d3.loss_plan_l1_fix_time: 1.1593, d3.loss_plan_l1_fix_dist: 0.1657, d4.loss_plan_l1_fix_time: 1.1643, d4.loss_plan_l1_fix_dist: 0.1800, d5.loss_plan_l1_fix_time: 1.1703, d5.loss_plan_l1_fix_dist: 0.1960, d6.loss_plan_l1_fix_time: 1.1759, d6.loss_plan_l1_fix_dist: 0.2128, d0.loss_cls_all: 0.1889, d0.loss_bbox_all: 0.4060, d0.loss_cls: 0.1889, d0.loss_bbox: 0.4060, d1.loss_cls: 0.1875, d1.loss_bbox: 0.3739, d2.loss_cls: 0.1710, d2.loss_bbox: 0.3610, d3.loss_cls: 0.1571, d3.loss_bbox: 0.3563, d4.loss_cls: 0.1514, d4.loss_bbox: 0.3545, d5.loss_cls: 0.1482, d5.loss_bbox: 0.3554, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9864, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7925, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7315, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7161, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7072, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7084, d0.loss_map_cls_all: 0.1905, d0.loss_map_pts_all: 1.0826, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1905, d0.loss_map_pts: 1.0826, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1693, d1.loss_map_pts: 0.7536, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1544, d2.loss_map_pts: 0.6296, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1430, d3.loss_map_pts: 0.5851, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1371, d4.loss_map_pts: 0.5654, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1345, d5.loss_map_pts: 0.5598, d5.loss_map_dir: 0.0063, loss: 27.7301, grad_norm: 148.5725 +2026-02-26 08:34:33,081 - DriveTransformer - INFO - Epoch [7][6050/39528] lr: 8.550e-05, eta: 6 days, 13:25:45, time: 0.765, data_time: 0.041, memory: 19865, loss_cls: 0.1643, loss_bbox: 0.3642, loss_traj: 0.6753, loss_traj_cls: 0.0010, loss_map_cls: 0.1320, loss_map_pts: 0.6245, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.7281, d0.loss_plan_l1_fix_dist: 0.3835, d1.loss_plan_l1_fix_time: 1.1350, d1.loss_plan_l1_fix_dist: 0.1605, d2.loss_plan_l1_fix_time: 1.1307, d2.loss_plan_l1_fix_dist: 0.1671, d3.loss_plan_l1_fix_time: 1.1340, d3.loss_plan_l1_fix_dist: 0.1781, d4.loss_plan_l1_fix_time: 1.1395, d4.loss_plan_l1_fix_dist: 0.1904, d5.loss_plan_l1_fix_time: 1.1452, d5.loss_plan_l1_fix_dist: 0.2046, d6.loss_plan_l1_fix_time: 1.1508, d6.loss_plan_l1_fix_dist: 0.2202, d0.loss_cls_all: 0.1963, d0.loss_bbox_all: 0.4201, d0.loss_cls: 0.1963, d0.loss_bbox: 0.4201, d1.loss_cls: 0.1897, d1.loss_bbox: 0.3900, d2.loss_cls: 0.1780, d2.loss_bbox: 0.3729, d3.loss_cls: 0.1687, d3.loss_bbox: 0.3688, d4.loss_cls: 0.1629, d4.loss_bbox: 0.3675, d5.loss_cls: 0.1634, d5.loss_bbox: 0.3646, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9448, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7550, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6921, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6862, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6807, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6802, d0.loss_map_cls_all: 0.2057, d0.loss_map_pts_all: 1.2768, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2057, d0.loss_map_pts: 1.2768, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1758, d1.loss_map_pts: 0.8858, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1560, d2.loss_map_pts: 0.7167, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1448, d3.loss_map_pts: 0.6576, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1379, d4.loss_map_pts: 0.6350, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1343, d5.loss_map_pts: 0.6269, d5.loss_map_dir: 0.0086, loss: 28.7366, grad_norm: 151.0019 +2026-02-26 08:35:13,025 - DriveTransformer - INFO - Epoch [7][6100/39528] lr: 8.550e-05, eta: 6 days, 13:25:04, time: 0.799, data_time: 0.040, memory: 19865, loss_cls: 0.1672, loss_bbox: 0.3922, loss_traj: 0.5957, loss_traj_cls: 0.0009, loss_map_cls: 0.1778, loss_map_pts: 0.8240, loss_map_dir: 0.0131, d0.loss_plan_l1_fix_time: 2.5743, d0.loss_plan_l1_fix_dist: 0.5012, d1.loss_plan_l1_fix_time: 1.0382, d1.loss_plan_l1_fix_dist: 0.2080, d2.loss_plan_l1_fix_time: 1.0266, d2.loss_plan_l1_fix_dist: 0.2148, d3.loss_plan_l1_fix_time: 1.0285, d3.loss_plan_l1_fix_dist: 0.2269, d4.loss_plan_l1_fix_time: 1.0331, d4.loss_plan_l1_fix_dist: 0.2421, d5.loss_plan_l1_fix_time: 1.0383, d5.loss_plan_l1_fix_dist: 0.2558, d6.loss_plan_l1_fix_time: 1.0440, d6.loss_plan_l1_fix_dist: 0.2699, d0.loss_cls_all: 0.2115, d0.loss_bbox_all: 0.4464, d0.loss_cls: 0.2115, d0.loss_bbox: 0.4464, d1.loss_cls: 0.2011, d1.loss_bbox: 0.4158, d2.loss_cls: 0.1857, d2.loss_bbox: 0.4007, d3.loss_cls: 0.1750, d3.loss_bbox: 0.3944, d4.loss_cls: 0.1676, d4.loss_bbox: 0.3931, d5.loss_cls: 0.1667, d5.loss_bbox: 0.3918, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8099, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6604, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6125, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6009, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5976, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5952, d0.loss_map_cls_all: 0.2557, d0.loss_map_pts_all: 1.6470, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2557, d0.loss_map_pts: 1.6470, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2202, d1.loss_map_pts: 1.1246, d1.loss_map_dir: 0.0117, d2.loss_map_cls: 0.1996, d2.loss_map_pts: 0.9237, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.1877, d3.loss_map_pts: 0.8553, d3.loss_map_dir: 0.0125, d4.loss_map_cls: 0.1825, d4.loss_map_pts: 0.8307, d4.loss_map_dir: 0.0129, d5.loss_map_cls: 0.1787, d5.loss_map_pts: 0.8259, d5.loss_map_dir: 0.0130, loss: 30.3839, grad_norm: 155.3777 +2026-02-26 08:35:51,342 - DriveTransformer - INFO - Epoch [7][6150/39528] lr: 8.550e-05, eta: 6 days, 13:24:19, time: 0.766, data_time: 0.036, memory: 19865, loss_cls: 0.1589, loss_bbox: 0.3729, loss_traj: 0.7066, loss_traj_cls: 0.0009, loss_map_cls: 0.1663, loss_map_pts: 0.6780, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.9131, d0.loss_plan_l1_fix_dist: 0.4097, d1.loss_plan_l1_fix_time: 1.2177, d1.loss_plan_l1_fix_dist: 0.1788, d2.loss_plan_l1_fix_time: 1.1993, d2.loss_plan_l1_fix_dist: 0.1797, d3.loss_plan_l1_fix_time: 1.1948, d3.loss_plan_l1_fix_dist: 0.1886, d4.loss_plan_l1_fix_time: 1.1986, d4.loss_plan_l1_fix_dist: 0.2011, d5.loss_plan_l1_fix_time: 1.2030, d5.loss_plan_l1_fix_dist: 0.2152, d6.loss_plan_l1_fix_time: 1.2083, d6.loss_plan_l1_fix_dist: 0.2321, d0.loss_cls_all: 0.1927, d0.loss_bbox_all: 0.4290, d0.loss_cls: 0.1927, d0.loss_bbox: 0.4290, d1.loss_cls: 0.1874, d1.loss_bbox: 0.3955, d2.loss_cls: 0.1775, d2.loss_bbox: 0.3771, d3.loss_cls: 0.1637, d3.loss_bbox: 0.3733, d4.loss_cls: 0.1611, d4.loss_bbox: 0.3701, d5.loss_cls: 0.1592, d5.loss_bbox: 0.3711, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0252, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7983, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7255, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7116, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7070, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7060, d0.loss_map_cls_all: 0.2343, d0.loss_map_pts_all: 1.3599, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2343, d0.loss_map_pts: 1.3599, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2055, d1.loss_map_pts: 0.9516, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1853, d2.loss_map_pts: 0.7794, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1781, d3.loss_map_pts: 0.7141, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1721, d4.loss_map_pts: 0.6880, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1684, d5.loss_map_pts: 0.6789, d5.loss_map_dir: 0.0099, loss: 30.4682, grad_norm: 156.5609 +2026-02-26 08:36:30,574 - DriveTransformer - INFO - Epoch [7][6200/39528] lr: 8.550e-05, eta: 6 days, 13:23:36, time: 0.785, data_time: 0.040, memory: 19865, loss_cls: 0.1363, loss_bbox: 0.3310, loss_traj: 0.6143, loss_traj_cls: 0.0010, loss_map_cls: 0.1207, loss_map_pts: 0.5611, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.6485, d0.loss_plan_l1_fix_dist: 0.3856, d1.loss_plan_l1_fix_time: 1.0293, d1.loss_plan_l1_fix_dist: 0.1721, d2.loss_plan_l1_fix_time: 1.0169, d2.loss_plan_l1_fix_dist: 0.1787, d3.loss_plan_l1_fix_time: 1.0153, d3.loss_plan_l1_fix_dist: 0.1919, d4.loss_plan_l1_fix_time: 1.0183, d4.loss_plan_l1_fix_dist: 0.2079, d5.loss_plan_l1_fix_time: 1.0222, d5.loss_plan_l1_fix_dist: 0.2237, d6.loss_plan_l1_fix_time: 1.0266, d6.loss_plan_l1_fix_dist: 0.2398, d0.loss_cls_all: 0.1712, d0.loss_bbox_all: 0.3873, d0.loss_cls: 0.1712, d0.loss_bbox: 0.3873, d1.loss_cls: 0.1640, d1.loss_bbox: 0.3551, d2.loss_cls: 0.1516, d2.loss_bbox: 0.3393, d3.loss_cls: 0.1428, d3.loss_bbox: 0.3316, d4.loss_cls: 0.1373, d4.loss_bbox: 0.3308, d5.loss_cls: 0.1361, d5.loss_bbox: 0.3302, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8272, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6689, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6278, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6188, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6167, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6120, d0.loss_map_cls_all: 0.2001, d0.loss_map_pts_all: 1.2165, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2001, d0.loss_map_pts: 1.2165, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1657, d1.loss_map_pts: 0.8017, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1455, d2.loss_map_pts: 0.6392, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1350, d3.loss_map_pts: 0.5857, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1282, d4.loss_map_pts: 0.5702, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1228, d5.loss_map_pts: 0.5626, d5.loss_map_dir: 0.0085, loss: 26.4113, grad_norm: 154.5343 +2026-02-26 08:37:10,485 - DriveTransformer - INFO - Epoch [7][6250/39528] lr: 8.550e-05, eta: 6 days, 13:22:55, time: 0.798, data_time: 0.041, memory: 19865, loss_cls: 0.1544, loss_bbox: 0.3636, loss_traj: 0.5914, loss_traj_cls: 0.0009, loss_map_cls: 0.1470, loss_map_pts: 0.6971, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.2002, d0.loss_plan_l1_fix_dist: 0.3709, d1.loss_plan_l1_fix_time: 0.9734, d1.loss_plan_l1_fix_dist: 0.1664, d2.loss_plan_l1_fix_time: 0.9725, d2.loss_plan_l1_fix_dist: 0.1736, d3.loss_plan_l1_fix_time: 0.9743, d3.loss_plan_l1_fix_dist: 0.1846, d4.loss_plan_l1_fix_time: 0.9813, d4.loss_plan_l1_fix_dist: 0.1965, d5.loss_plan_l1_fix_time: 0.9889, d5.loss_plan_l1_fix_dist: 0.2107, d6.loss_plan_l1_fix_time: 0.9963, d6.loss_plan_l1_fix_dist: 0.2236, d0.loss_cls_all: 0.1975, d0.loss_bbox_all: 0.4160, d0.loss_cls: 0.1975, d0.loss_bbox: 0.4160, d1.loss_cls: 0.1881, d1.loss_bbox: 0.3886, d2.loss_cls: 0.1722, d2.loss_bbox: 0.3750, d3.loss_cls: 0.1630, d3.loss_bbox: 0.3667, d4.loss_cls: 0.1571, d4.loss_bbox: 0.3646, d5.loss_cls: 0.1553, d5.loss_bbox: 0.3626, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7735, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6532, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6144, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5997, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5908, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5932, d0.loss_map_cls_all: 0.2248, d0.loss_map_pts_all: 1.4821, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2248, d0.loss_map_pts: 1.4821, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.1912, d1.loss_map_pts: 0.9963, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.1738, d2.loss_map_pts: 0.7945, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1623, d3.loss_map_pts: 0.7278, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1541, d4.loss_map_pts: 0.7067, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1488, d5.loss_map_pts: 0.6981, d5.loss_map_dir: 0.0116, loss: 27.5753, grad_norm: 156.2930 +2026-02-26 08:37:47,272 - DriveTransformer - INFO - Epoch [7][6300/39528] lr: 8.550e-05, eta: 6 days, 13:22:05, time: 0.736, data_time: 0.041, memory: 19865, loss_cls: 0.1631, loss_bbox: 0.3545, loss_traj: 0.6380, loss_traj_cls: 0.0010, loss_map_cls: 0.1867, loss_map_pts: 0.7567, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.8530, d0.loss_plan_l1_fix_dist: 0.3988, d1.loss_plan_l1_fix_time: 1.3607, d1.loss_plan_l1_fix_dist: 0.1624, d2.loss_plan_l1_fix_time: 1.3513, d2.loss_plan_l1_fix_dist: 0.1635, d3.loss_plan_l1_fix_time: 1.3508, d3.loss_plan_l1_fix_dist: 0.1694, d4.loss_plan_l1_fix_time: 1.3569, d4.loss_plan_l1_fix_dist: 0.1765, d5.loss_plan_l1_fix_time: 1.3634, d5.loss_plan_l1_fix_dist: 0.1869, d6.loss_plan_l1_fix_time: 1.3697, d6.loss_plan_l1_fix_dist: 0.1967, d0.loss_cls_all: 0.1984, d0.loss_bbox_all: 0.4119, d0.loss_cls: 0.1984, d0.loss_bbox: 0.4119, d1.loss_cls: 0.1919, d1.loss_bbox: 0.3828, d2.loss_cls: 0.1778, d2.loss_bbox: 0.3648, d3.loss_cls: 0.1664, d3.loss_bbox: 0.3564, d4.loss_cls: 0.1622, d4.loss_bbox: 0.3534, d5.loss_cls: 0.1626, d5.loss_bbox: 0.3523, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8570, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7014, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6471, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6366, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6341, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6361, d0.loss_map_cls_all: 0.2520, d0.loss_map_pts_all: 1.4536, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2520, d0.loss_map_pts: 1.4536, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2290, d1.loss_map_pts: 1.0400, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.2097, d2.loss_map_pts: 0.8568, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1974, d3.loss_map_pts: 0.7880, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1913, d4.loss_map_pts: 0.7661, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1867, d5.loss_map_pts: 0.7584, d5.loss_map_dir: 0.0097, loss: 31.2792, grad_norm: 156.7278 +2026-02-26 08:38:27,384 - DriveTransformer - INFO - Epoch [7][6350/39528] lr: 8.550e-05, eta: 6 days, 13:21:25, time: 0.802, data_time: 0.039, memory: 19865, loss_cls: 0.1625, loss_bbox: 0.3729, loss_traj: 0.6678, loss_traj_cls: 0.0010, loss_map_cls: 0.1640, loss_map_pts: 0.7716, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.9757, d0.loss_plan_l1_fix_dist: 0.4355, d1.loss_plan_l1_fix_time: 1.1261, d1.loss_plan_l1_fix_dist: 0.1911, d2.loss_plan_l1_fix_time: 1.1204, d2.loss_plan_l1_fix_dist: 0.1934, d3.loss_plan_l1_fix_time: 1.1263, d3.loss_plan_l1_fix_dist: 0.2006, d4.loss_plan_l1_fix_time: 1.1299, d4.loss_plan_l1_fix_dist: 0.2091, d5.loss_plan_l1_fix_time: 1.1340, d5.loss_plan_l1_fix_dist: 0.2206, d6.loss_plan_l1_fix_time: 1.1381, d6.loss_plan_l1_fix_dist: 0.2345, d0.loss_cls_all: 0.2012, d0.loss_bbox_all: 0.4439, d0.loss_cls: 0.2012, d0.loss_bbox: 0.4439, d1.loss_cls: 0.1925, d1.loss_bbox: 0.4063, d2.loss_cls: 0.1797, d2.loss_bbox: 0.3838, d3.loss_cls: 0.1677, d3.loss_bbox: 0.3764, d4.loss_cls: 0.1634, d4.loss_bbox: 0.3741, d5.loss_cls: 0.1629, d5.loss_bbox: 0.3721, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9433, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7633, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7054, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6880, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6803, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6728, d0.loss_map_cls_all: 0.2458, d0.loss_map_pts_all: 1.5012, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2458, d0.loss_map_pts: 1.5012, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2147, d1.loss_map_pts: 1.0685, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1917, d2.loss_map_pts: 0.8898, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1781, d3.loss_map_pts: 0.8160, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1701, d4.loss_map_pts: 0.7861, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1652, d5.loss_map_pts: 0.7727, d5.loss_map_dir: 0.0102, loss: 30.9282, grad_norm: 155.5205 +2026-02-26 08:39:06,780 - DriveTransformer - INFO - Epoch [7][6400/39528] lr: 8.550e-05, eta: 6 days, 13:20:42, time: 0.788, data_time: 0.040, memory: 19865, loss_cls: 0.1716, loss_bbox: 0.3836, loss_traj: 0.7582, loss_traj_cls: 0.0010, loss_map_cls: 0.1625, loss_map_pts: 0.7752, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.8435, d0.loss_plan_l1_fix_dist: 0.3999, d1.loss_plan_l1_fix_time: 1.1701, d1.loss_plan_l1_fix_dist: 0.1668, d2.loss_plan_l1_fix_time: 1.1555, d2.loss_plan_l1_fix_dist: 0.1660, d3.loss_plan_l1_fix_time: 1.1607, d3.loss_plan_l1_fix_dist: 0.1707, d4.loss_plan_l1_fix_time: 1.1646, d4.loss_plan_l1_fix_dist: 0.1782, d5.loss_plan_l1_fix_time: 1.1688, d5.loss_plan_l1_fix_dist: 0.1875, d6.loss_plan_l1_fix_time: 1.1737, d6.loss_plan_l1_fix_dist: 0.2001, d0.loss_cls_all: 0.2214, d0.loss_bbox_all: 0.4458, d0.loss_cls: 0.2214, d0.loss_bbox: 0.4458, d1.loss_cls: 0.2109, d1.loss_bbox: 0.4057, d2.loss_cls: 0.1944, d2.loss_bbox: 0.3878, d3.loss_cls: 0.1784, d3.loss_bbox: 0.3863, d4.loss_cls: 0.1740, d4.loss_bbox: 0.3832, d5.loss_cls: 0.1728, d5.loss_bbox: 0.3826, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0655, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8467, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7764, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7662, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7586, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7563, d0.loss_map_cls_all: 0.2372, d0.loss_map_pts_all: 1.5213, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2372, d0.loss_map_pts: 1.5213, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2128, d1.loss_map_pts: 1.0624, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1855, d2.loss_map_pts: 0.8829, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1731, d3.loss_map_pts: 0.8125, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1685, d4.loss_map_pts: 0.7856, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1641, d5.loss_map_pts: 0.7762, d5.loss_map_dir: 0.0108, loss: 31.5682, grad_norm: 155.4590 +2026-02-26 08:39:45,740 - DriveTransformer - INFO - Epoch [7][6450/39528] lr: 8.550e-05, eta: 6 days, 13:19:58, time: 0.779, data_time: 0.038, memory: 19865, loss_cls: 0.1829, loss_bbox: 0.3770, loss_traj: 0.7177, loss_traj_cls: 0.0010, loss_map_cls: 0.1839, loss_map_pts: 0.7762, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.6068, d0.loss_plan_l1_fix_dist: 0.4031, d1.loss_plan_l1_fix_time: 1.2689, d1.loss_plan_l1_fix_dist: 0.1764, d2.loss_plan_l1_fix_time: 1.2559, d2.loss_plan_l1_fix_dist: 0.1760, d3.loss_plan_l1_fix_time: 1.2561, d3.loss_plan_l1_fix_dist: 0.1806, d4.loss_plan_l1_fix_time: 1.2607, d4.loss_plan_l1_fix_dist: 0.1850, d5.loss_plan_l1_fix_time: 1.2655, d5.loss_plan_l1_fix_dist: 0.1885, d6.loss_plan_l1_fix_time: 1.2710, d6.loss_plan_l1_fix_dist: 0.1932, d0.loss_cls_all: 0.2244, d0.loss_bbox_all: 0.4377, d0.loss_cls: 0.2244, d0.loss_bbox: 0.4377, d1.loss_cls: 0.2136, d1.loss_bbox: 0.4031, d2.loss_cls: 0.1997, d2.loss_bbox: 0.3887, d3.loss_cls: 0.1880, d3.loss_bbox: 0.3810, d4.loss_cls: 0.1841, d4.loss_bbox: 0.3781, d5.loss_cls: 0.1831, d5.loss_bbox: 0.3767, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9620, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7608, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7306, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7196, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7163, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7127, d0.loss_map_cls_all: 0.2538, d0.loss_map_pts_all: 1.5159, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2538, d0.loss_map_pts: 1.5159, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2289, d1.loss_map_pts: 1.0587, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2069, d2.loss_map_pts: 0.8766, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1963, d3.loss_map_pts: 0.8122, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1892, d4.loss_map_pts: 0.7869, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1857, d5.loss_map_pts: 0.7771, d5.loss_map_dir: 0.0105, loss: 31.6965, grad_norm: 155.6540 +2026-02-26 08:40:24,227 - DriveTransformer - INFO - Epoch [7][6500/39528] lr: 8.550e-05, eta: 6 days, 13:19:13, time: 0.770, data_time: 0.037, memory: 19865, loss_cls: 0.1713, loss_bbox: 0.3648, loss_traj: 0.6337, loss_traj_cls: 0.0010, loss_map_cls: 0.1675, loss_map_pts: 0.7338, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 3.0340, d0.loss_plan_l1_fix_dist: 0.3615, d1.loss_plan_l1_fix_time: 1.2296, d1.loss_plan_l1_fix_dist: 0.1676, d2.loss_plan_l1_fix_time: 1.2114, d2.loss_plan_l1_fix_dist: 0.1691, d3.loss_plan_l1_fix_time: 1.2125, d3.loss_plan_l1_fix_dist: 0.1758, d4.loss_plan_l1_fix_time: 1.2162, d4.loss_plan_l1_fix_dist: 0.1836, d5.loss_plan_l1_fix_time: 1.2206, d5.loss_plan_l1_fix_dist: 0.1947, d6.loss_plan_l1_fix_time: 1.2264, d6.loss_plan_l1_fix_dist: 0.2066, d0.loss_cls_all: 0.2150, d0.loss_bbox_all: 0.4241, d0.loss_cls: 0.2150, d0.loss_bbox: 0.4241, d1.loss_cls: 0.2026, d1.loss_bbox: 0.3901, d2.loss_cls: 0.1899, d2.loss_bbox: 0.3728, d3.loss_cls: 0.1798, d3.loss_bbox: 0.3660, d4.loss_cls: 0.1727, d4.loss_bbox: 0.3626, d5.loss_cls: 0.1710, d5.loss_bbox: 0.3633, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9168, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7377, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6680, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6465, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6358, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6316, d0.loss_map_cls_all: 0.2457, d0.loss_map_pts_all: 1.4078, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2457, d0.loss_map_pts: 1.4078, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2184, d1.loss_map_pts: 1.0098, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1950, d2.loss_map_pts: 0.8343, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1823, d3.loss_map_pts: 0.7654, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1729, d4.loss_map_pts: 0.7420, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1686, d5.loss_map_pts: 0.7352, d5.loss_map_dir: 0.0100, loss: 30.5815, grad_norm: 156.5884 +2026-02-26 08:41:02,516 - DriveTransformer - INFO - Epoch [7][6550/39528] lr: 8.550e-05, eta: 6 days, 13:18:28, time: 0.766, data_time: 0.037, memory: 19865, loss_cls: 0.1387, loss_bbox: 0.3441, loss_traj: 0.5267, loss_traj_cls: 0.0010, loss_map_cls: 0.1596, loss_map_pts: 0.7310, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.4215, d0.loss_plan_l1_fix_dist: 0.5133, d1.loss_plan_l1_fix_time: 1.0373, d1.loss_plan_l1_fix_dist: 0.1820, d2.loss_plan_l1_fix_time: 1.0102, d2.loss_plan_l1_fix_dist: 0.1804, d3.loss_plan_l1_fix_time: 1.0034, d3.loss_plan_l1_fix_dist: 0.1875, d4.loss_plan_l1_fix_time: 1.0068, d4.loss_plan_l1_fix_dist: 0.1967, d5.loss_plan_l1_fix_time: 1.0114, d5.loss_plan_l1_fix_dist: 0.2093, d6.loss_plan_l1_fix_time: 1.0168, d6.loss_plan_l1_fix_dist: 0.2219, d0.loss_cls_all: 0.1791, d0.loss_bbox_all: 0.3982, d0.loss_cls: 0.1791, d0.loss_bbox: 0.3982, d1.loss_cls: 0.1683, d1.loss_bbox: 0.3680, d2.loss_cls: 0.1563, d2.loss_bbox: 0.3532, d3.loss_cls: 0.1454, d3.loss_bbox: 0.3462, d4.loss_cls: 0.1403, d4.loss_bbox: 0.3430, d5.loss_cls: 0.1389, d5.loss_bbox: 0.3420, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7012, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5860, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5545, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5378, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5296, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5272, d0.loss_map_cls_all: 0.2357, d0.loss_map_pts_all: 1.3949, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2357, d0.loss_map_pts: 1.3949, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2132, d1.loss_map_pts: 0.9490, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1879, d2.loss_map_pts: 0.7966, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1739, d3.loss_map_pts: 0.7503, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1673, d4.loss_map_pts: 0.7340, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1628, d5.loss_map_pts: 0.7312, d5.loss_map_dir: 0.0108, loss: 27.4120, grad_norm: 158.8530 +2026-02-26 08:41:42,624 - DriveTransformer - INFO - Epoch [7][6600/39528] lr: 8.550e-05, eta: 6 days, 13:17:48, time: 0.802, data_time: 0.043, memory: 19865, loss_cls: 0.1866, loss_bbox: 0.3796, loss_traj: 0.6252, loss_traj_cls: 0.0011, loss_map_cls: 0.1618, loss_map_pts: 0.8103, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.8225, d0.loss_plan_l1_fix_dist: 0.5062, d1.loss_plan_l1_fix_time: 1.1854, d1.loss_plan_l1_fix_dist: 0.1746, d2.loss_plan_l1_fix_time: 1.1675, d2.loss_plan_l1_fix_dist: 0.1771, d3.loss_plan_l1_fix_time: 1.1633, d3.loss_plan_l1_fix_dist: 0.1853, d4.loss_plan_l1_fix_time: 1.1668, d4.loss_plan_l1_fix_dist: 0.1940, d5.loss_plan_l1_fix_time: 1.1712, d5.loss_plan_l1_fix_dist: 0.2021, d6.loss_plan_l1_fix_time: 1.1757, d6.loss_plan_l1_fix_dist: 0.2161, d0.loss_cls_all: 0.2240, d0.loss_bbox_all: 0.4417, d0.loss_cls: 0.2240, d0.loss_bbox: 0.4417, d1.loss_cls: 0.2173, d1.loss_bbox: 0.4059, d2.loss_cls: 0.2063, d2.loss_bbox: 0.3883, d3.loss_cls: 0.1955, d3.loss_bbox: 0.3807, d4.loss_cls: 0.1875, d4.loss_bbox: 0.3773, d5.loss_cls: 0.1877, d5.loss_bbox: 0.3774, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8483, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6868, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6409, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6274, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6243, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6227, d0.loss_map_cls_all: 0.2321, d0.loss_map_pts_all: 1.5345, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2321, d0.loss_map_pts: 1.5345, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2099, d1.loss_map_pts: 1.0734, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1903, d2.loss_map_pts: 0.9022, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1752, d3.loss_map_pts: 0.8465, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1679, d4.loss_map_pts: 0.8198, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1636, d5.loss_map_pts: 0.8124, d5.loss_map_dir: 0.0109, loss: 30.9631, grad_norm: 160.9865 +2026-02-26 08:42:21,420 - DriveTransformer - INFO - Epoch [7][6650/39528] lr: 8.550e-05, eta: 6 days, 13:17:03, time: 0.776, data_time: 0.040, memory: 19865, loss_cls: 0.1725, loss_bbox: 0.3963, loss_traj: 0.7011, loss_traj_cls: 0.0010, loss_map_cls: 0.1903, loss_map_pts: 0.8194, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 3.0596, d0.loss_plan_l1_fix_dist: 0.3344, d1.loss_plan_l1_fix_time: 1.2846, d1.loss_plan_l1_fix_dist: 0.1705, d2.loss_plan_l1_fix_time: 1.2742, d2.loss_plan_l1_fix_dist: 0.1753, d3.loss_plan_l1_fix_time: 1.2785, d3.loss_plan_l1_fix_dist: 0.1849, d4.loss_plan_l1_fix_time: 1.2814, d4.loss_plan_l1_fix_dist: 0.1962, d5.loss_plan_l1_fix_time: 1.2843, d5.loss_plan_l1_fix_dist: 0.2090, d6.loss_plan_l1_fix_time: 1.2874, d6.loss_plan_l1_fix_dist: 0.2274, d0.loss_cls_all: 0.2229, d0.loss_bbox_all: 0.4521, d0.loss_cls: 0.2229, d0.loss_bbox: 0.4521, d1.loss_cls: 0.2117, d1.loss_bbox: 0.4181, d2.loss_cls: 0.1976, d2.loss_bbox: 0.4025, d3.loss_cls: 0.1827, d3.loss_bbox: 0.3957, d4.loss_cls: 0.1753, d4.loss_bbox: 0.3945, d5.loss_cls: 0.1737, d5.loss_bbox: 0.3953, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9595, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7959, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7296, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7152, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7068, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7001, d0.loss_map_cls_all: 0.2712, d0.loss_map_pts_all: 1.4954, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2712, d0.loss_map_pts: 1.4954, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2437, d1.loss_map_pts: 1.0916, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.2156, d2.loss_map_pts: 0.9257, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.2006, d3.loss_map_pts: 0.8609, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1962, d4.loss_map_pts: 0.8323, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1922, d5.loss_map_pts: 0.8203, d5.loss_map_dir: 0.0094, loss: 32.6242, grad_norm: 161.9952 +2026-02-26 08:43:00,598 - DriveTransformer - INFO - Epoch [7][6700/39528] lr: 8.550e-05, eta: 6 days, 13:16:20, time: 0.784, data_time: 0.040, memory: 19865, loss_cls: 0.1552, loss_bbox: 0.3642, loss_traj: 0.7340, loss_traj_cls: 0.0010, loss_map_cls: 0.1398, loss_map_pts: 0.6002, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.7982, d0.loss_plan_l1_fix_dist: 0.4884, d1.loss_plan_l1_fix_time: 1.1300, d1.loss_plan_l1_fix_dist: 0.1976, d2.loss_plan_l1_fix_time: 1.1197, d2.loss_plan_l1_fix_dist: 0.1998, d3.loss_plan_l1_fix_time: 1.1193, d3.loss_plan_l1_fix_dist: 0.2081, d4.loss_plan_l1_fix_time: 1.1216, d4.loss_plan_l1_fix_dist: 0.2185, d5.loss_plan_l1_fix_time: 1.1241, d5.loss_plan_l1_fix_dist: 0.2295, d6.loss_plan_l1_fix_time: 1.1269, d6.loss_plan_l1_fix_dist: 0.2391, d0.loss_cls_all: 0.1956, d0.loss_bbox_all: 0.4206, d0.loss_cls: 0.1956, d0.loss_bbox: 0.4206, d1.loss_cls: 0.1844, d1.loss_bbox: 0.3903, d2.loss_cls: 0.1727, d2.loss_bbox: 0.3733, d3.loss_cls: 0.1601, d3.loss_bbox: 0.3682, d4.loss_cls: 0.1573, d4.loss_bbox: 0.3635, d5.loss_cls: 0.1550, d5.loss_bbox: 0.3646, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9697, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7837, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7481, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7292, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7254, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7329, d0.loss_map_cls_all: 0.2173, d0.loss_map_pts_all: 1.2187, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2173, d0.loss_map_pts: 1.2187, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1868, d1.loss_map_pts: 0.8300, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1611, d2.loss_map_pts: 0.6817, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1474, d3.loss_map_pts: 0.6333, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1424, d4.loss_map_pts: 0.6129, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1399, d5.loss_map_pts: 0.6026, d5.loss_map_dir: 0.0079, loss: 29.0052, grad_norm: 162.0895 +2026-02-26 08:43:38,428 - DriveTransformer - INFO - Epoch [7][6750/39528] lr: 8.550e-05, eta: 6 days, 13:15:33, time: 0.757, data_time: 0.039, memory: 19865, loss_cls: 0.1536, loss_bbox: 0.3484, loss_traj: 0.6849, loss_traj_cls: 0.0011, loss_map_cls: 0.1808, loss_map_pts: 0.6604, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.4933, d0.loss_plan_l1_fix_dist: 0.4500, d1.loss_plan_l1_fix_time: 0.9354, d1.loss_plan_l1_fix_dist: 0.1645, d2.loss_plan_l1_fix_time: 0.9207, d2.loss_plan_l1_fix_dist: 0.1656, d3.loss_plan_l1_fix_time: 0.9185, d3.loss_plan_l1_fix_dist: 0.1710, d4.loss_plan_l1_fix_time: 0.9219, d4.loss_plan_l1_fix_dist: 0.1779, d5.loss_plan_l1_fix_time: 0.9255, d5.loss_plan_l1_fix_dist: 0.1879, d6.loss_plan_l1_fix_time: 0.9295, d6.loss_plan_l1_fix_dist: 0.2008, d0.loss_cls_all: 0.1878, d0.loss_bbox_all: 0.4172, d0.loss_cls: 0.1878, d0.loss_bbox: 0.4172, d1.loss_cls: 0.1787, d1.loss_bbox: 0.3859, d2.loss_cls: 0.1704, d2.loss_bbox: 0.3651, d3.loss_cls: 0.1570, d3.loss_bbox: 0.3569, d4.loss_cls: 0.1533, d4.loss_bbox: 0.3528, d5.loss_cls: 0.1530, d5.loss_bbox: 0.3508, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9074, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7417, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6995, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6892, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6840, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6799, d0.loss_map_cls_all: 0.2452, d0.loss_map_pts_all: 1.2905, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2452, d0.loss_map_pts: 1.2905, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.2222, d1.loss_map_pts: 0.9127, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1985, d2.loss_map_pts: 0.7569, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1916, d3.loss_map_pts: 0.6894, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1851, d4.loss_map_pts: 0.6674, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1809, d5.loss_map_pts: 0.6599, d5.loss_map_dir: 0.0071, loss: 27.6245, grad_norm: 162.6997 +2026-02-26 08:44:16,357 - DriveTransformer - INFO - Epoch [7][6800/39528] lr: 8.550e-05, eta: 6 days, 13:14:47, time: 0.760, data_time: 0.038, memory: 19865, loss_cls: 0.1788, loss_bbox: 0.3547, loss_traj: 0.7226, loss_traj_cls: 0.0010, loss_map_cls: 0.1667, loss_map_pts: 0.6360, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.7566, d0.loss_plan_l1_fix_dist: 0.3296, d1.loss_plan_l1_fix_time: 1.0851, d1.loss_plan_l1_fix_dist: 0.1569, d2.loss_plan_l1_fix_time: 1.0710, d2.loss_plan_l1_fix_dist: 0.1584, d3.loss_plan_l1_fix_time: 1.0627, d3.loss_plan_l1_fix_dist: 0.1670, d4.loss_plan_l1_fix_time: 1.0641, d4.loss_plan_l1_fix_dist: 0.1793, d5.loss_plan_l1_fix_time: 1.0665, d5.loss_plan_l1_fix_dist: 0.1915, d6.loss_plan_l1_fix_time: 1.0693, d6.loss_plan_l1_fix_dist: 0.2041, d0.loss_cls_all: 0.2153, d0.loss_bbox_all: 0.4170, d0.loss_cls: 0.2153, d0.loss_bbox: 0.4170, d1.loss_cls: 0.2054, d1.loss_bbox: 0.3836, d2.loss_cls: 0.1930, d2.loss_bbox: 0.3696, d3.loss_cls: 0.1835, d3.loss_bbox: 0.3609, d4.loss_cls: 0.1788, d4.loss_bbox: 0.3555, d5.loss_cls: 0.1780, d5.loss_bbox: 0.3560, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9666, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7947, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7517, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7348, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7272, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7243, d0.loss_map_cls_all: 0.2399, d0.loss_map_pts_all: 1.2783, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2399, d0.loss_map_pts: 1.2783, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.2090, d1.loss_map_pts: 0.8821, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1891, d2.loss_map_pts: 0.7234, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1768, d3.loss_map_pts: 0.6632, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1708, d4.loss_map_pts: 0.6420, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1668, d5.loss_map_pts: 0.6370, d5.loss_map_dir: 0.0086, loss: 28.9192, grad_norm: 160.8201 +2026-02-26 08:44:53,547 - DriveTransformer - INFO - Epoch [7][6850/39528] lr: 8.550e-05, eta: 6 days, 13:13:58, time: 0.742, data_time: 0.037, memory: 19865, loss_cls: 0.1634, loss_bbox: 0.3439, loss_traj: 0.6509, loss_traj_cls: 0.0011, loss_map_cls: 0.1462, loss_map_pts: 0.5899, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.5073, d0.loss_plan_l1_fix_dist: 0.3462, d1.loss_plan_l1_fix_time: 0.9558, d1.loss_plan_l1_fix_dist: 0.1415, d2.loss_plan_l1_fix_time: 0.9365, d2.loss_plan_l1_fix_dist: 0.1406, d3.loss_plan_l1_fix_time: 0.9335, d3.loss_plan_l1_fix_dist: 0.1464, d4.loss_plan_l1_fix_time: 0.9371, d4.loss_plan_l1_fix_dist: 0.1536, d5.loss_plan_l1_fix_time: 0.9417, d5.loss_plan_l1_fix_dist: 0.1628, d6.loss_plan_l1_fix_time: 0.9470, d6.loss_plan_l1_fix_dist: 0.1733, d0.loss_cls_all: 0.2029, d0.loss_bbox_all: 0.4050, d0.loss_cls: 0.2029, d0.loss_bbox: 0.4050, d1.loss_cls: 0.1960, d1.loss_bbox: 0.3696, d2.loss_cls: 0.1809, d2.loss_bbox: 0.3543, d3.loss_cls: 0.1693, d3.loss_bbox: 0.3487, d4.loss_cls: 0.1648, d4.loss_bbox: 0.3452, d5.loss_cls: 0.1644, d5.loss_bbox: 0.3432, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8453, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6998, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6545, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6444, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6454, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6456, d0.loss_map_cls_all: 0.2093, d0.loss_map_pts_all: 1.2095, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2093, d0.loss_map_pts: 1.2095, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1884, d1.loss_map_pts: 0.8154, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1695, d2.loss_map_pts: 0.6713, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1588, d3.loss_map_pts: 0.6166, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1521, d4.loss_map_pts: 0.5957, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1484, d5.loss_map_pts: 0.5898, d5.loss_map_dir: 0.0079, loss: 26.3168, grad_norm: 162.7325 +2026-02-26 08:45:30,813 - DriveTransformer - INFO - Epoch [7][6900/39528] lr: 8.550e-05, eta: 6 days, 13:13:10, time: 0.745, data_time: 0.035, memory: 19865, loss_cls: 0.1750, loss_bbox: 0.3619, loss_traj: 0.7984, loss_traj_cls: 0.0010, loss_map_cls: 0.1508, loss_map_pts: 0.6357, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.6021, d0.loss_plan_l1_fix_dist: 0.3319, d1.loss_plan_l1_fix_time: 1.0395, d1.loss_plan_l1_fix_dist: 0.1615, d2.loss_plan_l1_fix_time: 1.0223, d2.loss_plan_l1_fix_dist: 0.1640, d3.loss_plan_l1_fix_time: 1.0250, d3.loss_plan_l1_fix_dist: 0.1697, d4.loss_plan_l1_fix_time: 1.0286, d4.loss_plan_l1_fix_dist: 0.1776, d5.loss_plan_l1_fix_time: 1.0329, d5.loss_plan_l1_fix_dist: 0.1868, d6.loss_plan_l1_fix_time: 1.0380, d6.loss_plan_l1_fix_dist: 0.1961, d0.loss_cls_all: 0.2164, d0.loss_bbox_all: 0.4212, d0.loss_cls: 0.2164, d0.loss_bbox: 0.4212, d1.loss_cls: 0.2065, d1.loss_bbox: 0.3906, d2.loss_cls: 0.1938, d2.loss_bbox: 0.3740, d3.loss_cls: 0.1789, d3.loss_bbox: 0.3688, d4.loss_cls: 0.1747, d4.loss_bbox: 0.3651, d5.loss_cls: 0.1738, d5.loss_bbox: 0.3629, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0130, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8299, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7910, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7880, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7910, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7946, d0.loss_map_cls_all: 0.2173, d0.loss_map_pts_all: 1.2372, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2173, d0.loss_map_pts: 1.2372, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1920, d1.loss_map_pts: 0.8822, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1739, d2.loss_map_pts: 0.7359, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1613, d3.loss_map_pts: 0.6729, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1541, d4.loss_map_pts: 0.6445, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1520, d5.loss_map_pts: 0.6360, d5.loss_map_dir: 0.0075, loss: 28.7492, grad_norm: 162.4106 +2026-02-26 08:46:10,087 - DriveTransformer - INFO - Epoch [7][6950/39528] lr: 8.550e-05, eta: 6 days, 13:12:27, time: 0.786, data_time: 0.042, memory: 19865, loss_cls: 0.1612, loss_bbox: 0.3616, loss_traj: 0.6332, loss_traj_cls: 0.0010, loss_map_cls: 0.1653, loss_map_pts: 0.7883, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.6021, d0.loss_plan_l1_fix_dist: 0.3781, d1.loss_plan_l1_fix_time: 1.1287, d1.loss_plan_l1_fix_dist: 0.1869, d2.loss_plan_l1_fix_time: 1.1132, d2.loss_plan_l1_fix_dist: 0.1905, d3.loss_plan_l1_fix_time: 1.1083, d3.loss_plan_l1_fix_dist: 0.1983, d4.loss_plan_l1_fix_time: 1.1106, d4.loss_plan_l1_fix_dist: 0.2077, d5.loss_plan_l1_fix_time: 1.1139, d5.loss_plan_l1_fix_dist: 0.2176, d6.loss_plan_l1_fix_time: 1.1179, d6.loss_plan_l1_fix_dist: 0.2291, d0.loss_cls_all: 0.2008, d0.loss_bbox_all: 0.4406, d0.loss_cls: 0.2008, d0.loss_bbox: 0.4406, d1.loss_cls: 0.1912, d1.loss_bbox: 0.4022, d2.loss_cls: 0.1794, d2.loss_bbox: 0.3787, d3.loss_cls: 0.1654, d3.loss_bbox: 0.3702, d4.loss_cls: 0.1617, d4.loss_bbox: 0.3647, d5.loss_cls: 0.1606, d5.loss_bbox: 0.3621, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8913, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7066, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6500, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6424, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6378, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6369, d0.loss_map_cls_all: 0.2344, d0.loss_map_pts_all: 1.5074, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2344, d0.loss_map_pts: 1.5074, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2102, d1.loss_map_pts: 1.0665, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1875, d2.loss_map_pts: 0.8887, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1784, d3.loss_map_pts: 0.8207, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1713, d4.loss_map_pts: 0.7956, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1673, d5.loss_map_pts: 0.7891, d5.loss_map_dir: 0.0104, loss: 30.0426, grad_norm: 161.7122 +2026-02-26 08:46:48,511 - DriveTransformer - INFO - Epoch [7][7000/39528] lr: 8.550e-05, eta: 6 days, 13:11:42, time: 0.768, data_time: 0.042, memory: 19865, loss_cls: 0.1796, loss_bbox: 0.3884, loss_traj: 0.7540, loss_traj_cls: 0.0010, loss_map_cls: 0.1682, loss_map_pts: 0.6725, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.6015, d0.loss_plan_l1_fix_dist: 0.4635, d1.loss_plan_l1_fix_time: 1.0831, d1.loss_plan_l1_fix_dist: 0.2062, d2.loss_plan_l1_fix_time: 1.0671, d2.loss_plan_l1_fix_dist: 0.2114, d3.loss_plan_l1_fix_time: 1.0614, d3.loss_plan_l1_fix_dist: 0.2265, d4.loss_plan_l1_fix_time: 1.0635, d4.loss_plan_l1_fix_dist: 0.2395, d5.loss_plan_l1_fix_time: 1.0666, d5.loss_plan_l1_fix_dist: 0.2527, d6.loss_plan_l1_fix_time: 1.0710, d6.loss_plan_l1_fix_dist: 0.2666, d0.loss_cls_all: 0.2219, d0.loss_bbox_all: 0.4567, d0.loss_cls: 0.2219, d0.loss_bbox: 0.4567, d1.loss_cls: 0.2137, d1.loss_bbox: 0.4148, d2.loss_cls: 0.2045, d2.loss_bbox: 0.3933, d3.loss_cls: 0.1908, d3.loss_bbox: 0.3874, d4.loss_cls: 0.1819, d4.loss_bbox: 0.3874, d5.loss_cls: 0.1802, d5.loss_bbox: 0.3867, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0099, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8416, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7957, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7759, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7630, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7601, d0.loss_map_cls_all: 0.2403, d0.loss_map_pts_all: 1.3865, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2403, d0.loss_map_pts: 1.3865, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.2115, d1.loss_map_pts: 0.9605, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1918, d2.loss_map_pts: 0.7792, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1822, d3.loss_map_pts: 0.7030, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1754, d4.loss_map_pts: 0.6809, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1704, d5.loss_map_pts: 0.6734, d5.loss_map_dir: 0.0088, loss: 30.3442, grad_norm: 171.0085 +2026-02-26 08:47:27,014 - DriveTransformer - INFO - Epoch [7][7050/39528] lr: 8.550e-05, eta: 6 days, 13:10:57, time: 0.770, data_time: 0.040, memory: 19865, loss_cls: 0.1626, loss_bbox: 0.3466, loss_traj: 0.6605, loss_traj_cls: 0.0010, loss_map_cls: 0.1513, loss_map_pts: 0.6752, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.8462, d0.loss_plan_l1_fix_dist: 0.4033, d1.loss_plan_l1_fix_time: 1.0095, d1.loss_plan_l1_fix_dist: 0.1908, d2.loss_plan_l1_fix_time: 0.9871, d2.loss_plan_l1_fix_dist: 0.1949, d3.loss_plan_l1_fix_time: 0.9828, d3.loss_plan_l1_fix_dist: 0.2045, d4.loss_plan_l1_fix_time: 0.9863, d4.loss_plan_l1_fix_dist: 0.2154, d5.loss_plan_l1_fix_time: 0.9907, d5.loss_plan_l1_fix_dist: 0.2270, d6.loss_plan_l1_fix_time: 0.9964, d6.loss_plan_l1_fix_dist: 0.2391, d0.loss_cls_all: 0.1933, d0.loss_bbox_all: 0.4104, d0.loss_cls: 0.1933, d0.loss_bbox: 0.4104, d1.loss_cls: 0.1883, d1.loss_bbox: 0.3705, d2.loss_cls: 0.1760, d2.loss_bbox: 0.3527, d3.loss_cls: 0.1652, d3.loss_bbox: 0.3483, d4.loss_cls: 0.1608, d4.loss_bbox: 0.3464, d5.loss_cls: 0.1617, d5.loss_bbox: 0.3461, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9233, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7126, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6724, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6619, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6578, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6582, d0.loss_map_cls_all: 0.2247, d0.loss_map_pts_all: 1.4131, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2247, d0.loss_map_pts: 1.4131, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1918, d1.loss_map_pts: 0.9495, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1733, d2.loss_map_pts: 0.7703, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1651, d3.loss_map_pts: 0.7034, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1578, d4.loss_map_pts: 0.6850, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1516, d5.loss_map_pts: 0.6767, d5.loss_map_dir: 0.0089, loss: 28.5587, grad_norm: 170.2097 +2026-02-26 08:48:07,844 - DriveTransformer - INFO - Epoch [7][7100/39528] lr: 8.550e-05, eta: 6 days, 13:10:18, time: 0.817, data_time: 0.042, memory: 19865, loss_cls: 0.1741, loss_bbox: 0.3561, loss_traj: 0.5809, loss_traj_cls: 0.0010, loss_map_cls: 0.1672, loss_map_pts: 0.7334, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.2007, d0.loss_plan_l1_fix_dist: 0.3404, d1.loss_plan_l1_fix_time: 0.9214, d1.loss_plan_l1_fix_dist: 0.1696, d2.loss_plan_l1_fix_time: 0.9059, d2.loss_plan_l1_fix_dist: 0.1736, d3.loss_plan_l1_fix_time: 0.9016, d3.loss_plan_l1_fix_dist: 0.1806, d4.loss_plan_l1_fix_time: 0.9030, d4.loss_plan_l1_fix_dist: 0.1907, d5.loss_plan_l1_fix_time: 0.9051, d5.loss_plan_l1_fix_dist: 0.2029, d6.loss_plan_l1_fix_time: 0.9073, d6.loss_plan_l1_fix_dist: 0.2159, d0.loss_cls_all: 0.2102, d0.loss_bbox_all: 0.4195, d0.loss_cls: 0.2102, d0.loss_bbox: 0.4195, d1.loss_cls: 0.2032, d1.loss_bbox: 0.3880, d2.loss_cls: 0.1936, d2.loss_bbox: 0.3685, d3.loss_cls: 0.1797, d3.loss_bbox: 0.3606, d4.loss_cls: 0.1745, d4.loss_bbox: 0.3588, d5.loss_cls: 0.1733, d5.loss_bbox: 0.3567, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7831, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6372, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.5899, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5832, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5792, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5837, d0.loss_map_cls_all: 0.2406, d0.loss_map_pts_all: 1.4672, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2406, d0.loss_map_pts: 1.4672, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2084, d1.loss_map_pts: 1.0132, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1896, d2.loss_map_pts: 0.8251, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1783, d3.loss_map_pts: 0.7613, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1719, d4.loss_map_pts: 0.7376, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1694, d5.loss_map_pts: 0.7340, d5.loss_map_dir: 0.0103, loss: 27.3955, grad_norm: 162.0713 +2026-02-26 08:48:47,331 - DriveTransformer - INFO - Epoch [7][7150/39528] lr: 8.550e-05, eta: 6 days, 13:09:36, time: 0.790, data_time: 0.039, memory: 19865, loss_cls: 0.1569, loss_bbox: 0.3677, loss_traj: 0.6572, loss_traj_cls: 0.0009, loss_map_cls: 0.1542, loss_map_pts: 0.6836, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.9849, d0.loss_plan_l1_fix_dist: 0.3780, d1.loss_plan_l1_fix_time: 1.2042, d1.loss_plan_l1_fix_dist: 0.1719, d2.loss_plan_l1_fix_time: 1.1977, d2.loss_plan_l1_fix_dist: 0.1766, d3.loss_plan_l1_fix_time: 1.1926, d3.loss_plan_l1_fix_dist: 0.1838, d4.loss_plan_l1_fix_time: 1.1959, d4.loss_plan_l1_fix_dist: 0.1927, d5.loss_plan_l1_fix_time: 1.1998, d5.loss_plan_l1_fix_dist: 0.2033, d6.loss_plan_l1_fix_time: 1.2043, d6.loss_plan_l1_fix_dist: 0.2169, d0.loss_cls_all: 0.1933, d0.loss_bbox_all: 0.4303, d0.loss_cls: 0.1933, d0.loss_bbox: 0.4303, d1.loss_cls: 0.1906, d1.loss_bbox: 0.3926, d2.loss_cls: 0.1790, d2.loss_bbox: 0.3747, d3.loss_cls: 0.1624, d3.loss_bbox: 0.3701, d4.loss_cls: 0.1575, d4.loss_bbox: 0.3688, d5.loss_cls: 0.1566, d5.loss_bbox: 0.3675, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8665, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7282, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6763, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6590, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6523, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6571, d0.loss_map_cls_all: 0.2339, d0.loss_map_pts_all: 1.3934, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2339, d0.loss_map_pts: 1.3934, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2014, d1.loss_map_pts: 0.9437, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1832, d2.loss_map_pts: 0.7613, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1719, d3.loss_map_pts: 0.7004, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1617, d4.loss_map_pts: 0.6874, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1563, d5.loss_map_pts: 0.6833, d5.loss_map_dir: 0.0103, loss: 29.9207, grad_norm: 162.3925 +2026-02-26 08:49:25,720 - DriveTransformer - INFO - Epoch [7][7200/39528] lr: 8.550e-05, eta: 6 days, 13:08:51, time: 0.768, data_time: 0.042, memory: 19865, loss_cls: 0.1589, loss_bbox: 0.3516, loss_traj: 0.6816, loss_traj_cls: 0.0010, loss_map_cls: 0.1508, loss_map_pts: 0.5702, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.5821, d0.loss_plan_l1_fix_dist: 0.4098, d1.loss_plan_l1_fix_time: 1.1792, d1.loss_plan_l1_fix_dist: 0.1692, d2.loss_plan_l1_fix_time: 1.1698, d2.loss_plan_l1_fix_dist: 0.1721, d3.loss_plan_l1_fix_time: 1.1736, d3.loss_plan_l1_fix_dist: 0.1803, d4.loss_plan_l1_fix_time: 1.1766, d4.loss_plan_l1_fix_dist: 0.1900, d5.loss_plan_l1_fix_time: 1.1800, d5.loss_plan_l1_fix_dist: 0.2004, d6.loss_plan_l1_fix_time: 1.1837, d6.loss_plan_l1_fix_dist: 0.2136, d0.loss_cls_all: 0.1906, d0.loss_bbox_all: 0.4099, d0.loss_cls: 0.1906, d0.loss_bbox: 0.4099, d1.loss_cls: 0.1892, d1.loss_bbox: 0.3757, d2.loss_cls: 0.1798, d2.loss_bbox: 0.3553, d3.loss_cls: 0.1660, d3.loss_bbox: 0.3513, d4.loss_cls: 0.1594, d4.loss_bbox: 0.3513, d5.loss_cls: 0.1590, d5.loss_bbox: 0.3496, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9052, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7339, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6957, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6894, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6864, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6816, d0.loss_map_cls_all: 0.2235, d0.loss_map_pts_all: 1.1001, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2235, d0.loss_map_pts: 1.1001, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1982, d1.loss_map_pts: 0.7914, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1729, d2.loss_map_pts: 0.6550, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1638, d3.loss_map_pts: 0.6013, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1552, d4.loss_map_pts: 0.5834, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1517, d5.loss_map_pts: 0.5724, d5.loss_map_dir: 0.0065, loss: 28.0743, grad_norm: 161.7260 +2026-02-26 08:50:04,756 - DriveTransformer - INFO - Epoch [7][7250/39528] lr: 8.550e-05, eta: 6 days, 13:08:08, time: 0.781, data_time: 0.038, memory: 19865, loss_cls: 0.1680, loss_bbox: 0.3607, loss_traj: 0.7648, loss_traj_cls: 0.0009, loss_map_cls: 0.1640, loss_map_pts: 0.6563, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.7388, d0.loss_plan_l1_fix_dist: 0.3151, d1.loss_plan_l1_fix_time: 1.0526, d1.loss_plan_l1_fix_dist: 0.1517, d2.loss_plan_l1_fix_time: 1.0505, d2.loss_plan_l1_fix_dist: 0.1546, d3.loss_plan_l1_fix_time: 1.0554, d3.loss_plan_l1_fix_dist: 0.1634, d4.loss_plan_l1_fix_time: 1.0597, d4.loss_plan_l1_fix_dist: 0.1741, d5.loss_plan_l1_fix_time: 1.0637, d5.loss_plan_l1_fix_dist: 0.1857, d6.loss_plan_l1_fix_time: 1.0679, d6.loss_plan_l1_fix_dist: 0.1994, d0.loss_cls_all: 0.1936, d0.loss_bbox_all: 0.4138, d0.loss_cls: 0.1936, d0.loss_bbox: 0.4138, d1.loss_cls: 0.1915, d1.loss_bbox: 0.3806, d2.loss_cls: 0.1825, d2.loss_bbox: 0.3632, d3.loss_cls: 0.1736, d3.loss_bbox: 0.3592, d4.loss_cls: 0.1687, d4.loss_bbox: 0.3592, d5.loss_cls: 0.1682, d5.loss_bbox: 0.3587, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0092, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8364, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7838, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7754, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7672, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7666, d0.loss_map_cls_all: 0.2390, d0.loss_map_pts_all: 1.3947, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2390, d0.loss_map_pts: 1.3947, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2134, d1.loss_map_pts: 0.9368, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1901, d2.loss_map_pts: 0.7531, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1783, d3.loss_map_pts: 0.6875, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1709, d4.loss_map_pts: 0.6624, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1649, d5.loss_map_pts: 0.6587, d5.loss_map_dir: 0.0095, loss: 29.3692, grad_norm: 161.9004 +2026-02-26 08:50:41,864 - DriveTransformer - INFO - Epoch [7][7300/39528] lr: 8.550e-05, eta: 6 days, 13:07:19, time: 0.742, data_time: 0.044, memory: 19865, loss_cls: 0.1838, loss_bbox: 0.3808, loss_traj: 0.7246, loss_traj_cls: 0.0010, loss_map_cls: 0.1471, loss_map_pts: 0.6465, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.6018, d0.loss_plan_l1_fix_dist: 0.4062, d1.loss_plan_l1_fix_time: 1.0576, d1.loss_plan_l1_fix_dist: 0.1786, d2.loss_plan_l1_fix_time: 1.0538, d2.loss_plan_l1_fix_dist: 0.1835, d3.loss_plan_l1_fix_time: 1.0525, d3.loss_plan_l1_fix_dist: 0.1926, d4.loss_plan_l1_fix_time: 1.0561, d4.loss_plan_l1_fix_dist: 0.2030, d5.loss_plan_l1_fix_time: 1.0602, d5.loss_plan_l1_fix_dist: 0.2141, d6.loss_plan_l1_fix_time: 1.0651, d6.loss_plan_l1_fix_dist: 0.2248, d0.loss_cls_all: 0.2126, d0.loss_bbox_all: 0.4436, d0.loss_cls: 0.2126, d0.loss_bbox: 0.4436, d1.loss_cls: 0.2106, d1.loss_bbox: 0.4048, d2.loss_cls: 0.2036, d2.loss_bbox: 0.3854, d3.loss_cls: 0.1914, d3.loss_bbox: 0.3834, d4.loss_cls: 0.1855, d4.loss_bbox: 0.3819, d5.loss_cls: 0.1834, d5.loss_bbox: 0.3811, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9864, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7879, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7375, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7309, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7222, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7197, d0.loss_map_cls_all: 0.2114, d0.loss_map_pts_all: 1.2244, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2114, d0.loss_map_pts: 1.2244, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1868, d1.loss_map_pts: 0.8842, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1694, d2.loss_map_pts: 0.7379, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1594, d3.loss_map_pts: 0.6757, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1531, d4.loss_map_pts: 0.6524, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1499, d5.loss_map_pts: 0.6478, d5.loss_map_dir: 0.0080, loss: 28.8983, grad_norm: 161.6152 +2026-02-26 08:51:18,412 - DriveTransformer - INFO - Epoch [7][7350/39528] lr: 8.550e-05, eta: 6 days, 13:06:28, time: 0.731, data_time: 0.040, memory: 19865, loss_cls: 0.1445, loss_bbox: 0.3501, loss_traj: 0.6081, loss_traj_cls: 0.0009, loss_map_cls: 0.1407, loss_map_pts: 0.5846, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.7706, d0.loss_plan_l1_fix_dist: 0.3456, d1.loss_plan_l1_fix_time: 1.0456, d1.loss_plan_l1_fix_dist: 0.1667, d2.loss_plan_l1_fix_time: 1.0313, d2.loss_plan_l1_fix_dist: 0.1696, d3.loss_plan_l1_fix_time: 1.0327, d3.loss_plan_l1_fix_dist: 0.1792, d4.loss_plan_l1_fix_time: 1.0352, d4.loss_plan_l1_fix_dist: 0.1894, d5.loss_plan_l1_fix_time: 1.0383, d5.loss_plan_l1_fix_dist: 0.2014, d6.loss_plan_l1_fix_time: 1.0423, d6.loss_plan_l1_fix_dist: 0.2156, d0.loss_cls_all: 0.1810, d0.loss_bbox_all: 0.4076, d0.loss_cls: 0.1810, d0.loss_bbox: 0.4076, d1.loss_cls: 0.1730, d1.loss_bbox: 0.3791, d2.loss_cls: 0.1627, d2.loss_bbox: 0.3601, d3.loss_cls: 0.1506, d3.loss_bbox: 0.3537, d4.loss_cls: 0.1463, d4.loss_bbox: 0.3502, d5.loss_cls: 0.1454, d5.loss_bbox: 0.3484, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8431, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6876, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6359, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6115, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6057, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6045, d0.loss_map_cls_all: 0.2195, d0.loss_map_pts_all: 1.1859, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.2195, d0.loss_map_pts: 1.1859, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1849, d1.loss_map_pts: 0.8237, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1625, d2.loss_map_pts: 0.6676, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1535, d3.loss_map_pts: 0.6068, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1473, d4.loss_map_pts: 0.5868, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1437, d5.loss_map_pts: 0.5812, d5.loss_map_dir: 0.0064, loss: 26.9526, grad_norm: 160.3852 +2026-02-26 08:51:55,744 - DriveTransformer - INFO - Epoch [7][7400/39528] lr: 8.550e-05, eta: 6 days, 13:05:40, time: 0.747, data_time: 0.040, memory: 19865, loss_cls: 0.1716, loss_bbox: 0.3669, loss_traj: 0.6675, loss_traj_cls: 0.0009, loss_map_cls: 0.1808, loss_map_pts: 0.7716, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.6158, d0.loss_plan_l1_fix_dist: 0.3755, d1.loss_plan_l1_fix_time: 1.0436, d1.loss_plan_l1_fix_dist: 0.1631, d2.loss_plan_l1_fix_time: 1.0347, d2.loss_plan_l1_fix_dist: 0.1678, d3.loss_plan_l1_fix_time: 1.0366, d3.loss_plan_l1_fix_dist: 0.1763, d4.loss_plan_l1_fix_time: 1.0396, d4.loss_plan_l1_fix_dist: 0.1882, d5.loss_plan_l1_fix_time: 1.0434, d5.loss_plan_l1_fix_dist: 0.2010, d6.loss_plan_l1_fix_time: 1.0478, d6.loss_plan_l1_fix_dist: 0.2163, d0.loss_cls_all: 0.2103, d0.loss_bbox_all: 0.4273, d0.loss_cls: 0.2103, d0.loss_bbox: 0.4273, d1.loss_cls: 0.2004, d1.loss_bbox: 0.3923, d2.loss_cls: 0.1884, d2.loss_bbox: 0.3739, d3.loss_cls: 0.1764, d3.loss_bbox: 0.3683, d4.loss_cls: 0.1720, d4.loss_bbox: 0.3660, d5.loss_cls: 0.1723, d5.loss_bbox: 0.3656, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9506, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7714, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7080, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6823, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6681, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6674, d0.loss_map_cls_all: 0.2537, d0.loss_map_pts_all: 1.4005, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2537, d0.loss_map_pts: 1.4005, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.2270, d1.loss_map_pts: 1.0352, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.2119, d2.loss_map_pts: 0.8763, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1978, d3.loss_map_pts: 0.8009, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1898, d4.loss_map_pts: 0.7763, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1840, d5.loss_map_pts: 0.7717, d5.loss_map_dir: 0.0085, loss: 29.6583, grad_norm: 159.6681 +2026-02-26 08:52:34,807 - DriveTransformer - INFO - Epoch [7][7450/39528] lr: 8.550e-05, eta: 6 days, 13:04:56, time: 0.781, data_time: 0.040, memory: 19865, loss_cls: 0.1586, loss_bbox: 0.3681, loss_traj: 0.6461, loss_traj_cls: 0.0009, loss_map_cls: 0.1660, loss_map_pts: 0.7144, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.6854, d0.loss_plan_l1_fix_dist: 0.3817, d1.loss_plan_l1_fix_time: 1.0677, d1.loss_plan_l1_fix_dist: 0.1686, d2.loss_plan_l1_fix_time: 1.0558, d2.loss_plan_l1_fix_dist: 0.1750, d3.loss_plan_l1_fix_time: 1.0614, d3.loss_plan_l1_fix_dist: 0.1843, d4.loss_plan_l1_fix_time: 1.0652, d4.loss_plan_l1_fix_dist: 0.1976, d5.loss_plan_l1_fix_time: 1.0696, d5.loss_plan_l1_fix_dist: 0.2116, d6.loss_plan_l1_fix_time: 1.0747, d6.loss_plan_l1_fix_dist: 0.2252, d0.loss_cls_all: 0.2024, d0.loss_bbox_all: 0.4103, d0.loss_cls: 0.2024, d0.loss_bbox: 0.4103, d1.loss_cls: 0.1908, d1.loss_bbox: 0.3782, d2.loss_cls: 0.1805, d2.loss_bbox: 0.3607, d3.loss_cls: 0.1666, d3.loss_bbox: 0.3588, d4.loss_cls: 0.1611, d4.loss_bbox: 0.3621, d5.loss_cls: 0.1611, d5.loss_bbox: 0.3631, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8820, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6891, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6599, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6370, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6351, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6408, d0.loss_map_cls_all: 0.2300, d0.loss_map_pts_all: 1.3757, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2300, d0.loss_map_pts: 1.3757, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.2096, d1.loss_map_pts: 0.9762, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1903, d2.loss_map_pts: 0.8135, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1805, d3.loss_map_pts: 0.7479, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1746, d4.loss_map_pts: 0.7260, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1690, d5.loss_map_pts: 0.7165, d5.loss_map_dir: 0.0083, loss: 28.9154, grad_norm: 159.8746 +2026-02-26 08:53:12,858 - DriveTransformer - INFO - Epoch [7][7500/39528] lr: 8.550e-05, eta: 6 days, 13:04:10, time: 0.761, data_time: 0.041, memory: 19865, loss_cls: 0.1518, loss_bbox: 0.3602, loss_traj: 0.6872, loss_traj_cls: 0.0010, loss_map_cls: 0.1772, loss_map_pts: 0.7137, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.2296, d0.loss_plan_l1_fix_dist: 0.4229, d1.loss_plan_l1_fix_time: 0.9443, d1.loss_plan_l1_fix_dist: 0.1799, d2.loss_plan_l1_fix_time: 0.9329, d2.loss_plan_l1_fix_dist: 0.1824, d3.loss_plan_l1_fix_time: 0.9296, d3.loss_plan_l1_fix_dist: 0.1909, d4.loss_plan_l1_fix_time: 0.9319, d4.loss_plan_l1_fix_dist: 0.1998, d5.loss_plan_l1_fix_time: 0.9353, d5.loss_plan_l1_fix_dist: 0.2106, d6.loss_plan_l1_fix_time: 0.9395, d6.loss_plan_l1_fix_dist: 0.2223, d0.loss_cls_all: 0.1857, d0.loss_bbox_all: 0.4206, d0.loss_cls: 0.1857, d0.loss_bbox: 0.4206, d1.loss_cls: 0.1808, d1.loss_bbox: 0.3869, d2.loss_cls: 0.1669, d2.loss_bbox: 0.3700, d3.loss_cls: 0.1565, d3.loss_bbox: 0.3630, d4.loss_cls: 0.1533, d4.loss_bbox: 0.3592, d5.loss_cls: 0.1515, d5.loss_bbox: 0.3591, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8850, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7307, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6973, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6907, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6817, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6859, d0.loss_map_cls_all: 0.2541, d0.loss_map_pts_all: 1.3805, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2541, d0.loss_map_pts: 1.3805, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.2285, d1.loss_map_pts: 0.9746, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.2031, d2.loss_map_pts: 0.8089, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1915, d3.loss_map_pts: 0.7495, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1853, d4.loss_map_pts: 0.7217, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1789, d5.loss_map_pts: 0.7172, d5.loss_map_dir: 0.0085, loss: 28.0743, grad_norm: 159.6452 +2026-02-26 08:53:51,657 - DriveTransformer - INFO - Epoch [7][7550/39528] lr: 8.550e-05, eta: 6 days, 13:03:26, time: 0.776, data_time: 0.039, memory: 19865, loss_cls: 0.1391, loss_bbox: 0.3195, loss_traj: 0.5989, loss_traj_cls: 0.0010, loss_map_cls: 0.1459, loss_map_pts: 0.5866, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.8798, d0.loss_plan_l1_fix_dist: 0.4282, d1.loss_plan_l1_fix_time: 0.9465, d1.loss_plan_l1_fix_dist: 0.1716, d2.loss_plan_l1_fix_time: 0.9278, d2.loss_plan_l1_fix_dist: 0.1774, d3.loss_plan_l1_fix_time: 0.9300, d3.loss_plan_l1_fix_dist: 0.1890, d4.loss_plan_l1_fix_time: 0.9333, d4.loss_plan_l1_fix_dist: 0.2009, d5.loss_plan_l1_fix_time: 0.9362, d5.loss_plan_l1_fix_dist: 0.2141, d6.loss_plan_l1_fix_time: 0.9392, d6.loss_plan_l1_fix_dist: 0.2294, d0.loss_cls_all: 0.1719, d0.loss_bbox_all: 0.3778, d0.loss_cls: 0.1719, d0.loss_bbox: 0.3778, d1.loss_cls: 0.1671, d1.loss_bbox: 0.3460, d2.loss_cls: 0.1575, d2.loss_bbox: 0.3311, d3.loss_cls: 0.1461, d3.loss_bbox: 0.3228, d4.loss_cls: 0.1405, d4.loss_bbox: 0.3201, d5.loss_cls: 0.1391, d5.loss_bbox: 0.3187, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8483, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6294, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6086, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5909, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5906, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5991, d0.loss_map_cls_all: 0.2105, d0.loss_map_pts_all: 1.2201, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2105, d0.loss_map_pts: 1.2201, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1896, d1.loss_map_pts: 0.8331, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1696, d2.loss_map_pts: 0.6757, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1571, d3.loss_map_pts: 0.6199, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1503, d4.loss_map_pts: 0.5977, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1457, d5.loss_map_pts: 0.5883, d5.loss_map_dir: 0.0074, loss: 26.3026, grad_norm: 160.5783 +2026-02-26 08:54:31,791 - DriveTransformer - INFO - Epoch [7][7600/39528] lr: 8.550e-05, eta: 6 days, 13:02:46, time: 0.804, data_time: 0.039, memory: 19865, loss_cls: 0.1708, loss_bbox: 0.3883, loss_traj: 0.7199, loss_traj_cls: 0.0010, loss_map_cls: 0.1661, loss_map_pts: 0.7477, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.8807, d0.loss_plan_l1_fix_dist: 0.4821, d1.loss_plan_l1_fix_time: 1.1283, d1.loss_plan_l1_fix_dist: 0.1913, d2.loss_plan_l1_fix_time: 1.1149, d2.loss_plan_l1_fix_dist: 0.1928, d3.loss_plan_l1_fix_time: 1.1125, d3.loss_plan_l1_fix_dist: 0.2010, d4.loss_plan_l1_fix_time: 1.1147, d4.loss_plan_l1_fix_dist: 0.2130, d5.loss_plan_l1_fix_time: 1.1171, d5.loss_plan_l1_fix_dist: 0.2282, d6.loss_plan_l1_fix_time: 1.1198, d6.loss_plan_l1_fix_dist: 0.2439, d0.loss_cls_all: 0.2182, d0.loss_bbox_all: 0.4451, d0.loss_cls: 0.2182, d0.loss_bbox: 0.4451, d1.loss_cls: 0.2020, d1.loss_bbox: 0.4241, d2.loss_cls: 0.1888, d2.loss_bbox: 0.4013, d3.loss_cls: 0.1755, d3.loss_bbox: 0.3939, d4.loss_cls: 0.1710, d4.loss_bbox: 0.3924, d5.loss_cls: 0.1704, d5.loss_bbox: 0.3895, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9080, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7682, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7169, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7045, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7097, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7147, d0.loss_map_cls_all: 0.2411, d0.loss_map_pts_all: 1.5265, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2411, d0.loss_map_pts: 1.5265, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2150, d1.loss_map_pts: 1.0432, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1948, d2.loss_map_pts: 0.8546, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1812, d3.loss_map_pts: 0.7840, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1741, d4.loss_map_pts: 0.7584, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1678, d5.loss_map_pts: 0.7492, d5.loss_map_dir: 0.0098, loss: 31.0303, grad_norm: 158.9779 +2026-02-26 08:55:11,131 - DriveTransformer - INFO - Epoch [7][7650/39528] lr: 8.550e-05, eta: 6 days, 13:02:03, time: 0.785, data_time: 0.038, memory: 19865, loss_cls: 0.1449, loss_bbox: 0.3204, loss_traj: 0.5951, loss_traj_cls: 0.0010, loss_map_cls: 0.1540, loss_map_pts: 0.6493, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.2906, d0.loss_plan_l1_fix_dist: 0.3457, d1.loss_plan_l1_fix_time: 0.8896, d1.loss_plan_l1_fix_dist: 0.1424, d2.loss_plan_l1_fix_time: 0.8856, d2.loss_plan_l1_fix_dist: 0.1492, d3.loss_plan_l1_fix_time: 0.8830, d3.loss_plan_l1_fix_dist: 0.1609, d4.loss_plan_l1_fix_time: 0.8867, d4.loss_plan_l1_fix_dist: 0.1751, d5.loss_plan_l1_fix_time: 0.8912, d5.loss_plan_l1_fix_dist: 0.1894, d6.loss_plan_l1_fix_time: 0.8960, d6.loss_plan_l1_fix_dist: 0.2069, d0.loss_cls_all: 0.1759, d0.loss_bbox_all: 0.3822, d0.loss_cls: 0.1759, d0.loss_bbox: 0.3822, d1.loss_cls: 0.1705, d1.loss_bbox: 0.3495, d2.loss_cls: 0.1612, d2.loss_bbox: 0.3322, d3.loss_cls: 0.1498, d3.loss_bbox: 0.3253, d4.loss_cls: 0.1455, d4.loss_bbox: 0.3245, d5.loss_cls: 0.1445, d5.loss_bbox: 0.3219, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7321, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6425, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6064, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6025, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5966, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5958, d0.loss_map_cls_all: 0.2343, d0.loss_map_pts_all: 1.3351, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2343, d0.loss_map_pts: 1.3351, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2036, d1.loss_map_pts: 0.9190, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1815, d2.loss_map_pts: 0.7530, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1687, d3.loss_map_pts: 0.6863, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1629, d4.loss_map_pts: 0.6628, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1563, d5.loss_map_pts: 0.6523, d5.loss_map_dir: 0.0093, loss: 25.9383, grad_norm: 162.6015 +2026-02-26 08:55:51,378 - DriveTransformer - INFO - Epoch [7][7700/39528] lr: 8.550e-05, eta: 6 days, 13:01:23, time: 0.805, data_time: 0.039, memory: 19865, loss_cls: 0.1638, loss_bbox: 0.3562, loss_traj: 0.6508, loss_traj_cls: 0.0010, loss_map_cls: 0.1656, loss_map_pts: 0.7275, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.6974, d0.loss_plan_l1_fix_dist: 0.3450, d1.loss_plan_l1_fix_time: 1.1801, d1.loss_plan_l1_fix_dist: 0.1667, d2.loss_plan_l1_fix_time: 1.1701, d2.loss_plan_l1_fix_dist: 0.1697, d3.loss_plan_l1_fix_time: 1.1651, d3.loss_plan_l1_fix_dist: 0.1781, d4.loss_plan_l1_fix_time: 1.1690, d4.loss_plan_l1_fix_dist: 0.1866, d5.loss_plan_l1_fix_time: 1.1740, d5.loss_plan_l1_fix_dist: 0.1962, d6.loss_plan_l1_fix_time: 1.1793, d6.loss_plan_l1_fix_dist: 0.2090, d0.loss_cls_all: 0.2013, d0.loss_bbox_all: 0.4210, d0.loss_cls: 0.2013, d0.loss_bbox: 0.4210, d1.loss_cls: 0.1934, d1.loss_bbox: 0.3841, d2.loss_cls: 0.1837, d2.loss_bbox: 0.3626, d3.loss_cls: 0.1717, d3.loss_bbox: 0.3573, d4.loss_cls: 0.1650, d4.loss_bbox: 0.3564, d5.loss_cls: 0.1601, d5.loss_bbox: 0.3588, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9066, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7191, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6575, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6458, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6487, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6488, d0.loss_map_cls_all: 0.2450, d0.loss_map_pts_all: 1.4916, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2450, d0.loss_map_pts: 1.4916, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2095, d1.loss_map_pts: 1.0157, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1923, d2.loss_map_pts: 0.8312, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1797, d3.loss_map_pts: 0.7597, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1725, d4.loss_map_pts: 0.7360, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1673, d5.loss_map_pts: 0.7275, d5.loss_map_dir: 0.0104, loss: 29.9665, grad_norm: 158.2509 +2026-02-26 08:56:30,340 - DriveTransformer - INFO - Epoch [7][7750/39528] lr: 8.550e-05, eta: 6 days, 13:00:40, time: 0.779, data_time: 0.047, memory: 19865, loss_cls: 0.1933, loss_bbox: 0.3978, loss_traj: 0.7316, loss_traj_cls: 0.0009, loss_map_cls: 0.1842, loss_map_pts: 0.7504, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.9093, d0.loss_plan_l1_fix_dist: 0.3769, d1.loss_plan_l1_fix_time: 1.0501, d1.loss_plan_l1_fix_dist: 0.1706, d2.loss_plan_l1_fix_time: 1.0340, d2.loss_plan_l1_fix_dist: 0.1801, d3.loss_plan_l1_fix_time: 1.0327, d3.loss_plan_l1_fix_dist: 0.1939, d4.loss_plan_l1_fix_time: 1.0351, d4.loss_plan_l1_fix_dist: 0.2081, d5.loss_plan_l1_fix_time: 1.0383, d5.loss_plan_l1_fix_dist: 0.2209, d6.loss_plan_l1_fix_time: 1.0425, d6.loss_plan_l1_fix_dist: 0.2330, d0.loss_cls_all: 0.2384, d0.loss_bbox_all: 0.4641, d0.loss_cls: 0.2384, d0.loss_bbox: 0.4641, d1.loss_cls: 0.2270, d1.loss_bbox: 0.4282, d2.loss_cls: 0.2136, d2.loss_bbox: 0.4067, d3.loss_cls: 0.1981, d3.loss_bbox: 0.4022, d4.loss_cls: 0.1935, d4.loss_bbox: 0.3988, d5.loss_cls: 0.1931, d5.loss_bbox: 0.3980, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9845, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8076, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7563, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7351, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7281, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7264, d0.loss_map_cls_all: 0.2573, d0.loss_map_pts_all: 1.4510, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2573, d0.loss_map_pts: 1.4510, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2245, d1.loss_map_pts: 1.0147, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2026, d2.loss_map_pts: 0.8481, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.1935, d3.loss_map_pts: 0.7781, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1879, d4.loss_map_pts: 0.7599, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1845, d5.loss_map_pts: 0.7510, d5.loss_map_dir: 0.0112, loss: 30.8405, grad_norm: 157.9369 +2026-02-26 08:57:09,678 - DriveTransformer - INFO - Epoch [7][7800/39528] lr: 8.550e-05, eta: 6 days, 12:59:57, time: 0.787, data_time: 0.036, memory: 19865, loss_cls: 0.1537, loss_bbox: 0.3586, loss_traj: 0.6601, loss_traj_cls: 0.0010, loss_map_cls: 0.1401, loss_map_pts: 0.6563, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.7630, d0.loss_plan_l1_fix_dist: 0.4161, d1.loss_plan_l1_fix_time: 1.1030, d1.loss_plan_l1_fix_dist: 0.1809, d2.loss_plan_l1_fix_time: 1.0870, d2.loss_plan_l1_fix_dist: 0.1833, d3.loss_plan_l1_fix_time: 1.0762, d3.loss_plan_l1_fix_dist: 0.1928, d4.loss_plan_l1_fix_time: 1.0786, d4.loss_plan_l1_fix_dist: 0.2041, d5.loss_plan_l1_fix_time: 1.0820, d5.loss_plan_l1_fix_dist: 0.2165, d6.loss_plan_l1_fix_time: 1.0866, d6.loss_plan_l1_fix_dist: 0.2291, d0.loss_cls_all: 0.1873, d0.loss_bbox_all: 0.4249, d0.loss_cls: 0.1873, d0.loss_bbox: 0.4249, d1.loss_cls: 0.1851, d1.loss_bbox: 0.3890, d2.loss_cls: 0.1705, d2.loss_bbox: 0.3720, d3.loss_cls: 0.1603, d3.loss_bbox: 0.3634, d4.loss_cls: 0.1554, d4.loss_bbox: 0.3608, d5.loss_cls: 0.1535, d5.loss_bbox: 0.3592, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9063, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7221, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6781, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6651, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6629, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6613, d0.loss_map_cls_all: 0.2143, d0.loss_map_pts_all: 1.2951, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2143, d0.loss_map_pts: 1.2951, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1829, d1.loss_map_pts: 0.8961, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1616, d2.loss_map_pts: 0.7505, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1509, d3.loss_map_pts: 0.6861, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1455, d4.loss_map_pts: 0.6656, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1409, d5.loss_map_pts: 0.6585, d5.loss_map_dir: 0.0096, loss: 28.5956, grad_norm: 159.0833 +2026-02-26 08:57:46,665 - DriveTransformer - INFO - Epoch [7][7850/39528] lr: 8.550e-05, eta: 6 days, 12:59:08, time: 0.740, data_time: 0.042, memory: 19865, loss_cls: 0.1643, loss_bbox: 0.3607, loss_traj: 0.7086, loss_traj_cls: 0.0010, loss_map_cls: 0.1505, loss_map_pts: 0.6395, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.6620, d0.loss_plan_l1_fix_dist: 0.3944, d1.loss_plan_l1_fix_time: 1.0430, d1.loss_plan_l1_fix_dist: 0.1728, d2.loss_plan_l1_fix_time: 1.0298, d2.loss_plan_l1_fix_dist: 0.1751, d3.loss_plan_l1_fix_time: 1.0302, d3.loss_plan_l1_fix_dist: 0.1842, d4.loss_plan_l1_fix_time: 1.0340, d4.loss_plan_l1_fix_dist: 0.1963, d5.loss_plan_l1_fix_time: 1.0381, d5.loss_plan_l1_fix_dist: 0.2118, d6.loss_plan_l1_fix_time: 1.0425, d6.loss_plan_l1_fix_dist: 0.2300, d0.loss_cls_all: 0.1973, d0.loss_bbox_all: 0.4267, d0.loss_cls: 0.1973, d0.loss_bbox: 0.4267, d1.loss_cls: 0.1897, d1.loss_bbox: 0.3910, d2.loss_cls: 0.1780, d2.loss_bbox: 0.3734, d3.loss_cls: 0.1685, d3.loss_bbox: 0.3670, d4.loss_cls: 0.1679, d4.loss_bbox: 0.3616, d5.loss_cls: 0.1653, d5.loss_bbox: 0.3605, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9377, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7872, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7345, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7117, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7083, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7079, d0.loss_map_cls_all: 0.2224, d0.loss_map_pts_all: 1.2947, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2224, d0.loss_map_pts: 1.2947, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1929, d1.loss_map_pts: 0.8989, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1732, d2.loss_map_pts: 0.7354, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1625, d3.loss_map_pts: 0.6679, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1560, d4.loss_map_pts: 0.6446, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1518, d5.loss_map_pts: 0.6371, d5.loss_map_dir: 0.0081, loss: 28.5496, grad_norm: 154.0775 +2026-02-26 08:58:26,697 - DriveTransformer - INFO - Epoch [7][7900/39528] lr: 8.550e-05, eta: 6 days, 12:58:28, time: 0.801, data_time: 0.044, memory: 19865, loss_cls: 0.1737, loss_bbox: 0.3685, loss_traj: 0.7358, loss_traj_cls: 0.0010, loss_map_cls: 0.1636, loss_map_pts: 0.8077, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.3254, d0.loss_plan_l1_fix_dist: 0.3590, d1.loss_plan_l1_fix_time: 1.1050, d1.loss_plan_l1_fix_dist: 0.1891, d2.loss_plan_l1_fix_time: 1.0934, d2.loss_plan_l1_fix_dist: 0.1902, d3.loss_plan_l1_fix_time: 1.0934, d3.loss_plan_l1_fix_dist: 0.1984, d4.loss_plan_l1_fix_time: 1.0976, d4.loss_plan_l1_fix_dist: 0.2096, d5.loss_plan_l1_fix_time: 1.1022, d5.loss_plan_l1_fix_dist: 0.2239, d6.loss_plan_l1_fix_time: 1.1069, d6.loss_plan_l1_fix_dist: 0.2392, d0.loss_cls_all: 0.2157, d0.loss_bbox_all: 0.4352, d0.loss_cls: 0.2157, d0.loss_bbox: 0.4352, d1.loss_cls: 0.2079, d1.loss_bbox: 0.3960, d2.loss_cls: 0.1952, d2.loss_bbox: 0.3755, d3.loss_cls: 0.1822, d3.loss_bbox: 0.3700, d4.loss_cls: 0.1734, d4.loss_bbox: 0.3698, d5.loss_cls: 0.1742, d5.loss_bbox: 0.3662, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9431, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7891, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7490, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7325, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7315, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7296, d0.loss_map_cls_all: 0.2515, d0.loss_map_pts_all: 1.6261, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2515, d0.loss_map_pts: 1.6261, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2136, d1.loss_map_pts: 1.1316, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.1943, d2.loss_map_pts: 0.9237, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.1826, d3.loss_map_pts: 0.8476, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.1730, d4.loss_map_pts: 0.8178, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.1668, d5.loss_map_pts: 0.8077, d5.loss_map_dir: 0.0121, loss: 30.8844, grad_norm: 156.5408 +2026-02-26 08:59:06,311 - DriveTransformer - INFO - Epoch [7][7950/39528] lr: 8.550e-05, eta: 6 days, 12:57:46, time: 0.792, data_time: 0.040, memory: 19865, loss_cls: 0.1532, loss_bbox: 0.3469, loss_traj: 0.6887, loss_traj_cls: 0.0010, loss_map_cls: 0.1555, loss_map_pts: 0.7226, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.3398, d0.loss_plan_l1_fix_dist: 0.4097, d1.loss_plan_l1_fix_time: 0.9269, d1.loss_plan_l1_fix_dist: 0.1815, d2.loss_plan_l1_fix_time: 0.9188, d2.loss_plan_l1_fix_dist: 0.1803, d3.loss_plan_l1_fix_time: 0.9200, d3.loss_plan_l1_fix_dist: 0.1852, d4.loss_plan_l1_fix_time: 0.9246, d4.loss_plan_l1_fix_dist: 0.1918, d5.loss_plan_l1_fix_time: 0.9296, d5.loss_plan_l1_fix_dist: 0.1988, d6.loss_plan_l1_fix_time: 0.9344, d6.loss_plan_l1_fix_dist: 0.2060, d0.loss_cls_all: 0.1909, d0.loss_bbox_all: 0.4099, d0.loss_cls: 0.1909, d0.loss_bbox: 0.4099, d1.loss_cls: 0.1823, d1.loss_bbox: 0.3727, d2.loss_cls: 0.1696, d2.loss_bbox: 0.3548, d3.loss_cls: 0.1597, d3.loss_bbox: 0.3481, d4.loss_cls: 0.1556, d4.loss_bbox: 0.3447, d5.loss_cls: 0.1545, d5.loss_bbox: 0.3460, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9134, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7440, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7026, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6914, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6893, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6920, d0.loss_map_cls_all: 0.2392, d0.loss_map_pts_all: 1.4518, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2392, d0.loss_map_pts: 1.4518, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2045, d1.loss_map_pts: 0.9937, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1791, d2.loss_map_pts: 0.8211, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1656, d3.loss_map_pts: 0.7565, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1597, d4.loss_map_pts: 0.7267, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1572, d5.loss_map_pts: 0.7201, d5.loss_map_dir: 0.0102, loss: 28.0902, grad_norm: 156.4030 +2026-02-26 08:59:45,373 - DriveTransformer - INFO - Epoch [7][8000/39528] lr: 8.550e-05, eta: 6 days, 12:57:03, time: 0.781, data_time: 0.037, memory: 19865, loss_cls: 0.1583, loss_bbox: 0.3612, loss_traj: 0.6891, loss_traj_cls: 0.0010, loss_map_cls: 0.1431, loss_map_pts: 0.6727, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.8833, d0.loss_plan_l1_fix_dist: 0.4264, d1.loss_plan_l1_fix_time: 1.2666, d1.loss_plan_l1_fix_dist: 0.1936, d2.loss_plan_l1_fix_time: 1.2575, d2.loss_plan_l1_fix_dist: 0.2000, d3.loss_plan_l1_fix_time: 1.2581, d3.loss_plan_l1_fix_dist: 0.2102, d4.loss_plan_l1_fix_time: 1.2611, d4.loss_plan_l1_fix_dist: 0.2224, d5.loss_plan_l1_fix_time: 1.2647, d5.loss_plan_l1_fix_dist: 0.2354, d6.loss_plan_l1_fix_time: 1.2689, d6.loss_plan_l1_fix_dist: 0.2510, d0.loss_cls_all: 0.1900, d0.loss_bbox_all: 0.4144, d0.loss_cls: 0.1900, d0.loss_bbox: 0.4144, d1.loss_cls: 0.1874, d1.loss_bbox: 0.3862, d2.loss_cls: 0.1793, d2.loss_bbox: 0.3691, d3.loss_cls: 0.1648, d3.loss_bbox: 0.3635, d4.loss_cls: 0.1584, d4.loss_bbox: 0.3617, d5.loss_cls: 0.1578, d5.loss_bbox: 0.3609, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8585, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7368, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7013, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6854, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6844, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6852, d0.loss_map_cls_all: 0.2150, d0.loss_map_pts_all: 1.3094, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2150, d0.loss_map_pts: 1.3094, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.1813, d1.loss_map_pts: 0.8900, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1608, d2.loss_map_pts: 0.7452, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1528, d3.loss_map_pts: 0.6908, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1475, d4.loss_map_pts: 0.6692, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1436, d5.loss_map_pts: 0.6702, d5.loss_map_dir: 0.0101, loss: 30.0603, grad_norm: 160.3700 +2026-02-26 09:00:26,084 - DriveTransformer - INFO - Epoch [7][8050/39528] lr: 8.550e-05, eta: 6 days, 12:56:24, time: 0.814, data_time: 0.040, memory: 19865, loss_cls: 0.1651, loss_bbox: 0.3724, loss_traj: 0.6066, loss_traj_cls: 0.0010, loss_map_cls: 0.1500, loss_map_pts: 0.7525, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.7254, d0.loss_plan_l1_fix_dist: 0.4089, d1.loss_plan_l1_fix_time: 1.1346, d1.loss_plan_l1_fix_dist: 0.1887, d2.loss_plan_l1_fix_time: 1.1212, d2.loss_plan_l1_fix_dist: 0.1895, d3.loss_plan_l1_fix_time: 1.1188, d3.loss_plan_l1_fix_dist: 0.1950, d4.loss_plan_l1_fix_time: 1.1221, d4.loss_plan_l1_fix_dist: 0.2028, d5.loss_plan_l1_fix_time: 1.1266, d5.loss_plan_l1_fix_dist: 0.2127, d6.loss_plan_l1_fix_time: 1.1322, d6.loss_plan_l1_fix_dist: 0.2266, d0.loss_cls_all: 0.1938, d0.loss_bbox_all: 0.4289, d0.loss_cls: 0.1938, d0.loss_bbox: 0.4289, d1.loss_cls: 0.1900, d1.loss_bbox: 0.4026, d2.loss_cls: 0.1816, d2.loss_bbox: 0.3825, d3.loss_cls: 0.1681, d3.loss_bbox: 0.3778, d4.loss_cls: 0.1664, d4.loss_bbox: 0.3725, d5.loss_cls: 0.1650, d5.loss_bbox: 0.3719, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8238, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6951, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6412, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6170, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6131, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6068, d0.loss_map_cls_all: 0.2191, d0.loss_map_pts_all: 1.3945, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2191, d0.loss_map_pts: 1.3945, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1947, d1.loss_map_pts: 0.9961, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1695, d2.loss_map_pts: 0.8393, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1614, d3.loss_map_pts: 0.7757, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1567, d4.loss_map_pts: 0.7539, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1513, d5.loss_map_pts: 0.7504, d5.loss_map_dir: 0.0098, loss: 29.4323, grad_norm: 161.2156 +2026-02-26 09:01:05,384 - DriveTransformer - INFO - Epoch [7][8100/39528] lr: 8.550e-05, eta: 6 days, 12:55:41, time: 0.786, data_time: 0.041, memory: 19865, loss_cls: 0.1597, loss_bbox: 0.3626, loss_traj: 0.6923, loss_traj_cls: 0.0010, loss_map_cls: 0.1559, loss_map_pts: 0.7950, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.3274, d0.loss_plan_l1_fix_dist: 0.3736, d1.loss_plan_l1_fix_time: 1.0814, d1.loss_plan_l1_fix_dist: 0.1868, d2.loss_plan_l1_fix_time: 1.0711, d2.loss_plan_l1_fix_dist: 0.1939, d3.loss_plan_l1_fix_time: 1.0690, d3.loss_plan_l1_fix_dist: 0.2107, d4.loss_plan_l1_fix_time: 1.0722, d4.loss_plan_l1_fix_dist: 0.2296, d5.loss_plan_l1_fix_time: 1.0760, d5.loss_plan_l1_fix_dist: 0.2486, d6.loss_plan_l1_fix_time: 1.0808, d6.loss_plan_l1_fix_dist: 0.2657, d0.loss_cls_all: 0.1922, d0.loss_bbox_all: 0.4226, d0.loss_cls: 0.1922, d0.loss_bbox: 0.4226, d1.loss_cls: 0.1902, d1.loss_bbox: 0.3916, d2.loss_cls: 0.1805, d2.loss_bbox: 0.3716, d3.loss_cls: 0.1653, d3.loss_bbox: 0.3681, d4.loss_cls: 0.1617, d4.loss_bbox: 0.3643, d5.loss_cls: 0.1590, d5.loss_bbox: 0.3635, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9186, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7515, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7040, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6959, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6905, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6916, d0.loss_map_cls_all: 0.2339, d0.loss_map_pts_all: 1.4955, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2339, d0.loss_map_pts: 1.4955, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2025, d1.loss_map_pts: 1.0489, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1804, d2.loss_map_pts: 0.8735, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1702, d3.loss_map_pts: 0.8051, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1634, d4.loss_map_pts: 0.7872, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1579, d5.loss_map_pts: 0.7864, d5.loss_map_dir: 0.0102, loss: 29.7725, grad_norm: 162.7392 +2026-02-26 09:01:43,559 - DriveTransformer - INFO - Epoch [7][8150/39528] lr: 8.550e-05, eta: 6 days, 12:54:56, time: 0.763, data_time: 0.036, memory: 19865, loss_cls: 0.1639, loss_bbox: 0.3601, loss_traj: 0.6302, loss_traj_cls: 0.0010, loss_map_cls: 0.1445, loss_map_pts: 0.7490, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.3290, d0.loss_plan_l1_fix_dist: 0.3814, d1.loss_plan_l1_fix_time: 1.0643, d1.loss_plan_l1_fix_dist: 0.1790, d2.loss_plan_l1_fix_time: 1.0470, d2.loss_plan_l1_fix_dist: 0.1833, d3.loss_plan_l1_fix_time: 1.0406, d3.loss_plan_l1_fix_dist: 0.1954, d4.loss_plan_l1_fix_time: 1.0430, d4.loss_plan_l1_fix_dist: 0.2094, d5.loss_plan_l1_fix_time: 1.0459, d5.loss_plan_l1_fix_dist: 0.2250, d6.loss_plan_l1_fix_time: 1.0491, d6.loss_plan_l1_fix_dist: 0.2413, d0.loss_cls_all: 0.2019, d0.loss_bbox_all: 0.4201, d0.loss_cls: 0.2019, d0.loss_bbox: 0.4201, d1.loss_cls: 0.1941, d1.loss_bbox: 0.3893, d2.loss_cls: 0.1801, d2.loss_bbox: 0.3674, d3.loss_cls: 0.1715, d3.loss_bbox: 0.3612, d4.loss_cls: 0.1647, d4.loss_bbox: 0.3611, d5.loss_cls: 0.1633, d5.loss_bbox: 0.3598, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8328, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6927, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6460, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6311, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6274, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6276, d0.loss_map_cls_all: 0.2200, d0.loss_map_pts_all: 1.3518, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2200, d0.loss_map_pts: 1.3518, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1876, d1.loss_map_pts: 0.9815, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1670, d2.loss_map_pts: 0.8201, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1539, d3.loss_map_pts: 0.7625, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1486, d4.loss_map_pts: 0.7361, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1448, d5.loss_map_pts: 0.7361, d5.loss_map_dir: 0.0089, loss: 28.3544, grad_norm: 161.5924 +2026-02-26 09:02:23,081 - DriveTransformer - INFO - Epoch [7][8200/39528] lr: 8.550e-05, eta: 6 days, 12:54:14, time: 0.791, data_time: 0.038, memory: 19865, loss_cls: 0.1482, loss_bbox: 0.3486, loss_traj: 0.7170, loss_traj_cls: 0.0011, loss_map_cls: 0.1568, loss_map_pts: 0.6704, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.7875, d0.loss_plan_l1_fix_dist: 0.5027, d1.loss_plan_l1_fix_time: 0.9913, d1.loss_plan_l1_fix_dist: 0.1795, d2.loss_plan_l1_fix_time: 0.9681, d2.loss_plan_l1_fix_dist: 0.1824, d3.loss_plan_l1_fix_time: 0.9751, d3.loss_plan_l1_fix_dist: 0.1886, d4.loss_plan_l1_fix_time: 0.9805, d4.loss_plan_l1_fix_dist: 0.1980, d5.loss_plan_l1_fix_time: 0.9857, d5.loss_plan_l1_fix_dist: 0.2090, d6.loss_plan_l1_fix_time: 0.9905, d6.loss_plan_l1_fix_dist: 0.2220, d0.loss_cls_all: 0.1835, d0.loss_bbox_all: 0.3955, d0.loss_cls: 0.1835, d0.loss_bbox: 0.3955, d1.loss_cls: 0.1807, d1.loss_bbox: 0.3655, d2.loss_cls: 0.1664, d2.loss_bbox: 0.3531, d3.loss_cls: 0.1552, d3.loss_bbox: 0.3500, d4.loss_cls: 0.1501, d4.loss_bbox: 0.3487, d5.loss_cls: 0.1475, d5.loss_bbox: 0.3489, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9041, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.7618, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7284, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7160, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7143, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7131, d0.loss_map_cls_all: 0.2138, d0.loss_map_pts_all: 1.2481, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2138, d0.loss_map_pts: 1.2481, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1925, d1.loss_map_pts: 0.9083, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1749, d2.loss_map_pts: 0.7568, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1661, d3.loss_map_pts: 0.7033, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1586, d4.loss_map_pts: 0.6822, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1565, d5.loss_map_pts: 0.6725, d5.loss_map_dir: 0.0090, loss: 28.2363, grad_norm: 160.2586 +2026-02-26 09:03:03,385 - DriveTransformer - INFO - Epoch [7][8250/39528] lr: 8.550e-05, eta: 6 days, 12:53:34, time: 0.807, data_time: 0.041, memory: 19865, loss_cls: 0.1178, loss_bbox: 0.3199, loss_traj: 0.5433, loss_traj_cls: 0.0011, loss_map_cls: 0.1201, loss_map_pts: 0.6250, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.3187, d0.loss_plan_l1_fix_dist: 0.4645, d1.loss_plan_l1_fix_time: 0.8848, d1.loss_plan_l1_fix_dist: 0.1743, d2.loss_plan_l1_fix_time: 0.8769, d2.loss_plan_l1_fix_dist: 0.1778, d3.loss_plan_l1_fix_time: 0.8761, d3.loss_plan_l1_fix_dist: 0.1867, d4.loss_plan_l1_fix_time: 0.8816, d4.loss_plan_l1_fix_dist: 0.1992, d5.loss_plan_l1_fix_time: 0.8882, d5.loss_plan_l1_fix_dist: 0.2132, d6.loss_plan_l1_fix_time: 0.8950, d6.loss_plan_l1_fix_dist: 0.2291, d0.loss_cls_all: 0.1463, d0.loss_bbox_all: 0.3787, d0.loss_cls: 0.1463, d0.loss_bbox: 0.3787, d1.loss_cls: 0.1450, d1.loss_bbox: 0.3501, d2.loss_cls: 0.1340, d2.loss_bbox: 0.3320, d3.loss_cls: 0.1215, d3.loss_bbox: 0.3259, d4.loss_cls: 0.1177, d4.loss_bbox: 0.3224, d5.loss_cls: 0.1173, d5.loss_bbox: 0.3203, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7189, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5986, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5507, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5419, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5440, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5410, d0.loss_map_cls_all: 0.1832, d0.loss_map_pts_all: 1.3275, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.1832, d0.loss_map_pts: 1.3275, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1519, d1.loss_map_pts: 0.9037, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1378, d2.loss_map_pts: 0.7254, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1317, d3.loss_map_pts: 0.6581, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1252, d4.loss_map_pts: 0.6322, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1213, d5.loss_map_pts: 0.6253, d5.loss_map_dir: 0.0093, loss: 25.1365, grad_norm: 160.0035 +2026-02-26 09:03:42,438 - DriveTransformer - INFO - Epoch [7][8300/39528] lr: 8.550e-05, eta: 6 days, 12:52:50, time: 0.780, data_time: 0.038, memory: 19865, loss_cls: 0.1757, loss_bbox: 0.3690, loss_traj: 0.6837, loss_traj_cls: 0.0010, loss_map_cls: 0.1596, loss_map_pts: 0.7671, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.5755, d0.loss_plan_l1_fix_dist: 0.4453, d1.loss_plan_l1_fix_time: 0.9927, d1.loss_plan_l1_fix_dist: 0.1808, d2.loss_plan_l1_fix_time: 0.9815, d2.loss_plan_l1_fix_dist: 0.1838, d3.loss_plan_l1_fix_time: 0.9780, d3.loss_plan_l1_fix_dist: 0.1939, d4.loss_plan_l1_fix_time: 0.9825, d4.loss_plan_l1_fix_dist: 0.2058, d5.loss_plan_l1_fix_time: 0.9874, d5.loss_plan_l1_fix_dist: 0.2199, d6.loss_plan_l1_fix_time: 0.9927, d6.loss_plan_l1_fix_dist: 0.2359, d0.loss_cls_all: 0.2159, d0.loss_bbox_all: 0.4437, d0.loss_cls: 0.2159, d0.loss_bbox: 0.4437, d1.loss_cls: 0.2055, d1.loss_bbox: 0.4059, d2.loss_cls: 0.1926, d2.loss_bbox: 0.3812, d3.loss_cls: 0.1797, d3.loss_bbox: 0.3739, d4.loss_cls: 0.1748, d4.loss_bbox: 0.3712, d5.loss_cls: 0.1747, d5.loss_bbox: 0.3699, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9227, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7642, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7024, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6944, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6806, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6791, d0.loss_map_cls_all: 0.2243, d0.loss_map_pts_all: 1.4692, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2243, d0.loss_map_pts: 1.4692, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2013, d1.loss_map_pts: 1.0403, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1844, d2.loss_map_pts: 0.8597, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1707, d3.loss_map_pts: 0.7957, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1646, d4.loss_map_pts: 0.7728, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1602, d5.loss_map_pts: 0.7665, d5.loss_map_dir: 0.0102, loss: 29.4907, grad_norm: 160.4201 +2026-02-26 09:04:19,951 - DriveTransformer - INFO - Epoch [7][8350/39528] lr: 8.550e-05, eta: 6 days, 12:52:03, time: 0.750, data_time: 0.040, memory: 19865, loss_cls: 0.1365, loss_bbox: 0.3309, loss_traj: 0.6670, loss_traj_cls: 0.0010, loss_map_cls: 0.1344, loss_map_pts: 0.6027, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.7328, d0.loss_plan_l1_fix_dist: 0.4641, d1.loss_plan_l1_fix_time: 1.1037, d1.loss_plan_l1_fix_dist: 0.1775, d2.loss_plan_l1_fix_time: 1.0871, d2.loss_plan_l1_fix_dist: 0.1821, d3.loss_plan_l1_fix_time: 1.0865, d3.loss_plan_l1_fix_dist: 0.1947, d4.loss_plan_l1_fix_time: 1.0918, d4.loss_plan_l1_fix_dist: 0.2107, d5.loss_plan_l1_fix_time: 1.0977, d5.loss_plan_l1_fix_dist: 0.2272, d6.loss_plan_l1_fix_time: 1.1045, d6.loss_plan_l1_fix_dist: 0.2441, d0.loss_cls_all: 0.1710, d0.loss_bbox_all: 0.3907, d0.loss_cls: 0.1710, d0.loss_bbox: 0.3907, d1.loss_cls: 0.1672, d1.loss_bbox: 0.3592, d2.loss_cls: 0.1525, d2.loss_bbox: 0.3422, d3.loss_cls: 0.1425, d3.loss_bbox: 0.3339, d4.loss_cls: 0.1364, d4.loss_bbox: 0.3327, d5.loss_cls: 0.1354, d5.loss_bbox: 0.3316, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8730, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7148, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6758, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6708, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6707, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6649, d0.loss_map_cls_all: 0.2019, d0.loss_map_pts_all: 1.2236, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2019, d0.loss_map_pts: 1.2236, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1702, d1.loss_map_pts: 0.8449, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1558, d2.loss_map_pts: 0.6837, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1470, d3.loss_map_pts: 0.6261, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1407, d4.loss_map_pts: 0.6065, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1362, d5.loss_map_pts: 0.6025, d5.loss_map_dir: 0.0082, loss: 27.7398, grad_norm: 159.5972 +2026-02-26 09:04:58,436 - DriveTransformer - INFO - Epoch [7][8400/39528] lr: 8.550e-05, eta: 6 days, 12:51:18, time: 0.771, data_time: 0.049, memory: 19865, loss_cls: 0.1910, loss_bbox: 0.3925, loss_traj: 0.7807, loss_traj_cls: 0.0010, loss_map_cls: 0.1792, loss_map_pts: 0.7671, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 3.0169, d0.loss_plan_l1_fix_dist: 0.3542, d1.loss_plan_l1_fix_time: 1.1989, d1.loss_plan_l1_fix_dist: 0.1794, d2.loss_plan_l1_fix_time: 1.1858, d2.loss_plan_l1_fix_dist: 0.1841, d3.loss_plan_l1_fix_time: 1.1825, d3.loss_plan_l1_fix_dist: 0.1942, d4.loss_plan_l1_fix_time: 1.1867, d4.loss_plan_l1_fix_dist: 0.2073, d5.loss_plan_l1_fix_time: 1.1919, d5.loss_plan_l1_fix_dist: 0.2219, d6.loss_plan_l1_fix_time: 1.1979, d6.loss_plan_l1_fix_dist: 0.2391, d0.loss_cls_all: 0.2338, d0.loss_bbox_all: 0.4563, d0.loss_cls: 0.2338, d0.loss_bbox: 0.4563, d1.loss_cls: 0.2244, d1.loss_bbox: 0.4193, d2.loss_cls: 0.2115, d2.loss_bbox: 0.4007, d3.loss_cls: 0.1990, d3.loss_bbox: 0.3967, d4.loss_cls: 0.1904, d4.loss_bbox: 0.3952, d5.loss_cls: 0.1882, d5.loss_bbox: 0.3940, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0587, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8636, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8022, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7869, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7800, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7839, d0.loss_map_cls_all: 0.2624, d0.loss_map_pts_all: 1.4438, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2624, d0.loss_map_pts: 1.4438, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2281, d1.loss_map_pts: 1.0440, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.2008, d2.loss_map_pts: 0.8662, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1923, d3.loss_map_pts: 0.7937, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1829, d4.loss_map_pts: 0.7713, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1798, d5.loss_map_pts: 0.7648, d5.loss_map_dir: 0.0107, loss: 32.2513, grad_norm: 160.4716 +2026-02-26 09:05:37,359 - DriveTransformer - INFO - Epoch [7][8450/39528] lr: 8.550e-05, eta: 6 days, 12:50:34, time: 0.777, data_time: 0.038, memory: 19865, loss_cls: 0.1350, loss_bbox: 0.3292, loss_traj: 0.5811, loss_traj_cls: 0.0010, loss_map_cls: 0.1393, loss_map_pts: 0.6166, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.3646, d0.loss_plan_l1_fix_dist: 0.3951, d1.loss_plan_l1_fix_time: 0.9442, d1.loss_plan_l1_fix_dist: 0.1783, d2.loss_plan_l1_fix_time: 0.9261, d2.loss_plan_l1_fix_dist: 0.1807, d3.loss_plan_l1_fix_time: 0.9224, d3.loss_plan_l1_fix_dist: 0.1886, d4.loss_plan_l1_fix_time: 0.9256, d4.loss_plan_l1_fix_dist: 0.1962, d5.loss_plan_l1_fix_time: 0.9297, d5.loss_plan_l1_fix_dist: 0.2047, d6.loss_plan_l1_fix_time: 0.9346, d6.loss_plan_l1_fix_dist: 0.2149, d0.loss_cls_all: 0.1736, d0.loss_bbox_all: 0.3808, d0.loss_cls: 0.1736, d0.loss_bbox: 0.3808, d1.loss_cls: 0.1693, d1.loss_bbox: 0.3502, d2.loss_cls: 0.1528, d2.loss_bbox: 0.3341, d3.loss_cls: 0.1419, d3.loss_bbox: 0.3283, d4.loss_cls: 0.1342, d4.loss_bbox: 0.3305, d5.loss_cls: 0.1343, d5.loss_bbox: 0.3289, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7902, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6523, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5984, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5857, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5807, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5811, d0.loss_map_cls_all: 0.2142, d0.loss_map_pts_all: 1.3343, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2142, d0.loss_map_pts: 1.3343, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1801, d1.loss_map_pts: 0.8853, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1578, d2.loss_map_pts: 0.7142, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1484, d3.loss_map_pts: 0.6452, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1434, d4.loss_map_pts: 0.6207, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1404, d5.loss_map_pts: 0.6155, d5.loss_map_dir: 0.0092, loss: 26.0369, grad_norm: 157.5861 +2026-02-26 09:06:16,412 - DriveTransformer - INFO - Epoch [7][8500/39528] lr: 8.550e-05, eta: 6 days, 12:49:51, time: 0.781, data_time: 0.041, memory: 19865, loss_cls: 0.1621, loss_bbox: 0.3530, loss_traj: 0.6418, loss_traj_cls: 0.0010, loss_map_cls: 0.1574, loss_map_pts: 0.6865, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.7059, d0.loss_plan_l1_fix_dist: 0.4019, d1.loss_plan_l1_fix_time: 1.0185, d1.loss_plan_l1_fix_dist: 0.1672, d2.loss_plan_l1_fix_time: 1.0048, d2.loss_plan_l1_fix_dist: 0.1743, d3.loss_plan_l1_fix_time: 1.0160, d3.loss_plan_l1_fix_dist: 0.1890, d4.loss_plan_l1_fix_time: 1.0226, d4.loss_plan_l1_fix_dist: 0.2057, d5.loss_plan_l1_fix_time: 1.0285, d5.loss_plan_l1_fix_dist: 0.2215, d6.loss_plan_l1_fix_time: 1.0343, d6.loss_plan_l1_fix_dist: 0.2360, d0.loss_cls_all: 0.2017, d0.loss_bbox_all: 0.4228, d0.loss_cls: 0.2017, d0.loss_bbox: 0.4228, d1.loss_cls: 0.1973, d1.loss_bbox: 0.3851, d2.loss_cls: 0.1821, d2.loss_bbox: 0.3653, d3.loss_cls: 0.1682, d3.loss_bbox: 0.3586, d4.loss_cls: 0.1621, d4.loss_bbox: 0.3555, d5.loss_cls: 0.1602, d5.loss_bbox: 0.3543, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8499, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7019, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6590, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6491, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6479, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6445, d0.loss_map_cls_all: 0.2349, d0.loss_map_pts_all: 1.3842, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2349, d0.loss_map_pts: 1.3842, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2011, d1.loss_map_pts: 0.9576, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1830, d2.loss_map_pts: 0.7874, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1706, d3.loss_map_pts: 0.7227, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1635, d4.loss_map_pts: 0.6983, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1608, d5.loss_map_pts: 0.6859, d5.loss_map_dir: 0.0091, loss: 28.5645, grad_norm: 158.1871 +2026-02-26 09:06:55,918 - DriveTransformer - INFO - Epoch [7][8550/39528] lr: 8.550e-05, eta: 6 days, 12:49:09, time: 0.790, data_time: 0.037, memory: 19865, loss_cls: 0.1648, loss_bbox: 0.3793, loss_traj: 0.5589, loss_traj_cls: 0.0010, loss_map_cls: 0.1657, loss_map_pts: 0.7628, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 3.0558, d0.loss_plan_l1_fix_dist: 0.3481, d1.loss_plan_l1_fix_time: 1.0395, d1.loss_plan_l1_fix_dist: 0.1736, d2.loss_plan_l1_fix_time: 1.0246, d2.loss_plan_l1_fix_dist: 0.1802, d3.loss_plan_l1_fix_time: 1.0225, d3.loss_plan_l1_fix_dist: 0.1923, d4.loss_plan_l1_fix_time: 1.0251, d4.loss_plan_l1_fix_dist: 0.2075, d5.loss_plan_l1_fix_time: 1.0286, d5.loss_plan_l1_fix_dist: 0.2250, d6.loss_plan_l1_fix_time: 1.0324, d6.loss_plan_l1_fix_dist: 0.2439, d0.loss_cls_all: 0.2060, d0.loss_bbox_all: 0.4341, d0.loss_cls: 0.2060, d0.loss_bbox: 0.4341, d1.loss_cls: 0.2028, d1.loss_bbox: 0.4029, d2.loss_cls: 0.1903, d2.loss_bbox: 0.3890, d3.loss_cls: 0.1740, d3.loss_bbox: 0.3842, d4.loss_cls: 0.1666, d4.loss_bbox: 0.3834, d5.loss_cls: 0.1651, d5.loss_bbox: 0.3809, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7388, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6085, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5788, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5669, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5620, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5580, d0.loss_map_cls_all: 0.2292, d0.loss_map_pts_all: 1.5634, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2292, d0.loss_map_pts: 1.5634, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2015, d1.loss_map_pts: 1.0562, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.1849, d2.loss_map_pts: 0.8668, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1762, d3.loss_map_pts: 0.7992, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1701, d4.loss_map_pts: 0.7716, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1663, d5.loss_map_pts: 0.7647, d5.loss_map_dir: 0.0114, loss: 29.4016, grad_norm: 158.2731 +2026-02-26 09:07:34,558 - DriveTransformer - INFO - Epoch [7][8600/39528] lr: 8.550e-05, eta: 6 days, 12:48:24, time: 0.773, data_time: 0.040, memory: 19865, loss_cls: 0.1668, loss_bbox: 0.3699, loss_traj: 0.8164, loss_traj_cls: 0.0010, loss_map_cls: 0.1601, loss_map_pts: 0.6827, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 3.2513, d0.loss_plan_l1_fix_dist: 0.3866, d1.loss_plan_l1_fix_time: 1.3921, d1.loss_plan_l1_fix_dist: 0.2098, d2.loss_plan_l1_fix_time: 1.3705, d2.loss_plan_l1_fix_dist: 0.2239, d3.loss_plan_l1_fix_time: 1.3726, d3.loss_plan_l1_fix_dist: 0.2436, d4.loss_plan_l1_fix_time: 1.3771, d4.loss_plan_l1_fix_dist: 0.2675, d5.loss_plan_l1_fix_time: 1.3821, d5.loss_plan_l1_fix_dist: 0.2957, d6.loss_plan_l1_fix_time: 1.3878, d6.loss_plan_l1_fix_dist: 0.3254, d0.loss_cls_all: 0.2106, d0.loss_bbox_all: 0.4245, d0.loss_cls: 0.2106, d0.loss_bbox: 0.4245, d1.loss_cls: 0.1961, d1.loss_bbox: 0.3939, d2.loss_cls: 0.1861, d2.loss_bbox: 0.3738, d3.loss_cls: 0.1721, d3.loss_bbox: 0.3718, d4.loss_cls: 0.1671, d4.loss_bbox: 0.3703, d5.loss_cls: 0.1662, d5.loss_bbox: 0.3695, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0637, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8914, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8347, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8188, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8121, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.8104, d0.loss_map_cls_all: 0.2267, d0.loss_map_pts_all: 1.2372, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2267, d0.loss_map_pts: 1.2372, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.2047, d1.loss_map_pts: 0.8977, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1836, d2.loss_map_pts: 0.7585, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1703, d3.loss_map_pts: 0.7057, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1646, d4.loss_map_pts: 0.6870, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1624, d5.loss_map_pts: 0.6819, d5.loss_map_dir: 0.0079, loss: 32.5623, grad_norm: 152.2151 +2026-02-26 09:08:13,088 - DriveTransformer - INFO - Epoch [7][8650/39528] lr: 8.550e-05, eta: 6 days, 12:47:40, time: 0.771, data_time: 0.041, memory: 19865, loss_cls: 0.1597, loss_bbox: 0.3775, loss_traj: 0.7021, loss_traj_cls: 0.0010, loss_map_cls: 0.1706, loss_map_pts: 0.6382, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.7859, d0.loss_plan_l1_fix_dist: 0.3912, d1.loss_plan_l1_fix_time: 1.2203, d1.loss_plan_l1_fix_dist: 0.1860, d2.loss_plan_l1_fix_time: 1.2168, d2.loss_plan_l1_fix_dist: 0.1972, d3.loss_plan_l1_fix_time: 1.2246, d3.loss_plan_l1_fix_dist: 0.2155, d4.loss_plan_l1_fix_time: 1.2301, d4.loss_plan_l1_fix_dist: 0.2370, d5.loss_plan_l1_fix_time: 1.2356, d5.loss_plan_l1_fix_dist: 0.2610, d6.loss_plan_l1_fix_time: 1.2422, d6.loss_plan_l1_fix_dist: 0.2911, d0.loss_cls_all: 0.2027, d0.loss_bbox_all: 0.4284, d0.loss_cls: 0.2027, d0.loss_bbox: 0.4284, d1.loss_cls: 0.1915, d1.loss_bbox: 0.3959, d2.loss_cls: 0.1828, d2.loss_bbox: 0.3811, d3.loss_cls: 0.1683, d3.loss_bbox: 0.3785, d4.loss_cls: 0.1622, d4.loss_bbox: 0.3766, d5.loss_cls: 0.1604, d5.loss_bbox: 0.3763, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9316, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7859, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7304, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7084, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6979, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6985, d0.loss_map_cls_all: 0.2379, d0.loss_map_pts_all: 1.2891, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2379, d0.loss_map_pts: 1.2891, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2159, d1.loss_map_pts: 0.8966, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1946, d2.loss_map_pts: 0.7314, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1836, d3.loss_map_pts: 0.6704, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1759, d4.loss_map_pts: 0.6464, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1724, d5.loss_map_pts: 0.6378, d5.loss_map_dir: 0.0089, loss: 30.2265, grad_norm: 153.8288 +2026-02-26 09:08:53,432 - DriveTransformer - INFO - Epoch [7][8700/39528] lr: 8.550e-05, eta: 6 days, 12:47:00, time: 0.807, data_time: 0.035, memory: 19865, loss_cls: 0.1562, loss_bbox: 0.3874, loss_traj: 0.6498, loss_traj_cls: 0.0011, loss_map_cls: 0.1566, loss_map_pts: 0.7335, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.5001, d0.loss_plan_l1_fix_dist: 0.3881, d1.loss_plan_l1_fix_time: 1.2204, d1.loss_plan_l1_fix_dist: 0.1810, d2.loss_plan_l1_fix_time: 1.2134, d2.loss_plan_l1_fix_dist: 0.1891, d3.loss_plan_l1_fix_time: 1.2125, d3.loss_plan_l1_fix_dist: 0.2027, d4.loss_plan_l1_fix_time: 1.2159, d4.loss_plan_l1_fix_dist: 0.2191, d5.loss_plan_l1_fix_time: 1.2199, d5.loss_plan_l1_fix_dist: 0.2353, d6.loss_plan_l1_fix_time: 1.2244, d6.loss_plan_l1_fix_dist: 0.2497, d0.loss_cls_all: 0.1958, d0.loss_bbox_all: 0.4457, d0.loss_cls: 0.1958, d0.loss_bbox: 0.4457, d1.loss_cls: 0.1890, d1.loss_bbox: 0.4124, d2.loss_cls: 0.1764, d2.loss_bbox: 0.3968, d3.loss_cls: 0.1658, d3.loss_bbox: 0.3897, d4.loss_cls: 0.1572, d4.loss_bbox: 0.3887, d5.loss_cls: 0.1564, d5.loss_bbox: 0.3871, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8710, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7248, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6645, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6559, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6466, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6456, d0.loss_map_cls_all: 0.2322, d0.loss_map_pts_all: 1.5273, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2322, d0.loss_map_pts: 1.5273, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.1969, d1.loss_map_pts: 1.0220, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.1750, d2.loss_map_pts: 0.8296, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.1676, d3.loss_map_pts: 0.7613, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1612, d4.loss_map_pts: 0.7349, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1583, d5.loss_map_pts: 0.7328, d5.loss_map_dir: 0.0113, loss: 30.4184, grad_norm: 154.5170 +2026-02-26 09:09:31,532 - DriveTransformer - INFO - Epoch [7][8750/39528] lr: 8.550e-05, eta: 6 days, 12:46:14, time: 0.762, data_time: 0.042, memory: 19865, loss_cls: 0.1599, loss_bbox: 0.3794, loss_traj: 0.7627, loss_traj_cls: 0.0010, loss_map_cls: 0.1822, loss_map_pts: 0.6963, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.6366, d0.loss_plan_l1_fix_dist: 0.3563, d1.loss_plan_l1_fix_time: 1.0536, d1.loss_plan_l1_fix_dist: 0.1732, d2.loss_plan_l1_fix_time: 1.0475, d2.loss_plan_l1_fix_dist: 0.1871, d3.loss_plan_l1_fix_time: 1.0440, d3.loss_plan_l1_fix_dist: 0.2068, d4.loss_plan_l1_fix_time: 1.0471, d4.loss_plan_l1_fix_dist: 0.2275, d5.loss_plan_l1_fix_time: 1.0509, d5.loss_plan_l1_fix_dist: 0.2472, d6.loss_plan_l1_fix_time: 1.0553, d6.loss_plan_l1_fix_dist: 0.2648, d0.loss_cls_all: 0.1948, d0.loss_bbox_all: 0.4440, d0.loss_cls: 0.1948, d0.loss_bbox: 0.4440, d1.loss_cls: 0.1881, d1.loss_bbox: 0.4107, d2.loss_cls: 0.1762, d2.loss_bbox: 0.3905, d3.loss_cls: 0.1658, d3.loss_bbox: 0.3852, d4.loss_cls: 0.1605, d4.loss_bbox: 0.3825, d5.loss_cls: 0.1577, d5.loss_bbox: 0.3810, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0029, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8481, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7969, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7761, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7733, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7636, d0.loss_map_cls_all: 0.2585, d0.loss_map_pts_all: 1.3944, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2585, d0.loss_map_pts: 1.3944, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.2341, d1.loss_map_pts: 0.9956, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.2083, d2.loss_map_pts: 0.8123, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1951, d3.loss_map_pts: 0.7402, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1882, d4.loss_map_pts: 0.7057, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1843, d5.loss_map_pts: 0.6976, d5.loss_map_dir: 0.0081, loss: 30.1505, grad_norm: 155.2599 +2026-02-26 09:10:11,017 - DriveTransformer - INFO - Epoch [7][8800/39528] lr: 8.550e-05, eta: 6 days, 12:45:32, time: 0.790, data_time: 0.039, memory: 19865, loss_cls: 0.1439, loss_bbox: 0.3584, loss_traj: 0.6980, loss_traj_cls: 0.0011, loss_map_cls: 0.1514, loss_map_pts: 0.6315, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.9161, d0.loss_plan_l1_fix_dist: 0.4297, d1.loss_plan_l1_fix_time: 1.1310, d1.loss_plan_l1_fix_dist: 0.2156, d2.loss_plan_l1_fix_time: 1.1201, d2.loss_plan_l1_fix_dist: 0.2220, d3.loss_plan_l1_fix_time: 1.1173, d3.loss_plan_l1_fix_dist: 0.2332, d4.loss_plan_l1_fix_time: 1.1194, d4.loss_plan_l1_fix_dist: 0.2447, d5.loss_plan_l1_fix_time: 1.1224, d5.loss_plan_l1_fix_dist: 0.2588, d6.loss_plan_l1_fix_time: 1.1262, d6.loss_plan_l1_fix_dist: 0.2784, d0.loss_cls_all: 0.1875, d0.loss_bbox_all: 0.4133, d0.loss_cls: 0.1875, d0.loss_bbox: 0.4133, d1.loss_cls: 0.1807, d1.loss_bbox: 0.3814, d2.loss_cls: 0.1642, d2.loss_bbox: 0.3662, d3.loss_cls: 0.1529, d3.loss_bbox: 0.3600, d4.loss_cls: 0.1451, d4.loss_bbox: 0.3584, d5.loss_cls: 0.1435, d5.loss_bbox: 0.3580, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9052, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7517, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7249, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7096, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7052, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7000, d0.loss_map_cls_all: 0.2213, d0.loss_map_pts_all: 1.3163, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2213, d0.loss_map_pts: 1.3163, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1890, d1.loss_map_pts: 0.8733, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1735, d2.loss_map_pts: 0.7090, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1639, d3.loss_map_pts: 0.6567, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1581, d4.loss_map_pts: 0.6360, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1536, d5.loss_map_pts: 0.6333, d5.loss_map_dir: 0.0085, loss: 29.3225, grad_norm: 155.9568 +2026-02-26 09:10:52,663 - DriveTransformer - INFO - Epoch [7][8850/39528] lr: 8.550e-05, eta: 6 days, 12:44:56, time: 0.833, data_time: 0.043, memory: 19865, loss_cls: 0.1629, loss_bbox: 0.3511, loss_traj: 0.7422, loss_traj_cls: 0.0011, loss_map_cls: 0.1456, loss_map_pts: 0.6587, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.7113, d0.loss_plan_l1_fix_dist: 0.4967, d1.loss_plan_l1_fix_time: 1.0546, d1.loss_plan_l1_fix_dist: 0.1902, d2.loss_plan_l1_fix_time: 1.0438, d2.loss_plan_l1_fix_dist: 0.1990, d3.loss_plan_l1_fix_time: 1.0402, d3.loss_plan_l1_fix_dist: 0.2160, d4.loss_plan_l1_fix_time: 1.0416, d4.loss_plan_l1_fix_dist: 0.2335, d5.loss_plan_l1_fix_time: 1.0436, d5.loss_plan_l1_fix_dist: 0.2533, d6.loss_plan_l1_fix_time: 1.0464, d6.loss_plan_l1_fix_dist: 0.2737, d0.loss_cls_all: 0.1981, d0.loss_bbox_all: 0.4016, d0.loss_cls: 0.1981, d0.loss_bbox: 0.4016, d1.loss_cls: 0.1921, d1.loss_bbox: 0.3722, d2.loss_cls: 0.1776, d2.loss_bbox: 0.3580, d3.loss_cls: 0.1666, d3.loss_bbox: 0.3504, d4.loss_cls: 0.1634, d4.loss_bbox: 0.3491, d5.loss_cls: 0.1624, d5.loss_bbox: 0.3502, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9087, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7926, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7642, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7463, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7533, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7465, d0.loss_map_cls_all: 0.2144, d0.loss_map_pts_all: 1.3953, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2144, d0.loss_map_pts: 1.3953, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.1835, d1.loss_map_pts: 0.9302, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1656, d2.loss_map_pts: 0.7511, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1575, d3.loss_map_pts: 0.6877, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1493, d4.loss_map_pts: 0.6655, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1464, d5.loss_map_pts: 0.6602, d5.loss_map_dir: 0.0103, loss: 29.2602, grad_norm: 159.2372 +2026-02-26 09:11:30,742 - DriveTransformer - INFO - Epoch [7][8900/39528] lr: 8.550e-05, eta: 6 days, 12:44:10, time: 0.761, data_time: 0.048, memory: 19865, loss_cls: 0.1564, loss_bbox: 0.3436, loss_traj: 0.6523, loss_traj_cls: 0.0011, loss_map_cls: 0.1504, loss_map_pts: 0.5813, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.6857, d0.loss_plan_l1_fix_dist: 0.4145, d1.loss_plan_l1_fix_time: 1.1856, d1.loss_plan_l1_fix_dist: 0.1864, d2.loss_plan_l1_fix_time: 1.1653, d2.loss_plan_l1_fix_dist: 0.1977, d3.loss_plan_l1_fix_time: 1.1591, d3.loss_plan_l1_fix_dist: 0.2166, d4.loss_plan_l1_fix_time: 1.1601, d4.loss_plan_l1_fix_dist: 0.2349, d5.loss_plan_l1_fix_time: 1.1615, d5.loss_plan_l1_fix_dist: 0.2523, d6.loss_plan_l1_fix_time: 1.1640, d6.loss_plan_l1_fix_dist: 0.2660, d0.loss_cls_all: 0.1905, d0.loss_bbox_all: 0.3963, d0.loss_cls: 0.1905, d0.loss_bbox: 0.3963, d1.loss_cls: 0.1827, d1.loss_bbox: 0.3654, d2.loss_cls: 0.1680, d2.loss_bbox: 0.3519, d3.loss_cls: 0.1598, d3.loss_bbox: 0.3458, d4.loss_cls: 0.1568, d4.loss_bbox: 0.3444, d5.loss_cls: 0.1564, d5.loss_bbox: 0.3417, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8857, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7335, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6769, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6611, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6633, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6550, d0.loss_map_cls_all: 0.2208, d0.loss_map_pts_all: 1.1320, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2208, d0.loss_map_pts: 1.1320, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1931, d1.loss_map_pts: 0.7977, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1719, d2.loss_map_pts: 0.6650, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1580, d3.loss_map_pts: 0.6109, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1540, d4.loss_map_pts: 0.5929, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1512, d5.loss_map_pts: 0.5835, d5.loss_map_dir: 0.0072, loss: 28.2029, grad_norm: 160.8877 +2026-02-26 09:12:08,378 - DriveTransformer - INFO - Epoch [7][8950/39528] lr: 8.550e-05, eta: 6 days, 12:43:22, time: 0.753, data_time: 0.043, memory: 19865, loss_cls: 0.1615, loss_bbox: 0.3435, loss_traj: 0.7049, loss_traj_cls: 0.0011, loss_map_cls: 0.1515, loss_map_pts: 0.6521, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.4802, d0.loss_plan_l1_fix_dist: 0.4071, d1.loss_plan_l1_fix_time: 1.0944, d1.loss_plan_l1_fix_dist: 0.1739, d2.loss_plan_l1_fix_time: 1.0824, d2.loss_plan_l1_fix_dist: 0.1810, d3.loss_plan_l1_fix_time: 1.0787, d3.loss_plan_l1_fix_dist: 0.1926, d4.loss_plan_l1_fix_time: 1.0819, d4.loss_plan_l1_fix_dist: 0.2067, d5.loss_plan_l1_fix_time: 1.0854, d5.loss_plan_l1_fix_dist: 0.2249, d6.loss_plan_l1_fix_time: 1.0897, d6.loss_plan_l1_fix_dist: 0.2470, d0.loss_cls_all: 0.1905, d0.loss_bbox_all: 0.4034, d0.loss_cls: 0.1905, d0.loss_bbox: 0.4034, d1.loss_cls: 0.1894, d1.loss_bbox: 0.3659, d2.loss_cls: 0.1763, d2.loss_bbox: 0.3497, d3.loss_cls: 0.1683, d3.loss_bbox: 0.3449, d4.loss_cls: 0.1611, d4.loss_bbox: 0.3443, d5.loss_cls: 0.1609, d5.loss_bbox: 0.3428, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9434, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7299, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7130, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7052, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7013, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6900, d0.loss_map_cls_all: 0.2259, d0.loss_map_pts_all: 1.3238, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2259, d0.loss_map_pts: 1.3238, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1981, d1.loss_map_pts: 0.9268, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1727, d2.loss_map_pts: 0.7499, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1605, d3.loss_map_pts: 0.6819, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1545, d4.loss_map_pts: 0.6603, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1506, d5.loss_map_pts: 0.6520, d5.loss_map_dir: 0.0086, loss: 28.5951, grad_norm: 162.4648 +2026-02-26 09:12:47,880 - DriveTransformer - INFO - Epoch [7][9000/39528] lr: 8.550e-05, eta: 6 days, 12:42:40, time: 0.790, data_time: 0.041, memory: 19865, loss_cls: 0.1786, loss_bbox: 0.3879, loss_traj: 0.6709, loss_traj_cls: 0.0010, loss_map_cls: 0.1436, loss_map_pts: 0.7052, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.9553, d0.loss_plan_l1_fix_dist: 0.3340, d1.loss_plan_l1_fix_time: 1.1076, d1.loss_plan_l1_fix_dist: 0.1704, d2.loss_plan_l1_fix_time: 1.1008, d2.loss_plan_l1_fix_dist: 0.1791, d3.loss_plan_l1_fix_time: 1.1060, d3.loss_plan_l1_fix_dist: 0.1943, d4.loss_plan_l1_fix_time: 1.1112, d4.loss_plan_l1_fix_dist: 0.2110, d5.loss_plan_l1_fix_time: 1.1165, d5.loss_plan_l1_fix_dist: 0.2320, d6.loss_plan_l1_fix_time: 1.1216, d6.loss_plan_l1_fix_dist: 0.2574, d0.loss_cls_all: 0.2123, d0.loss_bbox_all: 0.4540, d0.loss_cls: 0.2123, d0.loss_bbox: 0.4540, d1.loss_cls: 0.2056, d1.loss_bbox: 0.4185, d2.loss_cls: 0.1917, d2.loss_bbox: 0.3982, d3.loss_cls: 0.1823, d3.loss_bbox: 0.3904, d4.loss_cls: 0.1776, d4.loss_bbox: 0.3871, d5.loss_cls: 0.1772, d5.loss_bbox: 0.3867, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9093, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7176, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6799, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6825, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6680, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6682, d0.loss_map_cls_all: 0.2209, d0.loss_map_pts_all: 1.4359, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2209, d0.loss_map_pts: 1.4359, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.1916, d1.loss_map_pts: 0.9845, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1670, d2.loss_map_pts: 0.8021, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1564, d3.loss_map_pts: 0.7352, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1512, d4.loss_map_pts: 0.7115, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1465, d5.loss_map_pts: 0.7046, d5.loss_map_dir: 0.0103, loss: 30.0091, grad_norm: 162.0839 +2026-02-26 09:13:26,026 - DriveTransformer - INFO - Epoch [7][9050/39528] lr: 8.550e-05, eta: 6 days, 12:41:55, time: 0.763, data_time: 0.038, memory: 19865, loss_cls: 0.1707, loss_bbox: 0.3723, loss_traj: 0.7376, loss_traj_cls: 0.0010, loss_map_cls: 0.1502, loss_map_pts: 0.6325, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.6786, d0.loss_plan_l1_fix_dist: 0.4710, d1.loss_plan_l1_fix_time: 1.1363, d1.loss_plan_l1_fix_dist: 0.1622, d2.loss_plan_l1_fix_time: 1.1198, d2.loss_plan_l1_fix_dist: 0.1667, d3.loss_plan_l1_fix_time: 1.1210, d3.loss_plan_l1_fix_dist: 0.1762, d4.loss_plan_l1_fix_time: 1.1238, d4.loss_plan_l1_fix_dist: 0.1870, d5.loss_plan_l1_fix_time: 1.1271, d5.loss_plan_l1_fix_dist: 0.1995, d6.loss_plan_l1_fix_time: 1.1306, d6.loss_plan_l1_fix_dist: 0.2138, d0.loss_cls_all: 0.2021, d0.loss_bbox_all: 0.4351, d0.loss_cls: 0.2021, d0.loss_bbox: 0.4351, d1.loss_cls: 0.1992, d1.loss_bbox: 0.4013, d2.loss_cls: 0.1876, d2.loss_bbox: 0.3826, d3.loss_cls: 0.1740, d3.loss_bbox: 0.3772, d4.loss_cls: 0.1702, d4.loss_bbox: 0.3729, d5.loss_cls: 0.1695, d5.loss_bbox: 0.3728, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9800, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8004, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7562, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7420, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7364, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7375, d0.loss_map_cls_all: 0.2319, d0.loss_map_pts_all: 1.2253, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2319, d0.loss_map_pts: 1.2253, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1954, d1.loss_map_pts: 0.8800, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1720, d2.loss_map_pts: 0.7237, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1645, d3.loss_map_pts: 0.6606, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1557, d4.loss_map_pts: 0.6427, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1513, d5.loss_map_pts: 0.6329, d5.loss_map_dir: 0.0076, loss: 29.2711, grad_norm: 161.0341 +2026-02-26 09:14:06,213 - DriveTransformer - INFO - Epoch [7][9100/39528] lr: 8.550e-05, eta: 6 days, 12:41:15, time: 0.804, data_time: 0.041, memory: 19865, loss_cls: 0.1880, loss_bbox: 0.4000, loss_traj: 0.6237, loss_traj_cls: 0.0010, loss_map_cls: 0.1722, loss_map_pts: 0.7778, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.6568, d0.loss_plan_l1_fix_dist: 0.3477, d1.loss_plan_l1_fix_time: 1.2064, d1.loss_plan_l1_fix_dist: 0.1821, d2.loss_plan_l1_fix_time: 1.1994, d2.loss_plan_l1_fix_dist: 0.1875, d3.loss_plan_l1_fix_time: 1.2032, d3.loss_plan_l1_fix_dist: 0.1978, d4.loss_plan_l1_fix_time: 1.2074, d4.loss_plan_l1_fix_dist: 0.2096, d5.loss_plan_l1_fix_time: 1.2119, d5.loss_plan_l1_fix_dist: 0.2216, d6.loss_plan_l1_fix_time: 1.2170, d6.loss_plan_l1_fix_dist: 0.2351, d0.loss_cls_all: 0.2299, d0.loss_bbox_all: 0.4712, d0.loss_cls: 0.2299, d0.loss_bbox: 0.4712, d1.loss_cls: 0.2219, d1.loss_bbox: 0.4358, d2.loss_cls: 0.2063, d2.loss_bbox: 0.4173, d3.loss_cls: 0.1948, d3.loss_bbox: 0.4073, d4.loss_cls: 0.1884, d4.loss_bbox: 0.4019, d5.loss_cls: 0.1866, d5.loss_bbox: 0.4017, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8937, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7108, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6398, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6310, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6239, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6236, d0.loss_map_cls_all: 0.2434, d0.loss_map_pts_all: 1.5841, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2434, d0.loss_map_pts: 1.5841, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2162, d1.loss_map_pts: 1.0899, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.1954, d2.loss_map_pts: 0.8921, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1868, d3.loss_map_pts: 0.8167, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1789, d4.loss_map_pts: 0.7874, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1732, d5.loss_map_pts: 0.7781, d5.loss_map_dir: 0.0116, loss: 31.2972, grad_norm: 161.3077 +2026-02-26 09:14:46,044 - DriveTransformer - INFO - Epoch [7][9150/39528] lr: 8.550e-05, eta: 6 days, 12:40:34, time: 0.797, data_time: 0.041, memory: 19865, loss_cls: 0.1431, loss_bbox: 0.3466, loss_traj: 0.6401, loss_traj_cls: 0.0010, loss_map_cls: 0.1475, loss_map_pts: 0.7056, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.3558, d0.loss_plan_l1_fix_dist: 0.4422, d1.loss_plan_l1_fix_time: 1.0009, d1.loss_plan_l1_fix_dist: 0.1726, d2.loss_plan_l1_fix_time: 1.0026, d2.loss_plan_l1_fix_dist: 0.1766, d3.loss_plan_l1_fix_time: 1.0123, d3.loss_plan_l1_fix_dist: 0.1850, d4.loss_plan_l1_fix_time: 1.0190, d4.loss_plan_l1_fix_dist: 0.1949, d5.loss_plan_l1_fix_time: 1.0251, d5.loss_plan_l1_fix_dist: 0.2066, d6.loss_plan_l1_fix_time: 1.0310, d6.loss_plan_l1_fix_dist: 0.2178, d0.loss_cls_all: 0.1795, d0.loss_bbox_all: 0.4117, d0.loss_cls: 0.1795, d0.loss_bbox: 0.4117, d1.loss_cls: 0.1762, d1.loss_bbox: 0.3776, d2.loss_cls: 0.1624, d2.loss_bbox: 0.3603, d3.loss_cls: 0.1518, d3.loss_bbox: 0.3519, d4.loss_cls: 0.1453, d4.loss_bbox: 0.3486, d5.loss_cls: 0.1423, d5.loss_bbox: 0.3477, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8553, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6914, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6499, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6411, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6359, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6371, d0.loss_map_cls_all: 0.2145, d0.loss_map_pts_all: 1.3826, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2145, d0.loss_map_pts: 1.3826, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1891, d1.loss_map_pts: 0.9477, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1687, d2.loss_map_pts: 0.7841, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1585, d3.loss_map_pts: 0.7318, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1503, d4.loss_map_pts: 0.7120, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1486, d5.loss_map_pts: 0.7049, d5.loss_map_dir: 0.0100, loss: 27.8578, grad_norm: 161.6948 +2026-02-26 09:15:24,401 - DriveTransformer - INFO - Epoch [7][9200/39528] lr: 8.550e-05, eta: 6 days, 12:39:48, time: 0.768, data_time: 0.042, memory: 19865, loss_cls: 0.1625, loss_bbox: 0.3610, loss_traj: 0.6598, loss_traj_cls: 0.0010, loss_map_cls: 0.1842, loss_map_pts: 0.7339, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.7898, d0.loss_plan_l1_fix_dist: 0.4006, d1.loss_plan_l1_fix_time: 1.1251, d1.loss_plan_l1_fix_dist: 0.1807, d2.loss_plan_l1_fix_time: 1.1207, d2.loss_plan_l1_fix_dist: 0.1863, d3.loss_plan_l1_fix_time: 1.1225, d3.loss_plan_l1_fix_dist: 0.1953, d4.loss_plan_l1_fix_time: 1.1266, d4.loss_plan_l1_fix_dist: 0.2065, d5.loss_plan_l1_fix_time: 1.1311, d5.loss_plan_l1_fix_dist: 0.2229, d6.loss_plan_l1_fix_time: 1.1358, d6.loss_plan_l1_fix_dist: 0.2422, d0.loss_cls_all: 0.1976, d0.loss_bbox_all: 0.4292, d0.loss_cls: 0.1976, d0.loss_bbox: 0.4292, d1.loss_cls: 0.1924, d1.loss_bbox: 0.3947, d2.loss_cls: 0.1771, d2.loss_bbox: 0.3778, d3.loss_cls: 0.1675, d3.loss_bbox: 0.3676, d4.loss_cls: 0.1613, d4.loss_bbox: 0.3657, d5.loss_cls: 0.1610, d5.loss_bbox: 0.3624, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8971, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7182, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6655, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6603, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6556, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6587, d0.loss_map_cls_all: 0.2525, d0.loss_map_pts_all: 1.4151, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2525, d0.loss_map_pts: 1.4151, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2240, d1.loss_map_pts: 1.0143, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.2056, d2.loss_map_pts: 0.8322, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1963, d3.loss_map_pts: 0.7664, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1890, d4.loss_map_pts: 0.7413, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1846, d5.loss_map_pts: 0.7342, d5.loss_map_dir: 0.0092, loss: 30.0250, grad_norm: 162.6663 +2026-02-26 09:16:03,909 - DriveTransformer - INFO - Epoch [7][9250/39528] lr: 8.550e-05, eta: 6 days, 12:39:06, time: 0.789, data_time: 0.043, memory: 19865, loss_cls: 0.1649, loss_bbox: 0.3605, loss_traj: 0.6165, loss_traj_cls: 0.0010, loss_map_cls: 0.1474, loss_map_pts: 0.6415, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.9110, d0.loss_plan_l1_fix_dist: 0.3908, d1.loss_plan_l1_fix_time: 1.1602, d1.loss_plan_l1_fix_dist: 0.1916, d2.loss_plan_l1_fix_time: 1.1460, d2.loss_plan_l1_fix_dist: 0.1946, d3.loss_plan_l1_fix_time: 1.1431, d3.loss_plan_l1_fix_dist: 0.2023, d4.loss_plan_l1_fix_time: 1.1474, d4.loss_plan_l1_fix_dist: 0.2115, d5.loss_plan_l1_fix_time: 1.1524, d5.loss_plan_l1_fix_dist: 0.2224, d6.loss_plan_l1_fix_time: 1.1582, d6.loss_plan_l1_fix_dist: 0.2350, d0.loss_cls_all: 0.2003, d0.loss_bbox_all: 0.4194, d0.loss_cls: 0.2003, d0.loss_bbox: 0.4194, d1.loss_cls: 0.1965, d1.loss_bbox: 0.3853, d2.loss_cls: 0.1836, d2.loss_bbox: 0.3690, d3.loss_cls: 0.1710, d3.loss_bbox: 0.3630, d4.loss_cls: 0.1678, d4.loss_bbox: 0.3603, d5.loss_cls: 0.1656, d5.loss_bbox: 0.3601, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8324, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6666, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6269, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6131, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6119, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6147, d0.loss_map_cls_all: 0.2129, d0.loss_map_pts_all: 1.2898, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2129, d0.loss_map_pts: 1.2898, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1846, d1.loss_map_pts: 0.8762, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1702, d2.loss_map_pts: 0.7292, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1594, d3.loss_map_pts: 0.6727, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1528, d4.loss_map_pts: 0.6540, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1488, d5.loss_map_pts: 0.6432, d5.loss_map_dir: 0.0086, loss: 28.7975, grad_norm: 156.5126 +2026-02-26 09:16:43,957 - DriveTransformer - INFO - Epoch [7][9300/39528] lr: 8.550e-05, eta: 6 days, 12:38:26, time: 0.801, data_time: 0.046, memory: 19865, loss_cls: 0.1704, loss_bbox: 0.3655, loss_traj: 0.5859, loss_traj_cls: 0.0010, loss_map_cls: 0.1556, loss_map_pts: 0.6872, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.8524, d0.loss_plan_l1_fix_dist: 0.4211, d1.loss_plan_l1_fix_time: 0.9884, d1.loss_plan_l1_fix_dist: 0.1699, d2.loss_plan_l1_fix_time: 0.9756, d2.loss_plan_l1_fix_dist: 0.1786, d3.loss_plan_l1_fix_time: 0.9811, d3.loss_plan_l1_fix_dist: 0.1936, d4.loss_plan_l1_fix_time: 0.9862, d4.loss_plan_l1_fix_dist: 0.2077, d5.loss_plan_l1_fix_time: 0.9919, d5.loss_plan_l1_fix_dist: 0.2219, d6.loss_plan_l1_fix_time: 0.9979, d6.loss_plan_l1_fix_dist: 0.2375, d0.loss_cls_all: 0.2113, d0.loss_bbox_all: 0.4263, d0.loss_cls: 0.2113, d0.loss_bbox: 0.4263, d1.loss_cls: 0.2070, d1.loss_bbox: 0.3929, d2.loss_cls: 0.1894, d2.loss_bbox: 0.3770, d3.loss_cls: 0.1761, d3.loss_bbox: 0.3694, d4.loss_cls: 0.1726, d4.loss_bbox: 0.3639, d5.loss_cls: 0.1704, d5.loss_bbox: 0.3638, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8028, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6432, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6199, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5952, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5906, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5874, d0.loss_map_cls_all: 0.2254, d0.loss_map_pts_all: 1.4253, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2254, d0.loss_map_pts: 1.4253, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.1933, d1.loss_map_pts: 0.9471, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.1788, d2.loss_map_pts: 0.7663, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1674, d3.loss_map_pts: 0.7109, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1602, d4.loss_map_pts: 0.6918, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1569, d5.loss_map_pts: 0.6869, d5.loss_map_dir: 0.0115, loss: 28.3226, grad_norm: 160.4967 +2026-02-26 09:17:22,327 - DriveTransformer - INFO - Epoch [7][9350/39528] lr: 8.550e-05, eta: 6 days, 12:37:40, time: 0.767, data_time: 0.039, memory: 19865, loss_cls: 0.1754, loss_bbox: 0.3835, loss_traj: 0.6732, loss_traj_cls: 0.0009, loss_map_cls: 0.1926, loss_map_pts: 0.8036, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.7018, d0.loss_plan_l1_fix_dist: 0.3874, d1.loss_plan_l1_fix_time: 1.1308, d1.loss_plan_l1_fix_dist: 0.1959, d2.loss_plan_l1_fix_time: 1.1263, d2.loss_plan_l1_fix_dist: 0.2020, d3.loss_plan_l1_fix_time: 1.1388, d3.loss_plan_l1_fix_dist: 0.2124, d4.loss_plan_l1_fix_time: 1.1448, d4.loss_plan_l1_fix_dist: 0.2257, d5.loss_plan_l1_fix_time: 1.1508, d5.loss_plan_l1_fix_dist: 0.2402, d6.loss_plan_l1_fix_time: 1.1571, d6.loss_plan_l1_fix_dist: 0.2560, d0.loss_cls_all: 0.2214, d0.loss_bbox_all: 0.4464, d0.loss_cls: 0.2214, d0.loss_bbox: 0.4464, d1.loss_cls: 0.2158, d1.loss_bbox: 0.4148, d2.loss_cls: 0.1976, d2.loss_bbox: 0.3959, d3.loss_cls: 0.1872, d3.loss_bbox: 0.3870, d4.loss_cls: 0.1779, d4.loss_bbox: 0.3858, d5.loss_cls: 0.1764, d5.loss_bbox: 0.3830, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9182, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7252, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6796, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6670, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6668, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6719, d0.loss_map_cls_all: 0.2734, d0.loss_map_pts_all: 1.5831, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2734, d0.loss_map_pts: 1.5831, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2411, d1.loss_map_pts: 1.1192, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.2171, d2.loss_map_pts: 0.9276, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.2025, d3.loss_map_pts: 0.8478, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1977, d4.loss_map_pts: 0.8123, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1936, d5.loss_map_pts: 0.8036, d5.loss_map_dir: 0.0110, loss: 31.4527, grad_norm: 159.7219 +2026-02-26 09:18:00,778 - DriveTransformer - INFO - Epoch [7][9400/39528] lr: 8.550e-05, eta: 6 days, 12:36:55, time: 0.769, data_time: 0.036, memory: 19865, loss_cls: 0.1710, loss_bbox: 0.3718, loss_traj: 0.7914, loss_traj_cls: 0.0009, loss_map_cls: 0.1499, loss_map_pts: 0.7040, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.4782, d0.loss_plan_l1_fix_dist: 0.3466, d1.loss_plan_l1_fix_time: 1.0351, d1.loss_plan_l1_fix_dist: 0.1834, d2.loss_plan_l1_fix_time: 1.0136, d2.loss_plan_l1_fix_dist: 0.1923, d3.loss_plan_l1_fix_time: 1.0133, d3.loss_plan_l1_fix_dist: 0.2047, d4.loss_plan_l1_fix_time: 1.0161, d4.loss_plan_l1_fix_dist: 0.2222, d5.loss_plan_l1_fix_time: 1.0194, d5.loss_plan_l1_fix_dist: 0.2409, d6.loss_plan_l1_fix_time: 1.0230, d6.loss_plan_l1_fix_dist: 0.2576, d0.loss_cls_all: 0.2068, d0.loss_bbox_all: 0.4339, d0.loss_cls: 0.2068, d0.loss_bbox: 0.4339, d1.loss_cls: 0.2016, d1.loss_bbox: 0.4035, d2.loss_cls: 0.1909, d2.loss_bbox: 0.3814, d3.loss_cls: 0.1796, d3.loss_bbox: 0.3752, d4.loss_cls: 0.1707, d4.loss_bbox: 0.3755, d5.loss_cls: 0.1706, d5.loss_bbox: 0.3729, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0442, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8572, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8108, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7918, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7859, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7879, d0.loss_map_cls_all: 0.2226, d0.loss_map_pts_all: 1.4040, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2226, d0.loss_map_pts: 1.4040, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1932, d1.loss_map_pts: 0.9913, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1708, d2.loss_map_pts: 0.8098, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1638, d3.loss_map_pts: 0.7367, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1570, d4.loss_map_pts: 0.7113, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1511, d5.loss_map_pts: 0.7060, d5.loss_map_dir: 0.0091, loss: 29.7383, grad_norm: 160.1122 +2026-02-26 09:18:39,054 - DriveTransformer - INFO - Epoch [7][9450/39528] lr: 8.550e-05, eta: 6 days, 12:36:10, time: 0.766, data_time: 0.038, memory: 19865, loss_cls: 0.1686, loss_bbox: 0.3839, loss_traj: 0.5827, loss_traj_cls: 0.0010, loss_map_cls: 0.2037, loss_map_pts: 0.7390, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.3068, d0.loss_plan_l1_fix_dist: 0.3492, d1.loss_plan_l1_fix_time: 1.1032, d1.loss_plan_l1_fix_dist: 0.1758, d2.loss_plan_l1_fix_time: 1.1010, d2.loss_plan_l1_fix_dist: 0.1825, d3.loss_plan_l1_fix_time: 1.1023, d3.loss_plan_l1_fix_dist: 0.1956, d4.loss_plan_l1_fix_time: 1.1068, d4.loss_plan_l1_fix_dist: 0.2077, d5.loss_plan_l1_fix_time: 1.1112, d5.loss_plan_l1_fix_dist: 0.2228, d6.loss_plan_l1_fix_time: 1.1153, d6.loss_plan_l1_fix_dist: 0.2435, d0.loss_cls_all: 0.2115, d0.loss_bbox_all: 0.4453, d0.loss_cls: 0.2115, d0.loss_bbox: 0.4453, d1.loss_cls: 0.2038, d1.loss_bbox: 0.4078, d2.loss_cls: 0.1917, d2.loss_bbox: 0.3874, d3.loss_cls: 0.1739, d3.loss_bbox: 0.3865, d4.loss_cls: 0.1678, d4.loss_bbox: 0.3852, d5.loss_cls: 0.1675, d5.loss_bbox: 0.3840, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8019, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6471, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5922, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5805, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5821, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5820, d0.loss_map_cls_all: 0.2636, d0.loss_map_pts_all: 1.4287, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2636, d0.loss_map_pts: 1.4287, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2456, d1.loss_map_pts: 1.0187, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.2220, d2.loss_map_pts: 0.8362, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.2128, d3.loss_map_pts: 0.7705, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.2078, d4.loss_map_pts: 0.7472, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.2051, d5.loss_map_pts: 0.7404, d5.loss_map_dir: 0.0097, loss: 29.2284, grad_norm: 160.6632 +2026-02-26 09:19:18,780 - DriveTransformer - INFO - Epoch [7][9500/39528] lr: 8.550e-05, eta: 6 days, 12:35:29, time: 0.794, data_time: 0.044, memory: 19865, loss_cls: 0.1360, loss_bbox: 0.3305, loss_traj: 0.6238, loss_traj_cls: 0.0010, loss_map_cls: 0.1609, loss_map_pts: 0.6969, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.6221, d0.loss_plan_l1_fix_dist: 0.4038, d1.loss_plan_l1_fix_time: 1.0692, d1.loss_plan_l1_fix_dist: 0.1780, d2.loss_plan_l1_fix_time: 1.0533, d2.loss_plan_l1_fix_dist: 0.1822, d3.loss_plan_l1_fix_time: 1.0478, d3.loss_plan_l1_fix_dist: 0.1945, d4.loss_plan_l1_fix_time: 1.0499, d4.loss_plan_l1_fix_dist: 0.2067, d5.loss_plan_l1_fix_time: 1.0526, d5.loss_plan_l1_fix_dist: 0.2224, d6.loss_plan_l1_fix_time: 1.0556, d6.loss_plan_l1_fix_dist: 0.2390, d0.loss_cls_all: 0.1742, d0.loss_bbox_all: 0.3865, d0.loss_cls: 0.1742, d0.loss_bbox: 0.3865, d1.loss_cls: 0.1660, d1.loss_bbox: 0.3584, d2.loss_cls: 0.1544, d2.loss_bbox: 0.3410, d3.loss_cls: 0.1437, d3.loss_bbox: 0.3338, d4.loss_cls: 0.1371, d4.loss_bbox: 0.3311, d5.loss_cls: 0.1358, d5.loss_bbox: 0.3306, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8237, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6804, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6330, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6193, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6190, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6211, d0.loss_map_cls_all: 0.2362, d0.loss_map_pts_all: 1.4707, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2362, d0.loss_map_pts: 1.4707, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2068, d1.loss_map_pts: 0.9986, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1890, d2.loss_map_pts: 0.7989, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1785, d3.loss_map_pts: 0.7277, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1696, d4.loss_map_pts: 0.7014, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1628, d5.loss_map_pts: 0.6975, d5.loss_map_dir: 0.0093, loss: 28.3995, grad_norm: 156.7414 +2026-02-26 09:19:57,832 - DriveTransformer - INFO - Epoch [7][9550/39528] lr: 8.550e-05, eta: 6 days, 12:34:45, time: 0.781, data_time: 0.046, memory: 19865, loss_cls: 0.1607, loss_bbox: 0.3535, loss_traj: 0.7484, loss_traj_cls: 0.0010, loss_map_cls: 0.1649, loss_map_pts: 0.6756, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.8318, d0.loss_plan_l1_fix_dist: 0.4442, d1.loss_plan_l1_fix_time: 1.1798, d1.loss_plan_l1_fix_dist: 0.1887, d2.loss_plan_l1_fix_time: 1.1648, d2.loss_plan_l1_fix_dist: 0.1986, d3.loss_plan_l1_fix_time: 1.1603, d3.loss_plan_l1_fix_dist: 0.2142, d4.loss_plan_l1_fix_time: 1.1633, d4.loss_plan_l1_fix_dist: 0.2344, d5.loss_plan_l1_fix_time: 1.1668, d5.loss_plan_l1_fix_dist: 0.2552, d6.loss_plan_l1_fix_time: 1.1706, d6.loss_plan_l1_fix_dist: 0.2734, d0.loss_cls_all: 0.1955, d0.loss_bbox_all: 0.4151, d0.loss_cls: 0.1955, d0.loss_bbox: 0.4151, d1.loss_cls: 0.1940, d1.loss_bbox: 0.3807, d2.loss_cls: 0.1775, d2.loss_bbox: 0.3614, d3.loss_cls: 0.1673, d3.loss_bbox: 0.3554, d4.loss_cls: 0.1619, d4.loss_bbox: 0.3542, d5.loss_cls: 0.1592, d5.loss_bbox: 0.3554, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9922, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8141, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7595, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7484, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7494, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7477, d0.loss_map_cls_all: 0.2349, d0.loss_map_pts_all: 1.3853, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2349, d0.loss_map_pts: 1.3853, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.2059, d1.loss_map_pts: 0.9435, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1838, d2.loss_map_pts: 0.7705, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1785, d3.loss_map_pts: 0.7072, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1718, d4.loss_map_pts: 0.6832, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1661, d5.loss_map_pts: 0.6778, d5.loss_map_dir: 0.0088, loss: 30.4531, grad_norm: 157.0765 +2026-02-26 09:20:36,025 - DriveTransformer - INFO - Epoch [7][9600/39528] lr: 8.550e-05, eta: 6 days, 12:34:00, time: 0.764, data_time: 0.042, memory: 19865, loss_cls: 0.1504, loss_bbox: 0.3567, loss_traj: 0.6500, loss_traj_cls: 0.0010, loss_map_cls: 0.1445, loss_map_pts: 0.6116, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.9167, d0.loss_plan_l1_fix_dist: 0.3615, d1.loss_plan_l1_fix_time: 1.0479, d1.loss_plan_l1_fix_dist: 0.1663, d2.loss_plan_l1_fix_time: 1.0343, d2.loss_plan_l1_fix_dist: 0.1756, d3.loss_plan_l1_fix_time: 1.0369, d3.loss_plan_l1_fix_dist: 0.1874, d4.loss_plan_l1_fix_time: 1.0424, d4.loss_plan_l1_fix_dist: 0.2035, d5.loss_plan_l1_fix_time: 1.0484, d5.loss_plan_l1_fix_dist: 0.2215, d6.loss_plan_l1_fix_time: 1.0553, d6.loss_plan_l1_fix_dist: 0.2393, d0.loss_cls_all: 0.1954, d0.loss_bbox_all: 0.4088, d0.loss_cls: 0.1954, d0.loss_bbox: 0.4088, d1.loss_cls: 0.1949, d1.loss_bbox: 0.3787, d2.loss_cls: 0.1729, d2.loss_bbox: 0.3627, d3.loss_cls: 0.1629, d3.loss_bbox: 0.3560, d4.loss_cls: 0.1541, d4.loss_bbox: 0.3539, d5.loss_cls: 0.1526, d5.loss_bbox: 0.3535, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8475, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7194, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6661, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6546, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6506, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6459, d0.loss_map_cls_all: 0.2197, d0.loss_map_pts_all: 1.2786, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2197, d0.loss_map_pts: 1.2786, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1916, d1.loss_map_pts: 0.8628, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1673, d2.loss_map_pts: 0.6978, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1586, d3.loss_map_pts: 0.6395, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1516, d4.loss_map_pts: 0.6182, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1465, d5.loss_map_pts: 0.6129, d5.loss_map_dir: 0.0081, loss: 28.0001, grad_norm: 155.7993 +2026-02-26 09:21:16,608 - DriveTransformer - INFO - Epoch [7][9650/39528] lr: 8.550e-05, eta: 6 days, 12:33:21, time: 0.812, data_time: 0.048, memory: 19865, loss_cls: 0.1707, loss_bbox: 0.3632, loss_traj: 0.6858, loss_traj_cls: 0.0010, loss_map_cls: 0.1592, loss_map_pts: 0.6893, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.9294, d0.loss_plan_l1_fix_dist: 0.3902, d1.loss_plan_l1_fix_time: 1.0839, d1.loss_plan_l1_fix_dist: 0.1870, d2.loss_plan_l1_fix_time: 1.0693, d2.loss_plan_l1_fix_dist: 0.1919, d3.loss_plan_l1_fix_time: 1.0799, d3.loss_plan_l1_fix_dist: 0.2004, d4.loss_plan_l1_fix_time: 1.0857, d4.loss_plan_l1_fix_dist: 0.2101, d5.loss_plan_l1_fix_time: 1.0915, d5.loss_plan_l1_fix_dist: 0.2221, d6.loss_plan_l1_fix_time: 1.0981, d6.loss_plan_l1_fix_dist: 0.2369, d0.loss_cls_all: 0.2093, d0.loss_bbox_all: 0.4201, d0.loss_cls: 0.2093, d0.loss_bbox: 0.4201, d1.loss_cls: 0.2049, d1.loss_bbox: 0.3872, d2.loss_cls: 0.1930, d2.loss_bbox: 0.3682, d3.loss_cls: 0.1798, d3.loss_bbox: 0.3617, d4.loss_cls: 0.1726, d4.loss_bbox: 0.3605, d5.loss_cls: 0.1714, d5.loss_bbox: 0.3605, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9471, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7499, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6967, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6830, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6835, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6805, d0.loss_map_cls_all: 0.2276, d0.loss_map_pts_all: 1.3879, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2276, d0.loss_map_pts: 1.3879, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1982, d1.loss_map_pts: 0.9641, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1801, d2.loss_map_pts: 0.7866, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1697, d3.loss_map_pts: 0.7244, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1640, d4.loss_map_pts: 0.6973, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1604, d5.loss_map_pts: 0.6914, d5.loss_map_dir: 0.0093, loss: 29.6501, grad_norm: 157.0307 +2026-02-26 09:21:56,566 - DriveTransformer - INFO - Epoch [7][9700/39528] lr: 8.550e-05, eta: 6 days, 12:32:40, time: 0.799, data_time: 0.037, memory: 19865, loss_cls: 0.1232, loss_bbox: 0.3336, loss_traj: 0.6111, loss_traj_cls: 0.0010, loss_map_cls: 0.1622, loss_map_pts: 0.6868, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.3541, d0.loss_plan_l1_fix_dist: 0.3744, d1.loss_plan_l1_fix_time: 0.9529, d1.loss_plan_l1_fix_dist: 0.1643, d2.loss_plan_l1_fix_time: 0.9425, d2.loss_plan_l1_fix_dist: 0.1711, d3.loss_plan_l1_fix_time: 0.9405, d3.loss_plan_l1_fix_dist: 0.1842, d4.loss_plan_l1_fix_time: 0.9438, d4.loss_plan_l1_fix_dist: 0.1987, d5.loss_plan_l1_fix_time: 0.9475, d5.loss_plan_l1_fix_dist: 0.2150, d6.loss_plan_l1_fix_time: 0.9522, d6.loss_plan_l1_fix_dist: 0.2335, d0.loss_cls_all: 0.1618, d0.loss_bbox_all: 0.3892, d0.loss_cls: 0.1618, d0.loss_bbox: 0.3892, d1.loss_cls: 0.1544, d1.loss_bbox: 0.3558, d2.loss_cls: 0.1425, d2.loss_bbox: 0.3385, d3.loss_cls: 0.1298, d3.loss_bbox: 0.3344, d4.loss_cls: 0.1254, d4.loss_bbox: 0.3325, d5.loss_cls: 0.1242, d5.loss_bbox: 0.3318, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8528, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6730, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6245, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6265, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6072, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6067, d0.loss_map_cls_all: 0.2415, d0.loss_map_pts_all: 1.4158, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2415, d0.loss_map_pts: 1.4158, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.2143, d1.loss_map_pts: 1.0083, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1881, d2.loss_map_pts: 0.8093, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1794, d3.loss_map_pts: 0.7264, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1709, d4.loss_map_pts: 0.6990, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1647, d5.loss_map_pts: 0.6895, d5.loss_map_dir: 0.0085, loss: 27.1900, grad_norm: 155.5103 +2026-02-26 09:22:36,417 - DriveTransformer - INFO - Epoch [7][9750/39528] lr: 8.550e-05, eta: 6 days, 12:31:59, time: 0.797, data_time: 0.042, memory: 19865, loss_cls: 0.1547, loss_bbox: 0.3656, loss_traj: 0.6606, loss_traj_cls: 0.0010, loss_map_cls: 0.1706, loss_map_pts: 0.7749, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.6430, d0.loss_plan_l1_fix_dist: 0.3757, d1.loss_plan_l1_fix_time: 1.1011, d1.loss_plan_l1_fix_dist: 0.1768, d2.loss_plan_l1_fix_time: 1.0907, d2.loss_plan_l1_fix_dist: 0.1842, d3.loss_plan_l1_fix_time: 1.0894, d3.loss_plan_l1_fix_dist: 0.1972, d4.loss_plan_l1_fix_time: 1.0919, d4.loss_plan_l1_fix_dist: 0.2144, d5.loss_plan_l1_fix_time: 1.0950, d5.loss_plan_l1_fix_dist: 0.2340, d6.loss_plan_l1_fix_time: 1.0983, d6.loss_plan_l1_fix_dist: 0.2554, d0.loss_cls_all: 0.1945, d0.loss_bbox_all: 0.4241, d0.loss_cls: 0.1945, d0.loss_bbox: 0.4241, d1.loss_cls: 0.1883, d1.loss_bbox: 0.3888, d2.loss_cls: 0.1780, d2.loss_bbox: 0.3706, d3.loss_cls: 0.1637, d3.loss_bbox: 0.3653, d4.loss_cls: 0.1564, d4.loss_bbox: 0.3647, d5.loss_cls: 0.1548, d5.loss_bbox: 0.3645, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8852, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7364, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6792, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6665, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6590, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6582, d0.loss_map_cls_all: 0.2491, d0.loss_map_pts_all: 1.5285, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2491, d0.loss_map_pts: 1.5285, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2162, d1.loss_map_pts: 1.0487, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.1921, d2.loss_map_pts: 0.8679, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1825, d3.loss_map_pts: 0.8033, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1759, d4.loss_map_pts: 0.7807, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1729, d5.loss_map_pts: 0.7746, d5.loss_map_dir: 0.0115, loss: 30.0556, grad_norm: 155.2449 +2026-02-26 09:23:17,724 - DriveTransformer - INFO - Epoch [7][9800/39528] lr: 8.550e-05, eta: 6 days, 12:31:22, time: 0.826, data_time: 0.044, memory: 19865, loss_cls: 0.1451, loss_bbox: 0.3478, loss_traj: 0.6597, loss_traj_cls: 0.0010, loss_map_cls: 0.1492, loss_map_pts: 0.7192, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.2628, d0.loss_plan_l1_fix_dist: 0.4545, d1.loss_plan_l1_fix_time: 0.9939, d1.loss_plan_l1_fix_dist: 0.2036, d2.loss_plan_l1_fix_time: 0.9859, d2.loss_plan_l1_fix_dist: 0.2154, d3.loss_plan_l1_fix_time: 0.9891, d3.loss_plan_l1_fix_dist: 0.2363, d4.loss_plan_l1_fix_time: 0.9944, d4.loss_plan_l1_fix_dist: 0.2636, d5.loss_plan_l1_fix_time: 1.0006, d5.loss_plan_l1_fix_dist: 0.2919, d6.loss_plan_l1_fix_time: 1.0075, d6.loss_plan_l1_fix_dist: 0.3238, d0.loss_cls_all: 0.1839, d0.loss_bbox_all: 0.4055, d0.loss_cls: 0.1839, d0.loss_bbox: 0.4055, d1.loss_cls: 0.1764, d1.loss_bbox: 0.3715, d2.loss_cls: 0.1614, d2.loss_bbox: 0.3552, d3.loss_cls: 0.1477, d3.loss_bbox: 0.3503, d4.loss_cls: 0.1464, d4.loss_bbox: 0.3465, d5.loss_cls: 0.1454, d5.loss_bbox: 0.3476, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8927, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7303, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6760, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6665, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6617, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6639, d0.loss_map_cls_all: 0.2285, d0.loss_map_pts_all: 1.5024, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2285, d0.loss_map_pts: 1.5024, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.1918, d1.loss_map_pts: 1.0332, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1695, d2.loss_map_pts: 0.8305, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1609, d3.loss_map_pts: 0.7573, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1550, d4.loss_map_pts: 0.7301, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1513, d5.loss_map_pts: 0.7197, d5.loss_map_dir: 0.0106, loss: 28.7117, grad_norm: 154.6278 +2026-02-26 09:23:58,957 - DriveTransformer - INFO - Epoch [7][9850/39528] lr: 8.550e-05, eta: 6 days, 12:30:45, time: 0.825, data_time: 0.038, memory: 19865, loss_cls: 0.1513, loss_bbox: 0.3638, loss_traj: 0.5574, loss_traj_cls: 0.0010, loss_map_cls: 0.1609, loss_map_pts: 0.7418, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.1546, d0.loss_plan_l1_fix_dist: 0.3140, d1.loss_plan_l1_fix_time: 0.8030, d1.loss_plan_l1_fix_dist: 0.1754, d2.loss_plan_l1_fix_time: 0.7929, d2.loss_plan_l1_fix_dist: 0.1823, d3.loss_plan_l1_fix_time: 0.7890, d3.loss_plan_l1_fix_dist: 0.1957, d4.loss_plan_l1_fix_time: 0.7918, d4.loss_plan_l1_fix_dist: 0.2118, d5.loss_plan_l1_fix_time: 0.7957, d5.loss_plan_l1_fix_dist: 0.2284, d6.loss_plan_l1_fix_time: 0.8008, d6.loss_plan_l1_fix_dist: 0.2445, d0.loss_cls_all: 0.1951, d0.loss_bbox_all: 0.4203, d0.loss_cls: 0.1951, d0.loss_bbox: 0.4203, d1.loss_cls: 0.1899, d1.loss_bbox: 0.3886, d2.loss_cls: 0.1702, d2.loss_bbox: 0.3719, d3.loss_cls: 0.1575, d3.loss_bbox: 0.3665, d4.loss_cls: 0.1517, d4.loss_bbox: 0.3655, d5.loss_cls: 0.1510, d5.loss_bbox: 0.3643, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7327, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6100, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5724, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5614, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5554, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5593, d0.loss_map_cls_all: 0.2272, d0.loss_map_pts_all: 1.5473, d0.loss_map_dir_all: 0.0128, d0.loss_map_cls: 0.2272, d0.loss_map_pts: 1.5473, d0.loss_map_dir: 0.0128, d1.loss_map_cls: 0.2011, d1.loss_map_pts: 1.0086, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.1791, d2.loss_map_pts: 0.8238, d2.loss_map_dir: 0.0123, d3.loss_map_cls: 0.1709, d3.loss_map_pts: 0.7656, d3.loss_map_dir: 0.0128, d4.loss_map_cls: 0.1653, d4.loss_map_pts: 0.7469, d4.loss_map_dir: 0.0132, d5.loss_map_cls: 0.1626, d5.loss_map_pts: 0.7413, d5.loss_map_dir: 0.0133, loss: 26.5787, grad_norm: 154.2283 +2026-02-26 09:24:37,772 - DriveTransformer - INFO - Epoch [7][9900/39528] lr: 8.550e-05, eta: 6 days, 12:30:01, time: 0.776, data_time: 0.040, memory: 19865, loss_cls: 0.1786, loss_bbox: 0.3798, loss_traj: 0.5986, loss_traj_cls: 0.0010, loss_map_cls: 0.1840, loss_map_pts: 0.7898, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.8116, d0.loss_plan_l1_fix_dist: 0.4197, d1.loss_plan_l1_fix_time: 1.0273, d1.loss_plan_l1_fix_dist: 0.2002, d2.loss_plan_l1_fix_time: 1.0177, d2.loss_plan_l1_fix_dist: 0.2146, d3.loss_plan_l1_fix_time: 1.0222, d3.loss_plan_l1_fix_dist: 0.2328, d4.loss_plan_l1_fix_time: 1.0252, d4.loss_plan_l1_fix_dist: 0.2517, d5.loss_plan_l1_fix_time: 1.0283, d5.loss_plan_l1_fix_dist: 0.2712, d6.loss_plan_l1_fix_time: 1.0318, d6.loss_plan_l1_fix_dist: 0.2897, d0.loss_cls_all: 0.2198, d0.loss_bbox_all: 0.4481, d0.loss_cls: 0.2198, d0.loss_bbox: 0.4481, d1.loss_cls: 0.2082, d1.loss_bbox: 0.4132, d2.loss_cls: 0.1943, d2.loss_bbox: 0.3917, d3.loss_cls: 0.1848, d3.loss_bbox: 0.3850, d4.loss_cls: 0.1807, d4.loss_bbox: 0.3802, d5.loss_cls: 0.1778, d5.loss_bbox: 0.3794, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8595, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6756, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6263, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6154, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6002, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6011, d0.loss_map_cls_all: 0.2650, d0.loss_map_pts_all: 1.4416, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2650, d0.loss_map_pts: 1.4416, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2336, d1.loss_map_pts: 1.0621, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.2099, d2.loss_map_pts: 0.8981, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1981, d3.loss_map_pts: 0.8267, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1897, d4.loss_map_pts: 0.7985, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1849, d5.loss_map_pts: 0.7905, d5.loss_map_dir: 0.0102, loss: 30.0746, grad_norm: 156.4941 +2026-02-26 09:25:17,555 - DriveTransformer - INFO - Epoch [7][9950/39528] lr: 8.550e-05, eta: 6 days, 12:29:20, time: 0.796, data_time: 0.043, memory: 19865, loss_cls: 0.1435, loss_bbox: 0.3497, loss_traj: 0.6714, loss_traj_cls: 0.0010, loss_map_cls: 0.1521, loss_map_pts: 0.6841, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.7122, d0.loss_plan_l1_fix_dist: 0.3178, d1.loss_plan_l1_fix_time: 1.1486, d1.loss_plan_l1_fix_dist: 0.1807, d2.loss_plan_l1_fix_time: 1.1296, d2.loss_plan_l1_fix_dist: 0.1931, d3.loss_plan_l1_fix_time: 1.1274, d3.loss_plan_l1_fix_dist: 0.2091, d4.loss_plan_l1_fix_time: 1.1291, d4.loss_plan_l1_fix_dist: 0.2247, d5.loss_plan_l1_fix_time: 1.1308, d5.loss_plan_l1_fix_dist: 0.2412, d6.loss_plan_l1_fix_time: 1.1329, d6.loss_plan_l1_fix_dist: 0.2605, d0.loss_cls_all: 0.1867, d0.loss_bbox_all: 0.4083, d0.loss_cls: 0.1867, d0.loss_bbox: 0.4083, d1.loss_cls: 0.1742, d1.loss_bbox: 0.3782, d2.loss_cls: 0.1642, d2.loss_bbox: 0.3584, d3.loss_cls: 0.1522, d3.loss_bbox: 0.3509, d4.loss_cls: 0.1453, d4.loss_bbox: 0.3498, d5.loss_cls: 0.1430, d5.loss_bbox: 0.3506, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9146, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7464, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6947, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6814, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6762, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6767, d0.loss_map_cls_all: 0.2180, d0.loss_map_pts_all: 1.4029, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2180, d0.loss_map_pts: 1.4029, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1881, d1.loss_map_pts: 0.9786, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1677, d2.loss_map_pts: 0.7910, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1596, d3.loss_map_pts: 0.7143, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1545, d4.loss_map_pts: 0.6889, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1515, d5.loss_map_pts: 0.6845, d5.loss_map_dir: 0.0104, loss: 29.2933, grad_norm: 155.9059 +2026-02-26 09:25:57,049 - DriveTransformer - INFO - Epoch [7][10000/39528] lr: 8.550e-05, eta: 6 days, 12:28:38, time: 0.791, data_time: 0.042, memory: 19865, loss_cls: 0.1365, loss_bbox: 0.3427, loss_traj: 0.5839, loss_traj_cls: 0.0010, loss_map_cls: 0.1665, loss_map_pts: 0.7648, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.3936, d0.loss_plan_l1_fix_dist: 0.4114, d1.loss_plan_l1_fix_time: 1.0464, d1.loss_plan_l1_fix_dist: 0.1807, d2.loss_plan_l1_fix_time: 1.0351, d2.loss_plan_l1_fix_dist: 0.1977, d3.loss_plan_l1_fix_time: 1.0310, d3.loss_plan_l1_fix_dist: 0.2217, d4.loss_plan_l1_fix_time: 1.0340, d4.loss_plan_l1_fix_dist: 0.2516, d5.loss_plan_l1_fix_time: 1.0379, d5.loss_plan_l1_fix_dist: 0.2827, d6.loss_plan_l1_fix_time: 1.0422, d6.loss_plan_l1_fix_dist: 0.3150, d0.loss_cls_all: 0.1769, d0.loss_bbox_all: 0.4087, d0.loss_cls: 0.1769, d0.loss_bbox: 0.4087, d1.loss_cls: 0.1710, d1.loss_bbox: 0.3712, d2.loss_cls: 0.1542, d2.loss_bbox: 0.3550, d3.loss_cls: 0.1440, d3.loss_bbox: 0.3460, d4.loss_cls: 0.1376, d4.loss_bbox: 0.3437, d5.loss_cls: 0.1356, d5.loss_bbox: 0.3439, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8196, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6442, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6094, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5920, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5834, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5830, d0.loss_map_cls_all: 0.2378, d0.loss_map_pts_all: 1.5830, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2378, d0.loss_map_pts: 1.5830, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2046, d1.loss_map_pts: 1.0828, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1841, d2.loss_map_pts: 0.8715, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1741, d3.loss_map_pts: 0.7959, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1679, d4.loss_map_pts: 0.7682, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1668, d5.loss_map_pts: 0.7651, d5.loss_map_dir: 0.0098, loss: 28.8851, grad_norm: 156.8622 +2026-02-26 09:26:36,681 - DriveTransformer - INFO - Epoch [7][10050/39528] lr: 8.550e-05, eta: 6 days, 12:27:56, time: 0.792, data_time: 0.038, memory: 19865, loss_cls: 0.1397, loss_bbox: 0.3356, loss_traj: 0.6252, loss_traj_cls: 0.0010, loss_map_cls: 0.1325, loss_map_pts: 0.6165, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.3398, d0.loss_plan_l1_fix_dist: 0.3951, d1.loss_plan_l1_fix_time: 1.0287, d1.loss_plan_l1_fix_dist: 0.1873, d2.loss_plan_l1_fix_time: 1.0163, d2.loss_plan_l1_fix_dist: 0.2003, d3.loss_plan_l1_fix_time: 1.0161, d3.loss_plan_l1_fix_dist: 0.2182, d4.loss_plan_l1_fix_time: 1.0190, d4.loss_plan_l1_fix_dist: 0.2380, d5.loss_plan_l1_fix_time: 1.0220, d5.loss_plan_l1_fix_dist: 0.2593, d6.loss_plan_l1_fix_time: 1.0252, d6.loss_plan_l1_fix_dist: 0.2820, d0.loss_cls_all: 0.1728, d0.loss_bbox_all: 0.3908, d0.loss_cls: 0.1728, d0.loss_bbox: 0.3908, d1.loss_cls: 0.1657, d1.loss_bbox: 0.3630, d2.loss_cls: 0.1558, d2.loss_bbox: 0.3453, d3.loss_cls: 0.1448, d3.loss_bbox: 0.3400, d4.loss_cls: 0.1406, d4.loss_bbox: 0.3383, d5.loss_cls: 0.1396, d5.loss_bbox: 0.3357, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8334, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6900, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6452, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6284, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6254, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6234, d0.loss_map_cls_all: 0.1928, d0.loss_map_pts_all: 1.3144, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.1928, d0.loss_map_pts: 1.3144, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1676, d1.loss_map_pts: 0.8695, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1496, d2.loss_map_pts: 0.7007, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1410, d3.loss_map_pts: 0.6434, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1353, d4.loss_map_pts: 0.6201, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1328, d5.loss_map_pts: 0.6168, d5.loss_map_dir: 0.0094, loss: 27.0104, grad_norm: 157.4164 +2026-02-26 09:27:14,596 - DriveTransformer - INFO - Epoch [7][10100/39528] lr: 8.550e-05, eta: 6 days, 12:27:10, time: 0.758, data_time: 0.043, memory: 19865, loss_cls: 0.1458, loss_bbox: 0.3524, loss_traj: 0.5892, loss_traj_cls: 0.0010, loss_map_cls: 0.1553, loss_map_pts: 0.6434, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.3951, d0.loss_plan_l1_fix_dist: 0.4313, d1.loss_plan_l1_fix_time: 0.9468, d1.loss_plan_l1_fix_dist: 0.1673, d2.loss_plan_l1_fix_time: 0.9331, d2.loss_plan_l1_fix_dist: 0.1788, d3.loss_plan_l1_fix_time: 0.9315, d3.loss_plan_l1_fix_dist: 0.1964, d4.loss_plan_l1_fix_time: 0.9338, d4.loss_plan_l1_fix_dist: 0.2151, d5.loss_plan_l1_fix_time: 0.9363, d5.loss_plan_l1_fix_dist: 0.2355, d6.loss_plan_l1_fix_time: 0.9396, d6.loss_plan_l1_fix_dist: 0.2564, d0.loss_cls_all: 0.1800, d0.loss_bbox_all: 0.4136, d0.loss_cls: 0.1800, d0.loss_bbox: 0.4136, d1.loss_cls: 0.1776, d1.loss_bbox: 0.3785, d2.loss_cls: 0.1612, d2.loss_bbox: 0.3609, d3.loss_cls: 0.1508, d3.loss_bbox: 0.3541, d4.loss_cls: 0.1459, d4.loss_bbox: 0.3531, d5.loss_cls: 0.1449, d5.loss_bbox: 0.3523, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8457, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6431, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5950, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5838, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5843, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5851, d0.loss_map_cls_all: 0.2098, d0.loss_map_pts_all: 1.2967, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2098, d0.loss_map_pts: 1.2967, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1843, d1.loss_map_pts: 0.9251, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1674, d2.loss_map_pts: 0.7594, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1610, d3.loss_map_pts: 0.6833, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1592, d4.loss_map_pts: 0.6514, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1561, d5.loss_map_pts: 0.6445, d5.loss_map_dir: 0.0081, loss: 26.7611, grad_norm: 156.4211 +2026-02-26 09:27:53,535 - DriveTransformer - INFO - Epoch [7][10150/39528] lr: 8.550e-05, eta: 6 days, 12:26:26, time: 0.779, data_time: 0.043, memory: 19865, loss_cls: 0.1497, loss_bbox: 0.3632, loss_traj: 0.5701, loss_traj_cls: 0.0010, loss_map_cls: 0.1524, loss_map_pts: 0.7275, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.4158, d0.loss_plan_l1_fix_dist: 0.3796, d1.loss_plan_l1_fix_time: 1.0581, d1.loss_plan_l1_fix_dist: 0.1858, d2.loss_plan_l1_fix_time: 1.0507, d2.loss_plan_l1_fix_dist: 0.2009, d3.loss_plan_l1_fix_time: 1.0490, d3.loss_plan_l1_fix_dist: 0.2212, d4.loss_plan_l1_fix_time: 1.0515, d4.loss_plan_l1_fix_dist: 0.2422, d5.loss_plan_l1_fix_time: 1.0550, d5.loss_plan_l1_fix_dist: 0.2643, d6.loss_plan_l1_fix_time: 1.0589, d6.loss_plan_l1_fix_dist: 0.2866, d0.loss_cls_all: 0.1942, d0.loss_bbox_all: 0.4163, d0.loss_cls: 0.1942, d0.loss_bbox: 0.4163, d1.loss_cls: 0.1855, d1.loss_bbox: 0.3872, d2.loss_cls: 0.1703, d2.loss_bbox: 0.3706, d3.loss_cls: 0.1574, d3.loss_bbox: 0.3653, d4.loss_cls: 0.1479, d4.loss_bbox: 0.3661, d5.loss_cls: 0.1488, d5.loss_bbox: 0.3629, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7800, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6163, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5873, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5757, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5683, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5674, d0.loss_map_cls_all: 0.2248, d0.loss_map_pts_all: 1.4786, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2248, d0.loss_map_pts: 1.4786, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1953, d1.loss_map_pts: 1.0159, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1743, d2.loss_map_pts: 0.8280, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1649, d3.loss_map_pts: 0.7572, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1581, d4.loss_map_pts: 0.7323, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1536, d5.loss_map_pts: 0.7288, d5.loss_map_dir: 0.0106, loss: 28.4646, grad_norm: 156.8367 +2026-02-26 09:28:33,701 - DriveTransformer - INFO - Epoch [7][10200/39528] lr: 8.550e-05, eta: 6 days, 12:25:46, time: 0.803, data_time: 0.038, memory: 19865, loss_cls: 0.1536, loss_bbox: 0.3476, loss_traj: 0.5586, loss_traj_cls: 0.0010, loss_map_cls: 0.1424, loss_map_pts: 0.6770, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.2992, d0.loss_plan_l1_fix_dist: 0.4256, d1.loss_plan_l1_fix_time: 0.8873, d1.loss_plan_l1_fix_dist: 0.1836, d2.loss_plan_l1_fix_time: 0.8795, d2.loss_plan_l1_fix_dist: 0.1905, d3.loss_plan_l1_fix_time: 0.8794, d3.loss_plan_l1_fix_dist: 0.2041, d4.loss_plan_l1_fix_time: 0.8823, d4.loss_plan_l1_fix_dist: 0.2215, d5.loss_plan_l1_fix_time: 0.8858, d5.loss_plan_l1_fix_dist: 0.2406, d6.loss_plan_l1_fix_time: 0.8899, d6.loss_plan_l1_fix_dist: 0.2574, d0.loss_cls_all: 0.1968, d0.loss_bbox_all: 0.4036, d0.loss_cls: 0.1968, d0.loss_bbox: 0.4036, d1.loss_cls: 0.1857, d1.loss_bbox: 0.3752, d2.loss_cls: 0.1704, d2.loss_bbox: 0.3609, d3.loss_cls: 0.1611, d3.loss_bbox: 0.3536, d4.loss_cls: 0.1545, d4.loss_bbox: 0.3505, d5.loss_cls: 0.1540, d5.loss_bbox: 0.3476, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7743, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6545, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5920, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5749, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5627, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5608, d0.loss_map_cls_all: 0.2232, d0.loss_map_pts_all: 1.4033, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2232, d0.loss_map_pts: 1.4033, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1909, d1.loss_map_pts: 0.9523, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1667, d2.loss_map_pts: 0.7697, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1559, d3.loss_map_pts: 0.7083, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1476, d4.loss_map_pts: 0.6860, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1434, d5.loss_map_pts: 0.6780, d5.loss_map_dir: 0.0091, loss: 26.6700, grad_norm: 155.1868 +2026-02-26 09:29:13,101 - DriveTransformer - INFO - Epoch [7][10250/39528] lr: 8.550e-05, eta: 6 days, 12:25:04, time: 0.788, data_time: 0.042, memory: 19865, loss_cls: 0.1382, loss_bbox: 0.3471, loss_traj: 0.6549, loss_traj_cls: 0.0010, loss_map_cls: 0.1664, loss_map_pts: 0.6716, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.3341, d0.loss_plan_l1_fix_dist: 0.4298, d1.loss_plan_l1_fix_time: 1.0504, d1.loss_plan_l1_fix_dist: 0.1905, d2.loss_plan_l1_fix_time: 1.0382, d2.loss_plan_l1_fix_dist: 0.1979, d3.loss_plan_l1_fix_time: 1.0378, d3.loss_plan_l1_fix_dist: 0.2152, d4.loss_plan_l1_fix_time: 1.0398, d4.loss_plan_l1_fix_dist: 0.2348, d5.loss_plan_l1_fix_time: 1.0421, d5.loss_plan_l1_fix_dist: 0.2555, d6.loss_plan_l1_fix_time: 1.0450, d6.loss_plan_l1_fix_dist: 0.2789, d0.loss_cls_all: 0.1773, d0.loss_bbox_all: 0.4036, d0.loss_cls: 0.1773, d0.loss_bbox: 0.4036, d1.loss_cls: 0.1704, d1.loss_bbox: 0.3707, d2.loss_cls: 0.1554, d2.loss_bbox: 0.3556, d3.loss_cls: 0.1445, d3.loss_bbox: 0.3498, d4.loss_cls: 0.1396, d4.loss_bbox: 0.3469, d5.loss_cls: 0.1387, d5.loss_bbox: 0.3457, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8860, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6957, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6610, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6502, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6549, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6557, d0.loss_map_cls_all: 0.2345, d0.loss_map_pts_all: 1.4397, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2345, d0.loss_map_pts: 1.4397, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2080, d1.loss_map_pts: 0.9869, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1886, d2.loss_map_pts: 0.7724, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1765, d3.loss_map_pts: 0.7032, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1709, d4.loss_map_pts: 0.6798, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1668, d5.loss_map_pts: 0.6732, d5.loss_map_dir: 0.0094, loss: 28.4026, grad_norm: 153.6647 +2026-02-26 09:29:52,883 - DriveTransformer - INFO - Epoch [7][10300/39528] lr: 8.550e-05, eta: 6 days, 12:24:23, time: 0.796, data_time: 0.042, memory: 19865, loss_cls: 0.1613, loss_bbox: 0.3911, loss_traj: 0.6261, loss_traj_cls: 0.0010, loss_map_cls: 0.1645, loss_map_pts: 0.7431, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.8479, d0.loss_plan_l1_fix_dist: 0.4248, d1.loss_plan_l1_fix_time: 1.2430, d1.loss_plan_l1_fix_dist: 0.1799, d2.loss_plan_l1_fix_time: 1.2267, d2.loss_plan_l1_fix_dist: 0.1842, d3.loss_plan_l1_fix_time: 1.2242, d3.loss_plan_l1_fix_dist: 0.1962, d4.loss_plan_l1_fix_time: 1.2265, d4.loss_plan_l1_fix_dist: 0.2104, d5.loss_plan_l1_fix_time: 1.2292, d5.loss_plan_l1_fix_dist: 0.2279, d6.loss_plan_l1_fix_time: 1.2324, d6.loss_plan_l1_fix_dist: 0.2470, d0.loss_cls_all: 0.1978, d0.loss_bbox_all: 0.4531, d0.loss_cls: 0.1978, d0.loss_bbox: 0.4531, d1.loss_cls: 0.1889, d1.loss_bbox: 0.4160, d2.loss_cls: 0.1779, d2.loss_bbox: 0.3996, d3.loss_cls: 0.1663, d3.loss_bbox: 0.3937, d4.loss_cls: 0.1624, d4.loss_bbox: 0.3913, d5.loss_cls: 0.1604, d5.loss_bbox: 0.3912, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9009, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7036, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6416, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6319, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6313, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6267, d0.loss_map_cls_all: 0.2416, d0.loss_map_pts_all: 1.4709, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2416, d0.loss_map_pts: 1.4709, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2128, d1.loss_map_pts: 1.0425, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1911, d2.loss_map_pts: 0.8479, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1783, d3.loss_map_pts: 0.7739, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1710, d4.loss_map_pts: 0.7536, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1661, d5.loss_map_pts: 0.7451, d5.loss_map_dir: 0.0101, loss: 30.8625, grad_norm: 154.0164 +2026-02-26 09:30:32,223 - DriveTransformer - INFO - Epoch [7][10350/39528] lr: 8.550e-05, eta: 6 days, 12:23:40, time: 0.786, data_time: 0.040, memory: 19865, loss_cls: 0.1663, loss_bbox: 0.3744, loss_traj: 0.5693, loss_traj_cls: 0.0010, loss_map_cls: 0.1575, loss_map_pts: 0.7394, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.5508, d0.loss_plan_l1_fix_dist: 0.4014, d1.loss_plan_l1_fix_time: 1.0654, d1.loss_plan_l1_fix_dist: 0.1793, d2.loss_plan_l1_fix_time: 1.0503, d2.loss_plan_l1_fix_dist: 0.1855, d3.loss_plan_l1_fix_time: 1.0467, d3.loss_plan_l1_fix_dist: 0.1956, d4.loss_plan_l1_fix_time: 1.0487, d4.loss_plan_l1_fix_dist: 0.2069, d5.loss_plan_l1_fix_time: 1.0507, d5.loss_plan_l1_fix_dist: 0.2202, d6.loss_plan_l1_fix_time: 1.0532, d6.loss_plan_l1_fix_dist: 0.2341, d0.loss_cls_all: 0.2033, d0.loss_bbox_all: 0.4251, d0.loss_cls: 0.2033, d0.loss_bbox: 0.4251, d1.loss_cls: 0.1966, d1.loss_bbox: 0.3962, d2.loss_cls: 0.1835, d2.loss_bbox: 0.3805, d3.loss_cls: 0.1718, d3.loss_bbox: 0.3766, d4.loss_cls: 0.1652, d4.loss_bbox: 0.3764, d5.loss_cls: 0.1664, d5.loss_bbox: 0.3731, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7581, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6287, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5818, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5747, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5704, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5687, d0.loss_map_cls_all: 0.2353, d0.loss_map_pts_all: 1.4913, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2353, d0.loss_map_pts: 1.4913, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2041, d1.loss_map_pts: 1.0166, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1804, d2.loss_map_pts: 0.8427, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1706, d3.loss_map_pts: 0.7729, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1646, d4.loss_map_pts: 0.7451, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1591, d5.loss_map_pts: 0.7400, d5.loss_map_dir: 0.0105, loss: 28.7598, grad_norm: 151.8781 +2026-02-26 09:31:11,722 - DriveTransformer - INFO - Epoch [7][10400/39528] lr: 8.550e-05, eta: 6 days, 12:22:58, time: 0.790, data_time: 0.036, memory: 19865, loss_cls: 0.1571, loss_bbox: 0.3360, loss_traj: 0.5065, loss_traj_cls: 0.0010, loss_map_cls: 0.1295, loss_map_pts: 0.6441, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.2024, d0.loss_plan_l1_fix_dist: 0.4071, d1.loss_plan_l1_fix_time: 0.9402, d1.loss_plan_l1_fix_dist: 0.1792, d2.loss_plan_l1_fix_time: 0.9356, d2.loss_plan_l1_fix_dist: 0.1883, d3.loss_plan_l1_fix_time: 0.9335, d3.loss_plan_l1_fix_dist: 0.2011, d4.loss_plan_l1_fix_time: 0.9357, d4.loss_plan_l1_fix_dist: 0.2159, d5.loss_plan_l1_fix_time: 0.9383, d5.loss_plan_l1_fix_dist: 0.2318, d6.loss_plan_l1_fix_time: 0.9413, d6.loss_plan_l1_fix_dist: 0.2484, d0.loss_cls_all: 0.1942, d0.loss_bbox_all: 0.3880, d0.loss_cls: 0.1942, d0.loss_bbox: 0.3880, d1.loss_cls: 0.1862, d1.loss_bbox: 0.3583, d2.loss_cls: 0.1776, d2.loss_bbox: 0.3433, d3.loss_cls: 0.1664, d3.loss_bbox: 0.3364, d4.loss_cls: 0.1592, d4.loss_bbox: 0.3363, d5.loss_cls: 0.1575, d5.loss_bbox: 0.3348, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6718, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5680, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5272, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5082, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5043, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5031, d0.loss_map_cls_all: 0.2008, d0.loss_map_pts_all: 1.3430, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2008, d0.loss_map_pts: 1.3430, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1715, d1.loss_map_pts: 0.8907, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1502, d2.loss_map_pts: 0.7198, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1406, d3.loss_map_pts: 0.6650, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1358, d4.loss_map_pts: 0.6475, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1308, d5.loss_map_pts: 0.6436, d5.loss_map_dir: 0.0100, loss: 25.7439, grad_norm: 153.0991 +2026-02-26 09:31:50,861 - DriveTransformer - INFO - Epoch [7][10450/39528] lr: 8.550e-05, eta: 6 days, 12:22:15, time: 0.783, data_time: 0.040, memory: 19865, loss_cls: 0.1520, loss_bbox: 0.3478, loss_traj: 0.5807, loss_traj_cls: 0.0010, loss_map_cls: 0.1441, loss_map_pts: 0.7044, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.5600, d0.loss_plan_l1_fix_dist: 0.4772, d1.loss_plan_l1_fix_time: 0.9367, d1.loss_plan_l1_fix_dist: 0.1851, d2.loss_plan_l1_fix_time: 0.9283, d2.loss_plan_l1_fix_dist: 0.1911, d3.loss_plan_l1_fix_time: 0.9272, d3.loss_plan_l1_fix_dist: 0.2027, d4.loss_plan_l1_fix_time: 0.9304, d4.loss_plan_l1_fix_dist: 0.2168, d5.loss_plan_l1_fix_time: 0.9337, d5.loss_plan_l1_fix_dist: 0.2312, d6.loss_plan_l1_fix_time: 0.9372, d6.loss_plan_l1_fix_dist: 0.2456, d0.loss_cls_all: 0.1887, d0.loss_bbox_all: 0.4026, d0.loss_cls: 0.1887, d0.loss_bbox: 0.4026, d1.loss_cls: 0.1810, d1.loss_bbox: 0.3645, d2.loss_cls: 0.1679, d2.loss_bbox: 0.3505, d3.loss_cls: 0.1588, d3.loss_bbox: 0.3443, d4.loss_cls: 0.1534, d4.loss_bbox: 0.3438, d5.loss_cls: 0.1516, d5.loss_bbox: 0.3463, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7783, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6474, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6014, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5876, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5851, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5811, d0.loss_map_cls_all: 0.2210, d0.loss_map_pts_all: 1.4142, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2210, d0.loss_map_pts: 1.4142, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1894, d1.loss_map_pts: 0.9668, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1675, d2.loss_map_pts: 0.7922, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1541, d3.loss_map_pts: 0.7351, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1483, d4.loss_map_pts: 0.7125, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1454, d5.loss_map_pts: 0.7047, d5.loss_map_dir: 0.0098, loss: 27.4279, grad_norm: 151.3670 +2026-02-26 09:32:30,382 - DriveTransformer - INFO - Epoch [7][10500/39528] lr: 8.550e-05, eta: 6 days, 12:21:33, time: 0.790, data_time: 0.043, memory: 19865, loss_cls: 0.1735, loss_bbox: 0.3765, loss_traj: 0.6348, loss_traj_cls: 0.0010, loss_map_cls: 0.1842, loss_map_pts: 0.7884, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.6487, d0.loss_plan_l1_fix_dist: 0.4443, d1.loss_plan_l1_fix_time: 1.1286, d1.loss_plan_l1_fix_dist: 0.1757, d2.loss_plan_l1_fix_time: 1.1182, d2.loss_plan_l1_fix_dist: 0.1799, d3.loss_plan_l1_fix_time: 1.1213, d3.loss_plan_l1_fix_dist: 0.1903, d4.loss_plan_l1_fix_time: 1.1237, d4.loss_plan_l1_fix_dist: 0.2026, d5.loss_plan_l1_fix_time: 1.1264, d5.loss_plan_l1_fix_dist: 0.2151, d6.loss_plan_l1_fix_time: 1.1293, d6.loss_plan_l1_fix_dist: 0.2264, d0.loss_cls_all: 0.2231, d0.loss_bbox_all: 0.4457, d0.loss_cls: 0.2231, d0.loss_bbox: 0.4457, d1.loss_cls: 0.2152, d1.loss_bbox: 0.4060, d2.loss_cls: 0.2012, d2.loss_bbox: 0.3840, d3.loss_cls: 0.1864, d3.loss_bbox: 0.3795, d4.loss_cls: 0.1770, d4.loss_bbox: 0.3769, d5.loss_cls: 0.1746, d5.loss_bbox: 0.3764, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8560, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7260, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6642, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6468, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6383, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6353, d0.loss_map_cls_all: 0.2617, d0.loss_map_pts_all: 1.6088, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2617, d0.loss_map_pts: 1.6088, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2311, d1.loss_map_pts: 1.1196, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.2088, d2.loss_map_pts: 0.9135, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1963, d3.loss_map_pts: 0.8334, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1911, d4.loss_map_pts: 0.7990, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1866, d5.loss_map_pts: 0.7898, d5.loss_map_dir: 0.0095, loss: 30.8613, grad_norm: 149.9230 +2026-02-26 09:33:08,999 - DriveTransformer - INFO - Epoch [7][10550/39528] lr: 8.550e-05, eta: 6 days, 12:20:49, time: 0.773, data_time: 0.041, memory: 19865, loss_cls: 0.1417, loss_bbox: 0.3298, loss_traj: 0.6015, loss_traj_cls: 0.0010, loss_map_cls: 0.1551, loss_map_pts: 0.6167, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.7286, d0.loss_plan_l1_fix_dist: 0.3884, d1.loss_plan_l1_fix_time: 0.9733, d1.loss_plan_l1_fix_dist: 0.1647, d2.loss_plan_l1_fix_time: 0.9690, d2.loss_plan_l1_fix_dist: 0.1675, d3.loss_plan_l1_fix_time: 0.9747, d3.loss_plan_l1_fix_dist: 0.1747, d4.loss_plan_l1_fix_time: 0.9773, d4.loss_plan_l1_fix_dist: 0.1844, d5.loss_plan_l1_fix_time: 0.9799, d5.loss_plan_l1_fix_dist: 0.1965, d6.loss_plan_l1_fix_time: 0.9835, d6.loss_plan_l1_fix_dist: 0.2137, d0.loss_cls_all: 0.1848, d0.loss_bbox_all: 0.3839, d0.loss_cls: 0.1848, d0.loss_bbox: 0.3839, d1.loss_cls: 0.1726, d1.loss_bbox: 0.3524, d2.loss_cls: 0.1622, d2.loss_bbox: 0.3382, d3.loss_cls: 0.1494, d3.loss_bbox: 0.3322, d4.loss_cls: 0.1440, d4.loss_bbox: 0.3312, d5.loss_cls: 0.1413, d5.loss_bbox: 0.3309, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8288, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6714, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6292, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6143, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6065, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6035, d0.loss_map_cls_all: 0.2192, d0.loss_map_pts_all: 1.2729, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2192, d0.loss_map_pts: 1.2729, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.2004, d1.loss_map_pts: 0.8694, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1757, d2.loss_map_pts: 0.7088, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1649, d3.loss_map_pts: 0.6480, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1590, d4.loss_map_pts: 0.6280, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1560, d5.loss_map_pts: 0.6185, d5.loss_map_dir: 0.0076, loss: 26.8461, grad_norm: 149.5471 +2026-02-26 09:33:49,531 - DriveTransformer - INFO - Epoch [7][10600/39528] lr: 8.550e-05, eta: 6 days, 12:20:10, time: 0.810, data_time: 0.043, memory: 19865, loss_cls: 0.1567, loss_bbox: 0.3711, loss_traj: 0.6328, loss_traj_cls: 0.0010, loss_map_cls: 0.1612, loss_map_pts: 0.7300, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.7528, d0.loss_plan_l1_fix_dist: 0.3401, d1.loss_plan_l1_fix_time: 1.0342, d1.loss_plan_l1_fix_dist: 0.1674, d2.loss_plan_l1_fix_time: 1.0237, d2.loss_plan_l1_fix_dist: 0.1695, d3.loss_plan_l1_fix_time: 1.0228, d3.loss_plan_l1_fix_dist: 0.1770, d4.loss_plan_l1_fix_time: 1.0250, d4.loss_plan_l1_fix_dist: 0.1868, d5.loss_plan_l1_fix_time: 1.0277, d5.loss_plan_l1_fix_dist: 0.1987, d6.loss_plan_l1_fix_time: 1.0307, d6.loss_plan_l1_fix_dist: 0.2137, d0.loss_cls_all: 0.1992, d0.loss_bbox_all: 0.4288, d0.loss_cls: 0.1992, d0.loss_bbox: 0.4288, d1.loss_cls: 0.1890, d1.loss_bbox: 0.3985, d2.loss_cls: 0.1752, d2.loss_bbox: 0.3795, d3.loss_cls: 0.1656, d3.loss_bbox: 0.3751, d4.loss_cls: 0.1575, d4.loss_bbox: 0.3731, d5.loss_cls: 0.1565, d5.loss_bbox: 0.3718, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8995, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6907, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6468, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6372, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6351, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6332, d0.loss_map_cls_all: 0.2386, d0.loss_map_pts_all: 1.4953, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2386, d0.loss_map_pts: 1.4953, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2072, d1.loss_map_pts: 1.0231, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1844, d2.loss_map_pts: 0.8197, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1762, d3.loss_map_pts: 0.7543, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1678, d4.loss_map_pts: 0.7369, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1629, d5.loss_map_pts: 0.7308, d5.loss_map_dir: 0.0104, loss: 29.0815, grad_norm: 149.5754 +2026-02-26 09:34:27,366 - DriveTransformer - INFO - Epoch [7][10650/39528] lr: 8.550e-05, eta: 6 days, 12:19:23, time: 0.757, data_time: 0.044, memory: 19865, loss_cls: 0.1421, loss_bbox: 0.3304, loss_traj: 0.5985, loss_traj_cls: 0.0010, loss_map_cls: 0.1652, loss_map_pts: 0.6183, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.4930, d0.loss_plan_l1_fix_dist: 0.3791, d1.loss_plan_l1_fix_time: 0.9022, d1.loss_plan_l1_fix_dist: 0.1531, d2.loss_plan_l1_fix_time: 0.8848, d2.loss_plan_l1_fix_dist: 0.1560, d3.loss_plan_l1_fix_time: 0.8852, d3.loss_plan_l1_fix_dist: 0.1634, d4.loss_plan_l1_fix_time: 0.8868, d4.loss_plan_l1_fix_dist: 0.1724, d5.loss_plan_l1_fix_time: 0.8888, d5.loss_plan_l1_fix_dist: 0.1813, d6.loss_plan_l1_fix_time: 0.8910, d6.loss_plan_l1_fix_dist: 0.1895, d0.loss_cls_all: 0.1813, d0.loss_bbox_all: 0.3904, d0.loss_cls: 0.1813, d0.loss_bbox: 0.3904, d1.loss_cls: 0.1704, d1.loss_bbox: 0.3604, d2.loss_cls: 0.1577, d2.loss_bbox: 0.3443, d3.loss_cls: 0.1486, d3.loss_bbox: 0.3362, d4.loss_cls: 0.1445, d4.loss_bbox: 0.3328, d5.loss_cls: 0.1423, d5.loss_bbox: 0.3315, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8246, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6700, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6250, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6067, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5996, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6025, d0.loss_map_cls_all: 0.2345, d0.loss_map_pts_all: 1.2106, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2345, d0.loss_map_pts: 1.2106, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.2037, d1.loss_map_pts: 0.8527, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1799, d2.loss_map_pts: 0.6948, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1720, d3.loss_map_pts: 0.6415, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1665, d4.loss_map_pts: 0.6219, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1645, d5.loss_map_pts: 0.6191, d5.loss_map_dir: 0.0080, loss: 25.8981, grad_norm: 149.0226 +2026-02-26 09:35:05,582 - DriveTransformer - INFO - Epoch [7][10700/39528] lr: 8.550e-05, eta: 6 days, 12:18:37, time: 0.764, data_time: 0.043, memory: 19865, loss_cls: 0.1460, loss_bbox: 0.3379, loss_traj: 0.6407, loss_traj_cls: 0.0009, loss_map_cls: 0.1792, loss_map_pts: 0.7338, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.8045, d0.loss_plan_l1_fix_dist: 0.4470, d1.loss_plan_l1_fix_time: 1.0175, d1.loss_plan_l1_fix_dist: 0.2080, d2.loss_plan_l1_fix_time: 0.9996, d2.loss_plan_l1_fix_dist: 0.2128, d3.loss_plan_l1_fix_time: 0.9973, d3.loss_plan_l1_fix_dist: 0.2255, d4.loss_plan_l1_fix_time: 0.9986, d4.loss_plan_l1_fix_dist: 0.2402, d5.loss_plan_l1_fix_time: 1.0003, d5.loss_plan_l1_fix_dist: 0.2553, d6.loss_plan_l1_fix_time: 1.0027, d6.loss_plan_l1_fix_dist: 0.2692, d0.loss_cls_all: 0.1867, d0.loss_bbox_all: 0.3966, d0.loss_cls: 0.1867, d0.loss_bbox: 0.3966, d1.loss_cls: 0.1762, d1.loss_bbox: 0.3643, d2.loss_cls: 0.1651, d2.loss_bbox: 0.3481, d3.loss_cls: 0.1543, d3.loss_bbox: 0.3388, d4.loss_cls: 0.1479, d4.loss_bbox: 0.3388, d5.loss_cls: 0.1448, d5.loss_bbox: 0.3391, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9074, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7240, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6597, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6457, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6449, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6422, d0.loss_map_cls_all: 0.2578, d0.loss_map_pts_all: 1.4702, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2578, d0.loss_map_pts: 1.4702, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2316, d1.loss_map_pts: 1.0543, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.2055, d2.loss_map_pts: 0.8540, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1940, d3.loss_map_pts: 0.7706, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1856, d4.loss_map_pts: 0.7424, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1817, d5.loss_map_pts: 0.7342, d5.loss_map_dir: 0.0093, loss: 29.3122, grad_norm: 150.7034 +2026-02-26 09:35:44,773 - DriveTransformer - INFO - Epoch [7][10750/39528] lr: 8.550e-05, eta: 6 days, 12:17:55, time: 0.784, data_time: 0.039, memory: 19865, loss_cls: 0.1445, loss_bbox: 0.3740, loss_traj: 0.7671, loss_traj_cls: 0.0010, loss_map_cls: 0.1433, loss_map_pts: 0.6401, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.6954, d0.loss_plan_l1_fix_dist: 0.3578, d1.loss_plan_l1_fix_time: 1.0675, d1.loss_plan_l1_fix_dist: 0.2072, d2.loss_plan_l1_fix_time: 1.0498, d2.loss_plan_l1_fix_dist: 0.2127, d3.loss_plan_l1_fix_time: 1.0446, d3.loss_plan_l1_fix_dist: 0.2269, d4.loss_plan_l1_fix_time: 1.0474, d4.loss_plan_l1_fix_dist: 0.2423, d5.loss_plan_l1_fix_time: 1.0503, d5.loss_plan_l1_fix_dist: 0.2589, d6.loss_plan_l1_fix_time: 1.0540, d6.loss_plan_l1_fix_dist: 0.2753, d0.loss_cls_all: 0.1862, d0.loss_bbox_all: 0.4214, d0.loss_cls: 0.1862, d0.loss_bbox: 0.4214, d1.loss_cls: 0.1727, d1.loss_bbox: 0.3967, d2.loss_cls: 0.1619, d2.loss_bbox: 0.3797, d3.loss_cls: 0.1502, d3.loss_bbox: 0.3752, d4.loss_cls: 0.1459, d4.loss_bbox: 0.3740, d5.loss_cls: 0.1456, d5.loss_bbox: 0.3730, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0352, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8527, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7833, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7675, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7700, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7615, d0.loss_map_cls_all: 0.2210, d0.loss_map_pts_all: 1.3697, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2210, d0.loss_map_pts: 1.3697, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1830, d1.loss_map_pts: 0.9052, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1651, d2.loss_map_pts: 0.7288, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1569, d3.loss_map_pts: 0.6692, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1507, d4.loss_map_pts: 0.6499, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1459, d5.loss_map_pts: 0.6401, d5.loss_map_dir: 0.0097, loss: 29.3782, grad_norm: 157.2541 +2026-02-26 09:36:22,721 - DriveTransformer - INFO - Epoch [7][10800/39528] lr: 8.550e-05, eta: 6 days, 12:17:08, time: 0.760, data_time: 0.040, memory: 19865, loss_cls: 0.1694, loss_bbox: 0.3767, loss_traj: 0.6476, loss_traj_cls: 0.0009, loss_map_cls: 0.1509, loss_map_pts: 0.6556, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.8533, d0.loss_plan_l1_fix_dist: 0.4195, d1.loss_plan_l1_fix_time: 1.0879, d1.loss_plan_l1_fix_dist: 0.1911, d2.loss_plan_l1_fix_time: 1.0692, d2.loss_plan_l1_fix_dist: 0.1939, d3.loss_plan_l1_fix_time: 1.0658, d3.loss_plan_l1_fix_dist: 0.2011, d4.loss_plan_l1_fix_time: 1.0681, d4.loss_plan_l1_fix_dist: 0.2098, d5.loss_plan_l1_fix_time: 1.0708, d5.loss_plan_l1_fix_dist: 0.2213, d6.loss_plan_l1_fix_time: 1.0736, d6.loss_plan_l1_fix_dist: 0.2370, d0.loss_cls_all: 0.2160, d0.loss_bbox_all: 0.4323, d0.loss_cls: 0.2160, d0.loss_bbox: 0.4323, d1.loss_cls: 0.2032, d1.loss_bbox: 0.4051, d2.loss_cls: 0.1876, d2.loss_bbox: 0.3868, d3.loss_cls: 0.1756, d3.loss_bbox: 0.3792, d4.loss_cls: 0.1700, d4.loss_bbox: 0.3773, d5.loss_cls: 0.1696, d5.loss_bbox: 0.3761, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8564, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7172, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6627, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6460, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6407, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6378, d0.loss_map_cls_all: 0.2268, d0.loss_map_pts_all: 1.3157, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2268, d0.loss_map_pts: 1.3157, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1914, d1.loss_map_pts: 0.9174, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1667, d2.loss_map_pts: 0.7472, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1579, d3.loss_map_pts: 0.6823, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1545, d4.loss_map_pts: 0.6643, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1525, d5.loss_map_pts: 0.6558, d5.loss_map_dir: 0.0102, loss: 28.9092, grad_norm: 159.0974 +2026-02-26 09:37:00,415 - DriveTransformer - INFO - Epoch [7][10850/39528] lr: 8.550e-05, eta: 6 days, 12:16:21, time: 0.752, data_time: 0.040, memory: 19865, loss_cls: 0.1415, loss_bbox: 0.3658, loss_traj: 0.6807, loss_traj_cls: 0.0010, loss_map_cls: 0.1593, loss_map_pts: 0.6393, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.4250, d0.loss_plan_l1_fix_dist: 0.4306, d1.loss_plan_l1_fix_time: 0.9935, d1.loss_plan_l1_fix_dist: 0.1767, d2.loss_plan_l1_fix_time: 0.9721, d2.loss_plan_l1_fix_dist: 0.1873, d3.loss_plan_l1_fix_time: 0.9684, d3.loss_plan_l1_fix_dist: 0.2032, d4.loss_plan_l1_fix_time: 0.9708, d4.loss_plan_l1_fix_dist: 0.2224, d5.loss_plan_l1_fix_time: 0.9741, d5.loss_plan_l1_fix_dist: 0.2428, d6.loss_plan_l1_fix_time: 0.9775, d6.loss_plan_l1_fix_dist: 0.2665, d0.loss_cls_all: 0.1840, d0.loss_bbox_all: 0.4202, d0.loss_cls: 0.1840, d0.loss_bbox: 0.4202, d1.loss_cls: 0.1753, d1.loss_bbox: 0.3880, d2.loss_cls: 0.1625, d2.loss_bbox: 0.3706, d3.loss_cls: 0.1494, d3.loss_bbox: 0.3648, d4.loss_cls: 0.1434, d4.loss_bbox: 0.3642, d5.loss_cls: 0.1407, d5.loss_bbox: 0.3642, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9017, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7548, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7107, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6944, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6880, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6801, d0.loss_map_cls_all: 0.2280, d0.loss_map_pts_all: 1.2764, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2280, d0.loss_map_pts: 1.2764, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1957, d1.loss_map_pts: 0.8954, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1755, d2.loss_map_pts: 0.7267, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1680, d3.loss_map_pts: 0.6650, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1627, d4.loss_map_pts: 0.6449, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1598, d5.loss_map_pts: 0.6404, d5.loss_map_dir: 0.0083, loss: 27.7734, grad_norm: 160.8172 +2026-02-26 09:37:39,424 - DriveTransformer - INFO - Epoch [7][10900/39528] lr: 8.550e-05, eta: 6 days, 12:15:38, time: 0.780, data_time: 0.038, memory: 19865, loss_cls: 0.1685, loss_bbox: 0.3907, loss_traj: 0.6252, loss_traj_cls: 0.0009, loss_map_cls: 0.1666, loss_map_pts: 0.7694, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.6617, d0.loss_plan_l1_fix_dist: 0.3549, d1.loss_plan_l1_fix_time: 1.0436, d1.loss_plan_l1_fix_dist: 0.1627, d2.loss_plan_l1_fix_time: 1.0298, d2.loss_plan_l1_fix_dist: 0.1680, d3.loss_plan_l1_fix_time: 1.0258, d3.loss_plan_l1_fix_dist: 0.1773, d4.loss_plan_l1_fix_time: 1.0274, d4.loss_plan_l1_fix_dist: 0.1895, d5.loss_plan_l1_fix_time: 1.0302, d5.loss_plan_l1_fix_dist: 0.2023, d6.loss_plan_l1_fix_time: 1.0334, d6.loss_plan_l1_fix_dist: 0.2137, d0.loss_cls_all: 0.2140, d0.loss_bbox_all: 0.4460, d0.loss_cls: 0.2140, d0.loss_bbox: 0.4460, d1.loss_cls: 0.2027, d1.loss_bbox: 0.4095, d2.loss_cls: 0.1863, d2.loss_bbox: 0.3925, d3.loss_cls: 0.1774, d3.loss_bbox: 0.3878, d4.loss_cls: 0.1738, d4.loss_bbox: 0.3852, d5.loss_cls: 0.1715, d5.loss_bbox: 0.3863, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8545, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6800, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6459, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6269, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6231, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6219, d0.loss_map_cls_all: 0.2493, d0.loss_map_pts_all: 1.5659, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2493, d0.loss_map_pts: 1.5659, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2180, d1.loss_map_pts: 1.0575, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1927, d2.loss_map_pts: 0.8611, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1826, d3.loss_map_pts: 0.7924, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1723, d4.loss_map_pts: 0.7731, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1682, d5.loss_map_pts: 0.7685, d5.loss_map_dir: 0.0104, loss: 29.5924, grad_norm: 156.7119 +2026-02-26 09:38:19,432 - DriveTransformer - INFO - Epoch [7][10950/39528] lr: 8.550e-05, eta: 6 days, 12:14:57, time: 0.800, data_time: 0.037, memory: 19865, loss_cls: 0.1311, loss_bbox: 0.3182, loss_traj: 0.6412, loss_traj_cls: 0.0010, loss_map_cls: 0.1386, loss_map_pts: 0.6529, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.5817, d0.loss_plan_l1_fix_dist: 0.4216, d1.loss_plan_l1_fix_time: 0.9476, d1.loss_plan_l1_fix_dist: 0.1833, d2.loss_plan_l1_fix_time: 0.9287, d2.loss_plan_l1_fix_dist: 0.1899, d3.loss_plan_l1_fix_time: 0.9333, d3.loss_plan_l1_fix_dist: 0.2018, d4.loss_plan_l1_fix_time: 0.9365, d4.loss_plan_l1_fix_dist: 0.2123, d5.loss_plan_l1_fix_time: 0.9398, d5.loss_plan_l1_fix_dist: 0.2248, d6.loss_plan_l1_fix_time: 0.9435, d6.loss_plan_l1_fix_dist: 0.2382, d0.loss_cls_all: 0.1679, d0.loss_bbox_all: 0.3747, d0.loss_cls: 0.1679, d0.loss_bbox: 0.3747, d1.loss_cls: 0.1607, d1.loss_bbox: 0.3430, d2.loss_cls: 0.1498, d2.loss_bbox: 0.3277, d3.loss_cls: 0.1365, d3.loss_bbox: 0.3215, d4.loss_cls: 0.1291, d4.loss_bbox: 0.3205, d5.loss_cls: 0.1300, d5.loss_bbox: 0.3179, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7801, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6840, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6539, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6479, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6398, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6363, d0.loss_map_cls_all: 0.2067, d0.loss_map_pts_all: 1.3864, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2067, d0.loss_map_pts: 1.3864, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.1781, d1.loss_map_pts: 0.9211, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1587, d2.loss_map_pts: 0.7424, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1494, d3.loss_map_pts: 0.6794, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1437, d4.loss_map_pts: 0.6581, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1410, d5.loss_map_pts: 0.6530, d5.loss_map_dir: 0.0102, loss: 26.9262, grad_norm: 156.9781 +2026-02-26 09:38:55,641 - DriveTransformer - INFO - Epoch [7][11000/39528] lr: 8.550e-05, eta: 6 days, 12:14:06, time: 0.724, data_time: 0.040, memory: 19865, loss_cls: 0.1341, loss_bbox: 0.3225, loss_traj: 0.6032, loss_traj_cls: 0.0010, loss_map_cls: 0.1679, loss_map_pts: 0.6320, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.6663, d0.loss_plan_l1_fix_dist: 0.4237, d1.loss_plan_l1_fix_time: 1.0646, d1.loss_plan_l1_fix_dist: 0.1587, d2.loss_plan_l1_fix_time: 1.0505, d2.loss_plan_l1_fix_dist: 0.1614, d3.loss_plan_l1_fix_time: 1.0483, d3.loss_plan_l1_fix_dist: 0.1707, d4.loss_plan_l1_fix_time: 1.0498, d4.loss_plan_l1_fix_dist: 0.1806, d5.loss_plan_l1_fix_time: 1.0518, d5.loss_plan_l1_fix_dist: 0.1917, d6.loss_plan_l1_fix_time: 1.0548, d6.loss_plan_l1_fix_dist: 0.2051, d0.loss_cls_all: 0.1808, d0.loss_bbox_all: 0.3823, d0.loss_cls: 0.1808, d0.loss_bbox: 0.3823, d1.loss_cls: 0.1704, d1.loss_bbox: 0.3475, d2.loss_cls: 0.1564, d2.loss_bbox: 0.3318, d3.loss_cls: 0.1441, d3.loss_bbox: 0.3252, d4.loss_cls: 0.1361, d4.loss_bbox: 0.3255, d5.loss_cls: 0.1358, d5.loss_bbox: 0.3215, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9001, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6981, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6251, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6057, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6045, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6016, d0.loss_map_cls_all: 0.2331, d0.loss_map_pts_all: 1.1996, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2331, d0.loss_map_pts: 1.1996, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.2070, d1.loss_map_pts: 0.8726, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1880, d2.loss_map_pts: 0.7333, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1799, d3.loss_map_pts: 0.6657, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1745, d4.loss_map_pts: 0.6397, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1694, d5.loss_map_pts: 0.6335, d5.loss_map_dir: 0.0070, loss: 27.2843, grad_norm: 157.6105 +2026-02-26 09:39:34,032 - DriveTransformer - INFO - Epoch [7][11050/39528] lr: 8.550e-05, eta: 6 days, 12:13:21, time: 0.768, data_time: 0.037, memory: 19865, loss_cls: 0.1552, loss_bbox: 0.3741, loss_traj: 0.6968, loss_traj_cls: 0.0010, loss_map_cls: 0.1572, loss_map_pts: 0.7207, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.7236, d0.loss_plan_l1_fix_dist: 0.4357, d1.loss_plan_l1_fix_time: 1.1740, d1.loss_plan_l1_fix_dist: 0.1811, d2.loss_plan_l1_fix_time: 1.1601, d2.loss_plan_l1_fix_dist: 0.1892, d3.loss_plan_l1_fix_time: 1.1598, d3.loss_plan_l1_fix_dist: 0.2036, d4.loss_plan_l1_fix_time: 1.1619, d4.loss_plan_l1_fix_dist: 0.2201, d5.loss_plan_l1_fix_time: 1.1641, d5.loss_plan_l1_fix_dist: 0.2375, d6.loss_plan_l1_fix_time: 1.1670, d6.loss_plan_l1_fix_dist: 0.2562, d0.loss_cls_all: 0.2021, d0.loss_bbox_all: 0.4249, d0.loss_cls: 0.2021, d0.loss_bbox: 0.4249, d1.loss_cls: 0.1938, d1.loss_bbox: 0.3950, d2.loss_cls: 0.1789, d2.loss_bbox: 0.3762, d3.loss_cls: 0.1646, d3.loss_bbox: 0.3735, d4.loss_cls: 0.1572, d4.loss_bbox: 0.3714, d5.loss_cls: 0.1551, d5.loss_bbox: 0.3724, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0103, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7839, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7182, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7029, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7026, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6998, d0.loss_map_cls_all: 0.2166, d0.loss_map_pts_all: 1.3973, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2166, d0.loss_map_pts: 1.3973, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1932, d1.loss_map_pts: 0.9730, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1763, d2.loss_map_pts: 0.8195, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1670, d3.loss_map_pts: 0.7520, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1625, d4.loss_map_pts: 0.7290, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1604, d5.loss_map_pts: 0.7216, d5.loss_map_dir: 0.0085, loss: 30.3044, grad_norm: 160.7069 +2026-02-26 09:40:12,759 - DriveTransformer - INFO - Epoch [7][11100/39528] lr: 8.550e-05, eta: 6 days, 12:12:37, time: 0.775, data_time: 0.040, memory: 19865, loss_cls: 0.1701, loss_bbox: 0.3787, loss_traj: 0.7300, loss_traj_cls: 0.0010, loss_map_cls: 0.1643, loss_map_pts: 0.7252, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.6507, d0.loss_plan_l1_fix_dist: 0.4242, d1.loss_plan_l1_fix_time: 1.0004, d1.loss_plan_l1_fix_dist: 0.1934, d2.loss_plan_l1_fix_time: 0.9841, d2.loss_plan_l1_fix_dist: 0.1974, d3.loss_plan_l1_fix_time: 0.9860, d3.loss_plan_l1_fix_dist: 0.2059, d4.loss_plan_l1_fix_time: 0.9887, d4.loss_plan_l1_fix_dist: 0.2163, d5.loss_plan_l1_fix_time: 0.9920, d5.loss_plan_l1_fix_dist: 0.2283, d6.loss_plan_l1_fix_time: 0.9955, d6.loss_plan_l1_fix_dist: 0.2445, d0.loss_cls_all: 0.2085, d0.loss_bbox_all: 0.4307, d0.loss_cls: 0.2085, d0.loss_bbox: 0.4307, d1.loss_cls: 0.2024, d1.loss_bbox: 0.3981, d2.loss_cls: 0.1888, d2.loss_bbox: 0.3828, d3.loss_cls: 0.1751, d3.loss_bbox: 0.3787, d4.loss_cls: 0.1688, d4.loss_bbox: 0.3790, d5.loss_cls: 0.1688, d5.loss_bbox: 0.3781, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9428, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7809, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7499, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7315, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7271, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7299, d0.loss_map_cls_all: 0.2391, d0.loss_map_pts_all: 1.3902, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2391, d0.loss_map_pts: 1.3902, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2073, d1.loss_map_pts: 0.9832, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1872, d2.loss_map_pts: 0.8202, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1783, d3.loss_map_pts: 0.7553, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1698, d4.loss_map_pts: 0.7356, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1651, d5.loss_map_pts: 0.7256, d5.loss_map_dir: 0.0098, loss: 29.5058, grad_norm: 165.9277 +2026-02-26 09:40:52,099 - DriveTransformer - INFO - Epoch [7][11150/39528] lr: 8.550e-05, eta: 6 days, 12:11:54, time: 0.787, data_time: 0.042, memory: 19865, loss_cls: 0.1504, loss_bbox: 0.3360, loss_traj: 0.5516, loss_traj_cls: 0.0010, loss_map_cls: 0.1423, loss_map_pts: 0.6144, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.5082, d0.loss_plan_l1_fix_dist: 0.4216, d1.loss_plan_l1_fix_time: 0.8528, d1.loss_plan_l1_fix_dist: 0.1451, d2.loss_plan_l1_fix_time: 0.8318, d2.loss_plan_l1_fix_dist: 0.1490, d3.loss_plan_l1_fix_time: 0.8315, d3.loss_plan_l1_fix_dist: 0.1583, d4.loss_plan_l1_fix_time: 0.8335, d4.loss_plan_l1_fix_dist: 0.1691, d5.loss_plan_l1_fix_time: 0.8364, d5.loss_plan_l1_fix_dist: 0.1825, d6.loss_plan_l1_fix_time: 0.8399, d6.loss_plan_l1_fix_dist: 0.1985, d0.loss_cls_all: 0.1877, d0.loss_bbox_all: 0.3913, d0.loss_cls: 0.1877, d0.loss_bbox: 0.3913, d1.loss_cls: 0.1823, d1.loss_bbox: 0.3572, d2.loss_cls: 0.1683, d2.loss_bbox: 0.3463, d3.loss_cls: 0.1552, d3.loss_bbox: 0.3419, d4.loss_cls: 0.1487, d4.loss_bbox: 0.3391, d5.loss_cls: 0.1485, d5.loss_bbox: 0.3378, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7255, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5998, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5619, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5522, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5518, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5474, d0.loss_map_cls_all: 0.2118, d0.loss_map_pts_all: 1.3026, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2118, d0.loss_map_pts: 1.3026, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1817, d1.loss_map_pts: 0.8723, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1623, d2.loss_map_pts: 0.7082, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1531, d3.loss_map_pts: 0.6431, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1458, d4.loss_map_pts: 0.6209, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1427, d5.loss_map_pts: 0.6142, d5.loss_map_dir: 0.0086, loss: 25.3246, grad_norm: 165.7202 +2026-02-26 09:41:31,343 - DriveTransformer - INFO - Epoch [7][11200/39528] lr: 8.550e-05, eta: 6 days, 12:11:12, time: 0.785, data_time: 0.040, memory: 19865, loss_cls: 0.1546, loss_bbox: 0.3507, loss_traj: 0.6321, loss_traj_cls: 0.0010, loss_map_cls: 0.1539, loss_map_pts: 0.6264, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.4831, d0.loss_plan_l1_fix_dist: 0.3507, d1.loss_plan_l1_fix_time: 1.0651, d1.loss_plan_l1_fix_dist: 0.1619, d2.loss_plan_l1_fix_time: 1.0497, d2.loss_plan_l1_fix_dist: 0.1706, d3.loss_plan_l1_fix_time: 1.0502, d3.loss_plan_l1_fix_dist: 0.1884, d4.loss_plan_l1_fix_time: 1.0519, d4.loss_plan_l1_fix_dist: 0.2110, d5.loss_plan_l1_fix_time: 1.0543, d5.loss_plan_l1_fix_dist: 0.2335, d6.loss_plan_l1_fix_time: 1.0569, d6.loss_plan_l1_fix_dist: 0.2513, d0.loss_cls_all: 0.1964, d0.loss_bbox_all: 0.4028, d0.loss_cls: 0.1964, d0.loss_bbox: 0.4028, d1.loss_cls: 0.1845, d1.loss_bbox: 0.3729, d2.loss_cls: 0.1744, d2.loss_bbox: 0.3566, d3.loss_cls: 0.1632, d3.loss_bbox: 0.3511, d4.loss_cls: 0.1566, d4.loss_bbox: 0.3491, d5.loss_cls: 0.1550, d5.loss_bbox: 0.3495, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9407, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7293, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6484, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6317, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6294, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6285, d0.loss_map_cls_all: 0.2177, d0.loss_map_pts_all: 1.3643, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2177, d0.loss_map_pts: 1.3643, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1884, d1.loss_map_pts: 0.9101, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1695, d2.loss_map_pts: 0.7266, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1609, d3.loss_map_pts: 0.6589, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1568, d4.loss_map_pts: 0.6351, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1548, d5.loss_map_pts: 0.6265, d5.loss_map_dir: 0.0088, loss: 27.9424, grad_norm: 161.3648 +2026-02-26 09:42:11,299 - DriveTransformer - INFO - Epoch [7][11250/39528] lr: 8.550e-05, eta: 6 days, 12:10:31, time: 0.799, data_time: 0.038, memory: 19865, loss_cls: 0.1465, loss_bbox: 0.3575, loss_traj: 0.7280, loss_traj_cls: 0.0010, loss_map_cls: 0.1503, loss_map_pts: 0.6785, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.5404, d0.loss_plan_l1_fix_dist: 0.4028, d1.loss_plan_l1_fix_time: 0.9933, d1.loss_plan_l1_fix_dist: 0.1969, d2.loss_plan_l1_fix_time: 0.9896, d2.loss_plan_l1_fix_dist: 0.2151, d3.loss_plan_l1_fix_time: 0.9895, d3.loss_plan_l1_fix_dist: 0.2393, d4.loss_plan_l1_fix_time: 0.9927, d4.loss_plan_l1_fix_dist: 0.2682, d5.loss_plan_l1_fix_time: 0.9963, d5.loss_plan_l1_fix_dist: 0.3001, d6.loss_plan_l1_fix_time: 1.0004, d6.loss_plan_l1_fix_dist: 0.3319, d0.loss_cls_all: 0.1872, d0.loss_bbox_all: 0.4043, d0.loss_cls: 0.1872, d0.loss_bbox: 0.4043, d1.loss_cls: 0.1778, d1.loss_bbox: 0.3771, d2.loss_cls: 0.1672, d2.loss_bbox: 0.3597, d3.loss_cls: 0.1536, d3.loss_bbox: 0.3561, d4.loss_cls: 0.1477, d4.loss_bbox: 0.3546, d5.loss_cls: 0.1471, d5.loss_bbox: 0.3562, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9576, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7984, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7430, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7319, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7267, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7281, d0.loss_map_cls_all: 0.2193, d0.loss_map_pts_all: 1.3590, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2193, d0.loss_map_pts: 1.3590, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1865, d1.loss_map_pts: 0.9421, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1671, d2.loss_map_pts: 0.7740, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1591, d3.loss_map_pts: 0.7108, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1531, d4.loss_map_pts: 0.6865, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1497, d5.loss_map_pts: 0.6803, d5.loss_map_dir: 0.0084, loss: 28.8233, grad_norm: 167.8250 +2026-02-26 09:42:48,494 - DriveTransformer - INFO - Epoch [7][11300/39528] lr: 8.550e-05, eta: 6 days, 12:09:42, time: 0.744, data_time: 0.044, memory: 19865, loss_cls: 0.1751, loss_bbox: 0.3681, loss_traj: 0.5942, loss_traj_cls: 0.0010, loss_map_cls: 0.1491, loss_map_pts: 0.6840, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.6475, d0.loss_plan_l1_fix_dist: 0.4213, d1.loss_plan_l1_fix_time: 1.1600, d1.loss_plan_l1_fix_dist: 0.1754, d2.loss_plan_l1_fix_time: 1.1571, d2.loss_plan_l1_fix_dist: 0.1861, d3.loss_plan_l1_fix_time: 1.1586, d3.loss_plan_l1_fix_dist: 0.1987, d4.loss_plan_l1_fix_time: 1.1612, d4.loss_plan_l1_fix_dist: 0.2133, d5.loss_plan_l1_fix_time: 1.1634, d5.loss_plan_l1_fix_dist: 0.2294, d6.loss_plan_l1_fix_time: 1.1663, d6.loss_plan_l1_fix_dist: 0.2469, d0.loss_cls_all: 0.2117, d0.loss_bbox_all: 0.4317, d0.loss_cls: 0.2117, d0.loss_bbox: 0.4317, d1.loss_cls: 0.2025, d1.loss_bbox: 0.4014, d2.loss_cls: 0.1906, d2.loss_bbox: 0.3800, d3.loss_cls: 0.1795, d3.loss_bbox: 0.3737, d4.loss_cls: 0.1745, d4.loss_bbox: 0.3714, d5.loss_cls: 0.1729, d5.loss_bbox: 0.3699, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7809, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6482, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6159, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5972, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5951, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5951, d0.loss_map_cls_all: 0.2250, d0.loss_map_pts_all: 1.3284, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2250, d0.loss_map_pts: 1.3284, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1977, d1.loss_map_pts: 0.9297, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1753, d2.loss_map_pts: 0.7792, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1632, d3.loss_map_pts: 0.7174, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1555, d4.loss_map_pts: 0.6959, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1512, d5.loss_map_pts: 0.6858, d5.loss_map_dir: 0.0078, loss: 29.0182, grad_norm: 167.8541 +2026-02-26 09:43:27,518 - DriveTransformer - INFO - Epoch [7][11350/39528] lr: 8.550e-05, eta: 6 days, 12:08:59, time: 0.780, data_time: 0.040, memory: 19865, loss_cls: 0.1484, loss_bbox: 0.3596, loss_traj: 0.6440, loss_traj_cls: 0.0010, loss_map_cls: 0.1609, loss_map_pts: 0.7283, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.6284, d0.loss_plan_l1_fix_dist: 0.4093, d1.loss_plan_l1_fix_time: 0.9827, d1.loss_plan_l1_fix_dist: 0.1804, d2.loss_plan_l1_fix_time: 0.9711, d2.loss_plan_l1_fix_dist: 0.1914, d3.loss_plan_l1_fix_time: 0.9707, d3.loss_plan_l1_fix_dist: 0.2080, d4.loss_plan_l1_fix_time: 0.9732, d4.loss_plan_l1_fix_dist: 0.2245, d5.loss_plan_l1_fix_time: 0.9758, d5.loss_plan_l1_fix_dist: 0.2429, d6.loss_plan_l1_fix_time: 0.9788, d6.loss_plan_l1_fix_dist: 0.2639, d0.loss_cls_all: 0.1878, d0.loss_bbox_all: 0.4248, d0.loss_cls: 0.1878, d0.loss_bbox: 0.4248, d1.loss_cls: 0.1795, d1.loss_bbox: 0.3858, d2.loss_cls: 0.1674, d2.loss_bbox: 0.3679, d3.loss_cls: 0.1566, d3.loss_bbox: 0.3635, d4.loss_cls: 0.1504, d4.loss_bbox: 0.3617, d5.loss_cls: 0.1490, d5.loss_bbox: 0.3595, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8952, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7165, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6602, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6482, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6458, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6456, d0.loss_map_cls_all: 0.2415, d0.loss_map_pts_all: 1.4859, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2415, d0.loss_map_pts: 1.4859, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2085, d1.loss_map_pts: 1.0510, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1858, d2.loss_map_pts: 0.8494, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1746, d3.loss_map_pts: 0.7650, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1677, d4.loss_map_pts: 0.7371, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1613, d5.loss_map_pts: 0.7293, d5.loss_map_dir: 0.0088, loss: 28.8816, grad_norm: 165.5027 +2026-02-26 09:44:07,696 - DriveTransformer - INFO - Epoch [7][11400/39528] lr: 8.550e-05, eta: 6 days, 12:08:19, time: 0.804, data_time: 0.036, memory: 19865, loss_cls: 0.1412, loss_bbox: 0.3575, loss_traj: 0.6266, loss_traj_cls: 0.0010, loss_map_cls: 0.1458, loss_map_pts: 0.7276, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.4877, d0.loss_plan_l1_fix_dist: 0.3677, d1.loss_plan_l1_fix_time: 0.9673, d1.loss_plan_l1_fix_dist: 0.1787, d2.loss_plan_l1_fix_time: 0.9572, d2.loss_plan_l1_fix_dist: 0.1891, d3.loss_plan_l1_fix_time: 0.9543, d3.loss_plan_l1_fix_dist: 0.2080, d4.loss_plan_l1_fix_time: 0.9565, d4.loss_plan_l1_fix_dist: 0.2313, d5.loss_plan_l1_fix_time: 0.9597, d5.loss_plan_l1_fix_dist: 0.2550, d6.loss_plan_l1_fix_time: 0.9636, d6.loss_plan_l1_fix_dist: 0.2774, d0.loss_cls_all: 0.1783, d0.loss_bbox_all: 0.4158, d0.loss_cls: 0.1783, d0.loss_bbox: 0.4158, d1.loss_cls: 0.1715, d1.loss_bbox: 0.3831, d2.loss_cls: 0.1596, d2.loss_bbox: 0.3672, d3.loss_cls: 0.1477, d3.loss_bbox: 0.3605, d4.loss_cls: 0.1427, d4.loss_bbox: 0.3586, d5.loss_cls: 0.1410, d5.loss_bbox: 0.3574, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8100, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7015, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6497, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6328, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6298, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6261, d0.loss_map_cls_all: 0.2176, d0.loss_map_pts_all: 1.5209, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2176, d0.loss_map_pts: 1.5209, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1908, d1.loss_map_pts: 1.0475, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1698, d2.loss_map_pts: 0.8438, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1579, d3.loss_map_pts: 0.7684, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1516, d4.loss_map_pts: 0.7410, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1474, d5.loss_map_pts: 0.7280, d5.loss_map_dir: 0.0106, loss: 28.2902, grad_norm: 165.5731 +2026-02-26 09:44:47,222 - DriveTransformer - INFO - Epoch [7][11450/39528] lr: 8.550e-05, eta: 6 days, 12:07:37, time: 0.791, data_time: 0.043, memory: 19865, loss_cls: 0.1602, loss_bbox: 0.3794, loss_traj: 0.6367, loss_traj_cls: 0.0010, loss_map_cls: 0.1611, loss_map_pts: 0.7233, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.7490, d0.loss_plan_l1_fix_dist: 0.4389, d1.loss_plan_l1_fix_time: 1.1620, d1.loss_plan_l1_fix_dist: 0.1894, d2.loss_plan_l1_fix_time: 1.1470, d2.loss_plan_l1_fix_dist: 0.1980, d3.loss_plan_l1_fix_time: 1.1419, d3.loss_plan_l1_fix_dist: 0.2116, d4.loss_plan_l1_fix_time: 1.1439, d4.loss_plan_l1_fix_dist: 0.2296, d5.loss_plan_l1_fix_time: 1.1467, d5.loss_plan_l1_fix_dist: 0.2485, d6.loss_plan_l1_fix_time: 1.1505, d6.loss_plan_l1_fix_dist: 0.2687, d0.loss_cls_all: 0.2027, d0.loss_bbox_all: 0.4354, d0.loss_cls: 0.2027, d0.loss_bbox: 0.4354, d1.loss_cls: 0.1934, d1.loss_bbox: 0.4015, d2.loss_cls: 0.1792, d2.loss_bbox: 0.3843, d3.loss_cls: 0.1678, d3.loss_bbox: 0.3794, d4.loss_cls: 0.1624, d4.loss_bbox: 0.3786, d5.loss_cls: 0.1602, d5.loss_bbox: 0.3774, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8814, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7007, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6514, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6431, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6389, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6377, d0.loss_map_cls_all: 0.2296, d0.loss_map_pts_all: 1.4795, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2296, d0.loss_map_pts: 1.4795, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.2031, d1.loss_map_pts: 1.0309, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1815, d2.loss_map_pts: 0.8468, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1743, d3.loss_map_pts: 0.7663, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1687, d4.loss_map_pts: 0.7348, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1633, d5.loss_map_pts: 0.7249, d5.loss_map_dir: 0.0092, loss: 30.1902, grad_norm: 165.8146 +2026-02-26 09:45:27,143 - DriveTransformer - INFO - Epoch [7][11500/39528] lr: 8.550e-05, eta: 6 days, 12:06:56, time: 0.798, data_time: 0.038, memory: 19865, loss_cls: 0.1678, loss_bbox: 0.3835, loss_traj: 0.5432, loss_traj_cls: 0.0009, loss_map_cls: 0.2032, loss_map_pts: 0.7920, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.6436, d0.loss_plan_l1_fix_dist: 0.3614, d1.loss_plan_l1_fix_time: 1.0708, d1.loss_plan_l1_fix_dist: 0.1844, d2.loss_plan_l1_fix_time: 1.0629, d2.loss_plan_l1_fix_dist: 0.2029, d3.loss_plan_l1_fix_time: 1.0650, d3.loss_plan_l1_fix_dist: 0.2252, d4.loss_plan_l1_fix_time: 1.0688, d4.loss_plan_l1_fix_dist: 0.2480, d5.loss_plan_l1_fix_time: 1.0730, d5.loss_plan_l1_fix_dist: 0.2736, d6.loss_plan_l1_fix_time: 1.0780, d6.loss_plan_l1_fix_dist: 0.3004, d0.loss_cls_all: 0.2050, d0.loss_bbox_all: 0.4388, d0.loss_cls: 0.2050, d0.loss_bbox: 0.4388, d1.loss_cls: 0.2035, d1.loss_bbox: 0.4014, d2.loss_cls: 0.1896, d2.loss_bbox: 0.3843, d3.loss_cls: 0.1753, d3.loss_bbox: 0.3817, d4.loss_cls: 0.1684, d4.loss_bbox: 0.3805, d5.loss_cls: 0.1676, d5.loss_bbox: 0.3818, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7880, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6278, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5737, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5529, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5482, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5446, d0.loss_map_cls_all: 0.2822, d0.loss_map_pts_all: 1.6230, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2822, d0.loss_map_pts: 1.6230, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2503, d1.loss_map_pts: 1.1215, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2246, d2.loss_map_pts: 0.9105, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.2157, d3.loss_map_pts: 0.8350, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.2072, d4.loss_map_pts: 0.8075, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.2042, d5.loss_map_pts: 0.7955, d5.loss_map_dir: 0.0107, loss: 30.1757, grad_norm: 167.0031 +2026-02-26 09:46:07,659 - DriveTransformer - INFO - Epoch [7][11550/39528] lr: 8.550e-05, eta: 6 days, 12:06:17, time: 0.810, data_time: 0.036, memory: 19865, loss_cls: 0.1641, loss_bbox: 0.3624, loss_traj: 0.6993, loss_traj_cls: 0.0010, loss_map_cls: 0.1558, loss_map_pts: 0.7427, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.6768, d0.loss_plan_l1_fix_dist: 0.4705, d1.loss_plan_l1_fix_time: 1.0304, d1.loss_plan_l1_fix_dist: 0.1891, d2.loss_plan_l1_fix_time: 1.0093, d2.loss_plan_l1_fix_dist: 0.2031, d3.loss_plan_l1_fix_time: 1.0042, d3.loss_plan_l1_fix_dist: 0.2238, d4.loss_plan_l1_fix_time: 1.0062, d4.loss_plan_l1_fix_dist: 0.2455, d5.loss_plan_l1_fix_time: 1.0085, d5.loss_plan_l1_fix_dist: 0.2695, d6.loss_plan_l1_fix_time: 1.0118, d6.loss_plan_l1_fix_dist: 0.2945, d0.loss_cls_all: 0.2091, d0.loss_bbox_all: 0.4141, d0.loss_cls: 0.2091, d0.loss_bbox: 0.4141, d1.loss_cls: 0.2035, d1.loss_bbox: 0.3789, d2.loss_cls: 0.1889, d2.loss_bbox: 0.3620, d3.loss_cls: 0.1733, d3.loss_bbox: 0.3599, d4.loss_cls: 0.1672, d4.loss_bbox: 0.3599, d5.loss_cls: 0.1644, d5.loss_bbox: 0.3612, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8969, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7392, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6840, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6772, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6836, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6894, d0.loss_map_cls_all: 0.2312, d0.loss_map_pts_all: 1.5171, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2312, d0.loss_map_pts: 1.5171, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.1997, d1.loss_map_pts: 1.0688, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1790, d2.loss_map_pts: 0.8610, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1694, d3.loss_map_pts: 0.7831, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1625, d4.loss_map_pts: 0.7523, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1569, d5.loss_map_pts: 0.7445, d5.loss_map_dir: 0.0107, loss: 29.7671, grad_norm: 167.9157 +2026-02-26 09:46:46,484 - DriveTransformer - INFO - Epoch [7][11600/39528] lr: 8.550e-05, eta: 6 days, 12:05:34, time: 0.778, data_time: 0.045, memory: 19865, loss_cls: 0.1532, loss_bbox: 0.3806, loss_traj: 0.6616, loss_traj_cls: 0.0010, loss_map_cls: 0.1450, loss_map_pts: 0.6597, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.7716, d0.loss_plan_l1_fix_dist: 0.4258, d1.loss_plan_l1_fix_time: 1.0178, d1.loss_plan_l1_fix_dist: 0.1886, d2.loss_plan_l1_fix_time: 1.0015, d2.loss_plan_l1_fix_dist: 0.2003, d3.loss_plan_l1_fix_time: 1.0011, d3.loss_plan_l1_fix_dist: 0.2183, d4.loss_plan_l1_fix_time: 1.0029, d4.loss_plan_l1_fix_dist: 0.2381, d5.loss_plan_l1_fix_time: 1.0053, d5.loss_plan_l1_fix_dist: 0.2550, d6.loss_plan_l1_fix_time: 1.0081, d6.loss_plan_l1_fix_dist: 0.2714, d0.loss_cls_all: 0.1934, d0.loss_bbox_all: 0.4319, d0.loss_cls: 0.1934, d0.loss_bbox: 0.4319, d1.loss_cls: 0.1872, d1.loss_bbox: 0.3989, d2.loss_cls: 0.1749, d2.loss_bbox: 0.3854, d3.loss_cls: 0.1627, d3.loss_bbox: 0.3820, d4.loss_cls: 0.1546, d4.loss_bbox: 0.3799, d5.loss_cls: 0.1524, d5.loss_bbox: 0.3797, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8775, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7334, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6828, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6653, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6638, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6628, d0.loss_map_cls_all: 0.2087, d0.loss_map_pts_all: 1.3145, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2087, d0.loss_map_pts: 1.3145, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1811, d1.loss_map_pts: 0.9098, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1646, d2.loss_map_pts: 0.7516, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1587, d3.loss_map_pts: 0.6834, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1523, d4.loss_map_pts: 0.6648, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1469, d5.loss_map_pts: 0.6600, d5.loss_map_dir: 0.0091, loss: 28.4988, grad_norm: 165.5633 +2026-02-26 09:47:26,546 - DriveTransformer - INFO - Epoch [7][11650/39528] lr: 8.550e-05, eta: 6 days, 12:04:53, time: 0.800, data_time: 0.037, memory: 19865, loss_cls: 0.1524, loss_bbox: 0.3556, loss_traj: 0.5473, loss_traj_cls: 0.0010, loss_map_cls: 0.1680, loss_map_pts: 0.7780, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.4233, d0.loss_plan_l1_fix_dist: 0.2926, d1.loss_plan_l1_fix_time: 0.9274, d1.loss_plan_l1_fix_dist: 0.1708, d2.loss_plan_l1_fix_time: 0.9106, d2.loss_plan_l1_fix_dist: 0.1870, d3.loss_plan_l1_fix_time: 0.9103, d3.loss_plan_l1_fix_dist: 0.2079, d4.loss_plan_l1_fix_time: 0.9124, d4.loss_plan_l1_fix_dist: 0.2331, d5.loss_plan_l1_fix_time: 0.9154, d5.loss_plan_l1_fix_dist: 0.2612, d6.loss_plan_l1_fix_time: 0.9188, d6.loss_plan_l1_fix_dist: 0.2921, d0.loss_cls_all: 0.1839, d0.loss_bbox_all: 0.4109, d0.loss_cls: 0.1839, d0.loss_bbox: 0.4109, d1.loss_cls: 0.1780, d1.loss_bbox: 0.3812, d2.loss_cls: 0.1694, d2.loss_bbox: 0.3633, d3.loss_cls: 0.1560, d3.loss_bbox: 0.3591, d4.loss_cls: 0.1534, d4.loss_bbox: 0.3564, d5.loss_cls: 0.1519, d5.loss_bbox: 0.3547, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7285, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6092, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5688, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5592, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5538, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5495, d0.loss_map_cls_all: 0.2441, d0.loss_map_pts_all: 1.6026, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2441, d0.loss_map_pts: 1.6026, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2142, d1.loss_map_pts: 1.0923, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1925, d2.loss_map_pts: 0.8966, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1809, d3.loss_map_pts: 0.8213, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1733, d4.loss_map_pts: 0.7888, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1700, d5.loss_map_pts: 0.7776, d5.loss_map_dir: 0.0109, loss: 28.0398, grad_norm: 171.0418 +2026-02-26 09:48:04,286 - DriveTransformer - INFO - Epoch [7][11700/39528] lr: 8.550e-05, eta: 6 days, 12:04:06, time: 0.755, data_time: 0.038, memory: 19865, loss_cls: 0.1480, loss_bbox: 0.3436, loss_traj: 0.6308, loss_traj_cls: 0.0010, loss_map_cls: 0.1499, loss_map_pts: 0.6842, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.4997, d0.loss_plan_l1_fix_dist: 0.3433, d1.loss_plan_l1_fix_time: 0.9710, d1.loss_plan_l1_fix_dist: 0.1945, d2.loss_plan_l1_fix_time: 0.9481, d2.loss_plan_l1_fix_dist: 0.2250, d3.loss_plan_l1_fix_time: 0.9463, d3.loss_plan_l1_fix_dist: 0.2568, d4.loss_plan_l1_fix_time: 0.9488, d4.loss_plan_l1_fix_dist: 0.2928, d5.loss_plan_l1_fix_time: 0.9515, d5.loss_plan_l1_fix_dist: 0.3337, d6.loss_plan_l1_fix_time: 0.9554, d6.loss_plan_l1_fix_dist: 0.3746, d0.loss_cls_all: 0.1843, d0.loss_bbox_all: 0.3974, d0.loss_cls: 0.1843, d0.loss_bbox: 0.3974, d1.loss_cls: 0.1776, d1.loss_bbox: 0.3684, d2.loss_cls: 0.1674, d2.loss_bbox: 0.3502, d3.loss_cls: 0.1555, d3.loss_bbox: 0.3474, d4.loss_cls: 0.1494, d4.loss_bbox: 0.3430, d5.loss_cls: 0.1478, d5.loss_bbox: 0.3440, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7999, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6917, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6544, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6357, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6265, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6281, d0.loss_map_cls_all: 0.2284, d0.loss_map_pts_all: 1.2219, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2284, d0.loss_map_pts: 1.2219, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1947, d1.loss_map_pts: 0.8835, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1732, d2.loss_map_pts: 0.7431, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1630, d3.loss_map_pts: 0.6937, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1549, d4.loss_map_pts: 0.6750, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1510, d5.loss_map_pts: 0.6760, d5.loss_map_dir: 0.0086, loss: 27.4313, grad_norm: 175.0379 +2026-02-26 09:48:43,673 - DriveTransformer - INFO - Epoch [7][11750/39528] lr: 8.550e-05, eta: 6 days, 12:03:24, time: 0.788, data_time: 0.043, memory: 19865, loss_cls: 0.1680, loss_bbox: 0.3453, loss_traj: 0.5201, loss_traj_cls: 0.0010, loss_map_cls: 0.1643, loss_map_pts: 0.7224, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.7440, d0.loss_plan_l1_fix_dist: 0.3907, d1.loss_plan_l1_fix_time: 1.0213, d1.loss_plan_l1_fix_dist: 0.1962, d2.loss_plan_l1_fix_time: 1.0073, d2.loss_plan_l1_fix_dist: 0.2117, d3.loss_plan_l1_fix_time: 1.0009, d3.loss_plan_l1_fix_dist: 0.2326, d4.loss_plan_l1_fix_time: 1.0025, d4.loss_plan_l1_fix_dist: 0.2565, d5.loss_plan_l1_fix_time: 1.0046, d5.loss_plan_l1_fix_dist: 0.2818, d6.loss_plan_l1_fix_time: 1.0076, d6.loss_plan_l1_fix_dist: 0.3059, d0.loss_cls_all: 0.2053, d0.loss_bbox_all: 0.4040, d0.loss_cls: 0.2053, d0.loss_bbox: 0.4040, d1.loss_cls: 0.1995, d1.loss_bbox: 0.3717, d2.loss_cls: 0.1880, d2.loss_bbox: 0.3544, d3.loss_cls: 0.1765, d3.loss_bbox: 0.3470, d4.loss_cls: 0.1708, d4.loss_bbox: 0.3452, d5.loss_cls: 0.1678, d5.loss_bbox: 0.3451, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7090, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5784, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5325, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5216, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5219, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5200, d0.loss_map_cls_all: 0.2416, d0.loss_map_pts_all: 1.4300, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2416, d0.loss_map_pts: 1.4300, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2049, d1.loss_map_pts: 1.0040, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1858, d2.loss_map_pts: 0.8284, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1734, d3.loss_map_pts: 0.7592, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1688, d4.loss_map_pts: 0.7292, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1656, d5.loss_map_pts: 0.7211, d5.loss_map_dir: 0.0096, loss: 28.2175, grad_norm: 174.6589 +2026-02-26 09:49:22,327 - DriveTransformer - INFO - Epoch [7][11800/39528] lr: 8.550e-05, eta: 6 days, 12:02:40, time: 0.773, data_time: 0.043, memory: 19865, loss_cls: 0.1680, loss_bbox: 0.3614, loss_traj: 0.7209, loss_traj_cls: 0.0010, loss_map_cls: 0.1647, loss_map_pts: 0.6967, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.7180, d0.loss_plan_l1_fix_dist: 0.4419, d1.loss_plan_l1_fix_time: 1.0855, d1.loss_plan_l1_fix_dist: 0.1941, d2.loss_plan_l1_fix_time: 1.0632, d2.loss_plan_l1_fix_dist: 0.2064, d3.loss_plan_l1_fix_time: 1.0615, d3.loss_plan_l1_fix_dist: 0.2285, d4.loss_plan_l1_fix_time: 1.0622, d4.loss_plan_l1_fix_dist: 0.2522, d5.loss_plan_l1_fix_time: 1.0635, d5.loss_plan_l1_fix_dist: 0.2754, d6.loss_plan_l1_fix_time: 1.0653, d6.loss_plan_l1_fix_dist: 0.3002, d0.loss_cls_all: 0.2040, d0.loss_bbox_all: 0.4251, d0.loss_cls: 0.2040, d0.loss_bbox: 0.4251, d1.loss_cls: 0.1978, d1.loss_bbox: 0.3914, d2.loss_cls: 0.1861, d2.loss_bbox: 0.3703, d3.loss_cls: 0.1735, d3.loss_bbox: 0.3651, d4.loss_cls: 0.1695, d4.loss_bbox: 0.3617, d5.loss_cls: 0.1671, d5.loss_bbox: 0.3624, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9024, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7488, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7267, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7214, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7233, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7171, d0.loss_map_cls_all: 0.2337, d0.loss_map_pts_all: 1.3874, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2337, d0.loss_map_pts: 1.3874, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2107, d1.loss_map_pts: 0.9807, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1886, d2.loss_map_pts: 0.8040, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1777, d3.loss_map_pts: 0.7352, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1696, d4.loss_map_pts: 0.7066, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1660, d5.loss_map_pts: 0.6970, d5.loss_map_dir: 0.0087, loss: 29.8267, grad_norm: 172.7219 +2026-02-26 09:50:02,005 - DriveTransformer - INFO - Epoch [7][11850/39528] lr: 8.550e-05, eta: 6 days, 12:01:58, time: 0.794, data_time: 0.041, memory: 19865, loss_cls: 0.1532, loss_bbox: 0.3437, loss_traj: 0.5469, loss_traj_cls: 0.0010, loss_map_cls: 0.1659, loss_map_pts: 0.7480, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.5816, d0.loss_plan_l1_fix_dist: 0.3467, d1.loss_plan_l1_fix_time: 1.0763, d1.loss_plan_l1_fix_dist: 0.2022, d2.loss_plan_l1_fix_time: 1.0595, d2.loss_plan_l1_fix_dist: 0.2147, d3.loss_plan_l1_fix_time: 1.0561, d3.loss_plan_l1_fix_dist: 0.2370, d4.loss_plan_l1_fix_time: 1.0587, d4.loss_plan_l1_fix_dist: 0.2619, d5.loss_plan_l1_fix_time: 1.0622, d5.loss_plan_l1_fix_dist: 0.2897, d6.loss_plan_l1_fix_time: 1.0663, d6.loss_plan_l1_fix_dist: 0.3206, d0.loss_cls_all: 0.1951, d0.loss_bbox_all: 0.4132, d0.loss_cls: 0.1951, d0.loss_bbox: 0.4132, d1.loss_cls: 0.1911, d1.loss_bbox: 0.3770, d2.loss_cls: 0.1727, d2.loss_bbox: 0.3561, d3.loss_cls: 0.1588, d3.loss_bbox: 0.3495, d4.loss_cls: 0.1524, d4.loss_bbox: 0.3465, d5.loss_cls: 0.1515, d5.loss_bbox: 0.3452, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7103, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5851, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5504, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5438, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5488, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5431, d0.loss_map_cls_all: 0.2463, d0.loss_map_pts_all: 1.5824, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2463, d0.loss_map_pts: 1.5824, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2167, d1.loss_map_pts: 1.0617, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.1918, d2.loss_map_pts: 0.8566, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1805, d3.loss_map_pts: 0.7834, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1734, d4.loss_map_pts: 0.7585, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1677, d5.loss_map_pts: 0.7490, d5.loss_map_dir: 0.0116, loss: 28.9857, grad_norm: 172.6945 +2026-02-26 09:50:39,941 - DriveTransformer - INFO - Epoch [7][11900/39528] lr: 8.550e-05, eta: 6 days, 12:01:12, time: 0.759, data_time: 0.042, memory: 19865, loss_cls: 0.1497, loss_bbox: 0.3505, loss_traj: 0.6231, loss_traj_cls: 0.0010, loss_map_cls: 0.1375, loss_map_pts: 0.5985, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.4875, d0.loss_plan_l1_fix_dist: 0.3612, d1.loss_plan_l1_fix_time: 1.0279, d1.loss_plan_l1_fix_dist: 0.1973, d2.loss_plan_l1_fix_time: 1.0214, d2.loss_plan_l1_fix_dist: 0.2113, d3.loss_plan_l1_fix_time: 1.0262, d3.loss_plan_l1_fix_dist: 0.2306, d4.loss_plan_l1_fix_time: 1.0308, d4.loss_plan_l1_fix_dist: 0.2526, d5.loss_plan_l1_fix_time: 1.0352, d5.loss_plan_l1_fix_dist: 0.2743, d6.loss_plan_l1_fix_time: 1.0393, d6.loss_plan_l1_fix_dist: 0.3006, d0.loss_cls_all: 0.1911, d0.loss_bbox_all: 0.4097, d0.loss_cls: 0.1911, d0.loss_bbox: 0.4097, d1.loss_cls: 0.1831, d1.loss_bbox: 0.3741, d2.loss_cls: 0.1665, d2.loss_bbox: 0.3585, d3.loss_cls: 0.1539, d3.loss_bbox: 0.3524, d4.loss_cls: 0.1493, d4.loss_bbox: 0.3501, d5.loss_cls: 0.1478, d5.loss_bbox: 0.3519, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8951, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7271, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6479, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6228, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6159, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6208, d0.loss_map_cls_all: 0.2144, d0.loss_map_pts_all: 1.2400, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2144, d0.loss_map_pts: 1.2400, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1861, d1.loss_map_pts: 0.8777, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1614, d2.loss_map_pts: 0.7201, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1497, d3.loss_map_pts: 0.6474, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1448, d4.loss_map_pts: 0.6173, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1404, d5.loss_map_pts: 0.6016, d5.loss_map_dir: 0.0076, loss: 27.4969, grad_norm: 175.1196 +2026-02-26 09:51:19,063 - DriveTransformer - INFO - Epoch [7][11950/39528] lr: 8.550e-05, eta: 6 days, 12:00:29, time: 0.782, data_time: 0.041, memory: 19865, loss_cls: 0.1672, loss_bbox: 0.3430, loss_traj: 0.6751, loss_traj_cls: 0.0010, loss_map_cls: 0.1370, loss_map_pts: 0.6119, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.8020, d0.loss_plan_l1_fix_dist: 0.3397, d1.loss_plan_l1_fix_time: 1.1288, d1.loss_plan_l1_fix_dist: 0.1674, d2.loss_plan_l1_fix_time: 1.1168, d2.loss_plan_l1_fix_dist: 0.1738, d3.loss_plan_l1_fix_time: 1.1193, d3.loss_plan_l1_fix_dist: 0.1872, d4.loss_plan_l1_fix_time: 1.1220, d4.loss_plan_l1_fix_dist: 0.2036, d5.loss_plan_l1_fix_time: 1.1246, d5.loss_plan_l1_fix_dist: 0.2218, d6.loss_plan_l1_fix_time: 1.1269, d6.loss_plan_l1_fix_dist: 0.2435, d0.loss_cls_all: 0.1983, d0.loss_bbox_all: 0.4164, d0.loss_cls: 0.1983, d0.loss_bbox: 0.4164, d1.loss_cls: 0.1981, d1.loss_bbox: 0.3742, d2.loss_cls: 0.1881, d2.loss_bbox: 0.3544, d3.loss_cls: 0.1755, d3.loss_bbox: 0.3477, d4.loss_cls: 0.1676, d4.loss_bbox: 0.3455, d5.loss_cls: 0.1680, d5.loss_bbox: 0.3438, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9086, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7297, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6923, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6772, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6751, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6739, d0.loss_map_cls_all: 0.2088, d0.loss_map_pts_all: 1.2123, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2088, d0.loss_map_pts: 1.2123, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1798, d1.loss_map_pts: 0.8374, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1581, d2.loss_map_pts: 0.6920, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1490, d3.loss_map_pts: 0.6336, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1438, d4.loss_map_pts: 0.6168, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1393, d5.loss_map_pts: 0.6096, d5.loss_map_dir: 0.0079, loss: 28.3311, grad_norm: 174.9973 +2026-02-26 09:51:58,009 - DriveTransformer - INFO - Epoch [7][12000/39528] lr: 8.550e-05, eta: 6 days, 11:59:45, time: 0.779, data_time: 0.038, memory: 19865, loss_cls: 0.1533, loss_bbox: 0.3408, loss_traj: 0.6253, loss_traj_cls: 0.0010, loss_map_cls: 0.1548, loss_map_pts: 0.6722, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.4595, d0.loss_plan_l1_fix_dist: 0.3411, d1.loss_plan_l1_fix_time: 1.1532, d1.loss_plan_l1_fix_dist: 0.1819, d2.loss_plan_l1_fix_time: 1.1428, d2.loss_plan_l1_fix_dist: 0.1932, d3.loss_plan_l1_fix_time: 1.1405, d3.loss_plan_l1_fix_dist: 0.2093, d4.loss_plan_l1_fix_time: 1.1428, d4.loss_plan_l1_fix_dist: 0.2269, d5.loss_plan_l1_fix_time: 1.1460, d5.loss_plan_l1_fix_dist: 0.2480, d6.loss_plan_l1_fix_time: 1.1499, d6.loss_plan_l1_fix_dist: 0.2670, d0.loss_cls_all: 0.1897, d0.loss_bbox_all: 0.4035, d0.loss_cls: 0.1897, d0.loss_bbox: 0.4035, d1.loss_cls: 0.1826, d1.loss_bbox: 0.3671, d2.loss_cls: 0.1711, d2.loss_bbox: 0.3517, d3.loss_cls: 0.1610, d3.loss_bbox: 0.3449, d4.loss_cls: 0.1536, d4.loss_bbox: 0.3433, d5.loss_cls: 0.1528, d5.loss_bbox: 0.3417, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7904, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6693, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6424, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6287, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6255, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6237, d0.loss_map_cls_all: 0.2320, d0.loss_map_pts_all: 1.4134, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2320, d0.loss_map_pts: 1.4134, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2003, d1.loss_map_pts: 0.9616, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1779, d2.loss_map_pts: 0.7689, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1648, d3.loss_map_pts: 0.6981, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1605, d4.loss_map_pts: 0.6751, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1567, d5.loss_map_pts: 0.6709, d5.loss_map_dir: 0.0092, loss: 28.6885, grad_norm: 173.3345 +2026-02-26 09:52:35,688 - DriveTransformer - INFO - Epoch [7][12050/39528] lr: 8.550e-05, eta: 6 days, 11:58:58, time: 0.754, data_time: 0.041, memory: 19865, loss_cls: 0.1549, loss_bbox: 0.3742, loss_traj: 0.7672, loss_traj_cls: 0.0010, loss_map_cls: 0.1492, loss_map_pts: 0.7311, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.8109, d0.loss_plan_l1_fix_dist: 0.4941, d1.loss_plan_l1_fix_time: 1.1494, d1.loss_plan_l1_fix_dist: 0.2002, d2.loss_plan_l1_fix_time: 1.1362, d2.loss_plan_l1_fix_dist: 0.2043, d3.loss_plan_l1_fix_time: 1.1350, d3.loss_plan_l1_fix_dist: 0.2176, d4.loss_plan_l1_fix_time: 1.1371, d4.loss_plan_l1_fix_dist: 0.2335, d5.loss_plan_l1_fix_time: 1.1406, d5.loss_plan_l1_fix_dist: 0.2504, d6.loss_plan_l1_fix_time: 1.1448, d6.loss_plan_l1_fix_dist: 0.2673, d0.loss_cls_all: 0.1934, d0.loss_bbox_all: 0.4405, d0.loss_cls: 0.1934, d0.loss_bbox: 0.4405, d1.loss_cls: 0.1895, d1.loss_bbox: 0.4034, d2.loss_cls: 0.1755, d2.loss_bbox: 0.3832, d3.loss_cls: 0.1631, d3.loss_bbox: 0.3762, d4.loss_cls: 0.1565, d4.loss_bbox: 0.3724, d5.loss_cls: 0.1539, d5.loss_bbox: 0.3742, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9767, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8069, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7740, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7649, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7644, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7684, d0.loss_map_cls_all: 0.2241, d0.loss_map_pts_all: 1.3271, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2241, d0.loss_map_pts: 1.3271, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1906, d1.loss_map_pts: 0.9594, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1704, d2.loss_map_pts: 0.8091, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1612, d3.loss_map_pts: 0.7471, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1549, d4.loss_map_pts: 0.7332, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1508, d5.loss_map_pts: 0.7267, d5.loss_map_dir: 0.0085, loss: 30.5477, grad_norm: 171.0147 +2026-02-26 09:53:13,923 - DriveTransformer - INFO - Epoch [7][12100/39528] lr: 8.550e-05, eta: 6 days, 11:58:13, time: 0.765, data_time: 0.037, memory: 19865, loss_cls: 0.1444, loss_bbox: 0.3365, loss_traj: 0.7434, loss_traj_cls: 0.0010, loss_map_cls: 0.1538, loss_map_pts: 0.6701, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.7951, d0.loss_plan_l1_fix_dist: 0.4291, d1.loss_plan_l1_fix_time: 1.0980, d1.loss_plan_l1_fix_dist: 0.1569, d2.loss_plan_l1_fix_time: 1.0826, d2.loss_plan_l1_fix_dist: 0.1646, d3.loss_plan_l1_fix_time: 1.0815, d3.loss_plan_l1_fix_dist: 0.1761, d4.loss_plan_l1_fix_time: 1.0831, d4.loss_plan_l1_fix_dist: 0.1908, d5.loss_plan_l1_fix_time: 1.0860, d5.loss_plan_l1_fix_dist: 0.2082, d6.loss_plan_l1_fix_time: 1.0892, d6.loss_plan_l1_fix_dist: 0.2301, d0.loss_cls_all: 0.1837, d0.loss_bbox_all: 0.3926, d0.loss_cls: 0.1837, d0.loss_bbox: 0.3926, d1.loss_cls: 0.1751, d1.loss_bbox: 0.3636, d2.loss_cls: 0.1621, d2.loss_bbox: 0.3461, d3.loss_cls: 0.1518, d3.loss_bbox: 0.3397, d4.loss_cls: 0.1458, d4.loss_bbox: 0.3374, d5.loss_cls: 0.1434, d5.loss_bbox: 0.3371, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9806, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8134, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7628, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7469, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7489, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7490, d0.loss_map_cls_all: 0.2206, d0.loss_map_pts_all: 1.3072, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2206, d0.loss_map_pts: 1.3072, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1934, d1.loss_map_pts: 0.9147, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1764, d2.loss_map_pts: 0.7638, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1665, d3.loss_map_pts: 0.7036, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1582, d4.loss_map_pts: 0.6803, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1541, d5.loss_map_pts: 0.6707, d5.loss_map_dir: 0.0093, loss: 29.0913, grad_norm: 170.4470 +2026-02-26 09:53:53,110 - DriveTransformer - INFO - Epoch [7][12150/39528] lr: 8.550e-05, eta: 6 days, 11:57:30, time: 0.784, data_time: 0.039, memory: 19865, loss_cls: 0.1468, loss_bbox: 0.3499, loss_traj: 0.7209, loss_traj_cls: 0.0010, loss_map_cls: 0.1356, loss_map_pts: 0.6191, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.6663, d0.loss_plan_l1_fix_dist: 0.3536, d1.loss_plan_l1_fix_time: 1.0154, d1.loss_plan_l1_fix_dist: 0.1504, d2.loss_plan_l1_fix_time: 1.0033, d2.loss_plan_l1_fix_dist: 0.1596, d3.loss_plan_l1_fix_time: 1.0049, d3.loss_plan_l1_fix_dist: 0.1713, d4.loss_plan_l1_fix_time: 1.0071, d4.loss_plan_l1_fix_dist: 0.1850, d5.loss_plan_l1_fix_time: 1.0095, d5.loss_plan_l1_fix_dist: 0.2016, d6.loss_plan_l1_fix_time: 1.0124, d6.loss_plan_l1_fix_dist: 0.2206, d0.loss_cls_all: 0.1911, d0.loss_bbox_all: 0.4109, d0.loss_cls: 0.1911, d0.loss_bbox: 0.4109, d1.loss_cls: 0.1798, d1.loss_bbox: 0.3760, d2.loss_cls: 0.1662, d2.loss_bbox: 0.3605, d3.loss_cls: 0.1539, d3.loss_bbox: 0.3543, d4.loss_cls: 0.1477, d4.loss_bbox: 0.3519, d5.loss_cls: 0.1462, d5.loss_bbox: 0.3505, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9708, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7835, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7363, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7225, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7194, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7218, d0.loss_map_cls_all: 0.2122, d0.loss_map_pts_all: 1.2707, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2122, d0.loss_map_pts: 1.2707, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1783, d1.loss_map_pts: 0.8794, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1574, d2.loss_map_pts: 0.7190, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1483, d3.loss_map_pts: 0.6537, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1416, d4.loss_map_pts: 0.6296, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1371, d5.loss_map_pts: 0.6202, d5.loss_map_dir: 0.0090, loss: 27.8868, grad_norm: 169.0128 +2026-02-26 09:54:32,732 - DriveTransformer - INFO - Epoch [7][12200/39528] lr: 8.550e-05, eta: 6 days, 11:56:48, time: 0.792, data_time: 0.037, memory: 19865, loss_cls: 0.1652, loss_bbox: 0.3604, loss_traj: 0.6383, loss_traj_cls: 0.0010, loss_map_cls: 0.1356, loss_map_pts: 0.6622, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.4614, d0.loss_plan_l1_fix_dist: 0.4620, d1.loss_plan_l1_fix_time: 0.9373, d1.loss_plan_l1_fix_dist: 0.1788, d2.loss_plan_l1_fix_time: 0.9260, d2.loss_plan_l1_fix_dist: 0.1835, d3.loss_plan_l1_fix_time: 0.9266, d3.loss_plan_l1_fix_dist: 0.1956, d4.loss_plan_l1_fix_time: 0.9289, d4.loss_plan_l1_fix_dist: 0.2074, d5.loss_plan_l1_fix_time: 0.9309, d5.loss_plan_l1_fix_dist: 0.2166, d6.loss_plan_l1_fix_time: 0.9332, d6.loss_plan_l1_fix_dist: 0.2271, d0.loss_cls_all: 0.1995, d0.loss_bbox_all: 0.4246, d0.loss_cls: 0.1995, d0.loss_bbox: 0.4246, d1.loss_cls: 0.1941, d1.loss_bbox: 0.3926, d2.loss_cls: 0.1785, d2.loss_bbox: 0.3731, d3.loss_cls: 0.1690, d3.loss_bbox: 0.3652, d4.loss_cls: 0.1652, d4.loss_bbox: 0.3621, d5.loss_cls: 0.1646, d5.loss_bbox: 0.3614, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8377, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7024, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6524, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6445, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6392, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6413, d0.loss_map_cls_all: 0.2163, d0.loss_map_pts_all: 1.3787, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2163, d0.loss_map_pts: 1.3787, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1822, d1.loss_map_pts: 0.9335, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1610, d2.loss_map_pts: 0.7577, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1483, d3.loss_map_pts: 0.6963, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1409, d4.loss_map_pts: 0.6680, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1379, d5.loss_map_pts: 0.6622, d5.loss_map_dir: 0.0097, loss: 27.5284, grad_norm: 168.3807 +2026-02-26 09:55:12,132 - DriveTransformer - INFO - Epoch [7][12250/39528] lr: 8.550e-05, eta: 6 days, 11:56:06, time: 0.788, data_time: 0.037, memory: 19865, loss_cls: 0.1606, loss_bbox: 0.3756, loss_traj: 0.7402, loss_traj_cls: 0.0010, loss_map_cls: 0.1577, loss_map_pts: 0.6815, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.6577, d0.loss_plan_l1_fix_dist: 0.3802, d1.loss_plan_l1_fix_time: 1.0583, d1.loss_plan_l1_fix_dist: 0.1874, d2.loss_plan_l1_fix_time: 1.0451, d2.loss_plan_l1_fix_dist: 0.1895, d3.loss_plan_l1_fix_time: 1.0439, d3.loss_plan_l1_fix_dist: 0.1991, d4.loss_plan_l1_fix_time: 1.0461, d4.loss_plan_l1_fix_dist: 0.2095, d5.loss_plan_l1_fix_time: 1.0487, d5.loss_plan_l1_fix_dist: 0.2208, d6.loss_plan_l1_fix_time: 1.0512, d6.loss_plan_l1_fix_dist: 0.2301, d0.loss_cls_all: 0.1948, d0.loss_bbox_all: 0.4375, d0.loss_cls: 0.1948, d0.loss_bbox: 0.4375, d1.loss_cls: 0.1911, d1.loss_bbox: 0.4072, d2.loss_cls: 0.1780, d2.loss_bbox: 0.3890, d3.loss_cls: 0.1647, d3.loss_bbox: 0.3818, d4.loss_cls: 0.1587, d4.loss_bbox: 0.3787, d5.loss_cls: 0.1606, d5.loss_bbox: 0.3757, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0191, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8244, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7674, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7537, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7476, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7421, d0.loss_map_cls_all: 0.2262, d0.loss_map_pts_all: 1.3783, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2262, d0.loss_map_pts: 1.3783, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1965, d1.loss_map_pts: 0.9510, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1775, d2.loss_map_pts: 0.7863, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1685, d3.loss_map_pts: 0.7207, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1626, d4.loss_map_pts: 0.6897, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1589, d5.loss_map_pts: 0.6830, d5.loss_map_dir: 0.0090, loss: 29.5685, grad_norm: 169.9182 +2026-02-26 09:55:51,266 - DriveTransformer - INFO - Epoch [7][12300/39528] lr: 8.550e-05, eta: 6 days, 11:55:23, time: 0.783, data_time: 0.035, memory: 19865, loss_cls: 0.1680, loss_bbox: 0.3651, loss_traj: 0.6568, loss_traj_cls: 0.0010, loss_map_cls: 0.1372, loss_map_pts: 0.6226, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 3.0154, d0.loss_plan_l1_fix_dist: 0.4187, d1.loss_plan_l1_fix_time: 1.0814, d1.loss_plan_l1_fix_dist: 0.1699, d2.loss_plan_l1_fix_time: 1.0703, d2.loss_plan_l1_fix_dist: 0.1712, d3.loss_plan_l1_fix_time: 1.0693, d3.loss_plan_l1_fix_dist: 0.1797, d4.loss_plan_l1_fix_time: 1.0725, d4.loss_plan_l1_fix_dist: 0.1897, d5.loss_plan_l1_fix_time: 1.0757, d5.loss_plan_l1_fix_dist: 0.2036, d6.loss_plan_l1_fix_time: 1.0789, d6.loss_plan_l1_fix_dist: 0.2196, d0.loss_cls_all: 0.2024, d0.loss_bbox_all: 0.4223, d0.loss_cls: 0.2024, d0.loss_bbox: 0.4223, d1.loss_cls: 0.1948, d1.loss_bbox: 0.3879, d2.loss_cls: 0.1856, d2.loss_bbox: 0.3707, d3.loss_cls: 0.1730, d3.loss_bbox: 0.3672, d4.loss_cls: 0.1696, d4.loss_bbox: 0.3642, d5.loss_cls: 0.1678, d5.loss_bbox: 0.3648, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9187, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7031, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6688, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6683, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6582, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6546, d0.loss_map_cls_all: 0.2111, d0.loss_map_pts_all: 1.2976, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2111, d0.loss_map_pts: 1.2976, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1774, d1.loss_map_pts: 0.8934, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1593, d2.loss_map_pts: 0.7268, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1474, d3.loss_map_pts: 0.6637, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1402, d4.loss_map_pts: 0.6337, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1375, d5.loss_map_pts: 0.6247, d5.loss_map_dir: 0.0082, loss: 28.6250, grad_norm: 168.4837 +2026-02-26 09:56:29,670 - DriveTransformer - INFO - Epoch [7][12350/39528] lr: 8.550e-05, eta: 6 days, 11:54:38, time: 0.768, data_time: 0.039, memory: 19865, loss_cls: 0.1273, loss_bbox: 0.3455, loss_traj: 0.6125, loss_traj_cls: 0.0010, loss_map_cls: 0.1546, loss_map_pts: 0.6729, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.7601, d0.loss_plan_l1_fix_dist: 0.4208, d1.loss_plan_l1_fix_time: 1.2006, d1.loss_plan_l1_fix_dist: 0.1994, d2.loss_plan_l1_fix_time: 1.1742, d2.loss_plan_l1_fix_dist: 0.2012, d3.loss_plan_l1_fix_time: 1.1687, d3.loss_plan_l1_fix_dist: 0.2098, d4.loss_plan_l1_fix_time: 1.1710, d4.loss_plan_l1_fix_dist: 0.2178, d5.loss_plan_l1_fix_time: 1.1739, d5.loss_plan_l1_fix_dist: 0.2300, d6.loss_plan_l1_fix_time: 1.1771, d6.loss_plan_l1_fix_dist: 0.2450, d0.loss_cls_all: 0.1639, d0.loss_bbox_all: 0.4037, d0.loss_cls: 0.1639, d0.loss_bbox: 0.4037, d1.loss_cls: 0.1573, d1.loss_bbox: 0.3717, d2.loss_cls: 0.1442, d2.loss_bbox: 0.3541, d3.loss_cls: 0.1337, d3.loss_bbox: 0.3460, d4.loss_cls: 0.1285, d4.loss_bbox: 0.3466, d5.loss_cls: 0.1270, d5.loss_bbox: 0.3464, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8435, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6775, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6350, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6212, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6175, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6155, d0.loss_map_cls_all: 0.2309, d0.loss_map_pts_all: 1.3537, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2309, d0.loss_map_pts: 1.3537, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1992, d1.loss_map_pts: 0.9515, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1752, d2.loss_map_pts: 0.7843, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1662, d3.loss_map_pts: 0.7093, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1608, d4.loss_map_pts: 0.6814, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1563, d5.loss_map_pts: 0.6735, d5.loss_map_dir: 0.0094, loss: 28.9717, grad_norm: 160.9029 +2026-02-26 09:57:10,508 - DriveTransformer - INFO - Epoch [7][12400/39528] lr: 8.550e-05, eta: 6 days, 11:54:00, time: 0.818, data_time: 0.041, memory: 19865, loss_cls: 0.1519, loss_bbox: 0.3434, loss_traj: 0.5551, loss_traj_cls: 0.0010, loss_map_cls: 0.1498, loss_map_pts: 0.7535, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.5705, d0.loss_plan_l1_fix_dist: 0.3861, d1.loss_plan_l1_fix_time: 1.0944, d1.loss_plan_l1_fix_dist: 0.1656, d2.loss_plan_l1_fix_time: 1.0740, d2.loss_plan_l1_fix_dist: 0.1654, d3.loss_plan_l1_fix_time: 1.0674, d3.loss_plan_l1_fix_dist: 0.1702, d4.loss_plan_l1_fix_time: 1.0693, d4.loss_plan_l1_fix_dist: 0.1760, d5.loss_plan_l1_fix_time: 1.0723, d5.loss_plan_l1_fix_dist: 0.1840, d6.loss_plan_l1_fix_time: 1.0760, d6.loss_plan_l1_fix_dist: 0.1948, d0.loss_cls_all: 0.1867, d0.loss_bbox_all: 0.4062, d0.loss_cls: 0.1867, d0.loss_bbox: 0.4062, d1.loss_cls: 0.1812, d1.loss_bbox: 0.3696, d2.loss_cls: 0.1686, d2.loss_bbox: 0.3529, d3.loss_cls: 0.1563, d3.loss_bbox: 0.3476, d4.loss_cls: 0.1514, d4.loss_bbox: 0.3436, d5.loss_cls: 0.1510, d5.loss_bbox: 0.3426, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7789, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6037, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5729, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5598, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5577, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5565, d0.loss_map_cls_all: 0.2265, d0.loss_map_pts_all: 1.6353, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2265, d0.loss_map_pts: 1.6353, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.1897, d1.loss_map_pts: 1.0881, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.1720, d2.loss_map_pts: 0.8780, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1632, d3.loss_map_pts: 0.7964, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1558, d4.loss_map_pts: 0.7649, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1515, d5.loss_map_pts: 0.7556, d5.loss_map_dir: 0.0118, loss: 28.7364, grad_norm: 159.4795 +2026-02-26 09:57:48,852 - DriveTransformer - INFO - Epoch [7][12450/39528] lr: 8.550e-05, eta: 6 days, 11:53:15, time: 0.765, data_time: 0.038, memory: 19865, loss_cls: 0.1896, loss_bbox: 0.3833, loss_traj: 0.6516, loss_traj_cls: 0.0010, loss_map_cls: 0.1892, loss_map_pts: 0.8177, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.6838, d0.loss_plan_l1_fix_dist: 0.3571, d1.loss_plan_l1_fix_time: 1.0248, d1.loss_plan_l1_fix_dist: 0.1798, d2.loss_plan_l1_fix_time: 1.0127, d2.loss_plan_l1_fix_dist: 0.1833, d3.loss_plan_l1_fix_time: 1.0120, d3.loss_plan_l1_fix_dist: 0.1862, d4.loss_plan_l1_fix_time: 1.0147, d4.loss_plan_l1_fix_dist: 0.1925, d5.loss_plan_l1_fix_time: 1.0174, d5.loss_plan_l1_fix_dist: 0.1994, d6.loss_plan_l1_fix_time: 1.0205, d6.loss_plan_l1_fix_dist: 0.2060, d0.loss_cls_all: 0.2201, d0.loss_bbox_all: 0.4619, d0.loss_cls: 0.2201, d0.loss_bbox: 0.4619, d1.loss_cls: 0.2123, d1.loss_bbox: 0.4246, d2.loss_cls: 0.2006, d2.loss_bbox: 0.4018, d3.loss_cls: 0.1939, d3.loss_bbox: 0.3907, d4.loss_cls: 0.1894, d4.loss_bbox: 0.3864, d5.loss_cls: 0.1888, d5.loss_bbox: 0.3842, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9064, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7143, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6620, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6529, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6534, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6534, d0.loss_map_cls_all: 0.2695, d0.loss_map_pts_all: 1.4923, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2695, d0.loss_map_pts: 1.4923, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2347, d1.loss_map_pts: 1.1089, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.2137, d2.loss_map_pts: 0.9314, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.2007, d3.loss_map_pts: 0.8608, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1944, d4.loss_map_pts: 0.8323, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1901, d5.loss_map_pts: 0.8210, d5.loss_map_dir: 0.0090, loss: 30.2883, grad_norm: 158.3351 +2026-02-26 09:58:25,159 - DriveTransformer - INFO - Epoch [7][12500/39528] lr: 8.550e-05, eta: 6 days, 11:52:24, time: 0.726, data_time: 0.044, memory: 19865, loss_cls: 0.1426, loss_bbox: 0.3334, loss_traj: 0.7189, loss_traj_cls: 0.0010, loss_map_cls: 0.1253, loss_map_pts: 0.5343, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.5721, d0.loss_plan_l1_fix_dist: 0.3281, d1.loss_plan_l1_fix_time: 1.0662, d1.loss_plan_l1_fix_dist: 0.1465, d2.loss_plan_l1_fix_time: 1.0570, d2.loss_plan_l1_fix_dist: 0.1496, d3.loss_plan_l1_fix_time: 1.0590, d3.loss_plan_l1_fix_dist: 0.1588, d4.loss_plan_l1_fix_time: 1.0625, d4.loss_plan_l1_fix_dist: 0.1694, d5.loss_plan_l1_fix_time: 1.0666, d5.loss_plan_l1_fix_dist: 0.1819, d6.loss_plan_l1_fix_time: 1.0712, d6.loss_plan_l1_fix_dist: 0.1962, d0.loss_cls_all: 0.1781, d0.loss_bbox_all: 0.3925, d0.loss_cls: 0.1781, d0.loss_bbox: 0.3925, d1.loss_cls: 0.1716, d1.loss_bbox: 0.3587, d2.loss_cls: 0.1604, d2.loss_bbox: 0.3426, d3.loss_cls: 0.1483, d3.loss_bbox: 0.3356, d4.loss_cls: 0.1423, d4.loss_bbox: 0.3332, d5.loss_cls: 0.1412, d5.loss_bbox: 0.3326, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9665, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7727, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7242, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7245, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7271, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7219, d0.loss_map_cls_all: 0.1905, d0.loss_map_pts_all: 1.0145, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1905, d0.loss_map_pts: 1.0145, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1613, d1.loss_map_pts: 0.7266, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1479, d2.loss_map_pts: 0.6002, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1381, d3.loss_map_pts: 0.5541, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1323, d4.loss_map_pts: 0.5401, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1280, d5.loss_map_pts: 0.5343, d5.loss_map_dir: 0.0061, loss: 26.5129, grad_norm: 158.6243 +2026-02-26 09:59:04,666 - DriveTransformer - INFO - Epoch [7][12550/39528] lr: 8.550e-05, eta: 6 days, 11:51:42, time: 0.790, data_time: 0.039, memory: 19865, loss_cls: 0.1541, loss_bbox: 0.3552, loss_traj: 0.5819, loss_traj_cls: 0.0010, loss_map_cls: 0.1581, loss_map_pts: 0.7088, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.6692, d0.loss_plan_l1_fix_dist: 0.4175, d1.loss_plan_l1_fix_time: 1.2277, d1.loss_plan_l1_fix_dist: 0.1971, d2.loss_plan_l1_fix_time: 1.2104, d2.loss_plan_l1_fix_dist: 0.1974, d3.loss_plan_l1_fix_time: 1.2084, d3.loss_plan_l1_fix_dist: 0.2026, d4.loss_plan_l1_fix_time: 1.2113, d4.loss_plan_l1_fix_dist: 0.2100, d5.loss_plan_l1_fix_time: 1.2150, d5.loss_plan_l1_fix_dist: 0.2200, d6.loss_plan_l1_fix_time: 1.2196, d6.loss_plan_l1_fix_dist: 0.2320, d0.loss_cls_all: 0.1898, d0.loss_bbox_all: 0.4205, d0.loss_cls: 0.1898, d0.loss_bbox: 0.4205, d1.loss_cls: 0.1861, d1.loss_bbox: 0.3844, d2.loss_cls: 0.1737, d2.loss_bbox: 0.3641, d3.loss_cls: 0.1618, d3.loss_bbox: 0.3573, d4.loss_cls: 0.1559, d4.loss_bbox: 0.3557, d5.loss_cls: 0.1537, d5.loss_bbox: 0.3556, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7521, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6253, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5895, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5854, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5830, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5810, d0.loss_map_cls_all: 0.2334, d0.loss_map_pts_all: 1.4050, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2334, d0.loss_map_pts: 1.4050, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2005, d1.loss_map_pts: 0.9716, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1801, d2.loss_map_pts: 0.7995, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1712, d3.loss_map_pts: 0.7326, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1647, d4.loss_map_pts: 0.7117, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1593, d5.loss_map_pts: 0.7090, d5.loss_map_dir: 0.0093, loss: 29.3386, grad_norm: 158.2809 +2026-02-26 09:59:42,720 - DriveTransformer - INFO - Epoch [7][12600/39528] lr: 8.550e-05, eta: 6 days, 11:50:56, time: 0.761, data_time: 0.038, memory: 19865, loss_cls: 0.1546, loss_bbox: 0.3627, loss_traj: 0.6789, loss_traj_cls: 0.0011, loss_map_cls: 0.1415, loss_map_pts: 0.5864, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.6262, d0.loss_plan_l1_fix_dist: 0.3232, d1.loss_plan_l1_fix_time: 1.0588, d1.loss_plan_l1_fix_dist: 0.1476, d2.loss_plan_l1_fix_time: 1.0417, d2.loss_plan_l1_fix_dist: 0.1534, d3.loss_plan_l1_fix_time: 1.0413, d3.loss_plan_l1_fix_dist: 0.1612, d4.loss_plan_l1_fix_time: 1.0444, d4.loss_plan_l1_fix_dist: 0.1673, d5.loss_plan_l1_fix_time: 1.0487, d5.loss_plan_l1_fix_dist: 0.1751, d6.loss_plan_l1_fix_time: 1.0542, d6.loss_plan_l1_fix_dist: 0.1856, d0.loss_cls_all: 0.1947, d0.loss_bbox_all: 0.4157, d0.loss_cls: 0.1947, d0.loss_bbox: 0.4157, d1.loss_cls: 0.1900, d1.loss_bbox: 0.3857, d2.loss_cls: 0.1692, d2.loss_bbox: 0.3699, d3.loss_cls: 0.1586, d3.loss_bbox: 0.3628, d4.loss_cls: 0.1540, d4.loss_bbox: 0.3616, d5.loss_cls: 0.1528, d5.loss_bbox: 0.3618, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9478, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7639, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6997, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6885, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6823, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6791, d0.loss_map_cls_all: 0.2043, d0.loss_map_pts_all: 1.1885, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2043, d0.loss_map_pts: 1.1885, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1795, d1.loss_map_pts: 0.8318, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1591, d2.loss_map_pts: 0.6729, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1515, d3.loss_map_pts: 0.6129, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1464, d4.loss_map_pts: 0.5913, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1429, d5.loss_map_pts: 0.5874, d5.loss_map_dir: 0.0077, loss: 27.4314, grad_norm: 156.8978 +2026-02-26 10:00:21,752 - DriveTransformer - INFO - Epoch [7][12650/39528] lr: 8.550e-05, eta: 6 days, 11:50:13, time: 0.781, data_time: 0.042, memory: 19865, loss_cls: 0.1462, loss_bbox: 0.3491, loss_traj: 0.5499, loss_traj_cls: 0.0010, loss_map_cls: 0.1805, loss_map_pts: 0.7717, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.5173, d0.loss_plan_l1_fix_dist: 0.3949, d1.loss_plan_l1_fix_time: 1.0706, d1.loss_plan_l1_fix_dist: 0.1853, d2.loss_plan_l1_fix_time: 1.0593, d2.loss_plan_l1_fix_dist: 0.1841, d3.loss_plan_l1_fix_time: 1.0585, d3.loss_plan_l1_fix_dist: 0.1900, d4.loss_plan_l1_fix_time: 1.0626, d4.loss_plan_l1_fix_dist: 0.1960, d5.loss_plan_l1_fix_time: 1.0675, d5.loss_plan_l1_fix_dist: 0.2040, d6.loss_plan_l1_fix_time: 1.0726, d6.loss_plan_l1_fix_dist: 0.2126, d0.loss_cls_all: 0.1872, d0.loss_bbox_all: 0.4184, d0.loss_cls: 0.1872, d0.loss_bbox: 0.4184, d1.loss_cls: 0.1827, d1.loss_bbox: 0.3774, d2.loss_cls: 0.1716, d2.loss_bbox: 0.3567, d3.loss_cls: 0.1555, d3.loss_bbox: 0.3488, d4.loss_cls: 0.1491, d4.loss_bbox: 0.3482, d5.loss_cls: 0.1460, d5.loss_bbox: 0.3488, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7707, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6029, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5598, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5501, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5532, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5533, d0.loss_map_cls_all: 0.2514, d0.loss_map_pts_all: 1.4842, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2514, d0.loss_map_pts: 1.4842, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2272, d1.loss_map_pts: 1.0710, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.2079, d2.loss_map_pts: 0.8886, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1966, d3.loss_map_pts: 0.8118, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1878, d4.loss_map_pts: 0.7835, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1824, d5.loss_map_pts: 0.7725, d5.loss_map_dir: 0.0093, loss: 28.7394, grad_norm: 153.4206 +2026-02-26 10:01:00,758 - DriveTransformer - INFO - Epoch [7][12700/39528] lr: 8.550e-05, eta: 6 days, 11:49:29, time: 0.780, data_time: 0.038, memory: 19865, loss_cls: 0.1546, loss_bbox: 0.3478, loss_traj: 0.6343, loss_traj_cls: 0.0010, loss_map_cls: 0.1161, loss_map_pts: 0.5990, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.6756, d0.loss_plan_l1_fix_dist: 0.3792, d1.loss_plan_l1_fix_time: 1.0899, d1.loss_plan_l1_fix_dist: 0.1874, d2.loss_plan_l1_fix_time: 1.0848, d2.loss_plan_l1_fix_dist: 0.1868, d3.loss_plan_l1_fix_time: 1.0929, d3.loss_plan_l1_fix_dist: 0.1890, d4.loss_plan_l1_fix_time: 1.0986, d4.loss_plan_l1_fix_dist: 0.1946, d5.loss_plan_l1_fix_time: 1.1045, d5.loss_plan_l1_fix_dist: 0.2030, d6.loss_plan_l1_fix_time: 1.1108, d6.loss_plan_l1_fix_dist: 0.2126, d0.loss_cls_all: 0.1824, d0.loss_bbox_all: 0.4092, d0.loss_cls: 0.1824, d0.loss_bbox: 0.4092, d1.loss_cls: 0.1802, d1.loss_bbox: 0.3772, d2.loss_cls: 0.1661, d2.loss_bbox: 0.3601, d3.loss_cls: 0.1563, d3.loss_bbox: 0.3535, d4.loss_cls: 0.1527, d4.loss_bbox: 0.3509, d5.loss_cls: 0.1530, d5.loss_bbox: 0.3491, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8163, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6739, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6473, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6354, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6282, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6318, d0.loss_map_cls_all: 0.1952, d0.loss_map_pts_all: 1.2547, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1952, d0.loss_map_pts: 1.2547, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1664, d1.loss_map_pts: 0.8473, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1455, d2.loss_map_pts: 0.6857, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1316, d3.loss_map_pts: 0.6287, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1231, d4.loss_map_pts: 0.6071, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1178, d5.loss_map_pts: 0.6008, d5.loss_map_dir: 0.0083, loss: 27.5021, grad_norm: 149.6802 +2026-02-26 10:01:40,451 - DriveTransformer - INFO - Epoch [7][12750/39528] lr: 8.550e-05, eta: 6 days, 11:48:48, time: 0.794, data_time: 0.040, memory: 19865, loss_cls: 0.1717, loss_bbox: 0.3663, loss_traj: 0.6940, loss_traj_cls: 0.0010, loss_map_cls: 0.1543, loss_map_pts: 0.6983, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 3.0249, d0.loss_plan_l1_fix_dist: 0.4905, d1.loss_plan_l1_fix_time: 1.2939, d1.loss_plan_l1_fix_dist: 0.2234, d2.loss_plan_l1_fix_time: 1.2824, d2.loss_plan_l1_fix_dist: 0.2230, d3.loss_plan_l1_fix_time: 1.2821, d3.loss_plan_l1_fix_dist: 0.2232, d4.loss_plan_l1_fix_time: 1.2878, d4.loss_plan_l1_fix_dist: 0.2310, d5.loss_plan_l1_fix_time: 1.2938, d5.loss_plan_l1_fix_dist: 0.2411, d6.loss_plan_l1_fix_time: 1.3008, d6.loss_plan_l1_fix_dist: 0.2559, d0.loss_cls_all: 0.2010, d0.loss_bbox_all: 0.4290, d0.loss_cls: 0.2010, d0.loss_bbox: 0.4290, d1.loss_cls: 0.1976, d1.loss_bbox: 0.3959, d2.loss_cls: 0.1853, d2.loss_bbox: 0.3750, d3.loss_cls: 0.1746, d3.loss_bbox: 0.3692, d4.loss_cls: 0.1720, d4.loss_bbox: 0.3664, d5.loss_cls: 0.1707, d5.loss_bbox: 0.3662, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9913, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8017, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7219, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6965, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6995, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6950, d0.loss_map_cls_all: 0.2116, d0.loss_map_pts_all: 1.3365, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2116, d0.loss_map_pts: 1.3365, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1912, d1.loss_map_pts: 0.9638, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1773, d2.loss_map_pts: 0.7922, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1655, d3.loss_map_pts: 0.7272, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1599, d4.loss_map_pts: 0.7069, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1563, d5.loss_map_pts: 0.6994, d5.loss_map_dir: 0.0092, loss: 31.2925, grad_norm: 150.0498 +2026-02-26 10:02:18,791 - DriveTransformer - INFO - Epoch [7][12800/39528] lr: 8.550e-05, eta: 6 days, 11:48:03, time: 0.767, data_time: 0.037, memory: 19865, loss_cls: 0.1473, loss_bbox: 0.3433, loss_traj: 0.6021, loss_traj_cls: 0.0010, loss_map_cls: 0.1646, loss_map_pts: 0.7491, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 3.1457, d0.loss_plan_l1_fix_dist: 0.4538, d1.loss_plan_l1_fix_time: 1.1527, d1.loss_plan_l1_fix_dist: 0.1790, d2.loss_plan_l1_fix_time: 1.1404, d2.loss_plan_l1_fix_dist: 0.1833, d3.loss_plan_l1_fix_time: 1.1415, d3.loss_plan_l1_fix_dist: 0.1986, d4.loss_plan_l1_fix_time: 1.1468, d4.loss_plan_l1_fix_dist: 0.2160, d5.loss_plan_l1_fix_time: 1.1522, d5.loss_plan_l1_fix_dist: 0.2346, d6.loss_plan_l1_fix_time: 1.1574, d6.loss_plan_l1_fix_dist: 0.2520, d0.loss_cls_all: 0.1861, d0.loss_bbox_all: 0.4007, d0.loss_cls: 0.1861, d0.loss_bbox: 0.4007, d1.loss_cls: 0.1816, d1.loss_bbox: 0.3661, d2.loss_cls: 0.1682, d2.loss_bbox: 0.3470, d3.loss_cls: 0.1559, d3.loss_bbox: 0.3421, d4.loss_cls: 0.1483, d4.loss_bbox: 0.3427, d5.loss_cls: 0.1478, d5.loss_bbox: 0.3424, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7887, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6388, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6111, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6125, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6085, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6020, d0.loss_map_cls_all: 0.2375, d0.loss_map_pts_all: 1.5000, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2375, d0.loss_map_pts: 1.5000, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2067, d1.loss_map_pts: 1.0317, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1889, d2.loss_map_pts: 0.8528, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1773, d3.loss_map_pts: 0.7838, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1704, d4.loss_map_pts: 0.7580, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1657, d5.loss_map_pts: 0.7505, d5.loss_map_dir: 0.0101, loss: 29.9851, grad_norm: 153.9933 +2026-02-26 10:02:58,300 - DriveTransformer - INFO - Epoch [7][12850/39528] lr: 8.550e-05, eta: 6 days, 11:47:21, time: 0.790, data_time: 0.038, memory: 19865, loss_cls: 0.1605, loss_bbox: 0.3885, loss_traj: 0.6657, loss_traj_cls: 0.0010, loss_map_cls: 0.1481, loss_map_pts: 0.7742, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.3233, d0.loss_plan_l1_fix_dist: 0.3463, d1.loss_plan_l1_fix_time: 1.1066, d1.loss_plan_l1_fix_dist: 0.1878, d2.loss_plan_l1_fix_time: 1.1005, d2.loss_plan_l1_fix_dist: 0.1990, d3.loss_plan_l1_fix_time: 1.1058, d3.loss_plan_l1_fix_dist: 0.2251, d4.loss_plan_l1_fix_time: 1.1136, d4.loss_plan_l1_fix_dist: 0.2520, d5.loss_plan_l1_fix_time: 1.1210, d5.loss_plan_l1_fix_dist: 0.2797, d6.loss_plan_l1_fix_time: 1.1276, d6.loss_plan_l1_fix_dist: 0.3107, d0.loss_cls_all: 0.2039, d0.loss_bbox_all: 0.4287, d0.loss_cls: 0.2039, d0.loss_bbox: 0.4287, d1.loss_cls: 0.1942, d1.loss_bbox: 0.3981, d2.loss_cls: 0.1830, d2.loss_bbox: 0.3846, d3.loss_cls: 0.1667, d3.loss_bbox: 0.3846, d4.loss_cls: 0.1617, d4.loss_bbox: 0.3851, d5.loss_cls: 0.1595, d5.loss_bbox: 0.3879, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8472, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7092, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6773, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6697, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6680, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6680, d0.loss_map_cls_all: 0.2252, d0.loss_map_pts_all: 1.4400, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2252, d0.loss_map_pts: 1.4400, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1934, d1.loss_map_pts: 1.0208, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1704, d2.loss_map_pts: 0.8613, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1619, d3.loss_map_pts: 0.7980, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1535, d4.loss_map_pts: 0.7775, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1501, d5.loss_map_pts: 0.7719, d5.loss_map_dir: 0.0101, loss: 29.7211, grad_norm: 153.6249 +2026-02-26 10:03:35,346 - DriveTransformer - INFO - Epoch [7][12900/39528] lr: 8.550e-05, eta: 6 days, 11:46:32, time: 0.741, data_time: 0.043, memory: 19865, loss_cls: 0.1641, loss_bbox: 0.3763, loss_traj: 0.7064, loss_traj_cls: 0.0010, loss_map_cls: 0.1609, loss_map_pts: 0.7225, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.7874, d0.loss_plan_l1_fix_dist: 0.3410, d1.loss_plan_l1_fix_time: 1.2036, d1.loss_plan_l1_fix_dist: 0.1788, d2.loss_plan_l1_fix_time: 1.1946, d2.loss_plan_l1_fix_dist: 0.1797, d3.loss_plan_l1_fix_time: 1.1979, d3.loss_plan_l1_fix_dist: 0.1890, d4.loss_plan_l1_fix_time: 1.2048, d4.loss_plan_l1_fix_dist: 0.2036, d5.loss_plan_l1_fix_time: 1.2117, d5.loss_plan_l1_fix_dist: 0.2218, d6.loss_plan_l1_fix_time: 1.2189, d6.loss_plan_l1_fix_dist: 0.2458, d0.loss_cls_all: 0.2033, d0.loss_bbox_all: 0.4255, d0.loss_cls: 0.2033, d0.loss_bbox: 0.4255, d1.loss_cls: 0.1974, d1.loss_bbox: 0.3924, d2.loss_cls: 0.1831, d2.loss_bbox: 0.3719, d3.loss_cls: 0.1688, d3.loss_bbox: 0.3724, d4.loss_cls: 0.1646, d4.loss_bbox: 0.3737, d5.loss_cls: 0.1643, d5.loss_bbox: 0.3753, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0104, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7895, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7237, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7077, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7052, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7048, d0.loss_map_cls_all: 0.2364, d0.loss_map_pts_all: 1.3375, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2364, d0.loss_map_pts: 1.3375, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.2083, d1.loss_map_pts: 0.9923, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1865, d2.loss_map_pts: 0.8206, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1755, d3.loss_map_pts: 0.7553, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1678, d4.loss_map_pts: 0.7305, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1627, d5.loss_map_pts: 0.7232, d5.loss_map_dir: 0.0081, loss: 30.5126, grad_norm: 153.4823 +2026-02-26 10:04:15,604 - DriveTransformer - INFO - Epoch [7][12950/39528] lr: 8.550e-05, eta: 6 days, 11:45:52, time: 0.805, data_time: 0.042, memory: 19865, loss_cls: 0.1525, loss_bbox: 0.3473, loss_traj: 0.6158, loss_traj_cls: 0.0010, loss_map_cls: 0.1417, loss_map_pts: 0.6718, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.8145, d0.loss_plan_l1_fix_dist: 0.4123, d1.loss_plan_l1_fix_time: 1.2238, d1.loss_plan_l1_fix_dist: 0.1997, d2.loss_plan_l1_fix_time: 1.2171, d2.loss_plan_l1_fix_dist: 0.2110, d3.loss_plan_l1_fix_time: 1.2146, d3.loss_plan_l1_fix_dist: 0.2189, d4.loss_plan_l1_fix_time: 1.2181, d4.loss_plan_l1_fix_dist: 0.2316, d5.loss_plan_l1_fix_time: 1.2233, d5.loss_plan_l1_fix_dist: 0.2476, d6.loss_plan_l1_fix_time: 1.2299, d6.loss_plan_l1_fix_dist: 0.2631, d0.loss_cls_all: 0.1858, d0.loss_bbox_all: 0.4011, d0.loss_cls: 0.1858, d0.loss_bbox: 0.4011, d1.loss_cls: 0.1818, d1.loss_bbox: 0.3702, d2.loss_cls: 0.1667, d2.loss_bbox: 0.3562, d3.loss_cls: 0.1565, d3.loss_bbox: 0.3498, d4.loss_cls: 0.1516, d4.loss_bbox: 0.3490, d5.loss_cls: 0.1511, d5.loss_bbox: 0.3476, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8308, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6663, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6304, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6228, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6172, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6145, d0.loss_map_cls_all: 0.2115, d0.loss_map_pts_all: 1.3530, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2115, d0.loss_map_pts: 1.3530, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1854, d1.loss_map_pts: 0.9225, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1636, d2.loss_map_pts: 0.7548, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1558, d3.loss_map_pts: 0.6999, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1480, d4.loss_map_pts: 0.6779, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1435, d5.loss_map_pts: 0.6722, d5.loss_map_dir: 0.0101, loss: 29.3294, grad_norm: 156.5108 +2026-02-26 10:04:55,166 - DriveTransformer - INFO - Epoch [7][13000/39528] lr: 8.550e-05, eta: 6 days, 11:45:11, time: 0.791, data_time: 0.034, memory: 19865, loss_cls: 0.1529, loss_bbox: 0.4009, loss_traj: 0.6510, loss_traj_cls: 0.0010, loss_map_cls: 0.1468, loss_map_pts: 0.7282, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.2712, d0.loss_plan_l1_fix_dist: 0.3487, d1.loss_plan_l1_fix_time: 1.1645, d1.loss_plan_l1_fix_dist: 0.1710, d2.loss_plan_l1_fix_time: 1.1582, d2.loss_plan_l1_fix_dist: 0.1798, d3.loss_plan_l1_fix_time: 1.1570, d3.loss_plan_l1_fix_dist: 0.1908, d4.loss_plan_l1_fix_time: 1.1624, d4.loss_plan_l1_fix_dist: 0.2045, d5.loss_plan_l1_fix_time: 1.1690, d5.loss_plan_l1_fix_dist: 0.2213, d6.loss_plan_l1_fix_time: 1.1772, d6.loss_plan_l1_fix_dist: 0.2395, d0.loss_cls_all: 0.1986, d0.loss_bbox_all: 0.4382, d0.loss_cls: 0.1986, d0.loss_bbox: 0.4382, d1.loss_cls: 0.1900, d1.loss_bbox: 0.4090, d2.loss_cls: 0.1726, d2.loss_bbox: 0.3941, d3.loss_cls: 0.1620, d3.loss_bbox: 0.3894, d4.loss_cls: 0.1552, d4.loss_bbox: 0.3903, d5.loss_cls: 0.1538, d5.loss_bbox: 0.3955, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8861, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6845, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6553, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6510, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6510, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6503, d0.loss_map_cls_all: 0.2283, d0.loss_map_pts_all: 1.4640, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2283, d0.loss_map_pts: 1.4640, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.1910, d1.loss_map_pts: 0.9894, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.1755, d2.loss_map_pts: 0.8172, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1619, d3.loss_map_pts: 0.7549, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1541, d4.loss_map_pts: 0.7339, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1488, d5.loss_map_pts: 0.7260, d5.loss_map_dir: 0.0113, loss: 29.4912, grad_norm: 157.9045 +2026-02-26 10:05:34,192 - DriveTransformer - INFO - Epoch [7][13050/39528] lr: 8.550e-05, eta: 6 days, 11:44:28, time: 0.781, data_time: 0.043, memory: 19865, loss_cls: 0.1464, loss_bbox: 0.3843, loss_traj: 0.6330, loss_traj_cls: 0.0010, loss_map_cls: 0.1354, loss_map_pts: 0.6197, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.8673, d0.loss_plan_l1_fix_dist: 0.4015, d1.loss_plan_l1_fix_time: 1.1466, d1.loss_plan_l1_fix_dist: 0.1754, d2.loss_plan_l1_fix_time: 1.1169, d2.loss_plan_l1_fix_dist: 0.1686, d3.loss_plan_l1_fix_time: 1.1141, d3.loss_plan_l1_fix_dist: 0.1765, d4.loss_plan_l1_fix_time: 1.1171, d4.loss_plan_l1_fix_dist: 0.1836, d5.loss_plan_l1_fix_time: 1.1218, d5.loss_plan_l1_fix_dist: 0.1951, d6.loss_plan_l1_fix_time: 1.1273, d6.loss_plan_l1_fix_dist: 0.2105, d0.loss_cls_all: 0.1892, d0.loss_bbox_all: 0.4194, d0.loss_cls: 0.1892, d0.loss_bbox: 0.4194, d1.loss_cls: 0.1826, d1.loss_bbox: 0.3831, d2.loss_cls: 0.1716, d2.loss_bbox: 0.3701, d3.loss_cls: 0.1564, d3.loss_bbox: 0.3693, d4.loss_cls: 0.1494, d4.loss_bbox: 0.3729, d5.loss_cls: 0.1479, d5.loss_bbox: 0.3775, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9234, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6996, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6588, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6428, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6398, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6308, d0.loss_map_cls_all: 0.2127, d0.loss_map_pts_all: 1.2247, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2127, d0.loss_map_pts: 1.2247, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1849, d1.loss_map_pts: 0.8723, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1650, d2.loss_map_pts: 0.7191, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1529, d3.loss_map_pts: 0.6496, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1422, d4.loss_map_pts: 0.6262, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1365, d5.loss_map_pts: 0.6198, d5.loss_map_dir: 0.0081, loss: 28.3497, grad_norm: 159.7103 +2026-02-26 10:06:14,057 - DriveTransformer - INFO - Epoch [7][13100/39528] lr: 8.550e-05, eta: 6 days, 11:43:47, time: 0.797, data_time: 0.035, memory: 19865, loss_cls: 0.1705, loss_bbox: 0.3839, loss_traj: 0.6727, loss_traj_cls: 0.0010, loss_map_cls: 0.1868, loss_map_pts: 0.8127, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.9654, d0.loss_plan_l1_fix_dist: 0.4494, d1.loss_plan_l1_fix_time: 1.3466, d1.loss_plan_l1_fix_dist: 0.2221, d2.loss_plan_l1_fix_time: 1.3261, d2.loss_plan_l1_fix_dist: 0.2154, d3.loss_plan_l1_fix_time: 1.3350, d3.loss_plan_l1_fix_dist: 0.2182, d4.loss_plan_l1_fix_time: 1.3395, d4.loss_plan_l1_fix_dist: 0.2248, d5.loss_plan_l1_fix_time: 1.3435, d5.loss_plan_l1_fix_dist: 0.2346, d6.loss_plan_l1_fix_time: 1.3477, d6.loss_plan_l1_fix_dist: 0.2434, d0.loss_cls_all: 0.2101, d0.loss_bbox_all: 0.4498, d0.loss_cls: 0.2101, d0.loss_bbox: 0.4498, d1.loss_cls: 0.2076, d1.loss_bbox: 0.4129, d2.loss_cls: 0.1940, d2.loss_bbox: 0.3927, d3.loss_cls: 0.1771, d3.loss_bbox: 0.3878, d4.loss_cls: 0.1715, d4.loss_bbox: 0.3851, d5.loss_cls: 0.1703, d5.loss_bbox: 0.3833, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8953, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7212, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6788, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6735, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6714, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6727, d0.loss_map_cls_all: 0.2658, d0.loss_map_pts_all: 1.5953, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2658, d0.loss_map_pts: 1.5953, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2416, d1.loss_map_pts: 1.1321, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.2152, d2.loss_map_pts: 0.9406, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.2007, d3.loss_map_pts: 0.8574, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1921, d4.loss_map_pts: 0.8274, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1883, d5.loss_map_pts: 0.8136, d5.loss_map_dir: 0.0099, loss: 32.9671, grad_norm: 156.1500 +2026-02-26 10:06:54,983 - DriveTransformer - INFO - Epoch [7][13150/39528] lr: 8.550e-05, eta: 6 days, 11:43:09, time: 0.819, data_time: 0.040, memory: 19865, loss_cls: 0.1394, loss_bbox: 0.3406, loss_traj: 0.5385, loss_traj_cls: 0.0011, loss_map_cls: 0.1466, loss_map_pts: 0.7195, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.5125, d0.loss_plan_l1_fix_dist: 0.4237, d1.loss_plan_l1_fix_time: 1.0853, d1.loss_plan_l1_fix_dist: 0.1822, d2.loss_plan_l1_fix_time: 1.0726, d2.loss_plan_l1_fix_dist: 0.1774, d3.loss_plan_l1_fix_time: 1.0781, d3.loss_plan_l1_fix_dist: 0.1848, d4.loss_plan_l1_fix_time: 1.0865, d4.loss_plan_l1_fix_dist: 0.1964, d5.loss_plan_l1_fix_time: 1.0944, d5.loss_plan_l1_fix_dist: 0.2115, d6.loss_plan_l1_fix_time: 1.1024, d6.loss_plan_l1_fix_dist: 0.2253, d0.loss_cls_all: 0.1797, d0.loss_bbox_all: 0.3816, d0.loss_cls: 0.1797, d0.loss_bbox: 0.3816, d1.loss_cls: 0.1706, d1.loss_bbox: 0.3606, d2.loss_cls: 0.1604, d2.loss_bbox: 0.3427, d3.loss_cls: 0.1486, d3.loss_bbox: 0.3378, d4.loss_cls: 0.1419, d4.loss_bbox: 0.3389, d5.loss_cls: 0.1402, d5.loss_bbox: 0.3388, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7084, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5973, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5475, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5410, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5355, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5354, d0.loss_map_cls_all: 0.2146, d0.loss_map_pts_all: 1.4996, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2146, d0.loss_map_pts: 1.4996, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.1900, d1.loss_map_pts: 1.0194, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.1740, d2.loss_map_pts: 0.8172, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1631, d3.loss_map_pts: 0.7526, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1535, d4.loss_map_pts: 0.7309, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1499, d5.loss_map_pts: 0.7202, d5.loss_map_dir: 0.0113, loss: 27.9805, grad_norm: 157.7022 +2026-02-26 10:07:36,191 - DriveTransformer - INFO - Epoch [7][13200/39528] lr: 8.550e-05, eta: 6 days, 11:42:32, time: 0.826, data_time: 0.044, memory: 19865, loss_cls: 0.1588, loss_bbox: 0.3692, loss_traj: 0.6546, loss_traj_cls: 0.0010, loss_map_cls: 0.1636, loss_map_pts: 0.8047, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.4268, d0.loss_plan_l1_fix_dist: 0.3723, d1.loss_plan_l1_fix_time: 0.9944, d1.loss_plan_l1_fix_dist: 0.1942, d2.loss_plan_l1_fix_time: 0.9781, d2.loss_plan_l1_fix_dist: 0.1915, d3.loss_plan_l1_fix_time: 0.9806, d3.loss_plan_l1_fix_dist: 0.1975, d4.loss_plan_l1_fix_time: 0.9867, d4.loss_plan_l1_fix_dist: 0.2056, d5.loss_plan_l1_fix_time: 0.9928, d5.loss_plan_l1_fix_dist: 0.2166, d6.loss_plan_l1_fix_time: 0.9998, d6.loss_plan_l1_fix_dist: 0.2284, d0.loss_cls_all: 0.1984, d0.loss_bbox_all: 0.4357, d0.loss_cls: 0.1984, d0.loss_bbox: 0.4357, d1.loss_cls: 0.1898, d1.loss_bbox: 0.4013, d2.loss_cls: 0.1781, d2.loss_bbox: 0.3786, d3.loss_cls: 0.1626, d3.loss_bbox: 0.3734, d4.loss_cls: 0.1587, d4.loss_bbox: 0.3711, d5.loss_cls: 0.1589, d5.loss_bbox: 0.3707, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9213, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7425, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6646, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6601, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6581, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6541, d0.loss_map_cls_all: 0.2353, d0.loss_map_pts_all: 1.5915, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2353, d0.loss_map_pts: 1.5915, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2040, d1.loss_map_pts: 1.1245, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1872, d2.loss_map_pts: 0.9233, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1774, d3.loss_map_pts: 0.8453, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1702, d4.loss_map_pts: 0.8157, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1645, d5.loss_map_pts: 0.8060, d5.loss_map_dir: 0.0101, loss: 29.5857, grad_norm: 157.8949 +2026-02-26 10:08:12,940 - DriveTransformer - INFO - Epoch [7][13250/39528] lr: 8.550e-05, eta: 6 days, 11:41:42, time: 0.734, data_time: 0.039, memory: 19865, loss_cls: 0.1727, loss_bbox: 0.3809, loss_traj: 0.5668, loss_traj_cls: 0.0010, loss_map_cls: 0.1540, loss_map_pts: 0.6963, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.6865, d0.loss_plan_l1_fix_dist: 0.3737, d1.loss_plan_l1_fix_time: 1.1933, d1.loss_plan_l1_fix_dist: 0.1623, d2.loss_plan_l1_fix_time: 1.1740, d2.loss_plan_l1_fix_dist: 0.1629, d3.loss_plan_l1_fix_time: 1.1721, d3.loss_plan_l1_fix_dist: 0.1725, d4.loss_plan_l1_fix_time: 1.1767, d4.loss_plan_l1_fix_dist: 0.1857, d5.loss_plan_l1_fix_time: 1.1814, d5.loss_plan_l1_fix_dist: 0.2006, d6.loss_plan_l1_fix_time: 1.1866, d6.loss_plan_l1_fix_dist: 0.2183, d0.loss_cls_all: 0.2085, d0.loss_bbox_all: 0.4449, d0.loss_cls: 0.2085, d0.loss_bbox: 0.4449, d1.loss_cls: 0.2038, d1.loss_bbox: 0.4103, d2.loss_cls: 0.1899, d2.loss_bbox: 0.3924, d3.loss_cls: 0.1766, d3.loss_bbox: 0.3878, d4.loss_cls: 0.1741, d4.loss_bbox: 0.3844, d5.loss_cls: 0.1728, d5.loss_bbox: 0.3824, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7967, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6201, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5800, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5703, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5698, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5668, d0.loss_map_cls_all: 0.2242, d0.loss_map_pts_all: 1.3324, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2242, d0.loss_map_pts: 1.3324, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.2020, d1.loss_map_pts: 0.9468, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1830, d2.loss_map_pts: 0.7946, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1698, d3.loss_map_pts: 0.7285, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1619, d4.loss_map_pts: 0.7071, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1563, d5.loss_map_pts: 0.6979, d5.loss_map_dir: 0.0082, loss: 29.0351, grad_norm: 153.3034 +2026-02-26 10:08:52,892 - DriveTransformer - INFO - Epoch [7][13300/39528] lr: 8.550e-05, eta: 6 days, 11:41:01, time: 0.799, data_time: 0.035, memory: 19865, loss_cls: 0.1702, loss_bbox: 0.4003, loss_traj: 0.5273, loss_traj_cls: 0.0010, loss_map_cls: 0.1787, loss_map_pts: 0.8102, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.9237, d0.loss_plan_l1_fix_dist: 0.3989, d1.loss_plan_l1_fix_time: 1.1140, d1.loss_plan_l1_fix_dist: 0.1869, d2.loss_plan_l1_fix_time: 1.1024, d2.loss_plan_l1_fix_dist: 0.1876, d3.loss_plan_l1_fix_time: 1.1007, d3.loss_plan_l1_fix_dist: 0.1927, d4.loss_plan_l1_fix_time: 1.1064, d4.loss_plan_l1_fix_dist: 0.2037, d5.loss_plan_l1_fix_time: 1.1128, d5.loss_plan_l1_fix_dist: 0.2129, d6.loss_plan_l1_fix_time: 1.1196, d6.loss_plan_l1_fix_dist: 0.2230, d0.loss_cls_all: 0.2232, d0.loss_bbox_all: 0.4654, d0.loss_cls: 0.2232, d0.loss_bbox: 0.4654, d1.loss_cls: 0.2078, d1.loss_bbox: 0.4322, d2.loss_cls: 0.1926, d2.loss_bbox: 0.4129, d3.loss_cls: 0.1820, d3.loss_bbox: 0.4037, d4.loss_cls: 0.1721, d4.loss_bbox: 0.4024, d5.loss_cls: 0.1688, d5.loss_bbox: 0.4016, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7465, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5807, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5406, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5225, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5235, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5245, d0.loss_map_cls_all: 0.2531, d0.loss_map_pts_all: 1.6508, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2531, d0.loss_map_pts: 1.6508, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2228, d1.loss_map_pts: 1.1298, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.2003, d2.loss_map_pts: 0.9251, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1885, d3.loss_map_pts: 0.8485, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1823, d4.loss_map_pts: 0.8184, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1793, d5.loss_map_pts: 0.8119, d5.loss_map_dir: 0.0106, loss: 30.4669, grad_norm: 149.8490 +2026-02-26 10:09:30,051 - DriveTransformer - INFO - Epoch [7][13350/39528] lr: 8.550e-05, eta: 6 days, 11:40:13, time: 0.743, data_time: 0.045, memory: 19865, loss_cls: 0.1645, loss_bbox: 0.3869, loss_traj: 0.9145, loss_traj_cls: 0.0010, loss_map_cls: 0.1601, loss_map_pts: 0.6708, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.5987, d0.loss_plan_l1_fix_dist: 0.3601, d1.loss_plan_l1_fix_time: 1.0315, d1.loss_plan_l1_fix_dist: 0.1586, d2.loss_plan_l1_fix_time: 1.0246, d2.loss_plan_l1_fix_dist: 0.1599, d3.loss_plan_l1_fix_time: 1.0267, d3.loss_plan_l1_fix_dist: 0.1629, d4.loss_plan_l1_fix_time: 1.0326, d4.loss_plan_l1_fix_dist: 0.1681, d5.loss_plan_l1_fix_time: 1.0389, d5.loss_plan_l1_fix_dist: 0.1766, d6.loss_plan_l1_fix_time: 1.0454, d6.loss_plan_l1_fix_dist: 0.1859, d0.loss_cls_all: 0.2080, d0.loss_bbox_all: 0.4491, d0.loss_cls: 0.2080, d0.loss_bbox: 0.4491, d1.loss_cls: 0.2004, d1.loss_bbox: 0.4140, d2.loss_cls: 0.1874, d2.loss_bbox: 0.3925, d3.loss_cls: 0.1712, d3.loss_bbox: 0.3900, d4.loss_cls: 0.1662, d4.loss_bbox: 0.3874, d5.loss_cls: 0.1638, d5.loss_bbox: 0.3862, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.2011, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9607, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.9172, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.9166, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.9162, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.9129, d0.loss_map_cls_all: 0.2396, d0.loss_map_pts_all: 1.2988, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2396, d0.loss_map_pts: 1.2988, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.2123, d1.loss_map_pts: 0.9344, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1866, d2.loss_map_pts: 0.7679, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1743, d3.loss_map_pts: 0.6974, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1668, d4.loss_map_pts: 0.6775, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1614, d5.loss_map_pts: 0.6712, d5.loss_map_dir: 0.0070, loss: 30.2541, grad_norm: 149.7943 +2026-02-26 10:10:09,586 - DriveTransformer - INFO - Epoch [7][13400/39528] lr: 8.550e-05, eta: 6 days, 11:39:31, time: 0.791, data_time: 0.036, memory: 19865, loss_cls: 0.1835, loss_bbox: 0.4022, loss_traj: 0.6134, loss_traj_cls: 0.0010, loss_map_cls: 0.1735, loss_map_pts: 0.8502, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.6691, d0.loss_plan_l1_fix_dist: 0.4590, d1.loss_plan_l1_fix_time: 1.1052, d1.loss_plan_l1_fix_dist: 0.2073, d2.loss_plan_l1_fix_time: 1.0983, d2.loss_plan_l1_fix_dist: 0.2085, d3.loss_plan_l1_fix_time: 1.1013, d3.loss_plan_l1_fix_dist: 0.2175, d4.loss_plan_l1_fix_time: 1.1063, d4.loss_plan_l1_fix_dist: 0.2259, d5.loss_plan_l1_fix_time: 1.1123, d5.loss_plan_l1_fix_dist: 0.2378, d6.loss_plan_l1_fix_time: 1.1189, d6.loss_plan_l1_fix_dist: 0.2523, d0.loss_cls_all: 0.2256, d0.loss_bbox_all: 0.4599, d0.loss_cls: 0.2256, d0.loss_bbox: 0.4599, d1.loss_cls: 0.2223, d1.loss_bbox: 0.4256, d2.loss_cls: 0.2026, d2.loss_bbox: 0.4104, d3.loss_cls: 0.1905, d3.loss_bbox: 0.4022, d4.loss_cls: 0.1851, d4.loss_bbox: 0.4022, d5.loss_cls: 0.1829, d5.loss_bbox: 0.4017, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8027, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6565, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6239, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6202, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6156, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6127, d0.loss_map_cls_all: 0.2473, d0.loss_map_pts_all: 1.5533, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2473, d0.loss_map_pts: 1.5533, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2212, d1.loss_map_pts: 1.1100, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.2005, d2.loss_map_pts: 0.9448, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1881, d3.loss_map_pts: 0.8793, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1829, d4.loss_map_pts: 0.8506, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1762, d5.loss_map_pts: 0.8460, d5.loss_map_dir: 0.0107, loss: 30.9619, grad_norm: 155.2499 +2026-02-26 10:10:47,032 - DriveTransformer - INFO - Epoch [7][13450/39528] lr: 8.550e-05, eta: 6 days, 11:38:43, time: 0.749, data_time: 0.042, memory: 19865, loss_cls: 0.1564, loss_bbox: 0.3571, loss_traj: 0.7153, loss_traj_cls: 0.0010, loss_map_cls: 0.1570, loss_map_pts: 0.6839, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.4799, d0.loss_plan_l1_fix_dist: 0.4621, d1.loss_plan_l1_fix_time: 0.9532, d1.loss_plan_l1_fix_dist: 0.1711, d2.loss_plan_l1_fix_time: 0.9396, d2.loss_plan_l1_fix_dist: 0.1738, d3.loss_plan_l1_fix_time: 0.9464, d3.loss_plan_l1_fix_dist: 0.1809, d4.loss_plan_l1_fix_time: 0.9534, d4.loss_plan_l1_fix_dist: 0.1880, d5.loss_plan_l1_fix_time: 0.9612, d5.loss_plan_l1_fix_dist: 0.1975, d6.loss_plan_l1_fix_time: 0.9692, d6.loss_plan_l1_fix_dist: 0.2106, d0.loss_cls_all: 0.1939, d0.loss_bbox_all: 0.4176, d0.loss_cls: 0.1939, d0.loss_bbox: 0.4176, d1.loss_cls: 0.1913, d1.loss_bbox: 0.3777, d2.loss_cls: 0.1779, d2.loss_bbox: 0.3595, d3.loss_cls: 0.1650, d3.loss_bbox: 0.3537, d4.loss_cls: 0.1608, d4.loss_bbox: 0.3520, d5.loss_cls: 0.1587, d5.loss_bbox: 0.3543, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9508, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7760, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7326, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7216, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7157, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7181, d0.loss_map_cls_all: 0.2339, d0.loss_map_pts_all: 1.3292, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2339, d0.loss_map_pts: 1.3292, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.2078, d1.loss_map_pts: 0.9383, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1810, d2.loss_map_pts: 0.7860, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1675, d3.loss_map_pts: 0.7147, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1628, d4.loss_map_pts: 0.6849, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1595, d5.loss_map_pts: 0.6801, d5.loss_map_dir: 0.0079, loss: 28.2223, grad_norm: 157.0991 +2026-02-26 10:11:28,170 - DriveTransformer - INFO - Epoch [7][13500/39528] lr: 8.550e-05, eta: 6 days, 11:38:06, time: 0.823, data_time: 0.043, memory: 19865, loss_cls: 0.1407, loss_bbox: 0.3351, loss_traj: 0.6633, loss_traj_cls: 0.0010, loss_map_cls: 0.1351, loss_map_pts: 0.6570, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.4955, d0.loss_plan_l1_fix_dist: 0.3837, d1.loss_plan_l1_fix_time: 1.1475, d1.loss_plan_l1_fix_dist: 0.1785, d2.loss_plan_l1_fix_time: 1.1316, d2.loss_plan_l1_fix_dist: 0.1701, d3.loss_plan_l1_fix_time: 1.1284, d3.loss_plan_l1_fix_dist: 0.1763, d4.loss_plan_l1_fix_time: 1.1312, d4.loss_plan_l1_fix_dist: 0.1824, d5.loss_plan_l1_fix_time: 1.1347, d5.loss_plan_l1_fix_dist: 0.1931, d6.loss_plan_l1_fix_time: 1.1392, d6.loss_plan_l1_fix_dist: 0.2050, d0.loss_cls_all: 0.1805, d0.loss_bbox_all: 0.3907, d0.loss_cls: 0.1805, d0.loss_bbox: 0.3907, d1.loss_cls: 0.1759, d1.loss_bbox: 0.3592, d2.loss_cls: 0.1609, d2.loss_bbox: 0.3420, d3.loss_cls: 0.1480, d3.loss_bbox: 0.3373, d4.loss_cls: 0.1432, d4.loss_bbox: 0.3349, d5.loss_cls: 0.1409, d5.loss_bbox: 0.3341, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8838, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7265, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6834, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6722, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6657, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6642, d0.loss_map_cls_all: 0.2109, d0.loss_map_pts_all: 1.3548, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2109, d0.loss_map_pts: 1.3548, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1806, d1.loss_map_pts: 0.9142, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1601, d2.loss_map_pts: 0.7496, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1519, d3.loss_map_pts: 0.6877, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1430, d4.loss_map_pts: 0.6665, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1370, d5.loss_map_pts: 0.6586, d5.loss_map_dir: 0.0087, loss: 28.2989, grad_norm: 156.2200 +2026-02-26 10:12:06,594 - DriveTransformer - INFO - Epoch [7][13550/39528] lr: 8.550e-05, eta: 6 days, 11:37:21, time: 0.769, data_time: 0.037, memory: 19865, loss_cls: 0.1636, loss_bbox: 0.3865, loss_traj: 0.6887, loss_traj_cls: 0.0010, loss_map_cls: 0.1468, loss_map_pts: 0.7259, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 3.1230, d0.loss_plan_l1_fix_dist: 0.4341, d1.loss_plan_l1_fix_time: 1.0807, d1.loss_plan_l1_fix_dist: 0.1931, d2.loss_plan_l1_fix_time: 1.0730, d2.loss_plan_l1_fix_dist: 0.1885, d3.loss_plan_l1_fix_time: 1.0704, d3.loss_plan_l1_fix_dist: 0.1969, d4.loss_plan_l1_fix_time: 1.0723, d4.loss_plan_l1_fix_dist: 0.2077, d5.loss_plan_l1_fix_time: 1.0749, d5.loss_plan_l1_fix_dist: 0.2225, d6.loss_plan_l1_fix_time: 1.0787, d6.loss_plan_l1_fix_dist: 0.2327, d0.loss_cls_all: 0.2061, d0.loss_bbox_all: 0.4581, d0.loss_cls: 0.2061, d0.loss_bbox: 0.4581, d1.loss_cls: 0.2007, d1.loss_bbox: 0.4177, d2.loss_cls: 0.1870, d2.loss_bbox: 0.3968, d3.loss_cls: 0.1745, d3.loss_bbox: 0.3889, d4.loss_cls: 0.1674, d4.loss_bbox: 0.3879, d5.loss_cls: 0.1643, d5.loss_bbox: 0.3860, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9408, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7664, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6950, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6839, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6859, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6860, d0.loss_map_cls_all: 0.2193, d0.loss_map_pts_all: 1.3965, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2193, d0.loss_map_pts: 1.3965, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1912, d1.loss_map_pts: 0.9652, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1671, d2.loss_map_pts: 0.8095, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1579, d3.loss_map_pts: 0.7505, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1516, d4.loss_map_pts: 0.7300, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1473, d5.loss_map_pts: 0.7273, d5.loss_map_dir: 0.0085, loss: 30.1192, grad_norm: 157.3324 +2026-02-26 10:12:44,955 - DriveTransformer - INFO - Epoch [7][13600/39528] lr: 8.550e-05, eta: 6 days, 11:36:36, time: 0.767, data_time: 0.043, memory: 19865, loss_cls: 0.1634, loss_bbox: 0.3631, loss_traj: 0.6089, loss_traj_cls: 0.0010, loss_map_cls: 0.1543, loss_map_pts: 0.7002, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.8373, d0.loss_plan_l1_fix_dist: 0.5312, d1.loss_plan_l1_fix_time: 1.0826, d1.loss_plan_l1_fix_dist: 0.1955, d2.loss_plan_l1_fix_time: 1.0682, d2.loss_plan_l1_fix_dist: 0.1894, d3.loss_plan_l1_fix_time: 1.0651, d3.loss_plan_l1_fix_dist: 0.1939, d4.loss_plan_l1_fix_time: 1.0680, d4.loss_plan_l1_fix_dist: 0.2024, d5.loss_plan_l1_fix_time: 1.0715, d5.loss_plan_l1_fix_dist: 0.2126, d6.loss_plan_l1_fix_time: 1.0759, d6.loss_plan_l1_fix_dist: 0.2239, d0.loss_cls_all: 0.2007, d0.loss_bbox_all: 0.4232, d0.loss_cls: 0.2007, d0.loss_bbox: 0.4232, d1.loss_cls: 0.1921, d1.loss_bbox: 0.3874, d2.loss_cls: 0.1812, d2.loss_bbox: 0.3693, d3.loss_cls: 0.1686, d3.loss_bbox: 0.3635, d4.loss_cls: 0.1648, d4.loss_bbox: 0.3618, d5.loss_cls: 0.1634, d5.loss_bbox: 0.3628, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8389, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6603, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6133, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6012, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6040, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6054, d0.loss_map_cls_all: 0.2363, d0.loss_map_pts_all: 1.3773, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2363, d0.loss_map_pts: 1.3773, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.2057, d1.loss_map_pts: 0.9563, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1815, d2.loss_map_pts: 0.7931, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1718, d3.loss_map_pts: 0.7298, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1620, d4.loss_map_pts: 0.7069, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1566, d5.loss_map_pts: 0.7015, d5.loss_map_dir: 0.0084, loss: 28.9582, grad_norm: 160.3647 +2026-02-26 10:13:24,632 - DriveTransformer - INFO - Epoch [7][13650/39528] lr: 8.550e-05, eta: 6 days, 11:35:55, time: 0.794, data_time: 0.037, memory: 19865, loss_cls: 0.1432, loss_bbox: 0.3436, loss_traj: 0.5960, loss_traj_cls: 0.0010, loss_map_cls: 0.1373, loss_map_pts: 0.6975, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.3106, d0.loss_plan_l1_fix_dist: 0.3452, d1.loss_plan_l1_fix_time: 0.8978, d1.loss_plan_l1_fix_dist: 0.1852, d2.loss_plan_l1_fix_time: 0.8839, d2.loss_plan_l1_fix_dist: 0.1771, d3.loss_plan_l1_fix_time: 0.8826, d3.loss_plan_l1_fix_dist: 0.1809, d4.loss_plan_l1_fix_time: 0.8860, d4.loss_plan_l1_fix_dist: 0.1902, d5.loss_plan_l1_fix_time: 0.8897, d5.loss_plan_l1_fix_dist: 0.1984, d6.loss_plan_l1_fix_time: 0.8932, d6.loss_plan_l1_fix_dist: 0.2101, d0.loss_cls_all: 0.1903, d0.loss_bbox_all: 0.4052, d0.loss_cls: 0.1903, d0.loss_bbox: 0.4052, d1.loss_cls: 0.1804, d1.loss_bbox: 0.3719, d2.loss_cls: 0.1638, d2.loss_bbox: 0.3540, d3.loss_cls: 0.1518, d3.loss_bbox: 0.3468, d4.loss_cls: 0.1466, d4.loss_bbox: 0.3434, d5.loss_cls: 0.1431, d5.loss_bbox: 0.3443, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8178, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6732, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6117, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5969, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5923, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5920, d0.loss_map_cls_all: 0.2222, d0.loss_map_pts_all: 1.3858, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2222, d0.loss_map_pts: 1.3858, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1829, d1.loss_map_pts: 0.9584, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1635, d2.loss_map_pts: 0.7837, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1523, d3.loss_map_pts: 0.7231, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1462, d4.loss_map_pts: 0.7001, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1400, d5.loss_map_pts: 0.6958, d5.loss_map_dir: 0.0095, loss: 26.6112, grad_norm: 158.6335 +2026-02-26 10:14:03,579 - DriveTransformer - INFO - Epoch [7][13700/39528] lr: 8.550e-05, eta: 6 days, 11:35:11, time: 0.779, data_time: 0.040, memory: 19865, loss_cls: 0.1652, loss_bbox: 0.3498, loss_traj: 0.6017, loss_traj_cls: 0.0010, loss_map_cls: 0.1678, loss_map_pts: 0.6925, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 3.0948, d0.loss_plan_l1_fix_dist: 0.4997, d1.loss_plan_l1_fix_time: 1.1388, d1.loss_plan_l1_fix_dist: 0.1940, d2.loss_plan_l1_fix_time: 1.1371, d2.loss_plan_l1_fix_dist: 0.1907, d3.loss_plan_l1_fix_time: 1.1471, d3.loss_plan_l1_fix_dist: 0.1937, d4.loss_plan_l1_fix_time: 1.1526, d4.loss_plan_l1_fix_dist: 0.2001, d5.loss_plan_l1_fix_time: 1.1578, d5.loss_plan_l1_fix_dist: 0.2095, d6.loss_plan_l1_fix_time: 1.1634, d6.loss_plan_l1_fix_dist: 0.2195, d0.loss_cls_all: 0.2127, d0.loss_bbox_all: 0.4080, d0.loss_cls: 0.2127, d0.loss_bbox: 0.4080, d1.loss_cls: 0.2029, d1.loss_bbox: 0.3766, d2.loss_cls: 0.1869, d2.loss_bbox: 0.3578, d3.loss_cls: 0.1732, d3.loss_bbox: 0.3514, d4.loss_cls: 0.1680, d4.loss_bbox: 0.3493, d5.loss_cls: 0.1646, d5.loss_bbox: 0.3501, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7858, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6544, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6130, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6122, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6041, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6032, d0.loss_map_cls_all: 0.2366, d0.loss_map_pts_all: 1.4436, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2366, d0.loss_map_pts: 1.4436, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2090, d1.loss_map_pts: 0.9872, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1897, d2.loss_map_pts: 0.7919, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1809, d3.loss_map_pts: 0.7274, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1739, d4.loss_map_pts: 0.6985, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1703, d5.loss_map_pts: 0.6928, d5.loss_map_dir: 0.0093, loss: 29.7302, grad_norm: 159.2688 +2026-02-26 10:14:42,456 - DriveTransformer - INFO - Epoch [7][13750/39528] lr: 8.550e-05, eta: 6 days, 11:34:28, time: 0.778, data_time: 0.036, memory: 19865, loss_cls: 0.1568, loss_bbox: 0.3466, loss_traj: 0.5196, loss_traj_cls: 0.0010, loss_map_cls: 0.1378, loss_map_pts: 0.6689, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.6208, d0.loss_plan_l1_fix_dist: 0.4629, d1.loss_plan_l1_fix_time: 1.0717, d1.loss_plan_l1_fix_dist: 0.1939, d2.loss_plan_l1_fix_time: 1.0617, d2.loss_plan_l1_fix_dist: 0.1897, d3.loss_plan_l1_fix_time: 1.0588, d3.loss_plan_l1_fix_dist: 0.1939, d4.loss_plan_l1_fix_time: 1.0630, d4.loss_plan_l1_fix_dist: 0.2004, d5.loss_plan_l1_fix_time: 1.0685, d5.loss_plan_l1_fix_dist: 0.2080, d6.loss_plan_l1_fix_time: 1.0757, d6.loss_plan_l1_fix_dist: 0.2178, d0.loss_cls_all: 0.1983, d0.loss_bbox_all: 0.4172, d0.loss_cls: 0.1983, d0.loss_bbox: 0.4172, d1.loss_cls: 0.1864, d1.loss_bbox: 0.3831, d2.loss_cls: 0.1735, d2.loss_bbox: 0.3607, d3.loss_cls: 0.1604, d3.loss_bbox: 0.3517, d4.loss_cls: 0.1552, d4.loss_bbox: 0.3491, d5.loss_cls: 0.1555, d5.loss_bbox: 0.3477, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6974, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5654, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5331, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5293, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5240, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5203, d0.loss_map_cls_all: 0.2020, d0.loss_map_pts_all: 1.3872, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2020, d0.loss_map_pts: 1.3872, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1704, d1.loss_map_pts: 0.9636, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1526, d2.loss_map_pts: 0.7755, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1478, d3.loss_map_pts: 0.7016, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1430, d4.loss_map_pts: 0.6757, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1409, d5.loss_map_pts: 0.6670, d5.loss_map_dir: 0.0096, loss: 27.5349, grad_norm: 160.2461 +2026-02-26 10:15:24,421 - DriveTransformer - INFO - Epoch [7][13800/39528] lr: 8.550e-05, eta: 6 days, 11:33:53, time: 0.839, data_time: 0.038, memory: 19865, loss_cls: 0.1385, loss_bbox: 0.3324, loss_traj: 0.5633, loss_traj_cls: 0.0010, loss_map_cls: 0.1387, loss_map_pts: 0.7238, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.5498, d0.loss_plan_l1_fix_dist: 0.4391, d1.loss_plan_l1_fix_time: 1.0637, d1.loss_plan_l1_fix_dist: 0.1859, d2.loss_plan_l1_fix_time: 1.0509, d2.loss_plan_l1_fix_dist: 0.1830, d3.loss_plan_l1_fix_time: 1.0506, d3.loss_plan_l1_fix_dist: 0.1893, d4.loss_plan_l1_fix_time: 1.0546, d4.loss_plan_l1_fix_dist: 0.1991, d5.loss_plan_l1_fix_time: 1.0594, d5.loss_plan_l1_fix_dist: 0.2119, d6.loss_plan_l1_fix_time: 1.0654, d6.loss_plan_l1_fix_dist: 0.2333, d0.loss_cls_all: 0.1763, d0.loss_bbox_all: 0.3936, d0.loss_cls: 0.1763, d0.loss_bbox: 0.3936, d1.loss_cls: 0.1662, d1.loss_bbox: 0.3616, d2.loss_cls: 0.1529, d2.loss_bbox: 0.3459, d3.loss_cls: 0.1418, d3.loss_bbox: 0.3390, d4.loss_cls: 0.1382, d4.loss_bbox: 0.3348, d5.loss_cls: 0.1374, d5.loss_bbox: 0.3336, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7776, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6473, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5888, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5737, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5657, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5636, d0.loss_map_cls_all: 0.2034, d0.loss_map_pts_all: 1.5354, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2034, d0.loss_map_pts: 1.5354, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1747, d1.loss_map_pts: 1.0394, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1587, d2.loss_map_pts: 0.8340, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1495, d3.loss_map_pts: 0.7593, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1438, d4.loss_map_pts: 0.7314, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1398, d5.loss_map_pts: 0.7252, d5.loss_map_dir: 0.0103, loss: 28.1602, grad_norm: 162.3881 +2026-02-26 10:16:03,427 - DriveTransformer - INFO - Epoch [7][13850/39528] lr: 8.550e-05, eta: 6 days, 11:33:09, time: 0.780, data_time: 0.040, memory: 19865, loss_cls: 0.1501, loss_bbox: 0.3548, loss_traj: 0.7538, loss_traj_cls: 0.0009, loss_map_cls: 0.1584, loss_map_pts: 0.6532, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.7642, d0.loss_plan_l1_fix_dist: 0.4853, d1.loss_plan_l1_fix_time: 1.1322, d1.loss_plan_l1_fix_dist: 0.1922, d2.loss_plan_l1_fix_time: 1.1177, d2.loss_plan_l1_fix_dist: 0.1823, d3.loss_plan_l1_fix_time: 1.1161, d3.loss_plan_l1_fix_dist: 0.1863, d4.loss_plan_l1_fix_time: 1.1181, d4.loss_plan_l1_fix_dist: 0.1957, d5.loss_plan_l1_fix_time: 1.1209, d5.loss_plan_l1_fix_dist: 0.2070, d6.loss_plan_l1_fix_time: 1.1242, d6.loss_plan_l1_fix_dist: 0.2183, d0.loss_cls_all: 0.1913, d0.loss_bbox_all: 0.4231, d0.loss_cls: 0.1913, d0.loss_bbox: 0.4231, d1.loss_cls: 0.1825, d1.loss_bbox: 0.3873, d2.loss_cls: 0.1685, d2.loss_bbox: 0.3678, d3.loss_cls: 0.1577, d3.loss_bbox: 0.3586, d4.loss_cls: 0.1511, d4.loss_bbox: 0.3572, d5.loss_cls: 0.1500, d5.loss_bbox: 0.3557, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9781, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8104, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7644, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7566, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7511, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7505, d0.loss_map_cls_all: 0.2288, d0.loss_map_pts_all: 1.3323, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2288, d0.loss_map_pts: 1.3323, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.2056, d1.loss_map_pts: 0.9277, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1832, d2.loss_map_pts: 0.7620, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1707, d3.loss_map_pts: 0.6902, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1638, d4.loss_map_pts: 0.6638, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1592, d5.loss_map_pts: 0.6555, d5.loss_map_dir: 0.0076, loss: 29.6778, grad_norm: 161.6553 +2026-02-26 10:16:42,309 - DriveTransformer - INFO - Epoch [7][13900/39528] lr: 8.550e-05, eta: 6 days, 11:32:26, time: 0.778, data_time: 0.041, memory: 19865, loss_cls: 0.1470, loss_bbox: 0.3584, loss_traj: 0.6727, loss_traj_cls: 0.0010, loss_map_cls: 0.1548, loss_map_pts: 0.7306, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.6810, d0.loss_plan_l1_fix_dist: 0.4797, d1.loss_plan_l1_fix_time: 0.9467, d1.loss_plan_l1_fix_dist: 0.1830, d2.loss_plan_l1_fix_time: 0.9369, d2.loss_plan_l1_fix_dist: 0.1760, d3.loss_plan_l1_fix_time: 0.9330, d3.loss_plan_l1_fix_dist: 0.1844, d4.loss_plan_l1_fix_time: 0.9353, d4.loss_plan_l1_fix_dist: 0.1934, d5.loss_plan_l1_fix_time: 0.9381, d5.loss_plan_l1_fix_dist: 0.2062, d6.loss_plan_l1_fix_time: 0.9409, d6.loss_plan_l1_fix_dist: 0.2180, d0.loss_cls_all: 0.1937, d0.loss_bbox_all: 0.4105, d0.loss_cls: 0.1937, d0.loss_bbox: 0.4105, d1.loss_cls: 0.1832, d1.loss_bbox: 0.3794, d2.loss_cls: 0.1684, d2.loss_bbox: 0.3637, d3.loss_cls: 0.1556, d3.loss_bbox: 0.3570, d4.loss_cls: 0.1496, d4.loss_bbox: 0.3556, d5.loss_cls: 0.1476, d5.loss_bbox: 0.3568, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8807, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7143, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6763, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6744, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6700, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6697, d0.loss_map_cls_all: 0.2277, d0.loss_map_pts_all: 1.4122, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2277, d0.loss_map_pts: 1.4122, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1989, d1.loss_map_pts: 0.9981, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1763, d2.loss_map_pts: 0.8175, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1657, d3.loss_map_pts: 0.7586, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1599, d4.loss_map_pts: 0.7392, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1560, d5.loss_map_pts: 0.7311, d5.loss_map_dir: 0.0099, loss: 28.3911, grad_norm: 163.3400 +2026-02-26 10:17:20,089 - DriveTransformer - INFO - Epoch [7][13950/39528] lr: 8.550e-05, eta: 6 days, 11:31:39, time: 0.756, data_time: 0.046, memory: 19865, loss_cls: 0.1811, loss_bbox: 0.3698, loss_traj: 0.6264, loss_traj_cls: 0.0010, loss_map_cls: 0.1764, loss_map_pts: 0.7233, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.6955, d0.loss_plan_l1_fix_dist: 0.4772, d1.loss_plan_l1_fix_time: 1.1029, d1.loss_plan_l1_fix_dist: 0.2159, d2.loss_plan_l1_fix_time: 1.0914, d2.loss_plan_l1_fix_dist: 0.2130, d3.loss_plan_l1_fix_time: 1.0904, d3.loss_plan_l1_fix_dist: 0.2176, d4.loss_plan_l1_fix_time: 1.0945, d4.loss_plan_l1_fix_dist: 0.2220, d5.loss_plan_l1_fix_time: 1.0990, d5.loss_plan_l1_fix_dist: 0.2277, d6.loss_plan_l1_fix_time: 1.1035, d6.loss_plan_l1_fix_dist: 0.2378, d0.loss_cls_all: 0.2234, d0.loss_bbox_all: 0.4361, d0.loss_cls: 0.2234, d0.loss_bbox: 0.4361, d1.loss_cls: 0.2174, d1.loss_bbox: 0.3977, d2.loss_cls: 0.1992, d2.loss_bbox: 0.3802, d3.loss_cls: 0.1867, d3.loss_bbox: 0.3754, d4.loss_cls: 0.1823, d4.loss_bbox: 0.3711, d5.loss_cls: 0.1820, d5.loss_bbox: 0.3692, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9207, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6971, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6579, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6449, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6351, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6282, d0.loss_map_cls_all: 0.2593, d0.loss_map_pts_all: 1.3898, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2593, d0.loss_map_pts: 1.3898, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2199, d1.loss_map_pts: 0.9783, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.2014, d2.loss_map_pts: 0.8079, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1900, d3.loss_map_pts: 0.7469, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1822, d4.loss_map_pts: 0.7290, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1777, d5.loss_map_pts: 0.7240, d5.loss_map_dir: 0.0098, loss: 29.8668, grad_norm: 164.4592 +2026-02-26 10:18:00,761 - DriveTransformer - INFO - Epoch [7][14000/39528] lr: 8.550e-05, eta: 6 days, 11:31:01, time: 0.815, data_time: 0.038, memory: 19865, loss_cls: 0.1675, loss_bbox: 0.3916, loss_traj: 0.6165, loss_traj_cls: 0.0010, loss_map_cls: 0.1781, loss_map_pts: 0.8208, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 3.1205, d0.loss_plan_l1_fix_dist: 0.3873, d1.loss_plan_l1_fix_time: 1.0970, d1.loss_plan_l1_fix_dist: 0.1921, d2.loss_plan_l1_fix_time: 1.0809, d2.loss_plan_l1_fix_dist: 0.1851, d3.loss_plan_l1_fix_time: 1.0806, d3.loss_plan_l1_fix_dist: 0.1902, d4.loss_plan_l1_fix_time: 1.0846, d4.loss_plan_l1_fix_dist: 0.2008, d5.loss_plan_l1_fix_time: 1.0894, d5.loss_plan_l1_fix_dist: 0.2130, d6.loss_plan_l1_fix_time: 1.0952, d6.loss_plan_l1_fix_dist: 0.2257, d0.loss_cls_all: 0.2115, d0.loss_bbox_all: 0.4521, d0.loss_cls: 0.2115, d0.loss_bbox: 0.4521, d1.loss_cls: 0.2010, d1.loss_bbox: 0.4215, d2.loss_cls: 0.1865, d2.loss_bbox: 0.4014, d3.loss_cls: 0.1745, d3.loss_bbox: 0.3958, d4.loss_cls: 0.1663, d4.loss_bbox: 0.3944, d5.loss_cls: 0.1660, d5.loss_bbox: 0.3924, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8356, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6914, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6384, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6233, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6129, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6111, d0.loss_map_cls_all: 0.2380, d0.loss_map_pts_all: 1.6311, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2380, d0.loss_map_pts: 1.6311, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2188, d1.loss_map_pts: 1.1781, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.2025, d2.loss_map_pts: 0.9596, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1918, d3.loss_map_pts: 0.8683, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1842, d4.loss_map_pts: 0.8317, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1793, d5.loss_map_pts: 0.8241, d5.loss_map_dir: 0.0110, loss: 31.1243, grad_norm: 163.8869 +2026-02-26 10:18:38,158 - DriveTransformer - INFO - Epoch [7][14050/39528] lr: 8.550e-05, eta: 6 days, 11:30:13, time: 0.747, data_time: 0.035, memory: 19865, loss_cls: 0.1687, loss_bbox: 0.3603, loss_traj: 0.5895, loss_traj_cls: 0.0010, loss_map_cls: 0.1432, loss_map_pts: 0.6827, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 3.1426, d0.loss_plan_l1_fix_dist: 0.4409, d1.loss_plan_l1_fix_time: 1.0689, d1.loss_plan_l1_fix_dist: 0.1775, d2.loss_plan_l1_fix_time: 1.0504, d2.loss_plan_l1_fix_dist: 0.1673, d3.loss_plan_l1_fix_time: 1.0466, d3.loss_plan_l1_fix_dist: 0.1677, d4.loss_plan_l1_fix_time: 1.0514, d4.loss_plan_l1_fix_dist: 0.1750, d5.loss_plan_l1_fix_time: 1.0573, d5.loss_plan_l1_fix_dist: 0.1850, d6.loss_plan_l1_fix_time: 1.0644, d6.loss_plan_l1_fix_dist: 0.1985, d0.loss_cls_all: 0.2086, d0.loss_bbox_all: 0.4279, d0.loss_cls: 0.2086, d0.loss_bbox: 0.4279, d1.loss_cls: 0.2023, d1.loss_bbox: 0.3962, d2.loss_cls: 0.1884, d2.loss_bbox: 0.3751, d3.loss_cls: 0.1736, d3.loss_bbox: 0.3672, d4.loss_cls: 0.1690, d4.loss_bbox: 0.3620, d5.loss_cls: 0.1695, d5.loss_bbox: 0.3599, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8183, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6520, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6062, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5948, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5925, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5903, d0.loss_map_cls_all: 0.2146, d0.loss_map_pts_all: 1.2953, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2146, d0.loss_map_pts: 1.2953, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1912, d1.loss_map_pts: 0.9337, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1700, d2.loss_map_pts: 0.7843, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1568, d3.loss_map_pts: 0.7143, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1493, d4.loss_map_pts: 0.6891, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1439, d5.loss_map_pts: 0.6832, d5.loss_map_dir: 0.0089, loss: 28.5411, grad_norm: 163.8884 +2026-02-26 10:19:15,736 - DriveTransformer - INFO - Epoch [7][14100/39528] lr: 8.550e-05, eta: 6 days, 11:29:25, time: 0.752, data_time: 0.045, memory: 19865, loss_cls: 0.1382, loss_bbox: 0.3365, loss_traj: 0.6364, loss_traj_cls: 0.0010, loss_map_cls: 0.1845, loss_map_pts: 0.6949, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.7331, d0.loss_plan_l1_fix_dist: 0.4041, d1.loss_plan_l1_fix_time: 1.1850, d1.loss_plan_l1_fix_dist: 0.1761, d2.loss_plan_l1_fix_time: 1.1609, d2.loss_plan_l1_fix_dist: 0.1701, d3.loss_plan_l1_fix_time: 1.1496, d3.loss_plan_l1_fix_dist: 0.1741, d4.loss_plan_l1_fix_time: 1.1516, d4.loss_plan_l1_fix_dist: 0.1829, d5.loss_plan_l1_fix_time: 1.1550, d5.loss_plan_l1_fix_dist: 0.1950, d6.loss_plan_l1_fix_time: 1.1596, d6.loss_plan_l1_fix_dist: 0.2117, d0.loss_cls_all: 0.1928, d0.loss_bbox_all: 0.3899, d0.loss_cls: 0.1928, d0.loss_bbox: 0.3899, d1.loss_cls: 0.1801, d1.loss_bbox: 0.3584, d2.loss_cls: 0.1624, d2.loss_bbox: 0.3427, d3.loss_cls: 0.1474, d3.loss_bbox: 0.3372, d4.loss_cls: 0.1433, d4.loss_bbox: 0.3349, d5.loss_cls: 0.1396, d5.loss_bbox: 0.3353, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8763, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7100, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6515, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6381, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6347, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6374, d0.loss_map_cls_all: 0.2617, d0.loss_map_pts_all: 1.3615, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2617, d0.loss_map_pts: 1.3615, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.2380, d1.loss_map_pts: 0.9847, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.2134, d2.loss_map_pts: 0.8041, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.2005, d3.loss_map_pts: 0.7312, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1900, d4.loss_map_pts: 0.7014, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1867, d5.loss_map_pts: 0.6952, d5.loss_map_dir: 0.0074, loss: 29.2501, grad_norm: 164.7836 +2026-02-26 10:19:56,222 - DriveTransformer - INFO - Epoch [7][14150/39528] lr: 8.550e-05, eta: 6 days, 11:28:46, time: 0.810, data_time: 0.041, memory: 19865, loss_cls: 0.1593, loss_bbox: 0.3486, loss_traj: 0.5980, loss_traj_cls: 0.0010, loss_map_cls: 0.1666, loss_map_pts: 0.7772, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.5598, d0.loss_plan_l1_fix_dist: 0.4058, d1.loss_plan_l1_fix_time: 1.0075, d1.loss_plan_l1_fix_dist: 0.1824, d2.loss_plan_l1_fix_time: 0.9932, d2.loss_plan_l1_fix_dist: 0.1904, d3.loss_plan_l1_fix_time: 0.9939, d3.loss_plan_l1_fix_dist: 0.2053, d4.loss_plan_l1_fix_time: 0.9964, d4.loss_plan_l1_fix_dist: 0.2151, d5.loss_plan_l1_fix_time: 0.9992, d5.loss_plan_l1_fix_dist: 0.2236, d6.loss_plan_l1_fix_time: 1.0031, d6.loss_plan_l1_fix_dist: 0.2330, d0.loss_cls_all: 0.2010, d0.loss_bbox_all: 0.4033, d0.loss_cls: 0.2010, d0.loss_bbox: 0.4033, d1.loss_cls: 0.1891, d1.loss_bbox: 0.3742, d2.loss_cls: 0.1747, d2.loss_bbox: 0.3571, d3.loss_cls: 0.1667, d3.loss_bbox: 0.3505, d4.loss_cls: 0.1613, d4.loss_bbox: 0.3471, d5.loss_cls: 0.1599, d5.loss_bbox: 0.3478, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8267, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6793, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6285, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6103, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6009, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5991, d0.loss_map_cls_all: 0.2521, d0.loss_map_pts_all: 1.6163, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2521, d0.loss_map_pts: 1.6163, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2205, d1.loss_map_pts: 1.1308, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1941, d2.loss_map_pts: 0.9104, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1811, d3.loss_map_pts: 0.8223, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1734, d4.loss_map_pts: 0.7867, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1688, d5.loss_map_pts: 0.7785, d5.loss_map_dir: 0.0104, loss: 29.2310, grad_norm: 165.4941 +2026-02-26 10:20:32,762 - DriveTransformer - INFO - Epoch [7][14200/39528] lr: 8.550e-05, eta: 6 days, 11:27:56, time: 0.731, data_time: 0.041, memory: 19865, loss_cls: 0.1688, loss_bbox: 0.3412, loss_traj: 0.7854, loss_traj_cls: 0.0010, loss_map_cls: 0.1525, loss_map_pts: 0.6304, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.5312, d0.loss_plan_l1_fix_dist: 0.4564, d1.loss_plan_l1_fix_time: 1.0442, d1.loss_plan_l1_fix_dist: 0.1920, d2.loss_plan_l1_fix_time: 1.0353, d2.loss_plan_l1_fix_dist: 0.1931, d3.loss_plan_l1_fix_time: 1.0338, d3.loss_plan_l1_fix_dist: 0.2040, d4.loss_plan_l1_fix_time: 1.0369, d4.loss_plan_l1_fix_dist: 0.2178, d5.loss_plan_l1_fix_time: 1.0408, d5.loss_plan_l1_fix_dist: 0.2315, d6.loss_plan_l1_fix_time: 1.0456, d6.loss_plan_l1_fix_dist: 0.2443, d0.loss_cls_all: 0.1931, d0.loss_bbox_all: 0.4103, d0.loss_cls: 0.1931, d0.loss_bbox: 0.4103, d1.loss_cls: 0.1891, d1.loss_bbox: 0.3757, d2.loss_cls: 0.1825, d2.loss_bbox: 0.3557, d3.loss_cls: 0.1687, d3.loss_bbox: 0.3489, d4.loss_cls: 0.1669, d4.loss_bbox: 0.3431, d5.loss_cls: 0.1671, d5.loss_bbox: 0.3422, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9821, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7705, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7376, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7909, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7864, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7821, d0.loss_map_cls_all: 0.2152, d0.loss_map_pts_all: 1.2167, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.2152, d0.loss_map_pts: 1.2167, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1932, d1.loss_map_pts: 0.8841, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1721, d2.loss_map_pts: 0.7334, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1636, d3.loss_map_pts: 0.6661, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1586, d4.loss_map_pts: 0.6407, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1534, d5.loss_map_pts: 0.6309, d5.loss_map_dir: 0.0066, loss: 28.5996, grad_norm: 166.0914 +2026-02-26 10:21:11,666 - DriveTransformer - INFO - Epoch [7][14250/39528] lr: 8.550e-05, eta: 6 days, 11:27:13, time: 0.778, data_time: 0.037, memory: 19865, loss_cls: 0.1471, loss_bbox: 0.3452, loss_traj: 0.6580, loss_traj_cls: 0.0010, loss_map_cls: 0.1514, loss_map_pts: 0.6620, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.6988, d0.loss_plan_l1_fix_dist: 0.3498, d1.loss_plan_l1_fix_time: 1.0810, d1.loss_plan_l1_fix_dist: 0.1740, d2.loss_plan_l1_fix_time: 1.0551, d2.loss_plan_l1_fix_dist: 0.1789, d3.loss_plan_l1_fix_time: 1.0470, d3.loss_plan_l1_fix_dist: 0.1880, d4.loss_plan_l1_fix_time: 1.0489, d4.loss_plan_l1_fix_dist: 0.2037, d5.loss_plan_l1_fix_time: 1.0520, d5.loss_plan_l1_fix_dist: 0.2240, d6.loss_plan_l1_fix_time: 1.0554, d6.loss_plan_l1_fix_dist: 0.2461, d0.loss_cls_all: 0.1937, d0.loss_bbox_all: 0.4049, d0.loss_cls: 0.1937, d0.loss_bbox: 0.4049, d1.loss_cls: 0.1863, d1.loss_bbox: 0.3780, d2.loss_cls: 0.1657, d2.loss_bbox: 0.3616, d3.loss_cls: 0.1516, d3.loss_bbox: 0.3524, d4.loss_cls: 0.1492, d4.loss_bbox: 0.3460, d5.loss_cls: 0.1474, d5.loss_bbox: 0.3453, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9259, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7143, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6623, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6654, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6569, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6594, d0.loss_map_cls_all: 0.2166, d0.loss_map_pts_all: 1.2927, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2166, d0.loss_map_pts: 1.2927, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1930, d1.loss_map_pts: 0.9029, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1786, d2.loss_map_pts: 0.7504, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1656, d3.loss_map_pts: 0.6877, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1574, d4.loss_map_pts: 0.6675, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1522, d5.loss_map_pts: 0.6625, d5.loss_map_dir: 0.0091, loss: 28.2463, grad_norm: 167.6316 +2026-02-26 10:21:50,000 - DriveTransformer - INFO - Epoch [7][14300/39528] lr: 8.550e-05, eta: 6 days, 11:26:28, time: 0.767, data_time: 0.043, memory: 19865, loss_cls: 0.1481, loss_bbox: 0.3563, loss_traj: 0.6309, loss_traj_cls: 0.0010, loss_map_cls: 0.1448, loss_map_pts: 0.6581, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.5315, d0.loss_plan_l1_fix_dist: 0.4237, d1.loss_plan_l1_fix_time: 1.0837, d1.loss_plan_l1_fix_dist: 0.1987, d2.loss_plan_l1_fix_time: 1.0628, d2.loss_plan_l1_fix_dist: 0.1974, d3.loss_plan_l1_fix_time: 1.0556, d3.loss_plan_l1_fix_dist: 0.2021, d4.loss_plan_l1_fix_time: 1.0577, d4.loss_plan_l1_fix_dist: 0.2091, d5.loss_plan_l1_fix_time: 1.0601, d5.loss_plan_l1_fix_dist: 0.2191, d6.loss_plan_l1_fix_time: 1.0623, d6.loss_plan_l1_fix_dist: 0.2319, d0.loss_cls_all: 0.1792, d0.loss_bbox_all: 0.4178, d0.loss_cls: 0.1792, d0.loss_bbox: 0.4178, d1.loss_cls: 0.1732, d1.loss_bbox: 0.3819, d2.loss_cls: 0.1624, d2.loss_bbox: 0.3657, d3.loss_cls: 0.1524, d3.loss_bbox: 0.3592, d4.loss_cls: 0.1484, d4.loss_bbox: 0.3568, d5.loss_cls: 0.1478, d5.loss_bbox: 0.3561, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8784, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6836, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6430, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6308, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6318, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6305, d0.loss_map_cls_all: 0.2141, d0.loss_map_pts_all: 1.3143, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2141, d0.loss_map_pts: 1.3143, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1844, d1.loss_map_pts: 0.9164, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1703, d2.loss_map_pts: 0.7474, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1559, d3.loss_map_pts: 0.6849, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1503, d4.loss_map_pts: 0.6661, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1471, d5.loss_map_pts: 0.6590, d5.loss_map_dir: 0.0082, loss: 28.0409, grad_norm: 166.8618 +2026-02-26 10:22:29,794 - DriveTransformer - INFO - Epoch [7][14350/39528] lr: 8.550e-05, eta: 6 days, 11:25:46, time: 0.796, data_time: 0.036, memory: 19865, loss_cls: 0.1757, loss_bbox: 0.3752, loss_traj: 0.6365, loss_traj_cls: 0.0010, loss_map_cls: 0.1636, loss_map_pts: 0.7899, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 3.1167, d0.loss_plan_l1_fix_dist: 0.3871, d1.loss_plan_l1_fix_time: 1.2624, d1.loss_plan_l1_fix_dist: 0.2018, d2.loss_plan_l1_fix_time: 1.2432, d2.loss_plan_l1_fix_dist: 0.2002, d3.loss_plan_l1_fix_time: 1.2403, d3.loss_plan_l1_fix_dist: 0.2120, d4.loss_plan_l1_fix_time: 1.2429, d4.loss_plan_l1_fix_dist: 0.2231, d5.loss_plan_l1_fix_time: 1.2456, d5.loss_plan_l1_fix_dist: 0.2323, d6.loss_plan_l1_fix_time: 1.2486, d6.loss_plan_l1_fix_dist: 0.2426, d0.loss_cls_all: 0.2142, d0.loss_bbox_all: 0.4341, d0.loss_cls: 0.2142, d0.loss_bbox: 0.4341, d1.loss_cls: 0.2039, d1.loss_bbox: 0.4062, d2.loss_cls: 0.1924, d2.loss_bbox: 0.3860, d3.loss_cls: 0.1788, d3.loss_bbox: 0.3798, d4.loss_cls: 0.1755, d4.loss_bbox: 0.3773, d5.loss_cls: 0.1756, d5.loss_bbox: 0.3743, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8384, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7013, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6583, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6429, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6401, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6355, d0.loss_map_cls_all: 0.2350, d0.loss_map_pts_all: 1.5592, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2350, d0.loss_map_pts: 1.5592, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2080, d1.loss_map_pts: 1.0786, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1908, d2.loss_map_pts: 0.8933, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1767, d3.loss_map_pts: 0.8268, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1698, d4.loss_map_pts: 0.8003, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1664, d5.loss_map_pts: 0.7901, d5.loss_map_dir: 0.0108, loss: 31.6830, grad_norm: 166.7176 +2026-02-26 10:23:08,806 - DriveTransformer - INFO - Epoch [7][14400/39528] lr: 8.550e-05, eta: 6 days, 11:25:03, time: 0.780, data_time: 0.039, memory: 19865, loss_cls: 0.1477, loss_bbox: 0.3588, loss_traj: 0.6884, loss_traj_cls: 0.0010, loss_map_cls: 0.1582, loss_map_pts: 0.7036, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.8130, d0.loss_plan_l1_fix_dist: 0.4092, d1.loss_plan_l1_fix_time: 1.0688, d1.loss_plan_l1_fix_dist: 0.1904, d2.loss_plan_l1_fix_time: 1.0715, d2.loss_plan_l1_fix_dist: 0.1863, d3.loss_plan_l1_fix_time: 1.0738, d3.loss_plan_l1_fix_dist: 0.1946, d4.loss_plan_l1_fix_time: 1.0777, d4.loss_plan_l1_fix_dist: 0.2057, d5.loss_plan_l1_fix_time: 1.0822, d5.loss_plan_l1_fix_dist: 0.2209, d6.loss_plan_l1_fix_time: 1.0870, d6.loss_plan_l1_fix_dist: 0.2394, d0.loss_cls_all: 0.1918, d0.loss_bbox_all: 0.4212, d0.loss_cls: 0.1918, d0.loss_bbox: 0.4212, d1.loss_cls: 0.1810, d1.loss_bbox: 0.3881, d2.loss_cls: 0.1679, d2.loss_bbox: 0.3704, d3.loss_cls: 0.1567, d3.loss_bbox: 0.3623, d4.loss_cls: 0.1493, d4.loss_bbox: 0.3600, d5.loss_cls: 0.1486, d5.loss_bbox: 0.3593, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9672, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7679, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7237, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7060, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6946, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6867, d0.loss_map_cls_all: 0.2314, d0.loss_map_pts_all: 1.3541, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2314, d0.loss_map_pts: 1.3541, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2049, d1.loss_map_pts: 0.9547, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1822, d2.loss_map_pts: 0.7989, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1719, d3.loss_map_pts: 0.7349, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1658, d4.loss_map_pts: 0.7109, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1597, d5.loss_map_pts: 0.7044, d5.loss_map_dir: 0.0092, loss: 29.4329, grad_norm: 165.7341 +2026-02-26 10:23:47,471 - DriveTransformer - INFO - Epoch [7][14450/39528] lr: 8.550e-05, eta: 6 days, 11:24:19, time: 0.773, data_time: 0.041, memory: 19865, loss_cls: 0.1520, loss_bbox: 0.3569, loss_traj: 0.6171, loss_traj_cls: 0.0010, loss_map_cls: 0.1674, loss_map_pts: 0.6873, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.7686, d0.loss_plan_l1_fix_dist: 0.4662, d1.loss_plan_l1_fix_time: 1.1318, d1.loss_plan_l1_fix_dist: 0.1979, d2.loss_plan_l1_fix_time: 1.1198, d2.loss_plan_l1_fix_dist: 0.1977, d3.loss_plan_l1_fix_time: 1.1177, d3.loss_plan_l1_fix_dist: 0.2039, d4.loss_plan_l1_fix_time: 1.1202, d4.loss_plan_l1_fix_dist: 0.2143, d5.loss_plan_l1_fix_time: 1.1232, d5.loss_plan_l1_fix_dist: 0.2286, d6.loss_plan_l1_fix_time: 1.1270, d6.loss_plan_l1_fix_dist: 0.2460, d0.loss_cls_all: 0.1953, d0.loss_bbox_all: 0.4157, d0.loss_cls: 0.1953, d0.loss_bbox: 0.4157, d1.loss_cls: 0.1865, d1.loss_bbox: 0.3823, d2.loss_cls: 0.1729, d2.loss_bbox: 0.3655, d3.loss_cls: 0.1587, d3.loss_bbox: 0.3582, d4.loss_cls: 0.1534, d4.loss_bbox: 0.3556, d5.loss_cls: 0.1514, d5.loss_bbox: 0.3560, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8213, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6776, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6146, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6113, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6132, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6178, d0.loss_map_cls_all: 0.2316, d0.loss_map_pts_all: 1.3993, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2316, d0.loss_map_pts: 1.3993, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.2094, d1.loss_map_pts: 1.0017, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1904, d2.loss_map_pts: 0.8049, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1809, d3.loss_map_pts: 0.7243, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1730, d4.loss_map_pts: 0.6988, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1690, d5.loss_map_pts: 0.6878, d5.loss_map_dir: 0.0086, loss: 29.2374, grad_norm: 157.4997 +2026-02-26 10:24:27,428 - DriveTransformer - INFO - Epoch [7][14500/39528] lr: 8.550e-05, eta: 6 days, 11:23:38, time: 0.799, data_time: 0.035, memory: 19865, loss_cls: 0.1478, loss_bbox: 0.3592, loss_traj: 0.6569, loss_traj_cls: 0.0010, loss_map_cls: 0.1460, loss_map_pts: 0.6874, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.7146, d0.loss_plan_l1_fix_dist: 0.4138, d1.loss_plan_l1_fix_time: 1.0680, d1.loss_plan_l1_fix_dist: 0.1944, d2.loss_plan_l1_fix_time: 1.0537, d2.loss_plan_l1_fix_dist: 0.2032, d3.loss_plan_l1_fix_time: 1.0508, d3.loss_plan_l1_fix_dist: 0.2224, d4.loss_plan_l1_fix_time: 1.0549, d4.loss_plan_l1_fix_dist: 0.2472, d5.loss_plan_l1_fix_time: 1.0600, d5.loss_plan_l1_fix_dist: 0.2737, d6.loss_plan_l1_fix_time: 1.0661, d6.loss_plan_l1_fix_dist: 0.3076, d0.loss_cls_all: 0.1884, d0.loss_bbox_all: 0.4259, d0.loss_cls: 0.1884, d0.loss_bbox: 0.4259, d1.loss_cls: 0.1806, d1.loss_bbox: 0.3861, d2.loss_cls: 0.1648, d2.loss_bbox: 0.3666, d3.loss_cls: 0.1570, d3.loss_bbox: 0.3590, d4.loss_cls: 0.1490, d4.loss_bbox: 0.3569, d5.loss_cls: 0.1474, d5.loss_bbox: 0.3585, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8793, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7255, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6762, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6675, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6572, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6597, d0.loss_map_cls_all: 0.2128, d0.loss_map_pts_all: 1.3889, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2128, d0.loss_map_pts: 1.3889, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1872, d1.loss_map_pts: 0.9667, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1695, d2.loss_map_pts: 0.7888, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1570, d3.loss_map_pts: 0.7203, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1518, d4.loss_map_pts: 0.6982, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1472, d5.loss_map_pts: 0.6898, d5.loss_map_dir: 0.0089, loss: 29.0020, grad_norm: 157.3402 +2026-02-26 10:25:08,642 - DriveTransformer - INFO - Epoch [7][14550/39528] lr: 8.550e-05, eta: 6 days, 11:23:01, time: 0.824, data_time: 0.036, memory: 19865, loss_cls: 0.1455, loss_bbox: 0.3625, loss_traj: 0.6599, loss_traj_cls: 0.0010, loss_map_cls: 0.1362, loss_map_pts: 0.6696, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.4154, d0.loss_plan_l1_fix_dist: 0.4303, d1.loss_plan_l1_fix_time: 1.1246, d1.loss_plan_l1_fix_dist: 0.2068, d2.loss_plan_l1_fix_time: 1.1067, d2.loss_plan_l1_fix_dist: 0.2120, d3.loss_plan_l1_fix_time: 1.1025, d3.loss_plan_l1_fix_dist: 0.2192, d4.loss_plan_l1_fix_time: 1.1082, d4.loss_plan_l1_fix_dist: 0.2320, d5.loss_plan_l1_fix_time: 1.1141, d5.loss_plan_l1_fix_dist: 0.2461, d6.loss_plan_l1_fix_time: 1.1214, d6.loss_plan_l1_fix_dist: 0.2621, d0.loss_cls_all: 0.1781, d0.loss_bbox_all: 0.4220, d0.loss_cls: 0.1781, d0.loss_bbox: 0.4220, d1.loss_cls: 0.1717, d1.loss_bbox: 0.3871, d2.loss_cls: 0.1605, d2.loss_bbox: 0.3682, d3.loss_cls: 0.1493, d3.loss_bbox: 0.3623, d4.loss_cls: 0.1419, d4.loss_bbox: 0.3629, d5.loss_cls: 0.1427, d5.loss_bbox: 0.3617, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8560, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7252, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6768, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6631, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6599, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6595, d0.loss_map_cls_all: 0.2048, d0.loss_map_pts_all: 1.4562, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2048, d0.loss_map_pts: 1.4562, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1718, d1.loss_map_pts: 0.9249, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1580, d2.loss_map_pts: 0.7542, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1463, d3.loss_map_pts: 0.6959, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1413, d4.loss_map_pts: 0.6774, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1370, d5.loss_map_pts: 0.6706, d5.loss_map_dir: 0.0102, loss: 28.8111, grad_norm: 155.5113 +2026-02-26 10:25:49,157 - DriveTransformer - INFO - Epoch [7][14600/39528] lr: 8.550e-05, eta: 6 days, 11:22:22, time: 0.810, data_time: 0.041, memory: 19865, loss_cls: 0.1697, loss_bbox: 0.3719, loss_traj: 0.6835, loss_traj_cls: 0.0010, loss_map_cls: 0.1537, loss_map_pts: 0.7415, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.7771, d0.loss_plan_l1_fix_dist: 0.4483, d1.loss_plan_l1_fix_time: 1.2322, d1.loss_plan_l1_fix_dist: 0.1849, d2.loss_plan_l1_fix_time: 1.2282, d2.loss_plan_l1_fix_dist: 0.1919, d3.loss_plan_l1_fix_time: 1.2269, d3.loss_plan_l1_fix_dist: 0.2031, d4.loss_plan_l1_fix_time: 1.2305, d4.loss_plan_l1_fix_dist: 0.2171, d5.loss_plan_l1_fix_time: 1.2350, d5.loss_plan_l1_fix_dist: 0.2337, d6.loss_plan_l1_fix_time: 1.2403, d6.loss_plan_l1_fix_dist: 0.2509, d0.loss_cls_all: 0.2041, d0.loss_bbox_all: 0.4350, d0.loss_cls: 0.2041, d0.loss_bbox: 0.4350, d1.loss_cls: 0.1911, d1.loss_bbox: 0.4006, d2.loss_cls: 0.1764, d2.loss_bbox: 0.3867, d3.loss_cls: 0.1689, d3.loss_bbox: 0.3756, d4.loss_cls: 0.1644, d4.loss_bbox: 0.3750, d5.loss_cls: 0.1663, d5.loss_bbox: 0.3738, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8315, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6997, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6461, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6333, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6339, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6746, d0.loss_map_cls_all: 0.2273, d0.loss_map_pts_all: 1.5360, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2273, d0.loss_map_pts: 1.5360, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1950, d1.loss_map_pts: 1.0254, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1783, d2.loss_map_pts: 0.8352, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1666, d3.loss_map_pts: 0.7685, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1582, d4.loss_map_pts: 0.7423, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1548, d5.loss_map_pts: 0.7391, d5.loss_map_dir: 0.0105, loss: 30.7738, grad_norm: 153.0728 +2026-02-26 10:26:26,471 - DriveTransformer - INFO - Epoch [7][14650/39528] lr: 8.550e-05, eta: 6 days, 11:21:34, time: 0.746, data_time: 0.041, memory: 19865, loss_cls: 0.1423, loss_bbox: 0.3356, loss_traj: 0.6109, loss_traj_cls: 0.0010, loss_map_cls: 0.1142, loss_map_pts: 0.5813, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.5700, d0.loss_plan_l1_fix_dist: 0.4551, d1.loss_plan_l1_fix_time: 1.3017, d1.loss_plan_l1_fix_dist: 0.1827, d2.loss_plan_l1_fix_time: 1.2902, d2.loss_plan_l1_fix_dist: 0.1848, d3.loss_plan_l1_fix_time: 1.2955, d3.loss_plan_l1_fix_dist: 0.1983, d4.loss_plan_l1_fix_time: 1.3009, d4.loss_plan_l1_fix_dist: 0.2180, d5.loss_plan_l1_fix_time: 1.3067, d5.loss_plan_l1_fix_dist: 0.2427, d6.loss_plan_l1_fix_time: 1.3121, d6.loss_plan_l1_fix_dist: 0.2690, d0.loss_cls_all: 0.1771, d0.loss_bbox_all: 0.3926, d0.loss_cls: 0.1771, d0.loss_bbox: 0.3926, d1.loss_cls: 0.1677, d1.loss_bbox: 0.3635, d2.loss_cls: 0.1565, d2.loss_bbox: 0.3455, d3.loss_cls: 0.1470, d3.loss_bbox: 0.3408, d4.loss_cls: 0.1425, d4.loss_bbox: 0.3374, d5.loss_cls: 0.1417, d5.loss_bbox: 0.3360, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8502, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6805, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6278, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6135, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6089, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6102, d0.loss_map_cls_all: 0.1876, d0.loss_map_pts_all: 1.1412, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1876, d0.loss_map_pts: 1.1412, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1581, d1.loss_map_pts: 0.8006, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1394, d2.loss_map_pts: 0.6644, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1293, d3.loss_map_pts: 0.6095, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1216, d4.loss_map_pts: 0.5882, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1161, d5.loss_map_pts: 0.5817, d5.loss_map_dir: 0.0070, loss: 28.1497, grad_norm: 149.6947 +2026-02-26 10:27:06,821 - DriveTransformer - INFO - Epoch [7][14700/39528] lr: 8.550e-05, eta: 6 days, 11:20:55, time: 0.807, data_time: 0.041, memory: 19865, loss_cls: 0.1430, loss_bbox: 0.3384, loss_traj: 0.6247, loss_traj_cls: 0.0011, loss_map_cls: 0.1464, loss_map_pts: 0.6568, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.4988, d0.loss_plan_l1_fix_dist: 0.4024, d1.loss_plan_l1_fix_time: 1.0754, d1.loss_plan_l1_fix_dist: 0.1835, d2.loss_plan_l1_fix_time: 1.0641, d2.loss_plan_l1_fix_dist: 0.1862, d3.loss_plan_l1_fix_time: 1.0634, d3.loss_plan_l1_fix_dist: 0.1892, d4.loss_plan_l1_fix_time: 1.0684, d4.loss_plan_l1_fix_dist: 0.2026, d5.loss_plan_l1_fix_time: 1.0743, d5.loss_plan_l1_fix_dist: 0.2178, d6.loss_plan_l1_fix_time: 1.0805, d6.loss_plan_l1_fix_dist: 0.2333, d0.loss_cls_all: 0.1760, d0.loss_bbox_all: 0.3847, d0.loss_cls: 0.1760, d0.loss_bbox: 0.3847, d1.loss_cls: 0.1719, d1.loss_bbox: 0.3531, d2.loss_cls: 0.1580, d2.loss_bbox: 0.3411, d3.loss_cls: 0.1516, d3.loss_bbox: 0.3359, d4.loss_cls: 0.1441, d4.loss_bbox: 0.3365, d5.loss_cls: 0.1442, d5.loss_bbox: 0.3361, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8549, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6857, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6460, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6245, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6179, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6146, d0.loss_map_cls_all: 0.2196, d0.loss_map_pts_all: 1.3781, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2196, d0.loss_map_pts: 1.3781, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1885, d1.loss_map_pts: 0.8926, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1701, d2.loss_map_pts: 0.7300, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1585, d3.loss_map_pts: 0.6808, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1535, d4.loss_map_pts: 0.6621, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1487, d5.loss_map_pts: 0.6567, d5.loss_map_dir: 0.0097, loss: 27.8083, grad_norm: 151.0343 +2026-02-26 10:27:45,529 - DriveTransformer - INFO - Epoch [7][14750/39528] lr: 8.550e-05, eta: 6 days, 11:20:11, time: 0.774, data_time: 0.040, memory: 19865, loss_cls: 0.1454, loss_bbox: 0.3295, loss_traj: 0.5883, loss_traj_cls: 0.0011, loss_map_cls: 0.1554, loss_map_pts: 0.6453, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.3453, d0.loss_plan_l1_fix_dist: 0.3704, d1.loss_plan_l1_fix_time: 0.9709, d1.loss_plan_l1_fix_dist: 0.1595, d2.loss_plan_l1_fix_time: 0.9557, d2.loss_plan_l1_fix_dist: 0.1690, d3.loss_plan_l1_fix_time: 0.9539, d3.loss_plan_l1_fix_dist: 0.1841, d4.loss_plan_l1_fix_time: 0.9585, d4.loss_plan_l1_fix_dist: 0.1977, d5.loss_plan_l1_fix_time: 0.9636, d5.loss_plan_l1_fix_dist: 0.2148, d6.loss_plan_l1_fix_time: 0.9699, d6.loss_plan_l1_fix_dist: 0.2334, d0.loss_cls_all: 0.1815, d0.loss_bbox_all: 0.3852, d0.loss_cls: 0.1815, d0.loss_bbox: 0.3852, d1.loss_cls: 0.1704, d1.loss_bbox: 0.3546, d2.loss_cls: 0.1581, d2.loss_bbox: 0.3357, d3.loss_cls: 0.1475, d3.loss_bbox: 0.3325, d4.loss_cls: 0.1435, d4.loss_bbox: 0.3324, d5.loss_cls: 0.1444, d5.loss_bbox: 0.3301, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7902, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6445, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5915, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5825, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5783, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5845, d0.loss_map_cls_all: 0.2317, d0.loss_map_pts_all: 1.2977, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2317, d0.loss_map_pts: 1.2977, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.2024, d1.loss_map_pts: 0.9215, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1817, d2.loss_map_pts: 0.7471, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1711, d3.loss_map_pts: 0.6751, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1625, d4.loss_map_pts: 0.6500, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1567, d5.loss_map_pts: 0.6470, d5.loss_map_dir: 0.0085, loss: 26.5089, grad_norm: 148.2645 +2026-02-26 10:28:22,729 - DriveTransformer - INFO - Epoch [7][14800/39528] lr: 8.550e-05, eta: 6 days, 11:19:23, time: 0.745, data_time: 0.040, memory: 19865, loss_cls: 0.1663, loss_bbox: 0.3881, loss_traj: 0.6778, loss_traj_cls: 0.0010, loss_map_cls: 0.1577, loss_map_pts: 0.7067, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.7599, d0.loss_plan_l1_fix_dist: 0.4399, d1.loss_plan_l1_fix_time: 1.2075, d1.loss_plan_l1_fix_dist: 0.2266, d2.loss_plan_l1_fix_time: 1.1994, d2.loss_plan_l1_fix_dist: 0.2299, d3.loss_plan_l1_fix_time: 1.2016, d3.loss_plan_l1_fix_dist: 0.2479, d4.loss_plan_l1_fix_time: 1.2072, d4.loss_plan_l1_fix_dist: 0.2595, d5.loss_plan_l1_fix_time: 1.2128, d5.loss_plan_l1_fix_dist: 0.2761, d6.loss_plan_l1_fix_time: 1.2189, d6.loss_plan_l1_fix_dist: 0.2987, d0.loss_cls_all: 0.2060, d0.loss_bbox_all: 0.4484, d0.loss_cls: 0.2060, d0.loss_bbox: 0.4484, d1.loss_cls: 0.1977, d1.loss_bbox: 0.4114, d2.loss_cls: 0.1865, d2.loss_bbox: 0.3886, d3.loss_cls: 0.1715, d3.loss_bbox: 0.3845, d4.loss_cls: 0.1661, d4.loss_bbox: 0.3841, d5.loss_cls: 0.1655, d5.loss_bbox: 0.3847, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8631, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7252, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6948, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6835, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6778, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6768, d0.loss_map_cls_all: 0.2280, d0.loss_map_pts_all: 1.3755, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2280, d0.loss_map_pts: 1.3755, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1995, d1.loss_map_pts: 0.9763, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1815, d2.loss_map_pts: 0.8159, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1712, d3.loss_map_pts: 0.7439, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1637, d4.loss_map_pts: 0.7179, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1607, d5.loss_map_pts: 0.7079, d5.loss_map_dir: 0.0090, loss: 30.6763, grad_norm: 147.7070 +2026-02-26 10:29:01,591 - DriveTransformer - INFO - Epoch [7][14850/39528] lr: 8.550e-05, eta: 6 days, 11:18:39, time: 0.776, data_time: 0.038, memory: 19865, loss_cls: 0.1550, loss_bbox: 0.3681, loss_traj: 0.6489, loss_traj_cls: 0.0010, loss_map_cls: 0.1628, loss_map_pts: 0.7325, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.8125, d0.loss_plan_l1_fix_dist: 0.4078, d1.loss_plan_l1_fix_time: 1.2706, d1.loss_plan_l1_fix_dist: 0.1680, d2.loss_plan_l1_fix_time: 1.2624, d2.loss_plan_l1_fix_dist: 0.1704, d3.loss_plan_l1_fix_time: 1.2623, d3.loss_plan_l1_fix_dist: 0.1773, d4.loss_plan_l1_fix_time: 1.2660, d4.loss_plan_l1_fix_dist: 0.1889, d5.loss_plan_l1_fix_time: 1.2701, d5.loss_plan_l1_fix_dist: 0.1991, d6.loss_plan_l1_fix_time: 1.2741, d6.loss_plan_l1_fix_dist: 0.2153, d0.loss_cls_all: 0.1871, d0.loss_bbox_all: 0.4202, d0.loss_cls: 0.1871, d0.loss_bbox: 0.4202, d1.loss_cls: 0.1837, d1.loss_bbox: 0.3878, d2.loss_cls: 0.1714, d2.loss_bbox: 0.3734, d3.loss_cls: 0.1606, d3.loss_bbox: 0.3688, d4.loss_cls: 0.1569, d4.loss_bbox: 0.3658, d5.loss_cls: 0.1557, d5.loss_bbox: 0.3656, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9045, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7148, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6645, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6536, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6522, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6490, d0.loss_map_cls_all: 0.2324, d0.loss_map_pts_all: 1.4632, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2324, d0.loss_map_pts: 1.4632, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2061, d1.loss_map_pts: 1.0019, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1884, d2.loss_map_pts: 0.8433, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1789, d3.loss_map_pts: 0.7727, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1696, d4.loss_map_pts: 0.7403, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1660, d5.loss_map_pts: 0.7336, d5.loss_map_dir: 0.0093, loss: 30.6241, grad_norm: 146.1590 +2026-02-26 10:29:42,051 - DriveTransformer - INFO - Epoch [7][14900/39528] lr: 8.550e-05, eta: 6 days, 11:18:00, time: 0.809, data_time: 0.037, memory: 19865, loss_cls: 0.1393, loss_bbox: 0.3439, loss_traj: 0.6675, loss_traj_cls: 0.0010, loss_map_cls: 0.1295, loss_map_pts: 0.6523, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.3602, d0.loss_plan_l1_fix_dist: 0.3757, d1.loss_plan_l1_fix_time: 0.9807, d1.loss_plan_l1_fix_dist: 0.1628, d2.loss_plan_l1_fix_time: 0.9677, d2.loss_plan_l1_fix_dist: 0.1864, d3.loss_plan_l1_fix_time: 0.9655, d3.loss_plan_l1_fix_dist: 0.1930, d4.loss_plan_l1_fix_time: 0.9697, d4.loss_plan_l1_fix_dist: 0.2051, d5.loss_plan_l1_fix_time: 0.9751, d5.loss_plan_l1_fix_dist: 0.2173, d6.loss_plan_l1_fix_time: 0.9817, d6.loss_plan_l1_fix_dist: 0.2264, d0.loss_cls_all: 0.1758, d0.loss_bbox_all: 0.3914, d0.loss_cls: 0.1758, d0.loss_bbox: 0.3914, d1.loss_cls: 0.1676, d1.loss_bbox: 0.3620, d2.loss_cls: 0.1551, d2.loss_bbox: 0.3459, d3.loss_cls: 0.1438, d3.loss_bbox: 0.3423, d4.loss_cls: 0.1389, d4.loss_bbox: 0.3412, d5.loss_cls: 0.1388, d5.loss_bbox: 0.3404, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8769, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7229, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6806, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6749, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6703, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6693, d0.loss_map_cls_all: 0.2145, d0.loss_map_pts_all: 1.3686, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2145, d0.loss_map_pts: 1.3686, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1801, d1.loss_map_pts: 0.9190, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1565, d2.loss_map_pts: 0.7513, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1437, d3.loss_map_pts: 0.6877, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1335, d4.loss_map_pts: 0.6622, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1303, d5.loss_map_pts: 0.6531, d5.loss_map_dir: 0.0098, loss: 27.2682, grad_norm: 147.7764 +2026-02-26 10:30:22,380 - DriveTransformer - INFO - Epoch [7][14950/39528] lr: 8.550e-05, eta: 6 days, 11:17:20, time: 0.807, data_time: 0.037, memory: 19865, loss_cls: 0.1589, loss_bbox: 0.3709, loss_traj: 0.6675, loss_traj_cls: 0.0010, loss_map_cls: 0.1634, loss_map_pts: 0.7506, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.6190, d0.loss_plan_l1_fix_dist: 0.3772, d1.loss_plan_l1_fix_time: 1.0666, d1.loss_plan_l1_fix_dist: 0.1849, d2.loss_plan_l1_fix_time: 1.0573, d2.loss_plan_l1_fix_dist: 0.1968, d3.loss_plan_l1_fix_time: 1.0628, d3.loss_plan_l1_fix_dist: 0.1976, d4.loss_plan_l1_fix_time: 1.0663, d4.loss_plan_l1_fix_dist: 0.2048, d5.loss_plan_l1_fix_time: 1.0707, d5.loss_plan_l1_fix_dist: 0.2253, d6.loss_plan_l1_fix_time: 1.0763, d6.loss_plan_l1_fix_dist: 0.2414, d0.loss_cls_all: 0.1976, d0.loss_bbox_all: 0.4197, d0.loss_cls: 0.1976, d0.loss_bbox: 0.4197, d1.loss_cls: 0.1894, d1.loss_bbox: 0.3887, d2.loss_cls: 0.1750, d2.loss_bbox: 0.3731, d3.loss_cls: 0.1647, d3.loss_bbox: 0.3698, d4.loss_cls: 0.1587, d4.loss_bbox: 0.3701, d5.loss_cls: 0.1594, d5.loss_bbox: 0.3688, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9122, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7126, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6784, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6731, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6625, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6607, d0.loss_map_cls_all: 0.2448, d0.loss_map_pts_all: 1.5102, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2448, d0.loss_map_pts: 1.5102, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2141, d1.loss_map_pts: 1.0464, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1911, d2.loss_map_pts: 0.8626, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1787, d3.loss_map_pts: 0.7856, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1701, d4.loss_map_pts: 0.7564, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1666, d5.loss_map_pts: 0.7499, d5.loss_map_dir: 0.0088, loss: 29.7167, grad_norm: 147.8261 +2026-02-26 10:31:04,165 - DriveTransformer - INFO - Epoch [7][15000/39528] lr: 8.550e-05, eta: 6 days, 11:16:45, time: 0.836, data_time: 0.040, memory: 19865, loss_cls: 0.1629, loss_bbox: 0.3600, loss_traj: 0.6220, loss_traj_cls: 0.0009, loss_map_cls: 0.1727, loss_map_pts: 0.7886, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 3.1617, d0.loss_plan_l1_fix_dist: 0.3865, d1.loss_plan_l1_fix_time: 1.1684, d1.loss_plan_l1_fix_dist: 0.2012, d2.loss_plan_l1_fix_time: 1.1482, d2.loss_plan_l1_fix_dist: 0.1810, d3.loss_plan_l1_fix_time: 1.1341, d3.loss_plan_l1_fix_dist: 0.1876, d4.loss_plan_l1_fix_time: 1.1359, d4.loss_plan_l1_fix_dist: 0.1999, d5.loss_plan_l1_fix_time: 1.1394, d5.loss_plan_l1_fix_dist: 0.2104, d6.loss_plan_l1_fix_time: 1.1437, d6.loss_plan_l1_fix_dist: 0.2233, d0.loss_cls_all: 0.2026, d0.loss_bbox_all: 0.4083, d0.loss_cls: 0.2026, d0.loss_bbox: 0.4083, d1.loss_cls: 0.1928, d1.loss_bbox: 0.3798, d2.loss_cls: 0.1780, d2.loss_bbox: 0.3653, d3.loss_cls: 0.1696, d3.loss_bbox: 0.3591, d4.loss_cls: 0.1622, d4.loss_bbox: 0.3596, d5.loss_cls: 0.1620, d5.loss_bbox: 0.3582, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8413, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6615, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6301, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6216, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6205, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6214, d0.loss_map_cls_all: 0.2476, d0.loss_map_pts_all: 1.6741, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2476, d0.loss_map_pts: 1.6741, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2218, d1.loss_map_pts: 1.1288, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2006, d2.loss_map_pts: 0.9108, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.1872, d3.loss_map_pts: 0.8240, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.1803, d4.loss_map_pts: 0.7986, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.1747, d5.loss_map_pts: 0.7894, d5.loss_map_dir: 0.0120, loss: 30.9896, grad_norm: 141.8095 +2026-02-26 10:31:43,905 - DriveTransformer - INFO - Epoch [7][15050/39528] lr: 8.550e-05, eta: 6 days, 11:16:03, time: 0.795, data_time: 0.041, memory: 19865, loss_cls: 0.1468, loss_bbox: 0.3662, loss_traj: 0.6567, loss_traj_cls: 0.0010, loss_map_cls: 0.1620, loss_map_pts: 0.7221, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.3614, d0.loss_plan_l1_fix_dist: 0.4139, d1.loss_plan_l1_fix_time: 0.9860, d1.loss_plan_l1_fix_dist: 0.2125, d2.loss_plan_l1_fix_time: 0.9791, d2.loss_plan_l1_fix_dist: 0.1918, d3.loss_plan_l1_fix_time: 0.9833, d3.loss_plan_l1_fix_dist: 0.1994, d4.loss_plan_l1_fix_time: 0.9879, d4.loss_plan_l1_fix_dist: 0.2108, d5.loss_plan_l1_fix_time: 0.9926, d5.loss_plan_l1_fix_dist: 0.2181, d6.loss_plan_l1_fix_time: 0.9982, d6.loss_plan_l1_fix_dist: 0.2315, d0.loss_cls_all: 0.1849, d0.loss_bbox_all: 0.4152, d0.loss_cls: 0.1849, d0.loss_bbox: 0.4152, d1.loss_cls: 0.1772, d1.loss_bbox: 0.3813, d2.loss_cls: 0.1642, d2.loss_bbox: 0.3670, d3.loss_cls: 0.1527, d3.loss_bbox: 0.3644, d4.loss_cls: 0.1448, d4.loss_bbox: 0.3661, d5.loss_cls: 0.1443, d5.loss_bbox: 0.3664, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8476, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6999, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6582, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6610, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6522, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6558, d0.loss_map_cls_all: 0.2306, d0.loss_map_pts_all: 1.4523, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2306, d0.loss_map_pts: 1.4523, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.2055, d1.loss_map_pts: 1.0334, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1887, d2.loss_map_pts: 0.8397, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1776, d3.loss_map_pts: 0.7612, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1704, d4.loss_map_pts: 0.7346, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1650, d5.loss_map_pts: 0.7237, d5.loss_map_dir: 0.0095, loss: 28.4670, grad_norm: 139.8998 +2026-02-26 10:32:21,281 - DriveTransformer - INFO - Epoch [7][15100/39528] lr: 8.550e-05, eta: 6 days, 11:15:16, time: 0.747, data_time: 0.042, memory: 19865, loss_cls: 0.1750, loss_bbox: 0.3693, loss_traj: 0.6269, loss_traj_cls: 0.0010, loss_map_cls: 0.1868, loss_map_pts: 0.7044, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.8159, d0.loss_plan_l1_fix_dist: 0.3493, d1.loss_plan_l1_fix_time: 1.1447, d1.loss_plan_l1_fix_dist: 0.2061, d2.loss_plan_l1_fix_time: 1.1297, d2.loss_plan_l1_fix_dist: 0.1882, d3.loss_plan_l1_fix_time: 1.1302, d3.loss_plan_l1_fix_dist: 0.1950, d4.loss_plan_l1_fix_time: 1.1337, d4.loss_plan_l1_fix_dist: 0.2037, d5.loss_plan_l1_fix_time: 1.1372, d5.loss_plan_l1_fix_dist: 0.2134, d6.loss_plan_l1_fix_time: 1.1417, d6.loss_plan_l1_fix_dist: 0.2253, d0.loss_cls_all: 0.2054, d0.loss_bbox_all: 0.4272, d0.loss_cls: 0.2054, d0.loss_bbox: 0.4272, d1.loss_cls: 0.2037, d1.loss_bbox: 0.3931, d2.loss_cls: 0.1890, d2.loss_bbox: 0.3765, d3.loss_cls: 0.1768, d3.loss_bbox: 0.3716, d4.loss_cls: 0.1741, d4.loss_bbox: 0.3689, d5.loss_cls: 0.1745, d5.loss_bbox: 0.3686, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8830, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7108, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6553, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6430, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6343, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6308, d0.loss_map_cls_all: 0.2608, d0.loss_map_pts_all: 1.3079, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2608, d0.loss_map_pts: 1.3079, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.2343, d1.loss_map_pts: 0.9530, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.2116, d2.loss_map_pts: 0.7951, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1994, d3.loss_map_pts: 0.7323, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1926, d4.loss_map_pts: 0.7133, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1883, d5.loss_map_pts: 0.7063, d5.loss_map_dir: 0.0088, loss: 29.6322, grad_norm: 141.6906 +2026-02-26 10:33:00,487 - DriveTransformer - INFO - Epoch [7][15150/39528] lr: 8.550e-05, eta: 6 days, 11:14:33, time: 0.784, data_time: 0.037, memory: 19865, loss_cls: 0.1929, loss_bbox: 0.4070, loss_traj: 0.7445, loss_traj_cls: 0.0009, loss_map_cls: 0.1734, loss_map_pts: 0.8209, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.4779, d0.loss_plan_l1_fix_dist: 0.3749, d1.loss_plan_l1_fix_time: 1.1163, d1.loss_plan_l1_fix_dist: 0.1902, d2.loss_plan_l1_fix_time: 1.0988, d2.loss_plan_l1_fix_dist: 0.1847, d3.loss_plan_l1_fix_time: 1.0930, d3.loss_plan_l1_fix_dist: 0.1909, d4.loss_plan_l1_fix_time: 1.0964, d4.loss_plan_l1_fix_dist: 0.1962, d5.loss_plan_l1_fix_time: 1.1008, d5.loss_plan_l1_fix_dist: 0.2060, d6.loss_plan_l1_fix_time: 1.1057, d6.loss_plan_l1_fix_dist: 0.2162, d0.loss_cls_all: 0.2360, d0.loss_bbox_all: 0.4619, d0.loss_cls: 0.2360, d0.loss_bbox: 0.4619, d1.loss_cls: 0.2242, d1.loss_bbox: 0.4311, d2.loss_cls: 0.2097, d2.loss_bbox: 0.4150, d3.loss_cls: 0.1980, d3.loss_bbox: 0.4086, d4.loss_cls: 0.1920, d4.loss_bbox: 0.4090, d5.loss_cls: 0.1923, d5.loss_bbox: 0.4066, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0204, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8188, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7482, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7372, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7414, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7443, d0.loss_map_cls_all: 0.2663, d0.loss_map_pts_all: 1.6431, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2663, d0.loss_map_pts: 1.6431, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2311, d1.loss_map_pts: 1.1438, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.2022, d2.loss_map_pts: 0.9320, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1875, d3.loss_map_pts: 0.8539, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1786, d4.loss_map_pts: 0.8287, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1752, d5.loss_map_pts: 0.8216, d5.loss_map_dir: 0.0109, loss: 31.7410, grad_norm: 140.6527 +2026-02-26 10:33:40,592 - DriveTransformer - INFO - Epoch [7][15200/39528] lr: 8.550e-05, eta: 6 days, 11:13:53, time: 0.802, data_time: 0.038, memory: 19865, loss_cls: 0.1517, loss_bbox: 0.3636, loss_traj: 0.5944, loss_traj_cls: 0.0010, loss_map_cls: 0.1655, loss_map_pts: 0.7169, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.6187, d0.loss_plan_l1_fix_dist: 0.4532, d1.loss_plan_l1_fix_time: 1.1233, d1.loss_plan_l1_fix_dist: 0.1909, d2.loss_plan_l1_fix_time: 1.1150, d2.loss_plan_l1_fix_dist: 0.1876, d3.loss_plan_l1_fix_time: 1.1114, d3.loss_plan_l1_fix_dist: 0.1945, d4.loss_plan_l1_fix_time: 1.1144, d4.loss_plan_l1_fix_dist: 0.2043, d5.loss_plan_l1_fix_time: 1.1181, d5.loss_plan_l1_fix_dist: 0.2162, d6.loss_plan_l1_fix_time: 1.1216, d6.loss_plan_l1_fix_dist: 0.2319, d0.loss_cls_all: 0.1892, d0.loss_bbox_all: 0.4218, d0.loss_cls: 0.1892, d0.loss_bbox: 0.4218, d1.loss_cls: 0.1815, d1.loss_bbox: 0.3872, d2.loss_cls: 0.1657, d2.loss_bbox: 0.3721, d3.loss_cls: 0.1575, d3.loss_bbox: 0.3665, d4.loss_cls: 0.1509, d4.loss_bbox: 0.3646, d5.loss_cls: 0.1514, d5.loss_bbox: 0.3635, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7817, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6399, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6094, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5975, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5976, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5976, d0.loss_map_cls_all: 0.2426, d0.loss_map_pts_all: 1.4564, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2426, d0.loss_map_pts: 1.4564, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2143, d1.loss_map_pts: 0.9938, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1932, d2.loss_map_pts: 0.8180, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1795, d3.loss_map_pts: 0.7463, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1717, d4.loss_map_pts: 0.7234, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1662, d5.loss_map_pts: 0.7179, d5.loss_map_dir: 0.0108, loss: 29.1129, grad_norm: 138.9461 +2026-02-26 10:34:19,237 - DriveTransformer - INFO - Epoch [7][15250/39528] lr: 8.550e-05, eta: 6 days, 11:13:08, time: 0.773, data_time: 0.045, memory: 19865, loss_cls: 0.1694, loss_bbox: 0.3773, loss_traj: 0.6617, loss_traj_cls: 0.0009, loss_map_cls: 0.1647, loss_map_pts: 0.7273, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.7028, d0.loss_plan_l1_fix_dist: 0.4228, d1.loss_plan_l1_fix_time: 1.0135, d1.loss_plan_l1_fix_dist: 0.2115, d2.loss_plan_l1_fix_time: 1.0032, d2.loss_plan_l1_fix_dist: 0.2250, d3.loss_plan_l1_fix_time: 1.0006, d3.loss_plan_l1_fix_dist: 0.2359, d4.loss_plan_l1_fix_time: 1.0043, d4.loss_plan_l1_fix_dist: 0.2576, d5.loss_plan_l1_fix_time: 1.0082, d5.loss_plan_l1_fix_dist: 0.2775, d6.loss_plan_l1_fix_time: 1.0120, d6.loss_plan_l1_fix_dist: 0.2989, d0.loss_cls_all: 0.2115, d0.loss_bbox_all: 0.4362, d0.loss_cls: 0.2115, d0.loss_bbox: 0.4362, d1.loss_cls: 0.2005, d1.loss_bbox: 0.4058, d2.loss_cls: 0.1882, d2.loss_bbox: 0.3890, d3.loss_cls: 0.1718, d3.loss_bbox: 0.3831, d4.loss_cls: 0.1682, d4.loss_bbox: 0.3791, d5.loss_cls: 0.1672, d5.loss_bbox: 0.3786, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8861, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7479, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6825, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6742, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6635, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6619, d0.loss_map_cls_all: 0.2198, d0.loss_map_pts_all: 1.2712, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2198, d0.loss_map_pts: 1.2712, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.2026, d1.loss_map_pts: 0.9306, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1861, d2.loss_map_pts: 0.8014, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1766, d3.loss_map_pts: 0.7489, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1701, d4.loss_map_pts: 0.7288, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1670, d5.loss_map_pts: 0.7283, d5.loss_map_dir: 0.0080, loss: 29.1083, grad_norm: 145.5973 +2026-02-26 10:34:58,686 - DriveTransformer - INFO - Epoch [7][15300/39528] lr: 8.550e-05, eta: 6 days, 11:12:26, time: 0.789, data_time: 0.037, memory: 19865, loss_cls: 0.1496, loss_bbox: 0.3553, loss_traj: 0.6626, loss_traj_cls: 0.0009, loss_map_cls: 0.1643, loss_map_pts: 0.7267, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.7110, d0.loss_plan_l1_fix_dist: 0.4019, d1.loss_plan_l1_fix_time: 1.1759, d1.loss_plan_l1_fix_dist: 0.1781, d2.loss_plan_l1_fix_time: 1.1649, d2.loss_plan_l1_fix_dist: 0.1937, d3.loss_plan_l1_fix_time: 1.1663, d3.loss_plan_l1_fix_dist: 0.1863, d4.loss_plan_l1_fix_time: 1.1707, d4.loss_plan_l1_fix_dist: 0.1968, d5.loss_plan_l1_fix_time: 1.1754, d5.loss_plan_l1_fix_dist: 0.2129, d6.loss_plan_l1_fix_time: 1.1804, d6.loss_plan_l1_fix_dist: 0.2283, d0.loss_cls_all: 0.1891, d0.loss_bbox_all: 0.4231, d0.loss_cls: 0.1891, d0.loss_bbox: 0.4231, d1.loss_cls: 0.1837, d1.loss_bbox: 0.3885, d2.loss_cls: 0.1706, d2.loss_bbox: 0.3681, d3.loss_cls: 0.1579, d3.loss_bbox: 0.3591, d4.loss_cls: 0.1494, d4.loss_bbox: 0.3584, d5.loss_cls: 0.1501, d5.loss_bbox: 0.3548, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9006, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7070, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6766, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6666, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6619, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6634, d0.loss_map_cls_all: 0.2373, d0.loss_map_pts_all: 1.5636, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2373, d0.loss_map_pts: 1.5636, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2114, d1.loss_map_pts: 1.0518, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1907, d2.loss_map_pts: 0.8498, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1780, d3.loss_map_pts: 0.7644, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1729, d4.loss_map_pts: 0.7335, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1662, d5.loss_map_pts: 0.7286, d5.loss_map_dir: 0.0102, loss: 30.2764, grad_norm: 145.2910 +2026-02-26 10:35:37,342 - DriveTransformer - INFO - Epoch [7][15350/39528] lr: 8.550e-05, eta: 6 days, 11:11:42, time: 0.773, data_time: 0.042, memory: 19865, loss_cls: 0.1537, loss_bbox: 0.3433, loss_traj: 0.5274, loss_traj_cls: 0.0009, loss_map_cls: 0.1842, loss_map_pts: 0.7354, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.5420, d0.loss_plan_l1_fix_dist: 0.3278, d1.loss_plan_l1_fix_time: 1.0934, d1.loss_plan_l1_fix_dist: 0.1749, d2.loss_plan_l1_fix_time: 1.0804, d2.loss_plan_l1_fix_dist: 0.1918, d3.loss_plan_l1_fix_time: 1.0834, d3.loss_plan_l1_fix_dist: 0.1984, d4.loss_plan_l1_fix_time: 1.0872, d4.loss_plan_l1_fix_dist: 0.2135, d5.loss_plan_l1_fix_time: 1.0913, d5.loss_plan_l1_fix_dist: 0.2276, d6.loss_plan_l1_fix_time: 1.0962, d6.loss_plan_l1_fix_dist: 0.2485, d0.loss_cls_all: 0.1988, d0.loss_bbox_all: 0.4005, d0.loss_cls: 0.1988, d0.loss_bbox: 0.4005, d1.loss_cls: 0.1934, d1.loss_bbox: 0.3646, d2.loss_cls: 0.1750, d2.loss_bbox: 0.3505, d3.loss_cls: 0.1608, d3.loss_bbox: 0.3452, d4.loss_cls: 0.1528, d4.loss_bbox: 0.3456, d5.loss_cls: 0.1532, d5.loss_bbox: 0.3436, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7020, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5784, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5389, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5256, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5274, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5261, d0.loss_map_cls_all: 0.2663, d0.loss_map_pts_all: 1.4325, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2663, d0.loss_map_pts: 1.4325, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2320, d1.loss_map_pts: 0.9782, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.2082, d2.loss_map_pts: 0.8104, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1962, d3.loss_map_pts: 0.7541, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1911, d4.loss_map_pts: 0.7389, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1860, d5.loss_map_pts: 0.7340, d5.loss_map_dir: 0.0097, loss: 28.2900, grad_norm: 146.5609 +2026-02-26 10:36:15,050 - DriveTransformer - INFO - Epoch [7][15400/39528] lr: 8.550e-05, eta: 6 days, 11:10:55, time: 0.754, data_time: 0.046, memory: 19865, loss_cls: 0.1525, loss_bbox: 0.3375, loss_traj: 0.5731, loss_traj_cls: 0.0010, loss_map_cls: 0.1723, loss_map_pts: 0.7418, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.6951, d0.loss_plan_l1_fix_dist: 0.4360, d1.loss_plan_l1_fix_time: 1.0391, d1.loss_plan_l1_fix_dist: 0.1908, d2.loss_plan_l1_fix_time: 1.0307, d2.loss_plan_l1_fix_dist: 0.1953, d3.loss_plan_l1_fix_time: 1.0345, d3.loss_plan_l1_fix_dist: 0.2069, d4.loss_plan_l1_fix_time: 1.0390, d4.loss_plan_l1_fix_dist: 0.2201, d5.loss_plan_l1_fix_time: 1.0439, d5.loss_plan_l1_fix_dist: 0.2373, d6.loss_plan_l1_fix_time: 1.0500, d6.loss_plan_l1_fix_dist: 0.2583, d0.loss_cls_all: 0.1898, d0.loss_bbox_all: 0.3952, d0.loss_cls: 0.1898, d0.loss_bbox: 0.3952, d1.loss_cls: 0.1854, d1.loss_bbox: 0.3603, d2.loss_cls: 0.1721, d2.loss_bbox: 0.3433, d3.loss_cls: 0.1603, d3.loss_bbox: 0.3372, d4.loss_cls: 0.1544, d4.loss_bbox: 0.3390, d5.loss_cls: 0.1522, d5.loss_bbox: 0.3383, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7902, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6303, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5895, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5806, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5729, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5683, d0.loss_map_cls_all: 0.2381, d0.loss_map_pts_all: 1.4258, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2381, d0.loss_map_pts: 1.4258, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2118, d1.loss_map_pts: 1.0209, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1911, d2.loss_map_pts: 0.8510, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1799, d3.loss_map_pts: 0.7734, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1752, d4.loss_map_pts: 0.7491, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1715, d5.loss_map_pts: 0.7435, d5.loss_map_dir: 0.0094, loss: 28.5744, grad_norm: 146.8814 +2026-02-26 10:36:54,381 - DriveTransformer - INFO - Epoch [7][15450/39528] lr: 8.550e-05, eta: 6 days, 11:10:13, time: 0.787, data_time: 0.043, memory: 19865, loss_cls: 0.1543, loss_bbox: 0.3806, loss_traj: 0.5958, loss_traj_cls: 0.0010, loss_map_cls: 0.1511, loss_map_pts: 0.7368, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.8076, d0.loss_plan_l1_fix_dist: 0.4391, d1.loss_plan_l1_fix_time: 1.1100, d1.loss_plan_l1_fix_dist: 0.2095, d2.loss_plan_l1_fix_time: 1.0796, d2.loss_plan_l1_fix_dist: 0.1808, d3.loss_plan_l1_fix_time: 1.0695, d3.loss_plan_l1_fix_dist: 0.1829, d4.loss_plan_l1_fix_time: 1.0704, d4.loss_plan_l1_fix_dist: 0.1894, d5.loss_plan_l1_fix_time: 1.0725, d5.loss_plan_l1_fix_dist: 0.2020, d6.loss_plan_l1_fix_time: 1.0754, d6.loss_plan_l1_fix_dist: 0.2085, d0.loss_cls_all: 0.1969, d0.loss_bbox_all: 0.4363, d0.loss_cls: 0.1969, d0.loss_bbox: 0.4363, d1.loss_cls: 0.1909, d1.loss_bbox: 0.4047, d2.loss_cls: 0.1771, d2.loss_bbox: 0.3866, d3.loss_cls: 0.1643, d3.loss_bbox: 0.3822, d4.loss_cls: 0.1556, d4.loss_bbox: 0.3825, d5.loss_cls: 0.1554, d5.loss_bbox: 0.3800, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7913, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6705, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6128, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6104, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6003, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5942, d0.loss_map_cls_all: 0.2159, d0.loss_map_pts_all: 1.4060, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2159, d0.loss_map_pts: 1.4060, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1919, d1.loss_map_pts: 0.9919, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1760, d2.loss_map_pts: 0.8272, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1647, d3.loss_map_pts: 0.7582, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1564, d4.loss_map_pts: 0.7388, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1521, d5.loss_map_pts: 0.7372, d5.loss_map_dir: 0.0095, loss: 29.0611, grad_norm: 147.1315 +2026-02-26 10:37:33,826 - DriveTransformer - INFO - Epoch [7][15500/39528] lr: 8.550e-05, eta: 6 days, 11:09:31, time: 0.789, data_time: 0.042, memory: 19865, loss_cls: 0.1574, loss_bbox: 0.3498, loss_traj: 0.5339, loss_traj_cls: 0.0010, loss_map_cls: 0.1753, loss_map_pts: 0.7233, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.2944, d0.loss_plan_l1_fix_dist: 0.4048, d1.loss_plan_l1_fix_time: 0.9651, d1.loss_plan_l1_fix_dist: 0.2435, d2.loss_plan_l1_fix_time: 0.9653, d2.loss_plan_l1_fix_dist: 0.2036, d3.loss_plan_l1_fix_time: 0.9689, d3.loss_plan_l1_fix_dist: 0.2107, d4.loss_plan_l1_fix_time: 0.9725, d4.loss_plan_l1_fix_dist: 0.2177, d5.loss_plan_l1_fix_time: 0.9759, d5.loss_plan_l1_fix_dist: 0.2287, d6.loss_plan_l1_fix_time: 0.9792, d6.loss_plan_l1_fix_dist: 0.2415, d0.loss_cls_all: 0.1983, d0.loss_bbox_all: 0.4186, d0.loss_cls: 0.1983, d0.loss_bbox: 0.4186, d1.loss_cls: 0.1939, d1.loss_bbox: 0.3795, d2.loss_cls: 0.1761, d2.loss_bbox: 0.3623, d3.loss_cls: 0.1632, d3.loss_bbox: 0.3533, d4.loss_cls: 0.1583, d4.loss_bbox: 0.3508, d5.loss_cls: 0.1577, d5.loss_bbox: 0.3494, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7528, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5812, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5509, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5416, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5362, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5314, d0.loss_map_cls_all: 0.2495, d0.loss_map_pts_all: 1.4589, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2495, d0.loss_map_pts: 1.4589, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2171, d1.loss_map_pts: 1.0222, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1961, d2.loss_map_pts: 0.8301, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1852, d3.loss_map_pts: 0.7522, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1811, d4.loss_map_pts: 0.7305, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1763, d5.loss_map_pts: 0.7252, d5.loss_map_dir: 0.0105, loss: 27.7024, grad_norm: 145.4874 +2026-02-26 10:38:12,618 - DriveTransformer - INFO - Epoch [7][15550/39528] lr: 8.550e-05, eta: 6 days, 11:08:47, time: 0.776, data_time: 0.036, memory: 19865, loss_cls: 0.1378, loss_bbox: 0.3475, loss_traj: 0.5565, loss_traj_cls: 0.0010, loss_map_cls: 0.1551, loss_map_pts: 0.7130, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.1005, d0.loss_plan_l1_fix_dist: 0.3986, d1.loss_plan_l1_fix_time: 0.7944, d1.loss_plan_l1_fix_dist: 0.2445, d2.loss_plan_l1_fix_time: 0.7831, d2.loss_plan_l1_fix_dist: 0.1952, d3.loss_plan_l1_fix_time: 0.7826, d3.loss_plan_l1_fix_dist: 0.1955, d4.loss_plan_l1_fix_time: 0.7849, d4.loss_plan_l1_fix_dist: 0.2017, d5.loss_plan_l1_fix_time: 0.7878, d5.loss_plan_l1_fix_dist: 0.2122, d6.loss_plan_l1_fix_time: 0.7910, d6.loss_plan_l1_fix_dist: 0.2261, d0.loss_cls_all: 0.1701, d0.loss_bbox_all: 0.3988, d0.loss_cls: 0.1701, d0.loss_bbox: 0.3988, d1.loss_cls: 0.1659, d1.loss_bbox: 0.3683, d2.loss_cls: 0.1538, d2.loss_bbox: 0.3536, d3.loss_cls: 0.1452, d3.loss_bbox: 0.3456, d4.loss_cls: 0.1366, d4.loss_bbox: 0.3468, d5.loss_cls: 0.1366, d5.loss_bbox: 0.3468, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7482, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6208, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5752, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5634, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5516, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5543, d0.loss_map_cls_all: 0.2319, d0.loss_map_pts_all: 1.4361, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2319, d0.loss_map_pts: 1.4361, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2014, d1.loss_map_pts: 1.0031, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1812, d2.loss_map_pts: 0.8198, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1684, d3.loss_map_pts: 0.7523, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1615, d4.loss_map_pts: 0.7243, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1560, d5.loss_map_pts: 0.7158, d5.loss_map_dir: 0.0098, loss: 25.9599, grad_norm: 146.5446 +2026-02-26 10:38:51,403 - DriveTransformer - INFO - Epoch [7][15600/39528] lr: 8.550e-05, eta: 6 days, 11:08:04, time: 0.777, data_time: 0.037, memory: 19865, loss_cls: 0.1575, loss_bbox: 0.3674, loss_traj: 0.6651, loss_traj_cls: 0.0010, loss_map_cls: 0.1609, loss_map_pts: 0.7467, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.5426, d0.loss_plan_l1_fix_dist: 0.3829, d1.loss_plan_l1_fix_time: 1.0144, d1.loss_plan_l1_fix_dist: 0.2433, d2.loss_plan_l1_fix_time: 1.0004, d2.loss_plan_l1_fix_dist: 0.2015, d3.loss_plan_l1_fix_time: 0.9950, d3.loss_plan_l1_fix_dist: 0.2083, d4.loss_plan_l1_fix_time: 0.9961, d4.loss_plan_l1_fix_dist: 0.2207, d5.loss_plan_l1_fix_time: 0.9981, d5.loss_plan_l1_fix_dist: 0.2347, d6.loss_plan_l1_fix_time: 1.0010, d6.loss_plan_l1_fix_dist: 0.2478, d0.loss_cls_all: 0.2028, d0.loss_bbox_all: 0.4300, d0.loss_cls: 0.2028, d0.loss_bbox: 0.4300, d1.loss_cls: 0.1948, d1.loss_bbox: 0.3954, d2.loss_cls: 0.1790, d2.loss_bbox: 0.3780, d3.loss_cls: 0.1641, d3.loss_bbox: 0.3713, d4.loss_cls: 0.1579, d4.loss_bbox: 0.3691, d5.loss_cls: 0.1580, d5.loss_bbox: 0.3678, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9022, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7311, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6877, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6786, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6669, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6638, d0.loss_map_cls_all: 0.2406, d0.loss_map_pts_all: 1.5010, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2406, d0.loss_map_pts: 1.5010, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2027, d1.loss_map_pts: 1.0431, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1830, d2.loss_map_pts: 0.8482, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1727, d3.loss_map_pts: 0.7766, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1661, d4.loss_map_pts: 0.7531, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1625, d5.loss_map_pts: 0.7478, d5.loss_map_dir: 0.0108, loss: 29.3449, grad_norm: 146.2580 +2026-02-26 10:39:28,719 - DriveTransformer - INFO - Epoch [7][15650/39528] lr: 8.550e-05, eta: 6 days, 11:07:16, time: 0.745, data_time: 0.039, memory: 19865, loss_cls: 0.1497, loss_bbox: 0.3353, loss_traj: 0.6742, loss_traj_cls: 0.0010, loss_map_cls: 0.1475, loss_map_pts: 0.6259, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.4772, d0.loss_plan_l1_fix_dist: 0.4151, d1.loss_plan_l1_fix_time: 1.0238, d1.loss_plan_l1_fix_dist: 0.2400, d2.loss_plan_l1_fix_time: 1.0009, d2.loss_plan_l1_fix_dist: 0.2078, d3.loss_plan_l1_fix_time: 1.0010, d3.loss_plan_l1_fix_dist: 0.1982, d4.loss_plan_l1_fix_time: 1.0038, d4.loss_plan_l1_fix_dist: 0.2125, d5.loss_plan_l1_fix_time: 1.0066, d5.loss_plan_l1_fix_dist: 0.2336, d6.loss_plan_l1_fix_time: 1.0101, d6.loss_plan_l1_fix_dist: 0.2604, d0.loss_cls_all: 0.1842, d0.loss_bbox_all: 0.4013, d0.loss_cls: 0.1842, d0.loss_bbox: 0.4013, d1.loss_cls: 0.1771, d1.loss_bbox: 0.3678, d2.loss_cls: 0.1660, d2.loss_bbox: 0.3492, d3.loss_cls: 0.1552, d3.loss_bbox: 0.3410, d4.loss_cls: 0.1494, d4.loss_bbox: 0.3384, d5.loss_cls: 0.1500, d5.loss_bbox: 0.3355, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9191, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7430, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7033, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6833, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6786, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6721, d0.loss_map_cls_all: 0.2240, d0.loss_map_pts_all: 1.2803, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2240, d0.loss_map_pts: 1.2803, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1925, d1.loss_map_pts: 0.9171, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1690, d2.loss_map_pts: 0.7426, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1611, d3.loss_map_pts: 0.6639, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1533, d4.loss_map_pts: 0.6377, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1486, d5.loss_map_pts: 0.6273, d5.loss_map_dir: 0.0073, loss: 27.8089, grad_norm: 146.0808 +2026-02-26 10:40:08,261 - DriveTransformer - INFO - Epoch [7][15700/39528] lr: 8.550e-05, eta: 6 days, 11:06:34, time: 0.791, data_time: 0.039, memory: 19865, loss_cls: 0.1736, loss_bbox: 0.3856, loss_traj: 0.5953, loss_traj_cls: 0.0010, loss_map_cls: 0.1657, loss_map_pts: 0.7643, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.9147, d0.loss_plan_l1_fix_dist: 0.3985, d1.loss_plan_l1_fix_time: 1.0537, d1.loss_plan_l1_fix_dist: 0.2347, d2.loss_plan_l1_fix_time: 1.0337, d2.loss_plan_l1_fix_dist: 0.2188, d3.loss_plan_l1_fix_time: 1.0311, d3.loss_plan_l1_fix_dist: 0.2080, d4.loss_plan_l1_fix_time: 1.0329, d4.loss_plan_l1_fix_dist: 0.2203, d5.loss_plan_l1_fix_time: 1.0350, d5.loss_plan_l1_fix_dist: 0.2383, d6.loss_plan_l1_fix_time: 1.0374, d6.loss_plan_l1_fix_dist: 0.2568, d0.loss_cls_all: 0.2051, d0.loss_bbox_all: 0.4555, d0.loss_cls: 0.2051, d0.loss_bbox: 0.4555, d1.loss_cls: 0.1988, d1.loss_bbox: 0.4191, d2.loss_cls: 0.1883, d2.loss_bbox: 0.3976, d3.loss_cls: 0.1794, d3.loss_bbox: 0.3892, d4.loss_cls: 0.1742, d4.loss_bbox: 0.3854, d5.loss_cls: 0.1727, d5.loss_bbox: 0.3846, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8040, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6619, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6166, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6045, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5939, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5940, d0.loss_map_cls_all: 0.2373, d0.loss_map_pts_all: 1.5548, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2373, d0.loss_map_pts: 1.5548, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2071, d1.loss_map_pts: 1.0648, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1897, d2.loss_map_pts: 0.8761, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1771, d3.loss_map_pts: 0.7991, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1702, d4.loss_map_pts: 0.7740, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1668, d5.loss_map_pts: 0.7665, d5.loss_map_dir: 0.0106, loss: 29.9492, grad_norm: 147.8953 +2026-02-26 10:40:45,428 - DriveTransformer - INFO - Epoch [7][15750/39528] lr: 8.550e-05, eta: 6 days, 11:05:46, time: 0.743, data_time: 0.041, memory: 19865, loss_cls: 0.1491, loss_bbox: 0.3497, loss_traj: 0.6423, loss_traj_cls: 0.0010, loss_map_cls: 0.1449, loss_map_pts: 0.6266, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.1463, d0.loss_plan_l1_fix_dist: 0.4319, d1.loss_plan_l1_fix_time: 0.8882, d1.loss_plan_l1_fix_dist: 0.1984, d2.loss_plan_l1_fix_time: 0.8709, d2.loss_plan_l1_fix_dist: 0.1930, d3.loss_plan_l1_fix_time: 0.8695, d3.loss_plan_l1_fix_dist: 0.1969, d4.loss_plan_l1_fix_time: 0.8719, d4.loss_plan_l1_fix_dist: 0.2051, d5.loss_plan_l1_fix_time: 0.8748, d5.loss_plan_l1_fix_dist: 0.2200, d6.loss_plan_l1_fix_time: 0.8782, d6.loss_plan_l1_fix_dist: 0.2371, d0.loss_cls_all: 0.1888, d0.loss_bbox_all: 0.4145, d0.loss_cls: 0.1888, d0.loss_bbox: 0.4145, d1.loss_cls: 0.1859, d1.loss_bbox: 0.3797, d2.loss_cls: 0.1706, d2.loss_bbox: 0.3579, d3.loss_cls: 0.1577, d3.loss_bbox: 0.3537, d4.loss_cls: 0.1508, d4.loss_bbox: 0.3508, d5.loss_cls: 0.1486, d5.loss_bbox: 0.3503, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8806, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7069, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6611, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6467, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6469, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6435, d0.loss_map_cls_all: 0.2236, d0.loss_map_pts_all: 1.2102, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2236, d0.loss_map_pts: 1.2102, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1953, d1.loss_map_pts: 0.8660, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1708, d2.loss_map_pts: 0.7218, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1572, d3.loss_map_pts: 0.6602, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1506, d4.loss_map_pts: 0.6362, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1472, d5.loss_map_pts: 0.6266, d5.loss_map_dir: 0.0080, loss: 26.2623, grad_norm: 148.9976 +2026-02-26 10:41:25,163 - DriveTransformer - INFO - Epoch [7][15800/39528] lr: 8.550e-05, eta: 6 days, 11:05:04, time: 0.795, data_time: 0.041, memory: 19865, loss_cls: 0.1733, loss_bbox: 0.3763, loss_traj: 0.6251, loss_traj_cls: 0.0010, loss_map_cls: 0.1686, loss_map_pts: 0.7393, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.5756, d0.loss_plan_l1_fix_dist: 0.4821, d1.loss_plan_l1_fix_time: 1.0725, d1.loss_plan_l1_fix_dist: 0.2145, d2.loss_plan_l1_fix_time: 1.0595, d2.loss_plan_l1_fix_dist: 0.2063, d3.loss_plan_l1_fix_time: 1.0555, d3.loss_plan_l1_fix_dist: 0.2109, d4.loss_plan_l1_fix_time: 1.0586, d4.loss_plan_l1_fix_dist: 0.2249, d5.loss_plan_l1_fix_time: 1.0618, d5.loss_plan_l1_fix_dist: 0.2403, d6.loss_plan_l1_fix_time: 1.0650, d6.loss_plan_l1_fix_dist: 0.2598, d0.loss_cls_all: 0.2144, d0.loss_bbox_all: 0.4383, d0.loss_cls: 0.2144, d0.loss_bbox: 0.4383, d1.loss_cls: 0.2052, d1.loss_bbox: 0.4026, d2.loss_cls: 0.1893, d2.loss_bbox: 0.3851, d3.loss_cls: 0.1793, d3.loss_bbox: 0.3790, d4.loss_cls: 0.1742, d4.loss_bbox: 0.3775, d5.loss_cls: 0.1718, d5.loss_bbox: 0.3767, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8399, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7048, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6521, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6366, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6303, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6263, d0.loss_map_cls_all: 0.2449, d0.loss_map_pts_all: 1.4938, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2449, d0.loss_map_pts: 1.4938, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2111, d1.loss_map_pts: 1.0254, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.1910, d2.loss_map_pts: 0.8366, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.1786, d3.loss_map_pts: 0.7705, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1724, d4.loss_map_pts: 0.7492, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1697, d5.loss_map_pts: 0.7413, d5.loss_map_dir: 0.0117, loss: 29.7278, grad_norm: 150.2683 +2026-02-26 10:42:04,057 - DriveTransformer - INFO - Epoch [7][15850/39528] lr: 8.550e-05, eta: 6 days, 11:04:21, time: 0.778, data_time: 0.036, memory: 19865, loss_cls: 0.1608, loss_bbox: 0.3812, loss_traj: 0.6502, loss_traj_cls: 0.0010, loss_map_cls: 0.1813, loss_map_pts: 0.8116, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.6144, d0.loss_plan_l1_fix_dist: 0.5184, d1.loss_plan_l1_fix_time: 1.0999, d1.loss_plan_l1_fix_dist: 0.2286, d2.loss_plan_l1_fix_time: 1.0862, d2.loss_plan_l1_fix_dist: 0.2144, d3.loss_plan_l1_fix_time: 1.0877, d3.loss_plan_l1_fix_dist: 0.2175, d4.loss_plan_l1_fix_time: 1.0911, d4.loss_plan_l1_fix_dist: 0.2335, d5.loss_plan_l1_fix_time: 1.0940, d5.loss_plan_l1_fix_dist: 0.2502, d6.loss_plan_l1_fix_time: 1.0967, d6.loss_plan_l1_fix_dist: 0.2644, d0.loss_cls_all: 0.1993, d0.loss_bbox_all: 0.4537, d0.loss_cls: 0.1993, d0.loss_bbox: 0.4537, d1.loss_cls: 0.1909, d1.loss_bbox: 0.4115, d2.loss_cls: 0.1754, d2.loss_bbox: 0.3921, d3.loss_cls: 0.1643, d3.loss_bbox: 0.3872, d4.loss_cls: 0.1602, d4.loss_bbox: 0.3834, d5.loss_cls: 0.1611, d5.loss_bbox: 0.3811, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9499, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7198, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6678, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6658, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6509, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6478, d0.loss_map_cls_all: 0.2636, d0.loss_map_pts_all: 1.5793, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2636, d0.loss_map_pts: 1.5793, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2320, d1.loss_map_pts: 1.1267, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.2092, d2.loss_map_pts: 0.9354, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1955, d3.loss_map_pts: 0.8548, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1861, d4.loss_map_pts: 0.8255, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1812, d5.loss_map_pts: 0.8164, d5.loss_map_dir: 0.0101, loss: 31.0294, grad_norm: 148.7051 +2026-02-26 10:42:44,752 - DriveTransformer - INFO - Epoch [7][15900/39528] lr: 8.550e-05, eta: 6 days, 11:03:42, time: 0.814, data_time: 0.038, memory: 19865, loss_cls: 0.1443, loss_bbox: 0.3604, loss_traj: 0.6000, loss_traj_cls: 0.0010, loss_map_cls: 0.1595, loss_map_pts: 0.7542, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.5376, d0.loss_plan_l1_fix_dist: 0.5047, d1.loss_plan_l1_fix_time: 1.0930, d1.loss_plan_l1_fix_dist: 0.2561, d2.loss_plan_l1_fix_time: 1.0911, d2.loss_plan_l1_fix_dist: 0.2259, d3.loss_plan_l1_fix_time: 1.0937, d3.loss_plan_l1_fix_dist: 0.2314, d4.loss_plan_l1_fix_time: 1.0975, d4.loss_plan_l1_fix_dist: 0.2440, d5.loss_plan_l1_fix_time: 1.1014, d5.loss_plan_l1_fix_dist: 0.2602, d6.loss_plan_l1_fix_time: 1.1062, d6.loss_plan_l1_fix_dist: 0.2709, d0.loss_cls_all: 0.1825, d0.loss_bbox_all: 0.4276, d0.loss_cls: 0.1825, d0.loss_bbox: 0.4276, d1.loss_cls: 0.1750, d1.loss_bbox: 0.3912, d2.loss_cls: 0.1630, d2.loss_bbox: 0.3684, d3.loss_cls: 0.1503, d3.loss_bbox: 0.3628, d4.loss_cls: 0.1456, d4.loss_bbox: 0.3598, d5.loss_cls: 0.1436, d5.loss_bbox: 0.3588, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8824, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6708, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6187, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5967, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5946, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5942, d0.loss_map_cls_all: 0.2274, d0.loss_map_pts_all: 1.5716, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2274, d0.loss_map_pts: 1.5716, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2035, d1.loss_map_pts: 1.0789, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1832, d2.loss_map_pts: 0.8728, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1735, d3.loss_map_pts: 0.7915, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1657, d4.loss_map_pts: 0.7665, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1622, d5.loss_map_pts: 0.7560, d5.loss_map_dir: 0.0110, loss: 29.7707, grad_norm: 148.8899 +2026-02-26 10:43:23,322 - DriveTransformer - INFO - Epoch [7][15950/39528] lr: 8.550e-05, eta: 6 days, 11:02:58, time: 0.771, data_time: 0.041, memory: 19865, loss_cls: 0.1521, loss_bbox: 0.3384, loss_traj: 0.5687, loss_traj_cls: 0.0010, loss_map_cls: 0.1320, loss_map_pts: 0.6453, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.9024, d0.loss_plan_l1_fix_dist: 0.4724, d1.loss_plan_l1_fix_time: 1.1327, d1.loss_plan_l1_fix_dist: 0.2449, d2.loss_plan_l1_fix_time: 1.1296, d2.loss_plan_l1_fix_dist: 0.2192, d3.loss_plan_l1_fix_time: 1.1327, d3.loss_plan_l1_fix_dist: 0.2294, d4.loss_plan_l1_fix_time: 1.1364, d4.loss_plan_l1_fix_dist: 0.2342, d5.loss_plan_l1_fix_time: 1.1399, d5.loss_plan_l1_fix_dist: 0.2436, d6.loss_plan_l1_fix_time: 1.1441, d6.loss_plan_l1_fix_dist: 0.2621, d0.loss_cls_all: 0.1881, d0.loss_bbox_all: 0.3955, d0.loss_cls: 0.1881, d0.loss_bbox: 0.3955, d1.loss_cls: 0.1771, d1.loss_bbox: 0.3649, d2.loss_cls: 0.1642, d2.loss_bbox: 0.3471, d3.loss_cls: 0.1563, d3.loss_bbox: 0.3396, d4.loss_cls: 0.1524, d4.loss_bbox: 0.3364, d5.loss_cls: 0.1519, d5.loss_bbox: 0.3359, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7721, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6349, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5961, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5847, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5778, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5732, d0.loss_map_cls_all: 0.1955, d0.loss_map_pts_all: 1.3122, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.1955, d0.loss_map_pts: 1.3122, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1719, d1.loss_map_pts: 0.9188, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1507, d2.loss_map_pts: 0.7435, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1423, d3.loss_map_pts: 0.6782, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1371, d4.loss_map_pts: 0.6535, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1341, d5.loss_map_pts: 0.6463, d5.loss_map_dir: 0.0094, loss: 28.3634, grad_norm: 148.1536 +2026-02-26 10:44:03,104 - DriveTransformer - INFO - Epoch [7][16000/39528] lr: 8.550e-05, eta: 6 days, 11:02:17, time: 0.796, data_time: 0.036, memory: 19865, loss_cls: 0.1392, loss_bbox: 0.3361, loss_traj: 0.5744, loss_traj_cls: 0.0010, loss_map_cls: 0.1542, loss_map_pts: 0.6867, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.4574, d0.loss_plan_l1_fix_dist: 0.4633, d1.loss_plan_l1_fix_time: 0.9879, d1.loss_plan_l1_fix_dist: 0.2439, d2.loss_plan_l1_fix_time: 0.9741, d2.loss_plan_l1_fix_dist: 0.2078, d3.loss_plan_l1_fix_time: 0.9735, d3.loss_plan_l1_fix_dist: 0.2160, d4.loss_plan_l1_fix_time: 0.9762, d4.loss_plan_l1_fix_dist: 0.2292, d5.loss_plan_l1_fix_time: 0.9791, d5.loss_plan_l1_fix_dist: 0.2441, d6.loss_plan_l1_fix_time: 0.9825, d6.loss_plan_l1_fix_dist: 0.2708, d0.loss_cls_all: 0.1716, d0.loss_bbox_all: 0.3940, d0.loss_cls: 0.1716, d0.loss_bbox: 0.3940, d1.loss_cls: 0.1657, d1.loss_bbox: 0.3620, d2.loss_cls: 0.1545, d2.loss_bbox: 0.3442, d3.loss_cls: 0.1435, d3.loss_bbox: 0.3393, d4.loss_cls: 0.1397, d4.loss_bbox: 0.3374, d5.loss_cls: 0.1389, d5.loss_bbox: 0.3369, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8040, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6424, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5833, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5808, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5784, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5777, d0.loss_map_cls_all: 0.2272, d0.loss_map_pts_all: 1.4495, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2272, d0.loss_map_pts: 1.4495, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1988, d1.loss_map_pts: 1.0106, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1775, d2.loss_map_pts: 0.8010, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1668, d3.loss_map_pts: 0.7230, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1608, d4.loss_map_pts: 0.6969, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1562, d5.loss_map_pts: 0.6882, d5.loss_map_dir: 0.0095, loss: 27.6698, grad_norm: 145.9001 +2026-02-26 10:44:41,817 - DriveTransformer - INFO - Epoch [7][16050/39528] lr: 8.550e-05, eta: 6 days, 11:01:33, time: 0.774, data_time: 0.040, memory: 19865, loss_cls: 0.1646, loss_bbox: 0.3688, loss_traj: 0.6086, loss_traj_cls: 0.0010, loss_map_cls: 0.1668, loss_map_pts: 0.7103, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.9062, d0.loss_plan_l1_fix_dist: 0.5183, d1.loss_plan_l1_fix_time: 1.1928, d1.loss_plan_l1_fix_dist: 0.2711, d2.loss_plan_l1_fix_time: 1.1600, d2.loss_plan_l1_fix_dist: 0.2377, d3.loss_plan_l1_fix_time: 1.1494, d3.loss_plan_l1_fix_dist: 0.2287, d4.loss_plan_l1_fix_time: 1.1503, d4.loss_plan_l1_fix_dist: 0.2373, d5.loss_plan_l1_fix_time: 1.1522, d5.loss_plan_l1_fix_dist: 0.2460, d6.loss_plan_l1_fix_time: 1.1547, d6.loss_plan_l1_fix_dist: 0.2535, d0.loss_cls_all: 0.2036, d0.loss_bbox_all: 0.4342, d0.loss_cls: 0.2036, d0.loss_bbox: 0.4342, d1.loss_cls: 0.1990, d1.loss_bbox: 0.3929, d2.loss_cls: 0.1825, d2.loss_bbox: 0.3769, d3.loss_cls: 0.1707, d3.loss_bbox: 0.3717, d4.loss_cls: 0.1652, d4.loss_bbox: 0.3702, d5.loss_cls: 0.1651, d5.loss_bbox: 0.3681, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8467, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6750, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6271, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6099, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6111, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6098, d0.loss_map_cls_all: 0.2489, d0.loss_map_pts_all: 1.4768, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2489, d0.loss_map_pts: 1.4768, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2168, d1.loss_map_pts: 1.0178, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1936, d2.loss_map_pts: 0.8184, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1824, d3.loss_map_pts: 0.7425, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1744, d4.loss_map_pts: 0.7157, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1682, d5.loss_map_pts: 0.7118, d5.loss_map_dir: 0.0096, loss: 30.3705, grad_norm: 147.8586 +2026-02-26 10:45:19,184 - DriveTransformer - INFO - Epoch [7][16100/39528] lr: 8.550e-05, eta: 6 days, 11:00:45, time: 0.747, data_time: 0.037, memory: 19865, loss_cls: 0.1693, loss_bbox: 0.3649, loss_traj: 0.7478, loss_traj_cls: 0.0010, loss_map_cls: 0.1430, loss_map_pts: 0.6255, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.9236, d0.loss_plan_l1_fix_dist: 0.4124, d1.loss_plan_l1_fix_time: 1.1143, d1.loss_plan_l1_fix_dist: 0.2364, d2.loss_plan_l1_fix_time: 1.0946, d2.loss_plan_l1_fix_dist: 0.2085, d3.loss_plan_l1_fix_time: 1.0909, d3.loss_plan_l1_fix_dist: 0.1996, d4.loss_plan_l1_fix_time: 1.0929, d4.loss_plan_l1_fix_dist: 0.2081, d5.loss_plan_l1_fix_time: 1.0951, d5.loss_plan_l1_fix_dist: 0.2239, d6.loss_plan_l1_fix_time: 1.0978, d6.loss_plan_l1_fix_dist: 0.2392, d0.loss_cls_all: 0.2073, d0.loss_bbox_all: 0.4243, d0.loss_cls: 0.2073, d0.loss_bbox: 0.4243, d1.loss_cls: 0.1995, d1.loss_bbox: 0.3924, d2.loss_cls: 0.1862, d2.loss_bbox: 0.3729, d3.loss_cls: 0.1761, d3.loss_bbox: 0.3686, d4.loss_cls: 0.1697, d4.loss_bbox: 0.3672, d5.loss_cls: 0.1688, d5.loss_bbox: 0.3648, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0495, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8224, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7549, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7413, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7424, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7440, d0.loss_map_cls_all: 0.2183, d0.loss_map_pts_all: 1.2351, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2183, d0.loss_map_pts: 1.2351, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1893, d1.loss_map_pts: 0.8545, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1673, d2.loss_map_pts: 0.7052, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1562, d3.loss_map_pts: 0.6487, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1497, d4.loss_map_pts: 0.6299, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1440, d5.loss_map_pts: 0.6263, d5.loss_map_dir: 0.0082, loss: 29.4220, grad_norm: 148.9402 +2026-02-26 10:45:59,931 - DriveTransformer - INFO - Epoch [7][16150/39528] lr: 8.550e-05, eta: 6 days, 11:00:07, time: 0.815, data_time: 0.043, memory: 19865, loss_cls: 0.1449, loss_bbox: 0.3685, loss_traj: 0.5939, loss_traj_cls: 0.0010, loss_map_cls: 0.1630, loss_map_pts: 0.7617, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.6984, d0.loss_plan_l1_fix_dist: 0.4220, d1.loss_plan_l1_fix_time: 1.0768, d1.loss_plan_l1_fix_dist: 0.2153, d2.loss_plan_l1_fix_time: 1.0615, d2.loss_plan_l1_fix_dist: 0.1928, d3.loss_plan_l1_fix_time: 1.0635, d3.loss_plan_l1_fix_dist: 0.1897, d4.loss_plan_l1_fix_time: 1.0674, d4.loss_plan_l1_fix_dist: 0.1941, d5.loss_plan_l1_fix_time: 1.0709, d5.loss_plan_l1_fix_dist: 0.2028, d6.loss_plan_l1_fix_time: 1.0755, d6.loss_plan_l1_fix_dist: 0.2155, d0.loss_cls_all: 0.1838, d0.loss_bbox_all: 0.4278, d0.loss_cls: 0.1838, d0.loss_bbox: 0.4278, d1.loss_cls: 0.1729, d1.loss_bbox: 0.4001, d2.loss_cls: 0.1593, d2.loss_bbox: 0.3816, d3.loss_cls: 0.1501, d3.loss_bbox: 0.3743, d4.loss_cls: 0.1446, d4.loss_bbox: 0.3720, d5.loss_cls: 0.1445, d5.loss_bbox: 0.3701, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7760, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6478, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6031, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5890, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5845, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5922, d0.loss_map_cls_all: 0.2283, d0.loss_map_pts_all: 1.6157, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2283, d0.loss_map_pts: 1.6157, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2010, d1.loss_map_pts: 1.1057, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.1850, d2.loss_map_pts: 0.8855, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.1719, d3.loss_map_pts: 0.8060, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1670, d4.loss_map_pts: 0.7705, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1648, d5.loss_map_pts: 0.7618, d5.loss_map_dir: 0.0118, loss: 29.4683, grad_norm: 150.5613 +2026-02-26 10:46:38,441 - DriveTransformer - INFO - Epoch [7][16200/39528] lr: 8.550e-05, eta: 6 days, 10:59:22, time: 0.770, data_time: 0.041, memory: 19865, loss_cls: 0.1604, loss_bbox: 0.3449, loss_traj: 0.7110, loss_traj_cls: 0.0010, loss_map_cls: 0.1576, loss_map_pts: 0.6931, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 3.1170, d0.loss_plan_l1_fix_dist: 0.4096, d1.loss_plan_l1_fix_time: 1.2356, d1.loss_plan_l1_fix_dist: 0.2125, d2.loss_plan_l1_fix_time: 1.2178, d2.loss_plan_l1_fix_dist: 0.1976, d3.loss_plan_l1_fix_time: 1.2155, d3.loss_plan_l1_fix_dist: 0.2026, d4.loss_plan_l1_fix_time: 1.2171, d4.loss_plan_l1_fix_dist: 0.2068, d5.loss_plan_l1_fix_time: 1.2192, d5.loss_plan_l1_fix_dist: 0.2140, d6.loss_plan_l1_fix_time: 1.2216, d6.loss_plan_l1_fix_dist: 0.2308, d0.loss_cls_all: 0.2003, d0.loss_bbox_all: 0.4137, d0.loss_cls: 0.2003, d0.loss_bbox: 0.4137, d1.loss_cls: 0.1898, d1.loss_bbox: 0.3796, d2.loss_cls: 0.1754, d2.loss_bbox: 0.3585, d3.loss_cls: 0.1636, d3.loss_bbox: 0.3514, d4.loss_cls: 0.1611, d4.loss_bbox: 0.3450, d5.loss_cls: 0.1614, d5.loss_bbox: 0.3429, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0268, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7859, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7167, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7061, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7079, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7115, d0.loss_map_cls_all: 0.2289, d0.loss_map_pts_all: 1.3365, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2289, d0.loss_map_pts: 1.3365, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2028, d1.loss_map_pts: 0.9544, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1824, d2.loss_map_pts: 0.7925, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1698, d3.loss_map_pts: 0.7281, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1635, d4.loss_map_pts: 0.7020, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1587, d5.loss_map_pts: 0.6949, d5.loss_map_dir: 0.0094, loss: 30.6552, grad_norm: 152.0167 +2026-02-26 10:47:16,723 - DriveTransformer - INFO - Epoch [7][16250/39528] lr: 8.550e-05, eta: 6 days, 10:58:37, time: 0.766, data_time: 0.047, memory: 19865, loss_cls: 0.1405, loss_bbox: 0.3285, loss_traj: 0.6396, loss_traj_cls: 0.0010, loss_map_cls: 0.1431, loss_map_pts: 0.5847, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.1974, d0.loss_plan_l1_fix_dist: 0.4547, d1.loss_plan_l1_fix_time: 0.9346, d1.loss_plan_l1_fix_dist: 0.1957, d2.loss_plan_l1_fix_time: 0.9279, d2.loss_plan_l1_fix_dist: 0.1853, d3.loss_plan_l1_fix_time: 0.9311, d3.loss_plan_l1_fix_dist: 0.1905, d4.loss_plan_l1_fix_time: 0.9337, d4.loss_plan_l1_fix_dist: 0.2026, d5.loss_plan_l1_fix_time: 0.9365, d5.loss_plan_l1_fix_dist: 0.2196, d6.loss_plan_l1_fix_time: 0.9400, d6.loss_plan_l1_fix_dist: 0.2349, d0.loss_cls_all: 0.1751, d0.loss_bbox_all: 0.3953, d0.loss_cls: 0.1751, d0.loss_bbox: 0.3953, d1.loss_cls: 0.1678, d1.loss_bbox: 0.3597, d2.loss_cls: 0.1578, d2.loss_bbox: 0.3374, d3.loss_cls: 0.1483, d3.loss_bbox: 0.3278, d4.loss_cls: 0.1430, d4.loss_bbox: 0.3268, d5.loss_cls: 0.1426, d5.loss_bbox: 0.3253, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9027, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7162, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6534, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6369, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6352, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6357, d0.loss_map_cls_all: 0.2186, d0.loss_map_pts_all: 1.2150, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2186, d0.loss_map_pts: 1.2150, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1860, d1.loss_map_pts: 0.8554, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1624, d2.loss_map_pts: 0.6819, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1542, d3.loss_map_pts: 0.6144, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1480, d4.loss_map_pts: 0.5938, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1450, d5.loss_map_pts: 0.5862, d5.loss_map_dir: 0.0075, loss: 26.1381, grad_norm: 151.7028 +2026-02-26 10:47:53,954 - DriveTransformer - INFO - Epoch [7][16300/39528] lr: 8.550e-05, eta: 6 days, 10:57:49, time: 0.745, data_time: 0.043, memory: 19865, loss_cls: 0.1472, loss_bbox: 0.3429, loss_traj: 0.6463, loss_traj_cls: 0.0010, loss_map_cls: 0.1374, loss_map_pts: 0.5431, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.6009, d0.loss_plan_l1_fix_dist: 0.4886, d1.loss_plan_l1_fix_time: 0.9484, d1.loss_plan_l1_fix_dist: 0.1898, d2.loss_plan_l1_fix_time: 0.9368, d2.loss_plan_l1_fix_dist: 0.1848, d3.loss_plan_l1_fix_time: 0.9345, d3.loss_plan_l1_fix_dist: 0.1943, d4.loss_plan_l1_fix_time: 0.9367, d4.loss_plan_l1_fix_dist: 0.2053, d5.loss_plan_l1_fix_time: 0.9397, d5.loss_plan_l1_fix_dist: 0.2142, d6.loss_plan_l1_fix_time: 0.9437, d6.loss_plan_l1_fix_dist: 0.2267, d0.loss_cls_all: 0.1865, d0.loss_bbox_all: 0.3953, d0.loss_cls: 0.1865, d0.loss_bbox: 0.3953, d1.loss_cls: 0.1744, d1.loss_bbox: 0.3631, d2.loss_cls: 0.1623, d2.loss_bbox: 0.3485, d3.loss_cls: 0.1552, d3.loss_bbox: 0.3426, d4.loss_cls: 0.1483, d4.loss_bbox: 0.3420, d5.loss_cls: 0.1470, d5.loss_bbox: 0.3418, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8705, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7238, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6727, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6515, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6471, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6479, d0.loss_map_cls_all: 0.2092, d0.loss_map_pts_all: 1.0820, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2092, d0.loss_map_pts: 1.0820, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1796, d1.loss_map_pts: 0.7789, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1571, d2.loss_map_pts: 0.6349, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1456, d3.loss_map_pts: 0.5726, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1410, d4.loss_map_pts: 0.5480, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1383, d5.loss_map_pts: 0.5429, d5.loss_map_dir: 0.0072, loss: 26.1475, grad_norm: 152.1168 +2026-02-26 10:48:32,694 - DriveTransformer - INFO - Epoch [7][16350/39528] lr: 8.550e-05, eta: 6 days, 10:57:05, time: 0.775, data_time: 0.044, memory: 19865, loss_cls: 0.1574, loss_bbox: 0.3642, loss_traj: 0.6076, loss_traj_cls: 0.0010, loss_map_cls: 0.1698, loss_map_pts: 0.6868, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.6574, d0.loss_plan_l1_fix_dist: 0.4288, d1.loss_plan_l1_fix_time: 0.9953, d1.loss_plan_l1_fix_dist: 0.2003, d2.loss_plan_l1_fix_time: 0.9803, d2.loss_plan_l1_fix_dist: 0.1891, d3.loss_plan_l1_fix_time: 0.9733, d3.loss_plan_l1_fix_dist: 0.1966, d4.loss_plan_l1_fix_time: 0.9753, d4.loss_plan_l1_fix_dist: 0.2030, d5.loss_plan_l1_fix_time: 0.9784, d5.loss_plan_l1_fix_dist: 0.2137, d6.loss_plan_l1_fix_time: 0.9821, d6.loss_plan_l1_fix_dist: 0.2324, d0.loss_cls_all: 0.1962, d0.loss_bbox_all: 0.4181, d0.loss_cls: 0.1962, d0.loss_bbox: 0.4181, d1.loss_cls: 0.1900, d1.loss_bbox: 0.3886, d2.loss_cls: 0.1768, d2.loss_bbox: 0.3719, d3.loss_cls: 0.1648, d3.loss_bbox: 0.3669, d4.loss_cls: 0.1594, d4.loss_bbox: 0.3631, d5.loss_cls: 0.1583, d5.loss_bbox: 0.3631, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8478, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6920, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6268, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6133, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6109, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6106, d0.loss_map_cls_all: 0.2400, d0.loss_map_pts_all: 1.4606, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2400, d0.loss_map_pts: 1.4606, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2138, d1.loss_map_pts: 1.0097, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1948, d2.loss_map_pts: 0.8148, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1829, d3.loss_map_pts: 0.7302, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1757, d4.loss_map_pts: 0.6996, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1691, d5.loss_map_pts: 0.6891, d5.loss_map_dir: 0.0103, loss: 28.4922, grad_norm: 160.9536 +2026-02-26 10:49:11,619 - DriveTransformer - INFO - Epoch [7][16400/39528] lr: 8.550e-05, eta: 6 days, 10:56:22, time: 0.780, data_time: 0.038, memory: 19865, loss_cls: 0.1552, loss_bbox: 0.3436, loss_traj: 0.6504, loss_traj_cls: 0.0010, loss_map_cls: 0.1242, loss_map_pts: 0.6218, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.1844, d0.loss_plan_l1_fix_dist: 0.4980, d1.loss_plan_l1_fix_time: 0.9390, d1.loss_plan_l1_fix_dist: 0.2257, d2.loss_plan_l1_fix_time: 0.9241, d2.loss_plan_l1_fix_dist: 0.2133, d3.loss_plan_l1_fix_time: 0.9255, d3.loss_plan_l1_fix_dist: 0.2130, d4.loss_plan_l1_fix_time: 0.9284, d4.loss_plan_l1_fix_dist: 0.2177, d5.loss_plan_l1_fix_time: 0.9316, d5.loss_plan_l1_fix_dist: 0.2340, d6.loss_plan_l1_fix_time: 0.9349, d6.loss_plan_l1_fix_dist: 0.2551, d0.loss_cls_all: 0.1929, d0.loss_bbox_all: 0.3874, d0.loss_cls: 0.1929, d0.loss_bbox: 0.3874, d1.loss_cls: 0.1852, d1.loss_bbox: 0.3564, d2.loss_cls: 0.1720, d2.loss_bbox: 0.3465, d3.loss_cls: 0.1586, d3.loss_bbox: 0.3456, d4.loss_cls: 0.1541, d4.loss_bbox: 0.3437, d5.loss_cls: 0.1538, d5.loss_bbox: 0.3429, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8593, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6952, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6553, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6492, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6487, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6505, d0.loss_map_cls_all: 0.1964, d0.loss_map_pts_all: 1.3198, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.1964, d0.loss_map_pts: 1.3198, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1665, d1.loss_map_pts: 0.8795, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1480, d2.loss_map_pts: 0.7139, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1379, d3.loss_map_pts: 0.6518, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1310, d4.loss_map_pts: 0.6284, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1259, d5.loss_map_pts: 0.6225, d5.loss_map_dir: 0.0092, loss: 26.7140, grad_norm: 160.8134 +2026-02-26 10:49:49,527 - DriveTransformer - INFO - Epoch [7][16450/39528] lr: 8.550e-05, eta: 6 days, 10:55:36, time: 0.757, data_time: 0.038, memory: 19865, loss_cls: 0.1520, loss_bbox: 0.3569, loss_traj: 0.7034, loss_traj_cls: 0.0010, loss_map_cls: 0.1698, loss_map_pts: 0.7052, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.6428, d0.loss_plan_l1_fix_dist: 0.4104, d1.loss_plan_l1_fix_time: 1.0479, d1.loss_plan_l1_fix_dist: 0.2096, d2.loss_plan_l1_fix_time: 1.0340, d2.loss_plan_l1_fix_dist: 0.2131, d3.loss_plan_l1_fix_time: 1.0356, d3.loss_plan_l1_fix_dist: 0.2123, d4.loss_plan_l1_fix_time: 1.0383, d4.loss_plan_l1_fix_dist: 0.2137, d5.loss_plan_l1_fix_time: 1.0409, d5.loss_plan_l1_fix_dist: 0.2212, d6.loss_plan_l1_fix_time: 1.0445, d6.loss_plan_l1_fix_dist: 0.2340, d0.loss_cls_all: 0.1911, d0.loss_bbox_all: 0.4169, d0.loss_cls: 0.1911, d0.loss_bbox: 0.4169, d1.loss_cls: 0.1838, d1.loss_bbox: 0.3792, d2.loss_cls: 0.1726, d2.loss_bbox: 0.3612, d3.loss_cls: 0.1610, d3.loss_bbox: 0.3570, d4.loss_cls: 0.1526, d4.loss_bbox: 0.3570, d5.loss_cls: 0.1516, d5.loss_bbox: 0.3566, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9459, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7692, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7174, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7073, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7073, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7066, d0.loss_map_cls_all: 0.2456, d0.loss_map_pts_all: 1.3827, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2456, d0.loss_map_pts: 1.3827, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2228, d1.loss_map_pts: 1.0043, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1975, d2.loss_map_pts: 0.8208, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1832, d3.loss_map_pts: 0.7419, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1750, d4.loss_map_pts: 0.7126, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1703, d5.loss_map_pts: 0.7066, d5.loss_map_dir: 0.0091, loss: 29.3570, grad_norm: 161.3257 +2026-02-26 10:50:28,187 - DriveTransformer - INFO - Epoch [7][16500/39528] lr: 8.550e-05, eta: 6 days, 10:54:51, time: 0.773, data_time: 0.037, memory: 19865, loss_cls: 0.1376, loss_bbox: 0.3319, loss_traj: 0.6680, loss_traj_cls: 0.0010, loss_map_cls: 0.1421, loss_map_pts: 0.6409, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.1567, d0.loss_plan_l1_fix_dist: 0.5294, d1.loss_plan_l1_fix_time: 0.8821, d1.loss_plan_l1_fix_dist: 0.2182, d2.loss_plan_l1_fix_time: 0.8632, d2.loss_plan_l1_fix_dist: 0.2100, d3.loss_plan_l1_fix_time: 0.8596, d3.loss_plan_l1_fix_dist: 0.2115, d4.loss_plan_l1_fix_time: 0.8612, d4.loss_plan_l1_fix_dist: 0.2163, d5.loss_plan_l1_fix_time: 0.8630, d5.loss_plan_l1_fix_dist: 0.2290, d6.loss_plan_l1_fix_time: 0.8656, d6.loss_plan_l1_fix_dist: 0.2429, d0.loss_cls_all: 0.1794, d0.loss_bbox_all: 0.3836, d0.loss_cls: 0.1794, d0.loss_bbox: 0.3836, d1.loss_cls: 0.1695, d1.loss_bbox: 0.3546, d2.loss_cls: 0.1554, d2.loss_bbox: 0.3380, d3.loss_cls: 0.1429, d3.loss_bbox: 0.3338, d4.loss_cls: 0.1392, d4.loss_bbox: 0.3316, d5.loss_cls: 0.1370, d5.loss_bbox: 0.3320, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9086, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7316, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6888, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6815, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6699, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6665, d0.loss_map_cls_all: 0.2305, d0.loss_map_pts_all: 1.4109, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2305, d0.loss_map_pts: 1.4109, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1932, d1.loss_map_pts: 0.9572, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1683, d2.loss_map_pts: 0.7473, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1582, d3.loss_map_pts: 0.6708, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1507, d4.loss_map_pts: 0.6494, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1454, d5.loss_map_pts: 0.6412, d5.loss_map_dir: 0.0089, loss: 26.8776, grad_norm: 158.7409 +2026-02-26 10:51:07,717 - DriveTransformer - INFO - Epoch [7][16550/39528] lr: 8.550e-05, eta: 6 days, 10:54:10, time: 0.791, data_time: 0.043, memory: 19865, loss_cls: 0.1512, loss_bbox: 0.3562, loss_traj: 0.6147, loss_traj_cls: 0.0009, loss_map_cls: 0.1692, loss_map_pts: 0.7446, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.6389, d0.loss_plan_l1_fix_dist: 0.4526, d1.loss_plan_l1_fix_time: 0.9362, d1.loss_plan_l1_fix_dist: 0.2211, d2.loss_plan_l1_fix_time: 0.9223, d2.loss_plan_l1_fix_dist: 0.2128, d3.loss_plan_l1_fix_time: 0.9241, d3.loss_plan_l1_fix_dist: 0.2198, d4.loss_plan_l1_fix_time: 0.9262, d4.loss_plan_l1_fix_dist: 0.2327, d5.loss_plan_l1_fix_time: 0.9288, d5.loss_plan_l1_fix_dist: 0.2431, d6.loss_plan_l1_fix_time: 0.9320, d6.loss_plan_l1_fix_dist: 0.2512, d0.loss_cls_all: 0.2028, d0.loss_bbox_all: 0.4109, d0.loss_cls: 0.2028, d0.loss_bbox: 0.4109, d1.loss_cls: 0.1928, d1.loss_bbox: 0.3773, d2.loss_cls: 0.1720, d2.loss_bbox: 0.3608, d3.loss_cls: 0.1596, d3.loss_bbox: 0.3550, d4.loss_cls: 0.1540, d4.loss_bbox: 0.3542, d5.loss_cls: 0.1518, d5.loss_bbox: 0.3550, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8335, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6739, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6399, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6215, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6198, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6135, d0.loss_map_cls_all: 0.2366, d0.loss_map_pts_all: 1.5062, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2366, d0.loss_map_pts: 1.5062, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2081, d1.loss_map_pts: 1.0495, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1926, d2.loss_map_pts: 0.8542, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1818, d3.loss_map_pts: 0.7803, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1753, d4.loss_map_pts: 0.7544, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1708, d5.loss_map_pts: 0.7452, d5.loss_map_dir: 0.0106, loss: 28.6282, grad_norm: 158.2544 +2026-02-26 10:51:46,542 - DriveTransformer - INFO - Epoch [7][16600/39528] lr: 8.550e-05, eta: 6 days, 10:53:26, time: 0.776, data_time: 0.042, memory: 19865, loss_cls: 0.1445, loss_bbox: 0.3579, loss_traj: 0.5999, loss_traj_cls: 0.0010, loss_map_cls: 0.1489, loss_map_pts: 0.6535, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.3253, d0.loss_plan_l1_fix_dist: 0.4206, d1.loss_plan_l1_fix_time: 0.9249, d1.loss_plan_l1_fix_dist: 0.1713, d2.loss_plan_l1_fix_time: 0.9086, d2.loss_plan_l1_fix_dist: 0.1714, d3.loss_plan_l1_fix_time: 0.9053, d3.loss_plan_l1_fix_dist: 0.1815, d4.loss_plan_l1_fix_time: 0.9072, d4.loss_plan_l1_fix_dist: 0.1995, d5.loss_plan_l1_fix_time: 0.9095, d5.loss_plan_l1_fix_dist: 0.2143, d6.loss_plan_l1_fix_time: 0.9123, d6.loss_plan_l1_fix_dist: 0.2360, d0.loss_cls_all: 0.1916, d0.loss_bbox_all: 0.4140, d0.loss_cls: 0.1916, d0.loss_bbox: 0.4140, d1.loss_cls: 0.1839, d1.loss_bbox: 0.3824, d2.loss_cls: 0.1706, d2.loss_bbox: 0.3680, d3.loss_cls: 0.1521, d3.loss_bbox: 0.3620, d4.loss_cls: 0.1464, d4.loss_bbox: 0.3591, d5.loss_cls: 0.1445, d5.loss_bbox: 0.3579, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8474, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6811, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6283, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6142, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6043, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6023, d0.loss_map_cls_all: 0.2183, d0.loss_map_pts_all: 1.3255, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2183, d0.loss_map_pts: 1.3255, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1889, d1.loss_map_pts: 0.9234, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1711, d2.loss_map_pts: 0.7574, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1588, d3.loss_map_pts: 0.6896, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1528, d4.loss_map_pts: 0.6610, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1498, d5.loss_map_pts: 0.6542, d5.loss_map_dir: 0.0087, loss: 26.7779, grad_norm: 159.6171 +2026-02-26 10:52:24,663 - DriveTransformer - INFO - Epoch [7][16650/39528] lr: 8.550e-05, eta: 6 days, 10:52:40, time: 0.762, data_time: 0.042, memory: 19865, loss_cls: 0.1404, loss_bbox: 0.3344, loss_traj: 0.6034, loss_traj_cls: 0.0010, loss_map_cls: 0.1351, loss_map_pts: 0.5997, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.3365, d0.loss_plan_l1_fix_dist: 0.3610, d1.loss_plan_l1_fix_time: 0.8999, d1.loss_plan_l1_fix_dist: 0.1512, d2.loss_plan_l1_fix_time: 0.8813, d2.loss_plan_l1_fix_dist: 0.1582, d3.loss_plan_l1_fix_time: 0.8751, d3.loss_plan_l1_fix_dist: 0.1662, d4.loss_plan_l1_fix_time: 0.8761, d4.loss_plan_l1_fix_dist: 0.1864, d5.loss_plan_l1_fix_time: 0.8778, d5.loss_plan_l1_fix_dist: 0.2073, d6.loss_plan_l1_fix_time: 0.8806, d6.loss_plan_l1_fix_dist: 0.2294, d0.loss_cls_all: 0.1822, d0.loss_bbox_all: 0.3879, d0.loss_cls: 0.1822, d0.loss_bbox: 0.3879, d1.loss_cls: 0.1740, d1.loss_bbox: 0.3539, d2.loss_cls: 0.1590, d2.loss_bbox: 0.3386, d3.loss_cls: 0.1444, d3.loss_bbox: 0.3325, d4.loss_cls: 0.1410, d4.loss_bbox: 0.3314, d5.loss_cls: 0.1399, d5.loss_bbox: 0.3327, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8467, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6694, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6182, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6087, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6046, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6000, d0.loss_map_cls_all: 0.2038, d0.loss_map_pts_all: 1.2196, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2038, d0.loss_map_pts: 1.2196, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1733, d1.loss_map_pts: 0.8740, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1537, d2.loss_map_pts: 0.7087, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1453, d3.loss_map_pts: 0.6350, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1411, d4.loss_map_pts: 0.6080, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1363, d5.loss_map_pts: 0.5999, d5.loss_map_dir: 0.0074, loss: 25.5200, grad_norm: 167.4525 +2026-02-26 10:53:02,864 - DriveTransformer - INFO - Epoch [7][16700/39528] lr: 8.550e-05, eta: 6 days, 10:51:55, time: 0.764, data_time: 0.035, memory: 19865, loss_cls: 0.1677, loss_bbox: 0.3702, loss_traj: 0.6527, loss_traj_cls: 0.0010, loss_map_cls: 0.1596, loss_map_pts: 0.7270, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 3.0694, d0.loss_plan_l1_fix_dist: 0.5399, d1.loss_plan_l1_fix_time: 1.1785, d1.loss_plan_l1_fix_dist: 0.1939, d2.loss_plan_l1_fix_time: 1.1696, d2.loss_plan_l1_fix_dist: 0.2046, d3.loss_plan_l1_fix_time: 1.1687, d3.loss_plan_l1_fix_dist: 0.2052, d4.loss_plan_l1_fix_time: 1.1701, d4.loss_plan_l1_fix_dist: 0.2151, d5.loss_plan_l1_fix_time: 1.1723, d5.loss_plan_l1_fix_dist: 0.2254, d6.loss_plan_l1_fix_time: 1.1755, d6.loss_plan_l1_fix_dist: 0.2424, d0.loss_cls_all: 0.2069, d0.loss_bbox_all: 0.4248, d0.loss_cls: 0.2069, d0.loss_bbox: 0.4248, d1.loss_cls: 0.1948, d1.loss_bbox: 0.3971, d2.loss_cls: 0.1795, d2.loss_bbox: 0.3802, d3.loss_cls: 0.1703, d3.loss_bbox: 0.3736, d4.loss_cls: 0.1679, d4.loss_bbox: 0.3694, d5.loss_cls: 0.1666, d5.loss_bbox: 0.3690, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8562, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7081, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6709, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6670, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6626, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6558, d0.loss_map_cls_all: 0.2320, d0.loss_map_pts_all: 1.4707, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2320, d0.loss_map_pts: 1.4707, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.1972, d1.loss_map_pts: 1.0290, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1807, d2.loss_map_pts: 0.8318, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1729, d3.loss_map_pts: 0.7619, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1673, d4.loss_map_pts: 0.7352, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1612, d5.loss_map_pts: 0.7273, d5.loss_map_dir: 0.0102, loss: 30.7180, grad_norm: 164.5732 +2026-02-26 10:53:41,940 - DriveTransformer - INFO - Epoch [7][16750/39528] lr: 8.550e-05, eta: 6 days, 10:51:12, time: 0.782, data_time: 0.036, memory: 19865, loss_cls: 0.1752, loss_bbox: 0.3632, loss_traj: 0.5930, loss_traj_cls: 0.0009, loss_map_cls: 0.1737, loss_map_pts: 0.7473, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.8212, d0.loss_plan_l1_fix_dist: 0.4409, d1.loss_plan_l1_fix_time: 1.2415, d1.loss_plan_l1_fix_dist: 0.1939, d2.loss_plan_l1_fix_time: 1.2325, d2.loss_plan_l1_fix_dist: 0.2103, d3.loss_plan_l1_fix_time: 1.2305, d3.loss_plan_l1_fix_dist: 0.2096, d4.loss_plan_l1_fix_time: 1.2324, d4.loss_plan_l1_fix_dist: 0.2103, d5.loss_plan_l1_fix_time: 1.2348, d5.loss_plan_l1_fix_dist: 0.2132, d6.loss_plan_l1_fix_time: 1.2378, d6.loss_plan_l1_fix_dist: 0.2297, d0.loss_cls_all: 0.2083, d0.loss_bbox_all: 0.4260, d0.loss_cls: 0.2083, d0.loss_bbox: 0.4260, d1.loss_cls: 0.1990, d1.loss_bbox: 0.3939, d2.loss_cls: 0.1858, d2.loss_bbox: 0.3751, d3.loss_cls: 0.1780, d3.loss_bbox: 0.3691, d4.loss_cls: 0.1729, d4.loss_bbox: 0.3658, d5.loss_cls: 0.1738, d5.loss_bbox: 0.3624, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8105, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6676, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6134, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6000, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5972, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5948, d0.loss_map_cls_all: 0.2504, d0.loss_map_pts_all: 1.5391, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2504, d0.loss_map_pts: 1.5391, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2149, d1.loss_map_pts: 1.0791, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1939, d2.loss_map_pts: 0.8731, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1845, d3.loss_map_pts: 0.7915, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1797, d4.loss_map_pts: 0.7571, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1743, d5.loss_map_pts: 0.7503, d5.loss_map_dir: 0.0101, loss: 30.7800, grad_norm: 164.4702 +2026-02-26 10:54:20,687 - DriveTransformer - INFO - Epoch [7][16800/39528] lr: 8.550e-05, eta: 6 days, 10:50:28, time: 0.775, data_time: 0.040, memory: 19865, loss_cls: 0.1614, loss_bbox: 0.3667, loss_traj: 0.6342, loss_traj_cls: 0.0009, loss_map_cls: 0.1719, loss_map_pts: 0.7256, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.9121, d0.loss_plan_l1_fix_dist: 0.4449, d1.loss_plan_l1_fix_time: 1.2083, d1.loss_plan_l1_fix_dist: 0.1963, d2.loss_plan_l1_fix_time: 1.1936, d2.loss_plan_l1_fix_dist: 0.2076, d3.loss_plan_l1_fix_time: 1.1888, d3.loss_plan_l1_fix_dist: 0.2151, d4.loss_plan_l1_fix_time: 1.1902, d4.loss_plan_l1_fix_dist: 0.2218, d5.loss_plan_l1_fix_time: 1.1917, d5.loss_plan_l1_fix_dist: 0.2349, d6.loss_plan_l1_fix_time: 1.1940, d6.loss_plan_l1_fix_dist: 0.2411, d0.loss_cls_all: 0.2012, d0.loss_bbox_all: 0.4271, d0.loss_cls: 0.2012, d0.loss_bbox: 0.4271, d1.loss_cls: 0.1966, d1.loss_bbox: 0.3904, d2.loss_cls: 0.1820, d2.loss_bbox: 0.3733, d3.loss_cls: 0.1694, d3.loss_bbox: 0.3681, d4.loss_cls: 0.1627, d4.loss_bbox: 0.3665, d5.loss_cls: 0.1596, d5.loss_bbox: 0.3673, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9456, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7117, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6638, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6487, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6498, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6388, d0.loss_map_cls_all: 0.2364, d0.loss_map_pts_all: 1.4758, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2364, d0.loss_map_pts: 1.4758, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2128, d1.loss_map_pts: 1.0323, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1969, d2.loss_map_pts: 0.8455, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1837, d3.loss_map_pts: 0.7620, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1777, d4.loss_map_pts: 0.7324, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1738, d5.loss_map_pts: 0.7276, d5.loss_map_dir: 0.0093, loss: 30.6979, grad_norm: 163.2406 +2026-02-26 10:55:00,825 - DriveTransformer - INFO - Epoch [7][16850/39528] lr: 8.550e-05, eta: 6 days, 10:49:48, time: 0.803, data_time: 0.042, memory: 19865, loss_cls: 0.1509, loss_bbox: 0.3375, loss_traj: 0.6334, loss_traj_cls: 0.0009, loss_map_cls: 0.1538, loss_map_pts: 0.6630, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.3396, d0.loss_plan_l1_fix_dist: 0.4514, d1.loss_plan_l1_fix_time: 0.9248, d1.loss_plan_l1_fix_dist: 0.1735, d2.loss_plan_l1_fix_time: 0.9093, d2.loss_plan_l1_fix_dist: 0.1676, d3.loss_plan_l1_fix_time: 0.9087, d3.loss_plan_l1_fix_dist: 0.1730, d4.loss_plan_l1_fix_time: 0.9114, d4.loss_plan_l1_fix_dist: 0.1811, d5.loss_plan_l1_fix_time: 0.9147, d5.loss_plan_l1_fix_dist: 0.1943, d6.loss_plan_l1_fix_time: 0.9188, d6.loss_plan_l1_fix_dist: 0.2012, d0.loss_cls_all: 0.1871, d0.loss_bbox_all: 0.3861, d0.loss_cls: 0.1871, d0.loss_bbox: 0.3861, d1.loss_cls: 0.1814, d1.loss_bbox: 0.3550, d2.loss_cls: 0.1683, d2.loss_bbox: 0.3411, d3.loss_cls: 0.1562, d3.loss_bbox: 0.3377, d4.loss_cls: 0.1506, d4.loss_bbox: 0.3376, d5.loss_cls: 0.1514, d5.loss_bbox: 0.3367, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8617, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6796, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6361, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6341, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6305, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6323, d0.loss_map_cls_all: 0.2256, d0.loss_map_pts_all: 1.4555, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2256, d0.loss_map_pts: 1.4555, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1960, d1.loss_map_pts: 0.9777, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1778, d2.loss_map_pts: 0.7775, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1663, d3.loss_map_pts: 0.6997, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1592, d4.loss_map_pts: 0.6734, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1556, d5.loss_map_pts: 0.6640, d5.loss_map_dir: 0.0088, loss: 27.1301, grad_norm: 160.6247 +2026-02-26 10:55:39,557 - DriveTransformer - INFO - Epoch [7][16900/39528] lr: 8.550e-05, eta: 6 days, 10:49:04, time: 0.775, data_time: 0.041, memory: 19865, loss_cls: 0.1617, loss_bbox: 0.3548, loss_traj: 0.6535, loss_traj_cls: 0.0010, loss_map_cls: 0.1545, loss_map_pts: 0.7435, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.4210, d0.loss_plan_l1_fix_dist: 0.4793, d1.loss_plan_l1_fix_time: 0.9357, d1.loss_plan_l1_fix_dist: 0.1878, d2.loss_plan_l1_fix_time: 0.9123, d2.loss_plan_l1_fix_dist: 0.1843, d3.loss_plan_l1_fix_time: 0.9043, d3.loss_plan_l1_fix_dist: 0.1904, d4.loss_plan_l1_fix_time: 0.9065, d4.loss_plan_l1_fix_dist: 0.2061, d5.loss_plan_l1_fix_time: 0.9104, d5.loss_plan_l1_fix_dist: 0.2232, d6.loss_plan_l1_fix_time: 0.9152, d6.loss_plan_l1_fix_dist: 0.2404, d0.loss_cls_all: 0.1941, d0.loss_bbox_all: 0.4088, d0.loss_cls: 0.1941, d0.loss_bbox: 0.4088, d1.loss_cls: 0.1867, d1.loss_bbox: 0.3752, d2.loss_cls: 0.1749, d2.loss_bbox: 0.3596, d3.loss_cls: 0.1653, d3.loss_bbox: 0.3549, d4.loss_cls: 0.1614, d4.loss_bbox: 0.3557, d5.loss_cls: 0.1613, d5.loss_bbox: 0.3537, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9254, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7372, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6659, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6501, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6540, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6494, d0.loss_map_cls_all: 0.2335, d0.loss_map_pts_all: 1.4941, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2335, d0.loss_map_pts: 1.4941, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1993, d1.loss_map_pts: 1.0338, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1814, d2.loss_map_pts: 0.8459, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1678, d3.loss_map_pts: 0.7702, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1615, d4.loss_map_pts: 0.7464, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1556, d5.loss_map_pts: 0.7425, d5.loss_map_dir: 0.0095, loss: 28.3620, grad_norm: 160.8625 +2026-02-26 10:56:18,357 - DriveTransformer - INFO - Epoch [7][16950/39528] lr: 8.550e-05, eta: 6 days, 10:48:20, time: 0.776, data_time: 0.039, memory: 19865, loss_cls: 0.1681, loss_bbox: 0.3754, loss_traj: 0.5822, loss_traj_cls: 0.0009, loss_map_cls: 0.1568, loss_map_pts: 0.7105, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.7720, d0.loss_plan_l1_fix_dist: 0.4824, d1.loss_plan_l1_fix_time: 1.2001, d1.loss_plan_l1_fix_dist: 0.2109, d2.loss_plan_l1_fix_time: 1.1887, d2.loss_plan_l1_fix_dist: 0.2113, d3.loss_plan_l1_fix_time: 1.1878, d3.loss_plan_l1_fix_dist: 0.2177, d4.loss_plan_l1_fix_time: 1.1905, d4.loss_plan_l1_fix_dist: 0.2285, d5.loss_plan_l1_fix_time: 1.1940, d5.loss_plan_l1_fix_dist: 0.2377, d6.loss_plan_l1_fix_time: 1.1988, d6.loss_plan_l1_fix_dist: 0.2658, d0.loss_cls_all: 0.2205, d0.loss_bbox_all: 0.4491, d0.loss_cls: 0.2205, d0.loss_bbox: 0.4491, d1.loss_cls: 0.2097, d1.loss_bbox: 0.4116, d2.loss_cls: 0.1913, d2.loss_bbox: 0.3873, d3.loss_cls: 0.1767, d3.loss_bbox: 0.3782, d4.loss_cls: 0.1706, d4.loss_bbox: 0.3763, d5.loss_cls: 0.1698, d5.loss_bbox: 0.3746, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7773, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6459, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6003, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5891, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5860, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5828, d0.loss_map_cls_all: 0.2377, d0.loss_map_pts_all: 1.5172, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2377, d0.loss_map_pts: 1.5172, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2004, d1.loss_map_pts: 1.0217, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1827, d2.loss_map_pts: 0.8244, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1696, d3.loss_map_pts: 0.7532, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1636, d4.loss_map_pts: 0.7217, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1577, d5.loss_map_pts: 0.7120, d5.loss_map_dir: 0.0092, loss: 30.2414, grad_norm: 162.4716 +2026-02-26 10:56:57,559 - DriveTransformer - INFO - Epoch [7][17000/39528] lr: 8.550e-05, eta: 6 days, 10:47:38, time: 0.784, data_time: 0.039, memory: 19865, loss_cls: 0.1661, loss_bbox: 0.3762, loss_traj: 0.5852, loss_traj_cls: 0.0010, loss_map_cls: 0.1582, loss_map_pts: 0.7097, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.6239, d0.loss_plan_l1_fix_dist: 0.3896, d1.loss_plan_l1_fix_time: 1.2032, d1.loss_plan_l1_fix_dist: 0.1687, d2.loss_plan_l1_fix_time: 1.1892, d2.loss_plan_l1_fix_dist: 0.1741, d3.loss_plan_l1_fix_time: 1.1912, d3.loss_plan_l1_fix_dist: 0.1811, d4.loss_plan_l1_fix_time: 1.1949, d4.loss_plan_l1_fix_dist: 0.1953, d5.loss_plan_l1_fix_time: 1.1991, d5.loss_plan_l1_fix_dist: 0.2077, d6.loss_plan_l1_fix_time: 1.2036, d6.loss_plan_l1_fix_dist: 0.2355, d0.loss_cls_all: 0.2170, d0.loss_bbox_all: 0.4317, d0.loss_cls: 0.2170, d0.loss_bbox: 0.4317, d1.loss_cls: 0.2061, d1.loss_bbox: 0.4003, d2.loss_cls: 0.1906, d2.loss_bbox: 0.3822, d3.loss_cls: 0.1761, d3.loss_bbox: 0.3771, d4.loss_cls: 0.1686, d4.loss_bbox: 0.3756, d5.loss_cls: 0.1669, d5.loss_bbox: 0.3751, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7576, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6218, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5992, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5888, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5844, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5820, d0.loss_map_cls_all: 0.2251, d0.loss_map_pts_all: 1.5165, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2251, d0.loss_map_pts: 1.5165, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1969, d1.loss_map_pts: 1.0027, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1773, d2.loss_map_pts: 0.8200, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1694, d3.loss_map_pts: 0.7486, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1616, d4.loss_map_pts: 0.7214, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1580, d5.loss_map_pts: 0.7110, d5.loss_map_dir: 0.0100, loss: 29.6364, grad_norm: 160.5914 +2026-02-26 10:57:35,477 - DriveTransformer - INFO - Epoch [7][17050/39528] lr: 8.550e-05, eta: 6 days, 10:46:52, time: 0.758, data_time: 0.036, memory: 19865, loss_cls: 0.1368, loss_bbox: 0.3189, loss_traj: 0.6261, loss_traj_cls: 0.0010, loss_map_cls: 0.1556, loss_map_pts: 0.6371, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.2287, d0.loss_plan_l1_fix_dist: 0.3567, d1.loss_plan_l1_fix_time: 0.9011, d1.loss_plan_l1_fix_dist: 0.1572, d2.loss_plan_l1_fix_time: 0.8833, d2.loss_plan_l1_fix_dist: 0.1726, d3.loss_plan_l1_fix_time: 0.8835, d3.loss_plan_l1_fix_dist: 0.1750, d4.loss_plan_l1_fix_time: 0.8867, d4.loss_plan_l1_fix_dist: 0.1911, d5.loss_plan_l1_fix_time: 0.8899, d5.loss_plan_l1_fix_dist: 0.2054, d6.loss_plan_l1_fix_time: 0.8931, d6.loss_plan_l1_fix_dist: 0.2093, d0.loss_cls_all: 0.1770, d0.loss_bbox_all: 0.3784, d0.loss_cls: 0.1770, d0.loss_bbox: 0.3784, d1.loss_cls: 0.1687, d1.loss_bbox: 0.3475, d2.loss_cls: 0.1534, d2.loss_bbox: 0.3291, d3.loss_cls: 0.1433, d3.loss_bbox: 0.3210, d4.loss_cls: 0.1392, d4.loss_bbox: 0.3187, d5.loss_cls: 0.1369, d5.loss_bbox: 0.3187, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8188, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6688, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6423, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6292, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6312, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6236, d0.loss_map_cls_all: 0.2243, d0.loss_map_pts_all: 1.3475, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2243, d0.loss_map_pts: 1.3475, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1984, d1.loss_map_pts: 0.9079, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1821, d2.loss_map_pts: 0.7364, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1685, d3.loss_map_pts: 0.6683, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1623, d4.loss_map_pts: 0.6437, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1567, d5.loss_map_pts: 0.6373, d5.loss_map_dir: 0.0076, loss: 26.0811, grad_norm: 161.4294 +2026-02-26 10:58:14,421 - DriveTransformer - INFO - Epoch [7][17100/39528] lr: 8.550e-05, eta: 6 days, 10:46:08, time: 0.779, data_time: 0.041, memory: 19865, loss_cls: 0.1546, loss_bbox: 0.3820, loss_traj: 0.7004, loss_traj_cls: 0.0009, loss_map_cls: 0.1836, loss_map_pts: 0.7349, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 3.0651, d0.loss_plan_l1_fix_dist: 0.4849, d1.loss_plan_l1_fix_time: 1.2273, d1.loss_plan_l1_fix_dist: 0.2074, d2.loss_plan_l1_fix_time: 1.2253, d2.loss_plan_l1_fix_dist: 0.2152, d3.loss_plan_l1_fix_time: 1.2313, d3.loss_plan_l1_fix_dist: 0.2167, d4.loss_plan_l1_fix_time: 1.2347, d4.loss_plan_l1_fix_dist: 0.2272, d5.loss_plan_l1_fix_time: 1.2381, d5.loss_plan_l1_fix_dist: 0.2412, d6.loss_plan_l1_fix_time: 1.2418, d6.loss_plan_l1_fix_dist: 0.2527, d0.loss_cls_all: 0.2006, d0.loss_bbox_all: 0.4452, d0.loss_cls: 0.2006, d0.loss_bbox: 0.4452, d1.loss_cls: 0.1929, d1.loss_bbox: 0.4119, d2.loss_cls: 0.1784, d2.loss_bbox: 0.3909, d3.loss_cls: 0.1645, d3.loss_bbox: 0.3849, d4.loss_cls: 0.1578, d4.loss_bbox: 0.3827, d5.loss_cls: 0.1550, d5.loss_bbox: 0.3822, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9684, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7772, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7248, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7048, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7033, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7009, d0.loss_map_cls_all: 0.2678, d0.loss_map_pts_all: 1.4533, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2678, d0.loss_map_pts: 1.4533, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2358, d1.loss_map_pts: 1.0347, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.2134, d2.loss_map_pts: 0.8543, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1982, d3.loss_map_pts: 0.7743, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1909, d4.loss_map_pts: 0.7443, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1850, d5.loss_map_pts: 0.7379, d5.loss_map_dir: 0.0085, loss: 31.8217, grad_norm: 160.6060 +2026-02-26 10:58:52,546 - DriveTransformer - INFO - Epoch [7][17150/39528] lr: 8.550e-05, eta: 6 days, 10:45:23, time: 0.763, data_time: 0.043, memory: 19865, loss_cls: 0.1476, loss_bbox: 0.3381, loss_traj: 0.7283, loss_traj_cls: 0.0009, loss_map_cls: 0.1328, loss_map_pts: 0.5739, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.6525, d0.loss_plan_l1_fix_dist: 0.3024, d1.loss_plan_l1_fix_time: 1.0460, d1.loss_plan_l1_fix_dist: 0.1645, d2.loss_plan_l1_fix_time: 1.0386, d2.loss_plan_l1_fix_dist: 0.1642, d3.loss_plan_l1_fix_time: 1.0402, d3.loss_plan_l1_fix_dist: 0.1724, d4.loss_plan_l1_fix_time: 1.0432, d4.loss_plan_l1_fix_dist: 0.1861, d5.loss_plan_l1_fix_time: 1.0466, d5.loss_plan_l1_fix_dist: 0.1986, d6.loss_plan_l1_fix_time: 1.0502, d6.loss_plan_l1_fix_dist: 0.2182, d0.loss_cls_all: 0.1809, d0.loss_bbox_all: 0.4038, d0.loss_cls: 0.1809, d0.loss_bbox: 0.4038, d1.loss_cls: 0.1763, d1.loss_bbox: 0.3665, d2.loss_cls: 0.1669, d2.loss_bbox: 0.3471, d3.loss_cls: 0.1538, d3.loss_bbox: 0.3410, d4.loss_cls: 0.1492, d4.loss_bbox: 0.3378, d5.loss_cls: 0.1481, d5.loss_bbox: 0.3364, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0512, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8125, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7475, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7272, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7261, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7243, d0.loss_map_cls_all: 0.2062, d0.loss_map_pts_all: 1.1974, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2062, d0.loss_map_pts: 1.1974, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1770, d1.loss_map_pts: 0.8137, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1564, d2.loss_map_pts: 0.6653, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1439, d3.loss_map_pts: 0.6036, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1373, d4.loss_map_pts: 0.5798, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1338, d5.loss_map_pts: 0.5752, d5.loss_map_dir: 0.0072, loss: 27.5830, grad_norm: 158.8587 +2026-02-26 10:59:31,625 - DriveTransformer - INFO - Epoch [7][17200/39528] lr: 8.550e-05, eta: 6 days, 10:44:40, time: 0.783, data_time: 0.041, memory: 19865, loss_cls: 0.1642, loss_bbox: 0.3869, loss_traj: 0.7801, loss_traj_cls: 0.0010, loss_map_cls: 0.1535, loss_map_pts: 0.6776, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.7603, d0.loss_plan_l1_fix_dist: 0.4633, d1.loss_plan_l1_fix_time: 1.2740, d1.loss_plan_l1_fix_dist: 0.2204, d2.loss_plan_l1_fix_time: 1.2560, d2.loss_plan_l1_fix_dist: 0.2159, d3.loss_plan_l1_fix_time: 1.2535, d3.loss_plan_l1_fix_dist: 0.2266, d4.loss_plan_l1_fix_time: 1.2562, d4.loss_plan_l1_fix_dist: 0.2365, d5.loss_plan_l1_fix_time: 1.2597, d5.loss_plan_l1_fix_dist: 0.2494, d6.loss_plan_l1_fix_time: 1.2639, d6.loss_plan_l1_fix_dist: 0.2708, d0.loss_cls_all: 0.2037, d0.loss_bbox_all: 0.4365, d0.loss_cls: 0.2037, d0.loss_bbox: 0.4365, d1.loss_cls: 0.1998, d1.loss_bbox: 0.4071, d2.loss_cls: 0.1824, d2.loss_bbox: 0.3894, d3.loss_cls: 0.1693, d3.loss_bbox: 0.3845, d4.loss_cls: 0.1653, d4.loss_bbox: 0.3833, d5.loss_cls: 0.1634, d5.loss_bbox: 0.3838, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0126, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8300, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7941, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7838, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7856, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7800, d0.loss_map_cls_all: 0.2274, d0.loss_map_pts_all: 1.3717, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2274, d0.loss_map_pts: 1.3717, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1946, d1.loss_map_pts: 0.9927, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1784, d2.loss_map_pts: 0.8040, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1653, d3.loss_map_pts: 0.7172, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1595, d4.loss_map_pts: 0.6870, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1548, d5.loss_map_pts: 0.6783, d5.loss_map_dir: 0.0082, loss: 31.4644, grad_norm: 162.3752 +2026-02-26 11:00:10,639 - DriveTransformer - INFO - Epoch [7][17250/39528] lr: 8.550e-05, eta: 6 days, 10:43:57, time: 0.779, data_time: 0.038, memory: 19865, loss_cls: 0.1596, loss_bbox: 0.3813, loss_traj: 0.6574, loss_traj_cls: 0.0009, loss_map_cls: 0.1409, loss_map_pts: 0.5853, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 3.1057, d0.loss_plan_l1_fix_dist: 0.3593, d1.loss_plan_l1_fix_time: 1.1954, d1.loss_plan_l1_fix_dist: 0.2022, d2.loss_plan_l1_fix_time: 1.1770, d2.loss_plan_l1_fix_dist: 0.1814, d3.loss_plan_l1_fix_time: 1.1754, d3.loss_plan_l1_fix_dist: 0.1925, d4.loss_plan_l1_fix_time: 1.1783, d4.loss_plan_l1_fix_dist: 0.2032, d5.loss_plan_l1_fix_time: 1.1817, d5.loss_plan_l1_fix_dist: 0.2160, d6.loss_plan_l1_fix_time: 1.1861, d6.loss_plan_l1_fix_dist: 0.2229, d0.loss_cls_all: 0.2004, d0.loss_bbox_all: 0.4249, d0.loss_cls: 0.2004, d0.loss_bbox: 0.4249, d1.loss_cls: 0.1882, d1.loss_bbox: 0.3998, d2.loss_cls: 0.1743, d2.loss_bbox: 0.3844, d3.loss_cls: 0.1633, d3.loss_bbox: 0.3809, d4.loss_cls: 0.1607, d4.loss_bbox: 0.3785, d5.loss_cls: 0.1605, d5.loss_bbox: 0.3784, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8834, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6962, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6628, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6563, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6545, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6559, d0.loss_map_cls_all: 0.2236, d0.loss_map_pts_all: 1.2616, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2236, d0.loss_map_pts: 1.2616, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1896, d1.loss_map_pts: 0.8595, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1681, d2.loss_map_pts: 0.6856, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1542, d3.loss_map_pts: 0.6142, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1457, d4.loss_map_pts: 0.5918, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1414, d5.loss_map_pts: 0.5871, d5.loss_map_dir: 0.0091, loss: 29.1158, grad_norm: 162.6854 +2026-02-26 11:00:48,913 - DriveTransformer - INFO - Epoch [7][17300/39528] lr: 8.550e-05, eta: 6 days, 10:43:12, time: 0.765, data_time: 0.040, memory: 19865, loss_cls: 0.1574, loss_bbox: 0.3621, loss_traj: 0.6281, loss_traj_cls: 0.0009, loss_map_cls: 0.1547, loss_map_pts: 0.6256, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.4612, d0.loss_plan_l1_fix_dist: 0.4015, d1.loss_plan_l1_fix_time: 1.1600, d1.loss_plan_l1_fix_dist: 0.2015, d2.loss_plan_l1_fix_time: 1.1433, d2.loss_plan_l1_fix_dist: 0.1893, d3.loss_plan_l1_fix_time: 1.1436, d3.loss_plan_l1_fix_dist: 0.1998, d4.loss_plan_l1_fix_time: 1.1463, d4.loss_plan_l1_fix_dist: 0.2176, d5.loss_plan_l1_fix_time: 1.1491, d5.loss_plan_l1_fix_dist: 0.2356, d6.loss_plan_l1_fix_time: 1.1525, d6.loss_plan_l1_fix_dist: 0.2519, d0.loss_cls_all: 0.2024, d0.loss_bbox_all: 0.4197, d0.loss_cls: 0.2024, d0.loss_bbox: 0.4197, d1.loss_cls: 0.1928, d1.loss_bbox: 0.3878, d2.loss_cls: 0.1749, d2.loss_bbox: 0.3723, d3.loss_cls: 0.1623, d3.loss_bbox: 0.3674, d4.loss_cls: 0.1578, d4.loss_bbox: 0.3629, d5.loss_cls: 0.1569, d5.loss_bbox: 0.3624, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7792, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6685, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6455, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6367, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6292, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6295, d0.loss_map_cls_all: 0.2233, d0.loss_map_pts_all: 1.2971, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2233, d0.loss_map_pts: 1.2971, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1973, d1.loss_map_pts: 0.8782, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1810, d2.loss_map_pts: 0.7161, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1695, d3.loss_map_pts: 0.6559, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1606, d4.loss_map_pts: 0.6322, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1561, d5.loss_map_pts: 0.6236, d5.loss_map_dir: 0.0081, loss: 28.3941, grad_norm: 163.0732 +2026-02-26 11:01:29,272 - DriveTransformer - INFO - Epoch [7][17350/39528] lr: 8.550e-05, eta: 6 days, 10:42:32, time: 0.807, data_time: 0.041, memory: 19865, loss_cls: 0.1647, loss_bbox: 0.3505, loss_traj: 0.5261, loss_traj_cls: 0.0009, loss_map_cls: 0.1665, loss_map_pts: 0.7992, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.8231, d0.loss_plan_l1_fix_dist: 0.4088, d1.loss_plan_l1_fix_time: 1.0555, d1.loss_plan_l1_fix_dist: 0.1933, d2.loss_plan_l1_fix_time: 1.0421, d2.loss_plan_l1_fix_dist: 0.1928, d3.loss_plan_l1_fix_time: 1.0317, d3.loss_plan_l1_fix_dist: 0.1977, d4.loss_plan_l1_fix_time: 1.0329, d4.loss_plan_l1_fix_dist: 0.2088, d5.loss_plan_l1_fix_time: 1.0353, d5.loss_plan_l1_fix_dist: 0.2220, d6.loss_plan_l1_fix_time: 1.0386, d6.loss_plan_l1_fix_dist: 0.2430, d0.loss_cls_all: 0.1990, d0.loss_bbox_all: 0.4156, d0.loss_cls: 0.1990, d0.loss_bbox: 0.4156, d1.loss_cls: 0.1924, d1.loss_bbox: 0.3866, d2.loss_cls: 0.1794, d2.loss_bbox: 0.3686, d3.loss_cls: 0.1687, d3.loss_bbox: 0.3610, d4.loss_cls: 0.1647, d4.loss_bbox: 0.3556, d5.loss_cls: 0.1655, d5.loss_bbox: 0.3504, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7128, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5696, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5291, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5279, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5237, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5237, d0.loss_map_cls_all: 0.2365, d0.loss_map_pts_all: 1.6838, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2365, d0.loss_map_pts: 1.6838, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2084, d1.loss_map_pts: 1.1287, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.1897, d2.loss_map_pts: 0.9167, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1793, d3.loss_map_pts: 0.8327, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1729, d4.loss_map_pts: 0.8053, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.1686, d5.loss_map_pts: 0.7985, d5.loss_map_dir: 0.0119, loss: 29.3811, grad_norm: 162.2423 +2026-02-26 11:02:08,516 - DriveTransformer - INFO - Epoch [7][17400/39528] lr: 8.550e-05, eta: 6 days, 10:41:50, time: 0.785, data_time: 0.039, memory: 19865, loss_cls: 0.1621, loss_bbox: 0.3513, loss_traj: 0.5904, loss_traj_cls: 0.0009, loss_map_cls: 0.1345, loss_map_pts: 0.6309, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.3752, d0.loss_plan_l1_fix_dist: 0.3697, d1.loss_plan_l1_fix_time: 0.9335, d1.loss_plan_l1_fix_dist: 0.1713, d2.loss_plan_l1_fix_time: 0.9230, d2.loss_plan_l1_fix_dist: 0.1780, d3.loss_plan_l1_fix_time: 0.9222, d3.loss_plan_l1_fix_dist: 0.1849, d4.loss_plan_l1_fix_time: 0.9255, d4.loss_plan_l1_fix_dist: 0.1964, d5.loss_plan_l1_fix_time: 0.9289, d5.loss_plan_l1_fix_dist: 0.2077, d6.loss_plan_l1_fix_time: 0.9329, d6.loss_plan_l1_fix_dist: 0.2254, d0.loss_cls_all: 0.1941, d0.loss_bbox_all: 0.4027, d0.loss_cls: 0.1941, d0.loss_bbox: 0.4027, d1.loss_cls: 0.1856, d1.loss_bbox: 0.3754, d2.loss_cls: 0.1726, d2.loss_bbox: 0.3570, d3.loss_cls: 0.1632, d3.loss_bbox: 0.3517, d4.loss_cls: 0.1609, d4.loss_bbox: 0.3503, d5.loss_cls: 0.1619, d5.loss_bbox: 0.3500, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8501, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6749, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6086, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5985, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5963, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5885, d0.loss_map_cls_all: 0.2041, d0.loss_map_pts_all: 1.2671, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2041, d0.loss_map_pts: 1.2671, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1779, d1.loss_map_pts: 0.8807, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1589, d2.loss_map_pts: 0.7234, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1481, d3.loss_map_pts: 0.6610, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1398, d4.loss_map_pts: 0.6382, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1357, d5.loss_map_pts: 0.6328, d5.loss_map_dir: 0.0085, loss: 26.3930, grad_norm: 164.6783 +2026-02-26 11:02:50,207 - DriveTransformer - INFO - Epoch [7][17450/39528] lr: 8.550e-05, eta: 6 days, 10:41:14, time: 0.834, data_time: 0.040, memory: 19865, loss_cls: 0.1587, loss_bbox: 0.3638, loss_traj: 0.6392, loss_traj_cls: 0.0009, loss_map_cls: 0.1453, loss_map_pts: 0.7164, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.5516, d0.loss_plan_l1_fix_dist: 0.3664, d1.loss_plan_l1_fix_time: 0.9385, d1.loss_plan_l1_fix_dist: 0.1946, d2.loss_plan_l1_fix_time: 0.9279, d2.loss_plan_l1_fix_dist: 0.1989, d3.loss_plan_l1_fix_time: 0.9290, d3.loss_plan_l1_fix_dist: 0.2026, d4.loss_plan_l1_fix_time: 0.9327, d4.loss_plan_l1_fix_dist: 0.2148, d5.loss_plan_l1_fix_time: 0.9362, d5.loss_plan_l1_fix_dist: 0.2251, d6.loss_plan_l1_fix_time: 0.9393, d6.loss_plan_l1_fix_dist: 0.2362, d0.loss_cls_all: 0.1983, d0.loss_bbox_all: 0.4195, d0.loss_cls: 0.1983, d0.loss_bbox: 0.4195, d1.loss_cls: 0.1938, d1.loss_bbox: 0.3843, d2.loss_cls: 0.1787, d2.loss_bbox: 0.3705, d3.loss_cls: 0.1679, d3.loss_bbox: 0.3654, d4.loss_cls: 0.1599, d4.loss_bbox: 0.3647, d5.loss_cls: 0.1584, d5.loss_bbox: 0.3633, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8445, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7110, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6588, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6531, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6427, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6406, d0.loss_map_cls_all: 0.2213, d0.loss_map_pts_all: 1.5171, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2213, d0.loss_map_pts: 1.5171, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.1914, d1.loss_map_pts: 1.0222, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1721, d2.loss_map_pts: 0.8254, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1582, d3.loss_map_pts: 0.7547, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1497, d4.loss_map_pts: 0.7249, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1456, d5.loss_map_pts: 0.7175, d5.loss_map_dir: 0.0108, loss: 28.3379, grad_norm: 165.4031 +2026-02-26 11:03:30,592 - DriveTransformer - INFO - Epoch [7][17500/39528] lr: 8.550e-05, eta: 6 days, 10:40:34, time: 0.808, data_time: 0.038, memory: 19865, loss_cls: 0.1632, loss_bbox: 0.3810, loss_traj: 0.6660, loss_traj_cls: 0.0009, loss_map_cls: 0.1634, loss_map_pts: 0.7464, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.6540, d0.loss_plan_l1_fix_dist: 0.4637, d1.loss_plan_l1_fix_time: 1.1548, d1.loss_plan_l1_fix_dist: 0.2134, d2.loss_plan_l1_fix_time: 1.1403, d2.loss_plan_l1_fix_dist: 0.2265, d3.loss_plan_l1_fix_time: 1.1410, d3.loss_plan_l1_fix_dist: 0.2418, d4.loss_plan_l1_fix_time: 1.1445, d4.loss_plan_l1_fix_dist: 0.2625, d5.loss_plan_l1_fix_time: 1.1482, d5.loss_plan_l1_fix_dist: 0.2858, d6.loss_plan_l1_fix_time: 1.1520, d6.loss_plan_l1_fix_dist: 0.3126, d0.loss_cls_all: 0.2022, d0.loss_bbox_all: 0.4378, d0.loss_cls: 0.2022, d0.loss_bbox: 0.4378, d1.loss_cls: 0.1956, d1.loss_bbox: 0.4022, d2.loss_cls: 0.1831, d2.loss_bbox: 0.3831, d3.loss_cls: 0.1687, d3.loss_bbox: 0.3790, d4.loss_cls: 0.1617, d4.loss_bbox: 0.3781, d5.loss_cls: 0.1625, d5.loss_bbox: 0.3804, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9219, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7360, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6870, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6760, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6675, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6671, d0.loss_map_cls_all: 0.2365, d0.loss_map_pts_all: 1.4983, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2365, d0.loss_map_pts: 1.4983, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2093, d1.loss_map_pts: 1.0211, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1886, d2.loss_map_pts: 0.8395, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1762, d3.loss_map_pts: 0.7734, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1700, d4.loss_map_pts: 0.7540, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1642, d5.loss_map_pts: 0.7483, d5.loss_map_dir: 0.0094, loss: 30.6859, grad_norm: 177.9068 +2026-02-26 11:04:10,200 - DriveTransformer - INFO - Epoch [7][17550/39528] lr: 8.550e-05, eta: 6 days, 10:39:53, time: 0.792, data_time: 0.038, memory: 19865, loss_cls: 0.1559, loss_bbox: 0.3577, loss_traj: 0.6843, loss_traj_cls: 0.0010, loss_map_cls: 0.1402, loss_map_pts: 0.6877, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.5161, d0.loss_plan_l1_fix_dist: 0.4451, d1.loss_plan_l1_fix_time: 1.0124, d1.loss_plan_l1_fix_dist: 0.2005, d2.loss_plan_l1_fix_time: 0.9995, d2.loss_plan_l1_fix_dist: 0.2007, d3.loss_plan_l1_fix_time: 0.9958, d3.loss_plan_l1_fix_dist: 0.2117, d4.loss_plan_l1_fix_time: 0.9985, d4.loss_plan_l1_fix_dist: 0.2297, d5.loss_plan_l1_fix_time: 1.0020, d5.loss_plan_l1_fix_dist: 0.2499, d6.loss_plan_l1_fix_time: 1.0058, d6.loss_plan_l1_fix_dist: 0.2685, d0.loss_cls_all: 0.1921, d0.loss_bbox_all: 0.4182, d0.loss_cls: 0.1921, d0.loss_bbox: 0.4182, d1.loss_cls: 0.1835, d1.loss_bbox: 0.3872, d2.loss_cls: 0.1740, d2.loss_bbox: 0.3666, d3.loss_cls: 0.1639, d3.loss_bbox: 0.3595, d4.loss_cls: 0.1574, d4.loss_bbox: 0.3565, d5.loss_cls: 0.1557, d5.loss_bbox: 0.3563, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8711, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7348, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6942, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6854, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6811, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6805, d0.loss_map_cls_all: 0.2101, d0.loss_map_pts_all: 1.4758, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2101, d0.loss_map_pts: 1.4758, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1837, d1.loss_map_pts: 1.0062, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1641, d2.loss_map_pts: 0.8080, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1534, d3.loss_map_pts: 0.7281, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1461, d4.loss_map_pts: 0.6990, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1420, d5.loss_map_pts: 0.6890, d5.loss_map_dir: 0.0101, loss: 28.7651, grad_norm: 177.6648 +2026-02-26 11:04:49,711 - DriveTransformer - INFO - Epoch [7][17600/39528] lr: 8.550e-05, eta: 6 days, 10:39:11, time: 0.790, data_time: 0.044, memory: 19865, loss_cls: 0.1513, loss_bbox: 0.3854, loss_traj: 0.7573, loss_traj_cls: 0.0009, loss_map_cls: 0.1745, loss_map_pts: 0.8133, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.5812, d0.loss_plan_l1_fix_dist: 0.4374, d1.loss_plan_l1_fix_time: 1.1186, d1.loss_plan_l1_fix_dist: 0.2356, d2.loss_plan_l1_fix_time: 1.1080, d2.loss_plan_l1_fix_dist: 0.2307, d3.loss_plan_l1_fix_time: 1.1025, d3.loss_plan_l1_fix_dist: 0.2481, d4.loss_plan_l1_fix_time: 1.1061, d4.loss_plan_l1_fix_dist: 0.2743, d5.loss_plan_l1_fix_time: 1.1109, d5.loss_plan_l1_fix_dist: 0.3049, d6.loss_plan_l1_fix_time: 1.1158, d6.loss_plan_l1_fix_dist: 0.3306, d0.loss_cls_all: 0.1957, d0.loss_bbox_all: 0.4356, d0.loss_cls: 0.1957, d0.loss_bbox: 0.4356, d1.loss_cls: 0.1879, d1.loss_bbox: 0.4044, d2.loss_cls: 0.1698, d2.loss_bbox: 0.3892, d3.loss_cls: 0.1571, d3.loss_bbox: 0.3827, d4.loss_cls: 0.1514, d4.loss_bbox: 0.3827, d5.loss_cls: 0.1498, d5.loss_bbox: 0.3834, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9893, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8178, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7631, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7590, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7563, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7562, d0.loss_map_cls_all: 0.2419, d0.loss_map_pts_all: 1.5969, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2419, d0.loss_map_pts: 1.5969, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2130, d1.loss_map_pts: 1.1105, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1965, d2.loss_map_pts: 0.9238, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1884, d3.loss_map_pts: 0.8502, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1804, d4.loss_map_pts: 0.8226, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1760, d5.loss_map_pts: 0.8132, d5.loss_map_dir: 0.0113, loss: 31.6924, grad_norm: 178.7609 +2026-02-26 11:05:30,456 - DriveTransformer - INFO - Epoch [7][17650/39528] lr: 8.550e-05, eta: 6 days, 10:38:33, time: 0.815, data_time: 0.049, memory: 19865, loss_cls: 0.1362, loss_bbox: 0.3596, loss_traj: 0.6294, loss_traj_cls: 0.0009, loss_map_cls: 0.1651, loss_map_pts: 0.7125, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.8003, d0.loss_plan_l1_fix_dist: 0.4163, d1.loss_plan_l1_fix_time: 0.9430, d1.loss_plan_l1_fix_dist: 0.1687, d2.loss_plan_l1_fix_time: 0.9322, d2.loss_plan_l1_fix_dist: 0.1655, d3.loss_plan_l1_fix_time: 0.9258, d3.loss_plan_l1_fix_dist: 0.1767, d4.loss_plan_l1_fix_time: 0.9286, d4.loss_plan_l1_fix_dist: 0.1849, d5.loss_plan_l1_fix_time: 0.9327, d5.loss_plan_l1_fix_dist: 0.2002, d6.loss_plan_l1_fix_time: 0.9374, d6.loss_plan_l1_fix_dist: 0.2211, d0.loss_cls_all: 0.1791, d0.loss_bbox_all: 0.4100, d0.loss_cls: 0.1791, d0.loss_bbox: 0.4100, d1.loss_cls: 0.1714, d1.loss_bbox: 0.3799, d2.loss_cls: 0.1576, d2.loss_bbox: 0.3631, d3.loss_cls: 0.1473, d3.loss_bbox: 0.3572, d4.loss_cls: 0.1391, d4.loss_bbox: 0.3591, d5.loss_cls: 0.1380, d5.loss_bbox: 0.3579, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7621, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6680, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6448, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6352, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6313, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6300, d0.loss_map_cls_all: 0.2374, d0.loss_map_pts_all: 1.5013, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2374, d0.loss_map_pts: 1.5013, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2065, d1.loss_map_pts: 1.0078, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1844, d2.loss_map_pts: 0.8182, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1762, d3.loss_map_pts: 0.7500, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1684, d4.loss_map_pts: 0.7201, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1663, d5.loss_map_pts: 0.7118, d5.loss_map_dir: 0.0104, loss: 28.1300, grad_norm: 178.0475 +2026-02-26 11:06:08,587 - DriveTransformer - INFO - Epoch [7][17700/39528] lr: 8.550e-05, eta: 6 days, 10:37:47, time: 0.763, data_time: 0.039, memory: 19865, loss_cls: 0.1705, loss_bbox: 0.3865, loss_traj: 0.6320, loss_traj_cls: 0.0009, loss_map_cls: 0.1953, loss_map_pts: 0.7679, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.5981, d0.loss_plan_l1_fix_dist: 0.3842, d1.loss_plan_l1_fix_time: 1.1777, d1.loss_plan_l1_fix_dist: 0.1941, d2.loss_plan_l1_fix_time: 1.1648, d2.loss_plan_l1_fix_dist: 0.2010, d3.loss_plan_l1_fix_time: 1.1662, d3.loss_plan_l1_fix_dist: 0.2228, d4.loss_plan_l1_fix_time: 1.1686, d4.loss_plan_l1_fix_dist: 0.2376, d5.loss_plan_l1_fix_time: 1.1714, d5.loss_plan_l1_fix_dist: 0.2485, d6.loss_plan_l1_fix_time: 1.1750, d6.loss_plan_l1_fix_dist: 0.2679, d0.loss_cls_all: 0.2080, d0.loss_bbox_all: 0.4557, d0.loss_cls: 0.2080, d0.loss_bbox: 0.4557, d1.loss_cls: 0.1990, d1.loss_bbox: 0.4156, d2.loss_cls: 0.1860, d2.loss_bbox: 0.3938, d3.loss_cls: 0.1739, d3.loss_bbox: 0.3891, d4.loss_cls: 0.1687, d4.loss_bbox: 0.3887, d5.loss_cls: 0.1694, d5.loss_bbox: 0.3868, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8682, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6902, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6378, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6332, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6275, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6279, d0.loss_map_cls_all: 0.2639, d0.loss_map_pts_all: 1.5011, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2639, d0.loss_map_pts: 1.5011, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.2411, d1.loss_map_pts: 1.0634, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.2187, d2.loss_map_pts: 0.8803, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.2081, d3.loss_map_pts: 0.8069, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.2006, d4.loss_map_pts: 0.7760, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1955, d5.loss_map_pts: 0.7698, d5.loss_map_dir: 0.0083, loss: 30.7740, grad_norm: 177.6808 +2026-02-26 11:06:48,007 - DriveTransformer - INFO - Epoch [7][17750/39528] lr: 8.550e-05, eta: 6 days, 10:37:05, time: 0.788, data_time: 0.051, memory: 19865, loss_cls: 0.1497, loss_bbox: 0.3521, loss_traj: 0.6963, loss_traj_cls: 0.0009, loss_map_cls: 0.1207, loss_map_pts: 0.5425, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.4443, d0.loss_plan_l1_fix_dist: 0.3736, d1.loss_plan_l1_fix_time: 1.0373, d1.loss_plan_l1_fix_dist: 0.1936, d2.loss_plan_l1_fix_time: 1.0246, d2.loss_plan_l1_fix_dist: 0.1916, d3.loss_plan_l1_fix_time: 1.0276, d3.loss_plan_l1_fix_dist: 0.2039, d4.loss_plan_l1_fix_time: 1.0310, d4.loss_plan_l1_fix_dist: 0.2183, d5.loss_plan_l1_fix_time: 1.0344, d5.loss_plan_l1_fix_dist: 0.2315, d6.loss_plan_l1_fix_time: 1.0378, d6.loss_plan_l1_fix_dist: 0.2488, d0.loss_cls_all: 0.1906, d0.loss_bbox_all: 0.4103, d0.loss_cls: 0.1906, d0.loss_bbox: 0.4103, d1.loss_cls: 0.1809, d1.loss_bbox: 0.3768, d2.loss_cls: 0.1672, d2.loss_bbox: 0.3605, d3.loss_cls: 0.1559, d3.loss_bbox: 0.3543, d4.loss_cls: 0.1509, d4.loss_bbox: 0.3524, d5.loss_cls: 0.1489, d5.loss_bbox: 0.3525, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9029, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7576, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7081, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7021, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7015, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6964, d0.loss_map_cls_all: 0.1892, d0.loss_map_pts_all: 1.2047, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1892, d0.loss_map_pts: 1.2047, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1567, d1.loss_map_pts: 0.7968, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1414, d2.loss_map_pts: 0.6340, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1334, d3.loss_map_pts: 0.5745, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1256, d4.loss_map_pts: 0.5505, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1223, d5.loss_map_pts: 0.5436, d5.loss_map_dir: 0.0080, loss: 27.0660, grad_norm: 175.8119 +2026-02-26 11:07:26,002 - DriveTransformer - INFO - Epoch [7][17800/39528] lr: 8.550e-05, eta: 6 days, 10:36:19, time: 0.760, data_time: 0.040, memory: 19865, loss_cls: 0.1552, loss_bbox: 0.3592, loss_traj: 0.6475, loss_traj_cls: 0.0009, loss_map_cls: 0.1460, loss_map_pts: 0.6693, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.6860, d0.loss_plan_l1_fix_dist: 0.4231, d1.loss_plan_l1_fix_time: 0.8939, d1.loss_plan_l1_fix_dist: 0.1972, d2.loss_plan_l1_fix_time: 0.8935, d2.loss_plan_l1_fix_dist: 0.2001, d3.loss_plan_l1_fix_time: 0.8983, d3.loss_plan_l1_fix_dist: 0.2036, d4.loss_plan_l1_fix_time: 0.9027, d4.loss_plan_l1_fix_dist: 0.2177, d5.loss_plan_l1_fix_time: 0.9068, d5.loss_plan_l1_fix_dist: 0.2371, d6.loss_plan_l1_fix_time: 0.9108, d6.loss_plan_l1_fix_dist: 0.2573, d0.loss_cls_all: 0.2096, d0.loss_bbox_all: 0.4151, d0.loss_cls: 0.2096, d0.loss_bbox: 0.4151, d1.loss_cls: 0.1953, d1.loss_bbox: 0.3870, d2.loss_cls: 0.1789, d2.loss_bbox: 0.3667, d3.loss_cls: 0.1624, d3.loss_bbox: 0.3617, d4.loss_cls: 0.1570, d4.loss_bbox: 0.3596, d5.loss_cls: 0.1546, d5.loss_bbox: 0.3582, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8558, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6903, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6528, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6441, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6457, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6442, d0.loss_map_cls_all: 0.2194, d0.loss_map_pts_all: 1.3836, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2194, d0.loss_map_pts: 1.3836, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1874, d1.loss_map_pts: 0.9289, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1648, d2.loss_map_pts: 0.7606, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1567, d3.loss_map_pts: 0.6955, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1520, d4.loss_map_pts: 0.6723, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1478, d5.loss_map_pts: 0.6677, d5.loss_map_dir: 0.0089, loss: 27.6832, grad_norm: 175.0964 +2026-02-26 11:08:07,603 - DriveTransformer - INFO - Epoch [7][17850/39528] lr: 8.550e-05, eta: 6 days, 10:35:43, time: 0.832, data_time: 0.040, memory: 19865, loss_cls: 0.1429, loss_bbox: 0.3583, loss_traj: 0.6535, loss_traj_cls: 0.0009, loss_map_cls: 0.1523, loss_map_pts: 0.7618, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.6857, d0.loss_plan_l1_fix_dist: 0.3356, d1.loss_plan_l1_fix_time: 1.1844, d1.loss_plan_l1_fix_dist: 0.1822, d2.loss_plan_l1_fix_time: 1.1786, d2.loss_plan_l1_fix_dist: 0.1867, d3.loss_plan_l1_fix_time: 1.1752, d3.loss_plan_l1_fix_dist: 0.1915, d4.loss_plan_l1_fix_time: 1.1777, d4.loss_plan_l1_fix_dist: 0.1987, d5.loss_plan_l1_fix_time: 1.1806, d5.loss_plan_l1_fix_dist: 0.2113, d6.loss_plan_l1_fix_time: 1.1843, d6.loss_plan_l1_fix_dist: 0.2261, d0.loss_cls_all: 0.1770, d0.loss_bbox_all: 0.4090, d0.loss_cls: 0.1770, d0.loss_bbox: 0.4090, d1.loss_cls: 0.1678, d1.loss_bbox: 0.3774, d2.loss_cls: 0.1593, d2.loss_bbox: 0.3601, d3.loss_cls: 0.1478, d3.loss_bbox: 0.3566, d4.loss_cls: 0.1445, d4.loss_bbox: 0.3564, d5.loss_cls: 0.1428, d5.loss_bbox: 0.3578, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9035, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7319, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6770, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6560, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6583, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6608, d0.loss_map_cls_all: 0.2395, d0.loss_map_pts_all: 1.5970, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2395, d0.loss_map_pts: 1.5970, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.1948, d1.loss_map_pts: 1.0772, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1747, d2.loss_map_pts: 0.8794, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1658, d3.loss_map_pts: 0.8015, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1576, d4.loss_map_pts: 0.7723, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1521, d5.loss_map_pts: 0.7643, d5.loss_map_dir: 0.0111, loss: 30.3019, grad_norm: 176.6153 +2026-02-26 11:08:46,321 - DriveTransformer - INFO - Epoch [7][17900/39528] lr: 8.550e-05, eta: 6 days, 10:34:59, time: 0.774, data_time: 0.044, memory: 19865, loss_cls: 0.1274, loss_bbox: 0.3229, loss_traj: 0.5628, loss_traj_cls: 0.0009, loss_map_cls: 0.1397, loss_map_pts: 0.6287, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.5050, d0.loss_plan_l1_fix_dist: 0.4923, d1.loss_plan_l1_fix_time: 0.9843, d1.loss_plan_l1_fix_dist: 0.1909, d2.loss_plan_l1_fix_time: 0.9649, d2.loss_plan_l1_fix_dist: 0.1926, d3.loss_plan_l1_fix_time: 0.9630, d3.loss_plan_l1_fix_dist: 0.2041, d4.loss_plan_l1_fix_time: 0.9668, d4.loss_plan_l1_fix_dist: 0.2207, d5.loss_plan_l1_fix_time: 0.9719, d5.loss_plan_l1_fix_dist: 0.2397, d6.loss_plan_l1_fix_time: 0.9781, d6.loss_plan_l1_fix_dist: 0.2581, d0.loss_cls_all: 0.1707, d0.loss_bbox_all: 0.3781, d0.loss_cls: 0.1707, d0.loss_bbox: 0.3781, d1.loss_cls: 0.1579, d1.loss_bbox: 0.3477, d2.loss_cls: 0.1472, d2.loss_bbox: 0.3313, d3.loss_cls: 0.1334, d3.loss_bbox: 0.3269, d4.loss_cls: 0.1273, d4.loss_bbox: 0.3250, d5.loss_cls: 0.1274, d5.loss_bbox: 0.3227, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7539, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6254, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5815, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5682, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5651, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5606, d0.loss_map_cls_all: 0.2184, d0.loss_map_pts_all: 1.3395, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2184, d0.loss_map_pts: 1.3395, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1837, d1.loss_map_pts: 0.9160, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1614, d2.loss_map_pts: 0.7447, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1516, d3.loss_map_pts: 0.6713, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1453, d4.loss_map_pts: 0.6372, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1411, d5.loss_map_pts: 0.6303, d5.loss_map_dir: 0.0087, loss: 26.5840, grad_norm: 176.8027 +2026-02-26 11:09:23,279 - DriveTransformer - INFO - Epoch [7][17950/39528] lr: 8.550e-05, eta: 6 days, 10:34:11, time: 0.739, data_time: 0.039, memory: 19865, loss_cls: 0.1346, loss_bbox: 0.3305, loss_traj: 0.6305, loss_traj_cls: 0.0009, loss_map_cls: 0.1441, loss_map_pts: 0.5768, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.4285, d0.loss_plan_l1_fix_dist: 0.4606, d1.loss_plan_l1_fix_time: 1.0152, d1.loss_plan_l1_fix_dist: 0.1625, d2.loss_plan_l1_fix_time: 1.0012, d2.loss_plan_l1_fix_dist: 0.1648, d3.loss_plan_l1_fix_time: 0.9999, d3.loss_plan_l1_fix_dist: 0.1731, d4.loss_plan_l1_fix_time: 1.0034, d4.loss_plan_l1_fix_dist: 0.1791, d5.loss_plan_l1_fix_time: 1.0078, d5.loss_plan_l1_fix_dist: 0.1884, d6.loss_plan_l1_fix_time: 1.0126, d6.loss_plan_l1_fix_dist: 0.2020, d0.loss_cls_all: 0.1718, d0.loss_bbox_all: 0.3875, d0.loss_cls: 0.1718, d0.loss_bbox: 0.3875, d1.loss_cls: 0.1638, d1.loss_bbox: 0.3498, d2.loss_cls: 0.1526, d2.loss_bbox: 0.3347, d3.loss_cls: 0.1413, d3.loss_bbox: 0.3296, d4.loss_cls: 0.1359, d4.loss_bbox: 0.3280, d5.loss_cls: 0.1344, d5.loss_bbox: 0.3281, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8679, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6917, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6465, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6277, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6318, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6302, d0.loss_map_cls_all: 0.2102, d0.loss_map_pts_all: 1.2162, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2102, d0.loss_map_pts: 1.2162, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1867, d1.loss_map_pts: 0.8387, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1650, d2.loss_map_pts: 0.6772, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1543, d3.loss_map_pts: 0.6113, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1480, d4.loss_map_pts: 0.5836, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1440, d5.loss_map_pts: 0.5788, d5.loss_map_dir: 0.0074, loss: 26.4333, grad_norm: 171.4674 +2026-02-26 11:10:03,640 - DriveTransformer - INFO - Epoch [7][18000/39528] lr: 8.550e-05, eta: 6 days, 10:33:31, time: 0.808, data_time: 0.044, memory: 19865, loss_cls: 0.1507, loss_bbox: 0.3611, loss_traj: 0.6723, loss_traj_cls: 0.0009, loss_map_cls: 0.1406, loss_map_pts: 0.6426, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.5862, d0.loss_plan_l1_fix_dist: 0.4913, d1.loss_plan_l1_fix_time: 0.9651, d1.loss_plan_l1_fix_dist: 0.2051, d2.loss_plan_l1_fix_time: 0.9573, d2.loss_plan_l1_fix_dist: 0.2088, d3.loss_plan_l1_fix_time: 0.9576, d3.loss_plan_l1_fix_dist: 0.2223, d4.loss_plan_l1_fix_time: 0.9606, d4.loss_plan_l1_fix_dist: 0.2333, d5.loss_plan_l1_fix_time: 0.9640, d5.loss_plan_l1_fix_dist: 0.2461, d6.loss_plan_l1_fix_time: 0.9675, d6.loss_plan_l1_fix_dist: 0.2673, d0.loss_cls_all: 0.1941, d0.loss_bbox_all: 0.4120, d0.loss_cls: 0.1941, d0.loss_bbox: 0.4120, d1.loss_cls: 0.1863, d1.loss_bbox: 0.3762, d2.loss_cls: 0.1723, d2.loss_bbox: 0.3605, d3.loss_cls: 0.1582, d3.loss_bbox: 0.3572, d4.loss_cls: 0.1517, d4.loss_bbox: 0.3567, d5.loss_cls: 0.1501, d5.loss_bbox: 0.3573, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8974, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7277, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6920, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6833, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6765, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6723, d0.loss_map_cls_all: 0.2044, d0.loss_map_pts_all: 1.3564, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2044, d0.loss_map_pts: 1.3564, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1754, d1.loss_map_pts: 0.9381, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1605, d2.loss_map_pts: 0.7567, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1520, d3.loss_map_pts: 0.6835, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1432, d4.loss_map_pts: 0.6577, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1410, d5.loss_map_pts: 0.6442, d5.loss_map_dir: 0.0087, loss: 28.0339, grad_norm: 172.1672 +2026-02-26 11:10:42,571 - DriveTransformer - INFO - Epoch [7][18050/39528] lr: 8.550e-05, eta: 6 days, 10:32:48, time: 0.777, data_time: 0.042, memory: 19865, loss_cls: 0.1468, loss_bbox: 0.3382, loss_traj: 0.6635, loss_traj_cls: 0.0010, loss_map_cls: 0.1304, loss_map_pts: 0.6168, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.8589, d0.loss_plan_l1_fix_dist: 0.4412, d1.loss_plan_l1_fix_time: 0.9806, d1.loss_plan_l1_fix_dist: 0.2243, d2.loss_plan_l1_fix_time: 0.9628, d2.loss_plan_l1_fix_dist: 0.2033, d3.loss_plan_l1_fix_time: 0.9685, d3.loss_plan_l1_fix_dist: 0.2047, d4.loss_plan_l1_fix_time: 0.9714, d4.loss_plan_l1_fix_dist: 0.2164, d5.loss_plan_l1_fix_time: 0.9736, d5.loss_plan_l1_fix_dist: 0.2312, d6.loss_plan_l1_fix_time: 0.9761, d6.loss_plan_l1_fix_dist: 0.2402, d0.loss_cls_all: 0.1856, d0.loss_bbox_all: 0.3983, d0.loss_cls: 0.1856, d0.loss_bbox: 0.3983, d1.loss_cls: 0.1746, d1.loss_bbox: 0.3670, d2.loss_cls: 0.1623, d2.loss_bbox: 0.3495, d3.loss_cls: 0.1503, d3.loss_bbox: 0.3426, d4.loss_cls: 0.1470, d4.loss_bbox: 0.3397, d5.loss_cls: 0.1465, d5.loss_bbox: 0.3386, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9050, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7354, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6818, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6700, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6669, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6641, d0.loss_map_cls_all: 0.1995, d0.loss_map_pts_all: 1.3115, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1995, d0.loss_map_pts: 1.3115, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1697, d1.loss_map_pts: 0.9215, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1465, d2.loss_map_pts: 0.7353, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1402, d3.loss_map_pts: 0.6543, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1330, d4.loss_map_pts: 0.6277, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1300, d5.loss_map_pts: 0.6191, d5.loss_map_dir: 0.0083, loss: 27.7276, grad_norm: 174.4898 +2026-02-26 11:11:21,331 - DriveTransformer - INFO - Epoch [7][18100/39528] lr: 8.550e-05, eta: 6 days, 10:32:04, time: 0.775, data_time: 0.039, memory: 19865, loss_cls: 0.1592, loss_bbox: 0.3669, loss_traj: 0.6426, loss_traj_cls: 0.0010, loss_map_cls: 0.1623, loss_map_pts: 0.6916, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.4735, d0.loss_plan_l1_fix_dist: 0.4891, d1.loss_plan_l1_fix_time: 1.0096, d1.loss_plan_l1_fix_dist: 0.2348, d2.loss_plan_l1_fix_time: 0.9972, d2.loss_plan_l1_fix_dist: 0.2214, d3.loss_plan_l1_fix_time: 1.0008, d3.loss_plan_l1_fix_dist: 0.2289, d4.loss_plan_l1_fix_time: 1.0047, d4.loss_plan_l1_fix_dist: 0.2510, d5.loss_plan_l1_fix_time: 1.0084, d5.loss_plan_l1_fix_dist: 0.2797, d6.loss_plan_l1_fix_time: 1.0127, d6.loss_plan_l1_fix_dist: 0.3026, d0.loss_cls_all: 0.1980, d0.loss_bbox_all: 0.4247, d0.loss_cls: 0.1980, d0.loss_bbox: 0.4247, d1.loss_cls: 0.1932, d1.loss_bbox: 0.3926, d2.loss_cls: 0.1822, d2.loss_bbox: 0.3721, d3.loss_cls: 0.1667, d3.loss_bbox: 0.3691, d4.loss_cls: 0.1631, d4.loss_bbox: 0.3664, d5.loss_cls: 0.1604, d5.loss_bbox: 0.3669, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9165, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7268, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6657, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6473, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6433, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6440, d0.loss_map_cls_all: 0.2328, d0.loss_map_pts_all: 1.3665, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2328, d0.loss_map_pts: 1.3665, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2030, d1.loss_map_pts: 0.9520, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1845, d2.loss_map_pts: 0.7878, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1775, d3.loss_map_pts: 0.7259, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1687, d4.loss_map_pts: 0.6999, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1638, d5.loss_map_pts: 0.6930, d5.loss_map_dir: 0.0088, loss: 28.7902, grad_norm: 178.1707 +2026-02-26 11:11:58,785 - DriveTransformer - INFO - Epoch [7][18150/39528] lr: 8.550e-05, eta: 6 days, 10:31:17, time: 0.749, data_time: 0.039, memory: 19865, loss_cls: 0.1549, loss_bbox: 0.3467, loss_traj: 0.6702, loss_traj_cls: 0.0010, loss_map_cls: 0.1544, loss_map_pts: 0.6387, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.6798, d0.loss_plan_l1_fix_dist: 0.3514, d1.loss_plan_l1_fix_time: 1.1046, d1.loss_plan_l1_fix_dist: 0.2210, d2.loss_plan_l1_fix_time: 1.0956, d2.loss_plan_l1_fix_dist: 0.2001, d3.loss_plan_l1_fix_time: 1.1073, d3.loss_plan_l1_fix_dist: 0.1991, d4.loss_plan_l1_fix_time: 1.1130, d4.loss_plan_l1_fix_dist: 0.2074, d5.loss_plan_l1_fix_time: 1.1186, d5.loss_plan_l1_fix_dist: 0.2181, d6.loss_plan_l1_fix_time: 1.1242, d6.loss_plan_l1_fix_dist: 0.2336, d0.loss_cls_all: 0.1926, d0.loss_bbox_all: 0.4013, d0.loss_cls: 0.1926, d0.loss_bbox: 0.4013, d1.loss_cls: 0.1861, d1.loss_bbox: 0.3707, d2.loss_cls: 0.1734, d2.loss_bbox: 0.3538, d3.loss_cls: 0.1587, d3.loss_bbox: 0.3511, d4.loss_cls: 0.1529, d4.loss_bbox: 0.3491, d5.loss_cls: 0.1541, d5.loss_bbox: 0.3463, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8921, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7408, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6836, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6774, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6709, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6717, d0.loss_map_cls_all: 0.2335, d0.loss_map_pts_all: 1.4006, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2335, d0.loss_map_pts: 1.4006, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.2019, d1.loss_map_pts: 0.9518, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1788, d2.loss_map_pts: 0.7588, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1683, d3.loss_map_pts: 0.6846, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1583, d4.loss_map_pts: 0.6508, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1536, d5.loss_map_pts: 0.6407, d5.loss_map_dir: 0.0081, loss: 28.9463, grad_norm: 180.1428 +2026-02-26 11:12:37,331 - DriveTransformer - INFO - Epoch [7][18200/39528] lr: 8.550e-05, eta: 6 days, 10:30:32, time: 0.771, data_time: 0.042, memory: 19865, loss_cls: 0.1476, loss_bbox: 0.3533, loss_traj: 0.6621, loss_traj_cls: 0.0010, loss_map_cls: 0.1575, loss_map_pts: 0.6454, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.5002, d0.loss_plan_l1_fix_dist: 0.4959, d1.loss_plan_l1_fix_time: 1.0248, d1.loss_plan_l1_fix_dist: 0.1893, d2.loss_plan_l1_fix_time: 1.0187, d2.loss_plan_l1_fix_dist: 0.1809, d3.loss_plan_l1_fix_time: 1.0218, d3.loss_plan_l1_fix_dist: 0.1893, d4.loss_plan_l1_fix_time: 1.0249, d4.loss_plan_l1_fix_dist: 0.2063, d5.loss_plan_l1_fix_time: 1.0287, d5.loss_plan_l1_fix_dist: 0.2258, d6.loss_plan_l1_fix_time: 1.0325, d6.loss_plan_l1_fix_dist: 0.2532, d0.loss_cls_all: 0.1949, d0.loss_bbox_all: 0.4161, d0.loss_cls: 0.1949, d0.loss_bbox: 0.4161, d1.loss_cls: 0.1834, d1.loss_bbox: 0.3820, d2.loss_cls: 0.1693, d2.loss_bbox: 0.3654, d3.loss_cls: 0.1540, d3.loss_bbox: 0.3573, d4.loss_cls: 0.1497, d4.loss_bbox: 0.3549, d5.loss_cls: 0.1488, d5.loss_bbox: 0.3527, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9322, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7352, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6799, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6704, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6656, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6626, d0.loss_map_cls_all: 0.2335, d0.loss_map_pts_all: 1.2592, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2335, d0.loss_map_pts: 1.2592, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.2011, d1.loss_map_pts: 0.9237, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1791, d2.loss_map_pts: 0.7524, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1697, d3.loss_map_pts: 0.6800, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1623, d4.loss_map_pts: 0.6528, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1594, d5.loss_map_pts: 0.6473, d5.loss_map_dir: 0.0078, loss: 28.1229, grad_norm: 180.7155 +2026-02-26 11:13:14,907 - DriveTransformer - INFO - Epoch [7][18250/39528] lr: 8.550e-05, eta: 6 days, 10:29:45, time: 0.752, data_time: 0.040, memory: 19865, loss_cls: 0.1608, loss_bbox: 0.3537, loss_traj: 0.6445, loss_traj_cls: 0.0010, loss_map_cls: 0.1522, loss_map_pts: 0.6167, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.7630, d0.loss_plan_l1_fix_dist: 0.3170, d1.loss_plan_l1_fix_time: 1.1519, d1.loss_plan_l1_fix_dist: 0.1817, d2.loss_plan_l1_fix_time: 1.1375, d2.loss_plan_l1_fix_dist: 0.1729, d3.loss_plan_l1_fix_time: 1.1333, d3.loss_plan_l1_fix_dist: 0.1802, d4.loss_plan_l1_fix_time: 1.1344, d4.loss_plan_l1_fix_dist: 0.1957, d5.loss_plan_l1_fix_time: 1.1365, d5.loss_plan_l1_fix_dist: 0.2138, d6.loss_plan_l1_fix_time: 1.1395, d6.loss_plan_l1_fix_dist: 0.2309, d0.loss_cls_all: 0.2035, d0.loss_bbox_all: 0.4132, d0.loss_cls: 0.2035, d0.loss_bbox: 0.4132, d1.loss_cls: 0.1942, d1.loss_bbox: 0.3831, d2.loss_cls: 0.1805, d2.loss_bbox: 0.3648, d3.loss_cls: 0.1676, d3.loss_bbox: 0.3579, d4.loss_cls: 0.1618, d4.loss_bbox: 0.3556, d5.loss_cls: 0.1608, d5.loss_bbox: 0.3539, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9303, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7415, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6671, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6552, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6512, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6460, d0.loss_map_cls_all: 0.2248, d0.loss_map_pts_all: 1.2654, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2248, d0.loss_map_pts: 1.2654, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1940, d1.loss_map_pts: 0.8669, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1729, d2.loss_map_pts: 0.7022, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1626, d3.loss_map_pts: 0.6436, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1577, d4.loss_map_pts: 0.6237, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1535, d5.loss_map_pts: 0.6169, d5.loss_map_dir: 0.0085, loss: 28.5683, grad_norm: 172.7397 +2026-02-26 11:13:53,591 - DriveTransformer - INFO - Epoch [7][18300/39528] lr: 8.550e-05, eta: 6 days, 10:29:01, time: 0.774, data_time: 0.039, memory: 19865, loss_cls: 0.1361, loss_bbox: 0.3280, loss_traj: 0.5717, loss_traj_cls: 0.0010, loss_map_cls: 0.1403, loss_map_pts: 0.5903, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.4952, d0.loss_plan_l1_fix_dist: 0.4230, d1.loss_plan_l1_fix_time: 1.0470, d1.loss_plan_l1_fix_dist: 0.1974, d2.loss_plan_l1_fix_time: 1.0335, d2.loss_plan_l1_fix_dist: 0.1955, d3.loss_plan_l1_fix_time: 1.0262, d3.loss_plan_l1_fix_dist: 0.2042, d4.loss_plan_l1_fix_time: 1.0277, d4.loss_plan_l1_fix_dist: 0.2167, d5.loss_plan_l1_fix_time: 1.0296, d5.loss_plan_l1_fix_dist: 0.2329, d6.loss_plan_l1_fix_time: 1.0319, d6.loss_plan_l1_fix_dist: 0.2462, d0.loss_cls_all: 0.1772, d0.loss_bbox_all: 0.3900, d0.loss_cls: 0.1772, d0.loss_bbox: 0.3900, d1.loss_cls: 0.1729, d1.loss_bbox: 0.3578, d2.loss_cls: 0.1578, d2.loss_bbox: 0.3368, d3.loss_cls: 0.1443, d3.loss_bbox: 0.3300, d4.loss_cls: 0.1374, d4.loss_bbox: 0.3282, d5.loss_cls: 0.1354, d5.loss_bbox: 0.3293, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7980, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6379, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5868, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5737, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5734, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5711, d0.loss_map_cls_all: 0.2141, d0.loss_map_pts_all: 1.2772, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2141, d0.loss_map_pts: 1.2772, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1831, d1.loss_map_pts: 0.8678, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1611, d2.loss_map_pts: 0.6904, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1496, d3.loss_map_pts: 0.6238, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1440, d4.loss_map_pts: 0.5974, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1419, d5.loss_map_pts: 0.5905, d5.loss_map_dir: 0.0075, loss: 26.6758, grad_norm: 175.1662 +2026-02-26 11:14:33,114 - DriveTransformer - INFO - Epoch [7][18350/39528] lr: 8.550e-05, eta: 6 days, 10:28:20, time: 0.790, data_time: 0.041, memory: 19865, loss_cls: 0.1494, loss_bbox: 0.3383, loss_traj: 0.8045, loss_traj_cls: 0.0010, loss_map_cls: 0.1252, loss_map_pts: 0.6039, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.5558, d0.loss_plan_l1_fix_dist: 0.4305, d1.loss_plan_l1_fix_time: 1.0625, d1.loss_plan_l1_fix_dist: 0.2059, d2.loss_plan_l1_fix_time: 1.0466, d2.loss_plan_l1_fix_dist: 0.2085, d3.loss_plan_l1_fix_time: 1.0415, d3.loss_plan_l1_fix_dist: 0.2193, d4.loss_plan_l1_fix_time: 1.0425, d4.loss_plan_l1_fix_dist: 0.2304, d5.loss_plan_l1_fix_time: 1.0438, d5.loss_plan_l1_fix_dist: 0.2418, d6.loss_plan_l1_fix_time: 1.0453, d6.loss_plan_l1_fix_dist: 0.2558, d0.loss_cls_all: 0.1815, d0.loss_bbox_all: 0.3974, d0.loss_cls: 0.1815, d0.loss_bbox: 0.3974, d1.loss_cls: 0.1758, d1.loss_bbox: 0.3634, d2.loss_cls: 0.1634, d2.loss_bbox: 0.3456, d3.loss_cls: 0.1559, d3.loss_bbox: 0.3384, d4.loss_cls: 0.1507, d4.loss_bbox: 0.3384, d5.loss_cls: 0.1497, d5.loss_bbox: 0.3378, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0527, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8867, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8335, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8172, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8093, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.8023, d0.loss_map_cls_all: 0.1948, d0.loss_map_pts_all: 1.2284, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1948, d0.loss_map_pts: 1.2284, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1666, d1.loss_map_pts: 0.8637, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1469, d2.loss_map_pts: 0.7014, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1365, d3.loss_map_pts: 0.6293, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1306, d4.loss_map_pts: 0.6079, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1268, d5.loss_map_pts: 0.6031, d5.loss_map_dir: 0.0074, loss: 28.5529, grad_norm: 174.8731 +2026-02-26 11:15:13,531 - DriveTransformer - INFO - Epoch [7][18400/39528] lr: 8.550e-05, eta: 6 days, 10:27:40, time: 0.808, data_time: 0.036, memory: 19865, loss_cls: 0.1448, loss_bbox: 0.3335, loss_traj: 0.6769, loss_traj_cls: 0.0010, loss_map_cls: 0.1347, loss_map_pts: 0.6670, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.3436, d0.loss_plan_l1_fix_dist: 0.3281, d1.loss_plan_l1_fix_time: 1.1068, d1.loss_plan_l1_fix_dist: 0.1757, d2.loss_plan_l1_fix_time: 1.0935, d2.loss_plan_l1_fix_dist: 0.1850, d3.loss_plan_l1_fix_time: 1.0903, d3.loss_plan_l1_fix_dist: 0.1985, d4.loss_plan_l1_fix_time: 1.0929, d4.loss_plan_l1_fix_dist: 0.2173, d5.loss_plan_l1_fix_time: 1.0956, d5.loss_plan_l1_fix_dist: 0.2368, d6.loss_plan_l1_fix_time: 1.0983, d6.loss_plan_l1_fix_dist: 0.2579, d0.loss_cls_all: 0.1873, d0.loss_bbox_all: 0.3874, d0.loss_cls: 0.1873, d0.loss_bbox: 0.3874, d1.loss_cls: 0.1801, d1.loss_bbox: 0.3560, d2.loss_cls: 0.1636, d2.loss_bbox: 0.3418, d3.loss_cls: 0.1510, d3.loss_bbox: 0.3358, d4.loss_cls: 0.1450, d4.loss_bbox: 0.3344, d5.loss_cls: 0.1451, d5.loss_bbox: 0.3328, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9418, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7730, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7080, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6878, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6834, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6813, d0.loss_map_cls_all: 0.2058, d0.loss_map_pts_all: 1.4518, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2058, d0.loss_map_pts: 1.4518, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1790, d1.loss_map_pts: 0.9641, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1605, d2.loss_map_pts: 0.7834, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1481, d3.loss_map_pts: 0.7138, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1419, d4.loss_map_pts: 0.6870, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1360, d5.loss_map_pts: 0.6685, d5.loss_map_dir: 0.0100, loss: 28.5701, grad_norm: 175.3890 +2026-02-26 11:15:52,247 - DriveTransformer - INFO - Epoch [7][18450/39528] lr: 8.550e-05, eta: 6 days, 10:26:56, time: 0.774, data_time: 0.040, memory: 19865, loss_cls: 0.1320, loss_bbox: 0.3240, loss_traj: 0.5883, loss_traj_cls: 0.0010, loss_map_cls: 0.1528, loss_map_pts: 0.6658, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.5715, d0.loss_plan_l1_fix_dist: 0.4016, d1.loss_plan_l1_fix_time: 0.9830, d1.loss_plan_l1_fix_dist: 0.1895, d2.loss_plan_l1_fix_time: 0.9633, d2.loss_plan_l1_fix_dist: 0.1873, d3.loss_plan_l1_fix_time: 0.9596, d3.loss_plan_l1_fix_dist: 0.1922, d4.loss_plan_l1_fix_time: 0.9614, d4.loss_plan_l1_fix_dist: 0.2072, d5.loss_plan_l1_fix_time: 0.9638, d5.loss_plan_l1_fix_dist: 0.2277, d6.loss_plan_l1_fix_time: 0.9665, d6.loss_plan_l1_fix_dist: 0.2475, d0.loss_cls_all: 0.1736, d0.loss_bbox_all: 0.3871, d0.loss_cls: 0.1736, d0.loss_bbox: 0.3871, d1.loss_cls: 0.1641, d1.loss_bbox: 0.3534, d2.loss_cls: 0.1504, d2.loss_bbox: 0.3369, d3.loss_cls: 0.1362, d3.loss_bbox: 0.3302, d4.loss_cls: 0.1321, d4.loss_bbox: 0.3269, d5.loss_cls: 0.1319, d5.loss_bbox: 0.3252, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8152, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6654, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6209, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6031, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5989, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5932, d0.loss_map_cls_all: 0.2206, d0.loss_map_pts_all: 1.3791, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2206, d0.loss_map_pts: 1.3791, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1928, d1.loss_map_pts: 0.9481, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1737, d2.loss_map_pts: 0.7570, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1628, d3.loss_map_pts: 0.6898, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1568, d4.loss_map_pts: 0.6710, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1531, d5.loss_map_pts: 0.6673, d5.loss_map_dir: 0.0100, loss: 27.1454, grad_norm: 174.1351 +2026-02-26 11:16:32,758 - DriveTransformer - INFO - Epoch [7][18500/39528] lr: 8.550e-05, eta: 6 days, 10:26:17, time: 0.810, data_time: 0.041, memory: 19865, loss_cls: 0.1500, loss_bbox: 0.3593, loss_traj: 0.5404, loss_traj_cls: 0.0010, loss_map_cls: 0.1495, loss_map_pts: 0.6825, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.5463, d0.loss_plan_l1_fix_dist: 0.4720, d1.loss_plan_l1_fix_time: 1.1241, d1.loss_plan_l1_fix_dist: 0.2102, d2.loss_plan_l1_fix_time: 1.1186, d2.loss_plan_l1_fix_dist: 0.2197, d3.loss_plan_l1_fix_time: 1.1127, d3.loss_plan_l1_fix_dist: 0.2354, d4.loss_plan_l1_fix_time: 1.1153, d4.loss_plan_l1_fix_dist: 0.2584, d5.loss_plan_l1_fix_time: 1.1183, d5.loss_plan_l1_fix_dist: 0.2925, d6.loss_plan_l1_fix_time: 1.1216, d6.loss_plan_l1_fix_dist: 0.3332, d0.loss_cls_all: 0.1921, d0.loss_bbox_all: 0.4109, d0.loss_cls: 0.1921, d0.loss_bbox: 0.4109, d1.loss_cls: 0.1915, d1.loss_bbox: 0.3804, d2.loss_cls: 0.1763, d2.loss_bbox: 0.3649, d3.loss_cls: 0.1602, d3.loss_bbox: 0.3608, d4.loss_cls: 0.1530, d4.loss_bbox: 0.3590, d5.loss_cls: 0.1494, d5.loss_bbox: 0.3600, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7462, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6140, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5750, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5520, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5506, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5402, d0.loss_map_cls_all: 0.2138, d0.loss_map_pts_all: 1.3961, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2138, d0.loss_map_pts: 1.3961, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.1879, d1.loss_map_pts: 0.9702, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1714, d2.loss_map_pts: 0.7775, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1617, d3.loss_map_pts: 0.7096, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1550, d4.loss_map_pts: 0.6879, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1520, d5.loss_map_pts: 0.6829, d5.loss_map_dir: 0.0106, loss: 28.5645, grad_norm: 182.2603 +2026-02-26 11:17:13,581 - DriveTransformer - INFO - Epoch [7][18550/39528] lr: 8.550e-05, eta: 6 days, 10:25:39, time: 0.816, data_time: 0.042, memory: 19865, loss_cls: 0.1292, loss_bbox: 0.3278, loss_traj: 0.6667, loss_traj_cls: 0.0010, loss_map_cls: 0.1663, loss_map_pts: 0.6837, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.5669, d0.loss_plan_l1_fix_dist: 0.4044, d1.loss_plan_l1_fix_time: 1.0975, d1.loss_plan_l1_fix_dist: 0.1944, d2.loss_plan_l1_fix_time: 1.0859, d2.loss_plan_l1_fix_dist: 0.2025, d3.loss_plan_l1_fix_time: 1.0809, d3.loss_plan_l1_fix_dist: 0.2139, d4.loss_plan_l1_fix_time: 1.0831, d4.loss_plan_l1_fix_dist: 0.2279, d5.loss_plan_l1_fix_time: 1.0856, d5.loss_plan_l1_fix_dist: 0.2496, d6.loss_plan_l1_fix_time: 1.0887, d6.loss_plan_l1_fix_dist: 0.2837, d0.loss_cls_all: 0.1703, d0.loss_bbox_all: 0.3742, d0.loss_cls: 0.1703, d0.loss_bbox: 0.3742, d1.loss_cls: 0.1657, d1.loss_bbox: 0.3454, d2.loss_cls: 0.1511, d2.loss_bbox: 0.3298, d3.loss_cls: 0.1382, d3.loss_bbox: 0.3255, d4.loss_cls: 0.1310, d4.loss_bbox: 0.3256, d5.loss_cls: 0.1289, d5.loss_bbox: 0.3257, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8546, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7368, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6837, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6748, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6714, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6650, d0.loss_map_cls_all: 0.2301, d0.loss_map_pts_all: 1.3971, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2301, d0.loss_map_pts: 1.3971, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2070, d1.loss_map_pts: 0.9539, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1833, d2.loss_map_pts: 0.7868, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1744, d3.loss_map_pts: 0.7233, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1701, d4.loss_map_pts: 0.6966, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1676, d5.loss_map_pts: 0.6850, d5.loss_map_dir: 0.0091, loss: 28.6599, grad_norm: 181.4688 +2026-02-26 11:17:53,551 - DriveTransformer - INFO - Epoch [7][18600/39528] lr: 8.550e-05, eta: 6 days, 10:24:59, time: 0.799, data_time: 0.037, memory: 19865, loss_cls: 0.1671, loss_bbox: 0.3563, loss_traj: 0.7429, loss_traj_cls: 0.0009, loss_map_cls: 0.1511, loss_map_pts: 0.6480, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 3.2905, d0.loss_plan_l1_fix_dist: 0.4526, d1.loss_plan_l1_fix_time: 1.1422, d1.loss_plan_l1_fix_dist: 0.2195, d2.loss_plan_l1_fix_time: 1.1375, d2.loss_plan_l1_fix_dist: 0.2247, d3.loss_plan_l1_fix_time: 1.1370, d3.loss_plan_l1_fix_dist: 0.2378, d4.loss_plan_l1_fix_time: 1.1392, d4.loss_plan_l1_fix_dist: 0.2535, d5.loss_plan_l1_fix_time: 1.1417, d5.loss_plan_l1_fix_dist: 0.2632, d6.loss_plan_l1_fix_time: 1.1449, d6.loss_plan_l1_fix_dist: 0.2735, d0.loss_cls_all: 0.2050, d0.loss_bbox_all: 0.4216, d0.loss_cls: 0.2050, d0.loss_bbox: 0.4216, d1.loss_cls: 0.1982, d1.loss_bbox: 0.3889, d2.loss_cls: 0.1818, d2.loss_bbox: 0.3683, d3.loss_cls: 0.1723, d3.loss_bbox: 0.3592, d4.loss_cls: 0.1678, d4.loss_bbox: 0.3549, d5.loss_cls: 0.1664, d5.loss_bbox: 0.3551, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0130, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8208, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7643, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7528, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7430, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7393, d0.loss_map_cls_all: 0.2273, d0.loss_map_pts_all: 1.3269, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2273, d0.loss_map_pts: 1.3269, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1959, d1.loss_map_pts: 0.9224, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1724, d2.loss_map_pts: 0.7548, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1637, d3.loss_map_pts: 0.6855, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1555, d4.loss_map_pts: 0.6629, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1512, d5.loss_map_pts: 0.6493, d5.loss_map_dir: 0.0083, loss: 30.6155, grad_norm: 181.3690 +2026-02-26 11:18:34,174 - DriveTransformer - INFO - Epoch [7][18650/39528] lr: 8.550e-05, eta: 6 days, 10:24:20, time: 0.813, data_time: 0.041, memory: 19865, loss_cls: 0.1614, loss_bbox: 0.3698, loss_traj: 0.6676, loss_traj_cls: 0.0010, loss_map_cls: 0.1609, loss_map_pts: 0.7135, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.6860, d0.loss_plan_l1_fix_dist: 0.4611, d1.loss_plan_l1_fix_time: 0.9728, d1.loss_plan_l1_fix_dist: 0.1684, d2.loss_plan_l1_fix_time: 0.9666, d2.loss_plan_l1_fix_dist: 0.1759, d3.loss_plan_l1_fix_time: 0.9596, d3.loss_plan_l1_fix_dist: 0.1933, d4.loss_plan_l1_fix_time: 0.9611, d4.loss_plan_l1_fix_dist: 0.2154, d5.loss_plan_l1_fix_time: 0.9632, d5.loss_plan_l1_fix_dist: 0.2338, d6.loss_plan_l1_fix_time: 0.9660, d6.loss_plan_l1_fix_dist: 0.2497, d0.loss_cls_all: 0.2010, d0.loss_bbox_all: 0.4369, d0.loss_cls: 0.2010, d0.loss_bbox: 0.4369, d1.loss_cls: 0.1946, d1.loss_bbox: 0.4001, d2.loss_cls: 0.1805, d2.loss_bbox: 0.3802, d3.loss_cls: 0.1686, d3.loss_bbox: 0.3729, d4.loss_cls: 0.1624, d4.loss_bbox: 0.3707, d5.loss_cls: 0.1607, d5.loss_bbox: 0.3706, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9016, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7342, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6822, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6738, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6680, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6665, d0.loss_map_cls_all: 0.2322, d0.loss_map_pts_all: 1.4810, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2322, d0.loss_map_pts: 1.4810, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2026, d1.loss_map_pts: 1.0263, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1787, d2.loss_map_pts: 0.8290, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1698, d3.loss_map_pts: 0.7487, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1646, d4.loss_map_pts: 0.7231, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1605, d5.loss_map_pts: 0.7147, d5.loss_map_dir: 0.0093, loss: 29.0320, grad_norm: 182.6130 +2026-02-26 11:19:12,601 - DriveTransformer - INFO - Epoch [7][18700/39528] lr: 8.550e-05, eta: 6 days, 10:23:35, time: 0.769, data_time: 0.035, memory: 19865, loss_cls: 0.1559, loss_bbox: 0.3666, loss_traj: 0.6527, loss_traj_cls: 0.0009, loss_map_cls: 0.1543, loss_map_pts: 0.6861, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.3513, d0.loss_plan_l1_fix_dist: 0.3419, d1.loss_plan_l1_fix_time: 1.0049, d1.loss_plan_l1_fix_dist: 0.1714, d2.loss_plan_l1_fix_time: 0.9871, d2.loss_plan_l1_fix_dist: 0.1759, d3.loss_plan_l1_fix_time: 0.9824, d3.loss_plan_l1_fix_dist: 0.1885, d4.loss_plan_l1_fix_time: 0.9840, d4.loss_plan_l1_fix_dist: 0.2051, d5.loss_plan_l1_fix_time: 0.9865, d5.loss_plan_l1_fix_dist: 0.2239, d6.loss_plan_l1_fix_time: 0.9898, d6.loss_plan_l1_fix_dist: 0.2472, d0.loss_cls_all: 0.2044, d0.loss_bbox_all: 0.4251, d0.loss_cls: 0.2044, d0.loss_bbox: 0.4251, d1.loss_cls: 0.1957, d1.loss_bbox: 0.3923, d2.loss_cls: 0.1818, d2.loss_bbox: 0.3738, d3.loss_cls: 0.1656, d3.loss_bbox: 0.3680, d4.loss_cls: 0.1594, d4.loss_bbox: 0.3655, d5.loss_cls: 0.1566, d5.loss_bbox: 0.3651, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8592, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7180, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6707, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6575, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6559, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6546, d0.loss_map_cls_all: 0.2225, d0.loss_map_pts_all: 1.3637, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2225, d0.loss_map_pts: 1.3637, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1911, d1.loss_map_pts: 0.9544, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1729, d2.loss_map_pts: 0.7801, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1618, d3.loss_map_pts: 0.7169, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1572, d4.loss_map_pts: 0.6925, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1552, d5.loss_map_pts: 0.6870, d5.loss_map_dir: 0.0101, loss: 27.9788, grad_norm: 183.0500 +2026-02-26 11:19:54,129 - DriveTransformer - INFO - Epoch [7][18750/39528] lr: 8.550e-05, eta: 6 days, 10:22:59, time: 0.830, data_time: 0.047, memory: 19865, loss_cls: 0.1419, loss_bbox: 0.3551, loss_traj: 0.5470, loss_traj_cls: 0.0010, loss_map_cls: 0.1640, loss_map_pts: 0.7424, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.7060, d0.loss_plan_l1_fix_dist: 0.4549, d1.loss_plan_l1_fix_time: 1.1636, d1.loss_plan_l1_fix_dist: 0.1938, d2.loss_plan_l1_fix_time: 1.1546, d2.loss_plan_l1_fix_dist: 0.1991, d3.loss_plan_l1_fix_time: 1.1528, d3.loss_plan_l1_fix_dist: 0.2116, d4.loss_plan_l1_fix_time: 1.1557, d4.loss_plan_l1_fix_dist: 0.2271, d5.loss_plan_l1_fix_time: 1.1591, d5.loss_plan_l1_fix_dist: 0.2526, d6.loss_plan_l1_fix_time: 1.1630, d6.loss_plan_l1_fix_dist: 0.2891, d0.loss_cls_all: 0.1855, d0.loss_bbox_all: 0.4184, d0.loss_cls: 0.1855, d0.loss_bbox: 0.4184, d1.loss_cls: 0.1746, d1.loss_bbox: 0.3848, d2.loss_cls: 0.1591, d2.loss_bbox: 0.3691, d3.loss_cls: 0.1471, d3.loss_bbox: 0.3606, d4.loss_cls: 0.1429, d4.loss_bbox: 0.3559, d5.loss_cls: 0.1422, d5.loss_bbox: 0.3546, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7620, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6093, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5728, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5575, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5503, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5471, d0.loss_map_cls_all: 0.2326, d0.loss_map_pts_all: 1.4933, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2326, d0.loss_map_pts: 1.4933, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.1969, d1.loss_map_pts: 1.0331, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1819, d2.loss_map_pts: 0.8392, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1712, d3.loss_map_pts: 0.7717, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1673, d4.loss_map_pts: 0.7490, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1634, d5.loss_map_pts: 0.7434, d5.loss_map_dir: 0.0103, loss: 29.3872, grad_norm: 185.0435 +2026-02-26 11:20:35,678 - DriveTransformer - INFO - Epoch [7][18800/39528] lr: 8.550e-05, eta: 6 days, 10:22:23, time: 0.833, data_time: 0.038, memory: 19865, loss_cls: 0.1548, loss_bbox: 0.3471, loss_traj: 0.6051, loss_traj_cls: 0.0009, loss_map_cls: 0.1646, loss_map_pts: 0.8804, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.3541, d0.loss_plan_l1_fix_dist: 0.3708, d1.loss_plan_l1_fix_time: 0.9410, d1.loss_plan_l1_fix_dist: 0.1736, d2.loss_plan_l1_fix_time: 0.9255, d2.loss_plan_l1_fix_dist: 0.1797, d3.loss_plan_l1_fix_time: 0.9231, d3.loss_plan_l1_fix_dist: 0.1960, d4.loss_plan_l1_fix_time: 0.9252, d4.loss_plan_l1_fix_dist: 0.2107, d5.loss_plan_l1_fix_time: 0.9278, d5.loss_plan_l1_fix_dist: 0.2248, d6.loss_plan_l1_fix_time: 0.9309, d6.loss_plan_l1_fix_dist: 0.2407, d0.loss_cls_all: 0.1976, d0.loss_bbox_all: 0.4034, d0.loss_cls: 0.1976, d0.loss_bbox: 0.4034, d1.loss_cls: 0.1865, d1.loss_bbox: 0.3734, d2.loss_cls: 0.1760, d2.loss_bbox: 0.3553, d3.loss_cls: 0.1639, d3.loss_bbox: 0.3473, d4.loss_cls: 0.1572, d4.loss_bbox: 0.3465, d5.loss_cls: 0.1573, d5.loss_bbox: 0.3447, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8679, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6977, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6263, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6142, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6063, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6033, d0.loss_map_cls_all: 0.2431, d0.loss_map_pts_all: 1.7144, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2431, d0.loss_map_pts: 1.7144, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2086, d1.loss_map_pts: 1.1957, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.1897, d2.loss_map_pts: 0.9980, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1769, d3.loss_map_pts: 0.9231, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1703, d4.loss_map_pts: 0.8943, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1664, d5.loss_map_pts: 0.8819, d5.loss_map_dir: 0.0114, loss: 29.3172, grad_norm: 180.9177 +2026-02-26 11:21:12,938 - DriveTransformer - INFO - Epoch [7][18850/39528] lr: 8.550e-05, eta: 6 days, 10:21:35, time: 0.744, data_time: 0.041, memory: 19865, loss_cls: 0.1745, loss_bbox: 0.3765, loss_traj: 0.7397, loss_traj_cls: 0.0010, loss_map_cls: 0.1640, loss_map_pts: 0.7073, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.9833, d0.loss_plan_l1_fix_dist: 0.4159, d1.loss_plan_l1_fix_time: 1.0783, d1.loss_plan_l1_fix_dist: 0.1828, d2.loss_plan_l1_fix_time: 1.0701, d2.loss_plan_l1_fix_dist: 0.1956, d3.loss_plan_l1_fix_time: 1.0692, d3.loss_plan_l1_fix_dist: 0.2162, d4.loss_plan_l1_fix_time: 1.0710, d4.loss_plan_l1_fix_dist: 0.2367, d5.loss_plan_l1_fix_time: 1.0735, d5.loss_plan_l1_fix_dist: 0.2531, d6.loss_plan_l1_fix_time: 1.0763, d6.loss_plan_l1_fix_dist: 0.2669, d0.loss_cls_all: 0.2131, d0.loss_bbox_all: 0.4414, d0.loss_cls: 0.2131, d0.loss_bbox: 0.4414, d1.loss_cls: 0.2064, d1.loss_bbox: 0.4050, d2.loss_cls: 0.1941, d2.loss_bbox: 0.3896, d3.loss_cls: 0.1794, d3.loss_bbox: 0.3853, d4.loss_cls: 0.1753, d4.loss_bbox: 0.3814, d5.loss_cls: 0.1732, d5.loss_bbox: 0.3798, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0331, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8165, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7553, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7390, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7315, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7301, d0.loss_map_cls_all: 0.2404, d0.loss_map_pts_all: 1.3990, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2404, d0.loss_map_pts: 1.3990, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2111, d1.loss_map_pts: 0.9606, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1870, d2.loss_map_pts: 0.8044, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1792, d3.loss_map_pts: 0.7456, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1697, d4.loss_map_pts: 0.7180, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1653, d5.loss_map_pts: 0.7087, d5.loss_map_dir: 0.0093, loss: 30.5427, grad_norm: 180.8822 +2026-02-26 11:21:51,760 - DriveTransformer - INFO - Epoch [7][18900/39528] lr: 8.550e-05, eta: 6 days, 10:20:51, time: 0.776, data_time: 0.039, memory: 19865, loss_cls: 0.1606, loss_bbox: 0.3644, loss_traj: 0.6993, loss_traj_cls: 0.0010, loss_map_cls: 0.1695, loss_map_pts: 0.7727, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.7044, d0.loss_plan_l1_fix_dist: 0.3637, d1.loss_plan_l1_fix_time: 1.1178, d1.loss_plan_l1_fix_dist: 0.1849, d2.loss_plan_l1_fix_time: 1.1011, d2.loss_plan_l1_fix_dist: 0.1849, d3.loss_plan_l1_fix_time: 1.0956, d3.loss_plan_l1_fix_dist: 0.1937, d4.loss_plan_l1_fix_time: 1.0970, d4.loss_plan_l1_fix_dist: 0.2077, d5.loss_plan_l1_fix_time: 1.0987, d5.loss_plan_l1_fix_dist: 0.2269, d6.loss_plan_l1_fix_time: 1.1010, d6.loss_plan_l1_fix_dist: 0.2445, d0.loss_cls_all: 0.1948, d0.loss_bbox_all: 0.4312, d0.loss_cls: 0.1948, d0.loss_bbox: 0.4312, d1.loss_cls: 0.1844, d1.loss_bbox: 0.3976, d2.loss_cls: 0.1726, d2.loss_bbox: 0.3782, d3.loss_cls: 0.1637, d3.loss_bbox: 0.3695, d4.loss_cls: 0.1602, d4.loss_bbox: 0.3668, d5.loss_cls: 0.1607, d5.loss_bbox: 0.3639, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9484, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7663, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7163, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7042, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6999, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6966, d0.loss_map_cls_all: 0.2442, d0.loss_map_pts_all: 1.5056, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2442, d0.loss_map_pts: 1.5056, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2116, d1.loss_map_pts: 1.0676, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1912, d2.loss_map_pts: 0.8786, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1791, d3.loss_map_pts: 0.8081, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1731, d4.loss_map_pts: 0.7807, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1707, d5.loss_map_pts: 0.7737, d5.loss_map_dir: 0.0097, loss: 30.4057, grad_norm: 179.0478 +2026-02-26 11:22:30,061 - DriveTransformer - INFO - Epoch [7][18950/39528] lr: 8.550e-05, eta: 6 days, 10:20:06, time: 0.766, data_time: 0.043, memory: 19865, loss_cls: 0.1522, loss_bbox: 0.3454, loss_traj: 0.5858, loss_traj_cls: 0.0010, loss_map_cls: 0.1461, loss_map_pts: 0.6408, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.7553, d0.loss_plan_l1_fix_dist: 0.3538, d1.loss_plan_l1_fix_time: 1.0385, d1.loss_plan_l1_fix_dist: 0.1726, d2.loss_plan_l1_fix_time: 1.0206, d2.loss_plan_l1_fix_dist: 0.1776, d3.loss_plan_l1_fix_time: 1.0152, d3.loss_plan_l1_fix_dist: 0.1915, d4.loss_plan_l1_fix_time: 1.0166, d4.loss_plan_l1_fix_dist: 0.2108, d5.loss_plan_l1_fix_time: 1.0188, d5.loss_plan_l1_fix_dist: 0.2308, d6.loss_plan_l1_fix_time: 1.0211, d6.loss_plan_l1_fix_dist: 0.2601, d0.loss_cls_all: 0.1892, d0.loss_bbox_all: 0.4060, d0.loss_cls: 0.1892, d0.loss_bbox: 0.4060, d1.loss_cls: 0.1794, d1.loss_bbox: 0.3744, d2.loss_cls: 0.1663, d2.loss_bbox: 0.3565, d3.loss_cls: 0.1552, d3.loss_bbox: 0.3508, d4.loss_cls: 0.1517, d4.loss_bbox: 0.3482, d5.loss_cls: 0.1506, d5.loss_bbox: 0.3462, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7705, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6177, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5905, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5866, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5841, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5840, d0.loss_map_cls_all: 0.2155, d0.loss_map_pts_all: 1.3428, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2155, d0.loss_map_pts: 1.3428, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.1860, d1.loss_map_pts: 0.9079, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1676, d2.loss_map_pts: 0.7374, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1587, d3.loss_map_pts: 0.6704, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1520, d4.loss_map_pts: 0.6481, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1468, d5.loss_map_pts: 0.6415, d5.loss_map_dir: 0.0103, loss: 27.4764, grad_norm: 179.9564 +2026-02-26 11:23:07,282 - DriveTransformer - INFO - Epoch [7][19000/39528] lr: 8.550e-05, eta: 6 days, 10:19:18, time: 0.744, data_time: 0.039, memory: 19865, loss_cls: 0.1596, loss_bbox: 0.3565, loss_traj: 0.6790, loss_traj_cls: 0.0010, loss_map_cls: 0.1475, loss_map_pts: 0.6710, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 3.1176, d0.loss_plan_l1_fix_dist: 0.4394, d1.loss_plan_l1_fix_time: 0.9744, d1.loss_plan_l1_fix_dist: 0.1750, d2.loss_plan_l1_fix_time: 0.9574, d2.loss_plan_l1_fix_dist: 0.1793, d3.loss_plan_l1_fix_time: 0.9587, d3.loss_plan_l1_fix_dist: 0.1874, d4.loss_plan_l1_fix_time: 0.9607, d4.loss_plan_l1_fix_dist: 0.1986, d5.loss_plan_l1_fix_time: 0.9629, d5.loss_plan_l1_fix_dist: 0.2105, d6.loss_plan_l1_fix_time: 0.9655, d6.loss_plan_l1_fix_dist: 0.2346, d0.loss_cls_all: 0.2036, d0.loss_bbox_all: 0.4254, d0.loss_cls: 0.2036, d0.loss_bbox: 0.4254, d1.loss_cls: 0.1897, d1.loss_bbox: 0.3901, d2.loss_cls: 0.1776, d2.loss_bbox: 0.3682, d3.loss_cls: 0.1663, d3.loss_bbox: 0.3604, d4.loss_cls: 0.1586, d4.loss_bbox: 0.3578, d5.loss_cls: 0.1590, d5.loss_bbox: 0.3570, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9494, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7561, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6979, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6883, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6841, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6798, d0.loss_map_cls_all: 0.2072, d0.loss_map_pts_all: 1.2937, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2072, d0.loss_map_pts: 1.2937, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1837, d1.loss_map_pts: 0.8865, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1661, d2.loss_map_pts: 0.7493, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1574, d3.loss_map_pts: 0.6953, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1525, d4.loss_map_pts: 0.6757, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1491, d5.loss_map_pts: 0.6703, d5.loss_map_dir: 0.0086, loss: 28.4963, grad_norm: 177.8188 +2026-02-26 11:23:45,152 - DriveTransformer - INFO - Epoch [7][19050/39528] lr: 8.550e-05, eta: 6 days, 10:18:32, time: 0.758, data_time: 0.041, memory: 19865, loss_cls: 0.1500, loss_bbox: 0.3336, loss_traj: 0.5815, loss_traj_cls: 0.0010, loss_map_cls: 0.1267, loss_map_pts: 0.5748, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.5789, d0.loss_plan_l1_fix_dist: 0.3989, d1.loss_plan_l1_fix_time: 1.0386, d1.loss_plan_l1_fix_dist: 0.1686, d2.loss_plan_l1_fix_time: 1.0188, d2.loss_plan_l1_fix_dist: 0.1744, d3.loss_plan_l1_fix_time: 1.0186, d3.loss_plan_l1_fix_dist: 0.1860, d4.loss_plan_l1_fix_time: 1.0205, d4.loss_plan_l1_fix_dist: 0.1955, d5.loss_plan_l1_fix_time: 1.0225, d5.loss_plan_l1_fix_dist: 0.2060, d6.loss_plan_l1_fix_time: 1.0254, d6.loss_plan_l1_fix_dist: 0.2191, d0.loss_cls_all: 0.1951, d0.loss_bbox_all: 0.3974, d0.loss_cls: 0.1951, d0.loss_bbox: 0.3974, d1.loss_cls: 0.1862, d1.loss_bbox: 0.3599, d2.loss_cls: 0.1711, d2.loss_bbox: 0.3440, d3.loss_cls: 0.1609, d3.loss_bbox: 0.3358, d4.loss_cls: 0.1533, d4.loss_bbox: 0.3338, d5.loss_cls: 0.1509, d5.loss_bbox: 0.3317, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7734, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6307, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5881, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5838, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5836, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5819, d0.loss_map_cls_all: 0.1918, d0.loss_map_pts_all: 1.1128, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1918, d0.loss_map_pts: 1.1128, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1654, d1.loss_map_pts: 0.7921, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1462, d2.loss_map_pts: 0.6558, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1374, d3.loss_map_pts: 0.6035, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1321, d4.loss_map_pts: 0.5852, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1270, d5.loss_map_pts: 0.5743, d5.loss_map_dir: 0.0076, loss: 26.0881, grad_norm: 176.7653 +2026-02-26 11:24:21,831 - DriveTransformer - INFO - Epoch [7][19100/39528] lr: 8.550e-05, eta: 6 days, 10:17:43, time: 0.733, data_time: 0.038, memory: 19865, loss_cls: 0.1720, loss_bbox: 0.3702, loss_traj: 0.6702, loss_traj_cls: 0.0010, loss_map_cls: 0.1533, loss_map_pts: 0.6885, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.7800, d0.loss_plan_l1_fix_dist: 0.3442, d1.loss_plan_l1_fix_time: 1.1506, d1.loss_plan_l1_fix_dist: 0.1460, d2.loss_plan_l1_fix_time: 1.1362, d2.loss_plan_l1_fix_dist: 0.1468, d3.loss_plan_l1_fix_time: 1.1359, d3.loss_plan_l1_fix_dist: 0.1560, d4.loss_plan_l1_fix_time: 1.1373, d4.loss_plan_l1_fix_dist: 0.1682, d5.loss_plan_l1_fix_time: 1.1390, d5.loss_plan_l1_fix_dist: 0.1823, d6.loss_plan_l1_fix_time: 1.1411, d6.loss_plan_l1_fix_dist: 0.1926, d0.loss_cls_all: 0.2117, d0.loss_bbox_all: 0.4328, d0.loss_cls: 0.2117, d0.loss_bbox: 0.4328, d1.loss_cls: 0.2039, d1.loss_bbox: 0.3935, d2.loss_cls: 0.1918, d2.loss_bbox: 0.3743, d3.loss_cls: 0.1791, d3.loss_bbox: 0.3697, d4.loss_cls: 0.1736, d4.loss_bbox: 0.3679, d5.loss_cls: 0.1727, d5.loss_bbox: 0.3688, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9081, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7456, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6961, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6784, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6691, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6699, d0.loss_map_cls_all: 0.2166, d0.loss_map_pts_all: 1.2550, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2166, d0.loss_map_pts: 1.2550, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1906, d1.loss_map_pts: 0.9107, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1732, d2.loss_map_pts: 0.7745, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1612, d3.loss_map_pts: 0.7226, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1592, d4.loss_map_pts: 0.6973, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1552, d5.loss_map_pts: 0.6890, d5.loss_map_dir: 0.0087, loss: 29.1148, grad_norm: 165.9852 +2026-02-26 11:24:59,338 - DriveTransformer - INFO - Epoch [7][19150/39528] lr: 8.550e-05, eta: 6 days, 10:16:56, time: 0.750, data_time: 0.044, memory: 19865, loss_cls: 0.1728, loss_bbox: 0.3803, loss_traj: 0.7332, loss_traj_cls: 0.0010, loss_map_cls: 0.1623, loss_map_pts: 0.7171, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 3.2343, d0.loss_plan_l1_fix_dist: 0.4923, d1.loss_plan_l1_fix_time: 1.2376, d1.loss_plan_l1_fix_dist: 0.1941, d2.loss_plan_l1_fix_time: 1.2264, d2.loss_plan_l1_fix_dist: 0.1951, d3.loss_plan_l1_fix_time: 1.2184, d3.loss_plan_l1_fix_dist: 0.2012, d4.loss_plan_l1_fix_time: 1.2191, d4.loss_plan_l1_fix_dist: 0.2110, d5.loss_plan_l1_fix_time: 1.2207, d5.loss_plan_l1_fix_dist: 0.2252, d6.loss_plan_l1_fix_time: 1.2225, d6.loss_plan_l1_fix_dist: 0.2377, d0.loss_cls_all: 0.2156, d0.loss_bbox_all: 0.4378, d0.loss_cls: 0.2156, d0.loss_bbox: 0.4378, d1.loss_cls: 0.2044, d1.loss_bbox: 0.4061, d2.loss_cls: 0.1932, d2.loss_bbox: 0.3859, d3.loss_cls: 0.1787, d3.loss_bbox: 0.3793, d4.loss_cls: 0.1731, d4.loss_bbox: 0.3776, d5.loss_cls: 0.1702, d5.loss_bbox: 0.3802, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9638, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8077, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7510, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7405, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7324, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7312, d0.loss_map_cls_all: 0.2229, d0.loss_map_pts_all: 1.3722, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2229, d0.loss_map_pts: 1.3722, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2009, d1.loss_map_pts: 1.0059, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1865, d2.loss_map_pts: 0.8187, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1764, d3.loss_map_pts: 0.7457, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1692, d4.loss_map_pts: 0.7215, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1636, d5.loss_map_pts: 0.7160, d5.loss_map_dir: 0.0096, loss: 31.5590, grad_norm: 167.8784 +2026-02-26 11:25:38,973 - DriveTransformer - INFO - Epoch [7][19200/39528] lr: 8.550e-05, eta: 6 days, 10:16:14, time: 0.793, data_time: 0.043, memory: 19865, loss_cls: 0.1648, loss_bbox: 0.3678, loss_traj: 0.5759, loss_traj_cls: 0.0009, loss_map_cls: 0.1669, loss_map_pts: 0.7595, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.4683, d0.loss_plan_l1_fix_dist: 0.4040, d1.loss_plan_l1_fix_time: 0.9740, d1.loss_plan_l1_fix_dist: 0.1836, d2.loss_plan_l1_fix_time: 0.9610, d2.loss_plan_l1_fix_dist: 0.1859, d3.loss_plan_l1_fix_time: 0.9591, d3.loss_plan_l1_fix_dist: 0.1912, d4.loss_plan_l1_fix_time: 0.9604, d4.loss_plan_l1_fix_dist: 0.1949, d5.loss_plan_l1_fix_time: 0.9618, d5.loss_plan_l1_fix_dist: 0.2037, d6.loss_plan_l1_fix_time: 0.9635, d6.loss_plan_l1_fix_dist: 0.2203, d0.loss_cls_all: 0.2087, d0.loss_bbox_all: 0.4256, d0.loss_cls: 0.2087, d0.loss_bbox: 0.4256, d1.loss_cls: 0.1991, d1.loss_bbox: 0.3900, d2.loss_cls: 0.1860, d2.loss_bbox: 0.3695, d3.loss_cls: 0.1714, d3.loss_bbox: 0.3639, d4.loss_cls: 0.1658, d4.loss_bbox: 0.3635, d5.loss_cls: 0.1651, d5.loss_bbox: 0.3644, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8044, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6231, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5878, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5706, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5767, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5736, d0.loss_map_cls_all: 0.2378, d0.loss_map_pts_all: 1.4589, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2378, d0.loss_map_pts: 1.4589, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2092, d1.loss_map_pts: 1.0339, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1862, d2.loss_map_pts: 0.8505, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1766, d3.loss_map_pts: 0.7898, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1700, d4.loss_map_pts: 0.7655, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1681, d5.loss_map_pts: 0.7601, d5.loss_map_dir: 0.0103, loss: 28.2018, grad_norm: 167.7657 +2026-02-26 11:26:20,074 - DriveTransformer - INFO - Epoch [7][19250/39528] lr: 8.550e-05, eta: 6 days, 10:15:37, time: 0.822, data_time: 0.037, memory: 19865, loss_cls: 0.1780, loss_bbox: 0.3841, loss_traj: 0.7181, loss_traj_cls: 0.0009, loss_map_cls: 0.1900, loss_map_pts: 0.8200, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.8634, d0.loss_plan_l1_fix_dist: 0.3455, d1.loss_plan_l1_fix_time: 1.1704, d1.loss_plan_l1_fix_dist: 0.1716, d2.loss_plan_l1_fix_time: 1.1602, d2.loss_plan_l1_fix_dist: 0.1727, d3.loss_plan_l1_fix_time: 1.1608, d3.loss_plan_l1_fix_dist: 0.1788, d4.loss_plan_l1_fix_time: 1.1623, d4.loss_plan_l1_fix_dist: 0.1878, d5.loss_plan_l1_fix_time: 1.1639, d5.loss_plan_l1_fix_dist: 0.1936, d6.loss_plan_l1_fix_time: 1.1659, d6.loss_plan_l1_fix_dist: 0.2078, d0.loss_cls_all: 0.2236, d0.loss_bbox_all: 0.4479, d0.loss_cls: 0.2236, d0.loss_bbox: 0.4479, d1.loss_cls: 0.2166, d1.loss_bbox: 0.4131, d2.loss_cls: 0.2018, d2.loss_bbox: 0.3913, d3.loss_cls: 0.1878, d3.loss_bbox: 0.3861, d4.loss_cls: 0.1794, d4.loss_bbox: 0.3841, d5.loss_cls: 0.1775, d5.loss_bbox: 0.3839, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9830, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7909, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7369, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7177, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7142, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7166, d0.loss_map_cls_all: 0.2620, d0.loss_map_pts_all: 1.4594, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2620, d0.loss_map_pts: 1.4594, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2367, d1.loss_map_pts: 1.1020, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.2154, d2.loss_map_pts: 0.9263, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.2073, d3.loss_map_pts: 0.8489, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1984, d4.loss_map_pts: 0.8250, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1915, d5.loss_map_pts: 0.8195, d5.loss_map_dir: 0.0102, loss: 31.6172, grad_norm: 166.3180 +2026-02-26 11:27:00,280 - DriveTransformer - INFO - Epoch [7][19300/39528] lr: 8.550e-05, eta: 6 days, 10:14:57, time: 0.804, data_time: 0.045, memory: 19865, loss_cls: 0.1482, loss_bbox: 0.3416, loss_traj: 0.6966, loss_traj_cls: 0.0009, loss_map_cls: 0.1293, loss_map_pts: 0.6039, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.5266, d0.loss_plan_l1_fix_dist: 0.4420, d1.loss_plan_l1_fix_time: 0.9974, d1.loss_plan_l1_fix_dist: 0.1941, d2.loss_plan_l1_fix_time: 0.9863, d2.loss_plan_l1_fix_dist: 0.1996, d3.loss_plan_l1_fix_time: 0.9834, d3.loss_plan_l1_fix_dist: 0.1995, d4.loss_plan_l1_fix_time: 0.9855, d4.loss_plan_l1_fix_dist: 0.2123, d5.loss_plan_l1_fix_time: 0.9882, d5.loss_plan_l1_fix_dist: 0.2269, d6.loss_plan_l1_fix_time: 0.9912, d6.loss_plan_l1_fix_dist: 0.2362, d0.loss_cls_all: 0.1849, d0.loss_bbox_all: 0.4067, d0.loss_cls: 0.1849, d0.loss_bbox: 0.4067, d1.loss_cls: 0.1743, d1.loss_bbox: 0.3739, d2.loss_cls: 0.1623, d2.loss_bbox: 0.3534, d3.loss_cls: 0.1529, d3.loss_bbox: 0.3476, d4.loss_cls: 0.1479, d4.loss_bbox: 0.3458, d5.loss_cls: 0.1474, d5.loss_bbox: 0.3429, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9031, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7570, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7041, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6934, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7059, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6944, d0.loss_map_cls_all: 0.2155, d0.loss_map_pts_all: 1.2814, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2155, d0.loss_map_pts: 1.2814, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1770, d1.loss_map_pts: 0.8804, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1561, d2.loss_map_pts: 0.7079, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1456, d3.loss_map_pts: 0.6357, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1380, d4.loss_map_pts: 0.6116, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1312, d5.loss_map_pts: 0.6054, d5.loss_map_dir: 0.0082, loss: 27.5331, grad_norm: 166.5539 +2026-02-26 11:27:38,149 - DriveTransformer - INFO - Epoch [7][19350/39528] lr: 8.550e-05, eta: 6 days, 10:14:11, time: 0.758, data_time: 0.043, memory: 19865, loss_cls: 0.1742, loss_bbox: 0.3888, loss_traj: 0.7161, loss_traj_cls: 0.0009, loss_map_cls: 0.1681, loss_map_pts: 0.6634, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.8520, d0.loss_plan_l1_fix_dist: 0.3331, d1.loss_plan_l1_fix_time: 1.1175, d1.loss_plan_l1_fix_dist: 0.1881, d2.loss_plan_l1_fix_time: 1.1047, d2.loss_plan_l1_fix_dist: 0.2006, d3.loss_plan_l1_fix_time: 1.1028, d3.loss_plan_l1_fix_dist: 0.1998, d4.loss_plan_l1_fix_time: 1.1051, d4.loss_plan_l1_fix_dist: 0.2001, d5.loss_plan_l1_fix_time: 1.1076, d5.loss_plan_l1_fix_dist: 0.2107, d6.loss_plan_l1_fix_time: 1.1105, d6.loss_plan_l1_fix_dist: 0.2210, d0.loss_cls_all: 0.2101, d0.loss_bbox_all: 0.4496, d0.loss_cls: 0.2101, d0.loss_bbox: 0.4496, d1.loss_cls: 0.2014, d1.loss_bbox: 0.4136, d2.loss_cls: 0.1902, d2.loss_bbox: 0.3935, d3.loss_cls: 0.1769, d3.loss_bbox: 0.3919, d4.loss_cls: 0.1740, d4.loss_bbox: 0.3893, d5.loss_cls: 0.1734, d5.loss_bbox: 0.3889, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9578, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7867, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7273, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7145, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7185, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7163, d0.loss_map_cls_all: 0.2335, d0.loss_map_pts_all: 1.2676, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2335, d0.loss_map_pts: 1.2676, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2065, d1.loss_map_pts: 0.9154, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1878, d2.loss_map_pts: 0.7604, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1776, d3.loss_map_pts: 0.6981, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1710, d4.loss_map_pts: 0.6749, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1687, d5.loss_map_pts: 0.6658, d5.loss_map_dir: 0.0092, loss: 29.7042, grad_norm: 167.8400 +2026-02-26 11:28:17,615 - DriveTransformer - INFO - Epoch [7][19400/39528] lr: 8.550e-05, eta: 6 days, 10:13:29, time: 0.789, data_time: 0.046, memory: 19865, loss_cls: 0.1562, loss_bbox: 0.3526, loss_traj: 0.5380, loss_traj_cls: 0.0010, loss_map_cls: 0.1409, loss_map_pts: 0.6748, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.5599, d0.loss_plan_l1_fix_dist: 0.3460, d1.loss_plan_l1_fix_time: 1.1001, d1.loss_plan_l1_fix_dist: 0.1596, d2.loss_plan_l1_fix_time: 1.0810, d2.loss_plan_l1_fix_dist: 0.1693, d3.loss_plan_l1_fix_time: 1.0832, d3.loss_plan_l1_fix_dist: 0.1761, d4.loss_plan_l1_fix_time: 1.0852, d4.loss_plan_l1_fix_dist: 0.1770, d5.loss_plan_l1_fix_time: 1.0872, d5.loss_plan_l1_fix_dist: 0.1828, d6.loss_plan_l1_fix_time: 1.0900, d6.loss_plan_l1_fix_dist: 0.1927, d0.loss_cls_all: 0.2006, d0.loss_bbox_all: 0.4195, d0.loss_cls: 0.2006, d0.loss_bbox: 0.4195, d1.loss_cls: 0.1875, d1.loss_bbox: 0.3869, d2.loss_cls: 0.1719, d2.loss_bbox: 0.3679, d3.loss_cls: 0.1619, d3.loss_bbox: 0.3584, d4.loss_cls: 0.1557, d4.loss_bbox: 0.3556, d5.loss_cls: 0.1550, d5.loss_bbox: 0.3536, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7227, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5847, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5415, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5358, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5318, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5333, d0.loss_map_cls_all: 0.2119, d0.loss_map_pts_all: 1.4057, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2119, d0.loss_map_pts: 1.4057, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.1809, d1.loss_map_pts: 0.9591, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1636, d2.loss_map_pts: 0.7724, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1542, d3.loss_map_pts: 0.7102, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1473, d4.loss_map_pts: 0.6862, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1422, d5.loss_map_pts: 0.6764, d5.loss_map_dir: 0.0108, loss: 27.6159, grad_norm: 167.2675 +2026-02-26 11:28:57,018 - DriveTransformer - INFO - Epoch [7][19450/39528] lr: 8.550e-05, eta: 6 days, 10:12:47, time: 0.788, data_time: 0.044, memory: 19865, loss_cls: 0.1358, loss_bbox: 0.3344, loss_traj: 0.5531, loss_traj_cls: 0.0010, loss_map_cls: 0.1187, loss_map_pts: 0.6035, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.6367, d0.loss_plan_l1_fix_dist: 0.4805, d1.loss_plan_l1_fix_time: 0.9585, d1.loss_plan_l1_fix_dist: 0.1792, d2.loss_plan_l1_fix_time: 0.9425, d2.loss_plan_l1_fix_dist: 0.1874, d3.loss_plan_l1_fix_time: 0.9391, d3.loss_plan_l1_fix_dist: 0.1980, d4.loss_plan_l1_fix_time: 0.9410, d4.loss_plan_l1_fix_dist: 0.1982, d5.loss_plan_l1_fix_time: 0.9438, d5.loss_plan_l1_fix_dist: 0.2052, d6.loss_plan_l1_fix_time: 0.9479, d6.loss_plan_l1_fix_dist: 0.2166, d0.loss_cls_all: 0.1729, d0.loss_bbox_all: 0.3886, d0.loss_cls: 0.1729, d0.loss_bbox: 0.3886, d1.loss_cls: 0.1632, d1.loss_bbox: 0.3582, d2.loss_cls: 0.1520, d2.loss_bbox: 0.3412, d3.loss_cls: 0.1413, d3.loss_bbox: 0.3341, d4.loss_cls: 0.1356, d4.loss_bbox: 0.3337, d5.loss_cls: 0.1343, d5.loss_bbox: 0.3343, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6698, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5728, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5506, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5475, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5483, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5506, d0.loss_map_cls_all: 0.1912, d0.loss_map_pts_all: 1.3506, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.1912, d0.loss_map_pts: 1.3506, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.1621, d1.loss_map_pts: 0.8899, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1423, d2.loss_map_pts: 0.7034, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1305, d3.loss_map_pts: 0.6379, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1250, d4.loss_map_pts: 0.6121, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1211, d5.loss_map_pts: 0.6044, d5.loss_map_dir: 0.0097, loss: 26.0071, grad_norm: 170.5088 +2026-02-26 11:29:34,477 - DriveTransformer - INFO - Epoch [7][19500/39528] lr: 8.550e-05, eta: 6 days, 10:12:00, time: 0.749, data_time: 0.042, memory: 19865, loss_cls: 0.1667, loss_bbox: 0.3804, loss_traj: 0.6891, loss_traj_cls: 0.0010, loss_map_cls: 0.1606, loss_map_pts: 0.6992, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.6195, d0.loss_plan_l1_fix_dist: 0.3947, d1.loss_plan_l1_fix_time: 1.0492, d1.loss_plan_l1_fix_dist: 0.1808, d2.loss_plan_l1_fix_time: 1.0304, d2.loss_plan_l1_fix_dist: 0.1773, d3.loss_plan_l1_fix_time: 1.0328, d3.loss_plan_l1_fix_dist: 0.1829, d4.loss_plan_l1_fix_time: 1.0348, d4.loss_plan_l1_fix_dist: 0.1910, d5.loss_plan_l1_fix_time: 1.0374, d5.loss_plan_l1_fix_dist: 0.2051, d6.loss_plan_l1_fix_time: 1.0410, d6.loss_plan_l1_fix_dist: 0.2187, d0.loss_cls_all: 0.2070, d0.loss_bbox_all: 0.4314, d0.loss_cls: 0.2070, d0.loss_bbox: 0.4314, d1.loss_cls: 0.2014, d1.loss_bbox: 0.4001, d2.loss_cls: 0.1865, d2.loss_bbox: 0.3851, d3.loss_cls: 0.1705, d3.loss_bbox: 0.3819, d4.loss_cls: 0.1680, d4.loss_bbox: 0.3798, d5.loss_cls: 0.1663, d5.loss_bbox: 0.3802, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8768, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7386, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7024, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6966, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6832, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6861, d0.loss_map_cls_all: 0.2494, d0.loss_map_pts_all: 1.4164, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2494, d0.loss_map_pts: 1.4164, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2110, d1.loss_map_pts: 0.9859, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1918, d2.loss_map_pts: 0.8088, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1769, d3.loss_map_pts: 0.7353, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1687, d4.loss_map_pts: 0.7083, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1630, d5.loss_map_pts: 0.7010, d5.loss_map_dir: 0.0092, loss: 29.2345, grad_norm: 168.0403 +2026-02-26 11:30:13,033 - DriveTransformer - INFO - Epoch [7][19550/39528] lr: 8.550e-05, eta: 6 days, 10:11:15, time: 0.771, data_time: 0.039, memory: 19865, loss_cls: 0.1312, loss_bbox: 0.3376, loss_traj: 0.6087, loss_traj_cls: 0.0010, loss_map_cls: 0.1449, loss_map_pts: 0.6430, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.3781, d0.loss_plan_l1_fix_dist: 0.4942, d1.loss_plan_l1_fix_time: 1.1100, d1.loss_plan_l1_fix_dist: 0.1837, d2.loss_plan_l1_fix_time: 1.0979, d2.loss_plan_l1_fix_dist: 0.1839, d3.loss_plan_l1_fix_time: 1.0927, d3.loss_plan_l1_fix_dist: 0.1822, d4.loss_plan_l1_fix_time: 1.0933, d4.loss_plan_l1_fix_dist: 0.1883, d5.loss_plan_l1_fix_time: 1.0945, d5.loss_plan_l1_fix_dist: 0.1938, d6.loss_plan_l1_fix_time: 1.0967, d6.loss_plan_l1_fix_dist: 0.2025, d0.loss_cls_all: 0.1696, d0.loss_bbox_all: 0.3876, d0.loss_cls: 0.1696, d0.loss_bbox: 0.3876, d1.loss_cls: 0.1610, d1.loss_bbox: 0.3560, d2.loss_cls: 0.1459, d2.loss_bbox: 0.3421, d3.loss_cls: 0.1369, d3.loss_bbox: 0.3367, d4.loss_cls: 0.1312, d4.loss_bbox: 0.3366, d5.loss_cls: 0.1310, d5.loss_bbox: 0.3364, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8659, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6822, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6248, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6052, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6022, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6049, d0.loss_map_cls_all: 0.2222, d0.loss_map_pts_all: 1.3375, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2222, d0.loss_map_pts: 1.3375, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1933, d1.loss_map_pts: 0.9287, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1696, d2.loss_map_pts: 0.7455, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1582, d3.loss_map_pts: 0.6809, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1515, d4.loss_map_pts: 0.6509, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1475, d5.loss_map_pts: 0.6445, d5.loss_map_dir: 0.0099, loss: 27.6432, grad_norm: 164.3293 +2026-02-26 11:30:52,950 - DriveTransformer - INFO - Epoch [7][19600/39528] lr: 8.550e-05, eta: 6 days, 10:10:35, time: 0.800, data_time: 0.040, memory: 19865, loss_cls: 0.1431, loss_bbox: 0.3442, loss_traj: 0.5046, loss_traj_cls: 0.0011, loss_map_cls: 0.1551, loss_map_pts: 0.6734, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.8180, d0.loss_plan_l1_fix_dist: 0.4315, d1.loss_plan_l1_fix_time: 0.9881, d1.loss_plan_l1_fix_dist: 0.1777, d2.loss_plan_l1_fix_time: 0.9592, d2.loss_plan_l1_fix_dist: 0.1852, d3.loss_plan_l1_fix_time: 0.9491, d3.loss_plan_l1_fix_dist: 0.1893, d4.loss_plan_l1_fix_time: 0.9495, d4.loss_plan_l1_fix_dist: 0.1989, d5.loss_plan_l1_fix_time: 0.9508, d5.loss_plan_l1_fix_dist: 0.1991, d6.loss_plan_l1_fix_time: 0.9527, d6.loss_plan_l1_fix_dist: 0.2054, d0.loss_cls_all: 0.1740, d0.loss_bbox_all: 0.3983, d0.loss_cls: 0.1740, d0.loss_bbox: 0.3983, d1.loss_cls: 0.1656, d1.loss_bbox: 0.3668, d2.loss_cls: 0.1573, d2.loss_bbox: 0.3510, d3.loss_cls: 0.1485, d3.loss_bbox: 0.3442, d4.loss_cls: 0.1436, d4.loss_bbox: 0.3431, d5.loss_cls: 0.1437, d5.loss_bbox: 0.3430, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6763, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5553, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5108, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.4982, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5005, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5022, d0.loss_map_cls_all: 0.2271, d0.loss_map_pts_all: 1.4596, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2271, d0.loss_map_pts: 1.4596, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.1991, d1.loss_map_pts: 0.9836, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.1791, d2.loss_map_pts: 0.7822, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1675, d3.loss_map_pts: 0.7146, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1624, d4.loss_map_pts: 0.6846, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1574, d5.loss_map_pts: 0.6759, d5.loss_map_dir: 0.0114, loss: 27.0465, grad_norm: 164.9275 +2026-02-26 11:31:30,818 - DriveTransformer - INFO - Epoch [7][19650/39528] lr: 8.550e-05, eta: 6 days, 10:09:49, time: 0.756, data_time: 0.036, memory: 19865, loss_cls: 0.1333, loss_bbox: 0.3199, loss_traj: 0.6172, loss_traj_cls: 0.0011, loss_map_cls: 0.1461, loss_map_pts: 0.6057, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.6652, d0.loss_plan_l1_fix_dist: 0.5234, d1.loss_plan_l1_fix_time: 0.9587, d1.loss_plan_l1_fix_dist: 0.1679, d2.loss_plan_l1_fix_time: 0.9373, d2.loss_plan_l1_fix_dist: 0.1824, d3.loss_plan_l1_fix_time: 0.9317, d3.loss_plan_l1_fix_dist: 0.1763, d4.loss_plan_l1_fix_time: 0.9333, d4.loss_plan_l1_fix_dist: 0.1798, d5.loss_plan_l1_fix_time: 0.9353, d5.loss_plan_l1_fix_dist: 0.1893, d6.loss_plan_l1_fix_time: 0.9373, d6.loss_plan_l1_fix_dist: 0.2053, d0.loss_cls_all: 0.1736, d0.loss_bbox_all: 0.3634, d0.loss_cls: 0.1736, d0.loss_bbox: 0.3634, d1.loss_cls: 0.1627, d1.loss_bbox: 0.3316, d2.loss_cls: 0.1501, d2.loss_bbox: 0.3215, d3.loss_cls: 0.1390, d3.loss_bbox: 0.3177, d4.loss_cls: 0.1348, d4.loss_bbox: 0.3170, d5.loss_cls: 0.1336, d5.loss_bbox: 0.3181, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8355, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6759, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6221, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6183, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6161, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6167, d0.loss_map_cls_all: 0.2110, d0.loss_map_pts_all: 1.2857, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2110, d0.loss_map_pts: 1.2857, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1831, d1.loss_map_pts: 0.8539, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1653, d2.loss_map_pts: 0.6955, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1583, d3.loss_map_pts: 0.6365, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1521, d4.loss_map_pts: 0.6145, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1476, d5.loss_map_pts: 0.6060, d5.loss_map_dir: 0.0088, loss: 26.4148, grad_norm: 162.1653 +2026-02-26 11:32:07,387 - DriveTransformer - INFO - Epoch [7][19700/39528] lr: 8.550e-05, eta: 6 days, 10:08:59, time: 0.731, data_time: 0.042, memory: 19865, loss_cls: 0.1320, loss_bbox: 0.3174, loss_traj: 0.6446, loss_traj_cls: 0.0011, loss_map_cls: 0.1216, loss_map_pts: 0.5490, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.5802, d0.loss_plan_l1_fix_dist: 0.4240, d1.loss_plan_l1_fix_time: 1.0604, d1.loss_plan_l1_fix_dist: 0.1685, d2.loss_plan_l1_fix_time: 1.0387, d2.loss_plan_l1_fix_dist: 0.1837, d3.loss_plan_l1_fix_time: 1.0379, d3.loss_plan_l1_fix_dist: 0.1820, d4.loss_plan_l1_fix_time: 1.0399, d4.loss_plan_l1_fix_dist: 0.1821, d5.loss_plan_l1_fix_time: 1.0420, d5.loss_plan_l1_fix_dist: 0.1961, d6.loss_plan_l1_fix_time: 1.0442, d6.loss_plan_l1_fix_dist: 0.2155, d0.loss_cls_all: 0.1640, d0.loss_bbox_all: 0.3648, d0.loss_cls: 0.1640, d0.loss_bbox: 0.3648, d1.loss_cls: 0.1590, d1.loss_bbox: 0.3371, d2.loss_cls: 0.1465, d2.loss_bbox: 0.3197, d3.loss_cls: 0.1353, d3.loss_bbox: 0.3173, d4.loss_cls: 0.1318, d4.loss_bbox: 0.3158, d5.loss_cls: 0.1314, d5.loss_bbox: 0.3159, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8505, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7076, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6535, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6466, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6426, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6448, d0.loss_map_cls_all: 0.1893, d0.loss_map_pts_all: 1.0859, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1893, d0.loss_map_pts: 1.0859, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1630, d1.loss_map_pts: 0.7690, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1415, d2.loss_map_pts: 0.6346, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1330, d3.loss_map_pts: 0.5781, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1270, d4.loss_map_pts: 0.5577, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1238, d5.loss_map_pts: 0.5474, d5.loss_map_dir: 0.0070, loss: 26.0610, grad_norm: 162.2976 +2026-02-26 11:32:47,249 - DriveTransformer - INFO - Epoch [7][19750/39528] lr: 8.550e-05, eta: 6 days, 10:08:18, time: 0.797, data_time: 0.042, memory: 19865, loss_cls: 0.1657, loss_bbox: 0.3731, loss_traj: 0.6538, loss_traj_cls: 0.0010, loss_map_cls: 0.1607, loss_map_pts: 0.7353, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.2687, d0.loss_plan_l1_fix_dist: 0.3443, d1.loss_plan_l1_fix_time: 0.9516, d1.loss_plan_l1_fix_dist: 0.1862, d2.loss_plan_l1_fix_time: 0.9302, d2.loss_plan_l1_fix_dist: 0.1874, d3.loss_plan_l1_fix_time: 0.9302, d3.loss_plan_l1_fix_dist: 0.1884, d4.loss_plan_l1_fix_time: 0.9326, d4.loss_plan_l1_fix_dist: 0.1859, d5.loss_plan_l1_fix_time: 0.9350, d5.loss_plan_l1_fix_dist: 0.1919, d6.loss_plan_l1_fix_time: 0.9382, d6.loss_plan_l1_fix_dist: 0.1988, d0.loss_cls_all: 0.2015, d0.loss_bbox_all: 0.4278, d0.loss_cls: 0.2015, d0.loss_bbox: 0.4278, d1.loss_cls: 0.1956, d1.loss_bbox: 0.3918, d2.loss_cls: 0.1823, d2.loss_bbox: 0.3756, d3.loss_cls: 0.1720, d3.loss_bbox: 0.3706, d4.loss_cls: 0.1662, d4.loss_bbox: 0.3736, d5.loss_cls: 0.1674, d5.loss_bbox: 0.3716, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8438, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7141, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6576, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6493, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6494, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6502, d0.loss_map_cls_all: 0.2334, d0.loss_map_pts_all: 1.4460, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2334, d0.loss_map_pts: 1.4460, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2016, d1.loss_map_pts: 0.9868, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.1813, d2.loss_map_pts: 0.8153, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.1716, d3.loss_map_pts: 0.7593, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1667, d4.loss_map_pts: 0.7413, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1620, d5.loss_map_pts: 0.7357, d5.loss_map_dir: 0.0116, loss: 28.0257, grad_norm: 160.9699 +2026-02-26 11:33:26,088 - DriveTransformer - INFO - Epoch [7][19800/39528] lr: 8.550e-05, eta: 6 days, 10:07:35, time: 0.777, data_time: 0.040, memory: 19865, loss_cls: 0.1438, loss_bbox: 0.3380, loss_traj: 0.5406, loss_traj_cls: 0.0010, loss_map_cls: 0.1622, loss_map_pts: 0.7373, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.4004, d0.loss_plan_l1_fix_dist: 0.4373, d1.loss_plan_l1_fix_time: 1.0248, d1.loss_plan_l1_fix_dist: 0.1656, d2.loss_plan_l1_fix_time: 1.0026, d2.loss_plan_l1_fix_dist: 0.1572, d3.loss_plan_l1_fix_time: 0.9892, d3.loss_plan_l1_fix_dist: 0.1642, d4.loss_plan_l1_fix_time: 0.9892, d4.loss_plan_l1_fix_dist: 0.1652, d5.loss_plan_l1_fix_time: 0.9908, d5.loss_plan_l1_fix_dist: 0.1724, d6.loss_plan_l1_fix_time: 0.9934, d6.loss_plan_l1_fix_dist: 0.1833, d0.loss_cls_all: 0.1777, d0.loss_bbox_all: 0.3907, d0.loss_cls: 0.1777, d0.loss_bbox: 0.3907, d1.loss_cls: 0.1682, d1.loss_bbox: 0.3628, d2.loss_cls: 0.1598, d2.loss_bbox: 0.3473, d3.loss_cls: 0.1478, d3.loss_bbox: 0.3402, d4.loss_cls: 0.1435, d4.loss_bbox: 0.3391, d5.loss_cls: 0.1435, d5.loss_bbox: 0.3380, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7238, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6018, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5530, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5414, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5391, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5342, d0.loss_map_cls_all: 0.2439, d0.loss_map_pts_all: 1.5348, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2439, d0.loss_map_pts: 1.5348, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2112, d1.loss_map_pts: 1.0347, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1889, d2.loss_map_pts: 0.8440, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1762, d3.loss_map_pts: 0.7735, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1690, d4.loss_map_pts: 0.7454, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1640, d5.loss_map_pts: 0.7382, d5.loss_map_dir: 0.0101, loss: 27.5652, grad_norm: 160.3190 +2026-02-26 11:34:06,359 - DriveTransformer - INFO - Epoch [7][19850/39528] lr: 8.550e-05, eta: 6 days, 10:06:55, time: 0.805, data_time: 0.038, memory: 19865, loss_cls: 0.1417, loss_bbox: 0.3611, loss_traj: 0.6720, loss_traj_cls: 0.0010, loss_map_cls: 0.1418, loss_map_pts: 0.6803, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.7884, d0.loss_plan_l1_fix_dist: 0.5058, d1.loss_plan_l1_fix_time: 1.0028, d1.loss_plan_l1_fix_dist: 0.2181, d2.loss_plan_l1_fix_time: 0.9885, d2.loss_plan_l1_fix_dist: 0.1987, d3.loss_plan_l1_fix_time: 0.9898, d3.loss_plan_l1_fix_dist: 0.2022, d4.loss_plan_l1_fix_time: 0.9931, d4.loss_plan_l1_fix_dist: 0.2055, d5.loss_plan_l1_fix_time: 0.9969, d5.loss_plan_l1_fix_dist: 0.2092, d6.loss_plan_l1_fix_time: 1.0014, d6.loss_plan_l1_fix_dist: 0.2187, d0.loss_cls_all: 0.1838, d0.loss_bbox_all: 0.4112, d0.loss_cls: 0.1838, d0.loss_bbox: 0.4112, d1.loss_cls: 0.1718, d1.loss_bbox: 0.3814, d2.loss_cls: 0.1581, d2.loss_bbox: 0.3644, d3.loss_cls: 0.1468, d3.loss_bbox: 0.3590, d4.loss_cls: 0.1429, d4.loss_bbox: 0.3586, d5.loss_cls: 0.1432, d5.loss_bbox: 0.3587, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9158, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7308, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6842, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6711, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6674, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6680, d0.loss_map_cls_all: 0.2123, d0.loss_map_pts_all: 1.3981, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2123, d0.loss_map_pts: 1.3981, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1846, d1.loss_map_pts: 0.9545, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1659, d2.loss_map_pts: 0.7805, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1539, d3.loss_map_pts: 0.7131, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1476, d4.loss_map_pts: 0.6854, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1445, d5.loss_map_pts: 0.6814, d5.loss_map_dir: 0.0101, loss: 28.5465, grad_norm: 161.0631 +2026-02-26 11:34:45,622 - DriveTransformer - INFO - Epoch [7][19900/39528] lr: 8.550e-05, eta: 6 days, 10:06:13, time: 0.785, data_time: 0.044, memory: 19865, loss_cls: 0.1415, loss_bbox: 0.3049, loss_traj: 0.5251, loss_traj_cls: 0.0010, loss_map_cls: 0.1497, loss_map_pts: 0.6412, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.1290, d0.loss_plan_l1_fix_dist: 0.4249, d1.loss_plan_l1_fix_time: 0.8888, d1.loss_plan_l1_fix_dist: 0.1918, d2.loss_plan_l1_fix_time: 0.8729, d2.loss_plan_l1_fix_dist: 0.1666, d3.loss_plan_l1_fix_time: 0.8697, d3.loss_plan_l1_fix_dist: 0.1588, d4.loss_plan_l1_fix_time: 0.8712, d4.loss_plan_l1_fix_dist: 0.1632, d5.loss_plan_l1_fix_time: 0.8736, d5.loss_plan_l1_fix_dist: 0.1652, d6.loss_plan_l1_fix_time: 0.8768, d6.loss_plan_l1_fix_dist: 0.1783, d0.loss_cls_all: 0.1773, d0.loss_bbox_all: 0.3631, d0.loss_cls: 0.1773, d0.loss_bbox: 0.3631, d1.loss_cls: 0.1678, d1.loss_bbox: 0.3341, d2.loss_cls: 0.1559, d2.loss_bbox: 0.3171, d3.loss_cls: 0.1483, d3.loss_bbox: 0.3081, d4.loss_cls: 0.1431, d4.loss_bbox: 0.3059, d5.loss_cls: 0.1414, d5.loss_bbox: 0.3064, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6824, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5703, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5232, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5151, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5174, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5183, d0.loss_map_cls_all: 0.2165, d0.loss_map_pts_all: 1.3932, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2165, d0.loss_map_pts: 1.3932, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1920, d1.loss_map_pts: 0.9361, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1731, d2.loss_map_pts: 0.7456, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1634, d3.loss_map_pts: 0.6730, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1563, d4.loss_map_pts: 0.6483, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1508, d5.loss_map_pts: 0.6433, d5.loss_map_dir: 0.0098, loss: 25.1131, grad_norm: 158.3771 +2026-02-26 11:35:23,827 - DriveTransformer - INFO - Epoch [7][19950/39528] lr: 8.550e-05, eta: 6 days, 10:05:27, time: 0.764, data_time: 0.040, memory: 19865, loss_cls: 0.1499, loss_bbox: 0.3583, loss_traj: 0.5672, loss_traj_cls: 0.0010, loss_map_cls: 0.1553, loss_map_pts: 0.6910, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.9159, d0.loss_plan_l1_fix_dist: 0.4817, d1.loss_plan_l1_fix_time: 1.0830, d1.loss_plan_l1_fix_dist: 0.2353, d2.loss_plan_l1_fix_time: 1.0728, d2.loss_plan_l1_fix_dist: 0.2180, d3.loss_plan_l1_fix_time: 1.0712, d3.loss_plan_l1_fix_dist: 0.2047, d4.loss_plan_l1_fix_time: 1.0723, d4.loss_plan_l1_fix_dist: 0.2036, d5.loss_plan_l1_fix_time: 1.0743, d5.loss_plan_l1_fix_dist: 0.2087, d6.loss_plan_l1_fix_time: 1.0776, d6.loss_plan_l1_fix_dist: 0.2200, d0.loss_cls_all: 0.1888, d0.loss_bbox_all: 0.4204, d0.loss_cls: 0.1888, d0.loss_bbox: 0.4204, d1.loss_cls: 0.1761, d1.loss_bbox: 0.3871, d2.loss_cls: 0.1640, d2.loss_bbox: 0.3675, d3.loss_cls: 0.1520, d3.loss_bbox: 0.3648, d4.loss_cls: 0.1488, d4.loss_bbox: 0.3615, d5.loss_cls: 0.1483, d5.loss_bbox: 0.3613, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7847, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6161, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5761, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5702, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5645, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5651, d0.loss_map_cls_all: 0.2337, d0.loss_map_pts_all: 1.4006, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2337, d0.loss_map_pts: 1.4006, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2028, d1.loss_map_pts: 0.9664, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1792, d2.loss_map_pts: 0.7836, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1686, d3.loss_map_pts: 0.7247, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1645, d4.loss_map_pts: 0.6986, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1579, d5.loss_map_pts: 0.6905, d5.loss_map_dir: 0.0099, loss: 28.6765, grad_norm: 160.3381 +2026-02-26 11:36:00,967 - DriveTransformer - INFO - Epoch [7][20000/39528] lr: 8.550e-05, eta: 6 days, 10:04:39, time: 0.743, data_time: 0.037, memory: 19865, loss_cls: 0.1598, loss_bbox: 0.3479, loss_traj: 0.6391, loss_traj_cls: 0.0010, loss_map_cls: 0.1542, loss_map_pts: 0.6424, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.9499, d0.loss_plan_l1_fix_dist: 0.3095, d1.loss_plan_l1_fix_time: 1.1564, d1.loss_plan_l1_fix_dist: 0.2008, d2.loss_plan_l1_fix_time: 1.1478, d2.loss_plan_l1_fix_dist: 0.1860, d3.loss_plan_l1_fix_time: 1.1475, d3.loss_plan_l1_fix_dist: 0.1761, d4.loss_plan_l1_fix_time: 1.1487, d4.loss_plan_l1_fix_dist: 0.1764, d5.loss_plan_l1_fix_time: 1.1499, d5.loss_plan_l1_fix_dist: 0.1828, d6.loss_plan_l1_fix_time: 1.1513, d6.loss_plan_l1_fix_dist: 0.1886, d0.loss_cls_all: 0.1999, d0.loss_bbox_all: 0.4026, d0.loss_cls: 0.1999, d0.loss_bbox: 0.4026, d1.loss_cls: 0.1924, d1.loss_bbox: 0.3717, d2.loss_cls: 0.1809, d2.loss_bbox: 0.3542, d3.loss_cls: 0.1706, d3.loss_bbox: 0.3471, d4.loss_cls: 0.1605, d4.loss_bbox: 0.3491, d5.loss_cls: 0.1586, d5.loss_bbox: 0.3488, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8353, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6966, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6470, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6404, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6344, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6360, d0.loss_map_cls_all: 0.2201, d0.loss_map_pts_all: 1.3141, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2201, d0.loss_map_pts: 1.3141, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1903, d1.loss_map_pts: 0.8988, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1746, d2.loss_map_pts: 0.7298, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1649, d3.loss_map_pts: 0.6704, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1600, d4.loss_map_pts: 0.6498, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1560, d5.loss_map_pts: 0.6436, d5.loss_map_dir: 0.0087, loss: 28.7265, grad_norm: 159.2436 +2026-02-26 11:36:39,280 - DriveTransformer - INFO - Epoch [7][20050/39528] lr: 8.550e-05, eta: 6 days, 10:03:54, time: 0.766, data_time: 0.040, memory: 19865, loss_cls: 0.1634, loss_bbox: 0.3597, loss_traj: 0.6358, loss_traj_cls: 0.0010, loss_map_cls: 0.1581, loss_map_pts: 0.7145, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.6811, d0.loss_plan_l1_fix_dist: 0.3467, d1.loss_plan_l1_fix_time: 0.9814, d1.loss_plan_l1_fix_dist: 0.1750, d2.loss_plan_l1_fix_time: 0.9599, d2.loss_plan_l1_fix_dist: 0.1651, d3.loss_plan_l1_fix_time: 0.9624, d3.loss_plan_l1_fix_dist: 0.1614, d4.loss_plan_l1_fix_time: 0.9647, d4.loss_plan_l1_fix_dist: 0.1603, d5.loss_plan_l1_fix_time: 0.9671, d5.loss_plan_l1_fix_dist: 0.1653, d6.loss_plan_l1_fix_time: 0.9695, d6.loss_plan_l1_fix_dist: 0.1690, d0.loss_cls_all: 0.2098, d0.loss_bbox_all: 0.4098, d0.loss_cls: 0.2098, d0.loss_bbox: 0.4098, d1.loss_cls: 0.1995, d1.loss_bbox: 0.3818, d2.loss_cls: 0.1827, d2.loss_bbox: 0.3696, d3.loss_cls: 0.1721, d3.loss_bbox: 0.3621, d4.loss_cls: 0.1644, d4.loss_bbox: 0.3632, d5.loss_cls: 0.1651, d5.loss_bbox: 0.3601, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8471, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6968, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6486, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6382, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6367, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6317, d0.loss_map_cls_all: 0.2323, d0.loss_map_pts_all: 1.4518, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2323, d0.loss_map_pts: 1.4518, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.1985, d1.loss_map_pts: 0.9841, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.1782, d2.loss_map_pts: 0.8044, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1691, d3.loss_map_pts: 0.7385, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1618, d4.loss_map_pts: 0.7192, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1592, d5.loss_map_pts: 0.7145, d5.loss_map_dir: 0.0111, loss: 28.2076, grad_norm: 157.9481 +2026-02-26 11:37:18,146 - DriveTransformer - INFO - Epoch [7][20100/39528] lr: 8.550e-05, eta: 6 days, 10:03:11, time: 0.777, data_time: 0.042, memory: 19865, loss_cls: 0.1560, loss_bbox: 0.3526, loss_traj: 0.6640, loss_traj_cls: 0.0010, loss_map_cls: 0.1592, loss_map_pts: 0.6777, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.5264, d0.loss_plan_l1_fix_dist: 0.4157, d1.loss_plan_l1_fix_time: 0.9846, d1.loss_plan_l1_fix_dist: 0.1754, d2.loss_plan_l1_fix_time: 0.9617, d2.loss_plan_l1_fix_dist: 0.1670, d3.loss_plan_l1_fix_time: 0.9597, d3.loss_plan_l1_fix_dist: 0.1693, d4.loss_plan_l1_fix_time: 0.9610, d4.loss_plan_l1_fix_dist: 0.1753, d5.loss_plan_l1_fix_time: 0.9626, d5.loss_plan_l1_fix_dist: 0.1801, d6.loss_plan_l1_fix_time: 0.9648, d6.loss_plan_l1_fix_dist: 0.1914, d0.loss_cls_all: 0.1981, d0.loss_bbox_all: 0.4110, d0.loss_cls: 0.1981, d0.loss_bbox: 0.4110, d1.loss_cls: 0.1929, d1.loss_bbox: 0.3763, d2.loss_cls: 0.1781, d2.loss_bbox: 0.3611, d3.loss_cls: 0.1631, d3.loss_bbox: 0.3550, d4.loss_cls: 0.1566, d4.loss_bbox: 0.3534, d5.loss_cls: 0.1560, d5.loss_bbox: 0.3511, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8957, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7374, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6885, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6689, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6664, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6615, d0.loss_map_cls_all: 0.2318, d0.loss_map_pts_all: 1.3024, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2318, d0.loss_map_pts: 1.3024, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2020, d1.loss_map_pts: 0.9563, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1778, d2.loss_map_pts: 0.7937, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1674, d3.loss_map_pts: 0.7290, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1622, d4.loss_map_pts: 0.6991, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1588, d5.loss_map_pts: 0.6827, d5.loss_map_dir: 0.0087, loss: 27.8575, grad_norm: 150.4157 +2026-02-26 11:37:57,999 - DriveTransformer - INFO - Epoch [7][20150/39528] lr: 8.550e-05, eta: 6 days, 10:02:30, time: 0.797, data_time: 0.038, memory: 19865, loss_cls: 0.1490, loss_bbox: 0.3688, loss_traj: 0.6031, loss_traj_cls: 0.0010, loss_map_cls: 0.1525, loss_map_pts: 0.6907, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.7853, d0.loss_plan_l1_fix_dist: 0.4541, d1.loss_plan_l1_fix_time: 1.2280, d1.loss_plan_l1_fix_dist: 0.2041, d2.loss_plan_l1_fix_time: 1.2030, d2.loss_plan_l1_fix_dist: 0.1875, d3.loss_plan_l1_fix_time: 1.1952, d3.loss_plan_l1_fix_dist: 0.1851, d4.loss_plan_l1_fix_time: 1.1959, d4.loss_plan_l1_fix_dist: 0.1915, d5.loss_plan_l1_fix_time: 1.1978, d5.loss_plan_l1_fix_dist: 0.1981, d6.loss_plan_l1_fix_time: 1.2006, d6.loss_plan_l1_fix_dist: 0.2053, d0.loss_cls_all: 0.1918, d0.loss_bbox_all: 0.4302, d0.loss_cls: 0.1918, d0.loss_bbox: 0.4302, d1.loss_cls: 0.1824, d1.loss_bbox: 0.3944, d2.loss_cls: 0.1730, d2.loss_bbox: 0.3772, d3.loss_cls: 0.1558, d3.loss_bbox: 0.3717, d4.loss_cls: 0.1495, d4.loss_bbox: 0.3705, d5.loss_cls: 0.1495, d5.loss_bbox: 0.3686, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8191, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6684, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6192, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6034, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6034, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6015, d0.loss_map_cls_all: 0.2282, d0.loss_map_pts_all: 1.4329, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2282, d0.loss_map_pts: 1.4329, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1965, d1.loss_map_pts: 0.9825, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1724, d2.loss_map_pts: 0.7997, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1626, d3.loss_map_pts: 0.7257, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1569, d4.loss_map_pts: 0.6974, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1550, d5.loss_map_pts: 0.6900, d5.loss_map_dir: 0.0091, loss: 29.5852, grad_norm: 147.3710 +2026-02-26 11:38:38,099 - DriveTransformer - INFO - Epoch [7][20200/39528] lr: 8.550e-05, eta: 6 days, 10:01:50, time: 0.802, data_time: 0.036, memory: 19865, loss_cls: 0.1665, loss_bbox: 0.3739, loss_traj: 0.7174, loss_traj_cls: 0.0010, loss_map_cls: 0.1571, loss_map_pts: 0.7499, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.9377, d0.loss_plan_l1_fix_dist: 0.4766, d1.loss_plan_l1_fix_time: 1.1426, d1.loss_plan_l1_fix_dist: 0.2384, d2.loss_plan_l1_fix_time: 1.1290, d2.loss_plan_l1_fix_dist: 0.2252, d3.loss_plan_l1_fix_time: 1.1297, d3.loss_plan_l1_fix_dist: 0.2204, d4.loss_plan_l1_fix_time: 1.1319, d4.loss_plan_l1_fix_dist: 0.2221, d5.loss_plan_l1_fix_time: 1.1342, d5.loss_plan_l1_fix_dist: 0.2271, d6.loss_plan_l1_fix_time: 1.1371, d6.loss_plan_l1_fix_dist: 0.2379, d0.loss_cls_all: 0.2066, d0.loss_bbox_all: 0.4529, d0.loss_cls: 0.2066, d0.loss_bbox: 0.4529, d1.loss_cls: 0.2012, d1.loss_bbox: 0.4140, d2.loss_cls: 0.1881, d2.loss_bbox: 0.3931, d3.loss_cls: 0.1747, d3.loss_bbox: 0.3823, d4.loss_cls: 0.1680, d4.loss_bbox: 0.3802, d5.loss_cls: 0.1668, d5.loss_bbox: 0.3761, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9243, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7895, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7321, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7258, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7264, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7229, d0.loss_map_cls_all: 0.2274, d0.loss_map_pts_all: 1.4917, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2274, d0.loss_map_pts: 1.4917, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2003, d1.loss_map_pts: 1.0558, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1800, d2.loss_map_pts: 0.8607, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1702, d3.loss_map_pts: 0.7892, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1640, d4.loss_map_pts: 0.7578, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1594, d5.loss_map_pts: 0.7501, d5.loss_map_dir: 0.0109, loss: 31.1559, grad_norm: 147.2674 +2026-02-26 11:39:15,800 - DriveTransformer - INFO - Epoch [7][20250/39528] lr: 8.550e-05, eta: 6 days, 10:01:03, time: 0.754, data_time: 0.038, memory: 19865, loss_cls: 0.1610, loss_bbox: 0.3553, loss_traj: 0.6460, loss_traj_cls: 0.0010, loss_map_cls: 0.1499, loss_map_pts: 0.6590, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.7500, d0.loss_plan_l1_fix_dist: 0.4155, d1.loss_plan_l1_fix_time: 1.0604, d1.loss_plan_l1_fix_dist: 0.2158, d2.loss_plan_l1_fix_time: 1.0528, d2.loss_plan_l1_fix_dist: 0.2005, d3.loss_plan_l1_fix_time: 1.0528, d3.loss_plan_l1_fix_dist: 0.1987, d4.loss_plan_l1_fix_time: 1.0548, d4.loss_plan_l1_fix_dist: 0.1994, d5.loss_plan_l1_fix_time: 1.0574, d5.loss_plan_l1_fix_dist: 0.2045, d6.loss_plan_l1_fix_time: 1.0609, d6.loss_plan_l1_fix_dist: 0.2142, d0.loss_cls_all: 0.1988, d0.loss_bbox_all: 0.4132, d0.loss_cls: 0.1988, d0.loss_bbox: 0.4132, d1.loss_cls: 0.1908, d1.loss_bbox: 0.3819, d2.loss_cls: 0.1806, d2.loss_bbox: 0.3618, d3.loss_cls: 0.1669, d3.loss_bbox: 0.3547, d4.loss_cls: 0.1624, d4.loss_bbox: 0.3530, d5.loss_cls: 0.1619, d5.loss_bbox: 0.3530, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8687, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7140, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6666, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6573, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6478, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6456, d0.loss_map_cls_all: 0.2129, d0.loss_map_pts_all: 1.2371, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2129, d0.loss_map_pts: 1.2371, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1944, d1.loss_map_pts: 0.8960, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1726, d2.loss_map_pts: 0.7474, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1631, d3.loss_map_pts: 0.6930, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1579, d4.loss_map_pts: 0.6710, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1518, d5.loss_map_pts: 0.6588, d5.loss_map_dir: 0.0081, loss: 28.2748, grad_norm: 145.9383 +2026-02-26 11:39:54,586 - DriveTransformer - INFO - Epoch [7][20300/39528] lr: 8.550e-05, eta: 6 days, 10:00:20, time: 0.776, data_time: 0.043, memory: 19865, loss_cls: 0.1562, loss_bbox: 0.3772, loss_traj: 0.6468, loss_traj_cls: 0.0010, loss_map_cls: 0.1674, loss_map_pts: 0.7591, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.5494, d0.loss_plan_l1_fix_dist: 0.3964, d1.loss_plan_l1_fix_time: 1.2743, d1.loss_plan_l1_fix_dist: 0.2086, d2.loss_plan_l1_fix_time: 1.2662, d2.loss_plan_l1_fix_dist: 0.1926, d3.loss_plan_l1_fix_time: 1.2580, d3.loss_plan_l1_fix_dist: 0.1895, d4.loss_plan_l1_fix_time: 1.2589, d4.loss_plan_l1_fix_dist: 0.1935, d5.loss_plan_l1_fix_time: 1.2605, d5.loss_plan_l1_fix_dist: 0.2018, d6.loss_plan_l1_fix_time: 1.2629, d6.loss_plan_l1_fix_dist: 0.2045, d0.loss_cls_all: 0.2013, d0.loss_bbox_all: 0.4309, d0.loss_cls: 0.2013, d0.loss_bbox: 0.4309, d1.loss_cls: 0.1879, d1.loss_bbox: 0.3952, d2.loss_cls: 0.1735, d2.loss_bbox: 0.3784, d3.loss_cls: 0.1614, d3.loss_bbox: 0.3733, d4.loss_cls: 0.1550, d4.loss_bbox: 0.3744, d5.loss_cls: 0.1554, d5.loss_bbox: 0.3752, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9555, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7457, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6762, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6576, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6526, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6503, d0.loss_map_cls_all: 0.2430, d0.loss_map_pts_all: 1.4533, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2430, d0.loss_map_pts: 1.4533, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2179, d1.loss_map_pts: 1.0782, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1951, d2.loss_map_pts: 0.8833, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1817, d3.loss_map_pts: 0.8082, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1758, d4.loss_map_pts: 0.7728, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1686, d5.loss_map_pts: 0.7614, d5.loss_map_dir: 0.0097, loss: 30.8719, grad_norm: 146.1759 +2026-02-26 11:40:34,021 - DriveTransformer - INFO - Epoch [7][20350/39528] lr: 8.550e-05, eta: 6 days, 9:59:38, time: 0.789, data_time: 0.047, memory: 19865, loss_cls: 0.1378, loss_bbox: 0.3232, loss_traj: 0.6598, loss_traj_cls: 0.0011, loss_map_cls: 0.1145, loss_map_pts: 0.5201, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.4766, d0.loss_plan_l1_fix_dist: 0.4593, d1.loss_plan_l1_fix_time: 0.9803, d1.loss_plan_l1_fix_dist: 0.1911, d2.loss_plan_l1_fix_time: 0.9734, d2.loss_plan_l1_fix_dist: 0.1787, d3.loss_plan_l1_fix_time: 0.9787, d3.loss_plan_l1_fix_dist: 0.1826, d4.loss_plan_l1_fix_time: 0.9828, d4.loss_plan_l1_fix_dist: 0.1949, d5.loss_plan_l1_fix_time: 0.9863, d5.loss_plan_l1_fix_dist: 0.2066, d6.loss_plan_l1_fix_time: 0.9898, d6.loss_plan_l1_fix_dist: 0.2129, d0.loss_cls_all: 0.1674, d0.loss_bbox_all: 0.3765, d0.loss_cls: 0.1674, d0.loss_bbox: 0.3765, d1.loss_cls: 0.1645, d1.loss_bbox: 0.3473, d2.loss_cls: 0.1552, d2.loss_bbox: 0.3292, d3.loss_cls: 0.1425, d3.loss_bbox: 0.3233, d4.loss_cls: 0.1386, d4.loss_bbox: 0.3216, d5.loss_cls: 0.1376, d5.loss_bbox: 0.3214, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8624, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7286, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6752, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6612, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6614, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6580, d0.loss_map_cls_all: 0.1753, d0.loss_map_pts_all: 1.0661, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1753, d0.loss_map_pts: 1.0661, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1520, d1.loss_map_pts: 0.7495, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1349, d2.loss_map_pts: 0.6106, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1252, d3.loss_map_pts: 0.5582, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1189, d4.loss_map_pts: 0.5311, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1143, d5.loss_map_pts: 0.5218, d5.loss_map_dir: 0.0077, loss: 25.6313, grad_norm: 145.5207 +2026-02-26 11:41:12,238 - DriveTransformer - INFO - Epoch [7][20400/39528] lr: 8.550e-05, eta: 6 days, 9:58:53, time: 0.766, data_time: 0.038, memory: 19865, loss_cls: 0.1633, loss_bbox: 0.3609, loss_traj: 0.6922, loss_traj_cls: 0.0010, loss_map_cls: 0.1688, loss_map_pts: 0.7646, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.9355, d0.loss_plan_l1_fix_dist: 0.4335, d1.loss_plan_l1_fix_time: 1.0750, d1.loss_plan_l1_fix_dist: 0.1839, d2.loss_plan_l1_fix_time: 1.0670, d2.loss_plan_l1_fix_dist: 0.1809, d3.loss_plan_l1_fix_time: 1.0679, d3.loss_plan_l1_fix_dist: 0.1879, d4.loss_plan_l1_fix_time: 1.0709, d4.loss_plan_l1_fix_dist: 0.2029, d5.loss_plan_l1_fix_time: 1.0739, d5.loss_plan_l1_fix_dist: 0.2216, d6.loss_plan_l1_fix_time: 1.0775, d6.loss_plan_l1_fix_dist: 0.2509, d0.loss_cls_all: 0.1998, d0.loss_bbox_all: 0.4161, d0.loss_cls: 0.1998, d0.loss_bbox: 0.4161, d1.loss_cls: 0.1932, d1.loss_bbox: 0.3833, d2.loss_cls: 0.1795, d2.loss_bbox: 0.3668, d3.loss_cls: 0.1687, d3.loss_bbox: 0.3624, d4.loss_cls: 0.1634, d4.loss_bbox: 0.3607, d5.loss_cls: 0.1612, d5.loss_bbox: 0.3624, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8884, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7476, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7207, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7039, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6935, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6936, d0.loss_map_cls_all: 0.2338, d0.loss_map_pts_all: 1.4611, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2338, d0.loss_map_pts: 1.4611, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2124, d1.loss_map_pts: 1.0422, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1944, d2.loss_map_pts: 0.8644, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1821, d3.loss_map_pts: 0.7954, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1753, d4.loss_map_pts: 0.7714, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1714, d5.loss_map_pts: 0.7648, d5.loss_map_dir: 0.0097, loss: 30.2069, grad_norm: 146.5169 +2026-02-26 11:41:50,677 - DriveTransformer - INFO - Epoch [7][20450/39528] lr: 8.550e-05, eta: 6 days, 9:58:08, time: 0.767, data_time: 0.034, memory: 19865, loss_cls: 0.1685, loss_bbox: 0.3929, loss_traj: 0.6490, loss_traj_cls: 0.0010, loss_map_cls: 0.1873, loss_map_pts: 0.7900, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.5773, d0.loss_plan_l1_fix_dist: 0.4129, d1.loss_plan_l1_fix_time: 1.1217, d1.loss_plan_l1_fix_dist: 0.1729, d2.loss_plan_l1_fix_time: 1.1049, d2.loss_plan_l1_fix_dist: 0.1737, d3.loss_plan_l1_fix_time: 1.1088, d3.loss_plan_l1_fix_dist: 0.1823, d4.loss_plan_l1_fix_time: 1.1139, d4.loss_plan_l1_fix_dist: 0.1897, d5.loss_plan_l1_fix_time: 1.1202, d5.loss_plan_l1_fix_dist: 0.1966, d6.loss_plan_l1_fix_time: 1.1277, d6.loss_plan_l1_fix_dist: 0.2133, d0.loss_cls_all: 0.2123, d0.loss_bbox_all: 0.4503, d0.loss_cls: 0.2123, d0.loss_bbox: 0.4503, d1.loss_cls: 0.1979, d1.loss_bbox: 0.4179, d2.loss_cls: 0.1841, d2.loss_bbox: 0.3966, d3.loss_cls: 0.1727, d3.loss_bbox: 0.3905, d4.loss_cls: 0.1673, d4.loss_bbox: 0.3916, d5.loss_cls: 0.1663, d5.loss_bbox: 0.3920, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8481, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6888, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6677, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6562, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6490, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6470, d0.loss_map_cls_all: 0.2641, d0.loss_map_pts_all: 1.5713, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2641, d0.loss_map_pts: 1.5713, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2349, d1.loss_map_pts: 1.1160, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.2139, d2.loss_map_pts: 0.9128, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.2025, d3.loss_map_pts: 0.8355, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1953, d4.loss_map_pts: 0.8022, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1897, d5.loss_map_pts: 0.7876, d5.loss_map_dir: 0.0097, loss: 30.6044, grad_norm: 146.6282 +2026-02-26 11:42:29,749 - DriveTransformer - INFO - Epoch [7][20500/39528] lr: 8.550e-05, eta: 6 days, 9:57:25, time: 0.781, data_time: 0.041, memory: 19865, loss_cls: 0.1420, loss_bbox: 0.3586, loss_traj: 0.5532, loss_traj_cls: 0.0010, loss_map_cls: 0.1608, loss_map_pts: 0.7326, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.4132, d0.loss_plan_l1_fix_dist: 0.4278, d1.loss_plan_l1_fix_time: 0.9640, d1.loss_plan_l1_fix_dist: 0.1755, d2.loss_plan_l1_fix_time: 0.9476, d2.loss_plan_l1_fix_dist: 0.1850, d3.loss_plan_l1_fix_time: 0.9525, d3.loss_plan_l1_fix_dist: 0.1922, d4.loss_plan_l1_fix_time: 0.9595, d4.loss_plan_l1_fix_dist: 0.2006, d5.loss_plan_l1_fix_time: 0.9679, d5.loss_plan_l1_fix_dist: 0.2081, d6.loss_plan_l1_fix_time: 0.9769, d6.loss_plan_l1_fix_dist: 0.2116, d0.loss_cls_all: 0.1815, d0.loss_bbox_all: 0.4151, d0.loss_cls: 0.1815, d0.loss_bbox: 0.4151, d1.loss_cls: 0.1736, d1.loss_bbox: 0.3826, d2.loss_cls: 0.1609, d2.loss_bbox: 0.3657, d3.loss_cls: 0.1496, d3.loss_bbox: 0.3600, d4.loss_cls: 0.1428, d4.loss_bbox: 0.3585, d5.loss_cls: 0.1430, d5.loss_bbox: 0.3565, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7358, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6224, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5730, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5572, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5580, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5529, d0.loss_map_cls_all: 0.2353, d0.loss_map_pts_all: 1.5118, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2353, d0.loss_map_pts: 1.5118, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2045, d1.loss_map_pts: 1.0465, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1838, d2.loss_map_pts: 0.8441, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1729, d3.loss_map_pts: 0.7665, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1655, d4.loss_map_pts: 0.7391, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1615, d5.loss_map_pts: 0.7320, d5.loss_map_dir: 0.0100, loss: 27.7109, grad_norm: 147.3360 +2026-02-26 11:43:09,260 - DriveTransformer - INFO - Epoch [7][20550/39528] lr: 8.550e-05, eta: 6 days, 9:56:43, time: 0.790, data_time: 0.044, memory: 19865, loss_cls: 0.1511, loss_bbox: 0.3778, loss_traj: 0.6847, loss_traj_cls: 0.0009, loss_map_cls: 0.1669, loss_map_pts: 0.7602, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.7503, d0.loss_plan_l1_fix_dist: 0.4662, d1.loss_plan_l1_fix_time: 1.1109, d1.loss_plan_l1_fix_dist: 0.1888, d2.loss_plan_l1_fix_time: 1.0835, d2.loss_plan_l1_fix_dist: 0.1936, d3.loss_plan_l1_fix_time: 1.0847, d3.loss_plan_l1_fix_dist: 0.1947, d4.loss_plan_l1_fix_time: 1.0879, d4.loss_plan_l1_fix_dist: 0.1982, d5.loss_plan_l1_fix_time: 1.0916, d5.loss_plan_l1_fix_dist: 0.2070, d6.loss_plan_l1_fix_time: 1.0959, d6.loss_plan_l1_fix_dist: 0.2132, d0.loss_cls_all: 0.1960, d0.loss_bbox_all: 0.4420, d0.loss_cls: 0.1960, d0.loss_bbox: 0.4420, d1.loss_cls: 0.1847, d1.loss_bbox: 0.4066, d2.loss_cls: 0.1679, d2.loss_bbox: 0.3894, d3.loss_cls: 0.1582, d3.loss_bbox: 0.3792, d4.loss_cls: 0.1534, d4.loss_bbox: 0.3778, d5.loss_cls: 0.1510, d5.loss_bbox: 0.3785, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9170, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7714, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7122, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6865, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6813, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6849, d0.loss_map_cls_all: 0.2565, d0.loss_map_pts_all: 1.4522, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2565, d0.loss_map_pts: 1.4522, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2217, d1.loss_map_pts: 1.0278, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1918, d2.loss_map_pts: 0.8515, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1798, d3.loss_map_pts: 0.7872, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1751, d4.loss_map_pts: 0.7666, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1691, d5.loss_map_pts: 0.7619, d5.loss_map_dir: 0.0090, loss: 30.2100, grad_norm: 147.2128 +2026-02-26 11:43:48,186 - DriveTransformer - INFO - Epoch [7][20600/39528] lr: 8.550e-05, eta: 6 days, 9:56:00, time: 0.778, data_time: 0.035, memory: 19865, loss_cls: 0.1656, loss_bbox: 0.3759, loss_traj: 0.6937, loss_traj_cls: 0.0010, loss_map_cls: 0.1910, loss_map_pts: 0.7772, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.7842, d0.loss_plan_l1_fix_dist: 0.4006, d1.loss_plan_l1_fix_time: 0.9792, d1.loss_plan_l1_fix_dist: 0.1798, d2.loss_plan_l1_fix_time: 0.9628, d2.loss_plan_l1_fix_dist: 0.1820, d3.loss_plan_l1_fix_time: 0.9606, d3.loss_plan_l1_fix_dist: 0.1856, d4.loss_plan_l1_fix_time: 0.9622, d4.loss_plan_l1_fix_dist: 0.1909, d5.loss_plan_l1_fix_time: 0.9637, d5.loss_plan_l1_fix_dist: 0.1994, d6.loss_plan_l1_fix_time: 0.9657, d6.loss_plan_l1_fix_dist: 0.2062, d0.loss_cls_all: 0.2028, d0.loss_bbox_all: 0.4361, d0.loss_cls: 0.2028, d0.loss_bbox: 0.4361, d1.loss_cls: 0.1983, d1.loss_bbox: 0.3994, d2.loss_cls: 0.1891, d2.loss_bbox: 0.3788, d3.loss_cls: 0.1737, d3.loss_bbox: 0.3746, d4.loss_cls: 0.1678, d4.loss_bbox: 0.3736, d5.loss_cls: 0.1670, d5.loss_bbox: 0.3735, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0101, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7651, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7170, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6959, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6978, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6970, d0.loss_map_cls_all: 0.2696, d0.loss_map_pts_all: 1.4295, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2696, d0.loss_map_pts: 1.4295, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2380, d1.loss_map_pts: 1.0471, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.2150, d2.loss_map_pts: 0.8728, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.2041, d3.loss_map_pts: 0.8075, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1959, d4.loss_map_pts: 0.7850, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1919, d5.loss_map_pts: 0.7781, d5.loss_map_dir: 0.0094, loss: 29.7948, grad_norm: 144.1774 +2026-02-26 11:44:26,994 - DriveTransformer - INFO - Epoch [7][20650/39528] lr: 8.550e-05, eta: 6 days, 9:55:17, time: 0.776, data_time: 0.043, memory: 19865, loss_cls: 0.1716, loss_bbox: 0.3859, loss_traj: 0.7522, loss_traj_cls: 0.0010, loss_map_cls: 0.1770, loss_map_pts: 0.7817, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 3.0007, d0.loss_plan_l1_fix_dist: 0.4242, d1.loss_plan_l1_fix_time: 1.3016, d1.loss_plan_l1_fix_dist: 0.2106, d2.loss_plan_l1_fix_time: 1.2913, d2.loss_plan_l1_fix_dist: 0.2067, d3.loss_plan_l1_fix_time: 1.2940, d3.loss_plan_l1_fix_dist: 0.2114, d4.loss_plan_l1_fix_time: 1.2961, d4.loss_plan_l1_fix_dist: 0.2189, d5.loss_plan_l1_fix_time: 1.2981, d5.loss_plan_l1_fix_dist: 0.2284, d6.loss_plan_l1_fix_time: 1.3003, d6.loss_plan_l1_fix_dist: 0.2420, d0.loss_cls_all: 0.2141, d0.loss_bbox_all: 0.4525, d0.loss_cls: 0.2141, d0.loss_bbox: 0.4525, d1.loss_cls: 0.2054, d1.loss_bbox: 0.4140, d2.loss_cls: 0.1908, d2.loss_bbox: 0.3982, d3.loss_cls: 0.1782, d3.loss_bbox: 0.3910, d4.loss_cls: 0.1737, d4.loss_bbox: 0.3870, d5.loss_cls: 0.1731, d5.loss_bbox: 0.3858, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9911, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8169, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7681, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7523, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7559, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7528, d0.loss_map_cls_all: 0.2469, d0.loss_map_pts_all: 1.4227, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2469, d0.loss_map_pts: 1.4227, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2193, d1.loss_map_pts: 1.0384, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1963, d2.loss_map_pts: 0.8875, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1864, d3.loss_map_pts: 0.8234, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1797, d4.loss_map_pts: 0.7970, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1775, d5.loss_map_pts: 0.7844, d5.loss_map_dir: 0.0098, loss: 32.5717, grad_norm: 143.8851 +2026-02-26 11:45:04,870 - DriveTransformer - INFO - Epoch [7][20700/39528] lr: 8.550e-05, eta: 6 days, 9:54:31, time: 0.758, data_time: 0.044, memory: 19865, loss_cls: 0.1617, loss_bbox: 0.3699, loss_traj: 0.6311, loss_traj_cls: 0.0010, loss_map_cls: 0.1603, loss_map_pts: 0.7142, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.3814, d0.loss_plan_l1_fix_dist: 0.4750, d1.loss_plan_l1_fix_time: 0.9958, d1.loss_plan_l1_fix_dist: 0.1852, d2.loss_plan_l1_fix_time: 0.9846, d2.loss_plan_l1_fix_dist: 0.1928, d3.loss_plan_l1_fix_time: 0.9787, d3.loss_plan_l1_fix_dist: 0.2010, d4.loss_plan_l1_fix_time: 0.9821, d4.loss_plan_l1_fix_dist: 0.2171, d5.loss_plan_l1_fix_time: 0.9866, d5.loss_plan_l1_fix_dist: 0.2352, d6.loss_plan_l1_fix_time: 0.9911, d6.loss_plan_l1_fix_dist: 0.2582, d0.loss_cls_all: 0.2080, d0.loss_bbox_all: 0.4305, d0.loss_cls: 0.2080, d0.loss_bbox: 0.4305, d1.loss_cls: 0.1989, d1.loss_bbox: 0.3968, d2.loss_cls: 0.1848, d2.loss_bbox: 0.3772, d3.loss_cls: 0.1697, d3.loss_bbox: 0.3730, d4.loss_cls: 0.1609, d4.loss_bbox: 0.3733, d5.loss_cls: 0.1613, d5.loss_bbox: 0.3704, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8891, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7214, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6540, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6423, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6364, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6308, d0.loss_map_cls_all: 0.2386, d0.loss_map_pts_all: 1.3139, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2386, d0.loss_map_pts: 1.3139, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2025, d1.loss_map_pts: 0.9252, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1808, d2.loss_map_pts: 0.7882, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1699, d3.loss_map_pts: 0.7338, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1636, d4.loss_map_pts: 0.7218, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1600, d5.loss_map_pts: 0.7158, d5.loss_map_dir: 0.0091, loss: 28.2642, grad_norm: 142.9037 +2026-02-26 11:45:45,120 - DriveTransformer - INFO - Epoch [7][20750/39528] lr: 8.550e-05, eta: 6 days, 9:53:51, time: 0.805, data_time: 0.036, memory: 19865, loss_cls: 0.1689, loss_bbox: 0.3737, loss_traj: 0.6203, loss_traj_cls: 0.0010, loss_map_cls: 0.1918, loss_map_pts: 0.8074, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.6791, d0.loss_plan_l1_fix_dist: 0.4661, d1.loss_plan_l1_fix_time: 1.0327, d1.loss_plan_l1_fix_dist: 0.1814, d2.loss_plan_l1_fix_time: 1.0293, d2.loss_plan_l1_fix_dist: 0.1892, d3.loss_plan_l1_fix_time: 1.0303, d3.loss_plan_l1_fix_dist: 0.1900, d4.loss_plan_l1_fix_time: 1.0352, d4.loss_plan_l1_fix_dist: 0.1955, d5.loss_plan_l1_fix_time: 1.0411, d5.loss_plan_l1_fix_dist: 0.2051, d6.loss_plan_l1_fix_time: 1.0464, d6.loss_plan_l1_fix_dist: 0.2251, d0.loss_cls_all: 0.2149, d0.loss_bbox_all: 0.4371, d0.loss_cls: 0.2149, d0.loss_bbox: 0.4371, d1.loss_cls: 0.2036, d1.loss_bbox: 0.3979, d2.loss_cls: 0.1927, d2.loss_bbox: 0.3784, d3.loss_cls: 0.1779, d3.loss_bbox: 0.3734, d4.loss_cls: 0.1694, d4.loss_bbox: 0.3725, d5.loss_cls: 0.1700, d5.loss_bbox: 0.3710, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8031, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6784, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6190, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6059, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6147, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6152, d0.loss_map_cls_all: 0.2904, d0.loss_map_pts_all: 1.5720, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2904, d0.loss_map_pts: 1.5720, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2430, d1.loss_map_pts: 1.1033, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.2167, d2.loss_map_pts: 0.9116, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.2016, d3.loss_map_pts: 0.8402, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1974, d4.loss_map_pts: 0.8136, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1938, d5.loss_map_pts: 0.8082, d5.loss_map_dir: 0.0108, loss: 30.0997, grad_norm: 143.2150 +2026-02-26 11:46:26,879 - DriveTransformer - INFO - Epoch [7][20800/39528] lr: 8.550e-05, eta: 6 days, 9:53:15, time: 0.835, data_time: 0.040, memory: 19865, loss_cls: 0.1744, loss_bbox: 0.3810, loss_traj: 0.5804, loss_traj_cls: 0.0010, loss_map_cls: 0.1880, loss_map_pts: 0.8221, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.5909, d0.loss_plan_l1_fix_dist: 0.3978, d1.loss_plan_l1_fix_time: 1.0501, d1.loss_plan_l1_fix_dist: 0.1900, d2.loss_plan_l1_fix_time: 1.0336, d2.loss_plan_l1_fix_dist: 0.1958, d3.loss_plan_l1_fix_time: 1.0300, d3.loss_plan_l1_fix_dist: 0.1946, d4.loss_plan_l1_fix_time: 1.0329, d4.loss_plan_l1_fix_dist: 0.2039, d5.loss_plan_l1_fix_time: 1.0365, d5.loss_plan_l1_fix_dist: 0.2145, d6.loss_plan_l1_fix_time: 1.0405, d6.loss_plan_l1_fix_dist: 0.2235, d0.loss_cls_all: 0.2166, d0.loss_bbox_all: 0.4509, d0.loss_cls: 0.2166, d0.loss_bbox: 0.4509, d1.loss_cls: 0.2112, d1.loss_bbox: 0.4183, d2.loss_cls: 0.1966, d2.loss_bbox: 0.3973, d3.loss_cls: 0.1851, d3.loss_bbox: 0.3870, d4.loss_cls: 0.1755, d4.loss_bbox: 0.3842, d5.loss_cls: 0.1733, d5.loss_bbox: 0.3818, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7375, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6089, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5636, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5608, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5712, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5751, d0.loss_map_cls_all: 0.2656, d0.loss_map_pts_all: 1.6624, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2656, d0.loss_map_pts: 1.6624, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2318, d1.loss_map_pts: 1.1553, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2066, d2.loss_map_pts: 0.9435, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1950, d3.loss_map_pts: 0.8650, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1902, d4.loss_map_pts: 0.8307, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1888, d5.loss_map_pts: 0.8227, d5.loss_map_dir: 0.0118, loss: 30.0234, grad_norm: 143.6875 +2026-02-26 11:47:07,081 - DriveTransformer - INFO - Epoch [7][20850/39528] lr: 8.550e-05, eta: 6 days, 9:52:35, time: 0.804, data_time: 0.045, memory: 19865, loss_cls: 0.1565, loss_bbox: 0.3621, loss_traj: 0.6726, loss_traj_cls: 0.0010, loss_map_cls: 0.1623, loss_map_pts: 0.6982, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 3.1006, d0.loss_plan_l1_fix_dist: 0.4485, d1.loss_plan_l1_fix_time: 1.0994, d1.loss_plan_l1_fix_dist: 0.1862, d2.loss_plan_l1_fix_time: 1.0774, d2.loss_plan_l1_fix_dist: 0.1874, d3.loss_plan_l1_fix_time: 1.0801, d3.loss_plan_l1_fix_dist: 0.1876, d4.loss_plan_l1_fix_time: 1.0833, d4.loss_plan_l1_fix_dist: 0.1969, d5.loss_plan_l1_fix_time: 1.0872, d5.loss_plan_l1_fix_dist: 0.2081, d6.loss_plan_l1_fix_time: 1.0925, d6.loss_plan_l1_fix_dist: 0.2123, d0.loss_cls_all: 0.2005, d0.loss_bbox_all: 0.4306, d0.loss_cls: 0.2005, d0.loss_bbox: 0.4306, d1.loss_cls: 0.1944, d1.loss_bbox: 0.3946, d2.loss_cls: 0.1782, d2.loss_bbox: 0.3777, d3.loss_cls: 0.1639, d3.loss_bbox: 0.3698, d4.loss_cls: 0.1559, d4.loss_bbox: 0.3672, d5.loss_cls: 0.1576, d5.loss_bbox: 0.3612, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8696, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7185, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6669, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6607, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6617, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6674, d0.loss_map_cls_all: 0.2337, d0.loss_map_pts_all: 1.3377, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2337, d0.loss_map_pts: 1.3377, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2067, d1.loss_map_pts: 0.9281, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1838, d2.loss_map_pts: 0.7807, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1730, d3.loss_map_pts: 0.7275, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1692, d4.loss_map_pts: 0.7046, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1637, d5.loss_map_pts: 0.6996, d5.loss_map_dir: 0.0096, loss: 29.4867, grad_norm: 144.8487 +2026-02-26 11:47:46,145 - DriveTransformer - INFO - Epoch [7][20900/39528] lr: 8.550e-05, eta: 6 days, 9:51:52, time: 0.781, data_time: 0.038, memory: 19865, loss_cls: 0.1465, loss_bbox: 0.3509, loss_traj: 0.6439, loss_traj_cls: 0.0010, loss_map_cls: 0.1478, loss_map_pts: 0.6300, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.2357, d0.loss_plan_l1_fix_dist: 0.4845, d1.loss_plan_l1_fix_time: 0.9814, d1.loss_plan_l1_fix_dist: 0.2007, d2.loss_plan_l1_fix_time: 0.9728, d2.loss_plan_l1_fix_dist: 0.1932, d3.loss_plan_l1_fix_time: 0.9753, d3.loss_plan_l1_fix_dist: 0.1947, d4.loss_plan_l1_fix_time: 0.9792, d4.loss_plan_l1_fix_dist: 0.1991, d5.loss_plan_l1_fix_time: 0.9833, d5.loss_plan_l1_fix_dist: 0.2081, d6.loss_plan_l1_fix_time: 0.9891, d6.loss_plan_l1_fix_dist: 0.2260, d0.loss_cls_all: 0.1904, d0.loss_bbox_all: 0.4057, d0.loss_cls: 0.1904, d0.loss_bbox: 0.4057, d1.loss_cls: 0.1802, d1.loss_bbox: 0.3793, d2.loss_cls: 0.1668, d2.loss_bbox: 0.3623, d3.loss_cls: 0.1525, d3.loss_bbox: 0.3541, d4.loss_cls: 0.1474, d4.loss_bbox: 0.3524, d5.loss_cls: 0.1470, d5.loss_bbox: 0.3505, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8340, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6938, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6551, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6385, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6334, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6339, d0.loss_map_cls_all: 0.2208, d0.loss_map_pts_all: 1.2620, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2208, d0.loss_map_pts: 1.2620, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1871, d1.loss_map_pts: 0.8810, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1706, d2.loss_map_pts: 0.7255, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1621, d3.loss_map_pts: 0.6640, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1552, d4.loss_map_pts: 0.6341, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1498, d5.loss_map_pts: 0.6300, d5.loss_map_dir: 0.0085, loss: 27.0150, grad_norm: 144.0963 +2026-02-26 11:48:23,986 - DriveTransformer - INFO - Epoch [7][20950/39528] lr: 8.550e-05, eta: 6 days, 9:51:06, time: 0.757, data_time: 0.041, memory: 19865, loss_cls: 0.1501, loss_bbox: 0.3405, loss_traj: 0.6188, loss_traj_cls: 0.0010, loss_map_cls: 0.1302, loss_map_pts: 0.5853, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.3908, d0.loss_plan_l1_fix_dist: 0.4222, d1.loss_plan_l1_fix_time: 1.0173, d1.loss_plan_l1_fix_dist: 0.1787, d2.loss_plan_l1_fix_time: 1.0115, d2.loss_plan_l1_fix_dist: 0.1713, d3.loss_plan_l1_fix_time: 1.0170, d3.loss_plan_l1_fix_dist: 0.1778, d4.loss_plan_l1_fix_time: 1.0202, d4.loss_plan_l1_fix_dist: 0.1859, d5.loss_plan_l1_fix_time: 1.0232, d5.loss_plan_l1_fix_dist: 0.1928, d6.loss_plan_l1_fix_time: 1.0266, d6.loss_plan_l1_fix_dist: 0.1989, d0.loss_cls_all: 0.1958, d0.loss_bbox_all: 0.3977, d0.loss_cls: 0.1958, d0.loss_bbox: 0.3977, d1.loss_cls: 0.1793, d1.loss_bbox: 0.3680, d2.loss_cls: 0.1669, d2.loss_bbox: 0.3496, d3.loss_cls: 0.1570, d3.loss_bbox: 0.3457, d4.loss_cls: 0.1514, d4.loss_bbox: 0.3425, d5.loss_cls: 0.1495, d5.loss_bbox: 0.3417, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8346, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6892, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6389, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6268, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6254, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6175, d0.loss_map_cls_all: 0.1967, d0.loss_map_pts_all: 1.1284, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1967, d0.loss_map_pts: 1.1284, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1703, d1.loss_map_pts: 0.8109, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1518, d2.loss_map_pts: 0.6728, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1411, d3.loss_map_pts: 0.6187, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1377, d4.loss_map_pts: 0.5949, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1317, d5.loss_map_pts: 0.5863, d5.loss_map_dir: 0.0073, loss: 26.3610, grad_norm: 141.1288 +2026-02-26 11:49:02,171 - DriveTransformer - INFO - Epoch [7][21000/39528] lr: 8.550e-05, eta: 6 days, 9:50:21, time: 0.764, data_time: 0.041, memory: 19865, loss_cls: 0.1578, loss_bbox: 0.3550, loss_traj: 0.5930, loss_traj_cls: 0.0010, loss_map_cls: 0.1437, loss_map_pts: 0.5844, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.3980, d0.loss_plan_l1_fix_dist: 0.3667, d1.loss_plan_l1_fix_time: 0.9571, d1.loss_plan_l1_fix_dist: 0.1706, d2.loss_plan_l1_fix_time: 0.9347, d2.loss_plan_l1_fix_dist: 0.1567, d3.loss_plan_l1_fix_time: 0.9391, d3.loss_plan_l1_fix_dist: 0.1613, d4.loss_plan_l1_fix_time: 0.9422, d4.loss_plan_l1_fix_dist: 0.1706, d5.loss_plan_l1_fix_time: 0.9456, d5.loss_plan_l1_fix_dist: 0.1846, d6.loss_plan_l1_fix_time: 0.9502, d6.loss_plan_l1_fix_dist: 0.2002, d0.loss_cls_all: 0.1868, d0.loss_bbox_all: 0.4031, d0.loss_cls: 0.1868, d0.loss_bbox: 0.4031, d1.loss_cls: 0.1815, d1.loss_bbox: 0.3720, d2.loss_cls: 0.1718, d2.loss_bbox: 0.3557, d3.loss_cls: 0.1616, d3.loss_bbox: 0.3519, d4.loss_cls: 0.1566, d4.loss_bbox: 0.3520, d5.loss_cls: 0.1570, d5.loss_bbox: 0.3536, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7454, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6246, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5950, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5895, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5893, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5907, d0.loss_map_cls_all: 0.2130, d0.loss_map_pts_all: 1.2179, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2130, d0.loss_map_pts: 1.2179, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1840, d1.loss_map_pts: 0.8245, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1615, d2.loss_map_pts: 0.6700, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1524, d3.loss_map_pts: 0.6170, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1494, d4.loss_map_pts: 0.5929, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1451, d5.loss_map_pts: 0.5856, d5.loss_map_dir: 0.0083, loss: 25.8565, grad_norm: 145.1338 +2026-02-26 11:49:38,845 - DriveTransformer - INFO - Epoch [7][21050/39528] lr: 8.550e-05, eta: 6 days, 9:49:32, time: 0.733, data_time: 0.040, memory: 19865, loss_cls: 0.1682, loss_bbox: 0.3836, loss_traj: 0.6615, loss_traj_cls: 0.0010, loss_map_cls: 0.1565, loss_map_pts: 0.7118, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.6245, d0.loss_plan_l1_fix_dist: 0.3985, d1.loss_plan_l1_fix_time: 1.1329, d1.loss_plan_l1_fix_dist: 0.2153, d2.loss_plan_l1_fix_time: 1.1032, d2.loss_plan_l1_fix_dist: 0.2128, d3.loss_plan_l1_fix_time: 1.1013, d3.loss_plan_l1_fix_dist: 0.2086, d4.loss_plan_l1_fix_time: 1.1036, d4.loss_plan_l1_fix_dist: 0.2117, d5.loss_plan_l1_fix_time: 1.1070, d5.loss_plan_l1_fix_dist: 0.2233, d6.loss_plan_l1_fix_time: 1.1105, d6.loss_plan_l1_fix_dist: 0.2384, d0.loss_cls_all: 0.2099, d0.loss_bbox_all: 0.4483, d0.loss_cls: 0.2099, d0.loss_bbox: 0.4483, d1.loss_cls: 0.2016, d1.loss_bbox: 0.4129, d2.loss_cls: 0.1818, d2.loss_bbox: 0.3919, d3.loss_cls: 0.1707, d3.loss_bbox: 0.3837, d4.loss_cls: 0.1679, d4.loss_bbox: 0.3825, d5.loss_cls: 0.1672, d5.loss_bbox: 0.3826, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8802, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7254, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6739, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6587, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6572, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6596, d0.loss_map_cls_all: 0.2341, d0.loss_map_pts_all: 1.2931, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2341, d0.loss_map_pts: 1.2931, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1989, d1.loss_map_pts: 0.9405, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1769, d2.loss_map_pts: 0.7966, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1689, d3.loss_map_pts: 0.7433, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1634, d4.loss_map_pts: 0.7205, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1583, d5.loss_map_pts: 0.7124, d5.loss_map_dir: 0.0089, loss: 29.4001, grad_norm: 143.1763 +2026-02-26 11:50:17,935 - DriveTransformer - INFO - Epoch [7][21100/39528] lr: 8.550e-05, eta: 6 days, 9:48:49, time: 0.782, data_time: 0.039, memory: 19865, loss_cls: 0.1601, loss_bbox: 0.3508, loss_traj: 0.7397, loss_traj_cls: 0.0010, loss_map_cls: 0.1572, loss_map_pts: 0.7127, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.7648, d0.loss_plan_l1_fix_dist: 0.4073, d1.loss_plan_l1_fix_time: 1.0037, d1.loss_plan_l1_fix_dist: 0.1860, d2.loss_plan_l1_fix_time: 0.9889, d2.loss_plan_l1_fix_dist: 0.1905, d3.loss_plan_l1_fix_time: 0.9879, d3.loss_plan_l1_fix_dist: 0.1843, d4.loss_plan_l1_fix_time: 0.9896, d4.loss_plan_l1_fix_dist: 0.1897, d5.loss_plan_l1_fix_time: 0.9919, d5.loss_plan_l1_fix_dist: 0.1979, d6.loss_plan_l1_fix_time: 0.9943, d6.loss_plan_l1_fix_dist: 0.2184, d0.loss_cls_all: 0.2050, d0.loss_bbox_all: 0.4064, d0.loss_cls: 0.2050, d0.loss_bbox: 0.4064, d1.loss_cls: 0.1965, d1.loss_bbox: 0.3743, d2.loss_cls: 0.1760, d2.loss_bbox: 0.3598, d3.loss_cls: 0.1657, d3.loss_bbox: 0.3526, d4.loss_cls: 0.1606, d4.loss_bbox: 0.3512, d5.loss_cls: 0.1592, d5.loss_bbox: 0.3499, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9053, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7526, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7266, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7238, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7294, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7356, d0.loss_map_cls_all: 0.2163, d0.loss_map_pts_all: 1.3506, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2163, d0.loss_map_pts: 1.3506, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1887, d1.loss_map_pts: 0.9613, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1694, d2.loss_map_pts: 0.8027, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1656, d3.loss_map_pts: 0.7450, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1615, d4.loss_map_pts: 0.7228, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1565, d5.loss_map_pts: 0.7133, d5.loss_map_dir: 0.0086, loss: 28.8522, grad_norm: 144.7615 +2026-02-26 11:50:57,469 - DriveTransformer - INFO - Epoch [7][21150/39528] lr: 8.550e-05, eta: 6 days, 9:48:07, time: 0.791, data_time: 0.041, memory: 19865, loss_cls: 0.1694, loss_bbox: 0.3614, loss_traj: 0.6054, loss_traj_cls: 0.0010, loss_map_cls: 0.1426, loss_map_pts: 0.6731, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.5738, d0.loss_plan_l1_fix_dist: 0.3666, d1.loss_plan_l1_fix_time: 1.0591, d1.loss_plan_l1_fix_dist: 0.1667, d2.loss_plan_l1_fix_time: 1.0470, d2.loss_plan_l1_fix_dist: 0.1705, d3.loss_plan_l1_fix_time: 1.0466, d3.loss_plan_l1_fix_dist: 0.1682, d4.loss_plan_l1_fix_time: 1.0487, d4.loss_plan_l1_fix_dist: 0.1766, d5.loss_plan_l1_fix_time: 1.0510, d5.loss_plan_l1_fix_dist: 0.1873, d6.loss_plan_l1_fix_time: 1.0535, d6.loss_plan_l1_fix_dist: 0.1960, d0.loss_cls_all: 0.2159, d0.loss_bbox_all: 0.4293, d0.loss_cls: 0.2159, d0.loss_bbox: 0.4293, d1.loss_cls: 0.2109, d1.loss_bbox: 0.3932, d2.loss_cls: 0.1930, d2.loss_bbox: 0.3767, d3.loss_cls: 0.1776, d3.loss_bbox: 0.3718, d4.loss_cls: 0.1713, d4.loss_bbox: 0.3668, d5.loss_cls: 0.1699, d5.loss_bbox: 0.3632, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8007, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6537, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6141, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6116, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6077, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6026, d0.loss_map_cls_all: 0.2110, d0.loss_map_pts_all: 1.3878, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2110, d0.loss_map_pts: 1.3878, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.1816, d1.loss_map_pts: 0.9351, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1648, d2.loss_map_pts: 0.7614, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1550, d3.loss_map_pts: 0.6995, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1472, d4.loss_map_pts: 0.6817, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1441, d5.loss_map_pts: 0.6743, d5.loss_map_dir: 0.0100, loss: 28.0669, grad_norm: 145.1969 +2026-02-26 11:51:36,839 - DriveTransformer - INFO - Epoch [7][21200/39528] lr: 8.550e-05, eta: 6 days, 9:47:25, time: 0.789, data_time: 0.041, memory: 19865, loss_cls: 0.1506, loss_bbox: 0.3521, loss_traj: 0.6250, loss_traj_cls: 0.0010, loss_map_cls: 0.1755, loss_map_pts: 0.6944, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.3863, d0.loss_plan_l1_fix_dist: 0.3767, d1.loss_plan_l1_fix_time: 1.0360, d1.loss_plan_l1_fix_dist: 0.1766, d2.loss_plan_l1_fix_time: 1.0349, d2.loss_plan_l1_fix_dist: 0.1736, d3.loss_plan_l1_fix_time: 1.0416, d3.loss_plan_l1_fix_dist: 0.1758, d4.loss_plan_l1_fix_time: 1.0457, d4.loss_plan_l1_fix_dist: 0.1837, d5.loss_plan_l1_fix_time: 1.0495, d5.loss_plan_l1_fix_dist: 0.1989, d6.loss_plan_l1_fix_time: 1.0535, d6.loss_plan_l1_fix_dist: 0.2091, d0.loss_cls_all: 0.1960, d0.loss_bbox_all: 0.4171, d0.loss_cls: 0.1960, d0.loss_bbox: 0.4171, d1.loss_cls: 0.1842, d1.loss_bbox: 0.3820, d2.loss_cls: 0.1710, d2.loss_bbox: 0.3646, d3.loss_cls: 0.1570, d3.loss_bbox: 0.3587, d4.loss_cls: 0.1512, d4.loss_bbox: 0.3553, d5.loss_cls: 0.1505, d5.loss_bbox: 0.3527, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8234, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6868, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6420, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6330, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6263, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6256, d0.loss_map_cls_all: 0.2445, d0.loss_map_pts_all: 1.2829, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2445, d0.loss_map_pts: 1.2829, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2144, d1.loss_map_pts: 0.9244, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1908, d2.loss_map_pts: 0.7808, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1844, d3.loss_map_pts: 0.7240, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1789, d4.loss_map_pts: 0.7056, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1753, d5.loss_map_pts: 0.6944, d5.loss_map_dir: 0.0083, loss: 27.9307, grad_norm: 143.8451 +2026-02-26 11:52:15,219 - DriveTransformer - INFO - Epoch [7][21250/39528] lr: 8.550e-05, eta: 6 days, 9:46:41, time: 0.766, data_time: 0.044, memory: 19865, loss_cls: 0.1743, loss_bbox: 0.3767, loss_traj: 0.7389, loss_traj_cls: 0.0009, loss_map_cls: 0.1517, loss_map_pts: 0.6634, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.4642, d0.loss_plan_l1_fix_dist: 0.4125, d1.loss_plan_l1_fix_time: 1.0458, d1.loss_plan_l1_fix_dist: 0.2183, d2.loss_plan_l1_fix_time: 1.0422, d2.loss_plan_l1_fix_dist: 0.2040, d3.loss_plan_l1_fix_time: 1.0488, d3.loss_plan_l1_fix_dist: 0.2093, d4.loss_plan_l1_fix_time: 1.0521, d4.loss_plan_l1_fix_dist: 0.2141, d5.loss_plan_l1_fix_time: 1.0552, d5.loss_plan_l1_fix_dist: 0.2211, d6.loss_plan_l1_fix_time: 1.0589, d6.loss_plan_l1_fix_dist: 0.2309, d0.loss_cls_all: 0.2140, d0.loss_bbox_all: 0.4347, d0.loss_cls: 0.2140, d0.loss_bbox: 0.4347, d1.loss_cls: 0.2040, d1.loss_bbox: 0.4053, d2.loss_cls: 0.1889, d2.loss_bbox: 0.3857, d3.loss_cls: 0.1745, d3.loss_bbox: 0.3789, d4.loss_cls: 0.1718, d4.loss_bbox: 0.3774, d5.loss_cls: 0.1742, d5.loss_bbox: 0.3760, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9932, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8036, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7437, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7346, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7309, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7356, d0.loss_map_cls_all: 0.2204, d0.loss_map_pts_all: 1.3339, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2204, d0.loss_map_pts: 1.3339, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1909, d1.loss_map_pts: 0.9284, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1757, d2.loss_map_pts: 0.7599, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1627, d3.loss_map_pts: 0.6936, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1575, d4.loss_map_pts: 0.6685, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1536, d5.loss_map_pts: 0.6638, d5.loss_map_dir: 0.0090, loss: 29.1974, grad_norm: 143.9872 +2026-02-26 11:52:53,471 - DriveTransformer - INFO - Epoch [7][21300/39528] lr: 8.550e-05, eta: 6 days, 9:45:56, time: 0.765, data_time: 0.044, memory: 19865, loss_cls: 0.1477, loss_bbox: 0.3399, loss_traj: 0.7704, loss_traj_cls: 0.0009, loss_map_cls: 0.1271, loss_map_pts: 0.6064, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.5693, d0.loss_plan_l1_fix_dist: 0.4219, d1.loss_plan_l1_fix_time: 1.0470, d1.loss_plan_l1_fix_dist: 0.1921, d2.loss_plan_l1_fix_time: 1.0237, d2.loss_plan_l1_fix_dist: 0.1710, d3.loss_plan_l1_fix_time: 1.0188, d3.loss_plan_l1_fix_dist: 0.1754, d4.loss_plan_l1_fix_time: 1.0211, d4.loss_plan_l1_fix_dist: 0.1836, d5.loss_plan_l1_fix_time: 1.0241, d5.loss_plan_l1_fix_dist: 0.1920, d6.loss_plan_l1_fix_time: 1.0277, d6.loss_plan_l1_fix_dist: 0.2023, d0.loss_cls_all: 0.1859, d0.loss_bbox_all: 0.3978, d0.loss_cls: 0.1859, d0.loss_bbox: 0.3978, d1.loss_cls: 0.1775, d1.loss_bbox: 0.3651, d2.loss_cls: 0.1640, d2.loss_bbox: 0.3490, d3.loss_cls: 0.1530, d3.loss_bbox: 0.3444, d4.loss_cls: 0.1486, d4.loss_bbox: 0.3421, d5.loss_cls: 0.1490, d5.loss_bbox: 0.3396, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0850, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8427, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8075, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7913, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7786, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7725, d0.loss_map_cls_all: 0.1988, d0.loss_map_pts_all: 1.1995, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1988, d0.loss_map_pts: 1.1995, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1659, d1.loss_map_pts: 0.8256, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1485, d2.loss_map_pts: 0.6814, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1373, d3.loss_map_pts: 0.6299, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1331, d4.loss_map_pts: 0.6134, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1277, d5.loss_map_pts: 0.6068, d5.loss_map_dir: 0.0081, loss: 27.9758, grad_norm: 140.8613 +2026-02-26 11:53:30,809 - DriveTransformer - INFO - Epoch [7][21350/39528] lr: 8.550e-05, eta: 6 days, 9:45:08, time: 0.747, data_time: 0.041, memory: 19865, loss_cls: 0.1511, loss_bbox: 0.3671, loss_traj: 0.6990, loss_traj_cls: 0.0009, loss_map_cls: 0.1622, loss_map_pts: 0.6771, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.8810, d0.loss_plan_l1_fix_dist: 0.3259, d1.loss_plan_l1_fix_time: 1.1062, d1.loss_plan_l1_fix_dist: 0.1975, d2.loss_plan_l1_fix_time: 1.0990, d2.loss_plan_l1_fix_dist: 0.1657, d3.loss_plan_l1_fix_time: 1.0993, d3.loss_plan_l1_fix_dist: 0.1647, d4.loss_plan_l1_fix_time: 1.1011, d4.loss_plan_l1_fix_dist: 0.1765, d5.loss_plan_l1_fix_time: 1.1031, d5.loss_plan_l1_fix_dist: 0.1899, d6.loss_plan_l1_fix_time: 1.1056, d6.loss_plan_l1_fix_dist: 0.2040, d0.loss_cls_all: 0.1895, d0.loss_bbox_all: 0.4229, d0.loss_cls: 0.1895, d0.loss_bbox: 0.4229, d1.loss_cls: 0.1885, d1.loss_bbox: 0.3863, d2.loss_cls: 0.1758, d2.loss_bbox: 0.3711, d3.loss_cls: 0.1593, d3.loss_bbox: 0.3679, d4.loss_cls: 0.1534, d4.loss_bbox: 0.3649, d5.loss_cls: 0.1528, d5.loss_bbox: 0.3639, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9237, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7641, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7181, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7026, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6919, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6959, d0.loss_map_cls_all: 0.2303, d0.loss_map_pts_all: 1.3536, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2303, d0.loss_map_pts: 1.3536, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2010, d1.loss_map_pts: 0.9357, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1848, d2.loss_map_pts: 0.7673, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1736, d3.loss_map_pts: 0.7056, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1678, d4.loss_map_pts: 0.6827, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1635, d5.loss_map_pts: 0.6777, d5.loss_map_dir: 0.0096, loss: 29.2904, grad_norm: 140.8712 +2026-02-26 11:54:09,928 - DriveTransformer - INFO - Epoch [7][21400/39528] lr: 8.550e-05, eta: 6 days, 9:44:25, time: 0.782, data_time: 0.046, memory: 19865, loss_cls: 0.1827, loss_bbox: 0.3802, loss_traj: 0.6328, loss_traj_cls: 0.0009, loss_map_cls: 0.1741, loss_map_pts: 0.8020, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.8468, d0.loss_plan_l1_fix_dist: 0.3991, d1.loss_plan_l1_fix_time: 1.1235, d1.loss_plan_l1_fix_dist: 0.2104, d2.loss_plan_l1_fix_time: 1.1151, d2.loss_plan_l1_fix_dist: 0.1914, d3.loss_plan_l1_fix_time: 1.1150, d3.loss_plan_l1_fix_dist: 0.1947, d4.loss_plan_l1_fix_time: 1.1175, d4.loss_plan_l1_fix_dist: 0.2019, d5.loss_plan_l1_fix_time: 1.1205, d5.loss_plan_l1_fix_dist: 0.2158, d6.loss_plan_l1_fix_time: 1.1247, d6.loss_plan_l1_fix_dist: 0.2312, d0.loss_cls_all: 0.2158, d0.loss_bbox_all: 0.4522, d0.loss_cls: 0.2158, d0.loss_bbox: 0.4522, d1.loss_cls: 0.2140, d1.loss_bbox: 0.4134, d2.loss_cls: 0.1986, d2.loss_bbox: 0.3889, d3.loss_cls: 0.1875, d3.loss_bbox: 0.3803, d4.loss_cls: 0.1825, d4.loss_bbox: 0.3775, d5.loss_cls: 0.1814, d5.loss_bbox: 0.3783, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9075, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6906, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6439, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6400, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6290, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6338, d0.loss_map_cls_all: 0.2456, d0.loss_map_pts_all: 1.5297, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2456, d0.loss_map_pts: 1.5297, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2192, d1.loss_map_pts: 1.1000, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1974, d2.loss_map_pts: 0.9186, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1846, d3.loss_map_pts: 0.8464, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1804, d4.loss_map_pts: 0.8148, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1752, d5.loss_map_pts: 0.8046, d5.loss_map_dir: 0.0094, loss: 30.8369, grad_norm: 141.2201 +2026-02-26 11:54:50,772 - DriveTransformer - INFO - Epoch [7][21450/39528] lr: 8.550e-05, eta: 6 days, 9:43:47, time: 0.817, data_time: 0.041, memory: 19865, loss_cls: 0.1733, loss_bbox: 0.3875, loss_traj: 0.5977, loss_traj_cls: 0.0009, loss_map_cls: 0.1696, loss_map_pts: 0.7983, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.6634, d0.loss_plan_l1_fix_dist: 0.3486, d1.loss_plan_l1_fix_time: 1.0505, d1.loss_plan_l1_fix_dist: 0.2108, d2.loss_plan_l1_fix_time: 1.0429, d2.loss_plan_l1_fix_dist: 0.1920, d3.loss_plan_l1_fix_time: 1.0375, d3.loss_plan_l1_fix_dist: 0.1965, d4.loss_plan_l1_fix_time: 1.0388, d4.loss_plan_l1_fix_dist: 0.2047, d5.loss_plan_l1_fix_time: 1.0409, d5.loss_plan_l1_fix_dist: 0.2141, d6.loss_plan_l1_fix_time: 1.0442, d6.loss_plan_l1_fix_dist: 0.2245, d0.loss_cls_all: 0.2167, d0.loss_bbox_all: 0.4443, d0.loss_cls: 0.2167, d0.loss_bbox: 0.4443, d1.loss_cls: 0.2110, d1.loss_bbox: 0.4145, d2.loss_cls: 0.1957, d2.loss_bbox: 0.3947, d3.loss_cls: 0.1837, d3.loss_bbox: 0.3870, d4.loss_cls: 0.1741, d4.loss_bbox: 0.3862, d5.loss_cls: 0.1739, d5.loss_bbox: 0.3859, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7966, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6440, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5926, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5910, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5950, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5964, d0.loss_map_cls_all: 0.2433, d0.loss_map_pts_all: 1.5253, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2433, d0.loss_map_pts: 1.5253, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2115, d1.loss_map_pts: 1.0941, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1901, d2.loss_map_pts: 0.9099, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1794, d3.loss_map_pts: 0.8367, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1755, d4.loss_map_pts: 0.8087, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1705, d5.loss_map_pts: 0.7997, d5.loss_map_dir: 0.0105, loss: 29.6810, grad_norm: 140.1805 +2026-02-26 11:55:30,391 - DriveTransformer - INFO - Epoch [7][21500/39528] lr: 8.550e-05, eta: 6 days, 9:43:06, time: 0.792, data_time: 0.038, memory: 19865, loss_cls: 0.1585, loss_bbox: 0.3702, loss_traj: 0.6256, loss_traj_cls: 0.0009, loss_map_cls: 0.1542, loss_map_pts: 0.7150, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.3709, d0.loss_plan_l1_fix_dist: 0.3680, d1.loss_plan_l1_fix_time: 0.9898, d1.loss_plan_l1_fix_dist: 0.1899, d2.loss_plan_l1_fix_time: 0.9662, d2.loss_plan_l1_fix_dist: 0.1747, d3.loss_plan_l1_fix_time: 0.9628, d3.loss_plan_l1_fix_dist: 0.1811, d4.loss_plan_l1_fix_time: 0.9643, d4.loss_plan_l1_fix_dist: 0.1928, d5.loss_plan_l1_fix_time: 0.9666, d5.loss_plan_l1_fix_dist: 0.1989, d6.loss_plan_l1_fix_time: 0.9692, d6.loss_plan_l1_fix_dist: 0.2093, d0.loss_cls_all: 0.1994, d0.loss_bbox_all: 0.4254, d0.loss_cls: 0.1994, d0.loss_bbox: 0.4254, d1.loss_cls: 0.1905, d1.loss_bbox: 0.3958, d2.loss_cls: 0.1764, d2.loss_bbox: 0.3756, d3.loss_cls: 0.1629, d3.loss_bbox: 0.3685, d4.loss_cls: 0.1592, d4.loss_bbox: 0.3673, d5.loss_cls: 0.1579, d5.loss_bbox: 0.3677, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8877, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6845, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6421, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6265, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6245, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6237, d0.loss_map_cls_all: 0.2426, d0.loss_map_pts_all: 1.4162, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2426, d0.loss_map_pts: 1.4162, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.2048, d1.loss_map_pts: 0.9817, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1814, d2.loss_map_pts: 0.8198, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1688, d3.loss_map_pts: 0.7545, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1608, d4.loss_map_pts: 0.7240, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1570, d5.loss_map_pts: 0.7158, d5.loss_map_dir: 0.0080, loss: 28.0443, grad_norm: 140.3586 +2026-02-26 11:56:10,341 - DriveTransformer - INFO - Epoch [7][21550/39528] lr: 8.550e-05, eta: 6 days, 9:42:25, time: 0.799, data_time: 0.040, memory: 19865, loss_cls: 0.1537, loss_bbox: 0.3491, loss_traj: 0.6709, loss_traj_cls: 0.0010, loss_map_cls: 0.1253, loss_map_pts: 0.5851, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.3042, d0.loss_plan_l1_fix_dist: 0.5334, d1.loss_plan_l1_fix_time: 0.9842, d1.loss_plan_l1_fix_dist: 0.2049, d2.loss_plan_l1_fix_time: 0.9641, d2.loss_plan_l1_fix_dist: 0.1981, d3.loss_plan_l1_fix_time: 0.9622, d3.loss_plan_l1_fix_dist: 0.2007, d4.loss_plan_l1_fix_time: 0.9643, d4.loss_plan_l1_fix_dist: 0.2066, d5.loss_plan_l1_fix_time: 0.9672, d5.loss_plan_l1_fix_dist: 0.2198, d6.loss_plan_l1_fix_time: 0.9710, d6.loss_plan_l1_fix_dist: 0.2287, d0.loss_cls_all: 0.1843, d0.loss_bbox_all: 0.4042, d0.loss_cls: 0.1843, d0.loss_bbox: 0.4042, d1.loss_cls: 0.1797, d1.loss_bbox: 0.3722, d2.loss_cls: 0.1646, d2.loss_bbox: 0.3568, d3.loss_cls: 0.1545, d3.loss_bbox: 0.3500, d4.loss_cls: 0.1530, d4.loss_bbox: 0.3467, d5.loss_cls: 0.1516, d5.loss_bbox: 0.3484, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8901, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7158, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6757, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6732, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6683, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6660, d0.loss_map_cls_all: 0.1983, d0.loss_map_pts_all: 1.2719, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1983, d0.loss_map_pts: 1.2719, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1692, d1.loss_map_pts: 0.8513, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1485, d2.loss_map_pts: 0.6862, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1373, d3.loss_map_pts: 0.6194, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1314, d4.loss_map_pts: 0.5929, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1266, d5.loss_map_pts: 0.5854, d5.loss_map_dir: 0.0078, loss: 26.8934, grad_norm: 138.6706 +2026-02-26 11:56:52,578 - DriveTransformer - INFO - Epoch [7][21600/39528] lr: 8.550e-05, eta: 6 days, 9:41:51, time: 0.845, data_time: 0.050, memory: 19865, loss_cls: 0.1848, loss_bbox: 0.3680, loss_traj: 0.6257, loss_traj_cls: 0.0010, loss_map_cls: 0.1589, loss_map_pts: 0.6705, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.7008, d0.loss_plan_l1_fix_dist: 0.4487, d1.loss_plan_l1_fix_time: 1.0357, d1.loss_plan_l1_fix_dist: 0.1838, d2.loss_plan_l1_fix_time: 1.0183, d2.loss_plan_l1_fix_dist: 0.1821, d3.loss_plan_l1_fix_time: 1.0209, d3.loss_plan_l1_fix_dist: 0.1862, d4.loss_plan_l1_fix_time: 1.0234, d4.loss_plan_l1_fix_dist: 0.1949, d5.loss_plan_l1_fix_time: 1.0263, d5.loss_plan_l1_fix_dist: 0.2074, d6.loss_plan_l1_fix_time: 1.0295, d6.loss_plan_l1_fix_dist: 0.2228, d0.loss_cls_all: 0.2253, d0.loss_bbox_all: 0.4283, d0.loss_cls: 0.2253, d0.loss_bbox: 0.4283, d1.loss_cls: 0.2145, d1.loss_bbox: 0.3965, d2.loss_cls: 0.2005, d2.loss_bbox: 0.3798, d3.loss_cls: 0.1884, d3.loss_bbox: 0.3722, d4.loss_cls: 0.1832, d4.loss_bbox: 0.3704, d5.loss_cls: 0.1839, d5.loss_bbox: 0.3675, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8816, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6941, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6516, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6390, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6326, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6275, d0.loss_map_cls_all: 0.2441, d0.loss_map_pts_all: 1.3313, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2441, d0.loss_map_pts: 1.3313, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.2113, d1.loss_map_pts: 0.9195, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1837, d2.loss_map_pts: 0.7627, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1705, d3.loss_map_pts: 0.7033, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1626, d4.loss_map_pts: 0.6817, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1607, d5.loss_map_pts: 0.6719, d5.loss_map_dir: 0.0084, loss: 28.6313, grad_norm: 142.2811 diff --git a/DriveTransformer/goalpoint_1gpu/20260224_021525.log.json b/DriveTransformer/goalpoint_1gpu/20260224_021525.log.json new file mode 100644 index 0000000000000000000000000000000000000000..f023ff1a1d99a26999bab8cbe3cf10742bc53b44 --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260224_021525.log.json @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c15b908c1768e57b469d1161d31a35e8489616a0a419072f6879f753d8a072ac +size 10949303 diff --git a/DriveTransformer/goalpoint_1gpu/20260226_120012.log b/DriveTransformer/goalpoint_1gpu/20260226_120012.log new file mode 100644 index 0000000000000000000000000000000000000000..c70722c435a0b55d92097493b088b608661f68b8 --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260226_120012.log @@ -0,0 +1,3478 @@ +2026-02-26 12:00:24,367 - mmdet - INFO - initialize ResNet with init_cfg {'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} +2026-02-26 12:00:24,508 - mmdet - INFO - initialize FPN with init_cfg {'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} +Name of parameter - Initialization information + +pts_bbox_head.code_weights - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_code_weights - torch.Size([4]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.position_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.pc_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_query.weight - torch.Size([900, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_reference_points.weight - torch.Size([900, 3]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.weight - torch.Size([512, 9]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.weight - torch.Size([512, 768]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.mode_embedding.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_query.weight - torch.Size([100, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_reference_points.weight - torch.Size([100, 2]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.weight - torch.Size([512, 6]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.weight - torch.Size([512, 141]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.weight - torch.Size([512, 1920]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.weight - torch.Size([512, 640]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.featurized_pe.reduce.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.spatial_alignment.reduce.0.weight - torch.Size([512, 8]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.time_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.weight - torch.Size([512, 192]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_pose_memory.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cro2026-02-26 12:00:24,526 - DriveTransformer - INFO - Model: +DriveTransformer( + (pts_bbox_head): DriveTransformerlHead( + (loss_cls): FocalLoss() + (loss_bbox): L1Loss() + (loss_traj): L1Loss() + (loss_traj_cls): FocalLoss() + (loss_map_cls): FocalLoss() + (loss_map_pts): PtsL1Loss() + (loss_map_dir): PtsDirCosLoss() + (loss_plan_reg_fix_dist): L1Loss() + (loss_plan_reg_fix_time): L1Loss() + (loss_plan_cls): FocalLoss() + (agent_query): Embedding(900, 512) + (agent_reference_points): Embedding(900, 3) + (agent_cls_embedding): Sequential( + (0): Linear(in_features=9, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (agent_ref_embedding): Sequential( + (0): Linear(in_features=768, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (mode_embedding): Embedding(6, 512) + (map_query): Embedding(100, 512) + (map_reference_points): Embedding(100, 2) + (map_cls_embedding): Sequential( + (0): Linear(in_features=6, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (map_ref_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_lcf_encoder): Sequential( + (0): Linear(in_features=141, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_time_embedding): Sequential( + (0): Linear(in_features=1920, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_dist_embedding): Sequential( + (0): Linear(in_features=640, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (featurized_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (spatial_alignment): MLN( + (reduce): Sequential( + (0): Linear(in_features=8, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (time_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (img_position_encoder): Sequential( + (0): Linear(in_features=192, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_pose_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (ego_pose_memory): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (agent_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (map_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (transformer): DriveTransformerWrapper( + (decoder): DriveTransformerDecoder( + (layers): ModuleList( + (0-5): 6 x DriveTransformerDecoderLayer( + (task_self_attentions): ModuleList( + (0): AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (temporal_cross_attention_layers): ModuleList( + (0-2): 3 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (sensor_cross_attentions): ModuleList( + (0): AttentionLayer( + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (cross_w_q): ModuleList( + (0-2): 3 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + ) + (ffns): ModuleList( + (0): ModuleList( + (0-2): 3 x SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + ) + ) + (cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=9, bias=False) + ) + ) + (reg_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=10, bias=True) + ) + ) + (traj_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=12, bias=True) + ) + ) + (traj_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (6): Linear(in_features=512, out_features=1, bias=False) + ) + ) + (map_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=6, bias=False) + ) + ) + (map_reg_branches): ModuleList( + (0-5): 6 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=2, bias=True) + ) + (6): Linear(in_features=512, out_features=40, bias=True) + ) + (ego_traj_branches_fix_dist): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=20, bias=True) + ) + ) + (ego_traj_branches_fix_time): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=60, bias=True) + ) + ) + ) + (img_backbone): ResNet( + (conv1): Conv2d(3, 64, kernel_size=(7, 7), stride=(2, 2), padding=(3, 3), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (maxpool): MaxPool2d(kernel_size=3, stride=2, padding=1, dilation=1, ceil_mode=False) + (layer1): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(64, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer2): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(256, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(256, 512, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer3): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(512, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(512, 1024, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (4): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (5): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer4): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(1024, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(1024, 2048, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + ) + init_cfg={'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} + (img_neck): FPN( + (lateral_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1)) + ) + ) + (fpn_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) + ) + ) + ) + init_cfg={'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} + (grid_mask): GridMask() +) +2026-02-26 12:00:24,734 - DriveTransformer - INFO - Start running, host: humble@ysh-4090, work_dir: /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu +2026-02-26 12:00:24,734 - DriveTransformer - INFO - Hooks will be executed in the following order: +before_run: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_epoch: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_iter: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook + -------------------- +after_train_iter: +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +after_train_epoch: +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_val_epoch: +(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 + -------------------- +2026-02-26 12:00:24,734 - DriveTransformer - INFO - workflow: [('train', 1)], max: 24 epochs +2026-02-26 12:00:24,736 - DriveTransformer - INFO - Checkpoints will be saved to /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu by HardDiskBackend. +2026-02-26 12:00:33,179 - DriveTransformer - WARNING - GradientCumulativeOptimizerHook may slightly decrease performance if the model has BatchNorm layers. +2026-02-26 12:01:10,550 - DriveTransformer - INFO - Epoch [1][50/39528] lr: 1.441e-05, eta: 10 days, 0:50:55, time: 0.914, data_time: 0.163, memory: 18742, loss_cls: 765.4914, loss_bbox: 1.6526, loss_traj: 5.4215, loss_traj_cls: 0.0805, loss_map_cls: 10.7144, loss_map_pts: 5.5695, loss_map_dir: 0.0949, d0.loss_plan_l1_fix_time: 11.6801, d0.loss_plan_l1_fix_dist: 3.3227, d1.loss_plan_l1_fix_time: 12.0399, d1.loss_plan_l1_fix_dist: 4.3396, d2.loss_plan_l1_fix_time: 12.4710, d2.loss_plan_l1_fix_dist: 5.8791, d3.loss_plan_l1_fix_time: 13.0067, d3.loss_plan_l1_fix_dist: 7.7400, d4.loss_plan_l1_fix_time: 13.5054, d4.loss_plan_l1_fix_dist: 10.2270, d5.loss_plan_l1_fix_time: 14.0609, d5.loss_plan_l1_fix_dist: 12.8650, d6.loss_plan_l1_fix_time: 14.5860, d6.loss_plan_l1_fix_dist: 15.3839, d0.loss_cls_all: 526.0704, d0.loss_bbox_all: 1.6224, d0.loss_cls: 526.0704, d0.loss_bbox: 1.6224, d1.loss_cls: 587.8533, d1.loss_bbox: 1.5851, d2.loss_cls: 583.5279, d2.loss_bbox: 1.6720, d3.loss_cls: 660.5994, d3.loss_bbox: 1.6638, d4.loss_cls: 623.1714, d4.loss_bbox: 1.5681, d5.loss_cls: 690.4974, d5.loss_bbox: 1.6673, d0.loss_traj_cls: 0.0746, d0.loss_traj: 5.3930, d1.loss_traj_cls: 0.0630, d1.loss_traj: 5.4374, d2.loss_traj_cls: 0.0642, d2.loss_traj: 5.5116, d3.loss_traj_cls: 0.1034, d3.loss_traj: 5.4621, d4.loss_traj_cls: 0.0494, d4.loss_traj: 5.3748, d5.loss_traj_cls: 0.0496, d5.loss_traj: 5.4128, d0.loss_map_cls_all: 8.1191, d0.loss_map_pts_all: 5.2849, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 8.1191, d0.loss_map_pts: 5.2849, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 7.3746, d1.loss_map_pts: 5.3051, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 8.0830, d2.loss_map_pts: 5.3385, d2.loss_map_dir: 0.0949, d3.loss_map_cls: 10.9807, d3.loss_map_pts: 5.3786, d3.loss_map_dir: 0.0950, d4.loss_map_cls: 10.9712, d4.loss_map_pts: 5.4438, d4.loss_map_dir: 0.0949, d5.loss_map_cls: 10.9088, d5.loss_map_pts: 5.5091, d5.loss_map_dir: 0.0949, loss: 5285.0857, grad_norm: inf +2026-02-26 12:01:46,425 - DriveTransformer - INFO - Epoch [1][100/39528] lr: 1.891e-05, eta: 8 days, 22:56:41, time: 0.717, data_time: 0.030, memory: 18742, loss_cls: 801.1824, loss_bbox: 1.6245, loss_traj: 6.7263, loss_traj_cls: 0.0913, loss_map_cls: 12.0767, loss_map_pts: 5.4557, loss_map_dir: 0.0951, d0.loss_plan_l1_fix_time: 13.6995, d0.loss_plan_l1_fix_dist: 3.3016, d1.loss_plan_l1_fix_time: 14.0050, d1.loss_plan_l1_fix_dist: 4.3949, d2.loss_plan_l1_fix_time: 14.3598, d2.loss_plan_l1_fix_dist: 6.1355, d3.loss_plan_l1_fix_time: 14.8062, d3.loss_plan_l1_fix_dist: 7.9968, d4.loss_plan_l1_fix_time: 15.2075, d4.loss_plan_l1_fix_dist: 10.6437, d5.loss_plan_l1_fix_time: 15.6786, d5.loss_plan_l1_fix_dist: 13.4256, d6.loss_plan_l1_fix_time: 16.1345, d6.loss_plan_l1_fix_dist: 16.0505, d0.loss_cls_all: 535.9379, d0.loss_bbox_all: 1.6059, d0.loss_cls: 535.9379, d0.loss_bbox: 1.6059, d1.loss_cls: 599.2132, d1.loss_bbox: 1.5675, d2.loss_cls: 599.6856, d2.loss_bbox: 1.6493, d3.loss_cls: 682.7777, d3.loss_bbox: 1.6523, d4.loss_cls: 652.6119, d4.loss_bbox: 1.5497, d5.loss_cls: 730.0784, d5.loss_bbox: 1.6436, d0.loss_traj_cls: 0.0750, d0.loss_traj: 6.6826, d1.loss_traj_cls: 0.0609, d1.loss_traj: 6.7408, d2.loss_traj_cls: 0.0632, d2.loss_traj: 6.8328, d3.loss_traj_cls: 0.1048, d3.loss_traj: 6.7782, d4.loss_traj_cls: 0.0534, d4.loss_traj: 6.6898, d5.loss_traj_cls: 0.0563, d5.loss_traj: 6.7205, d0.loss_map_cls_all: 8.9345, d0.loss_map_pts_all: 5.2281, d0.loss_map_dir_all: 0.0957, d0.loss_map_cls: 8.9345, d0.loss_map_pts: 5.2281, d0.loss_map_dir: 0.0957, d1.loss_map_cls: 8.3175, d1.loss_map_pts: 5.2484, d1.loss_map_dir: 0.0953, d2.loss_map_cls: 9.0981, d2.loss_map_pts: 5.2709, d2.loss_map_dir: 0.0952, d3.loss_map_cls: 12.2637, d3.loss_map_pts: 5.3037, d3.loss_map_dir: 0.0953, d4.loss_map_cls: 12.3236, d4.loss_map_pts: 5.3632, d4.loss_map_dir: 0.0952, d5.loss_map_cls: 12.2570, d5.loss_map_pts: 5.4132, d5.loss_map_dir: 0.0952, loss: 5491.3194, grad_norm: inf +2026-02-26 12:02:24,505 - DriveTransformer - INFO - Epoch [1][150/39528] lr: 2.341e-05, eta: 8 days, 18:10:12, time: 0.762, data_time: 0.029, memory: 18742, loss_cls: 658.1236, loss_bbox: 1.6819, loss_traj: 5.9607, loss_traj_cls: 0.0915, loss_map_cls: 12.3225, loss_map_pts: 5.7188, loss_map_dir: 0.0951, d0.loss_plan_l1_fix_time: 12.4242, d0.loss_plan_l1_fix_dist: 3.3145, d1.loss_plan_l1_fix_time: 12.7271, d1.loss_plan_l1_fix_dist: 4.3634, d2.loss_plan_l1_fix_time: 13.0966, d2.loss_plan_l1_fix_dist: 6.0572, d3.loss_plan_l1_fix_time: 13.5725, d3.loss_plan_l1_fix_dist: 7.9555, d4.loss_plan_l1_fix_time: 14.0106, d4.loss_plan_l1_fix_dist: 10.5612, d5.loss_plan_l1_fix_time: 14.5110, d5.loss_plan_l1_fix_dist: 13.3124, d6.loss_plan_l1_fix_time: 14.9835, d6.loss_plan_l1_fix_dist: 15.9030, d0.loss_cls_all: 455.1223, d0.loss_bbox_all: 1.6352, d0.loss_cls: 455.1223, d0.loss_bbox: 1.6352, d1.loss_cls: 495.4338, d1.loss_bbox: 1.6103, d2.loss_cls: 500.2631, d2.loss_bbox: 1.6869, d3.loss_cls: 570.4701, d3.loss_bbox: 1.6762, d4.loss_cls: 534.8765, d4.loss_bbox: 1.6060, d5.loss_cls: 596.2380, d5.loss_bbox: 1.6914, d0.loss_traj_cls: 0.0747, d0.loss_traj: 5.9430, d1.loss_traj_cls: 0.0648, d1.loss_traj: 5.9989, d2.loss_traj_cls: 0.0647, d2.loss_traj: 6.0705, d3.loss_traj_cls: 0.1126, d3.loss_traj: 6.0122, d4.loss_traj_cls: 0.0535, d4.loss_traj: 5.9304, d5.loss_traj_cls: 0.0557, d5.loss_traj: 5.9721, d0.loss_map_cls_all: 9.4106, d0.loss_map_pts_all: 5.3464, d0.loss_map_dir_all: 0.0953, d0.loss_map_cls: 9.4106, d0.loss_map_pts: 5.3464, d0.loss_map_dir: 0.0953, d1.loss_map_cls: 8.6733, d1.loss_map_pts: 5.3772, d1.loss_map_dir: 0.0953, d2.loss_map_cls: 9.3782, d2.loss_map_pts: 5.4285, d2.loss_map_dir: 0.0951, d3.loss_map_cls: 12.4900, d3.loss_map_pts: 5.4790, d3.loss_map_dir: 0.0951, d4.loss_map_cls: 12.5535, d4.loss_map_pts: 5.5599, d4.loss_map_dir: 0.0951, d5.loss_map_cls: 12.5340, d5.loss_map_pts: 5.6425, d5.loss_map_dir: 0.0950, loss: 4609.5038, grad_norm: inf +2026-02-26 12:03:02,285 - DriveTransformer - INFO - Epoch [1][200/39528] lr: 2.791e-05, eta: 8 days, 15:23:25, time: 0.756, data_time: 0.032, memory: 18742, loss_cls: 692.3915, loss_bbox: 1.7076, loss_traj: 5.3087, loss_traj_cls: 0.1032, loss_map_cls: 8.4470, loss_map_pts: 5.6586, loss_map_dir: 0.0949, d0.loss_plan_l1_fix_time: 9.6767, d0.loss_plan_l1_fix_dist: 3.3180, d1.loss_plan_l1_fix_time: 10.1223, d1.loss_plan_l1_fix_dist: 4.3449, d2.loss_plan_l1_fix_time: 10.6207, d2.loss_plan_l1_fix_dist: 6.1040, d3.loss_plan_l1_fix_time: 11.2203, d3.loss_plan_l1_fix_dist: 7.9613, d4.loss_plan_l1_fix_time: 11.7561, d4.loss_plan_l1_fix_dist: 10.5844, d5.loss_plan_l1_fix_time: 12.3599, d5.loss_plan_l1_fix_dist: 13.3080, d6.loss_plan_l1_fix_time: 12.9340, d6.loss_plan_l1_fix_dist: 15.8994, d0.loss_cls_all: 466.0882, d0.loss_bbox_all: 1.6489, d0.loss_cls: 466.0882, d0.loss_bbox: 1.6489, d1.loss_cls: 509.9849, d1.loss_bbox: 1.6219, d2.loss_cls: 512.1124, d2.loss_bbox: 1.6956, d3.loss_cls: 590.2557, d3.loss_bbox: 1.6969, d4.loss_cls: 552.6955, d4.loss_bbox: 1.6476, d5.loss_cls: 627.9205, d5.loss_bbox: 1.7145, d0.loss_traj_cls: 0.0749, d0.loss_traj: 5.2833, d1.loss_traj_cls: 0.0624, d1.loss_traj: 5.3204, d2.loss_traj_cls: 0.0674, d2.loss_traj: 5.4194, d3.loss_traj_cls: 0.1151, d3.loss_traj: 5.3850, d4.loss_traj_cls: 0.0566, d4.loss_traj: 5.2511, d5.loss_traj_cls: 0.0621, d5.loss_traj: 5.3087, d0.loss_map_cls_all: 6.2922, d0.loss_map_pts_all: 5.2547, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 6.2922, d0.loss_map_pts: 5.2547, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 5.7508, d1.loss_map_pts: 5.3031, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 6.2950, d2.loss_map_pts: 5.3551, d2.loss_map_dir: 0.0948, d3.loss_map_cls: 8.4904, d3.loss_map_pts: 5.4033, d3.loss_map_dir: 0.0947, d4.loss_map_cls: 8.4606, d4.loss_map_pts: 5.4942, d4.loss_map_dir: 0.0946, d5.loss_map_cls: 8.5846, d5.loss_map_pts: 5.5753, d5.loss_map_dir: 0.0948, loss: 4711.6185, grad_norm: inf +2026-02-26 12:03:39,939 - DriveTransformer - INFO - Epoch [1][250/39528] lr: 3.241e-05, eta: 8 days, 13:34:56, time: 0.753, data_time: 0.032, memory: 18742, loss_cls: 607.7589, loss_bbox: 1.6260, loss_traj: 5.8898, loss_traj_cls: 0.0984, loss_map_cls: 8.8537, loss_map_pts: 5.5939, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 11.1997, d0.loss_plan_l1_fix_dist: 3.2853, d1.loss_plan_l1_fix_time: 11.5687, d1.loss_plan_l1_fix_dist: 4.2703, d2.loss_plan_l1_fix_time: 12.0002, d2.loss_plan_l1_fix_dist: 5.8471, d3.loss_plan_l1_fix_time: 12.5281, d3.loss_plan_l1_fix_dist: 7.5833, d4.loss_plan_l1_fix_time: 12.9973, d4.loss_plan_l1_fix_dist: 10.1809, d5.loss_plan_l1_fix_time: 13.5297, d5.loss_plan_l1_fix_dist: 12.8848, d6.loss_plan_l1_fix_time: 14.0310, d6.loss_plan_l1_fix_dist: 15.4001, d0.loss_cls_all: 421.3768, d0.loss_bbox_all: 1.5972, d0.loss_cls: 421.3768, d0.loss_bbox: 1.5972, d1.loss_cls: 454.5432, d1.loss_bbox: 1.5432, d2.loss_cls: 457.9544, d2.loss_bbox: 1.6219, d3.loss_cls: 525.3955, d3.loss_bbox: 1.6257, d4.loss_cls: 493.5736, d4.loss_bbox: 1.5431, d5.loss_cls: 552.4852, d5.loss_bbox: 1.6335, d0.loss_traj_cls: 0.0748, d0.loss_traj: 5.8681, d1.loss_traj_cls: 0.0602, d1.loss_traj: 5.9196, d2.loss_traj_cls: 0.0640, d2.loss_traj: 6.0099, d3.loss_traj_cls: 0.1087, d3.loss_traj: 5.9579, d4.loss_traj_cls: 0.0542, d4.loss_traj: 5.8456, d5.loss_traj_cls: 0.0590, d5.loss_traj: 5.8911, d0.loss_map_cls_all: 6.5892, d0.loss_map_pts_all: 5.2564, d0.loss_map_dir_all: 0.0950, d0.loss_map_cls: 6.5892, d0.loss_map_pts: 5.2564, d0.loss_map_dir: 0.0950, d1.loss_map_cls: 6.1364, d1.loss_map_pts: 5.2925, d1.loss_map_dir: 0.0949, d2.loss_map_cls: 6.6147, d2.loss_map_pts: 5.3371, d2.loss_map_dir: 0.0948, d3.loss_map_cls: 8.8679, d3.loss_map_pts: 5.3793, d3.loss_map_dir: 0.0948, d4.loss_map_cls: 8.8946, d4.loss_map_pts: 5.4596, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 9.0356, d5.loss_map_pts: 5.5306, d5.loss_map_dir: 0.0946, loss: 4241.9057, grad_norm: inf +2026-02-26 12:04:17,014 - DriveTransformer - INFO - Epoch [1][300/39528] lr: 3.691e-05, eta: 8 days, 11:51:51, time: 0.741, data_time: 0.030, memory: 18742, loss_cls: 665.0782, loss_bbox: 1.6791, loss_traj: 7.1554, loss_traj_cls: 0.0964, loss_map_cls: 9.8720, loss_map_pts: 5.3528, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 12.2042, d0.loss_plan_l1_fix_dist: 3.3882, d1.loss_plan_l1_fix_time: 12.5688, d1.loss_plan_l1_fix_dist: 4.3820, d2.loss_plan_l1_fix_time: 12.9851, d2.loss_plan_l1_fix_dist: 6.1406, d3.loss_plan_l1_fix_time: 13.5047, d3.loss_plan_l1_fix_dist: 7.9780, d4.loss_plan_l1_fix_time: 13.9638, d4.loss_plan_l1_fix_dist: 10.7142, d5.loss_plan_l1_fix_time: 14.4865, d5.loss_plan_l1_fix_dist: 13.5458, d6.loss_plan_l1_fix_time: 14.9836, d6.loss_plan_l1_fix_dist: 16.1848, d0.loss_cls_all: 457.2619, d0.loss_bbox_all: 1.6751, d0.loss_cls: 457.2619, d0.loss_bbox: 1.6751, d1.loss_cls: 500.4034, d1.loss_bbox: 1.6332, d2.loss_cls: 501.8246, d2.loss_bbox: 1.7207, d3.loss_cls: 572.8057, d3.loss_bbox: 1.7017, d4.loss_cls: 540.9746, d4.loss_bbox: 1.6035, d5.loss_cls: 607.1481, d5.loss_bbox: 1.6941, d0.loss_traj_cls: 0.0736, d0.loss_traj: 7.1298, d1.loss_traj_cls: 0.0590, d1.loss_traj: 7.1948, d2.loss_traj_cls: 0.0612, d2.loss_traj: 7.2841, d3.loss_traj_cls: 0.1073, d3.loss_traj: 7.2187, d4.loss_traj_cls: 0.0521, d4.loss_traj: 7.1189, d5.loss_traj_cls: 0.0585, d5.loss_traj: 7.1501, d0.loss_map_cls_all: 7.5615, d0.loss_map_pts_all: 5.0502, d0.loss_map_dir_all: 0.0948, d0.loss_map_cls: 7.5615, d0.loss_map_pts: 5.0502, d0.loss_map_dir: 0.0948, d1.loss_map_cls: 7.0152, d1.loss_map_pts: 5.0815, d1.loss_map_dir: 0.0948, d2.loss_map_cls: 7.4976, d2.loss_map_pts: 5.1204, d2.loss_map_dir: 0.0947, d3.loss_map_cls: 10.0608, d3.loss_map_pts: 5.1578, d3.loss_map_dir: 0.0946, d4.loss_map_cls: 9.9877, d4.loss_map_pts: 5.2319, d4.loss_map_dir: 0.0946, d5.loss_map_cls: 10.1044, d5.loss_map_pts: 5.2953, d5.loss_map_dir: 0.0946, loss: 4635.6892, grad_norm: inf +2026-02-26 12:04:52,176 - DriveTransformer - INFO - Epoch [1][350/39528] lr: 4.141e-05, eta: 8 days, 9:11:42, time: 0.703, data_time: 0.031, memory: 18742, loss_cls: 673.1211, loss_bbox: 1.6380, loss_traj: 6.2528, loss_traj_cls: 0.0970, loss_map_cls: 10.6595, loss_map_pts: 5.7996, loss_map_dir: 0.0952, d0.loss_plan_l1_fix_time: 11.7812, d0.loss_plan_l1_fix_dist: 3.2684, d1.loss_plan_l1_fix_time: 12.1331, d1.loss_plan_l1_fix_dist: 4.2585, d2.loss_plan_l1_fix_time: 12.5280, d2.loss_plan_l1_fix_dist: 6.0340, d3.loss_plan_l1_fix_time: 13.0318, d3.loss_plan_l1_fix_dist: 7.9005, d4.loss_plan_l1_fix_time: 13.4842, d4.loss_plan_l1_fix_dist: 10.5421, d5.loss_plan_l1_fix_time: 13.9951, d5.loss_plan_l1_fix_dist: 13.2784, d6.loss_plan_l1_fix_time: 14.4747, d6.loss_plan_l1_fix_dist: 15.8732, d0.loss_cls_all: 460.5377, d0.loss_bbox_all: 1.5998, d0.loss_cls: 460.5377, d0.loss_bbox: 1.5998, d1.loss_cls: 506.8471, d1.loss_bbox: 1.5605, d2.loss_cls: 509.0205, d2.loss_bbox: 1.6554, d3.loss_cls: 578.6152, d3.loss_bbox: 1.6497, d4.loss_cls: 546.0408, d4.loss_bbox: 1.5671, d5.loss_cls: 609.5215, d5.loss_bbox: 1.6542, d0.loss_traj_cls: 0.0741, d0.loss_traj: 6.2271, d1.loss_traj_cls: 0.0612, d1.loss_traj: 6.2789, d2.loss_traj_cls: 0.0616, d2.loss_traj: 6.3710, d3.loss_traj_cls: 0.1088, d3.loss_traj: 6.3129, d4.loss_traj_cls: 0.0519, d4.loss_traj: 6.2078, d5.loss_traj_cls: 0.0568, d5.loss_traj: 6.2503, d0.loss_map_cls_all: 7.9883, d0.loss_map_pts_all: 5.5520, d0.loss_map_dir_all: 0.0954, d0.loss_map_cls: 7.9883, d0.loss_map_pts: 5.5520, d0.loss_map_dir: 0.0954, d1.loss_map_cls: 7.4590, d1.loss_map_pts: 5.5736, d1.loss_map_dir: 0.0952, d2.loss_map_cls: 8.1353, d2.loss_map_pts: 5.6045, d2.loss_map_dir: 0.0951, d3.loss_map_cls: 10.8708, d3.loss_map_pts: 5.6407, d3.loss_map_dir: 0.0951, d4.loss_map_cls: 10.8228, d4.loss_map_pts: 5.6995, d4.loss_map_dir: 0.0952, d5.loss_map_cls: 10.7797, d5.loss_map_pts: 5.7557, d5.loss_map_dir: 0.0951, loss: 4674.8047, grad_norm: inf +2026-02-26 12:05:30,763 - DriveTransformer - INFO - Epoch [1][400/39528] lr: 4.591e-05, eta: 8 days, 9:26:51, time: 0.772, data_time: 0.032, memory: 18742, loss_cls: 583.0376, loss_bbox: 1.6945, loss_traj: 5.2644, loss_traj_cls: 0.0937, loss_map_cls: 7.6275, loss_map_pts: 5.5826, loss_map_dir: 0.0944, d0.loss_plan_l1_fix_time: 12.1575, d0.loss_plan_l1_fix_dist: 3.3865, d1.loss_plan_l1_fix_time: 12.4790, d1.loss_plan_l1_fix_dist: 4.4035, d2.loss_plan_l1_fix_time: 12.8563, d2.loss_plan_l1_fix_dist: 6.1912, d3.loss_plan_l1_fix_time: 13.3360, d3.loss_plan_l1_fix_dist: 8.0577, d4.loss_plan_l1_fix_time: 13.7587, d4.loss_plan_l1_fix_dist: 10.6807, d5.loss_plan_l1_fix_time: 14.2441, d5.loss_plan_l1_fix_dist: 13.4494, d6.loss_plan_l1_fix_time: 14.7108, d6.loss_plan_l1_fix_dist: 16.0823, d0.loss_cls_all: 402.6884, d0.loss_bbox_all: 1.6326, d0.loss_cls: 402.6884, d0.loss_bbox: 1.6326, d1.loss_cls: 436.6731, d1.loss_bbox: 1.5973, d2.loss_cls: 442.8400, d2.loss_bbox: 1.6820, d3.loss_cls: 502.0290, d3.loss_bbox: 1.6677, d4.loss_cls: 468.5607, d4.loss_bbox: 1.6162, d5.loss_cls: 530.1911, d5.loss_bbox: 1.6978, d0.loss_traj_cls: 0.0741, d0.loss_traj: 5.2466, d1.loss_traj_cls: 0.0606, d1.loss_traj: 5.3013, d2.loss_traj_cls: 0.0623, d2.loss_traj: 5.3716, d3.loss_traj_cls: 0.1071, d3.loss_traj: 5.3278, d4.loss_traj_cls: 0.0517, d4.loss_traj: 5.2340, d5.loss_traj_cls: 0.0567, d5.loss_traj: 5.2730, d0.loss_map_cls_all: 5.9572, d0.loss_map_pts_all: 5.1835, d0.loss_map_dir_all: 0.0946, d0.loss_map_cls: 5.9572, d0.loss_map_pts: 5.1835, d0.loss_map_dir: 0.0946, d1.loss_map_cls: 5.5615, d1.loss_map_pts: 5.2156, d1.loss_map_dir: 0.0944, d2.loss_map_cls: 6.0201, d2.loss_map_pts: 5.2676, d2.loss_map_dir: 0.0943, d3.loss_map_cls: 7.9721, d3.loss_map_pts: 5.3183, d3.loss_map_dir: 0.0944, d4.loss_map_cls: 7.8077, d4.loss_map_pts: 5.4039, d4.loss_map_dir: 0.0944, d5.loss_map_cls: 7.7872, d5.loss_map_pts: 5.4947, d5.loss_map_dir: 0.0945, loss: 4073.3429, grad_norm: inf +2026-02-26 12:06:09,347 - DriveTransformer - INFO - Epoch [1][450/39528] lr: 5.041e-05, eta: 8 days, 9:38:10, time: 0.772, data_time: 0.029, memory: 18742, loss_cls: 704.7121, loss_bbox: 1.6716, loss_traj: 4.9313, loss_traj_cls: 0.0941, loss_map_cls: 9.6845, loss_map_pts: 5.4581, loss_map_dir: 0.0945, d0.loss_plan_l1_fix_time: 10.8355, d0.loss_plan_l1_fix_dist: 3.4812, d1.loss_plan_l1_fix_time: 11.2339, d1.loss_plan_l1_fix_dist: 4.4474, d2.loss_plan_l1_fix_time: 11.6912, d2.loss_plan_l1_fix_dist: 6.1352, d3.loss_plan_l1_fix_time: 12.2563, d3.loss_plan_l1_fix_dist: 8.0306, d4.loss_plan_l1_fix_time: 12.7658, d4.loss_plan_l1_fix_dist: 10.7150, d5.loss_plan_l1_fix_time: 13.3261, d5.loss_plan_l1_fix_dist: 13.5314, d6.loss_plan_l1_fix_time: 13.8560, d6.loss_plan_l1_fix_dist: 16.1728, d0.loss_cls_all: 487.9115, d0.loss_bbox_all: 1.5986, d0.loss_cls: 487.9115, d0.loss_bbox: 1.5986, d1.loss_cls: 532.5919, d1.loss_bbox: 1.5569, d2.loss_cls: 539.1841, d2.loss_bbox: 1.6311, d3.loss_cls: 610.1850, d3.loss_bbox: 1.6188, d4.loss_cls: 570.9152, d4.loss_bbox: 1.5612, d5.loss_cls: 636.7374, d5.loss_bbox: 1.6714, d0.loss_traj_cls: 0.0739, d0.loss_traj: 4.9140, d1.loss_traj_cls: 0.0624, d1.loss_traj: 4.9497, d2.loss_traj_cls: 0.0638, d2.loss_traj: 5.0228, d3.loss_traj_cls: 0.1109, d3.loss_traj: 4.9807, d4.loss_traj_cls: 0.0532, d4.loss_traj: 4.8712, d5.loss_traj_cls: 0.0568, d5.loss_traj: 4.9248, d0.loss_map_cls_all: 7.2038, d0.loss_map_pts_all: 5.1295, d0.loss_map_dir_all: 0.0948, d0.loss_map_cls: 7.2038, d0.loss_map_pts: 5.1295, d0.loss_map_dir: 0.0948, d1.loss_map_cls: 6.8208, d1.loss_map_pts: 5.1622, d1.loss_map_dir: 0.0946, d2.loss_map_cls: 7.3166, d2.loss_map_pts: 5.2017, d2.loss_map_dir: 0.0945, d3.loss_map_cls: 9.9759, d3.loss_map_pts: 5.2441, d3.loss_map_dir: 0.0945, d4.loss_map_cls: 9.8203, d4.loss_map_pts: 5.3135, d4.loss_map_dir: 0.0945, d5.loss_map_cls: 9.8080, d5.loss_map_pts: 5.3826, d5.loss_map_dir: 0.0944, loss: 4877.2563, grad_norm: inf +2026-02-26 12:06:43,583 - DriveTransformer - INFO - Epoch [1][500/39528] lr: 5.491e-05, eta: 8 days, 7:29:55, time: 0.685, data_time: 0.028, memory: 18742, loss_cls: 648.4834, loss_bbox: 1.6500, loss_traj: 7.0770, loss_traj_cls: 0.0876, loss_map_cls: 13.7228, loss_map_pts: 5.5361, loss_map_dir: 0.0953, d0.loss_plan_l1_fix_time: 12.9995, d0.loss_plan_l1_fix_dist: 3.2266, d1.loss_plan_l1_fix_time: 13.3090, d1.loss_plan_l1_fix_dist: 4.2516, d2.loss_plan_l1_fix_time: 13.6746, d2.loss_plan_l1_fix_dist: 5.9462, d3.loss_plan_l1_fix_time: 14.1530, d3.loss_plan_l1_fix_dist: 7.7761, d4.loss_plan_l1_fix_time: 14.5750, d4.loss_plan_l1_fix_dist: 10.3194, d5.loss_plan_l1_fix_time: 15.0669, d5.loss_plan_l1_fix_dist: 12.9471, d6.loss_plan_l1_fix_time: 15.5351, d6.loss_plan_l1_fix_dist: 15.4710, d0.loss_cls_all: 441.2465, d0.loss_bbox_all: 1.6267, d0.loss_cls: 441.2465, d0.loss_bbox: 1.6267, d1.loss_cls: 489.6315, d1.loss_bbox: 1.5881, d2.loss_cls: 496.1643, d2.loss_bbox: 1.6799, d3.loss_cls: 554.9889, d3.loss_bbox: 1.6595, d4.loss_cls: 526.7295, d4.loss_bbox: 1.5631, d5.loss_cls: 586.9652, d5.loss_bbox: 1.6676, d0.loss_traj_cls: 0.0741, d0.loss_traj: 7.0461, d1.loss_traj_cls: 0.0605, d1.loss_traj: 7.1178, d2.loss_traj_cls: 0.0604, d2.loss_traj: 7.1948, d3.loss_traj_cls: 0.1073, d3.loss_traj: 7.1241, d4.loss_traj_cls: 0.0522, d4.loss_traj: 7.0417, d5.loss_traj_cls: 0.0542, d5.loss_traj: 7.0754, d0.loss_map_cls_all: 10.2160, d0.loss_map_pts_all: 5.3486, d0.loss_map_dir_all: 0.0957, d0.loss_map_cls: 10.2160, d0.loss_map_pts: 5.3486, d0.loss_map_dir: 0.0957, d1.loss_map_cls: 9.5436, d1.loss_map_pts: 5.3646, d1.loss_map_dir: 0.0956, d2.loss_map_cls: 10.3214, d2.loss_map_pts: 5.3817, d2.loss_map_dir: 0.0953, d3.loss_map_cls: 13.9199, d3.loss_map_pts: 5.4002, d3.loss_map_dir: 0.0954, d4.loss_map_cls: 13.8796, d4.loss_map_pts: 5.4465, d4.loss_map_dir: 0.0952, d5.loss_map_cls: 13.8833, d5.loss_map_pts: 5.4962, d5.loss_map_dir: 0.0952, loss: 4547.7298, grad_norm: inf +2026-02-26 12:07:20,814 - DriveTransformer - INFO - Epoch [1][550/39528] lr: 5.941e-05, eta: 8 days, 7:10:44, time: 0.745, data_time: 0.030, memory: 18742, loss_cls: 646.5521, loss_bbox: 1.6934, loss_traj: 5.7952, loss_traj_cls: 0.0846, loss_map_cls: 8.5927, loss_map_pts: 5.6950, loss_map_dir: 0.0945, d0.loss_plan_l1_fix_time: 11.3135, d0.loss_plan_l1_fix_dist: 3.3116, d1.loss_plan_l1_fix_time: 11.6702, d1.loss_plan_l1_fix_dist: 4.3797, d2.loss_plan_l1_fix_time: 12.0987, d2.loss_plan_l1_fix_dist: 5.9824, d3.loss_plan_l1_fix_time: 12.6301, d3.loss_plan_l1_fix_dist: 7.8319, d4.loss_plan_l1_fix_time: 13.1139, d4.loss_plan_l1_fix_dist: 10.4510, d5.loss_plan_l1_fix_time: 13.6562, d5.loss_plan_l1_fix_dist: 13.2282, d6.loss_plan_l1_fix_time: 14.1620, d6.loss_plan_l1_fix_dist: 15.8715, d0.loss_cls_all: 450.2106, d0.loss_bbox_all: 1.6396, d0.loss_cls: 450.2106, d0.loss_bbox: 1.6396, d1.loss_cls: 489.5858, d1.loss_bbox: 1.5973, d2.loss_cls: 498.5675, d2.loss_bbox: 1.6679, d3.loss_cls: 556.5122, d3.loss_bbox: 1.6636, d4.loss_cls: 524.5436, d4.loss_bbox: 1.5862, d5.loss_cls: 584.5491, d5.loss_bbox: 1.6979, d0.loss_traj_cls: 0.0739, d0.loss_traj: 5.7768, d1.loss_traj_cls: 0.0617, d1.loss_traj: 5.8302, d2.loss_traj_cls: 0.0599, d2.loss_traj: 5.8995, d3.loss_traj_cls: 0.1044, d3.loss_traj: 5.8463, d4.loss_traj_cls: 0.0494, d4.loss_traj: 5.7616, d5.loss_traj_cls: 0.0511, d5.loss_traj: 5.7991, d0.loss_map_cls_all: 6.7883, d0.loss_map_pts_all: 5.3674, d0.loss_map_dir_all: 0.0945, d0.loss_map_cls: 6.7883, d0.loss_map_pts: 5.3674, d0.loss_map_dir: 0.0945, d1.loss_map_cls: 6.4467, d1.loss_map_pts: 5.4033, d1.loss_map_dir: 0.0945, d2.loss_map_cls: 6.9144, d2.loss_map_pts: 5.4469, d2.loss_map_dir: 0.0944, d3.loss_map_cls: 9.0334, d3.loss_map_pts: 5.4877, d3.loss_map_dir: 0.0945, d4.loss_map_cls: 8.8789, d4.loss_map_pts: 5.5657, d4.loss_map_dir: 0.0944, d5.loss_map_cls: 8.8118, d5.loss_map_pts: 5.6301, d5.loss_map_dir: 0.0944, loss: 4511.7855, grad_norm: inf +2026-02-26 12:07:56,719 - DriveTransformer - INFO - Epoch [1][600/39528] lr: 6.391e-05, eta: 8 days, 6:19:59, time: 0.718, data_time: 0.031, memory: 18742, loss_cls: 706.9887, loss_bbox: 1.6558, loss_traj: 6.1753, loss_traj_cls: 0.1010, loss_map_cls: 13.0873, loss_map_pts: 5.3188, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 11.9823, d0.loss_plan_l1_fix_dist: 3.3205, d1.loss_plan_l1_fix_time: 12.3439, d1.loss_plan_l1_fix_dist: 4.3495, d2.loss_plan_l1_fix_time: 12.7608, d2.loss_plan_l1_fix_dist: 6.2157, d3.loss_plan_l1_fix_time: 13.2797, d3.loss_plan_l1_fix_dist: 8.1873, d4.loss_plan_l1_fix_time: 13.7411, d4.loss_plan_l1_fix_dist: 10.9879, d5.loss_plan_l1_fix_time: 14.2682, d5.loss_plan_l1_fix_dist: 13.8777, d6.loss_plan_l1_fix_time: 14.7614, d6.loss_plan_l1_fix_dist: 16.5942, d0.loss_cls_all: 490.0606, d0.loss_bbox_all: 1.5992, d0.loss_cls: 490.0606, d0.loss_bbox: 1.5992, d1.loss_cls: 527.3297, d1.loss_bbox: 1.5580, d2.loss_cls: 533.5077, d2.loss_bbox: 1.6521, d3.loss_cls: 605.7778, d3.loss_bbox: 1.6445, d4.loss_cls: 568.2416, d4.loss_bbox: 1.5773, d5.loss_cls: 638.3680, d5.loss_bbox: 1.6635, d0.loss_traj_cls: 0.0741, d0.loss_traj: 6.1514, d1.loss_traj_cls: 0.0650, d1.loss_traj: 6.2117, d2.loss_traj_cls: 0.0665, d2.loss_traj: 6.2786, d3.loss_traj_cls: 0.1166, d3.loss_traj: 6.2308, d4.loss_traj_cls: 0.0566, d4.loss_traj: 6.1409, d5.loss_traj_cls: 0.0604, d5.loss_traj: 6.1881, d0.loss_map_cls_all: 9.9565, d0.loss_map_pts_all: 5.0640, d0.loss_map_dir_all: 0.0950, d0.loss_map_cls: 9.9565, d0.loss_map_pts: 5.0640, d0.loss_map_dir: 0.0950, d1.loss_map_cls: 9.2223, d1.loss_map_pts: 5.0906, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 9.9012, d2.loss_map_pts: 5.1211, d2.loss_map_dir: 0.0947, d3.loss_map_cls: 13.2546, d3.loss_map_pts: 5.1515, d3.loss_map_dir: 0.0948, d4.loss_map_cls: 13.2471, d4.loss_map_pts: 5.2120, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 13.2418, d5.loss_map_pts: 5.2655, d5.loss_map_dir: 0.0947, loss: 4907.7852, grad_norm: inf +2026-02-26 12:08:33,031 - DriveTransformer - INFO - Epoch [1][650/39528] lr: 6.841e-05, eta: 8 days, 5:46:45, time: 0.726, data_time: 0.032, memory: 18742, loss_cls: 647.7143, loss_bbox: 1.6710, loss_traj: 6.3881, loss_traj_cls: 0.0946, loss_map_cls: 12.4366, loss_map_pts: 5.4679, loss_map_dir: 0.0951, d0.loss_plan_l1_fix_time: 12.6558, d0.loss_plan_l1_fix_dist: 3.3399, d1.loss_plan_l1_fix_time: 12.9996, d1.loss_plan_l1_fix_dist: 4.3497, d2.loss_plan_l1_fix_time: 13.4022, d2.loss_plan_l1_fix_dist: 6.0161, d3.loss_plan_l1_fix_time: 13.8987, d3.loss_plan_l1_fix_dist: 7.7848, d4.loss_plan_l1_fix_time: 14.3342, d4.loss_plan_l1_fix_dist: 10.3532, d5.loss_plan_l1_fix_time: 14.8296, d5.loss_plan_l1_fix_dist: 13.0227, d6.loss_plan_l1_fix_time: 15.3017, d6.loss_plan_l1_fix_dist: 15.5398, d0.loss_cls_all: 445.7474, d0.loss_bbox_all: 1.6481, d0.loss_cls: 445.7474, d0.loss_bbox: 1.6481, d1.loss_cls: 492.0319, d1.loss_bbox: 1.6063, d2.loss_cls: 492.5334, d2.loss_bbox: 1.6850, d3.loss_cls: 558.9790, d3.loss_bbox: 1.6675, d4.loss_cls: 525.4466, d4.loss_bbox: 1.5923, d5.loss_cls: 589.3679, d5.loss_bbox: 1.6819, d0.loss_traj_cls: 0.0754, d0.loss_traj: 6.3589, d1.loss_traj_cls: 0.0591, d1.loss_traj: 6.4123, d2.loss_traj_cls: 0.0629, d2.loss_traj: 6.5050, d3.loss_traj_cls: 0.1085, d3.loss_traj: 6.4563, d4.loss_traj_cls: 0.0537, d4.loss_traj: 6.3455, d5.loss_traj_cls: 0.0584, d5.loss_traj: 6.3893, d0.loss_map_cls_all: 9.2928, d0.loss_map_pts_all: 5.1852, d0.loss_map_dir_all: 0.0953, d0.loss_map_cls: 9.2928, d0.loss_map_pts: 5.1852, d0.loss_map_dir: 0.0953, d1.loss_map_cls: 8.6647, d1.loss_map_pts: 5.2129, d1.loss_map_dir: 0.0953, d2.loss_map_cls: 9.2941, d2.loss_map_pts: 5.2506, d2.loss_map_dir: 0.0950, d3.loss_map_cls: 12.4936, d3.loss_map_pts: 5.2891, d3.loss_map_dir: 0.0951, d4.loss_map_cls: 12.4865, d4.loss_map_pts: 5.3560, d4.loss_map_dir: 0.0950, d5.loss_map_cls: 12.6998, d5.loss_map_pts: 5.4179, d5.loss_map_dir: 0.0951, loss: 4543.7510, grad_norm: inf +2026-02-26 12:09:09,108 - DriveTransformer - INFO - Epoch [1][700/39528] lr: 7.291e-05, eta: 8 days, 5:12:40, time: 0.721, data_time: 0.030, memory: 18742, loss_cls: 667.9465, loss_bbox: 1.6024, loss_traj: 6.9691, loss_traj_cls: 0.0913, loss_map_cls: 12.8058, loss_map_pts: 5.7416, loss_map_dir: 0.0946, d0.loss_plan_l1_fix_time: 13.0044, d0.loss_plan_l1_fix_dist: 3.3780, d1.loss_plan_l1_fix_time: 13.3275, d1.loss_plan_l1_fix_dist: 4.4337, d2.loss_plan_l1_fix_time: 13.6984, d2.loss_plan_l1_fix_dist: 6.2370, d3.loss_plan_l1_fix_time: 14.1639, d3.loss_plan_l1_fix_dist: 8.1594, d4.loss_plan_l1_fix_time: 14.5786, d4.loss_plan_l1_fix_dist: 10.9149, d5.loss_plan_l1_fix_time: 15.0488, d5.loss_plan_l1_fix_dist: 13.7569, d6.loss_plan_l1_fix_time: 15.4994, d6.loss_plan_l1_fix_dist: 16.4193, d0.loss_cls_all: 464.7471, d0.loss_bbox_all: 1.5826, d0.loss_cls: 464.7471, d0.loss_bbox: 1.5826, d1.loss_cls: 511.1522, d1.loss_bbox: 1.5393, d2.loss_cls: 510.5141, d2.loss_bbox: 1.6287, d3.loss_cls: 577.2896, d3.loss_bbox: 1.6114, d4.loss_cls: 541.1786, d4.loss_bbox: 1.5286, d5.loss_cls: 607.3203, d5.loss_bbox: 1.6145, d0.loss_traj_cls: 0.0738, d0.loss_traj: 6.9574, d1.loss_traj_cls: 0.0600, d1.loss_traj: 7.0107, d2.loss_traj_cls: 0.0608, d2.loss_traj: 7.0972, d3.loss_traj_cls: 0.1073, d3.loss_traj: 7.0299, d4.loss_traj_cls: 0.0509, d4.loss_traj: 6.9400, d5.loss_traj_cls: 0.0551, d5.loss_traj: 6.9675, d0.loss_map_cls_all: 9.5825, d0.loss_map_pts_all: 5.4918, d0.loss_map_dir_all: 0.0951, d0.loss_map_cls: 9.5825, d0.loss_map_pts: 5.4918, d0.loss_map_dir: 0.0951, d1.loss_map_cls: 8.9048, d1.loss_map_pts: 5.5143, d1.loss_map_dir: 0.0949, d2.loss_map_cls: 9.6375, d2.loss_map_pts: 5.5421, d2.loss_map_dir: 0.0946, d3.loss_map_cls: 13.0878, d3.loss_map_pts: 5.5758, d3.loss_map_dir: 0.0946, d4.loss_map_cls: 12.9639, d4.loss_map_pts: 5.6351, d4.loss_map_dir: 0.0945, d5.loss_map_cls: 12.9957, d5.loss_map_pts: 5.6920, d5.loss_map_dir: 0.0946, loss: 4704.6797, grad_norm: inf +2026-02-26 12:09:47,320 - DriveTransformer - INFO - Epoch [1][750/39528] lr: 7.741e-05, eta: 8 days, 5:28:08, time: 0.764, data_time: 0.033, memory: 18742, loss_cls: 673.8481, loss_bbox: 1.6836, loss_traj: 5.6328, loss_traj_cls: 0.0993, loss_map_cls: 11.2466, loss_map_pts: 5.5845, loss_map_dir: 0.0946, d0.loss_plan_l1_fix_time: 11.4658, d0.loss_plan_l1_fix_dist: 3.3272, d1.loss_plan_l1_fix_time: 11.8537, d1.loss_plan_l1_fix_dist: 4.3393, d2.loss_plan_l1_fix_time: 12.2940, d2.loss_plan_l1_fix_dist: 6.0322, d3.loss_plan_l1_fix_time: 12.8325, d3.loss_plan_l1_fix_dist: 7.8938, d4.loss_plan_l1_fix_time: 13.3141, d4.loss_plan_l1_fix_dist: 10.5883, d5.loss_plan_l1_fix_time: 13.8592, d5.loss_plan_l1_fix_dist: 13.3819, d6.loss_plan_l1_fix_time: 14.3793, d6.loss_plan_l1_fix_dist: 16.0160, d0.loss_cls_all: 458.8747, d0.loss_bbox_all: 1.6245, d0.loss_cls: 458.8747, d0.loss_bbox: 1.6245, d1.loss_cls: 505.9637, d1.loss_bbox: 1.5936, d2.loss_cls: 506.3889, d2.loss_bbox: 1.6640, d3.loss_cls: 578.0331, d3.loss_bbox: 1.6544, d4.loss_cls: 544.7307, d4.loss_bbox: 1.5922, d5.loss_cls: 610.5817, d5.loss_bbox: 1.6856, d0.loss_traj_cls: 0.0731, d0.loss_traj: 5.6002, d1.loss_traj_cls: 0.0609, d1.loss_traj: 5.6539, d2.loss_traj_cls: 0.0626, d2.loss_traj: 5.7380, d3.loss_traj_cls: 0.1119, d3.loss_traj: 5.6877, d4.loss_traj_cls: 0.0540, d4.loss_traj: 5.5720, d5.loss_traj_cls: 0.0592, d5.loss_traj: 5.6196, d0.loss_map_cls_all: 8.3430, d0.loss_map_pts_all: 5.2634, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 8.3430, d0.loss_map_pts: 5.2634, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 7.7409, d1.loss_map_pts: 5.2950, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 8.4588, d2.loss_map_pts: 5.3346, d2.loss_map_dir: 0.0947, d3.loss_map_cls: 11.5069, d3.loss_map_pts: 5.3778, d3.loss_map_dir: 0.0947, d4.loss_map_cls: 11.3764, d4.loss_map_pts: 5.4565, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 11.4457, d5.loss_map_pts: 5.5258, d5.loss_map_dir: 0.0947, loss: 4664.3412, grad_norm: inf +2026-02-26 12:10:24,627 - DriveTransformer - INFO - Epoch [1][800/39528] lr: 8.191e-05, eta: 8 days, 5:25:09, time: 0.748, data_time: 0.033, memory: 18742, loss_cls: 608.1146, loss_bbox: 1.6667, loss_traj: 5.4549, loss_traj_cls: 0.1027, loss_map_cls: 10.7395, loss_map_pts: 5.6216, loss_map_dir: 0.0944, d0.loss_plan_l1_fix_time: 13.6165, d0.loss_plan_l1_fix_dist: 3.4658, d1.loss_plan_l1_fix_time: 13.9393, d1.loss_plan_l1_fix_dist: 4.4959, d2.loss_plan_l1_fix_time: 14.3108, d2.loss_plan_l1_fix_dist: 6.3111, d3.loss_plan_l1_fix_time: 14.7807, d3.loss_plan_l1_fix_dist: 8.2200, d4.loss_plan_l1_fix_time: 15.1957, d4.loss_plan_l1_fix_dist: 11.0094, d5.loss_plan_l1_fix_time: 15.6836, d5.loss_plan_l1_fix_dist: 13.8697, d6.loss_plan_l1_fix_time: 16.1567, d6.loss_plan_l1_fix_dist: 16.5539, d0.loss_cls_all: 420.0294, d0.loss_bbox_all: 1.5916, d0.loss_cls: 420.0294, d0.loss_bbox: 1.5916, d1.loss_cls: 454.7071, d1.loss_bbox: 1.5608, d2.loss_cls: 454.8526, d2.loss_bbox: 1.6364, d3.loss_cls: 521.9671, d3.loss_bbox: 1.6353, d4.loss_cls: 488.7438, d4.loss_bbox: 1.6055, d5.loss_cls: 557.6325, d5.loss_bbox: 1.6680, d0.loss_traj_cls: 0.0730, d0.loss_traj: 5.4390, d1.loss_traj_cls: 0.0587, d1.loss_traj: 5.4850, d2.loss_traj_cls: 0.0632, d2.loss_traj: 5.5750, d3.loss_traj_cls: 0.1127, d3.loss_traj: 5.5231, d4.loss_traj_cls: 0.0553, d4.loss_traj: 5.4061, d5.loss_traj_cls: 0.0631, d5.loss_traj: 5.4479, d0.loss_map_cls_all: 8.1523, d0.loss_map_pts_all: 5.3300, d0.loss_map_dir_all: 0.0947, d0.loss_map_cls: 8.1523, d0.loss_map_pts: 5.3300, d0.loss_map_dir: 0.0947, d1.loss_map_cls: 7.4997, d1.loss_map_pts: 5.3584, d1.loss_map_dir: 0.0945, d2.loss_map_cls: 8.0211, d2.loss_map_pts: 5.3979, d2.loss_map_dir: 0.0944, d3.loss_map_cls: 10.8853, d3.loss_map_pts: 5.4335, d3.loss_map_dir: 0.0944, d4.loss_map_cls: 10.7638, d4.loss_map_pts: 5.5020, d4.loss_map_dir: 0.0943, d5.loss_map_cls: 10.9401, d5.loss_map_pts: 5.5656, d5.loss_map_dir: 0.0944, loss: 4264.9503, grad_norm: inf +2026-02-26 12:11:00,976 - DriveTransformer - INFO - Epoch [1][850/39528] lr: 8.641e-05, eta: 8 days, 5:01:57, time: 0.725, data_time: 0.030, memory: 18742, loss_cls: 620.8403, loss_bbox: 1.6828, loss_traj: 5.0516, loss_traj_cls: 0.0933, loss_map_cls: 9.9206, loss_map_pts: 5.2252, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 11.5544, d0.loss_plan_l1_fix_dist: 3.3848, d1.loss_plan_l1_fix_time: 11.9329, d1.loss_plan_l1_fix_dist: 4.4213, d2.loss_plan_l1_fix_time: 12.3734, d2.loss_plan_l1_fix_dist: 6.0805, d3.loss_plan_l1_fix_time: 12.9125, d3.loss_plan_l1_fix_dist: 7.9354, d4.loss_plan_l1_fix_time: 13.3885, d4.loss_plan_l1_fix_dist: 10.5474, d5.loss_plan_l1_fix_time: 13.9275, d5.loss_plan_l1_fix_dist: 13.2571, d6.loss_plan_l1_fix_time: 14.4324, d6.loss_plan_l1_fix_dist: 15.8244, d0.loss_cls_all: 419.4658, d0.loss_bbox_all: 1.6223, d0.loss_cls: 419.4658, d0.loss_bbox: 1.6223, d1.loss_cls: 464.2115, d1.loss_bbox: 1.5878, d2.loss_cls: 465.3743, d2.loss_bbox: 1.6753, d3.loss_cls: 529.2134, d3.loss_bbox: 1.6709, d4.loss_cls: 500.5231, d4.loss_bbox: 1.6110, d5.loss_cls: 561.2464, d5.loss_bbox: 1.6898, d0.loss_traj_cls: 0.0740, d0.loss_traj: 5.0375, d1.loss_traj_cls: 0.0603, d1.loss_traj: 5.0761, d2.loss_traj_cls: 0.0630, d2.loss_traj: 5.1560, d3.loss_traj_cls: 0.1102, d3.loss_traj: 5.1108, d4.loss_traj_cls: 0.0547, d4.loss_traj: 5.0001, d5.loss_traj_cls: 0.0573, d5.loss_traj: 5.0467, d0.loss_map_cls_all: 7.5712, d0.loss_map_pts_all: 4.9617, d0.loss_map_dir_all: 0.0951, d0.loss_map_cls: 7.5712, d0.loss_map_pts: 4.9617, d0.loss_map_dir: 0.0951, d1.loss_map_cls: 7.1508, d1.loss_map_pts: 4.9841, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 7.6497, d2.loss_map_pts: 5.0160, d2.loss_map_dir: 0.0949, d3.loss_map_cls: 10.1487, d3.loss_map_pts: 5.0503, d3.loss_map_dir: 0.0949, d4.loss_map_cls: 9.9839, d4.loss_map_pts: 5.1149, d4.loss_map_dir: 0.0948, d5.loss_map_cls: 10.0916, d5.loss_map_pts: 5.1727, d5.loss_map_dir: 0.0948, loss: 4292.8001, grad_norm: inf +2026-02-26 12:11:37,789 - DriveTransformer - INFO - Epoch [1][900/39528] lr: 9.091e-05, eta: 8 days, 4:50:44, time: 0.736, data_time: 0.033, memory: 18742, loss_cls: 666.3874, loss_bbox: 1.6906, loss_traj: 5.3977, loss_traj_cls: 0.0873, loss_map_cls: 10.3745, loss_map_pts: 5.5749, loss_map_dir: 0.0949, d0.loss_plan_l1_fix_time: 11.0645, d0.loss_plan_l1_fix_dist: 3.4051, d1.loss_plan_l1_fix_time: 11.4678, d1.loss_plan_l1_fix_dist: 4.4278, d2.loss_plan_l1_fix_time: 11.9266, d2.loss_plan_l1_fix_dist: 6.1301, d3.loss_plan_l1_fix_time: 12.4722, d3.loss_plan_l1_fix_dist: 7.9294, d4.loss_plan_l1_fix_time: 12.9645, d4.loss_plan_l1_fix_dist: 10.5263, d5.loss_plan_l1_fix_time: 13.5227, d5.loss_plan_l1_fix_dist: 13.2787, d6.loss_plan_l1_fix_time: 14.0512, d6.loss_plan_l1_fix_dist: 15.8574, d0.loss_cls_all: 455.6788, d0.loss_bbox_all: 1.6361, d0.loss_cls: 455.6788, d0.loss_bbox: 1.6361, d1.loss_cls: 506.1214, d1.loss_bbox: 1.5958, d2.loss_cls: 507.9320, d2.loss_bbox: 1.6742, d3.loss_cls: 578.6376, d3.loss_bbox: 1.6650, d4.loss_cls: 541.4050, d4.loss_bbox: 1.5992, d5.loss_cls: 604.3815, d5.loss_bbox: 1.6980, d0.loss_traj_cls: 0.0747, d0.loss_traj: 5.3722, d1.loss_traj_cls: 0.0608, d1.loss_traj: 5.4246, d2.loss_traj_cls: 0.0621, d2.loss_traj: 5.5175, d3.loss_traj_cls: 0.1053, d3.loss_traj: 5.4636, d4.loss_traj_cls: 0.0508, d4.loss_traj: 5.3459, d5.loss_traj_cls: 0.0538, d5.loss_traj: 5.3874, d0.loss_map_cls_all: 7.7114, d0.loss_map_pts_all: 5.2597, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 7.7114, d0.loss_map_pts: 5.2597, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 7.1334, d1.loss_map_pts: 5.2882, d1.loss_map_dir: 0.0951, d2.loss_map_cls: 7.7375, d2.loss_map_pts: 5.3281, d2.loss_map_dir: 0.0949, d3.loss_map_cls: 10.4255, d3.loss_map_pts: 5.3717, d3.loss_map_dir: 0.0949, d4.loss_map_cls: 10.4287, d4.loss_map_pts: 5.4456, d4.loss_map_dir: 0.0949, d5.loss_map_cls: 10.5788, d5.loss_map_pts: 5.5143, d5.loss_map_dir: 0.0949, loss: 4632.7490, grad_norm: inf +2026-02-26 12:12:12,670 - DriveTransformer - INFO - Epoch [1][950/39528] lr: 9.541e-05, eta: 8 days, 4:08:28, time: 0.698, data_time: 0.030, memory: 18742, loss_cls: 684.0338, loss_bbox: 1.6499, loss_traj: 5.8801, loss_traj_cls: 0.0945, loss_map_cls: 10.9048, loss_map_pts: 5.2393, loss_map_dir: 0.0950, d0.loss_plan_l1_fix_time: 12.8412, d0.loss_plan_l1_fix_dist: 3.2161, d1.loss_plan_l1_fix_time: 13.1494, d1.loss_plan_l1_fix_dist: 4.3089, d2.loss_plan_l1_fix_time: 13.5142, d2.loss_plan_l1_fix_dist: 6.0591, d3.loss_plan_l1_fix_time: 13.9808, d3.loss_plan_l1_fix_dist: 7.9366, d4.loss_plan_l1_fix_time: 14.3965, d4.loss_plan_l1_fix_dist: 10.5595, d5.loss_plan_l1_fix_time: 14.8828, d5.loss_plan_l1_fix_dist: 13.2854, d6.loss_plan_l1_fix_time: 15.3535, d6.loss_plan_l1_fix_dist: 15.8585, d0.loss_cls_all: 473.7187, d0.loss_bbox_all: 1.6239, d0.loss_cls: 473.7187, d0.loss_bbox: 1.6239, d1.loss_cls: 513.1382, d1.loss_bbox: 1.5875, d2.loss_cls: 520.5604, d2.loss_bbox: 1.6748, d3.loss_cls: 594.5362, d3.loss_bbox: 1.6578, d4.loss_cls: 554.3754, d4.loss_bbox: 1.5806, d5.loss_cls: 622.0882, d5.loss_bbox: 1.6669, d0.loss_traj_cls: 0.0754, d0.loss_traj: 5.8579, d1.loss_traj_cls: 0.0621, d1.loss_traj: 5.9070, d2.loss_traj_cls: 0.0641, d2.loss_traj: 5.9842, d3.loss_traj_cls: 0.1118, d3.loss_traj: 5.9326, d4.loss_traj_cls: 0.0547, d4.loss_traj: 5.8529, d5.loss_traj_cls: 0.0588, d5.loss_traj: 5.8902, d0.loss_map_cls_all: 8.1875, d0.loss_map_pts_all: 4.9870, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 8.1875, d0.loss_map_pts: 4.9870, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 7.7025, d1.loss_map_pts: 5.0087, d1.loss_map_dir: 0.0951, d2.loss_map_cls: 8.2463, d2.loss_map_pts: 5.0438, d2.loss_map_dir: 0.0951, d3.loss_map_cls: 11.0691, d3.loss_map_pts: 5.0823, d3.loss_map_dir: 0.0951, d4.loss_map_cls: 11.0554, d4.loss_map_pts: 5.1394, d4.loss_map_dir: 0.0950, d5.loss_map_cls: 11.1258, d5.loss_map_pts: 5.1873, d5.loss_map_dir: 0.0949, loss: 4768.3179, grad_norm: inf +2026-02-26 12:12:49,286 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py +2026-02-26 12:12:49,286 - DriveTransformer - INFO - Epoch [1][1000/39528] lr: 9.991e-05, eta: 8 days, 3:57:49, time: 0.732, data_time: 0.031, memory: 18742, loss_cls: 721.0938, loss_bbox: 1.6791, loss_traj: 5.4591, loss_traj_cls: 0.0934, loss_map_cls: 9.7593, loss_map_pts: 5.3589, loss_map_dir: 0.0945, d0.loss_plan_l1_fix_time: 12.8332, d0.loss_plan_l1_fix_dist: 3.3264, d1.loss_plan_l1_fix_time: 13.1324, d1.loss_plan_l1_fix_dist: 4.4145, d2.loss_plan_l1_fix_time: 13.4871, d2.loss_plan_l1_fix_dist: 6.0714, d3.loss_plan_l1_fix_time: 13.9422, d3.loss_plan_l1_fix_dist: 7.8809, d4.loss_plan_l1_fix_time: 14.3377, d4.loss_plan_l1_fix_dist: 10.4387, d5.loss_plan_l1_fix_time: 14.8085, d5.loss_plan_l1_fix_dist: 13.1393, d6.loss_plan_l1_fix_time: 15.2626, d6.loss_plan_l1_fix_dist: 15.6912, d0.loss_cls_all: 492.7942, d0.loss_bbox_all: 1.6165, d0.loss_cls: 492.7942, d0.loss_bbox: 1.6165, d1.loss_cls: 546.7348, d1.loss_bbox: 1.5823, d2.loss_cls: 542.1060, d2.loss_bbox: 1.6618, d3.loss_cls: 616.9660, d3.loss_bbox: 1.6559, d4.loss_cls: 583.0324, d4.loss_bbox: 1.6007, d5.loss_cls: 654.0646, d5.loss_bbox: 1.6833, d0.loss_traj_cls: 0.0738, d0.loss_traj: 5.4460, d1.loss_traj_cls: 0.0611, d1.loss_traj: 5.4898, d2.loss_traj_cls: 0.0636, d2.loss_traj: 5.5604, d3.loss_traj_cls: 0.1066, d3.loss_traj: 5.5162, d4.loss_traj_cls: 0.0529, d4.loss_traj: 5.4228, d5.loss_traj_cls: 0.0572, d5.loss_traj: 5.4581, d0.loss_map_cls_all: 7.2452, d0.loss_map_pts_all: 5.0285, d0.loss_map_dir_all: 0.0948, d0.loss_map_cls: 7.2452, d0.loss_map_pts: 5.0285, d0.loss_map_dir: 0.0948, d1.loss_map_cls: 6.7936, d1.loss_map_pts: 5.0581, d1.loss_map_dir: 0.0946, d2.loss_map_cls: 7.3864, d2.loss_map_pts: 5.0991, d2.loss_map_dir: 0.0945, d3.loss_map_cls: 9.8967, d3.loss_map_pts: 5.1404, d3.loss_map_dir: 0.0946, d4.loss_map_cls: 9.8438, d4.loss_map_pts: 5.2151, d4.loss_map_dir: 0.0946, d5.loss_map_cls: 9.8746, d5.loss_map_pts: 5.2886, d5.loss_map_dir: 0.0945, loss: 4970.3288, grad_norm: inf +2026-02-26 12:13:26,779 - DriveTransformer - INFO - Epoch [1][1050/39528] lr: 1.000e-04, eta: 8 days, 4:01:24, time: 0.750, data_time: 0.034, memory: 18742, loss_cls: 622.7136, loss_bbox: 1.6844, loss_traj: 5.6764, loss_traj_cls: 0.0903, loss_map_cls: 9.1549, loss_map_pts: 5.5331, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 12.5658, d0.loss_plan_l1_fix_dist: 3.4335, d1.loss_plan_l1_fix_time: 12.8848, d1.loss_plan_l1_fix_dist: 4.4804, d2.loss_plan_l1_fix_time: 13.2674, d2.loss_plan_l1_fix_dist: 6.1356, d3.loss_plan_l1_fix_time: 13.7486, d3.loss_plan_l1_fix_dist: 7.9757, d4.loss_plan_l1_fix_time: 14.1947, d4.loss_plan_l1_fix_dist: 10.6058, d5.loss_plan_l1_fix_time: 14.7046, d5.loss_plan_l1_fix_dist: 13.3267, d6.loss_plan_l1_fix_time: 15.1850, d6.loss_plan_l1_fix_dist: 15.9267, d0.loss_cls_all: 421.7236, d0.loss_bbox_all: 1.6087, d0.loss_cls: 421.7236, d0.loss_bbox: 1.6087, d1.loss_cls: 468.9223, d1.loss_bbox: 1.5776, d2.loss_cls: 471.0390, d2.loss_bbox: 1.6610, d3.loss_cls: 527.7199, d3.loss_bbox: 1.6524, d4.loss_cls: 500.7674, d4.loss_bbox: 1.5977, d5.loss_cls: 562.6908, d5.loss_bbox: 1.6877, d0.loss_traj_cls: 0.0727, d0.loss_traj: 5.6659, d1.loss_traj_cls: 0.0605, d1.loss_traj: 5.7106, d2.loss_traj_cls: 0.0603, d2.loss_traj: 5.7855, d3.loss_traj_cls: 0.1056, d3.loss_traj: 5.7338, d4.loss_traj_cls: 0.0508, d4.loss_traj: 5.6267, d5.loss_traj_cls: 0.0538, d5.loss_traj: 5.6694, d0.loss_map_cls_all: 6.8675, d0.loss_map_pts_all: 5.2229, d0.loss_map_dir_all: 0.0947, d0.loss_map_cls: 6.8675, d0.loss_map_pts: 5.2229, d0.loss_map_dir: 0.0947, d1.loss_map_cls: 6.3211, d1.loss_map_pts: 5.2511, d1.loss_map_dir: 0.0946, d2.loss_map_cls: 6.8859, d2.loss_map_pts: 5.2910, d2.loss_map_dir: 0.0945, d3.loss_map_cls: 9.3128, d3.loss_map_pts: 5.3319, d3.loss_map_dir: 0.0947, d4.loss_map_cls: 9.3181, d4.loss_map_pts: 5.4026, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 9.3186, d5.loss_map_pts: 5.4708, d5.loss_map_dir: 0.0947, loss: 4316.7058, grad_norm: inf +_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.6.weight - torch.Size([40, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.6.bias - torch.Size([40]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +img_backbone.conv1.weight - torch.Size([64, 3, 7, 7]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv1.weight - torch.Size([64, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.0.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv1.weight - torch.Size([64, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv1.weight - torch.Size([64, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv1.weight - torch.Size([128, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.0.weight - torch.Size([512, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv1.weight - torch.Size([256, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.0.weight - torch.Size([1024, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.1.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.1.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + 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1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv1.weight - torch.Size([512, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.0.weight - torch.Size([2048, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.1.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.1.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv1.weight - torch.Size([512, 2048, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv1.weight - torch.Size([512, 2048, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_neck.lateral_convs.0.conv.weight - torch.Size([512, 2048, 1, 1]): +XavierInit: gain=1, distribution=uniform, bias=0 + +img_neck.lateral_convs.0.conv.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +img_neck.fpn_convs.0.conv.weight - torch.Size([512, 512, 3, 3]): +XavierInit: gain=1, distribution=uniform, bias=0 + +img_neck.fpn_convs.0.conv.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer diff --git a/DriveTransformer/goalpoint_1gpu/20260226_120012.log.json b/DriveTransformer/goalpoint_1gpu/20260226_120012.log.json new file mode 100644 index 0000000000000000000000000000000000000000..cbfeef558f4f0e7281d4adcdf922fe91fb162948 --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260226_120012.log.json @@ -0,0 +1,22 @@ +{"env_info": "MMCV: 0.0.1", "config": "point_cloud_range = [-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]\nclass_names = [\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n]\ndataset_type = 'B2D_DriveTransformer_GoalPoint_Dataset'\ndata_root = 'data/bench2drive'\ninput_modality = dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True)\nfile_client_args = dict(backend='disk')\ntrain_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\ntest_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\neval_pipeline = [\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone', 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n]\ndata = dict(\n samples_per_gpu=6,\n workers_per_gpu=8,\n train=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=False,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n sub_seq_lenth=-1,\n use_splited_data=True,\n cache_lenth=7,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n val=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_root='data/bench2drive',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=7,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n test=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=7,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n shuffler_sampler=dict(type='InfiniteGroupEachSampleInBatchSampler'),\n nonshuffler_sampler=dict(type='DistributedSampler'))\nevaluation = dict(\n interval=24,\n pipeline=[\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone',\n 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n ])\ncheckpoint_config = dict(interval=1)\nlog_config = dict(\n interval=50,\n hooks=[dict(type='TextLoggerHook'),\n dict(type='TensorboardLoggerHook')])\ndist_params = dict(backend='nccl')\nlog_level = 'INFO'\nwork_dir = './work_dirs/drivetransformer_goalpoint_1gpu'\nload_from = None\nresume_from = None\nworkflow = [('train', 1)]\nplugin = True\nplugin_dir = 'adzoo/drivetransformer/mmdet3d_plugin/'\nvoxel_size = [0.15, 0.15, 4]\nimg_norm_cfg = dict(\n mean=[123.675, 116.28, 103.53], std=[58.395, 57.12, 57.375], to_rgb=True)\nNameMapping = dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n})\ncollect_keys = [\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', 'ego_pose',\n 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n]\nnum_classes = 9\nmap_classes = [\n 'Broken', 'Solid', 'SolidSolid', 'Center', 'TrafficLight', 'StopSign'\n]\nmap_fixed_ptsnum_per_gt_line = 20\nmap_fixed_ptsnum_per_pred_line = 20\nmap_eval_use_same_gt_sample_num_flag = True\nmap_num_classes = 6\nagent_query_num_vec = 900\nagent_num_topk_sift = 900\nagent_num_propagated = 50\nmap_query_num_vec = 100\nmap_num_topk_sift = 100\nmap_num_propagated = 50\nmemory_len_frame = 10\nnum_mode = 6\nnum_gpus = 1\nbatch_size = 6\nnum_iters_per_epoch = 1041\ndata_aug_conf = dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0])\n_dim_ = 512\nqueue_length = 1\ntotal_epochs = 24\ndropout = 0.1\nmodel = dict(\n type='DriveTransformer',\n use_grid_mask=False,\n pretrained=dict(img='./ckpts/resnet50-19c8e357.pth'),\n img_backbone=dict(\n type='ResNet',\n depth=50,\n num_stages=4,\n out_indices=(3, ),\n frozen_stages=1,\n norm_cfg=dict(type='BN', requires_grad=False),\n norm_eval=True,\n style='pytorch'),\n img_neck=dict(\n type='FPN',\n in_channels=[2048],\n out_channels=512,\n start_level=0,\n add_extra_convs='on_output',\n num_outs=1,\n relu_before_extra_convs=True),\n pts_bbox_head=dict(\n type='DriveTransformerlHead',\n ego_lcf_feat_idx=[0, 1, 2, 3, 4, 5, 6, 7, 8],\n ego_command_dim=128,\n img_stride=32,\n embed_dims=512,\n num_reg_fcs=2,\n num_cls_fcs=2,\n agent_num_propagated=50,\n map_num_propagated=50,\n memory_len_frame=10,\n agent_num_query=900,\n agent_num_query_sifted=900,\n fut_mode=6,\n fut_ego_mode=1,\n fut_ts=6,\n fut_ego_fix_dist=True,\n fut_ts_ego_fix_dist=20,\n fut_ts_ego_fix_time=30,\n num_classes=9,\n code_size=10,\n map_num_query=100,\n map_num_query_sifted=100,\n map_num_classes=6,\n map_num_pts_per_vec=20,\n map_num_pts_per_gt_vec=20,\n map_query_embed_type='instance_pts',\n map_transform_method='minmax',\n map_gt_shift_pts_pattern='v2',\n map_dir_interval=1,\n map_code_size=2,\n map_code_weights=[1.0, 1.0, 1.0, 1.0],\n sync_cls_avg_factor=True,\n with_box_refine=True,\n LID=True,\n with_ego_pos=True,\n position_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n depth_start=1,\n depth_step=0.8,\n depth_num=64,\n agent_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n map_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n transformer=dict(\n type='DriveTransformerWrapper',\n embed_dims=512,\n decoder=dict(\n type='DriveTransformerDecoder',\n num_layers=6,\n fut_mode=6,\n agent_num_query=900,\n map_num_query=100,\n map_num_pts_per_vec=20,\n return_intermediate=True,\n embed_dims=512,\n refine=True,\n transformerlayers=dict(\n type='DriveTransformerDecoderLayer',\n agent_query_num=900,\n map_query_num=100,\n memory_len_frame=10,\n agent_num_propagated=50,\n map_num_propagated=50,\n map_pts_per_vec=20,\n feedforward_channels=2048,\n ffn_dropout=0.1,\n with_cp=False,\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n no_wq=True)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n operation_order=('task_self_attn', 'norm',\n 'temporal_cross_attn', 'norm',\n 'sensor_cross_attn', 'norm', 'ffn',\n 'norm')))),\n bbox_coder=dict(\n type='CustomNMSFreeCoder',\n post_center_range=[-20, -35, -10.0, 20, 35, 10.0],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=100,\n voxel_size=[0.15, 0.15, 4],\n num_classes=9),\n loss_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_bbox=dict(type='L1Loss', loss_weight=0.25),\n loss_traj=dict(type='L1Loss', loss_weight=0.2),\n loss_traj_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.5,\n loss_weight=0.2),\n map_bbox_coder=dict(\n type='MapNMSFreeCoder',\n post_center_range=[-20, -35, -20, -35, 20, 35, 20, 35],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=50,\n voxel_size=[0.15, 0.15, 4],\n num_classes=6),\n loss_map_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_map_pts=dict(type='PtsL1Loss', loss_weight=1.0),\n loss_map_dir=dict(type='PtsDirCosLoss', loss_weight=0.005),\n loss_plan_reg_fix_time=dict(type='L1Loss', loss_weight=3.5),\n loss_plan_reg_fix_dist=dict(type='L1Loss', loss_weight=10.0),\n loss_plan_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=4.0,\n alpha=0.5,\n loss_weight=20.0)),\n train_cfg=dict(\n pts=dict(\n grid_size=[512, 512, 1],\n voxel_size=[0.15, 0.15, 4],\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n out_size_factor=4,\n assigner=dict(\n type='HungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(type='BBox3DL1Cost', weight=0.25),\n iou_cost=dict(type='IoUCost', weight=0.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n map_assigner=dict(\n type='MapHungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(\n type='BBoxL1Cost', weight=0.0, box_format='xywh'),\n iou_cost=dict(type='IoUCost', iou_mode='giou', weight=0.0),\n pts_cost=dict(type='OrderedPtsL1Cost', weight=1.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]))))\ninfo_root = 'data/infos'\nmap_root = 'data/bench2drive/maps'\nmap_file = 'data/infos/b2d_map_infos.pkl'\nann_file_train = 'data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl'\nann_file_val = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\nann_file_test = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\noptimizer = dict(type='AdamW', lr=0.0001, weight_decay=0.01)\noptimizer_config = dict(\n grad_clip=dict(max_norm=35, norm_type=2),\n type='GradientCumulativeFp16OptimizerHook',\n cumulative_iters=32)\nlr_config = dict(\n policy='CosineAnnealing',\n warmup='linear',\n warmup_iters=1000,\n warmup_ratio=0.1,\n min_lr_ratio=0.01)\nrunner = dict(type='EpochBasedRunner', max_epochs=24)\nfp16 = dict(loss_scale=512.0)\nfind_unused_parameters = True\ncustom_hooks = [dict(type='CustomSetEpochInfoHook')]\ncumulative_iters = 32\ngpu_ids = range(0, 1)\n", "seed": 0, "exp_name": "drivetransformer_goalpoint_1gpu.py"} +{"mode": "train", "epoch": 1, "iter": 50, "lr": 1e-05, "memory": 18742, "data_time": 0.16289, "loss_cls": 765.49142, "loss_bbox": 1.65258, "loss_traj": 5.42148, "loss_traj_cls": 0.08053, "loss_map_cls": 10.71436, "loss_map_pts": 5.56954, "loss_map_dir": 0.09485, "d0.loss_plan_l1_fix_time": 11.6801, "d0.loss_plan_l1_fix_dist": 3.3227, "d1.loss_plan_l1_fix_time": 12.03994, "d1.loss_plan_l1_fix_dist": 4.3396, "d2.loss_plan_l1_fix_time": 12.47096, "d2.loss_plan_l1_fix_dist": 5.8791, "d3.loss_plan_l1_fix_time": 13.00667, "d3.loss_plan_l1_fix_dist": 7.74002, "d4.loss_plan_l1_fix_time": 13.50544, "d4.loss_plan_l1_fix_dist": 10.227, "d5.loss_plan_l1_fix_time": 14.06095, "d5.loss_plan_l1_fix_dist": 12.86495, "d6.loss_plan_l1_fix_time": 14.58598, "d6.loss_plan_l1_fix_dist": 15.38393, "d0.loss_cls_all": 526.07043, "d0.loss_bbox_all": 1.6224, "d0.loss_cls": 526.07043, "d0.loss_bbox": 1.6224, "d1.loss_cls": 587.85332, "d1.loss_bbox": 1.58506, "d2.loss_cls": 583.52789, "d2.loss_bbox": 1.67198, "d3.loss_cls": 660.59938, "d3.loss_bbox": 1.66382, "d4.loss_cls": 623.1714, "d4.loss_bbox": 1.56808, "d5.loss_cls": 690.49742, "d5.loss_bbox": 1.66726, "d0.loss_traj_cls": 0.07464, "d0.loss_traj": 5.39304, "d1.loss_traj_cls": 0.06299, "d1.loss_traj": 5.4374, "d2.loss_traj_cls": 0.06416, "d2.loss_traj": 5.51159, "d3.loss_traj_cls": 0.10336, "d3.loss_traj": 5.46209, "d4.loss_traj_cls": 0.04939, "d4.loss_traj": 5.37481, "d5.loss_traj_cls": 0.04963, "d5.loss_traj": 5.4128, "d0.loss_map_cls_all": 8.11906, "d0.loss_map_pts_all": 5.28492, "d0.loss_map_dir_all": 0.09516, "d0.loss_map_cls": 8.11906, "d0.loss_map_pts": 5.28492, "d0.loss_map_dir": 0.09516, "d1.loss_map_cls": 7.37458, "d1.loss_map_pts": 5.30505, "d1.loss_map_dir": 0.09505, "d2.loss_map_cls": 8.08304, "d2.loss_map_pts": 5.33853, "d2.loss_map_dir": 0.09486, "d3.loss_map_cls": 10.98067, "d3.loss_map_pts": 5.37862, "d3.loss_map_dir": 0.09495, "d4.loss_map_cls": 10.97122, "d4.loss_map_pts": 5.44378, "d4.loss_map_dir": 0.09485, "d5.loss_map_cls": 10.90884, "d5.loss_map_pts": 5.5091, "d5.loss_map_dir": 0.09489, "loss": 5285.08575, "time": 0.91402, "grad_norm": Infinity} +{"mode": "train", "epoch": 1, "iter": 100, "lr": 2e-05, "memory": 18742, "data_time": 0.03026, "loss_cls": 801.18242, "loss_bbox": 1.6245, "loss_traj": 6.72631, "loss_traj_cls": 0.09134, "loss_map_cls": 12.07669, "loss_map_pts": 5.45573, "loss_map_dir": 0.09512, "d0.loss_plan_l1_fix_time": 13.69947, "d0.loss_plan_l1_fix_dist": 3.30163, "d1.loss_plan_l1_fix_time": 14.00503, "d1.loss_plan_l1_fix_dist": 4.39494, "d2.loss_plan_l1_fix_time": 14.3598, "d2.loss_plan_l1_fix_dist": 6.13552, "d3.loss_plan_l1_fix_time": 14.80622, "d3.loss_plan_l1_fix_dist": 7.99685, 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'distribution': 'uniform'} +Name of parameter - Initialization information + +pts_bbox_head.code_weights - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_code_weights - torch.Size([4]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.position_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.pc_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_query.weight - torch.Size([900, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_reference_points.weight - torch.Size([900, 3]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.weight - torch.Size([512, 9]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.weight - torch.Size([512, 768]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.mode_embedding.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_query.weight - torch.Size([100, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_reference_points.weight - torch.Size([100, 2]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.weight - torch.Size([512, 6]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.weight - torch.Size([512, 141]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.weight - torch.Size([512, 1920]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.weight - torch.Size([512, 640]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.featurized_pe.reduce.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.spatial_alignment.reduce.0.weight - torch.Size([512, 8]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.time_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.weight - torch.Size([512, 192]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_pose_memory.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]2026-02-26 12:24:24,097 - DriveTransformer - INFO - Model: +DriveTransformer( + (pts_bbox_head): DriveTransformerlHead( + (loss_cls): FocalLoss() + (loss_bbox): L1Loss() + (loss_traj): L1Loss() + (loss_traj_cls): FocalLoss() + (loss_map_cls): FocalLoss() + (loss_map_pts): PtsL1Loss() + (loss_map_dir): PtsDirCosLoss() + (loss_plan_reg_fix_dist): L1Loss() + (loss_plan_reg_fix_time): L1Loss() + (loss_plan_cls): FocalLoss() + (agent_query): Embedding(900, 512) + (agent_reference_points): Embedding(900, 3) + (agent_cls_embedding): Sequential( + (0): Linear(in_features=9, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (agent_ref_embedding): Sequential( + (0): Linear(in_features=768, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (mode_embedding): Embedding(6, 512) + (map_query): Embedding(100, 512) + (map_reference_points): Embedding(100, 2) + (map_cls_embedding): Sequential( + (0): Linear(in_features=6, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (map_ref_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_lcf_encoder): Sequential( + (0): Linear(in_features=141, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_time_embedding): Sequential( + (0): Linear(in_features=1920, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_dist_embedding): Sequential( + (0): Linear(in_features=640, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (featurized_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (spatial_alignment): MLN( + (reduce): Sequential( + (0): Linear(in_features=8, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (time_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (img_position_encoder): Sequential( + (0): Linear(in_features=192, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_pose_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (ego_pose_memory): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (agent_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (map_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (transformer): DriveTransformerWrapper( + (decoder): DriveTransformerDecoder( + (layers): ModuleList( + (0-5): 6 x DriveTransformerDecoderLayer( + (task_self_attentions): ModuleList( + (0): AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (temporal_cross_attention_layers): ModuleList( + (0-2): 3 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (sensor_cross_attentions): ModuleList( + (0): AttentionLayer( + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (cross_w_q): ModuleList( + (0-2): 3 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + ) + (ffns): ModuleList( + (0): ModuleList( + (0-2): 3 x SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + ) + ) + (cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=9, bias=False) + ) + ) + (reg_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=10, bias=True) + ) + ) + (traj_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=12, bias=True) + ) + ) + (traj_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (6): Linear(in_features=512, out_features=1, bias=False) + ) + ) + (map_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=6, bias=False) + ) + ) + (map_reg_branches): ModuleList( + (0-5): 6 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=2, bias=True) + ) + (6): Linear(in_features=512, out_features=40, bias=True) + ) + (ego_traj_branches_fix_dist): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=20, bias=True) + ) + ) + (ego_traj_branches_fix_time): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=60, bias=True) + ) + ) + ) + (img_backbone): ResNet( + (conv1): Conv2d(3, 64, kernel_size=(7, 7), stride=(2, 2), padding=(3, 3), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (maxpool): MaxPool2d(kernel_size=3, stride=2, padding=1, dilation=1, ceil_mode=False) + (layer1): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(64, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer2): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(256, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(256, 512, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer3): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(512, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(512, 1024, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (4): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (5): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer4): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(1024, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(1024, 2048, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + ) + init_cfg={'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} + (img_neck): FPN( + (lateral_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1)) + ) + ) + (fpn_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) + ) + ) + ) + init_cfg={'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} + (grid_mask): GridMask() +) +2026-02-26 12:24:24,284 - DriveTransformer - INFO - load checkpoint from path: ./work_dirs/drivetransformer_goalpoint_1gpu/epoch_6.pth +2026-02-26 12:24:26,225 - DriveTransformer - INFO - resumed epoch 6, iter 237168 +2026-02-26 12:24:26,227 - DriveTransformer - INFO - Start running, host: humble@ysh-4090, work_dir: /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu +2026-02-26 12:24:26,227 - DriveTransformer - INFO - Hooks will be executed in the following order: +before_run: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_epoch: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_iter: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook + -------------------- +after_train_iter: +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +after_train_epoch: +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_val_epoch: +(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 + -------------------- +2026-02-26 12:24:26,227 - DriveTransformer - INFO - workflow: [('train', 1)], max: 24 epochs +2026-02-26 12:24:26,229 - DriveTransformer - INFO - Checkpoints will be saved to /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu by HardDiskBackend. +2026-02-26 12:24:35,151 - DriveTransformer - WARNING - Resume iter number is not divisible by cumulative_iters in GradientCumulativeOptimizerHook, which means the gradient of some iters is lost and the result may be influenced slightly. +2026-02-26 12:24:35,153 - DriveTransformer - WARNING - GradientCumulativeOptimizerHook may slightly decrease performance if the model has BatchNorm layers. +2026-02-26 12:25:11,838 - DriveTransformer - INFO - Epoch [7][50/39528] lr: 8.550e-05, eta: 7 days, 11:47:53, time: 0.910, data_time: 0.183, memory: 19865, loss_cls: 0.1674, loss_bbox: 0.3620, loss_traj: 0.6562, loss_traj_cls: 0.0009, loss_map_cls: 0.1845, loss_map_pts: 0.7897, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.4760, d0.loss_plan_l1_fix_dist: 0.3586, d1.loss_plan_l1_fix_time: 0.9937, d1.loss_plan_l1_fix_dist: 0.1724, d2.loss_plan_l1_fix_time: 0.9789, d2.loss_plan_l1_fix_dist: 0.1796, d3.loss_plan_l1_fix_time: 0.9815, d3.loss_plan_l1_fix_dist: 0.1908, d4.loss_plan_l1_fix_time: 0.9863, d4.loss_plan_l1_fix_dist: 0.2043, d5.loss_plan_l1_fix_time: 0.9915, d5.loss_plan_l1_fix_dist: 0.2174, d6.loss_plan_l1_fix_time: 0.9975, d6.loss_plan_l1_fix_dist: 0.2314, d0.loss_cls_all: 0.2059, d0.loss_bbox_all: 0.4134, d0.loss_cls: 0.2059, d0.loss_bbox: 0.4134, d1.loss_cls: 0.1968, d1.loss_bbox: 0.3794, d2.loss_cls: 0.1838, d2.loss_bbox: 0.3627, d3.loss_cls: 0.1726, d3.loss_bbox: 0.3584, d4.loss_cls: 0.1671, d4.loss_bbox: 0.3584, d5.loss_cls: 0.1661, d5.loss_bbox: 0.3605, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7634, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6673, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6565, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6564, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6542, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6550, d0.loss_map_cls_all: 0.2618, d0.loss_map_pts_all: 1.4843, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2618, d0.loss_map_pts: 1.4843, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2316, d1.loss_map_pts: 1.0566, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.2107, d2.loss_map_pts: 0.8931, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1951, d3.loss_map_pts: 0.8311, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1899, d4.loss_map_pts: 0.8048, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1862, d5.loss_map_pts: 0.7909, d5.loss_map_dir: 0.0103, loss: 29.0853, grad_norm: 106.6784 +2026-02-26 12:25:45,866 - DriveTransformer - INFO - Epoch [7][100/39528] lr: 8.550e-05, eta: 6 days, 13:09:37, time: 0.681, data_time: 0.033, memory: 19865, loss_cls: 0.1625, loss_bbox: 0.3659, loss_traj: 0.5926, loss_traj_cls: 0.0010, loss_map_cls: 0.1823, loss_map_pts: 0.7006, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.2560, d0.loss_plan_l1_fix_dist: 0.4223, d1.loss_plan_l1_fix_time: 1.1272, d1.loss_plan_l1_fix_dist: 0.1555, d2.loss_plan_l1_fix_time: 1.1180, d2.loss_plan_l1_fix_dist: 0.1619, d3.loss_plan_l1_fix_time: 1.1187, d3.loss_plan_l1_fix_dist: 0.1704, d4.loss_plan_l1_fix_time: 1.1222, d4.loss_plan_l1_fix_dist: 0.1804, d5.loss_plan_l1_fix_time: 1.1264, d5.loss_plan_l1_fix_dist: 0.1902, d6.loss_plan_l1_fix_time: 1.1309, d6.loss_plan_l1_fix_dist: 0.1993, d0.loss_cls_all: 0.1866, d0.loss_bbox_all: 0.4110, d0.loss_cls: 0.1866, d0.loss_bbox: 0.4110, d1.loss_cls: 0.1900, d1.loss_bbox: 0.3792, d2.loss_cls: 0.1764, d2.loss_bbox: 0.3643, d3.loss_cls: 0.1714, d3.loss_bbox: 0.3603, d4.loss_cls: 0.1659, d4.loss_bbox: 0.3625, d5.loss_cls: 0.1638, d5.loss_bbox: 0.3647, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7473, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6151, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5903, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5847, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5881, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5881, d0.loss_map_cls_all: 0.2507, d0.loss_map_pts_all: 1.3599, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2507, d0.loss_map_pts: 1.3599, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.2231, d1.loss_map_pts: 0.9568, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.2023, d2.loss_map_pts: 0.7972, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1902, d3.loss_map_pts: 0.7288, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1853, d4.loss_map_pts: 0.7062, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1834, d5.loss_map_pts: 0.7023, d5.loss_map_dir: 0.0092, loss: 28.2636, grad_norm: 114.9240 +2026-02-26 12:26:22,463 - DriveTransformer - INFO - Epoch [7][150/39528] lr: 8.550e-05, eta: 6 days, 8:57:08, time: 0.732, data_time: 0.031, memory: 19865, loss_cls: 0.1912, loss_bbox: 0.4043, loss_traj: 0.6947, loss_traj_cls: 0.0009, loss_map_cls: 0.1705, loss_map_pts: 0.8348, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 2.8050, d0.loss_plan_l1_fix_dist: 0.3581, d1.loss_plan_l1_fix_time: 1.3023, d1.loss_plan_l1_fix_dist: 0.1982, d2.loss_plan_l1_fix_time: 1.2857, d2.loss_plan_l1_fix_dist: 0.2003, d3.loss_plan_l1_fix_time: 1.2852, d3.loss_plan_l1_fix_dist: 0.2080, d4.loss_plan_l1_fix_time: 1.2892, d4.loss_plan_l1_fix_dist: 0.2170, d5.loss_plan_l1_fix_time: 1.2943, d5.loss_plan_l1_fix_dist: 0.2255, d6.loss_plan_l1_fix_time: 1.2993, d6.loss_plan_l1_fix_dist: 0.2341, d0.loss_cls_all: 0.2243, d0.loss_bbox_all: 0.4639, d0.loss_cls: 0.2243, d0.loss_bbox: 0.4639, d1.loss_cls: 0.2171, d1.loss_bbox: 0.4268, d2.loss_cls: 0.2049, d2.loss_bbox: 0.4097, d3.loss_cls: 0.1937, d3.loss_bbox: 0.4052, d4.loss_cls: 0.1931, d4.loss_bbox: 0.4016, d5.loss_cls: 0.1911, d5.loss_bbox: 0.4027, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9286, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7353, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7016, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6901, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6884, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6939, d0.loss_map_cls_all: 0.2444, d0.loss_map_pts_all: 1.6631, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2444, d0.loss_map_pts: 1.6631, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2139, d1.loss_map_pts: 1.1467, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.1927, d2.loss_map_pts: 0.9504, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.1816, d3.loss_map_pts: 0.8722, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.1744, d4.loss_map_pts: 0.8425, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.1731, d5.loss_map_pts: 0.8351, d5.loss_map_dir: 0.0124, loss: 32.8575, grad_norm: 148.9586 +2026-02-26 12:26:58,987 - DriveTransformer - INFO - Epoch [7][200/39528] lr: 8.550e-05, eta: 6 days, 6:47:07, time: 0.730, data_time: 0.034, memory: 19865, loss_cls: 0.1432, loss_bbox: 0.3488, loss_traj: 0.5070, loss_traj_cls: 0.0010, loss_map_cls: 0.1392, loss_map_pts: 0.6272, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.2555, d0.loss_plan_l1_fix_dist: 0.4581, d1.loss_plan_l1_fix_time: 0.9495, d1.loss_plan_l1_fix_dist: 0.1692, d2.loss_plan_l1_fix_time: 0.9357, d2.loss_plan_l1_fix_dist: 0.1694, d3.loss_plan_l1_fix_time: 0.9312, d3.loss_plan_l1_fix_dist: 0.1765, d4.loss_plan_l1_fix_time: 0.9375, d4.loss_plan_l1_fix_dist: 0.1852, d5.loss_plan_l1_fix_time: 0.9451, d5.loss_plan_l1_fix_dist: 0.1952, d6.loss_plan_l1_fix_time: 0.9535, d6.loss_plan_l1_fix_dist: 0.2066, d0.loss_cls_all: 0.1813, d0.loss_bbox_all: 0.3816, d0.loss_cls: 0.1813, d0.loss_bbox: 0.3816, d1.loss_cls: 0.1705, d1.loss_bbox: 0.3524, d2.loss_cls: 0.1556, d2.loss_bbox: 0.3426, d3.loss_cls: 0.1479, d3.loss_bbox: 0.3396, d4.loss_cls: 0.1426, d4.loss_bbox: 0.3415, d5.loss_cls: 0.1407, d5.loss_bbox: 0.3473, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6418, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5320, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5022, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.4943, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.4982, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4984, d0.loss_map_cls_all: 0.2098, d0.loss_map_pts_all: 1.4051, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2098, d0.loss_map_pts: 1.4051, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.1794, d1.loss_map_pts: 0.9054, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1592, d2.loss_map_pts: 0.7100, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1494, d3.loss_map_pts: 0.6474, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1421, d4.loss_map_pts: 0.6265, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1397, d5.loss_map_pts: 0.6227, d5.loss_map_dir: 0.0108, loss: 25.6106, grad_norm: 173.2891 +2026-02-26 12:27:36,020 - DriveTransformer - INFO - Epoch [7][250/39528] lr: 8.550e-05, eta: 6 days, 5:53:21, time: 0.741, data_time: 0.038, memory: 19865, loss_cls: 0.1580, loss_bbox: 0.3559, loss_traj: 0.5790, loss_traj_cls: 0.0011, loss_map_cls: 0.1530, loss_map_pts: 0.7068, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.3492, d0.loss_plan_l1_fix_dist: 0.4016, d1.loss_plan_l1_fix_time: 0.9179, d1.loss_plan_l1_fix_dist: 0.1969, d2.loss_plan_l1_fix_time: 0.9135, d2.loss_plan_l1_fix_dist: 0.1902, d3.loss_plan_l1_fix_time: 0.9184, d3.loss_plan_l1_fix_dist: 0.1947, d4.loss_plan_l1_fix_time: 0.9230, d4.loss_plan_l1_fix_dist: 0.2018, d5.loss_plan_l1_fix_time: 0.9277, d5.loss_plan_l1_fix_dist: 0.2119, d6.loss_plan_l1_fix_time: 0.9329, d6.loss_plan_l1_fix_dist: 0.2238, d0.loss_cls_all: 0.2001, d0.loss_bbox_all: 0.4073, d0.loss_cls: 0.2001, d0.loss_bbox: 0.4073, d1.loss_cls: 0.1875, d1.loss_bbox: 0.3719, d2.loss_cls: 0.1734, d2.loss_bbox: 0.3580, d3.loss_cls: 0.1593, d3.loss_bbox: 0.3573, d4.loss_cls: 0.1574, d4.loss_bbox: 0.3540, d5.loss_cls: 0.1569, d5.loss_bbox: 0.3550, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7428, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6247, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5824, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5680, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5737, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5744, d0.loss_map_cls_all: 0.2142, d0.loss_map_pts_all: 1.3745, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2142, d0.loss_map_pts: 1.3745, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1941, d1.loss_map_pts: 0.9621, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1763, d2.loss_map_pts: 0.7928, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1668, d3.loss_map_pts: 0.7359, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1585, d4.loss_map_pts: 0.7172, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1539, d5.loss_map_pts: 0.7064, d5.loss_map_dir: 0.0104, loss: 26.9947, grad_norm: 161.8538 +2026-02-26 12:28:11,193 - DriveTransformer - INFO - Epoch [7][300/39528] lr: 8.550e-05, eta: 6 days, 4:03:42, time: 0.703, data_time: 0.034, memory: 19865, loss_cls: 0.1787, loss_bbox: 0.3956, loss_traj: 0.8435, loss_traj_cls: 0.0010, loss_map_cls: 0.1823, loss_map_pts: 0.8004, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.5821, d0.loss_plan_l1_fix_dist: 0.4301, d1.loss_plan_l1_fix_time: 1.1648, d1.loss_plan_l1_fix_dist: 0.2014, d2.loss_plan_l1_fix_time: 1.1413, d2.loss_plan_l1_fix_dist: 0.1990, d3.loss_plan_l1_fix_time: 1.1400, d3.loss_plan_l1_fix_dist: 0.2079, d4.loss_plan_l1_fix_time: 1.1441, d4.loss_plan_l1_fix_dist: 0.2207, d5.loss_plan_l1_fix_time: 1.1487, d5.loss_plan_l1_fix_dist: 0.2351, d6.loss_plan_l1_fix_time: 1.1529, d6.loss_plan_l1_fix_dist: 0.2535, d0.loss_cls_all: 0.2200, d0.loss_bbox_all: 0.4629, d0.loss_cls: 0.2200, d0.loss_bbox: 0.4629, d1.loss_cls: 0.2106, d1.loss_bbox: 0.4248, d2.loss_cls: 0.1982, d2.loss_bbox: 0.4074, d3.loss_cls: 0.1842, d3.loss_bbox: 0.4002, d4.loss_cls: 0.1814, d4.loss_bbox: 0.3963, d5.loss_cls: 0.1786, d5.loss_bbox: 0.3961, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1122, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9143, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8486, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8323, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8391, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.8383, d0.loss_map_cls_all: 0.2614, d0.loss_map_pts_all: 1.5135, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2614, d0.loss_map_pts: 1.5135, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2295, d1.loss_map_pts: 1.0938, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.2061, d2.loss_map_pts: 0.9030, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1972, d3.loss_map_pts: 0.8258, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1893, d4.loss_map_pts: 0.8040, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1827, d5.loss_map_pts: 0.8002, d5.loss_map_dir: 0.0098, loss: 32.4145, grad_norm: 157.4073 +2026-02-26 12:28:45,650 - DriveTransformer - INFO - Epoch [7][350/39528] lr: 8.550e-05, eta: 6 days, 2:20:53, time: 0.689, data_time: 0.030, memory: 19865, loss_cls: 0.1594, loss_bbox: 0.3697, loss_traj: 0.7234, loss_traj_cls: 0.0010, loss_map_cls: 0.1326, loss_map_pts: 0.6397, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.6001, d0.loss_plan_l1_fix_dist: 0.4449, d1.loss_plan_l1_fix_time: 1.0586, d1.loss_plan_l1_fix_dist: 0.1832, d2.loss_plan_l1_fix_time: 1.0379, d2.loss_plan_l1_fix_dist: 0.1819, d3.loss_plan_l1_fix_time: 1.0389, d3.loss_plan_l1_fix_dist: 0.1924, d4.loss_plan_l1_fix_time: 1.0431, d4.loss_plan_l1_fix_dist: 0.2053, d5.loss_plan_l1_fix_time: 1.0477, d5.loss_plan_l1_fix_dist: 0.2189, d6.loss_plan_l1_fix_time: 1.0528, d6.loss_plan_l1_fix_dist: 0.2341, d0.loss_cls_all: 0.1976, d0.loss_bbox_all: 0.4268, d0.loss_cls: 0.1976, d0.loss_bbox: 0.4268, d1.loss_cls: 0.1859, d1.loss_bbox: 0.3951, d2.loss_cls: 0.1762, d2.loss_bbox: 0.3749, d3.loss_cls: 0.1662, d3.loss_bbox: 0.3682, d4.loss_cls: 0.1610, d4.loss_bbox: 0.3672, d5.loss_cls: 0.1605, d5.loss_bbox: 0.3689, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9127, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7661, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7215, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7097, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7160, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7159, d0.loss_map_cls_all: 0.1987, d0.loss_map_pts_all: 1.2728, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1987, d0.loss_map_pts: 1.2728, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1742, d1.loss_map_pts: 0.9033, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1546, d2.loss_map_pts: 0.7424, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1447, d3.loss_map_pts: 0.6750, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1382, d4.loss_map_pts: 0.6489, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1335, d5.loss_map_pts: 0.6413, d5.loss_map_dir: 0.0079, loss: 28.4466, grad_norm: 150.0818 +2026-02-26 12:29:22,735 - DriveTransformer - INFO - Epoch [7][400/39528] lr: 8.550e-05, eta: 6 days, 2:23:35, time: 0.743, data_time: 0.033, memory: 19865, loss_cls: 0.2081, loss_bbox: 0.4201, loss_traj: 0.6634, loss_traj_cls: 0.0010, loss_map_cls: 0.1990, loss_map_pts: 0.9040, loss_map_dir: 0.0133, d0.loss_plan_l1_fix_time: 2.7035, d0.loss_plan_l1_fix_dist: 0.3871, d1.loss_plan_l1_fix_time: 1.1518, d1.loss_plan_l1_fix_dist: 0.2034, d2.loss_plan_l1_fix_time: 1.1395, d2.loss_plan_l1_fix_dist: 0.2038, d3.loss_plan_l1_fix_time: 1.1385, d3.loss_plan_l1_fix_dist: 0.2137, d4.loss_plan_l1_fix_time: 1.1421, d4.loss_plan_l1_fix_dist: 0.2253, d5.loss_plan_l1_fix_time: 1.1464, d5.loss_plan_l1_fix_dist: 0.2395, d6.loss_plan_l1_fix_time: 1.1518, d6.loss_plan_l1_fix_dist: 0.2545, d0.loss_cls_all: 0.2491, d0.loss_bbox_all: 0.4816, d0.loss_cls: 0.2491, d0.loss_bbox: 0.4816, d1.loss_cls: 0.2414, d1.loss_bbox: 0.4452, d2.loss_cls: 0.2276, d2.loss_bbox: 0.4277, d3.loss_cls: 0.2169, d3.loss_bbox: 0.4209, d4.loss_cls: 0.2097, d4.loss_bbox: 0.4195, d5.loss_cls: 0.2079, d5.loss_bbox: 0.4198, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9068, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7623, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6907, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6694, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6621, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6601, d0.loss_map_cls_all: 0.2711, d0.loss_map_pts_all: 1.7739, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2711, d0.loss_map_pts: 1.7739, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2493, d1.loss_map_pts: 1.2501, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2269, d2.loss_map_pts: 1.0243, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2167, d3.loss_map_pts: 0.9441, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.2072, d4.loss_map_pts: 0.9128, d4.loss_map_dir: 0.0131, d5.loss_map_cls: 0.2021, d5.loss_map_pts: 0.9048, d5.loss_map_dir: 0.0132, loss: 33.0796, grad_norm: 145.0114 +2026-02-26 12:29:58,547 - DriveTransformer - INFO - Epoch [7][450/39528] lr: 8.550e-05, eta: 6 days, 1:48:20, time: 0.715, data_time: 0.031, memory: 19865, loss_cls: 0.1590, loss_bbox: 0.3379, loss_traj: 0.6164, loss_traj_cls: 0.0010, loss_map_cls: 0.1531, loss_map_pts: 0.6794, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.4264, d0.loss_plan_l1_fix_dist: 0.4225, d1.loss_plan_l1_fix_time: 1.0016, d1.loss_plan_l1_fix_dist: 0.1933, d2.loss_plan_l1_fix_time: 0.9936, d2.loss_plan_l1_fix_dist: 0.1978, d3.loss_plan_l1_fix_time: 0.9993, d3.loss_plan_l1_fix_dist: 0.2050, d4.loss_plan_l1_fix_time: 1.0066, d4.loss_plan_l1_fix_dist: 0.2157, d5.loss_plan_l1_fix_time: 1.0144, d5.loss_plan_l1_fix_dist: 0.2264, d6.loss_plan_l1_fix_time: 1.0226, d6.loss_plan_l1_fix_dist: 0.2407, d0.loss_cls_all: 0.1989, d0.loss_bbox_all: 0.3960, d0.loss_cls: 0.1989, d0.loss_bbox: 0.3960, d1.loss_cls: 0.1888, d1.loss_bbox: 0.3659, d2.loss_cls: 0.1763, d2.loss_bbox: 0.3472, d3.loss_cls: 0.1671, d3.loss_bbox: 0.3405, d4.loss_cls: 0.1625, d4.loss_bbox: 0.3377, d5.loss_cls: 0.1588, d5.loss_bbox: 0.3394, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8354, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6754, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6183, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6176, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6161, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6125, d0.loss_map_cls_all: 0.2248, d0.loss_map_pts_all: 1.4556, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2248, d0.loss_map_pts: 1.4556, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.1923, d1.loss_map_pts: 0.9679, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.1730, d2.loss_map_pts: 0.7754, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1644, d3.loss_map_pts: 0.7063, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1582, d4.loss_map_pts: 0.6833, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1558, d5.loss_map_pts: 0.6784, d5.loss_map_dir: 0.0115, loss: 27.9736, grad_norm: 144.3853 +2026-02-26 12:30:31,137 - DriveTransformer - INFO - Epoch [7][500/39528] lr: 8.550e-05, eta: 6 days, 0:05:19, time: 0.652, data_time: 0.032, memory: 19865, loss_cls: 0.1760, loss_bbox: 0.3758, loss_traj: 0.7699, loss_traj_cls: 0.0010, loss_map_cls: 0.1686, loss_map_pts: 0.6722, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 3.1701, d0.loss_plan_l1_fix_dist: 0.3789, d1.loss_plan_l1_fix_time: 1.2357, d1.loss_plan_l1_fix_dist: 0.1746, d2.loss_plan_l1_fix_time: 1.2220, d2.loss_plan_l1_fix_dist: 0.1788, d3.loss_plan_l1_fix_time: 1.2217, d3.loss_plan_l1_fix_dist: 0.1870, d4.loss_plan_l1_fix_time: 1.2248, d4.loss_plan_l1_fix_dist: 0.1970, d5.loss_plan_l1_fix_time: 1.2285, d5.loss_plan_l1_fix_dist: 0.2077, d6.loss_plan_l1_fix_time: 1.2326, d6.loss_plan_l1_fix_dist: 0.2190, d0.loss_cls_all: 0.2188, d0.loss_bbox_all: 0.4302, d0.loss_cls: 0.2188, d0.loss_bbox: 0.4302, d1.loss_cls: 0.2068, d1.loss_bbox: 0.3969, d2.loss_cls: 0.1908, d2.loss_bbox: 0.3843, d3.loss_cls: 0.1805, d3.loss_bbox: 0.3812, d4.loss_cls: 0.1770, d4.loss_bbox: 0.3779, d5.loss_cls: 0.1754, d5.loss_bbox: 0.3770, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0401, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8446, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7880, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7759, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7721, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7686, d0.loss_map_cls_all: 0.2488, d0.loss_map_pts_all: 1.2436, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2488, d0.loss_map_pts: 1.2436, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.2168, d1.loss_map_pts: 0.9081, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1955, d2.loss_map_pts: 0.7636, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1821, d3.loss_map_pts: 0.7035, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1751, d4.loss_map_pts: 0.6825, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1693, d5.loss_map_pts: 0.6738, d5.loss_map_dir: 0.0077, loss: 31.0959, grad_norm: 146.5463 +2026-02-26 12:31:07,675 - DriveTransformer - INFO - Epoch [7][550/39528] lr: 8.550e-05, eta: 6 days, 0:06:01, time: 0.731, data_time: 0.033, memory: 19865, loss_cls: 0.1670, loss_bbox: 0.3748, loss_traj: 0.6700, loss_traj_cls: 0.0010, loss_map_cls: 0.1561, loss_map_pts: 0.8058, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.5518, d0.loss_plan_l1_fix_dist: 0.4339, d1.loss_plan_l1_fix_time: 1.1848, d1.loss_plan_l1_fix_dist: 0.1956, d2.loss_plan_l1_fix_time: 1.1669, d2.loss_plan_l1_fix_dist: 0.1971, d3.loss_plan_l1_fix_time: 1.1655, d3.loss_plan_l1_fix_dist: 0.2077, d4.loss_plan_l1_fix_time: 1.1703, d4.loss_plan_l1_fix_dist: 0.2211, d5.loss_plan_l1_fix_time: 1.1753, d5.loss_plan_l1_fix_dist: 0.2383, d6.loss_plan_l1_fix_time: 1.1811, d6.loss_plan_l1_fix_dist: 0.2549, d0.loss_cls_all: 0.2054, d0.loss_bbox_all: 0.4399, d0.loss_cls: 0.2054, d0.loss_bbox: 0.4399, d1.loss_cls: 0.1983, d1.loss_bbox: 0.4074, d2.loss_cls: 0.1840, d2.loss_bbox: 0.3877, d3.loss_cls: 0.1754, d3.loss_bbox: 0.3789, d4.loss_cls: 0.1690, d4.loss_bbox: 0.3764, d5.loss_cls: 0.1674, d5.loss_bbox: 0.3756, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8935, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7257, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6709, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6675, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6667, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6674, d0.loss_map_cls_all: 0.2361, d0.loss_map_pts_all: 1.5776, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2361, d0.loss_map_pts: 1.5776, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2054, d1.loss_map_pts: 1.1166, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1842, d2.loss_map_pts: 0.9135, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1713, d3.loss_map_pts: 0.8444, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1624, d4.loss_map_pts: 0.8187, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1590, d5.loss_map_pts: 0.8063, d5.loss_map_dir: 0.0110, loss: 31.0214, grad_norm: 146.5705 +2026-02-26 12:31:42,439 - DriveTransformer - INFO - Epoch [7][600/39528] lr: 8.550e-05, eta: 5 days, 23:31:23, time: 0.695, data_time: 0.035, memory: 19865, loss_cls: 0.1584, loss_bbox: 0.3689, loss_traj: 0.7603, loss_traj_cls: 0.0010, loss_map_cls: 0.1591, loss_map_pts: 0.6448, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.8872, d0.loss_plan_l1_fix_dist: 0.4042, d1.loss_plan_l1_fix_time: 1.1367, d1.loss_plan_l1_fix_dist: 0.1934, d2.loss_plan_l1_fix_time: 1.1260, d2.loss_plan_l1_fix_dist: 0.1928, d3.loss_plan_l1_fix_time: 1.1295, d3.loss_plan_l1_fix_dist: 0.2001, d4.loss_plan_l1_fix_time: 1.1342, d4.loss_plan_l1_fix_dist: 0.2083, d5.loss_plan_l1_fix_time: 1.1391, d5.loss_plan_l1_fix_dist: 0.2184, d6.loss_plan_l1_fix_time: 1.1449, d6.loss_plan_l1_fix_dist: 0.2310, d0.loss_cls_all: 0.2085, d0.loss_bbox_all: 0.4219, d0.loss_cls: 0.2085, d0.loss_bbox: 0.4219, d1.loss_cls: 0.1981, d1.loss_bbox: 0.3887, d2.loss_cls: 0.1844, d2.loss_bbox: 0.3729, d3.loss_cls: 0.1682, d3.loss_bbox: 0.3689, d4.loss_cls: 0.1610, d4.loss_bbox: 0.3672, d5.loss_cls: 0.1581, d5.loss_bbox: 0.3692, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0031, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8278, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7635, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7568, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7569, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7552, d0.loss_map_cls_all: 0.2342, d0.loss_map_pts_all: 1.3449, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2342, d0.loss_map_pts: 1.3449, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2038, d1.loss_map_pts: 0.9092, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1834, d2.loss_map_pts: 0.7288, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1707, d3.loss_map_pts: 0.6672, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1636, d4.loss_map_pts: 0.6483, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1600, d5.loss_map_pts: 0.6441, d5.loss_map_dir: 0.0103, loss: 30.0216, grad_norm: 144.1419 +2026-02-26 12:32:17,833 - DriveTransformer - INFO - Epoch [7][650/39528] lr: 8.550e-05, eta: 5 days, 23:13:31, time: 0.708, data_time: 0.035, memory: 19865, loss_cls: 0.1711, loss_bbox: 0.3744, loss_traj: 0.6670, loss_traj_cls: 0.0010, loss_map_cls: 0.1634, loss_map_pts: 0.6961, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.8334, d0.loss_plan_l1_fix_dist: 0.3939, d1.loss_plan_l1_fix_time: 1.1719, d1.loss_plan_l1_fix_dist: 0.2194, d2.loss_plan_l1_fix_time: 1.1644, d2.loss_plan_l1_fix_dist: 0.2130, d3.loss_plan_l1_fix_time: 1.1657, d3.loss_plan_l1_fix_dist: 0.2175, d4.loss_plan_l1_fix_time: 1.1728, d4.loss_plan_l1_fix_dist: 0.2269, d5.loss_plan_l1_fix_time: 1.1800, d5.loss_plan_l1_fix_dist: 0.2392, d6.loss_plan_l1_fix_time: 1.1875, d6.loss_plan_l1_fix_dist: 0.2553, d0.loss_cls_all: 0.2106, d0.loss_bbox_all: 0.4382, d0.loss_cls: 0.2106, d0.loss_bbox: 0.4382, d1.loss_cls: 0.2033, d1.loss_bbox: 0.4027, d2.loss_cls: 0.1879, d2.loss_bbox: 0.3838, d3.loss_cls: 0.1762, d3.loss_bbox: 0.3771, d4.loss_cls: 0.1727, d4.loss_bbox: 0.3750, d5.loss_cls: 0.1717, d5.loss_bbox: 0.3756, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9777, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7576, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6879, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6765, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6673, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6700, d0.loss_map_cls_all: 0.2392, d0.loss_map_pts_all: 1.3607, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2392, d0.loss_map_pts: 1.3607, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2162, d1.loss_map_pts: 0.9573, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1875, d2.loss_map_pts: 0.7969, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1771, d3.loss_map_pts: 0.7335, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1709, d4.loss_map_pts: 0.7092, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1652, d5.loss_map_pts: 0.6983, d5.loss_map_dir: 0.0091, loss: 30.3626, grad_norm: 148.4568 +2026-02-26 12:32:52,582 - DriveTransformer - INFO - Epoch [7][700/39528] lr: 8.550e-05, eta: 5 days, 22:47:11, time: 0.695, data_time: 0.033, memory: 19865, loss_cls: 0.1761, loss_bbox: 0.3640, loss_traj: 0.8204, loss_traj_cls: 0.0011, loss_map_cls: 0.1351, loss_map_pts: 0.6019, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.4574, d0.loss_plan_l1_fix_dist: 0.4624, d1.loss_plan_l1_fix_time: 1.1207, d1.loss_plan_l1_fix_dist: 0.1951, d2.loss_plan_l1_fix_time: 1.1118, d2.loss_plan_l1_fix_dist: 0.1911, d3.loss_plan_l1_fix_time: 1.1154, d3.loss_plan_l1_fix_dist: 0.1973, d4.loss_plan_l1_fix_time: 1.1238, d4.loss_plan_l1_fix_dist: 0.2082, d5.loss_plan_l1_fix_time: 1.1324, d5.loss_plan_l1_fix_dist: 0.2226, d6.loss_plan_l1_fix_time: 1.1415, d6.loss_plan_l1_fix_dist: 0.2407, d0.loss_cls_all: 0.2062, d0.loss_bbox_all: 0.4254, d0.loss_cls: 0.2062, d0.loss_bbox: 0.4254, d1.loss_cls: 0.2004, d1.loss_bbox: 0.3914, d2.loss_cls: 0.1888, d2.loss_bbox: 0.3750, d3.loss_cls: 0.1795, d3.loss_bbox: 0.3696, d4.loss_cls: 0.1765, d4.loss_bbox: 0.3663, d5.loss_cls: 0.1763, d5.loss_bbox: 0.3660, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1066, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.9086, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8438, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8338, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8239, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.8188, d0.loss_map_cls_all: 0.1977, d0.loss_map_pts_all: 1.2150, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1977, d0.loss_map_pts: 1.2150, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1764, d1.loss_map_pts: 0.8439, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1584, d2.loss_map_pts: 0.6959, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1499, d3.loss_map_pts: 0.6305, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1427, d4.loss_map_pts: 0.6085, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1377, d5.loss_map_pts: 0.6022, d5.loss_map_dir: 0.0083, loss: 29.4495, grad_norm: 151.5802 +2026-02-26 12:33:29,178 - DriveTransformer - INFO - Epoch [7][750/39528] lr: 8.550e-05, eta: 5 days, 22:53:32, time: 0.732, data_time: 0.035, memory: 19865, loss_cls: 0.1429, loss_bbox: 0.3335, loss_traj: 0.5188, loss_traj_cls: 0.0011, loss_map_cls: 0.1470, loss_map_pts: 0.6486, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.3199, d0.loss_plan_l1_fix_dist: 0.4072, d1.loss_plan_l1_fix_time: 1.0689, d1.loss_plan_l1_fix_dist: 0.1606, d2.loss_plan_l1_fix_time: 1.0646, d2.loss_plan_l1_fix_dist: 0.1663, d3.loss_plan_l1_fix_time: 1.0644, d3.loss_plan_l1_fix_dist: 0.1769, d4.loss_plan_l1_fix_time: 1.0710, d4.loss_plan_l1_fix_dist: 0.1860, d5.loss_plan_l1_fix_time: 1.0788, d5.loss_plan_l1_fix_dist: 0.1959, d6.loss_plan_l1_fix_time: 1.0873, d6.loss_plan_l1_fix_dist: 0.2065, d0.loss_cls_all: 0.1693, d0.loss_bbox_all: 0.3872, d0.loss_cls: 0.1693, d0.loss_bbox: 0.3872, d1.loss_cls: 0.1662, d1.loss_bbox: 0.3572, d2.loss_cls: 0.1559, d2.loss_bbox: 0.3417, d3.loss_cls: 0.1490, d3.loss_bbox: 0.3348, d4.loss_cls: 0.1448, d4.loss_bbox: 0.3333, d5.loss_cls: 0.1438, d5.loss_bbox: 0.3333, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6844, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5611, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5260, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5204, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5194, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5168, d0.loss_map_cls_all: 0.2065, d0.loss_map_pts_all: 1.3593, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2065, d0.loss_map_pts: 1.3593, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1809, d1.loss_map_pts: 0.9336, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1680, d2.loss_map_pts: 0.7515, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1591, d3.loss_map_pts: 0.6807, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1548, d4.loss_map_pts: 0.6572, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1497, d5.loss_map_pts: 0.6504, d5.loss_map_dir: 0.0097, loss: 26.6450, grad_norm: 149.9881 +2026-02-26 12:34:05,951 - DriveTransformer - INFO - Epoch [7][800/39528] lr: 8.550e-05, eta: 5 days, 23:01:33, time: 0.735, data_time: 0.034, memory: 19865, loss_cls: 0.1965, loss_bbox: 0.3953, loss_traj: 0.6157, loss_traj_cls: 0.0011, loss_map_cls: 0.1500, loss_map_pts: 0.6930, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.8778, d0.loss_plan_l1_fix_dist: 0.4904, d1.loss_plan_l1_fix_time: 1.2096, d1.loss_plan_l1_fix_dist: 0.2066, d2.loss_plan_l1_fix_time: 1.1947, d2.loss_plan_l1_fix_dist: 0.2119, d3.loss_plan_l1_fix_time: 1.1943, d3.loss_plan_l1_fix_dist: 0.2253, d4.loss_plan_l1_fix_time: 1.2000, d4.loss_plan_l1_fix_dist: 0.2412, d5.loss_plan_l1_fix_time: 1.2063, d5.loss_plan_l1_fix_dist: 0.2588, d6.loss_plan_l1_fix_time: 1.2136, d6.loss_plan_l1_fix_dist: 0.2767, d0.loss_cls_all: 0.2339, d0.loss_bbox_all: 0.4629, d0.loss_cls: 0.2339, d0.loss_bbox: 0.4629, d1.loss_cls: 0.2248, d1.loss_bbox: 0.4255, d2.loss_cls: 0.2145, d2.loss_bbox: 0.4060, d3.loss_cls: 0.2025, d3.loss_bbox: 0.3980, d4.loss_cls: 0.1981, d4.loss_bbox: 0.3937, d5.loss_cls: 0.1951, d5.loss_bbox: 0.3965, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7704, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6601, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6388, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6270, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6216, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6146, d0.loss_map_cls_all: 0.2151, d0.loss_map_pts_all: 1.4450, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2151, d0.loss_map_pts: 1.4450, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.1833, d1.loss_map_pts: 0.9646, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.1670, d2.loss_map_pts: 0.7848, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1603, d3.loss_map_pts: 0.7203, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1538, d4.loss_map_pts: 0.7011, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1511, d5.loss_map_pts: 0.6957, d5.loss_map_dir: 0.0118, loss: 30.5383, grad_norm: 147.5027 +2026-02-26 12:34:41,173 - DriveTransformer - INFO - Epoch [7][850/39528] lr: 8.550e-05, eta: 5 days, 22:46:59, time: 0.704, data_time: 0.032, memory: 19865, loss_cls: 0.1684, loss_bbox: 0.3612, loss_traj: 0.5372, loss_traj_cls: 0.0011, loss_map_cls: 0.1620, loss_map_pts: 0.6671, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.4373, d0.loss_plan_l1_fix_dist: 0.3803, d1.loss_plan_l1_fix_time: 1.0620, d1.loss_plan_l1_fix_dist: 0.1812, d2.loss_plan_l1_fix_time: 1.0524, d2.loss_plan_l1_fix_dist: 0.1818, d3.loss_plan_l1_fix_time: 1.0551, d3.loss_plan_l1_fix_dist: 0.1906, d4.loss_plan_l1_fix_time: 1.0626, d4.loss_plan_l1_fix_dist: 0.2021, d5.loss_plan_l1_fix_time: 1.0707, d5.loss_plan_l1_fix_dist: 0.2162, d6.loss_plan_l1_fix_time: 1.0791, d6.loss_plan_l1_fix_dist: 0.2320, d0.loss_cls_all: 0.2026, d0.loss_bbox_all: 0.4165, d0.loss_cls: 0.2026, d0.loss_bbox: 0.4165, d1.loss_cls: 0.1942, d1.loss_bbox: 0.3854, d2.loss_cls: 0.1830, d2.loss_bbox: 0.3682, d3.loss_cls: 0.1735, d3.loss_bbox: 0.3587, d4.loss_cls: 0.1682, d4.loss_bbox: 0.3593, d5.loss_cls: 0.1689, d5.loss_bbox: 0.3612, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7124, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5860, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5475, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5415, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5351, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5333, d0.loss_map_cls_all: 0.2286, d0.loss_map_pts_all: 1.3591, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2286, d0.loss_map_pts: 1.3591, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2039, d1.loss_map_pts: 0.9416, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1843, d2.loss_map_pts: 0.7704, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1743, d3.loss_map_pts: 0.7027, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1687, d4.loss_map_pts: 0.6787, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1633, d5.loss_map_pts: 0.6687, d5.loss_map_dir: 0.0097, loss: 27.6307, grad_norm: 149.0211 +2026-02-26 12:35:16,325 - DriveTransformer - INFO - Epoch [7][900/39528] lr: 8.550e-05, eta: 5 days, 22:33:01, time: 0.703, data_time: 0.032, memory: 19865, loss_cls: 0.1602, loss_bbox: 0.3362, loss_traj: 0.5531, loss_traj_cls: 0.0011, loss_map_cls: 0.1466, loss_map_pts: 0.6614, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.5224, d0.loss_plan_l1_fix_dist: 0.4110, d1.loss_plan_l1_fix_time: 1.1462, d1.loss_plan_l1_fix_dist: 0.1801, d2.loss_plan_l1_fix_time: 1.1263, d2.loss_plan_l1_fix_dist: 0.1909, d3.loss_plan_l1_fix_time: 1.1264, d3.loss_plan_l1_fix_dist: 0.2041, d4.loss_plan_l1_fix_time: 1.1322, d4.loss_plan_l1_fix_dist: 0.2179, d5.loss_plan_l1_fix_time: 1.1385, d5.loss_plan_l1_fix_dist: 0.2366, d6.loss_plan_l1_fix_time: 1.1450, d6.loss_plan_l1_fix_dist: 0.2591, d0.loss_cls_all: 0.1907, d0.loss_bbox_all: 0.3956, d0.loss_cls: 0.1907, d0.loss_bbox: 0.3956, d1.loss_cls: 0.1823, d1.loss_bbox: 0.3658, d2.loss_cls: 0.1714, d2.loss_bbox: 0.3457, d3.loss_cls: 0.1621, d3.loss_bbox: 0.3406, d4.loss_cls: 0.1585, d4.loss_bbox: 0.3375, d5.loss_cls: 0.1601, d5.loss_bbox: 0.3363, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7265, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6178, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5715, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5675, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5579, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5555, d0.loss_map_cls_all: 0.2122, d0.loss_map_pts_all: 1.3440, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2122, d0.loss_map_pts: 1.3440, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1878, d1.loss_map_pts: 0.9220, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1678, d2.loss_map_pts: 0.7558, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1597, d3.loss_map_pts: 0.6913, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1523, d4.loss_map_pts: 0.6691, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1478, d5.loss_map_pts: 0.6617, d5.loss_map_dir: 0.0098, loss: 27.9363, grad_norm: 149.7910 +2026-02-26 12:35:50,657 - DriveTransformer - INFO - Epoch [7][950/39528] lr: 8.550e-05, eta: 5 days, 22:10:17, time: 0.687, data_time: 0.033, memory: 19865, loss_cls: 0.1774, loss_bbox: 0.3682, loss_traj: 0.6609, loss_traj_cls: 0.0010, loss_map_cls: 0.1803, loss_map_pts: 0.7261, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.7644, d0.loss_plan_l1_fix_dist: 0.3498, d1.loss_plan_l1_fix_time: 1.1221, d1.loss_plan_l1_fix_dist: 0.1617, d2.loss_plan_l1_fix_time: 1.1036, d2.loss_plan_l1_fix_dist: 0.1685, d3.loss_plan_l1_fix_time: 1.1031, d3.loss_plan_l1_fix_dist: 0.1800, d4.loss_plan_l1_fix_time: 1.1071, d4.loss_plan_l1_fix_dist: 0.1929, d5.loss_plan_l1_fix_time: 1.1125, d5.loss_plan_l1_fix_dist: 0.2059, d6.loss_plan_l1_fix_time: 1.1184, d6.loss_plan_l1_fix_dist: 0.2202, d0.loss_cls_all: 0.2095, d0.loss_bbox_all: 0.4331, d0.loss_cls: 0.2095, d0.loss_bbox: 0.4331, d1.loss_cls: 0.2044, d1.loss_bbox: 0.3995, d2.loss_cls: 0.1961, d2.loss_bbox: 0.3799, d3.loss_cls: 0.1860, d3.loss_bbox: 0.3718, d4.loss_cls: 0.1787, d4.loss_bbox: 0.3706, d5.loss_cls: 0.1786, d5.loss_bbox: 0.3685, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8680, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7169, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6788, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6632, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6603, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6599, d0.loss_map_cls_all: 0.2586, d0.loss_map_pts_all: 1.4146, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2586, d0.loss_map_pts: 1.4146, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2346, d1.loss_map_pts: 0.9902, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.2128, d2.loss_map_pts: 0.8268, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1999, d3.loss_map_pts: 0.7584, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1893, d4.loss_map_pts: 0.7343, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1829, d5.loss_map_pts: 0.7273, d5.loss_map_dir: 0.0099, loss: 29.8738, grad_norm: 152.8892 +2026-02-26 12:36:26,138 - DriveTransformer - INFO - Epoch [7][1000/39528] lr: 8.550e-05, eta: 5 days, 22:03:19, time: 0.710, data_time: 0.034, memory: 19865, loss_cls: 0.1953, loss_bbox: 0.3980, loss_traj: 0.5307, loss_traj_cls: 0.0010, loss_map_cls: 0.1802, loss_map_pts: 0.7738, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.9998, d0.loss_plan_l1_fix_dist: 0.4072, d1.loss_plan_l1_fix_time: 1.2530, d1.loss_plan_l1_fix_dist: 0.1720, d2.loss_plan_l1_fix_time: 1.2454, d2.loss_plan_l1_fix_dist: 0.1743, d3.loss_plan_l1_fix_time: 1.2538, d3.loss_plan_l1_fix_dist: 0.1834, d4.loss_plan_l1_fix_time: 1.2606, d4.loss_plan_l1_fix_dist: 0.1955, d5.loss_plan_l1_fix_time: 1.2682, d5.loss_plan_l1_fix_dist: 0.2078, d6.loss_plan_l1_fix_time: 1.2768, d6.loss_plan_l1_fix_dist: 0.2202, d0.loss_cls_all: 0.2352, d0.loss_bbox_all: 0.4574, d0.loss_cls: 0.2352, d0.loss_bbox: 0.4574, d1.loss_cls: 0.2293, d1.loss_bbox: 0.4220, d2.loss_cls: 0.2139, d2.loss_bbox: 0.4090, d3.loss_cls: 0.2021, d3.loss_bbox: 0.4035, d4.loss_cls: 0.1963, d4.loss_bbox: 0.4004, d5.loss_cls: 0.1947, d5.loss_bbox: 0.4001, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7152, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5785, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5518, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5419, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5338, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5345, d0.loss_map_cls_all: 0.2491, d0.loss_map_pts_all: 1.5376, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2491, d0.loss_map_pts: 1.5376, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2257, d1.loss_map_pts: 1.0512, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2076, d2.loss_map_pts: 0.8754, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1954, d3.loss_map_pts: 0.8011, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1881, d4.loss_map_pts: 0.7797, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1837, d5.loss_map_pts: 0.7729, d5.loss_map_dir: 0.0110, loss: 31.0551, grad_norm: 153.1144 +2026-02-26 12:37:02,131 - DriveTransformer - INFO - Epoch [7][1050/39528] lr: 8.550e-05, eta: 5 days, 22:02:49, time: 0.720, data_time: 0.034, memory: 19865, loss_cls: 0.1809, loss_bbox: 0.3825, loss_traj: 0.5957, loss_traj_cls: 0.0011, loss_map_cls: 0.1638, loss_map_pts: 0.7367, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.9613, d0.loss_plan_l1_fix_dist: 0.4090, d1.loss_plan_l1_fix_time: 1.0782, d1.loss_plan_l1_fix_dist: 0.1879, d2.loss_plan_l1_fix_time: 1.0715, d2.loss_plan_l1_fix_dist: 0.1934, d3.loss_plan_l1_fix_time: 1.0809, d3.loss_plan_l1_fix_dist: 0.2002, d4.loss_plan_l1_fix_time: 1.0880, d4.loss_plan_l1_fix_dist: 0.2098, d5.loss_plan_l1_fix_time: 1.0941, d5.loss_plan_l1_fix_dist: 0.2205, d6.loss_plan_l1_fix_time: 1.1000, d6.loss_plan_l1_fix_dist: 0.2324, d0.loss_cls_all: 0.2132, d0.loss_bbox_all: 0.4440, d0.loss_cls: 0.2132, d0.loss_bbox: 0.4440, d1.loss_cls: 0.2097, d1.loss_bbox: 0.4096, d2.loss_cls: 0.1959, d2.loss_bbox: 0.3952, d3.loss_cls: 0.1843, d3.loss_bbox: 0.3884, d4.loss_cls: 0.1796, d4.loss_bbox: 0.3853, d5.loss_cls: 0.1816, d5.loss_bbox: 0.3822, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7795, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6541, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6166, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5992, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5978, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5928, d0.loss_map_cls_all: 0.2261, d0.loss_map_pts_all: 1.4614, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2261, d0.loss_map_pts: 1.4614, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2041, d1.loss_map_pts: 1.0257, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1866, d2.loss_map_pts: 0.8467, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1796, d3.loss_map_pts: 0.7751, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1701, d4.loss_map_pts: 0.7445, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1655, d5.loss_map_pts: 0.7381, d5.loss_map_dir: 0.0104, loss: 29.7496, grad_norm: 151.1724 +2026-02-26 12:37:36,583 - DriveTransformer - INFO - Epoch [7][1100/39528] lr: 8.550e-05, eta: 5 days, 21:45:39, time: 0.689, data_time: 0.034, memory: 19865, loss_cls: 0.1673, loss_bbox: 0.3636, loss_traj: 0.5603, loss_traj_cls: 0.0010, loss_map_cls: 0.1542, loss_map_pts: 0.6465, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.4532, d0.loss_plan_l1_fix_dist: 0.4454, d1.loss_plan_l1_fix_time: 1.0808, d1.loss_plan_l1_fix_dist: 0.1714, d2.loss_plan_l1_fix_time: 1.0697, d2.loss_plan_l1_fix_dist: 0.1715, d3.loss_plan_l1_fix_time: 1.0701, d3.loss_plan_l1_fix_dist: 0.1787, d4.loss_plan_l1_fix_time: 1.0756, d4.loss_plan_l1_fix_dist: 0.1880, d5.loss_plan_l1_fix_time: 1.0818, d5.loss_plan_l1_fix_dist: 0.1997, d6.loss_plan_l1_fix_time: 1.0891, d6.loss_plan_l1_fix_dist: 0.2127, d0.loss_cls_all: 0.1989, d0.loss_bbox_all: 0.4213, d0.loss_cls: 0.1989, d0.loss_bbox: 0.4213, d1.loss_cls: 0.1941, d1.loss_bbox: 0.3875, d2.loss_cls: 0.1848, d2.loss_bbox: 0.3684, d3.loss_cls: 0.1744, d3.loss_bbox: 0.3637, d4.loss_cls: 0.1702, d4.loss_bbox: 0.3627, d5.loss_cls: 0.1681, d5.loss_bbox: 0.3635, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7705, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6230, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5717, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5611, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5628, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5612, d0.loss_map_cls_all: 0.2201, d0.loss_map_pts_all: 1.3103, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2201, d0.loss_map_pts: 1.3103, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1943, d1.loss_map_pts: 0.9040, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1782, d2.loss_map_pts: 0.7512, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1657, d3.loss_map_pts: 0.6841, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1598, d4.loss_map_pts: 0.6565, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1567, d5.loss_map_pts: 0.6470, d5.loss_map_dir: 0.0098, loss: 27.6513, grad_norm: 149.3888 +2026-02-26 12:38:12,952 - DriveTransformer - INFO - Epoch [7][1150/39528] lr: 8.550e-05, eta: 5 days, 21:49:39, time: 0.727, data_time: 0.035, memory: 19865, loss_cls: 0.1875, loss_bbox: 0.4033, loss_traj: 0.6922, loss_traj_cls: 0.0010, loss_map_cls: 0.1731, loss_map_pts: 0.8230, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 3.0057, d0.loss_plan_l1_fix_dist: 0.4989, d1.loss_plan_l1_fix_time: 1.1997, d1.loss_plan_l1_fix_dist: 0.2210, d2.loss_plan_l1_fix_time: 1.1836, d2.loss_plan_l1_fix_dist: 0.2176, d3.loss_plan_l1_fix_time: 1.1855, d3.loss_plan_l1_fix_dist: 0.2246, d4.loss_plan_l1_fix_time: 1.1905, d4.loss_plan_l1_fix_dist: 0.2334, d5.loss_plan_l1_fix_time: 1.1966, d5.loss_plan_l1_fix_dist: 0.2445, d6.loss_plan_l1_fix_time: 1.2037, d6.loss_plan_l1_fix_dist: 0.2585, d0.loss_cls_all: 0.2237, d0.loss_bbox_all: 0.4713, d0.loss_cls: 0.2237, d0.loss_bbox: 0.4713, d1.loss_cls: 0.2163, d1.loss_bbox: 0.4348, d2.loss_cls: 0.2022, d2.loss_bbox: 0.4153, d3.loss_cls: 0.1930, d3.loss_bbox: 0.4064, d4.loss_cls: 0.1905, d4.loss_bbox: 0.4025, d5.loss_cls: 0.1901, d5.loss_bbox: 0.4003, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9885, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7744, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7196, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7008, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6954, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6904, d0.loss_map_cls_all: 0.2447, d0.loss_map_pts_all: 1.5825, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2447, d0.loss_map_pts: 1.5825, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2173, d1.loss_map_pts: 1.1303, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1990, d2.loss_map_pts: 0.9427, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1855, d3.loss_map_pts: 0.8643, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1780, d4.loss_map_pts: 0.8379, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1751, d5.loss_map_pts: 0.8248, d5.loss_map_dir: 0.0103, loss: 32.6474, grad_norm: 150.5339 +2026-02-26 12:38:48,035 - DriveTransformer - INFO - Epoch [7][1200/39528] lr: 8.550e-05, eta: 5 days, 21:41:18, time: 0.703, data_time: 0.033, memory: 19865, loss_cls: 0.1599, loss_bbox: 0.3605, loss_traj: 0.6384, loss_traj_cls: 0.0010, loss_map_cls: 0.1334, loss_map_pts: 0.6279, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.4013, d0.loss_plan_l1_fix_dist: 0.4898, d1.loss_plan_l1_fix_time: 1.0589, d1.loss_plan_l1_fix_dist: 0.1906, d2.loss_plan_l1_fix_time: 1.0466, d2.loss_plan_l1_fix_dist: 0.1831, d3.loss_plan_l1_fix_time: 1.0485, d3.loss_plan_l1_fix_dist: 0.1880, d4.loss_plan_l1_fix_time: 1.0550, d4.loss_plan_l1_fix_dist: 0.1955, d5.loss_plan_l1_fix_time: 1.0623, d5.loss_plan_l1_fix_dist: 0.2054, d6.loss_plan_l1_fix_time: 1.0707, d6.loss_plan_l1_fix_dist: 0.2184, d0.loss_cls_all: 0.2037, d0.loss_bbox_all: 0.4158, d0.loss_cls: 0.2037, d0.loss_bbox: 0.4158, d1.loss_cls: 0.1958, d1.loss_bbox: 0.3819, d2.loss_cls: 0.1797, d2.loss_bbox: 0.3675, d3.loss_cls: 0.1646, d3.loss_bbox: 0.3620, d4.loss_cls: 0.1603, d4.loss_bbox: 0.3594, d5.loss_cls: 0.1594, d5.loss_bbox: 0.3599, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8318, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7101, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6630, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6359, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6348, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6329, d0.loss_map_cls_all: 0.1994, d0.loss_map_pts_all: 1.2503, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.1994, d0.loss_map_pts: 1.2503, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1736, d1.loss_map_pts: 0.8616, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1511, d2.loss_map_pts: 0.7088, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1453, d3.loss_map_pts: 0.6528, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1393, d4.loss_map_pts: 0.6345, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1344, d5.loss_map_pts: 0.6287, d5.loss_map_dir: 0.0089, loss: 27.5806, grad_norm: 149.1915 +2026-02-26 12:39:22,080 - DriveTransformer - INFO - Epoch [7][1250/39528] lr: 8.550e-05, eta: 5 days, 21:22:25, time: 0.679, data_time: 0.031, memory: 19865, loss_cls: 0.1859, loss_bbox: 0.4008, loss_traj: 0.7756, loss_traj_cls: 0.0010, loss_map_cls: 0.1727, loss_map_pts: 0.6846, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.6646, d0.loss_plan_l1_fix_dist: 0.4054, d1.loss_plan_l1_fix_time: 1.1544, d1.loss_plan_l1_fix_dist: 0.1936, d2.loss_plan_l1_fix_time: 1.1306, d2.loss_plan_l1_fix_dist: 0.1912, d3.loss_plan_l1_fix_time: 1.1277, d3.loss_plan_l1_fix_dist: 0.1985, d4.loss_plan_l1_fix_time: 1.1303, d4.loss_plan_l1_fix_dist: 0.2092, d5.loss_plan_l1_fix_time: 1.1338, d5.loss_plan_l1_fix_dist: 0.2208, d6.loss_plan_l1_fix_time: 1.1384, d6.loss_plan_l1_fix_dist: 0.2321, d0.loss_cls_all: 0.2201, d0.loss_bbox_all: 0.4678, d0.loss_cls: 0.2201, d0.loss_bbox: 0.4678, d1.loss_cls: 0.2130, d1.loss_bbox: 0.4333, d2.loss_cls: 0.2004, d2.loss_bbox: 0.4148, d3.loss_cls: 0.1908, d3.loss_bbox: 0.4075, d4.loss_cls: 0.1858, d4.loss_bbox: 0.4039, d5.loss_cls: 0.1840, d5.loss_bbox: 0.4021, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0900, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8680, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.8008, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7759, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7760, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7724, d0.loss_map_cls_all: 0.2396, d0.loss_map_pts_all: 1.3561, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2396, d0.loss_map_pts: 1.3561, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.2129, d1.loss_map_pts: 0.9274, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1933, d2.loss_map_pts: 0.7726, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1832, d3.loss_map_pts: 0.7134, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1772, d4.loss_map_pts: 0.6923, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1735, d5.loss_map_pts: 0.6858, d5.loss_map_dir: 0.0087, loss: 30.8423, grad_norm: 147.9441 +2026-02-26 12:39:56,877 - DriveTransformer - INFO - Epoch [7][1300/39528] lr: 8.550e-05, eta: 5 days, 21:12:26, time: 0.696, data_time: 0.033, memory: 19865, loss_cls: 0.1617, loss_bbox: 0.3507, loss_traj: 0.5994, loss_traj_cls: 0.0011, loss_map_cls: 0.1233, loss_map_pts: 0.5894, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.3742, d0.loss_plan_l1_fix_dist: 0.4255, d1.loss_plan_l1_fix_time: 1.0255, d1.loss_plan_l1_fix_dist: 0.1590, d2.loss_plan_l1_fix_time: 1.0056, d2.loss_plan_l1_fix_dist: 0.1642, d3.loss_plan_l1_fix_time: 1.0082, d3.loss_plan_l1_fix_dist: 0.1770, d4.loss_plan_l1_fix_time: 1.0146, d4.loss_plan_l1_fix_dist: 0.1896, d5.loss_plan_l1_fix_time: 1.0206, d5.loss_plan_l1_fix_dist: 0.2048, d6.loss_plan_l1_fix_time: 1.0260, d6.loss_plan_l1_fix_dist: 0.2213, d0.loss_cls_all: 0.1974, d0.loss_bbox_all: 0.4024, d0.loss_cls: 0.1974, d0.loss_bbox: 0.4024, d1.loss_cls: 0.1876, d1.loss_bbox: 0.3772, d2.loss_cls: 0.1754, d2.loss_bbox: 0.3636, d3.loss_cls: 0.1655, d3.loss_bbox: 0.3580, d4.loss_cls: 0.1617, d4.loss_bbox: 0.3524, d5.loss_cls: 0.1604, d5.loss_bbox: 0.3520, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8281, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6536, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6118, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5985, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5914, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5920, d0.loss_map_cls_all: 0.1935, d0.loss_map_pts_all: 1.2204, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.1935, d0.loss_map_pts: 1.2204, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1658, d1.loss_map_pts: 0.8404, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1488, d2.loss_map_pts: 0.6838, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1379, d3.loss_map_pts: 0.6239, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1294, d4.loss_map_pts: 0.5989, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1252, d5.loss_map_pts: 0.5911, d5.loss_map_dir: 0.0091, loss: 26.5191, grad_norm: 150.2420 +2026-02-26 12:40:30,772 - DriveTransformer - INFO - Epoch [7][1350/39528] lr: 8.550e-05, eta: 5 days, 20:55:14, time: 0.678, data_time: 0.033, memory: 19865, loss_cls: 0.1592, loss_bbox: 0.3518, loss_traj: 0.6610, loss_traj_cls: 0.0010, loss_map_cls: 0.1606, loss_map_pts: 0.7283, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.4039, d0.loss_plan_l1_fix_dist: 0.4593, d1.loss_plan_l1_fix_time: 1.0075, d1.loss_plan_l1_fix_dist: 0.1784, d2.loss_plan_l1_fix_time: 0.9887, d2.loss_plan_l1_fix_dist: 0.1818, d3.loss_plan_l1_fix_time: 0.9891, d3.loss_plan_l1_fix_dist: 0.1911, d4.loss_plan_l1_fix_time: 0.9947, d4.loss_plan_l1_fix_dist: 0.2024, d5.loss_plan_l1_fix_time: 1.0004, d5.loss_plan_l1_fix_dist: 0.2145, d6.loss_plan_l1_fix_time: 1.0061, d6.loss_plan_l1_fix_dist: 0.2280, d0.loss_cls_all: 0.1921, d0.loss_bbox_all: 0.4182, d0.loss_cls: 0.1921, d0.loss_bbox: 0.4182, d1.loss_cls: 0.1856, d1.loss_bbox: 0.3818, d2.loss_cls: 0.1721, d2.loss_bbox: 0.3627, d3.loss_cls: 0.1625, d3.loss_bbox: 0.3560, d4.loss_cls: 0.1593, d4.loss_bbox: 0.3522, d5.loss_cls: 0.1587, d5.loss_bbox: 0.3522, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9415, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7374, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6744, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6584, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6552, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6568, d0.loss_map_cls_all: 0.2377, d0.loss_map_pts_all: 1.4389, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2377, d0.loss_map_pts: 1.4389, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2081, d1.loss_map_pts: 1.0017, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1855, d2.loss_map_pts: 0.8264, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1730, d3.loss_map_pts: 0.7632, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1655, d4.loss_map_pts: 0.7389, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1626, d5.loss_map_pts: 0.7281, d5.loss_map_dir: 0.0098, loss: 28.6838, grad_norm: 149.9659 +2026-02-26 12:41:04,967 - DriveTransformer - INFO - Epoch [7][1400/39528] lr: 8.550e-05, eta: 5 days, 20:41:44, time: 0.684, data_time: 0.032, memory: 19865, loss_cls: 0.1749, loss_bbox: 0.3561, loss_traj: 0.7628, loss_traj_cls: 0.0010, loss_map_cls: 0.1604, loss_map_pts: 0.6917, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.3694, d0.loss_plan_l1_fix_dist: 0.3795, d1.loss_plan_l1_fix_time: 1.1375, d1.loss_plan_l1_fix_dist: 0.1759, d2.loss_plan_l1_fix_time: 1.1224, d2.loss_plan_l1_fix_dist: 0.1800, d3.loss_plan_l1_fix_time: 1.1220, d3.loss_plan_l1_fix_dist: 0.1883, d4.loss_plan_l1_fix_time: 1.1254, d4.loss_plan_l1_fix_dist: 0.1987, d5.loss_plan_l1_fix_time: 1.1295, d5.loss_plan_l1_fix_dist: 0.2103, d6.loss_plan_l1_fix_time: 1.1350, d6.loss_plan_l1_fix_dist: 0.2262, d0.loss_cls_all: 0.2137, d0.loss_bbox_all: 0.4180, d0.loss_cls: 0.2137, d0.loss_bbox: 0.4180, d1.loss_cls: 0.2040, d1.loss_bbox: 0.3818, d2.loss_cls: 0.1916, d2.loss_bbox: 0.3637, d3.loss_cls: 0.1815, d3.loss_bbox: 0.3569, d4.loss_cls: 0.1770, d4.loss_bbox: 0.3537, d5.loss_cls: 0.1746, d5.loss_bbox: 0.3542, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9882, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8231, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7722, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7635, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7583, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7592, d0.loss_map_cls_all: 0.2313, d0.loss_map_pts_all: 1.3385, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2313, d0.loss_map_pts: 1.3385, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2010, d1.loss_map_pts: 0.9338, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1803, d2.loss_map_pts: 0.7810, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1685, d3.loss_map_pts: 0.7151, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1627, d4.loss_map_pts: 0.6955, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1616, d5.loss_map_pts: 0.6911, d5.loss_map_dir: 0.0100, loss: 29.6274, grad_norm: 148.8408 +2026-02-26 12:41:39,137 - DriveTransformer - INFO - Epoch [7][1450/39528] lr: 8.550e-05, eta: 5 days, 20:28:58, time: 0.683, data_time: 0.031, memory: 19865, loss_cls: 0.1511, loss_bbox: 0.3648, loss_traj: 0.7698, loss_traj_cls: 0.0010, loss_map_cls: 0.1624, loss_map_pts: 0.6452, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.4866, d0.loss_plan_l1_fix_dist: 0.3778, d1.loss_plan_l1_fix_time: 0.9511, d1.loss_plan_l1_fix_dist: 0.1621, d2.loss_plan_l1_fix_time: 0.9358, d2.loss_plan_l1_fix_dist: 0.1648, d3.loss_plan_l1_fix_time: 0.9361, d3.loss_plan_l1_fix_dist: 0.1720, d4.loss_plan_l1_fix_time: 0.9397, d4.loss_plan_l1_fix_dist: 0.1827, d5.loss_plan_l1_fix_time: 0.9440, d5.loss_plan_l1_fix_dist: 0.1950, d6.loss_plan_l1_fix_time: 0.9491, d6.loss_plan_l1_fix_dist: 0.2085, d0.loss_cls_all: 0.1936, d0.loss_bbox_all: 0.4261, d0.loss_cls: 0.1936, d0.loss_bbox: 0.4261, d1.loss_cls: 0.1827, d1.loss_bbox: 0.3931, d2.loss_cls: 0.1681, d2.loss_bbox: 0.3758, d3.loss_cls: 0.1572, d3.loss_bbox: 0.3701, d4.loss_cls: 0.1544, d4.loss_bbox: 0.3665, d5.loss_cls: 0.1516, d5.loss_bbox: 0.3653, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0213, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8262, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7737, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7657, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7650, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7665, d0.loss_map_cls_all: 0.2327, d0.loss_map_pts_all: 1.3515, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2327, d0.loss_map_pts: 1.3515, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1987, d1.loss_map_pts: 0.9550, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1837, d2.loss_map_pts: 0.7733, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1707, d3.loss_map_pts: 0.6944, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1666, d4.loss_map_pts: 0.6571, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1635, d5.loss_map_pts: 0.6475, d5.loss_map_dir: 0.0092, loss: 28.3972, grad_norm: 147.8080 +2026-02-26 12:42:15,149 - DriveTransformer - INFO - Epoch [7][1500/39528] lr: 8.550e-05, eta: 5 days, 20:31:31, time: 0.720, data_time: 0.037, memory: 19865, loss_cls: 0.1637, loss_bbox: 0.3600, loss_traj: 0.6741, loss_traj_cls: 0.0010, loss_map_cls: 0.1456, loss_map_pts: 0.6387, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.6663, d0.loss_plan_l1_fix_dist: 0.4933, d1.loss_plan_l1_fix_time: 1.1798, d1.loss_plan_l1_fix_dist: 0.2118, d2.loss_plan_l1_fix_time: 1.1601, d2.loss_plan_l1_fix_dist: 0.2109, d3.loss_plan_l1_fix_time: 1.1534, d3.loss_plan_l1_fix_dist: 0.2198, d4.loss_plan_l1_fix_time: 1.1563, d4.loss_plan_l1_fix_dist: 0.2328, d5.loss_plan_l1_fix_time: 1.1600, d5.loss_plan_l1_fix_dist: 0.2462, d6.loss_plan_l1_fix_time: 1.1637, d6.loss_plan_l1_fix_dist: 0.2592, d0.loss_cls_all: 0.1970, d0.loss_bbox_all: 0.4285, d0.loss_cls: 0.1970, d0.loss_bbox: 0.4285, d1.loss_cls: 0.1916, d1.loss_bbox: 0.3916, d2.loss_cls: 0.1795, d2.loss_bbox: 0.3726, d3.loss_cls: 0.1682, d3.loss_bbox: 0.3654, d4.loss_cls: 0.1651, d4.loss_bbox: 0.3600, d5.loss_cls: 0.1639, d5.loss_bbox: 0.3596, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9634, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7581, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6965, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6840, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6803, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6775, d0.loss_map_cls_all: 0.2261, d0.loss_map_pts_all: 1.3339, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2261, d0.loss_map_pts: 1.3339, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1955, d1.loss_map_pts: 0.9131, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1754, d2.loss_map_pts: 0.7410, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1618, d3.loss_map_pts: 0.6717, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1535, d4.loss_map_pts: 0.6467, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1485, d5.loss_map_pts: 0.6397, d5.loss_map_dir: 0.0091, loss: 29.5687, grad_norm: 147.1410 +2026-02-26 12:42:49,740 - DriveTransformer - INFO - Epoch [7][1550/39528] lr: 8.550e-05, eta: 5 days, 20:23:04, time: 0.692, data_time: 0.031, memory: 19865, loss_cls: 0.1650, loss_bbox: 0.3616, loss_traj: 0.7212, loss_traj_cls: 0.0010, loss_map_cls: 0.1693, loss_map_pts: 0.6885, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 3.0098, d0.loss_plan_l1_fix_dist: 0.5453, d1.loss_plan_l1_fix_time: 1.2210, d1.loss_plan_l1_fix_dist: 0.2067, d2.loss_plan_l1_fix_time: 1.1987, d2.loss_plan_l1_fix_dist: 0.2048, d3.loss_plan_l1_fix_time: 1.1880, d3.loss_plan_l1_fix_dist: 0.2104, d4.loss_plan_l1_fix_time: 1.1898, d4.loss_plan_l1_fix_dist: 0.2189, d5.loss_plan_l1_fix_time: 1.1925, d5.loss_plan_l1_fix_dist: 0.2295, d6.loss_plan_l1_fix_time: 1.1954, d6.loss_plan_l1_fix_dist: 0.2420, d0.loss_cls_all: 0.1991, d0.loss_bbox_all: 0.4160, d0.loss_cls: 0.1991, d0.loss_bbox: 0.4160, d1.loss_cls: 0.1932, d1.loss_bbox: 0.3837, d2.loss_cls: 0.1823, d2.loss_bbox: 0.3659, d3.loss_cls: 0.1702, d3.loss_bbox: 0.3620, d4.loss_cls: 0.1655, d4.loss_bbox: 0.3592, d5.loss_cls: 0.1655, d5.loss_bbox: 0.3588, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9223, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7841, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7373, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7206, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7226, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7214, d0.loss_map_cls_all: 0.2390, d0.loss_map_pts_all: 1.4175, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2390, d0.loss_map_pts: 1.4175, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2085, d1.loss_map_pts: 0.9863, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1906, d2.loss_map_pts: 0.7986, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1802, d3.loss_map_pts: 0.7278, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1750, d4.loss_map_pts: 0.6979, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1710, d5.loss_map_pts: 0.6901, d5.loss_map_dir: 0.0097, loss: 30.9229, grad_norm: 146.7586 +2026-02-26 12:43:25,524 - DriveTransformer - INFO - Epoch [7][1600/39528] lr: 8.550e-05, eta: 5 days, 20:23:50, time: 0.716, data_time: 0.032, memory: 19865, loss_cls: 0.1609, loss_bbox: 0.3626, loss_traj: 0.6596, loss_traj_cls: 0.0010, loss_map_cls: 0.1427, loss_map_pts: 0.6539, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.4714, d0.loss_plan_l1_fix_dist: 0.3685, d1.loss_plan_l1_fix_time: 1.0925, d1.loss_plan_l1_fix_dist: 0.1787, d2.loss_plan_l1_fix_time: 1.0756, d2.loss_plan_l1_fix_dist: 0.1778, d3.loss_plan_l1_fix_time: 1.0624, d3.loss_plan_l1_fix_dist: 0.1874, d4.loss_plan_l1_fix_time: 1.0644, d4.loss_plan_l1_fix_dist: 0.1990, d5.loss_plan_l1_fix_time: 1.0670, d5.loss_plan_l1_fix_dist: 0.2127, d6.loss_plan_l1_fix_time: 1.0701, d6.loss_plan_l1_fix_dist: 0.2275, d0.loss_cls_all: 0.2069, d0.loss_bbox_all: 0.4157, d0.loss_cls: 0.2069, d0.loss_bbox: 0.4157, d1.loss_cls: 0.1922, d1.loss_bbox: 0.3874, d2.loss_cls: 0.1792, d2.loss_bbox: 0.3706, d3.loss_cls: 0.1684, d3.loss_bbox: 0.3642, d4.loss_cls: 0.1625, d4.loss_bbox: 0.3629, d5.loss_cls: 0.1615, d5.loss_bbox: 0.3623, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9351, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7402, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6884, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6754, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6676, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6615, d0.loss_map_cls_all: 0.2112, d0.loss_map_pts_all: 1.3418, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2112, d0.loss_map_pts: 1.3418, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1786, d1.loss_map_pts: 0.9048, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1620, d2.loss_map_pts: 0.7334, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1537, d3.loss_map_pts: 0.6802, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1473, d4.loss_map_pts: 0.6638, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1443, d5.loss_map_pts: 0.6553, d5.loss_map_dir: 0.0102, loss: 28.3732, grad_norm: 147.3131 +2026-02-26 12:44:02,330 - DriveTransformer - INFO - Epoch [7][1650/39528] lr: 8.550e-05, eta: 5 days, 20:31:53, time: 0.736, data_time: 0.031, memory: 19865, loss_cls: 0.1825, loss_bbox: 0.3921, loss_traj: 0.5942, loss_traj_cls: 0.0010, loss_map_cls: 0.1597, loss_map_pts: 0.6942, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.9230, d0.loss_plan_l1_fix_dist: 0.4107, d1.loss_plan_l1_fix_time: 1.1548, d1.loss_plan_l1_fix_dist: 0.2213, d2.loss_plan_l1_fix_time: 1.1414, d2.loss_plan_l1_fix_dist: 0.2221, d3.loss_plan_l1_fix_time: 1.1302, d3.loss_plan_l1_fix_dist: 0.2318, d4.loss_plan_l1_fix_time: 1.1315, d4.loss_plan_l1_fix_dist: 0.2416, d5.loss_plan_l1_fix_time: 1.1339, d5.loss_plan_l1_fix_dist: 0.2527, d6.loss_plan_l1_fix_time: 1.1373, d6.loss_plan_l1_fix_dist: 0.2659, d0.loss_cls_all: 0.2230, d0.loss_bbox_all: 0.4536, d0.loss_cls: 0.2230, d0.loss_bbox: 0.4536, d1.loss_cls: 0.2123, d1.loss_bbox: 0.4223, d2.loss_cls: 0.2010, d2.loss_bbox: 0.4050, d3.loss_cls: 0.1886, d3.loss_bbox: 0.3961, d4.loss_cls: 0.1832, d4.loss_bbox: 0.3935, d5.loss_cls: 0.1818, d5.loss_bbox: 0.3933, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7725, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6634, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6054, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5995, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5944, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5951, d0.loss_map_cls_all: 0.2287, d0.loss_map_pts_all: 1.4522, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2287, d0.loss_map_pts: 1.4522, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.1972, d1.loss_map_pts: 0.9578, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1824, d2.loss_map_pts: 0.7800, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1733, d3.loss_map_pts: 0.7243, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1664, d4.loss_map_pts: 0.7044, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1614, d5.loss_map_pts: 0.6970, d5.loss_map_dir: 0.0113, loss: 29.9801, grad_norm: 147.6925 +2026-02-26 12:44:39,170 - DriveTransformer - INFO - Epoch [7][1700/39528] lr: 8.550e-05, eta: 5 days, 20:39:40, time: 0.737, data_time: 0.033, memory: 19865, loss_cls: 0.1472, loss_bbox: 0.3331, loss_traj: 0.5906, loss_traj_cls: 0.0010, loss_map_cls: 0.1429, loss_map_pts: 0.6781, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.6181, d0.loss_plan_l1_fix_dist: 0.4929, d1.loss_plan_l1_fix_time: 1.0228, d1.loss_plan_l1_fix_dist: 0.1732, d2.loss_plan_l1_fix_time: 1.0080, d2.loss_plan_l1_fix_dist: 0.1721, d3.loss_plan_l1_fix_time: 1.0093, d3.loss_plan_l1_fix_dist: 0.1806, d4.loss_plan_l1_fix_time: 1.0127, d4.loss_plan_l1_fix_dist: 0.1936, d5.loss_plan_l1_fix_time: 1.0166, d5.loss_plan_l1_fix_dist: 0.2093, d6.loss_plan_l1_fix_time: 1.0215, d6.loss_plan_l1_fix_dist: 0.2282, d0.loss_cls_all: 0.1762, d0.loss_bbox_all: 0.3881, d0.loss_cls: 0.1762, d0.loss_bbox: 0.3881, d1.loss_cls: 0.1675, d1.loss_bbox: 0.3581, d2.loss_cls: 0.1584, d2.loss_bbox: 0.3429, d3.loss_cls: 0.1514, d3.loss_bbox: 0.3371, d4.loss_cls: 0.1493, d4.loss_bbox: 0.3342, d5.loss_cls: 0.1478, d5.loss_bbox: 0.3331, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7388, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6302, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5846, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5800, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5861, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5862, d0.loss_map_cls_all: 0.2078, d0.loss_map_pts_all: 1.4849, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2078, d0.loss_map_pts: 1.4849, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1811, d1.loss_map_pts: 0.9639, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1603, d2.loss_map_pts: 0.7843, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1506, d3.loss_map_pts: 0.7172, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1469, d4.loss_map_pts: 0.6844, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1450, d5.loss_map_pts: 0.6774, d5.loss_map_dir: 0.0104, loss: 27.6474, grad_norm: 147.4704 +2026-02-26 12:45:13,855 - DriveTransformer - INFO - Epoch [7][1750/39528] lr: 8.550e-05, eta: 5 days, 20:32:24, time: 0.694, data_time: 0.033, memory: 19865, loss_cls: 0.1713, loss_bbox: 0.3895, loss_traj: 0.7006, loss_traj_cls: 0.0010, loss_map_cls: 0.1537, loss_map_pts: 0.7223, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.8748, d0.loss_plan_l1_fix_dist: 0.3276, d1.loss_plan_l1_fix_time: 1.2110, d1.loss_plan_l1_fix_dist: 0.1790, d2.loss_plan_l1_fix_time: 1.1996, d2.loss_plan_l1_fix_dist: 0.1806, d3.loss_plan_l1_fix_time: 1.2065, d3.loss_plan_l1_fix_dist: 0.1880, d4.loss_plan_l1_fix_time: 1.2107, d4.loss_plan_l1_fix_dist: 0.1964, d5.loss_plan_l1_fix_time: 1.2145, d5.loss_plan_l1_fix_dist: 0.2068, d6.loss_plan_l1_fix_time: 1.2185, d6.loss_plan_l1_fix_dist: 0.2172, d0.loss_cls_all: 0.2158, d0.loss_bbox_all: 0.4470, d0.loss_cls: 0.2158, d0.loss_bbox: 0.4470, d1.loss_cls: 0.2104, d1.loss_bbox: 0.4092, d2.loss_cls: 0.1922, d2.loss_bbox: 0.3949, d3.loss_cls: 0.1818, d3.loss_bbox: 0.3912, d4.loss_cls: 0.1747, d4.loss_bbox: 0.3895, d5.loss_cls: 0.1721, d5.loss_bbox: 0.3882, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8864, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7434, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7044, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6979, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6986, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6972, d0.loss_map_cls_all: 0.2257, d0.loss_map_pts_all: 1.3595, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2257, d0.loss_map_pts: 1.3595, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1970, d1.loss_map_pts: 0.9626, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1768, d2.loss_map_pts: 0.8166, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1655, d3.loss_map_pts: 0.7547, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1591, d4.loss_map_pts: 0.7302, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1554, d5.loss_map_pts: 0.7244, d5.loss_map_dir: 0.0096, loss: 30.5213, grad_norm: 145.5517 +2026-02-26 12:45:46,530 - DriveTransformer - INFO - Epoch [7][1800/39528] lr: 8.550e-05, eta: 5 days, 20:12:18, time: 0.653, data_time: 0.033, memory: 19865, loss_cls: 0.1728, loss_bbox: 0.3687, loss_traj: 0.6900, loss_traj_cls: 0.0010, loss_map_cls: 0.1644, loss_map_pts: 0.6153, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.5313, d0.loss_plan_l1_fix_dist: 0.3682, d1.loss_plan_l1_fix_time: 1.0924, d1.loss_plan_l1_fix_dist: 0.1612, d2.loss_plan_l1_fix_time: 1.0776, d2.loss_plan_l1_fix_dist: 0.1676, d3.loss_plan_l1_fix_time: 1.0760, d3.loss_plan_l1_fix_dist: 0.1733, d4.loss_plan_l1_fix_time: 1.0789, d4.loss_plan_l1_fix_dist: 0.1807, d5.loss_plan_l1_fix_time: 1.0818, d5.loss_plan_l1_fix_dist: 0.1898, d6.loss_plan_l1_fix_time: 1.0848, d6.loss_plan_l1_fix_dist: 0.1994, d0.loss_cls_all: 0.2172, d0.loss_bbox_all: 0.4321, d0.loss_cls: 0.2172, d0.loss_bbox: 0.4321, d1.loss_cls: 0.2066, d1.loss_bbox: 0.3966, d2.loss_cls: 0.1920, d2.loss_bbox: 0.3750, d3.loss_cls: 0.1811, d3.loss_bbox: 0.3713, d4.loss_cls: 0.1736, d4.loss_bbox: 0.3707, d5.loss_cls: 0.1732, d5.loss_bbox: 0.3682, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9469, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7323, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6938, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6886, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6879, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6855, d0.loss_map_cls_all: 0.2301, d0.loss_map_pts_all: 1.2002, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2301, d0.loss_map_pts: 1.2002, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.2059, d1.loss_map_pts: 0.8447, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1822, d2.loss_map_pts: 0.7080, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1734, d3.loss_map_pts: 0.6464, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1684, d4.loss_map_pts: 0.6231, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1663, d5.loss_map_pts: 0.6153, d5.loss_map_dir: 0.0076, loss: 28.2768, grad_norm: 142.3826 +2026-02-26 12:46:22,168 - DriveTransformer - INFO - Epoch [7][1850/39528] lr: 8.550e-05, eta: 5 days, 20:12:12, time: 0.713, data_time: 0.030, memory: 19865, loss_cls: 0.1555, loss_bbox: 0.3774, loss_traj: 0.7525, loss_traj_cls: 0.0010, loss_map_cls: 0.1303, loss_map_pts: 0.6229, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.4320, d0.loss_plan_l1_fix_dist: 0.4214, d1.loss_plan_l1_fix_time: 1.0484, d1.loss_plan_l1_fix_dist: 0.1829, d2.loss_plan_l1_fix_time: 1.0254, d2.loss_plan_l1_fix_dist: 0.1820, d3.loss_plan_l1_fix_time: 1.0284, d3.loss_plan_l1_fix_dist: 0.1928, d4.loss_plan_l1_fix_time: 1.0333, d4.loss_plan_l1_fix_dist: 0.2087, d5.loss_plan_l1_fix_time: 1.0385, d5.loss_plan_l1_fix_dist: 0.2272, d6.loss_plan_l1_fix_time: 1.0437, d6.loss_plan_l1_fix_dist: 0.2490, d0.loss_cls_all: 0.1923, d0.loss_bbox_all: 0.4239, d0.loss_cls: 0.1923, d0.loss_bbox: 0.4239, d1.loss_cls: 0.1824, d1.loss_bbox: 0.3934, d2.loss_cls: 0.1693, d2.loss_bbox: 0.3804, d3.loss_cls: 0.1603, d3.loss_bbox: 0.3761, d4.loss_cls: 0.1554, d4.loss_bbox: 0.3755, d5.loss_cls: 0.1560, d5.loss_bbox: 0.3753, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9853, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8047, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7582, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7506, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7498, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7484, d0.loss_map_cls_all: 0.2098, d0.loss_map_pts_all: 1.2406, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2098, d0.loss_map_pts: 1.2406, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1777, d1.loss_map_pts: 0.8832, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1546, d2.loss_map_pts: 0.7243, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1437, d3.loss_map_pts: 0.6492, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1367, d4.loss_map_pts: 0.6267, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1320, d5.loss_map_pts: 0.6206, d5.loss_map_dir: 0.0080, loss: 28.3211, grad_norm: 143.2449 +2026-02-26 12:46:57,320 - DriveTransformer - INFO - Epoch [7][1900/39528] lr: 8.550e-05, eta: 5 days, 20:09:04, time: 0.703, data_time: 0.034, memory: 19865, loss_cls: 0.1431, loss_bbox: 0.3644, loss_traj: 0.7862, loss_traj_cls: 0.0010, loss_map_cls: 0.1726, loss_map_pts: 0.7244, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.4884, d0.loss_plan_l1_fix_dist: 0.4732, d1.loss_plan_l1_fix_time: 1.0267, d1.loss_plan_l1_fix_dist: 0.1651, d2.loss_plan_l1_fix_time: 1.0137, d2.loss_plan_l1_fix_dist: 0.1645, d3.loss_plan_l1_fix_time: 1.0128, d3.loss_plan_l1_fix_dist: 0.1713, d4.loss_plan_l1_fix_time: 1.0154, d4.loss_plan_l1_fix_dist: 0.1785, d5.loss_plan_l1_fix_time: 1.0184, d5.loss_plan_l1_fix_dist: 0.1904, d6.loss_plan_l1_fix_time: 1.0217, d6.loss_plan_l1_fix_dist: 0.2047, d0.loss_cls_all: 0.1893, d0.loss_bbox_all: 0.4193, d0.loss_cls: 0.1893, d0.loss_bbox: 0.4193, d1.loss_cls: 0.1785, d1.loss_bbox: 0.3882, d2.loss_cls: 0.1605, d2.loss_bbox: 0.3733, d3.loss_cls: 0.1518, d3.loss_bbox: 0.3651, d4.loss_cls: 0.1440, d4.loss_bbox: 0.3646, d5.loss_cls: 0.1440, d5.loss_bbox: 0.3632, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0801, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8400, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7906, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7732, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7723, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7730, d0.loss_map_cls_all: 0.2446, d0.loss_map_pts_all: 1.4534, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2446, d0.loss_map_pts: 1.4534, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2193, d1.loss_map_pts: 1.0012, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1966, d2.loss_map_pts: 0.8251, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1848, d3.loss_map_pts: 0.7552, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1779, d4.loss_map_pts: 0.7304, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1742, d5.loss_map_pts: 0.7253, d5.loss_map_dir: 0.0107, loss: 29.6898, grad_norm: 142.8852 +2026-02-26 12:47:32,412 - DriveTransformer - INFO - Epoch [7][1950/39528] lr: 8.550e-05, eta: 5 days, 20:05:41, time: 0.702, data_time: 0.033, memory: 19865, loss_cls: 0.1510, loss_bbox: 0.3456, loss_traj: 0.6506, loss_traj_cls: 0.0010, loss_map_cls: 0.1377, loss_map_pts: 0.5942, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.4984, d0.loss_plan_l1_fix_dist: 0.5008, d1.loss_plan_l1_fix_time: 0.9718, d1.loss_plan_l1_fix_dist: 0.1755, d2.loss_plan_l1_fix_time: 0.9592, d2.loss_plan_l1_fix_dist: 0.1757, d3.loss_plan_l1_fix_time: 0.9608, d3.loss_plan_l1_fix_dist: 0.1853, d4.loss_plan_l1_fix_time: 0.9644, d4.loss_plan_l1_fix_dist: 0.1977, d5.loss_plan_l1_fix_time: 0.9681, d5.loss_plan_l1_fix_dist: 0.2105, d6.loss_plan_l1_fix_time: 0.9725, d6.loss_plan_l1_fix_dist: 0.2226, d0.loss_cls_all: 0.1905, d0.loss_bbox_all: 0.4044, d0.loss_cls: 0.1905, d0.loss_bbox: 0.4044, d1.loss_cls: 0.1772, d1.loss_bbox: 0.3775, d2.loss_cls: 0.1656, d2.loss_bbox: 0.3581, d3.loss_cls: 0.1568, d3.loss_bbox: 0.3503, d4.loss_cls: 0.1531, d4.loss_bbox: 0.3488, d5.loss_cls: 0.1510, d5.loss_bbox: 0.3465, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8480, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6941, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6560, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6519, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6516, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6500, d0.loss_map_cls_all: 0.2124, d0.loss_map_pts_all: 1.1904, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2124, d0.loss_map_pts: 1.1904, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1809, d1.loss_map_pts: 0.8240, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1610, d2.loss_map_pts: 0.6774, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1495, d3.loss_map_pts: 0.6207, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1445, d4.loss_map_pts: 0.6017, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1396, d5.loss_map_pts: 0.5951, d5.loss_map_dir: 0.0085, loss: 26.7419, grad_norm: 142.6756 +2026-02-26 12:48:09,135 - DriveTransformer - INFO - Epoch [7][2000/39528] lr: 8.550e-05, eta: 5 days, 20:12:30, time: 0.736, data_time: 0.030, memory: 19865, loss_cls: 0.1609, loss_bbox: 0.3574, loss_traj: 0.6294, loss_traj_cls: 0.0010, loss_map_cls: 0.1798, loss_map_pts: 0.7884, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.7275, d0.loss_plan_l1_fix_dist: 0.3480, d1.loss_plan_l1_fix_time: 1.2145, d1.loss_plan_l1_fix_dist: 0.1808, d2.loss_plan_l1_fix_time: 1.1997, d2.loss_plan_l1_fix_dist: 0.1808, d3.loss_plan_l1_fix_time: 1.1913, d3.loss_plan_l1_fix_dist: 0.1890, d4.loss_plan_l1_fix_time: 1.1929, d4.loss_plan_l1_fix_dist: 0.1994, d5.loss_plan_l1_fix_time: 1.1956, d5.loss_plan_l1_fix_dist: 0.2107, d6.loss_plan_l1_fix_time: 1.1992, d6.loss_plan_l1_fix_dist: 0.2239, d0.loss_cls_all: 0.2033, d0.loss_bbox_all: 0.4067, d0.loss_cls: 0.2033, d0.loss_bbox: 0.4067, d1.loss_cls: 0.1906, d1.loss_bbox: 0.3765, d2.loss_cls: 0.1782, d2.loss_bbox: 0.3594, d3.loss_cls: 0.1661, d3.loss_bbox: 0.3556, d4.loss_cls: 0.1617, d4.loss_bbox: 0.3554, d5.loss_cls: 0.1602, d5.loss_bbox: 0.3564, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8533, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6843, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6455, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6396, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6297, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6290, d0.loss_map_cls_all: 0.2511, d0.loss_map_pts_all: 1.5386, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2511, d0.loss_map_pts: 1.5386, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2206, d1.loss_map_pts: 1.0824, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2020, d2.loss_map_pts: 0.8926, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.1929, d3.loss_map_pts: 0.8208, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1851, d4.loss_map_pts: 0.7938, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1818, d5.loss_map_pts: 0.7878, d5.loss_map_dir: 0.0120, loss: 30.5687, grad_norm: 142.9053 +2026-02-26 12:48:44,250 - DriveTransformer - INFO - Epoch [7][2050/39528] lr: 8.550e-05, eta: 5 days, 20:08:53, time: 0.701, data_time: 0.031, memory: 19865, loss_cls: 0.1549, loss_bbox: 0.3533, loss_traj: 0.5596, loss_traj_cls: 0.0011, loss_map_cls: 0.1304, loss_map_pts: 0.5858, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.4372, d0.loss_plan_l1_fix_dist: 0.4162, d1.loss_plan_l1_fix_time: 0.9219, d1.loss_plan_l1_fix_dist: 0.1865, d2.loss_plan_l1_fix_time: 0.9181, d2.loss_plan_l1_fix_dist: 0.1868, d3.loss_plan_l1_fix_time: 0.9157, d3.loss_plan_l1_fix_dist: 0.1966, d4.loss_plan_l1_fix_time: 0.9189, d4.loss_plan_l1_fix_dist: 0.2100, d5.loss_plan_l1_fix_time: 0.9229, d5.loss_plan_l1_fix_dist: 0.2304, d6.loss_plan_l1_fix_time: 0.9281, d6.loss_plan_l1_fix_dist: 0.2520, d0.loss_cls_all: 0.1909, d0.loss_bbox_all: 0.4025, d0.loss_cls: 0.1909, d0.loss_bbox: 0.4025, d1.loss_cls: 0.1824, d1.loss_bbox: 0.3703, d2.loss_cls: 0.1741, d2.loss_bbox: 0.3515, d3.loss_cls: 0.1626, d3.loss_bbox: 0.3455, d4.loss_cls: 0.1571, d4.loss_bbox: 0.3466, d5.loss_cls: 0.1551, d5.loss_bbox: 0.3499, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7785, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6227, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.5766, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5691, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5654, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5620, d0.loss_map_cls_all: 0.1931, d0.loss_map_pts_all: 1.1665, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1931, d0.loss_map_pts: 1.1665, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1701, d1.loss_map_pts: 0.7985, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1524, d2.loss_map_pts: 0.6639, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1439, d3.loss_map_pts: 0.6105, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1364, d4.loss_map_pts: 0.5942, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1325, d5.loss_map_pts: 0.5858, d5.loss_map_dir: 0.0082, loss: 25.6612, grad_norm: 142.6896 +2026-02-26 12:49:19,672 - DriveTransformer - INFO - Epoch [7][2100/39528] lr: 8.550e-05, eta: 5 days, 20:07:31, time: 0.708, data_time: 0.031, memory: 19865, loss_cls: 0.1973, loss_bbox: 0.3931, loss_traj: 0.5962, loss_traj_cls: 0.0010, loss_map_cls: 0.1782, loss_map_pts: 0.7947, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.5953, d0.loss_plan_l1_fix_dist: 0.3360, d1.loss_plan_l1_fix_time: 0.9641, d1.loss_plan_l1_fix_dist: 0.1460, d2.loss_plan_l1_fix_time: 0.9476, d2.loss_plan_l1_fix_dist: 0.1465, d3.loss_plan_l1_fix_time: 0.9515, d3.loss_plan_l1_fix_dist: 0.1587, d4.loss_plan_l1_fix_time: 0.9550, d4.loss_plan_l1_fix_dist: 0.1710, d5.loss_plan_l1_fix_time: 0.9584, d5.loss_plan_l1_fix_dist: 0.1836, d6.loss_plan_l1_fix_time: 0.9619, d6.loss_plan_l1_fix_dist: 0.1972, d0.loss_cls_all: 0.2391, d0.loss_bbox_all: 0.4545, d0.loss_cls: 0.2391, d0.loss_bbox: 0.4545, d1.loss_cls: 0.2262, d1.loss_bbox: 0.4191, d2.loss_cls: 0.2119, d2.loss_bbox: 0.4028, d3.loss_cls: 0.2053, d3.loss_bbox: 0.3931, d4.loss_cls: 0.1988, d4.loss_bbox: 0.3918, d5.loss_cls: 0.1971, d5.loss_bbox: 0.3912, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7476, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6224, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5930, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5893, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5902, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5937, d0.loss_map_cls_all: 0.2473, d0.loss_map_pts_all: 1.5357, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2473, d0.loss_map_pts: 1.5357, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2210, d1.loss_map_pts: 1.0645, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2048, d2.loss_map_pts: 0.9004, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.1944, d3.loss_map_pts: 0.8323, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.1871, d4.loss_map_pts: 0.8020, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.1816, d5.loss_map_pts: 0.7955, d5.loss_map_dir: 0.0122, loss: 29.0436, grad_norm: 142.2308 +2026-02-26 12:49:54,371 - DriveTransformer - INFO - Epoch [7][2150/39528] lr: 8.550e-05, eta: 5 days, 20:02:13, time: 0.694, data_time: 0.033, memory: 19865, loss_cls: 0.1528, loss_bbox: 0.3479, loss_traj: 0.7810, loss_traj_cls: 0.0011, loss_map_cls: 0.1394, loss_map_pts: 0.6403, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.4944, d0.loss_plan_l1_fix_dist: 0.3957, d1.loss_plan_l1_fix_time: 1.1280, d1.loss_plan_l1_fix_dist: 0.1913, d2.loss_plan_l1_fix_time: 1.1236, d2.loss_plan_l1_fix_dist: 0.2042, d3.loss_plan_l1_fix_time: 1.1225, d3.loss_plan_l1_fix_dist: 0.2237, d4.loss_plan_l1_fix_time: 1.1256, d4.loss_plan_l1_fix_dist: 0.2428, d5.loss_plan_l1_fix_time: 1.1290, d5.loss_plan_l1_fix_dist: 0.2607, d6.loss_plan_l1_fix_time: 1.1319, d6.loss_plan_l1_fix_dist: 0.2816, d0.loss_cls_all: 0.1849, d0.loss_bbox_all: 0.4051, d0.loss_cls: 0.1849, d0.loss_bbox: 0.4051, d1.loss_cls: 0.1763, d1.loss_bbox: 0.3738, d2.loss_cls: 0.1667, d2.loss_bbox: 0.3541, d3.loss_cls: 0.1561, d3.loss_bbox: 0.3481, d4.loss_cls: 0.1522, d4.loss_bbox: 0.3466, d5.loss_cls: 0.1529, d5.loss_bbox: 0.3458, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9863, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8261, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7881, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7814, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7835, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7781, d0.loss_map_cls_all: 0.2098, d0.loss_map_pts_all: 1.2264, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2098, d0.loss_map_pts: 1.2264, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1825, d1.loss_map_pts: 0.8673, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1631, d2.loss_map_pts: 0.7295, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1523, d3.loss_map_pts: 0.6701, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1439, d4.loss_map_pts: 0.6480, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1402, d5.loss_map_pts: 0.6432, d5.loss_map_dir: 0.0100, loss: 29.1108, grad_norm: 142.7914 +2026-02-26 12:50:30,871 - DriveTransformer - INFO - Epoch [7][2200/39528] lr: 8.550e-05, eta: 5 days, 20:06:49, time: 0.730, data_time: 0.034, memory: 19865, loss_cls: 0.1759, loss_bbox: 0.3798, loss_traj: 0.6357, loss_traj_cls: 0.0011, loss_map_cls: 0.1609, loss_map_pts: 0.7727, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.4323, d0.loss_plan_l1_fix_dist: 0.4264, d1.loss_plan_l1_fix_time: 1.0623, d1.loss_plan_l1_fix_dist: 0.1959, d2.loss_plan_l1_fix_time: 1.0557, d2.loss_plan_l1_fix_dist: 0.1997, d3.loss_plan_l1_fix_time: 1.0575, d3.loss_plan_l1_fix_dist: 0.2086, d4.loss_plan_l1_fix_time: 1.0616, d4.loss_plan_l1_fix_dist: 0.2193, d5.loss_plan_l1_fix_time: 1.0662, d5.loss_plan_l1_fix_dist: 0.2309, d6.loss_plan_l1_fix_time: 1.0710, d6.loss_plan_l1_fix_dist: 0.2473, d0.loss_cls_all: 0.2158, d0.loss_bbox_all: 0.4406, d0.loss_cls: 0.2158, d0.loss_bbox: 0.4406, d1.loss_cls: 0.2094, d1.loss_bbox: 0.4061, d2.loss_cls: 0.1939, d2.loss_bbox: 0.3881, d3.loss_cls: 0.1830, d3.loss_bbox: 0.3814, d4.loss_cls: 0.1776, d4.loss_bbox: 0.3796, d5.loss_cls: 0.1770, d5.loss_bbox: 0.3782, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8501, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6993, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6637, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6559, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6438, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6379, d0.loss_map_cls_all: 0.2317, d0.loss_map_pts_all: 1.5316, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.2317, d0.loss_map_pts: 1.5316, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2036, d1.loss_map_pts: 1.0750, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.1857, d2.loss_map_pts: 0.8908, d2.loss_map_dir: 0.0123, d3.loss_map_cls: 0.1712, d3.loss_map_pts: 0.8131, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.1647, d4.loss_map_pts: 0.7824, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.1623, d5.loss_map_pts: 0.7751, d5.loss_map_dir: 0.0130, loss: 29.8572, grad_norm: 142.7964 +2026-02-26 12:51:05,923 - DriveTransformer - INFO - Epoch [7][2250/39528] lr: 8.550e-05, eta: 5 days, 20:03:34, time: 0.701, data_time: 0.031, memory: 19865, loss_cls: 0.1661, loss_bbox: 0.3737, loss_traj: 0.6004, loss_traj_cls: 0.0011, loss_map_cls: 0.1642, loss_map_pts: 0.7296, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.8292, d0.loss_plan_l1_fix_dist: 0.4915, d1.loss_plan_l1_fix_time: 1.0621, d1.loss_plan_l1_fix_dist: 0.2002, d2.loss_plan_l1_fix_time: 1.0428, d2.loss_plan_l1_fix_dist: 0.2072, d3.loss_plan_l1_fix_time: 1.0504, d3.loss_plan_l1_fix_dist: 0.2242, d4.loss_plan_l1_fix_time: 1.0551, d4.loss_plan_l1_fix_dist: 0.2508, d5.loss_plan_l1_fix_time: 1.0599, d5.loss_plan_l1_fix_dist: 0.2780, d6.loss_plan_l1_fix_time: 1.0654, d6.loss_plan_l1_fix_dist: 0.3007, d0.loss_cls_all: 0.2065, d0.loss_bbox_all: 0.4403, d0.loss_cls: 0.2065, d0.loss_bbox: 0.4403, d1.loss_cls: 0.1999, d1.loss_bbox: 0.4028, d2.loss_cls: 0.1816, d2.loss_bbox: 0.3852, d3.loss_cls: 0.1710, d3.loss_bbox: 0.3772, d4.loss_cls: 0.1666, d4.loss_bbox: 0.3738, d5.loss_cls: 0.1663, d5.loss_bbox: 0.3736, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7597, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6405, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6056, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5990, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6009, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6013, d0.loss_map_cls_all: 0.2480, d0.loss_map_pts_all: 1.3924, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2480, d0.loss_map_pts: 1.3924, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2153, d1.loss_map_pts: 0.9747, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.1932, d2.loss_map_pts: 0.8290, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1797, d3.loss_map_pts: 0.7623, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1714, d4.loss_map_pts: 0.7377, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1659, d5.loss_map_pts: 0.7315, d5.loss_map_dir: 0.0113, loss: 29.3883, grad_norm: 144.0238 +2026-02-26 12:51:41,456 - DriveTransformer - INFO - Epoch [7][2300/39528] lr: 8.550e-05, eta: 5 days, 20:02:53, time: 0.711, data_time: 0.031, memory: 19865, loss_cls: 0.1544, loss_bbox: 0.3493, loss_traj: 0.7779, loss_traj_cls: 0.0011, loss_map_cls: 0.1259, loss_map_pts: 0.5892, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.5436, d0.loss_plan_l1_fix_dist: 0.3951, d1.loss_plan_l1_fix_time: 1.0432, d1.loss_plan_l1_fix_dist: 0.1723, d2.loss_plan_l1_fix_time: 1.0373, d2.loss_plan_l1_fix_dist: 0.1828, d3.loss_plan_l1_fix_time: 1.0424, d3.loss_plan_l1_fix_dist: 0.1989, d4.loss_plan_l1_fix_time: 1.0464, d4.loss_plan_l1_fix_dist: 0.2207, d5.loss_plan_l1_fix_time: 1.0507, d5.loss_plan_l1_fix_dist: 0.2459, d6.loss_plan_l1_fix_time: 1.0561, d6.loss_plan_l1_fix_dist: 0.2706, d0.loss_cls_all: 0.1850, d0.loss_bbox_all: 0.4022, d0.loss_cls: 0.1850, d0.loss_bbox: 0.4022, d1.loss_cls: 0.1754, d1.loss_bbox: 0.3736, d2.loss_cls: 0.1679, d2.loss_bbox: 0.3594, d3.loss_cls: 0.1578, d3.loss_bbox: 0.3533, d4.loss_cls: 0.1525, d4.loss_bbox: 0.3509, d5.loss_cls: 0.1529, d5.loss_bbox: 0.3501, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0132, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8389, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7818, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7742, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7759, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7756, d0.loss_map_cls_all: 0.2017, d0.loss_map_pts_all: 1.2379, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2017, d0.loss_map_pts: 1.2379, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1683, d1.loss_map_pts: 0.8361, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1464, d2.loss_map_pts: 0.6794, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1365, d3.loss_map_pts: 0.6128, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1308, d4.loss_map_pts: 0.5933, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1276, d5.loss_map_pts: 0.5893, d5.loss_map_dir: 0.0100, loss: 28.2152, grad_norm: 142.8623 +2026-02-26 12:52:17,083 - DriveTransformer - INFO - Epoch [7][2350/39528] lr: 8.550e-05, eta: 5 days, 20:02:43, time: 0.713, data_time: 0.035, memory: 19865, loss_cls: 0.1718, loss_bbox: 0.3592, loss_traj: 0.6508, loss_traj_cls: 0.0011, loss_map_cls: 0.1604, loss_map_pts: 0.7324, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.7903, d0.loss_plan_l1_fix_dist: 0.4715, d1.loss_plan_l1_fix_time: 1.0756, d1.loss_plan_l1_fix_dist: 0.1961, d2.loss_plan_l1_fix_time: 1.0586, d2.loss_plan_l1_fix_dist: 0.2113, d3.loss_plan_l1_fix_time: 1.0578, d3.loss_plan_l1_fix_dist: 0.2230, d4.loss_plan_l1_fix_time: 1.0603, d4.loss_plan_l1_fix_dist: 0.2330, d5.loss_plan_l1_fix_time: 1.0639, d5.loss_plan_l1_fix_dist: 0.2495, d6.loss_plan_l1_fix_time: 1.0678, d6.loss_plan_l1_fix_dist: 0.2699, d0.loss_cls_all: 0.2091, d0.loss_bbox_all: 0.4267, d0.loss_cls: 0.2091, d0.loss_bbox: 0.4267, d1.loss_cls: 0.2018, d1.loss_bbox: 0.3896, d2.loss_cls: 0.1920, d2.loss_bbox: 0.3713, d3.loss_cls: 0.1793, d3.loss_bbox: 0.3621, d4.loss_cls: 0.1717, d4.loss_bbox: 0.3607, d5.loss_cls: 0.1720, d5.loss_bbox: 0.3582, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8250, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7005, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6648, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6481, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6499, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6488, d0.loss_map_cls_all: 0.2319, d0.loss_map_pts_all: 1.4713, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2319, d0.loss_map_pts: 1.4713, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2053, d1.loss_map_pts: 1.0180, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.1824, d2.loss_map_pts: 0.8432, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1708, d3.loss_map_pts: 0.7710, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1652, d4.loss_map_pts: 0.7433, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1615, d5.loss_map_pts: 0.7339, d5.loss_map_dir: 0.0107, loss: 29.7627, grad_norm: 144.6158 +2026-02-26 12:52:52,030 - DriveTransformer - INFO - Epoch [7][2400/39528] lr: 8.550e-05, eta: 5 days, 19:59:10, time: 0.699, data_time: 0.035, memory: 19865, loss_cls: 0.1459, loss_bbox: 0.3385, loss_traj: 0.6589, loss_traj_cls: 0.0012, loss_map_cls: 0.1430, loss_map_pts: 0.6377, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.7030, d0.loss_plan_l1_fix_dist: 0.5221, d1.loss_plan_l1_fix_time: 1.0994, d1.loss_plan_l1_fix_dist: 0.1805, d2.loss_plan_l1_fix_time: 1.0846, d2.loss_plan_l1_fix_dist: 0.1880, d3.loss_plan_l1_fix_time: 1.0829, d3.loss_plan_l1_fix_dist: 0.2072, d4.loss_plan_l1_fix_time: 1.0861, d4.loss_plan_l1_fix_dist: 0.2262, d5.loss_plan_l1_fix_time: 1.0895, d5.loss_plan_l1_fix_dist: 0.2461, d6.loss_plan_l1_fix_time: 1.0932, d6.loss_plan_l1_fix_dist: 0.2663, d0.loss_cls_all: 0.1888, d0.loss_bbox_all: 0.3906, d0.loss_cls: 0.1888, d0.loss_bbox: 0.3906, d1.loss_cls: 0.1790, d1.loss_bbox: 0.3571, d2.loss_cls: 0.1635, d2.loss_bbox: 0.3437, d3.loss_cls: 0.1528, d3.loss_bbox: 0.3383, d4.loss_cls: 0.1476, d4.loss_bbox: 0.3379, d5.loss_cls: 0.1452, d5.loss_bbox: 0.3392, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8824, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7277, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6768, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6611, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6622, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6595, d0.loss_map_cls_all: 0.2070, d0.loss_map_pts_all: 1.2630, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2070, d0.loss_map_pts: 1.2630, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1871, d1.loss_map_pts: 0.8601, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1668, d2.loss_map_pts: 0.7254, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1554, d3.loss_map_pts: 0.6681, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1488, d4.loss_map_pts: 0.6444, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1456, d5.loss_map_pts: 0.6375, d5.loss_map_dir: 0.0087, loss: 28.2869, grad_norm: 144.6879 +2026-02-26 12:53:24,725 - DriveTransformer - INFO - Epoch [7][2450/39528] lr: 8.550e-05, eta: 5 days, 19:44:53, time: 0.654, data_time: 0.029, memory: 19865, loss_cls: 0.1727, loss_bbox: 0.3637, loss_traj: 0.7740, loss_traj_cls: 0.0011, loss_map_cls: 0.1832, loss_map_pts: 0.6794, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.6630, d0.loss_plan_l1_fix_dist: 0.4173, d1.loss_plan_l1_fix_time: 1.0132, d1.loss_plan_l1_fix_dist: 0.1934, d2.loss_plan_l1_fix_time: 1.0001, d2.loss_plan_l1_fix_dist: 0.2006, d3.loss_plan_l1_fix_time: 0.9996, d3.loss_plan_l1_fix_dist: 0.2182, d4.loss_plan_l1_fix_time: 1.0029, d4.loss_plan_l1_fix_dist: 0.2388, d5.loss_plan_l1_fix_time: 1.0063, d5.loss_plan_l1_fix_dist: 0.2588, d6.loss_plan_l1_fix_time: 1.0098, d6.loss_plan_l1_fix_dist: 0.2805, d0.loss_cls_all: 0.2116, d0.loss_bbox_all: 0.4284, d0.loss_cls: 0.2116, d0.loss_bbox: 0.4284, d1.loss_cls: 0.2064, d1.loss_bbox: 0.3897, d2.loss_cls: 0.1896, d2.loss_bbox: 0.3714, d3.loss_cls: 0.1785, d3.loss_bbox: 0.3638, d4.loss_cls: 0.1743, d4.loss_bbox: 0.3612, d5.loss_cls: 0.1720, d5.loss_bbox: 0.3622, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0262, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8136, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7730, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7609, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7672, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7723, d0.loss_map_cls_all: 0.2646, d0.loss_map_pts_all: 1.2813, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2646, d0.loss_map_pts: 1.2813, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.2346, d1.loss_map_pts: 0.9322, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.2095, d2.loss_map_pts: 0.7918, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1983, d3.loss_map_pts: 0.7204, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1896, d4.loss_map_pts: 0.6930, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1850, d5.loss_map_pts: 0.6809, d5.loss_map_dir: 0.0068, loss: 29.6258, grad_norm: 143.3468 +2026-02-26 12:54:01,474 - DriveTransformer - INFO - Epoch [7][2500/39528] lr: 8.550e-05, eta: 5 days, 19:50:18, time: 0.735, data_time: 0.036, memory: 19865, loss_cls: 0.1959, loss_bbox: 0.3896, loss_traj: 0.6560, loss_traj_cls: 0.0011, loss_map_cls: 0.1863, loss_map_pts: 0.8078, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 3.2002, d0.loss_plan_l1_fix_dist: 0.4388, d1.loss_plan_l1_fix_time: 1.2478, d1.loss_plan_l1_fix_dist: 0.2104, d2.loss_plan_l1_fix_time: 1.2247, d2.loss_plan_l1_fix_dist: 0.2217, d3.loss_plan_l1_fix_time: 1.2277, d3.loss_plan_l1_fix_dist: 0.2335, d4.loss_plan_l1_fix_time: 1.2324, d4.loss_plan_l1_fix_dist: 0.2518, d5.loss_plan_l1_fix_time: 1.2376, d5.loss_plan_l1_fix_dist: 0.2738, d6.loss_plan_l1_fix_time: 1.2428, d6.loss_plan_l1_fix_dist: 0.2975, d0.loss_cls_all: 0.2379, d0.loss_bbox_all: 0.4586, d0.loss_cls: 0.2379, d0.loss_bbox: 0.4586, d1.loss_cls: 0.2264, d1.loss_bbox: 0.4212, d2.loss_cls: 0.2144, d2.loss_bbox: 0.4013, d3.loss_cls: 0.2018, d3.loss_bbox: 0.3936, d4.loss_cls: 0.1962, d4.loss_bbox: 0.3914, d5.loss_cls: 0.1973, d5.loss_bbox: 0.3881, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8801, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7102, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6776, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6722, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6616, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6599, d0.loss_map_cls_all: 0.2494, d0.loss_map_pts_all: 1.4962, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2494, d0.loss_map_pts: 1.4962, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2259, d1.loss_map_pts: 1.0858, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.2085, d2.loss_map_pts: 0.9162, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1966, d3.loss_map_pts: 0.8482, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1912, d4.loss_map_pts: 0.8212, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1880, d5.loss_map_pts: 0.8082, d5.loss_map_dir: 0.0110, loss: 32.5339, grad_norm: 143.9809 +2026-02-26 12:54:36,326 - DriveTransformer - INFO - Epoch [7][2550/39528] lr: 8.550e-05, eta: 5 days, 19:46:42, time: 0.697, data_time: 0.032, memory: 19865, loss_cls: 0.1581, loss_bbox: 0.3591, loss_traj: 0.5824, loss_traj_cls: 0.0011, loss_map_cls: 0.1719, loss_map_pts: 0.7669, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.4732, d0.loss_plan_l1_fix_dist: 0.4428, d1.loss_plan_l1_fix_time: 1.0360, d1.loss_plan_l1_fix_dist: 0.1910, d2.loss_plan_l1_fix_time: 1.0165, d2.loss_plan_l1_fix_dist: 0.1996, d3.loss_plan_l1_fix_time: 1.0143, d3.loss_plan_l1_fix_dist: 0.2094, d4.loss_plan_l1_fix_time: 1.0164, d4.loss_plan_l1_fix_dist: 0.2220, d5.loss_plan_l1_fix_time: 1.0194, d5.loss_plan_l1_fix_dist: 0.2363, d6.loss_plan_l1_fix_time: 1.0230, d6.loss_plan_l1_fix_dist: 0.2533, d0.loss_cls_all: 0.2020, d0.loss_bbox_all: 0.4245, d0.loss_cls: 0.2020, d0.loss_bbox: 0.4245, d1.loss_cls: 0.2022, d1.loss_bbox: 0.3894, d2.loss_cls: 0.1838, d2.loss_bbox: 0.3716, d3.loss_cls: 0.1691, d3.loss_bbox: 0.3639, d4.loss_cls: 0.1589, d4.loss_bbox: 0.3622, d5.loss_cls: 0.1583, d5.loss_bbox: 0.3609, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7526, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6173, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5884, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5725, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5795, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5819, d0.loss_map_cls_all: 0.2532, d0.loss_map_pts_all: 1.4244, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2532, d0.loss_map_pts: 1.4244, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2233, d1.loss_map_pts: 1.0468, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.2004, d2.loss_map_pts: 0.8824, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1868, d3.loss_map_pts: 0.8078, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1790, d4.loss_map_pts: 0.7775, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1750, d5.loss_map_pts: 0.7660, d5.loss_map_dir: 0.0094, loss: 28.7373, grad_norm: 140.8529 +2026-02-26 12:55:12,787 - DriveTransformer - INFO - Epoch [7][2600/39528] lr: 8.550e-05, eta: 5 days, 19:50:31, time: 0.729, data_time: 0.032, memory: 19865, loss_cls: 0.1948, loss_bbox: 0.4101, loss_traj: 0.7168, loss_traj_cls: 0.0011, loss_map_cls: 0.1796, loss_map_pts: 0.9047, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 3.1043, d0.loss_plan_l1_fix_dist: 0.4383, d1.loss_plan_l1_fix_time: 1.3818, d1.loss_plan_l1_fix_dist: 0.2387, d2.loss_plan_l1_fix_time: 1.3748, d2.loss_plan_l1_fix_dist: 0.2397, d3.loss_plan_l1_fix_time: 1.3794, d3.loss_plan_l1_fix_dist: 0.2531, d4.loss_plan_l1_fix_time: 1.3825, d4.loss_plan_l1_fix_dist: 0.2665, d5.loss_plan_l1_fix_time: 1.3852, d5.loss_plan_l1_fix_dist: 0.2827, d6.loss_plan_l1_fix_time: 1.3883, d6.loss_plan_l1_fix_dist: 0.3006, d0.loss_cls_all: 0.2396, d0.loss_bbox_all: 0.4751, d0.loss_cls: 0.2396, d0.loss_bbox: 0.4751, d1.loss_cls: 0.2295, d1.loss_bbox: 0.4403, d2.loss_cls: 0.2146, d2.loss_bbox: 0.4222, d3.loss_cls: 0.2026, d3.loss_bbox: 0.4154, d4.loss_cls: 0.1954, d4.loss_bbox: 0.4151, d5.loss_cls: 0.1928, d5.loss_bbox: 0.4140, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9680, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8082, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7438, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7272, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7229, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7189, d0.loss_map_cls_all: 0.2439, d0.loss_map_pts_all: 1.7183, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2439, d0.loss_map_pts: 1.7183, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2215, d1.loss_map_pts: 1.2204, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2006, d2.loss_map_pts: 1.0283, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.1929, d3.loss_map_pts: 0.9479, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.1861, d4.loss_map_pts: 0.9148, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1823, d5.loss_map_pts: 0.9053, d5.loss_map_dir: 0.0120, loss: 35.1072, grad_norm: 141.0890 +2026-02-26 12:55:47,828 - DriveTransformer - INFO - Epoch [7][2650/39528] lr: 8.550e-05, eta: 5 days, 19:47:50, time: 0.701, data_time: 0.031, memory: 19865, loss_cls: 0.1562, loss_bbox: 0.3658, loss_traj: 0.7046, loss_traj_cls: 0.0011, loss_map_cls: 0.1661, loss_map_pts: 0.7698, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.9248, d0.loss_plan_l1_fix_dist: 0.4745, d1.loss_plan_l1_fix_time: 1.0643, d1.loss_plan_l1_fix_dist: 0.2054, d2.loss_plan_l1_fix_time: 1.0467, d2.loss_plan_l1_fix_dist: 0.2039, d3.loss_plan_l1_fix_time: 1.0447, d3.loss_plan_l1_fix_dist: 0.2157, d4.loss_plan_l1_fix_time: 1.0481, d4.loss_plan_l1_fix_dist: 0.2276, d5.loss_plan_l1_fix_time: 1.0513, d5.loss_plan_l1_fix_dist: 0.2437, d6.loss_plan_l1_fix_time: 1.0549, d6.loss_plan_l1_fix_dist: 0.2620, d0.loss_cls_all: 0.1987, d0.loss_bbox_all: 0.4274, d0.loss_cls: 0.1987, d0.loss_bbox: 0.4274, d1.loss_cls: 0.1877, d1.loss_bbox: 0.3935, d2.loss_cls: 0.1738, d2.loss_bbox: 0.3787, d3.loss_cls: 0.1626, d3.loss_bbox: 0.3702, d4.loss_cls: 0.1554, d4.loss_bbox: 0.3692, d5.loss_cls: 0.1565, d5.loss_bbox: 0.3676, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9371, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7863, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7266, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7146, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7068, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7066, d0.loss_map_cls_all: 0.2398, d0.loss_map_pts_all: 1.4325, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2398, d0.loss_map_pts: 1.4325, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2110, d1.loss_map_pts: 1.0452, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1849, d2.loss_map_pts: 0.8783, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1777, d3.loss_map_pts: 0.8022, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1715, d4.loss_map_pts: 0.7759, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1675, d5.loss_map_pts: 0.7709, d5.loss_map_dir: 0.0098, loss: 30.3862, grad_norm: 142.2349 +2026-02-26 12:56:24,317 - DriveTransformer - INFO - Epoch [7][2700/39528] lr: 8.550e-05, eta: 5 days, 19:51:35, time: 0.730, data_time: 0.032, memory: 19865, loss_cls: 0.1749, loss_bbox: 0.3964, loss_traj: 0.6070, loss_traj_cls: 0.0010, loss_map_cls: 0.1919, loss_map_pts: 0.8117, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.5172, d0.loss_plan_l1_fix_dist: 0.3743, d1.loss_plan_l1_fix_time: 1.0744, d1.loss_plan_l1_fix_dist: 0.2012, d2.loss_plan_l1_fix_time: 1.0601, d2.loss_plan_l1_fix_dist: 0.2059, d3.loss_plan_l1_fix_time: 1.0628, d3.loss_plan_l1_fix_dist: 0.2192, d4.loss_plan_l1_fix_time: 1.0654, d4.loss_plan_l1_fix_dist: 0.2375, d5.loss_plan_l1_fix_time: 1.0679, d5.loss_plan_l1_fix_dist: 0.2594, d6.loss_plan_l1_fix_time: 1.0706, d6.loss_plan_l1_fix_dist: 0.2842, d0.loss_cls_all: 0.2159, d0.loss_bbox_all: 0.4625, d0.loss_cls: 0.2159, d0.loss_bbox: 0.4625, d1.loss_cls: 0.2117, d1.loss_bbox: 0.4274, d2.loss_cls: 0.1978, d2.loss_bbox: 0.4090, d3.loss_cls: 0.1828, d3.loss_bbox: 0.4012, d4.loss_cls: 0.1766, d4.loss_bbox: 0.3969, d5.loss_cls: 0.1742, d5.loss_bbox: 0.3971, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8229, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6705, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6281, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6140, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6076, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6036, d0.loss_map_cls_all: 0.2691, d0.loss_map_pts_all: 1.5616, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2691, d0.loss_map_pts: 1.5616, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2381, d1.loss_map_pts: 1.1098, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2176, d2.loss_map_pts: 0.9210, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.2065, d3.loss_map_pts: 0.8449, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.2000, d4.loss_map_pts: 0.8184, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.1953, d5.loss_map_pts: 0.8108, d5.loss_map_dir: 0.0123, loss: 30.4872, grad_norm: 144.8621 +2026-02-26 12:57:01,507 - DriveTransformer - INFO - Epoch [7][2750/39528] lr: 8.550e-05, eta: 5 days, 19:58:10, time: 0.744, data_time: 0.032, memory: 19865, loss_cls: 0.1565, loss_bbox: 0.3665, loss_traj: 0.5431, loss_traj_cls: 0.0010, loss_map_cls: 0.1575, loss_map_pts: 0.7648, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.7631, d0.loss_plan_l1_fix_dist: 0.4641, d1.loss_plan_l1_fix_time: 1.1035, d1.loss_plan_l1_fix_dist: 0.2134, d2.loss_plan_l1_fix_time: 1.0897, d2.loss_plan_l1_fix_dist: 0.2168, d3.loss_plan_l1_fix_time: 1.0899, d3.loss_plan_l1_fix_dist: 0.2253, d4.loss_plan_l1_fix_time: 1.0926, d4.loss_plan_l1_fix_dist: 0.2357, d5.loss_plan_l1_fix_time: 1.0960, d5.loss_plan_l1_fix_dist: 0.2451, d6.loss_plan_l1_fix_time: 1.0997, d6.loss_plan_l1_fix_dist: 0.2559, d0.loss_cls_all: 0.2042, d0.loss_bbox_all: 0.4167, d0.loss_cls: 0.2042, d0.loss_bbox: 0.4167, d1.loss_cls: 0.1962, d1.loss_bbox: 0.3879, d2.loss_cls: 0.1794, d2.loss_bbox: 0.3720, d3.loss_cls: 0.1640, d3.loss_bbox: 0.3680, d4.loss_cls: 0.1589, d4.loss_bbox: 0.3657, d5.loss_cls: 0.1566, d5.loss_bbox: 0.3657, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6947, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5944, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5511, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5458, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5453, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5440, d0.loss_map_cls_all: 0.2361, d0.loss_map_pts_all: 1.5026, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.2361, d0.loss_map_pts: 1.5026, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2061, d1.loss_map_pts: 1.0333, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.1813, d2.loss_map_pts: 0.8496, d2.loss_map_dir: 0.0127, d3.loss_map_cls: 0.1711, d3.loss_map_pts: 0.7883, d3.loss_map_dir: 0.0129, d4.loss_map_cls: 0.1640, d4.loss_map_pts: 0.7688, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.1590, d5.loss_map_pts: 0.7656, d5.loss_map_dir: 0.0135, loss: 29.2880, grad_norm: 149.4237 +2026-02-26 12:57:36,778 - DriveTransformer - INFO - Epoch [7][2800/39528] lr: 8.550e-05, eta: 5 days, 19:56:42, time: 0.707, data_time: 0.031, memory: 19865, loss_cls: 0.2072, loss_bbox: 0.3910, loss_traj: 0.6650, loss_traj_cls: 0.0011, loss_map_cls: 0.1921, loss_map_pts: 0.8162, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.7044, d0.loss_plan_l1_fix_dist: 0.4611, d1.loss_plan_l1_fix_time: 1.1673, d1.loss_plan_l1_fix_dist: 0.1832, d2.loss_plan_l1_fix_time: 1.1455, d2.loss_plan_l1_fix_dist: 0.1951, d3.loss_plan_l1_fix_time: 1.1392, d3.loss_plan_l1_fix_dist: 0.2092, d4.loss_plan_l1_fix_time: 1.1409, d4.loss_plan_l1_fix_dist: 0.2230, d5.loss_plan_l1_fix_time: 1.1440, d5.loss_plan_l1_fix_dist: 0.2345, d6.loss_plan_l1_fix_time: 1.1476, d6.loss_plan_l1_fix_dist: 0.2463, d0.loss_cls_all: 0.2470, d0.loss_bbox_all: 0.4452, d0.loss_cls: 0.2470, d0.loss_bbox: 0.4452, d1.loss_cls: 0.2404, d1.loss_bbox: 0.4138, d2.loss_cls: 0.2250, d2.loss_bbox: 0.3968, d3.loss_cls: 0.2145, d3.loss_bbox: 0.3886, d4.loss_cls: 0.2063, d4.loss_bbox: 0.3884, d5.loss_cls: 0.2053, d5.loss_bbox: 0.3893, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8996, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7311, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6953, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6798, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6685, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6641, d0.loss_map_cls_all: 0.2712, d0.loss_map_pts_all: 1.5557, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2712, d0.loss_map_pts: 1.5557, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2389, d1.loss_map_pts: 1.0972, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2160, d2.loss_map_pts: 0.9152, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.2028, d3.loss_map_pts: 0.8474, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1960, d4.loss_map_pts: 0.8223, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1950, d5.loss_map_pts: 0.8169, d5.loss_map_dir: 0.0112, loss: 31.6961, grad_norm: 149.9411 +2026-02-26 12:58:12,463 - DriveTransformer - INFO - Epoch [7][2850/39528] lr: 8.550e-05, eta: 5 days, 19:56:25, time: 0.712, data_time: 0.030, memory: 19865, loss_cls: 0.1857, loss_bbox: 0.3728, loss_traj: 0.6041, loss_traj_cls: 0.0011, loss_map_cls: 0.1830, loss_map_pts: 0.7778, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.7280, d0.loss_plan_l1_fix_dist: 0.4245, d1.loss_plan_l1_fix_time: 1.0824, d1.loss_plan_l1_fix_dist: 0.1920, d2.loss_plan_l1_fix_time: 1.0725, d2.loss_plan_l1_fix_dist: 0.1935, d3.loss_plan_l1_fix_time: 1.0710, d3.loss_plan_l1_fix_dist: 0.2027, d4.loss_plan_l1_fix_time: 1.0737, d4.loss_plan_l1_fix_dist: 0.2161, d5.loss_plan_l1_fix_time: 1.0766, d5.loss_plan_l1_fix_dist: 0.2332, d6.loss_plan_l1_fix_time: 1.0798, d6.loss_plan_l1_fix_dist: 0.2530, d0.loss_cls_all: 0.2148, d0.loss_bbox_all: 0.4395, d0.loss_cls: 0.2148, d0.loss_bbox: 0.4395, d1.loss_cls: 0.2131, d1.loss_bbox: 0.4046, d2.loss_cls: 0.2010, d2.loss_bbox: 0.3850, d3.loss_cls: 0.1909, d3.loss_bbox: 0.3760, d4.loss_cls: 0.1870, d4.loss_bbox: 0.3744, d5.loss_cls: 0.1856, d5.loss_bbox: 0.3738, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8320, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6820, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6226, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6093, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6022, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6062, d0.loss_map_cls_all: 0.2474, d0.loss_map_pts_all: 1.4815, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2474, d0.loss_map_pts: 1.4815, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2151, d1.loss_map_pts: 1.0344, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1997, d2.loss_map_pts: 0.8622, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1922, d3.loss_map_pts: 0.8017, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1875, d4.loss_map_pts: 0.7822, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1854, d5.loss_map_pts: 0.7779, d5.loss_map_dir: 0.0116, loss: 29.9673, grad_norm: 150.4177 +2026-02-26 12:58:45,461 - DriveTransformer - INFO - Epoch [7][2900/39528] lr: 8.550e-05, eta: 5 days, 19:45:25, time: 0.660, data_time: 0.035, memory: 19865, loss_cls: 0.1776, loss_bbox: 0.3758, loss_traj: 0.8144, loss_traj_cls: 0.0010, loss_map_cls: 0.1952, loss_map_pts: 0.7511, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 3.0356, d0.loss_plan_l1_fix_dist: 0.3768, d1.loss_plan_l1_fix_time: 1.3257, d1.loss_plan_l1_fix_dist: 0.1978, d2.loss_plan_l1_fix_time: 1.3200, d2.loss_plan_l1_fix_dist: 0.2025, d3.loss_plan_l1_fix_time: 1.3210, d3.loss_plan_l1_fix_dist: 0.2109, d4.loss_plan_l1_fix_time: 1.3230, d4.loss_plan_l1_fix_dist: 0.2216, d5.loss_plan_l1_fix_time: 1.3247, d5.loss_plan_l1_fix_dist: 0.2332, d6.loss_plan_l1_fix_time: 1.3271, d6.loss_plan_l1_fix_dist: 0.2469, d0.loss_cls_all: 0.2242, d0.loss_bbox_all: 0.4454, d0.loss_cls: 0.2242, d0.loss_bbox: 0.4454, d1.loss_cls: 0.2118, d1.loss_bbox: 0.4062, d2.loss_cls: 0.1932, d2.loss_bbox: 0.3885, d3.loss_cls: 0.1816, d3.loss_bbox: 0.3800, d4.loss_cls: 0.1773, d4.loss_bbox: 0.3784, d5.loss_cls: 0.1764, d5.loss_bbox: 0.3774, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1142, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8867, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8339, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8166, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8145, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8117, d0.loss_map_cls_all: 0.2758, d0.loss_map_pts_all: 1.2896, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2758, d0.loss_map_pts: 1.2896, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.2456, d1.loss_map_pts: 0.9929, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.2215, d2.loss_map_pts: 0.8488, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.2083, d3.loss_map_pts: 0.7847, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.2031, d4.loss_map_pts: 0.7632, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1980, d5.loss_map_pts: 0.7537, d5.loss_map_dir: 0.0083, loss: 32.8883, grad_norm: 146.5911 +2026-02-26 12:59:19,853 - DriveTransformer - INFO - Epoch [7][2950/39528] lr: 8.550e-05, eta: 5 days, 19:40:24, time: 0.688, data_time: 0.032, memory: 19865, loss_cls: 0.1692, loss_bbox: 0.3686, loss_traj: 0.7125, loss_traj_cls: 0.0010, loss_map_cls: 0.1748, loss_map_pts: 0.7148, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.6375, d0.loss_plan_l1_fix_dist: 0.3305, d1.loss_plan_l1_fix_time: 0.9953, d1.loss_plan_l1_fix_dist: 0.1795, d2.loss_plan_l1_fix_time: 0.9891, d2.loss_plan_l1_fix_dist: 0.1801, d3.loss_plan_l1_fix_time: 0.9922, d3.loss_plan_l1_fix_dist: 0.1881, d4.loss_plan_l1_fix_time: 0.9953, d4.loss_plan_l1_fix_dist: 0.2000, d5.loss_plan_l1_fix_time: 0.9988, d5.loss_plan_l1_fix_dist: 0.2134, d6.loss_plan_l1_fix_time: 1.0032, d6.loss_plan_l1_fix_dist: 0.2280, d0.loss_cls_all: 0.2050, d0.loss_bbox_all: 0.4248, d0.loss_cls: 0.2050, d0.loss_bbox: 0.4248, d1.loss_cls: 0.1949, d1.loss_bbox: 0.3959, d2.loss_cls: 0.1863, d2.loss_bbox: 0.3757, d3.loss_cls: 0.1750, d3.loss_bbox: 0.3719, d4.loss_cls: 0.1707, d4.loss_bbox: 0.3699, d5.loss_cls: 0.1698, d5.loss_bbox: 0.3674, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9444, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7929, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7327, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7177, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7150, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7131, d0.loss_map_cls_all: 0.2478, d0.loss_map_pts_all: 1.3983, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2478, d0.loss_map_pts: 1.3983, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2141, d1.loss_map_pts: 0.9933, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1955, d2.loss_map_pts: 0.8134, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1877, d3.loss_map_pts: 0.7437, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1806, d4.loss_map_pts: 0.7232, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1780, d5.loss_map_pts: 0.7141, d5.loss_map_dir: 0.0097, loss: 29.2408, grad_norm: 146.7255 +2026-02-26 12:59:54,798 - DriveTransformer - INFO - Epoch [7][3000/39528] lr: 8.550e-05, eta: 5 days, 19:37:42, time: 0.699, data_time: 0.031, memory: 19865, loss_cls: 0.1653, loss_bbox: 0.3677, loss_traj: 0.6773, loss_traj_cls: 0.0010, loss_map_cls: 0.1442, loss_map_pts: 0.6884, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.6452, d0.loss_plan_l1_fix_dist: 0.4583, d1.loss_plan_l1_fix_time: 1.0542, d1.loss_plan_l1_fix_dist: 0.2076, d2.loss_plan_l1_fix_time: 1.0436, d2.loss_plan_l1_fix_dist: 0.2054, d3.loss_plan_l1_fix_time: 1.0415, d3.loss_plan_l1_fix_dist: 0.2138, d4.loss_plan_l1_fix_time: 1.0432, d4.loss_plan_l1_fix_dist: 0.2248, d5.loss_plan_l1_fix_time: 1.0452, d5.loss_plan_l1_fix_dist: 0.2379, d6.loss_plan_l1_fix_time: 1.0483, d6.loss_plan_l1_fix_dist: 0.2531, d0.loss_cls_all: 0.2115, d0.loss_bbox_all: 0.4249, d0.loss_cls: 0.2115, d0.loss_bbox: 0.4249, d1.loss_cls: 0.2016, d1.loss_bbox: 0.3933, d2.loss_cls: 0.1845, d2.loss_bbox: 0.3763, d3.loss_cls: 0.1709, d3.loss_bbox: 0.3709, d4.loss_cls: 0.1665, d4.loss_bbox: 0.3691, d5.loss_cls: 0.1658, d5.loss_bbox: 0.3674, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9043, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7620, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7052, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6900, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6857, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6782, d0.loss_map_cls_all: 0.2185, d0.loss_map_pts_all: 1.3368, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2185, d0.loss_map_pts: 1.3368, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1854, d1.loss_map_pts: 0.9320, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1658, d2.loss_map_pts: 0.7798, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1569, d3.loss_map_pts: 0.7174, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1490, d4.loss_map_pts: 0.6945, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1462, d5.loss_map_pts: 0.6863, d5.loss_map_dir: 0.0100, loss: 29.0391, grad_norm: 147.8176 +2026-02-26 13:00:31,026 - DriveTransformer - INFO - Epoch [7][3050/39528] lr: 8.550e-05, eta: 5 days, 19:40:01, time: 0.725, data_time: 0.030, memory: 19865, loss_cls: 0.1792, loss_bbox: 0.3764, loss_traj: 0.7097, loss_traj_cls: 0.0010, loss_map_cls: 0.1745, loss_map_pts: 0.7854, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.6154, d0.loss_plan_l1_fix_dist: 0.3919, d1.loss_plan_l1_fix_time: 0.9440, d1.loss_plan_l1_fix_dist: 0.1728, d2.loss_plan_l1_fix_time: 0.9327, d2.loss_plan_l1_fix_dist: 0.1734, d3.loss_plan_l1_fix_time: 0.9299, d3.loss_plan_l1_fix_dist: 0.1812, d4.loss_plan_l1_fix_time: 0.9322, d4.loss_plan_l1_fix_dist: 0.1883, d5.loss_plan_l1_fix_time: 0.9348, d5.loss_plan_l1_fix_dist: 0.1963, d6.loss_plan_l1_fix_time: 0.9369, d6.loss_plan_l1_fix_dist: 0.2060, d0.loss_cls_all: 0.2162, d0.loss_bbox_all: 0.4408, d0.loss_cls: 0.2162, d0.loss_bbox: 0.4408, d1.loss_cls: 0.2075, d1.loss_bbox: 0.4074, d2.loss_cls: 0.1958, d2.loss_bbox: 0.3880, d3.loss_cls: 0.1865, d3.loss_bbox: 0.3804, d4.loss_cls: 0.1810, d4.loss_bbox: 0.3784, d5.loss_cls: 0.1794, d5.loss_bbox: 0.3774, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9206, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7671, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7205, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7127, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7108, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7080, d0.loss_map_cls_all: 0.2472, d0.loss_map_pts_all: 1.5853, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2472, d0.loss_map_pts: 1.5853, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2180, d1.loss_map_pts: 1.1198, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.1995, d2.loss_map_pts: 0.9087, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.1893, d3.loss_map_pts: 0.8252, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.1830, d4.loss_map_pts: 0.7976, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.1761, d5.loss_map_pts: 0.7865, d5.loss_map_dir: 0.0124, loss: 29.8667, grad_norm: 147.8400 +2026-02-26 13:01:07,198 - DriveTransformer - INFO - Epoch [7][3100/39528] lr: 8.550e-05, eta: 5 days, 19:42:02, time: 0.723, data_time: 0.034, memory: 19865, loss_cls: 0.1867, loss_bbox: 0.3841, loss_traj: 0.6827, loss_traj_cls: 0.0010, loss_map_cls: 0.1813, loss_map_pts: 0.7614, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.5706, d0.loss_plan_l1_fix_dist: 0.3697, d1.loss_plan_l1_fix_time: 1.1895, d1.loss_plan_l1_fix_dist: 0.1997, d2.loss_plan_l1_fix_time: 1.1750, d2.loss_plan_l1_fix_dist: 0.1966, d3.loss_plan_l1_fix_time: 1.1807, d3.loss_plan_l1_fix_dist: 0.2029, d4.loss_plan_l1_fix_time: 1.1840, d4.loss_plan_l1_fix_dist: 0.2112, d5.loss_plan_l1_fix_time: 1.1874, d5.loss_plan_l1_fix_dist: 0.2199, d6.loss_plan_l1_fix_time: 1.1906, d6.loss_plan_l1_fix_dist: 0.2285, d0.loss_cls_all: 0.2248, d0.loss_bbox_all: 0.4294, d0.loss_cls: 0.2248, d0.loss_bbox: 0.4294, d1.loss_cls: 0.2165, d1.loss_bbox: 0.3996, d2.loss_cls: 0.1990, d2.loss_bbox: 0.3847, d3.loss_cls: 0.1915, d3.loss_bbox: 0.3813, d4.loss_cls: 0.1854, d4.loss_bbox: 0.3815, d5.loss_cls: 0.1858, d5.loss_bbox: 0.3824, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8752, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7399, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7017, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6884, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6890, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6845, d0.loss_map_cls_all: 0.2567, d0.loss_map_pts_all: 1.5089, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2567, d0.loss_map_pts: 1.5089, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2260, d1.loss_map_pts: 1.0314, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2039, d2.loss_map_pts: 0.8574, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.1939, d3.loss_map_pts: 0.7914, d3.loss_map_dir: 0.0121, d4.loss_map_cls: 0.1880, d4.loss_map_pts: 0.7667, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.1837, d5.loss_map_pts: 0.7600, d5.loss_map_dir: 0.0125, loss: 30.9355, grad_norm: 146.8354 +2026-02-26 13:01:41,014 - DriveTransformer - INFO - Epoch [7][3150/39528] lr: 8.550e-05, eta: 5 days, 19:35:11, time: 0.677, data_time: 0.033, memory: 19865, loss_cls: 0.1622, loss_bbox: 0.3705, loss_traj: 0.7633, loss_traj_cls: 0.0010, loss_map_cls: 0.1548, loss_map_pts: 0.6287, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 3.1523, d0.loss_plan_l1_fix_dist: 0.3764, d1.loss_plan_l1_fix_time: 1.2001, d1.loss_plan_l1_fix_dist: 0.1912, d2.loss_plan_l1_fix_time: 1.1916, d2.loss_plan_l1_fix_dist: 0.1887, d3.loss_plan_l1_fix_time: 1.1943, d3.loss_plan_l1_fix_dist: 0.1941, d4.loss_plan_l1_fix_time: 1.1974, d4.loss_plan_l1_fix_dist: 0.2029, d5.loss_plan_l1_fix_time: 1.2010, d5.loss_plan_l1_fix_dist: 0.2137, d6.loss_plan_l1_fix_time: 1.2052, d6.loss_plan_l1_fix_dist: 0.2230, d0.loss_cls_all: 0.2051, d0.loss_bbox_all: 0.4273, d0.loss_cls: 0.2051, d0.loss_bbox: 0.4273, d1.loss_cls: 0.1975, d1.loss_bbox: 0.3951, d2.loss_cls: 0.1825, d2.loss_bbox: 0.3795, d3.loss_cls: 0.1684, d3.loss_bbox: 0.3750, d4.loss_cls: 0.1627, d4.loss_bbox: 0.3728, d5.loss_cls: 0.1608, d5.loss_bbox: 0.3720, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9368, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8128, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7816, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7686, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7649, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7660, d0.loss_map_cls_all: 0.2209, d0.loss_map_pts_all: 1.2445, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2209, d0.loss_map_pts: 1.2445, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1940, d1.loss_map_pts: 0.8825, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1728, d2.loss_map_pts: 0.7308, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1663, d3.loss_map_pts: 0.6689, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1615, d4.loss_map_pts: 0.6424, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1570, d5.loss_map_pts: 0.6300, d5.loss_map_dir: 0.0084, loss: 30.2811, grad_norm: 148.6506 +2026-02-26 13:02:15,467 - DriveTransformer - INFO - Epoch [7][3200/39528] lr: 8.550e-05, eta: 5 days, 19:30:48, time: 0.689, data_time: 0.033, memory: 19865, loss_cls: 0.1629, loss_bbox: 0.3896, loss_traj: 0.7800, loss_traj_cls: 0.0010, loss_map_cls: 0.1791, loss_map_pts: 0.7386, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.7817, d0.loss_plan_l1_fix_dist: 0.4444, d1.loss_plan_l1_fix_time: 1.0682, d1.loss_plan_l1_fix_dist: 0.1787, d2.loss_plan_l1_fix_time: 1.0618, d2.loss_plan_l1_fix_dist: 0.1790, d3.loss_plan_l1_fix_time: 1.0616, d3.loss_plan_l1_fix_dist: 0.1853, d4.loss_plan_l1_fix_time: 1.0655, d4.loss_plan_l1_fix_dist: 0.1941, d5.loss_plan_l1_fix_time: 1.0698, d5.loss_plan_l1_fix_dist: 0.2032, d6.loss_plan_l1_fix_time: 1.0751, d6.loss_plan_l1_fix_dist: 0.2174, d0.loss_cls_all: 0.2073, d0.loss_bbox_all: 0.4462, d0.loss_cls: 0.2073, d0.loss_bbox: 0.4462, d1.loss_cls: 0.2003, d1.loss_bbox: 0.4150, d2.loss_cls: 0.1847, d2.loss_bbox: 0.3961, d3.loss_cls: 0.1713, d3.loss_bbox: 0.3915, d4.loss_cls: 0.1636, d4.loss_bbox: 0.3898, d5.loss_cls: 0.1619, d5.loss_bbox: 0.3901, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9968, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8374, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7870, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7828, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7844, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7800, d0.loss_map_cls_all: 0.2472, d0.loss_map_pts_all: 1.3860, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2472, d0.loss_map_pts: 1.3860, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2198, d1.loss_map_pts: 0.9876, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2042, d2.loss_map_pts: 0.8331, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1899, d3.loss_map_pts: 0.7746, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1821, d4.loss_map_pts: 0.7496, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1802, d5.loss_map_pts: 0.7409, d5.loss_map_dir: 0.0105, loss: 30.5922, grad_norm: 146.4177 +2026-02-26 13:02:48,327 - DriveTransformer - INFO - Epoch [7][3250/39528] lr: 8.550e-05, eta: 5 days, 19:20:47, time: 0.657, data_time: 0.033, memory: 19865, loss_cls: 0.1798, loss_bbox: 0.4035, loss_traj: 0.8206, loss_traj_cls: 0.0009, loss_map_cls: 0.1922, loss_map_pts: 0.7613, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.9101, d0.loss_plan_l1_fix_dist: 0.3955, d1.loss_plan_l1_fix_time: 1.1597, d1.loss_plan_l1_fix_dist: 0.1633, d2.loss_plan_l1_fix_time: 1.1476, d2.loss_plan_l1_fix_dist: 0.1661, d3.loss_plan_l1_fix_time: 1.1519, d3.loss_plan_l1_fix_dist: 0.1756, d4.loss_plan_l1_fix_time: 1.1562, d4.loss_plan_l1_fix_dist: 0.1885, d5.loss_plan_l1_fix_time: 1.1607, d5.loss_plan_l1_fix_dist: 0.2041, d6.loss_plan_l1_fix_time: 1.1657, d6.loss_plan_l1_fix_dist: 0.2236, d0.loss_cls_all: 0.2237, d0.loss_bbox_all: 0.4775, d0.loss_cls: 0.2237, d0.loss_bbox: 0.4775, d1.loss_cls: 0.2143, d1.loss_bbox: 0.4378, d2.loss_cls: 0.2006, d2.loss_bbox: 0.4148, d3.loss_cls: 0.1881, d3.loss_bbox: 0.4084, d4.loss_cls: 0.1794, d4.loss_bbox: 0.4068, d5.loss_cls: 0.1782, d5.loss_bbox: 0.4049, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0773, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8909, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8349, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8183, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8134, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8198, d0.loss_map_cls_all: 0.2606, d0.loss_map_pts_all: 1.3935, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2606, d0.loss_map_pts: 1.3935, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.2321, d1.loss_map_pts: 1.0414, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.2127, d2.loss_map_pts: 0.8703, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.2031, d3.loss_map_pts: 0.7960, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1966, d4.loss_map_pts: 0.7704, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1925, d5.loss_map_pts: 0.7631, d5.loss_map_dir: 0.0089, loss: 32.0767, grad_norm: 147.9624 +2026-02-26 13:03:24,488 - DriveTransformer - INFO - Epoch [7][3300/39528] lr: 8.550e-05, eta: 5 days, 19:22:52, time: 0.723, data_time: 0.033, memory: 19865, loss_cls: 0.1699, loss_bbox: 0.3590, loss_traj: 0.6349, loss_traj_cls: 0.0010, loss_map_cls: 0.1670, loss_map_pts: 0.7432, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.3997, d0.loss_plan_l1_fix_dist: 0.4588, d1.loss_plan_l1_fix_time: 0.9782, d1.loss_plan_l1_fix_dist: 0.1691, d2.loss_plan_l1_fix_time: 0.9648, d2.loss_plan_l1_fix_dist: 0.1719, d3.loss_plan_l1_fix_time: 0.9672, d3.loss_plan_l1_fix_dist: 0.1742, d4.loss_plan_l1_fix_time: 0.9711, d4.loss_plan_l1_fix_dist: 0.1816, d5.loss_plan_l1_fix_time: 0.9757, d5.loss_plan_l1_fix_dist: 0.1909, d6.loss_plan_l1_fix_time: 0.9808, d6.loss_plan_l1_fix_dist: 0.1991, d0.loss_cls_all: 0.2102, d0.loss_bbox_all: 0.4181, d0.loss_cls: 0.2102, d0.loss_bbox: 0.4181, d1.loss_cls: 0.2012, d1.loss_bbox: 0.3865, d2.loss_cls: 0.1852, d2.loss_bbox: 0.3666, d3.loss_cls: 0.1726, d3.loss_bbox: 0.3629, d4.loss_cls: 0.1698, d4.loss_bbox: 0.3598, d5.loss_cls: 0.1691, d5.loss_bbox: 0.3598, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7835, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6553, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6372, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6261, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6279, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6322, d0.loss_map_cls_all: 0.2352, d0.loss_map_pts_all: 1.5534, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2352, d0.loss_map_pts: 1.5534, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2034, d1.loss_map_pts: 1.0370, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.1875, d2.loss_map_pts: 0.8564, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.1790, d3.loss_map_pts: 0.7790, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.1733, d4.loss_map_pts: 0.7508, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.1689, d5.loss_map_pts: 0.7430, d5.loss_map_dir: 0.0121, loss: 28.5654, grad_norm: 148.4985 +2026-02-26 13:03:59,488 - DriveTransformer - INFO - Epoch [7][3350/39528] lr: 8.550e-05, eta: 5 days, 19:20:47, time: 0.700, data_time: 0.034, memory: 19865, loss_cls: 0.1744, loss_bbox: 0.3706, loss_traj: 0.7469, loss_traj_cls: 0.0010, loss_map_cls: 0.1807, loss_map_pts: 0.7629, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.1857, d0.loss_plan_l1_fix_dist: 0.2780, d1.loss_plan_l1_fix_time: 0.9361, d1.loss_plan_l1_fix_dist: 0.1479, d2.loss_plan_l1_fix_time: 0.9135, d2.loss_plan_l1_fix_dist: 0.1511, d3.loss_plan_l1_fix_time: 0.9075, d3.loss_plan_l1_fix_dist: 0.1614, d4.loss_plan_l1_fix_time: 0.9091, d4.loss_plan_l1_fix_dist: 0.1716, d5.loss_plan_l1_fix_time: 0.9114, d5.loss_plan_l1_fix_dist: 0.1824, d6.loss_plan_l1_fix_time: 0.9147, d6.loss_plan_l1_fix_dist: 0.1937, d0.loss_cls_all: 0.2119, d0.loss_bbox_all: 0.4239, d0.loss_cls: 0.2119, d0.loss_bbox: 0.4239, d1.loss_cls: 0.2040, d1.loss_bbox: 0.3926, d2.loss_cls: 0.1885, d2.loss_bbox: 0.3759, d3.loss_cls: 0.1784, d3.loss_bbox: 0.3708, d4.loss_cls: 0.1742, d4.loss_bbox: 0.3711, d5.loss_cls: 0.1737, d5.loss_bbox: 0.3714, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9297, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7991, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7576, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7490, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7470, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7412, d0.loss_map_cls_all: 0.2479, d0.loss_map_pts_all: 1.4209, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2479, d0.loss_map_pts: 1.4209, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2234, d1.loss_map_pts: 1.0150, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.2009, d2.loss_map_pts: 0.8586, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1918, d3.loss_map_pts: 0.7946, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1867, d4.loss_map_pts: 0.7713, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1819, d5.loss_map_pts: 0.7643, d5.loss_map_dir: 0.0095, loss: 28.6016, grad_norm: 149.8439 +2026-02-26 13:04:35,132 - DriveTransformer - INFO - Epoch [7][3400/39528] lr: 8.550e-05, eta: 5 days, 19:20:58, time: 0.713, data_time: 0.033, memory: 19865, loss_cls: 0.1346, loss_bbox: 0.3197, loss_traj: 0.6573, loss_traj_cls: 0.0010, loss_map_cls: 0.1440, loss_map_pts: 0.6294, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.3982, d0.loss_plan_l1_fix_dist: 0.3947, d1.loss_plan_l1_fix_time: 1.0590, d1.loss_plan_l1_fix_dist: 0.2031, d2.loss_plan_l1_fix_time: 1.0433, d2.loss_plan_l1_fix_dist: 0.1976, d3.loss_plan_l1_fix_time: 1.0392, d3.loss_plan_l1_fix_dist: 0.2034, d4.loss_plan_l1_fix_time: 1.0424, d4.loss_plan_l1_fix_dist: 0.2100, d5.loss_plan_l1_fix_time: 1.0461, d5.loss_plan_l1_fix_dist: 0.2188, d6.loss_plan_l1_fix_time: 1.0507, d6.loss_plan_l1_fix_dist: 0.2304, d0.loss_cls_all: 0.1729, d0.loss_bbox_all: 0.3803, d0.loss_cls: 0.1729, d0.loss_bbox: 0.3803, d1.loss_cls: 0.1707, d1.loss_bbox: 0.3469, d2.loss_cls: 0.1548, d2.loss_bbox: 0.3291, d3.loss_cls: 0.1430, d3.loss_bbox: 0.3247, d4.loss_cls: 0.1357, d4.loss_bbox: 0.3218, d5.loss_cls: 0.1328, d5.loss_bbox: 0.3219, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8695, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7158, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6645, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6603, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6584, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6543, d0.loss_map_cls_all: 0.2083, d0.loss_map_pts_all: 1.3462, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2083, d0.loss_map_pts: 1.3462, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.1778, d1.loss_map_pts: 0.8840, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1612, d2.loss_map_pts: 0.7218, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1528, d3.loss_map_pts: 0.6629, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1480, d4.loss_map_pts: 0.6384, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1449, d5.loss_map_pts: 0.6304, d5.loss_map_dir: 0.0103, loss: 27.4509, grad_norm: 150.8121 +2026-02-26 13:05:09,206 - DriveTransformer - INFO - Epoch [7][3450/39528] lr: 8.550e-05, eta: 5 days, 19:15:46, time: 0.681, data_time: 0.036, memory: 19865, loss_cls: 0.1540, loss_bbox: 0.3409, loss_traj: 0.7166, loss_traj_cls: 0.0010, loss_map_cls: 0.1627, loss_map_pts: 0.5863, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.4248, d0.loss_plan_l1_fix_dist: 0.3605, d1.loss_plan_l1_fix_time: 1.0878, d1.loss_plan_l1_fix_dist: 0.1813, d2.loss_plan_l1_fix_time: 1.0779, d2.loss_plan_l1_fix_dist: 0.1657, d3.loss_plan_l1_fix_time: 1.0796, d3.loss_plan_l1_fix_dist: 0.1730, d4.loss_plan_l1_fix_time: 1.0827, d4.loss_plan_l1_fix_dist: 0.1831, d5.loss_plan_l1_fix_time: 1.0856, d5.loss_plan_l1_fix_dist: 0.1961, d6.loss_plan_l1_fix_time: 1.0885, d6.loss_plan_l1_fix_dist: 0.2084, d0.loss_cls_all: 0.1899, d0.loss_bbox_all: 0.3984, d0.loss_cls: 0.1899, d0.loss_bbox: 0.3984, d1.loss_cls: 0.1824, d1.loss_bbox: 0.3700, d2.loss_cls: 0.1736, d2.loss_bbox: 0.3521, d3.loss_cls: 0.1643, d3.loss_bbox: 0.3432, d4.loss_cls: 0.1545, d4.loss_bbox: 0.3421, d5.loss_cls: 0.1543, d5.loss_bbox: 0.3409, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9714, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7795, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7315, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7229, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7044, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7100, d0.loss_map_cls_all: 0.2231, d0.loss_map_pts_all: 1.2094, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2231, d0.loss_map_pts: 1.2094, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2008, d1.loss_map_pts: 0.8172, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1819, d2.loss_map_pts: 0.6676, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1735, d3.loss_map_pts: 0.6127, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1666, d4.loss_map_pts: 0.5929, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1642, d5.loss_map_pts: 0.5881, d5.loss_map_dir: 0.0093, loss: 27.8412, grad_norm: 149.4995 +2026-02-26 13:05:45,414 - DriveTransformer - INFO - Epoch [7][3500/39528] lr: 8.550e-05, eta: 5 days, 19:17:53, time: 0.724, data_time: 0.037, memory: 19865, loss_cls: 0.1535, loss_bbox: 0.3478, loss_traj: 0.6974, loss_traj_cls: 0.0010, loss_map_cls: 0.1565, loss_map_pts: 0.6780, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.8064, d0.loss_plan_l1_fix_dist: 0.4247, d1.loss_plan_l1_fix_time: 1.1241, d1.loss_plan_l1_fix_dist: 0.2128, d2.loss_plan_l1_fix_time: 1.1156, d2.loss_plan_l1_fix_dist: 0.2050, d3.loss_plan_l1_fix_time: 1.1189, d3.loss_plan_l1_fix_dist: 0.2141, d4.loss_plan_l1_fix_time: 1.1226, d4.loss_plan_l1_fix_dist: 0.2278, d5.loss_plan_l1_fix_time: 1.1262, d5.loss_plan_l1_fix_dist: 0.2412, d6.loss_plan_l1_fix_time: 1.1296, d6.loss_plan_l1_fix_dist: 0.2575, d0.loss_cls_all: 0.1932, d0.loss_bbox_all: 0.3971, d0.loss_cls: 0.1932, d0.loss_bbox: 0.3971, d1.loss_cls: 0.1894, d1.loss_bbox: 0.3662, d2.loss_cls: 0.1766, d2.loss_bbox: 0.3474, d3.loss_cls: 0.1605, d3.loss_bbox: 0.3461, d4.loss_cls: 0.1559, d4.loss_bbox: 0.3447, d5.loss_cls: 0.1522, d5.loss_bbox: 0.3463, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9038, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7597, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7090, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6993, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6981, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6959, d0.loss_map_cls_all: 0.2234, d0.loss_map_pts_all: 1.3778, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2234, d0.loss_map_pts: 1.3778, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1963, d1.loss_map_pts: 0.9612, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1754, d2.loss_map_pts: 0.7829, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1675, d3.loss_map_pts: 0.7107, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1606, d4.loss_map_pts: 0.6848, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1588, d5.loss_map_pts: 0.6786, d5.loss_map_dir: 0.0099, loss: 29.5540, grad_norm: 150.4551 +2026-02-26 13:06:21,018 - DriveTransformer - INFO - Epoch [7][3550/39528] lr: 8.550e-05, eta: 5 days, 19:17:55, time: 0.712, data_time: 0.033, memory: 19865, loss_cls: 0.1965, loss_bbox: 0.3900, loss_traj: 0.6512, loss_traj_cls: 0.0010, loss_map_cls: 0.1873, loss_map_pts: 0.7681, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.8375, d0.loss_plan_l1_fix_dist: 0.3537, d1.loss_plan_l1_fix_time: 1.1156, d1.loss_plan_l1_fix_dist: 0.1960, d2.loss_plan_l1_fix_time: 1.1035, d2.loss_plan_l1_fix_dist: 0.1882, d3.loss_plan_l1_fix_time: 1.0985, d3.loss_plan_l1_fix_dist: 0.1953, d4.loss_plan_l1_fix_time: 1.1002, d4.loss_plan_l1_fix_dist: 0.2033, d5.loss_plan_l1_fix_time: 1.1029, d5.loss_plan_l1_fix_dist: 0.2130, d6.loss_plan_l1_fix_time: 1.1057, d6.loss_plan_l1_fix_dist: 0.2244, d0.loss_cls_all: 0.2419, d0.loss_bbox_all: 0.4603, d0.loss_cls: 0.2419, d0.loss_bbox: 0.4603, d1.loss_cls: 0.2319, d1.loss_bbox: 0.4231, d2.loss_cls: 0.2171, d2.loss_bbox: 0.4035, d3.loss_cls: 0.2045, d3.loss_bbox: 0.3943, d4.loss_cls: 0.1990, d4.loss_bbox: 0.3894, d5.loss_cls: 0.1970, d5.loss_bbox: 0.3890, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8976, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7149, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6641, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6489, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6472, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6505, d0.loss_map_cls_all: 0.2603, d0.loss_map_pts_all: 1.4478, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2603, d0.loss_map_pts: 1.4478, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2343, d1.loss_map_pts: 1.0499, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.2115, d2.loss_map_pts: 0.8812, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1992, d3.loss_map_pts: 0.8134, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1929, d4.loss_map_pts: 0.7830, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1878, d5.loss_map_pts: 0.7713, d5.loss_map_dir: 0.0095, loss: 30.7267, grad_norm: 150.2360 +2026-02-26 13:06:55,352 - DriveTransformer - INFO - Epoch [7][3600/39528] lr: 8.550e-05, eta: 5 days, 19:14:00, time: 0.688, data_time: 0.033, memory: 19865, loss_cls: 0.1654, loss_bbox: 0.3615, loss_traj: 0.7655, loss_traj_cls: 0.0010, loss_map_cls: 0.1414, loss_map_pts: 0.6312, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.6470, d0.loss_plan_l1_fix_dist: 0.3841, d1.loss_plan_l1_fix_time: 1.3026, d1.loss_plan_l1_fix_dist: 0.1905, d2.loss_plan_l1_fix_time: 1.2988, d2.loss_plan_l1_fix_dist: 0.1940, d3.loss_plan_l1_fix_time: 1.2995, d3.loss_plan_l1_fix_dist: 0.2102, d4.loss_plan_l1_fix_time: 1.3031, d4.loss_plan_l1_fix_dist: 0.2256, d5.loss_plan_l1_fix_time: 1.3078, d5.loss_plan_l1_fix_dist: 0.2426, d6.loss_plan_l1_fix_time: 1.3142, d6.loss_plan_l1_fix_dist: 0.2584, d0.loss_cls_all: 0.1989, d0.loss_bbox_all: 0.4174, d0.loss_cls: 0.1989, d0.loss_bbox: 0.4174, d1.loss_cls: 0.1987, d1.loss_bbox: 0.3842, d2.loss_cls: 0.1816, d2.loss_bbox: 0.3705, d3.loss_cls: 0.1699, d3.loss_bbox: 0.3650, d4.loss_cls: 0.1648, d4.loss_bbox: 0.3634, d5.loss_cls: 0.1645, d5.loss_bbox: 0.3614, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9989, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8120, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7767, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7663, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7696, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7666, d0.loss_map_cls_all: 0.2148, d0.loss_map_pts_all: 1.2740, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2148, d0.loss_map_pts: 1.2740, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1880, d1.loss_map_pts: 0.8833, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1665, d2.loss_map_pts: 0.7299, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1538, d3.loss_map_pts: 0.6700, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1472, d4.loss_map_pts: 0.6482, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1420, d5.loss_map_pts: 0.6346, d5.loss_map_dir: 0.0096, loss: 30.5139, grad_norm: 152.3655 +2026-02-26 13:07:30,713 - DriveTransformer - INFO - Epoch [7][3650/39528] lr: 8.550e-05, eta: 5 days, 19:13:03, time: 0.706, data_time: 0.033, memory: 19865, loss_cls: 0.1526, loss_bbox: 0.3615, loss_traj: 0.5646, loss_traj_cls: 0.0010, loss_map_cls: 0.1424, loss_map_pts: 0.6288, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.6910, d0.loss_plan_l1_fix_dist: 0.3750, d1.loss_plan_l1_fix_time: 1.2617, d1.loss_plan_l1_fix_dist: 0.1913, d2.loss_plan_l1_fix_time: 1.2398, d2.loss_plan_l1_fix_dist: 0.1908, d3.loss_plan_l1_fix_time: 1.2402, d3.loss_plan_l1_fix_dist: 0.1984, d4.loss_plan_l1_fix_time: 1.2442, d4.loss_plan_l1_fix_dist: 0.2064, d5.loss_plan_l1_fix_time: 1.2494, d5.loss_plan_l1_fix_dist: 0.2160, d6.loss_plan_l1_fix_time: 1.2566, d6.loss_plan_l1_fix_dist: 0.2253, d0.loss_cls_all: 0.1970, d0.loss_bbox_all: 0.4148, d0.loss_cls: 0.1970, d0.loss_bbox: 0.4148, d1.loss_cls: 0.1856, d1.loss_bbox: 0.3863, d2.loss_cls: 0.1703, d2.loss_bbox: 0.3690, d3.loss_cls: 0.1601, d3.loss_bbox: 0.3630, d4.loss_cls: 0.1525, d4.loss_bbox: 0.3617, d5.loss_cls: 0.1510, d5.loss_bbox: 0.3613, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7226, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5923, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5667, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5620, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5614, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5622, d0.loss_map_cls_all: 0.2140, d0.loss_map_pts_all: 1.3660, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2140, d0.loss_map_pts: 1.3660, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1881, d1.loss_map_pts: 0.8886, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1680, d2.loss_map_pts: 0.7157, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1548, d3.loss_map_pts: 0.6505, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1476, d4.loss_map_pts: 0.6326, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1439, d5.loss_map_pts: 0.6277, d5.loss_map_dir: 0.0098, loss: 28.6492, grad_norm: 152.4998 +2026-02-26 13:08:07,070 - DriveTransformer - INFO - Epoch [7][3700/39528] lr: 8.550e-05, eta: 5 days, 19:15:30, time: 0.727, data_time: 0.032, memory: 19865, loss_cls: 0.1569, loss_bbox: 0.3631, loss_traj: 0.5387, loss_traj_cls: 0.0010, loss_map_cls: 0.1516, loss_map_pts: 0.7202, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.4720, d0.loss_plan_l1_fix_dist: 0.3700, d1.loss_plan_l1_fix_time: 1.0887, d1.loss_plan_l1_fix_dist: 0.1824, d2.loss_plan_l1_fix_time: 1.0759, d2.loss_plan_l1_fix_dist: 0.1862, d3.loss_plan_l1_fix_time: 1.0746, d3.loss_plan_l1_fix_dist: 0.1924, d4.loss_plan_l1_fix_time: 1.0768, d4.loss_plan_l1_fix_dist: 0.2006, d5.loss_plan_l1_fix_time: 1.0794, d5.loss_plan_l1_fix_dist: 0.2087, d6.loss_plan_l1_fix_time: 1.0826, d6.loss_plan_l1_fix_dist: 0.2189, d0.loss_cls_all: 0.2024, d0.loss_bbox_all: 0.4208, d0.loss_cls: 0.2024, d0.loss_bbox: 0.4208, d1.loss_cls: 0.1946, d1.loss_bbox: 0.3875, d2.loss_cls: 0.1795, d2.loss_bbox: 0.3685, d3.loss_cls: 0.1669, d3.loss_bbox: 0.3621, d4.loss_cls: 0.1594, d4.loss_bbox: 0.3617, d5.loss_cls: 0.1571, d5.loss_bbox: 0.3613, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7090, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5768, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5467, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5348, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5345, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5370, d0.loss_map_cls_all: 0.2301, d0.loss_map_pts_all: 1.4995, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2301, d0.loss_map_pts: 1.4995, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.1975, d1.loss_map_pts: 1.0113, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.1773, d2.loss_map_pts: 0.8244, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1653, d3.loss_map_pts: 0.7519, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1588, d4.loss_map_pts: 0.7277, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1527, d5.loss_map_pts: 0.7200, d5.loss_map_dir: 0.0116, loss: 28.2672, grad_norm: 152.2970 +2026-02-26 13:08:42,378 - DriveTransformer - INFO - Epoch [7][3750/39528] lr: 8.550e-05, eta: 5 days, 19:14:35, time: 0.706, data_time: 0.033, memory: 19865, loss_cls: 0.1544, loss_bbox: 0.3462, loss_traj: 0.6460, loss_traj_cls: 0.0010, loss_map_cls: 0.1565, loss_map_pts: 0.6683, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.8782, d0.loss_plan_l1_fix_dist: 0.4895, d1.loss_plan_l1_fix_time: 1.0874, d1.loss_plan_l1_fix_dist: 0.1833, d2.loss_plan_l1_fix_time: 1.0701, d2.loss_plan_l1_fix_dist: 0.1852, d3.loss_plan_l1_fix_time: 1.0665, d3.loss_plan_l1_fix_dist: 0.1913, d4.loss_plan_l1_fix_time: 1.0686, d4.loss_plan_l1_fix_dist: 0.2011, d5.loss_plan_l1_fix_time: 1.0709, d5.loss_plan_l1_fix_dist: 0.2130, d6.loss_plan_l1_fix_time: 1.0726, d6.loss_plan_l1_fix_dist: 0.2275, d0.loss_cls_all: 0.1877, d0.loss_bbox_all: 0.4094, d0.loss_cls: 0.1877, d0.loss_bbox: 0.4094, d1.loss_cls: 0.1790, d1.loss_bbox: 0.3735, d2.loss_cls: 0.1712, d2.loss_bbox: 0.3539, d3.loss_cls: 0.1603, d3.loss_bbox: 0.3478, d4.loss_cls: 0.1544, d4.loss_bbox: 0.3459, d5.loss_cls: 0.1544, d5.loss_bbox: 0.3438, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8808, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7108, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6655, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6496, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6465, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6455, d0.loss_map_cls_all: 0.2298, d0.loss_map_pts_all: 1.3439, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2298, d0.loss_map_pts: 1.3439, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2030, d1.loss_map_pts: 0.9322, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1868, d2.loss_map_pts: 0.7693, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1704, d3.loss_map_pts: 0.6983, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1625, d4.loss_map_pts: 0.6754, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1582, d5.loss_map_pts: 0.6691, d5.loss_map_dir: 0.0083, loss: 28.7998, grad_norm: 150.9777 +2026-02-26 13:09:18,804 - DriveTransformer - INFO - Epoch [7][3800/39528] lr: 8.550e-05, eta: 5 days, 19:17:08, time: 0.729, data_time: 0.034, memory: 19865, loss_cls: 0.1456, loss_bbox: 0.3313, loss_traj: 0.6125, loss_traj_cls: 0.0010, loss_map_cls: 0.1556, loss_map_pts: 0.7102, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.2166, d0.loss_plan_l1_fix_dist: 0.3682, d1.loss_plan_l1_fix_time: 1.0152, d1.loss_plan_l1_fix_dist: 0.1973, d2.loss_plan_l1_fix_time: 1.0062, d2.loss_plan_l1_fix_dist: 0.1917, d3.loss_plan_l1_fix_time: 1.0134, d3.loss_plan_l1_fix_dist: 0.2004, d4.loss_plan_l1_fix_time: 1.0174, d4.loss_plan_l1_fix_dist: 0.2149, d5.loss_plan_l1_fix_time: 1.0210, d5.loss_plan_l1_fix_dist: 0.2323, d6.loss_plan_l1_fix_time: 1.0241, d6.loss_plan_l1_fix_dist: 0.2497, d0.loss_cls_all: 0.1808, d0.loss_bbox_all: 0.3885, d0.loss_cls: 0.1808, d0.loss_bbox: 0.3885, d1.loss_cls: 0.1759, d1.loss_bbox: 0.3549, d2.loss_cls: 0.1633, d2.loss_bbox: 0.3370, d3.loss_cls: 0.1517, d3.loss_bbox: 0.3319, d4.loss_cls: 0.1479, d4.loss_bbox: 0.3297, d5.loss_cls: 0.1459, d5.loss_bbox: 0.3299, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8115, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6680, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6217, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6171, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6156, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6118, d0.loss_map_cls_all: 0.2326, d0.loss_map_pts_all: 1.4665, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2326, d0.loss_map_pts: 1.4665, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2035, d1.loss_map_pts: 0.9982, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1799, d2.loss_map_pts: 0.8208, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1686, d3.loss_map_pts: 0.7470, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1603, d4.loss_map_pts: 0.7218, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1568, d5.loss_map_pts: 0.7120, d5.loss_map_dir: 0.0105, loss: 27.8310, grad_norm: 150.6470 +2026-02-26 13:09:53,189 - DriveTransformer - INFO - Epoch [7][3850/39528] lr: 8.550e-05, eta: 5 days, 19:13:21, time: 0.688, data_time: 0.034, memory: 19865, loss_cls: 0.1504, loss_bbox: 0.3621, loss_traj: 0.5030, loss_traj_cls: 0.0009, loss_map_cls: 0.1717, loss_map_pts: 0.7916, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.4981, d0.loss_plan_l1_fix_dist: 0.4284, d1.loss_plan_l1_fix_time: 1.0933, d1.loss_plan_l1_fix_dist: 0.1850, d2.loss_plan_l1_fix_time: 1.0845, d2.loss_plan_l1_fix_dist: 0.1795, d3.loss_plan_l1_fix_time: 1.0779, d3.loss_plan_l1_fix_dist: 0.1895, d4.loss_plan_l1_fix_time: 1.0800, d4.loss_plan_l1_fix_dist: 0.2016, d5.loss_plan_l1_fix_time: 1.0821, d5.loss_plan_l1_fix_dist: 0.2155, d6.loss_plan_l1_fix_time: 1.0845, d6.loss_plan_l1_fix_dist: 0.2342, d0.loss_cls_all: 0.1856, d0.loss_bbox_all: 0.4103, d0.loss_cls: 0.1856, d0.loss_bbox: 0.4103, d1.loss_cls: 0.1732, d1.loss_bbox: 0.3829, d2.loss_cls: 0.1656, d2.loss_bbox: 0.3668, d3.loss_cls: 0.1581, d3.loss_bbox: 0.3591, d4.loss_cls: 0.1508, d4.loss_bbox: 0.3612, d5.loss_cls: 0.1513, d5.loss_bbox: 0.3600, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6518, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5581, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5182, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5012, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5024, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4995, d0.loss_map_cls_all: 0.2358, d0.loss_map_pts_all: 1.5249, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2358, d0.loss_map_pts: 1.5249, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2146, d1.loss_map_pts: 1.0790, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1922, d2.loss_map_pts: 0.9015, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1837, d3.loss_map_pts: 0.8200, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1775, d4.loss_map_pts: 0.7941, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1737, d5.loss_map_pts: 0.7920, d5.loss_map_dir: 0.0094, loss: 28.5952, grad_norm: 147.2255 +2026-02-26 13:10:29,908 - DriveTransformer - INFO - Epoch [7][3900/39528] lr: 8.550e-05, eta: 5 days, 19:16:43, time: 0.734, data_time: 0.035, memory: 19865, loss_cls: 0.1654, loss_bbox: 0.3779, loss_traj: 0.6203, loss_traj_cls: 0.0010, loss_map_cls: 0.1732, loss_map_pts: 0.7986, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.5542, d0.loss_plan_l1_fix_dist: 0.4539, d1.loss_plan_l1_fix_time: 1.1210, d1.loss_plan_l1_fix_dist: 0.2010, d2.loss_plan_l1_fix_time: 1.1137, d2.loss_plan_l1_fix_dist: 0.2009, d3.loss_plan_l1_fix_time: 1.1081, d3.loss_plan_l1_fix_dist: 0.2140, d4.loss_plan_l1_fix_time: 1.1105, d4.loss_plan_l1_fix_dist: 0.2227, d5.loss_plan_l1_fix_time: 1.1137, d5.loss_plan_l1_fix_dist: 0.2338, d6.loss_plan_l1_fix_time: 1.1176, d6.loss_plan_l1_fix_dist: 0.2491, d0.loss_cls_all: 0.2091, d0.loss_bbox_all: 0.4413, d0.loss_cls: 0.2091, d0.loss_bbox: 0.4413, d1.loss_cls: 0.1991, d1.loss_bbox: 0.4043, d2.loss_cls: 0.1871, d2.loss_bbox: 0.3849, d3.loss_cls: 0.1745, d3.loss_bbox: 0.3800, d4.loss_cls: 0.1666, d4.loss_bbox: 0.3790, d5.loss_cls: 0.1639, d5.loss_bbox: 0.3786, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7896, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6734, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6267, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6190, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6189, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6173, d0.loss_map_cls_all: 0.2495, d0.loss_map_pts_all: 1.6189, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2495, d0.loss_map_pts: 1.6189, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2189, d1.loss_map_pts: 1.1050, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1965, d2.loss_map_pts: 0.9194, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1844, d3.loss_map_pts: 0.8387, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1797, d4.loss_map_pts: 0.8095, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1740, d5.loss_map_pts: 0.7999, d5.loss_map_dir: 0.0114, loss: 30.4715, grad_norm: 148.2270 +2026-02-26 13:11:05,162 - DriveTransformer - INFO - Epoch [7][3950/39528] lr: 8.550e-05, eta: 5 days, 19:15:36, time: 0.705, data_time: 0.033, memory: 19865, loss_cls: 0.1465, loss_bbox: 0.3540, loss_traj: 0.6373, loss_traj_cls: 0.0010, loss_map_cls: 0.1537, loss_map_pts: 0.6574, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.3754, d0.loss_plan_l1_fix_dist: 0.4307, d1.loss_plan_l1_fix_time: 0.9552, d1.loss_plan_l1_fix_dist: 0.1782, d2.loss_plan_l1_fix_time: 0.9414, d2.loss_plan_l1_fix_dist: 0.1741, d3.loss_plan_l1_fix_time: 0.9399, d3.loss_plan_l1_fix_dist: 0.1859, d4.loss_plan_l1_fix_time: 0.9429, d4.loss_plan_l1_fix_dist: 0.1953, d5.loss_plan_l1_fix_time: 0.9471, d5.loss_plan_l1_fix_dist: 0.2055, d6.loss_plan_l1_fix_time: 0.9524, d6.loss_plan_l1_fix_dist: 0.2158, d0.loss_cls_all: 0.1803, d0.loss_bbox_all: 0.4065, d0.loss_cls: 0.1803, d0.loss_bbox: 0.4065, d1.loss_cls: 0.1754, d1.loss_bbox: 0.3752, d2.loss_cls: 0.1668, d2.loss_bbox: 0.3573, d3.loss_cls: 0.1548, d3.loss_bbox: 0.3520, d4.loss_cls: 0.1494, d4.loss_bbox: 0.3511, d5.loss_cls: 0.1480, d5.loss_bbox: 0.3511, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8857, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7028, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6455, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6371, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6235, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6356, d0.loss_map_cls_all: 0.2281, d0.loss_map_pts_all: 1.4338, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2281, d0.loss_map_pts: 1.4338, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2012, d1.loss_map_pts: 0.9474, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1827, d2.loss_map_pts: 0.7715, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1695, d3.loss_map_pts: 0.6955, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1618, d4.loss_map_pts: 0.6682, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1548, d5.loss_map_pts: 0.6599, d5.loss_map_dir: 0.0100, loss: 27.4942, grad_norm: 146.7682 +2026-02-26 13:11:40,063 - DriveTransformer - INFO - Epoch [7][4000/39528] lr: 8.550e-05, eta: 5 days, 19:13:27, time: 0.698, data_time: 0.033, memory: 19865, loss_cls: 0.1701, loss_bbox: 0.3637, loss_traj: 0.7898, loss_traj_cls: 0.0010, loss_map_cls: 0.1406, loss_map_pts: 0.6384, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.8476, d0.loss_plan_l1_fix_dist: 0.4454, d1.loss_plan_l1_fix_time: 1.1947, d1.loss_plan_l1_fix_dist: 0.2007, d2.loss_plan_l1_fix_time: 1.1763, d2.loss_plan_l1_fix_dist: 0.1965, d3.loss_plan_l1_fix_time: 1.1690, d3.loss_plan_l1_fix_dist: 0.2016, d4.loss_plan_l1_fix_time: 1.1708, d4.loss_plan_l1_fix_dist: 0.2122, d5.loss_plan_l1_fix_time: 1.1738, d5.loss_plan_l1_fix_dist: 0.2250, d6.loss_plan_l1_fix_time: 1.1781, d6.loss_plan_l1_fix_dist: 0.2392, d0.loss_cls_all: 0.2028, d0.loss_bbox_all: 0.4232, d0.loss_cls: 0.2028, d0.loss_bbox: 0.4232, d1.loss_cls: 0.1958, d1.loss_bbox: 0.3875, d2.loss_cls: 0.1841, d2.loss_bbox: 0.3714, d3.loss_cls: 0.1777, d3.loss_bbox: 0.3646, d4.loss_cls: 0.1713, d4.loss_bbox: 0.3632, d5.loss_cls: 0.1702, d5.loss_bbox: 0.3620, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0394, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8458, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8058, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7925, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7887, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7917, d0.loss_map_cls_all: 0.2217, d0.loss_map_pts_all: 1.2888, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2217, d0.loss_map_pts: 1.2888, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1907, d1.loss_map_pts: 0.8769, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1673, d2.loss_map_pts: 0.7204, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1564, d3.loss_map_pts: 0.6661, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1479, d4.loss_map_pts: 0.6448, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1415, d5.loss_map_pts: 0.6379, d5.loss_map_dir: 0.0090, loss: 30.2427, grad_norm: 147.2288 +2026-02-26 13:12:15,910 - DriveTransformer - INFO - Epoch [7][4050/39528] lr: 8.550e-05, eta: 5 days, 19:14:06, time: 0.717, data_time: 0.035, memory: 19865, loss_cls: 0.1488, loss_bbox: 0.3406, loss_traj: 0.6263, loss_traj_cls: 0.0010, loss_map_cls: 0.1494, loss_map_pts: 0.6524, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.8806, d0.loss_plan_l1_fix_dist: 0.4508, d1.loss_plan_l1_fix_time: 1.0098, d1.loss_plan_l1_fix_dist: 0.1801, d2.loss_plan_l1_fix_time: 0.9863, d2.loss_plan_l1_fix_dist: 0.1816, d3.loss_plan_l1_fix_time: 0.9757, d3.loss_plan_l1_fix_dist: 0.1914, d4.loss_plan_l1_fix_time: 0.9766, d4.loss_plan_l1_fix_dist: 0.2033, d5.loss_plan_l1_fix_time: 0.9786, d5.loss_plan_l1_fix_dist: 0.2193, d6.loss_plan_l1_fix_time: 0.9815, d6.loss_plan_l1_fix_dist: 0.2387, d0.loss_cls_all: 0.1834, d0.loss_bbox_all: 0.3986, d0.loss_cls: 0.1834, d0.loss_bbox: 0.3986, d1.loss_cls: 0.1754, d1.loss_bbox: 0.3684, d2.loss_cls: 0.1638, d2.loss_bbox: 0.3497, d3.loss_cls: 0.1560, d3.loss_bbox: 0.3411, d4.loss_cls: 0.1513, d4.loss_bbox: 0.3395, d5.loss_cls: 0.1505, d5.loss_bbox: 0.3383, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7931, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6699, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6409, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6287, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6221, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6240, d0.loss_map_cls_all: 0.2104, d0.loss_map_pts_all: 1.3225, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2104, d0.loss_map_pts: 1.3225, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1837, d1.loss_map_pts: 0.9027, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1661, d2.loss_map_pts: 0.7369, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1559, d3.loss_map_pts: 0.6724, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1520, d4.loss_map_pts: 0.6569, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1495, d5.loss_map_pts: 0.6510, d5.loss_map_dir: 0.0099, loss: 27.6242, grad_norm: 147.1538 +2026-02-26 13:12:52,962 - DriveTransformer - INFO - Epoch [7][4100/39528] lr: 8.550e-05, eta: 5 days, 19:18:11, time: 0.741, data_time: 0.035, memory: 19865, loss_cls: 0.1551, loss_bbox: 0.3556, loss_traj: 0.7501, loss_traj_cls: 0.0010, loss_map_cls: 0.1322, loss_map_pts: 0.7096, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.5450, d0.loss_plan_l1_fix_dist: 0.4937, d1.loss_plan_l1_fix_time: 1.0859, d1.loss_plan_l1_fix_dist: 0.2066, d2.loss_plan_l1_fix_time: 1.0606, d2.loss_plan_l1_fix_dist: 0.2151, d3.loss_plan_l1_fix_time: 1.0604, d3.loss_plan_l1_fix_dist: 0.2376, d4.loss_plan_l1_fix_time: 1.0638, d4.loss_plan_l1_fix_dist: 0.2623, d5.loss_plan_l1_fix_time: 1.0670, d5.loss_plan_l1_fix_dist: 0.2874, d6.loss_plan_l1_fix_time: 1.0707, d6.loss_plan_l1_fix_dist: 0.3160, d0.loss_cls_all: 0.1905, d0.loss_bbox_all: 0.4099, d0.loss_cls: 0.1905, d0.loss_bbox: 0.4099, d1.loss_cls: 0.1828, d1.loss_bbox: 0.3802, d2.loss_cls: 0.1689, d2.loss_bbox: 0.3654, d3.loss_cls: 0.1603, d3.loss_bbox: 0.3596, d4.loss_cls: 0.1549, d4.loss_bbox: 0.3588, d5.loss_cls: 0.1541, d5.loss_bbox: 0.3567, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9469, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8170, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7606, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7483, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7526, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7530, d0.loss_map_cls_all: 0.2030, d0.loss_map_pts_all: 1.4744, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2030, d0.loss_map_pts: 1.4744, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1749, d1.loss_map_pts: 0.9974, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1552, d2.loss_map_pts: 0.8106, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1441, d3.loss_map_pts: 0.7415, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1379, d4.loss_map_pts: 0.7168, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1341, d5.loss_map_pts: 0.7088, d5.loss_map_dir: 0.0108, loss: 29.8603, grad_norm: 146.2060 +2026-02-26 13:13:28,958 - DriveTransformer - INFO - Epoch [7][4150/39528] lr: 8.550e-05, eta: 5 days, 19:19:09, time: 0.720, data_time: 0.036, memory: 19865, loss_cls: 0.1462, loss_bbox: 0.3384, loss_traj: 0.6558, loss_traj_cls: 0.0009, loss_map_cls: 0.1626, loss_map_pts: 0.7205, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.5053, d0.loss_plan_l1_fix_dist: 0.3810, d1.loss_plan_l1_fix_time: 1.0298, d1.loss_plan_l1_fix_dist: 0.1926, d2.loss_plan_l1_fix_time: 1.0104, d2.loss_plan_l1_fix_dist: 0.1962, d3.loss_plan_l1_fix_time: 1.0110, d3.loss_plan_l1_fix_dist: 0.2044, d4.loss_plan_l1_fix_time: 1.0129, d4.loss_plan_l1_fix_dist: 0.2164, d5.loss_plan_l1_fix_time: 1.0155, d5.loss_plan_l1_fix_dist: 0.2291, d6.loss_plan_l1_fix_time: 1.0183, d6.loss_plan_l1_fix_dist: 0.2420, d0.loss_cls_all: 0.1879, d0.loss_bbox_all: 0.4012, d0.loss_cls: 0.1879, d0.loss_bbox: 0.4012, d1.loss_cls: 0.1785, d1.loss_bbox: 0.3671, d2.loss_cls: 0.1614, d2.loss_bbox: 0.3492, d3.loss_cls: 0.1516, d3.loss_bbox: 0.3440, d4.loss_cls: 0.1478, d4.loss_bbox: 0.3406, d5.loss_cls: 0.1455, d5.loss_bbox: 0.3395, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8567, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6999, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6635, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6576, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6540, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6554, d0.loss_map_cls_all: 0.2246, d0.loss_map_pts_all: 1.3563, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2246, d0.loss_map_pts: 1.3563, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2017, d1.loss_map_pts: 0.9709, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1850, d2.loss_map_pts: 0.8148, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1744, d3.loss_map_pts: 0.7493, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1678, d4.loss_map_pts: 0.7257, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1653, d5.loss_map_pts: 0.7197, d5.loss_map_dir: 0.0097, loss: 28.2951, grad_norm: 146.6375 +2026-02-26 13:14:06,055 - DriveTransformer - INFO - Epoch [7][4200/39528] lr: 8.550e-05, eta: 5 days, 19:23:10, time: 0.742, data_time: 0.034, memory: 19865, loss_cls: 0.1597, loss_bbox: 0.3571, loss_traj: 0.5639, loss_traj_cls: 0.0010, loss_map_cls: 0.1609, loss_map_pts: 0.7103, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.3597, d0.loss_plan_l1_fix_dist: 0.4650, d1.loss_plan_l1_fix_time: 0.9472, d1.loss_plan_l1_fix_dist: 0.1856, d2.loss_plan_l1_fix_time: 0.9432, d2.loss_plan_l1_fix_dist: 0.1859, d3.loss_plan_l1_fix_time: 0.9428, d3.loss_plan_l1_fix_dist: 0.1964, d4.loss_plan_l1_fix_time: 0.9466, d4.loss_plan_l1_fix_dist: 0.2098, d5.loss_plan_l1_fix_time: 0.9510, d5.loss_plan_l1_fix_dist: 0.2243, d6.loss_plan_l1_fix_time: 0.9553, d6.loss_plan_l1_fix_dist: 0.2374, d0.loss_cls_all: 0.1935, d0.loss_bbox_all: 0.4140, d0.loss_cls: 0.1935, d0.loss_bbox: 0.4140, d1.loss_cls: 0.1891, d1.loss_bbox: 0.3845, d2.loss_cls: 0.1767, d2.loss_bbox: 0.3657, d3.loss_cls: 0.1647, d3.loss_bbox: 0.3610, d4.loss_cls: 0.1591, d4.loss_bbox: 0.3578, d5.loss_cls: 0.1588, d5.loss_bbox: 0.3568, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7644, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6294, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5755, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5698, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5662, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5669, d0.loss_map_cls_all: 0.2313, d0.loss_map_pts_all: 1.4779, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2313, d0.loss_map_pts: 1.4779, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2038, d1.loss_map_pts: 0.9932, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1837, d2.loss_map_pts: 0.8130, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1709, d3.loss_map_pts: 0.7425, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1658, d4.loss_map_pts: 0.7167, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1618, d5.loss_map_pts: 0.7099, d5.loss_map_dir: 0.0107, loss: 27.6334, grad_norm: 145.2679 diff --git a/DriveTransformer/goalpoint_1gpu/20260226_122411.log.json b/DriveTransformer/goalpoint_1gpu/20260226_122411.log.json new file mode 100644 index 0000000000000000000000000000000000000000..3c3d6faa82dd6a1c416e88ed9f99ff1aee5ba159 --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260226_122411.log.json @@ -0,0 +1,85 @@ +{"mmcv_version": "0.0.1", "config": "point_cloud_range = [-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]\nclass_names = [\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n]\ndataset_type = 'B2D_DriveTransformer_GoalPoint_Dataset'\ndata_root = 'data/bench2drive'\ninput_modality = dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True)\nfile_client_args = dict(backend='disk')\ntrain_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\ntest_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\neval_pipeline = [\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone', 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n]\ndata = dict(\n samples_per_gpu=6,\n workers_per_gpu=8,\n train=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=False,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n sub_seq_lenth=-1,\n use_splited_data=True,\n cache_lenth=7,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n val=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_root='data/bench2drive',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=7,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n test=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=7,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n shuffler_sampler=dict(type='InfiniteGroupEachSampleInBatchSampler'),\n nonshuffler_sampler=dict(type='DistributedSampler'))\nevaluation = dict(\n interval=24,\n pipeline=[\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone',\n 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n ])\ncheckpoint_config = dict(interval=1)\nlog_config = dict(\n interval=50,\n hooks=[dict(type='TextLoggerHook'),\n dict(type='TensorboardLoggerHook')])\ndist_params = dict(backend='nccl')\nlog_level = 'INFO'\nwork_dir = './work_dirs/drivetransformer_goalpoint_1gpu'\nload_from = None\nresume_from = None\nworkflow = [('train', 1)]\nplugin = True\nplugin_dir = 'adzoo/drivetransformer/mmdet3d_plugin/'\nvoxel_size = [0.15, 0.15, 4]\nimg_norm_cfg = dict(\n mean=[123.675, 116.28, 103.53], std=[58.395, 57.12, 57.375], to_rgb=True)\nNameMapping = dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n})\ncollect_keys = [\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', 'ego_pose',\n 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n]\nnum_classes = 9\nmap_classes = [\n 'Broken', 'Solid', 'SolidSolid', 'Center', 'TrafficLight', 'StopSign'\n]\nmap_fixed_ptsnum_per_gt_line = 20\nmap_fixed_ptsnum_per_pred_line = 20\nmap_eval_use_same_gt_sample_num_flag = True\nmap_num_classes = 6\nagent_query_num_vec = 900\nagent_num_topk_sift = 900\nagent_num_propagated = 50\nmap_query_num_vec = 100\nmap_num_topk_sift = 100\nmap_num_propagated = 50\nmemory_len_frame = 10\nnum_mode = 6\nnum_gpus = 1\nbatch_size = 6\nnum_iters_per_epoch = 1041\ndata_aug_conf = dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0])\n_dim_ = 512\nqueue_length = 1\ntotal_epochs = 24\ndropout = 0.1\nmodel = dict(\n type='DriveTransformer',\n use_grid_mask=False,\n pretrained=dict(img='./ckpts/resnet50-19c8e357.pth'),\n img_backbone=dict(\n type='ResNet',\n depth=50,\n num_stages=4,\n out_indices=(3, ),\n frozen_stages=1,\n norm_cfg=dict(type='BN', requires_grad=False),\n norm_eval=True,\n style='pytorch'),\n img_neck=dict(\n type='FPN',\n in_channels=[2048],\n out_channels=512,\n start_level=0,\n add_extra_convs='on_output',\n num_outs=1,\n relu_before_extra_convs=True),\n pts_bbox_head=dict(\n type='DriveTransformerlHead',\n ego_lcf_feat_idx=[0, 1, 2, 3, 4, 5, 6, 7, 8],\n ego_command_dim=128,\n img_stride=32,\n embed_dims=512,\n num_reg_fcs=2,\n num_cls_fcs=2,\n agent_num_propagated=50,\n map_num_propagated=50,\n memory_len_frame=10,\n agent_num_query=900,\n agent_num_query_sifted=900,\n fut_mode=6,\n fut_ego_mode=1,\n fut_ts=6,\n fut_ego_fix_dist=True,\n fut_ts_ego_fix_dist=20,\n fut_ts_ego_fix_time=30,\n num_classes=9,\n code_size=10,\n map_num_query=100,\n map_num_query_sifted=100,\n map_num_classes=6,\n map_num_pts_per_vec=20,\n map_num_pts_per_gt_vec=20,\n map_query_embed_type='instance_pts',\n map_transform_method='minmax',\n map_gt_shift_pts_pattern='v2',\n map_dir_interval=1,\n map_code_size=2,\n map_code_weights=[1.0, 1.0, 1.0, 1.0],\n sync_cls_avg_factor=True,\n with_box_refine=True,\n LID=True,\n with_ego_pos=True,\n position_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n depth_start=1,\n depth_step=0.8,\n depth_num=64,\n agent_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n map_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n transformer=dict(\n type='DriveTransformerWrapper',\n embed_dims=512,\n decoder=dict(\n type='DriveTransformerDecoder',\n num_layers=6,\n fut_mode=6,\n agent_num_query=900,\n map_num_query=100,\n map_num_pts_per_vec=20,\n return_intermediate=True,\n embed_dims=512,\n refine=True,\n transformerlayers=dict(\n type='DriveTransformerDecoderLayer',\n agent_query_num=900,\n map_query_num=100,\n memory_len_frame=10,\n agent_num_propagated=50,\n map_num_propagated=50,\n map_pts_per_vec=20,\n feedforward_channels=2048,\n ffn_dropout=0.1,\n with_cp=False,\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n no_wq=True)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n operation_order=('task_self_attn', 'norm',\n 'temporal_cross_attn', 'norm',\n 'sensor_cross_attn', 'norm', 'ffn',\n 'norm')))),\n bbox_coder=dict(\n type='CustomNMSFreeCoder',\n post_center_range=[-20, -35, -10.0, 20, 35, 10.0],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=100,\n voxel_size=[0.15, 0.15, 4],\n num_classes=9),\n loss_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_bbox=dict(type='L1Loss', loss_weight=0.25),\n loss_traj=dict(type='L1Loss', loss_weight=0.2),\n loss_traj_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.5,\n loss_weight=0.2),\n map_bbox_coder=dict(\n type='MapNMSFreeCoder',\n post_center_range=[-20, -35, -20, -35, 20, 35, 20, 35],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=50,\n voxel_size=[0.15, 0.15, 4],\n num_classes=6),\n loss_map_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_map_pts=dict(type='PtsL1Loss', loss_weight=1.0),\n loss_map_dir=dict(type='PtsDirCosLoss', loss_weight=0.005),\n loss_plan_reg_fix_time=dict(type='L1Loss', loss_weight=3.5),\n loss_plan_reg_fix_dist=dict(type='L1Loss', loss_weight=10.0),\n loss_plan_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=4.0,\n alpha=0.5,\n loss_weight=20.0)),\n train_cfg=dict(\n pts=dict(\n grid_size=[512, 512, 1],\n voxel_size=[0.15, 0.15, 4],\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n out_size_factor=4,\n assigner=dict(\n type='HungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(type='BBox3DL1Cost', weight=0.25),\n iou_cost=dict(type='IoUCost', weight=0.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n map_assigner=dict(\n type='MapHungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(\n type='BBoxL1Cost', weight=0.0, box_format='xywh'),\n iou_cost=dict(type='IoUCost', iou_mode='giou', weight=0.0),\n pts_cost=dict(type='OrderedPtsL1Cost', weight=1.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]))))\ninfo_root = 'data/infos'\nmap_root = 'data/bench2drive/maps'\nmap_file = 'data/infos/b2d_map_infos.pkl'\nann_file_train = 'data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl'\nann_file_val = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\nann_file_test = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\noptimizer = dict(type='AdamW', lr=0.0001, weight_decay=0.01)\noptimizer_config = dict(\n grad_clip=dict(max_norm=35, norm_type=2),\n type='GradientCumulativeFp16OptimizerHook',\n cumulative_iters=32)\nlr_config = dict(\n policy='CosineAnnealing',\n warmup='linear',\n warmup_iters=1000,\n warmup_ratio=0.1,\n min_lr_ratio=0.01)\nrunner = dict(type='EpochBasedRunner', max_epochs=24)\nfp16 = dict(loss_scale=512.0)\nfind_unused_parameters = True\ncustom_hooks = [dict(type='CustomSetEpochInfoHook')]\ncumulative_iters = 32\ngpu_ids = range(0, 1)\n", "CLASSES": ["car", "van", "truck", "bicycle", "traffic_sign", "traffic_cone", "traffic_light", "pedestrian", "others"], "PALETTE": null, "env_info": "MMCV: 0.0.1", "seed": 0, "exp_name": "drivetransformer_goalpoint_1gpu.py", "fp16": {"loss_scaler": {"scale": 512.0, "growth_factor": 2.0, "backoff_factor": 0.5, "growth_interval": 2000, "_growth_tracker": 0}}, "epoch": 6, "iter": 237168, "time": "Thu Feb 26 07:15:52 2026", "hook_msgs": {"last_ckpt": "/home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu/epoch_5.pth"}} +{"mode": "train", "epoch": 7, "iter": 50, "lr": 9e-05, "memory": 19865, "data_time": 0.18341, "loss_cls": 0.1674, "loss_bbox": 0.36201, "loss_traj": 0.65623, "loss_traj_cls": 0.00093, "loss_map_cls": 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'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} +Name of parameter - Initialization information + +pts_bbox_head.code_weights - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_code_weights - torch.Size([4]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.position_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.pc_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_query.weight - torch.Size([900, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_reference_points.weight - torch.Size([900, 3]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.weight - torch.Size([512, 9]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.weight - torch.Size([512, 768]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.mode_embedding.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_query.weight - torch.Size([100, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_reference_points.weight - torch.Size([100, 2]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.weight - torch.Size([512, 6]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.weight - torch.Size([512, 141]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.weight - torch.Size([512, 1920]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.weight - torch.Size([512, 640]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.featurized_pe.reduce.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.spatial_alignment.reduce.0.weight - torch.Size([512, 8]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.time_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.weight - torch.Size([512, 192]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_pose_memory.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]2026-02-26 13:17:33,098 - DriveTransformer - INFO - Model: +DriveTransformer( + (pts_bbox_head): DriveTransformerlHead( + (loss_cls): FocalLoss() + (loss_bbox): L1Loss() + (loss_traj): L1Loss() + (loss_traj_cls): FocalLoss() + (loss_map_cls): FocalLoss() + (loss_map_pts): PtsL1Loss() + (loss_map_dir): PtsDirCosLoss() + (loss_plan_reg_fix_dist): L1Loss() + (loss_plan_reg_fix_time): L1Loss() + (loss_plan_cls): FocalLoss() + (agent_query): Embedding(900, 512) + (agent_reference_points): Embedding(900, 3) + (agent_cls_embedding): Sequential( + (0): Linear(in_features=9, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (agent_ref_embedding): Sequential( + (0): Linear(in_features=768, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (mode_embedding): Embedding(6, 512) + (map_query): Embedding(100, 512) + (map_reference_points): Embedding(100, 2) + (map_cls_embedding): Sequential( + (0): Linear(in_features=6, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (map_ref_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_lcf_encoder): Sequential( + (0): Linear(in_features=141, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_time_embedding): Sequential( + (0): Linear(in_features=1920, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_dist_embedding): Sequential( + (0): Linear(in_features=640, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (featurized_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (spatial_alignment): MLN( + (reduce): Sequential( + (0): Linear(in_features=8, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (time_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (img_position_encoder): Sequential( + (0): Linear(in_features=192, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_pose_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (ego_pose_memory): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (agent_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (map_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (transformer): DriveTransformerWrapper( + (decoder): DriveTransformerDecoder( + (layers): ModuleList( + (0-5): 6 x DriveTransformerDecoderLayer( + (task_self_attentions): ModuleList( + (0): AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (temporal_cross_attention_layers): ModuleList( + (0-2): 3 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (sensor_cross_attentions): ModuleList( + (0): AttentionLayer( + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (cross_w_q): ModuleList( + (0-2): 3 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + ) + (ffns): ModuleList( + (0): ModuleList( + (0-2): 3 x SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + ) + ) + (cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=9, bias=False) + ) + ) + (reg_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=10, bias=True) + ) + ) + (traj_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=12, bias=True) + ) + ) + (traj_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (6): Linear(in_features=512, out_features=1, bias=False) + ) + ) + (map_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=6, bias=False) + ) + ) + (map_reg_branches): ModuleList( + (0-5): 6 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=2, bias=True) + ) + (6): Linear(in_features=512, out_features=40, bias=True) + ) + (ego_traj_branches_fix_dist): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=20, bias=True) + ) + ) + (ego_traj_branches_fix_time): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=60, bias=True) + ) + ) + ) + (img_backbone): ResNet( + (conv1): Conv2d(3, 64, kernel_size=(7, 7), stride=(2, 2), padding=(3, 3), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (maxpool): MaxPool2d(kernel_size=3, stride=2, padding=1, dilation=1, ceil_mode=False) + (layer1): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(64, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer2): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(256, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(256, 512, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer3): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(512, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(512, 1024, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (4): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (5): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer4): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(1024, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(1024, 2048, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + ) + init_cfg={'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} + (img_neck): FPN( + (lateral_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1)) + ) + ) + (fpn_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) + ) + ) + ) + init_cfg={'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} + (grid_mask): GridMask() +) +2026-02-26 13:17:33,305 - DriveTransformer - INFO - load checkpoint from path: ./work_dirs/drivetransformer_goalpoint_1gpu/epoch_6.pth +2026-02-26 13:17:35,160 - DriveTransformer - INFO - resumed epoch 6, iter 237168 +2026-02-26 13:17:35,162 - DriveTransformer - INFO - Start running, host: humble@ysh-4090, work_dir: /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu +2026-02-26 13:17:35,162 - DriveTransformer - INFO - Hooks will be executed in the following order: +before_run: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_epoch: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_iter: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook + -------------------- +after_train_iter: +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +after_train_epoch: +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_val_epoch: +(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 + -------------------- +2026-02-26 13:17:35,162 - DriveTransformer - INFO - workflow: [('train', 1)], max: 24 epochs +2026-02-26 13:17:35,164 - DriveTransformer - INFO - Checkpoints will be saved to /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu by HardDiskBackend. +2026-02-26 13:17:44,251 - DriveTransformer - WARNING - Resume iter number is not divisible by cumulative_iters in GradientCumulativeOptimizerHook, which means the gradient of some iters is lost and the result may be influenced slightly. +2026-02-26 13:17:44,253 - DriveTransformer - WARNING - GradientCumulativeOptimizerHook may slightly decrease performance if the model has BatchNorm layers. +2026-02-26 13:18:22,810 - DriveTransformer - INFO - Epoch [7][50/39528] lr: 8.550e-05, eta: 7 days, 19:50:10, time: 0.950, data_time: 0.174, memory: 19865, loss_cls: 0.1678, loss_bbox: 0.3657, loss_traj: 0.6574, loss_traj_cls: 0.0009, loss_map_cls: 0.1842, loss_map_pts: 0.7903, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.4778, d0.loss_plan_l1_fix_dist: 0.3595, d1.loss_plan_l1_fix_time: 0.9959, d1.loss_plan_l1_fix_dist: 0.1739, d2.loss_plan_l1_fix_time: 0.9809, d2.loss_plan_l1_fix_dist: 0.1825, d3.loss_plan_l1_fix_time: 0.9840, d3.loss_plan_l1_fix_dist: 0.1962, d4.loss_plan_l1_fix_time: 0.9892, d4.loss_plan_l1_fix_dist: 0.2123, d5.loss_plan_l1_fix_time: 0.9949, d5.loss_plan_l1_fix_dist: 0.2279, d6.loss_plan_l1_fix_time: 1.0014, d6.loss_plan_l1_fix_dist: 0.2453, d0.loss_cls_all: 0.2066, d0.loss_bbox_all: 0.4149, d0.loss_cls: 0.2066, d0.loss_bbox: 0.4149, d1.loss_cls: 0.1968, d1.loss_bbox: 0.3817, d2.loss_cls: 0.1843, d2.loss_bbox: 0.3650, d3.loss_cls: 0.1723, d3.loss_bbox: 0.3617, d4.loss_cls: 0.1675, d4.loss_bbox: 0.3614, d5.loss_cls: 0.1665, d5.loss_bbox: 0.3638, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7644, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6680, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6567, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6568, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6553, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6555, d0.loss_map_cls_all: 0.2617, d0.loss_map_pts_all: 1.4863, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2617, d0.loss_map_pts: 1.4863, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2316, d1.loss_map_pts: 1.0572, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.2102, d2.loss_map_pts: 0.8935, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1947, d3.loss_map_pts: 0.8314, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1896, d4.loss_map_pts: 0.8052, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1863, d5.loss_map_pts: 0.7909, d5.loss_map_dir: 0.0102, loss: 29.1798, grad_norm: 130.8433 +2026-02-26 13:19:02,279 - DriveTransformer - INFO - Epoch [7][100/39528] lr: 8.550e-05, eta: 7 days, 3:54:48, time: 0.789, data_time: 0.032, memory: 19865, loss_cls: 0.1646, loss_bbox: 0.3689, loss_traj: 0.5997, loss_traj_cls: 0.0010, loss_map_cls: 0.1801, loss_map_pts: 0.7029, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.2596, d0.loss_plan_l1_fix_dist: 0.4237, d1.loss_plan_l1_fix_time: 1.1355, d1.loss_plan_l1_fix_dist: 0.1592, d2.loss_plan_l1_fix_time: 1.1257, d2.loss_plan_l1_fix_dist: 0.1680, d3.loss_plan_l1_fix_time: 1.1269, d3.loss_plan_l1_fix_dist: 0.1789, d4.loss_plan_l1_fix_time: 1.1312, d4.loss_plan_l1_fix_dist: 0.1917, d5.loss_plan_l1_fix_time: 1.1360, d5.loss_plan_l1_fix_dist: 0.2050, d6.loss_plan_l1_fix_time: 1.1412, d6.loss_plan_l1_fix_dist: 0.2185, d0.loss_cls_all: 0.1874, d0.loss_bbox_all: 0.4137, d0.loss_cls: 0.1874, d0.loss_bbox: 0.4137, d1.loss_cls: 0.1904, d1.loss_bbox: 0.3823, d2.loss_cls: 0.1786, d2.loss_bbox: 0.3659, d3.loss_cls: 0.1727, d3.loss_bbox: 0.3639, d4.loss_cls: 0.1665, d4.loss_bbox: 0.3668, d5.loss_cls: 0.1646, d5.loss_bbox: 0.3689, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7518, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6204, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5966, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5903, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5955, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5938, d0.loss_map_cls_all: 0.2506, d0.loss_map_pts_all: 1.3629, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2506, d0.loss_map_pts: 1.3629, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2219, d1.loss_map_pts: 0.9581, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.2007, d2.loss_map_pts: 0.7981, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1897, d3.loss_map_pts: 0.7304, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1845, d4.loss_map_pts: 0.7076, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1823, d5.loss_map_pts: 0.7039, d5.loss_map_dir: 0.0092, loss: 28.4697, grad_norm: 148.6855 +2026-02-26 13:19:41,444 - DriveTransformer - INFO - Epoch [7][150/39528] lr: 8.550e-05, eta: 6 days, 22:11:24, time: 0.783, data_time: 0.038, memory: 19865, loss_cls: 0.1925, loss_bbox: 0.4012, loss_traj: 0.6996, loss_traj_cls: 0.0009, loss_map_cls: 0.1695, loss_map_pts: 0.8311, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.7957, d0.loss_plan_l1_fix_dist: 0.3557, d1.loss_plan_l1_fix_time: 1.3117, d1.loss_plan_l1_fix_dist: 0.1958, d2.loss_plan_l1_fix_time: 1.2946, d2.loss_plan_l1_fix_dist: 0.1981, d3.loss_plan_l1_fix_time: 1.2931, d3.loss_plan_l1_fix_dist: 0.2058, d4.loss_plan_l1_fix_time: 1.2968, d4.loss_plan_l1_fix_dist: 0.2142, d5.loss_plan_l1_fix_time: 1.3015, d5.loss_plan_l1_fix_dist: 0.2208, d6.loss_plan_l1_fix_time: 1.3060, d6.loss_plan_l1_fix_dist: 0.2255, d0.loss_cls_all: 0.2244, d0.loss_bbox_all: 0.4647, d0.loss_cls: 0.2244, d0.loss_bbox: 0.4647, d1.loss_cls: 0.2177, d1.loss_bbox: 0.4265, d2.loss_cls: 0.2057, d2.loss_bbox: 0.4089, d3.loss_cls: 0.1953, d3.loss_bbox: 0.4030, d4.loss_cls: 0.1935, d4.loss_bbox: 0.4005, d5.loss_cls: 0.1923, d5.loss_bbox: 0.4003, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9264, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7359, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7039, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6909, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6925, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6980, d0.loss_map_cls_all: 0.2448, d0.loss_map_pts_all: 1.6646, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2448, d0.loss_map_pts: 1.6646, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2142, d1.loss_map_pts: 1.1453, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.1925, d2.loss_map_pts: 0.9484, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.1814, d3.loss_map_pts: 0.8693, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.1741, d4.loss_map_pts: 0.8396, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.1732, d5.loss_map_pts: 0.8313, d5.loss_map_dir: 0.0125, loss: 32.8692, grad_norm: 168.0135 +2026-02-26 13:20:19,301 - DriveTransformer - INFO - Epoch [7][200/39528] lr: 8.550e-05, eta: 6 days, 18:01:59, time: 0.757, data_time: 0.031, memory: 19865, loss_cls: 0.1436, loss_bbox: 0.3453, loss_traj: 0.5037, loss_traj_cls: 0.0010, loss_map_cls: 0.1383, loss_map_pts: 0.6229, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.2557, d0.loss_plan_l1_fix_dist: 0.4571, d1.loss_plan_l1_fix_time: 0.9609, d1.loss_plan_l1_fix_dist: 0.1672, d2.loss_plan_l1_fix_time: 0.9445, d2.loss_plan_l1_fix_dist: 0.1680, d3.loss_plan_l1_fix_time: 0.9389, d3.loss_plan_l1_fix_dist: 0.1751, d4.loss_plan_l1_fix_time: 0.9442, d4.loss_plan_l1_fix_dist: 0.1834, d5.loss_plan_l1_fix_time: 0.9509, d5.loss_plan_l1_fix_dist: 0.1924, d6.loss_plan_l1_fix_time: 0.9582, d6.loss_plan_l1_fix_dist: 0.2033, d0.loss_cls_all: 0.1819, d0.loss_bbox_all: 0.3789, d0.loss_cls: 0.1819, d0.loss_bbox: 0.3789, d1.loss_cls: 0.1700, d1.loss_bbox: 0.3503, d2.loss_cls: 0.1543, d2.loss_bbox: 0.3406, d3.loss_cls: 0.1477, d3.loss_bbox: 0.3372, d4.loss_cls: 0.1438, d4.loss_bbox: 0.3381, d5.loss_cls: 0.1420, d5.loss_bbox: 0.3436, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6438, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5324, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5038, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.4938, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.4981, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4985, d0.loss_map_cls_all: 0.2104, d0.loss_map_pts_all: 1.4049, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2104, d0.loss_map_pts: 1.4049, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.1785, d1.loss_map_pts: 0.9015, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1582, d2.loss_map_pts: 0.7037, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1488, d3.loss_map_pts: 0.6423, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1418, d4.loss_map_pts: 0.6221, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1388, d5.loss_map_pts: 0.6186, d5.loss_map_dir: 0.0110, loss: 25.5920, grad_norm: 184.9270 +2026-02-26 13:20:56,846 - DriveTransformer - INFO - Epoch [7][250/39528] lr: 8.550e-05, eta: 6 days, 15:17:20, time: 0.751, data_time: 0.034, memory: 19865, loss_cls: 0.1582, loss_bbox: 0.3690, loss_traj: 0.5757, loss_traj_cls: 0.0011, loss_map_cls: 0.1538, loss_map_pts: 0.7075, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.3771, d0.loss_plan_l1_fix_dist: 0.4086, d1.loss_plan_l1_fix_time: 0.9549, d1.loss_plan_l1_fix_dist: 0.2080, d2.loss_plan_l1_fix_time: 0.9525, d2.loss_plan_l1_fix_dist: 0.2094, d3.loss_plan_l1_fix_time: 0.9579, d3.loss_plan_l1_fix_dist: 0.2204, d4.loss_plan_l1_fix_time: 0.9645, d4.loss_plan_l1_fix_dist: 0.2342, d5.loss_plan_l1_fix_time: 0.9715, d5.loss_plan_l1_fix_dist: 0.2510, d6.loss_plan_l1_fix_time: 0.9793, d6.loss_plan_l1_fix_dist: 0.2677, d0.loss_cls_all: 0.1998, d0.loss_bbox_all: 0.4092, d0.loss_cls: 0.1998, d0.loss_bbox: 0.4092, d1.loss_cls: 0.1881, d1.loss_bbox: 0.3754, d2.loss_cls: 0.1721, d2.loss_bbox: 0.3650, d3.loss_cls: 0.1601, d3.loss_bbox: 0.3644, d4.loss_cls: 0.1577, d4.loss_bbox: 0.3638, d5.loss_cls: 0.1574, d5.loss_bbox: 0.3667, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7401, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6159, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.5736, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5656, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5729, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5700, d0.loss_map_cls_all: 0.2141, d0.loss_map_pts_all: 1.3798, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2141, d0.loss_map_pts: 1.3798, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1949, d1.loss_map_pts: 0.9627, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1765, d2.loss_map_pts: 0.7935, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1661, d3.loss_map_pts: 0.7355, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1584, d4.loss_map_pts: 0.7163, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1547, d5.loss_map_pts: 0.7063, d5.loss_map_dir: 0.0105, loss: 27.4878, grad_norm: 220.8222 +2026-02-26 13:21:33,494 - DriveTransformer - INFO - Epoch [7][300/39528] lr: 8.550e-05, eta: 6 days, 12:51:52, time: 0.733, data_time: 0.030, memory: 19865, loss_cls: 0.1808, loss_bbox: 0.4054, loss_traj: 0.8366, loss_traj_cls: 0.0010, loss_map_cls: 0.1816, loss_map_pts: 0.7916, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.5910, d0.loss_plan_l1_fix_dist: 0.4304, d1.loss_plan_l1_fix_time: 1.1923, d1.loss_plan_l1_fix_dist: 0.2111, d2.loss_plan_l1_fix_time: 1.1724, d2.loss_plan_l1_fix_dist: 0.2057, d3.loss_plan_l1_fix_time: 1.1700, d3.loss_plan_l1_fix_dist: 0.2125, d4.loss_plan_l1_fix_time: 1.1736, d4.loss_plan_l1_fix_dist: 0.2228, d5.loss_plan_l1_fix_time: 1.1775, d5.loss_plan_l1_fix_dist: 0.2365, d6.loss_plan_l1_fix_time: 1.1819, d6.loss_plan_l1_fix_dist: 0.2524, d0.loss_cls_all: 0.2186, d0.loss_bbox_all: 0.4629, d0.loss_cls: 0.2186, d0.loss_bbox: 0.4629, d1.loss_cls: 0.2107, d1.loss_bbox: 0.4271, d2.loss_cls: 0.1976, d2.loss_bbox: 0.4123, d3.loss_cls: 0.1847, d3.loss_bbox: 0.4053, d4.loss_cls: 0.1817, d4.loss_bbox: 0.4043, d5.loss_cls: 0.1807, d5.loss_bbox: 0.4038, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1118, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9047, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8310, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8124, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8264, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.8291, d0.loss_map_cls_all: 0.2594, d0.loss_map_pts_all: 1.5148, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2594, d0.loss_map_pts: 1.5148, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2272, d1.loss_map_pts: 1.0887, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.2056, d2.loss_map_pts: 0.8954, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1950, d3.loss_map_pts: 0.8184, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1872, d4.loss_map_pts: 0.7957, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1831, d5.loss_map_pts: 0.7900, d5.loss_map_dir: 0.0099, loss: 32.5303, grad_norm: 219.1332 +2026-02-26 13:22:09,860 - DriveTransformer - INFO - Epoch [7][350/39528] lr: 8.550e-05, eta: 6 days, 10:58:18, time: 0.727, data_time: 0.035, memory: 19865, loss_cls: 0.1590, loss_bbox: 0.3686, loss_traj: 0.7263, loss_traj_cls: 0.0010, loss_map_cls: 0.1308, loss_map_pts: 0.6419, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.5855, d0.loss_plan_l1_fix_dist: 0.4401, d1.loss_plan_l1_fix_time: 1.0806, d1.loss_plan_l1_fix_dist: 0.1810, d2.loss_plan_l1_fix_time: 1.0574, d2.loss_plan_l1_fix_dist: 0.1757, d3.loss_plan_l1_fix_time: 1.0579, d3.loss_plan_l1_fix_dist: 0.1848, d4.loss_plan_l1_fix_time: 1.0612, d4.loss_plan_l1_fix_dist: 0.1971, d5.loss_plan_l1_fix_time: 1.0646, d5.loss_plan_l1_fix_dist: 0.2099, d6.loss_plan_l1_fix_time: 1.0681, d6.loss_plan_l1_fix_dist: 0.2261, d0.loss_cls_all: 0.1989, d0.loss_bbox_all: 0.4250, d0.loss_cls: 0.1989, d0.loss_bbox: 0.4250, d1.loss_cls: 0.1864, d1.loss_bbox: 0.3929, d2.loss_cls: 0.1766, d2.loss_bbox: 0.3722, d3.loss_cls: 0.1666, d3.loss_bbox: 0.3659, d4.loss_cls: 0.1615, d4.loss_bbox: 0.3651, d5.loss_cls: 0.1596, d5.loss_bbox: 0.3677, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9087, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7741, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7304, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7142, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7210, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7236, d0.loss_map_cls_all: 0.1974, d0.loss_map_pts_all: 1.2846, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1974, d0.loss_map_pts: 1.2846, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1712, d1.loss_map_pts: 0.9043, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1521, d2.loss_map_pts: 0.7424, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1421, d3.loss_map_pts: 0.6762, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1360, d4.loss_map_pts: 0.6504, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1314, d5.loss_map_pts: 0.6423, d5.loss_map_dir: 0.0078, loss: 28.5301, grad_norm: 205.1435 +2026-02-26 13:22:48,660 - DriveTransformer - INFO - Epoch [7][400/39528] lr: 8.550e-05, eta: 6 days, 10:47:05, time: 0.777, data_time: 0.035, memory: 19865, loss_cls: 0.2099, loss_bbox: 0.4190, loss_traj: 0.6659, loss_traj_cls: 0.0010, loss_map_cls: 0.1963, loss_map_pts: 0.9068, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.7034, d0.loss_plan_l1_fix_dist: 0.3820, d1.loss_plan_l1_fix_time: 1.1466, d1.loss_plan_l1_fix_dist: 0.2028, d2.loss_plan_l1_fix_time: 1.1293, d2.loss_plan_l1_fix_dist: 0.2047, d3.loss_plan_l1_fix_time: 1.1280, d3.loss_plan_l1_fix_dist: 0.2147, d4.loss_plan_l1_fix_time: 1.1313, d4.loss_plan_l1_fix_dist: 0.2262, d5.loss_plan_l1_fix_time: 1.1350, d5.loss_plan_l1_fix_dist: 0.2386, d6.loss_plan_l1_fix_time: 1.1395, d6.loss_plan_l1_fix_dist: 0.2524, d0.loss_cls_all: 0.2493, d0.loss_bbox_all: 0.4822, d0.loss_cls: 0.2493, d0.loss_bbox: 0.4822, d1.loss_cls: 0.2423, d1.loss_bbox: 0.4451, d2.loss_cls: 0.2283, d2.loss_bbox: 0.4264, d3.loss_cls: 0.2187, d3.loss_bbox: 0.4201, d4.loss_cls: 0.2108, d4.loss_bbox: 0.4201, d5.loss_cls: 0.2102, d5.loss_bbox: 0.4196, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9040, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7624, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6886, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6729, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6718, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6652, d0.loss_map_cls_all: 0.2693, d0.loss_map_pts_all: 1.8011, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2693, d0.loss_map_pts: 1.8011, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2470, d1.loss_map_pts: 1.2614, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2231, d2.loss_map_pts: 1.0276, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.2136, d3.loss_map_pts: 0.9451, d3.loss_map_dir: 0.0123, d4.loss_map_cls: 0.2036, d4.loss_map_pts: 0.9163, d4.loss_map_dir: 0.0126, d5.loss_map_cls: 0.1989, d5.loss_map_pts: 0.9076, d5.loss_map_dir: 0.0127, loss: 33.0904, grad_norm: 197.1436 +2026-02-26 13:23:26,335 - DriveTransformer - INFO - Epoch [7][450/39528] lr: 8.550e-05, eta: 6 days, 10:04:49, time: 0.752, data_time: 0.031, memory: 19865, loss_cls: 0.1616, loss_bbox: 0.3416, loss_traj: 0.6352, loss_traj_cls: 0.0010, loss_map_cls: 0.1518, loss_map_pts: 0.6879, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.4292, d0.loss_plan_l1_fix_dist: 0.4253, d1.loss_plan_l1_fix_time: 1.0334, d1.loss_plan_l1_fix_dist: 0.1985, d2.loss_plan_l1_fix_time: 1.0212, d2.loss_plan_l1_fix_dist: 0.2002, d3.loss_plan_l1_fix_time: 1.0258, d3.loss_plan_l1_fix_dist: 0.2101, d4.loss_plan_l1_fix_time: 1.0311, d4.loss_plan_l1_fix_dist: 0.2216, d5.loss_plan_l1_fix_time: 1.0371, d5.loss_plan_l1_fix_dist: 0.2347, d6.loss_plan_l1_fix_time: 1.0436, d6.loss_plan_l1_fix_dist: 0.2491, d0.loss_cls_all: 0.1985, d0.loss_bbox_all: 0.3924, d0.loss_cls: 0.1985, d0.loss_bbox: 0.3924, d1.loss_cls: 0.1896, d1.loss_bbox: 0.3639, d2.loss_cls: 0.1748, d2.loss_bbox: 0.3499, d3.loss_cls: 0.1681, d3.loss_bbox: 0.3426, d4.loss_cls: 0.1626, d4.loss_bbox: 0.3418, d5.loss_cls: 0.1610, d5.loss_bbox: 0.3413, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8350, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6900, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6359, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6307, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6265, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6264, d0.loss_map_cls_all: 0.2286, d0.loss_map_pts_all: 1.4912, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2286, d0.loss_map_pts: 1.4912, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.1925, d1.loss_map_pts: 0.9879, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.1711, d2.loss_map_pts: 0.7861, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1618, d3.loss_map_pts: 0.7138, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1569, d4.loss_map_pts: 0.6910, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1534, d5.loss_map_pts: 0.6873, d5.loss_map_dir: 0.0112, loss: 28.3984, grad_norm: 191.9594 +2026-02-26 13:24:00,308 - DriveTransformer - INFO - Epoch [7][500/39528] lr: 8.550e-05, eta: 6 days, 8:04:56, time: 0.679, data_time: 0.031, memory: 19865, loss_cls: 0.1766, loss_bbox: 0.3669, loss_traj: 0.7793, loss_traj_cls: 0.0010, loss_map_cls: 0.1660, loss_map_pts: 0.6652, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 3.1668, d0.loss_plan_l1_fix_dist: 0.3692, d1.loss_plan_l1_fix_time: 1.2056, d1.loss_plan_l1_fix_dist: 0.1642, d2.loss_plan_l1_fix_time: 1.1909, d2.loss_plan_l1_fix_dist: 0.1673, d3.loss_plan_l1_fix_time: 1.1899, d3.loss_plan_l1_fix_dist: 0.1770, d4.loss_plan_l1_fix_time: 1.1926, d4.loss_plan_l1_fix_dist: 0.1886, d5.loss_plan_l1_fix_time: 1.1958, d5.loss_plan_l1_fix_dist: 0.2009, d6.loss_plan_l1_fix_time: 1.1994, d6.loss_plan_l1_fix_dist: 0.2137, d0.loss_cls_all: 0.2153, d0.loss_bbox_all: 0.4302, d0.loss_cls: 0.2153, d0.loss_bbox: 0.4302, d1.loss_cls: 0.2074, d1.loss_bbox: 0.3929, d2.loss_cls: 0.1938, d2.loss_bbox: 0.3758, d3.loss_cls: 0.1856, d3.loss_bbox: 0.3688, d4.loss_cls: 0.1789, d4.loss_bbox: 0.3688, d5.loss_cls: 0.1780, d5.loss_bbox: 0.3664, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0168, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8361, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7865, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7811, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7759, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7731, d0.loss_map_cls_all: 0.2483, d0.loss_map_pts_all: 1.2565, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.2483, d0.loss_map_pts: 1.2565, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.2156, d1.loss_map_pts: 0.9196, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1958, d2.loss_map_pts: 0.7653, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1812, d3.loss_map_pts: 0.6994, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1721, d4.loss_map_pts: 0.6768, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1667, d5.loss_map_pts: 0.6667, d5.loss_map_dir: 0.0075, loss: 30.7847, grad_norm: 182.3264 +2026-02-26 13:24:39,122 - DriveTransformer - INFO - Epoch [7][550/39528] lr: 8.550e-05, eta: 6 days, 8:11:00, time: 0.776, data_time: 0.033, memory: 19865, loss_cls: 0.1649, loss_bbox: 0.3690, loss_traj: 0.6848, loss_traj_cls: 0.0010, loss_map_cls: 0.1544, loss_map_pts: 0.7949, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.4982, d0.loss_plan_l1_fix_dist: 0.4267, d1.loss_plan_l1_fix_time: 1.1892, d1.loss_plan_l1_fix_dist: 0.1871, d2.loss_plan_l1_fix_time: 1.1751, d2.loss_plan_l1_fix_dist: 0.1904, d3.loss_plan_l1_fix_time: 1.1681, d3.loss_plan_l1_fix_dist: 0.1985, d4.loss_plan_l1_fix_time: 1.1706, d4.loss_plan_l1_fix_dist: 0.2080, d5.loss_plan_l1_fix_time: 1.1740, d5.loss_plan_l1_fix_dist: 0.2196, d6.loss_plan_l1_fix_time: 1.1784, d6.loss_plan_l1_fix_dist: 0.2327, d0.loss_cls_all: 0.2020, d0.loss_bbox_all: 0.4310, d0.loss_cls: 0.2020, d0.loss_bbox: 0.4310, d1.loss_cls: 0.1951, d1.loss_bbox: 0.3998, d2.loss_cls: 0.1805, d2.loss_bbox: 0.3814, d3.loss_cls: 0.1714, d3.loss_bbox: 0.3728, d4.loss_cls: 0.1669, d4.loss_bbox: 0.3698, d5.loss_cls: 0.1652, d5.loss_bbox: 0.3698, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8968, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7239, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6738, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6776, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6762, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6810, d0.loss_map_cls_all: 0.2341, d0.loss_map_pts_all: 1.6139, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2341, d0.loss_map_pts: 1.6139, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2035, d1.loss_map_pts: 1.1359, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.1827, d2.loss_map_pts: 0.9203, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1694, d3.loss_map_pts: 0.8402, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1612, d4.loss_map_pts: 0.8105, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1567, d5.loss_map_pts: 0.7970, d5.loss_map_dir: 0.0111, loss: 30.9193, grad_norm: 183.4456 +2026-02-26 13:25:16,096 - DriveTransformer - INFO - Epoch [7][600/39528] lr: 8.550e-05, eta: 6 days, 7:39:39, time: 0.739, data_time: 0.032, memory: 19865, loss_cls: 0.1609, loss_bbox: 0.3604, loss_traj: 0.7898, loss_traj_cls: 0.0010, loss_map_cls: 0.1596, loss_map_pts: 0.6583, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.8711, d0.loss_plan_l1_fix_dist: 0.4110, d1.loss_plan_l1_fix_time: 1.1065, d1.loss_plan_l1_fix_dist: 0.1867, d2.loss_plan_l1_fix_time: 1.0984, d2.loss_plan_l1_fix_dist: 0.1904, d3.loss_plan_l1_fix_time: 1.0994, d3.loss_plan_l1_fix_dist: 0.1977, d4.loss_plan_l1_fix_time: 1.1031, d4.loss_plan_l1_fix_dist: 0.2086, d5.loss_plan_l1_fix_time: 1.1073, d5.loss_plan_l1_fix_dist: 0.2205, d6.loss_plan_l1_fix_time: 1.1127, d6.loss_plan_l1_fix_dist: 0.2356, d0.loss_cls_all: 0.2020, d0.loss_bbox_all: 0.4147, d0.loss_cls: 0.2020, d0.loss_bbox: 0.4147, d1.loss_cls: 0.1945, d1.loss_bbox: 0.3821, d2.loss_cls: 0.1828, d2.loss_bbox: 0.3668, d3.loss_cls: 0.1688, d3.loss_bbox: 0.3625, d4.loss_cls: 0.1608, d4.loss_bbox: 0.3629, d5.loss_cls: 0.1600, d5.loss_bbox: 0.3617, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9900, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8165, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7652, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7753, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7771, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7807, d0.loss_map_cls_all: 0.2384, d0.loss_map_pts_all: 1.4000, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2384, d0.loss_map_pts: 1.4000, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2020, d1.loss_map_pts: 0.9463, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1818, d2.loss_map_pts: 0.7555, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1713, d3.loss_map_pts: 0.6881, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1656, d4.loss_map_pts: 0.6648, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1616, d5.loss_map_pts: 0.6577, d5.loss_map_dir: 0.0105, loss: 30.0805, grad_norm: 183.4591 +2026-02-26 13:25:53,540 - DriveTransformer - INFO - Epoch [7][650/39528] lr: 8.550e-05, eta: 6 days, 7:21:30, time: 0.749, data_time: 0.036, memory: 19865, loss_cls: 0.1715, loss_bbox: 0.3758, loss_traj: 0.6941, loss_traj_cls: 0.0011, loss_map_cls: 0.1593, loss_map_pts: 0.7106, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.8005, d0.loss_plan_l1_fix_dist: 0.3746, d1.loss_plan_l1_fix_time: 1.1152, d1.loss_plan_l1_fix_dist: 0.2058, d2.loss_plan_l1_fix_time: 1.1073, d2.loss_plan_l1_fix_dist: 0.2003, d3.loss_plan_l1_fix_time: 1.1062, d3.loss_plan_l1_fix_dist: 0.2064, d4.loss_plan_l1_fix_time: 1.1102, d4.loss_plan_l1_fix_dist: 0.2154, d5.loss_plan_l1_fix_time: 1.1147, d5.loss_plan_l1_fix_dist: 0.2254, d6.loss_plan_l1_fix_time: 1.1201, d6.loss_plan_l1_fix_dist: 0.2360, d0.loss_cls_all: 0.2084, d0.loss_bbox_all: 0.4365, d0.loss_cls: 0.2084, d0.loss_bbox: 0.4365, d1.loss_cls: 0.2020, d1.loss_bbox: 0.3983, d2.loss_cls: 0.1882, d2.loss_bbox: 0.3813, d3.loss_cls: 0.1771, d3.loss_bbox: 0.3763, d4.loss_cls: 0.1731, d4.loss_bbox: 0.3755, d5.loss_cls: 0.1719, d5.loss_bbox: 0.3755, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9684, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7502, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6852, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6925, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6805, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6829, d0.loss_map_cls_all: 0.2362, d0.loss_map_pts_all: 1.3807, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2362, d0.loss_map_pts: 1.3807, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2116, d1.loss_map_pts: 0.9730, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1856, d2.loss_map_pts: 0.8115, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1757, d3.loss_map_pts: 0.7471, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1680, d4.loss_map_pts: 0.7218, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1613, d5.loss_map_pts: 0.7115, d5.loss_map_dir: 0.0095, loss: 30.0003, grad_norm: 181.8209 +2026-02-26 13:26:30,647 - DriveTransformer - INFO - Epoch [7][700/39528] lr: 8.550e-05, eta: 6 days, 7:00:10, time: 0.742, data_time: 0.030, memory: 19865, loss_cls: 0.1715, loss_bbox: 0.3810, loss_traj: 0.8147, loss_traj_cls: 0.0011, loss_map_cls: 0.1364, loss_map_pts: 0.6120, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.4365, d0.loss_plan_l1_fix_dist: 0.4542, d1.loss_plan_l1_fix_time: 1.0783, d1.loss_plan_l1_fix_dist: 0.1880, d2.loss_plan_l1_fix_time: 1.0686, d2.loss_plan_l1_fix_dist: 0.1878, d3.loss_plan_l1_fix_time: 1.0702, d3.loss_plan_l1_fix_dist: 0.1983, d4.loss_plan_l1_fix_time: 1.0748, d4.loss_plan_l1_fix_dist: 0.2133, d5.loss_plan_l1_fix_time: 1.0793, d5.loss_plan_l1_fix_dist: 0.2321, d6.loss_plan_l1_fix_time: 1.0840, d6.loss_plan_l1_fix_dist: 0.2519, d0.loss_cls_all: 0.2056, d0.loss_bbox_all: 0.4304, d0.loss_cls: 0.2056, d0.loss_bbox: 0.4304, d1.loss_cls: 0.2009, d1.loss_bbox: 0.4000, d2.loss_cls: 0.1892, d2.loss_bbox: 0.3856, d3.loss_cls: 0.1799, d3.loss_bbox: 0.3797, d4.loss_cls: 0.1747, d4.loss_bbox: 0.3788, d5.loss_cls: 0.1724, d5.loss_bbox: 0.3805, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1088, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.9014, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8371, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8161, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8116, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.8088, d0.loss_map_cls_all: 0.1950, d0.loss_map_pts_all: 1.2376, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.1950, d0.loss_map_pts: 1.2376, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1744, d1.loss_map_pts: 0.8613, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1569, d2.loss_map_pts: 0.7095, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1492, d3.loss_map_pts: 0.6443, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1426, d4.loss_map_pts: 0.6200, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1372, d5.loss_map_pts: 0.6142, d5.loss_map_dir: 0.0084, loss: 29.2794, grad_norm: 185.4367 +2026-02-26 13:27:09,151 - DriveTransformer - INFO - Epoch [7][750/39528] lr: 8.550e-05, eta: 6 days, 7:03:43, time: 0.770, data_time: 0.037, memory: 19865, loss_cls: 0.1460, loss_bbox: 0.3344, loss_traj: 0.5343, loss_traj_cls: 0.0011, loss_map_cls: 0.1465, loss_map_pts: 0.6612, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.3031, d0.loss_plan_l1_fix_dist: 0.3969, d1.loss_plan_l1_fix_time: 0.9815, d1.loss_plan_l1_fix_dist: 0.1567, d2.loss_plan_l1_fix_time: 0.9689, d2.loss_plan_l1_fix_dist: 0.1616, d3.loss_plan_l1_fix_time: 0.9680, d3.loss_plan_l1_fix_dist: 0.1748, d4.loss_plan_l1_fix_time: 0.9731, d4.loss_plan_l1_fix_dist: 0.1875, d5.loss_plan_l1_fix_time: 0.9787, d5.loss_plan_l1_fix_dist: 0.2010, d6.loss_plan_l1_fix_time: 0.9846, d6.loss_plan_l1_fix_dist: 0.2141, d0.loss_cls_all: 0.1728, d0.loss_bbox_all: 0.3867, d0.loss_cls: 0.1728, d0.loss_bbox: 0.3867, d1.loss_cls: 0.1688, d1.loss_bbox: 0.3566, d2.loss_cls: 0.1592, d2.loss_bbox: 0.3428, d3.loss_cls: 0.1523, d3.loss_bbox: 0.3374, d4.loss_cls: 0.1480, d4.loss_bbox: 0.3359, d5.loss_cls: 0.1469, d5.loss_bbox: 0.3361, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6793, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5581, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5369, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5360, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5381, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5382, d0.loss_map_cls_all: 0.2080, d0.loss_map_pts_all: 1.3798, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2080, d0.loss_map_pts: 1.3798, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1823, d1.loss_map_pts: 0.9517, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1673, d2.loss_map_pts: 0.7672, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1584, d3.loss_map_pts: 0.6987, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1541, d4.loss_map_pts: 0.6707, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1476, d5.loss_map_pts: 0.6639, d5.loss_map_dir: 0.0103, loss: 26.2855, grad_norm: 185.2696 +2026-02-26 13:27:47,697 - DriveTransformer - INFO - Epoch [7][800/39528] lr: 8.550e-05, eta: 6 days, 7:07:20, time: 0.771, data_time: 0.034, memory: 19865, loss_cls: 0.1955, loss_bbox: 0.3897, loss_traj: 0.6169, loss_traj_cls: 0.0011, loss_map_cls: 0.1480, loss_map_pts: 0.7030, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.8477, d0.loss_plan_l1_fix_dist: 0.4750, d1.loss_plan_l1_fix_time: 1.2186, d1.loss_plan_l1_fix_dist: 0.2078, d2.loss_plan_l1_fix_time: 1.2071, d2.loss_plan_l1_fix_dist: 0.2047, d3.loss_plan_l1_fix_time: 1.2053, d3.loss_plan_l1_fix_dist: 0.2117, d4.loss_plan_l1_fix_time: 1.2092, d4.loss_plan_l1_fix_dist: 0.2230, d5.loss_plan_l1_fix_time: 1.2141, d5.loss_plan_l1_fix_dist: 0.2391, d6.loss_plan_l1_fix_time: 1.2192, d6.loss_plan_l1_fix_dist: 0.2587, d0.loss_cls_all: 0.2376, d0.loss_bbox_all: 0.4577, d0.loss_cls: 0.2376, d0.loss_bbox: 0.4577, d1.loss_cls: 0.2249, d1.loss_bbox: 0.4214, d2.loss_cls: 0.2108, d2.loss_bbox: 0.4016, d3.loss_cls: 0.1997, d3.loss_bbox: 0.3945, d4.loss_cls: 0.1959, d4.loss_bbox: 0.3888, d5.loss_cls: 0.1947, d5.loss_bbox: 0.3887, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7650, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6602, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6317, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6238, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6186, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6150, d0.loss_map_cls_all: 0.2167, d0.loss_map_pts_all: 1.4702, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2167, d0.loss_map_pts: 1.4702, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.1841, d1.loss_map_pts: 0.9858, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.1673, d2.loss_map_pts: 0.7992, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.1608, d3.loss_map_pts: 0.7340, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.1534, d4.loss_map_pts: 0.7103, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.1499, d5.loss_map_pts: 0.7047, d5.loss_map_dir: 0.0120, loss: 30.5437, grad_norm: 180.3073 +2026-02-26 13:28:24,464 - DriveTransformer - INFO - Epoch [7][850/39528] lr: 8.550e-05, eta: 6 days, 6:45:43, time: 0.735, data_time: 0.034, memory: 19865, loss_cls: 0.1660, loss_bbox: 0.3554, loss_traj: 0.5312, loss_traj_cls: 0.0011, loss_map_cls: 0.1642, loss_map_pts: 0.6827, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.4284, d0.loss_plan_l1_fix_dist: 0.3640, d1.loss_plan_l1_fix_time: 1.0342, d1.loss_plan_l1_fix_dist: 0.1689, d2.loss_plan_l1_fix_time: 1.0275, d2.loss_plan_l1_fix_dist: 0.1662, d3.loss_plan_l1_fix_time: 1.0302, d3.loss_plan_l1_fix_dist: 0.1751, d4.loss_plan_l1_fix_time: 1.0348, d4.loss_plan_l1_fix_dist: 0.1856, d5.loss_plan_l1_fix_time: 1.0405, d5.loss_plan_l1_fix_dist: 0.1996, d6.loss_plan_l1_fix_time: 1.0462, d6.loss_plan_l1_fix_dist: 0.2145, d0.loss_cls_all: 0.2038, d0.loss_bbox_all: 0.4129, d0.loss_cls: 0.2038, d0.loss_bbox: 0.4129, d1.loss_cls: 0.1953, d1.loss_bbox: 0.3822, d2.loss_cls: 0.1859, d2.loss_bbox: 0.3646, d3.loss_cls: 0.1724, d3.loss_bbox: 0.3587, d4.loss_cls: 0.1683, d4.loss_bbox: 0.3548, d5.loss_cls: 0.1674, d5.loss_bbox: 0.3541, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7078, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5766, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5411, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5317, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5264, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5251, d0.loss_map_cls_all: 0.2319, d0.loss_map_pts_all: 1.4063, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2319, d0.loss_map_pts: 1.4063, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2033, d1.loss_map_pts: 0.9636, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1879, d2.loss_map_pts: 0.7905, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1772, d3.loss_map_pts: 0.7225, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1712, d4.loss_map_pts: 0.6953, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1665, d5.loss_map_pts: 0.6845, d5.loss_map_dir: 0.0096, loss: 27.4844, grad_norm: 176.1752 +2026-02-26 13:29:01,849 - DriveTransformer - INFO - Epoch [7][900/39528] lr: 8.550e-05, eta: 6 days, 6:34:27, time: 0.748, data_time: 0.032, memory: 19865, loss_cls: 0.1604, loss_bbox: 0.3351, loss_traj: 0.5567, loss_traj_cls: 0.0011, loss_map_cls: 0.1461, loss_map_pts: 0.6831, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.4950, d0.loss_plan_l1_fix_dist: 0.4068, d1.loss_plan_l1_fix_time: 1.0974, d1.loss_plan_l1_fix_dist: 0.1712, d2.loss_plan_l1_fix_time: 1.0759, d2.loss_plan_l1_fix_dist: 0.1811, d3.loss_plan_l1_fix_time: 1.0743, d3.loss_plan_l1_fix_dist: 0.1971, d4.loss_plan_l1_fix_time: 1.0778, d4.loss_plan_l1_fix_dist: 0.2112, d5.loss_plan_l1_fix_time: 1.0816, d5.loss_plan_l1_fix_dist: 0.2224, d6.loss_plan_l1_fix_time: 1.0863, d6.loss_plan_l1_fix_dist: 0.2343, d0.loss_cls_all: 0.1935, d0.loss_bbox_all: 0.3942, d0.loss_cls: 0.1935, d0.loss_bbox: 0.3942, d1.loss_cls: 0.1854, d1.loss_bbox: 0.3614, d2.loss_cls: 0.1740, d2.loss_bbox: 0.3439, d3.loss_cls: 0.1656, d3.loss_bbox: 0.3375, d4.loss_cls: 0.1601, d4.loss_bbox: 0.3354, d5.loss_cls: 0.1606, d5.loss_bbox: 0.3340, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7302, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6225, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5789, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5673, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5577, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5547, d0.loss_map_cls_all: 0.2125, d0.loss_map_pts_all: 1.3851, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2125, d0.loss_map_pts: 1.3851, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1842, d1.loss_map_pts: 0.9476, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1685, d2.loss_map_pts: 0.7762, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1601, d3.loss_map_pts: 0.7148, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1524, d4.loss_map_pts: 0.6901, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1481, d5.loss_map_pts: 0.6831, d5.loss_map_dir: 0.0097, loss: 27.7435, grad_norm: 173.7089 +e is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.6.weight - torch.Size([40, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.6.bias - torch.Size([40]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +img_backbone.conv1.weight - torch.Size([64, 3, 7, 7]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv1.weight - torch.Size([64, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.0.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv1.weight - torch.Size([64, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + 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+PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv1.weight - torch.Size([128, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.0.weight - torch.Size([512, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + 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+PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv1.weight - torch.Size([256, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from 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torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn1.weight - torch.Size([256]): +PretrainedInit: load from 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1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv1.weight - torch.Size([512, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.0.weight - torch.Size([2048, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.1.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.1.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv1.weight - torch.Size([512, 2048, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv1.weight - torch.Size([512, 2048, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_neck.lateral_convs.0.conv.weight - torch.Size([512, 2048, 1, 1]): +XavierInit: gain=1, distribution=uniform, bias=0 + +img_neck.lateral_convs.0.conv.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +img_neck.fpn_convs.0.conv.weight - torch.Size([512, 512, 3, 3]): +XavierInit: gain=1, distribution=uniform, bias=0 + +img_neck.fpn_convs.0.conv.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer diff --git a/DriveTransformer/goalpoint_1gpu/20260226_131720.log.json b/DriveTransformer/goalpoint_1gpu/20260226_131720.log.json new file mode 100644 index 0000000000000000000000000000000000000000..3b1c6a41b0ab64b4afdb2949d33dcac1bd48031c --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260226_131720.log.json @@ -0,0 +1,19 @@ +{"mmcv_version": "0.0.1", "config": "point_cloud_range = [-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]\nclass_names = [\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n]\ndataset_type = 'B2D_DriveTransformer_GoalPoint_Dataset'\ndata_root = 'data/bench2drive'\ninput_modality = dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True)\nfile_client_args = dict(backend='disk')\ntrain_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\ntest_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\neval_pipeline = [\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone', 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n]\ndata = dict(\n samples_per_gpu=6,\n workers_per_gpu=8,\n train=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=False,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n sub_seq_lenth=-1,\n use_splited_data=True,\n cache_lenth=7,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n val=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_root='data/bench2drive',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=7,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n test=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=7,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n shuffler_sampler=dict(type='InfiniteGroupEachSampleInBatchSampler'),\n nonshuffler_sampler=dict(type='DistributedSampler'))\nevaluation = dict(\n interval=24,\n pipeline=[\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone',\n 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n ])\ncheckpoint_config = dict(interval=1)\nlog_config = dict(\n interval=50,\n hooks=[dict(type='TextLoggerHook'),\n dict(type='TensorboardLoggerHook')])\ndist_params = dict(backend='nccl')\nlog_level = 'INFO'\nwork_dir = './work_dirs/drivetransformer_goalpoint_1gpu'\nload_from = None\nresume_from = None\nworkflow = [('train', 1)]\nplugin = True\nplugin_dir = 'adzoo/drivetransformer/mmdet3d_plugin/'\nvoxel_size = [0.15, 0.15, 4]\nimg_norm_cfg = dict(\n mean=[123.675, 116.28, 103.53], std=[58.395, 57.12, 57.375], to_rgb=True)\nNameMapping = dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n})\ncollect_keys = [\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', 'ego_pose',\n 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n]\nnum_classes = 9\nmap_classes = [\n 'Broken', 'Solid', 'SolidSolid', 'Center', 'TrafficLight', 'StopSign'\n]\nmap_fixed_ptsnum_per_gt_line = 20\nmap_fixed_ptsnum_per_pred_line = 20\nmap_eval_use_same_gt_sample_num_flag = True\nmap_num_classes = 6\nagent_query_num_vec = 900\nagent_num_topk_sift = 900\nagent_num_propagated = 50\nmap_query_num_vec = 100\nmap_num_topk_sift = 100\nmap_num_propagated = 50\nmemory_len_frame = 10\nnum_mode = 6\nnum_gpus = 1\nbatch_size = 6\nnum_iters_per_epoch = 1041\ndata_aug_conf = dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0])\n_dim_ = 512\nqueue_length = 1\ntotal_epochs = 24\ndropout = 0.1\nmodel = dict(\n type='DriveTransformer',\n use_grid_mask=False,\n pretrained=dict(img='./ckpts/resnet50-19c8e357.pth'),\n img_backbone=dict(\n type='ResNet',\n depth=50,\n num_stages=4,\n out_indices=(3, ),\n frozen_stages=1,\n norm_cfg=dict(type='BN', requires_grad=False),\n norm_eval=True,\n style='pytorch'),\n img_neck=dict(\n type='FPN',\n in_channels=[2048],\n out_channels=512,\n start_level=0,\n add_extra_convs='on_output',\n num_outs=1,\n relu_before_extra_convs=True),\n pts_bbox_head=dict(\n type='DriveTransformerlHead',\n ego_lcf_feat_idx=[0, 1, 2, 3, 4, 5, 6, 7, 8],\n ego_command_dim=128,\n img_stride=32,\n embed_dims=512,\n num_reg_fcs=2,\n num_cls_fcs=2,\n agent_num_propagated=50,\n map_num_propagated=50,\n memory_len_frame=10,\n agent_num_query=900,\n agent_num_query_sifted=900,\n fut_mode=6,\n fut_ego_mode=1,\n fut_ts=6,\n fut_ego_fix_dist=True,\n fut_ts_ego_fix_dist=20,\n fut_ts_ego_fix_time=30,\n num_classes=9,\n code_size=10,\n map_num_query=100,\n map_num_query_sifted=100,\n map_num_classes=6,\n map_num_pts_per_vec=20,\n map_num_pts_per_gt_vec=20,\n map_query_embed_type='instance_pts',\n map_transform_method='minmax',\n map_gt_shift_pts_pattern='v2',\n map_dir_interval=1,\n map_code_size=2,\n map_code_weights=[1.0, 1.0, 1.0, 1.0],\n sync_cls_avg_factor=True,\n with_box_refine=True,\n LID=True,\n with_ego_pos=True,\n position_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n depth_start=1,\n depth_step=0.8,\n depth_num=64,\n agent_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n map_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n transformer=dict(\n type='DriveTransformerWrapper',\n embed_dims=512,\n decoder=dict(\n type='DriveTransformerDecoder',\n num_layers=6,\n fut_mode=6,\n agent_num_query=900,\n map_num_query=100,\n map_num_pts_per_vec=20,\n return_intermediate=True,\n embed_dims=512,\n refine=True,\n transformerlayers=dict(\n type='DriveTransformerDecoderLayer',\n agent_query_num=900,\n map_query_num=100,\n memory_len_frame=10,\n agent_num_propagated=50,\n map_num_propagated=50,\n map_pts_per_vec=20,\n feedforward_channels=2048,\n ffn_dropout=0.1,\n with_cp=False,\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n no_wq=True)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n operation_order=('task_self_attn', 'norm',\n 'temporal_cross_attn', 'norm',\n 'sensor_cross_attn', 'norm', 'ffn',\n 'norm')))),\n bbox_coder=dict(\n type='CustomNMSFreeCoder',\n post_center_range=[-20, -35, -10.0, 20, 35, 10.0],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=100,\n voxel_size=[0.15, 0.15, 4],\n num_classes=9),\n loss_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_bbox=dict(type='L1Loss', loss_weight=0.25),\n loss_traj=dict(type='L1Loss', loss_weight=0.2),\n loss_traj_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.5,\n loss_weight=0.2),\n map_bbox_coder=dict(\n type='MapNMSFreeCoder',\n post_center_range=[-20, -35, -20, -35, 20, 35, 20, 35],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=50,\n voxel_size=[0.15, 0.15, 4],\n num_classes=6),\n loss_map_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_map_pts=dict(type='PtsL1Loss', loss_weight=1.0),\n loss_map_dir=dict(type='PtsDirCosLoss', loss_weight=0.005),\n loss_plan_reg_fix_time=dict(type='L1Loss', loss_weight=3.5),\n loss_plan_reg_fix_dist=dict(type='L1Loss', loss_weight=10.0),\n loss_plan_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=4.0,\n alpha=0.5,\n loss_weight=20.0)),\n train_cfg=dict(\n pts=dict(\n grid_size=[512, 512, 1],\n voxel_size=[0.15, 0.15, 4],\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n out_size_factor=4,\n assigner=dict(\n type='HungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(type='BBox3DL1Cost', weight=0.25),\n iou_cost=dict(type='IoUCost', weight=0.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n map_assigner=dict(\n type='MapHungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(\n type='BBoxL1Cost', weight=0.0, box_format='xywh'),\n iou_cost=dict(type='IoUCost', iou_mode='giou', weight=0.0),\n pts_cost=dict(type='OrderedPtsL1Cost', weight=1.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]))))\ninfo_root = 'data/infos'\nmap_root = 'data/bench2drive/maps'\nmap_file = 'data/infos/b2d_map_infos.pkl'\nann_file_train = 'data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl'\nann_file_val = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\nann_file_test = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\noptimizer = dict(type='AdamW', lr=0.0001, weight_decay=0.01)\noptimizer_config = dict(\n grad_clip=dict(max_norm=35, norm_type=2),\n type='GradientCumulativeFp16OptimizerHook',\n cumulative_iters=32)\nlr_config = dict(\n policy='CosineAnnealing',\n warmup='linear',\n warmup_iters=1000,\n warmup_ratio=0.1,\n min_lr_ratio=0.01)\nrunner = dict(type='EpochBasedRunner', max_epochs=24)\nfp16 = dict(loss_scale=512.0)\nfind_unused_parameters = True\ncustom_hooks = [dict(type='CustomSetEpochInfoHook')]\ncumulative_iters = 32\ngpu_ids = range(0, 1)\n", "CLASSES": ["car", "van", "truck", "bicycle", "traffic_sign", "traffic_cone", "traffic_light", "pedestrian", "others"], "PALETTE": null, "env_info": "MMCV: 0.0.1", "seed": 0, "exp_name": "drivetransformer_goalpoint_1gpu.py", "fp16": {"loss_scaler": {"scale": 512.0, "growth_factor": 2.0, "backoff_factor": 0.5, 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"d4.loss_map_pts": 0.69528, "d4.loss_map_dir": 0.0095, "d5.loss_map_cls": 0.1665, "d5.loss_map_pts": 0.68454, "d5.loss_map_dir": 0.0096, "loss": 27.48437, "time": 0.73539, "grad_norm": 176.17518} +{"mode": "train", "epoch": 7, "iter": 900, "lr": 9e-05, "memory": 19865, "data_time": 0.03246, "loss_cls": 0.16039, "loss_bbox": 0.3351, "loss_traj": 0.5567, "loss_traj_cls": 0.00108, "loss_map_cls": 0.14605, "loss_map_pts": 0.68309, "loss_map_dir": 0.00984, "d0.loss_plan_l1_fix_time": 2.49499, "d0.loss_plan_l1_fix_dist": 0.40676, "d1.loss_plan_l1_fix_time": 1.09737, "d1.loss_plan_l1_fix_dist": 0.17121, "d2.loss_plan_l1_fix_time": 1.07587, "d2.loss_plan_l1_fix_dist": 0.18112, "d3.loss_plan_l1_fix_time": 1.0743, "d3.loss_plan_l1_fix_dist": 0.1971, "d4.loss_plan_l1_fix_time": 1.07783, "d4.loss_plan_l1_fix_dist": 0.2112, "d5.loss_plan_l1_fix_time": 1.08162, "d5.loss_plan_l1_fix_dist": 0.22237, "d6.loss_plan_l1_fix_time": 1.08632, "d6.loss_plan_l1_fix_dist": 0.2343, "d0.loss_cls_all": 0.19347, "d0.loss_bbox_all": 0.39423, "d0.loss_cls": 0.19347, "d0.loss_bbox": 0.39423, "d1.loss_cls": 0.18535, "d1.loss_bbox": 0.36137, "d2.loss_cls": 0.17396, "d2.loss_bbox": 0.34391, "d3.loss_cls": 0.16563, "d3.loss_bbox": 0.33745, "d4.loss_cls": 0.16011, "d4.loss_bbox": 0.33539, "d5.loss_cls": 0.16064, "d5.loss_bbox": 0.33396, "d0.loss_traj_cls": 9e-05, "d0.loss_traj": 0.7302, "d1.loss_traj_cls": 0.00116, "d1.loss_traj": 0.62254, "d2.loss_traj_cls": 0.00177, "d2.loss_traj": 0.57892, "d3.loss_traj_cls": 0.0012, "d3.loss_traj": 0.5673, "d4.loss_traj_cls": 0.00122, "d4.loss_traj": 0.55767, "d5.loss_traj_cls": 0.00141, "d5.loss_traj": 0.55469, "d0.loss_map_cls_all": 0.21249, "d0.loss_map_pts_all": 1.38512, "d0.loss_map_dir_all": 0.00968, "d0.loss_map_cls": 0.21249, "d0.loss_map_pts": 1.38512, "d0.loss_map_dir": 0.00968, "d1.loss_map_cls": 0.18423, "d1.loss_map_pts": 0.94759, "d1.loss_map_dir": 0.00935, "d2.loss_map_cls": 0.16847, "d2.loss_map_pts": 0.77617, "d2.loss_map_dir": 0.00946, "d3.loss_map_cls": 0.16015, "d3.loss_map_pts": 0.71481, "d3.loss_map_dir": 0.0096, "d4.loss_map_cls": 0.1524, "d4.loss_map_pts": 0.6901, "d4.loss_map_dir": 0.00972, "d5.loss_map_cls": 0.14815, "d5.loss_map_pts": 0.68309, "d5.loss_map_dir": 0.00972, "loss": 27.74352, "time": 0.74757, "grad_norm": 173.70888} diff --git a/DriveTransformer/goalpoint_1gpu/20260227_103553.log b/DriveTransformer/goalpoint_1gpu/20260227_103553.log new file mode 100644 index 0000000000000000000000000000000000000000..c7a5da0197b421d42ca1d51f5bd7e1736f20530c --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260227_103553.log @@ -0,0 +1,6343 @@ +2026-02-27 10:36:05,803 - mmdet - INFO - initialize ResNet with init_cfg {'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} +2026-02-27 10:36:05,962 - mmdet - INFO - initialize FPN with init_cfg {'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} +Name of parameter - Initialization information + +pts_bbox_head.code_weights - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_code_weights - torch.Size([4]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.position_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.pc_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_query.weight - torch.Size([900, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_reference_points.weight - torch.Size([900, 3]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.weight - torch.Size([512, 9]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.weight - torch.Size([512, 768]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.mode_embedding.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_query.weight - torch.Size([100, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_reference_points.weight - torch.Size([100, 2]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.weight - torch.Size([512, 6]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.weight - torch.Size([512, 141]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.weight - torch.Size([512, 1920]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.weight - torch.Size([512, 640]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.featurized_pe.reduce.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.spatial_alignment.reduce.0.weight - torch.Size([512, 8]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.time_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.weight - torch.Size([512, 192]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_pose_memory.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]2026-02-27 10:36:05,982 - DriveTransformer - INFO - Model: +DriveTransformer( + (pts_bbox_head): DriveTransformerlHead( + (loss_cls): FocalLoss() + (loss_bbox): L1Loss() + (loss_traj): L1Loss() + (loss_traj_cls): FocalLoss() + (loss_map_cls): FocalLoss() + (loss_map_pts): PtsL1Loss() + (loss_map_dir): PtsDirCosLoss() + (loss_plan_reg_fix_dist): L1Loss() + (loss_plan_reg_fix_time): L1Loss() + (loss_plan_cls): FocalLoss() + (agent_query): Embedding(900, 512) + (agent_reference_points): Embedding(900, 3) + (agent_cls_embedding): Sequential( + (0): Linear(in_features=9, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (agent_ref_embedding): Sequential( + (0): Linear(in_features=768, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (mode_embedding): Embedding(6, 512) + (map_query): Embedding(100, 512) + (map_reference_points): Embedding(100, 2) + (map_cls_embedding): Sequential( + (0): Linear(in_features=6, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (map_ref_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_lcf_encoder): Sequential( + (0): Linear(in_features=141, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_time_embedding): Sequential( + (0): Linear(in_features=1920, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_dist_embedding): Sequential( + (0): Linear(in_features=640, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (featurized_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (spatial_alignment): MLN( + (reduce): Sequential( + (0): Linear(in_features=8, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (time_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (img_position_encoder): Sequential( + (0): Linear(in_features=192, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_pose_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (ego_pose_memory): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (agent_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (map_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (transformer): DriveTransformerWrapper( + (decoder): DriveTransformerDecoder( + (layers): ModuleList( + (0-5): 6 x DriveTransformerDecoderLayer( + (task_self_attentions): ModuleList( + (0): AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (temporal_cross_attention_layers): ModuleList( + (0-2): 3 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (sensor_cross_attentions): ModuleList( + (0): AttentionLayer( + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (cross_w_q): ModuleList( + (0-2): 3 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + ) + (ffns): ModuleList( + (0): ModuleList( + (0-2): 3 x SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + ) + ) + (cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=9, bias=False) + ) + ) + (reg_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=10, bias=True) + ) + ) + (traj_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=12, bias=True) + ) + ) + (traj_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (6): Linear(in_features=512, out_features=1, bias=False) + ) + ) + (map_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=6, bias=False) + ) + ) + (map_reg_branches): ModuleList( + (0-5): 6 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=2, bias=True) + ) + (6): Linear(in_features=512, out_features=40, bias=True) + ) + (ego_traj_branches_fix_dist): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=20, bias=True) + ) + ) + (ego_traj_branches_fix_time): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=60, bias=True) + ) + ) + ) + (img_backbone): ResNet( + (conv1): Conv2d(3, 64, kernel_size=(7, 7), stride=(2, 2), padding=(3, 3), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (maxpool): MaxPool2d(kernel_size=3, stride=2, padding=1, dilation=1, ceil_mode=False) + (layer1): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(64, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer2): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(256, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(256, 512, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer3): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(512, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(512, 1024, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (4): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (5): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer4): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(1024, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(1024, 2048, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + ) + init_cfg={'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} + (img_neck): FPN( + (lateral_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1)) + ) + ) + (fpn_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) + ) + ) + ) + init_cfg={'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} + (grid_mask): GridMask() +) +2026-02-27 10:36:06,175 - DriveTransformer - INFO - load checkpoint from path: ./work_dirs/drivetransformer_goalpoint_1gpu/epoch_6.pth +2026-02-27 10:36:08,020 - DriveTransformer - INFO - resumed epoch 6, iter 237168 +2026-02-27 10:36:08,021 - DriveTransformer - INFO - Start running, host: humble@ysh-4090, work_dir: /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu +2026-02-27 10:36:08,022 - DriveTransformer - INFO - Hooks will be executed in the following order: +before_run: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_epoch: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_iter: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook + -------------------- +after_train_iter: +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +after_train_epoch: +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_val_epoch: +(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 + -------------------- +2026-02-27 10:36:08,022 - DriveTransformer - INFO - workflow: [('train', 1)], max: 24 epochs +2026-02-27 10:36:08,024 - DriveTransformer - INFO - Checkpoints will be saved to /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu by HardDiskBackend. +2026-02-27 10:36:18,129 - DriveTransformer - WARNING - Resume iter number is not divisible by cumulative_iters in GradientCumulativeOptimizerHook, which means the gradient of some iters is lost and the result may be influenced slightly. +2026-02-27 10:36:18,130 - DriveTransformer - WARNING - GradientCumulativeOptimizerHook may slightly decrease performance if the model has BatchNorm layers. +2026-02-27 10:36:56,108 - DriveTransformer - INFO - Epoch [7][50/39528] lr: 8.550e-05, eta: 7 days, 21:37:52, time: 0.960, data_time: 0.192, memory: 19865, loss_cls: 0.1677, loss_bbox: 0.3656, loss_traj: 0.6574, loss_traj_cls: 0.0009, loss_map_cls: 0.1842, loss_map_pts: 0.7903, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.4778, d0.loss_plan_l1_fix_dist: 0.3596, d1.loss_plan_l1_fix_time: 0.9957, d1.loss_plan_l1_fix_dist: 0.1739, d2.loss_plan_l1_fix_time: 0.9807, d2.loss_plan_l1_fix_dist: 0.1825, d3.loss_plan_l1_fix_time: 0.9838, d3.loss_plan_l1_fix_dist: 0.1961, d4.loss_plan_l1_fix_time: 0.9890, d4.loss_plan_l1_fix_dist: 0.2121, d5.loss_plan_l1_fix_time: 0.9947, d5.loss_plan_l1_fix_dist: 0.2277, d6.loss_plan_l1_fix_time: 1.0012, d6.loss_plan_l1_fix_dist: 0.2449, d0.loss_cls_all: 0.2065, d0.loss_bbox_all: 0.4148, d0.loss_cls: 0.2065, d0.loss_bbox: 0.4148, d1.loss_cls: 0.1968, d1.loss_bbox: 0.3816, d2.loss_cls: 0.1842, d2.loss_bbox: 0.3649, d3.loss_cls: 0.1721, d3.loss_bbox: 0.3618, d4.loss_cls: 0.1675, d4.loss_bbox: 0.3613, d5.loss_cls: 0.1666, d5.loss_bbox: 0.3635, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7644, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6681, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6567, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6567, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6553, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6559, d0.loss_map_cls_all: 0.2617, d0.loss_map_pts_all: 1.4862, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2617, d0.loss_map_pts: 1.4862, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2315, d1.loss_map_pts: 1.0572, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.2102, d2.loss_map_pts: 0.8934, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1947, d3.loss_map_pts: 0.8313, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1896, d4.loss_map_pts: 0.8051, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1862, d5.loss_map_pts: 0.7909, d5.loss_map_dir: 0.0103, loss: 29.1766, grad_norm: 121.8004 +2026-02-27 10:37:31,596 - DriveTransformer - INFO - Epoch [7][100/39528] lr: 8.550e-05, eta: 6 days, 20:56:12, time: 0.710, data_time: 0.032, memory: 19865, loss_cls: 0.1655, loss_bbox: 0.3653, loss_traj: 0.5965, loss_traj_cls: 0.0010, loss_map_cls: 0.1801, loss_map_pts: 0.6993, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.2582, d0.loss_plan_l1_fix_dist: 0.4238, d1.loss_plan_l1_fix_time: 1.1287, d1.loss_plan_l1_fix_dist: 0.1579, d2.loss_plan_l1_fix_time: 1.1198, d2.loss_plan_l1_fix_dist: 0.1660, d3.loss_plan_l1_fix_time: 1.1208, d3.loss_plan_l1_fix_dist: 0.1762, d4.loss_plan_l1_fix_time: 1.1248, d4.loss_plan_l1_fix_dist: 0.1879, d5.loss_plan_l1_fix_time: 1.1293, d5.loss_plan_l1_fix_dist: 0.2001, d6.loss_plan_l1_fix_time: 1.1341, d6.loss_plan_l1_fix_dist: 0.2118, d0.loss_cls_all: 0.1869, d0.loss_bbox_all: 0.4121, d0.loss_cls: 0.1869, d0.loss_bbox: 0.4121, d1.loss_cls: 0.1895, d1.loss_bbox: 0.3810, d2.loss_cls: 0.1778, d2.loss_bbox: 0.3644, d3.loss_cls: 0.1717, d3.loss_bbox: 0.3622, d4.loss_cls: 0.1655, d4.loss_bbox: 0.3649, d5.loss_cls: 0.1637, d5.loss_bbox: 0.3669, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7499, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6188, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5948, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5893, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5929, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5915, d0.loss_map_cls_all: 0.2503, d0.loss_map_pts_all: 1.3631, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2503, d0.loss_map_pts: 1.3631, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2221, d1.loss_map_pts: 0.9564, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.2006, d2.loss_map_pts: 0.7956, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1895, d3.loss_map_pts: 0.7273, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1843, d4.loss_map_pts: 0.7044, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1814, d5.loss_map_pts: 0.7011, d5.loss_map_dir: 0.0090, loss: 28.3535, grad_norm: 128.6050 +2026-02-27 10:38:09,260 - DriveTransformer - INFO - Epoch [7][150/39528] lr: 8.550e-05, eta: 6 days, 15:33:49, time: 0.753, data_time: 0.031, memory: 19865, loss_cls: 0.1909, loss_bbox: 0.3985, loss_traj: 0.6920, loss_traj_cls: 0.0009, loss_map_cls: 0.1684, loss_map_pts: 0.8312, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.8035, d0.loss_plan_l1_fix_dist: 0.3573, d1.loss_plan_l1_fix_time: 1.3061, d1.loss_plan_l1_fix_dist: 0.1977, d2.loss_plan_l1_fix_time: 1.2892, d2.loss_plan_l1_fix_dist: 0.1990, d3.loss_plan_l1_fix_time: 1.2882, d3.loss_plan_l1_fix_dist: 0.2072, d4.loss_plan_l1_fix_time: 1.2919, d4.loss_plan_l1_fix_dist: 0.2161, d5.loss_plan_l1_fix_time: 1.2967, d5.loss_plan_l1_fix_dist: 0.2250, d6.loss_plan_l1_fix_time: 1.3012, d6.loss_plan_l1_fix_dist: 0.2359, d0.loss_cls_all: 0.2229, d0.loss_bbox_all: 0.4624, d0.loss_cls: 0.2229, d0.loss_bbox: 0.4624, d1.loss_cls: 0.2158, d1.loss_bbox: 0.4248, d2.loss_cls: 0.2038, d2.loss_bbox: 0.4071, d3.loss_cls: 0.1932, d3.loss_bbox: 0.4014, d4.loss_cls: 0.1921, d4.loss_bbox: 0.3980, d5.loss_cls: 0.1907, d5.loss_bbox: 0.3978, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9230, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7320, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6986, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6869, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6855, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6910, d0.loss_map_cls_all: 0.2433, d0.loss_map_pts_all: 1.6659, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2433, d0.loss_map_pts: 1.6659, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2125, d1.loss_map_pts: 1.1445, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.1908, d2.loss_map_pts: 0.9476, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.1806, d3.loss_map_pts: 0.8693, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.1727, d4.loss_map_pts: 0.8394, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.1708, d5.loss_map_pts: 0.8321, d5.loss_map_dir: 0.0123, loss: 32.7879, grad_norm: 145.1573 +2026-02-27 10:38:46,399 - DriveTransformer - INFO - Epoch [7][200/39528] lr: 8.550e-05, eta: 6 days, 12:21:20, time: 0.743, data_time: 0.034, memory: 19865, loss_cls: 0.1440, loss_bbox: 0.3438, loss_traj: 0.5116, loss_traj_cls: 0.0010, loss_map_cls: 0.1366, loss_map_pts: 0.6250, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.2607, d0.loss_plan_l1_fix_dist: 0.4599, d1.loss_plan_l1_fix_time: 0.9598, d1.loss_plan_l1_fix_dist: 0.1736, d2.loss_plan_l1_fix_time: 0.9440, d2.loss_plan_l1_fix_dist: 0.1780, d3.loss_plan_l1_fix_time: 0.9397, d3.loss_plan_l1_fix_dist: 0.1907, d4.loss_plan_l1_fix_time: 0.9463, d4.loss_plan_l1_fix_dist: 0.2056, d5.loss_plan_l1_fix_time: 0.9539, d5.loss_plan_l1_fix_dist: 0.2218, d6.loss_plan_l1_fix_time: 0.9622, d6.loss_plan_l1_fix_dist: 0.2395, d0.loss_cls_all: 0.1800, d0.loss_bbox_all: 0.3800, d0.loss_cls: 0.1800, d0.loss_bbox: 0.3800, d1.loss_cls: 0.1690, d1.loss_bbox: 0.3514, d2.loss_cls: 0.1546, d2.loss_bbox: 0.3401, d3.loss_cls: 0.1478, d3.loss_bbox: 0.3366, d4.loss_cls: 0.1442, d4.loss_bbox: 0.3371, d5.loss_cls: 0.1412, d5.loss_bbox: 0.3435, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6389, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5308, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5017, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.4957, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5021, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4997, d0.loss_map_cls_all: 0.2067, d0.loss_map_pts_all: 1.4129, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2067, d0.loss_map_pts: 1.4129, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.1767, d1.loss_map_pts: 0.9052, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1564, d2.loss_map_pts: 0.7083, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1482, d3.loss_map_pts: 0.6479, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1401, d4.loss_map_pts: 0.6268, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1368, d5.loss_map_pts: 0.6224, d5.loss_map_dir: 0.0107, loss: 25.7501, grad_norm: 148.1470 +2026-02-27 10:39:23,645 - DriveTransformer - INFO - Epoch [7][250/39528] lr: 8.550e-05, eta: 6 days, 10:30:32, time: 0.745, data_time: 0.036, memory: 19865, loss_cls: 0.1582, loss_bbox: 0.3545, loss_traj: 0.5768, loss_traj_cls: 0.0011, loss_map_cls: 0.1497, loss_map_pts: 0.7022, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.3561, d0.loss_plan_l1_fix_dist: 0.4024, d1.loss_plan_l1_fix_time: 0.9219, d1.loss_plan_l1_fix_dist: 0.2017, d2.loss_plan_l1_fix_time: 0.9170, d2.loss_plan_l1_fix_dist: 0.1988, d3.loss_plan_l1_fix_time: 0.9217, d3.loss_plan_l1_fix_dist: 0.2066, d4.loss_plan_l1_fix_time: 0.9265, d4.loss_plan_l1_fix_dist: 0.2180, d5.loss_plan_l1_fix_time: 0.9313, d5.loss_plan_l1_fix_dist: 0.2315, d6.loss_plan_l1_fix_time: 0.9367, d6.loss_plan_l1_fix_dist: 0.2448, d0.loss_cls_all: 0.1991, d0.loss_bbox_all: 0.4048, d0.loss_cls: 0.1991, d0.loss_bbox: 0.4048, d1.loss_cls: 0.1858, d1.loss_bbox: 0.3703, d2.loss_cls: 0.1724, d2.loss_bbox: 0.3567, d3.loss_cls: 0.1608, d3.loss_bbox: 0.3549, d4.loss_cls: 0.1584, d4.loss_bbox: 0.3523, d5.loss_cls: 0.1577, d5.loss_bbox: 0.3533, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7439, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6134, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.5769, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5625, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5732, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5711, d0.loss_map_cls_all: 0.2110, d0.loss_map_pts_all: 1.3719, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2110, d0.loss_map_pts: 1.3719, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1926, d1.loss_map_pts: 0.9564, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1720, d2.loss_map_pts: 0.7893, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1639, d3.loss_map_pts: 0.7329, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1558, d4.loss_map_pts: 0.7138, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1516, d5.loss_map_pts: 0.7017, d5.loss_map_dir: 0.0103, loss: 27.0099, grad_norm: 148.7265 +2026-02-27 10:39:59,445 - DriveTransformer - INFO - Epoch [7][300/39528] lr: 8.550e-05, eta: 6 days, 8:19:20, time: 0.716, data_time: 0.035, memory: 19865, loss_cls: 0.1784, loss_bbox: 0.3946, loss_traj: 0.8132, loss_traj_cls: 0.0010, loss_map_cls: 0.1811, loss_map_pts: 0.7920, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.5842, d0.loss_plan_l1_fix_dist: 0.4306, d1.loss_plan_l1_fix_time: 1.1801, d1.loss_plan_l1_fix_dist: 0.2006, d2.loss_plan_l1_fix_time: 1.1582, d2.loss_plan_l1_fix_dist: 0.1989, d3.loss_plan_l1_fix_time: 1.1576, d3.loss_plan_l1_fix_dist: 0.2078, d4.loss_plan_l1_fix_time: 1.1621, d4.loss_plan_l1_fix_dist: 0.2199, d5.loss_plan_l1_fix_time: 1.1670, d5.loss_plan_l1_fix_dist: 0.2347, d6.loss_plan_l1_fix_time: 1.1717, d6.loss_plan_l1_fix_dist: 0.2537, d0.loss_cls_all: 0.2160, d0.loss_bbox_all: 0.4601, d0.loss_cls: 0.2160, d0.loss_bbox: 0.4601, d1.loss_cls: 0.2081, d1.loss_bbox: 0.4234, d2.loss_cls: 0.1959, d2.loss_bbox: 0.4058, d3.loss_cls: 0.1834, d3.loss_bbox: 0.3983, d4.loss_cls: 0.1800, d4.loss_bbox: 0.3955, d5.loss_cls: 0.1772, d5.loss_bbox: 0.3963, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1023, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8996, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8273, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8088, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.8134, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.8080, d0.loss_map_cls_all: 0.2571, d0.loss_map_pts_all: 1.5052, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2571, d0.loss_map_pts: 1.5052, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2264, d1.loss_map_pts: 1.0826, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.2040, d2.loss_map_pts: 0.8932, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1955, d3.loss_map_pts: 0.8183, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1876, d4.loss_map_pts: 0.7962, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1825, d5.loss_map_pts: 0.7915, d5.loss_map_dir: 0.0099, loss: 32.2479, grad_norm: 144.8468 +2026-02-27 10:40:34,653 - DriveTransformer - INFO - Epoch [7][350/39528] lr: 8.550e-05, eta: 6 days, 6:25:27, time: 0.704, data_time: 0.032, memory: 19865, loss_cls: 0.1575, loss_bbox: 0.3691, loss_traj: 0.7215, loss_traj_cls: 0.0010, loss_map_cls: 0.1307, loss_map_pts: 0.6287, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.5957, d0.loss_plan_l1_fix_dist: 0.4470, d1.loss_plan_l1_fix_time: 1.0612, d1.loss_plan_l1_fix_dist: 0.1844, d2.loss_plan_l1_fix_time: 1.0397, d2.loss_plan_l1_fix_dist: 0.1852, d3.loss_plan_l1_fix_time: 1.0413, d3.loss_plan_l1_fix_dist: 0.1990, d4.loss_plan_l1_fix_time: 1.0461, d4.loss_plan_l1_fix_dist: 0.2148, d5.loss_plan_l1_fix_time: 1.0513, d5.loss_plan_l1_fix_dist: 0.2305, d6.loss_plan_l1_fix_time: 1.0570, d6.loss_plan_l1_fix_dist: 0.2486, d0.loss_cls_all: 0.1963, d0.loss_bbox_all: 0.4255, d0.loss_cls: 0.1963, d0.loss_bbox: 0.4255, d1.loss_cls: 0.1856, d1.loss_bbox: 0.3922, d2.loss_cls: 0.1759, d2.loss_bbox: 0.3716, d3.loss_cls: 0.1638, d3.loss_bbox: 0.3667, d4.loss_cls: 0.1590, d4.loss_bbox: 0.3656, d5.loss_cls: 0.1578, d5.loss_bbox: 0.3687, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9068, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7631, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7173, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7081, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7139, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7127, d0.loss_map_cls_all: 0.1953, d0.loss_map_pts_all: 1.2590, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1953, d0.loss_map_pts: 1.2590, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1716, d1.loss_map_pts: 0.8906, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1525, d2.loss_map_pts: 0.7304, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1432, d3.loss_map_pts: 0.6629, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1365, d4.loss_map_pts: 0.6371, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1319, d5.loss_map_pts: 0.6297, d5.loss_map_dir: 0.0079, loss: 28.3444, grad_norm: 138.3993 +2026-02-27 10:41:12,877 - DriveTransformer - INFO - Epoch [7][400/39528] lr: 8.550e-05, eta: 6 days, 6:31:21, time: 0.766, data_time: 0.034, memory: 19865, loss_cls: 0.2091, loss_bbox: 0.4232, loss_traj: 0.6655, loss_traj_cls: 0.0010, loss_map_cls: 0.1999, loss_map_pts: 0.8936, loss_map_dir: 0.0133, d0.loss_plan_l1_fix_time: 2.7067, d0.loss_plan_l1_fix_dist: 0.3924, d1.loss_plan_l1_fix_time: 1.1415, d1.loss_plan_l1_fix_dist: 0.2144, d2.loss_plan_l1_fix_time: 1.1289, d2.loss_plan_l1_fix_dist: 0.2181, d3.loss_plan_l1_fix_time: 1.1277, d3.loss_plan_l1_fix_dist: 0.2316, d4.loss_plan_l1_fix_time: 1.1323, d4.loss_plan_l1_fix_dist: 0.2475, d5.loss_plan_l1_fix_time: 1.1376, d5.loss_plan_l1_fix_dist: 0.2674, d6.loss_plan_l1_fix_time: 1.1447, d6.loss_plan_l1_fix_dist: 0.2893, d0.loss_cls_all: 0.2497, d0.loss_bbox_all: 0.4830, d0.loss_cls: 0.2497, d0.loss_bbox: 0.4830, d1.loss_cls: 0.2422, d1.loss_bbox: 0.4471, d2.loss_cls: 0.2296, d2.loss_bbox: 0.4277, d3.loss_cls: 0.2164, d3.loss_bbox: 0.4233, d4.loss_cls: 0.2100, d4.loss_bbox: 0.4226, d5.loss_cls: 0.2082, d5.loss_bbox: 0.4234, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9066, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7689, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6915, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6698, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6646, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6596, d0.loss_map_cls_all: 0.2688, d0.loss_map_pts_all: 1.7650, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2688, d0.loss_map_pts: 1.7650, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2484, d1.loss_map_pts: 1.2366, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.2249, d2.loss_map_pts: 1.0132, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.2152, d3.loss_map_pts: 0.9338, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.2059, d4.loss_map_pts: 0.9039, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.2024, d5.loss_map_pts: 0.8941, d5.loss_map_dir: 0.0132, loss: 33.1007, grad_norm: 140.4714 +2026-02-27 10:41:49,907 - DriveTransformer - INFO - Epoch [7][450/39528] lr: 8.550e-05, eta: 6 days, 6:00:38, time: 0.739, data_time: 0.031, memory: 19865, loss_cls: 0.1627, loss_bbox: 0.3441, loss_traj: 0.6175, loss_traj_cls: 0.0010, loss_map_cls: 0.1516, loss_map_pts: 0.6764, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.4304, d0.loss_plan_l1_fix_dist: 0.4289, d1.loss_plan_l1_fix_time: 1.0469, d1.loss_plan_l1_fix_dist: 0.2095, d2.loss_plan_l1_fix_time: 1.0420, d2.loss_plan_l1_fix_dist: 0.2133, d3.loss_plan_l1_fix_time: 1.0494, d3.loss_plan_l1_fix_dist: 0.2215, d4.loss_plan_l1_fix_time: 1.0581, d4.loss_plan_l1_fix_dist: 0.2334, d5.loss_plan_l1_fix_time: 1.0672, d5.loss_plan_l1_fix_dist: 0.2483, d6.loss_plan_l1_fix_time: 1.0770, d6.loss_plan_l1_fix_dist: 0.2636, d0.loss_cls_all: 0.2031, d0.loss_bbox_all: 0.3980, d0.loss_cls: 0.2031, d0.loss_bbox: 0.3980, d1.loss_cls: 0.1929, d1.loss_bbox: 0.3679, d2.loss_cls: 0.1805, d2.loss_bbox: 0.3517, d3.loss_cls: 0.1705, d3.loss_bbox: 0.3456, d4.loss_cls: 0.1666, d4.loss_bbox: 0.3424, d5.loss_cls: 0.1629, d5.loss_bbox: 0.3444, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8381, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6818, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6336, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6211, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6162, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6139, d0.loss_map_cls_all: 0.2255, d0.loss_map_pts_all: 1.4508, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2255, d0.loss_map_pts: 1.4508, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.1933, d1.loss_map_pts: 0.9637, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.1723, d2.loss_map_pts: 0.7732, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1641, d3.loss_map_pts: 0.7022, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1573, d4.loss_map_pts: 0.6797, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1538, d5.loss_map_pts: 0.6758, d5.loss_map_dir: 0.0115, loss: 28.4607, grad_norm: 142.8116 +2026-02-27 10:42:24,191 - DriveTransformer - INFO - Epoch [7][500/39528] lr: 8.550e-05, eta: 6 days, 4:32:28, time: 0.686, data_time: 0.032, memory: 19865, loss_cls: 0.1752, loss_bbox: 0.3742, loss_traj: 0.7654, loss_traj_cls: 0.0010, loss_map_cls: 0.1687, loss_map_pts: 0.6726, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 3.1657, d0.loss_plan_l1_fix_dist: 0.3809, d1.loss_plan_l1_fix_time: 1.2361, d1.loss_plan_l1_fix_dist: 0.1751, d2.loss_plan_l1_fix_time: 1.2254, d2.loss_plan_l1_fix_dist: 0.1795, d3.loss_plan_l1_fix_time: 1.2283, d3.loss_plan_l1_fix_dist: 0.1895, d4.loss_plan_l1_fix_time: 1.2322, d4.loss_plan_l1_fix_dist: 0.2005, d5.loss_plan_l1_fix_time: 1.2366, d5.loss_plan_l1_fix_dist: 0.2109, d6.loss_plan_l1_fix_time: 1.2410, d6.loss_plan_l1_fix_dist: 0.2221, d0.loss_cls_all: 0.2188, d0.loss_bbox_all: 0.4352, d0.loss_cls: 0.2188, d0.loss_bbox: 0.4352, d1.loss_cls: 0.2094, d1.loss_bbox: 0.3974, d2.loss_cls: 0.1945, d2.loss_bbox: 0.3815, d3.loss_cls: 0.1832, d3.loss_bbox: 0.3785, d4.loss_cls: 0.1783, d4.loss_bbox: 0.3762, d5.loss_cls: 0.1766, d5.loss_bbox: 0.3744, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0324, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8398, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7867, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7749, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7715, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7640, d0.loss_map_cls_all: 0.2476, d0.loss_map_pts_all: 1.2426, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2476, d0.loss_map_pts: 1.2426, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.2172, d1.loss_map_pts: 0.9101, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1956, d2.loss_map_pts: 0.7639, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1830, d3.loss_map_pts: 0.7029, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1746, d4.loss_map_pts: 0.6822, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1699, d5.loss_map_pts: 0.6734, d5.loss_map_dir: 0.0076, loss: 31.1249, grad_norm: 146.0915 +2026-02-27 10:43:01,818 - DriveTransformer - INFO - Epoch [7][550/39528] lr: 8.550e-05, eta: 6 days, 4:32:18, time: 0.753, data_time: 0.031, memory: 19865, loss_cls: 0.1669, loss_bbox: 0.3771, loss_traj: 0.6773, loss_traj_cls: 0.0010, loss_map_cls: 0.1544, loss_map_pts: 0.7953, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.5257, d0.loss_plan_l1_fix_dist: 0.4375, d1.loss_plan_l1_fix_time: 1.1919, d1.loss_plan_l1_fix_dist: 0.2003, d2.loss_plan_l1_fix_time: 1.1715, d2.loss_plan_l1_fix_dist: 0.2037, d3.loss_plan_l1_fix_time: 1.1683, d3.loss_plan_l1_fix_dist: 0.2156, d4.loss_plan_l1_fix_time: 1.1722, d4.loss_plan_l1_fix_dist: 0.2317, d5.loss_plan_l1_fix_time: 1.1764, d5.loss_plan_l1_fix_dist: 0.2496, d6.loss_plan_l1_fix_time: 1.1813, d6.loss_plan_l1_fix_dist: 0.2698, d0.loss_cls_all: 0.2063, d0.loss_bbox_all: 0.4396, d0.loss_cls: 0.2063, d0.loss_bbox: 0.4396, d1.loss_cls: 0.1978, d1.loss_bbox: 0.4089, d2.loss_cls: 0.1837, d2.loss_bbox: 0.3896, d3.loss_cls: 0.1752, d3.loss_bbox: 0.3809, d4.loss_cls: 0.1695, d4.loss_bbox: 0.3778, d5.loss_cls: 0.1679, d5.loss_bbox: 0.3779, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8906, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7249, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6739, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6692, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6705, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6723, d0.loss_map_cls_all: 0.2343, d0.loss_map_pts_all: 1.5796, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2343, d0.loss_map_pts: 1.5796, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2019, d1.loss_map_pts: 1.1233, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.1827, d2.loss_map_pts: 0.9137, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1707, d3.loss_map_pts: 0.8354, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1617, d4.loss_map_pts: 0.8078, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1575, d5.loss_map_pts: 0.7953, d5.loss_map_dir: 0.0109, loss: 31.0584, grad_norm: 151.4061 +2026-02-27 10:43:37,827 - DriveTransformer - INFO - Epoch [7][600/39528] lr: 8.550e-05, eta: 6 days, 4:00:04, time: 0.720, data_time: 0.032, memory: 19865, loss_cls: 0.1585, loss_bbox: 0.3616, loss_traj: 0.7621, loss_traj_cls: 0.0010, loss_map_cls: 0.1591, loss_map_pts: 0.6489, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.8788, d0.loss_plan_l1_fix_dist: 0.4128, d1.loss_plan_l1_fix_time: 1.1288, d1.loss_plan_l1_fix_dist: 0.1986, d2.loss_plan_l1_fix_time: 1.1187, d2.loss_plan_l1_fix_dist: 0.1996, d3.loss_plan_l1_fix_time: 1.1210, d3.loss_plan_l1_fix_dist: 0.2103, d4.loss_plan_l1_fix_time: 1.1260, d4.loss_plan_l1_fix_dist: 0.2232, d5.loss_plan_l1_fix_time: 1.1311, d5.loss_plan_l1_fix_dist: 0.2374, d6.loss_plan_l1_fix_time: 1.1370, d6.loss_plan_l1_fix_dist: 0.2528, d0.loss_cls_all: 0.2068, d0.loss_bbox_all: 0.4176, d0.loss_cls: 0.2068, d0.loss_bbox: 0.4176, d1.loss_cls: 0.1974, d1.loss_bbox: 0.3852, d2.loss_cls: 0.1825, d2.loss_bbox: 0.3700, d3.loss_cls: 0.1685, d3.loss_bbox: 0.3641, d4.loss_cls: 0.1607, d4.loss_bbox: 0.3621, d5.loss_cls: 0.1594, d5.loss_bbox: 0.3620, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0119, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8173, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7589, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7531, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7556, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7539, d0.loss_map_cls_all: 0.2355, d0.loss_map_pts_all: 1.3520, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2355, d0.loss_map_pts: 1.3520, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2000, d1.loss_map_pts: 0.9218, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1823, d2.loss_map_pts: 0.7358, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1708, d3.loss_map_pts: 0.6722, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1650, d4.loss_map_pts: 0.6518, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1611, d5.loss_map_pts: 0.6470, d5.loss_map_dir: 0.0100, loss: 30.0462, grad_norm: 150.7877 +2026-02-27 10:44:14,214 - DriveTransformer - INFO - Epoch [7][650/39528] lr: 8.550e-05, eta: 6 days, 3:39:40, time: 0.728, data_time: 0.038, memory: 19865, loss_cls: 0.1692, loss_bbox: 0.3684, loss_traj: 0.6662, loss_traj_cls: 0.0010, loss_map_cls: 0.1605, loss_map_pts: 0.7040, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.8213, d0.loss_plan_l1_fix_dist: 0.3932, d1.loss_plan_l1_fix_time: 1.1207, d1.loss_plan_l1_fix_dist: 0.2193, d2.loss_plan_l1_fix_time: 1.1120, d2.loss_plan_l1_fix_dist: 0.2113, d3.loss_plan_l1_fix_time: 1.1139, d3.loss_plan_l1_fix_dist: 0.2162, d4.loss_plan_l1_fix_time: 1.1187, d4.loss_plan_l1_fix_dist: 0.2256, d5.loss_plan_l1_fix_time: 1.1241, d5.loss_plan_l1_fix_dist: 0.2374, d6.loss_plan_l1_fix_time: 1.1298, d6.loss_plan_l1_fix_dist: 0.2511, d0.loss_cls_all: 0.2086, d0.loss_bbox_all: 0.4344, d0.loss_cls: 0.2086, d0.loss_bbox: 0.4344, d1.loss_cls: 0.1996, d1.loss_bbox: 0.3976, d2.loss_cls: 0.1860, d2.loss_bbox: 0.3777, d3.loss_cls: 0.1747, d3.loss_bbox: 0.3715, d4.loss_cls: 0.1695, d4.loss_bbox: 0.3705, d5.loss_cls: 0.1697, d5.loss_bbox: 0.3690, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9596, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7400, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6758, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6747, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6665, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6668, d0.loss_map_cls_all: 0.2385, d0.loss_map_pts_all: 1.3671, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2385, d0.loss_map_pts: 1.3671, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2152, d1.loss_map_pts: 0.9695, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1876, d2.loss_map_pts: 0.8054, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1777, d3.loss_map_pts: 0.7407, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1701, d4.loss_map_pts: 0.7154, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1634, d5.loss_map_pts: 0.7053, d5.loss_map_dir: 0.0089, loss: 29.9566, grad_norm: 148.6846 +2026-02-27 10:44:50,000 - DriveTransformer - INFO - Epoch [7][700/39528] lr: 8.550e-05, eta: 6 days, 3:11:50, time: 0.716, data_time: 0.034, memory: 19865, loss_cls: 0.1740, loss_bbox: 0.3629, loss_traj: 0.8324, loss_traj_cls: 0.0011, loss_map_cls: 0.1358, loss_map_pts: 0.6110, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.4462, d0.loss_plan_l1_fix_dist: 0.4609, d1.loss_plan_l1_fix_time: 1.0864, d1.loss_plan_l1_fix_dist: 0.1989, d2.loss_plan_l1_fix_time: 1.0785, d2.loss_plan_l1_fix_dist: 0.2027, d3.loss_plan_l1_fix_time: 1.0820, d3.loss_plan_l1_fix_dist: 0.2152, d4.loss_plan_l1_fix_time: 1.0896, d4.loss_plan_l1_fix_dist: 0.2313, d5.loss_plan_l1_fix_time: 1.0975, d5.loss_plan_l1_fix_dist: 0.2514, d6.loss_plan_l1_fix_time: 1.1053, d6.loss_plan_l1_fix_dist: 0.2725, d0.loss_cls_all: 0.2048, d0.loss_bbox_all: 0.4262, d0.loss_cls: 0.2048, d0.loss_bbox: 0.4262, d1.loss_cls: 0.1974, d1.loss_bbox: 0.3932, d2.loss_cls: 0.1873, d2.loss_bbox: 0.3759, d3.loss_cls: 0.1781, d3.loss_bbox: 0.3697, d4.loss_cls: 0.1758, d4.loss_bbox: 0.3651, d5.loss_cls: 0.1748, d5.loss_bbox: 0.3650, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1053, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.9117, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8502, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8409, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8403, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.8369, d0.loss_map_cls_all: 0.1976, d0.loss_map_pts_all: 1.2202, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1976, d0.loss_map_pts: 1.2202, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1757, d1.loss_map_pts: 0.8496, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1554, d2.loss_map_pts: 0.6952, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1494, d3.loss_map_pts: 0.6333, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1415, d4.loss_map_pts: 0.6143, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1365, d5.loss_map_pts: 0.6107, d5.loss_map_dir: 0.0082, loss: 29.4333, grad_norm: 155.3038 +2026-02-27 10:45:27,834 - DriveTransformer - INFO - Epoch [7][750/39528] lr: 8.550e-05, eta: 6 days, 3:20:01, time: 0.757, data_time: 0.035, memory: 19865, loss_cls: 0.1432, loss_bbox: 0.3314, loss_traj: 0.5240, loss_traj_cls: 0.0011, loss_map_cls: 0.1444, loss_map_pts: 0.6564, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.3080, d0.loss_plan_l1_fix_dist: 0.4028, d1.loss_plan_l1_fix_time: 1.0452, d1.loss_plan_l1_fix_dist: 0.1645, d2.loss_plan_l1_fix_time: 1.0373, d2.loss_plan_l1_fix_dist: 0.1710, d3.loss_plan_l1_fix_time: 1.0378, d3.loss_plan_l1_fix_dist: 0.1851, d4.loss_plan_l1_fix_time: 1.0450, d4.loss_plan_l1_fix_dist: 0.2004, d5.loss_plan_l1_fix_time: 1.0528, d5.loss_plan_l1_fix_dist: 0.2173, d6.loss_plan_l1_fix_time: 1.0614, d6.loss_plan_l1_fix_dist: 0.2362, d0.loss_cls_all: 0.1687, d0.loss_bbox_all: 0.3852, d0.loss_cls: 0.1687, d0.loss_bbox: 0.3852, d1.loss_cls: 0.1662, d1.loss_bbox: 0.3538, d2.loss_cls: 0.1572, d2.loss_bbox: 0.3389, d3.loss_cls: 0.1482, d3.loss_bbox: 0.3349, d4.loss_cls: 0.1448, d4.loss_bbox: 0.3322, d5.loss_cls: 0.1439, d5.loss_bbox: 0.3335, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6761, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5565, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5294, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5234, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5255, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5214, d0.loss_map_cls_all: 0.2076, d0.loss_map_pts_all: 1.3648, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2076, d0.loss_map_pts: 1.3648, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1807, d1.loss_map_pts: 0.9403, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1652, d2.loss_map_pts: 0.7551, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1563, d3.loss_map_pts: 0.6851, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1521, d4.loss_map_pts: 0.6622, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1461, d5.loss_map_pts: 0.6571, d5.loss_map_dir: 0.0099, loss: 26.5852, grad_norm: 152.5369 +2026-02-27 10:46:05,460 - DriveTransformer - INFO - Epoch [7][800/39528] lr: 8.550e-05, eta: 6 days, 3:24:01, time: 0.752, data_time: 0.033, memory: 19865, loss_cls: 0.1947, loss_bbox: 0.3927, loss_traj: 0.6212, loss_traj_cls: 0.0011, loss_map_cls: 0.1490, loss_map_pts: 0.6938, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.8862, d0.loss_plan_l1_fix_dist: 0.4969, d1.loss_plan_l1_fix_time: 1.2275, d1.loss_plan_l1_fix_dist: 0.2178, d2.loss_plan_l1_fix_time: 1.2103, d2.loss_plan_l1_fix_dist: 0.2209, d3.loss_plan_l1_fix_time: 1.2096, d3.loss_plan_l1_fix_dist: 0.2340, d4.loss_plan_l1_fix_time: 1.2155, d4.loss_plan_l1_fix_dist: 0.2489, d5.loss_plan_l1_fix_time: 1.2227, d5.loss_plan_l1_fix_dist: 0.2685, d6.loss_plan_l1_fix_time: 1.2308, d6.loss_plan_l1_fix_dist: 0.2885, d0.loss_cls_all: 0.2331, d0.loss_bbox_all: 0.4576, d0.loss_cls: 0.2331, d0.loss_bbox: 0.4576, d1.loss_cls: 0.2237, d1.loss_bbox: 0.4198, d2.loss_cls: 0.2127, d2.loss_bbox: 0.4002, d3.loss_cls: 0.2004, d3.loss_bbox: 0.3947, d4.loss_cls: 0.1948, d4.loss_bbox: 0.3913, d5.loss_cls: 0.1944, d5.loss_bbox: 0.3920, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7615, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6628, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6431, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6319, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6269, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6219, d0.loss_map_cls_all: 0.2142, d0.loss_map_pts_all: 1.4475, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2142, d0.loss_map_pts: 1.4475, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.1836, d1.loss_map_pts: 0.9698, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.1678, d2.loss_map_pts: 0.7868, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.1606, d3.loss_map_pts: 0.7251, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.1557, d4.loss_map_pts: 0.6988, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.1517, d5.loss_map_pts: 0.6950, d5.loss_map_dir: 0.0121, loss: 30.7019, grad_norm: 153.4596 +2026-02-27 10:46:41,881 - DriveTransformer - INFO - Epoch [7][850/39528] lr: 8.550e-05, eta: 6 days, 3:10:42, time: 0.728, data_time: 0.034, memory: 19865, loss_cls: 0.1688, loss_bbox: 0.3618, loss_traj: 0.5587, loss_traj_cls: 0.0011, loss_map_cls: 0.1674, loss_map_pts: 0.6825, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.4771, d0.loss_plan_l1_fix_dist: 0.3788, d1.loss_plan_l1_fix_time: 1.0766, d1.loss_plan_l1_fix_dist: 0.1913, d2.loss_plan_l1_fix_time: 1.0696, d2.loss_plan_l1_fix_dist: 0.2004, d3.loss_plan_l1_fix_time: 1.0767, d3.loss_plan_l1_fix_dist: 0.2179, d4.loss_plan_l1_fix_time: 1.0873, d4.loss_plan_l1_fix_dist: 0.2392, d5.loss_plan_l1_fix_time: 1.0989, d5.loss_plan_l1_fix_dist: 0.2653, d6.loss_plan_l1_fix_time: 1.1106, d6.loss_plan_l1_fix_dist: 0.2917, d0.loss_cls_all: 0.2039, d0.loss_bbox_all: 0.4156, d0.loss_cls: 0.2039, d0.loss_bbox: 0.4156, d1.loss_cls: 0.1943, d1.loss_bbox: 0.3860, d2.loss_cls: 0.1850, d2.loss_bbox: 0.3692, d3.loss_cls: 0.1724, d3.loss_bbox: 0.3625, d4.loss_cls: 0.1676, d4.loss_bbox: 0.3608, d5.loss_cls: 0.1688, d5.loss_bbox: 0.3646, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7166, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5872, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5670, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5666, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5653, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5565, d0.loss_map_cls_all: 0.2320, d0.loss_map_pts_all: 1.3906, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2320, d0.loss_map_pts: 1.3906, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2056, d1.loss_map_pts: 0.9630, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1875, d2.loss_map_pts: 0.7863, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1796, d3.loss_map_pts: 0.7193, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1734, d4.loss_map_pts: 0.6959, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1692, d5.loss_map_pts: 0.6850, d5.loss_map_dir: 0.0100, loss: 28.3464, grad_norm: 154.2112 +2026-02-27 10:47:18,078 - DriveTransformer - INFO - Epoch [7][900/39528] lr: 8.550e-05, eta: 6 days, 2:55:51, time: 0.724, data_time: 0.034, memory: 19865, loss_cls: 0.1628, loss_bbox: 0.3375, loss_traj: 0.5588, loss_traj_cls: 0.0011, loss_map_cls: 0.1488, loss_map_pts: 0.6646, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.5032, d0.loss_plan_l1_fix_dist: 0.4215, d1.loss_plan_l1_fix_time: 1.1292, d1.loss_plan_l1_fix_dist: 0.1903, d2.loss_plan_l1_fix_time: 1.1147, d2.loss_plan_l1_fix_dist: 0.2034, d3.loss_plan_l1_fix_time: 1.1203, d3.loss_plan_l1_fix_dist: 0.2220, d4.loss_plan_l1_fix_time: 1.1301, d4.loss_plan_l1_fix_dist: 0.2372, d5.loss_plan_l1_fix_time: 1.1406, d5.loss_plan_l1_fix_dist: 0.2563, d6.loss_plan_l1_fix_time: 1.1506, d6.loss_plan_l1_fix_dist: 0.2775, d0.loss_cls_all: 0.1931, d0.loss_bbox_all: 0.3947, d0.loss_cls: 0.1931, d0.loss_bbox: 0.3947, d1.loss_cls: 0.1844, d1.loss_bbox: 0.3617, d2.loss_cls: 0.1741, d2.loss_bbox: 0.3437, d3.loss_cls: 0.1654, d3.loss_bbox: 0.3393, d4.loss_cls: 0.1611, d4.loss_bbox: 0.3383, d5.loss_cls: 0.1619, d5.loss_bbox: 0.3401, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7347, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6167, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5746, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5684, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5664, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5591, d0.loss_map_cls_all: 0.2149, d0.loss_map_pts_all: 1.3497, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2149, d0.loss_map_pts: 1.3497, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.1875, d1.loss_map_pts: 0.9277, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1698, d2.loss_map_pts: 0.7564, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1610, d3.loss_map_pts: 0.6981, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1538, d4.loss_map_pts: 0.6723, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1507, d5.loss_map_pts: 0.6641, d5.loss_map_dir: 0.0101, loss: 28.0929, grad_norm: 156.0390 +2026-02-27 10:47:53,398 - DriveTransformer - INFO - Epoch [7][950/39528] lr: 8.550e-05, eta: 6 days, 2:31:33, time: 0.706, data_time: 0.033, memory: 19865, loss_cls: 0.1783, loss_bbox: 0.3727, loss_traj: 0.6641, loss_traj_cls: 0.0010, loss_map_cls: 0.1783, loss_map_pts: 0.7604, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.8086, d0.loss_plan_l1_fix_dist: 0.3583, d1.loss_plan_l1_fix_time: 1.1539, d1.loss_plan_l1_fix_dist: 0.1683, d2.loss_plan_l1_fix_time: 1.1376, d2.loss_plan_l1_fix_dist: 0.1797, d3.loss_plan_l1_fix_time: 1.1413, d3.loss_plan_l1_fix_dist: 0.1979, d4.loss_plan_l1_fix_time: 1.1487, d4.loss_plan_l1_fix_dist: 0.2134, d5.loss_plan_l1_fix_time: 1.1568, d5.loss_plan_l1_fix_dist: 0.2302, d6.loss_plan_l1_fix_time: 1.1653, d6.loss_plan_l1_fix_dist: 0.2518, d0.loss_cls_all: 0.2111, d0.loss_bbox_all: 0.4351, d0.loss_cls: 0.2111, d0.loss_bbox: 0.4351, d1.loss_cls: 0.2079, d1.loss_bbox: 0.3999, d2.loss_cls: 0.1976, d2.loss_bbox: 0.3822, d3.loss_cls: 0.1844, d3.loss_bbox: 0.3773, d4.loss_cls: 0.1817, d4.loss_bbox: 0.3726, d5.loss_cls: 0.1791, d5.loss_bbox: 0.3732, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8538, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7247, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6802, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6649, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6622, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6587, d0.loss_map_cls_all: 0.2569, d0.loss_map_pts_all: 1.4288, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2569, d0.loss_map_pts: 1.4288, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2314, d1.loss_map_pts: 1.0157, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.2087, d2.loss_map_pts: 0.8572, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1952, d3.loss_map_pts: 0.7964, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1867, d4.loss_map_pts: 0.7678, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1801, d5.loss_map_pts: 0.7604, d5.loss_map_dir: 0.0105, loss: 30.5153, grad_norm: 159.3584 +2026-02-27 10:48:29,650 - DriveTransformer - INFO - Epoch [7][1000/39528] lr: 8.550e-05, eta: 6 days, 2:20:40, time: 0.725, data_time: 0.033, memory: 19865, loss_cls: 0.1965, loss_bbox: 0.3983, loss_traj: 0.5401, loss_traj_cls: 0.0010, loss_map_cls: 0.1829, loss_map_pts: 0.8042, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 3.0175, d0.loss_plan_l1_fix_dist: 0.4233, d1.loss_plan_l1_fix_time: 1.2573, d1.loss_plan_l1_fix_dist: 0.1843, d2.loss_plan_l1_fix_time: 1.2503, d2.loss_plan_l1_fix_dist: 0.1893, d3.loss_plan_l1_fix_time: 1.2606, d3.loss_plan_l1_fix_dist: 0.2027, d4.loss_plan_l1_fix_time: 1.2689, d4.loss_plan_l1_fix_dist: 0.2211, d5.loss_plan_l1_fix_time: 1.2773, d5.loss_plan_l1_fix_dist: 0.2371, d6.loss_plan_l1_fix_time: 1.2866, d6.loss_plan_l1_fix_dist: 0.2537, d0.loss_cls_all: 0.2324, d0.loss_bbox_all: 0.4556, d0.loss_cls: 0.2324, d0.loss_bbox: 0.4556, d1.loss_cls: 0.2256, d1.loss_bbox: 0.4255, d2.loss_cls: 0.2119, d2.loss_bbox: 0.4110, d3.loss_cls: 0.2052, d3.loss_bbox: 0.4019, d4.loss_cls: 0.2003, d4.loss_bbox: 0.3987, d5.loss_cls: 0.1972, d5.loss_bbox: 0.4000, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7076, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5760, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5559, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5456, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5430, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5430, d0.loss_map_cls_all: 0.2521, d0.loss_map_pts_all: 1.5277, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2521, d0.loss_map_pts: 1.5277, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2252, d1.loss_map_pts: 1.0634, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2059, d2.loss_map_pts: 0.8945, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.1940, d3.loss_map_pts: 0.8272, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1870, d4.loss_map_pts: 0.8117, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1845, d5.loss_map_pts: 0.8040, d5.loss_map_dir: 0.0118, loss: 31.4321, grad_norm: 159.4493 +2026-02-27 10:49:06,695 - DriveTransformer - INFO - Epoch [7][1050/39528] lr: 8.550e-05, eta: 6 days, 2:19:43, time: 0.741, data_time: 0.035, memory: 19865, loss_cls: 0.1825, loss_bbox: 0.3861, loss_traj: 0.6027, loss_traj_cls: 0.0011, loss_map_cls: 0.1676, loss_map_pts: 0.7537, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.9863, d0.loss_plan_l1_fix_dist: 0.4319, d1.loss_plan_l1_fix_time: 1.1100, d1.loss_plan_l1_fix_dist: 0.1976, d2.loss_plan_l1_fix_time: 1.1061, d2.loss_plan_l1_fix_dist: 0.2031, d3.loss_plan_l1_fix_time: 1.1188, d3.loss_plan_l1_fix_dist: 0.2167, d4.loss_plan_l1_fix_time: 1.1295, d4.loss_plan_l1_fix_dist: 0.2367, d5.loss_plan_l1_fix_time: 1.1398, d5.loss_plan_l1_fix_dist: 0.2566, d6.loss_plan_l1_fix_time: 1.1511, d6.loss_plan_l1_fix_dist: 0.2767, d0.loss_cls_all: 0.2154, d0.loss_bbox_all: 0.4488, d0.loss_cls: 0.2154, d0.loss_bbox: 0.4488, d1.loss_cls: 0.2082, d1.loss_bbox: 0.4158, d2.loss_cls: 0.1982, d2.loss_bbox: 0.3981, d3.loss_cls: 0.1846, d3.loss_bbox: 0.3947, d4.loss_cls: 0.1812, d4.loss_bbox: 0.3904, d5.loss_cls: 0.1817, d5.loss_bbox: 0.3891, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7891, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6550, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6216, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6092, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6095, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6031, d0.loss_map_cls_all: 0.2334, d0.loss_map_pts_all: 1.4491, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2334, d0.loss_map_pts: 1.4491, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2070, d1.loss_map_pts: 1.0344, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1882, d2.loss_map_pts: 0.8572, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1802, d3.loss_map_pts: 0.7912, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1723, d4.loss_map_pts: 0.7615, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1694, d5.loss_map_pts: 0.7548, d5.loss_map_dir: 0.0106, loss: 30.3809, grad_norm: 160.4342 +2026-02-27 10:49:42,650 - DriveTransformer - INFO - Epoch [7][1100/39528] lr: 8.550e-05, eta: 6 days, 2:07:02, time: 0.719, data_time: 0.034, memory: 19865, loss_cls: 0.1716, loss_bbox: 0.3645, loss_traj: 0.5565, loss_traj_cls: 0.0011, loss_map_cls: 0.1554, loss_map_pts: 0.6775, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.4315, d0.loss_plan_l1_fix_dist: 0.4444, d1.loss_plan_l1_fix_time: 1.1307, d1.loss_plan_l1_fix_dist: 0.1695, d2.loss_plan_l1_fix_time: 1.1275, d2.loss_plan_l1_fix_dist: 0.1738, d3.loss_plan_l1_fix_time: 1.1311, d3.loss_plan_l1_fix_dist: 0.1861, d4.loss_plan_l1_fix_time: 1.1397, d4.loss_plan_l1_fix_dist: 0.2023, d5.loss_plan_l1_fix_time: 1.1479, d5.loss_plan_l1_fix_dist: 0.2229, d6.loss_plan_l1_fix_time: 1.1571, d6.loss_plan_l1_fix_dist: 0.2468, d0.loss_cls_all: 0.1990, d0.loss_bbox_all: 0.4216, d0.loss_cls: 0.1990, d0.loss_bbox: 0.4216, d1.loss_cls: 0.1961, d1.loss_bbox: 0.3889, d2.loss_cls: 0.1869, d2.loss_bbox: 0.3701, d3.loss_cls: 0.1777, d3.loss_bbox: 0.3649, d4.loss_cls: 0.1719, d4.loss_bbox: 0.3658, d5.loss_cls: 0.1713, d5.loss_bbox: 0.3646, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7711, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6239, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5673, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5599, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5619, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5570, d0.loss_map_cls_all: 0.2239, d0.loss_map_pts_all: 1.3371, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2239, d0.loss_map_pts: 1.3371, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.1968, d1.loss_map_pts: 0.9313, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1800, d2.loss_map_pts: 0.7725, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1674, d3.loss_map_pts: 0.7088, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1612, d4.loss_map_pts: 0.6833, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1583, d5.loss_map_pts: 0.6754, d5.loss_map_dir: 0.0097, loss: 28.3189, grad_norm: 162.5588 +2026-02-27 10:50:19,932 - DriveTransformer - INFO - Epoch [7][1150/39528] lr: 8.550e-05, eta: 6 days, 2:09:05, time: 0.746, data_time: 0.037, memory: 19865, loss_cls: 0.1832, loss_bbox: 0.4079, loss_traj: 0.6998, loss_traj_cls: 0.0010, loss_map_cls: 0.1730, loss_map_pts: 0.8335, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.9973, d0.loss_plan_l1_fix_dist: 0.4925, d1.loss_plan_l1_fix_time: 1.2131, d1.loss_plan_l1_fix_dist: 0.2167, d2.loss_plan_l1_fix_time: 1.1987, d2.loss_plan_l1_fix_dist: 0.2145, d3.loss_plan_l1_fix_time: 1.1981, d3.loss_plan_l1_fix_dist: 0.2212, d4.loss_plan_l1_fix_time: 1.2034, d4.loss_plan_l1_fix_dist: 0.2283, d5.loss_plan_l1_fix_time: 1.2093, d5.loss_plan_l1_fix_dist: 0.2378, d6.loss_plan_l1_fix_time: 1.2157, d6.loss_plan_l1_fix_dist: 0.2507, d0.loss_cls_all: 0.2224, d0.loss_bbox_all: 0.4744, d0.loss_cls: 0.2224, d0.loss_bbox: 0.4744, d1.loss_cls: 0.2140, d1.loss_bbox: 0.4353, d2.loss_cls: 0.1991, d2.loss_bbox: 0.4163, d3.loss_cls: 0.1877, d3.loss_bbox: 0.4101, d4.loss_cls: 0.1841, d4.loss_bbox: 0.4083, d5.loss_cls: 0.1837, d5.loss_bbox: 0.4090, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9950, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7783, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7211, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7061, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7027, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6974, d0.loss_map_cls_all: 0.2504, d0.loss_map_pts_all: 1.6244, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2504, d0.loss_map_pts: 1.6244, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2200, d1.loss_map_pts: 1.1652, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.2002, d2.loss_map_pts: 0.9646, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1902, d3.loss_map_pts: 0.8765, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1813, d4.loss_map_pts: 0.8452, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1740, d5.loss_map_pts: 0.8350, d5.loss_map_dir: 0.0094, loss: 32.9174, grad_norm: 162.3602 +2026-02-27 10:50:55,493 - DriveTransformer - INFO - Epoch [7][1200/39528] lr: 8.550e-05, eta: 6 days, 1:54:37, time: 0.713, data_time: 0.035, memory: 19865, loss_cls: 0.1570, loss_bbox: 0.3517, loss_traj: 0.6219, loss_traj_cls: 0.0011, loss_map_cls: 0.1279, loss_map_pts: 0.6522, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.4234, d0.loss_plan_l1_fix_dist: 0.5008, d1.loss_plan_l1_fix_time: 1.0918, d1.loss_plan_l1_fix_dist: 0.1926, d2.loss_plan_l1_fix_time: 1.0801, d2.loss_plan_l1_fix_dist: 0.1917, d3.loss_plan_l1_fix_time: 1.0836, d3.loss_plan_l1_fix_dist: 0.2025, d4.loss_plan_l1_fix_time: 1.0914, d4.loss_plan_l1_fix_dist: 0.2175, d5.loss_plan_l1_fix_time: 1.1000, d5.loss_plan_l1_fix_dist: 0.2337, d6.loss_plan_l1_fix_time: 1.1095, d6.loss_plan_l1_fix_dist: 0.2542, d0.loss_cls_all: 0.1986, d0.loss_bbox_all: 0.4103, d0.loss_cls: 0.1986, d0.loss_bbox: 0.4103, d1.loss_cls: 0.1920, d1.loss_bbox: 0.3790, d2.loss_cls: 0.1768, d2.loss_bbox: 0.3602, d3.loss_cls: 0.1649, d3.loss_bbox: 0.3544, d4.loss_cls: 0.1592, d4.loss_bbox: 0.3511, d5.loss_cls: 0.1574, d5.loss_bbox: 0.3517, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8142, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6889, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6391, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6205, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6189, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6178, d0.loss_map_cls_all: 0.2032, d0.loss_map_pts_all: 1.2980, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2032, d0.loss_map_pts: 1.2980, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1715, d1.loss_map_pts: 0.9046, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1501, d2.loss_map_pts: 0.7375, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1407, d3.loss_map_pts: 0.6775, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1354, d4.loss_map_pts: 0.6570, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1298, d5.loss_map_pts: 0.6514, d5.loss_map_dir: 0.0079, loss: 27.9773, grad_norm: 163.0886 +2026-02-27 10:51:30,862 - DriveTransformer - INFO - Epoch [7][1250/39528] lr: 8.550e-05, eta: 6 days, 1:38:07, time: 0.706, data_time: 0.035, memory: 19865, loss_cls: 0.1840, loss_bbox: 0.4069, loss_traj: 0.7808, loss_traj_cls: 0.0011, loss_map_cls: 0.1763, loss_map_pts: 0.7044, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.7195, d0.loss_plan_l1_fix_dist: 0.4103, d1.loss_plan_l1_fix_time: 1.1970, d1.loss_plan_l1_fix_dist: 0.1904, d2.loss_plan_l1_fix_time: 1.1784, d2.loss_plan_l1_fix_dist: 0.1864, d3.loss_plan_l1_fix_time: 1.1758, d3.loss_plan_l1_fix_dist: 0.1913, d4.loss_plan_l1_fix_time: 1.1788, d4.loss_plan_l1_fix_dist: 0.1971, d5.loss_plan_l1_fix_time: 1.1831, d5.loss_plan_l1_fix_dist: 0.2062, d6.loss_plan_l1_fix_time: 1.1887, d6.loss_plan_l1_fix_dist: 0.2162, d0.loss_cls_all: 0.2213, d0.loss_bbox_all: 0.4654, d0.loss_cls: 0.2213, d0.loss_bbox: 0.4654, d1.loss_cls: 0.2158, d1.loss_bbox: 0.4316, d2.loss_cls: 0.2022, d2.loss_bbox: 0.4139, d3.loss_cls: 0.1893, d3.loss_bbox: 0.4095, d4.loss_cls: 0.1857, d4.loss_bbox: 0.4042, d5.loss_cls: 0.1845, d5.loss_bbox: 0.4047, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1072, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8667, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7994, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7806, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.7838, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7800, d0.loss_map_cls_all: 0.2472, d0.loss_map_pts_all: 1.3960, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2472, d0.loss_map_pts: 1.3960, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.2163, d1.loss_map_pts: 0.9536, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1951, d2.loss_map_pts: 0.7940, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1859, d3.loss_map_pts: 0.7319, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1823, d4.loss_map_pts: 0.7104, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1775, d5.loss_map_pts: 0.7037, d5.loss_map_dir: 0.0082, loss: 31.4125, grad_norm: 162.2316 +2026-02-27 10:52:06,639 - DriveTransformer - INFO - Epoch [7][1300/39528] lr: 8.550e-05, eta: 6 days, 1:27:11, time: 0.716, data_time: 0.034, memory: 19865, loss_cls: 0.1581, loss_bbox: 0.3516, loss_traj: 0.6004, loss_traj_cls: 0.0011, loss_map_cls: 0.1241, loss_map_pts: 0.6081, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.3852, d0.loss_plan_l1_fix_dist: 0.4263, d1.loss_plan_l1_fix_time: 1.0292, d1.loss_plan_l1_fix_dist: 0.1571, d2.loss_plan_l1_fix_time: 1.0146, d2.loss_plan_l1_fix_dist: 0.1518, d3.loss_plan_l1_fix_time: 1.0125, d3.loss_plan_l1_fix_dist: 0.1590, d4.loss_plan_l1_fix_time: 1.0180, d4.loss_plan_l1_fix_dist: 0.1692, d5.loss_plan_l1_fix_time: 1.0240, d5.loss_plan_l1_fix_dist: 0.1832, d6.loss_plan_l1_fix_time: 1.0303, d6.loss_plan_l1_fix_dist: 0.1954, d0.loss_cls_all: 0.1934, d0.loss_bbox_all: 0.4028, d0.loss_cls: 0.1934, d0.loss_bbox: 0.4028, d1.loss_cls: 0.1834, d1.loss_bbox: 0.3756, d2.loss_cls: 0.1747, d2.loss_bbox: 0.3596, d3.loss_cls: 0.1631, d3.loss_bbox: 0.3541, d4.loss_cls: 0.1593, d4.loss_bbox: 0.3501, d5.loss_cls: 0.1576, d5.loss_bbox: 0.3510, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8198, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6419, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6072, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5997, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5937, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5932, d0.loss_map_cls_all: 0.1949, d0.loss_map_pts_all: 1.2519, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1949, d0.loss_map_pts: 1.2519, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1644, d1.loss_map_pts: 0.8675, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1465, d2.loss_map_pts: 0.7034, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1358, d3.loss_map_pts: 0.6434, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1297, d4.loss_map_pts: 0.6174, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1261, d5.loss_map_pts: 0.6088, d5.loss_map_dir: 0.0081, loss: 26.5820, grad_norm: 160.0715 +2026-02-27 10:52:41,578 - DriveTransformer - INFO - Epoch [7][1350/39528] lr: 8.550e-05, eta: 6 days, 1:09:42, time: 0.699, data_time: 0.035, memory: 19865, loss_cls: 0.1546, loss_bbox: 0.3390, loss_traj: 0.6516, loss_traj_cls: 0.0011, loss_map_cls: 0.1587, loss_map_pts: 0.7447, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.4167, d0.loss_plan_l1_fix_dist: 0.4637, d1.loss_plan_l1_fix_time: 0.9677, d1.loss_plan_l1_fix_dist: 0.1748, d2.loss_plan_l1_fix_time: 0.9498, d2.loss_plan_l1_fix_dist: 0.1701, d3.loss_plan_l1_fix_time: 0.9473, d3.loss_plan_l1_fix_dist: 0.1752, d4.loss_plan_l1_fix_time: 0.9531, d4.loss_plan_l1_fix_dist: 0.1824, d5.loss_plan_l1_fix_time: 0.9595, d5.loss_plan_l1_fix_dist: 0.1908, d6.loss_plan_l1_fix_time: 0.9659, d6.loss_plan_l1_fix_dist: 0.2032, d0.loss_cls_all: 0.1959, d0.loss_bbox_all: 0.4093, d0.loss_cls: 0.1959, d0.loss_bbox: 0.4093, d1.loss_cls: 0.1854, d1.loss_bbox: 0.3706, d2.loss_cls: 0.1738, d2.loss_bbox: 0.3490, d3.loss_cls: 0.1607, d3.loss_bbox: 0.3444, d4.loss_cls: 0.1566, d4.loss_bbox: 0.3412, d5.loss_cls: 0.1552, d5.loss_bbox: 0.3397, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9614, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7249, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6725, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6517, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6492, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6500, d0.loss_map_cls_all: 0.2380, d0.loss_map_pts_all: 1.4786, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2380, d0.loss_map_pts: 1.4786, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2097, d1.loss_map_pts: 1.0381, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1882, d2.loss_map_pts: 0.8535, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1740, d3.loss_map_pts: 0.7844, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1664, d4.loss_map_pts: 0.7565, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1608, d5.loss_map_pts: 0.7452, d5.loss_map_dir: 0.0092, loss: 28.4555, grad_norm: 158.7131 +2026-02-27 10:53:17,199 - DriveTransformer - INFO - Epoch [7][1400/39528] lr: 8.550e-05, eta: 6 days, 0:59:10, time: 0.712, data_time: 0.035, memory: 19865, loss_cls: 0.1752, loss_bbox: 0.3618, loss_traj: 0.7592, loss_traj_cls: 0.0010, loss_map_cls: 0.1602, loss_map_pts: 0.7127, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.3876, d0.loss_plan_l1_fix_dist: 0.3797, d1.loss_plan_l1_fix_time: 1.1153, d1.loss_plan_l1_fix_dist: 0.1727, d2.loss_plan_l1_fix_time: 1.0978, d2.loss_plan_l1_fix_dist: 0.1762, d3.loss_plan_l1_fix_time: 1.0967, d3.loss_plan_l1_fix_dist: 0.1842, d4.loss_plan_l1_fix_time: 1.1001, d4.loss_plan_l1_fix_dist: 0.1949, d5.loss_plan_l1_fix_time: 1.1047, d5.loss_plan_l1_fix_dist: 0.2073, d6.loss_plan_l1_fix_time: 1.1099, d6.loss_plan_l1_fix_dist: 0.2245, d0.loss_cls_all: 0.2157, d0.loss_bbox_all: 0.4153, d0.loss_cls: 0.2157, d0.loss_bbox: 0.4153, d1.loss_cls: 0.2004, d1.loss_bbox: 0.3815, d2.loss_cls: 0.1908, d2.loss_bbox: 0.3658, d3.loss_cls: 0.1790, d3.loss_bbox: 0.3629, d4.loss_cls: 0.1747, d4.loss_bbox: 0.3618, d5.loss_cls: 0.1743, d5.loss_bbox: 0.3600, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0170, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8297, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7834, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7665, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7586, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7576, d0.loss_map_cls_all: 0.2346, d0.loss_map_pts_all: 1.3944, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2346, d0.loss_map_pts: 1.3944, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2012, d1.loss_map_pts: 0.9725, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1808, d2.loss_map_pts: 0.8079, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1696, d3.loss_map_pts: 0.7369, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1647, d4.loss_map_pts: 0.7163, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1606, d5.loss_map_pts: 0.7134, d5.loss_map_dir: 0.0098, loss: 29.8113, grad_norm: 159.0090 +2026-02-27 10:53:52,075 - DriveTransformer - INFO - Epoch [7][1450/39528] lr: 8.550e-05, eta: 6 days, 0:43:14, time: 0.697, data_time: 0.035, memory: 19865, loss_cls: 0.1545, loss_bbox: 0.3665, loss_traj: 0.7655, loss_traj_cls: 0.0010, loss_map_cls: 0.1562, loss_map_pts: 0.6766, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.4563, d0.loss_plan_l1_fix_dist: 0.3721, d1.loss_plan_l1_fix_time: 0.9232, d1.loss_plan_l1_fix_dist: 0.1576, d2.loss_plan_l1_fix_time: 0.9191, d2.loss_plan_l1_fix_dist: 0.1599, d3.loss_plan_l1_fix_time: 0.9284, d3.loss_plan_l1_fix_dist: 0.1641, d4.loss_plan_l1_fix_time: 0.9359, d4.loss_plan_l1_fix_dist: 0.1712, d5.loss_plan_l1_fix_time: 0.9440, d5.loss_plan_l1_fix_dist: 0.1799, d6.loss_plan_l1_fix_time: 0.9528, d6.loss_plan_l1_fix_dist: 0.1917, d0.loss_cls_all: 0.1932, d0.loss_bbox_all: 0.4300, d0.loss_cls: 0.1932, d0.loss_bbox: 0.4300, d1.loss_cls: 0.1841, d1.loss_bbox: 0.3962, d2.loss_cls: 0.1711, d2.loss_bbox: 0.3780, d3.loss_cls: 0.1587, d3.loss_bbox: 0.3729, d4.loss_cls: 0.1548, d4.loss_bbox: 0.3705, d5.loss_cls: 0.1539, d5.loss_bbox: 0.3682, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0407, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8271, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7756, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7645, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7642, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7658, d0.loss_map_cls_all: 0.2317, d0.loss_map_pts_all: 1.4072, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2317, d0.loss_map_pts: 1.4072, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1992, d1.loss_map_pts: 0.9877, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1832, d2.loss_map_pts: 0.8000, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1686, d3.loss_map_pts: 0.7185, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1643, d4.loss_map_pts: 0.6831, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1582, d5.loss_map_pts: 0.6785, d5.loss_map_dir: 0.0094, loss: 28.5660, grad_norm: 158.9924 +2026-02-27 10:54:29,119 - DriveTransformer - INFO - Epoch [7][1500/39528] lr: 8.550e-05, eta: 6 days, 0:45:26, time: 0.741, data_time: 0.038, memory: 19865, loss_cls: 0.1599, loss_bbox: 0.3705, loss_traj: 0.6618, loss_traj_cls: 0.0011, loss_map_cls: 0.1459, loss_map_pts: 0.6486, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.6256, d0.loss_plan_l1_fix_dist: 0.4899, d1.loss_plan_l1_fix_time: 1.1674, d1.loss_plan_l1_fix_dist: 0.2138, d2.loss_plan_l1_fix_time: 1.1637, d2.loss_plan_l1_fix_dist: 0.2185, d3.loss_plan_l1_fix_time: 1.1632, d3.loss_plan_l1_fix_dist: 0.2335, d4.loss_plan_l1_fix_time: 1.1681, d4.loss_plan_l1_fix_dist: 0.2520, d5.loss_plan_l1_fix_time: 1.1735, d5.loss_plan_l1_fix_dist: 0.2699, d6.loss_plan_l1_fix_time: 1.1797, d6.loss_plan_l1_fix_dist: 0.2870, d0.loss_cls_all: 0.1953, d0.loss_bbox_all: 0.4328, d0.loss_cls: 0.1953, d0.loss_bbox: 0.4328, d1.loss_cls: 0.1871, d1.loss_bbox: 0.4003, d2.loss_cls: 0.1774, d2.loss_bbox: 0.3817, d3.loss_cls: 0.1665, d3.loss_bbox: 0.3757, d4.loss_cls: 0.1610, d4.loss_bbox: 0.3738, d5.loss_cls: 0.1601, d5.loss_bbox: 0.3723, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9716, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7603, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6974, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6770, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6682, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6665, d0.loss_map_cls_all: 0.2262, d0.loss_map_pts_all: 1.3538, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2262, d0.loss_map_pts: 1.3538, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1981, d1.loss_map_pts: 0.9313, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1775, d2.loss_map_pts: 0.7552, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1633, d3.loss_map_pts: 0.6840, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1544, d4.loss_map_pts: 0.6568, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1479, d5.loss_map_pts: 0.6509, d5.loss_map_dir: 0.0095, loss: 29.8050, grad_norm: 160.2222 +2026-02-27 10:55:04,487 - DriveTransformer - INFO - Epoch [7][1550/39528] lr: 8.550e-05, eta: 6 days, 0:34:40, time: 0.707, data_time: 0.034, memory: 19865, loss_cls: 0.1645, loss_bbox: 0.3588, loss_traj: 0.7082, loss_traj_cls: 0.0010, loss_map_cls: 0.1693, loss_map_pts: 0.7146, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.9902, d0.loss_plan_l1_fix_dist: 0.5492, d1.loss_plan_l1_fix_time: 1.1740, d1.loss_plan_l1_fix_dist: 0.2163, d2.loss_plan_l1_fix_time: 1.1622, d2.loss_plan_l1_fix_dist: 0.2170, d3.loss_plan_l1_fix_time: 1.1593, d3.loss_plan_l1_fix_dist: 0.2250, d4.loss_plan_l1_fix_time: 1.1628, d4.loss_plan_l1_fix_dist: 0.2379, d5.loss_plan_l1_fix_time: 1.1664, d5.loss_plan_l1_fix_dist: 0.2528, d6.loss_plan_l1_fix_time: 1.1707, d6.loss_plan_l1_fix_dist: 0.2668, d0.loss_cls_all: 0.2002, d0.loss_bbox_all: 0.4153, d0.loss_cls: 0.2002, d0.loss_bbox: 0.4153, d1.loss_cls: 0.1907, d1.loss_bbox: 0.3857, d2.loss_cls: 0.1815, d2.loss_bbox: 0.3679, d3.loss_cls: 0.1713, d3.loss_bbox: 0.3627, d4.loss_cls: 0.1644, d4.loss_bbox: 0.3602, d5.loss_cls: 0.1651, d5.loss_bbox: 0.3584, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9357, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7804, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7313, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7091, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7094, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7087, d0.loss_map_cls_all: 0.2425, d0.loss_map_pts_all: 1.4397, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2425, d0.loss_map_pts: 1.4397, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2159, d1.loss_map_pts: 0.9991, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1960, d2.loss_map_pts: 0.8132, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1843, d3.loss_map_pts: 0.7462, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1770, d4.loss_map_pts: 0.7205, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1717, d5.loss_map_pts: 0.7150, d5.loss_map_dir: 0.0098, loss: 30.9641, grad_norm: 158.8489 +2026-02-27 10:55:41,554 - DriveTransformer - INFO - Epoch [7][1600/39528] lr: 8.550e-05, eta: 6 days, 0:37:05, time: 0.741, data_time: 0.035, memory: 19865, loss_cls: 0.1625, loss_bbox: 0.3660, loss_traj: 0.6567, loss_traj_cls: 0.0010, loss_map_cls: 0.1426, loss_map_pts: 0.6641, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.4940, d0.loss_plan_l1_fix_dist: 0.3738, d1.loss_plan_l1_fix_time: 1.0446, d1.loss_plan_l1_fix_dist: 0.2240, d2.loss_plan_l1_fix_time: 1.0306, d2.loss_plan_l1_fix_dist: 0.2353, d3.loss_plan_l1_fix_time: 1.0249, d3.loss_plan_l1_fix_dist: 0.2588, d4.loss_plan_l1_fix_time: 1.0319, d4.loss_plan_l1_fix_dist: 0.2896, d5.loss_plan_l1_fix_time: 1.0395, d5.loss_plan_l1_fix_dist: 0.3227, d6.loss_plan_l1_fix_time: 1.0480, d6.loss_plan_l1_fix_dist: 0.3541, d0.loss_cls_all: 0.2049, d0.loss_bbox_all: 0.4137, d0.loss_cls: 0.2049, d0.loss_bbox: 0.4137, d1.loss_cls: 0.1931, d1.loss_bbox: 0.3851, d2.loss_cls: 0.1797, d2.loss_bbox: 0.3675, d3.loss_cls: 0.1681, d3.loss_bbox: 0.3634, d4.loss_cls: 0.1612, d4.loss_bbox: 0.3661, d5.loss_cls: 0.1636, d5.loss_bbox: 0.3650, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9149, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7316, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6808, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6698, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6638, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6567, d0.loss_map_cls_all: 0.2128, d0.loss_map_pts_all: 1.3704, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2128, d0.loss_map_pts: 1.3704, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.1824, d1.loss_map_pts: 0.9268, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1647, d2.loss_map_pts: 0.7474, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1540, d3.loss_map_pts: 0.6912, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1490, d4.loss_map_pts: 0.6725, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1449, d5.loss_map_pts: 0.6655, d5.loss_map_dir: 0.0103, loss: 28.7824, grad_norm: 162.7224 +2026-02-27 10:56:19,028 - DriveTransformer - INFO - Epoch [7][1650/39528] lr: 8.550e-05, eta: 6 days, 0:42:15, time: 0.749, data_time: 0.036, memory: 19865, loss_cls: 0.1839, loss_bbox: 0.3947, loss_traj: 0.5929, loss_traj_cls: 0.0010, loss_map_cls: 0.1590, loss_map_pts: 0.7239, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.9408, d0.loss_plan_l1_fix_dist: 0.4232, d1.loss_plan_l1_fix_time: 1.1653, d1.loss_plan_l1_fix_dist: 0.2514, d2.loss_plan_l1_fix_time: 1.1534, d2.loss_plan_l1_fix_dist: 0.2481, d3.loss_plan_l1_fix_time: 1.1496, d3.loss_plan_l1_fix_dist: 0.2630, d4.loss_plan_l1_fix_time: 1.1551, d4.loss_plan_l1_fix_dist: 0.2801, d5.loss_plan_l1_fix_time: 1.1609, d5.loss_plan_l1_fix_dist: 0.2971, d6.loss_plan_l1_fix_time: 1.1673, d6.loss_plan_l1_fix_dist: 0.3191, d0.loss_cls_all: 0.2208, d0.loss_bbox_all: 0.4542, d0.loss_cls: 0.2208, d0.loss_bbox: 0.4542, d1.loss_cls: 0.2110, d1.loss_bbox: 0.4201, d2.loss_cls: 0.1983, d2.loss_bbox: 0.4053, d3.loss_cls: 0.1836, d3.loss_bbox: 0.3993, d4.loss_cls: 0.1810, d4.loss_bbox: 0.3968, d5.loss_cls: 0.1845, d5.loss_bbox: 0.3938, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7693, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6520, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6068, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5991, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5934, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5965, d0.loss_map_cls_all: 0.2320, d0.loss_map_pts_all: 1.4697, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2320, d0.loss_map_pts: 1.4697, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.1981, d1.loss_map_pts: 0.9911, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1808, d2.loss_map_pts: 0.8142, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1720, d3.loss_map_pts: 0.7540, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1646, d4.loss_map_pts: 0.7338, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1593, d5.loss_map_pts: 0.7266, d5.loss_map_dir: 0.0113, loss: 30.5612, grad_norm: 163.8014 +2026-02-27 10:56:56,863 - DriveTransformer - INFO - Epoch [7][1700/39528] lr: 8.550e-05, eta: 6 days, 0:49:34, time: 0.757, data_time: 0.032, memory: 19865, loss_cls: 0.1432, loss_bbox: 0.3398, loss_traj: 0.5910, loss_traj_cls: 0.0011, loss_map_cls: 0.1430, loss_map_pts: 0.6861, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.6271, d0.loss_plan_l1_fix_dist: 0.4970, d1.loss_plan_l1_fix_time: 0.9660, d1.loss_plan_l1_fix_dist: 0.1905, d2.loss_plan_l1_fix_time: 0.9590, d2.loss_plan_l1_fix_dist: 0.1940, d3.loss_plan_l1_fix_time: 0.9588, d3.loss_plan_l1_fix_dist: 0.2142, d4.loss_plan_l1_fix_time: 0.9642, d4.loss_plan_l1_fix_dist: 0.2358, d5.loss_plan_l1_fix_time: 0.9696, d5.loss_plan_l1_fix_dist: 0.2602, d6.loss_plan_l1_fix_time: 0.9756, d6.loss_plan_l1_fix_dist: 0.2903, d0.loss_cls_all: 0.1728, d0.loss_bbox_all: 0.3901, d0.loss_cls: 0.1728, d0.loss_bbox: 0.3901, d1.loss_cls: 0.1672, d1.loss_bbox: 0.3590, d2.loss_cls: 0.1588, d2.loss_bbox: 0.3431, d3.loss_cls: 0.1501, d3.loss_bbox: 0.3403, d4.loss_cls: 0.1442, d4.loss_bbox: 0.3415, d5.loss_cls: 0.1421, d5.loss_bbox: 0.3413, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7519, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6250, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5837, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5824, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5881, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5895, d0.loss_map_cls_all: 0.2100, d0.loss_map_pts_all: 1.4934, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2100, d0.loss_map_pts: 1.4934, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1793, d1.loss_map_pts: 0.9808, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1611, d2.loss_map_pts: 0.7935, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1513, d3.loss_map_pts: 0.7267, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1459, d4.loss_map_pts: 0.6937, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1443, d5.loss_map_pts: 0.6866, d5.loss_map_dir: 0.0105, loss: 27.6970, grad_norm: 164.3860 +2026-02-27 10:57:32,205 - DriveTransformer - INFO - Epoch [7][1750/39528] lr: 8.550e-05, eta: 6 days, 0:39:36, time: 0.707, data_time: 0.034, memory: 19865, loss_cls: 0.1687, loss_bbox: 0.3880, loss_traj: 0.6647, loss_traj_cls: 0.0010, loss_map_cls: 0.1570, loss_map_pts: 0.7361, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.8663, d0.loss_plan_l1_fix_dist: 0.3177, d1.loss_plan_l1_fix_time: 1.2272, d1.loss_plan_l1_fix_dist: 0.1858, d2.loss_plan_l1_fix_time: 1.2189, d2.loss_plan_l1_fix_dist: 0.1892, d3.loss_plan_l1_fix_time: 1.2237, d3.loss_plan_l1_fix_dist: 0.2048, d4.loss_plan_l1_fix_time: 1.2310, d4.loss_plan_l1_fix_dist: 0.2223, d5.loss_plan_l1_fix_time: 1.2386, d5.loss_plan_l1_fix_dist: 0.2403, d6.loss_plan_l1_fix_time: 1.2466, d6.loss_plan_l1_fix_dist: 0.2597, d0.loss_cls_all: 0.2141, d0.loss_bbox_all: 0.4382, d0.loss_cls: 0.2141, d0.loss_bbox: 0.4382, d1.loss_cls: 0.2058, d1.loss_bbox: 0.4067, d2.loss_cls: 0.1883, d2.loss_bbox: 0.3912, d3.loss_cls: 0.1781, d3.loss_bbox: 0.3857, d4.loss_cls: 0.1697, d4.loss_bbox: 0.3873, d5.loss_cls: 0.1686, d5.loss_bbox: 0.3885, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9119, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7431, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6851, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6757, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6712, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6655, d0.loss_map_cls_all: 0.2273, d0.loss_map_pts_all: 1.3806, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2273, d0.loss_map_pts: 1.3806, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2018, d1.loss_map_pts: 0.9841, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1818, d2.loss_map_pts: 0.8333, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1709, d3.loss_map_pts: 0.7681, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1646, d4.loss_map_pts: 0.7431, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1592, d5.loss_map_pts: 0.7377, d5.loss_map_dir: 0.0096, loss: 30.7566, grad_norm: 163.1354 +2026-02-27 10:58:06,012 - DriveTransformer - INFO - Epoch [7][1800/39528] lr: 8.550e-05, eta: 6 days, 0:20:04, time: 0.676, data_time: 0.035, memory: 19865, loss_cls: 0.1705, loss_bbox: 0.3579, loss_traj: 0.6743, loss_traj_cls: 0.0010, loss_map_cls: 0.1647, loss_map_pts: 0.6252, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.5111, d0.loss_plan_l1_fix_dist: 0.3544, d1.loss_plan_l1_fix_time: 1.0657, d1.loss_plan_l1_fix_dist: 0.1674, d2.loss_plan_l1_fix_time: 1.0562, d2.loss_plan_l1_fix_dist: 0.1708, d3.loss_plan_l1_fix_time: 1.0517, d3.loss_plan_l1_fix_dist: 0.1869, d4.loss_plan_l1_fix_time: 1.0543, d4.loss_plan_l1_fix_dist: 0.2071, d5.loss_plan_l1_fix_time: 1.0572, d5.loss_plan_l1_fix_dist: 0.2286, d6.loss_plan_l1_fix_time: 1.0608, d6.loss_plan_l1_fix_dist: 0.2470, d0.loss_cls_all: 0.2082, d0.loss_bbox_all: 0.4242, d0.loss_cls: 0.2082, d0.loss_bbox: 0.4242, d1.loss_cls: 0.1992, d1.loss_bbox: 0.3884, d2.loss_cls: 0.1872, d2.loss_bbox: 0.3678, d3.loss_cls: 0.1778, d3.loss_bbox: 0.3613, d4.loss_cls: 0.1713, d4.loss_bbox: 0.3602, d5.loss_cls: 0.1704, d5.loss_bbox: 0.3595, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9316, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7216, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6824, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6754, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6730, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6752, d0.loss_map_cls_all: 0.2275, d0.loss_map_pts_all: 1.2335, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2275, d0.loss_map_pts: 1.2335, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.2020, d1.loss_map_pts: 0.8684, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1830, d2.loss_map_pts: 0.7194, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1752, d3.loss_map_pts: 0.6557, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1703, d4.loss_map_pts: 0.6304, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1670, d5.loss_map_pts: 0.6254, d5.loss_map_dir: 0.0076, loss: 28.1643, grad_norm: 161.9207 +2026-02-27 10:58:42,096 - DriveTransformer - INFO - Epoch [7][1850/39528] lr: 8.550e-05, eta: 6 days, 0:16:06, time: 0.722, data_time: 0.032, memory: 19865, loss_cls: 0.1504, loss_bbox: 0.3618, loss_traj: 0.7248, loss_traj_cls: 0.0010, loss_map_cls: 0.1344, loss_map_pts: 0.6245, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.4700, d0.loss_plan_l1_fix_dist: 0.3998, d1.loss_plan_l1_fix_time: 1.0906, d1.loss_plan_l1_fix_dist: 0.1893, d2.loss_plan_l1_fix_time: 1.0674, d2.loss_plan_l1_fix_dist: 0.1926, d3.loss_plan_l1_fix_time: 1.0715, d3.loss_plan_l1_fix_dist: 0.2072, d4.loss_plan_l1_fix_time: 1.0775, d4.loss_plan_l1_fix_dist: 0.2268, d5.loss_plan_l1_fix_time: 1.0831, d5.loss_plan_l1_fix_dist: 0.2517, d6.loss_plan_l1_fix_time: 1.0890, d6.loss_plan_l1_fix_dist: 0.2790, d0.loss_cls_all: 0.1842, d0.loss_bbox_all: 0.4139, d0.loss_cls: 0.1842, d0.loss_bbox: 0.4139, d1.loss_cls: 0.1746, d1.loss_bbox: 0.3815, d2.loss_cls: 0.1627, d2.loss_bbox: 0.3684, d3.loss_cls: 0.1548, d3.loss_bbox: 0.3629, d4.loss_cls: 0.1503, d4.loss_bbox: 0.3618, d5.loss_cls: 0.1499, d5.loss_bbox: 0.3623, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9898, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8017, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7450, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7372, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7286, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7275, d0.loss_map_cls_all: 0.2166, d0.loss_map_pts_all: 1.2691, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2166, d0.loss_map_pts: 1.2691, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1825, d1.loss_map_pts: 0.9054, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1586, d2.loss_map_pts: 0.7323, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1483, d3.loss_map_pts: 0.6558, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1409, d4.loss_map_pts: 0.6317, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1356, d5.loss_map_pts: 0.6253, d5.loss_map_dir: 0.0076, loss: 28.5986, grad_norm: 161.2662 +2026-02-27 10:59:18,916 - DriveTransformer - INFO - Epoch [7][1900/39528] lr: 8.550e-05, eta: 6 days, 0:16:53, time: 0.736, data_time: 0.036, memory: 19865, loss_cls: 0.1352, loss_bbox: 0.3511, loss_traj: 0.7306, loss_traj_cls: 0.0010, loss_map_cls: 0.1742, loss_map_pts: 0.7185, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.5106, d0.loss_plan_l1_fix_dist: 0.4622, d1.loss_plan_l1_fix_time: 1.0619, d1.loss_plan_l1_fix_dist: 0.1659, d2.loss_plan_l1_fix_time: 1.0466, d2.loss_plan_l1_fix_dist: 0.1708, d3.loss_plan_l1_fix_time: 1.0454, d3.loss_plan_l1_fix_dist: 0.1798, d4.loss_plan_l1_fix_time: 1.0500, d4.loss_plan_l1_fix_dist: 0.1927, d5.loss_plan_l1_fix_time: 1.0552, d5.loss_plan_l1_fix_dist: 0.2077, d6.loss_plan_l1_fix_time: 1.0606, d6.loss_plan_l1_fix_dist: 0.2283, d0.loss_cls_all: 0.1779, d0.loss_bbox_all: 0.4100, d0.loss_cls: 0.1779, d0.loss_bbox: 0.4100, d1.loss_cls: 0.1658, d1.loss_bbox: 0.3797, d2.loss_cls: 0.1556, d2.loss_bbox: 0.3594, d3.loss_cls: 0.1442, d3.loss_bbox: 0.3524, d4.loss_cls: 0.1355, d4.loss_bbox: 0.3529, d5.loss_cls: 0.1343, d5.loss_bbox: 0.3527, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0456, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8046, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7497, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7321, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7250, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7246, d0.loss_map_cls_all: 0.2415, d0.loss_map_pts_all: 1.4625, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2415, d0.loss_map_pts: 1.4625, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2185, d1.loss_map_pts: 1.0108, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1969, d2.loss_map_pts: 0.8249, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1866, d3.loss_map_pts: 0.7491, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1799, d4.loss_map_pts: 0.7237, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1752, d5.loss_map_pts: 0.7195, d5.loss_map_dir: 0.0106, loss: 29.5188, grad_norm: 161.3314 +2026-02-27 10:59:54,239 - DriveTransformer - INFO - Epoch [7][1950/39528] lr: 8.550e-05, eta: 6 days, 0:08:33, time: 0.707, data_time: 0.036, memory: 19865, loss_cls: 0.1490, loss_bbox: 0.3491, loss_traj: 0.6400, loss_traj_cls: 0.0011, loss_map_cls: 0.1408, loss_map_pts: 0.5906, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.5126, d0.loss_plan_l1_fix_dist: 0.5147, d1.loss_plan_l1_fix_time: 0.9981, d1.loss_plan_l1_fix_dist: 0.1789, d2.loss_plan_l1_fix_time: 0.9848, d2.loss_plan_l1_fix_dist: 0.1843, d3.loss_plan_l1_fix_time: 0.9831, d3.loss_plan_l1_fix_dist: 0.1961, d4.loss_plan_l1_fix_time: 0.9873, d4.loss_plan_l1_fix_dist: 0.2094, d5.loss_plan_l1_fix_time: 0.9923, d5.loss_plan_l1_fix_dist: 0.2231, d6.loss_plan_l1_fix_time: 0.9980, d6.loss_plan_l1_fix_dist: 0.2365, d0.loss_cls_all: 0.1832, d0.loss_bbox_all: 0.4010, d0.loss_cls: 0.1832, d0.loss_bbox: 0.4010, d1.loss_cls: 0.1742, d1.loss_bbox: 0.3735, d2.loss_cls: 0.1624, d2.loss_bbox: 0.3560, d3.loss_cls: 0.1544, d3.loss_bbox: 0.3500, d4.loss_cls: 0.1516, d4.loss_bbox: 0.3478, d5.loss_cls: 0.1496, d5.loss_bbox: 0.3487, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8298, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6837, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6540, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6464, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6450, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6416, d0.loss_map_cls_all: 0.2117, d0.loss_map_pts_all: 1.1722, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2117, d0.loss_map_pts: 1.1722, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1800, d1.loss_map_pts: 0.8209, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1608, d2.loss_map_pts: 0.6723, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1511, d3.loss_map_pts: 0.6177, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1450, d4.loss_map_pts: 0.6003, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1428, d5.loss_map_pts: 0.5919, d5.loss_map_dir: 0.0082, loss: 26.8276, grad_norm: 160.9163 +2026-02-27 11:00:31,400 - DriveTransformer - INFO - Epoch [7][2000/39528] lr: 8.550e-05, eta: 6 days, 0:11:52, time: 0.745, data_time: 0.034, memory: 19865, loss_cls: 0.1646, loss_bbox: 0.3515, loss_traj: 0.6304, loss_traj_cls: 0.0010, loss_map_cls: 0.1763, loss_map_pts: 0.7845, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.7343, d0.loss_plan_l1_fix_dist: 0.3710, d1.loss_plan_l1_fix_time: 1.2068, d1.loss_plan_l1_fix_dist: 0.1918, d2.loss_plan_l1_fix_time: 1.2037, d2.loss_plan_l1_fix_dist: 0.1843, d3.loss_plan_l1_fix_time: 1.2032, d3.loss_plan_l1_fix_dist: 0.1923, d4.loss_plan_l1_fix_time: 1.2087, d4.loss_plan_l1_fix_dist: 0.2020, d5.loss_plan_l1_fix_time: 1.2150, d5.loss_plan_l1_fix_dist: 0.2150, d6.loss_plan_l1_fix_time: 1.2222, d6.loss_plan_l1_fix_dist: 0.2266, d0.loss_cls_all: 0.2075, d0.loss_bbox_all: 0.4101, d0.loss_cls: 0.2075, d0.loss_bbox: 0.4101, d1.loss_cls: 0.1981, d1.loss_bbox: 0.3770, d2.loss_cls: 0.1827, d2.loss_bbox: 0.3597, d3.loss_cls: 0.1688, d3.loss_bbox: 0.3553, d4.loss_cls: 0.1646, d4.loss_bbox: 0.3523, d5.loss_cls: 0.1638, d5.loss_bbox: 0.3523, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8396, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6851, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6493, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6370, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6314, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6289, d0.loss_map_cls_all: 0.2502, d0.loss_map_pts_all: 1.5345, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2502, d0.loss_map_pts: 1.5345, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2203, d1.loss_map_pts: 1.0755, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2009, d2.loss_map_pts: 0.8878, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.1902, d3.loss_map_pts: 0.8196, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.1826, d4.loss_map_pts: 0.7932, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.1799, d5.loss_map_pts: 0.7839, d5.loss_map_dir: 0.0122, loss: 30.6678, grad_norm: 160.8375 +2026-02-27 11:01:07,329 - DriveTransformer - INFO - Epoch [7][2050/39528] lr: 8.550e-05, eta: 6 days, 0:07:05, time: 0.717, data_time: 0.033, memory: 19865, loss_cls: 0.1613, loss_bbox: 0.3472, loss_traj: 0.5732, loss_traj_cls: 0.0011, loss_map_cls: 0.1332, loss_map_pts: 0.5947, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.4270, d0.loss_plan_l1_fix_dist: 0.4446, d1.loss_plan_l1_fix_time: 0.9173, d1.loss_plan_l1_fix_dist: 0.2018, d2.loss_plan_l1_fix_time: 0.9150, d2.loss_plan_l1_fix_dist: 0.1951, d3.loss_plan_l1_fix_time: 0.9179, d3.loss_plan_l1_fix_dist: 0.2067, d4.loss_plan_l1_fix_time: 0.9233, d4.loss_plan_l1_fix_dist: 0.2200, d5.loss_plan_l1_fix_time: 0.9291, d5.loss_plan_l1_fix_dist: 0.2345, d6.loss_plan_l1_fix_time: 0.9361, d6.loss_plan_l1_fix_dist: 0.2540, d0.loss_cls_all: 0.1910, d0.loss_bbox_all: 0.4028, d0.loss_cls: 0.1910, d0.loss_bbox: 0.4028, d1.loss_cls: 0.1850, d1.loss_bbox: 0.3659, d2.loss_cls: 0.1738, d2.loss_bbox: 0.3489, d3.loss_cls: 0.1620, d3.loss_bbox: 0.3443, d4.loss_cls: 0.1594, d4.loss_bbox: 0.3430, d5.loss_cls: 0.1584, d5.loss_bbox: 0.3457, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7531, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6244, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5845, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5738, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5704, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5696, d0.loss_map_cls_all: 0.1960, d0.loss_map_pts_all: 1.1639, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1960, d0.loss_map_pts: 1.1639, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1712, d1.loss_map_pts: 0.8045, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1521, d2.loss_map_pts: 0.6758, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1459, d3.loss_map_pts: 0.6213, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1394, d4.loss_map_pts: 0.6038, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1345, d5.loss_map_pts: 0.5945, d5.loss_map_dir: 0.0081, loss: 25.8158, grad_norm: 159.7803 +2026-02-27 11:01:44,143 - DriveTransformer - INFO - Epoch [7][2100/39528] lr: 8.550e-05, eta: 6 days, 0:07:52, time: 0.736, data_time: 0.033, memory: 19865, loss_cls: 0.2020, loss_bbox: 0.3979, loss_traj: 0.5988, loss_traj_cls: 0.0011, loss_map_cls: 0.1775, loss_map_pts: 0.7920, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.5889, d0.loss_plan_l1_fix_dist: 0.3425, d1.loss_plan_l1_fix_time: 0.9701, d1.loss_plan_l1_fix_dist: 0.1613, d2.loss_plan_l1_fix_time: 0.9511, d2.loss_plan_l1_fix_dist: 0.1573, d3.loss_plan_l1_fix_time: 0.9582, d3.loss_plan_l1_fix_dist: 0.1656, d4.loss_plan_l1_fix_time: 0.9629, d4.loss_plan_l1_fix_dist: 0.1794, d5.loss_plan_l1_fix_time: 0.9678, d5.loss_plan_l1_fix_dist: 0.1931, d6.loss_plan_l1_fix_time: 0.9731, d6.loss_plan_l1_fix_dist: 0.2105, d0.loss_cls_all: 0.2444, d0.loss_bbox_all: 0.4541, d0.loss_cls: 0.2444, d0.loss_bbox: 0.4541, d1.loss_cls: 0.2330, d1.loss_bbox: 0.4192, d2.loss_cls: 0.2184, d2.loss_bbox: 0.4027, d3.loss_cls: 0.2101, d3.loss_bbox: 0.3940, d4.loss_cls: 0.2041, d4.loss_bbox: 0.3933, d5.loss_cls: 0.2018, d5.loss_bbox: 0.3953, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7346, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6141, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5931, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5948, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5904, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6003, d0.loss_map_cls_all: 0.2442, d0.loss_map_pts_all: 1.5452, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2442, d0.loss_map_pts: 1.5452, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2194, d1.loss_map_pts: 1.0676, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2043, d2.loss_map_pts: 0.8988, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1952, d3.loss_map_pts: 0.8289, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1851, d4.loss_map_pts: 0.8013, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.1803, d5.loss_map_pts: 0.7932, d5.loss_map_dir: 0.0119, loss: 29.1973, grad_norm: 159.1944 +2026-02-27 11:02:19,897 - DriveTransformer - INFO - Epoch [7][2150/39528] lr: 8.550e-05, eta: 6 days, 0:02:45, time: 0.715, data_time: 0.035, memory: 19865, loss_cls: 0.1481, loss_bbox: 0.3518, loss_traj: 0.7647, loss_traj_cls: 0.0011, loss_map_cls: 0.1398, loss_map_pts: 0.6243, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.4891, d0.loss_plan_l1_fix_dist: 0.3727, d1.loss_plan_l1_fix_time: 1.1090, d1.loss_plan_l1_fix_dist: 0.2030, d2.loss_plan_l1_fix_time: 1.1044, d2.loss_plan_l1_fix_dist: 0.2074, d3.loss_plan_l1_fix_time: 1.1047, d3.loss_plan_l1_fix_dist: 0.2286, d4.loss_plan_l1_fix_time: 1.1104, d4.loss_plan_l1_fix_dist: 0.2517, d5.loss_plan_l1_fix_time: 1.1167, d5.loss_plan_l1_fix_dist: 0.2746, d6.loss_plan_l1_fix_time: 1.1241, d6.loss_plan_l1_fix_dist: 0.2980, d0.loss_cls_all: 0.1830, d0.loss_bbox_all: 0.4089, d0.loss_cls: 0.1830, d0.loss_bbox: 0.4089, d1.loss_cls: 0.1767, d1.loss_bbox: 0.3791, d2.loss_cls: 0.1647, d2.loss_bbox: 0.3622, d3.loss_cls: 0.1548, d3.loss_bbox: 0.3532, d4.loss_cls: 0.1476, d4.loss_bbox: 0.3520, d5.loss_cls: 0.1478, d5.loss_bbox: 0.3515, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9874, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8304, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7755, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7685, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.7705, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7658, d0.loss_map_cls_all: 0.2057, d0.loss_map_pts_all: 1.2269, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2057, d0.loss_map_pts: 1.2269, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1763, d1.loss_map_pts: 0.8619, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1604, d2.loss_map_pts: 0.7182, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1511, d3.loss_map_pts: 0.6581, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1456, d4.loss_map_pts: 0.6315, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1414, d5.loss_map_pts: 0.6257, d5.loss_map_dir: 0.0097, loss: 28.9136, grad_norm: 158.1180 +2026-02-27 11:02:57,864 - DriveTransformer - INFO - Epoch [7][2200/39528] lr: 8.550e-05, eta: 6 days, 0:09:45, time: 0.759, data_time: 0.033, memory: 19865, loss_cls: 0.1729, loss_bbox: 0.3834, loss_traj: 0.6441, loss_traj_cls: 0.0011, loss_map_cls: 0.1586, loss_map_pts: 0.7636, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.4256, d0.loss_plan_l1_fix_dist: 0.4019, d1.loss_plan_l1_fix_time: 1.0775, d1.loss_plan_l1_fix_dist: 0.1953, d2.loss_plan_l1_fix_time: 1.0617, d2.loss_plan_l1_fix_dist: 0.1911, d3.loss_plan_l1_fix_time: 1.0667, d3.loss_plan_l1_fix_dist: 0.2039, d4.loss_plan_l1_fix_time: 1.0726, d4.loss_plan_l1_fix_dist: 0.2160, d5.loss_plan_l1_fix_time: 1.0792, d5.loss_plan_l1_fix_dist: 0.2297, d6.loss_plan_l1_fix_time: 1.0870, d6.loss_plan_l1_fix_dist: 0.2475, d0.loss_cls_all: 0.2141, d0.loss_bbox_all: 0.4345, d0.loss_cls: 0.2141, d0.loss_bbox: 0.4345, d1.loss_cls: 0.2102, d1.loss_bbox: 0.4040, d2.loss_cls: 0.1927, d2.loss_bbox: 0.3889, d3.loss_cls: 0.1820, d3.loss_bbox: 0.3838, d4.loss_cls: 0.1755, d4.loss_bbox: 0.3814, d5.loss_cls: 0.1728, d5.loss_bbox: 0.3819, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8417, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7061, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6701, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6610, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6520, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6478, d0.loss_map_cls_all: 0.2303, d0.loss_map_pts_all: 1.5270, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2303, d0.loss_map_pts: 1.5270, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2037, d1.loss_map_pts: 1.0637, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.1842, d2.loss_map_pts: 0.8763, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.1699, d3.loss_map_pts: 0.8039, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.1616, d4.loss_map_pts: 0.7725, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.1601, d5.loss_map_pts: 0.7651, d5.loss_map_dir: 0.0125, loss: 29.8068, grad_norm: 159.2669 +2026-02-27 11:03:34,003 - DriveTransformer - INFO - Epoch [7][2250/39528] lr: 8.550e-05, eta: 6 days, 0:06:48, time: 0.723, data_time: 0.029, memory: 19865, loss_cls: 0.1605, loss_bbox: 0.3792, loss_traj: 0.5996, loss_traj_cls: 0.0011, loss_map_cls: 0.1641, loss_map_pts: 0.7237, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.8084, d0.loss_plan_l1_fix_dist: 0.4834, d1.loss_plan_l1_fix_time: 1.0514, d1.loss_plan_l1_fix_dist: 0.1986, d2.loss_plan_l1_fix_time: 1.0354, d2.loss_plan_l1_fix_dist: 0.1911, d3.loss_plan_l1_fix_time: 1.0435, d3.loss_plan_l1_fix_dist: 0.1970, d4.loss_plan_l1_fix_time: 1.0476, d4.loss_plan_l1_fix_dist: 0.2067, d5.loss_plan_l1_fix_time: 1.0520, d5.loss_plan_l1_fix_dist: 0.2190, d6.loss_plan_l1_fix_time: 1.0570, d6.loss_plan_l1_fix_dist: 0.2309, d0.loss_cls_all: 0.2039, d0.loss_bbox_all: 0.4366, d0.loss_cls: 0.2039, d0.loss_bbox: 0.4366, d1.loss_cls: 0.1978, d1.loss_bbox: 0.4019, d2.loss_cls: 0.1812, d2.loss_bbox: 0.3844, d3.loss_cls: 0.1685, d3.loss_bbox: 0.3794, d4.loss_cls: 0.1622, d4.loss_bbox: 0.3775, d5.loss_cls: 0.1604, d5.loss_bbox: 0.3779, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7786, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6626, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6148, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6094, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6043, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6023, d0.loss_map_cls_all: 0.2441, d0.loss_map_pts_all: 1.3765, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2441, d0.loss_map_pts: 1.3765, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2079, d1.loss_map_pts: 0.9630, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1879, d2.loss_map_pts: 0.8186, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1805, d3.loss_map_pts: 0.7552, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1717, d4.loss_map_pts: 0.7309, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1657, d5.loss_map_pts: 0.7250, d5.loss_map_dir: 0.0101, loss: 29.0294, grad_norm: 158.9058 +2026-02-27 11:04:11,574 - DriveTransformer - INFO - Epoch [7][2300/39528] lr: 8.550e-05, eta: 6 days, 0:11:18, time: 0.751, data_time: 0.031, memory: 19865, loss_cls: 0.1517, loss_bbox: 0.3473, loss_traj: 0.7601, loss_traj_cls: 0.0012, loss_map_cls: 0.1208, loss_map_pts: 0.5806, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.5472, d0.loss_plan_l1_fix_dist: 0.4068, d1.loss_plan_l1_fix_time: 1.0839, d1.loss_plan_l1_fix_dist: 0.1760, d2.loss_plan_l1_fix_time: 1.0813, d2.loss_plan_l1_fix_dist: 0.1754, d3.loss_plan_l1_fix_time: 1.0925, d3.loss_plan_l1_fix_dist: 0.1857, d4.loss_plan_l1_fix_time: 1.0992, d4.loss_plan_l1_fix_dist: 0.1950, d5.loss_plan_l1_fix_time: 1.1051, d5.loss_plan_l1_fix_dist: 0.2042, d6.loss_plan_l1_fix_time: 1.1106, d6.loss_plan_l1_fix_dist: 0.2182, d0.loss_cls_all: 0.1818, d0.loss_bbox_all: 0.4053, d0.loss_cls: 0.1818, d0.loss_bbox: 0.4053, d1.loss_cls: 0.1727, d1.loss_bbox: 0.3769, d2.loss_cls: 0.1639, d2.loss_bbox: 0.3605, d3.loss_cls: 0.1550, d3.loss_bbox: 0.3531, d4.loss_cls: 0.1515, d4.loss_bbox: 0.3493, d5.loss_cls: 0.1503, d5.loss_bbox: 0.3481, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0179, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8340, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7765, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7633, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7613, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7609, d0.loss_map_cls_all: 0.1989, d0.loss_map_pts_all: 1.2460, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.1989, d0.loss_map_pts: 1.2460, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1639, d1.loss_map_pts: 0.8295, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1427, d2.loss_map_pts: 0.6710, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1307, d3.loss_map_pts: 0.6073, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1246, d4.loss_map_pts: 0.5858, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1220, d5.loss_map_pts: 0.5805, d5.loss_map_dir: 0.0089, loss: 28.2361, grad_norm: 154.4612 +2026-02-27 11:04:48,370 - DriveTransformer - INFO - Epoch [7][2350/39528] lr: 8.550e-05, eta: 6 days, 0:11:42, time: 0.736, data_time: 0.032, memory: 19865, loss_cls: 0.1723, loss_bbox: 0.3495, loss_traj: 0.6520, loss_traj_cls: 0.0011, loss_map_cls: 0.1563, loss_map_pts: 0.7208, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.8065, d0.loss_plan_l1_fix_dist: 0.4738, d1.loss_plan_l1_fix_time: 1.1412, d1.loss_plan_l1_fix_dist: 0.1849, d2.loss_plan_l1_fix_time: 1.1285, d2.loss_plan_l1_fix_dist: 0.1889, d3.loss_plan_l1_fix_time: 1.1314, d3.loss_plan_l1_fix_dist: 0.1993, d4.loss_plan_l1_fix_time: 1.1349, d4.loss_plan_l1_fix_dist: 0.2110, d5.loss_plan_l1_fix_time: 1.1384, d5.loss_plan_l1_fix_dist: 0.2254, d6.loss_plan_l1_fix_time: 1.1418, d6.loss_plan_l1_fix_dist: 0.2401, d0.loss_cls_all: 0.2042, d0.loss_bbox_all: 0.4213, d0.loss_cls: 0.2042, d0.loss_bbox: 0.4213, d1.loss_cls: 0.2000, d1.loss_bbox: 0.3822, d2.loss_cls: 0.1897, d2.loss_bbox: 0.3642, d3.loss_cls: 0.1771, d3.loss_bbox: 0.3558, d4.loss_cls: 0.1723, d4.loss_bbox: 0.3525, d5.loss_cls: 0.1714, d5.loss_bbox: 0.3499, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8088, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6959, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6521, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6442, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6450, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6457, d0.loss_map_cls_all: 0.2317, d0.loss_map_pts_all: 1.4681, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2317, d0.loss_map_pts: 1.4681, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2032, d1.loss_map_pts: 1.0076, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1786, d2.loss_map_pts: 0.8297, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1685, d3.loss_map_pts: 0.7582, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1610, d4.loss_map_pts: 0.7297, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1574, d5.loss_map_pts: 0.7222, d5.loss_map_dir: 0.0101, loss: 29.8571, grad_norm: 154.8553 +2026-02-27 11:05:24,451 - DriveTransformer - INFO - Epoch [7][2400/39528] lr: 8.550e-05, eta: 6 days, 0:08:32, time: 0.722, data_time: 0.035, memory: 19865, loss_cls: 0.1433, loss_bbox: 0.3395, loss_traj: 0.6734, loss_traj_cls: 0.0012, loss_map_cls: 0.1420, loss_map_pts: 0.6413, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.7011, d0.loss_plan_l1_fix_dist: 0.5213, d1.loss_plan_l1_fix_time: 1.0820, d1.loss_plan_l1_fix_dist: 0.1671, d2.loss_plan_l1_fix_time: 1.0687, d2.loss_plan_l1_fix_dist: 0.1690, d3.loss_plan_l1_fix_time: 1.0695, d3.loss_plan_l1_fix_dist: 0.1793, d4.loss_plan_l1_fix_time: 1.0730, d4.loss_plan_l1_fix_dist: 0.1946, d5.loss_plan_l1_fix_time: 1.0768, d5.loss_plan_l1_fix_dist: 0.2126, d6.loss_plan_l1_fix_time: 1.0811, d6.loss_plan_l1_fix_dist: 0.2326, d0.loss_cls_all: 0.1823, d0.loss_bbox_all: 0.3920, d0.loss_cls: 0.1823, d0.loss_bbox: 0.3920, d1.loss_cls: 0.1728, d1.loss_bbox: 0.3609, d2.loss_cls: 0.1580, d2.loss_bbox: 0.3492, d3.loss_cls: 0.1476, d3.loss_bbox: 0.3421, d4.loss_cls: 0.1438, d4.loss_bbox: 0.3406, d5.loss_cls: 0.1419, d5.loss_bbox: 0.3404, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8876, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7461, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7017, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6820, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6819, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6755, d0.loss_map_cls_all: 0.2011, d0.loss_map_pts_all: 1.2539, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2011, d0.loss_map_pts: 1.2539, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1819, d1.loss_map_pts: 0.8594, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1611, d2.loss_map_pts: 0.7300, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1492, d3.loss_map_pts: 0.6744, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1445, d4.loss_map_pts: 0.6502, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1423, d5.loss_map_pts: 0.6431, d5.loss_map_dir: 0.0083, loss: 28.1082, grad_norm: 154.2659 +2026-02-27 11:05:58,505 - DriveTransformer - INFO - Epoch [7][2450/39528] lr: 8.550e-05, eta: 5 days, 23:55:41, time: 0.681, data_time: 0.031, memory: 19865, loss_cls: 0.1691, loss_bbox: 0.3694, loss_traj: 0.7886, loss_traj_cls: 0.0011, loss_map_cls: 0.1802, loss_map_pts: 0.6780, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.6624, d0.loss_plan_l1_fix_dist: 0.4361, d1.loss_plan_l1_fix_time: 1.0585, d1.loss_plan_l1_fix_dist: 0.1955, d2.loss_plan_l1_fix_time: 1.0536, d2.loss_plan_l1_fix_dist: 0.1959, d3.loss_plan_l1_fix_time: 1.0561, d3.loss_plan_l1_fix_dist: 0.2016, d4.loss_plan_l1_fix_time: 1.0594, d4.loss_plan_l1_fix_dist: 0.2110, d5.loss_plan_l1_fix_time: 1.0627, d5.loss_plan_l1_fix_dist: 0.2245, d6.loss_plan_l1_fix_time: 1.0668, d6.loss_plan_l1_fix_dist: 0.2437, d0.loss_cls_all: 0.2066, d0.loss_bbox_all: 0.4404, d0.loss_cls: 0.2066, d0.loss_bbox: 0.4404, d1.loss_cls: 0.2045, d1.loss_bbox: 0.4012, d2.loss_cls: 0.1881, d2.loss_bbox: 0.3814, d3.loss_cls: 0.1772, d3.loss_bbox: 0.3745, d4.loss_cls: 0.1723, d4.loss_bbox: 0.3718, d5.loss_cls: 0.1693, d5.loss_bbox: 0.3706, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0652, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8522, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.8046, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7929, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.7928, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7882, d0.loss_map_cls_all: 0.2584, d0.loss_map_pts_all: 1.2688, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2584, d0.loss_map_pts: 1.2688, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.2284, d1.loss_map_pts: 0.9191, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.2069, d2.loss_map_pts: 0.7846, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1922, d3.loss_map_pts: 0.7194, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1869, d4.loss_map_pts: 0.6905, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1818, d5.loss_map_pts: 0.6791, d5.loss_map_dir: 0.0070, loss: 30.0199, grad_norm: 153.2502 +2026-02-27 11:06:35,596 - DriveTransformer - INFO - Epoch [7][2500/39528] lr: 8.550e-05, eta: 5 days, 23:57:41, time: 0.742, data_time: 0.034, memory: 19865, loss_cls: 0.2004, loss_bbox: 0.3849, loss_traj: 0.6345, loss_traj_cls: 0.0011, loss_map_cls: 0.1839, loss_map_pts: 0.7858, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 3.2089, d0.loss_plan_l1_fix_dist: 0.4565, d1.loss_plan_l1_fix_time: 1.2512, d1.loss_plan_l1_fix_dist: 0.2302, d2.loss_plan_l1_fix_time: 1.2312, d2.loss_plan_l1_fix_dist: 0.2219, d3.loss_plan_l1_fix_time: 1.2344, d3.loss_plan_l1_fix_dist: 0.2306, d4.loss_plan_l1_fix_time: 1.2376, d4.loss_plan_l1_fix_dist: 0.2408, d5.loss_plan_l1_fix_time: 1.2413, d5.loss_plan_l1_fix_dist: 0.2513, d6.loss_plan_l1_fix_time: 1.2458, d6.loss_plan_l1_fix_dist: 0.2628, d0.loss_cls_all: 0.2396, d0.loss_bbox_all: 0.4592, d0.loss_cls: 0.2396, d0.loss_bbox: 0.4592, d1.loss_cls: 0.2267, d1.loss_bbox: 0.4231, d2.loss_cls: 0.2171, d2.loss_bbox: 0.4036, d3.loss_cls: 0.2065, d3.loss_bbox: 0.3944, d4.loss_cls: 0.2019, d4.loss_bbox: 0.3897, d5.loss_cls: 0.2010, d5.loss_bbox: 0.3851, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8701, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6913, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6490, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6352, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6300, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6351, d0.loss_map_cls_all: 0.2459, d0.loss_map_pts_all: 1.4859, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2459, d0.loss_map_pts: 1.4859, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2240, d1.loss_map_pts: 1.0543, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2054, d2.loss_map_pts: 0.8858, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1938, d3.loss_map_pts: 0.8257, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1883, d4.loss_map_pts: 0.7978, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1846, d5.loss_map_pts: 0.7871, d5.loss_map_dir: 0.0110, loss: 32.1922, grad_norm: 151.8360 +2026-02-27 11:07:11,262 - DriveTransformer - INFO - Epoch [7][2550/39528] lr: 8.550e-05, eta: 5 days, 23:53:00, time: 0.713, data_time: 0.038, memory: 19865, loss_cls: 0.1610, loss_bbox: 0.3667, loss_traj: 0.5876, loss_traj_cls: 0.0011, loss_map_cls: 0.1741, loss_map_pts: 0.7474, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.4936, d0.loss_plan_l1_fix_dist: 0.4602, d1.loss_plan_l1_fix_time: 0.9808, d1.loss_plan_l1_fix_dist: 0.2041, d2.loss_plan_l1_fix_time: 0.9700, d2.loss_plan_l1_fix_dist: 0.2008, d3.loss_plan_l1_fix_time: 0.9647, d3.loss_plan_l1_fix_dist: 0.2121, d4.loss_plan_l1_fix_time: 0.9664, d4.loss_plan_l1_fix_dist: 0.2247, d5.loss_plan_l1_fix_time: 0.9690, d5.loss_plan_l1_fix_dist: 0.2373, d6.loss_plan_l1_fix_time: 0.9721, d6.loss_plan_l1_fix_dist: 0.2519, d0.loss_cls_all: 0.2023, d0.loss_bbox_all: 0.4289, d0.loss_cls: 0.2023, d0.loss_bbox: 0.4289, d1.loss_cls: 0.1954, d1.loss_bbox: 0.3960, d2.loss_cls: 0.1806, d2.loss_bbox: 0.3800, d3.loss_cls: 0.1687, d3.loss_bbox: 0.3706, d4.loss_cls: 0.1620, d4.loss_bbox: 0.3680, d5.loss_cls: 0.1610, d5.loss_bbox: 0.3674, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7518, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6205, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5894, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5811, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5869, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5866, d0.loss_map_cls_all: 0.2520, d0.loss_map_pts_all: 1.4067, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2520, d0.loss_map_pts: 1.4067, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2255, d1.loss_map_pts: 1.0203, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.2009, d2.loss_map_pts: 0.8579, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1890, d3.loss_map_pts: 0.7853, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1812, d4.loss_map_pts: 0.7580, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1761, d5.loss_map_pts: 0.7489, d5.loss_map_dir: 0.0095, loss: 28.4137, grad_norm: 150.9657 +2026-02-27 11:07:49,186 - DriveTransformer - INFO - Epoch [7][2600/39528] lr: 8.550e-05, eta: 5 days, 23:58:43, time: 0.758, data_time: 0.034, memory: 19865, loss_cls: 0.1988, loss_bbox: 0.4189, loss_traj: 0.7195, loss_traj_cls: 0.0011, loss_map_cls: 0.1800, loss_map_pts: 0.9057, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 3.1115, d0.loss_plan_l1_fix_dist: 0.4359, d1.loss_plan_l1_fix_time: 1.3830, d1.loss_plan_l1_fix_dist: 0.2566, d2.loss_plan_l1_fix_time: 1.3788, d2.loss_plan_l1_fix_dist: 0.2675, d3.loss_plan_l1_fix_time: 1.3852, d3.loss_plan_l1_fix_dist: 0.2909, d4.loss_plan_l1_fix_time: 1.3893, d4.loss_plan_l1_fix_dist: 0.3189, d5.loss_plan_l1_fix_time: 1.3929, d5.loss_plan_l1_fix_dist: 0.3478, d6.loss_plan_l1_fix_time: 1.3968, d6.loss_plan_l1_fix_dist: 0.3777, d0.loss_cls_all: 0.2408, d0.loss_bbox_all: 0.4789, d0.loss_cls: 0.2408, d0.loss_bbox: 0.4789, d1.loss_cls: 0.2304, d1.loss_bbox: 0.4438, d2.loss_cls: 0.2187, d2.loss_bbox: 0.4272, d3.loss_cls: 0.2043, d3.loss_bbox: 0.4227, d4.loss_cls: 0.2013, d4.loss_bbox: 0.4212, d5.loss_cls: 0.2008, d5.loss_bbox: 0.4191, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9813, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8170, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7495, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7294, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7207, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7182, d0.loss_map_cls_all: 0.2422, d0.loss_map_pts_all: 1.6884, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2422, d0.loss_map_pts: 1.6884, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2194, d1.loss_map_pts: 1.2062, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2016, d2.loss_map_pts: 1.0179, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.1909, d3.loss_map_pts: 0.9422, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.1872, d4.loss_map_pts: 0.9125, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.1821, d5.loss_map_pts: 0.9055, d5.loss_map_dir: 0.0124, loss: 35.4310, grad_norm: 152.9981 +2026-02-27 11:08:26,001 - DriveTransformer - INFO - Epoch [7][2650/39528] lr: 8.550e-05, eta: 5 days, 23:59:15, time: 0.736, data_time: 0.033, memory: 19865, loss_cls: 0.1588, loss_bbox: 0.3805, loss_traj: 0.7020, loss_traj_cls: 0.0011, loss_map_cls: 0.1662, loss_map_pts: 0.7569, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.9070, d0.loss_plan_l1_fix_dist: 0.4750, d1.loss_plan_l1_fix_time: 1.1413, d1.loss_plan_l1_fix_dist: 0.2168, d2.loss_plan_l1_fix_time: 1.1192, d2.loss_plan_l1_fix_dist: 0.2110, d3.loss_plan_l1_fix_time: 1.1157, d3.loss_plan_l1_fix_dist: 0.2258, d4.loss_plan_l1_fix_time: 1.1189, d4.loss_plan_l1_fix_dist: 0.2434, d5.loss_plan_l1_fix_time: 1.1230, d5.loss_plan_l1_fix_dist: 0.2657, d6.loss_plan_l1_fix_time: 1.1276, d6.loss_plan_l1_fix_dist: 0.2915, d0.loss_cls_all: 0.1989, d0.loss_bbox_all: 0.4363, d0.loss_cls: 0.1989, d0.loss_bbox: 0.4363, d1.loss_cls: 0.1869, d1.loss_bbox: 0.4049, d2.loss_cls: 0.1781, d2.loss_bbox: 0.3870, d3.loss_cls: 0.1663, d3.loss_bbox: 0.3805, d4.loss_cls: 0.1595, d4.loss_bbox: 0.3809, d5.loss_cls: 0.1592, d5.loss_bbox: 0.3808, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9510, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7795, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7234, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7182, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7152, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7019, d0.loss_map_cls_all: 0.2391, d0.loss_map_pts_all: 1.4076, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2391, d0.loss_map_pts: 1.4076, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2136, d1.loss_map_pts: 1.0287, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1892, d2.loss_map_pts: 0.8731, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1799, d3.loss_map_pts: 0.7991, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1720, d4.loss_map_pts: 0.7674, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1684, d5.loss_map_pts: 0.7596, d5.loss_map_dir: 0.0098, loss: 30.9157, grad_norm: 151.6403 +2026-02-27 11:09:04,126 - DriveTransformer - INFO - Epoch [7][2700/39528] lr: 8.550e-05, eta: 6 days, 0:05:28, time: 0.762, data_time: 0.033, memory: 19865, loss_cls: 0.1812, loss_bbox: 0.4035, loss_traj: 0.6079, loss_traj_cls: 0.0010, loss_map_cls: 0.1915, loss_map_pts: 0.8117, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.5316, d0.loss_plan_l1_fix_dist: 0.3810, d1.loss_plan_l1_fix_time: 1.1603, d1.loss_plan_l1_fix_dist: 0.2238, d2.loss_plan_l1_fix_time: 1.1396, d2.loss_plan_l1_fix_dist: 0.2325, d3.loss_plan_l1_fix_time: 1.1388, d3.loss_plan_l1_fix_dist: 0.2568, d4.loss_plan_l1_fix_time: 1.1412, d4.loss_plan_l1_fix_dist: 0.2841, d5.loss_plan_l1_fix_time: 1.1447, d5.loss_plan_l1_fix_dist: 0.3179, d6.loss_plan_l1_fix_time: 1.1489, d6.loss_plan_l1_fix_dist: 0.3582, d0.loss_cls_all: 0.2204, d0.loss_bbox_all: 0.4674, d0.loss_cls: 0.2204, d0.loss_bbox: 0.4674, d1.loss_cls: 0.2172, d1.loss_bbox: 0.4335, d2.loss_cls: 0.2036, d2.loss_bbox: 0.4125, d3.loss_cls: 0.1877, d3.loss_bbox: 0.4077, d4.loss_cls: 0.1815, d4.loss_bbox: 0.4060, d5.loss_cls: 0.1793, d5.loss_bbox: 0.4062, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8182, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6859, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6354, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6215, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6154, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6097, d0.loss_map_cls_all: 0.2684, d0.loss_map_pts_all: 1.5507, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2684, d0.loss_map_pts: 1.5507, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2356, d1.loss_map_pts: 1.0964, d1.loss_map_dir: 0.0113, d2.loss_map_cls: 0.2177, d2.loss_map_pts: 0.9179, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.2053, d3.loss_map_pts: 0.8486, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.1982, d4.loss_map_pts: 0.8224, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.1934, d5.loss_map_pts: 0.8143, d5.loss_map_dir: 0.0121, loss: 31.3424, grad_norm: 150.1817 +2026-02-27 11:09:42,465 - DriveTransformer - INFO - Epoch [7][2750/39528] lr: 8.550e-05, eta: 6 days, 0:12:22, time: 0.767, data_time: 0.034, memory: 19865, loss_cls: 0.1561, loss_bbox: 0.3741, loss_traj: 0.5298, loss_traj_cls: 0.0010, loss_map_cls: 0.1604, loss_map_pts: 0.7769, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.7751, d0.loss_plan_l1_fix_dist: 0.4610, d1.loss_plan_l1_fix_time: 1.1345, d1.loss_plan_l1_fix_dist: 0.2327, d2.loss_plan_l1_fix_time: 1.1141, d2.loss_plan_l1_fix_dist: 0.2356, d3.loss_plan_l1_fix_time: 1.1132, d3.loss_plan_l1_fix_dist: 0.2517, d4.loss_plan_l1_fix_time: 1.1174, d4.loss_plan_l1_fix_dist: 0.2684, d5.loss_plan_l1_fix_time: 1.1225, d5.loss_plan_l1_fix_dist: 0.2854, d6.loss_plan_l1_fix_time: 1.1285, d6.loss_plan_l1_fix_dist: 0.3096, d0.loss_cls_all: 0.2048, d0.loss_bbox_all: 0.4222, d0.loss_cls: 0.2048, d0.loss_bbox: 0.4222, d1.loss_cls: 0.1969, d1.loss_bbox: 0.3910, d2.loss_cls: 0.1812, d2.loss_bbox: 0.3775, d3.loss_cls: 0.1674, d3.loss_bbox: 0.3729, d4.loss_cls: 0.1603, d4.loss_bbox: 0.3717, d5.loss_cls: 0.1564, d5.loss_bbox: 0.3738, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7035, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6081, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5562, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5432, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5349, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5338, d0.loss_map_cls_all: 0.2378, d0.loss_map_pts_all: 1.4946, d0.loss_map_dir_all: 0.0129, d0.loss_map_cls: 0.2378, d0.loss_map_pts: 1.4946, d0.loss_map_dir: 0.0129, d1.loss_map_cls: 0.2028, d1.loss_map_pts: 1.0303, d1.loss_map_dir: 0.0124, d2.loss_map_cls: 0.1842, d2.loss_map_pts: 0.8526, d2.loss_map_dir: 0.0122, d3.loss_map_cls: 0.1742, d3.loss_map_pts: 0.7994, d3.loss_map_dir: 0.0125, d4.loss_map_cls: 0.1670, d4.loss_map_pts: 0.7804, d4.loss_map_dir: 0.0128, d5.loss_map_cls: 0.1612, d5.loss_map_pts: 0.7781, d5.loss_map_dir: 0.0129, loss: 29.7339, grad_norm: 150.7119 +2026-02-27 11:10:18,809 - DriveTransformer - INFO - Epoch [7][2800/39528] lr: 8.550e-05, eta: 6 days, 0:10:52, time: 0.728, data_time: 0.034, memory: 19865, loss_cls: 0.2058, loss_bbox: 0.3858, loss_traj: 0.6600, loss_traj_cls: 0.0010, loss_map_cls: 0.1888, loss_map_pts: 0.7652, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.7196, d0.loss_plan_l1_fix_dist: 0.4616, d1.loss_plan_l1_fix_time: 1.2082, d1.loss_plan_l1_fix_dist: 0.1966, d2.loss_plan_l1_fix_time: 1.2007, d2.loss_plan_l1_fix_dist: 0.1986, d3.loss_plan_l1_fix_time: 1.2015, d3.loss_plan_l1_fix_dist: 0.2135, d4.loss_plan_l1_fix_time: 1.2054, d4.loss_plan_l1_fix_dist: 0.2301, d5.loss_plan_l1_fix_time: 1.2092, d5.loss_plan_l1_fix_dist: 0.2459, d6.loss_plan_l1_fix_time: 1.2132, d6.loss_plan_l1_fix_dist: 0.2600, d0.loss_cls_all: 0.2470, d0.loss_bbox_all: 0.4426, d0.loss_cls: 0.2470, d0.loss_bbox: 0.4426, d1.loss_cls: 0.2418, d1.loss_bbox: 0.4137, d2.loss_cls: 0.2285, d2.loss_bbox: 0.3928, d3.loss_cls: 0.2149, d3.loss_bbox: 0.3886, d4.loss_cls: 0.2075, d4.loss_bbox: 0.3848, d5.loss_cls: 0.2051, d5.loss_bbox: 0.3859, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9019, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7188, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6760, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6618, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6552, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6576, d0.loss_map_cls_all: 0.2608, d0.loss_map_pts_all: 1.5196, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2608, d0.loss_map_pts: 1.5196, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2301, d1.loss_map_pts: 1.0531, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.2097, d2.loss_map_pts: 0.8673, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.2005, d3.loss_map_pts: 0.8000, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1948, d4.loss_map_pts: 0.7725, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1913, d5.loss_map_pts: 0.7662, d5.loss_map_dir: 0.0105, loss: 31.6171, grad_norm: 149.0454 +2026-02-27 11:10:55,162 - DriveTransformer - INFO - Epoch [7][2850/39528] lr: 8.550e-05, eta: 6 days, 0:08:51, time: 0.726, data_time: 0.032, memory: 19865, loss_cls: 0.1729, loss_bbox: 0.3844, loss_traj: 0.6534, loss_traj_cls: 0.0010, loss_map_cls: 0.1741, loss_map_pts: 0.7676, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.7671, d0.loss_plan_l1_fix_dist: 0.4556, d1.loss_plan_l1_fix_time: 1.1548, d1.loss_plan_l1_fix_dist: 0.1984, d2.loss_plan_l1_fix_time: 1.1503, d2.loss_plan_l1_fix_dist: 0.2023, d3.loss_plan_l1_fix_time: 1.1538, d3.loss_plan_l1_fix_dist: 0.2172, d4.loss_plan_l1_fix_time: 1.1602, d4.loss_plan_l1_fix_dist: 0.2378, d5.loss_plan_l1_fix_time: 1.1669, d5.loss_plan_l1_fix_dist: 0.2616, d6.loss_plan_l1_fix_time: 1.1729, d6.loss_plan_l1_fix_dist: 0.2763, d0.loss_cls_all: 0.2124, d0.loss_bbox_all: 0.4467, d0.loss_cls: 0.2124, d0.loss_bbox: 0.4467, d1.loss_cls: 0.2101, d1.loss_bbox: 0.4158, d2.loss_cls: 0.1989, d2.loss_bbox: 0.3927, d3.loss_cls: 0.1843, d3.loss_bbox: 0.3874, d4.loss_cls: 0.1758, d4.loss_bbox: 0.3860, d5.loss_cls: 0.1742, d5.loss_bbox: 0.3839, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8449, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7166, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6539, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6420, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6376, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6479, d0.loss_map_cls_all: 0.2342, d0.loss_map_pts_all: 1.4584, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2342, d0.loss_map_pts: 1.4584, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2082, d1.loss_map_pts: 1.0070, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1933, d2.loss_map_pts: 0.8479, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1843, d3.loss_map_pts: 0.7871, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1814, d4.loss_map_pts: 0.7646, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1762, d5.loss_map_pts: 0.7641, d5.loss_map_dir: 0.0107, loss: 30.6872, grad_norm: 150.4045 +2026-02-27 11:11:29,981 - DriveTransformer - INFO - Epoch [7][2900/39528] lr: 8.550e-05, eta: 6 days, 0:00:56, time: 0.696, data_time: 0.035, memory: 19865, loss_cls: 0.1774, loss_bbox: 0.3801, loss_traj: 0.8165, loss_traj_cls: 0.0010, loss_map_cls: 0.1971, loss_map_pts: 0.7356, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 3.0382, d0.loss_plan_l1_fix_dist: 0.3953, d1.loss_plan_l1_fix_time: 1.2917, d1.loss_plan_l1_fix_dist: 0.2145, d2.loss_plan_l1_fix_time: 1.2854, d2.loss_plan_l1_fix_dist: 0.2217, d3.loss_plan_l1_fix_time: 1.2900, d3.loss_plan_l1_fix_dist: 0.2364, d4.loss_plan_l1_fix_time: 1.2955, d4.loss_plan_l1_fix_dist: 0.2540, d5.loss_plan_l1_fix_time: 1.3014, d5.loss_plan_l1_fix_dist: 0.2751, d6.loss_plan_l1_fix_time: 1.3074, d6.loss_plan_l1_fix_dist: 0.2973, d0.loss_cls_all: 0.2250, d0.loss_bbox_all: 0.4443, d0.loss_cls: 0.2250, d0.loss_bbox: 0.4443, d1.loss_cls: 0.2108, d1.loss_bbox: 0.4095, d2.loss_cls: 0.1997, d2.loss_bbox: 0.3894, d3.loss_cls: 0.1852, d3.loss_bbox: 0.3847, d4.loss_cls: 0.1801, d4.loss_bbox: 0.3815, d5.loss_cls: 0.1766, d5.loss_bbox: 0.3806, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1368, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9045, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8334, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8248, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8165, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8171, d0.loss_map_cls_all: 0.2818, d0.loss_map_pts_all: 1.2601, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2818, d0.loss_map_pts: 1.2601, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.2481, d1.loss_map_pts: 0.9620, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.2222, d2.loss_map_pts: 0.8268, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.2111, d3.loss_map_pts: 0.7677, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.2042, d4.loss_map_pts: 0.7465, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1995, d5.loss_map_pts: 0.7380, d5.loss_map_dir: 0.0078, loss: 32.8572, grad_norm: 151.5593 +2026-02-27 11:12:05,560 - DriveTransformer - INFO - Epoch [7][2950/39528] lr: 8.550e-05, eta: 5 days, 23:56:18, time: 0.712, data_time: 0.035, memory: 19865, loss_cls: 0.1623, loss_bbox: 0.3768, loss_traj: 0.7083, loss_traj_cls: 0.0010, loss_map_cls: 0.1655, loss_map_pts: 0.7008, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.6657, d0.loss_plan_l1_fix_dist: 0.3615, d1.loss_plan_l1_fix_time: 1.0742, d1.loss_plan_l1_fix_dist: 0.2080, d2.loss_plan_l1_fix_time: 1.0565, d2.loss_plan_l1_fix_dist: 0.2143, d3.loss_plan_l1_fix_time: 1.0591, d3.loss_plan_l1_fix_dist: 0.2333, d4.loss_plan_l1_fix_time: 1.0649, d4.loss_plan_l1_fix_dist: 0.2552, d5.loss_plan_l1_fix_time: 1.0717, d5.loss_plan_l1_fix_dist: 0.2811, d6.loss_plan_l1_fix_time: 1.0809, d6.loss_plan_l1_fix_dist: 0.3186, d0.loss_cls_all: 0.2012, d0.loss_bbox_all: 0.4316, d0.loss_cls: 0.2012, d0.loss_bbox: 0.4316, d1.loss_cls: 0.1916, d1.loss_bbox: 0.3981, d2.loss_cls: 0.1828, d2.loss_bbox: 0.3807, d3.loss_cls: 0.1701, d3.loss_bbox: 0.3762, d4.loss_cls: 0.1641, d4.loss_bbox: 0.3759, d5.loss_cls: 0.1628, d5.loss_bbox: 0.3757, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9597, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7914, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7352, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7166, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7110, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7122, d0.loss_map_cls_all: 0.2395, d0.loss_map_pts_all: 1.3654, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2395, d0.loss_map_pts: 1.3654, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2082, d1.loss_map_pts: 0.9682, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1868, d2.loss_map_pts: 0.7966, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1782, d3.loss_map_pts: 0.7339, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1718, d4.loss_map_pts: 0.7099, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1666, d5.loss_map_pts: 0.7019, d5.loss_map_dir: 0.0093, loss: 29.8392, grad_norm: 156.2296 +2026-02-27 11:12:40,568 - DriveTransformer - INFO - Epoch [7][3000/39528] lr: 8.550e-05, eta: 5 days, 23:49:33, time: 0.700, data_time: 0.031, memory: 19865, loss_cls: 0.1652, loss_bbox: 0.3747, loss_traj: 0.6681, loss_traj_cls: 0.0010, loss_map_cls: 0.1400, loss_map_pts: 0.6652, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.6627, d0.loss_plan_l1_fix_dist: 0.4746, d1.loss_plan_l1_fix_time: 1.0345, d1.loss_plan_l1_fix_dist: 0.2375, d2.loss_plan_l1_fix_time: 1.0166, d2.loss_plan_l1_fix_dist: 0.2432, d3.loss_plan_l1_fix_time: 1.0173, d3.loss_plan_l1_fix_dist: 0.2673, d4.loss_plan_l1_fix_time: 1.0220, d4.loss_plan_l1_fix_dist: 0.2959, d5.loss_plan_l1_fix_time: 1.0277, d5.loss_plan_l1_fix_dist: 0.3271, d6.loss_plan_l1_fix_time: 1.0355, d6.loss_plan_l1_fix_dist: 0.3639, d0.loss_cls_all: 0.2142, d0.loss_bbox_all: 0.4309, d0.loss_cls: 0.2142, d0.loss_bbox: 0.4309, d1.loss_cls: 0.2007, d1.loss_bbox: 0.4002, d2.loss_cls: 0.1875, d2.loss_bbox: 0.3830, d3.loss_cls: 0.1758, d3.loss_bbox: 0.3742, d4.loss_cls: 0.1672, d4.loss_bbox: 0.3749, d5.loss_cls: 0.1662, d5.loss_bbox: 0.3741, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9019, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7402, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6868, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6746, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6682, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6705, d0.loss_map_cls_all: 0.2137, d0.loss_map_pts_all: 1.3028, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2137, d0.loss_map_pts: 1.3028, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1838, d1.loss_map_pts: 0.9051, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1631, d2.loss_map_pts: 0.7558, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1540, d3.loss_map_pts: 0.6960, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1455, d4.loss_map_pts: 0.6716, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1423, d5.loss_map_pts: 0.6641, d5.loss_map_dir: 0.0093, loss: 29.0702, grad_norm: 155.6350 +2026-02-27 11:13:17,988 - DriveTransformer - INFO - Epoch [7][3050/39528] lr: 8.550e-05, eta: 5 days, 23:52:21, time: 0.748, data_time: 0.035, memory: 19865, loss_cls: 0.1748, loss_bbox: 0.3834, loss_traj: 0.7287, loss_traj_cls: 0.0010, loss_map_cls: 0.1691, loss_map_pts: 0.7720, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.6375, d0.loss_plan_l1_fix_dist: 0.4098, d1.loss_plan_l1_fix_time: 1.0120, d1.loss_plan_l1_fix_dist: 0.1949, d2.loss_plan_l1_fix_time: 1.0027, d2.loss_plan_l1_fix_dist: 0.2065, d3.loss_plan_l1_fix_time: 1.0025, d3.loss_plan_l1_fix_dist: 0.2305, d4.loss_plan_l1_fix_time: 1.0069, d4.loss_plan_l1_fix_dist: 0.2568, d5.loss_plan_l1_fix_time: 1.0119, d5.loss_plan_l1_fix_dist: 0.2810, d6.loss_plan_l1_fix_time: 1.0164, d6.loss_plan_l1_fix_dist: 0.3000, d0.loss_cls_all: 0.2137, d0.loss_bbox_all: 0.4458, d0.loss_cls: 0.2137, d0.loss_bbox: 0.4458, d1.loss_cls: 0.2000, d1.loss_bbox: 0.4146, d2.loss_cls: 0.1883, d2.loss_bbox: 0.3941, d3.loss_cls: 0.1781, d3.loss_bbox: 0.3882, d4.loss_cls: 0.1757, d4.loss_bbox: 0.3857, d5.loss_cls: 0.1755, d5.loss_bbox: 0.3841, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9370, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7844, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7379, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7219, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7270, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7259, d0.loss_map_cls_all: 0.2372, d0.loss_map_pts_all: 1.5733, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2372, d0.loss_map_pts: 1.5733, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2128, d1.loss_map_pts: 1.1085, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.1942, d2.loss_map_pts: 0.8950, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.1838, d3.loss_map_pts: 0.8134, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1758, d4.loss_map_pts: 0.7838, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.1714, d5.loss_map_pts: 0.7729, d5.loss_map_dir: 0.0121, loss: 30.6666, grad_norm: 156.4181 +2026-02-27 11:13:55,149 - DriveTransformer - INFO - Epoch [7][3100/39528] lr: 8.550e-05, eta: 5 days, 23:54:03, time: 0.743, data_time: 0.033, memory: 19865, loss_cls: 0.1772, loss_bbox: 0.3778, loss_traj: 0.6636, loss_traj_cls: 0.0010, loss_map_cls: 0.1775, loss_map_pts: 0.7501, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.5910, d0.loss_plan_l1_fix_dist: 0.3686, d1.loss_plan_l1_fix_time: 1.1641, d1.loss_plan_l1_fix_dist: 0.2188, d2.loss_plan_l1_fix_time: 1.1578, d2.loss_plan_l1_fix_dist: 0.2313, d3.loss_plan_l1_fix_time: 1.1684, d3.loss_plan_l1_fix_dist: 0.2558, d4.loss_plan_l1_fix_time: 1.1753, d4.loss_plan_l1_fix_dist: 0.2814, d5.loss_plan_l1_fix_time: 1.1815, d5.loss_plan_l1_fix_dist: 0.3082, d6.loss_plan_l1_fix_time: 1.1863, d6.loss_plan_l1_fix_dist: 0.3282, d0.loss_cls_all: 0.2259, d0.loss_bbox_all: 0.4282, d0.loss_cls: 0.2259, d0.loss_bbox: 0.4282, d1.loss_cls: 0.2164, d1.loss_bbox: 0.3977, d2.loss_cls: 0.2007, d2.loss_bbox: 0.3785, d3.loss_cls: 0.1883, d3.loss_bbox: 0.3764, d4.loss_cls: 0.1802, d4.loss_bbox: 0.3767, d5.loss_cls: 0.1777, d5.loss_bbox: 0.3774, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8729, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7134, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6732, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6671, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6654, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6627, d0.loss_map_cls_all: 0.2535, d0.loss_map_pts_all: 1.4923, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.2535, d0.loss_map_pts: 1.4923, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.2191, d1.loss_map_pts: 1.0062, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2007, d2.loss_map_pts: 0.8338, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.1911, d3.loss_map_pts: 0.7702, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.1841, d4.loss_map_pts: 0.7507, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1789, d5.loss_map_pts: 0.7484, d5.loss_map_dir: 0.0121, loss: 30.8717, grad_norm: 154.2129 +2026-02-27 11:14:30,286 - DriveTransformer - INFO - Epoch [7][3150/39528] lr: 8.550e-05, eta: 5 days, 23:48:05, time: 0.703, data_time: 0.038, memory: 19865, loss_cls: 0.1563, loss_bbox: 0.3662, loss_traj: 0.7815, loss_traj_cls: 0.0010, loss_map_cls: 0.1540, loss_map_pts: 0.6434, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 3.1782, d0.loss_plan_l1_fix_dist: 0.3839, d1.loss_plan_l1_fix_time: 1.2253, d1.loss_plan_l1_fix_dist: 0.2241, d2.loss_plan_l1_fix_time: 1.2226, d2.loss_plan_l1_fix_dist: 0.2276, d3.loss_plan_l1_fix_time: 1.2291, d3.loss_plan_l1_fix_dist: 0.2492, d4.loss_plan_l1_fix_time: 1.2342, d4.loss_plan_l1_fix_dist: 0.2762, d5.loss_plan_l1_fix_time: 1.2394, d5.loss_plan_l1_fix_dist: 0.3087, d6.loss_plan_l1_fix_time: 1.2457, d6.loss_plan_l1_fix_dist: 0.3442, d0.loss_cls_all: 0.2038, d0.loss_bbox_all: 0.4219, d0.loss_cls: 0.2038, d0.loss_bbox: 0.4219, d1.loss_cls: 0.1948, d1.loss_bbox: 0.3887, d2.loss_cls: 0.1781, d2.loss_bbox: 0.3736, d3.loss_cls: 0.1658, d3.loss_bbox: 0.3693, d4.loss_cls: 0.1597, d4.loss_bbox: 0.3658, d5.loss_cls: 0.1563, d5.loss_bbox: 0.3666, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9438, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8097, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7827, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7775, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7770, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7844, d0.loss_map_cls_all: 0.2161, d0.loss_map_pts_all: 1.2365, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2161, d0.loss_map_pts: 1.2365, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1881, d1.loss_map_pts: 0.8801, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1686, d2.loss_map_pts: 0.7287, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1611, d3.loss_map_pts: 0.6710, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1581, d4.loss_map_pts: 0.6490, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1557, d5.loss_map_pts: 0.6419, d5.loss_map_dir: 0.0080, loss: 30.9112, grad_norm: 156.5816 +2026-02-27 11:15:06,159 - DriveTransformer - INFO - Epoch [7][3200/39528] lr: 8.550e-05, eta: 5 days, 23:45:01, time: 0.717, data_time: 0.033, memory: 19865, loss_cls: 0.1590, loss_bbox: 0.3839, loss_traj: 0.7755, loss_traj_cls: 0.0010, loss_map_cls: 0.1759, loss_map_pts: 0.7444, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.7743, d0.loss_plan_l1_fix_dist: 0.4415, d1.loss_plan_l1_fix_time: 1.0474, d1.loss_plan_l1_fix_dist: 0.2014, d2.loss_plan_l1_fix_time: 1.0440, d2.loss_plan_l1_fix_dist: 0.2003, d3.loss_plan_l1_fix_time: 1.0445, d3.loss_plan_l1_fix_dist: 0.2144, d4.loss_plan_l1_fix_time: 1.0493, d4.loss_plan_l1_fix_dist: 0.2317, d5.loss_plan_l1_fix_time: 1.0544, d5.loss_plan_l1_fix_dist: 0.2509, d6.loss_plan_l1_fix_time: 1.0610, d6.loss_plan_l1_fix_dist: 0.2758, d0.loss_cls_all: 0.2084, d0.loss_bbox_all: 0.4454, d0.loss_cls: 0.2084, d0.loss_bbox: 0.4454, d1.loss_cls: 0.1938, d1.loss_bbox: 0.4157, d2.loss_cls: 0.1803, d2.loss_bbox: 0.3944, d3.loss_cls: 0.1650, d3.loss_bbox: 0.3888, d4.loss_cls: 0.1587, d4.loss_bbox: 0.3869, d5.loss_cls: 0.1574, d5.loss_bbox: 0.3852, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9972, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8538, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7838, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7749, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7767, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7763, d0.loss_map_cls_all: 0.2459, d0.loss_map_pts_all: 1.4020, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2459, d0.loss_map_pts: 1.4020, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2136, d1.loss_map_pts: 0.9868, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1990, d2.loss_map_pts: 0.8317, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1878, d3.loss_map_pts: 0.7725, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1814, d4.loss_map_pts: 0.7488, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1780, d5.loss_map_pts: 0.7435, d5.loss_map_dir: 0.0098, loss: 30.6482, grad_norm: 151.6647 +2026-02-27 11:15:40,405 - DriveTransformer - INFO - Epoch [7][3250/39528] lr: 8.550e-05, eta: 5 days, 23:36:07, time: 0.685, data_time: 0.037, memory: 19865, loss_cls: 0.1786, loss_bbox: 0.4035, loss_traj: 0.7907, loss_traj_cls: 0.0010, loss_map_cls: 0.1851, loss_map_pts: 0.7672, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.9162, d0.loss_plan_l1_fix_dist: 0.3924, d1.loss_plan_l1_fix_time: 1.1780, d1.loss_plan_l1_fix_dist: 0.1741, d2.loss_plan_l1_fix_time: 1.1704, d2.loss_plan_l1_fix_dist: 0.1820, d3.loss_plan_l1_fix_time: 1.1755, d3.loss_plan_l1_fix_dist: 0.2001, d4.loss_plan_l1_fix_time: 1.1800, d4.loss_plan_l1_fix_dist: 0.2175, d5.loss_plan_l1_fix_time: 1.1843, d5.loss_plan_l1_fix_dist: 0.2357, d6.loss_plan_l1_fix_time: 1.1892, d6.loss_plan_l1_fix_dist: 0.2573, d0.loss_cls_all: 0.2257, d0.loss_bbox_all: 0.4747, d0.loss_cls: 0.2257, d0.loss_bbox: 0.4747, d1.loss_cls: 0.2160, d1.loss_bbox: 0.4337, d2.loss_cls: 0.2008, d2.loss_bbox: 0.4130, d3.loss_cls: 0.1900, d3.loss_bbox: 0.4061, d4.loss_cls: 0.1835, d4.loss_bbox: 0.4034, d5.loss_cls: 0.1801, d5.loss_bbox: 0.4033, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0679, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8853, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8135, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7998, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7880, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7897, d0.loss_map_cls_all: 0.2513, d0.loss_map_pts_all: 1.4159, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2513, d0.loss_map_pts: 1.4159, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.2265, d1.loss_map_pts: 1.0451, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.2095, d2.loss_map_pts: 0.8669, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1983, d3.loss_map_pts: 0.7970, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1927, d4.loss_map_pts: 0.7738, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1883, d5.loss_map_pts: 0.7661, d5.loss_map_dir: 0.0086, loss: 32.2237, grad_norm: 150.9944 +2026-02-27 11:16:17,532 - DriveTransformer - INFO - Epoch [7][3300/39528] lr: 8.550e-05, eta: 5 days, 23:37:46, time: 0.743, data_time: 0.036, memory: 19865, loss_cls: 0.1642, loss_bbox: 0.3530, loss_traj: 0.6211, loss_traj_cls: 0.0010, loss_map_cls: 0.1623, loss_map_pts: 0.7432, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.4029, d0.loss_plan_l1_fix_dist: 0.4696, d1.loss_plan_l1_fix_time: 0.9478, d1.loss_plan_l1_fix_dist: 0.1767, d2.loss_plan_l1_fix_time: 0.9370, d2.loss_plan_l1_fix_dist: 0.1844, d3.loss_plan_l1_fix_time: 0.9386, d3.loss_plan_l1_fix_dist: 0.1962, d4.loss_plan_l1_fix_time: 0.9424, d4.loss_plan_l1_fix_dist: 0.2104, d5.loss_plan_l1_fix_time: 0.9468, d5.loss_plan_l1_fix_dist: 0.2286, d6.loss_plan_l1_fix_time: 0.9507, d6.loss_plan_l1_fix_dist: 0.2465, d0.loss_cls_all: 0.2100, d0.loss_bbox_all: 0.4192, d0.loss_cls: 0.2100, d0.loss_bbox: 0.4192, d1.loss_cls: 0.2012, d1.loss_bbox: 0.3848, d2.loss_cls: 0.1829, d2.loss_bbox: 0.3654, d3.loss_cls: 0.1718, d3.loss_bbox: 0.3583, d4.loss_cls: 0.1683, d4.loss_bbox: 0.3521, d5.loss_cls: 0.1648, d5.loss_bbox: 0.3527, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7806, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6469, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6264, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6185, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6188, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6207, d0.loss_map_cls_all: 0.2310, d0.loss_map_pts_all: 1.5631, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2310, d0.loss_map_pts: 1.5631, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2008, d1.loss_map_pts: 1.0361, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.1878, d2.loss_map_pts: 0.8491, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1773, d3.loss_map_pts: 0.7809, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1700, d4.loss_map_pts: 0.7553, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1645, d5.loss_map_pts: 0.7454, d5.loss_map_dir: 0.0115, loss: 28.4469, grad_norm: 150.3316 +2026-02-27 11:16:53,663 - DriveTransformer - INFO - Epoch [7][3350/39528] lr: 8.550e-05, eta: 5 days, 23:35:49, time: 0.723, data_time: 0.036, memory: 19865, loss_cls: 0.1676, loss_bbox: 0.3704, loss_traj: 0.7147, loss_traj_cls: 0.0010, loss_map_cls: 0.1773, loss_map_pts: 0.7586, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.1838, d0.loss_plan_l1_fix_dist: 0.2823, d1.loss_plan_l1_fix_time: 0.9486, d1.loss_plan_l1_fix_dist: 0.1490, d2.loss_plan_l1_fix_time: 0.9326, d2.loss_plan_l1_fix_dist: 0.1584, d3.loss_plan_l1_fix_time: 0.9381, d3.loss_plan_l1_fix_dist: 0.1771, d4.loss_plan_l1_fix_time: 0.9428, d4.loss_plan_l1_fix_dist: 0.1995, d5.loss_plan_l1_fix_time: 0.9469, d5.loss_plan_l1_fix_dist: 0.2230, d6.loss_plan_l1_fix_time: 0.9507, d6.loss_plan_l1_fix_dist: 0.2410, d0.loss_cls_all: 0.2100, d0.loss_bbox_all: 0.4275, d0.loss_cls: 0.2100, d0.loss_bbox: 0.4275, d1.loss_cls: 0.2001, d1.loss_bbox: 0.3946, d2.loss_cls: 0.1873, d2.loss_bbox: 0.3781, d3.loss_cls: 0.1744, d3.loss_bbox: 0.3726, d4.loss_cls: 0.1699, d4.loss_bbox: 0.3704, d5.loss_cls: 0.1682, d5.loss_bbox: 0.3698, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9432, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7791, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7372, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7235, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7201, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7183, d0.loss_map_cls_all: 0.2431, d0.loss_map_pts_all: 1.4166, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2431, d0.loss_map_pts: 1.4166, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2195, d1.loss_map_pts: 1.0040, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.2007, d2.loss_map_pts: 0.8490, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1927, d3.loss_map_pts: 0.7889, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1844, d4.loss_map_pts: 0.7667, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1784, d5.loss_map_pts: 0.7597, d5.loss_map_dir: 0.0092, loss: 28.6853, grad_norm: 151.3407 +2026-02-27 11:17:31,410 - DriveTransformer - INFO - Epoch [7][3400/39528] lr: 8.550e-05, eta: 5 days, 23:39:32, time: 0.755, data_time: 0.034, memory: 19865, loss_cls: 0.1324, loss_bbox: 0.3169, loss_traj: 0.6443, loss_traj_cls: 0.0010, loss_map_cls: 0.1404, loss_map_pts: 0.6261, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.4023, d0.loss_plan_l1_fix_dist: 0.4174, d1.loss_plan_l1_fix_time: 1.0748, d1.loss_plan_l1_fix_dist: 0.1973, d2.loss_plan_l1_fix_time: 1.0632, d2.loss_plan_l1_fix_dist: 0.2043, d3.loss_plan_l1_fix_time: 1.0600, d3.loss_plan_l1_fix_dist: 0.2189, d4.loss_plan_l1_fix_time: 1.0639, d4.loss_plan_l1_fix_dist: 0.2364, d5.loss_plan_l1_fix_time: 1.0681, d5.loss_plan_l1_fix_dist: 0.2557, d6.loss_plan_l1_fix_time: 1.0729, d6.loss_plan_l1_fix_dist: 0.2744, d0.loss_cls_all: 0.1692, d0.loss_bbox_all: 0.3725, d0.loss_cls: 0.1692, d0.loss_bbox: 0.3725, d1.loss_cls: 0.1627, d1.loss_bbox: 0.3432, d2.loss_cls: 0.1538, d2.loss_bbox: 0.3262, d3.loss_cls: 0.1409, d3.loss_bbox: 0.3205, d4.loss_cls: 0.1349, d4.loss_bbox: 0.3182, d5.loss_cls: 0.1326, d5.loss_bbox: 0.3173, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8535, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6986, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6665, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6465, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6471, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6441, d0.loss_map_cls_all: 0.2093, d0.loss_map_pts_all: 1.3566, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2093, d0.loss_map_pts: 1.3566, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1774, d1.loss_map_pts: 0.8848, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1598, d2.loss_map_pts: 0.7138, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1505, d3.loss_map_pts: 0.6587, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1473, d4.loss_map_pts: 0.6346, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1420, d5.loss_map_pts: 0.6270, d5.loss_map_dir: 0.0100, loss: 27.5725, grad_norm: 151.9161 +2026-02-27 11:18:07,269 - DriveTransformer - INFO - Epoch [7][3450/39528] lr: 8.550e-05, eta: 5 days, 23:36:41, time: 0.717, data_time: 0.034, memory: 19865, loss_cls: 0.1490, loss_bbox: 0.3298, loss_traj: 0.7082, loss_traj_cls: 0.0010, loss_map_cls: 0.1633, loss_map_pts: 0.5900, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.4430, d0.loss_plan_l1_fix_dist: 0.3618, d1.loss_plan_l1_fix_time: 1.1042, d1.loss_plan_l1_fix_dist: 0.1732, d2.loss_plan_l1_fix_time: 1.0989, d2.loss_plan_l1_fix_dist: 0.1776, d3.loss_plan_l1_fix_time: 1.1000, d3.loss_plan_l1_fix_dist: 0.1899, d4.loss_plan_l1_fix_time: 1.1038, d4.loss_plan_l1_fix_dist: 0.2029, d5.loss_plan_l1_fix_time: 1.1082, d5.loss_plan_l1_fix_dist: 0.2174, d6.loss_plan_l1_fix_time: 1.1136, d6.loss_plan_l1_fix_dist: 0.2413, d0.loss_cls_all: 0.1878, d0.loss_bbox_all: 0.3915, d0.loss_cls: 0.1878, d0.loss_bbox: 0.3915, d1.loss_cls: 0.1800, d1.loss_bbox: 0.3593, d2.loss_cls: 0.1696, d2.loss_bbox: 0.3434, d3.loss_cls: 0.1575, d3.loss_bbox: 0.3350, d4.loss_cls: 0.1496, d4.loss_bbox: 0.3320, d5.loss_cls: 0.1495, d5.loss_bbox: 0.3301, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9665, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7917, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7308, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7136, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7017, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7043, d0.loss_map_cls_all: 0.2203, d0.loss_map_pts_all: 1.2231, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2203, d0.loss_map_pts: 1.2231, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1975, d1.loss_map_pts: 0.8184, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1795, d2.loss_map_pts: 0.6624, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1721, d3.loss_map_pts: 0.6130, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1674, d4.loss_map_pts: 0.5949, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1640, d5.loss_map_pts: 0.5915, d5.loss_map_dir: 0.0087, loss: 27.9728, grad_norm: 151.9976 +2026-02-27 11:18:44,576 - DriveTransformer - INFO - Epoch [7][3500/39528] lr: 8.550e-05, eta: 5 days, 23:38:46, time: 0.746, data_time: 0.037, memory: 19865, loss_cls: 0.1496, loss_bbox: 0.3380, loss_traj: 0.6780, loss_traj_cls: 0.0010, loss_map_cls: 0.1552, loss_map_pts: 0.6699, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.8101, d0.loss_plan_l1_fix_dist: 0.4294, d1.loss_plan_l1_fix_time: 1.1380, d1.loss_plan_l1_fix_dist: 0.1933, d2.loss_plan_l1_fix_time: 1.1378, d2.loss_plan_l1_fix_dist: 0.1935, d3.loss_plan_l1_fix_time: 1.1396, d3.loss_plan_l1_fix_dist: 0.2039, d4.loss_plan_l1_fix_time: 1.1428, d4.loss_plan_l1_fix_dist: 0.2156, d5.loss_plan_l1_fix_time: 1.1468, d5.loss_plan_l1_fix_dist: 0.2284, d6.loss_plan_l1_fix_time: 1.1516, d6.loss_plan_l1_fix_dist: 0.2399, d0.loss_cls_all: 0.1916, d0.loss_bbox_all: 0.3972, d0.loss_cls: 0.1916, d0.loss_bbox: 0.3972, d1.loss_cls: 0.1841, d1.loss_bbox: 0.3687, d2.loss_cls: 0.1704, d2.loss_bbox: 0.3481, d3.loss_cls: 0.1585, d3.loss_bbox: 0.3414, d4.loss_cls: 0.1525, d4.loss_bbox: 0.3393, d5.loss_cls: 0.1491, d5.loss_bbox: 0.3380, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8780, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7471, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7080, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6906, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6865, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6785, d0.loss_map_cls_all: 0.2197, d0.loss_map_pts_all: 1.3814, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2197, d0.loss_map_pts: 1.3814, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1924, d1.loss_map_pts: 0.9564, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1741, d2.loss_map_pts: 0.7725, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1676, d3.loss_map_pts: 0.7050, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1595, d4.loss_map_pts: 0.6793, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1561, d5.loss_map_pts: 0.6724, d5.loss_map_dir: 0.0096, loss: 29.3963, grad_norm: 151.7728 +2026-02-27 11:19:21,366 - DriveTransformer - INFO - Epoch [7][3550/39528] lr: 8.550e-05, eta: 5 days, 23:39:03, time: 0.736, data_time: 0.040, memory: 19865, loss_cls: 0.1912, loss_bbox: 0.3956, loss_traj: 0.6721, loss_traj_cls: 0.0010, loss_map_cls: 0.1860, loss_map_pts: 0.7571, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.8237, d0.loss_plan_l1_fix_dist: 0.3637, d1.loss_plan_l1_fix_time: 1.1802, d1.loss_plan_l1_fix_dist: 0.1989, d2.loss_plan_l1_fix_time: 1.1769, d2.loss_plan_l1_fix_dist: 0.2042, d3.loss_plan_l1_fix_time: 1.1745, d3.loss_plan_l1_fix_dist: 0.2234, d4.loss_plan_l1_fix_time: 1.1779, d4.loss_plan_l1_fix_dist: 0.2450, d5.loss_plan_l1_fix_time: 1.1822, d5.loss_plan_l1_fix_dist: 0.2665, d6.loss_plan_l1_fix_time: 1.1870, d6.loss_plan_l1_fix_dist: 0.2837, d0.loss_cls_all: 0.2408, d0.loss_bbox_all: 0.4645, d0.loss_cls: 0.2408, d0.loss_bbox: 0.4645, d1.loss_cls: 0.2307, d1.loss_bbox: 0.4276, d2.loss_cls: 0.2164, d2.loss_bbox: 0.4092, d3.loss_cls: 0.2048, d3.loss_bbox: 0.3997, d4.loss_cls: 0.1940, d4.loss_bbox: 0.3986, d5.loss_cls: 0.1912, d5.loss_bbox: 0.3963, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8964, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7259, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6731, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6589, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6767, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6741, d0.loss_map_cls_all: 0.2583, d0.loss_map_pts_all: 1.4622, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2583, d0.loss_map_pts: 1.4622, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.2313, d1.loss_map_pts: 1.0472, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.2103, d2.loss_map_pts: 0.8687, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1994, d3.loss_map_pts: 0.8010, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1932, d4.loss_map_pts: 0.7717, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1877, d5.loss_map_pts: 0.7597, d5.loss_map_dir: 0.0093, loss: 31.4615, grad_norm: 155.9541 +2026-02-27 11:19:57,522 - DriveTransformer - INFO - Epoch [7][3600/39528] lr: 8.550e-05, eta: 5 days, 23:37:28, time: 0.725, data_time: 0.035, memory: 19865, loss_cls: 0.1611, loss_bbox: 0.3566, loss_traj: 0.7569, loss_traj_cls: 0.0010, loss_map_cls: 0.1431, loss_map_pts: 0.6265, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.6347, d0.loss_plan_l1_fix_dist: 0.3863, d1.loss_plan_l1_fix_time: 1.2670, d1.loss_plan_l1_fix_dist: 0.1874, d2.loss_plan_l1_fix_time: 1.2677, d2.loss_plan_l1_fix_dist: 0.1807, d3.loss_plan_l1_fix_time: 1.2706, d3.loss_plan_l1_fix_dist: 0.1896, d4.loss_plan_l1_fix_time: 1.2746, d4.loss_plan_l1_fix_dist: 0.2026, d5.loss_plan_l1_fix_time: 1.2788, d5.loss_plan_l1_fix_dist: 0.2162, d6.loss_plan_l1_fix_time: 1.2834, d6.loss_plan_l1_fix_dist: 0.2332, d0.loss_cls_all: 0.1980, d0.loss_bbox_all: 0.4091, d0.loss_cls: 0.1980, d0.loss_bbox: 0.4091, d1.loss_cls: 0.1944, d1.loss_bbox: 0.3776, d2.loss_cls: 0.1791, d2.loss_bbox: 0.3645, d3.loss_cls: 0.1689, d3.loss_bbox: 0.3591, d4.loss_cls: 0.1628, d4.loss_bbox: 0.3576, d5.loss_cls: 0.1611, d5.loss_bbox: 0.3577, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9962, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7983, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.7648, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7627, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7649, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7566, d0.loss_map_cls_all: 0.2181, d0.loss_map_pts_all: 1.2708, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2181, d0.loss_map_pts: 1.2708, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1869, d1.loss_map_pts: 0.8728, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1671, d2.loss_map_pts: 0.7168, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1565, d3.loss_map_pts: 0.6637, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1493, d4.loss_map_pts: 0.6432, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1439, d5.loss_map_pts: 0.6297, d5.loss_map_dir: 0.0091, loss: 30.0440, grad_norm: 154.8191 +2026-02-27 11:20:34,099 - DriveTransformer - INFO - Epoch [7][3650/39528] lr: 8.550e-05, eta: 5 days, 23:36:49, time: 0.730, data_time: 0.032, memory: 19865, loss_cls: 0.1410, loss_bbox: 0.3584, loss_traj: 0.5676, loss_traj_cls: 0.0010, loss_map_cls: 0.1407, loss_map_pts: 0.6261, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.6787, d0.loss_plan_l1_fix_dist: 0.3543, d1.loss_plan_l1_fix_time: 1.2077, d1.loss_plan_l1_fix_dist: 0.1932, d2.loss_plan_l1_fix_time: 1.1916, d2.loss_plan_l1_fix_dist: 0.1973, d3.loss_plan_l1_fix_time: 1.1994, d3.loss_plan_l1_fix_dist: 0.2154, d4.loss_plan_l1_fix_time: 1.2060, d4.loss_plan_l1_fix_dist: 0.2340, d5.loss_plan_l1_fix_time: 1.2122, d5.loss_plan_l1_fix_dist: 0.2591, d6.loss_plan_l1_fix_time: 1.2188, d6.loss_plan_l1_fix_dist: 0.2881, d0.loss_cls_all: 0.1833, d0.loss_bbox_all: 0.4143, d0.loss_cls: 0.1833, d0.loss_bbox: 0.4143, d1.loss_cls: 0.1713, d1.loss_bbox: 0.3832, d2.loss_cls: 0.1611, d2.loss_bbox: 0.3642, d3.loss_cls: 0.1484, d3.loss_bbox: 0.3627, d4.loss_cls: 0.1419, d4.loss_bbox: 0.3605, d5.loss_cls: 0.1402, d5.loss_bbox: 0.3603, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7190, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5904, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.5738, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5707, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5703, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5668, d0.loss_map_cls_all: 0.2131, d0.loss_map_pts_all: 1.3529, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2131, d0.loss_map_pts: 1.3529, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1848, d1.loss_map_pts: 0.8715, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1674, d2.loss_map_pts: 0.7077, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1555, d3.loss_map_pts: 0.6507, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1493, d4.loss_map_pts: 0.6294, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1434, d5.loss_map_pts: 0.6266, d5.loss_map_dir: 0.0095, loss: 28.3695, grad_norm: 159.8784 +2026-02-27 11:21:11,806 - DriveTransformer - INFO - Epoch [7][3700/39528] lr: 8.550e-05, eta: 5 days, 23:39:59, time: 0.754, data_time: 0.036, memory: 19865, loss_cls: 0.1514, loss_bbox: 0.3636, loss_traj: 0.5729, loss_traj_cls: 0.0010, loss_map_cls: 0.1542, loss_map_pts: 0.7234, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.4964, d0.loss_plan_l1_fix_dist: 0.3581, d1.loss_plan_l1_fix_time: 1.1364, d1.loss_plan_l1_fix_dist: 0.1868, d2.loss_plan_l1_fix_time: 1.1197, d2.loss_plan_l1_fix_dist: 0.1901, d3.loss_plan_l1_fix_time: 1.1220, d3.loss_plan_l1_fix_dist: 0.2042, d4.loss_plan_l1_fix_time: 1.1277, d4.loss_plan_l1_fix_dist: 0.2176, d5.loss_plan_l1_fix_time: 1.1334, d5.loss_plan_l1_fix_dist: 0.2342, d6.loss_plan_l1_fix_time: 1.1395, d6.loss_plan_l1_fix_dist: 0.2553, d0.loss_cls_all: 0.1982, d0.loss_bbox_all: 0.4218, d0.loss_cls: 0.1982, d0.loss_bbox: 0.4218, d1.loss_cls: 0.1932, d1.loss_bbox: 0.3889, d2.loss_cls: 0.1767, d2.loss_bbox: 0.3710, d3.loss_cls: 0.1647, d3.loss_bbox: 0.3637, d4.loss_cls: 0.1548, d4.loss_bbox: 0.3636, d5.loss_cls: 0.1524, d5.loss_bbox: 0.3630, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7333, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6045, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5707, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5678, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5669, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5686, d0.loss_map_cls_all: 0.2362, d0.loss_map_pts_all: 1.5026, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2362, d0.loss_map_pts: 1.5026, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.1994, d1.loss_map_pts: 1.0056, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1785, d2.loss_map_pts: 0.8224, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1675, d3.loss_map_pts: 0.7567, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1596, d4.loss_map_pts: 0.7335, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1557, d5.loss_map_pts: 0.7240, d5.loss_map_dir: 0.0112, loss: 28.9051, grad_norm: 158.5092 +2026-02-27 11:21:49,407 - DriveTransformer - INFO - Epoch [7][3750/39528] lr: 8.550e-05, eta: 5 days, 23:42:44, time: 0.752, data_time: 0.034, memory: 19865, loss_cls: 0.1521, loss_bbox: 0.3407, loss_traj: 0.6643, loss_traj_cls: 0.0010, loss_map_cls: 0.1569, loss_map_pts: 0.6527, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.8649, d0.loss_plan_l1_fix_dist: 0.4723, d1.loss_plan_l1_fix_time: 1.0848, d1.loss_plan_l1_fix_dist: 0.1746, d2.loss_plan_l1_fix_time: 1.0634, d2.loss_plan_l1_fix_dist: 0.1787, d3.loss_plan_l1_fix_time: 1.0606, d3.loss_plan_l1_fix_dist: 0.1860, d4.loss_plan_l1_fix_time: 1.0627, d4.loss_plan_l1_fix_dist: 0.1971, d5.loss_plan_l1_fix_time: 1.0657, d5.loss_plan_l1_fix_dist: 0.2077, d6.loss_plan_l1_fix_time: 1.0690, d6.loss_plan_l1_fix_dist: 0.2189, d0.loss_cls_all: 0.1830, d0.loss_bbox_all: 0.4118, d0.loss_cls: 0.1830, d0.loss_bbox: 0.4118, d1.loss_cls: 0.1764, d1.loss_bbox: 0.3715, d2.loss_cls: 0.1690, d2.loss_bbox: 0.3526, d3.loss_cls: 0.1588, d3.loss_bbox: 0.3445, d4.loss_cls: 0.1535, d4.loss_bbox: 0.3406, d5.loss_cls: 0.1520, d5.loss_bbox: 0.3409, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8879, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7325, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6864, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6705, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6678, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6645, d0.loss_map_cls_all: 0.2314, d0.loss_map_pts_all: 1.3354, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2314, d0.loss_map_pts: 1.3354, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2051, d1.loss_map_pts: 0.9187, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1854, d2.loss_map_pts: 0.7541, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1710, d3.loss_map_pts: 0.6859, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1644, d4.loss_map_pts: 0.6598, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1587, d5.loss_map_pts: 0.6529, d5.loss_map_dir: 0.0082, loss: 28.6942, grad_norm: 156.7255 +2026-02-27 11:22:27,419 - DriveTransformer - INFO - Epoch [7][3800/39528] lr: 8.550e-05, eta: 5 days, 23:46:39, time: 0.760, data_time: 0.035, memory: 19865, loss_cls: 0.1389, loss_bbox: 0.3288, loss_traj: 0.6253, loss_traj_cls: 0.0010, loss_map_cls: 0.1509, loss_map_pts: 0.6863, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.2147, d0.loss_plan_l1_fix_dist: 0.3652, d1.loss_plan_l1_fix_time: 1.0258, d1.loss_plan_l1_fix_dist: 0.1688, d2.loss_plan_l1_fix_time: 1.0198, d2.loss_plan_l1_fix_dist: 0.1743, d3.loss_plan_l1_fix_time: 1.0238, d3.loss_plan_l1_fix_dist: 0.1850, d4.loss_plan_l1_fix_time: 1.0276, d4.loss_plan_l1_fix_dist: 0.1967, d5.loss_plan_l1_fix_time: 1.0316, d5.loss_plan_l1_fix_dist: 0.2093, d6.loss_plan_l1_fix_time: 1.0362, d6.loss_plan_l1_fix_dist: 0.2229, d0.loss_cls_all: 0.1752, d0.loss_bbox_all: 0.3880, d0.loss_cls: 0.1752, d0.loss_bbox: 0.3880, d1.loss_cls: 0.1697, d1.loss_bbox: 0.3542, d2.loss_cls: 0.1579, d2.loss_bbox: 0.3337, d3.loss_cls: 0.1446, d3.loss_bbox: 0.3299, d4.loss_cls: 0.1415, d4.loss_bbox: 0.3272, d5.loss_cls: 0.1404, d5.loss_bbox: 0.3273, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7943, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6660, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6175, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6168, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6186, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6191, d0.loss_map_cls_all: 0.2264, d0.loss_map_pts_all: 1.4312, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2264, d0.loss_map_pts: 1.4312, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2018, d1.loss_map_pts: 0.9599, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1787, d2.loss_map_pts: 0.7840, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1665, d3.loss_map_pts: 0.7202, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1579, d4.loss_map_pts: 0.6963, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1535, d5.loss_map_pts: 0.6874, d5.loss_map_dir: 0.0100, loss: 27.4223, grad_norm: 155.5797 +2026-02-27 11:23:03,407 - DriveTransformer - INFO - Epoch [7][3850/39528] lr: 8.550e-05, eta: 5 days, 23:44:16, time: 0.720, data_time: 0.035, memory: 19865, loss_cls: 0.1592, loss_bbox: 0.3634, loss_traj: 0.5043, loss_traj_cls: 0.0009, loss_map_cls: 0.1754, loss_map_pts: 0.7866, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.4916, d0.loss_plan_l1_fix_dist: 0.4311, d1.loss_plan_l1_fix_time: 1.1785, d1.loss_plan_l1_fix_dist: 0.1711, d2.loss_plan_l1_fix_time: 1.1690, d2.loss_plan_l1_fix_dist: 0.1763, d3.loss_plan_l1_fix_time: 1.1639, d3.loss_plan_l1_fix_dist: 0.1880, d4.loss_plan_l1_fix_time: 1.1666, d4.loss_plan_l1_fix_dist: 0.2008, d5.loss_plan_l1_fix_time: 1.1701, d5.loss_plan_l1_fix_dist: 0.2159, d6.loss_plan_l1_fix_time: 1.1740, d6.loss_plan_l1_fix_dist: 0.2328, d0.loss_cls_all: 0.1870, d0.loss_bbox_all: 0.4128, d0.loss_cls: 0.1870, d0.loss_bbox: 0.4128, d1.loss_cls: 0.1814, d1.loss_bbox: 0.3853, d2.loss_cls: 0.1710, d2.loss_bbox: 0.3682, d3.loss_cls: 0.1622, d3.loss_bbox: 0.3633, d4.loss_cls: 0.1584, d4.loss_bbox: 0.3613, d5.loss_cls: 0.1587, d5.loss_bbox: 0.3627, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6525, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5387, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5064, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.4983, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5012, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5008, d0.loss_map_cls_all: 0.2349, d0.loss_map_pts_all: 1.5203, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2349, d0.loss_map_pts: 1.5203, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2123, d1.loss_map_pts: 1.0564, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1952, d2.loss_map_pts: 0.8863, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1866, d3.loss_map_pts: 0.8168, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1811, d4.loss_map_pts: 0.7922, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1778, d5.loss_map_pts: 0.7889, d5.loss_map_dir: 0.0092, loss: 29.0710, grad_norm: 156.6290 +2026-02-27 11:23:41,571 - DriveTransformer - INFO - Epoch [7][3900/39528] lr: 8.550e-05, eta: 5 days, 23:48:30, time: 0.763, data_time: 0.034, memory: 19865, loss_cls: 0.1741, loss_bbox: 0.3879, loss_traj: 0.6068, loss_traj_cls: 0.0009, loss_map_cls: 0.1743, loss_map_pts: 0.8089, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.5504, d0.loss_plan_l1_fix_dist: 0.4683, d1.loss_plan_l1_fix_time: 1.0994, d1.loss_plan_l1_fix_dist: 0.1894, d2.loss_plan_l1_fix_time: 1.0921, d2.loss_plan_l1_fix_dist: 0.1921, d3.loss_plan_l1_fix_time: 1.0850, d3.loss_plan_l1_fix_dist: 0.2010, d4.loss_plan_l1_fix_time: 1.0871, d4.loss_plan_l1_fix_dist: 0.2108, d5.loss_plan_l1_fix_time: 1.0901, d5.loss_plan_l1_fix_dist: 0.2217, d6.loss_plan_l1_fix_time: 1.0937, d6.loss_plan_l1_fix_dist: 0.2323, d0.loss_cls_all: 0.2114, d0.loss_bbox_all: 0.4554, d0.loss_cls: 0.2114, d0.loss_bbox: 0.4554, d1.loss_cls: 0.1997, d1.loss_bbox: 0.4167, d2.loss_cls: 0.1909, d2.loss_bbox: 0.3968, d3.loss_cls: 0.1802, d3.loss_bbox: 0.3907, d4.loss_cls: 0.1727, d4.loss_bbox: 0.3873, d5.loss_cls: 0.1730, d5.loss_bbox: 0.3870, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7776, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6558, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6180, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6113, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6002, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6037, d0.loss_map_cls_all: 0.2469, d0.loss_map_pts_all: 1.6039, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2469, d0.loss_map_pts: 1.6039, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2146, d1.loss_map_pts: 1.0904, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1959, d2.loss_map_pts: 0.9130, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1834, d3.loss_map_pts: 0.8481, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1788, d4.loss_map_pts: 0.8212, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1756, d5.loss_map_pts: 0.8096, d5.loss_map_dir: 0.0111, loss: 30.2850, grad_norm: 158.9650 +2026-02-27 11:24:17,997 - DriveTransformer - INFO - Epoch [7][3950/39528] lr: 8.550e-05, eta: 5 days, 23:47:26, time: 0.729, data_time: 0.034, memory: 19865, loss_cls: 0.1511, loss_bbox: 0.3609, loss_traj: 0.6529, loss_traj_cls: 0.0010, loss_map_cls: 0.1519, loss_map_pts: 0.6521, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.3734, d0.loss_plan_l1_fix_dist: 0.4379, d1.loss_plan_l1_fix_time: 1.0150, d1.loss_plan_l1_fix_dist: 0.1755, d2.loss_plan_l1_fix_time: 0.9980, d2.loss_plan_l1_fix_dist: 0.1771, d3.loss_plan_l1_fix_time: 1.0000, d3.loss_plan_l1_fix_dist: 0.1911, d4.loss_plan_l1_fix_time: 1.0041, d4.loss_plan_l1_fix_dist: 0.2073, d5.loss_plan_l1_fix_time: 1.0087, d5.loss_plan_l1_fix_dist: 0.2259, d6.loss_plan_l1_fix_time: 1.0139, d6.loss_plan_l1_fix_dist: 0.2463, d0.loss_cls_all: 0.1853, d0.loss_bbox_all: 0.4172, d0.loss_cls: 0.1853, d0.loss_bbox: 0.4172, d1.loss_cls: 0.1807, d1.loss_bbox: 0.3858, d2.loss_cls: 0.1737, d2.loss_bbox: 0.3666, d3.loss_cls: 0.1608, d3.loss_bbox: 0.3599, d4.loss_cls: 0.1544, d4.loss_bbox: 0.3591, d5.loss_cls: 0.1528, d5.loss_bbox: 0.3595, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8620, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7033, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6565, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6503, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6443, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6478, d0.loss_map_cls_all: 0.2261, d0.loss_map_pts_all: 1.4297, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2261, d0.loss_map_pts: 1.4297, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1976, d1.loss_map_pts: 0.9394, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1789, d2.loss_map_pts: 0.7541, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1673, d3.loss_map_pts: 0.6883, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1604, d4.loss_map_pts: 0.6636, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1551, d5.loss_map_pts: 0.6523, d5.loss_map_dir: 0.0093, loss: 28.0127, grad_norm: 160.0905 +2026-02-27 11:24:53,703 - DriveTransformer - INFO - Epoch [7][4000/39528] lr: 8.550e-05, eta: 5 days, 23:44:14, time: 0.714, data_time: 0.035, memory: 19865, loss_cls: 0.1733, loss_bbox: 0.3795, loss_traj: 0.7587, loss_traj_cls: 0.0009, loss_map_cls: 0.1402, loss_map_pts: 0.6311, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.8516, d0.loss_plan_l1_fix_dist: 0.4491, d1.loss_plan_l1_fix_time: 1.1157, d1.loss_plan_l1_fix_dist: 0.1929, d2.loss_plan_l1_fix_time: 1.1075, d2.loss_plan_l1_fix_dist: 0.1887, d3.loss_plan_l1_fix_time: 1.1075, d3.loss_plan_l1_fix_dist: 0.1947, d4.loss_plan_l1_fix_time: 1.1111, d4.loss_plan_l1_fix_dist: 0.2037, d5.loss_plan_l1_fix_time: 1.1153, d5.loss_plan_l1_fix_dist: 0.2147, d6.loss_plan_l1_fix_time: 1.1202, d6.loss_plan_l1_fix_dist: 0.2290, d0.loss_cls_all: 0.2118, d0.loss_bbox_all: 0.4414, d0.loss_cls: 0.2118, d0.loss_bbox: 0.4414, d1.loss_cls: 0.2067, d1.loss_bbox: 0.4011, d2.loss_cls: 0.1942, d2.loss_bbox: 0.3851, d3.loss_cls: 0.1826, d3.loss_bbox: 0.3788, d4.loss_cls: 0.1763, d4.loss_bbox: 0.3778, d5.loss_cls: 0.1742, d5.loss_bbox: 0.3781, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0468, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8320, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7804, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7691, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7626, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7604, d0.loss_map_cls_all: 0.2239, d0.loss_map_pts_all: 1.2750, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2239, d0.loss_map_pts: 1.2750, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1911, d1.loss_map_pts: 0.8591, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1653, d2.loss_map_pts: 0.7106, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1537, d3.loss_map_pts: 0.6588, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1480, d4.loss_map_pts: 0.6379, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1429, d5.loss_map_pts: 0.6315, d5.loss_map_dir: 0.0083, loss: 29.7636, grad_norm: 159.0987 +2026-02-27 11:25:30,139 - DriveTransformer - INFO - Epoch [7][4050/39528] lr: 8.550e-05, eta: 5 days, 23:43:14, time: 0.729, data_time: 0.035, memory: 19865, loss_cls: 0.1525, loss_bbox: 0.3435, loss_traj: 0.6337, loss_traj_cls: 0.0010, loss_map_cls: 0.1480, loss_map_pts: 0.6441, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.8857, d0.loss_plan_l1_fix_dist: 0.4473, d1.loss_plan_l1_fix_time: 1.0032, d1.loss_plan_l1_fix_dist: 0.1791, d2.loss_plan_l1_fix_time: 0.9816, d2.loss_plan_l1_fix_dist: 0.1804, d3.loss_plan_l1_fix_time: 0.9746, d3.loss_plan_l1_fix_dist: 0.1909, d4.loss_plan_l1_fix_time: 0.9768, d4.loss_plan_l1_fix_dist: 0.2018, d5.loss_plan_l1_fix_time: 0.9802, d5.loss_plan_l1_fix_dist: 0.2132, d6.loss_plan_l1_fix_time: 0.9840, d6.loss_plan_l1_fix_dist: 0.2254, d0.loss_cls_all: 0.1835, d0.loss_bbox_all: 0.4101, d0.loss_cls: 0.1835, d0.loss_bbox: 0.4101, d1.loss_cls: 0.1762, d1.loss_bbox: 0.3744, d2.loss_cls: 0.1662, d2.loss_bbox: 0.3555, d3.loss_cls: 0.1577, d3.loss_bbox: 0.3463, d4.loss_cls: 0.1533, d4.loss_bbox: 0.3443, d5.loss_cls: 0.1521, d5.loss_bbox: 0.3430, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8027, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6765, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6453, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6317, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6241, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6316, d0.loss_map_cls_all: 0.2098, d0.loss_map_pts_all: 1.3127, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2098, d0.loss_map_pts: 1.3127, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1842, d1.loss_map_pts: 0.8788, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1660, d2.loss_map_pts: 0.7250, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1568, d3.loss_map_pts: 0.6642, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1526, d4.loss_map_pts: 0.6486, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1487, d5.loss_map_pts: 0.6440, d5.loss_map_dir: 0.0090, loss: 27.6052, grad_norm: 157.7609 +2026-02-27 11:26:07,457 - DriveTransformer - INFO - Epoch [7][4100/39528] lr: 8.550e-05, eta: 5 days, 23:44:47, time: 0.746, data_time: 0.035, memory: 19865, loss_cls: 0.1580, loss_bbox: 0.3595, loss_traj: 0.7475, loss_traj_cls: 0.0010, loss_map_cls: 0.1372, loss_map_pts: 0.6899, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.5569, d0.loss_plan_l1_fix_dist: 0.4729, d1.loss_plan_l1_fix_time: 1.0951, d1.loss_plan_l1_fix_dist: 0.1918, d2.loss_plan_l1_fix_time: 1.0734, d2.loss_plan_l1_fix_dist: 0.1886, d3.loss_plan_l1_fix_time: 1.0726, d3.loss_plan_l1_fix_dist: 0.1950, d4.loss_plan_l1_fix_time: 1.0767, d4.loss_plan_l1_fix_dist: 0.2033, d5.loss_plan_l1_fix_time: 1.0814, d5.loss_plan_l1_fix_dist: 0.2117, d6.loss_plan_l1_fix_time: 1.0867, d6.loss_plan_l1_fix_dist: 0.2206, d0.loss_cls_all: 0.1890, d0.loss_bbox_all: 0.4177, d0.loss_cls: 0.1890, d0.loss_bbox: 0.4177, d1.loss_cls: 0.1829, d1.loss_bbox: 0.3847, d2.loss_cls: 0.1708, d2.loss_bbox: 0.3688, d3.loss_cls: 0.1642, d3.loss_bbox: 0.3627, d4.loss_cls: 0.1586, d4.loss_bbox: 0.3612, d5.loss_cls: 0.1574, d5.loss_bbox: 0.3596, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9473, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8082, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7562, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7442, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7449, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7451, d0.loss_map_cls_all: 0.2043, d0.loss_map_pts_all: 1.4659, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2043, d0.loss_map_pts: 1.4659, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1766, d1.loss_map_pts: 0.9660, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1570, d2.loss_map_pts: 0.7829, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1457, d3.loss_map_pts: 0.7182, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1406, d4.loss_map_pts: 0.6992, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1379, d5.loss_map_pts: 0.6915, d5.loss_map_dir: 0.0101, loss: 29.4890, grad_norm: 158.1945 +2026-02-27 11:26:44,232 - DriveTransformer - INFO - Epoch [7][4150/39528] lr: 8.550e-05, eta: 5 days, 23:44:44, time: 0.736, data_time: 0.033, memory: 19865, loss_cls: 0.1508, loss_bbox: 0.3436, loss_traj: 0.6631, loss_traj_cls: 0.0009, loss_map_cls: 0.1621, loss_map_pts: 0.7171, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.4974, d0.loss_plan_l1_fix_dist: 0.3670, d1.loss_plan_l1_fix_time: 1.0515, d1.loss_plan_l1_fix_dist: 0.1787, d2.loss_plan_l1_fix_time: 1.0281, d2.loss_plan_l1_fix_dist: 0.1803, d3.loss_plan_l1_fix_time: 1.0251, d3.loss_plan_l1_fix_dist: 0.1877, d4.loss_plan_l1_fix_time: 1.0273, d4.loss_plan_l1_fix_dist: 0.1961, d5.loss_plan_l1_fix_time: 1.0300, d5.loss_plan_l1_fix_dist: 0.2048, d6.loss_plan_l1_fix_time: 1.0338, d6.loss_plan_l1_fix_dist: 0.2156, d0.loss_cls_all: 0.1885, d0.loss_bbox_all: 0.4134, d0.loss_cls: 0.1885, d0.loss_bbox: 0.4134, d1.loss_cls: 0.1803, d1.loss_bbox: 0.3733, d2.loss_cls: 0.1666, d2.loss_bbox: 0.3535, d3.loss_cls: 0.1555, d3.loss_bbox: 0.3494, d4.loss_cls: 0.1513, d4.loss_bbox: 0.3454, d5.loss_cls: 0.1512, d5.loss_bbox: 0.3430, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8691, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7082, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6752, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6711, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6644, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6643, d0.loss_map_cls_all: 0.2232, d0.loss_map_pts_all: 1.3246, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2232, d0.loss_map_pts: 1.3246, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1982, d1.loss_map_pts: 0.9498, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1824, d2.loss_map_pts: 0.8002, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1702, d3.loss_map_pts: 0.7418, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1653, d4.loss_map_pts: 0.7232, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1626, d5.loss_map_pts: 0.7177, d5.loss_map_dir: 0.0091, loss: 28.2695, grad_norm: 156.8675 +2026-02-27 11:27:21,718 - DriveTransformer - INFO - Epoch [7][4200/39528] lr: 8.550e-05, eta: 5 days, 23:46:40, time: 0.750, data_time: 0.033, memory: 19865, loss_cls: 0.1629, loss_bbox: 0.3683, loss_traj: 0.5669, loss_traj_cls: 0.0010, loss_map_cls: 0.1588, loss_map_pts: 0.7075, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.3696, d0.loss_plan_l1_fix_dist: 0.4543, d1.loss_plan_l1_fix_time: 0.9412, d1.loss_plan_l1_fix_dist: 0.1746, d2.loss_plan_l1_fix_time: 0.9256, d2.loss_plan_l1_fix_dist: 0.1767, d3.loss_plan_l1_fix_time: 0.9279, d3.loss_plan_l1_fix_dist: 0.1822, d4.loss_plan_l1_fix_time: 0.9315, d4.loss_plan_l1_fix_dist: 0.1912, d5.loss_plan_l1_fix_time: 0.9349, d5.loss_plan_l1_fix_dist: 0.2044, d6.loss_plan_l1_fix_time: 0.9391, d6.loss_plan_l1_fix_dist: 0.2213, d0.loss_cls_all: 0.1968, d0.loss_bbox_all: 0.4238, d0.loss_cls: 0.1968, d0.loss_bbox: 0.4238, d1.loss_cls: 0.1960, d1.loss_bbox: 0.3946, d2.loss_cls: 0.1860, d2.loss_bbox: 0.3766, d3.loss_cls: 0.1726, d3.loss_bbox: 0.3703, d4.loss_cls: 0.1636, d4.loss_bbox: 0.3700, d5.loss_cls: 0.1625, d5.loss_bbox: 0.3685, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7601, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6196, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5833, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5711, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5670, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5672, d0.loss_map_cls_all: 0.2321, d0.loss_map_pts_all: 1.4426, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2321, d0.loss_map_pts: 1.4426, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2016, d1.loss_map_pts: 0.9751, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1830, d2.loss_map_pts: 0.8014, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1707, d3.loss_map_pts: 0.7353, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1642, d4.loss_map_pts: 0.7128, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1607, d5.loss_map_pts: 0.7076, d5.loss_map_dir: 0.0105, loss: 27.4599, grad_norm: 154.9709 +2026-02-27 11:27:58,391 - DriveTransformer - INFO - Epoch [7][4250/39528] lr: 8.550e-05, eta: 5 days, 23:46:17, time: 0.733, data_time: 0.036, memory: 19865, loss_cls: 0.2017, loss_bbox: 0.3857, loss_traj: 0.6177, loss_traj_cls: 0.0009, loss_map_cls: 0.1774, loss_map_pts: 0.7780, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.8537, d0.loss_plan_l1_fix_dist: 0.3719, d1.loss_plan_l1_fix_time: 1.1317, d1.loss_plan_l1_fix_dist: 0.1880, d2.loss_plan_l1_fix_time: 1.1209, d2.loss_plan_l1_fix_dist: 0.1880, d3.loss_plan_l1_fix_time: 1.1265, d3.loss_plan_l1_fix_dist: 0.1951, d4.loss_plan_l1_fix_time: 1.1300, d4.loss_plan_l1_fix_dist: 0.2048, d5.loss_plan_l1_fix_time: 1.1335, d5.loss_plan_l1_fix_dist: 0.2153, d6.loss_plan_l1_fix_time: 1.1376, d6.loss_plan_l1_fix_dist: 0.2273, d0.loss_cls_all: 0.2478, d0.loss_bbox_all: 0.4374, d0.loss_cls: 0.2478, d0.loss_bbox: 0.4374, d1.loss_cls: 0.2406, d1.loss_bbox: 0.4100, d2.loss_cls: 0.2239, d2.loss_bbox: 0.3922, d3.loss_cls: 0.2127, d3.loss_bbox: 0.3864, d4.loss_cls: 0.2017, d4.loss_bbox: 0.3858, d5.loss_cls: 0.1988, d5.loss_bbox: 0.3868, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8449, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6829, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6411, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6231, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6209, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6175, d0.loss_map_cls_all: 0.2363, d0.loss_map_pts_all: 1.5167, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2363, d0.loss_map_pts: 1.5167, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2170, d1.loss_map_pts: 1.0332, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.1955, d2.loss_map_pts: 0.8644, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1857, d3.loss_map_pts: 0.8030, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1812, d4.loss_map_pts: 0.7824, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1781, d5.loss_map_pts: 0.7787, d5.loss_map_dir: 0.0114, loss: 30.6459, grad_norm: 156.3996 +2026-02-27 11:28:35,973 - DriveTransformer - INFO - Epoch [7][4300/39528] lr: 8.550e-05, eta: 5 days, 23:48:24, time: 0.752, data_time: 0.034, memory: 19865, loss_cls: 0.1737, loss_bbox: 0.3753, loss_traj: 0.6311, loss_traj_cls: 0.0010, loss_map_cls: 0.1673, loss_map_pts: 0.8104, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.9020, d0.loss_plan_l1_fix_dist: 0.4389, d1.loss_plan_l1_fix_time: 1.0770, d1.loss_plan_l1_fix_dist: 0.2125, d2.loss_plan_l1_fix_time: 1.0698, d2.loss_plan_l1_fix_dist: 0.2126, d3.loss_plan_l1_fix_time: 1.0717, d3.loss_plan_l1_fix_dist: 0.2199, d4.loss_plan_l1_fix_time: 1.0743, d4.loss_plan_l1_fix_dist: 0.2282, d5.loss_plan_l1_fix_time: 1.0768, d5.loss_plan_l1_fix_dist: 0.2362, d6.loss_plan_l1_fix_time: 1.0799, d6.loss_plan_l1_fix_dist: 0.2436, d0.loss_cls_all: 0.2096, d0.loss_bbox_all: 0.4404, d0.loss_cls: 0.2096, d0.loss_bbox: 0.4404, d1.loss_cls: 0.1982, d1.loss_bbox: 0.4092, d2.loss_cls: 0.1849, d2.loss_bbox: 0.3861, d3.loss_cls: 0.1761, d3.loss_bbox: 0.3797, d4.loss_cls: 0.1727, d4.loss_bbox: 0.3769, d5.loss_cls: 0.1719, d5.loss_bbox: 0.3757, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8638, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6950, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6523, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6374, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6263, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6263, d0.loss_map_cls_all: 0.2302, d0.loss_map_pts_all: 1.4802, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2302, d0.loss_map_pts: 1.4802, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2039, d1.loss_map_pts: 1.0623, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.1848, d2.loss_map_pts: 0.9100, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1757, d3.loss_map_pts: 0.8459, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1706, d4.loss_map_pts: 0.8202, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1678, d5.loss_map_pts: 0.8107, d5.loss_map_dir: 0.0115, loss: 30.4031, grad_norm: 154.7810 +2026-02-27 11:29:12,364 - DriveTransformer - INFO - Epoch [7][4350/39528] lr: 8.550e-05, eta: 5 days, 23:47:13, time: 0.728, data_time: 0.035, memory: 19865, loss_cls: 0.1603, loss_bbox: 0.3700, loss_traj: 0.6846, loss_traj_cls: 0.0009, loss_map_cls: 0.1813, loss_map_pts: 0.7540, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 3.2015, d0.loss_plan_l1_fix_dist: 0.4800, d1.loss_plan_l1_fix_time: 1.1939, d1.loss_plan_l1_fix_dist: 0.1853, d2.loss_plan_l1_fix_time: 1.1874, d2.loss_plan_l1_fix_dist: 0.1865, d3.loss_plan_l1_fix_time: 1.1890, d3.loss_plan_l1_fix_dist: 0.1938, d4.loss_plan_l1_fix_time: 1.1922, d4.loss_plan_l1_fix_dist: 0.2026, d5.loss_plan_l1_fix_time: 1.1953, d5.loss_plan_l1_fix_dist: 0.2125, d6.loss_plan_l1_fix_time: 1.1984, d6.loss_plan_l1_fix_dist: 0.2225, d0.loss_cls_all: 0.2023, d0.loss_bbox_all: 0.4322, d0.loss_cls: 0.2023, d0.loss_bbox: 0.4322, d1.loss_cls: 0.1906, d1.loss_bbox: 0.4018, d2.loss_cls: 0.1801, d2.loss_bbox: 0.3801, d3.loss_cls: 0.1642, d3.loss_bbox: 0.3733, d4.loss_cls: 0.1598, d4.loss_bbox: 0.3712, d5.loss_cls: 0.1594, d5.loss_bbox: 0.3699, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9154, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7456, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6968, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6827, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6802, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6817, d0.loss_map_cls_all: 0.2375, d0.loss_map_pts_all: 1.4884, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2375, d0.loss_map_pts: 1.4884, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2134, d1.loss_map_pts: 1.0266, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1965, d2.loss_map_pts: 0.8534, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1882, d3.loss_map_pts: 0.7874, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1851, d4.loss_map_pts: 0.7631, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1829, d5.loss_map_pts: 0.7547, d5.loss_map_dir: 0.0104, loss: 31.3051, grad_norm: 151.8910 +2026-02-27 11:29:48,786 - DriveTransformer - INFO - Epoch [7][4400/39528] lr: 8.550e-05, eta: 5 days, 23:46:19, time: 0.730, data_time: 0.035, memory: 19865, loss_cls: 0.1327, loss_bbox: 0.3347, loss_traj: 0.5918, loss_traj_cls: 0.0010, loss_map_cls: 0.1352, loss_map_pts: 0.6329, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.3297, d0.loss_plan_l1_fix_dist: 0.4304, d1.loss_plan_l1_fix_time: 0.8970, d1.loss_plan_l1_fix_dist: 0.1839, d2.loss_plan_l1_fix_time: 0.8813, d2.loss_plan_l1_fix_dist: 0.1853, d3.loss_plan_l1_fix_time: 0.8762, d3.loss_plan_l1_fix_dist: 0.1913, d4.loss_plan_l1_fix_time: 0.8776, d4.loss_plan_l1_fix_dist: 0.2006, d5.loss_plan_l1_fix_time: 0.8799, d5.loss_plan_l1_fix_dist: 0.2129, d6.loss_plan_l1_fix_time: 0.8829, d6.loss_plan_l1_fix_dist: 0.2275, d0.loss_cls_all: 0.1717, d0.loss_bbox_all: 0.3840, d0.loss_cls: 0.1717, d0.loss_bbox: 0.3840, d1.loss_cls: 0.1622, d1.loss_bbox: 0.3550, d2.loss_cls: 0.1482, d2.loss_bbox: 0.3371, d3.loss_cls: 0.1370, d3.loss_bbox: 0.3320, d4.loss_cls: 0.1328, d4.loss_bbox: 0.3330, d5.loss_cls: 0.1323, d5.loss_bbox: 0.3332, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8177, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6738, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6170, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6067, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5995, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5956, d0.loss_map_cls_all: 0.2021, d0.loss_map_pts_all: 1.2911, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2021, d0.loss_map_pts: 1.2911, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1749, d1.loss_map_pts: 0.8869, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1539, d2.loss_map_pts: 0.7303, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1449, d3.loss_map_pts: 0.6615, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1395, d4.loss_map_pts: 0.6393, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1369, d5.loss_map_pts: 0.6325, d5.loss_map_dir: 0.0087, loss: 25.8703, grad_norm: 151.1972 +2026-02-27 11:30:24,184 - DriveTransformer - INFO - Epoch [7][4450/39528] lr: 8.550e-05, eta: 5 days, 23:42:20, time: 0.707, data_time: 0.034, memory: 19865, loss_cls: 0.1559, loss_bbox: 0.3624, loss_traj: 0.6838, loss_traj_cls: 0.0010, loss_map_cls: 0.1699, loss_map_pts: 0.6956, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.1798, d0.loss_plan_l1_fix_dist: 0.4218, d1.loss_plan_l1_fix_time: 1.0860, d1.loss_plan_l1_fix_dist: 0.1767, d2.loss_plan_l1_fix_time: 1.0722, d2.loss_plan_l1_fix_dist: 0.1781, d3.loss_plan_l1_fix_time: 1.0744, d3.loss_plan_l1_fix_dist: 0.1865, d4.loss_plan_l1_fix_time: 1.0769, d4.loss_plan_l1_fix_dist: 0.1977, d5.loss_plan_l1_fix_time: 1.0793, d5.loss_plan_l1_fix_dist: 0.2097, d6.loss_plan_l1_fix_time: 1.0819, d6.loss_plan_l1_fix_dist: 0.2255, d0.loss_cls_all: 0.1936, d0.loss_bbox_all: 0.4133, d0.loss_cls: 0.1936, d0.loss_bbox: 0.4133, d1.loss_cls: 0.1865, d1.loss_bbox: 0.3856, d2.loss_cls: 0.1722, d2.loss_bbox: 0.3666, d3.loss_cls: 0.1594, d3.loss_bbox: 0.3611, d4.loss_cls: 0.1569, d4.loss_bbox: 0.3618, d5.loss_cls: 0.1546, d5.loss_bbox: 0.3621, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9166, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7267, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6958, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6912, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6834, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6835, d0.loss_map_cls_all: 0.2325, d0.loss_map_pts_all: 1.3212, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2325, d0.loss_map_pts: 1.3212, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2075, d1.loss_map_pts: 0.9469, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1868, d2.loss_map_pts: 0.7964, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1737, d3.loss_map_pts: 0.7259, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1721, d4.loss_map_pts: 0.7035, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1703, d5.loss_map_pts: 0.6979, d5.loss_map_dir: 0.0089, loss: 28.5568, grad_norm: 149.3244 +2026-02-27 11:30:59,383 - DriveTransformer - INFO - Epoch [7][4500/39528] lr: 8.550e-05, eta: 5 days, 23:38:06, time: 0.704, data_time: 0.031, memory: 19865, loss_cls: 0.1603, loss_bbox: 0.3787, loss_traj: 0.7370, loss_traj_cls: 0.0010, loss_map_cls: 0.1582, loss_map_pts: 0.6589, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.5382, d0.loss_plan_l1_fix_dist: 0.3184, d1.loss_plan_l1_fix_time: 1.1345, d1.loss_plan_l1_fix_dist: 0.1594, d2.loss_plan_l1_fix_time: 1.1119, d2.loss_plan_l1_fix_dist: 0.1628, d3.loss_plan_l1_fix_time: 1.0998, d3.loss_plan_l1_fix_dist: 0.1759, d4.loss_plan_l1_fix_time: 1.1006, d4.loss_plan_l1_fix_dist: 0.1910, d5.loss_plan_l1_fix_time: 1.1025, d5.loss_plan_l1_fix_dist: 0.2091, d6.loss_plan_l1_fix_time: 1.1053, d6.loss_plan_l1_fix_dist: 0.2302, d0.loss_cls_all: 0.1929, d0.loss_bbox_all: 0.4334, d0.loss_cls: 0.1929, d0.loss_bbox: 0.4334, d1.loss_cls: 0.1872, d1.loss_bbox: 0.4035, d2.loss_cls: 0.1767, d2.loss_bbox: 0.3833, d3.loss_cls: 0.1662, d3.loss_bbox: 0.3788, d4.loss_cls: 0.1616, d4.loss_bbox: 0.3784, d5.loss_cls: 0.1590, d5.loss_bbox: 0.3786, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9424, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8002, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7629, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7466, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7376, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7367, d0.loss_map_cls_all: 0.2379, d0.loss_map_pts_all: 1.3632, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2379, d0.loss_map_pts: 1.3632, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2039, d1.loss_map_pts: 0.9606, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1831, d2.loss_map_pts: 0.7812, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1711, d3.loss_map_pts: 0.6960, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1647, d4.loss_map_pts: 0.6695, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1599, d5.loss_map_pts: 0.6609, d5.loss_map_dir: 0.0083, loss: 29.4114, grad_norm: 152.4343 +2026-02-27 11:31:35,035 - DriveTransformer - INFO - Epoch [7][4550/39528] lr: 8.550e-05, eta: 5 days, 23:35:07, time: 0.713, data_time: 0.036, memory: 19865, loss_cls: 0.1627, loss_bbox: 0.3851, loss_traj: 0.6520, loss_traj_cls: 0.0010, loss_map_cls: 0.1760, loss_map_pts: 0.7101, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.6105, d0.loss_plan_l1_fix_dist: 0.5170, d1.loss_plan_l1_fix_time: 1.0727, d1.loss_plan_l1_fix_dist: 0.1896, d2.loss_plan_l1_fix_time: 1.0429, d2.loss_plan_l1_fix_dist: 0.1909, d3.loss_plan_l1_fix_time: 1.0368, d3.loss_plan_l1_fix_dist: 0.2012, d4.loss_plan_l1_fix_time: 1.0376, d4.loss_plan_l1_fix_dist: 0.2142, d5.loss_plan_l1_fix_time: 1.0394, d5.loss_plan_l1_fix_dist: 0.2323, d6.loss_plan_l1_fix_time: 1.0425, d6.loss_plan_l1_fix_dist: 0.2539, d0.loss_cls_all: 0.1890, d0.loss_bbox_all: 0.4329, d0.loss_cls: 0.1890, d0.loss_bbox: 0.4329, d1.loss_cls: 0.1839, d1.loss_bbox: 0.3984, d2.loss_cls: 0.1759, d2.loss_bbox: 0.3813, d3.loss_cls: 0.1679, d3.loss_bbox: 0.3794, d4.loss_cls: 0.1615, d4.loss_bbox: 0.3818, d5.loss_cls: 0.1602, d5.loss_bbox: 0.3841, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8393, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7005, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6605, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6500, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6483, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6503, d0.loss_map_cls_all: 0.2398, d0.loss_map_pts_all: 1.3556, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2398, d0.loss_map_pts: 1.3556, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.2119, d1.loss_map_pts: 0.9935, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1944, d2.loss_map_pts: 0.8219, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1908, d3.loss_map_pts: 0.7451, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1828, d4.loss_map_pts: 0.7146, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1776, d5.loss_map_pts: 0.7090, d5.loss_map_dir: 0.0079, loss: 29.1360, grad_norm: 148.5278 +2026-02-27 11:32:13,278 - DriveTransformer - INFO - Epoch [7][4600/39528] lr: 8.550e-05, eta: 5 days, 23:38:49, time: 0.765, data_time: 0.033, memory: 19865, loss_cls: 0.1626, loss_bbox: 0.3831, loss_traj: 0.5770, loss_traj_cls: 0.0010, loss_map_cls: 0.1569, loss_map_pts: 0.6889, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.1574, d0.loss_plan_l1_fix_dist: 0.3039, d1.loss_plan_l1_fix_time: 0.9018, d1.loss_plan_l1_fix_dist: 0.1852, d2.loss_plan_l1_fix_time: 0.8813, d2.loss_plan_l1_fix_dist: 0.1900, d3.loss_plan_l1_fix_time: 0.8720, d3.loss_plan_l1_fix_dist: 0.1992, d4.loss_plan_l1_fix_time: 0.8728, d4.loss_plan_l1_fix_dist: 0.2100, d5.loss_plan_l1_fix_time: 0.8744, d5.loss_plan_l1_fix_dist: 0.2215, d6.loss_plan_l1_fix_time: 0.8772, d6.loss_plan_l1_fix_dist: 0.2324, d0.loss_cls_all: 0.2079, d0.loss_bbox_all: 0.4345, d0.loss_cls: 0.2079, d0.loss_bbox: 0.4345, d1.loss_cls: 0.2030, d1.loss_bbox: 0.3998, d2.loss_cls: 0.1891, d2.loss_bbox: 0.3827, d3.loss_cls: 0.1720, d3.loss_bbox: 0.3826, d4.loss_cls: 0.1632, d4.loss_bbox: 0.3809, d5.loss_cls: 0.1624, d5.loss_bbox: 0.3809, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8109, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6480, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6007, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5837, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5813, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5765, d0.loss_map_cls_all: 0.2138, d0.loss_map_pts_all: 1.4486, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2138, d0.loss_map_pts: 1.4486, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.1892, d1.loss_map_pts: 0.9571, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1745, d2.loss_map_pts: 0.7785, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1694, d3.loss_map_pts: 0.7140, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1640, d4.loss_map_pts: 0.6939, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1596, d5.loss_map_pts: 0.6891, d5.loss_map_dir: 0.0106, loss: 26.9550, grad_norm: 148.0055 +2026-02-27 11:32:49,582 - DriveTransformer - INFO - Epoch [7][4650/39528] lr: 8.550e-05, eta: 5 days, 23:37:31, time: 0.726, data_time: 0.035, memory: 19865, loss_cls: 0.1803, loss_bbox: 0.3999, loss_traj: 0.7763, loss_traj_cls: 0.0010, loss_map_cls: 0.1803, loss_map_pts: 0.7814, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.8917, d0.loss_plan_l1_fix_dist: 0.4474, d1.loss_plan_l1_fix_time: 1.2180, d1.loss_plan_l1_fix_dist: 0.2084, d2.loss_plan_l1_fix_time: 1.1941, d2.loss_plan_l1_fix_dist: 0.2136, d3.loss_plan_l1_fix_time: 1.1937, d3.loss_plan_l1_fix_dist: 0.2248, d4.loss_plan_l1_fix_time: 1.1951, d4.loss_plan_l1_fix_dist: 0.2361, d5.loss_plan_l1_fix_time: 1.1972, d5.loss_plan_l1_fix_dist: 0.2492, d6.loss_plan_l1_fix_time: 1.1993, d6.loss_plan_l1_fix_dist: 0.2652, d0.loss_cls_all: 0.2164, d0.loss_bbox_all: 0.4625, d0.loss_cls: 0.2164, d0.loss_bbox: 0.4625, d1.loss_cls: 0.2091, d1.loss_bbox: 0.4307, d2.loss_cls: 0.1953, d2.loss_bbox: 0.4123, d3.loss_cls: 0.1847, d3.loss_bbox: 0.4080, d4.loss_cls: 0.1793, d4.loss_bbox: 0.4032, d5.loss_cls: 0.1792, d5.loss_bbox: 0.4014, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0083, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8319, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7788, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7719, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7707, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7747, d0.loss_map_cls_all: 0.2485, d0.loss_map_pts_all: 1.5086, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2485, d0.loss_map_pts: 1.5086, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2207, d1.loss_map_pts: 1.0525, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1993, d2.loss_map_pts: 0.8815, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1894, d3.loss_map_pts: 0.8190, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1848, d4.loss_map_pts: 0.7939, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1809, d5.loss_map_pts: 0.7826, d5.loss_map_dir: 0.0110, loss: 32.4594, grad_norm: 146.6560 +2026-02-27 11:33:26,166 - DriveTransformer - INFO - Epoch [7][4700/39528] lr: 8.550e-05, eta: 5 days, 23:36:56, time: 0.732, data_time: 0.034, memory: 19865, loss_cls: 0.1670, loss_bbox: 0.3830, loss_traj: 0.6164, loss_traj_cls: 0.0010, loss_map_cls: 0.1773, loss_map_pts: 0.7330, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.8123, d0.loss_plan_l1_fix_dist: 0.4183, d1.loss_plan_l1_fix_time: 1.1409, d1.loss_plan_l1_fix_dist: 0.1937, d2.loss_plan_l1_fix_time: 1.1224, d2.loss_plan_l1_fix_dist: 0.1966, d3.loss_plan_l1_fix_time: 1.1234, d3.loss_plan_l1_fix_dist: 0.2052, d4.loss_plan_l1_fix_time: 1.1257, d4.loss_plan_l1_fix_dist: 0.2148, d5.loss_plan_l1_fix_time: 1.1282, d5.loss_plan_l1_fix_dist: 0.2267, d6.loss_plan_l1_fix_time: 1.1313, d6.loss_plan_l1_fix_dist: 0.2418, d0.loss_cls_all: 0.2008, d0.loss_bbox_all: 0.4289, d0.loss_cls: 0.2008, d0.loss_bbox: 0.4289, d1.loss_cls: 0.1938, d1.loss_bbox: 0.4026, d2.loss_cls: 0.1809, d2.loss_bbox: 0.3881, d3.loss_cls: 0.1719, d3.loss_bbox: 0.3823, d4.loss_cls: 0.1668, d4.loss_bbox: 0.3828, d5.loss_cls: 0.1671, d5.loss_bbox: 0.3831, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8089, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6737, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6377, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6289, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6167, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6176, d0.loss_map_cls_all: 0.2427, d0.loss_map_pts_all: 1.4660, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2427, d0.loss_map_pts: 1.4660, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2112, d1.loss_map_pts: 1.0149, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1925, d2.loss_map_pts: 0.8289, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1828, d3.loss_map_pts: 0.7658, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1808, d4.loss_map_pts: 0.7409, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1788, d5.loss_map_pts: 0.7340, d5.loss_map_dir: 0.0114, loss: 29.9633, grad_norm: 148.9440 +2026-02-27 11:34:01,595 - DriveTransformer - INFO - Epoch [7][4750/39528] lr: 8.550e-05, eta: 5 days, 23:33:29, time: 0.709, data_time: 0.033, memory: 19865, loss_cls: 0.1676, loss_bbox: 0.3939, loss_traj: 0.6100, loss_traj_cls: 0.0010, loss_map_cls: 0.1771, loss_map_pts: 0.7640, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.8656, d0.loss_plan_l1_fix_dist: 0.4092, d1.loss_plan_l1_fix_time: 1.0888, d1.loss_plan_l1_fix_dist: 0.1787, d2.loss_plan_l1_fix_time: 1.0765, d2.loss_plan_l1_fix_dist: 0.1850, d3.loss_plan_l1_fix_time: 1.0755, d3.loss_plan_l1_fix_dist: 0.1973, d4.loss_plan_l1_fix_time: 1.0770, d4.loss_plan_l1_fix_dist: 0.2127, d5.loss_plan_l1_fix_time: 1.0790, d5.loss_plan_l1_fix_dist: 0.2268, d6.loss_plan_l1_fix_time: 1.0816, d6.loss_plan_l1_fix_dist: 0.2394, d0.loss_cls_all: 0.2080, d0.loss_bbox_all: 0.4519, d0.loss_cls: 0.2080, d0.loss_bbox: 0.4519, d1.loss_cls: 0.2017, d1.loss_bbox: 0.4156, d2.loss_cls: 0.1865, d2.loss_bbox: 0.3991, d3.loss_cls: 0.1694, d3.loss_bbox: 0.3982, d4.loss_cls: 0.1667, d4.loss_bbox: 0.3954, d5.loss_cls: 0.1659, d5.loss_bbox: 0.3946, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8368, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6723, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6293, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6240, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6137, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6134, d0.loss_map_cls_all: 0.2332, d0.loss_map_pts_all: 1.4127, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2332, d0.loss_map_pts: 1.4127, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2067, d1.loss_map_pts: 1.0153, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1913, d2.loss_map_pts: 0.8563, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1815, d3.loss_map_pts: 0.7970, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1797, d4.loss_map_pts: 0.7723, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1780, d5.loss_map_pts: 0.7661, d5.loss_map_dir: 0.0096, loss: 29.8276, grad_norm: 148.9540 +2026-02-27 11:34:39,221 - DriveTransformer - INFO - Epoch [7][4800/39528] lr: 8.550e-05, eta: 5 days, 23:35:29, time: 0.752, data_time: 0.034, memory: 19865, loss_cls: 0.1623, loss_bbox: 0.3662, loss_traj: 0.6316, loss_traj_cls: 0.0010, loss_map_cls: 0.1699, loss_map_pts: 0.7052, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.6007, d0.loss_plan_l1_fix_dist: 0.4357, d1.loss_plan_l1_fix_time: 1.0461, d1.loss_plan_l1_fix_dist: 0.1864, d2.loss_plan_l1_fix_time: 1.0371, d2.loss_plan_l1_fix_dist: 0.1960, d3.loss_plan_l1_fix_time: 1.0339, d3.loss_plan_l1_fix_dist: 0.2145, d4.loss_plan_l1_fix_time: 1.0360, d4.loss_plan_l1_fix_dist: 0.2343, d5.loss_plan_l1_fix_time: 1.0387, d5.loss_plan_l1_fix_dist: 0.2546, d6.loss_plan_l1_fix_time: 1.0426, d6.loss_plan_l1_fix_dist: 0.2774, d0.loss_cls_all: 0.2019, d0.loss_bbox_all: 0.4264, d0.loss_cls: 0.2019, d0.loss_bbox: 0.4264, d1.loss_cls: 0.1923, d1.loss_bbox: 0.3923, d2.loss_cls: 0.1801, d2.loss_bbox: 0.3759, d3.loss_cls: 0.1677, d3.loss_bbox: 0.3710, d4.loss_cls: 0.1618, d4.loss_bbox: 0.3674, d5.loss_cls: 0.1619, d5.loss_bbox: 0.3660, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8041, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6780, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6296, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6293, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6252, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6250, d0.loss_map_cls_all: 0.2403, d0.loss_map_pts_all: 1.4536, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2403, d0.loss_map_pts: 1.4536, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2098, d1.loss_map_pts: 1.0007, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1900, d2.loss_map_pts: 0.8199, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1795, d3.loss_map_pts: 0.7533, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1730, d4.loss_map_pts: 0.7229, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1714, d5.loss_map_pts: 0.7079, d5.loss_map_dir: 0.0100, loss: 29.0552, grad_norm: 154.9586 +2026-02-27 11:35:14,239 - DriveTransformer - INFO - Epoch [7][4850/39528] lr: 8.550e-05, eta: 5 days, 23:31:06, time: 0.700, data_time: 0.036, memory: 19865, loss_cls: 0.1478, loss_bbox: 0.3696, loss_traj: 0.6261, loss_traj_cls: 0.0010, loss_map_cls: 0.1421, loss_map_pts: 0.6035, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.5576, d0.loss_plan_l1_fix_dist: 0.4481, d1.loss_plan_l1_fix_time: 1.1724, d1.loss_plan_l1_fix_dist: 0.2228, d2.loss_plan_l1_fix_time: 1.1603, d2.loss_plan_l1_fix_dist: 0.2267, d3.loss_plan_l1_fix_time: 1.1558, d3.loss_plan_l1_fix_dist: 0.2378, d4.loss_plan_l1_fix_time: 1.1574, d4.loss_plan_l1_fix_dist: 0.2518, d5.loss_plan_l1_fix_time: 1.1599, d5.loss_plan_l1_fix_dist: 0.2700, d6.loss_plan_l1_fix_time: 1.1633, d6.loss_plan_l1_fix_dist: 0.2917, d0.loss_cls_all: 0.1860, d0.loss_bbox_all: 0.4306, d0.loss_cls: 0.1860, d0.loss_bbox: 0.4306, d1.loss_cls: 0.1793, d1.loss_bbox: 0.3990, d2.loss_cls: 0.1615, d2.loss_bbox: 0.3803, d3.loss_cls: 0.1545, d3.loss_bbox: 0.3727, d4.loss_cls: 0.1500, d4.loss_bbox: 0.3710, d5.loss_cls: 0.1480, d5.loss_bbox: 0.3687, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8448, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6879, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6454, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6294, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6271, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6237, d0.loss_map_cls_all: 0.2190, d0.loss_map_pts_all: 1.2169, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2190, d0.loss_map_pts: 1.2169, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1883, d1.loss_map_pts: 0.8472, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1655, d2.loss_map_pts: 0.6936, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1562, d3.loss_map_pts: 0.6336, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1477, d4.loss_map_pts: 0.6110, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1434, d5.loss_map_pts: 0.6056, d5.loss_map_dir: 0.0083, loss: 28.4769, grad_norm: 154.7054 +2026-02-27 11:35:52,194 - DriveTransformer - INFO - Epoch [7][4900/39528] lr: 8.550e-05, eta: 5 days, 23:33:51, time: 0.759, data_time: 0.035, memory: 19865, loss_cls: 0.1533, loss_bbox: 0.3585, loss_traj: 0.6007, loss_traj_cls: 0.0010, loss_map_cls: 0.1748, loss_map_pts: 0.7184, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.5374, d0.loss_plan_l1_fix_dist: 0.4166, d1.loss_plan_l1_fix_time: 1.0384, d1.loss_plan_l1_fix_dist: 0.2047, d2.loss_plan_l1_fix_time: 1.0373, d2.loss_plan_l1_fix_dist: 0.2216, d3.loss_plan_l1_fix_time: 1.0394, d3.loss_plan_l1_fix_dist: 0.2477, d4.loss_plan_l1_fix_time: 1.0440, d4.loss_plan_l1_fix_dist: 0.2764, d5.loss_plan_l1_fix_time: 1.0487, d5.loss_plan_l1_fix_dist: 0.3086, d6.loss_plan_l1_fix_time: 1.0538, d6.loss_plan_l1_fix_dist: 0.3434, d0.loss_cls_all: 0.1942, d0.loss_bbox_all: 0.4183, d0.loss_cls: 0.1942, d0.loss_bbox: 0.4183, d1.loss_cls: 0.1830, d1.loss_bbox: 0.3846, d2.loss_cls: 0.1718, d2.loss_bbox: 0.3674, d3.loss_cls: 0.1610, d3.loss_bbox: 0.3616, d4.loss_cls: 0.1553, d4.loss_bbox: 0.3594, d5.loss_cls: 0.1533, d5.loss_bbox: 0.3583, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8346, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6609, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6165, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5999, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5911, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5983, d0.loss_map_cls_all: 0.2416, d0.loss_map_pts_all: 1.4255, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2416, d0.loss_map_pts: 1.4255, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2091, d1.loss_map_pts: 1.0030, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.1927, d2.loss_map_pts: 0.8218, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1834, d3.loss_map_pts: 0.7564, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1785, d4.loss_map_pts: 0.7311, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1766, d5.loss_map_pts: 0.7190, d5.loss_map_dir: 0.0111, loss: 29.0053, grad_norm: 156.3207 +2026-02-27 11:36:29,789 - DriveTransformer - INFO - Epoch [7][4950/39528] lr: 8.550e-05, eta: 5 days, 23:35:41, time: 0.752, data_time: 0.032, memory: 19865, loss_cls: 0.1599, loss_bbox: 0.3917, loss_traj: 0.6330, loss_traj_cls: 0.0010, loss_map_cls: 0.1794, loss_map_pts: 0.7736, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.6281, d0.loss_plan_l1_fix_dist: 0.3788, d1.loss_plan_l1_fix_time: 1.0055, d1.loss_plan_l1_fix_dist: 0.1669, d2.loss_plan_l1_fix_time: 0.9880, d2.loss_plan_l1_fix_dist: 0.1798, d3.loss_plan_l1_fix_time: 0.9864, d3.loss_plan_l1_fix_dist: 0.1979, d4.loss_plan_l1_fix_time: 0.9903, d4.loss_plan_l1_fix_dist: 0.2169, d5.loss_plan_l1_fix_time: 0.9946, d5.loss_plan_l1_fix_dist: 0.2372, d6.loss_plan_l1_fix_time: 0.9995, d6.loss_plan_l1_fix_dist: 0.2622, d0.loss_cls_all: 0.2024, d0.loss_bbox_all: 0.4440, d0.loss_cls: 0.2024, d0.loss_bbox: 0.4440, d1.loss_cls: 0.1932, d1.loss_bbox: 0.4123, d2.loss_cls: 0.1787, d2.loss_bbox: 0.3950, d3.loss_cls: 0.1690, d3.loss_bbox: 0.3871, d4.loss_cls: 0.1624, d4.loss_bbox: 0.3880, d5.loss_cls: 0.1602, d5.loss_bbox: 0.3908, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8195, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6868, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6499, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6332, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6305, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6291, d0.loss_map_cls_all: 0.2599, d0.loss_map_pts_all: 1.5739, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2599, d0.loss_map_pts: 1.5739, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2246, d1.loss_map_pts: 1.0428, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2014, d2.loss_map_pts: 0.8704, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.1899, d3.loss_map_pts: 0.8032, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1853, d4.loss_map_pts: 0.7806, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1840, d5.loss_map_pts: 0.7730, d5.loss_map_dir: 0.0111, loss: 29.5666, grad_norm: 158.8191 +2026-02-27 11:37:04,961 - DriveTransformer - INFO - Epoch [7][5000/39528] lr: 8.550e-05, eta: 5 days, 23:31:45, time: 0.703, data_time: 0.034, memory: 19865, loss_cls: 0.1495, loss_bbox: 0.3747, loss_traj: 0.7242, loss_traj_cls: 0.0010, loss_map_cls: 0.1570, loss_map_pts: 0.6853, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.4236, d0.loss_plan_l1_fix_dist: 0.4059, d1.loss_plan_l1_fix_time: 1.0576, d1.loss_plan_l1_fix_dist: 0.1888, d2.loss_plan_l1_fix_time: 1.0405, d2.loss_plan_l1_fix_dist: 0.1974, d3.loss_plan_l1_fix_time: 1.0332, d3.loss_plan_l1_fix_dist: 0.2107, d4.loss_plan_l1_fix_time: 1.0340, d4.loss_plan_l1_fix_dist: 0.2231, d5.loss_plan_l1_fix_time: 1.0354, d5.loss_plan_l1_fix_dist: 0.2329, d6.loss_plan_l1_fix_time: 1.0376, d6.loss_plan_l1_fix_dist: 0.2404, d0.loss_cls_all: 0.1806, d0.loss_bbox_all: 0.4272, d0.loss_cls: 0.1806, d0.loss_bbox: 0.4272, d1.loss_cls: 0.1765, d1.loss_bbox: 0.3970, d2.loss_cls: 0.1654, d2.loss_bbox: 0.3782, d3.loss_cls: 0.1550, d3.loss_bbox: 0.3743, d4.loss_cls: 0.1504, d4.loss_bbox: 0.3730, d5.loss_cls: 0.1492, d5.loss_bbox: 0.3739, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9583, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7756, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7338, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7199, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7216, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7182, d0.loss_map_cls_all: 0.2274, d0.loss_map_pts_all: 1.3486, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2274, d0.loss_map_pts: 1.3486, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1991, d1.loss_map_pts: 0.9791, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1808, d2.loss_map_pts: 0.8063, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1697, d3.loss_map_pts: 0.7267, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1632, d4.loss_map_pts: 0.6981, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1594, d5.loss_map_pts: 0.6870, d5.loss_map_dir: 0.0084, loss: 28.9812, grad_norm: 158.9682 +2026-02-27 11:37:40,865 - DriveTransformer - INFO - Epoch [7][5050/39528] lr: 8.550e-05, eta: 5 days, 23:29:35, time: 0.718, data_time: 0.034, memory: 19865, loss_cls: 0.1731, loss_bbox: 0.3654, loss_traj: 0.5879, loss_traj_cls: 0.0010, loss_map_cls: 0.1570, loss_map_pts: 0.6674, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.9404, d0.loss_plan_l1_fix_dist: 0.3619, d1.loss_plan_l1_fix_time: 1.0547, d1.loss_plan_l1_fix_dist: 0.1593, d2.loss_plan_l1_fix_time: 1.0393, d2.loss_plan_l1_fix_dist: 0.1647, d3.loss_plan_l1_fix_time: 1.0406, d3.loss_plan_l1_fix_dist: 0.1773, d4.loss_plan_l1_fix_time: 1.0436, d4.loss_plan_l1_fix_dist: 0.1950, d5.loss_plan_l1_fix_time: 1.0470, d5.loss_plan_l1_fix_dist: 0.2173, d6.loss_plan_l1_fix_time: 1.0502, d6.loss_plan_l1_fix_dist: 0.2393, d0.loss_cls_all: 0.2094, d0.loss_bbox_all: 0.4242, d0.loss_cls: 0.2094, d0.loss_bbox: 0.4242, d1.loss_cls: 0.2024, d1.loss_bbox: 0.3893, d2.loss_cls: 0.1892, d2.loss_bbox: 0.3722, d3.loss_cls: 0.1755, d3.loss_bbox: 0.3680, d4.loss_cls: 0.1706, d4.loss_bbox: 0.3653, d5.loss_cls: 0.1713, d5.loss_bbox: 0.3646, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7883, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6325, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6015, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5928, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5874, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5887, d0.loss_map_cls_all: 0.2186, d0.loss_map_pts_all: 1.3714, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2186, d0.loss_map_pts: 1.3714, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.1877, d1.loss_map_pts: 0.9247, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1718, d2.loss_map_pts: 0.7584, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1657, d3.loss_map_pts: 0.6940, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1611, d4.loss_map_pts: 0.6743, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1594, d5.loss_map_pts: 0.6668, d5.loss_map_dir: 0.0103, loss: 28.3413, grad_norm: 159.2852 +2026-02-27 11:38:17,292 - DriveTransformer - INFO - Epoch [7][5100/39528] lr: 8.550e-05, eta: 5 days, 23:28:40, time: 0.729, data_time: 0.035, memory: 19865, loss_cls: 0.1588, loss_bbox: 0.3587, loss_traj: 0.5850, loss_traj_cls: 0.0010, loss_map_cls: 0.1267, loss_map_pts: 0.5955, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.4394, d0.loss_plan_l1_fix_dist: 0.4982, d1.loss_plan_l1_fix_time: 0.9712, d1.loss_plan_l1_fix_dist: 0.1879, d2.loss_plan_l1_fix_time: 0.9528, d2.loss_plan_l1_fix_dist: 0.1961, d3.loss_plan_l1_fix_time: 0.9471, d3.loss_plan_l1_fix_dist: 0.2128, d4.loss_plan_l1_fix_time: 0.9497, d4.loss_plan_l1_fix_dist: 0.2332, d5.loss_plan_l1_fix_time: 0.9535, d5.loss_plan_l1_fix_dist: 0.2606, d6.loss_plan_l1_fix_time: 0.9575, d6.loss_plan_l1_fix_dist: 0.2900, d0.loss_cls_all: 0.1945, d0.loss_bbox_all: 0.4168, d0.loss_cls: 0.1945, d0.loss_bbox: 0.4168, d1.loss_cls: 0.1858, d1.loss_bbox: 0.3805, d2.loss_cls: 0.1764, d2.loss_bbox: 0.3640, d3.loss_cls: 0.1654, d3.loss_bbox: 0.3592, d4.loss_cls: 0.1603, d4.loss_bbox: 0.3585, d5.loss_cls: 0.1588, d5.loss_bbox: 0.3581, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7357, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6063, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5893, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5843, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5869, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5900, d0.loss_map_cls_all: 0.1868, d0.loss_map_pts_all: 1.2177, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1868, d0.loss_map_pts: 1.2177, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1598, d1.loss_map_pts: 0.8242, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1456, d2.loss_map_pts: 0.6813, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1355, d3.loss_map_pts: 0.6275, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1297, d4.loss_map_pts: 0.6052, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1275, d5.loss_map_pts: 0.5972, d5.loss_map_dir: 0.0084, loss: 26.3721, grad_norm: 159.8982 +2026-02-27 11:38:53,810 - DriveTransformer - INFO - Epoch [7][5150/39528] lr: 8.550e-05, eta: 5 days, 23:27:57, time: 0.730, data_time: 0.035, memory: 19865, loss_cls: 0.1548, loss_bbox: 0.3449, loss_traj: 0.7252, loss_traj_cls: 0.0010, loss_map_cls: 0.1495, loss_map_pts: 0.6979, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.7755, d0.loss_plan_l1_fix_dist: 0.4608, d1.loss_plan_l1_fix_time: 1.1580, d1.loss_plan_l1_fix_dist: 0.1859, d2.loss_plan_l1_fix_time: 1.1487, d2.loss_plan_l1_fix_dist: 0.1902, d3.loss_plan_l1_fix_time: 1.1453, d3.loss_plan_l1_fix_dist: 0.2014, d4.loss_plan_l1_fix_time: 1.1482, d4.loss_plan_l1_fix_dist: 0.2142, d5.loss_plan_l1_fix_time: 1.1519, d5.loss_plan_l1_fix_dist: 0.2297, d6.loss_plan_l1_fix_time: 1.1568, d6.loss_plan_l1_fix_dist: 0.2481, d0.loss_cls_all: 0.1869, d0.loss_bbox_all: 0.4023, d0.loss_cls: 0.1869, d0.loss_bbox: 0.4023, d1.loss_cls: 0.1787, d1.loss_bbox: 0.3720, d2.loss_cls: 0.1661, d2.loss_bbox: 0.3537, d3.loss_cls: 0.1565, d3.loss_bbox: 0.3477, d4.loss_cls: 0.1534, d4.loss_bbox: 0.3447, d5.loss_cls: 0.1541, d5.loss_bbox: 0.3439, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9270, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7697, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7279, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7199, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7158, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7218, d0.loss_map_cls_all: 0.2184, d0.loss_map_pts_all: 1.3789, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2184, d0.loss_map_pts: 1.3789, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1897, d1.loss_map_pts: 0.9473, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1676, d2.loss_map_pts: 0.7864, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1582, d3.loss_map_pts: 0.7296, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1529, d4.loss_map_pts: 0.7073, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1500, d5.loss_map_pts: 0.6988, d5.loss_map_dir: 0.0098, loss: 29.7839, grad_norm: 156.5055 +2026-02-27 11:39:30,563 - DriveTransformer - INFO - Epoch [7][5200/39528] lr: 8.550e-05, eta: 5 days, 23:27:57, time: 0.736, data_time: 0.032, memory: 19865, loss_cls: 0.1543, loss_bbox: 0.3368, loss_traj: 0.6104, loss_traj_cls: 0.0010, loss_map_cls: 0.1417, loss_map_pts: 0.6593, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.2908, d0.loss_plan_l1_fix_dist: 0.3235, d1.loss_plan_l1_fix_time: 0.9175, d1.loss_plan_l1_fix_dist: 0.1639, d2.loss_plan_l1_fix_time: 0.9088, d2.loss_plan_l1_fix_dist: 0.1696, d3.loss_plan_l1_fix_time: 0.9145, d3.loss_plan_l1_fix_dist: 0.1822, d4.loss_plan_l1_fix_time: 0.9189, d4.loss_plan_l1_fix_dist: 0.1973, d5.loss_plan_l1_fix_time: 0.9237, d5.loss_plan_l1_fix_dist: 0.2127, d6.loss_plan_l1_fix_time: 0.9299, d6.loss_plan_l1_fix_dist: 0.2290, d0.loss_cls_all: 0.1905, d0.loss_bbox_all: 0.4034, d0.loss_cls: 0.1905, d0.loss_bbox: 0.4034, d1.loss_cls: 0.1848, d1.loss_bbox: 0.3695, d2.loss_cls: 0.1731, d2.loss_bbox: 0.3509, d3.loss_cls: 0.1603, d3.loss_bbox: 0.3412, d4.loss_cls: 0.1554, d4.loss_bbox: 0.3378, d5.loss_cls: 0.1533, d5.loss_bbox: 0.3372, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7971, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6540, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6133, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6082, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6023, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6055, d0.loss_map_cls_all: 0.2163, d0.loss_map_pts_all: 1.3266, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2163, d0.loss_map_pts: 1.3266, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.1864, d1.loss_map_pts: 0.8858, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1654, d2.loss_map_pts: 0.7367, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1569, d3.loss_map_pts: 0.6910, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1497, d4.loss_map_pts: 0.6712, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1439, d5.loss_map_pts: 0.6607, d5.loss_map_dir: 0.0110, loss: 26.4434, grad_norm: 156.9654 +2026-02-27 11:40:08,322 - DriveTransformer - INFO - Epoch [7][5250/39528] lr: 8.550e-05, eta: 5 days, 23:29:51, time: 0.754, data_time: 0.036, memory: 19865, loss_cls: 0.1556, loss_bbox: 0.3566, loss_traj: 0.5578, loss_traj_cls: 0.0010, loss_map_cls: 0.1547, loss_map_pts: 0.6739, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.5813, d0.loss_plan_l1_fix_dist: 0.4054, d1.loss_plan_l1_fix_time: 1.0423, d1.loss_plan_l1_fix_dist: 0.1832, d2.loss_plan_l1_fix_time: 1.0307, d2.loss_plan_l1_fix_dist: 0.1915, d3.loss_plan_l1_fix_time: 1.0273, d3.loss_plan_l1_fix_dist: 0.2033, d4.loss_plan_l1_fix_time: 1.0294, d4.loss_plan_l1_fix_dist: 0.2170, d5.loss_plan_l1_fix_time: 1.0322, d5.loss_plan_l1_fix_dist: 0.2289, d6.loss_plan_l1_fix_time: 1.0355, d6.loss_plan_l1_fix_dist: 0.2413, d0.loss_cls_all: 0.1903, d0.loss_bbox_all: 0.4221, d0.loss_cls: 0.1903, d0.loss_bbox: 0.4221, d1.loss_cls: 0.1819, d1.loss_bbox: 0.3899, d2.loss_cls: 0.1703, d2.loss_bbox: 0.3712, d3.loss_cls: 0.1617, d3.loss_bbox: 0.3627, d4.loss_cls: 0.1565, d4.loss_bbox: 0.3591, d5.loss_cls: 0.1556, d5.loss_bbox: 0.3570, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7438, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6036, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5586, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5548, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5522, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5517, d0.loss_map_cls_all: 0.2395, d0.loss_map_pts_all: 1.4494, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2395, d0.loss_map_pts: 1.4494, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2037, d1.loss_map_pts: 0.9428, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.1807, d2.loss_map_pts: 0.7652, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1683, d3.loss_map_pts: 0.7056, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1609, d4.loss_map_pts: 0.6815, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1558, d5.loss_map_pts: 0.6740, d5.loss_map_dir: 0.0108, loss: 27.9123, grad_norm: 153.0151 +2026-02-27 11:40:43,827 - DriveTransformer - INFO - Epoch [7][5300/39528] lr: 8.550e-05, eta: 5 days, 23:26:53, time: 0.710, data_time: 0.036, memory: 19865, loss_cls: 0.1669, loss_bbox: 0.3477, loss_traj: 0.6383, loss_traj_cls: 0.0009, loss_map_cls: 0.1620, loss_map_pts: 0.7061, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 3.0034, d0.loss_plan_l1_fix_dist: 0.3611, d1.loss_plan_l1_fix_time: 1.1313, d1.loss_plan_l1_fix_dist: 0.1719, d2.loss_plan_l1_fix_time: 1.1183, d2.loss_plan_l1_fix_dist: 0.1865, d3.loss_plan_l1_fix_time: 1.1218, d3.loss_plan_l1_fix_dist: 0.2009, d4.loss_plan_l1_fix_time: 1.1257, d4.loss_plan_l1_fix_dist: 0.2163, d5.loss_plan_l1_fix_time: 1.1296, d5.loss_plan_l1_fix_dist: 0.2311, d6.loss_plan_l1_fix_time: 1.1334, d6.loss_plan_l1_fix_dist: 0.2437, d0.loss_cls_all: 0.2037, d0.loss_bbox_all: 0.4159, d0.loss_cls: 0.2037, d0.loss_bbox: 0.4159, d1.loss_cls: 0.1974, d1.loss_bbox: 0.3789, d2.loss_cls: 0.1865, d2.loss_bbox: 0.3623, d3.loss_cls: 0.1738, d3.loss_bbox: 0.3550, d4.loss_cls: 0.1687, d4.loss_bbox: 0.3510, d5.loss_cls: 0.1666, d5.loss_bbox: 0.3487, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8743, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6896, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6454, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6384, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6370, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6377, d0.loss_map_cls_all: 0.2392, d0.loss_map_pts_all: 1.3665, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2392, d0.loss_map_pts: 1.3665, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.2040, d1.loss_map_pts: 0.9825, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1816, d2.loss_map_pts: 0.8061, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1722, d3.loss_map_pts: 0.7368, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1662, d4.loss_map_pts: 0.7131, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1629, d5.loss_map_pts: 0.7063, d5.loss_map_dir: 0.0090, loss: 29.5644, grad_norm: 157.9771 +2026-02-27 11:41:20,863 - DriveTransformer - INFO - Epoch [7][5350/39528] lr: 8.550e-05, eta: 5 days, 23:27:19, time: 0.741, data_time: 0.035, memory: 19865, loss_cls: 0.1494, loss_bbox: 0.3586, loss_traj: 0.5300, loss_traj_cls: 0.0010, loss_map_cls: 0.1638, loss_map_pts: 0.7401, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.1650, d0.loss_plan_l1_fix_dist: 0.3697, d1.loss_plan_l1_fix_time: 0.9347, d1.loss_plan_l1_fix_dist: 0.1886, d2.loss_plan_l1_fix_time: 0.9313, d2.loss_plan_l1_fix_dist: 0.1928, d3.loss_plan_l1_fix_time: 0.9369, d3.loss_plan_l1_fix_dist: 0.2033, d4.loss_plan_l1_fix_time: 0.9410, d4.loss_plan_l1_fix_dist: 0.2165, d5.loss_plan_l1_fix_time: 0.9449, d5.loss_plan_l1_fix_dist: 0.2319, d6.loss_plan_l1_fix_time: 0.9491, d6.loss_plan_l1_fix_dist: 0.2500, d0.loss_cls_all: 0.1911, d0.loss_bbox_all: 0.4184, d0.loss_cls: 0.1911, d0.loss_bbox: 0.4184, d1.loss_cls: 0.1827, d1.loss_bbox: 0.3867, d2.loss_cls: 0.1664, d2.loss_bbox: 0.3686, d3.loss_cls: 0.1552, d3.loss_bbox: 0.3611, d4.loss_cls: 0.1507, d4.loss_bbox: 0.3589, d5.loss_cls: 0.1503, d5.loss_bbox: 0.3566, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7030, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5855, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5411, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5346, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5289, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5292, d0.loss_map_cls_all: 0.2468, d0.loss_map_pts_all: 1.5192, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2468, d0.loss_map_pts: 1.5192, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2092, d1.loss_map_pts: 1.0150, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.1865, d2.loss_map_pts: 0.8391, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1764, d3.loss_map_pts: 0.7720, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1711, d4.loss_map_pts: 0.7466, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1641, d5.loss_map_pts: 0.7411, d5.loss_map_dir: 0.0105, loss: 27.3197, grad_norm: 157.9044 +2026-02-27 11:41:56,014 - DriveTransformer - INFO - Epoch [7][5400/39528] lr: 8.550e-05, eta: 5 days, 23:23:37, time: 0.703, data_time: 0.035, memory: 19865, loss_cls: 0.1669, loss_bbox: 0.3821, loss_traj: 0.6988, loss_traj_cls: 0.0010, loss_map_cls: 0.1627, loss_map_pts: 0.6632, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.4319, d0.loss_plan_l1_fix_dist: 0.4590, d1.loss_plan_l1_fix_time: 1.1260, d1.loss_plan_l1_fix_dist: 0.1981, d2.loss_plan_l1_fix_time: 1.1127, d2.loss_plan_l1_fix_dist: 0.2017, d3.loss_plan_l1_fix_time: 1.1084, d3.loss_plan_l1_fix_dist: 0.2142, d4.loss_plan_l1_fix_time: 1.1110, d4.loss_plan_l1_fix_dist: 0.2293, d5.loss_plan_l1_fix_time: 1.1145, d5.loss_plan_l1_fix_dist: 0.2457, d6.loss_plan_l1_fix_time: 1.1188, d6.loss_plan_l1_fix_dist: 0.2666, d0.loss_cls_all: 0.2050, d0.loss_bbox_all: 0.4552, d0.loss_cls: 0.2050, d0.loss_bbox: 0.4552, d1.loss_cls: 0.2003, d1.loss_bbox: 0.4218, d2.loss_cls: 0.1852, d2.loss_bbox: 0.4009, d3.loss_cls: 0.1717, d3.loss_bbox: 0.3901, d4.loss_cls: 0.1683, d4.loss_bbox: 0.3849, d5.loss_cls: 0.1666, d5.loss_bbox: 0.3826, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9502, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7591, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7096, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6962, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6931, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6972, d0.loss_map_cls_all: 0.2257, d0.loss_map_pts_all: 1.3213, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2257, d0.loss_map_pts: 1.3213, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.2029, d1.loss_map_pts: 0.9168, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1848, d2.loss_map_pts: 0.7539, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1741, d3.loss_map_pts: 0.6899, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1697, d4.loss_map_pts: 0.6710, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1635, d5.loss_map_pts: 0.6642, d5.loss_map_dir: 0.0081, loss: 29.4658, grad_norm: 157.9059 +2026-02-27 11:42:32,178 - DriveTransformer - INFO - Epoch [7][5450/39528] lr: 8.550e-05, eta: 5 days, 23:22:09, time: 0.723, data_time: 0.040, memory: 19865, loss_cls: 0.1610, loss_bbox: 0.3648, loss_traj: 0.7135, loss_traj_cls: 0.0009, loss_map_cls: 0.1735, loss_map_pts: 0.7630, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.2591, d0.loss_plan_l1_fix_dist: 0.3986, d1.loss_plan_l1_fix_time: 1.1125, d1.loss_plan_l1_fix_dist: 0.1878, d2.loss_plan_l1_fix_time: 1.1015, d2.loss_plan_l1_fix_dist: 0.1913, d3.loss_plan_l1_fix_time: 1.1005, d3.loss_plan_l1_fix_dist: 0.2030, d4.loss_plan_l1_fix_time: 1.1029, d4.loss_plan_l1_fix_dist: 0.2172, d5.loss_plan_l1_fix_time: 1.1058, d5.loss_plan_l1_fix_dist: 0.2353, d6.loss_plan_l1_fix_time: 1.1095, d6.loss_plan_l1_fix_dist: 0.2559, d0.loss_cls_all: 0.2013, d0.loss_bbox_all: 0.4248, d0.loss_cls: 0.2013, d0.loss_bbox: 0.4248, d1.loss_cls: 0.1887, d1.loss_bbox: 0.3918, d2.loss_cls: 0.1789, d2.loss_bbox: 0.3697, d3.loss_cls: 0.1676, d3.loss_bbox: 0.3648, d4.loss_cls: 0.1633, d4.loss_bbox: 0.3626, d5.loss_cls: 0.1613, d5.loss_bbox: 0.3620, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9326, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7651, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7232, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7130, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7171, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7152, d0.loss_map_cls_all: 0.2523, d0.loss_map_pts_all: 1.5441, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2523, d0.loss_map_pts: 1.5441, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2165, d1.loss_map_pts: 1.0500, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1985, d2.loss_map_pts: 0.8671, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1865, d3.loss_map_pts: 0.7977, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1809, d4.loss_map_pts: 0.7710, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1770, d5.loss_map_pts: 0.7624, d5.loss_map_dir: 0.0090, loss: 30.1647, grad_norm: 158.2675 +2026-02-27 11:43:09,733 - DriveTransformer - INFO - Epoch [7][5500/39528] lr: 8.550e-05, eta: 5 days, 23:23:42, time: 0.751, data_time: 0.039, memory: 19865, loss_cls: 0.1592, loss_bbox: 0.3772, loss_traj: 0.5702, loss_traj_cls: 0.0010, loss_map_cls: 0.1413, loss_map_pts: 0.6796, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.7552, d0.loss_plan_l1_fix_dist: 0.3643, d1.loss_plan_l1_fix_time: 1.1169, d1.loss_plan_l1_fix_dist: 0.1671, d2.loss_plan_l1_fix_time: 1.0949, d2.loss_plan_l1_fix_dist: 0.1712, d3.loss_plan_l1_fix_time: 1.1008, d3.loss_plan_l1_fix_dist: 0.1822, d4.loss_plan_l1_fix_time: 1.1044, d4.loss_plan_l1_fix_dist: 0.1964, d5.loss_plan_l1_fix_time: 1.1076, d5.loss_plan_l1_fix_dist: 0.2145, d6.loss_plan_l1_fix_time: 1.1113, d6.loss_plan_l1_fix_dist: 0.2355, d0.loss_cls_all: 0.1941, d0.loss_bbox_all: 0.4314, d0.loss_cls: 0.1941, d0.loss_bbox: 0.4314, d1.loss_cls: 0.1899, d1.loss_bbox: 0.3988, d2.loss_cls: 0.1776, d2.loss_bbox: 0.3840, d3.loss_cls: 0.1667, d3.loss_bbox: 0.3758, d4.loss_cls: 0.1592, d4.loss_bbox: 0.3771, d5.loss_cls: 0.1580, d5.loss_bbox: 0.3769, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7470, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6311, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5828, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5770, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5774, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5749, d0.loss_map_cls_all: 0.2195, d0.loss_map_pts_all: 1.4380, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2195, d0.loss_map_pts: 1.4380, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1836, d1.loss_map_pts: 0.9404, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1666, d2.loss_map_pts: 0.7676, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1540, d3.loss_map_pts: 0.7071, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1481, d4.loss_map_pts: 0.6860, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1426, d5.loss_map_pts: 0.6790, d5.loss_map_dir: 0.0091, loss: 28.5242, grad_norm: 159.5782 +2026-02-27 11:43:47,009 - DriveTransformer - INFO - Epoch [7][5550/39528] lr: 8.550e-05, eta: 5 days, 23:24:36, time: 0.745, data_time: 0.037, memory: 19865, loss_cls: 0.1468, loss_bbox: 0.3543, loss_traj: 0.6117, loss_traj_cls: 0.0009, loss_map_cls: 0.1465, loss_map_pts: 0.6874, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.5180, d0.loss_plan_l1_fix_dist: 0.3864, d1.loss_plan_l1_fix_time: 1.1480, d1.loss_plan_l1_fix_dist: 0.1851, d2.loss_plan_l1_fix_time: 1.1273, d2.loss_plan_l1_fix_dist: 0.1887, d3.loss_plan_l1_fix_time: 1.1215, d3.loss_plan_l1_fix_dist: 0.2005, d4.loss_plan_l1_fix_time: 1.1228, d4.loss_plan_l1_fix_dist: 0.2140, d5.loss_plan_l1_fix_time: 1.1247, d5.loss_plan_l1_fix_dist: 0.2275, d6.loss_plan_l1_fix_time: 1.1270, d6.loss_plan_l1_fix_dist: 0.2429, d0.loss_cls_all: 0.1923, d0.loss_bbox_all: 0.4089, d0.loss_cls: 0.1923, d0.loss_bbox: 0.4089, d1.loss_cls: 0.1784, d1.loss_bbox: 0.3735, d2.loss_cls: 0.1649, d2.loss_bbox: 0.3628, d3.loss_cls: 0.1544, d3.loss_bbox: 0.3564, d4.loss_cls: 0.1485, d4.loss_bbox: 0.3557, d5.loss_cls: 0.1470, d5.loss_bbox: 0.3554, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8050, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6600, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6363, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6156, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6181, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6136, d0.loss_map_cls_all: 0.2102, d0.loss_map_pts_all: 1.4414, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2102, d0.loss_map_pts: 1.4414, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1790, d1.loss_map_pts: 0.9621, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1657, d2.loss_map_pts: 0.7778, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1593, d3.loss_map_pts: 0.7184, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1534, d4.loss_map_pts: 0.6984, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1489, d5.loss_map_pts: 0.6898, d5.loss_map_dir: 0.0099, loss: 28.6671, grad_norm: 159.0356 +2026-02-27 11:44:22,381 - DriveTransformer - INFO - Epoch [7][5600/39528] lr: 8.550e-05, eta: 5 days, 23:21:29, time: 0.707, data_time: 0.035, memory: 19865, loss_cls: 0.1567, loss_bbox: 0.3498, loss_traj: 0.6480, loss_traj_cls: 0.0010, loss_map_cls: 0.1300, loss_map_pts: 0.5994, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.6459, d0.loss_plan_l1_fix_dist: 0.4313, d1.loss_plan_l1_fix_time: 1.0911, d1.loss_plan_l1_fix_dist: 0.1798, d2.loss_plan_l1_fix_time: 1.0836, d2.loss_plan_l1_fix_dist: 0.1857, d3.loss_plan_l1_fix_time: 1.0837, d3.loss_plan_l1_fix_dist: 0.1984, d4.loss_plan_l1_fix_time: 1.0861, d4.loss_plan_l1_fix_dist: 0.2118, d5.loss_plan_l1_fix_time: 1.0893, d5.loss_plan_l1_fix_dist: 0.2282, d6.loss_plan_l1_fix_time: 1.0927, d6.loss_plan_l1_fix_dist: 0.2461, d0.loss_cls_all: 0.1947, d0.loss_bbox_all: 0.3984, d0.loss_cls: 0.1947, d0.loss_bbox: 0.3984, d1.loss_cls: 0.1853, d1.loss_bbox: 0.3693, d2.loss_cls: 0.1708, d2.loss_bbox: 0.3554, d3.loss_cls: 0.1615, d3.loss_bbox: 0.3474, d4.loss_cls: 0.1589, d4.loss_bbox: 0.3464, d5.loss_cls: 0.1558, d5.loss_bbox: 0.3485, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8612, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6989, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6608, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6502, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6466, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6470, d0.loss_map_cls_all: 0.1820, d0.loss_map_pts_all: 1.1728, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1820, d0.loss_map_pts: 1.1728, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1623, d1.loss_map_pts: 0.8261, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1506, d2.loss_map_pts: 0.6867, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1433, d3.loss_map_pts: 0.6268, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1365, d4.loss_map_pts: 0.6020, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1315, d5.loss_map_pts: 0.5974, d5.loss_map_dir: 0.0079, loss: 27.5299, grad_norm: 159.8068 +2026-02-27 11:44:58,210 - DriveTransformer - INFO - Epoch [7][5650/39528] lr: 8.550e-05, eta: 5 days, 23:19:22, time: 0.717, data_time: 0.033, memory: 19865, loss_cls: 0.1623, loss_bbox: 0.3684, loss_traj: 0.5187, loss_traj_cls: 0.0009, loss_map_cls: 0.1603, loss_map_pts: 0.6847, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.6979, d0.loss_plan_l1_fix_dist: 0.5621, d1.loss_plan_l1_fix_time: 1.0211, d1.loss_plan_l1_fix_dist: 0.1858, d2.loss_plan_l1_fix_time: 1.0146, d2.loss_plan_l1_fix_dist: 0.1948, d3.loss_plan_l1_fix_time: 1.0230, d3.loss_plan_l1_fix_dist: 0.2096, d4.loss_plan_l1_fix_time: 1.0289, d4.loss_plan_l1_fix_dist: 0.2266, d5.loss_plan_l1_fix_time: 1.0349, d5.loss_plan_l1_fix_dist: 0.2487, d6.loss_plan_l1_fix_time: 1.0408, d6.loss_plan_l1_fix_dist: 0.2712, d0.loss_cls_all: 0.1976, d0.loss_bbox_all: 0.4366, d0.loss_cls: 0.1976, d0.loss_bbox: 0.4366, d1.loss_cls: 0.1916, d1.loss_bbox: 0.3991, d2.loss_cls: 0.1797, d2.loss_bbox: 0.3784, d3.loss_cls: 0.1701, d3.loss_bbox: 0.3692, d4.loss_cls: 0.1647, d4.loss_bbox: 0.3673, d5.loss_cls: 0.1616, d5.loss_bbox: 0.3667, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7792, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5882, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5375, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5236, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5177, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5166, d0.loss_map_cls_all: 0.2299, d0.loss_map_pts_all: 1.3778, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2299, d0.loss_map_pts: 1.3778, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2015, d1.loss_map_pts: 0.9434, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1842, d2.loss_map_pts: 0.7769, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1720, d3.loss_map_pts: 0.7146, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1644, d4.loss_map_pts: 0.6917, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1611, d5.loss_map_pts: 0.6848, d5.loss_map_dir: 0.0088, loss: 28.1212, grad_norm: 161.4707 +2026-02-27 11:45:34,725 - DriveTransformer - INFO - Epoch [7][5700/39528] lr: 8.550e-05, eta: 5 days, 23:18:41, time: 0.730, data_time: 0.031, memory: 19865, loss_cls: 0.1645, loss_bbox: 0.3665, loss_traj: 0.6966, loss_traj_cls: 0.0009, loss_map_cls: 0.1487, loss_map_pts: 0.6845, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.4330, d0.loss_plan_l1_fix_dist: 0.3623, d1.loss_plan_l1_fix_time: 0.9651, d1.loss_plan_l1_fix_dist: 0.1759, d2.loss_plan_l1_fix_time: 0.9443, d2.loss_plan_l1_fix_dist: 0.1876, d3.loss_plan_l1_fix_time: 0.9421, d3.loss_plan_l1_fix_dist: 0.2084, d4.loss_plan_l1_fix_time: 0.9446, d4.loss_plan_l1_fix_dist: 0.2316, d5.loss_plan_l1_fix_time: 0.9488, d5.loss_plan_l1_fix_dist: 0.2522, d6.loss_plan_l1_fix_time: 0.9543, d6.loss_plan_l1_fix_dist: 0.2734, d0.loss_cls_all: 0.1937, d0.loss_bbox_all: 0.4353, d0.loss_cls: 0.1937, d0.loss_bbox: 0.4353, d1.loss_cls: 0.1933, d1.loss_bbox: 0.4013, d2.loss_cls: 0.1767, d2.loss_bbox: 0.3838, d3.loss_cls: 0.1693, d3.loss_bbox: 0.3757, d4.loss_cls: 0.1663, d4.loss_bbox: 0.3707, d5.loss_cls: 0.1637, d5.loss_bbox: 0.3683, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9516, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7614, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7202, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7068, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6985, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6988, d0.loss_map_cls_all: 0.2309, d0.loss_map_pts_all: 1.4651, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2309, d0.loss_map_pts: 1.4651, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1947, d1.loss_map_pts: 0.9812, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1696, d2.loss_map_pts: 0.7917, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1607, d3.loss_map_pts: 0.7119, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1544, d4.loss_map_pts: 0.6877, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1519, d5.loss_map_pts: 0.6829, d5.loss_map_dir: 0.0090, loss: 28.6059, grad_norm: 164.2512 +2026-02-27 11:46:10,945 - DriveTransformer - INFO - Epoch [7][5750/39528] lr: 8.550e-05, eta: 5 days, 23:17:25, time: 0.724, data_time: 0.035, memory: 19865, loss_cls: 0.1904, loss_bbox: 0.3791, loss_traj: 0.5061, loss_traj_cls: 0.0009, loss_map_cls: 0.2105, loss_map_pts: 0.8543, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.3120, d0.loss_plan_l1_fix_dist: 0.3788, d1.loss_plan_l1_fix_time: 1.0244, d1.loss_plan_l1_fix_dist: 0.1955, d2.loss_plan_l1_fix_time: 1.0123, d2.loss_plan_l1_fix_dist: 0.2064, d3.loss_plan_l1_fix_time: 1.0128, d3.loss_plan_l1_fix_dist: 0.2283, d4.loss_plan_l1_fix_time: 1.0155, d4.loss_plan_l1_fix_dist: 0.2529, d5.loss_plan_l1_fix_time: 1.0194, d5.loss_plan_l1_fix_dist: 0.2758, d6.loss_plan_l1_fix_time: 1.0246, d6.loss_plan_l1_fix_dist: 0.3003, d0.loss_cls_all: 0.2380, d0.loss_bbox_all: 0.4573, d0.loss_cls: 0.2380, d0.loss_bbox: 0.4573, d1.loss_cls: 0.2271, d1.loss_bbox: 0.4180, d2.loss_cls: 0.2100, d2.loss_bbox: 0.3958, d3.loss_cls: 0.1956, d3.loss_bbox: 0.3876, d4.loss_cls: 0.1916, d4.loss_bbox: 0.3824, d5.loss_cls: 0.1902, d5.loss_bbox: 0.3807, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7339, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5682, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5236, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5183, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5123, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5072, d0.loss_map_cls_all: 0.2832, d0.loss_map_pts_all: 1.5639, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2832, d0.loss_map_pts: 1.5639, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2537, d1.loss_map_pts: 1.1561, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2336, d2.loss_map_pts: 0.9700, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.2232, d3.loss_map_pts: 0.8922, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.2153, d4.loss_map_pts: 0.8632, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.2124, d5.loss_map_pts: 0.8536, d5.loss_map_dir: 0.0102, loss: 29.7880, grad_norm: 162.7524 +2026-02-27 11:46:48,383 - DriveTransformer - INFO - Epoch [7][5800/39528] lr: 8.550e-05, eta: 5 days, 23:18:36, time: 0.749, data_time: 0.035, memory: 19865, loss_cls: 0.1745, loss_bbox: 0.3656, loss_traj: 0.5789, loss_traj_cls: 0.0009, loss_map_cls: 0.1622, loss_map_pts: 0.6931, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.5935, d0.loss_plan_l1_fix_dist: 0.3864, d1.loss_plan_l1_fix_time: 1.0599, d1.loss_plan_l1_fix_dist: 0.1847, d2.loss_plan_l1_fix_time: 1.0412, d2.loss_plan_l1_fix_dist: 0.1979, d3.loss_plan_l1_fix_time: 1.0404, d3.loss_plan_l1_fix_dist: 0.2170, d4.loss_plan_l1_fix_time: 1.0430, d4.loss_plan_l1_fix_dist: 0.2367, d5.loss_plan_l1_fix_time: 1.0459, d5.loss_plan_l1_fix_dist: 0.2615, d6.loss_plan_l1_fix_time: 1.0490, d6.loss_plan_l1_fix_dist: 0.2866, d0.loss_cls_all: 0.2094, d0.loss_bbox_all: 0.4306, d0.loss_cls: 0.2094, d0.loss_bbox: 0.4306, d1.loss_cls: 0.2005, d1.loss_bbox: 0.3982, d2.loss_cls: 0.1883, d2.loss_bbox: 0.3817, d3.loss_cls: 0.1785, d3.loss_bbox: 0.3724, d4.loss_cls: 0.1736, d4.loss_bbox: 0.3691, d5.loss_cls: 0.1741, d5.loss_bbox: 0.3669, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7719, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6400, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6006, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5898, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5813, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5803, d0.loss_map_cls_all: 0.2408, d0.loss_map_pts_all: 1.4618, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2408, d0.loss_map_pts: 1.4618, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2056, d1.loss_map_pts: 0.9816, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.1879, d2.loss_map_pts: 0.7955, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1776, d3.loss_map_pts: 0.7317, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1683, d4.loss_map_pts: 0.7066, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1633, d5.loss_map_pts: 0.6953, d5.loss_map_dir: 0.0108, loss: 28.7756, grad_norm: 162.8905 +2026-02-27 11:47:24,851 - DriveTransformer - INFO - Epoch [7][5850/39528] lr: 8.550e-05, eta: 5 days, 23:17:49, time: 0.729, data_time: 0.032, memory: 19865, loss_cls: 0.1403, loss_bbox: 0.3443, loss_traj: 0.7165, loss_traj_cls: 0.0009, loss_map_cls: 0.1619, loss_map_pts: 0.7278, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.4548, d0.loss_plan_l1_fix_dist: 0.4047, d1.loss_plan_l1_fix_time: 0.8613, d1.loss_plan_l1_fix_dist: 0.1810, d2.loss_plan_l1_fix_time: 0.8541, d2.loss_plan_l1_fix_dist: 0.1980, d3.loss_plan_l1_fix_time: 0.8566, d3.loss_plan_l1_fix_dist: 0.2192, d4.loss_plan_l1_fix_time: 0.8596, d4.loss_plan_l1_fix_dist: 0.2419, d5.loss_plan_l1_fix_time: 0.8625, d5.loss_plan_l1_fix_dist: 0.2692, d6.loss_plan_l1_fix_time: 0.8654, d6.loss_plan_l1_fix_dist: 0.2985, d0.loss_cls_all: 0.1794, d0.loss_bbox_all: 0.3970, d0.loss_cls: 0.1794, d0.loss_bbox: 0.3970, d1.loss_cls: 0.1683, d1.loss_bbox: 0.3668, d2.loss_cls: 0.1578, d2.loss_bbox: 0.3521, d3.loss_cls: 0.1486, d3.loss_bbox: 0.3448, d4.loss_cls: 0.1415, d4.loss_bbox: 0.3435, d5.loss_cls: 0.1396, d5.loss_bbox: 0.3444, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0153, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8474, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7715, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7354, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7282, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7202, d0.loss_map_cls_all: 0.2588, d0.loss_map_pts_all: 1.5288, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2588, d0.loss_map_pts: 1.5288, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2173, d1.loss_map_pts: 1.0573, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1907, d2.loss_map_pts: 0.8525, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1763, d3.loss_map_pts: 0.7678, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1677, d4.loss_map_pts: 0.7346, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1636, d5.loss_map_pts: 0.7280, d5.loss_map_dir: 0.0093, loss: 28.7069, grad_norm: 160.3242 +2026-02-27 11:48:00,370 - DriveTransformer - INFO - Epoch [7][5900/39528] lr: 8.550e-05, eta: 5 days, 23:15:09, time: 0.710, data_time: 0.036, memory: 19865, loss_cls: 0.1622, loss_bbox: 0.3530, loss_traj: 0.6301, loss_traj_cls: 0.0009, loss_map_cls: 0.1571, loss_map_pts: 0.6761, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.3731, d0.loss_plan_l1_fix_dist: 0.3735, d1.loss_plan_l1_fix_time: 1.0721, d1.loss_plan_l1_fix_dist: 0.1734, d2.loss_plan_l1_fix_time: 1.0602, d2.loss_plan_l1_fix_dist: 0.1962, d3.loss_plan_l1_fix_time: 1.0566, d3.loss_plan_l1_fix_dist: 0.2254, d4.loss_plan_l1_fix_time: 1.0590, d4.loss_plan_l1_fix_dist: 0.2562, d5.loss_plan_l1_fix_time: 1.0619, d5.loss_plan_l1_fix_dist: 0.2832, d6.loss_plan_l1_fix_time: 1.0653, d6.loss_plan_l1_fix_dist: 0.3097, d0.loss_cls_all: 0.1973, d0.loss_bbox_all: 0.4144, d0.loss_cls: 0.1973, d0.loss_bbox: 0.4144, d1.loss_cls: 0.1933, d1.loss_bbox: 0.3818, d2.loss_cls: 0.1785, d2.loss_bbox: 0.3636, d3.loss_cls: 0.1683, d3.loss_bbox: 0.3549, d4.loss_cls: 0.1641, d4.loss_bbox: 0.3525, d5.loss_cls: 0.1633, d5.loss_bbox: 0.3526, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8550, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7043, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6509, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6373, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6322, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6323, d0.loss_map_cls_all: 0.2297, d0.loss_map_pts_all: 1.3037, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2297, d0.loss_map_pts: 1.3037, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2002, d1.loss_map_pts: 0.9200, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1797, d2.loss_map_pts: 0.7646, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1709, d3.loss_map_pts: 0.7017, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1618, d4.loss_map_pts: 0.6820, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1586, d5.loss_map_pts: 0.6751, d5.loss_map_dir: 0.0091, loss: 28.3123, grad_norm: 162.6698 +2026-02-27 11:48:36,284 - DriveTransformer - INFO - Epoch [7][5950/39528] lr: 8.550e-05, eta: 5 days, 23:13:18, time: 0.718, data_time: 0.033, memory: 19865, loss_cls: 0.1512, loss_bbox: 0.3657, loss_traj: 0.7672, loss_traj_cls: 0.0009, loss_map_cls: 0.1535, loss_map_pts: 0.7138, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.6136, d0.loss_plan_l1_fix_dist: 0.3883, d1.loss_plan_l1_fix_time: 1.1855, d1.loss_plan_l1_fix_dist: 0.1927, d2.loss_plan_l1_fix_time: 1.1696, d2.loss_plan_l1_fix_dist: 0.2205, d3.loss_plan_l1_fix_time: 1.1697, d3.loss_plan_l1_fix_dist: 0.2536, d4.loss_plan_l1_fix_time: 1.1740, d4.loss_plan_l1_fix_dist: 0.2913, d5.loss_plan_l1_fix_time: 1.1788, d5.loss_plan_l1_fix_dist: 0.3285, d6.loss_plan_l1_fix_time: 1.1840, d6.loss_plan_l1_fix_dist: 0.3636, d0.loss_cls_all: 0.1864, d0.loss_bbox_all: 0.4184, d0.loss_cls: 0.1864, d0.loss_bbox: 0.4184, d1.loss_cls: 0.1760, d1.loss_bbox: 0.3897, d2.loss_cls: 0.1635, d2.loss_bbox: 0.3707, d3.loss_cls: 0.1533, d3.loss_bbox: 0.3683, d4.loss_cls: 0.1520, d4.loss_bbox: 0.3656, d5.loss_cls: 0.1496, d5.loss_bbox: 0.3666, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9617, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8215, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7779, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7662, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7646, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7640, d0.loss_map_cls_all: 0.2248, d0.loss_map_pts_all: 1.3946, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2248, d0.loss_map_pts: 1.3946, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2026, d1.loss_map_pts: 0.9723, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1801, d2.loss_map_pts: 0.7963, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1660, d3.loss_map_pts: 0.7333, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1592, d4.loss_map_pts: 0.7149, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1552, d5.loss_map_pts: 0.7111, d5.loss_map_dir: 0.0090, loss: 30.6938, grad_norm: 165.4407 +2026-02-27 11:49:12,228 - DriveTransformer - INFO - Epoch [7][6000/39528] lr: 8.550e-05, eta: 5 days, 23:11:40, time: 0.720, data_time: 0.034, memory: 19865, loss_cls: 0.1497, loss_bbox: 0.3568, loss_traj: 0.7040, loss_traj_cls: 0.0009, loss_map_cls: 0.1423, loss_map_pts: 0.6672, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.5026, d0.loss_plan_l1_fix_dist: 0.4632, d1.loss_plan_l1_fix_time: 1.1102, d1.loss_plan_l1_fix_dist: 0.1919, d2.loss_plan_l1_fix_time: 1.0984, d2.loss_plan_l1_fix_dist: 0.2034, d3.loss_plan_l1_fix_time: 1.0985, d3.loss_plan_l1_fix_dist: 0.2199, d4.loss_plan_l1_fix_time: 1.1021, d4.loss_plan_l1_fix_dist: 0.2399, d5.loss_plan_l1_fix_time: 1.1059, d5.loss_plan_l1_fix_dist: 0.2619, d6.loss_plan_l1_fix_time: 1.1099, d6.loss_plan_l1_fix_dist: 0.2858, d0.loss_cls_all: 0.1805, d0.loss_bbox_all: 0.4247, d0.loss_cls: 0.1805, d0.loss_bbox: 0.4247, d1.loss_cls: 0.1731, d1.loss_bbox: 0.3879, d2.loss_cls: 0.1591, d2.loss_bbox: 0.3686, d3.loss_cls: 0.1500, d3.loss_bbox: 0.3636, d4.loss_cls: 0.1481, d4.loss_bbox: 0.3587, d5.loss_cls: 0.1486, d5.loss_bbox: 0.3580, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9374, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7767, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7331, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7145, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7039, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7057, d0.loss_map_cls_all: 0.2296, d0.loss_map_pts_all: 1.3610, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2296, d0.loss_map_pts: 1.3610, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1933, d1.loss_map_pts: 0.9377, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1708, d2.loss_map_pts: 0.7577, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1555, d3.loss_map_pts: 0.6925, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1479, d4.loss_map_pts: 0.6719, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1439, d5.loss_map_pts: 0.6655, d5.loss_map_dir: 0.0091, loss: 29.2073, grad_norm: 165.9992 +2026-02-27 11:49:48,742 - DriveTransformer - INFO - Epoch [7][6050/39528] lr: 8.550e-05, eta: 5 days, 23:10:52, time: 0.729, data_time: 0.035, memory: 19865, loss_cls: 0.1470, loss_bbox: 0.3607, loss_traj: 0.6737, loss_traj_cls: 0.0010, loss_map_cls: 0.1649, loss_map_pts: 0.6870, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.7041, d0.loss_plan_l1_fix_dist: 0.4261, d1.loss_plan_l1_fix_time: 1.0118, d1.loss_plan_l1_fix_dist: 0.2071, d2.loss_plan_l1_fix_time: 1.0008, d2.loss_plan_l1_fix_dist: 0.2263, d3.loss_plan_l1_fix_time: 1.0010, d3.loss_plan_l1_fix_dist: 0.2559, d4.loss_plan_l1_fix_time: 1.0031, d4.loss_plan_l1_fix_dist: 0.2853, d5.loss_plan_l1_fix_time: 1.0058, d5.loss_plan_l1_fix_dist: 0.3167, d6.loss_plan_l1_fix_time: 1.0091, d6.loss_plan_l1_fix_dist: 0.3510, d0.loss_cls_all: 0.1915, d0.loss_bbox_all: 0.4171, d0.loss_cls: 0.1915, d0.loss_bbox: 0.4171, d1.loss_cls: 0.1809, d1.loss_bbox: 0.3850, d2.loss_cls: 0.1677, d2.loss_bbox: 0.3655, d3.loss_cls: 0.1539, d3.loss_bbox: 0.3618, d4.loss_cls: 0.1492, d4.loss_bbox: 0.3607, d5.loss_cls: 0.1460, d5.loss_bbox: 0.3616, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8837, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7277, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6868, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6727, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6675, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6747, d0.loss_map_cls_all: 0.2457, d0.loss_map_pts_all: 1.3284, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2457, d0.loss_map_pts: 1.3284, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.2151, d1.loss_map_pts: 0.9386, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1934, d2.loss_map_pts: 0.7848, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1791, d3.loss_map_pts: 0.7209, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1711, d4.loss_map_pts: 0.6940, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1673, d5.loss_map_pts: 0.6847, d5.loss_map_dir: 0.0089, loss: 28.9734, grad_norm: 167.4325 +2026-02-27 11:50:26,298 - DriveTransformer - INFO - Epoch [7][6100/39528] lr: 8.550e-05, eta: 5 days, 23:12:14, time: 0.751, data_time: 0.037, memory: 19865, loss_cls: 0.1789, loss_bbox: 0.3962, loss_traj: 0.6705, loss_traj_cls: 0.0009, loss_map_cls: 0.1736, loss_map_pts: 0.8173, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.8017, d0.loss_plan_l1_fix_dist: 0.4476, d1.loss_plan_l1_fix_time: 1.0093, d1.loss_plan_l1_fix_dist: 0.1999, d2.loss_plan_l1_fix_time: 0.9943, d2.loss_plan_l1_fix_dist: 0.2096, d3.loss_plan_l1_fix_time: 0.9937, d3.loss_plan_l1_fix_dist: 0.2279, d4.loss_plan_l1_fix_time: 0.9964, d4.loss_plan_l1_fix_dist: 0.2474, d5.loss_plan_l1_fix_time: 1.0003, d5.loss_plan_l1_fix_dist: 0.2681, d6.loss_plan_l1_fix_time: 1.0050, d6.loss_plan_l1_fix_dist: 0.2902, d0.loss_cls_all: 0.2123, d0.loss_bbox_all: 0.4458, d0.loss_cls: 0.2123, d0.loss_bbox: 0.4458, d1.loss_cls: 0.2078, d1.loss_bbox: 0.4155, d2.loss_cls: 0.1930, d2.loss_bbox: 0.4016, d3.loss_cls: 0.1854, d3.loss_bbox: 0.3966, d4.loss_cls: 0.1832, d4.loss_bbox: 0.3944, d5.loss_cls: 0.1795, d5.loss_bbox: 0.3952, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9347, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7557, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7111, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6860, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6834, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6758, d0.loss_map_cls_all: 0.2541, d0.loss_map_pts_all: 1.5472, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2541, d0.loss_map_pts: 1.5472, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2216, d1.loss_map_pts: 1.0978, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.2002, d2.loss_map_pts: 0.9133, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1850, d3.loss_map_pts: 0.8416, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1791, d4.loss_map_pts: 0.8193, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1750, d5.loss_map_pts: 0.8160, d5.loss_map_dir: 0.0104, loss: 30.7821, grad_norm: 165.9586 +2026-02-27 11:51:04,036 - DriveTransformer - INFO - Epoch [7][6150/39528] lr: 8.550e-05, eta: 5 days, 23:13:55, time: 0.755, data_time: 0.033, memory: 19865, loss_cls: 0.1541, loss_bbox: 0.3644, loss_traj: 0.6879, loss_traj_cls: 0.0010, loss_map_cls: 0.1581, loss_map_pts: 0.7513, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.9333, d0.loss_plan_l1_fix_dist: 0.4748, d1.loss_plan_l1_fix_time: 1.0582, d1.loss_plan_l1_fix_dist: 0.1924, d2.loss_plan_l1_fix_time: 1.0350, d2.loss_plan_l1_fix_dist: 0.1999, d3.loss_plan_l1_fix_time: 1.0293, d3.loss_plan_l1_fix_dist: 0.2156, d4.loss_plan_l1_fix_time: 1.0312, d4.loss_plan_l1_fix_dist: 0.2354, d5.loss_plan_l1_fix_time: 1.0341, d5.loss_plan_l1_fix_dist: 0.2576, d6.loss_plan_l1_fix_time: 1.0380, d6.loss_plan_l1_fix_dist: 0.2794, d0.loss_cls_all: 0.1885, d0.loss_bbox_all: 0.4254, d0.loss_cls: 0.1885, d0.loss_bbox: 0.4254, d1.loss_cls: 0.1817, d1.loss_bbox: 0.3926, d2.loss_cls: 0.1675, d2.loss_bbox: 0.3768, d3.loss_cls: 0.1579, d3.loss_bbox: 0.3692, d4.loss_cls: 0.1541, d4.loss_bbox: 0.3669, d5.loss_cls: 0.1533, d5.loss_bbox: 0.3654, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9414, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7440, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6945, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6942, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6895, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6873, d0.loss_map_cls_all: 0.2318, d0.loss_map_pts_all: 1.5027, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2318, d0.loss_map_pts: 1.5027, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2020, d1.loss_map_pts: 1.0437, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.1818, d2.loss_map_pts: 0.8594, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1720, d3.loss_map_pts: 0.7871, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1640, d4.loss_map_pts: 0.7602, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1601, d5.loss_map_pts: 0.7521, d5.loss_map_dir: 0.0114, loss: 30.1404, grad_norm: 166.2765 +2026-02-27 11:51:40,093 - DriveTransformer - INFO - Epoch [7][6200/39528] lr: 8.550e-05, eta: 5 days, 23:12:22, time: 0.721, data_time: 0.033, memory: 19865, loss_cls: 0.1728, loss_bbox: 0.3578, loss_traj: 0.6298, loss_traj_cls: 0.0010, loss_map_cls: 0.1620, loss_map_pts: 0.7164, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.5554, d0.loss_plan_l1_fix_dist: 0.3393, d1.loss_plan_l1_fix_time: 0.9904, d1.loss_plan_l1_fix_dist: 0.1658, d2.loss_plan_l1_fix_time: 0.9673, d2.loss_plan_l1_fix_dist: 0.1765, d3.loss_plan_l1_fix_time: 0.9601, d3.loss_plan_l1_fix_dist: 0.1911, d4.loss_plan_l1_fix_time: 0.9618, d4.loss_plan_l1_fix_dist: 0.2070, d5.loss_plan_l1_fix_time: 0.9641, d5.loss_plan_l1_fix_dist: 0.2257, d6.loss_plan_l1_fix_time: 0.9674, d6.loss_plan_l1_fix_dist: 0.2460, d0.loss_cls_all: 0.2039, d0.loss_bbox_all: 0.4264, d0.loss_cls: 0.2039, d0.loss_bbox: 0.4264, d1.loss_cls: 0.2024, d1.loss_bbox: 0.3890, d2.loss_cls: 0.1922, d2.loss_bbox: 0.3668, d3.loss_cls: 0.1788, d3.loss_bbox: 0.3618, d4.loss_cls: 0.1720, d4.loss_bbox: 0.3608, d5.loss_cls: 0.1713, d5.loss_bbox: 0.3589, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8016, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6714, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6373, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6294, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6133, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6131, d0.loss_map_cls_all: 0.2301, d0.loss_map_pts_all: 1.4271, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2301, d0.loss_map_pts: 1.4271, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2037, d1.loss_map_pts: 0.9893, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1856, d2.loss_map_pts: 0.8191, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1765, d3.loss_map_pts: 0.7500, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1665, d4.loss_map_pts: 0.7248, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1636, d5.loss_map_pts: 0.7174, d5.loss_map_dir: 0.0096, loss: 28.2295, grad_norm: 165.9001 +2026-02-27 11:52:17,305 - DriveTransformer - INFO - Epoch [7][6250/39528] lr: 8.550e-05, eta: 5 days, 23:13:00, time: 0.744, data_time: 0.033, memory: 19865, loss_cls: 0.1541, loss_bbox: 0.3399, loss_traj: 0.7102, loss_traj_cls: 0.0009, loss_map_cls: 0.1664, loss_map_pts: 0.7128, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.8928, d0.loss_plan_l1_fix_dist: 0.3282, d1.loss_plan_l1_fix_time: 1.0554, d1.loss_plan_l1_fix_dist: 0.1607, d2.loss_plan_l1_fix_time: 1.0408, d2.loss_plan_l1_fix_dist: 0.1716, d3.loss_plan_l1_fix_time: 1.0342, d3.loss_plan_l1_fix_dist: 0.1850, d4.loss_plan_l1_fix_time: 1.0348, d4.loss_plan_l1_fix_dist: 0.2016, d5.loss_plan_l1_fix_time: 1.0362, d5.loss_plan_l1_fix_dist: 0.2201, d6.loss_plan_l1_fix_time: 1.0381, d6.loss_plan_l1_fix_dist: 0.2382, d0.loss_cls_all: 0.1875, d0.loss_bbox_all: 0.4022, d0.loss_cls: 0.1875, d0.loss_bbox: 0.4022, d1.loss_cls: 0.1835, d1.loss_bbox: 0.3652, d2.loss_cls: 0.1713, d2.loss_bbox: 0.3497, d3.loss_cls: 0.1600, d3.loss_bbox: 0.3420, d4.loss_cls: 0.1550, d4.loss_bbox: 0.3408, d5.loss_cls: 0.1543, d5.loss_bbox: 0.3398, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9514, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7771, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7438, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7271, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7142, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7128, d0.loss_map_cls_all: 0.2350, d0.loss_map_pts_all: 1.4217, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2350, d0.loss_map_pts: 1.4217, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2034, d1.loss_map_pts: 0.9829, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1857, d2.loss_map_pts: 0.8129, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1751, d3.loss_map_pts: 0.7416, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1697, d4.loss_map_pts: 0.7184, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1680, d5.loss_map_pts: 0.7115, d5.loss_map_dir: 0.0101, loss: 29.3573, grad_norm: 165.5133 +2026-02-27 11:52:55,247 - DriveTransformer - INFO - Epoch [7][6300/39528] lr: 8.550e-05, eta: 5 days, 23:14:59, time: 0.759, data_time: 0.033, memory: 19865, loss_cls: 0.1520, loss_bbox: 0.3462, loss_traj: 0.5299, loss_traj_cls: 0.0009, loss_map_cls: 0.1633, loss_map_pts: 0.7646, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.5316, d0.loss_plan_l1_fix_dist: 0.3711, d1.loss_plan_l1_fix_time: 1.0353, d1.loss_plan_l1_fix_dist: 0.1697, d2.loss_plan_l1_fix_time: 1.0085, d2.loss_plan_l1_fix_dist: 0.1795, d3.loss_plan_l1_fix_time: 1.0071, d3.loss_plan_l1_fix_dist: 0.1945, d4.loss_plan_l1_fix_time: 1.0089, d4.loss_plan_l1_fix_dist: 0.2111, d5.loss_plan_l1_fix_time: 1.0116, d5.loss_plan_l1_fix_dist: 0.2280, d6.loss_plan_l1_fix_time: 1.0149, d6.loss_plan_l1_fix_dist: 0.2453, d0.loss_cls_all: 0.1843, d0.loss_bbox_all: 0.3890, d0.loss_cls: 0.1843, d0.loss_bbox: 0.3890, d1.loss_cls: 0.1768, d1.loss_bbox: 0.3665, d2.loss_cls: 0.1683, d2.loss_bbox: 0.3472, d3.loss_cls: 0.1582, d3.loss_bbox: 0.3444, d4.loss_cls: 0.1539, d4.loss_bbox: 0.3428, d5.loss_cls: 0.1513, d5.loss_bbox: 0.3454, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7111, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5932, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5518, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5412, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5337, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5307, d0.loss_map_cls_all: 0.2341, d0.loss_map_pts_all: 1.5591, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2341, d0.loss_map_pts: 1.5591, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2003, d1.loss_map_pts: 1.0647, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1846, d2.loss_map_pts: 0.8690, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1738, d3.loss_map_pts: 0.7990, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1670, d4.loss_map_pts: 0.7719, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1638, d5.loss_map_pts: 0.7665, d5.loss_map_dir: 0.0107, loss: 28.1723, grad_norm: 163.6628 +2026-02-27 11:53:32,727 - DriveTransformer - INFO - Epoch [7][6350/39528] lr: 8.550e-05, eta: 5 days, 23:16:04, time: 0.750, data_time: 0.035, memory: 19865, loss_cls: 0.1536, loss_bbox: 0.3502, loss_traj: 0.6210, loss_traj_cls: 0.0010, loss_map_cls: 0.1588, loss_map_pts: 0.6768, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.3983, d0.loss_plan_l1_fix_dist: 0.4566, d1.loss_plan_l1_fix_time: 1.0348, d1.loss_plan_l1_fix_dist: 0.1751, d2.loss_plan_l1_fix_time: 1.0236, d2.loss_plan_l1_fix_dist: 0.1751, d3.loss_plan_l1_fix_time: 1.0230, d3.loss_plan_l1_fix_dist: 0.1853, d4.loss_plan_l1_fix_time: 1.0248, d4.loss_plan_l1_fix_dist: 0.1988, d5.loss_plan_l1_fix_time: 1.0271, d5.loss_plan_l1_fix_dist: 0.2149, d6.loss_plan_l1_fix_time: 1.0303, d6.loss_plan_l1_fix_dist: 0.2338, d0.loss_cls_all: 0.1914, d0.loss_bbox_all: 0.4107, d0.loss_cls: 0.1914, d0.loss_bbox: 0.4107, d1.loss_cls: 0.1815, d1.loss_bbox: 0.3784, d2.loss_cls: 0.1694, d2.loss_bbox: 0.3603, d3.loss_cls: 0.1560, d3.loss_bbox: 0.3562, d4.loss_cls: 0.1533, d4.loss_bbox: 0.3525, d5.loss_cls: 0.1522, d5.loss_bbox: 0.3509, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8258, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6785, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6245, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6181, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6242, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6201, d0.loss_map_cls_all: 0.2342, d0.loss_map_pts_all: 1.4165, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2342, d0.loss_map_pts: 1.4165, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2018, d1.loss_map_pts: 0.9591, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1783, d2.loss_map_pts: 0.7752, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1699, d3.loss_map_pts: 0.7071, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1636, d4.loss_map_pts: 0.6812, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1602, d5.loss_map_pts: 0.6770, d5.loss_map_dir: 0.0100, loss: 28.0291, grad_norm: 161.7243 +2026-02-27 11:54:10,379 - DriveTransformer - INFO - Epoch [7][6400/39528] lr: 8.550e-05, eta: 5 days, 23:17:27, time: 0.753, data_time: 0.035, memory: 19865, loss_cls: 0.1323, loss_bbox: 0.3367, loss_traj: 0.4913, loss_traj_cls: 0.0009, loss_map_cls: 0.1536, loss_map_pts: 0.6659, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.5529, d0.loss_plan_l1_fix_dist: 0.4586, d1.loss_plan_l1_fix_time: 1.0168, d1.loss_plan_l1_fix_dist: 0.1969, d2.loss_plan_l1_fix_time: 0.9992, d2.loss_plan_l1_fix_dist: 0.2025, d3.loss_plan_l1_fix_time: 0.9969, d3.loss_plan_l1_fix_dist: 0.2137, d4.loss_plan_l1_fix_time: 0.9996, d4.loss_plan_l1_fix_dist: 0.2275, d5.loss_plan_l1_fix_time: 1.0029, d5.loss_plan_l1_fix_dist: 0.2431, d6.loss_plan_l1_fix_time: 1.0071, d6.loss_plan_l1_fix_dist: 0.2597, d0.loss_cls_all: 0.1738, d0.loss_bbox_all: 0.3911, d0.loss_cls: 0.1738, d0.loss_bbox: 0.3911, d1.loss_cls: 0.1675, d1.loss_bbox: 0.3603, d2.loss_cls: 0.1551, d2.loss_bbox: 0.3396, d3.loss_cls: 0.1420, d3.loss_bbox: 0.3349, d4.loss_cls: 0.1352, d4.loss_bbox: 0.3348, d5.loss_cls: 0.1325, d5.loss_bbox: 0.3357, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7185, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5671, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5247, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5070, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5004, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4949, d0.loss_map_cls_all: 0.2246, d0.loss_map_pts_all: 1.3495, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2246, d0.loss_map_pts: 1.3495, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.1932, d1.loss_map_pts: 0.9194, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1736, d2.loss_map_pts: 0.7588, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1644, d3.loss_map_pts: 0.6990, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1592, d4.loss_map_pts: 0.6741, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1540, d5.loss_map_pts: 0.6688, d5.loss_map_dir: 0.0101, loss: 26.8385, grad_norm: 154.7916 +2026-02-27 11:54:47,051 - DriveTransformer - INFO - Epoch [7][6450/39528] lr: 8.550e-05, eta: 5 days, 23:17:00, time: 0.733, data_time: 0.034, memory: 19865, loss_cls: 0.1543, loss_bbox: 0.3365, loss_traj: 0.6549, loss_traj_cls: 0.0009, loss_map_cls: 0.1610, loss_map_pts: 0.7274, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.5049, d0.loss_plan_l1_fix_dist: 0.4122, d1.loss_plan_l1_fix_time: 0.9851, d1.loss_plan_l1_fix_dist: 0.1775, d2.loss_plan_l1_fix_time: 0.9785, d2.loss_plan_l1_fix_dist: 0.1836, d3.loss_plan_l1_fix_time: 0.9782, d3.loss_plan_l1_fix_dist: 0.1946, d4.loss_plan_l1_fix_time: 0.9810, d4.loss_plan_l1_fix_dist: 0.2077, d5.loss_plan_l1_fix_time: 0.9838, d5.loss_plan_l1_fix_dist: 0.2218, d6.loss_plan_l1_fix_time: 0.9867, d6.loss_plan_l1_fix_dist: 0.2381, d0.loss_cls_all: 0.1900, d0.loss_bbox_all: 0.3889, d0.loss_cls: 0.1900, d0.loss_bbox: 0.3889, d1.loss_cls: 0.1829, d1.loss_bbox: 0.3551, d2.loss_cls: 0.1676, d2.loss_bbox: 0.3374, d3.loss_cls: 0.1575, d3.loss_bbox: 0.3345, d4.loss_cls: 0.1545, d4.loss_bbox: 0.3341, d5.loss_cls: 0.1544, d5.loss_bbox: 0.3345, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9141, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7165, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6765, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6657, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6579, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6567, d0.loss_map_cls_all: 0.2262, d0.loss_map_pts_all: 1.4738, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2262, d0.loss_map_pts: 1.4738, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2060, d1.loss_map_pts: 1.0200, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1843, d2.loss_map_pts: 0.8320, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1740, d3.loss_map_pts: 0.7616, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1688, d4.loss_map_pts: 0.7334, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1642, d5.loss_map_pts: 0.7276, d5.loss_map_dir: 0.0107, loss: 28.4870, grad_norm: 160.6604 +2026-02-27 11:55:23,779 - DriveTransformer - INFO - Epoch [7][6500/39528] lr: 8.550e-05, eta: 5 days, 23:16:39, time: 0.735, data_time: 0.032, memory: 19865, loss_cls: 0.1792, loss_bbox: 0.3963, loss_traj: 0.5911, loss_traj_cls: 0.0009, loss_map_cls: 0.1626, loss_map_pts: 0.7317, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.6306, d0.loss_plan_l1_fix_dist: 0.3820, d1.loss_plan_l1_fix_time: 1.1149, d1.loss_plan_l1_fix_dist: 0.2002, d2.loss_plan_l1_fix_time: 1.1165, d2.loss_plan_l1_fix_dist: 0.2157, d3.loss_plan_l1_fix_time: 1.1152, d3.loss_plan_l1_fix_dist: 0.2403, d4.loss_plan_l1_fix_time: 1.1187, d4.loss_plan_l1_fix_dist: 0.2673, d5.loss_plan_l1_fix_time: 1.1225, d5.loss_plan_l1_fix_dist: 0.2937, d6.loss_plan_l1_fix_time: 1.1261, d6.loss_plan_l1_fix_dist: 0.3233, d0.loss_cls_all: 0.2109, d0.loss_bbox_all: 0.4545, d0.loss_cls: 0.2109, d0.loss_bbox: 0.4545, d1.loss_cls: 0.2040, d1.loss_bbox: 0.4207, d2.loss_cls: 0.1964, d2.loss_bbox: 0.3977, d3.loss_cls: 0.1856, d3.loss_bbox: 0.3933, d4.loss_cls: 0.1806, d4.loss_bbox: 0.3935, d5.loss_cls: 0.1781, d5.loss_bbox: 0.3944, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8485, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6758, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6224, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6113, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6016, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5982, d0.loss_map_cls_all: 0.2381, d0.loss_map_pts_all: 1.4740, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2381, d0.loss_map_pts: 1.4740, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2052, d1.loss_map_pts: 1.0149, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1875, d2.loss_map_pts: 0.8275, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1769, d3.loss_map_pts: 0.7628, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1712, d4.loss_map_pts: 0.7376, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1652, d5.loss_map_pts: 0.7305, d5.loss_map_dir: 0.0101, loss: 30.0504, grad_norm: 158.6711 +2026-02-27 11:55:59,817 - DriveTransformer - INFO - Epoch [7][6550/39528] lr: 8.550e-05, eta: 5 days, 23:15:04, time: 0.721, data_time: 0.034, memory: 19865, loss_cls: 0.1440, loss_bbox: 0.3491, loss_traj: 0.5905, loss_traj_cls: 0.0009, loss_map_cls: 0.1318, loss_map_pts: 0.6532, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.6899, d0.loss_plan_l1_fix_dist: 0.4767, d1.loss_plan_l1_fix_time: 1.1058, d1.loss_plan_l1_fix_dist: 0.1886, d2.loss_plan_l1_fix_time: 1.0984, d2.loss_plan_l1_fix_dist: 0.1963, d3.loss_plan_l1_fix_time: 1.1004, d3.loss_plan_l1_fix_dist: 0.2103, d4.loss_plan_l1_fix_time: 1.1045, d4.loss_plan_l1_fix_dist: 0.2261, d5.loss_plan_l1_fix_time: 1.1087, d5.loss_plan_l1_fix_dist: 0.2435, d6.loss_plan_l1_fix_time: 1.1129, d6.loss_plan_l1_fix_dist: 0.2612, d0.loss_cls_all: 0.1823, d0.loss_bbox_all: 0.4071, d0.loss_cls: 0.1823, d0.loss_bbox: 0.4071, d1.loss_cls: 0.1733, d1.loss_bbox: 0.3709, d2.loss_cls: 0.1585, d2.loss_bbox: 0.3544, d3.loss_cls: 0.1515, d3.loss_bbox: 0.3502, d4.loss_cls: 0.1446, d4.loss_bbox: 0.3498, d5.loss_cls: 0.1427, d5.loss_bbox: 0.3499, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8091, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6627, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6178, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6030, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5977, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5946, d0.loss_map_cls_all: 0.2044, d0.loss_map_pts_all: 1.3032, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2044, d0.loss_map_pts: 1.3032, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1711, d1.loss_map_pts: 0.8899, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1517, d2.loss_map_pts: 0.7320, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1432, d3.loss_map_pts: 0.6759, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1364, d4.loss_map_pts: 0.6530, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1335, d5.loss_map_pts: 0.6514, d5.loss_map_dir: 0.0090, loss: 28.0316, grad_norm: 154.8054 +2026-02-27 11:56:37,329 - DriveTransformer - INFO - Epoch [7][6600/39528] lr: 8.550e-05, eta: 5 days, 23:16:08, time: 0.750, data_time: 0.033, memory: 19865, loss_cls: 0.1516, loss_bbox: 0.3584, loss_traj: 0.7167, loss_traj_cls: 0.0009, loss_map_cls: 0.1451, loss_map_pts: 0.7268, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.3965, d0.loss_plan_l1_fix_dist: 0.3251, d1.loss_plan_l1_fix_time: 1.0475, d1.loss_plan_l1_fix_dist: 0.1927, d2.loss_plan_l1_fix_time: 1.0300, d2.loss_plan_l1_fix_dist: 0.2057, d3.loss_plan_l1_fix_time: 1.0284, d3.loss_plan_l1_fix_dist: 0.2236, d4.loss_plan_l1_fix_time: 1.0306, d4.loss_plan_l1_fix_dist: 0.2458, d5.loss_plan_l1_fix_time: 1.0335, d5.loss_plan_l1_fix_dist: 0.2702, d6.loss_plan_l1_fix_time: 1.0371, d6.loss_plan_l1_fix_dist: 0.2948, d0.loss_cls_all: 0.1861, d0.loss_bbox_all: 0.4155, d0.loss_cls: 0.1861, d0.loss_bbox: 0.4155, d1.loss_cls: 0.1807, d1.loss_bbox: 0.3835, d2.loss_cls: 0.1701, d2.loss_bbox: 0.3654, d3.loss_cls: 0.1575, d3.loss_bbox: 0.3617, d4.loss_cls: 0.1533, d4.loss_bbox: 0.3580, d5.loss_cls: 0.1520, d5.loss_bbox: 0.3573, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9727, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7682, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7334, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7223, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7148, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7139, d0.loss_map_cls_all: 0.2204, d0.loss_map_pts_all: 1.4499, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2204, d0.loss_map_pts: 1.4499, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.1891, d1.loss_map_pts: 0.9955, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1683, d2.loss_map_pts: 0.8237, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1604, d3.loss_map_pts: 0.7540, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1511, d4.loss_map_pts: 0.7315, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1454, d5.loss_map_pts: 0.7282, d5.loss_map_dir: 0.0107, loss: 29.2054, grad_norm: 155.0667 +2026-02-27 11:57:13,739 - DriveTransformer - INFO - Epoch [7][6650/39528] lr: 8.550e-05, eta: 5 days, 23:15:13, time: 0.728, data_time: 0.033, memory: 19865, loss_cls: 0.1898, loss_bbox: 0.3802, loss_traj: 0.5843, loss_traj_cls: 0.0009, loss_map_cls: 0.1948, loss_map_pts: 0.8483, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.6008, d0.loss_plan_l1_fix_dist: 0.3474, d1.loss_plan_l1_fix_time: 0.9812, d1.loss_plan_l1_fix_dist: 0.1801, d2.loss_plan_l1_fix_time: 0.9617, d2.loss_plan_l1_fix_dist: 0.1930, d3.loss_plan_l1_fix_time: 0.9531, d3.loss_plan_l1_fix_dist: 0.2159, d4.loss_plan_l1_fix_time: 0.9551, d4.loss_plan_l1_fix_dist: 0.2425, d5.loss_plan_l1_fix_time: 0.9580, d5.loss_plan_l1_fix_dist: 0.2699, d6.loss_plan_l1_fix_time: 0.9621, d6.loss_plan_l1_fix_dist: 0.2987, d0.loss_cls_all: 0.2278, d0.loss_bbox_all: 0.4487, d0.loss_cls: 0.2278, d0.loss_bbox: 0.4487, d1.loss_cls: 0.2181, d1.loss_bbox: 0.4130, d2.loss_cls: 0.2089, d2.loss_bbox: 0.3894, d3.loss_cls: 0.1980, d3.loss_bbox: 0.3837, d4.loss_cls: 0.1921, d4.loss_bbox: 0.3819, d5.loss_cls: 0.1900, d5.loss_bbox: 0.3807, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7649, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6383, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5880, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5806, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5748, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5816, d0.loss_map_cls_all: 0.2733, d0.loss_map_pts_all: 1.5632, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2733, d0.loss_map_pts: 1.5632, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2491, d1.loss_map_pts: 1.1192, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2241, d2.loss_map_pts: 0.9377, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.2108, d3.loss_map_pts: 0.8727, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.2026, d4.loss_map_pts: 0.8514, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1976, d5.loss_map_pts: 0.8483, d5.loss_map_dir: 0.0116, loss: 29.8369, grad_norm: 157.9604 +2026-02-27 11:57:49,396 - DriveTransformer - INFO - Epoch [7][6700/39528] lr: 8.550e-05, eta: 5 days, 23:12:59, time: 0.713, data_time: 0.030, memory: 19865, loss_cls: 0.1625, loss_bbox: 0.3572, loss_traj: 0.6186, loss_traj_cls: 0.0009, loss_map_cls: 0.1996, loss_map_pts: 0.7949, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.7794, d0.loss_plan_l1_fix_dist: 0.3747, d1.loss_plan_l1_fix_time: 1.1445, d1.loss_plan_l1_fix_dist: 0.1852, d2.loss_plan_l1_fix_time: 1.1310, d2.loss_plan_l1_fix_dist: 0.1910, d3.loss_plan_l1_fix_time: 1.1296, d3.loss_plan_l1_fix_dist: 0.2016, d4.loss_plan_l1_fix_time: 1.1323, d4.loss_plan_l1_fix_dist: 0.2118, d5.loss_plan_l1_fix_time: 1.1353, d5.loss_plan_l1_fix_dist: 0.2232, d6.loss_plan_l1_fix_time: 1.1392, d6.loss_plan_l1_fix_dist: 0.2364, d0.loss_cls_all: 0.1987, d0.loss_bbox_all: 0.4253, d0.loss_cls: 0.1987, d0.loss_bbox: 0.4253, d1.loss_cls: 0.1932, d1.loss_bbox: 0.3861, d2.loss_cls: 0.1769, d2.loss_bbox: 0.3669, d3.loss_cls: 0.1684, d3.loss_bbox: 0.3574, d4.loss_cls: 0.1636, d4.loss_bbox: 0.3571, d5.loss_cls: 0.1633, d5.loss_bbox: 0.3561, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8144, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6831, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6300, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6176, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6151, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6164, d0.loss_map_cls_all: 0.2737, d0.loss_map_pts_all: 1.4926, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2737, d0.loss_map_pts: 1.4926, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2434, d1.loss_map_pts: 1.0848, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.2248, d2.loss_map_pts: 0.8970, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.2126, d3.loss_map_pts: 0.8249, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.2049, d4.loss_map_pts: 0.8009, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.2000, d5.loss_map_pts: 0.7970, d5.loss_map_dir: 0.0104, loss: 30.3712, grad_norm: 158.5307 +2026-02-27 11:58:26,284 - DriveTransformer - INFO - Epoch [7][6750/39528] lr: 8.550e-05, eta: 5 days, 23:12:54, time: 0.738, data_time: 0.035, memory: 19865, loss_cls: 0.1400, loss_bbox: 0.3371, loss_traj: 0.6627, loss_traj_cls: 0.0009, loss_map_cls: 0.1587, loss_map_pts: 0.7223, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.6876, d0.loss_plan_l1_fix_dist: 0.3951, d1.loss_plan_l1_fix_time: 1.0544, d1.loss_plan_l1_fix_dist: 0.1984, d2.loss_plan_l1_fix_time: 1.0395, d2.loss_plan_l1_fix_dist: 0.2119, d3.loss_plan_l1_fix_time: 1.0423, d3.loss_plan_l1_fix_dist: 0.2288, d4.loss_plan_l1_fix_time: 1.0443, d4.loss_plan_l1_fix_dist: 0.2448, d5.loss_plan_l1_fix_time: 1.0464, d5.loss_plan_l1_fix_dist: 0.2629, d6.loss_plan_l1_fix_time: 1.0492, d6.loss_plan_l1_fix_dist: 0.2841, d0.loss_cls_all: 0.1768, d0.loss_bbox_all: 0.3914, d0.loss_cls: 0.1768, d0.loss_bbox: 0.3914, d1.loss_cls: 0.1638, d1.loss_bbox: 0.3630, d2.loss_cls: 0.1539, d2.loss_bbox: 0.3457, d3.loss_cls: 0.1435, d3.loss_bbox: 0.3409, d4.loss_cls: 0.1402, d4.loss_bbox: 0.3381, d5.loss_cls: 0.1392, d5.loss_bbox: 0.3380, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8714, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7125, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6768, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6727, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6685, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6653, d0.loss_map_cls_all: 0.2199, d0.loss_map_pts_all: 1.4620, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2199, d0.loss_map_pts: 1.4620, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1935, d1.loss_map_pts: 0.9966, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1793, d2.loss_map_pts: 0.8232, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1715, d3.loss_map_pts: 0.7584, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1650, d4.loss_map_pts: 0.7302, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1616, d5.loss_map_pts: 0.7217, d5.loss_map_dir: 0.0103, loss: 29.0312, grad_norm: 160.1973 +2026-02-27 11:59:04,108 - DriveTransformer - INFO - Epoch [7][6800/39528] lr: 8.550e-05, eta: 5 days, 23:14:34, time: 0.758, data_time: 0.033, memory: 19865, loss_cls: 0.1319, loss_bbox: 0.3123, loss_traj: 0.6038, loss_traj_cls: 0.0010, loss_map_cls: 0.1371, loss_map_pts: 0.6352, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.3484, d0.loss_plan_l1_fix_dist: 0.2977, d1.loss_plan_l1_fix_time: 0.9843, d1.loss_plan_l1_fix_dist: 0.1554, d2.loss_plan_l1_fix_time: 0.9660, d2.loss_plan_l1_fix_dist: 0.1607, d3.loss_plan_l1_fix_time: 0.9653, d3.loss_plan_l1_fix_dist: 0.1738, d4.loss_plan_l1_fix_time: 0.9675, d4.loss_plan_l1_fix_dist: 0.1906, d5.loss_plan_l1_fix_time: 0.9707, d5.loss_plan_l1_fix_dist: 0.2085, d6.loss_plan_l1_fix_time: 0.9744, d6.loss_plan_l1_fix_dist: 0.2269, d0.loss_cls_all: 0.1724, d0.loss_bbox_all: 0.3651, d0.loss_cls: 0.1724, d0.loss_bbox: 0.3651, d1.loss_cls: 0.1652, d1.loss_bbox: 0.3351, d2.loss_cls: 0.1508, d2.loss_bbox: 0.3201, d3.loss_cls: 0.1387, d3.loss_bbox: 0.3144, d4.loss_cls: 0.1348, d4.loss_bbox: 0.3113, d5.loss_cls: 0.1336, d5.loss_bbox: 0.3101, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8224, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6561, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6132, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6027, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6001, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6029, d0.loss_map_cls_all: 0.2079, d0.loss_map_pts_all: 1.3385, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2079, d0.loss_map_pts: 1.3385, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1771, d1.loss_map_pts: 0.8889, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1615, d2.loss_map_pts: 0.7258, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1494, d3.loss_map_pts: 0.6659, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1430, d4.loss_map_pts: 0.6432, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1391, d5.loss_map_pts: 0.6348, d5.loss_map_dir: 0.0095, loss: 26.1998, grad_norm: 159.1665 +2026-02-27 11:59:42,333 - DriveTransformer - INFO - Epoch [7][6850/39528] lr: 8.550e-05, eta: 5 days, 23:16:39, time: 0.763, data_time: 0.032, memory: 19865, loss_cls: 0.1513, loss_bbox: 0.3605, loss_traj: 0.5287, loss_traj_cls: 0.0009, loss_map_cls: 0.1587, loss_map_pts: 0.7766, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.8505, d0.loss_plan_l1_fix_dist: 0.3498, d1.loss_plan_l1_fix_time: 1.2086, d1.loss_plan_l1_fix_dist: 0.1579, d2.loss_plan_l1_fix_time: 1.1949, d2.loss_plan_l1_fix_dist: 0.1637, d3.loss_plan_l1_fix_time: 1.1950, d3.loss_plan_l1_fix_dist: 0.1759, d4.loss_plan_l1_fix_time: 1.1982, d4.loss_plan_l1_fix_dist: 0.1912, d5.loss_plan_l1_fix_time: 1.2018, d5.loss_plan_l1_fix_dist: 0.2071, d6.loss_plan_l1_fix_time: 1.2058, d6.loss_plan_l1_fix_dist: 0.2240, d0.loss_cls_all: 0.1953, d0.loss_bbox_all: 0.4215, d0.loss_cls: 0.1953, d0.loss_bbox: 0.4215, d1.loss_cls: 0.1863, d1.loss_bbox: 0.3851, d2.loss_cls: 0.1682, d2.loss_bbox: 0.3711, d3.loss_cls: 0.1575, d3.loss_bbox: 0.3640, d4.loss_cls: 0.1531, d4.loss_bbox: 0.3606, d5.loss_cls: 0.1523, d5.loss_bbox: 0.3599, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7047, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5764, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5348, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5268, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5255, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5277, d0.loss_map_cls_all: 0.2407, d0.loss_map_pts_all: 1.6633, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2407, d0.loss_map_pts: 1.6633, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.2054, d1.loss_map_pts: 1.1024, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.1841, d2.loss_map_pts: 0.8985, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.1729, d3.loss_map_pts: 0.8175, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.1672, d4.loss_map_pts: 0.7819, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.1613, d5.loss_map_pts: 0.7769, d5.loss_map_dir: 0.0123, loss: 29.9659, grad_norm: 157.7809 +2026-02-27 12:00:20,442 - DriveTransformer - INFO - Epoch [7][6900/39528] lr: 8.550e-05, eta: 5 days, 23:18:36, time: 0.762, data_time: 0.040, memory: 19865, loss_cls: 0.1558, loss_bbox: 0.3448, loss_traj: 0.6418, loss_traj_cls: 0.0010, loss_map_cls: 0.1568, loss_map_pts: 0.6723, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.8411, d0.loss_plan_l1_fix_dist: 0.4167, d1.loss_plan_l1_fix_time: 1.0381, d1.loss_plan_l1_fix_dist: 0.1713, d2.loss_plan_l1_fix_time: 1.0215, d2.loss_plan_l1_fix_dist: 0.1775, d3.loss_plan_l1_fix_time: 1.0225, d3.loss_plan_l1_fix_dist: 0.1906, d4.loss_plan_l1_fix_time: 1.0253, d4.loss_plan_l1_fix_dist: 0.2058, d5.loss_plan_l1_fix_time: 1.0288, d5.loss_plan_l1_fix_dist: 0.2232, d6.loss_plan_l1_fix_time: 1.0324, d6.loss_plan_l1_fix_dist: 0.2403, d0.loss_cls_all: 0.1957, d0.loss_bbox_all: 0.4028, d0.loss_cls: 0.1957, d0.loss_bbox: 0.4028, d1.loss_cls: 0.1846, d1.loss_bbox: 0.3680, d2.loss_cls: 0.1738, d2.loss_bbox: 0.3517, d3.loss_cls: 0.1627, d3.loss_bbox: 0.3471, d4.loss_cls: 0.1569, d4.loss_bbox: 0.3469, d5.loss_cls: 0.1563, d5.loss_bbox: 0.3442, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7920, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6904, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6540, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6478, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6394, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6397, d0.loss_map_cls_all: 0.2265, d0.loss_map_pts_all: 1.4852, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2265, d0.loss_map_pts: 1.4852, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1973, d1.loss_map_pts: 0.9596, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1793, d2.loss_map_pts: 0.7691, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1716, d3.loss_map_pts: 0.6987, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1635, d4.loss_map_pts: 0.6787, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1586, d5.loss_map_pts: 0.6739, d5.loss_map_dir: 0.0107, loss: 28.6197, grad_norm: 153.7418 +2026-02-27 12:00:56,841 - DriveTransformer - INFO - Epoch [7][6950/39528] lr: 8.550e-05, eta: 5 days, 23:17:38, time: 0.728, data_time: 0.032, memory: 19865, loss_cls: 0.1606, loss_bbox: 0.3906, loss_traj: 0.5958, loss_traj_cls: 0.0009, loss_map_cls: 0.1708, loss_map_pts: 0.7584, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.9681, d0.loss_plan_l1_fix_dist: 0.3609, d1.loss_plan_l1_fix_time: 1.0875, d1.loss_plan_l1_fix_dist: 0.1972, d2.loss_plan_l1_fix_time: 1.0778, d2.loss_plan_l1_fix_dist: 0.2045, d3.loss_plan_l1_fix_time: 1.0787, d3.loss_plan_l1_fix_dist: 0.2166, d4.loss_plan_l1_fix_time: 1.0819, d4.loss_plan_l1_fix_dist: 0.2329, d5.loss_plan_l1_fix_time: 1.0857, d5.loss_plan_l1_fix_dist: 0.2520, d6.loss_plan_l1_fix_time: 1.0901, d6.loss_plan_l1_fix_dist: 0.2749, d0.loss_cls_all: 0.2125, d0.loss_bbox_all: 0.4504, d0.loss_cls: 0.2125, d0.loss_bbox: 0.4504, d1.loss_cls: 0.2041, d1.loss_bbox: 0.4166, d2.loss_cls: 0.1880, d2.loss_bbox: 0.4007, d3.loss_cls: 0.1706, d3.loss_bbox: 0.3948, d4.loss_cls: 0.1645, d4.loss_bbox: 0.3905, d5.loss_cls: 0.1607, d5.loss_bbox: 0.3912, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7594, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6456, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6123, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5987, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5972, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5977, d0.loss_map_cls_all: 0.2437, d0.loss_map_pts_all: 1.5159, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2437, d0.loss_map_pts: 1.5159, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2073, d1.loss_map_pts: 1.0338, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.1881, d2.loss_map_pts: 0.8610, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1797, d3.loss_map_pts: 0.7925, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1735, d4.loss_map_pts: 0.7695, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1715, d5.loss_map_pts: 0.7600, d5.loss_map_dir: 0.0114, loss: 30.0559, grad_norm: 155.3849 +2026-02-27 12:01:34,081 - DriveTransformer - INFO - Epoch [7][7000/39528] lr: 8.550e-05, eta: 5 days, 23:18:05, time: 0.745, data_time: 0.034, memory: 19865, loss_cls: 0.1807, loss_bbox: 0.3678, loss_traj: 0.4971, loss_traj_cls: 0.0010, loss_map_cls: 0.1641, loss_map_pts: 0.7385, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.9185, d0.loss_plan_l1_fix_dist: 0.4307, d1.loss_plan_l1_fix_time: 1.1148, d1.loss_plan_l1_fix_dist: 0.1989, d2.loss_plan_l1_fix_time: 1.0848, d2.loss_plan_l1_fix_dist: 0.2059, d3.loss_plan_l1_fix_time: 1.0741, d3.loss_plan_l1_fix_dist: 0.2183, d4.loss_plan_l1_fix_time: 1.0748, d4.loss_plan_l1_fix_dist: 0.2339, d5.loss_plan_l1_fix_time: 1.0768, d5.loss_plan_l1_fix_dist: 0.2499, d6.loss_plan_l1_fix_time: 1.0796, d6.loss_plan_l1_fix_dist: 0.2699, d0.loss_cls_all: 0.2281, d0.loss_bbox_all: 0.4319, d0.loss_cls: 0.2281, d0.loss_bbox: 0.4319, d1.loss_cls: 0.2154, d1.loss_bbox: 0.3973, d2.loss_cls: 0.2016, d2.loss_bbox: 0.3786, d3.loss_cls: 0.1895, d3.loss_bbox: 0.3722, d4.loss_cls: 0.1827, d4.loss_bbox: 0.3692, d5.loss_cls: 0.1807, d5.loss_bbox: 0.3683, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6433, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5440, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5137, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5030, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.4964, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4982, d0.loss_map_cls_all: 0.2333, d0.loss_map_pts_all: 1.5311, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2333, d0.loss_map_pts: 1.5311, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2014, d1.loss_map_pts: 1.0302, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.1882, d2.loss_map_pts: 0.8382, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1762, d3.loss_map_pts: 0.7692, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1699, d4.loss_map_pts: 0.7460, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1645, d5.loss_map_pts: 0.7402, d5.loss_map_dir: 0.0112, loss: 29.2006, grad_norm: 157.5417 +2026-02-27 12:02:09,200 - DriveTransformer - INFO - Epoch [7][7050/39528] lr: 8.550e-05, eta: 5 days, 23:14:59, time: 0.702, data_time: 0.039, memory: 19865, loss_cls: 0.1383, loss_bbox: 0.3447, loss_traj: 0.5608, loss_traj_cls: 0.0010, loss_map_cls: 0.1707, loss_map_pts: 0.6181, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.7298, d0.loss_plan_l1_fix_dist: 0.3772, d1.loss_plan_l1_fix_time: 1.1072, d1.loss_plan_l1_fix_dist: 0.1439, d2.loss_plan_l1_fix_time: 1.0921, d2.loss_plan_l1_fix_dist: 0.1510, d3.loss_plan_l1_fix_time: 1.0853, d3.loss_plan_l1_fix_dist: 0.1638, d4.loss_plan_l1_fix_time: 1.0857, d4.loss_plan_l1_fix_dist: 0.1789, d5.loss_plan_l1_fix_time: 1.0867, d5.loss_plan_l1_fix_dist: 0.1945, d6.loss_plan_l1_fix_time: 1.0879, d6.loss_plan_l1_fix_dist: 0.2125, d0.loss_cls_all: 0.1824, d0.loss_bbox_all: 0.3932, d0.loss_cls: 0.1824, d0.loss_bbox: 0.3932, d1.loss_cls: 0.1694, d1.loss_bbox: 0.3644, d2.loss_cls: 0.1572, d2.loss_bbox: 0.3483, d3.loss_cls: 0.1440, d3.loss_bbox: 0.3448, d4.loss_cls: 0.1413, d4.loss_bbox: 0.3415, d5.loss_cls: 0.1383, d5.loss_bbox: 0.3425, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7283, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6075, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5744, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5605, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5543, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5591, d0.loss_map_cls_all: 0.2401, d0.loss_map_pts_all: 1.2928, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2401, d0.loss_map_pts: 1.2928, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2131, d1.loss_map_pts: 0.8889, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1932, d2.loss_map_pts: 0.7241, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1805, d3.loss_map_pts: 0.6506, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1749, d4.loss_map_pts: 0.6254, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1713, d5.loss_map_pts: 0.6190, d5.loss_map_dir: 0.0083, loss: 27.3363, grad_norm: 162.0137 +2026-02-27 12:02:46,333 - DriveTransformer - INFO - Epoch [7][7100/39528] lr: 8.550e-05, eta: 5 days, 23:15:15, time: 0.743, data_time: 0.030, memory: 19865, loss_cls: 0.1761, loss_bbox: 0.3850, loss_traj: 0.6606, loss_traj_cls: 0.0009, loss_map_cls: 0.1526, loss_map_pts: 0.7366, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 3.1214, d0.loss_plan_l1_fix_dist: 0.3976, d1.loss_plan_l1_fix_time: 1.1510, d1.loss_plan_l1_fix_dist: 0.1677, d2.loss_plan_l1_fix_time: 1.1357, d2.loss_plan_l1_fix_dist: 0.1759, d3.loss_plan_l1_fix_time: 1.1365, d3.loss_plan_l1_fix_dist: 0.1870, d4.loss_plan_l1_fix_time: 1.1384, d4.loss_plan_l1_fix_dist: 0.2010, d5.loss_plan_l1_fix_time: 1.1400, d5.loss_plan_l1_fix_dist: 0.2174, d6.loss_plan_l1_fix_time: 1.1425, d6.loss_plan_l1_fix_dist: 0.2325, d0.loss_cls_all: 0.2278, d0.loss_bbox_all: 0.4338, d0.loss_cls: 0.2278, d0.loss_bbox: 0.4338, d1.loss_cls: 0.2147, d1.loss_bbox: 0.4036, d2.loss_cls: 0.1978, d2.loss_bbox: 0.3872, d3.loss_cls: 0.1843, d3.loss_bbox: 0.3836, d4.loss_cls: 0.1797, d4.loss_bbox: 0.3804, d5.loss_cls: 0.1768, d5.loss_bbox: 0.3823, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8763, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7329, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6855, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6728, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6620, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6624, d0.loss_map_cls_all: 0.2283, d0.loss_map_pts_all: 1.5747, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2283, d0.loss_map_pts: 1.5747, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.1980, d1.loss_map_pts: 1.0506, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.1753, d2.loss_map_pts: 0.8682, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1630, d3.loss_map_pts: 0.7837, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1591, d4.loss_map_pts: 0.7480, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1536, d5.loss_map_pts: 0.7399, d5.loss_map_dir: 0.0108, loss: 30.8988, grad_norm: 163.2638 +2026-02-27 12:03:22,834 - DriveTransformer - INFO - Epoch [7][7150/39528] lr: 8.550e-05, eta: 5 days, 23:14:28, time: 0.730, data_time: 0.035, memory: 19865, loss_cls: 0.1641, loss_bbox: 0.3638, loss_traj: 0.7019, loss_traj_cls: 0.0010, loss_map_cls: 0.1797, loss_map_pts: 0.7893, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.7914, d0.loss_plan_l1_fix_dist: 0.4003, d1.loss_plan_l1_fix_time: 1.0685, d1.loss_plan_l1_fix_dist: 0.1848, d2.loss_plan_l1_fix_time: 1.0581, d2.loss_plan_l1_fix_dist: 0.1915, d3.loss_plan_l1_fix_time: 1.0548, d3.loss_plan_l1_fix_dist: 0.2037, d4.loss_plan_l1_fix_time: 1.0564, d4.loss_plan_l1_fix_dist: 0.2164, d5.loss_plan_l1_fix_time: 1.0583, d5.loss_plan_l1_fix_dist: 0.2310, d6.loss_plan_l1_fix_time: 1.0608, d6.loss_plan_l1_fix_dist: 0.2481, d0.loss_cls_all: 0.2029, d0.loss_bbox_all: 0.4366, d0.loss_cls: 0.2029, d0.loss_bbox: 0.4366, d1.loss_cls: 0.1961, d1.loss_bbox: 0.4010, d2.loss_cls: 0.1810, d2.loss_bbox: 0.3814, d3.loss_cls: 0.1698, d3.loss_bbox: 0.3720, d4.loss_cls: 0.1682, d4.loss_bbox: 0.3644, d5.loss_cls: 0.1654, d5.loss_bbox: 0.3639, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9464, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7659, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7172, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7080, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6999, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7004, d0.loss_map_cls_all: 0.2519, d0.loss_map_pts_all: 1.5326, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2519, d0.loss_map_pts: 1.5326, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2273, d1.loss_map_pts: 1.0903, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.2084, d2.loss_map_pts: 0.9064, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1947, d3.loss_map_pts: 0.8312, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1885, d4.loss_map_pts: 0.8013, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1825, d5.loss_map_pts: 0.7910, d5.loss_map_dir: 0.0095, loss: 30.6740, grad_norm: 163.8040 +2026-02-27 12:03:59,690 - DriveTransformer - INFO - Epoch [7][7200/39528] lr: 8.550e-05, eta: 5 days, 23:14:16, time: 0.737, data_time: 0.032, memory: 19865, loss_cls: 0.1636, loss_bbox: 0.3823, loss_traj: 0.7788, loss_traj_cls: 0.0009, loss_map_cls: 0.1951, loss_map_pts: 0.8171, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.7120, d0.loss_plan_l1_fix_dist: 0.4503, d1.loss_plan_l1_fix_time: 1.2635, d1.loss_plan_l1_fix_dist: 0.1837, d2.loss_plan_l1_fix_time: 1.2511, d2.loss_plan_l1_fix_dist: 0.1818, d3.loss_plan_l1_fix_time: 1.2542, d3.loss_plan_l1_fix_dist: 0.1899, d4.loss_plan_l1_fix_time: 1.2588, d4.loss_plan_l1_fix_dist: 0.1998, d5.loss_plan_l1_fix_time: 1.2639, d5.loss_plan_l1_fix_dist: 0.2097, d6.loss_plan_l1_fix_time: 1.2690, d6.loss_plan_l1_fix_dist: 0.2226, d0.loss_cls_all: 0.2103, d0.loss_bbox_all: 0.4437, d0.loss_cls: 0.2103, d0.loss_bbox: 0.4437, d1.loss_cls: 0.1995, d1.loss_bbox: 0.4118, d2.loss_cls: 0.1850, d2.loss_bbox: 0.3946, d3.loss_cls: 0.1734, d3.loss_bbox: 0.3862, d4.loss_cls: 0.1683, d4.loss_bbox: 0.3813, d5.loss_cls: 0.1646, d5.loss_bbox: 0.3809, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9960, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8435, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7951, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7867, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7853, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7831, d0.loss_map_cls_all: 0.2715, d0.loss_map_pts_all: 1.5464, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2715, d0.loss_map_pts: 1.5464, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2448, d1.loss_map_pts: 1.1474, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.2237, d2.loss_map_pts: 0.9422, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.2105, d3.loss_map_pts: 0.8584, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.2021, d4.loss_map_pts: 0.8273, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1973, d5.loss_map_pts: 0.8184, d5.loss_map_dir: 0.0106, loss: 32.7869, grad_norm: 162.8965 +2026-02-27 12:04:36,054 - DriveTransformer - INFO - Epoch [7][7250/39528] lr: 8.550e-05, eta: 5 days, 23:13:16, time: 0.727, data_time: 0.035, memory: 19865, loss_cls: 0.1745, loss_bbox: 0.3872, loss_traj: 0.7478, loss_traj_cls: 0.0010, loss_map_cls: 0.1713, loss_map_pts: 0.7369, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.6551, d0.loss_plan_l1_fix_dist: 0.3541, d1.loss_plan_l1_fix_time: 0.9477, d1.loss_plan_l1_fix_dist: 0.1755, d2.loss_plan_l1_fix_time: 0.9313, d2.loss_plan_l1_fix_dist: 0.1798, d3.loss_plan_l1_fix_time: 0.9285, d3.loss_plan_l1_fix_dist: 0.1880, d4.loss_plan_l1_fix_time: 0.9302, d4.loss_plan_l1_fix_dist: 0.1985, d5.loss_plan_l1_fix_time: 0.9327, d5.loss_plan_l1_fix_dist: 0.2113, d6.loss_plan_l1_fix_time: 0.9363, d6.loss_plan_l1_fix_dist: 0.2245, d0.loss_cls_all: 0.2079, d0.loss_bbox_all: 0.4505, d0.loss_cls: 0.2079, d0.loss_bbox: 0.4505, d1.loss_cls: 0.1996, d1.loss_bbox: 0.4152, d2.loss_cls: 0.1900, d2.loss_bbox: 0.3990, d3.loss_cls: 0.1797, d3.loss_bbox: 0.3928, d4.loss_cls: 0.1761, d4.loss_bbox: 0.3887, d5.loss_cls: 0.1756, d5.loss_bbox: 0.3872, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0036, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8191, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7639, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7563, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7461, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7434, d0.loss_map_cls_all: 0.2464, d0.loss_map_pts_all: 1.4659, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2464, d0.loss_map_pts: 1.4659, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2114, d1.loss_map_pts: 1.0425, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1932, d2.loss_map_pts: 0.8552, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1859, d3.loss_map_pts: 0.7748, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1779, d4.loss_map_pts: 0.7447, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1735, d5.loss_map_pts: 0.7391, d5.loss_map_dir: 0.0094, loss: 29.6663, grad_norm: 165.0536 +2026-02-27 12:05:12,681 - DriveTransformer - INFO - Epoch [7][7300/39528] lr: 8.550e-05, eta: 5 days, 23:12:41, time: 0.733, data_time: 0.035, memory: 19865, loss_cls: 0.1617, loss_bbox: 0.3817, loss_traj: 0.5998, loss_traj_cls: 0.0010, loss_map_cls: 0.1349, loss_map_pts: 0.6446, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.9826, d0.loss_plan_l1_fix_dist: 0.3310, d1.loss_plan_l1_fix_time: 1.0297, d1.loss_plan_l1_fix_dist: 0.1718, d2.loss_plan_l1_fix_time: 1.0103, d2.loss_plan_l1_fix_dist: 0.1822, d3.loss_plan_l1_fix_time: 1.0078, d3.loss_plan_l1_fix_dist: 0.1989, d4.loss_plan_l1_fix_time: 1.0109, d4.loss_plan_l1_fix_dist: 0.2175, d5.loss_plan_l1_fix_time: 1.0155, d5.loss_plan_l1_fix_dist: 0.2405, d6.loss_plan_l1_fix_time: 1.0212, d6.loss_plan_l1_fix_dist: 0.2657, d0.loss_cls_all: 0.2081, d0.loss_bbox_all: 0.4455, d0.loss_cls: 0.2081, d0.loss_bbox: 0.4455, d1.loss_cls: 0.2005, d1.loss_bbox: 0.4120, d2.loss_cls: 0.1820, d2.loss_bbox: 0.3943, d3.loss_cls: 0.1716, d3.loss_bbox: 0.3853, d4.loss_cls: 0.1627, d4.loss_bbox: 0.3850, d5.loss_cls: 0.1615, d5.loss_bbox: 0.3825, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8215, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6885, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6326, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6078, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6004, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6008, d0.loss_map_cls_all: 0.2015, d0.loss_map_pts_all: 1.2919, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2015, d0.loss_map_pts: 1.2919, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1717, d1.loss_map_pts: 0.9093, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1542, d2.loss_map_pts: 0.7543, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1468, d3.loss_map_pts: 0.6851, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1403, d4.loss_map_pts: 0.6572, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1366, d5.loss_map_pts: 0.6479, d5.loss_map_dir: 0.0089, loss: 28.1704, grad_norm: 163.4089 +2026-02-27 12:05:48,731 - DriveTransformer - INFO - Epoch [7][7350/39528] lr: 8.550e-05, eta: 5 days, 23:11:11, time: 0.721, data_time: 0.035, memory: 19865, loss_cls: 0.1662, loss_bbox: 0.3734, loss_traj: 0.6324, loss_traj_cls: 0.0010, loss_map_cls: 0.1927, loss_map_pts: 0.7455, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.7795, d0.loss_plan_l1_fix_dist: 0.3954, d1.loss_plan_l1_fix_time: 1.0109, d1.loss_plan_l1_fix_dist: 0.1747, d2.loss_plan_l1_fix_time: 0.9970, d2.loss_plan_l1_fix_dist: 0.1826, d3.loss_plan_l1_fix_time: 0.9965, d3.loss_plan_l1_fix_dist: 0.1960, d4.loss_plan_l1_fix_time: 0.9987, d4.loss_plan_l1_fix_dist: 0.2100, d5.loss_plan_l1_fix_time: 1.0016, d5.loss_plan_l1_fix_dist: 0.2238, d6.loss_plan_l1_fix_time: 1.0048, d6.loss_plan_l1_fix_dist: 0.2373, d0.loss_cls_all: 0.2139, d0.loss_bbox_all: 0.4389, d0.loss_cls: 0.2139, d0.loss_bbox: 0.4389, d1.loss_cls: 0.2039, d1.loss_bbox: 0.4061, d2.loss_cls: 0.1898, d2.loss_bbox: 0.3825, d3.loss_cls: 0.1749, d3.loss_bbox: 0.3797, d4.loss_cls: 0.1693, d4.loss_bbox: 0.3754, d5.loss_cls: 0.1656, d5.loss_bbox: 0.3745, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8934, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7430, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6648, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6461, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6422, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6372, d0.loss_map_cls_all: 0.2589, d0.loss_map_pts_all: 1.4992, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2589, d0.loss_map_pts: 1.4992, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.2396, d1.loss_map_pts: 1.0802, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.2134, d2.loss_map_pts: 0.8809, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.2056, d3.loss_map_pts: 0.7962, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1984, d4.loss_map_pts: 0.7617, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1944, d5.loss_map_pts: 0.7483, d5.loss_map_dir: 0.0088, loss: 29.7811, grad_norm: 163.6385 +2026-02-27 12:06:24,904 - DriveTransformer - INFO - Epoch [7][7400/39528] lr: 8.550e-05, eta: 5 days, 23:09:54, time: 0.723, data_time: 0.036, memory: 19865, loss_cls: 0.1666, loss_bbox: 0.3487, loss_traj: 0.6723, loss_traj_cls: 0.0010, loss_map_cls: 0.1628, loss_map_pts: 0.7001, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.5628, d0.loss_plan_l1_fix_dist: 0.4197, d1.loss_plan_l1_fix_time: 1.0188, d1.loss_plan_l1_fix_dist: 0.1644, d2.loss_plan_l1_fix_time: 1.0015, d2.loss_plan_l1_fix_dist: 0.1711, d3.loss_plan_l1_fix_time: 0.9985, d3.loss_plan_l1_fix_dist: 0.1837, d4.loss_plan_l1_fix_time: 1.0001, d4.loss_plan_l1_fix_dist: 0.1986, d5.loss_plan_l1_fix_time: 1.0021, d5.loss_plan_l1_fix_dist: 0.2160, d6.loss_plan_l1_fix_time: 1.0039, d6.loss_plan_l1_fix_dist: 0.2344, d0.loss_cls_all: 0.2062, d0.loss_bbox_all: 0.4153, d0.loss_cls: 0.2062, d0.loss_bbox: 0.4153, d1.loss_cls: 0.1985, d1.loss_bbox: 0.3818, d2.loss_cls: 0.1859, d2.loss_bbox: 0.3612, d3.loss_cls: 0.1754, d3.loss_bbox: 0.3527, d4.loss_cls: 0.1691, d4.loss_bbox: 0.3496, d5.loss_cls: 0.1671, d5.loss_bbox: 0.3483, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8882, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7549, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6995, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6836, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6788, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6742, d0.loss_map_cls_all: 0.2250, d0.loss_map_pts_all: 1.4207, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2250, d0.loss_map_pts: 1.4207, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2049, d1.loss_map_pts: 0.9895, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1855, d2.loss_map_pts: 0.8110, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1730, d3.loss_map_pts: 0.7393, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1676, d4.loss_map_pts: 0.7099, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1654, d5.loss_map_pts: 0.7017, d5.loss_map_dir: 0.0096, loss: 28.7581, grad_norm: 162.3143 +2026-02-27 12:07:02,520 - DriveTransformer - INFO - Epoch [7][7450/39528] lr: 8.550e-05, eta: 5 days, 23:10:53, time: 0.752, data_time: 0.040, memory: 19865, loss_cls: 0.1720, loss_bbox: 0.3672, loss_traj: 0.6920, loss_traj_cls: 0.0010, loss_map_cls: 0.2032, loss_map_pts: 0.8015, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 3.0357, d0.loss_plan_l1_fix_dist: 0.3501, d1.loss_plan_l1_fix_time: 1.0289, d1.loss_plan_l1_fix_dist: 0.1693, d2.loss_plan_l1_fix_time: 1.0147, d2.loss_plan_l1_fix_dist: 0.1729, d3.loss_plan_l1_fix_time: 1.0162, d3.loss_plan_l1_fix_dist: 0.1840, d4.loss_plan_l1_fix_time: 1.0182, d4.loss_plan_l1_fix_dist: 0.1988, d5.loss_plan_l1_fix_time: 1.0202, d5.loss_plan_l1_fix_dist: 0.2162, d6.loss_plan_l1_fix_time: 1.0224, d6.loss_plan_l1_fix_dist: 0.2347, d0.loss_cls_all: 0.2196, d0.loss_bbox_all: 0.4226, d0.loss_cls: 0.2196, d0.loss_bbox: 0.4226, d1.loss_cls: 0.2075, d1.loss_bbox: 0.3879, d2.loss_cls: 0.1922, d2.loss_bbox: 0.3733, d3.loss_cls: 0.1789, d3.loss_bbox: 0.3659, d4.loss_cls: 0.1740, d4.loss_bbox: 0.3654, d5.loss_cls: 0.1722, d5.loss_bbox: 0.3653, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9341, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7699, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7256, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7064, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6932, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6917, d0.loss_map_cls_all: 0.2676, d0.loss_map_pts_all: 1.5157, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2676, d0.loss_map_pts: 1.5157, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2470, d1.loss_map_pts: 1.0836, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.2250, d2.loss_map_pts: 0.9041, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.2137, d3.loss_map_pts: 0.8361, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.2083, d4.loss_map_pts: 0.8070, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.2046, d5.loss_map_pts: 0.8026, d5.loss_map_dir: 0.0094, loss: 30.6832, grad_norm: 162.1556 +2026-02-27 12:07:38,166 - DriveTransformer - INFO - Epoch [7][7500/39528] lr: 8.550e-05, eta: 5 days, 23:08:46, time: 0.713, data_time: 0.034, memory: 19865, loss_cls: 0.1691, loss_bbox: 0.3528, loss_traj: 0.5664, loss_traj_cls: 0.0010, loss_map_cls: 0.1588, loss_map_pts: 0.6455, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.3812, d0.loss_plan_l1_fix_dist: 0.3777, d1.loss_plan_l1_fix_time: 0.9042, d1.loss_plan_l1_fix_dist: 0.1792, d2.loss_plan_l1_fix_time: 0.8863, d2.loss_plan_l1_fix_dist: 0.1816, d3.loss_plan_l1_fix_time: 0.8830, d3.loss_plan_l1_fix_dist: 0.1905, d4.loss_plan_l1_fix_time: 0.8854, d4.loss_plan_l1_fix_dist: 0.2034, d5.loss_plan_l1_fix_time: 0.8886, d5.loss_plan_l1_fix_dist: 0.2172, d6.loss_plan_l1_fix_time: 0.8922, d6.loss_plan_l1_fix_dist: 0.2346, d0.loss_cls_all: 0.2061, d0.loss_bbox_all: 0.4185, d0.loss_cls: 0.2061, d0.loss_bbox: 0.4185, d1.loss_cls: 0.1986, d1.loss_bbox: 0.3803, d2.loss_cls: 0.1820, d2.loss_bbox: 0.3655, d3.loss_cls: 0.1748, d3.loss_bbox: 0.3587, d4.loss_cls: 0.1721, d4.loss_bbox: 0.3540, d5.loss_cls: 0.1694, d5.loss_bbox: 0.3529, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7806, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6352, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5863, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5743, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5640, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5632, d0.loss_map_cls_all: 0.2367, d0.loss_map_pts_all: 1.3249, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2367, d0.loss_map_pts: 1.3249, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2062, d1.loss_map_pts: 0.9318, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1819, d2.loss_map_pts: 0.7561, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1701, d3.loss_map_pts: 0.6760, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1651, d4.loss_map_pts: 0.6519, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1611, d5.loss_map_pts: 0.6468, d5.loss_map_dir: 0.0090, loss: 26.6063, grad_norm: 160.8463 +2026-02-27 12:08:15,296 - DriveTransformer - INFO - Epoch [7][7550/39528] lr: 8.550e-05, eta: 5 days, 23:08:59, time: 0.743, data_time: 0.036, memory: 19865, loss_cls: 0.1599, loss_bbox: 0.3432, loss_traj: 0.5959, loss_traj_cls: 0.0010, loss_map_cls: 0.1488, loss_map_pts: 0.6468, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.2418, d0.loss_plan_l1_fix_dist: 0.4040, d1.loss_plan_l1_fix_time: 1.1021, d1.loss_plan_l1_fix_dist: 0.1719, d2.loss_plan_l1_fix_time: 1.0939, d2.loss_plan_l1_fix_dist: 0.1793, d3.loss_plan_l1_fix_time: 1.0932, d3.loss_plan_l1_fix_dist: 0.1946, d4.loss_plan_l1_fix_time: 1.0976, d4.loss_plan_l1_fix_dist: 0.2146, d5.loss_plan_l1_fix_time: 1.1027, d5.loss_plan_l1_fix_dist: 0.2371, d6.loss_plan_l1_fix_time: 1.1080, d6.loss_plan_l1_fix_dist: 0.2610, d0.loss_cls_all: 0.1935, d0.loss_bbox_all: 0.4051, d0.loss_cls: 0.1935, d0.loss_bbox: 0.4051, d1.loss_cls: 0.1869, d1.loss_bbox: 0.3734, d2.loss_cls: 0.1772, d2.loss_bbox: 0.3558, d3.loss_cls: 0.1676, d3.loss_bbox: 0.3481, d4.loss_cls: 0.1631, d4.loss_bbox: 0.3444, d5.loss_cls: 0.1600, d5.loss_bbox: 0.3439, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7868, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6468, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6065, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5948, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5970, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5954, d0.loss_map_cls_all: 0.2272, d0.loss_map_pts_all: 1.3607, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2272, d0.loss_map_pts: 1.3607, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.1944, d1.loss_map_pts: 0.8987, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1715, d2.loss_map_pts: 0.7355, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1621, d3.loss_map_pts: 0.6735, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1556, d4.loss_map_pts: 0.6520, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1511, d5.loss_map_pts: 0.6474, d5.loss_map_dir: 0.0099, loss: 27.7448, grad_norm: 163.8036 +2026-02-27 12:08:51,738 - DriveTransformer - INFO - Epoch [7][7600/39528] lr: 8.550e-05, eta: 5 days, 23:08:14, time: 0.730, data_time: 0.029, memory: 19865, loss_cls: 0.1713, loss_bbox: 0.3542, loss_traj: 0.7151, loss_traj_cls: 0.0010, loss_map_cls: 0.1518, loss_map_pts: 0.7157, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 3.2170, d0.loss_plan_l1_fix_dist: 0.3903, d1.loss_plan_l1_fix_time: 1.1720, d1.loss_plan_l1_fix_dist: 0.1884, d2.loss_plan_l1_fix_time: 1.1569, d2.loss_plan_l1_fix_dist: 0.1910, d3.loss_plan_l1_fix_time: 1.1554, d3.loss_plan_l1_fix_dist: 0.2003, d4.loss_plan_l1_fix_time: 1.1590, d4.loss_plan_l1_fix_dist: 0.2099, d5.loss_plan_l1_fix_time: 1.1628, d5.loss_plan_l1_fix_dist: 0.2216, d6.loss_plan_l1_fix_time: 1.1673, d6.loss_plan_l1_fix_dist: 0.2301, d0.loss_cls_all: 0.2123, d0.loss_bbox_all: 0.4203, d0.loss_cls: 0.2123, d0.loss_bbox: 0.4203, d1.loss_cls: 0.2010, d1.loss_bbox: 0.3875, d2.loss_cls: 0.1895, d2.loss_bbox: 0.3648, d3.loss_cls: 0.1768, d3.loss_bbox: 0.3593, d4.loss_cls: 0.1698, d4.loss_bbox: 0.3576, d5.loss_cls: 0.1702, d5.loss_bbox: 0.3562, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0192, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8072, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7355, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7206, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7175, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7132, d0.loss_map_cls_all: 0.2348, d0.loss_map_pts_all: 1.4465, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2348, d0.loss_map_pts: 1.4465, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2000, d1.loss_map_pts: 0.9673, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1779, d2.loss_map_pts: 0.8038, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1681, d3.loss_map_pts: 0.7441, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1605, d4.loss_map_pts: 0.7211, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1545, d5.loss_map_pts: 0.7155, d5.loss_map_dir: 0.0101, loss: 30.9045, grad_norm: 164.6362 +2026-02-27 12:09:29,527 - DriveTransformer - INFO - Epoch [7][7650/39528] lr: 8.550e-05, eta: 5 days, 23:09:20, time: 0.754, data_time: 0.032, memory: 19865, loss_cls: 0.1568, loss_bbox: 0.3612, loss_traj: 0.6293, loss_traj_cls: 0.0010, loss_map_cls: 0.1447, loss_map_pts: 0.7163, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.3130, d0.loss_plan_l1_fix_dist: 0.3890, d1.loss_plan_l1_fix_time: 1.1068, d1.loss_plan_l1_fix_dist: 0.1692, d2.loss_plan_l1_fix_time: 1.0921, d2.loss_plan_l1_fix_dist: 0.1691, d3.loss_plan_l1_fix_time: 1.0941, d3.loss_plan_l1_fix_dist: 0.1778, d4.loss_plan_l1_fix_time: 1.0970, d4.loss_plan_l1_fix_dist: 0.1892, d5.loss_plan_l1_fix_time: 1.0999, d5.loss_plan_l1_fix_dist: 0.2012, d6.loss_plan_l1_fix_time: 1.1035, d6.loss_plan_l1_fix_dist: 0.2177, d0.loss_cls_all: 0.1865, d0.loss_bbox_all: 0.4358, d0.loss_cls: 0.1865, d0.loss_bbox: 0.4358, d1.loss_cls: 0.1838, d1.loss_bbox: 0.3985, d2.loss_cls: 0.1699, d2.loss_bbox: 0.3784, d3.loss_cls: 0.1594, d3.loss_bbox: 0.3682, d4.loss_cls: 0.1564, d4.loss_bbox: 0.3630, d5.loss_cls: 0.1563, d5.loss_bbox: 0.3612, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8546, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7011, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6612, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6426, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6304, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6281, d0.loss_map_cls_all: 0.2298, d0.loss_map_pts_all: 1.4572, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2298, d0.loss_map_pts: 1.4572, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.1903, d1.loss_map_pts: 0.9812, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1677, d2.loss_map_pts: 0.8044, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.1556, d3.loss_map_pts: 0.7460, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1499, d4.loss_map_pts: 0.7230, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1469, d5.loss_map_pts: 0.7168, d5.loss_map_dir: 0.0109, loss: 28.7346, grad_norm: 163.2377 +2026-02-27 12:10:06,489 - DriveTransformer - INFO - Epoch [7][7700/39528] lr: 8.550e-05, eta: 5 days, 23:09:15, time: 0.739, data_time: 0.034, memory: 19865, loss_cls: 0.1621, loss_bbox: 0.3494, loss_traj: 0.5964, loss_traj_cls: 0.0010, loss_map_cls: 0.1523, loss_map_pts: 0.7081, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.0601, d0.loss_plan_l1_fix_dist: 0.3933, d1.loss_plan_l1_fix_time: 1.0116, d1.loss_plan_l1_fix_dist: 0.1825, d2.loss_plan_l1_fix_time: 1.0027, d2.loss_plan_l1_fix_dist: 0.1849, d3.loss_plan_l1_fix_time: 1.0060, d3.loss_plan_l1_fix_dist: 0.1950, d4.loss_plan_l1_fix_time: 1.0108, d4.loss_plan_l1_fix_dist: 0.2065, d5.loss_plan_l1_fix_time: 1.0158, d5.loss_plan_l1_fix_dist: 0.2195, d6.loss_plan_l1_fix_time: 1.0210, d6.loss_plan_l1_fix_dist: 0.2339, d0.loss_cls_all: 0.2000, d0.loss_bbox_all: 0.4104, d0.loss_cls: 0.2000, d0.loss_bbox: 0.4104, d1.loss_cls: 0.1929, d1.loss_bbox: 0.3785, d2.loss_cls: 0.1775, d2.loss_bbox: 0.3614, d3.loss_cls: 0.1670, d3.loss_bbox: 0.3545, d4.loss_cls: 0.1641, d4.loss_bbox: 0.3525, d5.loss_cls: 0.1623, d5.loss_bbox: 0.3514, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8119, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6736, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6118, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5965, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5981, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5957, d0.loss_map_cls_all: 0.2202, d0.loss_map_pts_all: 1.3772, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2202, d0.loss_map_pts: 1.3772, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1926, d1.loss_map_pts: 0.9817, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1746, d2.loss_map_pts: 0.8090, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1640, d3.loss_map_pts: 0.7410, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1569, d4.loss_map_pts: 0.7140, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1548, d5.loss_map_pts: 0.7074, d5.loss_map_dir: 0.0088, loss: 27.5487, grad_norm: 162.0806 +2026-02-27 12:10:44,488 - DriveTransformer - INFO - Epoch [7][7750/39528] lr: 8.550e-05, eta: 5 days, 23:10:45, time: 0.760, data_time: 0.035, memory: 19865, loss_cls: 0.1682, loss_bbox: 0.3762, loss_traj: 0.6468, loss_traj_cls: 0.0009, loss_map_cls: 0.1635, loss_map_pts: 0.7330, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.9380, d0.loss_plan_l1_fix_dist: 0.4189, d1.loss_plan_l1_fix_time: 1.2653, d1.loss_plan_l1_fix_dist: 0.1942, d2.loss_plan_l1_fix_time: 1.2529, d2.loss_plan_l1_fix_dist: 0.1947, d3.loss_plan_l1_fix_time: 1.2536, d3.loss_plan_l1_fix_dist: 0.2018, d4.loss_plan_l1_fix_time: 1.2563, d4.loss_plan_l1_fix_dist: 0.2112, d5.loss_plan_l1_fix_time: 1.2596, d5.loss_plan_l1_fix_dist: 0.2216, d6.loss_plan_l1_fix_time: 1.2635, d6.loss_plan_l1_fix_dist: 0.2332, d0.loss_cls_all: 0.2100, d0.loss_bbox_all: 0.4406, d0.loss_cls: 0.2100, d0.loss_bbox: 0.4406, d1.loss_cls: 0.2002, d1.loss_bbox: 0.4068, d2.loss_cls: 0.1895, d2.loss_bbox: 0.3852, d3.loss_cls: 0.1753, d3.loss_bbox: 0.3787, d4.loss_cls: 0.1696, d4.loss_bbox: 0.3773, d5.loss_cls: 0.1685, d5.loss_bbox: 0.3757, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8794, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7201, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6704, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6588, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6553, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6464, d0.loss_map_cls_all: 0.2329, d0.loss_map_pts_all: 1.4198, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2329, d0.loss_map_pts: 1.4198, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1994, d1.loss_map_pts: 1.0054, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1838, d2.loss_map_pts: 0.8276, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1761, d3.loss_map_pts: 0.7611, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1696, d4.loss_map_pts: 0.7367, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1667, d5.loss_map_pts: 0.7324, d5.loss_map_dir: 0.0097, loss: 30.9583, grad_norm: 160.8922 +2026-02-27 12:11:20,332 - DriveTransformer - INFO - Epoch [7][7800/39528] lr: 8.550e-05, eta: 5 days, 23:08:58, time: 0.717, data_time: 0.033, memory: 19865, loss_cls: 0.1627, loss_bbox: 0.3663, loss_traj: 0.6225, loss_traj_cls: 0.0010, loss_map_cls: 0.1584, loss_map_pts: 0.6565, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 3.0092, d0.loss_plan_l1_fix_dist: 0.4901, d1.loss_plan_l1_fix_time: 1.0221, d1.loss_plan_l1_fix_dist: 0.1893, d2.loss_plan_l1_fix_time: 1.0052, d2.loss_plan_l1_fix_dist: 0.1917, d3.loss_plan_l1_fix_time: 1.0091, d3.loss_plan_l1_fix_dist: 0.2010, d4.loss_plan_l1_fix_time: 1.0123, d4.loss_plan_l1_fix_dist: 0.2141, d5.loss_plan_l1_fix_time: 1.0155, d5.loss_plan_l1_fix_dist: 0.2295, d6.loss_plan_l1_fix_time: 1.0187, d6.loss_plan_l1_fix_dist: 0.2477, d0.loss_cls_all: 0.2028, d0.loss_bbox_all: 0.4294, d0.loss_cls: 0.2028, d0.loss_bbox: 0.4294, d1.loss_cls: 0.1942, d1.loss_bbox: 0.3910, d2.loss_cls: 0.1795, d2.loss_bbox: 0.3725, d3.loss_cls: 0.1691, d3.loss_bbox: 0.3662, d4.loss_cls: 0.1619, d4.loss_bbox: 0.3675, d5.loss_cls: 0.1621, d5.loss_bbox: 0.3676, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9725, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6815, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6379, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6268, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6173, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6179, d0.loss_map_cls_all: 0.2291, d0.loss_map_pts_all: 1.3060, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2291, d0.loss_map_pts: 1.3060, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.2061, d1.loss_map_pts: 0.9192, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1840, d2.loss_map_pts: 0.7574, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1724, d3.loss_map_pts: 0.6886, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1642, d4.loss_map_pts: 0.6646, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1603, d5.loss_map_pts: 0.6573, d5.loss_map_dir: 0.0084, loss: 28.6884, grad_norm: 160.0697 +2026-02-27 12:11:55,727 - DriveTransformer - INFO - Epoch [7][7850/39528] lr: 8.550e-05, eta: 5 days, 23:06:32, time: 0.708, data_time: 0.033, memory: 19865, loss_cls: 0.1858, loss_bbox: 0.3795, loss_traj: 0.6511, loss_traj_cls: 0.0009, loss_map_cls: 0.1710, loss_map_pts: 0.7656, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.9416, d0.loss_plan_l1_fix_dist: 0.4292, d1.loss_plan_l1_fix_time: 1.0115, d1.loss_plan_l1_fix_dist: 0.1755, d2.loss_plan_l1_fix_time: 0.9988, d2.loss_plan_l1_fix_dist: 0.1785, d3.loss_plan_l1_fix_time: 1.0010, d3.loss_plan_l1_fix_dist: 0.1854, d4.loss_plan_l1_fix_time: 1.0051, d4.loss_plan_l1_fix_dist: 0.1939, d5.loss_plan_l1_fix_time: 1.0095, d5.loss_plan_l1_fix_dist: 0.2046, d6.loss_plan_l1_fix_time: 1.0146, d6.loss_plan_l1_fix_dist: 0.2172, d0.loss_cls_all: 0.2328, d0.loss_bbox_all: 0.4484, d0.loss_cls: 0.2328, d0.loss_bbox: 0.4484, d1.loss_cls: 0.2230, d1.loss_bbox: 0.4115, d2.loss_cls: 0.2081, d2.loss_bbox: 0.3921, d3.loss_cls: 0.1943, d3.loss_bbox: 0.3833, d4.loss_cls: 0.1862, d4.loss_bbox: 0.3829, d5.loss_cls: 0.1839, d5.loss_bbox: 0.3829, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8927, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7227, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6649, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6513, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6472, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6499, d0.loss_map_cls_all: 0.2582, d0.loss_map_pts_all: 1.4506, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2582, d0.loss_map_pts: 1.4506, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2256, d1.loss_map_pts: 1.0445, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1995, d2.loss_map_pts: 0.8749, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1890, d3.loss_map_pts: 0.8011, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1798, d4.loss_map_pts: 0.7722, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1740, d5.loss_map_pts: 0.7659, d5.loss_map_dir: 0.0105, loss: 29.9927, grad_norm: 159.9947 +2026-02-27 12:12:34,236 - DriveTransformer - INFO - Epoch [7][7900/39528] lr: 8.550e-05, eta: 5 days, 23:08:44, time: 0.770, data_time: 0.040, memory: 19865, loss_cls: 0.1551, loss_bbox: 0.3547, loss_traj: 0.5903, loss_traj_cls: 0.0010, loss_map_cls: 0.1635, loss_map_pts: 0.6837, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.3544, d0.loss_plan_l1_fix_dist: 0.4537, d1.loss_plan_l1_fix_time: 1.1288, d1.loss_plan_l1_fix_dist: 0.1838, d2.loss_plan_l1_fix_time: 1.1178, d2.loss_plan_l1_fix_dist: 0.1893, d3.loss_plan_l1_fix_time: 1.1223, d3.loss_plan_l1_fix_dist: 0.2008, d4.loss_plan_l1_fix_time: 1.1260, d4.loss_plan_l1_fix_dist: 0.2140, d5.loss_plan_l1_fix_time: 1.1299, d5.loss_plan_l1_fix_dist: 0.2259, d6.loss_plan_l1_fix_time: 1.1352, d6.loss_plan_l1_fix_dist: 0.2386, d0.loss_cls_all: 0.1868, d0.loss_bbox_all: 0.4100, d0.loss_cls: 0.1868, d0.loss_bbox: 0.4100, d1.loss_cls: 0.1816, d1.loss_bbox: 0.3800, d2.loss_cls: 0.1697, d2.loss_bbox: 0.3625, d3.loss_cls: 0.1595, d3.loss_bbox: 0.3578, d4.loss_cls: 0.1557, d4.loss_bbox: 0.3544, d5.loss_cls: 0.1552, d5.loss_bbox: 0.3545, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7884, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6594, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6093, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5942, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5912, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5884, d0.loss_map_cls_all: 0.2370, d0.loss_map_pts_all: 1.4439, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2370, d0.loss_map_pts: 1.4439, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2102, d1.loss_map_pts: 0.9698, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1860, d2.loss_map_pts: 0.7821, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1748, d3.loss_map_pts: 0.7174, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1693, d4.loss_map_pts: 0.6914, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1642, d5.loss_map_pts: 0.6842, d5.loss_map_dir: 0.0098, loss: 28.6172, grad_norm: 159.8555 +2026-02-27 12:13:10,142 - DriveTransformer - INFO - Epoch [7][7950/39528] lr: 8.550e-05, eta: 5 days, 23:07:05, time: 0.718, data_time: 0.035, memory: 19865, loss_cls: 0.1486, loss_bbox: 0.3513, loss_traj: 0.6565, loss_traj_cls: 0.0010, loss_map_cls: 0.1523, loss_map_pts: 0.6445, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.4945, d0.loss_plan_l1_fix_dist: 0.4387, d1.loss_plan_l1_fix_time: 1.1272, d1.loss_plan_l1_fix_dist: 0.1709, d2.loss_plan_l1_fix_time: 1.1153, d2.loss_plan_l1_fix_dist: 0.1764, d3.loss_plan_l1_fix_time: 1.1195, d3.loss_plan_l1_fix_dist: 0.1856, d4.loss_plan_l1_fix_time: 1.1240, d4.loss_plan_l1_fix_dist: 0.1966, d5.loss_plan_l1_fix_time: 1.1286, d5.loss_plan_l1_fix_dist: 0.2105, d6.loss_plan_l1_fix_time: 1.1342, d6.loss_plan_l1_fix_dist: 0.2241, d0.loss_cls_all: 0.1835, d0.loss_bbox_all: 0.4020, d0.loss_cls: 0.1835, d0.loss_bbox: 0.4020, d1.loss_cls: 0.1740, d1.loss_bbox: 0.3702, d2.loss_cls: 0.1613, d2.loss_bbox: 0.3529, d3.loss_cls: 0.1512, d3.loss_bbox: 0.3504, d4.loss_cls: 0.1482, d4.loss_bbox: 0.3487, d5.loss_cls: 0.1478, d5.loss_bbox: 0.3490, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8434, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7009, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6734, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6598, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6596, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6576, d0.loss_map_cls_all: 0.2263, d0.loss_map_pts_all: 1.2683, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2263, d0.loss_map_pts: 1.2683, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.2052, d1.loss_map_pts: 0.9181, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1801, d2.loss_map_pts: 0.7546, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1650, d3.loss_map_pts: 0.6847, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1585, d4.loss_map_pts: 0.6607, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1542, d5.loss_map_pts: 0.6451, d5.loss_map_dir: 0.0081, loss: 28.3009, grad_norm: 160.4834 +2026-02-27 12:13:44,819 - DriveTransformer - INFO - Epoch [7][8000/39528] lr: 8.550e-05, eta: 5 days, 23:03:37, time: 0.694, data_time: 0.035, memory: 19865, loss_cls: 0.1595, loss_bbox: 0.3539, loss_traj: 0.6903, loss_traj_cls: 0.0010, loss_map_cls: 0.1446, loss_map_pts: 0.6010, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.6512, d0.loss_plan_l1_fix_dist: 0.3803, d1.loss_plan_l1_fix_time: 1.1851, d1.loss_plan_l1_fix_dist: 0.1801, d2.loss_plan_l1_fix_time: 1.1776, d2.loss_plan_l1_fix_dist: 0.1803, d3.loss_plan_l1_fix_time: 1.1861, d3.loss_plan_l1_fix_dist: 0.1898, d4.loss_plan_l1_fix_time: 1.1934, d4.loss_plan_l1_fix_dist: 0.2013, d5.loss_plan_l1_fix_time: 1.2004, d5.loss_plan_l1_fix_dist: 0.2167, d6.loss_plan_l1_fix_time: 1.2063, d6.loss_plan_l1_fix_dist: 0.2318, d0.loss_cls_all: 0.1988, d0.loss_bbox_all: 0.4082, d0.loss_cls: 0.1988, d0.loss_bbox: 0.4082, d1.loss_cls: 0.1932, d1.loss_bbox: 0.3794, d2.loss_cls: 0.1813, d2.loss_bbox: 0.3649, d3.loss_cls: 0.1660, d3.loss_bbox: 0.3581, d4.loss_cls: 0.1600, d4.loss_bbox: 0.3562, d5.loss_cls: 0.1582, d5.loss_bbox: 0.3545, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8847, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7305, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6933, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6838, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6823, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6844, d0.loss_map_cls_all: 0.2270, d0.loss_map_pts_all: 1.2299, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2270, d0.loss_map_pts: 1.2299, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1954, d1.loss_map_pts: 0.8577, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1693, d2.loss_map_pts: 0.6966, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1570, d3.loss_map_pts: 0.6298, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1490, d4.loss_map_pts: 0.6070, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1469, d5.loss_map_pts: 0.6025, d5.loss_map_dir: 0.0076, loss: 28.7646, grad_norm: 162.8095 +2026-02-27 12:14:21,763 - DriveTransformer - INFO - Epoch [7][8050/39528] lr: 8.550e-05, eta: 5 days, 23:03:30, time: 0.739, data_time: 0.038, memory: 19865, loss_cls: 0.1508, loss_bbox: 0.3499, loss_traj: 0.6131, loss_traj_cls: 0.0010, loss_map_cls: 0.1767, loss_map_pts: 0.7032, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.7827, d0.loss_plan_l1_fix_dist: 0.3897, d1.loss_plan_l1_fix_time: 0.9948, d1.loss_plan_l1_fix_dist: 0.1740, d2.loss_plan_l1_fix_time: 0.9803, d2.loss_plan_l1_fix_dist: 0.1779, d3.loss_plan_l1_fix_time: 0.9851, d3.loss_plan_l1_fix_dist: 0.1915, d4.loss_plan_l1_fix_time: 0.9896, d4.loss_plan_l1_fix_dist: 0.2080, d5.loss_plan_l1_fix_time: 0.9940, d5.loss_plan_l1_fix_dist: 0.2251, d6.loss_plan_l1_fix_time: 0.9981, d6.loss_plan_l1_fix_dist: 0.2480, d0.loss_cls_all: 0.1878, d0.loss_bbox_all: 0.4001, d0.loss_cls: 0.1878, d0.loss_bbox: 0.4001, d1.loss_cls: 0.1851, d1.loss_bbox: 0.3706, d2.loss_cls: 0.1695, d2.loss_bbox: 0.3573, d3.loss_cls: 0.1566, d3.loss_bbox: 0.3527, d4.loss_cls: 0.1524, d4.loss_bbox: 0.3496, d5.loss_cls: 0.1490, d5.loss_bbox: 0.3508, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8631, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6880, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6427, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6250, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6283, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6157, d0.loss_map_cls_all: 0.2465, d0.loss_map_pts_all: 1.3962, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2465, d0.loss_map_pts: 1.3962, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.2239, d1.loss_map_pts: 0.9739, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1954, d2.loss_map_pts: 0.8034, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1877, d3.loss_map_pts: 0.7342, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1814, d4.loss_map_pts: 0.7084, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1786, d5.loss_map_pts: 0.7043, d5.loss_map_dir: 0.0085, loss: 28.4143, grad_norm: 156.8481 +2026-02-27 12:14:58,402 - DriveTransformer - INFO - Epoch [7][8100/39528] lr: 8.550e-05, eta: 5 days, 23:02:57, time: 0.733, data_time: 0.034, memory: 19865, loss_cls: 0.1570, loss_bbox: 0.3540, loss_traj: 0.5748, loss_traj_cls: 0.0010, loss_map_cls: 0.1429, loss_map_pts: 0.7111, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.6129, d0.loss_plan_l1_fix_dist: 0.4130, d1.loss_plan_l1_fix_time: 0.9464, d1.loss_plan_l1_fix_dist: 0.1818, d2.loss_plan_l1_fix_time: 0.9336, d2.loss_plan_l1_fix_dist: 0.1860, d3.loss_plan_l1_fix_time: 0.9341, d3.loss_plan_l1_fix_dist: 0.1966, d4.loss_plan_l1_fix_time: 0.9373, d4.loss_plan_l1_fix_dist: 0.2122, d5.loss_plan_l1_fix_time: 0.9416, d5.loss_plan_l1_fix_dist: 0.2273, d6.loss_plan_l1_fix_time: 0.9471, d6.loss_plan_l1_fix_dist: 0.2395, d0.loss_cls_all: 0.1951, d0.loss_bbox_all: 0.4169, d0.loss_cls: 0.1951, d0.loss_bbox: 0.4169, d1.loss_cls: 0.1866, d1.loss_bbox: 0.3858, d2.loss_cls: 0.1761, d2.loss_bbox: 0.3665, d3.loss_cls: 0.1655, d3.loss_bbox: 0.3593, d4.loss_cls: 0.1593, d4.loss_bbox: 0.3554, d5.loss_cls: 0.1568, d5.loss_bbox: 0.3545, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7692, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6333, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5943, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5819, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5736, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5737, d0.loss_map_cls_all: 0.2170, d0.loss_map_pts_all: 1.3577, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2170, d0.loss_map_pts: 1.3577, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1885, d1.loss_map_pts: 0.9495, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1668, d2.loss_map_pts: 0.7987, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1559, d3.loss_map_pts: 0.7417, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1505, d4.loss_map_pts: 0.7174, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1449, d5.loss_map_pts: 0.7103, d5.loss_map_dir: 0.0095, loss: 27.4205, grad_norm: 157.6074 +2026-02-27 12:15:35,011 - DriveTransformer - INFO - Epoch [7][8150/39528] lr: 8.550e-05, eta: 5 days, 23:02:20, time: 0.732, data_time: 0.038, memory: 19865, loss_cls: 0.1652, loss_bbox: 0.3693, loss_traj: 0.6154, loss_traj_cls: 0.0010, loss_map_cls: 0.1515, loss_map_pts: 0.6431, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.8108, d0.loss_plan_l1_fix_dist: 0.3724, d1.loss_plan_l1_fix_time: 1.1804, d1.loss_plan_l1_fix_dist: 0.1779, d2.loss_plan_l1_fix_time: 1.1706, d2.loss_plan_l1_fix_dist: 0.1820, d3.loss_plan_l1_fix_time: 1.1742, d3.loss_plan_l1_fix_dist: 0.1926, d4.loss_plan_l1_fix_time: 1.1781, d4.loss_plan_l1_fix_dist: 0.2052, d5.loss_plan_l1_fix_time: 1.1825, d5.loss_plan_l1_fix_dist: 0.2205, d6.loss_plan_l1_fix_time: 1.1876, d6.loss_plan_l1_fix_dist: 0.2351, d0.loss_cls_all: 0.1972, d0.loss_bbox_all: 0.4236, d0.loss_cls: 0.1972, d0.loss_bbox: 0.4236, d1.loss_cls: 0.1900, d1.loss_bbox: 0.3943, d2.loss_cls: 0.1784, d2.loss_bbox: 0.3786, d3.loss_cls: 0.1705, d3.loss_bbox: 0.3718, d4.loss_cls: 0.1631, d4.loss_bbox: 0.3705, d5.loss_cls: 0.1659, d5.loss_bbox: 0.3676, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8121, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6687, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6224, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6176, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6194, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6204, d0.loss_map_cls_all: 0.2184, d0.loss_map_pts_all: 1.2753, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2184, d0.loss_map_pts: 1.2753, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1890, d1.loss_map_pts: 0.9008, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1715, d2.loss_map_pts: 0.7370, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1636, d3.loss_map_pts: 0.6710, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1558, d4.loss_map_pts: 0.6493, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1533, d5.loss_map_pts: 0.6434, d5.loss_map_dir: 0.0091, loss: 28.8685, grad_norm: 158.3404 +2026-02-27 12:16:10,720 - DriveTransformer - INFO - Epoch [7][8200/39528] lr: 8.550e-05, eta: 5 days, 23:00:27, time: 0.714, data_time: 0.034, memory: 19865, loss_cls: 0.1717, loss_bbox: 0.3645, loss_traj: 0.6551, loss_traj_cls: 0.0010, loss_map_cls: 0.1819, loss_map_pts: 0.6973, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 3.0850, d0.loss_plan_l1_fix_dist: 0.4378, d1.loss_plan_l1_fix_time: 1.2120, d1.loss_plan_l1_fix_dist: 0.1805, d2.loss_plan_l1_fix_time: 1.2010, d2.loss_plan_l1_fix_dist: 0.1841, d3.loss_plan_l1_fix_time: 1.2060, d3.loss_plan_l1_fix_dist: 0.1959, d4.loss_plan_l1_fix_time: 1.2096, d4.loss_plan_l1_fix_dist: 0.2065, d5.loss_plan_l1_fix_time: 1.2134, d5.loss_plan_l1_fix_dist: 0.2196, d6.loss_plan_l1_fix_time: 1.2175, d6.loss_plan_l1_fix_dist: 0.2347, d0.loss_cls_all: 0.2182, d0.loss_bbox_all: 0.4242, d0.loss_cls: 0.2182, d0.loss_bbox: 0.4242, d1.loss_cls: 0.2109, d1.loss_bbox: 0.3944, d2.loss_cls: 0.1921, d2.loss_bbox: 0.3764, d3.loss_cls: 0.1762, d3.loss_bbox: 0.3697, d4.loss_cls: 0.1715, d4.loss_bbox: 0.3655, d5.loss_cls: 0.1710, d5.loss_bbox: 0.3640, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8750, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7133, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6698, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6568, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6515, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6545, d0.loss_map_cls_all: 0.2513, d0.loss_map_pts_all: 1.3848, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2513, d0.loss_map_pts: 1.3848, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2264, d1.loss_map_pts: 0.9786, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.2032, d2.loss_map_pts: 0.7999, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1928, d3.loss_map_pts: 0.7291, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1871, d4.loss_map_pts: 0.7017, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1836, d5.loss_map_pts: 0.6975, d5.loss_map_dir: 0.0097, loss: 30.6277, grad_norm: 158.0477 +2026-02-27 12:16:47,385 - DriveTransformer - INFO - Epoch [7][8250/39528] lr: 8.550e-05, eta: 5 days, 22:59:56, time: 0.733, data_time: 0.035, memory: 19865, loss_cls: 0.1514, loss_bbox: 0.3568, loss_traj: 0.6920, loss_traj_cls: 0.0010, loss_map_cls: 0.1513, loss_map_pts: 0.7065, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.6703, d0.loss_plan_l1_fix_dist: 0.3879, d1.loss_plan_l1_fix_time: 1.1023, d1.loss_plan_l1_fix_dist: 0.1942, d2.loss_plan_l1_fix_time: 1.0843, d2.loss_plan_l1_fix_dist: 0.1955, d3.loss_plan_l1_fix_time: 1.0845, d3.loss_plan_l1_fix_dist: 0.2043, d4.loss_plan_l1_fix_time: 1.0891, d4.loss_plan_l1_fix_dist: 0.2120, d5.loss_plan_l1_fix_time: 1.0938, d5.loss_plan_l1_fix_dist: 0.2207, d6.loss_plan_l1_fix_time: 1.0984, d6.loss_plan_l1_fix_dist: 0.2304, d0.loss_cls_all: 0.1874, d0.loss_bbox_all: 0.4156, d0.loss_cls: 0.1874, d0.loss_bbox: 0.4156, d1.loss_cls: 0.1781, d1.loss_bbox: 0.3863, d2.loss_cls: 0.1647, d2.loss_bbox: 0.3687, d3.loss_cls: 0.1559, d3.loss_bbox: 0.3614, d4.loss_cls: 0.1498, d4.loss_bbox: 0.3596, d5.loss_cls: 0.1490, d5.loss_bbox: 0.3580, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8543, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7218, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6947, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6935, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6944, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6937, d0.loss_map_cls_all: 0.2299, d0.loss_map_pts_all: 1.3902, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2299, d0.loss_map_pts: 1.3902, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1975, d1.loss_map_pts: 0.9655, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1735, d2.loss_map_pts: 0.7919, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1630, d3.loss_map_pts: 0.7283, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1556, d4.loss_map_pts: 0.7120, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1516, d5.loss_map_pts: 0.7078, d5.loss_map_dir: 0.0098, loss: 29.1870, grad_norm: 156.8620 +2026-02-27 12:17:24,486 - DriveTransformer - INFO - Epoch [7][8300/39528] lr: 8.550e-05, eta: 5 days, 23:00:01, time: 0.742, data_time: 0.035, memory: 19865, loss_cls: 0.1517, loss_bbox: 0.3485, loss_traj: 0.6946, loss_traj_cls: 0.0010, loss_map_cls: 0.1612, loss_map_pts: 0.7052, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.7722, d0.loss_plan_l1_fix_dist: 0.5258, d1.loss_plan_l1_fix_time: 1.1346, d1.loss_plan_l1_fix_dist: 0.2087, d2.loss_plan_l1_fix_time: 1.1189, d2.loss_plan_l1_fix_dist: 0.2098, d3.loss_plan_l1_fix_time: 1.1125, d3.loss_plan_l1_fix_dist: 0.2167, d4.loss_plan_l1_fix_time: 1.1145, d4.loss_plan_l1_fix_dist: 0.2250, d5.loss_plan_l1_fix_time: 1.1174, d5.loss_plan_l1_fix_dist: 0.2334, d6.loss_plan_l1_fix_time: 1.1207, d6.loss_plan_l1_fix_dist: 0.2432, d0.loss_cls_all: 0.1886, d0.loss_bbox_all: 0.4026, d0.loss_cls: 0.1886, d0.loss_bbox: 0.4026, d1.loss_cls: 0.1786, d1.loss_bbox: 0.3738, d2.loss_cls: 0.1695, d2.loss_bbox: 0.3578, d3.loss_cls: 0.1617, d3.loss_bbox: 0.3507, d4.loss_cls: 0.1538, d4.loss_bbox: 0.3503, d5.loss_cls: 0.1515, d5.loss_bbox: 0.3489, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9291, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7537, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7100, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6938, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6885, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6903, d0.loss_map_cls_all: 0.2174, d0.loss_map_pts_all: 1.3749, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2174, d0.loss_map_pts: 1.3749, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1965, d1.loss_map_pts: 0.9618, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1810, d2.loss_map_pts: 0.7960, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1709, d3.loss_map_pts: 0.7333, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1649, d4.loss_map_pts: 0.7096, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1612, d5.loss_map_pts: 0.7056, d5.loss_map_dir: 0.0091, loss: 29.7034, grad_norm: 156.0989 +2026-02-27 12:18:00,918 - DriveTransformer - INFO - Epoch [7][8350/39528] lr: 8.550e-05, eta: 5 days, 22:59:10, time: 0.729, data_time: 0.034, memory: 19865, loss_cls: 0.1681, loss_bbox: 0.3623, loss_traj: 0.6153, loss_traj_cls: 0.0010, loss_map_cls: 0.1627, loss_map_pts: 0.7237, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.9937, d0.loss_plan_l1_fix_dist: 0.4983, d1.loss_plan_l1_fix_time: 1.1474, d1.loss_plan_l1_fix_dist: 0.1857, d2.loss_plan_l1_fix_time: 1.1397, d2.loss_plan_l1_fix_dist: 0.1870, d3.loss_plan_l1_fix_time: 1.1403, d3.loss_plan_l1_fix_dist: 0.1941, d4.loss_plan_l1_fix_time: 1.1424, d4.loss_plan_l1_fix_dist: 0.2035, d5.loss_plan_l1_fix_time: 1.1451, d5.loss_plan_l1_fix_dist: 0.2162, d6.loss_plan_l1_fix_time: 1.1482, d6.loss_plan_l1_fix_dist: 0.2284, d0.loss_cls_all: 0.2018, d0.loss_bbox_all: 0.4265, d0.loss_cls: 0.2018, d0.loss_bbox: 0.4265, d1.loss_cls: 0.1966, d1.loss_bbox: 0.3937, d2.loss_cls: 0.1872, d2.loss_bbox: 0.3741, d3.loss_cls: 0.1740, d3.loss_bbox: 0.3685, d4.loss_cls: 0.1706, d4.loss_bbox: 0.3640, d5.loss_cls: 0.1689, d5.loss_bbox: 0.3634, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8301, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6828, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6323, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6176, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6114, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6116, d0.loss_map_cls_all: 0.2373, d0.loss_map_pts_all: 1.3712, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2373, d0.loss_map_pts: 1.3712, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2068, d1.loss_map_pts: 0.9858, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1874, d2.loss_map_pts: 0.8245, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1777, d3.loss_map_pts: 0.7572, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1690, d4.loss_map_pts: 0.7309, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1645, d5.loss_map_pts: 0.7246, d5.loss_map_dir: 0.0090, loss: 29.8281, grad_norm: 153.9982 +2026-02-27 12:18:37,014 - DriveTransformer - INFO - Epoch [7][8400/39528] lr: 8.550e-05, eta: 5 days, 22:57:57, time: 0.723, data_time: 0.038, memory: 19865, loss_cls: 0.1686, loss_bbox: 0.3634, loss_traj: 0.7838, loss_traj_cls: 0.0010, loss_map_cls: 0.1481, loss_map_pts: 0.6272, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.6913, d0.loss_plan_l1_fix_dist: 0.4034, d1.loss_plan_l1_fix_time: 1.0669, d1.loss_plan_l1_fix_dist: 0.1787, d2.loss_plan_l1_fix_time: 1.0612, d2.loss_plan_l1_fix_dist: 0.1790, d3.loss_plan_l1_fix_time: 1.0634, d3.loss_plan_l1_fix_dist: 0.1853, d4.loss_plan_l1_fix_time: 1.0668, d4.loss_plan_l1_fix_dist: 0.1932, d5.loss_plan_l1_fix_time: 1.0703, d5.loss_plan_l1_fix_dist: 0.2028, d6.loss_plan_l1_fix_time: 1.0742, d6.loss_plan_l1_fix_dist: 0.2165, d0.loss_cls_all: 0.2083, d0.loss_bbox_all: 0.4226, d0.loss_cls: 0.2083, d0.loss_bbox: 0.4226, d1.loss_cls: 0.2013, d1.loss_bbox: 0.3909, d2.loss_cls: 0.1860, d2.loss_bbox: 0.3740, d3.loss_cls: 0.1737, d3.loss_bbox: 0.3676, d4.loss_cls: 0.1696, d4.loss_bbox: 0.3645, d5.loss_cls: 0.1688, d5.loss_bbox: 0.3636, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0268, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8618, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7932, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7800, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7757, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7783, d0.loss_map_cls_all: 0.2149, d0.loss_map_pts_all: 1.2430, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2149, d0.loss_map_pts: 1.2430, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1844, d1.loss_map_pts: 0.8856, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1692, d2.loss_map_pts: 0.7224, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1582, d3.loss_map_pts: 0.6611, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1544, d4.loss_map_pts: 0.6367, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1497, d5.loss_map_pts: 0.6300, d5.loss_map_dir: 0.0078, loss: 29.1173, grad_norm: 154.2931 +2026-02-27 12:19:14,760 - DriveTransformer - INFO - Epoch [7][8450/39528] lr: 8.550e-05, eta: 5 days, 22:58:50, time: 0.753, data_time: 0.035, memory: 19865, loss_cls: 0.1480, loss_bbox: 0.3644, loss_traj: 0.6645, loss_traj_cls: 0.0009, loss_map_cls: 0.1766, loss_map_pts: 0.7953, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.6931, d0.loss_plan_l1_fix_dist: 0.3533, d1.loss_plan_l1_fix_time: 1.0445, d1.loss_plan_l1_fix_dist: 0.1672, d2.loss_plan_l1_fix_time: 1.0447, d2.loss_plan_l1_fix_dist: 0.1667, d3.loss_plan_l1_fix_time: 1.0493, d3.loss_plan_l1_fix_dist: 0.1738, d4.loss_plan_l1_fix_time: 1.0528, d4.loss_plan_l1_fix_dist: 0.1830, d5.loss_plan_l1_fix_time: 1.0563, d5.loss_plan_l1_fix_dist: 0.1946, d6.loss_plan_l1_fix_time: 1.0604, d6.loss_plan_l1_fix_dist: 0.2075, d0.loss_cls_all: 0.1887, d0.loss_bbox_all: 0.4232, d0.loss_cls: 0.1887, d0.loss_bbox: 0.4232, d1.loss_cls: 0.1809, d1.loss_bbox: 0.3883, d2.loss_cls: 0.1672, d2.loss_bbox: 0.3709, d3.loss_cls: 0.1543, d3.loss_bbox: 0.3654, d4.loss_cls: 0.1490, d4.loss_bbox: 0.3634, d5.loss_cls: 0.1474, d5.loss_bbox: 0.3643, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8888, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7253, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6823, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6669, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6608, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6637, d0.loss_map_cls_all: 0.2538, d0.loss_map_pts_all: 1.5983, d0.loss_map_dir_all: 0.0109, d0.loss_map_cls: 0.2538, d0.loss_map_pts: 1.5983, d0.loss_map_dir: 0.0109, d1.loss_map_cls: 0.2212, d1.loss_map_pts: 1.1137, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2017, d2.loss_map_pts: 0.9077, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1924, d3.loss_map_pts: 0.8287, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1849, d4.loss_map_pts: 0.8000, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1796, d5.loss_map_pts: 0.7936, d5.loss_map_dir: 0.0115, loss: 29.9822, grad_norm: 155.3320 +2026-02-27 12:19:51,653 - DriveTransformer - INFO - Epoch [7][8500/39528] lr: 8.550e-05, eta: 5 days, 22:58:37, time: 0.738, data_time: 0.035, memory: 19865, loss_cls: 0.1726, loss_bbox: 0.3830, loss_traj: 0.7265, loss_traj_cls: 0.0010, loss_map_cls: 0.1615, loss_map_pts: 0.7238, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.7204, d0.loss_plan_l1_fix_dist: 0.4224, d1.loss_plan_l1_fix_time: 1.1546, d1.loss_plan_l1_fix_dist: 0.1861, d2.loss_plan_l1_fix_time: 1.1394, d2.loss_plan_l1_fix_dist: 0.1867, d3.loss_plan_l1_fix_time: 1.1361, d3.loss_plan_l1_fix_dist: 0.1960, d4.loss_plan_l1_fix_time: 1.1392, d4.loss_plan_l1_fix_dist: 0.2077, d5.loss_plan_l1_fix_time: 1.1433, d5.loss_plan_l1_fix_dist: 0.2213, d6.loss_plan_l1_fix_time: 1.1482, d6.loss_plan_l1_fix_dist: 0.2333, d0.loss_cls_all: 0.2141, d0.loss_bbox_all: 0.4250, d0.loss_cls: 0.2141, d0.loss_bbox: 0.4250, d1.loss_cls: 0.2068, d1.loss_bbox: 0.3966, d2.loss_cls: 0.1938, d2.loss_bbox: 0.3799, d3.loss_cls: 0.1791, d3.loss_bbox: 0.3786, d4.loss_cls: 0.1747, d4.loss_bbox: 0.3784, d5.loss_cls: 0.1726, d5.loss_bbox: 0.3810, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9385, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7933, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7519, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7333, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7273, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7294, d0.loss_map_cls_all: 0.2265, d0.loss_map_pts_all: 1.3725, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2265, d0.loss_map_pts: 1.3725, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2031, d1.loss_map_pts: 0.9862, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1841, d2.loss_map_pts: 0.8186, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1719, d3.loss_map_pts: 0.7536, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1661, d4.loss_map_pts: 0.7263, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1622, d5.loss_map_pts: 0.7219, d5.loss_map_dir: 0.0099, loss: 30.3728, grad_norm: 162.9147 +2026-02-27 12:20:28,052 - DriveTransformer - INFO - Epoch [7][8550/39528] lr: 8.550e-05, eta: 5 days, 22:57:43, time: 0.728, data_time: 0.036, memory: 19865, loss_cls: 0.1846, loss_bbox: 0.3840, loss_traj: 0.5656, loss_traj_cls: 0.0010, loss_map_cls: 0.1586, loss_map_pts: 0.7498, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.3499, d0.loss_plan_l1_fix_dist: 0.4281, d1.loss_plan_l1_fix_time: 1.1147, d1.loss_plan_l1_fix_dist: 0.1740, d2.loss_plan_l1_fix_time: 1.1017, d2.loss_plan_l1_fix_dist: 0.1740, d3.loss_plan_l1_fix_time: 1.0945, d3.loss_plan_l1_fix_dist: 0.1809, d4.loss_plan_l1_fix_time: 1.0959, d4.loss_plan_l1_fix_dist: 0.1877, d5.loss_plan_l1_fix_time: 1.0982, d5.loss_plan_l1_fix_dist: 0.1945, d6.loss_plan_l1_fix_time: 1.1014, d6.loss_plan_l1_fix_dist: 0.2028, d0.loss_cls_all: 0.2125, d0.loss_bbox_all: 0.4448, d0.loss_cls: 0.2125, d0.loss_bbox: 0.4448, d1.loss_cls: 0.2059, d1.loss_bbox: 0.4116, d2.loss_cls: 0.1985, d2.loss_bbox: 0.3903, d3.loss_cls: 0.1898, d3.loss_bbox: 0.3846, d4.loss_cls: 0.1850, d4.loss_bbox: 0.3829, d5.loss_cls: 0.1843, d5.loss_bbox: 0.3831, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7631, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6161, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5813, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5716, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5658, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5642, d0.loss_map_cls_all: 0.2293, d0.loss_map_pts_all: 1.4126, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2293, d0.loss_map_pts: 1.4126, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2024, d1.loss_map_pts: 1.0493, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1835, d2.loss_map_pts: 0.8651, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1734, d3.loss_map_pts: 0.7861, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1649, d4.loss_map_pts: 0.7582, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1608, d5.loss_map_pts: 0.7490, d5.loss_map_dir: 0.0093, loss: 28.8878, grad_norm: 162.6226 +2026-02-27 12:21:05,645 - DriveTransformer - INFO - Epoch [7][8600/39528] lr: 8.550e-05, eta: 5 days, 22:58:27, time: 0.752, data_time: 0.035, memory: 19865, loss_cls: 0.1304, loss_bbox: 0.3128, loss_traj: 0.6018, loss_traj_cls: 0.0010, loss_map_cls: 0.1243, loss_map_pts: 0.6141, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.6215, d0.loss_plan_l1_fix_dist: 0.4003, d1.loss_plan_l1_fix_time: 1.0565, d1.loss_plan_l1_fix_dist: 0.1709, d2.loss_plan_l1_fix_time: 1.0294, d2.loss_plan_l1_fix_dist: 0.1741, d3.loss_plan_l1_fix_time: 1.0275, d3.loss_plan_l1_fix_dist: 0.1807, d4.loss_plan_l1_fix_time: 1.0307, d4.loss_plan_l1_fix_dist: 0.1891, d5.loss_plan_l1_fix_time: 1.0343, d5.loss_plan_l1_fix_dist: 0.1997, d6.loss_plan_l1_fix_time: 1.0379, d6.loss_plan_l1_fix_dist: 0.2127, d0.loss_cls_all: 0.1588, d0.loss_bbox_all: 0.3733, d0.loss_cls: 0.1588, d0.loss_bbox: 0.3733, d1.loss_cls: 0.1572, d1.loss_bbox: 0.3401, d2.loss_cls: 0.1448, d2.loss_bbox: 0.3239, d3.loss_cls: 0.1355, d3.loss_bbox: 0.3176, d4.loss_cls: 0.1307, d4.loss_bbox: 0.3145, d5.loss_cls: 0.1298, d5.loss_bbox: 0.3139, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7895, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6567, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6204, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6101, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6065, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6054, d0.loss_map_cls_all: 0.2027, d0.loss_map_pts_all: 1.3315, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2027, d0.loss_map_pts: 1.3315, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1721, d1.loss_map_pts: 0.8708, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1514, d2.loss_map_pts: 0.7062, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1373, d3.loss_map_pts: 0.6453, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1304, d4.loss_map_pts: 0.6229, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1264, d5.loss_map_pts: 0.6132, d5.loss_map_dir: 0.0098, loss: 26.7386, grad_norm: 159.6974 +2026-02-27 12:21:42,892 - DriveTransformer - INFO - Epoch [7][8650/39528] lr: 8.550e-05, eta: 5 days, 22:58:42, time: 0.745, data_time: 0.037, memory: 19865, loss_cls: 0.1422, loss_bbox: 0.3293, loss_traj: 0.6340, loss_traj_cls: 0.0011, loss_map_cls: 0.1443, loss_map_pts: 0.6961, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.4917, d0.loss_plan_l1_fix_dist: 0.3911, d1.loss_plan_l1_fix_time: 0.9494, d1.loss_plan_l1_fix_dist: 0.1663, d2.loss_plan_l1_fix_time: 0.9425, d2.loss_plan_l1_fix_dist: 0.1676, d3.loss_plan_l1_fix_time: 0.9476, d3.loss_plan_l1_fix_dist: 0.1761, d4.loss_plan_l1_fix_time: 0.9518, d4.loss_plan_l1_fix_dist: 0.1861, d5.loss_plan_l1_fix_time: 0.9553, d5.loss_plan_l1_fix_dist: 0.1966, d6.loss_plan_l1_fix_time: 0.9586, d6.loss_plan_l1_fix_dist: 0.2102, d0.loss_cls_all: 0.1777, d0.loss_bbox_all: 0.3922, d0.loss_cls: 0.1777, d0.loss_bbox: 0.3922, d1.loss_cls: 0.1725, d1.loss_bbox: 0.3587, d2.loss_cls: 0.1595, d2.loss_bbox: 0.3412, d3.loss_cls: 0.1467, d3.loss_bbox: 0.3351, d4.loss_cls: 0.1426, d4.loss_bbox: 0.3311, d5.loss_cls: 0.1430, d5.loss_bbox: 0.3286, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8123, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6742, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6355, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6261, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6322, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6341, d0.loss_map_cls_all: 0.2319, d0.loss_map_pts_all: 1.3836, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2319, d0.loss_map_pts: 1.3836, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1971, d1.loss_map_pts: 0.9638, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1767, d2.loss_map_pts: 0.7910, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1622, d3.loss_map_pts: 0.7265, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1525, d4.loss_map_pts: 0.7039, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1466, d5.loss_map_pts: 0.6961, d5.loss_map_dir: 0.0097, loss: 27.2791, grad_norm: 155.1745 +2026-02-27 12:22:20,513 - DriveTransformer - INFO - Epoch [7][8700/39528] lr: 8.550e-05, eta: 5 days, 22:59:26, time: 0.752, data_time: 0.039, memory: 19865, loss_cls: 0.1488, loss_bbox: 0.3401, loss_traj: 0.5953, loss_traj_cls: 0.0010, loss_map_cls: 0.1559, loss_map_pts: 0.7160, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.4044, d0.loss_plan_l1_fix_dist: 0.4469, d1.loss_plan_l1_fix_time: 1.0663, d1.loss_plan_l1_fix_dist: 0.1727, d2.loss_plan_l1_fix_time: 1.0585, d2.loss_plan_l1_fix_dist: 0.1785, d3.loss_plan_l1_fix_time: 1.0542, d3.loss_plan_l1_fix_dist: 0.1925, d4.loss_plan_l1_fix_time: 1.0576, d4.loss_plan_l1_fix_dist: 0.2085, d5.loss_plan_l1_fix_time: 1.0612, d5.loss_plan_l1_fix_dist: 0.2238, d6.loss_plan_l1_fix_time: 1.0658, d6.loss_plan_l1_fix_dist: 0.2419, d0.loss_cls_all: 0.1810, d0.loss_bbox_all: 0.3984, d0.loss_cls: 0.1810, d0.loss_bbox: 0.3984, d1.loss_cls: 0.1829, d1.loss_bbox: 0.3638, d2.loss_cls: 0.1676, d2.loss_bbox: 0.3464, d3.loss_cls: 0.1544, d3.loss_bbox: 0.3433, d4.loss_cls: 0.1512, d4.loss_bbox: 0.3388, d5.loss_cls: 0.1496, d5.loss_bbox: 0.3389, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7906, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6331, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6030, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5929, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5912, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5929, d0.loss_map_cls_all: 0.2388, d0.loss_map_pts_all: 1.5070, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2388, d0.loss_map_pts: 1.5070, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2013, d1.loss_map_pts: 1.0030, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.1806, d2.loss_map_pts: 0.8129, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1690, d3.loss_map_pts: 0.7471, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1636, d4.loss_map_pts: 0.7223, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1586, d5.loss_map_pts: 0.7171, d5.loss_map_dir: 0.0111, loss: 28.3481, grad_norm: 155.8620 +2026-02-27 12:22:56,875 - DriveTransformer - INFO - Epoch [7][8750/39528] lr: 8.550e-05, eta: 5 days, 22:58:29, time: 0.727, data_time: 0.035, memory: 19865, loss_cls: 0.1554, loss_bbox: 0.3602, loss_traj: 0.6639, loss_traj_cls: 0.0010, loss_map_cls: 0.1467, loss_map_pts: 0.6618, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.6512, d0.loss_plan_l1_fix_dist: 0.4072, d1.loss_plan_l1_fix_time: 1.0703, d1.loss_plan_l1_fix_dist: 0.1663, d2.loss_plan_l1_fix_time: 1.0545, d2.loss_plan_l1_fix_dist: 0.1683, d3.loss_plan_l1_fix_time: 1.0498, d3.loss_plan_l1_fix_dist: 0.1774, d4.loss_plan_l1_fix_time: 1.0527, d4.loss_plan_l1_fix_dist: 0.1876, d5.loss_plan_l1_fix_time: 1.0565, d5.loss_plan_l1_fix_dist: 0.1995, d6.loss_plan_l1_fix_time: 1.0610, d6.loss_plan_l1_fix_dist: 0.2125, d0.loss_cls_all: 0.1945, d0.loss_bbox_all: 0.4215, d0.loss_cls: 0.1945, d0.loss_bbox: 0.4215, d1.loss_cls: 0.1908, d1.loss_bbox: 0.3874, d2.loss_cls: 0.1744, d2.loss_bbox: 0.3703, d3.loss_cls: 0.1617, d3.loss_bbox: 0.3653, d4.loss_cls: 0.1575, d4.loss_bbox: 0.3607, d5.loss_cls: 0.1560, d5.loss_bbox: 0.3603, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8545, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7175, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6703, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6576, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6572, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6596, d0.loss_map_cls_all: 0.2256, d0.loss_map_pts_all: 1.3727, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2256, d0.loss_map_pts: 1.3727, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1927, d1.loss_map_pts: 0.9399, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1711, d2.loss_map_pts: 0.7602, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1620, d3.loss_map_pts: 0.6904, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1533, d4.loss_map_pts: 0.6682, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1482, d5.loss_map_pts: 0.6628, d5.loss_map_dir: 0.0100, loss: 28.4663, grad_norm: 155.2475 +2026-02-27 12:23:33,571 - DriveTransformer - INFO - Epoch [7][8800/39528] lr: 8.550e-05, eta: 5 days, 22:57:58, time: 0.734, data_time: 0.034, memory: 19865, loss_cls: 0.1493, loss_bbox: 0.3600, loss_traj: 0.6442, loss_traj_cls: 0.0011, loss_map_cls: 0.1513, loss_map_pts: 0.6407, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.6778, d0.loss_plan_l1_fix_dist: 0.4424, d1.loss_plan_l1_fix_time: 1.0872, d1.loss_plan_l1_fix_dist: 0.2003, d2.loss_plan_l1_fix_time: 1.0784, d2.loss_plan_l1_fix_dist: 0.2062, d3.loss_plan_l1_fix_time: 1.0852, d3.loss_plan_l1_fix_dist: 0.2202, d4.loss_plan_l1_fix_time: 1.0929, d4.loss_plan_l1_fix_dist: 0.2361, d5.loss_plan_l1_fix_time: 1.1013, d5.loss_plan_l1_fix_dist: 0.2543, d6.loss_plan_l1_fix_time: 1.1099, d6.loss_plan_l1_fix_dist: 0.2703, d0.loss_cls_all: 0.1828, d0.loss_bbox_all: 0.4247, d0.loss_cls: 0.1828, d0.loss_bbox: 0.4247, d1.loss_cls: 0.1761, d1.loss_bbox: 0.3899, d2.loss_cls: 0.1658, d2.loss_bbox: 0.3705, d3.loss_cls: 0.1539, d3.loss_bbox: 0.3653, d4.loss_cls: 0.1493, d4.loss_bbox: 0.3629, d5.loss_cls: 0.1490, d5.loss_bbox: 0.3616, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8952, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7150, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6714, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6519, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6470, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6463, d0.loss_map_cls_all: 0.2144, d0.loss_map_pts_all: 1.2948, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2144, d0.loss_map_pts: 1.2948, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1905, d1.loss_map_pts: 0.9027, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1717, d2.loss_map_pts: 0.7377, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1642, d3.loss_map_pts: 0.6712, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1587, d4.loss_map_pts: 0.6487, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1542, d5.loss_map_pts: 0.6411, d5.loss_map_dir: 0.0086, loss: 28.6283, grad_norm: 157.3633 +2026-02-27 12:24:09,981 - DriveTransformer - INFO - Epoch [7][8850/39528] lr: 8.550e-05, eta: 5 days, 22:57:05, time: 0.728, data_time: 0.036, memory: 19865, loss_cls: 0.1636, loss_bbox: 0.3574, loss_traj: 0.4934, loss_traj_cls: 0.0010, loss_map_cls: 0.1637, loss_map_pts: 0.7104, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.4673, d0.loss_plan_l1_fix_dist: 0.3730, d1.loss_plan_l1_fix_time: 1.1206, d1.loss_plan_l1_fix_dist: 0.1726, d2.loss_plan_l1_fix_time: 1.1116, d2.loss_plan_l1_fix_dist: 0.1782, d3.loss_plan_l1_fix_time: 1.1135, d3.loss_plan_l1_fix_dist: 0.1874, d4.loss_plan_l1_fix_time: 1.1197, d4.loss_plan_l1_fix_dist: 0.1975, d5.loss_plan_l1_fix_time: 1.1267, d5.loss_plan_l1_fix_dist: 0.2100, d6.loss_plan_l1_fix_time: 1.1343, d6.loss_plan_l1_fix_dist: 0.2246, d0.loss_cls_all: 0.2048, d0.loss_bbox_all: 0.4133, d0.loss_cls: 0.2048, d0.loss_bbox: 0.4133, d1.loss_cls: 0.1974, d1.loss_bbox: 0.3834, d2.loss_cls: 0.1835, d2.loss_bbox: 0.3658, d3.loss_cls: 0.1694, d3.loss_bbox: 0.3625, d4.loss_cls: 0.1654, d4.loss_bbox: 0.3590, d5.loss_cls: 0.1644, d5.loss_bbox: 0.3572, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6777, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5458, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5020, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.4929, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.4903, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4892, d0.loss_map_cls_all: 0.2343, d0.loss_map_pts_all: 1.3613, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2343, d0.loss_map_pts: 1.3613, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2042, d1.loss_map_pts: 0.9605, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1815, d2.loss_map_pts: 0.7887, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1731, d3.loss_map_pts: 0.7284, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1677, d4.loss_map_pts: 0.7133, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1637, d5.loss_map_pts: 0.7114, d5.loss_map_dir: 0.0099, loss: 27.8363, grad_norm: 155.7539 +2026-02-27 12:24:45,921 - DriveTransformer - INFO - Epoch [7][8900/39528] lr: 8.550e-05, eta: 5 days, 22:55:34, time: 0.719, data_time: 0.036, memory: 19865, loss_cls: 0.1806, loss_bbox: 0.3834, loss_traj: 0.6588, loss_traj_cls: 0.0010, loss_map_cls: 0.1723, loss_map_pts: 0.7280, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.6020, d0.loss_plan_l1_fix_dist: 0.3472, d1.loss_plan_l1_fix_time: 1.1729, d1.loss_plan_l1_fix_dist: 0.1705, d2.loss_plan_l1_fix_time: 1.1657, d2.loss_plan_l1_fix_dist: 0.1759, d3.loss_plan_l1_fix_time: 1.1654, d3.loss_plan_l1_fix_dist: 0.1869, d4.loss_plan_l1_fix_time: 1.1692, d4.loss_plan_l1_fix_dist: 0.1997, d5.loss_plan_l1_fix_time: 1.1739, d5.loss_plan_l1_fix_dist: 0.2134, d6.loss_plan_l1_fix_time: 1.1798, d6.loss_plan_l1_fix_dist: 0.2288, d0.loss_cls_all: 0.2231, d0.loss_bbox_all: 0.4470, d0.loss_cls: 0.2231, d0.loss_bbox: 0.4470, d1.loss_cls: 0.2137, d1.loss_bbox: 0.4100, d2.loss_cls: 0.1986, d2.loss_bbox: 0.3932, d3.loss_cls: 0.1876, d3.loss_bbox: 0.3864, d4.loss_cls: 0.1817, d4.loss_bbox: 0.3841, d5.loss_cls: 0.1806, d5.loss_bbox: 0.3837, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9346, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7195, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6705, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6632, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6599, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6584, d0.loss_map_cls_all: 0.2463, d0.loss_map_pts_all: 1.3740, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2463, d0.loss_map_pts: 1.3740, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2224, d1.loss_map_pts: 0.9795, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.2035, d2.loss_map_pts: 0.8244, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1873, d3.loss_map_pts: 0.7620, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1817, d4.loss_map_pts: 0.7354, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1757, d5.loss_map_pts: 0.7286, d5.loss_map_dir: 0.0091, loss: 30.1589, grad_norm: 153.8866 +2026-02-27 12:25:22,840 - DriveTransformer - INFO - Epoch [7][8950/39528] lr: 8.550e-05, eta: 5 days, 22:55:21, time: 0.738, data_time: 0.035, memory: 19865, loss_cls: 0.1594, loss_bbox: 0.3432, loss_traj: 0.6127, loss_traj_cls: 0.0010, loss_map_cls: 0.1505, loss_map_pts: 0.6846, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.3492, d0.loss_plan_l1_fix_dist: 0.3277, d1.loss_plan_l1_fix_time: 1.0196, d1.loss_plan_l1_fix_dist: 0.1705, d2.loss_plan_l1_fix_time: 1.0161, d2.loss_plan_l1_fix_dist: 0.1675, d3.loss_plan_l1_fix_time: 1.0190, d3.loss_plan_l1_fix_dist: 0.1767, d4.loss_plan_l1_fix_time: 1.0235, d4.loss_plan_l1_fix_dist: 0.1895, d5.loss_plan_l1_fix_time: 1.0285, d5.loss_plan_l1_fix_dist: 0.2046, d6.loss_plan_l1_fix_time: 1.0344, d6.loss_plan_l1_fix_dist: 0.2196, d0.loss_cls_all: 0.1963, d0.loss_bbox_all: 0.4015, d0.loss_cls: 0.1963, d0.loss_bbox: 0.4015, d1.loss_cls: 0.1873, d1.loss_bbox: 0.3708, d2.loss_cls: 0.1790, d2.loss_bbox: 0.3517, d3.loss_cls: 0.1700, d3.loss_bbox: 0.3431, d4.loss_cls: 0.1632, d4.loss_bbox: 0.3408, d5.loss_cls: 0.1599, d5.loss_bbox: 0.3413, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8706, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6900, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6350, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6108, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6077, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6098, d0.loss_map_cls_all: 0.2324, d0.loss_map_pts_all: 1.3986, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2324, d0.loss_map_pts: 1.3986, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.1981, d1.loss_map_pts: 0.9395, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1788, d2.loss_map_pts: 0.7645, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1635, d3.loss_map_pts: 0.7052, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1553, d4.loss_map_pts: 0.6892, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1521, d5.loss_map_pts: 0.6808, d5.loss_map_dir: 0.0104, loss: 27.6999, grad_norm: 156.2831 +2026-02-27 12:26:00,568 - DriveTransformer - INFO - Epoch [7][9000/39528] lr: 8.550e-05, eta: 5 days, 22:56:11, time: 0.755, data_time: 0.033, memory: 19865, loss_cls: 0.1579, loss_bbox: 0.3757, loss_traj: 0.6145, loss_traj_cls: 0.0010, loss_map_cls: 0.1500, loss_map_pts: 0.7197, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.2205, d0.loss_plan_l1_fix_dist: 0.4399, d1.loss_plan_l1_fix_time: 0.9804, d1.loss_plan_l1_fix_dist: 0.1669, d2.loss_plan_l1_fix_time: 0.9721, d2.loss_plan_l1_fix_dist: 0.1672, d3.loss_plan_l1_fix_time: 0.9686, d3.loss_plan_l1_fix_dist: 0.1831, d4.loss_plan_l1_fix_time: 0.9722, d4.loss_plan_l1_fix_dist: 0.2045, d5.loss_plan_l1_fix_time: 0.9759, d5.loss_plan_l1_fix_dist: 0.2288, d6.loss_plan_l1_fix_time: 0.9801, d6.loss_plan_l1_fix_dist: 0.2544, d0.loss_cls_all: 0.1956, d0.loss_bbox_all: 0.4447, d0.loss_cls: 0.1956, d0.loss_bbox: 0.4447, d1.loss_cls: 0.1890, d1.loss_bbox: 0.4101, d2.loss_cls: 0.1741, d2.loss_bbox: 0.3894, d3.loss_cls: 0.1626, d3.loss_bbox: 0.3807, d4.loss_cls: 0.1566, d4.loss_bbox: 0.3784, d5.loss_cls: 0.1565, d5.loss_bbox: 0.3751, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8825, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6925, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6368, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6211, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6151, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6145, d0.loss_map_cls_all: 0.2233, d0.loss_map_pts_all: 1.4788, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2233, d0.loss_map_pts: 1.4788, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1934, d1.loss_map_pts: 1.0237, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1751, d2.loss_map_pts: 0.8267, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1644, d3.loss_map_pts: 0.7508, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1577, d4.loss_map_pts: 0.7199, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1527, d5.loss_map_pts: 0.7163, d5.loss_map_dir: 0.0105, loss: 28.2192, grad_norm: 156.5706 +2026-02-27 12:26:36,339 - DriveTransformer - INFO - Epoch [7][9050/39528] lr: 8.550e-05, eta: 5 days, 22:54:29, time: 0.715, data_time: 0.035, memory: 19865, loss_cls: 0.1497, loss_bbox: 0.3368, loss_traj: 0.6324, loss_traj_cls: 0.0010, loss_map_cls: 0.1340, loss_map_pts: 0.5647, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.4963, d0.loss_plan_l1_fix_dist: 0.3404, d1.loss_plan_l1_fix_time: 1.1142, d1.loss_plan_l1_fix_dist: 0.1478, d2.loss_plan_l1_fix_time: 1.0914, d2.loss_plan_l1_fix_dist: 0.1553, d3.loss_plan_l1_fix_time: 1.0854, d3.loss_plan_l1_fix_dist: 0.1674, d4.loss_plan_l1_fix_time: 1.0878, d4.loss_plan_l1_fix_dist: 0.1786, d5.loss_plan_l1_fix_time: 1.0905, d5.loss_plan_l1_fix_dist: 0.1914, d6.loss_plan_l1_fix_time: 1.0937, d6.loss_plan_l1_fix_dist: 0.2038, d0.loss_cls_all: 0.1927, d0.loss_bbox_all: 0.3919, d0.loss_cls: 0.1927, d0.loss_bbox: 0.3919, d1.loss_cls: 0.1850, d1.loss_bbox: 0.3610, d2.loss_cls: 0.1710, d2.loss_bbox: 0.3462, d3.loss_cls: 0.1576, d3.loss_bbox: 0.3392, d4.loss_cls: 0.1512, d4.loss_bbox: 0.3367, d5.loss_cls: 0.1496, d5.loss_bbox: 0.3365, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9155, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7117, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6594, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6423, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6359, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6323, d0.loss_map_cls_all: 0.2106, d0.loss_map_pts_all: 1.1276, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2106, d0.loss_map_pts: 1.1276, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1762, d1.loss_map_pts: 0.7983, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1549, d2.loss_map_pts: 0.6526, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1438, d3.loss_map_pts: 0.5946, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1377, d4.loss_map_pts: 0.5738, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1345, d5.loss_map_pts: 0.5659, d5.loss_map_dir: 0.0071, loss: 26.8331, grad_norm: 157.8665 +2026-02-27 12:27:15,875 - DriveTransformer - INFO - Epoch [7][9100/39528] lr: 8.550e-05, eta: 5 days, 22:57:37, time: 0.791, data_time: 0.035, memory: 19865, loss_cls: 0.1643, loss_bbox: 0.3620, loss_traj: 0.5517, loss_traj_cls: 0.0009, loss_map_cls: 0.1538, loss_map_pts: 0.7398, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.3852, d0.loss_plan_l1_fix_dist: 0.4306, d1.loss_plan_l1_fix_time: 1.1811, d1.loss_plan_l1_fix_dist: 0.2115, d2.loss_plan_l1_fix_time: 1.1765, d2.loss_plan_l1_fix_dist: 0.2299, d3.loss_plan_l1_fix_time: 1.1828, d3.loss_plan_l1_fix_dist: 0.2501, d4.loss_plan_l1_fix_time: 1.1897, d4.loss_plan_l1_fix_dist: 0.2679, d5.loss_plan_l1_fix_time: 1.1967, d5.loss_plan_l1_fix_dist: 0.2883, d6.loss_plan_l1_fix_time: 1.2034, d6.loss_plan_l1_fix_dist: 0.3091, d0.loss_cls_all: 0.2020, d0.loss_bbox_all: 0.4360, d0.loss_cls: 0.2020, d0.loss_bbox: 0.4360, d1.loss_cls: 0.1935, d1.loss_bbox: 0.4013, d2.loss_cls: 0.1807, d2.loss_bbox: 0.3819, d3.loss_cls: 0.1717, d3.loss_bbox: 0.3712, d4.loss_cls: 0.1651, d4.loss_bbox: 0.3676, d5.loss_cls: 0.1634, d5.loss_bbox: 0.3633, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7319, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6008, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5587, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5480, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5529, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5504, d0.loss_map_cls_all: 0.2290, d0.loss_map_pts_all: 1.5258, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2290, d0.loss_map_pts: 1.5258, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.1947, d1.loss_map_pts: 1.0242, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1736, d2.loss_map_pts: 0.8361, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1640, d3.loss_map_pts: 0.7709, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1596, d4.loss_map_pts: 0.7470, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1556, d5.loss_map_pts: 0.7406, d5.loss_map_dir: 0.0110, loss: 29.6198, grad_norm: 159.7793 +2026-02-27 12:27:51,221 - DriveTransformer - INFO - Epoch [7][9150/39528] lr: 8.550e-05, eta: 5 days, 22:55:21, time: 0.707, data_time: 0.039, memory: 19865, loss_cls: 0.1563, loss_bbox: 0.3478, loss_traj: 0.6951, loss_traj_cls: 0.0010, loss_map_cls: 0.1401, loss_map_pts: 0.5544, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.7161, d0.loss_plan_l1_fix_dist: 0.5091, d1.loss_plan_l1_fix_time: 0.9981, d1.loss_plan_l1_fix_dist: 0.1741, d2.loss_plan_l1_fix_time: 0.9899, d2.loss_plan_l1_fix_dist: 0.1818, d3.loss_plan_l1_fix_time: 0.9958, d3.loss_plan_l1_fix_dist: 0.1951, d4.loss_plan_l1_fix_time: 1.0027, d4.loss_plan_l1_fix_dist: 0.2069, d5.loss_plan_l1_fix_time: 1.0098, d5.loss_plan_l1_fix_dist: 0.2209, d6.loss_plan_l1_fix_time: 1.0164, d6.loss_plan_l1_fix_dist: 0.2358, d0.loss_cls_all: 0.1826, d0.loss_bbox_all: 0.4068, d0.loss_cls: 0.1826, d0.loss_bbox: 0.4068, d1.loss_cls: 0.1838, d1.loss_bbox: 0.3735, d2.loss_cls: 0.1714, d2.loss_bbox: 0.3600, d3.loss_cls: 0.1608, d3.loss_bbox: 0.3531, d4.loss_cls: 0.1561, d4.loss_bbox: 0.3501, d5.loss_cls: 0.1544, d5.loss_bbox: 0.3492, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9167, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7794, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7133, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7048, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6993, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6947, d0.loss_map_cls_all: 0.2068, d0.loss_map_pts_all: 1.0302, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.2068, d0.loss_map_pts: 1.0302, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1726, d1.loss_map_pts: 0.7622, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1561, d2.loss_map_pts: 0.6312, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1492, d3.loss_map_pts: 0.5814, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1449, d4.loss_map_pts: 0.5635, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1406, d5.loss_map_pts: 0.5567, d5.loss_map_dir: 0.0059, loss: 27.0302, grad_norm: 156.8753 +2026-02-27 12:28:28,524 - DriveTransformer - INFO - Epoch [7][9200/39528] lr: 8.550e-05, eta: 5 days, 22:55:42, time: 0.747, data_time: 0.032, memory: 19865, loss_cls: 0.1904, loss_bbox: 0.3933, loss_traj: 0.6225, loss_traj_cls: 0.0009, loss_map_cls: 0.1860, loss_map_pts: 0.8125, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.9800, d0.loss_plan_l1_fix_dist: 0.4206, d1.loss_plan_l1_fix_time: 1.2420, d1.loss_plan_l1_fix_dist: 0.1927, d2.loss_plan_l1_fix_time: 1.2268, d2.loss_plan_l1_fix_dist: 0.1970, d3.loss_plan_l1_fix_time: 1.2211, d3.loss_plan_l1_fix_dist: 0.2073, d4.loss_plan_l1_fix_time: 1.2249, d4.loss_plan_l1_fix_dist: 0.2216, d5.loss_plan_l1_fix_time: 1.2298, d5.loss_plan_l1_fix_dist: 0.2377, d6.loss_plan_l1_fix_time: 1.2350, d6.loss_plan_l1_fix_dist: 0.2521, d0.loss_cls_all: 0.2360, d0.loss_bbox_all: 0.4568, d0.loss_cls: 0.2360, d0.loss_bbox: 0.4568, d1.loss_cls: 0.2267, d1.loss_bbox: 0.4224, d2.loss_cls: 0.2161, d2.loss_bbox: 0.4054, d3.loss_cls: 0.2011, d3.loss_bbox: 0.3963, d4.loss_cls: 0.1915, d4.loss_bbox: 0.3949, d5.loss_cls: 0.1898, d5.loss_bbox: 0.3932, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8714, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6945, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6420, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6288, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6243, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6225, d0.loss_map_cls_all: 0.2555, d0.loss_map_pts_all: 1.5439, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2555, d0.loss_map_pts: 1.5439, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2280, d1.loss_map_pts: 1.1099, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.2078, d2.loss_map_pts: 0.9088, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1966, d3.loss_map_pts: 0.8360, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1899, d4.loss_map_pts: 0.8151, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1871, d5.loss_map_pts: 0.8111, d5.loss_map_dir: 0.0108, loss: 31.9781, grad_norm: 157.1409 +2026-02-27 12:29:05,228 - DriveTransformer - INFO - Epoch [7][9250/39528] lr: 8.550e-05, eta: 5 days, 22:55:05, time: 0.733, data_time: 0.034, memory: 19865, loss_cls: 0.1550, loss_bbox: 0.3639, loss_traj: 0.5914, loss_traj_cls: 0.0009, loss_map_cls: 0.1813, loss_map_pts: 0.7528, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.8720, d0.loss_plan_l1_fix_dist: 0.4221, d1.loss_plan_l1_fix_time: 1.1698, d1.loss_plan_l1_fix_dist: 0.1853, d2.loss_plan_l1_fix_time: 1.1468, d2.loss_plan_l1_fix_dist: 0.1931, d3.loss_plan_l1_fix_time: 1.1471, d3.loss_plan_l1_fix_dist: 0.2056, d4.loss_plan_l1_fix_time: 1.1521, d4.loss_plan_l1_fix_dist: 0.2234, d5.loss_plan_l1_fix_time: 1.1587, d5.loss_plan_l1_fix_dist: 0.2428, d6.loss_plan_l1_fix_time: 1.1669, d6.loss_plan_l1_fix_dist: 0.2609, d0.loss_cls_all: 0.1976, d0.loss_bbox_all: 0.4157, d0.loss_cls: 0.1976, d0.loss_bbox: 0.4157, d1.loss_cls: 0.1872, d1.loss_bbox: 0.3837, d2.loss_cls: 0.1718, d2.loss_bbox: 0.3696, d3.loss_cls: 0.1617, d3.loss_bbox: 0.3634, d4.loss_cls: 0.1565, d4.loss_bbox: 0.3615, d5.loss_cls: 0.1551, d5.loss_bbox: 0.3621, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7977, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6544, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6071, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5985, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5917, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5959, d0.loss_map_cls_all: 0.2674, d0.loss_map_pts_all: 1.5872, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2674, d0.loss_map_pts: 1.5872, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2323, d1.loss_map_pts: 1.0626, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.2089, d2.loss_map_pts: 0.8540, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1960, d3.loss_map_pts: 0.7842, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1886, d4.loss_map_pts: 0.7578, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1835, d5.loss_map_pts: 0.7525, d5.loss_map_dir: 0.0105, loss: 30.3538, grad_norm: 158.2453 +2026-02-27 12:29:40,821 - DriveTransformer - INFO - Epoch [7][9300/39528] lr: 8.550e-05, eta: 5 days, 22:53:10, time: 0.712, data_time: 0.035, memory: 19865, loss_cls: 0.1692, loss_bbox: 0.3647, loss_traj: 0.6563, loss_traj_cls: 0.0009, loss_map_cls: 0.1812, loss_map_pts: 0.7118, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.7459, d0.loss_plan_l1_fix_dist: 0.4910, d1.loss_plan_l1_fix_time: 1.0345, d1.loss_plan_l1_fix_dist: 0.1689, d2.loss_plan_l1_fix_time: 1.0197, d2.loss_plan_l1_fix_dist: 0.1756, d3.loss_plan_l1_fix_time: 1.0187, d3.loss_plan_l1_fix_dist: 0.1846, d4.loss_plan_l1_fix_time: 1.0212, d4.loss_plan_l1_fix_dist: 0.1968, d5.loss_plan_l1_fix_time: 1.0251, d5.loss_plan_l1_fix_dist: 0.2099, d6.loss_plan_l1_fix_time: 1.0310, d6.loss_plan_l1_fix_dist: 0.2273, d0.loss_cls_all: 0.2002, d0.loss_bbox_all: 0.4206, d0.loss_cls: 0.2002, d0.loss_bbox: 0.4206, d1.loss_cls: 0.1960, d1.loss_bbox: 0.3886, d2.loss_cls: 0.1843, d2.loss_bbox: 0.3738, d3.loss_cls: 0.1760, d3.loss_bbox: 0.3689, d4.loss_cls: 0.1701, d4.loss_bbox: 0.3662, d5.loss_cls: 0.1676, d5.loss_bbox: 0.3643, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8754, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7162, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6534, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6532, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6525, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6543, d0.loss_map_cls_all: 0.2553, d0.loss_map_pts_all: 1.3657, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2553, d0.loss_map_pts: 1.3657, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.2213, d1.loss_map_pts: 0.9751, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1990, d2.loss_map_pts: 0.8029, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1874, d3.loss_map_pts: 0.7413, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1858, d4.loss_map_pts: 0.7149, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1843, d5.loss_map_pts: 0.7116, d5.loss_map_dir: 0.0086, loss: 29.0747, grad_norm: 156.3474 +2026-02-27 12:30:17,258 - DriveTransformer - INFO - Epoch [7][9350/39528] lr: 8.550e-05, eta: 5 days, 22:52:19, time: 0.729, data_time: 0.034, memory: 19865, loss_cls: 0.1642, loss_bbox: 0.3575, loss_traj: 0.6643, loss_traj_cls: 0.0010, loss_map_cls: 0.1855, loss_map_pts: 0.7971, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.6691, d0.loss_plan_l1_fix_dist: 0.4590, d1.loss_plan_l1_fix_time: 1.1499, d1.loss_plan_l1_fix_dist: 0.2044, d2.loss_plan_l1_fix_time: 1.1349, d2.loss_plan_l1_fix_dist: 0.2004, d3.loss_plan_l1_fix_time: 1.1284, d3.loss_plan_l1_fix_dist: 0.2115, d4.loss_plan_l1_fix_time: 1.1316, d4.loss_plan_l1_fix_dist: 0.2196, d5.loss_plan_l1_fix_time: 1.1357, d5.loss_plan_l1_fix_dist: 0.2295, d6.loss_plan_l1_fix_time: 1.1410, d6.loss_plan_l1_fix_dist: 0.2411, d0.loss_cls_all: 0.1960, d0.loss_bbox_all: 0.4093, d0.loss_cls: 0.1960, d0.loss_bbox: 0.4093, d1.loss_cls: 0.1874, d1.loss_bbox: 0.3796, d2.loss_cls: 0.1778, d2.loss_bbox: 0.3595, d3.loss_cls: 0.1653, d3.loss_bbox: 0.3580, d4.loss_cls: 0.1630, d4.loss_bbox: 0.3571, d5.loss_cls: 0.1642, d5.loss_bbox: 0.3558, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8826, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7173, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6748, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6687, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6597, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6611, d0.loss_map_cls_all: 0.2640, d0.loss_map_pts_all: 1.5084, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2640, d0.loss_map_pts: 1.5084, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2309, d1.loss_map_pts: 1.0848, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.2105, d2.loss_map_pts: 0.9000, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.2008, d3.loss_map_pts: 0.8256, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1923, d4.loss_map_pts: 0.7990, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1871, d5.loss_map_pts: 0.7959, d5.loss_map_dir: 0.0090, loss: 30.6146, grad_norm: 156.9278 +2026-02-27 12:30:54,309 - DriveTransformer - INFO - Epoch [7][9400/39528] lr: 8.550e-05, eta: 5 days, 22:52:14, time: 0.741, data_time: 0.033, memory: 19865, loss_cls: 0.1402, loss_bbox: 0.3387, loss_traj: 0.5852, loss_traj_cls: 0.0010, loss_map_cls: 0.1410, loss_map_pts: 0.6550, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.3017, d0.loss_plan_l1_fix_dist: 0.3850, d1.loss_plan_l1_fix_time: 0.8411, d1.loss_plan_l1_fix_dist: 0.1678, d2.loss_plan_l1_fix_time: 0.8330, d2.loss_plan_l1_fix_dist: 0.1725, d3.loss_plan_l1_fix_time: 0.8380, d3.loss_plan_l1_fix_dist: 0.1815, d4.loss_plan_l1_fix_time: 0.8430, d4.loss_plan_l1_fix_dist: 0.1929, d5.loss_plan_l1_fix_time: 0.8472, d5.loss_plan_l1_fix_dist: 0.2053, d6.loss_plan_l1_fix_time: 0.8522, d6.loss_plan_l1_fix_dist: 0.2181, d0.loss_cls_all: 0.1719, d0.loss_bbox_all: 0.3838, d0.loss_cls: 0.1719, d0.loss_bbox: 0.3838, d1.loss_cls: 0.1651, d1.loss_bbox: 0.3569, d2.loss_cls: 0.1537, d2.loss_bbox: 0.3434, d3.loss_cls: 0.1439, d3.loss_bbox: 0.3379, d4.loss_cls: 0.1409, d4.loss_bbox: 0.3370, d5.loss_cls: 0.1415, d5.loss_bbox: 0.3366, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7746, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6367, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5979, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5840, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5830, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5862, d0.loss_map_cls_all: 0.2091, d0.loss_map_pts_all: 1.3190, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2091, d0.loss_map_pts: 1.3190, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1812, d1.loss_map_pts: 0.8978, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1620, d2.loss_map_pts: 0.7395, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1537, d3.loss_map_pts: 0.6820, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1470, d4.loss_map_pts: 0.6611, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1423, d5.loss_map_pts: 0.6535, d5.loss_map_dir: 0.0093, loss: 25.6274, grad_norm: 156.7621 +2026-02-27 12:31:32,260 - DriveTransformer - INFO - Epoch [7][9450/39528] lr: 8.550e-05, eta: 5 days, 22:53:16, time: 0.759, data_time: 0.037, memory: 19865, loss_cls: 0.1848, loss_bbox: 0.3762, loss_traj: 0.6418, loss_traj_cls: 0.0010, loss_map_cls: 0.1808, loss_map_pts: 0.7555, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 3.1574, d0.loss_plan_l1_fix_dist: 0.4946, d1.loss_plan_l1_fix_time: 1.2691, d1.loss_plan_l1_fix_dist: 0.1959, d2.loss_plan_l1_fix_time: 1.2497, d2.loss_plan_l1_fix_dist: 0.1975, d3.loss_plan_l1_fix_time: 1.2463, d3.loss_plan_l1_fix_dist: 0.2062, d4.loss_plan_l1_fix_time: 1.2491, d4.loss_plan_l1_fix_dist: 0.2146, d5.loss_plan_l1_fix_time: 1.2526, d5.loss_plan_l1_fix_dist: 0.2242, d6.loss_plan_l1_fix_time: 1.2560, d6.loss_plan_l1_fix_dist: 0.2362, d0.loss_cls_all: 0.2243, d0.loss_bbox_all: 0.4352, d0.loss_cls: 0.2243, d0.loss_bbox: 0.4352, d1.loss_cls: 0.2139, d1.loss_bbox: 0.4021, d2.loss_cls: 0.1976, d2.loss_bbox: 0.3844, d3.loss_cls: 0.1869, d3.loss_bbox: 0.3754, d4.loss_cls: 0.1833, d4.loss_bbox: 0.3750, d5.loss_cls: 0.1835, d5.loss_bbox: 0.3752, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8557, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6923, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6583, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6463, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6464, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6478, d0.loss_map_cls_all: 0.2454, d0.loss_map_pts_all: 1.4649, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2454, d0.loss_map_pts: 1.4649, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2220, d1.loss_map_pts: 1.0343, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.2000, d2.loss_map_pts: 0.8536, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1922, d3.loss_map_pts: 0.7848, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1861, d4.loss_map_pts: 0.7644, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1827, d5.loss_map_pts: 0.7561, d5.loss_map_dir: 0.0091, loss: 31.6055, grad_norm: 157.2025 +2026-02-27 12:32:08,568 - DriveTransformer - INFO - Epoch [7][9500/39528] lr: 8.550e-05, eta: 5 days, 22:52:15, time: 0.726, data_time: 0.034, memory: 19865, loss_cls: 0.1495, loss_bbox: 0.3570, loss_traj: 0.6859, loss_traj_cls: 0.0010, loss_map_cls: 0.1283, loss_map_pts: 0.6383, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.6446, d0.loss_plan_l1_fix_dist: 0.4201, d1.loss_plan_l1_fix_time: 1.0622, d1.loss_plan_l1_fix_dist: 0.1652, d2.loss_plan_l1_fix_time: 1.0636, d2.loss_plan_l1_fix_dist: 0.1653, d3.loss_plan_l1_fix_time: 1.0776, d3.loss_plan_l1_fix_dist: 0.1772, d4.loss_plan_l1_fix_time: 1.0841, d4.loss_plan_l1_fix_dist: 0.1925, d5.loss_plan_l1_fix_time: 1.0905, d5.loss_plan_l1_fix_dist: 0.2095, d6.loss_plan_l1_fix_time: 1.0966, d6.loss_plan_l1_fix_dist: 0.2286, d0.loss_cls_all: 0.1864, d0.loss_bbox_all: 0.4160, d0.loss_cls: 0.1864, d0.loss_bbox: 0.4160, d1.loss_cls: 0.1780, d1.loss_bbox: 0.3830, d2.loss_cls: 0.1638, d2.loss_bbox: 0.3671, d3.loss_cls: 0.1549, d3.loss_bbox: 0.3596, d4.loss_cls: 0.1494, d4.loss_bbox: 0.3580, d5.loss_cls: 0.1474, d5.loss_bbox: 0.3584, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9351, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7639, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7068, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6983, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6928, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6898, d0.loss_map_cls_all: 0.2078, d0.loss_map_pts_all: 1.3069, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2078, d0.loss_map_pts: 1.3069, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1768, d1.loss_map_pts: 0.8988, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1557, d2.loss_map_pts: 0.7302, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1427, d3.loss_map_pts: 0.6671, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1361, d4.loss_map_pts: 0.6429, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1314, d5.loss_map_pts: 0.6389, d5.loss_map_dir: 0.0086, loss: 28.3730, grad_norm: 156.0813 +2026-02-27 12:32:45,138 - DriveTransformer - INFO - Epoch [7][9550/39528] lr: 8.550e-05, eta: 5 days, 22:51:33, time: 0.731, data_time: 0.038, memory: 19865, loss_cls: 0.1694, loss_bbox: 0.3602, loss_traj: 0.5697, loss_traj_cls: 0.0010, loss_map_cls: 0.1468, loss_map_pts: 0.6836, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 3.0417, d0.loss_plan_l1_fix_dist: 0.4394, d1.loss_plan_l1_fix_time: 1.1945, d1.loss_plan_l1_fix_dist: 0.1765, d2.loss_plan_l1_fix_time: 1.1738, d2.loss_plan_l1_fix_dist: 0.1759, d3.loss_plan_l1_fix_time: 1.1842, d3.loss_plan_l1_fix_dist: 0.1827, d4.loss_plan_l1_fix_time: 1.1892, d4.loss_plan_l1_fix_dist: 0.1949, d5.loss_plan_l1_fix_time: 1.1941, d5.loss_plan_l1_fix_dist: 0.2108, d6.loss_plan_l1_fix_time: 1.1993, d6.loss_plan_l1_fix_dist: 0.2268, d0.loss_cls_all: 0.2005, d0.loss_bbox_all: 0.4194, d0.loss_cls: 0.2005, d0.loss_bbox: 0.4194, d1.loss_cls: 0.2002, d1.loss_bbox: 0.3841, d2.loss_cls: 0.1862, d2.loss_bbox: 0.3660, d3.loss_cls: 0.1741, d3.loss_bbox: 0.3598, d4.loss_cls: 0.1696, d4.loss_bbox: 0.3593, d5.loss_cls: 0.1689, d5.loss_bbox: 0.3589, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7544, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6135, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5833, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5757, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5794, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5708, d0.loss_map_cls_all: 0.2158, d0.loss_map_pts_all: 1.3590, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2158, d0.loss_map_pts: 1.3590, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1853, d1.loss_map_pts: 0.9379, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1663, d2.loss_map_pts: 0.7667, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1560, d3.loss_map_pts: 0.7053, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1520, d4.loss_map_pts: 0.6870, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1484, d5.loss_map_pts: 0.6843, d5.loss_map_dir: 0.0093, loss: 29.1736, grad_norm: 156.1481 +2026-02-27 12:33:21,667 - DriveTransformer - INFO - Epoch [7][9600/39528] lr: 8.550e-05, eta: 5 days, 22:50:49, time: 0.731, data_time: 0.035, memory: 19865, loss_cls: 0.1574, loss_bbox: 0.3547, loss_traj: 0.5910, loss_traj_cls: 0.0010, loss_map_cls: 0.1594, loss_map_pts: 0.7747, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.6194, d0.loss_plan_l1_fix_dist: 0.3210, d1.loss_plan_l1_fix_time: 1.0544, d1.loss_plan_l1_fix_dist: 0.1750, d2.loss_plan_l1_fix_time: 1.0320, d2.loss_plan_l1_fix_dist: 0.1779, d3.loss_plan_l1_fix_time: 1.0331, d3.loss_plan_l1_fix_dist: 0.1882, d4.loss_plan_l1_fix_time: 1.0365, d4.loss_plan_l1_fix_dist: 0.1975, d5.loss_plan_l1_fix_time: 1.0406, d5.loss_plan_l1_fix_dist: 0.2084, d6.loss_plan_l1_fix_time: 1.0462, d6.loss_plan_l1_fix_dist: 0.2226, d0.loss_cls_all: 0.1945, d0.loss_bbox_all: 0.4199, d0.loss_cls: 0.1945, d0.loss_bbox: 0.4199, d1.loss_cls: 0.1879, d1.loss_bbox: 0.3819, d2.loss_cls: 0.1737, d2.loss_bbox: 0.3621, d3.loss_cls: 0.1608, d3.loss_bbox: 0.3571, d4.loss_cls: 0.1574, d4.loss_bbox: 0.3536, d5.loss_cls: 0.1564, d5.loss_bbox: 0.3533, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8171, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6552, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6107, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5907, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5891, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5922, d0.loss_map_cls_all: 0.2365, d0.loss_map_pts_all: 1.4192, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2365, d0.loss_map_pts: 1.4192, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.2037, d1.loss_map_pts: 1.0484, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1828, d2.loss_map_pts: 0.8770, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1720, d3.loss_map_pts: 0.8103, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1653, d4.loss_map_pts: 0.7825, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1607, d5.loss_map_pts: 0.7765, d5.loss_map_dir: 0.0093, loss: 28.6858, grad_norm: 154.0191 +2026-02-27 12:33:58,378 - DriveTransformer - INFO - Epoch [7][9650/39528] lr: 8.550e-05, eta: 5 days, 22:50:18, time: 0.734, data_time: 0.039, memory: 19865, loss_cls: 0.1617, loss_bbox: 0.3489, loss_traj: 0.7684, loss_traj_cls: 0.0010, loss_map_cls: 0.1342, loss_map_pts: 0.6249, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.7166, d0.loss_plan_l1_fix_dist: 0.4261, d1.loss_plan_l1_fix_time: 1.0840, d1.loss_plan_l1_fix_dist: 0.1789, d2.loss_plan_l1_fix_time: 1.0731, d2.loss_plan_l1_fix_dist: 0.1860, d3.loss_plan_l1_fix_time: 1.0725, d3.loss_plan_l1_fix_dist: 0.2037, d4.loss_plan_l1_fix_time: 1.0766, d4.loss_plan_l1_fix_dist: 0.2166, d5.loss_plan_l1_fix_time: 1.0813, d5.loss_plan_l1_fix_dist: 0.2300, d6.loss_plan_l1_fix_time: 1.0867, d6.loss_plan_l1_fix_dist: 0.2478, d0.loss_cls_all: 0.1929, d0.loss_bbox_all: 0.4086, d0.loss_cls: 0.1929, d0.loss_bbox: 0.4086, d1.loss_cls: 0.1836, d1.loss_bbox: 0.3774, d2.loss_cls: 0.1691, d2.loss_bbox: 0.3609, d3.loss_cls: 0.1611, d3.loss_bbox: 0.3541, d4.loss_cls: 0.1588, d4.loss_bbox: 0.3501, d5.loss_cls: 0.1593, d5.loss_bbox: 0.3484, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9502, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8056, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7595, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7528, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7512, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7715, d0.loss_map_cls_all: 0.2086, d0.loss_map_pts_all: 1.2294, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2086, d0.loss_map_pts: 1.2294, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1776, d1.loss_map_pts: 0.8399, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1594, d2.loss_map_pts: 0.6937, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1484, d3.loss_map_pts: 0.6446, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1416, d4.loss_map_pts: 0.6255, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1357, d5.loss_map_pts: 0.6253, d5.loss_map_dir: 0.0078, loss: 28.6711, grad_norm: 161.0685 +2026-02-27 12:34:36,012 - DriveTransformer - INFO - Epoch [7][9700/39528] lr: 8.550e-05, eta: 5 days, 22:50:54, time: 0.753, data_time: 0.036, memory: 19865, loss_cls: 0.1783, loss_bbox: 0.3864, loss_traj: 0.6764, loss_traj_cls: 0.0010, loss_map_cls: 0.1896, loss_map_pts: 0.8104, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.8743, d0.loss_plan_l1_fix_dist: 0.4537, d1.loss_plan_l1_fix_time: 1.2727, d1.loss_plan_l1_fix_dist: 0.1977, d2.loss_plan_l1_fix_time: 1.2593, d2.loss_plan_l1_fix_dist: 0.2020, d3.loss_plan_l1_fix_time: 1.2575, d3.loss_plan_l1_fix_dist: 0.2091, d4.loss_plan_l1_fix_time: 1.2612, d4.loss_plan_l1_fix_dist: 0.2191, d5.loss_plan_l1_fix_time: 1.2660, d5.loss_plan_l1_fix_dist: 0.2283, d6.loss_plan_l1_fix_time: 1.2707, d6.loss_plan_l1_fix_dist: 0.2423, d0.loss_cls_all: 0.2049, d0.loss_bbox_all: 0.4477, d0.loss_cls: 0.2049, d0.loss_bbox: 0.4477, d1.loss_cls: 0.2015, d1.loss_bbox: 0.4136, d2.loss_cls: 0.1958, d2.loss_bbox: 0.3944, d3.loss_cls: 0.1833, d3.loss_bbox: 0.3887, d4.loss_cls: 0.1799, d4.loss_bbox: 0.3861, d5.loss_cls: 0.1775, d5.loss_bbox: 0.3853, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9876, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7867, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7053, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6773, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6808, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6770, d0.loss_map_cls_all: 0.2712, d0.loss_map_pts_all: 1.4945, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2712, d0.loss_map_pts: 1.4945, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.2357, d1.loss_map_pts: 1.0955, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.2159, d2.loss_map_pts: 0.9190, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.2022, d3.loss_map_pts: 0.8506, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1957, d4.loss_map_pts: 0.8215, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1905, d5.loss_map_pts: 0.8110, d5.loss_map_dir: 0.0088, loss: 32.3250, grad_norm: 161.5806 +2026-02-27 12:35:12,778 - DriveTransformer - INFO - Epoch [7][9750/39528] lr: 8.550e-05, eta: 5 days, 22:50:27, time: 0.735, data_time: 0.037, memory: 19865, loss_cls: 0.1692, loss_bbox: 0.3599, loss_traj: 0.5938, loss_traj_cls: 0.0010, loss_map_cls: 0.1799, loss_map_pts: 0.7620, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.6870, d0.loss_plan_l1_fix_dist: 0.4217, d1.loss_plan_l1_fix_time: 1.0203, d1.loss_plan_l1_fix_dist: 0.1806, d2.loss_plan_l1_fix_time: 1.0089, d2.loss_plan_l1_fix_dist: 0.1839, d3.loss_plan_l1_fix_time: 1.0059, d3.loss_plan_l1_fix_dist: 0.1895, d4.loss_plan_l1_fix_time: 1.0083, d4.loss_plan_l1_fix_dist: 0.2008, d5.loss_plan_l1_fix_time: 1.0111, d5.loss_plan_l1_fix_dist: 0.2118, d6.loss_plan_l1_fix_time: 1.0141, d6.loss_plan_l1_fix_dist: 0.2219, d0.loss_cls_all: 0.1996, d0.loss_bbox_all: 0.4262, d0.loss_cls: 0.1996, d0.loss_bbox: 0.4262, d1.loss_cls: 0.1959, d1.loss_bbox: 0.3853, d2.loss_cls: 0.1811, d2.loss_bbox: 0.3694, d3.loss_cls: 0.1738, d3.loss_bbox: 0.3592, d4.loss_cls: 0.1678, d4.loss_bbox: 0.3582, d5.loss_cls: 0.1680, d5.loss_bbox: 0.3581, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8121, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6475, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6020, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5893, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5889, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5903, d0.loss_map_cls_all: 0.2559, d0.loss_map_pts_all: 1.4713, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2559, d0.loss_map_pts: 1.4713, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2266, d1.loss_map_pts: 1.0561, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.2043, d2.loss_map_pts: 0.8743, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1934, d3.loss_map_pts: 0.8011, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1870, d4.loss_map_pts: 0.7706, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1825, d5.loss_map_pts: 0.7630, d5.loss_map_dir: 0.0098, loss: 29.0244, grad_norm: 159.6358 +2026-02-27 12:35:49,207 - DriveTransformer - INFO - Epoch [7][9800/39528] lr: 8.550e-05, eta: 5 days, 22:49:35, time: 0.728, data_time: 0.038, memory: 19865, loss_cls: 0.1675, loss_bbox: 0.3680, loss_traj: 0.7105, loss_traj_cls: 0.0011, loss_map_cls: 0.1502, loss_map_pts: 0.6435, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.8346, d0.loss_plan_l1_fix_dist: 0.3465, d1.loss_plan_l1_fix_time: 1.1884, d1.loss_plan_l1_fix_dist: 0.1618, d2.loss_plan_l1_fix_time: 1.1787, d2.loss_plan_l1_fix_dist: 0.1690, d3.loss_plan_l1_fix_time: 1.1758, d3.loss_plan_l1_fix_dist: 0.1778, d4.loss_plan_l1_fix_time: 1.1786, d4.loss_plan_l1_fix_dist: 0.1893, d5.loss_plan_l1_fix_time: 1.1820, d5.loss_plan_l1_fix_dist: 0.2061, d6.loss_plan_l1_fix_time: 1.1864, d6.loss_plan_l1_fix_dist: 0.2245, d0.loss_cls_all: 0.1980, d0.loss_bbox_all: 0.4180, d0.loss_cls: 0.1980, d0.loss_bbox: 0.4180, d1.loss_cls: 0.1938, d1.loss_bbox: 0.3851, d2.loss_cls: 0.1836, d2.loss_bbox: 0.3698, d3.loss_cls: 0.1734, d3.loss_bbox: 0.3640, d4.loss_cls: 0.1692, d4.loss_bbox: 0.3630, d5.loss_cls: 0.1683, d5.loss_bbox: 0.3649, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9520, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7508, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7127, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7040, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7046, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7106, d0.loss_map_cls_all: 0.2215, d0.loss_map_pts_all: 1.3217, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2215, d0.loss_map_pts: 1.3217, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1999, d1.loss_map_pts: 0.9160, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1718, d2.loss_map_pts: 0.7398, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1600, d3.loss_map_pts: 0.6692, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1543, d4.loss_map_pts: 0.6464, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1516, d5.loss_map_pts: 0.6445, d5.loss_map_dir: 0.0088, loss: 29.5559, grad_norm: 160.0068 +2026-02-27 12:36:27,874 - DriveTransformer - INFO - Epoch [7][9850/39528] lr: 8.550e-05, eta: 5 days, 22:51:23, time: 0.773, data_time: 0.037, memory: 19865, loss_cls: 0.1696, loss_bbox: 0.3641, loss_traj: 0.5913, loss_traj_cls: 0.0010, loss_map_cls: 0.1469, loss_map_pts: 0.7217, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.3975, d0.loss_plan_l1_fix_dist: 0.4532, d1.loss_plan_l1_fix_time: 1.0408, d1.loss_plan_l1_fix_dist: 0.1884, d2.loss_plan_l1_fix_time: 1.0369, d2.loss_plan_l1_fix_dist: 0.1910, d3.loss_plan_l1_fix_time: 1.0373, d3.loss_plan_l1_fix_dist: 0.1998, d4.loss_plan_l1_fix_time: 1.0411, d4.loss_plan_l1_fix_dist: 0.2060, d5.loss_plan_l1_fix_time: 1.0453, d5.loss_plan_l1_fix_dist: 0.2168, d6.loss_plan_l1_fix_time: 1.0503, d6.loss_plan_l1_fix_dist: 0.2288, d0.loss_cls_all: 0.2142, d0.loss_bbox_all: 0.4292, d0.loss_cls: 0.2142, d0.loss_bbox: 0.4292, d1.loss_cls: 0.2052, d1.loss_bbox: 0.3963, d2.loss_cls: 0.1895, d2.loss_bbox: 0.3770, d3.loss_cls: 0.1775, d3.loss_bbox: 0.3693, d4.loss_cls: 0.1714, d4.loss_bbox: 0.3655, d5.loss_cls: 0.1684, d5.loss_bbox: 0.3652, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7661, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6339, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6071, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5936, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5965, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5900, d0.loss_map_cls_all: 0.2201, d0.loss_map_pts_all: 1.4184, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2201, d0.loss_map_pts: 1.4184, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.1883, d1.loss_map_pts: 0.9540, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.1705, d2.loss_map_pts: 0.7988, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1587, d3.loss_map_pts: 0.7403, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1529, d4.loss_map_pts: 0.7223, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1485, d5.loss_map_pts: 0.7211, d5.loss_map_dir: 0.0115, loss: 28.3166, grad_norm: 160.1215 +2026-02-27 12:37:03,048 - DriveTransformer - INFO - Epoch [7][9900/39528] lr: 8.550e-05, eta: 5 days, 22:49:02, time: 0.703, data_time: 0.034, memory: 19865, loss_cls: 0.1707, loss_bbox: 0.3466, loss_traj: 0.7134, loss_traj_cls: 0.0010, loss_map_cls: 0.1458, loss_map_pts: 0.6514, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.4721, d0.loss_plan_l1_fix_dist: 0.3812, d1.loss_plan_l1_fix_time: 0.9659, d1.loss_plan_l1_fix_dist: 0.1648, d2.loss_plan_l1_fix_time: 0.9628, d2.loss_plan_l1_fix_dist: 0.1574, d3.loss_plan_l1_fix_time: 0.9623, d3.loss_plan_l1_fix_dist: 0.1644, d4.loss_plan_l1_fix_time: 0.9648, d4.loss_plan_l1_fix_dist: 0.1777, d5.loss_plan_l1_fix_time: 0.9680, d5.loss_plan_l1_fix_dist: 0.1916, d6.loss_plan_l1_fix_time: 0.9714, d6.loss_plan_l1_fix_dist: 0.2067, d0.loss_cls_all: 0.2042, d0.loss_bbox_all: 0.4047, d0.loss_cls: 0.2042, d0.loss_bbox: 0.4047, d1.loss_cls: 0.1967, d1.loss_bbox: 0.3753, d2.loss_cls: 0.1848, d2.loss_bbox: 0.3562, d3.loss_cls: 0.1750, d3.loss_bbox: 0.3486, d4.loss_cls: 0.1708, d4.loss_bbox: 0.3458, d5.loss_cls: 0.1693, d5.loss_bbox: 0.3464, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9469, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7864, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7389, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7218, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7190, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7116, d0.loss_map_cls_all: 0.2205, d0.loss_map_pts_all: 1.1939, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2205, d0.loss_map_pts: 1.1939, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1890, d1.loss_map_pts: 0.8541, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1677, d2.loss_map_pts: 0.7271, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1577, d3.loss_map_pts: 0.6797, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1539, d4.loss_map_pts: 0.6589, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1484, d5.loss_map_pts: 0.6521, d5.loss_map_dir: 0.0076, loss: 27.5335, grad_norm: 160.4412 +2026-02-27 12:37:37,826 - DriveTransformer - INFO - Epoch [7][9950/39528] lr: 8.550e-05, eta: 5 days, 22:46:14, time: 0.696, data_time: 0.034, memory: 19865, loss_cls: 0.1454, loss_bbox: 0.3453, loss_traj: 0.5194, loss_traj_cls: 0.0010, loss_map_cls: 0.1364, loss_map_pts: 0.6341, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.3368, d0.loss_plan_l1_fix_dist: 0.3920, d1.loss_plan_l1_fix_time: 0.8372, d1.loss_plan_l1_fix_dist: 0.1644, d2.loss_plan_l1_fix_time: 0.8295, d2.loss_plan_l1_fix_dist: 0.1564, d3.loss_plan_l1_fix_time: 0.8315, d3.loss_plan_l1_fix_dist: 0.1578, d4.loss_plan_l1_fix_time: 0.8349, d4.loss_plan_l1_fix_dist: 0.1664, d5.loss_plan_l1_fix_time: 0.8388, d5.loss_plan_l1_fix_dist: 0.1773, d6.loss_plan_l1_fix_time: 0.8436, d6.loss_plan_l1_fix_dist: 0.1911, d0.loss_cls_all: 0.1833, d0.loss_bbox_all: 0.3975, d0.loss_cls: 0.1833, d0.loss_bbox: 0.3975, d1.loss_cls: 0.1752, d1.loss_bbox: 0.3658, d2.loss_cls: 0.1627, d2.loss_bbox: 0.3497, d3.loss_cls: 0.1541, d3.loss_bbox: 0.3432, d4.loss_cls: 0.1474, d4.loss_bbox: 0.3437, d5.loss_cls: 0.1442, d5.loss_bbox: 0.3451, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7562, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5868, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5417, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5295, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5239, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5239, d0.loss_map_cls_all: 0.2193, d0.loss_map_pts_all: 1.1823, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2193, d0.loss_map_pts: 1.1823, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1859, d1.loss_map_pts: 0.8568, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1633, d2.loss_map_pts: 0.7166, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1480, d3.loss_map_pts: 0.6589, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1433, d4.loss_map_pts: 0.6388, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1373, d5.loss_map_pts: 0.6351, d5.loss_map_dir: 0.0079, loss: 24.8499, grad_norm: 161.7633 +2026-02-27 12:38:15,035 - DriveTransformer - INFO - Epoch [7][10000/39528] lr: 8.550e-05, eta: 5 days, 22:46:23, time: 0.746, data_time: 0.035, memory: 19865, loss_cls: 0.1744, loss_bbox: 0.3590, loss_traj: 0.5448, loss_traj_cls: 0.0010, loss_map_cls: 0.1519, loss_map_pts: 0.7127, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 3.0536, d0.loss_plan_l1_fix_dist: 0.4948, d1.loss_plan_l1_fix_time: 1.0880, d1.loss_plan_l1_fix_dist: 0.1871, d2.loss_plan_l1_fix_time: 1.0679, d2.loss_plan_l1_fix_dist: 0.1864, d3.loss_plan_l1_fix_time: 1.0693, d3.loss_plan_l1_fix_dist: 0.1927, d4.loss_plan_l1_fix_time: 1.0716, d4.loss_plan_l1_fix_dist: 0.2025, d5.loss_plan_l1_fix_time: 1.0744, d5.loss_plan_l1_fix_dist: 0.2112, d6.loss_plan_l1_fix_time: 1.0780, d6.loss_plan_l1_fix_dist: 0.2218, d0.loss_cls_all: 0.2147, d0.loss_bbox_all: 0.4249, d0.loss_cls: 0.2147, d0.loss_bbox: 0.4249, d1.loss_cls: 0.2067, d1.loss_bbox: 0.3886, d2.loss_cls: 0.1922, d2.loss_bbox: 0.3685, d3.loss_cls: 0.1796, d3.loss_bbox: 0.3613, d4.loss_cls: 0.1739, d4.loss_bbox: 0.3599, d5.loss_cls: 0.1737, d5.loss_bbox: 0.3591, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7381, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6086, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5672, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5574, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5514, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5467, d0.loss_map_cls_all: 0.2256, d0.loss_map_pts_all: 1.4333, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2256, d0.loss_map_pts: 1.4333, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1962, d1.loss_map_pts: 0.9937, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1752, d2.loss_map_pts: 0.8123, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1645, d3.loss_map_pts: 0.7432, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1576, d4.loss_map_pts: 0.7186, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1537, d5.loss_map_pts: 0.7138, d5.loss_map_dir: 0.0094, loss: 28.9813, grad_norm: 162.9433 +2026-02-27 12:38:51,949 - DriveTransformer - INFO - Epoch [7][10050/39528] lr: 8.550e-05, eta: 5 days, 22:46:00, time: 0.737, data_time: 0.034, memory: 19865, loss_cls: 0.1725, loss_bbox: 0.3640, loss_traj: 0.6342, loss_traj_cls: 0.0009, loss_map_cls: 0.1548, loss_map_pts: 0.7171, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.7418, d0.loss_plan_l1_fix_dist: 0.4199, d1.loss_plan_l1_fix_time: 1.1626, d1.loss_plan_l1_fix_dist: 0.1849, d2.loss_plan_l1_fix_time: 1.1375, d2.loss_plan_l1_fix_dist: 0.1846, d3.loss_plan_l1_fix_time: 1.1333, d3.loss_plan_l1_fix_dist: 0.1936, d4.loss_plan_l1_fix_time: 1.1360, d4.loss_plan_l1_fix_dist: 0.2090, d5.loss_plan_l1_fix_time: 1.1398, d5.loss_plan_l1_fix_dist: 0.2208, d6.loss_plan_l1_fix_time: 1.1447, d6.loss_plan_l1_fix_dist: 0.2372, d0.loss_cls_all: 0.2084, d0.loss_bbox_all: 0.4261, d0.loss_cls: 0.2084, d0.loss_bbox: 0.4261, d1.loss_cls: 0.2060, d1.loss_bbox: 0.3935, d2.loss_cls: 0.1915, d2.loss_bbox: 0.3759, d3.loss_cls: 0.1800, d3.loss_bbox: 0.3673, d4.loss_cls: 0.1747, d4.loss_bbox: 0.3639, d5.loss_cls: 0.1730, d5.loss_bbox: 0.3631, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8062, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6818, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6436, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6354, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6352, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6359, d0.loss_map_cls_all: 0.2291, d0.loss_map_pts_all: 1.4606, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2291, d0.loss_map_pts: 1.4606, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2026, d1.loss_map_pts: 1.0227, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1783, d2.loss_map_pts: 0.8260, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1666, d3.loss_map_pts: 0.7517, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1614, d4.loss_map_pts: 0.7233, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1565, d5.loss_map_pts: 0.7174, d5.loss_map_dir: 0.0091, loss: 29.7486, grad_norm: 163.0865 +2026-02-27 12:39:29,664 - DriveTransformer - INFO - Epoch [7][10100/39528] lr: 8.550e-05, eta: 5 days, 22:46:39, time: 0.754, data_time: 0.033, memory: 19865, loss_cls: 0.1771, loss_bbox: 0.3771, loss_traj: 0.7644, loss_traj_cls: 0.0009, loss_map_cls: 0.1970, loss_map_pts: 0.8769, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.9896, d0.loss_plan_l1_fix_dist: 0.3743, d1.loss_plan_l1_fix_time: 1.1565, d1.loss_plan_l1_fix_dist: 0.1856, d2.loss_plan_l1_fix_time: 1.1395, d2.loss_plan_l1_fix_dist: 0.1878, d3.loss_plan_l1_fix_time: 1.1365, d3.loss_plan_l1_fix_dist: 0.1871, d4.loss_plan_l1_fix_time: 1.1383, d4.loss_plan_l1_fix_dist: 0.1906, d5.loss_plan_l1_fix_time: 1.1404, d5.loss_plan_l1_fix_dist: 0.1950, d6.loss_plan_l1_fix_time: 1.1433, d6.loss_plan_l1_fix_dist: 0.2040, d0.loss_cls_all: 0.2158, d0.loss_bbox_all: 0.4390, d0.loss_cls: 0.2158, d0.loss_bbox: 0.4390, d1.loss_cls: 0.2052, d1.loss_bbox: 0.4055, d2.loss_cls: 0.1942, d2.loss_bbox: 0.3866, d3.loss_cls: 0.1831, d3.loss_bbox: 0.3819, d4.loss_cls: 0.1778, d4.loss_bbox: 0.3788, d5.loss_cls: 0.1763, d5.loss_bbox: 0.3781, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9549, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8221, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7768, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7582, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7572, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7556, d0.loss_map_cls_all: 0.2746, d0.loss_map_pts_all: 1.7320, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2746, d0.loss_map_pts: 1.7320, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2423, d1.loss_map_pts: 1.2324, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.2222, d2.loss_map_pts: 1.0128, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.2109, d3.loss_map_pts: 0.9225, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.2046, d4.loss_map_pts: 0.8913, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.2009, d5.loss_map_pts: 0.8778, d5.loss_map_dir: 0.0101, loss: 32.8817, grad_norm: 154.3029 +2026-02-27 12:40:07,254 - DriveTransformer - INFO - Epoch [7][10150/39528] lr: 8.550e-05, eta: 5 days, 22:47:08, time: 0.752, data_time: 0.034, memory: 19865, loss_cls: 0.1527, loss_bbox: 0.3605, loss_traj: 0.6277, loss_traj_cls: 0.0009, loss_map_cls: 0.1626, loss_map_pts: 0.7646, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.8490, d0.loss_plan_l1_fix_dist: 0.3940, d1.loss_plan_l1_fix_time: 1.2039, d1.loss_plan_l1_fix_dist: 0.1817, d2.loss_plan_l1_fix_time: 1.1887, d2.loss_plan_l1_fix_dist: 0.1907, d3.loss_plan_l1_fix_time: 1.1830, d3.loss_plan_l1_fix_dist: 0.2025, d4.loss_plan_l1_fix_time: 1.1855, d4.loss_plan_l1_fix_dist: 0.2102, d5.loss_plan_l1_fix_time: 1.1887, d5.loss_plan_l1_fix_dist: 0.2253, d6.loss_plan_l1_fix_time: 1.1924, d6.loss_plan_l1_fix_dist: 0.2423, d0.loss_cls_all: 0.1942, d0.loss_bbox_all: 0.4247, d0.loss_cls: 0.1942, d0.loss_bbox: 0.4247, d1.loss_cls: 0.1864, d1.loss_bbox: 0.3926, d2.loss_cls: 0.1723, d2.loss_bbox: 0.3725, d3.loss_cls: 0.1593, d3.loss_bbox: 0.3637, d4.loss_cls: 0.1543, d4.loss_bbox: 0.3597, d5.loss_cls: 0.1522, d5.loss_bbox: 0.3595, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8756, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6945, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6441, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6354, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6302, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6275, d0.loss_map_cls_all: 0.2298, d0.loss_map_pts_all: 1.5030, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2298, d0.loss_map_pts: 1.5030, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2063, d1.loss_map_pts: 1.0628, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1896, d2.loss_map_pts: 0.8702, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1797, d3.loss_map_pts: 0.7984, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1725, d4.loss_map_pts: 0.7691, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1639, d5.loss_map_pts: 0.7643, d5.loss_map_dir: 0.0105, loss: 30.4538, grad_norm: 156.1102 +2026-02-27 12:40:44,069 - DriveTransformer - INFO - Epoch [7][10200/39528] lr: 8.550e-05, eta: 5 days, 22:46:43, time: 0.736, data_time: 0.032, memory: 19865, loss_cls: 0.1695, loss_bbox: 0.3710, loss_traj: 0.5421, loss_traj_cls: 0.0009, loss_map_cls: 0.1527, loss_map_pts: 0.7499, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.7702, d0.loss_plan_l1_fix_dist: 0.4294, d1.loss_plan_l1_fix_time: 1.1595, d1.loss_plan_l1_fix_dist: 0.1983, d2.loss_plan_l1_fix_time: 1.1476, d2.loss_plan_l1_fix_dist: 0.2047, d3.loss_plan_l1_fix_time: 1.1450, d3.loss_plan_l1_fix_dist: 0.2243, d4.loss_plan_l1_fix_time: 1.1493, d4.loss_plan_l1_fix_dist: 0.2344, d5.loss_plan_l1_fix_time: 1.1546, d5.loss_plan_l1_fix_dist: 0.2531, d6.loss_plan_l1_fix_time: 1.1608, d6.loss_plan_l1_fix_dist: 0.2777, d0.loss_cls_all: 0.2073, d0.loss_bbox_all: 0.4327, d0.loss_cls: 0.2073, d0.loss_bbox: 0.4327, d1.loss_cls: 0.2014, d1.loss_bbox: 0.4000, d2.loss_cls: 0.1877, d2.loss_bbox: 0.3810, d3.loss_cls: 0.1747, d3.loss_bbox: 0.3739, d4.loss_cls: 0.1692, d4.loss_bbox: 0.3713, d5.loss_cls: 0.1688, d5.loss_bbox: 0.3707, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7527, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5909, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5439, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5437, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5420, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5428, d0.loss_map_cls_all: 0.2299, d0.loss_map_pts_all: 1.3712, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2299, d0.loss_map_pts: 1.3712, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1993, d1.loss_map_pts: 0.9911, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1789, d2.loss_map_pts: 0.8309, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1671, d3.loss_map_pts: 0.7692, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1601, d4.loss_map_pts: 0.7505, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1553, d5.loss_map_pts: 0.7481, d5.loss_map_dir: 0.0087, loss: 29.3164, grad_norm: 162.8204 +2026-02-27 12:41:20,302 - DriveTransformer - INFO - Epoch [7][10250/39528] lr: 8.550e-05, eta: 5 days, 22:45:38, time: 0.725, data_time: 0.034, memory: 19865, loss_cls: 0.1540, loss_bbox: 0.3469, loss_traj: 0.6495, loss_traj_cls: 0.0010, loss_map_cls: 0.1809, loss_map_pts: 0.6987, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.7020, d0.loss_plan_l1_fix_dist: 0.3613, d1.loss_plan_l1_fix_time: 1.1844, d1.loss_plan_l1_fix_dist: 0.1823, d2.loss_plan_l1_fix_time: 1.1749, d2.loss_plan_l1_fix_dist: 0.1731, d3.loss_plan_l1_fix_time: 1.1744, d3.loss_plan_l1_fix_dist: 0.1854, d4.loss_plan_l1_fix_time: 1.1782, d4.loss_plan_l1_fix_dist: 0.1910, d5.loss_plan_l1_fix_time: 1.1828, d5.loss_plan_l1_fix_dist: 0.2049, d6.loss_plan_l1_fix_time: 1.1882, d6.loss_plan_l1_fix_dist: 0.2221, d0.loss_cls_all: 0.1871, d0.loss_bbox_all: 0.4037, d0.loss_cls: 0.1871, d0.loss_bbox: 0.4037, d1.loss_cls: 0.1795, d1.loss_bbox: 0.3746, d2.loss_cls: 0.1708, d2.loss_bbox: 0.3543, d3.loss_cls: 0.1593, d3.loss_bbox: 0.3479, d4.loss_cls: 0.1555, d4.loss_bbox: 0.3448, d5.loss_cls: 0.1536, d5.loss_bbox: 0.3450, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8456, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7037, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6536, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6523, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6529, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6507, d0.loss_map_cls_all: 0.2464, d0.loss_map_pts_all: 1.3243, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2464, d0.loss_map_pts: 1.3243, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.2225, d1.loss_map_pts: 0.9565, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.2000, d2.loss_map_pts: 0.7913, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1936, d3.loss_map_pts: 0.7247, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1867, d4.loss_map_pts: 0.7038, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1829, d5.loss_map_pts: 0.6975, d5.loss_map_dir: 0.0086, loss: 29.3358, grad_norm: 162.5616 +2026-02-27 12:41:57,371 - DriveTransformer - INFO - Epoch [7][10300/39528] lr: 8.550e-05, eta: 5 days, 22:45:30, time: 0.741, data_time: 0.034, memory: 19865, loss_cls: 0.1437, loss_bbox: 0.3429, loss_traj: 0.6909, loss_traj_cls: 0.0009, loss_map_cls: 0.1577, loss_map_pts: 0.7495, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.6874, d0.loss_plan_l1_fix_dist: 0.4876, d1.loss_plan_l1_fix_time: 1.0848, d1.loss_plan_l1_fix_dist: 0.2408, d2.loss_plan_l1_fix_time: 1.0730, d2.loss_plan_l1_fix_dist: 0.2256, d3.loss_plan_l1_fix_time: 1.0696, d3.loss_plan_l1_fix_dist: 0.2332, d4.loss_plan_l1_fix_time: 1.0733, d4.loss_plan_l1_fix_dist: 0.2527, d5.loss_plan_l1_fix_time: 1.0771, d5.loss_plan_l1_fix_dist: 0.2769, d6.loss_plan_l1_fix_time: 1.0808, d6.loss_plan_l1_fix_dist: 0.2956, d0.loss_cls_all: 0.1802, d0.loss_bbox_all: 0.4023, d0.loss_cls: 0.1802, d0.loss_bbox: 0.4023, d1.loss_cls: 0.1697, d1.loss_bbox: 0.3689, d2.loss_cls: 0.1608, d2.loss_bbox: 0.3520, d3.loss_cls: 0.1489, d3.loss_bbox: 0.3451, d4.loss_cls: 0.1444, d4.loss_bbox: 0.3433, d5.loss_cls: 0.1435, d5.loss_bbox: 0.3431, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8807, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7326, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6991, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6929, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6948, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6940, d0.loss_map_cls_all: 0.2191, d0.loss_map_pts_all: 1.3817, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2191, d0.loss_map_pts: 1.3817, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1918, d1.loss_map_pts: 0.9844, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1754, d2.loss_map_pts: 0.8371, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1680, d3.loss_map_pts: 0.7808, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1642, d4.loss_map_pts: 0.7571, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1597, d5.loss_map_pts: 0.7494, d5.loss_map_dir: 0.0092, loss: 29.5702, grad_norm: 160.2904 +2026-02-27 12:42:30,810 - DriveTransformer - INFO - Epoch [7][10350/39528] lr: 8.550e-05, eta: 5 days, 22:41:16, time: 0.669, data_time: 0.036, memory: 19865, loss_cls: 0.1630, loss_bbox: 0.3680, loss_traj: 0.7199, loss_traj_cls: 0.0010, loss_map_cls: 0.1567, loss_map_pts: 0.6363, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.6925, d0.loss_plan_l1_fix_dist: 0.3711, d1.loss_plan_l1_fix_time: 1.1136, d1.loss_plan_l1_fix_dist: 0.2135, d2.loss_plan_l1_fix_time: 1.0927, d2.loss_plan_l1_fix_dist: 0.1983, d3.loss_plan_l1_fix_time: 1.0901, d3.loss_plan_l1_fix_dist: 0.1969, d4.loss_plan_l1_fix_time: 1.0946, d4.loss_plan_l1_fix_dist: 0.2110, d5.loss_plan_l1_fix_time: 1.0990, d5.loss_plan_l1_fix_dist: 0.2267, d6.loss_plan_l1_fix_time: 1.1034, d6.loss_plan_l1_fix_dist: 0.2394, d0.loss_cls_all: 0.1943, d0.loss_bbox_all: 0.4222, d0.loss_cls: 0.1943, d0.loss_bbox: 0.4222, d1.loss_cls: 0.1883, d1.loss_bbox: 0.3942, d2.loss_cls: 0.1786, d2.loss_bbox: 0.3733, d3.loss_cls: 0.1673, d3.loss_bbox: 0.3705, d4.loss_cls: 0.1617, d4.loss_bbox: 0.3689, d5.loss_cls: 0.1635, d5.loss_bbox: 0.3660, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9773, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7978, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7399, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7276, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7201, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7194, d0.loss_map_cls_all: 0.2219, d0.loss_map_pts_all: 1.1460, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.2219, d0.loss_map_pts: 1.1460, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1939, d1.loss_map_pts: 0.8570, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1763, d2.loss_map_pts: 0.7296, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1689, d3.loss_map_pts: 0.6654, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1631, d4.loss_map_pts: 0.6414, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1589, d5.loss_map_pts: 0.6379, d5.loss_map_dir: 0.0063, loss: 28.8191, grad_norm: 161.0469 +2026-02-27 12:43:06,493 - DriveTransformer - INFO - Epoch [7][10400/39528] lr: 8.550e-05, eta: 5 days, 22:39:36, time: 0.714, data_time: 0.036, memory: 19865, loss_cls: 0.1318, loss_bbox: 0.3282, loss_traj: 0.6263, loss_traj_cls: 0.0010, loss_map_cls: 0.1324, loss_map_pts: 0.5690, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.7678, d0.loss_plan_l1_fix_dist: 0.4480, d1.loss_plan_l1_fix_time: 1.0774, d1.loss_plan_l1_fix_dist: 0.2080, d2.loss_plan_l1_fix_time: 1.0702, d2.loss_plan_l1_fix_dist: 0.2033, d3.loss_plan_l1_fix_time: 1.0604, d3.loss_plan_l1_fix_dist: 0.2167, d4.loss_plan_l1_fix_time: 1.0623, d4.loss_plan_l1_fix_dist: 0.2322, d5.loss_plan_l1_fix_time: 1.0652, d5.loss_plan_l1_fix_dist: 0.2492, d6.loss_plan_l1_fix_time: 1.0692, d6.loss_plan_l1_fix_dist: 0.2723, d0.loss_cls_all: 0.1645, d0.loss_bbox_all: 0.3815, d0.loss_cls: 0.1645, d0.loss_bbox: 0.3815, d1.loss_cls: 0.1588, d1.loss_bbox: 0.3508, d2.loss_cls: 0.1468, d2.loss_bbox: 0.3338, d3.loss_cls: 0.1362, d3.loss_bbox: 0.3294, d4.loss_cls: 0.1333, d4.loss_bbox: 0.3270, d5.loss_cls: 0.1316, d5.loss_bbox: 0.3270, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8784, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6946, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6380, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6274, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6247, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6283, d0.loss_map_cls_all: 0.1979, d0.loss_map_pts_all: 1.1162, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1979, d0.loss_map_pts: 1.1162, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1722, d1.loss_map_pts: 0.7794, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1531, d2.loss_map_pts: 0.6502, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1433, d3.loss_map_pts: 0.5954, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1398, d4.loss_map_pts: 0.5755, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1356, d5.loss_map_pts: 0.5694, d5.loss_map_dir: 0.0074, loss: 26.9565, grad_norm: 159.2544 +2026-02-27 12:43:42,071 - DriveTransformer - INFO - Epoch [7][10450/39528] lr: 8.550e-05, eta: 5 days, 22:37:48, time: 0.712, data_time: 0.035, memory: 19865, loss_cls: 0.1351, loss_bbox: 0.3360, loss_traj: 0.7185, loss_traj_cls: 0.0009, loss_map_cls: 0.1439, loss_map_pts: 0.6084, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.8268, d0.loss_plan_l1_fix_dist: 0.4619, d1.loss_plan_l1_fix_time: 1.0756, d1.loss_plan_l1_fix_dist: 0.1931, d2.loss_plan_l1_fix_time: 1.0780, d2.loss_plan_l1_fix_dist: 0.1956, d3.loss_plan_l1_fix_time: 1.0742, d3.loss_plan_l1_fix_dist: 0.2221, d4.loss_plan_l1_fix_time: 1.0789, d4.loss_plan_l1_fix_dist: 0.2513, d5.loss_plan_l1_fix_time: 1.0849, d5.loss_plan_l1_fix_dist: 0.2792, d6.loss_plan_l1_fix_time: 1.0925, d6.loss_plan_l1_fix_dist: 0.3103, d0.loss_cls_all: 0.1664, d0.loss_bbox_all: 0.3972, d0.loss_cls: 0.1664, d0.loss_bbox: 0.3972, d1.loss_cls: 0.1628, d1.loss_bbox: 0.3614, d2.loss_cls: 0.1512, d2.loss_bbox: 0.3439, d3.loss_cls: 0.1426, d3.loss_bbox: 0.3384, d4.loss_cls: 0.1363, d4.loss_bbox: 0.3377, d5.loss_cls: 0.1362, d5.loss_bbox: 0.3362, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9510, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7752, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7283, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7210, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7149, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7170, d0.loss_map_cls_all: 0.2198, d0.loss_map_pts_all: 1.2717, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2198, d0.loss_map_pts: 1.2717, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1902, d1.loss_map_pts: 0.8786, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1689, d2.loss_map_pts: 0.7155, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1551, d3.loss_map_pts: 0.6435, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1491, d4.loss_map_pts: 0.6143, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1447, d5.loss_map_pts: 0.6090, d5.loss_map_dir: 0.0087, loss: 28.6730, grad_norm: 161.6985 +2026-02-27 12:44:19,948 - DriveTransformer - INFO - Epoch [7][10500/39528] lr: 8.550e-05, eta: 5 days, 22:38:36, time: 0.758, data_time: 0.035, memory: 19865, loss_cls: 0.1446, loss_bbox: 0.3640, loss_traj: 0.5851, loss_traj_cls: 0.0010, loss_map_cls: 0.1725, loss_map_pts: 0.7731, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.6255, d0.loss_plan_l1_fix_dist: 0.3947, d1.loss_plan_l1_fix_time: 1.2436, d1.loss_plan_l1_fix_dist: 0.1872, d2.loss_plan_l1_fix_time: 1.2407, d2.loss_plan_l1_fix_dist: 0.1850, d3.loss_plan_l1_fix_time: 1.2470, d3.loss_plan_l1_fix_dist: 0.1973, d4.loss_plan_l1_fix_time: 1.2522, d4.loss_plan_l1_fix_dist: 0.2178, d5.loss_plan_l1_fix_time: 1.2577, d5.loss_plan_l1_fix_dist: 0.2354, d6.loss_plan_l1_fix_time: 1.2645, d6.loss_plan_l1_fix_dist: 0.2540, d0.loss_cls_all: 0.1849, d0.loss_bbox_all: 0.4124, d0.loss_cls: 0.1849, d0.loss_bbox: 0.4124, d1.loss_cls: 0.1759, d1.loss_bbox: 0.3830, d2.loss_cls: 0.1629, d2.loss_bbox: 0.3657, d3.loss_cls: 0.1514, d3.loss_bbox: 0.3636, d4.loss_cls: 0.1454, d4.loss_bbox: 0.3630, d5.loss_cls: 0.1451, d5.loss_bbox: 0.3623, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7920, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6487, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5868, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5787, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5748, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5841, d0.loss_map_cls_all: 0.2545, d0.loss_map_pts_all: 1.5499, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2545, d0.loss_map_pts: 1.5499, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2204, d1.loss_map_pts: 1.0554, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.1986, d2.loss_map_pts: 0.8770, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.1848, d3.loss_map_pts: 0.8123, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1771, d4.loss_map_pts: 0.7847, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.1735, d5.loss_map_pts: 0.7740, d5.loss_map_dir: 0.0119, loss: 30.3865, grad_norm: 166.1593 +2026-02-27 12:44:57,186 - DriveTransformer - INFO - Epoch [7][10550/39528] lr: 8.550e-05, eta: 5 days, 22:38:40, time: 0.745, data_time: 0.035, memory: 19865, loss_cls: 0.1679, loss_bbox: 0.3948, loss_traj: 0.6788, loss_traj_cls: 0.0010, loss_map_cls: 0.1495, loss_map_pts: 0.6971, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.6300, d0.loss_plan_l1_fix_dist: 0.4616, d1.loss_plan_l1_fix_time: 1.3043, d1.loss_plan_l1_fix_dist: 0.1915, d2.loss_plan_l1_fix_time: 1.2939, d2.loss_plan_l1_fix_dist: 0.1926, d3.loss_plan_l1_fix_time: 1.2997, d3.loss_plan_l1_fix_dist: 0.2006, d4.loss_plan_l1_fix_time: 1.3036, d4.loss_plan_l1_fix_dist: 0.2154, d5.loss_plan_l1_fix_time: 1.3076, d5.loss_plan_l1_fix_dist: 0.2305, d6.loss_plan_l1_fix_time: 1.3124, d6.loss_plan_l1_fix_dist: 0.2496, d0.loss_cls_all: 0.2002, d0.loss_bbox_all: 0.4549, d0.loss_cls: 0.2002, d0.loss_bbox: 0.4549, d1.loss_cls: 0.1966, d1.loss_bbox: 0.4168, d2.loss_cls: 0.1870, d2.loss_bbox: 0.4004, d3.loss_cls: 0.1727, d3.loss_bbox: 0.3969, d4.loss_cls: 0.1685, d4.loss_bbox: 0.3952, d5.loss_cls: 0.1679, d5.loss_bbox: 0.3952, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9745, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7726, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7011, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6904, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6747, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6767, d0.loss_map_cls_all: 0.2174, d0.loss_map_pts_all: 1.4192, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2174, d0.loss_map_pts: 1.4192, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1907, d1.loss_map_pts: 0.9561, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1701, d2.loss_map_pts: 0.7894, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1604, d3.loss_map_pts: 0.7271, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1543, d4.loss_map_pts: 0.7064, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1515, d5.loss_map_pts: 0.6971, d5.loss_map_dir: 0.0098, loss: 31.0389, grad_norm: 165.9999 +2026-02-27 12:45:33,090 - DriveTransformer - INFO - Epoch [7][10600/39528] lr: 8.550e-05, eta: 5 days, 22:37:15, time: 0.718, data_time: 0.035, memory: 19865, loss_cls: 0.1567, loss_bbox: 0.3428, loss_traj: 0.6087, loss_traj_cls: 0.0010, loss_map_cls: 0.1449, loss_map_pts: 0.6458, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.7099, d0.loss_plan_l1_fix_dist: 0.4379, d1.loss_plan_l1_fix_time: 1.1949, d1.loss_plan_l1_fix_dist: 0.1865, d2.loss_plan_l1_fix_time: 1.1778, d2.loss_plan_l1_fix_dist: 0.1887, d3.loss_plan_l1_fix_time: 1.1868, d3.loss_plan_l1_fix_dist: 0.1987, d4.loss_plan_l1_fix_time: 1.1904, d4.loss_plan_l1_fix_dist: 0.2104, d5.loss_plan_l1_fix_time: 1.1935, d5.loss_plan_l1_fix_dist: 0.2281, d6.loss_plan_l1_fix_time: 1.1966, d6.loss_plan_l1_fix_dist: 0.2490, d0.loss_cls_all: 0.1954, d0.loss_bbox_all: 0.4058, d0.loss_cls: 0.1954, d0.loss_bbox: 0.4058, d1.loss_cls: 0.1902, d1.loss_bbox: 0.3680, d2.loss_cls: 0.1722, d2.loss_bbox: 0.3504, d3.loss_cls: 0.1608, d3.loss_bbox: 0.3459, d4.loss_cls: 0.1558, d4.loss_bbox: 0.3439, d5.loss_cls: 0.1549, d5.loss_bbox: 0.3435, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8746, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6696, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6259, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6108, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6096, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6098, d0.loss_map_cls_all: 0.2160, d0.loss_map_pts_all: 1.2414, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2160, d0.loss_map_pts: 1.2414, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1837, d1.loss_map_pts: 0.8723, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1650, d2.loss_map_pts: 0.7299, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1543, d3.loss_map_pts: 0.6742, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1479, d4.loss_map_pts: 0.6513, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1446, d5.loss_map_pts: 0.6472, d5.loss_map_dir: 0.0090, loss: 28.5999, grad_norm: 166.0623 +2026-02-27 12:46:10,286 - DriveTransformer - INFO - Epoch [7][10650/39528] lr: 8.550e-05, eta: 5 days, 22:37:16, time: 0.744, data_time: 0.037, memory: 19865, loss_cls: 0.1545, loss_bbox: 0.3544, loss_traj: 0.5997, loss_traj_cls: 0.0010, loss_map_cls: 0.1572, loss_map_pts: 0.8219, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.5573, d0.loss_plan_l1_fix_dist: 0.3382, d1.loss_plan_l1_fix_time: 1.0961, d1.loss_plan_l1_fix_dist: 0.1701, d2.loss_plan_l1_fix_time: 1.0809, d2.loss_plan_l1_fix_dist: 0.1709, d3.loss_plan_l1_fix_time: 1.0841, d3.loss_plan_l1_fix_dist: 0.1816, d4.loss_plan_l1_fix_time: 1.0884, d4.loss_plan_l1_fix_dist: 0.1924, d5.loss_plan_l1_fix_time: 1.0928, d5.loss_plan_l1_fix_dist: 0.2074, d6.loss_plan_l1_fix_time: 1.0972, d6.loss_plan_l1_fix_dist: 0.2224, d0.loss_cls_all: 0.1907, d0.loss_bbox_all: 0.4101, d0.loss_cls: 0.1907, d0.loss_bbox: 0.4101, d1.loss_cls: 0.1821, d1.loss_bbox: 0.3799, d2.loss_cls: 0.1667, d2.loss_bbox: 0.3626, d3.loss_cls: 0.1574, d3.loss_bbox: 0.3571, d4.loss_cls: 0.1547, d4.loss_bbox: 0.3532, d5.loss_cls: 0.1539, d5.loss_bbox: 0.3526, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8083, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6700, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6123, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6049, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5998, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5979, d0.loss_map_cls_all: 0.2299, d0.loss_map_pts_all: 1.5762, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2299, d0.loss_map_pts: 1.5762, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2030, d1.loss_map_pts: 1.1212, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1811, d2.loss_map_pts: 0.9297, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1700, d3.loss_map_pts: 0.8566, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1647, d4.loss_map_pts: 0.8288, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1595, d5.loss_map_pts: 0.8227, d5.loss_map_dir: 0.0105, loss: 29.5197, grad_norm: 164.5135 +2026-02-27 12:46:47,936 - DriveTransformer - INFO - Epoch [7][10700/39528] lr: 8.550e-05, eta: 5 days, 22:37:46, time: 0.753, data_time: 0.036, memory: 19865, loss_cls: 0.1876, loss_bbox: 0.3869, loss_traj: 0.5722, loss_traj_cls: 0.0009, loss_map_cls: 0.1786, loss_map_pts: 0.8297, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.8025, d0.loss_plan_l1_fix_dist: 0.3896, d1.loss_plan_l1_fix_time: 1.0201, d1.loss_plan_l1_fix_dist: 0.1970, d2.loss_plan_l1_fix_time: 1.0064, d2.loss_plan_l1_fix_dist: 0.2024, d3.loss_plan_l1_fix_time: 1.0061, d3.loss_plan_l1_fix_dist: 0.2207, d4.loss_plan_l1_fix_time: 1.0112, d4.loss_plan_l1_fix_dist: 0.2346, d5.loss_plan_l1_fix_time: 1.0166, d5.loss_plan_l1_fix_dist: 0.2468, d6.loss_plan_l1_fix_time: 1.0220, d6.loss_plan_l1_fix_dist: 0.2652, d0.loss_cls_all: 0.2212, d0.loss_bbox_all: 0.4572, d0.loss_cls: 0.2212, d0.loss_bbox: 0.4572, d1.loss_cls: 0.2230, d1.loss_bbox: 0.4155, d2.loss_cls: 0.2081, d2.loss_bbox: 0.3972, d3.loss_cls: 0.1909, d3.loss_bbox: 0.3935, d4.loss_cls: 0.1883, d4.loss_bbox: 0.3906, d5.loss_cls: 0.1867, d5.loss_bbox: 0.3887, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7759, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6607, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5965, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5838, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5725, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5735, d0.loss_map_cls_all: 0.2610, d0.loss_map_pts_all: 1.5783, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2610, d0.loss_map_pts: 1.5783, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.2326, d1.loss_map_pts: 1.0907, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2065, d2.loss_map_pts: 0.9272, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.1924, d3.loss_map_pts: 0.8630, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1850, d4.loss_map_pts: 0.8391, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1806, d5.loss_map_pts: 0.8314, d5.loss_map_dir: 0.0115, loss: 30.2223, grad_norm: 167.8770 +2026-02-27 12:47:26,353 - DriveTransformer - INFO - Epoch [7][10750/39528] lr: 8.550e-05, eta: 5 days, 22:39:05, time: 0.768, data_time: 0.036, memory: 19865, loss_cls: 0.1643, loss_bbox: 0.3560, loss_traj: 0.5481, loss_traj_cls: 0.0009, loss_map_cls: 0.1577, loss_map_pts: 0.8086, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 2.8660, d0.loss_plan_l1_fix_dist: 0.4280, d1.loss_plan_l1_fix_time: 1.1068, d1.loss_plan_l1_fix_dist: 0.2012, d2.loss_plan_l1_fix_time: 1.1065, d2.loss_plan_l1_fix_dist: 0.2020, d3.loss_plan_l1_fix_time: 1.1061, d3.loss_plan_l1_fix_dist: 0.2170, d4.loss_plan_l1_fix_time: 1.1132, d4.loss_plan_l1_fix_dist: 0.2334, d5.loss_plan_l1_fix_time: 1.1209, d5.loss_plan_l1_fix_dist: 0.2505, d6.loss_plan_l1_fix_time: 1.1293, d6.loss_plan_l1_fix_dist: 0.2749, d0.loss_cls_all: 0.2065, d0.loss_bbox_all: 0.4142, d0.loss_cls: 0.2065, d0.loss_bbox: 0.4142, d1.loss_cls: 0.1994, d1.loss_bbox: 0.3771, d2.loss_cls: 0.1839, d2.loss_bbox: 0.3624, d3.loss_cls: 0.1724, d3.loss_bbox: 0.3565, d4.loss_cls: 0.1674, d4.loss_bbox: 0.3555, d5.loss_cls: 0.1652, d5.loss_bbox: 0.3553, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7138, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6068, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5572, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5512, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5485, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5494, d0.loss_map_cls_all: 0.2332, d0.loss_map_pts_all: 1.6039, d0.loss_map_dir_all: 0.0119, d0.loss_map_cls: 0.2332, d0.loss_map_pts: 1.6039, d0.loss_map_dir: 0.0119, d1.loss_map_cls: 0.2075, d1.loss_map_pts: 1.0787, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.1871, d2.loss_map_pts: 0.9052, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.1743, d3.loss_map_pts: 0.8415, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.1648, d4.loss_map_pts: 0.8166, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.1592, d5.loss_map_pts: 0.8096, d5.loss_map_dir: 0.0122, loss: 29.9753, grad_norm: 168.9902 +2026-02-27 12:48:03,216 - DriveTransformer - INFO - Epoch [7][10800/39528] lr: 8.550e-05, eta: 5 days, 22:38:48, time: 0.739, data_time: 0.035, memory: 19865, loss_cls: 0.1368, loss_bbox: 0.3189, loss_traj: 0.6220, loss_traj_cls: 0.0010, loss_map_cls: 0.1135, loss_map_pts: 0.5259, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.4379, d0.loss_plan_l1_fix_dist: 0.4928, d1.loss_plan_l1_fix_time: 0.9685, d1.loss_plan_l1_fix_dist: 0.2058, d2.loss_plan_l1_fix_time: 0.9640, d2.loss_plan_l1_fix_dist: 0.1943, d3.loss_plan_l1_fix_time: 0.9662, d3.loss_plan_l1_fix_dist: 0.2021, d4.loss_plan_l1_fix_time: 0.9712, d4.loss_plan_l1_fix_dist: 0.2151, d5.loss_plan_l1_fix_time: 0.9768, d5.loss_plan_l1_fix_dist: 0.2274, d6.loss_plan_l1_fix_time: 0.9833, d6.loss_plan_l1_fix_dist: 0.2410, d0.loss_cls_all: 0.1711, d0.loss_bbox_all: 0.3678, d0.loss_cls: 0.1711, d0.loss_bbox: 0.3678, d1.loss_cls: 0.1688, d1.loss_bbox: 0.3393, d2.loss_cls: 0.1563, d2.loss_bbox: 0.3251, d3.loss_cls: 0.1421, d3.loss_bbox: 0.3212, d4.loss_cls: 0.1394, d4.loss_bbox: 0.3190, d5.loss_cls: 0.1360, d5.loss_bbox: 0.3194, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7912, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6858, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6338, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6233, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6216, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6214, d0.loss_map_cls_all: 0.1782, d0.loss_map_pts_all: 1.2066, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1782, d0.loss_map_pts: 1.2066, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1482, d1.loss_map_pts: 0.7630, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1309, d2.loss_map_pts: 0.6067, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1234, d3.loss_map_pts: 0.5516, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1195, d4.loss_map_pts: 0.5327, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1145, d5.loss_map_pts: 0.5276, d5.loss_map_dir: 0.0082, loss: 25.6446, grad_norm: 166.7165 +2026-02-27 12:48:39,416 - DriveTransformer - INFO - Epoch [7][10850/39528] lr: 8.550e-05, eta: 5 days, 22:37:38, time: 0.723, data_time: 0.033, memory: 19865, loss_cls: 0.1636, loss_bbox: 0.3649, loss_traj: 0.5426, loss_traj_cls: 0.0009, loss_map_cls: 0.1631, loss_map_pts: 0.7488, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.5452, d0.loss_plan_l1_fix_dist: 0.3889, d1.loss_plan_l1_fix_time: 1.1157, d1.loss_plan_l1_fix_dist: 0.1971, d2.loss_plan_l1_fix_time: 1.1146, d2.loss_plan_l1_fix_dist: 0.1862, d3.loss_plan_l1_fix_time: 1.1203, d3.loss_plan_l1_fix_dist: 0.1968, d4.loss_plan_l1_fix_time: 1.1258, d4.loss_plan_l1_fix_dist: 0.2211, d5.loss_plan_l1_fix_time: 1.1318, d5.loss_plan_l1_fix_dist: 0.2461, d6.loss_plan_l1_fix_time: 1.1384, d6.loss_plan_l1_fix_dist: 0.2743, d0.loss_cls_all: 0.2155, d0.loss_bbox_all: 0.4271, d0.loss_cls: 0.2155, d0.loss_bbox: 0.4271, d1.loss_cls: 0.2024, d1.loss_bbox: 0.3963, d2.loss_cls: 0.1833, d2.loss_bbox: 0.3763, d3.loss_cls: 0.1704, d3.loss_bbox: 0.3669, d4.loss_cls: 0.1644, d4.loss_bbox: 0.3646, d5.loss_cls: 0.1636, d5.loss_bbox: 0.3641, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7655, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5910, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5533, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5405, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5387, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5392, d0.loss_map_cls_all: 0.2511, d0.loss_map_pts_all: 1.4252, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2511, d0.loss_map_pts: 1.4252, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2149, d1.loss_map_pts: 1.0081, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1914, d2.loss_map_pts: 0.8349, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1786, d3.loss_map_pts: 0.7755, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1709, d4.loss_map_pts: 0.7546, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1657, d5.loss_map_pts: 0.7472, d5.loss_map_dir: 0.0094, loss: 29.0255, grad_norm: 166.5519 +2026-02-27 12:49:15,117 - DriveTransformer - INFO - Epoch [7][10900/39528] lr: 8.550e-05, eta: 5 days, 22:36:01, time: 0.714, data_time: 0.035, memory: 19865, loss_cls: 0.1352, loss_bbox: 0.3406, loss_traj: 0.5913, loss_traj_cls: 0.0010, loss_map_cls: 0.1301, loss_map_pts: 0.5405, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.7615, d0.loss_plan_l1_fix_dist: 0.4306, d1.loss_plan_l1_fix_time: 1.0363, d1.loss_plan_l1_fix_dist: 0.2128, d2.loss_plan_l1_fix_time: 1.0245, d2.loss_plan_l1_fix_dist: 0.2044, d3.loss_plan_l1_fix_time: 1.0273, d3.loss_plan_l1_fix_dist: 0.2100, d4.loss_plan_l1_fix_time: 1.0349, d4.loss_plan_l1_fix_dist: 0.2280, d5.loss_plan_l1_fix_time: 1.0437, d5.loss_plan_l1_fix_dist: 0.2523, d6.loss_plan_l1_fix_time: 1.0531, d6.loss_plan_l1_fix_dist: 0.2807, d0.loss_cls_all: 0.1742, d0.loss_bbox_all: 0.3845, d0.loss_cls: 0.1742, d0.loss_bbox: 0.3845, d1.loss_cls: 0.1647, d1.loss_bbox: 0.3578, d2.loss_cls: 0.1522, d2.loss_bbox: 0.3469, d3.loss_cls: 0.1412, d3.loss_bbox: 0.3426, d4.loss_cls: 0.1375, d4.loss_bbox: 0.3403, d5.loss_cls: 0.1349, d5.loss_bbox: 0.3404, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8445, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6732, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6150, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5973, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5911, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5897, d0.loss_map_cls_all: 0.2042, d0.loss_map_pts_all: 1.1931, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2042, d0.loss_map_pts: 1.1931, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1720, d1.loss_map_pts: 0.7608, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1514, d2.loss_map_pts: 0.6140, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1424, d3.loss_map_pts: 0.5665, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1361, d4.loss_map_pts: 0.5497, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1325, d5.loss_map_pts: 0.5391, d5.loss_map_dir: 0.0085, loss: 26.6598, grad_norm: 169.2977 +2026-02-27 12:49:51,425 - DriveTransformer - INFO - Epoch [7][10950/39528] lr: 8.550e-05, eta: 5 days, 22:35:03, time: 0.726, data_time: 0.037, memory: 19865, loss_cls: 0.1396, loss_bbox: 0.3444, loss_traj: 0.6968, loss_traj_cls: 0.0010, loss_map_cls: 0.1169, loss_map_pts: 0.5257, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.3316, d0.loss_plan_l1_fix_dist: 0.5044, d1.loss_plan_l1_fix_time: 0.9570, d1.loss_plan_l1_fix_dist: 0.1896, d2.loss_plan_l1_fix_time: 0.9393, d2.loss_plan_l1_fix_dist: 0.1876, d3.loss_plan_l1_fix_time: 0.9374, d3.loss_plan_l1_fix_dist: 0.1932, d4.loss_plan_l1_fix_time: 0.9412, d4.loss_plan_l1_fix_dist: 0.2014, d5.loss_plan_l1_fix_time: 0.9463, d5.loss_plan_l1_fix_dist: 0.2139, d6.loss_plan_l1_fix_time: 0.9517, d6.loss_plan_l1_fix_dist: 0.2317, d0.loss_cls_all: 0.1713, d0.loss_bbox_all: 0.3957, d0.loss_cls: 0.1713, d0.loss_bbox: 0.3957, d1.loss_cls: 0.1681, d1.loss_bbox: 0.3674, d2.loss_cls: 0.1570, d2.loss_bbox: 0.3533, d3.loss_cls: 0.1448, d3.loss_bbox: 0.3466, d4.loss_cls: 0.1400, d4.loss_bbox: 0.3461, d5.loss_cls: 0.1393, d5.loss_bbox: 0.3450, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9196, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7831, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7183, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7012, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6923, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6938, d0.loss_map_cls_all: 0.1844, d0.loss_map_pts_all: 1.0789, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1844, d0.loss_map_pts: 1.0789, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1590, d1.loss_map_pts: 0.7464, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1405, d2.loss_map_pts: 0.6134, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1300, d3.loss_map_pts: 0.5580, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1233, d4.loss_map_pts: 0.5337, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1188, d5.loss_map_pts: 0.5269, d5.loss_map_dir: 0.0056, loss: 25.9293, grad_norm: 168.4785 +2026-02-27 12:50:28,029 - DriveTransformer - INFO - Epoch [7][11000/39528] lr: 8.550e-05, eta: 5 days, 22:34:24, time: 0.732, data_time: 0.035, memory: 19865, loss_cls: 0.1528, loss_bbox: 0.3875, loss_traj: 0.6611, loss_traj_cls: 0.0009, loss_map_cls: 0.1828, loss_map_pts: 0.7316, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.9654, d0.loss_plan_l1_fix_dist: 0.4637, d1.loss_plan_l1_fix_time: 1.0852, d1.loss_plan_l1_fix_dist: 0.2071, d2.loss_plan_l1_fix_time: 1.0621, d2.loss_plan_l1_fix_dist: 0.2116, d3.loss_plan_l1_fix_time: 1.0662, d3.loss_plan_l1_fix_dist: 0.2242, d4.loss_plan_l1_fix_time: 1.0706, d4.loss_plan_l1_fix_dist: 0.2395, d5.loss_plan_l1_fix_time: 1.0742, d5.loss_plan_l1_fix_dist: 0.2563, d6.loss_plan_l1_fix_time: 1.0775, d6.loss_plan_l1_fix_dist: 0.2772, d0.loss_cls_all: 0.1939, d0.loss_bbox_all: 0.4300, d0.loss_cls: 0.1939, d0.loss_bbox: 0.4300, d1.loss_cls: 0.1881, d1.loss_bbox: 0.4014, d2.loss_cls: 0.1743, d2.loss_bbox: 0.3821, d3.loss_cls: 0.1619, d3.loss_bbox: 0.3766, d4.loss_cls: 0.1552, d4.loss_bbox: 0.3788, d5.loss_cls: 0.1529, d5.loss_bbox: 0.3833, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9083, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7028, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6564, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6496, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6429, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6606, d0.loss_map_cls_all: 0.2569, d0.loss_map_pts_all: 1.4134, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2569, d0.loss_map_pts: 1.4134, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.2340, d1.loss_map_pts: 1.0196, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.2064, d2.loss_map_pts: 0.8430, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1937, d3.loss_map_pts: 0.7677, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1887, d4.loss_map_pts: 0.7382, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1851, d5.loss_map_pts: 0.7315, d5.loss_map_dir: 0.0089, loss: 30.1427, grad_norm: 169.0725 +2026-02-27 12:51:03,399 - DriveTransformer - INFO - Epoch [7][11050/39528] lr: 8.550e-05, eta: 5 days, 22:32:27, time: 0.707, data_time: 0.033, memory: 19865, loss_cls: 0.1702, loss_bbox: 0.3845, loss_traj: 0.6678, loss_traj_cls: 0.0009, loss_map_cls: 0.1635, loss_map_pts: 0.7027, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.8748, d0.loss_plan_l1_fix_dist: 0.4722, d1.loss_plan_l1_fix_time: 1.2654, d1.loss_plan_l1_fix_dist: 0.2137, d2.loss_plan_l1_fix_time: 1.2623, d2.loss_plan_l1_fix_dist: 0.2130, d3.loss_plan_l1_fix_time: 1.2678, d3.loss_plan_l1_fix_dist: 0.2211, d4.loss_plan_l1_fix_time: 1.2725, d4.loss_plan_l1_fix_dist: 0.2324, d5.loss_plan_l1_fix_time: 1.2766, d5.loss_plan_l1_fix_dist: 0.2478, d6.loss_plan_l1_fix_time: 1.2816, d6.loss_plan_l1_fix_dist: 0.2632, d0.loss_cls_all: 0.2113, d0.loss_bbox_all: 0.4470, d0.loss_cls: 0.2113, d0.loss_bbox: 0.4470, d1.loss_cls: 0.2047, d1.loss_bbox: 0.4036, d2.loss_cls: 0.1899, d2.loss_bbox: 0.3852, d3.loss_cls: 0.1784, d3.loss_bbox: 0.3793, d4.loss_cls: 0.1712, d4.loss_bbox: 0.3802, d5.loss_cls: 0.1706, d5.loss_bbox: 0.3812, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9313, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7460, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7013, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6823, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6752, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6689, d0.loss_map_cls_all: 0.2341, d0.loss_map_pts_all: 1.2847, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2341, d0.loss_map_pts: 1.2847, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.2055, d1.loss_map_pts: 0.9448, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1857, d2.loss_map_pts: 0.7995, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1726, d3.loss_map_pts: 0.7321, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1675, d4.loss_map_pts: 0.7067, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1658, d5.loss_map_pts: 0.7020, d5.loss_map_dir: 0.0080, loss: 30.9075, grad_norm: 168.6881 +2026-02-27 12:51:39,921 - DriveTransformer - INFO - Epoch [7][11100/39528] lr: 8.550e-05, eta: 5 days, 22:31:44, time: 0.730, data_time: 0.036, memory: 19865, loss_cls: 0.1551, loss_bbox: 0.3464, loss_traj: 0.6746, loss_traj_cls: 0.0009, loss_map_cls: 0.1366, loss_map_pts: 0.6673, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.8887, d0.loss_plan_l1_fix_dist: 0.4389, d1.loss_plan_l1_fix_time: 1.1789, d1.loss_plan_l1_fix_dist: 0.2099, d2.loss_plan_l1_fix_time: 1.1688, d2.loss_plan_l1_fix_dist: 0.2070, d3.loss_plan_l1_fix_time: 1.1677, d3.loss_plan_l1_fix_dist: 0.2169, d4.loss_plan_l1_fix_time: 1.1717, d4.loss_plan_l1_fix_dist: 0.2340, d5.loss_plan_l1_fix_time: 1.1766, d5.loss_plan_l1_fix_dist: 0.2542, d6.loss_plan_l1_fix_time: 1.1829, d6.loss_plan_l1_fix_dist: 0.2736, d0.loss_cls_all: 0.2001, d0.loss_bbox_all: 0.4007, d0.loss_cls: 0.2001, d0.loss_bbox: 0.4007, d1.loss_cls: 0.1898, d1.loss_bbox: 0.3709, d2.loss_cls: 0.1731, d2.loss_bbox: 0.3536, d3.loss_cls: 0.1607, d3.loss_bbox: 0.3497, d4.loss_cls: 0.1552, d4.loss_bbox: 0.3497, d5.loss_cls: 0.1549, d5.loss_bbox: 0.3470, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8923, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7369, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6984, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6845, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6727, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6742, d0.loss_map_cls_all: 0.1989, d0.loss_map_pts_all: 1.3025, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1989, d0.loss_map_pts: 1.3025, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1792, d1.loss_map_pts: 0.9113, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1593, d2.loss_map_pts: 0.7578, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1478, d3.loss_map_pts: 0.6930, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1431, d4.loss_map_pts: 0.6728, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1391, d5.loss_map_pts: 0.6670, d5.loss_map_dir: 0.0088, loss: 29.4622, grad_norm: 170.7801 +2026-02-27 12:52:17,459 - DriveTransformer - INFO - Epoch [7][11150/39528] lr: 8.550e-05, eta: 5 days, 22:32:04, time: 0.751, data_time: 0.033, memory: 19865, loss_cls: 0.1639, loss_bbox: 0.3602, loss_traj: 0.5848, loss_traj_cls: 0.0010, loss_map_cls: 0.1843, loss_map_pts: 0.7882, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.6635, d0.loss_plan_l1_fix_dist: 0.3921, d1.loss_plan_l1_fix_time: 1.1486, d1.loss_plan_l1_fix_dist: 0.1879, d2.loss_plan_l1_fix_time: 1.1455, d2.loss_plan_l1_fix_dist: 0.1882, d3.loss_plan_l1_fix_time: 1.1474, d3.loss_plan_l1_fix_dist: 0.1982, d4.loss_plan_l1_fix_time: 1.1529, d4.loss_plan_l1_fix_dist: 0.2146, d5.loss_plan_l1_fix_time: 1.1594, d5.loss_plan_l1_fix_dist: 0.2306, d6.loss_plan_l1_fix_time: 1.1669, d6.loss_plan_l1_fix_dist: 0.2490, d0.loss_cls_all: 0.2042, d0.loss_bbox_all: 0.4146, d0.loss_cls: 0.2042, d0.loss_bbox: 0.4146, d1.loss_cls: 0.1971, d1.loss_bbox: 0.3812, d2.loss_cls: 0.1851, d2.loss_bbox: 0.3653, d3.loss_cls: 0.1724, d3.loss_bbox: 0.3606, d4.loss_cls: 0.1656, d4.loss_bbox: 0.3593, d5.loss_cls: 0.1639, d5.loss_bbox: 0.3588, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7301, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6346, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5927, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5818, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5797, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5832, d0.loss_map_cls_all: 0.2609, d0.loss_map_pts_all: 1.5141, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2609, d0.loss_map_pts: 1.5141, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2282, d1.loss_map_pts: 1.0886, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2037, d2.loss_map_pts: 0.8988, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1940, d3.loss_map_pts: 0.8250, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1889, d4.loss_map_pts: 0.8007, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1853, d5.loss_map_pts: 0.7909, d5.loss_map_dir: 0.0106, loss: 30.0175, grad_norm: 170.5587 +2026-02-27 12:52:54,339 - DriveTransformer - INFO - Epoch [7][11200/39528] lr: 8.550e-05, eta: 5 days, 22:31:43, time: 0.738, data_time: 0.037, memory: 19865, loss_cls: 0.1440, loss_bbox: 0.3621, loss_traj: 0.5953, loss_traj_cls: 0.0009, loss_map_cls: 0.1348, loss_map_pts: 0.6682, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.5309, d0.loss_plan_l1_fix_dist: 0.4144, d1.loss_plan_l1_fix_time: 1.0779, d1.loss_plan_l1_fix_dist: 0.1855, d2.loss_plan_l1_fix_time: 1.0639, d2.loss_plan_l1_fix_dist: 0.1850, d3.loss_plan_l1_fix_time: 1.0626, d3.loss_plan_l1_fix_dist: 0.1989, d4.loss_plan_l1_fix_time: 1.0679, d4.loss_plan_l1_fix_dist: 0.2172, d5.loss_plan_l1_fix_time: 1.0740, d5.loss_plan_l1_fix_dist: 0.2324, d6.loss_plan_l1_fix_time: 1.0804, d6.loss_plan_l1_fix_dist: 0.2521, d0.loss_cls_all: 0.1783, d0.loss_bbox_all: 0.4228, d0.loss_cls: 0.1783, d0.loss_bbox: 0.4228, d1.loss_cls: 0.1718, d1.loss_bbox: 0.3926, d2.loss_cls: 0.1608, d2.loss_bbox: 0.3740, d3.loss_cls: 0.1484, d3.loss_bbox: 0.3680, d4.loss_cls: 0.1457, d4.loss_bbox: 0.3641, d5.loss_cls: 0.1450, d5.loss_bbox: 0.3620, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7833, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6457, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6064, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5920, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5885, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5906, d0.loss_map_cls_all: 0.1998, d0.loss_map_pts_all: 1.2937, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.1998, d0.loss_map_pts: 1.2937, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1731, d1.loss_map_pts: 0.9185, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1533, d2.loss_map_pts: 0.7652, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1458, d3.loss_map_pts: 0.7034, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1389, d4.loss_map_pts: 0.6765, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1347, d5.loss_map_pts: 0.6692, d5.loss_map_dir: 0.0088, loss: 27.7298, grad_norm: 176.3034 +2026-02-27 12:53:31,644 - DriveTransformer - INFO - Epoch [7][11250/39528] lr: 8.550e-05, eta: 5 days, 22:31:48, time: 0.746, data_time: 0.036, memory: 19865, loss_cls: 0.1611, loss_bbox: 0.3650, loss_traj: 0.6992, loss_traj_cls: 0.0010, loss_map_cls: 0.1637, loss_map_pts: 0.7007, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 3.1208, d0.loss_plan_l1_fix_dist: 0.4404, d1.loss_plan_l1_fix_time: 1.1740, d1.loss_plan_l1_fix_dist: 0.2173, d2.loss_plan_l1_fix_time: 1.1663, d2.loss_plan_l1_fix_dist: 0.2093, d3.loss_plan_l1_fix_time: 1.1717, d3.loss_plan_l1_fix_dist: 0.2166, d4.loss_plan_l1_fix_time: 1.1784, d4.loss_plan_l1_fix_dist: 0.2328, d5.loss_plan_l1_fix_time: 1.1849, d5.loss_plan_l1_fix_dist: 0.2501, d6.loss_plan_l1_fix_time: 1.1916, d6.loss_plan_l1_fix_dist: 0.2712, d0.loss_cls_all: 0.2002, d0.loss_bbox_all: 0.4201, d0.loss_cls: 0.2002, d0.loss_bbox: 0.4201, d1.loss_cls: 0.1898, d1.loss_bbox: 0.3888, d2.loss_cls: 0.1808, d2.loss_bbox: 0.3704, d3.loss_cls: 0.1673, d3.loss_bbox: 0.3676, d4.loss_cls: 0.1630, d4.loss_bbox: 0.3660, d5.loss_cls: 0.1614, d5.loss_bbox: 0.3657, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9861, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7823, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7163, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6996, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6963, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6991, d0.loss_map_cls_all: 0.2392, d0.loss_map_pts_all: 1.4133, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2392, d0.loss_map_pts: 1.4133, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2095, d1.loss_map_pts: 1.0121, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1853, d2.loss_map_pts: 0.8133, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1740, d3.loss_map_pts: 0.7397, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1676, d4.loss_map_pts: 0.7130, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1643, d5.loss_map_pts: 0.7027, d5.loss_map_dir: 0.0096, loss: 30.9227, grad_norm: 169.6472 +2026-02-27 12:54:08,212 - DriveTransformer - INFO - Epoch [7][11300/39528] lr: 8.550e-05, eta: 5 days, 22:31:07, time: 0.731, data_time: 0.033, memory: 19865, loss_cls: 0.1499, loss_bbox: 0.3588, loss_traj: 0.5295, loss_traj_cls: 0.0010, loss_map_cls: 0.1763, loss_map_pts: 0.6761, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.3179, d0.loss_plan_l1_fix_dist: 0.4473, d1.loss_plan_l1_fix_time: 1.1419, d1.loss_plan_l1_fix_dist: 0.1922, d2.loss_plan_l1_fix_time: 1.1289, d2.loss_plan_l1_fix_dist: 0.1875, d3.loss_plan_l1_fix_time: 1.1188, d3.loss_plan_l1_fix_dist: 0.1922, d4.loss_plan_l1_fix_time: 1.1212, d4.loss_plan_l1_fix_dist: 0.2010, d5.loss_plan_l1_fix_time: 1.1246, d5.loss_plan_l1_fix_dist: 0.2150, d6.loss_plan_l1_fix_time: 1.1287, d6.loss_plan_l1_fix_dist: 0.2325, d0.loss_cls_all: 0.1917, d0.loss_bbox_all: 0.4245, d0.loss_cls: 0.1917, d0.loss_bbox: 0.4245, d1.loss_cls: 0.1885, d1.loss_bbox: 0.3882, d2.loss_cls: 0.1712, d2.loss_bbox: 0.3703, d3.loss_cls: 0.1563, d3.loss_bbox: 0.3649, d4.loss_cls: 0.1519, d4.loss_bbox: 0.3620, d5.loss_cls: 0.1519, d5.loss_bbox: 0.3581, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7656, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6015, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5487, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5426, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5335, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5290, d0.loss_map_cls_all: 0.2600, d0.loss_map_pts_all: 1.3961, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2600, d0.loss_map_pts: 1.3961, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2287, d1.loss_map_pts: 0.9419, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.2064, d2.loss_map_pts: 0.7652, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1939, d3.loss_map_pts: 0.7050, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1841, d4.loss_map_pts: 0.6830, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1790, d5.loss_map_pts: 0.6768, d5.loss_map_dir: 0.0102, loss: 28.2184, grad_norm: 167.8694 +2026-02-27 12:54:44,690 - DriveTransformer - INFO - Epoch [7][11350/39528] lr: 8.550e-05, eta: 5 days, 22:30:21, time: 0.730, data_time: 0.035, memory: 19865, loss_cls: 0.1779, loss_bbox: 0.3881, loss_traj: 0.6533, loss_traj_cls: 0.0010, loss_map_cls: 0.1859, loss_map_pts: 0.8196, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.6852, d0.loss_plan_l1_fix_dist: 0.4065, d1.loss_plan_l1_fix_time: 1.0784, d1.loss_plan_l1_fix_dist: 0.2265, d2.loss_plan_l1_fix_time: 1.0689, d2.loss_plan_l1_fix_dist: 0.2276, d3.loss_plan_l1_fix_time: 1.0732, d3.loss_plan_l1_fix_dist: 0.2401, d4.loss_plan_l1_fix_time: 1.0785, d4.loss_plan_l1_fix_dist: 0.2555, d5.loss_plan_l1_fix_time: 1.0842, d5.loss_plan_l1_fix_dist: 0.2739, d6.loss_plan_l1_fix_time: 1.0904, d6.loss_plan_l1_fix_dist: 0.2962, d0.loss_cls_all: 0.2216, d0.loss_bbox_all: 0.4573, d0.loss_cls: 0.2216, d0.loss_bbox: 0.4573, d1.loss_cls: 0.2106, d1.loss_bbox: 0.4251, d2.loss_cls: 0.1969, d2.loss_bbox: 0.4044, d3.loss_cls: 0.1819, d3.loss_bbox: 0.3973, d4.loss_cls: 0.1778, d4.loss_bbox: 0.3929, d5.loss_cls: 0.1773, d5.loss_bbox: 0.3892, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9201, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7209, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6683, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6505, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6442, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6505, d0.loss_map_cls_all: 0.2609, d0.loss_map_pts_all: 1.6211, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2609, d0.loss_map_pts: 1.6211, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2297, d1.loss_map_pts: 1.1479, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.2076, d2.loss_map_pts: 0.9405, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1967, d3.loss_map_pts: 0.8579, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1916, d4.loss_map_pts: 0.8254, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1883, d5.loss_map_pts: 0.8187, d5.loss_map_dir: 0.0107, loss: 31.3352, grad_norm: 170.0958 +2026-02-27 12:55:20,177 - DriveTransformer - INFO - Epoch [7][11400/39528] lr: 8.550e-05, eta: 5 days, 22:28:34, time: 0.710, data_time: 0.034, memory: 19865, loss_cls: 0.1461, loss_bbox: 0.3438, loss_traj: 0.5867, loss_traj_cls: 0.0010, loss_map_cls: 0.1398, loss_map_pts: 0.5923, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.6960, d0.loss_plan_l1_fix_dist: 0.4455, d1.loss_plan_l1_fix_time: 1.0904, d1.loss_plan_l1_fix_dist: 0.2060, d2.loss_plan_l1_fix_time: 1.0656, d2.loss_plan_l1_fix_dist: 0.2098, d3.loss_plan_l1_fix_time: 1.0628, d3.loss_plan_l1_fix_dist: 0.2240, d4.loss_plan_l1_fix_time: 1.0681, d4.loss_plan_l1_fix_dist: 0.2371, d5.loss_plan_l1_fix_time: 1.0743, d5.loss_plan_l1_fix_dist: 0.2502, d6.loss_plan_l1_fix_time: 1.0810, d6.loss_plan_l1_fix_dist: 0.2627, d0.loss_cls_all: 0.1834, d0.loss_bbox_all: 0.4002, d0.loss_cls: 0.1834, d0.loss_bbox: 0.4002, d1.loss_cls: 0.1746, d1.loss_bbox: 0.3716, d2.loss_cls: 0.1640, d2.loss_bbox: 0.3507, d3.loss_cls: 0.1542, d3.loss_bbox: 0.3430, d4.loss_cls: 0.1472, d4.loss_bbox: 0.3445, d5.loss_cls: 0.1474, d5.loss_bbox: 0.3424, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8568, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6646, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6129, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5926, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5917, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5865, d0.loss_map_cls_all: 0.2132, d0.loss_map_pts_all: 1.1539, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2132, d0.loss_map_pts: 1.1539, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1781, d1.loss_map_pts: 0.8037, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1576, d2.loss_map_pts: 0.6687, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1504, d3.loss_map_pts: 0.6150, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1445, d4.loss_map_pts: 0.5974, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1416, d5.loss_map_pts: 0.5935, d5.loss_map_dir: 0.0082, loss: 27.2499, grad_norm: 168.6882 +2026-02-27 12:55:58,358 - DriveTransformer - INFO - Epoch [7][11450/39528] lr: 8.550e-05, eta: 5 days, 22:29:32, time: 0.764, data_time: 0.035, memory: 19865, loss_cls: 0.1710, loss_bbox: 0.3674, loss_traj: 0.5685, loss_traj_cls: 0.0009, loss_map_cls: 0.1630, loss_map_pts: 0.7589, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.3715, d0.loss_plan_l1_fix_dist: 0.4092, d1.loss_plan_l1_fix_time: 1.0291, d1.loss_plan_l1_fix_dist: 0.2187, d2.loss_plan_l1_fix_time: 1.0074, d2.loss_plan_l1_fix_dist: 0.2225, d3.loss_plan_l1_fix_time: 1.0164, d3.loss_plan_l1_fix_dist: 0.2320, d4.loss_plan_l1_fix_time: 1.0225, d4.loss_plan_l1_fix_dist: 0.2475, d5.loss_plan_l1_fix_time: 1.0291, d5.loss_plan_l1_fix_dist: 0.2652, d6.loss_plan_l1_fix_time: 1.0363, d6.loss_plan_l1_fix_dist: 0.2809, d0.loss_cls_all: 0.2117, d0.loss_bbox_all: 0.4320, d0.loss_cls: 0.2117, d0.loss_bbox: 0.4320, d1.loss_cls: 0.2021, d1.loss_bbox: 0.3999, d2.loss_cls: 0.1887, d2.loss_bbox: 0.3810, d3.loss_cls: 0.1801, d3.loss_bbox: 0.3734, d4.loss_cls: 0.1722, d4.loss_bbox: 0.3698, d5.loss_cls: 0.1705, d5.loss_bbox: 0.3681, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7921, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6388, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5832, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5649, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5644, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5667, d0.loss_map_cls_all: 0.2456, d0.loss_map_pts_all: 1.5268, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2456, d0.loss_map_pts: 1.5268, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2165, d1.loss_map_pts: 1.0804, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1879, d2.loss_map_pts: 0.8769, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1749, d3.loss_map_pts: 0.7961, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1681, d4.loss_map_pts: 0.7665, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1655, d5.loss_map_pts: 0.7600, d5.loss_map_dir: 0.0102, loss: 29.0435, grad_norm: 169.7446 +2026-02-27 12:56:36,786 - DriveTransformer - INFO - Epoch [7][11500/39528] lr: 8.550e-05, eta: 5 days, 22:30:44, time: 0.768, data_time: 0.037, memory: 19865, loss_cls: 0.1635, loss_bbox: 0.3587, loss_traj: 0.6355, loss_traj_cls: 0.0009, loss_map_cls: 0.1886, loss_map_pts: 0.8133, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.3753, d0.loss_plan_l1_fix_dist: 0.4252, d1.loss_plan_l1_fix_time: 1.0756, d1.loss_plan_l1_fix_dist: 0.2167, d2.loss_plan_l1_fix_time: 1.0607, d2.loss_plan_l1_fix_dist: 0.2193, d3.loss_plan_l1_fix_time: 1.0638, d3.loss_plan_l1_fix_dist: 0.2254, d4.loss_plan_l1_fix_time: 1.0687, d4.loss_plan_l1_fix_dist: 0.2332, d5.loss_plan_l1_fix_time: 1.0737, d5.loss_plan_l1_fix_dist: 0.2476, d6.loss_plan_l1_fix_time: 1.0794, d6.loss_plan_l1_fix_dist: 0.2670, d0.loss_cls_all: 0.2023, d0.loss_bbox_all: 0.4271, d0.loss_cls: 0.2023, d0.loss_bbox: 0.4271, d1.loss_cls: 0.1961, d1.loss_bbox: 0.3890, d2.loss_cls: 0.1813, d2.loss_bbox: 0.3717, d3.loss_cls: 0.1694, d3.loss_bbox: 0.3671, d4.loss_cls: 0.1655, d4.loss_bbox: 0.3610, d5.loss_cls: 0.1642, d5.loss_bbox: 0.3589, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8650, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6935, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6473, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6381, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6345, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6359, d0.loss_map_cls_all: 0.2772, d0.loss_map_pts_all: 1.6608, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2772, d0.loss_map_pts: 1.6608, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2381, d1.loss_map_pts: 1.1367, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.2127, d2.loss_map_pts: 0.9333, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.2018, d3.loss_map_pts: 0.8541, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1948, d4.loss_map_pts: 0.8213, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1890, d5.loss_map_pts: 0.8154, d5.loss_map_dir: 0.0103, loss: 30.4461, grad_norm: 169.3706 +2026-02-27 12:57:12,608 - DriveTransformer - INFO - Epoch [7][11550/39528] lr: 8.550e-05, eta: 5 days, 22:29:17, time: 0.716, data_time: 0.041, memory: 19865, loss_cls: 0.1498, loss_bbox: 0.3310, loss_traj: 0.7060, loss_traj_cls: 0.0010, loss_map_cls: 0.1345, loss_map_pts: 0.5948, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.5314, d0.loss_plan_l1_fix_dist: 0.5104, d1.loss_plan_l1_fix_time: 1.0310, d1.loss_plan_l1_fix_dist: 0.1967, d2.loss_plan_l1_fix_time: 1.0192, d2.loss_plan_l1_fix_dist: 0.1965, d3.loss_plan_l1_fix_time: 1.0228, d3.loss_plan_l1_fix_dist: 0.2066, d4.loss_plan_l1_fix_time: 1.0259, d4.loss_plan_l1_fix_dist: 0.2186, d5.loss_plan_l1_fix_time: 1.0298, d5.loss_plan_l1_fix_dist: 0.2339, d6.loss_plan_l1_fix_time: 1.0346, d6.loss_plan_l1_fix_dist: 0.2515, d0.loss_cls_all: 0.1855, d0.loss_bbox_all: 0.3831, d0.loss_cls: 0.1855, d0.loss_bbox: 0.3831, d1.loss_cls: 0.1790, d1.loss_bbox: 0.3502, d2.loss_cls: 0.1664, d2.loss_bbox: 0.3381, d3.loss_cls: 0.1540, d3.loss_bbox: 0.3347, d4.loss_cls: 0.1506, d4.loss_bbox: 0.3311, d5.loss_cls: 0.1488, d5.loss_bbox: 0.3317, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9642, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7814, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7271, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7127, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7042, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7041, d0.loss_map_cls_all: 0.2104, d0.loss_map_pts_all: 1.1663, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2104, d0.loss_map_pts: 1.1663, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1805, d1.loss_map_pts: 0.8180, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1581, d2.loss_map_pts: 0.6732, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1474, d3.loss_map_pts: 0.6186, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1418, d4.loss_map_pts: 0.5980, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1370, d5.loss_map_pts: 0.5952, d5.loss_map_dir: 0.0071, loss: 27.5230, grad_norm: 168.1696 +2026-02-27 12:57:49,219 - DriveTransformer - INFO - Epoch [7][11600/39528] lr: 8.550e-05, eta: 5 days, 22:28:43, time: 0.734, data_time: 0.035, memory: 19865, loss_cls: 0.1609, loss_bbox: 0.3495, loss_traj: 0.6912, loss_traj_cls: 0.0010, loss_map_cls: 0.1401, loss_map_pts: 0.6101, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.6260, d0.loss_plan_l1_fix_dist: 0.5124, d1.loss_plan_l1_fix_time: 1.1001, d1.loss_plan_l1_fix_dist: 0.2038, d2.loss_plan_l1_fix_time: 1.0849, d2.loss_plan_l1_fix_dist: 0.2038, d3.loss_plan_l1_fix_time: 1.0863, d3.loss_plan_l1_fix_dist: 0.2231, d4.loss_plan_l1_fix_time: 1.0902, d4.loss_plan_l1_fix_dist: 0.2479, d5.loss_plan_l1_fix_time: 1.0953, d5.loss_plan_l1_fix_dist: 0.2738, d6.loss_plan_l1_fix_time: 1.1003, d6.loss_plan_l1_fix_dist: 0.2944, d0.loss_cls_all: 0.1995, d0.loss_bbox_all: 0.4060, d0.loss_cls: 0.1995, d0.loss_bbox: 0.4060, d1.loss_cls: 0.1914, d1.loss_bbox: 0.3737, d2.loss_cls: 0.1761, d2.loss_bbox: 0.3546, d3.loss_cls: 0.1657, d3.loss_bbox: 0.3520, d4.loss_cls: 0.1613, d4.loss_bbox: 0.3488, d5.loss_cls: 0.1611, d5.loss_bbox: 0.3487, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9342, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7588, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7082, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6967, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6884, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6923, d0.loss_map_cls_all: 0.2034, d0.loss_map_pts_all: 1.2782, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2034, d0.loss_map_pts: 1.2782, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1762, d1.loss_map_pts: 0.8642, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1557, d2.loss_map_pts: 0.6971, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1500, d3.loss_map_pts: 0.6356, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1446, d4.loss_map_pts: 0.6144, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1405, d5.loss_map_pts: 0.6106, d5.loss_map_dir: 0.0079, loss: 28.6400, grad_norm: 169.5620 +2026-02-27 12:58:24,553 - DriveTransformer - INFO - Epoch [7][11650/39528] lr: 8.550e-05, eta: 5 days, 22:26:43, time: 0.705, data_time: 0.032, memory: 19865, loss_cls: 0.1597, loss_bbox: 0.3577, loss_traj: 0.7930, loss_traj_cls: 0.0010, loss_map_cls: 0.1563, loss_map_pts: 0.6475, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.5794, d0.loss_plan_l1_fix_dist: 0.4020, d1.loss_plan_l1_fix_time: 1.0223, d1.loss_plan_l1_fix_dist: 0.1832, d2.loss_plan_l1_fix_time: 1.0102, d2.loss_plan_l1_fix_dist: 0.1822, d3.loss_plan_l1_fix_time: 1.0152, d3.loss_plan_l1_fix_dist: 0.1960, d4.loss_plan_l1_fix_time: 1.0217, d4.loss_plan_l1_fix_dist: 0.2172, d5.loss_plan_l1_fix_time: 1.0284, d5.loss_plan_l1_fix_dist: 0.2406, d6.loss_plan_l1_fix_time: 1.0350, d6.loss_plan_l1_fix_dist: 0.2667, d0.loss_cls_all: 0.1944, d0.loss_bbox_all: 0.4097, d0.loss_cls: 0.1944, d0.loss_bbox: 0.4097, d1.loss_cls: 0.1857, d1.loss_bbox: 0.3796, d2.loss_cls: 0.1753, d2.loss_bbox: 0.3638, d3.loss_cls: 0.1661, d3.loss_bbox: 0.3591, d4.loss_cls: 0.1624, d4.loss_bbox: 0.3559, d5.loss_cls: 0.1608, d5.loss_bbox: 0.3551, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9877, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8505, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7860, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7913, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7881, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7931, d0.loss_map_cls_all: 0.2378, d0.loss_map_pts_all: 1.2915, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2378, d0.loss_map_pts: 1.2915, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.2067, d1.loss_map_pts: 0.8998, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1820, d2.loss_map_pts: 0.7400, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1689, d3.loss_map_pts: 0.6694, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1601, d4.loss_map_pts: 0.6511, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1575, d5.loss_map_pts: 0.6487, d5.loss_map_dir: 0.0077, loss: 28.9918, grad_norm: 170.3937 +2026-02-27 12:59:02,289 - DriveTransformer - INFO - Epoch [7][11700/39528] lr: 8.550e-05, eta: 5 days, 22:27:13, time: 0.755, data_time: 0.037, memory: 19865, loss_cls: 0.1757, loss_bbox: 0.3917, loss_traj: 0.7462, loss_traj_cls: 0.0010, loss_map_cls: 0.1518, loss_map_pts: 0.6996, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.8423, d0.loss_plan_l1_fix_dist: 0.3950, d1.loss_plan_l1_fix_time: 1.1939, d1.loss_plan_l1_fix_dist: 0.1953, d2.loss_plan_l1_fix_time: 1.1766, d2.loss_plan_l1_fix_dist: 0.1911, d3.loss_plan_l1_fix_time: 1.1718, d3.loss_plan_l1_fix_dist: 0.1994, d4.loss_plan_l1_fix_time: 1.1748, d4.loss_plan_l1_fix_dist: 0.2094, d5.loss_plan_l1_fix_time: 1.1785, d5.loss_plan_l1_fix_dist: 0.2241, d6.loss_plan_l1_fix_time: 1.1822, d6.loss_plan_l1_fix_dist: 0.2442, d0.loss_cls_all: 0.2231, d0.loss_bbox_all: 0.4602, d0.loss_cls: 0.2231, d0.loss_bbox: 0.4602, d1.loss_cls: 0.2142, d1.loss_bbox: 0.4237, d2.loss_cls: 0.1995, d2.loss_bbox: 0.4038, d3.loss_cls: 0.1859, d3.loss_bbox: 0.3979, d4.loss_cls: 0.1782, d4.loss_bbox: 0.3947, d5.loss_cls: 0.1754, d5.loss_bbox: 0.3947, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9960, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8203, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7737, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7524, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7441, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7479, d0.loss_map_cls_all: 0.2258, d0.loss_map_pts_all: 1.3828, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2258, d0.loss_map_pts: 1.3828, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1951, d1.loss_map_pts: 0.9578, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1748, d2.loss_map_pts: 0.7907, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1655, d3.loss_map_pts: 0.7284, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1588, d4.loss_map_pts: 0.7070, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1533, d5.loss_map_pts: 0.7000, d5.loss_map_dir: 0.0095, loss: 30.9428, grad_norm: 171.6657 +2026-02-27 12:59:39,989 - DriveTransformer - INFO - Epoch [7][11750/39528] lr: 8.550e-05, eta: 5 days, 22:27:40, time: 0.754, data_time: 0.034, memory: 19865, loss_cls: 0.1539, loss_bbox: 0.3617, loss_traj: 0.6920, loss_traj_cls: 0.0010, loss_map_cls: 0.1562, loss_map_pts: 0.7008, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.6776, d0.loss_plan_l1_fix_dist: 0.3720, d1.loss_plan_l1_fix_time: 1.0498, d1.loss_plan_l1_fix_dist: 0.1717, d2.loss_plan_l1_fix_time: 1.0345, d2.loss_plan_l1_fix_dist: 0.1752, d3.loss_plan_l1_fix_time: 1.0308, d3.loss_plan_l1_fix_dist: 0.1956, d4.loss_plan_l1_fix_time: 1.0328, d4.loss_plan_l1_fix_dist: 0.2088, d5.loss_plan_l1_fix_time: 1.0351, d5.loss_plan_l1_fix_dist: 0.2141, d6.loss_plan_l1_fix_time: 1.0383, d6.loss_plan_l1_fix_dist: 0.2200, d0.loss_cls_all: 0.1874, d0.loss_bbox_all: 0.4241, d0.loss_cls: 0.1874, d0.loss_bbox: 0.4241, d1.loss_cls: 0.1810, d1.loss_bbox: 0.3898, d2.loss_cls: 0.1728, d2.loss_bbox: 0.3710, d3.loss_cls: 0.1588, d3.loss_bbox: 0.3652, d4.loss_cls: 0.1550, d4.loss_bbox: 0.3637, d5.loss_cls: 0.1537, d5.loss_bbox: 0.3620, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9426, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7803, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7246, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7027, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6983, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6958, d0.loss_map_cls_all: 0.2297, d0.loss_map_pts_all: 1.4309, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2297, d0.loss_map_pts: 1.4309, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2001, d1.loss_map_pts: 0.9711, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1759, d2.loss_map_pts: 0.8009, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1674, d3.loss_map_pts: 0.7340, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1601, d4.loss_map_pts: 0.7061, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1572, d5.loss_map_pts: 0.6990, d5.loss_map_dir: 0.0092, loss: 29.1326, grad_norm: 169.3449 +2026-02-27 13:00:17,238 - DriveTransformer - INFO - Epoch [7][11800/39528] lr: 8.550e-05, eta: 5 days, 22:27:38, time: 0.745, data_time: 0.032, memory: 19865, loss_cls: 0.1627, loss_bbox: 0.3715, loss_traj: 0.6053, loss_traj_cls: 0.0010, loss_map_cls: 0.1603, loss_map_pts: 0.7052, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.6380, d0.loss_plan_l1_fix_dist: 0.3899, d1.loss_plan_l1_fix_time: 1.0791, d1.loss_plan_l1_fix_dist: 0.1967, d2.loss_plan_l1_fix_time: 1.0637, d2.loss_plan_l1_fix_dist: 0.1991, d3.loss_plan_l1_fix_time: 1.0629, d3.loss_plan_l1_fix_dist: 0.2122, d4.loss_plan_l1_fix_time: 1.0660, d4.loss_plan_l1_fix_dist: 0.2289, d5.loss_plan_l1_fix_time: 1.0699, d5.loss_plan_l1_fix_dist: 0.2458, d6.loss_plan_l1_fix_time: 1.0747, d6.loss_plan_l1_fix_dist: 0.2591, d0.loss_cls_all: 0.1991, d0.loss_bbox_all: 0.4416, d0.loss_cls: 0.1991, d0.loss_bbox: 0.4416, d1.loss_cls: 0.1897, d1.loss_bbox: 0.4055, d2.loss_cls: 0.1795, d2.loss_bbox: 0.3851, d3.loss_cls: 0.1690, d3.loss_bbox: 0.3773, d4.loss_cls: 0.1646, d4.loss_bbox: 0.3740, d5.loss_cls: 0.1621, d5.loss_bbox: 0.3722, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8050, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6324, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6012, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5952, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5945, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6012, d0.loss_map_cls_all: 0.2274, d0.loss_map_pts_all: 1.3560, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2274, d0.loss_map_pts: 1.3560, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1995, d1.loss_map_pts: 0.9884, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1826, d2.loss_map_pts: 0.8160, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1729, d3.loss_map_pts: 0.7456, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1656, d4.loss_map_pts: 0.7181, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1623, d5.loss_map_pts: 0.7087, d5.loss_map_dir: 0.0092, loss: 28.7853, grad_norm: 162.6565 +2026-02-27 13:00:53,155 - DriveTransformer - INFO - Epoch [7][11850/39528] lr: 8.550e-05, eta: 5 days, 22:26:18, time: 0.718, data_time: 0.037, memory: 19865, loss_cls: 0.1467, loss_bbox: 0.3330, loss_traj: 0.6497, loss_traj_cls: 0.0010, loss_map_cls: 0.1433, loss_map_pts: 0.5974, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.8047, d0.loss_plan_l1_fix_dist: 0.3581, d1.loss_plan_l1_fix_time: 1.0839, d1.loss_plan_l1_fix_dist: 0.1743, d2.loss_plan_l1_fix_time: 1.0650, d2.loss_plan_l1_fix_dist: 0.1817, d3.loss_plan_l1_fix_time: 1.0639, d3.loss_plan_l1_fix_dist: 0.1925, d4.loss_plan_l1_fix_time: 1.0662, d4.loss_plan_l1_fix_dist: 0.2073, d5.loss_plan_l1_fix_time: 1.0691, d5.loss_plan_l1_fix_dist: 0.2264, d6.loss_plan_l1_fix_time: 1.0726, d6.loss_plan_l1_fix_dist: 0.2488, d0.loss_cls_all: 0.1816, d0.loss_bbox_all: 0.3931, d0.loss_cls: 0.1816, d0.loss_bbox: 0.3931, d1.loss_cls: 0.1740, d1.loss_bbox: 0.3613, d2.loss_cls: 0.1643, d2.loss_bbox: 0.3423, d3.loss_cls: 0.1512, d3.loss_bbox: 0.3362, d4.loss_cls: 0.1481, d4.loss_bbox: 0.3314, d5.loss_cls: 0.1466, d5.loss_bbox: 0.3318, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8946, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7296, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6630, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6503, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6470, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6430, d0.loss_map_cls_all: 0.2208, d0.loss_map_pts_all: 1.2240, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2208, d0.loss_map_pts: 1.2240, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1931, d1.loss_map_pts: 0.8578, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1664, d2.loss_map_pts: 0.6944, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1561, d3.loss_map_pts: 0.6276, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1495, d4.loss_map_pts: 0.6009, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1456, d5.loss_map_pts: 0.5980, d5.loss_map_dir: 0.0088, loss: 27.7016, grad_norm: 161.5742 +2026-02-27 13:01:29,895 - DriveTransformer - INFO - Epoch [7][11900/39528] lr: 8.550e-05, eta: 5 days, 22:25:47, time: 0.735, data_time: 0.036, memory: 19865, loss_cls: 0.1598, loss_bbox: 0.3769, loss_traj: 0.6937, loss_traj_cls: 0.0010, loss_map_cls: 0.1403, loss_map_pts: 0.6287, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.7183, d0.loss_plan_l1_fix_dist: 0.3710, d1.loss_plan_l1_fix_time: 1.0175, d1.loss_plan_l1_fix_dist: 0.1890, d2.loss_plan_l1_fix_time: 1.0038, d2.loss_plan_l1_fix_dist: 0.2076, d3.loss_plan_l1_fix_time: 1.0077, d3.loss_plan_l1_fix_dist: 0.2318, d4.loss_plan_l1_fix_time: 1.0115, d4.loss_plan_l1_fix_dist: 0.2518, d5.loss_plan_l1_fix_time: 1.0158, d5.loss_plan_l1_fix_dist: 0.2769, d6.loss_plan_l1_fix_time: 1.0204, d6.loss_plan_l1_fix_dist: 0.3191, d0.loss_cls_all: 0.1975, d0.loss_bbox_all: 0.4259, d0.loss_cls: 0.1975, d0.loss_bbox: 0.4259, d1.loss_cls: 0.1872, d1.loss_bbox: 0.3934, d2.loss_cls: 0.1736, d2.loss_bbox: 0.3753, d3.loss_cls: 0.1638, d3.loss_bbox: 0.3708, d4.loss_cls: 0.1588, d4.loss_bbox: 0.3737, d5.loss_cls: 0.1595, d5.loss_bbox: 0.3734, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9179, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7392, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7092, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6846, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6924, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6901, d0.loss_map_cls_all: 0.2196, d0.loss_map_pts_all: 1.2777, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2196, d0.loss_map_pts: 1.2777, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1839, d1.loss_map_pts: 0.8704, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1637, d2.loss_map_pts: 0.7114, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1542, d3.loss_map_pts: 0.6494, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1455, d4.loss_map_pts: 0.6335, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1414, d5.loss_map_pts: 0.6269, d5.loss_map_dir: 0.0095, loss: 28.4077, grad_norm: 161.7714 +2026-02-27 13:02:06,739 - DriveTransformer - INFO - Epoch [7][11950/39528] lr: 8.550e-05, eta: 5 days, 22:25:22, time: 0.737, data_time: 0.038, memory: 19865, loss_cls: 0.1758, loss_bbox: 0.3877, loss_traj: 0.6021, loss_traj_cls: 0.0010, loss_map_cls: 0.1760, loss_map_pts: 0.7044, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 3.0003, d0.loss_plan_l1_fix_dist: 0.4005, d1.loss_plan_l1_fix_time: 1.1061, d1.loss_plan_l1_fix_dist: 0.1967, d2.loss_plan_l1_fix_time: 1.0948, d2.loss_plan_l1_fix_dist: 0.2021, d3.loss_plan_l1_fix_time: 1.0990, d3.loss_plan_l1_fix_dist: 0.2192, d4.loss_plan_l1_fix_time: 1.1020, d4.loss_plan_l1_fix_dist: 0.2260, d5.loss_plan_l1_fix_time: 1.1055, d5.loss_plan_l1_fix_dist: 0.2402, d6.loss_plan_l1_fix_time: 1.1094, d6.loss_plan_l1_fix_dist: 0.2595, d0.loss_cls_all: 0.2135, d0.loss_bbox_all: 0.4410, d0.loss_cls: 0.2135, d0.loss_bbox: 0.4410, d1.loss_cls: 0.2060, d1.loss_bbox: 0.4075, d2.loss_cls: 0.1902, d2.loss_bbox: 0.3926, d3.loss_cls: 0.1776, d3.loss_bbox: 0.3858, d4.loss_cls: 0.1753, d4.loss_bbox: 0.3872, d5.loss_cls: 0.1752, d5.loss_bbox: 0.3864, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8594, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6599, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6092, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5986, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5993, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5990, d0.loss_map_cls_all: 0.2460, d0.loss_map_pts_all: 1.3883, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2460, d0.loss_map_pts: 1.3883, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2188, d1.loss_map_pts: 0.9480, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2023, d2.loss_map_pts: 0.7871, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1895, d3.loss_map_pts: 0.7299, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1821, d4.loss_map_pts: 0.7093, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1781, d5.loss_map_pts: 0.7029, d5.loss_map_dir: 0.0108, loss: 29.7328, grad_norm: 161.0991 +2026-02-27 13:02:43,918 - DriveTransformer - INFO - Epoch [7][12000/39528] lr: 8.550e-05, eta: 5 days, 22:25:16, time: 0.744, data_time: 0.033, memory: 19865, loss_cls: 0.1515, loss_bbox: 0.3406, loss_traj: 0.5948, loss_traj_cls: 0.0010, loss_map_cls: 0.1256, loss_map_pts: 0.6215, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.1551, d0.loss_plan_l1_fix_dist: 0.4439, d1.loss_plan_l1_fix_time: 0.9304, d1.loss_plan_l1_fix_dist: 0.2001, d2.loss_plan_l1_fix_time: 0.9210, d2.loss_plan_l1_fix_dist: 0.2100, d3.loss_plan_l1_fix_time: 0.9243, d3.loss_plan_l1_fix_dist: 0.2417, d4.loss_plan_l1_fix_time: 0.9280, d4.loss_plan_l1_fix_dist: 0.2695, d5.loss_plan_l1_fix_time: 0.9315, d5.loss_plan_l1_fix_dist: 0.2961, d6.loss_plan_l1_fix_time: 0.9358, d6.loss_plan_l1_fix_dist: 0.3071, d0.loss_cls_all: 0.1802, d0.loss_bbox_all: 0.4079, d0.loss_cls: 0.1802, d0.loss_bbox: 0.4079, d1.loss_cls: 0.1740, d1.loss_bbox: 0.3725, d2.loss_cls: 0.1604, d2.loss_bbox: 0.3554, d3.loss_cls: 0.1523, d3.loss_bbox: 0.3475, d4.loss_cls: 0.1487, d4.loss_bbox: 0.3459, d5.loss_cls: 0.1498, d5.loss_bbox: 0.3422, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7783, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6360, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6042, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6003, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5998, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5946, d0.loss_map_cls_all: 0.2012, d0.loss_map_pts_all: 1.3372, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2012, d0.loss_map_pts: 1.3372, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.1700, d1.loss_map_pts: 0.8725, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1515, d2.loss_map_pts: 0.6979, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1415, d3.loss_map_pts: 0.6401, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1328, d4.loss_map_pts: 0.6216, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1282, d5.loss_map_pts: 0.6190, d5.loss_map_dir: 0.0107, loss: 26.4089, grad_norm: 163.9320 +2026-02-27 13:03:20,688 - DriveTransformer - INFO - Epoch [7][12050/39528] lr: 8.550e-05, eta: 5 days, 22:24:47, time: 0.735, data_time: 0.035, memory: 19865, loss_cls: 0.1481, loss_bbox: 0.3457, loss_traj: 0.7118, loss_traj_cls: 0.0010, loss_map_cls: 0.1280, loss_map_pts: 0.6357, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.8396, d0.loss_plan_l1_fix_dist: 0.3776, d1.loss_plan_l1_fix_time: 1.1680, d1.loss_plan_l1_fix_dist: 0.1859, d2.loss_plan_l1_fix_time: 1.1412, d2.loss_plan_l1_fix_dist: 0.1899, d3.loss_plan_l1_fix_time: 1.1381, d3.loss_plan_l1_fix_dist: 0.2014, d4.loss_plan_l1_fix_time: 1.1407, d4.loss_plan_l1_fix_dist: 0.2141, d5.loss_plan_l1_fix_time: 1.1439, d5.loss_plan_l1_fix_dist: 0.2308, d6.loss_plan_l1_fix_time: 1.1482, d6.loss_plan_l1_fix_dist: 0.2450, d0.loss_cls_all: 0.1827, d0.loss_bbox_all: 0.4026, d0.loss_cls: 0.1827, d0.loss_bbox: 0.4026, d1.loss_cls: 0.1751, d1.loss_bbox: 0.3711, d2.loss_cls: 0.1620, d2.loss_bbox: 0.3529, d3.loss_cls: 0.1525, d3.loss_bbox: 0.3464, d4.loss_cls: 0.1474, d4.loss_bbox: 0.3453, d5.loss_cls: 0.1463, d5.loss_bbox: 0.3445, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9093, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7635, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7255, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7196, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7172, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7131, d0.loss_map_cls_all: 0.1967, d0.loss_map_pts_all: 1.2997, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.1967, d0.loss_map_pts: 1.2997, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1671, d1.loss_map_pts: 0.8682, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1495, d2.loss_map_pts: 0.7219, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1420, d3.loss_map_pts: 0.6602, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1335, d4.loss_map_pts: 0.6428, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1299, d5.loss_map_pts: 0.6352, d5.loss_map_dir: 0.0096, loss: 28.9222, grad_norm: 162.0814 +2026-02-27 13:03:57,088 - DriveTransformer - INFO - Epoch [7][12100/39528] lr: 8.550e-05, eta: 5 days, 22:23:56, time: 0.728, data_time: 0.035, memory: 19865, loss_cls: 0.1651, loss_bbox: 0.3833, loss_traj: 0.6753, loss_traj_cls: 0.0010, loss_map_cls: 0.1602, loss_map_pts: 0.7060, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.8014, d0.loss_plan_l1_fix_dist: 0.3725, d1.loss_plan_l1_fix_time: 1.2203, d1.loss_plan_l1_fix_dist: 0.1978, d2.loss_plan_l1_fix_time: 1.1949, d2.loss_plan_l1_fix_dist: 0.2072, d3.loss_plan_l1_fix_time: 1.1998, d3.loss_plan_l1_fix_dist: 0.2130, d4.loss_plan_l1_fix_time: 1.2030, d4.loss_plan_l1_fix_dist: 0.2279, d5.loss_plan_l1_fix_time: 1.2061, d5.loss_plan_l1_fix_dist: 0.2494, d6.loss_plan_l1_fix_time: 1.2096, d6.loss_plan_l1_fix_dist: 0.2781, d0.loss_cls_all: 0.2008, d0.loss_bbox_all: 0.4436, d0.loss_cls: 0.2008, d0.loss_bbox: 0.4436, d1.loss_cls: 0.1952, d1.loss_bbox: 0.4104, d2.loss_cls: 0.1817, d2.loss_bbox: 0.3914, d3.loss_cls: 0.1689, d3.loss_bbox: 0.3867, d4.loss_cls: 0.1662, d4.loss_bbox: 0.3825, d5.loss_cls: 0.1649, d5.loss_bbox: 0.3818, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8931, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7468, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6979, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6835, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6727, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6698, d0.loss_map_cls_all: 0.2372, d0.loss_map_pts_all: 1.3340, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2372, d0.loss_map_pts: 1.3340, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2033, d1.loss_map_pts: 0.9492, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1843, d2.loss_map_pts: 0.7889, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1715, d3.loss_map_pts: 0.7308, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1630, d4.loss_map_pts: 0.7117, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1602, d5.loss_map_pts: 0.7065, d5.loss_map_dir: 0.0088, loss: 30.3391, grad_norm: 158.4247 +2026-02-27 13:04:32,363 - DriveTransformer - INFO - Epoch [7][12150/39528] lr: 8.550e-05, eta: 5 days, 22:22:00, time: 0.705, data_time: 0.035, memory: 19865, loss_cls: 0.1308, loss_bbox: 0.3274, loss_traj: 0.5988, loss_traj_cls: 0.0011, loss_map_cls: 0.1419, loss_map_pts: 0.6320, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.8130, d0.loss_plan_l1_fix_dist: 0.4434, d1.loss_plan_l1_fix_time: 1.0583, d1.loss_plan_l1_fix_dist: 0.1816, d2.loss_plan_l1_fix_time: 1.0389, d2.loss_plan_l1_fix_dist: 0.1971, d3.loss_plan_l1_fix_time: 1.0384, d3.loss_plan_l1_fix_dist: 0.2087, d4.loss_plan_l1_fix_time: 1.0411, d4.loss_plan_l1_fix_dist: 0.2304, d5.loss_plan_l1_fix_time: 1.0443, d5.loss_plan_l1_fix_dist: 0.2458, d6.loss_plan_l1_fix_time: 1.0480, d6.loss_plan_l1_fix_dist: 0.2667, d0.loss_cls_all: 0.1606, d0.loss_bbox_all: 0.3860, d0.loss_cls: 0.1606, d0.loss_bbox: 0.3860, d1.loss_cls: 0.1549, d1.loss_bbox: 0.3516, d2.loss_cls: 0.1431, d2.loss_bbox: 0.3338, d3.loss_cls: 0.1307, d3.loss_bbox: 0.3282, d4.loss_cls: 0.1295, d4.loss_bbox: 0.3267, d5.loss_cls: 0.1304, d5.loss_bbox: 0.3261, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7449, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6363, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6033, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6022, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5980, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5980, d0.loss_map_cls_all: 0.2113, d0.loss_map_pts_all: 1.2903, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2113, d0.loss_map_pts: 1.2903, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1839, d1.loss_map_pts: 0.8909, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1637, d2.loss_map_pts: 0.7212, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1528, d3.loss_map_pts: 0.6633, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1458, d4.loss_map_pts: 0.6407, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1441, d5.loss_map_pts: 0.6320, d5.loss_map_dir: 0.0081, loss: 27.3286, grad_norm: 158.5524 +2026-02-27 13:05:10,118 - DriveTransformer - INFO - Epoch [7][12200/39528] lr: 8.550e-05, eta: 5 days, 22:22:27, time: 0.755, data_time: 0.034, memory: 19865, loss_cls: 0.1421, loss_bbox: 0.3434, loss_traj: 0.7049, loss_traj_cls: 0.0011, loss_map_cls: 0.1213, loss_map_pts: 0.6482, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.2177, d0.loss_plan_l1_fix_dist: 0.4424, d1.loss_plan_l1_fix_time: 0.9055, d1.loss_plan_l1_fix_dist: 0.1821, d2.loss_plan_l1_fix_time: 0.8873, d2.loss_plan_l1_fix_dist: 0.1970, d3.loss_plan_l1_fix_time: 0.8856, d3.loss_plan_l1_fix_dist: 0.2104, d4.loss_plan_l1_fix_time: 0.8887, d4.loss_plan_l1_fix_dist: 0.2253, d5.loss_plan_l1_fix_time: 0.8921, d5.loss_plan_l1_fix_dist: 0.2416, d6.loss_plan_l1_fix_time: 0.8953, d6.loss_plan_l1_fix_dist: 0.2638, d0.loss_cls_all: 0.1778, d0.loss_bbox_all: 0.3988, d0.loss_cls: 0.1778, d0.loss_bbox: 0.3988, d1.loss_cls: 0.1721, d1.loss_bbox: 0.3652, d2.loss_cls: 0.1590, d2.loss_bbox: 0.3482, d3.loss_cls: 0.1484, d3.loss_bbox: 0.3425, d4.loss_cls: 0.1432, d4.loss_bbox: 0.3412, d5.loss_cls: 0.1409, d5.loss_bbox: 0.3425, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8951, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7368, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7077, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6968, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6966, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7029, d0.loss_map_cls_all: 0.1946, d0.loss_map_pts_all: 1.3716, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.1946, d0.loss_map_pts: 1.3716, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1659, d1.loss_map_pts: 0.9252, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1475, d2.loss_map_pts: 0.7492, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1358, d3.loss_map_pts: 0.6820, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1274, d4.loss_map_pts: 0.6561, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1234, d5.loss_map_pts: 0.6482, d5.loss_map_dir: 0.0096, loss: 26.9611, grad_norm: 158.1383 +2026-02-27 13:05:47,987 - DriveTransformer - INFO - Epoch [7][12250/39528] lr: 8.550e-05, eta: 5 days, 22:23:00, time: 0.757, data_time: 0.035, memory: 19865, loss_cls: 0.1358, loss_bbox: 0.3140, loss_traj: 0.6788, loss_traj_cls: 0.0010, loss_map_cls: 0.1397, loss_map_pts: 0.6748, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.3558, d0.loss_plan_l1_fix_dist: 0.3632, d1.loss_plan_l1_fix_time: 0.9055, d1.loss_plan_l1_fix_dist: 0.1772, d2.loss_plan_l1_fix_time: 0.8849, d2.loss_plan_l1_fix_dist: 0.1968, d3.loss_plan_l1_fix_time: 0.8832, d3.loss_plan_l1_fix_dist: 0.2164, d4.loss_plan_l1_fix_time: 0.8857, d4.loss_plan_l1_fix_dist: 0.2411, d5.loss_plan_l1_fix_time: 0.8884, d5.loss_plan_l1_fix_dist: 0.2728, d6.loss_plan_l1_fix_time: 0.8916, d6.loss_plan_l1_fix_dist: 0.3017, d0.loss_cls_all: 0.1683, d0.loss_bbox_all: 0.3625, d0.loss_cls: 0.1683, d0.loss_bbox: 0.3625, d1.loss_cls: 0.1591, d1.loss_bbox: 0.3358, d2.loss_cls: 0.1492, d2.loss_bbox: 0.3202, d3.loss_cls: 0.1402, d3.loss_bbox: 0.3158, d4.loss_cls: 0.1359, d4.loss_bbox: 0.3142, d5.loss_cls: 0.1357, d5.loss_bbox: 0.3138, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8570, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7113, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6867, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6747, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6758, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6791, d0.loss_map_cls_all: 0.1977, d0.loss_map_pts_all: 1.3243, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.1977, d0.loss_map_pts: 1.3243, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1775, d1.loss_map_pts: 0.9206, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1621, d2.loss_map_pts: 0.7531, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1511, d3.loss_map_pts: 0.6968, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1436, d4.loss_map_pts: 0.6775, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1412, d5.loss_map_pts: 0.6756, d5.loss_map_dir: 0.0098, loss: 26.7011, grad_norm: 160.2381 +2026-02-27 13:06:24,386 - DriveTransformer - INFO - Epoch [7][12300/39528] lr: 8.550e-05, eta: 5 days, 22:22:09, time: 0.728, data_time: 0.035, memory: 19865, loss_cls: 0.1601, loss_bbox: 0.3677, loss_traj: 0.6914, loss_traj_cls: 0.0010, loss_map_cls: 0.1770, loss_map_pts: 0.7722, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.9156, d0.loss_plan_l1_fix_dist: 0.4362, d1.loss_plan_l1_fix_time: 1.1095, d1.loss_plan_l1_fix_dist: 0.1809, d2.loss_plan_l1_fix_time: 1.0973, d2.loss_plan_l1_fix_dist: 0.1896, d3.loss_plan_l1_fix_time: 1.0958, d3.loss_plan_l1_fix_dist: 0.2032, d4.loss_plan_l1_fix_time: 1.0970, d4.loss_plan_l1_fix_dist: 0.2232, d5.loss_plan_l1_fix_time: 1.0991, d5.loss_plan_l1_fix_dist: 0.2458, d6.loss_plan_l1_fix_time: 1.1018, d6.loss_plan_l1_fix_dist: 0.2696, d0.loss_cls_all: 0.1969, d0.loss_bbox_all: 0.4293, d0.loss_cls: 0.1969, d0.loss_bbox: 0.4293, d1.loss_cls: 0.1891, d1.loss_bbox: 0.3984, d2.loss_cls: 0.1785, d2.loss_bbox: 0.3802, d3.loss_cls: 0.1633, d3.loss_bbox: 0.3750, d4.loss_cls: 0.1588, d4.loss_bbox: 0.3708, d5.loss_cls: 0.1600, d5.loss_bbox: 0.3669, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9503, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7481, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7034, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6829, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6794, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6891, d0.loss_map_cls_all: 0.2385, d0.loss_map_pts_all: 1.4820, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2385, d0.loss_map_pts: 1.4820, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2171, d1.loss_map_pts: 1.0603, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1993, d2.loss_map_pts: 0.8757, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1872, d3.loss_map_pts: 0.8105, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1824, d4.loss_map_pts: 0.7803, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1785, d5.loss_map_pts: 0.7725, d5.loss_map_dir: 0.0096, loss: 30.6655, grad_norm: 154.3639 +2026-02-27 13:07:01,135 - DriveTransformer - INFO - Epoch [7][12350/39528] lr: 8.550e-05, eta: 5 days, 22:21:38, time: 0.735, data_time: 0.032, memory: 19865, loss_cls: 0.1621, loss_bbox: 0.3553, loss_traj: 0.7016, loss_traj_cls: 0.0010, loss_map_cls: 0.1427, loss_map_pts: 0.7123, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.5876, d0.loss_plan_l1_fix_dist: 0.4715, d1.loss_plan_l1_fix_time: 1.0544, d1.loss_plan_l1_fix_dist: 0.1989, d2.loss_plan_l1_fix_time: 1.0427, d2.loss_plan_l1_fix_dist: 0.2194, d3.loss_plan_l1_fix_time: 1.0451, d3.loss_plan_l1_fix_dist: 0.2537, d4.loss_plan_l1_fix_time: 1.0469, d4.loss_plan_l1_fix_dist: 0.2833, d5.loss_plan_l1_fix_time: 1.0491, d5.loss_plan_l1_fix_dist: 0.3204, d6.loss_plan_l1_fix_time: 1.0517, d6.loss_plan_l1_fix_dist: 0.3589, d0.loss_cls_all: 0.1971, d0.loss_bbox_all: 0.4206, d0.loss_cls: 0.1971, d0.loss_bbox: 0.4206, d1.loss_cls: 0.1892, d1.loss_bbox: 0.3878, d2.loss_cls: 0.1760, d2.loss_bbox: 0.3674, d3.loss_cls: 0.1656, d3.loss_bbox: 0.3619, d4.loss_cls: 0.1622, d4.loss_bbox: 0.3585, d5.loss_cls: 0.1622, d5.loss_bbox: 0.3572, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9504, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7745, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7318, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7188, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7100, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7099, d0.loss_map_cls_all: 0.2302, d0.loss_map_pts_all: 1.3941, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2302, d0.loss_map_pts: 1.3941, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1992, d1.loss_map_pts: 0.9768, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1743, d2.loss_map_pts: 0.8088, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1603, d3.loss_map_pts: 0.7424, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1509, d4.loss_map_pts: 0.7180, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1451, d5.loss_map_pts: 0.7119, d5.loss_map_dir: 0.0088, loss: 29.6884, grad_norm: 153.0420 +2026-02-27 13:07:36,961 - DriveTransformer - INFO - Epoch [7][12400/39528] lr: 8.550e-05, eta: 5 days, 22:20:19, time: 0.718, data_time: 0.038, memory: 19865, loss_cls: 0.1526, loss_bbox: 0.3391, loss_traj: 0.6379, loss_traj_cls: 0.0011, loss_map_cls: 0.1626, loss_map_pts: 0.7160, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.7611, d0.loss_plan_l1_fix_dist: 0.5503, d1.loss_plan_l1_fix_time: 1.0494, d1.loss_plan_l1_fix_dist: 0.2190, d2.loss_plan_l1_fix_time: 1.0322, d2.loss_plan_l1_fix_dist: 0.2306, d3.loss_plan_l1_fix_time: 1.0320, d3.loss_plan_l1_fix_dist: 0.2511, d4.loss_plan_l1_fix_time: 1.0335, d4.loss_plan_l1_fix_dist: 0.2672, d5.loss_plan_l1_fix_time: 1.0355, d5.loss_plan_l1_fix_dist: 0.2827, d6.loss_plan_l1_fix_time: 1.0378, d6.loss_plan_l1_fix_dist: 0.3018, d0.loss_cls_all: 0.1831, d0.loss_bbox_all: 0.4086, d0.loss_cls: 0.1831, d0.loss_bbox: 0.4086, d1.loss_cls: 0.1794, d1.loss_bbox: 0.3705, d2.loss_cls: 0.1709, d2.loss_bbox: 0.3524, d3.loss_cls: 0.1594, d3.loss_bbox: 0.3458, d4.loss_cls: 0.1540, d4.loss_bbox: 0.3429, d5.loss_cls: 0.1532, d5.loss_bbox: 0.3397, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8344, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6771, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6393, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6290, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6318, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6338, d0.loss_map_cls_all: 0.2197, d0.loss_map_pts_all: 1.2967, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2197, d0.loss_map_pts: 1.2967, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2005, d1.loss_map_pts: 0.9570, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1852, d2.loss_map_pts: 0.8107, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1742, d3.loss_map_pts: 0.7418, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1681, d4.loss_map_pts: 0.7184, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1639, d5.loss_map_pts: 0.7144, d5.loss_map_dir: 0.0093, loss: 28.8354, grad_norm: 153.5916 +2026-02-27 13:08:13,222 - DriveTransformer - INFO - Epoch [7][12450/39528] lr: 8.550e-05, eta: 5 days, 22:19:16, time: 0.724, data_time: 0.034, memory: 19865, loss_cls: 0.1642, loss_bbox: 0.3467, loss_traj: 0.5734, loss_traj_cls: 0.0010, loss_map_cls: 0.1461, loss_map_pts: 0.6715, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.8664, d0.loss_plan_l1_fix_dist: 0.4380, d1.loss_plan_l1_fix_time: 1.0349, d1.loss_plan_l1_fix_dist: 0.2141, d2.loss_plan_l1_fix_time: 1.0170, d2.loss_plan_l1_fix_dist: 0.2400, d3.loss_plan_l1_fix_time: 1.0155, d3.loss_plan_l1_fix_dist: 0.2510, d4.loss_plan_l1_fix_time: 1.0181, d4.loss_plan_l1_fix_dist: 0.2735, d5.loss_plan_l1_fix_time: 1.0216, d5.loss_plan_l1_fix_dist: 0.2998, d6.loss_plan_l1_fix_time: 1.0251, d6.loss_plan_l1_fix_dist: 0.3297, d0.loss_cls_all: 0.1999, d0.loss_bbox_all: 0.4113, d0.loss_cls: 0.1999, d0.loss_bbox: 0.4113, d1.loss_cls: 0.1947, d1.loss_bbox: 0.3795, d2.loss_cls: 0.1841, d2.loss_bbox: 0.3570, d3.loss_cls: 0.1724, d3.loss_bbox: 0.3491, d4.loss_cls: 0.1662, d4.loss_bbox: 0.3473, d5.loss_cls: 0.1651, d5.loss_bbox: 0.3465, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7970, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6515, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6061, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5893, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5879, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5768, d0.loss_map_cls_all: 0.2220, d0.loss_map_pts_all: 1.3766, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2220, d0.loss_map_pts: 1.3766, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1887, d1.loss_map_pts: 0.9252, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1686, d2.loss_map_pts: 0.7659, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1612, d3.loss_map_pts: 0.7032, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1539, d4.loss_map_pts: 0.6771, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1489, d5.loss_map_pts: 0.6708, d5.loss_map_dir: 0.0088, loss: 28.4776, grad_norm: 153.1417 +2026-02-27 13:08:50,631 - DriveTransformer - INFO - Epoch [7][12500/39528] lr: 8.550e-05, eta: 5 days, 22:19:22, time: 0.748, data_time: 0.034, memory: 19865, loss_cls: 0.1369, loss_bbox: 0.3304, loss_traj: 0.5450, loss_traj_cls: 0.0010, loss_map_cls: 0.1449, loss_map_pts: 0.7049, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.5486, d0.loss_plan_l1_fix_dist: 0.3946, d1.loss_plan_l1_fix_time: 1.0268, d1.loss_plan_l1_fix_dist: 0.1934, d2.loss_plan_l1_fix_time: 1.0100, d2.loss_plan_l1_fix_dist: 0.2190, d3.loss_plan_l1_fix_time: 1.0074, d3.loss_plan_l1_fix_dist: 0.2236, d4.loss_plan_l1_fix_time: 1.0095, d4.loss_plan_l1_fix_dist: 0.2436, d5.loss_plan_l1_fix_time: 1.0118, d5.loss_plan_l1_fix_dist: 0.2713, d6.loss_plan_l1_fix_time: 1.0146, d6.loss_plan_l1_fix_dist: 0.2940, d0.loss_cls_all: 0.1674, d0.loss_bbox_all: 0.3901, d0.loss_cls: 0.1674, d0.loss_bbox: 0.3901, d1.loss_cls: 0.1590, d1.loss_bbox: 0.3592, d2.loss_cls: 0.1527, d2.loss_bbox: 0.3400, d3.loss_cls: 0.1425, d3.loss_bbox: 0.3316, d4.loss_cls: 0.1368, d4.loss_bbox: 0.3307, d5.loss_cls: 0.1363, d5.loss_bbox: 0.3295, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7343, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6003, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5597, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5474, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5475, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5440, d0.loss_map_cls_all: 0.2222, d0.loss_map_pts_all: 1.5163, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2222, d0.loss_map_pts: 1.5163, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1967, d1.loss_map_pts: 1.0261, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1751, d2.loss_map_pts: 0.8263, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1627, d3.loss_map_pts: 0.7454, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1530, d4.loss_map_pts: 0.7154, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1476, d5.loss_map_pts: 0.7067, d5.loss_map_dir: 0.0101, loss: 27.8141, grad_norm: 151.2260 +2026-02-27 13:09:27,167 - DriveTransformer - INFO - Epoch [7][12550/39528] lr: 8.550e-05, eta: 5 days, 22:18:39, time: 0.731, data_time: 0.037, memory: 19865, loss_cls: 0.1290, loss_bbox: 0.3340, loss_traj: 0.5569, loss_traj_cls: 0.0010, loss_map_cls: 0.1613, loss_map_pts: 0.7185, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.3901, d0.loss_plan_l1_fix_dist: 0.3574, d1.loss_plan_l1_fix_time: 1.0884, d1.loss_plan_l1_fix_dist: 0.1736, d2.loss_plan_l1_fix_time: 1.0785, d2.loss_plan_l1_fix_dist: 0.1983, d3.loss_plan_l1_fix_time: 1.0732, d3.loss_plan_l1_fix_dist: 0.2040, d4.loss_plan_l1_fix_time: 1.0754, d4.loss_plan_l1_fix_dist: 0.2197, d5.loss_plan_l1_fix_time: 1.0789, d5.loss_plan_l1_fix_dist: 0.2362, d6.loss_plan_l1_fix_time: 1.0832, d6.loss_plan_l1_fix_dist: 0.2592, d0.loss_cls_all: 0.1696, d0.loss_bbox_all: 0.3948, d0.loss_cls: 0.1696, d0.loss_bbox: 0.3948, d1.loss_cls: 0.1563, d1.loss_bbox: 0.3626, d2.loss_cls: 0.1452, d2.loss_bbox: 0.3440, d3.loss_cls: 0.1351, d3.loss_bbox: 0.3369, d4.loss_cls: 0.1306, d4.loss_bbox: 0.3348, d5.loss_cls: 0.1291, d5.loss_bbox: 0.3340, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7436, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6013, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5656, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5556, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5559, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5567, d0.loss_map_cls_all: 0.2340, d0.loss_map_pts_all: 1.4990, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2340, d0.loss_map_pts: 1.4990, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2069, d1.loss_map_pts: 1.0379, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1845, d2.loss_map_pts: 0.8426, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1745, d3.loss_map_pts: 0.7615, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1682, d4.loss_map_pts: 0.7294, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1640, d5.loss_map_pts: 0.7210, d5.loss_map_dir: 0.0100, loss: 28.0726, grad_norm: 153.7628 +2026-02-27 13:10:03,860 - DriveTransformer - INFO - Epoch [7][12600/39528] lr: 8.550e-05, eta: 5 days, 22:18:05, time: 0.734, data_time: 0.036, memory: 19865, loss_cls: 0.1650, loss_bbox: 0.3620, loss_traj: 0.6857, loss_traj_cls: 0.0010, loss_map_cls: 0.1800, loss_map_pts: 0.7563, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.9465, d0.loss_plan_l1_fix_dist: 0.4843, d1.loss_plan_l1_fix_time: 1.1268, d1.loss_plan_l1_fix_dist: 0.2120, d2.loss_plan_l1_fix_time: 1.1114, d2.loss_plan_l1_fix_dist: 0.2256, d3.loss_plan_l1_fix_time: 1.0986, d3.loss_plan_l1_fix_dist: 0.2359, d4.loss_plan_l1_fix_time: 1.0998, d4.loss_plan_l1_fix_dist: 0.2589, d5.loss_plan_l1_fix_time: 1.1024, d5.loss_plan_l1_fix_dist: 0.2792, d6.loss_plan_l1_fix_time: 1.1058, d6.loss_plan_l1_fix_dist: 0.3081, d0.loss_cls_all: 0.2072, d0.loss_bbox_all: 0.4412, d0.loss_cls: 0.2072, d0.loss_bbox: 0.4412, d1.loss_cls: 0.2029, d1.loss_bbox: 0.3994, d2.loss_cls: 0.1904, d2.loss_bbox: 0.3732, d3.loss_cls: 0.1768, d3.loss_bbox: 0.3651, d4.loss_cls: 0.1674, d4.loss_bbox: 0.3632, d5.loss_cls: 0.1651, d5.loss_bbox: 0.3632, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9143, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7649, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7119, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6931, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6866, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6837, d0.loss_map_cls_all: 0.2512, d0.loss_map_pts_all: 1.4411, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2512, d0.loss_map_pts: 1.4411, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2245, d1.loss_map_pts: 1.0071, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.2033, d2.loss_map_pts: 0.8549, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1920, d3.loss_map_pts: 0.7896, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1844, d4.loss_map_pts: 0.7642, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1816, d5.loss_map_pts: 0.7579, d5.loss_map_dir: 0.0098, loss: 30.8918, grad_norm: 155.3650 +2026-02-27 13:10:40,969 - DriveTransformer - INFO - Epoch [7][12650/39528] lr: 8.550e-05, eta: 5 days, 22:17:54, time: 0.742, data_time: 0.034, memory: 19865, loss_cls: 0.1541, loss_bbox: 0.3541, loss_traj: 0.6143, loss_traj_cls: 0.0010, loss_map_cls: 0.1481, loss_map_pts: 0.6726, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.6900, d0.loss_plan_l1_fix_dist: 0.4187, d1.loss_plan_l1_fix_time: 1.0363, d1.loss_plan_l1_fix_dist: 0.2013, d2.loss_plan_l1_fix_time: 1.0216, d2.loss_plan_l1_fix_dist: 0.2057, d3.loss_plan_l1_fix_time: 1.0163, d3.loss_plan_l1_fix_dist: 0.2155, d4.loss_plan_l1_fix_time: 1.0182, d4.loss_plan_l1_fix_dist: 0.2355, d5.loss_plan_l1_fix_time: 1.0203, d5.loss_plan_l1_fix_dist: 0.2594, d6.loss_plan_l1_fix_time: 1.0230, d6.loss_plan_l1_fix_dist: 0.2789, d0.loss_cls_all: 0.1967, d0.loss_bbox_all: 0.4138, d0.loss_cls: 0.1967, d0.loss_bbox: 0.4138, d1.loss_cls: 0.1874, d1.loss_bbox: 0.3798, d2.loss_cls: 0.1765, d2.loss_bbox: 0.3630, d3.loss_cls: 0.1635, d3.loss_bbox: 0.3563, d4.loss_cls: 0.1562, d4.loss_bbox: 0.3531, d5.loss_cls: 0.1536, d5.loss_bbox: 0.3540, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8126, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6817, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6455, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6257, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6140, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6121, d0.loss_map_cls_all: 0.2190, d0.loss_map_pts_all: 1.4379, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2190, d0.loss_map_pts: 1.4379, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.1879, d1.loss_map_pts: 0.9552, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1677, d2.loss_map_pts: 0.7732, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1602, d3.loss_map_pts: 0.7070, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1539, d4.loss_map_pts: 0.6807, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1503, d5.loss_map_pts: 0.6728, d5.loss_map_dir: 0.0105, loss: 28.4504, grad_norm: 156.5344 +2026-02-27 13:11:18,845 - DriveTransformer - INFO - Epoch [7][12700/39528] lr: 8.550e-05, eta: 5 days, 22:18:25, time: 0.758, data_time: 0.034, memory: 19865, loss_cls: 0.1344, loss_bbox: 0.3230, loss_traj: 0.6958, loss_traj_cls: 0.0011, loss_map_cls: 0.1306, loss_map_pts: 0.6187, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.0209, d0.loss_plan_l1_fix_dist: 0.3734, d1.loss_plan_l1_fix_time: 0.8830, d1.loss_plan_l1_fix_dist: 0.1736, d2.loss_plan_l1_fix_time: 0.8739, d2.loss_plan_l1_fix_dist: 0.1767, d3.loss_plan_l1_fix_time: 0.8739, d3.loss_plan_l1_fix_dist: 0.1869, d4.loss_plan_l1_fix_time: 0.8763, d4.loss_plan_l1_fix_dist: 0.1969, d5.loss_plan_l1_fix_time: 0.8791, d5.loss_plan_l1_fix_dist: 0.2143, d6.loss_plan_l1_fix_time: 0.8825, d6.loss_plan_l1_fix_dist: 0.2369, d0.loss_cls_all: 0.1646, d0.loss_bbox_all: 0.3859, d0.loss_cls: 0.1646, d0.loss_bbox: 0.3859, d1.loss_cls: 0.1605, d1.loss_bbox: 0.3541, d2.loss_cls: 0.1479, d2.loss_bbox: 0.3356, d3.loss_cls: 0.1381, d3.loss_bbox: 0.3283, d4.loss_cls: 0.1347, d4.loss_bbox: 0.3267, d5.loss_cls: 0.1335, d5.loss_bbox: 0.3250, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8723, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7364, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6918, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6875, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6893, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6895, d0.loss_map_cls_all: 0.2017, d0.loss_map_pts_all: 1.3713, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2017, d0.loss_map_pts: 1.3713, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1724, d1.loss_map_pts: 0.9122, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1553, d2.loss_map_pts: 0.7271, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1452, d3.loss_map_pts: 0.6554, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1394, d4.loss_map_pts: 0.6273, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1332, d5.loss_map_pts: 0.6182, d5.loss_map_dir: 0.0087, loss: 26.1100, grad_norm: 155.6008 +2026-02-27 13:11:55,559 - DriveTransformer - INFO - Epoch [7][12750/39528] lr: 8.550e-05, eta: 5 days, 22:17:51, time: 0.734, data_time: 0.036, memory: 19865, loss_cls: 0.1289, loss_bbox: 0.3305, loss_traj: 0.5958, loss_traj_cls: 0.0010, loss_map_cls: 0.1401, loss_map_pts: 0.6384, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.2729, d0.loss_plan_l1_fix_dist: 0.3687, d1.loss_plan_l1_fix_time: 0.8999, d1.loss_plan_l1_fix_dist: 0.1773, d2.loss_plan_l1_fix_time: 0.8944, d2.loss_plan_l1_fix_dist: 0.1751, d3.loss_plan_l1_fix_time: 0.8943, d3.loss_plan_l1_fix_dist: 0.1925, d4.loss_plan_l1_fix_time: 0.8976, d4.loss_plan_l1_fix_dist: 0.2102, d5.loss_plan_l1_fix_time: 0.9010, d5.loss_plan_l1_fix_dist: 0.2327, d6.loss_plan_l1_fix_time: 0.9055, d6.loss_plan_l1_fix_dist: 0.2619, d0.loss_cls_all: 0.1691, d0.loss_bbox_all: 0.3907, d0.loss_cls: 0.1691, d0.loss_bbox: 0.3907, d1.loss_cls: 0.1601, d1.loss_bbox: 0.3603, d2.loss_cls: 0.1472, d2.loss_bbox: 0.3426, d3.loss_cls: 0.1339, d3.loss_bbox: 0.3364, d4.loss_cls: 0.1289, d4.loss_bbox: 0.3330, d5.loss_cls: 0.1282, d5.loss_bbox: 0.3311, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8414, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6542, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6135, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6056, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5995, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5930, d0.loss_map_cls_all: 0.2200, d0.loss_map_pts_all: 1.3369, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2200, d0.loss_map_pts: 1.3369, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1825, d1.loss_map_pts: 0.9225, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1619, d2.loss_map_pts: 0.7502, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1531, d3.loss_map_pts: 0.6753, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1444, d4.loss_map_pts: 0.6463, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1414, d5.loss_map_pts: 0.6385, d5.loss_map_dir: 0.0085, loss: 26.1510, grad_norm: 156.6283 +2026-02-27 13:12:31,358 - DriveTransformer - INFO - Epoch [7][12800/39528] lr: 8.550e-05, eta: 5 days, 22:16:28, time: 0.716, data_time: 0.034, memory: 19865, loss_cls: 0.1457, loss_bbox: 0.3427, loss_traj: 0.6007, loss_traj_cls: 0.0011, loss_map_cls: 0.1409, loss_map_pts: 0.6114, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.5093, d0.loss_plan_l1_fix_dist: 0.4432, d1.loss_plan_l1_fix_time: 0.9132, d1.loss_plan_l1_fix_dist: 0.1846, d2.loss_plan_l1_fix_time: 0.9011, d2.loss_plan_l1_fix_dist: 0.1720, d3.loss_plan_l1_fix_time: 0.9000, d3.loss_plan_l1_fix_dist: 0.1856, d4.loss_plan_l1_fix_time: 0.9028, d4.loss_plan_l1_fix_dist: 0.1906, d5.loss_plan_l1_fix_time: 0.9060, d5.loss_plan_l1_fix_dist: 0.2015, d6.loss_plan_l1_fix_time: 0.9093, d6.loss_plan_l1_fix_dist: 0.2133, d0.loss_cls_all: 0.1829, d0.loss_bbox_all: 0.4027, d0.loss_cls: 0.1829, d0.loss_bbox: 0.4027, d1.loss_cls: 0.1732, d1.loss_bbox: 0.3697, d2.loss_cls: 0.1594, d2.loss_bbox: 0.3534, d3.loss_cls: 0.1496, d3.loss_bbox: 0.3454, d4.loss_cls: 0.1474, d4.loss_bbox: 0.3423, d5.loss_cls: 0.1457, d5.loss_bbox: 0.3424, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8431, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6694, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6126, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6038, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6034, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5943, d0.loss_map_cls_all: 0.2134, d0.loss_map_pts_all: 1.3175, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2134, d0.loss_map_pts: 1.3175, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1796, d1.loss_map_pts: 0.8861, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1616, d2.loss_map_pts: 0.7111, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1530, d3.loss_map_pts: 0.6417, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1467, d4.loss_map_pts: 0.6186, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1420, d5.loss_map_pts: 0.6125, d5.loss_map_dir: 0.0084, loss: 26.3887, grad_norm: 153.0002 +2026-02-27 13:13:09,112 - DriveTransformer - INFO - Epoch [7][12850/39528] lr: 8.550e-05, eta: 5 days, 22:16:51, time: 0.755, data_time: 0.037, memory: 19865, loss_cls: 0.1576, loss_bbox: 0.3740, loss_traj: 0.6388, loss_traj_cls: 0.0010, loss_map_cls: 0.1625, loss_map_pts: 0.7925, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 3.0198, d0.loss_plan_l1_fix_dist: 0.4018, d1.loss_plan_l1_fix_time: 0.9961, d1.loss_plan_l1_fix_dist: 0.2147, d2.loss_plan_l1_fix_time: 0.9742, d2.loss_plan_l1_fix_dist: 0.2037, d3.loss_plan_l1_fix_time: 0.9695, d3.loss_plan_l1_fix_dist: 0.2044, d4.loss_plan_l1_fix_time: 0.9713, d4.loss_plan_l1_fix_dist: 0.2109, d5.loss_plan_l1_fix_time: 0.9735, d5.loss_plan_l1_fix_dist: 0.2236, d6.loss_plan_l1_fix_time: 0.9761, d6.loss_plan_l1_fix_dist: 0.2383, d0.loss_cls_all: 0.2062, d0.loss_bbox_all: 0.4324, d0.loss_cls: 0.2062, d0.loss_bbox: 0.4324, d1.loss_cls: 0.1973, d1.loss_bbox: 0.3981, d2.loss_cls: 0.1816, d2.loss_bbox: 0.3803, d3.loss_cls: 0.1662, d3.loss_bbox: 0.3759, d4.loss_cls: 0.1583, d4.loss_bbox: 0.3736, d5.loss_cls: 0.1573, d5.loss_bbox: 0.3736, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8417, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6875, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6454, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6385, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6338, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6389, d0.loss_map_cls_all: 0.2259, d0.loss_map_pts_all: 1.5368, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2259, d0.loss_map_pts: 1.5368, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1984, d1.loss_map_pts: 1.0528, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1832, d2.loss_map_pts: 0.8814, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1723, d3.loss_map_pts: 0.8216, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1674, d4.loss_map_pts: 0.8018, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1635, d5.loss_map_pts: 0.7927, d5.loss_map_dir: 0.0104, loss: 29.6765, grad_norm: 152.8005 +2026-02-27 13:13:46,792 - DriveTransformer - INFO - Epoch [7][12900/39528] lr: 8.550e-05, eta: 5 days, 22:17:10, time: 0.754, data_time: 0.035, memory: 19865, loss_cls: 0.1667, loss_bbox: 0.3602, loss_traj: 0.6221, loss_traj_cls: 0.0010, loss_map_cls: 0.1856, loss_map_pts: 0.7952, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.9195, d0.loss_plan_l1_fix_dist: 0.4205, d1.loss_plan_l1_fix_time: 1.1294, d1.loss_plan_l1_fix_dist: 0.2079, d2.loss_plan_l1_fix_time: 1.1085, d2.loss_plan_l1_fix_dist: 0.1998, d3.loss_plan_l1_fix_time: 1.1007, d3.loss_plan_l1_fix_dist: 0.1882, d4.loss_plan_l1_fix_time: 1.1024, d4.loss_plan_l1_fix_dist: 0.2044, d5.loss_plan_l1_fix_time: 1.1050, d5.loss_plan_l1_fix_dist: 0.2241, d6.loss_plan_l1_fix_time: 1.1087, d6.loss_plan_l1_fix_dist: 0.2443, d0.loss_cls_all: 0.1957, d0.loss_bbox_all: 0.4347, d0.loss_cls: 0.1957, d0.loss_bbox: 0.4347, d1.loss_cls: 0.1902, d1.loss_bbox: 0.3958, d2.loss_cls: 0.1796, d2.loss_bbox: 0.3741, d3.loss_cls: 0.1714, d3.loss_bbox: 0.3680, d4.loss_cls: 0.1668, d4.loss_bbox: 0.3635, d5.loss_cls: 0.1660, d5.loss_bbox: 0.3622, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8625, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6930, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6372, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6216, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6197, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6223, d0.loss_map_cls_all: 0.2581, d0.loss_map_pts_all: 1.5585, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2581, d0.loss_map_pts: 1.5585, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2229, d1.loss_map_pts: 1.0925, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.2058, d2.loss_map_pts: 0.9097, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1967, d3.loss_map_pts: 0.8317, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1891, d4.loss_map_pts: 0.8049, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1870, d5.loss_map_pts: 0.7955, d5.loss_map_dir: 0.0108, loss: 30.6058, grad_norm: 154.3983 +2026-02-27 13:14:21,851 - DriveTransformer - INFO - Epoch [7][12950/39528] lr: 8.550e-05, eta: 5 days, 22:15:07, time: 0.701, data_time: 0.035, memory: 19865, loss_cls: 0.1260, loss_bbox: 0.3355, loss_traj: 0.6373, loss_traj_cls: 0.0011, loss_map_cls: 0.1374, loss_map_pts: 0.6225, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.5693, d0.loss_plan_l1_fix_dist: 0.4900, d1.loss_plan_l1_fix_time: 0.9537, d1.loss_plan_l1_fix_dist: 0.2133, d2.loss_plan_l1_fix_time: 0.9326, d2.loss_plan_l1_fix_dist: 0.2064, d3.loss_plan_l1_fix_time: 0.9303, d3.loss_plan_l1_fix_dist: 0.2047, d4.loss_plan_l1_fix_time: 0.9329, d4.loss_plan_l1_fix_dist: 0.2177, d5.loss_plan_l1_fix_time: 0.9366, d5.loss_plan_l1_fix_dist: 0.2322, d6.loss_plan_l1_fix_time: 0.9410, d6.loss_plan_l1_fix_dist: 0.2511, d0.loss_cls_all: 0.1725, d0.loss_bbox_all: 0.4000, d0.loss_cls: 0.1725, d0.loss_bbox: 0.4000, d1.loss_cls: 0.1612, d1.loss_bbox: 0.3659, d2.loss_cls: 0.1446, d2.loss_bbox: 0.3479, d3.loss_cls: 0.1344, d3.loss_bbox: 0.3416, d4.loss_cls: 0.1288, d4.loss_bbox: 0.3376, d5.loss_cls: 0.1257, d5.loss_bbox: 0.3376, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8933, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7452, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6639, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6523, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6387, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6353, d0.loss_map_cls_all: 0.2159, d0.loss_map_pts_all: 1.2191, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2159, d0.loss_map_pts: 1.2191, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1804, d1.loss_map_pts: 0.8732, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1623, d2.loss_map_pts: 0.7119, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1492, d3.loss_map_pts: 0.6502, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1428, d4.loss_map_pts: 0.6290, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1392, d5.loss_map_pts: 0.6234, d5.loss_map_dir: 0.0076, loss: 26.8675, grad_norm: 153.2919 +2026-02-27 13:14:59,942 - DriveTransformer - INFO - Epoch [7][13000/39528] lr: 8.550e-05, eta: 5 days, 22:15:47, time: 0.762, data_time: 0.034, memory: 19865, loss_cls: 0.1503, loss_bbox: 0.3363, loss_traj: 0.6084, loss_traj_cls: 0.0011, loss_map_cls: 0.1422, loss_map_pts: 0.7039, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.1546, d0.loss_plan_l1_fix_dist: 0.4778, d1.loss_plan_l1_fix_time: 0.9101, d1.loss_plan_l1_fix_dist: 0.1951, d2.loss_plan_l1_fix_time: 0.8848, d2.loss_plan_l1_fix_dist: 0.1940, d3.loss_plan_l1_fix_time: 0.8758, d3.loss_plan_l1_fix_dist: 0.1989, d4.loss_plan_l1_fix_time: 0.8774, d4.loss_plan_l1_fix_dist: 0.2168, d5.loss_plan_l1_fix_time: 0.8802, d5.loss_plan_l1_fix_dist: 0.2321, d6.loss_plan_l1_fix_time: 0.8840, d6.loss_plan_l1_fix_dist: 0.2501, d0.loss_cls_all: 0.1944, d0.loss_bbox_all: 0.3920, d0.loss_cls: 0.1944, d0.loss_bbox: 0.3920, d1.loss_cls: 0.1841, d1.loss_bbox: 0.3623, d2.loss_cls: 0.1690, d2.loss_bbox: 0.3485, d3.loss_cls: 0.1580, d3.loss_bbox: 0.3417, d4.loss_cls: 0.1516, d4.loss_bbox: 0.3381, d5.loss_cls: 0.1493, d5.loss_bbox: 0.3372, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7868, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6505, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6143, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6087, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6024, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6044, d0.loss_map_cls_all: 0.2218, d0.loss_map_pts_all: 1.4778, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2218, d0.loss_map_pts: 1.4778, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.1854, d1.loss_map_pts: 0.9669, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1671, d2.loss_map_pts: 0.7944, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1559, d3.loss_map_pts: 0.7329, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1471, d4.loss_map_pts: 0.7100, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1436, d5.loss_map_pts: 0.7044, d5.loss_map_dir: 0.0100, loss: 26.9459, grad_norm: 153.8911 +2026-02-27 13:15:37,915 - DriveTransformer - INFO - Epoch [7][13050/39528] lr: 8.550e-05, eta: 5 days, 22:16:21, time: 0.759, data_time: 0.036, memory: 19865, loss_cls: 0.1519, loss_bbox: 0.3464, loss_traj: 0.6003, loss_traj_cls: 0.0011, loss_map_cls: 0.1618, loss_map_pts: 0.7274, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.4669, d0.loss_plan_l1_fix_dist: 0.4125, d1.loss_plan_l1_fix_time: 1.0208, d1.loss_plan_l1_fix_dist: 0.1946, d2.loss_plan_l1_fix_time: 1.0037, d2.loss_plan_l1_fix_dist: 0.1953, d3.loss_plan_l1_fix_time: 1.0056, d3.loss_plan_l1_fix_dist: 0.2006, d4.loss_plan_l1_fix_time: 1.0085, d4.loss_plan_l1_fix_dist: 0.2143, d5.loss_plan_l1_fix_time: 1.0113, d5.loss_plan_l1_fix_dist: 0.2279, d6.loss_plan_l1_fix_time: 1.0146, d6.loss_plan_l1_fix_dist: 0.2401, d0.loss_cls_all: 0.1939, d0.loss_bbox_all: 0.4094, d0.loss_cls: 0.1939, d0.loss_bbox: 0.4094, d1.loss_cls: 0.1822, d1.loss_bbox: 0.3789, d2.loss_cls: 0.1696, d2.loss_bbox: 0.3601, d3.loss_cls: 0.1584, d3.loss_bbox: 0.3520, d4.loss_cls: 0.1516, d4.loss_bbox: 0.3499, d5.loss_cls: 0.1519, d5.loss_bbox: 0.3471, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8507, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6638, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6156, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6023, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6004, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5992, d0.loss_map_cls_all: 0.2362, d0.loss_map_pts_all: 1.4231, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2362, d0.loss_map_pts: 1.4231, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2085, d1.loss_map_pts: 0.9901, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1867, d2.loss_map_pts: 0.8239, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1754, d3.loss_map_pts: 0.7631, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1683, d4.loss_map_pts: 0.7395, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1629, d5.loss_map_pts: 0.7289, d5.loss_map_dir: 0.0094, loss: 28.2907, grad_norm: 149.7590 +2026-02-27 13:16:15,037 - DriveTransformer - INFO - Epoch [7][13100/39528] lr: 8.550e-05, eta: 5 days, 22:16:08, time: 0.742, data_time: 0.037, memory: 19865, loss_cls: 0.1498, loss_bbox: 0.3521, loss_traj: 0.6956, loss_traj_cls: 0.0010, loss_map_cls: 0.1889, loss_map_pts: 0.7543, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.8997, d0.loss_plan_l1_fix_dist: 0.3810, d1.loss_plan_l1_fix_time: 1.2035, d1.loss_plan_l1_fix_dist: 0.1856, d2.loss_plan_l1_fix_time: 1.1920, d2.loss_plan_l1_fix_dist: 0.1837, d3.loss_plan_l1_fix_time: 1.1799, d3.loss_plan_l1_fix_dist: 0.1879, d4.loss_plan_l1_fix_time: 1.1803, d4.loss_plan_l1_fix_dist: 0.1934, d5.loss_plan_l1_fix_time: 1.1815, d5.loss_plan_l1_fix_dist: 0.2088, d6.loss_plan_l1_fix_time: 1.1830, d6.loss_plan_l1_fix_dist: 0.2306, d0.loss_cls_all: 0.1904, d0.loss_bbox_all: 0.4163, d0.loss_cls: 0.1904, d0.loss_bbox: 0.4163, d1.loss_cls: 0.1789, d1.loss_bbox: 0.3850, d2.loss_cls: 0.1683, d2.loss_bbox: 0.3641, d3.loss_cls: 0.1567, d3.loss_bbox: 0.3556, d4.loss_cls: 0.1510, d4.loss_bbox: 0.3522, d5.loss_cls: 0.1494, d5.loss_bbox: 0.3515, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9431, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7478, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7031, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6936, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6933, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6909, d0.loss_map_cls_all: 0.2670, d0.loss_map_pts_all: 1.4863, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2670, d0.loss_map_pts: 1.4863, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2386, d1.loss_map_pts: 1.0667, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.2128, d2.loss_map_pts: 0.8699, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.2017, d3.loss_map_pts: 0.7910, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1938, d4.loss_map_pts: 0.7652, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1893, d5.loss_map_pts: 0.7561, d5.loss_map_dir: 0.0089, loss: 30.8949, grad_norm: 149.6768 +2026-02-27 13:16:53,532 - DriveTransformer - INFO - Epoch [7][13150/39528] lr: 8.550e-05, eta: 5 days, 22:17:09, time: 0.770, data_time: 0.034, memory: 19865, loss_cls: 0.1567, loss_bbox: 0.3558, loss_traj: 0.5557, loss_traj_cls: 0.0010, loss_map_cls: 0.1529, loss_map_pts: 0.7910, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.8143, d0.loss_plan_l1_fix_dist: 0.4956, d1.loss_plan_l1_fix_time: 1.0447, d1.loss_plan_l1_fix_dist: 0.2104, d2.loss_plan_l1_fix_time: 1.0277, d2.loss_plan_l1_fix_dist: 0.2052, d3.loss_plan_l1_fix_time: 1.0246, d3.loss_plan_l1_fix_dist: 0.2226, d4.loss_plan_l1_fix_time: 1.0264, d4.loss_plan_l1_fix_dist: 0.2337, d5.loss_plan_l1_fix_time: 1.0291, d5.loss_plan_l1_fix_dist: 0.2465, d6.loss_plan_l1_fix_time: 1.0323, d6.loss_plan_l1_fix_dist: 0.2652, d0.loss_cls_all: 0.2042, d0.loss_bbox_all: 0.4230, d0.loss_cls: 0.2042, d0.loss_bbox: 0.4230, d1.loss_cls: 0.1886, d1.loss_bbox: 0.3853, d2.loss_cls: 0.1728, d2.loss_bbox: 0.3654, d3.loss_cls: 0.1595, d3.loss_bbox: 0.3594, d4.loss_cls: 0.1562, d4.loss_bbox: 0.3568, d5.loss_cls: 0.1552, d5.loss_bbox: 0.3560, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6939, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5801, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5517, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5505, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5420, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5477, d0.loss_map_cls_all: 0.2324, d0.loss_map_pts_all: 1.6131, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2324, d0.loss_map_pts: 1.6131, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2001, d1.loss_map_pts: 1.1022, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.1791, d2.loss_map_pts: 0.9061, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1707, d3.loss_map_pts: 0.8252, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.1623, d4.loss_map_pts: 0.7974, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1555, d5.loss_map_pts: 0.7910, d5.loss_map_dir: 0.0119, loss: 29.3463, grad_norm: 153.2528 +2026-02-27 13:17:30,758 - DriveTransformer - INFO - Epoch [7][13200/39528] lr: 8.550e-05, eta: 5 days, 22:17:05, time: 0.746, data_time: 0.035, memory: 19865, loss_cls: 0.1632, loss_bbox: 0.3865, loss_traj: 0.5534, loss_traj_cls: 0.0010, loss_map_cls: 0.1812, loss_map_pts: 0.7980, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.8688, d0.loss_plan_l1_fix_dist: 0.4235, d1.loss_plan_l1_fix_time: 1.0836, d1.loss_plan_l1_fix_dist: 0.2184, d2.loss_plan_l1_fix_time: 1.0655, d2.loss_plan_l1_fix_dist: 0.1982, d3.loss_plan_l1_fix_time: 1.0617, d3.loss_plan_l1_fix_dist: 0.2143, d4.loss_plan_l1_fix_time: 1.0629, d4.loss_plan_l1_fix_dist: 0.2298, d5.loss_plan_l1_fix_time: 1.0656, d5.loss_plan_l1_fix_dist: 0.2431, d6.loss_plan_l1_fix_time: 1.0692, d6.loss_plan_l1_fix_dist: 0.2632, d0.loss_cls_all: 0.2127, d0.loss_bbox_all: 0.4451, d0.loss_cls: 0.2127, d0.loss_bbox: 0.4451, d1.loss_cls: 0.2037, d1.loss_bbox: 0.4074, d2.loss_cls: 0.1866, d2.loss_bbox: 0.3931, d3.loss_cls: 0.1705, d3.loss_bbox: 0.3890, d4.loss_cls: 0.1650, d4.loss_bbox: 0.3871, d5.loss_cls: 0.1632, d5.loss_bbox: 0.3868, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7518, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6414, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5768, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5659, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5563, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5543, d0.loss_map_cls_all: 0.2509, d0.loss_map_pts_all: 1.5709, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2509, d0.loss_map_pts: 1.5709, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2229, d1.loss_map_pts: 1.1067, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2001, d2.loss_map_pts: 0.9085, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.1909, d3.loss_map_pts: 0.8283, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1860, d4.loss_map_pts: 0.8033, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1831, d5.loss_map_pts: 0.7964, d5.loss_map_dir: 0.0113, loss: 30.1274, grad_norm: 154.7384 +2026-02-27 13:18:06,646 - DriveTransformer - INFO - Epoch [7][13250/39528] lr: 8.550e-05, eta: 5 days, 22:15:43, time: 0.716, data_time: 0.033, memory: 19865, loss_cls: 0.1574, loss_bbox: 0.3579, loss_traj: 0.6013, loss_traj_cls: 0.0010, loss_map_cls: 0.1716, loss_map_pts: 0.7027, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.8995, d0.loss_plan_l1_fix_dist: 0.3616, d1.loss_plan_l1_fix_time: 1.0349, d1.loss_plan_l1_fix_dist: 0.2247, d2.loss_plan_l1_fix_time: 1.0198, d2.loss_plan_l1_fix_dist: 0.1837, d3.loss_plan_l1_fix_time: 1.0202, d3.loss_plan_l1_fix_dist: 0.1774, d4.loss_plan_l1_fix_time: 1.0222, d4.loss_plan_l1_fix_dist: 0.1823, d5.loss_plan_l1_fix_time: 1.0251, d5.loss_plan_l1_fix_dist: 0.1921, d6.loss_plan_l1_fix_time: 1.0283, d6.loss_plan_l1_fix_dist: 0.1962, d0.loss_cls_all: 0.2035, d0.loss_bbox_all: 0.4120, d0.loss_cls: 0.2035, d0.loss_bbox: 0.4120, d1.loss_cls: 0.1897, d1.loss_bbox: 0.3812, d2.loss_cls: 0.1783, d2.loss_bbox: 0.3639, d3.loss_cls: 0.1654, d3.loss_bbox: 0.3591, d4.loss_cls: 0.1592, d4.loss_bbox: 0.3598, d5.loss_cls: 0.1565, d5.loss_bbox: 0.3591, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7901, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6470, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6048, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6009, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5975, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5994, d0.loss_map_cls_all: 0.2496, d0.loss_map_pts_all: 1.4206, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2496, d0.loss_map_pts: 1.4206, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2164, d1.loss_map_pts: 0.9902, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1929, d2.loss_map_pts: 0.8063, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1828, d3.loss_map_pts: 0.7344, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1758, d4.loss_map_pts: 0.7125, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1723, d5.loss_map_pts: 0.7037, d5.loss_map_dir: 0.0091, loss: 28.6069, grad_norm: 153.6366 +2026-02-27 13:18:42,374 - DriveTransformer - INFO - Epoch [7][13300/39528] lr: 8.550e-05, eta: 5 days, 22:14:17, time: 0.715, data_time: 0.033, memory: 19865, loss_cls: 0.1617, loss_bbox: 0.3611, loss_traj: 0.7687, loss_traj_cls: 0.0010, loss_map_cls: 0.1510, loss_map_pts: 0.6850, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.6747, d0.loss_plan_l1_fix_dist: 0.4727, d1.loss_plan_l1_fix_time: 1.0600, d1.loss_plan_l1_fix_dist: 0.2744, d2.loss_plan_l1_fix_time: 1.0478, d2.loss_plan_l1_fix_dist: 0.2291, d3.loss_plan_l1_fix_time: 1.0516, d3.loss_plan_l1_fix_dist: 0.2152, d4.loss_plan_l1_fix_time: 1.0556, d4.loss_plan_l1_fix_dist: 0.2183, d5.loss_plan_l1_fix_time: 1.0599, d5.loss_plan_l1_fix_dist: 0.2290, d6.loss_plan_l1_fix_time: 1.0646, d6.loss_plan_l1_fix_dist: 0.2406, d0.loss_cls_all: 0.2038, d0.loss_bbox_all: 0.4197, d0.loss_cls: 0.2038, d0.loss_bbox: 0.4197, d1.loss_cls: 0.1976, d1.loss_bbox: 0.3841, d2.loss_cls: 0.1814, d2.loss_bbox: 0.3654, d3.loss_cls: 0.1708, d3.loss_bbox: 0.3587, d4.loss_cls: 0.1648, d4.loss_bbox: 0.3587, d5.loss_cls: 0.1622, d5.loss_bbox: 0.3591, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0675, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8476, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7876, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7674, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7628, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7653, d0.loss_map_cls_all: 0.2235, d0.loss_map_pts_all: 1.3825, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2235, d0.loss_map_pts: 1.3825, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1956, d1.loss_map_pts: 0.9479, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1750, d2.loss_map_pts: 0.7800, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1647, d3.loss_map_pts: 0.7170, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1563, d4.loss_map_pts: 0.6938, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1526, d5.loss_map_pts: 0.6867, d5.loss_map_dir: 0.0087, loss: 29.9244, grad_norm: 154.6260 +2026-02-27 13:19:18,897 - DriveTransformer - INFO - Epoch [7][13350/39528] lr: 8.550e-05, eta: 5 days, 22:13:32, time: 0.730, data_time: 0.035, memory: 19865, loss_cls: 0.1540, loss_bbox: 0.3634, loss_traj: 0.6686, loss_traj_cls: 0.0011, loss_map_cls: 0.1465, loss_map_pts: 0.6883, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.5595, d0.loss_plan_l1_fix_dist: 0.4640, d1.loss_plan_l1_fix_time: 1.0478, d1.loss_plan_l1_fix_dist: 0.2652, d2.loss_plan_l1_fix_time: 1.0370, d2.loss_plan_l1_fix_dist: 0.2142, d3.loss_plan_l1_fix_time: 1.0350, d3.loss_plan_l1_fix_dist: 0.1978, d4.loss_plan_l1_fix_time: 1.0378, d4.loss_plan_l1_fix_dist: 0.2026, d5.loss_plan_l1_fix_time: 1.0414, d5.loss_plan_l1_fix_dist: 0.2102, d6.loss_plan_l1_fix_time: 1.0456, d6.loss_plan_l1_fix_dist: 0.2243, d0.loss_cls_all: 0.1959, d0.loss_bbox_all: 0.4183, d0.loss_cls: 0.1959, d0.loss_bbox: 0.4183, d1.loss_cls: 0.1923, d1.loss_bbox: 0.3849, d2.loss_cls: 0.1757, d2.loss_bbox: 0.3668, d3.loss_cls: 0.1625, d3.loss_bbox: 0.3637, d4.loss_cls: 0.1564, d4.loss_bbox: 0.3621, d5.loss_cls: 0.1544, d5.loss_bbox: 0.3623, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8877, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7260, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6829, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6739, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6726, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6681, d0.loss_map_cls_all: 0.2269, d0.loss_map_pts_all: 1.3751, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2269, d0.loss_map_pts: 1.3751, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1964, d1.loss_map_pts: 0.9404, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1744, d2.loss_map_pts: 0.7812, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1598, d3.loss_map_pts: 0.7245, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1505, d4.loss_map_pts: 0.6959, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1482, d5.loss_map_pts: 0.6883, d5.loss_map_dir: 0.0087, loss: 28.7627, grad_norm: 153.7488 +2026-02-27 13:19:55,408 - DriveTransformer - INFO - Epoch [7][13400/39528] lr: 8.550e-05, eta: 5 days, 22:12:47, time: 0.730, data_time: 0.034, memory: 19865, loss_cls: 0.1531, loss_bbox: 0.3491, loss_traj: 0.6117, loss_traj_cls: 0.0011, loss_map_cls: 0.1623, loss_map_pts: 0.6792, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.8418, d0.loss_plan_l1_fix_dist: 0.4470, d1.loss_plan_l1_fix_time: 1.1993, d1.loss_plan_l1_fix_dist: 0.2650, d2.loss_plan_l1_fix_time: 1.1881, d2.loss_plan_l1_fix_dist: 0.2249, d3.loss_plan_l1_fix_time: 1.1884, d3.loss_plan_l1_fix_dist: 0.2143, d4.loss_plan_l1_fix_time: 1.1904, d4.loss_plan_l1_fix_dist: 0.2198, d5.loss_plan_l1_fix_time: 1.1926, d5.loss_plan_l1_fix_dist: 0.2248, d6.loss_plan_l1_fix_time: 1.1952, d6.loss_plan_l1_fix_dist: 0.2307, d0.loss_cls_all: 0.1982, d0.loss_bbox_all: 0.4026, d0.loss_cls: 0.1982, d0.loss_bbox: 0.4026, d1.loss_cls: 0.1891, d1.loss_bbox: 0.3762, d2.loss_cls: 0.1719, d2.loss_bbox: 0.3586, d3.loss_cls: 0.1599, d3.loss_bbox: 0.3501, d4.loss_cls: 0.1538, d4.loss_bbox: 0.3487, d5.loss_cls: 0.1527, d5.loss_bbox: 0.3488, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8459, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6634, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6269, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6128, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6110, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6090, d0.loss_map_cls_all: 0.2402, d0.loss_map_pts_all: 1.3649, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2402, d0.loss_map_pts: 1.3649, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2097, d1.loss_map_pts: 0.9518, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1875, d2.loss_map_pts: 0.7786, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1745, d3.loss_map_pts: 0.7118, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1689, d4.loss_map_pts: 0.6865, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1651, d5.loss_map_pts: 0.6789, d5.loss_map_dir: 0.0092, loss: 29.5586, grad_norm: 153.9828 +2026-02-27 13:20:31,291 - DriveTransformer - INFO - Epoch [7][13450/39528] lr: 8.550e-05, eta: 5 days, 22:11:30, time: 0.718, data_time: 0.033, memory: 19865, loss_cls: 0.1634, loss_bbox: 0.3679, loss_traj: 0.7002, loss_traj_cls: 0.0011, loss_map_cls: 0.1800, loss_map_pts: 0.7530, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 3.0985, d0.loss_plan_l1_fix_dist: 0.3739, d1.loss_plan_l1_fix_time: 1.1773, d1.loss_plan_l1_fix_dist: 0.2391, d2.loss_plan_l1_fix_time: 1.1605, d2.loss_plan_l1_fix_dist: 0.1989, d3.loss_plan_l1_fix_time: 1.1618, d3.loss_plan_l1_fix_dist: 0.1920, d4.loss_plan_l1_fix_time: 1.1645, d4.loss_plan_l1_fix_dist: 0.1992, d5.loss_plan_l1_fix_time: 1.1669, d5.loss_plan_l1_fix_dist: 0.2052, d6.loss_plan_l1_fix_time: 1.1694, d6.loss_plan_l1_fix_dist: 0.2126, d0.loss_cls_all: 0.2019, d0.loss_bbox_all: 0.4365, d0.loss_cls: 0.2019, d0.loss_bbox: 0.4365, d1.loss_cls: 0.2031, d1.loss_bbox: 0.3943, d2.loss_cls: 0.1891, d2.loss_bbox: 0.3753, d3.loss_cls: 0.1710, d3.loss_bbox: 0.3705, d4.loss_cls: 0.1663, d4.loss_bbox: 0.3657, d5.loss_cls: 0.1640, d5.loss_bbox: 0.3667, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9045, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7516, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7047, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6909, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6906, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6907, d0.loss_map_cls_all: 0.2452, d0.loss_map_pts_all: 1.4293, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2452, d0.loss_map_pts: 1.4293, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2207, d1.loss_map_pts: 1.0192, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.2017, d2.loss_map_pts: 0.8521, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1901, d3.loss_map_pts: 0.7834, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1838, d4.loss_map_pts: 0.7625, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1819, d5.loss_map_pts: 0.7555, d5.loss_map_dir: 0.0091, loss: 30.9382, grad_norm: 154.6176 +2026-02-27 13:21:09,104 - DriveTransformer - INFO - Epoch [7][13500/39528] lr: 8.550e-05, eta: 5 days, 22:11:53, time: 0.756, data_time: 0.036, memory: 19865, loss_cls: 0.1629, loss_bbox: 0.3678, loss_traj: 0.6998, loss_traj_cls: 0.0011, loss_map_cls: 0.1601, loss_map_pts: 0.7465, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 3.0162, d0.loss_plan_l1_fix_dist: 0.4361, d1.loss_plan_l1_fix_time: 1.0581, d1.loss_plan_l1_fix_dist: 0.2299, d2.loss_plan_l1_fix_time: 1.0416, d2.loss_plan_l1_fix_dist: 0.1872, d3.loss_plan_l1_fix_time: 1.0467, d3.loss_plan_l1_fix_dist: 0.1942, d4.loss_plan_l1_fix_time: 1.0505, d4.loss_plan_l1_fix_dist: 0.2095, d5.loss_plan_l1_fix_time: 1.0542, d5.loss_plan_l1_fix_dist: 0.2242, d6.loss_plan_l1_fix_time: 1.0583, d6.loss_plan_l1_fix_dist: 0.2374, d0.loss_cls_all: 0.2039, d0.loss_bbox_all: 0.4321, d0.loss_cls: 0.2039, d0.loss_bbox: 0.4321, d1.loss_cls: 0.1974, d1.loss_bbox: 0.3966, d2.loss_cls: 0.1802, d2.loss_bbox: 0.3766, d3.loss_cls: 0.1685, d3.loss_bbox: 0.3695, d4.loss_cls: 0.1623, d4.loss_bbox: 0.3685, d5.loss_cls: 0.1628, d5.loss_bbox: 0.3674, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9332, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7450, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7167, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7107, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7025, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6989, d0.loss_map_cls_all: 0.2228, d0.loss_map_pts_all: 1.4533, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2228, d0.loss_map_pts: 1.4533, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.1965, d1.loss_map_pts: 1.0009, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1792, d2.loss_map_pts: 0.8290, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1711, d3.loss_map_pts: 0.7692, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1658, d4.loss_map_pts: 0.7515, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1609, d5.loss_map_pts: 0.7474, d5.loss_map_dir: 0.0110, loss: 30.1245, grad_norm: 159.3962 +2026-02-27 13:21:45,182 - DriveTransformer - INFO - Epoch [7][13550/39528] lr: 8.550e-05, eta: 5 days, 22:10:46, time: 0.722, data_time: 0.038, memory: 19865, loss_cls: 0.1493, loss_bbox: 0.3457, loss_traj: 0.7063, loss_traj_cls: 0.0011, loss_map_cls: 0.1401, loss_map_pts: 0.6003, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.6072, d0.loss_plan_l1_fix_dist: 0.4332, d1.loss_plan_l1_fix_time: 0.9833, d1.loss_plan_l1_fix_dist: 0.2013, d2.loss_plan_l1_fix_time: 0.9710, d2.loss_plan_l1_fix_dist: 0.1675, d3.loss_plan_l1_fix_time: 0.9702, d3.loss_plan_l1_fix_dist: 0.1773, d4.loss_plan_l1_fix_time: 0.9732, d4.loss_plan_l1_fix_dist: 0.1887, d5.loss_plan_l1_fix_time: 0.9763, d5.loss_plan_l1_fix_dist: 0.2009, d6.loss_plan_l1_fix_time: 0.9798, d6.loss_plan_l1_fix_dist: 0.2137, d0.loss_cls_all: 0.1863, d0.loss_bbox_all: 0.3968, d0.loss_cls: 0.1863, d0.loss_bbox: 0.3968, d1.loss_cls: 0.1829, d1.loss_bbox: 0.3674, d2.loss_cls: 0.1737, d2.loss_bbox: 0.3503, d3.loss_cls: 0.1617, d3.loss_bbox: 0.3451, d4.loss_cls: 0.1539, d4.loss_bbox: 0.3446, d5.loss_cls: 0.1506, d5.loss_bbox: 0.3450, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9786, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7971, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7258, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7077, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7033, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6983, d0.loss_map_cls_all: 0.2177, d0.loss_map_pts_all: 1.2109, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2177, d0.loss_map_pts: 1.2109, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1860, d1.loss_map_pts: 0.8377, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1668, d2.loss_map_pts: 0.6936, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1531, d3.loss_map_pts: 0.6297, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1474, d4.loss_map_pts: 0.6081, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1422, d5.loss_map_pts: 0.5994, d5.loss_map_dir: 0.0076, loss: 27.4268, grad_norm: 159.4778 +2026-02-27 13:22:21,067 - DriveTransformer - INFO - Epoch [7][13600/39528] lr: 8.550e-05, eta: 5 days, 22:09:29, time: 0.718, data_time: 0.035, memory: 19865, loss_cls: 0.1672, loss_bbox: 0.3640, loss_traj: 0.6878, loss_traj_cls: 0.0011, loss_map_cls: 0.1569, loss_map_pts: 0.6729, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.5522, d0.loss_plan_l1_fix_dist: 0.4485, d1.loss_plan_l1_fix_time: 1.1146, d1.loss_plan_l1_fix_dist: 0.2136, d2.loss_plan_l1_fix_time: 1.0984, d2.loss_plan_l1_fix_dist: 0.1912, d3.loss_plan_l1_fix_time: 1.0924, d3.loss_plan_l1_fix_dist: 0.1921, d4.loss_plan_l1_fix_time: 1.0942, d4.loss_plan_l1_fix_dist: 0.1993, d5.loss_plan_l1_fix_time: 1.0968, d5.loss_plan_l1_fix_dist: 0.2143, d6.loss_plan_l1_fix_time: 1.1003, d6.loss_plan_l1_fix_dist: 0.2314, d0.loss_cls_all: 0.2071, d0.loss_bbox_all: 0.4201, d0.loss_cls: 0.2071, d0.loss_bbox: 0.4201, d1.loss_cls: 0.2008, d1.loss_bbox: 0.3876, d2.loss_cls: 0.1871, d2.loss_bbox: 0.3721, d3.loss_cls: 0.1766, d3.loss_bbox: 0.3646, d4.loss_cls: 0.1700, d4.loss_bbox: 0.3644, d5.loss_cls: 0.1677, d5.loss_bbox: 0.3642, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8937, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7497, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6922, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6810, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6801, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6834, d0.loss_map_cls_all: 0.2363, d0.loss_map_pts_all: 1.3468, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2363, d0.loss_map_pts: 1.3468, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2062, d1.loss_map_pts: 0.9529, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1807, d2.loss_map_pts: 0.7836, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1688, d3.loss_map_pts: 0.7124, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1620, d4.loss_map_pts: 0.6847, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1561, d5.loss_map_pts: 0.6755, d5.loss_map_dir: 0.0092, loss: 29.2065, grad_norm: 156.5007 +2026-02-27 13:22:58,940 - DriveTransformer - INFO - Epoch [7][13650/39528] lr: 8.550e-05, eta: 5 days, 22:09:54, time: 0.757, data_time: 0.038, memory: 19865, loss_cls: 0.1447, loss_bbox: 0.3436, loss_traj: 0.5866, loss_traj_cls: 0.0011, loss_map_cls: 0.1445, loss_map_pts: 0.6391, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.3510, d0.loss_plan_l1_fix_dist: 0.4414, d1.loss_plan_l1_fix_time: 0.9062, d1.loss_plan_l1_fix_dist: 0.1984, d2.loss_plan_l1_fix_time: 0.8903, d2.loss_plan_l1_fix_dist: 0.1923, d3.loss_plan_l1_fix_time: 0.8837, d3.loss_plan_l1_fix_dist: 0.2004, d4.loss_plan_l1_fix_time: 0.8860, d4.loss_plan_l1_fix_dist: 0.2049, d5.loss_plan_l1_fix_time: 0.8893, d5.loss_plan_l1_fix_dist: 0.2091, d6.loss_plan_l1_fix_time: 0.8932, d6.loss_plan_l1_fix_dist: 0.2210, d0.loss_cls_all: 0.1838, d0.loss_bbox_all: 0.3997, d0.loss_cls: 0.1838, d0.loss_bbox: 0.3997, d1.loss_cls: 0.1765, d1.loss_bbox: 0.3670, d2.loss_cls: 0.1641, d2.loss_bbox: 0.3495, d3.loss_cls: 0.1512, d3.loss_bbox: 0.3427, d4.loss_cls: 0.1468, d4.loss_bbox: 0.3414, d5.loss_cls: 0.1460, d5.loss_bbox: 0.3412, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7752, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6476, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5963, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5959, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5895, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5903, d0.loss_map_cls_all: 0.2129, d0.loss_map_pts_all: 1.3682, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2129, d0.loss_map_pts: 1.3682, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1809, d1.loss_map_pts: 0.9248, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1623, d2.loss_map_pts: 0.7386, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1528, d3.loss_map_pts: 0.6720, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1488, d4.loss_map_pts: 0.6478, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1455, d5.loss_map_pts: 0.6394, d5.loss_map_dir: 0.0101, loss: 26.3736, grad_norm: 155.8548 +2026-02-27 13:23:35,084 - DriveTransformer - INFO - Epoch [7][13700/39528] lr: 8.550e-05, eta: 5 days, 22:08:50, time: 0.723, data_time: 0.036, memory: 19865, loss_cls: 0.1481, loss_bbox: 0.3603, loss_traj: 0.7829, loss_traj_cls: 0.0010, loss_map_cls: 0.1683, loss_map_pts: 0.6817, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 3.1249, d0.loss_plan_l1_fix_dist: 0.4647, d1.loss_plan_l1_fix_time: 1.1589, d1.loss_plan_l1_fix_dist: 0.2005, d2.loss_plan_l1_fix_time: 1.1492, d2.loss_plan_l1_fix_dist: 0.1973, d3.loss_plan_l1_fix_time: 1.1434, d3.loss_plan_l1_fix_dist: 0.2090, d4.loss_plan_l1_fix_time: 1.1444, d4.loss_plan_l1_fix_dist: 0.2108, d5.loss_plan_l1_fix_time: 1.1458, d5.loss_plan_l1_fix_dist: 0.2139, d6.loss_plan_l1_fix_time: 1.1474, d6.loss_plan_l1_fix_dist: 0.2233, d0.loss_cls_all: 0.1854, d0.loss_bbox_all: 0.4136, d0.loss_cls: 0.1854, d0.loss_bbox: 0.4136, d1.loss_cls: 0.1785, d1.loss_bbox: 0.3781, d2.loss_cls: 0.1639, d2.loss_bbox: 0.3652, d3.loss_cls: 0.1535, d3.loss_bbox: 0.3609, d4.loss_cls: 0.1496, d4.loss_bbox: 0.3606, d5.loss_cls: 0.1487, d5.loss_bbox: 0.3607, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0831, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8307, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7801, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7792, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7775, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7804, d0.loss_map_cls_all: 0.2340, d0.loss_map_pts_all: 1.2456, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2340, d0.loss_map_pts: 1.2456, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.2107, d1.loss_map_pts: 0.9145, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1895, d2.loss_map_pts: 0.7705, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1795, d3.loss_map_pts: 0.7117, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1739, d4.loss_map_pts: 0.6902, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1694, d5.loss_map_pts: 0.6833, d5.loss_map_dir: 0.0083, loss: 30.4475, grad_norm: 155.4838 +2026-02-27 13:24:11,030 - DriveTransformer - INFO - Epoch [7][13750/39528] lr: 8.550e-05, eta: 5 days, 22:07:37, time: 0.719, data_time: 0.036, memory: 19865, loss_cls: 0.1632, loss_bbox: 0.3776, loss_traj: 0.8005, loss_traj_cls: 0.0010, loss_map_cls: 0.1655, loss_map_pts: 0.7206, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.6192, d0.loss_plan_l1_fix_dist: 0.5241, d1.loss_plan_l1_fix_time: 1.1189, d1.loss_plan_l1_fix_dist: 0.2439, d2.loss_plan_l1_fix_time: 1.1173, d2.loss_plan_l1_fix_dist: 0.2294, d3.loss_plan_l1_fix_time: 1.1205, d3.loss_plan_l1_fix_dist: 0.2295, d4.loss_plan_l1_fix_time: 1.1237, d4.loss_plan_l1_fix_dist: 0.2363, d5.loss_plan_l1_fix_time: 1.1270, d5.loss_plan_l1_fix_dist: 0.2489, d6.loss_plan_l1_fix_time: 1.1304, d6.loss_plan_l1_fix_dist: 0.2583, d0.loss_cls_all: 0.1989, d0.loss_bbox_all: 0.4399, d0.loss_cls: 0.1989, d0.loss_bbox: 0.4399, d1.loss_cls: 0.1890, d1.loss_bbox: 0.4063, d2.loss_cls: 0.1794, d2.loss_bbox: 0.3858, d3.loss_cls: 0.1693, d3.loss_bbox: 0.3801, d4.loss_cls: 0.1662, d4.loss_bbox: 0.3766, d5.loss_cls: 0.1652, d5.loss_bbox: 0.3755, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0545, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8630, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8060, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7976, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7975, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.8005, d0.loss_map_cls_all: 0.2524, d0.loss_map_pts_all: 1.4302, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2524, d0.loss_map_pts: 1.4302, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.2230, d1.loss_map_pts: 1.0026, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1939, d2.loss_map_pts: 0.8287, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1780, d3.loss_map_pts: 0.7588, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1719, d4.loss_map_pts: 0.7331, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1674, d5.loss_map_pts: 0.7223, d5.loss_map_dir: 0.0078, loss: 31.1589, grad_norm: 155.9038 +2026-02-27 13:24:47,990 - DriveTransformer - INFO - Epoch [7][13800/39528] lr: 8.550e-05, eta: 5 days, 22:07:15, time: 0.739, data_time: 0.035, memory: 19865, loss_cls: 0.1475, loss_bbox: 0.3431, loss_traj: 0.5702, loss_traj_cls: 0.0010, loss_map_cls: 0.1741, loss_map_pts: 0.7240, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.5073, d0.loss_plan_l1_fix_dist: 0.3897, d1.loss_plan_l1_fix_time: 1.0301, d1.loss_plan_l1_fix_dist: 0.2135, d2.loss_plan_l1_fix_time: 1.0170, d2.loss_plan_l1_fix_dist: 0.1880, d3.loss_plan_l1_fix_time: 1.0131, d3.loss_plan_l1_fix_dist: 0.1853, d4.loss_plan_l1_fix_time: 1.0166, d4.loss_plan_l1_fix_dist: 0.2053, d5.loss_plan_l1_fix_time: 1.0209, d5.loss_plan_l1_fix_dist: 0.2242, d6.loss_plan_l1_fix_time: 1.0259, d6.loss_plan_l1_fix_dist: 0.2336, d0.loss_cls_all: 0.1770, d0.loss_bbox_all: 0.3947, d0.loss_cls: 0.1770, d0.loss_bbox: 0.3947, d1.loss_cls: 0.1698, d1.loss_bbox: 0.3630, d2.loss_cls: 0.1626, d2.loss_bbox: 0.3450, d3.loss_cls: 0.1564, d3.loss_bbox: 0.3378, d4.loss_cls: 0.1500, d4.loss_bbox: 0.3404, d5.loss_cls: 0.1478, d5.loss_bbox: 0.3432, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7910, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6202, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5809, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5740, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5714, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5715, d0.loss_map_cls_all: 0.2461, d0.loss_map_pts_all: 1.4950, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2461, d0.loss_map_pts: 1.4950, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2121, d1.loss_map_pts: 1.0271, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1962, d2.loss_map_pts: 0.8296, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1867, d3.loss_map_pts: 0.7624, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1795, d4.loss_map_pts: 0.7386, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1746, d5.loss_map_pts: 0.7271, d5.loss_map_dir: 0.0100, loss: 28.1977, grad_norm: 158.2196 +2026-02-27 13:25:25,849 - DriveTransformer - INFO - Epoch [7][13850/39528] lr: 8.550e-05, eta: 5 days, 22:07:39, time: 0.757, data_time: 0.036, memory: 19865, loss_cls: 0.1442, loss_bbox: 0.3768, loss_traj: 0.5706, loss_traj_cls: 0.0009, loss_map_cls: 0.1542, loss_map_pts: 0.7032, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.9180, d0.loss_plan_l1_fix_dist: 0.3951, d1.loss_plan_l1_fix_time: 1.1291, d1.loss_plan_l1_fix_dist: 0.2059, d2.loss_plan_l1_fix_time: 1.1121, d2.loss_plan_l1_fix_dist: 0.1813, d3.loss_plan_l1_fix_time: 1.1169, d3.loss_plan_l1_fix_dist: 0.1789, d4.loss_plan_l1_fix_time: 1.1202, d4.loss_plan_l1_fix_dist: 0.1942, d5.loss_plan_l1_fix_time: 1.1235, d5.loss_plan_l1_fix_dist: 0.2089, d6.loss_plan_l1_fix_time: 1.1273, d6.loss_plan_l1_fix_dist: 0.2263, d0.loss_cls_all: 0.1830, d0.loss_bbox_all: 0.4181, d0.loss_cls: 0.1830, d0.loss_bbox: 0.4181, d1.loss_cls: 0.1756, d1.loss_bbox: 0.3889, d2.loss_cls: 0.1651, d2.loss_bbox: 0.3748, d3.loss_cls: 0.1528, d3.loss_bbox: 0.3719, d4.loss_cls: 0.1464, d4.loss_bbox: 0.3733, d5.loss_cls: 0.1448, d5.loss_bbox: 0.3750, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7394, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6271, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5818, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5804, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5634, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5698, d0.loss_map_cls_all: 0.2170, d0.loss_map_pts_all: 1.4305, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2170, d0.loss_map_pts: 1.4305, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.1889, d1.loss_map_pts: 0.9782, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1700, d2.loss_map_pts: 0.7967, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1619, d3.loss_map_pts: 0.7323, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1567, d4.loss_map_pts: 0.7113, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1545, d5.loss_map_pts: 0.7059, d5.loss_map_dir: 0.0106, loss: 28.8628, grad_norm: 161.5324 +2026-02-27 13:26:01,778 - DriveTransformer - INFO - Epoch [7][13900/39528] lr: 8.550e-05, eta: 5 days, 22:06:25, time: 0.719, data_time: 0.034, memory: 19865, loss_cls: 0.1681, loss_bbox: 0.3671, loss_traj: 0.6277, loss_traj_cls: 0.0009, loss_map_cls: 0.1679, loss_map_pts: 0.7507, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.6438, d0.loss_plan_l1_fix_dist: 0.4193, d1.loss_plan_l1_fix_time: 1.0759, d1.loss_plan_l1_fix_dist: 0.2085, d2.loss_plan_l1_fix_time: 1.0576, d2.loss_plan_l1_fix_dist: 0.1880, d3.loss_plan_l1_fix_time: 1.0571, d3.loss_plan_l1_fix_dist: 0.1906, d4.loss_plan_l1_fix_time: 1.0601, d4.loss_plan_l1_fix_dist: 0.1989, d5.loss_plan_l1_fix_time: 1.0643, d5.loss_plan_l1_fix_dist: 0.2121, d6.loss_plan_l1_fix_time: 1.0691, d6.loss_plan_l1_fix_dist: 0.2280, d0.loss_cls_all: 0.2169, d0.loss_bbox_all: 0.4281, d0.loss_cls: 0.2169, d0.loss_bbox: 0.4281, d1.loss_cls: 0.2054, d1.loss_bbox: 0.3922, d2.loss_cls: 0.1940, d2.loss_bbox: 0.3750, d3.loss_cls: 0.1787, d3.loss_bbox: 0.3682, d4.loss_cls: 0.1713, d4.loss_bbox: 0.3671, d5.loss_cls: 0.1693, d5.loss_bbox: 0.3652, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8230, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6838, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6415, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6379, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6301, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6253, d0.loss_map_cls_all: 0.2490, d0.loss_map_pts_all: 1.5192, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2490, d0.loss_map_pts: 1.5192, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2151, d1.loss_map_pts: 1.0485, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.1902, d2.loss_map_pts: 0.8617, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1791, d3.loss_map_pts: 0.7882, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1727, d4.loss_map_pts: 0.7593, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1686, d5.loss_map_pts: 0.7522, d5.loss_map_dir: 0.0105, loss: 29.6351, grad_norm: 162.3106 +2026-02-27 13:26:37,770 - DriveTransformer - INFO - Epoch [7][13950/39528] lr: 8.550e-05, eta: 5 days, 22:05:14, time: 0.720, data_time: 0.039, memory: 19865, loss_cls: 0.1501, loss_bbox: 0.3482, loss_traj: 0.5988, loss_traj_cls: 0.0009, loss_map_cls: 0.1467, loss_map_pts: 0.7108, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.3336, d0.loss_plan_l1_fix_dist: 0.4136, d1.loss_plan_l1_fix_time: 1.1238, d1.loss_plan_l1_fix_dist: 0.2225, d2.loss_plan_l1_fix_time: 1.1067, d2.loss_plan_l1_fix_dist: 0.1969, d3.loss_plan_l1_fix_time: 1.1158, d3.loss_plan_l1_fix_dist: 0.1998, d4.loss_plan_l1_fix_time: 1.1209, d4.loss_plan_l1_fix_dist: 0.2047, d5.loss_plan_l1_fix_time: 1.1262, d5.loss_plan_l1_fix_dist: 0.2179, d6.loss_plan_l1_fix_time: 1.1321, d6.loss_plan_l1_fix_dist: 0.2412, d0.loss_cls_all: 0.1871, d0.loss_bbox_all: 0.4051, d0.loss_cls: 0.1871, d0.loss_bbox: 0.4051, d1.loss_cls: 0.1793, d1.loss_bbox: 0.3699, d2.loss_cls: 0.1692, d2.loss_bbox: 0.3503, d3.loss_cls: 0.1594, d3.loss_bbox: 0.3457, d4.loss_cls: 0.1528, d4.loss_bbox: 0.3449, d5.loss_cls: 0.1501, d5.loss_bbox: 0.3469, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8498, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6447, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6144, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6085, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6033, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5978, d0.loss_map_cls_all: 0.2317, d0.loss_map_pts_all: 1.4137, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2317, d0.loss_map_pts: 1.4137, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.2024, d1.loss_map_pts: 1.0011, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1779, d2.loss_map_pts: 0.8181, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1611, d3.loss_map_pts: 0.7430, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1540, d4.loss_map_pts: 0.7158, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1498, d5.loss_map_pts: 0.7104, d5.loss_map_dir: 0.0086, loss: 28.5805, grad_norm: 165.0489 +2026-02-27 13:27:14,200 - DriveTransformer - INFO - Epoch [7][14000/39528] lr: 8.550e-05, eta: 5 days, 22:04:29, time: 0.730, data_time: 0.037, memory: 19865, loss_cls: 0.1591, loss_bbox: 0.3773, loss_traj: 0.6316, loss_traj_cls: 0.0010, loss_map_cls: 0.1492, loss_map_pts: 0.6988, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.6311, d0.loss_plan_l1_fix_dist: 0.4945, d1.loss_plan_l1_fix_time: 1.1484, d1.loss_plan_l1_fix_dist: 0.2526, d2.loss_plan_l1_fix_time: 1.1258, d2.loss_plan_l1_fix_dist: 0.2264, d3.loss_plan_l1_fix_time: 1.1191, d3.loss_plan_l1_fix_dist: 0.2427, d4.loss_plan_l1_fix_time: 1.1212, d4.loss_plan_l1_fix_dist: 0.2530, d5.loss_plan_l1_fix_time: 1.1245, d5.loss_plan_l1_fix_dist: 0.2536, d6.loss_plan_l1_fix_time: 1.1281, d6.loss_plan_l1_fix_dist: 0.2601, d0.loss_cls_all: 0.2010, d0.loss_bbox_all: 0.4293, d0.loss_cls: 0.2010, d0.loss_bbox: 0.4293, d1.loss_cls: 0.1966, d1.loss_bbox: 0.3937, d2.loss_cls: 0.1785, d2.loss_bbox: 0.3816, d3.loss_cls: 0.1692, d3.loss_bbox: 0.3727, d4.loss_cls: 0.1592, d4.loss_bbox: 0.3755, d5.loss_cls: 0.1596, d5.loss_bbox: 0.3753, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8499, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7148, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6577, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6402, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6361, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6312, d0.loss_map_cls_all: 0.2211, d0.loss_map_pts_all: 1.3892, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2211, d0.loss_map_pts: 1.3892, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1944, d1.loss_map_pts: 0.9970, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1731, d2.loss_map_pts: 0.7990, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1629, d3.loss_map_pts: 0.7289, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1572, d4.loss_map_pts: 0.7061, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1523, d5.loss_map_pts: 0.6977, d5.loss_map_dir: 0.0103, loss: 29.6262, grad_norm: 167.4295 +2026-02-27 13:27:51,428 - DriveTransformer - INFO - Epoch [7][14050/39528] lr: 8.550e-05, eta: 5 days, 22:04:17, time: 0.743, data_time: 0.034, memory: 19865, loss_cls: 0.1587, loss_bbox: 0.3721, loss_traj: 0.6322, loss_traj_cls: 0.0010, loss_map_cls: 0.1681, loss_map_pts: 0.7219, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.7274, d0.loss_plan_l1_fix_dist: 0.3878, d1.loss_plan_l1_fix_time: 1.0786, d1.loss_plan_l1_fix_dist: 0.2189, d2.loss_plan_l1_fix_time: 1.0614, d2.loss_plan_l1_fix_dist: 0.2112, d3.loss_plan_l1_fix_time: 1.0562, d3.loss_plan_l1_fix_dist: 0.2328, d4.loss_plan_l1_fix_time: 1.0597, d4.loss_plan_l1_fix_dist: 0.2460, d5.loss_plan_l1_fix_time: 1.0639, d5.loss_plan_l1_fix_dist: 0.2461, d6.loss_plan_l1_fix_time: 1.0678, d6.loss_plan_l1_fix_dist: 0.2561, d0.loss_cls_all: 0.2005, d0.loss_bbox_all: 0.4298, d0.loss_cls: 0.2005, d0.loss_bbox: 0.4298, d1.loss_cls: 0.1980, d1.loss_bbox: 0.3954, d2.loss_cls: 0.1803, d2.loss_bbox: 0.3834, d3.loss_cls: 0.1649, d3.loss_bbox: 0.3760, d4.loss_cls: 0.1592, d4.loss_bbox: 0.3744, d5.loss_cls: 0.1581, d5.loss_bbox: 0.3731, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8611, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6869, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6479, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6409, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6285, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6300, d0.loss_map_cls_all: 0.2425, d0.loss_map_pts_all: 1.4802, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2425, d0.loss_map_pts: 1.4802, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2149, d1.loss_map_pts: 1.0085, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1903, d2.loss_map_pts: 0.8202, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1800, d3.loss_map_pts: 0.7517, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1750, d4.loss_map_pts: 0.7306, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1691, d5.loss_map_pts: 0.7224, d5.loss_map_dir: 0.0105, loss: 29.5808, grad_norm: 170.1084 +2026-02-27 13:28:30,463 - DriveTransformer - INFO - Epoch [7][14100/39528] lr: 8.550e-05, eta: 5 days, 22:05:38, time: 0.781, data_time: 0.039, memory: 19865, loss_cls: 0.1444, loss_bbox: 0.3563, loss_traj: 0.6835, loss_traj_cls: 0.0010, loss_map_cls: 0.1514, loss_map_pts: 0.6759, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.4135, d0.loss_plan_l1_fix_dist: 0.3514, d1.loss_plan_l1_fix_time: 0.9769, d1.loss_plan_l1_fix_dist: 0.1786, d2.loss_plan_l1_fix_time: 0.9591, d2.loss_plan_l1_fix_dist: 0.1730, d3.loss_plan_l1_fix_time: 0.9689, d3.loss_plan_l1_fix_dist: 0.1783, d4.loss_plan_l1_fix_time: 0.9744, d4.loss_plan_l1_fix_dist: 0.1898, d5.loss_plan_l1_fix_time: 0.9792, d5.loss_plan_l1_fix_dist: 0.2088, d6.loss_plan_l1_fix_time: 0.9842, d6.loss_plan_l1_fix_dist: 0.2161, d0.loss_cls_all: 0.1874, d0.loss_bbox_all: 0.4175, d0.loss_cls: 0.1874, d0.loss_bbox: 0.4175, d1.loss_cls: 0.1783, d1.loss_bbox: 0.3824, d2.loss_cls: 0.1672, d2.loss_bbox: 0.3651, d3.loss_cls: 0.1544, d3.loss_bbox: 0.3593, d4.loss_cls: 0.1468, d4.loss_bbox: 0.3590, d5.loss_cls: 0.1451, d5.loss_bbox: 0.3574, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9293, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7732, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7088, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6887, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6830, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6833, d0.loss_map_cls_all: 0.2313, d0.loss_map_pts_all: 1.4753, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2313, d0.loss_map_pts: 1.4753, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.1941, d1.loss_map_pts: 0.9710, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.1741, d2.loss_map_pts: 0.7722, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1636, d3.loss_map_pts: 0.7090, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1558, d4.loss_map_pts: 0.6869, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1528, d5.loss_map_pts: 0.6774, d5.loss_map_dir: 0.0116, loss: 28.2207, grad_norm: 170.8005 +2026-02-27 13:29:07,283 - DriveTransformer - INFO - Epoch [7][14150/39528] lr: 8.550e-05, eta: 5 days, 22:05:08, time: 0.736, data_time: 0.035, memory: 19865, loss_cls: 0.1618, loss_bbox: 0.3617, loss_traj: 0.5864, loss_traj_cls: 0.0010, loss_map_cls: 0.1742, loss_map_pts: 0.7751, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 3.0116, d0.loss_plan_l1_fix_dist: 0.4368, d1.loss_plan_l1_fix_time: 1.0740, d1.loss_plan_l1_fix_dist: 0.2039, d2.loss_plan_l1_fix_time: 1.0621, d2.loss_plan_l1_fix_dist: 0.2046, d3.loss_plan_l1_fix_time: 1.0591, d3.loss_plan_l1_fix_dist: 0.2126, d4.loss_plan_l1_fix_time: 1.0614, d4.loss_plan_l1_fix_dist: 0.2224, d5.loss_plan_l1_fix_time: 1.0647, d5.loss_plan_l1_fix_dist: 0.2449, d6.loss_plan_l1_fix_time: 1.0687, d6.loss_plan_l1_fix_dist: 0.2587, d0.loss_cls_all: 0.2056, d0.loss_bbox_all: 0.4236, d0.loss_cls: 0.2056, d0.loss_bbox: 0.4236, d1.loss_cls: 0.1972, d1.loss_bbox: 0.3914, d2.loss_cls: 0.1820, d2.loss_bbox: 0.3699, d3.loss_cls: 0.1700, d3.loss_bbox: 0.3633, d4.loss_cls: 0.1644, d4.loss_bbox: 0.3624, d5.loss_cls: 0.1631, d5.loss_bbox: 0.3613, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7536, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6197, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5838, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5725, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5813, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5824, d0.loss_map_cls_all: 0.2469, d0.loss_map_pts_all: 1.5461, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2469, d0.loss_map_pts: 1.5461, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2173, d1.loss_map_pts: 1.0948, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1961, d2.loss_map_pts: 0.8895, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1848, d3.loss_map_pts: 0.8124, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1803, d4.loss_map_pts: 0.7840, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1763, d5.loss_map_pts: 0.7766, d5.loss_map_dir: 0.0106, loss: 29.9065, grad_norm: 169.5303 +2026-02-27 13:29:44,900 - DriveTransformer - INFO - Epoch [7][14200/39528] lr: 8.550e-05, eta: 5 days, 22:05:18, time: 0.752, data_time: 0.036, memory: 19865, loss_cls: 0.1546, loss_bbox: 0.3385, loss_traj: 0.5659, loss_traj_cls: 0.0010, loss_map_cls: 0.1203, loss_map_pts: 0.6297, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.4888, d0.loss_plan_l1_fix_dist: 0.3889, d1.loss_plan_l1_fix_time: 1.0092, d1.loss_plan_l1_fix_dist: 0.1947, d2.loss_plan_l1_fix_time: 0.9993, d2.loss_plan_l1_fix_dist: 0.2010, d3.loss_plan_l1_fix_time: 0.9950, d3.loss_plan_l1_fix_dist: 0.2111, d4.loss_plan_l1_fix_time: 0.9981, d4.loss_plan_l1_fix_dist: 0.2148, d5.loss_plan_l1_fix_time: 1.0019, d5.loss_plan_l1_fix_dist: 0.2263, d6.loss_plan_l1_fix_time: 1.0063, d6.loss_plan_l1_fix_dist: 0.2591, d0.loss_cls_all: 0.1917, d0.loss_bbox_all: 0.4051, d0.loss_cls: 0.1917, d0.loss_bbox: 0.4051, d1.loss_cls: 0.1862, d1.loss_bbox: 0.3687, d2.loss_cls: 0.1733, d2.loss_bbox: 0.3497, d3.loss_cls: 0.1605, d3.loss_bbox: 0.3448, d4.loss_cls: 0.1560, d4.loss_bbox: 0.3411, d5.loss_cls: 0.1551, d5.loss_bbox: 0.3388, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7622, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6188, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5795, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5697, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5695, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5661, d0.loss_map_cls_all: 0.1923, d0.loss_map_pts_all: 1.3723, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.1923, d0.loss_map_pts: 1.3723, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1611, d1.loss_map_pts: 0.9144, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1423, d2.loss_map_pts: 0.7346, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1331, d3.loss_map_pts: 0.6662, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1265, d4.loss_map_pts: 0.6379, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1220, d5.loss_map_pts: 0.6311, d5.loss_map_dir: 0.0106, loss: 26.9235, grad_norm: 168.4387 +2026-02-27 13:30:21,635 - DriveTransformer - INFO - Epoch [7][14250/39528] lr: 8.550e-05, eta: 5 days, 22:04:44, time: 0.735, data_time: 0.034, memory: 19865, loss_cls: 0.1508, loss_bbox: 0.3479, loss_traj: 0.5705, loss_traj_cls: 0.0009, loss_map_cls: 0.1725, loss_map_pts: 0.7533, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.6628, d0.loss_plan_l1_fix_dist: 0.4173, d1.loss_plan_l1_fix_time: 1.0832, d1.loss_plan_l1_fix_dist: 0.1805, d2.loss_plan_l1_fix_time: 1.0769, d2.loss_plan_l1_fix_dist: 0.1872, d3.loss_plan_l1_fix_time: 1.0739, d3.loss_plan_l1_fix_dist: 0.1980, d4.loss_plan_l1_fix_time: 1.0768, d4.loss_plan_l1_fix_dist: 0.2112, d5.loss_plan_l1_fix_time: 1.0800, d5.loss_plan_l1_fix_dist: 0.2275, d6.loss_plan_l1_fix_time: 1.0839, d6.loss_plan_l1_fix_dist: 0.2539, d0.loss_cls_all: 0.1950, d0.loss_bbox_all: 0.4125, d0.loss_cls: 0.1950, d0.loss_bbox: 0.4125, d1.loss_cls: 0.1827, d1.loss_bbox: 0.3770, d2.loss_cls: 0.1713, d2.loss_bbox: 0.3587, d3.loss_cls: 0.1607, d3.loss_bbox: 0.3516, d4.loss_cls: 0.1541, d4.loss_bbox: 0.3494, d5.loss_cls: 0.1527, d5.loss_bbox: 0.3478, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7506, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6234, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5919, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5842, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5727, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5720, d0.loss_map_cls_all: 0.2524, d0.loss_map_pts_all: 1.4962, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2524, d0.loss_map_pts: 1.4962, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2196, d1.loss_map_pts: 1.0373, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1989, d2.loss_map_pts: 0.8495, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1859, d3.loss_map_pts: 0.7822, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1796, d4.loss_map_pts: 0.7605, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1747, d5.loss_map_pts: 0.7562, d5.loss_map_dir: 0.0104, loss: 29.0529, grad_norm: 169.5113 +2026-02-27 13:30:57,993 - DriveTransformer - INFO - Epoch [7][14300/39528] lr: 8.550e-05, eta: 5 days, 22:03:51, time: 0.727, data_time: 0.036, memory: 19865, loss_cls: 0.1440, loss_bbox: 0.3290, loss_traj: 0.6632, loss_traj_cls: 0.0010, loss_map_cls: 0.1237, loss_map_pts: 0.5475, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.3506, d0.loss_plan_l1_fix_dist: 0.4110, d1.loss_plan_l1_fix_time: 0.9150, d1.loss_plan_l1_fix_dist: 0.1689, d2.loss_plan_l1_fix_time: 0.8893, d2.loss_plan_l1_fix_dist: 0.1764, d3.loss_plan_l1_fix_time: 0.8861, d3.loss_plan_l1_fix_dist: 0.1816, d4.loss_plan_l1_fix_time: 0.8902, d4.loss_plan_l1_fix_dist: 0.1947, d5.loss_plan_l1_fix_time: 0.8949, d5.loss_plan_l1_fix_dist: 0.2031, d6.loss_plan_l1_fix_time: 0.9002, d6.loss_plan_l1_fix_dist: 0.2078, d0.loss_cls_all: 0.1850, d0.loss_bbox_all: 0.3854, d0.loss_cls: 0.1850, d0.loss_bbox: 0.3854, d1.loss_cls: 0.1787, d1.loss_bbox: 0.3519, d2.loss_cls: 0.1634, d2.loss_bbox: 0.3347, d3.loss_cls: 0.1507, d3.loss_bbox: 0.3290, d4.loss_cls: 0.1445, d4.loss_bbox: 0.3281, d5.loss_cls: 0.1445, d5.loss_bbox: 0.3278, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8922, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7311, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6836, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6692, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6675, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6630, d0.loss_map_cls_all: 0.1949, d0.loss_map_pts_all: 1.2019, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.1949, d0.loss_map_pts: 1.2019, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1638, d1.loss_map_pts: 0.8028, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1480, d2.loss_map_pts: 0.6327, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1355, d3.loss_map_pts: 0.5755, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1311, d4.loss_map_pts: 0.5543, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1252, d5.loss_map_pts: 0.5491, d5.loss_map_dir: 0.0090, loss: 25.6653, grad_norm: 171.4515 +2026-02-27 13:31:34,266 - DriveTransformer - INFO - Epoch [7][14350/39528] lr: 8.550e-05, eta: 5 days, 22:02:55, time: 0.725, data_time: 0.035, memory: 19865, loss_cls: 0.1588, loss_bbox: 0.3398, loss_traj: 0.6037, loss_traj_cls: 0.0009, loss_map_cls: 0.1637, loss_map_pts: 0.6848, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 3.0154, d0.loss_plan_l1_fix_dist: 0.4129, d1.loss_plan_l1_fix_time: 0.9866, d1.loss_plan_l1_fix_dist: 0.1662, d2.loss_plan_l1_fix_time: 0.9758, d2.loss_plan_l1_fix_dist: 0.1737, d3.loss_plan_l1_fix_time: 0.9776, d3.loss_plan_l1_fix_dist: 0.1846, d4.loss_plan_l1_fix_time: 0.9810, d4.loss_plan_l1_fix_dist: 0.2046, d5.loss_plan_l1_fix_time: 0.9848, d5.loss_plan_l1_fix_dist: 0.2199, d6.loss_plan_l1_fix_time: 0.9889, d6.loss_plan_l1_fix_dist: 0.2168, d0.loss_cls_all: 0.1932, d0.loss_bbox_all: 0.4078, d0.loss_cls: 0.1932, d0.loss_bbox: 0.4078, d1.loss_cls: 0.1926, d1.loss_bbox: 0.3674, d2.loss_cls: 0.1790, d2.loss_bbox: 0.3512, d3.loss_cls: 0.1633, d3.loss_bbox: 0.3443, d4.loss_cls: 0.1604, d4.loss_bbox: 0.3411, d5.loss_cls: 0.1597, d5.loss_bbox: 0.3392, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8783, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6698, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6299, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6175, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6116, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6045, d0.loss_map_cls_all: 0.2394, d0.loss_map_pts_all: 1.3926, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2394, d0.loss_map_pts: 1.3926, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.2104, d1.loss_map_pts: 0.9874, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1894, d2.loss_map_pts: 0.8005, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1776, d3.loss_map_pts: 0.7260, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1713, d4.loss_map_pts: 0.6976, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1661, d5.loss_map_pts: 0.6861, d5.loss_map_dir: 0.0090, loss: 28.4031, grad_norm: 175.3228 +2026-02-27 13:32:10,481 - DriveTransformer - INFO - Epoch [7][14400/39528] lr: 8.550e-05, eta: 5 days, 22:01:56, time: 0.724, data_time: 0.034, memory: 19865, loss_cls: 0.1615, loss_bbox: 0.3597, loss_traj: 0.5464, loss_traj_cls: 0.0009, loss_map_cls: 0.1584, loss_map_pts: 0.7339, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.6050, d0.loss_plan_l1_fix_dist: 0.4432, d1.loss_plan_l1_fix_time: 1.0723, d1.loss_plan_l1_fix_dist: 0.1911, d2.loss_plan_l1_fix_time: 1.0635, d2.loss_plan_l1_fix_dist: 0.1927, d3.loss_plan_l1_fix_time: 1.0622, d3.loss_plan_l1_fix_dist: 0.1957, d4.loss_plan_l1_fix_time: 1.0657, d4.loss_plan_l1_fix_dist: 0.2103, d5.loss_plan_l1_fix_time: 1.0691, d5.loss_plan_l1_fix_dist: 0.2157, d6.loss_plan_l1_fix_time: 1.0725, d6.loss_plan_l1_fix_dist: 0.2380, d0.loss_cls_all: 0.1941, d0.loss_bbox_all: 0.4313, d0.loss_cls: 0.1941, d0.loss_bbox: 0.4313, d1.loss_cls: 0.1882, d1.loss_bbox: 0.3917, d2.loss_cls: 0.1760, d2.loss_bbox: 0.3732, d3.loss_cls: 0.1683, d3.loss_bbox: 0.3631, d4.loss_cls: 0.1634, d4.loss_bbox: 0.3605, d5.loss_cls: 0.1626, d5.loss_bbox: 0.3595, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8041, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6082, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5607, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5535, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5436, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5420, d0.loss_map_cls_all: 0.2450, d0.loss_map_pts_all: 1.5516, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2450, d0.loss_map_pts: 1.5516, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2060, d1.loss_map_pts: 1.0513, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1803, d2.loss_map_pts: 0.8549, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1695, d3.loss_map_pts: 0.7739, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1636, d4.loss_map_pts: 0.7404, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1594, d5.loss_map_pts: 0.7351, d5.loss_map_dir: 0.0092, loss: 28.9315, grad_norm: 173.2793 +2026-02-27 13:32:46,838 - DriveTransformer - INFO - Epoch [7][14450/39528] lr: 8.550e-05, eta: 5 days, 22:01:04, time: 0.727, data_time: 0.037, memory: 19865, loss_cls: 0.1530, loss_bbox: 0.3630, loss_traj: 0.6496, loss_traj_cls: 0.0009, loss_map_cls: 0.1437, loss_map_pts: 0.6769, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.4850, d0.loss_plan_l1_fix_dist: 0.3619, d1.loss_plan_l1_fix_time: 0.8514, d1.loss_plan_l1_fix_dist: 0.1721, d2.loss_plan_l1_fix_time: 0.8346, d2.loss_plan_l1_fix_dist: 0.1830, d3.loss_plan_l1_fix_time: 0.8321, d3.loss_plan_l1_fix_dist: 0.1741, d4.loss_plan_l1_fix_time: 0.8342, d4.loss_plan_l1_fix_dist: 0.1850, d5.loss_plan_l1_fix_time: 0.8365, d5.loss_plan_l1_fix_dist: 0.2032, d6.loss_plan_l1_fix_time: 0.8391, d6.loss_plan_l1_fix_dist: 0.2320, d0.loss_cls_all: 0.1884, d0.loss_bbox_all: 0.4225, d0.loss_cls: 0.1884, d0.loss_bbox: 0.4225, d1.loss_cls: 0.1811, d1.loss_bbox: 0.3891, d2.loss_cls: 0.1684, d2.loss_bbox: 0.3734, d3.loss_cls: 0.1573, d3.loss_bbox: 0.3675, d4.loss_cls: 0.1535, d4.loss_bbox: 0.3644, d5.loss_cls: 0.1526, d5.loss_bbox: 0.3639, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8467, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7119, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6569, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6472, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6444, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6466, d0.loss_map_cls_all: 0.2140, d0.loss_map_pts_all: 1.3555, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2140, d0.loss_map_pts: 1.3555, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1870, d1.loss_map_pts: 0.9555, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1683, d2.loss_map_pts: 0.7892, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1578, d3.loss_map_pts: 0.7194, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1497, d4.loss_map_pts: 0.6906, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1455, d5.loss_map_pts: 0.6797, d5.loss_map_dir: 0.0093, loss: 26.9175, grad_norm: 173.5418 +2026-02-27 13:33:24,012 - DriveTransformer - INFO - Epoch [7][14500/39528] lr: 8.550e-05, eta: 5 days, 22:00:51, time: 0.744, data_time: 0.036, memory: 19865, loss_cls: 0.1372, loss_bbox: 0.3343, loss_traj: 0.5754, loss_traj_cls: 0.0009, loss_map_cls: 0.1432, loss_map_pts: 0.6668, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.1177, d0.loss_plan_l1_fix_dist: 0.3715, d1.loss_plan_l1_fix_time: 0.9922, d1.loss_plan_l1_fix_dist: 0.1758, d2.loss_plan_l1_fix_time: 0.9751, d2.loss_plan_l1_fix_dist: 0.1845, d3.loss_plan_l1_fix_time: 0.9681, d3.loss_plan_l1_fix_dist: 0.1887, d4.loss_plan_l1_fix_time: 0.9702, d4.loss_plan_l1_fix_dist: 0.1960, d5.loss_plan_l1_fix_time: 0.9733, d5.loss_plan_l1_fix_dist: 0.2123, d6.loss_plan_l1_fix_time: 0.9772, d6.loss_plan_l1_fix_dist: 0.2257, d0.loss_cls_all: 0.1716, d0.loss_bbox_all: 0.3906, d0.loss_cls: 0.1716, d0.loss_bbox: 0.3906, d1.loss_cls: 0.1635, d1.loss_bbox: 0.3589, d2.loss_cls: 0.1528, d2.loss_bbox: 0.3428, d3.loss_cls: 0.1416, d3.loss_bbox: 0.3358, d4.loss_cls: 0.1375, d4.loss_bbox: 0.3347, d5.loss_cls: 0.1365, d5.loss_bbox: 0.3337, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7319, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6277, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5840, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5816, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5770, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5750, d0.loss_map_cls_all: 0.2298, d0.loss_map_pts_all: 1.4181, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2298, d0.loss_map_pts: 1.4181, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1929, d1.loss_map_pts: 0.9502, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1680, d2.loss_map_pts: 0.7681, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1582, d3.loss_map_pts: 0.6983, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1496, d4.loss_map_pts: 0.6749, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1437, d5.loss_map_pts: 0.6694, d5.loss_map_dir: 0.0101, loss: 26.5768, grad_norm: 172.5959 +2026-02-27 13:34:00,519 - DriveTransformer - INFO - Epoch [7][14550/39528] lr: 8.550e-05, eta: 5 days, 22:00:07, time: 0.730, data_time: 0.036, memory: 19865, loss_cls: 0.1364, loss_bbox: 0.3435, loss_traj: 0.6779, loss_traj_cls: 0.0009, loss_map_cls: 0.1708, loss_map_pts: 0.7492, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.6987, d0.loss_plan_l1_fix_dist: 0.4860, d1.loss_plan_l1_fix_time: 0.9213, d1.loss_plan_l1_fix_dist: 0.1919, d2.loss_plan_l1_fix_time: 0.9038, d2.loss_plan_l1_fix_dist: 0.1760, d3.loss_plan_l1_fix_time: 0.9064, d3.loss_plan_l1_fix_dist: 0.1914, d4.loss_plan_l1_fix_time: 0.9092, d4.loss_plan_l1_fix_dist: 0.1994, d5.loss_plan_l1_fix_time: 0.9129, d5.loss_plan_l1_fix_dist: 0.2128, d6.loss_plan_l1_fix_time: 0.9169, d6.loss_plan_l1_fix_dist: 0.2235, d0.loss_cls_all: 0.1742, d0.loss_bbox_all: 0.4066, d0.loss_cls: 0.1742, d0.loss_bbox: 0.4066, d1.loss_cls: 0.1667, d1.loss_bbox: 0.3716, d2.loss_cls: 0.1522, d2.loss_bbox: 0.3534, d3.loss_cls: 0.1406, d3.loss_bbox: 0.3466, d4.loss_cls: 0.1363, d4.loss_bbox: 0.3446, d5.loss_cls: 0.1364, d5.loss_bbox: 0.3428, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8995, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7433, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7001, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6818, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6771, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6777, d0.loss_map_cls_all: 0.2535, d0.loss_map_pts_all: 1.5012, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2535, d0.loss_map_pts: 1.5012, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2241, d1.loss_map_pts: 1.0337, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1994, d2.loss_map_pts: 0.8610, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1869, d3.loss_map_pts: 0.7894, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1787, d4.loss_map_pts: 0.7615, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1735, d5.loss_map_pts: 0.7508, d5.loss_map_dir: 0.0096, loss: 28.7099, grad_norm: 172.7859 +2026-02-27 13:34:37,632 - DriveTransformer - INFO - Epoch [7][14600/39528] lr: 8.550e-05, eta: 5 days, 21:59:51, time: 0.742, data_time: 0.035, memory: 19865, loss_cls: 0.1277, loss_bbox: 0.3167, loss_traj: 0.6270, loss_traj_cls: 0.0010, loss_map_cls: 0.1275, loss_map_pts: 0.5527, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.2955, d0.loss_plan_l1_fix_dist: 0.4440, d1.loss_plan_l1_fix_time: 0.9159, d1.loss_plan_l1_fix_dist: 0.2140, d2.loss_plan_l1_fix_time: 0.9029, d2.loss_plan_l1_fix_dist: 0.1789, d3.loss_plan_l1_fix_time: 0.9054, d3.loss_plan_l1_fix_dist: 0.1853, d4.loss_plan_l1_fix_time: 0.9088, d4.loss_plan_l1_fix_dist: 0.1933, d5.loss_plan_l1_fix_time: 0.9127, d5.loss_plan_l1_fix_dist: 0.2073, d6.loss_plan_l1_fix_time: 0.9176, d6.loss_plan_l1_fix_dist: 0.2221, d0.loss_cls_all: 0.1645, d0.loss_bbox_all: 0.3774, d0.loss_cls: 0.1645, d0.loss_bbox: 0.3774, d1.loss_cls: 0.1571, d1.loss_bbox: 0.3427, d2.loss_cls: 0.1454, d2.loss_bbox: 0.3269, d3.loss_cls: 0.1372, d3.loss_bbox: 0.3177, d4.loss_cls: 0.1314, d4.loss_bbox: 0.3159, d5.loss_cls: 0.1292, d5.loss_bbox: 0.3156, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7883, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6516, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6321, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6207, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6184, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6235, d0.loss_map_cls_all: 0.1915, d0.loss_map_pts_all: 1.2090, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.1915, d0.loss_map_pts: 1.2090, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1625, d1.loss_map_pts: 0.8166, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1452, d2.loss_map_pts: 0.6470, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1380, d3.loss_map_pts: 0.5861, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1317, d4.loss_map_pts: 0.5650, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1285, d5.loss_map_pts: 0.5542, d5.loss_map_dir: 0.0096, loss: 25.2490, grad_norm: 172.7042 +2026-02-27 13:35:13,714 - DriveTransformer - INFO - Epoch [7][14650/39528] lr: 8.550e-05, eta: 5 days, 21:58:46, time: 0.722, data_time: 0.035, memory: 19865, loss_cls: 0.1550, loss_bbox: 0.3596, loss_traj: 0.7311, loss_traj_cls: 0.0010, loss_map_cls: 0.1481, loss_map_pts: 0.6323, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.6180, d0.loss_plan_l1_fix_dist: 0.3860, d1.loss_plan_l1_fix_time: 1.1226, d1.loss_plan_l1_fix_dist: 0.2262, d2.loss_plan_l1_fix_time: 1.1074, d2.loss_plan_l1_fix_dist: 0.2086, d3.loss_plan_l1_fix_time: 1.1062, d3.loss_plan_l1_fix_dist: 0.2191, d4.loss_plan_l1_fix_time: 1.1092, d4.loss_plan_l1_fix_dist: 0.2386, d5.loss_plan_l1_fix_time: 1.1131, d5.loss_plan_l1_fix_dist: 0.2667, d6.loss_plan_l1_fix_time: 1.1179, d6.loss_plan_l1_fix_dist: 0.2946, d0.loss_cls_all: 0.1896, d0.loss_bbox_all: 0.4230, d0.loss_cls: 0.1896, d0.loss_bbox: 0.4230, d1.loss_cls: 0.1823, d1.loss_bbox: 0.3882, d2.loss_cls: 0.1710, d2.loss_bbox: 0.3677, d3.loss_cls: 0.1587, d3.loss_bbox: 0.3633, d4.loss_cls: 0.1552, d4.loss_bbox: 0.3603, d5.loss_cls: 0.1551, d5.loss_bbox: 0.3583, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9507, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7831, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7528, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7330, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7363, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7335, d0.loss_map_cls_all: 0.2222, d0.loss_map_pts_all: 1.2254, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2222, d0.loss_map_pts: 1.2254, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1897, d1.loss_map_pts: 0.8672, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1690, d2.loss_map_pts: 0.7187, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1591, d3.loss_map_pts: 0.6684, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1518, d4.loss_map_pts: 0.6470, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1492, d5.loss_map_pts: 0.6331, d5.loss_map_dir: 0.0081, loss: 29.0526, grad_norm: 186.1207 +2026-02-27 13:35:49,216 - DriveTransformer - INFO - Epoch [7][14700/39528] lr: 8.550e-05, eta: 5 days, 21:57:14, time: 0.710, data_time: 0.032, memory: 19865, loss_cls: 0.1506, loss_bbox: 0.3404, loss_traj: 0.5283, loss_traj_cls: 0.0009, loss_map_cls: 0.1473, loss_map_pts: 0.6694, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.2691, d0.loss_plan_l1_fix_dist: 0.4051, d1.loss_plan_l1_fix_time: 0.9014, d1.loss_plan_l1_fix_dist: 0.2021, d2.loss_plan_l1_fix_time: 0.8894, d2.loss_plan_l1_fix_dist: 0.1764, d3.loss_plan_l1_fix_time: 0.8823, d3.loss_plan_l1_fix_dist: 0.1811, d4.loss_plan_l1_fix_time: 0.8842, d4.loss_plan_l1_fix_dist: 0.1952, d5.loss_plan_l1_fix_time: 0.8869, d5.loss_plan_l1_fix_dist: 0.2070, d6.loss_plan_l1_fix_time: 0.8901, d6.loss_plan_l1_fix_dist: 0.2226, d0.loss_cls_all: 0.1902, d0.loss_bbox_all: 0.4014, d0.loss_cls: 0.1902, d0.loss_bbox: 0.4014, d1.loss_cls: 0.1852, d1.loss_bbox: 0.3663, d2.loss_cls: 0.1715, d2.loss_bbox: 0.3512, d3.loss_cls: 0.1578, d3.loss_bbox: 0.3412, d4.loss_cls: 0.1519, d4.loss_bbox: 0.3390, d5.loss_cls: 0.1498, d5.loss_bbox: 0.3393, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7122, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5936, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5464, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5338, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5329, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5289, d0.loss_map_cls_all: 0.2274, d0.loss_map_pts_all: 1.3500, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2274, d0.loss_map_pts: 1.3500, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1950, d1.loss_map_pts: 0.9357, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1729, d2.loss_map_pts: 0.7685, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1630, d3.loss_map_pts: 0.7012, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1552, d4.loss_map_pts: 0.6781, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1487, d5.loss_map_pts: 0.6705, d5.loss_map_dir: 0.0085, loss: 26.0300, grad_norm: 187.7955 +2026-02-27 13:36:29,276 - DriveTransformer - INFO - Epoch [7][14750/39528] lr: 8.550e-05, eta: 5 days, 21:59:17, time: 0.801, data_time: 0.035, memory: 19865, loss_cls: 0.1622, loss_bbox: 0.3757, loss_traj: 0.5980, loss_traj_cls: 0.0009, loss_map_cls: 0.1659, loss_map_pts: 0.8509, loss_map_dir: 0.0133, d0.loss_plan_l1_fix_time: 2.0470, d0.loss_plan_l1_fix_dist: 0.3965, d1.loss_plan_l1_fix_time: 0.8857, d1.loss_plan_l1_fix_dist: 0.2185, d2.loss_plan_l1_fix_time: 0.8662, d2.loss_plan_l1_fix_dist: 0.2033, d3.loss_plan_l1_fix_time: 0.8620, d3.loss_plan_l1_fix_dist: 0.1996, d4.loss_plan_l1_fix_time: 0.8643, d4.loss_plan_l1_fix_dist: 0.2216, d5.loss_plan_l1_fix_time: 0.8670, d5.loss_plan_l1_fix_dist: 0.2360, d6.loss_plan_l1_fix_time: 0.8705, d6.loss_plan_l1_fix_dist: 0.2569, d0.loss_cls_all: 0.2084, d0.loss_bbox_all: 0.4348, d0.loss_cls: 0.2084, d0.loss_bbox: 0.4348, d1.loss_cls: 0.1982, d1.loss_bbox: 0.4050, d2.loss_cls: 0.1836, d2.loss_bbox: 0.3895, d3.loss_cls: 0.1727, d3.loss_bbox: 0.3823, d4.loss_cls: 0.1635, d4.loss_bbox: 0.3780, d5.loss_cls: 0.1643, d5.loss_bbox: 0.3740, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8304, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6617, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6187, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5997, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5976, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6001, d0.loss_map_cls_all: 0.2539, d0.loss_map_pts_all: 1.7318, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2539, d0.loss_map_pts: 1.7318, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2197, d1.loss_map_pts: 1.1726, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.1966, d2.loss_map_pts: 0.9631, d2.loss_map_dir: 0.0120, d3.loss_map_cls: 0.1837, d3.loss_map_pts: 0.8894, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.1755, d4.loss_map_pts: 0.8609, d4.loss_map_dir: 0.0132, d5.loss_map_cls: 0.1669, d5.loss_map_pts: 0.8517, d5.loss_map_dir: 0.0133, loss: 28.9119, grad_norm: 187.9626 +2026-02-27 13:37:05,077 - DriveTransformer - INFO - Epoch [7][14800/39528] lr: 8.550e-05, eta: 5 days, 21:58:02, time: 0.717, data_time: 0.035, memory: 19865, loss_cls: 0.1642, loss_bbox: 0.3831, loss_traj: 0.6543, loss_traj_cls: 0.0009, loss_map_cls: 0.1744, loss_map_pts: 0.7933, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.7879, d0.loss_plan_l1_fix_dist: 0.5341, d1.loss_plan_l1_fix_time: 1.1416, d1.loss_plan_l1_fix_dist: 0.2438, d2.loss_plan_l1_fix_time: 1.1278, d2.loss_plan_l1_fix_dist: 0.2494, d3.loss_plan_l1_fix_time: 1.1175, d3.loss_plan_l1_fix_dist: 0.2369, d4.loss_plan_l1_fix_time: 1.1181, d4.loss_plan_l1_fix_dist: 0.2423, d5.loss_plan_l1_fix_time: 1.1196, d5.loss_plan_l1_fix_dist: 0.2523, d6.loss_plan_l1_fix_time: 1.1219, d6.loss_plan_l1_fix_dist: 0.2652, d0.loss_cls_all: 0.2076, d0.loss_bbox_all: 0.4477, d0.loss_cls: 0.2076, d0.loss_bbox: 0.4477, d1.loss_cls: 0.1997, d1.loss_bbox: 0.4145, d2.loss_cls: 0.1851, d2.loss_bbox: 0.3973, d3.loss_cls: 0.1692, d3.loss_bbox: 0.3899, d4.loss_cls: 0.1646, d4.loss_bbox: 0.3854, d5.loss_cls: 0.1627, d5.loss_bbox: 0.3844, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9058, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7236, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6647, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6622, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6546, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6515, d0.loss_map_cls_all: 0.2453, d0.loss_map_pts_all: 1.4715, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2453, d0.loss_map_pts: 1.4715, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2251, d1.loss_map_pts: 1.0519, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.2034, d2.loss_map_pts: 0.8904, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1883, d3.loss_map_pts: 0.8267, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1810, d4.loss_map_pts: 0.8031, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1765, d5.loss_map_pts: 0.7942, d5.loss_map_dir: 0.0100, loss: 31.0118, grad_norm: 185.0041 +2026-02-27 13:37:41,985 - DriveTransformer - INFO - Epoch [7][14850/39528] lr: 8.550e-05, eta: 5 days, 21:57:33, time: 0.737, data_time: 0.034, memory: 19865, loss_cls: 0.1724, loss_bbox: 0.3757, loss_traj: 0.6756, loss_traj_cls: 0.0009, loss_map_cls: 0.1895, loss_map_pts: 0.7807, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.9592, d0.loss_plan_l1_fix_dist: 0.4055, d1.loss_plan_l1_fix_time: 1.1688, d1.loss_plan_l1_fix_dist: 0.2113, d2.loss_plan_l1_fix_time: 1.1570, d2.loss_plan_l1_fix_dist: 0.2260, d3.loss_plan_l1_fix_time: 1.1568, d3.loss_plan_l1_fix_dist: 0.2203, d4.loss_plan_l1_fix_time: 1.1590, d4.loss_plan_l1_fix_dist: 0.2265, d5.loss_plan_l1_fix_time: 1.1614, d5.loss_plan_l1_fix_dist: 0.2416, d6.loss_plan_l1_fix_time: 1.1641, d6.loss_plan_l1_fix_dist: 0.2593, d0.loss_cls_all: 0.1999, d0.loss_bbox_all: 0.4383, d0.loss_cls: 0.1999, d0.loss_bbox: 0.4383, d1.loss_cls: 0.1981, d1.loss_bbox: 0.4061, d2.loss_cls: 0.1856, d2.loss_bbox: 0.3891, d3.loss_cls: 0.1783, d3.loss_bbox: 0.3826, d4.loss_cls: 0.1748, d4.loss_bbox: 0.3767, d5.loss_cls: 0.1729, d5.loss_bbox: 0.3752, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8993, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7341, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6879, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6841, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6796, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6760, d0.loss_map_cls_all: 0.2670, d0.loss_map_pts_all: 1.5486, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2670, d0.loss_map_pts: 1.5486, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2386, d1.loss_map_pts: 1.0774, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.2156, d2.loss_map_pts: 0.8915, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.2035, d3.loss_map_pts: 0.8193, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1953, d4.loss_map_pts: 0.7900, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1904, d5.loss_map_pts: 0.7827, d5.loss_map_dir: 0.0102, loss: 31.5076, grad_norm: 184.1395 +2026-02-27 13:38:18,226 - DriveTransformer - INFO - Epoch [7][14900/39528] lr: 8.550e-05, eta: 5 days, 21:56:36, time: 0.725, data_time: 0.035, memory: 19865, loss_cls: 0.1473, loss_bbox: 0.3507, loss_traj: 0.6976, loss_traj_cls: 0.0009, loss_map_cls: 0.1685, loss_map_pts: 0.7023, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.7464, d0.loss_plan_l1_fix_dist: 0.4576, d1.loss_plan_l1_fix_time: 1.0741, d1.loss_plan_l1_fix_dist: 0.1898, d2.loss_plan_l1_fix_time: 1.0595, d2.loss_plan_l1_fix_dist: 0.1964, d3.loss_plan_l1_fix_time: 1.0605, d3.loss_plan_l1_fix_dist: 0.2068, d4.loss_plan_l1_fix_time: 1.0630, d4.loss_plan_l1_fix_dist: 0.2309, d5.loss_plan_l1_fix_time: 1.0657, d5.loss_plan_l1_fix_dist: 0.2541, d6.loss_plan_l1_fix_time: 1.0690, d6.loss_plan_l1_fix_dist: 0.2772, d0.loss_cls_all: 0.1874, d0.loss_bbox_all: 0.4065, d0.loss_cls: 0.1874, d0.loss_bbox: 0.4065, d1.loss_cls: 0.1756, d1.loss_bbox: 0.3722, d2.loss_cls: 0.1624, d2.loss_bbox: 0.3597, d3.loss_cls: 0.1529, d3.loss_bbox: 0.3523, d4.loss_cls: 0.1500, d4.loss_bbox: 0.3496, d5.loss_cls: 0.1479, d5.loss_bbox: 0.3486, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8772, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7546, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7143, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7020, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6948, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6934, d0.loss_map_cls_all: 0.2410, d0.loss_map_pts_all: 1.3421, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2410, d0.loss_map_pts: 1.3421, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.2171, d1.loss_map_pts: 0.9690, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1914, d2.loss_map_pts: 0.8038, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1806, d3.loss_map_pts: 0.7375, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1747, d4.loss_map_pts: 0.7113, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1700, d5.loss_map_pts: 0.7025, d5.loss_map_dir: 0.0081, loss: 29.3060, grad_norm: 184.0344 +2026-02-27 13:38:54,665 - DriveTransformer - INFO - Epoch [7][14950/39528] lr: 8.550e-05, eta: 5 days, 21:55:48, time: 0.729, data_time: 0.035, memory: 19865, loss_cls: 0.1663, loss_bbox: 0.3425, loss_traj: 0.5119, loss_traj_cls: 0.0010, loss_map_cls: 0.1794, loss_map_pts: 0.7854, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.5900, d0.loss_plan_l1_fix_dist: 0.5348, d1.loss_plan_l1_fix_time: 0.9288, d1.loss_plan_l1_fix_dist: 0.2097, d2.loss_plan_l1_fix_time: 0.9063, d2.loss_plan_l1_fix_dist: 0.1853, d3.loss_plan_l1_fix_time: 0.9041, d3.loss_plan_l1_fix_dist: 0.1943, d4.loss_plan_l1_fix_time: 0.9061, d4.loss_plan_l1_fix_dist: 0.2108, d5.loss_plan_l1_fix_time: 0.9086, d5.loss_plan_l1_fix_dist: 0.2289, d6.loss_plan_l1_fix_time: 0.9122, d6.loss_plan_l1_fix_dist: 0.2412, d0.loss_cls_all: 0.2113, d0.loss_bbox_all: 0.4098, d0.loss_cls: 0.2113, d0.loss_bbox: 0.4098, d1.loss_cls: 0.1980, d1.loss_bbox: 0.3738, d2.loss_cls: 0.1858, d2.loss_bbox: 0.3542, d3.loss_cls: 0.1709, d3.loss_bbox: 0.3485, d4.loss_cls: 0.1666, d4.loss_bbox: 0.3460, d5.loss_cls: 0.1666, d5.loss_bbox: 0.3432, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7474, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5889, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5526, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5381, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5257, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5184, d0.loss_map_cls_all: 0.2525, d0.loss_map_pts_all: 1.5742, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2525, d0.loss_map_pts: 1.5742, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2262, d1.loss_map_pts: 1.0878, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2010, d2.loss_map_pts: 0.8877, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1915, d3.loss_map_pts: 0.8166, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1854, d4.loss_map_pts: 0.7916, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1806, d5.loss_map_pts: 0.7855, d5.loss_map_dir: 0.0114, loss: 28.3164, grad_norm: 184.3589 +2026-02-27 13:39:31,211 - DriveTransformer - INFO - Epoch [7][15000/39528] lr: 8.550e-05, eta: 5 days, 21:55:05, time: 0.731, data_time: 0.037, memory: 19865, loss_cls: 0.1519, loss_bbox: 0.3662, loss_traj: 0.6391, loss_traj_cls: 0.0010, loss_map_cls: 0.1509, loss_map_pts: 0.7238, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.3833, d0.loss_plan_l1_fix_dist: 0.4337, d1.loss_plan_l1_fix_time: 1.0672, d1.loss_plan_l1_fix_dist: 0.2182, d2.loss_plan_l1_fix_time: 1.0487, d2.loss_plan_l1_fix_dist: 0.1954, d3.loss_plan_l1_fix_time: 1.0465, d3.loss_plan_l1_fix_dist: 0.2119, d4.loss_plan_l1_fix_time: 1.0493, d4.loss_plan_l1_fix_dist: 0.2238, d5.loss_plan_l1_fix_time: 1.0520, d5.loss_plan_l1_fix_dist: 0.2402, d6.loss_plan_l1_fix_time: 1.0558, d6.loss_plan_l1_fix_dist: 0.2596, d0.loss_cls_all: 0.1868, d0.loss_bbox_all: 0.4292, d0.loss_cls: 0.1868, d0.loss_bbox: 0.4292, d1.loss_cls: 0.1812, d1.loss_bbox: 0.3943, d2.loss_cls: 0.1695, d2.loss_bbox: 0.3748, d3.loss_cls: 0.1571, d3.loss_bbox: 0.3705, d4.loss_cls: 0.1534, d4.loss_bbox: 0.3669, d5.loss_cls: 0.1516, d5.loss_bbox: 0.3670, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8595, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6989, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6494, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6380, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6372, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6446, d0.loss_map_cls_all: 0.2138, d0.loss_map_pts_all: 1.4037, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2138, d0.loss_map_pts: 1.4037, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1878, d1.loss_map_pts: 0.9994, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1683, d2.loss_map_pts: 0.8274, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1599, d3.loss_map_pts: 0.7564, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1555, d4.loss_map_pts: 0.7308, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1523, d5.loss_map_pts: 0.7250, d5.loss_map_dir: 0.0102, loss: 28.7434, grad_norm: 184.9686 +2026-02-27 13:40:08,150 - DriveTransformer - INFO - Epoch [7][15050/39528] lr: 8.550e-05, eta: 5 days, 21:54:41, time: 0.739, data_time: 0.043, memory: 19865, loss_cls: 0.1717, loss_bbox: 0.3733, loss_traj: 0.7291, loss_traj_cls: 0.0010, loss_map_cls: 0.1675, loss_map_pts: 0.7045, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.6962, d0.loss_plan_l1_fix_dist: 0.4780, d1.loss_plan_l1_fix_time: 1.2017, d1.loss_plan_l1_fix_dist: 0.2467, d2.loss_plan_l1_fix_time: 1.1885, d2.loss_plan_l1_fix_dist: 0.2183, d3.loss_plan_l1_fix_time: 1.1866, d3.loss_plan_l1_fix_dist: 0.2366, d4.loss_plan_l1_fix_time: 1.1895, d4.loss_plan_l1_fix_dist: 0.2502, d5.loss_plan_l1_fix_time: 1.1928, d5.loss_plan_l1_fix_dist: 0.2618, d6.loss_plan_l1_fix_time: 1.1966, d6.loss_plan_l1_fix_dist: 0.2817, d0.loss_cls_all: 0.2055, d0.loss_bbox_all: 0.4275, d0.loss_cls: 0.2055, d0.loss_bbox: 0.4275, d1.loss_cls: 0.1981, d1.loss_bbox: 0.3945, d2.loss_cls: 0.1843, d2.loss_bbox: 0.3753, d3.loss_cls: 0.1744, d3.loss_bbox: 0.3714, d4.loss_cls: 0.1693, d4.loss_bbox: 0.3710, d5.loss_cls: 0.1704, d5.loss_bbox: 0.3713, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0385, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8166, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7572, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7391, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7303, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7280, d0.loss_map_cls_all: 0.2377, d0.loss_map_pts_all: 1.3559, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2377, d0.loss_map_pts: 1.3559, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2092, d1.loss_map_pts: 0.9656, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1864, d2.loss_map_pts: 0.8046, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1761, d3.loss_map_pts: 0.7349, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1705, d4.loss_map_pts: 0.7077, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1684, d5.loss_map_pts: 0.7039, d5.loss_map_dir: 0.0091, loss: 30.9184, grad_norm: 191.8072 +2026-02-27 13:40:44,775 - DriveTransformer - INFO - Epoch [7][15100/39528] lr: 8.550e-05, eta: 5 days, 21:54:02, time: 0.732, data_time: 0.035, memory: 19865, loss_cls: 0.1844, loss_bbox: 0.4099, loss_traj: 0.6272, loss_traj_cls: 0.0010, loss_map_cls: 0.2146, loss_map_pts: 0.7861, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.8171, d0.loss_plan_l1_fix_dist: 0.4186, d1.loss_plan_l1_fix_time: 1.1795, d1.loss_plan_l1_fix_dist: 0.2517, d2.loss_plan_l1_fix_time: 1.1724, d2.loss_plan_l1_fix_dist: 0.2186, d3.loss_plan_l1_fix_time: 1.1691, d3.loss_plan_l1_fix_dist: 0.2282, d4.loss_plan_l1_fix_time: 1.1719, d4.loss_plan_l1_fix_dist: 0.2458, d5.loss_plan_l1_fix_time: 1.1754, d5.loss_plan_l1_fix_dist: 0.2567, d6.loss_plan_l1_fix_time: 1.1787, d6.loss_plan_l1_fix_dist: 0.2769, d0.loss_cls_all: 0.2242, d0.loss_bbox_all: 0.4796, d0.loss_cls: 0.2242, d0.loss_bbox: 0.4796, d1.loss_cls: 0.2154, d1.loss_bbox: 0.4367, d2.loss_cls: 0.2001, d2.loss_bbox: 0.4186, d3.loss_cls: 0.1915, d3.loss_bbox: 0.4127, d4.loss_cls: 0.1856, d4.loss_bbox: 0.4103, d5.loss_cls: 0.1857, d5.loss_bbox: 0.4083, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8236, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7032, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6562, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6376, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6323, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6268, d0.loss_map_cls_all: 0.2862, d0.loss_map_pts_all: 1.5789, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2862, d0.loss_map_pts: 1.5789, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2621, d1.loss_map_pts: 1.0846, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.2335, d2.loss_map_pts: 0.8857, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.2246, d3.loss_map_pts: 0.8157, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.2194, d4.loss_map_pts: 0.7921, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.2155, d5.loss_map_pts: 0.7866, d5.loss_map_dir: 0.0101, loss: 31.8709, grad_norm: 186.9774 +2026-02-27 13:41:21,747 - DriveTransformer - INFO - Epoch [7][15150/39528] lr: 8.550e-05, eta: 5 days, 21:53:38, time: 0.739, data_time: 0.033, memory: 19865, loss_cls: 0.1983, loss_bbox: 0.3970, loss_traj: 0.6261, loss_traj_cls: 0.0010, loss_map_cls: 0.2038, loss_map_pts: 0.8760, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.6971, d0.loss_plan_l1_fix_dist: 0.5114, d1.loss_plan_l1_fix_time: 1.0792, d1.loss_plan_l1_fix_dist: 0.2622, d2.loss_plan_l1_fix_time: 1.0771, d2.loss_plan_l1_fix_dist: 0.2282, d3.loss_plan_l1_fix_time: 1.0743, d3.loss_plan_l1_fix_dist: 0.2184, d4.loss_plan_l1_fix_time: 1.0767, d4.loss_plan_l1_fix_dist: 0.2281, d5.loss_plan_l1_fix_time: 1.0793, d5.loss_plan_l1_fix_dist: 0.2400, d6.loss_plan_l1_fix_time: 1.0820, d6.loss_plan_l1_fix_dist: 0.2615, d0.loss_cls_all: 0.2415, d0.loss_bbox_all: 0.4679, d0.loss_cls: 0.2415, d0.loss_bbox: 0.4679, d1.loss_cls: 0.2345, d1.loss_bbox: 0.4299, d2.loss_cls: 0.2160, d2.loss_bbox: 0.4098, d3.loss_cls: 0.2030, d3.loss_bbox: 0.4033, d4.loss_cls: 0.2003, d4.loss_bbox: 0.3999, d5.loss_cls: 0.1984, d5.loss_bbox: 0.3986, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8279, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6646, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6319, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6260, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6230, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6251, d0.loss_map_cls_all: 0.2766, d0.loss_map_pts_all: 1.6800, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2766, d0.loss_map_pts: 1.6800, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2491, d1.loss_map_pts: 1.1990, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2260, d2.loss_map_pts: 0.9932, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.2164, d3.loss_map_pts: 0.9127, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.2075, d4.loss_map_pts: 0.8806, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.2038, d5.loss_map_pts: 0.8769, d5.loss_map_dir: 0.0115, loss: 31.9010, grad_norm: 188.8986 +2026-02-27 13:41:57,611 - DriveTransformer - INFO - Epoch [7][15200/39528] lr: 8.550e-05, eta: 5 days, 21:52:25, time: 0.717, data_time: 0.034, memory: 19865, loss_cls: 0.1708, loss_bbox: 0.3830, loss_traj: 0.7133, loss_traj_cls: 0.0010, loss_map_cls: 0.1839, loss_map_pts: 0.7216, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.8833, d0.loss_plan_l1_fix_dist: 0.4948, d1.loss_plan_l1_fix_time: 1.1142, d1.loss_plan_l1_fix_dist: 0.2493, d2.loss_plan_l1_fix_time: 1.0930, d2.loss_plan_l1_fix_dist: 0.2132, d3.loss_plan_l1_fix_time: 1.0946, d3.loss_plan_l1_fix_dist: 0.2040, d4.loss_plan_l1_fix_time: 1.0975, d4.loss_plan_l1_fix_dist: 0.2113, d5.loss_plan_l1_fix_time: 1.1003, d5.loss_plan_l1_fix_dist: 0.2264, d6.loss_plan_l1_fix_time: 1.1035, d6.loss_plan_l1_fix_dist: 0.2464, d0.loss_cls_all: 0.2081, d0.loss_bbox_all: 0.4531, d0.loss_cls: 0.2081, d0.loss_bbox: 0.4531, d1.loss_cls: 0.2012, d1.loss_bbox: 0.4142, d2.loss_cls: 0.1861, d2.loss_bbox: 0.3931, d3.loss_cls: 0.1727, d3.loss_bbox: 0.3857, d4.loss_cls: 0.1683, d4.loss_bbox: 0.3851, d5.loss_cls: 0.1696, d5.loss_bbox: 0.3842, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0202, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7875, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7453, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7256, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7168, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7140, d0.loss_map_cls_all: 0.2687, d0.loss_map_pts_all: 1.4065, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2687, d0.loss_map_pts: 1.4065, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.2356, d1.loss_map_pts: 1.0344, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.2103, d2.loss_map_pts: 0.8485, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1975, d3.loss_map_pts: 0.7650, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1904, d4.loss_map_pts: 0.7310, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1847, d5.loss_map_pts: 0.7220, d5.loss_map_dir: 0.0091, loss: 30.9421, grad_norm: 189.3134 +2026-02-27 13:42:35,705 - DriveTransformer - INFO - Epoch [7][15250/39528] lr: 8.550e-05, eta: 5 days, 21:52:53, time: 0.762, data_time: 0.037, memory: 19865, loss_cls: 0.1723, loss_bbox: 0.3684, loss_traj: 0.6395, loss_traj_cls: 0.0010, loss_map_cls: 0.1455, loss_map_pts: 0.6995, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.4926, d0.loss_plan_l1_fix_dist: 0.4539, d1.loss_plan_l1_fix_time: 1.0985, d1.loss_plan_l1_fix_dist: 0.2412, d2.loss_plan_l1_fix_time: 1.0756, d2.loss_plan_l1_fix_dist: 0.2165, d3.loss_plan_l1_fix_time: 1.0736, d3.loss_plan_l1_fix_dist: 0.2100, d4.loss_plan_l1_fix_time: 1.0758, d4.loss_plan_l1_fix_dist: 0.2168, d5.loss_plan_l1_fix_time: 1.0785, d5.loss_plan_l1_fix_dist: 0.2283, d6.loss_plan_l1_fix_time: 1.0816, d6.loss_plan_l1_fix_dist: 0.2401, d0.loss_cls_all: 0.2161, d0.loss_bbox_all: 0.4294, d0.loss_cls: 0.2161, d0.loss_bbox: 0.4294, d1.loss_cls: 0.2059, d1.loss_bbox: 0.3992, d2.loss_cls: 0.1926, d2.loss_bbox: 0.3800, d3.loss_cls: 0.1801, d3.loss_bbox: 0.3721, d4.loss_cls: 0.1747, d4.loss_bbox: 0.3678, d5.loss_cls: 0.1736, d5.loss_bbox: 0.3670, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8717, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6929, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6548, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6440, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6382, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6361, d0.loss_map_cls_all: 0.2172, d0.loss_map_pts_all: 1.4367, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2172, d0.loss_map_pts: 1.4367, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.1902, d1.loss_map_pts: 0.9856, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1695, d2.loss_map_pts: 0.8038, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1561, d3.loss_map_pts: 0.7369, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1504, d4.loss_map_pts: 0.7108, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1459, d5.loss_map_pts: 0.6996, d5.loss_map_dir: 0.0106, loss: 29.1966, grad_norm: 187.5618 +2026-02-27 13:43:12,939 - DriveTransformer - INFO - Epoch [7][15300/39528] lr: 8.550e-05, eta: 5 days, 21:52:41, time: 0.744, data_time: 0.032, memory: 19865, loss_cls: 0.1760, loss_bbox: 0.3804, loss_traj: 0.6314, loss_traj_cls: 0.0010, loss_map_cls: 0.1830, loss_map_pts: 0.8728, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 3.2785, d0.loss_plan_l1_fix_dist: 0.3940, d1.loss_plan_l1_fix_time: 1.2827, d1.loss_plan_l1_fix_dist: 0.2181, d2.loss_plan_l1_fix_time: 1.2651, d2.loss_plan_l1_fix_dist: 0.2040, d3.loss_plan_l1_fix_time: 1.2670, d3.loss_plan_l1_fix_dist: 0.2083, d4.loss_plan_l1_fix_time: 1.2699, d4.loss_plan_l1_fix_dist: 0.2202, d5.loss_plan_l1_fix_time: 1.2729, d5.loss_plan_l1_fix_dist: 0.2342, d6.loss_plan_l1_fix_time: 1.2760, d6.loss_plan_l1_fix_dist: 0.2482, d0.loss_cls_all: 0.2167, d0.loss_bbox_all: 0.4610, d0.loss_cls: 0.2167, d0.loss_bbox: 0.4610, d1.loss_cls: 0.2120, d1.loss_bbox: 0.4201, d2.loss_cls: 0.1917, d2.loss_bbox: 0.4007, d3.loss_cls: 0.1790, d3.loss_bbox: 0.3892, d4.loss_cls: 0.1761, d4.loss_bbox: 0.3840, d5.loss_cls: 0.1761, d5.loss_bbox: 0.3810, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9488, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7135, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6485, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6444, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6361, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6358, d0.loss_map_cls_all: 0.2623, d0.loss_map_pts_all: 1.6247, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2623, d0.loss_map_pts: 1.6247, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.2355, d1.loss_map_pts: 1.1545, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.2050, d2.loss_map_pts: 0.9758, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.1934, d3.loss_map_pts: 0.9102, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1899, d4.loss_map_pts: 0.8823, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1856, d5.loss_map_pts: 0.8731, d5.loss_map_dir: 0.0119, loss: 33.0537, grad_norm: 187.4847 +2026-02-27 13:43:48,456 - DriveTransformer - INFO - Epoch [7][15350/39528] lr: 8.550e-05, eta: 5 days, 21:51:12, time: 0.710, data_time: 0.034, memory: 19865, loss_cls: 0.1670, loss_bbox: 0.3542, loss_traj: 0.7505, loss_traj_cls: 0.0010, loss_map_cls: 0.1632, loss_map_pts: 0.6985, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.9287, d0.loss_plan_l1_fix_dist: 0.4035, d1.loss_plan_l1_fix_time: 1.1530, d1.loss_plan_l1_fix_dist: 0.1862, d2.loss_plan_l1_fix_time: 1.1322, d2.loss_plan_l1_fix_dist: 0.1804, d3.loss_plan_l1_fix_time: 1.1214, d3.loss_plan_l1_fix_dist: 0.1867, d4.loss_plan_l1_fix_time: 1.1223, d4.loss_plan_l1_fix_dist: 0.1978, d5.loss_plan_l1_fix_time: 1.1248, d5.loss_plan_l1_fix_dist: 0.2099, d6.loss_plan_l1_fix_time: 1.1281, d6.loss_plan_l1_fix_dist: 0.2199, d0.loss_cls_all: 0.2110, d0.loss_bbox_all: 0.4247, d0.loss_cls: 0.2110, d0.loss_bbox: 0.4247, d1.loss_cls: 0.2033, d1.loss_bbox: 0.3880, d2.loss_cls: 0.1845, d2.loss_bbox: 0.3706, d3.loss_cls: 0.1726, d3.loss_bbox: 0.3602, d4.loss_cls: 0.1671, d4.loss_bbox: 0.3570, d5.loss_cls: 0.1654, d5.loss_bbox: 0.3560, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0787, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8280, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7614, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7544, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7531, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7509, d0.loss_map_cls_all: 0.2347, d0.loss_map_pts_all: 1.3809, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2347, d0.loss_map_pts: 1.3809, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.2061, d1.loss_map_pts: 0.9689, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1858, d2.loss_map_pts: 0.7949, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1749, d3.loss_map_pts: 0.7266, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1698, d4.loss_map_pts: 0.7024, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1655, d5.loss_map_pts: 0.6984, d5.loss_map_dir: 0.0089, loss: 30.4510, grad_norm: 187.1063 +2026-02-27 13:44:25,434 - DriveTransformer - INFO - Epoch [7][15400/39528] lr: 8.550e-05, eta: 5 days, 21:50:48, time: 0.740, data_time: 0.034, memory: 19865, loss_cls: 0.1470, loss_bbox: 0.3415, loss_traj: 0.5414, loss_traj_cls: 0.0010, loss_map_cls: 0.1692, loss_map_pts: 0.7678, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.2945, d0.loss_plan_l1_fix_dist: 0.4085, d1.loss_plan_l1_fix_time: 0.9842, d1.loss_plan_l1_fix_dist: 0.1610, d2.loss_plan_l1_fix_time: 0.9761, d2.loss_plan_l1_fix_dist: 0.1619, d3.loss_plan_l1_fix_time: 0.9745, d3.loss_plan_l1_fix_dist: 0.1731, d4.loss_plan_l1_fix_time: 0.9793, d4.loss_plan_l1_fix_dist: 0.1829, d5.loss_plan_l1_fix_time: 0.9857, d5.loss_plan_l1_fix_dist: 0.1932, d6.loss_plan_l1_fix_time: 0.9934, d6.loss_plan_l1_fix_dist: 0.2064, d0.loss_cls_all: 0.1898, d0.loss_bbox_all: 0.4002, d0.loss_cls: 0.1898, d0.loss_bbox: 0.4002, d1.loss_cls: 0.1774, d1.loss_bbox: 0.3716, d2.loss_cls: 0.1635, d2.loss_bbox: 0.3520, d3.loss_cls: 0.1519, d3.loss_bbox: 0.3436, d4.loss_cls: 0.1463, d4.loss_bbox: 0.3429, d5.loss_cls: 0.1463, d5.loss_bbox: 0.3409, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7372, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5895, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5466, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5435, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5438, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5398, d0.loss_map_cls_all: 0.2471, d0.loss_map_pts_all: 1.5392, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2471, d0.loss_map_pts: 1.5392, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2175, d1.loss_map_pts: 1.0644, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1963, d2.loss_map_pts: 0.8739, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1834, d3.loss_map_pts: 0.8023, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1787, d4.loss_map_pts: 0.7718, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1707, d5.loss_map_pts: 0.7682, d5.loss_map_dir: 0.0093, loss: 27.7390, grad_norm: 187.4471 +2026-02-27 13:45:02,970 - DriveTransformer - INFO - Epoch [7][15450/39528] lr: 8.550e-05, eta: 5 days, 21:50:50, time: 0.751, data_time: 0.038, memory: 19865, loss_cls: 0.1672, loss_bbox: 0.3597, loss_traj: 0.5960, loss_traj_cls: 0.0010, loss_map_cls: 0.1618, loss_map_pts: 0.8160, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.4336, d0.loss_plan_l1_fix_dist: 0.4141, d1.loss_plan_l1_fix_time: 1.0348, d1.loss_plan_l1_fix_dist: 0.1961, d2.loss_plan_l1_fix_time: 1.0128, d2.loss_plan_l1_fix_dist: 0.1837, d3.loss_plan_l1_fix_time: 1.0159, d3.loss_plan_l1_fix_dist: 0.1900, d4.loss_plan_l1_fix_time: 1.0204, d4.loss_plan_l1_fix_dist: 0.1977, d5.loss_plan_l1_fix_time: 1.0255, d5.loss_plan_l1_fix_dist: 0.2059, d6.loss_plan_l1_fix_time: 1.0316, d6.loss_plan_l1_fix_dist: 0.2224, d0.loss_cls_all: 0.2023, d0.loss_bbox_all: 0.4247, d0.loss_cls: 0.2023, d0.loss_bbox: 0.4247, d1.loss_cls: 0.1983, d1.loss_bbox: 0.3906, d2.loss_cls: 0.1874, d2.loss_bbox: 0.3719, d3.loss_cls: 0.1765, d3.loss_bbox: 0.3629, d4.loss_cls: 0.1694, d4.loss_bbox: 0.3607, d5.loss_cls: 0.1680, d5.loss_bbox: 0.3582, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7984, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6342, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5973, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5936, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5893, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5921, d0.loss_map_cls_all: 0.2404, d0.loss_map_pts_all: 1.5235, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2404, d0.loss_map_pts: 1.5235, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2084, d1.loss_map_pts: 1.0950, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1855, d2.loss_map_pts: 0.9094, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1717, d3.loss_map_pts: 0.8432, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1656, d4.loss_map_pts: 0.8203, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1633, d5.loss_map_pts: 0.8182, d5.loss_map_dir: 0.0106, loss: 29.0862, grad_norm: 185.4844 +2026-02-27 13:45:39,524 - DriveTransformer - INFO - Epoch [7][15500/39528] lr: 8.550e-05, eta: 5 days, 21:50:08, time: 0.731, data_time: 0.034, memory: 19865, loss_cls: 0.1502, loss_bbox: 0.3448, loss_traj: 0.6339, loss_traj_cls: 0.0010, loss_map_cls: 0.1510, loss_map_pts: 0.6635, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.6541, d0.loss_plan_l1_fix_dist: 0.4173, d1.loss_plan_l1_fix_time: 1.1044, d1.loss_plan_l1_fix_dist: 0.2009, d2.loss_plan_l1_fix_time: 1.0950, d2.loss_plan_l1_fix_dist: 0.1827, d3.loss_plan_l1_fix_time: 1.0935, d3.loss_plan_l1_fix_dist: 0.1825, d4.loss_plan_l1_fix_time: 1.0956, d4.loss_plan_l1_fix_dist: 0.1893, d5.loss_plan_l1_fix_time: 1.0980, d5.loss_plan_l1_fix_dist: 0.1964, d6.loss_plan_l1_fix_time: 1.1004, d6.loss_plan_l1_fix_dist: 0.2067, d0.loss_cls_all: 0.1900, d0.loss_bbox_all: 0.4062, d0.loss_cls: 0.1900, d0.loss_bbox: 0.4062, d1.loss_cls: 0.1777, d1.loss_bbox: 0.3719, d2.loss_cls: 0.1698, d2.loss_bbox: 0.3539, d3.loss_cls: 0.1563, d3.loss_bbox: 0.3488, d4.loss_cls: 0.1518, d4.loss_bbox: 0.3457, d5.loss_cls: 0.1496, d5.loss_bbox: 0.3443, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8588, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6779, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6550, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6401, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6401, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6396, d0.loss_map_cls_all: 0.2177, d0.loss_map_pts_all: 1.3302, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2177, d0.loss_map_pts: 1.3302, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1886, d1.loss_map_pts: 0.9187, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1674, d2.loss_map_pts: 0.7668, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1620, d3.loss_map_pts: 0.6983, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1558, d4.loss_map_pts: 0.6743, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1520, d5.loss_map_pts: 0.6632, d5.loss_map_dir: 0.0085, loss: 28.3506, grad_norm: 184.9490 +2026-02-27 13:46:16,553 - DriveTransformer - INFO - Epoch [7][15550/39528] lr: 8.550e-05, eta: 5 days, 21:49:47, time: 0.741, data_time: 0.033, memory: 19865, loss_cls: 0.1699, loss_bbox: 0.3832, loss_traj: 0.5599, loss_traj_cls: 0.0010, loss_map_cls: 0.1906, loss_map_pts: 0.8586, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.5083, d0.loss_plan_l1_fix_dist: 0.4037, d1.loss_plan_l1_fix_time: 0.9913, d1.loss_plan_l1_fix_dist: 0.2144, d2.loss_plan_l1_fix_time: 0.9825, d2.loss_plan_l1_fix_dist: 0.1997, d3.loss_plan_l1_fix_time: 0.9788, d3.loss_plan_l1_fix_dist: 0.1933, d4.loss_plan_l1_fix_time: 0.9812, d4.loss_plan_l1_fix_dist: 0.1935, d5.loss_plan_l1_fix_time: 0.9842, d5.loss_plan_l1_fix_dist: 0.2004, d6.loss_plan_l1_fix_time: 0.9874, d6.loss_plan_l1_fix_dist: 0.2119, d0.loss_cls_all: 0.2074, d0.loss_bbox_all: 0.4455, d0.loss_cls: 0.2074, d0.loss_bbox: 0.4455, d1.loss_cls: 0.2010, d1.loss_bbox: 0.4126, d2.loss_cls: 0.1902, d2.loss_bbox: 0.3926, d3.loss_cls: 0.1792, d3.loss_bbox: 0.3851, d4.loss_cls: 0.1737, d4.loss_bbox: 0.3825, d5.loss_cls: 0.1712, d5.loss_bbox: 0.3830, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7625, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6176, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5709, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5639, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5591, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5589, d0.loss_map_cls_all: 0.2719, d0.loss_map_pts_all: 1.6018, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2719, d0.loss_map_pts: 1.6018, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2409, d1.loss_map_pts: 1.1402, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.2158, d2.loss_map_pts: 0.9626, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.2051, d3.loss_map_pts: 0.8946, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1960, d4.loss_map_pts: 0.8663, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1911, d5.loss_map_pts: 0.8595, d5.loss_map_dir: 0.0113, loss: 29.6182, grad_norm: 180.7995 +2026-02-27 13:46:52,718 - DriveTransformer - INFO - Epoch [7][15600/39528] lr: 8.550e-05, eta: 5 days, 21:48:50, time: 0.725, data_time: 0.039, memory: 19865, loss_cls: 0.1550, loss_bbox: 0.3536, loss_traj: 0.7522, loss_traj_cls: 0.0011, loss_map_cls: 0.1312, loss_map_pts: 0.6165, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.6870, d0.loss_plan_l1_fix_dist: 0.4545, d1.loss_plan_l1_fix_time: 1.1347, d1.loss_plan_l1_fix_dist: 0.2330, d2.loss_plan_l1_fix_time: 1.1257, d2.loss_plan_l1_fix_dist: 0.2206, d3.loss_plan_l1_fix_time: 1.1274, d3.loss_plan_l1_fix_dist: 0.2172, d4.loss_plan_l1_fix_time: 1.1306, d4.loss_plan_l1_fix_dist: 0.2173, d5.loss_plan_l1_fix_time: 1.1341, d5.loss_plan_l1_fix_dist: 0.2264, d6.loss_plan_l1_fix_time: 1.1382, d6.loss_plan_l1_fix_dist: 0.2404, d0.loss_cls_all: 0.1950, d0.loss_bbox_all: 0.4105, d0.loss_cls: 0.1950, d0.loss_bbox: 0.4105, d1.loss_cls: 0.1833, d1.loss_bbox: 0.3809, d2.loss_cls: 0.1722, d2.loss_bbox: 0.3633, d3.loss_cls: 0.1621, d3.loss_bbox: 0.3573, d4.loss_cls: 0.1566, d4.loss_bbox: 0.3572, d5.loss_cls: 0.1551, d5.loss_bbox: 0.3548, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9743, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8206, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7812, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7635, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7584, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7534, d0.loss_map_cls_all: 0.1967, d0.loss_map_pts_all: 1.2230, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1967, d0.loss_map_pts: 1.2230, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1719, d1.loss_map_pts: 0.8638, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1553, d2.loss_map_pts: 0.7055, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1440, d3.loss_map_pts: 0.6428, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1382, d4.loss_map_pts: 0.6228, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1345, d5.loss_map_pts: 0.6159, d5.loss_map_dir: 0.0089, loss: 29.1109, grad_norm: 182.0515 +2026-02-27 13:47:27,712 - DriveTransformer - INFO - Epoch [7][15650/39528] lr: 8.550e-05, eta: 5 days, 21:46:55, time: 0.698, data_time: 0.032, memory: 19865, loss_cls: 0.1512, loss_bbox: 0.3349, loss_traj: 0.6315, loss_traj_cls: 0.0011, loss_map_cls: 0.1309, loss_map_pts: 0.6309, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.0566, d0.loss_plan_l1_fix_dist: 0.4199, d1.loss_plan_l1_fix_time: 1.0481, d1.loss_plan_l1_fix_dist: 0.1699, d2.loss_plan_l1_fix_time: 1.0306, d2.loss_plan_l1_fix_dist: 0.1596, d3.loss_plan_l1_fix_time: 1.0319, d3.loss_plan_l1_fix_dist: 0.1667, d4.loss_plan_l1_fix_time: 1.0343, d4.loss_plan_l1_fix_dist: 0.1813, d5.loss_plan_l1_fix_time: 1.0368, d5.loss_plan_l1_fix_dist: 0.1904, d6.loss_plan_l1_fix_time: 1.0404, d6.loss_plan_l1_fix_dist: 0.1995, d0.loss_cls_all: 0.1889, d0.loss_bbox_all: 0.3921, d0.loss_cls: 0.1889, d0.loss_bbox: 0.3921, d1.loss_cls: 0.1819, d1.loss_bbox: 0.3570, d2.loss_cls: 0.1721, d2.loss_bbox: 0.3397, d3.loss_cls: 0.1570, d3.loss_bbox: 0.3345, d4.loss_cls: 0.1526, d4.loss_bbox: 0.3329, d5.loss_cls: 0.1510, d5.loss_bbox: 0.3340, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8838, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6997, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6552, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6382, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6360, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6331, d0.loss_map_cls_all: 0.1990, d0.loss_map_pts_all: 1.2178, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1990, d0.loss_map_pts: 1.2178, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1731, d1.loss_map_pts: 0.8631, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1537, d2.loss_map_pts: 0.7164, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1422, d3.loss_map_pts: 0.6590, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1356, d4.loss_map_pts: 0.6444, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1309, d5.loss_map_pts: 0.6314, d5.loss_map_dir: 0.0084, loss: 26.6207, grad_norm: 179.3454 +2026-02-27 13:48:04,396 - DriveTransformer - INFO - Epoch [7][15700/39528] lr: 8.550e-05, eta: 5 days, 21:46:19, time: 0.734, data_time: 0.033, memory: 19865, loss_cls: 0.1810, loss_bbox: 0.3747, loss_traj: 0.6552, loss_traj_cls: 0.0010, loss_map_cls: 0.1584, loss_map_pts: 0.7450, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.5753, d0.loss_plan_l1_fix_dist: 0.3368, d1.loss_plan_l1_fix_time: 1.2370, d1.loss_plan_l1_fix_dist: 0.1819, d2.loss_plan_l1_fix_time: 1.2308, d2.loss_plan_l1_fix_dist: 0.1786, d3.loss_plan_l1_fix_time: 1.2418, d3.loss_plan_l1_fix_dist: 0.1837, d4.loss_plan_l1_fix_time: 1.2462, d4.loss_plan_l1_fix_dist: 0.1948, d5.loss_plan_l1_fix_time: 1.2500, d5.loss_plan_l1_fix_dist: 0.2043, d6.loss_plan_l1_fix_time: 1.2542, d6.loss_plan_l1_fix_dist: 0.2164, d0.loss_cls_all: 0.2246, d0.loss_bbox_all: 0.4382, d0.loss_cls: 0.2246, d0.loss_bbox: 0.4382, d1.loss_cls: 0.2146, d1.loss_bbox: 0.4010, d2.loss_cls: 0.2028, d2.loss_bbox: 0.3828, d3.loss_cls: 0.1892, d3.loss_bbox: 0.3753, d4.loss_cls: 0.1846, d4.loss_bbox: 0.3737, d5.loss_cls: 0.1835, d5.loss_bbox: 0.3720, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9006, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7312, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6738, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6598, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6563, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6537, d0.loss_map_cls_all: 0.2339, d0.loss_map_pts_all: 1.4886, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2339, d0.loss_map_pts: 1.4886, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2061, d1.loss_map_pts: 1.0372, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1854, d2.loss_map_pts: 0.8483, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1728, d3.loss_map_pts: 0.7763, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1664, d4.loss_map_pts: 0.7544, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1597, d5.loss_map_pts: 0.7455, d5.loss_map_dir: 0.0107, loss: 30.7112, grad_norm: 178.2102 +2026-02-27 13:48:41,392 - DriveTransformer - INFO - Epoch [7][15750/39528] lr: 8.550e-05, eta: 5 days, 21:45:56, time: 0.740, data_time: 0.035, memory: 19865, loss_cls: 0.1551, loss_bbox: 0.3566, loss_traj: 0.5777, loss_traj_cls: 0.0010, loss_map_cls: 0.1539, loss_map_pts: 0.7291, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.4387, d0.loss_plan_l1_fix_dist: 0.4474, d1.loss_plan_l1_fix_time: 0.9748, d1.loss_plan_l1_fix_dist: 0.2011, d2.loss_plan_l1_fix_time: 0.9595, d2.loss_plan_l1_fix_dist: 0.1990, d3.loss_plan_l1_fix_time: 0.9626, d3.loss_plan_l1_fix_dist: 0.2059, d4.loss_plan_l1_fix_time: 0.9660, d4.loss_plan_l1_fix_dist: 0.2189, d5.loss_plan_l1_fix_time: 0.9694, d5.loss_plan_l1_fix_dist: 0.2403, d6.loss_plan_l1_fix_time: 0.9732, d6.loss_plan_l1_fix_dist: 0.2627, d0.loss_cls_all: 0.1936, d0.loss_bbox_all: 0.4106, d0.loss_cls: 0.1936, d0.loss_bbox: 0.4106, d1.loss_cls: 0.1882, d1.loss_bbox: 0.3822, d2.loss_cls: 0.1724, d2.loss_bbox: 0.3631, d3.loss_cls: 0.1614, d3.loss_bbox: 0.3569, d4.loss_cls: 0.1563, d4.loss_bbox: 0.3563, d5.loss_cls: 0.1550, d5.loss_bbox: 0.3557, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8059, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6580, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5985, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5848, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5766, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5741, d0.loss_map_cls_all: 0.2307, d0.loss_map_pts_all: 1.4329, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2307, d0.loss_map_pts: 1.4329, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2030, d1.loss_map_pts: 0.9881, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1801, d2.loss_map_pts: 0.8220, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1684, d3.loss_map_pts: 0.7581, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1614, d4.loss_map_pts: 0.7356, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1556, d5.loss_map_pts: 0.7295, d5.loss_map_dir: 0.0100, loss: 27.9589, grad_norm: 177.4778 +2026-02-27 13:49:18,090 - DriveTransformer - INFO - Epoch [7][15800/39528] lr: 8.550e-05, eta: 5 days, 21:45:21, time: 0.734, data_time: 0.034, memory: 19865, loss_cls: 0.1740, loss_bbox: 0.3821, loss_traj: 0.6402, loss_traj_cls: 0.0010, loss_map_cls: 0.1646, loss_map_pts: 0.7480, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.7734, d0.loss_plan_l1_fix_dist: 0.4501, d1.loss_plan_l1_fix_time: 1.0786, d1.loss_plan_l1_fix_dist: 0.1904, d2.loss_plan_l1_fix_time: 1.0591, d2.loss_plan_l1_fix_dist: 0.1895, d3.loss_plan_l1_fix_time: 1.0506, d3.loss_plan_l1_fix_dist: 0.1999, d4.loss_plan_l1_fix_time: 1.0527, d4.loss_plan_l1_fix_dist: 0.2098, d5.loss_plan_l1_fix_time: 1.0557, d5.loss_plan_l1_fix_dist: 0.2158, d6.loss_plan_l1_fix_time: 1.0592, d6.loss_plan_l1_fix_dist: 0.2272, d0.loss_cls_all: 0.2198, d0.loss_bbox_all: 0.4464, d0.loss_cls: 0.2198, d0.loss_bbox: 0.4464, d1.loss_cls: 0.2049, d1.loss_bbox: 0.4119, d2.loss_cls: 0.1915, d2.loss_bbox: 0.3936, d3.loss_cls: 0.1836, d3.loss_bbox: 0.3848, d4.loss_cls: 0.1782, d4.loss_bbox: 0.3835, d5.loss_cls: 0.1757, d5.loss_bbox: 0.3827, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8997, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7340, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6713, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6491, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6441, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6397, d0.loss_map_cls_all: 0.2302, d0.loss_map_pts_all: 1.4232, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2302, d0.loss_map_pts: 1.4232, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2084, d1.loss_map_pts: 1.0147, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1860, d2.loss_map_pts: 0.8385, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1787, d3.loss_map_pts: 0.7743, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1715, d4.loss_map_pts: 0.7537, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1660, d5.loss_map_pts: 0.7478, d5.loss_map_dir: 0.0111, loss: 29.8200, grad_norm: 177.2849 +2026-02-27 13:49:52,946 - DriveTransformer - INFO - Epoch [7][15850/39528] lr: 8.550e-05, eta: 5 days, 21:43:24, time: 0.697, data_time: 0.038, memory: 19865, loss_cls: 0.1698, loss_bbox: 0.3415, loss_traj: 0.5638, loss_traj_cls: 0.0010, loss_map_cls: 0.1429, loss_map_pts: 0.6648, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.7802, d0.loss_plan_l1_fix_dist: 0.4356, d1.loss_plan_l1_fix_time: 1.0609, d1.loss_plan_l1_fix_dist: 0.1784, d2.loss_plan_l1_fix_time: 1.0436, d2.loss_plan_l1_fix_dist: 0.1810, d3.loss_plan_l1_fix_time: 1.0416, d3.loss_plan_l1_fix_dist: 0.1881, d4.loss_plan_l1_fix_time: 1.0443, d4.loss_plan_l1_fix_dist: 0.1987, d5.loss_plan_l1_fix_time: 1.0474, d5.loss_plan_l1_fix_dist: 0.2094, d6.loss_plan_l1_fix_time: 1.0509, d6.loss_plan_l1_fix_dist: 0.2215, d0.loss_cls_all: 0.2128, d0.loss_bbox_all: 0.4030, d0.loss_cls: 0.2128, d0.loss_bbox: 0.4030, d1.loss_cls: 0.2077, d1.loss_bbox: 0.3698, d2.loss_cls: 0.1906, d2.loss_bbox: 0.3520, d3.loss_cls: 0.1778, d3.loss_bbox: 0.3427, d4.loss_cls: 0.1736, d4.loss_bbox: 0.3397, d5.loss_cls: 0.1711, d5.loss_bbox: 0.3400, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7366, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6211, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5835, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5641, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5629, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5620, d0.loss_map_cls_all: 0.2055, d0.loss_map_pts_all: 1.2075, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2055, d0.loss_map_pts: 1.2075, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1859, d1.loss_map_pts: 0.8806, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1656, d2.loss_map_pts: 0.7442, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1554, d3.loss_map_pts: 0.6907, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1490, d4.loss_map_pts: 0.6706, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1437, d5.loss_map_pts: 0.6641, d5.loss_map_dir: 0.0082, loss: 27.4379, grad_norm: 174.7173 +2026-02-27 13:50:29,402 - DriveTransformer - INFO - Epoch [7][15900/39528] lr: 8.550e-05, eta: 5 days, 21:42:38, time: 0.729, data_time: 0.035, memory: 19865, loss_cls: 0.1380, loss_bbox: 0.3548, loss_traj: 0.5775, loss_traj_cls: 0.0010, loss_map_cls: 0.1386, loss_map_pts: 0.6669, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.4429, d0.loss_plan_l1_fix_dist: 0.3823, d1.loss_plan_l1_fix_time: 0.9942, d1.loss_plan_l1_fix_dist: 0.1755, d2.loss_plan_l1_fix_time: 0.9809, d2.loss_plan_l1_fix_dist: 0.1815, d3.loss_plan_l1_fix_time: 0.9854, d3.loss_plan_l1_fix_dist: 0.1870, d4.loss_plan_l1_fix_time: 0.9892, d4.loss_plan_l1_fix_dist: 0.1916, d5.loss_plan_l1_fix_time: 0.9934, d5.loss_plan_l1_fix_dist: 0.2007, d6.loss_plan_l1_fix_time: 0.9983, d6.loss_plan_l1_fix_dist: 0.2108, d0.loss_cls_all: 0.1744, d0.loss_bbox_all: 0.4030, d0.loss_cls: 0.1744, d0.loss_bbox: 0.4030, d1.loss_cls: 0.1657, d1.loss_bbox: 0.3737, d2.loss_cls: 0.1524, d2.loss_bbox: 0.3602, d3.loss_cls: 0.1449, d3.loss_bbox: 0.3525, d4.loss_cls: 0.1392, d4.loss_bbox: 0.3523, d5.loss_cls: 0.1378, d5.loss_bbox: 0.3534, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7786, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6429, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5978, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5863, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5784, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5766, d0.loss_map_cls_all: 0.2060, d0.loss_map_pts_all: 1.3092, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2060, d0.loss_map_pts: 1.3092, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1819, d1.loss_map_pts: 0.9732, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1628, d2.loss_map_pts: 0.7857, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1499, d3.loss_map_pts: 0.7135, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1449, d4.loss_map_pts: 0.6812, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1385, d5.loss_map_pts: 0.6692, d5.loss_map_dir: 0.0088, loss: 26.9428, grad_norm: 171.7166 +2026-02-27 13:51:06,644 - DriveTransformer - INFO - Epoch [7][15950/39528] lr: 8.550e-05, eta: 5 days, 21:42:26, time: 0.745, data_time: 0.034, memory: 19865, loss_cls: 0.1446, loss_bbox: 0.3392, loss_traj: 0.6060, loss_traj_cls: 0.0010, loss_map_cls: 0.1469, loss_map_pts: 0.6808, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.7028, d0.loss_plan_l1_fix_dist: 0.4100, d1.loss_plan_l1_fix_time: 1.0935, d1.loss_plan_l1_fix_dist: 0.1783, d2.loss_plan_l1_fix_time: 1.0813, d2.loss_plan_l1_fix_dist: 0.1805, d3.loss_plan_l1_fix_time: 1.0837, d3.loss_plan_l1_fix_dist: 0.1881, d4.loss_plan_l1_fix_time: 1.0876, d4.loss_plan_l1_fix_dist: 0.1926, d5.loss_plan_l1_fix_time: 1.0921, d5.loss_plan_l1_fix_dist: 0.2016, d6.loss_plan_l1_fix_time: 1.0972, d6.loss_plan_l1_fix_dist: 0.2246, d0.loss_cls_all: 0.1818, d0.loss_bbox_all: 0.3987, d0.loss_cls: 0.1818, d0.loss_bbox: 0.3987, d1.loss_cls: 0.1771, d1.loss_bbox: 0.3641, d2.loss_cls: 0.1627, d2.loss_bbox: 0.3480, d3.loss_cls: 0.1514, d3.loss_bbox: 0.3424, d4.loss_cls: 0.1462, d4.loss_bbox: 0.3407, d5.loss_cls: 0.1445, d5.loss_bbox: 0.3400, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8173, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6644, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6266, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6149, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6066, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6049, d0.loss_map_cls_all: 0.2181, d0.loss_map_pts_all: 1.3939, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2181, d0.loss_map_pts: 1.3939, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1894, d1.loss_map_pts: 0.9538, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1703, d2.loss_map_pts: 0.7815, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1580, d3.loss_map_pts: 0.7134, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1508, d4.loss_map_pts: 0.6877, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1474, d5.loss_map_pts: 0.6815, d5.loss_map_dir: 0.0100, loss: 28.2858, grad_norm: 166.8904 +2026-02-27 13:51:42,224 - DriveTransformer - INFO - Epoch [7][16000/39528] lr: 8.550e-05, eta: 5 days, 21:41:02, time: 0.711, data_time: 0.032, memory: 19865, loss_cls: 0.1752, loss_bbox: 0.3847, loss_traj: 0.7694, loss_traj_cls: 0.0010, loss_map_cls: 0.1665, loss_map_pts: 0.6635, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.8645, d0.loss_plan_l1_fix_dist: 0.4785, d1.loss_plan_l1_fix_time: 1.2633, d1.loss_plan_l1_fix_dist: 0.1883, d2.loss_plan_l1_fix_time: 1.2443, d2.loss_plan_l1_fix_dist: 0.1885, d3.loss_plan_l1_fix_time: 1.2446, d3.loss_plan_l1_fix_dist: 0.1917, d4.loss_plan_l1_fix_time: 1.2472, d4.loss_plan_l1_fix_dist: 0.2016, d5.loss_plan_l1_fix_time: 1.2500, d5.loss_plan_l1_fix_dist: 0.2098, d6.loss_plan_l1_fix_time: 1.2530, d6.loss_plan_l1_fix_dist: 0.2198, d0.loss_cls_all: 0.2136, d0.loss_bbox_all: 0.4489, d0.loss_cls: 0.2136, d0.loss_bbox: 0.4489, d1.loss_cls: 0.2057, d1.loss_bbox: 0.4134, d2.loss_cls: 0.1896, d2.loss_bbox: 0.3955, d3.loss_cls: 0.1818, d3.loss_bbox: 0.3872, d4.loss_cls: 0.1767, d4.loss_bbox: 0.3854, d5.loss_cls: 0.1749, d5.loss_bbox: 0.3854, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0169, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8360, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7855, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7732, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7730, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7693, d0.loss_map_cls_all: 0.2303, d0.loss_map_pts_all: 1.3131, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2303, d0.loss_map_pts: 1.3131, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.2058, d1.loss_map_pts: 0.9637, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1876, d2.loss_map_pts: 0.7860, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1769, d3.loss_map_pts: 0.7055, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1713, d4.loss_map_pts: 0.6737, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1688, d5.loss_map_pts: 0.6641, d5.loss_map_dir: 0.0082, loss: 31.2389, grad_norm: 166.7805 +2026-02-27 13:52:20,466 - DriveTransformer - INFO - Epoch [7][16050/39528] lr: 8.550e-05, eta: 5 days, 21:41:33, time: 0.765, data_time: 0.035, memory: 19865, loss_cls: 0.1512, loss_bbox: 0.3559, loss_traj: 0.5612, loss_traj_cls: 0.0010, loss_map_cls: 0.1453, loss_map_pts: 0.7277, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 2.5440, d0.loss_plan_l1_fix_dist: 0.4133, d1.loss_plan_l1_fix_time: 1.2135, d1.loss_plan_l1_fix_dist: 0.1753, d2.loss_plan_l1_fix_time: 1.2031, d2.loss_plan_l1_fix_dist: 0.1841, d3.loss_plan_l1_fix_time: 1.2066, d3.loss_plan_l1_fix_dist: 0.1848, d4.loss_plan_l1_fix_time: 1.2102, d4.loss_plan_l1_fix_dist: 0.1936, d5.loss_plan_l1_fix_time: 1.2135, d5.loss_plan_l1_fix_dist: 0.2051, d6.loss_plan_l1_fix_time: 1.2173, d6.loss_plan_l1_fix_dist: 0.2120, d0.loss_cls_all: 0.1888, d0.loss_bbox_all: 0.4068, d0.loss_cls: 0.1888, d0.loss_bbox: 0.4068, d1.loss_cls: 0.1755, d1.loss_bbox: 0.3748, d2.loss_cls: 0.1624, d2.loss_bbox: 0.3616, d3.loss_cls: 0.1550, d3.loss_bbox: 0.3547, d4.loss_cls: 0.1494, d4.loss_bbox: 0.3541, d5.loss_cls: 0.1503, d5.loss_bbox: 0.3537, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7423, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6055, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5721, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5649, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5577, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5576, d0.loss_map_cls_all: 0.2100, d0.loss_map_pts_all: 1.5334, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2100, d0.loss_map_pts: 1.5334, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.1819, d1.loss_map_pts: 1.0447, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.1639, d2.loss_map_pts: 0.8370, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.1556, d3.loss_map_pts: 0.7669, d3.loss_map_dir: 0.0117, d4.loss_map_cls: 0.1502, d4.loss_map_pts: 0.7382, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.1461, d5.loss_map_pts: 0.7288, d5.loss_map_dir: 0.0123, loss: 29.1999, grad_norm: 167.1248 +2026-02-27 13:52:55,023 - DriveTransformer - INFO - Epoch [7][16100/39528] lr: 8.550e-05, eta: 5 days, 21:39:25, time: 0.691, data_time: 0.033, memory: 19865, loss_cls: 0.1541, loss_bbox: 0.3424, loss_traj: 0.7251, loss_traj_cls: 0.0010, loss_map_cls: 0.1511, loss_map_pts: 0.6259, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.9069, d0.loss_plan_l1_fix_dist: 0.3162, d1.loss_plan_l1_fix_time: 1.1703, d1.loss_plan_l1_fix_dist: 0.1668, d2.loss_plan_l1_fix_time: 1.1655, d2.loss_plan_l1_fix_dist: 0.1695, d3.loss_plan_l1_fix_time: 1.1696, d3.loss_plan_l1_fix_dist: 0.1697, d4.loss_plan_l1_fix_time: 1.1737, d4.loss_plan_l1_fix_dist: 0.1736, d5.loss_plan_l1_fix_time: 1.1776, d5.loss_plan_l1_fix_dist: 0.1837, d6.loss_plan_l1_fix_time: 1.1825, d6.loss_plan_l1_fix_dist: 0.1927, d0.loss_cls_all: 0.1868, d0.loss_bbox_all: 0.3969, d0.loss_cls: 0.1868, d0.loss_bbox: 0.3969, d1.loss_cls: 0.1830, d1.loss_bbox: 0.3607, d2.loss_cls: 0.1700, d2.loss_bbox: 0.3468, d3.loss_cls: 0.1613, d3.loss_bbox: 0.3413, d4.loss_cls: 0.1565, d4.loss_bbox: 0.3398, d5.loss_cls: 0.1544, d5.loss_bbox: 0.3399, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9411, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7860, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7284, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7173, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7187, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7213, d0.loss_map_cls_all: 0.2194, d0.loss_map_pts_all: 1.1812, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2194, d0.loss_map_pts: 1.1812, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1944, d1.loss_map_pts: 0.8555, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1736, d2.loss_map_pts: 0.7079, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1622, d3.loss_map_pts: 0.6502, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1563, d4.loss_map_pts: 0.6294, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1536, d5.loss_map_pts: 0.6255, d5.loss_map_dir: 0.0078, loss: 28.8276, grad_norm: 170.2163 +2026-02-27 13:53:32,677 - DriveTransformer - INFO - Epoch [7][16150/39528] lr: 8.550e-05, eta: 5 days, 21:39:31, time: 0.753, data_time: 0.033, memory: 19865, loss_cls: 0.1499, loss_bbox: 0.3668, loss_traj: 0.6685, loss_traj_cls: 0.0010, loss_map_cls: 0.1597, loss_map_pts: 0.7525, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.2084, d0.loss_plan_l1_fix_dist: 0.3904, d1.loss_plan_l1_fix_time: 0.9556, d1.loss_plan_l1_fix_dist: 0.1720, d2.loss_plan_l1_fix_time: 0.9454, d2.loss_plan_l1_fix_dist: 0.1702, d3.loss_plan_l1_fix_time: 0.9498, d3.loss_plan_l1_fix_dist: 0.1802, d4.loss_plan_l1_fix_time: 0.9560, d4.loss_plan_l1_fix_dist: 0.1928, d5.loss_plan_l1_fix_time: 0.9624, d5.loss_plan_l1_fix_dist: 0.2044, d6.loss_plan_l1_fix_time: 0.9700, d6.loss_plan_l1_fix_dist: 0.2143, d0.loss_cls_all: 0.1925, d0.loss_bbox_all: 0.4278, d0.loss_cls: 0.1925, d0.loss_bbox: 0.4278, d1.loss_cls: 0.1829, d1.loss_bbox: 0.3904, d2.loss_cls: 0.1686, d2.loss_bbox: 0.3733, d3.loss_cls: 0.1558, d3.loss_bbox: 0.3675, d4.loss_cls: 0.1497, d4.loss_bbox: 0.3685, d5.loss_cls: 0.1482, d5.loss_bbox: 0.3677, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8558, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7289, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6845, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6699, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6686, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6675, d0.loss_map_cls_all: 0.2407, d0.loss_map_pts_all: 1.5460, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2407, d0.loss_map_pts: 1.5460, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2099, d1.loss_map_pts: 1.0416, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1834, d2.loss_map_pts: 0.8582, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1727, d3.loss_map_pts: 0.7862, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1659, d4.loss_map_pts: 0.7551, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1610, d5.loss_map_pts: 0.7519, d5.loss_map_dir: 0.0109, loss: 28.5069, grad_norm: 178.5971 +2026-02-27 13:54:08,460 - DriveTransformer - INFO - Epoch [7][16200/39528] lr: 8.550e-05, eta: 5 days, 21:38:16, time: 0.716, data_time: 0.034, memory: 19865, loss_cls: 0.1534, loss_bbox: 0.3655, loss_traj: 0.5867, loss_traj_cls: 0.0010, loss_map_cls: 0.1686, loss_map_pts: 0.7051, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.5560, d0.loss_plan_l1_fix_dist: 0.4855, d1.loss_plan_l1_fix_time: 1.0540, d1.loss_plan_l1_fix_dist: 0.1881, d2.loss_plan_l1_fix_time: 1.0400, d2.loss_plan_l1_fix_dist: 0.1803, d3.loss_plan_l1_fix_time: 1.0429, d3.loss_plan_l1_fix_dist: 0.1883, d4.loss_plan_l1_fix_time: 1.0479, d4.loss_plan_l1_fix_dist: 0.1972, d5.loss_plan_l1_fix_time: 1.0532, d5.loss_plan_l1_fix_dist: 0.2059, d6.loss_plan_l1_fix_time: 1.0592, d6.loss_plan_l1_fix_dist: 0.2120, d0.loss_cls_all: 0.1874, d0.loss_bbox_all: 0.4202, d0.loss_cls: 0.1874, d0.loss_bbox: 0.4202, d1.loss_cls: 0.1805, d1.loss_bbox: 0.3884, d2.loss_cls: 0.1684, d2.loss_bbox: 0.3720, d3.loss_cls: 0.1562, d3.loss_bbox: 0.3677, d4.loss_cls: 0.1512, d4.loss_bbox: 0.3666, d5.loss_cls: 0.1519, d5.loss_bbox: 0.3655, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7891, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6475, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5888, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5856, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5823, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5819, d0.loss_map_cls_all: 0.2474, d0.loss_map_pts_all: 1.4300, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2474, d0.loss_map_pts: 1.4300, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2214, d1.loss_map_pts: 0.9748, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1951, d2.loss_map_pts: 0.7883, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1823, d3.loss_map_pts: 0.7222, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1748, d4.loss_map_pts: 0.7065, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1716, d5.loss_map_pts: 0.7045, d5.loss_map_dir: 0.0093, loss: 28.4233, grad_norm: 179.0836 +2026-02-27 13:54:45,655 - DriveTransformer - INFO - Epoch [7][16250/39528] lr: 8.550e-05, eta: 5 days, 21:38:02, time: 0.744, data_time: 0.034, memory: 19865, loss_cls: 0.1854, loss_bbox: 0.3832, loss_traj: 0.6037, loss_traj_cls: 0.0009, loss_map_cls: 0.1769, loss_map_pts: 0.8139, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 3.1823, d0.loss_plan_l1_fix_dist: 0.4186, d1.loss_plan_l1_fix_time: 1.2000, d1.loss_plan_l1_fix_dist: 0.1897, d2.loss_plan_l1_fix_time: 1.1861, d2.loss_plan_l1_fix_dist: 0.1861, d3.loss_plan_l1_fix_time: 1.1856, d3.loss_plan_l1_fix_dist: 0.1966, d4.loss_plan_l1_fix_time: 1.1892, d4.loss_plan_l1_fix_dist: 0.2105, d5.loss_plan_l1_fix_time: 1.1931, d5.loss_plan_l1_fix_dist: 0.2336, d6.loss_plan_l1_fix_time: 1.1971, d6.loss_plan_l1_fix_dist: 0.2593, d0.loss_cls_all: 0.2375, d0.loss_bbox_all: 0.4420, d0.loss_cls: 0.2375, d0.loss_bbox: 0.4420, d1.loss_cls: 0.2264, d1.loss_bbox: 0.4094, d2.loss_cls: 0.2105, d2.loss_bbox: 0.3939, d3.loss_cls: 0.1948, d3.loss_bbox: 0.3859, d4.loss_cls: 0.1869, d4.loss_bbox: 0.3840, d5.loss_cls: 0.1854, d5.loss_bbox: 0.3816, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8173, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6505, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6144, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6037, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6057, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6014, d0.loss_map_cls_all: 0.2534, d0.loss_map_pts_all: 1.5373, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2534, d0.loss_map_pts: 1.5373, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2248, d1.loss_map_pts: 1.0939, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.2056, d2.loss_map_pts: 0.9130, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1906, d3.loss_map_pts: 0.8469, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1826, d4.loss_map_pts: 0.8188, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1797, d5.loss_map_pts: 0.8132, d5.loss_map_dir: 0.0108, loss: 31.5423, grad_norm: 167.4088 +2026-02-27 13:55:20,574 - DriveTransformer - INFO - Epoch [7][16300/39528] lr: 8.550e-05, eta: 5 days, 21:36:11, time: 0.698, data_time: 0.034, memory: 19865, loss_cls: 0.1351, loss_bbox: 0.3339, loss_traj: 0.6072, loss_traj_cls: 0.0010, loss_map_cls: 0.1320, loss_map_pts: 0.5819, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.2821, d0.loss_plan_l1_fix_dist: 0.3998, d1.loss_plan_l1_fix_time: 0.9361, d1.loss_plan_l1_fix_dist: 0.1596, d2.loss_plan_l1_fix_time: 0.9310, d2.loss_plan_l1_fix_dist: 0.1613, d3.loss_plan_l1_fix_time: 0.9335, d3.loss_plan_l1_fix_dist: 0.1779, d4.loss_plan_l1_fix_time: 0.9403, d4.loss_plan_l1_fix_dist: 0.2000, d5.loss_plan_l1_fix_time: 0.9470, d5.loss_plan_l1_fix_dist: 0.2296, d6.loss_plan_l1_fix_time: 0.9539, d6.loss_plan_l1_fix_dist: 0.2637, d0.loss_cls_all: 0.1719, d0.loss_bbox_all: 0.3790, d0.loss_cls: 0.1719, d0.loss_bbox: 0.3790, d1.loss_cls: 0.1654, d1.loss_bbox: 0.3510, d2.loss_cls: 0.1481, d2.loss_bbox: 0.3340, d3.loss_cls: 0.1398, d3.loss_bbox: 0.3276, d4.loss_cls: 0.1355, d4.loss_bbox: 0.3284, d5.loss_cls: 0.1346, d5.loss_bbox: 0.3300, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7823, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6416, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6193, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6027, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6040, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6048, d0.loss_map_cls_all: 0.2083, d0.loss_map_pts_all: 1.1340, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2083, d0.loss_map_pts: 1.1340, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1754, d1.loss_map_pts: 0.8028, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1548, d2.loss_map_pts: 0.6619, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1434, d3.loss_map_pts: 0.6059, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1363, d4.loss_map_pts: 0.5872, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1314, d5.loss_map_pts: 0.5824, d5.loss_map_dir: 0.0071, loss: 25.3875, grad_norm: 167.7220 +2026-02-27 13:55:56,965 - DriveTransformer - INFO - Epoch [7][16350/39528] lr: 8.550e-05, eta: 5 days, 21:35:23, time: 0.728, data_time: 0.033, memory: 19865, loss_cls: 0.1542, loss_bbox: 0.3617, loss_traj: 0.6188, loss_traj_cls: 0.0010, loss_map_cls: 0.1564, loss_map_pts: 0.7133, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 3.0398, d0.loss_plan_l1_fix_dist: 0.3694, d1.loss_plan_l1_fix_time: 1.2295, d1.loss_plan_l1_fix_dist: 0.2002, d2.loss_plan_l1_fix_time: 1.2071, d2.loss_plan_l1_fix_dist: 0.2025, d3.loss_plan_l1_fix_time: 1.2032, d3.loss_plan_l1_fix_dist: 0.2114, d4.loss_plan_l1_fix_time: 1.2061, d4.loss_plan_l1_fix_dist: 0.2180, d5.loss_plan_l1_fix_time: 1.2105, d5.loss_plan_l1_fix_dist: 0.2243, d6.loss_plan_l1_fix_time: 1.2159, d6.loss_plan_l1_fix_dist: 0.2422, d0.loss_cls_all: 0.1917, d0.loss_bbox_all: 0.4186, d0.loss_cls: 0.1917, d0.loss_bbox: 0.4186, d1.loss_cls: 0.1826, d1.loss_bbox: 0.3878, d2.loss_cls: 0.1687, d2.loss_bbox: 0.3705, d3.loss_cls: 0.1599, d3.loss_bbox: 0.3636, d4.loss_cls: 0.1543, d4.loss_bbox: 0.3619, d5.loss_cls: 0.1540, d5.loss_bbox: 0.3601, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8855, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7094, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6433, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6260, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6220, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6199, d0.loss_map_cls_all: 0.2317, d0.loss_map_pts_all: 1.3606, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2317, d0.loss_map_pts: 1.3606, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2013, d1.loss_map_pts: 0.9577, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1796, d2.loss_map_pts: 0.8017, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1685, d3.loss_map_pts: 0.7448, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1614, d4.loss_map_pts: 0.7219, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1579, d5.loss_map_pts: 0.7144, d5.loss_map_dir: 0.0100, loss: 30.0534, grad_norm: 165.1601 +2026-02-27 13:56:34,357 - DriveTransformer - INFO - Epoch [7][16400/39528] lr: 8.550e-05, eta: 5 days, 21:35:20, time: 0.749, data_time: 0.033, memory: 19865, loss_cls: 0.1733, loss_bbox: 0.3743, loss_traj: 0.5083, loss_traj_cls: 0.0011, loss_map_cls: 0.1438, loss_map_pts: 0.6820, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.7147, d0.loss_plan_l1_fix_dist: 0.4469, d1.loss_plan_l1_fix_time: 1.0480, d1.loss_plan_l1_fix_dist: 0.2117, d2.loss_plan_l1_fix_time: 1.0345, d2.loss_plan_l1_fix_dist: 0.2131, d3.loss_plan_l1_fix_time: 1.0370, d3.loss_plan_l1_fix_dist: 0.2194, d4.loss_plan_l1_fix_time: 1.0427, d4.loss_plan_l1_fix_dist: 0.2266, d5.loss_plan_l1_fix_time: 1.0491, d5.loss_plan_l1_fix_dist: 0.2331, d6.loss_plan_l1_fix_time: 1.0551, d6.loss_plan_l1_fix_dist: 0.2367, d0.loss_cls_all: 0.2072, d0.loss_bbox_all: 0.4316, d0.loss_cls: 0.2072, d0.loss_bbox: 0.4316, d1.loss_cls: 0.2001, d1.loss_bbox: 0.4006, d2.loss_cls: 0.1871, d2.loss_bbox: 0.3803, d3.loss_cls: 0.1767, d3.loss_bbox: 0.3726, d4.loss_cls: 0.1717, d4.loss_bbox: 0.3731, d5.loss_cls: 0.1714, d5.loss_bbox: 0.3735, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7299, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5559, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5204, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5158, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5113, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5102, d0.loss_map_cls_all: 0.2185, d0.loss_map_pts_all: 1.3907, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2185, d0.loss_map_pts: 1.3907, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.1878, d1.loss_map_pts: 0.9701, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1670, d2.loss_map_pts: 0.7924, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1553, d3.loss_map_pts: 0.7223, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1487, d4.loss_map_pts: 0.6902, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1453, d5.loss_map_pts: 0.6830, d5.loss_map_dir: 0.0104, loss: 28.0475, grad_norm: 164.7680 +2026-02-27 13:57:10,697 - DriveTransformer - INFO - Epoch [7][16450/39528] lr: 8.550e-05, eta: 5 days, 21:34:27, time: 0.725, data_time: 0.033, memory: 19865, loss_cls: 0.1519, loss_bbox: 0.3422, loss_traj: 0.7452, loss_traj_cls: 0.0011, loss_map_cls: 0.1468, loss_map_pts: 0.6655, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.3450, d0.loss_plan_l1_fix_dist: 0.4623, d1.loss_plan_l1_fix_time: 1.0131, d1.loss_plan_l1_fix_dist: 0.1952, d2.loss_plan_l1_fix_time: 0.9907, d2.loss_plan_l1_fix_dist: 0.1957, d3.loss_plan_l1_fix_time: 0.9907, d3.loss_plan_l1_fix_dist: 0.2038, d4.loss_plan_l1_fix_time: 0.9960, d4.loss_plan_l1_fix_dist: 0.2172, d5.loss_plan_l1_fix_time: 1.0018, d5.loss_plan_l1_fix_dist: 0.2291, d6.loss_plan_l1_fix_time: 1.0076, d6.loss_plan_l1_fix_dist: 0.2329, d0.loss_cls_all: 0.1910, d0.loss_bbox_all: 0.3970, d0.loss_cls: 0.1910, d0.loss_bbox: 0.3970, d1.loss_cls: 0.1826, d1.loss_bbox: 0.3633, d2.loss_cls: 0.1694, d2.loss_bbox: 0.3475, d3.loss_cls: 0.1562, d3.loss_bbox: 0.3432, d4.loss_cls: 0.1508, d4.loss_bbox: 0.3412, d5.loss_cls: 0.1508, d5.loss_bbox: 0.3416, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9366, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7937, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7444, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7448, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7456, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7434, d0.loss_map_cls_all: 0.2268, d0.loss_map_pts_all: 1.2848, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2268, d0.loss_map_pts: 1.2848, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1947, d1.loss_map_pts: 0.9031, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1736, d2.loss_map_pts: 0.7483, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1599, d3.loss_map_pts: 0.6925, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1538, d4.loss_map_pts: 0.6711, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1498, d5.loss_map_pts: 0.6669, d5.loss_map_dir: 0.0091, loss: 28.1805, grad_norm: 166.5998 +2026-02-27 13:57:48,155 - DriveTransformer - INFO - Epoch [7][16500/39528] lr: 8.550e-05, eta: 5 days, 21:34:23, time: 0.749, data_time: 0.034, memory: 19865, loss_cls: 0.1547, loss_bbox: 0.3625, loss_traj: 0.5886, loss_traj_cls: 0.0011, loss_map_cls: 0.1324, loss_map_pts: 0.6637, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.3005, d0.loss_plan_l1_fix_dist: 0.3956, d1.loss_plan_l1_fix_time: 1.0006, d1.loss_plan_l1_fix_dist: 0.1763, d2.loss_plan_l1_fix_time: 0.9883, d2.loss_plan_l1_fix_dist: 0.1836, d3.loss_plan_l1_fix_time: 0.9843, d3.loss_plan_l1_fix_dist: 0.1881, d4.loss_plan_l1_fix_time: 0.9876, d4.loss_plan_l1_fix_dist: 0.1976, d5.loss_plan_l1_fix_time: 0.9915, d5.loss_plan_l1_fix_dist: 0.2146, d6.loss_plan_l1_fix_time: 0.9964, d6.loss_plan_l1_fix_dist: 0.2444, d0.loss_cls_all: 0.1980, d0.loss_bbox_all: 0.4059, d0.loss_cls: 0.1980, d0.loss_bbox: 0.4059, d1.loss_cls: 0.1869, d1.loss_bbox: 0.3793, d2.loss_cls: 0.1728, d2.loss_bbox: 0.3682, d3.loss_cls: 0.1602, d3.loss_bbox: 0.3639, d4.loss_cls: 0.1559, d4.loss_bbox: 0.3621, d5.loss_cls: 0.1553, d5.loss_bbox: 0.3624, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7673, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6343, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6056, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5905, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5928, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5895, d0.loss_map_cls_all: 0.2134, d0.loss_map_pts_all: 1.3696, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2134, d0.loss_map_pts: 1.3696, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1765, d1.loss_map_pts: 0.9352, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1552, d2.loss_map_pts: 0.7588, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1435, d3.loss_map_pts: 0.6951, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1377, d4.loss_map_pts: 0.6716, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1355, d5.loss_map_pts: 0.6650, d5.loss_map_dir: 0.0104, loss: 27.1334, grad_norm: 168.3057 +2026-02-27 13:58:24,482 - DriveTransformer - INFO - Epoch [7][16550/39528] lr: 8.550e-05, eta: 5 days, 21:33:32, time: 0.727, data_time: 0.033, memory: 19865, loss_cls: 0.1830, loss_bbox: 0.3746, loss_traj: 0.6240, loss_traj_cls: 0.0010, loss_map_cls: 0.1570, loss_map_pts: 0.6328, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 3.0604, d0.loss_plan_l1_fix_dist: 0.4390, d1.loss_plan_l1_fix_time: 1.2228, d1.loss_plan_l1_fix_dist: 0.2071, d2.loss_plan_l1_fix_time: 1.2150, d2.loss_plan_l1_fix_dist: 0.2179, d3.loss_plan_l1_fix_time: 1.2175, d3.loss_plan_l1_fix_dist: 0.2301, d4.loss_plan_l1_fix_time: 1.2222, d4.loss_plan_l1_fix_dist: 0.2436, d5.loss_plan_l1_fix_time: 1.2270, d5.loss_plan_l1_fix_dist: 0.2723, d6.loss_plan_l1_fix_time: 1.2324, d6.loss_plan_l1_fix_dist: 0.3081, d0.loss_cls_all: 0.2199, d0.loss_bbox_all: 0.4268, d0.loss_cls: 0.2199, d0.loss_bbox: 0.4268, d1.loss_cls: 0.2131, d1.loss_bbox: 0.3954, d2.loss_cls: 0.1997, d2.loss_bbox: 0.3774, d3.loss_cls: 0.1862, d3.loss_bbox: 0.3754, d4.loss_cls: 0.1817, d4.loss_bbox: 0.3750, d5.loss_cls: 0.1815, d5.loss_bbox: 0.3754, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8392, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6854, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6339, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6224, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6240, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6240, d0.loss_map_cls_all: 0.2220, d0.loss_map_pts_all: 1.2856, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2220, d0.loss_map_pts: 1.2856, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1962, d1.loss_map_pts: 0.8964, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1784, d2.loss_map_pts: 0.7357, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1678, d3.loss_map_pts: 0.6696, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1613, d4.loss_map_pts: 0.6397, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1589, d5.loss_map_pts: 0.6336, d5.loss_map_dir: 0.0085, loss: 29.9968, grad_norm: 168.9391 +2026-02-27 13:59:03,145 - DriveTransformer - INFO - Epoch [7][16600/39528] lr: 8.550e-05, eta: 5 days, 21:34:19, time: 0.773, data_time: 0.036, memory: 19865, loss_cls: 0.1643, loss_bbox: 0.3838, loss_traj: 0.5667, loss_traj_cls: 0.0010, loss_map_cls: 0.1848, loss_map_pts: 0.8318, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.6148, d0.loss_plan_l1_fix_dist: 0.4131, d1.loss_plan_l1_fix_time: 1.1643, d1.loss_plan_l1_fix_dist: 0.2016, d2.loss_plan_l1_fix_time: 1.1609, d2.loss_plan_l1_fix_dist: 0.1974, d3.loss_plan_l1_fix_time: 1.1674, d3.loss_plan_l1_fix_dist: 0.2096, d4.loss_plan_l1_fix_time: 1.1729, d4.loss_plan_l1_fix_dist: 0.2231, d5.loss_plan_l1_fix_time: 1.1785, d5.loss_plan_l1_fix_dist: 0.2371, d6.loss_plan_l1_fix_time: 1.1844, d6.loss_plan_l1_fix_dist: 0.2470, d0.loss_cls_all: 0.2115, d0.loss_bbox_all: 0.4421, d0.loss_cls: 0.2115, d0.loss_bbox: 0.4421, d1.loss_cls: 0.2036, d1.loss_bbox: 0.4059, d2.loss_cls: 0.1858, d2.loss_bbox: 0.3891, d3.loss_cls: 0.1709, d3.loss_bbox: 0.3851, d4.loss_cls: 0.1649, d4.loss_bbox: 0.3837, d5.loss_cls: 0.1636, d5.loss_bbox: 0.3825, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7631, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6115, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5782, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5727, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5664, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5666, d0.loss_map_cls_all: 0.2532, d0.loss_map_pts_all: 1.6956, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2532, d0.loss_map_pts: 1.6956, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2272, d1.loss_map_pts: 1.1522, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.2067, d2.loss_map_pts: 0.9471, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.1962, d3.loss_map_pts: 0.8708, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1916, d4.loss_map_pts: 0.8394, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1868, d5.loss_map_pts: 0.8336, d5.loss_map_dir: 0.0114, loss: 30.9482, grad_norm: 168.7471 +2026-02-27 13:59:39,728 - DriveTransformer - INFO - Epoch [7][16650/39528] lr: 8.550e-05, eta: 5 days, 21:33:39, time: 0.732, data_time: 0.035, memory: 19865, loss_cls: 0.1589, loss_bbox: 0.3609, loss_traj: 0.5696, loss_traj_cls: 0.0010, loss_map_cls: 0.1681, loss_map_pts: 0.7099, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.5432, d0.loss_plan_l1_fix_dist: 0.4168, d1.loss_plan_l1_fix_time: 0.9931, d1.loss_plan_l1_fix_dist: 0.1907, d2.loss_plan_l1_fix_time: 0.9856, d2.loss_plan_l1_fix_dist: 0.1732, d3.loss_plan_l1_fix_time: 0.9873, d3.loss_plan_l1_fix_dist: 0.1820, d4.loss_plan_l1_fix_time: 0.9912, d4.loss_plan_l1_fix_dist: 0.1934, d5.loss_plan_l1_fix_time: 0.9954, d5.loss_plan_l1_fix_dist: 0.1991, d6.loss_plan_l1_fix_time: 1.0003, d6.loss_plan_l1_fix_dist: 0.2115, d0.loss_cls_all: 0.1996, d0.loss_bbox_all: 0.4179, d0.loss_cls: 0.1996, d0.loss_bbox: 0.4179, d1.loss_cls: 0.1897, d1.loss_bbox: 0.3836, d2.loss_cls: 0.1765, d2.loss_bbox: 0.3677, d3.loss_cls: 0.1634, d3.loss_bbox: 0.3596, d4.loss_cls: 0.1581, d4.loss_bbox: 0.3578, d5.loss_cls: 0.1576, d5.loss_bbox: 0.3586, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7697, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6466, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5837, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5741, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5736, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5701, d0.loss_map_cls_all: 0.2438, d0.loss_map_pts_all: 1.4432, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2438, d0.loss_map_pts: 1.4432, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2157, d1.loss_map_pts: 0.9790, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1912, d2.loss_map_pts: 0.7931, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1798, d3.loss_map_pts: 0.7320, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1726, d4.loss_map_pts: 0.7149, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1685, d5.loss_map_pts: 0.7094, d5.loss_map_dir: 0.0103, loss: 27.9727, grad_norm: 161.9916 +2026-02-27 14:00:15,568 - DriveTransformer - INFO - Epoch [7][16700/39528] lr: 8.550e-05, eta: 5 days, 21:32:28, time: 0.717, data_time: 0.034, memory: 19865, loss_cls: 0.1548, loss_bbox: 0.3511, loss_traj: 0.5775, loss_traj_cls: 0.0010, loss_map_cls: 0.1677, loss_map_pts: 0.6984, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.3592, d0.loss_plan_l1_fix_dist: 0.3734, d1.loss_plan_l1_fix_time: 1.0086, d1.loss_plan_l1_fix_dist: 0.2001, d2.loss_plan_l1_fix_time: 1.0005, d2.loss_plan_l1_fix_dist: 0.1767, d3.loss_plan_l1_fix_time: 1.0031, d3.loss_plan_l1_fix_dist: 0.1792, d4.loss_plan_l1_fix_time: 1.0059, d4.loss_plan_l1_fix_dist: 0.1892, d5.loss_plan_l1_fix_time: 1.0091, d5.loss_plan_l1_fix_dist: 0.2035, d6.loss_plan_l1_fix_time: 1.0126, d6.loss_plan_l1_fix_dist: 0.2133, d0.loss_cls_all: 0.1874, d0.loss_bbox_all: 0.4011, d0.loss_cls: 0.1874, d0.loss_bbox: 0.4011, d1.loss_cls: 0.1815, d1.loss_bbox: 0.3690, d2.loss_cls: 0.1705, d2.loss_bbox: 0.3506, d3.loss_cls: 0.1583, d3.loss_bbox: 0.3464, d4.loss_cls: 0.1549, d4.loss_bbox: 0.3475, d5.loss_cls: 0.1542, d5.loss_bbox: 0.3492, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7513, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6245, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5936, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5835, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5823, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5797, d0.loss_map_cls_all: 0.2382, d0.loss_map_pts_all: 1.3740, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2382, d0.loss_map_pts: 1.3740, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.2150, d1.loss_map_pts: 0.9774, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1909, d2.loss_map_pts: 0.7889, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1777, d3.loss_map_pts: 0.7253, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1717, d4.loss_map_pts: 0.7053, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1680, d5.loss_map_pts: 0.6995, d5.loss_map_dir: 0.0089, loss: 27.4760, grad_norm: 160.2465 +2026-02-27 14:00:52,739 - DriveTransformer - INFO - Epoch [7][16750/39528] lr: 8.550e-05, eta: 5 days, 21:32:12, time: 0.743, data_time: 0.035, memory: 19865, loss_cls: 0.1616, loss_bbox: 0.3682, loss_traj: 0.6251, loss_traj_cls: 0.0010, loss_map_cls: 0.1799, loss_map_pts: 0.7403, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.6586, d0.loss_plan_l1_fix_dist: 0.4301, d1.loss_plan_l1_fix_time: 1.0076, d1.loss_plan_l1_fix_dist: 0.2251, d2.loss_plan_l1_fix_time: 1.0033, d2.loss_plan_l1_fix_dist: 0.2005, d3.loss_plan_l1_fix_time: 1.0014, d3.loss_plan_l1_fix_dist: 0.2012, d4.loss_plan_l1_fix_time: 1.0044, d4.loss_plan_l1_fix_dist: 0.2089, d5.loss_plan_l1_fix_time: 1.0084, d5.loss_plan_l1_fix_dist: 0.2204, d6.loss_plan_l1_fix_time: 1.0128, d6.loss_plan_l1_fix_dist: 0.2345, d0.loss_cls_all: 0.1987, d0.loss_bbox_all: 0.4331, d0.loss_cls: 0.1987, d0.loss_bbox: 0.4331, d1.loss_cls: 0.1911, d1.loss_bbox: 0.3981, d2.loss_cls: 0.1796, d2.loss_bbox: 0.3778, d3.loss_cls: 0.1658, d3.loss_bbox: 0.3737, d4.loss_cls: 0.1634, d4.loss_bbox: 0.3691, d5.loss_cls: 0.1628, d5.loss_bbox: 0.3670, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8350, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6891, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6328, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6252, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6192, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6234, d0.loss_map_cls_all: 0.2532, d0.loss_map_pts_all: 1.5260, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2532, d0.loss_map_pts: 1.5260, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2200, d1.loss_map_pts: 1.0260, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.2007, d2.loss_map_pts: 0.8337, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1908, d3.loss_map_pts: 0.7670, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1851, d4.loss_map_pts: 0.7444, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1812, d5.loss_map_pts: 0.7390, d5.loss_map_dir: 0.0098, loss: 29.2588, grad_norm: 159.8706 +2026-02-27 14:01:29,282 - DriveTransformer - INFO - Epoch [7][16800/39528] lr: 8.550e-05, eta: 5 days, 21:31:30, time: 0.731, data_time: 0.033, memory: 19865, loss_cls: 0.1601, loss_bbox: 0.3672, loss_traj: 0.5431, loss_traj_cls: 0.0010, loss_map_cls: 0.1581, loss_map_pts: 0.7264, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.6859, d0.loss_plan_l1_fix_dist: 0.4473, d1.loss_plan_l1_fix_time: 1.0103, d1.loss_plan_l1_fix_dist: 0.2130, d2.loss_plan_l1_fix_time: 0.9999, d2.loss_plan_l1_fix_dist: 0.1815, d3.loss_plan_l1_fix_time: 0.9979, d3.loss_plan_l1_fix_dist: 0.1850, d4.loss_plan_l1_fix_time: 1.0015, d4.loss_plan_l1_fix_dist: 0.1926, d5.loss_plan_l1_fix_time: 1.0058, d5.loss_plan_l1_fix_dist: 0.2025, d6.loss_plan_l1_fix_time: 1.0109, d6.loss_plan_l1_fix_dist: 0.2174, d0.loss_cls_all: 0.1970, d0.loss_bbox_all: 0.4328, d0.loss_cls: 0.1970, d0.loss_bbox: 0.4328, d1.loss_cls: 0.1865, d1.loss_bbox: 0.4013, d2.loss_cls: 0.1734, d2.loss_bbox: 0.3810, d3.loss_cls: 0.1647, d3.loss_bbox: 0.3718, d4.loss_cls: 0.1625, d4.loss_bbox: 0.3688, d5.loss_cls: 0.1601, d5.loss_bbox: 0.3681, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7457, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5979, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5646, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5501, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5418, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5429, d0.loss_map_cls_all: 0.2314, d0.loss_map_pts_all: 1.4774, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2314, d0.loss_map_pts: 1.4774, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1963, d1.loss_map_pts: 1.0114, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1796, d2.loss_map_pts: 0.8273, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1701, d3.loss_map_pts: 0.7536, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1617, d4.loss_map_pts: 0.7327, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1589, d5.loss_map_pts: 0.7255, d5.loss_map_dir: 0.0096, loss: 28.2641, grad_norm: 161.5826 +2026-02-27 14:02:07,559 - DriveTransformer - INFO - Epoch [7][16850/39528] lr: 8.550e-05, eta: 5 days, 21:32:00, time: 0.765, data_time: 0.034, memory: 19865, loss_cls: 0.1484, loss_bbox: 0.3580, loss_traj: 0.6366, loss_traj_cls: 0.0010, loss_map_cls: 0.1515, loss_map_pts: 0.7056, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.8941, d0.loss_plan_l1_fix_dist: 0.3651, d1.loss_plan_l1_fix_time: 0.9349, d1.loss_plan_l1_fix_dist: 0.2042, d2.loss_plan_l1_fix_time: 0.9097, d2.loss_plan_l1_fix_dist: 0.1811, d3.loss_plan_l1_fix_time: 0.9044, d3.loss_plan_l1_fix_dist: 0.1909, d4.loss_plan_l1_fix_time: 0.9080, d4.loss_plan_l1_fix_dist: 0.2078, d5.loss_plan_l1_fix_time: 0.9126, d5.loss_plan_l1_fix_dist: 0.2274, d6.loss_plan_l1_fix_time: 0.9183, d6.loss_plan_l1_fix_dist: 0.2436, d0.loss_cls_all: 0.1975, d0.loss_bbox_all: 0.4086, d0.loss_cls: 0.1975, d0.loss_bbox: 0.4086, d1.loss_cls: 0.1821, d1.loss_bbox: 0.3789, d2.loss_cls: 0.1691, d2.loss_bbox: 0.3622, d3.loss_cls: 0.1572, d3.loss_bbox: 0.3556, d4.loss_cls: 0.1487, d4.loss_bbox: 0.3562, d5.loss_cls: 0.1490, d5.loss_bbox: 0.3557, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8313, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6797, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6421, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6389, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6347, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6347, d0.loss_map_cls_all: 0.2326, d0.loss_map_pts_all: 1.4361, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2326, d0.loss_map_pts: 1.4361, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.1996, d1.loss_map_pts: 1.0067, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1770, d2.loss_map_pts: 0.8117, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1657, d3.loss_map_pts: 0.7426, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1600, d4.loss_map_pts: 0.7128, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1534, d5.loss_map_pts: 0.7060, d5.loss_map_dir: 0.0106, loss: 28.1519, grad_norm: 167.3215 +2026-02-27 14:02:43,875 - DriveTransformer - INFO - Epoch [7][16900/39528] lr: 8.550e-05, eta: 5 days, 21:31:08, time: 0.726, data_time: 0.036, memory: 19865, loss_cls: 0.1615, loss_bbox: 0.3844, loss_traj: 0.7475, loss_traj_cls: 0.0010, loss_map_cls: 0.1711, loss_map_pts: 0.7822, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.7019, d0.loss_plan_l1_fix_dist: 0.4862, d1.loss_plan_l1_fix_time: 1.0143, d1.loss_plan_l1_fix_dist: 0.2228, d2.loss_plan_l1_fix_time: 0.9920, d2.loss_plan_l1_fix_dist: 0.2084, d3.loss_plan_l1_fix_time: 0.9861, d3.loss_plan_l1_fix_dist: 0.2143, d4.loss_plan_l1_fix_time: 0.9884, d4.loss_plan_l1_fix_dist: 0.2203, d5.loss_plan_l1_fix_time: 0.9917, d5.loss_plan_l1_fix_dist: 0.2288, d6.loss_plan_l1_fix_time: 0.9959, d6.loss_plan_l1_fix_dist: 0.2418, d0.loss_cls_all: 0.2106, d0.loss_bbox_all: 0.4519, d0.loss_cls: 0.2106, d0.loss_bbox: 0.4519, d1.loss_cls: 0.2012, d1.loss_bbox: 0.4135, d2.loss_cls: 0.1849, d2.loss_bbox: 0.3905, d3.loss_cls: 0.1684, d3.loss_bbox: 0.3851, d4.loss_cls: 0.1624, d4.loss_bbox: 0.3846, d5.loss_cls: 0.1616, d5.loss_bbox: 0.3836, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0578, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8398, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7712, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7638, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7511, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7405, d0.loss_map_cls_all: 0.2488, d0.loss_map_pts_all: 1.4838, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2488, d0.loss_map_pts: 1.4838, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2237, d1.loss_map_pts: 1.0810, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1985, d2.loss_map_pts: 0.9027, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1876, d3.loss_map_pts: 0.8232, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1778, d4.loss_map_pts: 0.7928, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1726, d5.loss_map_pts: 0.7845, d5.loss_map_dir: 0.0091, loss: 30.7113, grad_norm: 167.6258 +2026-02-27 14:03:20,044 - DriveTransformer - INFO - Epoch [7][16950/39528] lr: 8.550e-05, eta: 5 days, 21:30:11, time: 0.723, data_time: 0.034, memory: 19865, loss_cls: 0.1327, loss_bbox: 0.3066, loss_traj: 0.5130, loss_traj_cls: 0.0010, loss_map_cls: 0.1235, loss_map_pts: 0.5641, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.3183, d0.loss_plan_l1_fix_dist: 0.4313, d1.loss_plan_l1_fix_time: 0.8848, d1.loss_plan_l1_fix_dist: 0.1799, d2.loss_plan_l1_fix_time: 0.8633, d2.loss_plan_l1_fix_dist: 0.1739, d3.loss_plan_l1_fix_time: 0.8634, d3.loss_plan_l1_fix_dist: 0.1858, d4.loss_plan_l1_fix_time: 0.8675, d4.loss_plan_l1_fix_dist: 0.1988, d5.loss_plan_l1_fix_time: 0.8719, d5.loss_plan_l1_fix_dist: 0.2123, d6.loss_plan_l1_fix_time: 0.8765, d6.loss_plan_l1_fix_dist: 0.2281, d0.loss_cls_all: 0.1729, d0.loss_bbox_all: 0.3652, d0.loss_cls: 0.1729, d0.loss_bbox: 0.3652, d1.loss_cls: 0.1602, d1.loss_bbox: 0.3348, d2.loss_cls: 0.1483, d2.loss_bbox: 0.3176, d3.loss_cls: 0.1381, d3.loss_bbox: 0.3088, d4.loss_cls: 0.1344, d4.loss_bbox: 0.3067, d5.loss_cls: 0.1331, d5.loss_bbox: 0.3049, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6925, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5728, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5311, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5201, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5063, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5092, d0.loss_map_cls_all: 0.1986, d0.loss_map_pts_all: 1.2183, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.1986, d0.loss_map_pts: 1.2183, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1659, d1.loss_map_pts: 0.7965, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1451, d2.loss_map_pts: 0.6380, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1334, d3.loss_map_pts: 0.5866, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1287, d4.loss_map_pts: 0.5683, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1244, d5.loss_map_pts: 0.5640, d5.loss_map_dir: 0.0093, loss: 24.2576, grad_norm: 165.7047 +2026-02-27 14:03:56,892 - DriveTransformer - INFO - Epoch [7][17000/39528] lr: 8.550e-05, eta: 5 days, 21:29:41, time: 0.737, data_time: 0.035, memory: 19865, loss_cls: 0.1380, loss_bbox: 0.3344, loss_traj: 0.6912, loss_traj_cls: 0.0010, loss_map_cls: 0.1559, loss_map_pts: 0.7158, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.4446, d0.loss_plan_l1_fix_dist: 0.3963, d1.loss_plan_l1_fix_time: 0.9563, d1.loss_plan_l1_fix_dist: 0.1905, d2.loss_plan_l1_fix_time: 0.9374, d2.loss_plan_l1_fix_dist: 0.1874, d3.loss_plan_l1_fix_time: 0.9373, d3.loss_plan_l1_fix_dist: 0.2008, d4.loss_plan_l1_fix_time: 0.9402, d4.loss_plan_l1_fix_dist: 0.2178, d5.loss_plan_l1_fix_time: 0.9429, d5.loss_plan_l1_fix_dist: 0.2379, d6.loss_plan_l1_fix_time: 0.9457, d6.loss_plan_l1_fix_dist: 0.2546, d0.loss_cls_all: 0.1794, d0.loss_bbox_all: 0.3946, d0.loss_cls: 0.1794, d0.loss_bbox: 0.3946, d1.loss_cls: 0.1695, d1.loss_bbox: 0.3609, d2.loss_cls: 0.1557, d2.loss_bbox: 0.3433, d3.loss_cls: 0.1451, d3.loss_bbox: 0.3363, d4.loss_cls: 0.1387, d4.loss_bbox: 0.3363, d5.loss_cls: 0.1370, d5.loss_bbox: 0.3355, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9257, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7672, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7085, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6946, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6890, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6886, d0.loss_map_cls_all: 0.2335, d0.loss_map_pts_all: 1.4001, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2335, d0.loss_map_pts: 1.4001, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2023, d1.loss_map_pts: 0.9743, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1786, d2.loss_map_pts: 0.8115, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1703, d3.loss_map_pts: 0.7446, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1618, d4.loss_map_pts: 0.7207, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1573, d5.loss_map_pts: 0.7148, d5.loss_map_dir: 0.0086, loss: 28.0827, grad_norm: 163.7221 +2026-02-27 14:04:32,809 - DriveTransformer - INFO - Epoch [7][17050/39528] lr: 8.550e-05, eta: 5 days, 21:28:34, time: 0.718, data_time: 0.037, memory: 19865, loss_cls: 0.1665, loss_bbox: 0.3684, loss_traj: 0.7883, loss_traj_cls: 0.0009, loss_map_cls: 0.1676, loss_map_pts: 0.7094, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 3.0999, d0.loss_plan_l1_fix_dist: 0.3636, d1.loss_plan_l1_fix_time: 1.1305, d1.loss_plan_l1_fix_dist: 0.1706, d2.loss_plan_l1_fix_time: 1.1228, d2.loss_plan_l1_fix_dist: 0.1729, d3.loss_plan_l1_fix_time: 1.1173, d3.loss_plan_l1_fix_dist: 0.1821, d4.loss_plan_l1_fix_time: 1.1198, d4.loss_plan_l1_fix_dist: 0.1930, d5.loss_plan_l1_fix_time: 1.1230, d5.loss_plan_l1_fix_dist: 0.2054, d6.loss_plan_l1_fix_time: 1.1267, d6.loss_plan_l1_fix_dist: 0.2225, d0.loss_cls_all: 0.2074, d0.loss_bbox_all: 0.4322, d0.loss_cls: 0.2074, d0.loss_bbox: 0.4322, d1.loss_cls: 0.1983, d1.loss_bbox: 0.3954, d2.loss_cls: 0.1842, d2.loss_bbox: 0.3777, d3.loss_cls: 0.1711, d3.loss_bbox: 0.3724, d4.loss_cls: 0.1672, d4.loss_bbox: 0.3697, d5.loss_cls: 0.1654, d5.loss_bbox: 0.3695, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0619, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8560, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8031, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7888, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7892, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7836, d0.loss_map_cls_all: 0.2395, d0.loss_map_pts_all: 1.3460, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2395, d0.loss_map_pts: 1.3460, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2140, d1.loss_map_pts: 0.9720, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1932, d2.loss_map_pts: 0.8020, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1820, d3.loss_map_pts: 0.7379, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1748, d4.loss_map_pts: 0.7151, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1692, d5.loss_map_pts: 0.7110, d5.loss_map_dir: 0.0100, loss: 30.8089, grad_norm: 161.4264 +2026-02-27 14:05:08,884 - DriveTransformer - INFO - Epoch [7][17100/39528] lr: 8.550e-05, eta: 5 days, 21:27:33, time: 0.721, data_time: 0.039, memory: 19865, loss_cls: 0.1619, loss_bbox: 0.3327, loss_traj: 0.6426, loss_traj_cls: 0.0009, loss_map_cls: 0.1509, loss_map_pts: 0.6424, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.8117, d0.loss_plan_l1_fix_dist: 0.3542, d1.loss_plan_l1_fix_time: 1.0183, d1.loss_plan_l1_fix_dist: 0.1849, d2.loss_plan_l1_fix_time: 0.9969, d2.loss_plan_l1_fix_dist: 0.1825, d3.loss_plan_l1_fix_time: 0.9942, d3.loss_plan_l1_fix_dist: 0.1929, d4.loss_plan_l1_fix_time: 0.9967, d4.loss_plan_l1_fix_dist: 0.2026, d5.loss_plan_l1_fix_time: 1.0001, d5.loss_plan_l1_fix_dist: 0.2133, d6.loss_plan_l1_fix_time: 1.0048, d6.loss_plan_l1_fix_dist: 0.2265, d0.loss_cls_all: 0.1979, d0.loss_bbox_all: 0.3946, d0.loss_cls: 0.1979, d0.loss_bbox: 0.3946, d1.loss_cls: 0.1893, d1.loss_bbox: 0.3648, d2.loss_cls: 0.1789, d2.loss_bbox: 0.3450, d3.loss_cls: 0.1688, d3.loss_bbox: 0.3372, d4.loss_cls: 0.1655, d4.loss_bbox: 0.3339, d5.loss_cls: 0.1623, d5.loss_bbox: 0.3323, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8947, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7176, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6632, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6444, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6433, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6410, d0.loss_map_cls_all: 0.2214, d0.loss_map_pts_all: 1.3267, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2214, d0.loss_map_pts: 1.3267, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1951, d1.loss_map_pts: 0.9101, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1736, d2.loss_map_pts: 0.7399, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1633, d3.loss_map_pts: 0.6757, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1580, d4.loss_map_pts: 0.6496, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1535, d5.loss_map_pts: 0.6433, d5.loss_map_dir: 0.0091, loss: 27.9142, grad_norm: 161.1970 +2026-02-27 14:05:46,600 - DriveTransformer - INFO - Epoch [7][17150/39528] lr: 8.550e-05, eta: 5 days, 21:27:39, time: 0.754, data_time: 0.036, memory: 19865, loss_cls: 0.1631, loss_bbox: 0.3414, loss_traj: 0.6602, loss_traj_cls: 0.0009, loss_map_cls: 0.1439, loss_map_pts: 0.6910, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.9217, d0.loss_plan_l1_fix_dist: 0.4030, d1.loss_plan_l1_fix_time: 0.9657, d1.loss_plan_l1_fix_dist: 0.2105, d2.loss_plan_l1_fix_time: 0.9452, d2.loss_plan_l1_fix_dist: 0.2162, d3.loss_plan_l1_fix_time: 0.9439, d3.loss_plan_l1_fix_dist: 0.2375, d4.loss_plan_l1_fix_time: 0.9474, d4.loss_plan_l1_fix_dist: 0.2591, d5.loss_plan_l1_fix_time: 0.9519, d5.loss_plan_l1_fix_dist: 0.2804, d6.loss_plan_l1_fix_time: 0.9577, d6.loss_plan_l1_fix_dist: 0.3021, d0.loss_cls_all: 0.2009, d0.loss_bbox_all: 0.4066, d0.loss_cls: 0.2009, d0.loss_bbox: 0.4066, d1.loss_cls: 0.1975, d1.loss_bbox: 0.3690, d2.loss_cls: 0.1837, d2.loss_bbox: 0.3502, d3.loss_cls: 0.1705, d3.loss_bbox: 0.3418, d4.loss_cls: 0.1629, d4.loss_bbox: 0.3415, d5.loss_cls: 0.1627, d5.loss_bbox: 0.3410, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8983, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7498, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6872, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6676, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6665, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6602, d0.loss_map_cls_all: 0.2216, d0.loss_map_pts_all: 1.3979, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2216, d0.loss_map_pts: 1.3979, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1903, d1.loss_map_pts: 0.9661, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1675, d2.loss_map_pts: 0.7914, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1586, d3.loss_map_pts: 0.7213, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1501, d4.loss_map_pts: 0.6997, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1456, d5.loss_map_pts: 0.6913, d5.loss_map_dir: 0.0097, loss: 28.7116, grad_norm: 166.9792 +2026-02-27 14:06:22,906 - DriveTransformer - INFO - Epoch [7][17200/39528] lr: 8.550e-05, eta: 5 days, 21:26:50, time: 0.728, data_time: 0.037, memory: 19865, loss_cls: 0.1618, loss_bbox: 0.3857, loss_traj: 0.7161, loss_traj_cls: 0.0010, loss_map_cls: 0.1730, loss_map_pts: 0.7382, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.5549, d0.loss_plan_l1_fix_dist: 0.4157, d1.loss_plan_l1_fix_time: 1.0227, d1.loss_plan_l1_fix_dist: 0.1946, d2.loss_plan_l1_fix_time: 1.0077, d2.loss_plan_l1_fix_dist: 0.1922, d3.loss_plan_l1_fix_time: 1.0078, d3.loss_plan_l1_fix_dist: 0.2030, d4.loss_plan_l1_fix_time: 1.0105, d4.loss_plan_l1_fix_dist: 0.2163, d5.loss_plan_l1_fix_time: 1.0147, d5.loss_plan_l1_fix_dist: 0.2325, d6.loss_plan_l1_fix_time: 1.0200, d6.loss_plan_l1_fix_dist: 0.2536, d0.loss_cls_all: 0.1963, d0.loss_bbox_all: 0.4428, d0.loss_cls: 0.1963, d0.loss_bbox: 0.4428, d1.loss_cls: 0.1889, d1.loss_bbox: 0.4091, d2.loss_cls: 0.1815, d2.loss_bbox: 0.3897, d3.loss_cls: 0.1691, d3.loss_bbox: 0.3854, d4.loss_cls: 0.1642, d4.loss_bbox: 0.3838, d5.loss_cls: 0.1630, d5.loss_bbox: 0.3843, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0175, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8050, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7396, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7194, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7198, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7155, d0.loss_map_cls_all: 0.2635, d0.loss_map_pts_all: 1.4039, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2635, d0.loss_map_pts: 1.4039, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2290, d1.loss_map_pts: 0.9997, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.2009, d2.loss_map_pts: 0.8464, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1878, d3.loss_map_pts: 0.7689, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1809, d4.loss_map_pts: 0.7418, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1748, d5.loss_map_pts: 0.7381, d5.loss_map_dir: 0.0091, loss: 29.8149, grad_norm: 166.6775 +2026-02-27 14:06:59,182 - DriveTransformer - INFO - Epoch [7][17250/39528] lr: 8.550e-05, eta: 5 days, 21:25:55, time: 0.724, data_time: 0.034, memory: 19865, loss_cls: 0.1539, loss_bbox: 0.3535, loss_traj: 0.6773, loss_traj_cls: 0.0009, loss_map_cls: 0.1684, loss_map_pts: 0.7418, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 3.2302, d0.loss_plan_l1_fix_dist: 0.4094, d1.loss_plan_l1_fix_time: 1.1931, d1.loss_plan_l1_fix_dist: 0.2199, d2.loss_plan_l1_fix_time: 1.1695, d2.loss_plan_l1_fix_dist: 0.2103, d3.loss_plan_l1_fix_time: 1.1693, d3.loss_plan_l1_fix_dist: 0.2221, d4.loss_plan_l1_fix_time: 1.1717, d4.loss_plan_l1_fix_dist: 0.2412, d5.loss_plan_l1_fix_time: 1.1743, d5.loss_plan_l1_fix_dist: 0.2632, d6.loss_plan_l1_fix_time: 1.1775, d6.loss_plan_l1_fix_dist: 0.2833, d0.loss_cls_all: 0.1961, d0.loss_bbox_all: 0.4180, d0.loss_cls: 0.1961, d0.loss_bbox: 0.4180, d1.loss_cls: 0.1834, d1.loss_bbox: 0.3839, d2.loss_cls: 0.1717, d2.loss_bbox: 0.3600, d3.loss_cls: 0.1631, d3.loss_bbox: 0.3552, d4.loss_cls: 0.1567, d4.loss_bbox: 0.3524, d5.loss_cls: 0.1539, d5.loss_bbox: 0.3541, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9628, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7663, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7031, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6910, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6849, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6798, d0.loss_map_cls_all: 0.2445, d0.loss_map_pts_all: 1.4558, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2445, d0.loss_map_pts: 1.4558, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2128, d1.loss_map_pts: 1.0098, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1898, d2.loss_map_pts: 0.8379, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1799, d3.loss_map_pts: 0.7702, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1741, d4.loss_map_pts: 0.7483, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1696, d5.loss_map_pts: 0.7424, d5.loss_map_dir: 0.0098, loss: 31.0986, grad_norm: 166.9537 +2026-02-27 14:07:35,120 - DriveTransformer - INFO - Epoch [7][17300/39528] lr: 8.550e-05, eta: 5 days, 21:24:49, time: 0.719, data_time: 0.036, memory: 19865, loss_cls: 0.1512, loss_bbox: 0.3473, loss_traj: 0.6700, loss_traj_cls: 0.0009, loss_map_cls: 0.1254, loss_map_pts: 0.5856, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.6599, d0.loss_plan_l1_fix_dist: 0.3810, d1.loss_plan_l1_fix_time: 1.0841, d1.loss_plan_l1_fix_dist: 0.1923, d2.loss_plan_l1_fix_time: 1.0723, d2.loss_plan_l1_fix_dist: 0.1876, d3.loss_plan_l1_fix_time: 1.0651, d3.loss_plan_l1_fix_dist: 0.2017, d4.loss_plan_l1_fix_time: 1.0669, d4.loss_plan_l1_fix_dist: 0.2157, d5.loss_plan_l1_fix_time: 1.0692, d5.loss_plan_l1_fix_dist: 0.2299, d6.loss_plan_l1_fix_time: 1.0719, d6.loss_plan_l1_fix_dist: 0.2460, d0.loss_cls_all: 0.1927, d0.loss_bbox_all: 0.4092, d0.loss_cls: 0.1927, d0.loss_bbox: 0.4092, d1.loss_cls: 0.1798, d1.loss_bbox: 0.3789, d2.loss_cls: 0.1693, d2.loss_bbox: 0.3583, d3.loss_cls: 0.1588, d3.loss_bbox: 0.3504, d4.loss_cls: 0.1527, d4.loss_bbox: 0.3478, d5.loss_cls: 0.1509, d5.loss_bbox: 0.3463, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9224, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7281, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6792, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6725, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6700, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6721, d0.loss_map_cls_all: 0.2035, d0.loss_map_pts_all: 1.2461, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2035, d0.loss_map_pts: 1.2461, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1694, d1.loss_map_pts: 0.8428, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1482, d2.loss_map_pts: 0.6894, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1383, d3.loss_map_pts: 0.6235, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1329, d4.loss_map_pts: 0.5976, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1293, d5.loss_map_pts: 0.5865, d5.loss_map_dir: 0.0080, loss: 27.7904, grad_norm: 166.3070 +2026-02-27 14:08:12,685 - DriveTransformer - INFO - Epoch [7][17350/39528] lr: 8.550e-05, eta: 5 days, 21:24:48, time: 0.751, data_time: 0.039, memory: 19865, loss_cls: 0.1523, loss_bbox: 0.3688, loss_traj: 0.6239, loss_traj_cls: 0.0009, loss_map_cls: 0.1611, loss_map_pts: 0.7053, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.4232, d0.loss_plan_l1_fix_dist: 0.4111, d1.loss_plan_l1_fix_time: 0.9077, d1.loss_plan_l1_fix_dist: 0.1845, d2.loss_plan_l1_fix_time: 0.9084, d2.loss_plan_l1_fix_dist: 0.1850, d3.loss_plan_l1_fix_time: 0.9055, d3.loss_plan_l1_fix_dist: 0.1994, d4.loss_plan_l1_fix_time: 0.9074, d4.loss_plan_l1_fix_dist: 0.2180, d5.loss_plan_l1_fix_time: 0.9095, d5.loss_plan_l1_fix_dist: 0.2372, d6.loss_plan_l1_fix_time: 0.9114, d6.loss_plan_l1_fix_dist: 0.2587, d0.loss_cls_all: 0.1953, d0.loss_bbox_all: 0.4259, d0.loss_cls: 0.1953, d0.loss_bbox: 0.4259, d1.loss_cls: 0.1867, d1.loss_bbox: 0.3904, d2.loss_cls: 0.1725, d2.loss_bbox: 0.3738, d3.loss_cls: 0.1593, d3.loss_bbox: 0.3677, d4.loss_cls: 0.1539, d4.loss_bbox: 0.3665, d5.loss_cls: 0.1522, d5.loss_bbox: 0.3674, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8588, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7047, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6506, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6289, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6244, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6219, d0.loss_map_cls_all: 0.2376, d0.loss_map_pts_all: 1.5055, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2376, d0.loss_map_pts: 1.5055, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2038, d1.loss_map_pts: 1.0302, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1836, d2.loss_map_pts: 0.8255, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1763, d3.loss_map_pts: 0.7411, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1666, d4.loss_map_pts: 0.7141, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1627, d5.loss_map_pts: 0.7065, d5.loss_map_dir: 0.0106, loss: 28.0853, grad_norm: 166.1412 +2026-02-27 14:08:48,906 - DriveTransformer - INFO - Epoch [7][17400/39528] lr: 8.550e-05, eta: 5 days, 21:23:53, time: 0.724, data_time: 0.035, memory: 19865, loss_cls: 0.1596, loss_bbox: 0.3714, loss_traj: 0.6165, loss_traj_cls: 0.0009, loss_map_cls: 0.1767, loss_map_pts: 0.7023, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.6744, d0.loss_plan_l1_fix_dist: 0.3611, d1.loss_plan_l1_fix_time: 1.0673, d1.loss_plan_l1_fix_dist: 0.1959, d2.loss_plan_l1_fix_time: 1.0564, d2.loss_plan_l1_fix_dist: 0.1982, d3.loss_plan_l1_fix_time: 1.0606, d3.loss_plan_l1_fix_dist: 0.2130, d4.loss_plan_l1_fix_time: 1.0631, d4.loss_plan_l1_fix_dist: 0.2303, d5.loss_plan_l1_fix_time: 1.0662, d5.loss_plan_l1_fix_dist: 0.2495, d6.loss_plan_l1_fix_time: 1.0705, d6.loss_plan_l1_fix_dist: 0.2674, d0.loss_cls_all: 0.1980, d0.loss_bbox_all: 0.4241, d0.loss_cls: 0.1980, d0.loss_bbox: 0.4241, d1.loss_cls: 0.1960, d1.loss_bbox: 0.3862, d2.loss_cls: 0.1809, d2.loss_bbox: 0.3687, d3.loss_cls: 0.1689, d3.loss_bbox: 0.3637, d4.loss_cls: 0.1634, d4.loss_bbox: 0.3629, d5.loss_cls: 0.1576, d5.loss_bbox: 0.3699, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8603, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6786, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6378, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6225, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6201, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6204, d0.loss_map_cls_all: 0.2569, d0.loss_map_pts_all: 1.4263, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2569, d0.loss_map_pts: 1.4263, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2226, d1.loss_map_pts: 0.9939, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1999, d2.loss_map_pts: 0.8064, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1880, d3.loss_map_pts: 0.7384, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1817, d4.loss_map_pts: 0.7081, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1780, d5.loss_map_pts: 0.7041, d5.loss_map_dir: 0.0097, loss: 29.1722, grad_norm: 166.9896 +2026-02-27 14:09:25,841 - DriveTransformer - INFO - Epoch [7][17450/39528] lr: 8.550e-05, eta: 5 days, 21:23:27, time: 0.739, data_time: 0.037, memory: 19865, loss_cls: 0.1486, loss_bbox: 0.3340, loss_traj: 0.6444, loss_traj_cls: 0.0009, loss_map_cls: 0.1593, loss_map_pts: 0.7095, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.8238, d0.loss_plan_l1_fix_dist: 0.4374, d1.loss_plan_l1_fix_time: 1.0339, d1.loss_plan_l1_fix_dist: 0.1650, d2.loss_plan_l1_fix_time: 1.0270, d2.loss_plan_l1_fix_dist: 0.1692, d3.loss_plan_l1_fix_time: 1.0310, d3.loss_plan_l1_fix_dist: 0.1790, d4.loss_plan_l1_fix_time: 1.0346, d4.loss_plan_l1_fix_dist: 0.1938, d5.loss_plan_l1_fix_time: 1.0390, d5.loss_plan_l1_fix_dist: 0.2090, d6.loss_plan_l1_fix_time: 1.0445, d6.loss_plan_l1_fix_dist: 0.2230, d0.loss_cls_all: 0.1882, d0.loss_bbox_all: 0.3977, d0.loss_cls: 0.1882, d0.loss_bbox: 0.3977, d1.loss_cls: 0.1838, d1.loss_bbox: 0.3630, d2.loss_cls: 0.1745, d2.loss_bbox: 0.3427, d3.loss_cls: 0.1592, d3.loss_bbox: 0.3363, d4.loss_cls: 0.1518, d4.loss_bbox: 0.3334, d5.loss_cls: 0.1491, d5.loss_bbox: 0.3335, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8722, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7010, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6510, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6456, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6429, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6470, d0.loss_map_cls_all: 0.2424, d0.loss_map_pts_all: 1.3980, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2424, d0.loss_map_pts: 1.3980, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2116, d1.loss_map_pts: 0.9923, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1861, d2.loss_map_pts: 0.8105, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1732, d3.loss_map_pts: 0.7410, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1654, d4.loss_map_pts: 0.7164, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1611, d5.loss_map_pts: 0.7095, d5.loss_map_dir: 0.0098, loss: 28.6945, grad_norm: 168.5478 +2026-02-27 14:10:01,851 - DriveTransformer - INFO - Epoch [7][17500/39528] lr: 8.550e-05, eta: 5 days, 21:22:24, time: 0.720, data_time: 0.036, memory: 19865, loss_cls: 0.1594, loss_bbox: 0.3434, loss_traj: 0.5966, loss_traj_cls: 0.0010, loss_map_cls: 0.1470, loss_map_pts: 0.6412, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.3830, d0.loss_plan_l1_fix_dist: 0.3992, d1.loss_plan_l1_fix_time: 0.9683, d1.loss_plan_l1_fix_dist: 0.1679, d2.loss_plan_l1_fix_time: 0.9634, d2.loss_plan_l1_fix_dist: 0.1715, d3.loss_plan_l1_fix_time: 0.9633, d3.loss_plan_l1_fix_dist: 0.1834, d4.loss_plan_l1_fix_time: 0.9664, d4.loss_plan_l1_fix_dist: 0.1995, d5.loss_plan_l1_fix_time: 0.9706, d5.loss_plan_l1_fix_dist: 0.2164, d6.loss_plan_l1_fix_time: 0.9757, d6.loss_plan_l1_fix_dist: 0.2385, d0.loss_cls_all: 0.2011, d0.loss_bbox_all: 0.4038, d0.loss_cls: 0.2011, d0.loss_bbox: 0.4038, d1.loss_cls: 0.1875, d1.loss_bbox: 0.3725, d2.loss_cls: 0.1776, d2.loss_bbox: 0.3550, d3.loss_cls: 0.1641, d3.loss_bbox: 0.3496, d4.loss_cls: 0.1610, d4.loss_bbox: 0.3454, d5.loss_cls: 0.1574, d5.loss_bbox: 0.3448, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8954, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6962, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6368, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6036, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6010, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5964, d0.loss_map_cls_all: 0.2324, d0.loss_map_pts_all: 1.3019, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2324, d0.loss_map_pts: 1.3019, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1985, d1.loss_map_pts: 0.8874, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1718, d2.loss_map_pts: 0.7301, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1621, d3.loss_map_pts: 0.6675, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1537, d4.loss_map_pts: 0.6483, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1485, d5.loss_map_pts: 0.6416, d5.loss_map_dir: 0.0087, loss: 27.0604, grad_norm: 170.9865 +2026-02-27 14:10:38,341 - DriveTransformer - INFO - Epoch [7][17550/39528] lr: 8.550e-05, eta: 5 days, 21:21:41, time: 0.730, data_time: 0.034, memory: 19865, loss_cls: 0.1416, loss_bbox: 0.3615, loss_traj: 0.7070, loss_traj_cls: 0.0010, loss_map_cls: 0.1631, loss_map_pts: 0.6811, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.8500, d0.loss_plan_l1_fix_dist: 0.4007, d1.loss_plan_l1_fix_time: 1.1109, d1.loss_plan_l1_fix_dist: 0.1884, d2.loss_plan_l1_fix_time: 1.0965, d2.loss_plan_l1_fix_dist: 0.1963, d3.loss_plan_l1_fix_time: 1.0971, d3.loss_plan_l1_fix_dist: 0.2034, d4.loss_plan_l1_fix_time: 1.0993, d4.loss_plan_l1_fix_dist: 0.2101, d5.loss_plan_l1_fix_time: 1.1017, d5.loss_plan_l1_fix_dist: 0.2240, d6.loss_plan_l1_fix_time: 1.1048, d6.loss_plan_l1_fix_dist: 0.2444, d0.loss_cls_all: 0.1911, d0.loss_bbox_all: 0.4172, d0.loss_cls: 0.1911, d0.loss_bbox: 0.4172, d1.loss_cls: 0.1819, d1.loss_bbox: 0.3861, d2.loss_cls: 0.1635, d2.loss_bbox: 0.3698, d3.loss_cls: 0.1502, d3.loss_bbox: 0.3643, d4.loss_cls: 0.1440, d4.loss_bbox: 0.3617, d5.loss_cls: 0.1415, d5.loss_bbox: 0.3611, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0044, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7752, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7321, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7184, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7137, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7054, d0.loss_map_cls_all: 0.2279, d0.loss_map_pts_all: 1.3225, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2279, d0.loss_map_pts: 1.3225, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.2045, d1.loss_map_pts: 0.9387, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1875, d2.loss_map_pts: 0.7766, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1760, d3.loss_map_pts: 0.7139, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1686, d4.loss_map_pts: 0.6915, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1648, d5.loss_map_pts: 0.6828, d5.loss_map_dir: 0.0088, loss: 29.5520, grad_norm: 170.4288 +2026-02-27 14:11:14,179 - DriveTransformer - INFO - Epoch [7][17600/39528] lr: 8.550e-05, eta: 5 days, 21:20:31, time: 0.717, data_time: 0.035, memory: 19865, loss_cls: 0.1692, loss_bbox: 0.3704, loss_traj: 0.6918, loss_traj_cls: 0.0010, loss_map_cls: 0.1651, loss_map_pts: 0.6802, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.6431, d0.loss_plan_l1_fix_dist: 0.4084, d1.loss_plan_l1_fix_time: 1.2369, d1.loss_plan_l1_fix_dist: 0.1886, d2.loss_plan_l1_fix_time: 1.2245, d2.loss_plan_l1_fix_dist: 0.1920, d3.loss_plan_l1_fix_time: 1.2214, d3.loss_plan_l1_fix_dist: 0.2009, d4.loss_plan_l1_fix_time: 1.2235, d4.loss_plan_l1_fix_dist: 0.2128, d5.loss_plan_l1_fix_time: 1.2262, d5.loss_plan_l1_fix_dist: 0.2255, d6.loss_plan_l1_fix_time: 1.2296, d6.loss_plan_l1_fix_dist: 0.2372, d0.loss_cls_all: 0.2145, d0.loss_bbox_all: 0.4368, d0.loss_cls: 0.2145, d0.loss_bbox: 0.4368, d1.loss_cls: 0.2071, d1.loss_bbox: 0.4013, d2.loss_cls: 0.1902, d2.loss_bbox: 0.3824, d3.loss_cls: 0.1779, d3.loss_bbox: 0.3748, d4.loss_cls: 0.1705, d4.loss_bbox: 0.3742, d5.loss_cls: 0.1697, d5.loss_bbox: 0.3710, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9786, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7602, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7063, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6955, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6906, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6865, d0.loss_map_cls_all: 0.2440, d0.loss_map_pts_all: 1.3061, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2440, d0.loss_map_pts: 1.3061, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2129, d1.loss_map_pts: 0.9379, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1869, d2.loss_map_pts: 0.7781, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1787, d3.loss_map_pts: 0.7136, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1727, d4.loss_map_pts: 0.6890, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1669, d5.loss_map_pts: 0.6812, d5.loss_map_dir: 0.0091, loss: 30.2835, grad_norm: 170.8286 +2026-02-27 14:11:52,728 - DriveTransformer - INFO - Epoch [7][17650/39528] lr: 8.550e-05, eta: 5 days, 21:21:09, time: 0.771, data_time: 0.035, memory: 19865, loss_cls: 0.1584, loss_bbox: 0.3661, loss_traj: 0.6436, loss_traj_cls: 0.0010, loss_map_cls: 0.1627, loss_map_pts: 0.7730, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 3.0571, d0.loss_plan_l1_fix_dist: 0.4145, d1.loss_plan_l1_fix_time: 1.0307, d1.loss_plan_l1_fix_dist: 0.1707, d2.loss_plan_l1_fix_time: 1.0128, d2.loss_plan_l1_fix_dist: 0.1751, d3.loss_plan_l1_fix_time: 1.0088, d3.loss_plan_l1_fix_dist: 0.1894, d4.loss_plan_l1_fix_time: 1.0109, d4.loss_plan_l1_fix_dist: 0.2031, d5.loss_plan_l1_fix_time: 1.0138, d5.loss_plan_l1_fix_dist: 0.2159, d6.loss_plan_l1_fix_time: 1.0173, d6.loss_plan_l1_fix_dist: 0.2335, d0.loss_cls_all: 0.1975, d0.loss_bbox_all: 0.4286, d0.loss_cls: 0.1975, d0.loss_bbox: 0.4286, d1.loss_cls: 0.1871, d1.loss_bbox: 0.3990, d2.loss_cls: 0.1731, d2.loss_bbox: 0.3797, d3.loss_cls: 0.1632, d3.loss_bbox: 0.3718, d4.loss_cls: 0.1594, d4.loss_bbox: 0.3693, d5.loss_cls: 0.1576, d5.loss_bbox: 0.3679, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8892, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7113, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6640, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6532, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6492, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6473, d0.loss_map_cls_all: 0.2498, d0.loss_map_pts_all: 1.6075, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2498, d0.loss_map_pts: 1.6075, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2114, d1.loss_map_pts: 1.0900, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1867, d2.loss_map_pts: 0.8875, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1773, d3.loss_map_pts: 0.8135, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1719, d4.loss_map_pts: 0.7856, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1649, d5.loss_map_pts: 0.7741, d5.loss_map_dir: 0.0106, loss: 30.1174, grad_norm: 170.7591 +2026-02-27 14:12:29,877 - DriveTransformer - INFO - Epoch [7][17700/39528] lr: 8.550e-05, eta: 5 days, 21:20:51, time: 0.743, data_time: 0.034, memory: 19865, loss_cls: 0.1570, loss_bbox: 0.3432, loss_traj: 0.5973, loss_traj_cls: 0.0011, loss_map_cls: 0.1625, loss_map_pts: 0.7321, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.6063, d0.loss_plan_l1_fix_dist: 0.4022, d1.loss_plan_l1_fix_time: 0.9884, d1.loss_plan_l1_fix_dist: 0.1675, d2.loss_plan_l1_fix_time: 0.9628, d2.loss_plan_l1_fix_dist: 0.1728, d3.loss_plan_l1_fix_time: 0.9620, d3.loss_plan_l1_fix_dist: 0.1780, d4.loss_plan_l1_fix_time: 0.9651, d4.loss_plan_l1_fix_dist: 0.1880, d5.loss_plan_l1_fix_time: 0.9683, d5.loss_plan_l1_fix_dist: 0.1985, d6.loss_plan_l1_fix_time: 0.9718, d6.loss_plan_l1_fix_dist: 0.2115, d0.loss_cls_all: 0.1932, d0.loss_bbox_all: 0.4042, d0.loss_cls: 0.1932, d0.loss_bbox: 0.4042, d1.loss_cls: 0.1834, d1.loss_bbox: 0.3686, d2.loss_cls: 0.1694, d2.loss_bbox: 0.3543, d3.loss_cls: 0.1605, d3.loss_bbox: 0.3471, d4.loss_cls: 0.1570, d4.loss_bbox: 0.3449, d5.loss_cls: 0.1565, d5.loss_bbox: 0.3436, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8489, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6649, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6169, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6047, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6005, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5962, d0.loss_map_cls_all: 0.2277, d0.loss_map_pts_all: 1.3960, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2277, d0.loss_map_pts: 1.3960, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2002, d1.loss_map_pts: 1.0193, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1805, d2.loss_map_pts: 0.8368, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1714, d3.loss_map_pts: 0.7659, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1660, d4.loss_map_pts: 0.7383, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1635, d5.loss_map_pts: 0.7318, d5.loss_map_dir: 0.0093, loss: 27.9466, grad_norm: 167.7703 +2026-02-27 14:13:05,496 - DriveTransformer - INFO - Epoch [7][17750/39528] lr: 8.550e-05, eta: 5 days, 21:19:33, time: 0.712, data_time: 0.038, memory: 19865, loss_cls: 0.1375, loss_bbox: 0.3205, loss_traj: 0.6949, loss_traj_cls: 0.0011, loss_map_cls: 0.1265, loss_map_pts: 0.5924, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.5156, d0.loss_plan_l1_fix_dist: 0.3560, d1.loss_plan_l1_fix_time: 0.9606, d1.loss_plan_l1_fix_dist: 0.1805, d2.loss_plan_l1_fix_time: 0.9498, d2.loss_plan_l1_fix_dist: 0.1836, d3.loss_plan_l1_fix_time: 0.9471, d3.loss_plan_l1_fix_dist: 0.1856, d4.loss_plan_l1_fix_time: 0.9500, d4.loss_plan_l1_fix_dist: 0.1957, d5.loss_plan_l1_fix_time: 0.9526, d5.loss_plan_l1_fix_dist: 0.2090, d6.loss_plan_l1_fix_time: 0.9560, d6.loss_plan_l1_fix_dist: 0.2241, d0.loss_cls_all: 0.1718, d0.loss_bbox_all: 0.3702, d0.loss_cls: 0.1718, d0.loss_bbox: 0.3702, d1.loss_cls: 0.1686, d1.loss_bbox: 0.3379, d2.loss_cls: 0.1535, d2.loss_bbox: 0.3247, d3.loss_cls: 0.1439, d3.loss_bbox: 0.3188, d4.loss_cls: 0.1387, d4.loss_bbox: 0.3185, d5.loss_cls: 0.1361, d5.loss_bbox: 0.3214, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9102, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7563, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7056, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6983, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6937, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6957, d0.loss_map_cls_all: 0.1945, d0.loss_map_pts_all: 1.1813, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1945, d0.loss_map_pts: 1.1813, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1695, d1.loss_map_pts: 0.8183, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1481, d2.loss_map_pts: 0.6794, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1403, d3.loss_map_pts: 0.6247, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1331, d4.loss_map_pts: 0.6030, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1278, d5.loss_map_pts: 0.5943, d5.loss_map_dir: 0.0074, loss: 26.3981, grad_norm: 159.0477 +2026-02-27 14:13:43,163 - DriveTransformer - INFO - Epoch [7][17800/39528] lr: 8.550e-05, eta: 5 days, 21:19:35, time: 0.753, data_time: 0.036, memory: 19865, loss_cls: 0.1436, loss_bbox: 0.3317, loss_traj: 0.5270, loss_traj_cls: 0.0011, loss_map_cls: 0.1427, loss_map_pts: 0.6749, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.4059, d0.loss_plan_l1_fix_dist: 0.3718, d1.loss_plan_l1_fix_time: 0.8639, d1.loss_plan_l1_fix_dist: 0.1706, d2.loss_plan_l1_fix_time: 0.8604, d2.loss_plan_l1_fix_dist: 0.1686, d3.loss_plan_l1_fix_time: 0.8596, d3.loss_plan_l1_fix_dist: 0.1739, d4.loss_plan_l1_fix_time: 0.8627, d4.loss_plan_l1_fix_dist: 0.1798, d5.loss_plan_l1_fix_time: 0.8661, d5.loss_plan_l1_fix_dist: 0.1896, d6.loss_plan_l1_fix_time: 0.8702, d6.loss_plan_l1_fix_dist: 0.1994, d0.loss_cls_all: 0.1841, d0.loss_bbox_all: 0.3950, d0.loss_cls: 0.1841, d0.loss_bbox: 0.3950, d1.loss_cls: 0.1717, d1.loss_bbox: 0.3627, d2.loss_cls: 0.1583, d2.loss_bbox: 0.3437, d3.loss_cls: 0.1499, d3.loss_bbox: 0.3339, d4.loss_cls: 0.1467, d4.loss_bbox: 0.3303, d5.loss_cls: 0.1429, d5.loss_bbox: 0.3310, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7222, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6175, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5499, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5347, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5303, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5287, d0.loss_map_cls_all: 0.2172, d0.loss_map_pts_all: 1.4287, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2172, d0.loss_map_pts: 1.4287, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1842, d1.loss_map_pts: 0.9368, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1651, d2.loss_map_pts: 0.7699, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1554, d3.loss_map_pts: 0.7103, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1491, d4.loss_map_pts: 0.6832, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1446, d5.loss_map_pts: 0.6754, d5.loss_map_dir: 0.0100, loss: 25.9271, grad_norm: 158.5806 +2026-02-27 14:14:20,362 - DriveTransformer - INFO - Epoch [7][17850/39528] lr: 8.550e-05, eta: 5 days, 21:19:19, time: 0.744, data_time: 0.035, memory: 19865, loss_cls: 0.1774, loss_bbox: 0.3854, loss_traj: 0.4678, loss_traj_cls: 0.0011, loss_map_cls: 0.1818, loss_map_pts: 0.8284, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.3570, d0.loss_plan_l1_fix_dist: 0.3881, d1.loss_plan_l1_fix_time: 0.8847, d1.loss_plan_l1_fix_dist: 0.1801, d2.loss_plan_l1_fix_time: 0.8809, d2.loss_plan_l1_fix_dist: 0.1785, d3.loss_plan_l1_fix_time: 0.8800, d3.loss_plan_l1_fix_dist: 0.1886, d4.loss_plan_l1_fix_time: 0.8826, d4.loss_plan_l1_fix_dist: 0.2009, d5.loss_plan_l1_fix_time: 0.8857, d5.loss_plan_l1_fix_dist: 0.2151, d6.loss_plan_l1_fix_time: 0.8887, d6.loss_plan_l1_fix_dist: 0.2342, d0.loss_cls_all: 0.2200, d0.loss_bbox_all: 0.4469, d0.loss_cls: 0.2200, d0.loss_bbox: 0.4469, d1.loss_cls: 0.2080, d1.loss_bbox: 0.4126, d2.loss_cls: 0.1982, d2.loss_bbox: 0.3948, d3.loss_cls: 0.1867, d3.loss_bbox: 0.3872, d4.loss_cls: 0.1793, d4.loss_bbox: 0.3861, d5.loss_cls: 0.1784, d5.loss_bbox: 0.3849, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6194, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5100, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.4809, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.4674, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.4733, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.4725, d0.loss_map_cls_all: 0.2507, d0.loss_map_pts_all: 1.5599, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2507, d0.loss_map_pts: 1.5599, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2248, d1.loss_map_pts: 1.1150, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2036, d2.loss_map_pts: 0.9378, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.1938, d3.loss_map_pts: 0.8683, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1867, d4.loss_map_pts: 0.8369, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1838, d5.loss_map_pts: 0.8291, d5.loss_map_dir: 0.0117, loss: 27.8574, grad_norm: 157.9549 +2026-02-27 14:14:57,593 - DriveTransformer - INFO - Epoch [7][17900/39528] lr: 8.550e-05, eta: 5 days, 21:19:04, time: 0.745, data_time: 0.035, memory: 19865, loss_cls: 0.1609, loss_bbox: 0.3660, loss_traj: 0.6194, loss_traj_cls: 0.0010, loss_map_cls: 0.1620, loss_map_pts: 0.8113, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.9374, d0.loss_plan_l1_fix_dist: 0.4297, d1.loss_plan_l1_fix_time: 1.0823, d1.loss_plan_l1_fix_dist: 0.1981, d2.loss_plan_l1_fix_time: 1.0710, d2.loss_plan_l1_fix_dist: 0.1921, d3.loss_plan_l1_fix_time: 1.0704, d3.loss_plan_l1_fix_dist: 0.1979, d4.loss_plan_l1_fix_time: 1.0728, d4.loss_plan_l1_fix_dist: 0.2089, d5.loss_plan_l1_fix_time: 1.0761, d5.loss_plan_l1_fix_dist: 0.2220, d6.loss_plan_l1_fix_time: 1.0801, d6.loss_plan_l1_fix_dist: 0.2364, d0.loss_cls_all: 0.2011, d0.loss_bbox_all: 0.4228, d0.loss_cls: 0.2011, d0.loss_bbox: 0.4228, d1.loss_cls: 0.1954, d1.loss_bbox: 0.3879, d2.loss_cls: 0.1814, d2.loss_bbox: 0.3739, d3.loss_cls: 0.1690, d3.loss_bbox: 0.3696, d4.loss_cls: 0.1638, d4.loss_bbox: 0.3670, d5.loss_cls: 0.1612, d5.loss_bbox: 0.3669, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8138, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6612, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6253, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6221, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6250, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6229, d0.loss_map_cls_all: 0.2336, d0.loss_map_pts_all: 1.4623, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2336, d0.loss_map_pts: 1.4623, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2096, d1.loss_map_pts: 1.0592, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1883, d2.loss_map_pts: 0.8995, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1765, d3.loss_map_pts: 0.8317, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1697, d4.loss_map_pts: 0.8142, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1645, d5.loss_map_pts: 0.8107, d5.loss_map_dir: 0.0109, loss: 29.9551, grad_norm: 156.3557 +2026-02-27 14:15:33,161 - DriveTransformer - INFO - Epoch [7][17950/39528] lr: 8.550e-05, eta: 5 days, 21:17:45, time: 0.711, data_time: 0.035, memory: 19865, loss_cls: 0.1697, loss_bbox: 0.3590, loss_traj: 0.7684, loss_traj_cls: 0.0011, loss_map_cls: 0.1471, loss_map_pts: 0.6393, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.4006, d0.loss_plan_l1_fix_dist: 0.4031, d1.loss_plan_l1_fix_time: 1.0508, d1.loss_plan_l1_fix_dist: 0.2114, d2.loss_plan_l1_fix_time: 1.0404, d2.loss_plan_l1_fix_dist: 0.2082, d3.loss_plan_l1_fix_time: 1.0415, d3.loss_plan_l1_fix_dist: 0.2138, d4.loss_plan_l1_fix_time: 1.0446, d4.loss_plan_l1_fix_dist: 0.2261, d5.loss_plan_l1_fix_time: 1.0481, d5.loss_plan_l1_fix_dist: 0.2383, d6.loss_plan_l1_fix_time: 1.0520, d6.loss_plan_l1_fix_dist: 0.2475, d0.loss_cls_all: 0.2092, d0.loss_bbox_all: 0.4199, d0.loss_cls: 0.2092, d0.loss_bbox: 0.4199, d1.loss_cls: 0.2027, d1.loss_bbox: 0.3822, d2.loss_cls: 0.1885, d2.loss_bbox: 0.3653, d3.loss_cls: 0.1784, d3.loss_bbox: 0.3573, d4.loss_cls: 0.1725, d4.loss_bbox: 0.3569, d5.loss_cls: 0.1711, d5.loss_bbox: 0.3575, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0132, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8308, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7754, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7632, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7595, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7614, d0.loss_map_cls_all: 0.2176, d0.loss_map_pts_all: 1.2502, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2176, d0.loss_map_pts: 1.2502, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1926, d1.loss_map_pts: 0.8945, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1689, d2.loss_map_pts: 0.7380, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1588, d3.loss_map_pts: 0.6692, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1533, d4.loss_map_pts: 0.6483, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1491, d5.loss_map_pts: 0.6381, d5.loss_map_dir: 0.0078, loss: 28.8199, grad_norm: 158.9234 +2026-02-27 14:16:09,805 - DriveTransformer - INFO - Epoch [7][18000/39528] lr: 8.550e-05, eta: 5 days, 21:17:10, time: 0.734, data_time: 0.035, memory: 19865, loss_cls: 0.1393, loss_bbox: 0.3279, loss_traj: 0.5803, loss_traj_cls: 0.0011, loss_map_cls: 0.1228, loss_map_pts: 0.5842, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.9218, d0.loss_plan_l1_fix_dist: 0.3962, d1.loss_plan_l1_fix_time: 0.9240, d1.loss_plan_l1_fix_dist: 0.1591, d2.loss_plan_l1_fix_time: 0.9067, d2.loss_plan_l1_fix_dist: 0.1601, d3.loss_plan_l1_fix_time: 0.8933, d3.loss_plan_l1_fix_dist: 0.1659, d4.loss_plan_l1_fix_time: 0.8944, d4.loss_plan_l1_fix_dist: 0.1772, d5.loss_plan_l1_fix_time: 0.8971, d5.loss_plan_l1_fix_dist: 0.1915, d6.loss_plan_l1_fix_time: 0.9008, d6.loss_plan_l1_fix_dist: 0.2109, d0.loss_cls_all: 0.1737, d0.loss_bbox_all: 0.3817, d0.loss_cls: 0.1737, d0.loss_bbox: 0.3817, d1.loss_cls: 0.1671, d1.loss_bbox: 0.3512, d2.loss_cls: 0.1521, d2.loss_bbox: 0.3381, d3.loss_cls: 0.1428, d3.loss_bbox: 0.3312, d4.loss_cls: 0.1377, d4.loss_bbox: 0.3301, d5.loss_cls: 0.1380, d5.loss_bbox: 0.3290, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7495, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6296, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5930, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5903, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5918, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5879, d0.loss_map_cls_all: 0.1932, d0.loss_map_pts_all: 1.2318, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.1932, d0.loss_map_pts: 1.2318, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1630, d1.loss_map_pts: 0.8203, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1442, d2.loss_map_pts: 0.6619, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1379, d3.loss_map_pts: 0.6074, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1296, d4.loss_map_pts: 0.5890, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1254, d5.loss_map_pts: 0.5832, d5.loss_map_dir: 0.0091, loss: 25.7133, grad_norm: 160.0305 +2026-02-27 14:16:47,311 - DriveTransformer - INFO - Epoch [7][18050/39528] lr: 8.550e-05, eta: 5 days, 21:17:02, time: 0.749, data_time: 0.036, memory: 19865, loss_cls: 0.1552, loss_bbox: 0.3191, loss_traj: 0.5850, loss_traj_cls: 0.0011, loss_map_cls: 0.1461, loss_map_pts: 0.6957, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.4329, d0.loss_plan_l1_fix_dist: 0.4695, d1.loss_plan_l1_fix_time: 1.0653, d1.loss_plan_l1_fix_dist: 0.1852, d2.loss_plan_l1_fix_time: 1.0561, d2.loss_plan_l1_fix_dist: 0.1956, d3.loss_plan_l1_fix_time: 1.0507, d3.loss_plan_l1_fix_dist: 0.2064, d4.loss_plan_l1_fix_time: 1.0536, d4.loss_plan_l1_fix_dist: 0.2247, d5.loss_plan_l1_fix_time: 1.0578, d5.loss_plan_l1_fix_dist: 0.2494, d6.loss_plan_l1_fix_time: 1.0632, d6.loss_plan_l1_fix_dist: 0.2760, d0.loss_cls_all: 0.1896, d0.loss_bbox_all: 0.3889, d0.loss_cls: 0.1896, d0.loss_bbox: 0.3889, d1.loss_cls: 0.1790, d1.loss_bbox: 0.3513, d2.loss_cls: 0.1666, d2.loss_bbox: 0.3313, d3.loss_cls: 0.1576, d3.loss_bbox: 0.3223, d4.loss_cls: 0.1535, d4.loss_bbox: 0.3202, d5.loss_cls: 0.1537, d5.loss_bbox: 0.3193, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8039, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6499, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6074, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5974, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5949, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5871, d0.loss_map_cls_all: 0.2329, d0.loss_map_pts_all: 1.4915, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2329, d0.loss_map_pts: 1.4915, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1970, d1.loss_map_pts: 1.0005, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1712, d2.loss_map_pts: 0.8067, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1610, d3.loss_map_pts: 0.7273, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1539, d4.loss_map_pts: 0.6997, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1476, d5.loss_map_pts: 0.6962, d5.loss_map_dir: 0.0102, loss: 28.2344, grad_norm: 158.8757 +2026-02-27 14:17:24,199 - DriveTransformer - INFO - Epoch [7][18100/39528] lr: 8.550e-05, eta: 5 days, 21:16:34, time: 0.738, data_time: 0.035, memory: 19865, loss_cls: 0.1674, loss_bbox: 0.3702, loss_traj: 0.6646, loss_traj_cls: 0.0011, loss_map_cls: 0.1698, loss_map_pts: 0.8131, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.9750, d0.loss_plan_l1_fix_dist: 0.4486, d1.loss_plan_l1_fix_time: 1.1980, d1.loss_plan_l1_fix_dist: 0.1887, d2.loss_plan_l1_fix_time: 1.1885, d2.loss_plan_l1_fix_dist: 0.1950, d3.loss_plan_l1_fix_time: 1.1890, d3.loss_plan_l1_fix_dist: 0.2023, d4.loss_plan_l1_fix_time: 1.1922, d4.loss_plan_l1_fix_dist: 0.2158, d5.loss_plan_l1_fix_time: 1.1957, d5.loss_plan_l1_fix_dist: 0.2288, d6.loss_plan_l1_fix_time: 1.2000, d6.loss_plan_l1_fix_dist: 0.2441, d0.loss_cls_all: 0.2116, d0.loss_bbox_all: 0.4231, d0.loss_cls: 0.2116, d0.loss_bbox: 0.4231, d1.loss_cls: 0.1989, d1.loss_bbox: 0.3907, d2.loss_cls: 0.1890, d2.loss_bbox: 0.3747, d3.loss_cls: 0.1763, d3.loss_bbox: 0.3722, d4.loss_cls: 0.1704, d4.loss_bbox: 0.3702, d5.loss_cls: 0.1680, d5.loss_bbox: 0.3698, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9200, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7281, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6829, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6720, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6720, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6629, d0.loss_map_cls_all: 0.2358, d0.loss_map_pts_all: 1.5157, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2358, d0.loss_map_pts: 1.5157, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2109, d1.loss_map_pts: 1.0995, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1911, d2.loss_map_pts: 0.9221, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1791, d3.loss_map_pts: 0.8510, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1723, d4.loss_map_pts: 0.8216, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1708, d5.loss_map_pts: 0.8141, d5.loss_map_dir: 0.0107, loss: 31.4582, grad_norm: 155.8812 +2026-02-27 14:18:00,153 - DriveTransformer - INFO - Epoch [7][18150/39528] lr: 8.550e-05, eta: 5 days, 21:15:30, time: 0.719, data_time: 0.041, memory: 19865, loss_cls: 0.1647, loss_bbox: 0.3723, loss_traj: 0.6579, loss_traj_cls: 0.0011, loss_map_cls: 0.1574, loss_map_pts: 0.6570, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.4265, d0.loss_plan_l1_fix_dist: 0.3585, d1.loss_plan_l1_fix_time: 1.0441, d1.loss_plan_l1_fix_dist: 0.1876, d2.loss_plan_l1_fix_time: 1.0363, d2.loss_plan_l1_fix_dist: 0.1914, d3.loss_plan_l1_fix_time: 1.0407, d3.loss_plan_l1_fix_dist: 0.2007, d4.loss_plan_l1_fix_time: 1.0437, d4.loss_plan_l1_fix_dist: 0.2118, d5.loss_plan_l1_fix_time: 1.0469, d5.loss_plan_l1_fix_dist: 0.2192, d6.loss_plan_l1_fix_time: 1.0504, d6.loss_plan_l1_fix_dist: 0.2327, d0.loss_cls_all: 0.2033, d0.loss_bbox_all: 0.4372, d0.loss_cls: 0.2033, d0.loss_bbox: 0.4372, d1.loss_cls: 0.1949, d1.loss_bbox: 0.4072, d2.loss_cls: 0.1809, d2.loss_bbox: 0.3885, d3.loss_cls: 0.1732, d3.loss_bbox: 0.3787, d4.loss_cls: 0.1665, d4.loss_bbox: 0.3745, d5.loss_cls: 0.1644, d5.loss_bbox: 0.3728, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8720, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7259, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6721, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6613, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6579, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6517, d0.loss_map_cls_all: 0.2271, d0.loss_map_pts_all: 1.2073, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2271, d0.loss_map_pts: 1.2073, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1954, d1.loss_map_pts: 0.8581, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1783, d2.loss_map_pts: 0.7335, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1680, d3.loss_map_pts: 0.6825, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1623, d4.loss_map_pts: 0.6603, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1582, d5.loss_map_pts: 0.6584, d5.loss_map_dir: 0.0078, loss: 28.0147, grad_norm: 156.4400 +2026-02-27 14:18:37,730 - DriveTransformer - INFO - Epoch [7][18200/39528] lr: 8.550e-05, eta: 5 days, 21:15:28, time: 0.752, data_time: 0.039, memory: 19865, loss_cls: 0.1645, loss_bbox: 0.3560, loss_traj: 0.6719, loss_traj_cls: 0.0010, loss_map_cls: 0.1561, loss_map_pts: 0.7269, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 3.1160, d0.loss_plan_l1_fix_dist: 0.4184, d1.loss_plan_l1_fix_time: 1.1184, d1.loss_plan_l1_fix_dist: 0.2177, d2.loss_plan_l1_fix_time: 1.1082, d2.loss_plan_l1_fix_dist: 0.2086, d3.loss_plan_l1_fix_time: 1.1097, d3.loss_plan_l1_fix_dist: 0.2176, d4.loss_plan_l1_fix_time: 1.1122, d4.loss_plan_l1_fix_dist: 0.2260, d5.loss_plan_l1_fix_time: 1.1150, d5.loss_plan_l1_fix_dist: 0.2406, d6.loss_plan_l1_fix_time: 1.1181, d6.loss_plan_l1_fix_dist: 0.2528, d0.loss_cls_all: 0.2064, d0.loss_bbox_all: 0.4240, d0.loss_cls: 0.2064, d0.loss_bbox: 0.4240, d1.loss_cls: 0.1975, d1.loss_bbox: 0.3892, d2.loss_cls: 0.1833, d2.loss_bbox: 0.3680, d3.loss_cls: 0.1716, d3.loss_bbox: 0.3603, d4.loss_cls: 0.1666, d4.loss_bbox: 0.3560, d5.loss_cls: 0.1645, d5.loss_bbox: 0.3562, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9666, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7660, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6927, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6774, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6720, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6702, d0.loss_map_cls_all: 0.2357, d0.loss_map_pts_all: 1.3752, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2357, d0.loss_map_pts: 1.3752, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2021, d1.loss_map_pts: 0.9813, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1800, d2.loss_map_pts: 0.8216, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1693, d3.loss_map_pts: 0.7535, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1615, d4.loss_map_pts: 0.7349, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1587, d5.loss_map_pts: 0.7275, d5.loss_map_dir: 0.0099, loss: 30.2695, grad_norm: 155.2279 +2026-02-27 14:19:15,153 - DriveTransformer - INFO - Epoch [7][18250/39528] lr: 8.550e-05, eta: 5 days, 21:15:19, time: 0.748, data_time: 0.033, memory: 19865, loss_cls: 0.1640, loss_bbox: 0.3594, loss_traj: 0.6464, loss_traj_cls: 0.0011, loss_map_cls: 0.1444, loss_map_pts: 0.6979, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.5176, d0.loss_plan_l1_fix_dist: 0.3793, d1.loss_plan_l1_fix_time: 1.0983, d1.loss_plan_l1_fix_dist: 0.1986, d2.loss_plan_l1_fix_time: 1.0870, d2.loss_plan_l1_fix_dist: 0.1872, d3.loss_plan_l1_fix_time: 1.0856, d3.loss_plan_l1_fix_dist: 0.1966, d4.loss_plan_l1_fix_time: 1.0881, d4.loss_plan_l1_fix_dist: 0.2073, d5.loss_plan_l1_fix_time: 1.0906, d5.loss_plan_l1_fix_dist: 0.2201, d6.loss_plan_l1_fix_time: 1.0937, d6.loss_plan_l1_fix_dist: 0.2319, d0.loss_cls_all: 0.2099, d0.loss_bbox_all: 0.4141, d0.loss_cls: 0.2099, d0.loss_bbox: 0.4141, d1.loss_cls: 0.2001, d1.loss_bbox: 0.3805, d2.loss_cls: 0.1847, d2.loss_bbox: 0.3664, d3.loss_cls: 0.1732, d3.loss_bbox: 0.3610, d4.loss_cls: 0.1655, d4.loss_bbox: 0.3597, d5.loss_cls: 0.1657, d5.loss_bbox: 0.3590, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8688, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7085, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6620, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6538, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6483, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6454, d0.loss_map_cls_all: 0.2188, d0.loss_map_pts_all: 1.4424, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2188, d0.loss_map_pts: 1.4424, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.1904, d1.loss_map_pts: 1.0008, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1673, d2.loss_map_pts: 0.8009, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1568, d3.loss_map_pts: 0.7301, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1513, d4.loss_map_pts: 0.7080, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1451, d5.loss_map_pts: 0.7004, d5.loss_map_dir: 0.0105, loss: 29.0070, grad_norm: 156.5621 +2026-02-27 14:19:52,153 - DriveTransformer - INFO - Epoch [7][18300/39528] lr: 8.550e-05, eta: 5 days, 21:14:55, time: 0.740, data_time: 0.040, memory: 19865, loss_cls: 0.1445, loss_bbox: 0.3458, loss_traj: 0.6567, loss_traj_cls: 0.0011, loss_map_cls: 0.1214, loss_map_pts: 0.5711, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.1534, d0.loss_plan_l1_fix_dist: 0.4175, d1.loss_plan_l1_fix_time: 0.9520, d1.loss_plan_l1_fix_dist: 0.2091, d2.loss_plan_l1_fix_time: 0.9364, d2.loss_plan_l1_fix_dist: 0.1883, d3.loss_plan_l1_fix_time: 0.9341, d3.loss_plan_l1_fix_dist: 0.1943, d4.loss_plan_l1_fix_time: 0.9362, d4.loss_plan_l1_fix_dist: 0.2056, d5.loss_plan_l1_fix_time: 0.9382, d5.loss_plan_l1_fix_dist: 0.2212, d6.loss_plan_l1_fix_time: 0.9408, d6.loss_plan_l1_fix_dist: 0.2419, d0.loss_cls_all: 0.1796, d0.loss_bbox_all: 0.4105, d0.loss_cls: 0.1796, d0.loss_bbox: 0.4105, d1.loss_cls: 0.1714, d1.loss_bbox: 0.3753, d2.loss_cls: 0.1588, d2.loss_bbox: 0.3582, d3.loss_cls: 0.1480, d3.loss_bbox: 0.3521, d4.loss_cls: 0.1452, d4.loss_bbox: 0.3482, d5.loss_cls: 0.1435, d5.loss_bbox: 0.3459, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9167, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7361, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6734, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6639, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6638, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6567, d0.loss_map_cls_all: 0.2024, d0.loss_map_pts_all: 1.2165, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2024, d0.loss_map_pts: 1.2165, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1682, d1.loss_map_pts: 0.8224, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1469, d2.loss_map_pts: 0.6662, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1353, d3.loss_map_pts: 0.6076, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1300, d4.loss_map_pts: 0.5830, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1249, d5.loss_map_pts: 0.5742, d5.loss_map_dir: 0.0083, loss: 26.2151, grad_norm: 154.9041 +2026-02-27 14:20:28,458 - DriveTransformer - INFO - Epoch [7][18350/39528] lr: 8.550e-05, eta: 5 days, 21:14:04, time: 0.726, data_time: 0.035, memory: 19865, loss_cls: 0.1259, loss_bbox: 0.3100, loss_traj: 0.6637, loss_traj_cls: 0.0011, loss_map_cls: 0.1220, loss_map_pts: 0.5819, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.2504, d0.loss_plan_l1_fix_dist: 0.3566, d1.loss_plan_l1_fix_time: 0.9554, d1.loss_plan_l1_fix_dist: 0.1813, d2.loss_plan_l1_fix_time: 0.9409, d2.loss_plan_l1_fix_dist: 0.1642, d3.loss_plan_l1_fix_time: 0.9377, d3.loss_plan_l1_fix_dist: 0.1745, d4.loss_plan_l1_fix_time: 0.9394, d4.loss_plan_l1_fix_dist: 0.1878, d5.loss_plan_l1_fix_time: 0.9416, d5.loss_plan_l1_fix_dist: 0.2021, d6.loss_plan_l1_fix_time: 0.9447, d6.loss_plan_l1_fix_dist: 0.2190, d0.loss_cls_all: 0.1611, d0.loss_bbox_all: 0.3612, d0.loss_cls: 0.1611, d0.loss_bbox: 0.3612, d1.loss_cls: 0.1543, d1.loss_bbox: 0.3355, d2.loss_cls: 0.1419, d2.loss_bbox: 0.3196, d3.loss_cls: 0.1327, d3.loss_bbox: 0.3121, d4.loss_cls: 0.1269, d4.loss_bbox: 0.3107, d5.loss_cls: 0.1261, d5.loss_bbox: 0.3095, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8471, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7208, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6747, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6619, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6589, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6607, d0.loss_map_cls_all: 0.1929, d0.loss_map_pts_all: 1.2559, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.1929, d0.loss_map_pts: 1.2559, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1618, d1.loss_map_pts: 0.8420, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1414, d2.loss_map_pts: 0.6799, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1323, d3.loss_map_pts: 0.6174, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1271, d4.loss_map_pts: 0.5922, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1231, d5.loss_map_pts: 0.5833, d5.loss_map_dir: 0.0096, loss: 25.7166, grad_norm: 152.4203 +2026-02-27 14:21:03,871 - DriveTransformer - INFO - Epoch [7][18400/39528] lr: 8.550e-05, eta: 5 days, 21:12:40, time: 0.708, data_time: 0.034, memory: 19865, loss_cls: 0.1653, loss_bbox: 0.3744, loss_traj: 0.6257, loss_traj_cls: 0.0010, loss_map_cls: 0.1590, loss_map_pts: 0.7326, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.7138, d0.loss_plan_l1_fix_dist: 0.3224, d1.loss_plan_l1_fix_time: 1.0069, d1.loss_plan_l1_fix_dist: 0.1886, d2.loss_plan_l1_fix_time: 0.9961, d2.loss_plan_l1_fix_dist: 0.1890, d3.loss_plan_l1_fix_time: 0.9979, d3.loss_plan_l1_fix_dist: 0.2136, d4.loss_plan_l1_fix_time: 1.0013, d4.loss_plan_l1_fix_dist: 0.2407, d5.loss_plan_l1_fix_time: 1.0055, d5.loss_plan_l1_fix_dist: 0.2633, d6.loss_plan_l1_fix_time: 1.0102, d6.loss_plan_l1_fix_dist: 0.2855, d0.loss_cls_all: 0.2098, d0.loss_bbox_all: 0.4282, d0.loss_cls: 0.2098, d0.loss_bbox: 0.4282, d1.loss_cls: 0.2002, d1.loss_bbox: 0.3964, d2.loss_cls: 0.1835, d2.loss_bbox: 0.3807, d3.loss_cls: 0.1688, d3.loss_bbox: 0.3766, d4.loss_cls: 0.1643, d4.loss_bbox: 0.3748, d5.loss_cls: 0.1643, d5.loss_bbox: 0.3749, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8310, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6956, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6431, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6292, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6249, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6240, d0.loss_map_cls_all: 0.2282, d0.loss_map_pts_all: 1.3757, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2282, d0.loss_map_pts: 1.3757, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1948, d1.loss_map_pts: 0.9842, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1736, d2.loss_map_pts: 0.8253, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1666, d3.loss_map_pts: 0.7616, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1617, d4.loss_map_pts: 0.7390, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1604, d5.loss_map_pts: 0.7318, d5.loss_map_dir: 0.0093, loss: 28.7860, grad_norm: 155.2607 +2026-02-27 14:21:40,654 - DriveTransformer - INFO - Epoch [7][18450/39528] lr: 8.550e-05, eta: 5 days, 21:12:07, time: 0.736, data_time: 0.036, memory: 19865, loss_cls: 0.1320, loss_bbox: 0.3397, loss_traj: 0.6268, loss_traj_cls: 0.0011, loss_map_cls: 0.1520, loss_map_pts: 0.6498, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.5670, d0.loss_plan_l1_fix_dist: 0.3216, d1.loss_plan_l1_fix_time: 1.1572, d1.loss_plan_l1_fix_dist: 0.1849, d2.loss_plan_l1_fix_time: 1.1414, d2.loss_plan_l1_fix_dist: 0.1861, d3.loss_plan_l1_fix_time: 1.1444, d3.loss_plan_l1_fix_dist: 0.1987, d4.loss_plan_l1_fix_time: 1.1485, d4.loss_plan_l1_fix_dist: 0.2151, d5.loss_plan_l1_fix_time: 1.1532, d5.loss_plan_l1_fix_dist: 0.2296, d6.loss_plan_l1_fix_time: 1.1581, d6.loss_plan_l1_fix_dist: 0.2422, d0.loss_cls_all: 0.1707, d0.loss_bbox_all: 0.3957, d0.loss_cls: 0.1707, d0.loss_bbox: 0.3957, d1.loss_cls: 0.1646, d1.loss_bbox: 0.3633, d2.loss_cls: 0.1487, d2.loss_bbox: 0.3478, d3.loss_cls: 0.1386, d3.loss_bbox: 0.3397, d4.loss_cls: 0.1322, d4.loss_bbox: 0.3392, d5.loss_cls: 0.1302, d5.loss_bbox: 0.3410, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8095, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6738, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6366, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6214, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6225, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6223, d0.loss_map_cls_all: 0.2437, d0.loss_map_pts_all: 1.4143, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2437, d0.loss_map_pts: 1.4143, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2031, d1.loss_map_pts: 0.9458, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1761, d2.loss_map_pts: 0.7583, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1646, d3.loss_map_pts: 0.6878, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1579, d4.loss_map_pts: 0.6598, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1541, d5.loss_map_pts: 0.6510, d5.loss_map_dir: 0.0099, loss: 28.4708, grad_norm: 150.4039 +2026-02-27 14:22:15,990 - DriveTransformer - INFO - Epoch [7][18500/39528] lr: 8.550e-05, eta: 5 days, 21:10:40, time: 0.707, data_time: 0.036, memory: 19865, loss_cls: 0.1578, loss_bbox: 0.3592, loss_traj: 0.6217, loss_traj_cls: 0.0011, loss_map_cls: 0.1630, loss_map_pts: 0.6485, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.8080, d0.loss_plan_l1_fix_dist: 0.4254, d1.loss_plan_l1_fix_time: 1.0053, d1.loss_plan_l1_fix_dist: 0.1780, d2.loss_plan_l1_fix_time: 0.9892, d2.loss_plan_l1_fix_dist: 0.1952, d3.loss_plan_l1_fix_time: 0.9948, d3.loss_plan_l1_fix_dist: 0.2100, d4.loss_plan_l1_fix_time: 0.9978, d4.loss_plan_l1_fix_dist: 0.2269, d5.loss_plan_l1_fix_time: 1.0010, d5.loss_plan_l1_fix_dist: 0.2498, d6.loss_plan_l1_fix_time: 1.0050, d6.loss_plan_l1_fix_dist: 0.2731, d0.loss_cls_all: 0.2000, d0.loss_bbox_all: 0.4137, d0.loss_cls: 0.2000, d0.loss_bbox: 0.4137, d1.loss_cls: 0.1890, d1.loss_bbox: 0.3790, d2.loss_cls: 0.1757, d2.loss_bbox: 0.3592, d3.loss_cls: 0.1639, d3.loss_bbox: 0.3568, d4.loss_cls: 0.1594, d4.loss_bbox: 0.3570, d5.loss_cls: 0.1578, d5.loss_bbox: 0.3585, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8823, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6843, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6381, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6255, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6226, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6234, d0.loss_map_cls_all: 0.2379, d0.loss_map_pts_all: 1.3059, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2379, d0.loss_map_pts: 1.3059, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.2046, d1.loss_map_pts: 0.9116, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1840, d2.loss_map_pts: 0.7464, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1748, d3.loss_map_pts: 0.6732, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1694, d4.loss_map_pts: 0.6536, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1654, d5.loss_map_pts: 0.6501, d5.loss_map_dir: 0.0087, loss: 28.1636, grad_norm: 150.8247 +2026-02-27 14:22:51,693 - DriveTransformer - INFO - Epoch [7][18550/39528] lr: 8.550e-05, eta: 5 days, 21:09:28, time: 0.714, data_time: 0.033, memory: 19865, loss_cls: 0.1500, loss_bbox: 0.3708, loss_traj: 0.7306, loss_traj_cls: 0.0010, loss_map_cls: 0.1606, loss_map_pts: 0.7647, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.4852, d0.loss_plan_l1_fix_dist: 0.4115, d1.loss_plan_l1_fix_time: 0.9570, d1.loss_plan_l1_fix_dist: 0.1865, d2.loss_plan_l1_fix_time: 0.9416, d2.loss_plan_l1_fix_dist: 0.1927, d3.loss_plan_l1_fix_time: 0.9396, d3.loss_plan_l1_fix_dist: 0.2031, d4.loss_plan_l1_fix_time: 0.9424, d4.loss_plan_l1_fix_dist: 0.2137, d5.loss_plan_l1_fix_time: 0.9456, d5.loss_plan_l1_fix_dist: 0.2324, d6.loss_plan_l1_fix_time: 0.9500, d6.loss_plan_l1_fix_dist: 0.2575, d0.loss_cls_all: 0.1926, d0.loss_bbox_all: 0.4225, d0.loss_cls: 0.1926, d0.loss_bbox: 0.4225, d1.loss_cls: 0.1849, d1.loss_bbox: 0.3921, d2.loss_cls: 0.1734, d2.loss_bbox: 0.3726, d3.loss_cls: 0.1558, d3.loss_bbox: 0.3720, d4.loss_cls: 0.1516, d4.loss_bbox: 0.3709, d5.loss_cls: 0.1505, d5.loss_bbox: 0.3700, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9585, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7785, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7437, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7250, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7245, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7221, d0.loss_map_cls_all: 0.2389, d0.loss_map_pts_all: 1.4815, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2389, d0.loss_map_pts: 1.4815, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2091, d1.loss_map_pts: 1.0707, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1874, d2.loss_map_pts: 0.8847, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1739, d3.loss_map_pts: 0.8079, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1674, d4.loss_map_pts: 0.7755, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1622, d5.loss_map_pts: 0.7653, d5.loss_map_dir: 0.0099, loss: 29.3395, grad_norm: 153.6608 +2026-02-27 14:23:28,516 - DriveTransformer - INFO - Epoch [7][18600/39528] lr: 8.550e-05, eta: 5 days, 21:08:57, time: 0.736, data_time: 0.033, memory: 19865, loss_cls: 0.1598, loss_bbox: 0.3580, loss_traj: 0.6559, loss_traj_cls: 0.0010, loss_map_cls: 0.1642, loss_map_pts: 0.7579, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 3.1595, d0.loss_plan_l1_fix_dist: 0.5435, d1.loss_plan_l1_fix_time: 1.2718, d1.loss_plan_l1_fix_dist: 0.2068, d2.loss_plan_l1_fix_time: 1.2634, d2.loss_plan_l1_fix_dist: 0.2118, d3.loss_plan_l1_fix_time: 1.2614, d3.loss_plan_l1_fix_dist: 0.2315, d4.loss_plan_l1_fix_time: 1.2639, d4.loss_plan_l1_fix_dist: 0.2548, d5.loss_plan_l1_fix_time: 1.2669, d5.loss_plan_l1_fix_dist: 0.2806, d6.loss_plan_l1_fix_time: 1.2707, d6.loss_plan_l1_fix_dist: 0.3108, d0.loss_cls_all: 0.2041, d0.loss_bbox_all: 0.4161, d0.loss_cls: 0.2041, d0.loss_bbox: 0.4161, d1.loss_cls: 0.1978, d1.loss_bbox: 0.3821, d2.loss_cls: 0.1803, d2.loss_bbox: 0.3654, d3.loss_cls: 0.1621, d3.loss_bbox: 0.3635, d4.loss_cls: 0.1599, d4.loss_bbox: 0.3596, d5.loss_cls: 0.1583, d5.loss_bbox: 0.3597, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8284, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7020, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6698, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6604, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6561, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6555, d0.loss_map_cls_all: 0.2357, d0.loss_map_pts_all: 1.4232, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2357, d0.loss_map_pts: 1.4232, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2095, d1.loss_map_pts: 1.0024, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.1852, d2.loss_map_pts: 0.8478, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1743, d3.loss_map_pts: 0.7876, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1689, d4.loss_map_pts: 0.7650, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1658, d5.loss_map_pts: 0.7582, d5.loss_map_dir: 0.0101, loss: 31.4657, grad_norm: 153.9387 +2026-02-27 14:24:06,388 - DriveTransformer - INFO - Epoch [7][18650/39528] lr: 8.550e-05, eta: 5 days, 21:09:05, time: 0.757, data_time: 0.035, memory: 19865, loss_cls: 0.1453, loss_bbox: 0.3435, loss_traj: 0.5082, loss_traj_cls: 0.0011, loss_map_cls: 0.1420, loss_map_pts: 0.6424, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.1965, d0.loss_plan_l1_fix_dist: 0.3927, d1.loss_plan_l1_fix_time: 1.0221, d1.loss_plan_l1_fix_dist: 0.1630, d2.loss_plan_l1_fix_time: 1.0082, d2.loss_plan_l1_fix_dist: 0.1640, d3.loss_plan_l1_fix_time: 1.0050, d3.loss_plan_l1_fix_dist: 0.1757, d4.loss_plan_l1_fix_time: 1.0076, d4.loss_plan_l1_fix_dist: 0.1885, d5.loss_plan_l1_fix_time: 1.0105, d5.loss_plan_l1_fix_dist: 0.2069, d6.loss_plan_l1_fix_time: 1.0144, d6.loss_plan_l1_fix_dist: 0.2277, d0.loss_cls_all: 0.1850, d0.loss_bbox_all: 0.3911, d0.loss_cls: 0.1850, d0.loss_bbox: 0.3911, d1.loss_cls: 0.1777, d1.loss_bbox: 0.3600, d2.loss_cls: 0.1634, d2.loss_bbox: 0.3460, d3.loss_cls: 0.1521, d3.loss_bbox: 0.3449, d4.loss_cls: 0.1478, d4.loss_bbox: 0.3437, d5.loss_cls: 0.1453, d5.loss_bbox: 0.3438, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6966, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5571, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5161, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5062, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5033, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5058, d0.loss_map_cls_all: 0.2131, d0.loss_map_pts_all: 1.3823, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2131, d0.loss_map_pts: 1.3823, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1846, d1.loss_map_pts: 0.9191, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1624, d2.loss_map_pts: 0.7407, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1563, d3.loss_map_pts: 0.6717, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1477, d4.loss_map_pts: 0.6462, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1442, d5.loss_map_pts: 0.6422, d5.loss_map_dir: 0.0094, loss: 26.2133, grad_norm: 154.5893 +2026-02-27 14:24:43,361 - DriveTransformer - INFO - Epoch [7][18700/39528] lr: 8.550e-05, eta: 5 days, 21:08:39, time: 0.739, data_time: 0.035, memory: 19865, loss_cls: 0.1586, loss_bbox: 0.3726, loss_traj: 0.6291, loss_traj_cls: 0.0010, loss_map_cls: 0.1758, loss_map_pts: 0.7711, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.7463, d0.loss_plan_l1_fix_dist: 0.4931, d1.loss_plan_l1_fix_time: 1.0389, d1.loss_plan_l1_fix_dist: 0.2017, d2.loss_plan_l1_fix_time: 1.0195, d2.loss_plan_l1_fix_dist: 0.1913, d3.loss_plan_l1_fix_time: 1.0138, d3.loss_plan_l1_fix_dist: 0.1980, d4.loss_plan_l1_fix_time: 1.0145, d4.loss_plan_l1_fix_dist: 0.2109, d5.loss_plan_l1_fix_time: 1.0161, d5.loss_plan_l1_fix_dist: 0.2258, d6.loss_plan_l1_fix_time: 1.0179, d6.loss_plan_l1_fix_dist: 0.2418, d0.loss_cls_all: 0.2007, d0.loss_bbox_all: 0.4332, d0.loss_cls: 0.2007, d0.loss_bbox: 0.4332, d1.loss_cls: 0.1876, d1.loss_bbox: 0.4033, d2.loss_cls: 0.1773, d2.loss_bbox: 0.3791, d3.loss_cls: 0.1652, d3.loss_bbox: 0.3741, d4.loss_cls: 0.1605, d4.loss_bbox: 0.3723, d5.loss_cls: 0.1591, d5.loss_bbox: 0.3719, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8587, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7058, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6540, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6276, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6285, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6298, d0.loss_map_cls_all: 0.2485, d0.loss_map_pts_all: 1.5487, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2485, d0.loss_map_pts: 1.5487, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2168, d1.loss_map_pts: 1.0995, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1976, d2.loss_map_pts: 0.8903, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1889, d3.loss_map_pts: 0.8108, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1840, d4.loss_map_pts: 0.7779, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1790, d5.loss_map_pts: 0.7701, d5.loss_map_dir: 0.0106, loss: 29.8561, grad_norm: 154.9865 +2026-02-27 14:25:19,672 - DriveTransformer - INFO - Epoch [7][18750/39528] lr: 8.550e-05, eta: 5 days, 21:07:49, time: 0.726, data_time: 0.034, memory: 19865, loss_cls: 0.1430, loss_bbox: 0.3294, loss_traj: 0.5281, loss_traj_cls: 0.0010, loss_map_cls: 0.1620, loss_map_pts: 0.6551, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.4426, d0.loss_plan_l1_fix_dist: 0.5770, d1.loss_plan_l1_fix_time: 0.9245, d1.loss_plan_l1_fix_dist: 0.2168, d2.loss_plan_l1_fix_time: 0.9023, d2.loss_plan_l1_fix_dist: 0.2098, d3.loss_plan_l1_fix_time: 0.8946, d3.loss_plan_l1_fix_dist: 0.2185, d4.loss_plan_l1_fix_time: 0.8972, d4.loss_plan_l1_fix_dist: 0.2322, d5.loss_plan_l1_fix_time: 0.9002, d5.loss_plan_l1_fix_dist: 0.2458, d6.loss_plan_l1_fix_time: 0.9034, d6.loss_plan_l1_fix_dist: 0.2593, d0.loss_cls_all: 0.1825, d0.loss_bbox_all: 0.3852, d0.loss_cls: 0.1825, d0.loss_bbox: 0.3852, d1.loss_cls: 0.1706, d1.loss_bbox: 0.3594, d2.loss_cls: 0.1594, d2.loss_bbox: 0.3405, d3.loss_cls: 0.1482, d3.loss_bbox: 0.3316, d4.loss_cls: 0.1442, d4.loss_bbox: 0.3292, d5.loss_cls: 0.1431, d5.loss_bbox: 0.3290, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7350, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6019, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5502, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5395, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5291, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5248, d0.loss_map_cls_all: 0.2368, d0.loss_map_pts_all: 1.3109, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2368, d0.loss_map_pts: 1.3109, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2050, d1.loss_map_pts: 0.9024, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1847, d2.loss_map_pts: 0.7371, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1725, d3.loss_map_pts: 0.6803, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1672, d4.loss_map_pts: 0.6594, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1641, d5.loss_map_pts: 0.6525, d5.loss_map_dir: 0.0096, loss: 26.4176, grad_norm: 148.2044 +2026-02-27 14:25:55,186 - DriveTransformer - INFO - Epoch [7][18800/39528] lr: 8.550e-05, eta: 5 days, 21:06:33, time: 0.712, data_time: 0.036, memory: 19865, loss_cls: 0.1460, loss_bbox: 0.3500, loss_traj: 0.6135, loss_traj_cls: 0.0010, loss_map_cls: 0.1453, loss_map_pts: 0.6245, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.7665, d0.loss_plan_l1_fix_dist: 0.3653, d1.loss_plan_l1_fix_time: 1.0669, d1.loss_plan_l1_fix_dist: 0.1824, d2.loss_plan_l1_fix_time: 1.0436, d2.loss_plan_l1_fix_dist: 0.1687, d3.loss_plan_l1_fix_time: 1.0372, d3.loss_plan_l1_fix_dist: 0.1741, d4.loss_plan_l1_fix_time: 1.0378, d4.loss_plan_l1_fix_dist: 0.1872, d5.loss_plan_l1_fix_time: 1.0393, d5.loss_plan_l1_fix_dist: 0.2010, d6.loss_plan_l1_fix_time: 1.0414, d6.loss_plan_l1_fix_dist: 0.2173, d0.loss_cls_all: 0.1867, d0.loss_bbox_all: 0.4089, d0.loss_cls: 0.1867, d0.loss_bbox: 0.4089, d1.loss_cls: 0.1783, d1.loss_bbox: 0.3786, d2.loss_cls: 0.1650, d2.loss_bbox: 0.3601, d3.loss_cls: 0.1553, d3.loss_bbox: 0.3542, d4.loss_cls: 0.1479, d4.loss_bbox: 0.3512, d5.loss_cls: 0.1467, d5.loss_bbox: 0.3496, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8730, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6833, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6361, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6219, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6153, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6126, d0.loss_map_cls_all: 0.2170, d0.loss_map_pts_all: 1.2252, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2170, d0.loss_map_pts: 1.2252, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1854, d1.loss_map_pts: 0.8694, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1656, d2.loss_map_pts: 0.7142, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1560, d3.loss_map_pts: 0.6525, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1496, d4.loss_map_pts: 0.6259, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1462, d5.loss_map_pts: 0.6243, d5.loss_map_dir: 0.0078, loss: 27.4695, grad_norm: 145.3170 +2026-02-27 14:26:31,819 - DriveTransformer - INFO - Epoch [7][18850/39528] lr: 8.550e-05, eta: 5 days, 21:05:52, time: 0.731, data_time: 0.035, memory: 19865, loss_cls: 0.1427, loss_bbox: 0.3527, loss_traj: 0.6169, loss_traj_cls: 0.0010, loss_map_cls: 0.1389, loss_map_pts: 0.6688, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.8016, d0.loss_plan_l1_fix_dist: 0.3936, d1.loss_plan_l1_fix_time: 1.0251, d1.loss_plan_l1_fix_dist: 0.1962, d2.loss_plan_l1_fix_time: 1.0118, d2.loss_plan_l1_fix_dist: 0.1844, d3.loss_plan_l1_fix_time: 1.0061, d3.loss_plan_l1_fix_dist: 0.1898, d4.loss_plan_l1_fix_time: 1.0073, d4.loss_plan_l1_fix_dist: 0.1994, d5.loss_plan_l1_fix_time: 1.0090, d5.loss_plan_l1_fix_dist: 0.2109, d6.loss_plan_l1_fix_time: 1.0107, d6.loss_plan_l1_fix_dist: 0.2270, d0.loss_cls_all: 0.1792, d0.loss_bbox_all: 0.4067, d0.loss_cls: 0.1792, d0.loss_bbox: 0.4067, d1.loss_cls: 0.1719, d1.loss_bbox: 0.3781, d2.loss_cls: 0.1608, d2.loss_bbox: 0.3579, d3.loss_cls: 0.1503, d3.loss_bbox: 0.3513, d4.loss_cls: 0.1453, d4.loss_bbox: 0.3502, d5.loss_cls: 0.1433, d5.loss_bbox: 0.3505, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8138, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6713, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6326, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6213, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6185, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6177, d0.loss_map_cls_all: 0.2013, d0.loss_map_pts_all: 1.3095, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2013, d0.loss_map_pts: 1.3095, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1766, d1.loss_map_pts: 0.9221, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1578, d2.loss_map_pts: 0.7580, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1520, d3.loss_map_pts: 0.6933, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1450, d4.loss_map_pts: 0.6709, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1399, d5.loss_map_pts: 0.6682, d5.loss_map_dir: 0.0090, loss: 27.6802, grad_norm: 145.0844 +2026-02-27 14:27:08,413 - DriveTransformer - INFO - Epoch [7][18900/39528] lr: 8.550e-05, eta: 5 days, 21:05:13, time: 0.732, data_time: 0.036, memory: 19865, loss_cls: 0.1549, loss_bbox: 0.3466, loss_traj: 0.5989, loss_traj_cls: 0.0009, loss_map_cls: 0.1560, loss_map_pts: 0.6823, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.5411, d0.loss_plan_l1_fix_dist: 0.4040, d1.loss_plan_l1_fix_time: 1.1643, d1.loss_plan_l1_fix_dist: 0.1935, d2.loss_plan_l1_fix_time: 1.1580, d2.loss_plan_l1_fix_dist: 0.1804, d3.loss_plan_l1_fix_time: 1.1606, d3.loss_plan_l1_fix_dist: 0.1862, d4.loss_plan_l1_fix_time: 1.1628, d4.loss_plan_l1_fix_dist: 0.1951, d5.loss_plan_l1_fix_time: 1.1652, d5.loss_plan_l1_fix_dist: 0.2047, d6.loss_plan_l1_fix_time: 1.1685, d6.loss_plan_l1_fix_dist: 0.2198, d0.loss_cls_all: 0.2009, d0.loss_bbox_all: 0.4007, d0.loss_cls: 0.2009, d0.loss_bbox: 0.4007, d1.loss_cls: 0.1897, d1.loss_bbox: 0.3693, d2.loss_cls: 0.1747, d2.loss_bbox: 0.3550, d3.loss_cls: 0.1602, d3.loss_bbox: 0.3503, d4.loss_cls: 0.1565, d4.loss_bbox: 0.3460, d5.loss_cls: 0.1541, d5.loss_bbox: 0.3461, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7826, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6536, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6095, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5885, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5929, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5964, d0.loss_map_cls_all: 0.2189, d0.loss_map_pts_all: 1.3139, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2189, d0.loss_map_pts: 1.3139, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1914, d1.loss_map_pts: 0.9168, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1751, d2.loss_map_pts: 0.7647, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1663, d3.loss_map_pts: 0.7067, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1603, d4.loss_map_pts: 0.6890, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1578, d5.loss_map_pts: 0.6826, d5.loss_map_dir: 0.0092, loss: 28.4273, grad_norm: 145.4592 +2026-02-27 14:27:45,374 - DriveTransformer - INFO - Epoch [7][18950/39528] lr: 8.550e-05, eta: 5 days, 21:04:47, time: 0.739, data_time: 0.035, memory: 19865, loss_cls: 0.1447, loss_bbox: 0.3435, loss_traj: 0.6358, loss_traj_cls: 0.0010, loss_map_cls: 0.1300, loss_map_pts: 0.6413, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.4588, d0.loss_plan_l1_fix_dist: 0.3343, d1.loss_plan_l1_fix_time: 1.0208, d1.loss_plan_l1_fix_dist: 0.1651, d2.loss_plan_l1_fix_time: 1.0022, d2.loss_plan_l1_fix_dist: 0.1601, d3.loss_plan_l1_fix_time: 0.9933, d3.loss_plan_l1_fix_dist: 0.1752, d4.loss_plan_l1_fix_time: 0.9948, d4.loss_plan_l1_fix_dist: 0.1846, d5.loss_plan_l1_fix_time: 0.9974, d5.loss_plan_l1_fix_dist: 0.1910, d6.loss_plan_l1_fix_time: 1.0006, d6.loss_plan_l1_fix_dist: 0.1976, d0.loss_cls_all: 0.1869, d0.loss_bbox_all: 0.4053, d0.loss_cls: 0.1869, d0.loss_bbox: 0.4053, d1.loss_cls: 0.1760, d1.loss_bbox: 0.3725, d2.loss_cls: 0.1610, d2.loss_bbox: 0.3535, d3.loss_cls: 0.1494, d3.loss_bbox: 0.3487, d4.loss_cls: 0.1479, d4.loss_bbox: 0.3455, d5.loss_cls: 0.1444, d5.loss_bbox: 0.3460, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8255, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6906, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6539, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6414, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6367, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6343, d0.loss_map_cls_all: 0.1976, d0.loss_map_pts_all: 1.2773, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.1976, d0.loss_map_pts: 1.2773, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1669, d1.loss_map_pts: 0.8800, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1480, d2.loss_map_pts: 0.7199, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1406, d3.loss_map_pts: 0.6638, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1350, d4.loss_map_pts: 0.6452, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1314, d5.loss_map_pts: 0.6416, d5.loss_map_dir: 0.0099, loss: 26.8904, grad_norm: 147.5221 +2026-02-27 14:28:23,159 - DriveTransformer - INFO - Epoch [7][19000/39528] lr: 8.550e-05, eta: 5 days, 21:04:51, time: 0.756, data_time: 0.035, memory: 19865, loss_cls: 0.1168, loss_bbox: 0.3233, loss_traj: 0.5423, loss_traj_cls: 0.0010, loss_map_cls: 0.1211, loss_map_pts: 0.6183, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.1038, d0.loss_plan_l1_fix_dist: 0.4254, d1.loss_plan_l1_fix_time: 0.9657, d1.loss_plan_l1_fix_dist: 0.1529, d2.loss_plan_l1_fix_time: 0.9471, d2.loss_plan_l1_fix_dist: 0.1516, d3.loss_plan_l1_fix_time: 0.9376, d3.loss_plan_l1_fix_dist: 0.1594, d4.loss_plan_l1_fix_time: 0.9398, d4.loss_plan_l1_fix_dist: 0.1719, d5.loss_plan_l1_fix_time: 0.9430, d5.loss_plan_l1_fix_dist: 0.1886, d6.loss_plan_l1_fix_time: 0.9468, d6.loss_plan_l1_fix_dist: 0.2095, d0.loss_cls_all: 0.1585, d0.loss_bbox_all: 0.3765, d0.loss_cls: 0.1585, d0.loss_bbox: 0.3765, d1.loss_cls: 0.1500, d1.loss_bbox: 0.3504, d2.loss_cls: 0.1380, d2.loss_bbox: 0.3342, d3.loss_cls: 0.1234, d3.loss_bbox: 0.3274, d4.loss_cls: 0.1183, d4.loss_bbox: 0.3247, d5.loss_cls: 0.1169, d5.loss_bbox: 0.3237, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6801, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5785, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5415, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5380, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5356, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5373, d0.loss_map_cls_all: 0.1875, d0.loss_map_pts_all: 1.3266, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.1875, d0.loss_map_pts: 1.3266, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.1602, d1.loss_map_pts: 0.8973, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.1408, d2.loss_map_pts: 0.7203, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1320, d3.loss_map_pts: 0.6512, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1262, d4.loss_map_pts: 0.6247, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1227, d5.loss_map_pts: 0.6203, d5.loss_map_dir: 0.0108, loss: 25.0685, grad_norm: 146.5924 +2026-02-27 14:29:00,816 - DriveTransformer - INFO - Epoch [7][19050/39528] lr: 8.550e-05, eta: 5 days, 21:04:50, time: 0.753, data_time: 0.034, memory: 19865, loss_cls: 0.1589, loss_bbox: 0.3710, loss_traj: 0.6140, loss_traj_cls: 0.0010, loss_map_cls: 0.1255, loss_map_pts: 0.6146, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.8854, d0.loss_plan_l1_fix_dist: 0.4254, d1.loss_plan_l1_fix_time: 1.1459, d1.loss_plan_l1_fix_dist: 0.1739, d2.loss_plan_l1_fix_time: 1.1234, d2.loss_plan_l1_fix_dist: 0.1758, d3.loss_plan_l1_fix_time: 1.1182, d3.loss_plan_l1_fix_dist: 0.1864, d4.loss_plan_l1_fix_time: 1.1208, d4.loss_plan_l1_fix_dist: 0.2029, d5.loss_plan_l1_fix_time: 1.1242, d5.loss_plan_l1_fix_dist: 0.2240, d6.loss_plan_l1_fix_time: 1.1285, d6.loss_plan_l1_fix_dist: 0.2486, d0.loss_cls_all: 0.2005, d0.loss_bbox_all: 0.4323, d0.loss_cls: 0.2005, d0.loss_bbox: 0.4323, d1.loss_cls: 0.1889, d1.loss_bbox: 0.3994, d2.loss_cls: 0.1742, d2.loss_bbox: 0.3812, d3.loss_cls: 0.1624, d3.loss_bbox: 0.3736, d4.loss_cls: 0.1580, d4.loss_bbox: 0.3711, d5.loss_cls: 0.1576, d5.loss_bbox: 0.3710, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7757, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6382, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6027, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5920, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6000, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6071, d0.loss_map_cls_all: 0.2029, d0.loss_map_pts_all: 1.3757, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2029, d0.loss_map_pts: 1.3757, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.1679, d1.loss_map_pts: 0.8957, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.1483, d2.loss_map_pts: 0.7115, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1396, d3.loss_map_pts: 0.6465, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1325, d4.loss_map_pts: 0.6210, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1270, d5.loss_map_pts: 0.6169, d5.loss_map_dir: 0.0108, loss: 28.4426, grad_norm: 148.0945 +2026-02-27 14:29:36,235 - DriveTransformer - INFO - Epoch [7][19100/39528] lr: 8.550e-05, eta: 5 days, 21:03:28, time: 0.708, data_time: 0.036, memory: 19865, loss_cls: 0.1711, loss_bbox: 0.3640, loss_traj: 0.7185, loss_traj_cls: 0.0010, loss_map_cls: 0.1675, loss_map_pts: 0.6703, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.7211, d0.loss_plan_l1_fix_dist: 0.3951, d1.loss_plan_l1_fix_time: 1.1083, d1.loss_plan_l1_fix_dist: 0.1988, d2.loss_plan_l1_fix_time: 1.0897, d2.loss_plan_l1_fix_dist: 0.2022, d3.loss_plan_l1_fix_time: 1.0919, d3.loss_plan_l1_fix_dist: 0.2092, d4.loss_plan_l1_fix_time: 1.0946, d4.loss_plan_l1_fix_dist: 0.2192, d5.loss_plan_l1_fix_time: 1.0972, d5.loss_plan_l1_fix_dist: 0.2294, d6.loss_plan_l1_fix_time: 1.1005, d6.loss_plan_l1_fix_dist: 0.2428, d0.loss_cls_all: 0.2095, d0.loss_bbox_all: 0.4214, d0.loss_cls: 0.2095, d0.loss_bbox: 0.4214, d1.loss_cls: 0.1967, d1.loss_bbox: 0.3920, d2.loss_cls: 0.1861, d2.loss_bbox: 0.3727, d3.loss_cls: 0.1738, d3.loss_bbox: 0.3666, d4.loss_cls: 0.1702, d4.loss_bbox: 0.3646, d5.loss_cls: 0.1681, d5.loss_bbox: 0.3649, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9331, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7796, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7375, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7210, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7178, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7166, d0.loss_map_cls_all: 0.2474, d0.loss_map_pts_all: 1.2895, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2474, d0.loss_map_pts: 1.2895, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.2183, d1.loss_map_pts: 0.9387, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1929, d2.loss_map_pts: 0.7744, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1818, d3.loss_map_pts: 0.7038, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1736, d4.loss_map_pts: 0.6781, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1700, d5.loss_map_pts: 0.6703, d5.loss_map_dir: 0.0077, loss: 29.5576, grad_norm: 145.9451 +2026-02-27 14:30:13,273 - DriveTransformer - INFO - Epoch [7][19150/39528] lr: 8.550e-05, eta: 5 days, 21:03:05, time: 0.741, data_time: 0.036, memory: 19865, loss_cls: 0.1509, loss_bbox: 0.3476, loss_traj: 0.6788, loss_traj_cls: 0.0011, loss_map_cls: 0.1451, loss_map_pts: 0.6332, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.6225, d0.loss_plan_l1_fix_dist: 0.4154, d1.loss_plan_l1_fix_time: 1.0655, d1.loss_plan_l1_fix_dist: 0.1928, d2.loss_plan_l1_fix_time: 1.0494, d2.loss_plan_l1_fix_dist: 0.1968, d3.loss_plan_l1_fix_time: 1.0336, d3.loss_plan_l1_fix_dist: 0.2100, d4.loss_plan_l1_fix_time: 1.0338, d4.loss_plan_l1_fix_dist: 0.2230, d5.loss_plan_l1_fix_time: 1.0354, d5.loss_plan_l1_fix_dist: 0.2398, d6.loss_plan_l1_fix_time: 1.0382, d6.loss_plan_l1_fix_dist: 0.2574, d0.loss_cls_all: 0.1912, d0.loss_bbox_all: 0.4087, d0.loss_cls: 0.1912, d0.loss_bbox: 0.4087, d1.loss_cls: 0.1784, d1.loss_bbox: 0.3724, d2.loss_cls: 0.1693, d2.loss_bbox: 0.3531, d3.loss_cls: 0.1586, d3.loss_bbox: 0.3478, d4.loss_cls: 0.1523, d4.loss_bbox: 0.3473, d5.loss_cls: 0.1512, d5.loss_bbox: 0.3476, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8738, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7232, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6873, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6788, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6728, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6762, d0.loss_map_cls_all: 0.2186, d0.loss_map_pts_all: 1.3161, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2186, d0.loss_map_pts: 1.3161, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1910, d1.loss_map_pts: 0.9179, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1633, d2.loss_map_pts: 0.7302, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1576, d3.loss_map_pts: 0.6591, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1508, d4.loss_map_pts: 0.6399, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1461, d5.loss_map_pts: 0.6339, d5.loss_map_dir: 0.0083, loss: 28.1897, grad_norm: 147.1246 +2026-02-27 14:30:48,363 - DriveTransformer - INFO - Epoch [7][19200/39528] lr: 8.550e-05, eta: 5 days, 21:01:31, time: 0.702, data_time: 0.036, memory: 19865, loss_cls: 0.1634, loss_bbox: 0.3667, loss_traj: 0.7183, loss_traj_cls: 0.0010, loss_map_cls: 0.1732, loss_map_pts: 0.6498, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.8955, d0.loss_plan_l1_fix_dist: 0.4180, d1.loss_plan_l1_fix_time: 1.1548, d1.loss_plan_l1_fix_dist: 0.1916, d2.loss_plan_l1_fix_time: 1.1544, d2.loss_plan_l1_fix_dist: 0.1897, d3.loss_plan_l1_fix_time: 1.1597, d3.loss_plan_l1_fix_dist: 0.1986, d4.loss_plan_l1_fix_time: 1.1626, d4.loss_plan_l1_fix_dist: 0.2119, d5.loss_plan_l1_fix_time: 1.1652, d5.loss_plan_l1_fix_dist: 0.2263, d6.loss_plan_l1_fix_time: 1.1682, d6.loss_plan_l1_fix_dist: 0.2427, d0.loss_cls_all: 0.2033, d0.loss_bbox_all: 0.4328, d0.loss_cls: 0.2033, d0.loss_bbox: 0.4328, d1.loss_cls: 0.1969, d1.loss_bbox: 0.3962, d2.loss_cls: 0.1847, d2.loss_bbox: 0.3775, d3.loss_cls: 0.1719, d3.loss_bbox: 0.3682, d4.loss_cls: 0.1627, d4.loss_bbox: 0.3688, d5.loss_cls: 0.1623, d5.loss_bbox: 0.3678, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0001, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8025, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7395, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7254, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7180, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7231, d0.loss_map_cls_all: 0.2548, d0.loss_map_pts_all: 1.2800, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2548, d0.loss_map_pts: 1.2800, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.2230, d1.loss_map_pts: 0.9068, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1994, d2.loss_map_pts: 0.7390, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1847, d3.loss_map_pts: 0.6718, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1803, d4.loss_map_pts: 0.6564, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1754, d5.loss_map_pts: 0.6496, d5.loss_map_dir: 0.0075, loss: 30.0699, grad_norm: 146.2827 +2026-02-27 14:31:25,289 - DriveTransformer - INFO - Epoch [7][19250/39528] lr: 8.550e-05, eta: 5 days, 21:01:04, time: 0.738, data_time: 0.033, memory: 19865, loss_cls: 0.1774, loss_bbox: 0.3703, loss_traj: 0.6852, loss_traj_cls: 0.0010, loss_map_cls: 0.1534, loss_map_pts: 0.7760, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 3.1308, d0.loss_plan_l1_fix_dist: 0.3803, d1.loss_plan_l1_fix_time: 1.2035, d1.loss_plan_l1_fix_dist: 0.2178, d2.loss_plan_l1_fix_time: 1.1918, d2.loss_plan_l1_fix_dist: 0.2191, d3.loss_plan_l1_fix_time: 1.1928, d3.loss_plan_l1_fix_dist: 0.2309, d4.loss_plan_l1_fix_time: 1.1955, d4.loss_plan_l1_fix_dist: 0.2481, d5.loss_plan_l1_fix_time: 1.1987, d5.loss_plan_l1_fix_dist: 0.2656, d6.loss_plan_l1_fix_time: 1.2026, d6.loss_plan_l1_fix_dist: 0.2820, d0.loss_cls_all: 0.2219, d0.loss_bbox_all: 0.4443, d0.loss_cls: 0.2219, d0.loss_bbox: 0.4443, d1.loss_cls: 0.2164, d1.loss_bbox: 0.4032, d2.loss_cls: 0.1976, d2.loss_bbox: 0.3829, d3.loss_cls: 0.1845, d3.loss_bbox: 0.3736, d4.loss_cls: 0.1783, d4.loss_bbox: 0.3708, d5.loss_cls: 0.1767, d5.loss_bbox: 0.3698, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9072, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7539, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7011, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6856, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6817, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6831, d0.loss_map_cls_all: 0.2304, d0.loss_map_pts_all: 1.4926, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2304, d0.loss_map_pts: 1.4926, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.1969, d1.loss_map_pts: 1.0282, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.1761, d2.loss_map_pts: 0.8623, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1657, d3.loss_map_pts: 0.8069, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1588, d4.loss_map_pts: 0.7859, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1549, d5.loss_map_pts: 0.7754, d5.loss_map_dir: 0.0109, loss: 31.5701, grad_norm: 145.4694 +2026-02-27 14:32:01,246 - DriveTransformer - INFO - Epoch [7][19300/39528] lr: 8.550e-05, eta: 5 days, 21:00:01, time: 0.719, data_time: 0.038, memory: 19865, loss_cls: 0.1502, loss_bbox: 0.3599, loss_traj: 0.6332, loss_traj_cls: 0.0011, loss_map_cls: 0.1566, loss_map_pts: 0.6193, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.8062, d0.loss_plan_l1_fix_dist: 0.4442, d1.loss_plan_l1_fix_time: 1.0896, d1.loss_plan_l1_fix_dist: 0.1985, d2.loss_plan_l1_fix_time: 1.0664, d2.loss_plan_l1_fix_dist: 0.1984, d3.loss_plan_l1_fix_time: 1.0640, d3.loss_plan_l1_fix_dist: 0.2081, d4.loss_plan_l1_fix_time: 1.0666, d4.loss_plan_l1_fix_dist: 0.2225, d5.loss_plan_l1_fix_time: 1.0698, d5.loss_plan_l1_fix_dist: 0.2388, d6.loss_plan_l1_fix_time: 1.0728, d6.loss_plan_l1_fix_dist: 0.2570, d0.loss_cls_all: 0.1854, d0.loss_bbox_all: 0.4283, d0.loss_cls: 0.1854, d0.loss_bbox: 0.4283, d1.loss_cls: 0.1821, d1.loss_bbox: 0.3920, d2.loss_cls: 0.1686, d2.loss_bbox: 0.3708, d3.loss_cls: 0.1555, d3.loss_bbox: 0.3639, d4.loss_cls: 0.1515, d4.loss_bbox: 0.3611, d5.loss_cls: 0.1506, d5.loss_bbox: 0.3594, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8106, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6799, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6429, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6383, d4.loss_traj_cls: 0.0014, d4.loss_traj: 0.6325, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6335, d0.loss_map_cls_all: 0.2217, d0.loss_map_pts_all: 1.1907, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2217, d0.loss_map_pts: 1.1907, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1904, d1.loss_map_pts: 0.8315, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1711, d2.loss_map_pts: 0.6892, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1642, d3.loss_map_pts: 0.6376, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1587, d4.loss_map_pts: 0.6269, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1558, d5.loss_map_pts: 0.6212, d5.loss_map_dir: 0.0070, loss: 27.9772, grad_norm: 147.6001 +2026-02-27 14:32:37,718 - DriveTransformer - INFO - Epoch [7][19350/39528] lr: 8.550e-05, eta: 5 days, 20:59:18, time: 0.730, data_time: 0.036, memory: 19865, loss_cls: 0.1716, loss_bbox: 0.3753, loss_traj: 0.6715, loss_traj_cls: 0.0010, loss_map_cls: 0.1848, loss_map_pts: 0.7808, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.7793, d0.loss_plan_l1_fix_dist: 0.3976, d1.loss_plan_l1_fix_time: 1.1272, d1.loss_plan_l1_fix_dist: 0.1847, d2.loss_plan_l1_fix_time: 1.1034, d2.loss_plan_l1_fix_dist: 0.1804, d3.loss_plan_l1_fix_time: 1.0984, d3.loss_plan_l1_fix_dist: 0.1890, d4.loss_plan_l1_fix_time: 1.0998, d4.loss_plan_l1_fix_dist: 0.1988, d5.loss_plan_l1_fix_time: 1.1017, d5.loss_plan_l1_fix_dist: 0.2087, d6.loss_plan_l1_fix_time: 1.1039, d6.loss_plan_l1_fix_dist: 0.2235, d0.loss_cls_all: 0.2126, d0.loss_bbox_all: 0.4396, d0.loss_cls: 0.2126, d0.loss_bbox: 0.4396, d1.loss_cls: 0.1999, d1.loss_bbox: 0.4086, d2.loss_cls: 0.1925, d2.loss_bbox: 0.3870, d3.loss_cls: 0.1768, d3.loss_bbox: 0.3817, d4.loss_cls: 0.1743, d4.loss_bbox: 0.3742, d5.loss_cls: 0.1711, d5.loss_bbox: 0.3743, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9553, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7611, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7097, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6916, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6793, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6737, d0.loss_map_cls_all: 0.2672, d0.loss_map_pts_all: 1.4502, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2672, d0.loss_map_pts: 1.4502, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2222, d1.loss_map_pts: 1.0393, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.2035, d2.loss_map_pts: 0.8678, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1936, d3.loss_map_pts: 0.8061, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1895, d4.loss_map_pts: 0.7864, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1870, d5.loss_map_pts: 0.7821, d5.loss_map_dir: 0.0096, loss: 30.5901, grad_norm: 148.1315 +2026-02-27 14:33:13,795 - DriveTransformer - INFO - Epoch [7][19400/39528] lr: 8.550e-05, eta: 5 days, 20:58:20, time: 0.721, data_time: 0.035, memory: 19865, loss_cls: 0.1712, loss_bbox: 0.3689, loss_traj: 0.6407, loss_traj_cls: 0.0010, loss_map_cls: 0.1572, loss_map_pts: 0.6979, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.6408, d0.loss_plan_l1_fix_dist: 0.3957, d1.loss_plan_l1_fix_time: 1.1516, d1.loss_plan_l1_fix_dist: 0.1902, d2.loss_plan_l1_fix_time: 1.1229, d2.loss_plan_l1_fix_dist: 0.2007, d3.loss_plan_l1_fix_time: 1.1214, d3.loss_plan_l1_fix_dist: 0.2222, d4.loss_plan_l1_fix_time: 1.1242, d4.loss_plan_l1_fix_dist: 0.2414, d5.loss_plan_l1_fix_time: 1.1278, d5.loss_plan_l1_fix_dist: 0.2578, d6.loss_plan_l1_fix_time: 1.1324, d6.loss_plan_l1_fix_dist: 0.2740, d0.loss_cls_all: 0.2089, d0.loss_bbox_all: 0.4346, d0.loss_cls: 0.2089, d0.loss_bbox: 0.4346, d1.loss_cls: 0.2043, d1.loss_bbox: 0.3970, d2.loss_cls: 0.1929, d2.loss_bbox: 0.3774, d3.loss_cls: 0.1802, d3.loss_bbox: 0.3717, d4.loss_cls: 0.1724, d4.loss_bbox: 0.3694, d5.loss_cls: 0.1705, d5.loss_bbox: 0.3688, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9389, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7264, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6666, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6520, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6519, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6470, d0.loss_map_cls_all: 0.2287, d0.loss_map_pts_all: 1.3736, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2287, d0.loss_map_pts: 1.3736, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1971, d1.loss_map_pts: 0.9635, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1762, d2.loss_map_pts: 0.7929, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1663, d3.loss_map_pts: 0.7275, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1618, d4.loss_map_pts: 0.7079, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1596, d5.loss_map_pts: 0.6986, d5.loss_map_dir: 0.0089, loss: 29.6465, grad_norm: 157.2957 +2026-02-27 14:33:50,658 - DriveTransformer - INFO - Epoch [7][19450/39528] lr: 8.550e-05, eta: 5 days, 20:57:51, time: 0.737, data_time: 0.035, memory: 19865, loss_cls: 0.1705, loss_bbox: 0.3841, loss_traj: 0.6439, loss_traj_cls: 0.0010, loss_map_cls: 0.1692, loss_map_pts: 0.8107, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.5313, d0.loss_plan_l1_fix_dist: 0.4671, d1.loss_plan_l1_fix_time: 1.1829, d1.loss_plan_l1_fix_dist: 0.2151, d2.loss_plan_l1_fix_time: 1.1713, d2.loss_plan_l1_fix_dist: 0.2290, d3.loss_plan_l1_fix_time: 1.1774, d3.loss_plan_l1_fix_dist: 0.2469, d4.loss_plan_l1_fix_time: 1.1820, d4.loss_plan_l1_fix_dist: 0.2650, d5.loss_plan_l1_fix_time: 1.1872, d5.loss_plan_l1_fix_dist: 0.2819, d6.loss_plan_l1_fix_time: 1.1935, d6.loss_plan_l1_fix_dist: 0.2953, d0.loss_cls_all: 0.2088, d0.loss_bbox_all: 0.4461, d0.loss_cls: 0.2088, d0.loss_bbox: 0.4461, d1.loss_cls: 0.2056, d1.loss_bbox: 0.4138, d2.loss_cls: 0.1960, d2.loss_bbox: 0.3941, d3.loss_cls: 0.1837, d3.loss_bbox: 0.3850, d4.loss_cls: 0.1728, d4.loss_bbox: 0.3852, d5.loss_cls: 0.1722, d5.loss_bbox: 0.3837, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8401, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6946, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6463, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6421, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6469, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6468, d0.loss_map_cls_all: 0.2445, d0.loss_map_pts_all: 1.4899, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2445, d0.loss_map_pts: 1.4899, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2134, d1.loss_map_pts: 1.0905, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1883, d2.loss_map_pts: 0.9138, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1786, d3.loss_map_pts: 0.8491, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1725, d4.loss_map_pts: 0.8191, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1693, d5.loss_map_pts: 0.8113, d5.loss_map_dir: 0.0106, loss: 31.0837, grad_norm: 158.1552 +2026-02-27 14:34:27,669 - DriveTransformer - INFO - Epoch [7][19500/39528] lr: 8.550e-05, eta: 5 days, 20:57:26, time: 0.740, data_time: 0.037, memory: 19865, loss_cls: 0.1452, loss_bbox: 0.3602, loss_traj: 0.6228, loss_traj_cls: 0.0010, loss_map_cls: 0.1352, loss_map_pts: 0.7562, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.5563, d0.loss_plan_l1_fix_dist: 0.5136, d1.loss_plan_l1_fix_time: 0.8744, d1.loss_plan_l1_fix_dist: 0.1898, d2.loss_plan_l1_fix_time: 0.8500, d2.loss_plan_l1_fix_dist: 0.1977, d3.loss_plan_l1_fix_time: 0.8520, d3.loss_plan_l1_fix_dist: 0.2043, d4.loss_plan_l1_fix_time: 0.8546, d4.loss_plan_l1_fix_dist: 0.2147, d5.loss_plan_l1_fix_time: 0.8576, d5.loss_plan_l1_fix_dist: 0.2280, d6.loss_plan_l1_fix_time: 0.8610, d6.loss_plan_l1_fix_dist: 0.2431, d0.loss_cls_all: 0.1829, d0.loss_bbox_all: 0.4212, d0.loss_cls: 0.1829, d0.loss_bbox: 0.4212, d1.loss_cls: 0.1749, d1.loss_bbox: 0.3877, d2.loss_cls: 0.1620, d2.loss_bbox: 0.3727, d3.loss_cls: 0.1496, d3.loss_bbox: 0.3671, d4.loss_cls: 0.1469, d4.loss_bbox: 0.3620, d5.loss_cls: 0.1441, d5.loss_bbox: 0.3626, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8973, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6878, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6499, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6337, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6288, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6310, d0.loss_map_cls_all: 0.2093, d0.loss_map_pts_all: 1.3967, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2093, d0.loss_map_pts: 1.3967, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1775, d1.loss_map_pts: 0.9872, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1570, d2.loss_map_pts: 0.8380, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1487, d3.loss_map_pts: 0.7870, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1427, d4.loss_map_pts: 0.7647, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1372, d5.loss_map_pts: 0.7572, d5.loss_map_dir: 0.0090, loss: 27.6696, grad_norm: 157.8058 +2026-02-27 14:35:06,193 - DriveTransformer - INFO - Epoch [7][19550/39528] lr: 8.550e-05, eta: 5 days, 20:57:55, time: 0.771, data_time: 0.039, memory: 19865, loss_cls: 0.1485, loss_bbox: 0.3547, loss_traj: 0.6670, loss_traj_cls: 0.0010, loss_map_cls: 0.1611, loss_map_pts: 0.7560, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.8364, d0.loss_plan_l1_fix_dist: 0.3861, d1.loss_plan_l1_fix_time: 1.1383, d1.loss_plan_l1_fix_dist: 0.1907, d2.loss_plan_l1_fix_time: 1.1188, d2.loss_plan_l1_fix_dist: 0.2028, d3.loss_plan_l1_fix_time: 1.1180, d3.loss_plan_l1_fix_dist: 0.2228, d4.loss_plan_l1_fix_time: 1.1205, d4.loss_plan_l1_fix_dist: 0.2467, d5.loss_plan_l1_fix_time: 1.1235, d5.loss_plan_l1_fix_dist: 0.2718, d6.loss_plan_l1_fix_time: 1.1271, d6.loss_plan_l1_fix_dist: 0.3039, d0.loss_cls_all: 0.1827, d0.loss_bbox_all: 0.4131, d0.loss_cls: 0.1827, d0.loss_bbox: 0.4131, d1.loss_cls: 0.1808, d1.loss_bbox: 0.3798, d2.loss_cls: 0.1671, d2.loss_bbox: 0.3621, d3.loss_cls: 0.1585, d3.loss_bbox: 0.3554, d4.loss_cls: 0.1499, d4.loss_bbox: 0.3552, d5.loss_cls: 0.1487, d5.loss_bbox: 0.3545, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8383, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7195, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6769, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6612, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6575, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6667, d0.loss_map_cls_all: 0.2197, d0.loss_map_pts_all: 1.4879, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2197, d0.loss_map_pts: 1.4879, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.1970, d1.loss_map_pts: 1.0156, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1767, d2.loss_map_pts: 0.8487, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1701, d3.loss_map_pts: 0.7845, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1640, d4.loss_map_pts: 0.7661, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1625, d5.loss_map_pts: 0.7556, d5.loss_map_dir: 0.0109, loss: 30.0656, grad_norm: 156.9156 +2026-02-27 14:35:44,087 - DriveTransformer - INFO - Epoch [7][19600/39528] lr: 8.550e-05, eta: 5 days, 20:58:04, time: 0.759, data_time: 0.038, memory: 19865, loss_cls: 0.1342, loss_bbox: 0.3375, loss_traj: 0.6377, loss_traj_cls: 0.0010, loss_map_cls: 0.1281, loss_map_pts: 0.6294, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.7547, d0.loss_plan_l1_fix_dist: 0.4894, d1.loss_plan_l1_fix_time: 1.0752, d1.loss_plan_l1_fix_dist: 0.1819, d2.loss_plan_l1_fix_time: 1.0709, d2.loss_plan_l1_fix_dist: 0.1903, d3.loss_plan_l1_fix_time: 1.0730, d3.loss_plan_l1_fix_dist: 0.2072, d4.loss_plan_l1_fix_time: 1.0763, d4.loss_plan_l1_fix_dist: 0.2292, d5.loss_plan_l1_fix_time: 1.0794, d5.loss_plan_l1_fix_dist: 0.2500, d6.loss_plan_l1_fix_time: 1.0832, d6.loss_plan_l1_fix_dist: 0.2787, d0.loss_cls_all: 0.1764, d0.loss_bbox_all: 0.3848, d0.loss_cls: 0.1764, d0.loss_bbox: 0.3848, d1.loss_cls: 0.1665, d1.loss_bbox: 0.3602, d2.loss_cls: 0.1551, d2.loss_bbox: 0.3427, d3.loss_cls: 0.1405, d3.loss_bbox: 0.3374, d4.loss_cls: 0.1366, d4.loss_bbox: 0.3346, d5.loss_cls: 0.1347, d5.loss_bbox: 0.3365, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8314, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7048, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6459, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6395, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6311, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6324, d0.loss_map_cls_all: 0.1939, d0.loss_map_pts_all: 1.3256, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.1939, d0.loss_map_pts: 1.3256, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1647, d1.loss_map_pts: 0.9008, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1507, d2.loss_map_pts: 0.7283, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1425, d3.loss_map_pts: 0.6553, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1359, d4.loss_map_pts: 0.6325, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1297, d5.loss_map_pts: 0.6280, d5.loss_map_dir: 0.0093, loss: 27.9459, grad_norm: 156.1426 +2026-02-27 14:36:20,092 - DriveTransformer - INFO - Epoch [7][19650/39528] lr: 8.550e-05, eta: 5 days, 20:57:02, time: 0.719, data_time: 0.034, memory: 19865, loss_cls: 0.1504, loss_bbox: 0.3726, loss_traj: 0.6875, loss_traj_cls: 0.0010, loss_map_cls: 0.1435, loss_map_pts: 0.6324, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.7902, d0.loss_plan_l1_fix_dist: 0.4381, d1.loss_plan_l1_fix_time: 1.1910, d1.loss_plan_l1_fix_dist: 0.1729, d2.loss_plan_l1_fix_time: 1.1826, d2.loss_plan_l1_fix_dist: 0.1767, d3.loss_plan_l1_fix_time: 1.1775, d3.loss_plan_l1_fix_dist: 0.1852, d4.loss_plan_l1_fix_time: 1.1795, d4.loss_plan_l1_fix_dist: 0.1962, d5.loss_plan_l1_fix_time: 1.1820, d5.loss_plan_l1_fix_dist: 0.2101, d6.loss_plan_l1_fix_time: 1.1849, d6.loss_plan_l1_fix_dist: 0.2244, d0.loss_cls_all: 0.1870, d0.loss_bbox_all: 0.4371, d0.loss_cls: 0.1870, d0.loss_bbox: 0.4371, d1.loss_cls: 0.1768, d1.loss_bbox: 0.4016, d2.loss_cls: 0.1699, d2.loss_bbox: 0.3816, d3.loss_cls: 0.1574, d3.loss_bbox: 0.3762, d4.loss_cls: 0.1525, d4.loss_bbox: 0.3732, d5.loss_cls: 0.1503, d5.loss_bbox: 0.3725, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9239, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7340, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6919, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6879, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6884, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6877, d0.loss_map_cls_all: 0.2163, d0.loss_map_pts_all: 1.2853, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2163, d0.loss_map_pts: 1.2853, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1866, d1.loss_map_pts: 0.8861, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1661, d2.loss_map_pts: 0.7440, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1590, d3.loss_map_pts: 0.6764, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1521, d4.loss_map_pts: 0.6435, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1459, d5.loss_map_pts: 0.6345, d5.loss_map_dir: 0.0085, loss: 29.3240, grad_norm: 155.7805 +2026-02-27 14:36:56,318 - DriveTransformer - INFO - Epoch [7][19700/39528] lr: 8.550e-05, eta: 5 days, 20:56:09, time: 0.725, data_time: 0.034, memory: 19865, loss_cls: 0.1558, loss_bbox: 0.3525, loss_traj: 0.6161, loss_traj_cls: 0.0010, loss_map_cls: 0.1559, loss_map_pts: 0.7092, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.7295, d0.loss_plan_l1_fix_dist: 0.5075, d1.loss_plan_l1_fix_time: 1.1337, d1.loss_plan_l1_fix_dist: 0.1918, d2.loss_plan_l1_fix_time: 1.1242, d2.loss_plan_l1_fix_dist: 0.1970, d3.loss_plan_l1_fix_time: 1.1181, d3.loss_plan_l1_fix_dist: 0.2121, d4.loss_plan_l1_fix_time: 1.1191, d4.loss_plan_l1_fix_dist: 0.2246, d5.loss_plan_l1_fix_time: 1.1209, d5.loss_plan_l1_fix_dist: 0.2395, d6.loss_plan_l1_fix_time: 1.1236, d6.loss_plan_l1_fix_dist: 0.2563, d0.loss_cls_all: 0.1983, d0.loss_bbox_all: 0.4159, d0.loss_cls: 0.1983, d0.loss_bbox: 0.4159, d1.loss_cls: 0.1894, d1.loss_bbox: 0.3839, d2.loss_cls: 0.1761, d2.loss_bbox: 0.3639, d3.loss_cls: 0.1624, d3.loss_bbox: 0.3590, d4.loss_cls: 0.1553, d4.loss_bbox: 0.3573, d5.loss_cls: 0.1550, d5.loss_bbox: 0.3542, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8074, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6611, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6273, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6220, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6189, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6138, d0.loss_map_cls_all: 0.2275, d0.loss_map_pts_all: 1.3770, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2275, d0.loss_map_pts: 1.3770, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2000, d1.loss_map_pts: 0.9911, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1772, d2.loss_map_pts: 0.8182, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1669, d3.loss_map_pts: 0.7460, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1606, d4.loss_map_pts: 0.7209, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1566, d5.loss_map_pts: 0.7116, d5.loss_map_dir: 0.0090, loss: 29.2582, grad_norm: 154.6580 +2026-02-27 14:37:33,778 - DriveTransformer - INFO - Epoch [7][19750/39528] lr: 8.550e-05, eta: 5 days, 20:56:00, time: 0.749, data_time: 0.038, memory: 19865, loss_cls: 0.1577, loss_bbox: 0.3604, loss_traj: 0.6044, loss_traj_cls: 0.0010, loss_map_cls: 0.1393, loss_map_pts: 0.6691, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.8731, d0.loss_plan_l1_fix_dist: 0.4601, d1.loss_plan_l1_fix_time: 1.0486, d1.loss_plan_l1_fix_dist: 0.1678, d2.loss_plan_l1_fix_time: 1.0393, d2.loss_plan_l1_fix_dist: 0.1736, d3.loss_plan_l1_fix_time: 1.0375, d3.loss_plan_l1_fix_dist: 0.1815, d4.loss_plan_l1_fix_time: 1.0406, d4.loss_plan_l1_fix_dist: 0.1918, d5.loss_plan_l1_fix_time: 1.0445, d5.loss_plan_l1_fix_dist: 0.2043, d6.loss_plan_l1_fix_time: 1.0486, d6.loss_plan_l1_fix_dist: 0.2187, d0.loss_cls_all: 0.2038, d0.loss_bbox_all: 0.4136, d0.loss_cls: 0.2038, d0.loss_bbox: 0.4136, d1.loss_cls: 0.1929, d1.loss_bbox: 0.3804, d2.loss_cls: 0.1831, d2.loss_bbox: 0.3635, d3.loss_cls: 0.1692, d3.loss_bbox: 0.3607, d4.loss_cls: 0.1604, d4.loss_bbox: 0.3604, d5.loss_cls: 0.1583, d5.loss_bbox: 0.3599, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7895, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6362, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5976, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5934, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5966, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5991, d0.loss_map_cls_all: 0.2072, d0.loss_map_pts_all: 1.3857, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2072, d0.loss_map_pts: 1.3857, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.1780, d1.loss_map_pts: 0.9440, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1585, d2.loss_map_pts: 0.7660, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1504, d3.loss_map_pts: 0.7000, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1430, d4.loss_map_pts: 0.6773, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1405, d5.loss_map_pts: 0.6687, d5.loss_map_dir: 0.0101, loss: 28.1977, grad_norm: 153.7154 +2026-02-27 14:38:09,826 - DriveTransformer - INFO - Epoch [7][19800/39528] lr: 8.550e-05, eta: 5 days, 20:55:02, time: 0.721, data_time: 0.034, memory: 19865, loss_cls: 0.1618, loss_bbox: 0.3633, loss_traj: 0.6566, loss_traj_cls: 0.0010, loss_map_cls: 0.1698, loss_map_pts: 0.7375, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 3.0037, d0.loss_plan_l1_fix_dist: 0.4288, d1.loss_plan_l1_fix_time: 1.1835, d1.loss_plan_l1_fix_dist: 0.1756, d2.loss_plan_l1_fix_time: 1.1715, d2.loss_plan_l1_fix_dist: 0.1878, d3.loss_plan_l1_fix_time: 1.1756, d3.loss_plan_l1_fix_dist: 0.1970, d4.loss_plan_l1_fix_time: 1.1808, d4.loss_plan_l1_fix_dist: 0.2090, d5.loss_plan_l1_fix_time: 1.1860, d5.loss_plan_l1_fix_dist: 0.2253, d6.loss_plan_l1_fix_time: 1.1918, d6.loss_plan_l1_fix_dist: 0.2436, d0.loss_cls_all: 0.2020, d0.loss_bbox_all: 0.4238, d0.loss_cls: 0.2020, d0.loss_bbox: 0.4238, d1.loss_cls: 0.1971, d1.loss_bbox: 0.3890, d2.loss_cls: 0.1829, d2.loss_bbox: 0.3724, d3.loss_cls: 0.1690, d3.loss_bbox: 0.3660, d4.loss_cls: 0.1641, d4.loss_bbox: 0.3640, d5.loss_cls: 0.1619, d5.loss_bbox: 0.3625, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9201, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7481, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6874, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6761, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6714, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6607, d0.loss_map_cls_all: 0.2334, d0.loss_map_pts_all: 1.3855, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2334, d0.loss_map_pts: 1.3855, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2081, d1.loss_map_pts: 1.0120, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1863, d2.loss_map_pts: 0.8418, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1785, d3.loss_map_pts: 0.7694, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1729, d4.loss_map_pts: 0.7448, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1703, d5.loss_map_pts: 0.7380, d5.loss_map_dir: 0.0098, loss: 30.5370, grad_norm: 154.9313 +2026-02-27 14:38:45,004 - DriveTransformer - INFO - Epoch [7][19850/39528] lr: 8.550e-05, eta: 5 days, 20:53:33, time: 0.704, data_time: 0.036, memory: 19865, loss_cls: 0.1353, loss_bbox: 0.3296, loss_traj: 0.6434, loss_traj_cls: 0.0010, loss_map_cls: 0.1550, loss_map_pts: 0.5910, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.5482, d0.loss_plan_l1_fix_dist: 0.3755, d1.loss_plan_l1_fix_time: 1.0027, d1.loss_plan_l1_fix_dist: 0.1574, d2.loss_plan_l1_fix_time: 0.9893, d2.loss_plan_l1_fix_dist: 0.1661, d3.loss_plan_l1_fix_time: 0.9944, d3.loss_plan_l1_fix_dist: 0.1750, d4.loss_plan_l1_fix_time: 1.0006, d4.loss_plan_l1_fix_dist: 0.1910, d5.loss_plan_l1_fix_time: 1.0069, d5.loss_plan_l1_fix_dist: 0.2042, d6.loss_plan_l1_fix_time: 1.0144, d6.loss_plan_l1_fix_dist: 0.2141, d0.loss_cls_all: 0.1752, d0.loss_bbox_all: 0.3797, d0.loss_cls: 0.1752, d0.loss_bbox: 0.3797, d1.loss_cls: 0.1730, d1.loss_bbox: 0.3452, d2.loss_cls: 0.1571, d2.loss_bbox: 0.3326, d3.loss_cls: 0.1439, d3.loss_bbox: 0.3303, d4.loss_cls: 0.1368, d4.loss_bbox: 0.3298, d5.loss_cls: 0.1369, d5.loss_bbox: 0.3280, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8603, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6919, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6529, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6347, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6371, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6366, d0.loss_map_cls_all: 0.2254, d0.loss_map_pts_all: 1.2342, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2254, d0.loss_map_pts: 1.2342, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.2000, d1.loss_map_pts: 0.8418, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1785, d2.loss_map_pts: 0.6894, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1653, d3.loss_map_pts: 0.6240, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1583, d4.loss_map_pts: 0.5971, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1569, d5.loss_map_pts: 0.5914, d5.loss_map_dir: 0.0075, loss: 26.7190, grad_norm: 153.3614 +2026-02-27 14:39:21,748 - DriveTransformer - INFO - Epoch [7][19900/39528] lr: 8.550e-05, eta: 5 days, 20:52:59, time: 0.735, data_time: 0.035, memory: 19865, loss_cls: 0.1375, loss_bbox: 0.3528, loss_traj: 0.6895, loss_traj_cls: 0.0010, loss_map_cls: 0.1564, loss_map_pts: 0.7241, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.4865, d0.loss_plan_l1_fix_dist: 0.4137, d1.loss_plan_l1_fix_time: 1.1075, d1.loss_plan_l1_fix_dist: 0.1797, d2.loss_plan_l1_fix_time: 1.0959, d2.loss_plan_l1_fix_dist: 0.1819, d3.loss_plan_l1_fix_time: 1.1008, d3.loss_plan_l1_fix_dist: 0.1968, d4.loss_plan_l1_fix_time: 1.1055, d4.loss_plan_l1_fix_dist: 0.2211, d5.loss_plan_l1_fix_time: 1.1103, d5.loss_plan_l1_fix_dist: 0.2435, d6.loss_plan_l1_fix_time: 1.1156, d6.loss_plan_l1_fix_dist: 0.2685, d0.loss_cls_all: 0.1800, d0.loss_bbox_all: 0.4159, d0.loss_cls: 0.1800, d0.loss_bbox: 0.4159, d1.loss_cls: 0.1720, d1.loss_bbox: 0.3801, d2.loss_cls: 0.1583, d2.loss_bbox: 0.3622, d3.loss_cls: 0.1441, d3.loss_bbox: 0.3556, d4.loss_cls: 0.1368, d4.loss_bbox: 0.3532, d5.loss_cls: 0.1372, d5.loss_bbox: 0.3529, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9045, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7385, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6921, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6840, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6834, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6835, d0.loss_map_cls_all: 0.2297, d0.loss_map_pts_all: 1.4352, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2297, d0.loss_map_pts: 1.4352, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1995, d1.loss_map_pts: 1.0199, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1773, d2.loss_map_pts: 0.8429, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1692, d3.loss_map_pts: 0.7675, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1636, d4.loss_map_pts: 0.7361, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1594, d5.loss_map_pts: 0.7257, d5.loss_map_dir: 0.0098, loss: 29.3917, grad_norm: 160.9162 +2026-02-27 14:39:57,217 - DriveTransformer - INFO - Epoch [7][19950/39528] lr: 8.550e-05, eta: 5 days, 20:51:41, time: 0.709, data_time: 0.036, memory: 19865, loss_cls: 0.1478, loss_bbox: 0.3618, loss_traj: 0.6594, loss_traj_cls: 0.0010, loss_map_cls: 0.1346, loss_map_pts: 0.6772, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.6328, d0.loss_plan_l1_fix_dist: 0.4080, d1.loss_plan_l1_fix_time: 1.1124, d1.loss_plan_l1_fix_dist: 0.1831, d2.loss_plan_l1_fix_time: 1.0988, d2.loss_plan_l1_fix_dist: 0.1902, d3.loss_plan_l1_fix_time: 1.0986, d3.loss_plan_l1_fix_dist: 0.2095, d4.loss_plan_l1_fix_time: 1.1024, d4.loss_plan_l1_fix_dist: 0.2381, d5.loss_plan_l1_fix_time: 1.1066, d5.loss_plan_l1_fix_dist: 0.2681, d6.loss_plan_l1_fix_time: 1.1115, d6.loss_plan_l1_fix_dist: 0.3025, d0.loss_cls_all: 0.1874, d0.loss_bbox_all: 0.4239, d0.loss_cls: 0.1874, d0.loss_bbox: 0.4239, d1.loss_cls: 0.1789, d1.loss_bbox: 0.3888, d2.loss_cls: 0.1708, d2.loss_bbox: 0.3686, d3.loss_cls: 0.1535, d3.loss_bbox: 0.3641, d4.loss_cls: 0.1457, d4.loss_bbox: 0.3632, d5.loss_cls: 0.1460, d5.loss_bbox: 0.3617, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8518, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7232, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6722, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6583, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6594, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6544, d0.loss_map_cls_all: 0.1982, d0.loss_map_pts_all: 1.3405, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.1982, d0.loss_map_pts: 1.3405, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1754, d1.loss_map_pts: 0.9813, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1543, d2.loss_map_pts: 0.8005, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1436, d3.loss_map_pts: 0.7212, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1388, d4.loss_map_pts: 0.6884, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1356, d5.loss_map_pts: 0.6788, d5.loss_map_dir: 0.0089, loss: 28.8982, grad_norm: 162.0345 +2026-02-27 14:40:32,843 - DriveTransformer - INFO - Epoch [7][20000/39528] lr: 8.550e-05, eta: 5 days, 20:50:28, time: 0.713, data_time: 0.036, memory: 19865, loss_cls: 0.1576, loss_bbox: 0.3655, loss_traj: 0.6406, loss_traj_cls: 0.0010, loss_map_cls: 0.1753, loss_map_pts: 0.7111, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.9082, d0.loss_plan_l1_fix_dist: 0.4280, d1.loss_plan_l1_fix_time: 1.0638, d1.loss_plan_l1_fix_dist: 0.1901, d2.loss_plan_l1_fix_time: 1.0353, d2.loss_plan_l1_fix_dist: 0.1957, d3.loss_plan_l1_fix_time: 1.0303, d3.loss_plan_l1_fix_dist: 0.2097, d4.loss_plan_l1_fix_time: 1.0327, d4.loss_plan_l1_fix_dist: 0.2187, d5.loss_plan_l1_fix_time: 1.0358, d5.loss_plan_l1_fix_dist: 0.2324, d6.loss_plan_l1_fix_time: 1.0390, d6.loss_plan_l1_fix_dist: 0.2499, d0.loss_cls_all: 0.2000, d0.loss_bbox_all: 0.4265, d0.loss_cls: 0.2000, d0.loss_bbox: 0.4265, d1.loss_cls: 0.1914, d1.loss_bbox: 0.3936, d2.loss_cls: 0.1763, d2.loss_bbox: 0.3754, d3.loss_cls: 0.1629, d3.loss_bbox: 0.3674, d4.loss_cls: 0.1582, d4.loss_bbox: 0.3654, d5.loss_cls: 0.1578, d5.loss_bbox: 0.3639, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9040, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7368, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6645, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6477, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6421, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6392, d0.loss_map_cls_all: 0.2435, d0.loss_map_pts_all: 1.3701, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2435, d0.loss_map_pts: 1.3701, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2187, d1.loss_map_pts: 0.9713, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1952, d2.loss_map_pts: 0.8069, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1836, d3.loss_map_pts: 0.7388, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1788, d4.loss_map_pts: 0.7148, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1771, d5.loss_map_pts: 0.7103, d5.loss_map_dir: 0.0093, loss: 29.3215, grad_norm: 156.6840 +2026-02-27 14:41:10,338 - DriveTransformer - INFO - Epoch [7][20050/39528] lr: 8.550e-05, eta: 5 days, 20:50:20, time: 0.750, data_time: 0.036, memory: 19865, loss_cls: 0.1488, loss_bbox: 0.3489, loss_traj: 0.6026, loss_traj_cls: 0.0010, loss_map_cls: 0.1662, loss_map_pts: 0.6939, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.1126, d0.loss_plan_l1_fix_dist: 0.4123, d1.loss_plan_l1_fix_time: 1.0063, d1.loss_plan_l1_fix_dist: 0.1727, d2.loss_plan_l1_fix_time: 0.9936, d2.loss_plan_l1_fix_dist: 0.1848, d3.loss_plan_l1_fix_time: 0.9960, d3.loss_plan_l1_fix_dist: 0.2034, d4.loss_plan_l1_fix_time: 1.0006, d4.loss_plan_l1_fix_dist: 0.2149, d5.loss_plan_l1_fix_time: 1.0051, d5.loss_plan_l1_fix_dist: 0.2260, d6.loss_plan_l1_fix_time: 1.0102, d6.loss_plan_l1_fix_dist: 0.2385, d0.loss_cls_all: 0.1919, d0.loss_bbox_all: 0.4077, d0.loss_cls: 0.1919, d0.loss_bbox: 0.4077, d1.loss_cls: 0.1824, d1.loss_bbox: 0.3741, d2.loss_cls: 0.1692, d2.loss_bbox: 0.3592, d3.loss_cls: 0.1563, d3.loss_bbox: 0.3530, d4.loss_cls: 0.1508, d4.loss_bbox: 0.3505, d5.loss_cls: 0.1488, d5.loss_bbox: 0.3500, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7761, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6578, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6135, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6022, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6013, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6005, d0.loss_map_cls_all: 0.2369, d0.loss_map_pts_all: 1.3835, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2369, d0.loss_map_pts: 1.3835, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2071, d1.loss_map_pts: 0.9701, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1879, d2.loss_map_pts: 0.7961, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1774, d3.loss_map_pts: 0.7312, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1710, d4.loss_map_pts: 0.6995, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1671, d5.loss_map_pts: 0.6944, d5.loss_map_dir: 0.0106, loss: 27.5128, grad_norm: 157.2498 +2026-02-27 14:41:47,871 - DriveTransformer - INFO - Epoch [7][20100/39528] lr: 8.550e-05, eta: 5 days, 20:50:14, time: 0.751, data_time: 0.040, memory: 19865, loss_cls: 0.1527, loss_bbox: 0.3719, loss_traj: 0.6428, loss_traj_cls: 0.0010, loss_map_cls: 0.1721, loss_map_pts: 0.7493, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.8308, d0.loss_plan_l1_fix_dist: 0.3764, d1.loss_plan_l1_fix_time: 1.1639, d1.loss_plan_l1_fix_dist: 0.1770, d2.loss_plan_l1_fix_time: 1.1498, d2.loss_plan_l1_fix_dist: 0.1851, d3.loss_plan_l1_fix_time: 1.1541, d3.loss_plan_l1_fix_dist: 0.1963, d4.loss_plan_l1_fix_time: 1.1599, d4.loss_plan_l1_fix_dist: 0.2091, d5.loss_plan_l1_fix_time: 1.1667, d5.loss_plan_l1_fix_dist: 0.2204, d6.loss_plan_l1_fix_time: 1.1749, d6.loss_plan_l1_fix_dist: 0.2328, d0.loss_cls_all: 0.1947, d0.loss_bbox_all: 0.4325, d0.loss_cls: 0.1947, d0.loss_bbox: 0.4325, d1.loss_cls: 0.1865, d1.loss_bbox: 0.4008, d2.loss_cls: 0.1699, d2.loss_bbox: 0.3794, d3.loss_cls: 0.1558, d3.loss_bbox: 0.3759, d4.loss_cls: 0.1524, d4.loss_bbox: 0.3736, d5.loss_cls: 0.1522, d5.loss_bbox: 0.3720, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8709, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7113, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6604, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6516, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6556, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6442, d0.loss_map_cls_all: 0.2444, d0.loss_map_pts_all: 1.4714, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2444, d0.loss_map_pts: 1.4714, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2139, d1.loss_map_pts: 1.0197, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.1946, d2.loss_map_pts: 0.8407, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.1851, d3.loss_map_pts: 0.7749, d3.loss_map_dir: 0.0119, d4.loss_map_cls: 0.1770, d4.loss_map_pts: 0.7555, d4.loss_map_dir: 0.0123, d5.loss_map_cls: 0.1732, d5.loss_map_pts: 0.7522, d5.loss_map_dir: 0.0124, loss: 30.2730, grad_norm: 156.6416 +2026-02-27 14:42:25,596 - DriveTransformer - INFO - Epoch [7][20150/39528] lr: 8.550e-05, eta: 5 days, 20:50:13, time: 0.754, data_time: 0.040, memory: 19865, loss_cls: 0.1786, loss_bbox: 0.3762, loss_traj: 0.6894, loss_traj_cls: 0.0010, loss_map_cls: 0.1962, loss_map_pts: 0.8267, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.7937, d0.loss_plan_l1_fix_dist: 0.4126, d1.loss_plan_l1_fix_time: 1.1224, d1.loss_plan_l1_fix_dist: 0.1861, d2.loss_plan_l1_fix_time: 1.1131, d2.loss_plan_l1_fix_dist: 0.1938, d3.loss_plan_l1_fix_time: 1.1187, d3.loss_plan_l1_fix_dist: 0.1920, d4.loss_plan_l1_fix_time: 1.1250, d4.loss_plan_l1_fix_dist: 0.1991, d5.loss_plan_l1_fix_time: 1.1318, d5.loss_plan_l1_fix_dist: 0.2143, d6.loss_plan_l1_fix_time: 1.1395, d6.loss_plan_l1_fix_dist: 0.2293, d0.loss_cls_all: 0.2265, d0.loss_bbox_all: 0.4398, d0.loss_cls: 0.2265, d0.loss_bbox: 0.4398, d1.loss_cls: 0.2158, d1.loss_bbox: 0.4028, d2.loss_cls: 0.2003, d2.loss_bbox: 0.3833, d3.loss_cls: 0.1867, d3.loss_bbox: 0.3785, d4.loss_cls: 0.1780, d4.loss_bbox: 0.3782, d5.loss_cls: 0.1805, d5.loss_bbox: 0.3741, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9436, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7788, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7147, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6922, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6900, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6892, d0.loss_map_cls_all: 0.2653, d0.loss_map_pts_all: 1.5576, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2653, d0.loss_map_pts: 1.5576, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2370, d1.loss_map_pts: 1.1178, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.2138, d2.loss_map_pts: 0.9347, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.2031, d3.loss_map_pts: 0.8569, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1996, d4.loss_map_pts: 0.8304, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1977, d5.loss_map_pts: 0.8268, d5.loss_map_dir: 0.0116, loss: 31.5184, grad_norm: 157.4372 +2026-02-27 14:43:03,178 - DriveTransformer - INFO - Epoch [7][20200/39528] lr: 8.550e-05, eta: 5 days, 20:50:08, time: 0.752, data_time: 0.035, memory: 19865, loss_cls: 0.1372, loss_bbox: 0.3488, loss_traj: 0.6113, loss_traj_cls: 0.0010, loss_map_cls: 0.1479, loss_map_pts: 0.7299, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.7053, d0.loss_plan_l1_fix_dist: 0.4847, d1.loss_plan_l1_fix_time: 1.0034, d1.loss_plan_l1_fix_dist: 0.1858, d2.loss_plan_l1_fix_time: 0.9940, d2.loss_plan_l1_fix_dist: 0.1923, d3.loss_plan_l1_fix_time: 0.9971, d3.loss_plan_l1_fix_dist: 0.1947, d4.loss_plan_l1_fix_time: 1.0012, d4.loss_plan_l1_fix_dist: 0.2025, d5.loss_plan_l1_fix_time: 1.0058, d5.loss_plan_l1_fix_dist: 0.2147, d6.loss_plan_l1_fix_time: 1.0111, d6.loss_plan_l1_fix_dist: 0.2272, d0.loss_cls_all: 0.1850, d0.loss_bbox_all: 0.4081, d0.loss_cls: 0.1850, d0.loss_bbox: 0.4081, d1.loss_cls: 0.1770, d1.loss_bbox: 0.3746, d2.loss_cls: 0.1606, d2.loss_bbox: 0.3569, d3.loss_cls: 0.1452, d3.loss_bbox: 0.3531, d4.loss_cls: 0.1378, d4.loss_bbox: 0.3513, d5.loss_cls: 0.1367, d5.loss_bbox: 0.3493, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8110, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6649, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6217, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6095, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6113, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6153, d0.loss_map_cls_all: 0.2144, d0.loss_map_pts_all: 1.4301, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2144, d0.loss_map_pts: 1.4301, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.1889, d1.loss_map_pts: 0.9990, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1704, d2.loss_map_pts: 0.8300, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1626, d3.loss_map_pts: 0.7582, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1548, d4.loss_map_pts: 0.7338, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1498, d5.loss_map_pts: 0.7297, d5.loss_map_dir: 0.0100, loss: 28.3087, grad_norm: 156.3017 +2026-02-27 14:43:39,712 - DriveTransformer - INFO - Epoch [7][20250/39528] lr: 8.550e-05, eta: 5 days, 20:49:27, time: 0.731, data_time: 0.035, memory: 19865, loss_cls: 0.1456, loss_bbox: 0.3393, loss_traj: 0.6287, loss_traj_cls: 0.0010, loss_map_cls: 0.1378, loss_map_pts: 0.6258, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.5064, d0.loss_plan_l1_fix_dist: 0.4213, d1.loss_plan_l1_fix_time: 0.9170, d1.loss_plan_l1_fix_dist: 0.1555, d2.loss_plan_l1_fix_time: 0.9077, d2.loss_plan_l1_fix_dist: 0.1551, d3.loss_plan_l1_fix_time: 0.9062, d3.loss_plan_l1_fix_dist: 0.1644, d4.loss_plan_l1_fix_time: 0.9097, d4.loss_plan_l1_fix_dist: 0.1783, d5.loss_plan_l1_fix_time: 0.9139, d5.loss_plan_l1_fix_dist: 0.1908, d6.loss_plan_l1_fix_time: 0.9186, d6.loss_plan_l1_fix_dist: 0.2061, d0.loss_cls_all: 0.1808, d0.loss_bbox_all: 0.3958, d0.loss_cls: 0.1808, d0.loss_bbox: 0.3958, d1.loss_cls: 0.1754, d1.loss_bbox: 0.3622, d2.loss_cls: 0.1661, d2.loss_bbox: 0.3443, d3.loss_cls: 0.1540, d3.loss_bbox: 0.3400, d4.loss_cls: 0.1487, d4.loss_bbox: 0.3371, d5.loss_cls: 0.1457, d5.loss_bbox: 0.3386, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8689, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6843, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6375, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6270, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6270, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6261, d0.loss_map_cls_all: 0.2038, d0.loss_map_pts_all: 1.2444, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2038, d0.loss_map_pts: 1.2444, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.1730, d1.loss_map_pts: 0.8576, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1586, d2.loss_map_pts: 0.7051, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1509, d3.loss_map_pts: 0.6472, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1440, d4.loss_map_pts: 0.6250, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1392, d5.loss_map_pts: 0.6219, d5.loss_map_dir: 0.0101, loss: 26.2715, grad_norm: 155.5165 +2026-02-27 14:44:18,831 - DriveTransformer - INFO - Epoch [7][20300/39528] lr: 8.550e-05, eta: 5 days, 20:50:13, time: 0.782, data_time: 0.034, memory: 19865, loss_cls: 0.1542, loss_bbox: 0.3514, loss_traj: 0.6331, loss_traj_cls: 0.0011, loss_map_cls: 0.1590, loss_map_pts: 0.8041, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.6644, d0.loss_plan_l1_fix_dist: 0.4287, d1.loss_plan_l1_fix_time: 1.0645, d1.loss_plan_l1_fix_dist: 0.1692, d2.loss_plan_l1_fix_time: 1.0551, d2.loss_plan_l1_fix_dist: 0.1699, d3.loss_plan_l1_fix_time: 1.0607, d3.loss_plan_l1_fix_dist: 0.1752, d4.loss_plan_l1_fix_time: 1.0651, d4.loss_plan_l1_fix_dist: 0.1850, d5.loss_plan_l1_fix_time: 1.0694, d5.loss_plan_l1_fix_dist: 0.1984, d6.loss_plan_l1_fix_time: 1.0737, d6.loss_plan_l1_fix_dist: 0.2135, d0.loss_cls_all: 0.1929, d0.loss_bbox_all: 0.4183, d0.loss_cls: 0.1929, d0.loss_bbox: 0.4183, d1.loss_cls: 0.1843, d1.loss_bbox: 0.3816, d2.loss_cls: 0.1743, d2.loss_bbox: 0.3637, d3.loss_cls: 0.1596, d3.loss_bbox: 0.3592, d4.loss_cls: 0.1550, d4.loss_bbox: 0.3555, d5.loss_cls: 0.1529, d5.loss_bbox: 0.3533, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8414, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6955, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6429, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6355, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6317, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6338, d0.loss_map_cls_all: 0.2304, d0.loss_map_pts_all: 1.4948, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2304, d0.loss_map_pts: 1.4948, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.1989, d1.loss_map_pts: 1.0561, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.1806, d2.loss_map_pts: 0.8941, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.1730, d3.loss_map_pts: 0.8386, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1658, d4.loss_map_pts: 0.8122, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1617, d5.loss_map_pts: 0.8039, d5.loss_map_dir: 0.0118, loss: 29.4712, grad_norm: 155.5155 +2026-02-27 14:44:54,290 - DriveTransformer - INFO - Epoch [7][20350/39528] lr: 8.550e-05, eta: 5 days, 20:48:55, time: 0.709, data_time: 0.036, memory: 19865, loss_cls: 0.1448, loss_bbox: 0.3538, loss_traj: 0.6760, loss_traj_cls: 0.0010, loss_map_cls: 0.1267, loss_map_pts: 0.6047, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.8660, d0.loss_plan_l1_fix_dist: 0.4215, d1.loss_plan_l1_fix_time: 1.2609, d1.loss_plan_l1_fix_dist: 0.1854, d2.loss_plan_l1_fix_time: 1.2490, d2.loss_plan_l1_fix_dist: 0.1950, d3.loss_plan_l1_fix_time: 1.2451, d3.loss_plan_l1_fix_dist: 0.2058, d4.loss_plan_l1_fix_time: 1.2477, d4.loss_plan_l1_fix_dist: 0.2085, d5.loss_plan_l1_fix_time: 1.2510, d5.loss_plan_l1_fix_dist: 0.2164, d6.loss_plan_l1_fix_time: 1.2550, d6.loss_plan_l1_fix_dist: 0.2288, d0.loss_cls_all: 0.1869, d0.loss_bbox_all: 0.4066, d0.loss_cls: 0.1869, d0.loss_bbox: 0.4066, d1.loss_cls: 0.1806, d1.loss_bbox: 0.3747, d2.loss_cls: 0.1665, d2.loss_bbox: 0.3579, d3.loss_cls: 0.1541, d3.loss_bbox: 0.3542, d4.loss_cls: 0.1464, d4.loss_bbox: 0.3521, d5.loss_cls: 0.1450, d5.loss_bbox: 0.3515, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8212, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7227, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6907, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6796, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6740, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6738, d0.loss_map_cls_all: 0.1938, d0.loss_map_pts_all: 1.1114, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1938, d0.loss_map_pts: 1.1114, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1661, d1.loss_map_pts: 0.8207, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1500, d2.loss_map_pts: 0.6910, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1395, d3.loss_map_pts: 0.6375, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1327, d4.loss_map_pts: 0.6118, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1289, d5.loss_map_pts: 0.6048, d5.loss_map_dir: 0.0076, loss: 28.7358, grad_norm: 157.6908 +2026-02-27 14:45:31,279 - DriveTransformer - INFO - Epoch [7][20400/39528] lr: 8.550e-05, eta: 5 days, 20:48:32, time: 0.741, data_time: 0.034, memory: 19865, loss_cls: 0.1380, loss_bbox: 0.3448, loss_traj: 0.6547, loss_traj_cls: 0.0010, loss_map_cls: 0.1611, loss_map_pts: 0.7678, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.6802, d0.loss_plan_l1_fix_dist: 0.4261, d1.loss_plan_l1_fix_time: 1.1877, d1.loss_plan_l1_fix_dist: 0.1746, d2.loss_plan_l1_fix_time: 1.1802, d2.loss_plan_l1_fix_dist: 0.1729, d3.loss_plan_l1_fix_time: 1.1822, d3.loss_plan_l1_fix_dist: 0.1855, d4.loss_plan_l1_fix_time: 1.1860, d4.loss_plan_l1_fix_dist: 0.1916, d5.loss_plan_l1_fix_time: 1.1898, d5.loss_plan_l1_fix_dist: 0.1987, d6.loss_plan_l1_fix_time: 1.1938, d6.loss_plan_l1_fix_dist: 0.2057, d0.loss_cls_all: 0.1800, d0.loss_bbox_all: 0.4015, d0.loss_cls: 0.1800, d0.loss_bbox: 0.4015, d1.loss_cls: 0.1695, d1.loss_bbox: 0.3721, d2.loss_cls: 0.1577, d2.loss_bbox: 0.3564, d3.loss_cls: 0.1444, d3.loss_bbox: 0.3504, d4.loss_cls: 0.1395, d4.loss_bbox: 0.3479, d5.loss_cls: 0.1385, d5.loss_bbox: 0.3447, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8442, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7201, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6752, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6564, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6571, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6549, d0.loss_map_cls_all: 0.2257, d0.loss_map_pts_all: 1.4560, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2257, d0.loss_map_pts: 1.4560, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2089, d1.loss_map_pts: 1.0639, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1868, d2.loss_map_pts: 0.8819, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1747, d3.loss_map_pts: 0.8046, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1701, d4.loss_map_pts: 0.7736, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1645, d5.loss_map_pts: 0.7677, d5.loss_map_dir: 0.0100, loss: 29.9585, grad_norm: 158.8275 +2026-02-27 14:46:07,832 - DriveTransformer - INFO - Epoch [7][20450/39528] lr: 8.550e-05, eta: 5 days, 20:47:48, time: 0.730, data_time: 0.037, memory: 19865, loss_cls: 0.1262, loss_bbox: 0.3438, loss_traj: 0.5974, loss_traj_cls: 0.0011, loss_map_cls: 0.1445, loss_map_pts: 0.6445, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.5631, d0.loss_plan_l1_fix_dist: 0.5679, d1.loss_plan_l1_fix_time: 0.9985, d1.loss_plan_l1_fix_dist: 0.1954, d2.loss_plan_l1_fix_time: 0.9828, d2.loss_plan_l1_fix_dist: 0.1923, d3.loss_plan_l1_fix_time: 0.9841, d3.loss_plan_l1_fix_dist: 0.1895, d4.loss_plan_l1_fix_time: 0.9898, d4.loss_plan_l1_fix_dist: 0.2012, d5.loss_plan_l1_fix_time: 0.9954, d5.loss_plan_l1_fix_dist: 0.2179, d6.loss_plan_l1_fix_time: 1.0009, d6.loss_plan_l1_fix_dist: 0.2342, d0.loss_cls_all: 0.1659, d0.loss_bbox_all: 0.4003, d0.loss_cls: 0.1659, d0.loss_bbox: 0.4003, d1.loss_cls: 0.1612, d1.loss_bbox: 0.3698, d2.loss_cls: 0.1451, d2.loss_bbox: 0.3565, d3.loss_cls: 0.1310, d3.loss_bbox: 0.3495, d4.loss_cls: 0.1267, d4.loss_bbox: 0.3484, d5.loss_cls: 0.1270, d5.loss_bbox: 0.3448, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7778, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6462, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6080, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5944, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5910, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5945, d0.loss_map_cls_all: 0.2214, d0.loss_map_pts_all: 1.3203, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2214, d0.loss_map_pts: 1.3203, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1930, d1.loss_map_pts: 0.9155, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1718, d2.loss_map_pts: 0.7477, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1596, d3.loss_map_pts: 0.6756, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1504, d4.loss_map_pts: 0.6482, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1465, d5.loss_map_pts: 0.6440, d5.loss_map_dir: 0.0087, loss: 27.1858, grad_norm: 162.8423 +2026-02-27 14:46:43,927 - DriveTransformer - INFO - Epoch [7][20500/39528] lr: 8.550e-05, eta: 5 days, 20:46:52, time: 0.722, data_time: 0.035, memory: 19865, loss_cls: 0.1573, loss_bbox: 0.3436, loss_traj: 0.6515, loss_traj_cls: 0.0011, loss_map_cls: 0.1271, loss_map_pts: 0.5539, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.6712, d0.loss_plan_l1_fix_dist: 0.3703, d1.loss_plan_l1_fix_time: 1.1347, d1.loss_plan_l1_fix_dist: 0.1867, d2.loss_plan_l1_fix_time: 1.1147, d2.loss_plan_l1_fix_dist: 0.1832, d3.loss_plan_l1_fix_time: 1.1186, d3.loss_plan_l1_fix_dist: 0.1785, d4.loss_plan_l1_fix_time: 1.1234, d4.loss_plan_l1_fix_dist: 0.1869, d5.loss_plan_l1_fix_time: 1.1285, d5.loss_plan_l1_fix_dist: 0.2006, d6.loss_plan_l1_fix_time: 1.1338, d6.loss_plan_l1_fix_dist: 0.2147, d0.loss_cls_all: 0.1983, d0.loss_bbox_all: 0.4074, d0.loss_cls: 0.1983, d0.loss_bbox: 0.4074, d1.loss_cls: 0.1917, d1.loss_bbox: 0.3745, d2.loss_cls: 0.1809, d2.loss_bbox: 0.3547, d3.loss_cls: 0.1656, d3.loss_bbox: 0.3469, d4.loss_cls: 0.1604, d4.loss_bbox: 0.3428, d5.loss_cls: 0.1582, d5.loss_bbox: 0.3426, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8389, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6830, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6472, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6412, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6422, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6531, d0.loss_map_cls_all: 0.1941, d0.loss_map_pts_all: 1.1103, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1941, d0.loss_map_pts: 1.1103, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1657, d1.loss_map_pts: 0.7667, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1461, d2.loss_map_pts: 0.6304, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1356, d3.loss_map_pts: 0.5747, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1320, d4.loss_map_pts: 0.5593, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1288, d5.loss_map_pts: 0.5518, d5.loss_map_dir: 0.0083, loss: 27.1875, grad_norm: 163.3633 +2026-02-27 14:47:20,026 - DriveTransformer - INFO - Epoch [7][20550/39528] lr: 8.550e-05, eta: 5 days, 20:45:56, time: 0.722, data_time: 0.037, memory: 19865, loss_cls: 0.1464, loss_bbox: 0.3509, loss_traj: 0.6643, loss_traj_cls: 0.0010, loss_map_cls: 0.1463, loss_map_pts: 0.6881, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.7507, d0.loss_plan_l1_fix_dist: 0.3740, d1.loss_plan_l1_fix_time: 0.9356, d1.loss_plan_l1_fix_dist: 0.1812, d2.loss_plan_l1_fix_time: 0.9330, d2.loss_plan_l1_fix_dist: 0.1807, d3.loss_plan_l1_fix_time: 0.9276, d3.loss_plan_l1_fix_dist: 0.1897, d4.loss_plan_l1_fix_time: 0.9309, d4.loss_plan_l1_fix_dist: 0.2050, d5.loss_plan_l1_fix_time: 0.9342, d5.loss_plan_l1_fix_dist: 0.2171, d6.loss_plan_l1_fix_time: 0.9377, d6.loss_plan_l1_fix_dist: 0.2370, d0.loss_cls_all: 0.1880, d0.loss_bbox_all: 0.4073, d0.loss_cls: 0.1880, d0.loss_bbox: 0.4073, d1.loss_cls: 0.1783, d1.loss_bbox: 0.3779, d2.loss_cls: 0.1636, d2.loss_bbox: 0.3612, d3.loss_cls: 0.1516, d3.loss_bbox: 0.3533, d4.loss_cls: 0.1467, d4.loss_bbox: 0.3509, d5.loss_cls: 0.1456, d5.loss_bbox: 0.3506, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8817, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7308, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6810, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6610, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6595, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6570, d0.loss_map_cls_all: 0.2203, d0.loss_map_pts_all: 1.3536, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2203, d0.loss_map_pts: 1.3536, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1895, d1.loss_map_pts: 0.9342, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1677, d2.loss_map_pts: 0.7772, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1576, d3.loss_map_pts: 0.7118, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1516, d4.loss_map_pts: 0.6906, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1480, d5.loss_map_pts: 0.6852, d5.loss_map_dir: 0.0100, loss: 27.8170, grad_norm: 162.9691 +2026-02-27 14:47:59,831 - DriveTransformer - INFO - Epoch [7][20600/39528] lr: 8.550e-05, eta: 5 days, 20:47:05, time: 0.796, data_time: 0.033, memory: 19865, loss_cls: 0.1535, loss_bbox: 0.3618, loss_traj: 0.5281, loss_traj_cls: 0.0010, loss_map_cls: 0.1584, loss_map_pts: 0.8096, loss_map_dir: 0.0127, d0.loss_plan_l1_fix_time: 2.5335, d0.loss_plan_l1_fix_dist: 0.4442, d1.loss_plan_l1_fix_time: 0.9669, d1.loss_plan_l1_fix_dist: 0.1929, d2.loss_plan_l1_fix_time: 0.9538, d2.loss_plan_l1_fix_dist: 0.1900, d3.loss_plan_l1_fix_time: 0.9574, d3.loss_plan_l1_fix_dist: 0.1975, d4.loss_plan_l1_fix_time: 0.9607, d4.loss_plan_l1_fix_dist: 0.2114, d5.loss_plan_l1_fix_time: 0.9647, d5.loss_plan_l1_fix_dist: 0.2210, d6.loss_plan_l1_fix_time: 0.9694, d6.loss_plan_l1_fix_dist: 0.2362, d0.loss_cls_all: 0.1937, d0.loss_bbox_all: 0.4307, d0.loss_cls: 0.1937, d0.loss_bbox: 0.4307, d1.loss_cls: 0.1879, d1.loss_bbox: 0.3931, d2.loss_cls: 0.1727, d2.loss_bbox: 0.3732, d3.loss_cls: 0.1602, d3.loss_bbox: 0.3628, d4.loss_cls: 0.1565, d4.loss_bbox: 0.3604, d5.loss_cls: 0.1551, d5.loss_bbox: 0.3589, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6796, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5638, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5364, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5246, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5222, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5180, d0.loss_map_cls_all: 0.2323, d0.loss_map_pts_all: 1.6515, d0.loss_map_dir_all: 0.0116, d0.loss_map_cls: 0.2323, d0.loss_map_pts: 1.6515, d0.loss_map_dir: 0.0116, d1.loss_map_cls: 0.1987, d1.loss_map_pts: 1.1553, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.1804, d2.loss_map_pts: 0.9378, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.1699, d3.loss_map_pts: 0.8516, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.1645, d4.loss_map_pts: 0.8193, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.1602, d5.loss_map_pts: 0.8100, d5.loss_map_dir: 0.0127, loss: 28.6035, grad_norm: 164.7006 +2026-02-27 14:48:36,498 - DriveTransformer - INFO - Epoch [7][20650/39528] lr: 8.550e-05, eta: 5 days, 20:46:28, time: 0.733, data_time: 0.037, memory: 19865, loss_cls: 0.1720, loss_bbox: 0.3755, loss_traj: 0.5773, loss_traj_cls: 0.0010, loss_map_cls: 0.1696, loss_map_pts: 0.7600, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.9305, d0.loss_plan_l1_fix_dist: 0.4195, d1.loss_plan_l1_fix_time: 1.1439, d1.loss_plan_l1_fix_dist: 0.2032, d2.loss_plan_l1_fix_time: 1.1223, d2.loss_plan_l1_fix_dist: 0.2071, d3.loss_plan_l1_fix_time: 1.1186, d3.loss_plan_l1_fix_dist: 0.2121, d4.loss_plan_l1_fix_time: 1.1211, d4.loss_plan_l1_fix_dist: 0.2207, d5.loss_plan_l1_fix_time: 1.1248, d5.loss_plan_l1_fix_dist: 0.2298, d6.loss_plan_l1_fix_time: 1.1300, d6.loss_plan_l1_fix_dist: 0.2365, d0.loss_cls_all: 0.2121, d0.loss_bbox_all: 0.4440, d0.loss_cls: 0.2121, d0.loss_bbox: 0.4440, d1.loss_cls: 0.2034, d1.loss_bbox: 0.4045, d2.loss_cls: 0.1911, d2.loss_bbox: 0.3850, d3.loss_cls: 0.1788, d3.loss_bbox: 0.3791, d4.loss_cls: 0.1738, d4.loss_bbox: 0.3744, d5.loss_cls: 0.1713, d5.loss_bbox: 0.3752, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7654, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6355, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5938, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5786, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5720, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5735, d0.loss_map_cls_all: 0.2484, d0.loss_map_pts_all: 1.4082, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2484, d0.loss_map_pts: 1.4082, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2235, d1.loss_map_pts: 1.0207, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.1992, d2.loss_map_pts: 0.8590, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.1856, d3.loss_map_pts: 0.7936, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1784, d4.loss_map_pts: 0.7645, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1732, d5.loss_map_pts: 0.7577, d5.loss_map_dir: 0.0111, loss: 29.9043, grad_norm: 163.1650 +2026-02-27 14:49:13,472 - DriveTransformer - INFO - Epoch [7][20700/39528] lr: 8.550e-05, eta: 5 days, 20:46:01, time: 0.740, data_time: 0.037, memory: 19865, loss_cls: 0.1301, loss_bbox: 0.3306, loss_traj: 0.6397, loss_traj_cls: 0.0010, loss_map_cls: 0.1328, loss_map_pts: 0.5737, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.6125, d0.loss_plan_l1_fix_dist: 0.3878, d1.loss_plan_l1_fix_time: 0.9599, d1.loss_plan_l1_fix_dist: 0.1715, d2.loss_plan_l1_fix_time: 0.9494, d2.loss_plan_l1_fix_dist: 0.1759, d3.loss_plan_l1_fix_time: 0.9514, d3.loss_plan_l1_fix_dist: 0.1843, d4.loss_plan_l1_fix_time: 0.9556, d4.loss_plan_l1_fix_dist: 0.1868, d5.loss_plan_l1_fix_time: 0.9607, d5.loss_plan_l1_fix_dist: 0.1972, d6.loss_plan_l1_fix_time: 0.9673, d6.loss_plan_l1_fix_dist: 0.2119, d0.loss_cls_all: 0.1635, d0.loss_bbox_all: 0.3838, d0.loss_cls: 0.1635, d0.loss_bbox: 0.3838, d1.loss_cls: 0.1593, d1.loss_bbox: 0.3529, d2.loss_cls: 0.1440, d2.loss_bbox: 0.3381, d3.loss_cls: 0.1371, d3.loss_bbox: 0.3322, d4.loss_cls: 0.1309, d4.loss_bbox: 0.3309, d5.loss_cls: 0.1295, d5.loss_bbox: 0.3314, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8272, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7155, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6675, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6490, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6455, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6420, d0.loss_map_cls_all: 0.2000, d0.loss_map_pts_all: 1.2187, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2000, d0.loss_map_pts: 1.2187, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1688, d1.loss_map_pts: 0.8213, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1548, d2.loss_map_pts: 0.6726, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1440, d3.loss_map_pts: 0.6101, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1384, d4.loss_map_pts: 0.5851, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1344, d5.loss_map_pts: 0.5745, d5.loss_map_dir: 0.0087, loss: 26.2227, grad_norm: 163.3892 +2026-02-27 14:49:49,944 - DriveTransformer - INFO - Epoch [7][20750/39528] lr: 8.550e-05, eta: 5 days, 20:45:17, time: 0.729, data_time: 0.037, memory: 19865, loss_cls: 0.1415, loss_bbox: 0.3588, loss_traj: 0.6737, loss_traj_cls: 0.0010, loss_map_cls: 0.1492, loss_map_pts: 0.6952, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.6336, d0.loss_plan_l1_fix_dist: 0.3976, d1.loss_plan_l1_fix_time: 0.9866, d1.loss_plan_l1_fix_dist: 0.1832, d2.loss_plan_l1_fix_time: 0.9738, d2.loss_plan_l1_fix_dist: 0.1792, d3.loss_plan_l1_fix_time: 0.9815, d3.loss_plan_l1_fix_dist: 0.1842, d4.loss_plan_l1_fix_time: 0.9853, d4.loss_plan_l1_fix_dist: 0.1878, d5.loss_plan_l1_fix_time: 0.9888, d5.loss_plan_l1_fix_dist: 0.1980, d6.loss_plan_l1_fix_time: 0.9930, d6.loss_plan_l1_fix_dist: 0.2133, d0.loss_cls_all: 0.1834, d0.loss_bbox_all: 0.4176, d0.loss_cls: 0.1834, d0.loss_bbox: 0.4176, d1.loss_cls: 0.1768, d1.loss_bbox: 0.3834, d2.loss_cls: 0.1619, d2.loss_bbox: 0.3672, d3.loss_cls: 0.1485, d3.loss_bbox: 0.3599, d4.loss_cls: 0.1424, d4.loss_bbox: 0.3581, d5.loss_cls: 0.1422, d5.loss_bbox: 0.3580, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8810, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7015, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6748, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6725, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6660, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6694, d0.loss_map_cls_all: 0.2310, d0.loss_map_pts_all: 1.3752, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2310, d0.loss_map_pts: 1.3752, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2039, d1.loss_map_pts: 0.9588, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1753, d2.loss_map_pts: 0.8038, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1619, d3.loss_map_pts: 0.7311, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1554, d4.loss_map_pts: 0.7067, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1510, d5.loss_map_pts: 0.6967, d5.loss_map_dir: 0.0088, loss: 28.2046, grad_norm: 164.0144 +2026-02-27 14:50:26,016 - DriveTransformer - INFO - Epoch [7][20800/39528] lr: 8.550e-05, eta: 5 days, 20:44:20, time: 0.721, data_time: 0.036, memory: 19865, loss_cls: 0.1434, loss_bbox: 0.3677, loss_traj: 0.6654, loss_traj_cls: 0.0010, loss_map_cls: 0.1401, loss_map_pts: 0.6445, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.8079, d0.loss_plan_l1_fix_dist: 0.3486, d1.loss_plan_l1_fix_time: 1.2322, d1.loss_plan_l1_fix_dist: 0.1949, d2.loss_plan_l1_fix_time: 1.2245, d2.loss_plan_l1_fix_dist: 0.1804, d3.loss_plan_l1_fix_time: 1.2216, d3.loss_plan_l1_fix_dist: 0.1839, d4.loss_plan_l1_fix_time: 1.2234, d4.loss_plan_l1_fix_dist: 0.1927, d5.loss_plan_l1_fix_time: 1.2263, d5.loss_plan_l1_fix_dist: 0.2035, d6.loss_plan_l1_fix_time: 1.2294, d6.loss_plan_l1_fix_dist: 0.2125, d0.loss_cls_all: 0.1817, d0.loss_bbox_all: 0.4191, d0.loss_cls: 0.1817, d0.loss_bbox: 0.4191, d1.loss_cls: 0.1737, d1.loss_bbox: 0.3887, d2.loss_cls: 0.1586, d2.loss_bbox: 0.3733, d3.loss_cls: 0.1481, d3.loss_bbox: 0.3679, d4.loss_cls: 0.1442, d4.loss_bbox: 0.3666, d5.loss_cls: 0.1436, d5.loss_bbox: 0.3662, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9041, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7474, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6939, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6779, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6737, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6686, d0.loss_map_cls_all: 0.2073, d0.loss_map_pts_all: 1.2376, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2073, d0.loss_map_pts: 1.2376, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1851, d1.loss_map_pts: 0.9166, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1639, d2.loss_map_pts: 0.7551, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1546, d3.loss_map_pts: 0.6776, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1459, d4.loss_map_pts: 0.6532, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1406, d5.loss_map_pts: 0.6464, d5.loss_map_dir: 0.0077, loss: 29.2371, grad_norm: 164.2239 +2026-02-27 14:51:03,120 - DriveTransformer - INFO - Epoch [7][20850/39528] lr: 8.550e-05, eta: 5 days, 20:43:58, time: 0.742, data_time: 0.033, memory: 19865, loss_cls: 0.1253, loss_bbox: 0.3079, loss_traj: 0.6119, loss_traj_cls: 0.0010, loss_map_cls: 0.1400, loss_map_pts: 0.6377, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.4177, d0.loss_plan_l1_fix_dist: 0.4822, d1.loss_plan_l1_fix_time: 0.9822, d1.loss_plan_l1_fix_dist: 0.1920, d2.loss_plan_l1_fix_time: 0.9710, d2.loss_plan_l1_fix_dist: 0.1754, d3.loss_plan_l1_fix_time: 0.9675, d3.loss_plan_l1_fix_dist: 0.1778, d4.loss_plan_l1_fix_time: 0.9705, d4.loss_plan_l1_fix_dist: 0.1866, d5.loss_plan_l1_fix_time: 0.9739, d5.loss_plan_l1_fix_dist: 0.1976, d6.loss_plan_l1_fix_time: 0.9777, d6.loss_plan_l1_fix_dist: 0.2114, d0.loss_cls_all: 0.1627, d0.loss_bbox_all: 0.3679, d0.loss_cls: 0.1627, d0.loss_bbox: 0.3679, d1.loss_cls: 0.1526, d1.loss_bbox: 0.3417, d2.loss_cls: 0.1417, d2.loss_bbox: 0.3207, d3.loss_cls: 0.1317, d3.loss_bbox: 0.3143, d4.loss_cls: 0.1279, d4.loss_bbox: 0.3086, d5.loss_cls: 0.1249, d5.loss_bbox: 0.3081, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8020, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6625, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6231, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6071, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6082, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6079, d0.loss_map_cls_all: 0.2112, d0.loss_map_pts_all: 1.3128, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2112, d0.loss_map_pts: 1.3128, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1830, d1.loss_map_pts: 0.8828, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1627, d2.loss_map_pts: 0.7291, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1516, d3.loss_map_pts: 0.6643, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1467, d4.loss_map_pts: 0.6422, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1427, d5.loss_map_pts: 0.6370, d5.loss_map_dir: 0.0089, loss: 26.4179, grad_norm: 164.9778 +2026-02-27 14:51:39,057 - DriveTransformer - INFO - Epoch [7][20900/39528] lr: 8.550e-05, eta: 5 days, 20:42:57, time: 0.719, data_time: 0.036, memory: 19865, loss_cls: 0.1409, loss_bbox: 0.3323, loss_traj: 0.7101, loss_traj_cls: 0.0010, loss_map_cls: 0.1548, loss_map_pts: 0.6727, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.2117, d0.loss_plan_l1_fix_dist: 0.3716, d1.loss_plan_l1_fix_time: 0.9466, d1.loss_plan_l1_fix_dist: 0.1830, d2.loss_plan_l1_fix_time: 0.9429, d2.loss_plan_l1_fix_dist: 0.1689, d3.loss_plan_l1_fix_time: 0.9437, d3.loss_plan_l1_fix_dist: 0.1711, d4.loss_plan_l1_fix_time: 0.9469, d4.loss_plan_l1_fix_dist: 0.1829, d5.loss_plan_l1_fix_time: 0.9497, d5.loss_plan_l1_fix_dist: 0.1898, d6.loss_plan_l1_fix_time: 0.9527, d6.loss_plan_l1_fix_dist: 0.1991, d0.loss_cls_all: 0.1781, d0.loss_bbox_all: 0.3886, d0.loss_cls: 0.1781, d0.loss_bbox: 0.3886, d1.loss_cls: 0.1703, d1.loss_bbox: 0.3568, d2.loss_cls: 0.1597, d2.loss_bbox: 0.3407, d3.loss_cls: 0.1469, d3.loss_bbox: 0.3351, d4.loss_cls: 0.1418, d4.loss_bbox: 0.3319, d5.loss_cls: 0.1398, d5.loss_bbox: 0.3321, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9984, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7891, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7307, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7201, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7142, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7101, d0.loss_map_cls_all: 0.2277, d0.loss_map_pts_all: 1.2838, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2277, d0.loss_map_pts: 1.2838, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.2014, d1.loss_map_pts: 0.9515, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1800, d2.loss_map_pts: 0.7834, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1694, d3.loss_map_pts: 0.7082, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1613, d4.loss_map_pts: 0.6818, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1564, d5.loss_map_pts: 0.6734, d5.loss_map_dir: 0.0079, loss: 27.3801, grad_norm: 161.9921 +2026-02-27 14:52:15,290 - DriveTransformer - INFO - Epoch [7][20950/39528] lr: 8.550e-05, eta: 5 days, 20:42:05, time: 0.725, data_time: 0.036, memory: 19865, loss_cls: 0.1659, loss_bbox: 0.3803, loss_traj: 0.8092, loss_traj_cls: 0.0009, loss_map_cls: 0.1695, loss_map_pts: 0.7489, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.9283, d0.loss_plan_l1_fix_dist: 0.3916, d1.loss_plan_l1_fix_time: 1.2369, d1.loss_plan_l1_fix_dist: 0.2157, d2.loss_plan_l1_fix_time: 1.2219, d2.loss_plan_l1_fix_dist: 0.2093, d3.loss_plan_l1_fix_time: 1.2214, d3.loss_plan_l1_fix_dist: 0.2139, d4.loss_plan_l1_fix_time: 1.2238, d4.loss_plan_l1_fix_dist: 0.2206, d5.loss_plan_l1_fix_time: 1.2262, d5.loss_plan_l1_fix_dist: 0.2294, d6.loss_plan_l1_fix_time: 1.2291, d6.loss_plan_l1_fix_dist: 0.2437, d0.loss_cls_all: 0.2014, d0.loss_bbox_all: 0.4440, d0.loss_cls: 0.2014, d0.loss_bbox: 0.4440, d1.loss_cls: 0.1972, d1.loss_bbox: 0.4053, d2.loss_cls: 0.1862, d2.loss_bbox: 0.3840, d3.loss_cls: 0.1702, d3.loss_bbox: 0.3812, d4.loss_cls: 0.1652, d4.loss_bbox: 0.3798, d5.loss_cls: 0.1657, d5.loss_bbox: 0.3783, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0519, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8899, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8303, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8172, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8137, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.8137, d0.loss_map_cls_all: 0.2432, d0.loss_map_pts_all: 1.4002, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2432, d0.loss_map_pts: 1.4002, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.2191, d1.loss_map_pts: 1.0344, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1928, d2.loss_map_pts: 0.8627, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1824, d3.loss_map_pts: 0.7833, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1748, d4.loss_map_pts: 0.7578, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1697, d5.loss_map_pts: 0.7494, d5.loss_map_dir: 0.0084, loss: 32.0911, grad_norm: 162.0251 +2026-02-27 14:52:52,058 - DriveTransformer - INFO - Epoch [7][21000/39528] lr: 8.550e-05, eta: 5 days, 20:41:32, time: 0.735, data_time: 0.036, memory: 19865, loss_cls: 0.1386, loss_bbox: 0.3439, loss_traj: 0.6043, loss_traj_cls: 0.0010, loss_map_cls: 0.1425, loss_map_pts: 0.7102, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.6805, d0.loss_plan_l1_fix_dist: 0.3125, d1.loss_plan_l1_fix_time: 1.1098, d1.loss_plan_l1_fix_dist: 0.1752, d2.loss_plan_l1_fix_time: 1.1008, d2.loss_plan_l1_fix_dist: 0.1697, d3.loss_plan_l1_fix_time: 1.1009, d3.loss_plan_l1_fix_dist: 0.1775, d4.loss_plan_l1_fix_time: 1.1052, d4.loss_plan_l1_fix_dist: 0.1802, d5.loss_plan_l1_fix_time: 1.1103, d5.loss_plan_l1_fix_dist: 0.1906, d6.loss_plan_l1_fix_time: 1.1163, d6.loss_plan_l1_fix_dist: 0.2040, d0.loss_cls_all: 0.1833, d0.loss_bbox_all: 0.3949, d0.loss_cls: 0.1833, d0.loss_bbox: 0.3949, d1.loss_cls: 0.1717, d1.loss_bbox: 0.3635, d2.loss_cls: 0.1588, d2.loss_bbox: 0.3484, d3.loss_cls: 0.1453, d3.loss_bbox: 0.3447, d4.loss_cls: 0.1410, d4.loss_bbox: 0.3433, d5.loss_cls: 0.1391, d5.loss_bbox: 0.3431, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8298, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6442, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6100, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6079, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6033, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6067, d0.loss_map_cls_all: 0.2212, d0.loss_map_pts_all: 1.4137, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2212, d0.loss_map_pts: 1.4137, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.1904, d1.loss_map_pts: 0.9777, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1674, d2.loss_map_pts: 0.8068, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1536, d3.loss_map_pts: 0.7422, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1467, d4.loss_map_pts: 0.7177, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1432, d5.loss_map_pts: 0.7108, d5.loss_map_dir: 0.0103, loss: 28.3445, grad_norm: 154.0766 +2026-02-27 14:53:28,538 - DriveTransformer - INFO - Epoch [7][21050/39528] lr: 8.550e-05, eta: 5 days, 20:40:49, time: 0.730, data_time: 0.036, memory: 19865, loss_cls: 0.1655, loss_bbox: 0.3568, loss_traj: 0.5889, loss_traj_cls: 0.0010, loss_map_cls: 0.1544, loss_map_pts: 0.7066, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.8202, d0.loss_plan_l1_fix_dist: 0.4468, d1.loss_plan_l1_fix_time: 1.0631, d1.loss_plan_l1_fix_dist: 0.1760, d2.loss_plan_l1_fix_time: 1.0574, d2.loss_plan_l1_fix_dist: 0.1712, d3.loss_plan_l1_fix_time: 1.0622, d3.loss_plan_l1_fix_dist: 0.1800, d4.loss_plan_l1_fix_time: 1.0666, d4.loss_plan_l1_fix_dist: 0.1911, d5.loss_plan_l1_fix_time: 1.0718, d5.loss_plan_l1_fix_dist: 0.2042, d6.loss_plan_l1_fix_time: 1.0781, d6.loss_plan_l1_fix_dist: 0.2194, d0.loss_cls_all: 0.1993, d0.loss_bbox_all: 0.4187, d0.loss_cls: 0.1993, d0.loss_bbox: 0.4187, d1.loss_cls: 0.1928, d1.loss_bbox: 0.3842, d2.loss_cls: 0.1793, d2.loss_bbox: 0.3675, d3.loss_cls: 0.1700, d3.loss_bbox: 0.3605, d4.loss_cls: 0.1651, d4.loss_bbox: 0.3592, d5.loss_cls: 0.1649, d5.loss_bbox: 0.3571, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7998, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6427, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5906, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5774, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5778, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5880, d0.loss_map_cls_all: 0.2355, d0.loss_map_pts_all: 1.3697, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2355, d0.loss_map_pts: 1.3697, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2051, d1.loss_map_pts: 0.9878, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1807, d2.loss_map_pts: 0.8200, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1666, d3.loss_map_pts: 0.7454, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1611, d4.loss_map_pts: 0.7169, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1558, d5.loss_map_pts: 0.7087, d5.loss_map_dir: 0.0091, loss: 28.6304, grad_norm: 153.0507 +2026-02-27 14:54:03,222 - DriveTransformer - INFO - Epoch [7][21100/39528] lr: 8.550e-05, eta: 5 days, 20:39:07, time: 0.694, data_time: 0.036, memory: 19865, loss_cls: 0.1322, loss_bbox: 0.3175, loss_traj: 0.6217, loss_traj_cls: 0.0010, loss_map_cls: 0.1293, loss_map_pts: 0.5305, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.3967, d0.loss_plan_l1_fix_dist: 0.3742, d1.loss_plan_l1_fix_time: 1.1777, d1.loss_plan_l1_fix_dist: 0.1642, d2.loss_plan_l1_fix_time: 1.1585, d2.loss_plan_l1_fix_dist: 0.1574, d3.loss_plan_l1_fix_time: 1.1551, d3.loss_plan_l1_fix_dist: 0.1659, d4.loss_plan_l1_fix_time: 1.1560, d4.loss_plan_l1_fix_dist: 0.1755, d5.loss_plan_l1_fix_time: 1.1575, d5.loss_plan_l1_fix_dist: 0.1871, d6.loss_plan_l1_fix_time: 1.1598, d6.loss_plan_l1_fix_dist: 0.1994, d0.loss_cls_all: 0.1658, d0.loss_bbox_all: 0.3731, d0.loss_cls: 0.1658, d0.loss_bbox: 0.3731, d1.loss_cls: 0.1590, d1.loss_bbox: 0.3413, d2.loss_cls: 0.1458, d2.loss_bbox: 0.3243, d3.loss_cls: 0.1367, d3.loss_bbox: 0.3204, d4.loss_cls: 0.1322, d4.loss_bbox: 0.3162, d5.loss_cls: 0.1315, d5.loss_bbox: 0.3157, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8043, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6600, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6168, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6139, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6151, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6189, d0.loss_map_cls_all: 0.1974, d0.loss_map_pts_all: 1.1283, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1974, d0.loss_map_pts: 1.1283, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1684, d1.loss_map_pts: 0.7843, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1506, d2.loss_map_pts: 0.6262, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1382, d3.loss_map_pts: 0.5653, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1328, d4.loss_map_pts: 0.5422, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1295, d5.loss_map_pts: 0.5334, d5.loss_map_dir: 0.0077, loss: 26.3343, grad_norm: 152.4101 +2026-02-27 14:54:39,955 - DriveTransformer - INFO - Epoch [7][21150/39528] lr: 8.550e-05, eta: 5 days, 20:38:32, time: 0.735, data_time: 0.035, memory: 19865, loss_cls: 0.1250, loss_bbox: 0.3257, loss_traj: 0.6177, loss_traj_cls: 0.0010, loss_map_cls: 0.1610, loss_map_pts: 0.7281, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.2247, d0.loss_plan_l1_fix_dist: 0.3872, d1.loss_plan_l1_fix_time: 0.9206, d1.loss_plan_l1_fix_dist: 0.1706, d2.loss_plan_l1_fix_time: 0.9075, d2.loss_plan_l1_fix_dist: 0.1616, d3.loss_plan_l1_fix_time: 0.9088, d3.loss_plan_l1_fix_dist: 0.1676, d4.loss_plan_l1_fix_time: 0.9124, d4.loss_plan_l1_fix_dist: 0.1749, d5.loss_plan_l1_fix_time: 0.9158, d5.loss_plan_l1_fix_dist: 0.1848, d6.loss_plan_l1_fix_time: 0.9198, d6.loss_plan_l1_fix_dist: 0.1975, d0.loss_cls_all: 0.1622, d0.loss_bbox_all: 0.3758, d0.loss_cls: 0.1622, d0.loss_bbox: 0.3758, d1.loss_cls: 0.1534, d1.loss_bbox: 0.3451, d2.loss_cls: 0.1410, d2.loss_bbox: 0.3309, d3.loss_cls: 0.1315, d3.loss_bbox: 0.3253, d4.loss_cls: 0.1266, d4.loss_bbox: 0.3243, d5.loss_cls: 0.1252, d5.loss_bbox: 0.3241, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8055, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6691, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6223, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6200, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6149, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6174, d0.loss_map_cls_all: 0.2433, d0.loss_map_pts_all: 1.4847, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2433, d0.loss_map_pts: 1.4847, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2129, d1.loss_map_pts: 1.0518, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1890, d2.loss_map_pts: 0.8490, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1776, d3.loss_map_pts: 0.7718, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1686, d4.loss_map_pts: 0.7382, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1638, d5.loss_map_pts: 0.7282, d5.loss_map_dir: 0.0096, loss: 27.0509, grad_norm: 150.1641 +2026-02-27 14:55:15,839 - DriveTransformer - INFO - Epoch [7][21200/39528] lr: 8.550e-05, eta: 5 days, 20:37:32, time: 0.719, data_time: 0.037, memory: 19865, loss_cls: 0.1404, loss_bbox: 0.3405, loss_traj: 0.6525, loss_traj_cls: 0.0010, loss_map_cls: 0.1295, loss_map_pts: 0.6438, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.6559, d0.loss_plan_l1_fix_dist: 0.4401, d1.loss_plan_l1_fix_time: 1.0714, d1.loss_plan_l1_fix_dist: 0.1919, d2.loss_plan_l1_fix_time: 1.0573, d2.loss_plan_l1_fix_dist: 0.1879, d3.loss_plan_l1_fix_time: 1.0577, d3.loss_plan_l1_fix_dist: 0.1900, d4.loss_plan_l1_fix_time: 1.0606, d4.loss_plan_l1_fix_dist: 0.1983, d5.loss_plan_l1_fix_time: 1.0635, d5.loss_plan_l1_fix_dist: 0.2098, d6.loss_plan_l1_fix_time: 1.0666, d6.loss_plan_l1_fix_dist: 0.2201, d0.loss_cls_all: 0.1791, d0.loss_bbox_all: 0.3919, d0.loss_cls: 0.1791, d0.loss_bbox: 0.3919, d1.loss_cls: 0.1684, d1.loss_bbox: 0.3617, d2.loss_cls: 0.1546, d2.loss_bbox: 0.3451, d3.loss_cls: 0.1452, d3.loss_bbox: 0.3421, d4.loss_cls: 0.1430, d4.loss_bbox: 0.3388, d5.loss_cls: 0.1403, d5.loss_bbox: 0.3389, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8614, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7205, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6703, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6617, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6556, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6544, d0.loss_map_cls_all: 0.2000, d0.loss_map_pts_all: 1.2162, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2000, d0.loss_map_pts: 1.2162, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1686, d1.loss_map_pts: 0.8672, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1519, d2.loss_map_pts: 0.7318, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1402, d3.loss_map_pts: 0.6747, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1355, d4.loss_map_pts: 0.6501, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1304, d5.loss_map_pts: 0.6453, d5.loss_map_dir: 0.0085, loss: 27.6244, grad_norm: 149.8225 +2026-02-27 14:55:50,802 - DriveTransformer - INFO - Epoch [7][21250/39528] lr: 8.550e-05, eta: 5 days, 20:35:58, time: 0.698, data_time: 0.033, memory: 19865, loss_cls: 0.1850, loss_bbox: 0.3858, loss_traj: 0.7569, loss_traj_cls: 0.0010, loss_map_cls: 0.1658, loss_map_pts: 0.7523, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.6020, d0.loss_plan_l1_fix_dist: 0.3557, d1.loss_plan_l1_fix_time: 1.1050, d1.loss_plan_l1_fix_dist: 0.1988, d2.loss_plan_l1_fix_time: 1.0966, d2.loss_plan_l1_fix_dist: 0.1868, d3.loss_plan_l1_fix_time: 1.0968, d3.loss_plan_l1_fix_dist: 0.1851, d4.loss_plan_l1_fix_time: 1.0998, d4.loss_plan_l1_fix_dist: 0.1953, d5.loss_plan_l1_fix_time: 1.1031, d5.loss_plan_l1_fix_dist: 0.2024, d6.loss_plan_l1_fix_time: 1.1066, d6.loss_plan_l1_fix_dist: 0.2128, d0.loss_cls_all: 0.2219, d0.loss_bbox_all: 0.4490, d0.loss_cls: 0.2219, d0.loss_bbox: 0.4490, d1.loss_cls: 0.2114, d1.loss_bbox: 0.4183, d2.loss_cls: 0.1986, d2.loss_bbox: 0.3960, d3.loss_cls: 0.1894, d3.loss_bbox: 0.3908, d4.loss_cls: 0.1843, d4.loss_bbox: 0.3883, d5.loss_cls: 0.1840, d5.loss_bbox: 0.3866, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0451, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8228, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7666, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7555, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7557, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7734, d0.loss_map_cls_all: 0.2391, d0.loss_map_pts_all: 1.3329, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2391, d0.loss_map_pts: 1.3329, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2089, d1.loss_map_pts: 0.9739, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1878, d2.loss_map_pts: 0.8322, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1783, d3.loss_map_pts: 0.7749, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1719, d4.loss_map_pts: 0.7557, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1685, d5.loss_map_pts: 0.7514, d5.loss_map_dir: 0.0097, loss: 30.4304, grad_norm: 150.1560 +2026-02-27 14:56:27,310 - DriveTransformer - INFO - Epoch [7][21300/39528] lr: 8.550e-05, eta: 5 days, 20:35:16, time: 0.730, data_time: 0.035, memory: 19865, loss_cls: 0.1372, loss_bbox: 0.3434, loss_traj: 0.5801, loss_traj_cls: 0.0010, loss_map_cls: 0.1720, loss_map_pts: 0.7171, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.4735, d0.loss_plan_l1_fix_dist: 0.3310, d1.loss_plan_l1_fix_time: 1.0078, d1.loss_plan_l1_fix_dist: 0.1679, d2.loss_plan_l1_fix_time: 1.0012, d2.loss_plan_l1_fix_dist: 0.1572, d3.loss_plan_l1_fix_time: 1.0002, d3.loss_plan_l1_fix_dist: 0.1587, d4.loss_plan_l1_fix_time: 1.0035, d4.loss_plan_l1_fix_dist: 0.1673, d5.loss_plan_l1_fix_time: 1.0069, d5.loss_plan_l1_fix_dist: 0.1761, d6.loss_plan_l1_fix_time: 1.0112, d6.loss_plan_l1_fix_dist: 0.1857, d0.loss_cls_all: 0.1717, d0.loss_bbox_all: 0.3918, d0.loss_cls: 0.1717, d0.loss_bbox: 0.3918, d1.loss_cls: 0.1673, d1.loss_bbox: 0.3584, d2.loss_cls: 0.1557, d2.loss_bbox: 0.3423, d3.loss_cls: 0.1433, d3.loss_bbox: 0.3399, d4.loss_cls: 0.1383, d4.loss_bbox: 0.3423, d5.loss_cls: 0.1364, d5.loss_bbox: 0.3433, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8415, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6360, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5859, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5750, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5822, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5802, d0.loss_map_cls_all: 0.2522, d0.loss_map_pts_all: 1.3576, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2522, d0.loss_map_pts: 1.3576, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.2284, d1.loss_map_pts: 0.9975, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1976, d2.loss_map_pts: 0.8212, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1866, d3.loss_map_pts: 0.7506, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1809, d4.loss_map_pts: 0.7229, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1756, d5.loss_map_pts: 0.7167, d5.loss_map_dir: 0.0091, loss: 27.4672, grad_norm: 150.5128 +2026-02-27 14:57:02,842 - DriveTransformer - INFO - Epoch [7][21350/39528] lr: 8.550e-05, eta: 5 days, 20:34:03, time: 0.711, data_time: 0.034, memory: 19865, loss_cls: 0.1562, loss_bbox: 0.3470, loss_traj: 0.6144, loss_traj_cls: 0.0010, loss_map_cls: 0.1510, loss_map_pts: 0.6888, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.7235, d0.loss_plan_l1_fix_dist: 0.3960, d1.loss_plan_l1_fix_time: 1.1109, d1.loss_plan_l1_fix_dist: 0.1883, d2.loss_plan_l1_fix_time: 1.0969, d2.loss_plan_l1_fix_dist: 0.1779, d3.loss_plan_l1_fix_time: 1.0969, d3.loss_plan_l1_fix_dist: 0.1818, d4.loss_plan_l1_fix_time: 1.0999, d4.loss_plan_l1_fix_dist: 0.1859, d5.loss_plan_l1_fix_time: 1.1039, d5.loss_plan_l1_fix_dist: 0.1977, d6.loss_plan_l1_fix_time: 1.1085, d6.loss_plan_l1_fix_dist: 0.2167, d0.loss_cls_all: 0.1990, d0.loss_bbox_all: 0.3987, d0.loss_cls: 0.1990, d0.loss_bbox: 0.3987, d1.loss_cls: 0.1878, d1.loss_bbox: 0.3697, d2.loss_cls: 0.1736, d2.loss_bbox: 0.3548, d3.loss_cls: 0.1603, d3.loss_bbox: 0.3500, d4.loss_cls: 0.1577, d4.loss_bbox: 0.3466, d5.loss_cls: 0.1562, d5.loss_bbox: 0.3474, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8144, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6619, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6209, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6187, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6148, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6132, d0.loss_map_cls_all: 0.2233, d0.loss_map_pts_all: 1.2958, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2233, d0.loss_map_pts: 1.2958, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1985, d1.loss_map_pts: 0.9439, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1768, d2.loss_map_pts: 0.7829, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1641, d3.loss_map_pts: 0.7151, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1571, d4.loss_map_pts: 0.6940, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1527, d5.loss_map_pts: 0.6882, d5.loss_map_dir: 0.0090, loss: 28.3739, grad_norm: 151.5242 +2026-02-27 14:57:39,044 - DriveTransformer - INFO - Epoch [7][21400/39528] lr: 8.550e-05, eta: 5 days, 20:33:12, time: 0.724, data_time: 0.034, memory: 19865, loss_cls: 0.1884, loss_bbox: 0.4110, loss_traj: 0.8471, loss_traj_cls: 0.0010, loss_map_cls: 0.1951, loss_map_pts: 0.8276, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 3.1552, d0.loss_plan_l1_fix_dist: 0.4878, d1.loss_plan_l1_fix_time: 1.2608, d1.loss_plan_l1_fix_dist: 0.2077, d2.loss_plan_l1_fix_time: 1.2477, d2.loss_plan_l1_fix_dist: 0.1996, d3.loss_plan_l1_fix_time: 1.2511, d3.loss_plan_l1_fix_dist: 0.2107, d4.loss_plan_l1_fix_time: 1.2546, d4.loss_plan_l1_fix_dist: 0.2161, d5.loss_plan_l1_fix_time: 1.2587, d5.loss_plan_l1_fix_dist: 0.2224, d6.loss_plan_l1_fix_time: 1.2626, d6.loss_plan_l1_fix_dist: 0.2336, d0.loss_cls_all: 0.2297, d0.loss_bbox_all: 0.4837, d0.loss_cls: 0.2297, d0.loss_bbox: 0.4837, d1.loss_cls: 0.2225, d1.loss_bbox: 0.4450, d2.loss_cls: 0.2072, d2.loss_bbox: 0.4241, d3.loss_cls: 0.1923, d3.loss_bbox: 0.4174, d4.loss_cls: 0.1866, d4.loss_bbox: 0.4152, d5.loss_cls: 0.1871, d5.loss_bbox: 0.4115, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0904, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8888, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8428, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8434, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8410, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.8430, d0.loss_map_cls_all: 0.2750, d0.loss_map_pts_all: 1.4719, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2750, d0.loss_map_pts: 1.4719, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2459, d1.loss_map_pts: 1.1054, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.2191, d2.loss_map_pts: 0.9409, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.2067, d3.loss_map_pts: 0.8639, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.2006, d4.loss_map_pts: 0.8368, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1965, d5.loss_map_pts: 0.8285, d5.loss_map_dir: 0.0099, loss: 34.0425, grad_norm: 152.3524 +2026-02-27 14:58:15,346 - DriveTransformer - INFO - Epoch [7][21450/39528] lr: 8.550e-05, eta: 5 days, 20:32:23, time: 0.726, data_time: 0.039, memory: 19865, loss_cls: 0.1493, loss_bbox: 0.3740, loss_traj: 0.6664, loss_traj_cls: 0.0010, loss_map_cls: 0.1545, loss_map_pts: 0.6590, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.4239, d0.loss_plan_l1_fix_dist: 0.4172, d1.loss_plan_l1_fix_time: 0.9550, d1.loss_plan_l1_fix_dist: 0.1780, d2.loss_plan_l1_fix_time: 0.9312, d2.loss_plan_l1_fix_dist: 0.1768, d3.loss_plan_l1_fix_time: 0.9305, d3.loss_plan_l1_fix_dist: 0.1853, d4.loss_plan_l1_fix_time: 0.9340, d4.loss_plan_l1_fix_dist: 0.1956, d5.loss_plan_l1_fix_time: 0.9381, d5.loss_plan_l1_fix_dist: 0.2045, d6.loss_plan_l1_fix_time: 0.9425, d6.loss_plan_l1_fix_dist: 0.2136, d0.loss_cls_all: 0.1870, d0.loss_bbox_all: 0.4347, d0.loss_cls: 0.1870, d0.loss_bbox: 0.4347, d1.loss_cls: 0.1779, d1.loss_bbox: 0.3998, d2.loss_cls: 0.1679, d2.loss_bbox: 0.3827, d3.loss_cls: 0.1548, d3.loss_bbox: 0.3747, d4.loss_cls: 0.1514, d4.loss_bbox: 0.3711, d5.loss_cls: 0.1495, d5.loss_bbox: 0.3723, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8598, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7028, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6770, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6693, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6654, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6645, d0.loss_map_cls_all: 0.2266, d0.loss_map_pts_all: 1.2721, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2266, d0.loss_map_pts: 1.2721, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1916, d1.loss_map_pts: 0.8839, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1701, d2.loss_map_pts: 0.7372, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1590, d3.loss_map_pts: 0.6836, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1579, d4.loss_map_pts: 0.6694, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1560, d5.loss_map_pts: 0.6593, d5.loss_map_dir: 0.0088, loss: 27.3558, grad_norm: 151.6794 +2026-02-27 14:58:52,098 - DriveTransformer - INFO - Epoch [7][21500/39528] lr: 8.550e-05, eta: 5 days, 20:31:49, time: 0.735, data_time: 0.036, memory: 19865, loss_cls: 0.1744, loss_bbox: 0.3656, loss_traj: 0.6643, loss_traj_cls: 0.0010, loss_map_cls: 0.1431, loss_map_pts: 0.6279, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.8099, d0.loss_plan_l1_fix_dist: 0.3531, d1.loss_plan_l1_fix_time: 1.1781, d1.loss_plan_l1_fix_dist: 0.1691, d2.loss_plan_l1_fix_time: 1.1700, d2.loss_plan_l1_fix_dist: 0.1732, d3.loss_plan_l1_fix_time: 1.1683, d3.loss_plan_l1_fix_dist: 0.1732, d4.loss_plan_l1_fix_time: 1.1711, d4.loss_plan_l1_fix_dist: 0.1834, d5.loss_plan_l1_fix_time: 1.1745, d5.loss_plan_l1_fix_dist: 0.1972, d6.loss_plan_l1_fix_time: 1.1789, d6.loss_plan_l1_fix_dist: 0.2098, d0.loss_cls_all: 0.2104, d0.loss_bbox_all: 0.4187, d0.loss_cls: 0.2104, d0.loss_bbox: 0.4187, d1.loss_cls: 0.2006, d1.loss_bbox: 0.3879, d2.loss_cls: 0.1900, d2.loss_bbox: 0.3739, d3.loss_cls: 0.1811, d3.loss_bbox: 0.3684, d4.loss_cls: 0.1738, d4.loss_bbox: 0.3668, d5.loss_cls: 0.1728, d5.loss_bbox: 0.3656, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8397, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7187, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6802, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6677, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6609, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6597, d0.loss_map_cls_all: 0.2099, d0.loss_map_pts_all: 1.2238, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2099, d0.loss_map_pts: 1.2238, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1848, d1.loss_map_pts: 0.8556, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1621, d2.loss_map_pts: 0.7166, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1527, d3.loss_map_pts: 0.6590, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1461, d4.loss_map_pts: 0.6337, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1440, d5.loss_map_pts: 0.6270, d5.loss_map_dir: 0.0092, loss: 28.7801, grad_norm: 143.9831 +2026-02-27 14:59:26,748 - DriveTransformer - INFO - Epoch [7][21550/39528] lr: 8.550e-05, eta: 5 days, 20:30:08, time: 0.693, data_time: 0.035, memory: 19865, loss_cls: 0.1641, loss_bbox: 0.3605, loss_traj: 0.6657, loss_traj_cls: 0.0011, loss_map_cls: 0.1573, loss_map_pts: 0.5831, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.6471, d0.loss_plan_l1_fix_dist: 0.3654, d1.loss_plan_l1_fix_time: 1.0969, d1.loss_plan_l1_fix_dist: 0.1754, d2.loss_plan_l1_fix_time: 1.0856, d2.loss_plan_l1_fix_dist: 0.1810, d3.loss_plan_l1_fix_time: 1.0887, d3.loss_plan_l1_fix_dist: 0.1823, d4.loss_plan_l1_fix_time: 1.0919, d4.loss_plan_l1_fix_dist: 0.1874, d5.loss_plan_l1_fix_time: 1.0954, d5.loss_plan_l1_fix_dist: 0.1968, d6.loss_plan_l1_fix_time: 1.0997, d6.loss_plan_l1_fix_dist: 0.2138, d0.loss_cls_all: 0.1912, d0.loss_bbox_all: 0.4166, d0.loss_cls: 0.1912, d0.loss_bbox: 0.4166, d1.loss_cls: 0.1865, d1.loss_bbox: 0.3835, d2.loss_cls: 0.1768, d2.loss_bbox: 0.3690, d3.loss_cls: 0.1649, d3.loss_bbox: 0.3677, d4.loss_cls: 0.1617, d4.loss_bbox: 0.3656, d5.loss_cls: 0.1615, d5.loss_bbox: 0.3641, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9096, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7203, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6715, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6698, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6652, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6650, d0.loss_map_cls_all: 0.2122, d0.loss_map_pts_all: 1.1286, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2122, d0.loss_map_pts: 1.1286, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1941, d1.loss_map_pts: 0.8086, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1735, d2.loss_map_pts: 0.6640, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1614, d3.loss_map_pts: 0.6064, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1595, d4.loss_map_pts: 0.5873, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1579, d5.loss_map_pts: 0.5830, d5.loss_map_dir: 0.0073, loss: 27.6983, grad_norm: 144.0668 +2026-02-27 15:00:04,065 - DriveTransformer - INFO - Epoch [7][21600/39528] lr: 8.550e-05, eta: 5 days, 20:29:53, time: 0.746, data_time: 0.040, memory: 19865, loss_cls: 0.1677, loss_bbox: 0.3586, loss_traj: 0.7059, loss_traj_cls: 0.0010, loss_map_cls: 0.1712, loss_map_pts: 0.7093, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.5879, d0.loss_plan_l1_fix_dist: 0.3955, d1.loss_plan_l1_fix_time: 1.1045, d1.loss_plan_l1_fix_dist: 0.1849, d2.loss_plan_l1_fix_time: 1.0926, d2.loss_plan_l1_fix_dist: 0.1835, d3.loss_plan_l1_fix_time: 1.0940, d3.loss_plan_l1_fix_dist: 0.1848, d4.loss_plan_l1_fix_time: 1.0974, d4.loss_plan_l1_fix_dist: 0.1881, d5.loss_plan_l1_fix_time: 1.1005, d5.loss_plan_l1_fix_dist: 0.1957, d6.loss_plan_l1_fix_time: 1.1042, d6.loss_plan_l1_fix_dist: 0.2113, d0.loss_cls_all: 0.2092, d0.loss_bbox_all: 0.4202, d0.loss_cls: 0.2092, d0.loss_bbox: 0.4202, d1.loss_cls: 0.2030, d1.loss_bbox: 0.3836, d2.loss_cls: 0.1881, d2.loss_bbox: 0.3675, d3.loss_cls: 0.1754, d3.loss_bbox: 0.3622, d4.loss_cls: 0.1697, d4.loss_bbox: 0.3598, d5.loss_cls: 0.1674, d5.loss_bbox: 0.3588, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9123, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7451, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7122, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7003, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7017, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7025, d0.loss_map_cls_all: 0.2445, d0.loss_map_pts_all: 1.4249, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2445, d0.loss_map_pts: 1.4249, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2128, d1.loss_map_pts: 1.0031, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1905, d2.loss_map_pts: 0.8151, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1780, d3.loss_map_pts: 0.7423, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1737, d4.loss_map_pts: 0.7188, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1727, d5.loss_map_pts: 0.7112, d5.loss_map_dir: 0.0101, loss: 29.6494, grad_norm: 146.8198 +2026-02-27 15:00:40,992 - DriveTransformer - INFO - Epoch [7][21650/39528] lr: 8.550e-05, eta: 5 days, 20:29:25, time: 0.739, data_time: 0.033, memory: 19865, loss_cls: 0.1643, loss_bbox: 0.3725, loss_traj: 0.6854, loss_traj_cls: 0.0010, loss_map_cls: 0.1808, loss_map_pts: 0.7890, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.6122, d0.loss_plan_l1_fix_dist: 0.4077, d1.loss_plan_l1_fix_time: 1.1779, d1.loss_plan_l1_fix_dist: 0.1853, d2.loss_plan_l1_fix_time: 1.1720, d2.loss_plan_l1_fix_dist: 0.1847, d3.loss_plan_l1_fix_time: 1.1743, d3.loss_plan_l1_fix_dist: 0.1889, d4.loss_plan_l1_fix_time: 1.1778, d4.loss_plan_l1_fix_dist: 0.1965, d5.loss_plan_l1_fix_time: 1.1812, d5.loss_plan_l1_fix_dist: 0.2044, d6.loss_plan_l1_fix_time: 1.1851, d6.loss_plan_l1_fix_dist: 0.2098, d0.loss_cls_all: 0.2048, d0.loss_bbox_all: 0.4299, d0.loss_cls: 0.2048, d0.loss_bbox: 0.4299, d1.loss_cls: 0.1933, d1.loss_bbox: 0.3966, d2.loss_cls: 0.1814, d2.loss_bbox: 0.3789, d3.loss_cls: 0.1720, d3.loss_bbox: 0.3745, d4.loss_cls: 0.1661, d4.loss_bbox: 0.3723, d5.loss_cls: 0.1631, d5.loss_bbox: 0.3719, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8811, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7233, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6859, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6806, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6791, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6816, d0.loss_map_cls_all: 0.2554, d0.loss_map_pts_all: 1.5878, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2554, d0.loss_map_pts: 1.5878, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2229, d1.loss_map_pts: 1.1192, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.2011, d2.loss_map_pts: 0.9173, d2.loss_map_dir: 0.0111, d3.loss_map_cls: 0.1887, d3.loss_map_pts: 0.8336, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1836, d4.loss_map_pts: 0.8028, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1814, d5.loss_map_pts: 0.7922, d5.loss_map_dir: 0.0119, loss: 31.0501, grad_norm: 147.9725 +2026-02-27 15:01:17,436 - DriveTransformer - INFO - Epoch [7][21700/39528] lr: 8.550e-05, eta: 5 days, 20:28:41, time: 0.729, data_time: 0.035, memory: 19865, loss_cls: 0.1372, loss_bbox: 0.3387, loss_traj: 0.6144, loss_traj_cls: 0.0011, loss_map_cls: 0.1447, loss_map_pts: 0.6565, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.4625, d0.loss_plan_l1_fix_dist: 0.5092, d1.loss_plan_l1_fix_time: 0.9163, d1.loss_plan_l1_fix_dist: 0.1882, d2.loss_plan_l1_fix_time: 0.8974, d2.loss_plan_l1_fix_dist: 0.1856, d3.loss_plan_l1_fix_time: 0.8942, d3.loss_plan_l1_fix_dist: 0.1876, d4.loss_plan_l1_fix_time: 0.8957, d4.loss_plan_l1_fix_dist: 0.1927, d5.loss_plan_l1_fix_time: 0.8981, d5.loss_plan_l1_fix_dist: 0.2031, d6.loss_plan_l1_fix_time: 0.9015, d6.loss_plan_l1_fix_dist: 0.2126, d0.loss_cls_all: 0.1733, d0.loss_bbox_all: 0.3933, d0.loss_cls: 0.1733, d0.loss_bbox: 0.3933, d1.loss_cls: 0.1667, d1.loss_bbox: 0.3544, d2.loss_cls: 0.1517, d2.loss_bbox: 0.3411, d3.loss_cls: 0.1433, d3.loss_bbox: 0.3332, d4.loss_cls: 0.1360, d4.loss_bbox: 0.3368, d5.loss_cls: 0.1358, d5.loss_bbox: 0.3376, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7942, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6472, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6285, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6179, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6118, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6120, d0.loss_map_cls_all: 0.2173, d0.loss_map_pts_all: 1.3583, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2173, d0.loss_map_pts: 1.3583, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1875, d1.loss_map_pts: 0.9528, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1706, d2.loss_map_pts: 0.7704, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1576, d3.loss_map_pts: 0.6946, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1507, d4.loss_map_pts: 0.6686, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1450, d5.loss_map_pts: 0.6596, d5.loss_map_dir: 0.0092, loss: 26.7066, grad_norm: 148.4201 +2026-02-27 15:01:54,152 - DriveTransformer - INFO - Epoch [7][21750/39528] lr: 8.550e-05, eta: 5 days, 20:28:06, time: 0.734, data_time: 0.037, memory: 19865, loss_cls: 0.1456, loss_bbox: 0.3503, loss_traj: 0.6898, loss_traj_cls: 0.0011, loss_map_cls: 0.1524, loss_map_pts: 0.6226, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.7486, d0.loss_plan_l1_fix_dist: 0.4101, d1.loss_plan_l1_fix_time: 1.0770, d1.loss_plan_l1_fix_dist: 0.1916, d2.loss_plan_l1_fix_time: 1.0659, d2.loss_plan_l1_fix_dist: 0.1884, d3.loss_plan_l1_fix_time: 1.0640, d3.loss_plan_l1_fix_dist: 0.1929, d4.loss_plan_l1_fix_time: 1.0665, d4.loss_plan_l1_fix_dist: 0.1980, d5.loss_plan_l1_fix_time: 1.0696, d5.loss_plan_l1_fix_dist: 0.2062, d6.loss_plan_l1_fix_time: 1.0733, d6.loss_plan_l1_fix_dist: 0.2148, d0.loss_cls_all: 0.1779, d0.loss_bbox_all: 0.4021, d0.loss_cls: 0.1779, d0.loss_bbox: 0.4021, d1.loss_cls: 0.1667, d1.loss_bbox: 0.3735, d2.loss_cls: 0.1619, d2.loss_bbox: 0.3523, d3.loss_cls: 0.1510, d3.loss_bbox: 0.3476, d4.loss_cls: 0.1444, d4.loss_bbox: 0.3491, d5.loss_cls: 0.1450, d5.loss_bbox: 0.3493, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9063, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7468, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6908, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6820, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6823, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6874, d0.loss_map_cls_all: 0.2171, d0.loss_map_pts_all: 1.2554, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2171, d0.loss_map_pts: 1.2554, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1874, d1.loss_map_pts: 0.8898, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1712, d2.loss_map_pts: 0.7255, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1593, d3.loss_map_pts: 0.6564, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1541, d4.loss_map_pts: 0.6319, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1527, d5.loss_map_pts: 0.6252, d5.loss_map_dir: 0.0078, loss: 28.1905, grad_norm: 145.0115 +2026-02-27 15:02:29,099 - DriveTransformer - INFO - Epoch [7][21800/39528] lr: 8.550e-05, eta: 5 days, 20:26:36, time: 0.699, data_time: 0.039, memory: 19865, loss_cls: 0.1739, loss_bbox: 0.3695, loss_traj: 0.7471, loss_traj_cls: 0.0011, loss_map_cls: 0.1692, loss_map_pts: 0.6904, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.9057, d0.loss_plan_l1_fix_dist: 0.3325, d1.loss_plan_l1_fix_time: 1.1698, d1.loss_plan_l1_fix_dist: 0.1788, d2.loss_plan_l1_fix_time: 1.1510, d2.loss_plan_l1_fix_dist: 0.1804, d3.loss_plan_l1_fix_time: 1.1413, d3.loss_plan_l1_fix_dist: 0.1828, d4.loss_plan_l1_fix_time: 1.1420, d4.loss_plan_l1_fix_dist: 0.1930, d5.loss_plan_l1_fix_time: 1.1437, d5.loss_plan_l1_fix_dist: 0.1966, d6.loss_plan_l1_fix_time: 1.1457, d6.loss_plan_l1_fix_dist: 0.2049, d0.loss_cls_all: 0.2139, d0.loss_bbox_all: 0.4362, d0.loss_cls: 0.2139, d0.loss_bbox: 0.4362, d1.loss_cls: 0.2035, d1.loss_bbox: 0.4047, d2.loss_cls: 0.1898, d2.loss_bbox: 0.3814, d3.loss_cls: 0.1806, d3.loss_bbox: 0.3731, d4.loss_cls: 0.1730, d4.loss_bbox: 0.3715, d5.loss_cls: 0.1722, d5.loss_bbox: 0.3714, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0011, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8342, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7731, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7521, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7460, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7466, d0.loss_map_cls_all: 0.2564, d0.loss_map_pts_all: 1.3766, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2564, d0.loss_map_pts: 1.3766, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2203, d1.loss_map_pts: 0.9772, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1926, d2.loss_map_pts: 0.8100, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1809, d3.loss_map_pts: 0.7277, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1732, d4.loss_map_pts: 0.6999, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1699, d5.loss_map_pts: 0.6906, d5.loss_map_dir: 0.0083, loss: 30.5750, grad_norm: 144.9882 +2026-02-27 15:03:05,519 - DriveTransformer - INFO - Epoch [7][21850/39528] lr: 8.550e-05, eta: 5 days, 20:25:52, time: 0.728, data_time: 0.035, memory: 19865, loss_cls: 0.1312, loss_bbox: 0.3317, loss_traj: 0.6947, loss_traj_cls: 0.0011, loss_map_cls: 0.1521, loss_map_pts: 0.6377, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.9654, d0.loss_plan_l1_fix_dist: 0.3905, d1.loss_plan_l1_fix_time: 1.0930, d1.loss_plan_l1_fix_dist: 0.1612, d2.loss_plan_l1_fix_time: 1.0765, d2.loss_plan_l1_fix_dist: 0.1682, d3.loss_plan_l1_fix_time: 1.0768, d3.loss_plan_l1_fix_dist: 0.1659, d4.loss_plan_l1_fix_time: 1.0792, d4.loss_plan_l1_fix_dist: 0.1674, d5.loss_plan_l1_fix_time: 1.0823, d5.loss_plan_l1_fix_dist: 0.1765, d6.loss_plan_l1_fix_time: 1.0860, d6.loss_plan_l1_fix_dist: 0.1872, d0.loss_cls_all: 0.1680, d0.loss_bbox_all: 0.3853, d0.loss_cls: 0.1680, d0.loss_bbox: 0.3853, d1.loss_cls: 0.1600, d1.loss_bbox: 0.3540, d2.loss_cls: 0.1440, d2.loss_bbox: 0.3393, d3.loss_cls: 0.1339, d3.loss_bbox: 0.3328, d4.loss_cls: 0.1301, d4.loss_bbox: 0.3305, d5.loss_cls: 0.1297, d5.loss_bbox: 0.3314, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9187, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7876, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7107, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7015, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6969, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6912, d0.loss_map_cls_all: 0.2260, d0.loss_map_pts_all: 1.3330, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2260, d0.loss_map_pts: 1.3330, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1924, d1.loss_map_pts: 0.9086, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1704, d2.loss_map_pts: 0.7368, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1634, d3.loss_map_pts: 0.6703, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1581, d4.loss_map_pts: 0.6478, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1545, d5.loss_map_pts: 0.6382, d5.loss_map_dir: 0.0094, loss: 28.4612, grad_norm: 144.1161 +2026-02-27 15:03:41,380 - DriveTransformer - INFO - Epoch [7][21900/39528] lr: 8.550e-05, eta: 5 days, 20:24:50, time: 0.717, data_time: 0.039, memory: 19865, loss_cls: 0.1301, loss_bbox: 0.3193, loss_traj: 0.6582, loss_traj_cls: 0.0011, loss_map_cls: 0.1177, loss_map_pts: 0.5116, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.6024, d0.loss_plan_l1_fix_dist: 0.4521, d1.loss_plan_l1_fix_time: 0.9796, d1.loss_plan_l1_fix_dist: 0.1905, d2.loss_plan_l1_fix_time: 0.9740, d2.loss_plan_l1_fix_dist: 0.2007, d3.loss_plan_l1_fix_time: 0.9740, d3.loss_plan_l1_fix_dist: 0.2029, d4.loss_plan_l1_fix_time: 0.9770, d4.loss_plan_l1_fix_dist: 0.2056, d5.loss_plan_l1_fix_time: 0.9805, d5.loss_plan_l1_fix_dist: 0.2174, d6.loss_plan_l1_fix_time: 0.9848, d6.loss_plan_l1_fix_dist: 0.2266, d0.loss_cls_all: 0.1657, d0.loss_bbox_all: 0.3724, d0.loss_cls: 0.1657, d0.loss_bbox: 0.3724, d1.loss_cls: 0.1620, d1.loss_bbox: 0.3406, d2.loss_cls: 0.1453, d2.loss_bbox: 0.3223, d3.loss_cls: 0.1336, d3.loss_bbox: 0.3174, d4.loss_cls: 0.1289, d4.loss_bbox: 0.3172, d5.loss_cls: 0.1292, d5.loss_bbox: 0.3184, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9381, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7199, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6643, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6601, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6576, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6568, d0.loss_map_cls_all: 0.1878, d0.loss_map_pts_all: 1.0987, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.1878, d0.loss_map_pts: 1.0987, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1585, d1.loss_map_pts: 0.7482, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1360, d2.loss_map_pts: 0.6038, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1278, d3.loss_map_pts: 0.5413, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1235, d4.loss_map_pts: 0.5218, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1194, d5.loss_map_pts: 0.5122, d5.loss_map_dir: 0.0080, loss: 25.8311, grad_norm: 144.3568 +2026-02-27 15:04:17,529 - DriveTransformer - INFO - Epoch [7][21950/39528] lr: 8.550e-05, eta: 5 days, 20:23:58, time: 0.723, data_time: 0.037, memory: 19865, loss_cls: 0.1666, loss_bbox: 0.3679, loss_traj: 0.6310, loss_traj_cls: 0.0011, loss_map_cls: 0.1814, loss_map_pts: 0.7351, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.9140, d0.loss_plan_l1_fix_dist: 0.3481, d1.loss_plan_l1_fix_time: 1.0915, d1.loss_plan_l1_fix_dist: 0.1759, d2.loss_plan_l1_fix_time: 1.0838, d2.loss_plan_l1_fix_dist: 0.1830, d3.loss_plan_l1_fix_time: 1.0853, d3.loss_plan_l1_fix_dist: 0.1887, d4.loss_plan_l1_fix_time: 1.0884, d4.loss_plan_l1_fix_dist: 0.1904, d5.loss_plan_l1_fix_time: 1.0916, d5.loss_plan_l1_fix_dist: 0.2003, d6.loss_plan_l1_fix_time: 1.0951, d6.loss_plan_l1_fix_dist: 0.2156, d0.loss_cls_all: 0.2136, d0.loss_bbox_all: 0.4319, d0.loss_cls: 0.2136, d0.loss_bbox: 0.4319, d1.loss_cls: 0.2028, d1.loss_bbox: 0.3945, d2.loss_cls: 0.1878, d2.loss_bbox: 0.3738, d3.loss_cls: 0.1723, d3.loss_bbox: 0.3683, d4.loss_cls: 0.1660, d4.loss_bbox: 0.3687, d5.loss_cls: 0.1664, d5.loss_bbox: 0.3683, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8346, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6940, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6530, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6370, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6375, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6294, d0.loss_map_cls_all: 0.2586, d0.loss_map_pts_all: 1.3944, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2586, d0.loss_map_pts: 1.3944, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.2282, d1.loss_map_pts: 1.0139, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.2085, d2.loss_map_pts: 0.8441, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1961, d3.loss_map_pts: 0.7691, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1887, d4.loss_map_pts: 0.7424, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1834, d5.loss_map_pts: 0.7368, d5.loss_map_dir: 0.0094, loss: 29.6745, grad_norm: 141.9805 +2026-02-27 15:04:52,360 - DriveTransformer - INFO - Epoch [7][22000/39528] lr: 8.550e-05, eta: 5 days, 20:22:26, time: 0.698, data_time: 0.037, memory: 19865, loss_cls: 0.1353, loss_bbox: 0.3468, loss_traj: 0.6455, loss_traj_cls: 0.0010, loss_map_cls: 0.1340, loss_map_pts: 0.5637, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.4888, d0.loss_plan_l1_fix_dist: 0.3379, d1.loss_plan_l1_fix_time: 0.9699, d1.loss_plan_l1_fix_dist: 0.1575, d2.loss_plan_l1_fix_time: 0.9605, d2.loss_plan_l1_fix_dist: 0.1577, d3.loss_plan_l1_fix_time: 0.9572, d3.loss_plan_l1_fix_dist: 0.1696, d4.loss_plan_l1_fix_time: 0.9592, d4.loss_plan_l1_fix_dist: 0.1777, d5.loss_plan_l1_fix_time: 0.9625, d5.loss_plan_l1_fix_dist: 0.1849, d6.loss_plan_l1_fix_time: 0.9666, d6.loss_plan_l1_fix_dist: 0.1897, d0.loss_cls_all: 0.1675, d0.loss_bbox_all: 0.4026, d0.loss_cls: 0.1675, d0.loss_bbox: 0.4026, d1.loss_cls: 0.1613, d1.loss_bbox: 0.3717, d2.loss_cls: 0.1494, d2.loss_bbox: 0.3516, d3.loss_cls: 0.1403, d3.loss_bbox: 0.3453, d4.loss_cls: 0.1357, d4.loss_bbox: 0.3473, d5.loss_cls: 0.1344, d5.loss_bbox: 0.3470, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8868, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7193, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6582, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6421, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6411, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6436, d0.loss_map_cls_all: 0.1883, d0.loss_map_pts_all: 1.1292, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1883, d0.loss_map_pts: 1.1292, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1596, d1.loss_map_pts: 0.7954, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1427, d2.loss_map_pts: 0.6567, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1384, d3.loss_map_pts: 0.5936, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1339, d4.loss_map_pts: 0.5704, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1336, d5.loss_map_pts: 0.5654, d5.loss_map_dir: 0.0074, loss: 25.8687, grad_norm: 141.1062 +2026-02-27 15:05:28,233 - DriveTransformer - INFO - Epoch [7][22050/39528] lr: 8.550e-05, eta: 5 days, 20:21:23, time: 0.716, data_time: 0.032, memory: 19865, loss_cls: 0.1489, loss_bbox: 0.3641, loss_traj: 0.6695, loss_traj_cls: 0.0010, loss_map_cls: 0.1581, loss_map_pts: 0.6698, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.8801, d0.loss_plan_l1_fix_dist: 0.4152, d1.loss_plan_l1_fix_time: 1.1688, d1.loss_plan_l1_fix_dist: 0.2041, d2.loss_plan_l1_fix_time: 1.1523, d2.loss_plan_l1_fix_dist: 0.1980, d3.loss_plan_l1_fix_time: 1.1512, d3.loss_plan_l1_fix_dist: 0.1954, d4.loss_plan_l1_fix_time: 1.1532, d4.loss_plan_l1_fix_dist: 0.2060, d5.loss_plan_l1_fix_time: 1.1555, d5.loss_plan_l1_fix_dist: 0.2103, d6.loss_plan_l1_fix_time: 1.1581, d6.loss_plan_l1_fix_dist: 0.2164, d0.loss_cls_all: 0.1828, d0.loss_bbox_all: 0.4206, d0.loss_cls: 0.1828, d0.loss_bbox: 0.4206, d1.loss_cls: 0.1759, d1.loss_bbox: 0.3895, d2.loss_cls: 0.1609, d2.loss_bbox: 0.3754, d3.loss_cls: 0.1533, d3.loss_bbox: 0.3653, d4.loss_cls: 0.1477, d4.loss_bbox: 0.3644, d5.loss_cls: 0.1474, d5.loss_bbox: 0.3641, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9029, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7280, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6816, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6688, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6682, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6664, d0.loss_map_cls_all: 0.2318, d0.loss_map_pts_all: 1.3614, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2318, d0.loss_map_pts: 1.3614, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2001, d1.loss_map_pts: 0.9292, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1769, d2.loss_map_pts: 0.7694, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1680, d3.loss_map_pts: 0.7023, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1629, d4.loss_map_pts: 0.6780, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1582, d5.loss_map_pts: 0.6698, d5.loss_map_dir: 0.0090, loss: 29.5206, grad_norm: 135.8803 +2026-02-27 15:06:04,826 - DriveTransformer - INFO - Epoch [7][22100/39528] lr: 8.550e-05, eta: 5 days, 20:20:45, time: 0.732, data_time: 0.037, memory: 19865, loss_cls: 0.1531, loss_bbox: 0.3581, loss_traj: 0.5679, loss_traj_cls: 0.0011, loss_map_cls: 0.1612, loss_map_pts: 0.6579, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.2328, d0.loss_plan_l1_fix_dist: 0.4606, d1.loss_plan_l1_fix_time: 0.8956, d1.loss_plan_l1_fix_dist: 0.1625, d2.loss_plan_l1_fix_time: 0.8825, d2.loss_plan_l1_fix_dist: 0.1659, d3.loss_plan_l1_fix_time: 0.8906, d3.loss_plan_l1_fix_dist: 0.1537, d4.loss_plan_l1_fix_time: 0.8956, d4.loss_plan_l1_fix_dist: 0.1570, d5.loss_plan_l1_fix_time: 0.9005, d5.loss_plan_l1_fix_dist: 0.1695, d6.loss_plan_l1_fix_time: 0.9058, d6.loss_plan_l1_fix_dist: 0.1948, d0.loss_cls_all: 0.1930, d0.loss_bbox_all: 0.4093, d0.loss_cls: 0.1930, d0.loss_bbox: 0.4093, d1.loss_cls: 0.1864, d1.loss_bbox: 0.3791, d2.loss_cls: 0.1722, d2.loss_bbox: 0.3603, d3.loss_cls: 0.1571, d3.loss_bbox: 0.3563, d4.loss_cls: 0.1526, d4.loss_bbox: 0.3558, d5.loss_cls: 0.1527, d5.loss_bbox: 0.3559, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7178, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6062, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5666, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.5597, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5613, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5636, d0.loss_map_cls_all: 0.2292, d0.loss_map_pts_all: 1.2730, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2292, d0.loss_map_pts: 1.2730, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.2044, d1.loss_map_pts: 0.9145, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1852, d2.loss_map_pts: 0.7519, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1758, d3.loss_map_pts: 0.6890, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1682, d4.loss_map_pts: 0.6660, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1630, d5.loss_map_pts: 0.6581, d5.loss_map_dir: 0.0084, loss: 26.0254, grad_norm: 137.3051 +2026-02-27 15:06:40,843 - DriveTransformer - INFO - Epoch [7][22150/39528] lr: 8.550e-05, eta: 5 days, 20:19:49, time: 0.720, data_time: 0.034, memory: 19865, loss_cls: 0.1537, loss_bbox: 0.3700, loss_traj: 0.6229, loss_traj_cls: 0.0010, loss_map_cls: 0.1767, loss_map_pts: 0.7281, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.4060, d0.loss_plan_l1_fix_dist: 0.4833, d1.loss_plan_l1_fix_time: 1.0195, d1.loss_plan_l1_fix_dist: 0.1922, d2.loss_plan_l1_fix_time: 0.9965, d2.loss_plan_l1_fix_dist: 0.2058, d3.loss_plan_l1_fix_time: 0.9945, d3.loss_plan_l1_fix_dist: 0.2009, d4.loss_plan_l1_fix_time: 0.9966, d4.loss_plan_l1_fix_dist: 0.1961, d5.loss_plan_l1_fix_time: 0.9994, d5.loss_plan_l1_fix_dist: 0.1986, d6.loss_plan_l1_fix_time: 1.0030, d6.loss_plan_l1_fix_dist: 0.2089, d0.loss_cls_all: 0.1892, d0.loss_bbox_all: 0.4098, d0.loss_cls: 0.1892, d0.loss_bbox: 0.4098, d1.loss_cls: 0.1826, d1.loss_bbox: 0.3802, d2.loss_cls: 0.1700, d2.loss_bbox: 0.3646, d3.loss_cls: 0.1601, d3.loss_bbox: 0.3619, d4.loss_cls: 0.1554, d4.loss_bbox: 0.3634, d5.loss_cls: 0.1531, d5.loss_bbox: 0.3680, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8218, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6973, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6515, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6251, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6223, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6242, d0.loss_map_cls_all: 0.2525, d0.loss_map_pts_all: 1.3717, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2525, d0.loss_map_pts: 1.3717, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2271, d1.loss_map_pts: 0.9962, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.2038, d2.loss_map_pts: 0.8274, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1887, d3.loss_map_pts: 0.7589, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1829, d4.loss_map_pts: 0.7303, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1791, d5.loss_map_pts: 0.7277, d5.loss_map_dir: 0.0088, loss: 28.3966, grad_norm: 135.4829 +2026-02-27 15:07:14,902 - DriveTransformer - INFO - Epoch [7][22200/39528] lr: 8.550e-05, eta: 5 days, 20:17:52, time: 0.681, data_time: 0.036, memory: 19865, loss_cls: 0.1576, loss_bbox: 0.3549, loss_traj: 0.8486, loss_traj_cls: 0.0010, loss_map_cls: 0.1576, loss_map_pts: 0.6370, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.5938, d0.loss_plan_l1_fix_dist: 0.4242, d1.loss_plan_l1_fix_time: 1.1469, d1.loss_plan_l1_fix_dist: 0.2109, d2.loss_plan_l1_fix_time: 1.1335, d2.loss_plan_l1_fix_dist: 0.2231, d3.loss_plan_l1_fix_time: 1.1294, d3.loss_plan_l1_fix_dist: 0.2295, d4.loss_plan_l1_fix_time: 1.1312, d4.loss_plan_l1_fix_dist: 0.2305, d5.loss_plan_l1_fix_time: 1.1336, d5.loss_plan_l1_fix_dist: 0.2323, d6.loss_plan_l1_fix_time: 1.1375, d6.loss_plan_l1_fix_dist: 0.2375, d0.loss_cls_all: 0.1965, d0.loss_bbox_all: 0.4137, d0.loss_cls: 0.1965, d0.loss_bbox: 0.4137, d1.loss_cls: 0.1869, d1.loss_bbox: 0.3797, d2.loss_cls: 0.1716, d2.loss_bbox: 0.3632, d3.loss_cls: 0.1612, d3.loss_bbox: 0.3568, d4.loss_cls: 0.1594, d4.loss_bbox: 0.3547, d5.loss_cls: 0.1551, d5.loss_bbox: 0.3563, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1595, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9419, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8621, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8525, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8443, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.8461, d0.loss_map_cls_all: 0.2254, d0.loss_map_pts_all: 1.2014, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2254, d0.loss_map_pts: 1.2014, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.2001, d1.loss_map_pts: 0.8596, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1766, d2.loss_map_pts: 0.7213, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1653, d3.loss_map_pts: 0.6587, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1626, d4.loss_map_pts: 0.6383, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1592, d5.loss_map_pts: 0.6340, d5.loss_map_dir: 0.0081, loss: 30.0204, grad_norm: 135.6672 +2026-02-27 15:07:50,797 - DriveTransformer - INFO - Epoch [7][22250/39528] lr: 8.550e-05, eta: 5 days, 20:16:52, time: 0.718, data_time: 0.036, memory: 19865, loss_cls: 0.1363, loss_bbox: 0.3516, loss_traj: 0.5982, loss_traj_cls: 0.0010, loss_map_cls: 0.1617, loss_map_pts: 0.6970, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.3398, d0.loss_plan_l1_fix_dist: 0.3911, d1.loss_plan_l1_fix_time: 1.0647, d1.loss_plan_l1_fix_dist: 0.1768, d2.loss_plan_l1_fix_time: 1.0526, d2.loss_plan_l1_fix_dist: 0.1778, d3.loss_plan_l1_fix_time: 1.0533, d3.loss_plan_l1_fix_dist: 0.1824, d4.loss_plan_l1_fix_time: 1.0567, d4.loss_plan_l1_fix_dist: 0.1886, d5.loss_plan_l1_fix_time: 1.0607, d5.loss_plan_l1_fix_dist: 0.2072, d6.loss_plan_l1_fix_time: 1.0646, d6.loss_plan_l1_fix_dist: 0.2134, d0.loss_cls_all: 0.1772, d0.loss_bbox_all: 0.4136, d0.loss_cls: 0.1772, d0.loss_bbox: 0.4136, d1.loss_cls: 0.1700, d1.loss_bbox: 0.3789, d2.loss_cls: 0.1534, d2.loss_bbox: 0.3635, d3.loss_cls: 0.1422, d3.loss_bbox: 0.3546, d4.loss_cls: 0.1375, d4.loss_bbox: 0.3526, d5.loss_cls: 0.1346, d5.loss_bbox: 0.3513, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8074, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6442, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6050, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5982, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5973, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5948, d0.loss_map_cls_all: 0.2464, d0.loss_map_pts_all: 1.4116, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2464, d0.loss_map_pts: 1.4116, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2169, d1.loss_map_pts: 1.0141, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1884, d2.loss_map_pts: 0.8197, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1763, d3.loss_map_pts: 0.7351, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1674, d4.loss_map_pts: 0.7070, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1638, d5.loss_map_pts: 0.6986, d5.loss_map_dir: 0.0097, loss: 28.0265, grad_norm: 137.9794 +2026-02-27 15:08:27,812 - DriveTransformer - INFO - Epoch [7][22300/39528] lr: 8.550e-05, eta: 5 days, 20:16:27, time: 0.740, data_time: 0.039, memory: 19865, loss_cls: 0.1757, loss_bbox: 0.3886, loss_traj: 0.7114, loss_traj_cls: 0.0010, loss_map_cls: 0.1715, loss_map_pts: 0.7450, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.5946, d0.loss_plan_l1_fix_dist: 0.4463, d1.loss_plan_l1_fix_time: 1.1272, d1.loss_plan_l1_fix_dist: 0.2053, d2.loss_plan_l1_fix_time: 1.1113, d2.loss_plan_l1_fix_dist: 0.1991, d3.loss_plan_l1_fix_time: 1.1085, d3.loss_plan_l1_fix_dist: 0.2085, d4.loss_plan_l1_fix_time: 1.1121, d4.loss_plan_l1_fix_dist: 0.2219, d5.loss_plan_l1_fix_time: 1.1158, d5.loss_plan_l1_fix_dist: 0.2442, d6.loss_plan_l1_fix_time: 1.1186, d6.loss_plan_l1_fix_dist: 0.2479, d0.loss_cls_all: 0.2160, d0.loss_bbox_all: 0.4443, d0.loss_cls: 0.2160, d0.loss_bbox: 0.4443, d1.loss_cls: 0.2107, d1.loss_bbox: 0.4092, d2.loss_cls: 0.1980, d2.loss_bbox: 0.3934, d3.loss_cls: 0.1830, d3.loss_bbox: 0.3894, d4.loss_cls: 0.1741, d4.loss_bbox: 0.3906, d5.loss_cls: 0.1742, d5.loss_bbox: 0.3878, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9625, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7525, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7143, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6978, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7052, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7066, d0.loss_map_cls_all: 0.2603, d0.loss_map_pts_all: 1.4135, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2603, d0.loss_map_pts: 1.4135, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2203, d1.loss_map_pts: 0.9999, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1922, d2.loss_map_pts: 0.8405, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1804, d3.loss_map_pts: 0.7775, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1764, d4.loss_map_pts: 0.7527, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1725, d5.loss_map_pts: 0.7456, d5.loss_map_dir: 0.0090, loss: 30.5069, grad_norm: 138.6401 +2026-02-27 15:09:04,023 - DriveTransformer - INFO - Epoch [7][22350/39528] lr: 8.550e-05, eta: 5 days, 20:15:38, time: 0.724, data_time: 0.040, memory: 19865, loss_cls: 0.1527, loss_bbox: 0.3454, loss_traj: 0.6315, loss_traj_cls: 0.0010, loss_map_cls: 0.1537, loss_map_pts: 0.6779, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.6511, d0.loss_plan_l1_fix_dist: 0.3796, d1.loss_plan_l1_fix_time: 0.9396, d1.loss_plan_l1_fix_dist: 0.1891, d2.loss_plan_l1_fix_time: 0.9263, d2.loss_plan_l1_fix_dist: 0.1735, d3.loss_plan_l1_fix_time: 0.9227, d3.loss_plan_l1_fix_dist: 0.1772, d4.loss_plan_l1_fix_time: 0.9260, d4.loss_plan_l1_fix_dist: 0.1849, d5.loss_plan_l1_fix_time: 0.9295, d5.loss_plan_l1_fix_dist: 0.1923, d6.loss_plan_l1_fix_time: 0.9335, d6.loss_plan_l1_fix_dist: 0.2187, d0.loss_cls_all: 0.1988, d0.loss_bbox_all: 0.3965, d0.loss_cls: 0.1988, d0.loss_bbox: 0.3965, d1.loss_cls: 0.1871, d1.loss_bbox: 0.3713, d2.loss_cls: 0.1771, d2.loss_bbox: 0.3498, d3.loss_cls: 0.1613, d3.loss_bbox: 0.3466, d4.loss_cls: 0.1547, d4.loss_bbox: 0.3442, d5.loss_cls: 0.1533, d5.loss_bbox: 0.3435, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8294, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6885, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6427, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6319, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6283, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6276, d0.loss_map_cls_all: 0.2272, d0.loss_map_pts_all: 1.2747, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2272, d0.loss_map_pts: 1.2747, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2015, d1.loss_map_pts: 0.9171, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1779, d2.loss_map_pts: 0.7668, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1646, d3.loss_map_pts: 0.7090, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1600, d4.loss_map_pts: 0.6845, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1555, d5.loss_map_pts: 0.6791, d5.loss_map_dir: 0.0094, loss: 27.2329, grad_norm: 136.5132 +2026-02-27 15:09:42,232 - DriveTransformer - INFO - Epoch [7][22400/39528] lr: 8.550e-05, eta: 5 days, 20:15:49, time: 0.764, data_time: 0.036, memory: 19865, loss_cls: 0.1426, loss_bbox: 0.3483, loss_traj: 0.6209, loss_traj_cls: 0.0010, loss_map_cls: 0.1661, loss_map_pts: 0.7488, loss_map_dir: 0.0120, d0.loss_plan_l1_fix_time: 2.9152, d0.loss_plan_l1_fix_dist: 0.3991, d1.loss_plan_l1_fix_time: 1.1528, d1.loss_plan_l1_fix_dist: 0.2176, d2.loss_plan_l1_fix_time: 1.1535, d2.loss_plan_l1_fix_dist: 0.1985, d3.loss_plan_l1_fix_time: 1.1484, d3.loss_plan_l1_fix_dist: 0.2035, d4.loss_plan_l1_fix_time: 1.1530, d4.loss_plan_l1_fix_dist: 0.2183, d5.loss_plan_l1_fix_time: 1.1586, d5.loss_plan_l1_fix_dist: 0.2288, d6.loss_plan_l1_fix_time: 1.1652, d6.loss_plan_l1_fix_dist: 0.2720, d0.loss_cls_all: 0.1868, d0.loss_bbox_all: 0.4013, d0.loss_cls: 0.1868, d0.loss_bbox: 0.4013, d1.loss_cls: 0.1804, d1.loss_bbox: 0.3679, d2.loss_cls: 0.1667, d2.loss_bbox: 0.3526, d3.loss_cls: 0.1506, d3.loss_bbox: 0.3480, d4.loss_cls: 0.1451, d4.loss_bbox: 0.3462, d5.loss_cls: 0.1433, d5.loss_bbox: 0.3464, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7762, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6420, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6177, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6104, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6161, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6208, d0.loss_map_cls_all: 0.2388, d0.loss_map_pts_all: 1.6175, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2388, d0.loss_map_pts: 1.6175, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2084, d1.loss_map_pts: 1.0801, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.1883, d2.loss_map_pts: 0.8749, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1778, d3.loss_map_pts: 0.7882, d3.loss_map_dir: 0.0113, d4.loss_map_cls: 0.1719, d4.loss_map_pts: 0.7594, d4.loss_map_dir: 0.0118, d5.loss_map_cls: 0.1690, d5.loss_map_pts: 0.7498, d5.loss_map_dir: 0.0118, loss: 30.1967, grad_norm: 141.7605 +2026-02-27 15:10:19,802 - DriveTransformer - INFO - Epoch [7][22450/39528] lr: 8.550e-05, eta: 5 days, 20:15:41, time: 0.751, data_time: 0.038, memory: 19865, loss_cls: 0.1404, loss_bbox: 0.3354, loss_traj: 0.6344, loss_traj_cls: 0.0010, loss_map_cls: 0.1461, loss_map_pts: 0.6263, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.5267, d0.loss_plan_l1_fix_dist: 0.4350, d1.loss_plan_l1_fix_time: 1.1103, d1.loss_plan_l1_fix_dist: 0.2215, d2.loss_plan_l1_fix_time: 1.1036, d2.loss_plan_l1_fix_dist: 0.2015, d3.loss_plan_l1_fix_time: 1.0990, d3.loss_plan_l1_fix_dist: 0.1977, d4.loss_plan_l1_fix_time: 1.1036, d4.loss_plan_l1_fix_dist: 0.2027, d5.loss_plan_l1_fix_time: 1.1088, d5.loss_plan_l1_fix_dist: 0.2079, d6.loss_plan_l1_fix_time: 1.1151, d6.loss_plan_l1_fix_dist: 0.2243, d0.loss_cls_all: 0.1770, d0.loss_bbox_all: 0.3840, d0.loss_cls: 0.1770, d0.loss_bbox: 0.3840, d1.loss_cls: 0.1756, d1.loss_bbox: 0.3545, d2.loss_cls: 0.1618, d2.loss_bbox: 0.3385, d3.loss_cls: 0.1452, d3.loss_bbox: 0.3367, d4.loss_cls: 0.1412, d4.loss_bbox: 0.3346, d5.loss_cls: 0.1390, d5.loss_bbox: 0.3346, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7824, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6590, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6318, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6373, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6312, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6335, d0.loss_map_cls_all: 0.2109, d0.loss_map_pts_all: 1.3547, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2109, d0.loss_map_pts: 1.3547, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.1842, d1.loss_map_pts: 0.9028, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1666, d2.loss_map_pts: 0.7241, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1577, d3.loss_map_pts: 0.6510, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1528, d4.loss_map_pts: 0.6316, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1489, d5.loss_map_pts: 0.6259, d5.loss_map_dir: 0.0100, loss: 27.8630, grad_norm: 146.4507 +2026-02-27 15:10:56,517 - DriveTransformer - INFO - Epoch [7][22500/39528] lr: 8.550e-05, eta: 5 days, 20:15:07, time: 0.734, data_time: 0.037, memory: 19865, loss_cls: 0.1498, loss_bbox: 0.3506, loss_traj: 0.5508, loss_traj_cls: 0.0010, loss_map_cls: 0.1510, loss_map_pts: 0.6160, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.8676, d0.loss_plan_l1_fix_dist: 0.3634, d1.loss_plan_l1_fix_time: 1.1338, d1.loss_plan_l1_fix_dist: 0.2189, d2.loss_plan_l1_fix_time: 1.1172, d2.loss_plan_l1_fix_dist: 0.2201, d3.loss_plan_l1_fix_time: 1.1281, d3.loss_plan_l1_fix_dist: 0.2294, d4.loss_plan_l1_fix_time: 1.1356, d4.loss_plan_l1_fix_dist: 0.2403, d5.loss_plan_l1_fix_time: 1.1434, d5.loss_plan_l1_fix_dist: 0.2579, d6.loss_plan_l1_fix_time: 1.1522, d6.loss_plan_l1_fix_dist: 0.2664, d0.loss_cls_all: 0.1898, d0.loss_bbox_all: 0.3962, d0.loss_cls: 0.1898, d0.loss_bbox: 0.3962, d1.loss_cls: 0.1786, d1.loss_bbox: 0.3696, d2.loss_cls: 0.1643, d2.loss_bbox: 0.3532, d3.loss_cls: 0.1560, d3.loss_bbox: 0.3466, d4.loss_cls: 0.1505, d4.loss_bbox: 0.3454, d5.loss_cls: 0.1482, d5.loss_bbox: 0.3490, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7886, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6175, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5575, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5497, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5490, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5521, d0.loss_map_cls_all: 0.2389, d0.loss_map_pts_all: 1.2574, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2389, d0.loss_map_pts: 1.2574, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1984, d1.loss_map_pts: 0.8737, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1740, d2.loss_map_pts: 0.7173, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1616, d3.loss_map_pts: 0.6441, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1547, d4.loss_map_pts: 0.6214, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1529, d5.loss_map_pts: 0.6163, d5.loss_map_dir: 0.0093, loss: 28.0272, grad_norm: 148.9296 +2026-02-27 15:11:33,347 - DriveTransformer - INFO - Epoch [7][22550/39528] lr: 8.550e-05, eta: 5 days, 20:14:36, time: 0.737, data_time: 0.036, memory: 19865, loss_cls: 0.1589, loss_bbox: 0.3822, loss_traj: 0.6603, loss_traj_cls: 0.0010, loss_map_cls: 0.1908, loss_map_pts: 0.7804, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 3.0605, d0.loss_plan_l1_fix_dist: 0.3724, d1.loss_plan_l1_fix_time: 1.2871, d1.loss_plan_l1_fix_dist: 0.2363, d2.loss_plan_l1_fix_time: 1.2720, d2.loss_plan_l1_fix_dist: 0.2287, d3.loss_plan_l1_fix_time: 1.2723, d3.loss_plan_l1_fix_dist: 0.2322, d4.loss_plan_l1_fix_time: 1.2765, d4.loss_plan_l1_fix_dist: 0.2318, d5.loss_plan_l1_fix_time: 1.2815, d5.loss_plan_l1_fix_dist: 0.2379, d6.loss_plan_l1_fix_time: 1.2870, d6.loss_plan_l1_fix_dist: 0.2381, d0.loss_cls_all: 0.2076, d0.loss_bbox_all: 0.4366, d0.loss_cls: 0.2076, d0.loss_bbox: 0.4366, d1.loss_cls: 0.1967, d1.loss_bbox: 0.4075, d2.loss_cls: 0.1815, d2.loss_bbox: 0.3862, d3.loss_cls: 0.1676, d3.loss_bbox: 0.3827, d4.loss_cls: 0.1603, d4.loss_bbox: 0.3810, d5.loss_cls: 0.1573, d5.loss_bbox: 0.3819, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8641, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7002, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6657, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6587, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6608, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6619, d0.loss_map_cls_all: 0.2666, d0.loss_map_pts_all: 1.4350, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2666, d0.loss_map_pts: 1.4350, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2345, d1.loss_map_pts: 1.0078, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.2136, d2.loss_map_pts: 0.8629, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.2034, d3.loss_map_pts: 0.8064, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1992, d4.loss_map_pts: 0.7893, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1932, d5.loss_map_pts: 0.7826, d5.loss_map_dir: 0.0106, loss: 31.7748, grad_norm: 149.2663 +2026-02-27 15:12:11,158 - DriveTransformer - INFO - Epoch [7][22600/39528] lr: 8.550e-05, eta: 5 days, 20:14:35, time: 0.756, data_time: 0.035, memory: 19865, loss_cls: 0.1473, loss_bbox: 0.3522, loss_traj: 0.6235, loss_traj_cls: 0.0010, loss_map_cls: 0.1618, loss_map_pts: 0.7580, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.2926, d0.loss_plan_l1_fix_dist: 0.3651, d1.loss_plan_l1_fix_time: 1.0797, d1.loss_plan_l1_fix_dist: 0.2093, d2.loss_plan_l1_fix_time: 1.0595, d2.loss_plan_l1_fix_dist: 0.1948, d3.loss_plan_l1_fix_time: 1.0579, d3.loss_plan_l1_fix_dist: 0.1997, d4.loss_plan_l1_fix_time: 1.0607, d4.loss_plan_l1_fix_dist: 0.2085, d5.loss_plan_l1_fix_time: 1.0642, d5.loss_plan_l1_fix_dist: 0.2290, d6.loss_plan_l1_fix_time: 1.0679, d6.loss_plan_l1_fix_dist: 0.2530, d0.loss_cls_all: 0.1895, d0.loss_bbox_all: 0.4137, d0.loss_cls: 0.1895, d0.loss_bbox: 0.4137, d1.loss_cls: 0.1810, d1.loss_bbox: 0.3805, d2.loss_cls: 0.1664, d2.loss_bbox: 0.3639, d3.loss_cls: 0.1523, d3.loss_bbox: 0.3597, d4.loss_cls: 0.1470, d4.loss_bbox: 0.3553, d5.loss_cls: 0.1471, d5.loss_bbox: 0.3518, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8246, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6809, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6361, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6236, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6237, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6237, d0.loss_map_cls_all: 0.2362, d0.loss_map_pts_all: 1.5202, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2362, d0.loss_map_pts: 1.5202, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2034, d1.loss_map_pts: 1.0808, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.1811, d2.loss_map_pts: 0.8747, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1718, d3.loss_map_pts: 0.7946, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1668, d4.loss_map_pts: 0.7656, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1637, d5.loss_map_pts: 0.7585, d5.loss_map_dir: 0.0113, loss: 28.9770, grad_norm: 149.9544 +2026-02-27 15:12:46,684 - DriveTransformer - INFO - Epoch [7][22650/39528] lr: 8.550e-05, eta: 5 days, 20:13:24, time: 0.710, data_time: 0.035, memory: 19865, loss_cls: 0.1747, loss_bbox: 0.3742, loss_traj: 0.4909, loss_traj_cls: 0.0011, loss_map_cls: 0.1896, loss_map_pts: 0.7841, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.6058, d0.loss_plan_l1_fix_dist: 0.4513, d1.loss_plan_l1_fix_time: 1.0891, d1.loss_plan_l1_fix_dist: 0.2113, d2.loss_plan_l1_fix_time: 1.0779, d2.loss_plan_l1_fix_dist: 0.2043, d3.loss_plan_l1_fix_time: 1.0815, d3.loss_plan_l1_fix_dist: 0.2068, d4.loss_plan_l1_fix_time: 1.0846, d4.loss_plan_l1_fix_dist: 0.2165, d5.loss_plan_l1_fix_time: 1.0875, d5.loss_plan_l1_fix_dist: 0.2368, d6.loss_plan_l1_fix_time: 1.0910, d6.loss_plan_l1_fix_dist: 0.2637, d0.loss_cls_all: 0.2232, d0.loss_bbox_all: 0.4297, d0.loss_cls: 0.2232, d0.loss_bbox: 0.4297, d1.loss_cls: 0.2149, d1.loss_bbox: 0.3991, d2.loss_cls: 0.1967, d2.loss_bbox: 0.3823, d3.loss_cls: 0.1807, d3.loss_bbox: 0.3778, d4.loss_cls: 0.1770, d4.loss_bbox: 0.3731, d5.loss_cls: 0.1743, d5.loss_bbox: 0.3726, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6685, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5434, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5015, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.4861, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.4859, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.4881, d0.loss_map_cls_all: 0.2586, d0.loss_map_pts_all: 1.5411, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2586, d0.loss_map_pts: 1.5411, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2296, d1.loss_map_pts: 1.1134, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.2108, d2.loss_map_pts: 0.9153, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1991, d3.loss_map_pts: 0.8276, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1934, d4.loss_map_pts: 0.7937, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1915, d5.loss_map_pts: 0.7849, d5.loss_map_dir: 0.0106, loss: 29.3972, grad_norm: 151.6521 +2026-02-27 15:13:23,095 - DriveTransformer - INFO - Epoch [7][22700/39528] lr: 8.550e-05, eta: 5 days, 20:12:41, time: 0.728, data_time: 0.037, memory: 19865, loss_cls: 0.1443, loss_bbox: 0.3673, loss_traj: 0.5712, loss_traj_cls: 0.0010, loss_map_cls: 0.1534, loss_map_pts: 0.6918, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.8657, d0.loss_plan_l1_fix_dist: 0.4353, d1.loss_plan_l1_fix_time: 1.0554, d1.loss_plan_l1_fix_dist: 0.1909, d2.loss_plan_l1_fix_time: 1.0325, d2.loss_plan_l1_fix_dist: 0.1886, d3.loss_plan_l1_fix_time: 1.0264, d3.loss_plan_l1_fix_dist: 0.1916, d4.loss_plan_l1_fix_time: 1.0297, d4.loss_plan_l1_fix_dist: 0.2036, d5.loss_plan_l1_fix_time: 1.0329, d5.loss_plan_l1_fix_dist: 0.2205, d6.loss_plan_l1_fix_time: 1.0369, d6.loss_plan_l1_fix_dist: 0.2390, d0.loss_cls_all: 0.1904, d0.loss_bbox_all: 0.4294, d0.loss_cls: 0.1904, d0.loss_bbox: 0.4294, d1.loss_cls: 0.1809, d1.loss_bbox: 0.3952, d2.loss_cls: 0.1634, d2.loss_bbox: 0.3779, d3.loss_cls: 0.1510, d3.loss_bbox: 0.3723, d4.loss_cls: 0.1476, d4.loss_bbox: 0.3689, d5.loss_cls: 0.1454, d5.loss_bbox: 0.3668, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7679, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6231, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5774, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5662, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5659, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5689, d0.loss_map_cls_all: 0.2353, d0.loss_map_pts_all: 1.3832, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2353, d0.loss_map_pts: 1.3832, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1982, d1.loss_map_pts: 0.9553, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1753, d2.loss_map_pts: 0.7864, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1658, d3.loss_map_pts: 0.7227, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1592, d4.loss_map_pts: 0.6995, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1549, d5.loss_map_pts: 0.6914, d5.loss_map_dir: 0.0101, loss: 28.2862, grad_norm: 152.9624 +2026-02-27 15:13:59,970 - DriveTransformer - INFO - Epoch [7][22750/39528] lr: 8.550e-05, eta: 5 days, 20:12:11, time: 0.738, data_time: 0.036, memory: 19865, loss_cls: 0.1470, loss_bbox: 0.3445, loss_traj: 0.6172, loss_traj_cls: 0.0011, loss_map_cls: 0.1562, loss_map_pts: 0.6726, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.7429, d0.loss_plan_l1_fix_dist: 0.4272, d1.loss_plan_l1_fix_time: 1.0550, d1.loss_plan_l1_fix_dist: 0.2056, d2.loss_plan_l1_fix_time: 1.0411, d2.loss_plan_l1_fix_dist: 0.2062, d3.loss_plan_l1_fix_time: 1.0325, d3.loss_plan_l1_fix_dist: 0.2152, d4.loss_plan_l1_fix_time: 1.0353, d4.loss_plan_l1_fix_dist: 0.2297, d5.loss_plan_l1_fix_time: 1.0386, d5.loss_plan_l1_fix_dist: 0.2390, d6.loss_plan_l1_fix_time: 1.0427, d6.loss_plan_l1_fix_dist: 0.2554, d0.loss_cls_all: 0.1918, d0.loss_bbox_all: 0.4013, d0.loss_cls: 0.1918, d0.loss_bbox: 0.4013, d1.loss_cls: 0.1815, d1.loss_bbox: 0.3710, d2.loss_cls: 0.1650, d2.loss_bbox: 0.3531, d3.loss_cls: 0.1551, d3.loss_bbox: 0.3487, d4.loss_cls: 0.1493, d4.loss_bbox: 0.3462, d5.loss_cls: 0.1466, d5.loss_bbox: 0.3443, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8360, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6846, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6247, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6202, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6202, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6196, d0.loss_map_cls_all: 0.2411, d0.loss_map_pts_all: 1.3503, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2411, d0.loss_map_pts: 1.3503, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2044, d1.loss_map_pts: 0.9226, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1782, d2.loss_map_pts: 0.7659, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1690, d3.loss_map_pts: 0.7042, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1608, d4.loss_map_pts: 0.6821, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1576, d5.loss_map_pts: 0.6728, d5.loss_map_dir: 0.0096, loss: 28.3386, grad_norm: 155.1467 +2026-02-27 15:14:37,299 - DriveTransformer - INFO - Epoch [7][22800/39528] lr: 8.550e-05, eta: 5 days, 20:11:58, time: 0.748, data_time: 0.036, memory: 19865, loss_cls: 0.1411, loss_bbox: 0.3383, loss_traj: 0.6637, loss_traj_cls: 0.0011, loss_map_cls: 0.1404, loss_map_pts: 0.6738, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.4637, d0.loss_plan_l1_fix_dist: 0.4865, d1.loss_plan_l1_fix_time: 0.9923, d1.loss_plan_l1_fix_dist: 0.1892, d2.loss_plan_l1_fix_time: 0.9838, d2.loss_plan_l1_fix_dist: 0.1894, d3.loss_plan_l1_fix_time: 0.9842, d3.loss_plan_l1_fix_dist: 0.1951, d4.loss_plan_l1_fix_time: 0.9869, d4.loss_plan_l1_fix_dist: 0.2106, d5.loss_plan_l1_fix_time: 0.9901, d5.loss_plan_l1_fix_dist: 0.2200, d6.loss_plan_l1_fix_time: 0.9940, d6.loss_plan_l1_fix_dist: 0.2276, d0.loss_cls_all: 0.1741, d0.loss_bbox_all: 0.3984, d0.loss_cls: 0.1741, d0.loss_bbox: 0.3984, d1.loss_cls: 0.1695, d1.loss_bbox: 0.3696, d2.loss_cls: 0.1580, d2.loss_bbox: 0.3499, d3.loss_cls: 0.1473, d3.loss_bbox: 0.3437, d4.loss_cls: 0.1413, d4.loss_bbox: 0.3419, d5.loss_cls: 0.1407, d5.loss_bbox: 0.3397, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8848, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7206, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6872, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6760, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6667, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6680, d0.loss_map_cls_all: 0.2056, d0.loss_map_pts_all: 1.4119, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2056, d0.loss_map_pts: 1.4119, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1807, d1.loss_map_pts: 0.9691, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1606, d2.loss_map_pts: 0.7838, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1516, d3.loss_map_pts: 0.7072, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1470, d4.loss_map_pts: 0.6821, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1420, d5.loss_map_pts: 0.6740, d5.loss_map_dir: 0.0104, loss: 27.9401, grad_norm: 157.0519 +2026-02-27 15:15:11,950 - DriveTransformer - INFO - Epoch [7][22850/39528] lr: 8.550e-05, eta: 5 days, 20:10:19, time: 0.692, data_time: 0.035, memory: 19865, loss_cls: 0.1593, loss_bbox: 0.3715, loss_traj: 0.6834, loss_traj_cls: 0.0011, loss_map_cls: 0.1785, loss_map_pts: 0.7323, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 3.1878, d0.loss_plan_l1_fix_dist: 0.5189, d1.loss_plan_l1_fix_time: 1.2501, d1.loss_plan_l1_fix_dist: 0.2028, d2.loss_plan_l1_fix_time: 1.2423, d2.loss_plan_l1_fix_dist: 0.2031, d3.loss_plan_l1_fix_time: 1.2455, d3.loss_plan_l1_fix_dist: 0.2055, d4.loss_plan_l1_fix_time: 1.2487, d4.loss_plan_l1_fix_dist: 0.2140, d5.loss_plan_l1_fix_time: 1.2526, d5.loss_plan_l1_fix_dist: 0.2266, d6.loss_plan_l1_fix_time: 1.2572, d6.loss_plan_l1_fix_dist: 0.2397, d0.loss_cls_all: 0.2052, d0.loss_bbox_all: 0.4362, d0.loss_cls: 0.2052, d0.loss_bbox: 0.4362, d1.loss_cls: 0.1940, d1.loss_bbox: 0.4016, d2.loss_cls: 0.1811, d2.loss_bbox: 0.3828, d3.loss_cls: 0.1646, d3.loss_bbox: 0.3767, d4.loss_cls: 0.1603, d4.loss_bbox: 0.3734, d5.loss_cls: 0.1600, d5.loss_bbox: 0.3712, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9463, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7558, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6927, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6831, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6814, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6836, d0.loss_map_cls_all: 0.2527, d0.loss_map_pts_all: 1.3513, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2527, d0.loss_map_pts: 1.3513, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2269, d1.loss_map_pts: 0.9792, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.2060, d2.loss_map_pts: 0.8310, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1909, d3.loss_map_pts: 0.7643, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1834, d4.loss_map_pts: 0.7394, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1797, d5.loss_map_pts: 0.7339, d5.loss_map_dir: 0.0096, loss: 31.4361, grad_norm: 157.3916 +2026-02-27 15:15:48,314 - DriveTransformer - INFO - Epoch [7][22900/39528] lr: 8.550e-05, eta: 5 days, 20:09:34, time: 0.727, data_time: 0.037, memory: 19865, loss_cls: 0.1577, loss_bbox: 0.3489, loss_traj: 0.6767, loss_traj_cls: 0.0010, loss_map_cls: 0.1930, loss_map_pts: 0.7659, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.4594, d0.loss_plan_l1_fix_dist: 0.3787, d1.loss_plan_l1_fix_time: 0.9950, d1.loss_plan_l1_fix_dist: 0.1865, d2.loss_plan_l1_fix_time: 0.9707, d2.loss_plan_l1_fix_dist: 0.1804, d3.loss_plan_l1_fix_time: 0.9621, d3.loss_plan_l1_fix_dist: 0.1802, d4.loss_plan_l1_fix_time: 0.9638, d4.loss_plan_l1_fix_dist: 0.1790, d5.loss_plan_l1_fix_time: 0.9667, d5.loss_plan_l1_fix_dist: 0.1828, d6.loss_plan_l1_fix_time: 0.9707, d6.loss_plan_l1_fix_dist: 0.1959, d0.loss_cls_all: 0.1974, d0.loss_bbox_all: 0.4094, d0.loss_cls: 0.1974, d0.loss_bbox: 0.4094, d1.loss_cls: 0.1895, d1.loss_bbox: 0.3761, d2.loss_cls: 0.1752, d2.loss_bbox: 0.3588, d3.loss_cls: 0.1654, d3.loss_bbox: 0.3516, d4.loss_cls: 0.1593, d4.loss_bbox: 0.3493, d5.loss_cls: 0.1564, d5.loss_bbox: 0.3507, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8862, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7280, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6869, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6767, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6790, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6792, d0.loss_map_cls_all: 0.2673, d0.loss_map_pts_all: 1.5007, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2673, d0.loss_map_pts: 1.5007, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2428, d1.loss_map_pts: 1.0811, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.2199, d2.loss_map_pts: 0.8907, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.2079, d3.loss_map_pts: 0.8103, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1996, d4.loss_map_pts: 0.7753, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1951, d5.loss_map_pts: 0.7676, d5.loss_map_dir: 0.0097, loss: 29.1030, grad_norm: 157.9524 +2026-02-27 15:16:24,877 - DriveTransformer - INFO - Epoch [7][22950/39528] lr: 8.550e-05, eta: 5 days, 20:08:55, time: 0.731, data_time: 0.036, memory: 19865, loss_cls: 0.1471, loss_bbox: 0.3512, loss_traj: 0.6166, loss_traj_cls: 0.0011, loss_map_cls: 0.1724, loss_map_pts: 0.7799, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.9223, d0.loss_plan_l1_fix_dist: 0.3964, d1.loss_plan_l1_fix_time: 1.1143, d1.loss_plan_l1_fix_dist: 0.2056, d2.loss_plan_l1_fix_time: 1.0926, d2.loss_plan_l1_fix_dist: 0.1911, d3.loss_plan_l1_fix_time: 1.0916, d3.loss_plan_l1_fix_dist: 0.1954, d4.loss_plan_l1_fix_time: 1.0945, d4.loss_plan_l1_fix_dist: 0.2023, d5.loss_plan_l1_fix_time: 1.0980, d5.loss_plan_l1_fix_dist: 0.2142, d6.loss_plan_l1_fix_time: 1.1023, d6.loss_plan_l1_fix_dist: 0.2278, d0.loss_cls_all: 0.1881, d0.loss_bbox_all: 0.4207, d0.loss_cls: 0.1881, d0.loss_bbox: 0.4207, d1.loss_cls: 0.1773, d1.loss_bbox: 0.3845, d2.loss_cls: 0.1660, d2.loss_bbox: 0.3629, d3.loss_cls: 0.1534, d3.loss_bbox: 0.3535, d4.loss_cls: 0.1477, d4.loss_bbox: 0.3509, d5.loss_cls: 0.1473, d5.loss_bbox: 0.3496, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8046, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6737, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6264, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6109, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6155, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6160, d0.loss_map_cls_all: 0.2493, d0.loss_map_pts_all: 1.5542, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2493, d0.loss_map_pts: 1.5542, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.2215, d1.loss_map_pts: 1.0776, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.2010, d2.loss_map_pts: 0.8985, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1861, d3.loss_map_pts: 0.8184, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1795, d4.loss_map_pts: 0.7891, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1736, d5.loss_map_pts: 0.7817, d5.loss_map_dir: 0.0109, loss: 30.0012, grad_norm: 157.2571 +2026-02-27 15:17:01,483 - DriveTransformer - INFO - Epoch [7][23000/39528] lr: 8.550e-05, eta: 5 days, 20:08:17, time: 0.732, data_time: 0.037, memory: 19865, loss_cls: 0.1628, loss_bbox: 0.3464, loss_traj: 0.5264, loss_traj_cls: 0.0011, loss_map_cls: 0.1608, loss_map_pts: 0.6906, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.3807, d0.loss_plan_l1_fix_dist: 0.3674, d1.loss_plan_l1_fix_time: 0.9441, d1.loss_plan_l1_fix_dist: 0.2019, d2.loss_plan_l1_fix_time: 0.9306, d2.loss_plan_l1_fix_dist: 0.1864, d3.loss_plan_l1_fix_time: 0.9276, d3.loss_plan_l1_fix_dist: 0.1903, d4.loss_plan_l1_fix_time: 0.9304, d4.loss_plan_l1_fix_dist: 0.1988, d5.loss_plan_l1_fix_time: 0.9335, d5.loss_plan_l1_fix_dist: 0.2100, d6.loss_plan_l1_fix_time: 0.9367, d6.loss_plan_l1_fix_dist: 0.2170, d0.loss_cls_all: 0.2076, d0.loss_bbox_all: 0.4127, d0.loss_cls: 0.2076, d0.loss_bbox: 0.4127, d1.loss_cls: 0.1972, d1.loss_bbox: 0.3811, d2.loss_cls: 0.1845, d2.loss_bbox: 0.3607, d3.loss_cls: 0.1716, d3.loss_bbox: 0.3538, d4.loss_cls: 0.1637, d4.loss_bbox: 0.3496, d5.loss_cls: 0.1627, d5.loss_bbox: 0.3462, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7120, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5693, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5299, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5257, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5247, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5252, d0.loss_map_cls_all: 0.2349, d0.loss_map_pts_all: 1.4139, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2349, d0.loss_map_pts: 1.4139, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2064, d1.loss_map_pts: 0.9708, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1857, d2.loss_map_pts: 0.7989, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1724, d3.loss_map_pts: 0.7228, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1648, d4.loss_map_pts: 0.6988, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1608, d5.loss_map_pts: 0.6923, d5.loss_map_dir: 0.0096, loss: 26.8947, grad_norm: 158.3260 +2026-02-27 15:17:39,330 - DriveTransformer - INFO - Epoch [7][23050/39528] lr: 8.550e-05, eta: 5 days, 20:08:17, time: 0.757, data_time: 0.037, memory: 19865, loss_cls: 0.1681, loss_bbox: 0.3426, loss_traj: 0.5894, loss_traj_cls: 0.0011, loss_map_cls: 0.1413, loss_map_pts: 0.6787, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.4342, d0.loss_plan_l1_fix_dist: 0.4512, d1.loss_plan_l1_fix_time: 0.9883, d1.loss_plan_l1_fix_dist: 0.2031, d2.loss_plan_l1_fix_time: 0.9745, d2.loss_plan_l1_fix_dist: 0.2009, d3.loss_plan_l1_fix_time: 0.9688, d3.loss_plan_l1_fix_dist: 0.2039, d4.loss_plan_l1_fix_time: 0.9711, d4.loss_plan_l1_fix_dist: 0.2147, d5.loss_plan_l1_fix_time: 0.9738, d5.loss_plan_l1_fix_dist: 0.2272, d6.loss_plan_l1_fix_time: 0.9771, d6.loss_plan_l1_fix_dist: 0.2432, d0.loss_cls_all: 0.2055, d0.loss_bbox_all: 0.4065, d0.loss_cls: 0.2055, d0.loss_bbox: 0.4065, d1.loss_cls: 0.1976, d1.loss_bbox: 0.3724, d2.loss_cls: 0.1822, d2.loss_bbox: 0.3544, d3.loss_cls: 0.1716, d3.loss_bbox: 0.3477, d4.loss_cls: 0.1666, d4.loss_bbox: 0.3458, d5.loss_cls: 0.1669, d5.loss_bbox: 0.3434, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8446, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6613, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6020, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5919, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5851, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5844, d0.loss_map_cls_all: 0.2175, d0.loss_map_pts_all: 1.4359, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2175, d0.loss_map_pts: 1.4359, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.1847, d1.loss_map_pts: 0.9552, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.1658, d2.loss_map_pts: 0.7776, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1545, d3.loss_map_pts: 0.7081, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1463, d4.loss_map_pts: 0.6847, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1424, d5.loss_map_pts: 0.6791, d5.loss_map_dir: 0.0106, loss: 27.6900, grad_norm: 158.7443 +2026-02-27 15:18:15,621 - DriveTransformer - INFO - Epoch [7][23100/39528] lr: 8.550e-05, eta: 5 days, 20:07:30, time: 0.726, data_time: 0.041, memory: 19865, loss_cls: 0.1485, loss_bbox: 0.3478, loss_traj: 0.6822, loss_traj_cls: 0.0011, loss_map_cls: 0.1638, loss_map_pts: 0.6858, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.9203, d0.loss_plan_l1_fix_dist: 0.4854, d1.loss_plan_l1_fix_time: 1.0783, d1.loss_plan_l1_fix_dist: 0.1962, d2.loss_plan_l1_fix_time: 1.0512, d2.loss_plan_l1_fix_dist: 0.1948, d3.loss_plan_l1_fix_time: 1.0399, d3.loss_plan_l1_fix_dist: 0.1992, d4.loss_plan_l1_fix_time: 1.0416, d4.loss_plan_l1_fix_dist: 0.2130, d5.loss_plan_l1_fix_time: 1.0443, d5.loss_plan_l1_fix_dist: 0.2197, d6.loss_plan_l1_fix_time: 1.0471, d6.loss_plan_l1_fix_dist: 0.2309, d0.loss_cls_all: 0.1883, d0.loss_bbox_all: 0.4010, d0.loss_cls: 0.1883, d0.loss_bbox: 0.4010, d1.loss_cls: 0.1798, d1.loss_bbox: 0.3677, d2.loss_cls: 0.1673, d2.loss_bbox: 0.3517, d3.loss_cls: 0.1576, d3.loss_bbox: 0.3481, d4.loss_cls: 0.1522, d4.loss_bbox: 0.3467, d5.loss_cls: 0.1496, d5.loss_bbox: 0.3458, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8731, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7280, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6877, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6827, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6783, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6814, d0.loss_map_cls_all: 0.2291, d0.loss_map_pts_all: 1.3185, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2291, d0.loss_map_pts: 1.3185, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1988, d1.loss_map_pts: 0.9566, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1825, d2.loss_map_pts: 0.7935, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1734, d3.loss_map_pts: 0.7177, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1672, d4.loss_map_pts: 0.6936, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1649, d5.loss_map_pts: 0.6876, d5.loss_map_dir: 0.0086, loss: 28.9729, grad_norm: 159.4432 +2026-02-27 15:18:51,573 - DriveTransformer - INFO - Epoch [7][23150/39528] lr: 8.550e-05, eta: 5 days, 20:06:33, time: 0.719, data_time: 0.037, memory: 19865, loss_cls: 0.1462, loss_bbox: 0.3461, loss_traj: 0.7109, loss_traj_cls: 0.0011, loss_map_cls: 0.1440, loss_map_pts: 0.6477, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.4214, d0.loss_plan_l1_fix_dist: 0.2895, d1.loss_plan_l1_fix_time: 1.0891, d1.loss_plan_l1_fix_dist: 0.1472, d2.loss_plan_l1_fix_time: 1.0685, d2.loss_plan_l1_fix_dist: 0.1543, d3.loss_plan_l1_fix_time: 1.0657, d3.loss_plan_l1_fix_dist: 0.1562, d4.loss_plan_l1_fix_time: 1.0681, d4.loss_plan_l1_fix_dist: 0.1666, d5.loss_plan_l1_fix_time: 1.0710, d5.loss_plan_l1_fix_dist: 0.1756, d6.loss_plan_l1_fix_time: 1.0744, d6.loss_plan_l1_fix_dist: 0.1889, d0.loss_cls_all: 0.1897, d0.loss_bbox_all: 0.4012, d0.loss_cls: 0.1897, d0.loss_bbox: 0.4012, d1.loss_cls: 0.1793, d1.loss_bbox: 0.3667, d2.loss_cls: 0.1659, d2.loss_bbox: 0.3514, d3.loss_cls: 0.1512, d3.loss_bbox: 0.3491, d4.loss_cls: 0.1470, d4.loss_bbox: 0.3480, d5.loss_cls: 0.1463, d5.loss_bbox: 0.3465, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9899, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7743, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7267, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7230, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7111, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7101, d0.loss_map_cls_all: 0.2020, d0.loss_map_pts_all: 1.2436, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2020, d0.loss_map_pts: 1.2436, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1750, d1.loss_map_pts: 0.8976, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1604, d2.loss_map_pts: 0.7550, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1503, d3.loss_map_pts: 0.6835, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1466, d4.loss_map_pts: 0.6576, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1444, d5.loss_map_pts: 0.6484, d5.loss_map_dir: 0.0085, loss: 27.8836, grad_norm: 158.2472 +2026-02-27 15:19:28,939 - DriveTransformer - INFO - Epoch [7][23200/39528] lr: 8.550e-05, eta: 5 days, 20:06:18, time: 0.747, data_time: 0.035, memory: 19865, loss_cls: 0.1611, loss_bbox: 0.3667, loss_traj: 0.6393, loss_traj_cls: 0.0011, loss_map_cls: 0.1691, loss_map_pts: 0.7534, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.6690, d0.loss_plan_l1_fix_dist: 0.4495, d1.loss_plan_l1_fix_time: 1.0353, d1.loss_plan_l1_fix_dist: 0.1924, d2.loss_plan_l1_fix_time: 1.0252, d2.loss_plan_l1_fix_dist: 0.2038, d3.loss_plan_l1_fix_time: 1.0243, d3.loss_plan_l1_fix_dist: 0.2137, d4.loss_plan_l1_fix_time: 1.0262, d4.loss_plan_l1_fix_dist: 0.2132, d5.loss_plan_l1_fix_time: 1.0285, d5.loss_plan_l1_fix_dist: 0.2236, d6.loss_plan_l1_fix_time: 1.0316, d6.loss_plan_l1_fix_dist: 0.2451, d0.loss_cls_all: 0.1939, d0.loss_bbox_all: 0.4349, d0.loss_cls: 0.1939, d0.loss_bbox: 0.4349, d1.loss_cls: 0.1909, d1.loss_bbox: 0.3982, d2.loss_cls: 0.1804, d2.loss_bbox: 0.3795, d3.loss_cls: 0.1639, d3.loss_bbox: 0.3733, d4.loss_cls: 0.1595, d4.loss_bbox: 0.3697, d5.loss_cls: 0.1614, d5.loss_bbox: 0.3666, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8711, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6954, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6513, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6385, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6396, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6383, d0.loss_map_cls_all: 0.2383, d0.loss_map_pts_all: 1.4784, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2383, d0.loss_map_pts: 1.4784, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2091, d1.loss_map_pts: 1.0340, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1941, d2.loss_map_pts: 0.8563, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1813, d3.loss_map_pts: 0.7875, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1745, d4.loss_map_pts: 0.7610, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1706, d5.loss_map_pts: 0.7543, d5.loss_map_dir: 0.0105, loss: 29.4508, grad_norm: 157.6640 +2026-02-27 15:20:05,632 - DriveTransformer - INFO - Epoch [7][23250/39528] lr: 8.550e-05, eta: 5 days, 20:05:43, time: 0.734, data_time: 0.036, memory: 19865, loss_cls: 0.1716, loss_bbox: 0.3745, loss_traj: 0.8036, loss_traj_cls: 0.0011, loss_map_cls: 0.1655, loss_map_pts: 0.7415, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.4063, d0.loss_plan_l1_fix_dist: 0.4663, d1.loss_plan_l1_fix_time: 1.0601, d1.loss_plan_l1_fix_dist: 0.2153, d2.loss_plan_l1_fix_time: 1.0468, d2.loss_plan_l1_fix_dist: 0.2249, d3.loss_plan_l1_fix_time: 1.0437, d3.loss_plan_l1_fix_dist: 0.2376, d4.loss_plan_l1_fix_time: 1.0456, d4.loss_plan_l1_fix_dist: 0.2430, d5.loss_plan_l1_fix_time: 1.0483, d5.loss_plan_l1_fix_dist: 0.2562, d6.loss_plan_l1_fix_time: 1.0512, d6.loss_plan_l1_fix_dist: 0.2784, d0.loss_cls_all: 0.2035, d0.loss_bbox_all: 0.4404, d0.loss_cls: 0.2035, d0.loss_bbox: 0.4404, d1.loss_cls: 0.2027, d1.loss_bbox: 0.4009, d2.loss_cls: 0.1896, d2.loss_bbox: 0.3791, d3.loss_cls: 0.1744, d3.loss_bbox: 0.3734, d4.loss_cls: 0.1714, d4.loss_bbox: 0.3722, d5.loss_cls: 0.1720, d5.loss_bbox: 0.3715, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0999, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8762, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.8131, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8008, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8031, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.8087, d0.loss_map_cls_all: 0.2385, d0.loss_map_pts_all: 1.3589, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2385, d0.loss_map_pts: 1.3589, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2086, d1.loss_map_pts: 1.0090, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1887, d2.loss_map_pts: 0.8529, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1769, d3.loss_map_pts: 0.7846, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1712, d4.loss_map_pts: 0.7571, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1664, d5.loss_map_pts: 0.7431, d5.loss_map_dir: 0.0092, loss: 30.5079, grad_norm: 157.0729 +2026-02-27 15:20:41,594 - DriveTransformer - INFO - Epoch [7][23300/39528] lr: 8.550e-05, eta: 5 days, 20:04:46, time: 0.719, data_time: 0.036, memory: 19865, loss_cls: 0.1649, loss_bbox: 0.3627, loss_traj: 0.6050, loss_traj_cls: 0.0011, loss_map_cls: 0.1862, loss_map_pts: 0.7387, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.7020, d0.loss_plan_l1_fix_dist: 0.3866, d1.loss_plan_l1_fix_time: 0.9783, d1.loss_plan_l1_fix_dist: 0.1755, d2.loss_plan_l1_fix_time: 0.9588, d2.loss_plan_l1_fix_dist: 0.1814, d3.loss_plan_l1_fix_time: 0.9608, d3.loss_plan_l1_fix_dist: 0.1900, d4.loss_plan_l1_fix_time: 0.9628, d4.loss_plan_l1_fix_dist: 0.2011, d5.loss_plan_l1_fix_time: 0.9650, d5.loss_plan_l1_fix_dist: 0.2125, d6.loss_plan_l1_fix_time: 0.9677, d6.loss_plan_l1_fix_dist: 0.2170, d0.loss_cls_all: 0.2062, d0.loss_bbox_all: 0.4231, d0.loss_cls: 0.2062, d0.loss_bbox: 0.4231, d1.loss_cls: 0.1939, d1.loss_bbox: 0.3888, d2.loss_cls: 0.1812, d2.loss_bbox: 0.3689, d3.loss_cls: 0.1674, d3.loss_bbox: 0.3641, d4.loss_cls: 0.1642, d4.loss_bbox: 0.3632, d5.loss_cls: 0.1631, d5.loss_bbox: 0.3626, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8438, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6925, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6255, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6065, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6025, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6013, d0.loss_map_cls_all: 0.2536, d0.loss_map_pts_all: 1.4195, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2536, d0.loss_map_pts: 1.4195, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2305, d1.loss_map_pts: 1.0243, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.2067, d2.loss_map_pts: 0.8494, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1978, d3.loss_map_pts: 0.7769, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1910, d4.loss_map_pts: 0.7464, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1887, d5.loss_map_pts: 0.7395, d5.loss_map_dir: 0.0088, loss: 28.6381, grad_norm: 156.9308 +2026-02-27 15:21:17,893 - DriveTransformer - INFO - Epoch [7][23350/39528] lr: 8.550e-05, eta: 5 days, 20:03:59, time: 0.726, data_time: 0.036, memory: 19865, loss_cls: 0.1382, loss_bbox: 0.3295, loss_traj: 0.6417, loss_traj_cls: 0.0011, loss_map_cls: 0.1304, loss_map_pts: 0.5814, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.5280, d0.loss_plan_l1_fix_dist: 0.3830, d1.loss_plan_l1_fix_time: 1.0546, d1.loss_plan_l1_fix_dist: 0.1880, d2.loss_plan_l1_fix_time: 1.0403, d2.loss_plan_l1_fix_dist: 0.1997, d3.loss_plan_l1_fix_time: 1.0411, d3.loss_plan_l1_fix_dist: 0.1988, d4.loss_plan_l1_fix_time: 1.0440, d4.loss_plan_l1_fix_dist: 0.2122, d5.loss_plan_l1_fix_time: 1.0474, d5.loss_plan_l1_fix_dist: 0.2278, d6.loss_plan_l1_fix_time: 1.0516, d6.loss_plan_l1_fix_dist: 0.2384, d0.loss_cls_all: 0.1765, d0.loss_bbox_all: 0.3966, d0.loss_cls: 0.1765, d0.loss_bbox: 0.3966, d1.loss_cls: 0.1690, d1.loss_bbox: 0.3564, d2.loss_cls: 0.1580, d2.loss_bbox: 0.3367, d3.loss_cls: 0.1456, d3.loss_bbox: 0.3327, d4.loss_cls: 0.1402, d4.loss_bbox: 0.3307, d5.loss_cls: 0.1403, d5.loss_bbox: 0.3286, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8811, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7084, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6549, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6442, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6418, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6384, d0.loss_map_cls_all: 0.2054, d0.loss_map_pts_all: 1.2485, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2054, d0.loss_map_pts: 1.2485, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1761, d1.loss_map_pts: 0.8556, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1563, d2.loss_map_pts: 0.6937, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1434, d3.loss_map_pts: 0.6180, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1367, d4.loss_map_pts: 0.5905, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1324, d5.loss_map_pts: 0.5821, d5.loss_map_dir: 0.0077, loss: 27.0914, grad_norm: 155.6933 +2026-02-27 15:21:54,595 - DriveTransformer - INFO - Epoch [7][23400/39528] lr: 8.550e-05, eta: 5 days, 20:03:25, time: 0.734, data_time: 0.037, memory: 19865, loss_cls: 0.1553, loss_bbox: 0.3531, loss_traj: 0.6230, loss_traj_cls: 0.0011, loss_map_cls: 0.1643, loss_map_pts: 0.7790, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.7822, d0.loss_plan_l1_fix_dist: 0.4346, d1.loss_plan_l1_fix_time: 1.0453, d1.loss_plan_l1_fix_dist: 0.1775, d2.loss_plan_l1_fix_time: 1.0367, d2.loss_plan_l1_fix_dist: 0.1885, d3.loss_plan_l1_fix_time: 1.0375, d3.loss_plan_l1_fix_dist: 0.1949, d4.loss_plan_l1_fix_time: 1.0402, d4.loss_plan_l1_fix_dist: 0.2137, d5.loss_plan_l1_fix_time: 1.0435, d5.loss_plan_l1_fix_dist: 0.2289, d6.loss_plan_l1_fix_time: 1.0471, d6.loss_plan_l1_fix_dist: 0.2499, d0.loss_cls_all: 0.1905, d0.loss_bbox_all: 0.4174, d0.loss_cls: 0.1905, d0.loss_bbox: 0.4174, d1.loss_cls: 0.1882, d1.loss_bbox: 0.3836, d2.loss_cls: 0.1718, d2.loss_bbox: 0.3663, d3.loss_cls: 0.1604, d3.loss_bbox: 0.3570, d4.loss_cls: 0.1529, d4.loss_bbox: 0.3578, d5.loss_cls: 0.1537, d5.loss_bbox: 0.3552, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8683, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6891, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6332, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6196, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6177, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6207, d0.loss_map_cls_all: 0.2282, d0.loss_map_pts_all: 1.4653, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2282, d0.loss_map_pts: 1.4653, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2043, d1.loss_map_pts: 1.0557, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1833, d2.loss_map_pts: 0.8817, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1731, d3.loss_map_pts: 0.8069, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1689, d4.loss_map_pts: 0.7825, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1644, d5.loss_map_pts: 0.7772, d5.loss_map_dir: 0.0092, loss: 29.3699, grad_norm: 158.2088 +2026-02-27 15:22:32,213 - DriveTransformer - INFO - Epoch [7][23450/39528] lr: 8.550e-05, eta: 5 days, 20:03:17, time: 0.752, data_time: 0.039, memory: 19865, loss_cls: 0.1577, loss_bbox: 0.3528, loss_traj: 0.7472, loss_traj_cls: 0.0011, loss_map_cls: 0.1694, loss_map_pts: 0.7510, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.5754, d0.loss_plan_l1_fix_dist: 0.4542, d1.loss_plan_l1_fix_time: 1.0429, d1.loss_plan_l1_fix_dist: 0.1997, d2.loss_plan_l1_fix_time: 1.0378, d2.loss_plan_l1_fix_dist: 0.2073, d3.loss_plan_l1_fix_time: 1.0455, d3.loss_plan_l1_fix_dist: 0.2105, d4.loss_plan_l1_fix_time: 1.0501, d4.loss_plan_l1_fix_dist: 0.2301, d5.loss_plan_l1_fix_time: 1.0542, d5.loss_plan_l1_fix_dist: 0.2456, d6.loss_plan_l1_fix_time: 1.0586, d6.loss_plan_l1_fix_dist: 0.2688, d0.loss_cls_all: 0.2026, d0.loss_bbox_all: 0.4161, d0.loss_cls: 0.2026, d0.loss_bbox: 0.4161, d1.loss_cls: 0.1913, d1.loss_bbox: 0.3842, d2.loss_cls: 0.1774, d2.loss_bbox: 0.3655, d3.loss_cls: 0.1640, d3.loss_bbox: 0.3588, d4.loss_cls: 0.1590, d4.loss_bbox: 0.3556, d5.loss_cls: 0.1569, d5.loss_bbox: 0.3554, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9685, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8113, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7690, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7528, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7488, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7463, d0.loss_map_cls_all: 0.2395, d0.loss_map_pts_all: 1.5111, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2395, d0.loss_map_pts: 1.5111, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2105, d1.loss_map_pts: 1.0693, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1910, d2.loss_map_pts: 0.8778, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1821, d3.loss_map_pts: 0.7901, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1747, d4.loss_map_pts: 0.7597, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1703, d5.loss_map_pts: 0.7523, d5.loss_map_dir: 0.0092, loss: 30.3189, grad_norm: 158.6317 +2026-02-27 15:23:07,165 - DriveTransformer - INFO - Epoch [7][23500/39528] lr: 8.550e-05, eta: 5 days, 20:01:51, time: 0.699, data_time: 0.036, memory: 19865, loss_cls: 0.1536, loss_bbox: 0.3499, loss_traj: 0.7210, loss_traj_cls: 0.0010, loss_map_cls: 0.1620, loss_map_pts: 0.7153, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.3925, d0.loss_plan_l1_fix_dist: 0.3733, d1.loss_plan_l1_fix_time: 1.0341, d1.loss_plan_l1_fix_dist: 0.1749, d2.loss_plan_l1_fix_time: 1.0206, d2.loss_plan_l1_fix_dist: 0.1943, d3.loss_plan_l1_fix_time: 1.0148, d3.loss_plan_l1_fix_dist: 0.1987, d4.loss_plan_l1_fix_time: 1.0178, d4.loss_plan_l1_fix_dist: 0.2065, d5.loss_plan_l1_fix_time: 1.0219, d5.loss_plan_l1_fix_dist: 0.2184, d6.loss_plan_l1_fix_time: 1.0267, d6.loss_plan_l1_fix_dist: 0.2307, d0.loss_cls_all: 0.1937, d0.loss_bbox_all: 0.4066, d0.loss_cls: 0.1937, d0.loss_bbox: 0.4066, d1.loss_cls: 0.1863, d1.loss_bbox: 0.3760, d2.loss_cls: 0.1764, d2.loss_bbox: 0.3569, d3.loss_cls: 0.1595, d3.loss_bbox: 0.3529, d4.loss_cls: 0.1520, d4.loss_bbox: 0.3511, d5.loss_cls: 0.1523, d5.loss_bbox: 0.3498, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9941, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7974, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7383, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7343, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7275, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7251, d0.loss_map_cls_all: 0.2499, d0.loss_map_pts_all: 1.3402, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2499, d0.loss_map_pts: 1.3402, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.2133, d1.loss_map_pts: 0.9821, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1885, d2.loss_map_pts: 0.8186, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1733, d3.loss_map_pts: 0.7490, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1651, d4.loss_map_pts: 0.7217, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1637, d5.loss_map_pts: 0.7151, d5.loss_map_dir: 0.0076, loss: 28.8949, grad_norm: 158.3548 +2026-02-27 15:23:43,680 - DriveTransformer - INFO - Epoch [7][23550/39528] lr: 8.550e-05, eta: 5 days, 20:01:11, time: 0.730, data_time: 0.036, memory: 19865, loss_cls: 0.1602, loss_bbox: 0.3612, loss_traj: 0.6148, loss_traj_cls: 0.0011, loss_map_cls: 0.1318, loss_map_pts: 0.6821, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.7939, d0.loss_plan_l1_fix_dist: 0.4312, d1.loss_plan_l1_fix_time: 1.0738, d1.loss_plan_l1_fix_dist: 0.1784, d2.loss_plan_l1_fix_time: 1.0722, d2.loss_plan_l1_fix_dist: 0.1929, d3.loss_plan_l1_fix_time: 1.0718, d3.loss_plan_l1_fix_dist: 0.2060, d4.loss_plan_l1_fix_time: 1.0750, d4.loss_plan_l1_fix_dist: 0.2090, d5.loss_plan_l1_fix_time: 1.0785, d5.loss_plan_l1_fix_dist: 0.2240, d6.loss_plan_l1_fix_time: 1.0828, d6.loss_plan_l1_fix_dist: 0.2472, d0.loss_cls_all: 0.2030, d0.loss_bbox_all: 0.4196, d0.loss_cls: 0.2030, d0.loss_bbox: 0.4196, d1.loss_cls: 0.1966, d1.loss_bbox: 0.3834, d2.loss_cls: 0.1826, d2.loss_bbox: 0.3675, d3.loss_cls: 0.1668, d3.loss_bbox: 0.3603, d4.loss_cls: 0.1609, d4.loss_bbox: 0.3589, d5.loss_cls: 0.1605, d5.loss_bbox: 0.3587, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8478, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6790, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6300, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6258, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6201, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6177, d0.loss_map_cls_all: 0.2097, d0.loss_map_pts_all: 1.3017, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2097, d0.loss_map_pts: 1.3017, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1781, d1.loss_map_pts: 0.9228, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1598, d2.loss_map_pts: 0.7641, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1458, d3.loss_map_pts: 0.7036, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1382, d4.loss_map_pts: 0.6854, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1332, d5.loss_map_pts: 0.6814, d5.loss_map_dir: 0.0092, loss: 28.4629, grad_norm: 159.3137 +2026-02-27 15:24:21,113 - DriveTransformer - INFO - Epoch [7][23600/39528] lr: 8.550e-05, eta: 5 days, 20:00:59, time: 0.750, data_time: 0.036, memory: 19865, loss_cls: 0.1501, loss_bbox: 0.3631, loss_traj: 0.5812, loss_traj_cls: 0.0010, loss_map_cls: 0.1798, loss_map_pts: 0.8124, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.3985, d0.loss_plan_l1_fix_dist: 0.4347, d1.loss_plan_l1_fix_time: 1.0582, d1.loss_plan_l1_fix_dist: 0.1882, d2.loss_plan_l1_fix_time: 1.0437, d2.loss_plan_l1_fix_dist: 0.1800, d3.loss_plan_l1_fix_time: 1.0447, d3.loss_plan_l1_fix_dist: 0.1914, d4.loss_plan_l1_fix_time: 1.0476, d4.loss_plan_l1_fix_dist: 0.2102, d5.loss_plan_l1_fix_time: 1.0506, d5.loss_plan_l1_fix_dist: 0.2275, d6.loss_plan_l1_fix_time: 1.0550, d6.loss_plan_l1_fix_dist: 0.2356, d0.loss_cls_all: 0.1966, d0.loss_bbox_all: 0.4185, d0.loss_cls: 0.1966, d0.loss_bbox: 0.4185, d1.loss_cls: 0.1906, d1.loss_bbox: 0.3879, d2.loss_cls: 0.1755, d2.loss_bbox: 0.3707, d3.loss_cls: 0.1593, d3.loss_bbox: 0.3625, d4.loss_cls: 0.1535, d4.loss_bbox: 0.3585, d5.loss_cls: 0.1498, d5.loss_bbox: 0.3601, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7990, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6214, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5910, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5784, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5795, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5790, d0.loss_map_cls_all: 0.2584, d0.loss_map_pts_all: 1.5578, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2584, d0.loss_map_pts: 1.5578, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2250, d1.loss_map_pts: 1.1077, d1.loss_map_dir: 0.0107, d2.loss_map_cls: 0.2045, d2.loss_map_pts: 0.9140, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1912, d3.loss_map_pts: 0.8376, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1835, d4.loss_map_pts: 0.8111, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1806, d5.loss_map_pts: 0.8079, d5.loss_map_dir: 0.0115, loss: 29.2906, grad_norm: 161.0816 +2026-02-27 15:24:57,584 - DriveTransformer - INFO - Epoch [7][23650/39528] lr: 8.550e-05, eta: 5 days, 20:00:16, time: 0.728, data_time: 0.040, memory: 19865, loss_cls: 0.1571, loss_bbox: 0.3838, loss_traj: 0.6411, loss_traj_cls: 0.0010, loss_map_cls: 0.1775, loss_map_pts: 0.7306, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.5779, d0.loss_plan_l1_fix_dist: 0.4121, d1.loss_plan_l1_fix_time: 1.0853, d1.loss_plan_l1_fix_dist: 0.2158, d2.loss_plan_l1_fix_time: 1.0652, d2.loss_plan_l1_fix_dist: 0.2125, d3.loss_plan_l1_fix_time: 1.0608, d3.loss_plan_l1_fix_dist: 0.2167, d4.loss_plan_l1_fix_time: 1.0629, d4.loss_plan_l1_fix_dist: 0.2407, d5.loss_plan_l1_fix_time: 1.0651, d5.loss_plan_l1_fix_dist: 0.2657, d6.loss_plan_l1_fix_time: 1.0681, d6.loss_plan_l1_fix_dist: 0.2838, d0.loss_cls_all: 0.1992, d0.loss_bbox_all: 0.4376, d0.loss_cls: 0.1992, d0.loss_bbox: 0.4376, d1.loss_cls: 0.1918, d1.loss_bbox: 0.4047, d2.loss_cls: 0.1787, d2.loss_bbox: 0.3905, d3.loss_cls: 0.1636, d3.loss_bbox: 0.3854, d4.loss_cls: 0.1569, d4.loss_bbox: 0.3840, d5.loss_cls: 0.1555, d5.loss_bbox: 0.3834, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8557, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7030, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6706, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6501, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6457, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6418, d0.loss_map_cls_all: 0.2360, d0.loss_map_pts_all: 1.4064, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2360, d0.loss_map_pts: 1.4064, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2160, d1.loss_map_pts: 0.9885, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1959, d2.loss_map_pts: 0.8192, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1867, d3.loss_map_pts: 0.7526, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1804, d4.loss_map_pts: 0.7305, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1778, d5.loss_map_pts: 0.7266, d5.loss_map_dir: 0.0096, loss: 29.4983, grad_norm: 163.2440 +2026-02-27 15:25:34,064 - DriveTransformer - INFO - Epoch [7][23700/39528] lr: 8.550e-05, eta: 5 days, 19:59:35, time: 0.730, data_time: 0.037, memory: 19865, loss_cls: 0.1607, loss_bbox: 0.3795, loss_traj: 0.5803, loss_traj_cls: 0.0011, loss_map_cls: 0.1614, loss_map_pts: 0.7372, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.7471, d0.loss_plan_l1_fix_dist: 0.4196, d1.loss_plan_l1_fix_time: 1.0184, d1.loss_plan_l1_fix_dist: 0.2083, d2.loss_plan_l1_fix_time: 0.9963, d2.loss_plan_l1_fix_dist: 0.2032, d3.loss_plan_l1_fix_time: 0.9928, d3.loss_plan_l1_fix_dist: 0.1968, d4.loss_plan_l1_fix_time: 0.9946, d4.loss_plan_l1_fix_dist: 0.2108, d5.loss_plan_l1_fix_time: 0.9972, d5.loss_plan_l1_fix_dist: 0.2329, d6.loss_plan_l1_fix_time: 1.0005, d6.loss_plan_l1_fix_dist: 0.2586, d0.loss_cls_all: 0.2049, d0.loss_bbox_all: 0.4311, d0.loss_cls: 0.2049, d0.loss_bbox: 0.4311, d1.loss_cls: 0.1993, d1.loss_bbox: 0.3990, d2.loss_cls: 0.1841, d2.loss_bbox: 0.3820, d3.loss_cls: 0.1685, d3.loss_bbox: 0.3755, d4.loss_cls: 0.1588, d4.loss_bbox: 0.3789, d5.loss_cls: 0.1598, d5.loss_bbox: 0.3782, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7872, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6595, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6145, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5872, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5910, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5833, d0.loss_map_cls_all: 0.2331, d0.loss_map_pts_all: 1.4578, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2331, d0.loss_map_pts: 1.4578, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2044, d1.loss_map_pts: 1.0148, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1842, d2.loss_map_pts: 0.8468, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1715, d3.loss_map_pts: 0.7754, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1658, d4.loss_map_pts: 0.7420, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1623, d5.loss_map_pts: 0.7348, d5.loss_map_dir: 0.0102, loss: 28.8450, grad_norm: 167.0051 +2026-02-27 15:26:10,952 - DriveTransformer - INFO - Epoch [7][23750/39528] lr: 8.550e-05, eta: 5 days, 19:59:05, time: 0.738, data_time: 0.037, memory: 19865, loss_cls: 0.1946, loss_bbox: 0.4229, loss_traj: 0.6601, loss_traj_cls: 0.0010, loss_map_cls: 0.1959, loss_map_pts: 0.8763, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.6916, d0.loss_plan_l1_fix_dist: 0.4209, d1.loss_plan_l1_fix_time: 1.2150, d1.loss_plan_l1_fix_dist: 0.2296, d2.loss_plan_l1_fix_time: 1.1967, d2.loss_plan_l1_fix_dist: 0.2286, d3.loss_plan_l1_fix_time: 1.1964, d3.loss_plan_l1_fix_dist: 0.2317, d4.loss_plan_l1_fix_time: 1.1992, d4.loss_plan_l1_fix_dist: 0.2479, d5.loss_plan_l1_fix_time: 1.2019, d5.loss_plan_l1_fix_dist: 0.2653, d6.loss_plan_l1_fix_time: 1.2051, d6.loss_plan_l1_fix_dist: 0.2902, d0.loss_cls_all: 0.2377, d0.loss_bbox_all: 0.4933, d0.loss_cls: 0.2377, d0.loss_bbox: 0.4933, d1.loss_cls: 0.2306, d1.loss_bbox: 0.4533, d2.loss_cls: 0.2212, d2.loss_bbox: 0.4329, d3.loss_cls: 0.2030, d3.loss_bbox: 0.4270, d4.loss_cls: 0.1952, d4.loss_bbox: 0.4247, d5.loss_cls: 0.1946, d5.loss_bbox: 0.4229, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9360, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7174, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6724, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6556, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6539, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6536, d0.loss_map_cls_all: 0.2710, d0.loss_map_pts_all: 1.5884, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2710, d0.loss_map_pts: 1.5884, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2478, d1.loss_map_pts: 1.1694, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.2248, d2.loss_map_pts: 0.9909, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.2083, d3.loss_map_pts: 0.9081, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.2009, d4.loss_map_pts: 0.8818, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1983, d5.loss_map_pts: 0.8726, d5.loss_map_dir: 0.0103, loss: 32.8351, grad_norm: 169.5577 +2026-02-27 15:26:47,636 - DriveTransformer - INFO - Epoch [7][23800/39528] lr: 8.550e-05, eta: 5 days, 19:58:30, time: 0.734, data_time: 0.036, memory: 19865, loss_cls: 0.1514, loss_bbox: 0.3684, loss_traj: 0.6260, loss_traj_cls: 0.0011, loss_map_cls: 0.1822, loss_map_pts: 0.7899, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.4275, d0.loss_plan_l1_fix_dist: 0.3620, d1.loss_plan_l1_fix_time: 1.0938, d1.loss_plan_l1_fix_dist: 0.1872, d2.loss_plan_l1_fix_time: 1.0725, d2.loss_plan_l1_fix_dist: 0.1848, d3.loss_plan_l1_fix_time: 1.0671, d3.loss_plan_l1_fix_dist: 0.1919, d4.loss_plan_l1_fix_time: 1.0688, d4.loss_plan_l1_fix_dist: 0.2085, d5.loss_plan_l1_fix_time: 1.0709, d5.loss_plan_l1_fix_dist: 0.2191, d6.loss_plan_l1_fix_time: 1.0737, d6.loss_plan_l1_fix_dist: 0.2389, d0.loss_cls_all: 0.1874, d0.loss_bbox_all: 0.4275, d0.loss_cls: 0.1874, d0.loss_bbox: 0.4275, d1.loss_cls: 0.1838, d1.loss_bbox: 0.3934, d2.loss_cls: 0.1700, d2.loss_bbox: 0.3756, d3.loss_cls: 0.1570, d3.loss_bbox: 0.3715, d4.loss_cls: 0.1530, d4.loss_bbox: 0.3696, d5.loss_cls: 0.1523, d5.loss_bbox: 0.3685, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8638, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6901, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6439, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6281, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6233, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6226, d0.loss_map_cls_all: 0.2517, d0.loss_map_pts_all: 1.4922, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2517, d0.loss_map_pts: 1.4922, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2295, d1.loss_map_pts: 1.0586, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.2071, d2.loss_map_pts: 0.8787, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1953, d3.loss_map_pts: 0.8176, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1876, d4.loss_map_pts: 0.7980, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1837, d5.loss_map_pts: 0.7904, d5.loss_map_dir: 0.0099, loss: 29.5006, grad_norm: 167.5443 +2026-02-27 15:27:22,312 - DriveTransformer - INFO - Epoch [7][23850/39528] lr: 8.550e-05, eta: 5 days, 19:56:57, time: 0.693, data_time: 0.036, memory: 19865, loss_cls: 0.1547, loss_bbox: 0.3652, loss_traj: 0.6398, loss_traj_cls: 0.0011, loss_map_cls: 0.1409, loss_map_pts: 0.5969, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.8059, d0.loss_plan_l1_fix_dist: 0.4463, d1.loss_plan_l1_fix_time: 1.2716, d1.loss_plan_l1_fix_dist: 0.2094, d2.loss_plan_l1_fix_time: 1.2621, d2.loss_plan_l1_fix_dist: 0.2145, d3.loss_plan_l1_fix_time: 1.2657, d3.loss_plan_l1_fix_dist: 0.2169, d4.loss_plan_l1_fix_time: 1.2680, d4.loss_plan_l1_fix_dist: 0.2319, d5.loss_plan_l1_fix_time: 1.2706, d5.loss_plan_l1_fix_dist: 0.2469, d6.loss_plan_l1_fix_time: 1.2739, d6.loss_plan_l1_fix_dist: 0.2602, d0.loss_cls_all: 0.1885, d0.loss_bbox_all: 0.4224, d0.loss_cls: 0.1885, d0.loss_bbox: 0.4224, d1.loss_cls: 0.1788, d1.loss_bbox: 0.3917, d2.loss_cls: 0.1704, d2.loss_bbox: 0.3733, d3.loss_cls: 0.1605, d3.loss_bbox: 0.3651, d4.loss_cls: 0.1562, d4.loss_bbox: 0.3627, d5.loss_cls: 0.1551, d5.loss_bbox: 0.3622, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8846, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6992, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6569, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6423, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6419, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6383, d0.loss_map_cls_all: 0.2079, d0.loss_map_pts_all: 1.1628, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2079, d0.loss_map_pts: 1.1628, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1771, d1.loss_map_pts: 0.8268, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1590, d2.loss_map_pts: 0.6875, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1480, d3.loss_map_pts: 0.6192, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1459, d4.loss_map_pts: 0.5975, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1416, d5.loss_map_pts: 0.5961, d5.loss_map_dir: 0.0069, loss: 29.1028, grad_norm: 164.9661 +2026-02-27 15:27:58,682 - DriveTransformer - INFO - Epoch [7][23900/39528] lr: 8.550e-05, eta: 5 days, 19:56:12, time: 0.727, data_time: 0.036, memory: 19865, loss_cls: 0.1439, loss_bbox: 0.3428, loss_traj: 0.6048, loss_traj_cls: 0.0011, loss_map_cls: 0.1242, loss_map_pts: 0.6041, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.4585, d0.loss_plan_l1_fix_dist: 0.4705, d1.loss_plan_l1_fix_time: 1.0853, d1.loss_plan_l1_fix_dist: 0.2001, d2.loss_plan_l1_fix_time: 1.0726, d2.loss_plan_l1_fix_dist: 0.2079, d3.loss_plan_l1_fix_time: 1.0701, d3.loss_plan_l1_fix_dist: 0.2099, d4.loss_plan_l1_fix_time: 1.0733, d4.loss_plan_l1_fix_dist: 0.2201, d5.loss_plan_l1_fix_time: 1.0770, d5.loss_plan_l1_fix_dist: 0.2371, d6.loss_plan_l1_fix_time: 1.0815, d6.loss_plan_l1_fix_dist: 0.2541, d0.loss_cls_all: 0.1798, d0.loss_bbox_all: 0.3871, d0.loss_cls: 0.1798, d0.loss_bbox: 0.3871, d1.loss_cls: 0.1727, d1.loss_bbox: 0.3565, d2.loss_cls: 0.1598, d2.loss_bbox: 0.3440, d3.loss_cls: 0.1506, d3.loss_bbox: 0.3384, d4.loss_cls: 0.1456, d4.loss_bbox: 0.3378, d5.loss_cls: 0.1438, d5.loss_bbox: 0.3399, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8145, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6533, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6228, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6157, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6097, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6042, d0.loss_map_cls_all: 0.1917, d0.loss_map_pts_all: 1.2242, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.1917, d0.loss_map_pts: 1.2242, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1596, d1.loss_map_pts: 0.8256, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1403, d2.loss_map_pts: 0.6827, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1316, d3.loss_map_pts: 0.6223, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1272, d4.loss_map_pts: 0.6051, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1246, d5.loss_map_pts: 0.6035, d5.loss_map_dir: 0.0086, loss: 27.0102, grad_norm: 163.8433 +2026-02-27 15:28:34,017 - DriveTransformer - INFO - Epoch [7][23950/39528] lr: 8.550e-05, eta: 5 days, 19:54:59, time: 0.707, data_time: 0.035, memory: 19865, loss_cls: 0.1352, loss_bbox: 0.3658, loss_traj: 0.6016, loss_traj_cls: 0.0012, loss_map_cls: 0.1366, loss_map_pts: 0.5850, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.5013, d0.loss_plan_l1_fix_dist: 0.4516, d1.loss_plan_l1_fix_time: 1.0629, d1.loss_plan_l1_fix_dist: 0.1925, d2.loss_plan_l1_fix_time: 1.0434, d2.loss_plan_l1_fix_dist: 0.1923, d3.loss_plan_l1_fix_time: 1.0394, d3.loss_plan_l1_fix_dist: 0.2048, d4.loss_plan_l1_fix_time: 1.0416, d4.loss_plan_l1_fix_dist: 0.2211, d5.loss_plan_l1_fix_time: 1.0445, d5.loss_plan_l1_fix_dist: 0.2420, d6.loss_plan_l1_fix_time: 1.0479, d6.loss_plan_l1_fix_dist: 0.2714, d0.loss_cls_all: 0.1691, d0.loss_bbox_all: 0.4059, d0.loss_cls: 0.1691, d0.loss_bbox: 0.4059, d1.loss_cls: 0.1670, d1.loss_bbox: 0.3793, d2.loss_cls: 0.1545, d2.loss_bbox: 0.3612, d3.loss_cls: 0.1429, d3.loss_bbox: 0.3553, d4.loss_cls: 0.1366, d4.loss_bbox: 0.3565, d5.loss_cls: 0.1352, d5.loss_bbox: 0.3598, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8227, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6674, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6269, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6143, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6044, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5992, d0.loss_map_cls_all: 0.2064, d0.loss_map_pts_all: 1.2056, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2064, d0.loss_map_pts: 1.2056, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1760, d1.loss_map_pts: 0.8273, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1570, d2.loss_map_pts: 0.6740, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1464, d3.loss_map_pts: 0.6084, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1397, d4.loss_map_pts: 0.5839, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1374, d5.loss_map_pts: 0.5827, d5.loss_map_dir: 0.0079, loss: 26.9378, grad_norm: 166.4788 +2026-02-27 15:29:09,708 - DriveTransformer - INFO - Epoch [7][24000/39528] lr: 8.550e-05, eta: 5 days, 19:53:55, time: 0.714, data_time: 0.036, memory: 19865, loss_cls: 0.1444, loss_bbox: 0.3623, loss_traj: 0.6270, loss_traj_cls: 0.0011, loss_map_cls: 0.1526, loss_map_pts: 0.6412, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.3489, d0.loss_plan_l1_fix_dist: 0.3998, d1.loss_plan_l1_fix_time: 0.8765, d1.loss_plan_l1_fix_dist: 0.1909, d2.loss_plan_l1_fix_time: 0.8596, d2.loss_plan_l1_fix_dist: 0.1688, d3.loss_plan_l1_fix_time: 0.8568, d3.loss_plan_l1_fix_dist: 0.1883, d4.loss_plan_l1_fix_time: 0.8608, d4.loss_plan_l1_fix_dist: 0.2121, d5.loss_plan_l1_fix_time: 0.8653, d5.loss_plan_l1_fix_dist: 0.2405, d6.loss_plan_l1_fix_time: 0.8699, d6.loss_plan_l1_fix_dist: 0.2735, d0.loss_cls_all: 0.1805, d0.loss_bbox_all: 0.4082, d0.loss_cls: 0.1805, d0.loss_bbox: 0.4082, d1.loss_cls: 0.1790, d1.loss_bbox: 0.3768, d2.loss_cls: 0.1628, d2.loss_bbox: 0.3598, d3.loss_cls: 0.1506, d3.loss_bbox: 0.3551, d4.loss_cls: 0.1454, d4.loss_bbox: 0.3557, d5.loss_cls: 0.1436, d5.loss_bbox: 0.3584, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8888, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6971, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6564, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6303, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6306, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6281, d0.loss_map_cls_all: 0.2225, d0.loss_map_pts_all: 1.3213, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2225, d0.loss_map_pts: 1.3213, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1936, d1.loss_map_pts: 0.9250, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1727, d2.loss_map_pts: 0.7477, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1637, d3.loss_map_pts: 0.6712, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1563, d4.loss_map_pts: 0.6475, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1534, d5.loss_map_pts: 0.6402, d5.loss_map_dir: 0.0082, loss: 26.6630, grad_norm: 167.2318 +2026-02-27 15:29:45,042 - DriveTransformer - INFO - Epoch [7][24050/39528] lr: 8.550e-05, eta: 5 days, 19:52:41, time: 0.707, data_time: 0.038, memory: 19865, loss_cls: 0.1407, loss_bbox: 0.3370, loss_traj: 0.6145, loss_traj_cls: 0.0012, loss_map_cls: 0.1298, loss_map_pts: 0.5347, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.4000, d0.loss_plan_l1_fix_dist: 0.4177, d1.loss_plan_l1_fix_time: 0.9756, d1.loss_plan_l1_fix_dist: 0.2037, d2.loss_plan_l1_fix_time: 0.9605, d2.loss_plan_l1_fix_dist: 0.1662, d3.loss_plan_l1_fix_time: 0.9587, d3.loss_plan_l1_fix_dist: 0.1724, d4.loss_plan_l1_fix_time: 0.9612, d4.loss_plan_l1_fix_dist: 0.1842, d5.loss_plan_l1_fix_time: 0.9642, d5.loss_plan_l1_fix_dist: 0.1966, d6.loss_plan_l1_fix_time: 0.9673, d6.loss_plan_l1_fix_dist: 0.2099, d0.loss_cls_all: 0.1723, d0.loss_bbox_all: 0.3814, d0.loss_cls: 0.1723, d0.loss_bbox: 0.3814, d1.loss_cls: 0.1723, d1.loss_bbox: 0.3525, d2.loss_cls: 0.1605, d2.loss_bbox: 0.3371, d3.loss_cls: 0.1494, d3.loss_bbox: 0.3349, d4.loss_cls: 0.1433, d4.loss_bbox: 0.3337, d5.loss_cls: 0.1404, d5.loss_bbox: 0.3357, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8339, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6858, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6322, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6210, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6155, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6179, d0.loss_map_cls_all: 0.1885, d0.loss_map_pts_all: 1.1584, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1885, d0.loss_map_pts: 1.1584, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1682, d1.loss_map_pts: 0.7713, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1518, d2.loss_map_pts: 0.6206, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1422, d3.loss_map_pts: 0.5635, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1352, d4.loss_map_pts: 0.5437, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1317, d5.loss_map_pts: 0.5346, d5.loss_map_dir: 0.0067, loss: 25.5841, grad_norm: 161.6268 +2026-02-27 15:30:21,505 - DriveTransformer - INFO - Epoch [7][24100/39528] lr: 8.550e-05, eta: 5 days, 19:52:00, time: 0.729, data_time: 0.036, memory: 19865, loss_cls: 0.1521, loss_bbox: 0.3541, loss_traj: 0.6347, loss_traj_cls: 0.0012, loss_map_cls: 0.1463, loss_map_pts: 0.6566, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.6056, d0.loss_plan_l1_fix_dist: 0.5181, d1.loss_plan_l1_fix_time: 1.0494, d1.loss_plan_l1_fix_dist: 0.2302, d2.loss_plan_l1_fix_time: 1.0473, d2.loss_plan_l1_fix_dist: 0.2072, d3.loss_plan_l1_fix_time: 1.0526, d3.loss_plan_l1_fix_dist: 0.2182, d4.loss_plan_l1_fix_time: 1.0558, d4.loss_plan_l1_fix_dist: 0.2331, d5.loss_plan_l1_fix_time: 1.0592, d5.loss_plan_l1_fix_dist: 0.2496, d6.loss_plan_l1_fix_time: 1.0630, d6.loss_plan_l1_fix_dist: 0.2660, d0.loss_cls_all: 0.1907, d0.loss_bbox_all: 0.4122, d0.loss_cls: 0.1907, d0.loss_bbox: 0.4122, d1.loss_cls: 0.1873, d1.loss_bbox: 0.3727, d2.loss_cls: 0.1748, d2.loss_bbox: 0.3519, d3.loss_cls: 0.1582, d3.loss_bbox: 0.3488, d4.loss_cls: 0.1523, d4.loss_bbox: 0.3502, d5.loss_cls: 0.1513, d5.loss_bbox: 0.3524, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8378, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6886, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6457, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6306, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6266, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6314, d0.loss_map_cls_all: 0.2338, d0.loss_map_pts_all: 1.2882, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2338, d0.loss_map_pts: 1.2882, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1977, d1.loss_map_pts: 0.9203, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1746, d2.loss_map_pts: 0.7629, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1595, d3.loss_map_pts: 0.6906, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1503, d4.loss_map_pts: 0.6641, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1468, d5.loss_map_pts: 0.6575, d5.loss_map_dir: 0.0077, loss: 28.3008, grad_norm: 160.9477 +2026-02-27 15:30:57,537 - DriveTransformer - INFO - Epoch [7][24150/39528] lr: 8.550e-05, eta: 5 days, 19:51:07, time: 0.721, data_time: 0.039, memory: 19865, loss_cls: 0.1577, loss_bbox: 0.3347, loss_traj: 0.6381, loss_traj_cls: 0.0012, loss_map_cls: 0.1036, loss_map_pts: 0.5495, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.3460, d0.loss_plan_l1_fix_dist: 0.4794, d1.loss_plan_l1_fix_time: 0.9219, d1.loss_plan_l1_fix_dist: 0.2184, d2.loss_plan_l1_fix_time: 0.9203, d2.loss_plan_l1_fix_dist: 0.1890, d3.loss_plan_l1_fix_time: 0.9148, d3.loss_plan_l1_fix_dist: 0.2064, d4.loss_plan_l1_fix_time: 0.9187, d4.loss_plan_l1_fix_dist: 0.2266, d5.loss_plan_l1_fix_time: 0.9229, d5.loss_plan_l1_fix_dist: 0.2445, d6.loss_plan_l1_fix_time: 0.9277, d6.loss_plan_l1_fix_dist: 0.2687, d0.loss_cls_all: 0.1821, d0.loss_bbox_all: 0.3956, d0.loss_cls: 0.1821, d0.loss_bbox: 0.3956, d1.loss_cls: 0.1791, d1.loss_bbox: 0.3623, d2.loss_cls: 0.1773, d2.loss_bbox: 0.3430, d3.loss_cls: 0.1649, d3.loss_bbox: 0.3366, d4.loss_cls: 0.1580, d4.loss_bbox: 0.3346, d5.loss_cls: 0.1567, d5.loss_bbox: 0.3360, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8550, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7003, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6541, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6345, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6328, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6326, d0.loss_map_cls_all: 0.1783, d0.loss_map_pts_all: 1.1399, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1783, d0.loss_map_pts: 1.1399, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1458, d1.loss_map_pts: 0.7937, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1280, d2.loss_map_pts: 0.6464, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1178, d3.loss_map_pts: 0.5862, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1118, d4.loss_map_pts: 0.5587, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1054, d5.loss_map_pts: 0.5504, d5.loss_map_dir: 0.0067, loss: 25.7416, grad_norm: 162.4864 +2026-02-27 15:31:32,249 - DriveTransformer - INFO - Epoch [7][24200/39528] lr: 8.550e-05, eta: 5 days, 19:49:36, time: 0.694, data_time: 0.034, memory: 19865, loss_cls: 0.1486, loss_bbox: 0.3540, loss_traj: 0.7037, loss_traj_cls: 0.0011, loss_map_cls: 0.1412, loss_map_pts: 0.6272, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.8591, d0.loss_plan_l1_fix_dist: 0.4143, d1.loss_plan_l1_fix_time: 1.1812, d1.loss_plan_l1_fix_dist: 0.2401, d2.loss_plan_l1_fix_time: 1.1681, d2.loss_plan_l1_fix_dist: 0.1980, d3.loss_plan_l1_fix_time: 1.1691, d3.loss_plan_l1_fix_dist: 0.1962, d4.loss_plan_l1_fix_time: 1.1710, d4.loss_plan_l1_fix_dist: 0.2065, d5.loss_plan_l1_fix_time: 1.1733, d5.loss_plan_l1_fix_dist: 0.2180, d6.loss_plan_l1_fix_time: 1.1762, d6.loss_plan_l1_fix_dist: 0.2324, d0.loss_cls_all: 0.1885, d0.loss_bbox_all: 0.4155, d0.loss_cls: 0.1885, d0.loss_bbox: 0.4155, d1.loss_cls: 0.1824, d1.loss_bbox: 0.3832, d2.loss_cls: 0.1694, d2.loss_bbox: 0.3647, d3.loss_cls: 0.1564, d3.loss_bbox: 0.3574, d4.loss_cls: 0.1504, d4.loss_bbox: 0.3569, d5.loss_cls: 0.1487, d5.loss_bbox: 0.3549, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9960, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7689, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7239, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7148, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7114, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7092, d0.loss_map_cls_all: 0.2173, d0.loss_map_pts_all: 1.1919, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2173, d0.loss_map_pts: 1.1919, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1878, d1.loss_map_pts: 0.8724, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1669, d2.loss_map_pts: 0.7261, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1552, d3.loss_map_pts: 0.6631, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1475, d4.loss_map_pts: 0.6356, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1430, d5.loss_map_pts: 0.6276, d5.loss_map_dir: 0.0073, loss: 29.2415, grad_norm: 160.8524 +2026-02-27 15:32:08,474 - DriveTransformer - INFO - Epoch [7][24250/39528] lr: 8.550e-05, eta: 5 days, 19:48:48, time: 0.724, data_time: 0.035, memory: 19865, loss_cls: 0.1420, loss_bbox: 0.3546, loss_traj: 0.7390, loss_traj_cls: 0.0012, loss_map_cls: 0.1372, loss_map_pts: 0.6646, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.3150, d0.loss_plan_l1_fix_dist: 0.4628, d1.loss_plan_l1_fix_time: 1.0434, d1.loss_plan_l1_fix_dist: 0.2464, d2.loss_plan_l1_fix_time: 1.0187, d2.loss_plan_l1_fix_dist: 0.2081, d3.loss_plan_l1_fix_time: 1.0210, d3.loss_plan_l1_fix_dist: 0.2087, d4.loss_plan_l1_fix_time: 1.0238, d4.loss_plan_l1_fix_dist: 0.2240, d5.loss_plan_l1_fix_time: 1.0270, d5.loss_plan_l1_fix_dist: 0.2431, d6.loss_plan_l1_fix_time: 1.0311, d6.loss_plan_l1_fix_dist: 0.2608, d0.loss_cls_all: 0.1802, d0.loss_bbox_all: 0.4115, d0.loss_cls: 0.1802, d0.loss_bbox: 0.4115, d1.loss_cls: 0.1741, d1.loss_bbox: 0.3808, d2.loss_cls: 0.1612, d2.loss_bbox: 0.3617, d3.loss_cls: 0.1491, d3.loss_bbox: 0.3556, d4.loss_cls: 0.1421, d4.loss_bbox: 0.3556, d5.loss_cls: 0.1413, d5.loss_bbox: 0.3555, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0033, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7973, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7453, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7355, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7321, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.7337, d0.loss_map_cls_all: 0.2079, d0.loss_map_pts_all: 1.3515, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2079, d0.loss_map_pts: 1.3515, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1826, d1.loss_map_pts: 0.9446, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1602, d2.loss_map_pts: 0.7681, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1503, d3.loss_map_pts: 0.6960, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1433, d4.loss_map_pts: 0.6691, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1389, d5.loss_map_pts: 0.6640, d5.loss_map_dir: 0.0087, loss: 28.5905, grad_norm: 160.4113 +2026-02-27 15:32:46,633 - DriveTransformer - INFO - Epoch [7][24300/39528] lr: 8.550e-05, eta: 5 days, 19:48:55, time: 0.763, data_time: 0.036, memory: 19865, loss_cls: 0.1747, loss_bbox: 0.3706, loss_traj: 0.6482, loss_traj_cls: 0.0011, loss_map_cls: 0.1679, loss_map_pts: 0.7958, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.2949, d0.loss_plan_l1_fix_dist: 0.3808, d1.loss_plan_l1_fix_time: 1.0044, d1.loss_plan_l1_fix_dist: 0.2452, d2.loss_plan_l1_fix_time: 0.9863, d2.loss_plan_l1_fix_dist: 0.2144, d3.loss_plan_l1_fix_time: 0.9906, d3.loss_plan_l1_fix_dist: 0.2183, d4.loss_plan_l1_fix_time: 0.9944, d4.loss_plan_l1_fix_dist: 0.2332, d5.loss_plan_l1_fix_time: 0.9982, d5.loss_plan_l1_fix_dist: 0.2515, d6.loss_plan_l1_fix_time: 1.0022, d6.loss_plan_l1_fix_dist: 0.2732, d0.loss_cls_all: 0.2030, d0.loss_bbox_all: 0.4307, d0.loss_cls: 0.2030, d0.loss_bbox: 0.4307, d1.loss_cls: 0.1945, d1.loss_bbox: 0.4030, d2.loss_cls: 0.1852, d2.loss_bbox: 0.3814, d3.loss_cls: 0.1739, d3.loss_bbox: 0.3746, d4.loss_cls: 0.1731, d4.loss_bbox: 0.3710, d5.loss_cls: 0.1736, d5.loss_bbox: 0.3721, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9927, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7429, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6733, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6523, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6555, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6485, d0.loss_map_cls_all: 0.2451, d0.loss_map_pts_all: 1.5877, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2451, d0.loss_map_pts: 1.5877, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2145, d1.loss_map_pts: 1.1305, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1932, d2.loss_map_pts: 0.9271, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1813, d3.loss_map_pts: 0.8457, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1735, d4.loss_map_pts: 0.8129, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1706, d5.loss_map_pts: 0.7980, d5.loss_map_dir: 0.0105, loss: 29.8803, grad_norm: 160.0269 +2026-02-27 15:33:22,302 - DriveTransformer - INFO - Epoch [7][24350/39528] lr: 8.550e-05, eta: 5 days, 19:47:51, time: 0.713, data_time: 0.038, memory: 19865, loss_cls: 0.1458, loss_bbox: 0.3574, loss_traj: 0.7204, loss_traj_cls: 0.0011, loss_map_cls: 0.1595, loss_map_pts: 0.6720, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.5983, d0.loss_plan_l1_fix_dist: 0.4243, d1.loss_plan_l1_fix_time: 1.0293, d1.loss_plan_l1_fix_dist: 0.1940, d2.loss_plan_l1_fix_time: 1.0158, d2.loss_plan_l1_fix_dist: 0.1799, d3.loss_plan_l1_fix_time: 1.0198, d3.loss_plan_l1_fix_dist: 0.1891, d4.loss_plan_l1_fix_time: 1.0233, d4.loss_plan_l1_fix_dist: 0.2100, d5.loss_plan_l1_fix_time: 1.0266, d5.loss_plan_l1_fix_dist: 0.2318, d6.loss_plan_l1_fix_time: 1.0303, d6.loss_plan_l1_fix_dist: 0.2495, d0.loss_cls_all: 0.1818, d0.loss_bbox_all: 0.4112, d0.loss_cls: 0.1818, d0.loss_bbox: 0.4112, d1.loss_cls: 0.1741, d1.loss_bbox: 0.3809, d2.loss_cls: 0.1628, d2.loss_bbox: 0.3649, d3.loss_cls: 0.1530, d3.loss_bbox: 0.3586, d4.loss_cls: 0.1480, d4.loss_bbox: 0.3586, d5.loss_cls: 0.1459, d5.loss_bbox: 0.3583, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9666, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7900, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7435, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7236, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7232, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7166, d0.loss_map_cls_all: 0.2230, d0.loss_map_pts_all: 1.2861, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2230, d0.loss_map_pts: 1.2861, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2045, d1.loss_map_pts: 0.9431, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1812, d2.loss_map_pts: 0.7840, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1741, d3.loss_map_pts: 0.7078, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1661, d4.loss_map_pts: 0.6820, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1623, d5.loss_map_pts: 0.6724, d5.loss_map_dir: 0.0083, loss: 28.7000, grad_norm: 158.3166 +2026-02-27 15:34:00,488 - DriveTransformer - INFO - Epoch [7][24400/39528] lr: 8.550e-05, eta: 5 days, 19:48:01, time: 0.765, data_time: 0.038, memory: 19865, loss_cls: 0.1381, loss_bbox: 0.3459, loss_traj: 0.7232, loss_traj_cls: 0.0011, loss_map_cls: 0.1342, loss_map_pts: 0.6362, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.7058, d0.loss_plan_l1_fix_dist: 0.4614, d1.loss_plan_l1_fix_time: 1.1657, d1.loss_plan_l1_fix_dist: 0.2086, d2.loss_plan_l1_fix_time: 1.1471, d2.loss_plan_l1_fix_dist: 0.2080, d3.loss_plan_l1_fix_time: 1.1403, d3.loss_plan_l1_fix_dist: 0.2181, d4.loss_plan_l1_fix_time: 1.1426, d4.loss_plan_l1_fix_dist: 0.2360, d5.loss_plan_l1_fix_time: 1.1460, d5.loss_plan_l1_fix_dist: 0.2570, d6.loss_plan_l1_fix_time: 1.1501, d6.loss_plan_l1_fix_dist: 0.2780, d0.loss_cls_all: 0.1777, d0.loss_bbox_all: 0.4035, d0.loss_cls: 0.1777, d0.loss_bbox: 0.4035, d1.loss_cls: 0.1712, d1.loss_bbox: 0.3709, d2.loss_cls: 0.1580, d2.loss_bbox: 0.3550, d3.loss_cls: 0.1462, d3.loss_bbox: 0.3490, d4.loss_cls: 0.1392, d4.loss_bbox: 0.3476, d5.loss_cls: 0.1372, d5.loss_bbox: 0.3487, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9822, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7888, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7422, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7308, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7277, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7229, d0.loss_map_cls_all: 0.1991, d0.loss_map_pts_all: 1.3461, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.1991, d0.loss_map_pts: 1.3461, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1722, d1.loss_map_pts: 0.9012, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1549, d2.loss_map_pts: 0.7335, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1444, d3.loss_map_pts: 0.6687, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1380, d4.loss_map_pts: 0.6430, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1361, d5.loss_map_pts: 0.6361, d5.loss_map_dir: 0.0095, loss: 29.3219, grad_norm: 158.6739 +2026-02-27 15:34:36,380 - DriveTransformer - INFO - Epoch [7][24450/39528] lr: 8.550e-05, eta: 5 days, 19:47:02, time: 0.716, data_time: 0.035, memory: 19865, loss_cls: 0.1679, loss_bbox: 0.3537, loss_traj: 0.6477, loss_traj_cls: 0.0011, loss_map_cls: 0.1786, loss_map_pts: 0.7373, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.8265, d0.loss_plan_l1_fix_dist: 0.4570, d1.loss_plan_l1_fix_time: 1.1070, d1.loss_plan_l1_fix_dist: 0.1995, d2.loss_plan_l1_fix_time: 1.0860, d2.loss_plan_l1_fix_dist: 0.2026, d3.loss_plan_l1_fix_time: 1.0727, d3.loss_plan_l1_fix_dist: 0.2125, d4.loss_plan_l1_fix_time: 1.0739, d4.loss_plan_l1_fix_dist: 0.2252, d5.loss_plan_l1_fix_time: 1.0760, d5.loss_plan_l1_fix_dist: 0.2384, d6.loss_plan_l1_fix_time: 1.0788, d6.loss_plan_l1_fix_dist: 0.2553, d0.loss_cls_all: 0.2012, d0.loss_bbox_all: 0.4096, d0.loss_cls: 0.2012, d0.loss_bbox: 0.4096, d1.loss_cls: 0.1955, d1.loss_bbox: 0.3721, d2.loss_cls: 0.1753, d2.loss_bbox: 0.3596, d3.loss_cls: 0.1652, d3.loss_bbox: 0.3543, d4.loss_cls: 0.1619, d4.loss_bbox: 0.3528, d5.loss_cls: 0.1675, d5.loss_bbox: 0.3541, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9079, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7158, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6599, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6532, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6574, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6482, d0.loss_map_cls_all: 0.2612, d0.loss_map_pts_all: 1.5110, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2612, d0.loss_map_pts: 1.5110, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2282, d1.loss_map_pts: 1.0328, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.2028, d2.loss_map_pts: 0.8440, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1891, d3.loss_map_pts: 0.7728, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1830, d4.loss_map_pts: 0.7445, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1797, d5.loss_map_pts: 0.7377, d5.loss_map_dir: 0.0109, loss: 30.0674, grad_norm: 161.7837 +2026-02-27 15:35:13,237 - DriveTransformer - INFO - Epoch [7][24500/39528] lr: 8.550e-05, eta: 5 days, 19:46:32, time: 0.737, data_time: 0.037, memory: 19865, loss_cls: 0.1411, loss_bbox: 0.3189, loss_traj: 0.5647, loss_traj_cls: 0.0011, loss_map_cls: 0.1393, loss_map_pts: 0.6261, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.3734, d0.loss_plan_l1_fix_dist: 0.4884, d1.loss_plan_l1_fix_time: 1.0378, d1.loss_plan_l1_fix_dist: 0.1992, d2.loss_plan_l1_fix_time: 1.0142, d2.loss_plan_l1_fix_dist: 0.2046, d3.loss_plan_l1_fix_time: 1.0052, d3.loss_plan_l1_fix_dist: 0.2194, d4.loss_plan_l1_fix_time: 1.0067, d4.loss_plan_l1_fix_dist: 0.2345, d5.loss_plan_l1_fix_time: 1.0094, d5.loss_plan_l1_fix_dist: 0.2466, d6.loss_plan_l1_fix_time: 1.0130, d6.loss_plan_l1_fix_dist: 0.2636, d0.loss_cls_all: 0.1730, d0.loss_bbox_all: 0.3710, d0.loss_cls: 0.1730, d0.loss_bbox: 0.3710, d1.loss_cls: 0.1685, d1.loss_bbox: 0.3327, d2.loss_cls: 0.1511, d2.loss_bbox: 0.3198, d3.loss_cls: 0.1397, d3.loss_bbox: 0.3171, d4.loss_cls: 0.1359, d4.loss_bbox: 0.3198, d5.loss_cls: 0.1405, d5.loss_bbox: 0.3196, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7699, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6103, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5761, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5667, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5738, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5620, d0.loss_map_cls_all: 0.1966, d0.loss_map_pts_all: 1.2291, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.1966, d0.loss_map_pts: 1.2291, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1721, d1.loss_map_pts: 0.8475, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1542, d2.loss_map_pts: 0.7014, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1470, d3.loss_map_pts: 0.6510, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1427, d4.loss_map_pts: 0.6328, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1393, d5.loss_map_pts: 0.6258, d5.loss_map_dir: 0.0091, loss: 26.3402, grad_norm: 166.2512 +2026-02-27 15:35:49,429 - DriveTransformer - INFO - Epoch [7][24550/39528] lr: 8.550e-05, eta: 5 days, 19:45:43, time: 0.724, data_time: 0.036, memory: 19865, loss_cls: 0.1484, loss_bbox: 0.3467, loss_traj: 0.5876, loss_traj_cls: 0.0011, loss_map_cls: 0.1335, loss_map_pts: 0.6385, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.5680, d0.loss_plan_l1_fix_dist: 0.4725, d1.loss_plan_l1_fix_time: 1.1195, d1.loss_plan_l1_fix_dist: 0.1989, d2.loss_plan_l1_fix_time: 1.0987, d2.loss_plan_l1_fix_dist: 0.1889, d3.loss_plan_l1_fix_time: 1.0957, d3.loss_plan_l1_fix_dist: 0.1946, d4.loss_plan_l1_fix_time: 1.0982, d4.loss_plan_l1_fix_dist: 0.2011, d5.loss_plan_l1_fix_time: 1.1014, d5.loss_plan_l1_fix_dist: 0.2075, d6.loss_plan_l1_fix_time: 1.1049, d6.loss_plan_l1_fix_dist: 0.2190, d0.loss_cls_all: 0.1798, d0.loss_bbox_all: 0.3962, d0.loss_cls: 0.1798, d0.loss_bbox: 0.3962, d1.loss_cls: 0.1770, d1.loss_bbox: 0.3649, d2.loss_cls: 0.1616, d2.loss_bbox: 0.3514, d3.loss_cls: 0.1510, d3.loss_bbox: 0.3465, d4.loss_cls: 0.1486, d4.loss_bbox: 0.3444, d5.loss_cls: 0.1491, d5.loss_bbox: 0.3453, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8107, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6478, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6000, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5899, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5942, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5853, d0.loss_map_cls_all: 0.2001, d0.loss_map_pts_all: 1.3200, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2001, d0.loss_map_pts: 1.3200, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1733, d1.loss_map_pts: 0.9147, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1538, d2.loss_map_pts: 0.7420, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1446, d3.loss_map_pts: 0.6826, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1375, d4.loss_map_pts: 0.6477, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1341, d5.loss_map_pts: 0.6400, d5.loss_map_dir: 0.0091, loss: 27.7304, grad_norm: 167.2478 +2026-02-27 15:36:24,112 - DriveTransformer - INFO - Epoch [7][24600/39528] lr: 8.550e-05, eta: 5 days, 19:44:12, time: 0.694, data_time: 0.035, memory: 19865, loss_cls: 0.1573, loss_bbox: 0.3560, loss_traj: 0.8155, loss_traj_cls: 0.0011, loss_map_cls: 0.1518, loss_map_pts: 0.6395, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 3.0484, d0.loss_plan_l1_fix_dist: 0.4495, d1.loss_plan_l1_fix_time: 1.2007, d1.loss_plan_l1_fix_dist: 0.2324, d2.loss_plan_l1_fix_time: 1.1840, d2.loss_plan_l1_fix_dist: 0.2050, d3.loss_plan_l1_fix_time: 1.1822, d3.loss_plan_l1_fix_dist: 0.2046, d4.loss_plan_l1_fix_time: 1.1848, d4.loss_plan_l1_fix_dist: 0.2130, d5.loss_plan_l1_fix_time: 1.1876, d5.loss_plan_l1_fix_dist: 0.2252, d6.loss_plan_l1_fix_time: 1.1902, d6.loss_plan_l1_fix_dist: 0.2379, d0.loss_cls_all: 0.2013, d0.loss_bbox_all: 0.4072, d0.loss_cls: 0.2013, d0.loss_bbox: 0.4072, d1.loss_cls: 0.1932, d1.loss_bbox: 0.3776, d2.loss_cls: 0.1772, d2.loss_bbox: 0.3618, d3.loss_cls: 0.1622, d3.loss_bbox: 0.3580, d4.loss_cls: 0.1573, d4.loss_bbox: 0.3556, d5.loss_cls: 0.1561, d5.loss_bbox: 0.3570, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0531, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8746, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8306, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8136, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8134, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.8110, d0.loss_map_cls_all: 0.2286, d0.loss_map_pts_all: 1.1958, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2286, d0.loss_map_pts: 1.1958, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1964, d1.loss_map_pts: 0.8763, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1736, d2.loss_map_pts: 0.7337, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1632, d3.loss_map_pts: 0.6690, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1572, d4.loss_map_pts: 0.6465, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1531, d5.loss_map_pts: 0.6386, d5.loss_map_dir: 0.0074, loss: 30.4553, grad_norm: 166.4442 +2026-02-27 15:37:00,558 - DriveTransformer - INFO - Epoch [7][24650/39528] lr: 8.550e-05, eta: 5 days, 19:43:31, time: 0.729, data_time: 0.038, memory: 19865, loss_cls: 0.1745, loss_bbox: 0.3537, loss_traj: 0.6869, loss_traj_cls: 0.0011, loss_map_cls: 0.1699, loss_map_pts: 0.7070, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 3.0029, d0.loss_plan_l1_fix_dist: 0.3893, d1.loss_plan_l1_fix_time: 1.2157, d1.loss_plan_l1_fix_dist: 0.2168, d2.loss_plan_l1_fix_time: 1.1986, d2.loss_plan_l1_fix_dist: 0.1782, d3.loss_plan_l1_fix_time: 1.1909, d3.loss_plan_l1_fix_dist: 0.1769, d4.loss_plan_l1_fix_time: 1.1930, d4.loss_plan_l1_fix_dist: 0.1872, d5.loss_plan_l1_fix_time: 1.1956, d5.loss_plan_l1_fix_dist: 0.1973, d6.loss_plan_l1_fix_time: 1.1985, d6.loss_plan_l1_fix_dist: 0.2051, d0.loss_cls_all: 0.2089, d0.loss_bbox_all: 0.4230, d0.loss_cls: 0.2089, d0.loss_bbox: 0.4230, d1.loss_cls: 0.2055, d1.loss_bbox: 0.3850, d2.loss_cls: 0.1934, d2.loss_bbox: 0.3658, d3.loss_cls: 0.1800, d3.loss_bbox: 0.3583, d4.loss_cls: 0.1742, d4.loss_bbox: 0.3547, d5.loss_cls: 0.1738, d5.loss_bbox: 0.3552, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9152, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7636, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6997, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6888, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6875, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6878, d0.loss_map_cls_all: 0.2398, d0.loss_map_pts_all: 1.4204, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2398, d0.loss_map_pts: 1.4204, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2122, d1.loss_map_pts: 1.0005, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1937, d2.loss_map_pts: 0.8164, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1817, d3.loss_map_pts: 0.7452, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1740, d4.loss_map_pts: 0.7192, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1721, d5.loss_map_pts: 0.7081, d5.loss_map_dir: 0.0096, loss: 30.6138, grad_norm: 167.1061 +2026-02-27 15:37:36,211 - DriveTransformer - INFO - Epoch [7][24700/39528] lr: 8.550e-05, eta: 5 days, 19:42:27, time: 0.713, data_time: 0.037, memory: 19865, loss_cls: 0.1478, loss_bbox: 0.3228, loss_traj: 0.6833, loss_traj_cls: 0.0011, loss_map_cls: 0.1425, loss_map_pts: 0.6696, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.4461, d0.loss_plan_l1_fix_dist: 0.4548, d1.loss_plan_l1_fix_time: 0.8487, d1.loss_plan_l1_fix_dist: 0.2076, d2.loss_plan_l1_fix_time: 0.8339, d2.loss_plan_l1_fix_dist: 0.1803, d3.loss_plan_l1_fix_time: 0.8342, d3.loss_plan_l1_fix_dist: 0.1754, d4.loss_plan_l1_fix_time: 0.8376, d4.loss_plan_l1_fix_dist: 0.1818, d5.loss_plan_l1_fix_time: 0.8413, d5.loss_plan_l1_fix_dist: 0.1905, d6.loss_plan_l1_fix_time: 0.8457, d6.loss_plan_l1_fix_dist: 0.2044, d0.loss_cls_all: 0.1786, d0.loss_bbox_all: 0.3882, d0.loss_cls: 0.1786, d0.loss_bbox: 0.3882, d1.loss_cls: 0.1717, d1.loss_bbox: 0.3556, d2.loss_cls: 0.1573, d2.loss_bbox: 0.3365, d3.loss_cls: 0.1471, d3.loss_bbox: 0.3276, d4.loss_cls: 0.1442, d4.loss_bbox: 0.3241, d5.loss_cls: 0.1456, d5.loss_bbox: 0.3241, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9352, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7539, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7154, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6960, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6887, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6833, d0.loss_map_cls_all: 0.2113, d0.loss_map_pts_all: 1.3154, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2113, d0.loss_map_pts: 1.3154, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1885, d1.loss_map_pts: 0.9333, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1671, d2.loss_map_pts: 0.7736, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1549, d3.loss_map_pts: 0.7033, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1496, d4.loss_map_pts: 0.6761, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1441, d5.loss_map_pts: 0.6696, d5.loss_map_dir: 0.0084, loss: 26.7747, grad_norm: 168.5742 +2026-02-27 15:38:12,250 - DriveTransformer - INFO - Epoch [7][24750/39528] lr: 8.550e-05, eta: 5 days, 19:41:35, time: 0.721, data_time: 0.038, memory: 19865, loss_cls: 0.1520, loss_bbox: 0.3349, loss_traj: 0.6879, loss_traj_cls: 0.0011, loss_map_cls: 0.1477, loss_map_pts: 0.6337, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.5597, d0.loss_plan_l1_fix_dist: 0.3982, d1.loss_plan_l1_fix_time: 1.1052, d1.loss_plan_l1_fix_dist: 0.1877, d2.loss_plan_l1_fix_time: 1.0858, d2.loss_plan_l1_fix_dist: 0.1652, d3.loss_plan_l1_fix_time: 1.0850, d3.loss_plan_l1_fix_dist: 0.1658, d4.loss_plan_l1_fix_time: 1.0866, d4.loss_plan_l1_fix_dist: 0.1730, d5.loss_plan_l1_fix_time: 1.0891, d5.loss_plan_l1_fix_dist: 0.1827, d6.loss_plan_l1_fix_time: 1.0924, d6.loss_plan_l1_fix_dist: 0.1952, d0.loss_cls_all: 0.1921, d0.loss_bbox_all: 0.4030, d0.loss_cls: 0.1921, d0.loss_bbox: 0.4030, d1.loss_cls: 0.1854, d1.loss_bbox: 0.3690, d2.loss_cls: 0.1727, d2.loss_bbox: 0.3484, d3.loss_cls: 0.1615, d3.loss_bbox: 0.3394, d4.loss_cls: 0.1539, d4.loss_bbox: 0.3354, d5.loss_cls: 0.1527, d5.loss_bbox: 0.3350, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9231, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7544, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7221, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7025, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6954, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6915, d0.loss_map_cls_all: 0.2207, d0.loss_map_pts_all: 1.2857, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2207, d0.loss_map_pts: 1.2857, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1891, d1.loss_map_pts: 0.8941, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1716, d2.loss_map_pts: 0.7414, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1579, d3.loss_map_pts: 0.6741, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1530, d4.loss_map_pts: 0.6444, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1485, d5.loss_map_pts: 0.6355, d5.loss_map_dir: 0.0086, loss: 28.2573, grad_norm: 168.8426 +2026-02-27 15:38:49,100 - DriveTransformer - INFO - Epoch [7][24800/39528] lr: 8.550e-05, eta: 5 days, 19:41:05, time: 0.737, data_time: 0.039, memory: 19865, loss_cls: 0.1634, loss_bbox: 0.3562, loss_traj: 0.6640, loss_traj_cls: 0.0011, loss_map_cls: 0.1511, loss_map_pts: 0.6679, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.7384, d0.loss_plan_l1_fix_dist: 0.4999, d1.loss_plan_l1_fix_time: 1.0873, d1.loss_plan_l1_fix_dist: 0.1943, d2.loss_plan_l1_fix_time: 1.0676, d2.loss_plan_l1_fix_dist: 0.1786, d3.loss_plan_l1_fix_time: 1.0626, d3.loss_plan_l1_fix_dist: 0.1849, d4.loss_plan_l1_fix_time: 1.0637, d4.loss_plan_l1_fix_dist: 0.1951, d5.loss_plan_l1_fix_time: 1.0655, d5.loss_plan_l1_fix_dist: 0.2053, d6.loss_plan_l1_fix_time: 1.0678, d6.loss_plan_l1_fix_dist: 0.2156, d0.loss_cls_all: 0.1932, d0.loss_bbox_all: 0.4233, d0.loss_cls: 0.1932, d0.loss_bbox: 0.4233, d1.loss_cls: 0.1904, d1.loss_bbox: 0.3874, d2.loss_cls: 0.1823, d2.loss_bbox: 0.3670, d3.loss_cls: 0.1710, d3.loss_bbox: 0.3607, d4.loss_cls: 0.1644, d4.loss_bbox: 0.3592, d5.loss_cls: 0.1628, d5.loss_bbox: 0.3577, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9403, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7419, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6851, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6700, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6711, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6651, d0.loss_map_cls_all: 0.2195, d0.loss_map_pts_all: 1.2993, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2195, d0.loss_map_pts: 1.2993, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1922, d1.loss_map_pts: 0.9103, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1728, d2.loss_map_pts: 0.7647, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1629, d3.loss_map_pts: 0.7039, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1573, d4.loss_map_pts: 0.6782, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1533, d5.loss_map_pts: 0.6687, d5.loss_map_dir: 0.0083, loss: 28.8145, grad_norm: 165.5292 +2026-02-27 15:39:25,821 - DriveTransformer - INFO - Epoch [7][24850/39528] lr: 8.550e-05, eta: 5 days, 19:40:31, time: 0.734, data_time: 0.037, memory: 19865, loss_cls: 0.1466, loss_bbox: 0.3380, loss_traj: 0.6364, loss_traj_cls: 0.0011, loss_map_cls: 0.1411, loss_map_pts: 0.6893, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.0560, d0.loss_plan_l1_fix_dist: 0.4434, d1.loss_plan_l1_fix_time: 0.9545, d1.loss_plan_l1_fix_dist: 0.1918, d2.loss_plan_l1_fix_time: 0.9385, d2.loss_plan_l1_fix_dist: 0.1759, d3.loss_plan_l1_fix_time: 0.9331, d3.loss_plan_l1_fix_dist: 0.1808, d4.loss_plan_l1_fix_time: 0.9355, d4.loss_plan_l1_fix_dist: 0.1883, d5.loss_plan_l1_fix_time: 0.9383, d5.loss_plan_l1_fix_dist: 0.1946, d6.loss_plan_l1_fix_time: 0.9414, d6.loss_plan_l1_fix_dist: 0.2042, d0.loss_cls_all: 0.1838, d0.loss_bbox_all: 0.4029, d0.loss_cls: 0.1838, d0.loss_bbox: 0.4029, d1.loss_cls: 0.1767, d1.loss_bbox: 0.3705, d2.loss_cls: 0.1605, d2.loss_bbox: 0.3515, d3.loss_cls: 0.1485, d3.loss_bbox: 0.3450, d4.loss_cls: 0.1450, d4.loss_bbox: 0.3412, d5.loss_cls: 0.1452, d5.loss_bbox: 0.3382, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8541, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7169, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6687, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6518, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6437, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6382, d0.loss_map_cls_all: 0.2191, d0.loss_map_pts_all: 1.3846, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2191, d0.loss_map_pts: 1.3846, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.1871, d1.loss_map_pts: 0.9482, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1692, d2.loss_map_pts: 0.7793, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1559, d3.loss_map_pts: 0.7158, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1479, d4.loss_map_pts: 0.6936, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1429, d5.loss_map_pts: 0.6885, d5.loss_map_dir: 0.0105, loss: 27.0232, grad_norm: 167.2916 +2026-02-27 15:40:00,868 - DriveTransformer - INFO - Epoch [7][24900/39528] lr: 8.550e-05, eta: 5 days, 19:39:11, time: 0.701, data_time: 0.038, memory: 19865, loss_cls: 0.1485, loss_bbox: 0.3443, loss_traj: 0.6486, loss_traj_cls: 0.0011, loss_map_cls: 0.1373, loss_map_pts: 0.5880, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.6979, d0.loss_plan_l1_fix_dist: 0.3909, d1.loss_plan_l1_fix_time: 1.0654, d1.loss_plan_l1_fix_dist: 0.1801, d2.loss_plan_l1_fix_time: 1.0464, d2.loss_plan_l1_fix_dist: 0.1828, d3.loss_plan_l1_fix_time: 1.0452, d3.loss_plan_l1_fix_dist: 0.1866, d4.loss_plan_l1_fix_time: 1.0477, d4.loss_plan_l1_fix_dist: 0.1898, d5.loss_plan_l1_fix_time: 1.0507, d5.loss_plan_l1_fix_dist: 0.1999, d6.loss_plan_l1_fix_time: 1.0541, d6.loss_plan_l1_fix_dist: 0.2107, d0.loss_cls_all: 0.1886, d0.loss_bbox_all: 0.4032, d0.loss_cls: 0.1886, d0.loss_bbox: 0.4032, d1.loss_cls: 0.1809, d1.loss_bbox: 0.3686, d2.loss_cls: 0.1650, d2.loss_bbox: 0.3516, d3.loss_cls: 0.1548, d3.loss_bbox: 0.3450, d4.loss_cls: 0.1507, d4.loss_bbox: 0.3412, d5.loss_cls: 0.1491, d5.loss_bbox: 0.3432, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8618, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7113, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6768, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6566, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6495, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6460, d0.loss_map_cls_all: 0.2087, d0.loss_map_pts_all: 1.2371, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2087, d0.loss_map_pts: 1.2371, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1801, d1.loss_map_pts: 0.8544, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1590, d2.loss_map_pts: 0.6962, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1497, d3.loss_map_pts: 0.6207, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1439, d4.loss_map_pts: 0.5995, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1392, d5.loss_map_pts: 0.5882, d5.loss_map_dir: 0.0083, loss: 27.4452, grad_norm: 166.1386 +2026-02-27 15:40:36,187 - DriveTransformer - INFO - Epoch [7][24950/39528] lr: 8.550e-05, eta: 5 days, 19:37:59, time: 0.706, data_time: 0.037, memory: 19865, loss_cls: 0.1402, loss_bbox: 0.3401, loss_traj: 0.5529, loss_traj_cls: 0.0011, loss_map_cls: 0.1503, loss_map_pts: 0.5902, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.7342, d0.loss_plan_l1_fix_dist: 0.5020, d1.loss_plan_l1_fix_time: 0.9913, d1.loss_plan_l1_fix_dist: 0.1795, d2.loss_plan_l1_fix_time: 0.9798, d2.loss_plan_l1_fix_dist: 0.1875, d3.loss_plan_l1_fix_time: 0.9849, d3.loss_plan_l1_fix_dist: 0.1904, d4.loss_plan_l1_fix_time: 0.9884, d4.loss_plan_l1_fix_dist: 0.1928, d5.loss_plan_l1_fix_time: 0.9915, d5.loss_plan_l1_fix_dist: 0.2008, d6.loss_plan_l1_fix_time: 0.9947, d6.loss_plan_l1_fix_dist: 0.2079, d0.loss_cls_all: 0.1834, d0.loss_bbox_all: 0.3919, d0.loss_cls: 0.1834, d0.loss_bbox: 0.3919, d1.loss_cls: 0.1718, d1.loss_bbox: 0.3626, d2.loss_cls: 0.1607, d2.loss_bbox: 0.3438, d3.loss_cls: 0.1492, d3.loss_bbox: 0.3373, d4.loss_cls: 0.1428, d4.loss_bbox: 0.3364, d5.loss_cls: 0.1400, d5.loss_bbox: 0.3384, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7696, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6349, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5761, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5618, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5594, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5583, d0.loss_map_cls_all: 0.2154, d0.loss_map_pts_all: 1.1872, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2154, d0.loss_map_pts: 1.1872, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1902, d1.loss_map_pts: 0.8237, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1733, d2.loss_map_pts: 0.6825, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1634, d3.loss_map_pts: 0.6190, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1572, d4.loss_map_pts: 0.6000, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1520, d5.loss_map_pts: 0.5924, d5.loss_map_dir: 0.0073, loss: 26.4167, grad_norm: 167.5717 +2026-02-27 15:41:11,379 - DriveTransformer - INFO - Epoch [7][25000/39528] lr: 8.550e-05, eta: 5 days, 19:36:43, time: 0.704, data_time: 0.036, memory: 19865, loss_cls: 0.1355, loss_bbox: 0.3447, loss_traj: 0.5763, loss_traj_cls: 0.0011, loss_map_cls: 0.1566, loss_map_pts: 0.6719, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.8251, d0.loss_plan_l1_fix_dist: 0.5091, d1.loss_plan_l1_fix_time: 0.9857, d1.loss_plan_l1_fix_dist: 0.2025, d2.loss_plan_l1_fix_time: 0.9772, d2.loss_plan_l1_fix_dist: 0.2037, d3.loss_plan_l1_fix_time: 0.9772, d3.loss_plan_l1_fix_dist: 0.2086, d4.loss_plan_l1_fix_time: 0.9813, d4.loss_plan_l1_fix_dist: 0.2182, d5.loss_plan_l1_fix_time: 0.9860, d5.loss_plan_l1_fix_dist: 0.2271, d6.loss_plan_l1_fix_time: 0.9918, d6.loss_plan_l1_fix_dist: 0.2324, d0.loss_cls_all: 0.1809, d0.loss_bbox_all: 0.4026, d0.loss_cls: 0.1809, d0.loss_bbox: 0.4026, d1.loss_cls: 0.1706, d1.loss_bbox: 0.3736, d2.loss_cls: 0.1578, d2.loss_bbox: 0.3559, d3.loss_cls: 0.1445, d3.loss_bbox: 0.3476, d4.loss_cls: 0.1389, d4.loss_bbox: 0.3436, d5.loss_cls: 0.1361, d5.loss_bbox: 0.3448, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7565, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6260, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5927, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5869, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5794, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5783, d0.loss_map_cls_all: 0.2383, d0.loss_map_pts_all: 1.3870, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2383, d0.loss_map_pts: 1.3870, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2080, d1.loss_map_pts: 0.9575, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1811, d2.loss_map_pts: 0.7818, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1718, d3.loss_map_pts: 0.7075, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1635, d4.loss_map_pts: 0.6806, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1570, d5.loss_map_pts: 0.6737, d5.loss_map_dir: 0.0097, loss: 27.8278, grad_norm: 168.2512 +2026-02-27 15:41:49,079 - DriveTransformer - INFO - Epoch [7][25050/39528] lr: 8.550e-05, eta: 5 days, 19:36:37, time: 0.754, data_time: 0.040, memory: 19865, loss_cls: 0.1488, loss_bbox: 0.3522, loss_traj: 0.5800, loss_traj_cls: 0.0011, loss_map_cls: 0.1610, loss_map_pts: 0.7509, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.8666, d0.loss_plan_l1_fix_dist: 0.4832, d1.loss_plan_l1_fix_time: 1.1219, d1.loss_plan_l1_fix_dist: 0.1815, d2.loss_plan_l1_fix_time: 1.1048, d2.loss_plan_l1_fix_dist: 0.1820, d3.loss_plan_l1_fix_time: 1.0958, d3.loss_plan_l1_fix_dist: 0.1825, d4.loss_plan_l1_fix_time: 1.0973, d4.loss_plan_l1_fix_dist: 0.1877, d5.loss_plan_l1_fix_time: 1.1001, d5.loss_plan_l1_fix_dist: 0.1983, d6.loss_plan_l1_fix_time: 1.1039, d6.loss_plan_l1_fix_dist: 0.2141, d0.loss_cls_all: 0.1931, d0.loss_bbox_all: 0.4055, d0.loss_cls: 0.1931, d0.loss_bbox: 0.4055, d1.loss_cls: 0.1830, d1.loss_bbox: 0.3735, d2.loss_cls: 0.1699, d2.loss_bbox: 0.3560, d3.loss_cls: 0.1566, d3.loss_bbox: 0.3519, d4.loss_cls: 0.1499, d4.loss_bbox: 0.3516, d5.loss_cls: 0.1485, d5.loss_bbox: 0.3513, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8148, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6228, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5814, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5752, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5734, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5791, d0.loss_map_cls_all: 0.2433, d0.loss_map_pts_all: 1.5420, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2433, d0.loss_map_pts: 1.5420, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2112, d1.loss_map_pts: 1.0622, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1865, d2.loss_map_pts: 0.8691, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1744, d3.loss_map_pts: 0.7961, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1668, d4.loss_map_pts: 0.7590, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1630, d5.loss_map_pts: 0.7512, d5.loss_map_dir: 0.0104, loss: 29.4458, grad_norm: 169.1046 +2026-02-27 15:42:24,046 - DriveTransformer - INFO - Epoch [7][25100/39528] lr: 8.550e-05, eta: 5 days, 19:35:15, time: 0.699, data_time: 0.037, memory: 19865, loss_cls: 0.1443, loss_bbox: 0.3337, loss_traj: 0.6814, loss_traj_cls: 0.0011, loss_map_cls: 0.1424, loss_map_pts: 0.6287, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.4631, d0.loss_plan_l1_fix_dist: 0.4640, d1.loss_plan_l1_fix_time: 0.9019, d1.loss_plan_l1_fix_dist: 0.1712, d2.loss_plan_l1_fix_time: 0.8921, d2.loss_plan_l1_fix_dist: 0.1775, d3.loss_plan_l1_fix_time: 0.8949, d3.loss_plan_l1_fix_dist: 0.1843, d4.loss_plan_l1_fix_time: 0.8984, d4.loss_plan_l1_fix_dist: 0.1937, d5.loss_plan_l1_fix_time: 0.9021, d5.loss_plan_l1_fix_dist: 0.2036, d6.loss_plan_l1_fix_time: 0.9066, d6.loss_plan_l1_fix_dist: 0.2192, d0.loss_cls_all: 0.1685, d0.loss_bbox_all: 0.3860, d0.loss_cls: 0.1685, d0.loss_bbox: 0.3860, d1.loss_cls: 0.1642, d1.loss_bbox: 0.3567, d2.loss_cls: 0.1579, d2.loss_bbox: 0.3389, d3.loss_cls: 0.1463, d3.loss_bbox: 0.3351, d4.loss_cls: 0.1452, d4.loss_bbox: 0.3328, d5.loss_cls: 0.1437, d5.loss_bbox: 0.3321, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9624, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7677, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7103, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6850, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6837, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6821, d0.loss_map_cls_all: 0.2161, d0.loss_map_pts_all: 1.2252, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2161, d0.loss_map_pts: 1.2252, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1830, d1.loss_map_pts: 0.8732, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1617, d2.loss_map_pts: 0.7188, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1526, d3.loss_map_pts: 0.6601, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1490, d4.loss_map_pts: 0.6362, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1439, d5.loss_map_pts: 0.6298, d5.loss_map_dir: 0.0082, loss: 26.7178, grad_norm: 169.4242 +2026-02-27 15:42:59,830 - DriveTransformer - INFO - Epoch [7][25150/39528] lr: 8.550e-05, eta: 5 days, 19:34:16, time: 0.716, data_time: 0.038, memory: 19865, loss_cls: 0.1524, loss_bbox: 0.3557, loss_traj: 0.7005, loss_traj_cls: 0.0011, loss_map_cls: 0.1364, loss_map_pts: 0.6192, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.6865, d0.loss_plan_l1_fix_dist: 0.3794, d1.loss_plan_l1_fix_time: 0.9905, d1.loss_plan_l1_fix_dist: 0.1684, d2.loss_plan_l1_fix_time: 0.9721, d2.loss_plan_l1_fix_dist: 0.1744, d3.loss_plan_l1_fix_time: 0.9652, d3.loss_plan_l1_fix_dist: 0.1886, d4.loss_plan_l1_fix_time: 0.9668, d4.loss_plan_l1_fix_dist: 0.2050, d5.loss_plan_l1_fix_time: 0.9693, d5.loss_plan_l1_fix_dist: 0.2150, d6.loss_plan_l1_fix_time: 0.9722, d6.loss_plan_l1_fix_dist: 0.2226, d0.loss_cls_all: 0.1933, d0.loss_bbox_all: 0.4140, d0.loss_cls: 0.1933, d0.loss_bbox: 0.4140, d1.loss_cls: 0.1872, d1.loss_bbox: 0.3768, d2.loss_cls: 0.1747, d2.loss_bbox: 0.3573, d3.loss_cls: 0.1630, d3.loss_bbox: 0.3541, d4.loss_cls: 0.1542, d4.loss_bbox: 0.3537, d5.loss_cls: 0.1522, d5.loss_bbox: 0.3552, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9433, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7637, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7098, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6989, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6994, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6986, d0.loss_map_cls_all: 0.2073, d0.loss_map_pts_all: 1.2208, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2073, d0.loss_map_pts: 1.2208, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1777, d1.loss_map_pts: 0.8257, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1602, d2.loss_map_pts: 0.6863, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1500, d3.loss_map_pts: 0.6370, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1419, d4.loss_map_pts: 0.6222, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1389, d5.loss_map_pts: 0.6193, d5.loss_map_dir: 0.0095, loss: 27.4917, grad_norm: 169.0242 +2026-02-27 15:43:36,005 - DriveTransformer - INFO - Epoch [7][25200/39528] lr: 8.550e-05, eta: 5 days, 19:33:30, time: 0.725, data_time: 0.042, memory: 19865, loss_cls: 0.1556, loss_bbox: 0.3727, loss_traj: 0.6392, loss_traj_cls: 0.0011, loss_map_cls: 0.1753, loss_map_pts: 0.6971, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.7862, d0.loss_plan_l1_fix_dist: 0.4096, d1.loss_plan_l1_fix_time: 1.0416, d1.loss_plan_l1_fix_dist: 0.1682, d2.loss_plan_l1_fix_time: 1.0085, d2.loss_plan_l1_fix_dist: 0.1698, d3.loss_plan_l1_fix_time: 1.0018, d3.loss_plan_l1_fix_dist: 0.1757, d4.loss_plan_l1_fix_time: 1.0029, d4.loss_plan_l1_fix_dist: 0.1877, d5.loss_plan_l1_fix_time: 1.0043, d5.loss_plan_l1_fix_dist: 0.2042, d6.loss_plan_l1_fix_time: 1.0059, d6.loss_plan_l1_fix_dist: 0.2176, d0.loss_cls_all: 0.1881, d0.loss_bbox_all: 0.4283, d0.loss_cls: 0.1881, d0.loss_bbox: 0.4283, d1.loss_cls: 0.1883, d1.loss_bbox: 0.3912, d2.loss_cls: 0.1754, d2.loss_bbox: 0.3734, d3.loss_cls: 0.1654, d3.loss_bbox: 0.3675, d4.loss_cls: 0.1575, d4.loss_bbox: 0.3684, d5.loss_cls: 0.1577, d5.loss_bbox: 0.3678, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9018, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7217, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6537, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6466, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6434, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6388, d0.loss_map_cls_all: 0.2544, d0.loss_map_pts_all: 1.3498, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2544, d0.loss_map_pts: 1.3498, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.2242, d1.loss_map_pts: 0.9527, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.2000, d2.loss_map_pts: 0.7908, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1893, d3.loss_map_pts: 0.7300, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1818, d4.loss_map_pts: 0.7098, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1774, d5.loss_map_pts: 0.6999, d5.loss_map_dir: 0.0084, loss: 28.7107, grad_norm: 167.7512 +2026-02-27 15:44:13,681 - DriveTransformer - INFO - Epoch [7][25250/39528] lr: 8.550e-05, eta: 5 days, 19:33:20, time: 0.752, data_time: 0.035, memory: 19865, loss_cls: 0.1531, loss_bbox: 0.3601, loss_traj: 0.5841, loss_traj_cls: 0.0010, loss_map_cls: 0.1428, loss_map_pts: 0.6953, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.5472, d0.loss_plan_l1_fix_dist: 0.4152, d1.loss_plan_l1_fix_time: 1.1595, d1.loss_plan_l1_fix_dist: 0.1971, d2.loss_plan_l1_fix_time: 1.1259, d2.loss_plan_l1_fix_dist: 0.1995, d3.loss_plan_l1_fix_time: 1.1126, d3.loss_plan_l1_fix_dist: 0.2061, d4.loss_plan_l1_fix_time: 1.1127, d4.loss_plan_l1_fix_dist: 0.2110, d5.loss_plan_l1_fix_time: 1.1140, d5.loss_plan_l1_fix_dist: 0.2213, d6.loss_plan_l1_fix_time: 1.1165, d6.loss_plan_l1_fix_dist: 0.2410, d0.loss_cls_all: 0.1901, d0.loss_bbox_all: 0.4147, d0.loss_cls: 0.1901, d0.loss_bbox: 0.4147, d1.loss_cls: 0.1823, d1.loss_bbox: 0.3858, d2.loss_cls: 0.1718, d2.loss_bbox: 0.3671, d3.loss_cls: 0.1611, d3.loss_bbox: 0.3618, d4.loss_cls: 0.1536, d4.loss_bbox: 0.3598, d5.loss_cls: 0.1509, d5.loss_bbox: 0.3602, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8105, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6469, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5939, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5876, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5835, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5845, d0.loss_map_cls_all: 0.2086, d0.loss_map_pts_all: 1.3845, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2086, d0.loss_map_pts: 1.3845, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.1834, d1.loss_map_pts: 0.9586, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1629, d2.loss_map_pts: 0.7845, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1539, d3.loss_map_pts: 0.7206, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1482, d4.loss_map_pts: 0.6993, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1441, d5.loss_map_pts: 0.6951, d5.loss_map_dir: 0.0107, loss: 28.5123, grad_norm: 166.7238 +2026-02-27 15:44:49,021 - DriveTransformer - INFO - Epoch [7][25300/39528] lr: 8.550e-05, eta: 5 days, 19:32:09, time: 0.707, data_time: 0.036, memory: 19865, loss_cls: 0.1465, loss_bbox: 0.3486, loss_traj: 0.5704, loss_traj_cls: 0.0011, loss_map_cls: 0.1445, loss_map_pts: 0.6270, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.4694, d0.loss_plan_l1_fix_dist: 0.3555, d1.loss_plan_l1_fix_time: 0.8637, d1.loss_plan_l1_fix_dist: 0.1660, d2.loss_plan_l1_fix_time: 0.8432, d2.loss_plan_l1_fix_dist: 0.1617, d3.loss_plan_l1_fix_time: 0.8431, d3.loss_plan_l1_fix_dist: 0.1703, d4.loss_plan_l1_fix_time: 0.8448, d4.loss_plan_l1_fix_dist: 0.1788, d5.loss_plan_l1_fix_time: 0.8470, d5.loss_plan_l1_fix_dist: 0.1866, d6.loss_plan_l1_fix_time: 0.8499, d6.loss_plan_l1_fix_dist: 0.1974, d0.loss_cls_all: 0.1777, d0.loss_bbox_all: 0.4011, d0.loss_cls: 0.1777, d0.loss_bbox: 0.4011, d1.loss_cls: 0.1695, d1.loss_bbox: 0.3699, d2.loss_cls: 0.1602, d2.loss_bbox: 0.3528, d3.loss_cls: 0.1514, d3.loss_bbox: 0.3478, d4.loss_cls: 0.1480, d4.loss_bbox: 0.3458, d5.loss_cls: 0.1458, d5.loss_bbox: 0.3475, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8289, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6241, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5837, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5762, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5712, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5714, d0.loss_map_cls_all: 0.2173, d0.loss_map_pts_all: 1.3271, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2173, d0.loss_map_pts: 1.3271, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1849, d1.loss_map_pts: 0.9027, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1615, d2.loss_map_pts: 0.7368, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1569, d3.loss_map_pts: 0.6667, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1500, d4.loss_map_pts: 0.6350, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1459, d5.loss_map_pts: 0.6284, d5.loss_map_dir: 0.0096, loss: 25.8050, grad_norm: 163.5687 +2026-02-27 15:45:24,803 - DriveTransformer - INFO - Epoch [7][25350/39528] lr: 8.550e-05, eta: 5 days, 19:31:11, time: 0.716, data_time: 0.036, memory: 19865, loss_cls: 0.1541, loss_bbox: 0.3632, loss_traj: 0.6802, loss_traj_cls: 0.0011, loss_map_cls: 0.1325, loss_map_pts: 0.6408, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.7167, d0.loss_plan_l1_fix_dist: 0.3898, d1.loss_plan_l1_fix_time: 0.9935, d1.loss_plan_l1_fix_dist: 0.1903, d2.loss_plan_l1_fix_time: 0.9821, d2.loss_plan_l1_fix_dist: 0.1748, d3.loss_plan_l1_fix_time: 0.9843, d3.loss_plan_l1_fix_dist: 0.1829, d4.loss_plan_l1_fix_time: 0.9864, d4.loss_plan_l1_fix_dist: 0.1965, d5.loss_plan_l1_fix_time: 0.9889, d5.loss_plan_l1_fix_dist: 0.2075, d6.loss_plan_l1_fix_time: 0.9919, d6.loss_plan_l1_fix_dist: 0.2140, d0.loss_cls_all: 0.1887, d0.loss_bbox_all: 0.4221, d0.loss_cls: 0.1887, d0.loss_bbox: 0.4221, d1.loss_cls: 0.1845, d1.loss_bbox: 0.3882, d2.loss_cls: 0.1723, d2.loss_bbox: 0.3701, d3.loss_cls: 0.1618, d3.loss_bbox: 0.3614, d4.loss_cls: 0.1557, d4.loss_bbox: 0.3609, d5.loss_cls: 0.1551, d5.loss_bbox: 0.3610, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9199, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7262, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6874, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6930, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6891, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6850, d0.loss_map_cls_all: 0.2033, d0.loss_map_pts_all: 1.2902, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2033, d0.loss_map_pts: 1.2902, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1716, d1.loss_map_pts: 0.8870, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1515, d2.loss_map_pts: 0.7299, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1437, d3.loss_map_pts: 0.6702, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1380, d4.loss_map_pts: 0.6469, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1342, d5.loss_map_pts: 0.6408, d5.loss_map_dir: 0.0093, loss: 27.8444, grad_norm: 162.3960 +2026-02-27 15:46:01,071 - DriveTransformer - INFO - Epoch [7][25400/39528] lr: 8.550e-05, eta: 5 days, 19:30:25, time: 0.725, data_time: 0.038, memory: 19865, loss_cls: 0.1616, loss_bbox: 0.3690, loss_traj: 0.7663, loss_traj_cls: 0.0011, loss_map_cls: 0.1493, loss_map_pts: 0.6707, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.9451, d0.loss_plan_l1_fix_dist: 0.4825, d1.loss_plan_l1_fix_time: 1.1330, d1.loss_plan_l1_fix_dist: 0.2179, d2.loss_plan_l1_fix_time: 1.1224, d2.loss_plan_l1_fix_dist: 0.2059, d3.loss_plan_l1_fix_time: 1.1176, d3.loss_plan_l1_fix_dist: 0.2156, d4.loss_plan_l1_fix_time: 1.1183, d4.loss_plan_l1_fix_dist: 0.2272, d5.loss_plan_l1_fix_time: 1.1197, d5.loss_plan_l1_fix_dist: 0.2436, d6.loss_plan_l1_fix_time: 1.1214, d6.loss_plan_l1_fix_dist: 0.2626, d0.loss_cls_all: 0.1940, d0.loss_bbox_all: 0.4416, d0.loss_cls: 0.1940, d0.loss_bbox: 0.4416, d1.loss_cls: 0.1874, d1.loss_bbox: 0.4030, d2.loss_cls: 0.1770, d2.loss_bbox: 0.3816, d3.loss_cls: 0.1670, d3.loss_bbox: 0.3745, d4.loss_cls: 0.1650, d4.loss_bbox: 0.3686, d5.loss_cls: 0.1620, d5.loss_bbox: 0.3693, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0212, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8359, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7774, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.7751, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7720, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7667, d0.loss_map_cls_all: 0.2237, d0.loss_map_pts_all: 1.3337, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2237, d0.loss_map_pts: 1.3337, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1956, d1.loss_map_pts: 0.9585, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1738, d2.loss_map_pts: 0.7833, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1630, d3.loss_map_pts: 0.7058, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1561, d4.loss_map_pts: 0.6762, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1514, d5.loss_map_pts: 0.6702, d5.loss_map_dir: 0.0085, loss: 30.4468, grad_norm: 165.8347 +2026-02-27 15:46:37,436 - DriveTransformer - INFO - Epoch [7][25450/39528] lr: 8.550e-05, eta: 5 days, 19:29:42, time: 0.727, data_time: 0.037, memory: 19865, loss_cls: 0.1620, loss_bbox: 0.3485, loss_traj: 0.5991, loss_traj_cls: 0.0011, loss_map_cls: 0.1092, loss_map_pts: 0.5662, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.4816, d0.loss_plan_l1_fix_dist: 0.4166, d1.loss_plan_l1_fix_time: 0.9915, d1.loss_plan_l1_fix_dist: 0.2042, d2.loss_plan_l1_fix_time: 0.9812, d2.loss_plan_l1_fix_dist: 0.1982, d3.loss_plan_l1_fix_time: 0.9809, d3.loss_plan_l1_fix_dist: 0.2116, d4.loss_plan_l1_fix_time: 0.9838, d4.loss_plan_l1_fix_dist: 0.2296, d5.loss_plan_l1_fix_time: 0.9875, d5.loss_plan_l1_fix_dist: 0.2508, d6.loss_plan_l1_fix_time: 0.9924, d6.loss_plan_l1_fix_dist: 0.2731, d0.loss_cls_all: 0.1931, d0.loss_bbox_all: 0.4094, d0.loss_cls: 0.1931, d0.loss_bbox: 0.4094, d1.loss_cls: 0.1844, d1.loss_bbox: 0.3785, d2.loss_cls: 0.1718, d2.loss_bbox: 0.3606, d3.loss_cls: 0.1650, d3.loss_bbox: 0.3509, d4.loss_cls: 0.1602, d4.loss_bbox: 0.3486, d5.loss_cls: 0.1614, d5.loss_bbox: 0.3468, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8126, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6766, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6191, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6041, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6009, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5967, d0.loss_map_cls_all: 0.1809, d0.loss_map_pts_all: 1.2214, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1809, d0.loss_map_pts: 1.2214, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1436, d1.loss_map_pts: 0.8130, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1285, d2.loss_map_pts: 0.6612, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1185, d3.loss_map_pts: 0.6004, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1139, d4.loss_map_pts: 0.5739, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1107, d5.loss_map_pts: 0.5666, d5.loss_map_dir: 0.0076, loss: 26.4140, grad_norm: 165.0007 +2026-02-27 15:47:12,829 - DriveTransformer - INFO - Epoch [7][25500/39528] lr: 8.550e-05, eta: 5 days, 19:28:33, time: 0.708, data_time: 0.035, memory: 19865, loss_cls: 0.1428, loss_bbox: 0.3573, loss_traj: 0.6602, loss_traj_cls: 0.0011, loss_map_cls: 0.1424, loss_map_pts: 0.6103, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.5957, d0.loss_plan_l1_fix_dist: 0.3684, d1.loss_plan_l1_fix_time: 1.1109, d1.loss_plan_l1_fix_dist: 0.1595, d2.loss_plan_l1_fix_time: 1.0987, d2.loss_plan_l1_fix_dist: 0.1581, d3.loss_plan_l1_fix_time: 1.0967, d3.loss_plan_l1_fix_dist: 0.1762, d4.loss_plan_l1_fix_time: 1.0994, d4.loss_plan_l1_fix_dist: 0.1966, d5.loss_plan_l1_fix_time: 1.1025, d5.loss_plan_l1_fix_dist: 0.2165, d6.loss_plan_l1_fix_time: 1.1072, d6.loss_plan_l1_fix_dist: 0.2418, d0.loss_cls_all: 0.1740, d0.loss_bbox_all: 0.4119, d0.loss_cls: 0.1740, d0.loss_bbox: 0.4119, d1.loss_cls: 0.1712, d1.loss_bbox: 0.3799, d2.loss_cls: 0.1613, d2.loss_bbox: 0.3629, d3.loss_cls: 0.1491, d3.loss_bbox: 0.3589, d4.loss_cls: 0.1449, d4.loss_bbox: 0.3558, d5.loss_cls: 0.1430, d5.loss_bbox: 0.3540, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8812, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7052, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6659, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6589, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6571, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6570, d0.loss_map_cls_all: 0.2019, d0.loss_map_pts_all: 1.2753, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2019, d0.loss_map_pts: 1.2753, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1770, d1.loss_map_pts: 0.8721, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1623, d2.loss_map_pts: 0.7193, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1531, d3.loss_map_pts: 0.6471, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1482, d4.loss_map_pts: 0.6208, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1439, d5.loss_map_pts: 0.6123, d5.loss_map_dir: 0.0076, loss: 27.8948, grad_norm: 168.3955 +2026-02-27 15:47:50,843 - DriveTransformer - INFO - Epoch [7][25550/39528] lr: 8.550e-05, eta: 5 days, 19:28:34, time: 0.760, data_time: 0.036, memory: 19865, loss_cls: 0.1400, loss_bbox: 0.3507, loss_traj: 0.5916, loss_traj_cls: 0.0011, loss_map_cls: 0.1638, loss_map_pts: 0.7121, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.7313, d0.loss_plan_l1_fix_dist: 0.4195, d1.loss_plan_l1_fix_time: 1.0618, d1.loss_plan_l1_fix_dist: 0.1995, d2.loss_plan_l1_fix_time: 1.0503, d2.loss_plan_l1_fix_dist: 0.2052, d3.loss_plan_l1_fix_time: 1.0484, d3.loss_plan_l1_fix_dist: 0.2171, d4.loss_plan_l1_fix_time: 1.0509, d4.loss_plan_l1_fix_dist: 0.2311, d5.loss_plan_l1_fix_time: 1.0537, d5.loss_plan_l1_fix_dist: 0.2477, d6.loss_plan_l1_fix_time: 1.0576, d6.loss_plan_l1_fix_dist: 0.2714, d0.loss_cls_all: 0.1874, d0.loss_bbox_all: 0.4131, d0.loss_cls: 0.1874, d0.loss_bbox: 0.4131, d1.loss_cls: 0.1740, d1.loss_bbox: 0.3798, d2.loss_cls: 0.1602, d2.loss_bbox: 0.3601, d3.loss_cls: 0.1456, d3.loss_bbox: 0.3536, d4.loss_cls: 0.1403, d4.loss_bbox: 0.3515, d5.loss_cls: 0.1398, d5.loss_bbox: 0.3506, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7917, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6429, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6114, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.5901, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5843, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5866, d0.loss_map_cls_all: 0.2284, d0.loss_map_pts_all: 1.4455, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2284, d0.loss_map_pts: 1.4455, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2022, d1.loss_map_pts: 0.9904, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1800, d2.loss_map_pts: 0.8034, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1747, d3.loss_map_pts: 0.7343, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1689, d4.loss_map_pts: 0.7175, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1655, d5.loss_map_pts: 0.7117, d5.loss_map_dir: 0.0104, loss: 28.6492, grad_norm: 166.3961 +2026-02-27 15:48:26,917 - DriveTransformer - INFO - Epoch [7][25600/39528] lr: 8.550e-05, eta: 5 days, 19:27:44, time: 0.721, data_time: 0.037, memory: 19865, loss_cls: 0.1447, loss_bbox: 0.3506, loss_traj: 0.6618, loss_traj_cls: 0.0011, loss_map_cls: 0.1507, loss_map_pts: 0.6524, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.2671, d0.loss_plan_l1_fix_dist: 0.4591, d1.loss_plan_l1_fix_time: 1.0034, d1.loss_plan_l1_fix_dist: 0.1832, d2.loss_plan_l1_fix_time: 0.9881, d2.loss_plan_l1_fix_dist: 0.1931, d3.loss_plan_l1_fix_time: 0.9893, d3.loss_plan_l1_fix_dist: 0.2074, d4.loss_plan_l1_fix_time: 0.9915, d4.loss_plan_l1_fix_dist: 0.2266, d5.loss_plan_l1_fix_time: 0.9938, d5.loss_plan_l1_fix_dist: 0.2436, d6.loss_plan_l1_fix_time: 0.9967, d6.loss_plan_l1_fix_dist: 0.2562, d0.loss_cls_all: 0.1733, d0.loss_bbox_all: 0.4053, d0.loss_cls: 0.1733, d0.loss_bbox: 0.4053, d1.loss_cls: 0.1678, d1.loss_bbox: 0.3725, d2.loss_cls: 0.1613, d2.loss_bbox: 0.3584, d3.loss_cls: 0.1502, d3.loss_bbox: 0.3516, d4.loss_cls: 0.1453, d4.loss_bbox: 0.3495, d5.loss_cls: 0.1439, d5.loss_bbox: 0.3499, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8891, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7217, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6723, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6580, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6518, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6579, d0.loss_map_cls_all: 0.2319, d0.loss_map_pts_all: 1.3168, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2319, d0.loss_map_pts: 1.3168, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2048, d1.loss_map_pts: 0.9165, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1782, d2.loss_map_pts: 0.7428, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1625, d3.loss_map_pts: 0.6807, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1568, d4.loss_map_pts: 0.6549, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1533, d5.loss_map_pts: 0.6520, d5.loss_map_dir: 0.0090, loss: 27.5934, grad_norm: 161.4496 +2026-02-27 15:49:04,321 - DriveTransformer - INFO - Epoch [7][25650/39528] lr: 8.550e-05, eta: 5 days, 19:27:29, time: 0.748, data_time: 0.037, memory: 19865, loss_cls: 0.1741, loss_bbox: 0.3697, loss_traj: 0.6536, loss_traj_cls: 0.0011, loss_map_cls: 0.1666, loss_map_pts: 0.8120, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.6067, d0.loss_plan_l1_fix_dist: 0.4789, d1.loss_plan_l1_fix_time: 1.1595, d1.loss_plan_l1_fix_dist: 0.2051, d2.loss_plan_l1_fix_time: 1.1563, d2.loss_plan_l1_fix_dist: 0.2002, d3.loss_plan_l1_fix_time: 1.1551, d3.loss_plan_l1_fix_dist: 0.2120, d4.loss_plan_l1_fix_time: 1.1587, d4.loss_plan_l1_fix_dist: 0.2251, d5.loss_plan_l1_fix_time: 1.1625, d5.loss_plan_l1_fix_dist: 0.2413, d6.loss_plan_l1_fix_time: 1.1665, d6.loss_plan_l1_fix_dist: 0.2566, d0.loss_cls_all: 0.2054, d0.loss_bbox_all: 0.4395, d0.loss_cls: 0.2054, d0.loss_bbox: 0.4395, d1.loss_cls: 0.2056, d1.loss_bbox: 0.3993, d2.loss_cls: 0.1949, d2.loss_bbox: 0.3773, d3.loss_cls: 0.1796, d3.loss_bbox: 0.3694, d4.loss_cls: 0.1733, d4.loss_bbox: 0.3688, d5.loss_cls: 0.1717, d5.loss_bbox: 0.3693, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8977, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7376, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6757, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6614, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6531, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6525, d0.loss_map_cls_all: 0.2456, d0.loss_map_pts_all: 1.5608, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2456, d0.loss_map_pts: 1.5608, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2134, d1.loss_map_pts: 1.1236, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1907, d2.loss_map_pts: 0.9232, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1801, d3.loss_map_pts: 0.8475, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1723, d4.loss_map_pts: 0.8185, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1692, d5.loss_map_pts: 0.8130, d5.loss_map_dir: 0.0108, loss: 31.0924, grad_norm: 165.1491 +2026-02-27 15:49:39,079 - DriveTransformer - INFO - Epoch [7][25700/39528] lr: 8.550e-05, eta: 5 days, 19:26:03, time: 0.695, data_time: 0.035, memory: 19865, loss_cls: 0.1530, loss_bbox: 0.3826, loss_traj: 0.7010, loss_traj_cls: 0.0011, loss_map_cls: 0.1747, loss_map_pts: 0.7178, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.6898, d0.loss_plan_l1_fix_dist: 0.4313, d1.loss_plan_l1_fix_time: 1.0911, d1.loss_plan_l1_fix_dist: 0.2165, d2.loss_plan_l1_fix_time: 1.0842, d2.loss_plan_l1_fix_dist: 0.2007, d3.loss_plan_l1_fix_time: 1.0841, d3.loss_plan_l1_fix_dist: 0.2079, d4.loss_plan_l1_fix_time: 1.0865, d4.loss_plan_l1_fix_dist: 0.2162, d5.loss_plan_l1_fix_time: 1.0893, d5.loss_plan_l1_fix_dist: 0.2313, d6.loss_plan_l1_fix_time: 1.0930, d6.loss_plan_l1_fix_dist: 0.2507, d0.loss_cls_all: 0.1905, d0.loss_bbox_all: 0.4326, d0.loss_cls: 0.1905, d0.loss_bbox: 0.4326, d1.loss_cls: 0.1842, d1.loss_bbox: 0.4006, d2.loss_cls: 0.1720, d2.loss_bbox: 0.3862, d3.loss_cls: 0.1574, d3.loss_bbox: 0.3844, d4.loss_cls: 0.1524, d4.loss_bbox: 0.3827, d5.loss_cls: 0.1511, d5.loss_bbox: 0.3827, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9964, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7923, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7170, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7022, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7032, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6982, d0.loss_map_cls_all: 0.2429, d0.loss_map_pts_all: 1.3870, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2429, d0.loss_map_pts: 1.3870, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.2100, d1.loss_map_pts: 0.9921, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1902, d2.loss_map_pts: 0.8137, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1840, d3.loss_map_pts: 0.7436, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1800, d4.loss_map_pts: 0.7228, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1759, d5.loss_map_pts: 0.7200, d5.loss_map_dir: 0.0092, loss: 29.9805, grad_norm: 167.6456 +2026-02-27 15:50:17,307 - DriveTransformer - INFO - Epoch [7][25750/39528] lr: 8.550e-05, eta: 5 days, 19:26:10, time: 0.765, data_time: 0.037, memory: 19865, loss_cls: 0.1646, loss_bbox: 0.3631, loss_traj: 0.5522, loss_traj_cls: 0.0011, loss_map_cls: 0.1472, loss_map_pts: 0.7272, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.6798, d0.loss_plan_l1_fix_dist: 0.4361, d1.loss_plan_l1_fix_time: 0.9824, d1.loss_plan_l1_fix_dist: 0.2311, d2.loss_plan_l1_fix_time: 0.9593, d2.loss_plan_l1_fix_dist: 0.2083, d3.loss_plan_l1_fix_time: 0.9539, d3.loss_plan_l1_fix_dist: 0.2107, d4.loss_plan_l1_fix_time: 0.9561, d4.loss_plan_l1_fix_dist: 0.2217, d5.loss_plan_l1_fix_time: 0.9591, d5.loss_plan_l1_fix_dist: 0.2378, d6.loss_plan_l1_fix_time: 0.9641, d6.loss_plan_l1_fix_dist: 0.2518, d0.loss_cls_all: 0.2060, d0.loss_bbox_all: 0.4298, d0.loss_cls: 0.2060, d0.loss_bbox: 0.4298, d1.loss_cls: 0.1997, d1.loss_bbox: 0.3946, d2.loss_cls: 0.1792, d2.loss_bbox: 0.3760, d3.loss_cls: 0.1714, d3.loss_bbox: 0.3712, d4.loss_cls: 0.1656, d4.loss_bbox: 0.3661, d5.loss_cls: 0.1649, d5.loss_bbox: 0.3638, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7491, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6306, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5755, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5506, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5480, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5499, d0.loss_map_cls_all: 0.2142, d0.loss_map_pts_all: 1.5084, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2142, d0.loss_map_pts: 1.5084, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.1839, d1.loss_map_pts: 1.0252, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.1670, d2.loss_map_pts: 0.8308, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1570, d3.loss_map_pts: 0.7604, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1542, d4.loss_map_pts: 0.7365, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1492, d5.loss_map_pts: 0.7299, d5.loss_map_dir: 0.0113, loss: 28.2684, grad_norm: 166.2430 +2026-02-27 15:50:53,993 - DriveTransformer - INFO - Epoch [7][25800/39528] lr: 8.550e-05, eta: 5 days, 19:25:35, time: 0.734, data_time: 0.040, memory: 19865, loss_cls: 0.1342, loss_bbox: 0.3368, loss_traj: 0.6341, loss_traj_cls: 0.0010, loss_map_cls: 0.1631, loss_map_pts: 0.7030, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.5853, d0.loss_plan_l1_fix_dist: 0.3729, d1.loss_plan_l1_fix_time: 0.9556, d1.loss_plan_l1_fix_dist: 0.1942, d2.loss_plan_l1_fix_time: 0.9403, d2.loss_plan_l1_fix_dist: 0.1712, d3.loss_plan_l1_fix_time: 0.9413, d3.loss_plan_l1_fix_dist: 0.1809, d4.loss_plan_l1_fix_time: 0.9437, d4.loss_plan_l1_fix_dist: 0.1944, d5.loss_plan_l1_fix_time: 0.9467, d5.loss_plan_l1_fix_dist: 0.2085, d6.loss_plan_l1_fix_time: 0.9507, d6.loss_plan_l1_fix_dist: 0.2257, d0.loss_cls_all: 0.1726, d0.loss_bbox_all: 0.3974, d0.loss_cls: 0.1726, d0.loss_bbox: 0.3974, d1.loss_cls: 0.1691, d1.loss_bbox: 0.3648, d2.loss_cls: 0.1536, d2.loss_bbox: 0.3463, d3.loss_cls: 0.1449, d3.loss_bbox: 0.3370, d4.loss_cls: 0.1363, d4.loss_bbox: 0.3361, d5.loss_cls: 0.1339, d5.loss_bbox: 0.3357, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8838, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7066, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6418, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6303, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6269, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6304, d0.loss_map_cls_all: 0.2359, d0.loss_map_pts_all: 1.4426, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2359, d0.loss_map_pts: 1.4426, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2030, d1.loss_map_pts: 0.9847, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1784, d2.loss_map_pts: 0.7935, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1714, d3.loss_map_pts: 0.7313, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1673, d4.loss_map_pts: 0.7073, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1636, d5.loss_map_pts: 0.7021, d5.loss_map_dir: 0.0097, loss: 27.7416, grad_norm: 166.4653 +2026-02-27 15:51:31,735 - DriveTransformer - INFO - Epoch [7][25850/39528] lr: 8.550e-05, eta: 5 days, 19:25:29, time: 0.755, data_time: 0.035, memory: 19865, loss_cls: 0.1576, loss_bbox: 0.3634, loss_traj: 0.5774, loss_traj_cls: 0.0010, loss_map_cls: 0.1751, loss_map_pts: 0.7686, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 3.0076, d0.loss_plan_l1_fix_dist: 0.4390, d1.loss_plan_l1_fix_time: 1.1087, d1.loss_plan_l1_fix_dist: 0.2167, d2.loss_plan_l1_fix_time: 1.1011, d2.loss_plan_l1_fix_dist: 0.2019, d3.loss_plan_l1_fix_time: 1.1068, d3.loss_plan_l1_fix_dist: 0.2126, d4.loss_plan_l1_fix_time: 1.1106, d4.loss_plan_l1_fix_dist: 0.2222, d5.loss_plan_l1_fix_time: 1.1148, d5.loss_plan_l1_fix_dist: 0.2328, d6.loss_plan_l1_fix_time: 1.1195, d6.loss_plan_l1_fix_dist: 0.2518, d0.loss_cls_all: 0.1939, d0.loss_bbox_all: 0.4297, d0.loss_cls: 0.1939, d0.loss_bbox: 0.4297, d1.loss_cls: 0.1898, d1.loss_bbox: 0.3898, d2.loss_cls: 0.1775, d2.loss_bbox: 0.3715, d3.loss_cls: 0.1626, d3.loss_bbox: 0.3660, d4.loss_cls: 0.1580, d4.loss_bbox: 0.3626, d5.loss_cls: 0.1586, d5.loss_bbox: 0.3605, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7563, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6525, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5944, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5857, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5779, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5768, d0.loss_map_cls_all: 0.2400, d0.loss_map_pts_all: 1.5284, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2400, d0.loss_map_pts: 1.5284, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2165, d1.loss_map_pts: 1.0542, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1951, d2.loss_map_pts: 0.8576, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.1865, d3.loss_map_pts: 0.7967, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1813, d4.loss_map_pts: 0.7723, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1759, d5.loss_map_pts: 0.7663, d5.loss_map_dir: 0.0114, loss: 30.0098, grad_norm: 167.4247 +2026-02-27 15:52:08,061 - DriveTransformer - INFO - Epoch [7][25900/39528] lr: 8.550e-05, eta: 5 days, 19:24:45, time: 0.727, data_time: 0.037, memory: 19865, loss_cls: 0.1596, loss_bbox: 0.3640, loss_traj: 0.6199, loss_traj_cls: 0.0010, loss_map_cls: 0.1550, loss_map_pts: 0.6975, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.6073, d0.loss_plan_l1_fix_dist: 0.4102, d1.loss_plan_l1_fix_time: 1.1162, d1.loss_plan_l1_fix_dist: 0.2181, d2.loss_plan_l1_fix_time: 1.0965, d2.loss_plan_l1_fix_dist: 0.2022, d3.loss_plan_l1_fix_time: 1.0929, d3.loss_plan_l1_fix_dist: 0.2068, d4.loss_plan_l1_fix_time: 1.0951, d4.loss_plan_l1_fix_dist: 0.2179, d5.loss_plan_l1_fix_time: 1.0977, d5.loss_plan_l1_fix_dist: 0.2328, d6.loss_plan_l1_fix_time: 1.1003, d6.loss_plan_l1_fix_dist: 0.2465, d0.loss_cls_all: 0.2043, d0.loss_bbox_all: 0.4287, d0.loss_cls: 0.2043, d0.loss_bbox: 0.4287, d1.loss_cls: 0.1936, d1.loss_bbox: 0.3963, d2.loss_cls: 0.1817, d2.loss_bbox: 0.3758, d3.loss_cls: 0.1664, d3.loss_bbox: 0.3693, d4.loss_cls: 0.1604, d4.loss_bbox: 0.3652, d5.loss_cls: 0.1590, d5.loss_bbox: 0.3644, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8466, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6896, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6385, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6276, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6221, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6197, d0.loss_map_cls_all: 0.2198, d0.loss_map_pts_all: 1.3686, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2198, d0.loss_map_pts: 1.3686, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1931, d1.loss_map_pts: 0.9670, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1727, d2.loss_map_pts: 0.7920, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1668, d3.loss_map_pts: 0.7265, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1608, d4.loss_map_pts: 0.7034, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1562, d5.loss_map_pts: 0.6980, d5.loss_map_dir: 0.0092, loss: 28.9697, grad_norm: 167.5210 +2026-02-27 15:52:46,301 - DriveTransformer - INFO - Epoch [7][25950/39528] lr: 8.550e-05, eta: 5 days, 19:24:52, time: 0.765, data_time: 0.036, memory: 19865, loss_cls: 0.1538, loss_bbox: 0.3619, loss_traj: 0.6170, loss_traj_cls: 0.0010, loss_map_cls: 0.1684, loss_map_pts: 0.7991, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 2.5307, d0.loss_plan_l1_fix_dist: 0.4299, d1.loss_plan_l1_fix_time: 1.0187, d1.loss_plan_l1_fix_dist: 0.2030, d2.loss_plan_l1_fix_time: 0.9988, d2.loss_plan_l1_fix_dist: 0.1919, d3.loss_plan_l1_fix_time: 0.9959, d3.loss_plan_l1_fix_dist: 0.2047, d4.loss_plan_l1_fix_time: 0.9970, d4.loss_plan_l1_fix_dist: 0.2220, d5.loss_plan_l1_fix_time: 0.9988, d5.loss_plan_l1_fix_dist: 0.2376, d6.loss_plan_l1_fix_time: 1.0013, d6.loss_plan_l1_fix_dist: 0.2514, d0.loss_cls_all: 0.1988, d0.loss_bbox_all: 0.4204, d0.loss_cls: 0.1988, d0.loss_bbox: 0.4204, d1.loss_cls: 0.1908, d1.loss_bbox: 0.3904, d2.loss_cls: 0.1774, d2.loss_bbox: 0.3688, d3.loss_cls: 0.1645, d3.loss_bbox: 0.3627, d4.loss_cls: 0.1556, d4.loss_bbox: 0.3621, d5.loss_cls: 0.1542, d5.loss_bbox: 0.3606, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8302, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6738, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6229, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6212, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6211, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6209, d0.loss_map_cls_all: 0.2434, d0.loss_map_pts_all: 1.6188, d0.loss_map_dir_all: 0.0118, d0.loss_map_cls: 0.2434, d0.loss_map_pts: 1.6188, d0.loss_map_dir: 0.0118, d1.loss_map_cls: 0.2126, d1.loss_map_pts: 1.0998, d1.loss_map_dir: 0.0115, d2.loss_map_cls: 0.1925, d2.loss_map_pts: 0.9069, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.1833, d3.loss_map_pts: 0.8371, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.1767, d4.loss_map_pts: 0.8095, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.1712, d5.loss_map_pts: 0.8018, d5.loss_map_dir: 0.0123, loss: 29.5162, grad_norm: 166.7464 +2026-02-27 15:53:21,825 - DriveTransformer - INFO - Epoch [7][26000/39528] lr: 8.550e-05, eta: 5 days, 19:23:49, time: 0.712, data_time: 0.036, memory: 19865, loss_cls: 0.1617, loss_bbox: 0.3680, loss_traj: 0.5540, loss_traj_cls: 0.0010, loss_map_cls: 0.1531, loss_map_pts: 0.7317, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.6356, d0.loss_plan_l1_fix_dist: 0.4697, d1.loss_plan_l1_fix_time: 1.1153, d1.loss_plan_l1_fix_dist: 0.2003, d2.loss_plan_l1_fix_time: 1.0990, d2.loss_plan_l1_fix_dist: 0.2025, d3.loss_plan_l1_fix_time: 1.0929, d3.loss_plan_l1_fix_dist: 0.2145, d4.loss_plan_l1_fix_time: 1.0936, d4.loss_plan_l1_fix_dist: 0.2273, d5.loss_plan_l1_fix_time: 1.0954, d5.loss_plan_l1_fix_dist: 0.2396, d6.loss_plan_l1_fix_time: 1.0980, d6.loss_plan_l1_fix_dist: 0.2563, d0.loss_cls_all: 0.2017, d0.loss_bbox_all: 0.4319, d0.loss_cls: 0.2017, d0.loss_bbox: 0.4319, d1.loss_cls: 0.1976, d1.loss_bbox: 0.3958, d2.loss_cls: 0.1814, d2.loss_bbox: 0.3771, d3.loss_cls: 0.1705, d3.loss_bbox: 0.3703, d4.loss_cls: 0.1632, d4.loss_bbox: 0.3685, d5.loss_cls: 0.1627, d5.loss_bbox: 0.3671, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7788, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6174, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5730, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5627, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5597, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5564, d0.loss_map_cls_all: 0.2214, d0.loss_map_pts_all: 1.3824, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2214, d0.loss_map_pts: 1.3824, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1979, d1.loss_map_pts: 1.0099, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1765, d2.loss_map_pts: 0.8346, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1668, d3.loss_map_pts: 0.7659, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1612, d4.loss_map_pts: 0.7400, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1557, d5.loss_map_pts: 0.7332, d5.loss_map_dir: 0.0093, loss: 28.9062, grad_norm: 163.3204 +2026-02-27 15:53:57,507 - DriveTransformer - INFO - Epoch [7][26050/39528] lr: 8.550e-05, eta: 5 days, 19:22:46, time: 0.712, data_time: 0.035, memory: 19865, loss_cls: 0.1700, loss_bbox: 0.3770, loss_traj: 0.7093, loss_traj_cls: 0.0010, loss_map_cls: 0.1588, loss_map_pts: 0.6598, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.5400, d0.loss_plan_l1_fix_dist: 0.4330, d1.loss_plan_l1_fix_time: 0.9858, d1.loss_plan_l1_fix_dist: 0.1931, d2.loss_plan_l1_fix_time: 0.9762, d2.loss_plan_l1_fix_dist: 0.1997, d3.loss_plan_l1_fix_time: 0.9772, d3.loss_plan_l1_fix_dist: 0.2151, d4.loss_plan_l1_fix_time: 0.9788, d4.loss_plan_l1_fix_dist: 0.2359, d5.loss_plan_l1_fix_time: 0.9802, d5.loss_plan_l1_fix_dist: 0.2676, d6.loss_plan_l1_fix_time: 0.9821, d6.loss_plan_l1_fix_dist: 0.3045, d0.loss_cls_all: 0.2128, d0.loss_bbox_all: 0.4483, d0.loss_cls: 0.2128, d0.loss_bbox: 0.4483, d1.loss_cls: 0.2045, d1.loss_bbox: 0.4168, d2.loss_cls: 0.1903, d2.loss_bbox: 0.3945, d3.loss_cls: 0.1771, d3.loss_bbox: 0.3848, d4.loss_cls: 0.1711, d4.loss_bbox: 0.3807, d5.loss_cls: 0.1696, d5.loss_bbox: 0.3784, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8958, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7653, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7185, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7161, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7081, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7070, d0.loss_map_cls_all: 0.2290, d0.loss_map_pts_all: 1.3417, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2290, d0.loss_map_pts: 1.3417, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.2015, d1.loss_map_pts: 0.9442, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1791, d2.loss_map_pts: 0.7557, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1698, d3.loss_map_pts: 0.6927, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1657, d4.loss_map_pts: 0.6700, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1609, d5.loss_map_pts: 0.6608, d5.loss_map_dir: 0.0085, loss: 28.8590, grad_norm: 160.3335 +2026-02-27 15:54:33,488 - DriveTransformer - INFO - Epoch [7][26100/39528] lr: 8.550e-05, eta: 5 days, 19:21:53, time: 0.719, data_time: 0.038, memory: 19865, loss_cls: 0.1421, loss_bbox: 0.3445, loss_traj: 0.5586, loss_traj_cls: 0.0011, loss_map_cls: 0.1259, loss_map_pts: 0.5769, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.7339, d0.loss_plan_l1_fix_dist: 0.4045, d1.loss_plan_l1_fix_time: 1.0736, d1.loss_plan_l1_fix_dist: 0.1666, d2.loss_plan_l1_fix_time: 1.0632, d2.loss_plan_l1_fix_dist: 0.1798, d3.loss_plan_l1_fix_time: 1.0650, d3.loss_plan_l1_fix_dist: 0.1961, d4.loss_plan_l1_fix_time: 1.0676, d4.loss_plan_l1_fix_dist: 0.2183, d5.loss_plan_l1_fix_time: 1.0700, d5.loss_plan_l1_fix_dist: 0.2517, d6.loss_plan_l1_fix_time: 1.0726, d6.loss_plan_l1_fix_dist: 0.2901, d0.loss_cls_all: 0.1810, d0.loss_bbox_all: 0.4040, d0.loss_cls: 0.1810, d0.loss_bbox: 0.4040, d1.loss_cls: 0.1716, d1.loss_bbox: 0.3752, d2.loss_cls: 0.1612, d2.loss_bbox: 0.3568, d3.loss_cls: 0.1474, d3.loss_bbox: 0.3499, d4.loss_cls: 0.1424, d4.loss_bbox: 0.3469, d5.loss_cls: 0.1405, d5.loss_bbox: 0.3458, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7371, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6172, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5834, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5656, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5621, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5579, d0.loss_map_cls_all: 0.1942, d0.loss_map_pts_all: 1.1541, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.1942, d0.loss_map_pts: 1.1541, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1657, d1.loss_map_pts: 0.7950, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1477, d2.loss_map_pts: 0.6508, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1390, d3.loss_map_pts: 0.6009, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1318, d4.loss_map_pts: 0.5824, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1268, d5.loss_map_pts: 0.5757, d5.loss_map_dir: 0.0083, loss: 26.6173, grad_norm: 162.0992 +2026-02-27 15:55:09,391 - DriveTransformer - INFO - Epoch [7][26150/39528] lr: 8.550e-05, eta: 5 days, 19:20:58, time: 0.718, data_time: 0.037, memory: 19865, loss_cls: 0.1456, loss_bbox: 0.3511, loss_traj: 0.7850, loss_traj_cls: 0.0010, loss_map_cls: 0.1557, loss_map_pts: 0.7109, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.4761, d0.loss_plan_l1_fix_dist: 0.3331, d1.loss_plan_l1_fix_time: 1.0293, d1.loss_plan_l1_fix_dist: 0.1627, d2.loss_plan_l1_fix_time: 1.0168, d2.loss_plan_l1_fix_dist: 0.1703, d3.loss_plan_l1_fix_time: 1.0191, d3.loss_plan_l1_fix_dist: 0.1727, d4.loss_plan_l1_fix_time: 1.0223, d4.loss_plan_l1_fix_dist: 0.1789, d5.loss_plan_l1_fix_time: 1.0252, d5.loss_plan_l1_fix_dist: 0.1930, d6.loss_plan_l1_fix_time: 1.0277, d6.loss_plan_l1_fix_dist: 0.2110, d0.loss_cls_all: 0.1709, d0.loss_bbox_all: 0.4110, d0.loss_cls: 0.1709, d0.loss_bbox: 0.4110, d1.loss_cls: 0.1630, d1.loss_bbox: 0.3810, d2.loss_cls: 0.1587, d2.loss_bbox: 0.3596, d3.loss_cls: 0.1504, d3.loss_bbox: 0.3522, d4.loss_cls: 0.1461, d4.loss_bbox: 0.3507, d5.loss_cls: 0.1440, d5.loss_bbox: 0.3520, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0318, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8500, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8038, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7893, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7886, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7858, d0.loss_map_cls_all: 0.2292, d0.loss_map_pts_all: 1.3993, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2292, d0.loss_map_pts: 1.3993, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.2001, d1.loss_map_pts: 1.0143, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1759, d2.loss_map_pts: 0.8291, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1654, d3.loss_map_pts: 0.7544, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1590, d4.loss_map_pts: 0.7263, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1576, d5.loss_map_pts: 0.7121, d5.loss_map_dir: 0.0081, loss: 29.1791, grad_norm: 162.1505 +2026-02-27 15:55:44,918 - DriveTransformer - INFO - Epoch [7][26200/39528] lr: 8.550e-05, eta: 5 days, 19:19:54, time: 0.711, data_time: 0.039, memory: 19865, loss_cls: 0.1345, loss_bbox: 0.3380, loss_traj: 0.6385, loss_traj_cls: 0.0011, loss_map_cls: 0.1442, loss_map_pts: 0.6168, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.7902, d0.loss_plan_l1_fix_dist: 0.4702, d1.loss_plan_l1_fix_time: 1.0025, d1.loss_plan_l1_fix_dist: 0.1859, d2.loss_plan_l1_fix_time: 0.9660, d2.loss_plan_l1_fix_dist: 0.1869, d3.loss_plan_l1_fix_time: 0.9602, d3.loss_plan_l1_fix_dist: 0.1959, d4.loss_plan_l1_fix_time: 0.9613, d4.loss_plan_l1_fix_dist: 0.2029, d5.loss_plan_l1_fix_time: 0.9629, d5.loss_plan_l1_fix_dist: 0.2082, d6.loss_plan_l1_fix_time: 0.9654, d6.loss_plan_l1_fix_dist: 0.2118, d0.loss_cls_all: 0.1752, d0.loss_bbox_all: 0.3913, d0.loss_cls: 0.1752, d0.loss_bbox: 0.3913, d1.loss_cls: 0.1691, d1.loss_bbox: 0.3623, d2.loss_cls: 0.1547, d2.loss_bbox: 0.3449, d3.loss_cls: 0.1428, d3.loss_bbox: 0.3390, d4.loss_cls: 0.1367, d4.loss_bbox: 0.3371, d5.loss_cls: 0.1366, d5.loss_bbox: 0.3360, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8505, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7096, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6545, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6451, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6352, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6377, d0.loss_map_cls_all: 0.2148, d0.loss_map_pts_all: 1.2351, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2148, d0.loss_map_pts: 1.2351, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1852, d1.loss_map_pts: 0.8729, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1649, d2.loss_map_pts: 0.7022, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1571, d3.loss_map_pts: 0.6435, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1503, d4.loss_map_pts: 0.6247, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1457, d5.loss_map_pts: 0.6184, d5.loss_map_dir: 0.0086, loss: 27.1046, grad_norm: 161.2529 +2026-02-27 15:56:21,018 - DriveTransformer - INFO - Epoch [7][26250/39528] lr: 8.550e-05, eta: 5 days, 19:19:04, time: 0.722, data_time: 0.035, memory: 19865, loss_cls: 0.1795, loss_bbox: 0.3582, loss_traj: 0.5900, loss_traj_cls: 0.0011, loss_map_cls: 0.1518, loss_map_pts: 0.7156, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.5892, d0.loss_plan_l1_fix_dist: 0.3459, d1.loss_plan_l1_fix_time: 0.9809, d1.loss_plan_l1_fix_dist: 0.1703, d2.loss_plan_l1_fix_time: 0.9641, d2.loss_plan_l1_fix_dist: 0.1699, d3.loss_plan_l1_fix_time: 0.9634, d3.loss_plan_l1_fix_dist: 0.1775, d4.loss_plan_l1_fix_time: 0.9654, d4.loss_plan_l1_fix_dist: 0.1895, d5.loss_plan_l1_fix_time: 0.9680, d5.loss_plan_l1_fix_dist: 0.1986, d6.loss_plan_l1_fix_time: 0.9721, d6.loss_plan_l1_fix_dist: 0.2103, d0.loss_cls_all: 0.2130, d0.loss_bbox_all: 0.4226, d0.loss_cls: 0.2130, d0.loss_bbox: 0.4226, d1.loss_cls: 0.2111, d1.loss_bbox: 0.3895, d2.loss_cls: 0.1983, d2.loss_bbox: 0.3672, d3.loss_cls: 0.1876, d3.loss_bbox: 0.3616, d4.loss_cls: 0.1803, d4.loss_bbox: 0.3611, d5.loss_cls: 0.1793, d5.loss_bbox: 0.3603, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7810, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6231, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5980, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5881, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5866, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5888, d0.loss_map_cls_all: 0.2184, d0.loss_map_pts_all: 1.3919, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2184, d0.loss_map_pts: 1.3919, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1951, d1.loss_map_pts: 0.9791, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1748, d2.loss_map_pts: 0.8127, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1641, d3.loss_map_pts: 0.7490, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1580, d4.loss_map_pts: 0.7286, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1529, d5.loss_map_pts: 0.7187, d5.loss_map_dir: 0.0103, loss: 27.8343, grad_norm: 161.8992 +2026-02-27 15:56:58,021 - DriveTransformer - INFO - Epoch [7][26300/39528] lr: 8.550e-05, eta: 5 days, 19:18:38, time: 0.740, data_time: 0.038, memory: 19865, loss_cls: 0.1237, loss_bbox: 0.3185, loss_traj: 0.5853, loss_traj_cls: 0.0011, loss_map_cls: 0.1536, loss_map_pts: 0.6605, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.6662, d0.loss_plan_l1_fix_dist: 0.4586, d1.loss_plan_l1_fix_time: 1.0221, d1.loss_plan_l1_fix_dist: 0.1848, d2.loss_plan_l1_fix_time: 1.0161, d2.loss_plan_l1_fix_dist: 0.1875, d3.loss_plan_l1_fix_time: 1.0207, d3.loss_plan_l1_fix_dist: 0.1856, d4.loss_plan_l1_fix_time: 1.0239, d4.loss_plan_l1_fix_dist: 0.1929, d5.loss_plan_l1_fix_time: 1.0269, d5.loss_plan_l1_fix_dist: 0.2017, d6.loss_plan_l1_fix_time: 1.0298, d6.loss_plan_l1_fix_dist: 0.2181, d0.loss_cls_all: 0.1596, d0.loss_bbox_all: 0.3765, d0.loss_cls: 0.1596, d0.loss_bbox: 0.3765, d1.loss_cls: 0.1549, d1.loss_bbox: 0.3425, d2.loss_cls: 0.1447, d2.loss_bbox: 0.3262, d3.loss_cls: 0.1288, d3.loss_bbox: 0.3209, d4.loss_cls: 0.1234, d4.loss_bbox: 0.3186, d5.loss_cls: 0.1231, d5.loss_bbox: 0.3178, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8240, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6628, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5989, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5914, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5812, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5836, d0.loss_map_cls_all: 0.2218, d0.loss_map_pts_all: 1.3650, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2218, d0.loss_map_pts: 1.3650, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.1926, d1.loss_map_pts: 0.9416, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1746, d2.loss_map_pts: 0.7572, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1640, d3.loss_map_pts: 0.6967, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1605, d4.loss_map_pts: 0.6715, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1556, d5.loss_map_pts: 0.6616, d5.loss_map_dir: 0.0106, loss: 27.3295, grad_norm: 163.8343 +2026-02-27 15:57:33,558 - DriveTransformer - INFO - Epoch [7][26350/39528] lr: 8.550e-05, eta: 5 days, 19:17:34, time: 0.711, data_time: 0.038, memory: 19865, loss_cls: 0.1461, loss_bbox: 0.3403, loss_traj: 0.5868, loss_traj_cls: 0.0011, loss_map_cls: 0.1282, loss_map_pts: 0.6068, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.3636, d0.loss_plan_l1_fix_dist: 0.4040, d1.loss_plan_l1_fix_time: 1.0455, d1.loss_plan_l1_fix_dist: 0.1692, d2.loss_plan_l1_fix_time: 1.0321, d2.loss_plan_l1_fix_dist: 0.1720, d3.loss_plan_l1_fix_time: 1.0264, d3.loss_plan_l1_fix_dist: 0.1715, d4.loss_plan_l1_fix_time: 1.0277, d4.loss_plan_l1_fix_dist: 0.1790, d5.loss_plan_l1_fix_time: 1.0296, d5.loss_plan_l1_fix_dist: 0.1880, d6.loss_plan_l1_fix_time: 1.0315, d6.loss_plan_l1_fix_dist: 0.2086, d0.loss_cls_all: 0.1845, d0.loss_bbox_all: 0.3969, d0.loss_cls: 0.1845, d0.loss_bbox: 0.3969, d1.loss_cls: 0.1749, d1.loss_bbox: 0.3670, d2.loss_cls: 0.1630, d2.loss_bbox: 0.3469, d3.loss_cls: 0.1520, d3.loss_bbox: 0.3410, d4.loss_cls: 0.1478, d4.loss_bbox: 0.3395, d5.loss_cls: 0.1471, d5.loss_bbox: 0.3398, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7983, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6479, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5998, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5937, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5894, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5888, d0.loss_map_cls_all: 0.2069, d0.loss_map_pts_all: 1.1537, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2069, d0.loss_map_pts: 1.1537, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1785, d1.loss_map_pts: 0.8181, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1533, d2.loss_map_pts: 0.6763, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1431, d3.loss_map_pts: 0.6294, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1335, d4.loss_map_pts: 0.6106, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1298, d5.loss_map_pts: 0.6078, d5.loss_map_dir: 0.0080, loss: 26.2281, grad_norm: 164.0089 +2026-02-27 15:58:10,493 - DriveTransformer - INFO - Epoch [7][26400/39528] lr: 8.550e-05, eta: 5 days, 19:17:06, time: 0.739, data_time: 0.038, memory: 19865, loss_cls: 0.1567, loss_bbox: 0.3630, loss_traj: 0.7387, loss_traj_cls: 0.0011, loss_map_cls: 0.1552, loss_map_pts: 0.7098, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.9490, d0.loss_plan_l1_fix_dist: 0.4445, d1.loss_plan_l1_fix_time: 1.1567, d1.loss_plan_l1_fix_dist: 0.1902, d2.loss_plan_l1_fix_time: 1.1386, d2.loss_plan_l1_fix_dist: 0.1975, d3.loss_plan_l1_fix_time: 1.1310, d3.loss_plan_l1_fix_dist: 0.2076, d4.loss_plan_l1_fix_time: 1.1326, d4.loss_plan_l1_fix_dist: 0.2184, d5.loss_plan_l1_fix_time: 1.1352, d5.loss_plan_l1_fix_dist: 0.2275, d6.loss_plan_l1_fix_time: 1.1387, d6.loss_plan_l1_fix_dist: 0.2365, d0.loss_cls_all: 0.1858, d0.loss_bbox_all: 0.4389, d0.loss_cls: 0.1858, d0.loss_bbox: 0.4389, d1.loss_cls: 0.1797, d1.loss_bbox: 0.4007, d2.loss_cls: 0.1725, d2.loss_bbox: 0.3750, d3.loss_cls: 0.1604, d3.loss_bbox: 0.3671, d4.loss_cls: 0.1568, d4.loss_bbox: 0.3638, d5.loss_cls: 0.1568, d5.loss_bbox: 0.3621, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0291, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8217, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7619, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7442, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7385, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7364, d0.loss_map_cls_all: 0.2490, d0.loss_map_pts_all: 1.4277, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2490, d0.loss_map_pts: 1.4277, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2124, d1.loss_map_pts: 0.9769, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1865, d2.loss_map_pts: 0.8051, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1739, d3.loss_map_pts: 0.7454, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1656, d4.loss_map_pts: 0.7219, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1589, d5.loss_map_pts: 0.7112, d5.loss_map_dir: 0.0096, loss: 30.6956, grad_norm: 166.4074 +2026-02-27 15:58:46,868 - DriveTransformer - INFO - Epoch [7][26450/39528] lr: 8.550e-05, eta: 5 days, 19:16:24, time: 0.728, data_time: 0.036, memory: 19865, loss_cls: 0.1516, loss_bbox: 0.3584, loss_traj: 0.5689, loss_traj_cls: 0.0011, loss_map_cls: 0.1464, loss_map_pts: 0.6759, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.4434, d0.loss_plan_l1_fix_dist: 0.4038, d1.loss_plan_l1_fix_time: 0.9485, d1.loss_plan_l1_fix_dist: 0.1772, d2.loss_plan_l1_fix_time: 0.9307, d2.loss_plan_l1_fix_dist: 0.1805, d3.loss_plan_l1_fix_time: 0.9307, d3.loss_plan_l1_fix_dist: 0.1920, d4.loss_plan_l1_fix_time: 0.9349, d4.loss_plan_l1_fix_dist: 0.2061, d5.loss_plan_l1_fix_time: 0.9401, d5.loss_plan_l1_fix_dist: 0.2220, d6.loss_plan_l1_fix_time: 0.9467, d6.loss_plan_l1_fix_dist: 0.2379, d0.loss_cls_all: 0.1903, d0.loss_bbox_all: 0.3998, d0.loss_cls: 0.1903, d0.loss_bbox: 0.3998, d1.loss_cls: 0.1816, d1.loss_bbox: 0.3684, d2.loss_cls: 0.1701, d2.loss_bbox: 0.3516, d3.loss_cls: 0.1605, d3.loss_bbox: 0.3460, d4.loss_cls: 0.1531, d4.loss_bbox: 0.3515, d5.loss_cls: 0.1517, d5.loss_bbox: 0.3555, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7227, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6012, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5734, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5734, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5645, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5706, d0.loss_map_cls_all: 0.2157, d0.loss_map_pts_all: 1.2875, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2157, d0.loss_map_pts: 1.2875, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1875, d1.loss_map_pts: 0.9217, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1703, d2.loss_map_pts: 0.7680, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1589, d3.loss_map_pts: 0.7017, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1514, d4.loss_map_pts: 0.6822, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1479, d5.loss_map_pts: 0.6768, d5.loss_map_dir: 0.0089, loss: 26.6202, grad_norm: 166.7935 +2026-02-27 15:59:22,819 - DriveTransformer - INFO - Epoch [7][26500/39528] lr: 8.550e-05, eta: 5 days, 19:15:30, time: 0.719, data_time: 0.039, memory: 19865, loss_cls: 0.1472, loss_bbox: 0.3420, loss_traj: 0.6626, loss_traj_cls: 0.0011, loss_map_cls: 0.1374, loss_map_pts: 0.6442, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.4216, d0.loss_plan_l1_fix_dist: 0.3635, d1.loss_plan_l1_fix_time: 0.9248, d1.loss_plan_l1_fix_dist: 0.1780, d2.loss_plan_l1_fix_time: 0.9144, d2.loss_plan_l1_fix_dist: 0.1719, d3.loss_plan_l1_fix_time: 0.9208, d3.loss_plan_l1_fix_dist: 0.1814, d4.loss_plan_l1_fix_time: 0.9244, d4.loss_plan_l1_fix_dist: 0.1865, d5.loss_plan_l1_fix_time: 0.9287, d5.loss_plan_l1_fix_dist: 0.1927, d6.loss_plan_l1_fix_time: 0.9345, d6.loss_plan_l1_fix_dist: 0.2017, d0.loss_cls_all: 0.1844, d0.loss_bbox_all: 0.3909, d0.loss_cls: 0.1844, d0.loss_bbox: 0.3909, d1.loss_cls: 0.1769, d1.loss_bbox: 0.3610, d2.loss_cls: 0.1617, d2.loss_bbox: 0.3430, d3.loss_cls: 0.1532, d3.loss_bbox: 0.3367, d4.loss_cls: 0.1473, d4.loss_bbox: 0.3366, d5.loss_cls: 0.1452, d5.loss_bbox: 0.3401, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8628, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7068, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6878, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6794, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6737, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6744, d0.loss_map_cls_all: 0.2122, d0.loss_map_pts_all: 1.2963, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2122, d0.loss_map_pts: 1.2963, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1789, d1.loss_map_pts: 0.9082, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1578, d2.loss_map_pts: 0.7497, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1479, d3.loss_map_pts: 0.6818, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1430, d4.loss_map_pts: 0.6524, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1378, d5.loss_map_pts: 0.6458, d5.loss_map_dir: 0.0085, loss: 26.8076, grad_norm: 167.4014 +2026-02-27 16:00:00,033 - DriveTransformer - INFO - Epoch [7][26550/39528] lr: 8.550e-05, eta: 5 days, 19:15:10, time: 0.744, data_time: 0.036, memory: 19865, loss_cls: 0.1519, loss_bbox: 0.3526, loss_traj: 0.6355, loss_traj_cls: 0.0011, loss_map_cls: 0.1493, loss_map_pts: 0.7422, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.3883, d0.loss_plan_l1_fix_dist: 0.3128, d1.loss_plan_l1_fix_time: 1.0182, d1.loss_plan_l1_fix_dist: 0.1628, d2.loss_plan_l1_fix_time: 1.0114, d2.loss_plan_l1_fix_dist: 0.1527, d3.loss_plan_l1_fix_time: 1.0074, d3.loss_plan_l1_fix_dist: 0.1625, d4.loss_plan_l1_fix_time: 1.0101, d4.loss_plan_l1_fix_dist: 0.1765, d5.loss_plan_l1_fix_time: 1.0132, d5.loss_plan_l1_fix_dist: 0.1933, d6.loss_plan_l1_fix_time: 1.0165, d6.loss_plan_l1_fix_dist: 0.2161, d0.loss_cls_all: 0.1879, d0.loss_bbox_all: 0.4117, d0.loss_cls: 0.1879, d0.loss_bbox: 0.4117, d1.loss_cls: 0.1853, d1.loss_bbox: 0.3833, d2.loss_cls: 0.1727, d2.loss_bbox: 0.3637, d3.loss_cls: 0.1562, d3.loss_bbox: 0.3571, d4.loss_cls: 0.1507, d4.loss_bbox: 0.3551, d5.loss_cls: 0.1505, d5.loss_bbox: 0.3531, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8588, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6902, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6530, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6366, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6361, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6342, d0.loss_map_cls_all: 0.2188, d0.loss_map_pts_all: 1.5010, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2188, d0.loss_map_pts: 1.5010, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1936, d1.loss_map_pts: 1.0284, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1735, d2.loss_map_pts: 0.8591, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1631, d3.loss_map_pts: 0.7877, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1556, d4.loss_map_pts: 0.7546, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1499, d5.loss_map_pts: 0.7455, d5.loss_map_dir: 0.0093, loss: 28.3395, grad_norm: 168.4464 +2026-02-27 16:00:37,169 - DriveTransformer - INFO - Epoch [7][26600/39528] lr: 8.550e-05, eta: 5 days, 19:14:47, time: 0.743, data_time: 0.036, memory: 19865, loss_cls: 0.1485, loss_bbox: 0.3533, loss_traj: 0.5889, loss_traj_cls: 0.0011, loss_map_cls: 0.1426, loss_map_pts: 0.6702, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.6396, d0.loss_plan_l1_fix_dist: 0.4902, d1.loss_plan_l1_fix_time: 1.1747, d1.loss_plan_l1_fix_dist: 0.1977, d2.loss_plan_l1_fix_time: 1.1621, d2.loss_plan_l1_fix_dist: 0.1979, d3.loss_plan_l1_fix_time: 1.1642, d3.loss_plan_l1_fix_dist: 0.2051, d4.loss_plan_l1_fix_time: 1.1698, d4.loss_plan_l1_fix_dist: 0.2231, d5.loss_plan_l1_fix_time: 1.1761, d5.loss_plan_l1_fix_dist: 0.2455, d6.loss_plan_l1_fix_time: 1.1830, d6.loss_plan_l1_fix_dist: 0.2731, d0.loss_cls_all: 0.1800, d0.loss_bbox_all: 0.4068, d0.loss_cls: 0.1800, d0.loss_bbox: 0.4068, d1.loss_cls: 0.1722, d1.loss_bbox: 0.3781, d2.loss_cls: 0.1616, d2.loss_bbox: 0.3607, d3.loss_cls: 0.1544, d3.loss_bbox: 0.3529, d4.loss_cls: 0.1492, d4.loss_bbox: 0.3512, d5.loss_cls: 0.1469, d5.loss_bbox: 0.3531, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7561, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6418, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6039, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5970, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6038, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5966, d0.loss_map_cls_all: 0.2128, d0.loss_map_pts_all: 1.4693, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2128, d0.loss_map_pts: 1.4693, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1839, d1.loss_map_pts: 0.9807, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1635, d2.loss_map_pts: 0.7850, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1550, d3.loss_map_pts: 0.7127, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1471, d4.loss_map_pts: 0.6799, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1437, d5.loss_map_pts: 0.6719, d5.loss_map_dir: 0.0092, loss: 29.0235, grad_norm: 166.1124 +2026-02-27 16:01:13,255 - DriveTransformer - INFO - Epoch [7][26650/39528] lr: 8.550e-05, eta: 5 days, 19:13:58, time: 0.722, data_time: 0.038, memory: 19865, loss_cls: 0.1562, loss_bbox: 0.3818, loss_traj: 0.5990, loss_traj_cls: 0.0012, loss_map_cls: 0.1431, loss_map_pts: 0.6377, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.9808, d0.loss_plan_l1_fix_dist: 0.4683, d1.loss_plan_l1_fix_time: 1.1731, d1.loss_plan_l1_fix_dist: 0.2062, d2.loss_plan_l1_fix_time: 1.1664, d2.loss_plan_l1_fix_dist: 0.2144, d3.loss_plan_l1_fix_time: 1.1733, d3.loss_plan_l1_fix_dist: 0.2193, d4.loss_plan_l1_fix_time: 1.1784, d4.loss_plan_l1_fix_dist: 0.2380, d5.loss_plan_l1_fix_time: 1.1834, d5.loss_plan_l1_fix_dist: 0.2553, d6.loss_plan_l1_fix_time: 1.1886, d6.loss_plan_l1_fix_dist: 0.2717, d0.loss_cls_all: 0.1963, d0.loss_bbox_all: 0.4359, d0.loss_cls: 0.1963, d0.loss_bbox: 0.4359, d1.loss_cls: 0.1900, d1.loss_bbox: 0.4058, d2.loss_cls: 0.1738, d2.loss_bbox: 0.3892, d3.loss_cls: 0.1590, d3.loss_bbox: 0.3852, d4.loss_cls: 0.1549, d4.loss_bbox: 0.3821, d5.loss_cls: 0.1559, d5.loss_bbox: 0.3802, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8042, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6472, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6119, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6076, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5999, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6005, d0.loss_map_cls_all: 0.2105, d0.loss_map_pts_all: 1.2717, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2105, d0.loss_map_pts: 1.2717, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1855, d1.loss_map_pts: 0.9044, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1660, d2.loss_map_pts: 0.7358, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1551, d3.loss_map_pts: 0.6724, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1462, d4.loss_map_pts: 0.6461, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1444, d5.loss_map_pts: 0.6376, d5.loss_map_dir: 0.0077, loss: 29.1708, grad_norm: 166.2078 +2026-02-27 16:01:49,381 - DriveTransformer - INFO - Epoch [7][26700/39528] lr: 8.550e-05, eta: 5 days, 19:13:09, time: 0.723, data_time: 0.033, memory: 19865, loss_cls: 0.1635, loss_bbox: 0.3772, loss_traj: 0.6644, loss_traj_cls: 0.0011, loss_map_cls: 0.1538, loss_map_pts: 0.7260, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.9232, d0.loss_plan_l1_fix_dist: 0.4235, d1.loss_plan_l1_fix_time: 1.1844, d1.loss_plan_l1_fix_dist: 0.2106, d2.loss_plan_l1_fix_time: 1.1620, d2.loss_plan_l1_fix_dist: 0.2223, d3.loss_plan_l1_fix_time: 1.1654, d3.loss_plan_l1_fix_dist: 0.2277, d4.loss_plan_l1_fix_time: 1.1702, d4.loss_plan_l1_fix_dist: 0.2442, d5.loss_plan_l1_fix_time: 1.1749, d5.loss_plan_l1_fix_dist: 0.2580, d6.loss_plan_l1_fix_time: 1.1796, d6.loss_plan_l1_fix_dist: 0.2698, d0.loss_cls_all: 0.1993, d0.loss_bbox_all: 0.4359, d0.loss_cls: 0.1993, d0.loss_bbox: 0.4359, d1.loss_cls: 0.1897, d1.loss_bbox: 0.4029, d2.loss_cls: 0.1827, d2.loss_bbox: 0.3838, d3.loss_cls: 0.1702, d3.loss_bbox: 0.3798, d4.loss_cls: 0.1649, d4.loss_bbox: 0.3775, d5.loss_cls: 0.1626, d5.loss_bbox: 0.3773, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8830, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7157, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6780, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6639, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6623, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6591, d0.loss_map_cls_all: 0.2279, d0.loss_map_pts_all: 1.4309, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2279, d0.loss_map_pts: 1.4309, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1956, d1.loss_map_pts: 0.9897, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1776, d2.loss_map_pts: 0.8154, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1647, d3.loss_map_pts: 0.7506, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1556, d4.loss_map_pts: 0.7306, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1541, d5.loss_map_pts: 0.7253, d5.loss_map_dir: 0.0092, loss: 30.4795, grad_norm: 165.9071 +2026-02-27 16:02:24,865 - DriveTransformer - INFO - Epoch [7][26750/39528] lr: 8.550e-05, eta: 5 days, 19:12:04, time: 0.710, data_time: 0.036, memory: 19865, loss_cls: 0.1388, loss_bbox: 0.3534, loss_traj: 0.6767, loss_traj_cls: 0.0011, loss_map_cls: 0.1641, loss_map_pts: 0.6836, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.3710, d0.loss_plan_l1_fix_dist: 0.4800, d1.loss_plan_l1_fix_time: 0.9901, d1.loss_plan_l1_fix_dist: 0.1802, d2.loss_plan_l1_fix_time: 0.9793, d2.loss_plan_l1_fix_dist: 0.1956, d3.loss_plan_l1_fix_time: 0.9811, d3.loss_plan_l1_fix_dist: 0.2081, d4.loss_plan_l1_fix_time: 0.9870, d4.loss_plan_l1_fix_dist: 0.2222, d5.loss_plan_l1_fix_time: 0.9934, d5.loss_plan_l1_fix_dist: 0.2437, d6.loss_plan_l1_fix_time: 1.0001, d6.loss_plan_l1_fix_dist: 0.2706, d0.loss_cls_all: 0.1786, d0.loss_bbox_all: 0.4020, d0.loss_cls: 0.1786, d0.loss_bbox: 0.4020, d1.loss_cls: 0.1713, d1.loss_bbox: 0.3722, d2.loss_cls: 0.1596, d2.loss_bbox: 0.3559, d3.loss_cls: 0.1433, d3.loss_bbox: 0.3543, d4.loss_cls: 0.1400, d4.loss_bbox: 0.3514, d5.loss_cls: 0.1381, d5.loss_bbox: 0.3521, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8942, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7487, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6904, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6816, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6811, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6806, d0.loss_map_cls_all: 0.2378, d0.loss_map_pts_all: 1.3746, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2378, d0.loss_map_pts: 1.3746, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2073, d1.loss_map_pts: 0.9402, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1887, d2.loss_map_pts: 0.7691, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1779, d3.loss_map_pts: 0.7072, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1711, d4.loss_map_pts: 0.6891, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1661, d5.loss_map_pts: 0.6839, d5.loss_map_dir: 0.0091, loss: 28.1968, grad_norm: 168.1756 +2026-02-27 16:03:00,909 - DriveTransformer - INFO - Epoch [7][26800/39528] lr: 8.550e-05, eta: 5 days, 19:11:15, time: 0.722, data_time: 0.039, memory: 19865, loss_cls: 0.1468, loss_bbox: 0.3584, loss_traj: 0.6631, loss_traj_cls: 0.0011, loss_map_cls: 0.1476, loss_map_pts: 0.6318, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.4766, d0.loss_plan_l1_fix_dist: 0.4442, d1.loss_plan_l1_fix_time: 1.1177, d1.loss_plan_l1_fix_dist: 0.1782, d2.loss_plan_l1_fix_time: 1.1054, d2.loss_plan_l1_fix_dist: 0.1890, d3.loss_plan_l1_fix_time: 1.1043, d3.loss_plan_l1_fix_dist: 0.2035, d4.loss_plan_l1_fix_time: 1.1085, d4.loss_plan_l1_fix_dist: 0.2185, d5.loss_plan_l1_fix_time: 1.1136, d5.loss_plan_l1_fix_dist: 0.2383, d6.loss_plan_l1_fix_time: 1.1194, d6.loss_plan_l1_fix_dist: 0.2619, d0.loss_cls_all: 0.1836, d0.loss_bbox_all: 0.4101, d0.loss_cls: 0.1836, d0.loss_bbox: 0.4101, d1.loss_cls: 0.1767, d1.loss_bbox: 0.3785, d2.loss_cls: 0.1642, d2.loss_bbox: 0.3635, d3.loss_cls: 0.1507, d3.loss_bbox: 0.3587, d4.loss_cls: 0.1471, d4.loss_bbox: 0.3593, d5.loss_cls: 0.1451, d5.loss_bbox: 0.3590, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8707, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7165, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6727, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6731, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6748, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6666, d0.loss_map_cls_all: 0.2152, d0.loss_map_pts_all: 1.2910, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2152, d0.loss_map_pts: 1.2910, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1860, d1.loss_map_pts: 0.8979, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1686, d2.loss_map_pts: 0.7319, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1572, d3.loss_map_pts: 0.6656, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1502, d4.loss_map_pts: 0.6392, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1480, d5.loss_map_pts: 0.6326, d5.loss_map_dir: 0.0085, loss: 28.3530, grad_norm: 168.2213 +2026-02-27 16:03:37,214 - DriveTransformer - INFO - Epoch [7][26850/39528] lr: 8.550e-05, eta: 5 days, 19:10:29, time: 0.725, data_time: 0.034, memory: 19865, loss_cls: 0.1657, loss_bbox: 0.3670, loss_traj: 0.6675, loss_traj_cls: 0.0011, loss_map_cls: 0.1488, loss_map_pts: 0.6640, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.8658, d0.loss_plan_l1_fix_dist: 0.4018, d1.loss_plan_l1_fix_time: 1.1732, d1.loss_plan_l1_fix_dist: 0.1922, d2.loss_plan_l1_fix_time: 1.1557, d2.loss_plan_l1_fix_dist: 0.1759, d3.loss_plan_l1_fix_time: 1.1554, d3.loss_plan_l1_fix_dist: 0.1857, d4.loss_plan_l1_fix_time: 1.1588, d4.loss_plan_l1_fix_dist: 0.1995, d5.loss_plan_l1_fix_time: 1.1630, d5.loss_plan_l1_fix_dist: 0.2149, d6.loss_plan_l1_fix_time: 1.1675, d6.loss_plan_l1_fix_dist: 0.2357, d0.loss_cls_all: 0.2030, d0.loss_bbox_all: 0.4345, d0.loss_cls: 0.2030, d0.loss_bbox: 0.4345, d1.loss_cls: 0.1969, d1.loss_bbox: 0.3994, d2.loss_cls: 0.1857, d2.loss_bbox: 0.3769, d3.loss_cls: 0.1731, d3.loss_bbox: 0.3700, d4.loss_cls: 0.1684, d4.loss_bbox: 0.3665, d5.loss_cls: 0.1659, d5.loss_bbox: 0.3663, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9571, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7357, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6742, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6662, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6663, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6634, d0.loss_map_cls_all: 0.2099, d0.loss_map_pts_all: 1.2900, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2099, d0.loss_map_pts: 1.2900, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1871, d1.loss_map_pts: 0.9321, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1704, d2.loss_map_pts: 0.7743, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1583, d3.loss_map_pts: 0.7032, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1535, d4.loss_map_pts: 0.6757, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1494, d5.loss_map_pts: 0.6663, d5.loss_map_dir: 0.0078, loss: 29.5013, grad_norm: 167.9173 +2026-02-27 16:04:14,095 - DriveTransformer - INFO - Epoch [7][26900/39528] lr: 8.550e-05, eta: 5 days, 19:10:00, time: 0.738, data_time: 0.036, memory: 19865, loss_cls: 0.1671, loss_bbox: 0.3551, loss_traj: 0.5451, loss_traj_cls: 0.0012, loss_map_cls: 0.1464, loss_map_pts: 0.6080, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.4467, d0.loss_plan_l1_fix_dist: 0.4216, d1.loss_plan_l1_fix_time: 1.0858, d1.loss_plan_l1_fix_dist: 0.2356, d2.loss_plan_l1_fix_time: 1.0818, d2.loss_plan_l1_fix_dist: 0.2039, d3.loss_plan_l1_fix_time: 1.0881, d3.loss_plan_l1_fix_dist: 0.2102, d4.loss_plan_l1_fix_time: 1.0942, d4.loss_plan_l1_fix_dist: 0.2191, d5.loss_plan_l1_fix_time: 1.0997, d5.loss_plan_l1_fix_dist: 0.2342, d6.loss_plan_l1_fix_time: 1.1054, d6.loss_plan_l1_fix_dist: 0.2507, d0.loss_cls_all: 0.2103, d0.loss_bbox_all: 0.4079, d0.loss_cls: 0.2103, d0.loss_bbox: 0.4079, d1.loss_cls: 0.2046, d1.loss_bbox: 0.3746, d2.loss_cls: 0.1902, d2.loss_bbox: 0.3573, d3.loss_cls: 0.1754, d3.loss_bbox: 0.3525, d4.loss_cls: 0.1665, d4.loss_bbox: 0.3523, d5.loss_cls: 0.1654, d5.loss_bbox: 0.3537, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6888, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5810, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.5459, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.5533, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5469, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5483, d0.loss_map_cls_all: 0.2210, d0.loss_map_pts_all: 1.3554, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2210, d0.loss_map_pts: 1.3554, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.1884, d1.loss_map_pts: 0.8693, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1708, d2.loss_map_pts: 0.6873, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1578, d3.loss_map_pts: 0.6315, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1522, d4.loss_map_pts: 0.6134, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1472, d5.loss_map_pts: 0.6105, d5.loss_map_dir: 0.0100, loss: 27.4602, grad_norm: 165.6865 +2026-02-27 16:04:49,815 - DriveTransformer - INFO - Epoch [7][26950/39528] lr: 8.550e-05, eta: 5 days, 19:09:02, time: 0.714, data_time: 0.040, memory: 19865, loss_cls: 0.1502, loss_bbox: 0.3631, loss_traj: 0.5857, loss_traj_cls: 0.0011, loss_map_cls: 0.1422, loss_map_pts: 0.6702, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.7414, d0.loss_plan_l1_fix_dist: 0.4045, d1.loss_plan_l1_fix_time: 1.1029, d1.loss_plan_l1_fix_dist: 0.2169, d2.loss_plan_l1_fix_time: 1.0799, d2.loss_plan_l1_fix_dist: 0.1916, d3.loss_plan_l1_fix_time: 1.0761, d3.loss_plan_l1_fix_dist: 0.1969, d4.loss_plan_l1_fix_time: 1.0786, d4.loss_plan_l1_fix_dist: 0.2087, d5.loss_plan_l1_fix_time: 1.0820, d5.loss_plan_l1_fix_dist: 0.2202, d6.loss_plan_l1_fix_time: 1.0864, d6.loss_plan_l1_fix_dist: 0.2313, d0.loss_cls_all: 0.1865, d0.loss_bbox_all: 0.4151, d0.loss_cls: 0.1865, d0.loss_bbox: 0.4151, d1.loss_cls: 0.1830, d1.loss_bbox: 0.3793, d2.loss_cls: 0.1691, d2.loss_bbox: 0.3615, d3.loss_cls: 0.1590, d3.loss_bbox: 0.3564, d4.loss_cls: 0.1534, d4.loss_bbox: 0.3551, d5.loss_cls: 0.1533, d5.loss_bbox: 0.3568, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8157, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6353, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5921, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5791, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5778, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5799, d0.loss_map_cls_all: 0.2236, d0.loss_map_pts_all: 1.3176, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2236, d0.loss_map_pts: 1.3176, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1932, d1.loss_map_pts: 0.9309, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1713, d2.loss_map_pts: 0.7664, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1605, d3.loss_map_pts: 0.6982, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1499, d4.loss_map_pts: 0.6775, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1444, d5.loss_map_pts: 0.6707, d5.loss_map_dir: 0.0086, loss: 28.1590, grad_norm: 165.5826 +2026-02-27 16:05:25,871 - DriveTransformer - INFO - Epoch [7][27000/39528] lr: 8.550e-05, eta: 5 days, 19:08:11, time: 0.721, data_time: 0.035, memory: 19865, loss_cls: 0.1524, loss_bbox: 0.3812, loss_traj: 0.6889, loss_traj_cls: 0.0011, loss_map_cls: 0.1764, loss_map_pts: 0.6974, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 3.1465, d0.loss_plan_l1_fix_dist: 0.3948, d1.loss_plan_l1_fix_time: 1.2518, d1.loss_plan_l1_fix_dist: 0.2268, d2.loss_plan_l1_fix_time: 1.2405, d2.loss_plan_l1_fix_dist: 0.2065, d3.loss_plan_l1_fix_time: 1.2468, d3.loss_plan_l1_fix_dist: 0.2099, d4.loss_plan_l1_fix_time: 1.2518, d4.loss_plan_l1_fix_dist: 0.2227, d5.loss_plan_l1_fix_time: 1.2568, d5.loss_plan_l1_fix_dist: 0.2357, d6.loss_plan_l1_fix_time: 1.2627, d6.loss_plan_l1_fix_dist: 0.2488, d0.loss_cls_all: 0.1841, d0.loss_bbox_all: 0.4398, d0.loss_cls: 0.1841, d0.loss_bbox: 0.4398, d1.loss_cls: 0.1822, d1.loss_bbox: 0.4056, d2.loss_cls: 0.1714, d2.loss_bbox: 0.3897, d3.loss_cls: 0.1574, d3.loss_bbox: 0.3851, d4.loss_cls: 0.1544, d4.loss_bbox: 0.3814, d5.loss_cls: 0.1530, d5.loss_bbox: 0.3808, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8556, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7065, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6861, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6765, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6883, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6878, d0.loss_map_cls_all: 0.2430, d0.loss_map_pts_all: 1.3820, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2430, d0.loss_map_pts: 1.3820, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.2165, d1.loss_map_pts: 0.9932, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1987, d2.loss_map_pts: 0.8153, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1892, d3.loss_map_pts: 0.7358, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1810, d4.loss_map_pts: 0.7092, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1777, d5.loss_map_pts: 0.6989, d5.loss_map_dir: 0.0084, loss: 31.0451, grad_norm: 161.1373 +2026-02-27 16:06:02,334 - DriveTransformer - INFO - Epoch [7][27050/39528] lr: 8.550e-05, eta: 5 days, 19:07:32, time: 0.729, data_time: 0.035, memory: 19865, loss_cls: 0.1496, loss_bbox: 0.3584, loss_traj: 0.5515, loss_traj_cls: 0.0011, loss_map_cls: 0.1641, loss_map_pts: 0.7068, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.7243, d0.loss_plan_l1_fix_dist: 0.4040, d1.loss_plan_l1_fix_time: 1.0217, d1.loss_plan_l1_fix_dist: 0.2020, d2.loss_plan_l1_fix_time: 1.0132, d2.loss_plan_l1_fix_dist: 0.1808, d3.loss_plan_l1_fix_time: 1.0259, d3.loss_plan_l1_fix_dist: 0.1901, d4.loss_plan_l1_fix_time: 1.0329, d4.loss_plan_l1_fix_dist: 0.2068, d5.loss_plan_l1_fix_time: 1.0394, d5.loss_plan_l1_fix_dist: 0.2282, d6.loss_plan_l1_fix_time: 1.0465, d6.loss_plan_l1_fix_dist: 0.2528, d0.loss_cls_all: 0.1844, d0.loss_bbox_all: 0.4136, d0.loss_cls: 0.1844, d0.loss_bbox: 0.4136, d1.loss_cls: 0.1818, d1.loss_bbox: 0.3845, d2.loss_cls: 0.1687, d2.loss_bbox: 0.3672, d3.loss_cls: 0.1525, d3.loss_bbox: 0.3617, d4.loss_cls: 0.1493, d4.loss_bbox: 0.3588, d5.loss_cls: 0.1501, d5.loss_bbox: 0.3575, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7417, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6003, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5759, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.5632, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5585, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5506, d0.loss_map_cls_all: 0.2406, d0.loss_map_pts_all: 1.4211, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2406, d0.loss_map_pts: 1.4211, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2119, d1.loss_map_pts: 1.0032, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1876, d2.loss_map_pts: 0.8214, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1735, d3.loss_map_pts: 0.7450, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1682, d4.loss_map_pts: 0.7155, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1634, d5.loss_map_pts: 0.7096, d5.loss_map_dir: 0.0091, loss: 28.2170, grad_norm: 161.9373 +2026-02-27 16:06:38,400 - DriveTransformer - INFO - Epoch [7][27100/39528] lr: 8.550e-05, eta: 5 days, 19:06:42, time: 0.721, data_time: 0.037, memory: 19865, loss_cls: 0.1356, loss_bbox: 0.3479, loss_traj: 0.7313, loss_traj_cls: 0.0011, loss_map_cls: 0.1642, loss_map_pts: 0.6639, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.7268, d0.loss_plan_l1_fix_dist: 0.3659, d1.loss_plan_l1_fix_time: 1.1197, d1.loss_plan_l1_fix_dist: 0.2144, d2.loss_plan_l1_fix_time: 1.1139, d2.loss_plan_l1_fix_dist: 0.1994, d3.loss_plan_l1_fix_time: 1.1224, d3.loss_plan_l1_fix_dist: 0.2124, d4.loss_plan_l1_fix_time: 1.1295, d4.loss_plan_l1_fix_dist: 0.2258, d5.loss_plan_l1_fix_time: 1.1368, d5.loss_plan_l1_fix_dist: 0.2423, d6.loss_plan_l1_fix_time: 1.1434, d6.loss_plan_l1_fix_dist: 0.2672, d0.loss_cls_all: 0.1727, d0.loss_bbox_all: 0.3988, d0.loss_cls: 0.1727, d0.loss_bbox: 0.3988, d1.loss_cls: 0.1649, d1.loss_bbox: 0.3647, d2.loss_cls: 0.1507, d2.loss_bbox: 0.3490, d3.loss_cls: 0.1400, d3.loss_bbox: 0.3463, d4.loss_cls: 0.1345, d4.loss_bbox: 0.3459, d5.loss_cls: 0.1338, d5.loss_bbox: 0.3471, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0084, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8206, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7553, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7314, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7268, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.7239, d0.loss_map_cls_all: 0.2365, d0.loss_map_pts_all: 1.3531, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2365, d0.loss_map_pts: 1.3531, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.2013, d1.loss_map_pts: 0.9386, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1798, d2.loss_map_pts: 0.7734, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1733, d3.loss_map_pts: 0.7037, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1683, d4.loss_map_pts: 0.6751, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1657, d5.loss_map_pts: 0.6660, d5.loss_map_dir: 0.0087, loss: 29.5485, grad_norm: 160.8609 +2026-02-27 16:07:15,409 - DriveTransformer - INFO - Epoch [7][27150/39528] lr: 8.550e-05, eta: 5 days, 19:06:16, time: 0.740, data_time: 0.038, memory: 19865, loss_cls: 0.1441, loss_bbox: 0.3379, loss_traj: 0.5959, loss_traj_cls: 0.0012, loss_map_cls: 0.1430, loss_map_pts: 0.5976, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.3288, d0.loss_plan_l1_fix_dist: 0.3309, d1.loss_plan_l1_fix_time: 0.9357, d1.loss_plan_l1_fix_dist: 0.1855, d2.loss_plan_l1_fix_time: 0.9294, d2.loss_plan_l1_fix_dist: 0.1731, d3.loss_plan_l1_fix_time: 0.9364, d3.loss_plan_l1_fix_dist: 0.1822, d4.loss_plan_l1_fix_time: 0.9429, d4.loss_plan_l1_fix_dist: 0.1938, d5.loss_plan_l1_fix_time: 0.9499, d5.loss_plan_l1_fix_dist: 0.2076, d6.loss_plan_l1_fix_time: 0.9565, d6.loss_plan_l1_fix_dist: 0.2255, d0.loss_cls_all: 0.1807, d0.loss_bbox_all: 0.3915, d0.loss_cls: 0.1807, d0.loss_bbox: 0.3915, d1.loss_cls: 0.1763, d1.loss_bbox: 0.3605, d2.loss_cls: 0.1634, d2.loss_bbox: 0.3440, d3.loss_cls: 0.1541, d3.loss_bbox: 0.3353, d4.loss_cls: 0.1465, d4.loss_bbox: 0.3357, d5.loss_cls: 0.1452, d5.loss_bbox: 0.3359, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7613, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6341, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6093, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5962, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5945, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5954, d0.loss_map_cls_all: 0.2176, d0.loss_map_pts_all: 1.3038, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2176, d0.loss_map_pts: 1.3038, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1868, d1.loss_map_pts: 0.8725, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1671, d2.loss_map_pts: 0.6957, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1583, d3.loss_map_pts: 0.6289, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1504, d4.loss_map_pts: 0.6056, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1450, d5.loss_map_pts: 0.5985, d5.loss_map_dir: 0.0088, loss: 26.0565, grad_norm: 162.6821 +2026-02-27 16:07:52,500 - DriveTransformer - INFO - Epoch [7][27200/39528] lr: 8.550e-05, eta: 5 days, 19:05:52, time: 0.742, data_time: 0.039, memory: 19865, loss_cls: 0.1603, loss_bbox: 0.3448, loss_traj: 0.6458, loss_traj_cls: 0.0012, loss_map_cls: 0.1561, loss_map_pts: 0.6634, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.5207, d0.loss_plan_l1_fix_dist: 0.3989, d1.loss_plan_l1_fix_time: 1.0123, d1.loss_plan_l1_fix_dist: 0.1864, d2.loss_plan_l1_fix_time: 1.0021, d2.loss_plan_l1_fix_dist: 0.1805, d3.loss_plan_l1_fix_time: 0.9998, d3.loss_plan_l1_fix_dist: 0.1920, d4.loss_plan_l1_fix_time: 1.0036, d4.loss_plan_l1_fix_dist: 0.2095, d5.loss_plan_l1_fix_time: 1.0090, d5.loss_plan_l1_fix_dist: 0.2254, d6.loss_plan_l1_fix_time: 1.0153, d6.loss_plan_l1_fix_dist: 0.2368, d0.loss_cls_all: 0.1889, d0.loss_bbox_all: 0.3925, d0.loss_cls: 0.1889, d0.loss_bbox: 0.3925, d1.loss_cls: 0.1865, d1.loss_bbox: 0.3650, d2.loss_cls: 0.1788, d2.loss_bbox: 0.3485, d3.loss_cls: 0.1646, d3.loss_bbox: 0.3464, d4.loss_cls: 0.1628, d4.loss_bbox: 0.3428, d5.loss_cls: 0.1606, d5.loss_bbox: 0.3442, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8708, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7088, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6661, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6510, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6465, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6449, d0.loss_map_cls_all: 0.2268, d0.loss_map_pts_all: 1.3835, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2268, d0.loss_map_pts: 1.3835, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1984, d1.loss_map_pts: 0.9673, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1755, d2.loss_map_pts: 0.7756, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1647, d3.loss_map_pts: 0.7022, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1603, d4.loss_map_pts: 0.6722, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1583, d5.loss_map_pts: 0.6636, d5.loss_map_dir: 0.0085, loss: 28.0464, grad_norm: 167.5953 +2026-02-27 16:08:29,428 - DriveTransformer - INFO - Epoch [7][27250/39528] lr: 8.550e-05, eta: 5 days, 19:05:24, time: 0.739, data_time: 0.037, memory: 19865, loss_cls: 0.1501, loss_bbox: 0.3642, loss_traj: 0.6357, loss_traj_cls: 0.0011, loss_map_cls: 0.1974, loss_map_pts: 0.7588, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.8329, d0.loss_plan_l1_fix_dist: 0.3496, d1.loss_plan_l1_fix_time: 1.0521, d1.loss_plan_l1_fix_dist: 0.1896, d2.loss_plan_l1_fix_time: 1.0345, d2.loss_plan_l1_fix_dist: 0.1859, d3.loss_plan_l1_fix_time: 1.0352, d3.loss_plan_l1_fix_dist: 0.1933, d4.loss_plan_l1_fix_time: 1.0372, d4.loss_plan_l1_fix_dist: 0.2041, d5.loss_plan_l1_fix_time: 1.0401, d5.loss_plan_l1_fix_dist: 0.2167, d6.loss_plan_l1_fix_time: 1.0436, d6.loss_plan_l1_fix_dist: 0.2328, d0.loss_cls_all: 0.1918, d0.loss_bbox_all: 0.4183, d0.loss_cls: 0.1918, d0.loss_bbox: 0.4183, d1.loss_cls: 0.1859, d1.loss_bbox: 0.3870, d2.loss_cls: 0.1710, d2.loss_bbox: 0.3704, d3.loss_cls: 0.1563, d3.loss_bbox: 0.3679, d4.loss_cls: 0.1502, d4.loss_bbox: 0.3657, d5.loss_cls: 0.1484, d5.loss_bbox: 0.3656, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9117, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7043, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6656, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6417, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6431, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6378, d0.loss_map_cls_all: 0.2658, d0.loss_map_pts_all: 1.4530, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2658, d0.loss_map_pts: 1.4530, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.2464, d1.loss_map_pts: 1.0730, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.2231, d2.loss_map_pts: 0.8795, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.2115, d3.loss_map_pts: 0.8019, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.2041, d4.loss_map_pts: 0.7716, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1989, d5.loss_map_pts: 0.7600, d5.loss_map_dir: 0.0087, loss: 29.7263, grad_norm: 164.6628 +2026-02-27 16:09:05,389 - DriveTransformer - INFO - Epoch [7][27300/39528] lr: 8.550e-05, eta: 5 days, 19:04:32, time: 0.719, data_time: 0.035, memory: 19865, loss_cls: 0.1458, loss_bbox: 0.3459, loss_traj: 0.5766, loss_traj_cls: 0.0012, loss_map_cls: 0.1538, loss_map_pts: 0.6802, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.4460, d0.loss_plan_l1_fix_dist: 0.4910, d1.loss_plan_l1_fix_time: 1.0446, d1.loss_plan_l1_fix_dist: 0.2135, d2.loss_plan_l1_fix_time: 1.0401, d2.loss_plan_l1_fix_dist: 0.2090, d3.loss_plan_l1_fix_time: 1.0421, d3.loss_plan_l1_fix_dist: 0.2179, d4.loss_plan_l1_fix_time: 1.0447, d4.loss_plan_l1_fix_dist: 0.2267, d5.loss_plan_l1_fix_time: 1.0476, d5.loss_plan_l1_fix_dist: 0.2405, d6.loss_plan_l1_fix_time: 1.0518, d6.loss_plan_l1_fix_dist: 0.2609, d0.loss_cls_all: 0.1832, d0.loss_bbox_all: 0.4016, d0.loss_cls: 0.1832, d0.loss_bbox: 0.4016, d1.loss_cls: 0.1768, d1.loss_bbox: 0.3697, d2.loss_cls: 0.1672, d2.loss_bbox: 0.3535, d3.loss_cls: 0.1537, d3.loss_bbox: 0.3458, d4.loss_cls: 0.1469, d4.loss_bbox: 0.3461, d5.loss_cls: 0.1458, d5.loss_bbox: 0.3455, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7488, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6172, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5839, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.5753, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5723, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5718, d0.loss_map_cls_all: 0.2283, d0.loss_map_pts_all: 1.3519, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2283, d0.loss_map_pts: 1.3519, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1956, d1.loss_map_pts: 0.9516, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1763, d2.loss_map_pts: 0.7815, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1659, d3.loss_map_pts: 0.7181, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1598, d4.loss_map_pts: 0.6941, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1557, d5.loss_map_pts: 0.6818, d5.loss_map_dir: 0.0102, loss: 27.7966, grad_norm: 161.3082 +2026-02-27 16:09:41,788 - DriveTransformer - INFO - Epoch [7][27350/39528] lr: 8.550e-05, eta: 5 days, 19:03:50, time: 0.728, data_time: 0.035, memory: 19865, loss_cls: 0.1767, loss_bbox: 0.3627, loss_traj: 0.6535, loss_traj_cls: 0.0012, loss_map_cls: 0.1870, loss_map_pts: 0.7861, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.5829, d0.loss_plan_l1_fix_dist: 0.5449, d1.loss_plan_l1_fix_time: 1.2485, d1.loss_plan_l1_fix_dist: 0.1973, d2.loss_plan_l1_fix_time: 1.2345, d2.loss_plan_l1_fix_dist: 0.1928, d3.loss_plan_l1_fix_time: 1.2346, d3.loss_plan_l1_fix_dist: 0.2013, d4.loss_plan_l1_fix_time: 1.2376, d4.loss_plan_l1_fix_dist: 0.2093, d5.loss_plan_l1_fix_time: 1.2407, d5.loss_plan_l1_fix_dist: 0.2208, d6.loss_plan_l1_fix_time: 1.2449, d6.loss_plan_l1_fix_dist: 0.2316, d0.loss_cls_all: 0.2138, d0.loss_bbox_all: 0.4332, d0.loss_cls: 0.2138, d0.loss_bbox: 0.4332, d1.loss_cls: 0.2066, d1.loss_bbox: 0.3947, d2.loss_cls: 0.1977, d2.loss_bbox: 0.3733, d3.loss_cls: 0.1857, d3.loss_bbox: 0.3670, d4.loss_cls: 0.1781, d4.loss_bbox: 0.3653, d5.loss_cls: 0.1767, d5.loss_bbox: 0.3622, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8580, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6993, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.6672, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6635, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6504, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6526, d0.loss_map_cls_all: 0.2652, d0.loss_map_pts_all: 1.4848, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2652, d0.loss_map_pts: 1.4848, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2359, d1.loss_map_pts: 1.0903, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.2106, d2.loss_map_pts: 0.9021, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.2004, d3.loss_map_pts: 0.8255, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1939, d4.loss_map_pts: 0.7972, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1899, d5.loss_map_pts: 0.7883, d5.loss_map_dir: 0.0088, loss: 31.2906, grad_norm: 160.7281 +2026-02-27 16:10:18,197 - DriveTransformer - INFO - Epoch [7][27400/39528] lr: 8.550e-05, eta: 5 days, 19:03:09, time: 0.728, data_time: 0.039, memory: 19865, loss_cls: 0.1617, loss_bbox: 0.3625, loss_traj: 0.6812, loss_traj_cls: 0.0012, loss_map_cls: 0.1851, loss_map_pts: 0.7344, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.6876, d0.loss_plan_l1_fix_dist: 0.4657, d1.loss_plan_l1_fix_time: 0.9851, d1.loss_plan_l1_fix_dist: 0.1870, d2.loss_plan_l1_fix_time: 0.9690, d2.loss_plan_l1_fix_dist: 0.1777, d3.loss_plan_l1_fix_time: 0.9690, d3.loss_plan_l1_fix_dist: 0.1844, d4.loss_plan_l1_fix_time: 0.9706, d4.loss_plan_l1_fix_dist: 0.1993, d5.loss_plan_l1_fix_time: 0.9722, d5.loss_plan_l1_fix_dist: 0.2163, d6.loss_plan_l1_fix_time: 0.9747, d6.loss_plan_l1_fix_dist: 0.2322, d0.loss_cls_all: 0.1960, d0.loss_bbox_all: 0.4286, d0.loss_cls: 0.1960, d0.loss_bbox: 0.4286, d1.loss_cls: 0.1907, d1.loss_bbox: 0.3945, d2.loss_cls: 0.1801, d2.loss_bbox: 0.3771, d3.loss_cls: 0.1682, d3.loss_bbox: 0.3679, d4.loss_cls: 0.1615, d4.loss_bbox: 0.3652, d5.loss_cls: 0.1607, d5.loss_bbox: 0.3637, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9031, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7370, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7107, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6897, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6879, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6824, d0.loss_map_cls_all: 0.2623, d0.loss_map_pts_all: 1.5219, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2623, d0.loss_map_pts: 1.5219, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2400, d1.loss_map_pts: 1.0578, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.2122, d2.loss_map_pts: 0.8691, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1997, d3.loss_map_pts: 0.7800, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1913, d4.loss_map_pts: 0.7465, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1868, d5.loss_map_pts: 0.7366, d5.loss_map_dir: 0.0091, loss: 29.5724, grad_norm: 160.3875 +2026-02-27 16:10:54,436 - DriveTransformer - INFO - Epoch [7][27450/39528] lr: 8.550e-05, eta: 5 days, 19:02:24, time: 0.725, data_time: 0.035, memory: 19865, loss_cls: 0.1440, loss_bbox: 0.3302, loss_traj: 0.6361, loss_traj_cls: 0.0012, loss_map_cls: 0.1401, loss_map_pts: 0.6516, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.4662, d0.loss_plan_l1_fix_dist: 0.4817, d1.loss_plan_l1_fix_time: 0.9796, d1.loss_plan_l1_fix_dist: 0.1909, d2.loss_plan_l1_fix_time: 0.9665, d2.loss_plan_l1_fix_dist: 0.1832, d3.loss_plan_l1_fix_time: 0.9670, d3.loss_plan_l1_fix_dist: 0.1878, d4.loss_plan_l1_fix_time: 0.9700, d4.loss_plan_l1_fix_dist: 0.2026, d5.loss_plan_l1_fix_time: 0.9738, d5.loss_plan_l1_fix_dist: 0.2201, d6.loss_plan_l1_fix_time: 0.9785, d6.loss_plan_l1_fix_dist: 0.2404, d0.loss_cls_all: 0.1828, d0.loss_bbox_all: 0.3899, d0.loss_cls: 0.1828, d0.loss_bbox: 0.3899, d1.loss_cls: 0.1761, d1.loss_bbox: 0.3577, d2.loss_cls: 0.1633, d2.loss_bbox: 0.3404, d3.loss_cls: 0.1496, d3.loss_bbox: 0.3353, d4.loss_cls: 0.1439, d4.loss_bbox: 0.3323, d5.loss_cls: 0.1438, d5.loss_bbox: 0.3305, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8320, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7036, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6570, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6369, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6297, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6314, d0.loss_map_cls_all: 0.2166, d0.loss_map_pts_all: 1.3767, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2166, d0.loss_map_pts: 1.3767, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1843, d1.loss_map_pts: 0.9374, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1637, d2.loss_map_pts: 0.7588, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1536, d3.loss_map_pts: 0.6882, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1474, d4.loss_map_pts: 0.6605, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1421, d5.loss_map_pts: 0.6528, d5.loss_map_dir: 0.0094, loss: 27.3749, grad_norm: 157.4128 +2026-02-27 16:11:29,556 - DriveTransformer - INFO - Epoch [7][27500/39528] lr: 8.550e-05, eta: 5 days, 19:01:11, time: 0.702, data_time: 0.035, memory: 19865, loss_cls: 0.1429, loss_bbox: 0.3573, loss_traj: 0.7156, loss_traj_cls: 0.0011, loss_map_cls: 0.1811, loss_map_pts: 0.6904, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.6368, d0.loss_plan_l1_fix_dist: 0.4326, d1.loss_plan_l1_fix_time: 1.1660, d1.loss_plan_l1_fix_dist: 0.2120, d2.loss_plan_l1_fix_time: 1.1558, d2.loss_plan_l1_fix_dist: 0.2054, d3.loss_plan_l1_fix_time: 1.1512, d3.loss_plan_l1_fix_dist: 0.2132, d4.loss_plan_l1_fix_time: 1.1545, d4.loss_plan_l1_fix_dist: 0.2204, d5.loss_plan_l1_fix_time: 1.1586, d5.loss_plan_l1_fix_dist: 0.2289, d6.loss_plan_l1_fix_time: 1.1627, d6.loss_plan_l1_fix_dist: 0.2411, d0.loss_cls_all: 0.1874, d0.loss_bbox_all: 0.4197, d0.loss_cls: 0.1874, d0.loss_bbox: 0.4197, d1.loss_cls: 0.1779, d1.loss_bbox: 0.3857, d2.loss_cls: 0.1601, d2.loss_bbox: 0.3676, d3.loss_cls: 0.1507, d3.loss_bbox: 0.3583, d4.loss_cls: 0.1454, d4.loss_bbox: 0.3555, d5.loss_cls: 0.1439, d5.loss_bbox: 0.3553, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9613, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7748, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7298, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7169, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7166, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7162, d0.loss_map_cls_all: 0.2688, d0.loss_map_pts_all: 1.3975, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2688, d0.loss_map_pts: 1.3975, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2342, d1.loss_map_pts: 0.9937, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.2121, d2.loss_map_pts: 0.8041, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1954, d3.loss_map_pts: 0.7269, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1883, d4.loss_map_pts: 0.6997, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1846, d5.loss_map_pts: 0.6925, d5.loss_map_dir: 0.0088, loss: 30.1961, grad_norm: 157.3547 +2026-02-27 16:12:07,983 - DriveTransformer - INFO - Epoch [7][27550/39528] lr: 8.550e-05, eta: 5 days, 19:01:20, time: 0.769, data_time: 0.034, memory: 19865, loss_cls: 0.1329, loss_bbox: 0.3309, loss_traj: 0.5461, loss_traj_cls: 0.0012, loss_map_cls: 0.1432, loss_map_pts: 0.6604, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.2288, d0.loss_plan_l1_fix_dist: 0.3547, d1.loss_plan_l1_fix_time: 0.9986, d1.loss_plan_l1_fix_dist: 0.1762, d2.loss_plan_l1_fix_time: 0.9790, d2.loss_plan_l1_fix_dist: 0.1738, d3.loss_plan_l1_fix_time: 0.9776, d3.loss_plan_l1_fix_dist: 0.1866, d4.loss_plan_l1_fix_time: 0.9805, d4.loss_plan_l1_fix_dist: 0.1972, d5.loss_plan_l1_fix_time: 0.9842, d5.loss_plan_l1_fix_dist: 0.2016, d6.loss_plan_l1_fix_time: 0.9884, d6.loss_plan_l1_fix_dist: 0.2068, d0.loss_cls_all: 0.1690, d0.loss_bbox_all: 0.3951, d0.loss_cls: 0.1690, d0.loss_bbox: 0.3951, d1.loss_cls: 0.1659, d1.loss_bbox: 0.3629, d2.loss_cls: 0.1489, d2.loss_bbox: 0.3426, d3.loss_cls: 0.1385, d3.loss_bbox: 0.3336, d4.loss_cls: 0.1337, d4.loss_bbox: 0.3306, d5.loss_cls: 0.1331, d5.loss_bbox: 0.3297, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7150, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5959, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5634, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5547, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5518, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5476, d0.loss_map_cls_all: 0.2314, d0.loss_map_pts_all: 1.4521, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2314, d0.loss_map_pts: 1.4521, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.1906, d1.loss_map_pts: 0.9238, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.1683, d2.loss_map_pts: 0.7518, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1560, d3.loss_map_pts: 0.6936, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1501, d4.loss_map_pts: 0.6681, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1449, d5.loss_map_pts: 0.6626, d5.loss_map_dir: 0.0108, loss: 26.4946, grad_norm: 159.9790 +2026-02-27 16:12:46,689 - DriveTransformer - INFO - Epoch [7][27600/39528] lr: 8.550e-05, eta: 5 days, 19:01:38, time: 0.776, data_time: 0.036, memory: 19865, loss_cls: 0.1490, loss_bbox: 0.3568, loss_traj: 0.5215, loss_traj_cls: 0.0012, loss_map_cls: 0.1486, loss_map_pts: 0.7229, loss_map_dir: 0.0119, d0.loss_plan_l1_fix_time: 2.4595, d0.loss_plan_l1_fix_dist: 0.3998, d1.loss_plan_l1_fix_time: 1.0626, d1.loss_plan_l1_fix_dist: 0.1963, d2.loss_plan_l1_fix_time: 1.0371, d2.loss_plan_l1_fix_dist: 0.1913, d3.loss_plan_l1_fix_time: 1.0303, d3.loss_plan_l1_fix_dist: 0.1992, d4.loss_plan_l1_fix_time: 1.0319, d4.loss_plan_l1_fix_dist: 0.2078, d5.loss_plan_l1_fix_time: 1.0342, d5.loss_plan_l1_fix_dist: 0.2154, d6.loss_plan_l1_fix_time: 1.0369, d6.loss_plan_l1_fix_dist: 0.2264, d0.loss_cls_all: 0.1894, d0.loss_bbox_all: 0.4122, d0.loss_cls: 0.1894, d0.loss_bbox: 0.4122, d1.loss_cls: 0.1841, d1.loss_bbox: 0.3828, d2.loss_cls: 0.1689, d2.loss_bbox: 0.3648, d3.loss_cls: 0.1553, d3.loss_bbox: 0.3588, d4.loss_cls: 0.1503, d4.loss_bbox: 0.3568, d5.loss_cls: 0.1498, d5.loss_bbox: 0.3557, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6757, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5651, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5243, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5217, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5169, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5214, d0.loss_map_cls_all: 0.2293, d0.loss_map_pts_all: 1.5407, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2293, d0.loss_map_pts: 1.5407, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.1947, d1.loss_map_pts: 1.0453, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.1725, d2.loss_map_pts: 0.8400, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.1649, d3.loss_map_pts: 0.7617, d3.loss_map_dir: 0.0114, d4.loss_map_cls: 0.1578, d4.loss_map_pts: 0.7328, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1513, d5.loss_map_pts: 0.7248, d5.loss_map_dir: 0.0119, loss: 27.9675, grad_norm: 161.1207 +2026-02-27 16:13:22,451 - DriveTransformer - INFO - Epoch [7][27650/39528] lr: 8.550e-05, eta: 5 days, 19:00:39, time: 0.714, data_time: 0.036, memory: 19865, loss_cls: 0.1399, loss_bbox: 0.3437, loss_traj: 0.6748, loss_traj_cls: 0.0011, loss_map_cls: 0.1584, loss_map_pts: 0.5864, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.7310, d0.loss_plan_l1_fix_dist: 0.4458, d1.loss_plan_l1_fix_time: 1.0809, d1.loss_plan_l1_fix_dist: 0.2137, d2.loss_plan_l1_fix_time: 1.0619, d2.loss_plan_l1_fix_dist: 0.2128, d3.loss_plan_l1_fix_time: 1.0587, d3.loss_plan_l1_fix_dist: 0.2216, d4.loss_plan_l1_fix_time: 1.0600, d4.loss_plan_l1_fix_dist: 0.2302, d5.loss_plan_l1_fix_time: 1.0617, d5.loss_plan_l1_fix_dist: 0.2481, d6.loss_plan_l1_fix_time: 1.0641, d6.loss_plan_l1_fix_dist: 0.2692, d0.loss_cls_all: 0.1715, d0.loss_bbox_all: 0.4100, d0.loss_cls: 0.1715, d0.loss_bbox: 0.4100, d1.loss_cls: 0.1689, d1.loss_bbox: 0.3720, d2.loss_cls: 0.1574, d2.loss_bbox: 0.3539, d3.loss_cls: 0.1438, d3.loss_bbox: 0.3481, d4.loss_cls: 0.1409, d4.loss_bbox: 0.3454, d5.loss_cls: 0.1382, d5.loss_bbox: 0.3450, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9286, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7318, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6802, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6745, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6713, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6738, d0.loss_map_cls_all: 0.2239, d0.loss_map_pts_all: 1.1654, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2239, d0.loss_map_pts: 1.1654, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.2006, d1.loss_map_pts: 0.8270, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1782, d2.loss_map_pts: 0.6815, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1687, d3.loss_map_pts: 0.6213, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1641, d4.loss_map_pts: 0.5983, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1618, d5.loss_map_pts: 0.5884, d5.loss_map_dir: 0.0067, loss: 27.9284, grad_norm: 159.9347 +2026-02-27 16:13:58,897 - DriveTransformer - INFO - Epoch [7][27700/39528] lr: 8.550e-05, eta: 5 days, 18:59:59, time: 0.729, data_time: 0.037, memory: 19865, loss_cls: 0.1558, loss_bbox: 0.3444, loss_traj: 0.6409, loss_traj_cls: 0.0011, loss_map_cls: 0.1514, loss_map_pts: 0.6514, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.4936, d0.loss_plan_l1_fix_dist: 0.3763, d1.loss_plan_l1_fix_time: 1.0188, d1.loss_plan_l1_fix_dist: 0.1629, d2.loss_plan_l1_fix_time: 1.0119, d2.loss_plan_l1_fix_dist: 0.1649, d3.loss_plan_l1_fix_time: 1.0078, d3.loss_plan_l1_fix_dist: 0.1772, d4.loss_plan_l1_fix_time: 1.0098, d4.loss_plan_l1_fix_dist: 0.1893, d5.loss_plan_l1_fix_time: 1.0121, d5.loss_plan_l1_fix_dist: 0.2002, d6.loss_plan_l1_fix_time: 1.0148, d6.loss_plan_l1_fix_dist: 0.2166, d0.loss_cls_all: 0.1942, d0.loss_bbox_all: 0.4176, d0.loss_cls: 0.1942, d0.loss_bbox: 0.4176, d1.loss_cls: 0.1885, d1.loss_bbox: 0.3781, d2.loss_cls: 0.1771, d2.loss_bbox: 0.3552, d3.loss_cls: 0.1644, d3.loss_bbox: 0.3480, d4.loss_cls: 0.1578, d4.loss_bbox: 0.3459, d5.loss_cls: 0.1557, d5.loss_bbox: 0.3453, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8908, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6936, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6559, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6453, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6447, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6415, d0.loss_map_cls_all: 0.2198, d0.loss_map_pts_all: 1.3208, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2198, d0.loss_map_pts: 1.3208, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1944, d1.loss_map_pts: 0.9177, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1744, d2.loss_map_pts: 0.7533, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1646, d3.loss_map_pts: 0.6907, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1572, d4.loss_map_pts: 0.6651, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1518, d5.loss_map_pts: 0.6528, d5.loss_map_dir: 0.0093, loss: 27.6950, grad_norm: 152.7650 +2026-02-27 16:14:34,613 - DriveTransformer - INFO - Epoch [7][27750/39528] lr: 8.550e-05, eta: 5 days, 18:59:01, time: 0.714, data_time: 0.038, memory: 19865, loss_cls: 0.1436, loss_bbox: 0.3424, loss_traj: 0.5554, loss_traj_cls: 0.0010, loss_map_cls: 0.1450, loss_map_pts: 0.7158, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.3582, d0.loss_plan_l1_fix_dist: 0.4111, d1.loss_plan_l1_fix_time: 0.9722, d1.loss_plan_l1_fix_dist: 0.1881, d2.loss_plan_l1_fix_time: 0.9684, d2.loss_plan_l1_fix_dist: 0.1898, d3.loss_plan_l1_fix_time: 0.9706, d3.loss_plan_l1_fix_dist: 0.1950, d4.loss_plan_l1_fix_time: 0.9738, d4.loss_plan_l1_fix_dist: 0.2055, d5.loss_plan_l1_fix_time: 0.9768, d5.loss_plan_l1_fix_dist: 0.2148, d6.loss_plan_l1_fix_time: 0.9803, d6.loss_plan_l1_fix_dist: 0.2255, d0.loss_cls_all: 0.1808, d0.loss_bbox_all: 0.4126, d0.loss_cls: 0.1808, d0.loss_bbox: 0.4126, d1.loss_cls: 0.1719, d1.loss_bbox: 0.3744, d2.loss_cls: 0.1578, d2.loss_bbox: 0.3534, d3.loss_cls: 0.1493, d3.loss_bbox: 0.3447, d4.loss_cls: 0.1436, d4.loss_bbox: 0.3430, d5.loss_cls: 0.1426, d5.loss_bbox: 0.3431, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7809, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6143, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5643, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5568, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5533, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5519, d0.loss_map_cls_all: 0.2404, d0.loss_map_pts_all: 1.4361, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2404, d0.loss_map_pts: 1.4361, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1983, d1.loss_map_pts: 1.0057, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1740, d2.loss_map_pts: 0.8235, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1600, d3.loss_map_pts: 0.7535, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1533, d4.loss_map_pts: 0.7264, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1474, d5.loss_map_pts: 0.7181, d5.loss_map_dir: 0.0096, loss: 27.3593, grad_norm: 151.6255 +2026-02-27 16:15:11,182 - DriveTransformer - INFO - Epoch [7][27800/39528] lr: 8.550e-05, eta: 5 days, 18:58:24, time: 0.731, data_time: 0.036, memory: 19865, loss_cls: 0.1615, loss_bbox: 0.3610, loss_traj: 0.7915, loss_traj_cls: 0.0010, loss_map_cls: 0.1818, loss_map_pts: 0.7140, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.8875, d0.loss_plan_l1_fix_dist: 0.3923, d1.loss_plan_l1_fix_time: 1.1002, d1.loss_plan_l1_fix_dist: 0.1922, d2.loss_plan_l1_fix_time: 1.0934, d2.loss_plan_l1_fix_dist: 0.2009, d3.loss_plan_l1_fix_time: 1.0934, d3.loss_plan_l1_fix_dist: 0.2024, d4.loss_plan_l1_fix_time: 1.0956, d4.loss_plan_l1_fix_dist: 0.2101, d5.loss_plan_l1_fix_time: 1.0984, d5.loss_plan_l1_fix_dist: 0.2230, d6.loss_plan_l1_fix_time: 1.1021, d6.loss_plan_l1_fix_dist: 0.2327, d0.loss_cls_all: 0.2127, d0.loss_bbox_all: 0.4376, d0.loss_cls: 0.2127, d0.loss_bbox: 0.4376, d1.loss_cls: 0.2023, d1.loss_bbox: 0.4027, d2.loss_cls: 0.1870, d2.loss_bbox: 0.3780, d3.loss_cls: 0.1699, d3.loss_bbox: 0.3677, d4.loss_cls: 0.1641, d4.loss_bbox: 0.3655, d5.loss_cls: 0.1606, d5.loss_bbox: 0.3631, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9852, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8522, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7922, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7875, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7903, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7854, d0.loss_map_cls_all: 0.2486, d0.loss_map_pts_all: 1.3500, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2486, d0.loss_map_pts: 1.3500, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2250, d1.loss_map_pts: 0.9592, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.2039, d2.loss_map_pts: 0.8038, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1956, d3.loss_map_pts: 0.7411, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1890, d4.loss_map_pts: 0.7202, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1861, d5.loss_map_pts: 0.7132, d5.loss_map_dir: 0.0099, loss: 30.6055, grad_norm: 152.1528 +2026-02-27 16:15:48,337 - DriveTransformer - INFO - Epoch [7][27850/39528] lr: 8.550e-05, eta: 5 days, 18:58:01, time: 0.743, data_time: 0.036, memory: 19865, loss_cls: 0.1145, loss_bbox: 0.3211, loss_traj: 0.5164, loss_traj_cls: 0.0011, loss_map_cls: 0.1471, loss_map_pts: 0.6227, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.6283, d0.loss_plan_l1_fix_dist: 0.3729, d1.loss_plan_l1_fix_time: 0.8965, d1.loss_plan_l1_fix_dist: 0.1681, d2.loss_plan_l1_fix_time: 0.8870, d2.loss_plan_l1_fix_dist: 0.1729, d3.loss_plan_l1_fix_time: 0.8837, d3.loss_plan_l1_fix_dist: 0.1734, d4.loss_plan_l1_fix_time: 0.8870, d4.loss_plan_l1_fix_dist: 0.1824, d5.loss_plan_l1_fix_time: 0.8909, d5.loss_plan_l1_fix_dist: 0.1948, d6.loss_plan_l1_fix_time: 0.8955, d6.loss_plan_l1_fix_dist: 0.2133, d0.loss_cls_all: 0.1506, d0.loss_bbox_all: 0.3835, d0.loss_cls: 0.1506, d0.loss_bbox: 0.3835, d1.loss_cls: 0.1477, d1.loss_bbox: 0.3498, d2.loss_cls: 0.1350, d2.loss_bbox: 0.3335, d3.loss_cls: 0.1225, d3.loss_bbox: 0.3253, d4.loss_cls: 0.1173, d4.loss_bbox: 0.3232, d5.loss_cls: 0.1140, d5.loss_bbox: 0.3227, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6959, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5499, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5114, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5078, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5143, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5134, d0.loss_map_cls_all: 0.2157, d0.loss_map_pts_all: 1.3295, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2157, d0.loss_map_pts: 1.3295, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1881, d1.loss_map_pts: 0.9125, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1672, d2.loss_map_pts: 0.7318, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1581, d3.loss_map_pts: 0.6573, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1546, d4.loss_map_pts: 0.6312, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1495, d5.loss_map_pts: 0.6246, d5.loss_map_dir: 0.0085, loss: 25.3589, grad_norm: 151.4249 +2026-02-27 16:16:26,309 - DriveTransformer - INFO - Epoch [7][27900/39528] lr: 8.550e-05, eta: 5 days, 18:57:58, time: 0.759, data_time: 0.036, memory: 19865, loss_cls: 0.1460, loss_bbox: 0.3518, loss_traj: 0.6580, loss_traj_cls: 0.0011, loss_map_cls: 0.1479, loss_map_pts: 0.7186, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.5418, d0.loss_plan_l1_fix_dist: 0.4679, d1.loss_plan_l1_fix_time: 0.9949, d1.loss_plan_l1_fix_dist: 0.1883, d2.loss_plan_l1_fix_time: 0.9958, d2.loss_plan_l1_fix_dist: 0.1867, d3.loss_plan_l1_fix_time: 0.9915, d3.loss_plan_l1_fix_dist: 0.1958, d4.loss_plan_l1_fix_time: 0.9936, d4.loss_plan_l1_fix_dist: 0.2097, d5.loss_plan_l1_fix_time: 0.9964, d5.loss_plan_l1_fix_dist: 0.2210, d6.loss_plan_l1_fix_time: 1.0002, d6.loss_plan_l1_fix_dist: 0.2336, d0.loss_cls_all: 0.1861, d0.loss_bbox_all: 0.4069, d0.loss_cls: 0.1861, d0.loss_bbox: 0.4069, d1.loss_cls: 0.1841, d1.loss_bbox: 0.3755, d2.loss_cls: 0.1689, d2.loss_bbox: 0.3568, d3.loss_cls: 0.1528, d3.loss_bbox: 0.3536, d4.loss_cls: 0.1493, d4.loss_bbox: 0.3510, d5.loss_cls: 0.1479, d5.loss_bbox: 0.3498, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8802, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7408, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6832, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6705, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6641, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6589, d0.loss_map_cls_all: 0.2218, d0.loss_map_pts_all: 1.4804, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2218, d0.loss_map_pts: 1.4804, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1893, d1.loss_map_pts: 1.0046, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1693, d2.loss_map_pts: 0.8196, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1598, d3.loss_map_pts: 0.7531, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1545, d4.loss_map_pts: 0.7229, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1483, d5.loss_map_pts: 0.7193, d5.loss_map_dir: 0.0098, loss: 28.6399, grad_norm: 146.4694 +2026-02-27 16:17:03,205 - DriveTransformer - INFO - Epoch [7][27950/39528] lr: 8.550e-05, eta: 5 days, 18:57:29, time: 0.738, data_time: 0.037, memory: 19865, loss_cls: 0.1386, loss_bbox: 0.3271, loss_traj: 0.5758, loss_traj_cls: 0.0011, loss_map_cls: 0.1301, loss_map_pts: 0.6048, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.8505, d0.loss_plan_l1_fix_dist: 0.4813, d1.loss_plan_l1_fix_time: 1.0814, d1.loss_plan_l1_fix_dist: 0.1907, d2.loss_plan_l1_fix_time: 1.0699, d2.loss_plan_l1_fix_dist: 0.1790, d3.loss_plan_l1_fix_time: 1.0761, d3.loss_plan_l1_fix_dist: 0.1875, d4.loss_plan_l1_fix_time: 1.0786, d4.loss_plan_l1_fix_dist: 0.1991, d5.loss_plan_l1_fix_time: 1.0811, d5.loss_plan_l1_fix_dist: 0.2135, d6.loss_plan_l1_fix_time: 1.0841, d6.loss_plan_l1_fix_dist: 0.2310, d0.loss_cls_all: 0.1747, d0.loss_bbox_all: 0.3792, d0.loss_cls: 0.1747, d0.loss_bbox: 0.3792, d1.loss_cls: 0.1694, d1.loss_bbox: 0.3441, d2.loss_cls: 0.1595, d2.loss_bbox: 0.3286, d3.loss_cls: 0.1449, d3.loss_bbox: 0.3266, d4.loss_cls: 0.1390, d4.loss_bbox: 0.3277, d5.loss_cls: 0.1377, d5.loss_bbox: 0.3269, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7672, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6228, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5788, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5752, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5729, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5740, d0.loss_map_cls_all: 0.2102, d0.loss_map_pts_all: 1.2749, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2102, d0.loss_map_pts: 1.2749, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1771, d1.loss_map_pts: 0.8631, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1522, d2.loss_map_pts: 0.7004, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1438, d3.loss_map_pts: 0.6417, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1367, d4.loss_map_pts: 0.6156, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1318, d5.loss_map_pts: 0.6086, d5.loss_map_dir: 0.0086, loss: 27.1985, grad_norm: 145.6069 +2026-02-27 16:17:41,269 - DriveTransformer - INFO - Epoch [7][28000/39528] lr: 8.550e-05, eta: 5 days, 18:57:28, time: 0.761, data_time: 0.038, memory: 19865, loss_cls: 0.1523, loss_bbox: 0.3583, loss_traj: 0.5756, loss_traj_cls: 0.0010, loss_map_cls: 0.1499, loss_map_pts: 0.7262, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.4062, d0.loss_plan_l1_fix_dist: 0.3767, d1.loss_plan_l1_fix_time: 0.9786, d1.loss_plan_l1_fix_dist: 0.1900, d2.loss_plan_l1_fix_time: 0.9620, d2.loss_plan_l1_fix_dist: 0.1742, d3.loss_plan_l1_fix_time: 0.9636, d3.loss_plan_l1_fix_dist: 0.1858, d4.loss_plan_l1_fix_time: 0.9653, d4.loss_plan_l1_fix_dist: 0.1974, d5.loss_plan_l1_fix_time: 0.9673, d5.loss_plan_l1_fix_dist: 0.2101, d6.loss_plan_l1_fix_time: 0.9696, d6.loss_plan_l1_fix_dist: 0.2272, d0.loss_cls_all: 0.1836, d0.loss_bbox_all: 0.4178, d0.loss_cls: 0.1836, d0.loss_bbox: 0.4178, d1.loss_cls: 0.1798, d1.loss_bbox: 0.3856, d2.loss_cls: 0.1659, d2.loss_bbox: 0.3675, d3.loss_cls: 0.1565, d3.loss_bbox: 0.3594, d4.loss_cls: 0.1528, d4.loss_bbox: 0.3573, d5.loss_cls: 0.1524, d5.loss_bbox: 0.3577, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7853, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6429, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5882, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5840, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5787, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5757, d0.loss_map_cls_all: 0.2313, d0.loss_map_pts_all: 1.4354, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2313, d0.loss_map_pts: 1.4354, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1985, d1.loss_map_pts: 1.0008, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1783, d2.loss_map_pts: 0.8325, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1640, d3.loss_map_pts: 0.7623, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1571, d4.loss_map_pts: 0.7369, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1513, d5.loss_map_pts: 0.7270, d5.loss_map_dir: 0.0099, loss: 27.6542, grad_norm: 145.5004 +2026-02-27 16:18:17,617 - DriveTransformer - INFO - Epoch [7][28050/39528] lr: 8.550e-05, eta: 5 days, 18:56:46, time: 0.727, data_time: 0.035, memory: 19865, loss_cls: 0.1482, loss_bbox: 0.3462, loss_traj: 0.6876, loss_traj_cls: 0.0011, loss_map_cls: 0.1708, loss_map_pts: 0.7084, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 3.2221, d0.loss_plan_l1_fix_dist: 0.4439, d1.loss_plan_l1_fix_time: 1.0557, d1.loss_plan_l1_fix_dist: 0.2112, d2.loss_plan_l1_fix_time: 1.0345, d2.loss_plan_l1_fix_dist: 0.1902, d3.loss_plan_l1_fix_time: 1.0370, d3.loss_plan_l1_fix_dist: 0.1936, d4.loss_plan_l1_fix_time: 1.0388, d4.loss_plan_l1_fix_dist: 0.2014, d5.loss_plan_l1_fix_time: 1.0409, d5.loss_plan_l1_fix_dist: 0.2128, d6.loss_plan_l1_fix_time: 1.0434, d6.loss_plan_l1_fix_dist: 0.2282, d0.loss_cls_all: 0.1778, d0.loss_bbox_all: 0.4084, d0.loss_cls: 0.1778, d0.loss_bbox: 0.4084, d1.loss_cls: 0.1738, d1.loss_bbox: 0.3769, d2.loss_cls: 0.1630, d2.loss_bbox: 0.3590, d3.loss_cls: 0.1535, d3.loss_bbox: 0.3490, d4.loss_cls: 0.1478, d4.loss_bbox: 0.3480, d5.loss_cls: 0.1469, d5.loss_bbox: 0.3472, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9185, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7556, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7144, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6939, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6909, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6881, d0.loss_map_cls_all: 0.2484, d0.loss_map_pts_all: 1.3287, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2484, d0.loss_map_pts: 1.3287, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2187, d1.loss_map_pts: 0.9447, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1978, d2.loss_map_pts: 0.8025, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1851, d3.loss_map_pts: 0.7390, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1785, d4.loss_map_pts: 0.7150, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1733, d5.loss_map_pts: 0.7088, d5.loss_map_dir: 0.0090, loss: 29.5082, grad_norm: 141.7759 +2026-02-27 16:18:54,296 - DriveTransformer - INFO - Epoch [7][28100/39528] lr: 8.550e-05, eta: 5 days, 18:56:11, time: 0.734, data_time: 0.045, memory: 19865, loss_cls: 0.1867, loss_bbox: 0.3611, loss_traj: 0.6404, loss_traj_cls: 0.0011, loss_map_cls: 0.1697, loss_map_pts: 0.7182, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.6476, d0.loss_plan_l1_fix_dist: 0.4100, d1.loss_plan_l1_fix_time: 1.0264, d1.loss_plan_l1_fix_dist: 0.2284, d2.loss_plan_l1_fix_time: 1.0083, d2.loss_plan_l1_fix_dist: 0.2135, d3.loss_plan_l1_fix_time: 1.0067, d3.loss_plan_l1_fix_dist: 0.2138, d4.loss_plan_l1_fix_time: 1.0087, d4.loss_plan_l1_fix_dist: 0.2224, d5.loss_plan_l1_fix_time: 1.0109, d5.loss_plan_l1_fix_dist: 0.2441, d6.loss_plan_l1_fix_time: 1.0141, d6.loss_plan_l1_fix_dist: 0.2670, d0.loss_cls_all: 0.2218, d0.loss_bbox_all: 0.4215, d0.loss_cls: 0.2218, d0.loss_bbox: 0.4215, d1.loss_cls: 0.2194, d1.loss_bbox: 0.3861, d2.loss_cls: 0.2036, d2.loss_bbox: 0.3690, d3.loss_cls: 0.1960, d3.loss_bbox: 0.3597, d4.loss_cls: 0.1875, d4.loss_bbox: 0.3591, d5.loss_cls: 0.1868, d5.loss_bbox: 0.3600, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9010, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7025, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6559, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6413, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6352, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6375, d0.loss_map_cls_all: 0.2390, d0.loss_map_pts_all: 1.3752, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2390, d0.loss_map_pts: 1.3752, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.2138, d1.loss_map_pts: 0.9800, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1881, d2.loss_map_pts: 0.8186, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1806, d3.loss_map_pts: 0.7484, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1756, d4.loss_map_pts: 0.7229, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1718, d5.loss_map_pts: 0.7181, d5.loss_map_dir: 0.0085, loss: 29.1047, grad_norm: 144.4371 +2026-02-27 16:19:29,845 - DriveTransformer - INFO - Epoch [7][28150/39528] lr: 8.550e-05, eta: 5 days, 18:55:09, time: 0.711, data_time: 0.036, memory: 19865, loss_cls: 0.1583, loss_bbox: 0.3573, loss_traj: 0.6138, loss_traj_cls: 0.0011, loss_map_cls: 0.1280, loss_map_pts: 0.6089, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.3318, d0.loss_plan_l1_fix_dist: 0.3751, d1.loss_plan_l1_fix_time: 0.8420, d1.loss_plan_l1_fix_dist: 0.1853, d2.loss_plan_l1_fix_time: 0.8257, d2.loss_plan_l1_fix_dist: 0.1671, d3.loss_plan_l1_fix_time: 0.8215, d3.loss_plan_l1_fix_dist: 0.1683, d4.loss_plan_l1_fix_time: 0.8232, d4.loss_plan_l1_fix_dist: 0.1790, d5.loss_plan_l1_fix_time: 0.8255, d5.loss_plan_l1_fix_dist: 0.1912, d6.loss_plan_l1_fix_time: 0.8283, d6.loss_plan_l1_fix_dist: 0.2065, d0.loss_cls_all: 0.1944, d0.loss_bbox_all: 0.4173, d0.loss_cls: 0.1944, d0.loss_bbox: 0.4173, d1.loss_cls: 0.1889, d1.loss_bbox: 0.3840, d2.loss_cls: 0.1761, d2.loss_bbox: 0.3652, d3.loss_cls: 0.1631, d3.loss_bbox: 0.3576, d4.loss_cls: 0.1587, d4.loss_bbox: 0.3552, d5.loss_cls: 0.1579, d5.loss_bbox: 0.3557, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7940, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6544, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6143, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6039, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5980, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6009, d0.loss_map_cls_all: 0.2136, d0.loss_map_pts_all: 1.2680, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2136, d0.loss_map_pts: 1.2680, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1786, d1.loss_map_pts: 0.8734, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1523, d2.loss_map_pts: 0.7133, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1410, d3.loss_map_pts: 0.6513, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1338, d4.loss_map_pts: 0.6233, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1285, d5.loss_map_pts: 0.6134, d5.loss_map_dir: 0.0080, loss: 25.6299, grad_norm: 141.9884 +2026-02-27 16:20:05,411 - DriveTransformer - INFO - Epoch [7][28200/39528] lr: 8.550e-05, eta: 5 days, 18:54:08, time: 0.711, data_time: 0.036, memory: 19865, loss_cls: 0.1483, loss_bbox: 0.3449, loss_traj: 0.7043, loss_traj_cls: 0.0011, loss_map_cls: 0.1363, loss_map_pts: 0.6002, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 3.0603, d0.loss_plan_l1_fix_dist: 0.4863, d1.loss_plan_l1_fix_time: 1.0441, d1.loss_plan_l1_fix_dist: 0.2009, d2.loss_plan_l1_fix_time: 1.0227, d2.loss_plan_l1_fix_dist: 0.1940, d3.loss_plan_l1_fix_time: 1.0196, d3.loss_plan_l1_fix_dist: 0.2145, d4.loss_plan_l1_fix_time: 1.0209, d4.loss_plan_l1_fix_dist: 0.2399, d5.loss_plan_l1_fix_time: 1.0231, d5.loss_plan_l1_fix_dist: 0.2621, d6.loss_plan_l1_fix_time: 1.0247, d6.loss_plan_l1_fix_dist: 0.2787, d0.loss_cls_all: 0.1842, d0.loss_bbox_all: 0.4096, d0.loss_cls: 0.1842, d0.loss_bbox: 0.4096, d1.loss_cls: 0.1846, d1.loss_bbox: 0.3739, d2.loss_cls: 0.1734, d2.loss_bbox: 0.3526, d3.loss_cls: 0.1565, d3.loss_bbox: 0.3465, d4.loss_cls: 0.1510, d4.loss_bbox: 0.3445, d5.loss_cls: 0.1492, d5.loss_bbox: 0.3435, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0270, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7801, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7164, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7126, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7039, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6987, d0.loss_map_cls_all: 0.1896, d0.loss_map_pts_all: 1.1987, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1896, d0.loss_map_pts: 1.1987, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1697, d1.loss_map_pts: 0.8616, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1573, d2.loss_map_pts: 0.7021, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1478, d3.loss_map_pts: 0.6332, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1427, d4.loss_map_pts: 0.6081, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1379, d5.loss_map_pts: 0.5991, d5.loss_map_dir: 0.0069, loss: 28.4244, grad_norm: 143.8247 +2026-02-27 16:20:40,825 - DriveTransformer - INFO - Epoch [7][28250/39528] lr: 8.550e-05, eta: 5 days, 18:53:03, time: 0.708, data_time: 0.037, memory: 19865, loss_cls: 0.1565, loss_bbox: 0.3320, loss_traj: 0.5871, loss_traj_cls: 0.0011, loss_map_cls: 0.1266, loss_map_pts: 0.6127, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.6329, d0.loss_plan_l1_fix_dist: 0.4356, d1.loss_plan_l1_fix_time: 1.0935, d1.loss_plan_l1_fix_dist: 0.1880, d2.loss_plan_l1_fix_time: 1.0832, d2.loss_plan_l1_fix_dist: 0.1921, d3.loss_plan_l1_fix_time: 1.0824, d3.loss_plan_l1_fix_dist: 0.2142, d4.loss_plan_l1_fix_time: 1.0852, d4.loss_plan_l1_fix_dist: 0.2397, d5.loss_plan_l1_fix_time: 1.0890, d5.loss_plan_l1_fix_dist: 0.2666, d6.loss_plan_l1_fix_time: 1.0933, d6.loss_plan_l1_fix_dist: 0.2902, d0.loss_cls_all: 0.1938, d0.loss_bbox_all: 0.3841, d0.loss_cls: 0.1938, d0.loss_bbox: 0.3841, d1.loss_cls: 0.1917, d1.loss_bbox: 0.3598, d2.loss_cls: 0.1786, d2.loss_bbox: 0.3417, d3.loss_cls: 0.1640, d3.loss_bbox: 0.3365, d4.loss_cls: 0.1570, d4.loss_bbox: 0.3338, d5.loss_cls: 0.1562, d5.loss_bbox: 0.3313, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8206, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6481, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6114, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6000, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5972, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5902, d0.loss_map_cls_all: 0.1889, d0.loss_map_pts_all: 1.1645, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1889, d0.loss_map_pts: 1.1645, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1666, d1.loss_map_pts: 0.8397, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1480, d2.loss_map_pts: 0.7001, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1387, d3.loss_map_pts: 0.6419, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1325, d4.loss_map_pts: 0.6157, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1287, d5.loss_map_pts: 0.6124, d5.loss_map_dir: 0.0072, loss: 27.2722, grad_norm: 143.5040 +2026-02-27 16:21:16,041 - DriveTransformer - INFO - Epoch [7][28300/39528] lr: 8.550e-05, eta: 5 days, 18:51:53, time: 0.704, data_time: 0.037, memory: 19865, loss_cls: 0.1624, loss_bbox: 0.3531, loss_traj: 0.7020, loss_traj_cls: 0.0011, loss_map_cls: 0.1332, loss_map_pts: 0.6418, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.8566, d0.loss_plan_l1_fix_dist: 0.3823, d1.loss_plan_l1_fix_time: 1.0000, d1.loss_plan_l1_fix_dist: 0.1921, d2.loss_plan_l1_fix_time: 0.9862, d2.loss_plan_l1_fix_dist: 0.1914, d3.loss_plan_l1_fix_time: 0.9849, d3.loss_plan_l1_fix_dist: 0.2014, d4.loss_plan_l1_fix_time: 0.9868, d4.loss_plan_l1_fix_dist: 0.2102, d5.loss_plan_l1_fix_time: 0.9894, d5.loss_plan_l1_fix_dist: 0.2225, d6.loss_plan_l1_fix_time: 0.9930, d6.loss_plan_l1_fix_dist: 0.2392, d0.loss_cls_all: 0.2016, d0.loss_bbox_all: 0.4156, d0.loss_cls: 0.2016, d0.loss_bbox: 0.4156, d1.loss_cls: 0.1937, d1.loss_bbox: 0.3832, d2.loss_cls: 0.1803, d2.loss_bbox: 0.3653, d3.loss_cls: 0.1674, d3.loss_bbox: 0.3586, d4.loss_cls: 0.1612, d4.loss_bbox: 0.3553, d5.loss_cls: 0.1599, d5.loss_bbox: 0.3547, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9487, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7700, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.7248, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7117, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7045, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.7007, d0.loss_map_cls_all: 0.2138, d0.loss_map_pts_all: 1.2488, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2138, d0.loss_map_pts: 1.2488, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1835, d1.loss_map_pts: 0.8822, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1620, d2.loss_map_pts: 0.7387, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1467, d3.loss_map_pts: 0.6734, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1397, d4.loss_map_pts: 0.6495, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1342, d5.loss_map_pts: 0.6429, d5.loss_map_dir: 0.0077, loss: 28.2489, grad_norm: 143.1783 +2026-02-27 16:21:52,066 - DriveTransformer - INFO - Epoch [7][28350/39528] lr: 8.550e-05, eta: 5 days, 18:51:03, time: 0.720, data_time: 0.033, memory: 19865, loss_cls: 0.1482, loss_bbox: 0.3697, loss_traj: 0.6512, loss_traj_cls: 0.0011, loss_map_cls: 0.1494, loss_map_pts: 0.6697, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.6195, d0.loss_plan_l1_fix_dist: 0.4043, d1.loss_plan_l1_fix_time: 0.9673, d1.loss_plan_l1_fix_dist: 0.1861, d2.loss_plan_l1_fix_time: 0.9589, d2.loss_plan_l1_fix_dist: 0.1926, d3.loss_plan_l1_fix_time: 0.9532, d3.loss_plan_l1_fix_dist: 0.2095, d4.loss_plan_l1_fix_time: 0.9553, d4.loss_plan_l1_fix_dist: 0.2207, d5.loss_plan_l1_fix_time: 0.9578, d5.loss_plan_l1_fix_dist: 0.2322, d6.loss_plan_l1_fix_time: 0.9608, d6.loss_plan_l1_fix_dist: 0.2510, d0.loss_cls_all: 0.1905, d0.loss_bbox_all: 0.4296, d0.loss_cls: 0.1905, d0.loss_bbox: 0.4296, d1.loss_cls: 0.1826, d1.loss_bbox: 0.3970, d2.loss_cls: 0.1663, d2.loss_bbox: 0.3788, d3.loss_cls: 0.1562, d3.loss_bbox: 0.3724, d4.loss_cls: 0.1495, d4.loss_bbox: 0.3689, d5.loss_cls: 0.1475, d5.loss_bbox: 0.3695, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8315, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7119, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6738, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6565, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6529, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6476, d0.loss_map_cls_all: 0.2191, d0.loss_map_pts_all: 1.3307, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2191, d0.loss_map_pts: 1.3307, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1951, d1.loss_map_pts: 0.9443, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1728, d2.loss_map_pts: 0.7670, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1619, d3.loss_map_pts: 0.6999, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1553, d4.loss_map_pts: 0.6759, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1514, d5.loss_map_pts: 0.6678, d5.loss_map_dir: 0.0087, loss: 27.9278, grad_norm: 141.8237 +2026-02-27 16:22:29,470 - DriveTransformer - INFO - Epoch [7][28400/39528] lr: 8.550e-05, eta: 5 days, 18:50:48, time: 0.749, data_time: 0.039, memory: 19865, loss_cls: 0.1479, loss_bbox: 0.3467, loss_traj: 0.5658, loss_traj_cls: 0.0011, loss_map_cls: 0.1522, loss_map_pts: 0.6841, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.7994, d0.loss_plan_l1_fix_dist: 0.5294, d1.loss_plan_l1_fix_time: 1.0742, d1.loss_plan_l1_fix_dist: 0.2010, d2.loss_plan_l1_fix_time: 1.0590, d2.loss_plan_l1_fix_dist: 0.1991, d3.loss_plan_l1_fix_time: 1.0652, d3.loss_plan_l1_fix_dist: 0.2115, d4.loss_plan_l1_fix_time: 1.0686, d4.loss_plan_l1_fix_dist: 0.2251, d5.loss_plan_l1_fix_time: 1.0719, d5.loss_plan_l1_fix_dist: 0.2386, d6.loss_plan_l1_fix_time: 1.0750, d6.loss_plan_l1_fix_dist: 0.2570, d0.loss_cls_all: 0.1870, d0.loss_bbox_all: 0.3957, d0.loss_cls: 0.1870, d0.loss_bbox: 0.3957, d1.loss_cls: 0.1810, d1.loss_bbox: 0.3645, d2.loss_cls: 0.1712, d2.loss_bbox: 0.3467, d3.loss_cls: 0.1539, d3.loss_bbox: 0.3463, d4.loss_cls: 0.1479, d4.loss_bbox: 0.3447, d5.loss_cls: 0.1484, d5.loss_bbox: 0.3448, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7982, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6307, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5830, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5697, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5646, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5620, d0.loss_map_cls_all: 0.2129, d0.loss_map_pts_all: 1.4460, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2129, d0.loss_map_pts: 1.4460, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1906, d1.loss_map_pts: 1.0000, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1720, d2.loss_map_pts: 0.7933, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1616, d3.loss_map_pts: 0.7149, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1578, d4.loss_map_pts: 0.6909, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1538, d5.loss_map_pts: 0.6829, d5.loss_map_dir: 0.0095, loss: 28.5116, grad_norm: 142.3458 +2026-02-27 16:23:05,971 - DriveTransformer - INFO - Epoch [7][28450/39528] lr: 8.550e-05, eta: 5 days, 18:50:07, time: 0.729, data_time: 0.036, memory: 19865, loss_cls: 0.1515, loss_bbox: 0.3575, loss_traj: 0.5551, loss_traj_cls: 0.0012, loss_map_cls: 0.1437, loss_map_pts: 0.6967, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.7209, d0.loss_plan_l1_fix_dist: 0.3728, d1.loss_plan_l1_fix_time: 1.0654, d1.loss_plan_l1_fix_dist: 0.2063, d2.loss_plan_l1_fix_time: 1.0492, d2.loss_plan_l1_fix_dist: 0.1797, d3.loss_plan_l1_fix_time: 1.0526, d3.loss_plan_l1_fix_dist: 0.1871, d4.loss_plan_l1_fix_time: 1.0554, d4.loss_plan_l1_fix_dist: 0.2014, d5.loss_plan_l1_fix_time: 1.0583, d5.loss_plan_l1_fix_dist: 0.2230, d6.loss_plan_l1_fix_time: 1.0616, d6.loss_plan_l1_fix_dist: 0.2456, d0.loss_cls_all: 0.1979, d0.loss_bbox_all: 0.4110, d0.loss_cls: 0.1979, d0.loss_bbox: 0.4110, d1.loss_cls: 0.1885, d1.loss_bbox: 0.3818, d2.loss_cls: 0.1738, d2.loss_bbox: 0.3616, d3.loss_cls: 0.1594, d3.loss_bbox: 0.3572, d4.loss_cls: 0.1537, d4.loss_bbox: 0.3568, d5.loss_cls: 0.1487, d5.loss_bbox: 0.3597, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7585, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6177, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5674, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.5599, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5568, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5542, d0.loss_map_cls_all: 0.2296, d0.loss_map_pts_all: 1.3680, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2296, d0.loss_map_pts: 1.3680, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1931, d1.loss_map_pts: 0.9545, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1676, d2.loss_map_pts: 0.7911, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1552, d3.loss_map_pts: 0.7321, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1505, d4.loss_map_pts: 0.7067, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1467, d5.loss_map_pts: 0.6980, d5.loss_map_dir: 0.0093, loss: 28.0281, grad_norm: 141.9989 +2026-02-27 16:23:42,169 - DriveTransformer - INFO - Epoch [7][28500/39528] lr: 8.550e-05, eta: 5 days, 18:49:21, time: 0.724, data_time: 0.037, memory: 19865, loss_cls: 0.1656, loss_bbox: 0.3708, loss_traj: 0.8046, loss_traj_cls: 0.0012, loss_map_cls: 0.1225, loss_map_pts: 0.6527, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.7033, d0.loss_plan_l1_fix_dist: 0.4181, d1.loss_plan_l1_fix_time: 1.1049, d1.loss_plan_l1_fix_dist: 0.2480, d2.loss_plan_l1_fix_time: 1.0977, d2.loss_plan_l1_fix_dist: 0.2245, d3.loss_plan_l1_fix_time: 1.1019, d3.loss_plan_l1_fix_dist: 0.2333, d4.loss_plan_l1_fix_time: 1.1049, d4.loss_plan_l1_fix_dist: 0.2460, d5.loss_plan_l1_fix_time: 1.1080, d5.loss_plan_l1_fix_dist: 0.2686, d6.loss_plan_l1_fix_time: 1.1117, d6.loss_plan_l1_fix_dist: 0.2904, d0.loss_cls_all: 0.1987, d0.loss_bbox_all: 0.4203, d0.loss_cls: 0.1987, d0.loss_bbox: 0.4203, d1.loss_cls: 0.1931, d1.loss_bbox: 0.3884, d2.loss_cls: 0.1836, d2.loss_bbox: 0.3751, d3.loss_cls: 0.1708, d3.loss_bbox: 0.3718, d4.loss_cls: 0.1668, d4.loss_bbox: 0.3687, d5.loss_cls: 0.1655, d5.loss_bbox: 0.3692, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0845, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8639, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8216, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.8078, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8026, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.8025, d0.loss_map_cls_all: 0.2010, d0.loss_map_pts_all: 1.2773, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2010, d0.loss_map_pts: 1.2773, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1711, d1.loss_map_pts: 0.8904, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1475, d2.loss_map_pts: 0.7411, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1369, d3.loss_map_pts: 0.6823, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1317, d4.loss_map_pts: 0.6588, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1248, d5.loss_map_pts: 0.6549, d5.loss_map_dir: 0.0090, loss: 29.9241, grad_norm: 142.4665 +2026-02-27 16:24:19,570 - DriveTransformer - INFO - Epoch [7][28550/39528] lr: 8.550e-05, eta: 5 days, 18:49:04, time: 0.748, data_time: 0.034, memory: 19865, loss_cls: 0.1579, loss_bbox: 0.3336, loss_traj: 0.5674, loss_traj_cls: 0.0012, loss_map_cls: 0.1746, loss_map_pts: 0.8157, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.4327, d0.loss_plan_l1_fix_dist: 0.3570, d1.loss_plan_l1_fix_time: 0.9633, d1.loss_plan_l1_fix_dist: 0.2103, d2.loss_plan_l1_fix_time: 0.9365, d2.loss_plan_l1_fix_dist: 0.1850, d3.loss_plan_l1_fix_time: 0.9344, d3.loss_plan_l1_fix_dist: 0.1913, d4.loss_plan_l1_fix_time: 0.9361, d4.loss_plan_l1_fix_dist: 0.2001, d5.loss_plan_l1_fix_time: 0.9384, d5.loss_plan_l1_fix_dist: 0.2134, d6.loss_plan_l1_fix_time: 0.9417, d6.loss_plan_l1_fix_dist: 0.2294, d0.loss_cls_all: 0.1953, d0.loss_bbox_all: 0.3941, d0.loss_cls: 0.1953, d0.loss_bbox: 0.3941, d1.loss_cls: 0.1873, d1.loss_bbox: 0.3561, d2.loss_cls: 0.1750, d2.loss_bbox: 0.3406, d3.loss_cls: 0.1660, d3.loss_bbox: 0.3352, d4.loss_cls: 0.1594, d4.loss_bbox: 0.3324, d5.loss_cls: 0.1576, d5.loss_bbox: 0.3329, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7344, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6076, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5753, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.5667, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5667, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5691, d0.loss_map_cls_all: 0.2494, d0.loss_map_pts_all: 1.5576, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2494, d0.loss_map_pts: 1.5576, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2242, d1.loss_map_pts: 1.1110, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1971, d2.loss_map_pts: 0.9372, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1853, d3.loss_map_pts: 0.8670, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1789, d4.loss_map_pts: 0.8284, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1765, d5.loss_map_pts: 0.8187, d5.loss_map_dir: 0.0104, loss: 28.2853, grad_norm: 141.6053 +2026-02-27 16:24:57,035 - DriveTransformer - INFO - Epoch [7][28600/39528] lr: 8.550e-05, eta: 5 days, 18:48:49, time: 0.749, data_time: 0.036, memory: 19865, loss_cls: 0.1372, loss_bbox: 0.3444, loss_traj: 0.4647, loss_traj_cls: 0.0012, loss_map_cls: 0.1561, loss_map_pts: 0.6816, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.2169, d0.loss_plan_l1_fix_dist: 0.3843, d1.loss_plan_l1_fix_time: 0.8688, d1.loss_plan_l1_fix_dist: 0.2248, d2.loss_plan_l1_fix_time: 0.8528, d2.loss_plan_l1_fix_dist: 0.1969, d3.loss_plan_l1_fix_time: 0.8541, d3.loss_plan_l1_fix_dist: 0.2056, d4.loss_plan_l1_fix_time: 0.8563, d4.loss_plan_l1_fix_dist: 0.2280, d5.loss_plan_l1_fix_time: 0.8591, d5.loss_plan_l1_fix_dist: 0.2503, d6.loss_plan_l1_fix_time: 0.8618, d6.loss_plan_l1_fix_dist: 0.2712, d0.loss_cls_all: 0.1799, d0.loss_bbox_all: 0.3974, d0.loss_cls: 0.1799, d0.loss_bbox: 0.3974, d1.loss_cls: 0.1747, d1.loss_bbox: 0.3662, d2.loss_cls: 0.1568, d2.loss_bbox: 0.3489, d3.loss_cls: 0.1454, d3.loss_bbox: 0.3411, d4.loss_cls: 0.1393, d4.loss_bbox: 0.3413, d5.loss_cls: 0.1365, d5.loss_bbox: 0.3437, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6588, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5337, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.4811, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.4702, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4683, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.4636, d0.loss_map_cls_all: 0.2229, d0.loss_map_pts_all: 1.3618, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2229, d0.loss_map_pts: 1.3618, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1974, d1.loss_map_pts: 0.9452, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1769, d2.loss_map_pts: 0.7669, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1671, d3.loss_map_pts: 0.7128, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1620, d4.loss_map_pts: 0.6865, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1556, d5.loss_map_pts: 0.6839, d5.loss_map_dir: 0.0109, loss: 25.5527, grad_norm: 142.8032 +2026-02-27 16:25:34,015 - DriveTransformer - INFO - Epoch [7][28650/39528] lr: 8.550e-05, eta: 5 days, 18:48:22, time: 0.740, data_time: 0.037, memory: 19865, loss_cls: 0.1647, loss_bbox: 0.3669, loss_traj: 0.6488, loss_traj_cls: 0.0011, loss_map_cls: 0.1443, loss_map_pts: 0.6645, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.3485, d0.loss_plan_l1_fix_dist: 0.3854, d1.loss_plan_l1_fix_time: 0.9663, d1.loss_plan_l1_fix_dist: 0.2079, d2.loss_plan_l1_fix_time: 0.9608, d2.loss_plan_l1_fix_dist: 0.1788, d3.loss_plan_l1_fix_time: 0.9594, d3.loss_plan_l1_fix_dist: 0.1789, d4.loss_plan_l1_fix_time: 0.9627, d4.loss_plan_l1_fix_dist: 0.1881, d5.loss_plan_l1_fix_time: 0.9662, d5.loss_plan_l1_fix_dist: 0.2021, d6.loss_plan_l1_fix_time: 0.9697, d6.loss_plan_l1_fix_dist: 0.2146, d0.loss_cls_all: 0.1944, d0.loss_bbox_all: 0.4242, d0.loss_cls: 0.1944, d0.loss_bbox: 0.4242, d1.loss_cls: 0.1868, d1.loss_bbox: 0.3916, d2.loss_cls: 0.1700, d2.loss_bbox: 0.3772, d3.loss_cls: 0.1635, d3.loss_bbox: 0.3690, d4.loss_cls: 0.1599, d4.loss_bbox: 0.3692, d5.loss_cls: 0.1614, d5.loss_bbox: 0.3678, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8925, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6993, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6613, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6469, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6442, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6430, d0.loss_map_cls_all: 0.2267, d0.loss_map_pts_all: 1.3870, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2267, d0.loss_map_pts: 1.3870, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1909, d1.loss_map_pts: 0.9529, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1676, d2.loss_map_pts: 0.7739, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1577, d3.loss_map_pts: 0.7010, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1514, d4.loss_map_pts: 0.6729, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1466, d5.loss_map_pts: 0.6655, d5.loss_map_dir: 0.0104, loss: 27.7134, grad_norm: 145.1227 +2026-02-27 16:26:10,519 - DriveTransformer - INFO - Epoch [7][28700/39528] lr: 8.550e-05, eta: 5 days, 18:47:43, time: 0.730, data_time: 0.040, memory: 19865, loss_cls: 0.1567, loss_bbox: 0.3567, loss_traj: 0.6463, loss_traj_cls: 0.0011, loss_map_cls: 0.1455, loss_map_pts: 0.6580, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 3.0812, d0.loss_plan_l1_fix_dist: 0.4680, d1.loss_plan_l1_fix_time: 1.1477, d1.loss_plan_l1_fix_dist: 0.2382, d2.loss_plan_l1_fix_time: 1.1298, d2.loss_plan_l1_fix_dist: 0.2188, d3.loss_plan_l1_fix_time: 1.1265, d3.loss_plan_l1_fix_dist: 0.2247, d4.loss_plan_l1_fix_time: 1.1290, d4.loss_plan_l1_fix_dist: 0.2336, d5.loss_plan_l1_fix_time: 1.1319, d5.loss_plan_l1_fix_dist: 0.2465, d6.loss_plan_l1_fix_time: 1.1349, d6.loss_plan_l1_fix_dist: 0.2631, d0.loss_cls_all: 0.1913, d0.loss_bbox_all: 0.4122, d0.loss_cls: 0.1913, d0.loss_bbox: 0.4122, d1.loss_cls: 0.1898, d1.loss_bbox: 0.3801, d2.loss_cls: 0.1730, d2.loss_bbox: 0.3651, d3.loss_cls: 0.1608, d3.loss_bbox: 0.3593, d4.loss_cls: 0.1543, d4.loss_bbox: 0.3574, d5.loss_cls: 0.1544, d5.loss_bbox: 0.3562, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8662, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7003, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6489, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6392, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6454, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6465, d0.loss_map_cls_all: 0.2141, d0.loss_map_pts_all: 1.2305, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2141, d0.loss_map_pts: 1.2305, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1894, d1.loss_map_pts: 0.8921, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1689, d2.loss_map_pts: 0.7519, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1578, d3.loss_map_pts: 0.6889, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1515, d4.loss_map_pts: 0.6664, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1464, d5.loss_map_pts: 0.6598, d5.loss_map_dir: 0.0093, loss: 29.1817, grad_norm: 144.6516 +2026-02-27 16:26:46,579 - DriveTransformer - INFO - Epoch [7][28750/39528] lr: 8.550e-05, eta: 5 days, 18:46:54, time: 0.721, data_time: 0.036, memory: 19865, loss_cls: 0.1391, loss_bbox: 0.3264, loss_traj: 0.6147, loss_traj_cls: 0.0012, loss_map_cls: 0.1111, loss_map_pts: 0.6131, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.0775, d0.loss_plan_l1_fix_dist: 0.4293, d1.loss_plan_l1_fix_time: 0.8300, d1.loss_plan_l1_fix_dist: 0.1929, d2.loss_plan_l1_fix_time: 0.8066, d2.loss_plan_l1_fix_dist: 0.1710, d3.loss_plan_l1_fix_time: 0.8054, d3.loss_plan_l1_fix_dist: 0.1800, d4.loss_plan_l1_fix_time: 0.8077, d4.loss_plan_l1_fix_dist: 0.1916, d5.loss_plan_l1_fix_time: 0.8099, d5.loss_plan_l1_fix_dist: 0.1997, d6.loss_plan_l1_fix_time: 0.8123, d6.loss_plan_l1_fix_dist: 0.2103, d0.loss_cls_all: 0.1756, d0.loss_bbox_all: 0.3933, d0.loss_cls: 0.1756, d0.loss_bbox: 0.3933, d1.loss_cls: 0.1674, d1.loss_bbox: 0.3575, d2.loss_cls: 0.1501, d2.loss_bbox: 0.3403, d3.loss_cls: 0.1407, d3.loss_bbox: 0.3303, d4.loss_cls: 0.1397, d4.loss_bbox: 0.3274, d5.loss_cls: 0.1388, d5.loss_bbox: 0.3275, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8353, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6764, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6271, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6156, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6132, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6139, d0.loss_map_cls_all: 0.1824, d0.loss_map_pts_all: 1.1979, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1824, d0.loss_map_pts: 1.1979, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1553, d1.loss_map_pts: 0.8467, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1343, d2.loss_map_pts: 0.7040, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1246, d3.loss_map_pts: 0.6454, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1201, d4.loss_map_pts: 0.6203, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1136, d5.loss_map_pts: 0.6135, d5.loss_map_dir: 0.0080, loss: 24.7782, grad_norm: 142.7721 +2026-02-27 16:27:22,823 - DriveTransformer - INFO - Epoch [7][28800/39528] lr: 8.550e-05, eta: 5 days, 18:46:09, time: 0.725, data_time: 0.038, memory: 19865, loss_cls: 0.1587, loss_bbox: 0.3506, loss_traj: 0.6281, loss_traj_cls: 0.0011, loss_map_cls: 0.1248, loss_map_pts: 0.5778, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 3.0702, d0.loss_plan_l1_fix_dist: 0.4923, d1.loss_plan_l1_fix_time: 1.1396, d1.loss_plan_l1_fix_dist: 0.1852, d2.loss_plan_l1_fix_time: 1.1195, d2.loss_plan_l1_fix_dist: 0.1803, d3.loss_plan_l1_fix_time: 1.1198, d3.loss_plan_l1_fix_dist: 0.1871, d4.loss_plan_l1_fix_time: 1.1224, d4.loss_plan_l1_fix_dist: 0.1945, d5.loss_plan_l1_fix_time: 1.1254, d5.loss_plan_l1_fix_dist: 0.2016, d6.loss_plan_l1_fix_time: 1.1290, d6.loss_plan_l1_fix_dist: 0.2115, d0.loss_cls_all: 0.1933, d0.loss_bbox_all: 0.4109, d0.loss_cls: 0.1933, d0.loss_bbox: 0.4109, d1.loss_cls: 0.1828, d1.loss_bbox: 0.3852, d2.loss_cls: 0.1730, d2.loss_bbox: 0.3651, d3.loss_cls: 0.1630, d3.loss_bbox: 0.3562, d4.loss_cls: 0.1584, d4.loss_bbox: 0.3539, d5.loss_cls: 0.1580, d5.loss_bbox: 0.3520, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7832, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6604, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6404, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6305, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6306, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6262, d0.loss_map_cls_all: 0.1883, d0.loss_map_pts_all: 1.1749, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.1883, d0.loss_map_pts: 1.1749, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1700, d1.loss_map_pts: 0.8257, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1488, d2.loss_map_pts: 0.6738, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1378, d3.loss_map_pts: 0.6142, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1331, d4.loss_map_pts: 0.5876, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1273, d5.loss_map_pts: 0.5800, d5.loss_map_dir: 0.0088, loss: 27.9475, grad_norm: 137.5882 +2026-02-27 16:27:58,780 - DriveTransformer - INFO - Epoch [7][28850/39528] lr: 8.550e-05, eta: 5 days, 18:45:17, time: 0.719, data_time: 0.035, memory: 19865, loss_cls: 0.1704, loss_bbox: 0.3840, loss_traj: 0.7705, loss_traj_cls: 0.0011, loss_map_cls: 0.1380, loss_map_pts: 0.7004, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 3.0666, d0.loss_plan_l1_fix_dist: 0.4309, d1.loss_plan_l1_fix_time: 1.0967, d1.loss_plan_l1_fix_dist: 0.1795, d2.loss_plan_l1_fix_time: 1.0761, d2.loss_plan_l1_fix_dist: 0.1763, d3.loss_plan_l1_fix_time: 1.0784, d3.loss_plan_l1_fix_dist: 0.1865, d4.loss_plan_l1_fix_time: 1.0804, d4.loss_plan_l1_fix_dist: 0.1919, d5.loss_plan_l1_fix_time: 1.0827, d5.loss_plan_l1_fix_dist: 0.2035, d6.loss_plan_l1_fix_time: 1.0858, d6.loss_plan_l1_fix_dist: 0.2177, d0.loss_cls_all: 0.2067, d0.loss_bbox_all: 0.4471, d0.loss_cls: 0.2067, d0.loss_bbox: 0.4471, d1.loss_cls: 0.2039, d1.loss_bbox: 0.4160, d2.loss_cls: 0.1879, d2.loss_bbox: 0.3975, d3.loss_cls: 0.1760, d3.loss_bbox: 0.3888, d4.loss_cls: 0.1741, d4.loss_bbox: 0.3862, d5.loss_cls: 0.1713, d5.loss_bbox: 0.3842, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0183, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8359, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7970, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7806, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7768, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.7729, d0.loss_map_cls_all: 0.2188, d0.loss_map_pts_all: 1.2577, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2188, d0.loss_map_pts: 1.2577, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1856, d1.loss_map_pts: 0.9327, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1645, d2.loss_map_pts: 0.7812, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1532, d3.loss_map_pts: 0.7272, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1469, d4.loss_map_pts: 0.7045, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1400, d5.loss_map_pts: 0.7000, d5.loss_map_dir: 0.0088, loss: 30.1563, grad_norm: 138.5883 +2026-02-27 16:28:34,232 - DriveTransformer - INFO - Epoch [7][28900/39528] lr: 8.550e-05, eta: 5 days, 18:44:14, time: 0.709, data_time: 0.035, memory: 19865, loss_cls: 0.1674, loss_bbox: 0.3706, loss_traj: 0.6461, loss_traj_cls: 0.0011, loss_map_cls: 0.1391, loss_map_pts: 0.7497, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.5923, d0.loss_plan_l1_fix_dist: 0.4860, d1.loss_plan_l1_fix_time: 1.0182, d1.loss_plan_l1_fix_dist: 0.2013, d2.loss_plan_l1_fix_time: 1.0121, d2.loss_plan_l1_fix_dist: 0.1980, d3.loss_plan_l1_fix_time: 1.0163, d3.loss_plan_l1_fix_dist: 0.2046, d4.loss_plan_l1_fix_time: 1.0192, d4.loss_plan_l1_fix_dist: 0.2053, d5.loss_plan_l1_fix_time: 1.0223, d5.loss_plan_l1_fix_dist: 0.2149, d6.loss_plan_l1_fix_time: 1.0262, d6.loss_plan_l1_fix_dist: 0.2311, d0.loss_cls_all: 0.2061, d0.loss_bbox_all: 0.4428, d0.loss_cls: 0.2061, d0.loss_bbox: 0.4428, d1.loss_cls: 0.2005, d1.loss_bbox: 0.4038, d2.loss_cls: 0.1882, d2.loss_bbox: 0.3850, d3.loss_cls: 0.1728, d3.loss_bbox: 0.3780, d4.loss_cls: 0.1684, d4.loss_bbox: 0.3723, d5.loss_cls: 0.1670, d5.loss_bbox: 0.3695, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8728, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7240, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6784, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6575, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6507, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6463, d0.loss_map_cls_all: 0.2315, d0.loss_map_pts_all: 1.3113, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2315, d0.loss_map_pts: 1.3113, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1973, d1.loss_map_pts: 1.0220, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1689, d2.loss_map_pts: 0.8546, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1549, d3.loss_map_pts: 0.7855, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1484, d4.loss_map_pts: 0.7542, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1415, d5.loss_map_pts: 0.7505, d5.loss_map_dir: 0.0092, loss: 28.9965, grad_norm: 138.8825 +2026-02-27 16:29:09,476 - DriveTransformer - INFO - Epoch [7][28950/39528] lr: 8.550e-05, eta: 5 days, 18:43:06, time: 0.705, data_time: 0.036, memory: 19865, loss_cls: 0.1498, loss_bbox: 0.3672, loss_traj: 0.7033, loss_traj_cls: 0.0011, loss_map_cls: 0.1540, loss_map_pts: 0.6947, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.8430, d0.loss_plan_l1_fix_dist: 0.4139, d1.loss_plan_l1_fix_time: 1.0655, d1.loss_plan_l1_fix_dist: 0.1835, d2.loss_plan_l1_fix_time: 1.0551, d2.loss_plan_l1_fix_dist: 0.1872, d3.loss_plan_l1_fix_time: 1.0553, d3.loss_plan_l1_fix_dist: 0.1865, d4.loss_plan_l1_fix_time: 1.0566, d4.loss_plan_l1_fix_dist: 0.1883, d5.loss_plan_l1_fix_time: 1.0586, d5.loss_plan_l1_fix_dist: 0.1961, d6.loss_plan_l1_fix_time: 1.0617, d6.loss_plan_l1_fix_dist: 0.2018, d0.loss_cls_all: 0.1912, d0.loss_bbox_all: 0.4258, d0.loss_cls: 0.1912, d0.loss_bbox: 0.4258, d1.loss_cls: 0.1798, d1.loss_bbox: 0.3950, d2.loss_cls: 0.1666, d2.loss_bbox: 0.3799, d3.loss_cls: 0.1550, d3.loss_bbox: 0.3719, d4.loss_cls: 0.1501, d4.loss_bbox: 0.3689, d5.loss_cls: 0.1497, d5.loss_bbox: 0.3670, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9265, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7749, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7260, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7104, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7057, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6956, d0.loss_map_cls_all: 0.2200, d0.loss_map_pts_all: 1.2855, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2200, d0.loss_map_pts: 1.2855, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.2014, d1.loss_map_pts: 0.9639, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1727, d2.loss_map_pts: 0.8028, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1625, d3.loss_map_pts: 0.7315, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1569, d4.loss_map_pts: 0.7043, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1546, d5.loss_map_pts: 0.6983, d5.loss_map_dir: 0.0074, loss: 29.1036, grad_norm: 137.9762 +2026-02-27 16:29:45,650 - DriveTransformer - INFO - Epoch [7][29000/39528] lr: 8.550e-05, eta: 5 days, 18:42:20, time: 0.723, data_time: 0.036, memory: 19865, loss_cls: 0.1525, loss_bbox: 0.3565, loss_traj: 0.6478, loss_traj_cls: 0.0011, loss_map_cls: 0.1323, loss_map_pts: 0.6075, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.9475, d0.loss_plan_l1_fix_dist: 0.4434, d1.loss_plan_l1_fix_time: 0.9330, d1.loss_plan_l1_fix_dist: 0.1724, d2.loss_plan_l1_fix_time: 0.9164, d2.loss_plan_l1_fix_dist: 0.1711, d3.loss_plan_l1_fix_time: 0.9111, d3.loss_plan_l1_fix_dist: 0.1838, d4.loss_plan_l1_fix_time: 0.9136, d4.loss_plan_l1_fix_dist: 0.2033, d5.loss_plan_l1_fix_time: 0.9163, d5.loss_plan_l1_fix_dist: 0.2178, d6.loss_plan_l1_fix_time: 0.9196, d6.loss_plan_l1_fix_dist: 0.2305, d0.loss_cls_all: 0.1847, d0.loss_bbox_all: 0.4157, d0.loss_cls: 0.1847, d0.loss_bbox: 0.4157, d1.loss_cls: 0.1771, d1.loss_bbox: 0.3875, d2.loss_cls: 0.1659, d2.loss_bbox: 0.3651, d3.loss_cls: 0.1576, d3.loss_bbox: 0.3566, d4.loss_cls: 0.1542, d4.loss_bbox: 0.3543, d5.loss_cls: 0.1516, d5.loss_bbox: 0.3567, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8568, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6978, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6559, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6464, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6477, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6449, d0.loss_map_cls_all: 0.2073, d0.loss_map_pts_all: 1.2402, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2073, d0.loss_map_pts: 1.2402, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1816, d1.loss_map_pts: 0.8717, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1571, d2.loss_map_pts: 0.7227, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1455, d3.loss_map_pts: 0.6490, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1393, d4.loss_map_pts: 0.6188, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1354, d5.loss_map_pts: 0.6095, d5.loss_map_dir: 0.0081, loss: 27.1508, grad_norm: 139.5770 +2026-02-27 16:30:23,797 - DriveTransformer - INFO - Epoch [7][29050/39528] lr: 8.550e-05, eta: 5 days, 18:42:20, time: 0.763, data_time: 0.040, memory: 19865, loss_cls: 0.1367, loss_bbox: 0.3350, loss_traj: 0.5207, loss_traj_cls: 0.0011, loss_map_cls: 0.1580, loss_map_pts: 0.7514, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.5613, d0.loss_plan_l1_fix_dist: 0.4470, d1.loss_plan_l1_fix_time: 0.9396, d1.loss_plan_l1_fix_dist: 0.1872, d2.loss_plan_l1_fix_time: 0.9256, d2.loss_plan_l1_fix_dist: 0.1819, d3.loss_plan_l1_fix_time: 0.9274, d3.loss_plan_l1_fix_dist: 0.1851, d4.loss_plan_l1_fix_time: 0.9316, d4.loss_plan_l1_fix_dist: 0.1959, d5.loss_plan_l1_fix_time: 0.9355, d5.loss_plan_l1_fix_dist: 0.2075, d6.loss_plan_l1_fix_time: 0.9397, d6.loss_plan_l1_fix_dist: 0.2212, d0.loss_cls_all: 0.1719, d0.loss_bbox_all: 0.3870, d0.loss_cls: 0.1719, d0.loss_bbox: 0.3870, d1.loss_cls: 0.1658, d1.loss_bbox: 0.3572, d2.loss_cls: 0.1527, d2.loss_bbox: 0.3424, d3.loss_cls: 0.1387, d3.loss_bbox: 0.3378, d4.loss_cls: 0.1368, d4.loss_bbox: 0.3346, d5.loss_cls: 0.1354, d5.loss_bbox: 0.3350, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7256, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5723, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5313, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5270, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5219, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5193, d0.loss_map_cls_all: 0.2299, d0.loss_map_pts_all: 1.5047, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2299, d0.loss_map_pts: 1.5047, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2065, d1.loss_map_pts: 1.0492, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1822, d2.loss_map_pts: 0.8675, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1715, d3.loss_map_pts: 0.7963, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1641, d4.loss_map_pts: 0.7629, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1598, d5.loss_map_pts: 0.7522, d5.loss_map_dir: 0.0107, loss: 27.3105, grad_norm: 141.7696 +2026-02-27 16:30:59,861 - DriveTransformer - INFO - Epoch [7][29100/39528] lr: 8.550e-05, eta: 5 days, 18:41:31, time: 0.721, data_time: 0.035, memory: 19865, loss_cls: 0.1484, loss_bbox: 0.3684, loss_traj: 0.5975, loss_traj_cls: 0.0010, loss_map_cls: 0.1701, loss_map_pts: 0.7132, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.7151, d0.loss_plan_l1_fix_dist: 0.4215, d1.loss_plan_l1_fix_time: 1.1236, d1.loss_plan_l1_fix_dist: 0.2101, d2.loss_plan_l1_fix_time: 1.1137, d2.loss_plan_l1_fix_dist: 0.1968, d3.loss_plan_l1_fix_time: 1.1089, d3.loss_plan_l1_fix_dist: 0.1970, d4.loss_plan_l1_fix_time: 1.1111, d4.loss_plan_l1_fix_dist: 0.2062, d5.loss_plan_l1_fix_time: 1.1135, d5.loss_plan_l1_fix_dist: 0.2137, d6.loss_plan_l1_fix_time: 1.1162, d6.loss_plan_l1_fix_dist: 0.2302, d0.loss_cls_all: 0.1912, d0.loss_bbox_all: 0.4210, d0.loss_cls: 0.1912, d0.loss_bbox: 0.4210, d1.loss_cls: 0.1808, d1.loss_bbox: 0.3890, d2.loss_cls: 0.1685, d2.loss_bbox: 0.3677, d3.loss_cls: 0.1534, d3.loss_bbox: 0.3654, d4.loss_cls: 0.1479, d4.loss_bbox: 0.3670, d5.loss_cls: 0.1470, d5.loss_bbox: 0.3673, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8276, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6558, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6116, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6070, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6009, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5982, d0.loss_map_cls_all: 0.2483, d0.loss_map_pts_all: 1.4052, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2483, d0.loss_map_pts: 1.4052, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.2176, d1.loss_map_pts: 1.0293, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1962, d2.loss_map_pts: 0.8380, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1831, d3.loss_map_pts: 0.7648, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1773, d4.loss_map_pts: 0.7301, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1742, d5.loss_map_pts: 0.7156, d5.loss_map_dir: 0.0087, loss: 29.2610, grad_norm: 141.8534 +2026-02-27 16:31:38,450 - DriveTransformer - INFO - Epoch [7][29150/39528] lr: 8.550e-05, eta: 5 days, 18:41:41, time: 0.772, data_time: 0.036, memory: 19865, loss_cls: 0.1670, loss_bbox: 0.3701, loss_traj: 0.5820, loss_traj_cls: 0.0010, loss_map_cls: 0.1576, loss_map_pts: 0.7850, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.7078, d0.loss_plan_l1_fix_dist: 0.3672, d1.loss_plan_l1_fix_time: 1.0374, d1.loss_plan_l1_fix_dist: 0.1764, d2.loss_plan_l1_fix_time: 1.0133, d2.loss_plan_l1_fix_dist: 0.1746, d3.loss_plan_l1_fix_time: 1.0116, d3.loss_plan_l1_fix_dist: 0.1832, d4.loss_plan_l1_fix_time: 1.0138, d4.loss_plan_l1_fix_dist: 0.1918, d5.loss_plan_l1_fix_time: 1.0173, d5.loss_plan_l1_fix_dist: 0.1972, d6.loss_plan_l1_fix_time: 1.0218, d6.loss_plan_l1_fix_dist: 0.2105, d0.loss_cls_all: 0.2064, d0.loss_bbox_all: 0.4304, d0.loss_cls: 0.2064, d0.loss_bbox: 0.4304, d1.loss_cls: 0.2004, d1.loss_bbox: 0.3975, d2.loss_cls: 0.1858, d2.loss_bbox: 0.3795, d3.loss_cls: 0.1732, d3.loss_bbox: 0.3718, d4.loss_cls: 0.1684, d4.loss_bbox: 0.3700, d5.loss_cls: 0.1657, d5.loss_bbox: 0.3701, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8143, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6409, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6025, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5868, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5797, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5807, d0.loss_map_cls_all: 0.2344, d0.loss_map_pts_all: 1.5847, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2344, d0.loss_map_pts: 1.5847, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2042, d1.loss_map_pts: 1.1061, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1841, d2.loss_map_pts: 0.9088, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1738, d3.loss_map_pts: 0.8350, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1663, d4.loss_map_pts: 0.7997, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1597, d5.loss_map_pts: 0.7867, d5.loss_map_dir: 0.0103, loss: 29.2937, grad_norm: 139.6710 +2026-02-27 16:32:14,307 - DriveTransformer - INFO - Epoch [7][29200/39528] lr: 8.550e-05, eta: 5 days, 18:40:49, time: 0.719, data_time: 0.036, memory: 19865, loss_cls: 0.1624, loss_bbox: 0.3767, loss_traj: 0.6765, loss_traj_cls: 0.0011, loss_map_cls: 0.1451, loss_map_pts: 0.6892, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.7317, d0.loss_plan_l1_fix_dist: 0.4006, d1.loss_plan_l1_fix_time: 1.1446, d1.loss_plan_l1_fix_dist: 0.1728, d2.loss_plan_l1_fix_time: 1.1315, d2.loss_plan_l1_fix_dist: 0.1770, d3.loss_plan_l1_fix_time: 1.1320, d3.loss_plan_l1_fix_dist: 0.1859, d4.loss_plan_l1_fix_time: 1.1344, d4.loss_plan_l1_fix_dist: 0.1920, d5.loss_plan_l1_fix_time: 1.1369, d5.loss_plan_l1_fix_dist: 0.2067, d6.loss_plan_l1_fix_time: 1.1405, d6.loss_plan_l1_fix_dist: 0.2223, d0.loss_cls_all: 0.1983, d0.loss_bbox_all: 0.4221, d0.loss_cls: 0.1983, d0.loss_bbox: 0.4221, d1.loss_cls: 0.1950, d1.loss_bbox: 0.3901, d2.loss_cls: 0.1814, d2.loss_bbox: 0.3763, d3.loss_cls: 0.1692, d3.loss_bbox: 0.3708, d4.loss_cls: 0.1641, d4.loss_bbox: 0.3726, d5.loss_cls: 0.1625, d5.loss_bbox: 0.3745, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8935, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7163, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6767, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6697, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6714, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6731, d0.loss_map_cls_all: 0.2227, d0.loss_map_pts_all: 1.3911, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2227, d0.loss_map_pts: 1.3911, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1917, d1.loss_map_pts: 0.9792, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1730, d2.loss_map_pts: 0.7944, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1618, d3.loss_map_pts: 0.7233, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1518, d4.loss_map_pts: 0.6987, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1460, d5.loss_map_pts: 0.6909, d5.loss_map_dir: 0.0087, loss: 29.4697, grad_norm: 139.5174 +2026-02-27 16:32:52,400 - DriveTransformer - INFO - Epoch [7][29250/39528] lr: 8.550e-05, eta: 5 days, 18:40:46, time: 0.760, data_time: 0.035, memory: 19865, loss_cls: 0.1662, loss_bbox: 0.3840, loss_traj: 0.7008, loss_traj_cls: 0.0011, loss_map_cls: 0.1477, loss_map_pts: 0.6962, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 3.1038, d0.loss_plan_l1_fix_dist: 0.4276, d1.loss_plan_l1_fix_time: 1.2592, d1.loss_plan_l1_fix_dist: 0.2046, d2.loss_plan_l1_fix_time: 1.2423, d2.loss_plan_l1_fix_dist: 0.2062, d3.loss_plan_l1_fix_time: 1.2373, d3.loss_plan_l1_fix_dist: 0.2143, d4.loss_plan_l1_fix_time: 1.2385, d4.loss_plan_l1_fix_dist: 0.2163, d5.loss_plan_l1_fix_time: 1.2405, d5.loss_plan_l1_fix_dist: 0.2254, d6.loss_plan_l1_fix_time: 1.2426, d6.loss_plan_l1_fix_dist: 0.2361, d0.loss_cls_all: 0.2109, d0.loss_bbox_all: 0.4438, d0.loss_cls: 0.2109, d0.loss_bbox: 0.4438, d1.loss_cls: 0.2047, d1.loss_bbox: 0.4118, d2.loss_cls: 0.1883, d2.loss_bbox: 0.3916, d3.loss_cls: 0.1753, d3.loss_bbox: 0.3851, d4.loss_cls: 0.1694, d4.loss_bbox: 0.3823, d5.loss_cls: 0.1670, d5.loss_bbox: 0.3825, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9265, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7797, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7207, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7070, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6967, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6964, d0.loss_map_cls_all: 0.2209, d0.loss_map_pts_all: 1.4143, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2209, d0.loss_map_pts: 1.4143, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.1888, d1.loss_map_pts: 0.9687, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1702, d2.loss_map_pts: 0.7967, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1594, d3.loss_map_pts: 0.7305, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1541, d4.loss_map_pts: 0.7075, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1494, d5.loss_map_pts: 0.6984, d5.loss_map_dir: 0.0099, loss: 31.1633, grad_norm: 139.7165 +2026-02-27 16:33:29,337 - DriveTransformer - INFO - Epoch [7][29300/39528] lr: 8.550e-05, eta: 5 days, 18:40:18, time: 0.739, data_time: 0.037, memory: 19865, loss_cls: 0.1640, loss_bbox: 0.3714, loss_traj: 0.6042, loss_traj_cls: 0.0011, loss_map_cls: 0.1514, loss_map_pts: 0.7063, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.6970, d0.loss_plan_l1_fix_dist: 0.4144, d1.loss_plan_l1_fix_time: 1.0177, d1.loss_plan_l1_fix_dist: 0.2103, d2.loss_plan_l1_fix_time: 1.0119, d2.loss_plan_l1_fix_dist: 0.2065, d3.loss_plan_l1_fix_time: 1.0138, d3.loss_plan_l1_fix_dist: 0.2048, d4.loss_plan_l1_fix_time: 1.0174, d4.loss_plan_l1_fix_dist: 0.2124, d5.loss_plan_l1_fix_time: 1.0209, d5.loss_plan_l1_fix_dist: 0.2260, d6.loss_plan_l1_fix_time: 1.0241, d6.loss_plan_l1_fix_dist: 0.2430, d0.loss_cls_all: 0.2033, d0.loss_bbox_all: 0.4334, d0.loss_cls: 0.2033, d0.loss_bbox: 0.4334, d1.loss_cls: 0.1968, d1.loss_bbox: 0.4022, d2.loss_cls: 0.1816, d2.loss_bbox: 0.3835, d3.loss_cls: 0.1703, d3.loss_bbox: 0.3747, d4.loss_cls: 0.1646, d4.loss_bbox: 0.3717, d5.loss_cls: 0.1631, d5.loss_bbox: 0.3712, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8156, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6832, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6282, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6103, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6156, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6099, d0.loss_map_cls_all: 0.2291, d0.loss_map_pts_all: 1.4096, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2291, d0.loss_map_pts: 1.4096, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2032, d1.loss_map_pts: 1.0025, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1778, d2.loss_map_pts: 0.8121, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1657, d3.loss_map_pts: 0.7385, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1591, d4.loss_map_pts: 0.7113, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1535, d5.loss_map_pts: 0.7068, d5.loss_map_dir: 0.0101, loss: 28.7268, grad_norm: 141.6727 +2026-02-27 16:34:05,758 - DriveTransformer - INFO - Epoch [7][29350/39528] lr: 8.550e-05, eta: 5 days, 18:39:37, time: 0.728, data_time: 0.036, memory: 19865, loss_cls: 0.1288, loss_bbox: 0.3313, loss_traj: 0.6822, loss_traj_cls: 0.0011, loss_map_cls: 0.1360, loss_map_pts: 0.6197, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.7534, d0.loss_plan_l1_fix_dist: 0.3795, d1.loss_plan_l1_fix_time: 1.0617, d1.loss_plan_l1_fix_dist: 0.1498, d2.loss_plan_l1_fix_time: 1.0437, d2.loss_plan_l1_fix_dist: 0.1479, d3.loss_plan_l1_fix_time: 1.0406, d3.loss_plan_l1_fix_dist: 0.1455, d4.loss_plan_l1_fix_time: 1.0418, d4.loss_plan_l1_fix_dist: 0.1551, d5.loss_plan_l1_fix_time: 1.0435, d5.loss_plan_l1_fix_dist: 0.1630, d6.loss_plan_l1_fix_time: 1.0458, d6.loss_plan_l1_fix_dist: 0.1733, d0.loss_cls_all: 0.1677, d0.loss_bbox_all: 0.3772, d0.loss_cls: 0.1677, d0.loss_bbox: 0.3772, d1.loss_cls: 0.1567, d1.loss_bbox: 0.3499, d2.loss_cls: 0.1429, d2.loss_bbox: 0.3352, d3.loss_cls: 0.1320, d3.loss_bbox: 0.3306, d4.loss_cls: 0.1300, d4.loss_bbox: 0.3282, d5.loss_cls: 0.1286, d5.loss_bbox: 0.3296, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9254, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7349, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6918, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6783, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6802, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6792, d0.loss_map_cls_all: 0.2119, d0.loss_map_pts_all: 1.2935, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2119, d0.loss_map_pts: 1.2935, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1809, d1.loss_map_pts: 0.8782, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1565, d2.loss_map_pts: 0.7185, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1459, d3.loss_map_pts: 0.6540, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1390, d4.loss_map_pts: 0.6293, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1369, d5.loss_map_pts: 0.6227, d5.loss_map_dir: 0.0083, loss: 27.4308, grad_norm: 141.8435 +2026-02-27 16:34:42,661 - DriveTransformer - INFO - Epoch [7][29400/39528] lr: 8.550e-05, eta: 5 days, 18:39:08, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.1754, loss_bbox: 0.3997, loss_traj: 0.5841, loss_traj_cls: 0.0011, loss_map_cls: 0.1752, loss_map_pts: 0.7879, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.7271, d0.loss_plan_l1_fix_dist: 0.3759, d1.loss_plan_l1_fix_time: 1.0626, d1.loss_plan_l1_fix_dist: 0.1723, d2.loss_plan_l1_fix_time: 1.0518, d2.loss_plan_l1_fix_dist: 0.1719, d3.loss_plan_l1_fix_time: 1.0474, d3.loss_plan_l1_fix_dist: 0.1777, d4.loss_plan_l1_fix_time: 1.0508, d4.loss_plan_l1_fix_dist: 0.1938, d5.loss_plan_l1_fix_time: 1.0554, d5.loss_plan_l1_fix_dist: 0.2067, d6.loss_plan_l1_fix_time: 1.0606, d6.loss_plan_l1_fix_dist: 0.2259, d0.loss_cls_all: 0.2154, d0.loss_bbox_all: 0.4632, d0.loss_cls: 0.2154, d0.loss_bbox: 0.4632, d1.loss_cls: 0.2044, d1.loss_bbox: 0.4271, d2.loss_cls: 0.1935, d2.loss_bbox: 0.4066, d3.loss_cls: 0.1832, d3.loss_bbox: 0.3990, d4.loss_cls: 0.1768, d4.loss_bbox: 0.3980, d5.loss_cls: 0.1753, d5.loss_bbox: 0.3989, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8102, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6565, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6076, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5933, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5878, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5825, d0.loss_map_cls_all: 0.2468, d0.loss_map_pts_all: 1.5148, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2468, d0.loss_map_pts: 1.5148, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2180, d1.loss_map_pts: 1.0868, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1965, d2.loss_map_pts: 0.8963, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1853, d3.loss_map_pts: 0.8194, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1816, d4.loss_map_pts: 0.7899, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1755, d5.loss_map_pts: 0.7868, d5.loss_map_dir: 0.0108, loss: 29.8105, grad_norm: 145.2680 +2026-02-27 16:35:19,621 - DriveTransformer - INFO - Epoch [7][29450/39528] lr: 8.550e-05, eta: 5 days, 18:38:40, time: 0.739, data_time: 0.039, memory: 19865, loss_cls: 0.1584, loss_bbox: 0.3759, loss_traj: 0.6656, loss_traj_cls: 0.0010, loss_map_cls: 0.1779, loss_map_pts: 0.7735, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.7036, d0.loss_plan_l1_fix_dist: 0.4020, d1.loss_plan_l1_fix_time: 1.0786, d1.loss_plan_l1_fix_dist: 0.2046, d2.loss_plan_l1_fix_time: 1.0704, d2.loss_plan_l1_fix_dist: 0.1908, d3.loss_plan_l1_fix_time: 1.0710, d3.loss_plan_l1_fix_dist: 0.1955, d4.loss_plan_l1_fix_time: 1.0742, d4.loss_plan_l1_fix_dist: 0.2094, d5.loss_plan_l1_fix_time: 1.0778, d5.loss_plan_l1_fix_dist: 0.2124, d6.loss_plan_l1_fix_time: 1.0820, d6.loss_plan_l1_fix_dist: 0.2207, d0.loss_cls_all: 0.1994, d0.loss_bbox_all: 0.4421, d0.loss_cls: 0.1994, d0.loss_bbox: 0.4421, d1.loss_cls: 0.1925, d1.loss_bbox: 0.4050, d2.loss_cls: 0.1800, d2.loss_bbox: 0.3841, d3.loss_cls: 0.1670, d3.loss_bbox: 0.3784, d4.loss_cls: 0.1602, d4.loss_bbox: 0.3775, d5.loss_cls: 0.1582, d5.loss_bbox: 0.3760, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8586, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7094, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6621, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6663, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6657, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6634, d0.loss_map_cls_all: 0.2517, d0.loss_map_pts_all: 1.4461, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2517, d0.loss_map_pts: 1.4461, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2229, d1.loss_map_pts: 1.0678, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1976, d2.loss_map_pts: 0.8855, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1877, d3.loss_map_pts: 0.8144, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1837, d4.loss_map_pts: 0.7821, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1799, d5.loss_map_pts: 0.7718, d5.loss_map_dir: 0.0099, loss: 30.0031, grad_norm: 145.0094 +2026-02-27 16:35:58,030 - DriveTransformer - INFO - Epoch [7][29500/39528] lr: 8.550e-05, eta: 5 days, 18:38:45, time: 0.768, data_time: 0.036, memory: 19865, loss_cls: 0.1904, loss_bbox: 0.3892, loss_traj: 0.5923, loss_traj_cls: 0.0010, loss_map_cls: 0.1878, loss_map_pts: 0.8864, loss_map_dir: 0.0140, d0.loss_plan_l1_fix_time: 2.8225, d0.loss_plan_l1_fix_dist: 0.3824, d1.loss_plan_l1_fix_time: 1.1951, d1.loss_plan_l1_fix_dist: 0.1879, d2.loss_plan_l1_fix_time: 1.1768, d2.loss_plan_l1_fix_dist: 0.1828, d3.loss_plan_l1_fix_time: 1.1818, d3.loss_plan_l1_fix_dist: 0.1850, d4.loss_plan_l1_fix_time: 1.1854, d4.loss_plan_l1_fix_dist: 0.1909, d5.loss_plan_l1_fix_time: 1.1891, d5.loss_plan_l1_fix_dist: 0.2012, d6.loss_plan_l1_fix_time: 1.1932, d6.loss_plan_l1_fix_dist: 0.2125, d0.loss_cls_all: 0.2364, d0.loss_bbox_all: 0.4554, d0.loss_cls: 0.2364, d0.loss_bbox: 0.4554, d1.loss_cls: 0.2321, d1.loss_bbox: 0.4169, d2.loss_cls: 0.2155, d2.loss_bbox: 0.3997, d3.loss_cls: 0.2012, d3.loss_bbox: 0.3931, d4.loss_cls: 0.1925, d4.loss_bbox: 0.3908, d5.loss_cls: 0.1901, d5.loss_bbox: 0.3893, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8396, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6675, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6126, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5937, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5937, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5930, d0.loss_map_cls_all: 0.2711, d0.loss_map_pts_all: 1.6794, d0.loss_map_dir_all: 0.0131, d0.loss_map_cls: 0.2711, d0.loss_map_pts: 1.6794, d0.loss_map_dir: 0.0131, d1.loss_map_cls: 0.2391, d1.loss_map_pts: 1.1897, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.2140, d2.loss_map_pts: 0.9910, d2.loss_map_dir: 0.0129, d3.loss_map_cls: 0.2026, d3.loss_map_pts: 0.9229, d3.loss_map_dir: 0.0134, d4.loss_map_cls: 0.1967, d4.loss_map_pts: 0.8923, d4.loss_map_dir: 0.0137, d5.loss_map_cls: 0.1909, d5.loss_map_pts: 0.8876, d5.loss_map_dir: 0.0140, loss: 31.9797, grad_norm: 147.7932 +2026-02-27 16:36:33,969 - DriveTransformer - INFO - Epoch [7][29550/39528] lr: 8.550e-05, eta: 5 days, 18:37:54, time: 0.719, data_time: 0.037, memory: 19865, loss_cls: 0.1370, loss_bbox: 0.3195, loss_traj: 0.6177, loss_traj_cls: 0.0011, loss_map_cls: 0.1067, loss_map_pts: 0.5161, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.3899, d0.loss_plan_l1_fix_dist: 0.4076, d1.loss_plan_l1_fix_time: 0.9729, d1.loss_plan_l1_fix_dist: 0.1646, d2.loss_plan_l1_fix_time: 0.9584, d2.loss_plan_l1_fix_dist: 0.1706, d3.loss_plan_l1_fix_time: 0.9598, d3.loss_plan_l1_fix_dist: 0.1780, d4.loss_plan_l1_fix_time: 0.9634, d4.loss_plan_l1_fix_dist: 0.1801, d5.loss_plan_l1_fix_time: 0.9675, d5.loss_plan_l1_fix_dist: 0.1956, d6.loss_plan_l1_fix_time: 0.9721, d6.loss_plan_l1_fix_dist: 0.2128, d0.loss_cls_all: 0.1614, d0.loss_bbox_all: 0.3799, d0.loss_cls: 0.1614, d0.loss_bbox: 0.3799, d1.loss_cls: 0.1566, d1.loss_bbox: 0.3438, d2.loss_cls: 0.1472, d2.loss_bbox: 0.3272, d3.loss_cls: 0.1377, d3.loss_bbox: 0.3237, d4.loss_cls: 0.1352, d4.loss_bbox: 0.3210, d5.loss_cls: 0.1352, d5.loss_bbox: 0.3189, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8540, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6681, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6274, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6212, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6227, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6132, d0.loss_map_cls_all: 0.1784, d0.loss_map_pts_all: 1.0801, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1784, d0.loss_map_pts: 1.0801, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1480, d1.loss_map_pts: 0.7350, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1256, d2.loss_map_pts: 0.5992, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1153, d3.loss_map_pts: 0.5459, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1107, d4.loss_map_pts: 0.5260, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1076, d5.loss_map_pts: 0.5181, d5.loss_map_dir: 0.0071, loss: 24.9366, grad_norm: 149.2269 +2026-02-27 16:37:10,382 - DriveTransformer - INFO - Epoch [7][29600/39528] lr: 8.550e-05, eta: 5 days, 18:37:13, time: 0.728, data_time: 0.037, memory: 19865, loss_cls: 0.1303, loss_bbox: 0.3373, loss_traj: 0.6384, loss_traj_cls: 0.0011, loss_map_cls: 0.1430, loss_map_pts: 0.6826, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.4709, d0.loss_plan_l1_fix_dist: 0.5064, d1.loss_plan_l1_fix_time: 0.9240, d1.loss_plan_l1_fix_dist: 0.1827, d2.loss_plan_l1_fix_time: 0.9131, d2.loss_plan_l1_fix_dist: 0.1861, d3.loss_plan_l1_fix_time: 0.9129, d3.loss_plan_l1_fix_dist: 0.2048, d4.loss_plan_l1_fix_time: 0.9164, d4.loss_plan_l1_fix_dist: 0.2237, d5.loss_plan_l1_fix_time: 0.9204, d5.loss_plan_l1_fix_dist: 0.2481, d6.loss_plan_l1_fix_time: 0.9253, d6.loss_plan_l1_fix_dist: 0.2736, d0.loss_cls_all: 0.1660, d0.loss_bbox_all: 0.3916, d0.loss_cls: 0.1660, d0.loss_bbox: 0.3916, d1.loss_cls: 0.1620, d1.loss_bbox: 0.3608, d2.loss_cls: 0.1479, d2.loss_bbox: 0.3448, d3.loss_cls: 0.1354, d3.loss_bbox: 0.3380, d4.loss_cls: 0.1315, d4.loss_bbox: 0.3373, d5.loss_cls: 0.1306, d5.loss_bbox: 0.3362, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8941, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7112, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6630, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6518, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6450, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6430, d0.loss_map_cls_all: 0.2226, d0.loss_map_pts_all: 1.3617, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2226, d0.loss_map_pts: 1.3617, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1921, d1.loss_map_pts: 0.9762, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1693, d2.loss_map_pts: 0.8014, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1557, d3.loss_map_pts: 0.7284, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1499, d4.loss_map_pts: 0.6986, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1469, d5.loss_map_pts: 0.6838, d5.loss_map_dir: 0.0087, loss: 27.4345, grad_norm: 147.8971 +2026-02-27 16:37:48,335 - DriveTransformer - INFO - Epoch [7][29650/39528] lr: 8.550e-05, eta: 5 days, 18:37:08, time: 0.759, data_time: 0.036, memory: 19865, loss_cls: 0.1501, loss_bbox: 0.3505, loss_traj: 0.6215, loss_traj_cls: 0.0011, loss_map_cls: 0.1237, loss_map_pts: 0.6117, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.6411, d0.loss_plan_l1_fix_dist: 0.3501, d1.loss_plan_l1_fix_time: 0.9188, d1.loss_plan_l1_fix_dist: 0.1881, d2.loss_plan_l1_fix_time: 0.9049, d2.loss_plan_l1_fix_dist: 0.1822, d3.loss_plan_l1_fix_time: 0.8993, d3.loss_plan_l1_fix_dist: 0.1920, d4.loss_plan_l1_fix_time: 0.9042, d4.loss_plan_l1_fix_dist: 0.2098, d5.loss_plan_l1_fix_time: 0.9106, d5.loss_plan_l1_fix_dist: 0.2334, d6.loss_plan_l1_fix_time: 0.9182, d6.loss_plan_l1_fix_dist: 0.2576, d0.loss_cls_all: 0.1816, d0.loss_bbox_all: 0.4020, d0.loss_cls: 0.1816, d0.loss_bbox: 0.4020, d1.loss_cls: 0.1756, d1.loss_bbox: 0.3723, d2.loss_cls: 0.1662, d2.loss_bbox: 0.3546, d3.loss_cls: 0.1547, d3.loss_bbox: 0.3489, d4.loss_cls: 0.1493, d4.loss_bbox: 0.3494, d5.loss_cls: 0.1484, d5.loss_bbox: 0.3503, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8724, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6867, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6375, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6331, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6295, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6247, d0.loss_map_cls_all: 0.2107, d0.loss_map_pts_all: 1.3092, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2107, d0.loss_map_pts: 1.3092, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1717, d1.loss_map_pts: 0.8914, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1529, d2.loss_map_pts: 0.7116, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1401, d3.loss_map_pts: 0.6447, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1309, d4.loss_map_pts: 0.6220, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1274, d5.loss_map_pts: 0.6120, d5.loss_map_dir: 0.0096, loss: 26.7139, grad_norm: 149.0365 +2026-02-27 16:38:26,035 - DriveTransformer - INFO - Epoch [7][29700/39528] lr: 8.550e-05, eta: 5 days, 18:36:57, time: 0.754, data_time: 0.036, memory: 19865, loss_cls: 0.1542, loss_bbox: 0.3427, loss_traj: 0.6323, loss_traj_cls: 0.0011, loss_map_cls: 0.1341, loss_map_pts: 0.6630, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.5225, d0.loss_plan_l1_fix_dist: 0.4404, d1.loss_plan_l1_fix_time: 0.9815, d1.loss_plan_l1_fix_dist: 0.2208, d2.loss_plan_l1_fix_time: 0.9608, d2.loss_plan_l1_fix_dist: 0.2057, d3.loss_plan_l1_fix_time: 0.9580, d3.loss_plan_l1_fix_dist: 0.2143, d4.loss_plan_l1_fix_time: 0.9619, d4.loss_plan_l1_fix_dist: 0.2330, d5.loss_plan_l1_fix_time: 0.9667, d5.loss_plan_l1_fix_dist: 0.2442, d6.loss_plan_l1_fix_time: 0.9720, d6.loss_plan_l1_fix_dist: 0.2532, d0.loss_cls_all: 0.1887, d0.loss_bbox_all: 0.4022, d0.loss_cls: 0.1887, d0.loss_bbox: 0.4022, d1.loss_cls: 0.1796, d1.loss_bbox: 0.3690, d2.loss_cls: 0.1715, d2.loss_bbox: 0.3486, d3.loss_cls: 0.1565, d3.loss_bbox: 0.3455, d4.loss_cls: 0.1537, d4.loss_bbox: 0.3422, d5.loss_cls: 0.1514, d5.loss_bbox: 0.3429, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9037, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7073, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6529, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6444, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6359, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6344, d0.loss_map_cls_all: 0.2104, d0.loss_map_pts_all: 1.3491, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2104, d0.loss_map_pts: 1.3491, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1757, d1.loss_map_pts: 0.9301, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1554, d2.loss_map_pts: 0.7644, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1452, d3.loss_map_pts: 0.6963, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1399, d4.loss_map_pts: 0.6662, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1372, d5.loss_map_pts: 0.6631, d5.loss_map_dir: 0.0095, loss: 27.6554, grad_norm: 146.0494 +2026-02-27 16:39:02,139 - DriveTransformer - INFO - Epoch [7][29750/39528] lr: 8.550e-05, eta: 5 days, 18:36:09, time: 0.722, data_time: 0.035, memory: 19865, loss_cls: 0.1624, loss_bbox: 0.3617, loss_traj: 0.7212, loss_traj_cls: 0.0010, loss_map_cls: 0.1276, loss_map_pts: 0.6511, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.5837, d0.loss_plan_l1_fix_dist: 0.4389, d1.loss_plan_l1_fix_time: 0.9902, d1.loss_plan_l1_fix_dist: 0.1971, d2.loss_plan_l1_fix_time: 0.9764, d2.loss_plan_l1_fix_dist: 0.1793, d3.loss_plan_l1_fix_time: 0.9773, d3.loss_plan_l1_fix_dist: 0.1888, d4.loss_plan_l1_fix_time: 0.9824, d4.loss_plan_l1_fix_dist: 0.2049, d5.loss_plan_l1_fix_time: 0.9877, d5.loss_plan_l1_fix_dist: 0.2187, d6.loss_plan_l1_fix_time: 0.9939, d6.loss_plan_l1_fix_dist: 0.2306, d0.loss_cls_all: 0.2001, d0.loss_bbox_all: 0.4220, d0.loss_cls: 0.2001, d0.loss_bbox: 0.4220, d1.loss_cls: 0.1961, d1.loss_bbox: 0.3900, d2.loss_cls: 0.1792, d2.loss_bbox: 0.3703, d3.loss_cls: 0.1640, d3.loss_bbox: 0.3641, d4.loss_cls: 0.1604, d4.loss_bbox: 0.3617, d5.loss_cls: 0.1609, d5.loss_bbox: 0.3611, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9348, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7924, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7404, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7311, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7269, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7217, d0.loss_map_cls_all: 0.2118, d0.loss_map_pts_all: 1.3003, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2118, d0.loss_map_pts: 1.3003, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1763, d1.loss_map_pts: 0.9112, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1537, d2.loss_map_pts: 0.7512, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1403, d3.loss_map_pts: 0.6845, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1330, d4.loss_map_pts: 0.6613, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1290, d5.loss_map_pts: 0.6506, d5.loss_map_dir: 0.0095, loss: 28.2696, grad_norm: 147.7784 +2026-02-27 16:39:39,834 - DriveTransformer - INFO - Epoch [7][29800/39528] lr: 8.550e-05, eta: 5 days, 18:35:57, time: 0.754, data_time: 0.039, memory: 19865, loss_cls: 0.1492, loss_bbox: 0.3385, loss_traj: 0.6800, loss_traj_cls: 0.0011, loss_map_cls: 0.1733, loss_map_pts: 0.7120, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.3243, d0.loss_plan_l1_fix_dist: 0.4122, d1.loss_plan_l1_fix_time: 0.8510, d1.loss_plan_l1_fix_dist: 0.1914, d2.loss_plan_l1_fix_time: 0.8436, d2.loss_plan_l1_fix_dist: 0.1800, d3.loss_plan_l1_fix_time: 0.8504, d3.loss_plan_l1_fix_dist: 0.1878, d4.loss_plan_l1_fix_time: 0.8555, d4.loss_plan_l1_fix_dist: 0.2025, d5.loss_plan_l1_fix_time: 0.8611, d5.loss_plan_l1_fix_dist: 0.2204, d6.loss_plan_l1_fix_time: 0.8673, d6.loss_plan_l1_fix_dist: 0.2446, d0.loss_cls_all: 0.1865, d0.loss_bbox_all: 0.4006, d0.loss_cls: 0.1865, d0.loss_bbox: 0.4006, d1.loss_cls: 0.1809, d1.loss_bbox: 0.3719, d2.loss_cls: 0.1678, d2.loss_bbox: 0.3510, d3.loss_cls: 0.1551, d3.loss_bbox: 0.3431, d4.loss_cls: 0.1494, d4.loss_bbox: 0.3400, d5.loss_cls: 0.1480, d5.loss_bbox: 0.3386, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8958, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7248, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6895, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6814, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6804, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6796, d0.loss_map_cls_all: 0.2509, d0.loss_map_pts_all: 1.4507, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2509, d0.loss_map_pts: 1.4507, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2233, d1.loss_map_pts: 1.0312, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1990, d2.loss_map_pts: 0.8380, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1832, d3.loss_map_pts: 0.7572, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1782, d4.loss_map_pts: 0.7261, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1764, d5.loss_map_pts: 0.7131, d5.loss_map_dir: 0.0094, loss: 27.7239, grad_norm: 146.1741 +2026-02-27 16:40:14,156 - DriveTransformer - INFO - Epoch [7][29850/39528] lr: 8.550e-05, eta: 5 days, 18:34:29, time: 0.686, data_time: 0.037, memory: 19865, loss_cls: 0.1455, loss_bbox: 0.3399, loss_traj: 0.8030, loss_traj_cls: 0.0010, loss_map_cls: 0.1656, loss_map_pts: 0.6315, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.4171, d0.loss_plan_l1_fix_dist: 0.3563, d1.loss_plan_l1_fix_time: 1.1871, d1.loss_plan_l1_fix_dist: 0.2046, d2.loss_plan_l1_fix_time: 1.1804, d2.loss_plan_l1_fix_dist: 0.1909, d3.loss_plan_l1_fix_time: 1.1839, d3.loss_plan_l1_fix_dist: 0.2027, d4.loss_plan_l1_fix_time: 1.1893, d4.loss_plan_l1_fix_dist: 0.2184, d5.loss_plan_l1_fix_time: 1.1955, d5.loss_plan_l1_fix_dist: 0.2330, d6.loss_plan_l1_fix_time: 1.2013, d6.loss_plan_l1_fix_dist: 0.2587, d0.loss_cls_all: 0.1825, d0.loss_bbox_all: 0.4030, d0.loss_cls: 0.1825, d0.loss_bbox: 0.4030, d1.loss_cls: 0.1761, d1.loss_bbox: 0.3630, d2.loss_cls: 0.1649, d2.loss_bbox: 0.3416, d3.loss_cls: 0.1490, d3.loss_bbox: 0.3380, d4.loss_cls: 0.1454, d4.loss_bbox: 0.3359, d5.loss_cls: 0.1454, d5.loss_bbox: 0.3372, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1284, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8799, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8253, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8089, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7979, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7974, d0.loss_map_cls_all: 0.2477, d0.loss_map_pts_all: 1.2941, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2477, d0.loss_map_pts: 1.2941, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.2118, d1.loss_map_pts: 0.9335, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1894, d2.loss_map_pts: 0.7541, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1748, d3.loss_map_pts: 0.6740, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1702, d4.loss_map_pts: 0.6444, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1665, d5.loss_map_pts: 0.6330, d5.loss_map_dir: 0.0074, loss: 29.9092, grad_norm: 152.5370 +2026-02-27 16:40:52,690 - DriveTransformer - INFO - Epoch [7][29900/39528] lr: 8.550e-05, eta: 5 days, 18:34:36, time: 0.771, data_time: 0.036, memory: 19865, loss_cls: 0.1542, loss_bbox: 0.3465, loss_traj: 0.5782, loss_traj_cls: 0.0011, loss_map_cls: 0.1716, loss_map_pts: 0.8255, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.7442, d0.loss_plan_l1_fix_dist: 0.3804, d1.loss_plan_l1_fix_time: 1.0224, d1.loss_plan_l1_fix_dist: 0.1959, d2.loss_plan_l1_fix_time: 1.0151, d2.loss_plan_l1_fix_dist: 0.1927, d3.loss_plan_l1_fix_time: 1.0108, d3.loss_plan_l1_fix_dist: 0.2052, d4.loss_plan_l1_fix_time: 1.0152, d4.loss_plan_l1_fix_dist: 0.2176, d5.loss_plan_l1_fix_time: 1.0205, d5.loss_plan_l1_fix_dist: 0.2376, d6.loss_plan_l1_fix_time: 1.0258, d6.loss_plan_l1_fix_dist: 0.2620, d0.loss_cls_all: 0.1845, d0.loss_bbox_all: 0.4001, d0.loss_cls: 0.1845, d0.loss_bbox: 0.4001, d1.loss_cls: 0.1799, d1.loss_bbox: 0.3697, d2.loss_cls: 0.1685, d2.loss_bbox: 0.3497, d3.loss_cls: 0.1586, d3.loss_bbox: 0.3472, d4.loss_cls: 0.1542, d4.loss_bbox: 0.3454, d5.loss_cls: 0.1529, d5.loss_bbox: 0.3462, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7887, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6510, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6120, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5924, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5766, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5806, d0.loss_map_cls_all: 0.2474, d0.loss_map_pts_all: 1.6090, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2474, d0.loss_map_pts: 1.6090, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2213, d1.loss_map_pts: 1.1822, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.2003, d2.loss_map_pts: 0.9563, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1876, d3.loss_map_pts: 0.8636, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1795, d4.loss_map_pts: 0.8297, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1740, d5.loss_map_pts: 0.8251, d5.loss_map_dir: 0.0107, loss: 29.5857, grad_norm: 152.9145 +2026-02-27 16:41:30,426 - DriveTransformer - INFO - Epoch [7][29950/39528] lr: 8.550e-05, eta: 5 days, 18:34:26, time: 0.755, data_time: 0.036, memory: 19865, loss_cls: 0.1334, loss_bbox: 0.3305, loss_traj: 0.5721, loss_traj_cls: 0.0011, loss_map_cls: 0.1418, loss_map_pts: 0.6736, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.4547, d0.loss_plan_l1_fix_dist: 0.4980, d1.loss_plan_l1_fix_time: 0.9976, d1.loss_plan_l1_fix_dist: 0.1909, d2.loss_plan_l1_fix_time: 0.9885, d2.loss_plan_l1_fix_dist: 0.1921, d3.loss_plan_l1_fix_time: 0.9827, d3.loss_plan_l1_fix_dist: 0.2048, d4.loss_plan_l1_fix_time: 0.9862, d4.loss_plan_l1_fix_dist: 0.2216, d5.loss_plan_l1_fix_time: 0.9901, d5.loss_plan_l1_fix_dist: 0.2415, d6.loss_plan_l1_fix_time: 0.9951, d6.loss_plan_l1_fix_dist: 0.2570, d0.loss_cls_all: 0.1677, d0.loss_bbox_all: 0.3819, d0.loss_cls: 0.1677, d0.loss_bbox: 0.3819, d1.loss_cls: 0.1620, d1.loss_bbox: 0.3533, d2.loss_cls: 0.1492, d2.loss_bbox: 0.3363, d3.loss_cls: 0.1373, d3.loss_bbox: 0.3332, d4.loss_cls: 0.1346, d4.loss_bbox: 0.3303, d5.loss_cls: 0.1328, d5.loss_bbox: 0.3303, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7520, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5996, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5659, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5631, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5685, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5690, d0.loss_map_cls_all: 0.2182, d0.loss_map_pts_all: 1.3878, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2182, d0.loss_map_pts: 1.3878, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1878, d1.loss_map_pts: 0.9724, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1635, d2.loss_map_pts: 0.7877, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1539, d3.loss_map_pts: 0.7083, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1477, d4.loss_map_pts: 0.6790, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1436, d5.loss_map_pts: 0.6736, d5.loss_map_dir: 0.0097, loss: 27.0804, grad_norm: 152.5662 +2026-02-27 16:42:07,292 - DriveTransformer - INFO - Epoch [7][30000/39528] lr: 8.550e-05, eta: 5 days, 18:33:57, time: 0.739, data_time: 0.037, memory: 19865, loss_cls: 0.1631, loss_bbox: 0.3665, loss_traj: 0.6607, loss_traj_cls: 0.0011, loss_map_cls: 0.1497, loss_map_pts: 0.7230, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.9894, d0.loss_plan_l1_fix_dist: 0.5389, d1.loss_plan_l1_fix_time: 1.0888, d1.loss_plan_l1_fix_dist: 0.2091, d2.loss_plan_l1_fix_time: 1.0786, d2.loss_plan_l1_fix_dist: 0.2118, d3.loss_plan_l1_fix_time: 1.0736, d3.loss_plan_l1_fix_dist: 0.2269, d4.loss_plan_l1_fix_time: 1.0757, d4.loss_plan_l1_fix_dist: 0.2489, d5.loss_plan_l1_fix_time: 1.0781, d5.loss_plan_l1_fix_dist: 0.2728, d6.loss_plan_l1_fix_time: 1.0812, d6.loss_plan_l1_fix_dist: 0.3020, d0.loss_cls_all: 0.1963, d0.loss_bbox_all: 0.4360, d0.loss_cls: 0.1963, d0.loss_bbox: 0.4360, d1.loss_cls: 0.1876, d1.loss_bbox: 0.3970, d2.loss_cls: 0.1789, d2.loss_bbox: 0.3753, d3.loss_cls: 0.1694, d3.loss_bbox: 0.3681, d4.loss_cls: 0.1640, d4.loss_bbox: 0.3679, d5.loss_cls: 0.1626, d5.loss_bbox: 0.3673, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8956, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7372, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6828, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6742, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6651, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6628, d0.loss_map_cls_all: 0.2258, d0.loss_map_pts_all: 1.4320, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2258, d0.loss_map_pts: 1.4320, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1917, d1.loss_map_pts: 0.9973, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1713, d2.loss_map_pts: 0.8264, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1612, d3.loss_map_pts: 0.7576, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1541, d4.loss_map_pts: 0.7299, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1510, d5.loss_map_pts: 0.7236, d5.loss_map_dir: 0.0099, loss: 30.1224, grad_norm: 151.8559 +2026-02-27 16:42:44,265 - DriveTransformer - INFO - Epoch [7][30050/39528] lr: 8.550e-05, eta: 5 days, 18:33:27, time: 0.738, data_time: 0.033, memory: 19865, loss_cls: 0.1528, loss_bbox: 0.3715, loss_traj: 0.6451, loss_traj_cls: 0.0011, loss_map_cls: 0.1741, loss_map_pts: 0.7695, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.7576, d0.loss_plan_l1_fix_dist: 0.4902, d1.loss_plan_l1_fix_time: 1.0878, d1.loss_plan_l1_fix_dist: 0.1965, d2.loss_plan_l1_fix_time: 1.0810, d2.loss_plan_l1_fix_dist: 0.2048, d3.loss_plan_l1_fix_time: 1.0867, d3.loss_plan_l1_fix_dist: 0.2238, d4.loss_plan_l1_fix_time: 1.0901, d4.loss_plan_l1_fix_dist: 0.2452, d5.loss_plan_l1_fix_time: 1.0942, d5.loss_plan_l1_fix_dist: 0.2613, d6.loss_plan_l1_fix_time: 1.0989, d6.loss_plan_l1_fix_dist: 0.2817, d0.loss_cls_all: 0.1969, d0.loss_bbox_all: 0.4413, d0.loss_cls: 0.1969, d0.loss_bbox: 0.4413, d1.loss_cls: 0.1855, d1.loss_bbox: 0.4008, d2.loss_cls: 0.1682, d2.loss_bbox: 0.3817, d3.loss_cls: 0.1571, d3.loss_bbox: 0.3748, d4.loss_cls: 0.1557, d4.loss_bbox: 0.3705, d5.loss_cls: 0.1538, d5.loss_bbox: 0.3698, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8245, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7329, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6768, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6696, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6561, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6468, d0.loss_map_cls_all: 0.2373, d0.loss_map_pts_all: 1.5313, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2373, d0.loss_map_pts: 1.5313, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.2139, d1.loss_map_pts: 1.0901, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1947, d2.loss_map_pts: 0.8951, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1841, d3.loss_map_pts: 0.8124, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1783, d4.loss_map_pts: 0.7821, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1745, d5.loss_map_pts: 0.7700, d5.loss_map_dir: 0.0089, loss: 30.4219, grad_norm: 152.2959 +2026-02-27 16:43:18,466 - DriveTransformer - INFO - Epoch [7][30100/39528] lr: 8.550e-05, eta: 5 days, 18:31:56, time: 0.684, data_time: 0.036, memory: 19865, loss_cls: 0.1358, loss_bbox: 0.3461, loss_traj: 0.8318, loss_traj_cls: 0.0011, loss_map_cls: 0.1298, loss_map_pts: 0.6266, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.4981, d0.loss_plan_l1_fix_dist: 0.4469, d1.loss_plan_l1_fix_time: 1.0622, d1.loss_plan_l1_fix_dist: 0.2124, d2.loss_plan_l1_fix_time: 1.0448, d2.loss_plan_l1_fix_dist: 0.2173, d3.loss_plan_l1_fix_time: 1.0444, d3.loss_plan_l1_fix_dist: 0.2379, d4.loss_plan_l1_fix_time: 1.0481, d4.loss_plan_l1_fix_dist: 0.2557, d5.loss_plan_l1_fix_time: 1.0522, d5.loss_plan_l1_fix_dist: 0.2735, d6.loss_plan_l1_fix_time: 1.0567, d6.loss_plan_l1_fix_dist: 0.2846, d0.loss_cls_all: 0.1696, d0.loss_bbox_all: 0.4052, d0.loss_cls: 0.1696, d0.loss_bbox: 0.4052, d1.loss_cls: 0.1627, d1.loss_bbox: 0.3727, d2.loss_cls: 0.1531, d2.loss_bbox: 0.3552, d3.loss_cls: 0.1397, d3.loss_bbox: 0.3482, d4.loss_cls: 0.1353, d4.loss_bbox: 0.3471, d5.loss_cls: 0.1342, d5.loss_bbox: 0.3458, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1108, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9166, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8487, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8319, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8271, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.8276, d0.loss_map_cls_all: 0.2037, d0.loss_map_pts_all: 1.2332, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2037, d0.loss_map_pts: 1.2332, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1712, d1.loss_map_pts: 0.8972, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1512, d2.loss_map_pts: 0.7387, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1414, d3.loss_map_pts: 0.6605, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1363, d4.loss_map_pts: 0.6350, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1327, d5.loss_map_pts: 0.6261, d5.loss_map_dir: 0.0074, loss: 29.0411, grad_norm: 154.4767 +2026-02-27 16:43:57,575 - DriveTransformer - INFO - Epoch [7][30150/39528] lr: 8.550e-05, eta: 5 days, 18:32:16, time: 0.782, data_time: 0.037, memory: 19865, loss_cls: 0.1554, loss_bbox: 0.3586, loss_traj: 0.5729, loss_traj_cls: 0.0012, loss_map_cls: 0.1775, loss_map_pts: 0.8673, loss_map_dir: 0.0128, d0.loss_plan_l1_fix_time: 2.8526, d0.loss_plan_l1_fix_dist: 0.3757, d1.loss_plan_l1_fix_time: 1.1239, d1.loss_plan_l1_fix_dist: 0.1979, d2.loss_plan_l1_fix_time: 1.1135, d2.loss_plan_l1_fix_dist: 0.2020, d3.loss_plan_l1_fix_time: 1.1185, d3.loss_plan_l1_fix_dist: 0.2261, d4.loss_plan_l1_fix_time: 1.1234, d4.loss_plan_l1_fix_dist: 0.2474, d5.loss_plan_l1_fix_time: 1.1282, d5.loss_plan_l1_fix_dist: 0.2768, d6.loss_plan_l1_fix_time: 1.1329, d6.loss_plan_l1_fix_dist: 0.3062, d0.loss_cls_all: 0.2018, d0.loss_bbox_all: 0.4238, d0.loss_cls: 0.2018, d0.loss_bbox: 0.4238, d1.loss_cls: 0.1906, d1.loss_bbox: 0.3925, d2.loss_cls: 0.1716, d2.loss_bbox: 0.3724, d3.loss_cls: 0.1615, d3.loss_bbox: 0.3651, d4.loss_cls: 0.1562, d4.loss_bbox: 0.3598, d5.loss_cls: 0.1555, d5.loss_bbox: 0.3578, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7456, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6094, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5641, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5639, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5670, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5708, d0.loss_map_cls_all: 0.2545, d0.loss_map_pts_all: 1.7289, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2545, d0.loss_map_pts: 1.7289, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2247, d1.loss_map_pts: 1.2044, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2007, d2.loss_map_pts: 0.9931, d2.loss_map_dir: 0.0118, d3.loss_map_cls: 0.1905, d3.loss_map_pts: 0.9139, d3.loss_map_dir: 0.0122, d4.loss_map_cls: 0.1836, d4.loss_map_pts: 0.8805, d4.loss_map_dir: 0.0125, d5.loss_map_cls: 0.1789, d5.loss_map_pts: 0.8685, d5.loss_map_dir: 0.0127, loss: 31.0225, grad_norm: 155.5908 +2026-02-27 16:44:33,730 - DriveTransformer - INFO - Epoch [7][30200/39528] lr: 8.550e-05, eta: 5 days, 18:31:30, time: 0.723, data_time: 0.037, memory: 19865, loss_cls: 0.1599, loss_bbox: 0.3675, loss_traj: 0.6570, loss_traj_cls: 0.0012, loss_map_cls: 0.1580, loss_map_pts: 0.7212, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.7704, d0.loss_plan_l1_fix_dist: 0.4159, d1.loss_plan_l1_fix_time: 1.0689, d1.loss_plan_l1_fix_dist: 0.2041, d2.loss_plan_l1_fix_time: 1.0600, d2.loss_plan_l1_fix_dist: 0.2024, d3.loss_plan_l1_fix_time: 1.0681, d3.loss_plan_l1_fix_dist: 0.2132, d4.loss_plan_l1_fix_time: 1.0731, d4.loss_plan_l1_fix_dist: 0.2262, d5.loss_plan_l1_fix_time: 1.0779, d5.loss_plan_l1_fix_dist: 0.2471, d6.loss_plan_l1_fix_time: 1.0824, d6.loss_plan_l1_fix_dist: 0.2770, d0.loss_cls_all: 0.2091, d0.loss_bbox_all: 0.4293, d0.loss_cls: 0.2091, d0.loss_bbox: 0.4293, d1.loss_cls: 0.2000, d1.loss_bbox: 0.3908, d2.loss_cls: 0.1845, d2.loss_bbox: 0.3751, d3.loss_cls: 0.1685, d3.loss_bbox: 0.3699, d4.loss_cls: 0.1614, d4.loss_bbox: 0.3666, d5.loss_cls: 0.1603, d5.loss_bbox: 0.3659, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8993, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7259, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6809, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6706, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6627, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6652, d0.loss_map_cls_all: 0.2347, d0.loss_map_pts_all: 1.3884, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2347, d0.loss_map_pts: 1.3884, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2056, d1.loss_map_pts: 0.9904, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1826, d2.loss_map_pts: 0.8206, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1683, d3.loss_map_pts: 0.7515, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1623, d4.loss_map_pts: 0.7278, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1595, d5.loss_map_pts: 0.7205, d5.loss_map_dir: 0.0093, loss: 29.5915, grad_norm: 157.7759 +2026-02-27 16:45:10,813 - DriveTransformer - INFO - Epoch [7][30250/39528] lr: 8.550e-05, eta: 5 days, 18:31:04, time: 0.742, data_time: 0.039, memory: 19865, loss_cls: 0.1271, loss_bbox: 0.3449, loss_traj: 0.6607, loss_traj_cls: 0.0012, loss_map_cls: 0.1383, loss_map_pts: 0.6235, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.5947, d0.loss_plan_l1_fix_dist: 0.3945, d1.loss_plan_l1_fix_time: 1.1792, d1.loss_plan_l1_fix_dist: 0.2136, d2.loss_plan_l1_fix_time: 1.1645, d2.loss_plan_l1_fix_dist: 0.2166, d3.loss_plan_l1_fix_time: 1.1639, d3.loss_plan_l1_fix_dist: 0.2286, d4.loss_plan_l1_fix_time: 1.1665, d4.loss_plan_l1_fix_dist: 0.2449, d5.loss_plan_l1_fix_time: 1.1694, d5.loss_plan_l1_fix_dist: 0.2699, d6.loss_plan_l1_fix_time: 1.1724, d6.loss_plan_l1_fix_dist: 0.2966, d0.loss_cls_all: 0.1644, d0.loss_bbox_all: 0.3885, d0.loss_cls: 0.1644, d0.loss_bbox: 0.3885, d1.loss_cls: 0.1610, d1.loss_bbox: 0.3586, d2.loss_cls: 0.1465, d2.loss_bbox: 0.3440, d3.loss_cls: 0.1337, d3.loss_bbox: 0.3416, d4.loss_cls: 0.1277, d4.loss_bbox: 0.3430, d5.loss_cls: 0.1267, d5.loss_bbox: 0.3439, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8709, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7033, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6664, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6524, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6530, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6570, d0.loss_map_cls_all: 0.2274, d0.loss_map_pts_all: 1.3094, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2274, d0.loss_map_pts: 1.3094, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1951, d1.loss_map_pts: 0.9072, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1642, d2.loss_map_pts: 0.7328, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1515, d3.loss_map_pts: 0.6631, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1443, d4.loss_map_pts: 0.6369, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1393, d5.loss_map_pts: 0.6262, d5.loss_map_dir: 0.0080, loss: 28.6097, grad_norm: 157.4858 +2026-02-27 16:45:46,095 - DriveTransformer - INFO - Epoch [7][30300/39528] lr: 8.550e-05, eta: 5 days, 18:29:58, time: 0.706, data_time: 0.035, memory: 19865, loss_cls: 0.1433, loss_bbox: 0.3447, loss_traj: 0.6607, loss_traj_cls: 0.0012, loss_map_cls: 0.1633, loss_map_pts: 0.6895, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.6873, d0.loss_plan_l1_fix_dist: 0.4128, d1.loss_plan_l1_fix_time: 1.1046, d1.loss_plan_l1_fix_dist: 0.2058, d2.loss_plan_l1_fix_time: 1.0882, d2.loss_plan_l1_fix_dist: 0.2056, d3.loss_plan_l1_fix_time: 1.0804, d3.loss_plan_l1_fix_dist: 0.2161, d4.loss_plan_l1_fix_time: 1.0818, d4.loss_plan_l1_fix_dist: 0.2314, d5.loss_plan_l1_fix_time: 1.0844, d5.loss_plan_l1_fix_dist: 0.2448, d6.loss_plan_l1_fix_time: 1.0879, d6.loss_plan_l1_fix_dist: 0.2595, d0.loss_cls_all: 0.1806, d0.loss_bbox_all: 0.4098, d0.loss_cls: 0.1806, d0.loss_bbox: 0.4098, d1.loss_cls: 0.1762, d1.loss_bbox: 0.3733, d2.loss_cls: 0.1612, d2.loss_bbox: 0.3547, d3.loss_cls: 0.1479, d3.loss_bbox: 0.3481, d4.loss_cls: 0.1437, d4.loss_bbox: 0.3459, d5.loss_cls: 0.1427, d5.loss_bbox: 0.3448, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8883, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7201, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6765, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6636, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6609, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6587, d0.loss_map_cls_all: 0.2393, d0.loss_map_pts_all: 1.3326, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2393, d0.loss_map_pts: 1.3326, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.2067, d1.loss_map_pts: 0.9751, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1840, d2.loss_map_pts: 0.8076, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1732, d3.loss_map_pts: 0.7325, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1681, d4.loss_map_pts: 0.7011, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1633, d5.loss_map_pts: 0.6922, d5.loss_map_dir: 0.0084, loss: 28.9994, grad_norm: 157.4124 +2026-02-27 16:46:22,805 - DriveTransformer - INFO - Epoch [7][30350/39528] lr: 8.550e-05, eta: 5 days, 18:29:24, time: 0.734, data_time: 0.034, memory: 19865, loss_cls: 0.1485, loss_bbox: 0.3570, loss_traj: 0.6668, loss_traj_cls: 0.0012, loss_map_cls: 0.1560, loss_map_pts: 0.7044, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.8223, d0.loss_plan_l1_fix_dist: 0.3657, d1.loss_plan_l1_fix_time: 1.0074, d1.loss_plan_l1_fix_dist: 0.1650, d2.loss_plan_l1_fix_time: 0.9944, d2.loss_plan_l1_fix_dist: 0.1663, d3.loss_plan_l1_fix_time: 0.9939, d3.loss_plan_l1_fix_dist: 0.1791, d4.loss_plan_l1_fix_time: 0.9956, d4.loss_plan_l1_fix_dist: 0.1925, d5.loss_plan_l1_fix_time: 0.9983, d5.loss_plan_l1_fix_dist: 0.2031, d6.loss_plan_l1_fix_time: 1.0024, d6.loss_plan_l1_fix_dist: 0.2169, d0.loss_cls_all: 0.1924, d0.loss_bbox_all: 0.4240, d0.loss_cls: 0.1924, d0.loss_bbox: 0.4240, d1.loss_cls: 0.1871, d1.loss_bbox: 0.3893, d2.loss_cls: 0.1709, d2.loss_bbox: 0.3673, d3.loss_cls: 0.1556, d3.loss_bbox: 0.3614, d4.loss_cls: 0.1496, d4.loss_bbox: 0.3595, d5.loss_cls: 0.1479, d5.loss_bbox: 0.3569, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9118, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7313, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6785, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6680, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6677, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6637, d0.loss_map_cls_all: 0.2442, d0.loss_map_pts_all: 1.4312, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2442, d0.loss_map_pts: 1.4312, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2105, d1.loss_map_pts: 1.0009, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1868, d2.loss_map_pts: 0.8142, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1745, d3.loss_map_pts: 0.7429, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1651, d4.loss_map_pts: 0.7156, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1584, d5.loss_map_pts: 0.7066, d5.loss_map_dir: 0.0097, loss: 28.8440, grad_norm: 156.8793 +2026-02-27 16:47:00,234 - DriveTransformer - INFO - Epoch [7][30400/39528] lr: 8.550e-05, eta: 5 days, 18:29:06, time: 0.748, data_time: 0.035, memory: 19865, loss_cls: 0.1694, loss_bbox: 0.3706, loss_traj: 0.5736, loss_traj_cls: 0.0012, loss_map_cls: 0.1506, loss_map_pts: 0.6517, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.5362, d0.loss_plan_l1_fix_dist: 0.3727, d1.loss_plan_l1_fix_time: 1.0669, d1.loss_plan_l1_fix_dist: 0.1758, d2.loss_plan_l1_fix_time: 1.0509, d2.loss_plan_l1_fix_dist: 0.1843, d3.loss_plan_l1_fix_time: 1.0547, d3.loss_plan_l1_fix_dist: 0.2033, d4.loss_plan_l1_fix_time: 1.0571, d4.loss_plan_l1_fix_dist: 0.2261, d5.loss_plan_l1_fix_time: 1.0595, d5.loss_plan_l1_fix_dist: 0.2556, d6.loss_plan_l1_fix_time: 1.0623, d6.loss_plan_l1_fix_dist: 0.2837, d0.loss_cls_all: 0.2058, d0.loss_bbox_all: 0.4351, d0.loss_cls: 0.2058, d0.loss_bbox: 0.4351, d1.loss_cls: 0.2008, d1.loss_bbox: 0.3987, d2.loss_cls: 0.1828, d2.loss_bbox: 0.3819, d3.loss_cls: 0.1727, d3.loss_bbox: 0.3738, d4.loss_cls: 0.1688, d4.loss_bbox: 0.3710, d5.loss_cls: 0.1669, d5.loss_bbox: 0.3724, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7349, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5977, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5693, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5664, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5625, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5659, d0.loss_map_cls_all: 0.2206, d0.loss_map_pts_all: 1.3437, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2206, d0.loss_map_pts: 1.3437, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1960, d1.loss_map_pts: 0.9249, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1741, d2.loss_map_pts: 0.7469, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1645, d3.loss_map_pts: 0.6836, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1572, d4.loss_map_pts: 0.6621, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1520, d5.loss_map_pts: 0.6533, d5.loss_map_dir: 0.0097, loss: 27.8979, grad_norm: 162.8053 +2026-02-27 16:47:37,594 - DriveTransformer - INFO - Epoch [7][30450/39528] lr: 8.550e-05, eta: 5 days, 18:28:46, time: 0.747, data_time: 0.037, memory: 19865, loss_cls: 0.1555, loss_bbox: 0.3814, loss_traj: 0.6468, loss_traj_cls: 0.0012, loss_map_cls: 0.1565, loss_map_pts: 0.6930, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.7544, d0.loss_plan_l1_fix_dist: 0.4316, d1.loss_plan_l1_fix_time: 1.1888, d1.loss_plan_l1_fix_dist: 0.1927, d2.loss_plan_l1_fix_time: 1.1828, d2.loss_plan_l1_fix_dist: 0.1927, d3.loss_plan_l1_fix_time: 1.1864, d3.loss_plan_l1_fix_dist: 0.2044, d4.loss_plan_l1_fix_time: 1.1898, d4.loss_plan_l1_fix_dist: 0.2221, d5.loss_plan_l1_fix_time: 1.1929, d5.loss_plan_l1_fix_dist: 0.2425, d6.loss_plan_l1_fix_time: 1.1957, d6.loss_plan_l1_fix_dist: 0.2615, d0.loss_cls_all: 0.1978, d0.loss_bbox_all: 0.4476, d0.loss_cls: 0.1978, d0.loss_bbox: 0.4476, d1.loss_cls: 0.1920, d1.loss_bbox: 0.4110, d2.loss_cls: 0.1779, d2.loss_bbox: 0.3911, d3.loss_cls: 0.1628, d3.loss_bbox: 0.3872, d4.loss_cls: 0.1557, d4.loss_bbox: 0.3840, d5.loss_cls: 0.1556, d5.loss_bbox: 0.3819, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8722, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6998, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6585, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6388, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6405, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6411, d0.loss_map_cls_all: 0.2350, d0.loss_map_pts_all: 1.3409, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2350, d0.loss_map_pts: 1.3409, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2071, d1.loss_map_pts: 0.9750, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1841, d2.loss_map_pts: 0.7999, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1683, d3.loss_map_pts: 0.7350, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1615, d4.loss_map_pts: 0.7075, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1567, d5.loss_map_pts: 0.6948, d5.loss_map_dir: 0.0094, loss: 29.9336, grad_norm: 161.7709 +2026-02-27 16:48:13,875 - DriveTransformer - INFO - Epoch [7][30500/39528] lr: 8.550e-05, eta: 5 days, 18:28:03, time: 0.726, data_time: 0.036, memory: 19865, loss_cls: 0.1491, loss_bbox: 0.3468, loss_traj: 0.5450, loss_traj_cls: 0.0011, loss_map_cls: 0.1645, loss_map_pts: 0.6743, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.7451, d0.loss_plan_l1_fix_dist: 0.3390, d1.loss_plan_l1_fix_time: 1.0457, d1.loss_plan_l1_fix_dist: 0.1745, d2.loss_plan_l1_fix_time: 1.0403, d2.loss_plan_l1_fix_dist: 0.1846, d3.loss_plan_l1_fix_time: 1.0378, d3.loss_plan_l1_fix_dist: 0.1997, d4.loss_plan_l1_fix_time: 1.0403, d4.loss_plan_l1_fix_dist: 0.2130, d5.loss_plan_l1_fix_time: 1.0432, d5.loss_plan_l1_fix_dist: 0.2262, d6.loss_plan_l1_fix_time: 1.0461, d6.loss_plan_l1_fix_dist: 0.2453, d0.loss_cls_all: 0.1872, d0.loss_bbox_all: 0.4133, d0.loss_cls: 0.1872, d0.loss_bbox: 0.4133, d1.loss_cls: 0.1819, d1.loss_bbox: 0.3760, d2.loss_cls: 0.1672, d2.loss_bbox: 0.3586, d3.loss_cls: 0.1536, d3.loss_bbox: 0.3533, d4.loss_cls: 0.1480, d4.loss_bbox: 0.3492, d5.loss_cls: 0.1476, d5.loss_bbox: 0.3479, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7209, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5948, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5676, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5502, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5461, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5468, d0.loss_map_cls_all: 0.2409, d0.loss_map_pts_all: 1.3532, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2409, d0.loss_map_pts: 1.3532, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.2147, d1.loss_map_pts: 0.9559, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1924, d2.loss_map_pts: 0.7740, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1782, d3.loss_map_pts: 0.7116, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1710, d4.loss_map_pts: 0.6864, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1659, d5.loss_map_pts: 0.6767, d5.loss_map_dir: 0.0085, loss: 27.7580, grad_norm: 160.5701 +2026-02-27 16:48:52,259 - DriveTransformer - INFO - Epoch [7][30550/39528] lr: 8.550e-05, eta: 5 days, 18:28:06, time: 0.768, data_time: 0.036, memory: 19865, loss_cls: 0.1487, loss_bbox: 0.3343, loss_traj: 0.6269, loss_traj_cls: 0.0011, loss_map_cls: 0.1360, loss_map_pts: 0.6705, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.4069, d0.loss_plan_l1_fix_dist: 0.3932, d1.loss_plan_l1_fix_time: 0.9089, d1.loss_plan_l1_fix_dist: 0.1933, d2.loss_plan_l1_fix_time: 0.9037, d2.loss_plan_l1_fix_dist: 0.2066, d3.loss_plan_l1_fix_time: 0.9029, d3.loss_plan_l1_fix_dist: 0.2221, d4.loss_plan_l1_fix_time: 0.9062, d4.loss_plan_l1_fix_dist: 0.2366, d5.loss_plan_l1_fix_time: 0.9105, d5.loss_plan_l1_fix_dist: 0.2530, d6.loss_plan_l1_fix_time: 0.9154, d6.loss_plan_l1_fix_dist: 0.2722, d0.loss_cls_all: 0.1827, d0.loss_bbox_all: 0.3997, d0.loss_cls: 0.1827, d0.loss_bbox: 0.3997, d1.loss_cls: 0.1782, d1.loss_bbox: 0.3667, d2.loss_cls: 0.1627, d2.loss_bbox: 0.3506, d3.loss_cls: 0.1523, d3.loss_bbox: 0.3428, d4.loss_cls: 0.1473, d4.loss_bbox: 0.3388, d5.loss_cls: 0.1476, d5.loss_bbox: 0.3353, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8526, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7008, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6434, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6296, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6278, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6282, d0.loss_map_cls_all: 0.2195, d0.loss_map_pts_all: 1.4336, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2195, d0.loss_map_pts: 1.4336, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.1873, d1.loss_map_pts: 0.9813, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1636, d2.loss_map_pts: 0.7885, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1501, d3.loss_map_pts: 0.7142, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1420, d4.loss_map_pts: 0.6837, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1377, d5.loss_map_pts: 0.6716, d5.loss_map_dir: 0.0099, loss: 27.3287, grad_norm: 160.5757 +2026-02-27 16:49:29,274 - DriveTransformer - INFO - Epoch [7][30600/39528] lr: 8.550e-05, eta: 5 days, 18:27:38, time: 0.740, data_time: 0.039, memory: 19865, loss_cls: 0.1429, loss_bbox: 0.3647, loss_traj: 0.6596, loss_traj_cls: 0.0011, loss_map_cls: 0.1561, loss_map_pts: 0.7011, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.6893, d0.loss_plan_l1_fix_dist: 0.3725, d1.loss_plan_l1_fix_time: 1.1924, d1.loss_plan_l1_fix_dist: 0.1814, d2.loss_plan_l1_fix_time: 1.1841, d2.loss_plan_l1_fix_dist: 0.1860, d3.loss_plan_l1_fix_time: 1.1835, d3.loss_plan_l1_fix_dist: 0.2034, d4.loss_plan_l1_fix_time: 1.1865, d4.loss_plan_l1_fix_dist: 0.2213, d5.loss_plan_l1_fix_time: 1.1906, d5.loss_plan_l1_fix_dist: 0.2393, d6.loss_plan_l1_fix_time: 1.1956, d6.loss_plan_l1_fix_dist: 0.2574, d0.loss_cls_all: 0.1853, d0.loss_bbox_all: 0.4288, d0.loss_cls: 0.1853, d0.loss_bbox: 0.4288, d1.loss_cls: 0.1802, d1.loss_bbox: 0.3949, d2.loss_cls: 0.1684, d2.loss_bbox: 0.3750, d3.loss_cls: 0.1528, d3.loss_bbox: 0.3685, d4.loss_cls: 0.1472, d4.loss_bbox: 0.3641, d5.loss_cls: 0.1438, d5.loss_bbox: 0.3636, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9078, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7299, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6717, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6580, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6564, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6552, d0.loss_map_cls_all: 0.2401, d0.loss_map_pts_all: 1.4436, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2401, d0.loss_map_pts: 1.4436, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2089, d1.loss_map_pts: 0.9981, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1861, d2.loss_map_pts: 0.8081, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1699, d3.loss_map_pts: 0.7378, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1619, d4.loss_map_pts: 0.7081, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1572, d5.loss_map_pts: 0.7004, d5.loss_map_dir: 0.0094, loss: 29.9569, grad_norm: 160.2305 +2026-02-27 16:50:07,710 - DriveTransformer - INFO - Epoch [7][30650/39528] lr: 8.550e-05, eta: 5 days, 18:27:42, time: 0.769, data_time: 0.038, memory: 19865, loss_cls: 0.1582, loss_bbox: 0.3460, loss_traj: 0.6080, loss_traj_cls: 0.0011, loss_map_cls: 0.1393, loss_map_pts: 0.7043, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.4406, d0.loss_plan_l1_fix_dist: 0.4049, d1.loss_plan_l1_fix_time: 0.8904, d1.loss_plan_l1_fix_dist: 0.1700, d2.loss_plan_l1_fix_time: 0.8766, d2.loss_plan_l1_fix_dist: 0.1764, d3.loss_plan_l1_fix_time: 0.8746, d3.loss_plan_l1_fix_dist: 0.1858, d4.loss_plan_l1_fix_time: 0.8774, d4.loss_plan_l1_fix_dist: 0.2027, d5.loss_plan_l1_fix_time: 0.8808, d5.loss_plan_l1_fix_dist: 0.2227, d6.loss_plan_l1_fix_time: 0.8850, d6.loss_plan_l1_fix_dist: 0.2457, d0.loss_cls_all: 0.1876, d0.loss_bbox_all: 0.4095, d0.loss_cls: 0.1876, d0.loss_bbox: 0.4095, d1.loss_cls: 0.1871, d1.loss_bbox: 0.3737, d2.loss_cls: 0.1777, d2.loss_bbox: 0.3592, d3.loss_cls: 0.1682, d3.loss_bbox: 0.3513, d4.loss_cls: 0.1597, d4.loss_bbox: 0.3492, d5.loss_cls: 0.1587, d5.loss_bbox: 0.3465, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7911, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6794, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6228, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6157, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6111, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6057, d0.loss_map_cls_all: 0.2187, d0.loss_map_pts_all: 1.3976, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2187, d0.loss_map_pts: 1.3976, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1866, d1.loss_map_pts: 0.9944, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1636, d2.loss_map_pts: 0.8051, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1536, d3.loss_map_pts: 0.7375, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1455, d4.loss_map_pts: 0.7132, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1413, d5.loss_map_pts: 0.7025, d5.loss_map_dir: 0.0099, loss: 27.0994, grad_norm: 158.6384 +2026-02-27 16:50:43,363 - DriveTransformer - INFO - Epoch [7][30700/39528] lr: 8.550e-05, eta: 5 days, 18:26:45, time: 0.713, data_time: 0.039, memory: 19865, loss_cls: 0.1483, loss_bbox: 0.3288, loss_traj: 0.6110, loss_traj_cls: 0.0011, loss_map_cls: 0.1256, loss_map_pts: 0.5195, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.4547, d0.loss_plan_l1_fix_dist: 0.3292, d1.loss_plan_l1_fix_time: 1.0440, d1.loss_plan_l1_fix_dist: 0.1572, d2.loss_plan_l1_fix_time: 1.0364, d2.loss_plan_l1_fix_dist: 0.1683, d3.loss_plan_l1_fix_time: 1.0361, d3.loss_plan_l1_fix_dist: 0.1783, d4.loss_plan_l1_fix_time: 1.0393, d4.loss_plan_l1_fix_dist: 0.1950, d5.loss_plan_l1_fix_time: 1.0427, d5.loss_plan_l1_fix_dist: 0.2095, d6.loss_plan_l1_fix_time: 1.0465, d6.loss_plan_l1_fix_dist: 0.2287, d0.loss_cls_all: 0.1880, d0.loss_bbox_all: 0.3847, d0.loss_cls: 0.1880, d0.loss_bbox: 0.3847, d1.loss_cls: 0.1790, d1.loss_bbox: 0.3556, d2.loss_cls: 0.1686, d2.loss_bbox: 0.3368, d3.loss_cls: 0.1530, d3.loss_bbox: 0.3317, d4.loss_cls: 0.1482, d4.loss_bbox: 0.3286, d5.loss_cls: 0.1490, d5.loss_bbox: 0.3267, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8364, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6620, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6117, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6001, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6010, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6090, d0.loss_map_cls_all: 0.2054, d0.loss_map_pts_all: 1.1034, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2054, d0.loss_map_pts: 1.1034, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1738, d1.loss_map_pts: 0.7549, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1508, d2.loss_map_pts: 0.6035, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1358, d3.loss_map_pts: 0.5478, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1302, d4.loss_map_pts: 0.5266, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1259, d5.loss_map_pts: 0.5204, d5.loss_map_dir: 0.0070, loss: 25.7927, grad_norm: 158.4177 +2026-02-27 16:51:19,142 - DriveTransformer - INFO - Epoch [7][30750/39528] lr: 8.550e-05, eta: 5 days, 18:25:50, time: 0.716, data_time: 0.039, memory: 19865, loss_cls: 0.1613, loss_bbox: 0.3378, loss_traj: 0.5651, loss_traj_cls: 0.0011, loss_map_cls: 0.1392, loss_map_pts: 0.6293, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.5162, d0.loss_plan_l1_fix_dist: 0.3258, d1.loss_plan_l1_fix_time: 0.8370, d1.loss_plan_l1_fix_dist: 0.1599, d2.loss_plan_l1_fix_time: 0.8307, d2.loss_plan_l1_fix_dist: 0.1785, d3.loss_plan_l1_fix_time: 0.8314, d3.loss_plan_l1_fix_dist: 0.1900, d4.loss_plan_l1_fix_time: 0.8351, d4.loss_plan_l1_fix_dist: 0.2054, d5.loss_plan_l1_fix_time: 0.8383, d5.loss_plan_l1_fix_dist: 0.2260, d6.loss_plan_l1_fix_time: 0.8417, d6.loss_plan_l1_fix_dist: 0.2476, d0.loss_cls_all: 0.1959, d0.loss_bbox_all: 0.3957, d0.loss_cls: 0.1959, d0.loss_bbox: 0.3957, d1.loss_cls: 0.1830, d1.loss_bbox: 0.3676, d2.loss_cls: 0.1724, d2.loss_bbox: 0.3516, d3.loss_cls: 0.1629, d3.loss_bbox: 0.3450, d4.loss_cls: 0.1599, d4.loss_bbox: 0.3410, d5.loss_cls: 0.1593, d5.loss_bbox: 0.3396, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7543, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6071, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5798, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5663, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5624, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5627, d0.loss_map_cls_all: 0.2089, d0.loss_map_pts_all: 1.1934, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2089, d0.loss_map_pts: 1.1934, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1774, d1.loss_map_pts: 0.8492, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1585, d2.loss_map_pts: 0.7124, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1497, d3.loss_map_pts: 0.6563, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1447, d4.loss_map_pts: 0.6355, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1404, d5.loss_map_pts: 0.6291, d5.loss_map_dir: 0.0084, loss: 25.4250, grad_norm: 160.1452 +2026-02-27 16:51:55,478 - DriveTransformer - INFO - Epoch [7][30800/39528] lr: 8.550e-05, eta: 5 days, 18:25:09, time: 0.728, data_time: 0.036, memory: 19865, loss_cls: 0.1682, loss_bbox: 0.3525, loss_traj: 0.6961, loss_traj_cls: 0.0011, loss_map_cls: 0.1443, loss_map_pts: 0.6051, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.7969, d0.loss_plan_l1_fix_dist: 0.3408, d1.loss_plan_l1_fix_time: 1.0694, d1.loss_plan_l1_fix_dist: 0.1772, d2.loss_plan_l1_fix_time: 1.0622, d2.loss_plan_l1_fix_dist: 0.1907, d3.loss_plan_l1_fix_time: 1.0611, d3.loss_plan_l1_fix_dist: 0.1967, d4.loss_plan_l1_fix_time: 1.0631, d4.loss_plan_l1_fix_dist: 0.2098, d5.loss_plan_l1_fix_time: 1.0658, d5.loss_plan_l1_fix_dist: 0.2267, d6.loss_plan_l1_fix_time: 1.0685, d6.loss_plan_l1_fix_dist: 0.2416, d0.loss_cls_all: 0.2036, d0.loss_bbox_all: 0.4154, d0.loss_cls: 0.2036, d0.loss_bbox: 0.4154, d1.loss_cls: 0.2004, d1.loss_bbox: 0.3822, d2.loss_cls: 0.1868, d2.loss_bbox: 0.3616, d3.loss_cls: 0.1729, d3.loss_bbox: 0.3553, d4.loss_cls: 0.1694, d4.loss_bbox: 0.3533, d5.loss_cls: 0.1687, d5.loss_bbox: 0.3522, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9099, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7248, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7031, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6941, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6939, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6979, d0.loss_map_cls_all: 0.2132, d0.loss_map_pts_all: 1.1737, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2132, d0.loss_map_pts: 1.1737, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1853, d1.loss_map_pts: 0.8296, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1637, d2.loss_map_pts: 0.6910, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1553, d3.loss_map_pts: 0.6358, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1498, d4.loss_map_pts: 0.6110, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1454, d5.loss_map_pts: 0.6061, d5.loss_map_dir: 0.0080, loss: 28.1163, grad_norm: 159.9344 +2026-02-27 16:52:31,543 - DriveTransformer - INFO - Epoch [7][30850/39528] lr: 8.550e-05, eta: 5 days, 18:24:19, time: 0.720, data_time: 0.033, memory: 19865, loss_cls: 0.1530, loss_bbox: 0.3547, loss_traj: 0.6370, loss_traj_cls: 0.0011, loss_map_cls: 0.1520, loss_map_pts: 0.6812, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.5983, d0.loss_plan_l1_fix_dist: 0.3423, d1.loss_plan_l1_fix_time: 1.1877, d1.loss_plan_l1_fix_dist: 0.1859, d2.loss_plan_l1_fix_time: 1.1805, d2.loss_plan_l1_fix_dist: 0.1956, d3.loss_plan_l1_fix_time: 1.1805, d3.loss_plan_l1_fix_dist: 0.2121, d4.loss_plan_l1_fix_time: 1.1826, d4.loss_plan_l1_fix_dist: 0.2376, d5.loss_plan_l1_fix_time: 1.1853, d5.loss_plan_l1_fix_dist: 0.2653, d6.loss_plan_l1_fix_time: 1.1884, d6.loss_plan_l1_fix_dist: 0.2945, d0.loss_cls_all: 0.1857, d0.loss_bbox_all: 0.4209, d0.loss_cls: 0.1857, d0.loss_bbox: 0.4209, d1.loss_cls: 0.1796, d1.loss_bbox: 0.3845, d2.loss_cls: 0.1677, d2.loss_bbox: 0.3659, d3.loss_cls: 0.1565, d3.loss_bbox: 0.3584, d4.loss_cls: 0.1522, d4.loss_bbox: 0.3565, d5.loss_cls: 0.1514, d5.loss_bbox: 0.3552, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8664, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7047, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6519, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6374, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6383, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6364, d0.loss_map_cls_all: 0.2298, d0.loss_map_pts_all: 1.2875, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2298, d0.loss_map_pts: 1.2875, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.2010, d1.loss_map_pts: 0.9386, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1791, d2.loss_map_pts: 0.7727, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1651, d3.loss_map_pts: 0.7088, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1569, d4.loss_map_pts: 0.6863, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1541, d5.loss_map_pts: 0.6816, d5.loss_map_dir: 0.0079, loss: 29.1377, grad_norm: 160.3000 +2026-02-27 16:53:07,804 - DriveTransformer - INFO - Epoch [7][30900/39528] lr: 8.550e-05, eta: 5 days, 18:23:35, time: 0.725, data_time: 0.035, memory: 19865, loss_cls: 0.1657, loss_bbox: 0.3513, loss_traj: 0.6598, loss_traj_cls: 0.0011, loss_map_cls: 0.1885, loss_map_pts: 0.7416, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 3.1809, d0.loss_plan_l1_fix_dist: 0.3444, d1.loss_plan_l1_fix_time: 1.2522, d1.loss_plan_l1_fix_dist: 0.2029, d2.loss_plan_l1_fix_time: 1.2447, d2.loss_plan_l1_fix_dist: 0.2073, d3.loss_plan_l1_fix_time: 1.2379, d3.loss_plan_l1_fix_dist: 0.2204, d4.loss_plan_l1_fix_time: 1.2393, d4.loss_plan_l1_fix_dist: 0.2340, d5.loss_plan_l1_fix_time: 1.2413, d5.loss_plan_l1_fix_dist: 0.2491, d6.loss_plan_l1_fix_time: 1.2438, d6.loss_plan_l1_fix_dist: 0.2689, d0.loss_cls_all: 0.2038, d0.loss_bbox_all: 0.4122, d0.loss_cls: 0.2038, d0.loss_bbox: 0.4122, d1.loss_cls: 0.1957, d1.loss_bbox: 0.3813, d2.loss_cls: 0.1821, d2.loss_bbox: 0.3647, d3.loss_cls: 0.1699, d3.loss_bbox: 0.3570, d4.loss_cls: 0.1668, d4.loss_bbox: 0.3519, d5.loss_cls: 0.1657, d5.loss_bbox: 0.3515, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9284, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7492, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6867, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6696, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6625, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6598, d0.loss_map_cls_all: 0.2565, d0.loss_map_pts_all: 1.4326, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2565, d0.loss_map_pts: 1.4326, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2287, d1.loss_map_pts: 1.0253, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.2099, d2.loss_map_pts: 0.8384, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.2014, d3.loss_map_pts: 0.7682, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1942, d4.loss_map_pts: 0.7482, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1898, d5.loss_map_pts: 0.7428, d5.loss_map_dir: 0.0094, loss: 31.3539, grad_norm: 164.0218 +2026-02-27 16:53:45,482 - DriveTransformer - INFO - Epoch [7][30950/39528] lr: 8.550e-05, eta: 5 days, 18:23:22, time: 0.754, data_time: 0.036, memory: 19865, loss_cls: 0.1423, loss_bbox: 0.3588, loss_traj: 0.5900, loss_traj_cls: 0.0011, loss_map_cls: 0.1527, loss_map_pts: 0.7235, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.3881, d0.loss_plan_l1_fix_dist: 0.4611, d1.loss_plan_l1_fix_time: 0.9951, d1.loss_plan_l1_fix_dist: 0.2400, d2.loss_plan_l1_fix_time: 0.9830, d2.loss_plan_l1_fix_dist: 0.2422, d3.loss_plan_l1_fix_time: 0.9805, d3.loss_plan_l1_fix_dist: 0.2622, d4.loss_plan_l1_fix_time: 0.9815, d4.loss_plan_l1_fix_dist: 0.2821, d5.loss_plan_l1_fix_time: 0.9829, d5.loss_plan_l1_fix_dist: 0.2979, d6.loss_plan_l1_fix_time: 0.9853, d6.loss_plan_l1_fix_dist: 0.3153, d0.loss_cls_all: 0.1812, d0.loss_bbox_all: 0.4214, d0.loss_cls: 0.1812, d0.loss_bbox: 0.4214, d1.loss_cls: 0.1740, d1.loss_bbox: 0.3881, d2.loss_cls: 0.1623, d2.loss_bbox: 0.3672, d3.loss_cls: 0.1524, d3.loss_bbox: 0.3593, d4.loss_cls: 0.1466, d4.loss_bbox: 0.3565, d5.loss_cls: 0.1438, d5.loss_bbox: 0.3584, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7705, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6165, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5938, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5897, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5901, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5862, d0.loss_map_cls_all: 0.2348, d0.loss_map_pts_all: 1.4402, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2348, d0.loss_map_pts: 1.4402, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2010, d1.loss_map_pts: 1.0065, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1777, d2.loss_map_pts: 0.8313, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1638, d3.loss_map_pts: 0.7602, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1567, d4.loss_map_pts: 0.7339, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1543, d5.loss_map_pts: 0.7258, d5.loss_map_dir: 0.0090, loss: 28.2659, grad_norm: 166.2918 +2026-02-27 16:54:23,893 - DriveTransformer - INFO - Epoch [7][31000/39528] lr: 8.550e-05, eta: 5 days, 18:23:25, time: 0.768, data_time: 0.036, memory: 19865, loss_cls: 0.1267, loss_bbox: 0.3246, loss_traj: 0.5248, loss_traj_cls: 0.0011, loss_map_cls: 0.1424, loss_map_pts: 0.6935, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.4183, d0.loss_plan_l1_fix_dist: 0.3411, d1.loss_plan_l1_fix_time: 0.9151, d1.loss_plan_l1_fix_dist: 0.1890, d2.loss_plan_l1_fix_time: 0.8969, d2.loss_plan_l1_fix_dist: 0.1714, d3.loss_plan_l1_fix_time: 0.8927, d3.loss_plan_l1_fix_dist: 0.1854, d4.loss_plan_l1_fix_time: 0.8936, d4.loss_plan_l1_fix_dist: 0.1996, d5.loss_plan_l1_fix_time: 0.8951, d5.loss_plan_l1_fix_dist: 0.2149, d6.loss_plan_l1_fix_time: 0.8974, d6.loss_plan_l1_fix_dist: 0.2381, d0.loss_cls_all: 0.1686, d0.loss_bbox_all: 0.3843, d0.loss_cls: 0.1686, d0.loss_bbox: 0.3843, d1.loss_cls: 0.1590, d1.loss_bbox: 0.3535, d2.loss_cls: 0.1438, d2.loss_bbox: 0.3364, d3.loss_cls: 0.1298, d3.loss_bbox: 0.3302, d4.loss_cls: 0.1273, d4.loss_bbox: 0.3263, d5.loss_cls: 0.1266, d5.loss_bbox: 0.3255, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6947, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5777, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5319, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5282, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5215, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5227, d0.loss_map_cls_all: 0.2255, d0.loss_map_pts_all: 1.4997, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2255, d0.loss_map_pts: 1.4997, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.1920, d1.loss_map_pts: 0.9931, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1677, d2.loss_map_pts: 0.8042, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1558, d3.loss_map_pts: 0.7318, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1480, d4.loss_map_pts: 0.7034, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1448, d5.loss_map_pts: 0.6949, d5.loss_map_dir: 0.0096, loss: 26.2706, grad_norm: 162.2902 +2026-02-27 16:54:59,112 - DriveTransformer - INFO - Epoch [7][31050/39528] lr: 8.550e-05, eta: 5 days, 18:22:18, time: 0.704, data_time: 0.036, memory: 19865, loss_cls: 0.1422, loss_bbox: 0.3456, loss_traj: 0.6567, loss_traj_cls: 0.0011, loss_map_cls: 0.1556, loss_map_pts: 0.6605, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.6244, d0.loss_plan_l1_fix_dist: 0.4780, d1.loss_plan_l1_fix_time: 0.9261, d1.loss_plan_l1_fix_dist: 0.2065, d2.loss_plan_l1_fix_time: 0.9091, d2.loss_plan_l1_fix_dist: 0.1918, d3.loss_plan_l1_fix_time: 0.9074, d3.loss_plan_l1_fix_dist: 0.1936, d4.loss_plan_l1_fix_time: 0.9084, d4.loss_plan_l1_fix_dist: 0.2024, d5.loss_plan_l1_fix_time: 0.9099, d5.loss_plan_l1_fix_dist: 0.2184, d6.loss_plan_l1_fix_time: 0.9118, d6.loss_plan_l1_fix_dist: 0.2386, d0.loss_cls_all: 0.1894, d0.loss_bbox_all: 0.4112, d0.loss_cls: 0.1894, d0.loss_bbox: 0.4112, d1.loss_cls: 0.1830, d1.loss_bbox: 0.3803, d2.loss_cls: 0.1644, d2.loss_bbox: 0.3606, d3.loss_cls: 0.1500, d3.loss_bbox: 0.3517, d4.loss_cls: 0.1431, d4.loss_bbox: 0.3495, d5.loss_cls: 0.1416, d5.loss_bbox: 0.3469, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9344, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7326, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6952, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6753, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6661, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6629, d0.loss_map_cls_all: 0.2241, d0.loss_map_pts_all: 1.2577, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2241, d0.loss_map_pts: 1.2577, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1969, d1.loss_map_pts: 0.9287, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1788, d2.loss_map_pts: 0.7652, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1678, d3.loss_map_pts: 0.6925, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1623, d4.loss_map_pts: 0.6644, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1576, d5.loss_map_pts: 0.6607, d5.loss_map_dir: 0.0078, loss: 27.5319, grad_norm: 162.0889 +2026-02-27 16:55:36,162 - DriveTransformer - INFO - Epoch [7][31100/39528] lr: 8.550e-05, eta: 5 days, 18:21:51, time: 0.741, data_time: 0.038, memory: 19865, loss_cls: 0.1514, loss_bbox: 0.3342, loss_traj: 0.6036, loss_traj_cls: 0.0011, loss_map_cls: 0.1486, loss_map_pts: 0.6815, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.5458, d0.loss_plan_l1_fix_dist: 0.4370, d1.loss_plan_l1_fix_time: 1.0504, d1.loss_plan_l1_fix_dist: 0.2343, d2.loss_plan_l1_fix_time: 1.0354, d2.loss_plan_l1_fix_dist: 0.2213, d3.loss_plan_l1_fix_time: 1.0349, d3.loss_plan_l1_fix_dist: 0.2298, d4.loss_plan_l1_fix_time: 1.0368, d4.loss_plan_l1_fix_dist: 0.2515, d5.loss_plan_l1_fix_time: 1.0391, d5.loss_plan_l1_fix_dist: 0.2707, d6.loss_plan_l1_fix_time: 1.0417, d6.loss_plan_l1_fix_dist: 0.2903, d0.loss_cls_all: 0.1929, d0.loss_bbox_all: 0.4104, d0.loss_cls: 0.1929, d0.loss_bbox: 0.4104, d1.loss_cls: 0.1806, d1.loss_bbox: 0.3738, d2.loss_cls: 0.1694, d2.loss_bbox: 0.3526, d3.loss_cls: 0.1576, d3.loss_bbox: 0.3441, d4.loss_cls: 0.1509, d4.loss_bbox: 0.3383, d5.loss_cls: 0.1498, d5.loss_bbox: 0.3360, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8276, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6651, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6179, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6051, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6041, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6001, d0.loss_map_cls_all: 0.2359, d0.loss_map_pts_all: 1.3317, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2359, d0.loss_map_pts: 1.3317, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2040, d1.loss_map_pts: 0.9641, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1759, d2.loss_map_pts: 0.7961, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1620, d3.loss_map_pts: 0.7272, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1561, d4.loss_map_pts: 0.6945, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1514, d5.loss_map_pts: 0.6842, d5.loss_map_dir: 0.0095, loss: 28.2494, grad_norm: 162.5487 +2026-02-27 16:56:13,259 - DriveTransformer - INFO - Epoch [7][31150/39528] lr: 8.550e-05, eta: 5 days, 18:21:25, time: 0.742, data_time: 0.037, memory: 19865, loss_cls: 0.1566, loss_bbox: 0.3629, loss_traj: 0.7208, loss_traj_cls: 0.0010, loss_map_cls: 0.1495, loss_map_pts: 0.7147, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.4614, d0.loss_plan_l1_fix_dist: 0.3987, d1.loss_plan_l1_fix_time: 1.0153, d1.loss_plan_l1_fix_dist: 0.2208, d2.loss_plan_l1_fix_time: 0.9950, d2.loss_plan_l1_fix_dist: 0.2079, d3.loss_plan_l1_fix_time: 0.9938, d3.loss_plan_l1_fix_dist: 0.2151, d4.loss_plan_l1_fix_time: 0.9958, d4.loss_plan_l1_fix_dist: 0.2362, d5.loss_plan_l1_fix_time: 0.9983, d5.loss_plan_l1_fix_dist: 0.2604, d6.loss_plan_l1_fix_time: 1.0017, d6.loss_plan_l1_fix_dist: 0.2889, d0.loss_cls_all: 0.1937, d0.loss_bbox_all: 0.4171, d0.loss_cls: 0.1937, d0.loss_bbox: 0.4171, d1.loss_cls: 0.1819, d1.loss_bbox: 0.3886, d2.loss_cls: 0.1703, d2.loss_bbox: 0.3731, d3.loss_cls: 0.1585, d3.loss_bbox: 0.3662, d4.loss_cls: 0.1553, d4.loss_bbox: 0.3637, d5.loss_cls: 0.1557, d5.loss_bbox: 0.3612, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9339, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7642, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7301, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7201, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7238, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7178, d0.loss_map_cls_all: 0.2278, d0.loss_map_pts_all: 1.3926, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2278, d0.loss_map_pts: 1.3926, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1982, d1.loss_map_pts: 1.0010, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1760, d2.loss_map_pts: 0.8260, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1636, d3.loss_map_pts: 0.7585, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1564, d4.loss_map_pts: 0.7295, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1536, d5.loss_map_pts: 0.7162, d5.loss_map_dir: 0.0100, loss: 29.0832, grad_norm: 162.9986 +2026-02-27 16:56:49,970 - DriveTransformer - INFO - Epoch [7][31200/39528] lr: 8.550e-05, eta: 5 days, 18:20:51, time: 0.734, data_time: 0.036, memory: 19865, loss_cls: 0.1737, loss_bbox: 0.3736, loss_traj: 0.6258, loss_traj_cls: 0.0010, loss_map_cls: 0.1697, loss_map_pts: 0.7958, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.8474, d0.loss_plan_l1_fix_dist: 0.3906, d1.loss_plan_l1_fix_time: 1.1768, d1.loss_plan_l1_fix_dist: 0.2222, d2.loss_plan_l1_fix_time: 1.1702, d2.loss_plan_l1_fix_dist: 0.2316, d3.loss_plan_l1_fix_time: 1.1692, d3.loss_plan_l1_fix_dist: 0.2320, d4.loss_plan_l1_fix_time: 1.1716, d4.loss_plan_l1_fix_dist: 0.2404, d5.loss_plan_l1_fix_time: 1.1740, d5.loss_plan_l1_fix_dist: 0.2560, d6.loss_plan_l1_fix_time: 1.1768, d6.loss_plan_l1_fix_dist: 0.2705, d0.loss_cls_all: 0.2176, d0.loss_bbox_all: 0.4487, d0.loss_cls: 0.2176, d0.loss_bbox: 0.4487, d1.loss_cls: 0.2103, d1.loss_bbox: 0.4088, d2.loss_cls: 0.1934, d2.loss_bbox: 0.3886, d3.loss_cls: 0.1783, d3.loss_bbox: 0.3794, d4.loss_cls: 0.1751, d4.loss_bbox: 0.3750, d5.loss_cls: 0.1737, d5.loss_bbox: 0.3726, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8061, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6716, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6343, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6278, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6271, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6246, d0.loss_map_cls_all: 0.2471, d0.loss_map_pts_all: 1.5288, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2471, d0.loss_map_pts: 1.5288, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2135, d1.loss_map_pts: 1.1033, d1.loss_map_dir: 0.0104, d2.loss_map_cls: 0.1924, d2.loss_map_pts: 0.9009, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1818, d3.loss_map_pts: 0.8296, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1779, d4.loss_map_pts: 0.8046, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1715, d5.loss_map_pts: 0.7966, d5.loss_map_dir: 0.0109, loss: 31.0634, grad_norm: 164.3275 +2026-02-27 16:57:26,322 - DriveTransformer - INFO - Epoch [7][31250/39528] lr: 8.550e-05, eta: 5 days, 18:20:09, time: 0.727, data_time: 0.037, memory: 19865, loss_cls: 0.1614, loss_bbox: 0.3678, loss_traj: 0.6942, loss_traj_cls: 0.0011, loss_map_cls: 0.1509, loss_map_pts: 0.7057, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 3.0990, d0.loss_plan_l1_fix_dist: 0.4455, d1.loss_plan_l1_fix_time: 1.1143, d1.loss_plan_l1_fix_dist: 0.1917, d2.loss_plan_l1_fix_time: 1.0961, d2.loss_plan_l1_fix_dist: 0.2004, d3.loss_plan_l1_fix_time: 1.0985, d3.loss_plan_l1_fix_dist: 0.2061, d4.loss_plan_l1_fix_time: 1.1008, d4.loss_plan_l1_fix_dist: 0.2209, d5.loss_plan_l1_fix_time: 1.1034, d5.loss_plan_l1_fix_dist: 0.2409, d6.loss_plan_l1_fix_time: 1.1060, d6.loss_plan_l1_fix_dist: 0.2641, d0.loss_cls_all: 0.2004, d0.loss_bbox_all: 0.4269, d0.loss_cls: 0.2004, d0.loss_bbox: 0.4269, d1.loss_cls: 0.1964, d1.loss_bbox: 0.3950, d2.loss_cls: 0.1845, d2.loss_bbox: 0.3751, d3.loss_cls: 0.1669, d3.loss_bbox: 0.3710, d4.loss_cls: 0.1627, d4.loss_bbox: 0.3689, d5.loss_cls: 0.1608, d5.loss_bbox: 0.3688, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8718, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7403, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7059, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7010, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6956, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6935, d0.loss_map_cls_all: 0.2185, d0.loss_map_pts_all: 1.3173, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2185, d0.loss_map_pts: 1.3173, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1923, d1.loss_map_pts: 0.9920, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1745, d2.loss_map_pts: 0.8219, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1635, d3.loss_map_pts: 0.7495, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1580, d4.loss_map_pts: 0.7182, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1531, d5.loss_map_pts: 0.7082, d5.loss_map_dir: 0.0086, loss: 29.9565, grad_norm: 162.7128 +2026-02-27 16:58:03,128 - DriveTransformer - INFO - Epoch [7][31300/39528] lr: 8.550e-05, eta: 5 days, 18:19:37, time: 0.736, data_time: 0.036, memory: 19865, loss_cls: 0.1410, loss_bbox: 0.3350, loss_traj: 0.5811, loss_traj_cls: 0.0011, loss_map_cls: 0.1553, loss_map_pts: 0.6606, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.6296, d0.loss_plan_l1_fix_dist: 0.4146, d1.loss_plan_l1_fix_time: 1.0145, d1.loss_plan_l1_fix_dist: 0.2007, d2.loss_plan_l1_fix_time: 0.9922, d2.loss_plan_l1_fix_dist: 0.1997, d3.loss_plan_l1_fix_time: 0.9885, d3.loss_plan_l1_fix_dist: 0.2170, d4.loss_plan_l1_fix_time: 0.9894, d4.loss_plan_l1_fix_dist: 0.2440, d5.loss_plan_l1_fix_time: 0.9912, d5.loss_plan_l1_fix_dist: 0.2648, d6.loss_plan_l1_fix_time: 0.9933, d6.loss_plan_l1_fix_dist: 0.2816, d0.loss_cls_all: 0.1880, d0.loss_bbox_all: 0.4006, d0.loss_cls: 0.1880, d0.loss_bbox: 0.4006, d1.loss_cls: 0.1795, d1.loss_bbox: 0.3675, d2.loss_cls: 0.1601, d2.loss_bbox: 0.3479, d3.loss_cls: 0.1465, d3.loss_bbox: 0.3397, d4.loss_cls: 0.1422, d4.loss_bbox: 0.3357, d5.loss_cls: 0.1416, d5.loss_bbox: 0.3350, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8113, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6549, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5994, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5953, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5801, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5781, d0.loss_map_cls_all: 0.2263, d0.loss_map_pts_all: 1.3028, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2263, d0.loss_map_pts: 1.3028, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1961, d1.loss_map_pts: 0.9356, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1753, d2.loss_map_pts: 0.7630, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1636, d3.loss_map_pts: 0.6914, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1562, d4.loss_map_pts: 0.6665, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1552, d5.loss_map_pts: 0.6592, d5.loss_map_dir: 0.0094, loss: 27.4857, grad_norm: 162.9485 +2026-02-27 16:58:40,635 - DriveTransformer - INFO - Epoch [7][31350/39528] lr: 8.550e-05, eta: 5 days, 18:19:19, time: 0.750, data_time: 0.036, memory: 19865, loss_cls: 0.1688, loss_bbox: 0.3653, loss_traj: 0.5520, loss_traj_cls: 0.0011, loss_map_cls: 0.1579, loss_map_pts: 0.7278, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.6082, d0.loss_plan_l1_fix_dist: 0.4371, d1.loss_plan_l1_fix_time: 1.0311, d1.loss_plan_l1_fix_dist: 0.2090, d2.loss_plan_l1_fix_time: 1.0197, d2.loss_plan_l1_fix_dist: 0.1996, d3.loss_plan_l1_fix_time: 1.0219, d3.loss_plan_l1_fix_dist: 0.2129, d4.loss_plan_l1_fix_time: 1.0245, d4.loss_plan_l1_fix_dist: 0.2310, d5.loss_plan_l1_fix_time: 1.0275, d5.loss_plan_l1_fix_dist: 0.2464, d6.loss_plan_l1_fix_time: 1.0308, d6.loss_plan_l1_fix_dist: 0.2606, d0.loss_cls_all: 0.2113, d0.loss_bbox_all: 0.4267, d0.loss_cls: 0.2113, d0.loss_bbox: 0.4267, d1.loss_cls: 0.2037, d1.loss_bbox: 0.3911, d2.loss_cls: 0.1885, d2.loss_bbox: 0.3743, d3.loss_cls: 0.1734, d3.loss_bbox: 0.3680, d4.loss_cls: 0.1682, d4.loss_bbox: 0.3662, d5.loss_cls: 0.1683, d5.loss_bbox: 0.3643, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7696, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6173, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5647, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5565, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5458, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5504, d0.loss_map_cls_all: 0.2314, d0.loss_map_pts_all: 1.3371, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2314, d0.loss_map_pts: 1.3371, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.1982, d1.loss_map_pts: 0.9543, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1784, d2.loss_map_pts: 0.8026, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1686, d3.loss_map_pts: 0.7528, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1613, d4.loss_map_pts: 0.7333, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1584, d5.loss_map_pts: 0.7258, d5.loss_map_dir: 0.0097, loss: 28.2334, grad_norm: 167.1747 +2026-02-27 16:59:16,323 - DriveTransformer - INFO - Epoch [7][31400/39528] lr: 8.550e-05, eta: 5 days, 18:18:23, time: 0.714, data_time: 0.037, memory: 19865, loss_cls: 0.1694, loss_bbox: 0.3667, loss_traj: 0.6552, loss_traj_cls: 0.0010, loss_map_cls: 0.1794, loss_map_pts: 0.7720, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.6335, d0.loss_plan_l1_fix_dist: 0.4493, d1.loss_plan_l1_fix_time: 1.0572, d1.loss_plan_l1_fix_dist: 0.2506, d2.loss_plan_l1_fix_time: 1.0479, d2.loss_plan_l1_fix_dist: 0.2224, d3.loss_plan_l1_fix_time: 1.0457, d3.loss_plan_l1_fix_dist: 0.2254, d4.loss_plan_l1_fix_time: 1.0483, d4.loss_plan_l1_fix_dist: 0.2401, d5.loss_plan_l1_fix_time: 1.0516, d5.loss_plan_l1_fix_dist: 0.2583, d6.loss_plan_l1_fix_time: 1.0558, d6.loss_plan_l1_fix_dist: 0.2849, d0.loss_cls_all: 0.2183, d0.loss_bbox_all: 0.4292, d0.loss_cls: 0.2183, d0.loss_bbox: 0.4292, d1.loss_cls: 0.2090, d1.loss_bbox: 0.3935, d2.loss_cls: 0.1898, d2.loss_bbox: 0.3745, d3.loss_cls: 0.1752, d3.loss_bbox: 0.3683, d4.loss_cls: 0.1689, d4.loss_bbox: 0.3668, d5.loss_cls: 0.1689, d5.loss_bbox: 0.3658, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8749, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6979, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6567, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6474, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6455, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6503, d0.loss_map_cls_all: 0.2434, d0.loss_map_pts_all: 1.4215, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2434, d0.loss_map_pts: 1.4215, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.2167, d1.loss_map_pts: 1.0396, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1984, d2.loss_map_pts: 0.8630, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1881, d3.loss_map_pts: 0.8000, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1833, d4.loss_map_pts: 0.7770, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1801, d5.loss_map_pts: 0.7720, d5.loss_map_dir: 0.0090, loss: 29.8838, grad_norm: 166.9037 +2026-02-27 16:59:53,190 - DriveTransformer - INFO - Epoch [7][31450/39528] lr: 8.550e-05, eta: 5 days, 18:17:52, time: 0.737, data_time: 0.038, memory: 19865, loss_cls: 0.1492, loss_bbox: 0.3337, loss_traj: 0.7238, loss_traj_cls: 0.0010, loss_map_cls: 0.1529, loss_map_pts: 0.6890, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.4197, d0.loss_plan_l1_fix_dist: 0.3920, d1.loss_plan_l1_fix_time: 0.9901, d1.loss_plan_l1_fix_dist: 0.2400, d2.loss_plan_l1_fix_time: 0.9747, d2.loss_plan_l1_fix_dist: 0.2175, d3.loss_plan_l1_fix_time: 0.9767, d3.loss_plan_l1_fix_dist: 0.2245, d4.loss_plan_l1_fix_time: 0.9790, d4.loss_plan_l1_fix_dist: 0.2382, d5.loss_plan_l1_fix_time: 0.9813, d5.loss_plan_l1_fix_dist: 0.2535, d6.loss_plan_l1_fix_time: 0.9838, d6.loss_plan_l1_fix_dist: 0.2732, d0.loss_cls_all: 0.1801, d0.loss_bbox_all: 0.4002, d0.loss_cls: 0.1801, d0.loss_bbox: 0.4002, d1.loss_cls: 0.1764, d1.loss_bbox: 0.3684, d2.loss_cls: 0.1630, d2.loss_bbox: 0.3472, d3.loss_cls: 0.1549, d3.loss_bbox: 0.3401, d4.loss_cls: 0.1502, d4.loss_bbox: 0.3360, d5.loss_cls: 0.1499, d5.loss_bbox: 0.3335, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9426, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7714, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7294, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7228, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7198, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7208, d0.loss_map_cls_all: 0.2261, d0.loss_map_pts_all: 1.3587, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2261, d0.loss_map_pts: 1.3587, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1962, d1.loss_map_pts: 0.9581, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1771, d2.loss_map_pts: 0.7865, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1673, d3.loss_map_pts: 0.7224, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1579, d4.loss_map_pts: 0.7024, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1554, d5.loss_map_pts: 0.6908, d5.loss_map_dir: 0.0088, loss: 28.4378, grad_norm: 162.1304 +2026-02-27 17:00:27,837 - DriveTransformer - INFO - Epoch [7][31500/39528] lr: 8.550e-05, eta: 5 days, 18:16:33, time: 0.693, data_time: 0.037, memory: 19865, loss_cls: 0.1468, loss_bbox: 0.3334, loss_traj: 0.7038, loss_traj_cls: 0.0011, loss_map_cls: 0.1259, loss_map_pts: 0.5748, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.3803, d0.loss_plan_l1_fix_dist: 0.4206, d1.loss_plan_l1_fix_time: 1.0065, d1.loss_plan_l1_fix_dist: 0.2365, d2.loss_plan_l1_fix_time: 0.9888, d2.loss_plan_l1_fix_dist: 0.2141, d3.loss_plan_l1_fix_time: 0.9833, d3.loss_plan_l1_fix_dist: 0.2240, d4.loss_plan_l1_fix_time: 0.9857, d4.loss_plan_l1_fix_dist: 0.2417, d5.loss_plan_l1_fix_time: 0.9882, d5.loss_plan_l1_fix_dist: 0.2604, d6.loss_plan_l1_fix_time: 0.9909, d6.loss_plan_l1_fix_dist: 0.2780, d0.loss_cls_all: 0.1774, d0.loss_bbox_all: 0.4079, d0.loss_cls: 0.1774, d0.loss_bbox: 0.4079, d1.loss_cls: 0.1731, d1.loss_bbox: 0.3690, d2.loss_cls: 0.1633, d2.loss_bbox: 0.3483, d3.loss_cls: 0.1547, d3.loss_bbox: 0.3412, d4.loss_cls: 0.1481, d4.loss_bbox: 0.3371, d5.loss_cls: 0.1458, d5.loss_bbox: 0.3346, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9163, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7638, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7208, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6996, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6970, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6995, d0.loss_map_cls_all: 0.2011, d0.loss_map_pts_all: 1.1459, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2011, d0.loss_map_pts: 1.1459, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1697, d1.loss_map_pts: 0.7939, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1527, d2.loss_map_pts: 0.6541, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1371, d3.loss_map_pts: 0.6017, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1329, d4.loss_map_pts: 0.5823, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1293, d5.loss_map_pts: 0.5753, d5.loss_map_dir: 0.0073, loss: 26.9547, grad_norm: 162.4484 +2026-02-27 17:01:05,558 - DriveTransformer - INFO - Epoch [7][31550/39528] lr: 8.550e-05, eta: 5 days, 18:16:21, time: 0.755, data_time: 0.037, memory: 19865, loss_cls: 0.1469, loss_bbox: 0.3350, loss_traj: 0.5923, loss_traj_cls: 0.0011, loss_map_cls: 0.1393, loss_map_pts: 0.6850, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.6909, d0.loss_plan_l1_fix_dist: 0.4323, d1.loss_plan_l1_fix_time: 0.9197, d1.loss_plan_l1_fix_dist: 0.2220, d2.loss_plan_l1_fix_time: 0.9026, d2.loss_plan_l1_fix_dist: 0.2105, d3.loss_plan_l1_fix_time: 0.8991, d3.loss_plan_l1_fix_dist: 0.2128, d4.loss_plan_l1_fix_time: 0.9008, d4.loss_plan_l1_fix_dist: 0.2344, d5.loss_plan_l1_fix_time: 0.9041, d5.loss_plan_l1_fix_dist: 0.2577, d6.loss_plan_l1_fix_time: 0.9080, d6.loss_plan_l1_fix_dist: 0.2846, d0.loss_cls_all: 0.1833, d0.loss_bbox_all: 0.4053, d0.loss_cls: 0.1833, d0.loss_bbox: 0.4053, d1.loss_cls: 0.1751, d1.loss_bbox: 0.3697, d2.loss_cls: 0.1651, d2.loss_bbox: 0.3483, d3.loss_cls: 0.1537, d3.loss_bbox: 0.3415, d4.loss_cls: 0.1465, d4.loss_bbox: 0.3379, d5.loss_cls: 0.1457, d5.loss_bbox: 0.3356, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7488, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6414, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6007, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5911, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5928, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5948, d0.loss_map_cls_all: 0.2106, d0.loss_map_pts_all: 1.4154, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2106, d0.loss_map_pts: 1.4154, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.1791, d1.loss_map_pts: 0.9718, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1604, d2.loss_map_pts: 0.7888, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1508, d3.loss_map_pts: 0.7186, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1435, d4.loss_map_pts: 0.6951, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1394, d5.loss_map_pts: 0.6858, d5.loss_map_dir: 0.0101, loss: 27.3154, grad_norm: 162.5294 +2026-02-27 17:01:42,390 - DriveTransformer - INFO - Epoch [7][31600/39528] lr: 8.550e-05, eta: 5 days, 18:15:50, time: 0.738, data_time: 0.035, memory: 19865, loss_cls: 0.1718, loss_bbox: 0.3528, loss_traj: 0.8042, loss_traj_cls: 0.0011, loss_map_cls: 0.1439, loss_map_pts: 0.6953, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.7569, d0.loss_plan_l1_fix_dist: 0.4051, d1.loss_plan_l1_fix_time: 1.1226, d1.loss_plan_l1_fix_dist: 0.2322, d2.loss_plan_l1_fix_time: 1.1134, d2.loss_plan_l1_fix_dist: 0.2272, d3.loss_plan_l1_fix_time: 1.1121, d3.loss_plan_l1_fix_dist: 0.2358, d4.loss_plan_l1_fix_time: 1.1143, d4.loss_plan_l1_fix_dist: 0.2582, d5.loss_plan_l1_fix_time: 1.1175, d5.loss_plan_l1_fix_dist: 0.2857, d6.loss_plan_l1_fix_time: 1.1220, d6.loss_plan_l1_fix_dist: 0.3198, d0.loss_cls_all: 0.2050, d0.loss_bbox_all: 0.4373, d0.loss_cls: 0.2050, d0.loss_bbox: 0.4373, d1.loss_cls: 0.2015, d1.loss_bbox: 0.3934, d2.loss_cls: 0.1906, d2.loss_bbox: 0.3706, d3.loss_cls: 0.1776, d3.loss_bbox: 0.3605, d4.loss_cls: 0.1717, d4.loss_bbox: 0.3574, d5.loss_cls: 0.1715, d5.loss_bbox: 0.3534, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1329, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9040, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.8313, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.8065, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8037, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.8043, d0.loss_map_cls_all: 0.2188, d0.loss_map_pts_all: 1.3774, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2188, d0.loss_map_pts: 1.3774, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1897, d1.loss_map_pts: 0.9747, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1722, d2.loss_map_pts: 0.7987, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1604, d3.loss_map_pts: 0.7308, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1509, d4.loss_map_pts: 0.7037, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1449, d5.loss_map_pts: 0.6957, d5.loss_map_dir: 0.0091, loss: 30.8980, grad_norm: 161.2513 +2026-02-27 17:02:19,951 - DriveTransformer - INFO - Epoch [7][31650/39528] lr: 8.550e-05, eta: 5 days, 18:15:33, time: 0.750, data_time: 0.034, memory: 19865, loss_cls: 0.1503, loss_bbox: 0.3462, loss_traj: 0.5410, loss_traj_cls: 0.0011, loss_map_cls: 0.1517, loss_map_pts: 0.7102, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.3333, d0.loss_plan_l1_fix_dist: 0.3875, d1.loss_plan_l1_fix_time: 1.1192, d1.loss_plan_l1_fix_dist: 0.2123, d2.loss_plan_l1_fix_time: 1.1102, d2.loss_plan_l1_fix_dist: 0.2143, d3.loss_plan_l1_fix_time: 1.1017, d3.loss_plan_l1_fix_dist: 0.2254, d4.loss_plan_l1_fix_time: 1.1027, d4.loss_plan_l1_fix_dist: 0.2425, d5.loss_plan_l1_fix_time: 1.1050, d5.loss_plan_l1_fix_dist: 0.2602, d6.loss_plan_l1_fix_time: 1.1081, d6.loss_plan_l1_fix_dist: 0.2770, d0.loss_cls_all: 0.1908, d0.loss_bbox_all: 0.4183, d0.loss_cls: 0.1908, d0.loss_bbox: 0.4183, d1.loss_cls: 0.1816, d1.loss_bbox: 0.3816, d2.loss_cls: 0.1674, d2.loss_bbox: 0.3612, d3.loss_cls: 0.1561, d3.loss_bbox: 0.3530, d4.loss_cls: 0.1529, d4.loss_bbox: 0.3485, d5.loss_cls: 0.1511, d5.loss_bbox: 0.3466, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7606, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5943, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5503, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5372, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5330, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5388, d0.loss_map_cls_all: 0.2313, d0.loss_map_pts_all: 1.5688, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2313, d0.loss_map_pts: 1.5688, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.1979, d1.loss_map_pts: 1.0307, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.1772, d2.loss_map_pts: 0.8229, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1663, d3.loss_map_pts: 0.7540, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1608, d4.loss_map_pts: 0.7223, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1547, d5.loss_map_pts: 0.7134, d5.loss_map_dir: 0.0113, loss: 28.6280, grad_norm: 161.0635 +2026-02-27 17:02:58,105 - DriveTransformer - INFO - Epoch [7][31700/39528] lr: 8.550e-05, eta: 5 days, 18:15:29, time: 0.763, data_time: 0.036, memory: 19865, loss_cls: 0.1662, loss_bbox: 0.3550, loss_traj: 0.5287, loss_traj_cls: 0.0011, loss_map_cls: 0.1439, loss_map_pts: 0.6516, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.7695, d0.loss_plan_l1_fix_dist: 0.3256, d1.loss_plan_l1_fix_time: 1.0641, d1.loss_plan_l1_fix_dist: 0.1792, d2.loss_plan_l1_fix_time: 1.0433, d2.loss_plan_l1_fix_dist: 0.1901, d3.loss_plan_l1_fix_time: 1.0383, d3.loss_plan_l1_fix_dist: 0.2081, d4.loss_plan_l1_fix_time: 1.0417, d4.loss_plan_l1_fix_dist: 0.2295, d5.loss_plan_l1_fix_time: 1.0451, d5.loss_plan_l1_fix_dist: 0.2493, d6.loss_plan_l1_fix_time: 1.0483, d6.loss_plan_l1_fix_dist: 0.2707, d0.loss_cls_all: 0.2083, d0.loss_bbox_all: 0.4157, d0.loss_cls: 0.2083, d0.loss_bbox: 0.4157, d1.loss_cls: 0.1988, d1.loss_bbox: 0.3830, d2.loss_cls: 0.1887, d2.loss_bbox: 0.3650, d3.loss_cls: 0.1750, d3.loss_bbox: 0.3581, d4.loss_cls: 0.1669, d4.loss_bbox: 0.3565, d5.loss_cls: 0.1659, d5.loss_bbox: 0.3546, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7631, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5734, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5381, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5353, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5339, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5321, d0.loss_map_cls_all: 0.2250, d0.loss_map_pts_all: 1.3742, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2250, d0.loss_map_pts: 1.3742, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.1852, d1.loss_map_pts: 0.9111, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.1686, d2.loss_map_pts: 0.7368, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1578, d3.loss_map_pts: 0.6803, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1521, d4.loss_map_pts: 0.6590, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1475, d5.loss_map_pts: 0.6523, d5.loss_map_dir: 0.0105, loss: 27.7242, grad_norm: 158.9990 +2026-02-27 17:03:34,785 - DriveTransformer - INFO - Epoch [7][31750/39528] lr: 8.550e-05, eta: 5 days, 18:14:54, time: 0.734, data_time: 0.037, memory: 19865, loss_cls: 0.1434, loss_bbox: 0.3390, loss_traj: 0.6206, loss_traj_cls: 0.0011, loss_map_cls: 0.1358, loss_map_pts: 0.6978, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.5908, d0.loss_plan_l1_fix_dist: 0.3950, d1.loss_plan_l1_fix_time: 1.0063, d1.loss_plan_l1_fix_dist: 0.1790, d2.loss_plan_l1_fix_time: 0.9840, d2.loss_plan_l1_fix_dist: 0.1773, d3.loss_plan_l1_fix_time: 0.9827, d3.loss_plan_l1_fix_dist: 0.1872, d4.loss_plan_l1_fix_time: 0.9860, d4.loss_plan_l1_fix_dist: 0.2039, d5.loss_plan_l1_fix_time: 0.9895, d5.loss_plan_l1_fix_dist: 0.2196, d6.loss_plan_l1_fix_time: 0.9928, d6.loss_plan_l1_fix_dist: 0.2336, d0.loss_cls_all: 0.1853, d0.loss_bbox_all: 0.4029, d0.loss_cls: 0.1853, d0.loss_bbox: 0.4029, d1.loss_cls: 0.1823, d1.loss_bbox: 0.3717, d2.loss_cls: 0.1653, d2.loss_bbox: 0.3527, d3.loss_cls: 0.1503, d3.loss_bbox: 0.3452, d4.loss_cls: 0.1427, d4.loss_bbox: 0.3427, d5.loss_cls: 0.1424, d5.loss_bbox: 0.3399, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8330, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6878, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6379, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6237, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6241, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6217, d0.loss_map_cls_all: 0.2185, d0.loss_map_pts_all: 1.3753, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2185, d0.loss_map_pts: 1.3753, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.1828, d1.loss_map_pts: 0.9574, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1618, d2.loss_map_pts: 0.7775, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1489, d3.loss_map_pts: 0.7200, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1419, d4.loss_map_pts: 0.7025, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1376, d5.loss_map_pts: 0.6959, d5.loss_map_dir: 0.0103, loss: 27.7060, grad_norm: 158.4159 +2026-02-27 17:04:12,104 - DriveTransformer - INFO - Epoch [7][31800/39528] lr: 8.550e-05, eta: 5 days, 18:14:33, time: 0.746, data_time: 0.038, memory: 19865, loss_cls: 0.1448, loss_bbox: 0.3361, loss_traj: 0.6760, loss_traj_cls: 0.0011, loss_map_cls: 0.1572, loss_map_pts: 0.7441, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.7333, d0.loss_plan_l1_fix_dist: 0.4901, d1.loss_plan_l1_fix_time: 0.9777, d1.loss_plan_l1_fix_dist: 0.2366, d2.loss_plan_l1_fix_time: 0.9639, d2.loss_plan_l1_fix_dist: 0.2339, d3.loss_plan_l1_fix_time: 0.9604, d3.loss_plan_l1_fix_dist: 0.2420, d4.loss_plan_l1_fix_time: 0.9632, d4.loss_plan_l1_fix_dist: 0.2565, d5.loss_plan_l1_fix_time: 0.9666, d5.loss_plan_l1_fix_dist: 0.2768, d6.loss_plan_l1_fix_time: 0.9697, d6.loss_plan_l1_fix_dist: 0.3022, d0.loss_cls_all: 0.1839, d0.loss_bbox_all: 0.3862, d0.loss_cls: 0.1839, d0.loss_bbox: 0.3862, d1.loss_cls: 0.1754, d1.loss_bbox: 0.3531, d2.loss_cls: 0.1604, d2.loss_bbox: 0.3391, d3.loss_cls: 0.1487, d3.loss_bbox: 0.3332, d4.loss_cls: 0.1445, d4.loss_bbox: 0.3354, d5.loss_cls: 0.1436, d5.loss_bbox: 0.3356, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8603, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7319, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6792, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6674, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6674, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6712, d0.loss_map_cls_all: 0.2269, d0.loss_map_pts_all: 1.4779, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2269, d0.loss_map_pts: 1.4779, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2047, d1.loss_map_pts: 1.0330, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1819, d2.loss_map_pts: 0.8418, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1710, d3.loss_map_pts: 0.7780, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1631, d4.loss_map_pts: 0.7513, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1595, d5.loss_map_pts: 0.7428, d5.loss_map_dir: 0.0110, loss: 29.0467, grad_norm: 162.8867 +2026-02-27 17:04:50,654 - DriveTransformer - INFO - Epoch [7][31850/39528] lr: 8.550e-05, eta: 5 days, 18:14:38, time: 0.771, data_time: 0.036, memory: 19865, loss_cls: 0.1504, loss_bbox: 0.3458, loss_traj: 0.5819, loss_traj_cls: 0.0010, loss_map_cls: 0.1425, loss_map_pts: 0.7286, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.7506, d0.loss_plan_l1_fix_dist: 0.4806, d1.loss_plan_l1_fix_time: 0.9084, d1.loss_plan_l1_fix_dist: 0.2367, d2.loss_plan_l1_fix_time: 0.8987, d2.loss_plan_l1_fix_dist: 0.2222, d3.loss_plan_l1_fix_time: 0.9045, d3.loss_plan_l1_fix_dist: 0.2219, d4.loss_plan_l1_fix_time: 0.9083, d4.loss_plan_l1_fix_dist: 0.2284, d5.loss_plan_l1_fix_time: 0.9121, d5.loss_plan_l1_fix_dist: 0.2442, d6.loss_plan_l1_fix_time: 0.9164, d6.loss_plan_l1_fix_dist: 0.2667, d0.loss_cls_all: 0.1915, d0.loss_bbox_all: 0.3996, d0.loss_cls: 0.1915, d0.loss_bbox: 0.3996, d1.loss_cls: 0.1864, d1.loss_bbox: 0.3673, d2.loss_cls: 0.1664, d2.loss_bbox: 0.3523, d3.loss_cls: 0.1535, d3.loss_bbox: 0.3464, d4.loss_cls: 0.1500, d4.loss_bbox: 0.3446, d5.loss_cls: 0.1491, d5.loss_bbox: 0.3452, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7856, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6526, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5964, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5800, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5771, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5782, d0.loss_map_cls_all: 0.2247, d0.loss_map_pts_all: 1.4357, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2247, d0.loss_map_pts: 1.4357, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.1905, d1.loss_map_pts: 0.9975, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1702, d2.loss_map_pts: 0.8150, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1594, d3.loss_map_pts: 0.7558, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1524, d4.loss_map_pts: 0.7332, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1454, d5.loss_map_pts: 0.7290, d5.loss_map_dir: 0.0108, loss: 27.8240, grad_norm: 160.8517 +2026-02-27 17:05:27,665 - DriveTransformer - INFO - Epoch [7][31900/39528] lr: 8.550e-05, eta: 5 days, 18:14:10, time: 0.740, data_time: 0.036, memory: 19865, loss_cls: 0.1650, loss_bbox: 0.3589, loss_traj: 0.6024, loss_traj_cls: 0.0011, loss_map_cls: 0.1671, loss_map_pts: 0.7274, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.6465, d0.loss_plan_l1_fix_dist: 0.4434, d1.loss_plan_l1_fix_time: 1.0645, d1.loss_plan_l1_fix_dist: 0.2346, d2.loss_plan_l1_fix_time: 1.0409, d2.loss_plan_l1_fix_dist: 0.2150, d3.loss_plan_l1_fix_time: 1.0509, d3.loss_plan_l1_fix_dist: 0.2168, d4.loss_plan_l1_fix_time: 1.0541, d4.loss_plan_l1_fix_dist: 0.2269, d5.loss_plan_l1_fix_time: 1.0569, d5.loss_plan_l1_fix_dist: 0.2387, d6.loss_plan_l1_fix_time: 1.0607, d6.loss_plan_l1_fix_dist: 0.2546, d0.loss_cls_all: 0.2084, d0.loss_bbox_all: 0.4066, d0.loss_cls: 0.2084, d0.loss_bbox: 0.4066, d1.loss_cls: 0.1998, d1.loss_bbox: 0.3782, d2.loss_cls: 0.1836, d2.loss_bbox: 0.3624, d3.loss_cls: 0.1738, d3.loss_bbox: 0.3576, d4.loss_cls: 0.1654, d4.loss_bbox: 0.3585, d5.loss_cls: 0.1631, d5.loss_bbox: 0.3588, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7705, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6298, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5991, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5846, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5907, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5963, d0.loss_map_cls_all: 0.2404, d0.loss_map_pts_all: 1.4305, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2404, d0.loss_map_pts: 1.4305, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2064, d1.loss_map_pts: 1.0153, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1859, d2.loss_map_pts: 0.8255, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1780, d3.loss_map_pts: 0.7554, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1726, d4.loss_map_pts: 0.7315, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1692, d5.loss_map_pts: 0.7267, d5.loss_map_dir: 0.0105, loss: 28.9254, grad_norm: 163.8656 +2026-02-27 17:06:03,544 - DriveTransformer - INFO - Epoch [7][31950/39528] lr: 8.550e-05, eta: 5 days, 18:13:17, time: 0.718, data_time: 0.038, memory: 19865, loss_cls: 0.1497, loss_bbox: 0.3440, loss_traj: 0.7074, loss_traj_cls: 0.0011, loss_map_cls: 0.1595, loss_map_pts: 0.6650, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.9324, d0.loss_plan_l1_fix_dist: 0.4507, d1.loss_plan_l1_fix_time: 1.1200, d1.loss_plan_l1_fix_dist: 0.2544, d2.loss_plan_l1_fix_time: 1.1074, d2.loss_plan_l1_fix_dist: 0.2276, d3.loss_plan_l1_fix_time: 1.1033, d3.loss_plan_l1_fix_dist: 0.2252, d4.loss_plan_l1_fix_time: 1.1046, d4.loss_plan_l1_fix_dist: 0.2314, d5.loss_plan_l1_fix_time: 1.1067, d5.loss_plan_l1_fix_dist: 0.2389, d6.loss_plan_l1_fix_time: 1.1099, d6.loss_plan_l1_fix_dist: 0.2502, d0.loss_cls_all: 0.1816, d0.loss_bbox_all: 0.4042, d0.loss_cls: 0.1816, d0.loss_bbox: 0.4042, d1.loss_cls: 0.1787, d1.loss_bbox: 0.3689, d2.loss_cls: 0.1688, d2.loss_bbox: 0.3509, d3.loss_cls: 0.1562, d3.loss_bbox: 0.3447, d4.loss_cls: 0.1497, d4.loss_bbox: 0.3433, d5.loss_cls: 0.1484, d5.loss_bbox: 0.3440, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9456, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7742, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7154, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7010, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6965, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7008, d0.loss_map_cls_all: 0.2323, d0.loss_map_pts_all: 1.2811, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2323, d0.loss_map_pts: 1.2811, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.2061, d1.loss_map_pts: 0.9488, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1860, d2.loss_map_pts: 0.7731, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1738, d3.loss_map_pts: 0.7011, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1672, d4.loss_map_pts: 0.6771, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1622, d5.loss_map_pts: 0.6665, d5.loss_map_dir: 0.0077, loss: 29.5025, grad_norm: 163.8724 +2026-02-27 17:06:39,934 - DriveTransformer - INFO - Epoch [7][32000/39528] lr: 8.550e-05, eta: 5 days, 18:12:36, time: 0.728, data_time: 0.035, memory: 19865, loss_cls: 0.1464, loss_bbox: 0.3519, loss_traj: 0.6473, loss_traj_cls: 0.0010, loss_map_cls: 0.1600, loss_map_pts: 0.7589, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.9877, d0.loss_plan_l1_fix_dist: 0.4335, d1.loss_plan_l1_fix_time: 1.1090, d1.loss_plan_l1_fix_dist: 0.2247, d2.loss_plan_l1_fix_time: 1.0876, d2.loss_plan_l1_fix_dist: 0.1955, d3.loss_plan_l1_fix_time: 1.0851, d3.loss_plan_l1_fix_dist: 0.2004, d4.loss_plan_l1_fix_time: 1.0861, d4.loss_plan_l1_fix_dist: 0.2168, d5.loss_plan_l1_fix_time: 1.0883, d5.loss_plan_l1_fix_dist: 0.2346, d6.loss_plan_l1_fix_time: 1.0908, d6.loss_plan_l1_fix_dist: 0.2528, d0.loss_cls_all: 0.1969, d0.loss_bbox_all: 0.4170, d0.loss_cls: 0.1969, d0.loss_bbox: 0.4170, d1.loss_cls: 0.1858, d1.loss_bbox: 0.3787, d2.loss_cls: 0.1729, d2.loss_bbox: 0.3607, d3.loss_cls: 0.1537, d3.loss_bbox: 0.3548, d4.loss_cls: 0.1488, d4.loss_bbox: 0.3516, d5.loss_cls: 0.1457, d5.loss_bbox: 0.3526, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9505, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7450, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6780, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6502, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6471, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6457, d0.loss_map_cls_all: 0.2383, d0.loss_map_pts_all: 1.4819, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2383, d0.loss_map_pts: 1.4819, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2081, d1.loss_map_pts: 1.0620, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1858, d2.loss_map_pts: 0.8729, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1727, d3.loss_map_pts: 0.8000, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1680, d4.loss_map_pts: 0.7677, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1625, d5.loss_map_pts: 0.7600, d5.loss_map_dir: 0.0097, loss: 30.1893, grad_norm: 156.6686 +2026-02-27 17:07:17,208 - DriveTransformer - INFO - Epoch [7][32050/39528] lr: 8.550e-05, eta: 5 days, 18:12:13, time: 0.745, data_time: 0.038, memory: 19865, loss_cls: 0.1481, loss_bbox: 0.3517, loss_traj: 0.7590, loss_traj_cls: 0.0011, loss_map_cls: 0.1585, loss_map_pts: 0.7591, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.6687, d0.loss_plan_l1_fix_dist: 0.4278, d1.loss_plan_l1_fix_time: 0.9682, d1.loss_plan_l1_fix_dist: 0.2027, d2.loss_plan_l1_fix_time: 0.9448, d2.loss_plan_l1_fix_dist: 0.1834, d3.loss_plan_l1_fix_time: 0.9343, d3.loss_plan_l1_fix_dist: 0.1839, d4.loss_plan_l1_fix_time: 0.9350, d4.loss_plan_l1_fix_dist: 0.1929, d5.loss_plan_l1_fix_time: 0.9364, d5.loss_plan_l1_fix_dist: 0.2061, d6.loss_plan_l1_fix_time: 0.9388, d6.loss_plan_l1_fix_dist: 0.2196, d0.loss_cls_all: 0.1925, d0.loss_bbox_all: 0.4160, d0.loss_cls: 0.1925, d0.loss_bbox: 0.4160, d1.loss_cls: 0.1833, d1.loss_bbox: 0.3803, d2.loss_cls: 0.1695, d2.loss_bbox: 0.3614, d3.loss_cls: 0.1573, d3.loss_bbox: 0.3533, d4.loss_cls: 0.1485, d4.loss_bbox: 0.3522, d5.loss_cls: 0.1474, d5.loss_bbox: 0.3520, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9649, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8183, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7711, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7576, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7543, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7575, d0.loss_map_cls_all: 0.2285, d0.loss_map_pts_all: 1.4831, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2285, d0.loss_map_pts: 1.4831, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2011, d1.loss_map_pts: 1.0373, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.1826, d2.loss_map_pts: 0.8591, d2.loss_map_dir: 0.0106, d3.loss_map_cls: 0.1710, d3.loss_map_pts: 0.7960, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1660, d4.loss_map_pts: 0.7706, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1602, d5.loss_map_pts: 0.7610, d5.loss_map_dir: 0.0112, loss: 29.3893, grad_norm: 155.9306 +2026-02-27 17:07:51,133 - DriveTransformer - INFO - Epoch [7][32100/39528] lr: 8.550e-05, eta: 5 days, 18:10:40, time: 0.678, data_time: 0.036, memory: 19865, loss_cls: 0.1559, loss_bbox: 0.3395, loss_traj: 0.6340, loss_traj_cls: 0.0011, loss_map_cls: 0.1220, loss_map_pts: 0.6231, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.4328, d0.loss_plan_l1_fix_dist: 0.3521, d1.loss_plan_l1_fix_time: 0.9457, d1.loss_plan_l1_fix_dist: 0.1680, d2.loss_plan_l1_fix_time: 0.9446, d2.loss_plan_l1_fix_dist: 0.1669, d3.loss_plan_l1_fix_time: 0.9508, d3.loss_plan_l1_fix_dist: 0.1766, d4.loss_plan_l1_fix_time: 0.9538, d4.loss_plan_l1_fix_dist: 0.1872, d5.loss_plan_l1_fix_time: 0.9564, d5.loss_plan_l1_fix_dist: 0.2002, d6.loss_plan_l1_fix_time: 0.9602, d6.loss_plan_l1_fix_dist: 0.2215, d0.loss_cls_all: 0.1897, d0.loss_bbox_all: 0.4051, d0.loss_cls: 0.1897, d0.loss_bbox: 0.4051, d1.loss_cls: 0.1846, d1.loss_bbox: 0.3732, d2.loss_cls: 0.1728, d2.loss_bbox: 0.3559, d3.loss_cls: 0.1609, d3.loss_bbox: 0.3474, d4.loss_cls: 0.1561, d4.loss_bbox: 0.3416, d5.loss_cls: 0.1547, d5.loss_bbox: 0.3396, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8936, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7077, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6575, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6447, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6358, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6372, d0.loss_map_cls_all: 0.2088, d0.loss_map_pts_all: 1.1944, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2088, d0.loss_map_pts: 1.1944, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1748, d1.loss_map_pts: 0.8523, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1535, d2.loss_map_pts: 0.7123, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1383, d3.loss_map_pts: 0.6544, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1305, d4.loss_map_pts: 0.6338, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1245, d5.loss_map_pts: 0.6242, d5.loss_map_dir: 0.0082, loss: 26.5202, grad_norm: 156.7436 +2026-02-27 17:08:28,850 - DriveTransformer - INFO - Epoch [7][32150/39528] lr: 8.550e-05, eta: 5 days, 18:10:27, time: 0.754, data_time: 0.037, memory: 19865, loss_cls: 0.1658, loss_bbox: 0.3635, loss_traj: 0.6171, loss_traj_cls: 0.0011, loss_map_cls: 0.1862, loss_map_pts: 0.8027, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.1291, d0.loss_plan_l1_fix_dist: 0.3608, d1.loss_plan_l1_fix_time: 0.9986, d1.loss_plan_l1_fix_dist: 0.1812, d2.loss_plan_l1_fix_time: 0.9821, d2.loss_plan_l1_fix_dist: 0.1862, d3.loss_plan_l1_fix_time: 0.9808, d3.loss_plan_l1_fix_dist: 0.1974, d4.loss_plan_l1_fix_time: 0.9829, d4.loss_plan_l1_fix_dist: 0.2046, d5.loss_plan_l1_fix_time: 0.9852, d5.loss_plan_l1_fix_dist: 0.2079, d6.loss_plan_l1_fix_time: 0.9881, d6.loss_plan_l1_fix_dist: 0.2164, d0.loss_cls_all: 0.1961, d0.loss_bbox_all: 0.4244, d0.loss_cls: 0.1961, d0.loss_bbox: 0.4244, d1.loss_cls: 0.1924, d1.loss_bbox: 0.3939, d2.loss_cls: 0.1810, d2.loss_bbox: 0.3736, d3.loss_cls: 0.1698, d3.loss_bbox: 0.3684, d4.loss_cls: 0.1645, d4.loss_bbox: 0.3660, d5.loss_cls: 0.1639, d5.loss_bbox: 0.3646, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8659, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7029, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6383, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6231, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6197, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6191, d0.loss_map_cls_all: 0.2704, d0.loss_map_pts_all: 1.5338, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2704, d0.loss_map_pts: 1.5338, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2351, d1.loss_map_pts: 1.0860, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.2146, d2.loss_map_pts: 0.9042, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1973, d3.loss_map_pts: 0.8347, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1912, d4.loss_map_pts: 0.8079, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1867, d5.loss_map_pts: 0.8038, d5.loss_map_dir: 0.0108, loss: 28.9435, grad_norm: 159.6464 +2026-02-27 17:09:05,277 - DriveTransformer - INFO - Epoch [7][32200/39528] lr: 8.550e-05, eta: 5 days, 18:09:46, time: 0.729, data_time: 0.039, memory: 19865, loss_cls: 0.1736, loss_bbox: 0.3563, loss_traj: 0.7218, loss_traj_cls: 0.0011, loss_map_cls: 0.1318, loss_map_pts: 0.6172, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.6384, d0.loss_plan_l1_fix_dist: 0.4074, d1.loss_plan_l1_fix_time: 1.0757, d1.loss_plan_l1_fix_dist: 0.1770, d2.loss_plan_l1_fix_time: 1.0577, d2.loss_plan_l1_fix_dist: 0.1772, d3.loss_plan_l1_fix_time: 1.0546, d3.loss_plan_l1_fix_dist: 0.1850, d4.loss_plan_l1_fix_time: 1.0566, d4.loss_plan_l1_fix_dist: 0.1945, d5.loss_plan_l1_fix_time: 1.0589, d5.loss_plan_l1_fix_dist: 0.2040, d6.loss_plan_l1_fix_time: 1.0617, d6.loss_plan_l1_fix_dist: 0.2138, d0.loss_cls_all: 0.2004, d0.loss_bbox_all: 0.4222, d0.loss_cls: 0.2004, d0.loss_bbox: 0.4222, d1.loss_cls: 0.1963, d1.loss_bbox: 0.3837, d2.loss_cls: 0.1860, d2.loss_bbox: 0.3662, d3.loss_cls: 0.1779, d3.loss_bbox: 0.3604, d4.loss_cls: 0.1728, d4.loss_bbox: 0.3587, d5.loss_cls: 0.1731, d5.loss_bbox: 0.3565, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0475, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8200, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7569, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7302, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7281, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7251, d0.loss_map_cls_all: 0.2124, d0.loss_map_pts_all: 1.2459, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2124, d0.loss_map_pts: 1.2459, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1801, d1.loss_map_pts: 0.8802, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1583, d2.loss_map_pts: 0.7086, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1442, d3.loss_map_pts: 0.6425, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1381, d4.loss_map_pts: 0.6211, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1334, d5.loss_map_pts: 0.6181, d5.loss_map_dir: 0.0079, loss: 28.5563, grad_norm: 159.5319 +2026-02-27 17:09:43,816 - DriveTransformer - INFO - Epoch [7][32250/39528] lr: 8.550e-05, eta: 5 days, 18:09:50, time: 0.771, data_time: 0.036, memory: 19865, loss_cls: 0.1517, loss_bbox: 0.3678, loss_traj: 0.6239, loss_traj_cls: 0.0011, loss_map_cls: 0.1657, loss_map_pts: 0.7997, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.5852, d0.loss_plan_l1_fix_dist: 0.4148, d1.loss_plan_l1_fix_time: 1.1130, d1.loss_plan_l1_fix_dist: 0.2018, d2.loss_plan_l1_fix_time: 1.0902, d2.loss_plan_l1_fix_dist: 0.1926, d3.loss_plan_l1_fix_time: 1.0843, d3.loss_plan_l1_fix_dist: 0.1955, d4.loss_plan_l1_fix_time: 1.0857, d4.loss_plan_l1_fix_dist: 0.2062, d5.loss_plan_l1_fix_time: 1.0876, d5.loss_plan_l1_fix_dist: 0.2220, d6.loss_plan_l1_fix_time: 1.0901, d6.loss_plan_l1_fix_dist: 0.2358, d0.loss_cls_all: 0.1953, d0.loss_bbox_all: 0.4356, d0.loss_cls: 0.1953, d0.loss_bbox: 0.4356, d1.loss_cls: 0.1897, d1.loss_bbox: 0.3982, d2.loss_cls: 0.1748, d2.loss_bbox: 0.3785, d3.loss_cls: 0.1593, d3.loss_bbox: 0.3717, d4.loss_cls: 0.1532, d4.loss_bbox: 0.3690, d5.loss_cls: 0.1517, d5.loss_bbox: 0.3674, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8484, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6932, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6426, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6275, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6229, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6231, d0.loss_map_cls_all: 0.2436, d0.loss_map_pts_all: 1.5149, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2436, d0.loss_map_pts: 1.5149, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2130, d1.loss_map_pts: 1.0710, d1.loss_map_dir: 0.0102, d2.loss_map_cls: 0.1908, d2.loss_map_pts: 0.8928, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.1781, d3.loss_map_pts: 0.8323, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1717, d4.loss_map_pts: 0.8121, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1668, d5.loss_map_pts: 0.8000, d5.loss_map_dir: 0.0112, loss: 29.8862, grad_norm: 159.1238 +2026-02-27 17:10:21,169 - DriveTransformer - INFO - Epoch [7][32300/39528] lr: 8.550e-05, eta: 5 days, 18:09:29, time: 0.747, data_time: 0.037, memory: 19865, loss_cls: 0.1609, loss_bbox: 0.3683, loss_traj: 0.6646, loss_traj_cls: 0.0011, loss_map_cls: 0.1672, loss_map_pts: 0.7487, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.9045, d0.loss_plan_l1_fix_dist: 0.4367, d1.loss_plan_l1_fix_time: 1.1422, d1.loss_plan_l1_fix_dist: 0.2213, d2.loss_plan_l1_fix_time: 1.1336, d2.loss_plan_l1_fix_dist: 0.2183, d3.loss_plan_l1_fix_time: 1.1347, d3.loss_plan_l1_fix_dist: 0.2230, d4.loss_plan_l1_fix_time: 1.1368, d4.loss_plan_l1_fix_dist: 0.2311, d5.loss_plan_l1_fix_time: 1.1394, d5.loss_plan_l1_fix_dist: 0.2458, d6.loss_plan_l1_fix_time: 1.1429, d6.loss_plan_l1_fix_dist: 0.2655, d0.loss_cls_all: 0.1982, d0.loss_bbox_all: 0.4265, d0.loss_cls: 0.1982, d0.loss_bbox: 0.4265, d1.loss_cls: 0.1946, d1.loss_bbox: 0.3912, d2.loss_cls: 0.1831, d2.loss_bbox: 0.3731, d3.loss_cls: 0.1692, d3.loss_bbox: 0.3691, d4.loss_cls: 0.1637, d4.loss_bbox: 0.3672, d5.loss_cls: 0.1607, d5.loss_bbox: 0.3664, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8861, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7093, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6797, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6677, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6658, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6624, d0.loss_map_cls_all: 0.2371, d0.loss_map_pts_all: 1.5428, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2371, d0.loss_map_pts: 1.5428, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2132, d1.loss_map_pts: 1.0437, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1916, d2.loss_map_pts: 0.8480, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1792, d3.loss_map_pts: 0.7790, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1724, d4.loss_map_pts: 0.7574, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1693, d5.loss_map_pts: 0.7495, d5.loss_map_dir: 0.0102, loss: 30.6939, grad_norm: 159.4235 +2026-02-27 17:10:57,699 - DriveTransformer - INFO - Epoch [7][32350/39528] lr: 8.550e-05, eta: 5 days, 18:08:51, time: 0.731, data_time: 0.037, memory: 19865, loss_cls: 0.1384, loss_bbox: 0.3407, loss_traj: 0.5524, loss_traj_cls: 0.0012, loss_map_cls: 0.1339, loss_map_pts: 0.6131, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.6855, d0.loss_plan_l1_fix_dist: 0.4304, d1.loss_plan_l1_fix_time: 1.0158, d1.loss_plan_l1_fix_dist: 0.1804, d2.loss_plan_l1_fix_time: 1.0038, d2.loss_plan_l1_fix_dist: 0.1786, d3.loss_plan_l1_fix_time: 1.0036, d3.loss_plan_l1_fix_dist: 0.1806, d4.loss_plan_l1_fix_time: 1.0067, d4.loss_plan_l1_fix_dist: 0.1850, d5.loss_plan_l1_fix_time: 1.0101, d5.loss_plan_l1_fix_dist: 0.1921, d6.loss_plan_l1_fix_time: 1.0138, d6.loss_plan_l1_fix_dist: 0.2109, d0.loss_cls_all: 0.1772, d0.loss_bbox_all: 0.4079, d0.loss_cls: 0.1772, d0.loss_bbox: 0.4079, d1.loss_cls: 0.1685, d1.loss_bbox: 0.3750, d2.loss_cls: 0.1541, d2.loss_bbox: 0.3561, d3.loss_cls: 0.1412, d3.loss_bbox: 0.3477, d4.loss_cls: 0.1386, d4.loss_bbox: 0.3437, d5.loss_cls: 0.1382, d5.loss_bbox: 0.3413, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7656, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6129, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5706, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5595, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5507, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5499, d0.loss_map_cls_all: 0.2129, d0.loss_map_pts_all: 1.3173, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2129, d0.loss_map_pts: 1.3173, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1776, d1.loss_map_pts: 0.8701, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1518, d2.loss_map_pts: 0.6994, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1431, d3.loss_map_pts: 0.6442, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1394, d4.loss_map_pts: 0.6210, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1351, d5.loss_map_pts: 0.6148, d5.loss_map_dir: 0.0086, loss: 26.6947, grad_norm: 159.5868 +2026-02-27 17:11:34,160 - DriveTransformer - INFO - Epoch [7][32400/39528] lr: 8.550e-05, eta: 5 days, 18:08:12, time: 0.731, data_time: 0.037, memory: 19865, loss_cls: 0.1528, loss_bbox: 0.3554, loss_traj: 0.6912, loss_traj_cls: 0.0011, loss_map_cls: 0.1463, loss_map_pts: 0.6271, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 3.3343, d0.loss_plan_l1_fix_dist: 0.4357, d1.loss_plan_l1_fix_time: 1.1887, d1.loss_plan_l1_fix_dist: 0.1812, d2.loss_plan_l1_fix_time: 1.1781, d2.loss_plan_l1_fix_dist: 0.1788, d3.loss_plan_l1_fix_time: 1.1794, d3.loss_plan_l1_fix_dist: 0.1865, d4.loss_plan_l1_fix_time: 1.1809, d4.loss_plan_l1_fix_dist: 0.1953, d5.loss_plan_l1_fix_time: 1.1827, d5.loss_plan_l1_fix_dist: 0.2006, d6.loss_plan_l1_fix_time: 1.1848, d6.loss_plan_l1_fix_dist: 0.2083, d0.loss_cls_all: 0.1969, d0.loss_bbox_all: 0.4139, d0.loss_cls: 0.1969, d0.loss_bbox: 0.4139, d1.loss_cls: 0.1863, d1.loss_bbox: 0.3808, d2.loss_cls: 0.1733, d2.loss_bbox: 0.3620, d3.loss_cls: 0.1612, d3.loss_bbox: 0.3554, d4.loss_cls: 0.1547, d4.loss_bbox: 0.3530, d5.loss_cls: 0.1515, d5.loss_bbox: 0.3545, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9194, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7536, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7055, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6979, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6940, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6910, d0.loss_map_cls_all: 0.2206, d0.loss_map_pts_all: 1.2191, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2206, d0.loss_map_pts: 1.2191, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1911, d1.loss_map_pts: 0.8701, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1686, d2.loss_map_pts: 0.7139, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1591, d3.loss_map_pts: 0.6589, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1514, d4.loss_map_pts: 0.6345, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1482, d5.loss_map_pts: 0.6283, d5.loss_map_dir: 0.0081, loss: 29.5770, grad_norm: 159.4800 +2026-02-27 17:12:11,592 - DriveTransformer - INFO - Epoch [7][32450/39528] lr: 8.550e-05, eta: 5 days, 18:07:51, time: 0.747, data_time: 0.033, memory: 19865, loss_cls: 0.1474, loss_bbox: 0.3370, loss_traj: 0.5776, loss_traj_cls: 0.0012, loss_map_cls: 0.1323, loss_map_pts: 0.6552, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.7208, d0.loss_plan_l1_fix_dist: 0.3906, d1.loss_plan_l1_fix_time: 1.1074, d1.loss_plan_l1_fix_dist: 0.1738, d2.loss_plan_l1_fix_time: 1.1009, d2.loss_plan_l1_fix_dist: 0.1762, d3.loss_plan_l1_fix_time: 1.1003, d3.loss_plan_l1_fix_dist: 0.1853, d4.loss_plan_l1_fix_time: 1.1035, d4.loss_plan_l1_fix_dist: 0.2062, d5.loss_plan_l1_fix_time: 1.1065, d5.loss_plan_l1_fix_dist: 0.2261, d6.loss_plan_l1_fix_time: 1.1093, d6.loss_plan_l1_fix_dist: 0.2391, d0.loss_cls_all: 0.1802, d0.loss_bbox_all: 0.3953, d0.loss_cls: 0.1802, d0.loss_bbox: 0.3953, d1.loss_cls: 0.1759, d1.loss_bbox: 0.3633, d2.loss_cls: 0.1650, d2.loss_bbox: 0.3490, d3.loss_cls: 0.1553, d3.loss_bbox: 0.3413, d4.loss_cls: 0.1503, d4.loss_bbox: 0.3374, d5.loss_cls: 0.1472, d5.loss_bbox: 0.3374, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7889, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6331, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5877, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5770, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5751, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5758, d0.loss_map_cls_all: 0.2046, d0.loss_map_pts_all: 1.3433, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2046, d0.loss_map_pts: 1.3433, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.1709, d1.loss_map_pts: 0.9081, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1526, d2.loss_map_pts: 0.7331, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1431, d3.loss_map_pts: 0.6799, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1380, d4.loss_map_pts: 0.6608, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1343, d5.loss_map_pts: 0.6559, d5.loss_map_dir: 0.0096, loss: 27.7613, grad_norm: 164.7803 +2026-02-27 17:12:48,069 - DriveTransformer - INFO - Epoch [7][32500/39528] lr: 8.550e-05, eta: 5 days, 18:07:12, time: 0.729, data_time: 0.037, memory: 19865, loss_cls: 0.1798, loss_bbox: 0.3744, loss_traj: 0.6328, loss_traj_cls: 0.0012, loss_map_cls: 0.1521, loss_map_pts: 0.6806, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.9295, d0.loss_plan_l1_fix_dist: 0.4611, d1.loss_plan_l1_fix_time: 1.0086, d1.loss_plan_l1_fix_dist: 0.1964, d2.loss_plan_l1_fix_time: 1.0044, d2.loss_plan_l1_fix_dist: 0.1995, d3.loss_plan_l1_fix_time: 1.0058, d3.loss_plan_l1_fix_dist: 0.2119, d4.loss_plan_l1_fix_time: 1.0096, d4.loss_plan_l1_fix_dist: 0.2308, d5.loss_plan_l1_fix_time: 1.0138, d5.loss_plan_l1_fix_dist: 0.2533, d6.loss_plan_l1_fix_time: 1.0184, d6.loss_plan_l1_fix_dist: 0.2703, d0.loss_cls_all: 0.2097, d0.loss_bbox_all: 0.4373, d0.loss_cls: 0.2097, d0.loss_bbox: 0.4373, d1.loss_cls: 0.2030, d1.loss_bbox: 0.4028, d2.loss_cls: 0.1964, d2.loss_bbox: 0.3805, d3.loss_cls: 0.1856, d3.loss_bbox: 0.3763, d4.loss_cls: 0.1795, d4.loss_bbox: 0.3748, d5.loss_cls: 0.1787, d5.loss_bbox: 0.3734, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8789, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7217, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6683, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6471, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6444, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6404, d0.loss_map_cls_all: 0.2280, d0.loss_map_pts_all: 1.3269, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2280, d0.loss_map_pts: 1.3269, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2003, d1.loss_map_pts: 0.9394, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1759, d2.loss_map_pts: 0.7736, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1634, d3.loss_map_pts: 0.7096, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1587, d4.loss_map_pts: 0.6883, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1545, d5.loss_map_pts: 0.6822, d5.loss_map_dir: 0.0087, loss: 29.0106, grad_norm: 164.1494 +2026-02-27 17:13:24,539 - DriveTransformer - INFO - Epoch [7][32550/39528] lr: 8.550e-05, eta: 5 days, 18:06:32, time: 0.729, data_time: 0.040, memory: 19865, loss_cls: 0.1577, loss_bbox: 0.3698, loss_traj: 0.6358, loss_traj_cls: 0.0012, loss_map_cls: 0.1563, loss_map_pts: 0.6726, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.4863, d0.loss_plan_l1_fix_dist: 0.4205, d1.loss_plan_l1_fix_time: 0.9861, d1.loss_plan_l1_fix_dist: 0.1753, d2.loss_plan_l1_fix_time: 0.9752, d2.loss_plan_l1_fix_dist: 0.1805, d3.loss_plan_l1_fix_time: 0.9752, d3.loss_plan_l1_fix_dist: 0.1887, d4.loss_plan_l1_fix_time: 0.9796, d4.loss_plan_l1_fix_dist: 0.1919, d5.loss_plan_l1_fix_time: 0.9850, d5.loss_plan_l1_fix_dist: 0.1959, d6.loss_plan_l1_fix_time: 0.9916, d6.loss_plan_l1_fix_dist: 0.2057, d0.loss_cls_all: 0.1923, d0.loss_bbox_all: 0.4295, d0.loss_cls: 0.1923, d0.loss_bbox: 0.4295, d1.loss_cls: 0.1849, d1.loss_bbox: 0.3928, d2.loss_cls: 0.1755, d2.loss_bbox: 0.3701, d3.loss_cls: 0.1610, d3.loss_bbox: 0.3678, d4.loss_cls: 0.1590, d4.loss_bbox: 0.3662, d5.loss_cls: 0.1562, d5.loss_bbox: 0.3679, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8414, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6915, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6488, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6454, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6426, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6392, d0.loss_map_cls_all: 0.2414, d0.loss_map_pts_all: 1.3660, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2414, d0.loss_map_pts: 1.3660, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.2105, d1.loss_map_pts: 0.9623, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1831, d2.loss_map_pts: 0.7785, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1725, d3.loss_map_pts: 0.7076, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1640, d4.loss_map_pts: 0.6831, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1584, d5.loss_map_pts: 0.6736, d5.loss_map_dir: 0.0076, loss: 27.9592, grad_norm: 163.1825 +2026-02-27 17:14:00,888 - DriveTransformer - INFO - Epoch [7][32600/39528] lr: 8.550e-05, eta: 5 days, 18:05:50, time: 0.727, data_time: 0.036, memory: 19865, loss_cls: 0.1563, loss_bbox: 0.3667, loss_traj: 0.6730, loss_traj_cls: 0.0012, loss_map_cls: 0.1515, loss_map_pts: 0.6897, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.4562, d0.loss_plan_l1_fix_dist: 0.5453, d1.loss_plan_l1_fix_time: 1.1188, d1.loss_plan_l1_fix_dist: 0.2117, d2.loss_plan_l1_fix_time: 1.1123, d2.loss_plan_l1_fix_dist: 0.2109, d3.loss_plan_l1_fix_time: 1.1117, d3.loss_plan_l1_fix_dist: 0.2145, d4.loss_plan_l1_fix_time: 1.1156, d4.loss_plan_l1_fix_dist: 0.2229, d5.loss_plan_l1_fix_time: 1.1202, d5.loss_plan_l1_fix_dist: 0.2350, d6.loss_plan_l1_fix_time: 1.1260, d6.loss_plan_l1_fix_dist: 0.2513, d0.loss_cls_all: 0.1965, d0.loss_bbox_all: 0.4253, d0.loss_cls: 0.1965, d0.loss_bbox: 0.4253, d1.loss_cls: 0.1918, d1.loss_bbox: 0.3909, d2.loss_cls: 0.1781, d2.loss_bbox: 0.3705, d3.loss_cls: 0.1655, d3.loss_bbox: 0.3646, d4.loss_cls: 0.1583, d4.loss_bbox: 0.3636, d5.loss_cls: 0.1564, d5.loss_bbox: 0.3644, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9380, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7531, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6920, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6840, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6828, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6779, d0.loss_map_cls_all: 0.2389, d0.loss_map_pts_all: 1.4139, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2389, d0.loss_map_pts: 1.4139, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2094, d1.loss_map_pts: 0.9650, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1833, d2.loss_map_pts: 0.7858, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1681, d3.loss_map_pts: 0.7164, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1602, d4.loss_map_pts: 0.6946, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1540, d5.loss_map_pts: 0.6905, d5.loss_map_dir: 0.0090, loss: 29.5748, grad_norm: 161.8232 +2026-02-27 17:14:38,857 - DriveTransformer - INFO - Epoch [7][32650/39528] lr: 8.550e-05, eta: 5 days, 18:05:42, time: 0.759, data_time: 0.037, memory: 19865, loss_cls: 0.1458, loss_bbox: 0.3425, loss_traj: 0.6109, loss_traj_cls: 0.0012, loss_map_cls: 0.1288, loss_map_pts: 0.6319, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.4807, d0.loss_plan_l1_fix_dist: 0.5566, d1.loss_plan_l1_fix_time: 0.9327, d1.loss_plan_l1_fix_dist: 0.1558, d2.loss_plan_l1_fix_time: 0.9117, d2.loss_plan_l1_fix_dist: 0.1523, d3.loss_plan_l1_fix_time: 0.9104, d3.loss_plan_l1_fix_dist: 0.1619, d4.loss_plan_l1_fix_time: 0.9121, d4.loss_plan_l1_fix_dist: 0.1708, d5.loss_plan_l1_fix_time: 0.9138, d5.loss_plan_l1_fix_dist: 0.1803, d6.loss_plan_l1_fix_time: 0.9157, d6.loss_plan_l1_fix_dist: 0.1916, d0.loss_cls_all: 0.1820, d0.loss_bbox_all: 0.4034, d0.loss_cls: 0.1820, d0.loss_bbox: 0.4034, d1.loss_cls: 0.1784, d1.loss_bbox: 0.3726, d2.loss_cls: 0.1616, d2.loss_bbox: 0.3553, d3.loss_cls: 0.1541, d3.loss_bbox: 0.3472, d4.loss_cls: 0.1490, d4.loss_bbox: 0.3438, d5.loss_cls: 0.1469, d5.loss_bbox: 0.3419, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8028, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6483, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6157, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6094, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6074, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6102, d0.loss_map_cls_all: 0.2012, d0.loss_map_pts_all: 1.3440, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2012, d0.loss_map_pts: 1.3440, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1704, d1.loss_map_pts: 0.9173, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1497, d2.loss_map_pts: 0.7367, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1398, d3.loss_map_pts: 0.6673, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1330, d4.loss_map_pts: 0.6391, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1295, d5.loss_map_pts: 0.6324, d5.loss_map_dir: 0.0085, loss: 26.4991, grad_norm: 161.5640 +2026-02-27 17:15:15,368 - DriveTransformer - INFO - Epoch [7][32700/39528] lr: 8.550e-05, eta: 5 days, 18:05:03, time: 0.730, data_time: 0.037, memory: 19865, loss_cls: 0.1421, loss_bbox: 0.3572, loss_traj: 0.5429, loss_traj_cls: 0.0012, loss_map_cls: 0.1188, loss_map_pts: 0.6202, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.3353, d0.loss_plan_l1_fix_dist: 0.4292, d1.loss_plan_l1_fix_time: 0.9339, d1.loss_plan_l1_fix_dist: 0.1748, d2.loss_plan_l1_fix_time: 0.9127, d2.loss_plan_l1_fix_dist: 0.1655, d3.loss_plan_l1_fix_time: 0.9134, d3.loss_plan_l1_fix_dist: 0.1697, d4.loss_plan_l1_fix_time: 0.9160, d4.loss_plan_l1_fix_dist: 0.1751, d5.loss_plan_l1_fix_time: 0.9188, d5.loss_plan_l1_fix_dist: 0.1859, d6.loss_plan_l1_fix_time: 0.9220, d6.loss_plan_l1_fix_dist: 0.2045, d0.loss_cls_all: 0.1778, d0.loss_bbox_all: 0.4082, d0.loss_cls: 0.1778, d0.loss_bbox: 0.4082, d1.loss_cls: 0.1725, d1.loss_bbox: 0.3794, d2.loss_cls: 0.1636, d2.loss_bbox: 0.3618, d3.loss_cls: 0.1511, d3.loss_bbox: 0.3580, d4.loss_cls: 0.1435, d4.loss_bbox: 0.3556, d5.loss_cls: 0.1423, d5.loss_bbox: 0.3556, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7254, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6148, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5626, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5424, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5371, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5409, d0.loss_map_cls_all: 0.2016, d0.loss_map_pts_all: 1.2643, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2016, d0.loss_map_pts: 1.2643, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1671, d1.loss_map_pts: 0.8579, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1468, d2.loss_map_pts: 0.6966, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1351, d3.loss_map_pts: 0.6456, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1267, d4.loss_map_pts: 0.6280, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1219, d5.loss_map_pts: 0.6220, d5.loss_map_dir: 0.0085, loss: 25.5708, grad_norm: 161.3382 +2026-02-27 17:15:52,744 - DriveTransformer - INFO - Epoch [7][32750/39528] lr: 8.550e-05, eta: 5 days, 18:04:42, time: 0.747, data_time: 0.036, memory: 19865, loss_cls: 0.1547, loss_bbox: 0.3915, loss_traj: 0.5822, loss_traj_cls: 0.0012, loss_map_cls: 0.1472, loss_map_pts: 0.7090, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.8931, d0.loss_plan_l1_fix_dist: 0.3747, d1.loss_plan_l1_fix_time: 1.0829, d1.loss_plan_l1_fix_dist: 0.1918, d2.loss_plan_l1_fix_time: 1.0767, d2.loss_plan_l1_fix_dist: 0.1809, d3.loss_plan_l1_fix_time: 1.0788, d3.loss_plan_l1_fix_dist: 0.1886, d4.loss_plan_l1_fix_time: 1.0825, d4.loss_plan_l1_fix_dist: 0.1994, d5.loss_plan_l1_fix_time: 1.0864, d5.loss_plan_l1_fix_dist: 0.2078, d6.loss_plan_l1_fix_time: 1.0909, d6.loss_plan_l1_fix_dist: 0.2137, d0.loss_cls_all: 0.1897, d0.loss_bbox_all: 0.4478, d0.loss_cls: 0.1897, d0.loss_bbox: 0.4478, d1.loss_cls: 0.1834, d1.loss_bbox: 0.4159, d2.loss_cls: 0.1735, d2.loss_bbox: 0.3987, d3.loss_cls: 0.1616, d3.loss_bbox: 0.3897, d4.loss_cls: 0.1530, d4.loss_bbox: 0.3886, d5.loss_cls: 0.1542, d5.loss_bbox: 0.3892, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8431, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6723, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6122, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5937, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5820, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5819, d0.loss_map_cls_all: 0.2131, d0.loss_map_pts_all: 1.4027, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2131, d0.loss_map_pts: 1.4027, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1898, d1.loss_map_pts: 0.9495, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1687, d2.loss_map_pts: 0.7867, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1584, d3.loss_map_pts: 0.7367, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1523, d4.loss_map_pts: 0.7178, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1485, d5.loss_map_pts: 0.7119, d5.loss_map_dir: 0.0091, loss: 28.9296, grad_norm: 162.4383 +2026-02-27 17:16:29,312 - DriveTransformer - INFO - Epoch [7][32800/39528] lr: 8.550e-05, eta: 5 days, 18:04:04, time: 0.731, data_time: 0.037, memory: 19865, loss_cls: 0.1494, loss_bbox: 0.3582, loss_traj: 0.6853, loss_traj_cls: 0.0012, loss_map_cls: 0.1506, loss_map_pts: 0.6972, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.6383, d0.loss_plan_l1_fix_dist: 0.3838, d1.loss_plan_l1_fix_time: 1.0621, d1.loss_plan_l1_fix_dist: 0.1696, d2.loss_plan_l1_fix_time: 1.0536, d2.loss_plan_l1_fix_dist: 0.1611, d3.loss_plan_l1_fix_time: 1.0503, d3.loss_plan_l1_fix_dist: 0.1653, d4.loss_plan_l1_fix_time: 1.0526, d4.loss_plan_l1_fix_dist: 0.1726, d5.loss_plan_l1_fix_time: 1.0556, d5.loss_plan_l1_fix_dist: 0.1807, d6.loss_plan_l1_fix_time: 1.0600, d6.loss_plan_l1_fix_dist: 0.1900, d0.loss_cls_all: 0.1875, d0.loss_bbox_all: 0.4065, d0.loss_cls: 0.1875, d0.loss_bbox: 0.4065, d1.loss_cls: 0.1828, d1.loss_bbox: 0.3746, d2.loss_cls: 0.1675, d2.loss_bbox: 0.3601, d3.loss_cls: 0.1540, d3.loss_bbox: 0.3557, d4.loss_cls: 0.1469, d4.loss_bbox: 0.3574, d5.loss_cls: 0.1485, d5.loss_bbox: 0.3568, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8613, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7297, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6812, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6864, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6808, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6850, d0.loss_map_cls_all: 0.2193, d0.loss_map_pts_all: 1.3454, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2193, d0.loss_map_pts: 1.3454, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1959, d1.loss_map_pts: 0.9630, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1740, d2.loss_map_pts: 0.7986, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1631, d3.loss_map_pts: 0.7328, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1580, d4.loss_map_pts: 0.7042, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1541, d5.loss_map_pts: 0.6992, d5.loss_map_dir: 0.0090, loss: 28.5004, grad_norm: 163.0114 +2026-02-27 17:17:05,531 - DriveTransformer - INFO - Epoch [7][32850/39528] lr: 8.550e-05, eta: 5 days, 18:03:20, time: 0.725, data_time: 0.036, memory: 19865, loss_cls: 0.1375, loss_bbox: 0.3390, loss_traj: 0.7310, loss_traj_cls: 0.0012, loss_map_cls: 0.1178, loss_map_pts: 0.5742, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.4132, d0.loss_plan_l1_fix_dist: 0.3964, d1.loss_plan_l1_fix_time: 0.9493, d1.loss_plan_l1_fix_dist: 0.1658, d2.loss_plan_l1_fix_time: 0.9372, d2.loss_plan_l1_fix_dist: 0.1588, d3.loss_plan_l1_fix_time: 0.9309, d3.loss_plan_l1_fix_dist: 0.1632, d4.loss_plan_l1_fix_time: 0.9317, d4.loss_plan_l1_fix_dist: 0.1695, d5.loss_plan_l1_fix_time: 0.9328, d5.loss_plan_l1_fix_dist: 0.1787, d6.loss_plan_l1_fix_time: 0.9350, d6.loss_plan_l1_fix_dist: 0.1927, d0.loss_cls_all: 0.1727, d0.loss_bbox_all: 0.4011, d0.loss_cls: 0.1727, d0.loss_bbox: 0.4011, d1.loss_cls: 0.1623, d1.loss_bbox: 0.3660, d2.loss_cls: 0.1542, d2.loss_bbox: 0.3457, d3.loss_cls: 0.1404, d3.loss_bbox: 0.3396, d4.loss_cls: 0.1383, d4.loss_bbox: 0.3389, d5.loss_cls: 0.1383, d5.loss_bbox: 0.3371, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0417, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8047, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7468, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7355, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7295, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.7295, d0.loss_map_cls_all: 0.1868, d0.loss_map_pts_all: 1.2250, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1868, d0.loss_map_pts: 1.2250, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1650, d1.loss_map_pts: 0.8355, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1401, d2.loss_map_pts: 0.6741, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1288, d3.loss_map_pts: 0.6112, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1233, d4.loss_map_pts: 0.5835, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1184, d5.loss_map_pts: 0.5768, d5.loss_map_dir: 0.0075, loss: 26.5962, grad_norm: 168.8042 +2026-02-27 17:17:44,210 - DriveTransformer - INFO - Epoch [7][32900/39528] lr: 8.550e-05, eta: 5 days, 18:03:25, time: 0.773, data_time: 0.037, memory: 19865, loss_cls: 0.1590, loss_bbox: 0.3732, loss_traj: 0.6151, loss_traj_cls: 0.0012, loss_map_cls: 0.1472, loss_map_pts: 0.7035, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.5546, d0.loss_plan_l1_fix_dist: 0.2970, d1.loss_plan_l1_fix_time: 1.0097, d1.loss_plan_l1_fix_dist: 0.1740, d2.loss_plan_l1_fix_time: 1.0043, d2.loss_plan_l1_fix_dist: 0.1690, d3.loss_plan_l1_fix_time: 1.0017, d3.loss_plan_l1_fix_dist: 0.1795, d4.loss_plan_l1_fix_time: 1.0047, d4.loss_plan_l1_fix_dist: 0.1924, d5.loss_plan_l1_fix_time: 1.0079, d5.loss_plan_l1_fix_dist: 0.2032, d6.loss_plan_l1_fix_time: 1.0111, d6.loss_plan_l1_fix_dist: 0.2200, d0.loss_cls_all: 0.1982, d0.loss_bbox_all: 0.4294, d0.loss_cls: 0.1982, d0.loss_bbox: 0.4294, d1.loss_cls: 0.1905, d1.loss_bbox: 0.3971, d2.loss_cls: 0.1774, d2.loss_bbox: 0.3773, d3.loss_cls: 0.1675, d3.loss_bbox: 0.3712, d4.loss_cls: 0.1580, d4.loss_bbox: 0.3714, d5.loss_cls: 0.1592, d5.loss_bbox: 0.3714, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8141, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6735, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6196, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6130, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6105, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6186, d0.loss_map_cls_all: 0.2222, d0.loss_map_pts_all: 1.5202, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2222, d0.loss_map_pts: 1.5202, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1920, d1.loss_map_pts: 1.0113, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1689, d2.loss_map_pts: 0.8064, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1585, d3.loss_map_pts: 0.7403, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1530, d4.loss_map_pts: 0.7141, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1486, d5.loss_map_pts: 0.7032, d5.loss_map_dir: 0.0107, loss: 28.3429, grad_norm: 170.3324 +2026-02-27 17:18:20,208 - DriveTransformer - INFO - Epoch [7][32950/39528] lr: 8.550e-05, eta: 5 days, 18:02:36, time: 0.720, data_time: 0.035, memory: 19865, loss_cls: 0.1574, loss_bbox: 0.3612, loss_traj: 0.6530, loss_traj_cls: 0.0011, loss_map_cls: 0.1702, loss_map_pts: 0.6823, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.7375, d0.loss_plan_l1_fix_dist: 0.4079, d1.loss_plan_l1_fix_time: 1.1424, d1.loss_plan_l1_fix_dist: 0.1990, d2.loss_plan_l1_fix_time: 1.1274, d2.loss_plan_l1_fix_dist: 0.1948, d3.loss_plan_l1_fix_time: 1.1343, d3.loss_plan_l1_fix_dist: 0.1988, d4.loss_plan_l1_fix_time: 1.1385, d4.loss_plan_l1_fix_dist: 0.2086, d5.loss_plan_l1_fix_time: 1.1424, d5.loss_plan_l1_fix_dist: 0.2188, d6.loss_plan_l1_fix_time: 1.1460, d6.loss_plan_l1_fix_dist: 0.2261, d0.loss_cls_all: 0.1880, d0.loss_bbox_all: 0.4303, d0.loss_cls: 0.1880, d0.loss_bbox: 0.4303, d1.loss_cls: 0.1833, d1.loss_bbox: 0.3917, d2.loss_cls: 0.1714, d2.loss_bbox: 0.3706, d3.loss_cls: 0.1591, d3.loss_bbox: 0.3642, d4.loss_cls: 0.1532, d4.loss_bbox: 0.3626, d5.loss_cls: 0.1559, d5.loss_bbox: 0.3615, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8853, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7133, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6585, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6426, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6437, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6525, d0.loss_map_cls_all: 0.2473, d0.loss_map_pts_all: 1.3411, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2473, d0.loss_map_pts: 1.3411, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.2155, d1.loss_map_pts: 0.9619, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1960, d2.loss_map_pts: 0.7832, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1820, d3.loss_map_pts: 0.7171, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1756, d4.loss_map_pts: 0.6894, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1700, d5.loss_map_pts: 0.6838, d5.loss_map_dir: 0.0076, loss: 29.3695, grad_norm: 166.5361 +2026-02-27 17:18:57,108 - DriveTransformer - INFO - Epoch [7][33000/39528] lr: 8.550e-05, eta: 5 days, 18:02:05, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.1711, loss_bbox: 0.3705, loss_traj: 0.5846, loss_traj_cls: 0.0012, loss_map_cls: 0.1637, loss_map_pts: 0.7444, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.6742, d0.loss_plan_l1_fix_dist: 0.4433, d1.loss_plan_l1_fix_time: 1.0816, d1.loss_plan_l1_fix_dist: 0.1849, d2.loss_plan_l1_fix_time: 1.0666, d2.loss_plan_l1_fix_dist: 0.1821, d3.loss_plan_l1_fix_time: 1.0668, d3.loss_plan_l1_fix_dist: 0.1865, d4.loss_plan_l1_fix_time: 1.0708, d4.loss_plan_l1_fix_dist: 0.1947, d5.loss_plan_l1_fix_time: 1.0755, d5.loss_plan_l1_fix_dist: 0.2061, d6.loss_plan_l1_fix_time: 1.0803, d6.loss_plan_l1_fix_dist: 0.2155, d0.loss_cls_all: 0.2061, d0.loss_bbox_all: 0.4300, d0.loss_cls: 0.2061, d0.loss_bbox: 0.4300, d1.loss_cls: 0.2012, d1.loss_bbox: 0.3984, d2.loss_cls: 0.1873, d2.loss_bbox: 0.3775, d3.loss_cls: 0.1756, d3.loss_bbox: 0.3720, d4.loss_cls: 0.1681, d4.loss_bbox: 0.3724, d5.loss_cls: 0.1689, d5.loss_bbox: 0.3712, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7982, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6402, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5980, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5894, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5843, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5841, d0.loss_map_cls_all: 0.2452, d0.loss_map_pts_all: 1.4948, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2452, d0.loss_map_pts: 1.4948, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2118, d1.loss_map_pts: 1.0370, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1883, d2.loss_map_pts: 0.8498, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1779, d3.loss_map_pts: 0.7740, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1696, d4.loss_map_pts: 0.7531, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1662, d5.loss_map_pts: 0.7462, d5.loss_map_dir: 0.0094, loss: 29.2554, grad_norm: 167.6476 +2026-02-27 17:19:34,268 - DriveTransformer - INFO - Epoch [7][33050/39528] lr: 8.550e-05, eta: 5 days, 18:01:40, time: 0.743, data_time: 0.037, memory: 19865, loss_cls: 0.1769, loss_bbox: 0.3791, loss_traj: 0.6447, loss_traj_cls: 0.0011, loss_map_cls: 0.1648, loss_map_pts: 0.7214, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.3218, d0.loss_plan_l1_fix_dist: 0.3099, d1.loss_plan_l1_fix_time: 0.9196, d1.loss_plan_l1_fix_dist: 0.1674, d2.loss_plan_l1_fix_time: 0.9100, d2.loss_plan_l1_fix_dist: 0.1613, d3.loss_plan_l1_fix_time: 0.9103, d3.loss_plan_l1_fix_dist: 0.1671, d4.loss_plan_l1_fix_time: 0.9137, d4.loss_plan_l1_fix_dist: 0.1718, d5.loss_plan_l1_fix_time: 0.9176, d5.loss_plan_l1_fix_dist: 0.1792, d6.loss_plan_l1_fix_time: 0.9226, d6.loss_plan_l1_fix_dist: 0.1921, d0.loss_cls_all: 0.2163, d0.loss_bbox_all: 0.4553, d0.loss_cls: 0.2163, d0.loss_bbox: 0.4553, d1.loss_cls: 0.2098, d1.loss_bbox: 0.4141, d2.loss_cls: 0.1917, d2.loss_bbox: 0.3911, d3.loss_cls: 0.1806, d3.loss_bbox: 0.3840, d4.loss_cls: 0.1755, d4.loss_bbox: 0.3824, d5.loss_cls: 0.1745, d5.loss_bbox: 0.3810, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8498, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6917, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6562, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6438, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6391, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6407, d0.loss_map_cls_all: 0.2346, d0.loss_map_pts_all: 1.5351, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2346, d0.loss_map_pts: 1.5351, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2076, d1.loss_map_pts: 1.0421, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1841, d2.loss_map_pts: 0.8282, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1756, d3.loss_map_pts: 0.7553, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1688, d4.loss_map_pts: 0.7318, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1662, d5.loss_map_pts: 0.7227, d5.loss_map_dir: 0.0097, loss: 28.2056, grad_norm: 165.1532 +2026-02-27 17:20:10,725 - DriveTransformer - INFO - Epoch [7][33100/39528] lr: 8.550e-05, eta: 5 days, 18:01:00, time: 0.729, data_time: 0.036, memory: 19865, loss_cls: 0.1544, loss_bbox: 0.3428, loss_traj: 0.5250, loss_traj_cls: 0.0012, loss_map_cls: 0.1524, loss_map_pts: 0.6919, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.6205, d0.loss_plan_l1_fix_dist: 0.3976, d1.loss_plan_l1_fix_time: 1.1046, d1.loss_plan_l1_fix_dist: 0.1706, d2.loss_plan_l1_fix_time: 1.0981, d2.loss_plan_l1_fix_dist: 0.1647, d3.loss_plan_l1_fix_time: 1.0992, d3.loss_plan_l1_fix_dist: 0.1710, d4.loss_plan_l1_fix_time: 1.1034, d4.loss_plan_l1_fix_dist: 0.1810, d5.loss_plan_l1_fix_time: 1.1076, d5.loss_plan_l1_fix_dist: 0.1912, d6.loss_plan_l1_fix_time: 1.1126, d6.loss_plan_l1_fix_dist: 0.1998, d0.loss_cls_all: 0.1960, d0.loss_bbox_all: 0.4064, d0.loss_cls: 0.1960, d0.loss_bbox: 0.4064, d1.loss_cls: 0.1879, d1.loss_bbox: 0.3708, d2.loss_cls: 0.1724, d2.loss_bbox: 0.3520, d3.loss_cls: 0.1598, d3.loss_bbox: 0.3465, d4.loss_cls: 0.1510, d4.loss_bbox: 0.3473, d5.loss_cls: 0.1521, d5.loss_bbox: 0.3455, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7348, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5813, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5389, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5311, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5279, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5267, d0.loss_map_cls_all: 0.2280, d0.loss_map_pts_all: 1.4230, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2280, d0.loss_map_pts: 1.4230, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1965, d1.loss_map_pts: 0.9586, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1754, d2.loss_map_pts: 0.7790, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1658, d3.loss_map_pts: 0.7172, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1574, d4.loss_map_pts: 0.6953, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1539, d5.loss_map_pts: 0.6913, d5.loss_map_dir: 0.0100, loss: 27.8954, grad_norm: 165.3761 +2026-02-27 17:20:46,620 - DriveTransformer - INFO - Epoch [7][33150/39528] lr: 8.550e-05, eta: 5 days, 18:00:08, time: 0.718, data_time: 0.036, memory: 19865, loss_cls: 0.1563, loss_bbox: 0.3435, loss_traj: 0.5800, loss_traj_cls: 0.0012, loss_map_cls: 0.1369, loss_map_pts: 0.6240, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.2908, d0.loss_plan_l1_fix_dist: 0.3507, d1.loss_plan_l1_fix_time: 0.9826, d1.loss_plan_l1_fix_dist: 0.1624, d2.loss_plan_l1_fix_time: 0.9710, d2.loss_plan_l1_fix_dist: 0.1579, d3.loss_plan_l1_fix_time: 0.9692, d3.loss_plan_l1_fix_dist: 0.1658, d4.loss_plan_l1_fix_time: 0.9716, d4.loss_plan_l1_fix_dist: 0.1741, d5.loss_plan_l1_fix_time: 0.9747, d5.loss_plan_l1_fix_dist: 0.1852, d6.loss_plan_l1_fix_time: 0.9783, d6.loss_plan_l1_fix_dist: 0.1972, d0.loss_cls_all: 0.1843, d0.loss_bbox_all: 0.4025, d0.loss_cls: 0.1843, d0.loss_bbox: 0.4025, d1.loss_cls: 0.1833, d1.loss_bbox: 0.3706, d2.loss_cls: 0.1734, d2.loss_bbox: 0.3518, d3.loss_cls: 0.1617, d3.loss_bbox: 0.3461, d4.loss_cls: 0.1568, d4.loss_bbox: 0.3442, d5.loss_cls: 0.1556, d5.loss_bbox: 0.3435, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7739, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6406, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6017, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5954, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5840, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5813, d0.loss_map_cls_all: 0.2109, d0.loss_map_pts_all: 1.3251, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2109, d0.loss_map_pts: 1.3251, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1800, d1.loss_map_pts: 0.8938, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1597, d2.loss_map_pts: 0.7181, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1480, d3.loss_map_pts: 0.6582, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1429, d4.loss_map_pts: 0.6346, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1379, d5.loss_map_pts: 0.6266, d5.loss_map_dir: 0.0092, loss: 26.3600, grad_norm: 165.7025 +2026-02-27 17:21:24,015 - DriveTransformer - INFO - Epoch [7][33200/39528] lr: 8.550e-05, eta: 5 days, 17:59:49, time: 0.749, data_time: 0.039, memory: 19865, loss_cls: 0.1330, loss_bbox: 0.3292, loss_traj: 0.5684, loss_traj_cls: 0.0012, loss_map_cls: 0.1131, loss_map_pts: 0.6011, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.4419, d0.loss_plan_l1_fix_dist: 0.5233, d1.loss_plan_l1_fix_time: 1.0173, d1.loss_plan_l1_fix_dist: 0.1972, d2.loss_plan_l1_fix_time: 1.0019, d2.loss_plan_l1_fix_dist: 0.1901, d3.loss_plan_l1_fix_time: 1.0004, d3.loss_plan_l1_fix_dist: 0.1959, d4.loss_plan_l1_fix_time: 1.0039, d4.loss_plan_l1_fix_dist: 0.2054, d5.loss_plan_l1_fix_time: 1.0081, d5.loss_plan_l1_fix_dist: 0.2203, d6.loss_plan_l1_fix_time: 1.0128, d6.loss_plan_l1_fix_dist: 0.2387, d0.loss_cls_all: 0.1719, d0.loss_bbox_all: 0.3889, d0.loss_cls: 0.1719, d0.loss_bbox: 0.3889, d1.loss_cls: 0.1706, d1.loss_bbox: 0.3559, d2.loss_cls: 0.1540, d2.loss_bbox: 0.3363, d3.loss_cls: 0.1400, d3.loss_bbox: 0.3305, d4.loss_cls: 0.1347, d4.loss_bbox: 0.3288, d5.loss_cls: 0.1337, d5.loss_bbox: 0.3278, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8151, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6219, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5832, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5755, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5662, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5686, d0.loss_map_cls_all: 0.2034, d0.loss_map_pts_all: 1.3617, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2034, d0.loss_map_pts: 1.3617, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1623, d1.loss_map_pts: 0.8922, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1364, d2.loss_map_pts: 0.7089, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1257, d3.loss_map_pts: 0.6363, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1198, d4.loss_map_pts: 0.6086, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1149, d5.loss_map_pts: 0.6024, d5.loss_map_dir: 0.0075, loss: 26.5729, grad_norm: 168.1970 +2026-02-27 17:22:01,543 - DriveTransformer - INFO - Epoch [7][33250/39528] lr: 8.550e-05, eta: 5 days, 17:59:29, time: 0.749, data_time: 0.035, memory: 19865, loss_cls: 0.1437, loss_bbox: 0.3246, loss_traj: 0.4793, loss_traj_cls: 0.0012, loss_map_cls: 0.1476, loss_map_pts: 0.7044, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.3874, d0.loss_plan_l1_fix_dist: 0.4397, d1.loss_plan_l1_fix_time: 0.9083, d1.loss_plan_l1_fix_dist: 0.1763, d2.loss_plan_l1_fix_time: 0.8977, d2.loss_plan_l1_fix_dist: 0.1720, d3.loss_plan_l1_fix_time: 0.8977, d3.loss_plan_l1_fix_dist: 0.1805, d4.loss_plan_l1_fix_time: 0.9009, d4.loss_plan_l1_fix_dist: 0.1911, d5.loss_plan_l1_fix_time: 0.9044, d5.loss_plan_l1_fix_dist: 0.2021, d6.loss_plan_l1_fix_time: 0.9080, d6.loss_plan_l1_fix_dist: 0.2180, d0.loss_cls_all: 0.1755, d0.loss_bbox_all: 0.3904, d0.loss_cls: 0.1755, d0.loss_bbox: 0.3904, d1.loss_cls: 0.1701, d1.loss_bbox: 0.3528, d2.loss_cls: 0.1599, d2.loss_bbox: 0.3348, d3.loss_cls: 0.1477, d3.loss_bbox: 0.3291, d4.loss_cls: 0.1439, d4.loss_bbox: 0.3267, d5.loss_cls: 0.1429, d5.loss_bbox: 0.3253, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6760, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5320, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.4913, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.4791, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4776, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.4763, d0.loss_map_cls_all: 0.2195, d0.loss_map_pts_all: 1.4980, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2195, d0.loss_map_pts: 1.4980, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.1909, d1.loss_map_pts: 1.0083, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1675, d2.loss_map_pts: 0.8124, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1583, d3.loss_map_pts: 0.7381, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1528, d4.loss_map_pts: 0.7152, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1488, d5.loss_map_pts: 0.7072, d5.loss_map_dir: 0.0113, loss: 26.2085, grad_norm: 169.1475 +2026-02-27 17:22:37,623 - DriveTransformer - INFO - Epoch [7][33300/39528] lr: 8.550e-05, eta: 5 days, 17:58:42, time: 0.722, data_time: 0.038, memory: 19865, loss_cls: 0.1610, loss_bbox: 0.3734, loss_traj: 0.6774, loss_traj_cls: 0.0011, loss_map_cls: 0.1646, loss_map_pts: 0.7075, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.9828, d0.loss_plan_l1_fix_dist: 0.3843, d1.loss_plan_l1_fix_time: 1.0933, d1.loss_plan_l1_fix_dist: 0.1888, d2.loss_plan_l1_fix_time: 1.0735, d2.loss_plan_l1_fix_dist: 0.1814, d3.loss_plan_l1_fix_time: 1.0682, d3.loss_plan_l1_fix_dist: 0.1883, d4.loss_plan_l1_fix_time: 1.0700, d4.loss_plan_l1_fix_dist: 0.1955, d5.loss_plan_l1_fix_time: 1.0726, d5.loss_plan_l1_fix_dist: 0.2069, d6.loss_plan_l1_fix_time: 1.0762, d6.loss_plan_l1_fix_dist: 0.2178, d0.loss_cls_all: 0.1965, d0.loss_bbox_all: 0.4525, d0.loss_cls: 0.1965, d0.loss_bbox: 0.4525, d1.loss_cls: 0.1889, d1.loss_bbox: 0.4120, d2.loss_cls: 0.1782, d2.loss_bbox: 0.3884, d3.loss_cls: 0.1658, d3.loss_bbox: 0.3789, d4.loss_cls: 0.1623, d4.loss_bbox: 0.3752, d5.loss_cls: 0.1610, d5.loss_bbox: 0.3740, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9380, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7475, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7025, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6860, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6834, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6789, d0.loss_map_cls_all: 0.2450, d0.loss_map_pts_all: 1.4085, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2450, d0.loss_map_pts: 1.4085, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.2114, d1.loss_map_pts: 0.9924, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1852, d2.loss_map_pts: 0.8131, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1744, d3.loss_map_pts: 0.7396, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1703, d4.loss_map_pts: 0.7150, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1662, d5.loss_map_pts: 0.7086, d5.loss_map_dir: 0.0085, loss: 29.8594, grad_norm: 168.1793 +2026-02-27 17:23:14,860 - DriveTransformer - INFO - Epoch [7][33350/39528] lr: 8.550e-05, eta: 5 days, 17:58:18, time: 0.745, data_time: 0.038, memory: 19865, loss_cls: 0.1521, loss_bbox: 0.3543, loss_traj: 0.5879, loss_traj_cls: 0.0012, loss_map_cls: 0.1765, loss_map_pts: 0.7885, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.5992, d0.loss_plan_l1_fix_dist: 0.4054, d1.loss_plan_l1_fix_time: 1.0059, d1.loss_plan_l1_fix_dist: 0.1913, d2.loss_plan_l1_fix_time: 0.9920, d2.loss_plan_l1_fix_dist: 0.1842, d3.loss_plan_l1_fix_time: 0.9916, d3.loss_plan_l1_fix_dist: 0.1931, d4.loss_plan_l1_fix_time: 0.9951, d4.loss_plan_l1_fix_dist: 0.2019, d5.loss_plan_l1_fix_time: 0.9990, d5.loss_plan_l1_fix_dist: 0.2136, d6.loss_plan_l1_fix_time: 1.0030, d6.loss_plan_l1_fix_dist: 0.2235, d0.loss_cls_all: 0.1912, d0.loss_bbox_all: 0.4127, d0.loss_cls: 0.1912, d0.loss_bbox: 0.4127, d1.loss_cls: 0.1821, d1.loss_bbox: 0.3817, d2.loss_cls: 0.1680, d2.loss_bbox: 0.3628, d3.loss_cls: 0.1586, d3.loss_bbox: 0.3569, d4.loss_cls: 0.1525, d4.loss_bbox: 0.3560, d5.loss_cls: 0.1506, d5.loss_bbox: 0.3559, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8214, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6485, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5928, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5834, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5843, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5825, d0.loss_map_cls_all: 0.2508, d0.loss_map_pts_all: 1.4984, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2508, d0.loss_map_pts: 1.4984, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2246, d1.loss_map_pts: 1.0913, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1998, d2.loss_map_pts: 0.8923, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1889, d3.loss_map_pts: 0.8234, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1825, d4.loss_map_pts: 0.7943, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1777, d5.loss_map_pts: 0.7868, d5.loss_map_dir: 0.0096, loss: 28.8435, grad_norm: 167.8687 +2026-02-27 17:23:50,128 - DriveTransformer - INFO - Epoch [7][33400/39528] lr: 8.550e-05, eta: 5 days, 17:57:13, time: 0.705, data_time: 0.037, memory: 19865, loss_cls: 0.1428, loss_bbox: 0.3426, loss_traj: 0.5989, loss_traj_cls: 0.0012, loss_map_cls: 0.1563, loss_map_pts: 0.6459, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.6688, d0.loss_plan_l1_fix_dist: 0.4427, d1.loss_plan_l1_fix_time: 0.9731, d1.loss_plan_l1_fix_dist: 0.1847, d2.loss_plan_l1_fix_time: 0.9679, d2.loss_plan_l1_fix_dist: 0.1785, d3.loss_plan_l1_fix_time: 0.9635, d3.loss_plan_l1_fix_dist: 0.1841, d4.loss_plan_l1_fix_time: 0.9655, d4.loss_plan_l1_fix_dist: 0.1943, d5.loss_plan_l1_fix_time: 0.9679, d5.loss_plan_l1_fix_dist: 0.2055, d6.loss_plan_l1_fix_time: 0.9708, d6.loss_plan_l1_fix_dist: 0.2206, d0.loss_cls_all: 0.1812, d0.loss_bbox_all: 0.4066, d0.loss_cls: 0.1812, d0.loss_bbox: 0.4066, d1.loss_cls: 0.1773, d1.loss_bbox: 0.3728, d2.loss_cls: 0.1593, d2.loss_bbox: 0.3502, d3.loss_cls: 0.1458, d3.loss_bbox: 0.3450, d4.loss_cls: 0.1403, d4.loss_bbox: 0.3432, d5.loss_cls: 0.1406, d5.loss_bbox: 0.3423, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9023, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7015, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6341, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6160, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6074, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6026, d0.loss_map_cls_all: 0.2394, d0.loss_map_pts_all: 1.2982, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2394, d0.loss_map_pts: 1.2982, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2057, d1.loss_map_pts: 0.9054, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1834, d2.loss_map_pts: 0.7329, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1701, d3.loss_map_pts: 0.6733, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1651, d4.loss_map_pts: 0.6558, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1596, d5.loss_map_pts: 0.6444, d5.loss_map_dir: 0.0082, loss: 27.3747, grad_norm: 160.1064 +2026-02-27 17:24:26,580 - DriveTransformer - INFO - Epoch [7][33450/39528] lr: 8.550e-05, eta: 5 days, 17:56:33, time: 0.729, data_time: 0.038, memory: 19865, loss_cls: 0.1530, loss_bbox: 0.3579, loss_traj: 0.6366, loss_traj_cls: 0.0011, loss_map_cls: 0.1466, loss_map_pts: 0.6631, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.7146, d0.loss_plan_l1_fix_dist: 0.3747, d1.loss_plan_l1_fix_time: 1.1398, d1.loss_plan_l1_fix_dist: 0.1785, d2.loss_plan_l1_fix_time: 1.1290, d2.loss_plan_l1_fix_dist: 0.1771, d3.loss_plan_l1_fix_time: 1.1267, d3.loss_plan_l1_fix_dist: 0.1850, d4.loss_plan_l1_fix_time: 1.1293, d4.loss_plan_l1_fix_dist: 0.1977, d5.loss_plan_l1_fix_time: 1.1327, d5.loss_plan_l1_fix_dist: 0.2103, d6.loss_plan_l1_fix_time: 1.1372, d6.loss_plan_l1_fix_dist: 0.2274, d0.loss_cls_all: 0.1970, d0.loss_bbox_all: 0.4258, d0.loss_cls: 0.1970, d0.loss_bbox: 0.4258, d1.loss_cls: 0.1926, d1.loss_bbox: 0.3862, d2.loss_cls: 0.1794, d2.loss_bbox: 0.3661, d3.loss_cls: 0.1645, d3.loss_bbox: 0.3586, d4.loss_cls: 0.1554, d4.loss_bbox: 0.3581, d5.loss_cls: 0.1537, d5.loss_bbox: 0.3572, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9648, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7246, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6569, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6546, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6473, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6426, d0.loss_map_cls_all: 0.2205, d0.loss_map_pts_all: 1.3727, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2205, d0.loss_map_pts: 1.3727, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1930, d1.loss_map_pts: 0.9329, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1711, d2.loss_map_pts: 0.7553, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1610, d3.loss_map_pts: 0.6916, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1555, d4.loss_map_pts: 0.6713, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1485, d5.loss_map_pts: 0.6628, d5.loss_map_dir: 0.0088, loss: 29.0296, grad_norm: 159.9599 +2026-02-27 17:25:02,979 - DriveTransformer - INFO - Epoch [7][33500/39528] lr: 8.550e-05, eta: 5 days, 17:55:52, time: 0.728, data_time: 0.039, memory: 19865, loss_cls: 0.1647, loss_bbox: 0.3847, loss_traj: 0.6714, loss_traj_cls: 0.0012, loss_map_cls: 0.1717, loss_map_pts: 0.7585, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.8126, d0.loss_plan_l1_fix_dist: 0.3958, d1.loss_plan_l1_fix_time: 1.1056, d1.loss_plan_l1_fix_dist: 0.1812, d2.loss_plan_l1_fix_time: 1.0965, d2.loss_plan_l1_fix_dist: 0.1889, d3.loss_plan_l1_fix_time: 1.0933, d3.loss_plan_l1_fix_dist: 0.2011, d4.loss_plan_l1_fix_time: 1.0953, d4.loss_plan_l1_fix_dist: 0.2158, d5.loss_plan_l1_fix_time: 1.0974, d5.loss_plan_l1_fix_dist: 0.2308, d6.loss_plan_l1_fix_time: 1.0997, d6.loss_plan_l1_fix_dist: 0.2473, d0.loss_cls_all: 0.2043, d0.loss_bbox_all: 0.4509, d0.loss_cls: 0.2043, d0.loss_bbox: 0.4509, d1.loss_cls: 0.1912, d1.loss_bbox: 0.4177, d2.loss_cls: 0.1812, d2.loss_bbox: 0.3950, d3.loss_cls: 0.1687, d3.loss_bbox: 0.3894, d4.loss_cls: 0.1650, d4.loss_bbox: 0.3867, d5.loss_cls: 0.1639, d5.loss_bbox: 0.3863, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8951, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7293, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6942, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6879, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6767, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6713, d0.loss_map_cls_all: 0.2456, d0.loss_map_pts_all: 1.4228, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2456, d0.loss_map_pts: 1.4228, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2154, d1.loss_map_pts: 1.0254, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1934, d2.loss_map_pts: 0.8397, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1837, d3.loss_map_pts: 0.7720, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1777, d4.loss_map_pts: 0.7603, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1743, d5.loss_map_pts: 0.7565, d5.loss_map_dir: 0.0093, loss: 30.2363, grad_norm: 155.4737 +2026-02-27 17:25:38,922 - DriveTransformer - INFO - Epoch [7][33550/39528] lr: 8.550e-05, eta: 5 days, 17:55:02, time: 0.719, data_time: 0.038, memory: 19865, loss_cls: 0.1400, loss_bbox: 0.3395, loss_traj: 0.6275, loss_traj_cls: 0.0011, loss_map_cls: 0.1498, loss_map_pts: 0.6138, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.5533, d0.loss_plan_l1_fix_dist: 0.4827, d1.loss_plan_l1_fix_time: 0.9501, d1.loss_plan_l1_fix_dist: 0.1772, d2.loss_plan_l1_fix_time: 0.9377, d2.loss_plan_l1_fix_dist: 0.1831, d3.loss_plan_l1_fix_time: 0.9383, d3.loss_plan_l1_fix_dist: 0.1910, d4.loss_plan_l1_fix_time: 0.9414, d4.loss_plan_l1_fix_dist: 0.2028, d5.loss_plan_l1_fix_time: 0.9444, d5.loss_plan_l1_fix_dist: 0.2159, d6.loss_plan_l1_fix_time: 0.9472, d6.loss_plan_l1_fix_dist: 0.2300, d0.loss_cls_all: 0.1766, d0.loss_bbox_all: 0.3979, d0.loss_cls: 0.1766, d0.loss_bbox: 0.3979, d1.loss_cls: 0.1716, d1.loss_bbox: 0.3660, d2.loss_cls: 0.1581, d2.loss_bbox: 0.3503, d3.loss_cls: 0.1451, d3.loss_bbox: 0.3465, d4.loss_cls: 0.1389, d4.loss_bbox: 0.3436, d5.loss_cls: 0.1387, d5.loss_bbox: 0.3424, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8282, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6897, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6446, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6377, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6346, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6294, d0.loss_map_cls_all: 0.2335, d0.loss_map_pts_all: 1.2596, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2335, d0.loss_map_pts: 1.2596, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.2007, d1.loss_map_pts: 0.8702, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1736, d2.loss_map_pts: 0.6991, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1644, d3.loss_map_pts: 0.6319, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1587, d4.loss_map_pts: 0.6166, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1526, d5.loss_map_pts: 0.6138, d5.loss_map_dir: 0.0080, loss: 26.8171, grad_norm: 155.8529 +2026-02-27 17:26:15,774 - DriveTransformer - INFO - Epoch [7][33600/39528] lr: 8.550e-05, eta: 5 days, 17:54:30, time: 0.737, data_time: 0.038, memory: 19865, loss_cls: 0.1466, loss_bbox: 0.3511, loss_traj: 0.6210, loss_traj_cls: 0.0012, loss_map_cls: 0.1557, loss_map_pts: 0.7152, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.7623, d0.loss_plan_l1_fix_dist: 0.3696, d1.loss_plan_l1_fix_time: 0.9243, d1.loss_plan_l1_fix_dist: 0.1801, d2.loss_plan_l1_fix_time: 0.9031, d2.loss_plan_l1_fix_dist: 0.1813, d3.loss_plan_l1_fix_time: 0.9014, d3.loss_plan_l1_fix_dist: 0.1920, d4.loss_plan_l1_fix_time: 0.9037, d4.loss_plan_l1_fix_dist: 0.2018, d5.loss_plan_l1_fix_time: 0.9070, d5.loss_plan_l1_fix_dist: 0.2166, d6.loss_plan_l1_fix_time: 0.9108, d6.loss_plan_l1_fix_dist: 0.2340, d0.loss_cls_all: 0.1840, d0.loss_bbox_all: 0.4121, d0.loss_cls: 0.1840, d0.loss_bbox: 0.4121, d1.loss_cls: 0.1740, d1.loss_bbox: 0.3809, d2.loss_cls: 0.1666, d2.loss_bbox: 0.3632, d3.loss_cls: 0.1552, d3.loss_bbox: 0.3548, d4.loss_cls: 0.1493, d4.loss_bbox: 0.3525, d5.loss_cls: 0.1480, d5.loss_bbox: 0.3508, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8787, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6755, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6269, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6287, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6252, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6207, d0.loss_map_cls_all: 0.2300, d0.loss_map_pts_all: 1.3532, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2300, d0.loss_map_pts: 1.3532, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1926, d1.loss_map_pts: 0.9537, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1764, d2.loss_map_pts: 0.7957, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1664, d3.loss_map_pts: 0.7316, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1603, d4.loss_map_pts: 0.7197, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1576, d5.loss_map_pts: 0.7147, d5.loss_map_dir: 0.0101, loss: 27.6399, grad_norm: 158.6148 +2026-02-27 17:26:53,128 - DriveTransformer - INFO - Epoch [7][33650/39528] lr: 8.550e-05, eta: 5 days, 17:54:08, time: 0.747, data_time: 0.036, memory: 19865, loss_cls: 0.1315, loss_bbox: 0.3322, loss_traj: 0.5324, loss_traj_cls: 0.0012, loss_map_cls: 0.1412, loss_map_pts: 0.6422, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.7363, d0.loss_plan_l1_fix_dist: 0.4029, d1.loss_plan_l1_fix_time: 1.1642, d1.loss_plan_l1_fix_dist: 0.1890, d2.loss_plan_l1_fix_time: 1.1472, d2.loss_plan_l1_fix_dist: 0.1749, d3.loss_plan_l1_fix_time: 1.1477, d3.loss_plan_l1_fix_dist: 0.1813, d4.loss_plan_l1_fix_time: 1.1509, d4.loss_plan_l1_fix_dist: 0.1885, d5.loss_plan_l1_fix_time: 1.1555, d5.loss_plan_l1_fix_dist: 0.2035, d6.loss_plan_l1_fix_time: 1.1608, d6.loss_plan_l1_fix_dist: 0.2218, d0.loss_cls_all: 0.1702, d0.loss_bbox_all: 0.3890, d0.loss_cls: 0.1702, d0.loss_bbox: 0.3890, d1.loss_cls: 0.1664, d1.loss_bbox: 0.3536, d2.loss_cls: 0.1514, d2.loss_bbox: 0.3386, d3.loss_cls: 0.1358, d3.loss_bbox: 0.3326, d4.loss_cls: 0.1310, d4.loss_bbox: 0.3311, d5.loss_cls: 0.1316, d5.loss_bbox: 0.3315, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6958, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5632, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5339, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5307, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5294, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5283, d0.loss_map_cls_all: 0.2228, d0.loss_map_pts_all: 1.3399, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2228, d0.loss_map_pts: 1.3399, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1933, d1.loss_map_pts: 0.8990, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1703, d2.loss_map_pts: 0.7216, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1577, d3.loss_map_pts: 0.6557, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1488, d4.loss_map_pts: 0.6471, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1436, d5.loss_map_pts: 0.6436, d5.loss_map_dir: 0.0094, loss: 27.4935, grad_norm: 158.9962 +2026-02-27 17:27:28,514 - DriveTransformer - INFO - Epoch [7][33700/39528] lr: 8.550e-05, eta: 5 days, 17:53:07, time: 0.708, data_time: 0.036, memory: 19865, loss_cls: 0.1721, loss_bbox: 0.3738, loss_traj: 0.7066, loss_traj_cls: 0.0012, loss_map_cls: 0.1586, loss_map_pts: 0.6549, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.9779, d0.loss_plan_l1_fix_dist: 0.3482, d1.loss_plan_l1_fix_time: 1.1926, d1.loss_plan_l1_fix_dist: 0.2085, d2.loss_plan_l1_fix_time: 1.1772, d2.loss_plan_l1_fix_dist: 0.1952, d3.loss_plan_l1_fix_time: 1.1780, d3.loss_plan_l1_fix_dist: 0.2062, d4.loss_plan_l1_fix_time: 1.1807, d4.loss_plan_l1_fix_dist: 0.2187, d5.loss_plan_l1_fix_time: 1.1841, d5.loss_plan_l1_fix_dist: 0.2322, d6.loss_plan_l1_fix_time: 1.1879, d6.loss_plan_l1_fix_dist: 0.2429, d0.loss_cls_all: 0.2079, d0.loss_bbox_all: 0.4413, d0.loss_cls: 0.2079, d0.loss_bbox: 0.4413, d1.loss_cls: 0.2042, d1.loss_bbox: 0.4027, d2.loss_cls: 0.1896, d2.loss_bbox: 0.3824, d3.loss_cls: 0.1766, d3.loss_bbox: 0.3748, d4.loss_cls: 0.1734, d4.loss_bbox: 0.3729, d5.loss_cls: 0.1725, d5.loss_bbox: 0.3726, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0031, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7985, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7304, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7089, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7049, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7031, d0.loss_map_cls_all: 0.2302, d0.loss_map_pts_all: 1.1726, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2302, d0.loss_map_pts: 1.1726, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.2068, d1.loss_map_pts: 0.8580, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1839, d2.loss_map_pts: 0.7269, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1706, d3.loss_map_pts: 0.6740, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1651, d4.loss_map_pts: 0.6588, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1607, d5.loss_map_pts: 0.6550, d5.loss_map_dir: 0.0070, loss: 29.8947, grad_norm: 160.4097 +2026-02-27 17:28:06,581 - DriveTransformer - INFO - Epoch [7][33750/39528] lr: 8.550e-05, eta: 5 days, 17:52:59, time: 0.761, data_time: 0.036, memory: 19865, loss_cls: 0.1481, loss_bbox: 0.3698, loss_traj: 0.6939, loss_traj_cls: 0.0012, loss_map_cls: 0.1698, loss_map_pts: 0.7110, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.8936, d0.loss_plan_l1_fix_dist: 0.3238, d1.loss_plan_l1_fix_time: 1.1327, d1.loss_plan_l1_fix_dist: 0.2071, d2.loss_plan_l1_fix_time: 1.1317, d2.loss_plan_l1_fix_dist: 0.1919, d3.loss_plan_l1_fix_time: 1.1273, d3.loss_plan_l1_fix_dist: 0.2017, d4.loss_plan_l1_fix_time: 1.1307, d4.loss_plan_l1_fix_dist: 0.2158, d5.loss_plan_l1_fix_time: 1.1346, d5.loss_plan_l1_fix_dist: 0.2283, d6.loss_plan_l1_fix_time: 1.1395, d6.loss_plan_l1_fix_dist: 0.2432, d0.loss_cls_all: 0.1834, d0.loss_bbox_all: 0.4336, d0.loss_cls: 0.1834, d0.loss_bbox: 0.4336, d1.loss_cls: 0.1763, d1.loss_bbox: 0.4003, d2.loss_cls: 0.1668, d2.loss_bbox: 0.3792, d3.loss_cls: 0.1539, d3.loss_bbox: 0.3733, d4.loss_cls: 0.1501, d4.loss_bbox: 0.3702, d5.loss_cls: 0.1483, d5.loss_bbox: 0.3700, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9106, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7549, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7062, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6896, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6918, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6947, d0.loss_map_cls_all: 0.2542, d0.loss_map_pts_all: 1.4386, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2542, d0.loss_map_pts: 1.4386, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2188, d1.loss_map_pts: 1.0055, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1927, d2.loss_map_pts: 0.8134, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1820, d3.loss_map_pts: 0.7372, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1749, d4.loss_map_pts: 0.7223, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1702, d5.loss_map_pts: 0.7134, d5.loss_map_dir: 0.0103, loss: 30.1676, grad_norm: 158.0650 +2026-02-27 17:28:43,928 - DriveTransformer - INFO - Epoch [7][33800/39528] lr: 8.550e-05, eta: 5 days, 17:52:37, time: 0.747, data_time: 0.037, memory: 19865, loss_cls: 0.1325, loss_bbox: 0.3395, loss_traj: 0.5788, loss_traj_cls: 0.0012, loss_map_cls: 0.1453, loss_map_pts: 0.6449, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.9451, d0.loss_plan_l1_fix_dist: 0.4030, d1.loss_plan_l1_fix_time: 1.2443, d1.loss_plan_l1_fix_dist: 0.2023, d2.loss_plan_l1_fix_time: 1.2344, d2.loss_plan_l1_fix_dist: 0.1832, d3.loss_plan_l1_fix_time: 1.2299, d3.loss_plan_l1_fix_dist: 0.1858, d4.loss_plan_l1_fix_time: 1.2321, d4.loss_plan_l1_fix_dist: 0.1960, d5.loss_plan_l1_fix_time: 1.2347, d5.loss_plan_l1_fix_dist: 0.2078, d6.loss_plan_l1_fix_time: 1.2375, d6.loss_plan_l1_fix_dist: 0.2212, d0.loss_cls_all: 0.1682, d0.loss_bbox_all: 0.4076, d0.loss_cls: 0.1682, d0.loss_bbox: 0.4076, d1.loss_cls: 0.1660, d1.loss_bbox: 0.3682, d2.loss_cls: 0.1508, d2.loss_bbox: 0.3490, d3.loss_cls: 0.1377, d3.loss_bbox: 0.3404, d4.loss_cls: 0.1318, d4.loss_bbox: 0.3391, d5.loss_cls: 0.1321, d5.loss_bbox: 0.3393, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7480, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6319, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5879, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5766, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5801, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5795, d0.loss_map_cls_all: 0.2122, d0.loss_map_pts_all: 1.3171, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2122, d0.loss_map_pts: 1.3171, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1859, d1.loss_map_pts: 0.9195, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1663, d2.loss_map_pts: 0.7421, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1574, d3.loss_map_pts: 0.6720, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1518, d4.loss_map_pts: 0.6502, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1471, d5.loss_map_pts: 0.6457, d5.loss_map_dir: 0.0083, loss: 28.6778, grad_norm: 156.4991 +2026-02-27 17:29:22,219 - DriveTransformer - INFO - Epoch [7][33850/39528] lr: 8.550e-05, eta: 5 days, 17:52:34, time: 0.766, data_time: 0.037, memory: 19865, loss_cls: 0.1463, loss_bbox: 0.3840, loss_traj: 0.5957, loss_traj_cls: 0.0012, loss_map_cls: 0.1584, loss_map_pts: 0.7247, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.8476, d0.loss_plan_l1_fix_dist: 0.3879, d1.loss_plan_l1_fix_time: 1.0177, d1.loss_plan_l1_fix_dist: 0.1964, d2.loss_plan_l1_fix_time: 1.0050, d2.loss_plan_l1_fix_dist: 0.1898, d3.loss_plan_l1_fix_time: 1.0078, d3.loss_plan_l1_fix_dist: 0.1960, d4.loss_plan_l1_fix_time: 1.0112, d4.loss_plan_l1_fix_dist: 0.2113, d5.loss_plan_l1_fix_time: 1.0153, d5.loss_plan_l1_fix_dist: 0.2327, d6.loss_plan_l1_fix_time: 1.0196, d6.loss_plan_l1_fix_dist: 0.2605, d0.loss_cls_all: 0.1927, d0.loss_bbox_all: 0.4454, d0.loss_cls: 0.1927, d0.loss_bbox: 0.4454, d1.loss_cls: 0.1888, d1.loss_bbox: 0.4082, d2.loss_cls: 0.1681, d2.loss_bbox: 0.3908, d3.loss_cls: 0.1546, d3.loss_bbox: 0.3844, d4.loss_cls: 0.1507, d4.loss_bbox: 0.3824, d5.loss_cls: 0.1469, d5.loss_bbox: 0.3839, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7963, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6722, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6137, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6023, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5962, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5961, d0.loss_map_cls_all: 0.2221, d0.loss_map_pts_all: 1.4040, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2221, d0.loss_map_pts: 1.4040, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.1997, d1.loss_map_pts: 0.9930, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1821, d2.loss_map_pts: 0.8136, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1745, d3.loss_map_pts: 0.7502, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1666, d4.loss_map_pts: 0.7306, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1615, d5.loss_map_pts: 0.7251, d5.loss_map_dir: 0.0105, loss: 28.7576, grad_norm: 157.4170 +2026-02-27 17:29:59,132 - DriveTransformer - INFO - Epoch [7][33900/39528] lr: 8.550e-05, eta: 5 days, 17:52:03, time: 0.738, data_time: 0.039, memory: 19865, loss_cls: 0.1534, loss_bbox: 0.3605, loss_traj: 0.6022, loss_traj_cls: 0.0012, loss_map_cls: 0.1619, loss_map_pts: 0.6940, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.8349, d0.loss_plan_l1_fix_dist: 0.3543, d1.loss_plan_l1_fix_time: 1.0653, d1.loss_plan_l1_fix_dist: 0.1561, d2.loss_plan_l1_fix_time: 1.0579, d2.loss_plan_l1_fix_dist: 0.1527, d3.loss_plan_l1_fix_time: 1.0621, d3.loss_plan_l1_fix_dist: 0.1593, d4.loss_plan_l1_fix_time: 1.0653, d4.loss_plan_l1_fix_dist: 0.1710, d5.loss_plan_l1_fix_time: 1.0690, d5.loss_plan_l1_fix_dist: 0.1833, d6.loss_plan_l1_fix_time: 1.0733, d6.loss_plan_l1_fix_dist: 0.1953, d0.loss_cls_all: 0.2021, d0.loss_bbox_all: 0.4233, d0.loss_cls: 0.2021, d0.loss_bbox: 0.4233, d1.loss_cls: 0.1955, d1.loss_bbox: 0.3859, d2.loss_cls: 0.1778, d2.loss_bbox: 0.3689, d3.loss_cls: 0.1635, d3.loss_bbox: 0.3626, d4.loss_cls: 0.1567, d4.loss_bbox: 0.3611, d5.loss_cls: 0.1540, d5.loss_bbox: 0.3602, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7945, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6630, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6253, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6117, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6039, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6027, d0.loss_map_cls_all: 0.2301, d0.loss_map_pts_all: 1.3626, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2301, d0.loss_map_pts: 1.3626, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2028, d1.loss_map_pts: 0.9560, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1829, d2.loss_map_pts: 0.7809, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1750, d3.loss_map_pts: 0.7244, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1693, d4.loss_map_pts: 0.7029, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1654, d5.loss_map_pts: 0.6931, d5.loss_map_dir: 0.0104, loss: 28.4347, grad_norm: 156.5797 +2026-02-27 17:30:34,527 - DriveTransformer - INFO - Epoch [7][33950/39528] lr: 8.550e-05, eta: 5 days, 17:51:02, time: 0.708, data_time: 0.034, memory: 19865, loss_cls: 0.1718, loss_bbox: 0.3926, loss_traj: 0.7618, loss_traj_cls: 0.0011, loss_map_cls: 0.1947, loss_map_pts: 0.7598, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.8322, d0.loss_plan_l1_fix_dist: 0.4459, d1.loss_plan_l1_fix_time: 1.1314, d1.loss_plan_l1_fix_dist: 0.1897, d2.loss_plan_l1_fix_time: 1.1165, d2.loss_plan_l1_fix_dist: 0.1877, d3.loss_plan_l1_fix_time: 1.1163, d3.loss_plan_l1_fix_dist: 0.1983, d4.loss_plan_l1_fix_time: 1.1184, d4.loss_plan_l1_fix_dist: 0.2071, d5.loss_plan_l1_fix_time: 1.1211, d5.loss_plan_l1_fix_dist: 0.2161, d6.loss_plan_l1_fix_time: 1.1239, d6.loss_plan_l1_fix_dist: 0.2252, d0.loss_cls_all: 0.2244, d0.loss_bbox_all: 0.4608, d0.loss_cls: 0.2244, d0.loss_bbox: 0.4608, d1.loss_cls: 0.2126, d1.loss_bbox: 0.4276, d2.loss_cls: 0.1924, d2.loss_bbox: 0.4073, d3.loss_cls: 0.1788, d3.loss_bbox: 0.3982, d4.loss_cls: 0.1706, d4.loss_bbox: 0.3965, d5.loss_cls: 0.1713, d5.loss_bbox: 0.3941, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0534, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8587, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7959, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7731, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.7638, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7543, d0.loss_map_cls_all: 0.2548, d0.loss_map_pts_all: 1.4165, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2548, d0.loss_map_pts: 1.4165, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2341, d1.loss_map_pts: 1.0363, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.2121, d2.loss_map_pts: 0.8654, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.2015, d3.loss_map_pts: 0.7972, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1990, d4.loss_map_pts: 0.7708, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1963, d5.loss_map_pts: 0.7612, d5.loss_map_dir: 0.0092, loss: 31.5242, grad_norm: 154.0477 +2026-02-27 17:31:13,416 - DriveTransformer - INFO - Epoch [7][34000/39528] lr: 8.550e-05, eta: 5 days, 17:51:12, time: 0.779, data_time: 0.036, memory: 19865, loss_cls: 0.1573, loss_bbox: 0.3856, loss_traj: 0.6501, loss_traj_cls: 0.0011, loss_map_cls: 0.1553, loss_map_pts: 0.7811, loss_map_dir: 0.0117, d0.loss_plan_l1_fix_time: 2.4396, d0.loss_plan_l1_fix_dist: 0.3643, d1.loss_plan_l1_fix_time: 1.0477, d1.loss_plan_l1_fix_dist: 0.1966, d2.loss_plan_l1_fix_time: 1.0308, d2.loss_plan_l1_fix_dist: 0.1966, d3.loss_plan_l1_fix_time: 1.0280, d3.loss_plan_l1_fix_dist: 0.2074, d4.loss_plan_l1_fix_time: 1.0308, d4.loss_plan_l1_fix_dist: 0.2155, d5.loss_plan_l1_fix_time: 1.0342, d5.loss_plan_l1_fix_dist: 0.2252, d6.loss_plan_l1_fix_time: 1.0380, d6.loss_plan_l1_fix_dist: 0.2400, d0.loss_cls_all: 0.2006, d0.loss_bbox_all: 0.4429, d0.loss_cls: 0.2006, d0.loss_bbox: 0.4429, d1.loss_cls: 0.1910, d1.loss_bbox: 0.4052, d2.loss_cls: 0.1753, d2.loss_bbox: 0.3891, d3.loss_cls: 0.1626, d3.loss_bbox: 0.3856, d4.loss_cls: 0.1586, d4.loss_bbox: 0.3860, d5.loss_cls: 0.1565, d5.loss_bbox: 0.3856, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9185, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7451, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6819, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6738, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6547, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6510, d0.loss_map_cls_all: 0.2353, d0.loss_map_pts_all: 1.5101, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2353, d0.loss_map_pts: 1.5101, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2005, d1.loss_map_pts: 1.0728, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.1771, d2.loss_map_pts: 0.8769, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1674, d3.loss_map_pts: 0.8072, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1614, d4.loss_map_pts: 0.7876, d4.loss_map_dir: 0.0116, d5.loss_map_cls: 0.1584, d5.loss_map_pts: 0.7818, d5.loss_map_dir: 0.0117, loss: 29.6097, grad_norm: 153.9210 +2026-02-27 17:31:48,070 - DriveTransformer - INFO - Epoch [7][34050/39528] lr: 8.550e-05, eta: 5 days, 17:49:55, time: 0.692, data_time: 0.038, memory: 19865, loss_cls: 0.1370, loss_bbox: 0.3234, loss_traj: 0.6198, loss_traj_cls: 0.0012, loss_map_cls: 0.1354, loss_map_pts: 0.6183, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.0077, d0.loss_plan_l1_fix_dist: 0.4308, d1.loss_plan_l1_fix_time: 0.9530, d1.loss_plan_l1_fix_dist: 0.1886, d2.loss_plan_l1_fix_time: 0.9317, d2.loss_plan_l1_fix_dist: 0.1760, d3.loss_plan_l1_fix_time: 0.9290, d3.loss_plan_l1_fix_dist: 0.1771, d4.loss_plan_l1_fix_time: 0.9304, d4.loss_plan_l1_fix_dist: 0.1895, d5.loss_plan_l1_fix_time: 0.9325, d5.loss_plan_l1_fix_dist: 0.2070, d6.loss_plan_l1_fix_time: 0.9358, d6.loss_plan_l1_fix_dist: 0.2253, d0.loss_cls_all: 0.1739, d0.loss_bbox_all: 0.3845, d0.loss_cls: 0.1739, d0.loss_bbox: 0.3845, d1.loss_cls: 0.1710, d1.loss_bbox: 0.3512, d2.loss_cls: 0.1561, d2.loss_bbox: 0.3337, d3.loss_cls: 0.1437, d3.loss_bbox: 0.3264, d4.loss_cls: 0.1366, d4.loss_bbox: 0.3255, d5.loss_cls: 0.1356, d5.loss_bbox: 0.3236, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8703, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7030, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6441, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6312, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6248, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6190, d0.loss_map_cls_all: 0.2068, d0.loss_map_pts_all: 1.1662, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2068, d0.loss_map_pts: 1.1662, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1767, d1.loss_map_pts: 0.8357, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1569, d2.loss_map_pts: 0.6977, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1453, d3.loss_map_pts: 0.6452, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1415, d4.loss_map_pts: 0.6253, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1365, d5.loss_map_pts: 0.6197, d5.loss_map_dir: 0.0076, loss: 25.6536, grad_norm: 147.7293 +2026-02-27 17:32:24,809 - DriveTransformer - INFO - Epoch [7][34100/39528] lr: 8.550e-05, eta: 5 days, 17:49:21, time: 0.735, data_time: 0.039, memory: 19865, loss_cls: 0.1503, loss_bbox: 0.3649, loss_traj: 0.6041, loss_traj_cls: 0.0012, loss_map_cls: 0.1465, loss_map_pts: 0.6226, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.6491, d0.loss_plan_l1_fix_dist: 0.3819, d1.loss_plan_l1_fix_time: 1.0230, d1.loss_plan_l1_fix_dist: 0.2083, d2.loss_plan_l1_fix_time: 1.0058, d2.loss_plan_l1_fix_dist: 0.1905, d3.loss_plan_l1_fix_time: 1.0046, d3.loss_plan_l1_fix_dist: 0.1938, d4.loss_plan_l1_fix_time: 1.0067, d4.loss_plan_l1_fix_dist: 0.2046, d5.loss_plan_l1_fix_time: 1.0092, d5.loss_plan_l1_fix_dist: 0.2197, d6.loss_plan_l1_fix_time: 1.0120, d6.loss_plan_l1_fix_dist: 0.2396, d0.loss_cls_all: 0.1911, d0.loss_bbox_all: 0.4149, d0.loss_cls: 0.1911, d0.loss_bbox: 0.4149, d1.loss_cls: 0.1837, d1.loss_bbox: 0.3842, d2.loss_cls: 0.1699, d2.loss_bbox: 0.3669, d3.loss_cls: 0.1556, d3.loss_bbox: 0.3641, d4.loss_cls: 0.1514, d4.loss_bbox: 0.3623, d5.loss_cls: 0.1500, d5.loss_bbox: 0.3640, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8251, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6690, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6278, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6290, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6092, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6045, d0.loss_map_cls_all: 0.2184, d0.loss_map_pts_all: 1.1577, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2184, d0.loss_map_pts: 1.1577, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1858, d1.loss_map_pts: 0.8344, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1668, d2.loss_map_pts: 0.6962, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1562, d3.loss_map_pts: 0.6470, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1521, d4.loss_map_pts: 0.6303, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1475, d5.loss_map_pts: 0.6235, d5.loss_map_dir: 0.0091, loss: 27.1342, grad_norm: 142.8113 +2026-02-27 17:33:01,828 - DriveTransformer - INFO - Epoch [7][34150/39528] lr: 8.550e-05, eta: 5 days, 17:48:52, time: 0.740, data_time: 0.039, memory: 19865, loss_cls: 0.1368, loss_bbox: 0.3609, loss_traj: 0.6201, loss_traj_cls: 0.0012, loss_map_cls: 0.1661, loss_map_pts: 0.6920, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.2997, d0.loss_plan_l1_fix_dist: 0.4375, d1.loss_plan_l1_fix_time: 1.0117, d1.loss_plan_l1_fix_dist: 0.2137, d2.loss_plan_l1_fix_time: 1.0021, d2.loss_plan_l1_fix_dist: 0.2012, d3.loss_plan_l1_fix_time: 1.0020, d3.loss_plan_l1_fix_dist: 0.2030, d4.loss_plan_l1_fix_time: 1.0048, d4.loss_plan_l1_fix_dist: 0.2125, d5.loss_plan_l1_fix_time: 1.0073, d5.loss_plan_l1_fix_dist: 0.2223, d6.loss_plan_l1_fix_time: 1.0100, d6.loss_plan_l1_fix_dist: 0.2287, d0.loss_cls_all: 0.1808, d0.loss_bbox_all: 0.4030, d0.loss_cls: 0.1808, d0.loss_bbox: 0.4030, d1.loss_cls: 0.1768, d1.loss_bbox: 0.3706, d2.loss_cls: 0.1596, d2.loss_bbox: 0.3573, d3.loss_cls: 0.1460, d3.loss_bbox: 0.3560, d4.loss_cls: 0.1380, d4.loss_bbox: 0.3566, d5.loss_cls: 0.1370, d5.loss_bbox: 0.3580, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8070, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6722, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6342, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6195, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6184, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6159, d0.loss_map_cls_all: 0.2320, d0.loss_map_pts_all: 1.3215, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2320, d0.loss_map_pts: 1.3215, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2074, d1.loss_map_pts: 0.9451, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1868, d2.loss_map_pts: 0.7825, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1744, d3.loss_map_pts: 0.7242, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1704, d4.loss_map_pts: 0.7021, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1670, d5.loss_map_pts: 0.6943, d5.loss_map_dir: 0.0091, loss: 27.6613, grad_norm: 141.2030 +2026-02-27 17:33:38,708 - DriveTransformer - INFO - Epoch [7][34200/39528] lr: 8.550e-05, eta: 5 days, 17:48:20, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.1290, loss_bbox: 0.3401, loss_traj: 0.6420, loss_traj_cls: 0.0012, loss_map_cls: 0.1249, loss_map_pts: 0.6374, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.7898, d0.loss_plan_l1_fix_dist: 0.3908, d1.loss_plan_l1_fix_time: 1.0742, d1.loss_plan_l1_fix_dist: 0.1794, d2.loss_plan_l1_fix_time: 1.0630, d2.loss_plan_l1_fix_dist: 0.1681, d3.loss_plan_l1_fix_time: 1.0633, d3.loss_plan_l1_fix_dist: 0.1750, d4.loss_plan_l1_fix_time: 1.0658, d4.loss_plan_l1_fix_dist: 0.1878, d5.loss_plan_l1_fix_time: 1.0685, d5.loss_plan_l1_fix_dist: 0.2052, d6.loss_plan_l1_fix_time: 1.0719, d6.loss_plan_l1_fix_dist: 0.2249, d0.loss_cls_all: 0.1645, d0.loss_bbox_all: 0.3961, d0.loss_cls: 0.1645, d0.loss_bbox: 0.3961, d1.loss_cls: 0.1565, d1.loss_bbox: 0.3668, d2.loss_cls: 0.1471, d2.loss_bbox: 0.3478, d3.loss_cls: 0.1354, d3.loss_bbox: 0.3413, d4.loss_cls: 0.1303, d4.loss_bbox: 0.3396, d5.loss_cls: 0.1299, d5.loss_bbox: 0.3391, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8271, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6854, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6493, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6419, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6412, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6419, d0.loss_map_cls_all: 0.1859, d0.loss_map_pts_all: 1.2440, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.1859, d0.loss_map_pts: 1.2440, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1619, d1.loss_map_pts: 0.8576, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1440, d2.loss_map_pts: 0.7106, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1329, d3.loss_map_pts: 0.6572, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1296, d4.loss_map_pts: 0.6389, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1263, d5.loss_map_pts: 0.6368, d5.loss_map_dir: 0.0093, loss: 27.3776, grad_norm: 140.4702 +2026-02-27 17:34:15,285 - DriveTransformer - INFO - Epoch [7][34250/39528] lr: 8.550e-05, eta: 5 days, 17:47:43, time: 0.732, data_time: 0.039, memory: 19865, loss_cls: 0.1335, loss_bbox: 0.3348, loss_traj: 0.6043, loss_traj_cls: 0.0013, loss_map_cls: 0.1345, loss_map_pts: 0.6200, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.3026, d0.loss_plan_l1_fix_dist: 0.3667, d1.loss_plan_l1_fix_time: 0.8860, d1.loss_plan_l1_fix_dist: 0.1633, d2.loss_plan_l1_fix_time: 0.8635, d2.loss_plan_l1_fix_dist: 0.1591, d3.loss_plan_l1_fix_time: 0.8601, d3.loss_plan_l1_fix_dist: 0.1698, d4.loss_plan_l1_fix_time: 0.8617, d4.loss_plan_l1_fix_dist: 0.1856, d5.loss_plan_l1_fix_time: 0.8648, d5.loss_plan_l1_fix_dist: 0.2040, d6.loss_plan_l1_fix_time: 0.8695, d6.loss_plan_l1_fix_dist: 0.2259, d0.loss_cls_all: 0.1703, d0.loss_bbox_all: 0.3783, d0.loss_cls: 0.1703, d0.loss_bbox: 0.3783, d1.loss_cls: 0.1633, d1.loss_bbox: 0.3519, d2.loss_cls: 0.1515, d2.loss_bbox: 0.3370, d3.loss_cls: 0.1398, d3.loss_bbox: 0.3301, d4.loss_cls: 0.1349, d4.loss_bbox: 0.3314, d5.loss_cls: 0.1326, d5.loss_bbox: 0.3336, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7732, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6447, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6190, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6079, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6060, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6041, d0.loss_map_cls_all: 0.2106, d0.loss_map_pts_all: 1.2635, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2106, d0.loss_map_pts: 1.2635, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1735, d1.loss_map_pts: 0.8688, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1566, d2.loss_map_pts: 0.7174, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1460, d3.loss_map_pts: 0.6550, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1404, d4.loss_map_pts: 0.6277, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1353, d5.loss_map_pts: 0.6193, d5.loss_map_dir: 0.0087, loss: 25.4321, grad_norm: 141.5354 +2026-02-27 17:34:51,526 - DriveTransformer - INFO - Epoch [7][34300/39528] lr: 8.550e-05, eta: 5 days, 17:46:59, time: 0.725, data_time: 0.039, memory: 19865, loss_cls: 0.1363, loss_bbox: 0.3521, loss_traj: 0.5794, loss_traj_cls: 0.0012, loss_map_cls: 0.1484, loss_map_pts: 0.5836, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.5057, d0.loss_plan_l1_fix_dist: 0.4826, d1.loss_plan_l1_fix_time: 1.0648, d1.loss_plan_l1_fix_dist: 0.1779, d2.loss_plan_l1_fix_time: 1.0568, d2.loss_plan_l1_fix_dist: 0.1831, d3.loss_plan_l1_fix_time: 1.0565, d3.loss_plan_l1_fix_dist: 0.1936, d4.loss_plan_l1_fix_time: 1.0585, d4.loss_plan_l1_fix_dist: 0.2075, d5.loss_plan_l1_fix_time: 1.0609, d5.loss_plan_l1_fix_dist: 0.2213, d6.loss_plan_l1_fix_time: 1.0638, d6.loss_plan_l1_fix_dist: 0.2392, d0.loss_cls_all: 0.1812, d0.loss_bbox_all: 0.4017, d0.loss_cls: 0.1812, d0.loss_bbox: 0.4017, d1.loss_cls: 0.1769, d1.loss_bbox: 0.3674, d2.loss_cls: 0.1576, d2.loss_bbox: 0.3519, d3.loss_cls: 0.1424, d3.loss_bbox: 0.3489, d4.loss_cls: 0.1376, d4.loss_bbox: 0.3481, d5.loss_cls: 0.1368, d5.loss_bbox: 0.3491, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8073, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6357, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5981, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5864, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5819, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5796, d0.loss_map_cls_all: 0.2164, d0.loss_map_pts_all: 1.1932, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2164, d0.loss_map_pts: 1.1932, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1863, d1.loss_map_pts: 0.8293, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1700, d2.loss_map_pts: 0.6700, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1583, d3.loss_map_pts: 0.6059, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1523, d4.loss_map_pts: 0.5870, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1502, d5.loss_map_pts: 0.5844, d5.loss_map_dir: 0.0079, loss: 26.8267, grad_norm: 139.7283 +2026-02-27 17:35:26,888 - DriveTransformer - INFO - Epoch [7][34350/39528] lr: 8.550e-05, eta: 5 days, 17:45:57, time: 0.707, data_time: 0.037, memory: 19865, loss_cls: 0.1659, loss_bbox: 0.3804, loss_traj: 0.7266, loss_traj_cls: 0.0012, loss_map_cls: 0.1642, loss_map_pts: 0.7305, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.8949, d0.loss_plan_l1_fix_dist: 0.4667, d1.loss_plan_l1_fix_time: 1.1870, d1.loss_plan_l1_fix_dist: 0.1872, d2.loss_plan_l1_fix_time: 1.1735, d2.loss_plan_l1_fix_dist: 0.1911, d3.loss_plan_l1_fix_time: 1.1697, d3.loss_plan_l1_fix_dist: 0.1963, d4.loss_plan_l1_fix_time: 1.1710, d4.loss_plan_l1_fix_dist: 0.2055, d5.loss_plan_l1_fix_time: 1.1727, d5.loss_plan_l1_fix_dist: 0.2121, d6.loss_plan_l1_fix_time: 1.1748, d6.loss_plan_l1_fix_dist: 0.2199, d0.loss_cls_all: 0.2063, d0.loss_bbox_all: 0.4514, d0.loss_cls: 0.2063, d0.loss_bbox: 0.4514, d1.loss_cls: 0.2047, d1.loss_bbox: 0.4101, d2.loss_cls: 0.1871, d2.loss_bbox: 0.3885, d3.loss_cls: 0.1753, d3.loss_bbox: 0.3811, d4.loss_cls: 0.1676, d4.loss_bbox: 0.3787, d5.loss_cls: 0.1661, d5.loss_bbox: 0.3783, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0211, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8080, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7611, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7362, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7291, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7206, d0.loss_map_cls_all: 0.2433, d0.loss_map_pts_all: 1.3558, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2433, d0.loss_map_pts: 1.3558, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.2139, d1.loss_map_pts: 0.9825, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1910, d2.loss_map_pts: 0.8231, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1770, d3.loss_map_pts: 0.7637, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1694, d4.loss_map_pts: 0.7398, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1654, d5.loss_map_pts: 0.7291, d5.loss_map_dir: 0.0088, loss: 30.9474, grad_norm: 138.0104 +2026-02-27 17:36:03,302 - DriveTransformer - INFO - Epoch [7][34400/39528] lr: 8.550e-05, eta: 5 days, 17:45:16, time: 0.728, data_time: 0.036, memory: 19865, loss_cls: 0.1483, loss_bbox: 0.3475, loss_traj: 0.6491, loss_traj_cls: 0.0012, loss_map_cls: 0.1638, loss_map_pts: 0.6561, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.6677, d0.loss_plan_l1_fix_dist: 0.4102, d1.loss_plan_l1_fix_time: 0.9657, d1.loss_plan_l1_fix_dist: 0.1813, d2.loss_plan_l1_fix_time: 0.9546, d2.loss_plan_l1_fix_dist: 0.1839, d3.loss_plan_l1_fix_time: 0.9482, d3.loss_plan_l1_fix_dist: 0.1856, d4.loss_plan_l1_fix_time: 0.9497, d4.loss_plan_l1_fix_dist: 0.1916, d5.loss_plan_l1_fix_time: 0.9523, d5.loss_plan_l1_fix_dist: 0.2023, d6.loss_plan_l1_fix_time: 0.9554, d6.loss_plan_l1_fix_dist: 0.2121, d0.loss_cls_all: 0.1828, d0.loss_bbox_all: 0.4014, d0.loss_cls: 0.1828, d0.loss_bbox: 0.4014, d1.loss_cls: 0.1812, d1.loss_bbox: 0.3735, d2.loss_cls: 0.1712, d2.loss_bbox: 0.3555, d3.loss_cls: 0.1566, d3.loss_bbox: 0.3500, d4.loss_cls: 0.1508, d4.loss_bbox: 0.3467, d5.loss_cls: 0.1488, d5.loss_bbox: 0.3459, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8770, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7033, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6605, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6512, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6495, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6503, d0.loss_map_cls_all: 0.2455, d0.loss_map_pts_all: 1.2994, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2455, d0.loss_map_pts: 1.2994, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.2136, d1.loss_map_pts: 0.9501, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1869, d2.loss_map_pts: 0.7758, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1768, d3.loss_map_pts: 0.6987, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1703, d4.loss_map_pts: 0.6686, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1650, d5.loss_map_pts: 0.6578, d5.loss_map_dir: 0.0079, loss: 27.6866, grad_norm: 136.5151 +2026-02-27 17:36:39,746 - DriveTransformer - INFO - Epoch [7][34450/39528] lr: 8.550e-05, eta: 5 days, 17:44:36, time: 0.729, data_time: 0.036, memory: 19865, loss_cls: 0.1553, loss_bbox: 0.3609, loss_traj: 0.6343, loss_traj_cls: 0.0012, loss_map_cls: 0.1452, loss_map_pts: 0.7382, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.6008, d0.loss_plan_l1_fix_dist: 0.4726, d1.loss_plan_l1_fix_time: 1.0048, d1.loss_plan_l1_fix_dist: 0.1963, d2.loss_plan_l1_fix_time: 1.0003, d2.loss_plan_l1_fix_dist: 0.1940, d3.loss_plan_l1_fix_time: 0.9966, d3.loss_plan_l1_fix_dist: 0.1963, d4.loss_plan_l1_fix_time: 0.9984, d4.loss_plan_l1_fix_dist: 0.1997, d5.loss_plan_l1_fix_time: 1.0008, d5.loss_plan_l1_fix_dist: 0.2080, d6.loss_plan_l1_fix_time: 1.0036, d6.loss_plan_l1_fix_dist: 0.2212, d0.loss_cls_all: 0.1970, d0.loss_bbox_all: 0.4198, d0.loss_cls: 0.1970, d0.loss_bbox: 0.4198, d1.loss_cls: 0.1848, d1.loss_bbox: 0.3895, d2.loss_cls: 0.1721, d2.loss_bbox: 0.3738, d3.loss_cls: 0.1609, d3.loss_bbox: 0.3667, d4.loss_cls: 0.1562, d4.loss_bbox: 0.3627, d5.loss_cls: 0.1553, d5.loss_bbox: 0.3618, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8353, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6754, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6473, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6348, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6294, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6324, d0.loss_map_cls_all: 0.2241, d0.loss_map_pts_all: 1.3538, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2241, d0.loss_map_pts: 1.3538, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1920, d1.loss_map_pts: 0.9981, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1683, d2.loss_map_pts: 0.8334, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1580, d3.loss_map_pts: 0.7693, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1506, d4.loss_map_pts: 0.7466, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1474, d5.loss_map_pts: 0.7390, d5.loss_map_dir: 0.0088, loss: 28.4330, grad_norm: 130.2335 +2026-02-27 17:37:16,495 - DriveTransformer - INFO - Epoch [7][34500/39528] lr: 8.550e-05, eta: 5 days, 17:44:02, time: 0.735, data_time: 0.036, memory: 19865, loss_cls: 0.1489, loss_bbox: 0.3602, loss_traj: 0.5420, loss_traj_cls: 0.0012, loss_map_cls: 0.1294, loss_map_pts: 0.6172, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.6107, d0.loss_plan_l1_fix_dist: 0.4170, d1.loss_plan_l1_fix_time: 0.9556, d1.loss_plan_l1_fix_dist: 0.1921, d2.loss_plan_l1_fix_time: 0.9450, d2.loss_plan_l1_fix_dist: 0.1931, d3.loss_plan_l1_fix_time: 0.9447, d3.loss_plan_l1_fix_dist: 0.1975, d4.loss_plan_l1_fix_time: 0.9470, d4.loss_plan_l1_fix_dist: 0.2066, d5.loss_plan_l1_fix_time: 0.9499, d5.loss_plan_l1_fix_dist: 0.2149, d6.loss_plan_l1_fix_time: 0.9541, d6.loss_plan_l1_fix_dist: 0.2271, d0.loss_cls_all: 0.1877, d0.loss_bbox_all: 0.4209, d0.loss_cls: 0.1877, d0.loss_bbox: 0.4209, d1.loss_cls: 0.1815, d1.loss_bbox: 0.3873, d2.loss_cls: 0.1701, d2.loss_bbox: 0.3705, d3.loss_cls: 0.1540, d3.loss_bbox: 0.3637, d4.loss_cls: 0.1498, d4.loss_bbox: 0.3607, d5.loss_cls: 0.1484, d5.loss_bbox: 0.3597, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7548, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6020, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5630, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5480, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5417, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5418, d0.loss_map_cls_all: 0.2037, d0.loss_map_pts_all: 1.1753, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2037, d0.loss_map_pts: 1.1753, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1700, d1.loss_map_pts: 0.8400, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1535, d2.loss_map_pts: 0.6920, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1410, d3.loss_map_pts: 0.6394, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1354, d4.loss_map_pts: 0.6233, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1322, d5.loss_map_pts: 0.6174, d5.loss_map_dir: 0.0085, loss: 26.1448, grad_norm: 128.5904 +2026-02-27 17:37:52,189 - DriveTransformer - INFO - Epoch [7][34550/39528] lr: 8.550e-05, eta: 5 days, 17:43:07, time: 0.714, data_time: 0.038, memory: 19865, loss_cls: 0.1294, loss_bbox: 0.3287, loss_traj: 0.6404, loss_traj_cls: 0.0012, loss_map_cls: 0.1352, loss_map_pts: 0.5899, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.4196, d0.loss_plan_l1_fix_dist: 0.4073, d1.loss_plan_l1_fix_time: 1.1725, d1.loss_plan_l1_fix_dist: 0.1676, d2.loss_plan_l1_fix_time: 1.1603, d2.loss_plan_l1_fix_dist: 0.1692, d3.loss_plan_l1_fix_time: 1.1483, d3.loss_plan_l1_fix_dist: 0.1762, d4.loss_plan_l1_fix_time: 1.1493, d4.loss_plan_l1_fix_dist: 0.1892, d5.loss_plan_l1_fix_time: 1.1520, d5.loss_plan_l1_fix_dist: 0.1979, d6.loss_plan_l1_fix_time: 1.1557, d6.loss_plan_l1_fix_dist: 0.2075, d0.loss_cls_all: 0.1651, d0.loss_bbox_all: 0.3779, d0.loss_cls: 0.1651, d0.loss_bbox: 0.3779, d1.loss_cls: 0.1558, d1.loss_bbox: 0.3485, d2.loss_cls: 0.1450, d2.loss_bbox: 0.3331, d3.loss_cls: 0.1338, d3.loss_bbox: 0.3297, d4.loss_cls: 0.1291, d4.loss_bbox: 0.3279, d5.loss_cls: 0.1289, d5.loss_bbox: 0.3276, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8250, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7143, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6596, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6358, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6345, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6343, d0.loss_map_cls_all: 0.2031, d0.loss_map_pts_all: 1.2179, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2031, d0.loss_map_pts: 1.2179, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1749, d1.loss_map_pts: 0.8414, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1582, d2.loss_map_pts: 0.6793, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1481, d3.loss_map_pts: 0.6169, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1414, d4.loss_map_pts: 0.5978, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1372, d5.loss_map_pts: 0.5911, d5.loss_map_dir: 0.0075, loss: 27.2391, grad_norm: 130.3395 +2026-02-27 17:38:29,409 - DriveTransformer - INFO - Epoch [7][34600/39528] lr: 8.550e-05, eta: 5 days, 17:42:43, time: 0.744, data_time: 0.037, memory: 19865, loss_cls: 0.1556, loss_bbox: 0.3684, loss_traj: 0.6882, loss_traj_cls: 0.0011, loss_map_cls: 0.1603, loss_map_pts: 0.6912, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.7852, d0.loss_plan_l1_fix_dist: 0.4217, d1.loss_plan_l1_fix_time: 1.1866, d1.loss_plan_l1_fix_dist: 0.1831, d2.loss_plan_l1_fix_time: 1.1579, d2.loss_plan_l1_fix_dist: 0.1871, d3.loss_plan_l1_fix_time: 1.1603, d3.loss_plan_l1_fix_dist: 0.1948, d4.loss_plan_l1_fix_time: 1.1626, d4.loss_plan_l1_fix_dist: 0.2064, d5.loss_plan_l1_fix_time: 1.1655, d5.loss_plan_l1_fix_dist: 0.2162, d6.loss_plan_l1_fix_time: 1.1685, d6.loss_plan_l1_fix_dist: 0.2227, d0.loss_cls_all: 0.1961, d0.loss_bbox_all: 0.4356, d0.loss_cls: 0.1961, d0.loss_bbox: 0.4356, d1.loss_cls: 0.1918, d1.loss_bbox: 0.3996, d2.loss_cls: 0.1803, d2.loss_bbox: 0.3776, d3.loss_cls: 0.1610, d3.loss_bbox: 0.3738, d4.loss_cls: 0.1569, d4.loss_bbox: 0.3684, d5.loss_cls: 0.1548, d5.loss_bbox: 0.3683, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9407, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7405, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7031, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6898, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6894, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6886, d0.loss_map_cls_all: 0.2406, d0.loss_map_pts_all: 1.3864, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2406, d0.loss_map_pts: 1.3864, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2057, d1.loss_map_pts: 0.9892, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1842, d2.loss_map_pts: 0.8035, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1732, d3.loss_map_pts: 0.7254, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1672, d4.loss_map_pts: 0.6979, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1627, d5.loss_map_pts: 0.6912, d5.loss_map_dir: 0.0093, loss: 30.0648, grad_norm: 129.6172 +2026-02-27 17:39:04,997 - DriveTransformer - INFO - Epoch [7][34650/39528] lr: 8.550e-05, eta: 5 days, 17:41:46, time: 0.712, data_time: 0.037, memory: 19865, loss_cls: 0.1659, loss_bbox: 0.3686, loss_traj: 0.7285, loss_traj_cls: 0.0012, loss_map_cls: 0.1513, loss_map_pts: 0.6175, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.7256, d0.loss_plan_l1_fix_dist: 0.4426, d1.loss_plan_l1_fix_time: 1.0361, d1.loss_plan_l1_fix_dist: 0.1669, d2.loss_plan_l1_fix_time: 1.0186, d2.loss_plan_l1_fix_dist: 0.1670, d3.loss_plan_l1_fix_time: 1.0168, d3.loss_plan_l1_fix_dist: 0.1678, d4.loss_plan_l1_fix_time: 1.0195, d4.loss_plan_l1_fix_dist: 0.1740, d5.loss_plan_l1_fix_time: 1.0223, d5.loss_plan_l1_fix_dist: 0.1852, d6.loss_plan_l1_fix_time: 1.0254, d6.loss_plan_l1_fix_dist: 0.1951, d0.loss_cls_all: 0.2053, d0.loss_bbox_all: 0.4330, d0.loss_cls: 0.2053, d0.loss_bbox: 0.4330, d1.loss_cls: 0.1989, d1.loss_bbox: 0.3968, d2.loss_cls: 0.1864, d2.loss_bbox: 0.3800, d3.loss_cls: 0.1734, d3.loss_bbox: 0.3743, d4.loss_cls: 0.1668, d4.loss_bbox: 0.3695, d5.loss_cls: 0.1665, d5.loss_bbox: 0.3673, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9453, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7807, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7458, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7308, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7308, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.7291, d0.loss_map_cls_all: 0.2182, d0.loss_map_pts_all: 1.1868, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2182, d0.loss_map_pts: 1.1868, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1956, d1.loss_map_pts: 0.8460, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1743, d2.loss_map_pts: 0.7089, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1626, d3.loss_map_pts: 0.6430, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1569, d4.loss_map_pts: 0.6257, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1513, d5.loss_map_pts: 0.6188, d5.loss_map_dir: 0.0080, loss: 28.2795, grad_norm: 133.0135 +2026-02-27 17:39:42,243 - DriveTransformer - INFO - Epoch [7][34700/39528] lr: 8.550e-05, eta: 5 days, 17:41:21, time: 0.745, data_time: 0.034, memory: 19865, loss_cls: 0.1599, loss_bbox: 0.3501, loss_traj: 0.5599, loss_traj_cls: 0.0012, loss_map_cls: 0.1609, loss_map_pts: 0.7017, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.7913, d0.loss_plan_l1_fix_dist: 0.3068, d1.loss_plan_l1_fix_time: 1.1533, d1.loss_plan_l1_fix_dist: 0.1557, d2.loss_plan_l1_fix_time: 1.1304, d2.loss_plan_l1_fix_dist: 0.1621, d3.loss_plan_l1_fix_time: 1.1292, d3.loss_plan_l1_fix_dist: 0.1695, d4.loss_plan_l1_fix_time: 1.1314, d4.loss_plan_l1_fix_dist: 0.1771, d5.loss_plan_l1_fix_time: 1.1340, d5.loss_plan_l1_fix_dist: 0.1821, d6.loss_plan_l1_fix_time: 1.1371, d6.loss_plan_l1_fix_dist: 0.1978, d0.loss_cls_all: 0.2059, d0.loss_bbox_all: 0.4155, d0.loss_cls: 0.2059, d0.loss_bbox: 0.4155, d1.loss_cls: 0.1987, d1.loss_bbox: 0.3792, d2.loss_cls: 0.1824, d2.loss_bbox: 0.3587, d3.loss_cls: 0.1695, d3.loss_bbox: 0.3514, d4.loss_cls: 0.1626, d4.loss_bbox: 0.3500, d5.loss_cls: 0.1602, d5.loss_bbox: 0.3486, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8248, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6307, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5747, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5583, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5610, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5645, d0.loss_map_cls_all: 0.2341, d0.loss_map_pts_all: 1.4111, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2341, d0.loss_map_pts: 1.4111, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2041, d1.loss_map_pts: 0.9788, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1813, d2.loss_map_pts: 0.8122, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1734, d3.loss_map_pts: 0.7392, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1652, d4.loss_map_pts: 0.7124, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1621, d5.loss_map_pts: 0.7040, d5.loss_map_dir: 0.0096, loss: 28.7167, grad_norm: 131.6898 +2026-02-27 17:40:19,486 - DriveTransformer - INFO - Epoch [7][34750/39528] lr: 8.550e-05, eta: 5 days, 17:40:57, time: 0.745, data_time: 0.037, memory: 19865, loss_cls: 0.1617, loss_bbox: 0.3543, loss_traj: 0.5861, loss_traj_cls: 0.0012, loss_map_cls: 0.1612, loss_map_pts: 0.7623, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.9015, d0.loss_plan_l1_fix_dist: 0.3996, d1.loss_plan_l1_fix_time: 1.1923, d1.loss_plan_l1_fix_dist: 0.1805, d2.loss_plan_l1_fix_time: 1.1785, d2.loss_plan_l1_fix_dist: 0.1831, d3.loss_plan_l1_fix_time: 1.1795, d3.loss_plan_l1_fix_dist: 0.1901, d4.loss_plan_l1_fix_time: 1.1819, d4.loss_plan_l1_fix_dist: 0.1988, d5.loss_plan_l1_fix_time: 1.1844, d5.loss_plan_l1_fix_dist: 0.2085, d6.loss_plan_l1_fix_time: 1.1872, d6.loss_plan_l1_fix_dist: 0.2183, d0.loss_cls_all: 0.2028, d0.loss_bbox_all: 0.4261, d0.loss_cls: 0.2028, d0.loss_bbox: 0.4261, d1.loss_cls: 0.1942, d1.loss_bbox: 0.3846, d2.loss_cls: 0.1827, d2.loss_bbox: 0.3667, d3.loss_cls: 0.1673, d3.loss_bbox: 0.3594, d4.loss_cls: 0.1615, d4.loss_bbox: 0.3563, d5.loss_cls: 0.1614, d5.loss_bbox: 0.3554, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7561, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6329, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6067, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5938, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5901, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5886, d0.loss_map_cls_all: 0.2273, d0.loss_map_pts_all: 1.4345, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2273, d0.loss_map_pts: 1.4345, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1991, d1.loss_map_pts: 1.0433, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1831, d2.loss_map_pts: 0.8628, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1701, d3.loss_map_pts: 0.7986, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1642, d4.loss_map_pts: 0.7715, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1616, d5.loss_map_pts: 0.7640, d5.loss_map_dir: 0.0099, loss: 29.8511, grad_norm: 130.6162 +2026-02-27 17:40:55,423 - DriveTransformer - INFO - Epoch [7][34800/39528] lr: 8.550e-05, eta: 5 days, 17:40:08, time: 0.720, data_time: 0.036, memory: 19865, loss_cls: 0.1529, loss_bbox: 0.3536, loss_traj: 0.7021, loss_traj_cls: 0.0012, loss_map_cls: 0.1335, loss_map_pts: 0.6525, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.9173, d0.loss_plan_l1_fix_dist: 0.3943, d1.loss_plan_l1_fix_time: 1.1329, d1.loss_plan_l1_fix_dist: 0.2001, d2.loss_plan_l1_fix_time: 1.1195, d2.loss_plan_l1_fix_dist: 0.1947, d3.loss_plan_l1_fix_time: 1.1156, d3.loss_plan_l1_fix_dist: 0.1995, d4.loss_plan_l1_fix_time: 1.1174, d4.loss_plan_l1_fix_dist: 0.2093, d5.loss_plan_l1_fix_time: 1.1195, d5.loss_plan_l1_fix_dist: 0.2214, d6.loss_plan_l1_fix_time: 1.1222, d6.loss_plan_l1_fix_dist: 0.2293, d0.loss_cls_all: 0.1900, d0.loss_bbox_all: 0.4172, d0.loss_cls: 0.1900, d0.loss_bbox: 0.4172, d1.loss_cls: 0.1847, d1.loss_bbox: 0.3830, d2.loss_cls: 0.1695, d2.loss_bbox: 0.3641, d3.loss_cls: 0.1575, d3.loss_bbox: 0.3573, d4.loss_cls: 0.1549, d4.loss_bbox: 0.3540, d5.loss_cls: 0.1536, d5.loss_bbox: 0.3529, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9552, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7487, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7047, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6973, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6952, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6993, d0.loss_map_cls_all: 0.2039, d0.loss_map_pts_all: 1.2346, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2039, d0.loss_map_pts: 1.2346, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1757, d1.loss_map_pts: 0.9008, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1594, d2.loss_map_pts: 0.7478, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1473, d3.loss_map_pts: 0.6868, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1391, d4.loss_map_pts: 0.6631, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1355, d5.loss_map_pts: 0.6537, d5.loss_map_dir: 0.0073, loss: 28.9860, grad_norm: 130.6077 +2026-02-27 17:41:31,584 - DriveTransformer - INFO - Epoch [7][34850/39528] lr: 8.550e-05, eta: 5 days, 17:39:22, time: 0.722, data_time: 0.042, memory: 19865, loss_cls: 0.1730, loss_bbox: 0.3646, loss_traj: 0.6214, loss_traj_cls: 0.0012, loss_map_cls: 0.1638, loss_map_pts: 0.7370, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.2653, d0.loss_plan_l1_fix_dist: 0.4303, d1.loss_plan_l1_fix_time: 0.8861, d1.loss_plan_l1_fix_dist: 0.1816, d2.loss_plan_l1_fix_time: 0.8766, d2.loss_plan_l1_fix_dist: 0.1822, d3.loss_plan_l1_fix_time: 0.8772, d3.loss_plan_l1_fix_dist: 0.1840, d4.loss_plan_l1_fix_time: 0.8797, d4.loss_plan_l1_fix_dist: 0.1909, d5.loss_plan_l1_fix_time: 0.8826, d5.loss_plan_l1_fix_dist: 0.2010, d6.loss_plan_l1_fix_time: 0.8863, d6.loss_plan_l1_fix_dist: 0.2112, d0.loss_cls_all: 0.2094, d0.loss_bbox_all: 0.4262, d0.loss_cls: 0.2094, d0.loss_bbox: 0.4262, d1.loss_cls: 0.2084, d1.loss_bbox: 0.3952, d2.loss_cls: 0.1924, d2.loss_bbox: 0.3732, d3.loss_cls: 0.1797, d3.loss_bbox: 0.3650, d4.loss_cls: 0.1726, d4.loss_bbox: 0.3665, d5.loss_cls: 0.1736, d5.loss_bbox: 0.3650, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8556, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6803, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6356, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6250, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6228, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6218, d0.loss_map_cls_all: 0.2482, d0.loss_map_pts_all: 1.3770, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2482, d0.loss_map_pts: 1.3770, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2132, d1.loss_map_pts: 0.9936, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1885, d2.loss_map_pts: 0.8346, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1768, d3.loss_map_pts: 0.7693, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1689, d4.loss_map_pts: 0.7437, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1653, d5.loss_map_pts: 0.7376, d5.loss_map_dir: 0.0085, loss: 27.6150, grad_norm: 129.7756 +2026-02-27 17:42:08,014 - DriveTransformer - INFO - Epoch [7][34900/39528] lr: 8.550e-05, eta: 5 days, 17:38:41, time: 0.729, data_time: 0.037, memory: 19865, loss_cls: 0.1563, loss_bbox: 0.3564, loss_traj: 0.6357, loss_traj_cls: 0.0012, loss_map_cls: 0.1300, loss_map_pts: 0.6077, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.6837, d0.loss_plan_l1_fix_dist: 0.4105, d1.loss_plan_l1_fix_time: 1.0261, d1.loss_plan_l1_fix_dist: 0.1877, d2.loss_plan_l1_fix_time: 1.0118, d2.loss_plan_l1_fix_dist: 0.1924, d3.loss_plan_l1_fix_time: 1.0120, d3.loss_plan_l1_fix_dist: 0.2073, d4.loss_plan_l1_fix_time: 1.0140, d4.loss_plan_l1_fix_dist: 0.2225, d5.loss_plan_l1_fix_time: 1.0163, d5.loss_plan_l1_fix_dist: 0.2327, d6.loss_plan_l1_fix_time: 1.0193, d6.loss_plan_l1_fix_dist: 0.2418, d0.loss_cls_all: 0.1940, d0.loss_bbox_all: 0.4192, d0.loss_cls: 0.1940, d0.loss_bbox: 0.4192, d1.loss_cls: 0.1879, d1.loss_bbox: 0.3869, d2.loss_cls: 0.1764, d2.loss_bbox: 0.3689, d3.loss_cls: 0.1653, d3.loss_bbox: 0.3622, d4.loss_cls: 0.1588, d4.loss_bbox: 0.3599, d5.loss_cls: 0.1570, d5.loss_bbox: 0.3573, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8763, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7002, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6477, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6372, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6330, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6316, d0.loss_map_cls_all: 0.1956, d0.loss_map_pts_all: 1.2074, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.1956, d0.loss_map_pts: 1.2074, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1686, d1.loss_map_pts: 0.8363, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1503, d2.loss_map_pts: 0.6898, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1402, d3.loss_map_pts: 0.6358, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1357, d4.loss_map_pts: 0.6172, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1319, d5.loss_map_pts: 0.6074, d5.loss_map_dir: 0.0086, loss: 27.3919, grad_norm: 130.8798 +2026-02-27 17:42:43,933 - DriveTransformer - INFO - Epoch [7][34950/39528] lr: 8.550e-05, eta: 5 days, 17:37:51, time: 0.718, data_time: 0.038, memory: 19865, loss_cls: 0.1471, loss_bbox: 0.3429, loss_traj: 0.5882, loss_traj_cls: 0.0012, loss_map_cls: 0.1540, loss_map_pts: 0.6356, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.7662, d0.loss_plan_l1_fix_dist: 0.4274, d1.loss_plan_l1_fix_time: 0.9995, d1.loss_plan_l1_fix_dist: 0.1945, d2.loss_plan_l1_fix_time: 0.9738, d2.loss_plan_l1_fix_dist: 0.1984, d3.loss_plan_l1_fix_time: 0.9681, d3.loss_plan_l1_fix_dist: 0.2098, d4.loss_plan_l1_fix_time: 0.9696, d4.loss_plan_l1_fix_dist: 0.2238, d5.loss_plan_l1_fix_time: 0.9718, d5.loss_plan_l1_fix_dist: 0.2364, d6.loss_plan_l1_fix_time: 0.9748, d6.loss_plan_l1_fix_dist: 0.2561, d0.loss_cls_all: 0.1886, d0.loss_bbox_all: 0.4021, d0.loss_cls: 0.1886, d0.loss_bbox: 0.4021, d1.loss_cls: 0.1802, d1.loss_bbox: 0.3736, d2.loss_cls: 0.1677, d2.loss_bbox: 0.3531, d3.loss_cls: 0.1546, d3.loss_bbox: 0.3465, d4.loss_cls: 0.1468, d4.loss_bbox: 0.3459, d5.loss_cls: 0.1459, d5.loss_bbox: 0.3442, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7864, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6597, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5988, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5873, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5870, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5861, d0.loss_map_cls_all: 0.2215, d0.loss_map_pts_all: 1.2391, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2215, d0.loss_map_pts: 1.2391, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1988, d1.loss_map_pts: 0.9002, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1751, d2.loss_map_pts: 0.7319, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1632, d3.loss_map_pts: 0.6681, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1593, d4.loss_map_pts: 0.6448, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1561, d5.loss_map_pts: 0.6357, d5.loss_map_dir: 0.0070, loss: 27.1991, grad_norm: 129.8650 +2026-02-27 17:43:19,273 - DriveTransformer - INFO - Epoch [7][35000/39528] lr: 8.550e-05, eta: 5 days, 17:36:50, time: 0.707, data_time: 0.037, memory: 19865, loss_cls: 0.1405, loss_bbox: 0.3427, loss_traj: 0.5590, loss_traj_cls: 0.0012, loss_map_cls: 0.1409, loss_map_pts: 0.6058, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.6622, d0.loss_plan_l1_fix_dist: 0.4577, d1.loss_plan_l1_fix_time: 1.0275, d1.loss_plan_l1_fix_dist: 0.2254, d2.loss_plan_l1_fix_time: 1.0135, d2.loss_plan_l1_fix_dist: 0.2458, d3.loss_plan_l1_fix_time: 1.0114, d3.loss_plan_l1_fix_dist: 0.2639, d4.loss_plan_l1_fix_time: 1.0135, d4.loss_plan_l1_fix_dist: 0.2926, d5.loss_plan_l1_fix_time: 1.0165, d5.loss_plan_l1_fix_dist: 0.3286, d6.loss_plan_l1_fix_time: 1.0193, d6.loss_plan_l1_fix_dist: 0.3666, d0.loss_cls_all: 0.1821, d0.loss_bbox_all: 0.4023, d0.loss_cls: 0.1821, d0.loss_bbox: 0.4023, d1.loss_cls: 0.1717, d1.loss_bbox: 0.3709, d2.loss_cls: 0.1614, d2.loss_bbox: 0.3507, d3.loss_cls: 0.1479, d3.loss_bbox: 0.3425, d4.loss_cls: 0.1414, d4.loss_bbox: 0.3420, d5.loss_cls: 0.1394, d5.loss_bbox: 0.3438, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7093, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6122, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.5636, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5662, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5552, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5626, d0.loss_map_cls_all: 0.2075, d0.loss_map_pts_all: 1.1429, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2075, d0.loss_map_pts: 1.1429, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1829, d1.loss_map_pts: 0.8191, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1590, d2.loss_map_pts: 0.6850, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1499, d3.loss_map_pts: 0.6300, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1459, d4.loss_map_pts: 0.6120, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1418, d5.loss_map_pts: 0.6055, d5.loss_map_dir: 0.0072, loss: 26.8813, grad_norm: 133.6754 +2026-02-27 17:43:54,659 - DriveTransformer - INFO - Epoch [7][35050/39528] lr: 8.550e-05, eta: 5 days, 17:35:50, time: 0.708, data_time: 0.037, memory: 19865, loss_cls: 0.1344, loss_bbox: 0.3301, loss_traj: 0.6258, loss_traj_cls: 0.0012, loss_map_cls: 0.1349, loss_map_pts: 0.5877, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.3143, d0.loss_plan_l1_fix_dist: 0.3349, d1.loss_plan_l1_fix_time: 0.9334, d1.loss_plan_l1_fix_dist: 0.1629, d2.loss_plan_l1_fix_time: 0.9033, d2.loss_plan_l1_fix_dist: 0.1785, d3.loss_plan_l1_fix_time: 0.8974, d3.loss_plan_l1_fix_dist: 0.1988, d4.loss_plan_l1_fix_time: 0.8985, d4.loss_plan_l1_fix_dist: 0.2292, d5.loss_plan_l1_fix_time: 0.9002, d5.loss_plan_l1_fix_dist: 0.2593, d6.loss_plan_l1_fix_time: 0.9024, d6.loss_plan_l1_fix_dist: 0.2915, d0.loss_cls_all: 0.1763, d0.loss_bbox_all: 0.3894, d0.loss_cls: 0.1763, d0.loss_bbox: 0.3894, d1.loss_cls: 0.1736, d1.loss_bbox: 0.3574, d2.loss_cls: 0.1546, d2.loss_bbox: 0.3415, d3.loss_cls: 0.1417, d3.loss_bbox: 0.3349, d4.loss_cls: 0.1356, d4.loss_bbox: 0.3328, d5.loss_cls: 0.1345, d5.loss_bbox: 0.3300, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8381, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6935, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6366, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6251, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6208, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6215, d0.loss_map_cls_all: 0.2147, d0.loss_map_pts_all: 1.1854, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2147, d0.loss_map_pts: 1.1854, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1858, d1.loss_map_pts: 0.8224, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1614, d2.loss_map_pts: 0.6680, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1470, d3.loss_map_pts: 0.6069, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1402, d4.loss_map_pts: 0.5915, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1353, d5.loss_map_pts: 0.5865, d5.loss_map_dir: 0.0080, loss: 25.7372, grad_norm: 133.6399 +2026-02-27 17:44:30,134 - DriveTransformer - INFO - Epoch [7][35100/39528] lr: 8.550e-05, eta: 5 days, 17:34:51, time: 0.709, data_time: 0.037, memory: 19865, loss_cls: 0.1441, loss_bbox: 0.3579, loss_traj: 0.5916, loss_traj_cls: 0.0011, loss_map_cls: 0.1645, loss_map_pts: 0.6698, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.3197, d0.loss_plan_l1_fix_dist: 0.3284, d1.loss_plan_l1_fix_time: 0.9710, d1.loss_plan_l1_fix_dist: 0.1834, d2.loss_plan_l1_fix_time: 0.9500, d2.loss_plan_l1_fix_dist: 0.2008, d3.loss_plan_l1_fix_time: 0.9545, d3.loss_plan_l1_fix_dist: 0.2200, d4.loss_plan_l1_fix_time: 0.9569, d4.loss_plan_l1_fix_dist: 0.2352, d5.loss_plan_l1_fix_time: 0.9595, d5.loss_plan_l1_fix_dist: 0.2505, d6.loss_plan_l1_fix_time: 0.9631, d6.loss_plan_l1_fix_dist: 0.2709, d0.loss_cls_all: 0.1895, d0.loss_bbox_all: 0.4140, d0.loss_cls: 0.1895, d0.loss_bbox: 0.4140, d1.loss_cls: 0.1827, d1.loss_bbox: 0.3814, d2.loss_cls: 0.1662, d2.loss_bbox: 0.3638, d3.loss_cls: 0.1478, d3.loss_bbox: 0.3600, d4.loss_cls: 0.1433, d4.loss_bbox: 0.3571, d5.loss_cls: 0.1431, d5.loss_bbox: 0.3563, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7422, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6167, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5807, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5798, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5772, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5845, d0.loss_map_cls_all: 0.2405, d0.loss_map_pts_all: 1.3825, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2405, d0.loss_map_pts: 1.3825, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2101, d1.loss_map_pts: 0.9670, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1920, d2.loss_map_pts: 0.7885, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1771, d3.loss_map_pts: 0.7032, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1707, d4.loss_map_pts: 0.6768, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1659, d5.loss_map_pts: 0.6699, d5.loss_map_dir: 0.0092, loss: 27.2305, grad_norm: 135.9891 +2026-02-27 17:45:07,136 - DriveTransformer - INFO - Epoch [7][35150/39528] lr: 8.550e-05, eta: 5 days, 17:34:22, time: 0.740, data_time: 0.036, memory: 19865, loss_cls: 0.1540, loss_bbox: 0.3608, loss_traj: 0.7006, loss_traj_cls: 0.0011, loss_map_cls: 0.1480, loss_map_pts: 0.6927, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.5688, d0.loss_plan_l1_fix_dist: 0.3241, d1.loss_plan_l1_fix_time: 1.1332, d1.loss_plan_l1_fix_dist: 0.1877, d2.loss_plan_l1_fix_time: 1.1120, d2.loss_plan_l1_fix_dist: 0.2153, d3.loss_plan_l1_fix_time: 1.1112, d3.loss_plan_l1_fix_dist: 0.2496, d4.loss_plan_l1_fix_time: 1.1164, d4.loss_plan_l1_fix_dist: 0.2777, d5.loss_plan_l1_fix_time: 1.1215, d5.loss_plan_l1_fix_dist: 0.3051, d6.loss_plan_l1_fix_time: 1.1271, d6.loss_plan_l1_fix_dist: 0.3318, d0.loss_cls_all: 0.1932, d0.loss_bbox_all: 0.4095, d0.loss_cls: 0.1932, d0.loss_bbox: 0.4095, d1.loss_cls: 0.1817, d1.loss_bbox: 0.3795, d2.loss_cls: 0.1731, d2.loss_bbox: 0.3597, d3.loss_cls: 0.1585, d3.loss_bbox: 0.3561, d4.loss_cls: 0.1525, d4.loss_bbox: 0.3584, d5.loss_cls: 0.1516, d5.loss_bbox: 0.3591, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9638, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7692, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7168, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6972, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6958, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7023, d0.loss_map_cls_all: 0.2204, d0.loss_map_pts_all: 1.3100, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2204, d0.loss_map_pts: 1.3100, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1914, d1.loss_map_pts: 0.9514, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1710, d2.loss_map_pts: 0.7876, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1596, d3.loss_map_pts: 0.7200, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1544, d4.loss_map_pts: 0.7009, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1493, d5.loss_map_pts: 0.6930, d5.loss_map_dir: 0.0089, loss: 29.4336, grad_norm: 138.7834 +2026-02-27 17:45:44,698 - DriveTransformer - INFO - Epoch [7][35200/39528] lr: 8.550e-05, eta: 5 days, 17:34:03, time: 0.751, data_time: 0.039, memory: 19865, loss_cls: 0.1224, loss_bbox: 0.3381, loss_traj: 0.6104, loss_traj_cls: 0.0012, loss_map_cls: 0.1351, loss_map_pts: 0.5975, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.4628, d0.loss_plan_l1_fix_dist: 0.4370, d1.loss_plan_l1_fix_time: 0.8704, d1.loss_plan_l1_fix_dist: 0.1875, d2.loss_plan_l1_fix_time: 0.8477, d2.loss_plan_l1_fix_dist: 0.1932, d3.loss_plan_l1_fix_time: 0.8489, d3.loss_plan_l1_fix_dist: 0.2053, d4.loss_plan_l1_fix_time: 0.8534, d4.loss_plan_l1_fix_dist: 0.2208, d5.loss_plan_l1_fix_time: 0.8584, d5.loss_plan_l1_fix_dist: 0.2414, d6.loss_plan_l1_fix_time: 0.8638, d6.loss_plan_l1_fix_dist: 0.2640, d0.loss_cls_all: 0.1599, d0.loss_bbox_all: 0.3809, d0.loss_cls: 0.1599, d0.loss_bbox: 0.3809, d1.loss_cls: 0.1553, d1.loss_bbox: 0.3513, d2.loss_cls: 0.1428, d2.loss_bbox: 0.3371, d3.loss_cls: 0.1306, d3.loss_bbox: 0.3356, d4.loss_cls: 0.1228, d4.loss_bbox: 0.3377, d5.loss_cls: 0.1226, d5.loss_bbox: 0.3367, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7788, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6571, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6211, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6175, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6117, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6124, d0.loss_map_cls_all: 0.2099, d0.loss_map_pts_all: 1.2044, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2099, d0.loss_map_pts: 1.2044, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1775, d1.loss_map_pts: 0.8456, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1544, d2.loss_map_pts: 0.6855, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1440, d3.loss_map_pts: 0.6218, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1391, d4.loss_map_pts: 0.6031, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1356, d5.loss_map_pts: 0.5983, d5.loss_map_dir: 0.0081, loss: 25.5171, grad_norm: 137.8417 +2026-02-27 17:46:21,283 - DriveTransformer - INFO - Epoch [7][35250/39528] lr: 8.550e-05, eta: 5 days, 17:33:26, time: 0.732, data_time: 0.037, memory: 19865, loss_cls: 0.1418, loss_bbox: 0.3410, loss_traj: 0.6628, loss_traj_cls: 0.0011, loss_map_cls: 0.1625, loss_map_pts: 0.6859, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.8260, d0.loss_plan_l1_fix_dist: 0.4340, d1.loss_plan_l1_fix_time: 1.0304, d1.loss_plan_l1_fix_dist: 0.1975, d2.loss_plan_l1_fix_time: 1.0128, d2.loss_plan_l1_fix_dist: 0.2056, d3.loss_plan_l1_fix_time: 1.0071, d3.loss_plan_l1_fix_dist: 0.2175, d4.loss_plan_l1_fix_time: 1.0097, d4.loss_plan_l1_fix_dist: 0.2330, d5.loss_plan_l1_fix_time: 1.0135, d5.loss_plan_l1_fix_dist: 0.2569, d6.loss_plan_l1_fix_time: 1.0176, d6.loss_plan_l1_fix_dist: 0.2858, d0.loss_cls_all: 0.1821, d0.loss_bbox_all: 0.3940, d0.loss_cls: 0.1821, d0.loss_bbox: 0.3940, d1.loss_cls: 0.1732, d1.loss_bbox: 0.3614, d2.loss_cls: 0.1574, d2.loss_bbox: 0.3444, d3.loss_cls: 0.1465, d3.loss_bbox: 0.3406, d4.loss_cls: 0.1424, d4.loss_bbox: 0.3417, d5.loss_cls: 0.1408, d5.loss_bbox: 0.3406, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8970, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7315, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6858, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6768, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6744, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6676, d0.loss_map_cls_all: 0.2473, d0.loss_map_pts_all: 1.3321, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2473, d0.loss_map_pts: 1.3321, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2165, d1.loss_map_pts: 0.9637, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1910, d2.loss_map_pts: 0.7915, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1755, d3.loss_map_pts: 0.7162, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1695, d4.loss_map_pts: 0.6919, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1646, d5.loss_map_pts: 0.6859, d5.loss_map_dir: 0.0088, loss: 28.7176, grad_norm: 139.1512 +2026-02-27 17:46:57,955 - DriveTransformer - INFO - Epoch [7][35300/39528] lr: 8.550e-05, eta: 5 days, 17:32:51, time: 0.733, data_time: 0.036, memory: 19865, loss_cls: 0.1740, loss_bbox: 0.3823, loss_traj: 0.5986, loss_traj_cls: 0.0011, loss_map_cls: 0.1720, loss_map_pts: 0.7954, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.7676, d0.loss_plan_l1_fix_dist: 0.3780, d1.loss_plan_l1_fix_time: 1.1666, d1.loss_plan_l1_fix_dist: 0.2485, d2.loss_plan_l1_fix_time: 1.1634, d2.loss_plan_l1_fix_dist: 0.2522, d3.loss_plan_l1_fix_time: 1.1629, d3.loss_plan_l1_fix_dist: 0.2686, d4.loss_plan_l1_fix_time: 1.1660, d4.loss_plan_l1_fix_dist: 0.2859, d5.loss_plan_l1_fix_time: 1.1689, d5.loss_plan_l1_fix_dist: 0.3029, d6.loss_plan_l1_fix_time: 1.1725, d6.loss_plan_l1_fix_dist: 0.3206, d0.loss_cls_all: 0.2251, d0.loss_bbox_all: 0.4404, d0.loss_cls: 0.2251, d0.loss_bbox: 0.4404, d1.loss_cls: 0.2119, d1.loss_bbox: 0.4081, d2.loss_cls: 0.1955, d2.loss_bbox: 0.3872, d3.loss_cls: 0.1810, d3.loss_bbox: 0.3823, d4.loss_cls: 0.1746, d4.loss_bbox: 0.3817, d5.loss_cls: 0.1727, d5.loss_bbox: 0.3811, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8407, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6376, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5787, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5673, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5840, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5878, d0.loss_map_cls_all: 0.2464, d0.loss_map_pts_all: 1.4750, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2464, d0.loss_map_pts: 1.4750, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2150, d1.loss_map_pts: 1.0842, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1966, d2.loss_map_pts: 0.9018, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1826, d3.loss_map_pts: 0.8290, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1761, d4.loss_map_pts: 0.8054, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1737, d5.loss_map_pts: 0.7970, d5.loss_map_dir: 0.0111, loss: 30.8486, grad_norm: 138.8060 +2026-02-27 17:47:34,061 - DriveTransformer - INFO - Epoch [7][35350/39528] lr: 8.550e-05, eta: 5 days, 17:32:04, time: 0.722, data_time: 0.037, memory: 19865, loss_cls: 0.1247, loss_bbox: 0.3254, loss_traj: 0.6711, loss_traj_cls: 0.0012, loss_map_cls: 0.1407, loss_map_pts: 0.5950, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.5868, d0.loss_plan_l1_fix_dist: 0.3743, d1.loss_plan_l1_fix_time: 1.0208, d1.loss_plan_l1_fix_dist: 0.2076, d2.loss_plan_l1_fix_time: 1.0107, d2.loss_plan_l1_fix_dist: 0.2009, d3.loss_plan_l1_fix_time: 1.0164, d3.loss_plan_l1_fix_dist: 0.2119, d4.loss_plan_l1_fix_time: 1.0205, d4.loss_plan_l1_fix_dist: 0.2300, d5.loss_plan_l1_fix_time: 1.0244, d5.loss_plan_l1_fix_dist: 0.2465, d6.loss_plan_l1_fix_time: 1.0291, d6.loss_plan_l1_fix_dist: 0.2579, d0.loss_cls_all: 0.1636, d0.loss_bbox_all: 0.3754, d0.loss_cls: 0.1636, d0.loss_bbox: 0.3754, d1.loss_cls: 0.1557, d1.loss_bbox: 0.3457, d2.loss_cls: 0.1427, d2.loss_bbox: 0.3305, d3.loss_cls: 0.1309, d3.loss_bbox: 0.3271, d4.loss_cls: 0.1259, d4.loss_bbox: 0.3244, d5.loss_cls: 0.1244, d5.loss_bbox: 0.3243, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9100, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7477, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6872, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6781, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6771, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6730, d0.loss_map_cls_all: 0.2124, d0.loss_map_pts_all: 1.1852, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2124, d0.loss_map_pts: 1.1852, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1899, d1.loss_map_pts: 0.8379, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1667, d2.loss_map_pts: 0.6919, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1529, d3.loss_map_pts: 0.6258, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1458, d4.loss_map_pts: 0.6009, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1420, d5.loss_map_pts: 0.5965, d5.loss_map_dir: 0.0078, loss: 27.0918, grad_norm: 139.4093 +2026-02-27 17:48:10,103 - DriveTransformer - INFO - Epoch [7][35400/39528] lr: 8.550e-05, eta: 5 days, 17:31:17, time: 0.721, data_time: 0.036, memory: 19865, loss_cls: 0.1584, loss_bbox: 0.3757, loss_traj: 0.6213, loss_traj_cls: 0.0012, loss_map_cls: 0.1503, loss_map_pts: 0.6934, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.6159, d0.loss_plan_l1_fix_dist: 0.4498, d1.loss_plan_l1_fix_time: 0.9777, d1.loss_plan_l1_fix_dist: 0.2017, d2.loss_plan_l1_fix_time: 0.9601, d2.loss_plan_l1_fix_dist: 0.2044, d3.loss_plan_l1_fix_time: 0.9646, d3.loss_plan_l1_fix_dist: 0.2153, d4.loss_plan_l1_fix_time: 0.9669, d4.loss_plan_l1_fix_dist: 0.2317, d5.loss_plan_l1_fix_time: 0.9700, d5.loss_plan_l1_fix_dist: 0.2519, d6.loss_plan_l1_fix_time: 0.9733, d6.loss_plan_l1_fix_dist: 0.2731, d0.loss_cls_all: 0.1925, d0.loss_bbox_all: 0.4292, d0.loss_cls: 0.1925, d0.loss_bbox: 0.4292, d1.loss_cls: 0.1892, d1.loss_bbox: 0.4001, d2.loss_cls: 0.1816, d2.loss_bbox: 0.3813, d3.loss_cls: 0.1646, d3.loss_bbox: 0.3767, d4.loss_cls: 0.1597, d4.loss_bbox: 0.3751, d5.loss_cls: 0.1571, d5.loss_bbox: 0.3749, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8614, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7040, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6411, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6247, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6247, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6263, d0.loss_map_cls_all: 0.2259, d0.loss_map_pts_all: 1.3671, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2259, d0.loss_map_pts: 1.3671, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1944, d1.loss_map_pts: 0.9736, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1755, d2.loss_map_pts: 0.7990, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1607, d3.loss_map_pts: 0.7244, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1542, d4.loss_map_pts: 0.6999, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1519, d5.loss_map_pts: 0.6939, d5.loss_map_dir: 0.0086, loss: 28.3295, grad_norm: 140.0980 +2026-02-27 17:48:46,421 - DriveTransformer - INFO - Epoch [7][35450/39528] lr: 8.550e-05, eta: 5 days, 17:30:35, time: 0.726, data_time: 0.036, memory: 19865, loss_cls: 0.1403, loss_bbox: 0.3311, loss_traj: 0.6891, loss_traj_cls: 0.0012, loss_map_cls: 0.1332, loss_map_pts: 0.5968, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.5724, d0.loss_plan_l1_fix_dist: 0.3444, d1.loss_plan_l1_fix_time: 0.9725, d1.loss_plan_l1_fix_dist: 0.1809, d2.loss_plan_l1_fix_time: 0.9579, d2.loss_plan_l1_fix_dist: 0.1803, d3.loss_plan_l1_fix_time: 0.9587, d3.loss_plan_l1_fix_dist: 0.1907, d4.loss_plan_l1_fix_time: 0.9612, d4.loss_plan_l1_fix_dist: 0.2073, d5.loss_plan_l1_fix_time: 0.9644, d5.loss_plan_l1_fix_dist: 0.2246, d6.loss_plan_l1_fix_time: 0.9686, d6.loss_plan_l1_fix_dist: 0.2446, d0.loss_cls_all: 0.1744, d0.loss_bbox_all: 0.3902, d0.loss_cls: 0.1744, d0.loss_bbox: 0.3902, d1.loss_cls: 0.1663, d1.loss_bbox: 0.3583, d2.loss_cls: 0.1568, d2.loss_bbox: 0.3406, d3.loss_cls: 0.1459, d3.loss_bbox: 0.3353, d4.loss_cls: 0.1402, d4.loss_bbox: 0.3340, d5.loss_cls: 0.1392, d5.loss_bbox: 0.3317, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9123, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7251, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6827, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6743, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6806, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6803, d0.loss_map_cls_all: 0.2157, d0.loss_map_pts_all: 1.2905, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2157, d0.loss_map_pts: 1.2905, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1819, d1.loss_map_pts: 0.8923, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1583, d2.loss_map_pts: 0.7120, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1450, d3.loss_map_pts: 0.6317, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1394, d4.loss_map_pts: 0.6073, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1354, d5.loss_map_pts: 0.6009, d5.loss_map_dir: 0.0076, loss: 27.0352, grad_norm: 142.8344 +2026-02-27 17:49:24,337 - DriveTransformer - INFO - Epoch [7][35500/39528] lr: 8.550e-05, eta: 5 days, 17:30:23, time: 0.758, data_time: 0.038, memory: 19865, loss_cls: 0.1609, loss_bbox: 0.3676, loss_traj: 0.5258, loss_traj_cls: 0.0012, loss_map_cls: 0.1890, loss_map_pts: 0.8035, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.5252, d0.loss_plan_l1_fix_dist: 0.4352, d1.loss_plan_l1_fix_time: 1.0467, d1.loss_plan_l1_fix_dist: 0.2253, d2.loss_plan_l1_fix_time: 1.0456, d2.loss_plan_l1_fix_dist: 0.2340, d3.loss_plan_l1_fix_time: 1.0497, d3.loss_plan_l1_fix_dist: 0.2537, d4.loss_plan_l1_fix_time: 1.0540, d4.loss_plan_l1_fix_dist: 0.2793, d5.loss_plan_l1_fix_time: 1.0585, d5.loss_plan_l1_fix_dist: 0.3049, d6.loss_plan_l1_fix_time: 1.0642, d6.loss_plan_l1_fix_dist: 0.3346, d0.loss_cls_all: 0.2034, d0.loss_bbox_all: 0.4246, d0.loss_cls: 0.2034, d0.loss_bbox: 0.4246, d1.loss_cls: 0.1946, d1.loss_bbox: 0.3913, d2.loss_cls: 0.1814, d2.loss_bbox: 0.3723, d3.loss_cls: 0.1689, d3.loss_bbox: 0.3678, d4.loss_cls: 0.1650, d4.loss_bbox: 0.3657, d5.loss_cls: 0.1615, d5.loss_bbox: 0.3665, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6676, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5448, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5190, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5178, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5246, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5207, d0.loss_map_cls_all: 0.2698, d0.loss_map_pts_all: 1.6281, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2698, d0.loss_map_pts: 1.6281, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2388, d1.loss_map_pts: 1.1302, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2104, d2.loss_map_pts: 0.9288, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.2002, d3.loss_map_pts: 0.8379, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1936, d4.loss_map_pts: 0.8080, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1897, d5.loss_map_pts: 0.8031, d5.loss_map_dir: 0.0109, loss: 29.6702, grad_norm: 148.0749 +2026-02-27 17:50:01,383 - DriveTransformer - INFO - Epoch [7][35550/39528] lr: 8.550e-05, eta: 5 days, 17:29:54, time: 0.741, data_time: 0.039, memory: 19865, loss_cls: 0.1461, loss_bbox: 0.3454, loss_traj: 0.6002, loss_traj_cls: 0.0012, loss_map_cls: 0.1454, loss_map_pts: 0.6560, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.6114, d0.loss_plan_l1_fix_dist: 0.4076, d1.loss_plan_l1_fix_time: 1.0406, d1.loss_plan_l1_fix_dist: 0.2058, d2.loss_plan_l1_fix_time: 1.0243, d2.loss_plan_l1_fix_dist: 0.2124, d3.loss_plan_l1_fix_time: 1.0218, d3.loss_plan_l1_fix_dist: 0.2240, d4.loss_plan_l1_fix_time: 1.0249, d4.loss_plan_l1_fix_dist: 0.2400, d5.loss_plan_l1_fix_time: 1.0285, d5.loss_plan_l1_fix_dist: 0.2605, d6.loss_plan_l1_fix_time: 1.0333, d6.loss_plan_l1_fix_dist: 0.2880, d0.loss_cls_all: 0.1834, d0.loss_bbox_all: 0.3956, d0.loss_cls: 0.1834, d0.loss_bbox: 0.3956, d1.loss_cls: 0.1766, d1.loss_bbox: 0.3705, d2.loss_cls: 0.1633, d2.loss_bbox: 0.3516, d3.loss_cls: 0.1529, d3.loss_bbox: 0.3445, d4.loss_cls: 0.1464, d4.loss_bbox: 0.3462, d5.loss_cls: 0.1444, d5.loss_bbox: 0.3451, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7749, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6374, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6140, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5941, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5953, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5950, d0.loss_map_cls_all: 0.2163, d0.loss_map_pts_all: 1.3181, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2163, d0.loss_map_pts: 1.3181, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1855, d1.loss_map_pts: 0.8936, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1672, d2.loss_map_pts: 0.7306, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1571, d3.loss_map_pts: 0.6702, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1517, d4.loss_map_pts: 0.6554, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1452, d5.loss_map_pts: 0.6541, d5.loss_map_dir: 0.0090, loss: 27.5811, grad_norm: 150.0373 +2026-02-27 17:50:38,975 - DriveTransformer - INFO - Epoch [7][35600/39528] lr: 8.550e-05, eta: 5 days, 17:29:38, time: 0.753, data_time: 0.036, memory: 19865, loss_cls: 0.1542, loss_bbox: 0.3403, loss_traj: 0.5913, loss_traj_cls: 0.0012, loss_map_cls: 0.1523, loss_map_pts: 0.7263, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.7665, d0.loss_plan_l1_fix_dist: 0.4290, d1.loss_plan_l1_fix_time: 0.9768, d1.loss_plan_l1_fix_dist: 0.2202, d2.loss_plan_l1_fix_time: 0.9554, d2.loss_plan_l1_fix_dist: 0.2271, d3.loss_plan_l1_fix_time: 0.9518, d3.loss_plan_l1_fix_dist: 0.2391, d4.loss_plan_l1_fix_time: 0.9535, d4.loss_plan_l1_fix_dist: 0.2525, d5.loss_plan_l1_fix_time: 0.9552, d5.loss_plan_l1_fix_dist: 0.2694, d6.loss_plan_l1_fix_time: 0.9574, d6.loss_plan_l1_fix_dist: 0.2829, d0.loss_cls_all: 0.2002, d0.loss_bbox_all: 0.4135, d0.loss_cls: 0.2002, d0.loss_bbox: 0.4135, d1.loss_cls: 0.1914, d1.loss_bbox: 0.3740, d2.loss_cls: 0.1789, d2.loss_bbox: 0.3516, d3.loss_cls: 0.1633, d3.loss_bbox: 0.3469, d4.loss_cls: 0.1571, d4.loss_bbox: 0.3449, d5.loss_cls: 0.1543, d5.loss_bbox: 0.3416, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7856, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6415, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5921, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5881, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5853, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5878, d0.loss_map_cls_all: 0.2279, d0.loss_map_pts_all: 1.4165, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2279, d0.loss_map_pts: 1.4165, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1978, d1.loss_map_pts: 0.9805, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1760, d2.loss_map_pts: 0.8097, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1640, d3.loss_map_pts: 0.7460, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1579, d4.loss_map_pts: 0.7290, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1534, d5.loss_map_pts: 0.7268, d5.loss_map_dir: 0.0099, loss: 28.2263, grad_norm: 152.0654 +2026-02-27 17:51:14,706 - DriveTransformer - INFO - Epoch [7][35650/39528] lr: 8.550e-05, eta: 5 days, 17:28:43, time: 0.713, data_time: 0.035, memory: 19865, loss_cls: 0.1280, loss_bbox: 0.3349, loss_traj: 0.5603, loss_traj_cls: 0.0012, loss_map_cls: 0.1333, loss_map_pts: 0.6167, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.6452, d0.loss_plan_l1_fix_dist: 0.3745, d1.loss_plan_l1_fix_time: 1.0369, d1.loss_plan_l1_fix_dist: 0.1761, d2.loss_plan_l1_fix_time: 1.0264, d2.loss_plan_l1_fix_dist: 0.1819, d3.loss_plan_l1_fix_time: 1.0277, d3.loss_plan_l1_fix_dist: 0.1957, d4.loss_plan_l1_fix_time: 1.0312, d4.loss_plan_l1_fix_dist: 0.2132, d5.loss_plan_l1_fix_time: 1.0342, d5.loss_plan_l1_fix_dist: 0.2348, d6.loss_plan_l1_fix_time: 1.0375, d6.loss_plan_l1_fix_dist: 0.2534, d0.loss_cls_all: 0.1730, d0.loss_bbox_all: 0.3877, d0.loss_cls: 0.1730, d0.loss_bbox: 0.3877, d1.loss_cls: 0.1646, d1.loss_bbox: 0.3591, d2.loss_cls: 0.1521, d2.loss_bbox: 0.3412, d3.loss_cls: 0.1359, d3.loss_bbox: 0.3380, d4.loss_cls: 0.1277, d4.loss_bbox: 0.3373, d5.loss_cls: 0.1274, d5.loss_bbox: 0.3359, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7576, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6022, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5729, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5606, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5562, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5564, d0.loss_map_cls_all: 0.2010, d0.loss_map_pts_all: 1.2666, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2010, d0.loss_map_pts: 1.2666, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1708, d1.loss_map_pts: 0.8551, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1529, d2.loss_map_pts: 0.7010, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1436, d3.loss_map_pts: 0.6438, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1392, d4.loss_map_pts: 0.6222, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1340, d5.loss_map_pts: 0.6189, d5.loss_map_dir: 0.0081, loss: 26.5770, grad_norm: 154.0800 +2026-02-27 17:51:51,361 - DriveTransformer - INFO - Epoch [7][35700/39528] lr: 8.550e-05, eta: 5 days, 17:28:07, time: 0.733, data_time: 0.038, memory: 19865, loss_cls: 0.1238, loss_bbox: 0.3229, loss_traj: 0.6172, loss_traj_cls: 0.0012, loss_map_cls: 0.1167, loss_map_pts: 0.5579, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.4294, d0.loss_plan_l1_fix_dist: 0.4007, d1.loss_plan_l1_fix_time: 0.9058, d1.loss_plan_l1_fix_dist: 0.1734, d2.loss_plan_l1_fix_time: 0.8984, d2.loss_plan_l1_fix_dist: 0.1675, d3.loss_plan_l1_fix_time: 0.9005, d3.loss_plan_l1_fix_dist: 0.1780, d4.loss_plan_l1_fix_time: 0.9032, d4.loss_plan_l1_fix_dist: 0.1919, d5.loss_plan_l1_fix_time: 0.9059, d5.loss_plan_l1_fix_dist: 0.2066, d6.loss_plan_l1_fix_time: 0.9087, d6.loss_plan_l1_fix_dist: 0.2208, d0.loss_cls_all: 0.1608, d0.loss_bbox_all: 0.3845, d0.loss_cls: 0.1608, d0.loss_bbox: 0.3845, d1.loss_cls: 0.1509, d1.loss_bbox: 0.3485, d2.loss_cls: 0.1353, d2.loss_bbox: 0.3336, d3.loss_cls: 0.1253, d3.loss_bbox: 0.3259, d4.loss_cls: 0.1233, d4.loss_bbox: 0.3223, d5.loss_cls: 0.1234, d5.loss_bbox: 0.3219, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7916, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6660, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6318, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6168, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6142, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6117, d0.loss_map_cls_all: 0.1983, d0.loss_map_pts_all: 1.2204, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1983, d0.loss_map_pts: 1.2204, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1664, d1.loss_map_pts: 0.8143, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1415, d2.loss_map_pts: 0.6457, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1303, d3.loss_map_pts: 0.5838, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1233, d4.loss_map_pts: 0.5677, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1180, d5.loss_map_pts: 0.5603, d5.loss_map_dir: 0.0085, loss: 25.2241, grad_norm: 155.6960 +2026-02-27 17:52:28,112 - DriveTransformer - INFO - Epoch [7][35750/39528] lr: 8.550e-05, eta: 5 days, 17:27:33, time: 0.735, data_time: 0.035, memory: 19865, loss_cls: 0.1530, loss_bbox: 0.3312, loss_traj: 0.6425, loss_traj_cls: 0.0011, loss_map_cls: 0.1490, loss_map_pts: 0.7289, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.9453, d0.loss_plan_l1_fix_dist: 0.4303, d1.loss_plan_l1_fix_time: 1.1079, d1.loss_plan_l1_fix_dist: 0.1843, d2.loss_plan_l1_fix_time: 1.0944, d2.loss_plan_l1_fix_dist: 0.1788, d3.loss_plan_l1_fix_time: 1.0929, d3.loss_plan_l1_fix_dist: 0.1950, d4.loss_plan_l1_fix_time: 1.0957, d4.loss_plan_l1_fix_dist: 0.2155, d5.loss_plan_l1_fix_time: 1.0995, d5.loss_plan_l1_fix_dist: 0.2308, d6.loss_plan_l1_fix_time: 1.1031, d6.loss_plan_l1_fix_dist: 0.2424, d0.loss_cls_all: 0.1954, d0.loss_bbox_all: 0.3994, d0.loss_cls: 0.1954, d0.loss_bbox: 0.3994, d1.loss_cls: 0.1924, d1.loss_bbox: 0.3625, d2.loss_cls: 0.1752, d2.loss_bbox: 0.3419, d3.loss_cls: 0.1589, d3.loss_bbox: 0.3352, d4.loss_cls: 0.1523, d4.loss_bbox: 0.3330, d5.loss_cls: 0.1534, d5.loss_bbox: 0.3312, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8426, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6979, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6609, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6528, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6444, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6396, d0.loss_map_cls_all: 0.2270, d0.loss_map_pts_all: 1.4708, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2270, d0.loss_map_pts: 1.4708, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1956, d1.loss_map_pts: 1.0438, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1793, d2.loss_map_pts: 0.8466, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1662, d3.loss_map_pts: 0.7593, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1562, d4.loss_map_pts: 0.7355, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1511, d5.loss_map_pts: 0.7299, d5.loss_map_dir: 0.0096, loss: 29.5248, grad_norm: 156.3288 +2026-02-27 17:53:06,603 - DriveTransformer - INFO - Epoch [7][35800/39528] lr: 8.550e-05, eta: 5 days, 17:27:32, time: 0.770, data_time: 0.036, memory: 19865, loss_cls: 0.1427, loss_bbox: 0.3338, loss_traj: 0.6056, loss_traj_cls: 0.0011, loss_map_cls: 0.1568, loss_map_pts: 0.7593, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.2357, d0.loss_plan_l1_fix_dist: 0.3447, d1.loss_plan_l1_fix_time: 1.0958, d1.loss_plan_l1_fix_dist: 0.1680, d2.loss_plan_l1_fix_time: 1.0772, d2.loss_plan_l1_fix_dist: 0.1569, d3.loss_plan_l1_fix_time: 1.0727, d3.loss_plan_l1_fix_dist: 0.1637, d4.loss_plan_l1_fix_time: 1.0766, d4.loss_plan_l1_fix_dist: 0.1744, d5.loss_plan_l1_fix_time: 1.0815, d5.loss_plan_l1_fix_dist: 0.1888, d6.loss_plan_l1_fix_time: 1.0866, d6.loss_plan_l1_fix_dist: 0.2099, d0.loss_cls_all: 0.1740, d0.loss_bbox_all: 0.3954, d0.loss_cls: 0.1740, d0.loss_bbox: 0.3954, d1.loss_cls: 0.1709, d1.loss_bbox: 0.3631, d2.loss_cls: 0.1583, d2.loss_bbox: 0.3454, d3.loss_cls: 0.1497, d3.loss_bbox: 0.3372, d4.loss_cls: 0.1438, d4.loss_bbox: 0.3356, d5.loss_cls: 0.1431, d5.loss_bbox: 0.3345, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7701, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6503, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6169, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6054, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6080, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6076, d0.loss_map_cls_all: 0.2345, d0.loss_map_pts_all: 1.6144, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2345, d0.loss_map_pts: 1.6144, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2028, d1.loss_map_pts: 1.0753, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1790, d2.loss_map_pts: 0.8701, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1673, d3.loss_map_pts: 0.7952, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1608, d4.loss_map_pts: 0.7675, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1577, d5.loss_map_pts: 0.7595, d5.loss_map_dir: 0.0112, loss: 28.5350, grad_norm: 162.4089 +2026-02-27 17:53:43,855 - DriveTransformer - INFO - Epoch [7][35850/39528] lr: 8.550e-05, eta: 5 days, 17:27:07, time: 0.745, data_time: 0.036, memory: 19865, loss_cls: 0.1437, loss_bbox: 0.3257, loss_traj: 0.5861, loss_traj_cls: 0.0012, loss_map_cls: 0.1121, loss_map_pts: 0.6265, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.6678, d0.loss_plan_l1_fix_dist: 0.3593, d1.loss_plan_l1_fix_time: 0.9909, d1.loss_plan_l1_fix_dist: 0.1709, d2.loss_plan_l1_fix_time: 0.9826, d2.loss_plan_l1_fix_dist: 0.1620, d3.loss_plan_l1_fix_time: 0.9855, d3.loss_plan_l1_fix_dist: 0.1702, d4.loss_plan_l1_fix_time: 0.9907, d4.loss_plan_l1_fix_dist: 0.1836, d5.loss_plan_l1_fix_time: 0.9963, d5.loss_plan_l1_fix_dist: 0.2029, d6.loss_plan_l1_fix_time: 1.0025, d6.loss_plan_l1_fix_dist: 0.2340, d0.loss_cls_all: 0.1769, d0.loss_bbox_all: 0.3841, d0.loss_cls: 0.1769, d0.loss_bbox: 0.3841, d1.loss_cls: 0.1722, d1.loss_bbox: 0.3552, d2.loss_cls: 0.1594, d2.loss_bbox: 0.3390, d3.loss_cls: 0.1476, d3.loss_bbox: 0.3321, d4.loss_cls: 0.1450, d4.loss_bbox: 0.3273, d5.loss_cls: 0.1414, d5.loss_bbox: 0.3291, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7837, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6346, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6003, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5853, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5843, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5853, d0.loss_map_cls_all: 0.1794, d0.loss_map_pts_all: 1.3148, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.1794, d0.loss_map_pts: 1.3148, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1489, d1.loss_map_pts: 0.8939, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1327, d2.loss_map_pts: 0.7301, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1228, d3.loss_map_pts: 0.6587, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1167, d4.loss_map_pts: 0.6356, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1132, d5.loss_map_pts: 0.6275, d5.loss_map_dir: 0.0095, loss: 26.4877, grad_norm: 164.9206 +2026-02-27 17:54:21,499 - DriveTransformer - INFO - Epoch [7][35900/39528] lr: 8.550e-05, eta: 5 days, 17:26:50, time: 0.753, data_time: 0.036, memory: 19865, loss_cls: 0.1415, loss_bbox: 0.3385, loss_traj: 0.6254, loss_traj_cls: 0.0012, loss_map_cls: 0.1241, loss_map_pts: 0.6351, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.4868, d0.loss_plan_l1_fix_dist: 0.3575, d1.loss_plan_l1_fix_time: 0.9733, d1.loss_plan_l1_fix_dist: 0.1659, d2.loss_plan_l1_fix_time: 0.9568, d2.loss_plan_l1_fix_dist: 0.1523, d3.loss_plan_l1_fix_time: 0.9522, d3.loss_plan_l1_fix_dist: 0.1547, d4.loss_plan_l1_fix_time: 0.9545, d4.loss_plan_l1_fix_dist: 0.1652, d5.loss_plan_l1_fix_time: 0.9575, d5.loss_plan_l1_fix_dist: 0.1776, d6.loss_plan_l1_fix_time: 0.9615, d6.loss_plan_l1_fix_dist: 0.1929, d0.loss_cls_all: 0.1774, d0.loss_bbox_all: 0.4119, d0.loss_cls: 0.1774, d0.loss_bbox: 0.4119, d1.loss_cls: 0.1724, d1.loss_bbox: 0.3721, d2.loss_cls: 0.1605, d2.loss_bbox: 0.3538, d3.loss_cls: 0.1472, d3.loss_bbox: 0.3457, d4.loss_cls: 0.1426, d4.loss_bbox: 0.3416, d5.loss_cls: 0.1411, d5.loss_bbox: 0.3402, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8273, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6937, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6481, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6343, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6287, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6289, d0.loss_map_cls_all: 0.1988, d0.loss_map_pts_all: 1.3540, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.1988, d0.loss_map_pts: 1.3540, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1659, d1.loss_map_pts: 0.9009, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1446, d2.loss_map_pts: 0.7326, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1359, d3.loss_map_pts: 0.6630, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1294, d4.loss_map_pts: 0.6422, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1254, d5.loss_map_pts: 0.6373, d5.loss_map_dir: 0.0092, loss: 26.6937, grad_norm: 166.6302 +2026-02-27 17:54:58,041 - DriveTransformer - INFO - Epoch [7][35950/39528] lr: 8.550e-05, eta: 5 days, 17:26:12, time: 0.731, data_time: 0.038, memory: 19865, loss_cls: 0.1261, loss_bbox: 0.3320, loss_traj: 0.7825, loss_traj_cls: 0.0011, loss_map_cls: 0.1254, loss_map_pts: 0.5854, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.6147, d0.loss_plan_l1_fix_dist: 0.3942, d1.loss_plan_l1_fix_time: 1.1067, d1.loss_plan_l1_fix_dist: 0.1936, d2.loss_plan_l1_fix_time: 1.0913, d2.loss_plan_l1_fix_dist: 0.1825, d3.loss_plan_l1_fix_time: 1.0873, d3.loss_plan_l1_fix_dist: 0.1906, d4.loss_plan_l1_fix_time: 1.0895, d4.loss_plan_l1_fix_dist: 0.2009, d5.loss_plan_l1_fix_time: 1.0921, d5.loss_plan_l1_fix_dist: 0.2120, d6.loss_plan_l1_fix_time: 1.0954, d6.loss_plan_l1_fix_dist: 0.2204, d0.loss_cls_all: 0.1640, d0.loss_bbox_all: 0.3946, d0.loss_cls: 0.1640, d0.loss_bbox: 0.3946, d1.loss_cls: 0.1579, d1.loss_bbox: 0.3590, d2.loss_cls: 0.1466, d2.loss_bbox: 0.3416, d3.loss_cls: 0.1332, d3.loss_bbox: 0.3354, d4.loss_cls: 0.1276, d4.loss_bbox: 0.3334, d5.loss_cls: 0.1261, d5.loss_bbox: 0.3323, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0700, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8596, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.8140, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7959, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7903, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7837, d0.loss_map_cls_all: 0.2010, d0.loss_map_pts_all: 1.2373, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2010, d0.loss_map_pts: 1.2373, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1765, d1.loss_map_pts: 0.8396, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1505, d2.loss_map_pts: 0.6816, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1369, d3.loss_map_pts: 0.6132, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1299, d4.loss_map_pts: 0.5936, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1256, d5.loss_map_pts: 0.5875, d5.loss_map_dir: 0.0071, loss: 28.3204, grad_norm: 166.0740 +2026-02-27 17:55:34,434 - DriveTransformer - INFO - Epoch [7][36000/39528] lr: 8.550e-05, eta: 5 days, 17:25:31, time: 0.728, data_time: 0.039, memory: 19865, loss_cls: 0.1578, loss_bbox: 0.3530, loss_traj: 0.6035, loss_traj_cls: 0.0011, loss_map_cls: 0.1677, loss_map_pts: 0.7675, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.7306, d0.loss_plan_l1_fix_dist: 0.4029, d1.loss_plan_l1_fix_time: 1.0971, d1.loss_plan_l1_fix_dist: 0.1996, d2.loss_plan_l1_fix_time: 1.0811, d2.loss_plan_l1_fix_dist: 0.1950, d3.loss_plan_l1_fix_time: 1.0783, d3.loss_plan_l1_fix_dist: 0.2045, d4.loss_plan_l1_fix_time: 1.0806, d4.loss_plan_l1_fix_dist: 0.2131, d5.loss_plan_l1_fix_time: 1.0835, d5.loss_plan_l1_fix_dist: 0.2231, d6.loss_plan_l1_fix_time: 1.0865, d6.loss_plan_l1_fix_dist: 0.2367, d0.loss_cls_all: 0.2136, d0.loss_bbox_all: 0.4168, d0.loss_cls: 0.2136, d0.loss_bbox: 0.4168, d1.loss_cls: 0.2030, d1.loss_bbox: 0.3811, d2.loss_cls: 0.1848, d2.loss_bbox: 0.3646, d3.loss_cls: 0.1633, d3.loss_bbox: 0.3594, d4.loss_cls: 0.1588, d4.loss_bbox: 0.3561, d5.loss_cls: 0.1589, d5.loss_bbox: 0.3537, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8537, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6801, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6183, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6132, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6112, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6078, d0.loss_map_cls_all: 0.2406, d0.loss_map_pts_all: 1.4121, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2406, d0.loss_map_pts: 1.4121, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.2103, d1.loss_map_pts: 1.0524, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1906, d2.loss_map_pts: 0.8765, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1796, d3.loss_map_pts: 0.7941, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1732, d4.loss_map_pts: 0.7697, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1681, d5.loss_map_pts: 0.7676, d5.loss_map_dir: 0.0077, loss: 29.4445, grad_norm: 166.0191 +2026-02-27 17:56:10,890 - DriveTransformer - INFO - Epoch [7][36050/39528] lr: 8.550e-05, eta: 5 days, 17:24:51, time: 0.729, data_time: 0.036, memory: 19865, loss_cls: 0.1439, loss_bbox: 0.3480, loss_traj: 0.6895, loss_traj_cls: 0.0011, loss_map_cls: 0.1428, loss_map_pts: 0.6009, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.4825, d0.loss_plan_l1_fix_dist: 0.3979, d1.loss_plan_l1_fix_time: 0.9468, d1.loss_plan_l1_fix_dist: 0.1792, d2.loss_plan_l1_fix_time: 0.9308, d2.loss_plan_l1_fix_dist: 0.1755, d3.loss_plan_l1_fix_time: 0.9352, d3.loss_plan_l1_fix_dist: 0.1839, d4.loss_plan_l1_fix_time: 0.9382, d4.loss_plan_l1_fix_dist: 0.1952, d5.loss_plan_l1_fix_time: 0.9411, d5.loss_plan_l1_fix_dist: 0.2085, d6.loss_plan_l1_fix_time: 0.9439, d6.loss_plan_l1_fix_dist: 0.2266, d0.loss_cls_all: 0.1869, d0.loss_bbox_all: 0.3997, d0.loss_cls: 0.1869, d0.loss_bbox: 0.3997, d1.loss_cls: 0.1757, d1.loss_bbox: 0.3727, d2.loss_cls: 0.1648, d2.loss_bbox: 0.3530, d3.loss_cls: 0.1506, d3.loss_bbox: 0.3488, d4.loss_cls: 0.1443, d4.loss_bbox: 0.3480, d5.loss_cls: 0.1434, d5.loss_bbox: 0.3480, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8836, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7422, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6955, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6934, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6918, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6922, d0.loss_map_cls_all: 0.2189, d0.loss_map_pts_all: 1.2856, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2189, d0.loss_map_pts: 1.2856, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1875, d1.loss_map_pts: 0.8749, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1682, d2.loss_map_pts: 0.7051, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1546, d3.loss_map_pts: 0.6269, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1494, d4.loss_map_pts: 0.6101, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1445, d5.loss_map_pts: 0.6020, d5.loss_map_dir: 0.0081, loss: 27.0337, grad_norm: 168.5189 +2026-02-27 17:56:48,186 - DriveTransformer - INFO - Epoch [7][36100/39528] lr: 8.550e-05, eta: 5 days, 17:24:27, time: 0.746, data_time: 0.036, memory: 19865, loss_cls: 0.1417, loss_bbox: 0.3470, loss_traj: 0.5698, loss_traj_cls: 0.0011, loss_map_cls: 0.1210, loss_map_pts: 0.6249, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.6715, d0.loss_plan_l1_fix_dist: 0.4470, d1.loss_plan_l1_fix_time: 0.9488, d1.loss_plan_l1_fix_dist: 0.1751, d2.loss_plan_l1_fix_time: 0.9383, d2.loss_plan_l1_fix_dist: 0.1819, d3.loss_plan_l1_fix_time: 0.9409, d3.loss_plan_l1_fix_dist: 0.1900, d4.loss_plan_l1_fix_time: 0.9438, d4.loss_plan_l1_fix_dist: 0.2007, d5.loss_plan_l1_fix_time: 0.9466, d5.loss_plan_l1_fix_dist: 0.2098, d6.loss_plan_l1_fix_time: 0.9496, d6.loss_plan_l1_fix_dist: 0.2249, d0.loss_cls_all: 0.1719, d0.loss_bbox_all: 0.4037, d0.loss_cls: 0.1719, d0.loss_bbox: 0.4037, d1.loss_cls: 0.1690, d1.loss_bbox: 0.3739, d2.loss_cls: 0.1572, d2.loss_bbox: 0.3540, d3.loss_cls: 0.1461, d3.loss_bbox: 0.3479, d4.loss_cls: 0.1410, d4.loss_bbox: 0.3473, d5.loss_cls: 0.1404, d5.loss_bbox: 0.3475, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7717, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6281, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5901, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5733, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5700, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5719, d0.loss_map_cls_all: 0.2059, d0.loss_map_pts_all: 1.2794, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2059, d0.loss_map_pts: 1.2794, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1696, d1.loss_map_pts: 0.8881, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1489, d2.loss_map_pts: 0.7240, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1362, d3.loss_map_pts: 0.6596, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1297, d4.loss_map_pts: 0.6371, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1244, d5.loss_map_pts: 0.6257, d5.loss_map_dir: 0.0088, loss: 26.4444, grad_norm: 171.5858 +2026-02-27 17:57:24,869 - DriveTransformer - INFO - Epoch [7][36150/39528] lr: 8.550e-05, eta: 5 days, 17:23:52, time: 0.734, data_time: 0.039, memory: 19865, loss_cls: 0.1391, loss_bbox: 0.3500, loss_traj: 0.7417, loss_traj_cls: 0.0011, loss_map_cls: 0.1432, loss_map_pts: 0.7025, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.5805, d0.loss_plan_l1_fix_dist: 0.4830, d1.loss_plan_l1_fix_time: 1.0780, d1.loss_plan_l1_fix_dist: 0.2340, d2.loss_plan_l1_fix_time: 1.0610, d2.loss_plan_l1_fix_dist: 0.2401, d3.loss_plan_l1_fix_time: 1.0555, d3.loss_plan_l1_fix_dist: 0.2465, d4.loss_plan_l1_fix_time: 1.0577, d4.loss_plan_l1_fix_dist: 0.2545, d5.loss_plan_l1_fix_time: 1.0605, d5.loss_plan_l1_fix_dist: 0.2637, d6.loss_plan_l1_fix_time: 1.0633, d6.loss_plan_l1_fix_dist: 0.2743, d0.loss_cls_all: 0.1798, d0.loss_bbox_all: 0.3960, d0.loss_cls: 0.1798, d0.loss_bbox: 0.3960, d1.loss_cls: 0.1700, d1.loss_bbox: 0.3693, d2.loss_cls: 0.1555, d2.loss_bbox: 0.3549, d3.loss_cls: 0.1437, d3.loss_bbox: 0.3507, d4.loss_cls: 0.1406, d4.loss_bbox: 0.3491, d5.loss_cls: 0.1393, d5.loss_bbox: 0.3491, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9765, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7958, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7478, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7302, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7298, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7354, d0.loss_map_cls_all: 0.2206, d0.loss_map_pts_all: 1.4231, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2206, d0.loss_map_pts: 1.4231, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1892, d1.loss_map_pts: 1.0080, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1694, d2.loss_map_pts: 0.8108, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1574, d3.loss_map_pts: 0.7333, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1484, d4.loss_map_pts: 0.7087, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1441, d5.loss_map_pts: 0.7015, d5.loss_map_dir: 0.0092, loss: 29.5523, grad_norm: 173.9393 +2026-02-27 17:58:01,382 - DriveTransformer - INFO - Epoch [7][36200/39528] lr: 8.550e-05, eta: 5 days, 17:23:13, time: 0.730, data_time: 0.041, memory: 19865, loss_cls: 0.1450, loss_bbox: 0.3522, loss_traj: 0.7291, loss_traj_cls: 0.0011, loss_map_cls: 0.1662, loss_map_pts: 0.7180, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.5393, d0.loss_plan_l1_fix_dist: 0.4305, d1.loss_plan_l1_fix_time: 1.1108, d1.loss_plan_l1_fix_dist: 0.1767, d2.loss_plan_l1_fix_time: 1.0970, d2.loss_plan_l1_fix_dist: 0.1769, d3.loss_plan_l1_fix_time: 1.0902, d3.loss_plan_l1_fix_dist: 0.1800, d4.loss_plan_l1_fix_time: 1.0918, d4.loss_plan_l1_fix_dist: 0.1864, d5.loss_plan_l1_fix_time: 1.0942, d5.loss_plan_l1_fix_dist: 0.1987, d6.loss_plan_l1_fix_time: 1.0977, d6.loss_plan_l1_fix_dist: 0.2137, d0.loss_cls_all: 0.1930, d0.loss_bbox_all: 0.4109, d0.loss_cls: 0.1930, d0.loss_bbox: 0.4109, d1.loss_cls: 0.1865, d1.loss_bbox: 0.3785, d2.loss_cls: 0.1703, d2.loss_bbox: 0.3600, d3.loss_cls: 0.1544, d3.loss_bbox: 0.3522, d4.loss_cls: 0.1459, d4.loss_bbox: 0.3526, d5.loss_cls: 0.1440, d5.loss_bbox: 0.3529, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9809, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7919, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7338, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7321, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7297, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7293, d0.loss_map_cls_all: 0.2601, d0.loss_map_pts_all: 1.4288, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2601, d0.loss_map_pts: 1.4288, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2194, d1.loss_map_pts: 1.0013, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1926, d2.loss_map_pts: 0.8242, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1803, d3.loss_map_pts: 0.7511, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1715, d4.loss_map_pts: 0.7278, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1667, d5.loss_map_pts: 0.7194, d5.loss_map_dir: 0.0095, loss: 29.7106, grad_norm: 172.9945 +2026-02-27 17:58:38,727 - DriveTransformer - INFO - Epoch [7][36250/39528] lr: 8.550e-05, eta: 5 days, 17:22:50, time: 0.747, data_time: 0.036, memory: 19865, loss_cls: 0.1519, loss_bbox: 0.3477, loss_traj: 0.6055, loss_traj_cls: 0.0011, loss_map_cls: 0.1693, loss_map_pts: 0.7833, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.5735, d0.loss_plan_l1_fix_dist: 0.3983, d1.loss_plan_l1_fix_time: 1.1028, d1.loss_plan_l1_fix_dist: 0.1963, d2.loss_plan_l1_fix_time: 1.0949, d2.loss_plan_l1_fix_dist: 0.2028, d3.loss_plan_l1_fix_time: 1.0903, d3.loss_plan_l1_fix_dist: 0.2198, d4.loss_plan_l1_fix_time: 1.0932, d4.loss_plan_l1_fix_dist: 0.2405, d5.loss_plan_l1_fix_time: 1.0971, d5.loss_plan_l1_fix_dist: 0.2615, d6.loss_plan_l1_fix_time: 1.1021, d6.loss_plan_l1_fix_dist: 0.2870, d0.loss_cls_all: 0.1869, d0.loss_bbox_all: 0.4044, d0.loss_cls: 0.1869, d0.loss_bbox: 0.4044, d1.loss_cls: 0.1800, d1.loss_bbox: 0.3718, d2.loss_cls: 0.1701, d2.loss_bbox: 0.3544, d3.loss_cls: 0.1557, d3.loss_bbox: 0.3508, d4.loss_cls: 0.1514, d4.loss_bbox: 0.3475, d5.loss_cls: 0.1522, d5.loss_bbox: 0.3474, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7726, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6310, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6081, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6058, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6061, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6057, d0.loss_map_cls_all: 0.2552, d0.loss_map_pts_all: 1.5323, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2552, d0.loss_map_pts: 1.5323, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2242, d1.loss_map_pts: 1.1006, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2002, d2.loss_map_pts: 0.9023, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1849, d3.loss_map_pts: 0.8237, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1770, d4.loss_map_pts: 0.7944, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1695, d5.loss_map_pts: 0.7856, d5.loss_map_dir: 0.0109, loss: 29.6385, grad_norm: 173.3402 +2026-02-27 17:59:15,139 - DriveTransformer - INFO - Epoch [7][36300/39528] lr: 8.550e-05, eta: 5 days, 17:22:09, time: 0.728, data_time: 0.035, memory: 19865, loss_cls: 0.1433, loss_bbox: 0.3590, loss_traj: 0.6750, loss_traj_cls: 0.0011, loss_map_cls: 0.1745, loss_map_pts: 0.7483, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 3.0663, d0.loss_plan_l1_fix_dist: 0.2886, d1.loss_plan_l1_fix_time: 1.1833, d1.loss_plan_l1_fix_dist: 0.1840, d2.loss_plan_l1_fix_time: 1.1704, d2.loss_plan_l1_fix_dist: 0.1799, d3.loss_plan_l1_fix_time: 1.1720, d3.loss_plan_l1_fix_dist: 0.1856, d4.loss_plan_l1_fix_time: 1.1756, d4.loss_plan_l1_fix_dist: 0.1996, d5.loss_plan_l1_fix_time: 1.1797, d5.loss_plan_l1_fix_dist: 0.2176, d6.loss_plan_l1_fix_time: 1.1837, d6.loss_plan_l1_fix_dist: 0.2385, d0.loss_cls_all: 0.1922, d0.loss_bbox_all: 0.4202, d0.loss_cls: 0.1922, d0.loss_bbox: 0.4202, d1.loss_cls: 0.1838, d1.loss_bbox: 0.3853, d2.loss_cls: 0.1704, d2.loss_bbox: 0.3681, d3.loss_cls: 0.1525, d3.loss_bbox: 0.3618, d4.loss_cls: 0.1453, d4.loss_bbox: 0.3581, d5.loss_cls: 0.1434, d5.loss_bbox: 0.3585, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9384, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7459, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6917, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6763, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6741, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6728, d0.loss_map_cls_all: 0.2546, d0.loss_map_pts_all: 1.4990, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2546, d0.loss_map_pts: 1.4990, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2261, d1.loss_map_pts: 1.0198, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1993, d2.loss_map_pts: 0.8437, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1890, d3.loss_map_pts: 0.7779, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1807, d4.loss_map_pts: 0.7544, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1759, d5.loss_map_pts: 0.7482, d5.loss_map_dir: 0.0104, loss: 30.6865, grad_norm: 174.7093 +2026-02-27 17:59:51,717 - DriveTransformer - INFO - Epoch [7][36350/39528] lr: 8.550e-05, eta: 5 days, 17:21:32, time: 0.732, data_time: 0.040, memory: 19865, loss_cls: 0.1669, loss_bbox: 0.3515, loss_traj: 0.5760, loss_traj_cls: 0.0011, loss_map_cls: 0.1467, loss_map_pts: 0.6735, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.4833, d0.loss_plan_l1_fix_dist: 0.3757, d1.loss_plan_l1_fix_time: 0.8978, d1.loss_plan_l1_fix_dist: 0.1724, d2.loss_plan_l1_fix_time: 0.8860, d2.loss_plan_l1_fix_dist: 0.1733, d3.loss_plan_l1_fix_time: 0.8869, d3.loss_plan_l1_fix_dist: 0.1828, d4.loss_plan_l1_fix_time: 0.8906, d4.loss_plan_l1_fix_dist: 0.1971, d5.loss_plan_l1_fix_time: 0.8945, d5.loss_plan_l1_fix_dist: 0.2157, d6.loss_plan_l1_fix_time: 0.8982, d6.loss_plan_l1_fix_dist: 0.2352, d0.loss_cls_all: 0.2039, d0.loss_bbox_all: 0.4183, d0.loss_cls: 0.2039, d0.loss_bbox: 0.4183, d1.loss_cls: 0.1947, d1.loss_bbox: 0.3826, d2.loss_cls: 0.1850, d2.loss_bbox: 0.3614, d3.loss_cls: 0.1721, d3.loss_bbox: 0.3548, d4.loss_cls: 0.1676, d4.loss_bbox: 0.3525, d5.loss_cls: 0.1659, d5.loss_bbox: 0.3524, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7470, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6122, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5747, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5781, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5712, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5730, d0.loss_map_cls_all: 0.2244, d0.loss_map_pts_all: 1.3603, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2244, d0.loss_map_pts: 1.3603, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1892, d1.loss_map_pts: 0.9490, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1707, d2.loss_map_pts: 0.7750, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1602, d3.loss_map_pts: 0.7060, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1517, d4.loss_map_pts: 0.6815, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1478, d5.loss_map_pts: 0.6749, d5.loss_map_dir: 0.0092, loss: 26.7496, grad_norm: 175.8277 +2026-02-27 18:00:28,296 - DriveTransformer - INFO - Epoch [7][36400/39528] lr: 8.550e-05, eta: 5 days, 17:20:56, time: 0.733, data_time: 0.038, memory: 19865, loss_cls: 0.1645, loss_bbox: 0.3888, loss_traj: 0.6945, loss_traj_cls: 0.0011, loss_map_cls: 0.1509, loss_map_pts: 0.6827, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.9537, d0.loss_plan_l1_fix_dist: 0.4043, d1.loss_plan_l1_fix_time: 1.0061, d1.loss_plan_l1_fix_dist: 0.1753, d2.loss_plan_l1_fix_time: 0.9961, d2.loss_plan_l1_fix_dist: 0.1822, d3.loss_plan_l1_fix_time: 0.9989, d3.loss_plan_l1_fix_dist: 0.2010, d4.loss_plan_l1_fix_time: 1.0020, d4.loss_plan_l1_fix_dist: 0.2221, d5.loss_plan_l1_fix_time: 1.0055, d5.loss_plan_l1_fix_dist: 0.2414, d6.loss_plan_l1_fix_time: 1.0093, d6.loss_plan_l1_fix_dist: 0.2623, d0.loss_cls_all: 0.2084, d0.loss_bbox_all: 0.4547, d0.loss_cls: 0.2084, d0.loss_bbox: 0.4547, d1.loss_cls: 0.1968, d1.loss_bbox: 0.4196, d2.loss_cls: 0.1865, d2.loss_bbox: 0.3980, d3.loss_cls: 0.1705, d3.loss_bbox: 0.3928, d4.loss_cls: 0.1646, d4.loss_bbox: 0.3914, d5.loss_cls: 0.1647, d5.loss_bbox: 0.3897, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9767, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7805, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7259, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7195, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7053, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6957, d0.loss_map_cls_all: 0.2228, d0.loss_map_pts_all: 1.3094, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2228, d0.loss_map_pts: 1.3094, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1957, d1.loss_map_pts: 0.9321, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1753, d2.loss_map_pts: 0.7773, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1651, d3.loss_map_pts: 0.7133, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1575, d4.loss_map_pts: 0.6901, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1519, d5.loss_map_pts: 0.6840, d5.loss_map_dir: 0.0080, loss: 29.3221, grad_norm: 174.8542 +2026-02-27 18:01:04,590 - DriveTransformer - INFO - Epoch [7][36450/39528] lr: 8.550e-05, eta: 5 days, 17:20:12, time: 0.725, data_time: 0.035, memory: 19865, loss_cls: 0.1502, loss_bbox: 0.3567, loss_traj: 0.6294, loss_traj_cls: 0.0011, loss_map_cls: 0.1151, loss_map_pts: 0.5795, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.4121, d0.loss_plan_l1_fix_dist: 0.4551, d1.loss_plan_l1_fix_time: 1.0334, d1.loss_plan_l1_fix_dist: 0.2282, d2.loss_plan_l1_fix_time: 1.0266, d2.loss_plan_l1_fix_dist: 0.2588, d3.loss_plan_l1_fix_time: 1.0320, d3.loss_plan_l1_fix_dist: 0.3000, d4.loss_plan_l1_fix_time: 1.0401, d4.loss_plan_l1_fix_dist: 0.3462, d5.loss_plan_l1_fix_time: 1.0495, d5.loss_plan_l1_fix_dist: 0.3952, d6.loss_plan_l1_fix_time: 1.0602, d6.loss_plan_l1_fix_dist: 0.4434, d0.loss_cls_all: 0.1895, d0.loss_bbox_all: 0.4130, d0.loss_cls: 0.1895, d0.loss_bbox: 0.4130, d1.loss_cls: 0.1869, d1.loss_bbox: 0.3771, d2.loss_cls: 0.1719, d2.loss_bbox: 0.3615, d3.loss_cls: 0.1581, d3.loss_bbox: 0.3573, d4.loss_cls: 0.1523, d4.loss_bbox: 0.3543, d5.loss_cls: 0.1507, d5.loss_bbox: 0.3539, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8438, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7016, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6624, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6460, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6363, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6299, d0.loss_map_cls_all: 0.1886, d0.loss_map_pts_all: 1.1488, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.1886, d0.loss_map_pts: 1.1488, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1575, d1.loss_map_pts: 0.8000, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1385, d2.loss_map_pts: 0.6561, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1230, d3.loss_map_pts: 0.6024, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1187, d4.loss_map_pts: 0.5844, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1169, d5.loss_map_pts: 0.5804, d5.loss_map_dir: 0.0083, loss: 27.4868, grad_norm: 178.3112 +2026-02-27 18:01:41,165 - DriveTransformer - INFO - Epoch [7][36500/39528] lr: 8.550e-05, eta: 5 days, 17:19:34, time: 0.731, data_time: 0.038, memory: 19865, loss_cls: 0.1364, loss_bbox: 0.3594, loss_traj: 0.5897, loss_traj_cls: 0.0012, loss_map_cls: 0.1260, loss_map_pts: 0.5676, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.3180, d0.loss_plan_l1_fix_dist: 0.3986, d1.loss_plan_l1_fix_time: 0.9560, d1.loss_plan_l1_fix_dist: 0.1918, d2.loss_plan_l1_fix_time: 0.9468, d2.loss_plan_l1_fix_dist: 0.2261, d3.loss_plan_l1_fix_time: 0.9439, d3.loss_plan_l1_fix_dist: 0.2666, d4.loss_plan_l1_fix_time: 0.9502, d4.loss_plan_l1_fix_dist: 0.3105, d5.loss_plan_l1_fix_time: 0.9585, d5.loss_plan_l1_fix_dist: 0.3570, d6.loss_plan_l1_fix_time: 0.9690, d6.loss_plan_l1_fix_dist: 0.4010, d0.loss_cls_all: 0.1772, d0.loss_bbox_all: 0.4071, d0.loss_cls: 0.1772, d0.loss_bbox: 0.4071, d1.loss_cls: 0.1661, d1.loss_bbox: 0.3750, d2.loss_cls: 0.1524, d2.loss_bbox: 0.3619, d3.loss_cls: 0.1399, d3.loss_bbox: 0.3590, d4.loss_cls: 0.1356, d4.loss_bbox: 0.3558, d5.loss_cls: 0.1353, d5.loss_bbox: 0.3568, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7725, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6390, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6086, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6004, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5939, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5870, d0.loss_map_cls_all: 0.1997, d0.loss_map_pts_all: 1.1489, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1997, d0.loss_map_pts: 1.1489, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1675, d1.loss_map_pts: 0.8013, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1493, d2.loss_map_pts: 0.6543, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1379, d3.loss_map_pts: 0.5956, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1305, d4.loss_map_pts: 0.5769, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1273, d5.loss_map_pts: 0.5696, d5.loss_map_dir: 0.0076, loss: 26.1544, grad_norm: 181.5113 +2026-02-27 18:02:16,657 - DriveTransformer - INFO - Epoch [7][36550/39528] lr: 8.550e-05, eta: 5 days, 17:18:37, time: 0.710, data_time: 0.036, memory: 19865, loss_cls: 0.1621, loss_bbox: 0.3792, loss_traj: 0.6057, loss_traj_cls: 0.0011, loss_map_cls: 0.1564, loss_map_pts: 0.7219, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 3.0067, d0.loss_plan_l1_fix_dist: 0.4255, d1.loss_plan_l1_fix_time: 1.2077, d1.loss_plan_l1_fix_dist: 0.1986, d2.loss_plan_l1_fix_time: 1.2097, d2.loss_plan_l1_fix_dist: 0.2122, d3.loss_plan_l1_fix_time: 1.2112, d3.loss_plan_l1_fix_dist: 0.2343, d4.loss_plan_l1_fix_time: 1.2147, d4.loss_plan_l1_fix_dist: 0.2551, d5.loss_plan_l1_fix_time: 1.2188, d5.loss_plan_l1_fix_dist: 0.2720, d6.loss_plan_l1_fix_time: 1.2244, d6.loss_plan_l1_fix_dist: 0.2927, d0.loss_cls_all: 0.2031, d0.loss_bbox_all: 0.4485, d0.loss_cls: 0.2031, d0.loss_bbox: 0.4485, d1.loss_cls: 0.1982, d1.loss_bbox: 0.4135, d2.loss_cls: 0.1812, d2.loss_bbox: 0.3917, d3.loss_cls: 0.1668, d3.loss_bbox: 0.3839, d4.loss_cls: 0.1615, d4.loss_bbox: 0.3804, d5.loss_cls: 0.1625, d5.loss_bbox: 0.3787, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8689, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6888, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6139, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6032, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6010, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6069, d0.loss_map_cls_all: 0.2270, d0.loss_map_pts_all: 1.3897, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2270, d0.loss_map_pts: 1.3897, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1984, d1.loss_map_pts: 0.9980, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1785, d2.loss_map_pts: 0.8233, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1667, d3.loss_map_pts: 0.7548, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1602, d4.loss_map_pts: 0.7299, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1573, d5.loss_map_pts: 0.7233, d5.loss_map_dir: 0.0097, loss: 30.5180, grad_norm: 182.3804 +2026-02-27 18:02:52,837 - DriveTransformer - INFO - Epoch [7][36600/39528] lr: 8.550e-05, eta: 5 days, 17:17:52, time: 0.724, data_time: 0.038, memory: 19865, loss_cls: 0.1478, loss_bbox: 0.3433, loss_traj: 0.6379, loss_traj_cls: 0.0011, loss_map_cls: 0.1638, loss_map_pts: 0.7276, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.6851, d0.loss_plan_l1_fix_dist: 0.3802, d1.loss_plan_l1_fix_time: 1.1359, d1.loss_plan_l1_fix_dist: 0.1980, d2.loss_plan_l1_fix_time: 1.1276, d2.loss_plan_l1_fix_dist: 0.2209, d3.loss_plan_l1_fix_time: 1.1322, d3.loss_plan_l1_fix_dist: 0.2478, d4.loss_plan_l1_fix_time: 1.1364, d4.loss_plan_l1_fix_dist: 0.2778, d5.loss_plan_l1_fix_time: 1.1402, d5.loss_plan_l1_fix_dist: 0.3129, d6.loss_plan_l1_fix_time: 1.1438, d6.loss_plan_l1_fix_dist: 0.3556, d0.loss_cls_all: 0.1830, d0.loss_bbox_all: 0.4109, d0.loss_cls: 0.1830, d0.loss_bbox: 0.4109, d1.loss_cls: 0.1778, d1.loss_bbox: 0.3743, d2.loss_cls: 0.1677, d2.loss_bbox: 0.3539, d3.loss_cls: 0.1560, d3.loss_bbox: 0.3481, d4.loss_cls: 0.1464, d4.loss_bbox: 0.3463, d5.loss_cls: 0.1473, d5.loss_bbox: 0.3435, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8540, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7024, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6551, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6389, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6388, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6400, d0.loss_map_cls_all: 0.2437, d0.loss_map_pts_all: 1.3758, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2437, d0.loss_map_pts: 1.3758, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2081, d1.loss_map_pts: 1.0102, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1846, d2.loss_map_pts: 0.8310, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1738, d3.loss_map_pts: 0.7604, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1672, d4.loss_map_pts: 0.7355, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1638, d5.loss_map_pts: 0.7284, d5.loss_map_dir: 0.0092, loss: 29.6702, grad_norm: 181.4640 +2026-02-27 18:03:31,350 - DriveTransformer - INFO - Epoch [7][36650/39528] lr: 8.550e-05, eta: 5 days, 17:17:51, time: 0.770, data_time: 0.035, memory: 19865, loss_cls: 0.1384, loss_bbox: 0.3433, loss_traj: 0.5799, loss_traj_cls: 0.0012, loss_map_cls: 0.1245, loss_map_pts: 0.6883, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.3360, d0.loss_plan_l1_fix_dist: 0.3809, d1.loss_plan_l1_fix_time: 0.9360, d1.loss_plan_l1_fix_dist: 0.1962, d2.loss_plan_l1_fix_time: 0.9195, d2.loss_plan_l1_fix_dist: 0.2132, d3.loss_plan_l1_fix_time: 0.9209, d3.loss_plan_l1_fix_dist: 0.2362, d4.loss_plan_l1_fix_time: 0.9254, d4.loss_plan_l1_fix_dist: 0.2652, d5.loss_plan_l1_fix_time: 0.9294, d5.loss_plan_l1_fix_dist: 0.3009, d6.loss_plan_l1_fix_time: 0.9325, d6.loss_plan_l1_fix_dist: 0.3388, d0.loss_cls_all: 0.1766, d0.loss_bbox_all: 0.4001, d0.loss_cls: 0.1766, d0.loss_bbox: 0.4001, d1.loss_cls: 0.1713, d1.loss_bbox: 0.3667, d2.loss_cls: 0.1574, d2.loss_bbox: 0.3505, d3.loss_cls: 0.1457, d3.loss_bbox: 0.3447, d4.loss_cls: 0.1407, d4.loss_bbox: 0.3441, d5.loss_cls: 0.1379, d5.loss_bbox: 0.3442, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7565, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6292, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5934, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5852, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5815, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5774, d0.loss_map_cls_all: 0.1968, d0.loss_map_pts_all: 1.4020, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.1968, d0.loss_map_pts: 1.4020, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.1635, d1.loss_map_pts: 0.9714, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1442, d2.loss_map_pts: 0.7817, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1345, d3.loss_map_pts: 0.7162, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1276, d4.loss_map_pts: 0.6918, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1248, d5.loss_map_pts: 0.6878, d5.loss_map_dir: 0.0108, loss: 26.9152, grad_norm: 181.6377 +2026-02-27 18:04:07,690 - DriveTransformer - INFO - Epoch [7][36700/39528] lr: 8.550e-05, eta: 5 days, 17:17:09, time: 0.727, data_time: 0.037, memory: 19865, loss_cls: 0.1416, loss_bbox: 0.3340, loss_traj: 0.6720, loss_traj_cls: 0.0012, loss_map_cls: 0.1368, loss_map_pts: 0.6281, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.9690, d0.loss_plan_l1_fix_dist: 0.4258, d1.loss_plan_l1_fix_time: 1.1405, d1.loss_plan_l1_fix_dist: 0.1855, d2.loss_plan_l1_fix_time: 1.1289, d2.loss_plan_l1_fix_dist: 0.1993, d3.loss_plan_l1_fix_time: 1.1181, d3.loss_plan_l1_fix_dist: 0.2221, d4.loss_plan_l1_fix_time: 1.1214, d4.loss_plan_l1_fix_dist: 0.2458, d5.loss_plan_l1_fix_time: 1.1253, d5.loss_plan_l1_fix_dist: 0.2732, d6.loss_plan_l1_fix_time: 1.1292, d6.loss_plan_l1_fix_dist: 0.2968, d0.loss_cls_all: 0.1750, d0.loss_bbox_all: 0.3948, d0.loss_cls: 0.1750, d0.loss_bbox: 0.3948, d1.loss_cls: 0.1725, d1.loss_bbox: 0.3585, d2.loss_cls: 0.1590, d2.loss_bbox: 0.3442, d3.loss_cls: 0.1489, d3.loss_bbox: 0.3367, d4.loss_cls: 0.1426, d4.loss_bbox: 0.3354, d5.loss_cls: 0.1422, d5.loss_bbox: 0.3333, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9013, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7415, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6917, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6758, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6773, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6704, d0.loss_map_cls_all: 0.2146, d0.loss_map_pts_all: 1.3021, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2146, d0.loss_map_pts: 1.3021, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1847, d1.loss_map_pts: 0.8961, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1592, d2.loss_map_pts: 0.7235, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1475, d3.loss_map_pts: 0.6537, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1409, d4.loss_map_pts: 0.6327, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1379, d5.loss_map_pts: 0.6273, d5.loss_map_dir: 0.0085, loss: 28.8723, grad_norm: 180.8029 +2026-02-27 18:04:44,925 - DriveTransformer - INFO - Epoch [7][36750/39528] lr: 8.550e-05, eta: 5 days, 17:16:43, time: 0.745, data_time: 0.036, memory: 19865, loss_cls: 0.1415, loss_bbox: 0.3695, loss_traj: 0.6684, loss_traj_cls: 0.0012, loss_map_cls: 0.1545, loss_map_pts: 0.7340, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.8039, d0.loss_plan_l1_fix_dist: 0.4360, d1.loss_plan_l1_fix_time: 1.1655, d1.loss_plan_l1_fix_dist: 0.2155, d2.loss_plan_l1_fix_time: 1.1615, d2.loss_plan_l1_fix_dist: 0.2379, d3.loss_plan_l1_fix_time: 1.1667, d3.loss_plan_l1_fix_dist: 0.2652, d4.loss_plan_l1_fix_time: 1.1712, d4.loss_plan_l1_fix_dist: 0.2852, d5.loss_plan_l1_fix_time: 1.1759, d5.loss_plan_l1_fix_dist: 0.3052, d6.loss_plan_l1_fix_time: 1.1812, d6.loss_plan_l1_fix_dist: 0.3251, d0.loss_cls_all: 0.1834, d0.loss_bbox_all: 0.4278, d0.loss_cls: 0.1834, d0.loss_bbox: 0.4278, d1.loss_cls: 0.1733, d1.loss_bbox: 0.3949, d2.loss_cls: 0.1623, d2.loss_bbox: 0.3786, d3.loss_cls: 0.1472, d3.loss_bbox: 0.3738, d4.loss_cls: 0.1424, d4.loss_bbox: 0.3702, d5.loss_cls: 0.1422, d5.loss_bbox: 0.3690, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8790, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7233, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6709, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6585, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6598, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6651, d0.loss_map_cls_all: 0.2310, d0.loss_map_pts_all: 1.4773, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2310, d0.loss_map_pts: 1.4773, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2012, d1.loss_map_pts: 1.0202, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1763, d2.loss_map_pts: 0.8376, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1658, d3.loss_map_pts: 0.7622, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1580, d4.loss_map_pts: 0.7405, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1545, d5.loss_map_pts: 0.7337, d5.loss_map_dir: 0.0100, loss: 30.5474, grad_norm: 181.5463 +2026-02-27 18:05:22,927 - DriveTransformer - INFO - Epoch [7][36800/39528] lr: 8.550e-05, eta: 5 days, 17:16:32, time: 0.760, data_time: 0.037, memory: 19865, loss_cls: 0.1337, loss_bbox: 0.3450, loss_traj: 0.5705, loss_traj_cls: 0.0012, loss_map_cls: 0.1430, loss_map_pts: 0.7436, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.3221, d0.loss_plan_l1_fix_dist: 0.3581, d1.loss_plan_l1_fix_time: 0.9222, d1.loss_plan_l1_fix_dist: 0.1917, d2.loss_plan_l1_fix_time: 0.9192, d2.loss_plan_l1_fix_dist: 0.2144, d3.loss_plan_l1_fix_time: 0.9260, d3.loss_plan_l1_fix_dist: 0.2370, d4.loss_plan_l1_fix_time: 0.9311, d4.loss_plan_l1_fix_dist: 0.2564, d5.loss_plan_l1_fix_time: 0.9367, d5.loss_plan_l1_fix_dist: 0.2754, d6.loss_plan_l1_fix_time: 0.9429, d6.loss_plan_l1_fix_dist: 0.2992, d0.loss_cls_all: 0.1778, d0.loss_bbox_all: 0.4033, d0.loss_cls: 0.1778, d0.loss_bbox: 0.4033, d1.loss_cls: 0.1683, d1.loss_bbox: 0.3706, d2.loss_cls: 0.1565, d2.loss_bbox: 0.3523, d3.loss_cls: 0.1413, d3.loss_bbox: 0.3461, d4.loss_cls: 0.1340, d4.loss_bbox: 0.3455, d5.loss_cls: 0.1337, d5.loss_bbox: 0.3442, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7661, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6331, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5822, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5710, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5717, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5719, d0.loss_map_cls_all: 0.2246, d0.loss_map_pts_all: 1.4656, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2246, d0.loss_map_pts: 1.4656, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1890, d1.loss_map_pts: 1.0294, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1667, d2.loss_map_pts: 0.8481, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1563, d3.loss_map_pts: 0.7763, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1489, d4.loss_map_pts: 0.7500, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1445, d5.loss_map_pts: 0.7434, d5.loss_map_dir: 0.0101, loss: 27.4384, grad_norm: 184.3720 +2026-02-27 18:06:00,586 - DriveTransformer - INFO - Epoch [7][36850/39528] lr: 8.550e-05, eta: 5 days, 17:16:14, time: 0.753, data_time: 0.038, memory: 19865, loss_cls: 0.1323, loss_bbox: 0.3498, loss_traj: 0.6194, loss_traj_cls: 0.0012, loss_map_cls: 0.1385, loss_map_pts: 0.6994, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.4095, d0.loss_plan_l1_fix_dist: 0.4620, d1.loss_plan_l1_fix_time: 0.9171, d1.loss_plan_l1_fix_dist: 0.1718, d2.loss_plan_l1_fix_time: 0.9059, d2.loss_plan_l1_fix_dist: 0.1831, d3.loss_plan_l1_fix_time: 0.9025, d3.loss_plan_l1_fix_dist: 0.1926, d4.loss_plan_l1_fix_time: 0.9060, d4.loss_plan_l1_fix_dist: 0.2084, d5.loss_plan_l1_fix_time: 0.9111, d5.loss_plan_l1_fix_dist: 0.2217, d6.loss_plan_l1_fix_time: 0.9174, d6.loss_plan_l1_fix_dist: 0.2368, d0.loss_cls_all: 0.1757, d0.loss_bbox_all: 0.4038, d0.loss_cls: 0.1757, d0.loss_bbox: 0.4038, d1.loss_cls: 0.1681, d1.loss_bbox: 0.3747, d2.loss_cls: 0.1547, d2.loss_bbox: 0.3562, d3.loss_cls: 0.1393, d3.loss_bbox: 0.3519, d4.loss_cls: 0.1327, d4.loss_bbox: 0.3503, d5.loss_cls: 0.1311, d5.loss_bbox: 0.3501, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8141, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6699, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6419, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6190, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6117, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6141, d0.loss_map_cls_all: 0.2102, d0.loss_map_pts_all: 1.3856, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2102, d0.loss_map_pts: 1.3856, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1803, d1.loss_map_pts: 0.9826, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1620, d2.loss_map_pts: 0.8130, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1514, d3.loss_map_pts: 0.7364, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1442, d4.loss_map_pts: 0.7094, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1395, d5.loss_map_pts: 0.7005, d5.loss_map_dir: 0.0097, loss: 27.1183, grad_norm: 182.2718 +2026-02-27 18:06:37,365 - DriveTransformer - INFO - Epoch [7][36900/39528] lr: 8.550e-05, eta: 5 days, 17:15:41, time: 0.736, data_time: 0.037, memory: 19865, loss_cls: 0.1536, loss_bbox: 0.3290, loss_traj: 0.6391, loss_traj_cls: 0.0011, loss_map_cls: 0.1381, loss_map_pts: 0.6255, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.8862, d0.loss_plan_l1_fix_dist: 0.3927, d1.loss_plan_l1_fix_time: 1.0412, d1.loss_plan_l1_fix_dist: 0.1751, d2.loss_plan_l1_fix_time: 1.0256, d2.loss_plan_l1_fix_dist: 0.1853, d3.loss_plan_l1_fix_time: 1.0238, d3.loss_plan_l1_fix_dist: 0.1997, d4.loss_plan_l1_fix_time: 1.0268, d4.loss_plan_l1_fix_dist: 0.2216, d5.loss_plan_l1_fix_time: 1.0303, d5.loss_plan_l1_fix_dist: 0.2491, d6.loss_plan_l1_fix_time: 1.0345, d6.loss_plan_l1_fix_dist: 0.2736, d0.loss_cls_all: 0.1936, d0.loss_bbox_all: 0.3821, d0.loss_cls: 0.1936, d0.loss_bbox: 0.3821, d1.loss_cls: 0.1864, d1.loss_bbox: 0.3534, d2.loss_cls: 0.1704, d2.loss_bbox: 0.3388, d3.loss_cls: 0.1600, d3.loss_bbox: 0.3327, d4.loss_cls: 0.1557, d4.loss_bbox: 0.3302, d5.loss_cls: 0.1540, d5.loss_bbox: 0.3292, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8340, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6960, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6592, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6533, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6442, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6428, d0.loss_map_cls_all: 0.2097, d0.loss_map_pts_all: 1.3035, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2097, d0.loss_map_pts: 1.3035, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1784, d1.loss_map_pts: 0.9102, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1591, d2.loss_map_pts: 0.7297, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1483, d3.loss_map_pts: 0.6544, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1429, d4.loss_map_pts: 0.6328, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1387, d5.loss_map_pts: 0.6262, d5.loss_map_dir: 0.0083, loss: 27.8614, grad_norm: 180.3756 +2026-02-27 18:07:14,053 - DriveTransformer - INFO - Epoch [7][36950/39528] lr: 8.550e-05, eta: 5 days, 17:15:05, time: 0.734, data_time: 0.036, memory: 19865, loss_cls: 0.1417, loss_bbox: 0.3427, loss_traj: 0.6585, loss_traj_cls: 0.0011, loss_map_cls: 0.1500, loss_map_pts: 0.6811, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.8730, d0.loss_plan_l1_fix_dist: 0.4946, d1.loss_plan_l1_fix_time: 1.1166, d1.loss_plan_l1_fix_dist: 0.2218, d2.loss_plan_l1_fix_time: 1.1106, d2.loss_plan_l1_fix_dist: 0.2284, d3.loss_plan_l1_fix_time: 1.1168, d3.loss_plan_l1_fix_dist: 0.2432, d4.loss_plan_l1_fix_time: 1.1244, d4.loss_plan_l1_fix_dist: 0.2626, d5.loss_plan_l1_fix_time: 1.1314, d5.loss_plan_l1_fix_dist: 0.2850, d6.loss_plan_l1_fix_time: 1.1382, d6.loss_plan_l1_fix_dist: 0.3078, d0.loss_cls_all: 0.1730, d0.loss_bbox_all: 0.4130, d0.loss_cls: 0.1730, d0.loss_bbox: 0.4130, d1.loss_cls: 0.1676, d1.loss_bbox: 0.3782, d2.loss_cls: 0.1611, d2.loss_bbox: 0.3538, d3.loss_cls: 0.1481, d3.loss_bbox: 0.3453, d4.loss_cls: 0.1420, d4.loss_bbox: 0.3444, d5.loss_cls: 0.1420, d5.loss_bbox: 0.3424, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8441, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6972, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6713, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6621, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6600, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6599, d0.loss_map_cls_all: 0.2350, d0.loss_map_pts_all: 1.3459, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2350, d0.loss_map_pts: 1.3459, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1992, d1.loss_map_pts: 0.9463, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1764, d2.loss_map_pts: 0.7823, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1627, d3.loss_map_pts: 0.7144, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1576, d4.loss_map_pts: 0.6923, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1520, d5.loss_map_pts: 0.6823, d5.loss_map_dir: 0.0091, loss: 29.4258, grad_norm: 181.7666 +2026-02-27 18:07:52,006 - DriveTransformer - INFO - Epoch [7][37000/39528] lr: 8.550e-05, eta: 5 days, 17:14:53, time: 0.759, data_time: 0.037, memory: 19865, loss_cls: 0.1332, loss_bbox: 0.3276, loss_traj: 0.5667, loss_traj_cls: 0.0013, loss_map_cls: 0.1393, loss_map_pts: 0.6805, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.5498, d0.loss_plan_l1_fix_dist: 0.2979, d1.loss_plan_l1_fix_time: 1.0293, d1.loss_plan_l1_fix_dist: 0.1566, d2.loss_plan_l1_fix_time: 1.0118, d2.loss_plan_l1_fix_dist: 0.1589, d3.loss_plan_l1_fix_time: 1.0086, d3.loss_plan_l1_fix_dist: 0.1739, d4.loss_plan_l1_fix_time: 1.0154, d4.loss_plan_l1_fix_dist: 0.1917, d5.loss_plan_l1_fix_time: 1.0220, d5.loss_plan_l1_fix_dist: 0.2101, d6.loss_plan_l1_fix_time: 1.0290, d6.loss_plan_l1_fix_dist: 0.2402, d0.loss_cls_all: 0.1778, d0.loss_bbox_all: 0.3800, d0.loss_cls: 0.1778, d0.loss_bbox: 0.3800, d1.loss_cls: 0.1695, d1.loss_bbox: 0.3495, d2.loss_cls: 0.1557, d2.loss_bbox: 0.3319, d3.loss_cls: 0.1429, d3.loss_bbox: 0.3257, d4.loss_cls: 0.1360, d4.loss_bbox: 0.3261, d5.loss_cls: 0.1343, d5.loss_bbox: 0.3256, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7410, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6265, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5718, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5681, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5710, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5675, d0.loss_map_cls_all: 0.2190, d0.loss_map_pts_all: 1.3557, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2190, d0.loss_map_pts: 1.3557, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1789, d1.loss_map_pts: 0.9375, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1604, d2.loss_map_pts: 0.7794, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1500, d3.loss_map_pts: 0.7120, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1447, d4.loss_map_pts: 0.6876, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1405, d5.loss_map_pts: 0.6822, d5.loss_map_dir: 0.0099, loss: 26.9086, grad_norm: 181.9790 +2026-02-27 18:08:28,434 - DriveTransformer - INFO - Epoch [7][37050/39528] lr: 8.550e-05, eta: 5 days, 17:14:13, time: 0.729, data_time: 0.038, memory: 19865, loss_cls: 0.1411, loss_bbox: 0.3551, loss_traj: 0.6567, loss_traj_cls: 0.0012, loss_map_cls: 0.1491, loss_map_pts: 0.6737, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.5563, d0.loss_plan_l1_fix_dist: 0.3698, d1.loss_plan_l1_fix_time: 1.0215, d1.loss_plan_l1_fix_dist: 0.1791, d2.loss_plan_l1_fix_time: 1.0222, d2.loss_plan_l1_fix_dist: 0.1819, d3.loss_plan_l1_fix_time: 1.0188, d3.loss_plan_l1_fix_dist: 0.1958, d4.loss_plan_l1_fix_time: 1.0231, d4.loss_plan_l1_fix_dist: 0.2123, d5.loss_plan_l1_fix_time: 1.0284, d5.loss_plan_l1_fix_dist: 0.2321, d6.loss_plan_l1_fix_time: 1.0343, d6.loss_plan_l1_fix_dist: 0.2573, d0.loss_cls_all: 0.1936, d0.loss_bbox_all: 0.4244, d0.loss_cls: 0.1936, d0.loss_bbox: 0.4244, d1.loss_cls: 0.1817, d1.loss_bbox: 0.3888, d2.loss_cls: 0.1684, d2.loss_bbox: 0.3657, d3.loss_cls: 0.1493, d3.loss_bbox: 0.3588, d4.loss_cls: 0.1426, d4.loss_bbox: 0.3553, d5.loss_cls: 0.1416, d5.loss_bbox: 0.3538, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8842, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7246, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6695, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6591, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6517, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6530, d0.loss_map_cls_all: 0.2284, d0.loss_map_pts_all: 1.3263, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2284, d0.loss_map_pts: 1.3263, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1930, d1.loss_map_pts: 0.9343, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1735, d2.loss_map_pts: 0.7756, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1604, d3.loss_map_pts: 0.7052, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1548, d4.loss_map_pts: 0.6827, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1509, d5.loss_map_pts: 0.6744, d5.loss_map_dir: 0.0093, loss: 28.1871, grad_norm: 179.1911 +2026-02-27 18:09:05,169 - DriveTransformer - INFO - Epoch [7][37100/39528] lr: 8.550e-05, eta: 5 days, 17:13:38, time: 0.735, data_time: 0.036, memory: 19865, loss_cls: 0.1380, loss_bbox: 0.3454, loss_traj: 0.4977, loss_traj_cls: 0.0012, loss_map_cls: 0.1532, loss_map_pts: 0.6879, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.5688, d0.loss_plan_l1_fix_dist: 0.5515, d1.loss_plan_l1_fix_time: 1.0622, d1.loss_plan_l1_fix_dist: 0.2238, d2.loss_plan_l1_fix_time: 1.0508, d2.loss_plan_l1_fix_dist: 0.2285, d3.loss_plan_l1_fix_time: 1.0498, d3.loss_plan_l1_fix_dist: 0.2411, d4.loss_plan_l1_fix_time: 1.0527, d4.loss_plan_l1_fix_dist: 0.2546, d5.loss_plan_l1_fix_time: 1.0563, d5.loss_plan_l1_fix_dist: 0.2681, d6.loss_plan_l1_fix_time: 1.0608, d6.loss_plan_l1_fix_dist: 0.2803, d0.loss_cls_all: 0.1844, d0.loss_bbox_all: 0.4164, d0.loss_cls: 0.1844, d0.loss_bbox: 0.4164, d1.loss_cls: 0.1781, d1.loss_bbox: 0.3772, d2.loss_cls: 0.1651, d2.loss_bbox: 0.3576, d3.loss_cls: 0.1446, d3.loss_bbox: 0.3492, d4.loss_cls: 0.1400, d4.loss_bbox: 0.3464, d5.loss_cls: 0.1378, d5.loss_bbox: 0.3453, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6498, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5327, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5024, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.4969, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5020, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.4971, d0.loss_map_cls_all: 0.2190, d0.loss_map_pts_all: 1.4161, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2190, d0.loss_map_pts: 1.4161, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.1913, d1.loss_map_pts: 0.9796, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1734, d2.loss_map_pts: 0.7976, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1651, d3.loss_map_pts: 0.7185, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1594, d4.loss_map_pts: 0.6932, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1543, d5.loss_map_pts: 0.6894, d5.loss_map_dir: 0.0098, loss: 27.7726, grad_norm: 174.1430 +2026-02-27 18:09:42,399 - DriveTransformer - INFO - Epoch [7][37150/39528] lr: 8.550e-05, eta: 5 days, 17:13:12, time: 0.745, data_time: 0.036, memory: 19865, loss_cls: 0.1434, loss_bbox: 0.3435, loss_traj: 0.6240, loss_traj_cls: 0.0013, loss_map_cls: 0.1357, loss_map_pts: 0.6613, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.5127, d0.loss_plan_l1_fix_dist: 0.4352, d1.loss_plan_l1_fix_time: 1.0342, d1.loss_plan_l1_fix_dist: 0.1938, d2.loss_plan_l1_fix_time: 1.0205, d2.loss_plan_l1_fix_dist: 0.2052, d3.loss_plan_l1_fix_time: 1.0232, d3.loss_plan_l1_fix_dist: 0.2231, d4.loss_plan_l1_fix_time: 1.0276, d4.loss_plan_l1_fix_dist: 0.2413, d5.loss_plan_l1_fix_time: 1.0322, d5.loss_plan_l1_fix_dist: 0.2606, d6.loss_plan_l1_fix_time: 1.0378, d6.loss_plan_l1_fix_dist: 0.2786, d0.loss_cls_all: 0.1768, d0.loss_bbox_all: 0.3980, d0.loss_cls: 0.1768, d0.loss_bbox: 0.3980, d1.loss_cls: 0.1749, d1.loss_bbox: 0.3646, d2.loss_cls: 0.1630, d2.loss_bbox: 0.3490, d3.loss_cls: 0.1503, d3.loss_bbox: 0.3439, d4.loss_cls: 0.1434, d4.loss_bbox: 0.3438, d5.loss_cls: 0.1437, d5.loss_bbox: 0.3419, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8199, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6806, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6501, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6378, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6330, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6262, d0.loss_map_cls_all: 0.2188, d0.loss_map_pts_all: 1.3493, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2188, d0.loss_map_pts: 1.3493, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1788, d1.loss_map_pts: 0.9366, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1565, d2.loss_map_pts: 0.7639, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1437, d3.loss_map_pts: 0.6945, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1382, d4.loss_map_pts: 0.6720, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1365, d5.loss_map_pts: 0.6636, d5.loss_map_dir: 0.0086, loss: 27.8443, grad_norm: 176.4584 +2026-02-27 18:10:19,852 - DriveTransformer - INFO - Epoch [7][37200/39528] lr: 8.550e-05, eta: 5 days, 17:12:52, time: 0.750, data_time: 0.038, memory: 19865, loss_cls: 0.1379, loss_bbox: 0.3392, loss_traj: 0.5471, loss_traj_cls: 0.0013, loss_map_cls: 0.1379, loss_map_pts: 0.6125, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.5981, d0.loss_plan_l1_fix_dist: 0.4868, d1.loss_plan_l1_fix_time: 1.1669, d1.loss_plan_l1_fix_dist: 0.1733, d2.loss_plan_l1_fix_time: 1.1607, d2.loss_plan_l1_fix_dist: 0.1781, d3.loss_plan_l1_fix_time: 1.1512, d3.loss_plan_l1_fix_dist: 0.1941, d4.loss_plan_l1_fix_time: 1.1545, d4.loss_plan_l1_fix_dist: 0.2085, d5.loss_plan_l1_fix_time: 1.1589, d5.loss_plan_l1_fix_dist: 0.2284, d6.loss_plan_l1_fix_time: 1.1640, d6.loss_plan_l1_fix_dist: 0.2465, d0.loss_cls_all: 0.1796, d0.loss_bbox_all: 0.3997, d0.loss_cls: 0.1796, d0.loss_bbox: 0.3997, d1.loss_cls: 0.1728, d1.loss_bbox: 0.3641, d2.loss_cls: 0.1603, d2.loss_bbox: 0.3439, d3.loss_cls: 0.1459, d3.loss_bbox: 0.3390, d4.loss_cls: 0.1383, d4.loss_bbox: 0.3393, d5.loss_cls: 0.1363, d5.loss_bbox: 0.3402, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7596, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6106, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5595, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5502, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5473, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5444, d0.loss_map_cls_all: 0.2039, d0.loss_map_pts_all: 1.2843, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2039, d0.loss_map_pts: 1.2843, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1733, d1.loss_map_pts: 0.8776, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1566, d2.loss_map_pts: 0.7100, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1492, d3.loss_map_pts: 0.6412, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1448, d4.loss_map_pts: 0.6209, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1392, d5.loss_map_pts: 0.6137, d5.loss_map_dir: 0.0094, loss: 27.5391, grad_norm: 174.3765 +2026-02-27 18:10:58,455 - DriveTransformer - INFO - Epoch [7][37250/39528] lr: 8.550e-05, eta: 5 days, 17:12:50, time: 0.771, data_time: 0.034, memory: 19865, loss_cls: 0.1440, loss_bbox: 0.3426, loss_traj: 0.5547, loss_traj_cls: 0.0012, loss_map_cls: 0.1375, loss_map_pts: 0.6743, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.6731, d0.loss_plan_l1_fix_dist: 0.4457, d1.loss_plan_l1_fix_time: 1.1251, d1.loss_plan_l1_fix_dist: 0.1927, d2.loss_plan_l1_fix_time: 1.1086, d2.loss_plan_l1_fix_dist: 0.2007, d3.loss_plan_l1_fix_time: 1.1041, d3.loss_plan_l1_fix_dist: 0.2157, d4.loss_plan_l1_fix_time: 1.1059, d4.loss_plan_l1_fix_dist: 0.2321, d5.loss_plan_l1_fix_time: 1.1085, d5.loss_plan_l1_fix_dist: 0.2516, d6.loss_plan_l1_fix_time: 1.1114, d6.loss_plan_l1_fix_dist: 0.2753, d0.loss_cls_all: 0.1778, d0.loss_bbox_all: 0.4072, d0.loss_cls: 0.1778, d0.loss_bbox: 0.4072, d1.loss_cls: 0.1735, d1.loss_bbox: 0.3744, d2.loss_cls: 0.1643, d2.loss_bbox: 0.3516, d3.loss_cls: 0.1524, d3.loss_bbox: 0.3465, d4.loss_cls: 0.1440, d4.loss_bbox: 0.3445, d5.loss_cls: 0.1438, d5.loss_bbox: 0.3422, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7931, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6272, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5756, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5667, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5621, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5554, d0.loss_map_cls_all: 0.2168, d0.loss_map_pts_all: 1.3489, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2168, d0.loss_map_pts: 1.3489, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.1793, d1.loss_map_pts: 0.9660, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1603, d2.loss_map_pts: 0.7862, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1501, d3.loss_map_pts: 0.7117, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1428, d4.loss_map_pts: 0.6848, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1387, d5.loss_map_pts: 0.6749, d5.loss_map_dir: 0.0101, loss: 28.2044, grad_norm: 172.9900 +2026-02-27 18:11:34,877 - DriveTransformer - INFO - Epoch [7][37300/39528] lr: 8.550e-05, eta: 5 days, 17:12:09, time: 0.728, data_time: 0.037, memory: 19865, loss_cls: 0.1657, loss_bbox: 0.3702, loss_traj: 0.6739, loss_traj_cls: 0.0012, loss_map_cls: 0.1703, loss_map_pts: 0.7318, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.7875, d0.loss_plan_l1_fix_dist: 0.3730, d1.loss_plan_l1_fix_time: 1.2132, d1.loss_plan_l1_fix_dist: 0.1766, d2.loss_plan_l1_fix_time: 1.2035, d2.loss_plan_l1_fix_dist: 0.1840, d3.loss_plan_l1_fix_time: 1.2061, d3.loss_plan_l1_fix_dist: 0.1955, d4.loss_plan_l1_fix_time: 1.2086, d4.loss_plan_l1_fix_dist: 0.2126, d5.loss_plan_l1_fix_time: 1.2114, d5.loss_plan_l1_fix_dist: 0.2337, d6.loss_plan_l1_fix_time: 1.2143, d6.loss_plan_l1_fix_dist: 0.2630, d0.loss_cls_all: 0.2146, d0.loss_bbox_all: 0.4428, d0.loss_cls: 0.2146, d0.loss_bbox: 0.4428, d1.loss_cls: 0.2057, d1.loss_bbox: 0.4037, d2.loss_cls: 0.1907, d2.loss_bbox: 0.3845, d3.loss_cls: 0.1762, d3.loss_bbox: 0.3745, d4.loss_cls: 0.1671, d4.loss_bbox: 0.3720, d5.loss_cls: 0.1646, d5.loss_bbox: 0.3695, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8942, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7294, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7029, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6895, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6823, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6739, d0.loss_map_cls_all: 0.2451, d0.loss_map_pts_all: 1.3705, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2451, d0.loss_map_pts: 1.3705, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2173, d1.loss_map_pts: 1.0055, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1940, d2.loss_map_pts: 0.8367, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1859, d3.loss_map_pts: 0.7658, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1764, d4.loss_map_pts: 0.7435, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1717, d5.loss_map_pts: 0.7335, d5.loss_map_dir: 0.0103, loss: 30.6392, grad_norm: 172.8601 +2026-02-27 18:12:11,870 - DriveTransformer - INFO - Epoch [7][37350/39528] lr: 8.550e-05, eta: 5 days, 17:11:39, time: 0.740, data_time: 0.035, memory: 19865, loss_cls: 0.1540, loss_bbox: 0.3424, loss_traj: 0.5260, loss_traj_cls: 0.0013, loss_map_cls: 0.1428, loss_map_pts: 0.6450, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.6139, d0.loss_plan_l1_fix_dist: 0.4531, d1.loss_plan_l1_fix_time: 0.8764, d1.loss_plan_l1_fix_dist: 0.1621, d2.loss_plan_l1_fix_time: 0.8615, d2.loss_plan_l1_fix_dist: 0.1668, d3.loss_plan_l1_fix_time: 0.8555, d3.loss_plan_l1_fix_dist: 0.1757, d4.loss_plan_l1_fix_time: 0.8572, d4.loss_plan_l1_fix_dist: 0.1871, d5.loss_plan_l1_fix_time: 0.8598, d5.loss_plan_l1_fix_dist: 0.2001, d6.loss_plan_l1_fix_time: 0.8626, d6.loss_plan_l1_fix_dist: 0.2162, d0.loss_cls_all: 0.1953, d0.loss_bbox_all: 0.3995, d0.loss_cls: 0.1953, d0.loss_bbox: 0.3995, d1.loss_cls: 0.1879, d1.loss_bbox: 0.3679, d2.loss_cls: 0.1739, d2.loss_bbox: 0.3492, d3.loss_cls: 0.1599, d3.loss_bbox: 0.3449, d4.loss_cls: 0.1550, d4.loss_bbox: 0.3427, d5.loss_cls: 0.1525, d5.loss_bbox: 0.3439, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7209, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5855, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5470, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5338, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5300, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5253, d0.loss_map_cls_all: 0.2120, d0.loss_map_pts_all: 1.3164, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2120, d0.loss_map_pts: 1.3164, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1820, d1.loss_map_pts: 0.9138, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1641, d2.loss_map_pts: 0.7464, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1543, d3.loss_map_pts: 0.6822, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1486, d4.loss_map_pts: 0.6569, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1442, d5.loss_map_pts: 0.6476, d5.loss_map_dir: 0.0091, loss: 25.9454, grad_norm: 171.5944 +2026-02-27 18:12:48,448 - DriveTransformer - INFO - Epoch [7][37400/39528] lr: 8.550e-05, eta: 5 days, 17:11:02, time: 0.732, data_time: 0.035, memory: 19865, loss_cls: 0.1553, loss_bbox: 0.3646, loss_traj: 0.6545, loss_traj_cls: 0.0012, loss_map_cls: 0.1433, loss_map_pts: 0.6481, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.5962, d0.loss_plan_l1_fix_dist: 0.4073, d1.loss_plan_l1_fix_time: 0.9603, d1.loss_plan_l1_fix_dist: 0.2010, d2.loss_plan_l1_fix_time: 0.9461, d2.loss_plan_l1_fix_dist: 0.2010, d3.loss_plan_l1_fix_time: 0.9429, d3.loss_plan_l1_fix_dist: 0.2142, d4.loss_plan_l1_fix_time: 0.9448, d4.loss_plan_l1_fix_dist: 0.2302, d5.loss_plan_l1_fix_time: 0.9472, d5.loss_plan_l1_fix_dist: 0.2460, d6.loss_plan_l1_fix_time: 0.9500, d6.loss_plan_l1_fix_dist: 0.2600, d0.loss_cls_all: 0.1899, d0.loss_bbox_all: 0.4280, d0.loss_cls: 0.1899, d0.loss_bbox: 0.4280, d1.loss_cls: 0.1825, d1.loss_bbox: 0.3942, d2.loss_cls: 0.1724, d2.loss_bbox: 0.3762, d3.loss_cls: 0.1605, d3.loss_bbox: 0.3689, d4.loss_cls: 0.1560, d4.loss_bbox: 0.3667, d5.loss_cls: 0.1552, d5.loss_bbox: 0.3655, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9258, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7310, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6834, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6689, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6571, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6539, d0.loss_map_cls_all: 0.2228, d0.loss_map_pts_all: 1.2984, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2228, d0.loss_map_pts: 1.2984, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.1927, d1.loss_map_pts: 0.8998, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1674, d2.loss_map_pts: 0.7368, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1532, d3.loss_map_pts: 0.6741, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1485, d4.loss_map_pts: 0.6546, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1458, d5.loss_map_pts: 0.6488, d5.loss_map_dir: 0.0101, loss: 27.8182, grad_norm: 166.9128 +2026-02-27 18:13:24,348 - DriveTransformer - INFO - Epoch [7][37450/39528] lr: 8.550e-05, eta: 5 days, 17:10:12, time: 0.718, data_time: 0.038, memory: 19865, loss_cls: 0.1484, loss_bbox: 0.3322, loss_traj: 0.6271, loss_traj_cls: 0.0013, loss_map_cls: 0.1589, loss_map_pts: 0.5964, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.9673, d0.loss_plan_l1_fix_dist: 0.4388, d1.loss_plan_l1_fix_time: 1.0335, d1.loss_plan_l1_fix_dist: 0.1754, d2.loss_plan_l1_fix_time: 1.0231, d2.loss_plan_l1_fix_dist: 0.1684, d3.loss_plan_l1_fix_time: 1.0214, d3.loss_plan_l1_fix_dist: 0.1779, d4.loss_plan_l1_fix_time: 1.0230, d4.loss_plan_l1_fix_dist: 0.1882, d5.loss_plan_l1_fix_time: 1.0251, d5.loss_plan_l1_fix_dist: 0.2000, d6.loss_plan_l1_fix_time: 1.0277, d6.loss_plan_l1_fix_dist: 0.2149, d0.loss_cls_all: 0.1882, d0.loss_bbox_all: 0.3900, d0.loss_cls: 0.1882, d0.loss_bbox: 0.3900, d1.loss_cls: 0.1836, d1.loss_bbox: 0.3567, d2.loss_cls: 0.1699, d2.loss_bbox: 0.3386, d3.loss_cls: 0.1568, d3.loss_bbox: 0.3323, d4.loss_cls: 0.1482, d4.loss_bbox: 0.3319, d5.loss_cls: 0.1482, d5.loss_bbox: 0.3307, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8721, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7165, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6441, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6323, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6313, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6293, d0.loss_map_cls_all: 0.2257, d0.loss_map_pts_all: 1.2066, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2257, d0.loss_map_pts: 1.2066, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1957, d1.loss_map_pts: 0.8335, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1762, d2.loss_map_pts: 0.6845, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1671, d3.loss_map_pts: 0.6259, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1643, d4.loss_map_pts: 0.6038, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1603, d5.loss_map_pts: 0.5970, d5.loss_map_dir: 0.0082, loss: 27.4726, grad_norm: 164.6987 +2026-02-27 18:14:01,006 - DriveTransformer - INFO - Epoch [7][37500/39528] lr: 8.550e-05, eta: 5 days, 17:09:36, time: 0.733, data_time: 0.037, memory: 19865, loss_cls: 0.1368, loss_bbox: 0.3386, loss_traj: 0.6881, loss_traj_cls: 0.0012, loss_map_cls: 0.1299, loss_map_pts: 0.6155, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.5552, d0.loss_plan_l1_fix_dist: 0.4800, d1.loss_plan_l1_fix_time: 1.0702, d1.loss_plan_l1_fix_dist: 0.1977, d2.loss_plan_l1_fix_time: 1.0559, d2.loss_plan_l1_fix_dist: 0.2073, d3.loss_plan_l1_fix_time: 1.0574, d3.loss_plan_l1_fix_dist: 0.2272, d4.loss_plan_l1_fix_time: 1.0603, d4.loss_plan_l1_fix_dist: 0.2516, d5.loss_plan_l1_fix_time: 1.0639, d5.loss_plan_l1_fix_dist: 0.2794, d6.loss_plan_l1_fix_time: 1.0683, d6.loss_plan_l1_fix_dist: 0.3085, d0.loss_cls_all: 0.1730, d0.loss_bbox_all: 0.4096, d0.loss_cls: 0.1730, d0.loss_bbox: 0.4096, d1.loss_cls: 0.1676, d1.loss_bbox: 0.3716, d2.loss_cls: 0.1560, d2.loss_bbox: 0.3497, d3.loss_cls: 0.1430, d3.loss_bbox: 0.3411, d4.loss_cls: 0.1395, d4.loss_bbox: 0.3380, d5.loss_cls: 0.1366, d5.loss_bbox: 0.3388, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8706, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7276, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6948, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6969, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6902, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6903, d0.loss_map_cls_all: 0.2074, d0.loss_map_pts_all: 1.2668, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2074, d0.loss_map_pts: 1.2668, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1741, d1.loss_map_pts: 0.8588, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1539, d2.loss_map_pts: 0.7053, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1427, d3.loss_map_pts: 0.6461, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1354, d4.loss_map_pts: 0.6230, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1312, d5.loss_map_pts: 0.6178, d5.loss_map_dir: 0.0083, loss: 28.0208, grad_norm: 169.8489 +2026-02-27 18:14:38,233 - DriveTransformer - INFO - Epoch [7][37550/39528] lr: 8.550e-05, eta: 5 days, 17:09:10, time: 0.745, data_time: 0.037, memory: 19865, loss_cls: 0.1438, loss_bbox: 0.3643, loss_traj: 0.6960, loss_traj_cls: 0.0012, loss_map_cls: 0.1528, loss_map_pts: 0.6667, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.8656, d0.loss_plan_l1_fix_dist: 0.3162, d1.loss_plan_l1_fix_time: 1.1838, d1.loss_plan_l1_fix_dist: 0.1754, d2.loss_plan_l1_fix_time: 1.1610, d2.loss_plan_l1_fix_dist: 0.1941, d3.loss_plan_l1_fix_time: 1.1534, d3.loss_plan_l1_fix_dist: 0.2255, d4.loss_plan_l1_fix_time: 1.1565, d4.loss_plan_l1_fix_dist: 0.2595, d5.loss_plan_l1_fix_time: 1.1615, d5.loss_plan_l1_fix_dist: 0.2997, d6.loss_plan_l1_fix_time: 1.1672, d6.loss_plan_l1_fix_dist: 0.3376, d0.loss_cls_all: 0.1763, d0.loss_bbox_all: 0.4203, d0.loss_cls: 0.1763, d0.loss_bbox: 0.4203, d1.loss_cls: 0.1702, d1.loss_bbox: 0.3889, d2.loss_cls: 0.1648, d2.loss_bbox: 0.3672, d3.loss_cls: 0.1514, d3.loss_bbox: 0.3625, d4.loss_cls: 0.1447, d4.loss_bbox: 0.3647, d5.loss_cls: 0.1438, d5.loss_bbox: 0.3638, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9522, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7569, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7026, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6988, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6935, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6929, d0.loss_map_cls_all: 0.2358, d0.loss_map_pts_all: 1.3431, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2358, d0.loss_map_pts: 1.3431, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2035, d1.loss_map_pts: 0.9636, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1801, d2.loss_map_pts: 0.7751, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1667, d3.loss_map_pts: 0.7052, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1609, d4.loss_map_pts: 0.6798, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1540, d5.loss_map_pts: 0.6694, d5.loss_map_dir: 0.0087, loss: 29.8844, grad_norm: 170.3741 +2026-02-27 18:15:14,522 - DriveTransformer - INFO - Epoch [7][37600/39528] lr: 8.550e-05, eta: 5 days, 17:08:27, time: 0.726, data_time: 0.037, memory: 19865, loss_cls: 0.1310, loss_bbox: 0.3262, loss_traj: 0.6149, loss_traj_cls: 0.0012, loss_map_cls: 0.1231, loss_map_pts: 0.5793, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.6197, d0.loss_plan_l1_fix_dist: 0.4672, d1.loss_plan_l1_fix_time: 1.0178, d1.loss_plan_l1_fix_dist: 0.1874, d2.loss_plan_l1_fix_time: 1.0061, d2.loss_plan_l1_fix_dist: 0.1987, d3.loss_plan_l1_fix_time: 1.0098, d3.loss_plan_l1_fix_dist: 0.2204, d4.loss_plan_l1_fix_time: 1.0129, d4.loss_plan_l1_fix_dist: 0.2436, d5.loss_plan_l1_fix_time: 1.0165, d5.loss_plan_l1_fix_dist: 0.2627, d6.loss_plan_l1_fix_time: 1.0208, d6.loss_plan_l1_fix_dist: 0.2803, d0.loss_cls_all: 0.1626, d0.loss_bbox_all: 0.3736, d0.loss_cls: 0.1626, d0.loss_bbox: 0.3736, d1.loss_cls: 0.1567, d1.loss_bbox: 0.3476, d2.loss_cls: 0.1460, d2.loss_bbox: 0.3318, d3.loss_cls: 0.1336, d3.loss_bbox: 0.3279, d4.loss_cls: 0.1303, d4.loss_bbox: 0.3272, d5.loss_cls: 0.1305, d5.loss_bbox: 0.3261, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8343, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6746, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6399, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6203, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6141, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6152, d0.loss_map_cls_all: 0.1921, d0.loss_map_pts_all: 1.2020, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1921, d0.loss_map_pts: 1.2020, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1666, d1.loss_map_pts: 0.8319, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1469, d2.loss_map_pts: 0.6684, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1359, d3.loss_map_pts: 0.6082, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1298, d4.loss_map_pts: 0.5884, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1251, d5.loss_map_pts: 0.5786, d5.loss_map_dir: 0.0075, loss: 26.6014, grad_norm: 170.1675 +2026-02-27 18:15:51,672 - DriveTransformer - INFO - Epoch [7][37650/39528] lr: 8.550e-05, eta: 5 days, 17:08:00, time: 0.743, data_time: 0.037, memory: 19865, loss_cls: 0.1389, loss_bbox: 0.3281, loss_traj: 0.5579, loss_traj_cls: 0.0012, loss_map_cls: 0.1536, loss_map_pts: 0.6877, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.8034, d0.loss_plan_l1_fix_dist: 0.5405, d1.loss_plan_l1_fix_time: 1.0078, d1.loss_plan_l1_fix_dist: 0.2090, d2.loss_plan_l1_fix_time: 0.9928, d2.loss_plan_l1_fix_dist: 0.2253, d3.loss_plan_l1_fix_time: 0.9953, d3.loss_plan_l1_fix_dist: 0.2421, d4.loss_plan_l1_fix_time: 0.9989, d4.loss_plan_l1_fix_dist: 0.2639, d5.loss_plan_l1_fix_time: 1.0030, d5.loss_plan_l1_fix_dist: 0.2878, d6.loss_plan_l1_fix_time: 1.0079, d6.loss_plan_l1_fix_dist: 0.3193, d0.loss_cls_all: 0.1755, d0.loss_bbox_all: 0.3929, d0.loss_cls: 0.1755, d0.loss_bbox: 0.3929, d1.loss_cls: 0.1675, d1.loss_bbox: 0.3585, d2.loss_cls: 0.1581, d2.loss_bbox: 0.3396, d3.loss_cls: 0.1466, d3.loss_bbox: 0.3330, d4.loss_cls: 0.1370, d4.loss_bbox: 0.3335, d5.loss_cls: 0.1376, d5.loss_bbox: 0.3302, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7652, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6107, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5691, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5631, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5566, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5559, d0.loss_map_cls_all: 0.2314, d0.loss_map_pts_all: 1.3580, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2314, d0.loss_map_pts: 1.3580, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2010, d1.loss_map_pts: 0.9588, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1763, d2.loss_map_pts: 0.7863, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1662, d3.loss_map_pts: 0.7194, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1580, d4.loss_map_pts: 0.6921, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1541, d5.loss_map_pts: 0.6880, d5.loss_map_dir: 0.0094, loss: 27.9229, grad_norm: 169.4067 +2026-02-27 18:16:27,556 - DriveTransformer - INFO - Epoch [7][37700/39528] lr: 8.550e-05, eta: 5 days, 17:07:10, time: 0.718, data_time: 0.037, memory: 19865, loss_cls: 0.1449, loss_bbox: 0.3270, loss_traj: 0.6257, loss_traj_cls: 0.0012, loss_map_cls: 0.1376, loss_map_pts: 0.6017, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.5160, d0.loss_plan_l1_fix_dist: 0.4085, d1.loss_plan_l1_fix_time: 0.9047, d1.loss_plan_l1_fix_dist: 0.1782, d2.loss_plan_l1_fix_time: 0.8814, d2.loss_plan_l1_fix_dist: 0.1949, d3.loss_plan_l1_fix_time: 0.8791, d3.loss_plan_l1_fix_dist: 0.2105, d4.loss_plan_l1_fix_time: 0.8819, d4.loss_plan_l1_fix_dist: 0.2294, d5.loss_plan_l1_fix_time: 0.8853, d5.loss_plan_l1_fix_dist: 0.2513, d6.loss_plan_l1_fix_time: 0.8888, d6.loss_plan_l1_fix_dist: 0.2737, d0.loss_cls_all: 0.1869, d0.loss_bbox_all: 0.3791, d0.loss_cls: 0.1869, d0.loss_bbox: 0.3791, d1.loss_cls: 0.1767, d1.loss_bbox: 0.3482, d2.loss_cls: 0.1663, d2.loss_bbox: 0.3310, d3.loss_cls: 0.1515, d3.loss_bbox: 0.3272, d4.loss_cls: 0.1479, d4.loss_bbox: 0.3261, d5.loss_cls: 0.1444, d5.loss_bbox: 0.3278, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8186, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6722, d2.loss_traj_cls: 0.0015, d2.loss_traj: 0.6357, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.6292, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6219, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6241, d0.loss_map_cls_all: 0.2261, d0.loss_map_pts_all: 1.2508, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2261, d0.loss_map_pts: 1.2508, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1895, d1.loss_map_pts: 0.8480, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1659, d2.loss_map_pts: 0.6936, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1533, d3.loss_map_pts: 0.6315, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1438, d4.loss_map_pts: 0.6097, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1397, d5.loss_map_pts: 0.6008, d5.loss_map_dir: 0.0075, loss: 26.1984, grad_norm: 166.1116 +2026-02-27 18:17:03,733 - DriveTransformer - INFO - Epoch [7][37750/39528] lr: 8.550e-05, eta: 5 days, 17:06:25, time: 0.724, data_time: 0.037, memory: 19865, loss_cls: 0.1630, loss_bbox: 0.3667, loss_traj: 0.6459, loss_traj_cls: 0.0011, loss_map_cls: 0.1783, loss_map_pts: 0.7548, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.7785, d0.loss_plan_l1_fix_dist: 0.3679, d1.loss_plan_l1_fix_time: 1.1747, d1.loss_plan_l1_fix_dist: 0.1792, d2.loss_plan_l1_fix_time: 1.1666, d2.loss_plan_l1_fix_dist: 0.1855, d3.loss_plan_l1_fix_time: 1.1674, d3.loss_plan_l1_fix_dist: 0.2047, d4.loss_plan_l1_fix_time: 1.1706, d4.loss_plan_l1_fix_dist: 0.2240, d5.loss_plan_l1_fix_time: 1.1739, d5.loss_plan_l1_fix_dist: 0.2451, d6.loss_plan_l1_fix_time: 1.1780, d6.loss_plan_l1_fix_dist: 0.2716, d0.loss_cls_all: 0.2109, d0.loss_bbox_all: 0.4355, d0.loss_cls: 0.2109, d0.loss_bbox: 0.4355, d1.loss_cls: 0.2039, d1.loss_bbox: 0.4018, d2.loss_cls: 0.1880, d2.loss_bbox: 0.3824, d3.loss_cls: 0.1714, d3.loss_bbox: 0.3739, d4.loss_cls: 0.1636, d4.loss_bbox: 0.3704, d5.loss_cls: 0.1628, d5.loss_bbox: 0.3684, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8629, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7090, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6730, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6549, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6482, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6445, d0.loss_map_cls_all: 0.2574, d0.loss_map_pts_all: 1.5004, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2574, d0.loss_map_pts: 1.5004, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2234, d1.loss_map_pts: 1.0647, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1974, d2.loss_map_pts: 0.8696, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1862, d3.loss_map_pts: 0.7928, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1821, d4.loss_map_pts: 0.7647, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1796, d5.loss_map_pts: 0.7546, d5.loss_map_dir: 0.0100, loss: 30.6830, grad_norm: 161.4636 +2026-02-27 18:17:39,456 - DriveTransformer - INFO - Epoch [7][37800/39528] lr: 8.550e-05, eta: 5 days, 17:05:32, time: 0.714, data_time: 0.037, memory: 19865, loss_cls: 0.1685, loss_bbox: 0.3883, loss_traj: 0.7012, loss_traj_cls: 0.0012, loss_map_cls: 0.1558, loss_map_pts: 0.6619, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.8358, d0.loss_plan_l1_fix_dist: 0.4697, d1.loss_plan_l1_fix_time: 1.0238, d1.loss_plan_l1_fix_dist: 0.2204, d2.loss_plan_l1_fix_time: 1.0173, d2.loss_plan_l1_fix_dist: 0.2260, d3.loss_plan_l1_fix_time: 1.0253, d3.loss_plan_l1_fix_dist: 0.2566, d4.loss_plan_l1_fix_time: 1.0310, d4.loss_plan_l1_fix_dist: 0.2841, d5.loss_plan_l1_fix_time: 1.0367, d5.loss_plan_l1_fix_dist: 0.3144, d6.loss_plan_l1_fix_time: 1.0436, d6.loss_plan_l1_fix_dist: 0.3480, d0.loss_cls_all: 0.2101, d0.loss_bbox_all: 0.4551, d0.loss_cls: 0.2101, d0.loss_bbox: 0.4551, d1.loss_cls: 0.2043, d1.loss_bbox: 0.4207, d2.loss_cls: 0.1881, d2.loss_bbox: 0.4000, d3.loss_cls: 0.1745, d3.loss_bbox: 0.3953, d4.loss_cls: 0.1687, d4.loss_bbox: 0.3930, d5.loss_cls: 0.1676, d5.loss_bbox: 0.3916, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9378, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7759, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7172, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7083, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7010, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6991, d0.loss_map_cls_all: 0.2297, d0.loss_map_pts_all: 1.3047, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2297, d0.loss_map_pts: 1.3047, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2006, d1.loss_map_pts: 0.9408, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1766, d2.loss_map_pts: 0.7661, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1670, d3.loss_map_pts: 0.6953, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1606, d4.loss_map_pts: 0.6665, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1570, d5.loss_map_pts: 0.6612, d5.loss_map_dir: 0.0083, loss: 29.7149, grad_norm: 162.2578 +2026-02-27 18:18:15,915 - DriveTransformer - INFO - Epoch [7][37850/39528] lr: 8.550e-05, eta: 5 days, 17:04:52, time: 0.729, data_time: 0.037, memory: 19865, loss_cls: 0.1378, loss_bbox: 0.3501, loss_traj: 0.5412, loss_traj_cls: 0.0013, loss_map_cls: 0.1333, loss_map_pts: 0.5862, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.5165, d0.loss_plan_l1_fix_dist: 0.4865, d1.loss_plan_l1_fix_time: 0.9667, d1.loss_plan_l1_fix_dist: 0.1959, d2.loss_plan_l1_fix_time: 0.9588, d2.loss_plan_l1_fix_dist: 0.1943, d3.loss_plan_l1_fix_time: 0.9636, d3.loss_plan_l1_fix_dist: 0.2160, d4.loss_plan_l1_fix_time: 0.9684, d4.loss_plan_l1_fix_dist: 0.2381, d5.loss_plan_l1_fix_time: 0.9734, d5.loss_plan_l1_fix_dist: 0.2635, d6.loss_plan_l1_fix_time: 0.9789, d6.loss_plan_l1_fix_dist: 0.2849, d0.loss_cls_all: 0.1836, d0.loss_bbox_all: 0.4066, d0.loss_cls: 0.1836, d0.loss_bbox: 0.4066, d1.loss_cls: 0.1731, d1.loss_bbox: 0.3747, d2.loss_cls: 0.1592, d2.loss_bbox: 0.3599, d3.loss_cls: 0.1453, d3.loss_bbox: 0.3526, d4.loss_cls: 0.1379, d4.loss_bbox: 0.3522, d5.loss_cls: 0.1363, d5.loss_bbox: 0.3525, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7321, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5820, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5469, d3.loss_traj_cls: 0.0014, d3.loss_traj: 0.5517, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5443, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5425, d0.loss_map_cls_all: 0.1956, d0.loss_map_pts_all: 1.1321, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1956, d0.loss_map_pts: 1.1321, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1694, d1.loss_map_pts: 0.8011, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1526, d2.loss_map_pts: 0.6627, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1441, d3.loss_map_pts: 0.6065, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1360, d4.loss_map_pts: 0.5918, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1333, d5.loss_map_pts: 0.5857, d5.loss_map_dir: 0.0074, loss: 25.8833, grad_norm: 160.3015 +2026-02-27 18:18:53,260 - DriveTransformer - INFO - Epoch [7][37900/39528] lr: 8.550e-05, eta: 5 days, 17:04:28, time: 0.747, data_time: 0.035, memory: 19865, loss_cls: 0.1485, loss_bbox: 0.3599, loss_traj: 0.6836, loss_traj_cls: 0.0012, loss_map_cls: 0.1634, loss_map_pts: 0.6974, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.6241, d0.loss_plan_l1_fix_dist: 0.3882, d1.loss_plan_l1_fix_time: 1.1511, d1.loss_plan_l1_fix_dist: 0.1899, d2.loss_plan_l1_fix_time: 1.1418, d2.loss_plan_l1_fix_dist: 0.1964, d3.loss_plan_l1_fix_time: 1.1444, d3.loss_plan_l1_fix_dist: 0.2046, d4.loss_plan_l1_fix_time: 1.1486, d4.loss_plan_l1_fix_dist: 0.2178, d5.loss_plan_l1_fix_time: 1.1527, d5.loss_plan_l1_fix_dist: 0.2353, d6.loss_plan_l1_fix_time: 1.1569, d6.loss_plan_l1_fix_dist: 0.2534, d0.loss_cls_all: 0.1875, d0.loss_bbox_all: 0.4174, d0.loss_cls: 0.1875, d0.loss_bbox: 0.4174, d1.loss_cls: 0.1795, d1.loss_bbox: 0.3846, d2.loss_cls: 0.1702, d2.loss_bbox: 0.3649, d3.loss_cls: 0.1565, d3.loss_bbox: 0.3590, d4.loss_cls: 0.1504, d4.loss_bbox: 0.3577, d5.loss_cls: 0.1485, d5.loss_bbox: 0.3587, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9007, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7500, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7071, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6936, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6908, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6828, d0.loss_map_cls_all: 0.2426, d0.loss_map_pts_all: 1.4122, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2426, d0.loss_map_pts: 1.4122, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2109, d1.loss_map_pts: 0.9710, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1912, d2.loss_map_pts: 0.8005, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1774, d3.loss_map_pts: 0.7281, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1694, d4.loss_map_pts: 0.7052, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1649, d5.loss_map_pts: 0.6991, d5.loss_map_dir: 0.0094, loss: 29.7320, grad_norm: 159.5006 +2026-02-27 18:19:29,602 - DriveTransformer - INFO - Epoch [7][37950/39528] lr: 8.550e-05, eta: 5 days, 17:03:47, time: 0.727, data_time: 0.037, memory: 19865, loss_cls: 0.1683, loss_bbox: 0.3929, loss_traj: 0.6554, loss_traj_cls: 0.0012, loss_map_cls: 0.1616, loss_map_pts: 0.6857, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.8521, d0.loss_plan_l1_fix_dist: 0.3639, d1.loss_plan_l1_fix_time: 1.0898, d1.loss_plan_l1_fix_dist: 0.1892, d2.loss_plan_l1_fix_time: 1.0820, d2.loss_plan_l1_fix_dist: 0.2066, d3.loss_plan_l1_fix_time: 1.0814, d3.loss_plan_l1_fix_dist: 0.2254, d4.loss_plan_l1_fix_time: 1.0845, d4.loss_plan_l1_fix_dist: 0.2472, d5.loss_plan_l1_fix_time: 1.0874, d5.loss_plan_l1_fix_dist: 0.2737, d6.loss_plan_l1_fix_time: 1.0912, d6.loss_plan_l1_fix_dist: 0.3047, d0.loss_cls_all: 0.2131, d0.loss_bbox_all: 0.4445, d0.loss_cls: 0.2131, d0.loss_bbox: 0.4445, d1.loss_cls: 0.2006, d1.loss_bbox: 0.4104, d2.loss_cls: 0.1866, d2.loss_bbox: 0.3960, d3.loss_cls: 0.1742, d3.loss_bbox: 0.3893, d4.loss_cls: 0.1695, d4.loss_bbox: 0.3899, d5.loss_cls: 0.1667, d5.loss_bbox: 0.3943, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9209, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7158, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6646, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6553, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6600, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6548, d0.loss_map_cls_all: 0.2320, d0.loss_map_pts_all: 1.4141, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2320, d0.loss_map_pts: 1.4141, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.2004, d1.loss_map_pts: 0.9643, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1810, d2.loss_map_pts: 0.7881, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1692, d3.loss_map_pts: 0.7159, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1650, d4.loss_map_pts: 0.6947, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1617, d5.loss_map_pts: 0.6865, d5.loss_map_dir: 0.0090, loss: 29.8015, grad_norm: 160.9378 +2026-02-27 18:20:05,412 - DriveTransformer - INFO - Epoch [7][38000/39528] lr: 8.550e-05, eta: 5 days, 17:02:57, time: 0.718, data_time: 0.038, memory: 19865, loss_cls: 0.1507, loss_bbox: 0.3580, loss_traj: 0.5920, loss_traj_cls: 0.0012, loss_map_cls: 0.1418, loss_map_pts: 0.6571, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.6337, d0.loss_plan_l1_fix_dist: 0.3759, d1.loss_plan_l1_fix_time: 1.0243, d1.loss_plan_l1_fix_dist: 0.1794, d2.loss_plan_l1_fix_time: 1.0101, d2.loss_plan_l1_fix_dist: 0.1877, d3.loss_plan_l1_fix_time: 1.0054, d3.loss_plan_l1_fix_dist: 0.2025, d4.loss_plan_l1_fix_time: 1.0088, d4.loss_plan_l1_fix_dist: 0.2162, d5.loss_plan_l1_fix_time: 1.0131, d5.loss_plan_l1_fix_dist: 0.2350, d6.loss_plan_l1_fix_time: 1.0182, d6.loss_plan_l1_fix_dist: 0.2557, d0.loss_cls_all: 0.1976, d0.loss_bbox_all: 0.4077, d0.loss_cls: 0.1976, d0.loss_bbox: 0.4077, d1.loss_cls: 0.1878, d1.loss_bbox: 0.3778, d2.loss_cls: 0.1747, d2.loss_bbox: 0.3583, d3.loss_cls: 0.1580, d3.loss_bbox: 0.3549, d4.loss_cls: 0.1520, d4.loss_bbox: 0.3554, d5.loss_cls: 0.1503, d5.loss_bbox: 0.3584, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8192, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6531, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6043, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5910, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5874, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5877, d0.loss_map_cls_all: 0.2201, d0.loss_map_pts_all: 1.3244, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2201, d0.loss_map_pts: 1.3244, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1859, d1.loss_map_pts: 0.9312, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1621, d2.loss_map_pts: 0.7627, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1505, d3.loss_map_pts: 0.6960, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1449, d4.loss_map_pts: 0.6658, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1416, d5.loss_map_pts: 0.6575, d5.loss_map_dir: 0.0084, loss: 27.6066, grad_norm: 159.9712 +2026-02-27 18:20:40,042 - DriveTransformer - INFO - Epoch [7][38050/39528] lr: 8.550e-05, eta: 5 days, 17:01:44, time: 0.691, data_time: 0.038, memory: 19865, loss_cls: 0.1559, loss_bbox: 0.3613, loss_traj: 0.7568, loss_traj_cls: 0.0012, loss_map_cls: 0.1309, loss_map_pts: 0.5949, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.6922, d0.loss_plan_l1_fix_dist: 0.4301, d1.loss_plan_l1_fix_time: 1.1333, d1.loss_plan_l1_fix_dist: 0.2082, d2.loss_plan_l1_fix_time: 1.1175, d2.loss_plan_l1_fix_dist: 0.2027, d3.loss_plan_l1_fix_time: 1.1166, d3.loss_plan_l1_fix_dist: 0.2150, d4.loss_plan_l1_fix_time: 1.1207, d4.loss_plan_l1_fix_dist: 0.2313, d5.loss_plan_l1_fix_time: 1.1254, d5.loss_plan_l1_fix_dist: 0.2482, d6.loss_plan_l1_fix_time: 1.1305, d6.loss_plan_l1_fix_dist: 0.2659, d0.loss_cls_all: 0.1958, d0.loss_bbox_all: 0.4189, d0.loss_cls: 0.1958, d0.loss_bbox: 0.4189, d1.loss_cls: 0.1857, d1.loss_bbox: 0.3860, d2.loss_cls: 0.1714, d2.loss_bbox: 0.3679, d3.loss_cls: 0.1616, d3.loss_bbox: 0.3626, d4.loss_cls: 0.1563, d4.loss_bbox: 0.3614, d5.loss_cls: 0.1552, d5.loss_bbox: 0.3614, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0553, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8532, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7843, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7600, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7554, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.7559, d0.loss_map_cls_all: 0.2080, d0.loss_map_pts_all: 1.1955, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2080, d0.loss_map_pts: 1.1955, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1717, d1.loss_map_pts: 0.8553, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1515, d2.loss_map_pts: 0.7005, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1400, d3.loss_map_pts: 0.6283, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1359, d4.loss_map_pts: 0.6029, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1328, d5.loss_map_pts: 0.5966, d5.loss_map_dir: 0.0071, loss: 29.0864, grad_norm: 156.0384 +2026-02-27 18:21:15,268 - DriveTransformer - INFO - Epoch [7][38100/39528] lr: 8.550e-05, eta: 5 days, 17:00:42, time: 0.704, data_time: 0.035, memory: 19865, loss_cls: 0.1429, loss_bbox: 0.3490, loss_traj: 0.5846, loss_traj_cls: 0.0012, loss_map_cls: 0.1593, loss_map_pts: 0.7147, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.5506, d0.loss_plan_l1_fix_dist: 0.4693, d1.loss_plan_l1_fix_time: 0.9298, d1.loss_plan_l1_fix_dist: 0.1891, d2.loss_plan_l1_fix_time: 0.9169, d2.loss_plan_l1_fix_dist: 0.1884, d3.loss_plan_l1_fix_time: 0.9227, d3.loss_plan_l1_fix_dist: 0.2007, d4.loss_plan_l1_fix_time: 0.9283, d4.loss_plan_l1_fix_dist: 0.2186, d5.loss_plan_l1_fix_time: 0.9340, d5.loss_plan_l1_fix_dist: 0.2339, d6.loss_plan_l1_fix_time: 0.9394, d6.loss_plan_l1_fix_dist: 0.2501, d0.loss_cls_all: 0.1828, d0.loss_bbox_all: 0.4115, d0.loss_cls: 0.1828, d0.loss_bbox: 0.4115, d1.loss_cls: 0.1780, d1.loss_bbox: 0.3757, d2.loss_cls: 0.1636, d2.loss_bbox: 0.3576, d3.loss_cls: 0.1494, d3.loss_bbox: 0.3531, d4.loss_cls: 0.1436, d4.loss_bbox: 0.3509, d5.loss_cls: 0.1423, d5.loss_bbox: 0.3502, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7953, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6415, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6022, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5881, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5862, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5870, d0.loss_map_cls_all: 0.2387, d0.loss_map_pts_all: 1.4014, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2387, d0.loss_map_pts: 1.4014, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.2109, d1.loss_map_pts: 1.0009, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1835, d2.loss_map_pts: 0.8301, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1729, d3.loss_map_pts: 0.7534, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1655, d4.loss_map_pts: 0.7246, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1621, d5.loss_map_pts: 0.7169, d5.loss_map_dir: 0.0083, loss: 27.6476, grad_norm: 152.7511 +2026-02-27 18:21:52,237 - DriveTransformer - INFO - Epoch [7][38150/39528] lr: 8.550e-05, eta: 5 days, 17:00:12, time: 0.739, data_time: 0.036, memory: 19865, loss_cls: 0.1439, loss_bbox: 0.3695, loss_traj: 0.5216, loss_traj_cls: 0.0012, loss_map_cls: 0.1505, loss_map_pts: 0.7594, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 3.0775, d0.loss_plan_l1_fix_dist: 0.3690, d1.loss_plan_l1_fix_time: 1.1795, d1.loss_plan_l1_fix_dist: 0.2044, d2.loss_plan_l1_fix_time: 1.1518, d2.loss_plan_l1_fix_dist: 0.2054, d3.loss_plan_l1_fix_time: 1.1558, d3.loss_plan_l1_fix_dist: 0.2216, d4.loss_plan_l1_fix_time: 1.1601, d4.loss_plan_l1_fix_dist: 0.2379, d5.loss_plan_l1_fix_time: 1.1644, d5.loss_plan_l1_fix_dist: 0.2557, d6.loss_plan_l1_fix_time: 1.1685, d6.loss_plan_l1_fix_dist: 0.2767, d0.loss_cls_all: 0.1902, d0.loss_bbox_all: 0.4208, d0.loss_cls: 0.1902, d0.loss_bbox: 0.4208, d1.loss_cls: 0.1832, d1.loss_bbox: 0.3879, d2.loss_cls: 0.1691, d2.loss_bbox: 0.3720, d3.loss_cls: 0.1534, d3.loss_bbox: 0.3680, d4.loss_cls: 0.1470, d4.loss_bbox: 0.3672, d5.loss_cls: 0.1446, d5.loss_bbox: 0.3684, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7571, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6091, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5399, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5188, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5212, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5183, d0.loss_map_cls_all: 0.2188, d0.loss_map_pts_all: 1.4616, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2188, d0.loss_map_pts: 1.4616, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1882, d1.loss_map_pts: 1.0412, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1701, d2.loss_map_pts: 0.8702, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1607, d3.loss_map_pts: 0.7951, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1556, d4.loss_map_pts: 0.7665, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1512, d5.loss_map_pts: 0.7585, d5.loss_map_dir: 0.0104, loss: 29.6260, grad_norm: 152.8086 +2026-02-27 18:22:31,001 - DriveTransformer - INFO - Epoch [7][38200/39528] lr: 8.550e-05, eta: 5 days, 17:00:13, time: 0.775, data_time: 0.037, memory: 19865, loss_cls: 0.1359, loss_bbox: 0.3346, loss_traj: 0.6169, loss_traj_cls: 0.0011, loss_map_cls: 0.1331, loss_map_pts: 0.7091, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.6336, d0.loss_plan_l1_fix_dist: 0.4184, d1.loss_plan_l1_fix_time: 1.1292, d1.loss_plan_l1_fix_dist: 0.1909, d2.loss_plan_l1_fix_time: 1.1278, d2.loss_plan_l1_fix_dist: 0.1884, d3.loss_plan_l1_fix_time: 1.1264, d3.loss_plan_l1_fix_dist: 0.1995, d4.loss_plan_l1_fix_time: 1.1294, d4.loss_plan_l1_fix_dist: 0.2123, d5.loss_plan_l1_fix_time: 1.1334, d5.loss_plan_l1_fix_dist: 0.2250, d6.loss_plan_l1_fix_time: 1.1383, d6.loss_plan_l1_fix_dist: 0.2445, d0.loss_cls_all: 0.1777, d0.loss_bbox_all: 0.3899, d0.loss_cls: 0.1777, d0.loss_bbox: 0.3899, d1.loss_cls: 0.1709, d1.loss_bbox: 0.3592, d2.loss_cls: 0.1565, d2.loss_bbox: 0.3433, d3.loss_cls: 0.1443, d3.loss_bbox: 0.3383, d4.loss_cls: 0.1384, d4.loss_bbox: 0.3353, d5.loss_cls: 0.1374, d5.loss_bbox: 0.3341, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8264, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7051, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6493, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6363, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6254, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6207, d0.loss_map_cls_all: 0.2203, d0.loss_map_pts_all: 1.4735, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2203, d0.loss_map_pts: 1.4735, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.1912, d1.loss_map_pts: 1.0106, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1635, d2.loss_map_pts: 0.8185, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1495, d3.loss_map_pts: 0.7421, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1412, d4.loss_map_pts: 0.7159, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1358, d5.loss_map_pts: 0.7088, d5.loss_map_dir: 0.0108, loss: 28.9375, grad_norm: 152.3879 +2026-02-27 18:23:06,133 - DriveTransformer - INFO - Epoch [7][38250/39528] lr: 8.550e-05, eta: 5 days, 16:59:10, time: 0.703, data_time: 0.039, memory: 19865, loss_cls: 0.1401, loss_bbox: 0.3606, loss_traj: 0.6697, loss_traj_cls: 0.0012, loss_map_cls: 0.1600, loss_map_pts: 0.6687, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.7503, d0.loss_plan_l1_fix_dist: 0.4227, d1.loss_plan_l1_fix_time: 0.9795, d1.loss_plan_l1_fix_dist: 0.1862, d2.loss_plan_l1_fix_time: 0.9688, d2.loss_plan_l1_fix_dist: 0.1887, d3.loss_plan_l1_fix_time: 0.9665, d3.loss_plan_l1_fix_dist: 0.1921, d4.loss_plan_l1_fix_time: 0.9694, d4.loss_plan_l1_fix_dist: 0.2016, d5.loss_plan_l1_fix_time: 0.9732, d5.loss_plan_l1_fix_dist: 0.2132, d6.loss_plan_l1_fix_time: 0.9785, d6.loss_plan_l1_fix_dist: 0.2270, d0.loss_cls_all: 0.1861, d0.loss_bbox_all: 0.4251, d0.loss_cls: 0.1861, d0.loss_bbox: 0.4251, d1.loss_cls: 0.1799, d1.loss_bbox: 0.3900, d2.loss_cls: 0.1640, d2.loss_bbox: 0.3697, d3.loss_cls: 0.1463, d3.loss_bbox: 0.3646, d4.loss_cls: 0.1402, d4.loss_bbox: 0.3608, d5.loss_cls: 0.1397, d5.loss_bbox: 0.3596, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9751, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7619, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6886, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6739, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6691, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6661, d0.loss_map_cls_all: 0.2491, d0.loss_map_pts_all: 1.2977, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2491, d0.loss_map_pts: 1.2977, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.2160, d1.loss_map_pts: 0.9225, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1836, d2.loss_map_pts: 0.7620, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1708, d3.loss_map_pts: 0.6972, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1635, d4.loss_map_pts: 0.6746, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1607, d5.loss_map_pts: 0.6692, d5.loss_map_dir: 0.0080, loss: 28.2717, grad_norm: 151.7086 +2026-02-27 18:23:41,290 - DriveTransformer - INFO - Epoch [7][38300/39528] lr: 8.550e-05, eta: 5 days, 16:58:07, time: 0.703, data_time: 0.036, memory: 19865, loss_cls: 0.1600, loss_bbox: 0.3653, loss_traj: 0.6441, loss_traj_cls: 0.0012, loss_map_cls: 0.1426, loss_map_pts: 0.6508, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 3.0126, d0.loss_plan_l1_fix_dist: 0.4495, d1.loss_plan_l1_fix_time: 1.1195, d1.loss_plan_l1_fix_dist: 0.1859, d2.loss_plan_l1_fix_time: 1.1092, d2.loss_plan_l1_fix_dist: 0.1965, d3.loss_plan_l1_fix_time: 1.1091, d3.loss_plan_l1_fix_dist: 0.1985, d4.loss_plan_l1_fix_time: 1.1119, d4.loss_plan_l1_fix_dist: 0.2079, d5.loss_plan_l1_fix_time: 1.1150, d5.loss_plan_l1_fix_dist: 0.2218, d6.loss_plan_l1_fix_time: 1.1183, d6.loss_plan_l1_fix_dist: 0.2357, d0.loss_cls_all: 0.2072, d0.loss_bbox_all: 0.4355, d0.loss_cls: 0.2072, d0.loss_bbox: 0.4355, d1.loss_cls: 0.1976, d1.loss_bbox: 0.3946, d2.loss_cls: 0.1821, d2.loss_bbox: 0.3723, d3.loss_cls: 0.1676, d3.loss_bbox: 0.3661, d4.loss_cls: 0.1609, d4.loss_bbox: 0.3644, d5.loss_cls: 0.1600, d5.loss_bbox: 0.3636, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8776, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7034, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6588, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6492, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6446, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6429, d0.loss_map_cls_all: 0.2043, d0.loss_map_pts_all: 1.2368, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2043, d0.loss_map_pts: 1.2368, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1838, d1.loss_map_pts: 0.8823, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1671, d2.loss_map_pts: 0.7354, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1537, d3.loss_map_pts: 0.6742, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1498, d4.loss_map_pts: 0.6571, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1448, d5.loss_map_pts: 0.6515, d5.loss_map_dir: 0.0085, loss: 28.9005, grad_norm: 148.6514 +2026-02-27 18:24:18,672 - DriveTransformer - INFO - Epoch [7][38350/39528] lr: 8.550e-05, eta: 5 days, 16:57:44, time: 0.748, data_time: 0.037, memory: 19865, loss_cls: 0.1423, loss_bbox: 0.3407, loss_traj: 0.5863, loss_traj_cls: 0.0011, loss_map_cls: 0.1402, loss_map_pts: 0.7061, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 3.0591, d0.loss_plan_l1_fix_dist: 0.4242, d1.loss_plan_l1_fix_time: 1.2427, d1.loss_plan_l1_fix_dist: 0.1753, d2.loss_plan_l1_fix_time: 1.2332, d2.loss_plan_l1_fix_dist: 0.1731, d3.loss_plan_l1_fix_time: 1.2319, d3.loss_plan_l1_fix_dist: 0.1771, d4.loss_plan_l1_fix_time: 1.2353, d4.loss_plan_l1_fix_dist: 0.1875, d5.loss_plan_l1_fix_time: 1.2392, d5.loss_plan_l1_fix_dist: 0.1997, d6.loss_plan_l1_fix_time: 1.2432, d6.loss_plan_l1_fix_dist: 0.2144, d0.loss_cls_all: 0.1848, d0.loss_bbox_all: 0.3951, d0.loss_cls: 0.1848, d0.loss_bbox: 0.3951, d1.loss_cls: 0.1748, d1.loss_bbox: 0.3634, d2.loss_cls: 0.1634, d2.loss_bbox: 0.3462, d3.loss_cls: 0.1491, d3.loss_bbox: 0.3417, d4.loss_cls: 0.1434, d4.loss_bbox: 0.3397, d5.loss_cls: 0.1413, d5.loss_bbox: 0.3407, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8091, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6453, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6031, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5917, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5894, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5839, d0.loss_map_cls_all: 0.2191, d0.loss_map_pts_all: 1.4062, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2191, d0.loss_map_pts: 1.4062, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.1862, d1.loss_map_pts: 0.9738, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1622, d2.loss_map_pts: 0.8056, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1535, d3.loss_map_pts: 0.7372, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1467, d4.loss_map_pts: 0.7117, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1417, d5.loss_map_pts: 0.7072, d5.loss_map_dir: 0.0104, loss: 29.5020, grad_norm: 144.3998 +2026-02-27 18:24:54,665 - DriveTransformer - INFO - Epoch [7][38400/39528] lr: 8.550e-05, eta: 5 days, 16:56:57, time: 0.720, data_time: 0.038, memory: 19865, loss_cls: 0.1651, loss_bbox: 0.3784, loss_traj: 0.6526, loss_traj_cls: 0.0011, loss_map_cls: 0.1900, loss_map_pts: 0.7819, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.8124, d0.loss_plan_l1_fix_dist: 0.4311, d1.loss_plan_l1_fix_time: 1.1910, d1.loss_plan_l1_fix_dist: 0.2085, d2.loss_plan_l1_fix_time: 1.1798, d2.loss_plan_l1_fix_dist: 0.1867, d3.loss_plan_l1_fix_time: 1.1762, d3.loss_plan_l1_fix_dist: 0.1912, d4.loss_plan_l1_fix_time: 1.1783, d4.loss_plan_l1_fix_dist: 0.2025, d5.loss_plan_l1_fix_time: 1.1811, d5.loss_plan_l1_fix_dist: 0.2167, d6.loss_plan_l1_fix_time: 1.1846, d6.loss_plan_l1_fix_dist: 0.2269, d0.loss_cls_all: 0.2026, d0.loss_bbox_all: 0.4342, d0.loss_cls: 0.2026, d0.loss_bbox: 0.4342, d1.loss_cls: 0.2000, d1.loss_bbox: 0.3970, d2.loss_cls: 0.1866, d2.loss_bbox: 0.3816, d3.loss_cls: 0.1698, d3.loss_bbox: 0.3778, d4.loss_cls: 0.1659, d4.loss_bbox: 0.3774, d5.loss_cls: 0.1637, d5.loss_bbox: 0.3783, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8852, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7051, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6605, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6426, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6426, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6506, d0.loss_map_cls_all: 0.2705, d0.loss_map_pts_all: 1.4275, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2705, d0.loss_map_pts: 1.4275, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2436, d1.loss_map_pts: 1.0474, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.2156, d2.loss_map_pts: 0.8822, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.2061, d3.loss_map_pts: 0.8116, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1990, d4.loss_map_pts: 0.7876, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1924, d5.loss_map_pts: 0.7845, d5.loss_map_dir: 0.0089, loss: 30.8349, grad_norm: 142.3346 +2026-02-27 18:25:31,780 - DriveTransformer - INFO - Epoch [7][38450/39528] lr: 8.550e-05, eta: 5 days, 16:56:28, time: 0.742, data_time: 0.036, memory: 19865, loss_cls: 0.1473, loss_bbox: 0.3376, loss_traj: 0.6172, loss_traj_cls: 0.0011, loss_map_cls: 0.1099, loss_map_pts: 0.6162, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.5911, d0.loss_plan_l1_fix_dist: 0.3055, d1.loss_plan_l1_fix_time: 1.0660, d1.loss_plan_l1_fix_dist: 0.1971, d2.loss_plan_l1_fix_time: 1.0468, d2.loss_plan_l1_fix_dist: 0.1631, d3.loss_plan_l1_fix_time: 1.0414, d3.loss_plan_l1_fix_dist: 0.1681, d4.loss_plan_l1_fix_time: 1.0437, d4.loss_plan_l1_fix_dist: 0.1789, d5.loss_plan_l1_fix_time: 1.0466, d5.loss_plan_l1_fix_dist: 0.1911, d6.loss_plan_l1_fix_time: 1.0498, d6.loss_plan_l1_fix_dist: 0.2012, d0.loss_cls_all: 0.1925, d0.loss_bbox_all: 0.3897, d0.loss_cls: 0.1925, d0.loss_bbox: 0.3897, d1.loss_cls: 0.1869, d1.loss_bbox: 0.3587, d2.loss_cls: 0.1699, d2.loss_bbox: 0.3442, d3.loss_cls: 0.1545, d3.loss_bbox: 0.3388, d4.loss_cls: 0.1489, d4.loss_bbox: 0.3364, d5.loss_cls: 0.1484, d5.loss_bbox: 0.3359, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8042, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6857, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6327, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6201, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6120, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6118, d0.loss_map_cls_all: 0.1932, d0.loss_map_pts_all: 1.2373, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.1932, d0.loss_map_pts: 1.2373, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1616, d1.loss_map_pts: 0.8463, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1352, d2.loss_map_pts: 0.6996, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1219, d3.loss_map_pts: 0.6414, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1143, d4.loss_map_pts: 0.6205, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1113, d5.loss_map_pts: 0.6162, d5.loss_map_dir: 0.0089, loss: 26.7774, grad_norm: 143.2242 +2026-02-27 18:26:08,573 - DriveTransformer - INFO - Epoch [7][38500/39528] lr: 8.550e-05, eta: 5 days, 16:55:55, time: 0.736, data_time: 0.036, memory: 19865, loss_cls: 0.1435, loss_bbox: 0.3470, loss_traj: 0.6025, loss_traj_cls: 0.0011, loss_map_cls: 0.1323, loss_map_pts: 0.6456, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.4682, d0.loss_plan_l1_fix_dist: 0.3905, d1.loss_plan_l1_fix_time: 1.1274, d1.loss_plan_l1_fix_dist: 0.2363, d2.loss_plan_l1_fix_time: 1.1079, d2.loss_plan_l1_fix_dist: 0.2002, d3.loss_plan_l1_fix_time: 1.0975, d3.loss_plan_l1_fix_dist: 0.2021, d4.loss_plan_l1_fix_time: 1.0990, d4.loss_plan_l1_fix_dist: 0.2098, d5.loss_plan_l1_fix_time: 1.1017, d5.loss_plan_l1_fix_dist: 0.2213, d6.loss_plan_l1_fix_time: 1.1049, d6.loss_plan_l1_fix_dist: 0.2343, d0.loss_cls_all: 0.1803, d0.loss_bbox_all: 0.4026, d0.loss_cls: 0.1803, d0.loss_bbox: 0.4026, d1.loss_cls: 0.1746, d1.loss_bbox: 0.3711, d2.loss_cls: 0.1631, d2.loss_bbox: 0.3536, d3.loss_cls: 0.1501, d3.loss_bbox: 0.3500, d4.loss_cls: 0.1446, d4.loss_bbox: 0.3474, d5.loss_cls: 0.1434, d5.loss_bbox: 0.3461, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8368, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6774, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6199, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6058, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6017, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6026, d0.loss_map_cls_all: 0.2087, d0.loss_map_pts_all: 1.2656, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2087, d0.loss_map_pts: 1.2656, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1768, d1.loss_map_pts: 0.9083, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1554, d2.loss_map_pts: 0.7505, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1464, d3.loss_map_pts: 0.6812, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1378, d4.loss_map_pts: 0.6591, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1342, d5.loss_map_pts: 0.6481, d5.loss_map_dir: 0.0089, loss: 27.7491, grad_norm: 143.4069 +2026-02-27 18:26:45,925 - DriveTransformer - INFO - Epoch [7][38550/39528] lr: 8.550e-05, eta: 5 days, 16:55:31, time: 0.747, data_time: 0.038, memory: 19865, loss_cls: 0.1216, loss_bbox: 0.3188, loss_traj: 0.6059, loss_traj_cls: 0.0012, loss_map_cls: 0.1102, loss_map_pts: 0.5513, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.1632, d0.loss_plan_l1_fix_dist: 0.3936, d1.loss_plan_l1_fix_time: 0.8665, d1.loss_plan_l1_fix_dist: 0.2146, d2.loss_plan_l1_fix_time: 0.8531, d2.loss_plan_l1_fix_dist: 0.1730, d3.loss_plan_l1_fix_time: 0.8435, d3.loss_plan_l1_fix_dist: 0.1803, d4.loss_plan_l1_fix_time: 0.8473, d4.loss_plan_l1_fix_dist: 0.1828, d5.loss_plan_l1_fix_time: 0.8526, d5.loss_plan_l1_fix_dist: 0.1882, d6.loss_plan_l1_fix_time: 0.8581, d6.loss_plan_l1_fix_dist: 0.2023, d0.loss_cls_all: 0.1623, d0.loss_bbox_all: 0.3698, d0.loss_cls: 0.1623, d0.loss_bbox: 0.3698, d1.loss_cls: 0.1557, d1.loss_bbox: 0.3422, d2.loss_cls: 0.1406, d2.loss_bbox: 0.3258, d3.loss_cls: 0.1292, d3.loss_bbox: 0.3198, d4.loss_cls: 0.1244, d4.loss_bbox: 0.3183, d5.loss_cls: 0.1217, d5.loss_bbox: 0.3190, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7855, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6511, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6139, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6114, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6070, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6085, d0.loss_map_cls_all: 0.1821, d0.loss_map_pts_all: 1.1771, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1821, d0.loss_map_pts: 1.1771, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1512, d1.loss_map_pts: 0.8069, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1354, d2.loss_map_pts: 0.6475, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1240, d3.loss_map_pts: 0.5819, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1166, d4.loss_map_pts: 0.5604, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1118, d5.loss_map_pts: 0.5536, d5.loss_map_dir: 0.0082, loss: 24.3446, grad_norm: 140.8133 +2026-02-27 18:27:21,806 - DriveTransformer - INFO - Epoch [7][38600/39528] lr: 8.550e-05, eta: 5 days, 16:54:41, time: 0.718, data_time: 0.036, memory: 19865, loss_cls: 0.1453, loss_bbox: 0.3457, loss_traj: 0.5750, loss_traj_cls: 0.0012, loss_map_cls: 0.1430, loss_map_pts: 0.6219, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.5742, d0.loss_plan_l1_fix_dist: 0.4027, d1.loss_plan_l1_fix_time: 1.1021, d1.loss_plan_l1_fix_dist: 0.2158, d2.loss_plan_l1_fix_time: 1.0891, d2.loss_plan_l1_fix_dist: 0.1767, d3.loss_plan_l1_fix_time: 1.0887, d3.loss_plan_l1_fix_dist: 0.1793, d4.loss_plan_l1_fix_time: 1.0924, d4.loss_plan_l1_fix_dist: 0.1876, d5.loss_plan_l1_fix_time: 1.0969, d5.loss_plan_l1_fix_dist: 0.1959, d6.loss_plan_l1_fix_time: 1.1018, d6.loss_plan_l1_fix_dist: 0.2029, d0.loss_cls_all: 0.1897, d0.loss_bbox_all: 0.3992, d0.loss_cls: 0.1897, d0.loss_bbox: 0.3992, d1.loss_cls: 0.1835, d1.loss_bbox: 0.3667, d2.loss_cls: 0.1674, d2.loss_bbox: 0.3472, d3.loss_cls: 0.1515, d3.loss_bbox: 0.3456, d4.loss_cls: 0.1469, d4.loss_bbox: 0.3422, d5.loss_cls: 0.1456, d5.loss_bbox: 0.3439, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7843, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6443, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5939, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5835, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5782, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5781, d0.loss_map_cls_all: 0.2163, d0.loss_map_pts_all: 1.1687, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2163, d0.loss_map_pts: 1.1687, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1890, d1.loss_map_pts: 0.8444, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1674, d2.loss_map_pts: 0.7121, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1551, d3.loss_map_pts: 0.6524, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1499, d4.loss_map_pts: 0.6293, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1446, d5.loss_map_pts: 0.6211, d5.loss_map_dir: 0.0075, loss: 27.1182, grad_norm: 141.4443 +2026-02-27 18:27:58,759 - DriveTransformer - INFO - Epoch [7][38650/39528] lr: 8.550e-05, eta: 5 days, 16:54:10, time: 0.739, data_time: 0.036, memory: 19865, loss_cls: 0.1371, loss_bbox: 0.3341, loss_traj: 0.5580, loss_traj_cls: 0.0011, loss_map_cls: 0.1530, loss_map_pts: 0.6631, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.5837, d0.loss_plan_l1_fix_dist: 0.4158, d1.loss_plan_l1_fix_time: 1.0463, d1.loss_plan_l1_fix_dist: 0.1883, d2.loss_plan_l1_fix_time: 1.0348, d2.loss_plan_l1_fix_dist: 0.1696, d3.loss_plan_l1_fix_time: 1.0378, d3.loss_plan_l1_fix_dist: 0.1688, d4.loss_plan_l1_fix_time: 1.0432, d4.loss_plan_l1_fix_dist: 0.1783, d5.loss_plan_l1_fix_time: 1.0490, d5.loss_plan_l1_fix_dist: 0.1898, d6.loss_plan_l1_fix_time: 1.0553, d6.loss_plan_l1_fix_dist: 0.2019, d0.loss_cls_all: 0.1867, d0.loss_bbox_all: 0.3859, d0.loss_cls: 0.1867, d0.loss_bbox: 0.3859, d1.loss_cls: 0.1759, d1.loss_bbox: 0.3532, d2.loss_cls: 0.1598, d2.loss_bbox: 0.3381, d3.loss_cls: 0.1453, d3.loss_bbox: 0.3322, d4.loss_cls: 0.1402, d4.loss_bbox: 0.3295, d5.loss_cls: 0.1379, d5.loss_bbox: 0.3318, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7341, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5999, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5744, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5601, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5568, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5560, d0.loss_map_cls_all: 0.2309, d0.loss_map_pts_all: 1.3124, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2309, d0.loss_map_pts: 1.3124, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1986, d1.loss_map_pts: 0.9236, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1768, d2.loss_map_pts: 0.7613, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1645, d3.loss_map_pts: 0.6928, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1577, d4.loss_map_pts: 0.6691, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1555, d5.loss_map_pts: 0.6612, d5.loss_map_dir: 0.0085, loss: 27.0993, grad_norm: 142.0242 +2026-02-27 18:28:34,377 - DriveTransformer - INFO - Epoch [7][38700/39528] lr: 8.550e-05, eta: 5 days, 16:53:16, time: 0.712, data_time: 0.038, memory: 19865, loss_cls: 0.1532, loss_bbox: 0.3736, loss_traj: 0.5990, loss_traj_cls: 0.0011, loss_map_cls: 0.1703, loss_map_pts: 0.7564, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.3996, d0.loss_plan_l1_fix_dist: 0.3837, d1.loss_plan_l1_fix_time: 1.0311, d1.loss_plan_l1_fix_dist: 0.1814, d2.loss_plan_l1_fix_time: 1.0187, d2.loss_plan_l1_fix_dist: 0.1698, d3.loss_plan_l1_fix_time: 1.0208, d3.loss_plan_l1_fix_dist: 0.1670, d4.loss_plan_l1_fix_time: 1.0256, d4.loss_plan_l1_fix_dist: 0.1704, d5.loss_plan_l1_fix_time: 1.0304, d5.loss_plan_l1_fix_dist: 0.1786, d6.loss_plan_l1_fix_time: 1.0354, d6.loss_plan_l1_fix_dist: 0.1936, d0.loss_cls_all: 0.1986, d0.loss_bbox_all: 0.4222, d0.loss_cls: 0.1986, d0.loss_bbox: 0.4222, d1.loss_cls: 0.1895, d1.loss_bbox: 0.3880, d2.loss_cls: 0.1727, d2.loss_bbox: 0.3759, d3.loss_cls: 0.1571, d3.loss_bbox: 0.3710, d4.loss_cls: 0.1519, d4.loss_bbox: 0.3707, d5.loss_cls: 0.1515, d5.loss_bbox: 0.3716, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8478, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6781, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6316, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6038, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6001, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5965, d0.loss_map_cls_all: 0.2529, d0.loss_map_pts_all: 1.4316, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2529, d0.loss_map_pts: 1.4316, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2271, d1.loss_map_pts: 1.0575, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1998, d2.loss_map_pts: 0.8728, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1893, d3.loss_map_pts: 0.7955, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1798, d4.loss_map_pts: 0.7658, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1736, d5.loss_map_pts: 0.7577, d5.loss_map_dir: 0.0097, loss: 28.6285, grad_norm: 141.6923 +2026-02-27 18:29:11,265 - DriveTransformer - INFO - Epoch [7][38750/39528] lr: 8.550e-05, eta: 5 days, 16:52:44, time: 0.738, data_time: 0.037, memory: 19865, loss_cls: 0.1443, loss_bbox: 0.3469, loss_traj: 0.6119, loss_traj_cls: 0.0011, loss_map_cls: 0.1455, loss_map_pts: 0.6737, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.5423, d0.loss_plan_l1_fix_dist: 0.3572, d1.loss_plan_l1_fix_time: 0.9095, d1.loss_plan_l1_fix_dist: 0.1806, d2.loss_plan_l1_fix_time: 0.8902, d2.loss_plan_l1_fix_dist: 0.1761, d3.loss_plan_l1_fix_time: 0.8755, d3.loss_plan_l1_fix_dist: 0.1750, d4.loss_plan_l1_fix_time: 0.8766, d4.loss_plan_l1_fix_dist: 0.1800, d5.loss_plan_l1_fix_time: 0.8796, d5.loss_plan_l1_fix_dist: 0.1889, d6.loss_plan_l1_fix_time: 0.8833, d6.loss_plan_l1_fix_dist: 0.1989, d0.loss_cls_all: 0.1934, d0.loss_bbox_all: 0.3890, d0.loss_cls: 0.1934, d0.loss_bbox: 0.3890, d1.loss_cls: 0.1789, d1.loss_bbox: 0.3575, d2.loss_cls: 0.1646, d2.loss_bbox: 0.3430, d3.loss_cls: 0.1531, d3.loss_bbox: 0.3403, d4.loss_cls: 0.1484, d4.loss_bbox: 0.3407, d5.loss_cls: 0.1459, d5.loss_bbox: 0.3440, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8165, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6726, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6298, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6204, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6124, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6076, d0.loss_map_cls_all: 0.2303, d0.loss_map_pts_all: 1.3281, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2303, d0.loss_map_pts: 1.3281, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.1996, d1.loss_map_pts: 0.9548, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1727, d2.loss_map_pts: 0.7874, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1605, d3.loss_map_pts: 0.7047, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1530, d4.loss_map_pts: 0.6810, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1471, d5.loss_map_pts: 0.6743, d5.loss_map_dir: 0.0096, loss: 26.7128, grad_norm: 138.1479 +2026-02-27 18:29:49,212 - DriveTransformer - INFO - Epoch [7][38800/39528] lr: 8.550e-05, eta: 5 days, 16:52:32, time: 0.760, data_time: 0.040, memory: 19865, loss_cls: 0.1599, loss_bbox: 0.3822, loss_traj: 0.6299, loss_traj_cls: 0.0011, loss_map_cls: 0.1699, loss_map_pts: 0.7796, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 3.1169, d0.loss_plan_l1_fix_dist: 0.4185, d1.loss_plan_l1_fix_time: 1.1924, d1.loss_plan_l1_fix_dist: 0.1983, d2.loss_plan_l1_fix_time: 1.1803, d2.loss_plan_l1_fix_dist: 0.1980, d3.loss_plan_l1_fix_time: 1.1739, d3.loss_plan_l1_fix_dist: 0.1974, d4.loss_plan_l1_fix_time: 1.1771, d4.loss_plan_l1_fix_dist: 0.1987, d5.loss_plan_l1_fix_time: 1.1814, d5.loss_plan_l1_fix_dist: 0.2040, d6.loss_plan_l1_fix_time: 1.1863, d6.loss_plan_l1_fix_dist: 0.2088, d0.loss_cls_all: 0.2117, d0.loss_bbox_all: 0.4536, d0.loss_cls: 0.2117, d0.loss_bbox: 0.4536, d1.loss_cls: 0.2008, d1.loss_bbox: 0.4106, d2.loss_cls: 0.1808, d2.loss_bbox: 0.3897, d3.loss_cls: 0.1631, d3.loss_bbox: 0.3840, d4.loss_cls: 0.1583, d4.loss_bbox: 0.3838, d5.loss_cls: 0.1600, d5.loss_bbox: 0.3821, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9034, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7027, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6412, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6305, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6275, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6292, d0.loss_map_cls_all: 0.2446, d0.loss_map_pts_all: 1.4708, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2446, d0.loss_map_pts: 1.4708, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2187, d1.loss_map_pts: 1.0473, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1981, d2.loss_map_pts: 0.8805, d2.loss_map_dir: 0.0104, d3.loss_map_cls: 0.1860, d3.loss_map_pts: 0.8109, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1770, d4.loss_map_pts: 0.7906, d4.loss_map_dir: 0.0112, d5.loss_map_cls: 0.1724, d5.loss_map_pts: 0.7793, d5.loss_map_dir: 0.0112, loss: 31.0166, grad_norm: 139.4466 +2026-02-27 18:30:25,514 - DriveTransformer - INFO - Epoch [7][38850/39528] lr: 8.550e-05, eta: 5 days, 16:51:48, time: 0.725, data_time: 0.035, memory: 19865, loss_cls: 0.1629, loss_bbox: 0.3472, loss_traj: 0.7066, loss_traj_cls: 0.0011, loss_map_cls: 0.1512, loss_map_pts: 0.6660, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 3.0623, d0.loss_plan_l1_fix_dist: 0.4454, d1.loss_plan_l1_fix_time: 1.0754, d1.loss_plan_l1_fix_dist: 0.2049, d2.loss_plan_l1_fix_time: 1.0635, d2.loss_plan_l1_fix_dist: 0.1838, d3.loss_plan_l1_fix_time: 1.0693, d3.loss_plan_l1_fix_dist: 0.1864, d4.loss_plan_l1_fix_time: 1.0735, d4.loss_plan_l1_fix_dist: 0.1936, d5.loss_plan_l1_fix_time: 1.0776, d5.loss_plan_l1_fix_dist: 0.2003, d6.loss_plan_l1_fix_time: 1.0822, d6.loss_plan_l1_fix_dist: 0.2095, d0.loss_cls_all: 0.1963, d0.loss_bbox_all: 0.4161, d0.loss_cls: 0.1963, d0.loss_bbox: 0.4161, d1.loss_cls: 0.1887, d1.loss_bbox: 0.3756, d2.loss_cls: 0.1765, d2.loss_bbox: 0.3563, d3.loss_cls: 0.1638, d3.loss_bbox: 0.3513, d4.loss_cls: 0.1608, d4.loss_bbox: 0.3467, d5.loss_cls: 0.1603, d5.loss_bbox: 0.3462, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9574, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7771, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.7365, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7170, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7097, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.7029, d0.loss_map_cls_all: 0.2270, d0.loss_map_pts_all: 1.2658, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2270, d0.loss_map_pts: 1.2658, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1998, d1.loss_map_pts: 0.9083, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1769, d2.loss_map_pts: 0.7566, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1622, d3.loss_map_pts: 0.6890, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1557, d4.loss_map_pts: 0.6708, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1528, d5.loss_map_pts: 0.6664, d5.loss_map_dir: 0.0090, loss: 29.2164, grad_norm: 139.1102 +2026-02-27 18:31:01,720 - DriveTransformer - INFO - Epoch [7][38900/39528] lr: 8.550e-05, eta: 5 days, 16:51:05, time: 0.724, data_time: 0.037, memory: 19865, loss_cls: 0.1599, loss_bbox: 0.3563, loss_traj: 0.6196, loss_traj_cls: 0.0011, loss_map_cls: 0.1261, loss_map_pts: 0.6004, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.6911, d0.loss_plan_l1_fix_dist: 0.4554, d1.loss_plan_l1_fix_time: 1.0249, d1.loss_plan_l1_fix_dist: 0.2035, d2.loss_plan_l1_fix_time: 1.0048, d2.loss_plan_l1_fix_dist: 0.1720, d3.loss_plan_l1_fix_time: 1.0022, d3.loss_plan_l1_fix_dist: 0.1788, d4.loss_plan_l1_fix_time: 1.0052, d4.loss_plan_l1_fix_dist: 0.1893, d5.loss_plan_l1_fix_time: 1.0092, d5.loss_plan_l1_fix_dist: 0.1982, d6.loss_plan_l1_fix_time: 1.0130, d6.loss_plan_l1_fix_dist: 0.2133, d0.loss_cls_all: 0.2076, d0.loss_bbox_all: 0.4018, d0.loss_cls: 0.2076, d0.loss_bbox: 0.4018, d1.loss_cls: 0.2031, d1.loss_bbox: 0.3730, d2.loss_cls: 0.1861, d2.loss_bbox: 0.3579, d3.loss_cls: 0.1655, d3.loss_bbox: 0.3601, d4.loss_cls: 0.1601, d4.loss_bbox: 0.3573, d5.loss_cls: 0.1609, d5.loss_bbox: 0.3554, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8565, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6854, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6322, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6213, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6174, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6189, d0.loss_map_cls_all: 0.2009, d0.loss_map_pts_all: 1.1995, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2009, d0.loss_map_pts: 1.1995, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1720, d1.loss_map_pts: 0.8326, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1487, d2.loss_map_pts: 0.6929, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1374, d3.loss_map_pts: 0.6301, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1321, d4.loss_map_pts: 0.6091, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1292, d5.loss_map_pts: 0.6020, d5.loss_map_dir: 0.0087, loss: 27.1149, grad_norm: 143.5499 +2026-02-27 18:31:37,646 - DriveTransformer - INFO - Epoch [7][38950/39528] lr: 8.550e-05, eta: 5 days, 16:50:16, time: 0.718, data_time: 0.037, memory: 19865, loss_cls: 0.1380, loss_bbox: 0.3550, loss_traj: 0.6120, loss_traj_cls: 0.0012, loss_map_cls: 0.1435, loss_map_pts: 0.5827, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.6634, d0.loss_plan_l1_fix_dist: 0.4419, d1.loss_plan_l1_fix_time: 1.0694, d1.loss_plan_l1_fix_dist: 0.2290, d2.loss_plan_l1_fix_time: 1.0619, d2.loss_plan_l1_fix_dist: 0.1857, d3.loss_plan_l1_fix_time: 1.0663, d3.loss_plan_l1_fix_dist: 0.1832, d4.loss_plan_l1_fix_time: 1.0702, d4.loss_plan_l1_fix_dist: 0.1910, d5.loss_plan_l1_fix_time: 1.0746, d5.loss_plan_l1_fix_dist: 0.1996, d6.loss_plan_l1_fix_time: 1.0796, d6.loss_plan_l1_fix_dist: 0.2122, d0.loss_cls_all: 0.1782, d0.loss_bbox_all: 0.4129, d0.loss_cls: 0.1782, d0.loss_bbox: 0.4129, d1.loss_cls: 0.1681, d1.loss_bbox: 0.3808, d2.loss_cls: 0.1560, d2.loss_bbox: 0.3645, d3.loss_cls: 0.1432, d3.loss_bbox: 0.3600, d4.loss_cls: 0.1379, d4.loss_bbox: 0.3568, d5.loss_cls: 0.1382, d5.loss_bbox: 0.3555, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8612, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6807, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6230, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6150, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6126, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6110, d0.loss_map_cls_all: 0.2186, d0.loss_map_pts_all: 1.1812, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2186, d0.loss_map_pts: 1.1812, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1915, d1.loss_map_pts: 0.8308, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1675, d2.loss_map_pts: 0.6818, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1587, d3.loss_map_pts: 0.6130, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1500, d4.loss_map_pts: 0.5935, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1454, d5.loss_map_pts: 0.5835, d5.loss_map_dir: 0.0076, loss: 27.2878, grad_norm: 144.4920 +2026-02-27 18:32:13,911 - DriveTransformer - INFO - Epoch [7][39000/39528] lr: 8.550e-05, eta: 5 days, 16:49:33, time: 0.725, data_time: 0.035, memory: 19865, loss_cls: 0.1531, loss_bbox: 0.3552, loss_traj: 0.5219, loss_traj_cls: 0.0012, loss_map_cls: 0.1604, loss_map_pts: 0.7210, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.6780, d0.loss_plan_l1_fix_dist: 0.5172, d1.loss_plan_l1_fix_time: 1.0365, d1.loss_plan_l1_fix_dist: 0.2601, d2.loss_plan_l1_fix_time: 1.0283, d2.loss_plan_l1_fix_dist: 0.2258, d3.loss_plan_l1_fix_time: 1.0321, d3.loss_plan_l1_fix_dist: 0.2196, d4.loss_plan_l1_fix_time: 1.0338, d4.loss_plan_l1_fix_dist: 0.2318, d5.loss_plan_l1_fix_time: 1.0356, d5.loss_plan_l1_fix_dist: 0.2488, d6.loss_plan_l1_fix_time: 1.0392, d6.loss_plan_l1_fix_dist: 0.2645, d0.loss_cls_all: 0.1966, d0.loss_bbox_all: 0.4236, d0.loss_cls: 0.1966, d0.loss_bbox: 0.4236, d1.loss_cls: 0.1855, d1.loss_bbox: 0.3864, d2.loss_cls: 0.1687, d2.loss_bbox: 0.3663, d3.loss_cls: 0.1592, d3.loss_bbox: 0.3581, d4.loss_cls: 0.1548, d4.loss_bbox: 0.3529, d5.loss_cls: 0.1535, d5.loss_bbox: 0.3543, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7695, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5939, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5478, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5331, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5209, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5180, d0.loss_map_cls_all: 0.2240, d0.loss_map_pts_all: 1.3298, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2240, d0.loss_map_pts: 1.3298, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1986, d1.loss_map_pts: 0.9502, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1797, d2.loss_map_pts: 0.8011, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1726, d3.loss_map_pts: 0.7436, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1665, d4.loss_map_pts: 0.7271, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1620, d5.loss_map_pts: 0.7238, d5.loss_map_dir: 0.0089, loss: 28.1376, grad_norm: 148.0197 +2026-02-27 18:32:49,431 - DriveTransformer - INFO - Epoch [7][39050/39528] lr: 8.550e-05, eta: 5 days, 16:48:37, time: 0.710, data_time: 0.038, memory: 19865, loss_cls: 0.1516, loss_bbox: 0.3499, loss_traj: 0.6128, loss_traj_cls: 0.0012, loss_map_cls: 0.1266, loss_map_pts: 0.5905, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.5905, d0.loss_plan_l1_fix_dist: 0.5043, d1.loss_plan_l1_fix_time: 1.0783, d1.loss_plan_l1_fix_dist: 0.2480, d2.loss_plan_l1_fix_time: 1.0610, d2.loss_plan_l1_fix_dist: 0.2223, d3.loss_plan_l1_fix_time: 1.0570, d3.loss_plan_l1_fix_dist: 0.2159, d4.loss_plan_l1_fix_time: 1.0570, d4.loss_plan_l1_fix_dist: 0.2193, d5.loss_plan_l1_fix_time: 1.0578, d5.loss_plan_l1_fix_dist: 0.2283, d6.loss_plan_l1_fix_time: 1.0596, d6.loss_plan_l1_fix_dist: 0.2374, d0.loss_cls_all: 0.1904, d0.loss_bbox_all: 0.4132, d0.loss_cls: 0.1904, d0.loss_bbox: 0.4132, d1.loss_cls: 0.1852, d1.loss_bbox: 0.3808, d2.loss_cls: 0.1698, d2.loss_bbox: 0.3604, d3.loss_cls: 0.1571, d3.loss_bbox: 0.3547, d4.loss_cls: 0.1539, d4.loss_bbox: 0.3489, d5.loss_cls: 0.1518, d5.loss_bbox: 0.3491, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8642, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6868, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6375, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6193, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6163, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6156, d0.loss_map_cls_all: 0.2078, d0.loss_map_pts_all: 1.1607, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2078, d0.loss_map_pts: 1.1607, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1785, d1.loss_map_pts: 0.8271, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1544, d2.loss_map_pts: 0.6795, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1396, d3.loss_map_pts: 0.6189, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1325, d4.loss_map_pts: 0.5978, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1285, d5.loss_map_pts: 0.5915, d5.loss_map_dir: 0.0077, loss: 27.3797, grad_norm: 147.3345 +2026-02-27 18:33:25,667 - DriveTransformer - INFO - Epoch [7][39100/39528] lr: 8.550e-05, eta: 5 days, 16:47:54, time: 0.725, data_time: 0.035, memory: 19865, loss_cls: 0.1555, loss_bbox: 0.3757, loss_traj: 0.6442, loss_traj_cls: 0.0012, loss_map_cls: 0.1792, loss_map_pts: 0.7320, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.7603, d0.loss_plan_l1_fix_dist: 0.3924, d1.loss_plan_l1_fix_time: 1.1637, d1.loss_plan_l1_fix_dist: 0.2272, d2.loss_plan_l1_fix_time: 1.1526, d2.loss_plan_l1_fix_dist: 0.2057, d3.loss_plan_l1_fix_time: 1.1527, d3.loss_plan_l1_fix_dist: 0.1996, d4.loss_plan_l1_fix_time: 1.1556, d4.loss_plan_l1_fix_dist: 0.2051, d5.loss_plan_l1_fix_time: 1.1589, d5.loss_plan_l1_fix_dist: 0.2142, d6.loss_plan_l1_fix_time: 1.1617, d6.loss_plan_l1_fix_dist: 0.2267, d0.loss_cls_all: 0.2082, d0.loss_bbox_all: 0.4380, d0.loss_cls: 0.2082, d0.loss_bbox: 0.4380, d1.loss_cls: 0.1958, d1.loss_bbox: 0.4037, d2.loss_cls: 0.1798, d2.loss_bbox: 0.3817, d3.loss_cls: 0.1654, d3.loss_bbox: 0.3751, d4.loss_cls: 0.1578, d4.loss_bbox: 0.3730, d5.loss_cls: 0.1559, d5.loss_bbox: 0.3729, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8548, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7001, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6617, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6466, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6390, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6337, d0.loss_map_cls_all: 0.2512, d0.loss_map_pts_all: 1.4069, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2512, d0.loss_map_pts: 1.4069, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2234, d1.loss_map_pts: 1.0078, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.2049, d2.loss_map_pts: 0.8367, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1932, d3.loss_map_pts: 0.7674, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1842, d4.loss_map_pts: 0.7438, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1807, d5.loss_map_pts: 0.7323, d5.loss_map_dir: 0.0098, loss: 30.1267, grad_norm: 147.7434 +2026-02-27 18:34:02,456 - DriveTransformer - INFO - Epoch [7][39150/39528] lr: 8.550e-05, eta: 5 days, 16:47:20, time: 0.736, data_time: 0.037, memory: 19865, loss_cls: 0.1454, loss_bbox: 0.3490, loss_traj: 0.6058, loss_traj_cls: 0.0013, loss_map_cls: 0.1498, loss_map_pts: 0.6458, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.5221, d0.loss_plan_l1_fix_dist: 0.5202, d1.loss_plan_l1_fix_time: 1.0104, d1.loss_plan_l1_fix_dist: 0.2401, d2.loss_plan_l1_fix_time: 1.0006, d2.loss_plan_l1_fix_dist: 0.2175, d3.loss_plan_l1_fix_time: 0.9952, d3.loss_plan_l1_fix_dist: 0.2192, d4.loss_plan_l1_fix_time: 0.9999, d4.loss_plan_l1_fix_dist: 0.2370, d5.loss_plan_l1_fix_time: 1.0049, d5.loss_plan_l1_fix_dist: 0.2507, d6.loss_plan_l1_fix_time: 1.0084, d6.loss_plan_l1_fix_dist: 0.2726, d0.loss_cls_all: 0.1912, d0.loss_bbox_all: 0.4081, d0.loss_cls: 0.1912, d0.loss_bbox: 0.4081, d1.loss_cls: 0.1850, d1.loss_bbox: 0.3759, d2.loss_cls: 0.1665, d2.loss_bbox: 0.3590, d3.loss_cls: 0.1522, d3.loss_bbox: 0.3500, d4.loss_cls: 0.1464, d4.loss_bbox: 0.3473, d5.loss_cls: 0.1446, d5.loss_bbox: 0.3475, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7862, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6422, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6019, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6051, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6037, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6007, d0.loss_map_cls_all: 0.2273, d0.loss_map_pts_all: 1.3353, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2273, d0.loss_map_pts: 1.3353, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1932, d1.loss_map_pts: 0.9329, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1722, d2.loss_map_pts: 0.7557, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1625, d3.loss_map_pts: 0.6780, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1537, d4.loss_map_pts: 0.6556, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1498, d5.loss_map_pts: 0.6480, d5.loss_map_dir: 0.0091, loss: 27.7134, grad_norm: 151.3949 +2026-02-27 18:34:38,955 - DriveTransformer - INFO - Epoch [7][39200/39528] lr: 8.550e-05, eta: 5 days, 16:46:42, time: 0.730, data_time: 0.036, memory: 19865, loss_cls: 0.1460, loss_bbox: 0.3770, loss_traj: 0.6785, loss_traj_cls: 0.0012, loss_map_cls: 0.1564, loss_map_pts: 0.7080, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.6027, d0.loss_plan_l1_fix_dist: 0.4836, d1.loss_plan_l1_fix_time: 1.1788, d1.loss_plan_l1_fix_dist: 0.2383, d2.loss_plan_l1_fix_time: 1.1576, d2.loss_plan_l1_fix_dist: 0.2180, d3.loss_plan_l1_fix_time: 1.1609, d3.loss_plan_l1_fix_dist: 0.2205, d4.loss_plan_l1_fix_time: 1.1647, d4.loss_plan_l1_fix_dist: 0.2373, d5.loss_plan_l1_fix_time: 1.1683, d5.loss_plan_l1_fix_dist: 0.2487, d6.loss_plan_l1_fix_time: 1.1711, d6.loss_plan_l1_fix_dist: 0.2656, d0.loss_cls_all: 0.1928, d0.loss_bbox_all: 0.4294, d0.loss_cls: 0.1928, d0.loss_bbox: 0.4294, d1.loss_cls: 0.1871, d1.loss_bbox: 0.3959, d2.loss_cls: 0.1706, d2.loss_bbox: 0.3796, d3.loss_cls: 0.1550, d3.loss_bbox: 0.3748, d4.loss_cls: 0.1488, d4.loss_bbox: 0.3756, d5.loss_cls: 0.1450, d5.loss_bbox: 0.3770, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8279, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6911, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6763, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6773, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6753, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6736, d0.loss_map_cls_all: 0.2444, d0.loss_map_pts_all: 1.3836, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2444, d0.loss_map_pts: 1.3836, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2033, d1.loss_map_pts: 0.9739, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1822, d2.loss_map_pts: 0.8194, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1715, d3.loss_map_pts: 0.7487, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1619, d4.loss_map_pts: 0.7176, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1582, d5.loss_map_pts: 0.7114, d5.loss_map_dir: 0.0099, loss: 29.9473, grad_norm: 160.3835 +2026-02-27 18:35:12,742 - DriveTransformer - INFO - Epoch [7][39250/39528] lr: 8.550e-05, eta: 5 days, 16:45:17, time: 0.676, data_time: 0.037, memory: 19865, loss_cls: 0.1274, loss_bbox: 0.3335, loss_traj: 0.6464, loss_traj_cls: 0.0012, loss_map_cls: 0.1513, loss_map_pts: 0.5659, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.1607, d0.loss_plan_l1_fix_dist: 0.4921, d1.loss_plan_l1_fix_time: 1.0530, d1.loss_plan_l1_fix_dist: 0.2022, d2.loss_plan_l1_fix_time: 1.0368, d2.loss_plan_l1_fix_dist: 0.1908, d3.loss_plan_l1_fix_time: 1.0312, d3.loss_plan_l1_fix_dist: 0.2007, d4.loss_plan_l1_fix_time: 1.0338, d4.loss_plan_l1_fix_dist: 0.2133, d5.loss_plan_l1_fix_time: 1.0378, d5.loss_plan_l1_fix_dist: 0.2260, d6.loss_plan_l1_fix_time: 1.0434, d6.loss_plan_l1_fix_dist: 0.2402, d0.loss_cls_all: 0.1644, d0.loss_bbox_all: 0.3957, d0.loss_cls: 0.1644, d0.loss_bbox: 0.3957, d1.loss_cls: 0.1622, d1.loss_bbox: 0.3601, d2.loss_cls: 0.1429, d2.loss_bbox: 0.3448, d3.loss_cls: 0.1319, d3.loss_bbox: 0.3366, d4.loss_cls: 0.1273, d4.loss_bbox: 0.3341, d5.loss_cls: 0.1269, d5.loss_bbox: 0.3339, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8502, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6797, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6533, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6566, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6534, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6446, d0.loss_map_cls_all: 0.2248, d0.loss_map_pts_all: 1.1707, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2248, d0.loss_map_pts: 1.1707, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1983, d1.loss_map_pts: 0.8161, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1709, d2.loss_map_pts: 0.6745, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1646, d3.loss_map_pts: 0.6061, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1557, d4.loss_map_pts: 0.5749, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1526, d5.loss_map_pts: 0.5691, d5.loss_map_dir: 0.0065, loss: 26.5792, grad_norm: 162.6082 +2026-02-27 18:35:50,267 - DriveTransformer - INFO - Epoch [7][39300/39528] lr: 8.550e-05, eta: 5 days, 16:44:55, time: 0.750, data_time: 0.037, memory: 19865, loss_cls: 0.1420, loss_bbox: 0.3442, loss_traj: 0.5669, loss_traj_cls: 0.0013, loss_map_cls: 0.1220, loss_map_pts: 0.6359, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.3469, d0.loss_plan_l1_fix_dist: 0.4615, d1.loss_plan_l1_fix_time: 0.9850, d1.loss_plan_l1_fix_dist: 0.1776, d2.loss_plan_l1_fix_time: 0.9817, d2.loss_plan_l1_fix_dist: 0.1929, d3.loss_plan_l1_fix_time: 0.9864, d3.loss_plan_l1_fix_dist: 0.2129, d4.loss_plan_l1_fix_time: 0.9941, d4.loss_plan_l1_fix_dist: 0.2261, d5.loss_plan_l1_fix_time: 1.0032, d5.loss_plan_l1_fix_dist: 0.2423, d6.loss_plan_l1_fix_time: 1.0149, d6.loss_plan_l1_fix_dist: 0.2625, d0.loss_cls_all: 0.1828, d0.loss_bbox_all: 0.3965, d0.loss_cls: 0.1828, d0.loss_bbox: 0.3965, d1.loss_cls: 0.1758, d1.loss_bbox: 0.3610, d2.loss_cls: 0.1628, d2.loss_bbox: 0.3449, d3.loss_cls: 0.1500, d3.loss_bbox: 0.3391, d4.loss_cls: 0.1421, d4.loss_bbox: 0.3398, d5.loss_cls: 0.1408, d5.loss_bbox: 0.3414, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7458, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6131, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5807, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5686, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5640, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5596, d0.loss_map_cls_all: 0.1937, d0.loss_map_pts_all: 1.2592, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1937, d0.loss_map_pts: 1.2592, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1596, d1.loss_map_pts: 0.8812, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1423, d2.loss_map_pts: 0.7267, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1344, d3.loss_map_pts: 0.6678, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1275, d4.loss_map_pts: 0.6429, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1234, d5.loss_map_pts: 0.6360, d5.loss_map_dir: 0.0085, loss: 26.4088, grad_norm: 163.6412 +2026-02-27 18:36:27,636 - DriveTransformer - INFO - Epoch [7][39350/39528] lr: 8.550e-05, eta: 5 days, 16:44:32, time: 0.747, data_time: 0.036, memory: 19865, loss_cls: 0.1584, loss_bbox: 0.3683, loss_traj: 0.6535, loss_traj_cls: 0.0012, loss_map_cls: 0.1578, loss_map_pts: 0.7485, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 3.0955, d0.loss_plan_l1_fix_dist: 0.4330, d1.loss_plan_l1_fix_time: 1.1334, d1.loss_plan_l1_fix_dist: 0.1955, d2.loss_plan_l1_fix_time: 1.1134, d2.loss_plan_l1_fix_dist: 0.2146, d3.loss_plan_l1_fix_time: 1.1096, d3.loss_plan_l1_fix_dist: 0.2325, d4.loss_plan_l1_fix_time: 1.1141, d4.loss_plan_l1_fix_dist: 0.2414, d5.loss_plan_l1_fix_time: 1.1201, d5.loss_plan_l1_fix_dist: 0.2553, d6.loss_plan_l1_fix_time: 1.1282, d6.loss_plan_l1_fix_dist: 0.2706, d0.loss_cls_all: 0.2008, d0.loss_bbox_all: 0.4327, d0.loss_cls: 0.2008, d0.loss_bbox: 0.4327, d1.loss_cls: 0.1920, d1.loss_bbox: 0.3950, d2.loss_cls: 0.1775, d2.loss_bbox: 0.3778, d3.loss_cls: 0.1653, d3.loss_bbox: 0.3708, d4.loss_cls: 0.1602, d4.loss_bbox: 0.3658, d5.loss_cls: 0.1598, d5.loss_bbox: 0.3659, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8454, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7105, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6677, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6617, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6514, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6511, d0.loss_map_cls_all: 0.2375, d0.loss_map_pts_all: 1.4719, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2375, d0.loss_map_pts: 1.4719, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2037, d1.loss_map_pts: 1.0289, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1812, d2.loss_map_pts: 0.8529, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1729, d3.loss_map_pts: 0.7833, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1654, d4.loss_map_pts: 0.7556, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1600, d5.loss_map_pts: 0.7491, d5.loss_map_dir: 0.0107, loss: 30.4918, grad_norm: 164.3204 +2026-02-27 18:37:03,476 - DriveTransformer - INFO - Epoch [7][39400/39528] lr: 8.550e-05, eta: 5 days, 16:43:42, time: 0.717, data_time: 0.035, memory: 19865, loss_cls: 0.1454, loss_bbox: 0.3395, loss_traj: 0.4993, loss_traj_cls: 0.0012, loss_map_cls: 0.1520, loss_map_pts: 0.6645, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.8090, d0.loss_plan_l1_fix_dist: 0.4750, d1.loss_plan_l1_fix_time: 0.9881, d1.loss_plan_l1_fix_dist: 0.1988, d2.loss_plan_l1_fix_time: 0.9715, d2.loss_plan_l1_fix_dist: 0.2058, d3.loss_plan_l1_fix_time: 0.9743, d3.loss_plan_l1_fix_dist: 0.2210, d4.loss_plan_l1_fix_time: 0.9788, d4.loss_plan_l1_fix_dist: 0.2355, d5.loss_plan_l1_fix_time: 0.9825, d5.loss_plan_l1_fix_dist: 0.2512, d6.loss_plan_l1_fix_time: 0.9863, d6.loss_plan_l1_fix_dist: 0.2658, d0.loss_cls_all: 0.1931, d0.loss_bbox_all: 0.3932, d0.loss_cls: 0.1931, d0.loss_bbox: 0.3932, d1.loss_cls: 0.1860, d1.loss_bbox: 0.3635, d2.loss_cls: 0.1691, d2.loss_bbox: 0.3465, d3.loss_cls: 0.1519, d3.loss_bbox: 0.3430, d4.loss_cls: 0.1451, d4.loss_bbox: 0.3398, d5.loss_cls: 0.1454, d5.loss_bbox: 0.3386, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7261, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5612, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5145, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5062, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5056, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.4992, d0.loss_map_cls_all: 0.2172, d0.loss_map_pts_all: 1.2898, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2172, d0.loss_map_pts: 1.2898, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1940, d1.loss_map_pts: 0.9044, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1724, d2.loss_map_pts: 0.7493, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1639, d3.loss_map_pts: 0.6879, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1581, d4.loss_map_pts: 0.6681, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1543, d5.loss_map_pts: 0.6635, d5.loss_map_dir: 0.0098, loss: 26.9714, grad_norm: 164.1946 +2026-02-27 18:37:39,267 - DriveTransformer - INFO - Epoch [7][39450/39528] lr: 8.550e-05, eta: 5 days, 16:42:51, time: 0.716, data_time: 0.036, memory: 19865, loss_cls: 0.1459, loss_bbox: 0.3546, loss_traj: 0.6307, loss_traj_cls: 0.0012, loss_map_cls: 0.1516, loss_map_pts: 0.6620, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.6388, d0.loss_plan_l1_fix_dist: 0.4546, d1.loss_plan_l1_fix_time: 0.9664, d1.loss_plan_l1_fix_dist: 0.1919, d2.loss_plan_l1_fix_time: 0.9505, d2.loss_plan_l1_fix_dist: 0.2022, d3.loss_plan_l1_fix_time: 0.9525, d3.loss_plan_l1_fix_dist: 0.2080, d4.loss_plan_l1_fix_time: 0.9567, d4.loss_plan_l1_fix_dist: 0.2140, d5.loss_plan_l1_fix_time: 0.9602, d5.loss_plan_l1_fix_dist: 0.2318, d6.loss_plan_l1_fix_time: 0.9635, d6.loss_plan_l1_fix_dist: 0.2509, d0.loss_cls_all: 0.1906, d0.loss_bbox_all: 0.4186, d0.loss_cls: 0.1906, d0.loss_bbox: 0.4186, d1.loss_cls: 0.1834, d1.loss_bbox: 0.3827, d2.loss_cls: 0.1696, d2.loss_bbox: 0.3651, d3.loss_cls: 0.1546, d3.loss_bbox: 0.3577, d4.loss_cls: 0.1482, d4.loss_bbox: 0.3551, d5.loss_cls: 0.1467, d5.loss_bbox: 0.3540, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8992, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7177, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6682, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6430, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6342, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6295, d0.loss_map_cls_all: 0.2381, d0.loss_map_pts_all: 1.2983, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2381, d0.loss_map_pts: 1.2983, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.2045, d1.loss_map_pts: 0.8866, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1774, d2.loss_map_pts: 0.7441, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1652, d3.loss_map_pts: 0.6838, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1569, d4.loss_map_pts: 0.6657, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1548, d5.loss_map_pts: 0.6597, d5.loss_map_dir: 0.0081, loss: 27.7568, grad_norm: 162.8375 +2026-02-27 18:38:16,590 - DriveTransformer - INFO - Epoch [7][39500/39528] lr: 8.550e-05, eta: 5 days, 16:42:26, time: 0.746, data_time: 0.038, memory: 19865, loss_cls: 0.1589, loss_bbox: 0.3392, loss_traj: 0.5975, loss_traj_cls: 0.0013, loss_map_cls: 0.1270, loss_map_pts: 0.6370, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.3579, d0.loss_plan_l1_fix_dist: 0.4605, d1.loss_plan_l1_fix_time: 1.0061, d1.loss_plan_l1_fix_dist: 0.1958, d2.loss_plan_l1_fix_time: 0.9899, d2.loss_plan_l1_fix_dist: 0.1990, d3.loss_plan_l1_fix_time: 0.9829, d3.loss_plan_l1_fix_dist: 0.2108, d4.loss_plan_l1_fix_time: 0.9855, d4.loss_plan_l1_fix_dist: 0.2214, d5.loss_plan_l1_fix_time: 0.9893, d5.loss_plan_l1_fix_dist: 0.2293, d6.loss_plan_l1_fix_time: 0.9937, d6.loss_plan_l1_fix_dist: 0.2405, d0.loss_cls_all: 0.2000, d0.loss_bbox_all: 0.4018, d0.loss_cls: 0.2000, d0.loss_bbox: 0.4018, d1.loss_cls: 0.1903, d1.loss_bbox: 0.3700, d2.loss_cls: 0.1763, d2.loss_bbox: 0.3523, d3.loss_cls: 0.1627, d3.loss_bbox: 0.3449, d4.loss_cls: 0.1586, d4.loss_bbox: 0.3409, d5.loss_cls: 0.1587, d5.loss_bbox: 0.3391, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7632, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6370, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6024, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5962, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5975, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5921, d0.loss_map_cls_all: 0.2071, d0.loss_map_pts_all: 1.3057, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2071, d0.loss_map_pts: 1.3057, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1739, d1.loss_map_pts: 0.9017, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1543, d2.loss_map_pts: 0.7372, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1404, d3.loss_map_pts: 0.6688, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1332, d4.loss_map_pts: 0.6433, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1284, d5.loss_map_pts: 0.6380, d5.loss_map_dir: 0.0094, loss: 26.9327, grad_norm: 163.1017 +2026-02-27 18:38:35,756 - DriveTransformer - INFO - Saving checkpoint at 7 epochs +2026-02-27 18:39:23,762 - DriveTransformer - INFO - Epoch [8][50/39528] lr: 8.063e-05, eta: 5 days, 16:38:17, time: 0.916, data_time: 0.176, memory: 19865, loss_cls: 0.1502, loss_bbox: 0.3574, loss_traj: 0.5624, loss_traj_cls: 0.0012, loss_map_cls: 0.1331, loss_map_pts: 0.6456, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.9447, d0.loss_plan_l1_fix_dist: 0.4353, d1.loss_plan_l1_fix_time: 1.0367, d1.loss_plan_l1_fix_dist: 0.1801, d2.loss_plan_l1_fix_time: 1.0367, d2.loss_plan_l1_fix_dist: 0.1986, d3.loss_plan_l1_fix_time: 1.0325, d3.loss_plan_l1_fix_dist: 0.2051, d4.loss_plan_l1_fix_time: 1.0375, d4.loss_plan_l1_fix_dist: 0.2169, d5.loss_plan_l1_fix_time: 1.0435, d5.loss_plan_l1_fix_dist: 0.2257, d6.loss_plan_l1_fix_time: 1.0497, d6.loss_plan_l1_fix_dist: 0.2382, d0.loss_cls_all: 0.1877, d0.loss_bbox_all: 0.4136, d0.loss_cls: 0.1877, d0.loss_bbox: 0.4136, d1.loss_cls: 0.1862, d1.loss_bbox: 0.3795, d2.loss_cls: 0.1703, d2.loss_bbox: 0.3633, d3.loss_cls: 0.1556, d3.loss_bbox: 0.3575, d4.loss_cls: 0.1514, d4.loss_bbox: 0.3559, d5.loss_cls: 0.1504, d5.loss_bbox: 0.3557, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7796, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6159, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5700, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5609, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5593, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5584, d0.loss_map_cls_all: 0.2127, d0.loss_map_pts_all: 1.2870, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2127, d0.loss_map_pts: 1.2870, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1774, d1.loss_map_pts: 0.8886, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1572, d2.loss_map_pts: 0.7314, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1475, d3.loss_map_pts: 0.6754, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1395, d4.loss_map_pts: 0.6556, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1353, d5.loss_map_pts: 0.6469, d5.loss_map_dir: 0.0098, loss: 27.6415, grad_norm: 313.5577 +2026-02-27 18:39:58,168 - DriveTransformer - INFO - Epoch [8][100/39528] lr: 8.063e-05, eta: 5 days, 16:37:03, time: 0.688, data_time: 0.036, memory: 19865, loss_cls: 0.1432, loss_bbox: 0.3558, loss_traj: 0.5523, loss_traj_cls: 0.0012, loss_map_cls: 0.1219, loss_map_pts: 0.5546, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.6741, d0.loss_plan_l1_fix_dist: 0.3900, d1.loss_plan_l1_fix_time: 0.9811, d1.loss_plan_l1_fix_dist: 0.1896, d2.loss_plan_l1_fix_time: 0.9737, d2.loss_plan_l1_fix_dist: 0.2122, d3.loss_plan_l1_fix_time: 0.9740, d3.loss_plan_l1_fix_dist: 0.2101, d4.loss_plan_l1_fix_time: 0.9781, d4.loss_plan_l1_fix_dist: 0.2102, d5.loss_plan_l1_fix_time: 0.9824, d5.loss_plan_l1_fix_dist: 0.2189, d6.loss_plan_l1_fix_time: 0.9870, d6.loss_plan_l1_fix_dist: 0.2351, d0.loss_cls_all: 0.1847, d0.loss_bbox_all: 0.4160, d0.loss_cls: 0.1847, d0.loss_bbox: 0.4160, d1.loss_cls: 0.1780, d1.loss_bbox: 0.3830, d2.loss_cls: 0.1628, d2.loss_bbox: 0.3653, d3.loss_cls: 0.1492, d3.loss_bbox: 0.3603, d4.loss_cls: 0.1469, d4.loss_bbox: 0.3568, d5.loss_cls: 0.1436, d5.loss_bbox: 0.3563, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7986, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6266, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5775, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5655, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5584, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5530, d0.loss_map_cls_all: 0.2006, d0.loss_map_pts_all: 1.0972, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2006, d0.loss_map_pts: 1.0972, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1698, d1.loss_map_pts: 0.7814, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1490, d2.loss_map_pts: 0.6432, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1348, d3.loss_map_pts: 0.5848, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1282, d4.loss_map_pts: 0.5626, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1237, d5.loss_map_pts: 0.5567, d5.loss_map_dir: 0.0072, loss: 25.9213, grad_norm: 258.0987 +2026-02-27 18:40:34,041 - DriveTransformer - INFO - Epoch [8][150/39528] lr: 8.063e-05, eta: 5 days, 16:36:14, time: 0.717, data_time: 0.029, memory: 19865, loss_cls: 0.1612, loss_bbox: 0.3829, loss_traj: 0.6346, loss_traj_cls: 0.0012, loss_map_cls: 0.1628, loss_map_pts: 0.7032, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.8436, d0.loss_plan_l1_fix_dist: 0.4743, d1.loss_plan_l1_fix_time: 1.0129, d1.loss_plan_l1_fix_dist: 0.1896, d2.loss_plan_l1_fix_time: 0.9980, d2.loss_plan_l1_fix_dist: 0.2062, d3.loss_plan_l1_fix_time: 0.9949, d3.loss_plan_l1_fix_dist: 0.2149, d4.loss_plan_l1_fix_time: 0.9973, d4.loss_plan_l1_fix_dist: 0.2201, d5.loss_plan_l1_fix_time: 0.9997, d5.loss_plan_l1_fix_dist: 0.2358, d6.loss_plan_l1_fix_time: 1.0022, d6.loss_plan_l1_fix_dist: 0.2565, d0.loss_cls_all: 0.2101, d0.loss_bbox_all: 0.4433, d0.loss_cls: 0.2101, d0.loss_bbox: 0.4433, d1.loss_cls: 0.2007, d1.loss_bbox: 0.4061, d2.loss_cls: 0.1864, d2.loss_bbox: 0.3858, d3.loss_cls: 0.1687, d3.loss_bbox: 0.3826, d4.loss_cls: 0.1621, d4.loss_bbox: 0.3802, d5.loss_cls: 0.1608, d5.loss_bbox: 0.3811, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9136, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7072, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6492, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6300, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6318, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6340, d0.loss_map_cls_all: 0.2471, d0.loss_map_pts_all: 1.3531, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2471, d0.loss_map_pts: 1.3531, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2078, d1.loss_map_pts: 0.9489, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1919, d2.loss_map_pts: 0.8031, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1779, d3.loss_map_pts: 0.7347, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1687, d4.loss_map_pts: 0.7140, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1646, d5.loss_map_pts: 0.7031, d5.loss_map_dir: 0.0089, loss: 29.0703, grad_norm: 203.4744 +2026-02-27 18:41:11,783 - DriveTransformer - INFO - Epoch [8][200/39528] lr: 8.063e-05, eta: 5 days, 16:35:58, time: 0.756, data_time: 0.030, memory: 19865, loss_cls: 0.1517, loss_bbox: 0.3392, loss_traj: 0.4873, loss_traj_cls: 0.0012, loss_map_cls: 0.1470, loss_map_pts: 0.7009, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.7761, d0.loss_plan_l1_fix_dist: 0.4536, d1.loss_plan_l1_fix_time: 1.0448, d1.loss_plan_l1_fix_dist: 0.1929, d2.loss_plan_l1_fix_time: 1.0318, d2.loss_plan_l1_fix_dist: 0.2067, d3.loss_plan_l1_fix_time: 1.0247, d3.loss_plan_l1_fix_dist: 0.2236, d4.loss_plan_l1_fix_time: 1.0276, d4.loss_plan_l1_fix_dist: 0.2358, d5.loss_plan_l1_fix_time: 1.0314, d5.loss_plan_l1_fix_dist: 0.2591, d6.loss_plan_l1_fix_time: 1.0362, d6.loss_plan_l1_fix_dist: 0.2842, d0.loss_cls_all: 0.2025, d0.loss_bbox_all: 0.3973, d0.loss_cls: 0.2025, d0.loss_bbox: 0.3973, d1.loss_cls: 0.1917, d1.loss_bbox: 0.3609, d2.loss_cls: 0.1727, d2.loss_bbox: 0.3430, d3.loss_cls: 0.1564, d3.loss_bbox: 0.3371, d4.loss_cls: 0.1503, d4.loss_bbox: 0.3349, d5.loss_cls: 0.1498, d5.loss_bbox: 0.3360, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6919, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5455, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5059, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.4993, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4896, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.4833, d0.loss_map_cls_all: 0.2284, d0.loss_map_pts_all: 1.4140, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2284, d0.loss_map_pts: 1.4140, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1937, d1.loss_map_pts: 0.9564, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1728, d2.loss_map_pts: 0.7908, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1597, d3.loss_map_pts: 0.7302, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1526, d4.loss_map_pts: 0.7056, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1480, d5.loss_map_pts: 0.7008, d5.loss_map_dir: 0.0102, loss: 27.6845, grad_norm: 227.5237 +2026-02-27 18:41:47,256 - DriveTransformer - INFO - Epoch [8][250/39528] lr: 8.063e-05, eta: 5 days, 16:35:01, time: 0.708, data_time: 0.033, memory: 19865, loss_cls: 0.1558, loss_bbox: 0.3474, loss_traj: 0.6813, loss_traj_cls: 0.0012, loss_map_cls: 0.1293, loss_map_pts: 0.5758, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.6595, d0.loss_plan_l1_fix_dist: 0.3601, d1.loss_plan_l1_fix_time: 1.0303, d1.loss_plan_l1_fix_dist: 0.1871, d2.loss_plan_l1_fix_time: 1.0184, d2.loss_plan_l1_fix_dist: 0.1866, d3.loss_plan_l1_fix_time: 1.0205, d3.loss_plan_l1_fix_dist: 0.2007, d4.loss_plan_l1_fix_time: 1.0243, d4.loss_plan_l1_fix_dist: 0.2111, d5.loss_plan_l1_fix_time: 1.0287, d5.loss_plan_l1_fix_dist: 0.2389, d6.loss_plan_l1_fix_time: 1.0345, d6.loss_plan_l1_fix_dist: 0.2635, d0.loss_cls_all: 0.1884, d0.loss_bbox_all: 0.4032, d0.loss_cls: 0.1884, d0.loss_bbox: 0.4032, d1.loss_cls: 0.1805, d1.loss_bbox: 0.3697, d2.loss_cls: 0.1689, d2.loss_bbox: 0.3507, d3.loss_cls: 0.1608, d3.loss_bbox: 0.3458, d4.loss_cls: 0.1580, d4.loss_bbox: 0.3427, d5.loss_cls: 0.1554, d5.loss_bbox: 0.3440, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9355, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7474, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6970, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6905, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6862, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6787, d0.loss_map_cls_all: 0.2084, d0.loss_map_pts_all: 1.2288, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2084, d0.loss_map_pts: 1.2288, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1799, d1.loss_map_pts: 0.8328, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1566, d2.loss_map_pts: 0.6739, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1457, d3.loss_map_pts: 0.6055, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1386, d4.loss_map_pts: 0.5832, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1318, d5.loss_map_pts: 0.5761, d5.loss_map_dir: 0.0070, loss: 27.5088, grad_norm: 273.4103 +2026-02-27 18:42:23,307 - DriveTransformer - INFO - Epoch [8][300/39528] lr: 8.063e-05, eta: 5 days, 16:34:15, time: 0.721, data_time: 0.030, memory: 19865, loss_cls: 0.1382, loss_bbox: 0.3468, loss_traj: 0.6071, loss_traj_cls: 0.0013, loss_map_cls: 0.1440, loss_map_pts: 0.6615, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.3532, d0.loss_plan_l1_fix_dist: 0.3546, d1.loss_plan_l1_fix_time: 0.8883, d1.loss_plan_l1_fix_dist: 0.1941, d2.loss_plan_l1_fix_time: 0.8752, d2.loss_plan_l1_fix_dist: 0.1819, d3.loss_plan_l1_fix_time: 0.8694, d3.loss_plan_l1_fix_dist: 0.1900, d4.loss_plan_l1_fix_time: 0.8729, d4.loss_plan_l1_fix_dist: 0.2001, d5.loss_plan_l1_fix_time: 0.8773, d5.loss_plan_l1_fix_dist: 0.2114, d6.loss_plan_l1_fix_time: 0.8832, d6.loss_plan_l1_fix_dist: 0.2241, d0.loss_cls_all: 0.1855, d0.loss_bbox_all: 0.3968, d0.loss_cls: 0.1855, d0.loss_bbox: 0.3968, d1.loss_cls: 0.1744, d1.loss_bbox: 0.3647, d2.loss_cls: 0.1577, d2.loss_bbox: 0.3489, d3.loss_cls: 0.1449, d3.loss_bbox: 0.3435, d4.loss_cls: 0.1402, d4.loss_bbox: 0.3413, d5.loss_cls: 0.1380, d5.loss_bbox: 0.3434, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8456, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6842, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6239, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6112, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6100, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.6058, d0.loss_map_cls_all: 0.2232, d0.loss_map_pts_all: 1.3487, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2232, d0.loss_map_pts: 1.3487, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1892, d1.loss_map_pts: 0.8990, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1675, d2.loss_map_pts: 0.7387, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1561, d3.loss_map_pts: 0.6794, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1488, d4.loss_map_pts: 0.6653, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1455, d5.loss_map_pts: 0.6618, d5.loss_map_dir: 0.0095, loss: 26.3930, grad_norm: 243.8120 +2026-02-27 18:43:00,533 - DriveTransformer - INFO - Epoch [8][350/39528] lr: 8.063e-05, eta: 5 days, 16:33:49, time: 0.745, data_time: 0.035, memory: 19865, loss_cls: 0.1310, loss_bbox: 0.3337, loss_traj: 0.5168, loss_traj_cls: 0.0013, loss_map_cls: 0.1461, loss_map_pts: 0.7053, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.1580, d0.loss_plan_l1_fix_dist: 0.4117, d1.loss_plan_l1_fix_time: 0.8815, d1.loss_plan_l1_fix_dist: 0.1993, d2.loss_plan_l1_fix_time: 0.8738, d2.loss_plan_l1_fix_dist: 0.1931, d3.loss_plan_l1_fix_time: 0.8736, d3.loss_plan_l1_fix_dist: 0.2025, d4.loss_plan_l1_fix_time: 0.8762, d4.loss_plan_l1_fix_dist: 0.2221, d5.loss_plan_l1_fix_time: 0.8794, d5.loss_plan_l1_fix_dist: 0.2276, d6.loss_plan_l1_fix_time: 0.8830, d6.loss_plan_l1_fix_dist: 0.2370, d0.loss_cls_all: 0.1724, d0.loss_bbox_all: 0.3942, d0.loss_cls: 0.1724, d0.loss_bbox: 0.3942, d1.loss_cls: 0.1647, d1.loss_bbox: 0.3600, d2.loss_cls: 0.1503, d2.loss_bbox: 0.3426, d3.loss_cls: 0.1366, d3.loss_bbox: 0.3366, d4.loss_cls: 0.1321, d4.loss_bbox: 0.3344, d5.loss_cls: 0.1295, d5.loss_bbox: 0.3341, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7273, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5805, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5389, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5257, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5171, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5148, d0.loss_map_cls_all: 0.2206, d0.loss_map_pts_all: 1.4960, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2206, d0.loss_map_pts: 1.4960, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.1908, d1.loss_map_pts: 1.0000, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1694, d2.loss_map_pts: 0.8185, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1608, d3.loss_map_pts: 0.7373, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1518, d4.loss_map_pts: 0.7137, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1478, d5.loss_map_pts: 0.7072, d5.loss_map_dir: 0.0096, loss: 26.2233, grad_norm: 234.9797 +2026-02-27 18:43:38,890 - DriveTransformer - INFO - Epoch [8][400/39528] lr: 8.063e-05, eta: 5 days, 16:33:42, time: 0.767, data_time: 0.033, memory: 19865, loss_cls: 0.1636, loss_bbox: 0.3639, loss_traj: 0.5013, loss_traj_cls: 0.0012, loss_map_cls: 0.1479, loss_map_pts: 0.6833, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.7370, d0.loss_plan_l1_fix_dist: 0.4216, d1.loss_plan_l1_fix_time: 0.9627, d1.loss_plan_l1_fix_dist: 0.2185, d2.loss_plan_l1_fix_time: 0.9498, d2.loss_plan_l1_fix_dist: 0.2168, d3.loss_plan_l1_fix_time: 0.9422, d3.loss_plan_l1_fix_dist: 0.2152, d4.loss_plan_l1_fix_time: 0.9443, d4.loss_plan_l1_fix_dist: 0.2387, d5.loss_plan_l1_fix_time: 0.9470, d5.loss_plan_l1_fix_dist: 0.2493, d6.loss_plan_l1_fix_time: 0.9502, d6.loss_plan_l1_fix_dist: 0.2612, d0.loss_cls_all: 0.2052, d0.loss_bbox_all: 0.4265, d0.loss_cls: 0.2052, d0.loss_bbox: 0.4265, d1.loss_cls: 0.1946, d1.loss_bbox: 0.3957, d2.loss_cls: 0.1851, d2.loss_bbox: 0.3758, d3.loss_cls: 0.1694, d3.loss_bbox: 0.3698, d4.loss_cls: 0.1641, d4.loss_bbox: 0.3641, d5.loss_cls: 0.1641, d5.loss_bbox: 0.3636, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6550, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5528, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5141, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5032, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4979, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.4970, d0.loss_map_cls_all: 0.2260, d0.loss_map_pts_all: 1.4947, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2260, d0.loss_map_pts: 1.4947, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.1924, d1.loss_map_pts: 0.9946, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.1739, d2.loss_map_pts: 0.8053, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1625, d3.loss_map_pts: 0.7241, d3.loss_map_dir: 0.0108, d4.loss_map_cls: 0.1533, d4.loss_map_pts: 0.6970, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1496, d5.loss_map_pts: 0.6848, d5.loss_map_dir: 0.0113, loss: 27.6166, grad_norm: 227.6499 +2026-02-27 18:44:14,380 - DriveTransformer - INFO - Epoch [8][450/39528] lr: 8.063e-05, eta: 5 days, 16:32:47, time: 0.710, data_time: 0.033, memory: 19865, loss_cls: 0.1531, loss_bbox: 0.3462, loss_traj: 0.5641, loss_traj_cls: 0.0012, loss_map_cls: 0.1535, loss_map_pts: 0.6707, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.7378, d0.loss_plan_l1_fix_dist: 0.3087, d1.loss_plan_l1_fix_time: 0.9308, d1.loss_plan_l1_fix_dist: 0.2080, d2.loss_plan_l1_fix_time: 0.9171, d2.loss_plan_l1_fix_dist: 0.2092, d3.loss_plan_l1_fix_time: 0.9093, d3.loss_plan_l1_fix_dist: 0.2002, d4.loss_plan_l1_fix_time: 0.9113, d4.loss_plan_l1_fix_dist: 0.2137, d5.loss_plan_l1_fix_time: 0.9146, d5.loss_plan_l1_fix_dist: 0.2170, d6.loss_plan_l1_fix_time: 0.9189, d6.loss_plan_l1_fix_dist: 0.2230, d0.loss_cls_all: 0.1942, d0.loss_bbox_all: 0.4026, d0.loss_cls: 0.1942, d0.loss_bbox: 0.4026, d1.loss_cls: 0.1862, d1.loss_bbox: 0.3723, d2.loss_cls: 0.1700, d2.loss_bbox: 0.3553, d3.loss_cls: 0.1561, d3.loss_bbox: 0.3486, d4.loss_cls: 0.1528, d4.loss_bbox: 0.3449, d5.loss_cls: 0.1520, d5.loss_bbox: 0.3448, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7706, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6295, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5817, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5676, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5660, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5640, d0.loss_map_cls_all: 0.2371, d0.loss_map_pts_all: 1.2955, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2371, d0.loss_map_pts: 1.2955, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1985, d1.loss_map_pts: 0.9111, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1784, d2.loss_map_pts: 0.7594, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1653, d3.loss_map_pts: 0.6952, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1577, d4.loss_map_pts: 0.6778, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1532, d5.loss_map_pts: 0.6717, d5.loss_map_dir: 0.0096, loss: 26.8794, grad_norm: 223.5667 +2026-02-27 18:44:49,123 - DriveTransformer - INFO - Epoch [8][500/39528] lr: 8.063e-05, eta: 5 days, 16:31:39, time: 0.695, data_time: 0.031, memory: 19865, loss_cls: 0.1535, loss_bbox: 0.3376, loss_traj: 0.6341, loss_traj_cls: 0.0012, loss_map_cls: 0.1346, loss_map_pts: 0.5581, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.5287, d0.loss_plan_l1_fix_dist: 0.3302, d1.loss_plan_l1_fix_time: 0.8791, d1.loss_plan_l1_fix_dist: 0.1758, d2.loss_plan_l1_fix_time: 0.8669, d2.loss_plan_l1_fix_dist: 0.1989, d3.loss_plan_l1_fix_time: 0.8651, d3.loss_plan_l1_fix_dist: 0.1984, d4.loss_plan_l1_fix_time: 0.8664, d4.loss_plan_l1_fix_dist: 0.1862, d5.loss_plan_l1_fix_time: 0.8684, d5.loss_plan_l1_fix_dist: 0.1959, d6.loss_plan_l1_fix_time: 0.8707, d6.loss_plan_l1_fix_dist: 0.2183, d0.loss_cls_all: 0.1971, d0.loss_bbox_all: 0.4000, d0.loss_cls: 0.1971, d0.loss_bbox: 0.4000, d1.loss_cls: 0.1857, d1.loss_bbox: 0.3667, d2.loss_cls: 0.1714, d2.loss_bbox: 0.3471, d3.loss_cls: 0.1580, d3.loss_bbox: 0.3407, d4.loss_cls: 0.1541, d4.loss_bbox: 0.3384, d5.loss_cls: 0.1523, d5.loss_bbox: 0.3391, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8863, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7197, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6551, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6360, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6340, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6317, d0.loss_map_cls_all: 0.2078, d0.loss_map_pts_all: 1.1398, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2078, d0.loss_map_pts: 1.1398, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1793, d1.loss_map_pts: 0.8011, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1600, d2.loss_map_pts: 0.6554, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1482, d3.loss_map_pts: 0.5910, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1403, d4.loss_map_pts: 0.5667, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1365, d5.loss_map_pts: 0.5599, d5.loss_map_dir: 0.0071, loss: 25.6736, grad_norm: 208.9828 +2026-02-27 18:45:25,799 - DriveTransformer - INFO - Epoch [8][550/39528] lr: 8.063e-05, eta: 5 days, 16:31:04, time: 0.734, data_time: 0.034, memory: 19865, loss_cls: 0.1345, loss_bbox: 0.3398, loss_traj: 0.4910, loss_traj_cls: 0.0013, loss_map_cls: 0.1531, loss_map_pts: 0.6956, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.2137, d0.loss_plan_l1_fix_dist: 0.4332, d1.loss_plan_l1_fix_time: 0.9489, d1.loss_plan_l1_fix_dist: 0.1799, d2.loss_plan_l1_fix_time: 0.9345, d2.loss_plan_l1_fix_dist: 0.1983, d3.loss_plan_l1_fix_time: 0.9316, d3.loss_plan_l1_fix_dist: 0.2074, d4.loss_plan_l1_fix_time: 0.9339, d4.loss_plan_l1_fix_dist: 0.2087, d5.loss_plan_l1_fix_time: 0.9366, d5.loss_plan_l1_fix_dist: 0.2100, d6.loss_plan_l1_fix_time: 0.9400, d6.loss_plan_l1_fix_dist: 0.2310, d0.loss_cls_all: 0.1796, d0.loss_bbox_all: 0.3943, d0.loss_cls: 0.1796, d0.loss_bbox: 0.3943, d1.loss_cls: 0.1710, d1.loss_bbox: 0.3664, d2.loss_cls: 0.1579, d2.loss_bbox: 0.3493, d3.loss_cls: 0.1426, d3.loss_bbox: 0.3435, d4.loss_cls: 0.1368, d4.loss_bbox: 0.3392, d5.loss_cls: 0.1348, d5.loss_bbox: 0.3394, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6592, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5378, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5036, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.4917, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4904, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.4916, d0.loss_map_cls_all: 0.2277, d0.loss_map_pts_all: 1.4025, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2277, d0.loss_map_pts: 1.4025, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1988, d1.loss_map_pts: 0.9778, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1776, d2.loss_map_pts: 0.8039, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1685, d3.loss_map_pts: 0.7302, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1596, d4.loss_map_pts: 0.7049, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1548, d5.loss_map_pts: 0.6960, d5.loss_map_dir: 0.0091, loss: 26.2359, grad_norm: 211.3637 +2026-02-27 18:46:02,553 - DriveTransformer - INFO - Epoch [8][600/39528] lr: 8.063e-05, eta: 5 days, 16:30:30, time: 0.735, data_time: 0.032, memory: 19865, loss_cls: 0.1346, loss_bbox: 0.3255, loss_traj: 0.5414, loss_traj_cls: 0.0012, loss_map_cls: 0.1603, loss_map_pts: 0.7329, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.8422, d0.loss_plan_l1_fix_dist: 0.3499, d1.loss_plan_l1_fix_time: 0.9256, d1.loss_plan_l1_fix_dist: 0.1783, d2.loss_plan_l1_fix_time: 0.9097, d2.loss_plan_l1_fix_dist: 0.1740, d3.loss_plan_l1_fix_time: 0.9161, d3.loss_plan_l1_fix_dist: 0.1802, d4.loss_plan_l1_fix_time: 0.9203, d4.loss_plan_l1_fix_dist: 0.1895, d5.loss_plan_l1_fix_time: 0.9245, d5.loss_plan_l1_fix_dist: 0.1957, d6.loss_plan_l1_fix_time: 0.9293, d6.loss_plan_l1_fix_dist: 0.2085, d0.loss_cls_all: 0.1735, d0.loss_bbox_all: 0.3855, d0.loss_cls: 0.1735, d0.loss_bbox: 0.3855, d1.loss_cls: 0.1687, d1.loss_bbox: 0.3483, d2.loss_cls: 0.1553, d2.loss_bbox: 0.3303, d3.loss_cls: 0.1402, d3.loss_bbox: 0.3275, d4.loss_cls: 0.1366, d4.loss_bbox: 0.3231, d5.loss_cls: 0.1356, d5.loss_bbox: 0.3232, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7865, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6041, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5455, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5386, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5397, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5394, d0.loss_map_cls_all: 0.2347, d0.loss_map_pts_all: 1.4735, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2347, d0.loss_map_pts: 1.4735, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2063, d1.loss_map_pts: 1.0256, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1869, d2.loss_map_pts: 0.8402, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1742, d3.loss_map_pts: 0.7682, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1681, d4.loss_map_pts: 0.7371, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1630, d5.loss_map_pts: 0.7311, d5.loss_map_dir: 0.0095, loss: 27.2977, grad_norm: 206.4937 +2026-02-27 18:46:39,389 - DriveTransformer - INFO - Epoch [8][650/39528] lr: 8.063e-05, eta: 5 days, 16:29:57, time: 0.737, data_time: 0.032, memory: 19865, loss_cls: 0.1508, loss_bbox: 0.3338, loss_traj: 0.7005, loss_traj_cls: 0.0012, loss_map_cls: 0.1469, loss_map_pts: 0.6677, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.8793, d0.loss_plan_l1_fix_dist: 0.4799, d1.loss_plan_l1_fix_time: 0.9760, d1.loss_plan_l1_fix_dist: 0.2289, d2.loss_plan_l1_fix_time: 0.9592, d2.loss_plan_l1_fix_dist: 0.1977, d3.loss_plan_l1_fix_time: 0.9549, d3.loss_plan_l1_fix_dist: 0.2081, d4.loss_plan_l1_fix_time: 0.9574, d4.loss_plan_l1_fix_dist: 0.2362, d5.loss_plan_l1_fix_time: 0.9609, d5.loss_plan_l1_fix_dist: 0.2620, d6.loss_plan_l1_fix_time: 0.9641, d6.loss_plan_l1_fix_dist: 0.2598, d0.loss_cls_all: 0.1859, d0.loss_bbox_all: 0.3949, d0.loss_cls: 0.1859, d0.loss_bbox: 0.3949, d1.loss_cls: 0.1805, d1.loss_bbox: 0.3608, d2.loss_cls: 0.1644, d2.loss_bbox: 0.3453, d3.loss_cls: 0.1520, d3.loss_bbox: 0.3379, d4.loss_cls: 0.1487, d4.loss_bbox: 0.3348, d5.loss_cls: 0.1498, d5.loss_bbox: 0.3333, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9662, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7801, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7308, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7187, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7102, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.7057, d0.loss_map_cls_all: 0.2171, d0.loss_map_pts_all: 1.3392, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2171, d0.loss_map_pts: 1.3392, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1883, d1.loss_map_pts: 0.9255, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1689, d2.loss_map_pts: 0.7702, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1578, d3.loss_map_pts: 0.6976, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1505, d4.loss_map_pts: 0.6725, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1481, d5.loss_map_pts: 0.6672, d5.loss_map_dir: 0.0085, loss: 28.5372, grad_norm: 203.4818 +2026-02-27 18:47:16,782 - DriveTransformer - INFO - Epoch [8][700/39528] lr: 8.063e-05, eta: 5 days, 16:29:34, time: 0.748, data_time: 0.038, memory: 19865, loss_cls: 0.1293, loss_bbox: 0.3117, loss_traj: 0.5138, loss_traj_cls: 0.0012, loss_map_cls: 0.1493, loss_map_pts: 0.6242, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.1657, d0.loss_plan_l1_fix_dist: 0.4173, d1.loss_plan_l1_fix_time: 0.9091, d1.loss_plan_l1_fix_dist: 0.2246, d2.loss_plan_l1_fix_time: 0.8920, d2.loss_plan_l1_fix_dist: 0.1899, d3.loss_plan_l1_fix_time: 0.9002, d3.loss_plan_l1_fix_dist: 0.1829, d4.loss_plan_l1_fix_time: 0.9036, d4.loss_plan_l1_fix_dist: 0.1944, d5.loss_plan_l1_fix_time: 0.9063, d5.loss_plan_l1_fix_dist: 0.2097, d6.loss_plan_l1_fix_time: 0.9092, d6.loss_plan_l1_fix_dist: 0.2267, d0.loss_cls_all: 0.1659, d0.loss_bbox_all: 0.3703, d0.loss_cls: 0.1659, d0.loss_bbox: 0.3703, d1.loss_cls: 0.1632, d1.loss_bbox: 0.3411, d2.loss_cls: 0.1500, d2.loss_bbox: 0.3262, d3.loss_cls: 0.1368, d3.loss_bbox: 0.3198, d4.loss_cls: 0.1301, d4.loss_bbox: 0.3173, d5.loss_cls: 0.1287, d5.loss_bbox: 0.3145, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7286, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5919, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5415, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5235, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5167, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5143, d0.loss_map_cls_all: 0.2127, d0.loss_map_pts_all: 1.2621, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2127, d0.loss_map_pts: 1.2621, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1892, d1.loss_map_pts: 0.8680, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1715, d2.loss_map_pts: 0.7142, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1612, d3.loss_map_pts: 0.6537, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1544, d4.loss_map_pts: 0.6315, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1502, d5.loss_map_pts: 0.6263, d5.loss_map_dir: 0.0083, loss: 25.1168, grad_norm: 200.3151 +2026-02-27 18:47:53,961 - DriveTransformer - INFO - Epoch [8][750/39528] lr: 8.063e-05, eta: 5 days, 16:29:07, time: 0.744, data_time: 0.035, memory: 19865, loss_cls: 0.1368, loss_bbox: 0.3380, loss_traj: 0.6140, loss_traj_cls: 0.0013, loss_map_cls: 0.1411, loss_map_pts: 0.6458, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.9207, d0.loss_plan_l1_fix_dist: 0.4671, d1.loss_plan_l1_fix_time: 1.0196, d1.loss_plan_l1_fix_dist: 0.2362, d2.loss_plan_l1_fix_time: 0.9947, d2.loss_plan_l1_fix_dist: 0.2166, d3.loss_plan_l1_fix_time: 0.9858, d3.loss_plan_l1_fix_dist: 0.2127, d4.loss_plan_l1_fix_time: 0.9870, d4.loss_plan_l1_fix_dist: 0.2224, d5.loss_plan_l1_fix_time: 0.9888, d5.loss_plan_l1_fix_dist: 0.2274, d6.loss_plan_l1_fix_time: 0.9914, d6.loss_plan_l1_fix_dist: 0.2554, d0.loss_cls_all: 0.1792, d0.loss_bbox_all: 0.4088, d0.loss_cls: 0.1792, d0.loss_bbox: 0.4088, d1.loss_cls: 0.1712, d1.loss_bbox: 0.3726, d2.loss_cls: 0.1547, d2.loss_bbox: 0.3530, d3.loss_cls: 0.1418, d3.loss_bbox: 0.3450, d4.loss_cls: 0.1362, d4.loss_bbox: 0.3418, d5.loss_cls: 0.1352, d5.loss_bbox: 0.3391, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8257, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6687, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6324, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6156, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6096, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6113, d0.loss_map_cls_all: 0.2133, d0.loss_map_pts_all: 1.3442, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2133, d0.loss_map_pts: 1.3442, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1836, d1.loss_map_pts: 0.9198, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1664, d2.loss_map_pts: 0.7510, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1550, d3.loss_map_pts: 0.6806, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1499, d4.loss_map_pts: 0.6573, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1437, d5.loss_map_pts: 0.6473, d5.loss_map_dir: 0.0097, loss: 27.8834, grad_norm: 197.1300 +2026-02-27 18:48:30,635 - DriveTransformer - INFO - Epoch [8][800/39528] lr: 8.063e-05, eta: 5 days, 16:28:32, time: 0.734, data_time: 0.039, memory: 19865, loss_cls: 0.1277, loss_bbox: 0.3342, loss_traj: 0.6305, loss_traj_cls: 0.0012, loss_map_cls: 0.1466, loss_map_pts: 0.6194, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.5594, d0.loss_plan_l1_fix_dist: 0.4014, d1.loss_plan_l1_fix_time: 0.9451, d1.loss_plan_l1_fix_dist: 0.2327, d2.loss_plan_l1_fix_time: 0.9263, d2.loss_plan_l1_fix_dist: 0.2051, d3.loss_plan_l1_fix_time: 0.9268, d3.loss_plan_l1_fix_dist: 0.2079, d4.loss_plan_l1_fix_time: 0.9294, d4.loss_plan_l1_fix_dist: 0.2288, d5.loss_plan_l1_fix_time: 0.9322, d5.loss_plan_l1_fix_dist: 0.2289, d6.loss_plan_l1_fix_time: 0.9353, d6.loss_plan_l1_fix_dist: 0.2411, d0.loss_cls_all: 0.1628, d0.loss_bbox_all: 0.3885, d0.loss_cls: 0.1628, d0.loss_bbox: 0.3885, d1.loss_cls: 0.1608, d1.loss_bbox: 0.3540, d2.loss_cls: 0.1474, d2.loss_bbox: 0.3345, d3.loss_cls: 0.1355, d3.loss_bbox: 0.3306, d4.loss_cls: 0.1280, d4.loss_bbox: 0.3316, d5.loss_cls: 0.1276, d5.loss_bbox: 0.3319, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8414, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6887, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6449, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6317, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6257, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6269, d0.loss_map_cls_all: 0.2250, d0.loss_map_pts_all: 1.3004, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2250, d0.loss_map_pts: 1.3004, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1918, d1.loss_map_pts: 0.8803, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1709, d2.loss_map_pts: 0.7121, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1594, d3.loss_map_pts: 0.6502, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1525, d4.loss_map_pts: 0.6256, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1479, d5.loss_map_pts: 0.6225, d5.loss_map_dir: 0.0089, loss: 26.7429, grad_norm: 194.5983 +2026-02-27 18:49:04,458 - DriveTransformer - INFO - Epoch [8][850/39528] lr: 8.063e-05, eta: 5 days, 16:27:09, time: 0.676, data_time: 0.036, memory: 19865, loss_cls: 0.1511, loss_bbox: 0.3555, loss_traj: 0.6894, loss_traj_cls: 0.0011, loss_map_cls: 0.1152, loss_map_pts: 0.5830, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.7668, d0.loss_plan_l1_fix_dist: 0.4155, d1.loss_plan_l1_fix_time: 1.0339, d1.loss_plan_l1_fix_dist: 0.2293, d2.loss_plan_l1_fix_time: 1.0155, d2.loss_plan_l1_fix_dist: 0.2118, d3.loss_plan_l1_fix_time: 1.0151, d3.loss_plan_l1_fix_dist: 0.2192, d4.loss_plan_l1_fix_time: 1.0173, d4.loss_plan_l1_fix_dist: 0.2220, d5.loss_plan_l1_fix_time: 1.0198, d5.loss_plan_l1_fix_dist: 0.2375, d6.loss_plan_l1_fix_time: 1.0229, d6.loss_plan_l1_fix_dist: 0.2547, d0.loss_cls_all: 0.1798, d0.loss_bbox_all: 0.4170, d0.loss_cls: 0.1798, d0.loss_bbox: 0.4170, d1.loss_cls: 0.1780, d1.loss_bbox: 0.3806, d2.loss_cls: 0.1704, d2.loss_bbox: 0.3606, d3.loss_cls: 0.1576, d3.loss_bbox: 0.3541, d4.loss_cls: 0.1505, d4.loss_bbox: 0.3534, d5.loss_cls: 0.1505, d5.loss_bbox: 0.3539, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9067, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7607, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7270, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7040, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6957, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6887, d0.loss_map_cls_all: 0.1952, d0.loss_map_pts_all: 1.1401, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1952, d0.loss_map_pts: 1.1401, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1656, d1.loss_map_pts: 0.8330, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1402, d2.loss_map_pts: 0.6789, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1287, d3.loss_map_pts: 0.6178, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1231, d4.loss_map_pts: 0.5924, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1179, d5.loss_map_pts: 0.5839, d5.loss_map_dir: 0.0071, loss: 27.5747, grad_norm: 189.1466 +2026-02-27 18:49:40,193 - DriveTransformer - INFO - Epoch [8][900/39528] lr: 8.063e-05, eta: 5 days, 16:26:18, time: 0.715, data_time: 0.036, memory: 19865, loss_cls: 0.1221, loss_bbox: 0.3203, loss_traj: 0.6374, loss_traj_cls: 0.0012, loss_map_cls: 0.1564, loss_map_pts: 0.6291, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.6093, d0.loss_plan_l1_fix_dist: 0.3077, d1.loss_plan_l1_fix_time: 0.9554, d1.loss_plan_l1_fix_dist: 0.1910, d2.loss_plan_l1_fix_time: 0.9430, d2.loss_plan_l1_fix_dist: 0.1711, d3.loss_plan_l1_fix_time: 0.9363, d3.loss_plan_l1_fix_dist: 0.1782, d4.loss_plan_l1_fix_time: 0.9377, d4.loss_plan_l1_fix_dist: 0.1769, d5.loss_plan_l1_fix_time: 0.9397, d5.loss_plan_l1_fix_dist: 0.1883, d6.loss_plan_l1_fix_time: 0.9420, d6.loss_plan_l1_fix_dist: 0.1992, d0.loss_cls_all: 0.1578, d0.loss_bbox_all: 0.3809, d0.loss_cls: 0.1578, d0.loss_bbox: 0.3809, d1.loss_cls: 0.1511, d1.loss_bbox: 0.3471, d2.loss_cls: 0.1424, d2.loss_bbox: 0.3264, d3.loss_cls: 0.1283, d3.loss_bbox: 0.3218, d4.loss_cls: 0.1244, d4.loss_bbox: 0.3189, d5.loss_cls: 0.1215, d5.loss_bbox: 0.3198, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9118, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6933, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6564, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6386, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6377, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6374, d0.loss_map_cls_all: 0.2282, d0.loss_map_pts_all: 1.3096, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2282, d0.loss_map_pts: 1.3096, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.2022, d1.loss_map_pts: 0.9143, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1777, d2.loss_map_pts: 0.7428, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1695, d3.loss_map_pts: 0.6652, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1614, d4.loss_map_pts: 0.6357, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1578, d5.loss_map_pts: 0.6287, d5.loss_map_dir: 0.0071, loss: 26.6874, grad_norm: 186.6413 +2026-02-27 18:50:15,885 - DriveTransformer - INFO - Epoch [8][950/39528] lr: 8.063e-05, eta: 5 days, 16:25:26, time: 0.714, data_time: 0.035, memory: 19865, loss_cls: 0.1114, loss_bbox: 0.3033, loss_traj: 0.5409, loss_traj_cls: 0.0013, loss_map_cls: 0.1056, loss_map_pts: 0.5007, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.4897, d0.loss_plan_l1_fix_dist: 0.5688, d1.loss_plan_l1_fix_time: 0.8305, d1.loss_plan_l1_fix_dist: 0.1924, d2.loss_plan_l1_fix_time: 0.8124, d2.loss_plan_l1_fix_dist: 0.1788, d3.loss_plan_l1_fix_time: 0.8084, d3.loss_plan_l1_fix_dist: 0.1901, d4.loss_plan_l1_fix_time: 0.8098, d4.loss_plan_l1_fix_dist: 0.1982, d5.loss_plan_l1_fix_time: 0.8117, d5.loss_plan_l1_fix_dist: 0.2003, d6.loss_plan_l1_fix_time: 0.8140, d6.loss_plan_l1_fix_dist: 0.2129, d0.loss_cls_all: 0.1510, d0.loss_bbox_all: 0.3489, d0.loss_cls: 0.1510, d0.loss_bbox: 0.3489, d1.loss_cls: 0.1446, d1.loss_bbox: 0.3184, d2.loss_cls: 0.1316, d2.loss_bbox: 0.3054, d3.loss_cls: 0.1171, d3.loss_bbox: 0.3034, d4.loss_cls: 0.1114, d4.loss_bbox: 0.3013, d5.loss_cls: 0.1097, d5.loss_bbox: 0.3015, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7488, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5903, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5518, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5457, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5476, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.5455, d0.loss_map_cls_all: 0.1703, d0.loss_map_pts_all: 1.1246, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1703, d0.loss_map_pts: 1.1246, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1433, d1.loss_map_pts: 0.7395, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1227, d2.loss_map_pts: 0.5997, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1163, d3.loss_map_pts: 0.5341, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1108, d4.loss_map_pts: 0.5091, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1073, d5.loss_map_pts: 0.5016, d5.loss_map_dir: 0.0070, loss: 23.4911, grad_norm: 182.0536 +2026-02-27 18:50:52,555 - DriveTransformer - INFO - Epoch [8][1000/39528] lr: 8.063e-05, eta: 5 days, 16:24:52, time: 0.735, data_time: 0.033, memory: 19865, loss_cls: 0.1497, loss_bbox: 0.3194, loss_traj: 0.5788, loss_traj_cls: 0.0012, loss_map_cls: 0.1349, loss_map_pts: 0.6424, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.4749, d0.loss_plan_l1_fix_dist: 0.4416, d1.loss_plan_l1_fix_time: 0.9073, d1.loss_plan_l1_fix_dist: 0.1852, d2.loss_plan_l1_fix_time: 0.9007, d2.loss_plan_l1_fix_dist: 0.2017, d3.loss_plan_l1_fix_time: 0.8979, d3.loss_plan_l1_fix_dist: 0.2221, d4.loss_plan_l1_fix_time: 0.9007, d4.loss_plan_l1_fix_dist: 0.2475, d5.loss_plan_l1_fix_time: 0.9034, d5.loss_plan_l1_fix_dist: 0.2592, d6.loss_plan_l1_fix_time: 0.9067, d6.loss_plan_l1_fix_dist: 0.2652, d0.loss_cls_all: 0.1870, d0.loss_bbox_all: 0.3834, d0.loss_cls: 0.1870, d0.loss_bbox: 0.3834, d1.loss_cls: 0.1782, d1.loss_bbox: 0.3494, d2.loss_cls: 0.1640, d2.loss_bbox: 0.3308, d3.loss_cls: 0.1542, d3.loss_bbox: 0.3244, d4.loss_cls: 0.1497, d4.loss_bbox: 0.3204, d5.loss_cls: 0.1470, d5.loss_bbox: 0.3197, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7646, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6498, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.5904, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5885, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5809, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5790, d0.loss_map_cls_all: 0.2249, d0.loss_map_pts_all: 1.4209, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2249, d0.loss_map_pts: 1.4209, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1875, d1.loss_map_pts: 0.9819, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1605, d2.loss_map_pts: 0.7677, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1500, d3.loss_map_pts: 0.6814, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1427, d4.loss_map_pts: 0.6483, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1375, d5.loss_map_pts: 0.6417, d5.loss_map_dir: 0.0094, loss: 26.7409, grad_norm: 183.2126 +2026-02-27 18:51:29,834 - DriveTransformer - INFO - Epoch [8][1050/39528] lr: 8.063e-05, eta: 5 days, 16:24:25, time: 0.744, data_time: 0.035, memory: 19865, loss_cls: 0.1403, loss_bbox: 0.3555, loss_traj: 0.5950, loss_traj_cls: 0.0012, loss_map_cls: 0.1474, loss_map_pts: 0.7278, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.7214, d0.loss_plan_l1_fix_dist: 0.5212, d1.loss_plan_l1_fix_time: 1.0203, d1.loss_plan_l1_fix_dist: 0.1973, d2.loss_plan_l1_fix_time: 1.0048, d2.loss_plan_l1_fix_dist: 0.2126, d3.loss_plan_l1_fix_time: 1.0023, d3.loss_plan_l1_fix_dist: 0.2071, d4.loss_plan_l1_fix_time: 1.0035, d4.loss_plan_l1_fix_dist: 0.2154, d5.loss_plan_l1_fix_time: 1.0049, d5.loss_plan_l1_fix_dist: 0.2199, d6.loss_plan_l1_fix_time: 1.0073, d6.loss_plan_l1_fix_dist: 0.2346, d0.loss_cls_all: 0.1894, d0.loss_bbox_all: 0.4120, d0.loss_cls: 0.1894, d0.loss_bbox: 0.4120, d1.loss_cls: 0.1781, d1.loss_bbox: 0.3796, d2.loss_cls: 0.1618, d2.loss_bbox: 0.3615, d3.loss_cls: 0.1505, d3.loss_bbox: 0.3530, d4.loss_cls: 0.1418, d4.loss_bbox: 0.3537, d5.loss_cls: 0.1402, d5.loss_bbox: 0.3529, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8310, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6832, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6259, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6081, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5979, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5971, d0.loss_map_cls_all: 0.2216, d0.loss_map_pts_all: 1.5006, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2216, d0.loss_map_pts: 1.5006, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1922, d1.loss_map_pts: 1.0322, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1731, d2.loss_map_pts: 0.8282, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1603, d3.loss_map_pts: 0.7580, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1540, d4.loss_map_pts: 0.7337, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1497, d5.loss_map_pts: 0.7249, d5.loss_map_dir: 0.0096, loss: 28.6901, grad_norm: 183.6743 +2026-02-27 18:52:05,791 - DriveTransformer - INFO - Epoch [8][1100/39528] lr: 8.063e-05, eta: 5 days, 16:23:38, time: 0.719, data_time: 0.038, memory: 19865, loss_cls: 0.1515, loss_bbox: 0.3379, loss_traj: 0.6200, loss_traj_cls: 0.0012, loss_map_cls: 0.1481, loss_map_pts: 0.6744, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.4593, d0.loss_plan_l1_fix_dist: 0.4619, d1.loss_plan_l1_fix_time: 0.8748, d1.loss_plan_l1_fix_dist: 0.2140, d2.loss_plan_l1_fix_time: 0.8587, d2.loss_plan_l1_fix_dist: 0.2383, d3.loss_plan_l1_fix_time: 0.8549, d3.loss_plan_l1_fix_dist: 0.2371, d4.loss_plan_l1_fix_time: 0.8569, d4.loss_plan_l1_fix_dist: 0.2408, d5.loss_plan_l1_fix_time: 0.8594, d5.loss_plan_l1_fix_dist: 0.2654, d6.loss_plan_l1_fix_time: 0.8631, d6.loss_plan_l1_fix_dist: 0.3100, d0.loss_cls_all: 0.1927, d0.loss_bbox_all: 0.3958, d0.loss_cls: 0.1927, d0.loss_bbox: 0.3958, d1.loss_cls: 0.1853, d1.loss_bbox: 0.3614, d2.loss_cls: 0.1750, d2.loss_bbox: 0.3406, d3.loss_cls: 0.1598, d3.loss_bbox: 0.3381, d4.loss_cls: 0.1526, d4.loss_bbox: 0.3386, d5.loss_cls: 0.1513, d5.loss_bbox: 0.3374, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9056, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7203, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6602, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6351, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6211, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6209, d0.loss_map_cls_all: 0.2359, d0.loss_map_pts_all: 1.3936, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2359, d0.loss_map_pts: 1.3936, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2010, d1.loss_map_pts: 0.9850, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1766, d2.loss_map_pts: 0.7913, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1657, d3.loss_map_pts: 0.7129, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1566, d4.loss_map_pts: 0.6818, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1507, d5.loss_map_pts: 0.6732, d5.loss_map_dir: 0.0090, loss: 27.4372, grad_norm: 188.6767 +2026-02-27 18:52:41,897 - DriveTransformer - INFO - Epoch [8][1150/39528] lr: 8.063e-05, eta: 5 days, 16:22:53, time: 0.722, data_time: 0.035, memory: 19865, loss_cls: 0.1676, loss_bbox: 0.3453, loss_traj: 0.5471, loss_traj_cls: 0.0012, loss_map_cls: 0.1450, loss_map_pts: 0.6680, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.5347, d0.loss_plan_l1_fix_dist: 0.4181, d1.loss_plan_l1_fix_time: 0.9603, d1.loss_plan_l1_fix_dist: 0.2097, d2.loss_plan_l1_fix_time: 0.9465, d2.loss_plan_l1_fix_dist: 0.2267, d3.loss_plan_l1_fix_time: 0.9432, d3.loss_plan_l1_fix_dist: 0.2237, d4.loss_plan_l1_fix_time: 0.9448, d4.loss_plan_l1_fix_dist: 0.2200, d5.loss_plan_l1_fix_time: 0.9469, d5.loss_plan_l1_fix_dist: 0.2295, d6.loss_plan_l1_fix_time: 0.9497, d6.loss_plan_l1_fix_dist: 0.2578, d0.loss_cls_all: 0.2060, d0.loss_bbox_all: 0.4016, d0.loss_cls: 0.2060, d0.loss_bbox: 0.4016, d1.loss_cls: 0.1962, d1.loss_bbox: 0.3726, d2.loss_cls: 0.1846, d2.loss_bbox: 0.3533, d3.loss_cls: 0.1736, d3.loss_bbox: 0.3468, d4.loss_cls: 0.1671, d4.loss_bbox: 0.3458, d5.loss_cls: 0.1666, d5.loss_bbox: 0.3449, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7461, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5946, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5562, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5460, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5422, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5442, d0.loss_map_cls_all: 0.2294, d0.loss_map_pts_all: 1.3515, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2294, d0.loss_map_pts: 1.3515, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1932, d1.loss_map_pts: 0.9572, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1714, d2.loss_map_pts: 0.7679, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1603, d3.loss_map_pts: 0.6996, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1542, d4.loss_map_pts: 0.6741, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1478, d5.loss_map_pts: 0.6688, d5.loss_map_dir: 0.0094, loss: 27.1175, grad_norm: 187.5434 +2026-02-27 18:53:18,670 - DriveTransformer - INFO - Epoch [8][1200/39528] lr: 8.063e-05, eta: 5 days, 16:22:20, time: 0.735, data_time: 0.036, memory: 19865, loss_cls: 0.1554, loss_bbox: 0.3413, loss_traj: 0.6204, loss_traj_cls: 0.0013, loss_map_cls: 0.1366, loss_map_pts: 0.6630, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.5239, d0.loss_plan_l1_fix_dist: 0.4699, d1.loss_plan_l1_fix_time: 0.9326, d1.loss_plan_l1_fix_dist: 0.2148, d2.loss_plan_l1_fix_time: 0.9185, d2.loss_plan_l1_fix_dist: 0.2310, d3.loss_plan_l1_fix_time: 0.9140, d3.loss_plan_l1_fix_dist: 0.2359, d4.loss_plan_l1_fix_time: 0.9152, d4.loss_plan_l1_fix_dist: 0.2349, d5.loss_plan_l1_fix_time: 0.9166, d5.loss_plan_l1_fix_dist: 0.2383, d6.loss_plan_l1_fix_time: 0.9184, d6.loss_plan_l1_fix_dist: 0.2478, d0.loss_cls_all: 0.1917, d0.loss_bbox_all: 0.4054, d0.loss_cls: 0.1917, d0.loss_bbox: 0.4054, d1.loss_cls: 0.1834, d1.loss_bbox: 0.3705, d2.loss_cls: 0.1690, d2.loss_bbox: 0.3508, d3.loss_cls: 0.1594, d3.loss_bbox: 0.3449, d4.loss_cls: 0.1549, d4.loss_bbox: 0.3421, d5.loss_cls: 0.1541, d5.loss_bbox: 0.3414, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7932, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6660, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6386, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6285, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6173, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6180, d0.loss_map_cls_all: 0.2203, d0.loss_map_pts_all: 1.4013, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2203, d0.loss_map_pts: 1.4013, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1829, d1.loss_map_pts: 0.9553, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1606, d2.loss_map_pts: 0.7620, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1492, d3.loss_map_pts: 0.6942, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1425, d4.loss_map_pts: 0.6674, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1374, d5.loss_map_pts: 0.6641, d5.loss_map_dir: 0.0093, loss: 27.3946, grad_norm: 186.4188 +2026-02-27 18:53:55,629 - DriveTransformer - INFO - Epoch [8][1250/39528] lr: 8.063e-05, eta: 5 days, 16:21:49, time: 0.739, data_time: 0.035, memory: 19865, loss_cls: 0.1459, loss_bbox: 0.3437, loss_traj: 0.5209, loss_traj_cls: 0.0013, loss_map_cls: 0.1616, loss_map_pts: 0.7595, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.6421, d0.loss_plan_l1_fix_dist: 0.4401, d1.loss_plan_l1_fix_time: 0.8256, d1.loss_plan_l1_fix_dist: 0.2080, d2.loss_plan_l1_fix_time: 0.8080, d2.loss_plan_l1_fix_dist: 0.2139, d3.loss_plan_l1_fix_time: 0.7968, d3.loss_plan_l1_fix_dist: 0.2229, d4.loss_plan_l1_fix_time: 0.7977, d4.loss_plan_l1_fix_dist: 0.2244, d5.loss_plan_l1_fix_time: 0.7992, d5.loss_plan_l1_fix_dist: 0.2360, d6.loss_plan_l1_fix_time: 0.8012, d6.loss_plan_l1_fix_dist: 0.2432, d0.loss_cls_all: 0.1893, d0.loss_bbox_all: 0.4213, d0.loss_cls: 0.1893, d0.loss_bbox: 0.4213, d1.loss_cls: 0.1847, d1.loss_bbox: 0.3808, d2.loss_cls: 0.1669, d2.loss_bbox: 0.3568, d3.loss_cls: 0.1537, d3.loss_bbox: 0.3460, d4.loss_cls: 0.1466, d4.loss_bbox: 0.3428, d5.loss_cls: 0.1458, d5.loss_bbox: 0.3424, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7877, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6063, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5443, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5276, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5212, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.5228, d0.loss_map_cls_all: 0.2524, d0.loss_map_pts_all: 1.6274, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2524, d0.loss_map_pts: 1.6274, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2130, d1.loss_map_pts: 1.0964, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1888, d2.loss_map_pts: 0.8752, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1757, d3.loss_map_pts: 0.7970, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1680, d4.loss_map_pts: 0.7678, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1644, d5.loss_map_pts: 0.7600, d5.loss_map_dir: 0.0103, loss: 27.5427, grad_norm: 183.9269 +2026-02-27 18:54:33,269 - DriveTransformer - INFO - Epoch [8][1300/39528] lr: 8.063e-05, eta: 5 days, 16:21:30, time: 0.753, data_time: 0.036, memory: 19865, loss_cls: 0.1535, loss_bbox: 0.3772, loss_traj: 0.5645, loss_traj_cls: 0.0013, loss_map_cls: 0.1578, loss_map_pts: 0.7744, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.6079, d0.loss_plan_l1_fix_dist: 0.3342, d1.loss_plan_l1_fix_time: 0.9868, d1.loss_plan_l1_fix_dist: 0.1838, d2.loss_plan_l1_fix_time: 0.9776, d2.loss_plan_l1_fix_dist: 0.1940, d3.loss_plan_l1_fix_time: 0.9750, d3.loss_plan_l1_fix_dist: 0.2099, d4.loss_plan_l1_fix_time: 0.9765, d4.loss_plan_l1_fix_dist: 0.2244, d5.loss_plan_l1_fix_time: 0.9789, d5.loss_plan_l1_fix_dist: 0.2503, d6.loss_plan_l1_fix_time: 0.9815, d6.loss_plan_l1_fix_dist: 0.2757, d0.loss_cls_all: 0.1956, d0.loss_bbox_all: 0.4484, d0.loss_cls: 0.1956, d0.loss_bbox: 0.4484, d1.loss_cls: 0.1908, d1.loss_bbox: 0.4097, d2.loss_cls: 0.1764, d2.loss_bbox: 0.3904, d3.loss_cls: 0.1578, d3.loss_bbox: 0.3822, d4.loss_cls: 0.1537, d4.loss_bbox: 0.3783, d5.loss_cls: 0.1532, d5.loss_bbox: 0.3771, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8071, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6358, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5841, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5675, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5636, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5631, d0.loss_map_cls_all: 0.2465, d0.loss_map_pts_all: 1.5268, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2465, d0.loss_map_pts: 1.5268, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2099, d1.loss_map_pts: 1.0856, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1838, d2.loss_map_pts: 0.8957, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1717, d3.loss_map_pts: 0.8160, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1648, d4.loss_map_pts: 0.7832, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1605, d5.loss_map_pts: 0.7751, d5.loss_map_dir: 0.0105, loss: 28.8453, grad_norm: 181.8380 +2026-02-27 18:55:11,124 - DriveTransformer - INFO - Epoch [8][1350/39528] lr: 8.063e-05, eta: 5 days, 16:21:14, time: 0.757, data_time: 0.037, memory: 19865, loss_cls: 0.1439, loss_bbox: 0.3493, loss_traj: 0.5612, loss_traj_cls: 0.0013, loss_map_cls: 0.1348, loss_map_pts: 0.6760, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.6772, d0.loss_plan_l1_fix_dist: 0.4555, d1.loss_plan_l1_fix_time: 0.9250, d1.loss_plan_l1_fix_dist: 0.2030, d2.loss_plan_l1_fix_time: 0.9097, d2.loss_plan_l1_fix_dist: 0.2055, d3.loss_plan_l1_fix_time: 0.9074, d3.loss_plan_l1_fix_dist: 0.2085, d4.loss_plan_l1_fix_time: 0.9093, d4.loss_plan_l1_fix_dist: 0.2232, d5.loss_plan_l1_fix_time: 0.9111, d5.loss_plan_l1_fix_dist: 0.2397, d6.loss_plan_l1_fix_time: 0.9129, d6.loss_plan_l1_fix_dist: 0.2582, d0.loss_cls_all: 0.1833, d0.loss_bbox_all: 0.4236, d0.loss_cls: 0.1833, d0.loss_bbox: 0.4236, d1.loss_cls: 0.1769, d1.loss_bbox: 0.3830, d2.loss_cls: 0.1595, d2.loss_bbox: 0.3622, d3.loss_cls: 0.1487, d3.loss_bbox: 0.3551, d4.loss_cls: 0.1436, d4.loss_bbox: 0.3514, d5.loss_cls: 0.1437, d5.loss_bbox: 0.3498, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8725, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6485, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5808, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5703, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5639, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.5634, d0.loss_map_cls_all: 0.2118, d0.loss_map_pts_all: 1.4644, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2118, d0.loss_map_pts: 1.4644, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.1786, d1.loss_map_pts: 0.9830, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1590, d2.loss_map_pts: 0.7923, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1454, d3.loss_map_pts: 0.7168, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1392, d4.loss_map_pts: 0.6841, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1359, d5.loss_map_pts: 0.6776, d5.loss_map_dir: 0.0102, loss: 27.4512, grad_norm: 180.7457 +2026-02-27 18:55:47,921 - DriveTransformer - INFO - Epoch [8][1400/39528] lr: 8.063e-05, eta: 5 days, 16:20:40, time: 0.736, data_time: 0.038, memory: 19865, loss_cls: 0.1477, loss_bbox: 0.3332, loss_traj: 0.6214, loss_traj_cls: 0.0012, loss_map_cls: 0.1292, loss_map_pts: 0.6149, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.4991, d0.loss_plan_l1_fix_dist: 0.4710, d1.loss_plan_l1_fix_time: 0.9185, d1.loss_plan_l1_fix_dist: 0.1816, d2.loss_plan_l1_fix_time: 0.9174, d2.loss_plan_l1_fix_dist: 0.1954, d3.loss_plan_l1_fix_time: 0.9245, d3.loss_plan_l1_fix_dist: 0.1988, d4.loss_plan_l1_fix_time: 0.9273, d4.loss_plan_l1_fix_dist: 0.2221, d5.loss_plan_l1_fix_time: 0.9299, d5.loss_plan_l1_fix_dist: 0.2344, d6.loss_plan_l1_fix_time: 0.9322, d6.loss_plan_l1_fix_dist: 0.2614, d0.loss_cls_all: 0.1956, d0.loss_bbox_all: 0.4020, d0.loss_cls: 0.1956, d0.loss_bbox: 0.4020, d1.loss_cls: 0.1886, d1.loss_bbox: 0.3662, d2.loss_cls: 0.1706, d2.loss_bbox: 0.3438, d3.loss_cls: 0.1548, d3.loss_bbox: 0.3357, d4.loss_cls: 0.1476, d4.loss_bbox: 0.3341, d5.loss_cls: 0.1470, d5.loss_bbox: 0.3329, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8343, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6846, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6477, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6343, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6231, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6225, d0.loss_map_cls_all: 0.1947, d0.loss_map_pts_all: 1.2484, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1947, d0.loss_map_pts: 1.2484, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1737, d1.loss_map_pts: 0.8660, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1538, d2.loss_map_pts: 0.7040, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1406, d3.loss_map_pts: 0.6433, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1345, d4.loss_map_pts: 0.6218, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1314, d5.loss_map_pts: 0.6147, d5.loss_map_dir: 0.0078, loss: 26.5618, grad_norm: 179.1168 +2026-02-27 18:56:23,669 - DriveTransformer - INFO - Epoch [8][1450/39528] lr: 8.063e-05, eta: 5 days, 16:19:50, time: 0.715, data_time: 0.036, memory: 19865, loss_cls: 0.1395, loss_bbox: 0.3232, loss_traj: 0.6356, loss_traj_cls: 0.0012, loss_map_cls: 0.1376, loss_map_pts: 0.6851, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.3188, d0.loss_plan_l1_fix_dist: 0.3937, d1.loss_plan_l1_fix_time: 0.8720, d1.loss_plan_l1_fix_dist: 0.1772, d2.loss_plan_l1_fix_time: 0.8489, d2.loss_plan_l1_fix_dist: 0.2007, d3.loss_plan_l1_fix_time: 0.8458, d3.loss_plan_l1_fix_dist: 0.1987, d4.loss_plan_l1_fix_time: 0.8467, d4.loss_plan_l1_fix_dist: 0.2095, d5.loss_plan_l1_fix_time: 0.8487, d5.loss_plan_l1_fix_dist: 0.2186, d6.loss_plan_l1_fix_time: 0.8515, d6.loss_plan_l1_fix_dist: 0.2351, d0.loss_cls_all: 0.1750, d0.loss_bbox_all: 0.3875, d0.loss_cls: 0.1750, d0.loss_bbox: 0.3875, d1.loss_cls: 0.1730, d1.loss_bbox: 0.3515, d2.loss_cls: 0.1623, d2.loss_bbox: 0.3301, d3.loss_cls: 0.1493, d3.loss_bbox: 0.3235, d4.loss_cls: 0.1428, d4.loss_bbox: 0.3205, d5.loss_cls: 0.1397, d5.loss_bbox: 0.3221, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8319, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6791, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6366, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6234, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6259, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6310, d0.loss_map_cls_all: 0.2195, d0.loss_map_pts_all: 1.2927, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2195, d0.loss_map_pts: 1.2927, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1856, d1.loss_map_pts: 0.9184, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1607, d2.loss_map_pts: 0.7687, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1504, d3.loss_map_pts: 0.7073, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1424, d4.loss_map_pts: 0.6915, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1395, d5.loss_map_pts: 0.6866, d5.loss_map_dir: 0.0085, loss: 26.2051, grad_norm: 175.8264 +2026-02-27 18:56:59,485 - DriveTransformer - INFO - Epoch [8][1500/39528] lr: 8.063e-05, eta: 5 days, 16:19:01, time: 0.716, data_time: 0.037, memory: 19865, loss_cls: 0.1189, loss_bbox: 0.3111, loss_traj: 0.5881, loss_traj_cls: 0.0012, loss_map_cls: 0.1311, loss_map_pts: 0.5957, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.8281, d0.loss_plan_l1_fix_dist: 0.4398, d1.loss_plan_l1_fix_time: 0.9613, d1.loss_plan_l1_fix_dist: 0.1786, d2.loss_plan_l1_fix_time: 0.9448, d2.loss_plan_l1_fix_dist: 0.2078, d3.loss_plan_l1_fix_time: 0.9423, d3.loss_plan_l1_fix_dist: 0.2170, d4.loss_plan_l1_fix_time: 0.9433, d4.loss_plan_l1_fix_dist: 0.2206, d5.loss_plan_l1_fix_time: 0.9443, d5.loss_plan_l1_fix_dist: 0.2362, d6.loss_plan_l1_fix_time: 0.9463, d6.loss_plan_l1_fix_dist: 0.2516, d0.loss_cls_all: 0.1487, d0.loss_bbox_all: 0.3638, d0.loss_cls: 0.1487, d0.loss_bbox: 0.3638, d1.loss_cls: 0.1418, d1.loss_bbox: 0.3314, d2.loss_cls: 0.1305, d2.loss_bbox: 0.3163, d3.loss_cls: 0.1232, d3.loss_bbox: 0.3088, d4.loss_cls: 0.1186, d4.loss_bbox: 0.3080, d5.loss_cls: 0.1183, d5.loss_bbox: 0.3084, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7985, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6709, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6072, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5924, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5901, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5844, d0.loss_map_cls_all: 0.1984, d0.loss_map_pts_all: 1.2474, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1984, d0.loss_map_pts: 1.2474, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1714, d1.loss_map_pts: 0.8468, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1526, d2.loss_map_pts: 0.6855, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1433, d3.loss_map_pts: 0.6216, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1367, d4.loss_map_pts: 0.6027, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1337, d5.loss_map_pts: 0.5961, d5.loss_map_dir: 0.0076, loss: 26.1296, grad_norm: 174.7158 +2026-02-27 18:57:35,927 - DriveTransformer - INFO - Epoch [8][1550/39528] lr: 8.063e-05, eta: 5 days, 16:18:21, time: 0.729, data_time: 0.036, memory: 19865, loss_cls: 0.1442, loss_bbox: 0.3443, loss_traj: 0.6059, loss_traj_cls: 0.0012, loss_map_cls: 0.1470, loss_map_pts: 0.7305, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.5717, d0.loss_plan_l1_fix_dist: 0.4233, d1.loss_plan_l1_fix_time: 0.9202, d1.loss_plan_l1_fix_dist: 0.1697, d2.loss_plan_l1_fix_time: 0.9065, d2.loss_plan_l1_fix_dist: 0.1899, d3.loss_plan_l1_fix_time: 0.9060, d3.loss_plan_l1_fix_dist: 0.1927, d4.loss_plan_l1_fix_time: 0.9077, d4.loss_plan_l1_fix_dist: 0.1872, d5.loss_plan_l1_fix_time: 0.9096, d5.loss_plan_l1_fix_dist: 0.1985, d6.loss_plan_l1_fix_time: 0.9119, d6.loss_plan_l1_fix_dist: 0.2191, d0.loss_cls_all: 0.1815, d0.loss_bbox_all: 0.4012, d0.loss_cls: 0.1815, d0.loss_bbox: 0.4012, d1.loss_cls: 0.1730, d1.loss_bbox: 0.3705, d2.loss_cls: 0.1606, d2.loss_bbox: 0.3541, d3.loss_cls: 0.1479, d3.loss_bbox: 0.3480, d4.loss_cls: 0.1427, d4.loss_bbox: 0.3452, d5.loss_cls: 0.1431, d5.loss_bbox: 0.3435, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8737, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7098, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6296, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6205, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6092, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6060, d0.loss_map_cls_all: 0.2368, d0.loss_map_pts_all: 1.4343, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2368, d0.loss_map_pts: 1.4343, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2032, d1.loss_map_pts: 1.0203, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1745, d2.loss_map_pts: 0.8329, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1630, d3.loss_map_pts: 0.7615, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1546, d4.loss_map_pts: 0.7362, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1488, d5.loss_map_pts: 0.7316, d5.loss_map_dir: 0.0085, loss: 27.6715, grad_norm: 172.9908 +2026-02-27 18:58:12,128 - DriveTransformer - INFO - Epoch [8][1600/39528] lr: 8.063e-05, eta: 5 days, 16:17:38, time: 0.724, data_time: 0.037, memory: 19865, loss_cls: 0.1573, loss_bbox: 0.3492, loss_traj: 0.6206, loss_traj_cls: 0.0012, loss_map_cls: 0.1539, loss_map_pts: 0.7058, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.5208, d0.loss_plan_l1_fix_dist: 0.3357, d1.loss_plan_l1_fix_time: 0.9231, d1.loss_plan_l1_fix_dist: 0.1619, d2.loss_plan_l1_fix_time: 0.9116, d2.loss_plan_l1_fix_dist: 0.1723, d3.loss_plan_l1_fix_time: 0.9119, d3.loss_plan_l1_fix_dist: 0.1808, d4.loss_plan_l1_fix_time: 0.9138, d4.loss_plan_l1_fix_dist: 0.1835, d5.loss_plan_l1_fix_time: 0.9161, d5.loss_plan_l1_fix_dist: 0.1944, d6.loss_plan_l1_fix_time: 0.9186, d6.loss_plan_l1_fix_dist: 0.2023, d0.loss_cls_all: 0.1936, d0.loss_bbox_all: 0.4156, d0.loss_cls: 0.1936, d0.loss_bbox: 0.4156, d1.loss_cls: 0.1931, d1.loss_bbox: 0.3766, d2.loss_cls: 0.1798, d2.loss_bbox: 0.3583, d3.loss_cls: 0.1612, d3.loss_bbox: 0.3539, d4.loss_cls: 0.1575, d4.loss_bbox: 0.3509, d5.loss_cls: 0.1572, d5.loss_bbox: 0.3497, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8483, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6815, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6469, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6290, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6219, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6176, d0.loss_map_cls_all: 0.2555, d0.loss_map_pts_all: 1.4272, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2555, d0.loss_map_pts: 1.4272, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.2199, d1.loss_map_pts: 1.0075, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1881, d2.loss_map_pts: 0.8260, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1718, d3.loss_map_pts: 0.7477, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1648, d4.loss_map_pts: 0.7177, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1566, d5.loss_map_pts: 0.7072, d5.loss_map_dir: 0.0086, loss: 27.6810, grad_norm: 171.4744 +2026-02-27 18:58:48,673 - DriveTransformer - INFO - Epoch [8][1650/39528] lr: 8.063e-05, eta: 5 days, 16:17:01, time: 0.731, data_time: 0.036, memory: 19865, loss_cls: 0.1418, loss_bbox: 0.3364, loss_traj: 0.6164, loss_traj_cls: 0.0012, loss_map_cls: 0.1456, loss_map_pts: 0.6920, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.7646, d0.loss_plan_l1_fix_dist: 0.4744, d1.loss_plan_l1_fix_time: 0.9523, d1.loss_plan_l1_fix_dist: 0.1922, d2.loss_plan_l1_fix_time: 0.9368, d2.loss_plan_l1_fix_dist: 0.1913, d3.loss_plan_l1_fix_time: 0.9364, d3.loss_plan_l1_fix_dist: 0.2005, d4.loss_plan_l1_fix_time: 0.9379, d4.loss_plan_l1_fix_dist: 0.2188, d5.loss_plan_l1_fix_time: 0.9398, d5.loss_plan_l1_fix_dist: 0.2347, d6.loss_plan_l1_fix_time: 0.9425, d6.loss_plan_l1_fix_dist: 0.2435, d0.loss_cls_all: 0.1767, d0.loss_bbox_all: 0.3984, d0.loss_cls: 0.1767, d0.loss_bbox: 0.3984, d1.loss_cls: 0.1722, d1.loss_bbox: 0.3709, d2.loss_cls: 0.1588, d2.loss_bbox: 0.3518, d3.loss_cls: 0.1479, d3.loss_bbox: 0.3429, d4.loss_cls: 0.1409, d4.loss_bbox: 0.3392, d5.loss_cls: 0.1404, d5.loss_bbox: 0.3368, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8570, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6990, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6476, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6226, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6225, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6165, d0.loss_map_cls_all: 0.2239, d0.loss_map_pts_all: 1.3753, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2239, d0.loss_map_pts: 1.3753, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1995, d1.loss_map_pts: 0.9852, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1709, d2.loss_map_pts: 0.8064, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1572, d3.loss_map_pts: 0.7305, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1509, d4.loss_map_pts: 0.6994, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1472, d5.loss_map_pts: 0.6924, d5.loss_map_dir: 0.0082, loss: 27.8238, grad_norm: 163.2997 +2026-02-27 18:59:24,813 - DriveTransformer - INFO - Epoch [8][1700/39528] lr: 8.063e-05, eta: 5 days, 16:16:17, time: 0.723, data_time: 0.037, memory: 19865, loss_cls: 0.1515, loss_bbox: 0.3452, loss_traj: 0.4803, loss_traj_cls: 0.0012, loss_map_cls: 0.1397, loss_map_pts: 0.6390, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.4095, d0.loss_plan_l1_fix_dist: 0.3923, d1.loss_plan_l1_fix_time: 0.8575, d1.loss_plan_l1_fix_dist: 0.1733, d2.loss_plan_l1_fix_time: 0.8414, d2.loss_plan_l1_fix_dist: 0.1695, d3.loss_plan_l1_fix_time: 0.8407, d3.loss_plan_l1_fix_dist: 0.1635, d4.loss_plan_l1_fix_time: 0.8425, d4.loss_plan_l1_fix_dist: 0.1824, d5.loss_plan_l1_fix_time: 0.8445, d5.loss_plan_l1_fix_dist: 0.1906, d6.loss_plan_l1_fix_time: 0.8475, d6.loss_plan_l1_fix_dist: 0.2032, d0.loss_cls_all: 0.1932, d0.loss_bbox_all: 0.4041, d0.loss_cls: 0.1932, d0.loss_bbox: 0.4041, d1.loss_cls: 0.1875, d1.loss_bbox: 0.3698, d2.loss_cls: 0.1731, d2.loss_bbox: 0.3521, d3.loss_cls: 0.1582, d3.loss_bbox: 0.3478, d4.loss_cls: 0.1535, d4.loss_bbox: 0.3451, d5.loss_cls: 0.1524, d5.loss_bbox: 0.3441, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6869, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5474, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5026, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.4862, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4779, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.4798, d0.loss_map_cls_all: 0.2159, d0.loss_map_pts_all: 1.3599, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2159, d0.loss_map_pts: 1.3599, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1851, d1.loss_map_pts: 0.9232, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1615, d2.loss_map_pts: 0.7398, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1501, d3.loss_map_pts: 0.6725, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1450, d4.loss_map_pts: 0.6447, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1412, d5.loss_map_pts: 0.6396, d5.loss_map_dir: 0.0087, loss: 25.3033, grad_norm: 163.1849 +2026-02-27 19:00:00,229 - DriveTransformer - INFO - Epoch [8][1750/39528] lr: 8.063e-05, eta: 5 days, 16:15:21, time: 0.708, data_time: 0.039, memory: 19865, loss_cls: 0.1286, loss_bbox: 0.3215, loss_traj: 0.6474, loss_traj_cls: 0.0012, loss_map_cls: 0.1281, loss_map_pts: 0.5883, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.7465, d0.loss_plan_l1_fix_dist: 0.3890, d1.loss_plan_l1_fix_time: 0.9824, d1.loss_plan_l1_fix_dist: 0.1938, d2.loss_plan_l1_fix_time: 0.9790, d2.loss_plan_l1_fix_dist: 0.1977, d3.loss_plan_l1_fix_time: 0.9804, d3.loss_plan_l1_fix_dist: 0.1803, d4.loss_plan_l1_fix_time: 0.9822, d4.loss_plan_l1_fix_dist: 0.1936, d5.loss_plan_l1_fix_time: 0.9838, d5.loss_plan_l1_fix_dist: 0.1954, d6.loss_plan_l1_fix_time: 0.9857, d6.loss_plan_l1_fix_dist: 0.2057, d0.loss_cls_all: 0.1745, d0.loss_bbox_all: 0.3885, d0.loss_cls: 0.1745, d0.loss_bbox: 0.3885, d1.loss_cls: 0.1654, d1.loss_bbox: 0.3522, d2.loss_cls: 0.1510, d2.loss_bbox: 0.3333, d3.loss_cls: 0.1359, d3.loss_bbox: 0.3261, d4.loss_cls: 0.1284, d4.loss_bbox: 0.3243, d5.loss_cls: 0.1284, d5.loss_bbox: 0.3220, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9709, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7423, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6778, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6606, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6564, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6528, d0.loss_map_cls_all: 0.2110, d0.loss_map_pts_all: 1.1774, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2110, d0.loss_map_pts: 1.1774, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1815, d1.loss_map_pts: 0.8325, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1562, d2.loss_map_pts: 0.6814, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1404, d3.loss_map_pts: 0.6208, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1332, d4.loss_map_pts: 0.6005, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1296, d5.loss_map_pts: 0.5886, d5.loss_map_dir: 0.0070, loss: 26.7671, grad_norm: 162.2668 +2026-02-27 19:00:36,796 - DriveTransformer - INFO - Epoch [8][1800/39528] lr: 8.063e-05, eta: 5 days, 16:14:45, time: 0.733, data_time: 0.035, memory: 19865, loss_cls: 0.1563, loss_bbox: 0.3673, loss_traj: 0.6077, loss_traj_cls: 0.0012, loss_map_cls: 0.1757, loss_map_pts: 0.7465, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.9031, d0.loss_plan_l1_fix_dist: 0.4081, d1.loss_plan_l1_fix_time: 1.1552, d1.loss_plan_l1_fix_dist: 0.2173, d2.loss_plan_l1_fix_time: 1.1429, d2.loss_plan_l1_fix_dist: 0.2280, d3.loss_plan_l1_fix_time: 1.1395, d3.loss_plan_l1_fix_dist: 0.2148, d4.loss_plan_l1_fix_time: 1.1411, d4.loss_plan_l1_fix_dist: 0.2206, d5.loss_plan_l1_fix_time: 1.1435, d5.loss_plan_l1_fix_dist: 0.2310, d6.loss_plan_l1_fix_time: 1.1461, d6.loss_plan_l1_fix_dist: 0.2335, d0.loss_cls_all: 0.1916, d0.loss_bbox_all: 0.4341, d0.loss_cls: 0.1916, d0.loss_bbox: 0.4341, d1.loss_cls: 0.1837, d1.loss_bbox: 0.4008, d2.loss_cls: 0.1694, d2.loss_bbox: 0.3815, d3.loss_cls: 0.1602, d3.loss_bbox: 0.3737, d4.loss_cls: 0.1525, d4.loss_bbox: 0.3758, d5.loss_cls: 0.1562, d5.loss_bbox: 0.3675, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8581, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6934, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6238, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6145, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6028, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6051, d0.loss_map_cls_all: 0.2449, d0.loss_map_pts_all: 1.4623, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2449, d0.loss_map_pts: 1.4623, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2235, d1.loss_map_pts: 1.0241, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1980, d2.loss_map_pts: 0.8436, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1869, d3.loss_map_pts: 0.7769, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1825, d4.loss_map_pts: 0.7528, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1774, d5.loss_map_pts: 0.7470, d5.loss_map_dir: 0.0096, loss: 30.1553, grad_norm: 157.9382 +2026-02-27 19:01:13,759 - DriveTransformer - INFO - Epoch [8][1850/39528] lr: 8.063e-05, eta: 5 days, 16:14:14, time: 0.738, data_time: 0.037, memory: 19865, loss_cls: 0.1362, loss_bbox: 0.3408, loss_traj: 0.5931, loss_traj_cls: 0.0013, loss_map_cls: 0.1380, loss_map_pts: 0.6707, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.4859, d0.loss_plan_l1_fix_dist: 0.3831, d1.loss_plan_l1_fix_time: 0.9204, d1.loss_plan_l1_fix_dist: 0.2208, d2.loss_plan_l1_fix_time: 0.9077, d2.loss_plan_l1_fix_dist: 0.2375, d3.loss_plan_l1_fix_time: 0.9046, d3.loss_plan_l1_fix_dist: 0.2323, d4.loss_plan_l1_fix_time: 0.9070, d4.loss_plan_l1_fix_dist: 0.2183, d5.loss_plan_l1_fix_time: 0.9096, d5.loss_plan_l1_fix_dist: 0.2357, d6.loss_plan_l1_fix_time: 0.9127, d6.loss_plan_l1_fix_dist: 0.2453, d0.loss_cls_all: 0.1692, d0.loss_bbox_all: 0.4119, d0.loss_cls: 0.1692, d0.loss_bbox: 0.4119, d1.loss_cls: 0.1611, d1.loss_bbox: 0.3755, d2.loss_cls: 0.1487, d2.loss_bbox: 0.3554, d3.loss_cls: 0.1387, d3.loss_bbox: 0.3459, d4.loss_cls: 0.1346, d4.loss_bbox: 0.3443, d5.loss_cls: 0.1348, d5.loss_bbox: 0.3417, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8142, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6685, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6165, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6040, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5964, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5930, d0.loss_map_cls_all: 0.2239, d0.loss_map_pts_all: 1.3637, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2239, d0.loss_map_pts: 1.3637, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1967, d1.loss_map_pts: 0.9469, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1696, d2.loss_map_pts: 0.7632, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1550, d3.loss_map_pts: 0.6989, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1469, d4.loss_map_pts: 0.6782, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1392, d5.loss_map_pts: 0.6722, d5.loss_map_dir: 0.0088, loss: 26.9509, grad_norm: 147.6298 +2026-02-27 19:01:51,577 - DriveTransformer - INFO - Epoch [8][1900/39528] lr: 8.063e-05, eta: 5 days, 16:13:57, time: 0.756, data_time: 0.037, memory: 19865, loss_cls: 0.1280, loss_bbox: 0.3279, loss_traj: 0.6136, loss_traj_cls: 0.0012, loss_map_cls: 0.1475, loss_map_pts: 0.7074, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.4944, d0.loss_plan_l1_fix_dist: 0.3942, d1.loss_plan_l1_fix_time: 0.9238, d1.loss_plan_l1_fix_dist: 0.1962, d2.loss_plan_l1_fix_time: 0.9082, d2.loss_plan_l1_fix_dist: 0.2153, d3.loss_plan_l1_fix_time: 0.9013, d3.loss_plan_l1_fix_dist: 0.2278, d4.loss_plan_l1_fix_time: 0.9034, d4.loss_plan_l1_fix_dist: 0.2303, d5.loss_plan_l1_fix_time: 0.9066, d5.loss_plan_l1_fix_dist: 0.2400, d6.loss_plan_l1_fix_time: 0.9103, d6.loss_plan_l1_fix_dist: 0.2660, d0.loss_cls_all: 0.1657, d0.loss_bbox_all: 0.3899, d0.loss_cls: 0.1657, d0.loss_bbox: 0.3899, d1.loss_cls: 0.1554, d1.loss_bbox: 0.3540, d2.loss_cls: 0.1431, d2.loss_bbox: 0.3355, d3.loss_cls: 0.1318, d3.loss_bbox: 0.3302, d4.loss_cls: 0.1290, d4.loss_bbox: 0.3269, d5.loss_cls: 0.1269, d5.loss_bbox: 0.3268, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8267, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6898, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6362, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6287, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6197, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6158, d0.loss_map_cls_all: 0.2271, d0.loss_map_pts_all: 1.3572, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2271, d0.loss_map_pts: 1.3572, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1943, d1.loss_map_pts: 0.9719, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1703, d2.loss_map_pts: 0.8071, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1582, d3.loss_map_pts: 0.7386, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1517, d4.loss_map_pts: 0.7142, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1478, d5.loss_map_pts: 0.7077, d5.loss_map_dir: 0.0087, loss: 27.1355, grad_norm: 148.2333 +2026-02-27 19:02:26,080 - DriveTransformer - INFO - Epoch [8][1950/39528] lr: 8.063e-05, eta: 5 days, 16:12:46, time: 0.690, data_time: 0.035, memory: 19865, loss_cls: 0.1487, loss_bbox: 0.3488, loss_traj: 0.6204, loss_traj_cls: 0.0013, loss_map_cls: 0.1266, loss_map_pts: 0.5678, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.6690, d0.loss_plan_l1_fix_dist: 0.4093, d1.loss_plan_l1_fix_time: 0.9817, d1.loss_plan_l1_fix_dist: 0.2102, d2.loss_plan_l1_fix_time: 0.9692, d2.loss_plan_l1_fix_dist: 0.2185, d3.loss_plan_l1_fix_time: 0.9667, d3.loss_plan_l1_fix_dist: 0.2235, d4.loss_plan_l1_fix_time: 0.9685, d4.loss_plan_l1_fix_dist: 0.2316, d5.loss_plan_l1_fix_time: 0.9709, d5.loss_plan_l1_fix_dist: 0.2301, d6.loss_plan_l1_fix_time: 0.9739, d6.loss_plan_l1_fix_dist: 0.2450, d0.loss_cls_all: 0.1914, d0.loss_bbox_all: 0.4073, d0.loss_cls: 0.1914, d0.loss_bbox: 0.4073, d1.loss_cls: 0.1830, d1.loss_bbox: 0.3732, d2.loss_cls: 0.1706, d2.loss_bbox: 0.3541, d3.loss_cls: 0.1568, d3.loss_bbox: 0.3474, d4.loss_cls: 0.1518, d4.loss_bbox: 0.3454, d5.loss_cls: 0.1470, d5.loss_bbox: 0.3485, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8356, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6942, d2.loss_traj_cls: 0.0014, d2.loss_traj: 0.6438, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6309, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6266, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6236, d0.loss_map_cls_all: 0.2010, d0.loss_map_pts_all: 1.0742, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.2010, d0.loss_map_pts: 1.0742, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1732, d1.loss_map_pts: 0.7816, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1530, d2.loss_map_pts: 0.6484, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1392, d3.loss_map_pts: 0.5972, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1343, d4.loss_map_pts: 0.5762, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1299, d5.loss_map_pts: 0.5685, d5.loss_map_dir: 0.0059, loss: 26.4153, grad_norm: 147.8624 +2026-02-27 19:03:02,331 - DriveTransformer - INFO - Epoch [8][2000/39528] lr: 8.063e-05, eta: 5 days, 16:12:04, time: 0.725, data_time: 0.035, memory: 19865, loss_cls: 0.1511, loss_bbox: 0.3731, loss_traj: 0.7458, loss_traj_cls: 0.0012, loss_map_cls: 0.1502, loss_map_pts: 0.6716, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.8884, d0.loss_plan_l1_fix_dist: 0.4084, d1.loss_plan_l1_fix_time: 1.0889, d1.loss_plan_l1_fix_dist: 0.2308, d2.loss_plan_l1_fix_time: 1.0736, d2.loss_plan_l1_fix_dist: 0.2151, d3.loss_plan_l1_fix_time: 1.0720, d3.loss_plan_l1_fix_dist: 0.2293, d4.loss_plan_l1_fix_time: 1.0734, d4.loss_plan_l1_fix_dist: 0.2628, d5.loss_plan_l1_fix_time: 1.0754, d5.loss_plan_l1_fix_dist: 0.2679, d6.loss_plan_l1_fix_time: 1.0782, d6.loss_plan_l1_fix_dist: 0.2666, d0.loss_cls_all: 0.2000, d0.loss_bbox_all: 0.4378, d0.loss_cls: 0.2000, d0.loss_bbox: 0.4378, d1.loss_cls: 0.1875, d1.loss_bbox: 0.4050, d2.loss_cls: 0.1733, d2.loss_bbox: 0.3842, d3.loss_cls: 0.1571, d3.loss_bbox: 0.3816, d4.loss_cls: 0.1505, d4.loss_bbox: 0.3776, d5.loss_cls: 0.1487, d5.loss_bbox: 0.3758, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0833, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8376, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7732, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7594, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7523, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.7477, d0.loss_map_cls_all: 0.2337, d0.loss_map_pts_all: 1.3577, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2337, d0.loss_map_pts: 1.3577, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.2045, d1.loss_map_pts: 0.9821, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1823, d2.loss_map_pts: 0.7938, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1675, d3.loss_map_pts: 0.7106, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1587, d4.loss_map_pts: 0.6818, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1519, d5.loss_map_pts: 0.6744, d5.loss_map_dir: 0.0080, loss: 30.2527, grad_norm: 145.7471 +2026-02-27 19:03:38,724 - DriveTransformer - INFO - Epoch [8][2050/39528] lr: 8.063e-05, eta: 5 days, 16:11:24, time: 0.728, data_time: 0.034, memory: 19865, loss_cls: 0.1334, loss_bbox: 0.3124, loss_traj: 0.5385, loss_traj_cls: 0.0013, loss_map_cls: 0.1246, loss_map_pts: 0.5928, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.7310, d0.loss_plan_l1_fix_dist: 0.3778, d1.loss_plan_l1_fix_time: 0.9475, d1.loss_plan_l1_fix_dist: 0.2283, d2.loss_plan_l1_fix_time: 0.9321, d2.loss_plan_l1_fix_dist: 0.1905, d3.loss_plan_l1_fix_time: 0.9272, d3.loss_plan_l1_fix_dist: 0.1841, d4.loss_plan_l1_fix_time: 0.9289, d4.loss_plan_l1_fix_dist: 0.2085, d5.loss_plan_l1_fix_time: 0.9307, d5.loss_plan_l1_fix_dist: 0.2123, d6.loss_plan_l1_fix_time: 0.9332, d6.loss_plan_l1_fix_dist: 0.2193, d0.loss_cls_all: 0.1807, d0.loss_bbox_all: 0.3671, d0.loss_cls: 0.1807, d0.loss_bbox: 0.3671, d1.loss_cls: 0.1679, d1.loss_bbox: 0.3372, d2.loss_cls: 0.1531, d2.loss_bbox: 0.3196, d3.loss_cls: 0.1387, d3.loss_bbox: 0.3154, d4.loss_cls: 0.1343, d4.loss_bbox: 0.3121, d5.loss_cls: 0.1334, d5.loss_bbox: 0.3108, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7853, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6030, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5571, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5391, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5359, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.5361, d0.loss_map_cls_all: 0.2024, d0.loss_map_pts_all: 1.2093, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2024, d0.loss_map_pts: 1.2093, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1695, d1.loss_map_pts: 0.8406, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1485, d2.loss_map_pts: 0.6804, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1385, d3.loss_map_pts: 0.6193, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1320, d4.loss_map_pts: 0.5987, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1258, d5.loss_map_pts: 0.5938, d5.loss_map_dir: 0.0091, loss: 25.5773, grad_norm: 145.8748 +2026-02-27 19:04:15,426 - DriveTransformer - INFO - Epoch [8][2100/39528] lr: 8.063e-05, eta: 5 days, 16:10:50, time: 0.734, data_time: 0.038, memory: 19865, loss_cls: 0.1288, loss_bbox: 0.3180, loss_traj: 0.5899, loss_traj_cls: 0.0013, loss_map_cls: 0.1242, loss_map_pts: 0.6128, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.5126, d0.loss_plan_l1_fix_dist: 0.4087, d1.loss_plan_l1_fix_time: 0.9798, d1.loss_plan_l1_fix_dist: 0.2552, d2.loss_plan_l1_fix_time: 0.9681, d2.loss_plan_l1_fix_dist: 0.2233, d3.loss_plan_l1_fix_time: 0.9636, d3.loss_plan_l1_fix_dist: 0.2025, d4.loss_plan_l1_fix_time: 0.9651, d4.loss_plan_l1_fix_dist: 0.1892, d5.loss_plan_l1_fix_time: 0.9674, d5.loss_plan_l1_fix_dist: 0.1972, d6.loss_plan_l1_fix_time: 0.9706, d6.loss_plan_l1_fix_dist: 0.2292, d0.loss_cls_all: 0.1653, d0.loss_bbox_all: 0.3817, d0.loss_cls: 0.1653, d0.loss_bbox: 0.3817, d1.loss_cls: 0.1606, d1.loss_bbox: 0.3472, d2.loss_cls: 0.1457, d2.loss_bbox: 0.3281, d3.loss_cls: 0.1331, d3.loss_bbox: 0.3225, d4.loss_cls: 0.1285, d4.loss_bbox: 0.3205, d5.loss_cls: 0.1289, d5.loss_bbox: 0.3179, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7941, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6464, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6071, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5940, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5920, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.5909, d0.loss_map_cls_all: 0.2095, d0.loss_map_pts_all: 1.2485, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2095, d0.loss_map_pts: 1.2485, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1702, d1.loss_map_pts: 0.8707, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1463, d2.loss_map_pts: 0.7060, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1352, d3.loss_map_pts: 0.6436, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1285, d4.loss_map_pts: 0.6235, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1249, d5.loss_map_pts: 0.6150, d5.loss_map_dir: 0.0087, loss: 26.2115, grad_norm: 148.0215 +2026-02-27 19:04:51,940 - DriveTransformer - INFO - Epoch [8][2150/39528] lr: 8.063e-05, eta: 5 days, 16:10:12, time: 0.730, data_time: 0.033, memory: 19865, loss_cls: 0.1351, loss_bbox: 0.3350, loss_traj: 0.6021, loss_traj_cls: 0.0013, loss_map_cls: 0.1273, loss_map_pts: 0.6655, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.4577, d0.loss_plan_l1_fix_dist: 0.3524, d1.loss_plan_l1_fix_time: 0.9873, d1.loss_plan_l1_fix_dist: 0.2532, d2.loss_plan_l1_fix_time: 0.9764, d2.loss_plan_l1_fix_dist: 0.2186, d3.loss_plan_l1_fix_time: 0.9833, d3.loss_plan_l1_fix_dist: 0.2042, d4.loss_plan_l1_fix_time: 0.9866, d4.loss_plan_l1_fix_dist: 0.1910, d5.loss_plan_l1_fix_time: 0.9898, d5.loss_plan_l1_fix_dist: 0.2001, d6.loss_plan_l1_fix_time: 0.9931, d6.loss_plan_l1_fix_dist: 0.2103, d0.loss_cls_all: 0.1764, d0.loss_bbox_all: 0.4012, d0.loss_cls: 0.1764, d0.loss_bbox: 0.4012, d1.loss_cls: 0.1703, d1.loss_bbox: 0.3653, d2.loss_cls: 0.1548, d2.loss_bbox: 0.3453, d3.loss_cls: 0.1428, d3.loss_bbox: 0.3394, d4.loss_cls: 0.1367, d4.loss_bbox: 0.3362, d5.loss_cls: 0.1342, d5.loss_bbox: 0.3351, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8646, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6907, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6275, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6153, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6053, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.6023, d0.loss_map_cls_all: 0.2095, d0.loss_map_pts_all: 1.2791, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2095, d0.loss_map_pts: 1.2791, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1775, d1.loss_map_pts: 0.9178, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1551, d2.loss_map_pts: 0.7573, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1428, d3.loss_map_pts: 0.6940, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1354, d4.loss_map_pts: 0.6745, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1294, d5.loss_map_pts: 0.6664, d5.loss_map_dir: 0.0085, loss: 26.9904, grad_norm: 145.0732 +2026-02-27 19:05:28,735 - DriveTransformer - INFO - Epoch [8][2200/39528] lr: 8.063e-05, eta: 5 days, 16:09:38, time: 0.736, data_time: 0.036, memory: 19865, loss_cls: 0.1413, loss_bbox: 0.3419, loss_traj: 0.6602, loss_traj_cls: 0.0013, loss_map_cls: 0.1476, loss_map_pts: 0.6373, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.7023, d0.loss_plan_l1_fix_dist: 0.4644, d1.loss_plan_l1_fix_time: 1.0246, d1.loss_plan_l1_fix_dist: 0.2505, d2.loss_plan_l1_fix_time: 1.0117, d2.loss_plan_l1_fix_dist: 0.2256, d3.loss_plan_l1_fix_time: 1.0093, d3.loss_plan_l1_fix_dist: 0.2271, d4.loss_plan_l1_fix_time: 1.0107, d4.loss_plan_l1_fix_dist: 0.2241, d5.loss_plan_l1_fix_time: 1.0129, d5.loss_plan_l1_fix_dist: 0.2311, d6.loss_plan_l1_fix_time: 1.0155, d6.loss_plan_l1_fix_dist: 0.2318, d0.loss_cls_all: 0.1824, d0.loss_bbox_all: 0.4033, d0.loss_cls: 0.1824, d0.loss_bbox: 0.4033, d1.loss_cls: 0.1752, d1.loss_bbox: 0.3675, d2.loss_cls: 0.1627, d2.loss_bbox: 0.3520, d3.loss_cls: 0.1492, d3.loss_bbox: 0.3452, d4.loss_cls: 0.1429, d4.loss_bbox: 0.3431, d5.loss_cls: 0.1415, d5.loss_bbox: 0.3417, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9062, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7304, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6807, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6607, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6591, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6578, d0.loss_map_cls_all: 0.2192, d0.loss_map_pts_all: 1.2870, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2192, d0.loss_map_pts: 1.2870, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1939, d1.loss_map_pts: 0.9182, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1741, d2.loss_map_pts: 0.7394, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1604, d3.loss_map_pts: 0.6726, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1545, d4.loss_map_pts: 0.6461, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1496, d5.loss_map_pts: 0.6382, d5.loss_map_dir: 0.0078, loss: 28.0845, grad_norm: 142.0693 +2026-02-27 19:06:07,021 - DriveTransformer - INFO - Epoch [8][2250/39528] lr: 8.063e-05, eta: 5 days, 16:09:29, time: 0.766, data_time: 0.035, memory: 19865, loss_cls: 0.1442, loss_bbox: 0.3407, loss_traj: 0.5357, loss_traj_cls: 0.0013, loss_map_cls: 0.1658, loss_map_pts: 0.7558, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.5293, d0.loss_plan_l1_fix_dist: 0.4140, d1.loss_plan_l1_fix_time: 0.9190, d1.loss_plan_l1_fix_dist: 0.2274, d2.loss_plan_l1_fix_time: 0.9055, d2.loss_plan_l1_fix_dist: 0.1903, d3.loss_plan_l1_fix_time: 0.8954, d3.loss_plan_l1_fix_dist: 0.2003, d4.loss_plan_l1_fix_time: 0.8963, d4.loss_plan_l1_fix_dist: 0.2020, d5.loss_plan_l1_fix_time: 0.8985, d5.loss_plan_l1_fix_dist: 0.2029, d6.loss_plan_l1_fix_time: 0.9018, d6.loss_plan_l1_fix_dist: 0.2123, d0.loss_cls_all: 0.1850, d0.loss_bbox_all: 0.4030, d0.loss_cls: 0.1850, d0.loss_bbox: 0.4030, d1.loss_cls: 0.1822, d1.loss_bbox: 0.3683, d2.loss_cls: 0.1670, d2.loss_bbox: 0.3484, d3.loss_cls: 0.1534, d3.loss_bbox: 0.3420, d4.loss_cls: 0.1479, d4.loss_bbox: 0.3373, d5.loss_cls: 0.1458, d5.loss_bbox: 0.3370, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7622, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5929, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5456, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5355, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5301, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5302, d0.loss_map_cls_all: 0.2402, d0.loss_map_pts_all: 1.5193, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2402, d0.loss_map_pts: 1.5193, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2083, d1.loss_map_pts: 1.0673, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1902, d2.loss_map_pts: 0.8669, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1777, d3.loss_map_pts: 0.7906, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1721, d4.loss_map_pts: 0.7633, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1673, d5.loss_map_pts: 0.7564, d5.loss_map_dir: 0.0099, loss: 27.5013, grad_norm: 141.1720 +2026-02-27 19:06:43,543 - DriveTransformer - INFO - Epoch [8][2300/39528] lr: 8.063e-05, eta: 5 days, 16:08:51, time: 0.730, data_time: 0.039, memory: 19865, loss_cls: 0.1299, loss_bbox: 0.3330, loss_traj: 0.5858, loss_traj_cls: 0.0013, loss_map_cls: 0.1470, loss_map_pts: 0.5791, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.7808, d0.loss_plan_l1_fix_dist: 0.4422, d1.loss_plan_l1_fix_time: 0.9452, d1.loss_plan_l1_fix_dist: 0.2297, d2.loss_plan_l1_fix_time: 0.9248, d2.loss_plan_l1_fix_dist: 0.1934, d3.loss_plan_l1_fix_time: 0.9198, d3.loss_plan_l1_fix_dist: 0.1952, d4.loss_plan_l1_fix_time: 0.9209, d4.loss_plan_l1_fix_dist: 0.2097, d5.loss_plan_l1_fix_time: 0.9224, d5.loss_plan_l1_fix_dist: 0.2004, d6.loss_plan_l1_fix_time: 0.9244, d6.loss_plan_l1_fix_dist: 0.2094, d0.loss_cls_all: 0.1736, d0.loss_bbox_all: 0.3886, d0.loss_cls: 0.1736, d0.loss_bbox: 0.3886, d1.loss_cls: 0.1673, d1.loss_bbox: 0.3535, d2.loss_cls: 0.1496, d2.loss_bbox: 0.3342, d3.loss_cls: 0.1389, d3.loss_bbox: 0.3295, d4.loss_cls: 0.1302, d4.loss_bbox: 0.3303, d5.loss_cls: 0.1289, d5.loss_bbox: 0.3315, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7977, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6443, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5924, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5806, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5840, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5828, d0.loss_map_cls_all: 0.2111, d0.loss_map_pts_all: 1.1834, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2111, d0.loss_map_pts: 1.1834, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1865, d1.loss_map_pts: 0.8293, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1699, d2.loss_map_pts: 0.6703, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1590, d3.loss_map_pts: 0.6080, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1526, d4.loss_map_pts: 0.5855, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1490, d5.loss_map_pts: 0.5806, d5.loss_map_dir: 0.0080, loss: 26.0429, grad_norm: 141.5358 +2026-02-27 19:07:19,402 - DriveTransformer - INFO - Epoch [8][2350/39528] lr: 8.063e-05, eta: 5 days, 16:08:03, time: 0.717, data_time: 0.036, memory: 19865, loss_cls: 0.1333, loss_bbox: 0.3216, loss_traj: 0.5731, loss_traj_cls: 0.0013, loss_map_cls: 0.1335, loss_map_pts: 0.5578, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.6039, d0.loss_plan_l1_fix_dist: 0.4058, d1.loss_plan_l1_fix_time: 1.0199, d1.loss_plan_l1_fix_dist: 0.2263, d2.loss_plan_l1_fix_time: 1.0013, d2.loss_plan_l1_fix_dist: 0.2140, d3.loss_plan_l1_fix_time: 0.9966, d3.loss_plan_l1_fix_dist: 0.1989, d4.loss_plan_l1_fix_time: 0.9981, d4.loss_plan_l1_fix_dist: 0.2089, d5.loss_plan_l1_fix_time: 1.0002, d5.loss_plan_l1_fix_dist: 0.2075, d6.loss_plan_l1_fix_time: 1.0029, d6.loss_plan_l1_fix_dist: 0.2397, d0.loss_cls_all: 0.1753, d0.loss_bbox_all: 0.3740, d0.loss_cls: 0.1753, d0.loss_bbox: 0.3740, d1.loss_cls: 0.1636, d1.loss_bbox: 0.3444, d2.loss_cls: 0.1535, d2.loss_bbox: 0.3291, d3.loss_cls: 0.1398, d3.loss_bbox: 0.3244, d4.loss_cls: 0.1355, d4.loss_bbox: 0.3214, d5.loss_cls: 0.1339, d5.loss_bbox: 0.3206, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7579, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6325, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5860, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5754, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5738, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5723, d0.loss_map_cls_all: 0.2220, d0.loss_map_pts_all: 1.2006, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2220, d0.loss_map_pts: 1.2006, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1850, d1.loss_map_pts: 0.8306, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1603, d2.loss_map_pts: 0.6662, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1460, d3.loss_map_pts: 0.5984, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1408, d4.loss_map_pts: 0.5698, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1350, d5.loss_map_pts: 0.5602, d5.loss_map_dir: 0.0072, loss: 26.1083, grad_norm: 147.4416 +2026-02-27 19:07:56,172 - DriveTransformer - INFO - Epoch [8][2400/39528] lr: 8.063e-05, eta: 5 days, 16:07:29, time: 0.735, data_time: 0.037, memory: 19865, loss_cls: 0.1525, loss_bbox: 0.3550, loss_traj: 0.5857, loss_traj_cls: 0.0012, loss_map_cls: 0.1516, loss_map_pts: 0.7261, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.3845, d0.loss_plan_l1_fix_dist: 0.4159, d1.loss_plan_l1_fix_time: 1.0487, d1.loss_plan_l1_fix_dist: 0.2133, d2.loss_plan_l1_fix_time: 1.0287, d2.loss_plan_l1_fix_dist: 0.2334, d3.loss_plan_l1_fix_time: 1.0275, d3.loss_plan_l1_fix_dist: 0.2042, d4.loss_plan_l1_fix_time: 1.0297, d4.loss_plan_l1_fix_dist: 0.2121, d5.loss_plan_l1_fix_time: 1.0320, d5.loss_plan_l1_fix_dist: 0.2097, d6.loss_plan_l1_fix_time: 1.0346, d6.loss_plan_l1_fix_dist: 0.2369, d0.loss_cls_all: 0.1970, d0.loss_bbox_all: 0.4180, d0.loss_cls: 0.1970, d0.loss_bbox: 0.4180, d1.loss_cls: 0.1897, d1.loss_bbox: 0.3829, d2.loss_cls: 0.1742, d2.loss_bbox: 0.3671, d3.loss_cls: 0.1602, d3.loss_bbox: 0.3599, d4.loss_cls: 0.1548, d4.loss_bbox: 0.3568, d5.loss_cls: 0.1536, d5.loss_bbox: 0.3553, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7848, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6745, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6197, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5984, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5922, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5864, d0.loss_map_cls_all: 0.2234, d0.loss_map_pts_all: 1.4404, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2234, d0.loss_map_pts: 1.4404, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.1941, d1.loss_map_pts: 1.0191, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1740, d2.loss_map_pts: 0.8325, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1619, d3.loss_map_pts: 0.7615, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1578, d4.loss_map_pts: 0.7346, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1540, d5.loss_map_pts: 0.7279, d5.loss_map_dir: 0.0095, loss: 28.3501, grad_norm: 147.1135 +2026-02-27 19:08:31,700 - DriveTransformer - INFO - Epoch [8][2450/39528] lr: 8.063e-05, eta: 5 days, 16:06:35, time: 0.711, data_time: 0.036, memory: 19865, loss_cls: 0.1441, loss_bbox: 0.3472, loss_traj: 0.7075, loss_traj_cls: 0.0013, loss_map_cls: 0.1568, loss_map_pts: 0.6340, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.6619, d0.loss_plan_l1_fix_dist: 0.5115, d1.loss_plan_l1_fix_time: 0.9869, d1.loss_plan_l1_fix_dist: 0.2041, d2.loss_plan_l1_fix_time: 0.9718, d2.loss_plan_l1_fix_dist: 0.2382, d3.loss_plan_l1_fix_time: 0.9734, d3.loss_plan_l1_fix_dist: 0.2294, d4.loss_plan_l1_fix_time: 0.9754, d4.loss_plan_l1_fix_dist: 0.2333, d5.loss_plan_l1_fix_time: 0.9769, d5.loss_plan_l1_fix_dist: 0.2304, d6.loss_plan_l1_fix_time: 0.9782, d6.loss_plan_l1_fix_dist: 0.2260, d0.loss_cls_all: 0.1805, d0.loss_bbox_all: 0.4125, d0.loss_cls: 0.1805, d0.loss_bbox: 0.4125, d1.loss_cls: 0.1773, d1.loss_bbox: 0.3735, d2.loss_cls: 0.1660, d2.loss_bbox: 0.3568, d3.loss_cls: 0.1550, d3.loss_bbox: 0.3470, d4.loss_cls: 0.1482, d4.loss_bbox: 0.3432, d5.loss_cls: 0.1448, d5.loss_bbox: 0.3449, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9752, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7940, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7400, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7166, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7073, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.7097, d0.loss_map_cls_all: 0.2352, d0.loss_map_pts_all: 1.2627, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2352, d0.loss_map_pts: 1.2627, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.2089, d1.loss_map_pts: 0.8944, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1831, d2.loss_map_pts: 0.7256, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1688, d3.loss_map_pts: 0.6635, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1622, d4.loss_map_pts: 0.6408, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1580, d5.loss_map_pts: 0.6353, d5.loss_map_dir: 0.0070, loss: 28.2735, grad_norm: 146.9896 +2026-02-27 19:09:07,617 - DriveTransformer - INFO - Epoch [8][2500/39528] lr: 8.063e-05, eta: 5 days, 16:05:48, time: 0.718, data_time: 0.035, memory: 19865, loss_cls: 0.1595, loss_bbox: 0.3599, loss_traj: 0.6263, loss_traj_cls: 0.0013, loss_map_cls: 0.1526, loss_map_pts: 0.6648, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.4880, d0.loss_plan_l1_fix_dist: 0.5829, d1.loss_plan_l1_fix_time: 1.0279, d1.loss_plan_l1_fix_dist: 0.2138, d2.loss_plan_l1_fix_time: 1.0211, d2.loss_plan_l1_fix_dist: 0.2381, d3.loss_plan_l1_fix_time: 1.0224, d3.loss_plan_l1_fix_dist: 0.2470, d4.loss_plan_l1_fix_time: 1.0248, d4.loss_plan_l1_fix_dist: 0.2346, d5.loss_plan_l1_fix_time: 1.0275, d5.loss_plan_l1_fix_dist: 0.2320, d6.loss_plan_l1_fix_time: 1.0304, d6.loss_plan_l1_fix_dist: 0.2362, d0.loss_cls_all: 0.2011, d0.loss_bbox_all: 0.4321, d0.loss_cls: 0.2011, d0.loss_bbox: 0.4321, d1.loss_cls: 0.1952, d1.loss_bbox: 0.3921, d2.loss_cls: 0.1806, d2.loss_bbox: 0.3700, d3.loss_cls: 0.1666, d3.loss_bbox: 0.3647, d4.loss_cls: 0.1620, d4.loss_bbox: 0.3609, d5.loss_cls: 0.1598, d5.loss_bbox: 0.3602, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8792, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7055, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6530, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6260, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6272, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6243, d0.loss_map_cls_all: 0.2247, d0.loss_map_pts_all: 1.2634, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2247, d0.loss_map_pts: 1.2634, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1926, d1.loss_map_pts: 0.8981, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1731, d2.loss_map_pts: 0.7523, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1600, d3.loss_map_pts: 0.6961, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1565, d4.loss_map_pts: 0.6719, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1540, d5.loss_map_pts: 0.6662, d5.loss_map_dir: 0.0091, loss: 28.2607, grad_norm: 146.1016 +2026-02-27 19:09:44,716 - DriveTransformer - INFO - Epoch [8][2550/39528] lr: 8.063e-05, eta: 5 days, 16:05:19, time: 0.742, data_time: 0.035, memory: 19865, loss_cls: 0.1237, loss_bbox: 0.3141, loss_traj: 0.4733, loss_traj_cls: 0.0013, loss_map_cls: 0.1553, loss_map_pts: 0.6704, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.3684, d0.loss_plan_l1_fix_dist: 0.4297, d1.loss_plan_l1_fix_time: 0.9158, d1.loss_plan_l1_fix_dist: 0.1859, d2.loss_plan_l1_fix_time: 0.9119, d2.loss_plan_l1_fix_dist: 0.1984, d3.loss_plan_l1_fix_time: 0.9125, d3.loss_plan_l1_fix_dist: 0.2246, d4.loss_plan_l1_fix_time: 0.9149, d4.loss_plan_l1_fix_dist: 0.2076, d5.loss_plan_l1_fix_time: 0.9175, d5.loss_plan_l1_fix_dist: 0.2237, d6.loss_plan_l1_fix_time: 0.9208, d6.loss_plan_l1_fix_dist: 0.2460, d0.loss_cls_all: 0.1638, d0.loss_bbox_all: 0.3665, d0.loss_cls: 0.1638, d0.loss_bbox: 0.3665, d1.loss_cls: 0.1548, d1.loss_bbox: 0.3364, d2.loss_cls: 0.1454, d2.loss_bbox: 0.3186, d3.loss_cls: 0.1312, d3.loss_bbox: 0.3137, d4.loss_cls: 0.1253, d4.loss_bbox: 0.3121, d5.loss_cls: 0.1241, d5.loss_bbox: 0.3123, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6695, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5161, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.4901, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.4777, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4707, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.4744, d0.loss_map_cls_all: 0.2287, d0.loss_map_pts_all: 1.3874, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2287, d0.loss_map_pts: 1.3874, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2001, d1.loss_map_pts: 0.9447, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1771, d2.loss_map_pts: 0.7676, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1663, d3.loss_map_pts: 0.7065, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1613, d4.loss_map_pts: 0.6777, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1567, d5.loss_map_pts: 0.6727, d5.loss_map_dir: 0.0098, loss: 25.6948, grad_norm: 146.8958 +2026-02-27 19:10:21,778 - DriveTransformer - INFO - Epoch [8][2600/39528] lr: 8.063e-05, eta: 5 days, 16:04:51, time: 0.743, data_time: 0.036, memory: 19865, loss_cls: 0.1408, loss_bbox: 0.3501, loss_traj: 0.5852, loss_traj_cls: 0.0013, loss_map_cls: 0.1436, loss_map_pts: 0.6619, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.8522, d0.loss_plan_l1_fix_dist: 0.5014, d1.loss_plan_l1_fix_time: 1.1693, d1.loss_plan_l1_fix_dist: 0.2384, d2.loss_plan_l1_fix_time: 1.1620, d2.loss_plan_l1_fix_dist: 0.2391, d3.loss_plan_l1_fix_time: 1.1555, d3.loss_plan_l1_fix_dist: 0.2539, d4.loss_plan_l1_fix_time: 1.1574, d4.loss_plan_l1_fix_dist: 0.2488, d5.loss_plan_l1_fix_time: 1.1601, d5.loss_plan_l1_fix_dist: 0.2576, d6.loss_plan_l1_fix_time: 1.1636, d6.loss_plan_l1_fix_dist: 0.2803, d0.loss_cls_all: 0.1772, d0.loss_bbox_all: 0.4043, d0.loss_cls: 0.1772, d0.loss_bbox: 0.4043, d1.loss_cls: 0.1729, d1.loss_bbox: 0.3718, d2.loss_cls: 0.1584, d2.loss_bbox: 0.3539, d3.loss_cls: 0.1475, d3.loss_bbox: 0.3483, d4.loss_cls: 0.1430, d4.loss_bbox: 0.3462, d5.loss_cls: 0.1411, d5.loss_bbox: 0.3464, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8454, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6579, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6122, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5925, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5837, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5845, d0.loss_map_cls_all: 0.2182, d0.loss_map_pts_all: 1.3060, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2182, d0.loss_map_pts: 1.3060, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1907, d1.loss_map_pts: 0.8957, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1663, d2.loss_map_pts: 0.7467, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1549, d3.loss_map_pts: 0.6964, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1491, d4.loss_map_pts: 0.6724, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1451, d5.loss_map_pts: 0.6642, d5.loss_map_dir: 0.0095, loss: 28.9033, grad_norm: 145.0754 +2026-02-27 19:10:58,603 - DriveTransformer - INFO - Epoch [8][2650/39528] lr: 8.063e-05, eta: 5 days, 16:04:17, time: 0.735, data_time: 0.033, memory: 19865, loss_cls: 0.1242, loss_bbox: 0.3353, loss_traj: 0.5887, loss_traj_cls: 0.0013, loss_map_cls: 0.1531, loss_map_pts: 0.6947, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.5275, d0.loss_plan_l1_fix_dist: 0.4583, d1.loss_plan_l1_fix_time: 0.9500, d1.loss_plan_l1_fix_dist: 0.2090, d2.loss_plan_l1_fix_time: 0.9328, d2.loss_plan_l1_fix_dist: 0.2216, d3.loss_plan_l1_fix_time: 0.9401, d3.loss_plan_l1_fix_dist: 0.2118, d4.loss_plan_l1_fix_time: 0.9445, d4.loss_plan_l1_fix_dist: 0.2093, d5.loss_plan_l1_fix_time: 0.9484, d5.loss_plan_l1_fix_dist: 0.2090, d6.loss_plan_l1_fix_time: 0.9520, d6.loss_plan_l1_fix_dist: 0.2365, d0.loss_cls_all: 0.1647, d0.loss_bbox_all: 0.3920, d0.loss_cls: 0.1647, d0.loss_bbox: 0.3920, d1.loss_cls: 0.1586, d1.loss_bbox: 0.3587, d2.loss_cls: 0.1444, d2.loss_bbox: 0.3407, d3.loss_cls: 0.1316, d3.loss_bbox: 0.3340, d4.loss_cls: 0.1258, d4.loss_bbox: 0.3328, d5.loss_cls: 0.1239, d5.loss_bbox: 0.3342, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8475, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6405, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5933, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5866, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5834, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5846, d0.loss_map_cls_all: 0.2256, d0.loss_map_pts_all: 1.4086, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2256, d0.loss_map_pts: 1.4086, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1958, d1.loss_map_pts: 0.9677, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1750, d2.loss_map_pts: 0.7959, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1639, d3.loss_map_pts: 0.7290, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1600, d4.loss_map_pts: 0.7025, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1560, d5.loss_map_pts: 0.6966, d5.loss_map_dir: 0.0098, loss: 27.2743, grad_norm: 143.9957 +2026-02-27 19:11:34,233 - DriveTransformer - INFO - Epoch [8][2700/39528] lr: 8.063e-05, eta: 5 days, 16:03:25, time: 0.713, data_time: 0.037, memory: 19865, loss_cls: 0.1335, loss_bbox: 0.3434, loss_traj: 0.6388, loss_traj_cls: 0.0013, loss_map_cls: 0.1671, loss_map_pts: 0.6367, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.8846, d0.loss_plan_l1_fix_dist: 0.4303, d1.loss_plan_l1_fix_time: 1.1163, d1.loss_plan_l1_fix_dist: 0.1792, d2.loss_plan_l1_fix_time: 1.0983, d2.loss_plan_l1_fix_dist: 0.2223, d3.loss_plan_l1_fix_time: 1.0937, d3.loss_plan_l1_fix_dist: 0.1887, d4.loss_plan_l1_fix_time: 1.0948, d4.loss_plan_l1_fix_dist: 0.2085, d5.loss_plan_l1_fix_time: 1.0968, d5.loss_plan_l1_fix_dist: 0.2135, d6.loss_plan_l1_fix_time: 1.0998, d6.loss_plan_l1_fix_dist: 0.2065, d0.loss_cls_all: 0.1745, d0.loss_bbox_all: 0.4015, d0.loss_cls: 0.1745, d0.loss_bbox: 0.4015, d1.loss_cls: 0.1668, d1.loss_bbox: 0.3689, d2.loss_cls: 0.1531, d2.loss_bbox: 0.3475, d3.loss_cls: 0.1392, d3.loss_bbox: 0.3427, d4.loss_cls: 0.1363, d4.loss_bbox: 0.3393, d5.loss_cls: 0.1344, d5.loss_bbox: 0.3406, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9086, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6893, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6485, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6369, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6370, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6372, d0.loss_map_cls_all: 0.2402, d0.loss_map_pts_all: 1.3183, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2402, d0.loss_map_pts: 1.3183, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.2098, d1.loss_map_pts: 0.9341, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1881, d2.loss_map_pts: 0.7452, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1751, d3.loss_map_pts: 0.6677, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1690, d4.loss_map_pts: 0.6434, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1682, d5.loss_map_pts: 0.6366, d5.loss_map_dir: 0.0084, loss: 28.5575, grad_norm: 138.9017 +2026-02-27 19:12:09,815 - DriveTransformer - INFO - Epoch [8][2750/39528] lr: 8.063e-05, eta: 5 days, 16:02:33, time: 0.712, data_time: 0.036, memory: 19865, loss_cls: 0.1614, loss_bbox: 0.3570, loss_traj: 0.5996, loss_traj_cls: 0.0014, loss_map_cls: 0.1616, loss_map_pts: 0.6718, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 3.0552, d0.loss_plan_l1_fix_dist: 0.4593, d1.loss_plan_l1_fix_time: 1.0956, d1.loss_plan_l1_fix_dist: 0.1879, d2.loss_plan_l1_fix_time: 1.0749, d2.loss_plan_l1_fix_dist: 0.2528, d3.loss_plan_l1_fix_time: 1.0676, d3.loss_plan_l1_fix_dist: 0.2048, d4.loss_plan_l1_fix_time: 1.0694, d4.loss_plan_l1_fix_dist: 0.2265, d5.loss_plan_l1_fix_time: 1.0720, d5.loss_plan_l1_fix_dist: 0.2334, d6.loss_plan_l1_fix_time: 1.0753, d6.loss_plan_l1_fix_dist: 0.2200, d0.loss_cls_all: 0.2009, d0.loss_bbox_all: 0.4282, d0.loss_cls: 0.2009, d0.loss_bbox: 0.4282, d1.loss_cls: 0.1946, d1.loss_bbox: 0.3927, d2.loss_cls: 0.1811, d2.loss_bbox: 0.3728, d3.loss_cls: 0.1684, d3.loss_bbox: 0.3636, d4.loss_cls: 0.1631, d4.loss_bbox: 0.3594, d5.loss_cls: 0.1603, d5.loss_bbox: 0.3582, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8048, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6467, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6134, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6049, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5937, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.5928, d0.loss_map_cls_all: 0.2341, d0.loss_map_pts_all: 1.3127, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2341, d0.loss_map_pts: 1.3127, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2096, d1.loss_map_pts: 0.9146, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1910, d2.loss_map_pts: 0.7595, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1791, d3.loss_map_pts: 0.6982, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1694, d4.loss_map_pts: 0.6776, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1640, d5.loss_map_pts: 0.6727, d5.loss_map_dir: 0.0088, loss: 28.8790, grad_norm: 138.6304 +2026-02-27 19:12:46,237 - DriveTransformer - INFO - Epoch [8][2800/39528] lr: 8.063e-05, eta: 5 days, 16:01:54, time: 0.728, data_time: 0.039, memory: 19865, loss_cls: 0.1480, loss_bbox: 0.3579, loss_traj: 0.7470, loss_traj_cls: 0.0013, loss_map_cls: 0.1540, loss_map_pts: 0.6478, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 3.0280, d0.loss_plan_l1_fix_dist: 0.4106, d1.loss_plan_l1_fix_time: 1.0777, d1.loss_plan_l1_fix_dist: 0.1889, d2.loss_plan_l1_fix_time: 1.0573, d2.loss_plan_l1_fix_dist: 0.2550, d3.loss_plan_l1_fix_time: 1.0610, d3.loss_plan_l1_fix_dist: 0.2123, d4.loss_plan_l1_fix_time: 1.0636, d4.loss_plan_l1_fix_dist: 0.1970, d5.loss_plan_l1_fix_time: 1.0666, d5.loss_plan_l1_fix_dist: 0.2005, d6.loss_plan_l1_fix_time: 1.0699, d6.loss_plan_l1_fix_dist: 0.2399, d0.loss_cls_all: 0.1975, d0.loss_bbox_all: 0.4097, d0.loss_cls: 0.1975, d0.loss_bbox: 0.4097, d1.loss_cls: 0.1881, d1.loss_bbox: 0.3802, d2.loss_cls: 0.1745, d2.loss_bbox: 0.3643, d3.loss_cls: 0.1584, d3.loss_bbox: 0.3602, d4.loss_cls: 0.1495, d4.loss_bbox: 0.3597, d5.loss_cls: 0.1463, d5.loss_bbox: 0.3577, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9982, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8277, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7639, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7541, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7459, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.7432, d0.loss_map_cls_all: 0.2393, d0.loss_map_pts_all: 1.2424, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2393, d0.loss_map_pts: 1.2424, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2057, d1.loss_map_pts: 0.8864, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1808, d2.loss_map_pts: 0.7395, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1678, d3.loss_map_pts: 0.6812, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1599, d4.loss_map_pts: 0.6562, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1560, d5.loss_map_pts: 0.6486, d5.loss_map_dir: 0.0083, loss: 29.3889, grad_norm: 141.3774 +2026-02-27 19:13:22,558 - DriveTransformer - INFO - Epoch [8][2850/39528] lr: 8.063e-05, eta: 5 days, 16:01:13, time: 0.726, data_time: 0.037, memory: 19865, loss_cls: 0.1214, loss_bbox: 0.3336, loss_traj: 0.6588, loss_traj_cls: 0.0014, loss_map_cls: 0.1417, loss_map_pts: 0.6727, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.4747, d0.loss_plan_l1_fix_dist: 0.4108, d1.loss_plan_l1_fix_time: 0.9415, d1.loss_plan_l1_fix_dist: 0.1889, d2.loss_plan_l1_fix_time: 0.9196, d2.loss_plan_l1_fix_dist: 0.2556, d3.loss_plan_l1_fix_time: 0.9183, d3.loss_plan_l1_fix_dist: 0.2213, d4.loss_plan_l1_fix_time: 0.9201, d4.loss_plan_l1_fix_dist: 0.1883, d5.loss_plan_l1_fix_time: 0.9218, d5.loss_plan_l1_fix_dist: 0.1925, d6.loss_plan_l1_fix_time: 0.9240, d6.loss_plan_l1_fix_dist: 0.2555, d0.loss_cls_all: 0.1556, d0.loss_bbox_all: 0.3858, d0.loss_cls: 0.1556, d0.loss_bbox: 0.3858, d1.loss_cls: 0.1511, d1.loss_bbox: 0.3545, d2.loss_cls: 0.1397, d2.loss_bbox: 0.3355, d3.loss_cls: 0.1309, d3.loss_bbox: 0.3315, d4.loss_cls: 0.1244, d4.loss_bbox: 0.3313, d5.loss_cls: 0.1195, d5.loss_bbox: 0.3330, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8990, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6838, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6497, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6471, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6445, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.6528, d0.loss_map_cls_all: 0.2269, d0.loss_map_pts_all: 1.3966, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2269, d0.loss_map_pts: 1.3966, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1907, d1.loss_map_pts: 0.9403, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1659, d2.loss_map_pts: 0.7667, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1558, d3.loss_map_pts: 0.7036, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1471, d4.loss_map_pts: 0.6792, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1433, d5.loss_map_pts: 0.6732, d5.loss_map_dir: 0.0090, loss: 27.1641, grad_norm: 149.5436 +2026-02-27 19:13:59,059 - DriveTransformer - INFO - Epoch [8][2900/39528] lr: 8.063e-05, eta: 5 days, 16:00:35, time: 0.730, data_time: 0.038, memory: 19865, loss_cls: 0.1306, loss_bbox: 0.3465, loss_traj: 0.5967, loss_traj_cls: 0.0014, loss_map_cls: 0.1406, loss_map_pts: 0.6039, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 3.0026, d0.loss_plan_l1_fix_dist: 0.3659, d1.loss_plan_l1_fix_time: 1.1265, d1.loss_plan_l1_fix_dist: 0.2031, d2.loss_plan_l1_fix_time: 1.1042, d2.loss_plan_l1_fix_dist: 0.2393, d3.loss_plan_l1_fix_time: 1.1042, d3.loss_plan_l1_fix_dist: 0.2185, d4.loss_plan_l1_fix_time: 1.1062, d4.loss_plan_l1_fix_dist: 0.2005, d5.loss_plan_l1_fix_time: 1.1086, d5.loss_plan_l1_fix_dist: 0.1998, d6.loss_plan_l1_fix_time: 1.1117, d6.loss_plan_l1_fix_dist: 0.2305, d0.loss_cls_all: 0.1746, d0.loss_bbox_all: 0.4054, d0.loss_cls: 0.1746, d0.loss_bbox: 0.4054, d1.loss_cls: 0.1675, d1.loss_bbox: 0.3724, d2.loss_cls: 0.1502, d2.loss_bbox: 0.3565, d3.loss_cls: 0.1364, d3.loss_bbox: 0.3513, d4.loss_cls: 0.1331, d4.loss_bbox: 0.3469, d5.loss_cls: 0.1307, d5.loss_bbox: 0.3464, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8039, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6506, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6031, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6000, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5950, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.5938, d0.loss_map_cls_all: 0.2097, d0.loss_map_pts_all: 1.2202, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2097, d0.loss_map_pts: 1.2202, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1759, d1.loss_map_pts: 0.8243, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1602, d2.loss_map_pts: 0.6775, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1506, d3.loss_map_pts: 0.6295, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1442, d4.loss_map_pts: 0.6096, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1406, d5.loss_map_pts: 0.6034, d5.loss_map_dir: 0.0085, loss: 27.6896, grad_norm: 150.0743 +2026-02-27 19:14:35,043 - DriveTransformer - INFO - Epoch [8][2950/39528] lr: 8.063e-05, eta: 5 days, 15:59:49, time: 0.720, data_time: 0.037, memory: 19865, loss_cls: 0.1714, loss_bbox: 0.3764, loss_traj: 0.6994, loss_traj_cls: 0.0014, loss_map_cls: 0.1479, loss_map_pts: 0.6862, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 3.1028, d0.loss_plan_l1_fix_dist: 0.4292, d1.loss_plan_l1_fix_time: 1.0761, d1.loss_plan_l1_fix_dist: 0.2415, d2.loss_plan_l1_fix_time: 1.0763, d2.loss_plan_l1_fix_dist: 0.2430, d3.loss_plan_l1_fix_time: 1.0816, d3.loss_plan_l1_fix_dist: 0.2474, d4.loss_plan_l1_fix_time: 1.0860, d4.loss_plan_l1_fix_dist: 0.2603, d5.loss_plan_l1_fix_time: 1.0906, d5.loss_plan_l1_fix_dist: 0.2621, d6.loss_plan_l1_fix_time: 1.0962, d6.loss_plan_l1_fix_dist: 0.2699, d0.loss_cls_all: 0.2138, d0.loss_bbox_all: 0.4437, d0.loss_cls: 0.2138, d0.loss_bbox: 0.4437, d1.loss_cls: 0.2063, d1.loss_bbox: 0.4062, d2.loss_cls: 0.1923, d2.loss_bbox: 0.3877, d3.loss_cls: 0.1783, d3.loss_bbox: 0.3806, d4.loss_cls: 0.1741, d4.loss_bbox: 0.3780, d5.loss_cls: 0.1703, d5.loss_bbox: 0.3758, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9211, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7595, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7154, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7064, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7007, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6999, d0.loss_map_cls_all: 0.2194, d0.loss_map_pts_all: 1.2609, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2194, d0.loss_map_pts: 1.2609, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1932, d1.loss_map_pts: 0.9117, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1726, d2.loss_map_pts: 0.7677, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1612, d3.loss_map_pts: 0.7167, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1539, d4.loss_map_pts: 0.6945, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1501, d5.loss_map_pts: 0.6870, d5.loss_map_dir: 0.0082, loss: 29.9542, grad_norm: 150.1347 +2026-02-27 19:15:11,082 - DriveTransformer - INFO - Epoch [8][3000/39528] lr: 8.063e-05, eta: 5 days, 15:59:03, time: 0.721, data_time: 0.036, memory: 19865, loss_cls: 0.1354, loss_bbox: 0.3431, loss_traj: 0.6262, loss_traj_cls: 0.0014, loss_map_cls: 0.1212, loss_map_pts: 0.6129, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.2318, d0.loss_plan_l1_fix_dist: 0.4607, d1.loss_plan_l1_fix_time: 0.9622, d1.loss_plan_l1_fix_dist: 0.2429, d2.loss_plan_l1_fix_time: 0.9540, d2.loss_plan_l1_fix_dist: 0.1981, d3.loss_plan_l1_fix_time: 0.9566, d3.loss_plan_l1_fix_dist: 0.1955, d4.loss_plan_l1_fix_time: 0.9604, d4.loss_plan_l1_fix_dist: 0.2082, d5.loss_plan_l1_fix_time: 0.9644, d5.loss_plan_l1_fix_dist: 0.2155, d6.loss_plan_l1_fix_time: 0.9692, d6.loss_plan_l1_fix_dist: 0.2156, d0.loss_cls_all: 0.1792, d0.loss_bbox_all: 0.3999, d0.loss_cls: 0.1792, d0.loss_bbox: 0.3999, d1.loss_cls: 0.1703, d1.loss_bbox: 0.3665, d2.loss_cls: 0.1557, d2.loss_bbox: 0.3495, d3.loss_cls: 0.1418, d3.loss_bbox: 0.3430, d4.loss_cls: 0.1371, d4.loss_bbox: 0.3414, d5.loss_cls: 0.1343, d5.loss_bbox: 0.3413, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8322, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6684, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6425, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6336, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6266, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.6245, d0.loss_map_cls_all: 0.2032, d0.loss_map_pts_all: 1.2846, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2032, d0.loss_map_pts: 1.2846, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1676, d1.loss_map_pts: 0.8881, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1449, d2.loss_map_pts: 0.7085, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1339, d3.loss_map_pts: 0.6475, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1256, d4.loss_map_pts: 0.6236, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1222, d5.loss_map_pts: 0.6135, d5.loss_map_dir: 0.0089, loss: 26.4703, grad_norm: 150.7598 +2026-02-27 19:15:46,472 - DriveTransformer - INFO - Epoch [8][3050/39528] lr: 8.063e-05, eta: 5 days, 15:58:08, time: 0.708, data_time: 0.036, memory: 19865, loss_cls: 0.1478, loss_bbox: 0.3573, loss_traj: 0.6545, loss_traj_cls: 0.0013, loss_map_cls: 0.1628, loss_map_pts: 0.7203, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.8813, d0.loss_plan_l1_fix_dist: 0.3796, d1.loss_plan_l1_fix_time: 1.0072, d1.loss_plan_l1_fix_dist: 0.2448, d2.loss_plan_l1_fix_time: 1.0088, d2.loss_plan_l1_fix_dist: 0.1934, d3.loss_plan_l1_fix_time: 1.0080, d3.loss_plan_l1_fix_dist: 0.1937, d4.loss_plan_l1_fix_time: 1.0118, d4.loss_plan_l1_fix_dist: 0.2180, d5.loss_plan_l1_fix_time: 1.0158, d5.loss_plan_l1_fix_dist: 0.2403, d6.loss_plan_l1_fix_time: 1.0201, d6.loss_plan_l1_fix_dist: 0.2413, d0.loss_cls_all: 0.1839, d0.loss_bbox_all: 0.4174, d0.loss_cls: 0.1839, d0.loss_bbox: 0.4174, d1.loss_cls: 0.1762, d1.loss_bbox: 0.3804, d2.loss_cls: 0.1634, d2.loss_bbox: 0.3655, d3.loss_cls: 0.1521, d3.loss_bbox: 0.3599, d4.loss_cls: 0.1495, d4.loss_bbox: 0.3571, d5.loss_cls: 0.1488, d5.loss_bbox: 0.3561, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9038, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7309, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6775, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6647, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6598, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6628, d0.loss_map_cls_all: 0.2401, d0.loss_map_pts_all: 1.3321, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2401, d0.loss_map_pts: 1.3321, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.2111, d1.loss_map_pts: 0.9695, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1882, d2.loss_map_pts: 0.8137, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1759, d3.loss_map_pts: 0.7496, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1695, d4.loss_map_pts: 0.7255, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1648, d5.loss_map_pts: 0.7214, d5.loss_map_dir: 0.0089, loss: 28.9283, grad_norm: 151.2725 +2026-02-27 19:16:24,127 - DriveTransformer - INFO - Epoch [8][3100/39528] lr: 8.063e-05, eta: 5 days, 15:57:48, time: 0.753, data_time: 0.037, memory: 19865, loss_cls: 0.1470, loss_bbox: 0.3535, loss_traj: 0.5564, loss_traj_cls: 0.0013, loss_map_cls: 0.1838, loss_map_pts: 0.7868, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.3927, d0.loss_plan_l1_fix_dist: 0.4597, d1.loss_plan_l1_fix_time: 1.0746, d1.loss_plan_l1_fix_dist: 0.2464, d2.loss_plan_l1_fix_time: 1.0631, d2.loss_plan_l1_fix_dist: 0.2108, d3.loss_plan_l1_fix_time: 1.0631, d3.loss_plan_l1_fix_dist: 0.2000, d4.loss_plan_l1_fix_time: 1.0668, d4.loss_plan_l1_fix_dist: 0.2003, d5.loss_plan_l1_fix_time: 1.0707, d5.loss_plan_l1_fix_dist: 0.2148, d6.loss_plan_l1_fix_time: 1.0754, d6.loss_plan_l1_fix_dist: 0.2490, d0.loss_cls_all: 0.1828, d0.loss_bbox_all: 0.4200, d0.loss_cls: 0.1828, d0.loss_bbox: 0.4200, d1.loss_cls: 0.1733, d1.loss_bbox: 0.3853, d2.loss_cls: 0.1597, d2.loss_bbox: 0.3646, d3.loss_cls: 0.1493, d3.loss_bbox: 0.3568, d4.loss_cls: 0.1472, d4.loss_bbox: 0.3533, d5.loss_cls: 0.1462, d5.loss_bbox: 0.3533, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7642, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6247, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5752, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5683, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5593, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5524, d0.loss_map_cls_all: 0.2679, d0.loss_map_pts_all: 1.5590, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2679, d0.loss_map_pts: 1.5590, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2323, d1.loss_map_pts: 1.0931, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.2092, d2.loss_map_pts: 0.8943, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1967, d3.loss_map_pts: 0.8271, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1893, d4.loss_map_pts: 0.7992, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1854, d5.loss_map_pts: 0.7895, d5.loss_map_dir: 0.0103, loss: 29.2103, grad_norm: 150.6551 +2026-02-27 19:17:00,551 - DriveTransformer - INFO - Epoch [8][3150/39528] lr: 8.063e-05, eta: 5 days, 15:57:09, time: 0.728, data_time: 0.036, memory: 19865, loss_cls: 0.1448, loss_bbox: 0.3430, loss_traj: 0.6132, loss_traj_cls: 0.0013, loss_map_cls: 0.1445, loss_map_pts: 0.6491, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.8253, d0.loss_plan_l1_fix_dist: 0.4180, d1.loss_plan_l1_fix_time: 0.9002, d1.loss_plan_l1_fix_dist: 0.2305, d2.loss_plan_l1_fix_time: 0.8863, d2.loss_plan_l1_fix_dist: 0.2089, d3.loss_plan_l1_fix_time: 0.8896, d3.loss_plan_l1_fix_dist: 0.1880, d4.loss_plan_l1_fix_time: 0.8946, d4.loss_plan_l1_fix_dist: 0.1839, d5.loss_plan_l1_fix_time: 0.8998, d5.loss_plan_l1_fix_dist: 0.1981, d6.loss_plan_l1_fix_time: 0.9050, d6.loss_plan_l1_fix_dist: 0.2616, d0.loss_cls_all: 0.1815, d0.loss_bbox_all: 0.4016, d0.loss_cls: 0.1815, d0.loss_bbox: 0.4016, d1.loss_cls: 0.1756, d1.loss_bbox: 0.3690, d2.loss_cls: 0.1612, d2.loss_bbox: 0.3519, d3.loss_cls: 0.1501, d3.loss_bbox: 0.3458, d4.loss_cls: 0.1442, d4.loss_bbox: 0.3426, d5.loss_cls: 0.1453, d5.loss_bbox: 0.3404, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8544, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7082, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6427, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6220, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6111, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6171, d0.loss_map_cls_all: 0.2277, d0.loss_map_pts_all: 1.2956, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2277, d0.loss_map_pts: 1.2956, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1925, d1.loss_map_pts: 0.9045, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1714, d2.loss_map_pts: 0.7410, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1604, d3.loss_map_pts: 0.6831, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1515, d4.loss_map_pts: 0.6568, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1463, d5.loss_map_pts: 0.6507, d5.loss_map_dir: 0.0086, loss: 27.1114, grad_norm: 151.8970 +2026-02-27 19:17:37,303 - DriveTransformer - INFO - Epoch [8][3200/39528] lr: 8.063e-05, eta: 5 days, 15:56:35, time: 0.735, data_time: 0.039, memory: 19865, loss_cls: 0.1350, loss_bbox: 0.3332, loss_traj: 0.4899, loss_traj_cls: 0.0013, loss_map_cls: 0.1448, loss_map_pts: 0.6639, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.4063, d0.loss_plan_l1_fix_dist: 0.3736, d1.loss_plan_l1_fix_time: 0.8757, d1.loss_plan_l1_fix_dist: 0.1911, d2.loss_plan_l1_fix_time: 0.8574, d2.loss_plan_l1_fix_dist: 0.1827, d3.loss_plan_l1_fix_time: 0.8572, d3.loss_plan_l1_fix_dist: 0.1692, d4.loss_plan_l1_fix_time: 0.8612, d4.loss_plan_l1_fix_dist: 0.1733, d5.loss_plan_l1_fix_time: 0.8659, d5.loss_plan_l1_fix_dist: 0.1813, d6.loss_plan_l1_fix_time: 0.8703, d6.loss_plan_l1_fix_dist: 0.2025, d0.loss_cls_all: 0.1746, d0.loss_bbox_all: 0.3904, d0.loss_cls: 0.1746, d0.loss_bbox: 0.3904, d1.loss_cls: 0.1655, d1.loss_bbox: 0.3610, d2.loss_cls: 0.1518, d2.loss_bbox: 0.3423, d3.loss_cls: 0.1383, d3.loss_bbox: 0.3357, d4.loss_cls: 0.1354, d4.loss_bbox: 0.3319, d5.loss_cls: 0.1346, d5.loss_bbox: 0.3313, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6977, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5411, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5003, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.4927, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4889, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.4935, d0.loss_map_cls_all: 0.2311, d0.loss_map_pts_all: 1.3462, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2311, d0.loss_map_pts: 1.3462, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1959, d1.loss_map_pts: 0.9324, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1709, d2.loss_map_pts: 0.7650, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1600, d3.loss_map_pts: 0.6991, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1530, d4.loss_map_pts: 0.6742, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1462, d5.loss_map_pts: 0.6660, d5.loss_map_dir: 0.0088, loss: 25.3998, grad_norm: 152.0607 +2026-02-27 19:18:13,316 - DriveTransformer - INFO - Epoch [8][3250/39528] lr: 8.063e-05, eta: 5 days, 15:55:49, time: 0.720, data_time: 0.039, memory: 19865, loss_cls: 0.1420, loss_bbox: 0.3513, loss_traj: 0.6446, loss_traj_cls: 0.0013, loss_map_cls: 0.1522, loss_map_pts: 0.6579, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.9656, d0.loss_plan_l1_fix_dist: 0.5304, d1.loss_plan_l1_fix_time: 1.0265, d1.loss_plan_l1_fix_dist: 0.2145, d2.loss_plan_l1_fix_time: 1.0161, d2.loss_plan_l1_fix_dist: 0.2197, d3.loss_plan_l1_fix_time: 1.0207, d3.loss_plan_l1_fix_dist: 0.2142, d4.loss_plan_l1_fix_time: 1.0239, d4.loss_plan_l1_fix_dist: 0.2261, d5.loss_plan_l1_fix_time: 1.0272, d5.loss_plan_l1_fix_dist: 0.2283, d6.loss_plan_l1_fix_time: 1.0308, d6.loss_plan_l1_fix_dist: 0.2254, d0.loss_cls_all: 0.1779, d0.loss_bbox_all: 0.4129, d0.loss_cls: 0.1779, d0.loss_bbox: 0.4129, d1.loss_cls: 0.1712, d1.loss_bbox: 0.3769, d2.loss_cls: 0.1616, d2.loss_bbox: 0.3587, d3.loss_cls: 0.1489, d3.loss_bbox: 0.3531, d4.loss_cls: 0.1437, d4.loss_bbox: 0.3510, d5.loss_cls: 0.1423, d5.loss_bbox: 0.3494, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8462, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6944, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6559, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6401, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6370, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6378, d0.loss_map_cls_all: 0.2180, d0.loss_map_pts_all: 1.2990, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2180, d0.loss_map_pts: 1.2990, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1943, d1.loss_map_pts: 0.9305, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1767, d2.loss_map_pts: 0.7641, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1635, d3.loss_map_pts: 0.6924, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1551, d4.loss_map_pts: 0.6642, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1516, d5.loss_map_pts: 0.6593, d5.loss_map_dir: 0.0071, loss: 28.4155, grad_norm: 153.2978 +2026-02-27 19:18:50,213 - DriveTransformer - INFO - Epoch [8][3300/39528] lr: 8.063e-05, eta: 5 days, 15:55:17, time: 0.738, data_time: 0.036, memory: 19865, loss_cls: 0.1379, loss_bbox: 0.3492, loss_traj: 0.4667, loss_traj_cls: 0.0013, loss_map_cls: 0.1345, loss_map_pts: 0.7153, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.0784, d0.loss_plan_l1_fix_dist: 0.5070, d1.loss_plan_l1_fix_time: 0.8638, d1.loss_plan_l1_fix_dist: 0.1857, d2.loss_plan_l1_fix_time: 0.8439, d2.loss_plan_l1_fix_dist: 0.1876, d3.loss_plan_l1_fix_time: 0.8419, d3.loss_plan_l1_fix_dist: 0.1820, d4.loss_plan_l1_fix_time: 0.8445, d4.loss_plan_l1_fix_dist: 0.1966, d5.loss_plan_l1_fix_time: 0.8478, d5.loss_plan_l1_fix_dist: 0.1990, d6.loss_plan_l1_fix_time: 0.8524, d6.loss_plan_l1_fix_dist: 0.2217, d0.loss_cls_all: 0.1718, d0.loss_bbox_all: 0.4024, d0.loss_cls: 0.1718, d0.loss_bbox: 0.4024, d1.loss_cls: 0.1687, d1.loss_bbox: 0.3684, d2.loss_cls: 0.1556, d2.loss_bbox: 0.3541, d3.loss_cls: 0.1454, d3.loss_bbox: 0.3496, d4.loss_cls: 0.1396, d4.loss_bbox: 0.3477, d5.loss_cls: 0.1375, d5.loss_bbox: 0.3472, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6212, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5118, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.4772, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.4692, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4652, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.4654, d0.loss_map_cls_all: 0.2110, d0.loss_map_pts_all: 1.3939, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2110, d0.loss_map_pts: 1.3939, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.1762, d1.loss_map_pts: 0.9610, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1560, d2.loss_map_pts: 0.8062, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1453, d3.loss_map_pts: 0.7446, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1390, d4.loss_map_pts: 0.7241, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1351, d5.loss_map_pts: 0.7171, d5.loss_map_dir: 0.0103, loss: 25.3306, grad_norm: 154.9362 +2026-02-27 19:19:26,999 - DriveTransformer - INFO - Epoch [8][3350/39528] lr: 8.063e-05, eta: 5 days, 15:54:44, time: 0.736, data_time: 0.036, memory: 19865, loss_cls: 0.1394, loss_bbox: 0.3225, loss_traj: 0.6655, loss_traj_cls: 0.0013, loss_map_cls: 0.1238, loss_map_pts: 0.5728, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.3982, d0.loss_plan_l1_fix_dist: 0.4487, d1.loss_plan_l1_fix_time: 0.9328, d1.loss_plan_l1_fix_dist: 0.1894, d2.loss_plan_l1_fix_time: 0.9136, d2.loss_plan_l1_fix_dist: 0.1666, d3.loss_plan_l1_fix_time: 0.8952, d3.loss_plan_l1_fix_dist: 0.1709, d4.loss_plan_l1_fix_time: 0.8969, d4.loss_plan_l1_fix_dist: 0.1933, d5.loss_plan_l1_fix_time: 0.9005, d5.loss_plan_l1_fix_dist: 0.2065, d6.loss_plan_l1_fix_time: 0.9052, d6.loss_plan_l1_fix_dist: 0.2226, d0.loss_cls_all: 0.1728, d0.loss_bbox_all: 0.3784, d0.loss_cls: 0.1728, d0.loss_bbox: 0.3784, d1.loss_cls: 0.1652, d1.loss_bbox: 0.3464, d2.loss_cls: 0.1551, d2.loss_bbox: 0.3282, d3.loss_cls: 0.1422, d3.loss_bbox: 0.3256, d4.loss_cls: 0.1393, d4.loss_bbox: 0.3234, d5.loss_cls: 0.1368, d5.loss_bbox: 0.3225, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9138, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7449, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6869, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6734, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6623, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6616, d0.loss_map_cls_all: 0.2208, d0.loss_map_pts_all: 1.2546, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2208, d0.loss_map_pts: 1.2546, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1691, d1.loss_map_pts: 0.8334, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1494, d2.loss_map_pts: 0.6659, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1381, d3.loss_map_pts: 0.6045, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1306, d4.loss_map_pts: 0.5826, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1257, d5.loss_map_pts: 0.5729, d5.loss_map_dir: 0.0084, loss: 26.0897, grad_norm: 160.2905 +2026-02-27 19:20:03,212 - DriveTransformer - INFO - Epoch [8][3400/39528] lr: 8.063e-05, eta: 5 days, 15:54:03, time: 0.726, data_time: 0.039, memory: 19865, loss_cls: 0.1547, loss_bbox: 0.3508, loss_traj: 0.5783, loss_traj_cls: 0.0013, loss_map_cls: 0.1537, loss_map_pts: 0.6786, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.7739, d0.loss_plan_l1_fix_dist: 0.4920, d1.loss_plan_l1_fix_time: 1.0847, d1.loss_plan_l1_fix_dist: 0.2612, d2.loss_plan_l1_fix_time: 1.0702, d2.loss_plan_l1_fix_dist: 0.2012, d3.loss_plan_l1_fix_time: 1.0649, d3.loss_plan_l1_fix_dist: 0.1998, d4.loss_plan_l1_fix_time: 1.0679, d4.loss_plan_l1_fix_dist: 0.2056, d5.loss_plan_l1_fix_time: 1.0718, d5.loss_plan_l1_fix_dist: 0.2154, d6.loss_plan_l1_fix_time: 1.0765, d6.loss_plan_l1_fix_dist: 0.2212, d0.loss_cls_all: 0.1907, d0.loss_bbox_all: 0.4232, d0.loss_cls: 0.1907, d0.loss_bbox: 0.4232, d1.loss_cls: 0.1886, d1.loss_bbox: 0.3839, d2.loss_cls: 0.1706, d2.loss_bbox: 0.3642, d3.loss_cls: 0.1594, d3.loss_bbox: 0.3570, d4.loss_cls: 0.1547, d4.loss_bbox: 0.3541, d5.loss_cls: 0.1540, d5.loss_bbox: 0.3516, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8041, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6455, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5951, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5771, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5773, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5735, d0.loss_map_cls_all: 0.2511, d0.loss_map_pts_all: 1.3950, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2511, d0.loss_map_pts: 1.3950, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2075, d1.loss_map_pts: 0.9512, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1822, d2.loss_map_pts: 0.7726, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1696, d3.loss_map_pts: 0.7100, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1621, d4.loss_map_pts: 0.6866, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1563, d5.loss_map_pts: 0.6798, d5.loss_map_dir: 0.0092, loss: 28.6120, grad_norm: 158.5622 +2026-02-27 19:20:39,970 - DriveTransformer - INFO - Epoch [8][3450/39528] lr: 8.063e-05, eta: 5 days, 15:53:28, time: 0.734, data_time: 0.036, memory: 19865, loss_cls: 0.1309, loss_bbox: 0.3247, loss_traj: 0.5186, loss_traj_cls: 0.0012, loss_map_cls: 0.1206, loss_map_pts: 0.5828, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.2881, d0.loss_plan_l1_fix_dist: 0.4872, d1.loss_plan_l1_fix_time: 0.8088, d1.loss_plan_l1_fix_dist: 0.2783, d2.loss_plan_l1_fix_time: 0.7995, d2.loss_plan_l1_fix_dist: 0.2054, d3.loss_plan_l1_fix_time: 0.8008, d3.loss_plan_l1_fix_dist: 0.2067, d4.loss_plan_l1_fix_time: 0.8043, d4.loss_plan_l1_fix_dist: 0.1998, d5.loss_plan_l1_fix_time: 0.8077, d5.loss_plan_l1_fix_dist: 0.2048, d6.loss_plan_l1_fix_time: 0.8115, d6.loss_plan_l1_fix_dist: 0.2458, d0.loss_cls_all: 0.1657, d0.loss_bbox_all: 0.3837, d0.loss_cls: 0.1657, d0.loss_bbox: 0.3837, d1.loss_cls: 0.1597, d1.loss_bbox: 0.3526, d2.loss_cls: 0.1492, d2.loss_bbox: 0.3327, d3.loss_cls: 0.1370, d3.loss_bbox: 0.3278, d4.loss_cls: 0.1319, d4.loss_bbox: 0.3265, d5.loss_cls: 0.1302, d5.loss_bbox: 0.3253, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7160, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5738, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5295, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5193, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5143, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5148, d0.loss_map_cls_all: 0.2005, d0.loss_map_pts_all: 1.2900, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2005, d0.loss_map_pts: 1.2900, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1608, d1.loss_map_pts: 0.8536, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1406, d2.loss_map_pts: 0.6824, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1305, d3.loss_map_pts: 0.6177, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1261, d4.loss_map_pts: 0.5944, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1212, d5.loss_map_pts: 0.5848, d5.loss_map_dir: 0.0083, loss: 24.5314, grad_norm: 162.6121 +2026-02-27 19:21:16,924 - DriveTransformer - INFO - Epoch [8][3500/39528] lr: 8.063e-05, eta: 5 days, 15:52:57, time: 0.739, data_time: 0.032, memory: 19865, loss_cls: 0.1560, loss_bbox: 0.3384, loss_traj: 0.5551, loss_traj_cls: 0.0012, loss_map_cls: 0.1716, loss_map_pts: 0.7415, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.6479, d0.loss_plan_l1_fix_dist: 0.5259, d1.loss_plan_l1_fix_time: 1.0780, d1.loss_plan_l1_fix_dist: 0.3157, d2.loss_plan_l1_fix_time: 1.0715, d2.loss_plan_l1_fix_dist: 0.2455, d3.loss_plan_l1_fix_time: 1.0761, d3.loss_plan_l1_fix_dist: 0.2511, d4.loss_plan_l1_fix_time: 1.0796, d4.loss_plan_l1_fix_dist: 0.2540, d5.loss_plan_l1_fix_time: 1.0831, d5.loss_plan_l1_fix_dist: 0.2542, d6.loss_plan_l1_fix_time: 1.0868, d6.loss_plan_l1_fix_dist: 0.2727, d0.loss_cls_all: 0.1888, d0.loss_bbox_all: 0.4069, d0.loss_cls: 0.1888, d0.loss_bbox: 0.4069, d1.loss_cls: 0.1819, d1.loss_bbox: 0.3729, d2.loss_cls: 0.1735, d2.loss_bbox: 0.3522, d3.loss_cls: 0.1603, d3.loss_bbox: 0.3446, d4.loss_cls: 0.1567, d4.loss_bbox: 0.3393, d5.loss_cls: 0.1556, d5.loss_bbox: 0.3377, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7685, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6166, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5717, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5631, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5576, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5575, d0.loss_map_cls_all: 0.2377, d0.loss_map_pts_all: 1.4831, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2377, d0.loss_map_pts: 1.4831, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2062, d1.loss_map_pts: 1.0430, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1899, d2.loss_map_pts: 0.8558, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1811, d3.loss_map_pts: 0.7830, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1758, d4.loss_map_pts: 0.7529, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1721, d5.loss_map_pts: 0.7430, d5.loss_map_dir: 0.0100, loss: 29.2339, grad_norm: 161.9997 +2026-02-27 19:21:55,271 - DriveTransformer - INFO - Epoch [8][3550/39528] lr: 8.063e-05, eta: 5 days, 15:52:47, time: 0.767, data_time: 0.036, memory: 19865, loss_cls: 0.1310, loss_bbox: 0.3384, loss_traj: 0.5874, loss_traj_cls: 0.0012, loss_map_cls: 0.1740, loss_map_pts: 0.7892, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.6275, d0.loss_plan_l1_fix_dist: 0.5455, d1.loss_plan_l1_fix_time: 0.9009, d1.loss_plan_l1_fix_dist: 0.2996, d2.loss_plan_l1_fix_time: 0.8873, d2.loss_plan_l1_fix_dist: 0.2445, d3.loss_plan_l1_fix_time: 0.8816, d3.loss_plan_l1_fix_dist: 0.2490, d4.loss_plan_l1_fix_time: 0.8838, d4.loss_plan_l1_fix_dist: 0.2591, d5.loss_plan_l1_fix_time: 0.8872, d5.loss_plan_l1_fix_dist: 0.2663, d6.loss_plan_l1_fix_time: 0.8909, d6.loss_plan_l1_fix_dist: 0.2639, d0.loss_cls_all: 0.1724, d0.loss_bbox_all: 0.4053, d0.loss_cls: 0.1724, d0.loss_bbox: 0.4053, d1.loss_cls: 0.1665, d1.loss_bbox: 0.3686, d2.loss_cls: 0.1500, d2.loss_bbox: 0.3519, d3.loss_cls: 0.1357, d3.loss_bbox: 0.3450, d4.loss_cls: 0.1324, d4.loss_bbox: 0.3404, d5.loss_cls: 0.1320, d5.loss_bbox: 0.3379, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8141, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6758, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6054, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5936, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5945, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5907, d0.loss_map_cls_all: 0.2493, d0.loss_map_pts_all: 1.5573, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2493, d0.loss_map_pts: 1.5573, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2155, d1.loss_map_pts: 1.0950, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1937, d2.loss_map_pts: 0.9000, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1829, d3.loss_map_pts: 0.8241, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1757, d4.loss_map_pts: 0.7971, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1741, d5.loss_map_pts: 0.7902, d5.loss_map_dir: 0.0099, loss: 28.6409, grad_norm: 162.1909 +2026-02-27 19:22:31,686 - DriveTransformer - INFO - Epoch [8][3600/39528] lr: 8.063e-05, eta: 5 days, 15:52:08, time: 0.728, data_time: 0.037, memory: 19865, loss_cls: 0.1451, loss_bbox: 0.3407, loss_traj: 0.5901, loss_traj_cls: 0.0012, loss_map_cls: 0.1538, loss_map_pts: 0.6651, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.7329, d0.loss_plan_l1_fix_dist: 0.4851, d1.loss_plan_l1_fix_time: 1.0052, d1.loss_plan_l1_fix_dist: 0.2712, d2.loss_plan_l1_fix_time: 1.0000, d2.loss_plan_l1_fix_dist: 0.2160, d3.loss_plan_l1_fix_time: 1.0021, d3.loss_plan_l1_fix_dist: 0.2197, d4.loss_plan_l1_fix_time: 1.0059, d4.loss_plan_l1_fix_dist: 0.2222, d5.loss_plan_l1_fix_time: 1.0101, d5.loss_plan_l1_fix_dist: 0.2297, d6.loss_plan_l1_fix_time: 1.0141, d6.loss_plan_l1_fix_dist: 0.2367, d0.loss_cls_all: 0.1792, d0.loss_bbox_all: 0.3882, d0.loss_cls: 0.1792, d0.loss_bbox: 0.3882, d1.loss_cls: 0.1724, d1.loss_bbox: 0.3602, d2.loss_cls: 0.1594, d2.loss_bbox: 0.3439, d3.loss_cls: 0.1499, d3.loss_bbox: 0.3413, d4.loss_cls: 0.1462, d4.loss_bbox: 0.3407, d5.loss_cls: 0.1447, d5.loss_bbox: 0.3405, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8063, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6662, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6123, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5917, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5952, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5943, d0.loss_map_cls_all: 0.2302, d0.loss_map_pts_all: 1.3279, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2302, d0.loss_map_pts: 1.3279, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.2001, d1.loss_map_pts: 0.9249, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1780, d2.loss_map_pts: 0.7598, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1668, d3.loss_map_pts: 0.6971, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1606, d4.loss_map_pts: 0.6720, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1553, d5.loss_map_pts: 0.6660, d5.loss_map_dir: 0.0081, loss: 27.8122, grad_norm: 161.3761 +2026-02-27 19:23:08,708 - DriveTransformer - INFO - Epoch [8][3650/39528] lr: 8.063e-05, eta: 5 days, 15:51:38, time: 0.740, data_time: 0.038, memory: 19865, loss_cls: 0.1449, loss_bbox: 0.3534, loss_traj: 0.5819, loss_traj_cls: 0.0012, loss_map_cls: 0.1448, loss_map_pts: 0.6573, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.9167, d0.loss_plan_l1_fix_dist: 0.4516, d1.loss_plan_l1_fix_time: 1.0652, d1.loss_plan_l1_fix_dist: 0.2749, d2.loss_plan_l1_fix_time: 1.0462, d2.loss_plan_l1_fix_dist: 0.2242, d3.loss_plan_l1_fix_time: 1.0372, d3.loss_plan_l1_fix_dist: 0.2223, d4.loss_plan_l1_fix_time: 1.0383, d4.loss_plan_l1_fix_dist: 0.2412, d5.loss_plan_l1_fix_time: 1.0403, d5.loss_plan_l1_fix_dist: 0.2613, d6.loss_plan_l1_fix_time: 1.0429, d6.loss_plan_l1_fix_dist: 0.2860, d0.loss_cls_all: 0.1891, d0.loss_bbox_all: 0.4113, d0.loss_cls: 0.1891, d0.loss_bbox: 0.4113, d1.loss_cls: 0.1848, d1.loss_bbox: 0.3784, d2.loss_cls: 0.1689, d2.loss_bbox: 0.3613, d3.loss_cls: 0.1532, d3.loss_bbox: 0.3548, d4.loss_cls: 0.1466, d4.loss_bbox: 0.3528, d5.loss_cls: 0.1443, d5.loss_bbox: 0.3533, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8209, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6608, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6106, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5883, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5868, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5881, d0.loss_map_cls_all: 0.2137, d0.loss_map_pts_all: 1.3308, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2137, d0.loss_map_pts: 1.3308, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1836, d1.loss_map_pts: 0.9187, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1668, d2.loss_map_pts: 0.7482, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1567, d3.loss_map_pts: 0.6906, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1519, d4.loss_map_pts: 0.6676, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1459, d5.loss_map_pts: 0.6589, d5.loss_map_dir: 0.0095, loss: 28.3445, grad_norm: 159.7480 +2026-02-27 19:23:44,879 - DriveTransformer - INFO - Epoch [8][3700/39528] lr: 8.063e-05, eta: 5 days, 15:50:55, time: 0.723, data_time: 0.035, memory: 19865, loss_cls: 0.1317, loss_bbox: 0.3454, loss_traj: 0.6539, loss_traj_cls: 0.0012, loss_map_cls: 0.1302, loss_map_pts: 0.5681, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.6859, d0.loss_plan_l1_fix_dist: 0.4371, d1.loss_plan_l1_fix_time: 0.8433, d1.loss_plan_l1_fix_dist: 0.2220, d2.loss_plan_l1_fix_time: 0.8321, d2.loss_plan_l1_fix_dist: 0.1921, d3.loss_plan_l1_fix_time: 0.8376, d3.loss_plan_l1_fix_dist: 0.1934, d4.loss_plan_l1_fix_time: 0.8416, d4.loss_plan_l1_fix_dist: 0.2110, d5.loss_plan_l1_fix_time: 0.8459, d5.loss_plan_l1_fix_dist: 0.2252, d6.loss_plan_l1_fix_time: 0.8513, d6.loss_plan_l1_fix_dist: 0.2458, d0.loss_cls_all: 0.1758, d0.loss_bbox_all: 0.4031, d0.loss_cls: 0.1758, d0.loss_bbox: 0.4031, d1.loss_cls: 0.1676, d1.loss_bbox: 0.3719, d2.loss_cls: 0.1512, d2.loss_bbox: 0.3525, d3.loss_cls: 0.1377, d3.loss_bbox: 0.3464, d4.loss_cls: 0.1326, d4.loss_bbox: 0.3439, d5.loss_cls: 0.1314, d5.loss_bbox: 0.3441, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8699, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7161, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6768, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6658, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6592, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6594, d0.loss_map_cls_all: 0.2184, d0.loss_map_pts_all: 1.2463, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2184, d0.loss_map_pts: 1.2463, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1756, d1.loss_map_pts: 0.8329, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1510, d2.loss_map_pts: 0.6611, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1388, d3.loss_map_pts: 0.5955, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1332, d4.loss_map_pts: 0.5730, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1303, d5.loss_map_pts: 0.5695, d5.loss_map_dir: 0.0079, loss: 26.1367, grad_norm: 161.2030 +2026-02-27 19:24:20,691 - DriveTransformer - INFO - Epoch [8][3750/39528] lr: 8.063e-05, eta: 5 days, 15:50:06, time: 0.716, data_time: 0.035, memory: 19865, loss_cls: 0.1280, loss_bbox: 0.3319, loss_traj: 0.5610, loss_traj_cls: 0.0012, loss_map_cls: 0.1478, loss_map_pts: 0.5983, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.5612, d0.loss_plan_l1_fix_dist: 0.3212, d1.loss_plan_l1_fix_time: 1.0562, d1.loss_plan_l1_fix_dist: 0.2243, d2.loss_plan_l1_fix_time: 1.0403, d2.loss_plan_l1_fix_dist: 0.1913, d3.loss_plan_l1_fix_time: 1.0355, d3.loss_plan_l1_fix_dist: 0.1907, d4.loss_plan_l1_fix_time: 1.0395, d4.loss_plan_l1_fix_dist: 0.1941, d5.loss_plan_l1_fix_time: 1.0441, d5.loss_plan_l1_fix_dist: 0.2040, d6.loss_plan_l1_fix_time: 1.0496, d6.loss_plan_l1_fix_dist: 0.2315, d0.loss_cls_all: 0.1690, d0.loss_bbox_all: 0.3951, d0.loss_cls: 0.1690, d0.loss_bbox: 0.3951, d1.loss_cls: 0.1616, d1.loss_bbox: 0.3589, d2.loss_cls: 0.1494, d2.loss_bbox: 0.3379, d3.loss_cls: 0.1342, d3.loss_bbox: 0.3355, d4.loss_cls: 0.1298, d4.loss_bbox: 0.3303, d5.loss_cls: 0.1281, d5.loss_bbox: 0.3298, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7687, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6141, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5814, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5606, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5577, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5583, d0.loss_map_cls_all: 0.2161, d0.loss_map_pts_all: 1.2501, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2161, d0.loss_map_pts: 1.2501, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1857, d1.loss_map_pts: 0.8734, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1648, d2.loss_map_pts: 0.7071, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1549, d3.loss_map_pts: 0.6387, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1510, d4.loss_map_pts: 0.6089, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1483, d5.loss_map_pts: 0.5997, d5.loss_map_dir: 0.0079, loss: 26.5479, grad_norm: 162.3946 +2026-02-27 19:24:57,547 - DriveTransformer - INFO - Epoch [8][3800/39528] lr: 8.063e-05, eta: 5 days, 15:49:34, time: 0.737, data_time: 0.034, memory: 19865, loss_cls: 0.1455, loss_bbox: 0.3418, loss_traj: 0.5417, loss_traj_cls: 0.0011, loss_map_cls: 0.1685, loss_map_pts: 0.7372, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.4601, d0.loss_plan_l1_fix_dist: 0.4040, d1.loss_plan_l1_fix_time: 0.9943, d1.loss_plan_l1_fix_dist: 0.2377, d2.loss_plan_l1_fix_time: 0.9830, d2.loss_plan_l1_fix_dist: 0.1964, d3.loss_plan_l1_fix_time: 0.9771, d3.loss_plan_l1_fix_dist: 0.2001, d4.loss_plan_l1_fix_time: 0.9797, d4.loss_plan_l1_fix_dist: 0.2040, d5.loss_plan_l1_fix_time: 0.9838, d5.loss_plan_l1_fix_dist: 0.2188, d6.loss_plan_l1_fix_time: 0.9889, d6.loss_plan_l1_fix_dist: 0.2552, d0.loss_cls_all: 0.1849, d0.loss_bbox_all: 0.4030, d0.loss_cls: 0.1849, d0.loss_bbox: 0.4030, d1.loss_cls: 0.1774, d1.loss_bbox: 0.3726, d2.loss_cls: 0.1659, d2.loss_bbox: 0.3513, d3.loss_cls: 0.1516, d3.loss_bbox: 0.3455, d4.loss_cls: 0.1459, d4.loss_bbox: 0.3416, d5.loss_cls: 0.1442, d5.loss_bbox: 0.3420, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7597, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6053, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5664, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5522, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5454, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5418, d0.loss_map_cls_all: 0.2392, d0.loss_map_pts_all: 1.4669, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2392, d0.loss_map_pts: 1.4669, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.2075, d1.loss_map_pts: 1.0278, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1922, d2.loss_map_pts: 0.8442, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1821, d3.loss_map_pts: 0.7770, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1745, d4.loss_map_pts: 0.7459, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1688, d5.loss_map_pts: 0.7389, d5.loss_map_dir: 0.0105, loss: 27.8629, grad_norm: 163.5338 +2026-02-27 19:25:34,655 - DriveTransformer - INFO - Epoch [8][3850/39528] lr: 8.063e-05, eta: 5 days, 15:49:05, time: 0.742, data_time: 0.039, memory: 19865, loss_cls: 0.1592, loss_bbox: 0.3782, loss_traj: 0.6838, loss_traj_cls: 0.0012, loss_map_cls: 0.1604, loss_map_pts: 0.7019, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.8242, d0.loss_plan_l1_fix_dist: 0.4206, d1.loss_plan_l1_fix_time: 1.0695, d1.loss_plan_l1_fix_dist: 0.2338, d2.loss_plan_l1_fix_time: 1.0537, d2.loss_plan_l1_fix_dist: 0.1933, d3.loss_plan_l1_fix_time: 1.0562, d3.loss_plan_l1_fix_dist: 0.2025, d4.loss_plan_l1_fix_time: 1.0590, d4.loss_plan_l1_fix_dist: 0.2110, d5.loss_plan_l1_fix_time: 1.0618, d5.loss_plan_l1_fix_dist: 0.2155, d6.loss_plan_l1_fix_time: 1.0652, d6.loss_plan_l1_fix_dist: 0.2357, d0.loss_cls_all: 0.2030, d0.loss_bbox_all: 0.4369, d0.loss_cls: 0.2030, d0.loss_bbox: 0.4369, d1.loss_cls: 0.1934, d1.loss_bbox: 0.4045, d2.loss_cls: 0.1790, d2.loss_bbox: 0.3863, d3.loss_cls: 0.1681, d3.loss_bbox: 0.3809, d4.loss_cls: 0.1611, d4.loss_bbox: 0.3790, d5.loss_cls: 0.1598, d5.loss_bbox: 0.3771, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9339, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7640, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.7148, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6948, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6833, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6788, d0.loss_map_cls_all: 0.2434, d0.loss_map_pts_all: 1.4157, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2434, d0.loss_map_pts: 1.4157, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2059, d1.loss_map_pts: 1.0044, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1859, d2.loss_map_pts: 0.8083, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1741, d3.loss_map_pts: 0.7371, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1656, d4.loss_map_pts: 0.7123, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1609, d5.loss_map_pts: 0.7045, d5.loss_map_dir: 0.0093, loss: 29.7822, grad_norm: 163.0441 +2026-02-27 19:26:10,467 - DriveTransformer - INFO - Epoch [8][3900/39528] lr: 8.063e-05, eta: 5 days, 15:48:17, time: 0.716, data_time: 0.035, memory: 19865, loss_cls: 0.1340, loss_bbox: 0.3365, loss_traj: 0.5710, loss_traj_cls: 0.0012, loss_map_cls: 0.1528, loss_map_pts: 0.6581, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.4293, d0.loss_plan_l1_fix_dist: 0.4527, d1.loss_plan_l1_fix_time: 0.9561, d1.loss_plan_l1_fix_dist: 0.2005, d2.loss_plan_l1_fix_time: 0.9427, d2.loss_plan_l1_fix_dist: 0.1758, d3.loss_plan_l1_fix_time: 0.9313, d3.loss_plan_l1_fix_dist: 0.1856, d4.loss_plan_l1_fix_time: 0.9337, d4.loss_plan_l1_fix_dist: 0.1880, d5.loss_plan_l1_fix_time: 0.9375, d5.loss_plan_l1_fix_dist: 0.1926, d6.loss_plan_l1_fix_time: 0.9419, d6.loss_plan_l1_fix_dist: 0.2027, d0.loss_cls_all: 0.1673, d0.loss_bbox_all: 0.3880, d0.loss_cls: 0.1673, d0.loss_bbox: 0.3880, d1.loss_cls: 0.1643, d1.loss_bbox: 0.3567, d2.loss_cls: 0.1534, d2.loss_bbox: 0.3405, d3.loss_cls: 0.1407, d3.loss_bbox: 0.3350, d4.loss_cls: 0.1361, d4.loss_bbox: 0.3337, d5.loss_cls: 0.1334, d5.loss_bbox: 0.3343, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7904, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6343, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5858, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5784, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5748, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5742, d0.loss_map_cls_all: 0.2456, d0.loss_map_pts_all: 1.3253, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2456, d0.loss_map_pts: 1.3253, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2028, d1.loss_map_pts: 0.9473, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1785, d2.loss_map_pts: 0.7592, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1638, d3.loss_map_pts: 0.6920, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1568, d4.loss_map_pts: 0.6683, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1529, d5.loss_map_pts: 0.6601, d5.loss_map_dir: 0.0086, loss: 26.5967, grad_norm: 163.0873 +2026-02-27 19:26:45,496 - DriveTransformer - INFO - Epoch [8][3950/39528] lr: 8.063e-05, eta: 5 days, 15:47:16, time: 0.701, data_time: 0.037, memory: 19865, loss_cls: 0.1355, loss_bbox: 0.3549, loss_traj: 0.7527, loss_traj_cls: 0.0012, loss_map_cls: 0.1259, loss_map_pts: 0.5758, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.8668, d0.loss_plan_l1_fix_dist: 0.3908, d1.loss_plan_l1_fix_time: 1.1200, d1.loss_plan_l1_fix_dist: 0.2105, d2.loss_plan_l1_fix_time: 1.1029, d2.loss_plan_l1_fix_dist: 0.2013, d3.loss_plan_l1_fix_time: 1.1045, d3.loss_plan_l1_fix_dist: 0.2031, d4.loss_plan_l1_fix_time: 1.1066, d4.loss_plan_l1_fix_dist: 0.2088, d5.loss_plan_l1_fix_time: 1.1091, d5.loss_plan_l1_fix_dist: 0.2202, d6.loss_plan_l1_fix_time: 1.1123, d6.loss_plan_l1_fix_dist: 0.2319, d0.loss_cls_all: 0.1733, d0.loss_bbox_all: 0.4100, d0.loss_cls: 0.1733, d0.loss_bbox: 0.4100, d1.loss_cls: 0.1716, d1.loss_bbox: 0.3810, d2.loss_cls: 0.1572, d2.loss_bbox: 0.3618, d3.loss_cls: 0.1443, d3.loss_bbox: 0.3539, d4.loss_cls: 0.1387, d4.loss_bbox: 0.3525, d5.loss_cls: 0.1359, d5.loss_bbox: 0.3538, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9825, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8203, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7716, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7566, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7491, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.7523, d0.loss_map_cls_all: 0.1928, d0.loss_map_pts_all: 1.1286, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1928, d0.loss_map_pts: 1.1286, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1587, d1.loss_map_pts: 0.8163, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1451, d2.loss_map_pts: 0.6655, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1358, d3.loss_map_pts: 0.6037, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1305, d4.loss_map_pts: 0.5809, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1269, d5.loss_map_pts: 0.5765, d5.loss_map_dir: 0.0070, loss: 28.3296, grad_norm: 156.4218 +2026-02-27 19:27:22,701 - DriveTransformer - INFO - Epoch [8][4000/39528] lr: 8.063e-05, eta: 5 days, 15:46:49, time: 0.744, data_time: 0.038, memory: 19865, loss_cls: 0.1365, loss_bbox: 0.3412, loss_traj: 0.6191, loss_traj_cls: 0.0012, loss_map_cls: 0.1483, loss_map_pts: 0.6410, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.9243, d0.loss_plan_l1_fix_dist: 0.4517, d1.loss_plan_l1_fix_time: 1.0352, d1.loss_plan_l1_fix_dist: 0.2103, d2.loss_plan_l1_fix_time: 1.0225, d2.loss_plan_l1_fix_dist: 0.2146, d3.loss_plan_l1_fix_time: 1.0214, d3.loss_plan_l1_fix_dist: 0.2018, d4.loss_plan_l1_fix_time: 1.0250, d4.loss_plan_l1_fix_dist: 0.2053, d5.loss_plan_l1_fix_time: 1.0286, d5.loss_plan_l1_fix_dist: 0.2154, d6.loss_plan_l1_fix_time: 1.0324, d6.loss_plan_l1_fix_dist: 0.2327, d0.loss_cls_all: 0.1797, d0.loss_bbox_all: 0.4034, d0.loss_cls: 0.1797, d0.loss_bbox: 0.4034, d1.loss_cls: 0.1723, d1.loss_bbox: 0.3711, d2.loss_cls: 0.1571, d2.loss_bbox: 0.3505, d3.loss_cls: 0.1425, d3.loss_bbox: 0.3433, d4.loss_cls: 0.1373, d4.loss_bbox: 0.3407, d5.loss_cls: 0.1360, d5.loss_bbox: 0.3408, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9055, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7090, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6546, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6265, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6189, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6236, d0.loss_map_cls_all: 0.2247, d0.loss_map_pts_all: 1.2689, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2247, d0.loss_map_pts: 1.2689, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1922, d1.loss_map_pts: 0.8950, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1702, d2.loss_map_pts: 0.7344, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1597, d3.loss_map_pts: 0.6743, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1524, d4.loss_map_pts: 0.6481, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1492, d5.loss_map_pts: 0.6407, d5.loss_map_dir: 0.0080, loss: 27.9772, grad_norm: 159.4503 +2026-02-27 19:27:59,302 - DriveTransformer - INFO - Epoch [8][4050/39528] lr: 8.063e-05, eta: 5 days, 15:46:13, time: 0.732, data_time: 0.036, memory: 19865, loss_cls: 0.1335, loss_bbox: 0.3484, loss_traj: 0.6643, loss_traj_cls: 0.0012, loss_map_cls: 0.1527, loss_map_pts: 0.7035, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.8378, d0.loss_plan_l1_fix_dist: 0.4198, d1.loss_plan_l1_fix_time: 1.0896, d1.loss_plan_l1_fix_dist: 0.1946, d2.loss_plan_l1_fix_time: 1.0796, d2.loss_plan_l1_fix_dist: 0.2135, d3.loss_plan_l1_fix_time: 1.0824, d3.loss_plan_l1_fix_dist: 0.1948, d4.loss_plan_l1_fix_time: 1.0869, d4.loss_plan_l1_fix_dist: 0.1981, d5.loss_plan_l1_fix_time: 1.0912, d5.loss_plan_l1_fix_dist: 0.1993, d6.loss_plan_l1_fix_time: 1.0956, d6.loss_plan_l1_fix_dist: 0.2144, d0.loss_cls_all: 0.1690, d0.loss_bbox_all: 0.4051, d0.loss_cls: 0.1690, d0.loss_bbox: 0.4051, d1.loss_cls: 0.1675, d1.loss_bbox: 0.3713, d2.loss_cls: 0.1527, d2.loss_bbox: 0.3511, d3.loss_cls: 0.1388, d3.loss_bbox: 0.3453, d4.loss_cls: 0.1343, d4.loss_bbox: 0.3441, d5.loss_cls: 0.1326, d5.loss_bbox: 0.3468, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8960, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7094, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6747, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6659, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6615, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6606, d0.loss_map_cls_all: 0.2259, d0.loss_map_pts_all: 1.3723, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2259, d0.loss_map_pts: 1.3723, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1946, d1.loss_map_pts: 0.9741, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1734, d2.loss_map_pts: 0.8018, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1643, d3.loss_map_pts: 0.7387, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1584, d4.loss_map_pts: 0.7106, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1546, d5.loss_map_pts: 0.7037, d5.loss_map_dir: 0.0089, loss: 28.9467, grad_norm: 160.5153 +2026-02-27 19:28:35,578 - DriveTransformer - INFO - Epoch [8][4100/39528] lr: 8.063e-05, eta: 5 days, 15:45:31, time: 0.725, data_time: 0.036, memory: 19865, loss_cls: 0.1165, loss_bbox: 0.3075, loss_traj: 0.5660, loss_traj_cls: 0.0012, loss_map_cls: 0.1222, loss_map_pts: 0.5808, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.9211, d0.loss_plan_l1_fix_dist: 0.3824, d1.loss_plan_l1_fix_time: 0.9465, d1.loss_plan_l1_fix_dist: 0.1588, d2.loss_plan_l1_fix_time: 0.9322, d2.loss_plan_l1_fix_dist: 0.1839, d3.loss_plan_l1_fix_time: 0.9346, d3.loss_plan_l1_fix_dist: 0.1743, d4.loss_plan_l1_fix_time: 0.9379, d4.loss_plan_l1_fix_dist: 0.1807, d5.loss_plan_l1_fix_time: 0.9415, d5.loss_plan_l1_fix_dist: 0.1840, d6.loss_plan_l1_fix_time: 0.9457, d6.loss_plan_l1_fix_dist: 0.1901, d0.loss_cls_all: 0.1602, d0.loss_bbox_all: 0.3665, d0.loss_cls: 0.1602, d0.loss_bbox: 0.3665, d1.loss_cls: 0.1554, d1.loss_bbox: 0.3375, d2.loss_cls: 0.1387, d2.loss_bbox: 0.3175, d3.loss_cls: 0.1229, d3.loss_bbox: 0.3118, d4.loss_cls: 0.1174, d4.loss_bbox: 0.3080, d5.loss_cls: 0.1160, d5.loss_bbox: 0.3077, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7410, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5977, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5807, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5730, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5700, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5700, d0.loss_map_cls_all: 0.1864, d0.loss_map_pts_all: 1.2111, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1864, d0.loss_map_pts: 1.2111, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1561, d1.loss_map_pts: 0.8321, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1395, d2.loss_map_pts: 0.6696, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1313, d3.loss_map_pts: 0.6075, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1266, d4.loss_map_pts: 0.5838, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1228, d5.loss_map_pts: 0.5805, d5.loss_map_dir: 0.0082, loss: 25.4398, grad_norm: 165.3092 +2026-02-27 19:29:11,180 - DriveTransformer - INFO - Epoch [8][4150/39528] lr: 8.063e-05, eta: 5 days, 15:44:39, time: 0.712, data_time: 0.035, memory: 19865, loss_cls: 0.1413, loss_bbox: 0.3127, loss_traj: 0.5425, loss_traj_cls: 0.0013, loss_map_cls: 0.1144, loss_map_pts: 0.5562, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.4353, d0.loss_plan_l1_fix_dist: 0.5232, d1.loss_plan_l1_fix_time: 1.0407, d1.loss_plan_l1_fix_dist: 0.2152, d2.loss_plan_l1_fix_time: 1.0177, d2.loss_plan_l1_fix_dist: 0.2008, d3.loss_plan_l1_fix_time: 1.0009, d3.loss_plan_l1_fix_dist: 0.1958, d4.loss_plan_l1_fix_time: 1.0015, d4.loss_plan_l1_fix_dist: 0.1997, d5.loss_plan_l1_fix_time: 1.0042, d5.loss_plan_l1_fix_dist: 0.2040, d6.loss_plan_l1_fix_time: 1.0083, d6.loss_plan_l1_fix_dist: 0.2082, d0.loss_cls_all: 0.1768, d0.loss_bbox_all: 0.3801, d0.loss_cls: 0.1768, d0.loss_bbox: 0.3801, d1.loss_cls: 0.1694, d1.loss_bbox: 0.3467, d2.loss_cls: 0.1598, d2.loss_bbox: 0.3247, d3.loss_cls: 0.1475, d3.loss_bbox: 0.3179, d4.loss_cls: 0.1418, d4.loss_bbox: 0.3150, d5.loss_cls: 0.1403, d5.loss_bbox: 0.3125, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7159, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5799, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5466, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5406, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5364, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5394, d0.loss_map_cls_all: 0.1868, d0.loss_map_pts_all: 1.1531, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1868, d0.loss_map_pts: 1.1531, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1565, d1.loss_map_pts: 0.7739, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1369, d2.loss_map_pts: 0.6282, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1272, d3.loss_map_pts: 0.5751, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1216, d4.loss_map_pts: 0.5569, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1154, d5.loss_map_pts: 0.5547, d5.loss_map_dir: 0.0076, loss: 25.3642, grad_norm: 165.1429 +2026-02-27 19:29:47,066 - DriveTransformer - INFO - Epoch [8][4200/39528] lr: 8.063e-05, eta: 5 days, 15:43:53, time: 0.719, data_time: 0.036, memory: 19865, loss_cls: 0.1278, loss_bbox: 0.3300, loss_traj: 0.5337, loss_traj_cls: 0.0013, loss_map_cls: 0.1405, loss_map_pts: 0.6099, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.2670, d0.loss_plan_l1_fix_dist: 0.4710, d1.loss_plan_l1_fix_time: 0.8861, d1.loss_plan_l1_fix_dist: 0.2478, d2.loss_plan_l1_fix_time: 0.8754, d2.loss_plan_l1_fix_dist: 0.2013, d3.loss_plan_l1_fix_time: 0.8696, d3.loss_plan_l1_fix_dist: 0.2006, d4.loss_plan_l1_fix_time: 0.8709, d4.loss_plan_l1_fix_dist: 0.2032, d5.loss_plan_l1_fix_time: 0.8730, d5.loss_plan_l1_fix_dist: 0.2095, d6.loss_plan_l1_fix_time: 0.8756, d6.loss_plan_l1_fix_dist: 0.2270, d0.loss_cls_all: 0.1627, d0.loss_bbox_all: 0.3906, d0.loss_cls: 0.1627, d0.loss_bbox: 0.3906, d1.loss_cls: 0.1554, d1.loss_bbox: 0.3569, d2.loss_cls: 0.1424, d2.loss_bbox: 0.3407, d3.loss_cls: 0.1343, d3.loss_bbox: 0.3331, d4.loss_cls: 0.1293, d4.loss_bbox: 0.3295, d5.loss_cls: 0.1284, d5.loss_bbox: 0.3285, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7447, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5829, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5448, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5378, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5388, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5358, d0.loss_map_cls_all: 0.2155, d0.loss_map_pts_all: 1.2186, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2155, d0.loss_map_pts: 1.2186, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1859, d1.loss_map_pts: 0.8565, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1689, d2.loss_map_pts: 0.6946, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1557, d3.loss_map_pts: 0.6327, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1474, d4.loss_map_pts: 0.6124, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1439, d5.loss_map_pts: 0.6097, d5.loss_map_dir: 0.0079, loss: 25.1327, grad_norm: 169.1205 +2026-02-27 19:30:24,064 - DriveTransformer - INFO - Epoch [8][4250/39528] lr: 8.063e-05, eta: 5 days, 15:43:22, time: 0.739, data_time: 0.036, memory: 19865, loss_cls: 0.1522, loss_bbox: 0.3692, loss_traj: 0.5959, loss_traj_cls: 0.0012, loss_map_cls: 0.1598, loss_map_pts: 0.7248, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.4207, d0.loss_plan_l1_fix_dist: 0.4271, d1.loss_plan_l1_fix_time: 1.0217, d1.loss_plan_l1_fix_dist: 0.3006, d2.loss_plan_l1_fix_time: 1.0133, d2.loss_plan_l1_fix_dist: 0.2222, d3.loss_plan_l1_fix_time: 1.0131, d3.loss_plan_l1_fix_dist: 0.2165, d4.loss_plan_l1_fix_time: 1.0161, d4.loss_plan_l1_fix_dist: 0.2222, d5.loss_plan_l1_fix_time: 1.0192, d5.loss_plan_l1_fix_dist: 0.2297, d6.loss_plan_l1_fix_time: 1.0221, d6.loss_plan_l1_fix_dist: 0.2431, d0.loss_cls_all: 0.1968, d0.loss_bbox_all: 0.4311, d0.loss_cls: 0.1968, d0.loss_bbox: 0.4311, d1.loss_cls: 0.1860, d1.loss_bbox: 0.4012, d2.loss_cls: 0.1748, d2.loss_bbox: 0.3805, d3.loss_cls: 0.1607, d3.loss_bbox: 0.3727, d4.loss_cls: 0.1556, d4.loss_bbox: 0.3682, d5.loss_cls: 0.1520, d5.loss_bbox: 0.3699, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8090, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6630, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6143, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6070, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5961, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5925, d0.loss_map_cls_all: 0.2325, d0.loss_map_pts_all: 1.4072, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2325, d0.loss_map_pts: 1.4072, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2089, d1.loss_map_pts: 1.0179, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1864, d2.loss_map_pts: 0.8324, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1736, d3.loss_map_pts: 0.7572, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1643, d4.loss_map_pts: 0.7317, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1612, d5.loss_map_pts: 0.7253, d5.loss_map_dir: 0.0088, loss: 28.5614, grad_norm: 168.8365 +2026-02-27 19:31:02,379 - DriveTransformer - INFO - Epoch [8][4300/39528] lr: 8.063e-05, eta: 5 days, 15:43:12, time: 0.766, data_time: 0.035, memory: 19865, loss_cls: 0.1409, loss_bbox: 0.3478, loss_traj: 0.6613, loss_traj_cls: 0.0012, loss_map_cls: 0.1433, loss_map_pts: 0.7764, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.6637, d0.loss_plan_l1_fix_dist: 0.4317, d1.loss_plan_l1_fix_time: 0.9758, d1.loss_plan_l1_fix_dist: 0.2802, d2.loss_plan_l1_fix_time: 0.9570, d2.loss_plan_l1_fix_dist: 0.2034, d3.loss_plan_l1_fix_time: 0.9474, d3.loss_plan_l1_fix_dist: 0.1953, d4.loss_plan_l1_fix_time: 0.9482, d4.loss_plan_l1_fix_dist: 0.2017, d5.loss_plan_l1_fix_time: 0.9498, d5.loss_plan_l1_fix_dist: 0.2057, d6.loss_plan_l1_fix_time: 0.9515, d6.loss_plan_l1_fix_dist: 0.2152, d0.loss_cls_all: 0.1773, d0.loss_bbox_all: 0.4133, d0.loss_cls: 0.1773, d0.loss_bbox: 0.4133, d1.loss_cls: 0.1724, d1.loss_bbox: 0.3775, d2.loss_cls: 0.1591, d2.loss_bbox: 0.3579, d3.loss_cls: 0.1464, d3.loss_bbox: 0.3519, d4.loss_cls: 0.1418, d4.loss_bbox: 0.3491, d5.loss_cls: 0.1411, d5.loss_bbox: 0.3476, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9334, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7352, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6764, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6603, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6575, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6578, d0.loss_map_cls_all: 0.2237, d0.loss_map_pts_all: 1.5381, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2237, d0.loss_map_pts: 1.5381, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1931, d1.loss_map_pts: 1.1151, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1719, d2.loss_map_pts: 0.9008, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1585, d3.loss_map_pts: 0.8209, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1505, d4.loss_map_pts: 0.7890, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1453, d5.loss_map_pts: 0.7761, d5.loss_map_dir: 0.0097, loss: 29.0675, grad_norm: 167.7141 +2026-02-27 19:31:37,452 - DriveTransformer - INFO - Epoch [8][4350/39528] lr: 8.063e-05, eta: 5 days, 15:42:12, time: 0.702, data_time: 0.037, memory: 19865, loss_cls: 0.1265, loss_bbox: 0.3078, loss_traj: 0.4818, loss_traj_cls: 0.0013, loss_map_cls: 0.1114, loss_map_pts: 0.5834, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.3265, d0.loss_plan_l1_fix_dist: 0.5094, d1.loss_plan_l1_fix_time: 0.9528, d1.loss_plan_l1_fix_dist: 0.2702, d2.loss_plan_l1_fix_time: 0.9413, d2.loss_plan_l1_fix_dist: 0.1976, d3.loss_plan_l1_fix_time: 0.9442, d3.loss_plan_l1_fix_dist: 0.1895, d4.loss_plan_l1_fix_time: 0.9472, d4.loss_plan_l1_fix_dist: 0.1948, d5.loss_plan_l1_fix_time: 0.9502, d5.loss_plan_l1_fix_dist: 0.2041, d6.loss_plan_l1_fix_time: 0.9536, d6.loss_plan_l1_fix_dist: 0.2195, d0.loss_cls_all: 0.1641, d0.loss_bbox_all: 0.3760, d0.loss_cls: 0.1641, d0.loss_bbox: 0.3760, d1.loss_cls: 0.1566, d1.loss_bbox: 0.3459, d2.loss_cls: 0.1445, d2.loss_bbox: 0.3222, d3.loss_cls: 0.1315, d3.loss_bbox: 0.3128, d4.loss_cls: 0.1288, d4.loss_bbox: 0.3091, d5.loss_cls: 0.1266, d5.loss_bbox: 0.3077, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6564, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5397, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5046, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.4944, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4855, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.4837, d0.loss_map_cls_all: 0.1848, d0.loss_map_pts_all: 1.1547, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1848, d0.loss_map_pts: 1.1547, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1575, d1.loss_map_pts: 0.8255, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1304, d2.loss_map_pts: 0.6715, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1191, d3.loss_map_pts: 0.6093, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1138, d4.loss_map_pts: 0.5918, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1118, d5.loss_map_pts: 0.5847, d5.loss_map_dir: 0.0069, loss: 24.5990, grad_norm: 166.9881 +2026-02-27 19:32:12,395 - DriveTransformer - INFO - Epoch [8][4400/39528] lr: 8.063e-05, eta: 5 days, 15:41:10, time: 0.699, data_time: 0.035, memory: 19865, loss_cls: 0.1408, loss_bbox: 0.3555, loss_traj: 0.6926, loss_traj_cls: 0.0013, loss_map_cls: 0.1555, loss_map_pts: 0.6075, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.9004, d0.loss_plan_l1_fix_dist: 0.4794, d1.loss_plan_l1_fix_time: 1.0517, d1.loss_plan_l1_fix_dist: 0.2596, d2.loss_plan_l1_fix_time: 1.0465, d2.loss_plan_l1_fix_dist: 0.1935, d3.loss_plan_l1_fix_time: 1.0437, d3.loss_plan_l1_fix_dist: 0.1938, d4.loss_plan_l1_fix_time: 1.0481, d4.loss_plan_l1_fix_dist: 0.2014, d5.loss_plan_l1_fix_time: 1.0527, d5.loss_plan_l1_fix_dist: 0.2109, d6.loss_plan_l1_fix_time: 1.0574, d6.loss_plan_l1_fix_dist: 0.2288, d0.loss_cls_all: 0.1828, d0.loss_bbox_all: 0.4204, d0.loss_cls: 0.1828, d0.loss_bbox: 0.4204, d1.loss_cls: 0.1745, d1.loss_bbox: 0.3910, d2.loss_cls: 0.1617, d2.loss_bbox: 0.3663, d3.loss_cls: 0.1470, d3.loss_bbox: 0.3602, d4.loss_cls: 0.1422, d4.loss_bbox: 0.3559, d5.loss_cls: 0.1414, d5.loss_bbox: 0.3552, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9307, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7832, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7151, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7000, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6989, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.6906, d0.loss_map_cls_all: 0.2326, d0.loss_map_pts_all: 1.2642, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2326, d0.loss_map_pts: 1.2642, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.2075, d1.loss_map_pts: 0.9011, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1822, d2.loss_map_pts: 0.7216, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1653, d3.loss_map_pts: 0.6412, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1605, d4.loss_map_pts: 0.6150, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1574, d5.loss_map_pts: 0.6082, d5.loss_map_dir: 0.0076, loss: 28.6607, grad_norm: 161.0273 +2026-02-27 19:32:50,157 - DriveTransformer - INFO - Epoch [8][4450/39528] lr: 8.063e-05, eta: 5 days, 15:40:52, time: 0.755, data_time: 0.038, memory: 19865, loss_cls: 0.1398, loss_bbox: 0.3487, loss_traj: 0.4698, loss_traj_cls: 0.0013, loss_map_cls: 0.1442, loss_map_pts: 0.7137, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.6777, d0.loss_plan_l1_fix_dist: 0.5103, d1.loss_plan_l1_fix_time: 1.1474, d1.loss_plan_l1_fix_dist: 0.2543, d2.loss_plan_l1_fix_time: 1.1373, d2.loss_plan_l1_fix_dist: 0.2076, d3.loss_plan_l1_fix_time: 1.1417, d3.loss_plan_l1_fix_dist: 0.2090, d4.loss_plan_l1_fix_time: 1.1461, d4.loss_plan_l1_fix_dist: 0.2163, d5.loss_plan_l1_fix_time: 1.1503, d5.loss_plan_l1_fix_dist: 0.2284, d6.loss_plan_l1_fix_time: 1.1549, d6.loss_plan_l1_fix_dist: 0.2451, d0.loss_cls_all: 0.1743, d0.loss_bbox_all: 0.4148, d0.loss_cls: 0.1743, d0.loss_bbox: 0.4148, d1.loss_cls: 0.1725, d1.loss_bbox: 0.3801, d2.loss_cls: 0.1629, d2.loss_bbox: 0.3591, d3.loss_cls: 0.1471, d3.loss_bbox: 0.3517, d4.loss_cls: 0.1421, d4.loss_bbox: 0.3476, d5.loss_cls: 0.1400, d5.loss_bbox: 0.3480, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7142, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5525, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.4978, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.4793, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4704, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.4669, d0.loss_map_cls_all: 0.2047, d0.loss_map_pts_all: 1.4158, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2047, d0.loss_map_pts: 1.4158, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1775, d1.loss_map_pts: 0.9950, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1624, d2.loss_map_pts: 0.8137, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1520, d3.loss_map_pts: 0.7482, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1486, d4.loss_map_pts: 0.7193, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1452, d5.loss_map_pts: 0.7160, d5.loss_map_dir: 0.0099, loss: 28.2555, grad_norm: 153.1830 +2026-02-27 19:33:26,794 - DriveTransformer - INFO - Epoch [8][4500/39528] lr: 8.063e-05, eta: 5 days, 15:40:16, time: 0.733, data_time: 0.037, memory: 19865, loss_cls: 0.1350, loss_bbox: 0.3309, loss_traj: 0.6224, loss_traj_cls: 0.0014, loss_map_cls: 0.1456, loss_map_pts: 0.7192, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.3741, d0.loss_plan_l1_fix_dist: 0.4199, d1.loss_plan_l1_fix_time: 0.9249, d1.loss_plan_l1_fix_dist: 0.2070, d2.loss_plan_l1_fix_time: 0.9133, d2.loss_plan_l1_fix_dist: 0.1808, d3.loss_plan_l1_fix_time: 0.9085, d3.loss_plan_l1_fix_dist: 0.1860, d4.loss_plan_l1_fix_time: 0.9122, d4.loss_plan_l1_fix_dist: 0.1915, d5.loss_plan_l1_fix_time: 0.9173, d5.loss_plan_l1_fix_dist: 0.2015, d6.loss_plan_l1_fix_time: 0.9230, d6.loss_plan_l1_fix_dist: 0.2106, d0.loss_cls_all: 0.1682, d0.loss_bbox_all: 0.3954, d0.loss_cls: 0.1682, d0.loss_bbox: 0.3954, d1.loss_cls: 0.1626, d1.loss_bbox: 0.3607, d2.loss_cls: 0.1534, d2.loss_bbox: 0.3409, d3.loss_cls: 0.1405, d3.loss_bbox: 0.3352, d4.loss_cls: 0.1378, d4.loss_bbox: 0.3320, d5.loss_cls: 0.1354, d5.loss_bbox: 0.3307, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8511, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7035, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6395, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6210, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6190, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.6204, d0.loss_map_cls_all: 0.2266, d0.loss_map_pts_all: 1.4201, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2266, d0.loss_map_pts: 1.4201, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1972, d1.loss_map_pts: 1.0002, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1717, d2.loss_map_pts: 0.8114, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1582, d3.loss_map_pts: 0.7431, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1523, d4.loss_map_pts: 0.7213, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1475, d5.loss_map_pts: 0.7171, d5.loss_map_dir: 0.0095, loss: 27.2280, grad_norm: 152.7765 +2026-02-27 19:34:04,949 - DriveTransformer - INFO - Epoch [8][4550/39528] lr: 8.063e-05, eta: 5 days, 15:40:03, time: 0.763, data_time: 0.036, memory: 19865, loss_cls: 0.1394, loss_bbox: 0.3507, loss_traj: 0.5261, loss_traj_cls: 0.0014, loss_map_cls: 0.1525, loss_map_pts: 0.8002, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.7722, d0.loss_plan_l1_fix_dist: 0.4365, d1.loss_plan_l1_fix_time: 1.0644, d1.loss_plan_l1_fix_dist: 0.2033, d2.loss_plan_l1_fix_time: 1.0556, d2.loss_plan_l1_fix_dist: 0.1926, d3.loss_plan_l1_fix_time: 1.0538, d3.loss_plan_l1_fix_dist: 0.1969, d4.loss_plan_l1_fix_time: 1.0569, d4.loss_plan_l1_fix_dist: 0.2024, d5.loss_plan_l1_fix_time: 1.0612, d5.loss_plan_l1_fix_dist: 0.2119, d6.loss_plan_l1_fix_time: 1.0660, d6.loss_plan_l1_fix_dist: 0.2263, d0.loss_cls_all: 0.1817, d0.loss_bbox_all: 0.4087, d0.loss_cls: 0.1817, d0.loss_bbox: 0.4087, d1.loss_cls: 0.1749, d1.loss_bbox: 0.3785, d2.loss_cls: 0.1617, d2.loss_bbox: 0.3591, d3.loss_cls: 0.1499, d3.loss_bbox: 0.3501, d4.loss_cls: 0.1428, d4.loss_bbox: 0.3478, d5.loss_cls: 0.1394, d5.loss_bbox: 0.3494, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7163, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5729, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5343, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5232, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5230, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.5241, d0.loss_map_cls_all: 0.2305, d0.loss_map_pts_all: 1.5954, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2305, d0.loss_map_pts: 1.5954, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.1980, d1.loss_map_pts: 1.1263, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1749, d2.loss_map_pts: 0.9142, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1624, d3.loss_map_pts: 0.8362, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1578, d4.loss_map_pts: 0.8067, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1540, d5.loss_map_pts: 0.8003, d5.loss_map_dir: 0.0112, loss: 28.9729, grad_norm: 152.2077 +2026-02-27 19:34:43,516 - DriveTransformer - INFO - Epoch [8][4600/39528] lr: 8.063e-05, eta: 5 days, 15:39:56, time: 0.771, data_time: 0.038, memory: 19865, loss_cls: 0.1544, loss_bbox: 0.3598, loss_traj: 0.5576, loss_traj_cls: 0.0014, loss_map_cls: 0.1601, loss_map_pts: 0.7122, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.6706, d0.loss_plan_l1_fix_dist: 0.4251, d1.loss_plan_l1_fix_time: 1.0790, d1.loss_plan_l1_fix_dist: 0.2077, d2.loss_plan_l1_fix_time: 1.0644, d2.loss_plan_l1_fix_dist: 0.2094, d3.loss_plan_l1_fix_time: 1.0569, d3.loss_plan_l1_fix_dist: 0.2199, d4.loss_plan_l1_fix_time: 1.0585, d4.loss_plan_l1_fix_dist: 0.2284, d5.loss_plan_l1_fix_time: 1.0618, d5.loss_plan_l1_fix_dist: 0.2421, d6.loss_plan_l1_fix_time: 1.0662, d6.loss_plan_l1_fix_dist: 0.2556, d0.loss_cls_all: 0.1933, d0.loss_bbox_all: 0.4241, d0.loss_cls: 0.1933, d0.loss_bbox: 0.4241, d1.loss_cls: 0.1872, d1.loss_bbox: 0.3860, d2.loss_cls: 0.1722, d2.loss_bbox: 0.3700, d3.loss_cls: 0.1595, d3.loss_bbox: 0.3637, d4.loss_cls: 0.1528, d4.loss_bbox: 0.3609, d5.loss_cls: 0.1522, d5.loss_bbox: 0.3605, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6999, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6053, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5709, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5563, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5537, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.5534, d0.loss_map_cls_all: 0.2358, d0.loss_map_pts_all: 1.4212, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2358, d0.loss_map_pts: 1.4212, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2047, d1.loss_map_pts: 0.9907, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1850, d2.loss_map_pts: 0.8053, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1732, d3.loss_map_pts: 0.7388, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1657, d4.loss_map_pts: 0.7184, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1602, d5.loss_map_pts: 0.7122, d5.loss_map_dir: 0.0110, loss: 28.4896, grad_norm: 153.2462 +2026-02-27 19:35:19,523 - DriveTransformer - INFO - Epoch [8][4650/39528] lr: 8.063e-05, eta: 5 days, 15:39:11, time: 0.720, data_time: 0.039, memory: 19865, loss_cls: 0.1521, loss_bbox: 0.3486, loss_traj: 0.7206, loss_traj_cls: 0.0014, loss_map_cls: 0.1279, loss_map_pts: 0.6147, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.8102, d0.loss_plan_l1_fix_dist: 0.4715, d1.loss_plan_l1_fix_time: 0.9666, d1.loss_plan_l1_fix_dist: 0.1829, d2.loss_plan_l1_fix_time: 0.9441, d2.loss_plan_l1_fix_dist: 0.1830, d3.loss_plan_l1_fix_time: 0.9430, d3.loss_plan_l1_fix_dist: 0.1910, d4.loss_plan_l1_fix_time: 0.9453, d4.loss_plan_l1_fix_dist: 0.1978, d5.loss_plan_l1_fix_time: 0.9487, d5.loss_plan_l1_fix_dist: 0.2096, d6.loss_plan_l1_fix_time: 0.9537, d6.loss_plan_l1_fix_dist: 0.2246, d0.loss_cls_all: 0.2007, d0.loss_bbox_all: 0.4026, d0.loss_cls: 0.2007, d0.loss_bbox: 0.4026, d1.loss_cls: 0.1919, d1.loss_bbox: 0.3734, d2.loss_cls: 0.1764, d2.loss_bbox: 0.3556, d3.loss_cls: 0.1645, d3.loss_bbox: 0.3487, d4.loss_cls: 0.1563, d4.loss_bbox: 0.3472, d5.loss_cls: 0.1549, d5.loss_bbox: 0.3464, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9386, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7641, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7274, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7159, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7158, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.7170, d0.loss_map_cls_all: 0.2158, d0.loss_map_pts_all: 1.2603, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2158, d0.loss_map_pts: 1.2603, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1780, d1.loss_map_pts: 0.8680, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1540, d2.loss_map_pts: 0.6987, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1400, d3.loss_map_pts: 0.6387, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1318, d4.loss_map_pts: 0.6204, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1281, d5.loss_map_pts: 0.6156, d5.loss_map_dir: 0.0083, loss: 27.7367, grad_norm: 155.0779 +2026-02-27 19:35:56,411 - DriveTransformer - INFO - Epoch [8][4700/39528] lr: 8.063e-05, eta: 5 days, 15:38:39, time: 0.738, data_time: 0.036, memory: 19865, loss_cls: 0.1385, loss_bbox: 0.3369, loss_traj: 0.5289, loss_traj_cls: 0.0014, loss_map_cls: 0.1157, loss_map_pts: 0.6320, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.5797, d0.loss_plan_l1_fix_dist: 0.4320, d1.loss_plan_l1_fix_time: 1.0677, d1.loss_plan_l1_fix_dist: 0.1839, d2.loss_plan_l1_fix_time: 1.0459, d2.loss_plan_l1_fix_dist: 0.1856, d3.loss_plan_l1_fix_time: 1.0388, d3.loss_plan_l1_fix_dist: 0.1925, d4.loss_plan_l1_fix_time: 1.0430, d4.loss_plan_l1_fix_dist: 0.2050, d5.loss_plan_l1_fix_time: 1.0465, d5.loss_plan_l1_fix_dist: 0.2156, d6.loss_plan_l1_fix_time: 1.0502, d6.loss_plan_l1_fix_dist: 0.2267, d0.loss_cls_all: 0.1799, d0.loss_bbox_all: 0.4069, d0.loss_cls: 0.1799, d0.loss_bbox: 0.4069, d1.loss_cls: 0.1732, d1.loss_bbox: 0.3701, d2.loss_cls: 0.1588, d2.loss_bbox: 0.3494, d3.loss_cls: 0.1474, d3.loss_bbox: 0.3420, d4.loss_cls: 0.1411, d4.loss_bbox: 0.3389, d5.loss_cls: 0.1371, d5.loss_bbox: 0.3376, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6997, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5927, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5490, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5352, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5316, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.5277, d0.loss_map_cls_all: 0.1919, d0.loss_map_pts_all: 1.3027, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.1919, d0.loss_map_pts: 1.3027, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1603, d1.loss_map_pts: 0.9022, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1421, d2.loss_map_pts: 0.7267, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1319, d3.loss_map_pts: 0.6638, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1224, d4.loss_map_pts: 0.6388, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1176, d5.loss_map_pts: 0.6315, d5.loss_map_dir: 0.0094, loss: 26.6786, grad_norm: 156.6804 +2026-02-27 19:36:33,487 - DriveTransformer - INFO - Epoch [8][4750/39528] lr: 8.063e-05, eta: 5 days, 15:38:09, time: 0.742, data_time: 0.036, memory: 19865, loss_cls: 0.1380, loss_bbox: 0.3269, loss_traj: 0.6212, loss_traj_cls: 0.0013, loss_map_cls: 0.1464, loss_map_pts: 0.6727, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.8787, d0.loss_plan_l1_fix_dist: 0.4240, d1.loss_plan_l1_fix_time: 1.0704, d1.loss_plan_l1_fix_dist: 0.1910, d2.loss_plan_l1_fix_time: 1.0592, d2.loss_plan_l1_fix_dist: 0.1916, d3.loss_plan_l1_fix_time: 1.0646, d3.loss_plan_l1_fix_dist: 0.1964, d4.loss_plan_l1_fix_time: 1.0685, d4.loss_plan_l1_fix_dist: 0.2070, d5.loss_plan_l1_fix_time: 1.0713, d5.loss_plan_l1_fix_dist: 0.2177, d6.loss_plan_l1_fix_time: 1.0739, d6.loss_plan_l1_fix_dist: 0.2322, d0.loss_cls_all: 0.1908, d0.loss_bbox_all: 0.3883, d0.loss_cls: 0.1908, d0.loss_bbox: 0.3883, d1.loss_cls: 0.1818, d1.loss_bbox: 0.3556, d2.loss_cls: 0.1665, d2.loss_bbox: 0.3387, d3.loss_cls: 0.1466, d3.loss_bbox: 0.3337, d4.loss_cls: 0.1393, d4.loss_bbox: 0.3302, d5.loss_cls: 0.1373, d5.loss_bbox: 0.3288, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8515, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6894, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6335, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6216, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6175, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.6189, d0.loss_map_cls_all: 0.2172, d0.loss_map_pts_all: 1.3491, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2172, d0.loss_map_pts: 1.3491, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1913, d1.loss_map_pts: 0.9398, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1704, d2.loss_map_pts: 0.7653, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1617, d3.loss_map_pts: 0.7063, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1529, d4.loss_map_pts: 0.6802, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1485, d5.loss_map_pts: 0.6732, d5.loss_map_dir: 0.0091, loss: 28.3020, grad_norm: 161.0382 +2026-02-27 19:37:09,994 - DriveTransformer - INFO - Epoch [8][4800/39528] lr: 8.063e-05, eta: 5 days, 15:37:32, time: 0.730, data_time: 0.038, memory: 19865, loss_cls: 0.1556, loss_bbox: 0.3471, loss_traj: 0.6290, loss_traj_cls: 0.0013, loss_map_cls: 0.1451, loss_map_pts: 0.7179, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.8099, d0.loss_plan_l1_fix_dist: 0.4581, d1.loss_plan_l1_fix_time: 0.9293, d1.loss_plan_l1_fix_dist: 0.2109, d2.loss_plan_l1_fix_time: 0.9123, d2.loss_plan_l1_fix_dist: 0.2055, d3.loss_plan_l1_fix_time: 0.9009, d3.loss_plan_l1_fix_dist: 0.2178, d4.loss_plan_l1_fix_time: 0.9030, d4.loss_plan_l1_fix_dist: 0.2327, d5.loss_plan_l1_fix_time: 0.9056, d5.loss_plan_l1_fix_dist: 0.2521, d6.loss_plan_l1_fix_time: 0.9090, d6.loss_plan_l1_fix_dist: 0.2823, d0.loss_cls_all: 0.2010, d0.loss_bbox_all: 0.4015, d0.loss_cls: 0.2010, d0.loss_bbox: 0.4015, d1.loss_cls: 0.1904, d1.loss_bbox: 0.3714, d2.loss_cls: 0.1795, d2.loss_bbox: 0.3552, d3.loss_cls: 0.1624, d3.loss_bbox: 0.3512, d4.loss_cls: 0.1575, d4.loss_bbox: 0.3462, d5.loss_cls: 0.1570, d5.loss_bbox: 0.3456, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8476, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6908, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6346, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6380, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6308, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6275, d0.loss_map_cls_all: 0.2176, d0.loss_map_pts_all: 1.4093, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2176, d0.loss_map_pts: 1.4093, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1856, d1.loss_map_pts: 0.9796, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1666, d2.loss_map_pts: 0.8133, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1574, d3.loss_map_pts: 0.7459, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1507, d4.loss_map_pts: 0.7211, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1470, d5.loss_map_pts: 0.7153, d5.loss_map_dir: 0.0096, loss: 28.1356, grad_norm: 162.1196 +2026-02-27 19:37:47,141 - DriveTransformer - INFO - Epoch [8][4850/39528] lr: 8.063e-05, eta: 5 days, 15:37:03, time: 0.743, data_time: 0.038, memory: 19865, loss_cls: 0.1330, loss_bbox: 0.3137, loss_traj: 0.5641, loss_traj_cls: 0.0013, loss_map_cls: 0.1339, loss_map_pts: 0.6238, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.6055, d0.loss_plan_l1_fix_dist: 0.3971, d1.loss_plan_l1_fix_time: 0.9489, d1.loss_plan_l1_fix_dist: 0.1910, d2.loss_plan_l1_fix_time: 0.9306, d2.loss_plan_l1_fix_dist: 0.1745, d3.loss_plan_l1_fix_time: 0.9284, d3.loss_plan_l1_fix_dist: 0.1842, d4.loss_plan_l1_fix_time: 0.9308, d4.loss_plan_l1_fix_dist: 0.1954, d5.loss_plan_l1_fix_time: 0.9337, d5.loss_plan_l1_fix_dist: 0.2012, d6.loss_plan_l1_fix_time: 0.9378, d6.loss_plan_l1_fix_dist: 0.2195, d0.loss_cls_all: 0.1710, d0.loss_bbox_all: 0.3734, d0.loss_cls: 0.1710, d0.loss_bbox: 0.3734, d1.loss_cls: 0.1666, d1.loss_bbox: 0.3421, d2.loss_cls: 0.1510, d2.loss_bbox: 0.3234, d3.loss_cls: 0.1393, d3.loss_bbox: 0.3163, d4.loss_cls: 0.1341, d4.loss_bbox: 0.3139, d5.loss_cls: 0.1333, d5.loss_bbox: 0.3133, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7683, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6260, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5732, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5681, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5637, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5607, d0.loss_map_cls_all: 0.2097, d0.loss_map_pts_all: 1.2896, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2097, d0.loss_map_pts: 1.2896, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1811, d1.loss_map_pts: 0.8985, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1600, d2.loss_map_pts: 0.7196, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1459, d3.loss_map_pts: 0.6544, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1409, d4.loss_map_pts: 0.6299, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1350, d5.loss_map_pts: 0.6252, d5.loss_map_dir: 0.0085, loss: 25.9928, grad_norm: 161.6307 +2026-02-27 19:38:22,969 - DriveTransformer - INFO - Epoch [8][4900/39528] lr: 8.063e-05, eta: 5 days, 15:36:15, time: 0.717, data_time: 0.038, memory: 19865, loss_cls: 0.1338, loss_bbox: 0.3214, loss_traj: 0.6128, loss_traj_cls: 0.0013, loss_map_cls: 0.1355, loss_map_pts: 0.6409, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.4676, d0.loss_plan_l1_fix_dist: 0.4726, d1.loss_plan_l1_fix_time: 1.0416, d1.loss_plan_l1_fix_dist: 0.2329, d2.loss_plan_l1_fix_time: 1.0243, d2.loss_plan_l1_fix_dist: 0.2076, d3.loss_plan_l1_fix_time: 1.0219, d3.loss_plan_l1_fix_dist: 0.2164, d4.loss_plan_l1_fix_time: 1.0249, d4.loss_plan_l1_fix_dist: 0.2336, d5.loss_plan_l1_fix_time: 1.0277, d5.loss_plan_l1_fix_dist: 0.2531, d6.loss_plan_l1_fix_time: 1.0313, d6.loss_plan_l1_fix_dist: 0.2728, d0.loss_cls_all: 0.1725, d0.loss_bbox_all: 0.3876, d0.loss_cls: 0.1725, d0.loss_bbox: 0.3876, d1.loss_cls: 0.1677, d1.loss_bbox: 0.3516, d2.loss_cls: 0.1514, d2.loss_bbox: 0.3324, d3.loss_cls: 0.1391, d3.loss_bbox: 0.3251, d4.loss_cls: 0.1347, d4.loss_bbox: 0.3212, d5.loss_cls: 0.1341, d5.loss_bbox: 0.3204, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8725, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7038, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6572, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6351, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6196, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6179, d0.loss_map_cls_all: 0.2112, d0.loss_map_pts_all: 1.2865, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2112, d0.loss_map_pts: 1.2865, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1834, d1.loss_map_pts: 0.8768, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1646, d2.loss_map_pts: 0.7209, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1493, d3.loss_map_pts: 0.6698, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1409, d4.loss_map_pts: 0.6495, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1360, d5.loss_map_pts: 0.6427, d5.loss_map_dir: 0.0082, loss: 27.3780, grad_norm: 160.5505 +2026-02-27 19:39:00,988 - DriveTransformer - INFO - Epoch [8][4950/39528] lr: 8.063e-05, eta: 5 days, 15:36:00, time: 0.760, data_time: 0.034, memory: 19865, loss_cls: 0.1398, loss_bbox: 0.3328, loss_traj: 0.5272, loss_traj_cls: 0.0013, loss_map_cls: 0.1145, loss_map_pts: 0.5926, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.6293, d0.loss_plan_l1_fix_dist: 0.4118, d1.loss_plan_l1_fix_time: 1.0738, d1.loss_plan_l1_fix_dist: 0.2144, d2.loss_plan_l1_fix_time: 1.0504, d2.loss_plan_l1_fix_dist: 0.1800, d3.loss_plan_l1_fix_time: 1.0452, d3.loss_plan_l1_fix_dist: 0.1839, d4.loss_plan_l1_fix_time: 1.0481, d4.loss_plan_l1_fix_dist: 0.1930, d5.loss_plan_l1_fix_time: 1.0514, d5.loss_plan_l1_fix_dist: 0.2059, d6.loss_plan_l1_fix_time: 1.0553, d6.loss_plan_l1_fix_dist: 0.2175, d0.loss_cls_all: 0.1795, d0.loss_bbox_all: 0.4016, d0.loss_cls: 0.1795, d0.loss_bbox: 0.4016, d1.loss_cls: 0.1731, d1.loss_bbox: 0.3669, d2.loss_cls: 0.1601, d2.loss_bbox: 0.3467, d3.loss_cls: 0.1477, d3.loss_bbox: 0.3394, d4.loss_cls: 0.1405, d4.loss_bbox: 0.3356, d5.loss_cls: 0.1401, d5.loss_bbox: 0.3326, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7264, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6026, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5447, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5351, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5318, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5303, d0.loss_map_cls_all: 0.1907, d0.loss_map_pts_all: 1.3354, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.1907, d0.loss_map_pts: 1.3354, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.1581, d1.loss_map_pts: 0.8747, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1394, d2.loss_map_pts: 0.6902, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1317, d3.loss_map_pts: 0.6221, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1228, d4.loss_map_pts: 0.5965, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1167, d5.loss_map_pts: 0.5918, d5.loss_map_dir: 0.0099, loss: 26.5626, grad_norm: 157.1137 +2026-02-27 19:39:38,380 - DriveTransformer - INFO - Epoch [8][5000/39528] lr: 8.063e-05, eta: 5 days, 15:35:36, time: 0.749, data_time: 0.038, memory: 19865, loss_cls: 0.1585, loss_bbox: 0.3403, loss_traj: 0.5658, loss_traj_cls: 0.0012, loss_map_cls: 0.1577, loss_map_pts: 0.7344, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.8035, d0.loss_plan_l1_fix_dist: 0.4567, d1.loss_plan_l1_fix_time: 0.9112, d1.loss_plan_l1_fix_dist: 0.2309, d2.loss_plan_l1_fix_time: 0.8898, d2.loss_plan_l1_fix_dist: 0.2055, d3.loss_plan_l1_fix_time: 0.8844, d3.loss_plan_l1_fix_dist: 0.2139, d4.loss_plan_l1_fix_time: 0.8870, d4.loss_plan_l1_fix_dist: 0.2202, d5.loss_plan_l1_fix_time: 0.8911, d5.loss_plan_l1_fix_dist: 0.2252, d6.loss_plan_l1_fix_time: 0.8955, d6.loss_plan_l1_fix_dist: 0.2329, d0.loss_cls_all: 0.1984, d0.loss_bbox_all: 0.4069, d0.loss_cls: 0.1984, d0.loss_bbox: 0.4069, d1.loss_cls: 0.1869, d1.loss_bbox: 0.3761, d2.loss_cls: 0.1747, d2.loss_bbox: 0.3562, d3.loss_cls: 0.1634, d3.loss_bbox: 0.3455, d4.loss_cls: 0.1593, d4.loss_bbox: 0.3404, d5.loss_cls: 0.1582, d5.loss_bbox: 0.3395, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7384, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6187, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5803, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5700, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5619, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5638, d0.loss_map_cls_all: 0.2310, d0.loss_map_pts_all: 1.4802, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2310, d0.loss_map_pts: 1.4802, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2021, d1.loss_map_pts: 1.0186, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1839, d2.loss_map_pts: 0.8323, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1705, d3.loss_map_pts: 0.7643, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1637, d4.loss_map_pts: 0.7397, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1584, d5.loss_map_pts: 0.7319, d5.loss_map_dir: 0.0099, loss: 27.8196, grad_norm: 158.8577 +2026-02-27 19:40:16,340 - DriveTransformer - INFO - Epoch [8][5050/39528] lr: 8.063e-05, eta: 5 days, 15:35:19, time: 0.758, data_time: 0.037, memory: 19865, loss_cls: 0.1370, loss_bbox: 0.3429, loss_traj: 0.5195, loss_traj_cls: 0.0013, loss_map_cls: 0.1481, loss_map_pts: 0.7293, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.5027, d0.loss_plan_l1_fix_dist: 0.4541, d1.loss_plan_l1_fix_time: 0.9812, d1.loss_plan_l1_fix_dist: 0.2223, d2.loss_plan_l1_fix_time: 0.9705, d2.loss_plan_l1_fix_dist: 0.1899, d3.loss_plan_l1_fix_time: 0.9766, d3.loss_plan_l1_fix_dist: 0.1998, d4.loss_plan_l1_fix_time: 0.9806, d4.loss_plan_l1_fix_dist: 0.2127, d5.loss_plan_l1_fix_time: 0.9845, d5.loss_plan_l1_fix_dist: 0.2237, d6.loss_plan_l1_fix_time: 0.9890, d6.loss_plan_l1_fix_dist: 0.2374, d0.loss_cls_all: 0.1756, d0.loss_bbox_all: 0.4170, d0.loss_cls: 0.1756, d0.loss_bbox: 0.4170, d1.loss_cls: 0.1668, d1.loss_bbox: 0.3776, d2.loss_cls: 0.1518, d2.loss_bbox: 0.3581, d3.loss_cls: 0.1416, d3.loss_bbox: 0.3479, d4.loss_cls: 0.1361, d4.loss_bbox: 0.3459, d5.loss_cls: 0.1359, d5.loss_bbox: 0.3437, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7700, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5994, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5503, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5325, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5213, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5215, d0.loss_map_cls_all: 0.2283, d0.loss_map_pts_all: 1.4589, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2283, d0.loss_map_pts: 1.4589, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1997, d1.loss_map_pts: 1.0301, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1738, d2.loss_map_pts: 0.8419, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1619, d3.loss_map_pts: 0.7640, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1550, d4.loss_map_pts: 0.7353, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1508, d5.loss_map_pts: 0.7300, d5.loss_map_dir: 0.0093, loss: 27.5814, grad_norm: 156.9015 +2026-02-27 19:40:50,385 - DriveTransformer - INFO - Epoch [8][5100/39528] lr: 8.063e-05, eta: 5 days, 15:34:05, time: 0.681, data_time: 0.038, memory: 19865, loss_cls: 0.1412, loss_bbox: 0.3448, loss_traj: 0.7786, loss_traj_cls: 0.0012, loss_map_cls: 0.1431, loss_map_pts: 0.6063, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.7072, d0.loss_plan_l1_fix_dist: 0.4013, d1.loss_plan_l1_fix_time: 0.9861, d1.loss_plan_l1_fix_dist: 0.2135, d2.loss_plan_l1_fix_time: 0.9684, d2.loss_plan_l1_fix_dist: 0.1843, d3.loss_plan_l1_fix_time: 0.9691, d3.loss_plan_l1_fix_dist: 0.1899, d4.loss_plan_l1_fix_time: 0.9711, d4.loss_plan_l1_fix_dist: 0.2024, d5.loss_plan_l1_fix_time: 0.9729, d5.loss_plan_l1_fix_dist: 0.2116, d6.loss_plan_l1_fix_time: 0.9757, d6.loss_plan_l1_fix_dist: 0.2249, d0.loss_cls_all: 0.1857, d0.loss_bbox_all: 0.4081, d0.loss_cls: 0.1857, d0.loss_bbox: 0.4081, d1.loss_cls: 0.1748, d1.loss_bbox: 0.3746, d2.loss_cls: 0.1629, d2.loss_bbox: 0.3576, d3.loss_cls: 0.1494, d3.loss_bbox: 0.3509, d4.loss_cls: 0.1423, d4.loss_bbox: 0.3483, d5.loss_cls: 0.1409, d5.loss_bbox: 0.3456, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0690, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8574, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8037, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7879, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7802, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.7761, d0.loss_map_cls_all: 0.2090, d0.loss_map_pts_all: 1.1542, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.2090, d0.loss_map_pts: 1.1542, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1862, d1.loss_map_pts: 0.8590, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1662, d2.loss_map_pts: 0.7061, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1561, d3.loss_map_pts: 0.6359, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1493, d4.loss_map_pts: 0.6123, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1446, d5.loss_map_pts: 0.6081, d5.loss_map_dir: 0.0062, loss: 28.0064, grad_norm: 157.9236 +2026-02-27 19:41:28,930 - DriveTransformer - INFO - Epoch [8][5150/39528] lr: 8.063e-05, eta: 5 days, 15:33:57, time: 0.771, data_time: 0.037, memory: 19865, loss_cls: 0.1565, loss_bbox: 0.3392, loss_traj: 0.5183, loss_traj_cls: 0.0012, loss_map_cls: 0.1376, loss_map_pts: 0.6834, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 3.0124, d0.loss_plan_l1_fix_dist: 0.4567, d1.loss_plan_l1_fix_time: 0.9635, d1.loss_plan_l1_fix_dist: 0.2406, d2.loss_plan_l1_fix_time: 0.9504, d2.loss_plan_l1_fix_dist: 0.2293, d3.loss_plan_l1_fix_time: 0.9529, d3.loss_plan_l1_fix_dist: 0.2316, d4.loss_plan_l1_fix_time: 0.9556, d4.loss_plan_l1_fix_dist: 0.2403, d5.loss_plan_l1_fix_time: 0.9586, d5.loss_plan_l1_fix_dist: 0.2540, d6.loss_plan_l1_fix_time: 0.9624, d6.loss_plan_l1_fix_dist: 0.2748, d0.loss_cls_all: 0.2013, d0.loss_bbox_all: 0.4125, d0.loss_cls: 0.2013, d0.loss_bbox: 0.4125, d1.loss_cls: 0.1944, d1.loss_bbox: 0.3767, d2.loss_cls: 0.1792, d2.loss_bbox: 0.3573, d3.loss_cls: 0.1666, d3.loss_bbox: 0.3461, d4.loss_cls: 0.1589, d4.loss_bbox: 0.3426, d5.loss_cls: 0.1565, d5.loss_bbox: 0.3401, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7410, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5848, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5428, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5235, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5202, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5146, d0.loss_map_cls_all: 0.2121, d0.loss_map_pts_all: 1.4694, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2121, d0.loss_map_pts: 1.4694, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.1772, d1.loss_map_pts: 0.9647, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.1595, d2.loss_map_pts: 0.7774, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1501, d3.loss_map_pts: 0.7188, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1429, d4.loss_map_pts: 0.6929, d4.loss_map_dir: 0.0113, d5.loss_map_cls: 0.1392, d5.loss_map_pts: 0.6860, d5.loss_map_dir: 0.0114, loss: 27.8595, grad_norm: 159.1197 +2026-02-27 19:42:04,460 - DriveTransformer - INFO - Epoch [8][5200/39528] lr: 8.063e-05, eta: 5 days, 15:33:05, time: 0.711, data_time: 0.036, memory: 19865, loss_cls: 0.1315, loss_bbox: 0.3275, loss_traj: 0.5765, loss_traj_cls: 0.0013, loss_map_cls: 0.1174, loss_map_pts: 0.5474, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.4380, d0.loss_plan_l1_fix_dist: 0.5075, d1.loss_plan_l1_fix_time: 0.8307, d1.loss_plan_l1_fix_dist: 0.1801, d2.loss_plan_l1_fix_time: 0.8126, d2.loss_plan_l1_fix_dist: 0.1851, d3.loss_plan_l1_fix_time: 0.8107, d3.loss_plan_l1_fix_dist: 0.1888, d4.loss_plan_l1_fix_time: 0.8124, d4.loss_plan_l1_fix_dist: 0.1997, d5.loss_plan_l1_fix_time: 0.8146, d5.loss_plan_l1_fix_dist: 0.2150, d6.loss_plan_l1_fix_time: 0.8177, d6.loss_plan_l1_fix_dist: 0.2381, d0.loss_cls_all: 0.1674, d0.loss_bbox_all: 0.3899, d0.loss_cls: 0.1674, d0.loss_bbox: 0.3899, d1.loss_cls: 0.1624, d1.loss_bbox: 0.3580, d2.loss_cls: 0.1508, d2.loss_bbox: 0.3392, d3.loss_cls: 0.1386, d3.loss_bbox: 0.3326, d4.loss_cls: 0.1313, d4.loss_bbox: 0.3302, d5.loss_cls: 0.1301, d5.loss_bbox: 0.3289, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7733, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6343, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5949, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5891, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5811, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5773, d0.loss_map_cls_all: 0.1962, d0.loss_map_pts_all: 1.1581, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1962, d0.loss_map_pts: 1.1581, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1629, d1.loss_map_pts: 0.8007, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1433, d2.loss_map_pts: 0.6339, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1325, d3.loss_map_pts: 0.5718, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1236, d4.loss_map_pts: 0.5554, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1192, d5.loss_map_pts: 0.5500, d5.loss_map_dir: 0.0070, loss: 24.5830, grad_norm: 160.6080 +2026-02-27 19:42:41,571 - DriveTransformer - INFO - Epoch [8][5250/39528] lr: 8.063e-05, eta: 5 days, 15:32:36, time: 0.742, data_time: 0.040, memory: 19865, loss_cls: 0.1250, loss_bbox: 0.3240, loss_traj: 0.4894, loss_traj_cls: 0.0012, loss_map_cls: 0.1576, loss_map_pts: 0.6908, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.4711, d0.loss_plan_l1_fix_dist: 0.3914, d1.loss_plan_l1_fix_time: 0.8068, d1.loss_plan_l1_fix_dist: 0.1630, d2.loss_plan_l1_fix_time: 0.8016, d2.loss_plan_l1_fix_dist: 0.1692, d3.loss_plan_l1_fix_time: 0.8040, d3.loss_plan_l1_fix_dist: 0.1756, d4.loss_plan_l1_fix_time: 0.8068, d4.loss_plan_l1_fix_dist: 0.1858, d5.loss_plan_l1_fix_time: 0.8101, d5.loss_plan_l1_fix_dist: 0.2004, d6.loss_plan_l1_fix_time: 0.8136, d6.loss_plan_l1_fix_dist: 0.2253, d0.loss_cls_all: 0.1614, d0.loss_bbox_all: 0.3916, d0.loss_cls: 0.1614, d0.loss_bbox: 0.3916, d1.loss_cls: 0.1560, d1.loss_bbox: 0.3562, d2.loss_cls: 0.1460, d2.loss_bbox: 0.3370, d3.loss_cls: 0.1327, d3.loss_bbox: 0.3271, d4.loss_cls: 0.1244, d4.loss_bbox: 0.3259, d5.loss_cls: 0.1245, d5.loss_bbox: 0.3243, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7120, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5673, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5029, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.4891, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4886, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.4816, d0.loss_map_cls_all: 0.2312, d0.loss_map_pts_all: 1.4802, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2312, d0.loss_map_pts: 1.4802, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.2033, d1.loss_map_pts: 1.0317, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1815, d2.loss_map_pts: 0.8115, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1698, d3.loss_map_pts: 0.7271, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1633, d4.loss_map_pts: 0.6985, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1600, d5.loss_map_pts: 0.6926, d5.loss_map_dir: 0.0090, loss: 25.6500, grad_norm: 166.5357 +2026-02-27 19:43:18,931 - DriveTransformer - INFO - Epoch [8][5300/39528] lr: 8.063e-05, eta: 5 days, 15:32:11, time: 0.747, data_time: 0.037, memory: 19865, loss_cls: 0.1353, loss_bbox: 0.3209, loss_traj: 0.4754, loss_traj_cls: 0.0013, loss_map_cls: 0.1488, loss_map_pts: 0.6885, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.3053, d0.loss_plan_l1_fix_dist: 0.3851, d1.loss_plan_l1_fix_time: 0.8196, d1.loss_plan_l1_fix_dist: 0.1706, d2.loss_plan_l1_fix_time: 0.8168, d2.loss_plan_l1_fix_dist: 0.1799, d3.loss_plan_l1_fix_time: 0.8172, d3.loss_plan_l1_fix_dist: 0.1839, d4.loss_plan_l1_fix_time: 0.8202, d4.loss_plan_l1_fix_dist: 0.1859, d5.loss_plan_l1_fix_time: 0.8231, d5.loss_plan_l1_fix_dist: 0.1957, d6.loss_plan_l1_fix_time: 0.8262, d6.loss_plan_l1_fix_dist: 0.2080, d0.loss_cls_all: 0.1711, d0.loss_bbox_all: 0.3796, d0.loss_cls: 0.1711, d0.loss_bbox: 0.3796, d1.loss_cls: 0.1604, d1.loss_bbox: 0.3459, d2.loss_cls: 0.1515, d2.loss_bbox: 0.3282, d3.loss_cls: 0.1396, d3.loss_bbox: 0.3240, d4.loss_cls: 0.1355, d4.loss_bbox: 0.3217, d5.loss_cls: 0.1345, d5.loss_bbox: 0.3219, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7203, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5301, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.4986, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.4888, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4792, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.4751, d0.loss_map_cls_all: 0.2245, d0.loss_map_pts_all: 1.3795, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2245, d0.loss_map_pts: 1.3795, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1925, d1.loss_map_pts: 0.9694, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1710, d2.loss_map_pts: 0.7911, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1612, d3.loss_map_pts: 0.7250, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1543, d4.loss_map_pts: 0.6959, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1512, d5.loss_map_pts: 0.6901, d5.loss_map_dir: 0.0086, loss: 25.1467, grad_norm: 164.4638 +2026-02-27 19:43:56,403 - DriveTransformer - INFO - Epoch [8][5350/39528] lr: 8.063e-05, eta: 5 days, 15:31:47, time: 0.749, data_time: 0.037, memory: 19865, loss_cls: 0.1259, loss_bbox: 0.3184, loss_traj: 0.4927, loss_traj_cls: 0.0012, loss_map_cls: 0.1582, loss_map_pts: 0.7122, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.1133, d0.loss_plan_l1_fix_dist: 0.3770, d1.loss_plan_l1_fix_time: 0.8263, d1.loss_plan_l1_fix_dist: 0.1740, d2.loss_plan_l1_fix_time: 0.8149, d2.loss_plan_l1_fix_dist: 0.1835, d3.loss_plan_l1_fix_time: 0.8136, d3.loss_plan_l1_fix_dist: 0.1849, d4.loss_plan_l1_fix_time: 0.8154, d4.loss_plan_l1_fix_dist: 0.1850, d5.loss_plan_l1_fix_time: 0.8172, d5.loss_plan_l1_fix_dist: 0.1951, d6.loss_plan_l1_fix_time: 0.8195, d6.loss_plan_l1_fix_dist: 0.2076, d0.loss_cls_all: 0.1645, d0.loss_bbox_all: 0.3861, d0.loss_cls: 0.1645, d0.loss_bbox: 0.3861, d1.loss_cls: 0.1609, d1.loss_bbox: 0.3549, d2.loss_cls: 0.1495, d2.loss_bbox: 0.3351, d3.loss_cls: 0.1360, d3.loss_bbox: 0.3233, d4.loss_cls: 0.1291, d4.loss_bbox: 0.3196, d5.loss_cls: 0.1270, d5.loss_bbox: 0.3181, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6781, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5441, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5012, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.4929, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4942, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.4933, d0.loss_map_cls_all: 0.2444, d0.loss_map_pts_all: 1.4758, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2444, d0.loss_map_pts: 1.4758, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2089, d1.loss_map_pts: 1.0363, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1859, d2.loss_map_pts: 0.8381, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1723, d3.loss_map_pts: 0.7509, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1657, d4.loss_map_pts: 0.7181, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1606, d5.loss_map_pts: 0.7133, d5.loss_map_dir: 0.0088, loss: 25.4592, grad_norm: 164.4812 +2026-02-27 19:44:32,903 - DriveTransformer - INFO - Epoch [8][5400/39528] lr: 8.063e-05, eta: 5 days, 15:31:09, time: 0.730, data_time: 0.038, memory: 19865, loss_cls: 0.1565, loss_bbox: 0.3733, loss_traj: 0.5472, loss_traj_cls: 0.0012, loss_map_cls: 0.1567, loss_map_pts: 0.6746, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.8532, d0.loss_plan_l1_fix_dist: 0.4591, d1.loss_plan_l1_fix_time: 1.0516, d1.loss_plan_l1_fix_dist: 0.1806, d2.loss_plan_l1_fix_time: 1.0327, d2.loss_plan_l1_fix_dist: 0.1856, d3.loss_plan_l1_fix_time: 1.0237, d3.loss_plan_l1_fix_dist: 0.1909, d4.loss_plan_l1_fix_time: 1.0242, d4.loss_plan_l1_fix_dist: 0.1961, d5.loss_plan_l1_fix_time: 1.0260, d5.loss_plan_l1_fix_dist: 0.2058, d6.loss_plan_l1_fix_time: 1.0284, d6.loss_plan_l1_fix_dist: 0.2224, d0.loss_cls_all: 0.2011, d0.loss_bbox_all: 0.4368, d0.loss_cls: 0.2011, d0.loss_bbox: 0.4368, d1.loss_cls: 0.1925, d1.loss_bbox: 0.4006, d2.loss_cls: 0.1809, d2.loss_bbox: 0.3831, d3.loss_cls: 0.1668, d3.loss_bbox: 0.3745, d4.loss_cls: 0.1575, d4.loss_bbox: 0.3734, d5.loss_cls: 0.1565, d5.loss_bbox: 0.3730, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7528, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6150, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5795, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5610, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5561, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5523, d0.loss_map_cls_all: 0.2261, d0.loss_map_pts_all: 1.3520, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2261, d0.loss_map_pts: 1.3520, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1982, d1.loss_map_pts: 0.9680, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1798, d2.loss_map_pts: 0.7821, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1688, d3.loss_map_pts: 0.7088, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1624, d4.loss_map_pts: 0.6833, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1584, d5.loss_map_pts: 0.6753, d5.loss_map_dir: 0.0089, loss: 28.1559, grad_norm: 166.7671 +2026-02-27 19:45:08,798 - DriveTransformer - INFO - Epoch [8][5450/39528] lr: 8.063e-05, eta: 5 days, 15:30:22, time: 0.718, data_time: 0.036, memory: 19865, loss_cls: 0.1368, loss_bbox: 0.3209, loss_traj: 0.7173, loss_traj_cls: 0.0012, loss_map_cls: 0.1559, loss_map_pts: 0.6732, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.6410, d0.loss_plan_l1_fix_dist: 0.3217, d1.loss_plan_l1_fix_time: 0.9751, d1.loss_plan_l1_fix_dist: 0.1682, d2.loss_plan_l1_fix_time: 0.9571, d2.loss_plan_l1_fix_dist: 0.1688, d3.loss_plan_l1_fix_time: 0.9544, d3.loss_plan_l1_fix_dist: 0.1815, d4.loss_plan_l1_fix_time: 0.9564, d4.loss_plan_l1_fix_dist: 0.1950, d5.loss_plan_l1_fix_time: 0.9591, d5.loss_plan_l1_fix_dist: 0.2064, d6.loss_plan_l1_fix_time: 0.9622, d6.loss_plan_l1_fix_dist: 0.2171, d0.loss_cls_all: 0.1680, d0.loss_bbox_all: 0.3883, d0.loss_cls: 0.1680, d0.loss_bbox: 0.3883, d1.loss_cls: 0.1632, d1.loss_bbox: 0.3547, d2.loss_cls: 0.1579, d2.loss_bbox: 0.3294, d3.loss_cls: 0.1439, d3.loss_bbox: 0.3221, d4.loss_cls: 0.1395, d4.loss_bbox: 0.3204, d5.loss_cls: 0.1372, d5.loss_bbox: 0.3206, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9631, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7788, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7240, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7139, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7134, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.7155, d0.loss_map_cls_all: 0.2314, d0.loss_map_pts_all: 1.3747, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2314, d0.loss_map_pts: 1.3747, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.2012, d1.loss_map_pts: 0.9558, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1820, d2.loss_map_pts: 0.7743, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1690, d3.loss_map_pts: 0.7024, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1633, d4.loss_map_pts: 0.6787, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1583, d5.loss_map_pts: 0.6739, d5.loss_map_dir: 0.0079, loss: 27.9186, grad_norm: 167.5395 +2026-02-27 19:45:44,930 - DriveTransformer - INFO - Epoch [8][5500/39528] lr: 8.063e-05, eta: 5 days, 15:29:39, time: 0.723, data_time: 0.039, memory: 19865, loss_cls: 0.1298, loss_bbox: 0.3305, loss_traj: 0.5879, loss_traj_cls: 0.0013, loss_map_cls: 0.1378, loss_map_pts: 0.6580, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.5722, d0.loss_plan_l1_fix_dist: 0.3998, d1.loss_plan_l1_fix_time: 0.9304, d1.loss_plan_l1_fix_dist: 0.1858, d2.loss_plan_l1_fix_time: 0.9143, d2.loss_plan_l1_fix_dist: 0.1867, d3.loss_plan_l1_fix_time: 0.9096, d3.loss_plan_l1_fix_dist: 0.1884, d4.loss_plan_l1_fix_time: 0.9111, d4.loss_plan_l1_fix_dist: 0.1957, d5.loss_plan_l1_fix_time: 0.9131, d5.loss_plan_l1_fix_dist: 0.2065, d6.loss_plan_l1_fix_time: 0.9157, d6.loss_plan_l1_fix_dist: 0.2219, d0.loss_cls_all: 0.1636, d0.loss_bbox_all: 0.3999, d0.loss_cls: 0.1636, d0.loss_bbox: 0.3999, d1.loss_cls: 0.1565, d1.loss_bbox: 0.3621, d2.loss_cls: 0.1444, d2.loss_bbox: 0.3436, d3.loss_cls: 0.1346, d3.loss_bbox: 0.3350, d4.loss_cls: 0.1301, d4.loss_bbox: 0.3324, d5.loss_cls: 0.1295, d5.loss_bbox: 0.3309, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8488, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6763, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6206, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6018, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5936, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5880, d0.loss_map_cls_all: 0.2090, d0.loss_map_pts_all: 1.3269, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2090, d0.loss_map_pts: 1.3269, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1825, d1.loss_map_pts: 0.9350, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1626, d2.loss_map_pts: 0.7616, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1494, d3.loss_map_pts: 0.6892, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1440, d4.loss_map_pts: 0.6679, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1381, d5.loss_map_pts: 0.6595, d5.loss_map_dir: 0.0088, loss: 26.5886, grad_norm: 166.9022 +2026-02-27 19:46:22,473 - DriveTransformer - INFO - Epoch [8][5550/39528] lr: 8.063e-05, eta: 5 days, 15:29:16, time: 0.751, data_time: 0.039, memory: 19865, loss_cls: 0.1245, loss_bbox: 0.3162, loss_traj: 0.6626, loss_traj_cls: 0.0012, loss_map_cls: 0.1598, loss_map_pts: 0.7055, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.6834, d0.loss_plan_l1_fix_dist: 0.3752, d1.loss_plan_l1_fix_time: 1.0124, d1.loss_plan_l1_fix_dist: 0.1674, d2.loss_plan_l1_fix_time: 1.0034, d2.loss_plan_l1_fix_dist: 0.1825, d3.loss_plan_l1_fix_time: 1.0009, d3.loss_plan_l1_fix_dist: 0.1851, d4.loss_plan_l1_fix_time: 1.0034, d4.loss_plan_l1_fix_dist: 0.1958, d5.loss_plan_l1_fix_time: 1.0062, d5.loss_plan_l1_fix_dist: 0.2124, d6.loss_plan_l1_fix_time: 1.0089, d6.loss_plan_l1_fix_dist: 0.2354, d0.loss_cls_all: 0.1604, d0.loss_bbox_all: 0.3881, d0.loss_cls: 0.1604, d0.loss_bbox: 0.3881, d1.loss_cls: 0.1543, d1.loss_bbox: 0.3477, d2.loss_cls: 0.1439, d2.loss_bbox: 0.3271, d3.loss_cls: 0.1302, d3.loss_bbox: 0.3205, d4.loss_cls: 0.1269, d4.loss_bbox: 0.3163, d5.loss_cls: 0.1245, d5.loss_bbox: 0.3165, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9255, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7454, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6818, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6650, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6613, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6598, d0.loss_map_cls_all: 0.2358, d0.loss_map_pts_all: 1.4579, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2358, d0.loss_map_pts: 1.4579, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.2077, d1.loss_map_pts: 1.0349, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1847, d2.loss_map_pts: 0.8276, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1723, d3.loss_map_pts: 0.7443, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1649, d4.loss_map_pts: 0.7109, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1616, d5.loss_map_pts: 0.7052, d5.loss_map_dir: 0.0084, loss: 28.3585, grad_norm: 166.7335 +2026-02-27 19:46:59,127 - DriveTransformer - INFO - Epoch [8][5600/39528] lr: 8.063e-05, eta: 5 days, 15:28:40, time: 0.733, data_time: 0.036, memory: 19865, loss_cls: 0.1198, loss_bbox: 0.3035, loss_traj: 0.6199, loss_traj_cls: 0.0013, loss_map_cls: 0.1422, loss_map_pts: 0.5824, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.9650, d0.loss_plan_l1_fix_dist: 0.3850, d1.loss_plan_l1_fix_time: 0.9682, d1.loss_plan_l1_fix_dist: 0.1616, d2.loss_plan_l1_fix_time: 0.9566, d2.loss_plan_l1_fix_dist: 0.1739, d3.loss_plan_l1_fix_time: 0.9565, d3.loss_plan_l1_fix_dist: 0.1823, d4.loss_plan_l1_fix_time: 0.9602, d4.loss_plan_l1_fix_dist: 0.1921, d5.loss_plan_l1_fix_time: 0.9645, d5.loss_plan_l1_fix_dist: 0.2019, d6.loss_plan_l1_fix_time: 0.9691, d6.loss_plan_l1_fix_dist: 0.2136, d0.loss_cls_all: 0.1516, d0.loss_bbox_all: 0.3625, d0.loss_cls: 0.1516, d0.loss_bbox: 0.3625, d1.loss_cls: 0.1444, d1.loss_bbox: 0.3293, d2.loss_cls: 0.1357, d2.loss_bbox: 0.3105, d3.loss_cls: 0.1233, d3.loss_bbox: 0.3076, d4.loss_cls: 0.1208, d4.loss_bbox: 0.3037, d5.loss_cls: 0.1185, d5.loss_bbox: 0.3047, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8789, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6896, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6491, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6285, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6249, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6160, d0.loss_map_cls_all: 0.2229, d0.loss_map_pts_all: 1.1813, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2229, d0.loss_map_pts: 1.1813, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1914, d1.loss_map_pts: 0.8359, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1646, d2.loss_map_pts: 0.6768, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1536, d3.loss_map_pts: 0.6138, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1484, d4.loss_map_pts: 0.5894, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1441, d5.loss_map_pts: 0.5834, d5.loss_map_dir: 0.0071, loss: 26.3043, grad_norm: 168.8785 +2026-02-27 19:47:36,716 - DriveTransformer - INFO - Epoch [8][5650/39528] lr: 8.063e-05, eta: 5 days, 15:28:18, time: 0.752, data_time: 0.036, memory: 19865, loss_cls: 0.1445, loss_bbox: 0.3506, loss_traj: 0.5821, loss_traj_cls: 0.0013, loss_map_cls: 0.1358, loss_map_pts: 0.6808, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 3.0882, d0.loss_plan_l1_fix_dist: 0.4737, d1.loss_plan_l1_fix_time: 0.9974, d1.loss_plan_l1_fix_dist: 0.2066, d2.loss_plan_l1_fix_time: 0.9857, d2.loss_plan_l1_fix_dist: 0.2057, d3.loss_plan_l1_fix_time: 0.9831, d3.loss_plan_l1_fix_dist: 0.2144, d4.loss_plan_l1_fix_time: 0.9857, d4.loss_plan_l1_fix_dist: 0.2188, d5.loss_plan_l1_fix_time: 0.9896, d5.loss_plan_l1_fix_dist: 0.2249, d6.loss_plan_l1_fix_time: 0.9938, d6.loss_plan_l1_fix_dist: 0.2370, d0.loss_cls_all: 0.1799, d0.loss_bbox_all: 0.4340, d0.loss_cls: 0.1799, d0.loss_bbox: 0.4340, d1.loss_cls: 0.1710, d1.loss_bbox: 0.3929, d2.loss_cls: 0.1574, d2.loss_bbox: 0.3678, d3.loss_cls: 0.1495, d3.loss_bbox: 0.3562, d4.loss_cls: 0.1443, d4.loss_bbox: 0.3529, d5.loss_cls: 0.1452, d5.loss_bbox: 0.3511, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7960, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6406, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5947, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5846, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5828, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5843, d0.loss_map_cls_all: 0.2220, d0.loss_map_pts_all: 1.3984, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2220, d0.loss_map_pts: 1.3984, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1865, d1.loss_map_pts: 0.9641, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1619, d2.loss_map_pts: 0.7817, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1485, d3.loss_map_pts: 0.7151, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1408, d4.loss_map_pts: 0.6901, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1369, d5.loss_map_pts: 0.6817, d5.loss_map_dir: 0.0087, loss: 28.2225, grad_norm: 169.2900 +2026-02-27 19:48:12,700 - DriveTransformer - INFO - Epoch [8][5700/39528] lr: 8.063e-05, eta: 5 days, 15:27:33, time: 0.720, data_time: 0.037, memory: 19865, loss_cls: 0.1436, loss_bbox: 0.3532, loss_traj: 0.5775, loss_traj_cls: 0.0013, loss_map_cls: 0.1495, loss_map_pts: 0.6253, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.8173, d0.loss_plan_l1_fix_dist: 0.3510, d1.loss_plan_l1_fix_time: 1.0695, d1.loss_plan_l1_fix_dist: 0.1897, d2.loss_plan_l1_fix_time: 1.0616, d2.loss_plan_l1_fix_dist: 0.1685, d3.loss_plan_l1_fix_time: 1.0564, d3.loss_plan_l1_fix_dist: 0.1739, d4.loss_plan_l1_fix_time: 1.0590, d4.loss_plan_l1_fix_dist: 0.1799, d5.loss_plan_l1_fix_time: 1.0618, d5.loss_plan_l1_fix_dist: 0.1915, d6.loss_plan_l1_fix_time: 1.0656, d6.loss_plan_l1_fix_dist: 0.2045, d0.loss_cls_all: 0.1865, d0.loss_bbox_all: 0.4142, d0.loss_cls: 0.1865, d0.loss_bbox: 0.4142, d1.loss_cls: 0.1731, d1.loss_bbox: 0.3841, d2.loss_cls: 0.1622, d2.loss_bbox: 0.3650, d3.loss_cls: 0.1479, d3.loss_bbox: 0.3598, d4.loss_cls: 0.1450, d4.loss_bbox: 0.3561, d5.loss_cls: 0.1433, d5.loss_bbox: 0.3539, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7777, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6284, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5865, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5764, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5761, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5758, d0.loss_map_cls_all: 0.2237, d0.loss_map_pts_all: 1.2987, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2237, d0.loss_map_pts: 1.2987, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.2013, d1.loss_map_pts: 0.9134, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1761, d2.loss_map_pts: 0.7323, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1616, d3.loss_map_pts: 0.6618, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1540, d4.loss_map_pts: 0.6321, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1518, d5.loss_map_pts: 0.6269, d5.loss_map_dir: 0.0081, loss: 27.5351, grad_norm: 164.8006 +2026-02-27 19:48:49,745 - DriveTransformer - INFO - Epoch [8][5750/39528] lr: 8.063e-05, eta: 5 days, 15:27:03, time: 0.741, data_time: 0.036, memory: 19865, loss_cls: 0.1207, loss_bbox: 0.3115, loss_traj: 0.5283, loss_traj_cls: 0.0014, loss_map_cls: 0.1169, loss_map_pts: 0.5601, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.5775, d0.loss_plan_l1_fix_dist: 0.4070, d1.loss_plan_l1_fix_time: 0.9725, d1.loss_plan_l1_fix_dist: 0.1876, d2.loss_plan_l1_fix_time: 0.9529, d2.loss_plan_l1_fix_dist: 0.1558, d3.loss_plan_l1_fix_time: 0.9446, d3.loss_plan_l1_fix_dist: 0.1574, d4.loss_plan_l1_fix_time: 0.9462, d4.loss_plan_l1_fix_dist: 0.1661, d5.loss_plan_l1_fix_time: 0.9482, d5.loss_plan_l1_fix_dist: 0.1735, d6.loss_plan_l1_fix_time: 0.9508, d6.loss_plan_l1_fix_dist: 0.1846, d0.loss_cls_all: 0.1658, d0.loss_bbox_all: 0.3624, d0.loss_cls: 0.1658, d0.loss_bbox: 0.3624, d1.loss_cls: 0.1543, d1.loss_bbox: 0.3353, d2.loss_cls: 0.1417, d2.loss_bbox: 0.3198, d3.loss_cls: 0.1282, d3.loss_bbox: 0.3127, d4.loss_cls: 0.1241, d4.loss_bbox: 0.3092, d5.loss_cls: 0.1215, d5.loss_bbox: 0.3098, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6955, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5742, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5395, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5280, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5252, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.5253, d0.loss_map_cls_all: 0.1882, d0.loss_map_pts_all: 1.1577, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1882, d0.loss_map_pts: 1.1577, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1587, d1.loss_map_pts: 0.8049, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1397, d2.loss_map_pts: 0.6524, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1275, d3.loss_map_pts: 0.5908, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1234, d4.loss_map_pts: 0.5656, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1200, d5.loss_map_pts: 0.5591, d5.loss_map_dir: 0.0076, loss: 24.6628, grad_norm: 163.4464 +2026-02-27 19:49:28,946 - DriveTransformer - INFO - Epoch [8][5800/39528] lr: 8.063e-05, eta: 5 days, 15:27:05, time: 0.785, data_time: 0.036, memory: 19865, loss_cls: 0.1349, loss_bbox: 0.3028, loss_traj: 0.4671, loss_traj_cls: 0.0014, loss_map_cls: 0.1176, loss_map_pts: 0.6085, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.4841, d0.loss_plan_l1_fix_dist: 0.3727, d1.loss_plan_l1_fix_time: 0.8214, d1.loss_plan_l1_fix_dist: 0.1809, d2.loss_plan_l1_fix_time: 0.8040, d2.loss_plan_l1_fix_dist: 0.1529, d3.loss_plan_l1_fix_time: 0.7922, d3.loss_plan_l1_fix_dist: 0.1611, d4.loss_plan_l1_fix_time: 0.7944, d4.loss_plan_l1_fix_dist: 0.1719, d5.loss_plan_l1_fix_time: 0.7976, d5.loss_plan_l1_fix_dist: 0.1854, d6.loss_plan_l1_fix_time: 0.8004, d6.loss_plan_l1_fix_dist: 0.2037, d0.loss_cls_all: 0.1746, d0.loss_bbox_all: 0.3604, d0.loss_cls: 0.1746, d0.loss_bbox: 0.3604, d1.loss_cls: 0.1661, d1.loss_bbox: 0.3305, d2.loss_cls: 0.1533, d2.loss_bbox: 0.3138, d3.loss_cls: 0.1401, d3.loss_bbox: 0.3071, d4.loss_cls: 0.1344, d4.loss_bbox: 0.3044, d5.loss_cls: 0.1340, d5.loss_bbox: 0.3024, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6868, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5222, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.4780, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.4683, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4650, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.4664, d0.loss_map_cls_all: 0.2023, d0.loss_map_pts_all: 1.3850, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2023, d0.loss_map_pts: 1.3850, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1647, d1.loss_map_pts: 0.9107, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1422, d2.loss_map_pts: 0.7143, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1314, d3.loss_map_pts: 0.6408, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1233, d4.loss_map_pts: 0.6170, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1191, d5.loss_map_pts: 0.6090, d5.loss_map_dir: 0.0097, loss: 24.2254, grad_norm: 158.1570 +2026-02-27 19:50:05,176 - DriveTransformer - INFO - Epoch [8][5850/39528] lr: 8.063e-05, eta: 5 days, 15:26:22, time: 0.723, data_time: 0.034, memory: 19865, loss_cls: 0.1411, loss_bbox: 0.3189, loss_traj: 0.5470, loss_traj_cls: 0.0013, loss_map_cls: 0.1455, loss_map_pts: 0.6893, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.7318, d0.loss_plan_l1_fix_dist: 0.4380, d1.loss_plan_l1_fix_time: 0.9501, d1.loss_plan_l1_fix_dist: 0.1773, d2.loss_plan_l1_fix_time: 0.9385, d2.loss_plan_l1_fix_dist: 0.1594, d3.loss_plan_l1_fix_time: 0.9322, d3.loss_plan_l1_fix_dist: 0.1649, d4.loss_plan_l1_fix_time: 0.9349, d4.loss_plan_l1_fix_dist: 0.1769, d5.loss_plan_l1_fix_time: 0.9379, d5.loss_plan_l1_fix_dist: 0.1921, d6.loss_plan_l1_fix_time: 0.9408, d6.loss_plan_l1_fix_dist: 0.2159, d0.loss_cls_all: 0.1814, d0.loss_bbox_all: 0.3816, d0.loss_cls: 0.1814, d0.loss_bbox: 0.3816, d1.loss_cls: 0.1730, d1.loss_bbox: 0.3509, d2.loss_cls: 0.1560, d2.loss_bbox: 0.3335, d3.loss_cls: 0.1470, d3.loss_bbox: 0.3239, d4.loss_cls: 0.1426, d4.loss_bbox: 0.3210, d5.loss_cls: 0.1415, d5.loss_bbox: 0.3191, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7492, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5995, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5559, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5494, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5471, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5464, d0.loss_map_cls_all: 0.2199, d0.loss_map_pts_all: 1.4048, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2199, d0.loss_map_pts: 1.4048, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1937, d1.loss_map_pts: 0.9830, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1740, d2.loss_map_pts: 0.8003, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1609, d3.loss_map_pts: 0.7291, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1529, d4.loss_map_pts: 0.6987, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1485, d5.loss_map_pts: 0.6905, d5.loss_map_dir: 0.0086, loss: 26.8711, grad_norm: 157.4352 +2026-02-27 19:50:42,314 - DriveTransformer - INFO - Epoch [8][5900/39528] lr: 8.063e-05, eta: 5 days, 15:25:54, time: 0.743, data_time: 0.037, memory: 19865, loss_cls: 0.1360, loss_bbox: 0.3148, loss_traj: 0.5778, loss_traj_cls: 0.0013, loss_map_cls: 0.1267, loss_map_pts: 0.5599, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.4753, d0.loss_plan_l1_fix_dist: 0.3926, d1.loss_plan_l1_fix_time: 0.9919, d1.loss_plan_l1_fix_dist: 0.1571, d2.loss_plan_l1_fix_time: 0.9815, d2.loss_plan_l1_fix_dist: 0.1452, d3.loss_plan_l1_fix_time: 0.9738, d3.loss_plan_l1_fix_dist: 0.1550, d4.loss_plan_l1_fix_time: 0.9760, d4.loss_plan_l1_fix_dist: 0.1672, d5.loss_plan_l1_fix_time: 0.9790, d5.loss_plan_l1_fix_dist: 0.1863, d6.loss_plan_l1_fix_time: 0.9828, d6.loss_plan_l1_fix_dist: 0.2070, d0.loss_cls_all: 0.1691, d0.loss_bbox_all: 0.3824, d0.loss_cls: 0.1691, d0.loss_bbox: 0.3824, d1.loss_cls: 0.1672, d1.loss_bbox: 0.3508, d2.loss_cls: 0.1552, d2.loss_bbox: 0.3291, d3.loss_cls: 0.1420, d3.loss_bbox: 0.3203, d4.loss_cls: 0.1362, d4.loss_bbox: 0.3192, d5.loss_cls: 0.1347, d5.loss_bbox: 0.3173, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8168, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6434, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5916, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5824, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5763, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.5723, d0.loss_map_cls_all: 0.1850, d0.loss_map_pts_all: 1.2099, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1850, d0.loss_map_pts: 1.2099, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1635, d1.loss_map_pts: 0.8321, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1495, d2.loss_map_pts: 0.6578, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1389, d3.loss_map_pts: 0.5931, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1334, d4.loss_map_pts: 0.5689, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1281, d5.loss_map_pts: 0.5617, d5.loss_map_dir: 0.0077, loss: 25.5280, grad_norm: 157.1567 +2026-02-27 19:51:18,462 - DriveTransformer - INFO - Epoch [8][5950/39528] lr: 8.063e-05, eta: 5 days, 15:25:11, time: 0.723, data_time: 0.037, memory: 19865, loss_cls: 0.1878, loss_bbox: 0.3894, loss_traj: 0.7849, loss_traj_cls: 0.0013, loss_map_cls: 0.1910, loss_map_pts: 0.7396, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 3.8416, d0.loss_plan_l1_fix_dist: 0.4316, d1.loss_plan_l1_fix_time: 1.1638, d1.loss_plan_l1_fix_dist: 0.2039, d2.loss_plan_l1_fix_time: 1.1548, d2.loss_plan_l1_fix_dist: 0.2023, d3.loss_plan_l1_fix_time: 1.1532, d3.loss_plan_l1_fix_dist: 0.2102, d4.loss_plan_l1_fix_time: 1.1559, d4.loss_plan_l1_fix_dist: 0.2198, d5.loss_plan_l1_fix_time: 1.1592, d5.loss_plan_l1_fix_dist: 0.2298, d6.loss_plan_l1_fix_time: 1.1632, d6.loss_plan_l1_fix_dist: 0.2433, d0.loss_cls_all: 0.2308, d0.loss_bbox_all: 0.4677, d0.loss_cls: 0.2308, d0.loss_bbox: 0.4677, d1.loss_cls: 0.2238, d1.loss_bbox: 0.4295, d2.loss_cls: 0.2064, d2.loss_bbox: 0.4052, d3.loss_cls: 0.1922, d3.loss_bbox: 0.3945, d4.loss_cls: 0.1857, d4.loss_bbox: 0.3917, d5.loss_cls: 0.1867, d5.loss_bbox: 0.3890, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0771, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8562, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.8005, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7891, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7852, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.7843, d0.loss_map_cls_all: 0.2695, d0.loss_map_pts_all: 1.4179, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2695, d0.loss_map_pts: 1.4179, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2424, d1.loss_map_pts: 1.0272, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.2141, d2.loss_map_pts: 0.8385, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.2043, d3.loss_map_pts: 0.7702, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1957, d4.loss_map_pts: 0.7468, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1930, d5.loss_map_pts: 0.7401, d5.loss_map_dir: 0.0093, loss: 32.9457, grad_norm: 158.0217 +2026-02-27 19:51:55,717 - DriveTransformer - INFO - Epoch [8][6000/39528] lr: 8.063e-05, eta: 5 days, 15:24:44, time: 0.745, data_time: 0.034, memory: 19865, loss_cls: 0.1357, loss_bbox: 0.3311, loss_traj: 0.6186, loss_traj_cls: 0.0013, loss_map_cls: 0.1379, loss_map_pts: 0.6591, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.6904, d0.loss_plan_l1_fix_dist: 0.4390, d1.loss_plan_l1_fix_time: 0.9909, d1.loss_plan_l1_fix_dist: 0.2005, d2.loss_plan_l1_fix_time: 0.9797, d2.loss_plan_l1_fix_dist: 0.2035, d3.loss_plan_l1_fix_time: 0.9643, d3.loss_plan_l1_fix_dist: 0.2099, d4.loss_plan_l1_fix_time: 0.9652, d4.loss_plan_l1_fix_dist: 0.2189, d5.loss_plan_l1_fix_time: 0.9677, d5.loss_plan_l1_fix_dist: 0.2281, d6.loss_plan_l1_fix_time: 0.9710, d6.loss_plan_l1_fix_dist: 0.2441, d0.loss_cls_all: 0.1798, d0.loss_bbox_all: 0.3896, d0.loss_cls: 0.1798, d0.loss_bbox: 0.3896, d1.loss_cls: 0.1705, d1.loss_bbox: 0.3580, d2.loss_cls: 0.1558, d2.loss_bbox: 0.3407, d3.loss_cls: 0.1422, d3.loss_bbox: 0.3348, d4.loss_cls: 0.1338, d4.loss_bbox: 0.3343, d5.loss_cls: 0.1352, d5.loss_bbox: 0.3322, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8167, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6538, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6148, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6138, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6150, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6209, d0.loss_map_cls_all: 0.2173, d0.loss_map_pts_all: 1.3664, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2173, d0.loss_map_pts: 1.3664, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1854, d1.loss_map_pts: 0.9632, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1677, d2.loss_map_pts: 0.7774, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1557, d3.loss_map_pts: 0.7011, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1488, d4.loss_map_pts: 0.6695, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1413, d5.loss_map_pts: 0.6605, d5.loss_map_dir: 0.0094, loss: 27.4815, grad_norm: 159.0314 +2026-02-27 19:52:32,650 - DriveTransformer - INFO - Epoch [8][6050/39528] lr: 8.063e-05, eta: 5 days, 15:24:12, time: 0.739, data_time: 0.036, memory: 19865, loss_cls: 0.1329, loss_bbox: 0.3333, loss_traj: 0.5789, loss_traj_cls: 0.0013, loss_map_cls: 0.1532, loss_map_pts: 0.6763, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.4584, d0.loss_plan_l1_fix_dist: 0.4687, d1.loss_plan_l1_fix_time: 1.0374, d1.loss_plan_l1_fix_dist: 0.2198, d2.loss_plan_l1_fix_time: 1.0191, d2.loss_plan_l1_fix_dist: 0.2258, d3.loss_plan_l1_fix_time: 1.0042, d3.loss_plan_l1_fix_dist: 0.2420, d4.loss_plan_l1_fix_time: 1.0050, d4.loss_plan_l1_fix_dist: 0.2680, d5.loss_plan_l1_fix_time: 1.0073, d5.loss_plan_l1_fix_dist: 0.2939, d6.loss_plan_l1_fix_time: 1.0102, d6.loss_plan_l1_fix_dist: 0.3164, d0.loss_cls_all: 0.1818, d0.loss_bbox_all: 0.3957, d0.loss_cls: 0.1818, d0.loss_bbox: 0.3957, d1.loss_cls: 0.1734, d1.loss_bbox: 0.3643, d2.loss_cls: 0.1534, d2.loss_bbox: 0.3464, d3.loss_cls: 0.1381, d3.loss_bbox: 0.3400, d4.loss_cls: 0.1323, d4.loss_bbox: 0.3368, d5.loss_cls: 0.1320, d5.loss_bbox: 0.3344, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8107, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6313, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5793, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5833, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5778, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5795, d0.loss_map_cls_all: 0.2305, d0.loss_map_pts_all: 1.4125, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2305, d0.loss_map_pts: 1.4125, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2019, d1.loss_map_pts: 0.9836, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1796, d2.loss_map_pts: 0.7918, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1668, d3.loss_map_pts: 0.7101, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1595, d4.loss_map_pts: 0.6797, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1547, d5.loss_map_pts: 0.6772, d5.loss_map_dir: 0.0089, loss: 27.8871, grad_norm: 163.3930 +2026-02-27 19:53:07,451 - DriveTransformer - INFO - Epoch [8][6100/39528] lr: 8.063e-05, eta: 5 days, 15:23:09, time: 0.696, data_time: 0.035, memory: 19865, loss_cls: 0.1641, loss_bbox: 0.3577, loss_traj: 0.6739, loss_traj_cls: 0.0013, loss_map_cls: 0.1559, loss_map_pts: 0.7037, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 3.0153, d0.loss_plan_l1_fix_dist: 0.4869, d1.loss_plan_l1_fix_time: 1.0293, d1.loss_plan_l1_fix_dist: 0.2082, d2.loss_plan_l1_fix_time: 1.0281, d2.loss_plan_l1_fix_dist: 0.2085, d3.loss_plan_l1_fix_time: 1.0275, d3.loss_plan_l1_fix_dist: 0.2155, d4.loss_plan_l1_fix_time: 1.0304, d4.loss_plan_l1_fix_dist: 0.2367, d5.loss_plan_l1_fix_time: 1.0340, d5.loss_plan_l1_fix_dist: 0.2580, d6.loss_plan_l1_fix_time: 1.0373, d6.loss_plan_l1_fix_dist: 0.2721, d0.loss_cls_all: 0.2054, d0.loss_bbox_all: 0.4313, d0.loss_cls: 0.2054, d0.loss_bbox: 0.4313, d1.loss_cls: 0.1949, d1.loss_bbox: 0.3919, d2.loss_cls: 0.1826, d2.loss_bbox: 0.3706, d3.loss_cls: 0.1706, d3.loss_bbox: 0.3630, d4.loss_cls: 0.1639, d4.loss_bbox: 0.3610, d5.loss_cls: 0.1641, d5.loss_bbox: 0.3581, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9378, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7689, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.7012, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6797, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6755, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6752, d0.loss_map_cls_all: 0.2314, d0.loss_map_pts_all: 1.3938, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2314, d0.loss_map_pts: 1.3938, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.2002, d1.loss_map_pts: 0.9765, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1800, d2.loss_map_pts: 0.8143, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1692, d3.loss_map_pts: 0.7376, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1631, d4.loss_map_pts: 0.7093, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1592, d5.loss_map_pts: 0.7041, d5.loss_map_dir: 0.0080, loss: 29.7100, grad_norm: 163.2780 +2026-02-27 19:53:42,674 - DriveTransformer - INFO - Epoch [8][6150/39528] lr: 8.063e-05, eta: 5 days, 15:22:12, time: 0.704, data_time: 0.040, memory: 19865, loss_cls: 0.1433, loss_bbox: 0.3588, loss_traj: 0.6940, loss_traj_cls: 0.0013, loss_map_cls: 0.1357, loss_map_pts: 0.5972, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 3.0321, d0.loss_plan_l1_fix_dist: 0.4132, d1.loss_plan_l1_fix_time: 1.0083, d1.loss_plan_l1_fix_dist: 0.2061, d2.loss_plan_l1_fix_time: 1.0004, d2.loss_plan_l1_fix_dist: 0.1991, d3.loss_plan_l1_fix_time: 0.9961, d3.loss_plan_l1_fix_dist: 0.2028, d4.loss_plan_l1_fix_time: 0.9981, d4.loss_plan_l1_fix_dist: 0.2161, d5.loss_plan_l1_fix_time: 1.0000, d5.loss_plan_l1_fix_dist: 0.2296, d6.loss_plan_l1_fix_time: 1.0023, d6.loss_plan_l1_fix_dist: 0.2515, d0.loss_cls_all: 0.1779, d0.loss_bbox_all: 0.4196, d0.loss_cls: 0.1779, d0.loss_bbox: 0.4196, d1.loss_cls: 0.1774, d1.loss_bbox: 0.3831, d2.loss_cls: 0.1620, d2.loss_bbox: 0.3660, d3.loss_cls: 0.1491, d3.loss_bbox: 0.3610, d4.loss_cls: 0.1450, d4.loss_bbox: 0.3579, d5.loss_cls: 0.1427, d5.loss_bbox: 0.3581, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9929, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7792, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7249, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6962, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6898, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6932, d0.loss_map_cls_all: 0.1965, d0.loss_map_pts_all: 1.1760, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1965, d0.loss_map_pts: 1.1760, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1723, d1.loss_map_pts: 0.8435, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1534, d2.loss_map_pts: 0.6948, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1422, d3.loss_map_pts: 0.6214, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1371, d4.loss_map_pts: 0.6016, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1363, d5.loss_map_pts: 0.5960, d5.loss_map_dir: 0.0065, loss: 27.9592, grad_norm: 163.2460 +2026-02-27 19:54:19,053 - DriveTransformer - INFO - Epoch [8][6200/39528] lr: 8.063e-05, eta: 5 days, 15:21:33, time: 0.728, data_time: 0.035, memory: 19865, loss_cls: 0.1157, loss_bbox: 0.3182, loss_traj: 0.6321, loss_traj_cls: 0.0012, loss_map_cls: 0.1300, loss_map_pts: 0.6453, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.5522, d0.loss_plan_l1_fix_dist: 0.4350, d1.loss_plan_l1_fix_time: 0.9964, d1.loss_plan_l1_fix_dist: 0.1920, d2.loss_plan_l1_fix_time: 0.9761, d2.loss_plan_l1_fix_dist: 0.1948, d3.loss_plan_l1_fix_time: 0.9757, d3.loss_plan_l1_fix_dist: 0.2092, d4.loss_plan_l1_fix_time: 0.9794, d4.loss_plan_l1_fix_dist: 0.2264, d5.loss_plan_l1_fix_time: 0.9835, d5.loss_plan_l1_fix_dist: 0.2487, d6.loss_plan_l1_fix_time: 0.9880, d6.loss_plan_l1_fix_dist: 0.2798, d0.loss_cls_all: 0.1568, d0.loss_bbox_all: 0.3668, d0.loss_cls: 0.1568, d0.loss_bbox: 0.3668, d1.loss_cls: 0.1505, d1.loss_bbox: 0.3385, d2.loss_cls: 0.1355, d2.loss_bbox: 0.3225, d3.loss_cls: 0.1221, d3.loss_bbox: 0.3185, d4.loss_cls: 0.1171, d4.loss_bbox: 0.3170, d5.loss_cls: 0.1158, d5.loss_bbox: 0.3177, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9020, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7110, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6611, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6411, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6370, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6323, d0.loss_map_cls_all: 0.2082, d0.loss_map_pts_all: 1.2175, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2082, d0.loss_map_pts: 1.2175, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1779, d1.loss_map_pts: 0.8815, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1561, d2.loss_map_pts: 0.7276, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1420, d3.loss_map_pts: 0.6690, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1378, d4.loss_map_pts: 0.6490, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1335, d5.loss_map_pts: 0.6454, d5.loss_map_dir: 0.0080, loss: 26.8056, grad_norm: 163.3076 +2026-02-27 19:54:53,965 - DriveTransformer - INFO - Epoch [8][6250/39528] lr: 8.063e-05, eta: 5 days, 15:20:31, time: 0.698, data_time: 0.035, memory: 19865, loss_cls: 0.1320, loss_bbox: 0.3499, loss_traj: 0.6543, loss_traj_cls: 0.0013, loss_map_cls: 0.1153, loss_map_pts: 0.5157, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.3475, d0.loss_plan_l1_fix_dist: 0.3462, d1.loss_plan_l1_fix_time: 0.8427, d1.loss_plan_l1_fix_dist: 0.1644, d2.loss_plan_l1_fix_time: 0.8191, d2.loss_plan_l1_fix_dist: 0.1721, d3.loss_plan_l1_fix_time: 0.8239, d3.loss_plan_l1_fix_dist: 0.1864, d4.loss_plan_l1_fix_time: 0.8283, d4.loss_plan_l1_fix_dist: 0.2069, d5.loss_plan_l1_fix_time: 0.8334, d5.loss_plan_l1_fix_dist: 0.2290, d6.loss_plan_l1_fix_time: 0.8388, d6.loss_plan_l1_fix_dist: 0.2555, d0.loss_cls_all: 0.1663, d0.loss_bbox_all: 0.4041, d0.loss_cls: 0.1663, d0.loss_bbox: 0.4041, d1.loss_cls: 0.1575, d1.loss_bbox: 0.3681, d2.loss_cls: 0.1478, d2.loss_bbox: 0.3513, d3.loss_cls: 0.1373, d3.loss_bbox: 0.3465, d4.loss_cls: 0.1331, d4.loss_bbox: 0.3466, d5.loss_cls: 0.1303, d5.loss_bbox: 0.3494, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9290, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7355, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6730, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6612, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6624, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6560, d0.loss_map_cls_all: 0.1887, d0.loss_map_pts_all: 1.0315, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1887, d0.loss_map_pts: 1.0315, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1560, d1.loss_map_pts: 0.7258, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1388, d2.loss_map_pts: 0.5960, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1276, d3.loss_map_pts: 0.5423, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1222, d4.loss_map_pts: 0.5279, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1178, d5.loss_map_pts: 0.5167, d5.loss_map_dir: 0.0060, loss: 24.6526, grad_norm: 162.0409 +2026-02-27 19:55:29,929 - DriveTransformer - INFO - Epoch [8][6300/39528] lr: 8.063e-05, eta: 5 days, 15:19:46, time: 0.719, data_time: 0.034, memory: 19865, loss_cls: 0.1201, loss_bbox: 0.3135, loss_traj: 0.5926, loss_traj_cls: 0.0013, loss_map_cls: 0.1124, loss_map_pts: 0.5855, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.1969, d0.loss_plan_l1_fix_dist: 0.3734, d1.loss_plan_l1_fix_time: 0.9152, d1.loss_plan_l1_fix_dist: 0.1630, d2.loss_plan_l1_fix_time: 0.9092, d2.loss_plan_l1_fix_dist: 0.1639, d3.loss_plan_l1_fix_time: 0.9128, d3.loss_plan_l1_fix_dist: 0.1853, d4.loss_plan_l1_fix_time: 0.9162, d4.loss_plan_l1_fix_dist: 0.2079, d5.loss_plan_l1_fix_time: 0.9195, d5.loss_plan_l1_fix_dist: 0.2290, d6.loss_plan_l1_fix_time: 0.9234, d6.loss_plan_l1_fix_dist: 0.2535, d0.loss_cls_all: 0.1537, d0.loss_bbox_all: 0.3733, d0.loss_cls: 0.1537, d0.loss_bbox: 0.3733, d1.loss_cls: 0.1460, d1.loss_bbox: 0.3469, d2.loss_cls: 0.1342, d2.loss_bbox: 0.3272, d3.loss_cls: 0.1232, d3.loss_bbox: 0.3196, d4.loss_cls: 0.1206, d4.loss_bbox: 0.3168, d5.loss_cls: 0.1209, d5.loss_bbox: 0.3139, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8116, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6710, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6060, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5936, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5941, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5934, d0.loss_map_cls_all: 0.1791, d0.loss_map_pts_all: 1.2011, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1791, d0.loss_map_pts: 1.2011, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1544, d1.loss_map_pts: 0.8401, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1329, d2.loss_map_pts: 0.6795, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1226, d3.loss_map_pts: 0.6194, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1165, d4.loss_map_pts: 0.5951, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1137, d5.loss_map_pts: 0.5881, d5.loss_map_dir: 0.0076, loss: 24.9770, grad_norm: 162.1142 +2026-02-27 19:56:05,414 - DriveTransformer - INFO - Epoch [8][6350/39528] lr: 8.063e-05, eta: 5 days, 15:18:53, time: 0.710, data_time: 0.034, memory: 19865, loss_cls: 0.1417, loss_bbox: 0.3443, loss_traj: 0.5442, loss_traj_cls: 0.0012, loss_map_cls: 0.1558, loss_map_pts: 0.6817, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.4563, d0.loss_plan_l1_fix_dist: 0.3590, d1.loss_plan_l1_fix_time: 0.9933, d1.loss_plan_l1_fix_dist: 0.1788, d2.loss_plan_l1_fix_time: 0.9847, d2.loss_plan_l1_fix_dist: 0.1666, d3.loss_plan_l1_fix_time: 0.9858, d3.loss_plan_l1_fix_dist: 0.1815, d4.loss_plan_l1_fix_time: 0.9902, d4.loss_plan_l1_fix_dist: 0.1962, d5.loss_plan_l1_fix_time: 0.9942, d5.loss_plan_l1_fix_dist: 0.2173, d6.loss_plan_l1_fix_time: 0.9990, d6.loss_plan_l1_fix_dist: 0.2418, d0.loss_cls_all: 0.1872, d0.loss_bbox_all: 0.4116, d0.loss_cls: 0.1872, d0.loss_bbox: 0.4116, d1.loss_cls: 0.1809, d1.loss_bbox: 0.3773, d2.loss_cls: 0.1632, d2.loss_bbox: 0.3556, d3.loss_cls: 0.1460, d3.loss_bbox: 0.3525, d4.loss_cls: 0.1415, d4.loss_bbox: 0.3492, d5.loss_cls: 0.1425, d5.loss_bbox: 0.3442, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8144, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6290, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5804, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5576, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5489, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5478, d0.loss_map_cls_all: 0.2304, d0.loss_map_pts_all: 1.3386, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2304, d0.loss_map_pts: 1.3386, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.2030, d1.loss_map_pts: 0.9602, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1821, d2.loss_map_pts: 0.7892, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1695, d3.loss_map_pts: 0.7184, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1616, d4.loss_map_pts: 0.6883, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1577, d5.loss_map_pts: 0.6808, d5.loss_map_dir: 0.0083, loss: 27.1618, grad_norm: 156.4864 +2026-02-27 19:56:41,151 - DriveTransformer - INFO - Epoch [8][6400/39528] lr: 8.063e-05, eta: 5 days, 15:18:04, time: 0.715, data_time: 0.034, memory: 19865, loss_cls: 0.1292, loss_bbox: 0.3265, loss_traj: 0.6614, loss_traj_cls: 0.0013, loss_map_cls: 0.1125, loss_map_pts: 0.5541, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.5260, d0.loss_plan_l1_fix_dist: 0.4096, d1.loss_plan_l1_fix_time: 0.8695, d1.loss_plan_l1_fix_dist: 0.1783, d2.loss_plan_l1_fix_time: 0.8570, d2.loss_plan_l1_fix_dist: 0.1834, d3.loss_plan_l1_fix_time: 0.8563, d3.loss_plan_l1_fix_dist: 0.2001, d4.loss_plan_l1_fix_time: 0.8594, d4.loss_plan_l1_fix_dist: 0.2180, d5.loss_plan_l1_fix_time: 0.8635, d5.loss_plan_l1_fix_dist: 0.2454, d6.loss_plan_l1_fix_time: 0.8689, d6.loss_plan_l1_fix_dist: 0.2770, d0.loss_cls_all: 0.1662, d0.loss_bbox_all: 0.3828, d0.loss_cls: 0.1662, d0.loss_bbox: 0.3828, d1.loss_cls: 0.1561, d1.loss_bbox: 0.3514, d2.loss_cls: 0.1481, d2.loss_bbox: 0.3349, d3.loss_cls: 0.1345, d3.loss_bbox: 0.3303, d4.loss_cls: 0.1303, d4.loss_bbox: 0.3275, d5.loss_cls: 0.1288, d5.loss_bbox: 0.3263, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8903, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7181, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6802, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6638, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6655, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.6634, d0.loss_map_cls_all: 0.1890, d0.loss_map_pts_all: 1.1786, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1890, d0.loss_map_pts: 1.1786, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1568, d1.loss_map_pts: 0.8395, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1338, d2.loss_map_pts: 0.6788, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1216, d3.loss_map_pts: 0.5943, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1162, d4.loss_map_pts: 0.5643, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1124, d5.loss_map_pts: 0.5543, d5.loss_map_dir: 0.0065, loss: 25.6083, grad_norm: 159.2647 +2026-02-27 19:57:20,358 - DriveTransformer - INFO - Epoch [8][6450/39528] lr: 8.063e-05, eta: 5 days, 15:18:05, time: 0.784, data_time: 0.037, memory: 19865, loss_cls: 0.1400, loss_bbox: 0.3388, loss_traj: 0.5554, loss_traj_cls: 0.0013, loss_map_cls: 0.1434, loss_map_pts: 0.7290, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.2600, d0.loss_plan_l1_fix_dist: 0.3425, d1.loss_plan_l1_fix_time: 0.8885, d1.loss_plan_l1_fix_dist: 0.1861, d2.loss_plan_l1_fix_time: 0.8727, d2.loss_plan_l1_fix_dist: 0.2002, d3.loss_plan_l1_fix_time: 0.8592, d3.loss_plan_l1_fix_dist: 0.2188, d4.loss_plan_l1_fix_time: 0.8604, d4.loss_plan_l1_fix_dist: 0.2353, d5.loss_plan_l1_fix_time: 0.8626, d5.loss_plan_l1_fix_dist: 0.2543, d6.loss_plan_l1_fix_time: 0.8662, d6.loss_plan_l1_fix_dist: 0.2763, d0.loss_cls_all: 0.1772, d0.loss_bbox_all: 0.4037, d0.loss_cls: 0.1772, d0.loss_bbox: 0.4037, d1.loss_cls: 0.1726, d1.loss_bbox: 0.3693, d2.loss_cls: 0.1602, d2.loss_bbox: 0.3462, d3.loss_cls: 0.1448, d3.loss_bbox: 0.3431, d4.loss_cls: 0.1401, d4.loss_bbox: 0.3407, d5.loss_cls: 0.1390, d5.loss_bbox: 0.3400, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7377, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5893, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5651, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5502, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5568, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5561, d0.loss_map_cls_all: 0.2251, d0.loss_map_pts_all: 1.5270, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2251, d0.loss_map_pts: 1.5270, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1907, d1.loss_map_pts: 1.0273, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1731, d2.loss_map_pts: 0.8408, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1569, d3.loss_map_pts: 0.7633, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1498, d4.loss_map_pts: 0.7375, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1455, d5.loss_map_pts: 0.7300, d5.loss_map_dir: 0.0092, loss: 26.7993, grad_norm: 160.0370 +2026-02-27 19:57:57,103 - DriveTransformer - INFO - Epoch [8][6500/39528] lr: 8.063e-05, eta: 5 days, 15:17:31, time: 0.735, data_time: 0.038, memory: 19865, loss_cls: 0.1385, loss_bbox: 0.3383, loss_traj: 0.6151, loss_traj_cls: 0.0013, loss_map_cls: 0.1441, loss_map_pts: 0.6925, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.5266, d0.loss_plan_l1_fix_dist: 0.3734, d1.loss_plan_l1_fix_time: 1.0586, d1.loss_plan_l1_fix_dist: 0.1773, d2.loss_plan_l1_fix_time: 1.0418, d2.loss_plan_l1_fix_dist: 0.1778, d3.loss_plan_l1_fix_time: 1.0330, d3.loss_plan_l1_fix_dist: 0.1946, d4.loss_plan_l1_fix_time: 1.0354, d4.loss_plan_l1_fix_dist: 0.2143, d5.loss_plan_l1_fix_time: 1.0383, d5.loss_plan_l1_fix_dist: 0.2334, d6.loss_plan_l1_fix_time: 1.0412, d6.loss_plan_l1_fix_dist: 0.2551, d0.loss_cls_all: 0.1759, d0.loss_bbox_all: 0.4000, d0.loss_cls: 0.1759, d0.loss_bbox: 0.4000, d1.loss_cls: 0.1669, d1.loss_bbox: 0.3626, d2.loss_cls: 0.1539, d2.loss_bbox: 0.3447, d3.loss_cls: 0.1437, d3.loss_bbox: 0.3391, d4.loss_cls: 0.1392, d4.loss_bbox: 0.3378, d5.loss_cls: 0.1383, d5.loss_bbox: 0.3369, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8342, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6647, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6244, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6133, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6161, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6175, d0.loss_map_cls_all: 0.2147, d0.loss_map_pts_all: 1.3792, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2147, d0.loss_map_pts: 1.3792, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1877, d1.loss_map_pts: 0.9755, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1678, d2.loss_map_pts: 0.7916, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1555, d3.loss_map_pts: 0.7222, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1483, d4.loss_map_pts: 0.7012, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1439, d5.loss_map_pts: 0.6933, d5.loss_map_dir: 0.0083, loss: 27.8608, grad_norm: 158.5457 +2026-02-27 19:58:33,912 - DriveTransformer - INFO - Epoch [8][6550/39528] lr: 8.063e-05, eta: 5 days, 15:16:57, time: 0.736, data_time: 0.038, memory: 19865, loss_cls: 0.1477, loss_bbox: 0.3599, loss_traj: 0.5710, loss_traj_cls: 0.0013, loss_map_cls: 0.1380, loss_map_pts: 0.6826, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.8143, d0.loss_plan_l1_fix_dist: 0.3900, d1.loss_plan_l1_fix_time: 0.9544, d1.loss_plan_l1_fix_dist: 0.1849, d2.loss_plan_l1_fix_time: 0.9339, d2.loss_plan_l1_fix_dist: 0.1938, d3.loss_plan_l1_fix_time: 0.9283, d3.loss_plan_l1_fix_dist: 0.2146, d4.loss_plan_l1_fix_time: 0.9306, d4.loss_plan_l1_fix_dist: 0.2415, d5.loss_plan_l1_fix_time: 0.9337, d5.loss_plan_l1_fix_dist: 0.2688, d6.loss_plan_l1_fix_time: 0.9365, d6.loss_plan_l1_fix_dist: 0.3002, d0.loss_cls_all: 0.1899, d0.loss_bbox_all: 0.4252, d0.loss_cls: 0.1899, d0.loss_bbox: 0.4252, d1.loss_cls: 0.1808, d1.loss_bbox: 0.3881, d2.loss_cls: 0.1652, d2.loss_bbox: 0.3679, d3.loss_cls: 0.1537, d3.loss_bbox: 0.3612, d4.loss_cls: 0.1487, d4.loss_bbox: 0.3593, d5.loss_cls: 0.1483, d5.loss_bbox: 0.3586, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7608, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6201, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5837, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5746, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5773, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5703, d0.loss_map_cls_all: 0.2061, d0.loss_map_pts_all: 1.3534, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2061, d0.loss_map_pts: 1.3534, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1827, d1.loss_map_pts: 0.9651, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1584, d2.loss_map_pts: 0.7887, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1474, d3.loss_map_pts: 0.7193, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1420, d4.loss_map_pts: 0.6941, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1392, d5.loss_map_pts: 0.6842, d5.loss_map_dir: 0.0085, loss: 27.4875, grad_norm: 160.0601 +2026-02-27 19:59:08,560 - DriveTransformer - INFO - Epoch [8][6600/39528] lr: 8.063e-05, eta: 5 days, 15:15:54, time: 0.694, data_time: 0.038, memory: 19865, loss_cls: 0.1393, loss_bbox: 0.3560, loss_traj: 0.6747, loss_traj_cls: 0.0013, loss_map_cls: 0.1511, loss_map_pts: 0.5880, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.7962, d0.loss_plan_l1_fix_dist: 0.4314, d1.loss_plan_l1_fix_time: 1.1973, d1.loss_plan_l1_fix_dist: 0.1676, d2.loss_plan_l1_fix_time: 1.1833, d2.loss_plan_l1_fix_dist: 0.1772, d3.loss_plan_l1_fix_time: 1.1849, d3.loss_plan_l1_fix_dist: 0.1912, d4.loss_plan_l1_fix_time: 1.1880, d4.loss_plan_l1_fix_dist: 0.2103, d5.loss_plan_l1_fix_time: 1.1916, d5.loss_plan_l1_fix_dist: 0.2365, d6.loss_plan_l1_fix_time: 1.1957, d6.loss_plan_l1_fix_dist: 0.2685, d0.loss_cls_all: 0.1863, d0.loss_bbox_all: 0.4125, d0.loss_cls: 0.1863, d0.loss_bbox: 0.4125, d1.loss_cls: 0.1844, d1.loss_bbox: 0.3797, d2.loss_cls: 0.1630, d2.loss_bbox: 0.3605, d3.loss_cls: 0.1476, d3.loss_bbox: 0.3554, d4.loss_cls: 0.1423, d4.loss_bbox: 0.3529, d5.loss_cls: 0.1394, d5.loss_bbox: 0.3547, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8976, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7284, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6900, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6724, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6766, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6770, d0.loss_map_cls_all: 0.2242, d0.loss_map_pts_all: 1.1328, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2242, d0.loss_map_pts: 1.1328, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1963, d1.loss_map_pts: 0.8154, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1759, d2.loss_map_pts: 0.6745, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1613, d3.loss_map_pts: 0.6193, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1554, d4.loss_map_pts: 0.5972, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1519, d5.loss_map_pts: 0.5898, d5.loss_map_dir: 0.0067, loss: 28.5590, grad_norm: 164.6889 +2026-02-27 19:59:44,964 - DriveTransformer - INFO - Epoch [8][6650/39528] lr: 8.063e-05, eta: 5 days, 15:15:13, time: 0.727, data_time: 0.036, memory: 19865, loss_cls: 0.1402, loss_bbox: 0.3491, loss_traj: 0.5781, loss_traj_cls: 0.0013, loss_map_cls: 0.1608, loss_map_pts: 0.7108, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.9648, d0.loss_plan_l1_fix_dist: 0.4364, d1.loss_plan_l1_fix_time: 1.1297, d1.loss_plan_l1_fix_dist: 0.2095, d2.loss_plan_l1_fix_time: 1.1112, d2.loss_plan_l1_fix_dist: 0.2186, d3.loss_plan_l1_fix_time: 1.1147, d3.loss_plan_l1_fix_dist: 0.2324, d4.loss_plan_l1_fix_time: 1.1186, d4.loss_plan_l1_fix_dist: 0.2514, d5.loss_plan_l1_fix_time: 1.1232, d5.loss_plan_l1_fix_dist: 0.2758, d6.loss_plan_l1_fix_time: 1.1293, d6.loss_plan_l1_fix_dist: 0.3032, d0.loss_cls_all: 0.1844, d0.loss_bbox_all: 0.4081, d0.loss_cls: 0.1844, d0.loss_bbox: 0.4081, d1.loss_cls: 0.1782, d1.loss_bbox: 0.3710, d2.loss_cls: 0.1611, d2.loss_bbox: 0.3528, d3.loss_cls: 0.1468, d3.loss_bbox: 0.3478, d4.loss_cls: 0.1415, d4.loss_bbox: 0.3476, d5.loss_cls: 0.1414, d5.loss_bbox: 0.3470, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7658, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6362, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5861, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5770, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5723, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5752, d0.loss_map_cls_all: 0.2406, d0.loss_map_pts_all: 1.3523, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2406, d0.loss_map_pts: 1.3523, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2096, d1.loss_map_pts: 0.9866, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1900, d2.loss_map_pts: 0.8180, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1743, d3.loss_map_pts: 0.7434, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1665, d4.loss_map_pts: 0.7193, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1628, d5.loss_map_pts: 0.7141, d5.loss_map_dir: 0.0085, loss: 29.1347, grad_norm: 165.5388 +2026-02-27 20:00:22,457 - DriveTransformer - INFO - Epoch [8][6700/39528] lr: 8.063e-05, eta: 5 days, 15:14:50, time: 0.750, data_time: 0.040, memory: 19865, loss_cls: 0.1369, loss_bbox: 0.3395, loss_traj: 0.5257, loss_traj_cls: 0.0014, loss_map_cls: 0.1591, loss_map_pts: 0.6799, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.3671, d0.loss_plan_l1_fix_dist: 0.4200, d1.loss_plan_l1_fix_time: 0.9785, d1.loss_plan_l1_fix_dist: 0.1723, d2.loss_plan_l1_fix_time: 0.9692, d2.loss_plan_l1_fix_dist: 0.1859, d3.loss_plan_l1_fix_time: 0.9625, d3.loss_plan_l1_fix_dist: 0.2019, d4.loss_plan_l1_fix_time: 0.9644, d4.loss_plan_l1_fix_dist: 0.2222, d5.loss_plan_l1_fix_time: 0.9674, d5.loss_plan_l1_fix_dist: 0.2400, d6.loss_plan_l1_fix_time: 0.9715, d6.loss_plan_l1_fix_dist: 0.2617, d0.loss_cls_all: 0.1730, d0.loss_bbox_all: 0.3903, d0.loss_cls: 0.1730, d0.loss_bbox: 0.3903, d1.loss_cls: 0.1643, d1.loss_bbox: 0.3625, d2.loss_cls: 0.1546, d2.loss_bbox: 0.3443, d3.loss_cls: 0.1406, d3.loss_bbox: 0.3419, d4.loss_cls: 0.1374, d4.loss_bbox: 0.3375, d5.loss_cls: 0.1366, d5.loss_bbox: 0.3382, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7150, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5915, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5360, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5218, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5216, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5211, d0.loss_map_cls_all: 0.2309, d0.loss_map_pts_all: 1.3682, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2309, d0.loss_map_pts: 1.3682, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.2008, d1.loss_map_pts: 0.9706, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1822, d2.loss_map_pts: 0.7896, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1693, d3.loss_map_pts: 0.7182, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1636, d4.loss_map_pts: 0.6867, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1608, d5.loss_map_pts: 0.6806, d5.loss_map_dir: 0.0085, loss: 26.7109, grad_norm: 164.9834 +2026-02-27 20:00:58,671 - DriveTransformer - INFO - Epoch [8][6750/39528] lr: 8.063e-05, eta: 5 days, 15:14:08, time: 0.724, data_time: 0.035, memory: 19865, loss_cls: 0.1270, loss_bbox: 0.3234, loss_traj: 0.6105, loss_traj_cls: 0.0013, loss_map_cls: 0.1547, loss_map_pts: 0.6314, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.5714, d0.loss_plan_l1_fix_dist: 0.3815, d1.loss_plan_l1_fix_time: 0.8942, d1.loss_plan_l1_fix_dist: 0.1775, d2.loss_plan_l1_fix_time: 0.8829, d2.loss_plan_l1_fix_dist: 0.1870, d3.loss_plan_l1_fix_time: 0.8830, d3.loss_plan_l1_fix_dist: 0.2006, d4.loss_plan_l1_fix_time: 0.8870, d4.loss_plan_l1_fix_dist: 0.2185, d5.loss_plan_l1_fix_time: 0.8905, d5.loss_plan_l1_fix_dist: 0.2274, d6.loss_plan_l1_fix_time: 0.8940, d6.loss_plan_l1_fix_dist: 0.2459, d0.loss_cls_all: 0.1608, d0.loss_bbox_all: 0.3781, d0.loss_cls: 0.1608, d0.loss_bbox: 0.3781, d1.loss_cls: 0.1570, d1.loss_bbox: 0.3482, d2.loss_cls: 0.1454, d2.loss_bbox: 0.3310, d3.loss_cls: 0.1323, d3.loss_bbox: 0.3259, d4.loss_cls: 0.1270, d4.loss_bbox: 0.3246, d5.loss_cls: 0.1266, d5.loss_bbox: 0.3235, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7880, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6572, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6185, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6107, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6073, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6087, d0.loss_map_cls_all: 0.2253, d0.loss_map_pts_all: 1.2865, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2253, d0.loss_map_pts: 1.2865, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1998, d1.loss_map_pts: 0.9283, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1746, d2.loss_map_pts: 0.7522, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1645, d3.loss_map_pts: 0.6724, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1573, d4.loss_map_pts: 0.6393, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1558, d5.loss_map_pts: 0.6325, d5.loss_map_dir: 0.0075, loss: 26.2644, grad_norm: 164.3364 +2026-02-27 20:01:36,546 - DriveTransformer - INFO - Epoch [8][6800/39528] lr: 8.063e-05, eta: 5 days, 15:13:50, time: 0.758, data_time: 0.036, memory: 19865, loss_cls: 0.1188, loss_bbox: 0.3253, loss_traj: 0.4737, loss_traj_cls: 0.0014, loss_map_cls: 0.1432, loss_map_pts: 0.7405, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.6064, d0.loss_plan_l1_fix_dist: 0.4090, d1.loss_plan_l1_fix_time: 0.8562, d1.loss_plan_l1_fix_dist: 0.1744, d2.loss_plan_l1_fix_time: 0.8454, d2.loss_plan_l1_fix_dist: 0.1735, d3.loss_plan_l1_fix_time: 0.8495, d3.loss_plan_l1_fix_dist: 0.1850, d4.loss_plan_l1_fix_time: 0.8541, d4.loss_plan_l1_fix_dist: 0.2067, d5.loss_plan_l1_fix_time: 0.8584, d5.loss_plan_l1_fix_dist: 0.2203, d6.loss_plan_l1_fix_time: 0.8627, d6.loss_plan_l1_fix_dist: 0.2380, d0.loss_cls_all: 0.1630, d0.loss_bbox_all: 0.3788, d0.loss_cls: 0.1630, d0.loss_bbox: 0.3788, d1.loss_cls: 0.1538, d1.loss_bbox: 0.3507, d2.loss_cls: 0.1421, d2.loss_bbox: 0.3310, d3.loss_cls: 0.1273, d3.loss_bbox: 0.3249, d4.loss_cls: 0.1206, d4.loss_bbox: 0.3235, d5.loss_cls: 0.1191, d5.loss_bbox: 0.3242, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6250, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5153, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.4837, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.4764, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4751, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.4709, d0.loss_map_cls_all: 0.2269, d0.loss_map_pts_all: 1.5043, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2269, d0.loss_map_pts: 1.5043, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1952, d1.loss_map_pts: 1.0417, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1691, d2.loss_map_pts: 0.8524, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1569, d3.loss_map_pts: 0.7715, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1502, d4.loss_map_pts: 0.7458, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1455, d5.loss_map_pts: 0.7400, d5.loss_map_dir: 0.0103, loss: 26.1064, grad_norm: 164.6960 +2026-02-27 20:02:13,707 - DriveTransformer - INFO - Epoch [8][6850/39528] lr: 8.063e-05, eta: 5 days, 15:13:21, time: 0.743, data_time: 0.037, memory: 19865, loss_cls: 0.1266, loss_bbox: 0.3327, loss_traj: 0.4702, loss_traj_cls: 0.0014, loss_map_cls: 0.1491, loss_map_pts: 0.6797, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.2193, d0.loss_plan_l1_fix_dist: 0.4272, d1.loss_plan_l1_fix_time: 0.9413, d1.loss_plan_l1_fix_dist: 0.2263, d2.loss_plan_l1_fix_time: 0.9300, d2.loss_plan_l1_fix_dist: 0.2067, d3.loss_plan_l1_fix_time: 0.9316, d3.loss_plan_l1_fix_dist: 0.2165, d4.loss_plan_l1_fix_time: 0.9355, d4.loss_plan_l1_fix_dist: 0.2370, d5.loss_plan_l1_fix_time: 0.9397, d5.loss_plan_l1_fix_dist: 0.2637, d6.loss_plan_l1_fix_time: 0.9436, d6.loss_plan_l1_fix_dist: 0.2905, d0.loss_cls_all: 0.1621, d0.loss_bbox_all: 0.3840, d0.loss_cls: 0.1621, d0.loss_bbox: 0.3840, d1.loss_cls: 0.1561, d1.loss_bbox: 0.3526, d2.loss_cls: 0.1470, d2.loss_bbox: 0.3358, d3.loss_cls: 0.1322, d3.loss_bbox: 0.3322, d4.loss_cls: 0.1287, d4.loss_bbox: 0.3314, d5.loss_cls: 0.1274, d5.loss_bbox: 0.3323, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6497, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5075, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.4822, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.4750, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4682, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.4668, d0.loss_map_cls_all: 0.2238, d0.loss_map_pts_all: 1.4121, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2238, d0.loss_map_pts: 1.4121, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1913, d1.loss_map_pts: 0.9789, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1689, d2.loss_map_pts: 0.7864, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1613, d3.loss_map_pts: 0.7130, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1542, d4.loss_map_pts: 0.6879, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1516, d5.loss_map_pts: 0.6801, d5.loss_map_dir: 0.0091, loss: 26.0087, grad_norm: 162.3787 +2026-02-27 20:02:50,336 - DriveTransformer - INFO - Epoch [8][6900/39528] lr: 8.063e-05, eta: 5 days, 15:12:45, time: 0.733, data_time: 0.040, memory: 19865, loss_cls: 0.1358, loss_bbox: 0.3284, loss_traj: 0.5144, loss_traj_cls: 0.0014, loss_map_cls: 0.1372, loss_map_pts: 0.6113, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.4900, d0.loss_plan_l1_fix_dist: 0.5236, d1.loss_plan_l1_fix_time: 0.9488, d1.loss_plan_l1_fix_dist: 0.2170, d2.loss_plan_l1_fix_time: 0.9331, d2.loss_plan_l1_fix_dist: 0.1878, d3.loss_plan_l1_fix_time: 0.9158, d3.loss_plan_l1_fix_dist: 0.2020, d4.loss_plan_l1_fix_time: 0.9171, d4.loss_plan_l1_fix_dist: 0.2188, d5.loss_plan_l1_fix_time: 0.9200, d5.loss_plan_l1_fix_dist: 0.2414, d6.loss_plan_l1_fix_time: 0.9234, d6.loss_plan_l1_fix_dist: 0.2744, d0.loss_cls_all: 0.1664, d0.loss_bbox_all: 0.3959, d0.loss_cls: 0.1664, d0.loss_bbox: 0.3959, d1.loss_cls: 0.1645, d1.loss_bbox: 0.3619, d2.loss_cls: 0.1502, d2.loss_bbox: 0.3418, d3.loss_cls: 0.1384, d3.loss_bbox: 0.3356, d4.loss_cls: 0.1368, d4.loss_bbox: 0.3303, d5.loss_cls: 0.1369, d5.loss_bbox: 0.3286, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6726, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5658, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5252, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5194, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5161, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5110, d0.loss_map_cls_all: 0.2120, d0.loss_map_pts_all: 1.2156, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2120, d0.loss_map_pts: 1.2156, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1838, d1.loss_map_pts: 0.8489, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1607, d2.loss_map_pts: 0.6928, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1480, d3.loss_map_pts: 0.6394, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1423, d4.loss_map_pts: 0.6171, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1384, d5.loss_map_pts: 0.6124, d5.loss_map_dir: 0.0087, loss: 25.6131, grad_norm: 162.9037 +2026-02-27 20:03:28,892 - DriveTransformer - INFO - Epoch [8][6950/39528] lr: 8.063e-05, eta: 5 days, 15:12:36, time: 0.771, data_time: 0.039, memory: 19865, loss_cls: 0.1418, loss_bbox: 0.3423, loss_traj: 0.5949, loss_traj_cls: 0.0013, loss_map_cls: 0.1516, loss_map_pts: 0.7134, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.2985, d0.loss_plan_l1_fix_dist: 0.3545, d1.loss_plan_l1_fix_time: 0.9511, d1.loss_plan_l1_fix_dist: 0.2082, d2.loss_plan_l1_fix_time: 0.9415, d2.loss_plan_l1_fix_dist: 0.1792, d3.loss_plan_l1_fix_time: 0.9387, d3.loss_plan_l1_fix_dist: 0.1901, d4.loss_plan_l1_fix_time: 0.9426, d4.loss_plan_l1_fix_dist: 0.2027, d5.loss_plan_l1_fix_time: 0.9459, d5.loss_plan_l1_fix_dist: 0.2150, d6.loss_plan_l1_fix_time: 0.9495, d6.loss_plan_l1_fix_dist: 0.2279, d0.loss_cls_all: 0.1906, d0.loss_bbox_all: 0.4021, d0.loss_cls: 0.1906, d0.loss_bbox: 0.4021, d1.loss_cls: 0.1799, d1.loss_bbox: 0.3740, d2.loss_cls: 0.1657, d2.loss_bbox: 0.3529, d3.loss_cls: 0.1496, d3.loss_bbox: 0.3462, d4.loss_cls: 0.1454, d4.loss_bbox: 0.3421, d5.loss_cls: 0.1431, d5.loss_bbox: 0.3411, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8235, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6696, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6190, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6063, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6032, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5991, d0.loss_map_cls_all: 0.2306, d0.loss_map_pts_all: 1.4195, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2306, d0.loss_map_pts: 1.4195, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1977, d1.loss_map_pts: 1.0056, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1818, d2.loss_map_pts: 0.8182, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1675, d3.loss_map_pts: 0.7479, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1596, d4.loss_map_pts: 0.7236, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1543, d5.loss_map_pts: 0.7142, d5.loss_map_dir: 0.0088, loss: 27.3797, grad_norm: 161.8105 +2026-02-27 20:04:05,071 - DriveTransformer - INFO - Epoch [8][7000/39528] lr: 8.063e-05, eta: 5 days, 15:11:54, time: 0.724, data_time: 0.039, memory: 19865, loss_cls: 0.1493, loss_bbox: 0.3399, loss_traj: 0.5702, loss_traj_cls: 0.0014, loss_map_cls: 0.1496, loss_map_pts: 0.6629, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.8823, d0.loss_plan_l1_fix_dist: 0.4281, d1.loss_plan_l1_fix_time: 0.9505, d1.loss_plan_l1_fix_dist: 0.2049, d2.loss_plan_l1_fix_time: 0.9387, d2.loss_plan_l1_fix_dist: 0.1876, d3.loss_plan_l1_fix_time: 0.9358, d3.loss_plan_l1_fix_dist: 0.1981, d4.loss_plan_l1_fix_time: 0.9393, d4.loss_plan_l1_fix_dist: 0.2152, d5.loss_plan_l1_fix_time: 0.9434, d5.loss_plan_l1_fix_dist: 0.2390, d6.loss_plan_l1_fix_time: 0.9482, d6.loss_plan_l1_fix_dist: 0.2635, d0.loss_cls_all: 0.1948, d0.loss_bbox_all: 0.4061, d0.loss_cls: 0.1948, d0.loss_bbox: 0.4061, d1.loss_cls: 0.1848, d1.loss_bbox: 0.3700, d2.loss_cls: 0.1679, d2.loss_bbox: 0.3493, d3.loss_cls: 0.1552, d3.loss_bbox: 0.3406, d4.loss_cls: 0.1516, d4.loss_bbox: 0.3381, d5.loss_cls: 0.1502, d5.loss_bbox: 0.3383, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8168, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6241, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5809, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5704, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5740, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5683, d0.loss_map_cls_all: 0.2165, d0.loss_map_pts_all: 1.2601, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2165, d0.loss_map_pts: 1.2601, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1891, d1.loss_map_pts: 0.9132, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1695, d2.loss_map_pts: 0.7640, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1590, d3.loss_map_pts: 0.7013, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1557, d4.loss_map_pts: 0.6751, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1519, d5.loss_map_pts: 0.6643, d5.loss_map_dir: 0.0076, loss: 27.1909, grad_norm: 159.4143 +2026-02-27 20:04:40,046 - DriveTransformer - INFO - Epoch [8][7050/39528] lr: 8.063e-05, eta: 5 days, 15:10:54, time: 0.699, data_time: 0.033, memory: 19865, loss_cls: 0.1428, loss_bbox: 0.3275, loss_traj: 0.6015, loss_traj_cls: 0.0013, loss_map_cls: 0.1387, loss_map_pts: 0.6193, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.7647, d0.loss_plan_l1_fix_dist: 0.4010, d1.loss_plan_l1_fix_time: 0.8637, d1.loss_plan_l1_fix_dist: 0.1956, d2.loss_plan_l1_fix_time: 0.8522, d2.loss_plan_l1_fix_dist: 0.1832, d3.loss_plan_l1_fix_time: 0.8497, d3.loss_plan_l1_fix_dist: 0.1983, d4.loss_plan_l1_fix_time: 0.8555, d4.loss_plan_l1_fix_dist: 0.2163, d5.loss_plan_l1_fix_time: 0.8609, d5.loss_plan_l1_fix_dist: 0.2389, d6.loss_plan_l1_fix_time: 0.8665, d6.loss_plan_l1_fix_dist: 0.2648, d0.loss_cls_all: 0.1825, d0.loss_bbox_all: 0.3889, d0.loss_cls: 0.1825, d0.loss_bbox: 0.3889, d1.loss_cls: 0.1745, d1.loss_bbox: 0.3518, d2.loss_cls: 0.1641, d2.loss_bbox: 0.3328, d3.loss_cls: 0.1492, d3.loss_bbox: 0.3267, d4.loss_cls: 0.1448, d4.loss_bbox: 0.3244, d5.loss_cls: 0.1428, d5.loss_bbox: 0.3253, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8181, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6568, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6129, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6066, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5979, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5979, d0.loss_map_cls_all: 0.2261, d0.loss_map_pts_all: 1.2125, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2261, d0.loss_map_pts: 1.2125, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1871, d1.loss_map_pts: 0.8787, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1649, d2.loss_map_pts: 0.7352, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1507, d3.loss_map_pts: 0.6607, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1446, d4.loss_map_pts: 0.6283, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1404, d5.loss_map_pts: 0.6224, d5.loss_map_dir: 0.0074, loss: 26.1647, grad_norm: 157.8855 +2026-02-27 20:05:17,236 - DriveTransformer - INFO - Epoch [8][7100/39528] lr: 8.063e-05, eta: 5 days, 15:10:26, time: 0.744, data_time: 0.039, memory: 19865, loss_cls: 0.1465, loss_bbox: 0.3588, loss_traj: 0.6328, loss_traj_cls: 0.0013, loss_map_cls: 0.1646, loss_map_pts: 0.6839, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.8391, d0.loss_plan_l1_fix_dist: 0.3534, d1.loss_plan_l1_fix_time: 1.0357, d1.loss_plan_l1_fix_dist: 0.1890, d2.loss_plan_l1_fix_time: 1.0198, d2.loss_plan_l1_fix_dist: 0.1772, d3.loss_plan_l1_fix_time: 1.0090, d3.loss_plan_l1_fix_dist: 0.1903, d4.loss_plan_l1_fix_time: 1.0114, d4.loss_plan_l1_fix_dist: 0.2106, d5.loss_plan_l1_fix_time: 1.0145, d5.loss_plan_l1_fix_dist: 0.2308, d6.loss_plan_l1_fix_time: 1.0182, d6.loss_plan_l1_fix_dist: 0.2558, d0.loss_cls_all: 0.1940, d0.loss_bbox_all: 0.4281, d0.loss_cls: 0.1940, d0.loss_bbox: 0.4281, d1.loss_cls: 0.1879, d1.loss_bbox: 0.3897, d2.loss_cls: 0.1691, d2.loss_bbox: 0.3720, d3.loss_cls: 0.1536, d3.loss_bbox: 0.3623, d4.loss_cls: 0.1491, d4.loss_bbox: 0.3582, d5.loss_cls: 0.1454, d5.loss_bbox: 0.3590, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9358, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7418, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6691, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6443, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6345, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6303, d0.loss_map_cls_all: 0.2364, d0.loss_map_pts_all: 1.3729, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2364, d0.loss_map_pts: 1.3729, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2089, d1.loss_map_pts: 0.9672, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1897, d2.loss_map_pts: 0.7953, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1795, d3.loss_map_pts: 0.7198, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1718, d4.loss_map_pts: 0.6894, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1680, d5.loss_map_pts: 0.6849, d5.loss_map_dir: 0.0089, loss: 28.7571, grad_norm: 158.7735 +2026-02-27 20:05:53,273 - DriveTransformer - INFO - Epoch [8][7150/39528] lr: 8.063e-05, eta: 5 days, 15:09:41, time: 0.721, data_time: 0.035, memory: 19865, loss_cls: 0.1292, loss_bbox: 0.3185, loss_traj: 0.6031, loss_traj_cls: 0.0014, loss_map_cls: 0.1241, loss_map_pts: 0.6424, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.3084, d0.loss_plan_l1_fix_dist: 0.3945, d1.loss_plan_l1_fix_time: 0.9110, d1.loss_plan_l1_fix_dist: 0.1629, d2.loss_plan_l1_fix_time: 0.8937, d2.loss_plan_l1_fix_dist: 0.1651, d3.loss_plan_l1_fix_time: 0.9073, d3.loss_plan_l1_fix_dist: 0.1788, d4.loss_plan_l1_fix_time: 0.9137, d4.loss_plan_l1_fix_dist: 0.2005, d5.loss_plan_l1_fix_time: 0.9196, d5.loss_plan_l1_fix_dist: 0.2241, d6.loss_plan_l1_fix_time: 0.9264, d6.loss_plan_l1_fix_dist: 0.2547, d0.loss_cls_all: 0.1676, d0.loss_bbox_all: 0.3782, d0.loss_cls: 0.1676, d0.loss_bbox: 0.3782, d1.loss_cls: 0.1616, d1.loss_bbox: 0.3451, d2.loss_cls: 0.1450, d2.loss_bbox: 0.3309, d3.loss_cls: 0.1342, d3.loss_bbox: 0.3230, d4.loss_cls: 0.1305, d4.loss_bbox: 0.3194, d5.loss_cls: 0.1299, d5.loss_bbox: 0.3175, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7901, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6574, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6226, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6025, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6039, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6023, d0.loss_map_cls_all: 0.1988, d0.loss_map_pts_all: 1.2572, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1988, d0.loss_map_pts: 1.2572, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1657, d1.loss_map_pts: 0.8932, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1440, d2.loss_map_pts: 0.7440, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1351, d3.loss_map_pts: 0.6784, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1303, d4.loss_map_pts: 0.6517, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1270, d5.loss_map_pts: 0.6426, d5.loss_map_dir: 0.0085, loss: 25.7819, grad_norm: 160.7827 +2026-02-27 20:06:29,284 - DriveTransformer - INFO - Epoch [8][7200/39528] lr: 8.063e-05, eta: 5 days, 15:08:56, time: 0.720, data_time: 0.039, memory: 19865, loss_cls: 0.1478, loss_bbox: 0.3312, loss_traj: 0.5646, loss_traj_cls: 0.0013, loss_map_cls: 0.1303, loss_map_pts: 0.6707, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.7952, d0.loss_plan_l1_fix_dist: 0.4021, d1.loss_plan_l1_fix_time: 0.9162, d1.loss_plan_l1_fix_dist: 0.1491, d2.loss_plan_l1_fix_time: 0.9100, d2.loss_plan_l1_fix_dist: 0.1584, d3.loss_plan_l1_fix_time: 0.9100, d3.loss_plan_l1_fix_dist: 0.1726, d4.loss_plan_l1_fix_time: 0.9131, d4.loss_plan_l1_fix_dist: 0.1858, d5.loss_plan_l1_fix_time: 0.9175, d5.loss_plan_l1_fix_dist: 0.1965, d6.loss_plan_l1_fix_time: 0.9224, d6.loss_plan_l1_fix_dist: 0.2123, d0.loss_cls_all: 0.1882, d0.loss_bbox_all: 0.4018, d0.loss_cls: 0.1882, d0.loss_bbox: 0.4018, d1.loss_cls: 0.1797, d1.loss_bbox: 0.3631, d2.loss_cls: 0.1700, d2.loss_bbox: 0.3398, d3.loss_cls: 0.1538, d3.loss_bbox: 0.3333, d4.loss_cls: 0.1512, d4.loss_bbox: 0.3308, d5.loss_cls: 0.1482, d5.loss_bbox: 0.3307, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7634, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6050, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5668, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5585, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5636, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5650, d0.loss_map_cls_all: 0.1902, d0.loss_map_pts_all: 1.2992, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.1902, d0.loss_map_pts: 1.2992, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1650, d1.loss_map_pts: 0.9068, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1499, d2.loss_map_pts: 0.7598, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1418, d3.loss_map_pts: 0.6959, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1347, d4.loss_map_pts: 0.6764, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1316, d5.loss_map_pts: 0.6708, d5.loss_map_dir: 0.0089, loss: 26.3968, grad_norm: 158.1470 +2026-02-27 20:07:06,134 - DriveTransformer - INFO - Epoch [8][7250/39528] lr: 8.063e-05, eta: 5 days, 15:08:24, time: 0.737, data_time: 0.035, memory: 19865, loss_cls: 0.1284, loss_bbox: 0.3261, loss_traj: 0.6425, loss_traj_cls: 0.0013, loss_map_cls: 0.1386, loss_map_pts: 0.6423, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.5522, d0.loss_plan_l1_fix_dist: 0.4490, d1.loss_plan_l1_fix_time: 0.9568, d1.loss_plan_l1_fix_dist: 0.1642, d2.loss_plan_l1_fix_time: 0.9467, d2.loss_plan_l1_fix_dist: 0.1731, d3.loss_plan_l1_fix_time: 0.9499, d3.loss_plan_l1_fix_dist: 0.1880, d4.loss_plan_l1_fix_time: 0.9542, d4.loss_plan_l1_fix_dist: 0.1909, d5.loss_plan_l1_fix_time: 0.9588, d5.loss_plan_l1_fix_dist: 0.2008, d6.loss_plan_l1_fix_time: 0.9636, d6.loss_plan_l1_fix_dist: 0.2122, d0.loss_cls_all: 0.1728, d0.loss_bbox_all: 0.3875, d0.loss_cls: 0.1728, d0.loss_bbox: 0.3875, d1.loss_cls: 0.1654, d1.loss_bbox: 0.3524, d2.loss_cls: 0.1494, d2.loss_bbox: 0.3354, d3.loss_cls: 0.1355, d3.loss_bbox: 0.3293, d4.loss_cls: 0.1303, d4.loss_bbox: 0.3255, d5.loss_cls: 0.1297, d5.loss_bbox: 0.3246, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8986, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7092, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6549, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6449, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6397, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6390, d0.loss_map_cls_all: 0.2227, d0.loss_map_pts_all: 1.2887, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2227, d0.loss_map_pts: 1.2887, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1884, d1.loss_map_pts: 0.8865, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1646, d2.loss_map_pts: 0.7274, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1530, d3.loss_map_pts: 0.6696, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1445, d4.loss_map_pts: 0.6513, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1402, d5.loss_map_pts: 0.6433, d5.loss_map_dir: 0.0083, loss: 26.8868, grad_norm: 158.4935 +2026-02-27 20:07:42,547 - DriveTransformer - INFO - Epoch [8][7300/39528] lr: 8.063e-05, eta: 5 days, 15:07:44, time: 0.728, data_time: 0.039, memory: 19865, loss_cls: 0.1257, loss_bbox: 0.3197, loss_traj: 0.5027, loss_traj_cls: 0.0013, loss_map_cls: 0.1395, loss_map_pts: 0.6282, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.2598, d0.loss_plan_l1_fix_dist: 0.3787, d1.loss_plan_l1_fix_time: 0.8866, d1.loss_plan_l1_fix_dist: 0.1546, d2.loss_plan_l1_fix_time: 0.8767, d2.loss_plan_l1_fix_dist: 0.1516, d3.loss_plan_l1_fix_time: 0.8661, d3.loss_plan_l1_fix_dist: 0.1709, d4.loss_plan_l1_fix_time: 0.8687, d4.loss_plan_l1_fix_dist: 0.1701, d5.loss_plan_l1_fix_time: 0.8725, d5.loss_plan_l1_fix_dist: 0.1791, d6.loss_plan_l1_fix_time: 0.8768, d6.loss_plan_l1_fix_dist: 0.1926, d0.loss_cls_all: 0.1713, d0.loss_bbox_all: 0.3814, d0.loss_cls: 0.1713, d0.loss_bbox: 0.3814, d1.loss_cls: 0.1680, d1.loss_bbox: 0.3473, d2.loss_cls: 0.1495, d2.loss_bbox: 0.3304, d3.loss_cls: 0.1346, d3.loss_bbox: 0.3230, d4.loss_cls: 0.1292, d4.loss_bbox: 0.3190, d5.loss_cls: 0.1263, d5.loss_bbox: 0.3189, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6824, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5378, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5055, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5004, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4974, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.4994, d0.loss_map_cls_all: 0.2076, d0.loss_map_pts_all: 1.3095, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2076, d0.loss_map_pts: 1.3095, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1818, d1.loss_map_pts: 0.9166, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1596, d2.loss_map_pts: 0.7361, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1492, d3.loss_map_pts: 0.6654, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1422, d4.loss_map_pts: 0.6393, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1399, d5.loss_map_pts: 0.6291, d5.loss_map_dir: 0.0094, loss: 24.7687, grad_norm: 158.5442 +2026-02-27 20:08:19,890 - DriveTransformer - INFO - Epoch [8][7350/39528] lr: 8.063e-05, eta: 5 days, 15:07:18, time: 0.747, data_time: 0.039, memory: 19865, loss_cls: 0.1380, loss_bbox: 0.3259, loss_traj: 0.4810, loss_traj_cls: 0.0014, loss_map_cls: 0.1283, loss_map_pts: 0.6055, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.5809, d0.loss_plan_l1_fix_dist: 0.4635, d1.loss_plan_l1_fix_time: 1.0433, d1.loss_plan_l1_fix_dist: 0.1715, d2.loss_plan_l1_fix_time: 1.0287, d2.loss_plan_l1_fix_dist: 0.1648, d3.loss_plan_l1_fix_time: 1.0216, d3.loss_plan_l1_fix_dist: 0.1853, d4.loss_plan_l1_fix_time: 1.0248, d4.loss_plan_l1_fix_dist: 0.1938, d5.loss_plan_l1_fix_time: 1.0290, d5.loss_plan_l1_fix_dist: 0.2047, d6.loss_plan_l1_fix_time: 1.0346, d6.loss_plan_l1_fix_dist: 0.2205, d0.loss_cls_all: 0.1724, d0.loss_bbox_all: 0.3738, d0.loss_cls: 0.1724, d0.loss_bbox: 0.3738, d1.loss_cls: 0.1677, d1.loss_bbox: 0.3461, d2.loss_cls: 0.1501, d2.loss_bbox: 0.3313, d3.loss_cls: 0.1405, d3.loss_bbox: 0.3264, d4.loss_cls: 0.1372, d4.loss_bbox: 0.3248, d5.loss_cls: 0.1371, d5.loss_bbox: 0.3247, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6625, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5462, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5019, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.4885, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4860, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.4817, d0.loss_map_cls_all: 0.1951, d0.loss_map_pts_all: 1.2405, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1951, d0.loss_map_pts: 1.2405, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1682, d1.loss_map_pts: 0.8623, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1522, d2.loss_map_pts: 0.7013, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1401, d3.loss_map_pts: 0.6348, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1329, d4.loss_map_pts: 0.6135, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1299, d5.loss_map_pts: 0.6068, d5.loss_map_dir: 0.0082, loss: 25.7746, grad_norm: 159.3662 +2026-02-27 20:08:56,431 - DriveTransformer - INFO - Epoch [8][7400/39528] lr: 8.063e-05, eta: 5 days, 15:06:42, time: 0.732, data_time: 0.038, memory: 19865, loss_cls: 0.1451, loss_bbox: 0.3378, loss_traj: 0.5411, loss_traj_cls: 0.0014, loss_map_cls: 0.1400, loss_map_pts: 0.6265, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 3.0834, d0.loss_plan_l1_fix_dist: 0.4401, d1.loss_plan_l1_fix_time: 1.0845, d1.loss_plan_l1_fix_dist: 0.1793, d2.loss_plan_l1_fix_time: 1.0802, d2.loss_plan_l1_fix_dist: 0.1819, d3.loss_plan_l1_fix_time: 1.0748, d3.loss_plan_l1_fix_dist: 0.1826, d4.loss_plan_l1_fix_time: 1.0765, d4.loss_plan_l1_fix_dist: 0.1886, d5.loss_plan_l1_fix_time: 1.0787, d5.loss_plan_l1_fix_dist: 0.2022, d6.loss_plan_l1_fix_time: 1.0815, d6.loss_plan_l1_fix_dist: 0.2186, d0.loss_cls_all: 0.1846, d0.loss_bbox_all: 0.3911, d0.loss_cls: 0.1846, d0.loss_bbox: 0.3911, d1.loss_cls: 0.1771, d1.loss_bbox: 0.3612, d2.loss_cls: 0.1648, d2.loss_bbox: 0.3444, d3.loss_cls: 0.1525, d3.loss_bbox: 0.3380, d4.loss_cls: 0.1466, d4.loss_bbox: 0.3370, d5.loss_cls: 0.1457, d5.loss_bbox: 0.3363, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7235, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6059, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5591, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5456, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5426, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5423, d0.loss_map_cls_all: 0.2224, d0.loss_map_pts_all: 1.2506, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2224, d0.loss_map_pts: 1.2506, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1888, d1.loss_map_pts: 0.8828, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1636, d2.loss_map_pts: 0.7220, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1504, d3.loss_map_pts: 0.6610, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1441, d4.loss_map_pts: 0.6371, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1416, d5.loss_map_pts: 0.6273, d5.loss_map_dir: 0.0081, loss: 27.4533, grad_norm: 158.6074 +2026-02-27 20:09:32,979 - DriveTransformer - INFO - Epoch [8][7450/39528] lr: 8.063e-05, eta: 5 days, 15:06:04, time: 0.730, data_time: 0.036, memory: 19865, loss_cls: 0.1376, loss_bbox: 0.3300, loss_traj: 0.5914, loss_traj_cls: 0.0014, loss_map_cls: 0.1440, loss_map_pts: 0.6518, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.7231, d0.loss_plan_l1_fix_dist: 0.3745, d1.loss_plan_l1_fix_time: 1.0551, d1.loss_plan_l1_fix_dist: 0.1754, d2.loss_plan_l1_fix_time: 1.0383, d2.loss_plan_l1_fix_dist: 0.1890, d3.loss_plan_l1_fix_time: 1.0369, d3.loss_plan_l1_fix_dist: 0.1842, d4.loss_plan_l1_fix_time: 1.0388, d4.loss_plan_l1_fix_dist: 0.1941, d5.loss_plan_l1_fix_time: 1.0414, d5.loss_plan_l1_fix_dist: 0.2036, d6.loss_plan_l1_fix_time: 1.0445, d6.loss_plan_l1_fix_dist: 0.2168, d0.loss_cls_all: 0.1762, d0.loss_bbox_all: 0.3894, d0.loss_cls: 0.1762, d0.loss_bbox: 0.3894, d1.loss_cls: 0.1697, d1.loss_bbox: 0.3575, d2.loss_cls: 0.1586, d2.loss_bbox: 0.3395, d3.loss_cls: 0.1422, d3.loss_bbox: 0.3353, d4.loss_cls: 0.1384, d4.loss_bbox: 0.3305, d5.loss_cls: 0.1366, d5.loss_bbox: 0.3298, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8656, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6905, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6215, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6039, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5980, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5929, d0.loss_map_cls_all: 0.2224, d0.loss_map_pts_all: 1.2855, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2224, d0.loss_map_pts: 1.2855, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1933, d1.loss_map_pts: 0.9187, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1683, d2.loss_map_pts: 0.7512, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1570, d3.loss_map_pts: 0.6865, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1508, d4.loss_map_pts: 0.6629, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1466, d5.loss_map_pts: 0.6527, d5.loss_map_dir: 0.0084, loss: 27.4900, grad_norm: 159.8861 +2026-02-27 20:10:09,984 - DriveTransformer - INFO - Epoch [8][7500/39528] lr: 8.063e-05, eta: 5 days, 15:05:33, time: 0.740, data_time: 0.036, memory: 19865, loss_cls: 0.1227, loss_bbox: 0.3256, loss_traj: 0.5475, loss_traj_cls: 0.0013, loss_map_cls: 0.1321, loss_map_pts: 0.6926, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.8878, d0.loss_plan_l1_fix_dist: 0.4193, d1.loss_plan_l1_fix_time: 0.9981, d1.loss_plan_l1_fix_dist: 0.1809, d2.loss_plan_l1_fix_time: 0.9812, d2.loss_plan_l1_fix_dist: 0.1992, d3.loss_plan_l1_fix_time: 0.9716, d3.loss_plan_l1_fix_dist: 0.1961, d4.loss_plan_l1_fix_time: 0.9727, d4.loss_plan_l1_fix_dist: 0.2033, d5.loss_plan_l1_fix_time: 0.9744, d5.loss_plan_l1_fix_dist: 0.2089, d6.loss_plan_l1_fix_time: 0.9768, d6.loss_plan_l1_fix_dist: 0.2176, d0.loss_cls_all: 0.1719, d0.loss_bbox_all: 0.3874, d0.loss_cls: 0.1719, d0.loss_bbox: 0.3874, d1.loss_cls: 0.1588, d1.loss_bbox: 0.3561, d2.loss_cls: 0.1444, d2.loss_bbox: 0.3369, d3.loss_cls: 0.1299, d3.loss_bbox: 0.3301, d4.loss_cls: 0.1240, d4.loss_bbox: 0.3259, d5.loss_cls: 0.1218, d5.loss_bbox: 0.3254, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7641, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6117, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5530, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5506, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5465, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5461, d0.loss_map_cls_all: 0.2152, d0.loss_map_pts_all: 1.3606, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2152, d0.loss_map_pts: 1.3606, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1786, d1.loss_map_pts: 0.9701, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1569, d2.loss_map_pts: 0.7937, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1459, d3.loss_map_pts: 0.7281, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1393, d4.loss_map_pts: 0.7021, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1344, d5.loss_map_pts: 0.6929, d5.loss_map_dir: 0.0099, loss: 27.1292, grad_norm: 160.4148 +2026-02-27 20:10:47,110 - DriveTransformer - INFO - Epoch [8][7550/39528] lr: 8.063e-05, eta: 5 days, 15:05:04, time: 0.743, data_time: 0.036, memory: 19865, loss_cls: 0.1479, loss_bbox: 0.3427, loss_traj: 0.4997, loss_traj_cls: 0.0014, loss_map_cls: 0.1325, loss_map_pts: 0.6359, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.5573, d0.loss_plan_l1_fix_dist: 0.3631, d1.loss_plan_l1_fix_time: 0.8879, d1.loss_plan_l1_fix_dist: 0.1829, d2.loss_plan_l1_fix_time: 0.8810, d2.loss_plan_l1_fix_dist: 0.1995, d3.loss_plan_l1_fix_time: 0.8769, d3.loss_plan_l1_fix_dist: 0.2056, d4.loss_plan_l1_fix_time: 0.8787, d4.loss_plan_l1_fix_dist: 0.2024, d5.loss_plan_l1_fix_time: 0.8805, d5.loss_plan_l1_fix_dist: 0.2115, d6.loss_plan_l1_fix_time: 0.8828, d6.loss_plan_l1_fix_dist: 0.2234, d0.loss_cls_all: 0.1928, d0.loss_bbox_all: 0.4157, d0.loss_cls: 0.1928, d0.loss_bbox: 0.4157, d1.loss_cls: 0.1810, d1.loss_bbox: 0.3788, d2.loss_cls: 0.1657, d2.loss_bbox: 0.3581, d3.loss_cls: 0.1547, d3.loss_bbox: 0.3475, d4.loss_cls: 0.1486, d4.loss_bbox: 0.3429, d5.loss_cls: 0.1491, d5.loss_bbox: 0.3410, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6800, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5575, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5199, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5076, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5047, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.4987, d0.loss_map_cls_all: 0.2036, d0.loss_map_pts_all: 1.3048, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2036, d0.loss_map_pts: 1.3048, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1710, d1.loss_map_pts: 0.8817, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1496, d2.loss_map_pts: 0.7279, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1422, d3.loss_map_pts: 0.6650, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1352, d4.loss_map_pts: 0.6456, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1340, d5.loss_map_pts: 0.6377, d5.loss_map_dir: 0.0094, loss: 25.6329, grad_norm: 159.3304 +2026-02-27 20:11:22,907 - DriveTransformer - INFO - Epoch [8][7600/39528] lr: 8.063e-05, eta: 5 days, 15:04:16, time: 0.716, data_time: 0.038, memory: 19865, loss_cls: 0.1401, loss_bbox: 0.3398, loss_traj: 0.5250, loss_traj_cls: 0.0014, loss_map_cls: 0.1147, loss_map_pts: 0.5652, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.4914, d0.loss_plan_l1_fix_dist: 0.4218, d1.loss_plan_l1_fix_time: 0.9051, d1.loss_plan_l1_fix_dist: 0.1701, d2.loss_plan_l1_fix_time: 0.8913, d2.loss_plan_l1_fix_dist: 0.1833, d3.loss_plan_l1_fix_time: 0.8802, d3.loss_plan_l1_fix_dist: 0.1962, d4.loss_plan_l1_fix_time: 0.8814, d4.loss_plan_l1_fix_dist: 0.1884, d5.loss_plan_l1_fix_time: 0.8833, d5.loss_plan_l1_fix_dist: 0.2001, d6.loss_plan_l1_fix_time: 0.8860, d6.loss_plan_l1_fix_dist: 0.2157, d0.loss_cls_all: 0.1754, d0.loss_bbox_all: 0.3935, d0.loss_cls: 0.1754, d0.loss_bbox: 0.3935, d1.loss_cls: 0.1743, d1.loss_bbox: 0.3651, d2.loss_cls: 0.1614, d2.loss_bbox: 0.3465, d3.loss_cls: 0.1487, d3.loss_bbox: 0.3404, d4.loss_cls: 0.1433, d4.loss_bbox: 0.3371, d5.loss_cls: 0.1401, d5.loss_bbox: 0.3383, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7276, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5945, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5416, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5258, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5148, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5212, d0.loss_map_cls_all: 0.1926, d0.loss_map_pts_all: 1.1272, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.1926, d0.loss_map_pts: 1.1272, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1591, d1.loss_map_pts: 0.7938, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1385, d2.loss_map_pts: 0.6499, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1250, d3.loss_map_pts: 0.5951, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1186, d4.loss_map_pts: 0.5725, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1145, d5.loss_map_pts: 0.5672, d5.loss_map_dir: 0.0086, loss: 24.6865, grad_norm: 160.9523 +2026-02-27 20:12:00,066 - DriveTransformer - INFO - Epoch [8][7650/39528] lr: 8.063e-05, eta: 5 days, 15:03:47, time: 0.743, data_time: 0.039, memory: 19865, loss_cls: 0.1325, loss_bbox: 0.3368, loss_traj: 0.4535, loss_traj_cls: 0.0014, loss_map_cls: 0.1406, loss_map_pts: 0.6125, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.4199, d0.loss_plan_l1_fix_dist: 0.4550, d1.loss_plan_l1_fix_time: 0.9239, d1.loss_plan_l1_fix_dist: 0.1751, d2.loss_plan_l1_fix_time: 0.9053, d2.loss_plan_l1_fix_dist: 0.1814, d3.loss_plan_l1_fix_time: 0.8988, d3.loss_plan_l1_fix_dist: 0.1979, d4.loss_plan_l1_fix_time: 0.9006, d4.loss_plan_l1_fix_dist: 0.1883, d5.loss_plan_l1_fix_time: 0.9036, d5.loss_plan_l1_fix_dist: 0.1926, d6.loss_plan_l1_fix_time: 0.9077, d6.loss_plan_l1_fix_dist: 0.2042, d0.loss_cls_all: 0.1726, d0.loss_bbox_all: 0.4065, d0.loss_cls: 0.1726, d0.loss_bbox: 0.4065, d1.loss_cls: 0.1700, d1.loss_bbox: 0.3689, d2.loss_cls: 0.1553, d2.loss_bbox: 0.3487, d3.loss_cls: 0.1411, d3.loss_bbox: 0.3392, d4.loss_cls: 0.1363, d4.loss_bbox: 0.3346, d5.loss_cls: 0.1333, d5.loss_bbox: 0.3349, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6391, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5050, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.4589, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.4512, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4510, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.4525, d0.loss_map_cls_all: 0.2149, d0.loss_map_pts_all: 1.2333, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2149, d0.loss_map_pts: 1.2333, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1823, d1.loss_map_pts: 0.8548, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1642, d2.loss_map_pts: 0.7001, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1523, d3.loss_map_pts: 0.6421, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1441, d4.loss_map_pts: 0.6222, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1412, d5.loss_map_pts: 0.6148, d5.loss_map_dir: 0.0096, loss: 24.9055, grad_norm: 158.6083 +2026-02-27 20:12:36,417 - DriveTransformer - INFO - Epoch [8][7700/39528] lr: 8.063e-05, eta: 5 days, 15:03:07, time: 0.727, data_time: 0.039, memory: 19865, loss_cls: 0.1417, loss_bbox: 0.3577, loss_traj: 0.5807, loss_traj_cls: 0.0013, loss_map_cls: 0.1599, loss_map_pts: 0.6597, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.7446, d0.loss_plan_l1_fix_dist: 0.4012, d1.loss_plan_l1_fix_time: 1.0273, d1.loss_plan_l1_fix_dist: 0.1672, d2.loss_plan_l1_fix_time: 1.0126, d2.loss_plan_l1_fix_dist: 0.1638, d3.loss_plan_l1_fix_time: 1.0029, d3.loss_plan_l1_fix_dist: 0.1851, d4.loss_plan_l1_fix_time: 1.0045, d4.loss_plan_l1_fix_dist: 0.1908, d5.loss_plan_l1_fix_time: 1.0067, d5.loss_plan_l1_fix_dist: 0.1942, d6.loss_plan_l1_fix_time: 1.0093, d6.loss_plan_l1_fix_dist: 0.2020, d0.loss_cls_all: 0.1889, d0.loss_bbox_all: 0.4148, d0.loss_cls: 0.1889, d0.loss_bbox: 0.4148, d1.loss_cls: 0.1799, d1.loss_bbox: 0.3822, d2.loss_cls: 0.1623, d2.loss_bbox: 0.3658, d3.loss_cls: 0.1478, d3.loss_bbox: 0.3597, d4.loss_cls: 0.1421, d4.loss_bbox: 0.3578, d5.loss_cls: 0.1408, d5.loss_bbox: 0.3575, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7857, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6466, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5944, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5890, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5864, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5801, d0.loss_map_cls_all: 0.2339, d0.loss_map_pts_all: 1.2997, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2339, d0.loss_map_pts: 1.2997, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2035, d1.loss_map_pts: 0.9166, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1840, d2.loss_map_pts: 0.7584, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1723, d3.loss_map_pts: 0.6919, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1664, d4.loss_map_pts: 0.6650, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1631, d5.loss_map_pts: 0.6602, d5.loss_map_dir: 0.0085, loss: 27.5200, grad_norm: 158.7484 +2026-02-27 20:13:12,581 - DriveTransformer - INFO - Epoch [8][7750/39528] lr: 8.063e-05, eta: 5 days, 15:02:25, time: 0.723, data_time: 0.036, memory: 19865, loss_cls: 0.1163, loss_bbox: 0.3140, loss_traj: 0.5737, loss_traj_cls: 0.0013, loss_map_cls: 0.1158, loss_map_pts: 0.5252, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.7086, d0.loss_plan_l1_fix_dist: 0.4795, d1.loss_plan_l1_fix_time: 1.0148, d1.loss_plan_l1_fix_dist: 0.2061, d2.loss_plan_l1_fix_time: 0.9984, d2.loss_plan_l1_fix_dist: 0.2085, d3.loss_plan_l1_fix_time: 0.9877, d3.loss_plan_l1_fix_dist: 0.2125, d4.loss_plan_l1_fix_time: 0.9887, d4.loss_plan_l1_fix_dist: 0.2236, d5.loss_plan_l1_fix_time: 0.9914, d5.loss_plan_l1_fix_dist: 0.2307, d6.loss_plan_l1_fix_time: 0.9944, d6.loss_plan_l1_fix_dist: 0.2442, d0.loss_cls_all: 0.1505, d0.loss_bbox_all: 0.3797, d0.loss_cls: 0.1505, d0.loss_bbox: 0.3797, d1.loss_cls: 0.1443, d1.loss_bbox: 0.3477, d2.loss_cls: 0.1308, d2.loss_bbox: 0.3281, d3.loss_cls: 0.1212, d3.loss_bbox: 0.3172, d4.loss_cls: 0.1170, d4.loss_bbox: 0.3158, d5.loss_cls: 0.1154, d5.loss_bbox: 0.3152, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7927, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6344, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5782, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5660, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5680, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5683, d0.loss_map_cls_all: 0.1945, d0.loss_map_pts_all: 1.1120, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1945, d0.loss_map_pts: 1.1120, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1582, d1.loss_map_pts: 0.7580, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1402, d2.loss_map_pts: 0.6151, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1278, d3.loss_map_pts: 0.5546, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1220, d4.loss_map_pts: 0.5355, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1178, d5.loss_map_pts: 0.5258, d5.loss_map_dir: 0.0070, loss: 25.4866, grad_norm: 160.3295 +2026-02-27 20:13:50,136 - DriveTransformer - INFO - Epoch [8][7800/39528] lr: 8.063e-05, eta: 5 days, 15:02:01, time: 0.751, data_time: 0.039, memory: 19865, loss_cls: 0.1496, loss_bbox: 0.3559, loss_traj: 0.5377, loss_traj_cls: 0.0013, loss_map_cls: 0.1541, loss_map_pts: 0.7101, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.5720, d0.loss_plan_l1_fix_dist: 0.4278, d1.loss_plan_l1_fix_time: 0.9641, d1.loss_plan_l1_fix_dist: 0.1996, d2.loss_plan_l1_fix_time: 0.9429, d2.loss_plan_l1_fix_dist: 0.2208, d3.loss_plan_l1_fix_time: 0.9360, d3.loss_plan_l1_fix_dist: 0.1921, d4.loss_plan_l1_fix_time: 0.9367, d4.loss_plan_l1_fix_dist: 0.1955, d5.loss_plan_l1_fix_time: 0.9384, d5.loss_plan_l1_fix_dist: 0.2039, d6.loss_plan_l1_fix_time: 0.9408, d6.loss_plan_l1_fix_dist: 0.2233, d0.loss_cls_all: 0.1950, d0.loss_bbox_all: 0.4282, d0.loss_cls: 0.1950, d0.loss_bbox: 0.4282, d1.loss_cls: 0.1854, d1.loss_bbox: 0.3916, d2.loss_cls: 0.1667, d2.loss_bbox: 0.3716, d3.loss_cls: 0.1544, d3.loss_bbox: 0.3629, d4.loss_cls: 0.1495, d4.loss_bbox: 0.3590, d5.loss_cls: 0.1484, d5.loss_bbox: 0.3568, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7129, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5944, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.5410, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5339, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5320, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5355, d0.loss_map_cls_all: 0.2229, d0.loss_map_pts_all: 1.3860, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2229, d0.loss_map_pts: 1.3860, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1916, d1.loss_map_pts: 0.9604, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1727, d2.loss_map_pts: 0.8073, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1643, d3.loss_map_pts: 0.7460, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1594, d4.loss_map_pts: 0.7194, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1559, d5.loss_map_pts: 0.7116, d5.loss_map_dir: 0.0095, loss: 27.2327, grad_norm: 157.5750 +2026-02-27 20:14:27,201 - DriveTransformer - INFO - Epoch [8][7850/39528] lr: 8.063e-05, eta: 5 days, 15:01:31, time: 0.741, data_time: 0.038, memory: 19865, loss_cls: 0.1507, loss_bbox: 0.3505, loss_traj: 0.5514, loss_traj_cls: 0.0013, loss_map_cls: 0.1546, loss_map_pts: 0.7140, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.8119, d0.loss_plan_l1_fix_dist: 0.4391, d1.loss_plan_l1_fix_time: 0.9629, d1.loss_plan_l1_fix_dist: 0.2129, d2.loss_plan_l1_fix_time: 0.9448, d2.loss_plan_l1_fix_dist: 0.2459, d3.loss_plan_l1_fix_time: 0.9537, d3.loss_plan_l1_fix_dist: 0.2217, d4.loss_plan_l1_fix_time: 0.9559, d4.loss_plan_l1_fix_dist: 0.2263, d5.loss_plan_l1_fix_time: 0.9578, d5.loss_plan_l1_fix_dist: 0.2282, d6.loss_plan_l1_fix_time: 0.9605, d6.loss_plan_l1_fix_dist: 0.2378, d0.loss_cls_all: 0.1956, d0.loss_bbox_all: 0.4227, d0.loss_cls: 0.1956, d0.loss_bbox: 0.4227, d1.loss_cls: 0.1847, d1.loss_bbox: 0.3861, d2.loss_cls: 0.1737, d2.loss_bbox: 0.3650, d3.loss_cls: 0.1600, d3.loss_bbox: 0.3564, d4.loss_cls: 0.1542, d4.loss_bbox: 0.3535, d5.loss_cls: 0.1497, d5.loss_bbox: 0.3525, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7661, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6022, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5598, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5526, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5503, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5471, d0.loss_map_cls_all: 0.2368, d0.loss_map_pts_all: 1.4158, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2368, d0.loss_map_pts: 1.4158, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2070, d1.loss_map_pts: 0.9948, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1818, d2.loss_map_pts: 0.8201, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1705, d3.loss_map_pts: 0.7438, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1630, d4.loss_map_pts: 0.7188, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1566, d5.loss_map_pts: 0.7138, d5.loss_map_dir: 0.0094, loss: 27.9866, grad_norm: 157.1707 +2026-02-27 20:15:04,085 - DriveTransformer - INFO - Epoch [8][7900/39528] lr: 8.063e-05, eta: 5 days, 15:00:59, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.1397, loss_bbox: 0.3324, loss_traj: 0.5295, loss_traj_cls: 0.0013, loss_map_cls: 0.1605, loss_map_pts: 0.6685, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.4394, d0.loss_plan_l1_fix_dist: 0.4691, d1.loss_plan_l1_fix_time: 0.9176, d1.loss_plan_l1_fix_dist: 0.1857, d2.loss_plan_l1_fix_time: 0.9024, d2.loss_plan_l1_fix_dist: 0.2187, d3.loss_plan_l1_fix_time: 0.8924, d3.loss_plan_l1_fix_dist: 0.2149, d4.loss_plan_l1_fix_time: 0.8926, d4.loss_plan_l1_fix_dist: 0.2148, d5.loss_plan_l1_fix_time: 0.8941, d5.loss_plan_l1_fix_dist: 0.2178, d6.loss_plan_l1_fix_time: 0.8965, d6.loss_plan_l1_fix_dist: 0.2265, d0.loss_cls_all: 0.1721, d0.loss_bbox_all: 0.3960, d0.loss_cls: 0.1721, d0.loss_bbox: 0.3960, d1.loss_cls: 0.1663, d1.loss_bbox: 0.3601, d2.loss_cls: 0.1553, d2.loss_bbox: 0.3425, d3.loss_cls: 0.1427, d3.loss_bbox: 0.3342, d4.loss_cls: 0.1411, d4.loss_bbox: 0.3315, d5.loss_cls: 0.1398, d5.loss_bbox: 0.3307, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7669, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5972, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5476, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5317, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5306, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5269, d0.loss_map_cls_all: 0.2283, d0.loss_map_pts_all: 1.3013, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2283, d0.loss_map_pts: 1.3013, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.2030, d1.loss_map_pts: 0.9435, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1813, d2.loss_map_pts: 0.7708, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1730, d3.loss_map_pts: 0.6984, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1671, d4.loss_map_pts: 0.6747, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1623, d5.loss_map_pts: 0.6692, d5.loss_map_dir: 0.0089, loss: 26.2722, grad_norm: 155.5017 +2026-02-27 20:15:39,208 - DriveTransformer - INFO - Epoch [8][7950/39528] lr: 8.063e-05, eta: 5 days, 15:00:02, time: 0.702, data_time: 0.037, memory: 19865, loss_cls: 0.1548, loss_bbox: 0.3474, loss_traj: 0.7154, loss_traj_cls: 0.0013, loss_map_cls: 0.1355, loss_map_pts: 0.6454, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.5418, d0.loss_plan_l1_fix_dist: 0.3880, d1.loss_plan_l1_fix_time: 0.9058, d1.loss_plan_l1_fix_dist: 0.1749, d2.loss_plan_l1_fix_time: 0.8816, d2.loss_plan_l1_fix_dist: 0.1921, d3.loss_plan_l1_fix_time: 0.8757, d3.loss_plan_l1_fix_dist: 0.1918, d4.loss_plan_l1_fix_time: 0.8761, d4.loss_plan_l1_fix_dist: 0.1875, d5.loss_plan_l1_fix_time: 0.8774, d5.loss_plan_l1_fix_dist: 0.2080, d6.loss_plan_l1_fix_time: 0.8796, d6.loss_plan_l1_fix_dist: 0.2277, d0.loss_cls_all: 0.1964, d0.loss_bbox_all: 0.4169, d0.loss_cls: 0.1964, d0.loss_bbox: 0.4169, d1.loss_cls: 0.1878, d1.loss_bbox: 0.3792, d2.loss_cls: 0.1711, d2.loss_bbox: 0.3578, d3.loss_cls: 0.1616, d3.loss_bbox: 0.3485, d4.loss_cls: 0.1558, d4.loss_bbox: 0.3453, d5.loss_cls: 0.1541, d5.loss_bbox: 0.3457, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9940, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7939, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.7298, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7142, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7134, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.7121, d0.loss_map_cls_all: 0.2142, d0.loss_map_pts_all: 1.2982, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2142, d0.loss_map_pts: 1.2982, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1856, d1.loss_map_pts: 0.9126, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1645, d2.loss_map_pts: 0.7463, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1505, d3.loss_map_pts: 0.6798, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1428, d4.loss_map_pts: 0.6552, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1383, d5.loss_map_pts: 0.6448, d5.loss_map_dir: 0.0077, loss: 27.4092, grad_norm: 156.2872 +2026-02-27 20:16:15,466 - DriveTransformer - INFO - Epoch [8][8000/39528] lr: 8.063e-05, eta: 5 days, 14:59:20, time: 0.725, data_time: 0.036, memory: 19865, loss_cls: 0.1451, loss_bbox: 0.3354, loss_traj: 0.6675, loss_traj_cls: 0.0013, loss_map_cls: 0.1672, loss_map_pts: 0.6831, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 3.0418, d0.loss_plan_l1_fix_dist: 0.3693, d1.loss_plan_l1_fix_time: 1.0594, d1.loss_plan_l1_fix_dist: 0.1910, d2.loss_plan_l1_fix_time: 1.0490, d2.loss_plan_l1_fix_dist: 0.1981, d3.loss_plan_l1_fix_time: 1.0489, d3.loss_plan_l1_fix_dist: 0.2069, d4.loss_plan_l1_fix_time: 1.0509, d4.loss_plan_l1_fix_dist: 0.2075, d5.loss_plan_l1_fix_time: 1.0531, d5.loss_plan_l1_fix_dist: 0.2366, d6.loss_plan_l1_fix_time: 1.0563, d6.loss_plan_l1_fix_dist: 0.2586, d0.loss_cls_all: 0.1816, d0.loss_bbox_all: 0.4070, d0.loss_cls: 0.1816, d0.loss_bbox: 0.4070, d1.loss_cls: 0.1780, d1.loss_bbox: 0.3693, d2.loss_cls: 0.1633, d2.loss_bbox: 0.3468, d3.loss_cls: 0.1523, d3.loss_bbox: 0.3366, d4.loss_cls: 0.1465, d4.loss_bbox: 0.3336, d5.loss_cls: 0.1439, d5.loss_bbox: 0.3342, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8510, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7205, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6819, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6716, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6659, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6701, d0.loss_map_cls_all: 0.2435, d0.loss_map_pts_all: 1.3350, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2435, d0.loss_map_pts: 1.3350, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2155, d1.loss_map_pts: 0.9617, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1883, d2.loss_map_pts: 0.7897, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1788, d3.loss_map_pts: 0.7125, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1733, d4.loss_map_pts: 0.6913, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1686, d5.loss_map_pts: 0.6839, d5.loss_map_dir: 0.0092, loss: 28.9660, grad_norm: 153.6770 +2026-02-27 20:16:52,068 - DriveTransformer - INFO - Epoch [8][8050/39528] lr: 8.063e-05, eta: 5 days, 14:58:44, time: 0.732, data_time: 0.042, memory: 19865, loss_cls: 0.1481, loss_bbox: 0.3234, loss_traj: 0.5377, loss_traj_cls: 0.0013, loss_map_cls: 0.1258, loss_map_pts: 0.6116, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.3882, d0.loss_plan_l1_fix_dist: 0.4802, d1.loss_plan_l1_fix_time: 0.9552, d1.loss_plan_l1_fix_dist: 0.1977, d2.loss_plan_l1_fix_time: 0.9399, d2.loss_plan_l1_fix_dist: 0.1886, d3.loss_plan_l1_fix_time: 0.9335, d3.loss_plan_l1_fix_dist: 0.1974, d4.loss_plan_l1_fix_time: 0.9344, d4.loss_plan_l1_fix_dist: 0.1973, d5.loss_plan_l1_fix_time: 0.9360, d5.loss_plan_l1_fix_dist: 0.2157, d6.loss_plan_l1_fix_time: 0.9387, d6.loss_plan_l1_fix_dist: 0.2327, d0.loss_cls_all: 0.1885, d0.loss_bbox_all: 0.3998, d0.loss_cls: 0.1885, d0.loss_bbox: 0.3998, d1.loss_cls: 0.1840, d1.loss_bbox: 0.3615, d2.loss_cls: 0.1666, d2.loss_bbox: 0.3386, d3.loss_cls: 0.1521, d3.loss_bbox: 0.3308, d4.loss_cls: 0.1489, d4.loss_bbox: 0.3262, d5.loss_cls: 0.1474, d5.loss_bbox: 0.3245, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7510, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5822, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5407, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5366, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5340, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5343, d0.loss_map_cls_all: 0.2050, d0.loss_map_pts_all: 1.2942, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2050, d0.loss_map_pts: 1.2942, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1730, d1.loss_map_pts: 0.8874, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1532, d2.loss_map_pts: 0.7241, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1394, d3.loss_map_pts: 0.6460, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1330, d4.loss_map_pts: 0.6176, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1292, d5.loss_map_pts: 0.6124, d5.loss_map_dir: 0.0083, loss: 25.9037, grad_norm: 152.9517 +2026-02-27 20:17:29,083 - DriveTransformer - INFO - Epoch [8][8100/39528] lr: 8.063e-05, eta: 5 days, 14:58:13, time: 0.740, data_time: 0.038, memory: 19865, loss_cls: 0.1268, loss_bbox: 0.3316, loss_traj: 0.6289, loss_traj_cls: 0.0013, loss_map_cls: 0.1633, loss_map_pts: 0.6697, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.8259, d0.loss_plan_l1_fix_dist: 0.4687, d1.loss_plan_l1_fix_time: 1.0028, d1.loss_plan_l1_fix_dist: 0.2233, d2.loss_plan_l1_fix_time: 0.9924, d2.loss_plan_l1_fix_dist: 0.1874, d3.loss_plan_l1_fix_time: 0.9864, d3.loss_plan_l1_fix_dist: 0.1966, d4.loss_plan_l1_fix_time: 0.9879, d4.loss_plan_l1_fix_dist: 0.2030, d5.loss_plan_l1_fix_time: 0.9905, d5.loss_plan_l1_fix_dist: 0.2032, d6.loss_plan_l1_fix_time: 0.9937, d6.loss_plan_l1_fix_dist: 0.2234, d0.loss_cls_all: 0.1631, d0.loss_bbox_all: 0.3857, d0.loss_cls: 0.1631, d0.loss_bbox: 0.3857, d1.loss_cls: 0.1580, d1.loss_bbox: 0.3530, d2.loss_cls: 0.1461, d2.loss_bbox: 0.3372, d3.loss_cls: 0.1332, d3.loss_bbox: 0.3340, d4.loss_cls: 0.1281, d4.loss_bbox: 0.3326, d5.loss_cls: 0.1269, d5.loss_bbox: 0.3308, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8424, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6854, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6400, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6307, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6261, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6278, d0.loss_map_cls_all: 0.2352, d0.loss_map_pts_all: 1.3768, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2352, d0.loss_map_pts: 1.3768, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2042, d1.loss_map_pts: 0.9622, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1853, d2.loss_map_pts: 0.7845, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1741, d3.loss_map_pts: 0.7089, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1675, d4.loss_map_pts: 0.6766, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1634, d5.loss_map_pts: 0.6697, d5.loss_map_dir: 0.0089, loss: 27.9322, grad_norm: 154.4575 +2026-02-27 20:18:06,419 - DriveTransformer - INFO - Epoch [8][8150/39528] lr: 8.063e-05, eta: 5 days, 14:57:47, time: 0.747, data_time: 0.037, memory: 19865, loss_cls: 0.1396, loss_bbox: 0.3312, loss_traj: 0.5882, loss_traj_cls: 0.0013, loss_map_cls: 0.1459, loss_map_pts: 0.7056, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.4323, d0.loss_plan_l1_fix_dist: 0.4308, d1.loss_plan_l1_fix_time: 0.8960, d1.loss_plan_l1_fix_dist: 0.2773, d2.loss_plan_l1_fix_time: 0.8915, d2.loss_plan_l1_fix_dist: 0.2343, d3.loss_plan_l1_fix_time: 0.8971, d3.loss_plan_l1_fix_dist: 0.2398, d4.loss_plan_l1_fix_time: 0.9017, d4.loss_plan_l1_fix_dist: 0.2582, d5.loss_plan_l1_fix_time: 0.9070, d5.loss_plan_l1_fix_dist: 0.2626, d6.loss_plan_l1_fix_time: 0.9121, d6.loss_plan_l1_fix_dist: 0.2841, d0.loss_cls_all: 0.1782, d0.loss_bbox_all: 0.3902, d0.loss_cls: 0.1782, d0.loss_bbox: 0.3902, d1.loss_cls: 0.1706, d1.loss_bbox: 0.3564, d2.loss_cls: 0.1597, d2.loss_bbox: 0.3386, d3.loss_cls: 0.1500, d3.loss_bbox: 0.3297, d4.loss_cls: 0.1435, d4.loss_bbox: 0.3290, d5.loss_cls: 0.1412, d5.loss_bbox: 0.3291, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7551, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6522, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6083, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6018, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5932, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5916, d0.loss_map_cls_all: 0.2303, d0.loss_map_pts_all: 1.3877, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2303, d0.loss_map_pts: 1.3877, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1941, d1.loss_map_pts: 0.9809, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1718, d2.loss_map_pts: 0.8093, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1571, d3.loss_map_pts: 0.7387, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1501, d4.loss_map_pts: 0.7141, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1470, d5.loss_map_pts: 0.7053, d5.loss_map_dir: 0.0088, loss: 27.2015, grad_norm: 154.9127 +2026-02-27 20:18:43,559 - DriveTransformer - INFO - Epoch [8][8200/39528] lr: 8.063e-05, eta: 5 days, 14:57:19, time: 0.744, data_time: 0.038, memory: 19865, loss_cls: 0.1136, loss_bbox: 0.3088, loss_traj: 0.5179, loss_traj_cls: 0.0014, loss_map_cls: 0.1075, loss_map_pts: 0.5603, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.2686, d0.loss_plan_l1_fix_dist: 0.4727, d1.loss_plan_l1_fix_time: 0.9091, d1.loss_plan_l1_fix_dist: 0.2696, d2.loss_plan_l1_fix_time: 0.8953, d2.loss_plan_l1_fix_dist: 0.2309, d3.loss_plan_l1_fix_time: 0.8923, d3.loss_plan_l1_fix_dist: 0.2009, d4.loss_plan_l1_fix_time: 0.8936, d4.loss_plan_l1_fix_dist: 0.2123, d5.loss_plan_l1_fix_time: 0.8952, d5.loss_plan_l1_fix_dist: 0.2208, d6.loss_plan_l1_fix_time: 0.8974, d6.loss_plan_l1_fix_dist: 0.2374, d0.loss_cls_all: 0.1480, d0.loss_bbox_all: 0.3648, d0.loss_cls: 0.1480, d0.loss_bbox: 0.3648, d1.loss_cls: 0.1443, d1.loss_bbox: 0.3338, d2.loss_cls: 0.1313, d2.loss_bbox: 0.3177, d3.loss_cls: 0.1181, d3.loss_bbox: 0.3120, d4.loss_cls: 0.1130, d4.loss_bbox: 0.3107, d5.loss_cls: 0.1131, d5.loss_bbox: 0.3089, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7246, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5735, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5317, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5269, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5206, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.5164, d0.loss_map_cls_all: 0.1872, d0.loss_map_pts_all: 1.2198, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1872, d0.loss_map_pts: 1.2198, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1554, d1.loss_map_pts: 0.8239, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1326, d2.loss_map_pts: 0.6533, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1183, d3.loss_map_pts: 0.5900, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1121, d4.loss_map_pts: 0.5700, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1087, d5.loss_map_pts: 0.5620, d5.loss_map_dir: 0.0080, loss: 24.4369, grad_norm: 147.6258 +2026-02-27 20:19:19,873 - DriveTransformer - INFO - Epoch [8][8250/39528] lr: 8.063e-05, eta: 5 days, 14:56:37, time: 0.725, data_time: 0.035, memory: 19865, loss_cls: 0.1381, loss_bbox: 0.3158, loss_traj: 0.6579, loss_traj_cls: 0.0013, loss_map_cls: 0.1410, loss_map_pts: 0.5887, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.6282, d0.loss_plan_l1_fix_dist: 0.3642, d1.loss_plan_l1_fix_time: 1.0645, d1.loss_plan_l1_fix_dist: 0.2851, d2.loss_plan_l1_fix_time: 1.0497, d2.loss_plan_l1_fix_dist: 0.2578, d3.loss_plan_l1_fix_time: 1.0439, d3.loss_plan_l1_fix_dist: 0.2291, d4.loss_plan_l1_fix_time: 1.0461, d4.loss_plan_l1_fix_dist: 0.2166, d5.loss_plan_l1_fix_time: 1.0489, d5.loss_plan_l1_fix_dist: 0.2214, d6.loss_plan_l1_fix_time: 1.0523, d6.loss_plan_l1_fix_dist: 0.2332, d0.loss_cls_all: 0.1793, d0.loss_bbox_all: 0.3798, d0.loss_cls: 0.1793, d0.loss_bbox: 0.3798, d1.loss_cls: 0.1730, d1.loss_bbox: 0.3437, d2.loss_cls: 0.1607, d2.loss_bbox: 0.3286, d3.loss_cls: 0.1444, d3.loss_bbox: 0.3205, d4.loss_cls: 0.1400, d4.loss_bbox: 0.3168, d5.loss_cls: 0.1384, d5.loss_bbox: 0.3155, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8864, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7113, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6716, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6608, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6587, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6557, d0.loss_map_cls_all: 0.2212, d0.loss_map_pts_all: 1.2307, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2212, d0.loss_map_pts: 1.2307, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1886, d1.loss_map_pts: 0.8639, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1653, d2.loss_map_pts: 0.6890, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1521, d3.loss_map_pts: 0.6206, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1465, d4.loss_map_pts: 0.5964, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1418, d5.loss_map_pts: 0.5898, d5.loss_map_dir: 0.0078, loss: 27.4536, grad_norm: 148.0760 +2026-02-27 20:19:56,499 - DriveTransformer - INFO - Epoch [8][8300/39528] lr: 8.063e-05, eta: 5 days, 14:56:01, time: 0.733, data_time: 0.037, memory: 19865, loss_cls: 0.1419, loss_bbox: 0.3331, loss_traj: 0.5627, loss_traj_cls: 0.0014, loss_map_cls: 0.1445, loss_map_pts: 0.6765, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.7812, d0.loss_plan_l1_fix_dist: 0.4469, d1.loss_plan_l1_fix_time: 0.9485, d1.loss_plan_l1_fix_dist: 0.2824, d2.loss_plan_l1_fix_time: 0.9429, d2.loss_plan_l1_fix_dist: 0.2634, d3.loss_plan_l1_fix_time: 0.9388, d3.loss_plan_l1_fix_dist: 0.2524, d4.loss_plan_l1_fix_time: 0.9424, d4.loss_plan_l1_fix_dist: 0.2412, d5.loss_plan_l1_fix_time: 0.9461, d5.loss_plan_l1_fix_dist: 0.2476, d6.loss_plan_l1_fix_time: 0.9504, d6.loss_plan_l1_fix_dist: 0.2602, d0.loss_cls_all: 0.1800, d0.loss_bbox_all: 0.4000, d0.loss_cls: 0.1800, d0.loss_bbox: 0.4000, d1.loss_cls: 0.1721, d1.loss_bbox: 0.3667, d2.loss_cls: 0.1584, d2.loss_bbox: 0.3471, d3.loss_cls: 0.1470, d3.loss_bbox: 0.3377, d4.loss_cls: 0.1436, d4.loss_bbox: 0.3323, d5.loss_cls: 0.1417, d5.loss_bbox: 0.3323, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7202, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6099, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5750, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5664, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5649, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.5609, d0.loss_map_cls_all: 0.2090, d0.loss_map_pts_all: 1.3682, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2090, d0.loss_map_pts: 1.3682, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1816, d1.loss_map_pts: 0.9473, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1657, d2.loss_map_pts: 0.7761, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1567, d3.loss_map_pts: 0.7112, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1516, d4.loss_map_pts: 0.6837, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1468, d5.loss_map_pts: 0.6760, d5.loss_map_dir: 0.0097, loss: 27.3726, grad_norm: 147.0157 +2026-02-27 20:20:32,047 - DriveTransformer - INFO - Epoch [8][8350/39528] lr: 8.063e-05, eta: 5 days, 14:55:10, time: 0.711, data_time: 0.035, memory: 19865, loss_cls: 0.1545, loss_bbox: 0.3452, loss_traj: 0.6289, loss_traj_cls: 0.0013, loss_map_cls: 0.1610, loss_map_pts: 0.7127, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 3.0163, d0.loss_plan_l1_fix_dist: 0.4873, d1.loss_plan_l1_fix_time: 1.0388, d1.loss_plan_l1_fix_dist: 0.2774, d2.loss_plan_l1_fix_time: 1.0201, d2.loss_plan_l1_fix_dist: 0.2422, d3.loss_plan_l1_fix_time: 1.0121, d3.loss_plan_l1_fix_dist: 0.2322, d4.loss_plan_l1_fix_time: 1.0142, d4.loss_plan_l1_fix_dist: 0.2403, d5.loss_plan_l1_fix_time: 1.0172, d5.loss_plan_l1_fix_dist: 0.2589, d6.loss_plan_l1_fix_time: 1.0204, d6.loss_plan_l1_fix_dist: 0.2737, d0.loss_cls_all: 0.1934, d0.loss_bbox_all: 0.4101, d0.loss_cls: 0.1934, d0.loss_bbox: 0.4101, d1.loss_cls: 0.1886, d1.loss_bbox: 0.3736, d2.loss_cls: 0.1733, d2.loss_bbox: 0.3558, d3.loss_cls: 0.1607, d3.loss_bbox: 0.3491, d4.loss_cls: 0.1570, d4.loss_bbox: 0.3439, d5.loss_cls: 0.1551, d5.loss_bbox: 0.3448, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8142, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6652, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6295, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6244, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6276, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6244, d0.loss_map_cls_all: 0.2445, d0.loss_map_pts_all: 1.4161, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2445, d0.loss_map_pts: 1.4161, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2141, d1.loss_map_pts: 1.0133, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1897, d2.loss_map_pts: 0.8272, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1783, d3.loss_map_pts: 0.7506, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1697, d4.loss_map_pts: 0.7223, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1641, d5.loss_map_pts: 0.7133, d5.loss_map_dir: 0.0094, loss: 29.2909, grad_norm: 148.2026 +2026-02-27 20:21:09,275 - DriveTransformer - INFO - Epoch [8][8400/39528] lr: 8.063e-05, eta: 5 days, 14:54:42, time: 0.744, data_time: 0.036, memory: 19865, loss_cls: 0.1403, loss_bbox: 0.3415, loss_traj: 0.5652, loss_traj_cls: 0.0013, loss_map_cls: 0.1472, loss_map_pts: 0.6132, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.9122, d0.loss_plan_l1_fix_dist: 0.5191, d1.loss_plan_l1_fix_time: 0.9665, d1.loss_plan_l1_fix_dist: 0.2425, d2.loss_plan_l1_fix_time: 0.9629, d2.loss_plan_l1_fix_dist: 0.2142, d3.loss_plan_l1_fix_time: 0.9791, d3.loss_plan_l1_fix_dist: 0.2016, d4.loss_plan_l1_fix_time: 0.9863, d4.loss_plan_l1_fix_dist: 0.2225, d5.loss_plan_l1_fix_time: 0.9926, d5.loss_plan_l1_fix_dist: 0.2546, d6.loss_plan_l1_fix_time: 0.9986, d6.loss_plan_l1_fix_dist: 0.2795, d0.loss_cls_all: 0.1809, d0.loss_bbox_all: 0.4037, d0.loss_cls: 0.1809, d0.loss_bbox: 0.4037, d1.loss_cls: 0.1733, d1.loss_bbox: 0.3703, d2.loss_cls: 0.1632, d2.loss_bbox: 0.3516, d3.loss_cls: 0.1483, d3.loss_bbox: 0.3459, d4.loss_cls: 0.1421, d4.loss_bbox: 0.3445, d5.loss_cls: 0.1397, d5.loss_bbox: 0.3434, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7518, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6270, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5848, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5648, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5658, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.5631, d0.loss_map_cls_all: 0.2224, d0.loss_map_pts_all: 1.2997, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2224, d0.loss_map_pts: 1.2997, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1940, d1.loss_map_pts: 0.9222, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1704, d2.loss_map_pts: 0.7358, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1583, d3.loss_map_pts: 0.6557, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1531, d4.loss_map_pts: 0.6230, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1486, d5.loss_map_pts: 0.6155, d5.loss_map_dir: 0.0081, loss: 27.3785, grad_norm: 148.2174 +2026-02-27 20:21:46,210 - DriveTransformer - INFO - Epoch [8][8450/39528] lr: 8.063e-05, eta: 5 days, 14:54:10, time: 0.739, data_time: 0.040, memory: 19865, loss_cls: 0.1472, loss_bbox: 0.3414, loss_traj: 0.5482, loss_traj_cls: 0.0013, loss_map_cls: 0.1275, loss_map_pts: 0.6362, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.4942, d0.loss_plan_l1_fix_dist: 0.3628, d1.loss_plan_l1_fix_time: 0.8785, d1.loss_plan_l1_fix_dist: 0.2123, d2.loss_plan_l1_fix_time: 0.8672, d2.loss_plan_l1_fix_dist: 0.1998, d3.loss_plan_l1_fix_time: 0.8791, d3.loss_plan_l1_fix_dist: 0.2055, d4.loss_plan_l1_fix_time: 0.8849, d4.loss_plan_l1_fix_dist: 0.2306, d5.loss_plan_l1_fix_time: 0.8900, d5.loss_plan_l1_fix_dist: 0.2694, d6.loss_plan_l1_fix_time: 0.8952, d6.loss_plan_l1_fix_dist: 0.2929, d0.loss_cls_all: 0.1947, d0.loss_bbox_all: 0.3982, d0.loss_cls: 0.1947, d0.loss_bbox: 0.3982, d1.loss_cls: 0.1887, d1.loss_bbox: 0.3673, d2.loss_cls: 0.1661, d2.loss_bbox: 0.3540, d3.loss_cls: 0.1534, d3.loss_bbox: 0.3459, d4.loss_cls: 0.1497, d4.loss_bbox: 0.3425, d5.loss_cls: 0.1478, d5.loss_bbox: 0.3406, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7574, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6220, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5718, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5571, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5554, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5505, d0.loss_map_cls_all: 0.2133, d0.loss_map_pts_all: 1.3834, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2133, d0.loss_map_pts: 1.3834, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1802, d1.loss_map_pts: 0.9333, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1549, d2.loss_map_pts: 0.7422, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1433, d3.loss_map_pts: 0.6715, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1347, d4.loss_map_pts: 0.6460, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1297, d5.loss_map_pts: 0.6382, d5.loss_map_dir: 0.0095, loss: 26.3683, grad_norm: 148.1615 +2026-02-27 20:22:23,393 - DriveTransformer - INFO - Epoch [8][8500/39528] lr: 8.063e-05, eta: 5 days, 14:53:42, time: 0.744, data_time: 0.037, memory: 19865, loss_cls: 0.1355, loss_bbox: 0.3472, loss_traj: 0.6555, loss_traj_cls: 0.0014, loss_map_cls: 0.1388, loss_map_pts: 0.6305, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.2605, d0.loss_plan_l1_fix_dist: 0.3995, d1.loss_plan_l1_fix_time: 0.9310, d1.loss_plan_l1_fix_dist: 0.2002, d2.loss_plan_l1_fix_time: 0.9112, d2.loss_plan_l1_fix_dist: 0.1968, d3.loss_plan_l1_fix_time: 0.9041, d3.loss_plan_l1_fix_dist: 0.2172, d4.loss_plan_l1_fix_time: 0.9076, d4.loss_plan_l1_fix_dist: 0.2300, d5.loss_plan_l1_fix_time: 0.9123, d5.loss_plan_l1_fix_dist: 0.2556, d6.loss_plan_l1_fix_time: 0.9179, d6.loss_plan_l1_fix_dist: 0.2791, d0.loss_cls_all: 0.1744, d0.loss_bbox_all: 0.4063, d0.loss_cls: 0.1744, d0.loss_bbox: 0.4063, d1.loss_cls: 0.1667, d1.loss_bbox: 0.3761, d2.loss_cls: 0.1546, d2.loss_bbox: 0.3588, d3.loss_cls: 0.1401, d3.loss_bbox: 0.3520, d4.loss_cls: 0.1378, d4.loss_bbox: 0.3469, d5.loss_cls: 0.1354, d5.loss_bbox: 0.3462, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8638, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7201, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6689, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6597, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6569, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.6568, d0.loss_map_cls_all: 0.2216, d0.loss_map_pts_all: 1.3385, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2216, d0.loss_map_pts: 1.3385, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1834, d1.loss_map_pts: 0.9157, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1617, d2.loss_map_pts: 0.7366, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1505, d3.loss_map_pts: 0.6632, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1452, d4.loss_map_pts: 0.6362, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1410, d5.loss_map_pts: 0.6321, d5.loss_map_dir: 0.0091, loss: 26.8972, grad_norm: 149.7754 +2026-02-27 20:22:58,087 - DriveTransformer - INFO - Epoch [8][8550/39528] lr: 8.063e-05, eta: 5 days, 14:52:39, time: 0.694, data_time: 0.036, memory: 19865, loss_cls: 0.1301, loss_bbox: 0.3326, loss_traj: 0.7097, loss_traj_cls: 0.0014, loss_map_cls: 0.1406, loss_map_pts: 0.5615, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.8391, d0.loss_plan_l1_fix_dist: 0.5235, d1.loss_plan_l1_fix_time: 1.1190, d1.loss_plan_l1_fix_dist: 0.2157, d2.loss_plan_l1_fix_time: 1.1128, d2.loss_plan_l1_fix_dist: 0.1981, d3.loss_plan_l1_fix_time: 1.1133, d3.loss_plan_l1_fix_dist: 0.2246, d4.loss_plan_l1_fix_time: 1.1174, d4.loss_plan_l1_fix_dist: 0.2356, d5.loss_plan_l1_fix_time: 1.1212, d5.loss_plan_l1_fix_dist: 0.2431, d6.loss_plan_l1_fix_time: 1.1262, d6.loss_plan_l1_fix_dist: 0.2730, d0.loss_cls_all: 0.1706, d0.loss_bbox_all: 0.3962, d0.loss_cls: 0.1706, d0.loss_bbox: 0.3962, d1.loss_cls: 0.1676, d1.loss_bbox: 0.3559, d2.loss_cls: 0.1531, d2.loss_bbox: 0.3402, d3.loss_cls: 0.1399, d3.loss_bbox: 0.3323, d4.loss_cls: 0.1340, d4.loss_bbox: 0.3301, d5.loss_cls: 0.1317, d5.loss_bbox: 0.3302, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0009, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7866, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7258, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7132, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7076, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.7070, d0.loss_map_cls_all: 0.2200, d0.loss_map_pts_all: 1.1741, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2200, d0.loss_map_pts: 1.1741, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1893, d1.loss_map_pts: 0.8155, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1673, d2.loss_map_pts: 0.6581, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1519, d3.loss_map_pts: 0.5898, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1464, d4.loss_map_pts: 0.5679, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1427, d5.loss_map_pts: 0.5610, d5.loss_map_dir: 0.0071, loss: 28.3665, grad_norm: 150.5819 +2026-02-27 20:23:34,608 - DriveTransformer - INFO - Epoch [8][8600/39528] lr: 8.063e-05, eta: 5 days, 14:52:01, time: 0.730, data_time: 0.040, memory: 19865, loss_cls: 0.1348, loss_bbox: 0.3414, loss_traj: 0.6178, loss_traj_cls: 0.0013, loss_map_cls: 0.1350, loss_map_pts: 0.6541, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.3871, d0.loss_plan_l1_fix_dist: 0.4583, d1.loss_plan_l1_fix_time: 0.8857, d1.loss_plan_l1_fix_dist: 0.1998, d2.loss_plan_l1_fix_time: 0.8716, d2.loss_plan_l1_fix_dist: 0.1981, d3.loss_plan_l1_fix_time: 0.8686, d3.loss_plan_l1_fix_dist: 0.2248, d4.loss_plan_l1_fix_time: 0.8713, d4.loss_plan_l1_fix_dist: 0.2508, d5.loss_plan_l1_fix_time: 0.8751, d5.loss_plan_l1_fix_dist: 0.2609, d6.loss_plan_l1_fix_time: 0.8795, d6.loss_plan_l1_fix_dist: 0.3016, d0.loss_cls_all: 0.1804, d0.loss_bbox_all: 0.4017, d0.loss_cls: 0.1804, d0.loss_bbox: 0.4017, d1.loss_cls: 0.1688, d1.loss_bbox: 0.3728, d2.loss_cls: 0.1552, d2.loss_bbox: 0.3515, d3.loss_cls: 0.1382, d3.loss_bbox: 0.3466, d4.loss_cls: 0.1365, d4.loss_bbox: 0.3420, d5.loss_cls: 0.1337, d5.loss_bbox: 0.3436, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8542, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6783, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6435, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6322, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6256, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.6169, d0.loss_map_cls_all: 0.2194, d0.loss_map_pts_all: 1.3161, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2194, d0.loss_map_pts: 1.3161, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1887, d1.loss_map_pts: 0.9281, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1623, d2.loss_map_pts: 0.7497, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1481, d3.loss_map_pts: 0.6851, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1424, d4.loss_map_pts: 0.6613, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1361, d5.loss_map_pts: 0.6545, d5.loss_map_dir: 0.0080, loss: 26.7178, grad_norm: 154.3888 +2026-02-27 20:24:10,981 - DriveTransformer - INFO - Epoch [8][8650/39528] lr: 8.063e-05, eta: 5 days, 14:51:22, time: 0.727, data_time: 0.037, memory: 19865, loss_cls: 0.1320, loss_bbox: 0.3382, loss_traj: 0.6532, loss_traj_cls: 0.0013, loss_map_cls: 0.1323, loss_map_pts: 0.5834, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.5622, d0.loss_plan_l1_fix_dist: 0.3909, d1.loss_plan_l1_fix_time: 0.9289, d1.loss_plan_l1_fix_dist: 0.1763, d2.loss_plan_l1_fix_time: 0.9188, d2.loss_plan_l1_fix_dist: 0.1747, d3.loss_plan_l1_fix_time: 0.9158, d3.loss_plan_l1_fix_dist: 0.1817, d4.loss_plan_l1_fix_time: 0.9192, d4.loss_plan_l1_fix_dist: 0.2059, d5.loss_plan_l1_fix_time: 0.9237, d5.loss_plan_l1_fix_dist: 0.2082, d6.loss_plan_l1_fix_time: 0.9286, d6.loss_plan_l1_fix_dist: 0.2388, d0.loss_cls_all: 0.1731, d0.loss_bbox_all: 0.3885, d0.loss_cls: 0.1731, d0.loss_bbox: 0.3885, d1.loss_cls: 0.1707, d1.loss_bbox: 0.3526, d2.loss_cls: 0.1565, d2.loss_bbox: 0.3435, d3.loss_cls: 0.1405, d3.loss_bbox: 0.3386, d4.loss_cls: 0.1345, d4.loss_bbox: 0.3359, d5.loss_cls: 0.1318, d5.loss_bbox: 0.3377, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9148, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7385, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6878, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6717, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6598, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.6566, d0.loss_map_cls_all: 0.2142, d0.loss_map_pts_all: 1.1924, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2142, d0.loss_map_pts: 1.1924, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1796, d1.loss_map_pts: 0.8367, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1563, d2.loss_map_pts: 0.6802, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1464, d3.loss_map_pts: 0.6170, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1396, d4.loss_map_pts: 0.5932, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1332, d5.loss_map_pts: 0.5842, d5.loss_map_dir: 0.0079, loss: 26.3566, grad_norm: 156.1799 +2026-02-27 20:24:47,082 - DriveTransformer - INFO - Epoch [8][8700/39528] lr: 8.063e-05, eta: 5 days, 14:50:38, time: 0.722, data_time: 0.037, memory: 19865, loss_cls: 0.1300, loss_bbox: 0.3314, loss_traj: 0.6307, loss_traj_cls: 0.0013, loss_map_cls: 0.1548, loss_map_pts: 0.6804, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.9262, d0.loss_plan_l1_fix_dist: 0.4569, d1.loss_plan_l1_fix_time: 1.0994, d1.loss_plan_l1_fix_dist: 0.2248, d2.loss_plan_l1_fix_time: 1.0770, d2.loss_plan_l1_fix_dist: 0.2258, d3.loss_plan_l1_fix_time: 1.0601, d3.loss_plan_l1_fix_dist: 0.2197, d4.loss_plan_l1_fix_time: 1.0610, d4.loss_plan_l1_fix_dist: 0.2221, d5.loss_plan_l1_fix_time: 1.0638, d5.loss_plan_l1_fix_dist: 0.2368, d6.loss_plan_l1_fix_time: 1.0671, d6.loss_plan_l1_fix_dist: 0.2458, d0.loss_cls_all: 0.1798, d0.loss_bbox_all: 0.3838, d0.loss_cls: 0.1798, d0.loss_bbox: 0.3838, d1.loss_cls: 0.1717, d1.loss_bbox: 0.3504, d2.loss_cls: 0.1570, d2.loss_bbox: 0.3361, d3.loss_cls: 0.1392, d3.loss_bbox: 0.3314, d4.loss_cls: 0.1330, d4.loss_bbox: 0.3302, d5.loss_cls: 0.1307, d5.loss_bbox: 0.3303, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8218, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6725, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6348, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6347, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6345, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6334, d0.loss_map_cls_all: 0.2435, d0.loss_map_pts_all: 1.3991, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2435, d0.loss_map_pts: 1.3991, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2091, d1.loss_map_pts: 0.9663, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1811, d2.loss_map_pts: 0.7746, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1688, d3.loss_map_pts: 0.7115, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1627, d4.loss_map_pts: 0.6842, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1572, d5.loss_map_pts: 0.6801, d5.loss_map_dir: 0.0097, loss: 28.7471, grad_norm: 157.0292 +2026-02-27 20:25:23,532 - DriveTransformer - INFO - Epoch [8][8750/39528] lr: 8.063e-05, eta: 5 days, 14:50:00, time: 0.729, data_time: 0.039, memory: 19865, loss_cls: 0.1608, loss_bbox: 0.3756, loss_traj: 0.6940, loss_traj_cls: 0.0013, loss_map_cls: 0.1703, loss_map_pts: 0.7134, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.7105, d0.loss_plan_l1_fix_dist: 0.4846, d1.loss_plan_l1_fix_time: 0.9367, d1.loss_plan_l1_fix_dist: 0.2470, d2.loss_plan_l1_fix_time: 0.9272, d2.loss_plan_l1_fix_dist: 0.2576, d3.loss_plan_l1_fix_time: 0.9305, d3.loss_plan_l1_fix_dist: 0.2605, d4.loss_plan_l1_fix_time: 0.9333, d4.loss_plan_l1_fix_dist: 0.2384, d5.loss_plan_l1_fix_time: 0.9360, d5.loss_plan_l1_fix_dist: 0.2478, d6.loss_plan_l1_fix_time: 0.9391, d6.loss_plan_l1_fix_dist: 0.2567, d0.loss_cls_all: 0.2129, d0.loss_bbox_all: 0.4393, d0.loss_cls: 0.2129, d0.loss_bbox: 0.4393, d1.loss_cls: 0.1967, d1.loss_bbox: 0.4051, d2.loss_cls: 0.1839, d2.loss_bbox: 0.3865, d3.loss_cls: 0.1702, d3.loss_bbox: 0.3813, d4.loss_cls: 0.1656, d4.loss_bbox: 0.3756, d5.loss_cls: 0.1630, d5.loss_bbox: 0.3753, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9511, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7763, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.7233, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6992, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6937, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6954, d0.loss_map_cls_all: 0.2507, d0.loss_map_pts_all: 1.4020, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2507, d0.loss_map_pts: 1.4020, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2228, d1.loss_map_pts: 1.0031, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1961, d2.loss_map_pts: 0.8241, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1872, d3.loss_map_pts: 0.7501, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1792, d4.loss_map_pts: 0.7229, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1719, d5.loss_map_pts: 0.7145, d5.loss_map_dir: 0.0086, loss: 29.4188, grad_norm: 154.6967 +2026-02-27 20:25:59,612 - DriveTransformer - INFO - Epoch [8][8800/39528] lr: 8.063e-05, eta: 5 days, 14:49:16, time: 0.722, data_time: 0.039, memory: 19865, loss_cls: 0.1207, loss_bbox: 0.3103, loss_traj: 0.5596, loss_traj_cls: 0.0013, loss_map_cls: 0.1389, loss_map_pts: 0.5979, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.3398, d0.loss_plan_l1_fix_dist: 0.4119, d1.loss_plan_l1_fix_time: 0.8928, d1.loss_plan_l1_fix_dist: 0.2208, d2.loss_plan_l1_fix_time: 0.8810, d2.loss_plan_l1_fix_dist: 0.2210, d3.loss_plan_l1_fix_time: 0.8789, d3.loss_plan_l1_fix_dist: 0.2291, d4.loss_plan_l1_fix_time: 0.8816, d4.loss_plan_l1_fix_dist: 0.2106, d5.loss_plan_l1_fix_time: 0.8841, d5.loss_plan_l1_fix_dist: 0.2229, d6.loss_plan_l1_fix_time: 0.8868, d6.loss_plan_l1_fix_dist: 0.2428, d0.loss_cls_all: 0.1599, d0.loss_bbox_all: 0.3682, d0.loss_cls: 0.1599, d0.loss_bbox: 0.3682, d1.loss_cls: 0.1484, d1.loss_bbox: 0.3365, d2.loss_cls: 0.1381, d2.loss_bbox: 0.3183, d3.loss_cls: 0.1230, d3.loss_bbox: 0.3137, d4.loss_cls: 0.1223, d4.loss_bbox: 0.3095, d5.loss_cls: 0.1197, d5.loss_bbox: 0.3108, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7735, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6145, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5720, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5689, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5656, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.5620, d0.loss_map_cls_all: 0.2288, d0.loss_map_pts_all: 1.2867, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2288, d0.loss_map_pts: 1.2867, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1900, d1.loss_map_pts: 0.8777, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1637, d2.loss_map_pts: 0.7026, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1523, d3.loss_map_pts: 0.6317, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1455, d4.loss_map_pts: 0.6059, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1401, d5.loss_map_pts: 0.5980, d5.loss_map_dir: 0.0076, loss: 25.3911, grad_norm: 153.1222 +2026-02-27 20:26:35,974 - DriveTransformer - INFO - Epoch [8][8850/39528] lr: 8.063e-05, eta: 5 days, 14:48:36, time: 0.727, data_time: 0.035, memory: 19865, loss_cls: 0.1389, loss_bbox: 0.3301, loss_traj: 0.6792, loss_traj_cls: 0.0014, loss_map_cls: 0.1024, loss_map_pts: 0.5279, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.3799, d0.loss_plan_l1_fix_dist: 0.4726, d1.loss_plan_l1_fix_time: 0.8600, d1.loss_plan_l1_fix_dist: 0.2213, d2.loss_plan_l1_fix_time: 0.8484, d2.loss_plan_l1_fix_dist: 0.2136, d3.loss_plan_l1_fix_time: 0.8494, d3.loss_plan_l1_fix_dist: 0.2251, d4.loss_plan_l1_fix_time: 0.8522, d4.loss_plan_l1_fix_dist: 0.2170, d5.loss_plan_l1_fix_time: 0.8551, d5.loss_plan_l1_fix_dist: 0.2342, d6.loss_plan_l1_fix_time: 0.8589, d6.loss_plan_l1_fix_dist: 0.2427, d0.loss_cls_all: 0.1750, d0.loss_bbox_all: 0.3975, d0.loss_cls: 0.1750, d0.loss_bbox: 0.3975, d1.loss_cls: 0.1704, d1.loss_bbox: 0.3636, d2.loss_cls: 0.1572, d2.loss_bbox: 0.3442, d3.loss_cls: 0.1447, d3.loss_bbox: 0.3380, d4.loss_cls: 0.1405, d4.loss_bbox: 0.3336, d5.loss_cls: 0.1390, d5.loss_bbox: 0.3308, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8822, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7468, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.7016, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6875, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6795, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.6777, d0.loss_map_cls_all: 0.1702, d0.loss_map_pts_all: 1.0899, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1702, d0.loss_map_pts: 1.0899, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1445, d1.loss_map_pts: 0.7440, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1223, d2.loss_map_pts: 0.6141, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1127, d3.loss_map_pts: 0.5587, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1071, d4.loss_map_pts: 0.5331, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1032, d5.loss_map_pts: 0.5286, d5.loss_map_dir: 0.0069, loss: 25.2419, grad_norm: 153.1694 +2026-02-27 20:27:12,247 - DriveTransformer - INFO - Epoch [8][8900/39528] lr: 8.063e-05, eta: 5 days, 14:47:55, time: 0.725, data_time: 0.041, memory: 19865, loss_cls: 0.1363, loss_bbox: 0.3294, loss_traj: 0.6204, loss_traj_cls: 0.0013, loss_map_cls: 0.1533, loss_map_pts: 0.6389, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.5630, d0.loss_plan_l1_fix_dist: 0.4186, d1.loss_plan_l1_fix_time: 0.9540, d1.loss_plan_l1_fix_dist: 0.2191, d2.loss_plan_l1_fix_time: 0.9449, d2.loss_plan_l1_fix_dist: 0.2121, d3.loss_plan_l1_fix_time: 0.9467, d3.loss_plan_l1_fix_dist: 0.2205, d4.loss_plan_l1_fix_time: 0.9489, d4.loss_plan_l1_fix_dist: 0.2107, d5.loss_plan_l1_fix_time: 0.9519, d5.loss_plan_l1_fix_dist: 0.2311, d6.loss_plan_l1_fix_time: 0.9561, d6.loss_plan_l1_fix_dist: 0.2297, d0.loss_cls_all: 0.1818, d0.loss_bbox_all: 0.3893, d0.loss_cls: 0.1818, d0.loss_bbox: 0.3893, d1.loss_cls: 0.1718, d1.loss_bbox: 0.3563, d2.loss_cls: 0.1573, d2.loss_bbox: 0.3372, d3.loss_cls: 0.1443, d3.loss_bbox: 0.3317, d4.loss_cls: 0.1396, d4.loss_bbox: 0.3289, d5.loss_cls: 0.1372, d5.loss_bbox: 0.3292, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8496, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6697, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6289, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6202, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6177, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.6234, d0.loss_map_cls_all: 0.2322, d0.loss_map_pts_all: 1.2707, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2322, d0.loss_map_pts: 1.2707, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.2068, d1.loss_map_pts: 0.9265, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1754, d2.loss_map_pts: 0.7503, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1664, d3.loss_map_pts: 0.6726, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1605, d4.loss_map_pts: 0.6449, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1548, d5.loss_map_pts: 0.6404, d5.loss_map_dir: 0.0077, loss: 27.0430, grad_norm: 153.2862 +2026-02-27 20:27:48,551 - DriveTransformer - INFO - Epoch [8][8950/39528] lr: 8.063e-05, eta: 5 days, 14:47:15, time: 0.726, data_time: 0.034, memory: 19865, loss_cls: 0.1220, loss_bbox: 0.3374, loss_traj: 0.6661, loss_traj_cls: 0.0014, loss_map_cls: 0.1226, loss_map_pts: 0.5924, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.6839, d0.loss_plan_l1_fix_dist: 0.3960, d1.loss_plan_l1_fix_time: 0.8747, d1.loss_plan_l1_fix_dist: 0.1831, d2.loss_plan_l1_fix_time: 0.8629, d2.loss_plan_l1_fix_dist: 0.1703, d3.loss_plan_l1_fix_time: 0.8612, d3.loss_plan_l1_fix_dist: 0.1854, d4.loss_plan_l1_fix_time: 0.8632, d4.loss_plan_l1_fix_dist: 0.1837, d5.loss_plan_l1_fix_time: 0.8658, d5.loss_plan_l1_fix_dist: 0.1964, d6.loss_plan_l1_fix_time: 0.8689, d6.loss_plan_l1_fix_dist: 0.2022, d0.loss_cls_all: 0.1661, d0.loss_bbox_all: 0.3950, d0.loss_cls: 0.1661, d0.loss_bbox: 0.3950, d1.loss_cls: 0.1537, d1.loss_bbox: 0.3680, d2.loss_cls: 0.1408, d2.loss_bbox: 0.3486, d3.loss_cls: 0.1276, d3.loss_bbox: 0.3437, d4.loss_cls: 0.1243, d4.loss_bbox: 0.3395, d5.loss_cls: 0.1225, d5.loss_bbox: 0.3375, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8889, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7307, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6809, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6675, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6613, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.6610, d0.loss_map_cls_all: 0.2013, d0.loss_map_pts_all: 1.1619, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2013, d0.loss_map_pts: 1.1619, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1693, d1.loss_map_pts: 0.8020, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1480, d2.loss_map_pts: 0.6695, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1390, d3.loss_map_pts: 0.6220, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1313, d4.loss_map_pts: 0.6023, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1254, d5.loss_map_pts: 0.5939, d5.loss_map_dir: 0.0078, loss: 25.8573, grad_norm: 153.0730 +2026-02-27 20:28:25,778 - DriveTransformer - INFO - Epoch [8][9000/39528] lr: 8.063e-05, eta: 5 days, 14:46:48, time: 0.746, data_time: 0.035, memory: 19865, loss_cls: 0.1252, loss_bbox: 0.3018, loss_traj: 0.5444, loss_traj_cls: 0.0014, loss_map_cls: 0.1297, loss_map_pts: 0.5857, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.3868, d0.loss_plan_l1_fix_dist: 0.4030, d1.loss_plan_l1_fix_time: 1.0601, d1.loss_plan_l1_fix_dist: 0.1684, d2.loss_plan_l1_fix_time: 1.0533, d2.loss_plan_l1_fix_dist: 0.1614, d3.loss_plan_l1_fix_time: 1.0501, d3.loss_plan_l1_fix_dist: 0.1805, d4.loss_plan_l1_fix_time: 1.0526, d4.loss_plan_l1_fix_dist: 0.1867, d5.loss_plan_l1_fix_time: 1.0558, d5.loss_plan_l1_fix_dist: 0.1781, d6.loss_plan_l1_fix_time: 1.0591, d6.loss_plan_l1_fix_dist: 0.1876, d0.loss_cls_all: 0.1600, d0.loss_bbox_all: 0.3631, d0.loss_cls: 0.1600, d0.loss_bbox: 0.3631, d1.loss_cls: 0.1525, d1.loss_bbox: 0.3308, d2.loss_cls: 0.1427, d2.loss_bbox: 0.3142, d3.loss_cls: 0.1305, d3.loss_bbox: 0.3070, d4.loss_cls: 0.1261, d4.loss_bbox: 0.3027, d5.loss_cls: 0.1248, d5.loss_bbox: 0.3033, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7495, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5987, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5543, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5484, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5432, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.5421, d0.loss_map_cls_all: 0.2084, d0.loss_map_pts_all: 1.2978, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2084, d0.loss_map_pts: 1.2978, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1809, d1.loss_map_pts: 0.8683, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1538, d2.loss_map_pts: 0.6904, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1433, d3.loss_map_pts: 0.6205, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1374, d4.loss_map_pts: 0.5933, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1317, d5.loss_map_pts: 0.5853, d5.loss_map_dir: 0.0079, loss: 25.8734, grad_norm: 154.0520 +2026-02-27 20:29:03,887 - DriveTransformer - INFO - Epoch [8][9050/39528] lr: 8.063e-05, eta: 5 days, 14:46:31, time: 0.761, data_time: 0.035, memory: 19865, loss_cls: 0.1210, loss_bbox: 0.3243, loss_traj: 0.5738, loss_traj_cls: 0.0014, loss_map_cls: 0.1356, loss_map_pts: 0.6491, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.9066, d0.loss_plan_l1_fix_dist: 0.4247, d1.loss_plan_l1_fix_time: 1.0152, d1.loss_plan_l1_fix_dist: 0.1904, d2.loss_plan_l1_fix_time: 0.9963, d2.loss_plan_l1_fix_dist: 0.2179, d3.loss_plan_l1_fix_time: 0.9936, d3.loss_plan_l1_fix_dist: 0.2034, d4.loss_plan_l1_fix_time: 0.9953, d4.loss_plan_l1_fix_dist: 0.2243, d5.loss_plan_l1_fix_time: 0.9972, d5.loss_plan_l1_fix_dist: 0.2193, d6.loss_plan_l1_fix_time: 0.9999, d6.loss_plan_l1_fix_dist: 0.2361, d0.loss_cls_all: 0.1626, d0.loss_bbox_all: 0.3826, d0.loss_cls: 0.1626, d0.loss_bbox: 0.3826, d1.loss_cls: 0.1562, d1.loss_bbox: 0.3491, d2.loss_cls: 0.1491, d2.loss_bbox: 0.3300, d3.loss_cls: 0.1317, d3.loss_bbox: 0.3248, d4.loss_cls: 0.1251, d4.loss_bbox: 0.3231, d5.loss_cls: 0.1231, d5.loss_bbox: 0.3234, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7645, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6262, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5829, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5721, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5720, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.5714, d0.loss_map_cls_all: 0.2104, d0.loss_map_pts_all: 1.3454, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2104, d0.loss_map_pts: 1.3454, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1757, d1.loss_map_pts: 0.9087, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1552, d2.loss_map_pts: 0.7374, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1443, d3.loss_map_pts: 0.6751, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1396, d4.loss_map_pts: 0.6517, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1367, d5.loss_map_pts: 0.6484, d5.loss_map_dir: 0.0098, loss: 27.1080, grad_norm: 155.3207 +2026-02-27 20:29:41,594 - DriveTransformer - INFO - Epoch [8][9100/39528] lr: 8.063e-05, eta: 5 days, 14:46:09, time: 0.754, data_time: 0.037, memory: 19865, loss_cls: 0.1384, loss_bbox: 0.3475, loss_traj: 0.6372, loss_traj_cls: 0.0013, loss_map_cls: 0.1590, loss_map_pts: 0.7306, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.8524, d0.loss_plan_l1_fix_dist: 0.4414, d1.loss_plan_l1_fix_time: 0.9994, d1.loss_plan_l1_fix_dist: 0.1920, d2.loss_plan_l1_fix_time: 0.9827, d2.loss_plan_l1_fix_dist: 0.2458, d3.loss_plan_l1_fix_time: 0.9810, d3.loss_plan_l1_fix_dist: 0.2220, d4.loss_plan_l1_fix_time: 0.9837, d4.loss_plan_l1_fix_dist: 0.2377, d5.loss_plan_l1_fix_time: 0.9866, d5.loss_plan_l1_fix_dist: 0.2404, d6.loss_plan_l1_fix_time: 0.9898, d6.loss_plan_l1_fix_dist: 0.2530, d0.loss_cls_all: 0.1742, d0.loss_bbox_all: 0.4209, d0.loss_cls: 0.1742, d0.loss_bbox: 0.4209, d1.loss_cls: 0.1680, d1.loss_bbox: 0.3825, d2.loss_cls: 0.1603, d2.loss_bbox: 0.3604, d3.loss_cls: 0.1442, d3.loss_bbox: 0.3520, d4.loss_cls: 0.1396, d4.loss_bbox: 0.3482, d5.loss_cls: 0.1393, d5.loss_bbox: 0.3478, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8530, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6977, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6481, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6403, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6328, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.6368, d0.loss_map_cls_all: 0.2420, d0.loss_map_pts_all: 1.4743, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2420, d0.loss_map_pts: 1.4743, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2104, d1.loss_map_pts: 1.0149, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1803, d2.loss_map_pts: 0.8371, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1708, d3.loss_map_pts: 0.7641, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1636, d4.loss_map_pts: 0.7373, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1605, d5.loss_map_pts: 0.7304, d5.loss_map_dir: 0.0098, loss: 28.9474, grad_norm: 156.5033 +2026-02-27 20:30:19,500 - DriveTransformer - INFO - Epoch [8][9150/39528] lr: 8.063e-05, eta: 5 days, 14:45:51, time: 0.758, data_time: 0.038, memory: 19865, loss_cls: 0.1450, loss_bbox: 0.3469, loss_traj: 0.6725, loss_traj_cls: 0.0013, loss_map_cls: 0.1616, loss_map_pts: 0.7176, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.4497, d0.loss_plan_l1_fix_dist: 0.3621, d1.loss_plan_l1_fix_time: 0.9923, d1.loss_plan_l1_fix_dist: 0.1829, d2.loss_plan_l1_fix_time: 0.9815, d2.loss_plan_l1_fix_dist: 0.2331, d3.loss_plan_l1_fix_time: 0.9774, d3.loss_plan_l1_fix_dist: 0.2135, d4.loss_plan_l1_fix_time: 0.9791, d4.loss_plan_l1_fix_dist: 0.1991, d5.loss_plan_l1_fix_time: 0.9810, d5.loss_plan_l1_fix_dist: 0.2032, d6.loss_plan_l1_fix_time: 0.9833, d6.loss_plan_l1_fix_dist: 0.2070, d0.loss_cls_all: 0.1845, d0.loss_bbox_all: 0.4145, d0.loss_cls: 0.1845, d0.loss_bbox: 0.4145, d1.loss_cls: 0.1795, d1.loss_bbox: 0.3767, d2.loss_cls: 0.1647, d2.loss_bbox: 0.3557, d3.loss_cls: 0.1492, d3.loss_bbox: 0.3512, d4.loss_cls: 0.1457, d4.loss_bbox: 0.3477, d5.loss_cls: 0.1439, d5.loss_bbox: 0.3474, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8865, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7411, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6936, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6804, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6718, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.6710, d0.loss_map_cls_all: 0.2335, d0.loss_map_pts_all: 1.3788, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2335, d0.loss_map_pts: 1.3788, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2086, d1.loss_map_pts: 0.9914, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1882, d2.loss_map_pts: 0.8083, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1769, d3.loss_map_pts: 0.7467, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1695, d4.loss_map_pts: 0.7285, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1626, d5.loss_map_pts: 0.7200, d5.loss_map_dir: 0.0096, loss: 28.2988, grad_norm: 157.0580 +2026-02-27 20:30:56,695 - DriveTransformer - INFO - Epoch [8][9200/39528] lr: 8.063e-05, eta: 5 days, 14:45:22, time: 0.744, data_time: 0.044, memory: 19865, loss_cls: 0.1383, loss_bbox: 0.3514, loss_traj: 0.5737, loss_traj_cls: 0.0013, loss_map_cls: 0.1842, loss_map_pts: 0.7499, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.7343, d0.loss_plan_l1_fix_dist: 0.3522, d1.loss_plan_l1_fix_time: 1.0290, d1.loss_plan_l1_fix_dist: 0.1982, d2.loss_plan_l1_fix_time: 1.0159, d2.loss_plan_l1_fix_dist: 0.2424, d3.loss_plan_l1_fix_time: 1.0119, d3.loss_plan_l1_fix_dist: 0.2573, d4.loss_plan_l1_fix_time: 1.0144, d4.loss_plan_l1_fix_dist: 0.2210, d5.loss_plan_l1_fix_time: 1.0168, d5.loss_plan_l1_fix_dist: 0.2399, d6.loss_plan_l1_fix_time: 1.0193, d6.loss_plan_l1_fix_dist: 0.2496, d0.loss_cls_all: 0.1847, d0.loss_bbox_all: 0.4140, d0.loss_cls: 0.1847, d0.loss_bbox: 0.4140, d1.loss_cls: 0.1737, d1.loss_bbox: 0.3750, d2.loss_cls: 0.1590, d2.loss_bbox: 0.3566, d3.loss_cls: 0.1452, d3.loss_bbox: 0.3516, d4.loss_cls: 0.1372, d4.loss_bbox: 0.3500, d5.loss_cls: 0.1366, d5.loss_bbox: 0.3511, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8522, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6454, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5988, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5795, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5688, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5730, d0.loss_map_cls_all: 0.2692, d0.loss_map_pts_all: 1.5267, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2692, d0.loss_map_pts: 1.5267, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2328, d1.loss_map_pts: 1.0749, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.2093, d2.loss_map_pts: 0.8714, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1968, d3.loss_map_pts: 0.7896, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1903, d4.loss_map_pts: 0.7613, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1868, d5.loss_map_pts: 0.7507, d5.loss_map_dir: 0.0107, loss: 29.0965, grad_norm: 159.2372 +2026-02-27 20:31:32,674 - DriveTransformer - INFO - Epoch [8][9250/39528] lr: 8.063e-05, eta: 5 days, 14:44:37, time: 0.720, data_time: 0.035, memory: 19865, loss_cls: 0.1369, loss_bbox: 0.3250, loss_traj: 0.6101, loss_traj_cls: 0.0014, loss_map_cls: 0.1305, loss_map_pts: 0.5629, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.3344, d0.loss_plan_l1_fix_dist: 0.4957, d1.loss_plan_l1_fix_time: 0.8310, d1.loss_plan_l1_fix_dist: 0.2232, d2.loss_plan_l1_fix_time: 0.8157, d2.loss_plan_l1_fix_dist: 0.2602, d3.loss_plan_l1_fix_time: 0.8126, d3.loss_plan_l1_fix_dist: 0.2823, d4.loss_plan_l1_fix_time: 0.8155, d4.loss_plan_l1_fix_dist: 0.2262, d5.loss_plan_l1_fix_time: 0.8185, d5.loss_plan_l1_fix_dist: 0.2357, d6.loss_plan_l1_fix_time: 0.8222, d6.loss_plan_l1_fix_dist: 0.2418, d0.loss_cls_all: 0.1662, d0.loss_bbox_all: 0.3753, d0.loss_cls: 0.1662, d0.loss_bbox: 0.3753, d1.loss_cls: 0.1616, d1.loss_bbox: 0.3498, d2.loss_cls: 0.1526, d2.loss_bbox: 0.3332, d3.loss_cls: 0.1375, d3.loss_bbox: 0.3272, d4.loss_cls: 0.1358, d4.loss_bbox: 0.3238, d5.loss_cls: 0.1356, d5.loss_bbox: 0.3230, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8362, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6797, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6296, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6161, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6091, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.6079, d0.loss_map_cls_all: 0.2054, d0.loss_map_pts_all: 1.1705, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2054, d0.loss_map_pts: 1.1705, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1741, d1.loss_map_pts: 0.8334, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1540, d2.loss_map_pts: 0.6619, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1406, d3.loss_map_pts: 0.5948, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1363, d4.loss_map_pts: 0.5715, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1321, d5.loss_map_pts: 0.5633, d5.loss_map_dir: 0.0072, loss: 25.1995, grad_norm: 157.1128 +2026-02-27 20:32:08,239 - DriveTransformer - INFO - Epoch [8][9300/39528] lr: 8.063e-05, eta: 5 days, 14:43:46, time: 0.711, data_time: 0.036, memory: 19865, loss_cls: 0.1465, loss_bbox: 0.3319, loss_traj: 0.5896, loss_traj_cls: 0.0014, loss_map_cls: 0.1435, loss_map_pts: 0.6537, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.7742, d0.loss_plan_l1_fix_dist: 0.4212, d1.loss_plan_l1_fix_time: 1.0239, d1.loss_plan_l1_fix_dist: 0.2121, d2.loss_plan_l1_fix_time: 1.0074, d2.loss_plan_l1_fix_dist: 0.2433, d3.loss_plan_l1_fix_time: 0.9972, d3.loss_plan_l1_fix_dist: 0.2783, d4.loss_plan_l1_fix_time: 0.9989, d4.loss_plan_l1_fix_dist: 0.2342, d5.loss_plan_l1_fix_time: 1.0017, d5.loss_plan_l1_fix_dist: 0.2365, d6.loss_plan_l1_fix_time: 1.0057, d6.loss_plan_l1_fix_dist: 0.2403, d0.loss_cls_all: 0.1778, d0.loss_bbox_all: 0.3992, d0.loss_cls: 0.1778, d0.loss_bbox: 0.3992, d1.loss_cls: 0.1740, d1.loss_bbox: 0.3646, d2.loss_cls: 0.1640, d2.loss_bbox: 0.3402, d3.loss_cls: 0.1532, d3.loss_bbox: 0.3331, d4.loss_cls: 0.1465, d4.loss_bbox: 0.3309, d5.loss_cls: 0.1454, d5.loss_bbox: 0.3319, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8380, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6624, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6049, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5919, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5854, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.5834, d0.loss_map_cls_all: 0.2181, d0.loss_map_pts_all: 1.2729, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2181, d0.loss_map_pts: 1.2729, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1910, d1.loss_map_pts: 0.9381, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1666, d2.loss_map_pts: 0.7691, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1555, d3.loss_map_pts: 0.6908, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1477, d4.loss_map_pts: 0.6619, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1450, d5.loss_map_pts: 0.6561, d5.loss_map_dir: 0.0077, loss: 27.6127, grad_norm: 155.8504 +2026-02-27 20:32:44,283 - DriveTransformer - INFO - Epoch [8][9350/39528] lr: 8.063e-05, eta: 5 days, 14:43:02, time: 0.721, data_time: 0.038, memory: 19865, loss_cls: 0.1470, loss_bbox: 0.3520, loss_traj: 0.5708, loss_traj_cls: 0.0014, loss_map_cls: 0.1324, loss_map_pts: 0.6201, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 3.3443, d0.loss_plan_l1_fix_dist: 0.4006, d1.loss_plan_l1_fix_time: 1.0185, d1.loss_plan_l1_fix_dist: 0.2183, d2.loss_plan_l1_fix_time: 1.0089, d2.loss_plan_l1_fix_dist: 0.2298, d3.loss_plan_l1_fix_time: 1.0120, d3.loss_plan_l1_fix_dist: 0.2854, d4.loss_plan_l1_fix_time: 1.0154, d4.loss_plan_l1_fix_dist: 0.2613, d5.loss_plan_l1_fix_time: 1.0194, d5.loss_plan_l1_fix_dist: 0.2374, d6.loss_plan_l1_fix_time: 1.0238, d6.loss_plan_l1_fix_dist: 0.2425, d0.loss_cls_all: 0.1757, d0.loss_bbox_all: 0.4370, d0.loss_cls: 0.1757, d0.loss_bbox: 0.4370, d1.loss_cls: 0.1765, d1.loss_bbox: 0.3931, d2.loss_cls: 0.1640, d2.loss_bbox: 0.3691, d3.loss_cls: 0.1520, d3.loss_bbox: 0.3599, d4.loss_cls: 0.1461, d4.loss_bbox: 0.3548, d5.loss_cls: 0.1461, d5.loss_bbox: 0.3525, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9074, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6347, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5918, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5780, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5706, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.5693, d0.loss_map_cls_all: 0.1966, d0.loss_map_pts_all: 1.2407, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1966, d0.loss_map_pts: 1.2407, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1706, d1.loss_map_pts: 0.8756, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1529, d2.loss_map_pts: 0.7129, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1429, d3.loss_map_pts: 0.6476, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1382, d4.loss_map_pts: 0.6278, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1342, d5.loss_map_pts: 0.6194, d5.loss_map_dir: 0.0086, loss: 28.0017, grad_norm: 155.2163 +2026-02-27 20:33:21,202 - DriveTransformer - INFO - Epoch [8][9400/39528] lr: 8.063e-05, eta: 5 days, 14:42:30, time: 0.738, data_time: 0.037, memory: 19865, loss_cls: 0.1294, loss_bbox: 0.3046, loss_traj: 0.5984, loss_traj_cls: 0.0014, loss_map_cls: 0.1380, loss_map_pts: 0.6291, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.3349, d0.loss_plan_l1_fix_dist: 0.3492, d1.loss_plan_l1_fix_time: 0.8379, d1.loss_plan_l1_fix_dist: 0.1834, d2.loss_plan_l1_fix_time: 0.8300, d2.loss_plan_l1_fix_dist: 0.2106, d3.loss_plan_l1_fix_time: 0.8324, d3.loss_plan_l1_fix_dist: 0.2346, d4.loss_plan_l1_fix_time: 0.8355, d4.loss_plan_l1_fix_dist: 0.2206, d5.loss_plan_l1_fix_time: 0.8390, d5.loss_plan_l1_fix_dist: 0.2140, d6.loss_plan_l1_fix_time: 0.8437, d6.loss_plan_l1_fix_dist: 0.2279, d0.loss_cls_all: 0.1646, d0.loss_bbox_all: 0.3685, d0.loss_cls: 0.1646, d0.loss_bbox: 0.3685, d1.loss_cls: 0.1591, d1.loss_bbox: 0.3350, d2.loss_cls: 0.1483, d2.loss_bbox: 0.3152, d3.loss_cls: 0.1354, d3.loss_bbox: 0.3086, d4.loss_cls: 0.1304, d4.loss_bbox: 0.3071, d5.loss_cls: 0.1278, d5.loss_bbox: 0.3065, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8645, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6819, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6225, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6059, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6003, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.6029, d0.loss_map_cls_all: 0.2142, d0.loss_map_pts_all: 1.2133, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2142, d0.loss_map_pts: 1.2133, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1847, d1.loss_map_pts: 0.8866, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1602, d2.loss_map_pts: 0.7275, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1488, d3.loss_map_pts: 0.6619, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1419, d4.loss_map_pts: 0.6367, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1385, d5.loss_map_pts: 0.6291, d5.loss_map_dir: 0.0089, loss: 25.3552, grad_norm: 154.2913 +2026-02-27 20:33:58,471 - DriveTransformer - INFO - Epoch [8][9450/39528] lr: 8.063e-05, eta: 5 days, 14:42:03, time: 0.745, data_time: 0.041, memory: 19865, loss_cls: 0.1197, loss_bbox: 0.3074, loss_traj: 0.5009, loss_traj_cls: 0.0014, loss_map_cls: 0.1064, loss_map_pts: 0.5636, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.3095, d0.loss_plan_l1_fix_dist: 0.4377, d1.loss_plan_l1_fix_time: 0.7982, d1.loss_plan_l1_fix_dist: 0.1913, d2.loss_plan_l1_fix_time: 0.7839, d2.loss_plan_l1_fix_dist: 0.2320, d3.loss_plan_l1_fix_time: 0.7773, d3.loss_plan_l1_fix_dist: 0.2222, d4.loss_plan_l1_fix_time: 0.7819, d4.loss_plan_l1_fix_dist: 0.2114, d5.loss_plan_l1_fix_time: 0.7864, d5.loss_plan_l1_fix_dist: 0.2257, d6.loss_plan_l1_fix_time: 0.7918, d6.loss_plan_l1_fix_dist: 0.2397, d0.loss_cls_all: 0.1547, d0.loss_bbox_all: 0.3608, d0.loss_cls: 0.1547, d0.loss_bbox: 0.3608, d1.loss_cls: 0.1479, d1.loss_bbox: 0.3350, d2.loss_cls: 0.1393, d2.loss_bbox: 0.3160, d3.loss_cls: 0.1272, d3.loss_bbox: 0.3107, d4.loss_cls: 0.1214, d4.loss_bbox: 0.3080, d5.loss_cls: 0.1202, d5.loss_bbox: 0.3066, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6817, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5651, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5297, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5204, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5056, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5041, d0.loss_map_cls_all: 0.1826, d0.loss_map_pts_all: 1.2241, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.1826, d0.loss_map_pts: 1.2241, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1530, d1.loss_map_pts: 0.8377, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1320, d2.loss_map_pts: 0.6603, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1187, d3.loss_map_pts: 0.5941, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1134, d4.loss_map_pts: 0.5722, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1087, d5.loss_map_pts: 0.5646, d5.loss_map_dir: 0.0090, loss: 23.7033, grad_norm: 156.5100 +2026-02-27 20:34:35,468 - DriveTransformer - INFO - Epoch [8][9500/39528] lr: 8.063e-05, eta: 5 days, 14:41:31, time: 0.740, data_time: 0.037, memory: 19865, loss_cls: 0.1247, loss_bbox: 0.3363, loss_traj: 0.5551, loss_traj_cls: 0.0014, loss_map_cls: 0.1313, loss_map_pts: 0.6170, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.4549, d0.loss_plan_l1_fix_dist: 0.4933, d1.loss_plan_l1_fix_time: 0.9753, d1.loss_plan_l1_fix_dist: 0.2184, d2.loss_plan_l1_fix_time: 0.9629, d2.loss_plan_l1_fix_dist: 0.2723, d3.loss_plan_l1_fix_time: 0.9436, d3.loss_plan_l1_fix_dist: 0.2253, d4.loss_plan_l1_fix_time: 0.9469, d4.loss_plan_l1_fix_dist: 0.2162, d5.loss_plan_l1_fix_time: 0.9518, d5.loss_plan_l1_fix_dist: 0.2259, d6.loss_plan_l1_fix_time: 0.9572, d6.loss_plan_l1_fix_dist: 0.2319, d0.loss_cls_all: 0.1648, d0.loss_bbox_all: 0.4100, d0.loss_cls: 0.1648, d0.loss_bbox: 0.4100, d1.loss_cls: 0.1593, d1.loss_bbox: 0.3740, d2.loss_cls: 0.1461, d2.loss_bbox: 0.3498, d3.loss_cls: 0.1311, d3.loss_bbox: 0.3422, d4.loss_cls: 0.1254, d4.loss_bbox: 0.3387, d5.loss_cls: 0.1254, d5.loss_bbox: 0.3356, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7400, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6315, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5705, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5612, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5547, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5534, d0.loss_map_cls_all: 0.2037, d0.loss_map_pts_all: 1.3152, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2037, d0.loss_map_pts: 1.3152, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1699, d1.loss_map_pts: 0.8779, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1525, d2.loss_map_pts: 0.7039, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1443, d3.loss_map_pts: 0.6420, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1375, d4.loss_map_pts: 0.6213, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1336, d5.loss_map_pts: 0.6178, d5.loss_map_dir: 0.0100, loss: 26.3525, grad_norm: 156.8198 +2026-02-27 20:35:10,009 - DriveTransformer - INFO - Epoch [8][9550/39528] lr: 8.063e-05, eta: 5 days, 14:40:27, time: 0.691, data_time: 0.036, memory: 19865, loss_cls: 0.1456, loss_bbox: 0.3236, loss_traj: 0.6492, loss_traj_cls: 0.0013, loss_map_cls: 0.1132, loss_map_pts: 0.5090, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.7046, d0.loss_plan_l1_fix_dist: 0.4442, d1.loss_plan_l1_fix_time: 1.0077, d1.loss_plan_l1_fix_dist: 0.2209, d2.loss_plan_l1_fix_time: 0.9883, d2.loss_plan_l1_fix_dist: 0.2698, d3.loss_plan_l1_fix_time: 0.9729, d3.loss_plan_l1_fix_dist: 0.2374, d4.loss_plan_l1_fix_time: 0.9749, d4.loss_plan_l1_fix_dist: 0.2137, d5.loss_plan_l1_fix_time: 0.9783, d5.loss_plan_l1_fix_dist: 0.2223, d6.loss_plan_l1_fix_time: 0.9814, d6.loss_plan_l1_fix_dist: 0.2375, d0.loss_cls_all: 0.1848, d0.loss_bbox_all: 0.3848, d0.loss_cls: 0.1848, d0.loss_bbox: 0.3848, d1.loss_cls: 0.1767, d1.loss_bbox: 0.3510, d2.loss_cls: 0.1628, d2.loss_bbox: 0.3335, d3.loss_cls: 0.1511, d3.loss_bbox: 0.3273, d4.loss_cls: 0.1458, d4.loss_bbox: 0.3234, d5.loss_cls: 0.1447, d5.loss_bbox: 0.3220, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9374, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7242, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6608, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6567, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6494, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6463, d0.loss_map_cls_all: 0.1900, d0.loss_map_pts_all: 1.0591, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1900, d0.loss_map_pts: 1.0591, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1574, d1.loss_map_pts: 0.7357, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1363, d2.loss_map_pts: 0.5906, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1251, d3.loss_map_pts: 0.5341, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1188, d4.loss_map_pts: 0.5148, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1146, d5.loss_map_pts: 0.5099, d5.loss_map_dir: 0.0075, loss: 26.1498, grad_norm: 158.7335 +2026-02-27 20:35:46,097 - DriveTransformer - INFO - Epoch [8][9600/39528] lr: 8.063e-05, eta: 5 days, 14:39:44, time: 0.722, data_time: 0.039, memory: 19865, loss_cls: 0.1273, loss_bbox: 0.3134, loss_traj: 0.5228, loss_traj_cls: 0.0013, loss_map_cls: 0.1210, loss_map_pts: 0.6123, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.1346, d0.loss_plan_l1_fix_dist: 0.5603, d1.loss_plan_l1_fix_time: 0.7711, d1.loss_plan_l1_fix_dist: 0.2382, d2.loss_plan_l1_fix_time: 0.7523, d2.loss_plan_l1_fix_dist: 0.2914, d3.loss_plan_l1_fix_time: 0.7563, d3.loss_plan_l1_fix_dist: 0.2815, d4.loss_plan_l1_fix_time: 0.7603, d4.loss_plan_l1_fix_dist: 0.2484, d5.loss_plan_l1_fix_time: 0.7643, d5.loss_plan_l1_fix_dist: 0.2413, d6.loss_plan_l1_fix_time: 0.7686, d6.loss_plan_l1_fix_dist: 0.2527, d0.loss_cls_all: 0.1619, d0.loss_bbox_all: 0.3682, d0.loss_cls: 0.1619, d0.loss_bbox: 0.3682, d1.loss_cls: 0.1562, d1.loss_bbox: 0.3387, d2.loss_cls: 0.1436, d2.loss_bbox: 0.3221, d3.loss_cls: 0.1329, d3.loss_bbox: 0.3169, d4.loss_cls: 0.1287, d4.loss_bbox: 0.3128, d5.loss_cls: 0.1265, d5.loss_bbox: 0.3129, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6778, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5688, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5377, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5325, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5275, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5237, d0.loss_map_cls_all: 0.1969, d0.loss_map_pts_all: 1.2325, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.1969, d0.loss_map_pts: 1.2325, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1685, d1.loss_map_pts: 0.8826, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1476, d2.loss_map_pts: 0.7068, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1348, d3.loss_map_pts: 0.6406, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1275, d4.loss_map_pts: 0.6208, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1237, d5.loss_map_pts: 0.6114, d5.loss_map_dir: 0.0088, loss: 24.3374, grad_norm: 157.6773 +2026-02-27 20:36:21,709 - DriveTransformer - INFO - Epoch [8][9650/39528] lr: 8.063e-05, eta: 5 days, 14:38:54, time: 0.712, data_time: 0.038, memory: 19865, loss_cls: 0.1337, loss_bbox: 0.3313, loss_traj: 0.6109, loss_traj_cls: 0.0013, loss_map_cls: 0.1397, loss_map_pts: 0.5961, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.8330, d0.loss_plan_l1_fix_dist: 0.4430, d1.loss_plan_l1_fix_time: 1.0036, d1.loss_plan_l1_fix_dist: 0.2348, d2.loss_plan_l1_fix_time: 0.9848, d2.loss_plan_l1_fix_dist: 0.2759, d3.loss_plan_l1_fix_time: 0.9871, d3.loss_plan_l1_fix_dist: 0.2725, d4.loss_plan_l1_fix_time: 0.9909, d4.loss_plan_l1_fix_dist: 0.2444, d5.loss_plan_l1_fix_time: 0.9947, d5.loss_plan_l1_fix_dist: 0.2427, d6.loss_plan_l1_fix_time: 0.9988, d6.loss_plan_l1_fix_dist: 0.2536, d0.loss_cls_all: 0.1735, d0.loss_bbox_all: 0.3927, d0.loss_cls: 0.1735, d0.loss_bbox: 0.3927, d1.loss_cls: 0.1666, d1.loss_bbox: 0.3590, d2.loss_cls: 0.1526, d2.loss_bbox: 0.3402, d3.loss_cls: 0.1404, d3.loss_bbox: 0.3317, d4.loss_cls: 0.1341, d4.loss_bbox: 0.3300, d5.loss_cls: 0.1327, d5.loss_bbox: 0.3308, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8633, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6864, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6319, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6295, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6199, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6120, d0.loss_map_cls_all: 0.2101, d0.loss_map_pts_all: 1.1988, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2101, d0.loss_map_pts: 1.1988, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1843, d1.loss_map_pts: 0.8408, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1608, d2.loss_map_pts: 0.6791, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1493, d3.loss_map_pts: 0.6228, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1448, d4.loss_map_pts: 0.6043, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1408, d5.loss_map_pts: 0.5959, d5.loss_map_dir: 0.0083, loss: 27.1791, grad_norm: 159.8914 +2026-02-27 20:36:59,115 - DriveTransformer - INFO - Epoch [8][9700/39528] lr: 8.063e-05, eta: 5 days, 14:38:28, time: 0.748, data_time: 0.035, memory: 19865, loss_cls: 0.1347, loss_bbox: 0.3315, loss_traj: 0.6151, loss_traj_cls: 0.0013, loss_map_cls: 0.1331, loss_map_pts: 0.6594, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.7275, d0.loss_plan_l1_fix_dist: 0.3393, d1.loss_plan_l1_fix_time: 1.0608, d1.loss_plan_l1_fix_dist: 0.2430, d2.loss_plan_l1_fix_time: 1.0387, d2.loss_plan_l1_fix_dist: 0.2821, d3.loss_plan_l1_fix_time: 1.0336, d3.loss_plan_l1_fix_dist: 0.2828, d4.loss_plan_l1_fix_time: 1.0377, d4.loss_plan_l1_fix_dist: 0.2649, d5.loss_plan_l1_fix_time: 1.0421, d5.loss_plan_l1_fix_dist: 0.2580, d6.loss_plan_l1_fix_time: 1.0477, d6.loss_plan_l1_fix_dist: 0.2820, d0.loss_cls_all: 0.1730, d0.loss_bbox_all: 0.3946, d0.loss_cls: 0.1730, d0.loss_bbox: 0.3946, d1.loss_cls: 0.1645, d1.loss_bbox: 0.3590, d2.loss_cls: 0.1507, d2.loss_bbox: 0.3390, d3.loss_cls: 0.1386, d3.loss_bbox: 0.3342, d4.loss_cls: 0.1350, d4.loss_bbox: 0.3319, d5.loss_cls: 0.1347, d5.loss_bbox: 0.3305, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8237, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6686, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6240, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6165, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6194, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6140, d0.loss_map_cls_all: 0.2098, d0.loss_map_pts_all: 1.3428, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2098, d0.loss_map_pts: 1.3428, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1783, d1.loss_map_pts: 0.9256, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1550, d2.loss_map_pts: 0.7585, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1446, d3.loss_map_pts: 0.6979, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1397, d4.loss_map_pts: 0.6720, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1344, d5.loss_map_pts: 0.6596, d5.loss_map_dir: 0.0095, loss: 27.9866, grad_norm: 159.5277 +2026-02-27 20:37:35,918 - DriveTransformer - INFO - Epoch [8][9750/39528] lr: 8.063e-05, eta: 5 days, 14:37:54, time: 0.736, data_time: 0.033, memory: 19865, loss_cls: 0.1389, loss_bbox: 0.3258, loss_traj: 0.5393, loss_traj_cls: 0.0013, loss_map_cls: 0.1431, loss_map_pts: 0.6076, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.5526, d0.loss_plan_l1_fix_dist: 0.3396, d1.loss_plan_l1_fix_time: 1.0064, d1.loss_plan_l1_fix_dist: 0.2412, d2.loss_plan_l1_fix_time: 0.9901, d2.loss_plan_l1_fix_dist: 0.2701, d3.loss_plan_l1_fix_time: 0.9988, d3.loss_plan_l1_fix_dist: 0.2661, d4.loss_plan_l1_fix_time: 1.0023, d4.loss_plan_l1_fix_dist: 0.2576, d5.loss_plan_l1_fix_time: 1.0056, d5.loss_plan_l1_fix_dist: 0.2458, d6.loss_plan_l1_fix_time: 1.0093, d6.loss_plan_l1_fix_dist: 0.2597, d0.loss_cls_all: 0.1837, d0.loss_bbox_all: 0.3916, d0.loss_cls: 0.1837, d0.loss_bbox: 0.3916, d1.loss_cls: 0.1731, d1.loss_bbox: 0.3621, d2.loss_cls: 0.1601, d2.loss_bbox: 0.3373, d3.loss_cls: 0.1441, d3.loss_bbox: 0.3319, d4.loss_cls: 0.1416, d4.loss_bbox: 0.3272, d5.loss_cls: 0.1396, d5.loss_bbox: 0.3258, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7400, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5939, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5571, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5466, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5448, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5401, d0.loss_map_cls_all: 0.2109, d0.loss_map_pts_all: 1.2583, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2109, d0.loss_map_pts: 1.2583, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1826, d1.loss_map_pts: 0.8859, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1661, d2.loss_map_pts: 0.7115, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1542, d3.loss_map_pts: 0.6409, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1484, d4.loss_map_pts: 0.6192, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1452, d5.loss_map_pts: 0.6082, d5.loss_map_dir: 0.0083, loss: 26.5875, grad_norm: 157.9755 +2026-02-27 20:38:11,442 - DriveTransformer - INFO - Epoch [8][9800/39528] lr: 8.063e-05, eta: 5 days, 14:37:04, time: 0.712, data_time: 0.034, memory: 19865, loss_cls: 0.1488, loss_bbox: 0.3719, loss_traj: 0.6674, loss_traj_cls: 0.0012, loss_map_cls: 0.1874, loss_map_pts: 0.7264, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 3.3393, d0.loss_plan_l1_fix_dist: 0.3469, d1.loss_plan_l1_fix_time: 1.2360, d1.loss_plan_l1_fix_dist: 0.2214, d2.loss_plan_l1_fix_time: 1.2133, d2.loss_plan_l1_fix_dist: 0.2411, d3.loss_plan_l1_fix_time: 1.2133, d3.loss_plan_l1_fix_dist: 0.2254, d4.loss_plan_l1_fix_time: 1.2161, d4.loss_plan_l1_fix_dist: 0.2264, d5.loss_plan_l1_fix_time: 1.2189, d5.loss_plan_l1_fix_dist: 0.2244, d6.loss_plan_l1_fix_time: 1.2217, d6.loss_plan_l1_fix_dist: 0.2350, d0.loss_cls_all: 0.1944, d0.loss_bbox_all: 0.4354, d0.loss_cls: 0.1944, d0.loss_bbox: 0.4354, d1.loss_cls: 0.1822, d1.loss_bbox: 0.4022, d2.loss_cls: 0.1708, d2.loss_bbox: 0.3847, d3.loss_cls: 0.1559, d3.loss_bbox: 0.3768, d4.loss_cls: 0.1507, d4.loss_bbox: 0.3728, d5.loss_cls: 0.1481, d5.loss_bbox: 0.3713, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9360, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7543, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6944, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6809, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6722, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6687, d0.loss_map_cls_all: 0.2458, d0.loss_map_pts_all: 1.3128, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2458, d0.loss_map_pts: 1.3128, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.2235, d1.loss_map_pts: 0.9777, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.2039, d2.loss_map_pts: 0.8193, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1955, d3.loss_map_pts: 0.7532, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1903, d4.loss_map_pts: 0.7324, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1876, d5.loss_map_pts: 0.7285, d5.loss_map_dir: 0.0071, loss: 31.0549, grad_norm: 158.1363 +2026-02-27 20:38:46,799 - DriveTransformer - INFO - Epoch [8][9850/39528] lr: 8.063e-05, eta: 5 days, 14:36:10, time: 0.706, data_time: 0.036, memory: 19865, loss_cls: 0.1412, loss_bbox: 0.3400, loss_traj: 0.7479, loss_traj_cls: 0.0013, loss_map_cls: 0.1155, loss_map_pts: 0.5603, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.9877, d0.loss_plan_l1_fix_dist: 0.4034, d1.loss_plan_l1_fix_time: 1.1086, d1.loss_plan_l1_fix_dist: 0.2091, d2.loss_plan_l1_fix_time: 1.0721, d2.loss_plan_l1_fix_dist: 0.2288, d3.loss_plan_l1_fix_time: 1.0674, d3.loss_plan_l1_fix_dist: 0.2179, d4.loss_plan_l1_fix_time: 1.0688, d4.loss_plan_l1_fix_dist: 0.2264, d5.loss_plan_l1_fix_time: 1.0711, d5.loss_plan_l1_fix_dist: 0.2364, d6.loss_plan_l1_fix_time: 1.0736, d6.loss_plan_l1_fix_dist: 0.2514, d0.loss_cls_all: 0.1752, d0.loss_bbox_all: 0.4033, d0.loss_cls: 0.1752, d0.loss_bbox: 0.4033, d1.loss_cls: 0.1680, d1.loss_bbox: 0.3697, d2.loss_cls: 0.1572, d2.loss_bbox: 0.3534, d3.loss_cls: 0.1461, d3.loss_bbox: 0.3463, d4.loss_cls: 0.1425, d4.loss_bbox: 0.3418, d5.loss_cls: 0.1397, d5.loss_bbox: 0.3426, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0364, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8185, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.7680, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7529, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7522, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.7484, d0.loss_map_cls_all: 0.1792, d0.loss_map_pts_all: 1.0784, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1792, d0.loss_map_pts: 1.0784, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1514, d1.loss_map_pts: 0.7663, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1349, d2.loss_map_pts: 0.6322, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1259, d3.loss_map_pts: 0.5820, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1219, d4.loss_map_pts: 0.5660, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1176, d5.loss_map_pts: 0.5588, d5.loss_map_dir: 0.0062, loss: 27.9964, grad_norm: 156.9978 +2026-02-27 20:39:24,818 - DriveTransformer - INFO - Epoch [8][9900/39528] lr: 8.063e-05, eta: 5 days, 14:35:53, time: 0.760, data_time: 0.036, memory: 19865, loss_cls: 0.1253, loss_bbox: 0.3281, loss_traj: 0.5646, loss_traj_cls: 0.0013, loss_map_cls: 0.1260, loss_map_pts: 0.6222, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.8967, d0.loss_plan_l1_fix_dist: 0.4249, d1.loss_plan_l1_fix_time: 0.9870, d1.loss_plan_l1_fix_dist: 0.2010, d2.loss_plan_l1_fix_time: 0.9651, d2.loss_plan_l1_fix_dist: 0.2280, d3.loss_plan_l1_fix_time: 0.9633, d3.loss_plan_l1_fix_dist: 0.2262, d4.loss_plan_l1_fix_time: 0.9669, d4.loss_plan_l1_fix_dist: 0.2380, d5.loss_plan_l1_fix_time: 0.9705, d5.loss_plan_l1_fix_dist: 0.2534, d6.loss_plan_l1_fix_time: 0.9751, d6.loss_plan_l1_fix_dist: 0.2832, d0.loss_cls_all: 0.1677, d0.loss_bbox_all: 0.3868, d0.loss_cls: 0.1677, d0.loss_bbox: 0.3868, d1.loss_cls: 0.1555, d1.loss_bbox: 0.3548, d2.loss_cls: 0.1433, d2.loss_bbox: 0.3384, d3.loss_cls: 0.1296, d3.loss_bbox: 0.3334, d4.loss_cls: 0.1244, d4.loss_bbox: 0.3312, d5.loss_cls: 0.1254, d5.loss_bbox: 0.3289, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7695, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6051, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5721, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5707, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5602, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5612, d0.loss_map_cls_all: 0.2012, d0.loss_map_pts_all: 1.3117, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2012, d0.loss_map_pts: 1.3117, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.1665, d1.loss_map_pts: 0.8695, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1455, d2.loss_map_pts: 0.6965, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1372, d3.loss_map_pts: 0.6395, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1295, d4.loss_map_pts: 0.6227, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1266, d5.loss_map_pts: 0.6196, d5.loss_map_dir: 0.0094, loss: 26.7200, grad_norm: 159.9953 +2026-02-27 20:40:02,291 - DriveTransformer - INFO - Epoch [8][9950/39528] lr: 8.063e-05, eta: 5 days, 14:35:28, time: 0.749, data_time: 0.039, memory: 19865, loss_cls: 0.1349, loss_bbox: 0.3289, loss_traj: 0.5265, loss_traj_cls: 0.0013, loss_map_cls: 0.1330, loss_map_pts: 0.6325, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.4957, d0.loss_plan_l1_fix_dist: 0.4522, d1.loss_plan_l1_fix_time: 0.9155, d1.loss_plan_l1_fix_dist: 0.2156, d2.loss_plan_l1_fix_time: 0.8950, d2.loss_plan_l1_fix_dist: 0.2447, d3.loss_plan_l1_fix_time: 0.8847, d3.loss_plan_l1_fix_dist: 0.2303, d4.loss_plan_l1_fix_time: 0.8864, d4.loss_plan_l1_fix_dist: 0.2251, d5.loss_plan_l1_fix_time: 0.8902, d5.loss_plan_l1_fix_dist: 0.2277, d6.loss_plan_l1_fix_time: 0.8948, d6.loss_plan_l1_fix_dist: 0.2323, d0.loss_cls_all: 0.1741, d0.loss_bbox_all: 0.3859, d0.loss_cls: 0.1741, d0.loss_bbox: 0.3859, d1.loss_cls: 0.1646, d1.loss_bbox: 0.3562, d2.loss_cls: 0.1500, d2.loss_bbox: 0.3411, d3.loss_cls: 0.1411, d3.loss_bbox: 0.3322, d4.loss_cls: 0.1354, d4.loss_bbox: 0.3301, d5.loss_cls: 0.1354, d5.loss_bbox: 0.3286, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7305, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5806, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5404, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5353, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5259, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5244, d0.loss_map_cls_all: 0.2169, d0.loss_map_pts_all: 1.3178, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2169, d0.loss_map_pts: 1.3178, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1863, d1.loss_map_pts: 0.9112, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1611, d2.loss_map_pts: 0.7232, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1467, d3.loss_map_pts: 0.6602, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1402, d4.loss_map_pts: 0.6396, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1343, d5.loss_map_pts: 0.6336, d5.loss_map_dir: 0.0092, loss: 25.9026, grad_norm: 157.5605 +2026-02-27 20:40:39,316 - DriveTransformer - INFO - Epoch [8][10000/39528] lr: 8.063e-05, eta: 5 days, 14:34:57, time: 0.740, data_time: 0.034, memory: 19865, loss_cls: 0.1388, loss_bbox: 0.3298, loss_traj: 0.6161, loss_traj_cls: 0.0013, loss_map_cls: 0.1499, loss_map_pts: 0.7340, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.6950, d0.loss_plan_l1_fix_dist: 0.4209, d1.loss_plan_l1_fix_time: 0.9282, d1.loss_plan_l1_fix_dist: 0.2314, d2.loss_plan_l1_fix_time: 0.9096, d2.loss_plan_l1_fix_dist: 0.2563, d3.loss_plan_l1_fix_time: 0.9084, d3.loss_plan_l1_fix_dist: 0.2694, d4.loss_plan_l1_fix_time: 0.9106, d4.loss_plan_l1_fix_dist: 0.2767, d5.loss_plan_l1_fix_time: 0.9137, d5.loss_plan_l1_fix_dist: 0.2772, d6.loss_plan_l1_fix_time: 0.9172, d6.loss_plan_l1_fix_dist: 0.2955, d0.loss_cls_all: 0.1826, d0.loss_bbox_all: 0.3896, d0.loss_cls: 0.1826, d0.loss_bbox: 0.3896, d1.loss_cls: 0.1724, d1.loss_bbox: 0.3587, d2.loss_cls: 0.1623, d2.loss_bbox: 0.3372, d3.loss_cls: 0.1467, d3.loss_bbox: 0.3311, d4.loss_cls: 0.1393, d4.loss_bbox: 0.3307, d5.loss_cls: 0.1371, d5.loss_bbox: 0.3300, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8360, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6682, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6255, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6137, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6142, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6151, d0.loss_map_cls_all: 0.2264, d0.loss_map_pts_all: 1.4268, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2264, d0.loss_map_pts: 1.4268, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1962, d1.loss_map_pts: 1.0384, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1749, d2.loss_map_pts: 0.8494, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1629, d3.loss_map_pts: 0.7760, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1546, d4.loss_map_pts: 0.7444, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1506, d5.loss_map_pts: 0.7370, d5.loss_map_dir: 0.0089, loss: 28.1078, grad_norm: 161.4711 +2026-02-27 20:41:17,939 - DriveTransformer - INFO - Epoch [8][10050/39528] lr: 8.063e-05, eta: 5 days, 14:34:48, time: 0.772, data_time: 0.038, memory: 19865, loss_cls: 0.1371, loss_bbox: 0.3168, loss_traj: 0.5453, loss_traj_cls: 0.0013, loss_map_cls: 0.1459, loss_map_pts: 0.7198, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.2735, d0.loss_plan_l1_fix_dist: 0.4418, d1.loss_plan_l1_fix_time: 0.9896, d1.loss_plan_l1_fix_dist: 0.2468, d2.loss_plan_l1_fix_time: 0.9886, d2.loss_plan_l1_fix_dist: 0.2541, d3.loss_plan_l1_fix_time: 0.9921, d3.loss_plan_l1_fix_dist: 0.2654, d4.loss_plan_l1_fix_time: 0.9957, d4.loss_plan_l1_fix_dist: 0.2717, d5.loss_plan_l1_fix_time: 0.9999, d5.loss_plan_l1_fix_dist: 0.2625, d6.loss_plan_l1_fix_time: 1.0045, d6.loss_plan_l1_fix_dist: 0.2893, d0.loss_cls_all: 0.1656, d0.loss_bbox_all: 0.3740, d0.loss_cls: 0.1656, d0.loss_bbox: 0.3740, d1.loss_cls: 0.1604, d1.loss_bbox: 0.3426, d2.loss_cls: 0.1558, d2.loss_bbox: 0.3233, d3.loss_cls: 0.1441, d3.loss_bbox: 0.3189, d4.loss_cls: 0.1388, d4.loss_bbox: 0.3170, d5.loss_cls: 0.1368, d5.loss_bbox: 0.3161, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7306, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6036, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5582, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5487, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5493, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5443, d0.loss_map_cls_all: 0.2112, d0.loss_map_pts_all: 1.4292, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2112, d0.loss_map_pts: 1.4292, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.1813, d1.loss_map_pts: 1.0174, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1638, d2.loss_map_pts: 0.8231, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1570, d3.loss_map_pts: 0.7553, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1506, d4.loss_map_pts: 0.7281, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1468, d5.loss_map_pts: 0.7218, d5.loss_map_dir: 0.0104, loss: 27.3219, grad_norm: 158.6428 +2026-02-27 20:41:53,537 - DriveTransformer - INFO - Epoch [8][10100/39528] lr: 8.063e-05, eta: 5 days, 14:33:58, time: 0.712, data_time: 0.035, memory: 19865, loss_cls: 0.1509, loss_bbox: 0.3574, loss_traj: 0.6658, loss_traj_cls: 0.0013, loss_map_cls: 0.1213, loss_map_pts: 0.6057, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.9568, d0.loss_plan_l1_fix_dist: 0.4598, d1.loss_plan_l1_fix_time: 1.1338, d1.loss_plan_l1_fix_dist: 0.2791, d2.loss_plan_l1_fix_time: 1.1223, d2.loss_plan_l1_fix_dist: 0.2691, d3.loss_plan_l1_fix_time: 1.1209, d3.loss_plan_l1_fix_dist: 0.2793, d4.loss_plan_l1_fix_time: 1.1230, d4.loss_plan_l1_fix_dist: 0.2825, d5.loss_plan_l1_fix_time: 1.1252, d5.loss_plan_l1_fix_dist: 0.2755, d6.loss_plan_l1_fix_time: 1.1279, d6.loss_plan_l1_fix_dist: 0.3085, d0.loss_cls_all: 0.1940, d0.loss_bbox_all: 0.4051, d0.loss_cls: 0.1940, d0.loss_bbox: 0.4051, d1.loss_cls: 0.1850, d1.loss_bbox: 0.3759, d2.loss_cls: 0.1756, d2.loss_bbox: 0.3584, d3.loss_cls: 0.1585, d3.loss_bbox: 0.3544, d4.loss_cls: 0.1528, d4.loss_bbox: 0.3537, d5.loss_cls: 0.1518, d5.loss_bbox: 0.3543, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9117, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7130, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6776, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6702, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6639, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6644, d0.loss_map_cls_all: 0.1843, d0.loss_map_pts_all: 1.1868, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1843, d0.loss_map_pts: 1.1868, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1579, d1.loss_map_pts: 0.8551, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1423, d2.loss_map_pts: 0.6923, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1296, d3.loss_map_pts: 0.6281, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1251, d4.loss_map_pts: 0.6092, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1212, d5.loss_map_pts: 0.6063, d5.loss_map_dir: 0.0076, loss: 28.7609, grad_norm: 154.7133 +2026-02-27 20:42:31,354 - DriveTransformer - INFO - Epoch [8][10150/39528] lr: 8.063e-05, eta: 5 days, 14:33:37, time: 0.756, data_time: 0.037, memory: 19865, loss_cls: 0.1413, loss_bbox: 0.3416, loss_traj: 0.5134, loss_traj_cls: 0.0013, loss_map_cls: 0.1371, loss_map_pts: 0.6286, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.4928, d0.loss_plan_l1_fix_dist: 0.4260, d1.loss_plan_l1_fix_time: 0.9455, d1.loss_plan_l1_fix_dist: 0.2285, d2.loss_plan_l1_fix_time: 0.9351, d2.loss_plan_l1_fix_dist: 0.2164, d3.loss_plan_l1_fix_time: 0.9341, d3.loss_plan_l1_fix_dist: 0.2153, d4.loss_plan_l1_fix_time: 0.9382, d4.loss_plan_l1_fix_dist: 0.2270, d5.loss_plan_l1_fix_time: 0.9423, d5.loss_plan_l1_fix_dist: 0.2417, d6.loss_plan_l1_fix_time: 0.9468, d6.loss_plan_l1_fix_dist: 0.2813, d0.loss_cls_all: 0.1787, d0.loss_bbox_all: 0.3967, d0.loss_cls: 0.1787, d0.loss_bbox: 0.3967, d1.loss_cls: 0.1741, d1.loss_bbox: 0.3648, d2.loss_cls: 0.1633, d2.loss_bbox: 0.3459, d3.loss_cls: 0.1484, d3.loss_bbox: 0.3425, d4.loss_cls: 0.1420, d4.loss_bbox: 0.3425, d5.loss_cls: 0.1409, d5.loss_bbox: 0.3416, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7377, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5691, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5290, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5151, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5129, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5122, d0.loss_map_cls_all: 0.2124, d0.loss_map_pts_all: 1.3366, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2124, d0.loss_map_pts: 1.3366, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1802, d1.loss_map_pts: 0.8867, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1579, d2.loss_map_pts: 0.7154, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1500, d3.loss_map_pts: 0.6524, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1425, d4.loss_map_pts: 0.6325, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1388, d5.loss_map_pts: 0.6279, d5.loss_map_dir: 0.0090, loss: 26.2287, grad_norm: 153.7943 +2026-02-27 20:43:08,299 - DriveTransformer - INFO - Epoch [8][10200/39528] lr: 8.063e-05, eta: 5 days, 14:33:05, time: 0.739, data_time: 0.037, memory: 19865, loss_cls: 0.1287, loss_bbox: 0.3092, loss_traj: 0.6353, loss_traj_cls: 0.0013, loss_map_cls: 0.1144, loss_map_pts: 0.5551, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.7521, d0.loss_plan_l1_fix_dist: 0.4583, d1.loss_plan_l1_fix_time: 1.0325, d1.loss_plan_l1_fix_dist: 0.2189, d2.loss_plan_l1_fix_time: 1.0181, d2.loss_plan_l1_fix_dist: 0.2226, d3.loss_plan_l1_fix_time: 1.0187, d3.loss_plan_l1_fix_dist: 0.2024, d4.loss_plan_l1_fix_time: 1.0232, d4.loss_plan_l1_fix_dist: 0.2194, d5.loss_plan_l1_fix_time: 1.0278, d5.loss_plan_l1_fix_dist: 0.2440, d6.loss_plan_l1_fix_time: 1.0328, d6.loss_plan_l1_fix_dist: 0.2614, d0.loss_cls_all: 0.1617, d0.loss_bbox_all: 0.3456, d0.loss_cls: 0.1617, d0.loss_bbox: 0.3456, d1.loss_cls: 0.1553, d1.loss_bbox: 0.3237, d2.loss_cls: 0.1464, d2.loss_bbox: 0.3081, d3.loss_cls: 0.1331, d3.loss_bbox: 0.3061, d4.loss_cls: 0.1283, d4.loss_bbox: 0.3077, d5.loss_cls: 0.1276, d5.loss_bbox: 0.3086, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8432, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6941, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6539, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6457, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6369, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6380, d0.loss_map_cls_all: 0.1775, d0.loss_map_pts_all: 1.1185, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1775, d0.loss_map_pts: 1.1185, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1526, d1.loss_map_pts: 0.7850, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1362, d2.loss_map_pts: 0.6351, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1253, d3.loss_map_pts: 0.5805, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1190, d4.loss_map_pts: 0.5601, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1150, d5.loss_map_pts: 0.5543, d5.loss_map_dir: 0.0074, loss: 26.2669, grad_norm: 150.6372 +2026-02-27 20:43:45,348 - DriveTransformer - INFO - Epoch [8][10250/39528] lr: 8.063e-05, eta: 5 days, 14:32:35, time: 0.741, data_time: 0.046, memory: 19865, loss_cls: 0.1426, loss_bbox: 0.3435, loss_traj: 0.7187, loss_traj_cls: 0.0013, loss_map_cls: 0.1387, loss_map_pts: 0.6565, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.6422, d0.loss_plan_l1_fix_dist: 0.3963, d1.loss_plan_l1_fix_time: 0.9210, d1.loss_plan_l1_fix_dist: 0.1772, d2.loss_plan_l1_fix_time: 0.9123, d2.loss_plan_l1_fix_dist: 0.2070, d3.loss_plan_l1_fix_time: 0.9172, d3.loss_plan_l1_fix_dist: 0.1984, d4.loss_plan_l1_fix_time: 0.9225, d4.loss_plan_l1_fix_dist: 0.2019, d5.loss_plan_l1_fix_time: 0.9279, d5.loss_plan_l1_fix_dist: 0.2189, d6.loss_plan_l1_fix_time: 0.9340, d6.loss_plan_l1_fix_dist: 0.2323, d0.loss_cls_all: 0.1721, d0.loss_bbox_all: 0.4053, d0.loss_cls: 0.1721, d0.loss_bbox: 0.4053, d1.loss_cls: 0.1694, d1.loss_bbox: 0.3724, d2.loss_cls: 0.1589, d2.loss_bbox: 0.3551, d3.loss_cls: 0.1470, d3.loss_bbox: 0.3472, d4.loss_cls: 0.1431, d4.loss_bbox: 0.3446, d5.loss_cls: 0.1420, d5.loss_bbox: 0.3444, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9884, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7929, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.7280, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7192, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7182, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.7189, d0.loss_map_cls_all: 0.2066, d0.loss_map_pts_all: 1.2654, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2066, d0.loss_map_pts: 1.2654, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1815, d1.loss_map_pts: 0.9211, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1633, d2.loss_map_pts: 0.7568, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1504, d3.loss_map_pts: 0.6967, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1440, d4.loss_map_pts: 0.6701, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1398, d5.loss_map_pts: 0.6590, d5.loss_map_dir: 0.0078, loss: 27.6488, grad_norm: 149.2458 +2026-02-27 20:44:20,221 - DriveTransformer - INFO - Epoch [8][10300/39528] lr: 8.063e-05, eta: 5 days, 14:31:35, time: 0.697, data_time: 0.039, memory: 19865, loss_cls: 0.1425, loss_bbox: 0.3427, loss_traj: 0.5106, loss_traj_cls: 0.0014, loss_map_cls: 0.1609, loss_map_pts: 0.6525, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.3072, d0.loss_plan_l1_fix_dist: 0.2876, d1.loss_plan_l1_fix_time: 0.8363, d1.loss_plan_l1_fix_dist: 0.1709, d2.loss_plan_l1_fix_time: 0.8147, d2.loss_plan_l1_fix_dist: 0.2034, d3.loss_plan_l1_fix_time: 0.8098, d3.loss_plan_l1_fix_dist: 0.2037, d4.loss_plan_l1_fix_time: 0.8130, d4.loss_plan_l1_fix_dist: 0.1950, d5.loss_plan_l1_fix_time: 0.8171, d5.loss_plan_l1_fix_dist: 0.2033, d6.loss_plan_l1_fix_time: 0.8217, d6.loss_plan_l1_fix_dist: 0.2598, d0.loss_cls_all: 0.1951, d0.loss_bbox_all: 0.3927, d0.loss_cls: 0.1951, d0.loss_bbox: 0.3927, d1.loss_cls: 0.1846, d1.loss_bbox: 0.3610, d2.loss_cls: 0.1690, d2.loss_bbox: 0.3435, d3.loss_cls: 0.1526, d3.loss_bbox: 0.3419, d4.loss_cls: 0.1448, d4.loss_bbox: 0.3416, d5.loss_cls: 0.1427, d5.loss_bbox: 0.3424, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7018, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5618, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5142, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5068, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5092, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.5063, d0.loss_map_cls_all: 0.2386, d0.loss_map_pts_all: 1.2942, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2386, d0.loss_map_pts: 1.2942, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2075, d1.loss_map_pts: 0.8874, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1876, d2.loss_map_pts: 0.7387, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1757, d3.loss_map_pts: 0.6795, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1674, d4.loss_map_pts: 0.6603, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1614, d5.loss_map_pts: 0.6538, d5.loss_map_dir: 0.0090, loss: 25.2156, grad_norm: 148.0928 +2026-02-27 20:44:57,744 - DriveTransformer - INFO - Epoch [8][10350/39528] lr: 8.063e-05, eta: 5 days, 14:31:11, time: 0.750, data_time: 0.038, memory: 19865, loss_cls: 0.1391, loss_bbox: 0.3501, loss_traj: 0.4991, loss_traj_cls: 0.0013, loss_map_cls: 0.1597, loss_map_pts: 0.7209, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.4648, d0.loss_plan_l1_fix_dist: 0.4986, d1.loss_plan_l1_fix_time: 0.9670, d1.loss_plan_l1_fix_dist: 0.2189, d2.loss_plan_l1_fix_time: 0.9511, d2.loss_plan_l1_fix_dist: 0.2595, d3.loss_plan_l1_fix_time: 0.9522, d3.loss_plan_l1_fix_dist: 0.2551, d4.loss_plan_l1_fix_time: 0.9565, d4.loss_plan_l1_fix_dist: 0.2512, d5.loss_plan_l1_fix_time: 0.9612, d5.loss_plan_l1_fix_dist: 0.2472, d6.loss_plan_l1_fix_time: 0.9675, d6.loss_plan_l1_fix_dist: 0.2759, d0.loss_cls_all: 0.1767, d0.loss_bbox_all: 0.4155, d0.loss_cls: 0.1767, d0.loss_bbox: 0.4155, d1.loss_cls: 0.1678, d1.loss_bbox: 0.3833, d2.loss_cls: 0.1556, d2.loss_bbox: 0.3596, d3.loss_cls: 0.1438, d3.loss_bbox: 0.3534, d4.loss_cls: 0.1402, d4.loss_bbox: 0.3510, d5.loss_cls: 0.1393, d5.loss_bbox: 0.3500, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7301, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5660, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5143, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5022, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4978, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.4947, d0.loss_map_cls_all: 0.2484, d0.loss_map_pts_all: 1.4683, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2484, d0.loss_map_pts: 1.4683, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2101, d1.loss_map_pts: 1.0208, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1852, d2.loss_map_pts: 0.8319, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1721, d3.loss_map_pts: 0.7541, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1655, d4.loss_map_pts: 0.7280, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1614, d5.loss_map_pts: 0.7213, d5.loss_map_dir: 0.0097, loss: 27.5938, grad_norm: 146.7756 +2026-02-27 20:45:35,533 - DriveTransformer - INFO - Epoch [8][10400/39528] lr: 8.063e-05, eta: 5 days, 14:30:50, time: 0.756, data_time: 0.039, memory: 19865, loss_cls: 0.1551, loss_bbox: 0.3667, loss_traj: 0.5802, loss_traj_cls: 0.0013, loss_map_cls: 0.1653, loss_map_pts: 0.7201, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 3.0222, d0.loss_plan_l1_fix_dist: 0.4278, d1.loss_plan_l1_fix_time: 1.0168, d1.loss_plan_l1_fix_dist: 0.2222, d2.loss_plan_l1_fix_time: 1.0038, d2.loss_plan_l1_fix_dist: 0.2603, d3.loss_plan_l1_fix_time: 1.0131, d3.loss_plan_l1_fix_dist: 0.2743, d4.loss_plan_l1_fix_time: 1.0169, d4.loss_plan_l1_fix_dist: 0.2769, d5.loss_plan_l1_fix_time: 1.0207, d5.loss_plan_l1_fix_dist: 0.2740, d6.loss_plan_l1_fix_time: 1.0257, d6.loss_plan_l1_fix_dist: 0.2761, d0.loss_cls_all: 0.2058, d0.loss_bbox_all: 0.4331, d0.loss_cls: 0.2058, d0.loss_bbox: 0.4331, d1.loss_cls: 0.1979, d1.loss_bbox: 0.3995, d2.loss_cls: 0.1800, d2.loss_bbox: 0.3801, d3.loss_cls: 0.1648, d3.loss_bbox: 0.3712, d4.loss_cls: 0.1567, d4.loss_bbox: 0.3696, d5.loss_cls: 0.1561, d5.loss_bbox: 0.3671, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7861, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6412, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6042, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5887, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5826, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5785, d0.loss_map_cls_all: 0.2318, d0.loss_map_pts_all: 1.3814, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2318, d0.loss_map_pts: 1.3814, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2075, d1.loss_map_pts: 0.9789, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1900, d2.loss_map_pts: 0.7989, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1788, d3.loss_map_pts: 0.7401, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1717, d4.loss_map_pts: 0.7237, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1666, d5.loss_map_pts: 0.7194, d5.loss_map_dir: 0.0108, loss: 29.1129, grad_norm: 146.5399 +2026-02-27 20:46:11,832 - DriveTransformer - INFO - Epoch [8][10450/39528] lr: 8.063e-05, eta: 5 days, 14:30:10, time: 0.726, data_time: 0.035, memory: 19865, loss_cls: 0.1111, loss_bbox: 0.3222, loss_traj: 0.6539, loss_traj_cls: 0.0013, loss_map_cls: 0.1404, loss_map_pts: 0.5705, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 3.0458, d0.loss_plan_l1_fix_dist: 0.5225, d1.loss_plan_l1_fix_time: 0.9441, d1.loss_plan_l1_fix_dist: 0.2377, d2.loss_plan_l1_fix_time: 0.9269, d2.loss_plan_l1_fix_dist: 0.2355, d3.loss_plan_l1_fix_time: 0.9263, d3.loss_plan_l1_fix_dist: 0.2696, d4.loss_plan_l1_fix_time: 0.9283, d4.loss_plan_l1_fix_dist: 0.2760, d5.loss_plan_l1_fix_time: 0.9317, d5.loss_plan_l1_fix_dist: 0.2907, d6.loss_plan_l1_fix_time: 0.9365, d6.loss_plan_l1_fix_dist: 0.2825, d0.loss_cls_all: 0.1432, d0.loss_bbox_all: 0.3830, d0.loss_cls: 0.1432, d0.loss_bbox: 0.3830, d1.loss_cls: 0.1406, d1.loss_bbox: 0.3476, d2.loss_cls: 0.1326, d2.loss_bbox: 0.3296, d3.loss_cls: 0.1188, d3.loss_bbox: 0.3252, d4.loss_cls: 0.1125, d4.loss_bbox: 0.3239, d5.loss_cls: 0.1105, d5.loss_bbox: 0.3229, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8780, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7085, d2.loss_traj_cls: 0.0013, d2.loss_traj: 0.6615, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6537, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6519, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.6540, d0.loss_map_cls_all: 0.1981, d0.loss_map_pts_all: 1.1707, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1981, d0.loss_map_pts: 1.1707, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1756, d1.loss_map_pts: 0.8385, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1656, d2.loss_map_pts: 0.6679, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1528, d3.loss_map_pts: 0.6033, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1471, d4.loss_map_pts: 0.5765, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1418, d5.loss_map_pts: 0.5708, d5.loss_map_dir: 0.0069, loss: 26.9148, grad_norm: 145.7895 +2026-02-27 20:46:48,013 - DriveTransformer - INFO - Epoch [8][10500/39528] lr: 8.063e-05, eta: 5 days, 14:29:27, time: 0.724, data_time: 0.035, memory: 19865, loss_cls: 0.1476, loss_bbox: 0.3359, loss_traj: 0.6307, loss_traj_cls: 0.0013, loss_map_cls: 0.1535, loss_map_pts: 0.6129, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 3.0970, d0.loss_plan_l1_fix_dist: 0.4763, d1.loss_plan_l1_fix_time: 0.9191, d1.loss_plan_l1_fix_dist: 0.2442, d2.loss_plan_l1_fix_time: 0.9089, d2.loss_plan_l1_fix_dist: 0.2293, d3.loss_plan_l1_fix_time: 0.9163, d3.loss_plan_l1_fix_dist: 0.2443, d4.loss_plan_l1_fix_time: 0.9206, d4.loss_plan_l1_fix_dist: 0.2440, d5.loss_plan_l1_fix_time: 0.9243, d5.loss_plan_l1_fix_dist: 0.2687, d6.loss_plan_l1_fix_time: 0.9291, d6.loss_plan_l1_fix_dist: 0.2777, d0.loss_cls_all: 0.1812, d0.loss_bbox_all: 0.3967, d0.loss_cls: 0.1812, d0.loss_bbox: 0.3967, d1.loss_cls: 0.1788, d1.loss_bbox: 0.3623, d2.loss_cls: 0.1699, d2.loss_bbox: 0.3424, d3.loss_cls: 0.1529, d3.loss_bbox: 0.3394, d4.loss_cls: 0.1479, d4.loss_bbox: 0.3379, d5.loss_cls: 0.1470, d5.loss_bbox: 0.3360, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8457, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6888, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6417, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6333, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6346, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.6309, d0.loss_map_cls_all: 0.2286, d0.loss_map_pts_all: 1.2099, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2286, d0.loss_map_pts: 1.2099, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.2000, d1.loss_map_pts: 0.8835, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1799, d2.loss_map_pts: 0.7154, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1626, d3.loss_map_pts: 0.6482, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1591, d4.loss_map_pts: 0.6254, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1559, d5.loss_map_pts: 0.6133, d5.loss_map_dir: 0.0076, loss: 27.5110, grad_norm: 152.2520 +2026-02-27 20:47:25,309 - DriveTransformer - INFO - Epoch [8][10550/39528] lr: 8.063e-05, eta: 5 days, 14:29:00, time: 0.746, data_time: 0.036, memory: 19865, loss_cls: 0.1577, loss_bbox: 0.3473, loss_traj: 0.4952, loss_traj_cls: 0.0013, loss_map_cls: 0.1559, loss_map_pts: 0.6981, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.6145, d0.loss_plan_l1_fix_dist: 0.5106, d1.loss_plan_l1_fix_time: 0.8979, d1.loss_plan_l1_fix_dist: 0.2515, d2.loss_plan_l1_fix_time: 0.8884, d2.loss_plan_l1_fix_dist: 0.2610, d3.loss_plan_l1_fix_time: 0.8828, d3.loss_plan_l1_fix_dist: 0.2349, d4.loss_plan_l1_fix_time: 0.8863, d4.loss_plan_l1_fix_dist: 0.2349, d5.loss_plan_l1_fix_time: 0.8897, d5.loss_plan_l1_fix_dist: 0.2469, d6.loss_plan_l1_fix_time: 0.8935, d6.loss_plan_l1_fix_dist: 0.2537, d0.loss_cls_all: 0.1953, d0.loss_bbox_all: 0.4113, d0.loss_cls: 0.1953, d0.loss_bbox: 0.4113, d1.loss_cls: 0.1879, d1.loss_bbox: 0.3798, d2.loss_cls: 0.1746, d2.loss_bbox: 0.3617, d3.loss_cls: 0.1602, d3.loss_bbox: 0.3538, d4.loss_cls: 0.1552, d4.loss_bbox: 0.3519, d5.loss_cls: 0.1560, d5.loss_bbox: 0.3492, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6827, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5681, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5135, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.4972, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4962, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.4946, d0.loss_map_cls_all: 0.2301, d0.loss_map_pts_all: 1.4001, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2301, d0.loss_map_pts: 1.4001, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1986, d1.loss_map_pts: 0.9733, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1788, d2.loss_map_pts: 0.8048, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1712, d3.loss_map_pts: 0.7381, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1619, d4.loss_map_pts: 0.7074, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1572, d5.loss_map_pts: 0.6998, d5.loss_map_dir: 0.0096, loss: 27.0303, grad_norm: 152.0334 +2026-02-27 20:48:03,886 - DriveTransformer - INFO - Epoch [8][10600/39528] lr: 8.063e-05, eta: 5 days, 14:28:51, time: 0.773, data_time: 0.039, memory: 19865, loss_cls: 0.1232, loss_bbox: 0.3042, loss_traj: 0.5860, loss_traj_cls: 0.0014, loss_map_cls: 0.1226, loss_map_pts: 0.6552, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.5485, d0.loss_plan_l1_fix_dist: 0.3910, d1.loss_plan_l1_fix_time: 0.8687, d1.loss_plan_l1_fix_dist: 0.2139, d2.loss_plan_l1_fix_time: 0.8595, d2.loss_plan_l1_fix_dist: 0.2540, d3.loss_plan_l1_fix_time: 0.8612, d3.loss_plan_l1_fix_dist: 0.2183, d4.loss_plan_l1_fix_time: 0.8645, d4.loss_plan_l1_fix_dist: 0.2164, d5.loss_plan_l1_fix_time: 0.8677, d5.loss_plan_l1_fix_dist: 0.2170, d6.loss_plan_l1_fix_time: 0.8715, d6.loss_plan_l1_fix_dist: 0.2236, d0.loss_cls_all: 0.1545, d0.loss_bbox_all: 0.3686, d0.loss_cls: 0.1545, d0.loss_bbox: 0.3686, d1.loss_cls: 0.1493, d1.loss_bbox: 0.3347, d2.loss_cls: 0.1398, d2.loss_bbox: 0.3162, d3.loss_cls: 0.1272, d3.loss_bbox: 0.3090, d4.loss_cls: 0.1240, d4.loss_bbox: 0.3064, d5.loss_cls: 0.1225, d5.loss_bbox: 0.3048, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7478, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6495, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5976, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5958, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5885, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.5892, d0.loss_map_cls_all: 0.1916, d0.loss_map_pts_all: 1.3267, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.1916, d0.loss_map_pts: 1.3267, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1582, d1.loss_map_pts: 0.9110, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1417, d2.loss_map_pts: 0.7545, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1306, d3.loss_map_pts: 0.6910, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1248, d4.loss_map_pts: 0.6619, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1243, d5.loss_map_pts: 0.6554, d5.loss_map_dir: 0.0093, loss: 25.7856, grad_norm: 152.0953 +2026-02-27 20:48:39,773 - DriveTransformer - INFO - Epoch [8][10650/39528] lr: 8.063e-05, eta: 5 days, 14:28:04, time: 0.716, data_time: 0.037, memory: 19865, loss_cls: 0.1172, loss_bbox: 0.3098, loss_traj: 0.5749, loss_traj_cls: 0.0014, loss_map_cls: 0.1343, loss_map_pts: 0.5214, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.3045, d0.loss_plan_l1_fix_dist: 0.4606, d1.loss_plan_l1_fix_time: 0.8408, d1.loss_plan_l1_fix_dist: 0.2231, d2.loss_plan_l1_fix_time: 0.8339, d2.loss_plan_l1_fix_dist: 0.2820, d3.loss_plan_l1_fix_time: 0.8351, d3.loss_plan_l1_fix_dist: 0.2533, d4.loss_plan_l1_fix_time: 0.8378, d4.loss_plan_l1_fix_dist: 0.2543, d5.loss_plan_l1_fix_time: 0.8409, d5.loss_plan_l1_fix_dist: 0.2481, d6.loss_plan_l1_fix_time: 0.8446, d6.loss_plan_l1_fix_dist: 0.2444, d0.loss_cls_all: 0.1588, d0.loss_bbox_all: 0.3729, d0.loss_cls: 0.1588, d0.loss_bbox: 0.3729, d1.loss_cls: 0.1540, d1.loss_bbox: 0.3381, d2.loss_cls: 0.1368, d2.loss_bbox: 0.3200, d3.loss_cls: 0.1240, d3.loss_bbox: 0.3130, d4.loss_cls: 0.1184, d4.loss_bbox: 0.3106, d5.loss_cls: 0.1167, d5.loss_bbox: 0.3095, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7500, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6348, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5862, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5757, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5778, d5.loss_traj_cls: 0.0021, d5.loss_traj: 0.5755, d0.loss_map_cls_all: 0.2092, d0.loss_map_pts_all: 1.0707, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2092, d0.loss_map_pts: 1.0707, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1782, d1.loss_map_pts: 0.7467, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1626, d2.loss_map_pts: 0.6009, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1488, d3.loss_map_pts: 0.5483, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1413, d4.loss_map_pts: 0.5316, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1372, d5.loss_map_pts: 0.5216, d5.loss_map_dir: 0.0064, loss: 24.3022, grad_norm: 149.8733 +2026-02-27 20:49:15,258 - DriveTransformer - INFO - Epoch [8][10700/39528] lr: 8.063e-05, eta: 5 days, 14:27:12, time: 0.710, data_time: 0.035, memory: 19865, loss_cls: 0.1472, loss_bbox: 0.3456, loss_traj: 0.5526, loss_traj_cls: 0.0013, loss_map_cls: 0.1539, loss_map_pts: 0.6837, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.5328, d0.loss_plan_l1_fix_dist: 0.3279, d1.loss_plan_l1_fix_time: 0.9856, d1.loss_plan_l1_fix_dist: 0.2019, d2.loss_plan_l1_fix_time: 0.9725, d2.loss_plan_l1_fix_dist: 0.2627, d3.loss_plan_l1_fix_time: 0.9728, d3.loss_plan_l1_fix_dist: 0.2293, d4.loss_plan_l1_fix_time: 0.9758, d4.loss_plan_l1_fix_dist: 0.2294, d5.loss_plan_l1_fix_time: 0.9795, d5.loss_plan_l1_fix_dist: 0.2299, d6.loss_plan_l1_fix_time: 0.9838, d6.loss_plan_l1_fix_dist: 0.2369, d0.loss_cls_all: 0.1899, d0.loss_bbox_all: 0.4112, d0.loss_cls: 0.1899, d0.loss_bbox: 0.4112, d1.loss_cls: 0.1816, d1.loss_bbox: 0.3777, d2.loss_cls: 0.1694, d2.loss_bbox: 0.3561, d3.loss_cls: 0.1523, d3.loss_bbox: 0.3498, d4.loss_cls: 0.1478, d4.loss_bbox: 0.3475, d5.loss_cls: 0.1478, d5.loss_bbox: 0.3459, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7671, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6251, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5783, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5668, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5608, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.5549, d0.loss_map_cls_all: 0.2378, d0.loss_map_pts_all: 1.3488, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2378, d0.loss_map_pts: 1.3488, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2056, d1.loss_map_pts: 0.9678, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1827, d2.loss_map_pts: 0.7903, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1681, d3.loss_map_pts: 0.7133, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1611, d4.loss_map_pts: 0.6866, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1561, d5.loss_map_pts: 0.6838, d5.loss_map_dir: 0.0088, loss: 27.4007, grad_norm: 150.2283 +2026-02-27 20:49:52,536 - DriveTransformer - INFO - Epoch [8][10750/39528] lr: 8.063e-05, eta: 5 days, 14:26:45, time: 0.746, data_time: 0.042, memory: 19865, loss_cls: 0.1179, loss_bbox: 0.3098, loss_traj: 0.5739, loss_traj_cls: 0.0013, loss_map_cls: 0.1556, loss_map_pts: 0.6791, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.5746, d0.loss_plan_l1_fix_dist: 0.4574, d1.loss_plan_l1_fix_time: 1.0071, d1.loss_plan_l1_fix_dist: 0.2257, d2.loss_plan_l1_fix_time: 0.9985, d2.loss_plan_l1_fix_dist: 0.2685, d3.loss_plan_l1_fix_time: 1.0003, d3.loss_plan_l1_fix_dist: 0.2440, d4.loss_plan_l1_fix_time: 1.0048, d4.loss_plan_l1_fix_dist: 0.2501, d5.loss_plan_l1_fix_time: 1.0099, d5.loss_plan_l1_fix_dist: 0.2630, d6.loss_plan_l1_fix_time: 1.0158, d6.loss_plan_l1_fix_dist: 0.2776, d0.loss_cls_all: 0.1577, d0.loss_bbox_all: 0.3663, d0.loss_cls: 0.1577, d0.loss_bbox: 0.3663, d1.loss_cls: 0.1515, d1.loss_bbox: 0.3356, d2.loss_cls: 0.1376, d2.loss_bbox: 0.3192, d3.loss_cls: 0.1258, d3.loss_bbox: 0.3122, d4.loss_cls: 0.1197, d4.loss_bbox: 0.3098, d5.loss_cls: 0.1185, d5.loss_bbox: 0.3091, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7909, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6299, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5796, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5751, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5755, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.5750, d0.loss_map_cls_all: 0.2212, d0.loss_map_pts_all: 1.3332, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2212, d0.loss_map_pts: 1.3332, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1962, d1.loss_map_pts: 0.9267, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1750, d2.loss_map_pts: 0.7728, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1655, d3.loss_map_pts: 0.7131, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1597, d4.loss_map_pts: 0.6895, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1565, d5.loss_map_pts: 0.6788, d5.loss_map_dir: 0.0077, loss: 27.2578, grad_norm: 150.8500 +2026-02-27 20:50:30,149 - DriveTransformer - INFO - Epoch [8][10800/39528] lr: 8.063e-05, eta: 5 days, 14:26:21, time: 0.752, data_time: 0.038, memory: 19865, loss_cls: 0.1335, loss_bbox: 0.3516, loss_traj: 0.5645, loss_traj_cls: 0.0013, loss_map_cls: 0.1405, loss_map_pts: 0.6735, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.6427, d0.loss_plan_l1_fix_dist: 0.4250, d1.loss_plan_l1_fix_time: 1.0569, d1.loss_plan_l1_fix_dist: 0.2547, d2.loss_plan_l1_fix_time: 1.0431, d2.loss_plan_l1_fix_dist: 0.2532, d3.loss_plan_l1_fix_time: 1.0382, d3.loss_plan_l1_fix_dist: 0.2374, d4.loss_plan_l1_fix_time: 1.0399, d4.loss_plan_l1_fix_dist: 0.2390, d5.loss_plan_l1_fix_time: 1.0425, d5.loss_plan_l1_fix_dist: 0.2475, d6.loss_plan_l1_fix_time: 1.0457, d6.loss_plan_l1_fix_dist: 0.2641, d0.loss_cls_all: 0.1785, d0.loss_bbox_all: 0.4176, d0.loss_cls: 0.1785, d0.loss_bbox: 0.4176, d1.loss_cls: 0.1682, d1.loss_bbox: 0.3820, d2.loss_cls: 0.1540, d2.loss_bbox: 0.3610, d3.loss_cls: 0.1404, d3.loss_bbox: 0.3520, d4.loss_cls: 0.1362, d4.loss_bbox: 0.3506, d5.loss_cls: 0.1332, d5.loss_bbox: 0.3512, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7427, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6277, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5761, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5706, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5680, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5658, d0.loss_map_cls_all: 0.2170, d0.loss_map_pts_all: 1.4192, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2170, d0.loss_map_pts: 1.4192, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1828, d1.loss_map_pts: 0.9655, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1614, d2.loss_map_pts: 0.7810, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1515, d3.loss_map_pts: 0.7127, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1459, d4.loss_map_pts: 0.6869, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1421, d5.loss_map_pts: 0.6744, d5.loss_map_dir: 0.0093, loss: 28.0230, grad_norm: 146.5901 +2026-02-27 20:51:05,856 - DriveTransformer - INFO - Epoch [8][10850/39528] lr: 8.063e-05, eta: 5 days, 14:25:33, time: 0.714, data_time: 0.038, memory: 19865, loss_cls: 0.1526, loss_bbox: 0.3395, loss_traj: 0.6752, loss_traj_cls: 0.0013, loss_map_cls: 0.1186, loss_map_pts: 0.5711, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 3.0325, d0.loss_plan_l1_fix_dist: 0.4743, d1.loss_plan_l1_fix_time: 1.0276, d1.loss_plan_l1_fix_dist: 0.3127, d2.loss_plan_l1_fix_time: 1.0118, d2.loss_plan_l1_fix_dist: 0.2632, d3.loss_plan_l1_fix_time: 1.0094, d3.loss_plan_l1_fix_dist: 0.2446, d4.loss_plan_l1_fix_time: 1.0115, d4.loss_plan_l1_fix_dist: 0.2585, d5.loss_plan_l1_fix_time: 1.0142, d5.loss_plan_l1_fix_dist: 0.2689, d6.loss_plan_l1_fix_time: 1.0176, d6.loss_plan_l1_fix_dist: 0.2918, d0.loss_cls_all: 0.1903, d0.loss_bbox_all: 0.4084, d0.loss_cls: 0.1903, d0.loss_bbox: 0.4084, d1.loss_cls: 0.1770, d1.loss_bbox: 0.3759, d2.loss_cls: 0.1647, d2.loss_bbox: 0.3569, d3.loss_cls: 0.1555, d3.loss_bbox: 0.3482, d4.loss_cls: 0.1519, d4.loss_bbox: 0.3427, d5.loss_cls: 0.1503, d5.loss_bbox: 0.3424, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9015, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7424, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6881, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6886, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6754, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.6733, d0.loss_map_cls_all: 0.1942, d0.loss_map_pts_all: 1.1378, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1942, d0.loss_map_pts: 1.1378, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1658, d1.loss_map_pts: 0.7989, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1413, d2.loss_map_pts: 0.6535, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1314, d3.loss_map_pts: 0.5950, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1256, d4.loss_map_pts: 0.5753, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1190, d5.loss_map_pts: 0.5710, d5.loss_map_dir: 0.0066, loss: 27.8278, grad_norm: 146.8803 +2026-02-27 20:51:41,965 - DriveTransformer - INFO - Epoch [8][10900/39528] lr: 8.063e-05, eta: 5 days, 14:24:50, time: 0.722, data_time: 0.038, memory: 19865, loss_cls: 0.1529, loss_bbox: 0.3545, loss_traj: 0.5616, loss_traj_cls: 0.0013, loss_map_cls: 0.1447, loss_map_pts: 0.6627, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.5917, d0.loss_plan_l1_fix_dist: 0.4428, d1.loss_plan_l1_fix_time: 1.0471, d1.loss_plan_l1_fix_dist: 0.3479, d2.loss_plan_l1_fix_time: 1.0275, d2.loss_plan_l1_fix_dist: 0.2655, d3.loss_plan_l1_fix_time: 1.0236, d3.loss_plan_l1_fix_dist: 0.2391, d4.loss_plan_l1_fix_time: 1.0270, d4.loss_plan_l1_fix_dist: 0.2643, d5.loss_plan_l1_fix_time: 1.0315, d5.loss_plan_l1_fix_dist: 0.2685, d6.loss_plan_l1_fix_time: 1.0374, d6.loss_plan_l1_fix_dist: 0.2734, d0.loss_cls_all: 0.2021, d0.loss_bbox_all: 0.4110, d0.loss_cls: 0.2021, d0.loss_bbox: 0.4110, d1.loss_cls: 0.1965, d1.loss_bbox: 0.3786, d2.loss_cls: 0.1810, d2.loss_bbox: 0.3625, d3.loss_cls: 0.1601, d3.loss_bbox: 0.3596, d4.loss_cls: 0.1550, d4.loss_bbox: 0.3549, d5.loss_cls: 0.1524, d5.loss_bbox: 0.3552, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7783, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6124, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5778, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5696, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5678, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5633, d0.loss_map_cls_all: 0.2249, d0.loss_map_pts_all: 1.2762, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2249, d0.loss_map_pts: 1.2762, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.1916, d1.loss_map_pts: 0.9229, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1707, d2.loss_map_pts: 0.7566, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1582, d3.loss_map_pts: 0.6896, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1504, d4.loss_map_pts: 0.6663, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1459, d5.loss_map_pts: 0.6630, d5.loss_map_dir: 0.0099, loss: 27.9180, grad_norm: 147.6656 +2026-02-27 20:52:18,633 - DriveTransformer - INFO - Epoch [8][10950/39528] lr: 8.063e-05, eta: 5 days, 14:24:14, time: 0.733, data_time: 0.039, memory: 19865, loss_cls: 0.1394, loss_bbox: 0.3255, loss_traj: 0.6123, loss_traj_cls: 0.0013, loss_map_cls: 0.1494, loss_map_pts: 0.6290, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.4309, d0.loss_plan_l1_fix_dist: 0.4563, d1.loss_plan_l1_fix_time: 0.9242, d1.loss_plan_l1_fix_dist: 0.3730, d2.loss_plan_l1_fix_time: 0.9012, d2.loss_plan_l1_fix_dist: 0.2767, d3.loss_plan_l1_fix_time: 0.8975, d3.loss_plan_l1_fix_dist: 0.2503, d4.loss_plan_l1_fix_time: 0.9011, d4.loss_plan_l1_fix_dist: 0.2823, d5.loss_plan_l1_fix_time: 0.9056, d5.loss_plan_l1_fix_dist: 0.2803, d6.loss_plan_l1_fix_time: 0.9111, d6.loss_plan_l1_fix_dist: 0.3132, d0.loss_cls_all: 0.1838, d0.loss_bbox_all: 0.3866, d0.loss_cls: 0.1838, d0.loss_bbox: 0.3866, d1.loss_cls: 0.1763, d1.loss_bbox: 0.3547, d2.loss_cls: 0.1639, d2.loss_bbox: 0.3354, d3.loss_cls: 0.1496, d3.loss_bbox: 0.3277, d4.loss_cls: 0.1431, d4.loss_bbox: 0.3251, d5.loss_cls: 0.1406, d5.loss_bbox: 0.3251, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8206, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6820, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6289, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6220, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6097, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.6124, d0.loss_map_cls_all: 0.2251, d0.loss_map_pts_all: 1.2252, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2251, d0.loss_map_pts: 1.2252, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1976, d1.loss_map_pts: 0.8519, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1738, d2.loss_map_pts: 0.7083, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1615, d3.loss_map_pts: 0.6559, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1558, d4.loss_map_pts: 0.6357, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1520, d5.loss_map_pts: 0.6303, d5.loss_map_dir: 0.0086, loss: 26.8155, grad_norm: 147.8324 +2026-02-27 20:52:54,526 - DriveTransformer - INFO - Epoch [8][11000/39528] lr: 8.063e-05, eta: 5 days, 14:23:28, time: 0.718, data_time: 0.039, memory: 19865, loss_cls: 0.1432, loss_bbox: 0.3400, loss_traj: 0.6322, loss_traj_cls: 0.0013, loss_map_cls: 0.1521, loss_map_pts: 0.5996, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.4030, d0.loss_plan_l1_fix_dist: 0.4955, d1.loss_plan_l1_fix_time: 0.9490, d1.loss_plan_l1_fix_dist: 0.3442, d2.loss_plan_l1_fix_time: 0.9259, d2.loss_plan_l1_fix_dist: 0.2442, d3.loss_plan_l1_fix_time: 0.9264, d3.loss_plan_l1_fix_dist: 0.2163, d4.loss_plan_l1_fix_time: 0.9288, d4.loss_plan_l1_fix_dist: 0.2241, d5.loss_plan_l1_fix_time: 0.9312, d5.loss_plan_l1_fix_dist: 0.2194, d6.loss_plan_l1_fix_time: 0.9339, d6.loss_plan_l1_fix_dist: 0.2684, d0.loss_cls_all: 0.1810, d0.loss_bbox_all: 0.4102, d0.loss_cls: 0.1810, d0.loss_bbox: 0.4102, d1.loss_cls: 0.1733, d1.loss_bbox: 0.3720, d2.loss_cls: 0.1620, d2.loss_bbox: 0.3550, d3.loss_cls: 0.1498, d3.loss_bbox: 0.3464, d4.loss_cls: 0.1430, d4.loss_bbox: 0.3443, d5.loss_cls: 0.1415, d5.loss_bbox: 0.3422, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8436, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6995, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6558, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6547, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6303, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6257, d0.loss_map_cls_all: 0.2362, d0.loss_map_pts_all: 1.1889, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2362, d0.loss_map_pts: 1.1889, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.2067, d1.loss_map_pts: 0.8457, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1796, d2.loss_map_pts: 0.6994, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1652, d3.loss_map_pts: 0.6313, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1594, d4.loss_map_pts: 0.6065, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1543, d5.loss_map_pts: 0.6003, d5.loss_map_dir: 0.0070, loss: 26.8600, grad_norm: 148.5518 +2026-02-27 20:53:31,803 - DriveTransformer - INFO - Epoch [8][11050/39528] lr: 8.063e-05, eta: 5 days, 14:23:01, time: 0.746, data_time: 0.038, memory: 19865, loss_cls: 0.1216, loss_bbox: 0.3320, loss_traj: 0.6276, loss_traj_cls: 0.0013, loss_map_cls: 0.1192, loss_map_pts: 0.6430, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.3822, d0.loss_plan_l1_fix_dist: 0.3728, d1.loss_plan_l1_fix_time: 0.9151, d1.loss_plan_l1_fix_dist: 0.3335, d2.loss_plan_l1_fix_time: 0.9036, d2.loss_plan_l1_fix_dist: 0.2270, d3.loss_plan_l1_fix_time: 0.9044, d3.loss_plan_l1_fix_dist: 0.2206, d4.loss_plan_l1_fix_time: 0.9083, d4.loss_plan_l1_fix_dist: 0.2236, d5.loss_plan_l1_fix_time: 0.9117, d5.loss_plan_l1_fix_dist: 0.2386, d6.loss_plan_l1_fix_time: 0.9152, d6.loss_plan_l1_fix_dist: 0.2837, d0.loss_cls_all: 0.1632, d0.loss_bbox_all: 0.3940, d0.loss_cls: 0.1632, d0.loss_bbox: 0.3940, d1.loss_cls: 0.1563, d1.loss_bbox: 0.3622, d2.loss_cls: 0.1420, d2.loss_bbox: 0.3447, d3.loss_cls: 0.1248, d3.loss_bbox: 0.3364, d4.loss_cls: 0.1214, d4.loss_bbox: 0.3326, d5.loss_cls: 0.1202, d5.loss_bbox: 0.3321, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8365, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6877, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6397, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6357, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6282, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6294, d0.loss_map_cls_all: 0.2009, d0.loss_map_pts_all: 1.3098, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2009, d0.loss_map_pts: 1.3098, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1671, d1.loss_map_pts: 0.8985, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1454, d2.loss_map_pts: 0.7272, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1349, d3.loss_map_pts: 0.6673, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1266, d4.loss_map_pts: 0.6443, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1207, d5.loss_map_pts: 0.6417, d5.loss_map_dir: 0.0091, loss: 26.5016, grad_norm: 147.7627 +2026-02-27 20:54:06,503 - DriveTransformer - INFO - Epoch [8][11100/39528] lr: 8.063e-05, eta: 5 days, 14:21:59, time: 0.694, data_time: 0.037, memory: 19865, loss_cls: 0.1355, loss_bbox: 0.3398, loss_traj: 0.6446, loss_traj_cls: 0.0013, loss_map_cls: 0.1122, loss_map_pts: 0.5516, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.7699, d0.loss_plan_l1_fix_dist: 0.5034, d1.loss_plan_l1_fix_time: 1.0093, d1.loss_plan_l1_fix_dist: 0.2819, d2.loss_plan_l1_fix_time: 0.9969, d2.loss_plan_l1_fix_dist: 0.2080, d3.loss_plan_l1_fix_time: 0.9892, d3.loss_plan_l1_fix_dist: 0.2101, d4.loss_plan_l1_fix_time: 0.9929, d4.loss_plan_l1_fix_dist: 0.2192, d5.loss_plan_l1_fix_time: 0.9970, d5.loss_plan_l1_fix_dist: 0.2307, d6.loss_plan_l1_fix_time: 1.0008, d6.loss_plan_l1_fix_dist: 0.2688, d0.loss_cls_all: 0.1735, d0.loss_bbox_all: 0.3852, d0.loss_cls: 0.1735, d0.loss_bbox: 0.3852, d1.loss_cls: 0.1652, d1.loss_bbox: 0.3548, d2.loss_cls: 0.1548, d2.loss_bbox: 0.3381, d3.loss_cls: 0.1389, d3.loss_bbox: 0.3384, d4.loss_cls: 0.1366, d4.loss_bbox: 0.3360, d5.loss_cls: 0.1347, d5.loss_bbox: 0.3389, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8624, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7158, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6681, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6573, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6452, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6469, d0.loss_map_cls_all: 0.1789, d0.loss_map_pts_all: 1.0476, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1789, d0.loss_map_pts: 1.0476, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1547, d1.loss_map_pts: 0.7505, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1366, d2.loss_map_pts: 0.6202, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1274, d3.loss_map_pts: 0.5691, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1186, d4.loss_map_pts: 0.5511, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1138, d5.loss_map_pts: 0.5480, d5.loss_map_dir: 0.0065, loss: 26.4129, grad_norm: 150.2112 +2026-02-27 20:54:42,902 - DriveTransformer - INFO - Epoch [8][11150/39528] lr: 8.063e-05, eta: 5 days, 14:21:20, time: 0.728, data_time: 0.037, memory: 19865, loss_cls: 0.1132, loss_bbox: 0.2963, loss_traj: 0.4892, loss_traj_cls: 0.0013, loss_map_cls: 0.1068, loss_map_pts: 0.5631, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.4258, d0.loss_plan_l1_fix_dist: 0.4416, d1.loss_plan_l1_fix_time: 0.8326, d1.loss_plan_l1_fix_dist: 0.2397, d2.loss_plan_l1_fix_time: 0.8117, d2.loss_plan_l1_fix_dist: 0.1851, d3.loss_plan_l1_fix_time: 0.8121, d3.loss_plan_l1_fix_dist: 0.1861, d4.loss_plan_l1_fix_time: 0.8162, d4.loss_plan_l1_fix_dist: 0.1944, d5.loss_plan_l1_fix_time: 0.8213, d5.loss_plan_l1_fix_dist: 0.2049, d6.loss_plan_l1_fix_time: 0.8273, d6.loss_plan_l1_fix_dist: 0.2336, d0.loss_cls_all: 0.1411, d0.loss_bbox_all: 0.3484, d0.loss_cls: 0.1411, d0.loss_bbox: 0.3484, d1.loss_cls: 0.1365, d1.loss_bbox: 0.3191, d2.loss_cls: 0.1265, d2.loss_bbox: 0.3035, d3.loss_cls: 0.1156, d3.loss_bbox: 0.3001, d4.loss_cls: 0.1137, d4.loss_bbox: 0.2979, d5.loss_cls: 0.1142, d5.loss_bbox: 0.2953, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7013, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5519, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5091, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5030, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4942, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.4935, d0.loss_map_cls_all: 0.1781, d0.loss_map_pts_all: 1.1488, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1781, d0.loss_map_pts: 1.1488, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1521, d1.loss_map_pts: 0.7809, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1318, d2.loss_map_pts: 0.6501, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1201, d3.loss_map_pts: 0.5973, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1128, d4.loss_map_pts: 0.5734, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1074, d5.loss_map_pts: 0.5645, d5.loss_map_dir: 0.0070, loss: 23.4631, grad_norm: 146.1725 +2026-02-27 20:55:20,338 - DriveTransformer - INFO - Epoch [8][11200/39528] lr: 8.063e-05, eta: 5 days, 14:20:54, time: 0.749, data_time: 0.037, memory: 19865, loss_cls: 0.1665, loss_bbox: 0.3739, loss_traj: 0.5438, loss_traj_cls: 0.0012, loss_map_cls: 0.1672, loss_map_pts: 0.7523, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.9421, d0.loss_plan_l1_fix_dist: 0.4298, d1.loss_plan_l1_fix_time: 1.0696, d1.loss_plan_l1_fix_dist: 0.2414, d2.loss_plan_l1_fix_time: 1.0505, d2.loss_plan_l1_fix_dist: 0.2016, d3.loss_plan_l1_fix_time: 1.0519, d3.loss_plan_l1_fix_dist: 0.2091, d4.loss_plan_l1_fix_time: 1.0545, d4.loss_plan_l1_fix_dist: 0.2197, d5.loss_plan_l1_fix_time: 1.0580, d5.loss_plan_l1_fix_dist: 0.2334, d6.loss_plan_l1_fix_time: 1.0618, d6.loss_plan_l1_fix_dist: 0.2594, d0.loss_cls_all: 0.2081, d0.loss_bbox_all: 0.4439, d0.loss_cls: 0.2081, d0.loss_bbox: 0.4439, d1.loss_cls: 0.1992, d1.loss_bbox: 0.4061, d2.loss_cls: 0.1857, d2.loss_bbox: 0.3834, d3.loss_cls: 0.1710, d3.loss_bbox: 0.3765, d4.loss_cls: 0.1667, d4.loss_bbox: 0.3755, d5.loss_cls: 0.1668, d5.loss_bbox: 0.3738, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7857, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6089, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5634, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5554, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5502, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5495, d0.loss_map_cls_all: 0.2399, d0.loss_map_pts_all: 1.4364, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2399, d0.loss_map_pts: 1.4364, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2136, d1.loss_map_pts: 1.0316, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1917, d2.loss_map_pts: 0.8503, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1804, d3.loss_map_pts: 0.7866, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1738, d4.loss_map_pts: 0.7614, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1677, d5.loss_map_pts: 0.7540, d5.loss_map_dir: 0.0099, loss: 29.3544, grad_norm: 156.0618 +2026-02-27 20:55:55,953 - DriveTransformer - INFO - Epoch [8][11250/39528] lr: 8.063e-05, eta: 5 days, 14:20:05, time: 0.712, data_time: 0.040, memory: 19865, loss_cls: 0.1328, loss_bbox: 0.3343, loss_traj: 0.6922, loss_traj_cls: 0.0013, loss_map_cls: 0.1348, loss_map_pts: 0.5835, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.7284, d0.loss_plan_l1_fix_dist: 0.5100, d1.loss_plan_l1_fix_time: 1.0508, d1.loss_plan_l1_fix_dist: 0.2335, d2.loss_plan_l1_fix_time: 1.0275, d2.loss_plan_l1_fix_dist: 0.2122, d3.loss_plan_l1_fix_time: 1.0257, d3.loss_plan_l1_fix_dist: 0.2314, d4.loss_plan_l1_fix_time: 1.0283, d4.loss_plan_l1_fix_dist: 0.2341, d5.loss_plan_l1_fix_time: 1.0325, d5.loss_plan_l1_fix_dist: 0.2439, d6.loss_plan_l1_fix_time: 1.0380, d6.loss_plan_l1_fix_dist: 0.2963, d0.loss_cls_all: 0.1650, d0.loss_bbox_all: 0.3855, d0.loss_cls: 0.1650, d0.loss_bbox: 0.3855, d1.loss_cls: 0.1568, d1.loss_bbox: 0.3527, d2.loss_cls: 0.1495, d2.loss_bbox: 0.3377, d3.loss_cls: 0.1369, d3.loss_bbox: 0.3328, d4.loss_cls: 0.1338, d4.loss_bbox: 0.3333, d5.loss_cls: 0.1326, d5.loss_bbox: 0.3339, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9252, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7498, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.7021, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6974, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6946, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6949, d0.loss_map_cls_all: 0.2062, d0.loss_map_pts_all: 1.1720, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2062, d0.loss_map_pts: 1.1720, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1790, d1.loss_map_pts: 0.8384, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1587, d2.loss_map_pts: 0.6753, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1457, d3.loss_map_pts: 0.6164, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1384, d4.loss_map_pts: 0.5948, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1352, d5.loss_map_pts: 0.5854, d5.loss_map_dir: 0.0072, loss: 27.6223, grad_norm: 156.0062 +2026-02-27 20:56:30,383 - DriveTransformer - INFO - Epoch [8][11300/39528] lr: 8.063e-05, eta: 5 days, 14:19:00, time: 0.689, data_time: 0.040, memory: 19865, loss_cls: 0.1278, loss_bbox: 0.3245, loss_traj: 0.6008, loss_traj_cls: 0.0013, loss_map_cls: 0.1493, loss_map_pts: 0.5889, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.6002, d0.loss_plan_l1_fix_dist: 0.5149, d1.loss_plan_l1_fix_time: 0.9444, d1.loss_plan_l1_fix_dist: 0.1945, d2.loss_plan_l1_fix_time: 0.9378, d2.loss_plan_l1_fix_dist: 0.1859, d3.loss_plan_l1_fix_time: 0.9428, d3.loss_plan_l1_fix_dist: 0.2233, d4.loss_plan_l1_fix_time: 0.9463, d4.loss_plan_l1_fix_dist: 0.2105, d5.loss_plan_l1_fix_time: 0.9502, d5.loss_plan_l1_fix_dist: 0.2212, d6.loss_plan_l1_fix_time: 0.9549, d6.loss_plan_l1_fix_dist: 0.2795, d0.loss_cls_all: 0.1669, d0.loss_bbox_all: 0.3786, d0.loss_cls: 0.1669, d0.loss_bbox: 0.3786, d1.loss_cls: 0.1622, d1.loss_bbox: 0.3468, d2.loss_cls: 0.1490, d2.loss_bbox: 0.3309, d3.loss_cls: 0.1330, d3.loss_bbox: 0.3259, d4.loss_cls: 0.1306, d4.loss_bbox: 0.3244, d5.loss_cls: 0.1300, d5.loss_bbox: 0.3228, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8102, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6546, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6136, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6189, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6063, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6039, d0.loss_map_cls_all: 0.2156, d0.loss_map_pts_all: 1.1683, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.2156, d0.loss_map_pts: 1.1683, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1925, d1.loss_map_pts: 0.8206, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1689, d2.loss_map_pts: 0.6664, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1615, d3.loss_map_pts: 0.6119, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1548, d4.loss_map_pts: 0.5936, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1514, d5.loss_map_pts: 0.5885, d5.loss_map_dir: 0.0058, loss: 26.1824, grad_norm: 154.9289 +2026-02-27 20:57:06,723 - DriveTransformer - INFO - Epoch [8][11350/39528] lr: 8.063e-05, eta: 5 days, 14:18:20, time: 0.727, data_time: 0.036, memory: 19865, loss_cls: 0.1347, loss_bbox: 0.3424, loss_traj: 0.6685, loss_traj_cls: 0.0012, loss_map_cls: 0.1378, loss_map_pts: 0.6401, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 3.1605, d0.loss_plan_l1_fix_dist: 0.4889, d1.loss_plan_l1_fix_time: 1.0611, d1.loss_plan_l1_fix_dist: 0.2081, d2.loss_plan_l1_fix_time: 1.0531, d2.loss_plan_l1_fix_dist: 0.1890, d3.loss_plan_l1_fix_time: 1.0550, d3.loss_plan_l1_fix_dist: 0.2474, d4.loss_plan_l1_fix_time: 1.0601, d4.loss_plan_l1_fix_dist: 0.2265, d5.loss_plan_l1_fix_time: 1.0642, d5.loss_plan_l1_fix_dist: 0.2587, d6.loss_plan_l1_fix_time: 1.0692, d6.loss_plan_l1_fix_dist: 0.3065, d0.loss_cls_all: 0.1743, d0.loss_bbox_all: 0.3955, d0.loss_cls: 0.1743, d0.loss_bbox: 0.3955, d1.loss_cls: 0.1675, d1.loss_bbox: 0.3645, d2.loss_cls: 0.1566, d2.loss_bbox: 0.3481, d3.loss_cls: 0.1403, d3.loss_bbox: 0.3444, d4.loss_cls: 0.1367, d4.loss_bbox: 0.3432, d5.loss_cls: 0.1354, d5.loss_bbox: 0.3421, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9435, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7541, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6923, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6802, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6724, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6685, d0.loss_map_cls_all: 0.2067, d0.loss_map_pts_all: 1.2535, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2067, d0.loss_map_pts: 1.2535, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1809, d1.loss_map_pts: 0.8841, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1613, d2.loss_map_pts: 0.7259, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1508, d3.loss_map_pts: 0.6685, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1421, d4.loss_map_pts: 0.6465, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1386, d5.loss_map_pts: 0.6402, d5.loss_map_dir: 0.0082, loss: 28.7293, grad_norm: 153.9344 +2026-02-27 20:57:42,426 - DriveTransformer - INFO - Epoch [8][11400/39528] lr: 8.063e-05, eta: 5 days, 14:17:33, time: 0.715, data_time: 0.038, memory: 19865, loss_cls: 0.1435, loss_bbox: 0.3603, loss_traj: 0.7009, loss_traj_cls: 0.0012, loss_map_cls: 0.1728, loss_map_pts: 0.7516, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.9816, d0.loss_plan_l1_fix_dist: 0.5573, d1.loss_plan_l1_fix_time: 1.1024, d1.loss_plan_l1_fix_dist: 0.2724, d2.loss_plan_l1_fix_time: 1.0844, d2.loss_plan_l1_fix_dist: 0.2357, d3.loss_plan_l1_fix_time: 1.0817, d3.loss_plan_l1_fix_dist: 0.2966, d4.loss_plan_l1_fix_time: 1.0846, d4.loss_plan_l1_fix_dist: 0.2673, d5.loss_plan_l1_fix_time: 1.0869, d5.loss_plan_l1_fix_dist: 0.2855, d6.loss_plan_l1_fix_time: 1.0899, d6.loss_plan_l1_fix_dist: 0.2978, d0.loss_cls_all: 0.1847, d0.loss_bbox_all: 0.4186, d0.loss_cls: 0.1847, d0.loss_bbox: 0.4186, d1.loss_cls: 0.1784, d1.loss_bbox: 0.3831, d2.loss_cls: 0.1643, d2.loss_bbox: 0.3648, d3.loss_cls: 0.1483, d3.loss_bbox: 0.3614, d4.loss_cls: 0.1437, d4.loss_bbox: 0.3602, d5.loss_cls: 0.1433, d5.loss_bbox: 0.3602, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9608, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7749, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.7149, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7104, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6971, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6999, d0.loss_map_cls_all: 0.2435, d0.loss_map_pts_all: 1.3903, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2435, d0.loss_map_pts: 1.3903, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.2169, d1.loss_map_pts: 1.0059, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1961, d2.loss_map_pts: 0.8533, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1843, d3.loss_map_pts: 0.7869, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1779, d4.loss_map_pts: 0.7581, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1750, d5.loss_map_pts: 0.7517, d5.loss_map_dir: 0.0081, loss: 30.6694, grad_norm: 154.9784 +2026-02-27 20:58:18,731 - DriveTransformer - INFO - Epoch [8][11450/39528] lr: 8.063e-05, eta: 5 days, 14:16:52, time: 0.725, data_time: 0.036, memory: 19865, loss_cls: 0.1421, loss_bbox: 0.3606, loss_traj: 0.6532, loss_traj_cls: 0.0013, loss_map_cls: 0.1393, loss_map_pts: 0.6371, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.8640, d0.loss_plan_l1_fix_dist: 0.4197, d1.loss_plan_l1_fix_time: 0.8871, d1.loss_plan_l1_fix_dist: 0.2717, d2.loss_plan_l1_fix_time: 0.8670, d2.loss_plan_l1_fix_dist: 0.2411, d3.loss_plan_l1_fix_time: 0.8667, d3.loss_plan_l1_fix_dist: 0.2700, d4.loss_plan_l1_fix_time: 0.8684, d4.loss_plan_l1_fix_dist: 0.2444, d5.loss_plan_l1_fix_time: 0.8718, d5.loss_plan_l1_fix_dist: 0.2506, d6.loss_plan_l1_fix_time: 0.8762, d6.loss_plan_l1_fix_dist: 0.2577, d0.loss_cls_all: 0.1909, d0.loss_bbox_all: 0.4251, d0.loss_cls: 0.1909, d0.loss_bbox: 0.4251, d1.loss_cls: 0.1774, d1.loss_bbox: 0.3886, d2.loss_cls: 0.1678, d2.loss_bbox: 0.3687, d3.loss_cls: 0.1509, d3.loss_bbox: 0.3629, d4.loss_cls: 0.1431, d4.loss_bbox: 0.3624, d5.loss_cls: 0.1428, d5.loss_bbox: 0.3599, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9948, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7385, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6711, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6578, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6537, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6519, d0.loss_map_cls_all: 0.2123, d0.loss_map_pts_all: 1.2200, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2123, d0.loss_map_pts: 1.2200, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1850, d1.loss_map_pts: 0.8897, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1640, d2.loss_map_pts: 0.7390, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1501, d3.loss_map_pts: 0.6638, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1453, d4.loss_map_pts: 0.6422, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1415, d5.loss_map_pts: 0.6336, d5.loss_map_dir: 0.0077, loss: 27.4989, grad_norm: 153.3795 +2026-02-27 20:58:55,464 - DriveTransformer - INFO - Epoch [8][11500/39528] lr: 8.063e-05, eta: 5 days, 14:16:17, time: 0.735, data_time: 0.036, memory: 19865, loss_cls: 0.1504, loss_bbox: 0.3539, loss_traj: 0.5583, loss_traj_cls: 0.0013, loss_map_cls: 0.1467, loss_map_pts: 0.6752, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.6741, d0.loss_plan_l1_fix_dist: 0.4528, d1.loss_plan_l1_fix_time: 1.0845, d1.loss_plan_l1_fix_dist: 0.2660, d2.loss_plan_l1_fix_time: 1.0760, d2.loss_plan_l1_fix_dist: 0.2658, d3.loss_plan_l1_fix_time: 1.0749, d3.loss_plan_l1_fix_dist: 0.2574, d4.loss_plan_l1_fix_time: 1.0776, d4.loss_plan_l1_fix_dist: 0.2589, d5.loss_plan_l1_fix_time: 1.0813, d5.loss_plan_l1_fix_dist: 0.2696, d6.loss_plan_l1_fix_time: 1.0858, d6.loss_plan_l1_fix_dist: 0.2761, d0.loss_cls_all: 0.1901, d0.loss_bbox_all: 0.4150, d0.loss_cls: 0.1901, d0.loss_bbox: 0.4150, d1.loss_cls: 0.1789, d1.loss_bbox: 0.3808, d2.loss_cls: 0.1663, d2.loss_bbox: 0.3630, d3.loss_cls: 0.1524, d3.loss_bbox: 0.3581, d4.loss_cls: 0.1503, d4.loss_bbox: 0.3551, d5.loss_cls: 0.1490, d5.loss_bbox: 0.3552, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8494, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6409, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5798, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5630, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5585, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5609, d0.loss_map_cls_all: 0.2226, d0.loss_map_pts_all: 1.3086, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2226, d0.loss_map_pts: 1.3086, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1959, d1.loss_map_pts: 0.9153, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1706, d2.loss_map_pts: 0.7661, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1582, d3.loss_map_pts: 0.7045, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1529, d4.loss_map_pts: 0.6800, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1493, d5.loss_map_pts: 0.6756, d5.loss_map_dir: 0.0079, loss: 28.3575, grad_norm: 152.6756 +2026-02-27 20:59:33,351 - DriveTransformer - INFO - Epoch [8][11550/39528] lr: 8.063e-05, eta: 5 days, 14:15:57, time: 0.758, data_time: 0.038, memory: 19865, loss_cls: 0.1441, loss_bbox: 0.3616, loss_traj: 0.5641, loss_traj_cls: 0.0013, loss_map_cls: 0.1340, loss_map_pts: 0.6459, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.7004, d0.loss_plan_l1_fix_dist: 0.4489, d1.loss_plan_l1_fix_time: 1.0079, d1.loss_plan_l1_fix_dist: 0.2449, d2.loss_plan_l1_fix_time: 0.9864, d2.loss_plan_l1_fix_dist: 0.2495, d3.loss_plan_l1_fix_time: 0.9828, d3.loss_plan_l1_fix_dist: 0.2101, d4.loss_plan_l1_fix_time: 0.9843, d4.loss_plan_l1_fix_dist: 0.2192, d5.loss_plan_l1_fix_time: 0.9865, d5.loss_plan_l1_fix_dist: 0.2476, d6.loss_plan_l1_fix_time: 0.9893, d6.loss_plan_l1_fix_dist: 0.2460, d0.loss_cls_all: 0.1878, d0.loss_bbox_all: 0.4202, d0.loss_cls: 0.1878, d0.loss_bbox: 0.4202, d1.loss_cls: 0.1778, d1.loss_bbox: 0.3913, d2.loss_cls: 0.1651, d2.loss_bbox: 0.3730, d3.loss_cls: 0.1526, d3.loss_bbox: 0.3660, d4.loss_cls: 0.1441, d4.loss_bbox: 0.3650, d5.loss_cls: 0.1438, d5.loss_bbox: 0.3636, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7470, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6331, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5826, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5755, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5659, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5700, d0.loss_map_cls_all: 0.2148, d0.loss_map_pts_all: 1.3147, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2148, d0.loss_map_pts: 1.3147, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.1822, d1.loss_map_pts: 0.8968, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1609, d2.loss_map_pts: 0.7235, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1500, d3.loss_map_pts: 0.6687, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1415, d4.loss_map_pts: 0.6512, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1363, d5.loss_map_pts: 0.6463, d5.loss_map_dir: 0.0098, loss: 27.3869, grad_norm: 152.9930 +2026-02-27 21:00:09,170 - DriveTransformer - INFO - Epoch [8][11600/39528] lr: 8.063e-05, eta: 5 days, 14:15:11, time: 0.716, data_time: 0.039, memory: 19865, loss_cls: 0.1393, loss_bbox: 0.3406, loss_traj: 0.6879, loss_traj_cls: 0.0013, loss_map_cls: 0.1372, loss_map_pts: 0.6074, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.7378, d0.loss_plan_l1_fix_dist: 0.4108, d1.loss_plan_l1_fix_time: 1.0408, d1.loss_plan_l1_fix_dist: 0.2478, d2.loss_plan_l1_fix_time: 1.0324, d2.loss_plan_l1_fix_dist: 0.2575, d3.loss_plan_l1_fix_time: 1.0330, d3.loss_plan_l1_fix_dist: 0.2332, d4.loss_plan_l1_fix_time: 1.0352, d4.loss_plan_l1_fix_dist: 0.2315, d5.loss_plan_l1_fix_time: 1.0374, d5.loss_plan_l1_fix_dist: 0.2767, d6.loss_plan_l1_fix_time: 1.0398, d6.loss_plan_l1_fix_dist: 0.2738, d0.loss_cls_all: 0.1763, d0.loss_bbox_all: 0.4020, d0.loss_cls: 0.1763, d0.loss_bbox: 0.4020, d1.loss_cls: 0.1664, d1.loss_bbox: 0.3673, d2.loss_cls: 0.1549, d2.loss_bbox: 0.3494, d3.loss_cls: 0.1447, d3.loss_bbox: 0.3433, d4.loss_cls: 0.1407, d4.loss_bbox: 0.3405, d5.loss_cls: 0.1388, d5.loss_bbox: 0.3401, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9025, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7444, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.7008, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6894, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6818, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6853, d0.loss_map_cls_all: 0.2169, d0.loss_map_pts_all: 1.2059, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2169, d0.loss_map_pts: 1.2059, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1867, d1.loss_map_pts: 0.8603, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1600, d2.loss_map_pts: 0.6994, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1488, d3.loss_map_pts: 0.6374, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1420, d4.loss_map_pts: 0.6147, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1376, d5.loss_map_pts: 0.6072, d5.loss_map_dir: 0.0072, loss: 27.9526, grad_norm: 148.7828 +2026-02-27 21:00:47,698 - DriveTransformer - INFO - Epoch [8][11650/39528] lr: 8.063e-05, eta: 5 days, 14:14:59, time: 0.771, data_time: 0.040, memory: 19865, loss_cls: 0.1197, loss_bbox: 0.3159, loss_traj: 0.5538, loss_traj_cls: 0.0013, loss_map_cls: 0.1199, loss_map_pts: 0.5757, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.6602, d0.loss_plan_l1_fix_dist: 0.4429, d1.loss_plan_l1_fix_time: 0.8978, d1.loss_plan_l1_fix_dist: 0.2447, d2.loss_plan_l1_fix_time: 0.8835, d2.loss_plan_l1_fix_dist: 0.2274, d3.loss_plan_l1_fix_time: 0.8817, d3.loss_plan_l1_fix_dist: 0.2139, d4.loss_plan_l1_fix_time: 0.8841, d4.loss_plan_l1_fix_dist: 0.2156, d5.loss_plan_l1_fix_time: 0.8876, d5.loss_plan_l1_fix_dist: 0.2461, d6.loss_plan_l1_fix_time: 0.8919, d6.loss_plan_l1_fix_dist: 0.2483, d0.loss_cls_all: 0.1592, d0.loss_bbox_all: 0.3736, d0.loss_cls: 0.1592, d0.loss_bbox: 0.3736, d1.loss_cls: 0.1521, d1.loss_bbox: 0.3408, d2.loss_cls: 0.1413, d2.loss_bbox: 0.3235, d3.loss_cls: 0.1252, d3.loss_bbox: 0.3195, d4.loss_cls: 0.1210, d4.loss_bbox: 0.3171, d5.loss_cls: 0.1197, d5.loss_bbox: 0.3158, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7258, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6030, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5596, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5513, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5501, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5507, d0.loss_map_cls_all: 0.1923, d0.loss_map_pts_all: 1.2557, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1923, d0.loss_map_pts: 1.2557, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1627, d1.loss_map_pts: 0.8454, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1436, d2.loss_map_pts: 0.6744, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1326, d3.loss_map_pts: 0.6051, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1243, d4.loss_map_pts: 0.5809, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1218, d5.loss_map_pts: 0.5739, d5.loss_map_dir: 0.0078, loss: 25.3227, grad_norm: 148.7808 +2026-02-27 21:01:25,595 - DriveTransformer - INFO - Epoch [8][11700/39528] lr: 8.063e-05, eta: 5 days, 14:14:39, time: 0.758, data_time: 0.036, memory: 19865, loss_cls: 0.1473, loss_bbox: 0.3544, loss_traj: 0.5133, loss_traj_cls: 0.0013, loss_map_cls: 0.1525, loss_map_pts: 0.7623, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.5585, d0.loss_plan_l1_fix_dist: 0.3901, d1.loss_plan_l1_fix_time: 1.1166, d1.loss_plan_l1_fix_dist: 0.2693, d2.loss_plan_l1_fix_time: 1.1066, d2.loss_plan_l1_fix_dist: 0.2280, d3.loss_plan_l1_fix_time: 1.1091, d3.loss_plan_l1_fix_dist: 0.2326, d4.loss_plan_l1_fix_time: 1.1136, d4.loss_plan_l1_fix_dist: 0.2482, d5.loss_plan_l1_fix_time: 1.1187, d5.loss_plan_l1_fix_dist: 0.2470, d6.loss_plan_l1_fix_time: 1.1239, d6.loss_plan_l1_fix_dist: 0.2614, d0.loss_cls_all: 0.1912, d0.loss_bbox_all: 0.4166, d0.loss_cls: 0.1912, d0.loss_bbox: 0.4166, d1.loss_cls: 0.1858, d1.loss_bbox: 0.3838, d2.loss_cls: 0.1716, d2.loss_bbox: 0.3659, d3.loss_cls: 0.1557, d3.loss_bbox: 0.3608, d4.loss_cls: 0.1502, d4.loss_bbox: 0.3562, d5.loss_cls: 0.1479, d5.loss_bbox: 0.3548, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6621, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5677, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5217, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5162, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5141, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5121, d0.loss_map_cls_all: 0.2298, d0.loss_map_pts_all: 1.5012, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2298, d0.loss_map_pts: 1.5012, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1954, d1.loss_map_pts: 1.0563, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1750, d2.loss_map_pts: 0.8623, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1635, d3.loss_map_pts: 0.7928, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1572, d4.loss_map_pts: 0.7672, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1534, d5.loss_map_pts: 0.7619, d5.loss_map_dir: 0.0096, loss: 28.8233, grad_norm: 150.0349 +2026-02-27 21:02:02,832 - DriveTransformer - INFO - Epoch [8][11750/39528] lr: 8.063e-05, eta: 5 days, 14:14:11, time: 0.745, data_time: 0.036, memory: 19865, loss_cls: 0.1406, loss_bbox: 0.3460, loss_traj: 0.5715, loss_traj_cls: 0.0013, loss_map_cls: 0.1279, loss_map_pts: 0.6372, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.4597, d0.loss_plan_l1_fix_dist: 0.4113, d1.loss_plan_l1_fix_time: 0.8798, d1.loss_plan_l1_fix_dist: 0.2892, d2.loss_plan_l1_fix_time: 0.8650, d2.loss_plan_l1_fix_dist: 0.2093, d3.loss_plan_l1_fix_time: 0.8635, d3.loss_plan_l1_fix_dist: 0.2125, d4.loss_plan_l1_fix_time: 0.8674, d4.loss_plan_l1_fix_dist: 0.2597, d5.loss_plan_l1_fix_time: 0.8721, d5.loss_plan_l1_fix_dist: 0.2522, d6.loss_plan_l1_fix_time: 0.8773, d6.loss_plan_l1_fix_dist: 0.2591, d0.loss_cls_all: 0.1833, d0.loss_bbox_all: 0.4122, d0.loss_cls: 0.1833, d0.loss_bbox: 0.4122, d1.loss_cls: 0.1771, d1.loss_bbox: 0.3744, d2.loss_cls: 0.1645, d2.loss_bbox: 0.3538, d3.loss_cls: 0.1494, d3.loss_bbox: 0.3472, d4.loss_cls: 0.1443, d4.loss_bbox: 0.3451, d5.loss_cls: 0.1413, d5.loss_bbox: 0.3447, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7724, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6448, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5990, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5791, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5740, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5725, d0.loss_map_cls_all: 0.2028, d0.loss_map_pts_all: 1.2329, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2028, d0.loss_map_pts: 1.2329, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1721, d1.loss_map_pts: 0.8849, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1472, d2.loss_map_pts: 0.7336, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1385, d3.loss_map_pts: 0.6724, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1319, d4.loss_map_pts: 0.6471, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1303, d5.loss_map_pts: 0.6377, d5.loss_map_dir: 0.0087, loss: 26.1177, grad_norm: 151.1085 +2026-02-27 21:02:40,169 - DriveTransformer - INFO - Epoch [8][11800/39528] lr: 8.063e-05, eta: 5 days, 14:13:44, time: 0.747, data_time: 0.038, memory: 19865, loss_cls: 0.1197, loss_bbox: 0.3114, loss_traj: 0.5356, loss_traj_cls: 0.0014, loss_map_cls: 0.1269, loss_map_pts: 0.6206, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.3132, d0.loss_plan_l1_fix_dist: 0.4417, d1.loss_plan_l1_fix_time: 0.9012, d1.loss_plan_l1_fix_dist: 0.2776, d2.loss_plan_l1_fix_time: 0.8867, d2.loss_plan_l1_fix_dist: 0.2066, d3.loss_plan_l1_fix_time: 0.8848, d3.loss_plan_l1_fix_dist: 0.1939, d4.loss_plan_l1_fix_time: 0.8875, d4.loss_plan_l1_fix_dist: 0.2457, d5.loss_plan_l1_fix_time: 0.8915, d5.loss_plan_l1_fix_dist: 0.2411, d6.loss_plan_l1_fix_time: 0.8967, d6.loss_plan_l1_fix_dist: 0.2285, d0.loss_cls_all: 0.1664, d0.loss_bbox_all: 0.3707, d0.loss_cls: 0.1664, d0.loss_bbox: 0.3707, d1.loss_cls: 0.1629, d1.loss_bbox: 0.3375, d2.loss_cls: 0.1394, d2.loss_bbox: 0.3245, d3.loss_cls: 0.1267, d3.loss_bbox: 0.3177, d4.loss_cls: 0.1207, d4.loss_bbox: 0.3142, d5.loss_cls: 0.1202, d5.loss_bbox: 0.3120, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7140, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5843, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5475, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5386, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5348, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5354, d0.loss_map_cls_all: 0.1921, d0.loss_map_pts_all: 1.2753, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.1921, d0.loss_map_pts: 1.2753, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1675, d1.loss_map_pts: 0.8780, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1465, d2.loss_map_pts: 0.7084, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1364, d3.loss_map_pts: 0.6485, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1316, d4.loss_map_pts: 0.6236, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1281, d5.loss_map_pts: 0.6214, d5.loss_map_dir: 0.0085, loss: 25.2146, grad_norm: 151.7808 +2026-02-27 21:03:17,399 - DriveTransformer - INFO - Epoch [8][11850/39528] lr: 8.063e-05, eta: 5 days, 14:13:15, time: 0.745, data_time: 0.037, memory: 19865, loss_cls: 0.1260, loss_bbox: 0.3177, loss_traj: 0.6045, loss_traj_cls: 0.0013, loss_map_cls: 0.1449, loss_map_pts: 0.5954, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.5469, d0.loss_plan_l1_fix_dist: 0.4364, d1.loss_plan_l1_fix_time: 0.9559, d1.loss_plan_l1_fix_dist: 0.2607, d2.loss_plan_l1_fix_time: 0.9498, d2.loss_plan_l1_fix_dist: 0.2045, d3.loss_plan_l1_fix_time: 0.9552, d3.loss_plan_l1_fix_dist: 0.2106, d4.loss_plan_l1_fix_time: 0.9574, d4.loss_plan_l1_fix_dist: 0.2310, d5.loss_plan_l1_fix_time: 0.9596, d5.loss_plan_l1_fix_dist: 0.2340, d6.loss_plan_l1_fix_time: 0.9624, d6.loss_plan_l1_fix_dist: 0.2336, d0.loss_cls_all: 0.1700, d0.loss_bbox_all: 0.3848, d0.loss_cls: 0.1700, d0.loss_bbox: 0.3848, d1.loss_cls: 0.1595, d1.loss_bbox: 0.3482, d2.loss_cls: 0.1478, d2.loss_bbox: 0.3270, d3.loss_cls: 0.1317, d3.loss_bbox: 0.3235, d4.loss_cls: 0.1273, d4.loss_bbox: 0.3192, d5.loss_cls: 0.1260, d5.loss_bbox: 0.3189, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8320, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6600, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6147, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6055, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6042, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6017, d0.loss_map_cls_all: 0.2227, d0.loss_map_pts_all: 1.2271, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2227, d0.loss_map_pts: 1.2271, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1991, d1.loss_map_pts: 0.8311, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1700, d2.loss_map_pts: 0.6788, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1590, d3.loss_map_pts: 0.6208, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1508, d4.loss_map_pts: 0.6022, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1462, d5.loss_map_pts: 0.5964, d5.loss_map_dir: 0.0081, loss: 26.3693, grad_norm: 150.7812 +2026-02-27 21:03:54,736 - DriveTransformer - INFO - Epoch [8][11900/39528] lr: 8.063e-05, eta: 5 days, 14:12:48, time: 0.747, data_time: 0.037, memory: 19865, loss_cls: 0.1295, loss_bbox: 0.3137, loss_traj: 0.6206, loss_traj_cls: 0.0012, loss_map_cls: 0.1357, loss_map_pts: 0.5863, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.7528, d0.loss_plan_l1_fix_dist: 0.4567, d1.loss_plan_l1_fix_time: 1.0284, d1.loss_plan_l1_fix_dist: 0.2489, d2.loss_plan_l1_fix_time: 1.0196, d2.loss_plan_l1_fix_dist: 0.2153, d3.loss_plan_l1_fix_time: 1.0222, d3.loss_plan_l1_fix_dist: 0.2564, d4.loss_plan_l1_fix_time: 1.0246, d4.loss_plan_l1_fix_dist: 0.2277, d5.loss_plan_l1_fix_time: 1.0272, d5.loss_plan_l1_fix_dist: 0.2277, d6.loss_plan_l1_fix_time: 1.0307, d6.loss_plan_l1_fix_dist: 0.2545, d0.loss_cls_all: 0.1737, d0.loss_bbox_all: 0.3774, d0.loss_cls: 0.1737, d0.loss_bbox: 0.3774, d1.loss_cls: 0.1650, d1.loss_bbox: 0.3426, d2.loss_cls: 0.1525, d2.loss_bbox: 0.3244, d3.loss_cls: 0.1368, d3.loss_bbox: 0.3168, d4.loss_cls: 0.1320, d4.loss_bbox: 0.3130, d5.loss_cls: 0.1304, d5.loss_bbox: 0.3127, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8585, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6984, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6445, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6348, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6253, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6188, d0.loss_map_cls_all: 0.2051, d0.loss_map_pts_all: 1.2071, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2051, d0.loss_map_pts: 1.2071, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1759, d1.loss_map_pts: 0.8401, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1572, d2.loss_map_pts: 0.6770, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1451, d3.loss_map_pts: 0.6186, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1390, d4.loss_map_pts: 0.5946, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1350, d5.loss_map_pts: 0.5885, d5.loss_map_dir: 0.0080, loss: 27.0504, grad_norm: 149.3070 +2026-02-27 21:04:31,406 - DriveTransformer - INFO - Epoch [8][11950/39528] lr: 8.063e-05, eta: 5 days, 14:12:12, time: 0.733, data_time: 0.037, memory: 19865, loss_cls: 0.1516, loss_bbox: 0.3372, loss_traj: 0.5721, loss_traj_cls: 0.0012, loss_map_cls: 0.1544, loss_map_pts: 0.7178, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.3287, d0.loss_plan_l1_fix_dist: 0.4618, d1.loss_plan_l1_fix_time: 0.9568, d1.loss_plan_l1_fix_dist: 0.2126, d2.loss_plan_l1_fix_time: 0.9425, d2.loss_plan_l1_fix_dist: 0.2012, d3.loss_plan_l1_fix_time: 0.9348, d3.loss_plan_l1_fix_dist: 0.2545, d4.loss_plan_l1_fix_time: 0.9371, d4.loss_plan_l1_fix_dist: 0.2514, d5.loss_plan_l1_fix_time: 0.9396, d5.loss_plan_l1_fix_dist: 0.2611, d6.loss_plan_l1_fix_time: 0.9420, d6.loss_plan_l1_fix_dist: 0.3018, d0.loss_cls_all: 0.1928, d0.loss_bbox_all: 0.3980, d0.loss_cls: 0.1928, d0.loss_bbox: 0.3980, d1.loss_cls: 0.1844, d1.loss_bbox: 0.3677, d2.loss_cls: 0.1715, d2.loss_bbox: 0.3489, d3.loss_cls: 0.1547, d3.loss_bbox: 0.3455, d4.loss_cls: 0.1510, d4.loss_bbox: 0.3428, d5.loss_cls: 0.1507, d5.loss_bbox: 0.3402, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7582, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6467, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5859, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5743, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5682, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5673, d0.loss_map_cls_all: 0.2389, d0.loss_map_pts_all: 1.3823, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2389, d0.loss_map_pts: 1.3823, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2073, d1.loss_map_pts: 0.9919, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1815, d2.loss_map_pts: 0.8170, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1716, d3.loss_map_pts: 0.7490, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1627, d4.loss_map_pts: 0.7282, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1562, d5.loss_map_pts: 0.7193, d5.loss_map_dir: 0.0091, loss: 27.5039, grad_norm: 150.7723 +2026-02-27 21:05:09,057 - DriveTransformer - INFO - Epoch [8][12000/39528] lr: 8.063e-05, eta: 5 days, 14:11:49, time: 0.753, data_time: 0.038, memory: 19865, loss_cls: 0.1064, loss_bbox: 0.2768, loss_traj: 0.5451, loss_traj_cls: 0.0012, loss_map_cls: 0.1204, loss_map_pts: 0.6349, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.4318, d0.loss_plan_l1_fix_dist: 0.4090, d1.loss_plan_l1_fix_time: 0.9071, d1.loss_plan_l1_fix_dist: 0.1936, d2.loss_plan_l1_fix_time: 0.8953, d2.loss_plan_l1_fix_dist: 0.1974, d3.loss_plan_l1_fix_time: 0.8895, d3.loss_plan_l1_fix_dist: 0.2330, d4.loss_plan_l1_fix_time: 0.8918, d4.loss_plan_l1_fix_dist: 0.2381, d5.loss_plan_l1_fix_time: 0.8943, d5.loss_plan_l1_fix_dist: 0.2279, d6.loss_plan_l1_fix_time: 0.8983, d6.loss_plan_l1_fix_dist: 0.2608, d0.loss_cls_all: 0.1480, d0.loss_bbox_all: 0.3382, d0.loss_cls: 0.1480, d0.loss_bbox: 0.3382, d1.loss_cls: 0.1397, d1.loss_bbox: 0.3087, d2.loss_cls: 0.1281, d2.loss_bbox: 0.2890, d3.loss_cls: 0.1137, d3.loss_bbox: 0.2818, d4.loss_cls: 0.1092, d4.loss_bbox: 0.2776, d5.loss_cls: 0.1075, d5.loss_bbox: 0.2752, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7435, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6005, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5520, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5440, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5403, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5419, d0.loss_map_cls_all: 0.2079, d0.loss_map_pts_all: 1.3775, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2079, d0.loss_map_pts: 1.3775, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.1690, d1.loss_map_pts: 0.9449, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1464, d2.loss_map_pts: 0.7472, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1368, d3.loss_map_pts: 0.6727, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1286, d4.loss_map_pts: 0.6416, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1242, d5.loss_map_pts: 0.6356, d5.loss_map_dir: 0.0098, loss: 25.3784, grad_norm: 152.5800 +2026-02-27 21:05:44,084 - DriveTransformer - INFO - Epoch [8][12050/39528] lr: 8.063e-05, eta: 5 days, 14:10:53, time: 0.701, data_time: 0.035, memory: 19865, loss_cls: 0.1296, loss_bbox: 0.3278, loss_traj: 0.5884, loss_traj_cls: 0.0012, loss_map_cls: 0.1303, loss_map_pts: 0.5980, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.6775, d0.loss_plan_l1_fix_dist: 0.4273, d1.loss_plan_l1_fix_time: 0.9667, d1.loss_plan_l1_fix_dist: 0.1913, d2.loss_plan_l1_fix_time: 0.9553, d2.loss_plan_l1_fix_dist: 0.2057, d3.loss_plan_l1_fix_time: 0.9531, d3.loss_plan_l1_fix_dist: 0.2063, d4.loss_plan_l1_fix_time: 0.9551, d4.loss_plan_l1_fix_dist: 0.2379, d5.loss_plan_l1_fix_time: 0.9577, d5.loss_plan_l1_fix_dist: 0.2138, d6.loss_plan_l1_fix_time: 0.9618, d6.loss_plan_l1_fix_dist: 0.2321, d0.loss_cls_all: 0.1837, d0.loss_bbox_all: 0.3822, d0.loss_cls: 0.1837, d0.loss_bbox: 0.3822, d1.loss_cls: 0.1667, d1.loss_bbox: 0.3584, d2.loss_cls: 0.1520, d2.loss_bbox: 0.3375, d3.loss_cls: 0.1377, d3.loss_bbox: 0.3319, d4.loss_cls: 0.1322, d4.loss_bbox: 0.3288, d5.loss_cls: 0.1302, d5.loss_bbox: 0.3276, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8338, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6674, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6234, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6109, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6010, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5897, d0.loss_map_cls_all: 0.1957, d0.loss_map_pts_all: 1.2369, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1957, d0.loss_map_pts: 1.2369, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1729, d1.loss_map_pts: 0.8501, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1505, d2.loss_map_pts: 0.6772, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1407, d3.loss_map_pts: 0.6164, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1339, d4.loss_map_pts: 0.5975, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1315, d5.loss_map_pts: 0.5953, d5.loss_map_dir: 0.0085, loss: 26.3805, grad_norm: 151.0777 +2026-02-27 21:06:22,346 - DriveTransformer - INFO - Epoch [8][12100/39528] lr: 8.063e-05, eta: 5 days, 14:10:37, time: 0.765, data_time: 0.039, memory: 19865, loss_cls: 0.1529, loss_bbox: 0.3577, loss_traj: 0.5524, loss_traj_cls: 0.0012, loss_map_cls: 0.1482, loss_map_pts: 0.6738, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.6610, d0.loss_plan_l1_fix_dist: 0.4382, d1.loss_plan_l1_fix_time: 0.9909, d1.loss_plan_l1_fix_dist: 0.1945, d2.loss_plan_l1_fix_time: 0.9918, d2.loss_plan_l1_fix_dist: 0.2403, d3.loss_plan_l1_fix_time: 0.9945, d3.loss_plan_l1_fix_dist: 0.2245, d4.loss_plan_l1_fix_time: 0.9981, d4.loss_plan_l1_fix_dist: 0.2358, d5.loss_plan_l1_fix_time: 1.0017, d5.loss_plan_l1_fix_dist: 0.2262, d6.loss_plan_l1_fix_time: 1.0046, d6.loss_plan_l1_fix_dist: 0.2623, d0.loss_cls_all: 0.1989, d0.loss_bbox_all: 0.4230, d0.loss_cls: 0.1989, d0.loss_bbox: 0.4230, d1.loss_cls: 0.1930, d1.loss_bbox: 0.3890, d2.loss_cls: 0.1797, d2.loss_bbox: 0.3671, d3.loss_cls: 0.1633, d3.loss_bbox: 0.3604, d4.loss_cls: 0.1546, d4.loss_bbox: 0.3588, d5.loss_cls: 0.1538, d5.loss_bbox: 0.3568, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8334, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6413, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5856, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5695, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5559, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5528, d0.loss_map_cls_all: 0.2257, d0.loss_map_pts_all: 1.3977, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2257, d0.loss_map_pts: 1.3977, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1929, d1.loss_map_pts: 0.9647, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1715, d2.loss_map_pts: 0.7787, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1591, d3.loss_map_pts: 0.7109, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1523, d4.loss_map_pts: 0.6853, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1488, d5.loss_map_pts: 0.6744, d5.loss_map_dir: 0.0096, loss: 27.9740, grad_norm: 144.9192 +2026-02-27 21:06:57,651 - DriveTransformer - INFO - Epoch [8][12150/39528] lr: 8.063e-05, eta: 5 days, 14:09:44, time: 0.706, data_time: 0.039, memory: 19865, loss_cls: 0.1197, loss_bbox: 0.3103, loss_traj: 0.6788, loss_traj_cls: 0.0012, loss_map_cls: 0.1042, loss_map_pts: 0.5185, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.3195, d0.loss_plan_l1_fix_dist: 0.4683, d1.loss_plan_l1_fix_time: 0.8312, d1.loss_plan_l1_fix_dist: 0.1736, d2.loss_plan_l1_fix_time: 0.8218, d2.loss_plan_l1_fix_dist: 0.2302, d3.loss_plan_l1_fix_time: 0.8218, d3.loss_plan_l1_fix_dist: 0.2180, d4.loss_plan_l1_fix_time: 0.8247, d4.loss_plan_l1_fix_dist: 0.1973, d5.loss_plan_l1_fix_time: 0.8280, d5.loss_plan_l1_fix_dist: 0.1881, d6.loss_plan_l1_fix_time: 0.8318, d6.loss_plan_l1_fix_dist: 0.2255, d0.loss_cls_all: 0.1638, d0.loss_bbox_all: 0.3727, d0.loss_cls: 0.1638, d0.loss_bbox: 0.3727, d1.loss_cls: 0.1542, d1.loss_bbox: 0.3383, d2.loss_cls: 0.1405, d2.loss_bbox: 0.3204, d3.loss_cls: 0.1243, d3.loss_bbox: 0.3164, d4.loss_cls: 0.1209, d4.loss_bbox: 0.3121, d5.loss_cls: 0.1197, d5.loss_bbox: 0.3103, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9447, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7714, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.7102, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6877, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6826, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6783, d0.loss_map_cls_all: 0.1794, d0.loss_map_pts_all: 1.0730, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1794, d0.loss_map_pts: 1.0730, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1467, d1.loss_map_pts: 0.7308, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1277, d2.loss_map_pts: 0.5969, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1167, d3.loss_map_pts: 0.5398, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1086, d4.loss_map_pts: 0.5227, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1049, d5.loss_map_pts: 0.5183, d5.loss_map_dir: 0.0067, loss: 24.5945, grad_norm: 144.4576 +2026-02-27 21:07:33,403 - DriveTransformer - INFO - Epoch [8][12200/39528] lr: 8.063e-05, eta: 5 days, 14:08:58, time: 0.716, data_time: 0.039, memory: 19865, loss_cls: 0.1413, loss_bbox: 0.3556, loss_traj: 0.6383, loss_traj_cls: 0.0011, loss_map_cls: 0.1710, loss_map_pts: 0.6544, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.9777, d0.loss_plan_l1_fix_dist: 0.3049, d1.loss_plan_l1_fix_time: 0.9976, d1.loss_plan_l1_fix_dist: 0.1806, d2.loss_plan_l1_fix_time: 0.9827, d2.loss_plan_l1_fix_dist: 0.2164, d3.loss_plan_l1_fix_time: 0.9823, d3.loss_plan_l1_fix_dist: 0.2076, d4.loss_plan_l1_fix_time: 0.9854, d4.loss_plan_l1_fix_dist: 0.2069, d5.loss_plan_l1_fix_time: 0.9886, d5.loss_plan_l1_fix_dist: 0.2183, d6.loss_plan_l1_fix_time: 0.9922, d6.loss_plan_l1_fix_dist: 0.2251, d0.loss_cls_all: 0.1844, d0.loss_bbox_all: 0.4245, d0.loss_cls: 0.1844, d0.loss_bbox: 0.4245, d1.loss_cls: 0.1802, d1.loss_bbox: 0.3854, d2.loss_cls: 0.1637, d2.loss_bbox: 0.3693, d3.loss_cls: 0.1459, d3.loss_bbox: 0.3609, d4.loss_cls: 0.1420, d4.loss_bbox: 0.3578, d5.loss_cls: 0.1408, d5.loss_bbox: 0.3571, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8954, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7031, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6483, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6433, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6424, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6351, d0.loss_map_cls_all: 0.2408, d0.loss_map_pts_all: 1.2057, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2408, d0.loss_map_pts: 1.2057, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.2185, d1.loss_map_pts: 0.8935, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1948, d2.loss_map_pts: 0.7485, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1837, d3.loss_map_pts: 0.6908, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1785, d4.loss_map_pts: 0.6653, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1746, d5.loss_map_pts: 0.6560, d5.loss_map_dir: 0.0079, loss: 27.9801, grad_norm: 146.7425 +2026-02-27 21:08:09,966 - DriveTransformer - INFO - Epoch [8][12250/39528] lr: 8.063e-05, eta: 5 days, 14:08:20, time: 0.730, data_time: 0.035, memory: 19865, loss_cls: 0.1434, loss_bbox: 0.3671, loss_traj: 0.6816, loss_traj_cls: 0.0012, loss_map_cls: 0.1561, loss_map_pts: 0.6972, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.6673, d0.loss_plan_l1_fix_dist: 0.4864, d1.loss_plan_l1_fix_time: 1.0827, d1.loss_plan_l1_fix_dist: 0.2155, d2.loss_plan_l1_fix_time: 1.0691, d2.loss_plan_l1_fix_dist: 0.2087, d3.loss_plan_l1_fix_time: 1.0702, d3.loss_plan_l1_fix_dist: 0.2249, d4.loss_plan_l1_fix_time: 1.0750, d4.loss_plan_l1_fix_dist: 0.1994, d5.loss_plan_l1_fix_time: 1.0803, d5.loss_plan_l1_fix_dist: 0.2291, d6.loss_plan_l1_fix_time: 1.0859, d6.loss_plan_l1_fix_dist: 0.2121, d0.loss_cls_all: 0.1874, d0.loss_bbox_all: 0.4330, d0.loss_cls: 0.1874, d0.loss_bbox: 0.4330, d1.loss_cls: 0.1780, d1.loss_bbox: 0.3952, d2.loss_cls: 0.1621, d2.loss_bbox: 0.3770, d3.loss_cls: 0.1497, d3.loss_bbox: 0.3688, d4.loss_cls: 0.1452, d4.loss_bbox: 0.3665, d5.loss_cls: 0.1438, d5.loss_bbox: 0.3669, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9495, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7682, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.7122, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6935, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6853, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6807, d0.loss_map_cls_all: 0.2178, d0.loss_map_pts_all: 1.2687, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2178, d0.loss_map_pts: 1.2687, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1973, d1.loss_map_pts: 0.9237, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1764, d2.loss_map_pts: 0.7766, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1680, d3.loss_map_pts: 0.7250, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1626, d4.loss_map_pts: 0.7058, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1592, d5.loss_map_pts: 0.6974, d5.loss_map_dir: 0.0083, loss: 29.0719, grad_norm: 148.3083 +2026-02-27 21:08:47,400 - DriveTransformer - INFO - Epoch [8][12300/39528] lr: 8.063e-05, eta: 5 days, 14:07:54, time: 0.749, data_time: 0.039, memory: 19865, loss_cls: 0.1614, loss_bbox: 0.3760, loss_traj: 0.6476, loss_traj_cls: 0.0012, loss_map_cls: 0.1695, loss_map_pts: 0.7366, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 3.1640, d0.loss_plan_l1_fix_dist: 0.4354, d1.loss_plan_l1_fix_time: 1.0608, d1.loss_plan_l1_fix_dist: 0.2591, d2.loss_plan_l1_fix_time: 1.0450, d2.loss_plan_l1_fix_dist: 0.2306, d3.loss_plan_l1_fix_time: 1.0451, d3.loss_plan_l1_fix_dist: 0.2700, d4.loss_plan_l1_fix_time: 1.0476, d4.loss_plan_l1_fix_dist: 0.2293, d5.loss_plan_l1_fix_time: 1.0503, d5.loss_plan_l1_fix_dist: 0.2593, d6.loss_plan_l1_fix_time: 1.0538, d6.loss_plan_l1_fix_dist: 0.2568, d0.loss_cls_all: 0.2143, d0.loss_bbox_all: 0.4350, d0.loss_cls: 0.2143, d0.loss_bbox: 0.4350, d1.loss_cls: 0.2035, d1.loss_bbox: 0.4025, d2.loss_cls: 0.1898, d2.loss_bbox: 0.3830, d3.loss_cls: 0.1723, d3.loss_bbox: 0.3780, d4.loss_cls: 0.1652, d4.loss_bbox: 0.3751, d5.loss_cls: 0.1634, d5.loss_bbox: 0.3743, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8843, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7241, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6748, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6583, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6459, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6428, d0.loss_map_cls_all: 0.2403, d0.loss_map_pts_all: 1.3426, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2403, d0.loss_map_pts: 1.3426, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2171, d1.loss_map_pts: 0.9653, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1945, d2.loss_map_pts: 0.8155, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1834, d3.loss_map_pts: 0.7581, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1741, d4.loss_map_pts: 0.7349, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1718, d5.loss_map_pts: 0.7324, d5.loss_map_dir: 0.0098, loss: 30.0302, grad_norm: 147.5070 +2026-02-27 21:09:24,134 - DriveTransformer - INFO - Epoch [8][12350/39528] lr: 8.063e-05, eta: 5 days, 14:07:19, time: 0.735, data_time: 0.040, memory: 19865, loss_cls: 0.1372, loss_bbox: 0.3448, loss_traj: 0.5963, loss_traj_cls: 0.0012, loss_map_cls: 0.1328, loss_map_pts: 0.6390, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.4272, d0.loss_plan_l1_fix_dist: 0.3917, d1.loss_plan_l1_fix_time: 0.9751, d1.loss_plan_l1_fix_dist: 0.2440, d2.loss_plan_l1_fix_time: 0.9602, d2.loss_plan_l1_fix_dist: 0.1921, d3.loss_plan_l1_fix_time: 0.9542, d3.loss_plan_l1_fix_dist: 0.2655, d4.loss_plan_l1_fix_time: 0.9557, d4.loss_plan_l1_fix_dist: 0.2113, d5.loss_plan_l1_fix_time: 0.9586, d5.loss_plan_l1_fix_dist: 0.2193, d6.loss_plan_l1_fix_time: 0.9621, d6.loss_plan_l1_fix_dist: 0.2199, d0.loss_cls_all: 0.1819, d0.loss_bbox_all: 0.4006, d0.loss_cls: 0.1819, d0.loss_bbox: 0.4006, d1.loss_cls: 0.1747, d1.loss_bbox: 0.3678, d2.loss_cls: 0.1600, d2.loss_bbox: 0.3507, d3.loss_cls: 0.1446, d3.loss_bbox: 0.3441, d4.loss_cls: 0.1391, d4.loss_bbox: 0.3426, d5.loss_cls: 0.1380, d5.loss_bbox: 0.3423, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8884, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6900, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6202, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6040, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5985, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5977, d0.loss_map_cls_all: 0.2181, d0.loss_map_pts_all: 1.2439, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2181, d0.loss_map_pts: 1.2439, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1846, d1.loss_map_pts: 0.8909, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1581, d2.loss_map_pts: 0.7440, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1461, d3.loss_map_pts: 0.6785, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1387, d4.loss_map_pts: 0.6507, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1346, d5.loss_map_pts: 0.6404, d5.loss_map_dir: 0.0082, loss: 26.8177, grad_norm: 149.0649 +2026-02-27 21:10:01,038 - DriveTransformer - INFO - Epoch [8][12400/39528] lr: 8.063e-05, eta: 5 days, 14:06:46, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.1222, loss_bbox: 0.3250, loss_traj: 0.5678, loss_traj_cls: 0.0013, loss_map_cls: 0.1297, loss_map_pts: 0.6458, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.8950, d0.loss_plan_l1_fix_dist: 0.4461, d1.loss_plan_l1_fix_time: 1.1130, d1.loss_plan_l1_fix_dist: 0.2835, d2.loss_plan_l1_fix_time: 1.0986, d2.loss_plan_l1_fix_dist: 0.2205, d3.loss_plan_l1_fix_time: 1.0974, d3.loss_plan_l1_fix_dist: 0.2965, d4.loss_plan_l1_fix_time: 1.0996, d4.loss_plan_l1_fix_dist: 0.2741, d5.loss_plan_l1_fix_time: 1.1026, d5.loss_plan_l1_fix_dist: 0.2271, d6.loss_plan_l1_fix_time: 1.1063, d6.loss_plan_l1_fix_dist: 0.2319, d0.loss_cls_all: 0.1627, d0.loss_bbox_all: 0.3843, d0.loss_cls: 0.1627, d0.loss_bbox: 0.3843, d1.loss_cls: 0.1568, d1.loss_bbox: 0.3494, d2.loss_cls: 0.1433, d2.loss_bbox: 0.3337, d3.loss_cls: 0.1277, d3.loss_bbox: 0.3275, d4.loss_cls: 0.1236, d4.loss_bbox: 0.3236, d5.loss_cls: 0.1226, d5.loss_bbox: 0.3236, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7953, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6200, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5848, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5743, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5735, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5691, d0.loss_map_cls_all: 0.2014, d0.loss_map_pts_all: 1.2656, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2014, d0.loss_map_pts: 1.2656, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1723, d1.loss_map_pts: 0.9086, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1519, d2.loss_map_pts: 0.7433, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1429, d3.loss_map_pts: 0.6737, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1348, d4.loss_map_pts: 0.6528, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1310, d5.loss_map_pts: 0.6475, d5.loss_map_dir: 0.0093, loss: 27.7988, grad_norm: 150.9533 +2026-02-27 21:10:37,471 - DriveTransformer - INFO - Epoch [8][12450/39528] lr: 8.063e-05, eta: 5 days, 14:06:07, time: 0.729, data_time: 0.036, memory: 19865, loss_cls: 0.1559, loss_bbox: 0.3664, loss_traj: 0.5339, loss_traj_cls: 0.0012, loss_map_cls: 0.1700, loss_map_pts: 0.7560, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 3.0276, d0.loss_plan_l1_fix_dist: 0.4404, d1.loss_plan_l1_fix_time: 1.0747, d1.loss_plan_l1_fix_dist: 0.2797, d2.loss_plan_l1_fix_time: 1.0565, d2.loss_plan_l1_fix_dist: 0.2094, d3.loss_plan_l1_fix_time: 1.0535, d3.loss_plan_l1_fix_dist: 0.2829, d4.loss_plan_l1_fix_time: 1.0560, d4.loss_plan_l1_fix_dist: 0.2848, d5.loss_plan_l1_fix_time: 1.0593, d5.loss_plan_l1_fix_dist: 0.2364, d6.loss_plan_l1_fix_time: 1.0633, d6.loss_plan_l1_fix_dist: 0.2349, d0.loss_cls_all: 0.2032, d0.loss_bbox_all: 0.4353, d0.loss_cls: 0.2032, d0.loss_bbox: 0.4353, d1.loss_cls: 0.1957, d1.loss_bbox: 0.3994, d2.loss_cls: 0.1781, d2.loss_bbox: 0.3804, d3.loss_cls: 0.1634, d3.loss_bbox: 0.3734, d4.loss_cls: 0.1568, d4.loss_bbox: 0.3699, d5.loss_cls: 0.1571, d5.loss_bbox: 0.3659, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7243, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6154, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5572, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5414, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5399, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5371, d0.loss_map_cls_all: 0.2488, d0.loss_map_pts_all: 1.4309, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2488, d0.loss_map_pts: 1.4309, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2173, d1.loss_map_pts: 1.0527, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1964, d2.loss_map_pts: 0.8702, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1846, d3.loss_map_pts: 0.7922, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1758, d4.loss_map_pts: 0.7654, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1709, d5.loss_map_pts: 0.7576, d5.loss_map_dir: 0.0100, loss: 29.5030, grad_norm: 153.6459 +2026-02-27 21:11:14,142 - DriveTransformer - INFO - Epoch [8][12500/39528] lr: 8.063e-05, eta: 5 days, 14:05:32, time: 0.733, data_time: 0.038, memory: 19865, loss_cls: 0.1272, loss_bbox: 0.3410, loss_traj: 0.6006, loss_traj_cls: 0.0013, loss_map_cls: 0.1264, loss_map_pts: 0.5961, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.4359, d0.loss_plan_l1_fix_dist: 0.4401, d1.loss_plan_l1_fix_time: 0.8966, d1.loss_plan_l1_fix_dist: 0.2828, d2.loss_plan_l1_fix_time: 0.8832, d2.loss_plan_l1_fix_dist: 0.2345, d3.loss_plan_l1_fix_time: 0.8809, d3.loss_plan_l1_fix_dist: 0.2420, d4.loss_plan_l1_fix_time: 0.8841, d4.loss_plan_l1_fix_dist: 0.2242, d5.loss_plan_l1_fix_time: 0.8878, d5.loss_plan_l1_fix_dist: 0.1976, d6.loss_plan_l1_fix_time: 0.8921, d6.loss_plan_l1_fix_dist: 0.1945, d0.loss_cls_all: 0.1662, d0.loss_bbox_all: 0.3957, d0.loss_cls: 0.1662, d0.loss_bbox: 0.3957, d1.loss_cls: 0.1606, d1.loss_bbox: 0.3635, d2.loss_cls: 0.1446, d2.loss_bbox: 0.3463, d3.loss_cls: 0.1321, d3.loss_bbox: 0.3426, d4.loss_cls: 0.1277, d4.loss_bbox: 0.3403, d5.loss_cls: 0.1271, d5.loss_bbox: 0.3401, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7977, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6719, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6214, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6116, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6025, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6032, d0.loss_map_cls_all: 0.2037, d0.loss_map_pts_all: 1.2358, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2037, d0.loss_map_pts: 1.2358, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1728, d1.loss_map_pts: 0.8536, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1482, d2.loss_map_pts: 0.6943, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1385, d3.loss_map_pts: 0.6344, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1329, d4.loss_map_pts: 0.6085, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1280, d5.loss_map_pts: 0.5978, d5.loss_map_dir: 0.0092, loss: 25.8934, grad_norm: 154.0304 +2026-02-27 21:11:51,353 - DriveTransformer - INFO - Epoch [8][12550/39528] lr: 8.063e-05, eta: 5 days, 14:05:03, time: 0.744, data_time: 0.037, memory: 19865, loss_cls: 0.1213, loss_bbox: 0.3164, loss_traj: 0.5488, loss_traj_cls: 0.0013, loss_map_cls: 0.1229, loss_map_pts: 0.5821, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.9246, d0.loss_plan_l1_fix_dist: 0.4499, d1.loss_plan_l1_fix_time: 1.0046, d1.loss_plan_l1_fix_dist: 0.3134, d2.loss_plan_l1_fix_time: 0.9894, d2.loss_plan_l1_fix_dist: 0.2976, d3.loss_plan_l1_fix_time: 0.9904, d3.loss_plan_l1_fix_dist: 0.2403, d4.loss_plan_l1_fix_time: 0.9934, d4.loss_plan_l1_fix_dist: 0.2278, d5.loss_plan_l1_fix_time: 0.9959, d5.loss_plan_l1_fix_dist: 0.2161, d6.loss_plan_l1_fix_time: 0.9990, d6.loss_plan_l1_fix_dist: 0.2276, d0.loss_cls_all: 0.1550, d0.loss_bbox_all: 0.3693, d0.loss_cls: 0.1550, d0.loss_bbox: 0.3693, d1.loss_cls: 0.1491, d1.loss_bbox: 0.3353, d2.loss_cls: 0.1340, d2.loss_bbox: 0.3193, d3.loss_cls: 0.1232, d3.loss_bbox: 0.3141, d4.loss_cls: 0.1205, d4.loss_bbox: 0.3124, d5.loss_cls: 0.1199, d5.loss_bbox: 0.3152, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7814, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5897, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5619, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5580, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5507, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5496, d0.loss_map_cls_all: 0.1943, d0.loss_map_pts_all: 1.2424, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.1943, d0.loss_map_pts: 1.2424, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.1647, d1.loss_map_pts: 0.8396, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1442, d2.loss_map_pts: 0.6777, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1327, d3.loss_map_pts: 0.6148, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1286, d4.loss_map_pts: 0.5907, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1242, d5.loss_map_pts: 0.5829, d5.loss_map_dir: 0.0090, loss: 26.3984, grad_norm: 152.7838 +2026-02-27 21:12:28,392 - DriveTransformer - INFO - Epoch [8][12600/39528] lr: 8.063e-05, eta: 5 days, 14:04:32, time: 0.741, data_time: 0.036, memory: 19865, loss_cls: 0.1415, loss_bbox: 0.3362, loss_traj: 0.5642, loss_traj_cls: 0.0012, loss_map_cls: 0.1568, loss_map_pts: 0.7424, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.5551, d0.loss_plan_l1_fix_dist: 0.4049, d1.loss_plan_l1_fix_time: 0.9555, d1.loss_plan_l1_fix_dist: 0.3078, d2.loss_plan_l1_fix_time: 0.9438, d2.loss_plan_l1_fix_dist: 0.3153, d3.loss_plan_l1_fix_time: 0.9468, d3.loss_plan_l1_fix_dist: 0.2087, d4.loss_plan_l1_fix_time: 0.9493, d4.loss_plan_l1_fix_dist: 0.2083, d5.loss_plan_l1_fix_time: 0.9517, d5.loss_plan_l1_fix_dist: 0.2179, d6.loss_plan_l1_fix_time: 0.9547, d6.loss_plan_l1_fix_dist: 0.2323, d0.loss_cls_all: 0.1969, d0.loss_bbox_all: 0.3983, d0.loss_cls: 0.1969, d0.loss_bbox: 0.3983, d1.loss_cls: 0.1855, d1.loss_bbox: 0.3686, d2.loss_cls: 0.1680, d2.loss_bbox: 0.3518, d3.loss_cls: 0.1495, d3.loss_bbox: 0.3417, d4.loss_cls: 0.1430, d4.loss_bbox: 0.3386, d5.loss_cls: 0.1416, d5.loss_bbox: 0.3367, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7958, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6208, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5790, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5602, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5602, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5621, d0.loss_map_cls_all: 0.2382, d0.loss_map_pts_all: 1.4960, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2382, d0.loss_map_pts: 1.4960, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2076, d1.loss_map_pts: 1.0503, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1834, d2.loss_map_pts: 0.8627, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1707, d3.loss_map_pts: 0.7877, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1627, d4.loss_map_pts: 0.7584, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1594, d5.loss_map_pts: 0.7426, d5.loss_map_dir: 0.0099, loss: 28.1271, grad_norm: 153.0117 +2026-02-27 21:13:04,102 - DriveTransformer - INFO - Epoch [8][12650/39528] lr: 8.063e-05, eta: 5 days, 14:03:44, time: 0.714, data_time: 0.037, memory: 19865, loss_cls: 0.1425, loss_bbox: 0.3365, loss_traj: 0.6261, loss_traj_cls: 0.0012, loss_map_cls: 0.1426, loss_map_pts: 0.6141, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.4621, d0.loss_plan_l1_fix_dist: 0.3969, d1.loss_plan_l1_fix_time: 0.9759, d1.loss_plan_l1_fix_dist: 0.2951, d2.loss_plan_l1_fix_time: 0.9638, d2.loss_plan_l1_fix_dist: 0.3147, d3.loss_plan_l1_fix_time: 0.9672, d3.loss_plan_l1_fix_dist: 0.2310, d4.loss_plan_l1_fix_time: 0.9699, d4.loss_plan_l1_fix_dist: 0.1978, d5.loss_plan_l1_fix_time: 0.9733, d5.loss_plan_l1_fix_dist: 0.2007, d6.loss_plan_l1_fix_time: 0.9776, d6.loss_plan_l1_fix_dist: 0.2246, d0.loss_cls_all: 0.1836, d0.loss_bbox_all: 0.3847, d0.loss_cls: 0.1836, d0.loss_bbox: 0.3847, d1.loss_cls: 0.1758, d1.loss_bbox: 0.3567, d2.loss_cls: 0.1615, d2.loss_bbox: 0.3390, d3.loss_cls: 0.1485, d3.loss_bbox: 0.3377, d4.loss_cls: 0.1445, d4.loss_bbox: 0.3353, d5.loss_cls: 0.1416, d5.loss_bbox: 0.3366, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8520, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6812, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6454, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6314, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6272, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6268, d0.loss_map_cls_all: 0.2097, d0.loss_map_pts_all: 1.2285, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2097, d0.loss_map_pts: 1.2285, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1819, d1.loss_map_pts: 0.8732, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1635, d2.loss_map_pts: 0.7217, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1529, d3.loss_map_pts: 0.6517, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1478, d4.loss_map_pts: 0.6256, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1448, d5.loss_map_pts: 0.6145, d5.loss_map_dir: 0.0072, loss: 26.9075, grad_norm: 151.1626 +2026-02-27 21:13:40,519 - DriveTransformer - INFO - Epoch [8][12700/39528] lr: 8.063e-05, eta: 5 days, 14:03:05, time: 0.728, data_time: 0.036, memory: 19865, loss_cls: 0.1539, loss_bbox: 0.3683, loss_traj: 0.6796, loss_traj_cls: 0.0013, loss_map_cls: 0.1448, loss_map_pts: 0.7025, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 3.0290, d0.loss_plan_l1_fix_dist: 0.3882, d1.loss_plan_l1_fix_time: 1.1076, d1.loss_plan_l1_fix_dist: 0.3068, d2.loss_plan_l1_fix_time: 1.0865, d2.loss_plan_l1_fix_dist: 0.3172, d3.loss_plan_l1_fix_time: 1.0773, d3.loss_plan_l1_fix_dist: 0.2411, d4.loss_plan_l1_fix_time: 1.0785, d4.loss_plan_l1_fix_dist: 0.2148, d5.loss_plan_l1_fix_time: 1.0814, d5.loss_plan_l1_fix_dist: 0.2203, d6.loss_plan_l1_fix_time: 1.0851, d6.loss_plan_l1_fix_dist: 0.2322, d0.loss_cls_all: 0.1987, d0.loss_bbox_all: 0.4243, d0.loss_cls: 0.1987, d0.loss_bbox: 0.4243, d1.loss_cls: 0.1933, d1.loss_bbox: 0.3886, d2.loss_cls: 0.1790, d2.loss_bbox: 0.3708, d3.loss_cls: 0.1603, d3.loss_bbox: 0.3676, d4.loss_cls: 0.1556, d4.loss_bbox: 0.3667, d5.loss_cls: 0.1534, d5.loss_bbox: 0.3671, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9456, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7606, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7005, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6852, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6749, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6812, d0.loss_map_cls_all: 0.2225, d0.loss_map_pts_all: 1.3619, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2225, d0.loss_map_pts: 1.3619, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.1904, d1.loss_map_pts: 0.9649, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1703, d2.loss_map_pts: 0.7998, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1599, d3.loss_map_pts: 0.7349, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1513, d4.loss_map_pts: 0.7092, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1473, d5.loss_map_pts: 0.7031, d5.loss_map_dir: 0.0099, loss: 29.8992, grad_norm: 148.2132 +2026-02-27 21:14:18,857 - DriveTransformer - INFO - Epoch [8][12750/39528] lr: 8.063e-05, eta: 5 days, 14:02:50, time: 0.767, data_time: 0.037, memory: 19865, loss_cls: 0.1331, loss_bbox: 0.3315, loss_traj: 0.5970, loss_traj_cls: 0.0013, loss_map_cls: 0.1393, loss_map_pts: 0.6944, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.6924, d0.loss_plan_l1_fix_dist: 0.4248, d1.loss_plan_l1_fix_time: 1.0131, d1.loss_plan_l1_fix_dist: 0.3050, d2.loss_plan_l1_fix_time: 1.0002, d2.loss_plan_l1_fix_dist: 0.2980, d3.loss_plan_l1_fix_time: 1.0002, d3.loss_plan_l1_fix_dist: 0.2263, d4.loss_plan_l1_fix_time: 1.0026, d4.loss_plan_l1_fix_dist: 0.2190, d5.loss_plan_l1_fix_time: 1.0055, d5.loss_plan_l1_fix_dist: 0.2339, d6.loss_plan_l1_fix_time: 1.0088, d6.loss_plan_l1_fix_dist: 0.2502, d0.loss_cls_all: 0.1744, d0.loss_bbox_all: 0.3911, d0.loss_cls: 0.1744, d0.loss_bbox: 0.3911, d1.loss_cls: 0.1711, d1.loss_bbox: 0.3586, d2.loss_cls: 0.1533, d2.loss_bbox: 0.3408, d3.loss_cls: 0.1400, d3.loss_bbox: 0.3350, d4.loss_cls: 0.1336, d4.loss_bbox: 0.3328, d5.loss_cls: 0.1324, d5.loss_bbox: 0.3310, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8289, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6724, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6198, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6056, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6014, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5958, d0.loss_map_cls_all: 0.2177, d0.loss_map_pts_all: 1.4453, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2177, d0.loss_map_pts: 1.4453, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.1832, d1.loss_map_pts: 0.9697, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.1641, d2.loss_map_pts: 0.7918, d2.loss_map_dir: 0.0108, d3.loss_map_cls: 0.1541, d3.loss_map_pts: 0.7293, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1461, d4.loss_map_pts: 0.7047, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1419, d5.loss_map_pts: 0.6951, d5.loss_map_dir: 0.0112, loss: 28.1611, grad_norm: 150.1093 +2026-02-27 21:14:55,971 - DriveTransformer - INFO - Epoch [8][12800/39528] lr: 8.063e-05, eta: 5 days, 14:02:20, time: 0.742, data_time: 0.038, memory: 19865, loss_cls: 0.1250, loss_bbox: 0.3077, loss_traj: 0.5405, loss_traj_cls: 0.0014, loss_map_cls: 0.1005, loss_map_pts: 0.5211, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.0859, d0.loss_plan_l1_fix_dist: 0.4276, d1.loss_plan_l1_fix_time: 0.7450, d1.loss_plan_l1_fix_dist: 0.2602, d2.loss_plan_l1_fix_time: 0.7296, d2.loss_plan_l1_fix_dist: 0.2479, d3.loss_plan_l1_fix_time: 0.7257, d3.loss_plan_l1_fix_dist: 0.1993, d4.loss_plan_l1_fix_time: 0.7289, d4.loss_plan_l1_fix_dist: 0.1907, d5.loss_plan_l1_fix_time: 0.7324, d5.loss_plan_l1_fix_dist: 0.1974, d6.loss_plan_l1_fix_time: 0.7365, d6.loss_plan_l1_fix_dist: 0.2225, d0.loss_cls_all: 0.1678, d0.loss_bbox_all: 0.3627, d0.loss_cls: 0.1678, d0.loss_bbox: 0.3627, d1.loss_cls: 0.1583, d1.loss_bbox: 0.3301, d2.loss_cls: 0.1441, d2.loss_bbox: 0.3135, d3.loss_cls: 0.1320, d3.loss_bbox: 0.3089, d4.loss_cls: 0.1273, d4.loss_bbox: 0.3068, d5.loss_cls: 0.1256, d5.loss_bbox: 0.3067, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7253, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6010, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5507, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5415, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5391, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.5371, d0.loss_map_cls_all: 0.1708, d0.loss_map_pts_all: 1.1461, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.1708, d0.loss_map_pts: 1.1461, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1408, d1.loss_map_pts: 0.7479, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1243, d2.loss_map_pts: 0.5966, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1124, d3.loss_map_pts: 0.5486, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1072, d4.loss_map_pts: 0.5301, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1028, d5.loss_map_pts: 0.5233, d5.loss_map_dir: 0.0088, loss: 22.8794, grad_norm: 140.0860 +2026-02-27 21:15:32,589 - DriveTransformer - INFO - Epoch [8][12850/39528] lr: 8.063e-05, eta: 5 days, 14:01:44, time: 0.732, data_time: 0.036, memory: 19865, loss_cls: 0.1364, loss_bbox: 0.3444, loss_traj: 0.6419, loss_traj_cls: 0.0012, loss_map_cls: 0.1620, loss_map_pts: 0.6677, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 3.0272, d0.loss_plan_l1_fix_dist: 0.3935, d1.loss_plan_l1_fix_time: 1.2348, d1.loss_plan_l1_fix_dist: 0.2387, d2.loss_plan_l1_fix_time: 1.2195, d2.loss_plan_l1_fix_dist: 0.2178, d3.loss_plan_l1_fix_time: 1.2126, d3.loss_plan_l1_fix_dist: 0.1931, d4.loss_plan_l1_fix_time: 1.2134, d4.loss_plan_l1_fix_dist: 0.1978, d5.loss_plan_l1_fix_time: 1.2147, d5.loss_plan_l1_fix_dist: 0.2009, d6.loss_plan_l1_fix_time: 1.2167, d6.loss_plan_l1_fix_dist: 0.2270, d0.loss_cls_all: 0.1855, d0.loss_bbox_all: 0.4027, d0.loss_cls: 0.1855, d0.loss_bbox: 0.4027, d1.loss_cls: 0.1739, d1.loss_bbox: 0.3724, d2.loss_cls: 0.1588, d2.loss_bbox: 0.3548, d3.loss_cls: 0.1439, d3.loss_bbox: 0.3502, d4.loss_cls: 0.1397, d4.loss_bbox: 0.3457, d5.loss_cls: 0.1382, d5.loss_bbox: 0.3432, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8836, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7106, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6562, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6428, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6387, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6379, d0.loss_map_cls_all: 0.2307, d0.loss_map_pts_all: 1.2898, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2307, d0.loss_map_pts: 1.2898, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2028, d1.loss_map_pts: 0.9021, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1843, d2.loss_map_pts: 0.7512, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1765, d3.loss_map_pts: 0.6933, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1692, d4.loss_map_pts: 0.6730, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1649, d5.loss_map_pts: 0.6672, d5.loss_map_dir: 0.0100, loss: 29.5392, grad_norm: 138.2449 +2026-02-27 21:16:08,526 - DriveTransformer - INFO - Epoch [8][12900/39528] lr: 8.063e-05, eta: 5 days, 14:00:59, time: 0.719, data_time: 0.035, memory: 19865, loss_cls: 0.1301, loss_bbox: 0.3241, loss_traj: 0.5979, loss_traj_cls: 0.0012, loss_map_cls: 0.1353, loss_map_pts: 0.5998, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.2938, d0.loss_plan_l1_fix_dist: 0.4593, d1.loss_plan_l1_fix_time: 0.9172, d1.loss_plan_l1_fix_dist: 0.1955, d2.loss_plan_l1_fix_time: 0.8956, d2.loss_plan_l1_fix_dist: 0.1778, d3.loss_plan_l1_fix_time: 0.8887, d3.loss_plan_l1_fix_dist: 0.1594, d4.loss_plan_l1_fix_time: 0.8898, d4.loss_plan_l1_fix_dist: 0.1675, d5.loss_plan_l1_fix_time: 0.8916, d5.loss_plan_l1_fix_dist: 0.1688, d6.loss_plan_l1_fix_time: 0.8938, d6.loss_plan_l1_fix_dist: 0.1914, d0.loss_cls_all: 0.1720, d0.loss_bbox_all: 0.3794, d0.loss_cls: 0.1720, d0.loss_bbox: 0.3794, d1.loss_cls: 0.1659, d1.loss_bbox: 0.3479, d2.loss_cls: 0.1519, d2.loss_bbox: 0.3327, d3.loss_cls: 0.1350, d3.loss_bbox: 0.3286, d4.loss_cls: 0.1315, d4.loss_bbox: 0.3255, d5.loss_cls: 0.1305, d5.loss_bbox: 0.3234, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8367, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6636, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6089, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5920, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5915, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5916, d0.loss_map_cls_all: 0.2126, d0.loss_map_pts_all: 1.2336, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2126, d0.loss_map_pts: 1.2336, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1816, d1.loss_map_pts: 0.8437, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1624, d2.loss_map_pts: 0.6829, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1515, d3.loss_map_pts: 0.6232, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1407, d4.loss_map_pts: 0.6043, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1374, d5.loss_map_pts: 0.6007, d5.loss_map_dir: 0.0090, loss: 25.4348, grad_norm: 138.0062 +2026-02-27 21:16:46,777 - DriveTransformer - INFO - Epoch [8][12950/39528] lr: 8.063e-05, eta: 5 days, 14:00:43, time: 0.765, data_time: 0.037, memory: 19865, loss_cls: 0.1344, loss_bbox: 0.3155, loss_traj: 0.5045, loss_traj_cls: 0.0013, loss_map_cls: 0.1354, loss_map_pts: 0.6481, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.3926, d0.loss_plan_l1_fix_dist: 0.4741, d1.loss_plan_l1_fix_time: 0.8138, d1.loss_plan_l1_fix_dist: 0.2098, d2.loss_plan_l1_fix_time: 0.8009, d2.loss_plan_l1_fix_dist: 0.1942, d3.loss_plan_l1_fix_time: 0.7953, d3.loss_plan_l1_fix_dist: 0.1821, d4.loss_plan_l1_fix_time: 0.7971, d4.loss_plan_l1_fix_dist: 0.1878, d5.loss_plan_l1_fix_time: 0.8002, d5.loss_plan_l1_fix_dist: 0.2019, d6.loss_plan_l1_fix_time: 0.8035, d6.loss_plan_l1_fix_dist: 0.2270, d0.loss_cls_all: 0.1763, d0.loss_bbox_all: 0.3701, d0.loss_cls: 0.1763, d0.loss_bbox: 0.3701, d1.loss_cls: 0.1662, d1.loss_bbox: 0.3378, d2.loss_cls: 0.1541, d2.loss_bbox: 0.3192, d3.loss_cls: 0.1418, d3.loss_bbox: 0.3123, d4.loss_cls: 0.1370, d4.loss_bbox: 0.3116, d5.loss_cls: 0.1357, d5.loss_bbox: 0.3121, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6947, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5323, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5094, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.4961, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4974, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5024, d0.loss_map_cls_all: 0.2136, d0.loss_map_pts_all: 1.3239, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2136, d0.loss_map_pts: 1.3239, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.1808, d1.loss_map_pts: 0.9034, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1596, d2.loss_map_pts: 0.7398, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1500, d3.loss_map_pts: 0.6759, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1434, d4.loss_map_pts: 0.6532, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1384, d5.loss_map_pts: 0.6487, d5.loss_map_dir: 0.0099, loss: 24.8251, grad_norm: 139.4237 +2026-02-27 21:17:22,575 - DriveTransformer - INFO - Epoch [8][13000/39528] lr: 8.063e-05, eta: 5 days, 13:59:57, time: 0.717, data_time: 0.035, memory: 19865, loss_cls: 0.1425, loss_bbox: 0.3570, loss_traj: 0.5373, loss_traj_cls: 0.0013, loss_map_cls: 0.1479, loss_map_pts: 0.6353, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.8653, d0.loss_plan_l1_fix_dist: 0.4749, d1.loss_plan_l1_fix_time: 1.0539, d1.loss_plan_l1_fix_dist: 0.2541, d2.loss_plan_l1_fix_time: 1.0339, d2.loss_plan_l1_fix_dist: 0.2343, d3.loss_plan_l1_fix_time: 1.0325, d3.loss_plan_l1_fix_dist: 0.2191, d4.loss_plan_l1_fix_time: 1.0354, d4.loss_plan_l1_fix_dist: 0.2160, d5.loss_plan_l1_fix_time: 1.0387, d5.loss_plan_l1_fix_dist: 0.2316, d6.loss_plan_l1_fix_time: 1.0420, d6.loss_plan_l1_fix_dist: 0.2396, d0.loss_cls_all: 0.1856, d0.loss_bbox_all: 0.4168, d0.loss_cls: 0.1856, d0.loss_bbox: 0.4168, d1.loss_cls: 0.1784, d1.loss_bbox: 0.3800, d2.loss_cls: 0.1633, d2.loss_bbox: 0.3623, d3.loss_cls: 0.1501, d3.loss_bbox: 0.3584, d4.loss_cls: 0.1426, d4.loss_bbox: 0.3583, d5.loss_cls: 0.1416, d5.loss_bbox: 0.3580, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7672, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6205, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5583, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5431, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5411, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5365, d0.loss_map_cls_all: 0.2319, d0.loss_map_pts_all: 1.2960, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2319, d0.loss_map_pts: 1.2960, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1972, d1.loss_map_pts: 0.8845, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1760, d2.loss_map_pts: 0.7335, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1621, d3.loss_map_pts: 0.6688, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1544, d4.loss_map_pts: 0.6444, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1510, d5.loss_map_pts: 0.6365, d5.loss_map_dir: 0.0090, loss: 27.6988, grad_norm: 139.5048 +2026-02-27 21:17:59,213 - DriveTransformer - INFO - Epoch [8][13050/39528] lr: 8.063e-05, eta: 5 days, 13:59:20, time: 0.731, data_time: 0.038, memory: 19865, loss_cls: 0.1458, loss_bbox: 0.3474, loss_traj: 0.6616, loss_traj_cls: 0.0013, loss_map_cls: 0.1397, loss_map_pts: 0.6456, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.8310, d0.loss_plan_l1_fix_dist: 0.4944, d1.loss_plan_l1_fix_time: 0.9727, d1.loss_plan_l1_fix_dist: 0.2670, d2.loss_plan_l1_fix_time: 0.9643, d2.loss_plan_l1_fix_dist: 0.2545, d3.loss_plan_l1_fix_time: 0.9643, d3.loss_plan_l1_fix_dist: 0.2530, d4.loss_plan_l1_fix_time: 0.9678, d4.loss_plan_l1_fix_dist: 0.2280, d5.loss_plan_l1_fix_time: 0.9715, d5.loss_plan_l1_fix_dist: 0.2221, d6.loss_plan_l1_fix_time: 0.9760, d6.loss_plan_l1_fix_dist: 0.2465, d0.loss_cls_all: 0.1871, d0.loss_bbox_all: 0.4002, d0.loss_cls: 0.1871, d0.loss_bbox: 0.4002, d1.loss_cls: 0.1783, d1.loss_bbox: 0.3693, d2.loss_cls: 0.1644, d2.loss_bbox: 0.3532, d3.loss_cls: 0.1510, d3.loss_bbox: 0.3487, d4.loss_cls: 0.1477, d4.loss_bbox: 0.3460, d5.loss_cls: 0.1454, d5.loss_bbox: 0.3465, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8136, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6813, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6512, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6476, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6492, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6587, d0.loss_map_cls_all: 0.2119, d0.loss_map_pts_all: 1.2217, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2119, d0.loss_map_pts: 1.2217, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1844, d1.loss_map_pts: 0.8724, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1631, d2.loss_map_pts: 0.7290, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1531, d3.loss_map_pts: 0.6687, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1473, d4.loss_map_pts: 0.6475, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1419, d5.loss_map_pts: 0.6438, d5.loss_map_dir: 0.0091, loss: 27.6780, grad_norm: 140.4053 +2026-02-27 21:18:35,778 - DriveTransformer - INFO - Epoch [8][13100/39528] lr: 8.063e-05, eta: 5 days, 13:58:43, time: 0.731, data_time: 0.037, memory: 19865, loss_cls: 0.1211, loss_bbox: 0.3438, loss_traj: 0.5885, loss_traj_cls: 0.0013, loss_map_cls: 0.1217, loss_map_pts: 0.6068, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.6071, d0.loss_plan_l1_fix_dist: 0.4260, d1.loss_plan_l1_fix_time: 0.9232, d1.loss_plan_l1_fix_dist: 0.2779, d2.loss_plan_l1_fix_time: 0.9173, d2.loss_plan_l1_fix_dist: 0.2496, d3.loss_plan_l1_fix_time: 0.9154, d3.loss_plan_l1_fix_dist: 0.2502, d4.loss_plan_l1_fix_time: 0.9191, d4.loss_plan_l1_fix_dist: 0.2316, d5.loss_plan_l1_fix_time: 0.9238, d5.loss_plan_l1_fix_dist: 0.2101, d6.loss_plan_l1_fix_time: 0.9295, d6.loss_plan_l1_fix_dist: 0.2288, d0.loss_cls_all: 0.1706, d0.loss_bbox_all: 0.3960, d0.loss_cls: 0.1706, d0.loss_bbox: 0.3960, d1.loss_cls: 0.1648, d1.loss_bbox: 0.3628, d2.loss_cls: 0.1489, d2.loss_bbox: 0.3455, d3.loss_cls: 0.1323, d3.loss_bbox: 0.3414, d4.loss_cls: 0.1252, d4.loss_bbox: 0.3407, d5.loss_cls: 0.1218, d5.loss_bbox: 0.3421, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8201, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6574, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6045, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5942, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5928, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5881, d0.loss_map_cls_all: 0.2026, d0.loss_map_pts_all: 1.3073, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2026, d0.loss_map_pts: 1.3073, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1728, d1.loss_map_pts: 0.8809, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1457, d2.loss_map_pts: 0.7201, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1349, d3.loss_map_pts: 0.6419, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1280, d4.loss_map_pts: 0.6136, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1230, d5.loss_map_pts: 0.6066, d5.loss_map_dir: 0.0075, loss: 26.4626, grad_norm: 140.3001 +2026-02-27 21:19:12,778 - DriveTransformer - INFO - Epoch [8][13150/39528] lr: 8.063e-05, eta: 5 days, 13:58:11, time: 0.740, data_time: 0.039, memory: 19865, loss_cls: 0.1279, loss_bbox: 0.3237, loss_traj: 0.6012, loss_traj_cls: 0.0012, loss_map_cls: 0.1551, loss_map_pts: 0.6636, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.9684, d0.loss_plan_l1_fix_dist: 0.4740, d1.loss_plan_l1_fix_time: 1.0003, d1.loss_plan_l1_fix_dist: 0.3062, d2.loss_plan_l1_fix_time: 0.9853, d2.loss_plan_l1_fix_dist: 0.2670, d3.loss_plan_l1_fix_time: 0.9871, d3.loss_plan_l1_fix_dist: 0.2613, d4.loss_plan_l1_fix_time: 0.9905, d4.loss_plan_l1_fix_dist: 0.2554, d5.loss_plan_l1_fix_time: 0.9948, d5.loss_plan_l1_fix_dist: 0.2290, d6.loss_plan_l1_fix_time: 1.0004, d6.loss_plan_l1_fix_dist: 0.2325, d0.loss_cls_all: 0.1707, d0.loss_bbox_all: 0.3785, d0.loss_cls: 0.1707, d0.loss_bbox: 0.3785, d1.loss_cls: 0.1647, d1.loss_bbox: 0.3437, d2.loss_cls: 0.1483, d2.loss_bbox: 0.3304, d3.loss_cls: 0.1357, d3.loss_bbox: 0.3250, d4.loss_cls: 0.1300, d4.loss_bbox: 0.3237, d5.loss_cls: 0.1281, d5.loss_bbox: 0.3234, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8603, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6616, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6206, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6093, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6015, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5963, d0.loss_map_cls_all: 0.2378, d0.loss_map_pts_all: 1.3702, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2378, d0.loss_map_pts: 1.3702, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2057, d1.loss_map_pts: 0.9436, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1799, d2.loss_map_pts: 0.7706, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1682, d3.loss_map_pts: 0.6971, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1600, d4.loss_map_pts: 0.6706, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1561, d5.loss_map_pts: 0.6647, d5.loss_map_dir: 0.0086, loss: 28.1338, grad_norm: 140.2218 +2026-02-27 21:19:49,461 - DriveTransformer - INFO - Epoch [8][13200/39528] lr: 8.063e-05, eta: 5 days, 13:57:36, time: 0.734, data_time: 0.039, memory: 19865, loss_cls: 0.1271, loss_bbox: 0.3294, loss_traj: 0.6002, loss_traj_cls: 0.0013, loss_map_cls: 0.1362, loss_map_pts: 0.5636, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.4540, d0.loss_plan_l1_fix_dist: 0.4666, d1.loss_plan_l1_fix_time: 1.0082, d1.loss_plan_l1_fix_dist: 0.2624, d2.loss_plan_l1_fix_time: 1.0030, d2.loss_plan_l1_fix_dist: 0.2208, d3.loss_plan_l1_fix_time: 1.0006, d3.loss_plan_l1_fix_dist: 0.2213, d4.loss_plan_l1_fix_time: 1.0042, d4.loss_plan_l1_fix_dist: 0.2205, d5.loss_plan_l1_fix_time: 1.0086, d5.loss_plan_l1_fix_dist: 0.1917, d6.loss_plan_l1_fix_time: 1.0138, d6.loss_plan_l1_fix_dist: 0.1974, d0.loss_cls_all: 0.1677, d0.loss_bbox_all: 0.3886, d0.loss_cls: 0.1677, d0.loss_bbox: 0.3886, d1.loss_cls: 0.1629, d1.loss_bbox: 0.3549, d2.loss_cls: 0.1506, d2.loss_bbox: 0.3377, d3.loss_cls: 0.1339, d3.loss_bbox: 0.3319, d4.loss_cls: 0.1278, d4.loss_bbox: 0.3296, d5.loss_cls: 0.1269, d5.loss_bbox: 0.3294, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8663, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6744, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6264, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6156, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6061, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6032, d0.loss_map_cls_all: 0.2188, d0.loss_map_pts_all: 1.2129, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2188, d0.loss_map_pts: 1.2129, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1851, d1.loss_map_pts: 0.8224, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1634, d2.loss_map_pts: 0.6578, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1523, d3.loss_map_pts: 0.5923, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1435, d4.loss_map_pts: 0.5752, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1385, d5.loss_map_pts: 0.5652, d5.loss_map_dir: 0.0084, loss: 26.4528, grad_norm: 139.2048 +2026-02-27 21:20:26,497 - DriveTransformer - INFO - Epoch [8][13250/39528] lr: 8.063e-05, eta: 5 days, 13:57:04, time: 0.741, data_time: 0.038, memory: 19865, loss_cls: 0.1352, loss_bbox: 0.3458, loss_traj: 0.6282, loss_traj_cls: 0.0013, loss_map_cls: 0.1550, loss_map_pts: 0.7075, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.6122, d0.loss_plan_l1_fix_dist: 0.4037, d1.loss_plan_l1_fix_time: 0.8404, d1.loss_plan_l1_fix_dist: 0.2441, d2.loss_plan_l1_fix_time: 0.8201, d2.loss_plan_l1_fix_dist: 0.2018, d3.loss_plan_l1_fix_time: 0.8244, d3.loss_plan_l1_fix_dist: 0.1961, d4.loss_plan_l1_fix_time: 0.8281, d4.loss_plan_l1_fix_dist: 0.1890, d5.loss_plan_l1_fix_time: 0.8315, d5.loss_plan_l1_fix_dist: 0.1774, d6.loss_plan_l1_fix_time: 0.8354, d6.loss_plan_l1_fix_dist: 0.1803, d0.loss_cls_all: 0.1816, d0.loss_bbox_all: 0.4082, d0.loss_cls: 0.1816, d0.loss_bbox: 0.4082, d1.loss_cls: 0.1732, d1.loss_bbox: 0.3744, d2.loss_cls: 0.1545, d2.loss_bbox: 0.3597, d3.loss_cls: 0.1404, d3.loss_bbox: 0.3506, d4.loss_cls: 0.1354, d4.loss_bbox: 0.3476, d5.loss_cls: 0.1341, d5.loss_bbox: 0.3462, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8672, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6854, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6453, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6415, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6338, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6301, d0.loss_map_cls_all: 0.2355, d0.loss_map_pts_all: 1.4510, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2355, d0.loss_map_pts: 1.4510, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2033, d1.loss_map_pts: 1.0000, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1845, d2.loss_map_pts: 0.8099, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1712, d3.loss_map_pts: 0.7421, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1624, d4.loss_map_pts: 0.7151, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1574, d5.loss_map_pts: 0.7083, d5.loss_map_dir: 0.0084, loss: 27.2568, grad_norm: 139.0607 +2026-02-27 21:21:03,799 - DriveTransformer - INFO - Epoch [8][13300/39528] lr: 8.063e-05, eta: 5 days, 13:56:37, time: 0.746, data_time: 0.039, memory: 19865, loss_cls: 0.1206, loss_bbox: 0.3305, loss_traj: 0.6513, loss_traj_cls: 0.0013, loss_map_cls: 0.1246, loss_map_pts: 0.6266, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.7461, d0.loss_plan_l1_fix_dist: 0.4835, d1.loss_plan_l1_fix_time: 1.0503, d1.loss_plan_l1_fix_dist: 0.2488, d2.loss_plan_l1_fix_time: 1.0364, d2.loss_plan_l1_fix_dist: 0.2220, d3.loss_plan_l1_fix_time: 1.0246, d3.loss_plan_l1_fix_dist: 0.2097, d4.loss_plan_l1_fix_time: 1.0259, d4.loss_plan_l1_fix_dist: 0.2073, d5.loss_plan_l1_fix_time: 1.0282, d5.loss_plan_l1_fix_dist: 0.2204, d6.loss_plan_l1_fix_time: 1.0310, d6.loss_plan_l1_fix_dist: 0.2162, d0.loss_cls_all: 0.1572, d0.loss_bbox_all: 0.3997, d0.loss_cls: 0.1572, d0.loss_bbox: 0.3997, d1.loss_cls: 0.1508, d1.loss_bbox: 0.3628, d2.loss_cls: 0.1351, d2.loss_bbox: 0.3443, d3.loss_cls: 0.1254, d3.loss_bbox: 0.3342, d4.loss_cls: 0.1231, d4.loss_bbox: 0.3291, d5.loss_cls: 0.1203, d5.loss_bbox: 0.3301, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8926, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7288, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6677, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6564, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6518, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6474, d0.loss_map_cls_all: 0.1996, d0.loss_map_pts_all: 1.3143, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.1996, d0.loss_map_pts: 1.3143, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1689, d1.loss_map_pts: 0.9005, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1459, d2.loss_map_pts: 0.7299, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1352, d3.loss_map_pts: 0.6632, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1299, d4.loss_map_pts: 0.6401, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1251, d5.loss_map_pts: 0.6281, d5.loss_map_dir: 0.0082, loss: 27.6840, grad_norm: 137.8816 +2026-02-27 21:21:41,507 - DriveTransformer - INFO - Epoch [8][13350/39528] lr: 8.063e-05, eta: 5 days, 13:56:14, time: 0.754, data_time: 0.037, memory: 19865, loss_cls: 0.1328, loss_bbox: 0.3198, loss_traj: 0.5493, loss_traj_cls: 0.0014, loss_map_cls: 0.1160, loss_map_pts: 0.5839, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.2706, d0.loss_plan_l1_fix_dist: 0.4695, d1.loss_plan_l1_fix_time: 0.8480, d1.loss_plan_l1_fix_dist: 0.1839, d2.loss_plan_l1_fix_time: 0.8380, d2.loss_plan_l1_fix_dist: 0.2056, d3.loss_plan_l1_fix_time: 0.8354, d3.loss_plan_l1_fix_dist: 0.1905, d4.loss_plan_l1_fix_time: 0.8391, d4.loss_plan_l1_fix_dist: 0.2024, d5.loss_plan_l1_fix_time: 0.8432, d5.loss_plan_l1_fix_dist: 0.2171, d6.loss_plan_l1_fix_time: 0.8476, d6.loss_plan_l1_fix_dist: 0.2167, d0.loss_cls_all: 0.1704, d0.loss_bbox_all: 0.3721, d0.loss_cls: 0.1704, d0.loss_bbox: 0.3721, d1.loss_cls: 0.1640, d1.loss_bbox: 0.3410, d2.loss_cls: 0.1534, d2.loss_bbox: 0.3255, d3.loss_cls: 0.1383, d3.loss_bbox: 0.3216, d4.loss_cls: 0.1337, d4.loss_bbox: 0.3199, d5.loss_cls: 0.1339, d5.loss_bbox: 0.3196, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7234, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5900, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5593, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5542, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5495, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5509, d0.loss_map_cls_all: 0.1872, d0.loss_map_pts_all: 1.2291, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.1872, d0.loss_map_pts: 1.2291, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1574, d1.loss_map_pts: 0.8344, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1400, d2.loss_map_pts: 0.6763, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1304, d3.loss_map_pts: 0.6124, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1222, d4.loss_map_pts: 0.5895, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1170, d5.loss_map_pts: 0.5839, d5.loss_map_dir: 0.0085, loss: 24.5421, grad_norm: 140.0809 +2026-02-27 21:22:19,648 - DriveTransformer - INFO - Epoch [8][13400/39528] lr: 8.063e-05, eta: 5 days, 13:55:56, time: 0.763, data_time: 0.036, memory: 19865, loss_cls: 0.1410, loss_bbox: 0.3473, loss_traj: 0.5842, loss_traj_cls: 0.0013, loss_map_cls: 0.1554, loss_map_pts: 0.7204, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.4366, d0.loss_plan_l1_fix_dist: 0.4428, d1.loss_plan_l1_fix_time: 0.9273, d1.loss_plan_l1_fix_dist: 0.1911, d2.loss_plan_l1_fix_time: 0.9267, d2.loss_plan_l1_fix_dist: 0.2395, d3.loss_plan_l1_fix_time: 0.9276, d3.loss_plan_l1_fix_dist: 0.2342, d4.loss_plan_l1_fix_time: 0.9295, d4.loss_plan_l1_fix_dist: 0.2373, d5.loss_plan_l1_fix_time: 0.9319, d5.loss_plan_l1_fix_dist: 0.2329, d6.loss_plan_l1_fix_time: 0.9362, d6.loss_plan_l1_fix_dist: 0.2374, d0.loss_cls_all: 0.1748, d0.loss_bbox_all: 0.4216, d0.loss_cls: 0.1748, d0.loss_bbox: 0.4216, d1.loss_cls: 0.1702, d1.loss_bbox: 0.3786, d2.loss_cls: 0.1622, d2.loss_bbox: 0.3570, d3.loss_cls: 0.1460, d3.loss_bbox: 0.3520, d4.loss_cls: 0.1413, d4.loss_bbox: 0.3484, d5.loss_cls: 0.1412, d5.loss_bbox: 0.3462, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8032, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6337, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5827, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5787, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5816, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5856, d0.loss_map_cls_all: 0.2463, d0.loss_map_pts_all: 1.5687, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2463, d0.loss_map_pts: 1.5687, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2113, d1.loss_map_pts: 1.0578, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1840, d2.loss_map_pts: 0.8466, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1704, d3.loss_map_pts: 0.7654, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1631, d4.loss_map_pts: 0.7317, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1577, d5.loss_map_pts: 0.7230, d5.loss_map_dir: 0.0098, loss: 28.0055, grad_norm: 143.7613 +2026-02-27 21:22:54,988 - DriveTransformer - INFO - Epoch [8][13450/39528] lr: 8.063e-05, eta: 5 days, 13:55:04, time: 0.707, data_time: 0.036, memory: 19865, loss_cls: 0.1511, loss_bbox: 0.3503, loss_traj: 0.5410, loss_traj_cls: 0.0013, loss_map_cls: 0.1432, loss_map_pts: 0.6764, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.3143, d0.loss_plan_l1_fix_dist: 0.4098, d1.loss_plan_l1_fix_time: 0.9649, d1.loss_plan_l1_fix_dist: 0.1813, d2.loss_plan_l1_fix_time: 0.9594, d2.loss_plan_l1_fix_dist: 0.2318, d3.loss_plan_l1_fix_time: 0.9674, d3.loss_plan_l1_fix_dist: 0.2307, d4.loss_plan_l1_fix_time: 0.9710, d4.loss_plan_l1_fix_dist: 0.2379, d5.loss_plan_l1_fix_time: 0.9740, d5.loss_plan_l1_fix_dist: 0.2261, d6.loss_plan_l1_fix_time: 0.9777, d6.loss_plan_l1_fix_dist: 0.2341, d0.loss_cls_all: 0.1960, d0.loss_bbox_all: 0.4229, d0.loss_cls: 0.1960, d0.loss_bbox: 0.4229, d1.loss_cls: 0.1888, d1.loss_bbox: 0.3870, d2.loss_cls: 0.1736, d2.loss_bbox: 0.3640, d3.loss_cls: 0.1586, d3.loss_bbox: 0.3545, d4.loss_cls: 0.1535, d4.loss_bbox: 0.3504, d5.loss_cls: 0.1520, d5.loss_bbox: 0.3500, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7852, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6140, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5642, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5496, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5459, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5416, d0.loss_map_cls_all: 0.2264, d0.loss_map_pts_all: 1.3592, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2264, d0.loss_map_pts: 1.3592, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1952, d1.loss_map_pts: 0.9540, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1696, d2.loss_map_pts: 0.7749, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1560, d3.loss_map_pts: 0.7090, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1492, d4.loss_map_pts: 0.6838, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1466, d5.loss_map_pts: 0.6769, d5.loss_map_dir: 0.0095, loss: 27.0821, grad_norm: 144.6388 +2026-02-27 21:23:30,867 - DriveTransformer - INFO - Epoch [8][13500/39528] lr: 8.063e-05, eta: 5 days, 13:54:18, time: 0.718, data_time: 0.042, memory: 19865, loss_cls: 0.1403, loss_bbox: 0.3331, loss_traj: 0.6345, loss_traj_cls: 0.0013, loss_map_cls: 0.1356, loss_map_pts: 0.5684, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.7208, d0.loss_plan_l1_fix_dist: 0.4027, d1.loss_plan_l1_fix_time: 1.0076, d1.loss_plan_l1_fix_dist: 0.1824, d2.loss_plan_l1_fix_time: 0.9959, d2.loss_plan_l1_fix_dist: 0.2164, d3.loss_plan_l1_fix_time: 0.9933, d3.loss_plan_l1_fix_dist: 0.2108, d4.loss_plan_l1_fix_time: 0.9961, d4.loss_plan_l1_fix_dist: 0.2196, d5.loss_plan_l1_fix_time: 0.9993, d5.loss_plan_l1_fix_dist: 0.2137, d6.loss_plan_l1_fix_time: 1.0028, d6.loss_plan_l1_fix_dist: 0.2224, d0.loss_cls_all: 0.1841, d0.loss_bbox_all: 0.3927, d0.loss_cls: 0.1841, d0.loss_bbox: 0.3927, d1.loss_cls: 0.1731, d1.loss_bbox: 0.3598, d2.loss_cls: 0.1591, d2.loss_bbox: 0.3403, d3.loss_cls: 0.1484, d3.loss_bbox: 0.3334, d4.loss_cls: 0.1401, d4.loss_bbox: 0.3349, d5.loss_cls: 0.1410, d5.loss_bbox: 0.3313, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8900, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7144, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6651, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6500, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6400, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6366, d0.loss_map_cls_all: 0.2167, d0.loss_map_pts_all: 1.1505, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2167, d0.loss_map_pts: 1.1505, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1862, d1.loss_map_pts: 0.8076, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1620, d2.loss_map_pts: 0.6594, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1506, d3.loss_map_pts: 0.5963, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1417, d4.loss_map_pts: 0.5749, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1381, d5.loss_map_pts: 0.5678, d5.loss_map_dir: 0.0063, loss: 26.7836, grad_norm: 146.6541 +2026-02-27 21:24:09,311 - DriveTransformer - INFO - Epoch [8][13550/39528] lr: 8.063e-05, eta: 5 days, 13:54:04, time: 0.769, data_time: 0.037, memory: 19865, loss_cls: 0.1492, loss_bbox: 0.3441, loss_traj: 0.5952, loss_traj_cls: 0.0013, loss_map_cls: 0.1656, loss_map_pts: 0.7099, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.8711, d0.loss_plan_l1_fix_dist: 0.3411, d1.loss_plan_l1_fix_time: 1.1337, d1.loss_plan_l1_fix_dist: 0.1905, d2.loss_plan_l1_fix_time: 1.1217, d2.loss_plan_l1_fix_dist: 0.2059, d3.loss_plan_l1_fix_time: 1.1196, d3.loss_plan_l1_fix_dist: 0.1979, d4.loss_plan_l1_fix_time: 1.1236, d4.loss_plan_l1_fix_dist: 0.1938, d5.loss_plan_l1_fix_time: 1.1280, d5.loss_plan_l1_fix_dist: 0.1924, d6.loss_plan_l1_fix_time: 1.1330, d6.loss_plan_l1_fix_dist: 0.2229, d0.loss_cls_all: 0.1889, d0.loss_bbox_all: 0.4112, d0.loss_cls: 0.1889, d0.loss_bbox: 0.4112, d1.loss_cls: 0.1781, d1.loss_bbox: 0.3723, d2.loss_cls: 0.1672, d2.loss_bbox: 0.3534, d3.loss_cls: 0.1525, d3.loss_bbox: 0.3486, d4.loss_cls: 0.1501, d4.loss_bbox: 0.3448, d5.loss_cls: 0.1493, d5.loss_bbox: 0.3443, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8215, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6578, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6113, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5997, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5969, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5962, d0.loss_map_cls_all: 0.2429, d0.loss_map_pts_all: 1.4428, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2429, d0.loss_map_pts: 1.4428, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2091, d1.loss_map_pts: 1.0102, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1874, d2.loss_map_pts: 0.8134, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1793, d3.loss_map_pts: 0.7387, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1717, d4.loss_map_pts: 0.7165, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1674, d5.loss_map_pts: 0.7108, d5.loss_map_dir: 0.0100, loss: 29.1430, grad_norm: 149.0038 +2026-02-27 21:24:44,475 - DriveTransformer - INFO - Epoch [8][13600/39528] lr: 8.063e-05, eta: 5 days, 13:53:10, time: 0.703, data_time: 0.037, memory: 19865, loss_cls: 0.1535, loss_bbox: 0.3576, loss_traj: 0.5290, loss_traj_cls: 0.0013, loss_map_cls: 0.1559, loss_map_pts: 0.6308, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.8396, d0.loss_plan_l1_fix_dist: 0.3944, d1.loss_plan_l1_fix_time: 0.9979, d1.loss_plan_l1_fix_dist: 0.2020, d2.loss_plan_l1_fix_time: 0.9875, d2.loss_plan_l1_fix_dist: 0.2063, d3.loss_plan_l1_fix_time: 0.9920, d3.loss_plan_l1_fix_dist: 0.2096, d4.loss_plan_l1_fix_time: 0.9964, d4.loss_plan_l1_fix_dist: 0.2175, d5.loss_plan_l1_fix_time: 1.0013, d5.loss_plan_l1_fix_dist: 0.2345, d6.loss_plan_l1_fix_time: 1.0063, d6.loss_plan_l1_fix_dist: 0.2760, d0.loss_cls_all: 0.1991, d0.loss_bbox_all: 0.4282, d0.loss_cls: 0.1991, d0.loss_bbox: 0.4282, d1.loss_cls: 0.1909, d1.loss_bbox: 0.3914, d2.loss_cls: 0.1805, d2.loss_bbox: 0.3686, d3.loss_cls: 0.1602, d3.loss_bbox: 0.3627, d4.loss_cls: 0.1557, d4.loss_bbox: 0.3586, d5.loss_cls: 0.1526, d5.loss_bbox: 0.3577, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7635, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6086, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5605, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5402, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5369, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5329, d0.loss_map_cls_all: 0.2356, d0.loss_map_pts_all: 1.2672, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2356, d0.loss_map_pts: 1.2672, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2015, d1.loss_map_pts: 0.9020, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1806, d2.loss_map_pts: 0.7322, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1719, d3.loss_map_pts: 0.6649, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1622, d4.loss_map_pts: 0.6405, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1575, d5.loss_map_pts: 0.6314, d5.loss_map_dir: 0.0094, loss: 27.3954, grad_norm: 148.8543 +2026-02-27 21:25:20,793 - DriveTransformer - INFO - Epoch [8][13650/39528] lr: 8.063e-05, eta: 5 days, 13:52:30, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.1266, loss_bbox: 0.3142, loss_traj: 0.6963, loss_traj_cls: 0.0014, loss_map_cls: 0.1281, loss_map_pts: 0.5551, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.4325, d0.loss_plan_l1_fix_dist: 0.4421, d1.loss_plan_l1_fix_time: 1.0427, d1.loss_plan_l1_fix_dist: 0.1838, d2.loss_plan_l1_fix_time: 1.0359, d2.loss_plan_l1_fix_dist: 0.1780, d3.loss_plan_l1_fix_time: 1.0323, d3.loss_plan_l1_fix_dist: 0.1824, d4.loss_plan_l1_fix_time: 1.0347, d4.loss_plan_l1_fix_dist: 0.1938, d5.loss_plan_l1_fix_time: 1.0377, d5.loss_plan_l1_fix_dist: 0.2258, d6.loss_plan_l1_fix_time: 1.0416, d6.loss_plan_l1_fix_dist: 0.2457, d0.loss_cls_all: 0.1578, d0.loss_bbox_all: 0.3707, d0.loss_cls: 0.1578, d0.loss_bbox: 0.3707, d1.loss_cls: 0.1554, d1.loss_bbox: 0.3408, d2.loss_cls: 0.1468, d2.loss_bbox: 0.3239, d3.loss_cls: 0.1338, d3.loss_bbox: 0.3198, d4.loss_cls: 0.1293, d4.loss_bbox: 0.3166, d5.loss_cls: 0.1285, d5.loss_bbox: 0.3142, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8881, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7379, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7149, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7012, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7009, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6965, d0.loss_map_cls_all: 0.2003, d0.loss_map_pts_all: 1.1146, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2003, d0.loss_map_pts: 1.1146, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1764, d1.loss_map_pts: 0.7811, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1524, d2.loss_map_pts: 0.6455, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1413, d3.loss_map_pts: 0.5929, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1349, d4.loss_map_pts: 0.5706, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1304, d5.loss_map_pts: 0.5568, d5.loss_map_dir: 0.0067, loss: 26.5081, grad_norm: 149.4898 +2026-02-27 21:25:57,702 - DriveTransformer - INFO - Epoch [8][13700/39528] lr: 8.063e-05, eta: 5 days, 13:51:57, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.1119, loss_bbox: 0.3140, loss_traj: 0.5507, loss_traj_cls: 0.0013, loss_map_cls: 0.1294, loss_map_pts: 0.5520, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.6435, d0.loss_plan_l1_fix_dist: 0.3897, d1.loss_plan_l1_fix_time: 0.9710, d1.loss_plan_l1_fix_dist: 0.1823, d2.loss_plan_l1_fix_time: 0.9502, d2.loss_plan_l1_fix_dist: 0.1805, d3.loss_plan_l1_fix_time: 0.9536, d3.loss_plan_l1_fix_dist: 0.1949, d4.loss_plan_l1_fix_time: 0.9562, d4.loss_plan_l1_fix_dist: 0.2026, d5.loss_plan_l1_fix_time: 0.9591, d5.loss_plan_l1_fix_dist: 0.2215, d6.loss_plan_l1_fix_time: 0.9628, d6.loss_plan_l1_fix_dist: 0.2512, d0.loss_cls_all: 0.1570, d0.loss_bbox_all: 0.3722, d0.loss_cls: 0.1570, d0.loss_bbox: 0.3722, d1.loss_cls: 0.1502, d1.loss_bbox: 0.3420, d2.loss_cls: 0.1353, d2.loss_bbox: 0.3238, d3.loss_cls: 0.1197, d3.loss_bbox: 0.3168, d4.loss_cls: 0.1141, d4.loss_bbox: 0.3138, d5.loss_cls: 0.1113, d5.loss_bbox: 0.3134, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7315, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5926, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5608, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5487, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5510, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5515, d0.loss_map_cls_all: 0.2027, d0.loss_map_pts_all: 1.2229, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2027, d0.loss_map_pts: 1.2229, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1691, d1.loss_map_pts: 0.8189, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1507, d2.loss_map_pts: 0.6517, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1414, d3.loss_map_pts: 0.5877, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1360, d4.loss_map_pts: 0.5615, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1325, d5.loss_map_pts: 0.5536, d5.loss_map_dir: 0.0072, loss: 25.3320, grad_norm: 149.8639 +2026-02-27 21:26:34,029 - DriveTransformer - INFO - Epoch [8][13750/39528] lr: 8.063e-05, eta: 5 days, 13:51:17, time: 0.727, data_time: 0.036, memory: 19865, loss_cls: 0.1218, loss_bbox: 0.3279, loss_traj: 0.6327, loss_traj_cls: 0.0014, loss_map_cls: 0.1152, loss_map_pts: 0.5777, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.7512, d0.loss_plan_l1_fix_dist: 0.4409, d1.loss_plan_l1_fix_time: 0.9677, d1.loss_plan_l1_fix_dist: 0.1977, d2.loss_plan_l1_fix_time: 0.9488, d2.loss_plan_l1_fix_dist: 0.1959, d3.loss_plan_l1_fix_time: 0.9468, d3.loss_plan_l1_fix_dist: 0.2036, d4.loss_plan_l1_fix_time: 0.9494, d4.loss_plan_l1_fix_dist: 0.2073, d5.loss_plan_l1_fix_time: 0.9525, d5.loss_plan_l1_fix_dist: 0.2217, d6.loss_plan_l1_fix_time: 0.9565, d6.loss_plan_l1_fix_dist: 0.2330, d0.loss_cls_all: 0.1585, d0.loss_bbox_all: 0.3910, d0.loss_cls: 0.1585, d0.loss_bbox: 0.3910, d1.loss_cls: 0.1514, d1.loss_bbox: 0.3555, d2.loss_cls: 0.1416, d2.loss_bbox: 0.3366, d3.loss_cls: 0.1276, d3.loss_bbox: 0.3327, d4.loss_cls: 0.1222, d4.loss_bbox: 0.3293, d5.loss_cls: 0.1220, d5.loss_bbox: 0.3270, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9169, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7144, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6581, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6413, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6374, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6323, d0.loss_map_cls_all: 0.1932, d0.loss_map_pts_all: 1.1917, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.1932, d0.loss_map_pts: 1.1917, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1573, d1.loss_map_pts: 0.8300, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1394, d2.loss_map_pts: 0.6685, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1273, d3.loss_map_pts: 0.6066, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1216, d4.loss_map_pts: 0.5857, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1176, d5.loss_map_pts: 0.5781, d5.loss_map_dir: 0.0080, loss: 26.3669, grad_norm: 151.5572 +2026-02-27 21:27:10,385 - DriveTransformer - INFO - Epoch [8][13800/39528] lr: 8.063e-05, eta: 5 days, 13:50:38, time: 0.729, data_time: 0.036, memory: 19865, loss_cls: 0.1456, loss_bbox: 0.3620, loss_traj: 0.5826, loss_traj_cls: 0.0013, loss_map_cls: 0.1454, loss_map_pts: 0.6833, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.6453, d0.loss_plan_l1_fix_dist: 0.4472, d1.loss_plan_l1_fix_time: 0.9795, d1.loss_plan_l1_fix_dist: 0.1838, d2.loss_plan_l1_fix_time: 0.9638, d2.loss_plan_l1_fix_dist: 0.1951, d3.loss_plan_l1_fix_time: 0.9620, d3.loss_plan_l1_fix_dist: 0.1905, d4.loss_plan_l1_fix_time: 0.9637, d4.loss_plan_l1_fix_dist: 0.1962, d5.loss_plan_l1_fix_time: 0.9659, d5.loss_plan_l1_fix_dist: 0.2072, d6.loss_plan_l1_fix_time: 0.9688, d6.loss_plan_l1_fix_dist: 0.2166, d0.loss_cls_all: 0.1865, d0.loss_bbox_all: 0.4273, d0.loss_cls: 0.1865, d0.loss_bbox: 0.4273, d1.loss_cls: 0.1790, d1.loss_bbox: 0.3928, d2.loss_cls: 0.1664, d2.loss_bbox: 0.3723, d3.loss_cls: 0.1511, d3.loss_bbox: 0.3648, d4.loss_cls: 0.1473, d4.loss_bbox: 0.3620, d5.loss_cls: 0.1462, d5.loss_bbox: 0.3606, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8041, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6510, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6108, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5888, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5875, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5847, d0.loss_map_cls_all: 0.2259, d0.loss_map_pts_all: 1.2826, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2259, d0.loss_map_pts: 1.2826, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1968, d1.loss_map_pts: 0.9105, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1743, d2.loss_map_pts: 0.7643, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1620, d3.loss_map_pts: 0.7071, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1529, d4.loss_map_pts: 0.6865, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1473, d5.loss_map_pts: 0.6836, d5.loss_map_dir: 0.0088, loss: 27.3814, grad_norm: 148.9964 +2026-02-27 21:27:46,352 - DriveTransformer - INFO - Epoch [8][13850/39528] lr: 8.063e-05, eta: 5 days, 13:49:53, time: 0.718, data_time: 0.034, memory: 19865, loss_cls: 0.1017, loss_bbox: 0.2927, loss_traj: 0.4568, loss_traj_cls: 0.0014, loss_map_cls: 0.1126, loss_map_pts: 0.5630, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.3482, d0.loss_plan_l1_fix_dist: 0.4072, d1.loss_plan_l1_fix_time: 0.9177, d1.loss_plan_l1_fix_dist: 0.1634, d2.loss_plan_l1_fix_time: 0.9042, d2.loss_plan_l1_fix_dist: 0.1928, d3.loss_plan_l1_fix_time: 0.8924, d3.loss_plan_l1_fix_dist: 0.1712, d4.loss_plan_l1_fix_time: 0.8937, d4.loss_plan_l1_fix_dist: 0.1832, d5.loss_plan_l1_fix_time: 0.8959, d5.loss_plan_l1_fix_dist: 0.1886, d6.loss_plan_l1_fix_time: 0.8986, d6.loss_plan_l1_fix_dist: 0.2056, d0.loss_cls_all: 0.1419, d0.loss_bbox_all: 0.3425, d0.loss_cls: 0.1419, d0.loss_bbox: 0.3425, d1.loss_cls: 0.1323, d1.loss_bbox: 0.3124, d2.loss_cls: 0.1229, d2.loss_bbox: 0.2966, d3.loss_cls: 0.1093, d3.loss_bbox: 0.2940, d4.loss_cls: 0.1035, d4.loss_bbox: 0.2924, d5.loss_cls: 0.1020, d5.loss_bbox: 0.2919, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6366, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5130, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4720, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.4627, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4564, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.4561, d0.loss_map_cls_all: 0.1870, d0.loss_map_pts_all: 1.1802, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1870, d0.loss_map_pts: 1.1802, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1564, d1.loss_map_pts: 0.8265, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1367, d2.loss_map_pts: 0.6634, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1261, d3.loss_map_pts: 0.5947, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1188, d4.loss_map_pts: 0.5713, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1140, d5.loss_map_pts: 0.5637, d5.loss_map_dir: 0.0072, loss: 23.4821, grad_norm: 147.0934 +2026-02-27 21:28:22,476 - DriveTransformer - INFO - Epoch [8][13900/39528] lr: 8.063e-05, eta: 5 days, 13:49:10, time: 0.722, data_time: 0.035, memory: 19865, loss_cls: 0.1338, loss_bbox: 0.3364, loss_traj: 0.5420, loss_traj_cls: 0.0014, loss_map_cls: 0.1379, loss_map_pts: 0.6562, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.5353, d0.loss_plan_l1_fix_dist: 0.4327, d1.loss_plan_l1_fix_time: 0.9175, d1.loss_plan_l1_fix_dist: 0.1733, d2.loss_plan_l1_fix_time: 0.9092, d2.loss_plan_l1_fix_dist: 0.2141, d3.loss_plan_l1_fix_time: 0.9101, d3.loss_plan_l1_fix_dist: 0.1943, d4.loss_plan_l1_fix_time: 0.9143, d4.loss_plan_l1_fix_dist: 0.2066, d5.loss_plan_l1_fix_time: 0.9181, d5.loss_plan_l1_fix_dist: 0.2061, d6.loss_plan_l1_fix_time: 0.9216, d6.loss_plan_l1_fix_dist: 0.2217, d0.loss_cls_all: 0.1782, d0.loss_bbox_all: 0.3945, d0.loss_cls: 0.1782, d0.loss_bbox: 0.3945, d1.loss_cls: 0.1716, d1.loss_bbox: 0.3637, d2.loss_cls: 0.1546, d2.loss_bbox: 0.3442, d3.loss_cls: 0.1404, d3.loss_bbox: 0.3380, d4.loss_cls: 0.1359, d4.loss_bbox: 0.3366, d5.loss_cls: 0.1352, d5.loss_bbox: 0.3355, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7100, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5974, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5541, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5487, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5463, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5425, d0.loss_map_cls_all: 0.2171, d0.loss_map_pts_all: 1.2294, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2171, d0.loss_map_pts: 1.2294, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1796, d1.loss_map_pts: 0.8818, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1598, d2.loss_map_pts: 0.7369, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1480, d3.loss_map_pts: 0.6833, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1436, d4.loss_map_pts: 0.6641, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1389, d5.loss_map_pts: 0.6561, d5.loss_map_dir: 0.0090, loss: 25.9471, grad_norm: 148.7994 +2026-02-27 21:28:58,787 - DriveTransformer - INFO - Epoch [8][13950/39528] lr: 8.063e-05, eta: 5 days, 13:48:30, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.1399, loss_bbox: 0.3305, loss_traj: 0.6767, loss_traj_cls: 0.0013, loss_map_cls: 0.1359, loss_map_pts: 0.6062, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.5237, d0.loss_plan_l1_fix_dist: 0.3756, d1.loss_plan_l1_fix_time: 0.9986, d1.loss_plan_l1_fix_dist: 0.1811, d2.loss_plan_l1_fix_time: 0.9925, d2.loss_plan_l1_fix_dist: 0.2213, d3.loss_plan_l1_fix_time: 0.9949, d3.loss_plan_l1_fix_dist: 0.2012, d4.loss_plan_l1_fix_time: 0.9977, d4.loss_plan_l1_fix_dist: 0.2183, d5.loss_plan_l1_fix_time: 1.0008, d5.loss_plan_l1_fix_dist: 0.2213, d6.loss_plan_l1_fix_time: 1.0040, d6.loss_plan_l1_fix_dist: 0.2301, d0.loss_cls_all: 0.1777, d0.loss_bbox_all: 0.3843, d0.loss_cls: 0.1777, d0.loss_bbox: 0.3843, d1.loss_cls: 0.1691, d1.loss_bbox: 0.3529, d2.loss_cls: 0.1580, d2.loss_bbox: 0.3367, d3.loss_cls: 0.1448, d3.loss_bbox: 0.3329, d4.loss_cls: 0.1413, d4.loss_bbox: 0.3311, d5.loss_cls: 0.1395, d5.loss_bbox: 0.3303, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9355, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7492, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6809, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6753, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6716, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6757, d0.loss_map_cls_all: 0.2131, d0.loss_map_pts_all: 1.2168, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2131, d0.loss_map_pts: 1.2168, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1858, d1.loss_map_pts: 0.8490, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1594, d2.loss_map_pts: 0.6928, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1490, d3.loss_map_pts: 0.6346, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1429, d4.loss_map_pts: 0.6139, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1382, d5.loss_map_pts: 0.6074, d5.loss_map_dir: 0.0078, loss: 27.1007, grad_norm: 146.4617 +2026-02-27 21:29:35,576 - DriveTransformer - INFO - Epoch [8][14000/39528] lr: 8.063e-05, eta: 5 days, 13:47:56, time: 0.736, data_time: 0.037, memory: 19865, loss_cls: 0.1354, loss_bbox: 0.3472, loss_traj: 0.5767, loss_traj_cls: 0.0013, loss_map_cls: 0.1432, loss_map_pts: 0.6824, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.5509, d0.loss_plan_l1_fix_dist: 0.4591, d1.loss_plan_l1_fix_time: 0.9613, d1.loss_plan_l1_fix_dist: 0.2102, d2.loss_plan_l1_fix_time: 0.9417, d2.loss_plan_l1_fix_dist: 0.2280, d3.loss_plan_l1_fix_time: 0.9383, d3.loss_plan_l1_fix_dist: 0.2181, d4.loss_plan_l1_fix_time: 0.9401, d4.loss_plan_l1_fix_dist: 0.2291, d5.loss_plan_l1_fix_time: 0.9429, d5.loss_plan_l1_fix_dist: 0.2484, d6.loss_plan_l1_fix_time: 0.9467, d6.loss_plan_l1_fix_dist: 0.2500, d0.loss_cls_all: 0.1853, d0.loss_bbox_all: 0.4052, d0.loss_cls: 0.1853, d0.loss_bbox: 0.4052, d1.loss_cls: 0.1754, d1.loss_bbox: 0.3680, d2.loss_cls: 0.1609, d2.loss_bbox: 0.3508, d3.loss_cls: 0.1450, d3.loss_bbox: 0.3431, d4.loss_cls: 0.1376, d4.loss_bbox: 0.3423, d5.loss_cls: 0.1356, d5.loss_bbox: 0.3449, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7880, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6416, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5933, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5836, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5741, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5731, d0.loss_map_cls_all: 0.2338, d0.loss_map_pts_all: 1.4095, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2338, d0.loss_map_pts: 1.4095, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1966, d1.loss_map_pts: 0.9818, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1721, d2.loss_map_pts: 0.7935, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1595, d3.loss_map_pts: 0.7194, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1517, d4.loss_map_pts: 0.6925, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1465, d5.loss_map_pts: 0.6830, d5.loss_map_dir: 0.0090, loss: 27.4506, grad_norm: 146.3890 +2026-02-27 21:30:12,532 - DriveTransformer - INFO - Epoch [8][14050/39528] lr: 8.063e-05, eta: 5 days, 13:47:24, time: 0.739, data_time: 0.038, memory: 19865, loss_cls: 0.1288, loss_bbox: 0.3347, loss_traj: 0.5943, loss_traj_cls: 0.0013, loss_map_cls: 0.1201, loss_map_pts: 0.5916, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.5971, d0.loss_plan_l1_fix_dist: 0.3645, d1.loss_plan_l1_fix_time: 0.9207, d1.loss_plan_l1_fix_dist: 0.2097, d2.loss_plan_l1_fix_time: 0.9082, d2.loss_plan_l1_fix_dist: 0.1899, d3.loss_plan_l1_fix_time: 0.9024, d3.loss_plan_l1_fix_dist: 0.1882, d4.loss_plan_l1_fix_time: 0.9057, d4.loss_plan_l1_fix_dist: 0.1940, d5.loss_plan_l1_fix_time: 0.9096, d5.loss_plan_l1_fix_dist: 0.2041, d6.loss_plan_l1_fix_time: 0.9148, d6.loss_plan_l1_fix_dist: 0.2023, d0.loss_cls_all: 0.1688, d0.loss_bbox_all: 0.3888, d0.loss_cls: 0.1688, d0.loss_bbox: 0.3888, d1.loss_cls: 0.1622, d1.loss_bbox: 0.3574, d2.loss_cls: 0.1502, d2.loss_bbox: 0.3415, d3.loss_cls: 0.1347, d3.loss_bbox: 0.3358, d4.loss_cls: 0.1306, d4.loss_bbox: 0.3334, d5.loss_cls: 0.1288, d5.loss_bbox: 0.3344, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8421, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6322, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6002, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5966, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5896, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5934, d0.loss_map_cls_all: 0.2029, d0.loss_map_pts_all: 1.2019, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2029, d0.loss_map_pts: 1.2019, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1704, d1.loss_map_pts: 0.8404, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1461, d2.loss_map_pts: 0.6948, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1346, d3.loss_map_pts: 0.6310, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1265, d4.loss_map_pts: 0.6048, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1216, d5.loss_map_pts: 0.5926, d5.loss_map_dir: 0.0077, loss: 25.7016, grad_norm: 144.2204 +2026-02-27 21:30:50,172 - DriveTransformer - INFO - Epoch [8][14100/39528] lr: 8.063e-05, eta: 5 days, 13:47:00, time: 0.753, data_time: 0.038, memory: 19865, loss_cls: 0.1242, loss_bbox: 0.3389, loss_traj: 0.5564, loss_traj_cls: 0.0013, loss_map_cls: 0.1337, loss_map_pts: 0.6091, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.4362, d0.loss_plan_l1_fix_dist: 0.3968, d1.loss_plan_l1_fix_time: 0.9613, d1.loss_plan_l1_fix_dist: 0.2416, d2.loss_plan_l1_fix_time: 0.9424, d2.loss_plan_l1_fix_dist: 0.1957, d3.loss_plan_l1_fix_time: 0.9267, d3.loss_plan_l1_fix_dist: 0.2038, d4.loss_plan_l1_fix_time: 0.9277, d4.loss_plan_l1_fix_dist: 0.2207, d5.loss_plan_l1_fix_time: 0.9300, d5.loss_plan_l1_fix_dist: 0.2187, d6.loss_plan_l1_fix_time: 0.9328, d6.loss_plan_l1_fix_dist: 0.2279, d0.loss_cls_all: 0.1671, d0.loss_bbox_all: 0.3961, d0.loss_cls: 0.1671, d0.loss_bbox: 0.3961, d1.loss_cls: 0.1604, d1.loss_bbox: 0.3596, d2.loss_cls: 0.1479, d2.loss_bbox: 0.3445, d3.loss_cls: 0.1355, d3.loss_bbox: 0.3387, d4.loss_cls: 0.1273, d4.loss_bbox: 0.3377, d5.loss_cls: 0.1241, d5.loss_bbox: 0.3380, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7287, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5944, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5576, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5561, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5558, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5578, d0.loss_map_cls_all: 0.1968, d0.loss_map_pts_all: 1.2320, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.1968, d0.loss_map_pts: 1.2320, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1706, d1.loss_map_pts: 0.8501, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1537, d2.loss_map_pts: 0.7038, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1425, d3.loss_map_pts: 0.6448, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1380, d4.loss_map_pts: 0.6195, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1350, d5.loss_map_pts: 0.6105, d5.loss_map_dir: 0.0086, loss: 25.7164, grad_norm: 142.0786 +2026-02-27 21:31:26,763 - DriveTransformer - INFO - Epoch [8][14150/39528] lr: 8.063e-05, eta: 5 days, 13:46:23, time: 0.732, data_time: 0.036, memory: 19865, loss_cls: 0.1384, loss_bbox: 0.3516, loss_traj: 0.6336, loss_traj_cls: 0.0013, loss_map_cls: 0.1397, loss_map_pts: 0.6278, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.6393, d0.loss_plan_l1_fix_dist: 0.4135, d1.loss_plan_l1_fix_time: 0.9791, d1.loss_plan_l1_fix_dist: 0.2626, d2.loss_plan_l1_fix_time: 0.9600, d2.loss_plan_l1_fix_dist: 0.2167, d3.loss_plan_l1_fix_time: 0.9613, d3.loss_plan_l1_fix_dist: 0.2156, d4.loss_plan_l1_fix_time: 0.9648, d4.loss_plan_l1_fix_dist: 0.2524, d5.loss_plan_l1_fix_time: 0.9680, d5.loss_plan_l1_fix_dist: 0.2386, d6.loss_plan_l1_fix_time: 0.9717, d6.loss_plan_l1_fix_dist: 0.2610, d0.loss_cls_all: 0.1799, d0.loss_bbox_all: 0.4242, d0.loss_cls: 0.1799, d0.loss_bbox: 0.4242, d1.loss_cls: 0.1742, d1.loss_bbox: 0.3849, d2.loss_cls: 0.1608, d2.loss_bbox: 0.3624, d3.loss_cls: 0.1449, d3.loss_bbox: 0.3576, d4.loss_cls: 0.1389, d4.loss_bbox: 0.3542, d5.loss_cls: 0.1379, d5.loss_bbox: 0.3521, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8751, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6788, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6385, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6276, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6270, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6320, d0.loss_map_cls_all: 0.2202, d0.loss_map_pts_all: 1.3215, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2202, d0.loss_map_pts: 1.3215, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1895, d1.loss_map_pts: 0.9277, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1667, d2.loss_map_pts: 0.7415, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1554, d3.loss_map_pts: 0.6653, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1472, d4.loss_map_pts: 0.6394, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1424, d5.loss_map_pts: 0.6277, d5.loss_map_dir: 0.0098, loss: 27.6192, grad_norm: 142.4141 +2026-02-27 21:32:03,273 - DriveTransformer - INFO - Epoch [8][14200/39528] lr: 8.063e-05, eta: 5 days, 13:45:45, time: 0.730, data_time: 0.037, memory: 19865, loss_cls: 0.1294, loss_bbox: 0.3094, loss_traj: 0.5744, loss_traj_cls: 0.0013, loss_map_cls: 0.1249, loss_map_pts: 0.6262, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.5056, d0.loss_plan_l1_fix_dist: 0.4251, d1.loss_plan_l1_fix_time: 0.9304, d1.loss_plan_l1_fix_dist: 0.2378, d2.loss_plan_l1_fix_time: 0.9085, d2.loss_plan_l1_fix_dist: 0.2042, d3.loss_plan_l1_fix_time: 0.9148, d3.loss_plan_l1_fix_dist: 0.1890, d4.loss_plan_l1_fix_time: 0.9192, d4.loss_plan_l1_fix_dist: 0.2446, d5.loss_plan_l1_fix_time: 0.9230, d5.loss_plan_l1_fix_dist: 0.2199, d6.loss_plan_l1_fix_time: 0.9278, d6.loss_plan_l1_fix_dist: 0.2372, d0.loss_cls_all: 0.1704, d0.loss_bbox_all: 0.3688, d0.loss_cls: 0.1704, d0.loss_bbox: 0.3688, d1.loss_cls: 0.1600, d1.loss_bbox: 0.3365, d2.loss_cls: 0.1492, d2.loss_bbox: 0.3179, d3.loss_cls: 0.1369, d3.loss_bbox: 0.3118, d4.loss_cls: 0.1323, d4.loss_bbox: 0.3094, d5.loss_cls: 0.1290, d5.loss_bbox: 0.3084, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7934, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6245, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5860, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5777, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5709, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5698, d0.loss_map_cls_all: 0.2044, d0.loss_map_pts_all: 1.3023, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2044, d0.loss_map_pts: 1.3023, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1736, d1.loss_map_pts: 0.8997, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1515, d2.loss_map_pts: 0.7299, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1408, d3.loss_map_pts: 0.6580, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1328, d4.loss_map_pts: 0.6365, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1283, d5.loss_map_pts: 0.6254, d5.loss_map_dir: 0.0083, loss: 26.0063, grad_norm: 145.5457 +2026-02-27 21:32:37,984 - DriveTransformer - INFO - Epoch [8][14250/39528] lr: 8.063e-05, eta: 5 days, 13:44:45, time: 0.694, data_time: 0.036, memory: 19865, loss_cls: 0.1373, loss_bbox: 0.3380, loss_traj: 0.6334, loss_traj_cls: 0.0013, loss_map_cls: 0.1340, loss_map_pts: 0.5390, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.9089, d0.loss_plan_l1_fix_dist: 0.4274, d1.loss_plan_l1_fix_time: 1.0235, d1.loss_plan_l1_fix_dist: 0.2490, d2.loss_plan_l1_fix_time: 1.0045, d2.loss_plan_l1_fix_dist: 0.2058, d3.loss_plan_l1_fix_time: 1.0024, d3.loss_plan_l1_fix_dist: 0.1903, d4.loss_plan_l1_fix_time: 1.0042, d4.loss_plan_l1_fix_dist: 0.2320, d5.loss_plan_l1_fix_time: 1.0068, d5.loss_plan_l1_fix_dist: 0.2209, d6.loss_plan_l1_fix_time: 1.0105, d6.loss_plan_l1_fix_dist: 0.2415, d0.loss_cls_all: 0.1811, d0.loss_bbox_all: 0.4030, d0.loss_cls: 0.1811, d0.loss_bbox: 0.4030, d1.loss_cls: 0.1689, d1.loss_bbox: 0.3690, d2.loss_cls: 0.1576, d2.loss_bbox: 0.3506, d3.loss_cls: 0.1452, d3.loss_bbox: 0.3439, d4.loss_cls: 0.1393, d4.loss_bbox: 0.3403, d5.loss_cls: 0.1371, d5.loss_bbox: 0.3379, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8477, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7037, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6507, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6368, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6364, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6350, d0.loss_map_cls_all: 0.1965, d0.loss_map_pts_all: 1.0595, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1965, d0.loss_map_pts: 1.0595, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1801, d1.loss_map_pts: 0.7589, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1566, d2.loss_map_pts: 0.6237, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1460, d3.loss_map_pts: 0.5659, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1409, d4.loss_map_pts: 0.5473, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1363, d5.loss_map_pts: 0.5395, d5.loss_map_dir: 0.0069, loss: 26.6458, grad_norm: 145.7353 +2026-02-27 21:33:15,246 - DriveTransformer - INFO - Epoch [8][14300/39528] lr: 8.063e-05, eta: 5 days, 13:44:17, time: 0.745, data_time: 0.040, memory: 19865, loss_cls: 0.1397, loss_bbox: 0.3477, loss_traj: 0.6393, loss_traj_cls: 0.0013, loss_map_cls: 0.1525, loss_map_pts: 0.6541, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.8555, d0.loss_plan_l1_fix_dist: 0.4018, d1.loss_plan_l1_fix_time: 1.0613, d1.loss_plan_l1_fix_dist: 0.2471, d2.loss_plan_l1_fix_time: 1.0509, d2.loss_plan_l1_fix_dist: 0.1997, d3.loss_plan_l1_fix_time: 1.0502, d3.loss_plan_l1_fix_dist: 0.1988, d4.loss_plan_l1_fix_time: 1.0530, d4.loss_plan_l1_fix_dist: 0.2132, d5.loss_plan_l1_fix_time: 1.0565, d5.loss_plan_l1_fix_dist: 0.2080, d6.loss_plan_l1_fix_time: 1.0606, d6.loss_plan_l1_fix_dist: 0.2225, d0.loss_cls_all: 0.1811, d0.loss_bbox_all: 0.4089, d0.loss_cls: 0.1811, d0.loss_bbox: 0.4089, d1.loss_cls: 0.1747, d1.loss_bbox: 0.3759, d2.loss_cls: 0.1611, d2.loss_bbox: 0.3557, d3.loss_cls: 0.1459, d3.loss_bbox: 0.3503, d4.loss_cls: 0.1415, d4.loss_bbox: 0.3482, d5.loss_cls: 0.1385, d5.loss_bbox: 0.3480, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8621, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7169, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6648, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6471, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6442, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6365, d0.loss_map_cls_all: 0.2261, d0.loss_map_pts_all: 1.3663, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2261, d0.loss_map_pts: 1.3663, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1945, d1.loss_map_pts: 0.9500, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1752, d2.loss_map_pts: 0.7707, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1639, d3.loss_map_pts: 0.6935, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1575, d4.loss_map_pts: 0.6636, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1541, d5.loss_map_pts: 0.6553, d5.loss_map_dir: 0.0086, loss: 28.5405, grad_norm: 147.1628 +2026-02-27 21:33:51,395 - DriveTransformer - INFO - Epoch [8][14350/39528] lr: 8.063e-05, eta: 5 days, 13:43:35, time: 0.723, data_time: 0.036, memory: 19865, loss_cls: 0.1468, loss_bbox: 0.3522, loss_traj: 0.5924, loss_traj_cls: 0.0013, loss_map_cls: 0.1534, loss_map_pts: 0.6819, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.4746, d0.loss_plan_l1_fix_dist: 0.4071, d1.loss_plan_l1_fix_time: 0.9715, d1.loss_plan_l1_fix_dist: 0.2098, d2.loss_plan_l1_fix_time: 0.9536, d2.loss_plan_l1_fix_dist: 0.1790, d3.loss_plan_l1_fix_time: 0.9526, d3.loss_plan_l1_fix_dist: 0.1928, d4.loss_plan_l1_fix_time: 0.9559, d4.loss_plan_l1_fix_dist: 0.1831, d5.loss_plan_l1_fix_time: 0.9595, d5.loss_plan_l1_fix_dist: 0.1984, d6.loss_plan_l1_fix_time: 0.9631, d6.loss_plan_l1_fix_dist: 0.2060, d0.loss_cls_all: 0.1909, d0.loss_bbox_all: 0.4079, d0.loss_cls: 0.1909, d0.loss_bbox: 0.4079, d1.loss_cls: 0.1851, d1.loss_bbox: 0.3796, d2.loss_cls: 0.1688, d2.loss_bbox: 0.3631, d3.loss_cls: 0.1526, d3.loss_bbox: 0.3560, d4.loss_cls: 0.1491, d4.loss_bbox: 0.3528, d5.loss_cls: 0.1458, d5.loss_bbox: 0.3527, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8219, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6648, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6126, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5986, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5953, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5920, d0.loss_map_cls_all: 0.2218, d0.loss_map_pts_all: 1.3330, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2218, d0.loss_map_pts: 1.3330, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1981, d1.loss_map_pts: 0.9473, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1793, d2.loss_map_pts: 0.7784, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1677, d3.loss_map_pts: 0.7143, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1626, d4.loss_map_pts: 0.6896, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1554, d5.loss_map_pts: 0.6826, d5.loss_map_dir: 0.0090, loss: 27.2836, grad_norm: 146.9760 +2026-02-27 21:34:29,675 - DriveTransformer - INFO - Epoch [8][14400/39528] lr: 8.063e-05, eta: 5 days, 13:43:18, time: 0.766, data_time: 0.038, memory: 19865, loss_cls: 0.1303, loss_bbox: 0.3390, loss_traj: 0.5337, loss_traj_cls: 0.0013, loss_map_cls: 0.1293, loss_map_pts: 0.6198, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.2351, d0.loss_plan_l1_fix_dist: 0.4956, d1.loss_plan_l1_fix_time: 0.8568, d1.loss_plan_l1_fix_dist: 0.1961, d2.loss_plan_l1_fix_time: 0.8410, d2.loss_plan_l1_fix_dist: 0.1938, d3.loss_plan_l1_fix_time: 0.8337, d3.loss_plan_l1_fix_dist: 0.2284, d4.loss_plan_l1_fix_time: 0.8374, d4.loss_plan_l1_fix_dist: 0.2040, d5.loss_plan_l1_fix_time: 0.8419, d5.loss_plan_l1_fix_dist: 0.2113, d6.loss_plan_l1_fix_time: 0.8463, d6.loss_plan_l1_fix_dist: 0.2123, d0.loss_cls_all: 0.1697, d0.loss_bbox_all: 0.3967, d0.loss_cls: 0.1697, d0.loss_bbox: 0.3967, d1.loss_cls: 0.1676, d1.loss_bbox: 0.3643, d2.loss_cls: 0.1539, d2.loss_bbox: 0.3479, d3.loss_cls: 0.1402, d3.loss_bbox: 0.3401, d4.loss_cls: 0.1334, d4.loss_bbox: 0.3390, d5.loss_cls: 0.1313, d5.loss_bbox: 0.3373, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7299, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5950, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5563, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5406, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5382, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5346, d0.loss_map_cls_all: 0.2047, d0.loss_map_pts_all: 1.3322, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2047, d0.loss_map_pts: 1.3322, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1746, d1.loss_map_pts: 0.9035, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1552, d2.loss_map_pts: 0.7254, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1426, d3.loss_map_pts: 0.6564, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1371, d4.loss_map_pts: 0.6306, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1318, d5.loss_map_pts: 0.6204, d5.loss_map_dir: 0.0095, loss: 25.3033, grad_norm: 147.1936 +2026-02-27 21:35:05,668 - DriveTransformer - INFO - Epoch [8][14450/39528] lr: 8.063e-05, eta: 5 days, 13:42:34, time: 0.720, data_time: 0.035, memory: 19865, loss_cls: 0.1443, loss_bbox: 0.3410, loss_traj: 0.6717, loss_traj_cls: 0.0013, loss_map_cls: 0.1032, loss_map_pts: 0.5953, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.6689, d0.loss_plan_l1_fix_dist: 0.4387, d1.loss_plan_l1_fix_time: 1.0101, d1.loss_plan_l1_fix_dist: 0.2050, d2.loss_plan_l1_fix_time: 0.9965, d2.loss_plan_l1_fix_dist: 0.2114, d3.loss_plan_l1_fix_time: 0.9956, d3.loss_plan_l1_fix_dist: 0.2642, d4.loss_plan_l1_fix_time: 0.9999, d4.loss_plan_l1_fix_dist: 0.2605, d5.loss_plan_l1_fix_time: 1.0046, d5.loss_plan_l1_fix_dist: 0.2332, d6.loss_plan_l1_fix_time: 1.0103, d6.loss_plan_l1_fix_dist: 0.2477, d0.loss_cls_all: 0.1868, d0.loss_bbox_all: 0.4012, d0.loss_cls: 0.1868, d0.loss_bbox: 0.4012, d1.loss_cls: 0.1790, d1.loss_bbox: 0.3717, d2.loss_cls: 0.1643, d2.loss_bbox: 0.3535, d3.loss_cls: 0.1548, d3.loss_bbox: 0.3441, d4.loss_cls: 0.1483, d4.loss_bbox: 0.3395, d5.loss_cls: 0.1450, d5.loss_bbox: 0.3392, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9336, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7518, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6953, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6742, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6755, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6710, d0.loss_map_cls_all: 0.1688, d0.loss_map_pts_all: 1.1707, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1688, d0.loss_map_pts: 1.1707, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1461, d1.loss_map_pts: 0.8352, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1287, d2.loss_map_pts: 0.6839, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1169, d3.loss_map_pts: 0.6273, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1101, d4.loss_map_pts: 0.6071, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1049, d5.loss_map_pts: 0.5955, d5.loss_map_dir: 0.0083, loss: 27.2257, grad_norm: 154.7887 +2026-02-27 21:35:42,357 - DriveTransformer - INFO - Epoch [8][14500/39528] lr: 8.063e-05, eta: 5 days, 13:41:59, time: 0.734, data_time: 0.037, memory: 19865, loss_cls: 0.1407, loss_bbox: 0.3361, loss_traj: 0.5279, loss_traj_cls: 0.0014, loss_map_cls: 0.1334, loss_map_pts: 0.6407, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.6479, d0.loss_plan_l1_fix_dist: 0.4049, d1.loss_plan_l1_fix_time: 1.0310, d1.loss_plan_l1_fix_dist: 0.1894, d2.loss_plan_l1_fix_time: 1.0185, d2.loss_plan_l1_fix_dist: 0.2067, d3.loss_plan_l1_fix_time: 1.0258, d3.loss_plan_l1_fix_dist: 0.2495, d4.loss_plan_l1_fix_time: 1.0315, d4.loss_plan_l1_fix_dist: 0.2543, d5.loss_plan_l1_fix_time: 1.0373, d5.loss_plan_l1_fix_dist: 0.2182, d6.loss_plan_l1_fix_time: 1.0448, d6.loss_plan_l1_fix_dist: 0.2495, d0.loss_cls_all: 0.1911, d0.loss_bbox_all: 0.3827, d0.loss_cls: 0.1911, d0.loss_bbox: 0.3827, d1.loss_cls: 0.1785, d1.loss_bbox: 0.3546, d2.loss_cls: 0.1618, d2.loss_bbox: 0.3385, d3.loss_cls: 0.1457, d3.loss_bbox: 0.3352, d4.loss_cls: 0.1419, d4.loss_bbox: 0.3334, d5.loss_cls: 0.1403, d5.loss_bbox: 0.3334, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6991, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5844, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5386, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5315, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5260, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5277, d0.loss_map_cls_all: 0.2055, d0.loss_map_pts_all: 1.3002, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2055, d0.loss_map_pts: 1.3002, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1763, d1.loss_map_pts: 0.8933, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1565, d2.loss_map_pts: 0.7287, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1454, d3.loss_map_pts: 0.6661, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1392, d4.loss_map_pts: 0.6501, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1357, d5.loss_map_pts: 0.6417, d5.loss_map_dir: 0.0089, loss: 26.8282, grad_norm: 157.8230 +2026-02-27 21:36:19,537 - DriveTransformer - INFO - Epoch [8][14550/39528] lr: 8.063e-05, eta: 5 days, 13:41:29, time: 0.744, data_time: 0.036, memory: 19865, loss_cls: 0.1351, loss_bbox: 0.3320, loss_traj: 0.6005, loss_traj_cls: 0.0013, loss_map_cls: 0.1376, loss_map_pts: 0.6743, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.8331, d0.loss_plan_l1_fix_dist: 0.4013, d1.loss_plan_l1_fix_time: 1.0113, d1.loss_plan_l1_fix_dist: 0.1928, d2.loss_plan_l1_fix_time: 0.9946, d2.loss_plan_l1_fix_dist: 0.2147, d3.loss_plan_l1_fix_time: 0.9851, d3.loss_plan_l1_fix_dist: 0.2516, d4.loss_plan_l1_fix_time: 0.9872, d4.loss_plan_l1_fix_dist: 0.2442, d5.loss_plan_l1_fix_time: 0.9910, d5.loss_plan_l1_fix_dist: 0.2004, d6.loss_plan_l1_fix_time: 0.9965, d6.loss_plan_l1_fix_dist: 0.2273, d0.loss_cls_all: 0.1786, d0.loss_bbox_all: 0.3905, d0.loss_cls: 0.1786, d0.loss_bbox: 0.3905, d1.loss_cls: 0.1691, d1.loss_bbox: 0.3614, d2.loss_cls: 0.1536, d2.loss_bbox: 0.3437, d3.loss_cls: 0.1401, d3.loss_bbox: 0.3338, d4.loss_cls: 0.1361, d4.loss_bbox: 0.3318, d5.loss_cls: 0.1346, d5.loss_bbox: 0.3314, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8089, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6630, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6021, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6016, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6023, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6000, d0.loss_map_cls_all: 0.2187, d0.loss_map_pts_all: 1.3958, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2187, d0.loss_map_pts: 1.3958, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1868, d1.loss_map_pts: 0.9672, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1642, d2.loss_map_pts: 0.7849, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1517, d3.loss_map_pts: 0.7090, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1434, d4.loss_map_pts: 0.6832, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1388, d5.loss_map_pts: 0.6746, d5.loss_map_dir: 0.0092, loss: 27.7738, grad_norm: 158.5745 +2026-02-27 21:36:55,087 - DriveTransformer - INFO - Epoch [8][14600/39528] lr: 8.063e-05, eta: 5 days, 13:40:41, time: 0.712, data_time: 0.038, memory: 19865, loss_cls: 0.1201, loss_bbox: 0.2962, loss_traj: 0.5391, loss_traj_cls: 0.0014, loss_map_cls: 0.1028, loss_map_pts: 0.5244, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.2730, d0.loss_plan_l1_fix_dist: 0.5167, d1.loss_plan_l1_fix_time: 0.8709, d1.loss_plan_l1_fix_dist: 0.1834, d2.loss_plan_l1_fix_time: 0.8534, d2.loss_plan_l1_fix_dist: 0.1971, d3.loss_plan_l1_fix_time: 0.8499, d3.loss_plan_l1_fix_dist: 0.2331, d4.loss_plan_l1_fix_time: 0.8510, d4.loss_plan_l1_fix_dist: 0.2358, d5.loss_plan_l1_fix_time: 0.8526, d5.loss_plan_l1_fix_dist: 0.2065, d6.loss_plan_l1_fix_time: 0.8550, d6.loss_plan_l1_fix_dist: 0.2251, d0.loss_cls_all: 0.1630, d0.loss_bbox_all: 0.3523, d0.loss_cls: 0.1630, d0.loss_bbox: 0.3523, d1.loss_cls: 0.1570, d1.loss_bbox: 0.3244, d2.loss_cls: 0.1415, d2.loss_bbox: 0.3051, d3.loss_cls: 0.1255, d3.loss_bbox: 0.2998, d4.loss_cls: 0.1216, d4.loss_bbox: 0.2962, d5.loss_cls: 0.1193, d5.loss_bbox: 0.2965, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7300, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5905, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5409, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5405, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5420, d5.loss_traj_cls: 0.0020, d5.loss_traj: 0.5356, d0.loss_map_cls_all: 0.1764, d0.loss_map_pts_all: 1.1151, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1764, d0.loss_map_pts: 1.1151, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1470, d1.loss_map_pts: 0.7545, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1263, d2.loss_map_pts: 0.6051, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1150, d3.loss_map_pts: 0.5508, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1104, d4.loss_map_pts: 0.5299, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1066, d5.loss_map_pts: 0.5245, d5.loss_map_dir: 0.0072, loss: 23.7010, grad_norm: 156.2110 +2026-02-27 21:37:30,790 - DriveTransformer - INFO - Epoch [8][14650/39528] lr: 8.063e-05, eta: 5 days, 13:39:52, time: 0.713, data_time: 0.038, memory: 19865, loss_cls: 0.1329, loss_bbox: 0.3381, loss_traj: 0.6431, loss_traj_cls: 0.0013, loss_map_cls: 0.1493, loss_map_pts: 0.6327, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.5622, d0.loss_plan_l1_fix_dist: 0.4339, d1.loss_plan_l1_fix_time: 0.8207, d1.loss_plan_l1_fix_dist: 0.1754, d2.loss_plan_l1_fix_time: 0.8056, d2.loss_plan_l1_fix_dist: 0.2018, d3.loss_plan_l1_fix_time: 0.8031, d3.loss_plan_l1_fix_dist: 0.2090, d4.loss_plan_l1_fix_time: 0.8068, d4.loss_plan_l1_fix_dist: 0.2141, d5.loss_plan_l1_fix_time: 0.8105, d5.loss_plan_l1_fix_dist: 0.2086, d6.loss_plan_l1_fix_time: 0.8146, d6.loss_plan_l1_fix_dist: 0.2186, d0.loss_cls_all: 0.1751, d0.loss_bbox_all: 0.3939, d0.loss_cls: 0.1751, d0.loss_bbox: 0.3939, d1.loss_cls: 0.1649, d1.loss_bbox: 0.3650, d2.loss_cls: 0.1512, d2.loss_bbox: 0.3492, d3.loss_cls: 0.1366, d3.loss_bbox: 0.3419, d4.loss_cls: 0.1328, d4.loss_bbox: 0.3390, d5.loss_cls: 0.1321, d5.loss_bbox: 0.3368, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8504, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7060, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6571, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6540, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6496, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6415, d0.loss_map_cls_all: 0.2226, d0.loss_map_pts_all: 1.2845, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2226, d0.loss_map_pts: 1.2845, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1916, d1.loss_map_pts: 0.9064, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1706, d2.loss_map_pts: 0.7353, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1589, d3.loss_map_pts: 0.6657, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1546, d4.loss_map_pts: 0.6394, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1511, d5.loss_map_pts: 0.6324, d5.loss_map_dir: 0.0083, loss: 26.2176, grad_norm: 154.9864 +2026-02-27 21:38:06,385 - DriveTransformer - INFO - Epoch [8][14700/39528] lr: 8.063e-05, eta: 5 days, 13:39:03, time: 0.712, data_time: 0.037, memory: 19865, loss_cls: 0.1351, loss_bbox: 0.3380, loss_traj: 0.5491, loss_traj_cls: 0.0013, loss_map_cls: 0.1445, loss_map_pts: 0.6277, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.5963, d0.loss_plan_l1_fix_dist: 0.4715, d1.loss_plan_l1_fix_time: 1.0143, d1.loss_plan_l1_fix_dist: 0.1820, d2.loss_plan_l1_fix_time: 0.9984, d2.loss_plan_l1_fix_dist: 0.2413, d3.loss_plan_l1_fix_time: 0.9925, d3.loss_plan_l1_fix_dist: 0.2177, d4.loss_plan_l1_fix_time: 0.9945, d4.loss_plan_l1_fix_dist: 0.2025, d5.loss_plan_l1_fix_time: 0.9977, d5.loss_plan_l1_fix_dist: 0.1964, d6.loss_plan_l1_fix_time: 1.0009, d6.loss_plan_l1_fix_dist: 0.2161, d0.loss_cls_all: 0.1791, d0.loss_bbox_all: 0.3939, d0.loss_cls: 0.1791, d0.loss_bbox: 0.3939, d1.loss_cls: 0.1709, d1.loss_bbox: 0.3599, d2.loss_cls: 0.1557, d2.loss_bbox: 0.3442, d3.loss_cls: 0.1426, d3.loss_bbox: 0.3360, d4.loss_cls: 0.1377, d4.loss_bbox: 0.3360, d5.loss_cls: 0.1345, d5.loss_bbox: 0.3376, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7447, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6118, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5623, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5537, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5517, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5501, d0.loss_map_cls_all: 0.2198, d0.loss_map_pts_all: 1.2440, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2198, d0.loss_map_pts: 1.2440, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1931, d1.loss_map_pts: 0.8864, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1691, d2.loss_map_pts: 0.7193, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1581, d3.loss_map_pts: 0.6557, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1510, d4.loss_map_pts: 0.6357, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1459, d5.loss_map_pts: 0.6283, d5.loss_map_dir: 0.0080, loss: 26.6313, grad_norm: 155.9242 +2026-02-27 21:38:44,520 - DriveTransformer - INFO - Epoch [8][14750/39528] lr: 8.063e-05, eta: 5 days, 13:38:45, time: 0.763, data_time: 0.037, memory: 19865, loss_cls: 0.1251, loss_bbox: 0.3207, loss_traj: 0.5189, loss_traj_cls: 0.0013, loss_map_cls: 0.1334, loss_map_pts: 0.6592, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.2999, d0.loss_plan_l1_fix_dist: 0.4456, d1.loss_plan_l1_fix_time: 0.8294, d1.loss_plan_l1_fix_dist: 0.1991, d2.loss_plan_l1_fix_time: 0.8180, d2.loss_plan_l1_fix_dist: 0.2681, d3.loss_plan_l1_fix_time: 0.8118, d3.loss_plan_l1_fix_dist: 0.2372, d4.loss_plan_l1_fix_time: 0.8149, d4.loss_plan_l1_fix_dist: 0.2116, d5.loss_plan_l1_fix_time: 0.8192, d5.loss_plan_l1_fix_dist: 0.2144, d6.loss_plan_l1_fix_time: 0.8241, d6.loss_plan_l1_fix_dist: 0.2335, d0.loss_cls_all: 0.1616, d0.loss_bbox_all: 0.3720, d0.loss_cls: 0.1616, d0.loss_bbox: 0.3720, d1.loss_cls: 0.1587, d1.loss_bbox: 0.3452, d2.loss_cls: 0.1422, d2.loss_bbox: 0.3296, d3.loss_cls: 0.1280, d3.loss_bbox: 0.3254, d4.loss_cls: 0.1246, d4.loss_bbox: 0.3196, d5.loss_cls: 0.1247, d5.loss_bbox: 0.3189, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7671, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6034, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5441, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5254, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5195, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5171, d0.loss_map_cls_all: 0.2026, d0.loss_map_pts_all: 1.3269, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2026, d0.loss_map_pts: 1.3269, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1775, d1.loss_map_pts: 0.9324, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1542, d2.loss_map_pts: 0.7524, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1449, d3.loss_map_pts: 0.6947, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1419, d4.loss_map_pts: 0.6684, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1364, d5.loss_map_pts: 0.6608, d5.loss_map_dir: 0.0096, loss: 25.2498, grad_norm: 158.4177 +2026-02-27 21:39:19,986 - DriveTransformer - INFO - Epoch [8][14800/39528] lr: 8.063e-05, eta: 5 days, 13:37:55, time: 0.709, data_time: 0.039, memory: 19865, loss_cls: 0.1338, loss_bbox: 0.3522, loss_traj: 0.6293, loss_traj_cls: 0.0013, loss_map_cls: 0.1330, loss_map_pts: 0.5431, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.4366, d0.loss_plan_l1_fix_dist: 0.3332, d1.loss_plan_l1_fix_time: 1.0033, d1.loss_plan_l1_fix_dist: 0.1844, d2.loss_plan_l1_fix_time: 0.9885, d2.loss_plan_l1_fix_dist: 0.2594, d3.loss_plan_l1_fix_time: 0.9860, d3.loss_plan_l1_fix_dist: 0.2405, d4.loss_plan_l1_fix_time: 0.9883, d4.loss_plan_l1_fix_dist: 0.2073, d5.loss_plan_l1_fix_time: 0.9911, d5.loss_plan_l1_fix_dist: 0.1991, d6.loss_plan_l1_fix_time: 0.9946, d6.loss_plan_l1_fix_dist: 0.2023, d0.loss_cls_all: 0.1842, d0.loss_bbox_all: 0.4004, d0.loss_cls: 0.1842, d0.loss_bbox: 0.4004, d1.loss_cls: 0.1787, d1.loss_bbox: 0.3691, d2.loss_cls: 0.1603, d2.loss_bbox: 0.3540, d3.loss_cls: 0.1411, d3.loss_bbox: 0.3512, d4.loss_cls: 0.1332, d4.loss_bbox: 0.3506, d5.loss_cls: 0.1338, d5.loss_bbox: 0.3502, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8491, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6973, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6444, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6298, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6289, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6300, d0.loss_map_cls_all: 0.2028, d0.loss_map_pts_all: 1.1054, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2028, d0.loss_map_pts: 1.1054, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1762, d1.loss_map_pts: 0.7560, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1581, d2.loss_map_pts: 0.6192, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1430, d3.loss_map_pts: 0.5703, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1367, d4.loss_map_pts: 0.5528, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1342, d5.loss_map_pts: 0.5440, d5.loss_map_dir: 0.0072, loss: 26.0482, grad_norm: 158.9526 +2026-02-27 21:39:54,993 - DriveTransformer - INFO - Epoch [8][14850/39528] lr: 8.063e-05, eta: 5 days, 13:36:59, time: 0.700, data_time: 0.037, memory: 19865, loss_cls: 0.1394, loss_bbox: 0.3525, loss_traj: 0.6857, loss_traj_cls: 0.0013, loss_map_cls: 0.1308, loss_map_pts: 0.5900, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.7074, d0.loss_plan_l1_fix_dist: 0.4230, d1.loss_plan_l1_fix_time: 1.0365, d1.loss_plan_l1_fix_dist: 0.2108, d2.loss_plan_l1_fix_time: 1.0198, d2.loss_plan_l1_fix_dist: 0.2768, d3.loss_plan_l1_fix_time: 1.0114, d3.loss_plan_l1_fix_dist: 0.2641, d4.loss_plan_l1_fix_time: 1.0121, d4.loss_plan_l1_fix_dist: 0.2286, d5.loss_plan_l1_fix_time: 1.0145, d5.loss_plan_l1_fix_dist: 0.2152, d6.loss_plan_l1_fix_time: 1.0177, d6.loss_plan_l1_fix_dist: 0.2332, d0.loss_cls_all: 0.1879, d0.loss_bbox_all: 0.4077, d0.loss_cls: 0.1879, d0.loss_bbox: 0.4077, d1.loss_cls: 0.1790, d1.loss_bbox: 0.3774, d2.loss_cls: 0.1640, d2.loss_bbox: 0.3567, d3.loss_cls: 0.1459, d3.loss_bbox: 0.3517, d4.loss_cls: 0.1405, d4.loss_bbox: 0.3500, d5.loss_cls: 0.1388, d5.loss_bbox: 0.3516, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9768, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7754, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.7110, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6995, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6919, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6866, d0.loss_map_cls_all: 0.1946, d0.loss_map_pts_all: 1.1423, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1946, d0.loss_map_pts: 1.1423, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1671, d1.loss_map_pts: 0.8186, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1492, d2.loss_map_pts: 0.6721, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1396, d3.loss_map_pts: 0.6145, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1351, d4.loss_map_pts: 0.5967, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1323, d5.loss_map_pts: 0.5904, d5.loss_map_dir: 0.0068, loss: 27.6063, grad_norm: 158.6975 +2026-02-27 21:40:31,039 - DriveTransformer - INFO - Epoch [8][14900/39528] lr: 8.063e-05, eta: 5 days, 13:36:16, time: 0.721, data_time: 0.037, memory: 19865, loss_cls: 0.1269, loss_bbox: 0.3355, loss_traj: 0.6817, loss_traj_cls: 0.0014, loss_map_cls: 0.1335, loss_map_pts: 0.5062, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.3716, d0.loss_plan_l1_fix_dist: 0.3605, d1.loss_plan_l1_fix_time: 0.8556, d1.loss_plan_l1_fix_dist: 0.1850, d2.loss_plan_l1_fix_time: 0.8383, d2.loss_plan_l1_fix_dist: 0.2511, d3.loss_plan_l1_fix_time: 0.8332, d3.loss_plan_l1_fix_dist: 0.2357, d4.loss_plan_l1_fix_time: 0.8368, d4.loss_plan_l1_fix_dist: 0.1870, d5.loss_plan_l1_fix_time: 0.8409, d5.loss_plan_l1_fix_dist: 0.1782, d6.loss_plan_l1_fix_time: 0.8455, d6.loss_plan_l1_fix_dist: 0.2118, d0.loss_cls_all: 0.1631, d0.loss_bbox_all: 0.3906, d0.loss_cls: 0.1631, d0.loss_bbox: 0.3906, d1.loss_cls: 0.1566, d1.loss_bbox: 0.3583, d2.loss_cls: 0.1443, d2.loss_bbox: 0.3412, d3.loss_cls: 0.1298, d3.loss_bbox: 0.3399, d4.loss_cls: 0.1270, d4.loss_bbox: 0.3362, d5.loss_cls: 0.1263, d5.loss_bbox: 0.3356, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9677, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7681, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.7044, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6948, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6826, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6820, d0.loss_map_cls_all: 0.1968, d0.loss_map_pts_all: 1.0589, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1968, d0.loss_map_pts: 1.0589, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1667, d1.loss_map_pts: 0.7380, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1457, d2.loss_map_pts: 0.6029, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1377, d3.loss_map_pts: 0.5412, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1361, d4.loss_map_pts: 0.5173, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1333, d5.loss_map_pts: 0.5086, d5.loss_map_dir: 0.0064, loss: 25.0135, grad_norm: 161.0426 +2026-02-27 21:41:07,816 - DriveTransformer - INFO - Epoch [8][14950/39528] lr: 8.063e-05, eta: 5 days, 13:35:41, time: 0.736, data_time: 0.037, memory: 19865, loss_cls: 0.1574, loss_bbox: 0.3499, loss_traj: 0.5913, loss_traj_cls: 0.0013, loss_map_cls: 0.1663, loss_map_pts: 0.7852, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.6409, d0.loss_plan_l1_fix_dist: 0.3932, d1.loss_plan_l1_fix_time: 0.9327, d1.loss_plan_l1_fix_dist: 0.2047, d2.loss_plan_l1_fix_time: 0.9144, d2.loss_plan_l1_fix_dist: 0.2439, d3.loss_plan_l1_fix_time: 0.9131, d3.loss_plan_l1_fix_dist: 0.2380, d4.loss_plan_l1_fix_time: 0.9161, d4.loss_plan_l1_fix_dist: 0.2049, d5.loss_plan_l1_fix_time: 0.9193, d5.loss_plan_l1_fix_dist: 0.2075, d6.loss_plan_l1_fix_time: 0.9230, d6.loss_plan_l1_fix_dist: 0.2331, d0.loss_cls_all: 0.2093, d0.loss_bbox_all: 0.4190, d0.loss_cls: 0.2093, d0.loss_bbox: 0.4190, d1.loss_cls: 0.1976, d1.loss_bbox: 0.3877, d2.loss_cls: 0.1833, d2.loss_bbox: 0.3628, d3.loss_cls: 0.1648, d3.loss_bbox: 0.3579, d4.loss_cls: 0.1603, d4.loss_bbox: 0.3529, d5.loss_cls: 0.1564, d5.loss_bbox: 0.3525, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8081, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6558, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6099, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5973, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5884, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5872, d0.loss_map_cls_all: 0.2399, d0.loss_map_pts_all: 1.4712, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2399, d0.loss_map_pts: 1.4712, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2129, d1.loss_map_pts: 1.0811, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1952, d2.loss_map_pts: 0.9043, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1831, d3.loss_map_pts: 0.8286, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1742, d4.loss_map_pts: 0.7961, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1682, d5.loss_map_pts: 0.7878, d5.loss_map_dir: 0.0092, loss: 28.5465, grad_norm: 157.2211 +2026-02-27 21:41:43,981 - DriveTransformer - INFO - Epoch [8][15000/39528] lr: 8.063e-05, eta: 5 days, 13:35:00, time: 0.723, data_time: 0.039, memory: 19865, loss_cls: 0.1085, loss_bbox: 0.2960, loss_traj: 0.6434, loss_traj_cls: 0.0014, loss_map_cls: 0.1294, loss_map_pts: 0.5685, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.5272, d0.loss_plan_l1_fix_dist: 0.4385, d1.loss_plan_l1_fix_time: 0.8890, d1.loss_plan_l1_fix_dist: 0.2114, d2.loss_plan_l1_fix_time: 0.8688, d2.loss_plan_l1_fix_dist: 0.2027, d3.loss_plan_l1_fix_time: 0.8631, d3.loss_plan_l1_fix_dist: 0.2015, d4.loss_plan_l1_fix_time: 0.8661, d4.loss_plan_l1_fix_dist: 0.2003, d5.loss_plan_l1_fix_time: 0.8697, d5.loss_plan_l1_fix_dist: 0.2068, d6.loss_plan_l1_fix_time: 0.8744, d6.loss_plan_l1_fix_dist: 0.2237, d0.loss_cls_all: 0.1387, d0.loss_bbox_all: 0.3540, d0.loss_cls: 0.1387, d0.loss_bbox: 0.3540, d1.loss_cls: 0.1361, d1.loss_bbox: 0.3207, d2.loss_cls: 0.1261, d2.loss_bbox: 0.3003, d3.loss_cls: 0.1132, d3.loss_bbox: 0.2936, d4.loss_cls: 0.1091, d4.loss_bbox: 0.2937, d5.loss_cls: 0.1079, d5.loss_bbox: 0.2943, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8893, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7027, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6483, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6334, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6410, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6394, d0.loss_map_cls_all: 0.1979, d0.loss_map_pts_all: 1.1386, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1979, d0.loss_map_pts: 1.1386, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1666, d1.loss_map_pts: 0.7975, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1486, d2.loss_map_pts: 0.6524, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1391, d3.loss_map_pts: 0.6010, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1330, d4.loss_map_pts: 0.5771, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1303, d5.loss_map_pts: 0.5711, d5.loss_map_dir: 0.0064, loss: 25.0709, grad_norm: 153.9392 +2026-02-27 21:42:19,262 - DriveTransformer - INFO - Epoch [8][15050/39528] lr: 8.063e-05, eta: 5 days, 13:34:07, time: 0.706, data_time: 0.036, memory: 19865, loss_cls: 0.1299, loss_bbox: 0.3286, loss_traj: 0.6280, loss_traj_cls: 0.0014, loss_map_cls: 0.1206, loss_map_pts: 0.5704, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.6811, d0.loss_plan_l1_fix_dist: 0.4163, d1.loss_plan_l1_fix_time: 0.9841, d1.loss_plan_l1_fix_dist: 0.2398, d2.loss_plan_l1_fix_time: 0.9671, d2.loss_plan_l1_fix_dist: 0.2039, d3.loss_plan_l1_fix_time: 0.9585, d3.loss_plan_l1_fix_dist: 0.2206, d4.loss_plan_l1_fix_time: 0.9604, d4.loss_plan_l1_fix_dist: 0.2155, d5.loss_plan_l1_fix_time: 0.9640, d5.loss_plan_l1_fix_dist: 0.2229, d6.loss_plan_l1_fix_time: 0.9684, d6.loss_plan_l1_fix_dist: 0.2546, d0.loss_cls_all: 0.1699, d0.loss_bbox_all: 0.3786, d0.loss_cls: 0.1699, d0.loss_bbox: 0.3786, d1.loss_cls: 0.1644, d1.loss_bbox: 0.3473, d2.loss_cls: 0.1497, d2.loss_bbox: 0.3306, d3.loss_cls: 0.1392, d3.loss_bbox: 0.3245, d4.loss_cls: 0.1291, d4.loss_bbox: 0.3256, d5.loss_cls: 0.1287, d5.loss_bbox: 0.3265, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8548, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6736, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6388, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6299, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6283, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6279, d0.loss_map_cls_all: 0.1965, d0.loss_map_pts_all: 1.1680, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1965, d0.loss_map_pts: 1.1680, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1651, d1.loss_map_pts: 0.8291, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1441, d2.loss_map_pts: 0.6622, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1324, d3.loss_map_pts: 0.5975, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1263, d4.loss_map_pts: 0.5767, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1226, d5.loss_map_pts: 0.5709, d5.loss_map_dir: 0.0073, loss: 26.2721, grad_norm: 156.5568 +2026-02-27 21:42:54,019 - DriveTransformer - INFO - Epoch [8][15100/39528] lr: 8.063e-05, eta: 5 days, 13:33:08, time: 0.695, data_time: 0.040, memory: 19865, loss_cls: 0.1440, loss_bbox: 0.3480, loss_traj: 0.6785, loss_traj_cls: 0.0013, loss_map_cls: 0.1257, loss_map_pts: 0.5944, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.5834, d0.loss_plan_l1_fix_dist: 0.3929, d1.loss_plan_l1_fix_time: 0.9377, d1.loss_plan_l1_fix_dist: 0.2453, d2.loss_plan_l1_fix_time: 0.9264, d2.loss_plan_l1_fix_dist: 0.1945, d3.loss_plan_l1_fix_time: 0.9238, d3.loss_plan_l1_fix_dist: 0.1916, d4.loss_plan_l1_fix_time: 0.9264, d4.loss_plan_l1_fix_dist: 0.1888, d5.loss_plan_l1_fix_time: 0.9296, d5.loss_plan_l1_fix_dist: 0.1966, d6.loss_plan_l1_fix_time: 0.9338, d6.loss_plan_l1_fix_dist: 0.2347, d0.loss_cls_all: 0.1776, d0.loss_bbox_all: 0.4151, d0.loss_cls: 0.1776, d0.loss_bbox: 0.4151, d1.loss_cls: 0.1740, d1.loss_bbox: 0.3754, d2.loss_cls: 0.1614, d2.loss_bbox: 0.3559, d3.loss_cls: 0.1512, d3.loss_bbox: 0.3477, d4.loss_cls: 0.1459, d4.loss_bbox: 0.3454, d5.loss_cls: 0.1439, d5.loss_bbox: 0.3457, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9130, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7241, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6901, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6712, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6749, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6763, d0.loss_map_cls_all: 0.2031, d0.loss_map_pts_all: 1.1482, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2031, d0.loss_map_pts: 1.1482, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1730, d1.loss_map_pts: 0.8303, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1552, d2.loss_map_pts: 0.6847, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1398, d3.loss_map_pts: 0.6215, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1311, d4.loss_map_pts: 0.5956, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1292, d5.loss_map_pts: 0.5925, d5.loss_map_dir: 0.0068, loss: 26.5939, grad_norm: 160.3155 +2026-02-27 21:43:30,057 - DriveTransformer - INFO - Epoch [8][15150/39528] lr: 8.063e-05, eta: 5 days, 13:32:25, time: 0.721, data_time: 0.036, memory: 19865, loss_cls: 0.1536, loss_bbox: 0.3296, loss_traj: 0.5761, loss_traj_cls: 0.0014, loss_map_cls: 0.1489, loss_map_pts: 0.6885, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.5079, d0.loss_plan_l1_fix_dist: 0.4007, d1.loss_plan_l1_fix_time: 0.9396, d1.loss_plan_l1_fix_dist: 0.2643, d2.loss_plan_l1_fix_time: 0.9310, d2.loss_plan_l1_fix_dist: 0.2212, d3.loss_plan_l1_fix_time: 0.9293, d3.loss_plan_l1_fix_dist: 0.1991, d4.loss_plan_l1_fix_time: 0.9324, d4.loss_plan_l1_fix_dist: 0.2051, d5.loss_plan_l1_fix_time: 0.9354, d5.loss_plan_l1_fix_dist: 0.2061, d6.loss_plan_l1_fix_time: 0.9393, d6.loss_plan_l1_fix_dist: 0.2329, d0.loss_cls_all: 0.1990, d0.loss_bbox_all: 0.3936, d0.loss_cls: 0.1990, d0.loss_bbox: 0.3936, d1.loss_cls: 0.1920, d1.loss_bbox: 0.3627, d2.loss_cls: 0.1754, d2.loss_bbox: 0.3411, d3.loss_cls: 0.1608, d3.loss_bbox: 0.3351, d4.loss_cls: 0.1535, d4.loss_bbox: 0.3315, d5.loss_cls: 0.1507, d5.loss_bbox: 0.3318, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8203, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6475, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5979, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5853, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5855, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5807, d0.loss_map_cls_all: 0.2307, d0.loss_map_pts_all: 1.3114, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2307, d0.loss_map_pts: 1.3114, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1982, d1.loss_map_pts: 0.9415, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1742, d2.loss_map_pts: 0.7735, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1632, d3.loss_map_pts: 0.7120, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1567, d4.loss_map_pts: 0.6914, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1525, d5.loss_map_pts: 0.6876, d5.loss_map_dir: 0.0082, loss: 27.0830, grad_norm: 157.8855 +2026-02-27 21:44:05,188 - DriveTransformer - INFO - Epoch [8][15200/39528] lr: 8.063e-05, eta: 5 days, 13:31:31, time: 0.703, data_time: 0.036, memory: 19865, loss_cls: 0.1204, loss_bbox: 0.3147, loss_traj: 0.5227, loss_traj_cls: 0.0014, loss_map_cls: 0.1226, loss_map_pts: 0.6311, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 1.9972, d0.loss_plan_l1_fix_dist: 0.3955, d1.loss_plan_l1_fix_time: 0.8559, d1.loss_plan_l1_fix_dist: 0.2756, d2.loss_plan_l1_fix_time: 0.8447, d2.loss_plan_l1_fix_dist: 0.2408, d3.loss_plan_l1_fix_time: 0.8448, d3.loss_plan_l1_fix_dist: 0.2034, d4.loss_plan_l1_fix_time: 0.8481, d4.loss_plan_l1_fix_dist: 0.2147, d5.loss_plan_l1_fix_time: 0.8514, d5.loss_plan_l1_fix_dist: 0.2119, d6.loss_plan_l1_fix_time: 0.8554, d6.loss_plan_l1_fix_dist: 0.2404, d0.loss_cls_all: 0.1630, d0.loss_bbox_all: 0.3719, d0.loss_cls: 0.1630, d0.loss_bbox: 0.3719, d1.loss_cls: 0.1607, d1.loss_bbox: 0.3386, d2.loss_cls: 0.1466, d2.loss_bbox: 0.3206, d3.loss_cls: 0.1294, d3.loss_bbox: 0.3183, d4.loss_cls: 0.1220, d4.loss_bbox: 0.3138, d5.loss_cls: 0.1200, d5.loss_bbox: 0.3149, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7878, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6096, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5474, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5280, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5194, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5192, d0.loss_map_cls_all: 0.1983, d0.loss_map_pts_all: 1.1654, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1983, d0.loss_map_pts: 1.1654, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1692, d1.loss_map_pts: 0.8542, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1456, d2.loss_map_pts: 0.7081, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1334, d3.loss_map_pts: 0.6563, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1286, d4.loss_map_pts: 0.6370, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1248, d5.loss_map_pts: 0.6313, d5.loss_map_dir: 0.0079, loss: 24.4423, grad_norm: 157.0876 +2026-02-27 21:44:41,853 - DriveTransformer - INFO - Epoch [8][15250/39528] lr: 8.063e-05, eta: 5 days, 13:30:55, time: 0.733, data_time: 0.038, memory: 19865, loss_cls: 0.1471, loss_bbox: 0.3482, loss_traj: 0.7002, loss_traj_cls: 0.0014, loss_map_cls: 0.1518, loss_map_pts: 0.7019, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.7087, d0.loss_plan_l1_fix_dist: 0.4088, d1.loss_plan_l1_fix_time: 0.8496, d1.loss_plan_l1_fix_dist: 0.2846, d2.loss_plan_l1_fix_time: 0.8397, d2.loss_plan_l1_fix_dist: 0.2683, d3.loss_plan_l1_fix_time: 0.8482, d3.loss_plan_l1_fix_dist: 0.2343, d4.loss_plan_l1_fix_time: 0.8524, d4.loss_plan_l1_fix_dist: 0.2459, d5.loss_plan_l1_fix_time: 0.8560, d5.loss_plan_l1_fix_dist: 0.2524, d6.loss_plan_l1_fix_time: 0.8599, d6.loss_plan_l1_fix_dist: 0.2716, d0.loss_cls_all: 0.1843, d0.loss_bbox_all: 0.4121, d0.loss_cls: 0.1843, d0.loss_bbox: 0.4121, d1.loss_cls: 0.1769, d1.loss_bbox: 0.3802, d2.loss_cls: 0.1672, d2.loss_bbox: 0.3588, d3.loss_cls: 0.1552, d3.loss_bbox: 0.3498, d4.loss_cls: 0.1491, d4.loss_bbox: 0.3482, d5.loss_cls: 0.1484, d5.loss_bbox: 0.3461, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9071, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7471, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.7045, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6946, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6935, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6962, d0.loss_map_cls_all: 0.2366, d0.loss_map_pts_all: 1.3599, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2366, d0.loss_map_pts: 1.3599, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.2010, d1.loss_map_pts: 0.9713, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1789, d2.loss_map_pts: 0.8062, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1655, d3.loss_map_pts: 0.7405, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1564, d4.loss_map_pts: 0.7143, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1529, d5.loss_map_pts: 0.7042, d5.loss_map_dir: 0.0079, loss: 28.0989, grad_norm: 156.4609 +2026-02-27 21:45:18,187 - DriveTransformer - INFO - Epoch [8][15300/39528] lr: 8.063e-05, eta: 5 days, 13:30:15, time: 0.727, data_time: 0.038, memory: 19865, loss_cls: 0.1281, loss_bbox: 0.3262, loss_traj: 0.6138, loss_traj_cls: 0.0014, loss_map_cls: 0.1023, loss_map_pts: 0.6086, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.6973, d0.loss_plan_l1_fix_dist: 0.4887, d1.loss_plan_l1_fix_time: 0.9219, d1.loss_plan_l1_fix_dist: 0.2678, d2.loss_plan_l1_fix_time: 0.8942, d2.loss_plan_l1_fix_dist: 0.2600, d3.loss_plan_l1_fix_time: 0.8785, d3.loss_plan_l1_fix_dist: 0.2207, d4.loss_plan_l1_fix_time: 0.8806, d4.loss_plan_l1_fix_dist: 0.2204, d5.loss_plan_l1_fix_time: 0.8843, d5.loss_plan_l1_fix_dist: 0.2333, d6.loss_plan_l1_fix_time: 0.8887, d6.loss_plan_l1_fix_dist: 0.2450, d0.loss_cls_all: 0.1681, d0.loss_bbox_all: 0.3937, d0.loss_cls: 0.1681, d0.loss_bbox: 0.3937, d1.loss_cls: 0.1609, d1.loss_bbox: 0.3602, d2.loss_cls: 0.1455, d2.loss_bbox: 0.3374, d3.loss_cls: 0.1339, d3.loss_bbox: 0.3287, d4.loss_cls: 0.1292, d4.loss_bbox: 0.3260, d5.loss_cls: 0.1292, d5.loss_bbox: 0.3238, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8386, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6592, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6201, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6092, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6092, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6126, d0.loss_map_cls_all: 0.1788, d0.loss_map_pts_all: 1.2175, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1788, d0.loss_map_pts: 1.2175, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1478, d1.loss_map_pts: 0.8312, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1250, d2.loss_map_pts: 0.6911, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1148, d3.loss_map_pts: 0.6361, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1101, d4.loss_map_pts: 0.6138, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1050, d5.loss_map_pts: 0.6093, d5.loss_map_dir: 0.0081, loss: 26.0558, grad_norm: 156.8601 +2026-02-27 21:45:54,451 - DriveTransformer - INFO - Epoch [8][15350/39528] lr: 8.063e-05, eta: 5 days, 13:29:35, time: 0.725, data_time: 0.035, memory: 19865, loss_cls: 0.1683, loss_bbox: 0.3472, loss_traj: 0.6668, loss_traj_cls: 0.0013, loss_map_cls: 0.1575, loss_map_pts: 0.6879, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.7176, d0.loss_plan_l1_fix_dist: 0.3956, d1.loss_plan_l1_fix_time: 1.0384, d1.loss_plan_l1_fix_dist: 0.2589, d2.loss_plan_l1_fix_time: 1.0183, d2.loss_plan_l1_fix_dist: 0.2395, d3.loss_plan_l1_fix_time: 1.0163, d3.loss_plan_l1_fix_dist: 0.2001, d4.loss_plan_l1_fix_time: 1.0201, d4.loss_plan_l1_fix_dist: 0.2042, d5.loss_plan_l1_fix_time: 1.0253, d5.loss_plan_l1_fix_dist: 0.2185, d6.loss_plan_l1_fix_time: 1.0306, d6.loss_plan_l1_fix_dist: 0.2439, d0.loss_cls_all: 0.2037, d0.loss_bbox_all: 0.4058, d0.loss_cls: 0.2037, d0.loss_bbox: 0.4058, d1.loss_cls: 0.1998, d1.loss_bbox: 0.3714, d2.loss_cls: 0.1847, d2.loss_bbox: 0.3543, d3.loss_cls: 0.1744, d3.loss_bbox: 0.3483, d4.loss_cls: 0.1705, d4.loss_bbox: 0.3453, d5.loss_cls: 0.1691, d5.loss_bbox: 0.3451, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9157, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7532, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.7044, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6777, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6670, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6663, d0.loss_map_cls_all: 0.2368, d0.loss_map_pts_all: 1.3209, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2368, d0.loss_map_pts: 1.3209, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.2014, d1.loss_map_pts: 0.9478, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1825, d2.loss_map_pts: 0.7812, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1696, d3.loss_map_pts: 0.7230, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1616, d4.loss_map_pts: 0.6980, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1591, d5.loss_map_pts: 0.6887, d5.loss_map_dir: 0.0080, loss: 28.8189, grad_norm: 157.5596 +2026-02-27 21:46:30,851 - DriveTransformer - INFO - Epoch [8][15400/39528] lr: 8.063e-05, eta: 5 days, 13:28:57, time: 0.729, data_time: 0.036, memory: 19865, loss_cls: 0.1723, loss_bbox: 0.3774, loss_traj: 0.5609, loss_traj_cls: 0.0013, loss_map_cls: 0.2011, loss_map_pts: 0.8101, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.5788, d0.loss_plan_l1_fix_dist: 0.4201, d1.loss_plan_l1_fix_time: 1.0136, d1.loss_plan_l1_fix_dist: 0.2496, d2.loss_plan_l1_fix_time: 1.0065, d2.loss_plan_l1_fix_dist: 0.2330, d3.loss_plan_l1_fix_time: 1.0106, d3.loss_plan_l1_fix_dist: 0.2045, d4.loss_plan_l1_fix_time: 1.0144, d4.loss_plan_l1_fix_dist: 0.2155, d5.loss_plan_l1_fix_time: 1.0181, d5.loss_plan_l1_fix_dist: 0.2235, d6.loss_plan_l1_fix_time: 1.0213, d6.loss_plan_l1_fix_dist: 0.2478, d0.loss_cls_all: 0.2268, d0.loss_bbox_all: 0.4457, d0.loss_cls: 0.2268, d0.loss_bbox: 0.4457, d1.loss_cls: 0.2161, d1.loss_bbox: 0.4069, d2.loss_cls: 0.2035, d2.loss_bbox: 0.3855, d3.loss_cls: 0.1828, d3.loss_bbox: 0.3797, d4.loss_cls: 0.1752, d4.loss_bbox: 0.3767, d5.loss_cls: 0.1730, d5.loss_bbox: 0.3759, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8042, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6372, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5841, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5637, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5622, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5590, d0.loss_map_cls_all: 0.2798, d0.loss_map_pts_all: 1.5528, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2798, d0.loss_map_pts: 1.5528, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2491, d1.loss_map_pts: 1.1377, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.2305, d2.loss_map_pts: 0.9259, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.2178, d3.loss_map_pts: 0.8491, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.2085, d4.loss_map_pts: 0.8211, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.2032, d5.loss_map_pts: 0.8120, d5.loss_map_dir: 0.0099, loss: 29.9129, grad_norm: 157.6925 +2026-02-27 21:47:07,786 - DriveTransformer - INFO - Epoch [8][15450/39528] lr: 8.063e-05, eta: 5 days, 13:28:23, time: 0.737, data_time: 0.036, memory: 19865, loss_cls: 0.1688, loss_bbox: 0.3714, loss_traj: 0.6473, loss_traj_cls: 0.0012, loss_map_cls: 0.1601, loss_map_pts: 0.7256, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 3.1600, d0.loss_plan_l1_fix_dist: 0.4237, d1.loss_plan_l1_fix_time: 1.2137, d1.loss_plan_l1_fix_dist: 0.2159, d2.loss_plan_l1_fix_time: 1.1939, d2.loss_plan_l1_fix_dist: 0.2075, d3.loss_plan_l1_fix_time: 1.1925, d3.loss_plan_l1_fix_dist: 0.1994, d4.loss_plan_l1_fix_time: 1.1946, d4.loss_plan_l1_fix_dist: 0.2185, d5.loss_plan_l1_fix_time: 1.1970, d5.loss_plan_l1_fix_dist: 0.2277, d6.loss_plan_l1_fix_time: 1.2001, d6.loss_plan_l1_fix_dist: 0.2291, d0.loss_cls_all: 0.2140, d0.loss_bbox_all: 0.4382, d0.loss_cls: 0.2140, d0.loss_bbox: 0.4382, d1.loss_cls: 0.2056, d1.loss_bbox: 0.4040, d2.loss_cls: 0.1925, d2.loss_bbox: 0.3846, d3.loss_cls: 0.1762, d3.loss_bbox: 0.3751, d4.loss_cls: 0.1706, d4.loss_bbox: 0.3721, d5.loss_cls: 0.1693, d5.loss_bbox: 0.3709, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9230, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7402, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6773, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6558, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6537, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6461, d0.loss_map_cls_all: 0.2491, d0.loss_map_pts_all: 1.4595, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2491, d0.loss_map_pts: 1.4595, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.2123, d1.loss_map_pts: 1.0276, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1883, d2.loss_map_pts: 0.8352, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1780, d3.loss_map_pts: 0.7662, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1710, d4.loss_map_pts: 0.7351, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1649, d5.loss_map_pts: 0.7278, d5.loss_map_dir: 0.0078, loss: 31.0596, grad_norm: 158.7908 +2026-02-27 21:47:44,876 - DriveTransformer - INFO - Epoch [8][15500/39528] lr: 8.063e-05, eta: 5 days, 13:27:53, time: 0.742, data_time: 0.037, memory: 19865, loss_cls: 0.1326, loss_bbox: 0.3165, loss_traj: 0.5814, loss_traj_cls: 0.0013, loss_map_cls: 0.1334, loss_map_pts: 0.6182, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.6390, d0.loss_plan_l1_fix_dist: 0.3925, d1.loss_plan_l1_fix_time: 0.9876, d1.loss_plan_l1_fix_dist: 0.1938, d2.loss_plan_l1_fix_time: 0.9688, d2.loss_plan_l1_fix_dist: 0.1908, d3.loss_plan_l1_fix_time: 0.9706, d3.loss_plan_l1_fix_dist: 0.1893, d4.loss_plan_l1_fix_time: 0.9731, d4.loss_plan_l1_fix_dist: 0.2092, d5.loss_plan_l1_fix_time: 0.9758, d5.loss_plan_l1_fix_dist: 0.2128, d6.loss_plan_l1_fix_time: 0.9793, d6.loss_plan_l1_fix_dist: 0.2215, d0.loss_cls_all: 0.1708, d0.loss_bbox_all: 0.3871, d0.loss_cls: 0.1708, d0.loss_bbox: 0.3871, d1.loss_cls: 0.1660, d1.loss_bbox: 0.3529, d2.loss_cls: 0.1532, d2.loss_bbox: 0.3325, d3.loss_cls: 0.1393, d3.loss_bbox: 0.3246, d4.loss_cls: 0.1355, d4.loss_bbox: 0.3188, d5.loss_cls: 0.1340, d5.loss_bbox: 0.3161, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8342, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6453, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6021, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5814, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5794, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5794, d0.loss_map_cls_all: 0.2222, d0.loss_map_pts_all: 1.3241, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2222, d0.loss_map_pts: 1.3241, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1848, d1.loss_map_pts: 0.9008, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1607, d2.loss_map_pts: 0.7123, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1493, d3.loss_map_pts: 0.6479, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1409, d4.loss_map_pts: 0.6276, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1353, d5.loss_map_pts: 0.6186, d5.loss_map_dir: 0.0085, loss: 26.6407, grad_norm: 155.5046 +2026-02-27 21:48:19,789 - DriveTransformer - INFO - Epoch [8][15550/39528] lr: 8.063e-05, eta: 5 days, 13:26:56, time: 0.698, data_time: 0.037, memory: 19865, loss_cls: 0.1157, loss_bbox: 0.2939, loss_traj: 0.4886, loss_traj_cls: 0.0014, loss_map_cls: 0.1259, loss_map_pts: 0.5242, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.4881, d0.loss_plan_l1_fix_dist: 0.4860, d1.loss_plan_l1_fix_time: 0.8142, d1.loss_plan_l1_fix_dist: 0.1849, d2.loss_plan_l1_fix_time: 0.7979, d2.loss_plan_l1_fix_dist: 0.1746, d3.loss_plan_l1_fix_time: 0.7928, d3.loss_plan_l1_fix_dist: 0.1726, d4.loss_plan_l1_fix_time: 0.7946, d4.loss_plan_l1_fix_dist: 0.2040, d5.loss_plan_l1_fix_time: 0.7972, d5.loss_plan_l1_fix_dist: 0.2057, d6.loss_plan_l1_fix_time: 0.8007, d6.loss_plan_l1_fix_dist: 0.2298, d0.loss_cls_all: 0.1513, d0.loss_bbox_all: 0.3626, d0.loss_cls: 0.1513, d0.loss_bbox: 0.3626, d1.loss_cls: 0.1436, d1.loss_bbox: 0.3283, d2.loss_cls: 0.1326, d2.loss_bbox: 0.3048, d3.loss_cls: 0.1185, d3.loss_bbox: 0.2995, d4.loss_cls: 0.1162, d4.loss_bbox: 0.2958, d5.loss_cls: 0.1141, d5.loss_bbox: 0.2953, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7107, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5579, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5156, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5011, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4969, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.4893, d0.loss_map_cls_all: 0.1970, d0.loss_map_pts_all: 1.0819, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1970, d0.loss_map_pts: 1.0819, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1734, d1.loss_map_pts: 0.7541, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1504, d2.loss_map_pts: 0.6042, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1375, d3.loss_map_pts: 0.5473, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1331, d4.loss_map_pts: 0.5285, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1294, d5.loss_map_pts: 0.5242, d5.loss_map_dir: 0.0064, loss: 23.2365, grad_norm: 157.0044 +2026-02-27 21:48:56,365 - DriveTransformer - INFO - Epoch [8][15600/39528] lr: 8.063e-05, eta: 5 days, 13:26:19, time: 0.732, data_time: 0.038, memory: 19865, loss_cls: 0.1302, loss_bbox: 0.3229, loss_traj: 0.5470, loss_traj_cls: 0.0014, loss_map_cls: 0.1373, loss_map_pts: 0.6188, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.4015, d0.loss_plan_l1_fix_dist: 0.5032, d1.loss_plan_l1_fix_time: 0.8754, d1.loss_plan_l1_fix_dist: 0.2145, d2.loss_plan_l1_fix_time: 0.8626, d2.loss_plan_l1_fix_dist: 0.1925, d3.loss_plan_l1_fix_time: 0.8587, d3.loss_plan_l1_fix_dist: 0.2004, d4.loss_plan_l1_fix_time: 0.8616, d4.loss_plan_l1_fix_dist: 0.2082, d5.loss_plan_l1_fix_time: 0.8650, d5.loss_plan_l1_fix_dist: 0.2101, d6.loss_plan_l1_fix_time: 0.8689, d6.loss_plan_l1_fix_dist: 0.2224, d0.loss_cls_all: 0.1635, d0.loss_bbox_all: 0.3900, d0.loss_cls: 0.1635, d0.loss_bbox: 0.3900, d1.loss_cls: 0.1610, d1.loss_bbox: 0.3552, d2.loss_cls: 0.1457, d2.loss_bbox: 0.3381, d3.loss_cls: 0.1318, d3.loss_bbox: 0.3292, d4.loss_cls: 0.1301, d4.loss_bbox: 0.3240, d5.loss_cls: 0.1297, d5.loss_bbox: 0.3230, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7280, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6020, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5532, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5422, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5403, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5429, d0.loss_map_cls_all: 0.2128, d0.loss_map_pts_all: 1.2060, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2128, d0.loss_map_pts: 1.2060, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1793, d1.loss_map_pts: 0.8640, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1608, d2.loss_map_pts: 0.7100, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1486, d3.loss_map_pts: 0.6504, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1429, d4.loss_map_pts: 0.6264, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1389, d5.loss_map_pts: 0.6182, d5.loss_map_dir: 0.0080, loss: 25.2316, grad_norm: 155.3195 +2026-02-27 21:49:32,484 - DriveTransformer - INFO - Epoch [8][15650/39528] lr: 8.063e-05, eta: 5 days, 13:25:37, time: 0.722, data_time: 0.038, memory: 19865, loss_cls: 0.1323, loss_bbox: 0.3251, loss_traj: 0.5102, loss_traj_cls: 0.0013, loss_map_cls: 0.1387, loss_map_pts: 0.6145, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.9362, d0.loss_plan_l1_fix_dist: 0.3711, d1.loss_plan_l1_fix_time: 1.0200, d1.loss_plan_l1_fix_dist: 0.1889, d2.loss_plan_l1_fix_time: 1.0042, d2.loss_plan_l1_fix_dist: 0.1805, d3.loss_plan_l1_fix_time: 0.9978, d3.loss_plan_l1_fix_dist: 0.2078, d4.loss_plan_l1_fix_time: 1.0010, d4.loss_plan_l1_fix_dist: 0.2093, d5.loss_plan_l1_fix_time: 1.0043, d5.loss_plan_l1_fix_dist: 0.2217, d6.loss_plan_l1_fix_time: 1.0085, d6.loss_plan_l1_fix_dist: 0.2379, d0.loss_cls_all: 0.1701, d0.loss_bbox_all: 0.3822, d0.loss_cls: 0.1701, d0.loss_bbox: 0.3822, d1.loss_cls: 0.1709, d1.loss_bbox: 0.3515, d2.loss_cls: 0.1518, d2.loss_bbox: 0.3360, d3.loss_cls: 0.1357, d3.loss_bbox: 0.3301, d4.loss_cls: 0.1325, d4.loss_bbox: 0.3267, d5.loss_cls: 0.1320, d5.loss_bbox: 0.3250, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7130, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5849, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5348, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5234, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5147, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5089, d0.loss_map_cls_all: 0.2159, d0.loss_map_pts_all: 1.2743, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2159, d0.loss_map_pts: 1.2743, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1823, d1.loss_map_pts: 0.8909, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1638, d2.loss_map_pts: 0.7223, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1513, d3.loss_map_pts: 0.6521, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1453, d4.loss_map_pts: 0.6276, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1407, d5.loss_map_pts: 0.6157, d5.loss_map_dir: 0.0073, loss: 26.5241, grad_norm: 155.4750 +2026-02-27 21:50:09,544 - DriveTransformer - INFO - Epoch [8][15700/39528] lr: 8.063e-05, eta: 5 days, 13:25:06, time: 0.741, data_time: 0.038, memory: 19865, loss_cls: 0.1363, loss_bbox: 0.3296, loss_traj: 0.5468, loss_traj_cls: 0.0014, loss_map_cls: 0.1394, loss_map_pts: 0.6276, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.4497, d0.loss_plan_l1_fix_dist: 0.4810, d1.loss_plan_l1_fix_time: 1.0375, d1.loss_plan_l1_fix_dist: 0.2213, d2.loss_plan_l1_fix_time: 1.0178, d2.loss_plan_l1_fix_dist: 0.2043, d3.loss_plan_l1_fix_time: 1.0239, d3.loss_plan_l1_fix_dist: 0.2367, d4.loss_plan_l1_fix_time: 1.0276, d4.loss_plan_l1_fix_dist: 0.2184, d5.loss_plan_l1_fix_time: 1.0314, d5.loss_plan_l1_fix_dist: 0.2396, d6.loss_plan_l1_fix_time: 1.0367, d6.loss_plan_l1_fix_dist: 0.2567, d0.loss_cls_all: 0.1731, d0.loss_bbox_all: 0.3883, d0.loss_cls: 0.1731, d0.loss_bbox: 0.3883, d1.loss_cls: 0.1674, d1.loss_bbox: 0.3566, d2.loss_cls: 0.1564, d2.loss_bbox: 0.3377, d3.loss_cls: 0.1427, d3.loss_bbox: 0.3314, d4.loss_cls: 0.1377, d4.loss_bbox: 0.3296, d5.loss_cls: 0.1361, d5.loss_bbox: 0.3288, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7522, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5842, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5479, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5444, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5406, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5433, d0.loss_map_cls_all: 0.2091, d0.loss_map_pts_all: 1.3473, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2091, d0.loss_map_pts: 1.3473, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1776, d1.loss_map_pts: 0.9064, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1584, d2.loss_map_pts: 0.7296, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1508, d3.loss_map_pts: 0.6609, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1455, d4.loss_map_pts: 0.6350, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1417, d5.loss_map_pts: 0.6281, d5.loss_map_dir: 0.0083, loss: 26.8397, grad_norm: 157.3388 +2026-02-27 21:50:48,026 - DriveTransformer - INFO - Epoch [8][15750/39528] lr: 8.063e-05, eta: 5 days, 13:24:52, time: 0.770, data_time: 0.039, memory: 19865, loss_cls: 0.1237, loss_bbox: 0.3180, loss_traj: 0.5280, loss_traj_cls: 0.0013, loss_map_cls: 0.1347, loss_map_pts: 0.6561, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.3358, d0.loss_plan_l1_fix_dist: 0.5389, d1.loss_plan_l1_fix_time: 0.8651, d1.loss_plan_l1_fix_dist: 0.2634, d2.loss_plan_l1_fix_time: 0.8489, d2.loss_plan_l1_fix_dist: 0.2468, d3.loss_plan_l1_fix_time: 0.8456, d3.loss_plan_l1_fix_dist: 0.2784, d4.loss_plan_l1_fix_time: 0.8477, d4.loss_plan_l1_fix_dist: 0.2606, d5.loss_plan_l1_fix_time: 0.8507, d5.loss_plan_l1_fix_dist: 0.2861, d6.loss_plan_l1_fix_time: 0.8540, d6.loss_plan_l1_fix_dist: 0.2974, d0.loss_cls_all: 0.1667, d0.loss_bbox_all: 0.3765, d0.loss_cls: 0.1667, d0.loss_bbox: 0.3765, d1.loss_cls: 0.1576, d1.loss_bbox: 0.3422, d2.loss_cls: 0.1461, d2.loss_bbox: 0.3251, d3.loss_cls: 0.1300, d3.loss_bbox: 0.3197, d4.loss_cls: 0.1264, d4.loss_bbox: 0.3171, d5.loss_cls: 0.1242, d5.loss_bbox: 0.3171, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7217, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5676, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5239, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5212, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5294, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5274, d0.loss_map_cls_all: 0.1974, d0.loss_map_pts_all: 1.3613, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.1974, d0.loss_map_pts: 1.3613, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1694, d1.loss_map_pts: 0.9182, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1518, d2.loss_map_pts: 0.7487, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1433, d3.loss_map_pts: 0.6878, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1386, d4.loss_map_pts: 0.6638, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1348, d5.loss_map_pts: 0.6563, d5.loss_map_dir: 0.0088, loss: 25.7697, grad_norm: 158.4540 +2026-02-27 21:51:24,164 - DriveTransformer - INFO - Epoch [8][15800/39528] lr: 8.063e-05, eta: 5 days, 13:24:10, time: 0.723, data_time: 0.037, memory: 19865, loss_cls: 0.1356, loss_bbox: 0.3504, loss_traj: 0.5714, loss_traj_cls: 0.0013, loss_map_cls: 0.1449, loss_map_pts: 0.6225, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.5787, d0.loss_plan_l1_fix_dist: 0.3917, d1.loss_plan_l1_fix_time: 0.9889, d1.loss_plan_l1_fix_dist: 0.2029, d2.loss_plan_l1_fix_time: 0.9763, d2.loss_plan_l1_fix_dist: 0.1902, d3.loss_plan_l1_fix_time: 0.9756, d3.loss_plan_l1_fix_dist: 0.2166, d4.loss_plan_l1_fix_time: 0.9773, d4.loss_plan_l1_fix_dist: 0.1942, d5.loss_plan_l1_fix_time: 0.9797, d5.loss_plan_l1_fix_dist: 0.1963, d6.loss_plan_l1_fix_time: 0.9821, d6.loss_plan_l1_fix_dist: 0.2142, d0.loss_cls_all: 0.1707, d0.loss_bbox_all: 0.4151, d0.loss_cls: 0.1707, d0.loss_bbox: 0.4151, d1.loss_cls: 0.1618, d1.loss_bbox: 0.3836, d2.loss_cls: 0.1499, d2.loss_bbox: 0.3632, d3.loss_cls: 0.1366, d3.loss_bbox: 0.3568, d4.loss_cls: 0.1343, d4.loss_bbox: 0.3530, d5.loss_cls: 0.1348, d5.loss_bbox: 0.3505, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8011, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6182, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5756, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5656, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5662, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5641, d0.loss_map_cls_all: 0.2158, d0.loss_map_pts_all: 1.2170, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2158, d0.loss_map_pts: 1.2170, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1866, d1.loss_map_pts: 0.8620, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1659, d2.loss_map_pts: 0.7177, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1576, d3.loss_map_pts: 0.6531, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1513, d4.loss_map_pts: 0.6327, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1482, d5.loss_map_pts: 0.6214, d5.loss_map_dir: 0.0070, loss: 26.5000, grad_norm: 154.9838 +2026-02-27 21:51:59,826 - DriveTransformer - INFO - Epoch [8][15850/39528] lr: 8.063e-05, eta: 5 days, 13:23:22, time: 0.713, data_time: 0.036, memory: 19865, loss_cls: 0.1379, loss_bbox: 0.3382, loss_traj: 0.6166, loss_traj_cls: 0.0013, loss_map_cls: 0.1623, loss_map_pts: 0.6535, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.9775, d0.loss_plan_l1_fix_dist: 0.4297, d1.loss_plan_l1_fix_time: 1.0312, d1.loss_plan_l1_fix_dist: 0.2193, d2.loss_plan_l1_fix_time: 1.0120, d2.loss_plan_l1_fix_dist: 0.2147, d3.loss_plan_l1_fix_time: 1.0083, d3.loss_plan_l1_fix_dist: 0.2247, d4.loss_plan_l1_fix_time: 1.0108, d4.loss_plan_l1_fix_dist: 0.2203, d5.loss_plan_l1_fix_time: 1.0132, d5.loss_plan_l1_fix_dist: 0.2302, d6.loss_plan_l1_fix_time: 1.0165, d6.loss_plan_l1_fix_dist: 0.2661, d0.loss_cls_all: 0.1893, d0.loss_bbox_all: 0.3967, d0.loss_cls: 0.1893, d0.loss_bbox: 0.3967, d1.loss_cls: 0.1812, d1.loss_bbox: 0.3623, d2.loss_cls: 0.1639, d2.loss_bbox: 0.3446, d3.loss_cls: 0.1464, d3.loss_bbox: 0.3390, d4.loss_cls: 0.1391, d4.loss_bbox: 0.3390, d5.loss_cls: 0.1373, d5.loss_bbox: 0.3377, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7673, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6486, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6209, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6110, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6122, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6124, d0.loss_map_cls_all: 0.2405, d0.loss_map_pts_all: 1.2865, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2405, d0.loss_map_pts: 1.2865, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2084, d1.loss_map_pts: 0.9349, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1875, d2.loss_map_pts: 0.7645, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1747, d3.loss_map_pts: 0.6895, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1663, d4.loss_map_pts: 0.6616, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1633, d5.loss_map_pts: 0.6529, d5.loss_map_dir: 0.0084, loss: 28.0485, grad_norm: 156.9263 +2026-02-27 21:52:35,341 - DriveTransformer - INFO - Epoch [8][15900/39528] lr: 8.063e-05, eta: 5 days, 13:22:33, time: 0.710, data_time: 0.039, memory: 19865, loss_cls: 0.1464, loss_bbox: 0.3413, loss_traj: 0.6794, loss_traj_cls: 0.0013, loss_map_cls: 0.1511, loss_map_pts: 0.6588, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.8901, d0.loss_plan_l1_fix_dist: 0.4253, d1.loss_plan_l1_fix_time: 1.0002, d1.loss_plan_l1_fix_dist: 0.2321, d2.loss_plan_l1_fix_time: 0.9926, d2.loss_plan_l1_fix_dist: 0.2378, d3.loss_plan_l1_fix_time: 0.9906, d3.loss_plan_l1_fix_dist: 0.2227, d4.loss_plan_l1_fix_time: 0.9946, d4.loss_plan_l1_fix_dist: 0.2120, d5.loss_plan_l1_fix_time: 0.9987, d5.loss_plan_l1_fix_dist: 0.2188, d6.loss_plan_l1_fix_time: 1.0034, d6.loss_plan_l1_fix_dist: 0.2438, d0.loss_cls_all: 0.1842, d0.loss_bbox_all: 0.4080, d0.loss_cls: 0.1842, d0.loss_bbox: 0.4080, d1.loss_cls: 0.1776, d1.loss_bbox: 0.3716, d2.loss_cls: 0.1677, d2.loss_bbox: 0.3514, d3.loss_cls: 0.1507, d3.loss_bbox: 0.3471, d4.loss_cls: 0.1478, d4.loss_bbox: 0.3425, d5.loss_cls: 0.1461, d5.loss_bbox: 0.3413, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9264, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7454, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6988, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6804, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6731, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6743, d0.loss_map_cls_all: 0.2407, d0.loss_map_pts_all: 1.2947, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2407, d0.loss_map_pts: 1.2947, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2038, d1.loss_map_pts: 0.9391, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1760, d2.loss_map_pts: 0.7659, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1616, d3.loss_map_pts: 0.6920, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1543, d4.loss_map_pts: 0.6684, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1510, d5.loss_map_pts: 0.6576, d5.loss_map_dir: 0.0081, loss: 28.4793, grad_norm: 156.2098 +2026-02-27 21:53:11,409 - DriveTransformer - INFO - Epoch [8][15950/39528] lr: 8.063e-05, eta: 5 days, 13:21:50, time: 0.721, data_time: 0.037, memory: 19865, loss_cls: 0.1309, loss_bbox: 0.3342, loss_traj: 0.5369, loss_traj_cls: 0.0013, loss_map_cls: 0.1416, loss_map_pts: 0.6386, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.4289, d0.loss_plan_l1_fix_dist: 0.4170, d1.loss_plan_l1_fix_time: 0.8940, d1.loss_plan_l1_fix_dist: 0.2142, d2.loss_plan_l1_fix_time: 0.8819, d2.loss_plan_l1_fix_dist: 0.2315, d3.loss_plan_l1_fix_time: 0.8845, d3.loss_plan_l1_fix_dist: 0.1977, d4.loss_plan_l1_fix_time: 0.8876, d4.loss_plan_l1_fix_dist: 0.1983, d5.loss_plan_l1_fix_time: 0.8913, d5.loss_plan_l1_fix_dist: 0.2101, d6.loss_plan_l1_fix_time: 0.8958, d6.loss_plan_l1_fix_dist: 0.2355, d0.loss_cls_all: 0.1693, d0.loss_bbox_all: 0.3963, d0.loss_cls: 0.1693, d0.loss_bbox: 0.3963, d1.loss_cls: 0.1655, d1.loss_bbox: 0.3623, d2.loss_cls: 0.1514, d2.loss_bbox: 0.3442, d3.loss_cls: 0.1374, d3.loss_bbox: 0.3391, d4.loss_cls: 0.1304, d4.loss_bbox: 0.3349, d5.loss_cls: 0.1300, d5.loss_bbox: 0.3337, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7462, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5893, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5456, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5402, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5432, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5342, d0.loss_map_cls_all: 0.2197, d0.loss_map_pts_all: 1.3223, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2197, d0.loss_map_pts: 1.3223, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1876, d1.loss_map_pts: 0.9318, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1648, d2.loss_map_pts: 0.7479, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1552, d3.loss_map_pts: 0.6723, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1487, d4.loss_map_pts: 0.6481, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1455, d5.loss_map_pts: 0.6399, d5.loss_map_dir: 0.0087, loss: 25.9109, grad_norm: 157.2782 +2026-02-27 21:53:48,743 - DriveTransformer - INFO - Epoch [8][16000/39528] lr: 8.063e-05, eta: 5 days, 13:21:22, time: 0.747, data_time: 0.037, memory: 19865, loss_cls: 0.1271, loss_bbox: 0.3242, loss_traj: 0.4975, loss_traj_cls: 0.0014, loss_map_cls: 0.1199, loss_map_pts: 0.5710, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.4267, d0.loss_plan_l1_fix_dist: 0.4741, d1.loss_plan_l1_fix_time: 0.9450, d1.loss_plan_l1_fix_dist: 0.2076, d2.loss_plan_l1_fix_time: 0.9288, d2.loss_plan_l1_fix_dist: 0.2304, d3.loss_plan_l1_fix_time: 0.9275, d3.loss_plan_l1_fix_dist: 0.1937, d4.loss_plan_l1_fix_time: 0.9302, d4.loss_plan_l1_fix_dist: 0.2159, d5.loss_plan_l1_fix_time: 0.9342, d5.loss_plan_l1_fix_dist: 0.2024, d6.loss_plan_l1_fix_time: 0.9390, d6.loss_plan_l1_fix_dist: 0.2147, d0.loss_cls_all: 0.1699, d0.loss_bbox_all: 0.3855, d0.loss_cls: 0.1699, d0.loss_bbox: 0.3855, d1.loss_cls: 0.1649, d1.loss_bbox: 0.3538, d2.loss_cls: 0.1510, d2.loss_bbox: 0.3346, d3.loss_cls: 0.1347, d3.loss_bbox: 0.3305, d4.loss_cls: 0.1290, d4.loss_bbox: 0.3253, d5.loss_cls: 0.1282, d5.loss_bbox: 0.3236, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6657, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5397, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5025, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.4945, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4915, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.4951, d0.loss_map_cls_all: 0.2009, d0.loss_map_pts_all: 1.2187, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2009, d0.loss_map_pts: 1.2187, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1651, d1.loss_map_pts: 0.8239, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1441, d2.loss_map_pts: 0.6604, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1339, d3.loss_map_pts: 0.5982, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1258, d4.loss_map_pts: 0.5786, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1217, d5.loss_map_pts: 0.5703, d5.loss_map_dir: 0.0084, loss: 24.9219, grad_norm: 157.2439 +2026-02-27 21:54:25,838 - DriveTransformer - INFO - Epoch [8][16050/39528] lr: 8.063e-05, eta: 5 days, 13:20:51, time: 0.742, data_time: 0.036, memory: 19865, loss_cls: 0.1238, loss_bbox: 0.3340, loss_traj: 0.5387, loss_traj_cls: 0.0013, loss_map_cls: 0.1522, loss_map_pts: 0.6392, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.6409, d0.loss_plan_l1_fix_dist: 0.3996, d1.loss_plan_l1_fix_time: 0.9693, d1.loss_plan_l1_fix_dist: 0.1909, d2.loss_plan_l1_fix_time: 0.9662, d2.loss_plan_l1_fix_dist: 0.2124, d3.loss_plan_l1_fix_time: 0.9659, d3.loss_plan_l1_fix_dist: 0.1814, d4.loss_plan_l1_fix_time: 0.9697, d4.loss_plan_l1_fix_dist: 0.2245, d5.loss_plan_l1_fix_time: 0.9734, d5.loss_plan_l1_fix_dist: 0.2006, d6.loss_plan_l1_fix_time: 0.9773, d6.loss_plan_l1_fix_dist: 0.2116, d0.loss_cls_all: 0.1720, d0.loss_bbox_all: 0.3987, d0.loss_cls: 0.1720, d0.loss_bbox: 0.3987, d1.loss_cls: 0.1618, d1.loss_bbox: 0.3635, d2.loss_cls: 0.1452, d2.loss_bbox: 0.3436, d3.loss_cls: 0.1314, d3.loss_bbox: 0.3356, d4.loss_cls: 0.1258, d4.loss_bbox: 0.3339, d5.loss_cls: 0.1244, d5.loss_bbox: 0.3331, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8142, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6165, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5570, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5439, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5401, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5380, d0.loss_map_cls_all: 0.2287, d0.loss_map_pts_all: 1.2632, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2287, d0.loss_map_pts: 1.2632, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1987, d1.loss_map_pts: 0.8981, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1757, d2.loss_map_pts: 0.7345, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1638, d3.loss_map_pts: 0.6699, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1581, d4.loss_map_pts: 0.6472, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1538, d5.loss_map_pts: 0.6394, d5.loss_map_dir: 0.0084, loss: 26.5166, grad_norm: 149.0816 +2026-02-27 21:55:01,962 - DriveTransformer - INFO - Epoch [8][16100/39528] lr: 8.063e-05, eta: 5 days, 13:20:09, time: 0.722, data_time: 0.037, memory: 19865, loss_cls: 0.1247, loss_bbox: 0.3145, loss_traj: 0.5581, loss_traj_cls: 0.0014, loss_map_cls: 0.1248, loss_map_pts: 0.5577, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.6762, d0.loss_plan_l1_fix_dist: 0.5354, d1.loss_plan_l1_fix_time: 0.9087, d1.loss_plan_l1_fix_dist: 0.2039, d2.loss_plan_l1_fix_time: 0.9050, d2.loss_plan_l1_fix_dist: 0.2330, d3.loss_plan_l1_fix_time: 0.8984, d3.loss_plan_l1_fix_dist: 0.2164, d4.loss_plan_l1_fix_time: 0.9015, d4.loss_plan_l1_fix_dist: 0.2368, d5.loss_plan_l1_fix_time: 0.9053, d5.loss_plan_l1_fix_dist: 0.2365, d6.loss_plan_l1_fix_time: 0.9098, d6.loss_plan_l1_fix_dist: 0.2499, d0.loss_cls_all: 0.1726, d0.loss_bbox_all: 0.3735, d0.loss_cls: 0.1726, d0.loss_bbox: 0.3735, d1.loss_cls: 0.1650, d1.loss_bbox: 0.3437, d2.loss_cls: 0.1492, d2.loss_bbox: 0.3236, d3.loss_cls: 0.1339, d3.loss_bbox: 0.3170, d4.loss_cls: 0.1280, d4.loss_bbox: 0.3140, d5.loss_cls: 0.1257, d5.loss_bbox: 0.3140, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7459, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6045, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5766, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5595, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5592, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5540, d0.loss_map_cls_all: 0.1958, d0.loss_map_pts_all: 1.1690, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1958, d0.loss_map_pts: 1.1690, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1676, d1.loss_map_pts: 0.7973, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1496, d2.loss_map_pts: 0.6471, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1369, d3.loss_map_pts: 0.5862, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1292, d4.loss_map_pts: 0.5623, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1264, d5.loss_map_pts: 0.5583, d5.loss_map_dir: 0.0069, loss: 25.3548, grad_norm: 149.5380 +2026-02-27 21:55:37,834 - DriveTransformer - INFO - Epoch [8][16150/39528] lr: 8.063e-05, eta: 5 days, 13:19:24, time: 0.717, data_time: 0.039, memory: 19865, loss_cls: 0.1370, loss_bbox: 0.3373, loss_traj: 0.5170, loss_traj_cls: 0.0013, loss_map_cls: 0.1240, loss_map_pts: 0.6098, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.7721, d0.loss_plan_l1_fix_dist: 0.4836, d1.loss_plan_l1_fix_time: 0.8572, d1.loss_plan_l1_fix_dist: 0.1893, d2.loss_plan_l1_fix_time: 0.8415, d2.loss_plan_l1_fix_dist: 0.2264, d3.loss_plan_l1_fix_time: 0.8451, d3.loss_plan_l1_fix_dist: 0.2312, d4.loss_plan_l1_fix_time: 0.8496, d4.loss_plan_l1_fix_dist: 0.2171, d5.loss_plan_l1_fix_time: 0.8545, d5.loss_plan_l1_fix_dist: 0.2322, d6.loss_plan_l1_fix_time: 0.8602, d6.loss_plan_l1_fix_dist: 0.2463, d0.loss_cls_all: 0.1857, d0.loss_bbox_all: 0.4045, d0.loss_cls: 0.1857, d0.loss_bbox: 0.4045, d1.loss_cls: 0.1767, d1.loss_bbox: 0.3692, d2.loss_cls: 0.1585, d2.loss_bbox: 0.3508, d3.loss_cls: 0.1457, d3.loss_bbox: 0.3418, d4.loss_cls: 0.1409, d4.loss_bbox: 0.3377, d5.loss_cls: 0.1376, d5.loss_bbox: 0.3369, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6827, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5624, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5314, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5244, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5162, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5166, d0.loss_map_cls_all: 0.1952, d0.loss_map_pts_all: 1.1358, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1952, d0.loss_map_pts: 1.1358, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1673, d1.loss_map_pts: 0.8032, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1488, d2.loss_map_pts: 0.6733, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1367, d3.loss_map_pts: 0.6281, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1289, d4.loss_map_pts: 0.6097, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1251, d5.loss_map_pts: 0.6062, d5.loss_map_dir: 0.0079, loss: 25.1998, grad_norm: 151.4737 +2026-02-27 21:56:15,353 - DriveTransformer - INFO - Epoch [8][16200/39528] lr: 8.063e-05, eta: 5 days, 13:18:59, time: 0.752, data_time: 0.039, memory: 19865, loss_cls: 0.1159, loss_bbox: 0.3269, loss_traj: 0.6078, loss_traj_cls: 0.0013, loss_map_cls: 0.1316, loss_map_pts: 0.6390, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.3926, d0.loss_plan_l1_fix_dist: 0.5038, d1.loss_plan_l1_fix_time: 0.9642, d1.loss_plan_l1_fix_dist: 0.1998, d2.loss_plan_l1_fix_time: 0.9430, d2.loss_plan_l1_fix_dist: 0.2283, d3.loss_plan_l1_fix_time: 0.9345, d3.loss_plan_l1_fix_dist: 0.2556, d4.loss_plan_l1_fix_time: 0.9362, d4.loss_plan_l1_fix_dist: 0.2143, d5.loss_plan_l1_fix_time: 0.9387, d5.loss_plan_l1_fix_dist: 0.2212, d6.loss_plan_l1_fix_time: 0.9416, d6.loss_plan_l1_fix_dist: 0.2331, d0.loss_cls_all: 0.1547, d0.loss_bbox_all: 0.3926, d0.loss_cls: 0.1547, d0.loss_bbox: 0.3926, d1.loss_cls: 0.1512, d1.loss_bbox: 0.3586, d2.loss_cls: 0.1397, d2.loss_bbox: 0.3392, d3.loss_cls: 0.1231, d3.loss_bbox: 0.3325, d4.loss_cls: 0.1180, d4.loss_bbox: 0.3302, d5.loss_cls: 0.1167, d5.loss_bbox: 0.3274, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8128, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6692, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6186, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6068, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6042, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6034, d0.loss_map_cls_all: 0.2151, d0.loss_map_pts_all: 1.2857, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2151, d0.loss_map_pts: 1.2857, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1816, d1.loss_map_pts: 0.8913, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1580, d2.loss_map_pts: 0.7289, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1468, d3.loss_map_pts: 0.6647, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1376, d4.loss_map_pts: 0.6462, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1339, d5.loss_map_pts: 0.6393, d5.loss_map_dir: 0.0087, loss: 26.4809, grad_norm: 151.9192 +2026-02-27 21:56:51,442 - DriveTransformer - INFO - Epoch [8][16250/39528] lr: 8.063e-05, eta: 5 days, 13:18:16, time: 0.720, data_time: 0.035, memory: 19865, loss_cls: 0.1112, loss_bbox: 0.2881, loss_traj: 0.5250, loss_traj_cls: 0.0013, loss_map_cls: 0.1167, loss_map_pts: 0.5751, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.3256, d0.loss_plan_l1_fix_dist: 0.3939, d1.loss_plan_l1_fix_time: 0.8947, d1.loss_plan_l1_fix_dist: 0.1760, d2.loss_plan_l1_fix_time: 0.8778, d2.loss_plan_l1_fix_dist: 0.2077, d3.loss_plan_l1_fix_time: 0.8713, d3.loss_plan_l1_fix_dist: 0.2722, d4.loss_plan_l1_fix_time: 0.8757, d4.loss_plan_l1_fix_dist: 0.2174, d5.loss_plan_l1_fix_time: 0.8800, d5.loss_plan_l1_fix_dist: 0.2136, d6.loss_plan_l1_fix_time: 0.8852, d6.loss_plan_l1_fix_dist: 0.2325, d0.loss_cls_all: 0.1478, d0.loss_bbox_all: 0.3466, d0.loss_cls: 0.1478, d0.loss_bbox: 0.3466, d1.loss_cls: 0.1425, d1.loss_bbox: 0.3189, d2.loss_cls: 0.1308, d2.loss_bbox: 0.3017, d3.loss_cls: 0.1167, d3.loss_bbox: 0.2932, d4.loss_cls: 0.1119, d4.loss_bbox: 0.2897, d5.loss_cls: 0.1116, d5.loss_bbox: 0.2882, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7217, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5793, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5313, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5193, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5162, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5172, d0.loss_map_cls_all: 0.1953, d0.loss_map_pts_all: 1.1644, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.1953, d0.loss_map_pts: 1.1644, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1619, d1.loss_map_pts: 0.8187, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1412, d2.loss_map_pts: 0.6508, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1302, d3.loss_map_pts: 0.5960, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1230, d4.loss_map_pts: 0.5786, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1187, d5.loss_map_pts: 0.5738, d5.loss_map_dir: 0.0080, loss: 24.1026, grad_norm: 153.2155 +2026-02-27 21:57:26,551 - DriveTransformer - INFO - Epoch [8][16300/39528] lr: 8.063e-05, eta: 5 days, 13:17:22, time: 0.702, data_time: 0.037, memory: 19865, loss_cls: 0.1297, loss_bbox: 0.3278, loss_traj: 0.5786, loss_traj_cls: 0.0013, loss_map_cls: 0.1583, loss_map_pts: 0.6127, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.9179, d0.loss_plan_l1_fix_dist: 0.5062, d1.loss_plan_l1_fix_time: 0.8730, d1.loss_plan_l1_fix_dist: 0.1775, d2.loss_plan_l1_fix_time: 0.8541, d2.loss_plan_l1_fix_dist: 0.1972, d3.loss_plan_l1_fix_time: 0.8517, d3.loss_plan_l1_fix_dist: 0.2518, d4.loss_plan_l1_fix_time: 0.8540, d4.loss_plan_l1_fix_dist: 0.2222, d5.loss_plan_l1_fix_time: 0.8566, d5.loss_plan_l1_fix_dist: 0.2124, d6.loss_plan_l1_fix_time: 0.8603, d6.loss_plan_l1_fix_dist: 0.2251, d0.loss_cls_all: 0.1647, d0.loss_bbox_all: 0.3948, d0.loss_cls: 0.1647, d0.loss_bbox: 0.3948, d1.loss_cls: 0.1587, d1.loss_bbox: 0.3612, d2.loss_cls: 0.1482, d2.loss_bbox: 0.3401, d3.loss_cls: 0.1359, d3.loss_bbox: 0.3315, d4.loss_cls: 0.1324, d4.loss_bbox: 0.3290, d5.loss_cls: 0.1288, d5.loss_bbox: 0.3278, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8433, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6657, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6067, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5892, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5840, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5836, d0.loss_map_cls_all: 0.2187, d0.loss_map_pts_all: 1.1782, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.2187, d0.loss_map_pts: 1.1782, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1978, d1.loss_map_pts: 0.8473, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1797, d2.loss_map_pts: 0.7053, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1686, d3.loss_map_pts: 0.6414, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1629, d4.loss_map_pts: 0.6195, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1590, d5.loss_map_pts: 0.6130, d5.loss_map_dir: 0.0061, loss: 26.1959, grad_norm: 149.0307 +2026-02-27 21:58:03,157 - DriveTransformer - INFO - Epoch [8][16350/39528] lr: 8.063e-05, eta: 5 days, 13:16:46, time: 0.732, data_time: 0.035, memory: 19865, loss_cls: 0.1445, loss_bbox: 0.3390, loss_traj: 0.6565, loss_traj_cls: 0.0013, loss_map_cls: 0.1631, loss_map_pts: 0.6798, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.9044, d0.loss_plan_l1_fix_dist: 0.3778, d1.loss_plan_l1_fix_time: 1.0526, d1.loss_plan_l1_fix_dist: 0.2193, d2.loss_plan_l1_fix_time: 1.0384, d2.loss_plan_l1_fix_dist: 0.2051, d3.loss_plan_l1_fix_time: 1.0375, d3.loss_plan_l1_fix_dist: 0.2210, d4.loss_plan_l1_fix_time: 1.0402, d4.loss_plan_l1_fix_dist: 0.2006, d5.loss_plan_l1_fix_time: 1.0440, d5.loss_plan_l1_fix_dist: 0.1970, d6.loss_plan_l1_fix_time: 1.0486, d6.loss_plan_l1_fix_dist: 0.2212, d0.loss_cls_all: 0.1761, d0.loss_bbox_all: 0.4041, d0.loss_cls: 0.1761, d0.loss_bbox: 0.4041, d1.loss_cls: 0.1751, d1.loss_bbox: 0.3688, d2.loss_cls: 0.1629, d2.loss_bbox: 0.3487, d3.loss_cls: 0.1511, d3.loss_bbox: 0.3417, d4.loss_cls: 0.1451, d4.loss_bbox: 0.3398, d5.loss_cls: 0.1432, d5.loss_bbox: 0.3401, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8665, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6984, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6744, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6542, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6519, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6523, d0.loss_map_cls_all: 0.2405, d0.loss_map_pts_all: 1.3651, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2405, d0.loss_map_pts: 1.3651, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.2100, d1.loss_map_pts: 0.9790, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1850, d2.loss_map_pts: 0.7926, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1758, d3.loss_map_pts: 0.7155, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1682, d4.loss_map_pts: 0.6896, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1650, d5.loss_map_pts: 0.6810, d5.loss_map_dir: 0.0087, loss: 28.7121, grad_norm: 146.4735 +2026-02-27 21:58:40,081 - DriveTransformer - INFO - Epoch [8][16400/39528] lr: 8.063e-05, eta: 5 days, 13:16:13, time: 0.738, data_time: 0.039, memory: 19865, loss_cls: 0.1437, loss_bbox: 0.3369, loss_traj: 0.6544, loss_traj_cls: 0.0013, loss_map_cls: 0.1351, loss_map_pts: 0.6624, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.6944, d0.loss_plan_l1_fix_dist: 0.4053, d1.loss_plan_l1_fix_time: 0.9625, d1.loss_plan_l1_fix_dist: 0.2926, d2.loss_plan_l1_fix_time: 0.9462, d2.loss_plan_l1_fix_dist: 0.2543, d3.loss_plan_l1_fix_time: 0.9425, d3.loss_plan_l1_fix_dist: 0.2168, d4.loss_plan_l1_fix_time: 0.9450, d4.loss_plan_l1_fix_dist: 0.2070, d5.loss_plan_l1_fix_time: 0.9488, d5.loss_plan_l1_fix_dist: 0.2227, d6.loss_plan_l1_fix_time: 0.9531, d6.loss_plan_l1_fix_dist: 0.2372, d0.loss_cls_all: 0.1839, d0.loss_bbox_all: 0.3917, d0.loss_cls: 0.1839, d0.loss_bbox: 0.3917, d1.loss_cls: 0.1772, d1.loss_bbox: 0.3632, d2.loss_cls: 0.1640, d2.loss_bbox: 0.3440, d3.loss_cls: 0.1492, d3.loss_bbox: 0.3384, d4.loss_cls: 0.1454, d4.loss_bbox: 0.3359, d5.loss_cls: 0.1436, d5.loss_bbox: 0.3362, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8430, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6948, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6599, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6523, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6612, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6574, d0.loss_map_cls_all: 0.2098, d0.loss_map_pts_all: 1.3572, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2098, d0.loss_map_pts: 1.3572, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1808, d1.loss_map_pts: 0.9637, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1605, d2.loss_map_pts: 0.7663, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1503, d3.loss_map_pts: 0.6905, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1407, d4.loss_map_pts: 0.6677, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1360, d5.loss_map_pts: 0.6628, d5.loss_map_dir: 0.0099, loss: 27.7145, grad_norm: 145.5725 +2026-02-27 21:59:16,565 - DriveTransformer - INFO - Epoch [8][16450/39528] lr: 8.063e-05, eta: 5 days, 13:15:35, time: 0.730, data_time: 0.037, memory: 19865, loss_cls: 0.1482, loss_bbox: 0.3363, loss_traj: 0.5064, loss_traj_cls: 0.0013, loss_map_cls: 0.1742, loss_map_pts: 0.7317, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.4983, d0.loss_plan_l1_fix_dist: 0.5437, d1.loss_plan_l1_fix_time: 0.8472, d1.loss_plan_l1_fix_dist: 0.3466, d2.loss_plan_l1_fix_time: 0.8330, d2.loss_plan_l1_fix_dist: 0.3103, d3.loss_plan_l1_fix_time: 0.8240, d3.loss_plan_l1_fix_dist: 0.2256, d4.loss_plan_l1_fix_time: 0.8259, d4.loss_plan_l1_fix_dist: 0.2146, d5.loss_plan_l1_fix_time: 0.8295, d5.loss_plan_l1_fix_dist: 0.2296, d6.loss_plan_l1_fix_time: 0.8341, d6.loss_plan_l1_fix_dist: 0.2421, d0.loss_cls_all: 0.1956, d0.loss_bbox_all: 0.4104, d0.loss_cls: 0.1956, d0.loss_bbox: 0.4104, d1.loss_cls: 0.1898, d1.loss_bbox: 0.3732, d2.loss_cls: 0.1718, d2.loss_bbox: 0.3530, d3.loss_cls: 0.1563, d3.loss_bbox: 0.3415, d4.loss_cls: 0.1483, d4.loss_bbox: 0.3390, d5.loss_cls: 0.1473, d5.loss_bbox: 0.3373, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7561, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5991, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5416, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5224, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5106, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5063, d0.loss_map_cls_all: 0.2475, d0.loss_map_pts_all: 1.4656, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2475, d0.loss_map_pts: 1.4656, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2153, d1.loss_map_pts: 1.0259, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1950, d2.loss_map_pts: 0.8390, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1885, d3.loss_map_pts: 0.7642, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1806, d4.loss_map_pts: 0.7360, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1765, d5.loss_map_pts: 0.7313, d5.loss_map_dir: 0.0094, loss: 27.2663, grad_norm: 145.6053 +2026-02-27 21:59:53,453 - DriveTransformer - INFO - Epoch [8][16500/39528] lr: 8.063e-05, eta: 5 days, 13:15:02, time: 0.738, data_time: 0.036, memory: 19865, loss_cls: 0.1337, loss_bbox: 0.3344, loss_traj: 0.6470, loss_traj_cls: 0.0013, loss_map_cls: 0.1270, loss_map_pts: 0.5956, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.4251, d0.loss_plan_l1_fix_dist: 0.4281, d1.loss_plan_l1_fix_time: 0.8381, d1.loss_plan_l1_fix_dist: 0.3321, d2.loss_plan_l1_fix_time: 0.8298, d2.loss_plan_l1_fix_dist: 0.2895, d3.loss_plan_l1_fix_time: 0.8310, d3.loss_plan_l1_fix_dist: 0.2022, d4.loss_plan_l1_fix_time: 0.8354, d4.loss_plan_l1_fix_dist: 0.2037, d5.loss_plan_l1_fix_time: 0.8403, d5.loss_plan_l1_fix_dist: 0.2137, d6.loss_plan_l1_fix_time: 0.8464, d6.loss_plan_l1_fix_dist: 0.2286, d0.loss_cls_all: 0.1693, d0.loss_bbox_all: 0.3868, d0.loss_cls: 0.1693, d0.loss_bbox: 0.3868, d1.loss_cls: 0.1647, d1.loss_bbox: 0.3573, d2.loss_cls: 0.1533, d2.loss_bbox: 0.3432, d3.loss_cls: 0.1397, d3.loss_bbox: 0.3386, d4.loss_cls: 0.1351, d4.loss_bbox: 0.3374, d5.loss_cls: 0.1340, d5.loss_bbox: 0.3350, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8764, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7126, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6539, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6461, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6420, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6453, d0.loss_map_cls_all: 0.1963, d0.loss_map_pts_all: 1.1270, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1963, d0.loss_map_pts: 1.1270, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1712, d1.loss_map_pts: 0.8143, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1477, d2.loss_map_pts: 0.6795, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1387, d3.loss_map_pts: 0.6261, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1316, d4.loss_map_pts: 0.6047, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1277, d5.loss_map_pts: 0.5966, d5.loss_map_dir: 0.0073, loss: 25.6570, grad_norm: 150.3628 +2026-02-27 22:00:30,419 - DriveTransformer - INFO - Epoch [8][16550/39528] lr: 8.063e-05, eta: 5 days, 13:14:30, time: 0.739, data_time: 0.038, memory: 19865, loss_cls: 0.1425, loss_bbox: 0.3272, loss_traj: 0.6698, loss_traj_cls: 0.0013, loss_map_cls: 0.1165, loss_map_pts: 0.5566, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.4869, d0.loss_plan_l1_fix_dist: 0.4456, d1.loss_plan_l1_fix_time: 0.9341, d1.loss_plan_l1_fix_dist: 0.3593, d2.loss_plan_l1_fix_time: 0.9277, d2.loss_plan_l1_fix_dist: 0.3159, d3.loss_plan_l1_fix_time: 0.9242, d3.loss_plan_l1_fix_dist: 0.2368, d4.loss_plan_l1_fix_time: 0.9270, d4.loss_plan_l1_fix_dist: 0.2321, d5.loss_plan_l1_fix_time: 0.9306, d5.loss_plan_l1_fix_dist: 0.2283, d6.loss_plan_l1_fix_time: 0.9347, d6.loss_plan_l1_fix_dist: 0.2397, d0.loss_cls_all: 0.1836, d0.loss_bbox_all: 0.3948, d0.loss_cls: 0.1836, d0.loss_bbox: 0.3948, d1.loss_cls: 0.1753, d1.loss_bbox: 0.3603, d2.loss_cls: 0.1638, d2.loss_bbox: 0.3387, d3.loss_cls: 0.1516, d3.loss_bbox: 0.3303, d4.loss_cls: 0.1452, d4.loss_bbox: 0.3286, d5.loss_cls: 0.1425, d5.loss_bbox: 0.3277, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9134, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7336, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6834, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6689, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6725, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6692, d0.loss_map_cls_all: 0.1887, d0.loss_map_pts_all: 1.1192, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1887, d0.loss_map_pts: 1.1192, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1575, d1.loss_map_pts: 0.7787, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1354, d2.loss_map_pts: 0.6340, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1242, d3.loss_map_pts: 0.5858, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1186, d4.loss_map_pts: 0.5646, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1165, d5.loss_map_pts: 0.5574, d5.loss_map_dir: 0.0078, loss: 26.3547, grad_norm: 150.4596 +2026-02-27 22:01:06,993 - DriveTransformer - INFO - Epoch [8][16600/39528] lr: 8.063e-05, eta: 5 days, 13:13:53, time: 0.731, data_time: 0.038, memory: 19865, loss_cls: 0.1310, loss_bbox: 0.3208, loss_traj: 0.5830, loss_traj_cls: 0.0013, loss_map_cls: 0.1495, loss_map_pts: 0.6262, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.6607, d0.loss_plan_l1_fix_dist: 0.4501, d1.loss_plan_l1_fix_time: 1.0067, d1.loss_plan_l1_fix_dist: 0.3217, d2.loss_plan_l1_fix_time: 0.9914, d2.loss_plan_l1_fix_dist: 0.2801, d3.loss_plan_l1_fix_time: 0.9885, d3.loss_plan_l1_fix_dist: 0.2207, d4.loss_plan_l1_fix_time: 0.9905, d4.loss_plan_l1_fix_dist: 0.2191, d5.loss_plan_l1_fix_time: 0.9932, d5.loss_plan_l1_fix_dist: 0.2336, d6.loss_plan_l1_fix_time: 0.9965, d6.loss_plan_l1_fix_dist: 0.2660, d0.loss_cls_all: 0.1712, d0.loss_bbox_all: 0.3790, d0.loss_cls: 0.1712, d0.loss_bbox: 0.3790, d1.loss_cls: 0.1630, d1.loss_bbox: 0.3534, d2.loss_cls: 0.1483, d2.loss_bbox: 0.3332, d3.loss_cls: 0.1360, d3.loss_bbox: 0.3264, d4.loss_cls: 0.1320, d4.loss_bbox: 0.3232, d5.loss_cls: 0.1297, d5.loss_bbox: 0.3223, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7857, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6275, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5998, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5870, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5804, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5815, d0.loss_map_cls_all: 0.2203, d0.loss_map_pts_all: 1.2340, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2203, d0.loss_map_pts: 1.2340, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1933, d1.loss_map_pts: 0.8852, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1775, d2.loss_map_pts: 0.7254, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1630, d3.loss_map_pts: 0.6641, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1567, d4.loss_map_pts: 0.6334, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1526, d5.loss_map_pts: 0.6281, d5.loss_map_dir: 0.0073, loss: 27.0098, grad_norm: 149.0679 +2026-02-27 22:01:43,575 - DriveTransformer - INFO - Epoch [8][16650/39528] lr: 8.063e-05, eta: 5 days, 13:13:16, time: 0.732, data_time: 0.038, memory: 19865, loss_cls: 0.1295, loss_bbox: 0.3229, loss_traj: 0.7135, loss_traj_cls: 0.0013, loss_map_cls: 0.1402, loss_map_pts: 0.5762, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 3.0669, d0.loss_plan_l1_fix_dist: 0.4175, d1.loss_plan_l1_fix_time: 0.9878, d1.loss_plan_l1_fix_dist: 0.3170, d2.loss_plan_l1_fix_time: 0.9699, d2.loss_plan_l1_fix_dist: 0.2675, d3.loss_plan_l1_fix_time: 0.9676, d3.loss_plan_l1_fix_dist: 0.2204, d4.loss_plan_l1_fix_time: 0.9701, d4.loss_plan_l1_fix_dist: 0.2213, d5.loss_plan_l1_fix_time: 0.9729, d5.loss_plan_l1_fix_dist: 0.2350, d6.loss_plan_l1_fix_time: 0.9760, d6.loss_plan_l1_fix_dist: 0.2518, d0.loss_cls_all: 0.1680, d0.loss_bbox_all: 0.3891, d0.loss_cls: 0.1680, d0.loss_bbox: 0.3891, d1.loss_cls: 0.1619, d1.loss_bbox: 0.3510, d2.loss_cls: 0.1516, d2.loss_bbox: 0.3308, d3.loss_cls: 0.1351, d3.loss_bbox: 0.3255, d4.loss_cls: 0.1314, d4.loss_bbox: 0.3222, d5.loss_cls: 0.1299, d5.loss_bbox: 0.3210, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9155, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7454, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7021, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6985, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7013, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7065, d0.loss_map_cls_all: 0.2202, d0.loss_map_pts_all: 1.2152, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2202, d0.loss_map_pts: 1.2152, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1872, d1.loss_map_pts: 0.8269, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1594, d2.loss_map_pts: 0.6770, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1470, d3.loss_map_pts: 0.6173, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1432, d4.loss_map_pts: 0.5878, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1414, d5.loss_map_pts: 0.5791, d5.loss_map_dir: 0.0071, loss: 27.6680, grad_norm: 148.0133 +2026-02-27 22:02:21,071 - DriveTransformer - INFO - Epoch [8][16700/39528] lr: 8.063e-05, eta: 5 days, 13:12:50, time: 0.750, data_time: 0.038, memory: 19865, loss_cls: 0.1233, loss_bbox: 0.3286, loss_traj: 0.5643, loss_traj_cls: 0.0014, loss_map_cls: 0.1348, loss_map_pts: 0.6219, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.6349, d0.loss_plan_l1_fix_dist: 0.4359, d1.loss_plan_l1_fix_time: 0.9999, d1.loss_plan_l1_fix_dist: 0.3253, d2.loss_plan_l1_fix_time: 0.9935, d2.loss_plan_l1_fix_dist: 0.2837, d3.loss_plan_l1_fix_time: 0.9940, d3.loss_plan_l1_fix_dist: 0.2569, d4.loss_plan_l1_fix_time: 0.9967, d4.loss_plan_l1_fix_dist: 0.2469, d5.loss_plan_l1_fix_time: 1.0002, d5.loss_plan_l1_fix_dist: 0.2690, d6.loss_plan_l1_fix_time: 1.0044, d6.loss_plan_l1_fix_dist: 0.2911, d0.loss_cls_all: 0.1589, d0.loss_bbox_all: 0.3903, d0.loss_cls: 0.1589, d0.loss_bbox: 0.3903, d1.loss_cls: 0.1525, d1.loss_bbox: 0.3564, d2.loss_cls: 0.1408, d2.loss_bbox: 0.3395, d3.loss_cls: 0.1293, d3.loss_bbox: 0.3319, d4.loss_cls: 0.1244, d4.loss_bbox: 0.3285, d5.loss_cls: 0.1224, d5.loss_bbox: 0.3276, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7777, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6334, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5811, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5680, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5685, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5662, d0.loss_map_cls_all: 0.2095, d0.loss_map_pts_all: 1.3163, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2095, d0.loss_map_pts: 1.3163, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1799, d1.loss_map_pts: 0.9075, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1601, d2.loss_map_pts: 0.7283, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1469, d3.loss_map_pts: 0.6579, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1409, d4.loss_map_pts: 0.6329, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1376, d5.loss_map_pts: 0.6227, d5.loss_map_dir: 0.0090, loss: 27.0941, grad_norm: 143.3602 +2026-02-27 22:02:56,961 - DriveTransformer - INFO - Epoch [8][16750/39528] lr: 8.063e-05, eta: 5 days, 13:12:05, time: 0.718, data_time: 0.036, memory: 19865, loss_cls: 0.1187, loss_bbox: 0.3091, loss_traj: 0.5650, loss_traj_cls: 0.0014, loss_map_cls: 0.1103, loss_map_pts: 0.5905, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.6657, d0.loss_plan_l1_fix_dist: 0.3671, d1.loss_plan_l1_fix_time: 0.9090, d1.loss_plan_l1_fix_dist: 0.2513, d2.loss_plan_l1_fix_time: 0.8820, d2.loss_plan_l1_fix_dist: 0.2206, d3.loss_plan_l1_fix_time: 0.8726, d3.loss_plan_l1_fix_dist: 0.2076, d4.loss_plan_l1_fix_time: 0.8747, d4.loss_plan_l1_fix_dist: 0.1882, d5.loss_plan_l1_fix_time: 0.8783, d5.loss_plan_l1_fix_dist: 0.1994, d6.loss_plan_l1_fix_time: 0.8836, d6.loss_plan_l1_fix_dist: 0.2259, d0.loss_cls_all: 0.1638, d0.loss_bbox_all: 0.3722, d0.loss_cls: 0.1638, d0.loss_bbox: 0.3722, d1.loss_cls: 0.1542, d1.loss_bbox: 0.3367, d2.loss_cls: 0.1404, d2.loss_bbox: 0.3170, d3.loss_cls: 0.1240, d3.loss_bbox: 0.3107, d4.loss_cls: 0.1197, d4.loss_bbox: 0.3088, d5.loss_cls: 0.1186, d5.loss_bbox: 0.3083, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7934, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6294, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5900, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5736, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5674, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5650, d0.loss_map_cls_all: 0.1846, d0.loss_map_pts_all: 1.1822, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.1846, d0.loss_map_pts: 1.1822, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1514, d1.loss_map_pts: 0.8234, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1308, d2.loss_map_pts: 0.6735, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1182, d3.loss_map_pts: 0.6224, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1138, d4.loss_map_pts: 0.5952, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1105, d5.loss_map_pts: 0.5905, d5.loss_map_dir: 0.0078, loss: 25.0829, grad_norm: 142.9987 +2026-02-27 22:03:32,635 - DriveTransformer - INFO - Epoch [8][16800/39528] lr: 8.063e-05, eta: 5 days, 13:11:18, time: 0.713, data_time: 0.038, memory: 19865, loss_cls: 0.1290, loss_bbox: 0.3449, loss_traj: 0.6378, loss_traj_cls: 0.0014, loss_map_cls: 0.1406, loss_map_pts: 0.6108, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 3.0573, d0.loss_plan_l1_fix_dist: 0.4499, d1.loss_plan_l1_fix_time: 1.0276, d1.loss_plan_l1_fix_dist: 0.2538, d2.loss_plan_l1_fix_time: 1.0061, d2.loss_plan_l1_fix_dist: 0.2361, d3.loss_plan_l1_fix_time: 1.0110, d3.loss_plan_l1_fix_dist: 0.2399, d4.loss_plan_l1_fix_time: 1.0145, d4.loss_plan_l1_fix_dist: 0.2345, d5.loss_plan_l1_fix_time: 1.0182, d5.loss_plan_l1_fix_dist: 0.2050, d6.loss_plan_l1_fix_time: 1.0223, d6.loss_plan_l1_fix_dist: 0.2208, d0.loss_cls_all: 0.1676, d0.loss_bbox_all: 0.4101, d0.loss_cls: 0.1676, d0.loss_bbox: 0.4101, d1.loss_cls: 0.1615, d1.loss_bbox: 0.3766, d2.loss_cls: 0.1515, d2.loss_bbox: 0.3555, d3.loss_cls: 0.1367, d3.loss_bbox: 0.3482, d4.loss_cls: 0.1310, d4.loss_bbox: 0.3460, d5.loss_cls: 0.1294, d5.loss_bbox: 0.3439, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9148, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7103, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6567, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6434, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6366, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6367, d0.loss_map_cls_all: 0.2059, d0.loss_map_pts_all: 1.1824, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2059, d0.loss_map_pts: 1.1824, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1800, d1.loss_map_pts: 0.8584, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1610, d2.loss_map_pts: 0.6980, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1509, d3.loss_map_pts: 0.6363, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1462, d4.loss_map_pts: 0.6163, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1431, d5.loss_map_pts: 0.6110, d5.loss_map_dir: 0.0073, loss: 27.7361, grad_norm: 141.5687 +2026-02-27 22:04:09,987 - DriveTransformer - INFO - Epoch [8][16850/39528] lr: 8.063e-05, eta: 5 days, 13:10:50, time: 0.747, data_time: 0.036, memory: 19865, loss_cls: 0.1475, loss_bbox: 0.3369, loss_traj: 0.6136, loss_traj_cls: 0.0014, loss_map_cls: 0.1410, loss_map_pts: 0.6775, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.7789, d0.loss_plan_l1_fix_dist: 0.3727, d1.loss_plan_l1_fix_time: 0.9701, d1.loss_plan_l1_fix_dist: 0.2140, d2.loss_plan_l1_fix_time: 0.9604, d2.loss_plan_l1_fix_dist: 0.2058, d3.loss_plan_l1_fix_time: 0.9770, d3.loss_plan_l1_fix_dist: 0.2048, d4.loss_plan_l1_fix_time: 0.9843, d4.loss_plan_l1_fix_dist: 0.2373, d5.loss_plan_l1_fix_time: 0.9899, d5.loss_plan_l1_fix_dist: 0.1939, d6.loss_plan_l1_fix_time: 0.9953, d6.loss_plan_l1_fix_dist: 0.2145, d0.loss_cls_all: 0.1869, d0.loss_bbox_all: 0.4101, d0.loss_cls: 0.1869, d0.loss_bbox: 0.4101, d1.loss_cls: 0.1800, d1.loss_bbox: 0.3693, d2.loss_cls: 0.1663, d2.loss_bbox: 0.3508, d3.loss_cls: 0.1519, d3.loss_bbox: 0.3449, d4.loss_cls: 0.1481, d4.loss_bbox: 0.3395, d5.loss_cls: 0.1473, d5.loss_bbox: 0.3379, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8270, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6544, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6205, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6155, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6113, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6083, d0.loss_map_cls_all: 0.2244, d0.loss_map_pts_all: 1.3911, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2244, d0.loss_map_pts: 1.3911, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1909, d1.loss_map_pts: 0.9690, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1627, d2.loss_map_pts: 0.7902, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1516, d3.loss_map_pts: 0.7168, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1427, d4.loss_map_pts: 0.6881, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1418, d5.loss_map_pts: 0.6781, d5.loss_map_dir: 0.0090, loss: 27.8234, grad_norm: 145.7013 +2026-02-27 22:04:46,278 - DriveTransformer - INFO - Epoch [8][16900/39528] lr: 8.063e-05, eta: 5 days, 13:10:10, time: 0.726, data_time: 0.037, memory: 19865, loss_cls: 0.1588, loss_bbox: 0.3631, loss_traj: 0.5925, loss_traj_cls: 0.0014, loss_map_cls: 0.1599, loss_map_pts: 0.7191, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 3.0870, d0.loss_plan_l1_fix_dist: 0.4350, d1.loss_plan_l1_fix_time: 1.1378, d1.loss_plan_l1_fix_dist: 0.2154, d2.loss_plan_l1_fix_time: 1.1194, d2.loss_plan_l1_fix_dist: 0.2165, d3.loss_plan_l1_fix_time: 1.1251, d3.loss_plan_l1_fix_dist: 0.2124, d4.loss_plan_l1_fix_time: 1.1300, d4.loss_plan_l1_fix_dist: 0.2618, d5.loss_plan_l1_fix_time: 1.1347, d5.loss_plan_l1_fix_dist: 0.2130, d6.loss_plan_l1_fix_time: 1.1396, d6.loss_plan_l1_fix_dist: 0.2257, d0.loss_cls_all: 0.2037, d0.loss_bbox_all: 0.4327, d0.loss_cls: 0.2037, d0.loss_bbox: 0.4327, d1.loss_cls: 0.1959, d1.loss_bbox: 0.3928, d2.loss_cls: 0.1801, d2.loss_bbox: 0.3727, d3.loss_cls: 0.1677, d3.loss_bbox: 0.3646, d4.loss_cls: 0.1605, d4.loss_bbox: 0.3624, d5.loss_cls: 0.1595, d5.loss_bbox: 0.3624, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8334, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6629, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6136, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5967, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5983, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5978, d0.loss_map_cls_all: 0.2400, d0.loss_map_pts_all: 1.4259, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2400, d0.loss_map_pts: 1.4259, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2082, d1.loss_map_pts: 1.0272, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1819, d2.loss_map_pts: 0.8447, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1713, d3.loss_map_pts: 0.7645, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1656, d4.loss_map_pts: 0.7335, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1604, d5.loss_map_pts: 0.7202, d5.loss_map_dir: 0.0090, loss: 29.9277, grad_norm: 147.0111 +2026-02-27 22:05:24,607 - DriveTransformer - INFO - Epoch [8][16950/39528] lr: 8.063e-05, eta: 5 days, 13:09:54, time: 0.767, data_time: 0.037, memory: 19865, loss_cls: 0.1381, loss_bbox: 0.3400, loss_traj: 0.6296, loss_traj_cls: 0.0014, loss_map_cls: 0.1512, loss_map_pts: 0.7502, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.1607, d0.loss_plan_l1_fix_dist: 0.4034, d1.loss_plan_l1_fix_time: 0.8557, d1.loss_plan_l1_fix_dist: 0.2346, d2.loss_plan_l1_fix_time: 0.8577, d2.loss_plan_l1_fix_dist: 0.2088, d3.loss_plan_l1_fix_time: 0.8598, d3.loss_plan_l1_fix_dist: 0.2095, d4.loss_plan_l1_fix_time: 0.8649, d4.loss_plan_l1_fix_dist: 0.2447, d5.loss_plan_l1_fix_time: 0.8695, d5.loss_plan_l1_fix_dist: 0.2115, d6.loss_plan_l1_fix_time: 0.8746, d6.loss_plan_l1_fix_dist: 0.2136, d0.loss_cls_all: 0.1857, d0.loss_bbox_all: 0.4020, d0.loss_cls: 0.1857, d0.loss_bbox: 0.4020, d1.loss_cls: 0.1813, d1.loss_bbox: 0.3697, d2.loss_cls: 0.1622, d2.loss_bbox: 0.3514, d3.loss_cls: 0.1446, d3.loss_bbox: 0.3440, d4.loss_cls: 0.1394, d4.loss_bbox: 0.3407, d5.loss_cls: 0.1367, d5.loss_bbox: 0.3401, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8079, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6742, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6438, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6284, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6261, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6257, d0.loss_map_cls_all: 0.2288, d0.loss_map_pts_all: 1.4653, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2288, d0.loss_map_pts: 1.4653, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.1985, d1.loss_map_pts: 1.0474, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1777, d2.loss_map_pts: 0.8588, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1653, d3.loss_map_pts: 0.7884, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1575, d4.loss_map_pts: 0.7616, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1528, d5.loss_map_pts: 0.7523, d5.loss_map_dir: 0.0099, loss: 27.3023, grad_norm: 145.8630 +2026-02-27 22:06:00,424 - DriveTransformer - INFO - Epoch [8][17000/39528] lr: 8.063e-05, eta: 5 days, 13:09:09, time: 0.718, data_time: 0.038, memory: 19865, loss_cls: 0.1362, loss_bbox: 0.3324, loss_traj: 0.6525, loss_traj_cls: 0.0014, loss_map_cls: 0.1471, loss_map_pts: 0.6090, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.6887, d0.loss_plan_l1_fix_dist: 0.5219, d1.loss_plan_l1_fix_time: 0.9701, d1.loss_plan_l1_fix_dist: 0.2542, d2.loss_plan_l1_fix_time: 0.9801, d2.loss_plan_l1_fix_dist: 0.1996, d3.loss_plan_l1_fix_time: 0.9789, d3.loss_plan_l1_fix_dist: 0.2217, d4.loss_plan_l1_fix_time: 0.9832, d4.loss_plan_l1_fix_dist: 0.2191, d5.loss_plan_l1_fix_time: 0.9878, d5.loss_plan_l1_fix_dist: 0.2173, d6.loss_plan_l1_fix_time: 0.9926, d6.loss_plan_l1_fix_dist: 0.2370, d0.loss_cls_all: 0.1785, d0.loss_bbox_all: 0.4000, d0.loss_cls: 0.1785, d0.loss_bbox: 0.4000, d1.loss_cls: 0.1676, d1.loss_bbox: 0.3591, d2.loss_cls: 0.1569, d2.loss_bbox: 0.3402, d3.loss_cls: 0.1435, d3.loss_bbox: 0.3349, d4.loss_cls: 0.1392, d4.loss_bbox: 0.3317, d5.loss_cls: 0.1370, d5.loss_bbox: 0.3326, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9065, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7112, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6574, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6519, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6469, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6496, d0.loss_map_cls_all: 0.2088, d0.loss_map_pts_all: 1.2444, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2088, d0.loss_map_pts: 1.2444, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1862, d1.loss_map_pts: 0.8666, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1677, d2.loss_map_pts: 0.6998, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1577, d3.loss_map_pts: 0.6349, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1504, d4.loss_map_pts: 0.6153, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1484, d5.loss_map_pts: 0.6106, d5.loss_map_dir: 0.0077, loss: 27.3635, grad_norm: 147.3944 +2026-02-27 22:06:36,957 - DriveTransformer - INFO - Epoch [8][17050/39528] lr: 8.063e-05, eta: 5 days, 13:08:31, time: 0.729, data_time: 0.036, memory: 19865, loss_cls: 0.1598, loss_bbox: 0.3608, loss_traj: 0.5256, loss_traj_cls: 0.0013, loss_map_cls: 0.1631, loss_map_pts: 0.7216, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.4358, d0.loss_plan_l1_fix_dist: 0.4720, d1.loss_plan_l1_fix_time: 0.9012, d1.loss_plan_l1_fix_dist: 0.2620, d2.loss_plan_l1_fix_time: 0.8840, d2.loss_plan_l1_fix_dist: 0.2161, d3.loss_plan_l1_fix_time: 0.8854, d3.loss_plan_l1_fix_dist: 0.2376, d4.loss_plan_l1_fix_time: 0.8895, d4.loss_plan_l1_fix_dist: 0.1923, d5.loss_plan_l1_fix_time: 0.8937, d5.loss_plan_l1_fix_dist: 0.1979, d6.loss_plan_l1_fix_time: 0.8982, d6.loss_plan_l1_fix_dist: 0.2290, d0.loss_cls_all: 0.2064, d0.loss_bbox_all: 0.4265, d0.loss_cls: 0.2064, d0.loss_bbox: 0.4265, d1.loss_cls: 0.1986, d1.loss_bbox: 0.3935, d2.loss_cls: 0.1838, d2.loss_bbox: 0.3712, d3.loss_cls: 0.1700, d3.loss_bbox: 0.3643, d4.loss_cls: 0.1617, d4.loss_bbox: 0.3630, d5.loss_cls: 0.1596, d5.loss_bbox: 0.3615, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7466, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5994, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5407, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5339, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5256, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5227, d0.loss_map_cls_all: 0.2423, d0.loss_map_pts_all: 1.4224, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2423, d0.loss_map_pts: 1.4224, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2144, d1.loss_map_pts: 1.0324, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1882, d2.loss_map_pts: 0.8504, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1772, d3.loss_map_pts: 0.7698, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1694, d4.loss_map_pts: 0.7333, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1639, d5.loss_map_pts: 0.7247, d5.loss_map_dir: 0.0087, loss: 27.4163, grad_norm: 147.9331 +2026-02-27 22:07:12,451 - DriveTransformer - INFO - Epoch [8][17100/39528] lr: 8.063e-05, eta: 5 days, 13:07:41, time: 0.710, data_time: 0.037, memory: 19865, loss_cls: 0.1363, loss_bbox: 0.3403, loss_traj: 0.5523, loss_traj_cls: 0.0013, loss_map_cls: 0.1403, loss_map_pts: 0.6252, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.8344, d0.loss_plan_l1_fix_dist: 0.5069, d1.loss_plan_l1_fix_time: 0.9762, d1.loss_plan_l1_fix_dist: 0.2921, d2.loss_plan_l1_fix_time: 0.9464, d2.loss_plan_l1_fix_dist: 0.2709, d3.loss_plan_l1_fix_time: 0.9499, d3.loss_plan_l1_fix_dist: 0.2912, d4.loss_plan_l1_fix_time: 0.9535, d4.loss_plan_l1_fix_dist: 0.2396, d5.loss_plan_l1_fix_time: 0.9570, d5.loss_plan_l1_fix_dist: 0.2356, d6.loss_plan_l1_fix_time: 0.9609, d6.loss_plan_l1_fix_dist: 0.2653, d0.loss_cls_all: 0.1889, d0.loss_bbox_all: 0.4027, d0.loss_cls: 0.1889, d0.loss_bbox: 0.4027, d1.loss_cls: 0.1760, d1.loss_bbox: 0.3748, d2.loss_cls: 0.1618, d2.loss_bbox: 0.3563, d3.loss_cls: 0.1462, d3.loss_bbox: 0.3478, d4.loss_cls: 0.1392, d4.loss_bbox: 0.3420, d5.loss_cls: 0.1355, d5.loss_bbox: 0.3417, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7760, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6042, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5657, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5519, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5466, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5476, d0.loss_map_cls_all: 0.2153, d0.loss_map_pts_all: 1.1754, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2153, d0.loss_map_pts: 1.1754, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1848, d1.loss_map_pts: 0.8357, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1653, d2.loss_map_pts: 0.6954, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1513, d3.loss_map_pts: 0.6447, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1451, d4.loss_map_pts: 0.6287, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1406, d5.loss_map_pts: 0.6265, d5.loss_map_dir: 0.0089, loss: 26.8490, grad_norm: 148.7201 +2026-02-27 22:07:49,688 - DriveTransformer - INFO - Epoch [8][17150/39528] lr: 8.063e-05, eta: 5 days, 13:07:12, time: 0.745, data_time: 0.037, memory: 19865, loss_cls: 0.1420, loss_bbox: 0.3364, loss_traj: 0.6107, loss_traj_cls: 0.0013, loss_map_cls: 0.1441, loss_map_pts: 0.6615, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.4902, d0.loss_plan_l1_fix_dist: 0.4938, d1.loss_plan_l1_fix_time: 1.0790, d1.loss_plan_l1_fix_dist: 0.2866, d2.loss_plan_l1_fix_time: 1.0643, d2.loss_plan_l1_fix_dist: 0.2722, d3.loss_plan_l1_fix_time: 1.0639, d3.loss_plan_l1_fix_dist: 0.2708, d4.loss_plan_l1_fix_time: 1.0676, d4.loss_plan_l1_fix_dist: 0.2385, d5.loss_plan_l1_fix_time: 1.0720, d5.loss_plan_l1_fix_dist: 0.2527, d6.loss_plan_l1_fix_time: 1.0767, d6.loss_plan_l1_fix_dist: 0.2558, d0.loss_cls_all: 0.1813, d0.loss_bbox_all: 0.3953, d0.loss_cls: 0.1813, d0.loss_bbox: 0.3953, d1.loss_cls: 0.1733, d1.loss_bbox: 0.3602, d2.loss_cls: 0.1633, d2.loss_bbox: 0.3408, d3.loss_cls: 0.1501, d3.loss_bbox: 0.3343, d4.loss_cls: 0.1423, d4.loss_bbox: 0.3357, d5.loss_cls: 0.1418, d5.loss_bbox: 0.3354, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9086, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6804, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6125, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6025, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5974, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6061, d0.loss_map_cls_all: 0.2201, d0.loss_map_pts_all: 1.3876, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2201, d0.loss_map_pts: 1.3876, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1922, d1.loss_map_pts: 0.9771, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1687, d2.loss_map_pts: 0.7763, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1567, d3.loss_map_pts: 0.7005, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1509, d4.loss_map_pts: 0.6694, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1461, d5.loss_map_pts: 0.6616, d5.loss_map_dir: 0.0092, loss: 28.4103, grad_norm: 148.2209 +2026-02-27 22:08:26,374 - DriveTransformer - INFO - Epoch [8][17200/39528] lr: 8.063e-05, eta: 5 days, 13:06:37, time: 0.734, data_time: 0.039, memory: 19865, loss_cls: 0.1384, loss_bbox: 0.3279, loss_traj: 0.5177, loss_traj_cls: 0.0013, loss_map_cls: 0.1268, loss_map_pts: 0.6046, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.3843, d0.loss_plan_l1_fix_dist: 0.4703, d1.loss_plan_l1_fix_time: 0.8407, d1.loss_plan_l1_fix_dist: 0.2584, d2.loss_plan_l1_fix_time: 0.8305, d2.loss_plan_l1_fix_dist: 0.2469, d3.loss_plan_l1_fix_time: 0.8346, d3.loss_plan_l1_fix_dist: 0.2348, d4.loss_plan_l1_fix_time: 0.8382, d4.loss_plan_l1_fix_dist: 0.2144, d5.loss_plan_l1_fix_time: 0.8427, d5.loss_plan_l1_fix_dist: 0.2542, d6.loss_plan_l1_fix_time: 0.8473, d6.loss_plan_l1_fix_dist: 0.2411, d0.loss_cls_all: 0.1698, d0.loss_bbox_all: 0.3805, d0.loss_cls: 0.1698, d0.loss_bbox: 0.3805, d1.loss_cls: 0.1627, d1.loss_bbox: 0.3500, d2.loss_cls: 0.1540, d2.loss_bbox: 0.3322, d3.loss_cls: 0.1444, d3.loss_bbox: 0.3264, d4.loss_cls: 0.1393, d4.loss_bbox: 0.3257, d5.loss_cls: 0.1380, d5.loss_bbox: 0.3264, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6751, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5507, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5268, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5135, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5136, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5154, d0.loss_map_cls_all: 0.2018, d0.loss_map_pts_all: 1.1695, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2018, d0.loss_map_pts: 1.1695, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1730, d1.loss_map_pts: 0.8428, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1516, d2.loss_map_pts: 0.6962, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1396, d3.loss_map_pts: 0.6338, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1337, d4.loss_map_pts: 0.6142, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1281, d5.loss_map_pts: 0.6046, d5.loss_map_dir: 0.0076, loss: 24.7758, grad_norm: 153.4054 +2026-02-27 22:09:03,259 - DriveTransformer - INFO - Epoch [8][17250/39528] lr: 8.063e-05, eta: 5 days, 13:06:04, time: 0.738, data_time: 0.039, memory: 19865, loss_cls: 0.1480, loss_bbox: 0.3380, loss_traj: 0.6148, loss_traj_cls: 0.0014, loss_map_cls: 0.1279, loss_map_pts: 0.6355, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.5123, d0.loss_plan_l1_fix_dist: 0.5056, d1.loss_plan_l1_fix_time: 0.8890, d1.loss_plan_l1_fix_dist: 0.2609, d2.loss_plan_l1_fix_time: 0.8675, d2.loss_plan_l1_fix_dist: 0.2677, d3.loss_plan_l1_fix_time: 0.8628, d3.loss_plan_l1_fix_dist: 0.2542, d4.loss_plan_l1_fix_time: 0.8646, d4.loss_plan_l1_fix_dist: 0.2709, d5.loss_plan_l1_fix_time: 0.8685, d5.loss_plan_l1_fix_dist: 0.3090, d6.loss_plan_l1_fix_time: 0.8734, d6.loss_plan_l1_fix_dist: 0.3087, d0.loss_cls_all: 0.1862, d0.loss_bbox_all: 0.4005, d0.loss_cls: 0.1862, d0.loss_bbox: 0.4005, d1.loss_cls: 0.1776, d1.loss_bbox: 0.3686, d2.loss_cls: 0.1682, d2.loss_bbox: 0.3480, d3.loss_cls: 0.1558, d3.loss_bbox: 0.3417, d4.loss_cls: 0.1470, d4.loss_bbox: 0.3415, d5.loss_cls: 0.1455, d5.loss_bbox: 0.3382, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8181, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6717, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6256, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6116, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6089, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6132, d0.loss_map_cls_all: 0.2007, d0.loss_map_pts_all: 1.2883, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2007, d0.loss_map_pts: 1.2883, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1718, d1.loss_map_pts: 0.9111, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1524, d2.loss_map_pts: 0.7341, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1402, d3.loss_map_pts: 0.6692, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1354, d4.loss_map_pts: 0.6437, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1298, d5.loss_map_pts: 0.6367, d5.loss_map_dir: 0.0083, loss: 26.8094, grad_norm: 153.8689 +2026-02-27 22:09:41,662 - DriveTransformer - INFO - Epoch [8][17300/39528] lr: 8.063e-05, eta: 5 days, 13:05:48, time: 0.768, data_time: 0.039, memory: 19865, loss_cls: 0.1352, loss_bbox: 0.3234, loss_traj: 0.5295, loss_traj_cls: 0.0013, loss_map_cls: 0.1233, loss_map_pts: 0.6146, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.3260, d0.loss_plan_l1_fix_dist: 0.5278, d1.loss_plan_l1_fix_time: 0.7776, d1.loss_plan_l1_fix_dist: 0.2391, d2.loss_plan_l1_fix_time: 0.7684, d2.loss_plan_l1_fix_dist: 0.2504, d3.loss_plan_l1_fix_time: 0.7646, d3.loss_plan_l1_fix_dist: 0.2162, d4.loss_plan_l1_fix_time: 0.7671, d4.loss_plan_l1_fix_dist: 0.2538, d5.loss_plan_l1_fix_time: 0.7706, d5.loss_plan_l1_fix_dist: 0.2897, d6.loss_plan_l1_fix_time: 0.7754, d6.loss_plan_l1_fix_dist: 0.2794, d0.loss_cls_all: 0.1775, d0.loss_bbox_all: 0.3764, d0.loss_cls: 0.1775, d0.loss_bbox: 0.3764, d1.loss_cls: 0.1693, d1.loss_bbox: 0.3470, d2.loss_cls: 0.1554, d2.loss_bbox: 0.3303, d3.loss_cls: 0.1401, d3.loss_bbox: 0.3282, d4.loss_cls: 0.1361, d4.loss_bbox: 0.3247, d5.loss_cls: 0.1343, d5.loss_bbox: 0.3236, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6972, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5863, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5422, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5303, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5293, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5282, d0.loss_map_cls_all: 0.1971, d0.loss_map_pts_all: 1.2861, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.1971, d0.loss_map_pts: 1.2861, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1662, d1.loss_map_pts: 0.8872, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1461, d2.loss_map_pts: 0.7136, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1352, d3.loss_map_pts: 0.6498, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1283, d4.loss_map_pts: 0.6243, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1245, d5.loss_map_pts: 0.6152, d5.loss_map_dir: 0.0089, loss: 24.8765, grad_norm: 154.4045 +2026-02-27 22:10:18,802 - DriveTransformer - INFO - Epoch [8][17350/39528] lr: 8.063e-05, eta: 5 days, 13:05:18, time: 0.743, data_time: 0.041, memory: 19865, loss_cls: 0.1203, loss_bbox: 0.3088, loss_traj: 0.5035, loss_traj_cls: 0.0014, loss_map_cls: 0.1176, loss_map_pts: 0.5678, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.3822, d0.loss_plan_l1_fix_dist: 0.4730, d1.loss_plan_l1_fix_time: 0.8619, d1.loss_plan_l1_fix_dist: 0.2137, d2.loss_plan_l1_fix_time: 0.8549, d2.loss_plan_l1_fix_dist: 0.2316, d3.loss_plan_l1_fix_time: 0.8465, d3.loss_plan_l1_fix_dist: 0.1989, d4.loss_plan_l1_fix_time: 0.8490, d4.loss_plan_l1_fix_dist: 0.2498, d5.loss_plan_l1_fix_time: 0.8520, d5.loss_plan_l1_fix_dist: 0.2696, d6.loss_plan_l1_fix_time: 0.8567, d6.loss_plan_l1_fix_dist: 0.2631, d0.loss_cls_all: 0.1617, d0.loss_bbox_all: 0.3560, d0.loss_cls: 0.1617, d0.loss_bbox: 0.3560, d1.loss_cls: 0.1516, d1.loss_bbox: 0.3296, d2.loss_cls: 0.1372, d2.loss_bbox: 0.3110, d3.loss_cls: 0.1245, d3.loss_bbox: 0.3072, d4.loss_cls: 0.1195, d4.loss_bbox: 0.3067, d5.loss_cls: 0.1185, d5.loss_bbox: 0.3068, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6879, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5579, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5273, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5075, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4996, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5023, d0.loss_map_cls_all: 0.2000, d0.loss_map_pts_all: 1.2348, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2000, d0.loss_map_pts: 1.2348, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1613, d1.loss_map_pts: 0.8302, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1389, d2.loss_map_pts: 0.6584, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1293, d3.loss_map_pts: 0.5956, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1220, d4.loss_map_pts: 0.5742, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1188, d5.loss_map_pts: 0.5693, d5.loss_map_dir: 0.0090, loss: 24.3975, grad_norm: 154.8566 +2026-02-27 22:10:55,374 - DriveTransformer - INFO - Epoch [8][17400/39528] lr: 8.063e-05, eta: 5 days, 13:04:41, time: 0.731, data_time: 0.038, memory: 19865, loss_cls: 0.1480, loss_bbox: 0.3360, loss_traj: 0.5528, loss_traj_cls: 0.0013, loss_map_cls: 0.1446, loss_map_pts: 0.6526, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.6629, d0.loss_plan_l1_fix_dist: 0.4542, d1.loss_plan_l1_fix_time: 0.8931, d1.loss_plan_l1_fix_dist: 0.1957, d2.loss_plan_l1_fix_time: 0.8775, d2.loss_plan_l1_fix_dist: 0.2269, d3.loss_plan_l1_fix_time: 0.8827, d3.loss_plan_l1_fix_dist: 0.2088, d4.loss_plan_l1_fix_time: 0.8864, d4.loss_plan_l1_fix_dist: 0.2856, d5.loss_plan_l1_fix_time: 0.8899, d5.loss_plan_l1_fix_dist: 0.2376, d6.loss_plan_l1_fix_time: 0.8934, d6.loss_plan_l1_fix_dist: 0.2542, d0.loss_cls_all: 0.1837, d0.loss_bbox_all: 0.4009, d0.loss_cls: 0.1837, d0.loss_bbox: 0.4009, d1.loss_cls: 0.1758, d1.loss_bbox: 0.3681, d2.loss_cls: 0.1627, d2.loss_bbox: 0.3490, d3.loss_cls: 0.1504, d3.loss_bbox: 0.3400, d4.loss_cls: 0.1462, d4.loss_bbox: 0.3362, d5.loss_cls: 0.1455, d5.loss_bbox: 0.3362, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7923, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6128, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5661, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5529, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5510, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5498, d0.loss_map_cls_all: 0.2278, d0.loss_map_pts_all: 1.3162, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2278, d0.loss_map_pts: 1.3162, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1938, d1.loss_map_pts: 0.9419, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1693, d2.loss_map_pts: 0.7586, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1570, d3.loss_map_pts: 0.6875, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1494, d4.loss_map_pts: 0.6636, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1463, d5.loss_map_pts: 0.6539, d5.loss_map_dir: 0.0086, loss: 26.6717, grad_norm: 157.3421 +2026-02-27 22:11:31,724 - DriveTransformer - INFO - Epoch [8][17450/39528] lr: 8.063e-05, eta: 5 days, 13:04:01, time: 0.727, data_time: 0.037, memory: 19865, loss_cls: 0.1438, loss_bbox: 0.3479, loss_traj: 0.6089, loss_traj_cls: 0.0013, loss_map_cls: 0.1342, loss_map_pts: 0.6447, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 3.0290, d0.loss_plan_l1_fix_dist: 0.4181, d1.loss_plan_l1_fix_time: 1.0104, d1.loss_plan_l1_fix_dist: 0.1771, d2.loss_plan_l1_fix_time: 0.9912, d2.loss_plan_l1_fix_dist: 0.2121, d3.loss_plan_l1_fix_time: 0.9850, d3.loss_plan_l1_fix_dist: 0.1946, d4.loss_plan_l1_fix_time: 0.9875, d4.loss_plan_l1_fix_dist: 0.2770, d5.loss_plan_l1_fix_time: 0.9907, d5.loss_plan_l1_fix_dist: 0.2164, d6.loss_plan_l1_fix_time: 0.9938, d6.loss_plan_l1_fix_dist: 0.2465, d0.loss_cls_all: 0.1851, d0.loss_bbox_all: 0.4112, d0.loss_cls: 0.1851, d0.loss_bbox: 0.4112, d1.loss_cls: 0.1717, d1.loss_bbox: 0.3793, d2.loss_cls: 0.1608, d2.loss_bbox: 0.3586, d3.loss_cls: 0.1477, d3.loss_bbox: 0.3527, d4.loss_cls: 0.1451, d4.loss_bbox: 0.3492, d5.loss_cls: 0.1422, d5.loss_bbox: 0.3482, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8719, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6765, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6163, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6034, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5959, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6079, d0.loss_map_cls_all: 0.2173, d0.loss_map_pts_all: 1.3253, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2173, d0.loss_map_pts: 1.3253, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1819, d1.loss_map_pts: 0.9414, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1577, d2.loss_map_pts: 0.7633, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1469, d3.loss_map_pts: 0.6850, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1410, d4.loss_map_pts: 0.6551, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1357, d5.loss_map_pts: 0.6448, d5.loss_map_dir: 0.0082, loss: 27.9403, grad_norm: 157.1564 +2026-02-27 22:12:07,706 - DriveTransformer - INFO - Epoch [8][17500/39528] lr: 8.063e-05, eta: 5 days, 13:03:18, time: 0.720, data_time: 0.041, memory: 19865, loss_cls: 0.1417, loss_bbox: 0.3244, loss_traj: 0.5687, loss_traj_cls: 0.0014, loss_map_cls: 0.1507, loss_map_pts: 0.6541, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.7338, d0.loss_plan_l1_fix_dist: 0.4702, d1.loss_plan_l1_fix_time: 0.9985, d1.loss_plan_l1_fix_dist: 0.1830, d2.loss_plan_l1_fix_time: 0.9846, d2.loss_plan_l1_fix_dist: 0.1927, d3.loss_plan_l1_fix_time: 0.9777, d3.loss_plan_l1_fix_dist: 0.1890, d4.loss_plan_l1_fix_time: 0.9797, d4.loss_plan_l1_fix_dist: 0.2623, d5.loss_plan_l1_fix_time: 0.9823, d5.loss_plan_l1_fix_dist: 0.2767, d6.loss_plan_l1_fix_time: 0.9856, d6.loss_plan_l1_fix_dist: 0.2547, d0.loss_cls_all: 0.1793, d0.loss_bbox_all: 0.3923, d0.loss_cls: 0.1793, d0.loss_bbox: 0.3923, d1.loss_cls: 0.1759, d1.loss_bbox: 0.3544, d2.loss_cls: 0.1584, d2.loss_bbox: 0.3359, d3.loss_cls: 0.1466, d3.loss_bbox: 0.3281, d4.loss_cls: 0.1424, d4.loss_bbox: 0.3253, d5.loss_cls: 0.1414, d5.loss_bbox: 0.3231, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8019, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6241, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5872, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5759, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5713, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5669, d0.loss_map_cls_all: 0.2266, d0.loss_map_pts_all: 1.3157, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2266, d0.loss_map_pts: 1.3157, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1928, d1.loss_map_pts: 0.9383, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1717, d2.loss_map_pts: 0.7557, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1604, d3.loss_map_pts: 0.6862, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1560, d4.loss_map_pts: 0.6588, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1515, d5.loss_map_pts: 0.6541, d5.loss_map_dir: 0.0085, loss: 27.2960, grad_norm: 157.9325 +2026-02-27 22:12:44,000 - DriveTransformer - INFO - Epoch [8][17550/39528] lr: 8.063e-05, eta: 5 days, 13:02:38, time: 0.726, data_time: 0.037, memory: 19865, loss_cls: 0.1360, loss_bbox: 0.3331, loss_traj: 0.6342, loss_traj_cls: 0.0013, loss_map_cls: 0.1539, loss_map_pts: 0.6628, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.5751, d0.loss_plan_l1_fix_dist: 0.3724, d1.loss_plan_l1_fix_time: 0.9359, d1.loss_plan_l1_fix_dist: 0.1854, d2.loss_plan_l1_fix_time: 0.9267, d2.loss_plan_l1_fix_dist: 0.1860, d3.loss_plan_l1_fix_time: 0.9282, d3.loss_plan_l1_fix_dist: 0.1969, d4.loss_plan_l1_fix_time: 0.9313, d4.loss_plan_l1_fix_dist: 0.2582, d5.loss_plan_l1_fix_time: 0.9345, d5.loss_plan_l1_fix_dist: 0.3097, d6.loss_plan_l1_fix_time: 0.9391, d6.loss_plan_l1_fix_dist: 0.2542, d0.loss_cls_all: 0.1774, d0.loss_bbox_all: 0.3887, d0.loss_cls: 0.1774, d0.loss_bbox: 0.3887, d1.loss_cls: 0.1714, d1.loss_bbox: 0.3547, d2.loss_cls: 0.1551, d2.loss_bbox: 0.3395, d3.loss_cls: 0.1437, d3.loss_bbox: 0.3324, d4.loss_cls: 0.1379, d4.loss_bbox: 0.3314, d5.loss_cls: 0.1365, d5.loss_bbox: 0.3316, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8509, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6926, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6364, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6370, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6331, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6330, d0.loss_map_cls_all: 0.2272, d0.loss_map_pts_all: 1.2676, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2272, d0.loss_map_pts: 1.2676, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1974, d1.loss_map_pts: 0.9251, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1778, d2.loss_map_pts: 0.7629, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1660, d3.loss_map_pts: 0.6982, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1591, d4.loss_map_pts: 0.6728, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1555, d5.loss_map_pts: 0.6642, d5.loss_map_dir: 0.0086, loss: 27.1458, grad_norm: 162.6378 +2026-02-27 22:13:19,517 - DriveTransformer - INFO - Epoch [8][17600/39528] lr: 8.063e-05, eta: 5 days, 13:01:49, time: 0.710, data_time: 0.036, memory: 19865, loss_cls: 0.1356, loss_bbox: 0.3409, loss_traj: 0.5372, loss_traj_cls: 0.0014, loss_map_cls: 0.1404, loss_map_pts: 0.6867, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.4736, d0.loss_plan_l1_fix_dist: 0.3248, d1.loss_plan_l1_fix_time: 0.8838, d1.loss_plan_l1_fix_dist: 0.1835, d2.loss_plan_l1_fix_time: 0.8696, d2.loss_plan_l1_fix_dist: 0.1696, d3.loss_plan_l1_fix_time: 0.8659, d3.loss_plan_l1_fix_dist: 0.1847, d4.loss_plan_l1_fix_time: 0.8686, d4.loss_plan_l1_fix_dist: 0.2053, d5.loss_plan_l1_fix_time: 0.8720, d5.loss_plan_l1_fix_dist: 0.2864, d6.loss_plan_l1_fix_time: 0.8766, d6.loss_plan_l1_fix_dist: 0.2255, d0.loss_cls_all: 0.1790, d0.loss_bbox_all: 0.4020, d0.loss_cls: 0.1790, d0.loss_bbox: 0.4020, d1.loss_cls: 0.1732, d1.loss_bbox: 0.3682, d2.loss_cls: 0.1572, d2.loss_bbox: 0.3500, d3.loss_cls: 0.1419, d3.loss_bbox: 0.3422, d4.loss_cls: 0.1363, d4.loss_bbox: 0.3404, d5.loss_cls: 0.1350, d5.loss_bbox: 0.3396, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7447, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5861, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5404, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5411, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5380, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5369, d0.loss_map_cls_all: 0.2214, d0.loss_map_pts_all: 1.3308, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2214, d0.loss_map_pts: 1.3308, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1912, d1.loss_map_pts: 0.9612, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1661, d2.loss_map_pts: 0.7889, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1552, d3.loss_map_pts: 0.7218, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1483, d4.loss_map_pts: 0.6941, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1428, d5.loss_map_pts: 0.6864, d5.loss_map_dir: 0.0096, loss: 26.1062, grad_norm: 167.7969 +2026-02-27 22:13:57,593 - DriveTransformer - INFO - Epoch [8][17650/39528] lr: 8.063e-05, eta: 5 days, 13:01:29, time: 0.762, data_time: 0.038, memory: 19865, loss_cls: 0.1485, loss_bbox: 0.3404, loss_traj: 0.5564, loss_traj_cls: 0.0014, loss_map_cls: 0.1453, loss_map_pts: 0.6982, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.6546, d0.loss_plan_l1_fix_dist: 0.3868, d1.loss_plan_l1_fix_time: 0.9259, d1.loss_plan_l1_fix_dist: 0.2163, d2.loss_plan_l1_fix_time: 0.9092, d2.loss_plan_l1_fix_dist: 0.2180, d3.loss_plan_l1_fix_time: 0.9109, d3.loss_plan_l1_fix_dist: 0.2216, d4.loss_plan_l1_fix_time: 0.9138, d4.loss_plan_l1_fix_dist: 0.2422, d5.loss_plan_l1_fix_time: 0.9170, d5.loss_plan_l1_fix_dist: 0.3226, d6.loss_plan_l1_fix_time: 0.9208, d6.loss_plan_l1_fix_dist: 0.2854, d0.loss_cls_all: 0.1855, d0.loss_bbox_all: 0.4027, d0.loss_cls: 0.1855, d0.loss_bbox: 0.4027, d1.loss_cls: 0.1781, d1.loss_bbox: 0.3710, d2.loss_cls: 0.1636, d2.loss_bbox: 0.3519, d3.loss_cls: 0.1524, d3.loss_bbox: 0.3439, d4.loss_cls: 0.1476, d4.loss_bbox: 0.3423, d5.loss_cls: 0.1485, d5.loss_bbox: 0.3406, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7567, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6331, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5799, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5663, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5580, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5544, d0.loss_map_cls_all: 0.2255, d0.loss_map_pts_all: 1.3505, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2255, d0.loss_map_pts: 1.3505, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1917, d1.loss_map_pts: 0.9652, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1687, d2.loss_map_pts: 0.7946, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1600, d3.loss_map_pts: 0.7312, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1532, d4.loss_map_pts: 0.7057, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1474, d5.loss_map_pts: 0.6981, d5.loss_map_dir: 0.0089, loss: 27.2438, grad_norm: 172.2089 +2026-02-27 22:14:32,488 - DriveTransformer - INFO - Epoch [8][17700/39528] lr: 8.063e-05, eta: 5 days, 13:00:33, time: 0.698, data_time: 0.040, memory: 19865, loss_cls: 0.1479, loss_bbox: 0.3498, loss_traj: 0.6232, loss_traj_cls: 0.0015, loss_map_cls: 0.1506, loss_map_pts: 0.6064, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.9030, d0.loss_plan_l1_fix_dist: 0.3656, d1.loss_plan_l1_fix_time: 0.8098, d1.loss_plan_l1_fix_dist: 0.2304, d2.loss_plan_l1_fix_time: 0.7902, d2.loss_plan_l1_fix_dist: 0.2443, d3.loss_plan_l1_fix_time: 0.7859, d3.loss_plan_l1_fix_dist: 0.2486, d4.loss_plan_l1_fix_time: 0.7882, d4.loss_plan_l1_fix_dist: 0.2669, d5.loss_plan_l1_fix_time: 0.7911, d5.loss_plan_l1_fix_dist: 0.2738, d6.loss_plan_l1_fix_time: 0.7944, d6.loss_plan_l1_fix_dist: 0.2405, d0.loss_cls_all: 0.1914, d0.loss_bbox_all: 0.4037, d0.loss_cls: 0.1914, d0.loss_bbox: 0.4037, d1.loss_cls: 0.1830, d1.loss_bbox: 0.3740, d2.loss_cls: 0.1715, d2.loss_bbox: 0.3559, d3.loss_cls: 0.1552, d3.loss_bbox: 0.3493, d4.loss_cls: 0.1490, d4.loss_bbox: 0.3477, d5.loss_cls: 0.1465, d5.loss_bbox: 0.3492, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8680, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7072, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6454, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6267, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6188, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6199, d0.loss_map_cls_all: 0.2360, d0.loss_map_pts_all: 1.1728, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2360, d0.loss_map_pts: 1.1728, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.2023, d1.loss_map_pts: 0.8496, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1829, d2.loss_map_pts: 0.6899, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1682, d3.loss_map_pts: 0.6309, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1588, d4.loss_map_pts: 0.6111, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1549, d5.loss_map_pts: 0.6057, d5.loss_map_dir: 0.0083, loss: 26.4117, grad_norm: 168.6620 +2026-02-27 22:15:08,150 - DriveTransformer - INFO - Epoch [8][17750/39528] lr: 8.063e-05, eta: 5 days, 12:59:46, time: 0.713, data_time: 0.039, memory: 19865, loss_cls: 0.1315, loss_bbox: 0.3128, loss_traj: 0.5153, loss_traj_cls: 0.0014, loss_map_cls: 0.1365, loss_map_pts: 0.5766, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.4658, d0.loss_plan_l1_fix_dist: 0.5254, d1.loss_plan_l1_fix_time: 0.9751, d1.loss_plan_l1_fix_dist: 0.2630, d2.loss_plan_l1_fix_time: 0.9764, d2.loss_plan_l1_fix_dist: 0.2998, d3.loss_plan_l1_fix_time: 0.9765, d3.loss_plan_l1_fix_dist: 0.3095, d4.loss_plan_l1_fix_time: 0.9794, d4.loss_plan_l1_fix_dist: 0.3532, d5.loss_plan_l1_fix_time: 0.9824, d5.loss_plan_l1_fix_dist: 0.2907, d6.loss_plan_l1_fix_time: 0.9857, d6.loss_plan_l1_fix_dist: 0.2854, d0.loss_cls_all: 0.1678, d0.loss_bbox_all: 0.3751, d0.loss_cls: 0.1678, d0.loss_bbox: 0.3751, d1.loss_cls: 0.1687, d1.loss_bbox: 0.3425, d2.loss_cls: 0.1514, d2.loss_bbox: 0.3234, d3.loss_cls: 0.1377, d3.loss_bbox: 0.3149, d4.loss_cls: 0.1337, d4.loss_bbox: 0.3124, d5.loss_cls: 0.1310, d5.loss_bbox: 0.3131, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7093, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5605, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5245, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5123, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5104, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5117, d0.loss_map_cls_all: 0.2239, d0.loss_map_pts_all: 1.1240, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2239, d0.loss_map_pts: 1.1240, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1885, d1.loss_map_pts: 0.8215, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1604, d2.loss_map_pts: 0.6645, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1498, d3.loss_map_pts: 0.6035, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1426, d4.loss_map_pts: 0.5851, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1388, d5.loss_map_pts: 0.5765, d5.loss_map_dir: 0.0069, loss: 25.8736, grad_norm: 164.4459 +2026-02-27 22:15:43,562 - DriveTransformer - INFO - Epoch [8][17800/39528] lr: 8.063e-05, eta: 5 days, 12:58:57, time: 0.710, data_time: 0.038, memory: 19865, loss_cls: 0.1184, loss_bbox: 0.3146, loss_traj: 0.5875, loss_traj_cls: 0.0014, loss_map_cls: 0.1353, loss_map_pts: 0.5950, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.7046, d0.loss_plan_l1_fix_dist: 0.3839, d1.loss_plan_l1_fix_time: 0.9906, d1.loss_plan_l1_fix_dist: 0.2660, d2.loss_plan_l1_fix_time: 0.9769, d2.loss_plan_l1_fix_dist: 0.2850, d3.loss_plan_l1_fix_time: 0.9688, d3.loss_plan_l1_fix_dist: 0.2823, d4.loss_plan_l1_fix_time: 0.9696, d4.loss_plan_l1_fix_dist: 0.3255, d5.loss_plan_l1_fix_time: 0.9711, d5.loss_plan_l1_fix_dist: 0.2387, d6.loss_plan_l1_fix_time: 0.9731, d6.loss_plan_l1_fix_dist: 0.2513, d0.loss_cls_all: 0.1603, d0.loss_bbox_all: 0.3737, d0.loss_cls: 0.1603, d0.loss_bbox: 0.3737, d1.loss_cls: 0.1511, d1.loss_bbox: 0.3409, d2.loss_cls: 0.1411, d2.loss_bbox: 0.3200, d3.loss_cls: 0.1230, d3.loss_bbox: 0.3163, d4.loss_cls: 0.1189, d4.loss_bbox: 0.3149, d5.loss_cls: 0.1169, d5.loss_bbox: 0.3161, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8158, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6426, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5888, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5745, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5791, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5834, d0.loss_map_cls_all: 0.2140, d0.loss_map_pts_all: 1.1919, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2140, d0.loss_map_pts: 1.1919, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1801, d1.loss_map_pts: 0.8597, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1573, d2.loss_map_pts: 0.7036, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1480, d3.loss_map_pts: 0.6326, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1416, d4.loss_map_pts: 0.6066, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1367, d5.loss_map_pts: 0.5970, d5.loss_map_dir: 0.0073, loss: 26.4879, grad_norm: 165.8198 +2026-02-27 22:16:19,867 - DriveTransformer - INFO - Epoch [8][17850/39528] lr: 8.063e-05, eta: 5 days, 12:58:16, time: 0.725, data_time: 0.036, memory: 19865, loss_cls: 0.1183, loss_bbox: 0.3046, loss_traj: 0.5419, loss_traj_cls: 0.0014, loss_map_cls: 0.1362, loss_map_pts: 0.6188, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.4164, d0.loss_plan_l1_fix_dist: 0.3606, d1.loss_plan_l1_fix_time: 0.8980, d1.loss_plan_l1_fix_dist: 0.2392, d2.loss_plan_l1_fix_time: 0.8867, d2.loss_plan_l1_fix_dist: 0.2582, d3.loss_plan_l1_fix_time: 0.8881, d3.loss_plan_l1_fix_dist: 0.2572, d4.loss_plan_l1_fix_time: 0.8910, d4.loss_plan_l1_fix_dist: 0.3040, d5.loss_plan_l1_fix_time: 0.8942, d5.loss_plan_l1_fix_dist: 0.2530, d6.loss_plan_l1_fix_time: 0.8982, d6.loss_plan_l1_fix_dist: 0.2614, d0.loss_cls_all: 0.1505, d0.loss_bbox_all: 0.3629, d0.loss_cls: 0.1505, d0.loss_bbox: 0.3629, d1.loss_cls: 0.1453, d1.loss_bbox: 0.3267, d2.loss_cls: 0.1351, d2.loss_bbox: 0.3097, d3.loss_cls: 0.1219, d3.loss_bbox: 0.3061, d4.loss_cls: 0.1180, d4.loss_bbox: 0.3050, d5.loss_cls: 0.1180, d5.loss_bbox: 0.3039, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7551, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6071, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5616, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5499, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5454, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5446, d0.loss_map_cls_all: 0.2050, d0.loss_map_pts_all: 1.2376, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2050, d0.loss_map_pts: 1.2376, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1778, d1.loss_map_pts: 0.8831, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1571, d2.loss_map_pts: 0.7286, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1467, d3.loss_map_pts: 0.6570, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1426, d4.loss_map_pts: 0.6286, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1386, d5.loss_map_pts: 0.6189, d5.loss_map_dir: 0.0081, loss: 25.4421, grad_norm: 165.6382 +2026-02-27 22:16:58,452 - DriveTransformer - INFO - Epoch [8][17900/39528] lr: 8.063e-05, eta: 5 days, 12:58:02, time: 0.772, data_time: 0.038, memory: 19865, loss_cls: 0.1277, loss_bbox: 0.3423, loss_traj: 0.6361, loss_traj_cls: 0.0014, loss_map_cls: 0.1341, loss_map_pts: 0.7121, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 3.0398, d0.loss_plan_l1_fix_dist: 0.3972, d1.loss_plan_l1_fix_time: 1.0916, d1.loss_plan_l1_fix_dist: 0.2484, d2.loss_plan_l1_fix_time: 1.0781, d2.loss_plan_l1_fix_dist: 0.2647, d3.loss_plan_l1_fix_time: 1.0781, d3.loss_plan_l1_fix_dist: 0.2636, d4.loss_plan_l1_fix_time: 1.0801, d4.loss_plan_l1_fix_dist: 0.3156, d5.loss_plan_l1_fix_time: 1.0824, d5.loss_plan_l1_fix_dist: 0.2821, d6.loss_plan_l1_fix_time: 1.0855, d6.loss_plan_l1_fix_dist: 0.2919, d0.loss_cls_all: 0.1690, d0.loss_bbox_all: 0.4062, d0.loss_cls: 0.1690, d0.loss_bbox: 0.4062, d1.loss_cls: 0.1632, d1.loss_bbox: 0.3713, d2.loss_cls: 0.1483, d2.loss_bbox: 0.3502, d3.loss_cls: 0.1364, d3.loss_bbox: 0.3426, d4.loss_cls: 0.1283, d4.loss_bbox: 0.3432, d5.loss_cls: 0.1288, d5.loss_bbox: 0.3412, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8881, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7166, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6614, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6452, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6406, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6356, d0.loss_map_cls_all: 0.2065, d0.loss_map_pts_all: 1.4398, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2065, d0.loss_map_pts: 1.4398, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.1788, d1.loss_map_pts: 1.0079, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1622, d2.loss_map_pts: 0.8167, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1472, d3.loss_map_pts: 0.7536, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1415, d4.loss_map_pts: 0.7262, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1356, d5.loss_map_pts: 0.7137, d5.loss_map_dir: 0.0107, loss: 29.5081, grad_norm: 169.5443 +2026-02-27 22:17:34,224 - DriveTransformer - INFO - Epoch [8][17950/39528] lr: 8.063e-05, eta: 5 days, 12:57:16, time: 0.715, data_time: 0.039, memory: 19865, loss_cls: 0.1286, loss_bbox: 0.3424, loss_traj: 0.5869, loss_traj_cls: 0.0014, loss_map_cls: 0.1324, loss_map_pts: 0.6084, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.7979, d0.loss_plan_l1_fix_dist: 0.4664, d1.loss_plan_l1_fix_time: 1.0936, d1.loss_plan_l1_fix_dist: 0.2193, d2.loss_plan_l1_fix_time: 1.0787, d2.loss_plan_l1_fix_dist: 0.2368, d3.loss_plan_l1_fix_time: 1.0761, d3.loss_plan_l1_fix_dist: 0.2451, d4.loss_plan_l1_fix_time: 1.0792, d4.loss_plan_l1_fix_dist: 0.2609, d5.loss_plan_l1_fix_time: 1.0816, d5.loss_plan_l1_fix_dist: 0.2354, d6.loss_plan_l1_fix_time: 1.0843, d6.loss_plan_l1_fix_dist: 0.2613, d0.loss_cls_all: 0.1696, d0.loss_bbox_all: 0.3977, d0.loss_cls: 0.1696, d0.loss_bbox: 0.3977, d1.loss_cls: 0.1659, d1.loss_bbox: 0.3654, d2.loss_cls: 0.1530, d2.loss_bbox: 0.3463, d3.loss_cls: 0.1367, d3.loss_bbox: 0.3446, d4.loss_cls: 0.1301, d4.loss_bbox: 0.3427, d5.loss_cls: 0.1289, d5.loss_bbox: 0.3406, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8280, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6435, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5982, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5826, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5843, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5844, d0.loss_map_cls_all: 0.2151, d0.loss_map_pts_all: 1.2059, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2151, d0.loss_map_pts: 1.2059, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1784, d1.loss_map_pts: 0.8594, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1560, d2.loss_map_pts: 0.7041, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1453, d3.loss_map_pts: 0.6396, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1391, d4.loss_map_pts: 0.6162, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1351, d5.loss_map_pts: 0.6096, d5.loss_map_dir: 0.0083, loss: 27.5234, grad_norm: 169.2981 +2026-02-27 22:18:11,036 - DriveTransformer - INFO - Epoch [8][18000/39528] lr: 8.063e-05, eta: 5 days, 12:56:42, time: 0.736, data_time: 0.038, memory: 19865, loss_cls: 0.1313, loss_bbox: 0.3236, loss_traj: 0.6366, loss_traj_cls: 0.0014, loss_map_cls: 0.1359, loss_map_pts: 0.6188, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.3532, d0.loss_plan_l1_fix_dist: 0.4569, d1.loss_plan_l1_fix_time: 0.9156, d1.loss_plan_l1_fix_dist: 0.2029, d2.loss_plan_l1_fix_time: 0.9078, d2.loss_plan_l1_fix_dist: 0.2070, d3.loss_plan_l1_fix_time: 0.9063, d3.loss_plan_l1_fix_dist: 0.2549, d4.loss_plan_l1_fix_time: 0.9093, d4.loss_plan_l1_fix_dist: 0.2240, d5.loss_plan_l1_fix_time: 0.9122, d5.loss_plan_l1_fix_dist: 0.2095, d6.loss_plan_l1_fix_time: 0.9151, d6.loss_plan_l1_fix_dist: 0.2344, d0.loss_cls_all: 0.1723, d0.loss_bbox_all: 0.3805, d0.loss_cls: 0.1723, d0.loss_bbox: 0.3805, d1.loss_cls: 0.1675, d1.loss_bbox: 0.3491, d2.loss_cls: 0.1532, d2.loss_bbox: 0.3316, d3.loss_cls: 0.1373, d3.loss_bbox: 0.3254, d4.loss_cls: 0.1310, d4.loss_bbox: 0.3240, d5.loss_cls: 0.1295, d5.loss_bbox: 0.3241, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8048, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7090, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6554, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6417, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6384, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6394, d0.loss_map_cls_all: 0.2266, d0.loss_map_pts_all: 1.3205, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2266, d0.loss_map_pts: 1.3205, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1948, d1.loss_map_pts: 0.9017, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1653, d2.loss_map_pts: 0.7195, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1534, d3.loss_map_pts: 0.6474, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1445, d4.loss_map_pts: 0.6252, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1389, d5.loss_map_pts: 0.6200, d5.loss_map_dir: 0.0083, loss: 26.5016, grad_norm: 169.2417 +2026-02-27 22:18:46,597 - DriveTransformer - INFO - Epoch [8][18050/39528] lr: 8.063e-05, eta: 5 days, 12:55:54, time: 0.711, data_time: 0.039, memory: 19865, loss_cls: 0.1416, loss_bbox: 0.3339, loss_traj: 0.6406, loss_traj_cls: 0.0014, loss_map_cls: 0.1534, loss_map_pts: 0.6474, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 3.0474, d0.loss_plan_l1_fix_dist: 0.5165, d1.loss_plan_l1_fix_time: 1.0643, d1.loss_plan_l1_fix_dist: 0.2185, d2.loss_plan_l1_fix_time: 1.0452, d2.loss_plan_l1_fix_dist: 0.2082, d3.loss_plan_l1_fix_time: 1.0469, d3.loss_plan_l1_fix_dist: 0.2690, d4.loss_plan_l1_fix_time: 1.0501, d4.loss_plan_l1_fix_dist: 0.2073, d5.loss_plan_l1_fix_time: 1.0538, d5.loss_plan_l1_fix_dist: 0.2109, d6.loss_plan_l1_fix_time: 1.0582, d6.loss_plan_l1_fix_dist: 0.2228, d0.loss_cls_all: 0.1802, d0.loss_bbox_all: 0.4042, d0.loss_cls: 0.1802, d0.loss_bbox: 0.4042, d1.loss_cls: 0.1711, d1.loss_bbox: 0.3693, d2.loss_cls: 0.1596, d2.loss_bbox: 0.3461, d3.loss_cls: 0.1476, d3.loss_bbox: 0.3384, d4.loss_cls: 0.1428, d4.loss_bbox: 0.3361, d5.loss_cls: 0.1415, d5.loss_bbox: 0.3336, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8718, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7332, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6661, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6534, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6395, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6384, d0.loss_map_cls_all: 0.2249, d0.loss_map_pts_all: 1.2821, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2249, d0.loss_map_pts: 1.2821, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1964, d1.loss_map_pts: 0.9166, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1760, d2.loss_map_pts: 0.7468, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1655, d3.loss_map_pts: 0.6796, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1593, d4.loss_map_pts: 0.6550, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1547, d5.loss_map_pts: 0.6488, d5.loss_map_dir: 0.0077, loss: 28.5735, grad_norm: 170.4114 +2026-02-27 22:19:22,640 - DriveTransformer - INFO - Epoch [8][18100/39528] lr: 8.063e-05, eta: 5 days, 12:55:11, time: 0.721, data_time: 0.040, memory: 19865, loss_cls: 0.1307, loss_bbox: 0.3268, loss_traj: 0.6651, loss_traj_cls: 0.0014, loss_map_cls: 0.1292, loss_map_pts: 0.5976, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.8565, d0.loss_plan_l1_fix_dist: 0.4641, d1.loss_plan_l1_fix_time: 0.9605, d1.loss_plan_l1_fix_dist: 0.2554, d2.loss_plan_l1_fix_time: 0.9356, d2.loss_plan_l1_fix_dist: 0.2520, d3.loss_plan_l1_fix_time: 0.9302, d3.loss_plan_l1_fix_dist: 0.2970, d4.loss_plan_l1_fix_time: 0.9320, d4.loss_plan_l1_fix_dist: 0.2382, d5.loss_plan_l1_fix_time: 0.9351, d5.loss_plan_l1_fix_dist: 0.2355, d6.loss_plan_l1_fix_time: 0.9390, d6.loss_plan_l1_fix_dist: 0.2519, d0.loss_cls_all: 0.1724, d0.loss_bbox_all: 0.3981, d0.loss_cls: 0.1724, d0.loss_bbox: 0.3981, d1.loss_cls: 0.1685, d1.loss_bbox: 0.3601, d2.loss_cls: 0.1571, d2.loss_bbox: 0.3389, d3.loss_cls: 0.1409, d3.loss_bbox: 0.3315, d4.loss_cls: 0.1317, d4.loss_bbox: 0.3299, d5.loss_cls: 0.1304, d5.loss_bbox: 0.3278, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9577, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7558, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6939, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6781, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6714, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6678, d0.loss_map_cls_all: 0.2073, d0.loss_map_pts_all: 1.2295, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2073, d0.loss_map_pts: 1.2295, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1762, d1.loss_map_pts: 0.8660, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1573, d2.loss_map_pts: 0.7011, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1444, d3.loss_map_pts: 0.6359, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1372, d4.loss_map_pts: 0.6117, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1318, d5.loss_map_pts: 0.5977, d5.loss_map_dir: 0.0071, loss: 27.4117, grad_norm: 165.1531 +2026-02-27 22:19:58,880 - DriveTransformer - INFO - Epoch [8][18150/39528] lr: 8.063e-05, eta: 5 days, 12:54:30, time: 0.725, data_time: 0.039, memory: 19865, loss_cls: 0.1021, loss_bbox: 0.3013, loss_traj: 0.6035, loss_traj_cls: 0.0015, loss_map_cls: 0.1115, loss_map_pts: 0.5609, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.4153, d0.loss_plan_l1_fix_dist: 0.5362, d1.loss_plan_l1_fix_time: 0.9472, d1.loss_plan_l1_fix_dist: 0.2529, d2.loss_plan_l1_fix_time: 0.9254, d2.loss_plan_l1_fix_dist: 0.2581, d3.loss_plan_l1_fix_time: 0.9242, d3.loss_plan_l1_fix_dist: 0.2916, d4.loss_plan_l1_fix_time: 0.9266, d4.loss_plan_l1_fix_dist: 0.2462, d5.loss_plan_l1_fix_time: 0.9301, d5.loss_plan_l1_fix_dist: 0.2336, d6.loss_plan_l1_fix_time: 0.9346, d6.loss_plan_l1_fix_dist: 0.2544, d0.loss_cls_all: 0.1424, d0.loss_bbox_all: 0.3543, d0.loss_cls: 0.1424, d0.loss_bbox: 0.3543, d1.loss_cls: 0.1365, d1.loss_bbox: 0.3230, d2.loss_cls: 0.1234, d2.loss_bbox: 0.3050, d3.loss_cls: 0.1113, d3.loss_bbox: 0.3005, d4.loss_cls: 0.1045, d4.loss_bbox: 0.2988, d5.loss_cls: 0.1015, d5.loss_bbox: 0.3007, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8082, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6744, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6238, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6091, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6049, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.6046, d0.loss_map_cls_all: 0.1853, d0.loss_map_pts_all: 1.1347, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1853, d0.loss_map_pts: 1.1347, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1538, d1.loss_map_pts: 0.8020, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1309, d2.loss_map_pts: 0.6527, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1219, d3.loss_map_pts: 0.5935, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1153, d4.loss_map_pts: 0.5700, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1127, d5.loss_map_pts: 0.5636, d5.loss_map_dir: 0.0071, loss: 25.2996, grad_norm: 166.7283 +2026-02-27 22:20:35,969 - DriveTransformer - INFO - Epoch [8][18200/39528] lr: 8.063e-05, eta: 5 days, 12:53:59, time: 0.742, data_time: 0.037, memory: 19865, loss_cls: 0.1380, loss_bbox: 0.3515, loss_traj: 0.4901, loss_traj_cls: 0.0014, loss_map_cls: 0.1854, loss_map_pts: 0.7483, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.9887, d0.loss_plan_l1_fix_dist: 0.4579, d1.loss_plan_l1_fix_time: 1.0864, d1.loss_plan_l1_fix_dist: 0.2284, d2.loss_plan_l1_fix_time: 1.0802, d2.loss_plan_l1_fix_dist: 0.2344, d3.loss_plan_l1_fix_time: 1.0768, d3.loss_plan_l1_fix_dist: 0.2567, d4.loss_plan_l1_fix_time: 1.0792, d4.loss_plan_l1_fix_dist: 0.2231, d5.loss_plan_l1_fix_time: 1.0821, d5.loss_plan_l1_fix_dist: 0.2153, d6.loss_plan_l1_fix_time: 1.0857, d6.loss_plan_l1_fix_dist: 0.2337, d0.loss_cls_all: 0.1884, d0.loss_bbox_all: 0.4206, d0.loss_cls: 0.1884, d0.loss_bbox: 0.4206, d1.loss_cls: 0.1765, d1.loss_bbox: 0.3867, d2.loss_cls: 0.1627, d2.loss_bbox: 0.3653, d3.loss_cls: 0.1473, d3.loss_bbox: 0.3556, d4.loss_cls: 0.1392, d4.loss_bbox: 0.3537, d5.loss_cls: 0.1380, d5.loss_bbox: 0.3517, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7138, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5530, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5123, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.4986, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4940, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.4918, d0.loss_map_cls_all: 0.2708, d0.loss_map_pts_all: 1.4159, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2708, d0.loss_map_pts: 1.4159, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2351, d1.loss_map_pts: 1.0415, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.2124, d2.loss_map_pts: 0.8534, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1977, d3.loss_map_pts: 0.7877, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1923, d4.loss_map_pts: 0.7579, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1870, d5.loss_map_pts: 0.7493, d5.loss_map_dir: 0.0091, loss: 28.9644, grad_norm: 166.0880 +2026-02-27 22:21:10,903 - DriveTransformer - INFO - Epoch [8][18250/39528] lr: 8.063e-05, eta: 5 days, 12:53:04, time: 0.699, data_time: 0.037, memory: 19865, loss_cls: 0.1291, loss_bbox: 0.3312, loss_traj: 0.6561, loss_traj_cls: 0.0014, loss_map_cls: 0.1076, loss_map_pts: 0.5269, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.5988, d0.loss_plan_l1_fix_dist: 0.4463, d1.loss_plan_l1_fix_time: 0.9301, d1.loss_plan_l1_fix_dist: 0.2602, d2.loss_plan_l1_fix_time: 0.9209, d2.loss_plan_l1_fix_dist: 0.2687, d3.loss_plan_l1_fix_time: 0.9159, d3.loss_plan_l1_fix_dist: 0.2824, d4.loss_plan_l1_fix_time: 0.9190, d4.loss_plan_l1_fix_dist: 0.2625, d5.loss_plan_l1_fix_time: 0.9229, d5.loss_plan_l1_fix_dist: 0.2661, d6.loss_plan_l1_fix_time: 0.9274, d6.loss_plan_l1_fix_dist: 0.2972, d0.loss_cls_all: 0.1695, d0.loss_bbox_all: 0.3921, d0.loss_cls: 0.1695, d0.loss_bbox: 0.3921, d1.loss_cls: 0.1614, d1.loss_bbox: 0.3568, d2.loss_cls: 0.1499, d2.loss_bbox: 0.3361, d3.loss_cls: 0.1356, d3.loss_bbox: 0.3318, d4.loss_cls: 0.1323, d4.loss_bbox: 0.3299, d5.loss_cls: 0.1296, d5.loss_bbox: 0.3300, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9478, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7507, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6819, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6663, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6586, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6556, d0.loss_map_cls_all: 0.1839, d0.loss_map_pts_all: 1.0744, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1839, d0.loss_map_pts: 1.0744, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1547, d1.loss_map_pts: 0.7770, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1316, d2.loss_map_pts: 0.6221, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1179, d3.loss_map_pts: 0.5581, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1114, d4.loss_map_pts: 0.5333, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1077, d5.loss_map_pts: 0.5273, d5.loss_map_dir: 0.0062, loss: 26.0600, grad_norm: 169.5444 +2026-02-27 22:21:47,694 - DriveTransformer - INFO - Epoch [8][18300/39528] lr: 8.063e-05, eta: 5 days, 12:52:30, time: 0.736, data_time: 0.039, memory: 19865, loss_cls: 0.1159, loss_bbox: 0.3227, loss_traj: 0.4744, loss_traj_cls: 0.0014, loss_map_cls: 0.1211, loss_map_pts: 0.6041, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.7571, d0.loss_plan_l1_fix_dist: 0.4290, d1.loss_plan_l1_fix_time: 0.9384, d1.loss_plan_l1_fix_dist: 0.2035, d2.loss_plan_l1_fix_time: 0.9255, d2.loss_plan_l1_fix_dist: 0.2093, d3.loss_plan_l1_fix_time: 0.9164, d3.loss_plan_l1_fix_dist: 0.2279, d4.loss_plan_l1_fix_time: 0.9179, d4.loss_plan_l1_fix_dist: 0.2316, d5.loss_plan_l1_fix_time: 0.9210, d5.loss_plan_l1_fix_dist: 0.1984, d6.loss_plan_l1_fix_time: 0.9241, d6.loss_plan_l1_fix_dist: 0.2419, d0.loss_cls_all: 0.1610, d0.loss_bbox_all: 0.3745, d0.loss_cls: 0.1610, d0.loss_bbox: 0.3745, d1.loss_cls: 0.1553, d1.loss_bbox: 0.3427, d2.loss_cls: 0.1398, d2.loss_bbox: 0.3257, d3.loss_cls: 0.1242, d3.loss_bbox: 0.3218, d4.loss_cls: 0.1191, d4.loss_bbox: 0.3198, d5.loss_cls: 0.1162, d5.loss_bbox: 0.3216, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6594, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5305, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5004, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.4867, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4781, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.4785, d0.loss_map_cls_all: 0.1916, d0.loss_map_pts_all: 1.2743, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.1916, d0.loss_map_pts: 1.2743, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1636, d1.loss_map_pts: 0.8687, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1416, d2.loss_map_pts: 0.6940, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1304, d3.loss_map_pts: 0.6336, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1250, d4.loss_map_pts: 0.6111, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1205, d5.loss_map_pts: 0.6046, d5.loss_map_dir: 0.0085, loss: 25.2693, grad_norm: 168.9576 +2026-02-27 22:22:24,543 - DriveTransformer - INFO - Epoch [8][18350/39528] lr: 8.063e-05, eta: 5 days, 12:51:56, time: 0.737, data_time: 0.039, memory: 19865, loss_cls: 0.1390, loss_bbox: 0.3522, loss_traj: 0.5886, loss_traj_cls: 0.0014, loss_map_cls: 0.1487, loss_map_pts: 0.7111, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.8272, d0.loss_plan_l1_fix_dist: 0.3838, d1.loss_plan_l1_fix_time: 1.1182, d1.loss_plan_l1_fix_dist: 0.1967, d2.loss_plan_l1_fix_time: 1.1027, d2.loss_plan_l1_fix_dist: 0.2049, d3.loss_plan_l1_fix_time: 1.1053, d3.loss_plan_l1_fix_dist: 0.2449, d4.loss_plan_l1_fix_time: 1.1084, d4.loss_plan_l1_fix_dist: 0.2767, d5.loss_plan_l1_fix_time: 1.1114, d5.loss_plan_l1_fix_dist: 0.2465, d6.loss_plan_l1_fix_time: 1.1149, d6.loss_plan_l1_fix_dist: 0.2790, d0.loss_cls_all: 0.1941, d0.loss_bbox_all: 0.4125, d0.loss_cls: 0.1941, d0.loss_bbox: 0.4125, d1.loss_cls: 0.1881, d1.loss_bbox: 0.3784, d2.loss_cls: 0.1717, d2.loss_bbox: 0.3576, d3.loss_cls: 0.1505, d3.loss_bbox: 0.3554, d4.loss_cls: 0.1421, d4.loss_bbox: 0.3528, d5.loss_cls: 0.1403, d5.loss_bbox: 0.3508, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7967, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6561, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6080, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6027, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5909, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5896, d0.loss_map_cls_all: 0.2267, d0.loss_map_pts_all: 1.3719, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2267, d0.loss_map_pts: 1.3719, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1936, d1.loss_map_pts: 0.9735, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1711, d2.loss_map_pts: 0.8005, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1608, d3.loss_map_pts: 0.7396, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1540, d4.loss_map_pts: 0.7168, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1494, d5.loss_map_pts: 0.7108, d5.loss_map_dir: 0.0095, loss: 28.9524, grad_norm: 171.0260 +2026-02-27 22:23:00,960 - DriveTransformer - INFO - Epoch [8][18400/39528] lr: 8.063e-05, eta: 5 days, 12:51:18, time: 0.728, data_time: 0.038, memory: 19865, loss_cls: 0.1383, loss_bbox: 0.3507, loss_traj: 0.6217, loss_traj_cls: 0.0014, loss_map_cls: 0.1413, loss_map_pts: 0.5894, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.9939, d0.loss_plan_l1_fix_dist: 0.4461, d1.loss_plan_l1_fix_time: 1.0406, d1.loss_plan_l1_fix_dist: 0.2079, d2.loss_plan_l1_fix_time: 1.0340, d2.loss_plan_l1_fix_dist: 0.2039, d3.loss_plan_l1_fix_time: 1.0386, d3.loss_plan_l1_fix_dist: 0.2274, d4.loss_plan_l1_fix_time: 1.0420, d4.loss_plan_l1_fix_dist: 0.2479, d5.loss_plan_l1_fix_time: 1.0459, d5.loss_plan_l1_fix_dist: 0.2496, d6.loss_plan_l1_fix_time: 1.0495, d6.loss_plan_l1_fix_dist: 0.2857, d0.loss_cls_all: 0.1794, d0.loss_bbox_all: 0.4031, d0.loss_cls: 0.1794, d0.loss_bbox: 0.4031, d1.loss_cls: 0.1747, d1.loss_bbox: 0.3705, d2.loss_cls: 0.1615, d2.loss_bbox: 0.3526, d3.loss_cls: 0.1437, d3.loss_bbox: 0.3492, d4.loss_cls: 0.1381, d4.loss_bbox: 0.3489, d5.loss_cls: 0.1378, d5.loss_bbox: 0.3497, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8634, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6720, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6330, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6218, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6247, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6224, d0.loss_map_cls_all: 0.2150, d0.loss_map_pts_all: 1.2037, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2150, d0.loss_map_pts: 1.2037, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1818, d1.loss_map_pts: 0.8364, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1637, d2.loss_map_pts: 0.6723, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1517, d3.loss_map_pts: 0.6156, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1473, d4.loss_map_pts: 0.5945, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1426, d5.loss_map_pts: 0.5906, d5.loss_map_dir: 0.0078, loss: 27.6858, grad_norm: 171.4131 +2026-02-27 22:23:36,346 - DriveTransformer - INFO - Epoch [8][18450/39528] lr: 8.063e-05, eta: 5 days, 12:50:27, time: 0.708, data_time: 0.041, memory: 19865, loss_cls: 0.1140, loss_bbox: 0.3179, loss_traj: 0.7213, loss_traj_cls: 0.0014, loss_map_cls: 0.1299, loss_map_pts: 0.5560, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.5397, d0.loss_plan_l1_fix_dist: 0.3731, d1.loss_plan_l1_fix_time: 0.9729, d1.loss_plan_l1_fix_dist: 0.1922, d2.loss_plan_l1_fix_time: 0.9628, d2.loss_plan_l1_fix_dist: 0.1989, d3.loss_plan_l1_fix_time: 0.9613, d3.loss_plan_l1_fix_dist: 0.2137, d4.loss_plan_l1_fix_time: 0.9649, d4.loss_plan_l1_fix_dist: 0.2214, d5.loss_plan_l1_fix_time: 0.9692, d5.loss_plan_l1_fix_dist: 0.2427, d6.loss_plan_l1_fix_time: 0.9742, d6.loss_plan_l1_fix_dist: 0.2547, d0.loss_cls_all: 0.1485, d0.loss_bbox_all: 0.3659, d0.loss_cls: 0.1485, d0.loss_bbox: 0.3659, d1.loss_cls: 0.1408, d1.loss_bbox: 0.3336, d2.loss_cls: 0.1309, d2.loss_bbox: 0.3187, d3.loss_cls: 0.1188, d3.loss_bbox: 0.3161, d4.loss_cls: 0.1131, d4.loss_bbox: 0.3169, d5.loss_cls: 0.1123, d5.loss_bbox: 0.3182, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9498, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7893, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7371, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.7185, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7159, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.7188, d0.loss_map_cls_all: 0.2064, d0.loss_map_pts_all: 1.1836, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.2064, d0.loss_map_pts: 1.1836, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1784, d1.loss_map_pts: 0.8311, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1561, d2.loss_map_pts: 0.6515, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1438, d3.loss_map_pts: 0.5837, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1346, d4.loss_map_pts: 0.5616, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1315, d5.loss_map_pts: 0.5564, d5.loss_map_dir: 0.0067, loss: 26.5254, grad_norm: 169.4038 +2026-02-27 22:24:12,961 - DriveTransformer - INFO - Epoch [8][18500/39528] lr: 8.063e-05, eta: 5 days, 12:49:51, time: 0.732, data_time: 0.038, memory: 19865, loss_cls: 0.1329, loss_bbox: 0.3380, loss_traj: 0.6642, loss_traj_cls: 0.0015, loss_map_cls: 0.1188, loss_map_pts: 0.5727, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.3577, d0.loss_plan_l1_fix_dist: 0.4372, d1.loss_plan_l1_fix_time: 0.9322, d1.loss_plan_l1_fix_dist: 0.1994, d2.loss_plan_l1_fix_time: 0.9121, d2.loss_plan_l1_fix_dist: 0.2276, d3.loss_plan_l1_fix_time: 0.9056, d3.loss_plan_l1_fix_dist: 0.2303, d4.loss_plan_l1_fix_time: 0.9060, d4.loss_plan_l1_fix_dist: 0.2287, d5.loss_plan_l1_fix_time: 0.9077, d5.loss_plan_l1_fix_dist: 0.2471, d6.loss_plan_l1_fix_time: 0.9103, d6.loss_plan_l1_fix_dist: 0.2304, d0.loss_cls_all: 0.1759, d0.loss_bbox_all: 0.3920, d0.loss_cls: 0.1759, d0.loss_bbox: 0.3920, d1.loss_cls: 0.1680, d1.loss_bbox: 0.3618, d2.loss_cls: 0.1531, d2.loss_bbox: 0.3484, d3.loss_cls: 0.1401, d3.loss_bbox: 0.3421, d4.loss_cls: 0.1345, d4.loss_bbox: 0.3396, d5.loss_cls: 0.1330, d5.loss_bbox: 0.3389, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8793, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7168, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6666, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6628, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6621, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6649, d0.loss_map_cls_all: 0.1986, d0.loss_map_pts_all: 1.1673, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1986, d0.loss_map_pts: 1.1673, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1648, d1.loss_map_pts: 0.8143, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1422, d2.loss_map_pts: 0.6613, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1313, d3.loss_map_pts: 0.6010, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1242, d4.loss_map_pts: 0.5787, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1192, d5.loss_map_pts: 0.5730, d5.loss_map_dir: 0.0080, loss: 26.0190, grad_norm: 167.5003 +2026-02-27 22:24:49,384 - DriveTransformer - INFO - Epoch [8][18550/39528] lr: 8.063e-05, eta: 5 days, 12:49:13, time: 0.728, data_time: 0.040, memory: 19865, loss_cls: 0.1587, loss_bbox: 0.3521, loss_traj: 0.6359, loss_traj_cls: 0.0014, loss_map_cls: 0.1446, loss_map_pts: 0.6450, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.9755, d0.loss_plan_l1_fix_dist: 0.4479, d1.loss_plan_l1_fix_time: 1.1331, d1.loss_plan_l1_fix_dist: 0.2294, d2.loss_plan_l1_fix_time: 1.1201, d2.loss_plan_l1_fix_dist: 0.2607, d3.loss_plan_l1_fix_time: 1.1267, d3.loss_plan_l1_fix_dist: 0.2605, d4.loss_plan_l1_fix_time: 1.1310, d4.loss_plan_l1_fix_dist: 0.2223, d5.loss_plan_l1_fix_time: 1.1348, d5.loss_plan_l1_fix_dist: 0.2306, d6.loss_plan_l1_fix_time: 1.1384, d6.loss_plan_l1_fix_dist: 0.2536, d0.loss_cls_all: 0.2110, d0.loss_bbox_all: 0.4145, d0.loss_cls: 0.2110, d0.loss_bbox: 0.4145, d1.loss_cls: 0.2012, d1.loss_bbox: 0.3802, d2.loss_cls: 0.1864, d2.loss_bbox: 0.3625, d3.loss_cls: 0.1641, d3.loss_bbox: 0.3595, d4.loss_cls: 0.1591, d4.loss_bbox: 0.3551, d5.loss_cls: 0.1581, d5.loss_bbox: 0.3532, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8964, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7390, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6706, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6485, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6437, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6391, d0.loss_map_cls_all: 0.2280, d0.loss_map_pts_all: 1.2528, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2280, d0.loss_map_pts: 1.2528, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1979, d1.loss_map_pts: 0.9022, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1702, d2.loss_map_pts: 0.7380, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1603, d3.loss_map_pts: 0.6726, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1517, d4.loss_map_pts: 0.6537, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1477, d5.loss_map_pts: 0.6459, d5.loss_map_dir: 0.0078, loss: 29.2380, grad_norm: 167.1496 +2026-02-27 22:25:24,358 - DriveTransformer - INFO - Epoch [8][18600/39528] lr: 8.063e-05, eta: 5 days, 12:48:19, time: 0.701, data_time: 0.037, memory: 19865, loss_cls: 0.1518, loss_bbox: 0.3537, loss_traj: 0.6093, loss_traj_cls: 0.0014, loss_map_cls: 0.1483, loss_map_pts: 0.6461, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.8013, d0.loss_plan_l1_fix_dist: 0.3995, d1.loss_plan_l1_fix_time: 1.1159, d1.loss_plan_l1_fix_dist: 0.2481, d2.loss_plan_l1_fix_time: 1.1132, d2.loss_plan_l1_fix_dist: 0.2681, d3.loss_plan_l1_fix_time: 1.1122, d3.loss_plan_l1_fix_dist: 0.3154, d4.loss_plan_l1_fix_time: 1.1150, d4.loss_plan_l1_fix_dist: 0.2333, d5.loss_plan_l1_fix_time: 1.1182, d5.loss_plan_l1_fix_dist: 0.2263, d6.loss_plan_l1_fix_time: 1.1218, d6.loss_plan_l1_fix_dist: 0.2586, d0.loss_cls_all: 0.1946, d0.loss_bbox_all: 0.4240, d0.loss_cls: 0.1946, d0.loss_bbox: 0.4240, d1.loss_cls: 0.1853, d1.loss_bbox: 0.3903, d2.loss_cls: 0.1749, d2.loss_bbox: 0.3664, d3.loss_cls: 0.1606, d3.loss_bbox: 0.3578, d4.loss_cls: 0.1541, d4.loss_bbox: 0.3552, d5.loss_cls: 0.1530, d5.loss_bbox: 0.3524, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8461, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6754, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6266, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6093, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6095, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6113, d0.loss_map_cls_all: 0.2252, d0.loss_map_pts_all: 1.2264, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2252, d0.loss_map_pts: 1.2264, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1916, d1.loss_map_pts: 0.8998, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1715, d2.loss_map_pts: 0.7365, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1632, d3.loss_map_pts: 0.6736, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1567, d4.loss_map_pts: 0.6541, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1523, d5.loss_map_pts: 0.6462, d5.loss_map_dir: 0.0080, loss: 28.6387, grad_norm: 165.3293 +2026-02-27 22:25:59,928 - DriveTransformer - INFO - Epoch [8][18650/39528] lr: 8.063e-05, eta: 5 days, 12:47:30, time: 0.710, data_time: 0.036, memory: 19865, loss_cls: 0.1260, loss_bbox: 0.3174, loss_traj: 0.5865, loss_traj_cls: 0.0015, loss_map_cls: 0.1434, loss_map_pts: 0.5921, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.2674, d0.loss_plan_l1_fix_dist: 0.5066, d1.loss_plan_l1_fix_time: 0.8504, d1.loss_plan_l1_fix_dist: 0.2139, d2.loss_plan_l1_fix_time: 0.8427, d2.loss_plan_l1_fix_dist: 0.2631, d3.loss_plan_l1_fix_time: 0.8465, d3.loss_plan_l1_fix_dist: 0.3535, d4.loss_plan_l1_fix_time: 0.8497, d4.loss_plan_l1_fix_dist: 0.2803, d5.loss_plan_l1_fix_time: 0.8537, d5.loss_plan_l1_fix_dist: 0.2527, d6.loss_plan_l1_fix_time: 0.8585, d6.loss_plan_l1_fix_dist: 0.2365, d0.loss_cls_all: 0.1754, d0.loss_bbox_all: 0.3689, d0.loss_cls: 0.1754, d0.loss_bbox: 0.3689, d1.loss_cls: 0.1626, d1.loss_bbox: 0.3418, d2.loss_cls: 0.1483, d2.loss_bbox: 0.3230, d3.loss_cls: 0.1318, d3.loss_bbox: 0.3161, d4.loss_cls: 0.1297, d4.loss_bbox: 0.3140, d5.loss_cls: 0.1266, d5.loss_bbox: 0.3152, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8262, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6448, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5922, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5868, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5857, d5.loss_traj_cls: 0.0019, d5.loss_traj: 0.5867, d0.loss_map_cls_all: 0.2125, d0.loss_map_pts_all: 1.1438, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2125, d0.loss_map_pts: 1.1438, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1847, d1.loss_map_pts: 0.8139, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1652, d2.loss_map_pts: 0.6673, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1537, d3.loss_map_pts: 0.6126, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1489, d4.loss_map_pts: 0.5985, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1452, d5.loss_map_pts: 0.5913, d5.loss_map_dir: 0.0079, loss: 25.3243, grad_norm: 164.7674 +2026-02-27 22:26:35,314 - DriveTransformer - INFO - Epoch [8][18700/39528] lr: 8.063e-05, eta: 5 days, 12:46:40, time: 0.708, data_time: 0.039, memory: 19865, loss_cls: 0.1522, loss_bbox: 0.3377, loss_traj: 0.5845, loss_traj_cls: 0.0014, loss_map_cls: 0.1482, loss_map_pts: 0.6365, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.6813, d0.loss_plan_l1_fix_dist: 0.4438, d1.loss_plan_l1_fix_time: 0.9949, d1.loss_plan_l1_fix_dist: 0.2374, d2.loss_plan_l1_fix_time: 0.9798, d2.loss_plan_l1_fix_dist: 0.2738, d3.loss_plan_l1_fix_time: 0.9804, d3.loss_plan_l1_fix_dist: 0.3593, d4.loss_plan_l1_fix_time: 0.9817, d4.loss_plan_l1_fix_dist: 0.2948, d5.loss_plan_l1_fix_time: 0.9841, d5.loss_plan_l1_fix_dist: 0.2742, d6.loss_plan_l1_fix_time: 0.9869, d6.loss_plan_l1_fix_dist: 0.2359, d0.loss_cls_all: 0.1977, d0.loss_bbox_all: 0.4036, d0.loss_cls: 0.1977, d0.loss_bbox: 0.4036, d1.loss_cls: 0.1914, d1.loss_bbox: 0.3726, d2.loss_cls: 0.1791, d2.loss_bbox: 0.3515, d3.loss_cls: 0.1557, d3.loss_bbox: 0.3481, d4.loss_cls: 0.1548, d4.loss_bbox: 0.3408, d5.loss_cls: 0.1520, d5.loss_bbox: 0.3397, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8324, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6582, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5973, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5806, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5775, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5850, d0.loss_map_cls_all: 0.2316, d0.loss_map_pts_all: 1.2215, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2316, d0.loss_map_pts: 1.2215, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1969, d1.loss_map_pts: 0.8678, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1734, d2.loss_map_pts: 0.7221, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1612, d3.loss_map_pts: 0.6665, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1541, d4.loss_map_pts: 0.6430, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1505, d5.loss_map_pts: 0.6360, d5.loss_map_dir: 0.0071, loss: 27.5277, grad_norm: 165.6524 +2026-02-27 22:27:10,220 - DriveTransformer - INFO - Epoch [8][18750/39528] lr: 8.063e-05, eta: 5 days, 12:45:44, time: 0.698, data_time: 0.037, memory: 19865, loss_cls: 0.1347, loss_bbox: 0.3399, loss_traj: 0.5963, loss_traj_cls: 0.0014, loss_map_cls: 0.1218, loss_map_pts: 0.5791, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.3714, d0.loss_plan_l1_fix_dist: 0.3669, d1.loss_plan_l1_fix_time: 0.8513, d1.loss_plan_l1_fix_dist: 0.2064, d2.loss_plan_l1_fix_time: 0.8334, d2.loss_plan_l1_fix_dist: 0.2590, d3.loss_plan_l1_fix_time: 0.8243, d3.loss_plan_l1_fix_dist: 0.3130, d4.loss_plan_l1_fix_time: 0.8248, d4.loss_plan_l1_fix_dist: 0.2529, d5.loss_plan_l1_fix_time: 0.8273, d5.loss_plan_l1_fix_dist: 0.2519, d6.loss_plan_l1_fix_time: 0.8306, d6.loss_plan_l1_fix_dist: 0.2344, d0.loss_cls_all: 0.1801, d0.loss_bbox_all: 0.3941, d0.loss_cls: 0.1801, d0.loss_bbox: 0.3941, d1.loss_cls: 0.1650, d1.loss_bbox: 0.3652, d2.loss_cls: 0.1515, d2.loss_bbox: 0.3474, d3.loss_cls: 0.1368, d3.loss_bbox: 0.3436, d4.loss_cls: 0.1352, d4.loss_bbox: 0.3405, d5.loss_cls: 0.1341, d5.loss_bbox: 0.3403, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8297, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6591, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6104, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5982, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5977, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5972, d0.loss_map_cls_all: 0.1988, d0.loss_map_pts_all: 1.1647, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.1988, d0.loss_map_pts: 1.1647, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1657, d1.loss_map_pts: 0.8055, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1441, d2.loss_map_pts: 0.6564, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1313, d3.loss_map_pts: 0.6024, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1264, d4.loss_map_pts: 0.5828, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1231, d5.loss_map_pts: 0.5777, d5.loss_map_dir: 0.0087, loss: 25.2369, grad_norm: 166.1409 +2026-02-27 22:27:48,139 - DriveTransformer - INFO - Epoch [8][18800/39528] lr: 8.063e-05, eta: 5 days, 12:45:23, time: 0.758, data_time: 0.038, memory: 19865, loss_cls: 0.1190, loss_bbox: 0.3124, loss_traj: 0.4495, loss_traj_cls: 0.0014, loss_map_cls: 0.1385, loss_map_pts: 0.6523, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.4854, d0.loss_plan_l1_fix_dist: 0.3799, d1.loss_plan_l1_fix_time: 0.9196, d1.loss_plan_l1_fix_dist: 0.2237, d2.loss_plan_l1_fix_time: 0.8998, d2.loss_plan_l1_fix_dist: 0.2880, d3.loss_plan_l1_fix_time: 0.8960, d3.loss_plan_l1_fix_dist: 0.3162, d4.loss_plan_l1_fix_time: 0.8970, d4.loss_plan_l1_fix_dist: 0.2529, d5.loss_plan_l1_fix_time: 0.8999, d5.loss_plan_l1_fix_dist: 0.2443, d6.loss_plan_l1_fix_time: 0.9031, d6.loss_plan_l1_fix_dist: 0.2548, d0.loss_cls_all: 0.1665, d0.loss_bbox_all: 0.3623, d0.loss_cls: 0.1665, d0.loss_bbox: 0.3623, d1.loss_cls: 0.1534, d1.loss_bbox: 0.3373, d2.loss_cls: 0.1413, d2.loss_bbox: 0.3202, d3.loss_cls: 0.1259, d3.loss_bbox: 0.3153, d4.loss_cls: 0.1199, d4.loss_bbox: 0.3138, d5.loss_cls: 0.1196, d5.loss_bbox: 0.3120, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6031, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.4857, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4525, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.4477, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4485, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.4470, d0.loss_map_cls_all: 0.2122, d0.loss_map_pts_all: 1.4077, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2122, d0.loss_map_pts: 1.4077, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1836, d1.loss_map_pts: 0.9544, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1606, d2.loss_map_pts: 0.7491, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1515, d3.loss_map_pts: 0.6752, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1455, d4.loss_map_pts: 0.6519, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1405, d5.loss_map_pts: 0.6506, d5.loss_map_dir: 0.0099, loss: 25.5193, grad_norm: 164.0485 +2026-02-27 22:28:24,532 - DriveTransformer - INFO - Epoch [8][18850/39528] lr: 8.063e-05, eta: 5 days, 12:44:44, time: 0.728, data_time: 0.037, memory: 19865, loss_cls: 0.1368, loss_bbox: 0.3208, loss_traj: 0.5918, loss_traj_cls: 0.0014, loss_map_cls: 0.1106, loss_map_pts: 0.5723, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.6326, d0.loss_plan_l1_fix_dist: 0.4297, d1.loss_plan_l1_fix_time: 0.9770, d1.loss_plan_l1_fix_dist: 0.2106, d2.loss_plan_l1_fix_time: 0.9575, d2.loss_plan_l1_fix_dist: 0.2909, d3.loss_plan_l1_fix_time: 0.9559, d3.loss_plan_l1_fix_dist: 0.2793, d4.loss_plan_l1_fix_time: 0.9595, d4.loss_plan_l1_fix_dist: 0.2442, d5.loss_plan_l1_fix_time: 0.9628, d5.loss_plan_l1_fix_dist: 0.2135, d6.loss_plan_l1_fix_time: 0.9675, d6.loss_plan_l1_fix_dist: 0.2615, d0.loss_cls_all: 0.1772, d0.loss_bbox_all: 0.3903, d0.loss_cls: 0.1772, d0.loss_bbox: 0.3903, d1.loss_cls: 0.1721, d1.loss_bbox: 0.3542, d2.loss_cls: 0.1542, d2.loss_bbox: 0.3380, d3.loss_cls: 0.1410, d3.loss_bbox: 0.3291, d4.loss_cls: 0.1368, d4.loss_bbox: 0.3243, d5.loss_cls: 0.1368, d5.loss_bbox: 0.3210, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8883, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6894, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6175, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6016, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5928, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5921, d0.loss_map_cls_all: 0.1806, d0.loss_map_pts_all: 1.1365, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.1806, d0.loss_map_pts: 1.1365, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1505, d1.loss_map_pts: 0.8081, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1317, d2.loss_map_pts: 0.6552, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1221, d3.loss_map_pts: 0.5945, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1174, d4.loss_map_pts: 0.5725, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1116, d5.loss_map_pts: 0.5710, d5.loss_map_dir: 0.0080, loss: 26.1387, grad_norm: 163.8008 +2026-02-27 22:29:00,098 - DriveTransformer - INFO - Epoch [8][18900/39528] lr: 8.063e-05, eta: 5 days, 12:43:56, time: 0.711, data_time: 0.040, memory: 19865, loss_cls: 0.1318, loss_bbox: 0.3401, loss_traj: 0.6234, loss_traj_cls: 0.0013, loss_map_cls: 0.1316, loss_map_pts: 0.6015, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.6340, d0.loss_plan_l1_fix_dist: 0.4566, d1.loss_plan_l1_fix_time: 0.9662, d1.loss_plan_l1_fix_dist: 0.2045, d2.loss_plan_l1_fix_time: 0.9487, d2.loss_plan_l1_fix_dist: 0.2748, d3.loss_plan_l1_fix_time: 0.9432, d3.loss_plan_l1_fix_dist: 0.2376, d4.loss_plan_l1_fix_time: 0.9459, d4.loss_plan_l1_fix_dist: 0.2441, d5.loss_plan_l1_fix_time: 0.9493, d5.loss_plan_l1_fix_dist: 0.2452, d6.loss_plan_l1_fix_time: 0.9538, d6.loss_plan_l1_fix_dist: 0.2808, d0.loss_cls_all: 0.1743, d0.loss_bbox_all: 0.3994, d0.loss_cls: 0.1743, d0.loss_bbox: 0.3994, d1.loss_cls: 0.1687, d1.loss_bbox: 0.3661, d2.loss_cls: 0.1559, d2.loss_bbox: 0.3458, d3.loss_cls: 0.1377, d3.loss_bbox: 0.3458, d4.loss_cls: 0.1320, d4.loss_bbox: 0.3406, d5.loss_cls: 0.1311, d5.loss_bbox: 0.3402, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8983, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7000, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6676, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6444, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6340, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6302, d0.loss_map_cls_all: 0.2046, d0.loss_map_pts_all: 1.1723, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2046, d0.loss_map_pts: 1.1723, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1778, d1.loss_map_pts: 0.8374, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1565, d2.loss_map_pts: 0.6868, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1430, d3.loss_map_pts: 0.6286, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1370, d4.loss_map_pts: 0.6083, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1330, d5.loss_map_pts: 0.6017, d5.loss_map_dir: 0.0077, loss: 26.8310, grad_norm: 163.7861 +2026-02-27 22:29:36,610 - DriveTransformer - INFO - Epoch [8][18950/39528] lr: 8.063e-05, eta: 5 days, 12:43:19, time: 0.730, data_time: 0.036, memory: 19865, loss_cls: 0.1186, loss_bbox: 0.3187, loss_traj: 0.5423, loss_traj_cls: 0.0014, loss_map_cls: 0.1263, loss_map_pts: 0.5998, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.3658, d0.loss_plan_l1_fix_dist: 0.4164, d1.loss_plan_l1_fix_time: 0.8955, d1.loss_plan_l1_fix_dist: 0.2063, d2.loss_plan_l1_fix_time: 0.8836, d2.loss_plan_l1_fix_dist: 0.2749, d3.loss_plan_l1_fix_time: 0.8844, d3.loss_plan_l1_fix_dist: 0.2268, d4.loss_plan_l1_fix_time: 0.8883, d4.loss_plan_l1_fix_dist: 0.2416, d5.loss_plan_l1_fix_time: 0.8925, d5.loss_plan_l1_fix_dist: 0.2584, d6.loss_plan_l1_fix_time: 0.8972, d6.loss_plan_l1_fix_dist: 0.2654, d0.loss_cls_all: 0.1647, d0.loss_bbox_all: 0.3801, d0.loss_cls: 0.1647, d0.loss_bbox: 0.3801, d1.loss_cls: 0.1561, d1.loss_bbox: 0.3487, d2.loss_cls: 0.1392, d2.loss_bbox: 0.3300, d3.loss_cls: 0.1252, d3.loss_bbox: 0.3221, d4.loss_cls: 0.1202, d4.loss_bbox: 0.3190, d5.loss_cls: 0.1163, d5.loss_bbox: 0.3202, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7741, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6173, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5726, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5507, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5453, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5424, d0.loss_map_cls_all: 0.1970, d0.loss_map_pts_all: 1.2914, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.1970, d0.loss_map_pts: 1.2914, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1673, d1.loss_map_pts: 0.8652, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1471, d2.loss_map_pts: 0.6959, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1382, d3.loss_map_pts: 0.6330, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1323, d4.loss_map_pts: 0.6082, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1282, d5.loss_map_pts: 0.5994, d5.loss_map_dir: 0.0078, loss: 25.4539, grad_norm: 163.3496 +2026-02-27 22:30:12,412 - DriveTransformer - INFO - Epoch [8][19000/39528] lr: 8.063e-05, eta: 5 days, 12:42:33, time: 0.716, data_time: 0.035, memory: 19865, loss_cls: 0.1133, loss_bbox: 0.3106, loss_traj: 0.5448, loss_traj_cls: 0.0014, loss_map_cls: 0.1207, loss_map_pts: 0.5863, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.5024, d0.loss_plan_l1_fix_dist: 0.4940, d1.loss_plan_l1_fix_time: 1.0022, d1.loss_plan_l1_fix_dist: 0.2227, d2.loss_plan_l1_fix_time: 0.9806, d2.loss_plan_l1_fix_dist: 0.2454, d3.loss_plan_l1_fix_time: 0.9750, d3.loss_plan_l1_fix_dist: 0.2142, d4.loss_plan_l1_fix_time: 0.9767, d4.loss_plan_l1_fix_dist: 0.2226, d5.loss_plan_l1_fix_time: 0.9801, d5.loss_plan_l1_fix_dist: 0.2679, d6.loss_plan_l1_fix_time: 0.9847, d6.loss_plan_l1_fix_dist: 0.2732, d0.loss_cls_all: 0.1494, d0.loss_bbox_all: 0.3743, d0.loss_cls: 0.1494, d0.loss_bbox: 0.3743, d1.loss_cls: 0.1403, d1.loss_bbox: 0.3421, d2.loss_cls: 0.1317, d2.loss_bbox: 0.3219, d3.loss_cls: 0.1184, d3.loss_bbox: 0.3167, d4.loss_cls: 0.1134, d4.loss_bbox: 0.3125, d5.loss_cls: 0.1135, d5.loss_bbox: 0.3107, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8353, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6429, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5733, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5562, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5487, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5470, d0.loss_map_cls_all: 0.1848, d0.loss_map_pts_all: 1.1724, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1848, d0.loss_map_pts: 1.1724, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1578, d1.loss_map_pts: 0.8218, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1405, d2.loss_map_pts: 0.6640, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1299, d3.loss_map_pts: 0.6051, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1245, d4.loss_map_pts: 0.5839, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1215, d5.loss_map_pts: 0.5819, d5.loss_map_dir: 0.0074, loss: 25.7007, grad_norm: 164.2596 +2026-02-27 22:30:49,443 - DriveTransformer - INFO - Epoch [8][19050/39528] lr: 8.063e-05, eta: 5 days, 12:42:02, time: 0.741, data_time: 0.036, memory: 19865, loss_cls: 0.1123, loss_bbox: 0.3242, loss_traj: 0.5951, loss_traj_cls: 0.0014, loss_map_cls: 0.1554, loss_map_pts: 0.7150, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.5827, d0.loss_plan_l1_fix_dist: 0.4618, d1.loss_plan_l1_fix_time: 0.9492, d1.loss_plan_l1_fix_dist: 0.2658, d2.loss_plan_l1_fix_time: 0.9279, d2.loss_plan_l1_fix_dist: 0.2701, d3.loss_plan_l1_fix_time: 0.9255, d3.loss_plan_l1_fix_dist: 0.2495, d4.loss_plan_l1_fix_time: 0.9297, d4.loss_plan_l1_fix_dist: 0.2694, d5.loss_plan_l1_fix_time: 0.9351, d5.loss_plan_l1_fix_dist: 0.2841, d6.loss_plan_l1_fix_time: 0.9413, d6.loss_plan_l1_fix_dist: 0.2979, d0.loss_cls_all: 0.1550, d0.loss_bbox_all: 0.3889, d0.loss_cls: 0.1550, d0.loss_bbox: 0.3889, d1.loss_cls: 0.1498, d1.loss_bbox: 0.3558, d2.loss_cls: 0.1338, d2.loss_bbox: 0.3350, d3.loss_cls: 0.1194, d3.loss_bbox: 0.3288, d4.loss_cls: 0.1126, d4.loss_bbox: 0.3262, d5.loss_cls: 0.1127, d5.loss_bbox: 0.3241, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8479, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7042, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6288, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6053, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5952, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5963, d0.loss_map_cls_all: 0.2418, d0.loss_map_pts_all: 1.3941, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2418, d0.loss_map_pts: 1.3941, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2095, d1.loss_map_pts: 0.9907, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1837, d2.loss_map_pts: 0.8041, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1697, d3.loss_map_pts: 0.7339, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1633, d4.loss_map_pts: 0.7115, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1575, d5.loss_map_pts: 0.7102, d5.loss_map_dir: 0.0093, loss: 27.7421, grad_norm: 164.8907 +2026-02-27 22:31:24,894 - DriveTransformer - INFO - Epoch [8][19100/39528] lr: 8.063e-05, eta: 5 days, 12:41:13, time: 0.709, data_time: 0.036, memory: 19865, loss_cls: 0.1369, loss_bbox: 0.3591, loss_traj: 0.6911, loss_traj_cls: 0.0013, loss_map_cls: 0.1373, loss_map_pts: 0.6227, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 3.0287, d0.loss_plan_l1_fix_dist: 0.4099, d1.loss_plan_l1_fix_time: 1.0441, d1.loss_plan_l1_fix_dist: 0.2788, d2.loss_plan_l1_fix_time: 1.0324, d2.loss_plan_l1_fix_dist: 0.2789, d3.loss_plan_l1_fix_time: 1.0397, d3.loss_plan_l1_fix_dist: 0.2662, d4.loss_plan_l1_fix_time: 1.0432, d4.loss_plan_l1_fix_dist: 0.2986, d5.loss_plan_l1_fix_time: 1.0466, d5.loss_plan_l1_fix_dist: 0.2579, d6.loss_plan_l1_fix_time: 1.0505, d6.loss_plan_l1_fix_dist: 0.2900, d0.loss_cls_all: 0.1817, d0.loss_bbox_all: 0.4277, d0.loss_cls: 0.1817, d0.loss_bbox: 0.4277, d1.loss_cls: 0.1751, d1.loss_bbox: 0.3897, d2.loss_cls: 0.1571, d2.loss_bbox: 0.3685, d3.loss_cls: 0.1425, d3.loss_bbox: 0.3616, d4.loss_cls: 0.1368, d4.loss_bbox: 0.3599, d5.loss_cls: 0.1357, d5.loss_bbox: 0.3599, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9779, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7945, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7294, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.7090, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7008, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6925, d0.loss_map_cls_all: 0.2169, d0.loss_map_pts_all: 1.2204, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2169, d0.loss_map_pts: 1.2204, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1866, d1.loss_map_pts: 0.8566, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1643, d2.loss_map_pts: 0.7067, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1536, d3.loss_map_pts: 0.6480, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1439, d4.loss_map_pts: 0.6269, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1401, d5.loss_map_pts: 0.6219, d5.loss_map_dir: 0.0080, loss: 28.9157, grad_norm: 164.8072 +2026-02-27 22:32:02,008 - DriveTransformer - INFO - Epoch [8][19150/39528] lr: 8.063e-05, eta: 5 days, 12:40:42, time: 0.742, data_time: 0.036, memory: 19865, loss_cls: 0.1370, loss_bbox: 0.3505, loss_traj: 0.6305, loss_traj_cls: 0.0014, loss_map_cls: 0.1425, loss_map_pts: 0.6725, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.5422, d0.loss_plan_l1_fix_dist: 0.3324, d1.loss_plan_l1_fix_time: 0.9059, d1.loss_plan_l1_fix_dist: 0.2425, d2.loss_plan_l1_fix_time: 0.9063, d2.loss_plan_l1_fix_dist: 0.2296, d3.loss_plan_l1_fix_time: 0.9062, d3.loss_plan_l1_fix_dist: 0.2201, d4.loss_plan_l1_fix_time: 0.9101, d4.loss_plan_l1_fix_dist: 0.3045, d5.loss_plan_l1_fix_time: 0.9137, d5.loss_plan_l1_fix_dist: 0.2501, d6.loss_plan_l1_fix_time: 0.9188, d6.loss_plan_l1_fix_dist: 0.3056, d0.loss_cls_all: 0.1826, d0.loss_bbox_all: 0.3985, d0.loss_cls: 0.1826, d0.loss_bbox: 0.3985, d1.loss_cls: 0.1751, d1.loss_bbox: 0.3641, d2.loss_cls: 0.1591, d2.loss_bbox: 0.3519, d3.loss_cls: 0.1468, d3.loss_bbox: 0.3479, d4.loss_cls: 0.1390, d4.loss_bbox: 0.3498, d5.loss_cls: 0.1375, d5.loss_bbox: 0.3499, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9072, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7048, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6560, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6409, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6384, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6363, d0.loss_map_cls_all: 0.2058, d0.loss_map_pts_all: 1.3385, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2058, d0.loss_map_pts: 1.3385, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1808, d1.loss_map_pts: 0.9234, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1644, d2.loss_map_pts: 0.7561, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1538, d3.loss_map_pts: 0.6893, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1481, d4.loss_map_pts: 0.6692, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1442, d5.loss_map_pts: 0.6663, d5.loss_map_dir: 0.0083, loss: 27.3458, grad_norm: 160.3606 +2026-02-27 22:32:37,423 - DriveTransformer - INFO - Epoch [8][19200/39528] lr: 8.063e-05, eta: 5 days, 12:39:52, time: 0.708, data_time: 0.037, memory: 19865, loss_cls: 0.1370, loss_bbox: 0.3458, loss_traj: 0.6208, loss_traj_cls: 0.0014, loss_map_cls: 0.1258, loss_map_pts: 0.6076, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.9911, d0.loss_plan_l1_fix_dist: 0.4349, d1.loss_plan_l1_fix_time: 0.9950, d1.loss_plan_l1_fix_dist: 0.2451, d2.loss_plan_l1_fix_time: 0.9902, d2.loss_plan_l1_fix_dist: 0.2313, d3.loss_plan_l1_fix_time: 0.9867, d3.loss_plan_l1_fix_dist: 0.2303, d4.loss_plan_l1_fix_time: 0.9896, d4.loss_plan_l1_fix_dist: 0.3143, d5.loss_plan_l1_fix_time: 0.9928, d5.loss_plan_l1_fix_dist: 0.2610, d6.loss_plan_l1_fix_time: 0.9975, d6.loss_plan_l1_fix_dist: 0.2963, d0.loss_cls_all: 0.1826, d0.loss_bbox_all: 0.4179, d0.loss_cls: 0.1826, d0.loss_bbox: 0.4179, d1.loss_cls: 0.1751, d1.loss_bbox: 0.3771, d2.loss_cls: 0.1583, d2.loss_bbox: 0.3550, d3.loss_cls: 0.1427, d3.loss_bbox: 0.3467, d4.loss_cls: 0.1377, d4.loss_bbox: 0.3448, d5.loss_cls: 0.1363, d5.loss_bbox: 0.3448, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8808, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6721, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6341, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6292, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6236, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6208, d0.loss_map_cls_all: 0.1961, d0.loss_map_pts_all: 1.1787, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.1961, d0.loss_map_pts: 1.1787, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1676, d1.loss_map_pts: 0.8311, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1486, d2.loss_map_pts: 0.6981, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1373, d3.loss_map_pts: 0.6310, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1328, d4.loss_map_pts: 0.6120, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1280, d5.loss_map_pts: 0.6057, d5.loss_map_dir: 0.0078, loss: 27.4855, grad_norm: 155.4820 +2026-02-27 22:33:12,945 - DriveTransformer - INFO - Epoch [8][19250/39528] lr: 8.063e-05, eta: 5 days, 12:39:04, time: 0.711, data_time: 0.037, memory: 19865, loss_cls: 0.1481, loss_bbox: 0.3525, loss_traj: 0.6005, loss_traj_cls: 0.0014, loss_map_cls: 0.1657, loss_map_pts: 0.7290, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.3865, d0.loss_plan_l1_fix_dist: 0.3952, d1.loss_plan_l1_fix_time: 0.8978, d1.loss_plan_l1_fix_dist: 0.2109, d2.loss_plan_l1_fix_time: 0.8918, d2.loss_plan_l1_fix_dist: 0.2072, d3.loss_plan_l1_fix_time: 0.8952, d3.loss_plan_l1_fix_dist: 0.2276, d4.loss_plan_l1_fix_time: 0.8988, d4.loss_plan_l1_fix_dist: 0.3018, d5.loss_plan_l1_fix_time: 0.9033, d5.loss_plan_l1_fix_dist: 0.2438, d6.loss_plan_l1_fix_time: 0.9077, d6.loss_plan_l1_fix_dist: 0.2837, d0.loss_cls_all: 0.1945, d0.loss_bbox_all: 0.4178, d0.loss_cls: 0.1945, d0.loss_bbox: 0.4178, d1.loss_cls: 0.1854, d1.loss_bbox: 0.3805, d2.loss_cls: 0.1716, d2.loss_bbox: 0.3582, d3.loss_cls: 0.1545, d3.loss_bbox: 0.3539, d4.loss_cls: 0.1489, d4.loss_bbox: 0.3516, d5.loss_cls: 0.1473, d5.loss_bbox: 0.3525, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8612, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6785, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6254, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6041, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6036, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6011, d0.loss_map_cls_all: 0.2387, d0.loss_map_pts_all: 1.3891, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2387, d0.loss_map_pts: 1.3891, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.2036, d1.loss_map_pts: 1.0297, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1853, d2.loss_map_pts: 0.8489, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1759, d3.loss_map_pts: 0.7668, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1719, d4.loss_map_pts: 0.7342, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1681, d5.loss_map_pts: 0.7272, d5.loss_map_dir: 0.0069, loss: 27.7781, grad_norm: 153.8523 +2026-02-27 22:33:50,224 - DriveTransformer - INFO - Epoch [8][19300/39528] lr: 8.063e-05, eta: 5 days, 12:38:35, time: 0.745, data_time: 0.037, memory: 19865, loss_cls: 0.1182, loss_bbox: 0.3260, loss_traj: 0.4972, loss_traj_cls: 0.0015, loss_map_cls: 0.1345, loss_map_pts: 0.6436, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.4911, d0.loss_plan_l1_fix_dist: 0.4702, d1.loss_plan_l1_fix_time: 0.9353, d1.loss_plan_l1_fix_dist: 0.2176, d2.loss_plan_l1_fix_time: 0.9201, d2.loss_plan_l1_fix_dist: 0.2157, d3.loss_plan_l1_fix_time: 0.9136, d3.loss_plan_l1_fix_dist: 0.2627, d4.loss_plan_l1_fix_time: 0.9162, d4.loss_plan_l1_fix_dist: 0.2973, d5.loss_plan_l1_fix_time: 0.9195, d5.loss_plan_l1_fix_dist: 0.2434, d6.loss_plan_l1_fix_time: 0.9232, d6.loss_plan_l1_fix_dist: 0.3072, d0.loss_cls_all: 0.1598, d0.loss_bbox_all: 0.3893, d0.loss_cls: 0.1598, d0.loss_bbox: 0.3893, d1.loss_cls: 0.1526, d1.loss_bbox: 0.3530, d2.loss_cls: 0.1386, d2.loss_bbox: 0.3354, d3.loss_cls: 0.1241, d3.loss_bbox: 0.3290, d4.loss_cls: 0.1195, d4.loss_bbox: 0.3269, d5.loss_cls: 0.1179, d5.loss_bbox: 0.3261, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7815, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5736, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5219, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5070, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5038, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.4975, d0.loss_map_cls_all: 0.2120, d0.loss_map_pts_all: 1.3558, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2120, d0.loss_map_pts: 1.3558, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1795, d1.loss_map_pts: 0.9142, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1597, d2.loss_map_pts: 0.7440, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1476, d3.loss_map_pts: 0.6776, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1411, d4.loss_map_pts: 0.6507, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1356, d5.loss_map_pts: 0.6440, d5.loss_map_dir: 0.0092, loss: 26.1696, grad_norm: 155.1304 +2026-02-27 22:34:27,440 - DriveTransformer - INFO - Epoch [8][19350/39528] lr: 8.063e-05, eta: 5 days, 12:38:06, time: 0.744, data_time: 0.039, memory: 19865, loss_cls: 0.1436, loss_bbox: 0.3515, loss_traj: 0.6464, loss_traj_cls: 0.0015, loss_map_cls: 0.1208, loss_map_pts: 0.6075, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.8598, d0.loss_plan_l1_fix_dist: 0.4493, d1.loss_plan_l1_fix_time: 1.0608, d1.loss_plan_l1_fix_dist: 0.2428, d2.loss_plan_l1_fix_time: 1.0400, d2.loss_plan_l1_fix_dist: 0.2488, d3.loss_plan_l1_fix_time: 1.0377, d3.loss_plan_l1_fix_dist: 0.3269, d4.loss_plan_l1_fix_time: 1.0414, d4.loss_plan_l1_fix_dist: 0.2879, d5.loss_plan_l1_fix_time: 1.0432, d5.loss_plan_l1_fix_dist: 0.2452, d6.loss_plan_l1_fix_time: 1.0454, d6.loss_plan_l1_fix_dist: 0.2518, d0.loss_cls_all: 0.1895, d0.loss_bbox_all: 0.4240, d0.loss_cls: 0.1895, d0.loss_bbox: 0.4240, d1.loss_cls: 0.1833, d1.loss_bbox: 0.3869, d2.loss_cls: 0.1691, d2.loss_bbox: 0.3657, d3.loss_cls: 0.1505, d3.loss_bbox: 0.3587, d4.loss_cls: 0.1457, d4.loss_bbox: 0.3529, d5.loss_cls: 0.1440, d5.loss_bbox: 0.3509, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9598, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7439, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6779, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6647, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6488, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6444, d0.loss_map_cls_all: 0.1869, d0.loss_map_pts_all: 1.2258, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1869, d0.loss_map_pts: 1.2258, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1582, d1.loss_map_pts: 0.8556, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1384, d2.loss_map_pts: 0.6902, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1306, d3.loss_map_pts: 0.6264, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1263, d4.loss_map_pts: 0.6095, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1217, d5.loss_map_pts: 0.6060, d5.loss_map_dir: 0.0081, loss: 28.1833, grad_norm: 154.6831 +2026-02-27 22:35:02,953 - DriveTransformer - INFO - Epoch [8][19400/39528] lr: 8.063e-05, eta: 5 days, 12:37:18, time: 0.712, data_time: 0.037, memory: 19865, loss_cls: 0.1529, loss_bbox: 0.3499, loss_traj: 0.5686, loss_traj_cls: 0.0014, loss_map_cls: 0.1733, loss_map_pts: 0.7430, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.3693, d0.loss_plan_l1_fix_dist: 0.4462, d1.loss_plan_l1_fix_time: 0.8387, d1.loss_plan_l1_fix_dist: 0.2292, d2.loss_plan_l1_fix_time: 0.8184, d2.loss_plan_l1_fix_dist: 0.2250, d3.loss_plan_l1_fix_time: 0.8220, d3.loss_plan_l1_fix_dist: 0.3275, d4.loss_plan_l1_fix_time: 0.8258, d4.loss_plan_l1_fix_dist: 0.2574, d5.loss_plan_l1_fix_time: 0.8294, d5.loss_plan_l1_fix_dist: 0.2371, d6.loss_plan_l1_fix_time: 0.8339, d6.loss_plan_l1_fix_dist: 0.2417, d0.loss_cls_all: 0.1998, d0.loss_bbox_all: 0.4158, d0.loss_cls: 0.1998, d0.loss_bbox: 0.4158, d1.loss_cls: 0.1919, d1.loss_bbox: 0.3776, d2.loss_cls: 0.1753, d2.loss_bbox: 0.3577, d3.loss_cls: 0.1584, d3.loss_bbox: 0.3536, d4.loss_cls: 0.1540, d4.loss_bbox: 0.3498, d5.loss_cls: 0.1520, d5.loss_bbox: 0.3508, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7930, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6347, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5889, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5720, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5704, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5672, d0.loss_map_cls_all: 0.2542, d0.loss_map_pts_all: 1.4177, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2542, d0.loss_map_pts: 1.4177, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2266, d1.loss_map_pts: 1.0405, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.2017, d2.loss_map_pts: 0.8519, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1892, d3.loss_map_pts: 0.7727, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1802, d4.loss_map_pts: 0.7470, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1761, d5.loss_map_pts: 0.7423, d5.loss_map_dir: 0.0086, loss: 27.4126, grad_norm: 156.1423 +2026-02-27 22:35:40,155 - DriveTransformer - INFO - Epoch [8][19450/39528] lr: 8.063e-05, eta: 5 days, 12:36:47, time: 0.743, data_time: 0.036, memory: 19865, loss_cls: 0.1449, loss_bbox: 0.3520, loss_traj: 0.5682, loss_traj_cls: 0.0014, loss_map_cls: 0.1544, loss_map_pts: 0.7358, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.8655, d0.loss_plan_l1_fix_dist: 0.4292, d1.loss_plan_l1_fix_time: 0.9213, d1.loss_plan_l1_fix_dist: 0.2660, d2.loss_plan_l1_fix_time: 0.9027, d2.loss_plan_l1_fix_dist: 0.2287, d3.loss_plan_l1_fix_time: 0.8991, d3.loss_plan_l1_fix_dist: 0.3280, d4.loss_plan_l1_fix_time: 0.9010, d4.loss_plan_l1_fix_dist: 0.2363, d5.loss_plan_l1_fix_time: 0.9049, d5.loss_plan_l1_fix_dist: 0.2318, d6.loss_plan_l1_fix_time: 0.9101, d6.loss_plan_l1_fix_dist: 0.2655, d0.loss_cls_all: 0.1930, d0.loss_bbox_all: 0.4158, d0.loss_cls: 0.1930, d0.loss_bbox: 0.4158, d1.loss_cls: 0.1805, d1.loss_bbox: 0.3817, d2.loss_cls: 0.1663, d2.loss_bbox: 0.3621, d3.loss_cls: 0.1521, d3.loss_bbox: 0.3580, d4.loss_cls: 0.1474, d4.loss_bbox: 0.3534, d5.loss_cls: 0.1447, d5.loss_bbox: 0.3529, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8004, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6406, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5916, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5741, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5693, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5708, d0.loss_map_cls_all: 0.2409, d0.loss_map_pts_all: 1.4763, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2409, d0.loss_map_pts: 1.4763, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.2093, d1.loss_map_pts: 1.0494, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1839, d2.loss_map_pts: 0.8481, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1729, d3.loss_map_pts: 0.7747, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1637, d4.loss_map_pts: 0.7465, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1575, d5.loss_map_pts: 0.7347, d5.loss_map_dir: 0.0092, loss: 28.3610, grad_norm: 155.6509 +2026-02-27 22:36:18,497 - DriveTransformer - INFO - Epoch [8][19500/39528] lr: 8.063e-05, eta: 5 days, 12:36:30, time: 0.767, data_time: 0.037, memory: 19865, loss_cls: 0.1232, loss_bbox: 0.3220, loss_traj: 0.5782, loss_traj_cls: 0.0014, loss_map_cls: 0.1297, loss_map_pts: 0.6410, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.6390, d0.loss_plan_l1_fix_dist: 0.4304, d1.loss_plan_l1_fix_time: 0.9316, d1.loss_plan_l1_fix_dist: 0.2624, d2.loss_plan_l1_fix_time: 0.9182, d2.loss_plan_l1_fix_dist: 0.2370, d3.loss_plan_l1_fix_time: 0.9180, d3.loss_plan_l1_fix_dist: 0.3124, d4.loss_plan_l1_fix_time: 0.9211, d4.loss_plan_l1_fix_dist: 0.2317, d5.loss_plan_l1_fix_time: 0.9249, d5.loss_plan_l1_fix_dist: 0.2315, d6.loss_plan_l1_fix_time: 0.9292, d6.loss_plan_l1_fix_dist: 0.2547, d0.loss_cls_all: 0.1714, d0.loss_bbox_all: 0.3839, d0.loss_cls: 0.1714, d0.loss_bbox: 0.3839, d1.loss_cls: 0.1617, d1.loss_bbox: 0.3522, d2.loss_cls: 0.1489, d2.loss_bbox: 0.3343, d3.loss_cls: 0.1303, d3.loss_bbox: 0.3292, d4.loss_cls: 0.1242, d4.loss_bbox: 0.3267, d5.loss_cls: 0.1223, d5.loss_bbox: 0.3247, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7812, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6303, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5961, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5804, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5788, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5803, d0.loss_map_cls_all: 0.2044, d0.loss_map_pts_all: 1.3561, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2044, d0.loss_map_pts: 1.3561, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1748, d1.loss_map_pts: 0.9121, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1529, d2.loss_map_pts: 0.7321, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1429, d3.loss_map_pts: 0.6742, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1359, d4.loss_map_pts: 0.6493, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1314, d5.loss_map_pts: 0.6408, d5.loss_map_dir: 0.0092, loss: 26.6942, grad_norm: 152.9566 +2026-02-27 22:36:54,429 - DriveTransformer - INFO - Epoch [8][19550/39528] lr: 8.063e-05, eta: 5 days, 12:35:47, time: 0.718, data_time: 0.038, memory: 19865, loss_cls: 0.1414, loss_bbox: 0.3416, loss_traj: 0.5546, loss_traj_cls: 0.0014, loss_map_cls: 0.1489, loss_map_pts: 0.6167, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.6397, d0.loss_plan_l1_fix_dist: 0.4423, d1.loss_plan_l1_fix_time: 0.9930, d1.loss_plan_l1_fix_dist: 0.2307, d2.loss_plan_l1_fix_time: 0.9788, d2.loss_plan_l1_fix_dist: 0.2287, d3.loss_plan_l1_fix_time: 0.9796, d3.loss_plan_l1_fix_dist: 0.2581, d4.loss_plan_l1_fix_time: 0.9819, d4.loss_plan_l1_fix_dist: 0.2119, d5.loss_plan_l1_fix_time: 0.9843, d5.loss_plan_l1_fix_dist: 0.2408, d6.loss_plan_l1_fix_time: 0.9871, d6.loss_plan_l1_fix_dist: 0.2475, d0.loss_cls_all: 0.1825, d0.loss_bbox_all: 0.4044, d0.loss_cls: 0.1825, d0.loss_bbox: 0.4044, d1.loss_cls: 0.1773, d1.loss_bbox: 0.3654, d2.loss_cls: 0.1630, d2.loss_bbox: 0.3485, d3.loss_cls: 0.1474, d3.loss_bbox: 0.3420, d4.loss_cls: 0.1441, d4.loss_bbox: 0.3380, d5.loss_cls: 0.1422, d5.loss_bbox: 0.3392, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8006, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6300, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5771, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5596, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5574, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5549, d0.loss_map_cls_all: 0.2314, d0.loss_map_pts_all: 1.2369, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2314, d0.loss_map_pts: 1.2369, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1977, d1.loss_map_pts: 0.8677, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1745, d2.loss_map_pts: 0.7082, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1613, d3.loss_map_pts: 0.6444, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1530, d4.loss_map_pts: 0.6213, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1495, d5.loss_map_pts: 0.6169, d5.loss_map_dir: 0.0082, loss: 26.8703, grad_norm: 153.1991 +2026-02-27 22:37:30,257 - DriveTransformer - INFO - Epoch [8][19600/39528] lr: 8.063e-05, eta: 5 days, 12:35:02, time: 0.717, data_time: 0.039, memory: 19865, loss_cls: 0.1205, loss_bbox: 0.3286, loss_traj: 0.6250, loss_traj_cls: 0.0014, loss_map_cls: 0.1102, loss_map_pts: 0.5488, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.3463, d0.loss_plan_l1_fix_dist: 0.4807, d1.loss_plan_l1_fix_time: 0.8159, d1.loss_plan_l1_fix_dist: 0.2266, d2.loss_plan_l1_fix_time: 0.7965, d2.loss_plan_l1_fix_dist: 0.2320, d3.loss_plan_l1_fix_time: 0.7935, d3.loss_plan_l1_fix_dist: 0.2412, d4.loss_plan_l1_fix_time: 0.7946, d4.loss_plan_l1_fix_dist: 0.2240, d5.loss_plan_l1_fix_time: 0.7966, d5.loss_plan_l1_fix_dist: 0.2499, d6.loss_plan_l1_fix_time: 0.7993, d6.loss_plan_l1_fix_dist: 0.2578, d0.loss_cls_all: 0.1646, d0.loss_bbox_all: 0.3873, d0.loss_cls: 0.1646, d0.loss_bbox: 0.3873, d1.loss_cls: 0.1587, d1.loss_bbox: 0.3530, d2.loss_cls: 0.1455, d2.loss_bbox: 0.3353, d3.loss_cls: 0.1274, d3.loss_bbox: 0.3292, d4.loss_cls: 0.1223, d4.loss_bbox: 0.3265, d5.loss_cls: 0.1201, d5.loss_bbox: 0.3274, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9087, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7012, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6449, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6308, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6258, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6292, d0.loss_map_cls_all: 0.1924, d0.loss_map_pts_all: 1.1333, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1924, d0.loss_map_pts: 1.1333, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1614, d1.loss_map_pts: 0.8034, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1361, d2.loss_map_pts: 0.6501, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1225, d3.loss_map_pts: 0.5822, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1158, d4.loss_map_pts: 0.5571, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1114, d5.loss_map_pts: 0.5499, d5.loss_map_dir: 0.0073, loss: 24.8832, grad_norm: 152.8609 +2026-02-27 22:38:06,309 - DriveTransformer - INFO - Epoch [8][19650/39528] lr: 8.063e-05, eta: 5 days, 12:34:19, time: 0.721, data_time: 0.036, memory: 19865, loss_cls: 0.1321, loss_bbox: 0.3386, loss_traj: 0.4570, loss_traj_cls: 0.0015, loss_map_cls: 0.1433, loss_map_pts: 0.6158, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.8910, d0.loss_plan_l1_fix_dist: 0.5271, d1.loss_plan_l1_fix_time: 0.9670, d1.loss_plan_l1_fix_dist: 0.2413, d2.loss_plan_l1_fix_time: 0.9617, d2.loss_plan_l1_fix_dist: 0.2462, d3.loss_plan_l1_fix_time: 0.9573, d3.loss_plan_l1_fix_dist: 0.2537, d4.loss_plan_l1_fix_time: 0.9592, d4.loss_plan_l1_fix_dist: 0.2723, d5.loss_plan_l1_fix_time: 0.9619, d5.loss_plan_l1_fix_dist: 0.2677, d6.loss_plan_l1_fix_time: 0.9645, d6.loss_plan_l1_fix_dist: 0.3189, d0.loss_cls_all: 0.1854, d0.loss_bbox_all: 0.3973, d0.loss_cls: 0.1854, d0.loss_bbox: 0.3973, d1.loss_cls: 0.1772, d1.loss_bbox: 0.3638, d2.loss_cls: 0.1591, d2.loss_bbox: 0.3483, d3.loss_cls: 0.1430, d3.loss_bbox: 0.3416, d4.loss_cls: 0.1339, d4.loss_bbox: 0.3413, d5.loss_cls: 0.1331, d5.loss_bbox: 0.3381, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6616, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5165, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4762, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.4644, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4602, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.4583, d0.loss_map_cls_all: 0.2152, d0.loss_map_pts_all: 1.2510, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2152, d0.loss_map_pts: 1.2510, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.1830, d1.loss_map_pts: 0.8637, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1609, d2.loss_map_pts: 0.6993, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1525, d3.loss_map_pts: 0.6428, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1485, d4.loss_map_pts: 0.6188, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1453, d5.loss_map_pts: 0.6152, d5.loss_map_dir: 0.0091, loss: 26.4018, grad_norm: 153.1449 +2026-02-27 22:38:42,105 - DriveTransformer - INFO - Epoch [8][19700/39528] lr: 8.063e-05, eta: 5 days, 12:33:34, time: 0.716, data_time: 0.036, memory: 19865, loss_cls: 0.1131, loss_bbox: 0.3200, loss_traj: 0.6376, loss_traj_cls: 0.0015, loss_map_cls: 0.1038, loss_map_pts: 0.5061, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.5496, d0.loss_plan_l1_fix_dist: 0.4905, d1.loss_plan_l1_fix_time: 0.9046, d1.loss_plan_l1_fix_dist: 0.2103, d2.loss_plan_l1_fix_time: 0.8889, d2.loss_plan_l1_fix_dist: 0.2114, d3.loss_plan_l1_fix_time: 0.8886, d3.loss_plan_l1_fix_dist: 0.2172, d4.loss_plan_l1_fix_time: 0.8919, d4.loss_plan_l1_fix_dist: 0.2772, d5.loss_plan_l1_fix_time: 0.8955, d5.loss_plan_l1_fix_dist: 0.2227, d6.loss_plan_l1_fix_time: 0.8997, d6.loss_plan_l1_fix_dist: 0.2955, d0.loss_cls_all: 0.1565, d0.loss_bbox_all: 0.3697, d0.loss_cls: 0.1565, d0.loss_bbox: 0.3697, d1.loss_cls: 0.1456, d1.loss_bbox: 0.3393, d2.loss_cls: 0.1359, d2.loss_bbox: 0.3226, d3.loss_cls: 0.1207, d3.loss_bbox: 0.3199, d4.loss_cls: 0.1144, d4.loss_bbox: 0.3183, d5.loss_cls: 0.1133, d5.loss_bbox: 0.3184, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8986, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6970, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6496, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6418, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6417, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6393, d0.loss_map_cls_all: 0.1750, d0.loss_map_pts_all: 1.0199, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1750, d0.loss_map_pts: 1.0199, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1458, d1.loss_map_pts: 0.7131, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1270, d2.loss_map_pts: 0.5774, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1159, d3.loss_map_pts: 0.5273, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1095, d4.loss_map_pts: 0.5087, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1050, d5.loss_map_pts: 0.5053, d5.loss_map_dir: 0.0071, loss: 24.8801, grad_norm: 153.8912 +2026-02-27 22:39:18,372 - DriveTransformer - INFO - Epoch [8][19750/39528] lr: 8.063e-05, eta: 5 days, 12:32:54, time: 0.725, data_time: 0.038, memory: 19865, loss_cls: 0.1168, loss_bbox: 0.3256, loss_traj: 0.6096, loss_traj_cls: 0.0014, loss_map_cls: 0.1573, loss_map_pts: 0.6466, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.7498, d0.loss_plan_l1_fix_dist: 0.4988, d1.loss_plan_l1_fix_time: 1.0300, d1.loss_plan_l1_fix_dist: 0.2027, d2.loss_plan_l1_fix_time: 1.0132, d2.loss_plan_l1_fix_dist: 0.2024, d3.loss_plan_l1_fix_time: 1.0111, d3.loss_plan_l1_fix_dist: 0.2108, d4.loss_plan_l1_fix_time: 1.0130, d4.loss_plan_l1_fix_dist: 0.2904, d5.loss_plan_l1_fix_time: 1.0148, d5.loss_plan_l1_fix_dist: 0.2274, d6.loss_plan_l1_fix_time: 1.0175, d6.loss_plan_l1_fix_dist: 0.2620, d0.loss_cls_all: 0.1704, d0.loss_bbox_all: 0.3938, d0.loss_cls: 0.1704, d0.loss_bbox: 0.3938, d1.loss_cls: 0.1598, d1.loss_bbox: 0.3545, d2.loss_cls: 0.1437, d2.loss_bbox: 0.3341, d3.loss_cls: 0.1243, d3.loss_bbox: 0.3282, d4.loss_cls: 0.1205, d4.loss_bbox: 0.3248, d5.loss_cls: 0.1174, d5.loss_bbox: 0.3259, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9007, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6959, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6267, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6209, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6157, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6099, d0.loss_map_cls_all: 0.2338, d0.loss_map_pts_all: 1.3098, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2338, d0.loss_map_pts: 1.3098, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.2036, d1.loss_map_pts: 0.9429, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1822, d2.loss_map_pts: 0.7514, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1693, d3.loss_map_pts: 0.6777, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1629, d4.loss_map_pts: 0.6517, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1594, d5.loss_map_pts: 0.6460, d5.loss_map_dir: 0.0080, loss: 27.8329, grad_norm: 153.1287 +2026-02-27 22:39:54,941 - DriveTransformer - INFO - Epoch [8][19800/39528] lr: 8.063e-05, eta: 5 days, 12:32:17, time: 0.731, data_time: 0.036, memory: 19865, loss_cls: 0.1232, loss_bbox: 0.3317, loss_traj: 0.6347, loss_traj_cls: 0.0015, loss_map_cls: 0.1569, loss_map_pts: 0.6277, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.8965, d0.loss_plan_l1_fix_dist: 0.4220, d1.loss_plan_l1_fix_time: 0.9690, d1.loss_plan_l1_fix_dist: 0.2163, d2.loss_plan_l1_fix_time: 0.9527, d2.loss_plan_l1_fix_dist: 0.2058, d3.loss_plan_l1_fix_time: 0.9423, d3.loss_plan_l1_fix_dist: 0.2272, d4.loss_plan_l1_fix_time: 0.9422, d4.loss_plan_l1_fix_dist: 0.2919, d5.loss_plan_l1_fix_time: 0.9439, d5.loss_plan_l1_fix_dist: 0.2802, d6.loss_plan_l1_fix_time: 0.9469, d6.loss_plan_l1_fix_dist: 0.2448, d0.loss_cls_all: 0.1730, d0.loss_bbox_all: 0.3845, d0.loss_cls: 0.1730, d0.loss_bbox: 0.3845, d1.loss_cls: 0.1642, d1.loss_bbox: 0.3548, d2.loss_cls: 0.1491, d2.loss_bbox: 0.3358, d3.loss_cls: 0.1322, d3.loss_bbox: 0.3305, d4.loss_cls: 0.1256, d4.loss_bbox: 0.3297, d5.loss_cls: 0.1245, d5.loss_bbox: 0.3298, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9205, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7061, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6585, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6446, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6385, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6337, d0.loss_map_cls_all: 0.2344, d0.loss_map_pts_all: 1.2627, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2344, d0.loss_map_pts: 1.2627, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2060, d1.loss_map_pts: 0.8860, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1840, d2.loss_map_pts: 0.7123, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1718, d3.loss_map_pts: 0.6530, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1634, d4.loss_map_pts: 0.6324, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1585, d5.loss_map_pts: 0.6282, d5.loss_map_dir: 0.0083, loss: 27.5123, grad_norm: 154.9242 +2026-02-27 22:40:31,524 - DriveTransformer - INFO - Epoch [8][19850/39528] lr: 8.063e-05, eta: 5 days, 12:31:41, time: 0.732, data_time: 0.036, memory: 19865, loss_cls: 0.1402, loss_bbox: 0.3404, loss_traj: 0.5114, loss_traj_cls: 0.0015, loss_map_cls: 0.1334, loss_map_pts: 0.6191, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.5406, d0.loss_plan_l1_fix_dist: 0.3915, d1.loss_plan_l1_fix_time: 0.9215, d1.loss_plan_l1_fix_dist: 0.2411, d2.loss_plan_l1_fix_time: 0.9117, d2.loss_plan_l1_fix_dist: 0.2241, d3.loss_plan_l1_fix_time: 0.9121, d3.loss_plan_l1_fix_dist: 0.2546, d4.loss_plan_l1_fix_time: 0.9142, d4.loss_plan_l1_fix_dist: 0.2726, d5.loss_plan_l1_fix_time: 0.9163, d5.loss_plan_l1_fix_dist: 0.3029, d6.loss_plan_l1_fix_time: 0.9193, d6.loss_plan_l1_fix_dist: 0.2546, d0.loss_cls_all: 0.1830, d0.loss_bbox_all: 0.4055, d0.loss_cls: 0.1830, d0.loss_bbox: 0.4055, d1.loss_cls: 0.1720, d1.loss_bbox: 0.3695, d2.loss_cls: 0.1621, d2.loss_bbox: 0.3467, d3.loss_cls: 0.1434, d3.loss_bbox: 0.3445, d4.loss_cls: 0.1394, d4.loss_bbox: 0.3425, d5.loss_cls: 0.1400, d5.loss_bbox: 0.3407, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7367, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5739, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5360, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5252, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5208, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5151, d0.loss_map_cls_all: 0.2084, d0.loss_map_pts_all: 1.2469, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2084, d0.loss_map_pts: 1.2469, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1813, d1.loss_map_pts: 0.8799, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1559, d2.loss_map_pts: 0.7164, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1458, d3.loss_map_pts: 0.6497, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1397, d4.loss_map_pts: 0.6239, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1351, d5.loss_map_pts: 0.6200, d5.loss_map_dir: 0.0086, loss: 26.0422, grad_norm: 149.0402 +2026-02-27 22:41:07,283 - DriveTransformer - INFO - Epoch [8][19900/39528] lr: 8.063e-05, eta: 5 days, 12:30:55, time: 0.715, data_time: 0.036, memory: 19865, loss_cls: 0.1273, loss_bbox: 0.3160, loss_traj: 0.5297, loss_traj_cls: 0.0015, loss_map_cls: 0.1245, loss_map_pts: 0.5465, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.6278, d0.loss_plan_l1_fix_dist: 0.4599, d1.loss_plan_l1_fix_time: 0.9089, d1.loss_plan_l1_fix_dist: 0.2811, d2.loss_plan_l1_fix_time: 0.8948, d2.loss_plan_l1_fix_dist: 0.2289, d3.loss_plan_l1_fix_time: 0.8962, d3.loss_plan_l1_fix_dist: 0.2901, d4.loss_plan_l1_fix_time: 0.8983, d4.loss_plan_l1_fix_dist: 0.2515, d5.loss_plan_l1_fix_time: 0.9005, d5.loss_plan_l1_fix_dist: 0.2659, d6.loss_plan_l1_fix_time: 0.9030, d6.loss_plan_l1_fix_dist: 0.2779, d0.loss_cls_all: 0.1634, d0.loss_bbox_all: 0.3788, d0.loss_cls: 0.1634, d0.loss_bbox: 0.3788, d1.loss_cls: 0.1584, d1.loss_bbox: 0.3443, d2.loss_cls: 0.1439, d2.loss_bbox: 0.3274, d3.loss_cls: 0.1326, d3.loss_bbox: 0.3232, d4.loss_cls: 0.1276, d4.loss_bbox: 0.3187, d5.loss_cls: 0.1270, d5.loss_bbox: 0.3178, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7125, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5895, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5454, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5358, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5305, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5298, d0.loss_map_cls_all: 0.2018, d0.loss_map_pts_all: 1.1996, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2018, d0.loss_map_pts: 1.1996, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1704, d1.loss_map_pts: 0.8180, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1454, d2.loss_map_pts: 0.6473, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1358, d3.loss_map_pts: 0.5761, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1314, d4.loss_map_pts: 0.5538, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1261, d5.loss_map_pts: 0.5488, d5.loss_map_dir: 0.0077, loss: 25.3023, grad_norm: 149.2594 +2026-02-27 22:41:44,595 - DriveTransformer - INFO - Epoch [8][19950/39528] lr: 8.063e-05, eta: 5 days, 12:30:27, time: 0.746, data_time: 0.038, memory: 19865, loss_cls: 0.1488, loss_bbox: 0.3501, loss_traj: 0.5053, loss_traj_cls: 0.0015, loss_map_cls: 0.1520, loss_map_pts: 0.7000, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.5168, d0.loss_plan_l1_fix_dist: 0.3625, d1.loss_plan_l1_fix_time: 0.9616, d1.loss_plan_l1_fix_dist: 0.2858, d2.loss_plan_l1_fix_time: 0.9476, d2.loss_plan_l1_fix_dist: 0.1967, d3.loss_plan_l1_fix_time: 0.9562, d3.loss_plan_l1_fix_dist: 0.2922, d4.loss_plan_l1_fix_time: 0.9593, d4.loss_plan_l1_fix_dist: 0.2420, d5.loss_plan_l1_fix_time: 0.9626, d5.loss_plan_l1_fix_dist: 0.2129, d6.loss_plan_l1_fix_time: 0.9666, d6.loss_plan_l1_fix_dist: 0.2397, d0.loss_cls_all: 0.1875, d0.loss_bbox_all: 0.4073, d0.loss_cls: 0.1875, d0.loss_bbox: 0.4073, d1.loss_cls: 0.1773, d1.loss_bbox: 0.3737, d2.loss_cls: 0.1692, d2.loss_bbox: 0.3554, d3.loss_cls: 0.1566, d3.loss_bbox: 0.3514, d4.loss_cls: 0.1517, d4.loss_bbox: 0.3486, d5.loss_cls: 0.1500, d5.loss_bbox: 0.3483, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7436, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5867, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5207, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5005, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4960, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.4987, d0.loss_map_cls_all: 0.2250, d0.loss_map_pts_all: 1.3658, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2250, d0.loss_map_pts: 1.3658, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1933, d1.loss_map_pts: 0.9835, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1712, d2.loss_map_pts: 0.8062, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1626, d3.loss_map_pts: 0.7361, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1572, d4.loss_map_pts: 0.7087, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1528, d5.loss_map_pts: 0.7011, d5.loss_map_dir: 0.0097, loss: 27.1142, grad_norm: 147.8698 +2026-02-27 22:42:20,575 - DriveTransformer - INFO - Epoch [8][20000/39528] lr: 8.063e-05, eta: 5 days, 12:29:43, time: 0.720, data_time: 0.037, memory: 19865, loss_cls: 0.1256, loss_bbox: 0.3342, loss_traj: 0.6341, loss_traj_cls: 0.0015, loss_map_cls: 0.1260, loss_map_pts: 0.5311, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.4636, d0.loss_plan_l1_fix_dist: 0.4162, d1.loss_plan_l1_fix_time: 0.9281, d1.loss_plan_l1_fix_dist: 0.3282, d2.loss_plan_l1_fix_time: 0.8990, d2.loss_plan_l1_fix_dist: 0.2366, d3.loss_plan_l1_fix_time: 0.8966, d3.loss_plan_l1_fix_dist: 0.3150, d4.loss_plan_l1_fix_time: 0.8980, d4.loss_plan_l1_fix_dist: 0.2816, d5.loss_plan_l1_fix_time: 0.9003, d5.loss_plan_l1_fix_dist: 0.2105, d6.loss_plan_l1_fix_time: 0.9035, d6.loss_plan_l1_fix_dist: 0.2360, d0.loss_cls_all: 0.1567, d0.loss_bbox_all: 0.3877, d0.loss_cls: 0.1567, d0.loss_bbox: 0.3877, d1.loss_cls: 0.1536, d1.loss_bbox: 0.3591, d2.loss_cls: 0.1444, d2.loss_bbox: 0.3379, d3.loss_cls: 0.1294, d3.loss_bbox: 0.3351, d4.loss_cls: 0.1255, d4.loss_bbox: 0.3339, d5.loss_cls: 0.1253, d5.loss_bbox: 0.3341, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8342, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7039, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6496, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6380, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6354, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.6343, d0.loss_map_cls_all: 0.2007, d0.loss_map_pts_all: 1.0903, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2007, d0.loss_map_pts: 1.0903, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1696, d1.loss_map_pts: 0.7746, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1468, d2.loss_map_pts: 0.6196, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1358, d3.loss_map_pts: 0.5605, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1325, d4.loss_map_pts: 0.5361, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1278, d5.loss_map_pts: 0.5307, d5.loss_map_dir: 0.0067, loss: 25.6043, grad_norm: 147.7307 +2026-02-27 22:42:57,954 - DriveTransformer - INFO - Epoch [8][20050/39528] lr: 8.063e-05, eta: 5 days, 12:29:16, time: 0.748, data_time: 0.037, memory: 19865, loss_cls: 0.1423, loss_bbox: 0.3367, loss_traj: 0.6615, loss_traj_cls: 0.0015, loss_map_cls: 0.1260, loss_map_pts: 0.6231, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.8638, d0.loss_plan_l1_fix_dist: 0.4818, d1.loss_plan_l1_fix_time: 0.9182, d1.loss_plan_l1_fix_dist: 0.3385, d2.loss_plan_l1_fix_time: 0.9085, d2.loss_plan_l1_fix_dist: 0.2847, d3.loss_plan_l1_fix_time: 0.9073, d3.loss_plan_l1_fix_dist: 0.3277, d4.loss_plan_l1_fix_time: 0.9093, d4.loss_plan_l1_fix_dist: 0.3312, d5.loss_plan_l1_fix_time: 0.9121, d5.loss_plan_l1_fix_dist: 0.2644, d6.loss_plan_l1_fix_time: 0.9150, d6.loss_plan_l1_fix_dist: 0.2671, d0.loss_cls_all: 0.1910, d0.loss_bbox_all: 0.3959, d0.loss_cls: 0.1910, d0.loss_bbox: 0.3959, d1.loss_cls: 0.1775, d1.loss_bbox: 0.3639, d2.loss_cls: 0.1669, d2.loss_bbox: 0.3456, d3.loss_cls: 0.1507, d3.loss_bbox: 0.3406, d4.loss_cls: 0.1430, d4.loss_bbox: 0.3387, d5.loss_cls: 0.1429, d5.loss_bbox: 0.3362, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8995, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7312, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6855, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6629, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6582, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6617, d0.loss_map_cls_all: 0.2159, d0.loss_map_pts_all: 1.2701, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2159, d0.loss_map_pts: 1.2701, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1771, d1.loss_map_pts: 0.8850, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1535, d2.loss_map_pts: 0.7143, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1416, d3.loss_map_pts: 0.6540, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1330, d4.loss_map_pts: 0.6317, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1277, d5.loss_map_pts: 0.6230, d5.loss_map_dir: 0.0082, loss: 27.7824, grad_norm: 147.3252 +2026-02-27 22:43:34,670 - DriveTransformer - INFO - Epoch [8][20100/39528] lr: 8.063e-05, eta: 5 days, 12:28:40, time: 0.734, data_time: 0.036, memory: 19865, loss_cls: 0.1414, loss_bbox: 0.3458, loss_traj: 0.5501, loss_traj_cls: 0.0016, loss_map_cls: 0.1263, loss_map_pts: 0.5943, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.4751, d0.loss_plan_l1_fix_dist: 0.3937, d1.loss_plan_l1_fix_time: 0.8622, d1.loss_plan_l1_fix_dist: 0.3071, d2.loss_plan_l1_fix_time: 0.8425, d2.loss_plan_l1_fix_dist: 0.2796, d3.loss_plan_l1_fix_time: 0.8404, d3.loss_plan_l1_fix_dist: 0.3103, d4.loss_plan_l1_fix_time: 0.8429, d4.loss_plan_l1_fix_dist: 0.2908, d5.loss_plan_l1_fix_time: 0.8462, d5.loss_plan_l1_fix_dist: 0.2387, d6.loss_plan_l1_fix_time: 0.8496, d6.loss_plan_l1_fix_dist: 0.2288, d0.loss_cls_all: 0.1836, d0.loss_bbox_all: 0.4082, d0.loss_cls: 0.1836, d0.loss_bbox: 0.4082, d1.loss_cls: 0.1752, d1.loss_bbox: 0.3739, d2.loss_cls: 0.1620, d2.loss_bbox: 0.3559, d3.loss_cls: 0.1499, d3.loss_bbox: 0.3509, d4.loss_cls: 0.1429, d4.loss_bbox: 0.3483, d5.loss_cls: 0.1413, d5.loss_bbox: 0.3462, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7774, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6306, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5705, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5641, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5614, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5497, d0.loss_map_cls_all: 0.2072, d0.loss_map_pts_all: 1.3169, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2072, d0.loss_map_pts: 1.3169, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1736, d1.loss_map_pts: 0.8900, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1496, d2.loss_map_pts: 0.7019, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1397, d3.loss_map_pts: 0.6293, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1343, d4.loss_map_pts: 0.6004, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1287, d5.loss_map_pts: 0.5950, d5.loss_map_dir: 0.0088, loss: 26.0157, grad_norm: 148.5317 +2026-02-27 22:44:10,096 - DriveTransformer - INFO - Epoch [8][20150/39528] lr: 8.063e-05, eta: 5 days, 12:27:51, time: 0.708, data_time: 0.040, memory: 19865, loss_cls: 0.1267, loss_bbox: 0.3078, loss_traj: 0.5666, loss_traj_cls: 0.0015, loss_map_cls: 0.1106, loss_map_pts: 0.5282, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.3513, d0.loss_plan_l1_fix_dist: 0.4983, d1.loss_plan_l1_fix_time: 0.8326, d1.loss_plan_l1_fix_dist: 0.2841, d2.loss_plan_l1_fix_time: 0.8160, d2.loss_plan_l1_fix_dist: 0.2809, d3.loss_plan_l1_fix_time: 0.8131, d3.loss_plan_l1_fix_dist: 0.3154, d4.loss_plan_l1_fix_time: 0.8157, d4.loss_plan_l1_fix_dist: 0.2734, d5.loss_plan_l1_fix_time: 0.8187, d5.loss_plan_l1_fix_dist: 0.2484, d6.loss_plan_l1_fix_time: 0.8219, d6.loss_plan_l1_fix_dist: 0.2477, d0.loss_cls_all: 0.1697, d0.loss_bbox_all: 0.3676, d0.loss_cls: 0.1697, d0.loss_bbox: 0.3676, d1.loss_cls: 0.1601, d1.loss_bbox: 0.3386, d2.loss_cls: 0.1435, d2.loss_bbox: 0.3213, d3.loss_cls: 0.1327, d3.loss_bbox: 0.3133, d4.loss_cls: 0.1273, d4.loss_bbox: 0.3102, d5.loss_cls: 0.1271, d5.loss_bbox: 0.3082, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7825, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6343, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5986, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5799, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5749, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5701, d0.loss_map_cls_all: 0.1821, d0.loss_map_pts_all: 1.1259, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1821, d0.loss_map_pts: 1.1259, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1514, d1.loss_map_pts: 0.7783, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1340, d2.loss_map_pts: 0.6256, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1240, d3.loss_map_pts: 0.5614, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1187, d4.loss_map_pts: 0.5360, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1119, d5.loss_map_pts: 0.5283, d5.loss_map_dir: 0.0063, loss: 24.4976, grad_norm: 151.4446 +2026-02-27 22:44:46,648 - DriveTransformer - INFO - Epoch [8][20200/39528] lr: 8.063e-05, eta: 5 days, 12:27:15, time: 0.732, data_time: 0.038, memory: 19865, loss_cls: 0.1417, loss_bbox: 0.3509, loss_traj: 0.7029, loss_traj_cls: 0.0015, loss_map_cls: 0.1568, loss_map_pts: 0.6627, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 3.0656, d0.loss_plan_l1_fix_dist: 0.4417, d1.loss_plan_l1_fix_time: 1.2090, d1.loss_plan_l1_fix_dist: 0.2855, d2.loss_plan_l1_fix_time: 1.1830, d2.loss_plan_l1_fix_dist: 0.2787, d3.loss_plan_l1_fix_time: 1.1777, d3.loss_plan_l1_fix_dist: 0.3261, d4.loss_plan_l1_fix_time: 1.1785, d4.loss_plan_l1_fix_dist: 0.2716, d5.loss_plan_l1_fix_time: 1.1801, d5.loss_plan_l1_fix_dist: 0.2545, d6.loss_plan_l1_fix_time: 1.1830, d6.loss_plan_l1_fix_dist: 0.2843, d0.loss_cls_all: 0.1900, d0.loss_bbox_all: 0.4181, d0.loss_cls: 0.1900, d0.loss_bbox: 0.4181, d1.loss_cls: 0.1836, d1.loss_bbox: 0.3789, d2.loss_cls: 0.1674, d2.loss_bbox: 0.3575, d3.loss_cls: 0.1499, d3.loss_bbox: 0.3535, d4.loss_cls: 0.1418, d4.loss_bbox: 0.3527, d5.loss_cls: 0.1414, d5.loss_bbox: 0.3516, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9675, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7727, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7212, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7065, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7025, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7028, d0.loss_map_cls_all: 0.2369, d0.loss_map_pts_all: 1.3903, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2369, d0.loss_map_pts: 1.3903, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.2049, d1.loss_map_pts: 0.9769, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1789, d2.loss_map_pts: 0.7876, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1664, d3.loss_map_pts: 0.7016, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1624, d4.loss_map_pts: 0.6717, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1577, d5.loss_map_pts: 0.6637, d5.loss_map_dir: 0.0087, loss: 30.7013, grad_norm: 152.7325 +2026-02-27 22:45:21,563 - DriveTransformer - INFO - Epoch [8][20250/39528] lr: 8.063e-05, eta: 5 days, 12:26:20, time: 0.697, data_time: 0.036, memory: 19865, loss_cls: 0.1332, loss_bbox: 0.3230, loss_traj: 0.6943, loss_traj_cls: 0.0014, loss_map_cls: 0.1164, loss_map_pts: 0.6011, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.6171, d0.loss_plan_l1_fix_dist: 0.3615, d1.loss_plan_l1_fix_time: 0.9263, d1.loss_plan_l1_fix_dist: 0.2010, d2.loss_plan_l1_fix_time: 0.9019, d2.loss_plan_l1_fix_dist: 0.1926, d3.loss_plan_l1_fix_time: 0.9012, d3.loss_plan_l1_fix_dist: 0.2310, d4.loss_plan_l1_fix_time: 0.9029, d4.loss_plan_l1_fix_dist: 0.1669, d5.loss_plan_l1_fix_time: 0.9048, d5.loss_plan_l1_fix_dist: 0.1712, d6.loss_plan_l1_fix_time: 0.9080, d6.loss_plan_l1_fix_dist: 0.2279, d0.loss_cls_all: 0.1773, d0.loss_bbox_all: 0.3885, d0.loss_cls: 0.1773, d0.loss_bbox: 0.3885, d1.loss_cls: 0.1713, d1.loss_bbox: 0.3554, d2.loss_cls: 0.1563, d2.loss_bbox: 0.3368, d3.loss_cls: 0.1409, d3.loss_bbox: 0.3300, d4.loss_cls: 0.1339, d4.loss_bbox: 0.3243, d5.loss_cls: 0.1335, d5.loss_bbox: 0.3232, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0219, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7935, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7207, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7041, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6939, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6884, d0.loss_map_cls_all: 0.2020, d0.loss_map_pts_all: 1.2091, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2020, d0.loss_map_pts: 1.2091, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1706, d1.loss_map_pts: 0.8690, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1430, d2.loss_map_pts: 0.7017, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1275, d3.loss_map_pts: 0.6340, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1212, d4.loss_map_pts: 0.6104, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1181, d5.loss_map_pts: 0.6032, d5.loss_map_dir: 0.0080, loss: 26.6324, grad_norm: 152.4061 +2026-02-27 22:45:59,045 - DriveTransformer - INFO - Epoch [8][20300/39528] lr: 8.063e-05, eta: 5 days, 12:25:53, time: 0.750, data_time: 0.039, memory: 19865, loss_cls: 0.1328, loss_bbox: 0.3175, loss_traj: 0.5429, loss_traj_cls: 0.0015, loss_map_cls: 0.1209, loss_map_pts: 0.6016, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.5200, d0.loss_plan_l1_fix_dist: 0.4700, d1.loss_plan_l1_fix_time: 0.9540, d1.loss_plan_l1_fix_dist: 0.2344, d2.loss_plan_l1_fix_time: 0.9338, d2.loss_plan_l1_fix_dist: 0.2297, d3.loss_plan_l1_fix_time: 0.9305, d3.loss_plan_l1_fix_dist: 0.2387, d4.loss_plan_l1_fix_time: 0.9338, d4.loss_plan_l1_fix_dist: 0.2054, d5.loss_plan_l1_fix_time: 0.9383, d5.loss_plan_l1_fix_dist: 0.2302, d6.loss_plan_l1_fix_time: 0.9436, d6.loss_plan_l1_fix_dist: 0.2553, d0.loss_cls_all: 0.1760, d0.loss_bbox_all: 0.3702, d0.loss_cls: 0.1760, d0.loss_bbox: 0.3702, d1.loss_cls: 0.1644, d1.loss_bbox: 0.3412, d2.loss_cls: 0.1519, d2.loss_bbox: 0.3223, d3.loss_cls: 0.1373, d3.loss_bbox: 0.3177, d4.loss_cls: 0.1323, d4.loss_bbox: 0.3164, d5.loss_cls: 0.1323, d5.loss_bbox: 0.3162, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7461, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6034, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5541, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5453, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5399, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5385, d0.loss_map_cls_all: 0.2001, d0.loss_map_pts_all: 1.2830, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2001, d0.loss_map_pts: 1.2830, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1654, d1.loss_map_pts: 0.8658, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1439, d2.loss_map_pts: 0.6919, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1334, d3.loss_map_pts: 0.6297, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1265, d4.loss_map_pts: 0.6048, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1227, d5.loss_map_pts: 0.6009, d5.loss_map_dir: 0.0085, loss: 25.8118, grad_norm: 155.0500 +2026-02-27 22:46:37,166 - DriveTransformer - INFO - Epoch [8][20350/39528] lr: 8.063e-05, eta: 5 days, 12:25:33, time: 0.762, data_time: 0.040, memory: 19865, loss_cls: 0.1173, loss_bbox: 0.2960, loss_traj: 0.4446, loss_traj_cls: 0.0015, loss_map_cls: 0.1274, loss_map_pts: 0.5982, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.6116, d0.loss_plan_l1_fix_dist: 0.4388, d1.loss_plan_l1_fix_time: 0.9442, d1.loss_plan_l1_fix_dist: 0.2471, d2.loss_plan_l1_fix_time: 0.9205, d2.loss_plan_l1_fix_dist: 0.2458, d3.loss_plan_l1_fix_time: 0.9254, d3.loss_plan_l1_fix_dist: 0.2484, d4.loss_plan_l1_fix_time: 0.9278, d4.loss_plan_l1_fix_dist: 0.2162, d5.loss_plan_l1_fix_time: 0.9310, d5.loss_plan_l1_fix_dist: 0.2369, d6.loss_plan_l1_fix_time: 0.9349, d6.loss_plan_l1_fix_dist: 0.2655, d0.loss_cls_all: 0.1470, d0.loss_bbox_all: 0.3500, d0.loss_cls: 0.1470, d0.loss_bbox: 0.3500, d1.loss_cls: 0.1440, d1.loss_bbox: 0.3215, d2.loss_cls: 0.1336, d2.loss_bbox: 0.3058, d3.loss_cls: 0.1209, d3.loss_bbox: 0.3000, d4.loss_cls: 0.1173, d4.loss_bbox: 0.2961, d5.loss_cls: 0.1159, d5.loss_bbox: 0.2962, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6200, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5063, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4598, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.4526, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4492, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.4449, d0.loss_map_cls_all: 0.1929, d0.loss_map_pts_all: 1.3103, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.1929, d0.loss_map_pts: 1.3103, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1659, d1.loss_map_pts: 0.8785, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1486, d2.loss_map_pts: 0.6984, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1400, d3.loss_map_pts: 0.6291, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1347, d4.loss_map_pts: 0.6038, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1301, d5.loss_map_pts: 0.5978, d5.loss_map_dir: 0.0091, loss: 24.9678, grad_norm: 154.4853 +2026-02-27 22:47:13,241 - DriveTransformer - INFO - Epoch [8][20400/39528] lr: 8.063e-05, eta: 5 days, 12:24:51, time: 0.721, data_time: 0.036, memory: 19865, loss_cls: 0.1175, loss_bbox: 0.3117, loss_traj: 0.5198, loss_traj_cls: 0.0014, loss_map_cls: 0.1319, loss_map_pts: 0.5997, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.4883, d0.loss_plan_l1_fix_dist: 0.5073, d1.loss_plan_l1_fix_time: 0.8910, d1.loss_plan_l1_fix_dist: 0.2659, d2.loss_plan_l1_fix_time: 0.8686, d2.loss_plan_l1_fix_dist: 0.2749, d3.loss_plan_l1_fix_time: 0.8678, d3.loss_plan_l1_fix_dist: 0.2688, d4.loss_plan_l1_fix_time: 0.8684, d4.loss_plan_l1_fix_dist: 0.2416, d5.loss_plan_l1_fix_time: 0.8701, d5.loss_plan_l1_fix_dist: 0.2525, d6.loss_plan_l1_fix_time: 0.8730, d6.loss_plan_l1_fix_dist: 0.2955, d0.loss_cls_all: 0.1657, d0.loss_bbox_all: 0.3616, d0.loss_cls: 0.1657, d0.loss_bbox: 0.3616, d1.loss_cls: 0.1559, d1.loss_bbox: 0.3350, d2.loss_cls: 0.1404, d2.loss_bbox: 0.3188, d3.loss_cls: 0.1244, d3.loss_bbox: 0.3134, d4.loss_cls: 0.1185, d4.loss_bbox: 0.3130, d5.loss_cls: 0.1180, d5.loss_bbox: 0.3113, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7068, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5606, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5263, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5183, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5161, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5125, d0.loss_map_cls_all: 0.2119, d0.loss_map_pts_all: 1.2527, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2119, d0.loss_map_pts: 1.2527, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1829, d1.loss_map_pts: 0.8627, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1603, d2.loss_map_pts: 0.6942, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1476, d3.loss_map_pts: 0.6274, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1394, d4.loss_map_pts: 0.6041, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1338, d5.loss_map_pts: 0.6006, d5.loss_map_dir: 0.0088, loss: 25.3172, grad_norm: 151.5756 +2026-02-27 22:47:48,915 - DriveTransformer - INFO - Epoch [8][20450/39528] lr: 8.063e-05, eta: 5 days, 12:24:05, time: 0.714, data_time: 0.036, memory: 19865, loss_cls: 0.1375, loss_bbox: 0.3230, loss_traj: 0.5290, loss_traj_cls: 0.0014, loss_map_cls: 0.1521, loss_map_pts: 0.6757, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.6400, d0.loss_plan_l1_fix_dist: 0.5088, d1.loss_plan_l1_fix_time: 0.9113, d1.loss_plan_l1_fix_dist: 0.2052, d2.loss_plan_l1_fix_time: 0.8861, d2.loss_plan_l1_fix_dist: 0.2395, d3.loss_plan_l1_fix_time: 0.8747, d3.loss_plan_l1_fix_dist: 0.2077, d4.loss_plan_l1_fix_time: 0.8750, d4.loss_plan_l1_fix_dist: 0.1967, d5.loss_plan_l1_fix_time: 0.8763, d5.loss_plan_l1_fix_dist: 0.2006, d6.loss_plan_l1_fix_time: 0.8781, d6.loss_plan_l1_fix_dist: 0.2186, d0.loss_cls_all: 0.1799, d0.loss_bbox_all: 0.3948, d0.loss_cls: 0.1799, d0.loss_bbox: 0.3948, d1.loss_cls: 0.1699, d1.loss_bbox: 0.3563, d2.loss_cls: 0.1534, d2.loss_bbox: 0.3322, d3.loss_cls: 0.1423, d3.loss_bbox: 0.3227, d4.loss_cls: 0.1378, d4.loss_bbox: 0.3213, d5.loss_cls: 0.1352, d5.loss_bbox: 0.3222, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7412, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5804, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5434, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5295, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5265, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5235, d0.loss_map_cls_all: 0.2284, d0.loss_map_pts_all: 1.4060, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2284, d0.loss_map_pts: 1.4060, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.2026, d1.loss_map_pts: 1.0079, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1766, d2.loss_map_pts: 0.7933, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1670, d3.loss_map_pts: 0.7096, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1601, d4.loss_map_pts: 0.6828, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1543, d5.loss_map_pts: 0.6756, d5.loss_map_dir: 0.0080, loss: 26.5901, grad_norm: 150.5214 +2026-02-27 22:48:27,471 - DriveTransformer - INFO - Epoch [8][20500/39528] lr: 8.063e-05, eta: 5 days, 12:23:49, time: 0.771, data_time: 0.036, memory: 19865, loss_cls: 0.1539, loss_bbox: 0.3517, loss_traj: 0.5478, loss_traj_cls: 0.0015, loss_map_cls: 0.1419, loss_map_pts: 0.7007, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 3.2413, d0.loss_plan_l1_fix_dist: 0.4426, d1.loss_plan_l1_fix_time: 1.1061, d1.loss_plan_l1_fix_dist: 0.2235, d2.loss_plan_l1_fix_time: 1.0977, d2.loss_plan_l1_fix_dist: 0.2550, d3.loss_plan_l1_fix_time: 1.0884, d3.loss_plan_l1_fix_dist: 0.2208, d4.loss_plan_l1_fix_time: 1.0886, d4.loss_plan_l1_fix_dist: 0.2309, d5.loss_plan_l1_fix_time: 1.0892, d5.loss_plan_l1_fix_dist: 0.2370, d6.loss_plan_l1_fix_time: 1.0909, d6.loss_plan_l1_fix_dist: 0.2699, d0.loss_cls_all: 0.2000, d0.loss_bbox_all: 0.4113, d0.loss_cls: 0.2000, d0.loss_bbox: 0.4113, d1.loss_cls: 0.1918, d1.loss_bbox: 0.3779, d2.loss_cls: 0.1785, d2.loss_bbox: 0.3594, d3.loss_cls: 0.1606, d3.loss_bbox: 0.3551, d4.loss_cls: 0.1564, d4.loss_bbox: 0.3513, d5.loss_cls: 0.1529, d5.loss_bbox: 0.3511, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7731, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6223, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5653, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5515, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5499, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5484, d0.loss_map_cls_all: 0.2271, d0.loss_map_pts_all: 1.4270, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2271, d0.loss_map_pts: 1.4270, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.1923, d1.loss_map_pts: 0.9911, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1678, d2.loss_map_pts: 0.8021, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1570, d3.loss_map_pts: 0.7293, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1486, d4.loss_map_pts: 0.7054, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1435, d5.loss_map_pts: 0.6997, d5.loss_map_dir: 0.0102, loss: 29.1768, grad_norm: 149.0425 +2026-02-27 22:49:04,241 - DriveTransformer - INFO - Epoch [8][20550/39528] lr: 8.063e-05, eta: 5 days, 12:23:15, time: 0.735, data_time: 0.038, memory: 19865, loss_cls: 0.1207, loss_bbox: 0.3252, loss_traj: 0.5047, loss_traj_cls: 0.0015, loss_map_cls: 0.1134, loss_map_pts: 0.5674, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.7978, d0.loss_plan_l1_fix_dist: 0.4140, d1.loss_plan_l1_fix_time: 1.2991, d1.loss_plan_l1_fix_dist: 0.2040, d2.loss_plan_l1_fix_time: 1.2798, d2.loss_plan_l1_fix_dist: 0.2318, d3.loss_plan_l1_fix_time: 1.2696, d3.loss_plan_l1_fix_dist: 0.2139, d4.loss_plan_l1_fix_time: 1.2697, d4.loss_plan_l1_fix_dist: 0.2363, d5.loss_plan_l1_fix_time: 1.2714, d5.loss_plan_l1_fix_dist: 0.2452, d6.loss_plan_l1_fix_time: 1.2746, d6.loss_plan_l1_fix_dist: 0.2503, d0.loss_cls_all: 0.1632, d0.loss_bbox_all: 0.3880, d0.loss_cls: 0.1632, d0.loss_bbox: 0.3880, d1.loss_cls: 0.1567, d1.loss_bbox: 0.3568, d2.loss_cls: 0.1404, d2.loss_bbox: 0.3357, d3.loss_cls: 0.1283, d3.loss_bbox: 0.3288, d4.loss_cls: 0.1225, d4.loss_bbox: 0.3251, d5.loss_cls: 0.1204, d5.loss_bbox: 0.3249, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7181, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5676, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5205, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5108, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5053, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5044, d0.loss_map_cls_all: 0.1876, d0.loss_map_pts_all: 1.1975, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.1876, d0.loss_map_pts: 1.1975, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1583, d1.loss_map_pts: 0.8060, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1350, d2.loss_map_pts: 0.6499, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1262, d3.loss_map_pts: 0.5912, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1196, d4.loss_map_pts: 0.5722, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1158, d5.loss_map_pts: 0.5670, d5.loss_map_dir: 0.0086, loss: 27.3430, grad_norm: 151.4410 +2026-02-27 22:49:42,270 - DriveTransformer - INFO - Epoch [8][20600/39528] lr: 8.063e-05, eta: 5 days, 12:22:54, time: 0.761, data_time: 0.037, memory: 19865, loss_cls: 0.1437, loss_bbox: 0.3457, loss_traj: 0.6420, loss_traj_cls: 0.0014, loss_map_cls: 0.1710, loss_map_pts: 0.7605, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.9735, d0.loss_plan_l1_fix_dist: 0.4824, d1.loss_plan_l1_fix_time: 1.0787, d1.loss_plan_l1_fix_dist: 0.2430, d2.loss_plan_l1_fix_time: 1.0689, d2.loss_plan_l1_fix_dist: 0.2523, d3.loss_plan_l1_fix_time: 1.0750, d3.loss_plan_l1_fix_dist: 0.2436, d4.loss_plan_l1_fix_time: 1.0791, d4.loss_plan_l1_fix_dist: 0.2568, d5.loss_plan_l1_fix_time: 1.0835, d5.loss_plan_l1_fix_dist: 0.2755, d6.loss_plan_l1_fix_time: 1.0886, d6.loss_plan_l1_fix_dist: 0.2780, d0.loss_cls_all: 0.1832, d0.loss_bbox_all: 0.4211, d0.loss_cls: 0.1832, d0.loss_bbox: 0.4211, d1.loss_cls: 0.1771, d1.loss_bbox: 0.3783, d2.loss_cls: 0.1614, d2.loss_bbox: 0.3562, d3.loss_cls: 0.1458, d3.loss_bbox: 0.3493, d4.loss_cls: 0.1421, d4.loss_bbox: 0.3476, d5.loss_cls: 0.1415, d5.loss_bbox: 0.3454, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9049, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7259, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6634, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6519, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6412, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6422, d0.loss_map_cls_all: 0.2501, d0.loss_map_pts_all: 1.4707, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2501, d0.loss_map_pts: 1.4707, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2224, d1.loss_map_pts: 1.0577, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1961, d2.loss_map_pts: 0.8616, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1857, d3.loss_map_pts: 0.7904, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1785, d4.loss_map_pts: 0.7671, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1726, d5.loss_map_pts: 0.7618, d5.loss_map_dir: 0.0095, loss: 30.2403, grad_norm: 149.1321 +2026-02-27 22:50:19,570 - DriveTransformer - INFO - Epoch [8][20650/39528] lr: 8.063e-05, eta: 5 days, 12:22:25, time: 0.746, data_time: 0.039, memory: 19865, loss_cls: 0.1147, loss_bbox: 0.2944, loss_traj: 0.5533, loss_traj_cls: 0.0014, loss_map_cls: 0.1158, loss_map_pts: 0.5437, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.3507, d0.loss_plan_l1_fix_dist: 0.4572, d1.loss_plan_l1_fix_time: 0.8458, d1.loss_plan_l1_fix_dist: 0.2428, d2.loss_plan_l1_fix_time: 0.8190, d2.loss_plan_l1_fix_dist: 0.2321, d3.loss_plan_l1_fix_time: 0.8104, d3.loss_plan_l1_fix_dist: 0.2170, d4.loss_plan_l1_fix_time: 0.8160, d4.loss_plan_l1_fix_dist: 0.2147, d5.loss_plan_l1_fix_time: 0.8222, d5.loss_plan_l1_fix_dist: 0.2362, d6.loss_plan_l1_fix_time: 0.8286, d6.loss_plan_l1_fix_dist: 0.2645, d0.loss_cls_all: 0.1450, d0.loss_bbox_all: 0.3568, d0.loss_cls: 0.1450, d0.loss_bbox: 0.3568, d1.loss_cls: 0.1329, d1.loss_bbox: 0.3289, d2.loss_cls: 0.1236, d2.loss_bbox: 0.3105, d3.loss_cls: 0.1102, d3.loss_bbox: 0.3038, d4.loss_cls: 0.1111, d4.loss_bbox: 0.2985, d5.loss_cls: 0.1118, d5.loss_bbox: 0.2958, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7628, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6215, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5668, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5545, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5532, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5536, d0.loss_map_cls_all: 0.1887, d0.loss_map_pts_all: 1.1605, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1887, d0.loss_map_pts: 1.1605, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1643, d1.loss_map_pts: 0.8022, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1409, d2.loss_map_pts: 0.6318, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1296, d3.loss_map_pts: 0.5693, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1233, d4.loss_map_pts: 0.5510, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1190, d5.loss_map_pts: 0.5436, d5.loss_map_dir: 0.0085, loss: 24.0669, grad_norm: 146.9986 +2026-02-27 22:50:55,145 - DriveTransformer - INFO - Epoch [8][20700/39528] lr: 8.063e-05, eta: 5 days, 12:21:38, time: 0.711, data_time: 0.040, memory: 19865, loss_cls: 0.1305, loss_bbox: 0.3184, loss_traj: 0.5358, loss_traj_cls: 0.0015, loss_map_cls: 0.1225, loss_map_pts: 0.5355, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.5934, d0.loss_plan_l1_fix_dist: 0.4741, d1.loss_plan_l1_fix_time: 0.9600, d1.loss_plan_l1_fix_dist: 0.3026, d2.loss_plan_l1_fix_time: 0.9443, d2.loss_plan_l1_fix_dist: 0.2231, d3.loss_plan_l1_fix_time: 0.9404, d3.loss_plan_l1_fix_dist: 0.2264, d4.loss_plan_l1_fix_time: 0.9428, d4.loss_plan_l1_fix_dist: 0.2141, d5.loss_plan_l1_fix_time: 0.9469, d5.loss_plan_l1_fix_dist: 0.2237, d6.loss_plan_l1_fix_time: 0.9514, d6.loss_plan_l1_fix_dist: 0.2731, d0.loss_cls_all: 0.1774, d0.loss_bbox_all: 0.3743, d0.loss_cls: 0.1774, d0.loss_bbox: 0.3743, d1.loss_cls: 0.1655, d1.loss_bbox: 0.3454, d2.loss_cls: 0.1540, d2.loss_bbox: 0.3284, d3.loss_cls: 0.1389, d3.loss_bbox: 0.3227, d4.loss_cls: 0.1310, d4.loss_bbox: 0.3222, d5.loss_cls: 0.1290, d5.loss_bbox: 0.3204, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7827, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6064, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5517, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5366, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5381, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5326, d0.loss_map_cls_all: 0.1889, d0.loss_map_pts_all: 1.0493, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1889, d0.loss_map_pts: 1.0493, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1650, d1.loss_map_pts: 0.7553, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1445, d2.loss_map_pts: 0.6168, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1343, d3.loss_map_pts: 0.5627, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1288, d4.loss_map_pts: 0.5449, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1240, d5.loss_map_pts: 0.5363, d5.loss_map_dir: 0.0079, loss: 25.1273, grad_norm: 147.0651 +2026-02-27 22:51:30,133 - DriveTransformer - INFO - Epoch [8][20750/39528] lr: 8.063e-05, eta: 5 days, 12:20:44, time: 0.700, data_time: 0.040, memory: 19865, loss_cls: 0.1055, loss_bbox: 0.2952, loss_traj: 0.6454, loss_traj_cls: 0.0014, loss_map_cls: 0.1110, loss_map_pts: 0.5168, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.2381, d0.loss_plan_l1_fix_dist: 0.5021, d1.loss_plan_l1_fix_time: 0.8430, d1.loss_plan_l1_fix_dist: 0.3029, d2.loss_plan_l1_fix_time: 0.8352, d2.loss_plan_l1_fix_dist: 0.2176, d3.loss_plan_l1_fix_time: 0.8326, d3.loss_plan_l1_fix_dist: 0.2403, d4.loss_plan_l1_fix_time: 0.8354, d4.loss_plan_l1_fix_dist: 0.2503, d5.loss_plan_l1_fix_time: 0.8393, d5.loss_plan_l1_fix_dist: 0.2377, d6.loss_plan_l1_fix_time: 0.8448, d6.loss_plan_l1_fix_dist: 0.2763, d0.loss_cls_all: 0.1337, d0.loss_bbox_all: 0.3492, d0.loss_cls: 0.1337, d0.loss_bbox: 0.3492, d1.loss_cls: 0.1283, d1.loss_bbox: 0.3207, d2.loss_cls: 0.1189, d2.loss_bbox: 0.3063, d3.loss_cls: 0.1081, d3.loss_bbox: 0.2986, d4.loss_cls: 0.1047, d4.loss_bbox: 0.2964, d5.loss_cls: 0.1046, d5.loss_bbox: 0.2948, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9078, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7425, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6730, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6562, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6478, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6466, d0.loss_map_cls_all: 0.1763, d0.loss_map_pts_all: 1.0908, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1763, d0.loss_map_pts: 1.0908, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1510, d1.loss_map_pts: 0.7608, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1310, d2.loss_map_pts: 0.6097, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1201, d3.loss_map_pts: 0.5421, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1154, d4.loss_map_pts: 0.5248, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1120, d5.loss_map_pts: 0.5169, d5.loss_map_dir: 0.0063, loss: 24.4645, grad_norm: 144.9416 +2026-02-27 22:52:06,790 - DriveTransformer - INFO - Epoch [8][20800/39528] lr: 8.063e-05, eta: 5 days, 12:20:08, time: 0.733, data_time: 0.037, memory: 19865, loss_cls: 0.1347, loss_bbox: 0.3428, loss_traj: 0.6084, loss_traj_cls: 0.0014, loss_map_cls: 0.1528, loss_map_pts: 0.6715, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.7707, d0.loss_plan_l1_fix_dist: 0.4166, d1.loss_plan_l1_fix_time: 0.9760, d1.loss_plan_l1_fix_dist: 0.2785, d2.loss_plan_l1_fix_time: 0.9669, d2.loss_plan_l1_fix_dist: 0.2143, d3.loss_plan_l1_fix_time: 0.9697, d3.loss_plan_l1_fix_dist: 0.2328, d4.loss_plan_l1_fix_time: 0.9721, d4.loss_plan_l1_fix_dist: 0.2393, d5.loss_plan_l1_fix_time: 0.9745, d5.loss_plan_l1_fix_dist: 0.2224, d6.loss_plan_l1_fix_time: 0.9781, d6.loss_plan_l1_fix_dist: 0.2617, d0.loss_cls_all: 0.1818, d0.loss_bbox_all: 0.4106, d0.loss_cls: 0.1818, d0.loss_bbox: 0.4106, d1.loss_cls: 0.1722, d1.loss_bbox: 0.3778, d2.loss_cls: 0.1555, d2.loss_bbox: 0.3579, d3.loss_cls: 0.1399, d3.loss_bbox: 0.3492, d4.loss_cls: 0.1361, d4.loss_bbox: 0.3453, d5.loss_cls: 0.1349, d5.loss_bbox: 0.3430, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8369, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6859, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6347, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6208, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6111, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6077, d0.loss_map_cls_all: 0.2258, d0.loss_map_pts_all: 1.3225, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2258, d0.loss_map_pts: 1.3225, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1968, d1.loss_map_pts: 0.9431, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1753, d2.loss_map_pts: 0.7694, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1634, d3.loss_map_pts: 0.6979, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1586, d4.loss_map_pts: 0.6795, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1532, d5.loss_map_pts: 0.6721, d5.loss_map_dir: 0.0090, loss: 27.8599, grad_norm: 144.4148 +2026-02-27 22:52:44,929 - DriveTransformer - INFO - Epoch [8][20850/39528] lr: 8.063e-05, eta: 5 days, 12:19:48, time: 0.763, data_time: 0.038, memory: 19865, loss_cls: 0.1323, loss_bbox: 0.3202, loss_traj: 0.5444, loss_traj_cls: 0.0014, loss_map_cls: 0.1530, loss_map_pts: 0.7070, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.5155, d0.loss_plan_l1_fix_dist: 0.4533, d1.loss_plan_l1_fix_time: 0.8743, d1.loss_plan_l1_fix_dist: 0.2517, d2.loss_plan_l1_fix_time: 0.8667, d2.loss_plan_l1_fix_dist: 0.2201, d3.loss_plan_l1_fix_time: 0.8590, d3.loss_plan_l1_fix_dist: 0.2205, d4.loss_plan_l1_fix_time: 0.8624, d4.loss_plan_l1_fix_dist: 0.2109, d5.loss_plan_l1_fix_time: 0.8670, d5.loss_plan_l1_fix_dist: 0.1991, d6.loss_plan_l1_fix_time: 0.8733, d6.loss_plan_l1_fix_dist: 0.2617, d0.loss_cls_all: 0.1625, d0.loss_bbox_all: 0.3849, d0.loss_cls: 0.1625, d0.loss_bbox: 0.3849, d1.loss_cls: 0.1601, d1.loss_bbox: 0.3520, d2.loss_cls: 0.1478, d2.loss_bbox: 0.3262, d3.loss_cls: 0.1350, d3.loss_bbox: 0.3204, d4.loss_cls: 0.1303, d4.loss_bbox: 0.3197, d5.loss_cls: 0.1310, d5.loss_bbox: 0.3198, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8107, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6399, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5765, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5541, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5472, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5439, d0.loss_map_cls_all: 0.2240, d0.loss_map_pts_all: 1.3863, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2240, d0.loss_map_pts: 1.3863, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1990, d1.loss_map_pts: 1.0020, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1776, d2.loss_map_pts: 0.8072, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1672, d3.loss_map_pts: 0.7342, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1598, d4.loss_map_pts: 0.7143, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1545, d5.loss_map_pts: 0.7085, d5.loss_map_dir: 0.0090, loss: 26.6213, grad_norm: 147.8652 +2026-02-27 22:53:22,781 - DriveTransformer - INFO - Epoch [8][20900/39528] lr: 8.063e-05, eta: 5 days, 12:19:25, time: 0.757, data_time: 0.037, memory: 19865, loss_cls: 0.1453, loss_bbox: 0.3568, loss_traj: 0.5777, loss_traj_cls: 0.0014, loss_map_cls: 0.1231, loss_map_pts: 0.6209, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.9504, d0.loss_plan_l1_fix_dist: 0.3642, d1.loss_plan_l1_fix_time: 1.0145, d1.loss_plan_l1_fix_dist: 0.2542, d2.loss_plan_l1_fix_time: 1.0011, d2.loss_plan_l1_fix_dist: 0.2388, d3.loss_plan_l1_fix_time: 0.9956, d3.loss_plan_l1_fix_dist: 0.2179, d4.loss_plan_l1_fix_time: 0.9990, d4.loss_plan_l1_fix_dist: 0.1951, d5.loss_plan_l1_fix_time: 1.0026, d5.loss_plan_l1_fix_dist: 0.2178, d6.loss_plan_l1_fix_time: 1.0068, d6.loss_plan_l1_fix_dist: 0.2847, d0.loss_cls_all: 0.1935, d0.loss_bbox_all: 0.4211, d0.loss_cls: 0.1935, d0.loss_bbox: 0.4211, d1.loss_cls: 0.1875, d1.loss_bbox: 0.3876, d2.loss_cls: 0.1729, d2.loss_bbox: 0.3651, d3.loss_cls: 0.1512, d3.loss_bbox: 0.3614, d4.loss_cls: 0.1469, d4.loss_bbox: 0.3575, d5.loss_cls: 0.1457, d5.loss_bbox: 0.3571, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7874, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6462, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5952, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5879, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5814, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5770, d0.loss_map_cls_all: 0.2031, d0.loss_map_pts_all: 1.3309, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2031, d0.loss_map_pts: 1.3309, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1655, d1.loss_map_pts: 0.9048, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1457, d2.loss_map_pts: 0.7154, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1339, d3.loss_map_pts: 0.6440, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1277, d4.loss_map_pts: 0.6242, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1220, d5.loss_map_pts: 0.6214, d5.loss_map_dir: 0.0091, loss: 27.5555, grad_norm: 146.4217 +2026-02-27 22:53:58,150 - DriveTransformer - INFO - Epoch [8][20950/39528] lr: 8.063e-05, eta: 5 days, 12:18:36, time: 0.707, data_time: 0.040, memory: 19865, loss_cls: 0.1344, loss_bbox: 0.3242, loss_traj: 0.5834, loss_traj_cls: 0.0014, loss_map_cls: 0.1346, loss_map_pts: 0.5799, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.1548, d0.loss_plan_l1_fix_dist: 0.4443, d1.loss_plan_l1_fix_time: 0.8123, d1.loss_plan_l1_fix_dist: 0.2585, d2.loss_plan_l1_fix_time: 0.8013, d2.loss_plan_l1_fix_dist: 0.2334, d3.loss_plan_l1_fix_time: 0.8037, d3.loss_plan_l1_fix_dist: 0.2124, d4.loss_plan_l1_fix_time: 0.8087, d4.loss_plan_l1_fix_dist: 0.1873, d5.loss_plan_l1_fix_time: 0.8125, d5.loss_plan_l1_fix_dist: 0.2205, d6.loss_plan_l1_fix_time: 0.8167, d6.loss_plan_l1_fix_dist: 0.2752, d0.loss_cls_all: 0.1713, d0.loss_bbox_all: 0.3961, d0.loss_cls: 0.1713, d0.loss_bbox: 0.3961, d1.loss_cls: 0.1669, d1.loss_bbox: 0.3572, d2.loss_cls: 0.1510, d2.loss_bbox: 0.3359, d3.loss_cls: 0.1399, d3.loss_bbox: 0.3273, d4.loss_cls: 0.1325, d4.loss_bbox: 0.3271, d5.loss_cls: 0.1337, d5.loss_bbox: 0.3237, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7717, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6371, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5954, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5862, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5809, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5805, d0.loss_map_cls_all: 0.2163, d0.loss_map_pts_all: 1.1859, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2163, d0.loss_map_pts: 1.1859, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1806, d1.loss_map_pts: 0.8518, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1578, d2.loss_map_pts: 0.6864, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1462, d3.loss_map_pts: 0.6101, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1400, d4.loss_map_pts: 0.5865, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1357, d5.loss_map_pts: 0.5807, d5.loss_map_dir: 0.0066, loss: 24.8188, grad_norm: 146.8432 +2026-02-27 22:54:34,789 - DriveTransformer - INFO - Epoch [8][21000/39528] lr: 8.063e-05, eta: 5 days, 12:18:01, time: 0.734, data_time: 0.036, memory: 19865, loss_cls: 0.1244, loss_bbox: 0.3168, loss_traj: 0.5190, loss_traj_cls: 0.0015, loss_map_cls: 0.1167, loss_map_pts: 0.6328, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.7633, d0.loss_plan_l1_fix_dist: 0.4838, d1.loss_plan_l1_fix_time: 0.9034, d1.loss_plan_l1_fix_dist: 0.2515, d2.loss_plan_l1_fix_time: 0.8822, d2.loss_plan_l1_fix_dist: 0.2311, d3.loss_plan_l1_fix_time: 0.8766, d3.loss_plan_l1_fix_dist: 0.2192, d4.loss_plan_l1_fix_time: 0.8804, d4.loss_plan_l1_fix_dist: 0.2024, d5.loss_plan_l1_fix_time: 0.8841, d5.loss_plan_l1_fix_dist: 0.2233, d6.loss_plan_l1_fix_time: 0.8884, d6.loss_plan_l1_fix_dist: 0.2846, d0.loss_cls_all: 0.1633, d0.loss_bbox_all: 0.3772, d0.loss_cls: 0.1633, d0.loss_bbox: 0.3772, d1.loss_cls: 0.1548, d1.loss_bbox: 0.3448, d2.loss_cls: 0.1431, d2.loss_bbox: 0.3263, d3.loss_cls: 0.1290, d3.loss_bbox: 0.3171, d4.loss_cls: 0.1253, d4.loss_bbox: 0.3151, d5.loss_cls: 0.1244, d5.loss_bbox: 0.3155, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7117, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5831, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5360, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5189, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5176, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.5158, d0.loss_map_cls_all: 0.1925, d0.loss_map_pts_all: 1.2329, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1925, d0.loss_map_pts: 1.2329, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1581, d1.loss_map_pts: 0.8888, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1387, d2.loss_map_pts: 0.7238, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1314, d3.loss_map_pts: 0.6620, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1250, d4.loss_map_pts: 0.6409, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1187, d5.loss_map_pts: 0.6337, d5.loss_map_dir: 0.0083, loss: 25.5863, grad_norm: 144.6649 +2026-02-27 22:55:11,410 - DriveTransformer - INFO - Epoch [8][21050/39528] lr: 8.063e-05, eta: 5 days, 12:17:24, time: 0.731, data_time: 0.035, memory: 19865, loss_cls: 0.1363, loss_bbox: 0.3191, loss_traj: 0.4850, loss_traj_cls: 0.0015, loss_map_cls: 0.1263, loss_map_pts: 0.6210, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.7672, d0.loss_plan_l1_fix_dist: 0.5515, d1.loss_plan_l1_fix_time: 0.8925, d1.loss_plan_l1_fix_dist: 0.2995, d2.loss_plan_l1_fix_time: 0.8716, d2.loss_plan_l1_fix_dist: 0.2727, d3.loss_plan_l1_fix_time: 0.8688, d3.loss_plan_l1_fix_dist: 0.2545, d4.loss_plan_l1_fix_time: 0.8710, d4.loss_plan_l1_fix_dist: 0.2522, d5.loss_plan_l1_fix_time: 0.8753, d5.loss_plan_l1_fix_dist: 0.2536, d6.loss_plan_l1_fix_time: 0.8810, d6.loss_plan_l1_fix_dist: 0.3198, d0.loss_cls_all: 0.1674, d0.loss_bbox_all: 0.3736, d0.loss_cls: 0.1674, d0.loss_bbox: 0.3736, d1.loss_cls: 0.1598, d1.loss_bbox: 0.3438, d2.loss_cls: 0.1533, d2.loss_bbox: 0.3261, d3.loss_cls: 0.1370, d3.loss_bbox: 0.3220, d4.loss_cls: 0.1345, d4.loss_bbox: 0.3202, d5.loss_cls: 0.1363, d5.loss_bbox: 0.3189, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6774, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5474, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4963, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.4864, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4877, d5.loss_traj_cls: 0.0018, d5.loss_traj: 0.4831, d0.loss_map_cls_all: 0.1976, d0.loss_map_pts_all: 1.3033, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1976, d0.loss_map_pts: 1.3033, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1716, d1.loss_map_pts: 0.9078, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1483, d2.loss_map_pts: 0.7269, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1390, d3.loss_map_pts: 0.6497, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1326, d4.loss_map_pts: 0.6296, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1283, d5.loss_map_pts: 0.6225, d5.loss_map_dir: 0.0080, loss: 25.8569, grad_norm: 146.9270 +2026-02-27 22:55:48,317 - DriveTransformer - INFO - Epoch [8][21100/39528] lr: 8.063e-05, eta: 5 days, 12:16:51, time: 0.738, data_time: 0.036, memory: 19865, loss_cls: 0.1460, loss_bbox: 0.3414, loss_traj: 0.7201, loss_traj_cls: 0.0015, loss_map_cls: 0.1365, loss_map_pts: 0.6232, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.8426, d0.loss_plan_l1_fix_dist: 0.4586, d1.loss_plan_l1_fix_time: 1.0396, d1.loss_plan_l1_fix_dist: 0.2767, d2.loss_plan_l1_fix_time: 1.0134, d2.loss_plan_l1_fix_dist: 0.2416, d3.loss_plan_l1_fix_time: 1.0045, d3.loss_plan_l1_fix_dist: 0.2196, d4.loss_plan_l1_fix_time: 1.0076, d4.loss_plan_l1_fix_dist: 0.2369, d5.loss_plan_l1_fix_time: 1.0123, d5.loss_plan_l1_fix_dist: 0.2399, d6.loss_plan_l1_fix_time: 1.0185, d6.loss_plan_l1_fix_dist: 0.2818, d0.loss_cls_all: 0.1865, d0.loss_bbox_all: 0.4098, d0.loss_cls: 0.1865, d0.loss_bbox: 0.4098, d1.loss_cls: 0.1775, d1.loss_bbox: 0.3763, d2.loss_cls: 0.1639, d2.loss_bbox: 0.3565, d3.loss_cls: 0.1507, d3.loss_bbox: 0.3470, d4.loss_cls: 0.1451, d4.loss_bbox: 0.3447, d5.loss_cls: 0.1444, d5.loss_bbox: 0.3433, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9379, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7651, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7163, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.7099, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7105, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7148, d0.loss_map_cls_all: 0.2140, d0.loss_map_pts_all: 1.2360, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2140, d0.loss_map_pts: 1.2360, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1765, d1.loss_map_pts: 0.8978, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1607, d2.loss_map_pts: 0.7275, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1504, d3.loss_map_pts: 0.6593, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1424, d4.loss_map_pts: 0.6341, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1379, d5.loss_map_pts: 0.6238, d5.loss_map_dir: 0.0086, loss: 28.4401, grad_norm: 149.0383 +2026-02-27 22:56:27,097 - DriveTransformer - INFO - Epoch [8][21150/39528] lr: 8.063e-05, eta: 5 days, 12:16:38, time: 0.776, data_time: 0.039, memory: 19865, loss_cls: 0.1409, loss_bbox: 0.3441, loss_traj: 0.5334, loss_traj_cls: 0.0015, loss_map_cls: 0.1399, loss_map_pts: 0.6847, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.4943, d0.loss_plan_l1_fix_dist: 0.4433, d1.loss_plan_l1_fix_time: 0.8736, d1.loss_plan_l1_fix_dist: 0.2702, d2.loss_plan_l1_fix_time: 0.8539, d2.loss_plan_l1_fix_dist: 0.2579, d3.loss_plan_l1_fix_time: 0.8399, d3.loss_plan_l1_fix_dist: 0.2559, d4.loss_plan_l1_fix_time: 0.8416, d4.loss_plan_l1_fix_dist: 0.2996, d5.loss_plan_l1_fix_time: 0.8446, d5.loss_plan_l1_fix_dist: 0.3235, d6.loss_plan_l1_fix_time: 0.8488, d6.loss_plan_l1_fix_dist: 0.3477, d0.loss_cls_all: 0.1731, d0.loss_bbox_all: 0.4066, d0.loss_cls: 0.1731, d0.loss_bbox: 0.4066, d1.loss_cls: 0.1689, d1.loss_bbox: 0.3725, d2.loss_cls: 0.1572, d2.loss_bbox: 0.3522, d3.loss_cls: 0.1457, d3.loss_bbox: 0.3461, d4.loss_cls: 0.1411, d4.loss_bbox: 0.3423, d5.loss_cls: 0.1406, d5.loss_bbox: 0.3418, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7280, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5807, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5426, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5312, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5344, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5313, d0.loss_map_cls_all: 0.2224, d0.loss_map_pts_all: 1.3976, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2224, d0.loss_map_pts: 1.3976, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.1859, d1.loss_map_pts: 0.9651, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1643, d2.loss_map_pts: 0.7777, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1524, d3.loss_map_pts: 0.7152, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1455, d4.loss_map_pts: 0.6915, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1416, d5.loss_map_pts: 0.6843, d5.loss_map_dir: 0.0101, loss: 26.7030, grad_norm: 155.9532 +2026-02-27 22:57:05,771 - DriveTransformer - INFO - Epoch [8][21200/39528] lr: 8.063e-05, eta: 5 days, 12:16:23, time: 0.773, data_time: 0.040, memory: 19865, loss_cls: 0.1454, loss_bbox: 0.3553, loss_traj: 0.5967, loss_traj_cls: 0.0015, loss_map_cls: 0.1572, loss_map_pts: 0.7004, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.6645, d0.loss_plan_l1_fix_dist: 0.4027, d1.loss_plan_l1_fix_time: 1.1263, d1.loss_plan_l1_fix_dist: 0.2706, d2.loss_plan_l1_fix_time: 1.1130, d2.loss_plan_l1_fix_dist: 0.3004, d3.loss_plan_l1_fix_time: 1.1089, d3.loss_plan_l1_fix_dist: 0.2905, d4.loss_plan_l1_fix_time: 1.1120, d4.loss_plan_l1_fix_dist: 0.3321, d5.loss_plan_l1_fix_time: 1.1160, d5.loss_plan_l1_fix_dist: 0.3861, d6.loss_plan_l1_fix_time: 1.1209, d6.loss_plan_l1_fix_dist: 0.3939, d0.loss_cls_all: 0.1871, d0.loss_bbox_all: 0.4162, d0.loss_cls: 0.1871, d0.loss_bbox: 0.4162, d1.loss_cls: 0.1821, d1.loss_bbox: 0.3811, d2.loss_cls: 0.1676, d2.loss_bbox: 0.3603, d3.loss_cls: 0.1499, d3.loss_bbox: 0.3561, d4.loss_cls: 0.1459, d4.loss_bbox: 0.3540, d5.loss_cls: 0.1453, d5.loss_bbox: 0.3537, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8216, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6602, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6055, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5901, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5925, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5927, d0.loss_map_cls_all: 0.2260, d0.loss_map_pts_all: 1.3596, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2260, d0.loss_map_pts: 1.3596, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2014, d1.loss_map_pts: 0.9664, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1784, d2.loss_map_pts: 0.7864, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1679, d3.loss_map_pts: 0.7239, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1634, d4.loss_map_pts: 0.7038, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1581, d5.loss_map_pts: 0.6997, d5.loss_map_dir: 0.0095, loss: 29.3581, grad_norm: 163.2887 +2026-02-27 22:57:41,814 - DriveTransformer - INFO - Epoch [8][21250/39528] lr: 8.063e-05, eta: 5 days, 12:15:41, time: 0.721, data_time: 0.042, memory: 19865, loss_cls: 0.1390, loss_bbox: 0.3433, loss_traj: 0.5380, loss_traj_cls: 0.0015, loss_map_cls: 0.1555, loss_map_pts: 0.6587, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.9015, d0.loss_plan_l1_fix_dist: 0.3951, d1.loss_plan_l1_fix_time: 1.0104, d1.loss_plan_l1_fix_dist: 0.2102, d2.loss_plan_l1_fix_time: 0.9913, d2.loss_plan_l1_fix_dist: 0.2692, d3.loss_plan_l1_fix_time: 0.9899, d3.loss_plan_l1_fix_dist: 0.2589, d4.loss_plan_l1_fix_time: 0.9928, d4.loss_plan_l1_fix_dist: 0.2700, d5.loss_plan_l1_fix_time: 0.9971, d5.loss_plan_l1_fix_dist: 0.3194, d6.loss_plan_l1_fix_time: 1.0026, d6.loss_plan_l1_fix_dist: 0.3110, d0.loss_cls_all: 0.1779, d0.loss_bbox_all: 0.3933, d0.loss_cls: 0.1779, d0.loss_bbox: 0.3933, d1.loss_cls: 0.1728, d1.loss_bbox: 0.3608, d2.loss_cls: 0.1599, d2.loss_bbox: 0.3446, d3.loss_cls: 0.1459, d3.loss_bbox: 0.3412, d4.loss_cls: 0.1378, d4.loss_bbox: 0.3423, d5.loss_cls: 0.1382, d5.loss_bbox: 0.3422, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7499, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6149, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5590, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5429, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5381, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5367, d0.loss_map_cls_all: 0.2282, d0.loss_map_pts_all: 1.2723, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2282, d0.loss_map_pts: 1.2723, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2003, d1.loss_map_pts: 0.9112, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1725, d2.loss_map_pts: 0.7393, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1633, d3.loss_map_pts: 0.6807, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1593, d4.loss_map_pts: 0.6629, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1555, d5.loss_map_pts: 0.6586, d5.loss_map_dir: 0.0090, loss: 27.5049, grad_norm: 163.8197 +2026-02-27 22:58:17,593 - DriveTransformer - INFO - Epoch [8][21300/39528] lr: 8.063e-05, eta: 5 days, 12:14:56, time: 0.716, data_time: 0.038, memory: 19865, loss_cls: 0.1264, loss_bbox: 0.3060, loss_traj: 0.5739, loss_traj_cls: 0.0015, loss_map_cls: 0.1385, loss_map_pts: 0.5749, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.7827, d0.loss_plan_l1_fix_dist: 0.3622, d1.loss_plan_l1_fix_time: 0.9777, d1.loss_plan_l1_fix_dist: 0.1935, d2.loss_plan_l1_fix_time: 0.9641, d2.loss_plan_l1_fix_dist: 0.2956, d3.loss_plan_l1_fix_time: 0.9616, d3.loss_plan_l1_fix_dist: 0.3043, d4.loss_plan_l1_fix_time: 0.9645, d4.loss_plan_l1_fix_dist: 0.3152, d5.loss_plan_l1_fix_time: 0.9683, d5.loss_plan_l1_fix_dist: 0.3685, d6.loss_plan_l1_fix_time: 0.9744, d6.loss_plan_l1_fix_dist: 0.3500, d0.loss_cls_all: 0.1579, d0.loss_bbox_all: 0.3608, d0.loss_cls: 0.1579, d0.loss_bbox: 0.3608, d1.loss_cls: 0.1526, d1.loss_bbox: 0.3290, d2.loss_cls: 0.1400, d2.loss_bbox: 0.3131, d3.loss_cls: 0.1275, d3.loss_bbox: 0.3112, d4.loss_cls: 0.1260, d4.loss_bbox: 0.3068, d5.loss_cls: 0.1249, d5.loss_bbox: 0.3068, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7998, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6422, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5961, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5769, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5780, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5738, d0.loss_map_cls_all: 0.2155, d0.loss_map_pts_all: 1.1418, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2155, d0.loss_map_pts: 1.1418, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1870, d1.loss_map_pts: 0.8079, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1611, d2.loss_map_pts: 0.6538, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1486, d3.loss_map_pts: 0.5982, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1436, d4.loss_map_pts: 0.5805, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1388, d5.loss_map_pts: 0.5735, d5.loss_map_dir: 0.0074, loss: 26.3148, grad_norm: 169.0721 +2026-02-27 22:58:53,983 - DriveTransformer - INFO - Epoch [8][21350/39528] lr: 8.063e-05, eta: 5 days, 12:14:17, time: 0.728, data_time: 0.038, memory: 19865, loss_cls: 0.1265, loss_bbox: 0.3282, loss_traj: 0.5894, loss_traj_cls: 0.0015, loss_map_cls: 0.1385, loss_map_pts: 0.6527, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.6377, d0.loss_plan_l1_fix_dist: 0.4246, d1.loss_plan_l1_fix_time: 0.9903, d1.loss_plan_l1_fix_dist: 0.2149, d2.loss_plan_l1_fix_time: 0.9794, d2.loss_plan_l1_fix_dist: 0.3267, d3.loss_plan_l1_fix_time: 0.9689, d3.loss_plan_l1_fix_dist: 0.3243, d4.loss_plan_l1_fix_time: 0.9720, d4.loss_plan_l1_fix_dist: 0.2788, d5.loss_plan_l1_fix_time: 0.9752, d5.loss_plan_l1_fix_dist: 0.3354, d6.loss_plan_l1_fix_time: 0.9794, d6.loss_plan_l1_fix_dist: 0.3018, d0.loss_cls_all: 0.1690, d0.loss_bbox_all: 0.3816, d0.loss_cls: 0.1690, d0.loss_bbox: 0.3816, d1.loss_cls: 0.1628, d1.loss_bbox: 0.3501, d2.loss_cls: 0.1464, d2.loss_bbox: 0.3322, d3.loss_cls: 0.1311, d3.loss_bbox: 0.3291, d4.loss_cls: 0.1271, d4.loss_bbox: 0.3275, d5.loss_cls: 0.1264, d5.loss_bbox: 0.3272, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8222, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6418, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5985, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5873, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5882, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5880, d0.loss_map_cls_all: 0.2162, d0.loss_map_pts_all: 1.3301, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2162, d0.loss_map_pts: 1.3301, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1903, d1.loss_map_pts: 0.9215, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1654, d2.loss_map_pts: 0.7447, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1515, d3.loss_map_pts: 0.6817, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1447, d4.loss_map_pts: 0.6589, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1391, d5.loss_map_pts: 0.6536, d5.loss_map_dir: 0.0087, loss: 27.4493, grad_norm: 168.4792 +2026-02-27 22:59:29,694 - DriveTransformer - INFO - Epoch [8][21400/39528] lr: 8.063e-05, eta: 5 days, 12:13:31, time: 0.714, data_time: 0.037, memory: 19865, loss_cls: 0.1456, loss_bbox: 0.3603, loss_traj: 0.6512, loss_traj_cls: 0.0014, loss_map_cls: 0.1368, loss_map_pts: 0.6439, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.9145, d0.loss_plan_l1_fix_dist: 0.4497, d1.loss_plan_l1_fix_time: 0.9424, d1.loss_plan_l1_fix_dist: 0.3030, d2.loss_plan_l1_fix_time: 0.9384, d2.loss_plan_l1_fix_dist: 0.4033, d3.loss_plan_l1_fix_time: 0.9275, d3.loss_plan_l1_fix_dist: 0.4335, d4.loss_plan_l1_fix_time: 0.9314, d4.loss_plan_l1_fix_dist: 0.4226, d5.loss_plan_l1_fix_time: 0.9358, d5.loss_plan_l1_fix_dist: 0.5089, d6.loss_plan_l1_fix_time: 0.9388, d6.loss_plan_l1_fix_dist: 0.5355, d0.loss_cls_all: 0.1856, d0.loss_bbox_all: 0.4134, d0.loss_cls: 0.1856, d0.loss_bbox: 0.4134, d1.loss_cls: 0.1822, d1.loss_bbox: 0.3798, d2.loss_cls: 0.1694, d2.loss_bbox: 0.3589, d3.loss_cls: 0.1513, d3.loss_bbox: 0.3568, d4.loss_cls: 0.1459, d4.loss_bbox: 0.3578, d5.loss_cls: 0.1462, d5.loss_bbox: 0.3572, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8979, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7479, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6799, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6637, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6567, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6523, d0.loss_map_cls_all: 0.2138, d0.loss_map_pts_all: 1.3364, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2138, d0.loss_map_pts: 1.3364, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1875, d1.loss_map_pts: 0.9114, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1607, d2.loss_map_pts: 0.7295, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1500, d3.loss_map_pts: 0.6614, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1422, d4.loss_map_pts: 0.6466, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1376, d5.loss_map_pts: 0.6449, d5.loss_map_dir: 0.0084, loss: 29.1680, grad_norm: 175.8147 +2026-02-27 23:00:05,128 - DriveTransformer - INFO - Epoch [8][21450/39528] lr: 8.063e-05, eta: 5 days, 12:12:42, time: 0.709, data_time: 0.037, memory: 19865, loss_cls: 0.1213, loss_bbox: 0.3421, loss_traj: 0.5340, loss_traj_cls: 0.0014, loss_map_cls: 0.1132, loss_map_pts: 0.5446, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.5201, d0.loss_plan_l1_fix_dist: 0.5099, d1.loss_plan_l1_fix_time: 0.8404, d1.loss_plan_l1_fix_dist: 0.3208, d2.loss_plan_l1_fix_time: 0.8377, d2.loss_plan_l1_fix_dist: 0.3749, d3.loss_plan_l1_fix_time: 0.8363, d3.loss_plan_l1_fix_dist: 0.3952, d4.loss_plan_l1_fix_time: 0.8410, d4.loss_plan_l1_fix_dist: 0.4125, d5.loss_plan_l1_fix_time: 0.8462, d5.loss_plan_l1_fix_dist: 0.4516, d6.loss_plan_l1_fix_time: 0.8512, d6.loss_plan_l1_fix_dist: 0.4721, d0.loss_cls_all: 0.1586, d0.loss_bbox_all: 0.3774, d0.loss_cls: 0.1586, d0.loss_bbox: 0.3774, d1.loss_cls: 0.1508, d1.loss_bbox: 0.3512, d2.loss_cls: 0.1388, d2.loss_bbox: 0.3371, d3.loss_cls: 0.1240, d3.loss_bbox: 0.3346, d4.loss_cls: 0.1202, d4.loss_bbox: 0.3363, d5.loss_cls: 0.1201, d5.loss_bbox: 0.3394, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7423, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5954, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5587, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5418, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5373, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5318, d0.loss_map_cls_all: 0.1959, d0.loss_map_pts_all: 1.1272, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1959, d0.loss_map_pts: 1.1272, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1635, d1.loss_map_pts: 0.7757, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1393, d2.loss_map_pts: 0.6233, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1268, d3.loss_map_pts: 0.5740, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1185, d4.loss_map_pts: 0.5526, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1145, d5.loss_map_pts: 0.5460, d5.loss_map_dir: 0.0068, loss: 25.5390, grad_norm: 178.1283 +2026-02-27 23:00:41,058 - DriveTransformer - INFO - Epoch [8][21500/39528] lr: 8.063e-05, eta: 5 days, 12:11:59, time: 0.719, data_time: 0.038, memory: 19865, loss_cls: 0.1415, loss_bbox: 0.3469, loss_traj: 0.5714, loss_traj_cls: 0.0013, loss_map_cls: 0.1520, loss_map_pts: 0.6221, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.8593, d0.loss_plan_l1_fix_dist: 0.4342, d1.loss_plan_l1_fix_time: 1.0587, d1.loss_plan_l1_fix_dist: 0.3335, d2.loss_plan_l1_fix_time: 1.0202, d2.loss_plan_l1_fix_dist: 0.3799, d3.loss_plan_l1_fix_time: 1.0291, d3.loss_plan_l1_fix_dist: 0.4035, d4.loss_plan_l1_fix_time: 1.0310, d4.loss_plan_l1_fix_dist: 0.4412, d5.loss_plan_l1_fix_time: 1.0318, d5.loss_plan_l1_fix_dist: 0.4055, d6.loss_plan_l1_fix_time: 1.0369, d6.loss_plan_l1_fix_dist: 0.4477, d0.loss_cls_all: 0.1858, d0.loss_bbox_all: 0.4139, d0.loss_cls: 0.1858, d0.loss_bbox: 0.4139, d1.loss_cls: 0.1787, d1.loss_bbox: 0.3786, d2.loss_cls: 0.1640, d2.loss_bbox: 0.3599, d3.loss_cls: 0.1462, d3.loss_bbox: 0.3531, d4.loss_cls: 0.1417, d4.loss_bbox: 0.3502, d5.loss_cls: 0.1413, d5.loss_bbox: 0.3488, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8104, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6324, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5945, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5827, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5881, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5823, d0.loss_map_cls_all: 0.2427, d0.loss_map_pts_all: 1.2869, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2427, d0.loss_map_pts: 1.2869, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.2071, d1.loss_map_pts: 0.9059, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1809, d2.loss_map_pts: 0.7201, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1675, d3.loss_map_pts: 0.6558, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1590, d4.loss_map_pts: 0.6307, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1531, d5.loss_map_pts: 0.6234, d5.loss_map_dir: 0.0076, loss: 28.8258, grad_norm: 179.8620 +2026-02-27 23:01:15,683 - DriveTransformer - INFO - Epoch [8][21550/39528] lr: 8.063e-05, eta: 5 days, 12:11:01, time: 0.693, data_time: 0.037, memory: 19865, loss_cls: 0.1512, loss_bbox: 0.3373, loss_traj: 0.5816, loss_traj_cls: 0.0013, loss_map_cls: 0.1309, loss_map_pts: 0.6538, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.5182, d0.loss_plan_l1_fix_dist: 0.4020, d1.loss_plan_l1_fix_time: 0.9327, d1.loss_plan_l1_fix_dist: 0.3363, d2.loss_plan_l1_fix_time: 0.9072, d2.loss_plan_l1_fix_dist: 0.3788, d3.loss_plan_l1_fix_time: 0.9135, d3.loss_plan_l1_fix_dist: 0.4288, d4.loss_plan_l1_fix_time: 0.9157, d4.loss_plan_l1_fix_dist: 0.5153, d5.loss_plan_l1_fix_time: 0.9179, d5.loss_plan_l1_fix_dist: 0.4434, d6.loss_plan_l1_fix_time: 0.9221, d6.loss_plan_l1_fix_dist: 0.5144, d0.loss_cls_all: 0.1916, d0.loss_bbox_all: 0.4029, d0.loss_cls: 0.1916, d0.loss_bbox: 0.4029, d1.loss_cls: 0.1867, d1.loss_bbox: 0.3671, d2.loss_cls: 0.1742, d2.loss_bbox: 0.3453, d3.loss_cls: 0.1586, d3.loss_bbox: 0.3395, d4.loss_cls: 0.1540, d4.loss_bbox: 0.3357, d5.loss_cls: 0.1513, d5.loss_bbox: 0.3373, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8020, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6685, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6116, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5935, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5867, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5778, d0.loss_map_cls_all: 0.2142, d0.loss_map_pts_all: 1.2149, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2142, d0.loss_map_pts: 1.2149, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1828, d1.loss_map_pts: 0.8937, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1586, d2.loss_map_pts: 0.7338, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1450, d3.loss_map_pts: 0.6778, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1373, d4.loss_map_pts: 0.6566, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1327, d5.loss_map_pts: 0.6521, d5.loss_map_dir: 0.0069, loss: 27.7693, grad_norm: 181.8037 +2026-02-27 23:01:52,205 - DriveTransformer - INFO - Epoch [8][21600/39528] lr: 8.063e-05, eta: 5 days, 12:10:24, time: 0.730, data_time: 0.038, memory: 19865, loss_cls: 0.1419, loss_bbox: 0.3556, loss_traj: 0.5318, loss_traj_cls: 0.0013, loss_map_cls: 0.1454, loss_map_pts: 0.6715, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.5866, d0.loss_plan_l1_fix_dist: 0.4121, d1.loss_plan_l1_fix_time: 1.0769, d1.loss_plan_l1_fix_dist: 0.3353, d2.loss_plan_l1_fix_time: 1.0745, d2.loss_plan_l1_fix_dist: 0.3289, d3.loss_plan_l1_fix_time: 1.0653, d3.loss_plan_l1_fix_dist: 0.3172, d4.loss_plan_l1_fix_time: 1.0701, d4.loss_plan_l1_fix_dist: 0.4470, d5.loss_plan_l1_fix_time: 1.0784, d5.loss_plan_l1_fix_dist: 0.3135, d6.loss_plan_l1_fix_time: 1.0856, d6.loss_plan_l1_fix_dist: 0.3280, d0.loss_cls_all: 0.1821, d0.loss_bbox_all: 0.4128, d0.loss_cls: 0.1821, d0.loss_bbox: 0.4128, d1.loss_cls: 0.1783, d1.loss_bbox: 0.3802, d2.loss_cls: 0.1682, d2.loss_bbox: 0.3602, d3.loss_cls: 0.1536, d3.loss_bbox: 0.3553, d4.loss_cls: 0.1447, d4.loss_bbox: 0.3568, d5.loss_cls: 0.1407, d5.loss_bbox: 0.3563, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7296, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5954, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5536, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5368, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5341, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5319, d0.loss_map_cls_all: 0.2294, d0.loss_map_pts_all: 1.3215, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2294, d0.loss_map_pts: 1.3215, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1937, d1.loss_map_pts: 0.9468, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1715, d2.loss_map_pts: 0.7689, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1601, d3.loss_map_pts: 0.7030, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1528, d4.loss_map_pts: 0.6788, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1470, d5.loss_map_pts: 0.6709, d5.loss_map_dir: 0.0084, loss: 28.3978, grad_norm: 183.5849 +2026-02-27 23:02:30,301 - DriveTransformer - INFO - Epoch [8][21650/39528] lr: 8.063e-05, eta: 5 days, 12:10:04, time: 0.762, data_time: 0.038, memory: 19865, loss_cls: 0.1186, loss_bbox: 0.3181, loss_traj: 0.5291, loss_traj_cls: 0.0014, loss_map_cls: 0.1267, loss_map_pts: 0.6350, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.5036, d0.loss_plan_l1_fix_dist: 0.4831, d1.loss_plan_l1_fix_time: 0.9559, d1.loss_plan_l1_fix_dist: 0.3132, d2.loss_plan_l1_fix_time: 0.9441, d2.loss_plan_l1_fix_dist: 0.3221, d3.loss_plan_l1_fix_time: 0.9374, d3.loss_plan_l1_fix_dist: 0.2906, d4.loss_plan_l1_fix_time: 0.9410, d4.loss_plan_l1_fix_dist: 0.4267, d5.loss_plan_l1_fix_time: 0.9464, d5.loss_plan_l1_fix_dist: 0.3549, d6.loss_plan_l1_fix_time: 0.9515, d6.loss_plan_l1_fix_dist: 0.3580, d0.loss_cls_all: 0.1601, d0.loss_bbox_all: 0.3764, d0.loss_cls: 0.1601, d0.loss_bbox: 0.3764, d1.loss_cls: 0.1511, d1.loss_bbox: 0.3478, d2.loss_cls: 0.1398, d2.loss_bbox: 0.3244, d3.loss_cls: 0.1282, d3.loss_bbox: 0.3183, d4.loss_cls: 0.1203, d4.loss_bbox: 0.3181, d5.loss_cls: 0.1178, d5.loss_bbox: 0.3185, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7958, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6014, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5422, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5400, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5330, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5319, d0.loss_map_cls_all: 0.2043, d0.loss_map_pts_all: 1.2991, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2043, d0.loss_map_pts: 1.2991, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1739, d1.loss_map_pts: 0.9021, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1505, d2.loss_map_pts: 0.7404, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1390, d3.loss_map_pts: 0.6703, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1322, d4.loss_map_pts: 0.6442, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1276, d5.loss_map_pts: 0.6360, d5.loss_map_dir: 0.0088, loss: 26.7554, grad_norm: 183.8725 +2026-02-27 23:03:07,544 - DriveTransformer - INFO - Epoch [8][21700/39528] lr: 8.063e-05, eta: 5 days, 12:09:34, time: 0.745, data_time: 0.040, memory: 19865, loss_cls: 0.0976, loss_bbox: 0.2724, loss_traj: 0.4311, loss_traj_cls: 0.0014, loss_map_cls: 0.0901, loss_map_pts: 0.4885, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.5258, d0.loss_plan_l1_fix_dist: 0.5184, d1.loss_plan_l1_fix_time: 0.8785, d1.loss_plan_l1_fix_dist: 0.2817, d2.loss_plan_l1_fix_time: 0.8619, d2.loss_plan_l1_fix_dist: 0.3139, d3.loss_plan_l1_fix_time: 0.8593, d3.loss_plan_l1_fix_dist: 0.2661, d4.loss_plan_l1_fix_time: 0.8636, d4.loss_plan_l1_fix_dist: 0.3626, d5.loss_plan_l1_fix_time: 0.8659, d5.loss_plan_l1_fix_dist: 0.3502, d6.loss_plan_l1_fix_time: 0.8695, d6.loss_plan_l1_fix_dist: 0.3224, d0.loss_cls_all: 0.1331, d0.loss_bbox_all: 0.3317, d0.loss_cls: 0.1331, d0.loss_bbox: 0.3317, d1.loss_cls: 0.1276, d1.loss_bbox: 0.2997, d2.loss_cls: 0.1131, d2.loss_bbox: 0.2829, d3.loss_cls: 0.1019, d3.loss_bbox: 0.2747, d4.loss_cls: 0.0979, d4.loss_bbox: 0.2740, d5.loss_cls: 0.0977, d5.loss_bbox: 0.2725, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6234, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.4959, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4453, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.4384, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4359, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.4327, d0.loss_map_cls_all: 0.1575, d0.loss_map_pts_all: 1.1158, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1575, d0.loss_map_pts: 1.1158, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1304, d1.loss_map_pts: 0.7268, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1122, d2.loss_map_pts: 0.5668, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1034, d3.loss_map_pts: 0.5057, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.0960, d4.loss_map_pts: 0.4891, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.0911, d5.loss_map_pts: 0.4868, d5.loss_map_dir: 0.0070, loss: 23.1802, grad_norm: 182.6683 +2026-02-27 23:03:44,068 - DriveTransformer - INFO - Epoch [8][21750/39528] lr: 8.063e-05, eta: 5 days, 12:08:57, time: 0.731, data_time: 0.035, memory: 19865, loss_cls: 0.1272, loss_bbox: 0.3069, loss_traj: 0.5482, loss_traj_cls: 0.0014, loss_map_cls: 0.1545, loss_map_pts: 0.6702, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.4276, d0.loss_plan_l1_fix_dist: 0.4743, d1.loss_plan_l1_fix_time: 0.9262, d1.loss_plan_l1_fix_dist: 0.2452, d2.loss_plan_l1_fix_time: 0.9090, d2.loss_plan_l1_fix_dist: 0.3077, d3.loss_plan_l1_fix_time: 0.9074, d3.loss_plan_l1_fix_dist: 0.2885, d4.loss_plan_l1_fix_time: 0.9109, d4.loss_plan_l1_fix_dist: 0.3290, d5.loss_plan_l1_fix_time: 0.9130, d5.loss_plan_l1_fix_dist: 0.3634, d6.loss_plan_l1_fix_time: 0.9161, d6.loss_plan_l1_fix_dist: 0.3402, d0.loss_cls_all: 0.1724, d0.loss_bbox_all: 0.3734, d0.loss_cls: 0.1724, d0.loss_bbox: 0.3734, d1.loss_cls: 0.1597, d1.loss_bbox: 0.3411, d2.loss_cls: 0.1465, d2.loss_bbox: 0.3198, d3.loss_cls: 0.1340, d3.loss_bbox: 0.3116, d4.loss_cls: 0.1275, d4.loss_bbox: 0.3092, d5.loss_cls: 0.1276, d5.loss_bbox: 0.3069, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7573, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6052, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5644, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5550, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5508, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5480, d0.loss_map_cls_all: 0.2380, d0.loss_map_pts_all: 1.3316, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2380, d0.loss_map_pts: 1.3316, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2036, d1.loss_map_pts: 0.9344, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1810, d2.loss_map_pts: 0.7614, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1685, d3.loss_map_pts: 0.7004, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1607, d4.loss_map_pts: 0.6751, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1565, d5.loss_map_pts: 0.6685, d5.loss_map_dir: 0.0087, loss: 26.8462, grad_norm: 180.7427 +2026-02-27 23:04:20,708 - DriveTransformer - INFO - Epoch [8][21800/39528] lr: 8.063e-05, eta: 5 days, 12:08:22, time: 0.734, data_time: 0.037, memory: 19865, loss_cls: 0.1136, loss_bbox: 0.3140, loss_traj: 0.6161, loss_traj_cls: 0.0014, loss_map_cls: 0.1361, loss_map_pts: 0.6228, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.5999, d0.loss_plan_l1_fix_dist: 0.4171, d1.loss_plan_l1_fix_time: 1.0549, d1.loss_plan_l1_fix_dist: 0.2456, d2.loss_plan_l1_fix_time: 1.0227, d2.loss_plan_l1_fix_dist: 0.3162, d3.loss_plan_l1_fix_time: 1.0154, d3.loss_plan_l1_fix_dist: 0.3510, d4.loss_plan_l1_fix_time: 1.0174, d4.loss_plan_l1_fix_dist: 0.3390, d5.loss_plan_l1_fix_time: 1.0205, d5.loss_plan_l1_fix_dist: 0.3597, d6.loss_plan_l1_fix_time: 1.0241, d6.loss_plan_l1_fix_dist: 0.3445, d0.loss_cls_all: 0.1635, d0.loss_bbox_all: 0.3724, d0.loss_cls: 0.1635, d0.loss_bbox: 0.3724, d1.loss_cls: 0.1595, d1.loss_bbox: 0.3352, d2.loss_cls: 0.1404, d2.loss_bbox: 0.3195, d3.loss_cls: 0.1207, d3.loss_bbox: 0.3171, d4.loss_cls: 0.1156, d4.loss_bbox: 0.3138, d5.loss_cls: 0.1134, d5.loss_bbox: 0.3138, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8789, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6732, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6307, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6176, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6174, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6151, d0.loss_map_cls_all: 0.2108, d0.loss_map_pts_all: 1.2680, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2108, d0.loss_map_pts: 1.2680, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1808, d1.loss_map_pts: 0.8944, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1580, d2.loss_map_pts: 0.7186, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1494, d3.loss_map_pts: 0.6496, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1426, d4.loss_map_pts: 0.6279, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1377, d5.loss_map_pts: 0.6216, d5.loss_map_dir: 0.0076, loss: 27.5901, grad_norm: 183.2611 +2026-02-27 23:04:56,956 - DriveTransformer - INFO - Epoch [8][21850/39528] lr: 8.063e-05, eta: 5 days, 12:07:41, time: 0.724, data_time: 0.036, memory: 19865, loss_cls: 0.1381, loss_bbox: 0.3305, loss_traj: 0.6002, loss_traj_cls: 0.0014, loss_map_cls: 0.1542, loss_map_pts: 0.6982, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.9988, d0.loss_plan_l1_fix_dist: 0.4658, d1.loss_plan_l1_fix_time: 1.0984, d1.loss_plan_l1_fix_dist: 0.2142, d2.loss_plan_l1_fix_time: 1.0720, d2.loss_plan_l1_fix_dist: 0.2787, d3.loss_plan_l1_fix_time: 1.0674, d3.loss_plan_l1_fix_dist: 0.3549, d4.loss_plan_l1_fix_time: 1.0690, d4.loss_plan_l1_fix_dist: 0.3054, d5.loss_plan_l1_fix_time: 1.0718, d5.loss_plan_l1_fix_dist: 0.2890, d6.loss_plan_l1_fix_time: 1.0753, d6.loss_plan_l1_fix_dist: 0.2619, d0.loss_cls_all: 0.1786, d0.loss_bbox_all: 0.4012, d0.loss_cls: 0.1786, d0.loss_bbox: 0.4012, d1.loss_cls: 0.1711, d1.loss_bbox: 0.3661, d2.loss_cls: 0.1578, d2.loss_bbox: 0.3434, d3.loss_cls: 0.1439, d3.loss_bbox: 0.3353, d4.loss_cls: 0.1379, d4.loss_bbox: 0.3319, d5.loss_cls: 0.1369, d5.loss_bbox: 0.3319, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7991, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6594, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6192, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6125, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5991, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6014, d0.loss_map_cls_all: 0.2304, d0.loss_map_pts_all: 1.3816, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2304, d0.loss_map_pts: 1.3816, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2040, d1.loss_map_pts: 0.9864, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1797, d2.loss_map_pts: 0.8010, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1663, d3.loss_map_pts: 0.7292, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1598, d4.loss_map_pts: 0.7047, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1553, d5.loss_map_pts: 0.6987, d5.loss_map_dir: 0.0085, loss: 29.1316, grad_norm: 182.7637 +2026-02-27 23:05:34,329 - DriveTransformer - INFO - Epoch [8][21900/39528] lr: 8.063e-05, eta: 5 days, 12:07:13, time: 0.747, data_time: 0.038, memory: 19865, loss_cls: 0.1502, loss_bbox: 0.3580, loss_traj: 0.6596, loss_traj_cls: 0.0014, loss_map_cls: 0.1361, loss_map_pts: 0.7032, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.6155, d0.loss_plan_l1_fix_dist: 0.4173, d1.loss_plan_l1_fix_time: 1.0867, d1.loss_plan_l1_fix_dist: 0.1991, d2.loss_plan_l1_fix_time: 1.0770, d2.loss_plan_l1_fix_dist: 0.2855, d3.loss_plan_l1_fix_time: 1.0668, d3.loss_plan_l1_fix_dist: 0.3468, d4.loss_plan_l1_fix_time: 1.0687, d4.loss_plan_l1_fix_dist: 0.2882, d5.loss_plan_l1_fix_time: 1.0715, d5.loss_plan_l1_fix_dist: 0.2620, d6.loss_plan_l1_fix_time: 1.0757, d6.loss_plan_l1_fix_dist: 0.2672, d0.loss_cls_all: 0.1906, d0.loss_bbox_all: 0.4234, d0.loss_cls: 0.1906, d0.loss_bbox: 0.4234, d1.loss_cls: 0.1809, d1.loss_bbox: 0.3951, d2.loss_cls: 0.1651, d2.loss_bbox: 0.3720, d3.loss_cls: 0.1556, d3.loss_bbox: 0.3630, d4.loss_cls: 0.1492, d4.loss_bbox: 0.3605, d5.loss_cls: 0.1496, d5.loss_bbox: 0.3597, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9780, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7474, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6789, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6649, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6631, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6601, d0.loss_map_cls_all: 0.2234, d0.loss_map_pts_all: 1.4085, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2234, d0.loss_map_pts: 1.4085, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1908, d1.loss_map_pts: 1.0090, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1654, d2.loss_map_pts: 0.8207, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1522, d3.loss_map_pts: 0.7428, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1462, d4.loss_map_pts: 0.7150, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1386, d5.loss_map_pts: 0.7038, d5.loss_map_dir: 0.0087, loss: 29.5278, grad_norm: 178.3751 +2026-02-27 23:06:09,792 - DriveTransformer - INFO - Epoch [8][21950/39528] lr: 8.063e-05, eta: 5 days, 12:06:24, time: 0.709, data_time: 0.036, memory: 19865, loss_cls: 0.1216, loss_bbox: 0.3185, loss_traj: 0.5248, loss_traj_cls: 0.0015, loss_map_cls: 0.1275, loss_map_pts: 0.5972, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.4163, d0.loss_plan_l1_fix_dist: 0.4849, d1.loss_plan_l1_fix_time: 0.8877, d1.loss_plan_l1_fix_dist: 0.2087, d2.loss_plan_l1_fix_time: 0.8721, d2.loss_plan_l1_fix_dist: 0.2815, d3.loss_plan_l1_fix_time: 0.8651, d3.loss_plan_l1_fix_dist: 0.3249, d4.loss_plan_l1_fix_time: 0.8680, d4.loss_plan_l1_fix_dist: 0.3126, d5.loss_plan_l1_fix_time: 0.8720, d5.loss_plan_l1_fix_dist: 0.2819, d6.loss_plan_l1_fix_time: 0.8762, d6.loss_plan_l1_fix_dist: 0.3117, d0.loss_cls_all: 0.1652, d0.loss_bbox_all: 0.3838, d0.loss_cls: 0.1652, d0.loss_bbox: 0.3838, d1.loss_cls: 0.1551, d1.loss_bbox: 0.3551, d2.loss_cls: 0.1441, d2.loss_bbox: 0.3334, d3.loss_cls: 0.1292, d3.loss_bbox: 0.3266, d4.loss_cls: 0.1210, d4.loss_bbox: 0.3242, d5.loss_cls: 0.1208, d5.loss_bbox: 0.3203, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7141, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5786, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5399, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5257, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5274, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5245, d0.loss_map_cls_all: 0.2047, d0.loss_map_pts_all: 1.2214, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2047, d0.loss_map_pts: 1.2214, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1705, d1.loss_map_pts: 0.8497, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1526, d2.loss_map_pts: 0.6801, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1415, d3.loss_map_pts: 0.6242, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1337, d4.loss_map_pts: 0.6033, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1297, d5.loss_map_pts: 0.5979, d5.loss_map_dir: 0.0085, loss: 25.3985, grad_norm: 177.7706 +2026-02-27 23:06:45,981 - DriveTransformer - INFO - Epoch [8][22000/39528] lr: 8.063e-05, eta: 5 days, 12:05:43, time: 0.724, data_time: 0.039, memory: 19865, loss_cls: 0.1350, loss_bbox: 0.3296, loss_traj: 0.6469, loss_traj_cls: 0.0014, loss_map_cls: 0.1324, loss_map_pts: 0.6478, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 3.0813, d0.loss_plan_l1_fix_dist: 0.4239, d1.loss_plan_l1_fix_time: 1.0212, d1.loss_plan_l1_fix_dist: 0.2145, d2.loss_plan_l1_fix_time: 1.0100, d2.loss_plan_l1_fix_dist: 0.2744, d3.loss_plan_l1_fix_time: 1.0048, d3.loss_plan_l1_fix_dist: 0.3084, d4.loss_plan_l1_fix_time: 1.0068, d4.loss_plan_l1_fix_dist: 0.2912, d5.loss_plan_l1_fix_time: 1.0106, d5.loss_plan_l1_fix_dist: 0.2717, d6.loss_plan_l1_fix_time: 1.0149, d6.loss_plan_l1_fix_dist: 0.2929, d0.loss_cls_all: 0.1767, d0.loss_bbox_all: 0.4012, d0.loss_cls: 0.1767, d0.loss_bbox: 0.4012, d1.loss_cls: 0.1700, d1.loss_bbox: 0.3633, d2.loss_cls: 0.1559, d2.loss_bbox: 0.3448, d3.loss_cls: 0.1413, d3.loss_bbox: 0.3365, d4.loss_cls: 0.1355, d4.loss_bbox: 0.3323, d5.loss_cls: 0.1332, d5.loss_bbox: 0.3319, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9337, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7267, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6745, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6577, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6491, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6494, d0.loss_map_cls_all: 0.2084, d0.loss_map_pts_all: 1.2666, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2084, d0.loss_map_pts: 1.2666, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1797, d1.loss_map_pts: 0.9134, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1589, d2.loss_map_pts: 0.7510, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1494, d3.loss_map_pts: 0.6781, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1423, d4.loss_map_pts: 0.6529, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1353, d5.loss_map_pts: 0.6469, d5.loss_map_dir: 0.0079, loss: 28.4351, grad_norm: 179.6498 +2026-02-27 23:07:21,657 - DriveTransformer - INFO - Epoch [8][22050/39528] lr: 8.063e-05, eta: 5 days, 12:04:57, time: 0.714, data_time: 0.039, memory: 19865, loss_cls: 0.1405, loss_bbox: 0.3236, loss_traj: 0.6531, loss_traj_cls: 0.0014, loss_map_cls: 0.1194, loss_map_pts: 0.5484, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.9447, d0.loss_plan_l1_fix_dist: 0.4405, d1.loss_plan_l1_fix_time: 0.9507, d1.loss_plan_l1_fix_dist: 0.2182, d2.loss_plan_l1_fix_time: 0.9266, d2.loss_plan_l1_fix_dist: 0.2638, d3.loss_plan_l1_fix_time: 0.9159, d3.loss_plan_l1_fix_dist: 0.3040, d4.loss_plan_l1_fix_time: 0.9195, d4.loss_plan_l1_fix_dist: 0.2765, d5.loss_plan_l1_fix_time: 0.9258, d5.loss_plan_l1_fix_dist: 0.2684, d6.loss_plan_l1_fix_time: 0.9329, d6.loss_plan_l1_fix_dist: 0.2643, d0.loss_cls_all: 0.1820, d0.loss_bbox_all: 0.3952, d0.loss_cls: 0.1820, d0.loss_bbox: 0.3952, d1.loss_cls: 0.1758, d1.loss_bbox: 0.3587, d2.loss_cls: 0.1611, d2.loss_bbox: 0.3384, d3.loss_cls: 0.1450, d3.loss_bbox: 0.3314, d4.loss_cls: 0.1404, d4.loss_bbox: 0.3264, d5.loss_cls: 0.1401, d5.loss_bbox: 0.3251, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8962, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7188, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6624, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6510, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6464, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6517, d0.loss_map_cls_all: 0.1947, d0.loss_map_pts_all: 1.1132, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1947, d0.loss_map_pts: 1.1132, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1637, d1.loss_map_pts: 0.7941, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1447, d2.loss_map_pts: 0.6446, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1302, d3.loss_map_pts: 0.5782, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1242, d4.loss_map_pts: 0.5575, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1209, d5.loss_map_pts: 0.5488, d5.loss_map_dir: 0.0071, loss: 26.6434, grad_norm: 179.7405 +2026-02-27 23:07:59,794 - DriveTransformer - INFO - Epoch [8][22100/39528] lr: 8.063e-05, eta: 5 days, 12:04:37, time: 0.763, data_time: 0.037, memory: 19865, loss_cls: 0.1504, loss_bbox: 0.3392, loss_traj: 0.5388, loss_traj_cls: 0.0014, loss_map_cls: 0.1383, loss_map_pts: 0.6546, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.6126, d0.loss_plan_l1_fix_dist: 0.4862, d1.loss_plan_l1_fix_time: 0.9245, d1.loss_plan_l1_fix_dist: 0.2262, d2.loss_plan_l1_fix_time: 0.9200, d2.loss_plan_l1_fix_dist: 0.2463, d3.loss_plan_l1_fix_time: 0.9140, d3.loss_plan_l1_fix_dist: 0.2889, d4.loss_plan_l1_fix_time: 0.9177, d4.loss_plan_l1_fix_dist: 0.2490, d5.loss_plan_l1_fix_time: 0.9220, d5.loss_plan_l1_fix_dist: 0.2699, d6.loss_plan_l1_fix_time: 0.9283, d6.loss_plan_l1_fix_dist: 0.2461, d0.loss_cls_all: 0.1968, d0.loss_bbox_all: 0.4043, d0.loss_cls: 0.1968, d0.loss_bbox: 0.4043, d1.loss_cls: 0.1846, d1.loss_bbox: 0.3756, d2.loss_cls: 0.1719, d2.loss_bbox: 0.3511, d3.loss_cls: 0.1572, d3.loss_bbox: 0.3461, d4.loss_cls: 0.1512, d4.loss_bbox: 0.3416, d5.loss_cls: 0.1494, d5.loss_bbox: 0.3409, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7781, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6120, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5609, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5493, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5434, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5417, d0.loss_map_cls_all: 0.2063, d0.loss_map_pts_all: 1.3429, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2063, d0.loss_map_pts: 1.3429, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1799, d1.loss_map_pts: 0.9297, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1584, d2.loss_map_pts: 0.7532, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1483, d3.loss_map_pts: 0.6876, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1428, d4.loss_map_pts: 0.6593, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1399, d5.loss_map_pts: 0.6555, d5.loss_map_dir: 0.0099, loss: 26.9673, grad_norm: 180.3819 +2026-02-27 23:08:34,834 - DriveTransformer - INFO - Epoch [8][22150/39528] lr: 8.063e-05, eta: 5 days, 12:03:44, time: 0.701, data_time: 0.037, memory: 19865, loss_cls: 0.1218, loss_bbox: 0.3107, loss_traj: 0.5847, loss_traj_cls: 0.0014, loss_map_cls: 0.1309, loss_map_pts: 0.5581, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.5782, d0.loss_plan_l1_fix_dist: 0.4168, d1.loss_plan_l1_fix_time: 0.8505, d1.loss_plan_l1_fix_dist: 0.2260, d2.loss_plan_l1_fix_time: 0.8392, d2.loss_plan_l1_fix_dist: 0.2164, d3.loss_plan_l1_fix_time: 0.8416, d3.loss_plan_l1_fix_dist: 0.2622, d4.loss_plan_l1_fix_time: 0.8456, d4.loss_plan_l1_fix_dist: 0.2216, d5.loss_plan_l1_fix_time: 0.8485, d5.loss_plan_l1_fix_dist: 0.2493, d6.loss_plan_l1_fix_time: 0.8517, d6.loss_plan_l1_fix_dist: 0.2159, d0.loss_cls_all: 0.1633, d0.loss_bbox_all: 0.3689, d0.loss_cls: 0.1633, d0.loss_bbox: 0.3689, d1.loss_cls: 0.1535, d1.loss_bbox: 0.3427, d2.loss_cls: 0.1428, d2.loss_bbox: 0.3224, d3.loss_cls: 0.1322, d3.loss_bbox: 0.3132, d4.loss_cls: 0.1230, d4.loss_bbox: 0.3116, d5.loss_cls: 0.1225, d5.loss_bbox: 0.3108, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7685, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6330, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5914, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5880, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5817, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5787, d0.loss_map_cls_all: 0.2032, d0.loss_map_pts_all: 1.1112, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2032, d0.loss_map_pts: 1.1112, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1706, d1.loss_map_pts: 0.7992, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1507, d2.loss_map_pts: 0.6461, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1425, d3.loss_map_pts: 0.5855, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1359, d4.loss_map_pts: 0.5639, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1315, d5.loss_map_pts: 0.5584, d5.loss_map_dir: 0.0071, loss: 24.8238, grad_norm: 176.8150 +2026-02-27 23:09:09,522 - DriveTransformer - INFO - Epoch [8][22200/39528] lr: 8.063e-05, eta: 5 days, 12:02:48, time: 0.694, data_time: 0.038, memory: 19865, loss_cls: 0.1381, loss_bbox: 0.3300, loss_traj: 0.6849, loss_traj_cls: 0.0014, loss_map_cls: 0.1248, loss_map_pts: 0.5004, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.5905, d0.loss_plan_l1_fix_dist: 0.3783, d1.loss_plan_l1_fix_time: 1.0359, d1.loss_plan_l1_fix_dist: 0.2593, d2.loss_plan_l1_fix_time: 1.0155, d2.loss_plan_l1_fix_dist: 0.2399, d3.loss_plan_l1_fix_time: 1.0074, d3.loss_plan_l1_fix_dist: 0.2383, d4.loss_plan_l1_fix_time: 1.0092, d4.loss_plan_l1_fix_dist: 0.2302, d5.loss_plan_l1_fix_time: 1.0116, d5.loss_plan_l1_fix_dist: 0.2487, d6.loss_plan_l1_fix_time: 1.0144, d6.loss_plan_l1_fix_dist: 0.2658, d0.loss_cls_all: 0.1686, d0.loss_bbox_all: 0.3866, d0.loss_cls: 0.1686, d0.loss_bbox: 0.3866, d1.loss_cls: 0.1656, d1.loss_bbox: 0.3581, d2.loss_cls: 0.1557, d2.loss_bbox: 0.3415, d3.loss_cls: 0.1393, d3.loss_bbox: 0.3370, d4.loss_cls: 0.1361, d4.loss_bbox: 0.3333, d5.loss_cls: 0.1374, d5.loss_bbox: 0.3305, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9468, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7576, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7055, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6932, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6895, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6876, d0.loss_map_cls_all: 0.2069, d0.loss_map_pts_all: 1.0643, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.2069, d0.loss_map_pts: 1.0643, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1684, d1.loss_map_pts: 0.7619, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1490, d2.loss_map_pts: 0.6075, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1363, d3.loss_map_pts: 0.5374, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1302, d4.loss_map_pts: 0.5120, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1245, d5.loss_map_pts: 0.5034, d5.loss_map_dir: 0.0061, loss: 26.5747, grad_norm: 176.6488 +2026-02-27 23:09:47,222 - DriveTransformer - INFO - Epoch [8][22250/39528] lr: 8.063e-05, eta: 5 days, 12:02:23, time: 0.754, data_time: 0.036, memory: 19865, loss_cls: 0.1265, loss_bbox: 0.3310, loss_traj: 0.5690, loss_traj_cls: 0.0014, loss_map_cls: 0.1521, loss_map_pts: 0.7529, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.6464, d0.loss_plan_l1_fix_dist: 0.4504, d1.loss_plan_l1_fix_time: 0.9845, d1.loss_plan_l1_fix_dist: 0.2752, d2.loss_plan_l1_fix_time: 0.9661, d2.loss_plan_l1_fix_dist: 0.2779, d3.loss_plan_l1_fix_time: 0.9651, d3.loss_plan_l1_fix_dist: 0.2520, d4.loss_plan_l1_fix_time: 0.9695, d4.loss_plan_l1_fix_dist: 0.2470, d5.loss_plan_l1_fix_time: 0.9754, d5.loss_plan_l1_fix_dist: 0.2474, d6.loss_plan_l1_fix_time: 0.9815, d6.loss_plan_l1_fix_dist: 0.2778, d0.loss_cls_all: 0.1729, d0.loss_bbox_all: 0.3993, d0.loss_cls: 0.1729, d0.loss_bbox: 0.3993, d1.loss_cls: 0.1644, d1.loss_bbox: 0.3593, d2.loss_cls: 0.1502, d2.loss_bbox: 0.3406, d3.loss_cls: 0.1334, d3.loss_bbox: 0.3358, d4.loss_cls: 0.1278, d4.loss_bbox: 0.3322, d5.loss_cls: 0.1250, d5.loss_bbox: 0.3327, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8425, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6600, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6020, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5798, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5770, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5710, d0.loss_map_cls_all: 0.2345, d0.loss_map_pts_all: 1.4967, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2345, d0.loss_map_pts: 1.4967, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1983, d1.loss_map_pts: 1.0706, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1773, d2.loss_map_pts: 0.8628, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1669, d3.loss_map_pts: 0.7849, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1590, d4.loss_map_pts: 0.7598, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1542, d5.loss_map_pts: 0.7542, d5.loss_map_dir: 0.0099, loss: 28.4582, grad_norm: 177.6397 +2026-02-27 23:10:21,973 - DriveTransformer - INFO - Epoch [8][22300/39528] lr: 8.063e-05, eta: 5 days, 12:01:27, time: 0.695, data_time: 0.038, memory: 19865, loss_cls: 0.1195, loss_bbox: 0.2950, loss_traj: 0.6684, loss_traj_cls: 0.0015, loss_map_cls: 0.1138, loss_map_pts: 0.5133, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.9174, d0.loss_plan_l1_fix_dist: 0.4604, d1.loss_plan_l1_fix_time: 0.9821, d1.loss_plan_l1_fix_dist: 0.2505, d2.loss_plan_l1_fix_time: 0.9693, d2.loss_plan_l1_fix_dist: 0.2973, d3.loss_plan_l1_fix_time: 0.9644, d3.loss_plan_l1_fix_dist: 0.2574, d4.loss_plan_l1_fix_time: 0.9684, d4.loss_plan_l1_fix_dist: 0.2399, d5.loss_plan_l1_fix_time: 0.9725, d5.loss_plan_l1_fix_dist: 0.2067, d6.loss_plan_l1_fix_time: 0.9770, d6.loss_plan_l1_fix_dist: 0.2404, d0.loss_cls_all: 0.1589, d0.loss_bbox_all: 0.3564, d0.loss_cls: 0.1589, d0.loss_bbox: 0.3564, d1.loss_cls: 0.1548, d1.loss_bbox: 0.3242, d2.loss_cls: 0.1384, d2.loss_bbox: 0.3074, d3.loss_cls: 0.1245, d3.loss_bbox: 0.3034, d4.loss_cls: 0.1216, d4.loss_bbox: 0.2988, d5.loss_cls: 0.1195, d5.loss_bbox: 0.2959, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9338, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7380, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6769, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6701, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6694, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6709, d0.loss_map_cls_all: 0.1849, d0.loss_map_pts_all: 1.0574, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1849, d0.loss_map_pts: 1.0574, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1596, d1.loss_map_pts: 0.7280, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1362, d2.loss_map_pts: 0.5878, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1260, d3.loss_map_pts: 0.5337, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1194, d4.loss_map_pts: 0.5173, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1146, d5.loss_map_pts: 0.5131, d5.loss_map_dir: 0.0064, loss: 26.0697, grad_norm: 177.2368 +2026-02-27 23:10:57,301 - DriveTransformer - INFO - Epoch [8][22350/39528] lr: 8.063e-05, eta: 5 days, 12:00:37, time: 0.707, data_time: 0.036, memory: 19865, loss_cls: 0.1372, loss_bbox: 0.3345, loss_traj: 0.6586, loss_traj_cls: 0.0014, loss_map_cls: 0.1634, loss_map_pts: 0.6646, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 3.0888, d0.loss_plan_l1_fix_dist: 0.4510, d1.loss_plan_l1_fix_time: 1.1104, d1.loss_plan_l1_fix_dist: 0.2526, d2.loss_plan_l1_fix_time: 1.0843, d2.loss_plan_l1_fix_dist: 0.3035, d3.loss_plan_l1_fix_time: 1.0748, d3.loss_plan_l1_fix_dist: 0.2700, d4.loss_plan_l1_fix_time: 1.0779, d4.loss_plan_l1_fix_dist: 0.2701, d5.loss_plan_l1_fix_time: 1.0814, d5.loss_plan_l1_fix_dist: 0.2498, d6.loss_plan_l1_fix_time: 1.0856, d6.loss_plan_l1_fix_dist: 0.2601, d0.loss_cls_all: 0.1839, d0.loss_bbox_all: 0.3997, d0.loss_cls: 0.1839, d0.loss_bbox: 0.3997, d1.loss_cls: 0.1778, d1.loss_bbox: 0.3640, d2.loss_cls: 0.1637, d2.loss_bbox: 0.3423, d3.loss_cls: 0.1465, d3.loss_bbox: 0.3363, d4.loss_cls: 0.1388, d4.loss_bbox: 0.3355, d5.loss_cls: 0.1381, d5.loss_bbox: 0.3344, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8979, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7281, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6833, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6707, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6592, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6575, d0.loss_map_cls_all: 0.2403, d0.loss_map_pts_all: 1.2802, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2403, d0.loss_map_pts: 1.2802, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.2084, d1.loss_map_pts: 0.9347, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1867, d2.loss_map_pts: 0.7617, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1759, d3.loss_map_pts: 0.6973, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1690, d4.loss_map_pts: 0.6723, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1641, d5.loss_map_pts: 0.6655, d5.loss_map_dir: 0.0088, loss: 29.3113, grad_norm: 179.1245 +2026-02-27 23:11:34,968 - DriveTransformer - INFO - Epoch [8][22400/39528] lr: 8.063e-05, eta: 5 days, 12:00:12, time: 0.753, data_time: 0.041, memory: 19865, loss_cls: 0.1325, loss_bbox: 0.3388, loss_traj: 0.5857, loss_traj_cls: 0.0014, loss_map_cls: 0.1594, loss_map_pts: 0.6714, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.7716, d0.loss_plan_l1_fix_dist: 0.4132, d1.loss_plan_l1_fix_time: 1.0796, d1.loss_plan_l1_fix_dist: 0.2277, d2.loss_plan_l1_fix_time: 1.0701, d2.loss_plan_l1_fix_dist: 0.2766, d3.loss_plan_l1_fix_time: 1.0628, d3.loss_plan_l1_fix_dist: 0.2371, d4.loss_plan_l1_fix_time: 1.0665, d4.loss_plan_l1_fix_dist: 0.2474, d5.loss_plan_l1_fix_time: 1.0708, d5.loss_plan_l1_fix_dist: 0.2575, d6.loss_plan_l1_fix_time: 1.0756, d6.loss_plan_l1_fix_dist: 0.2348, d0.loss_cls_all: 0.1828, d0.loss_bbox_all: 0.4014, d0.loss_cls: 0.1828, d0.loss_bbox: 0.4014, d1.loss_cls: 0.1732, d1.loss_bbox: 0.3638, d2.loss_cls: 0.1569, d2.loss_bbox: 0.3441, d3.loss_cls: 0.1388, d3.loss_bbox: 0.3391, d4.loss_cls: 0.1316, d4.loss_bbox: 0.3381, d5.loss_cls: 0.1312, d5.loss_bbox: 0.3386, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8132, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6213, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5981, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5850, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5807, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5868, d0.loss_map_cls_all: 0.2450, d0.loss_map_pts_all: 1.4209, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2450, d0.loss_map_pts: 1.4209, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2098, d1.loss_map_pts: 0.9979, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1854, d2.loss_map_pts: 0.7893, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1728, d3.loss_map_pts: 0.7109, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1654, d4.loss_map_pts: 0.6821, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1619, d5.loss_map_pts: 0.6719, d5.loss_map_dir: 0.0090, loss: 28.5443, grad_norm: 180.0477 +2026-02-27 23:12:11,890 - DriveTransformer - INFO - Epoch [8][22450/39528] lr: 8.063e-05, eta: 5 days, 11:59:39, time: 0.738, data_time: 0.039, memory: 19865, loss_cls: 0.1134, loss_bbox: 0.3114, loss_traj: 0.4759, loss_traj_cls: 0.0014, loss_map_cls: 0.1185, loss_map_pts: 0.6105, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 1.9326, d0.loss_plan_l1_fix_dist: 0.4751, d1.loss_plan_l1_fix_time: 0.7956, d1.loss_plan_l1_fix_dist: 0.2042, d2.loss_plan_l1_fix_time: 0.7713, d2.loss_plan_l1_fix_dist: 0.2500, d3.loss_plan_l1_fix_time: 0.7695, d3.loss_plan_l1_fix_dist: 0.2337, d4.loss_plan_l1_fix_time: 0.7731, d4.loss_plan_l1_fix_dist: 0.2266, d5.loss_plan_l1_fix_time: 0.7772, d5.loss_plan_l1_fix_dist: 0.2345, d6.loss_plan_l1_fix_time: 0.7818, d6.loss_plan_l1_fix_dist: 0.2279, d0.loss_cls_all: 0.1556, d0.loss_bbox_all: 0.3689, d0.loss_cls: 0.1556, d0.loss_bbox: 0.3689, d1.loss_cls: 0.1481, d1.loss_bbox: 0.3365, d2.loss_cls: 0.1325, d2.loss_bbox: 0.3165, d3.loss_cls: 0.1205, d3.loss_bbox: 0.3091, d4.loss_cls: 0.1152, d4.loss_bbox: 0.3074, d5.loss_cls: 0.1141, d5.loss_bbox: 0.3086, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6526, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5369, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4947, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4806, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4760, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4753, d0.loss_map_cls_all: 0.2027, d0.loss_map_pts_all: 1.2413, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2027, d0.loss_map_pts: 1.2413, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1642, d1.loss_map_pts: 0.8510, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1421, d2.loss_map_pts: 0.6953, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1316, d3.loss_map_pts: 0.6426, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1242, d4.loss_map_pts: 0.6198, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1195, d5.loss_map_pts: 0.6114, d5.loss_map_dir: 0.0092, loss: 23.5269, grad_norm: 173.1549 +2026-02-27 23:12:48,275 - DriveTransformer - INFO - Epoch [8][22500/39528] lr: 8.063e-05, eta: 5 days, 11:59:01, time: 0.728, data_time: 0.037, memory: 19865, loss_cls: 0.1325, loss_bbox: 0.3174, loss_traj: 0.6277, loss_traj_cls: 0.0014, loss_map_cls: 0.1151, loss_map_pts: 0.6036, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.6712, d0.loss_plan_l1_fix_dist: 0.4761, d1.loss_plan_l1_fix_time: 1.0289, d1.loss_plan_l1_fix_dist: 0.2207, d2.loss_plan_l1_fix_time: 1.0145, d2.loss_plan_l1_fix_dist: 0.2438, d3.loss_plan_l1_fix_time: 0.9995, d3.loss_plan_l1_fix_dist: 0.2425, d4.loss_plan_l1_fix_time: 1.0010, d4.loss_plan_l1_fix_dist: 0.2370, d5.loss_plan_l1_fix_time: 1.0045, d5.loss_plan_l1_fix_dist: 0.2436, d6.loss_plan_l1_fix_time: 1.0096, d6.loss_plan_l1_fix_dist: 0.2539, d0.loss_cls_all: 0.1712, d0.loss_bbox_all: 0.3851, d0.loss_cls: 0.1712, d0.loss_bbox: 0.3851, d1.loss_cls: 0.1631, d1.loss_bbox: 0.3536, d2.loss_cls: 0.1552, d2.loss_bbox: 0.3316, d3.loss_cls: 0.1406, d3.loss_bbox: 0.3215, d4.loss_cls: 0.1348, d4.loss_bbox: 0.3190, d5.loss_cls: 0.1335, d5.loss_bbox: 0.3171, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8994, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6900, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6346, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6358, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6297, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6279, d0.loss_map_cls_all: 0.2024, d0.loss_map_pts_all: 1.2375, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2024, d0.loss_map_pts: 1.2375, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1623, d1.loss_map_pts: 0.8574, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1409, d2.loss_map_pts: 0.6958, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1300, d3.loss_map_pts: 0.6395, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1205, d4.loss_map_pts: 0.6147, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1165, d5.loss_map_pts: 0.6053, d5.loss_map_dir: 0.0097, loss: 27.0888, grad_norm: 174.0384 +2026-02-27 23:13:24,266 - DriveTransformer - INFO - Epoch [8][22550/39528] lr: 8.063e-05, eta: 5 days, 11:58:18, time: 0.720, data_time: 0.036, memory: 19865, loss_cls: 0.1497, loss_bbox: 0.3483, loss_traj: 0.6247, loss_traj_cls: 0.0014, loss_map_cls: 0.1644, loss_map_pts: 0.7100, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.4962, d0.loss_plan_l1_fix_dist: 0.4171, d1.loss_plan_l1_fix_time: 0.9729, d1.loss_plan_l1_fix_dist: 0.2165, d2.loss_plan_l1_fix_time: 0.9580, d2.loss_plan_l1_fix_dist: 0.2020, d3.loss_plan_l1_fix_time: 0.9339, d3.loss_plan_l1_fix_dist: 0.2133, d4.loss_plan_l1_fix_time: 0.9337, d4.loss_plan_l1_fix_dist: 0.2026, d5.loss_plan_l1_fix_time: 0.9356, d5.loss_plan_l1_fix_dist: 0.2047, d6.loss_plan_l1_fix_time: 0.9388, d6.loss_plan_l1_fix_dist: 0.2209, d0.loss_cls_all: 0.1943, d0.loss_bbox_all: 0.4047, d0.loss_cls: 0.1943, d0.loss_bbox: 0.4047, d1.loss_cls: 0.1858, d1.loss_bbox: 0.3765, d2.loss_cls: 0.1719, d2.loss_bbox: 0.3559, d3.loss_cls: 0.1570, d3.loss_bbox: 0.3499, d4.loss_cls: 0.1512, d4.loss_bbox: 0.3496, d5.loss_cls: 0.1498, d5.loss_bbox: 0.3493, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8661, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7011, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6431, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6284, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6245, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6214, d0.loss_map_cls_all: 0.2380, d0.loss_map_pts_all: 1.4205, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2380, d0.loss_map_pts: 1.4205, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2121, d1.loss_map_pts: 1.0176, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1866, d2.loss_map_pts: 0.8209, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1762, d3.loss_map_pts: 0.7424, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1700, d4.loss_map_pts: 0.7164, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1654, d5.loss_map_pts: 0.7108, d5.loss_map_dir: 0.0086, loss: 28.0325, grad_norm: 173.9106 +2026-02-27 23:14:01,139 - DriveTransformer - INFO - Epoch [8][22600/39528] lr: 8.063e-05, eta: 5 days, 11:57:45, time: 0.739, data_time: 0.039, memory: 19865, loss_cls: 0.1378, loss_bbox: 0.3473, loss_traj: 0.6137, loss_traj_cls: 0.0014, loss_map_cls: 0.1176, loss_map_pts: 0.5892, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.9202, d0.loss_plan_l1_fix_dist: 0.4771, d1.loss_plan_l1_fix_time: 1.0163, d1.loss_plan_l1_fix_dist: 0.2400, d2.loss_plan_l1_fix_time: 0.9985, d2.loss_plan_l1_fix_dist: 0.2026, d3.loss_plan_l1_fix_time: 0.9910, d3.loss_plan_l1_fix_dist: 0.2224, d4.loss_plan_l1_fix_time: 0.9908, d4.loss_plan_l1_fix_dist: 0.2157, d5.loss_plan_l1_fix_time: 0.9918, d5.loss_plan_l1_fix_dist: 0.1979, d6.loss_plan_l1_fix_time: 0.9943, d6.loss_plan_l1_fix_dist: 0.2122, d0.loss_cls_all: 0.1751, d0.loss_bbox_all: 0.4067, d0.loss_cls: 0.1751, d0.loss_bbox: 0.4067, d1.loss_cls: 0.1706, d1.loss_bbox: 0.3767, d2.loss_cls: 0.1583, d2.loss_bbox: 0.3548, d3.loss_cls: 0.1422, d3.loss_bbox: 0.3493, d4.loss_cls: 0.1380, d4.loss_bbox: 0.3472, d5.loss_cls: 0.1380, d5.loss_bbox: 0.3465, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9008, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7066, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6392, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6182, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6109, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6107, d0.loss_map_cls_all: 0.1988, d0.loss_map_pts_all: 1.2030, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.1988, d0.loss_map_pts: 1.2030, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1622, d1.loss_map_pts: 0.8341, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1414, d2.loss_map_pts: 0.6762, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1284, d3.loss_map_pts: 0.6148, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1226, d4.loss_map_pts: 0.5963, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1184, d5.loss_map_pts: 0.5895, d5.loss_map_dir: 0.0091, loss: 27.1146, grad_norm: 173.6325 +2026-02-27 23:14:37,569 - DriveTransformer - INFO - Epoch [8][22650/39528] lr: 8.063e-05, eta: 5 days, 11:57:06, time: 0.727, data_time: 0.036, memory: 19865, loss_cls: 0.1354, loss_bbox: 0.3292, loss_traj: 0.5356, loss_traj_cls: 0.0014, loss_map_cls: 0.1534, loss_map_pts: 0.6826, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.8451, d0.loss_plan_l1_fix_dist: 0.4368, d1.loss_plan_l1_fix_time: 0.9715, d1.loss_plan_l1_fix_dist: 0.2509, d2.loss_plan_l1_fix_time: 0.9550, d2.loss_plan_l1_fix_dist: 0.2275, d3.loss_plan_l1_fix_time: 0.9843, d3.loss_plan_l1_fix_dist: 0.2433, d4.loss_plan_l1_fix_time: 0.9928, d4.loss_plan_l1_fix_dist: 0.2318, d5.loss_plan_l1_fix_time: 1.0002, d5.loss_plan_l1_fix_dist: 0.2388, d6.loss_plan_l1_fix_time: 1.0078, d6.loss_plan_l1_fix_dist: 0.2525, d0.loss_cls_all: 0.1823, d0.loss_bbox_all: 0.4008, d0.loss_cls: 0.1823, d0.loss_bbox: 0.4008, d1.loss_cls: 0.1715, d1.loss_bbox: 0.3637, d2.loss_cls: 0.1578, d2.loss_bbox: 0.3417, d3.loss_cls: 0.1433, d3.loss_bbox: 0.3330, d4.loss_cls: 0.1355, d4.loss_bbox: 0.3313, d5.loss_cls: 0.1351, d5.loss_bbox: 0.3296, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7747, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5920, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5659, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5534, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5484, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5361, d0.loss_map_cls_all: 0.2402, d0.loss_map_pts_all: 1.3426, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2402, d0.loss_map_pts: 1.3426, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2065, d1.loss_map_pts: 0.9447, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1790, d2.loss_map_pts: 0.7733, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1652, d3.loss_map_pts: 0.7107, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1600, d4.loss_map_pts: 0.6900, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1537, d5.loss_map_pts: 0.6843, d5.loss_map_dir: 0.0093, loss: 27.5659, grad_norm: 174.2328 +2026-02-27 23:15:14,803 - DriveTransformer - INFO - Epoch [8][22700/39528] lr: 8.063e-05, eta: 5 days, 11:56:36, time: 0.745, data_time: 0.038, memory: 19865, loss_cls: 0.1533, loss_bbox: 0.3584, loss_traj: 0.6458, loss_traj_cls: 0.0014, loss_map_cls: 0.1736, loss_map_pts: 0.8073, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.6354, d0.loss_plan_l1_fix_dist: 0.4036, d1.loss_plan_l1_fix_time: 0.9912, d1.loss_plan_l1_fix_dist: 0.2303, d2.loss_plan_l1_fix_time: 1.0016, d2.loss_plan_l1_fix_dist: 0.2132, d3.loss_plan_l1_fix_time: 1.0181, d3.loss_plan_l1_fix_dist: 0.2343, d4.loss_plan_l1_fix_time: 1.0291, d4.loss_plan_l1_fix_dist: 0.2010, d5.loss_plan_l1_fix_time: 1.0391, d5.loss_plan_l1_fix_dist: 0.2084, d6.loss_plan_l1_fix_time: 1.0491, d6.loss_plan_l1_fix_dist: 0.2168, d0.loss_cls_all: 0.1980, d0.loss_bbox_all: 0.4262, d0.loss_cls: 0.1980, d0.loss_bbox: 0.4262, d1.loss_cls: 0.1889, d1.loss_bbox: 0.3837, d2.loss_cls: 0.1728, d2.loss_bbox: 0.3678, d3.loss_cls: 0.1589, d3.loss_bbox: 0.3608, d4.loss_cls: 0.1532, d4.loss_bbox: 0.3582, d5.loss_cls: 0.1525, d5.loss_bbox: 0.3583, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9273, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7217, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6573, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6450, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6436, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6459, d0.loss_map_cls_all: 0.2488, d0.loss_map_pts_all: 1.5597, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2488, d0.loss_map_pts: 1.5597, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.2209, d1.loss_map_pts: 1.1422, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1998, d2.loss_map_pts: 0.9318, d2.loss_map_dir: 0.0103, d3.loss_map_cls: 0.1888, d3.loss_map_pts: 0.8499, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1791, d4.loss_map_pts: 0.8190, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1745, d5.loss_map_pts: 0.8081, d5.loss_map_dir: 0.0108, loss: 29.9768, grad_norm: 174.5501 +2026-02-27 23:15:51,749 - DriveTransformer - INFO - Epoch [8][22750/39528] lr: 8.063e-05, eta: 5 days, 11:56:04, time: 0.739, data_time: 0.036, memory: 19865, loss_cls: 0.1278, loss_bbox: 0.3082, loss_traj: 0.4507, loss_traj_cls: 0.0015, loss_map_cls: 0.1151, loss_map_pts: 0.6249, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.5225, d0.loss_plan_l1_fix_dist: 0.4660, d1.loss_plan_l1_fix_time: 0.9964, d1.loss_plan_l1_fix_dist: 0.2376, d2.loss_plan_l1_fix_time: 0.9924, d2.loss_plan_l1_fix_dist: 0.2178, d3.loss_plan_l1_fix_time: 0.9777, d3.loss_plan_l1_fix_dist: 0.2540, d4.loss_plan_l1_fix_time: 0.9848, d4.loss_plan_l1_fix_dist: 0.2201, d5.loss_plan_l1_fix_time: 0.9913, d5.loss_plan_l1_fix_dist: 0.2280, d6.loss_plan_l1_fix_time: 0.9984, d6.loss_plan_l1_fix_dist: 0.2494, d0.loss_cls_all: 0.1705, d0.loss_bbox_all: 0.3666, d0.loss_cls: 0.1705, d0.loss_bbox: 0.3666, d1.loss_cls: 0.1635, d1.loss_bbox: 0.3333, d2.loss_cls: 0.1510, d2.loss_bbox: 0.3140, d3.loss_cls: 0.1332, d3.loss_bbox: 0.3073, d4.loss_cls: 0.1285, d4.loss_bbox: 0.3058, d5.loss_cls: 0.1295, d5.loss_bbox: 0.3051, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6358, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.4775, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4462, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.4323, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4407, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.4458, d0.loss_map_cls_all: 0.1873, d0.loss_map_pts_all: 1.2992, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.1873, d0.loss_map_pts: 1.2992, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1559, d1.loss_map_pts: 0.9044, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1370, d2.loss_map_pts: 0.7226, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1259, d3.loss_map_pts: 0.6570, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1195, d4.loss_map_pts: 0.6313, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1156, d5.loss_map_pts: 0.6260, d5.loss_map_dir: 0.0093, loss: 25.4366, grad_norm: 168.3250 +2026-02-27 23:16:28,396 - DriveTransformer - INFO - Epoch [8][22800/39528] lr: 8.063e-05, eta: 5 days, 11:55:28, time: 0.733, data_time: 0.042, memory: 19865, loss_cls: 0.1406, loss_bbox: 0.3305, loss_traj: 0.5361, loss_traj_cls: 0.0015, loss_map_cls: 0.1241, loss_map_pts: 0.5948, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.5779, d0.loss_plan_l1_fix_dist: 0.4330, d1.loss_plan_l1_fix_time: 0.8891, d1.loss_plan_l1_fix_dist: 0.2180, d2.loss_plan_l1_fix_time: 0.8713, d2.loss_plan_l1_fix_dist: 0.1788, d3.loss_plan_l1_fix_time: 0.8723, d3.loss_plan_l1_fix_dist: 0.2040, d4.loss_plan_l1_fix_time: 0.8752, d4.loss_plan_l1_fix_dist: 0.1780, d5.loss_plan_l1_fix_time: 0.8777, d5.loss_plan_l1_fix_dist: 0.1947, d6.loss_plan_l1_fix_time: 0.8815, d6.loss_plan_l1_fix_dist: 0.2134, d0.loss_cls_all: 0.1799, d0.loss_bbox_all: 0.3885, d0.loss_cls: 0.1799, d0.loss_bbox: 0.3885, d1.loss_cls: 0.1751, d1.loss_bbox: 0.3555, d2.loss_cls: 0.1596, d2.loss_bbox: 0.3367, d3.loss_cls: 0.1464, d3.loss_bbox: 0.3309, d4.loss_cls: 0.1424, d4.loss_bbox: 0.3293, d5.loss_cls: 0.1409, d5.loss_bbox: 0.3297, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7305, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6013, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5559, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5396, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5362, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5353, d0.loss_map_cls_all: 0.2085, d0.loss_map_pts_all: 1.2141, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2085, d0.loss_map_pts: 1.2141, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1722, d1.loss_map_pts: 0.8472, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1482, d2.loss_map_pts: 0.6848, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1346, d3.loss_map_pts: 0.6225, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1297, d4.loss_map_pts: 0.6000, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1250, d5.loss_map_pts: 0.5960, d5.loss_map_dir: 0.0082, loss: 25.2496, grad_norm: 165.3761 +2026-02-27 23:17:05,542 - DriveTransformer - INFO - Epoch [8][22850/39528] lr: 8.063e-05, eta: 5 days, 11:54:57, time: 0.743, data_time: 0.041, memory: 19865, loss_cls: 0.1310, loss_bbox: 0.3298, loss_traj: 0.6530, loss_traj_cls: 0.0015, loss_map_cls: 0.1195, loss_map_pts: 0.6117, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.8596, d0.loss_plan_l1_fix_dist: 0.4118, d1.loss_plan_l1_fix_time: 1.0154, d1.loss_plan_l1_fix_dist: 0.2321, d2.loss_plan_l1_fix_time: 0.9932, d2.loss_plan_l1_fix_dist: 0.1856, d3.loss_plan_l1_fix_time: 0.9876, d3.loss_plan_l1_fix_dist: 0.1848, d4.loss_plan_l1_fix_time: 0.9891, d4.loss_plan_l1_fix_dist: 0.1756, d5.loss_plan_l1_fix_time: 0.9905, d5.loss_plan_l1_fix_dist: 0.1949, d6.loss_plan_l1_fix_time: 0.9941, d6.loss_plan_l1_fix_dist: 0.2174, d0.loss_cls_all: 0.1655, d0.loss_bbox_all: 0.3922, d0.loss_cls: 0.1655, d0.loss_bbox: 0.3922, d1.loss_cls: 0.1619, d1.loss_bbox: 0.3562, d2.loss_cls: 0.1525, d2.loss_bbox: 0.3364, d3.loss_cls: 0.1373, d3.loss_bbox: 0.3322, d4.loss_cls: 0.1324, d4.loss_bbox: 0.3321, d5.loss_cls: 0.1308, d5.loss_bbox: 0.3304, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9019, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7177, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6720, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6578, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6564, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6542, d0.loss_map_cls_all: 0.1996, d0.loss_map_pts_all: 1.2705, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.1996, d0.loss_map_pts: 1.2705, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1634, d1.loss_map_pts: 0.8857, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1423, d2.loss_map_pts: 0.7120, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1305, d3.loss_map_pts: 0.6504, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1252, d4.loss_map_pts: 0.6237, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1198, d5.loss_map_pts: 0.6135, d5.loss_map_dir: 0.0087, loss: 27.2380, grad_norm: 163.7109 +2026-02-27 23:17:43,032 - DriveTransformer - INFO - Epoch [8][22900/39528] lr: 8.063e-05, eta: 5 days, 11:54:30, time: 0.750, data_time: 0.038, memory: 19865, loss_cls: 0.1342, loss_bbox: 0.3490, loss_traj: 0.6091, loss_traj_cls: 0.0015, loss_map_cls: 0.1567, loss_map_pts: 0.6628, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 3.2551, d0.loss_plan_l1_fix_dist: 0.4742, d1.loss_plan_l1_fix_time: 1.1933, d1.loss_plan_l1_fix_dist: 0.2369, d2.loss_plan_l1_fix_time: 1.1713, d2.loss_plan_l1_fix_dist: 0.1995, d3.loss_plan_l1_fix_time: 1.1610, d3.loss_plan_l1_fix_dist: 0.1772, d4.loss_plan_l1_fix_time: 1.1620, d4.loss_plan_l1_fix_dist: 0.1785, d5.loss_plan_l1_fix_time: 1.1637, d5.loss_plan_l1_fix_dist: 0.1939, d6.loss_plan_l1_fix_time: 1.1669, d6.loss_plan_l1_fix_dist: 0.2081, d0.loss_cls_all: 0.1826, d0.loss_bbox_all: 0.4140, d0.loss_cls: 0.1826, d0.loss_bbox: 0.4140, d1.loss_cls: 0.1732, d1.loss_bbox: 0.3816, d2.loss_cls: 0.1561, d2.loss_bbox: 0.3609, d3.loss_cls: 0.1415, d3.loss_bbox: 0.3548, d4.loss_cls: 0.1341, d4.loss_bbox: 0.3533, d5.loss_cls: 0.1335, d5.loss_bbox: 0.3504, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8463, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6790, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6298, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6155, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6083, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6077, d0.loss_map_cls_all: 0.2327, d0.loss_map_pts_all: 1.3662, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2327, d0.loss_map_pts: 1.3662, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2001, d1.loss_map_pts: 0.9471, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1776, d2.loss_map_pts: 0.7673, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1703, d3.loss_map_pts: 0.6933, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1626, d4.loss_map_pts: 0.6709, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1574, d5.loss_map_pts: 0.6645, d5.loss_map_dir: 0.0094, loss: 29.4616, grad_norm: 158.2343 +2026-02-27 23:18:17,862 - DriveTransformer - INFO - Epoch [8][22950/39528] lr: 8.063e-05, eta: 5 days, 11:53:35, time: 0.697, data_time: 0.036, memory: 19865, loss_cls: 0.1319, loss_bbox: 0.3166, loss_traj: 0.5543, loss_traj_cls: 0.0015, loss_map_cls: 0.1319, loss_map_pts: 0.5507, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.4347, d0.loss_plan_l1_fix_dist: 0.3539, d1.loss_plan_l1_fix_time: 0.8603, d1.loss_plan_l1_fix_dist: 0.2030, d2.loss_plan_l1_fix_time: 0.8523, d2.loss_plan_l1_fix_dist: 0.1783, d3.loss_plan_l1_fix_time: 0.8629, d3.loss_plan_l1_fix_dist: 0.1479, d4.loss_plan_l1_fix_time: 0.8670, d4.loss_plan_l1_fix_dist: 0.1531, d5.loss_plan_l1_fix_time: 0.8712, d5.loss_plan_l1_fix_dist: 0.1768, d6.loss_plan_l1_fix_time: 0.8751, d6.loss_plan_l1_fix_dist: 0.1741, d0.loss_cls_all: 0.1760, d0.loss_bbox_all: 0.3785, d0.loss_cls: 0.1760, d0.loss_bbox: 0.3785, d1.loss_cls: 0.1691, d1.loss_bbox: 0.3430, d2.loss_cls: 0.1513, d2.loss_bbox: 0.3294, d3.loss_cls: 0.1393, d3.loss_bbox: 0.3219, d4.loss_cls: 0.1318, d4.loss_bbox: 0.3201, d5.loss_cls: 0.1321, d5.loss_bbox: 0.3178, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7983, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6391, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5897, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5688, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5586, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5562, d0.loss_map_cls_all: 0.2117, d0.loss_map_pts_all: 1.1527, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2117, d0.loss_map_pts: 1.1527, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1813, d1.loss_map_pts: 0.8101, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1584, d2.loss_map_pts: 0.6430, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1450, d3.loss_map_pts: 0.5849, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1374, d4.loss_map_pts: 0.5600, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1336, d5.loss_map_pts: 0.5511, d5.loss_map_dir: 0.0070, loss: 24.5678, grad_norm: 161.0472 +2026-02-27 23:18:55,640 - DriveTransformer - INFO - Epoch [8][23000/39528] lr: 8.063e-05, eta: 5 days, 11:53:11, time: 0.756, data_time: 0.038, memory: 19865, loss_cls: 0.1416, loss_bbox: 0.3387, loss_traj: 0.5291, loss_traj_cls: 0.0014, loss_map_cls: 0.1487, loss_map_pts: 0.7433, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.5427, d0.loss_plan_l1_fix_dist: 0.3454, d1.loss_plan_l1_fix_time: 0.8626, d1.loss_plan_l1_fix_dist: 0.1905, d2.loss_plan_l1_fix_time: 0.8540, d2.loss_plan_l1_fix_dist: 0.1838, d3.loss_plan_l1_fix_time: 0.8536, d3.loss_plan_l1_fix_dist: 0.1694, d4.loss_plan_l1_fix_time: 0.8563, d4.loss_plan_l1_fix_dist: 0.1604, d5.loss_plan_l1_fix_time: 0.8593, d5.loss_plan_l1_fix_dist: 0.1739, d6.loss_plan_l1_fix_time: 0.8621, d6.loss_plan_l1_fix_dist: 0.1754, d0.loss_cls_all: 0.1871, d0.loss_bbox_all: 0.4104, d0.loss_cls: 0.1871, d0.loss_bbox: 0.4104, d1.loss_cls: 0.1796, d1.loss_bbox: 0.3720, d2.loss_cls: 0.1656, d2.loss_bbox: 0.3489, d3.loss_cls: 0.1474, d3.loss_bbox: 0.3432, d4.loss_cls: 0.1408, d4.loss_bbox: 0.3407, d5.loss_cls: 0.1420, d5.loss_bbox: 0.3375, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8346, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5972, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5456, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5341, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5317, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5291, d0.loss_map_cls_all: 0.2293, d0.loss_map_pts_all: 1.5465, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2293, d0.loss_map_pts: 1.5465, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1984, d1.loss_map_pts: 1.0713, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1749, d2.loss_map_pts: 0.8666, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1643, d3.loss_map_pts: 0.7884, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1553, d4.loss_map_pts: 0.7545, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1493, d5.loss_map_pts: 0.7450, d5.loss_map_dir: 0.0097, loss: 26.9791, grad_norm: 152.5828 +2026-02-27 23:19:32,462 - DriveTransformer - INFO - Epoch [8][23050/39528] lr: 8.063e-05, eta: 5 days, 11:52:37, time: 0.736, data_time: 0.037, memory: 19865, loss_cls: 0.1187, loss_bbox: 0.3123, loss_traj: 0.6388, loss_traj_cls: 0.0015, loss_map_cls: 0.1174, loss_map_pts: 0.5524, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.2991, d0.loss_plan_l1_fix_dist: 0.3997, d1.loss_plan_l1_fix_time: 0.8447, d1.loss_plan_l1_fix_dist: 0.1801, d2.loss_plan_l1_fix_time: 0.8366, d2.loss_plan_l1_fix_dist: 0.1836, d3.loss_plan_l1_fix_time: 0.8380, d3.loss_plan_l1_fix_dist: 0.1798, d4.loss_plan_l1_fix_time: 0.8422, d4.loss_plan_l1_fix_dist: 0.1704, d5.loss_plan_l1_fix_time: 0.8455, d5.loss_plan_l1_fix_dist: 0.1666, d6.loss_plan_l1_fix_time: 0.8485, d6.loss_plan_l1_fix_dist: 0.1905, d0.loss_cls_all: 0.1521, d0.loss_bbox_all: 0.3783, d0.loss_cls: 0.1521, d0.loss_bbox: 0.3783, d1.loss_cls: 0.1442, d1.loss_bbox: 0.3470, d2.loss_cls: 0.1347, d2.loss_bbox: 0.3275, d3.loss_cls: 0.1214, d3.loss_bbox: 0.3198, d4.loss_cls: 0.1186, d4.loss_bbox: 0.3148, d5.loss_cls: 0.1187, d5.loss_bbox: 0.3125, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8911, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7188, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6620, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6495, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6452, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6390, d0.loss_map_cls_all: 0.1892, d0.loss_map_pts_all: 1.1833, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1892, d0.loss_map_pts: 1.1833, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1584, d1.loss_map_pts: 0.7987, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1394, d2.loss_map_pts: 0.6373, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1320, d3.loss_map_pts: 0.5794, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1241, d4.loss_map_pts: 0.5591, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1185, d5.loss_map_pts: 0.5526, d5.loss_map_dir: 0.0078, loss: 24.7025, grad_norm: 149.2500 +2026-02-27 23:20:09,326 - DriveTransformer - INFO - Epoch [8][23100/39528] lr: 8.063e-05, eta: 5 days, 11:52:03, time: 0.737, data_time: 0.036, memory: 19865, loss_cls: 0.1294, loss_bbox: 0.3456, loss_traj: 0.5760, loss_traj_cls: 0.0015, loss_map_cls: 0.1304, loss_map_pts: 0.6042, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.8137, d0.loss_plan_l1_fix_dist: 0.4063, d1.loss_plan_l1_fix_time: 1.0242, d1.loss_plan_l1_fix_dist: 0.2039, d2.loss_plan_l1_fix_time: 1.0028, d2.loss_plan_l1_fix_dist: 0.1757, d3.loss_plan_l1_fix_time: 0.9943, d3.loss_plan_l1_fix_dist: 0.1866, d4.loss_plan_l1_fix_time: 0.9952, d4.loss_plan_l1_fix_dist: 0.1926, d5.loss_plan_l1_fix_time: 0.9974, d5.loss_plan_l1_fix_dist: 0.1989, d6.loss_plan_l1_fix_time: 1.0006, d6.loss_plan_l1_fix_dist: 0.1992, d0.loss_cls_all: 0.1740, d0.loss_bbox_all: 0.4057, d0.loss_cls: 0.1740, d0.loss_bbox: 0.4057, d1.loss_cls: 0.1666, d1.loss_bbox: 0.3739, d2.loss_cls: 0.1507, d2.loss_bbox: 0.3559, d3.loss_cls: 0.1352, d3.loss_bbox: 0.3502, d4.loss_cls: 0.1312, d4.loss_bbox: 0.3465, d5.loss_cls: 0.1295, d5.loss_bbox: 0.3452, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8073, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6521, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5976, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5829, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5766, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5753, d0.loss_map_cls_all: 0.2022, d0.loss_map_pts_all: 1.2088, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2022, d0.loss_map_pts: 1.2088, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1750, d1.loss_map_pts: 0.8575, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1560, d2.loss_map_pts: 0.6896, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1454, d3.loss_map_pts: 0.6312, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1378, d4.loss_map_pts: 0.6104, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1326, d5.loss_map_pts: 0.6045, d5.loss_map_dir: 0.0078, loss: 26.6424, grad_norm: 147.5231 +2026-02-27 23:20:45,654 - DriveTransformer - INFO - Epoch [8][23150/39528] lr: 8.063e-05, eta: 5 days, 11:51:24, time: 0.727, data_time: 0.038, memory: 19865, loss_cls: 0.1247, loss_bbox: 0.3152, loss_traj: 0.5449, loss_traj_cls: 0.0015, loss_map_cls: 0.1354, loss_map_pts: 0.5905, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.3730, d0.loss_plan_l1_fix_dist: 0.5942, d1.loss_plan_l1_fix_time: 0.9015, d1.loss_plan_l1_fix_dist: 0.2288, d2.loss_plan_l1_fix_time: 0.8932, d2.loss_plan_l1_fix_dist: 0.2012, d3.loss_plan_l1_fix_time: 0.8963, d3.loss_plan_l1_fix_dist: 0.2046, d4.loss_plan_l1_fix_time: 0.8990, d4.loss_plan_l1_fix_dist: 0.2233, d5.loss_plan_l1_fix_time: 0.9022, d5.loss_plan_l1_fix_dist: 0.2546, d6.loss_plan_l1_fix_time: 0.9067, d6.loss_plan_l1_fix_dist: 0.2327, d0.loss_cls_all: 0.1693, d0.loss_bbox_all: 0.3814, d0.loss_cls: 0.1693, d0.loss_bbox: 0.3814, d1.loss_cls: 0.1604, d1.loss_bbox: 0.3482, d2.loss_cls: 0.1487, d2.loss_bbox: 0.3269, d3.loss_cls: 0.1335, d3.loss_bbox: 0.3209, d4.loss_cls: 0.1251, d4.loss_bbox: 0.3186, d5.loss_cls: 0.1246, d5.loss_bbox: 0.3158, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7858, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6189, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5679, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5535, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5438, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5475, d0.loss_map_cls_all: 0.2105, d0.loss_map_pts_all: 1.2507, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2105, d0.loss_map_pts: 1.2507, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1841, d1.loss_map_pts: 0.8639, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1643, d2.loss_map_pts: 0.6806, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1504, d3.loss_map_pts: 0.6147, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1414, d4.loss_map_pts: 0.5964, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1369, d5.loss_map_pts: 0.5925, d5.loss_map_dir: 0.0094, loss: 25.5907, grad_norm: 151.6580 +2026-02-27 23:21:21,344 - DriveTransformer - INFO - Epoch [8][23200/39528] lr: 8.063e-05, eta: 5 days, 11:50:38, time: 0.714, data_time: 0.037, memory: 19865, loss_cls: 0.1353, loss_bbox: 0.3387, loss_traj: 0.5827, loss_traj_cls: 0.0014, loss_map_cls: 0.1334, loss_map_pts: 0.6279, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.2745, d0.loss_plan_l1_fix_dist: 0.3897, d1.loss_plan_l1_fix_time: 0.8342, d1.loss_plan_l1_fix_dist: 0.2280, d2.loss_plan_l1_fix_time: 0.8245, d2.loss_plan_l1_fix_dist: 0.2081, d3.loss_plan_l1_fix_time: 0.8274, d3.loss_plan_l1_fix_dist: 0.1981, d4.loss_plan_l1_fix_time: 0.8311, d4.loss_plan_l1_fix_dist: 0.2179, d5.loss_plan_l1_fix_time: 0.8356, d5.loss_plan_l1_fix_dist: 0.2575, d6.loss_plan_l1_fix_time: 0.8417, d6.loss_plan_l1_fix_dist: 0.2514, d0.loss_cls_all: 0.1718, d0.loss_bbox_all: 0.3978, d0.loss_cls: 0.1718, d0.loss_bbox: 0.3978, d1.loss_cls: 0.1650, d1.loss_bbox: 0.3643, d2.loss_cls: 0.1509, d2.loss_bbox: 0.3441, d3.loss_cls: 0.1378, d3.loss_bbox: 0.3375, d4.loss_cls: 0.1318, d4.loss_bbox: 0.3369, d5.loss_cls: 0.1339, d5.loss_bbox: 0.3375, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8488, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6829, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6100, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5922, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5904, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5836, d0.loss_map_cls_all: 0.2123, d0.loss_map_pts_all: 1.2628, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2123, d0.loss_map_pts: 1.2628, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1804, d1.loss_map_pts: 0.9062, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1566, d2.loss_map_pts: 0.7283, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1461, d3.loss_map_pts: 0.6595, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1393, d4.loss_map_pts: 0.6337, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1353, d5.loss_map_pts: 0.6276, d5.loss_map_dir: 0.0081, loss: 25.6584, grad_norm: 154.1546 +2026-02-27 23:21:59,329 - DriveTransformer - INFO - Epoch [8][23250/39528] lr: 8.063e-05, eta: 5 days, 11:50:16, time: 0.760, data_time: 0.037, memory: 19865, loss_cls: 0.1325, loss_bbox: 0.3678, loss_traj: 0.5336, loss_traj_cls: 0.0015, loss_map_cls: 0.1436, loss_map_pts: 0.6568, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.1706, d0.loss_plan_l1_fix_dist: 0.4624, d1.loss_plan_l1_fix_time: 0.9317, d1.loss_plan_l1_fix_dist: 0.2389, d2.loss_plan_l1_fix_time: 0.9305, d2.loss_plan_l1_fix_dist: 0.2324, d3.loss_plan_l1_fix_time: 0.9314, d3.loss_plan_l1_fix_dist: 0.2060, d4.loss_plan_l1_fix_time: 0.9335, d4.loss_plan_l1_fix_dist: 0.2106, d5.loss_plan_l1_fix_time: 0.9358, d5.loss_plan_l1_fix_dist: 0.2406, d6.loss_plan_l1_fix_time: 0.9395, d6.loss_plan_l1_fix_dist: 0.2360, d0.loss_cls_all: 0.1755, d0.loss_bbox_all: 0.4309, d0.loss_cls: 0.1755, d0.loss_bbox: 0.4309, d1.loss_cls: 0.1714, d1.loss_bbox: 0.3977, d2.loss_cls: 0.1570, d2.loss_bbox: 0.3779, d3.loss_cls: 0.1398, d3.loss_bbox: 0.3717, d4.loss_cls: 0.1336, d4.loss_bbox: 0.3696, d5.loss_cls: 0.1321, d5.loss_bbox: 0.3684, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7377, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5934, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5615, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5487, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5414, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5367, d0.loss_map_cls_all: 0.2163, d0.loss_map_pts_all: 1.3709, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2163, d0.loss_map_pts: 1.3709, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1896, d1.loss_map_pts: 0.9498, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1692, d2.loss_map_pts: 0.7648, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1570, d3.loss_map_pts: 0.6923, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1495, d4.loss_map_pts: 0.6691, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1460, d5.loss_map_pts: 0.6573, d5.loss_map_dir: 0.0090, loss: 26.5824, grad_norm: 153.9848 +2026-02-27 23:22:36,302 - DriveTransformer - INFO - Epoch [8][23300/39528] lr: 8.063e-05, eta: 5 days, 11:49:44, time: 0.739, data_time: 0.038, memory: 19865, loss_cls: 0.1306, loss_bbox: 0.3280, loss_traj: 0.5564, loss_traj_cls: 0.0014, loss_map_cls: 0.1243, loss_map_pts: 0.6042, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.6470, d0.loss_plan_l1_fix_dist: 0.4718, d1.loss_plan_l1_fix_time: 1.1121, d1.loss_plan_l1_fix_dist: 0.2459, d2.loss_plan_l1_fix_time: 1.1040, d2.loss_plan_l1_fix_dist: 0.2592, d3.loss_plan_l1_fix_time: 1.1016, d3.loss_plan_l1_fix_dist: 0.2585, d4.loss_plan_l1_fix_time: 1.1035, d4.loss_plan_l1_fix_dist: 0.2580, d5.loss_plan_l1_fix_time: 1.1061, d5.loss_plan_l1_fix_dist: 0.2647, d6.loss_plan_l1_fix_time: 1.1093, d6.loss_plan_l1_fix_dist: 0.2576, d0.loss_cls_all: 0.1703, d0.loss_bbox_all: 0.3947, d0.loss_cls: 0.1703, d0.loss_bbox: 0.3947, d1.loss_cls: 0.1693, d1.loss_bbox: 0.3603, d2.loss_cls: 0.1556, d2.loss_bbox: 0.3406, d3.loss_cls: 0.1391, d3.loss_bbox: 0.3335, d4.loss_cls: 0.1340, d4.loss_bbox: 0.3295, d5.loss_cls: 0.1306, d5.loss_bbox: 0.3295, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7860, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6229, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5634, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5614, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5578, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5568, d0.loss_map_cls_all: 0.1935, d0.loss_map_pts_all: 1.2477, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.1935, d0.loss_map_pts: 1.2477, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1606, d1.loss_map_pts: 0.8824, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1436, d2.loss_map_pts: 0.7058, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1328, d3.loss_map_pts: 0.6445, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1287, d4.loss_map_pts: 0.6182, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1243, d5.loss_map_pts: 0.6050, d5.loss_map_dir: 0.0087, loss: 27.3447, grad_norm: 161.5722 +2026-02-27 23:23:12,791 - DriveTransformer - INFO - Epoch [8][23350/39528] lr: 8.063e-05, eta: 5 days, 11:49:06, time: 0.730, data_time: 0.038, memory: 19865, loss_cls: 0.1358, loss_bbox: 0.3375, loss_traj: 0.6067, loss_traj_cls: 0.0014, loss_map_cls: 0.1292, loss_map_pts: 0.5938, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.3888, d0.loss_plan_l1_fix_dist: 0.5104, d1.loss_plan_l1_fix_time: 0.9005, d1.loss_plan_l1_fix_dist: 0.2136, d2.loss_plan_l1_fix_time: 0.8915, d2.loss_plan_l1_fix_dist: 0.2423, d3.loss_plan_l1_fix_time: 0.8875, d3.loss_plan_l1_fix_dist: 0.2554, d4.loss_plan_l1_fix_time: 0.8914, d4.loss_plan_l1_fix_dist: 0.2500, d5.loss_plan_l1_fix_time: 0.8966, d5.loss_plan_l1_fix_dist: 0.2345, d6.loss_plan_l1_fix_time: 0.9017, d6.loss_plan_l1_fix_dist: 0.2369, d0.loss_cls_all: 0.1806, d0.loss_bbox_all: 0.3934, d0.loss_cls: 0.1806, d0.loss_bbox: 0.3934, d1.loss_cls: 0.1769, d1.loss_bbox: 0.3637, d2.loss_cls: 0.1605, d2.loss_bbox: 0.3478, d3.loss_cls: 0.1425, d3.loss_bbox: 0.3436, d4.loss_cls: 0.1351, d4.loss_bbox: 0.3400, d5.loss_cls: 0.1357, d5.loss_bbox: 0.3380, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7981, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6464, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6210, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6063, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6081, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6098, d0.loss_map_cls_all: 0.2048, d0.loss_map_pts_all: 1.2134, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2048, d0.loss_map_pts: 1.2134, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1731, d1.loss_map_pts: 0.8435, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1500, d2.loss_map_pts: 0.6845, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1380, d3.loss_map_pts: 0.6268, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1359, d4.loss_map_pts: 0.6027, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1301, d5.loss_map_pts: 0.5928, d5.loss_map_dir: 0.0086, loss: 26.0137, grad_norm: 162.7631 +2026-02-27 23:23:48,726 - DriveTransformer - INFO - Epoch [8][23400/39528] lr: 8.063e-05, eta: 5 days, 11:48:24, time: 0.720, data_time: 0.043, memory: 19865, loss_cls: 0.1142, loss_bbox: 0.3203, loss_traj: 0.6361, loss_traj_cls: 0.0014, loss_map_cls: 0.1123, loss_map_pts: 0.5255, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 3.1352, d0.loss_plan_l1_fix_dist: 0.4425, d1.loss_plan_l1_fix_time: 1.0214, d1.loss_plan_l1_fix_dist: 0.2099, d2.loss_plan_l1_fix_time: 1.0052, d2.loss_plan_l1_fix_dist: 0.2450, d3.loss_plan_l1_fix_time: 1.0000, d3.loss_plan_l1_fix_dist: 0.2647, d4.loss_plan_l1_fix_time: 1.0026, d4.loss_plan_l1_fix_dist: 0.2589, d5.loss_plan_l1_fix_time: 1.0059, d5.loss_plan_l1_fix_dist: 0.2327, d6.loss_plan_l1_fix_time: 1.0089, d6.loss_plan_l1_fix_dist: 0.2514, d0.loss_cls_all: 0.1571, d0.loss_bbox_all: 0.3827, d0.loss_cls: 0.1571, d0.loss_bbox: 0.3827, d1.loss_cls: 0.1525, d1.loss_bbox: 0.3500, d2.loss_cls: 0.1389, d2.loss_bbox: 0.3303, d3.loss_cls: 0.1222, d3.loss_bbox: 0.3237, d4.loss_cls: 0.1156, d4.loss_bbox: 0.3214, d5.loss_cls: 0.1151, d5.loss_bbox: 0.3199, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8456, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6984, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6576, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6375, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6400, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6364, d0.loss_map_cls_all: 0.1853, d0.loss_map_pts_all: 1.0607, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1853, d0.loss_map_pts: 1.0607, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1587, d1.loss_map_pts: 0.7391, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1335, d2.loss_map_pts: 0.5951, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1228, d3.loss_map_pts: 0.5445, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1172, d4.loss_map_pts: 0.5292, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1132, d5.loss_map_pts: 0.5244, d5.loss_map_dir: 0.0070, loss: 26.4093, grad_norm: 160.4089 +2026-02-27 23:24:25,872 - DriveTransformer - INFO - Epoch [8][23450/39528] lr: 8.063e-05, eta: 5 days, 11:47:52, time: 0.742, data_time: 0.035, memory: 19865, loss_cls: 0.1395, loss_bbox: 0.3486, loss_traj: 0.6356, loss_traj_cls: 0.0014, loss_map_cls: 0.1678, loss_map_pts: 0.7827, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.6163, d0.loss_plan_l1_fix_dist: 0.3539, d1.loss_plan_l1_fix_time: 0.9699, d1.loss_plan_l1_fix_dist: 0.2086, d2.loss_plan_l1_fix_time: 0.9482, d2.loss_plan_l1_fix_dist: 0.2535, d3.loss_plan_l1_fix_time: 0.9462, d3.loss_plan_l1_fix_dist: 0.2662, d4.loss_plan_l1_fix_time: 0.9482, d4.loss_plan_l1_fix_dist: 0.2666, d5.loss_plan_l1_fix_time: 0.9509, d5.loss_plan_l1_fix_dist: 0.2398, d6.loss_plan_l1_fix_time: 0.9555, d6.loss_plan_l1_fix_dist: 0.2458, d0.loss_cls_all: 0.1898, d0.loss_bbox_all: 0.4266, d0.loss_cls: 0.1898, d0.loss_bbox: 0.4266, d1.loss_cls: 0.1763, d1.loss_bbox: 0.3861, d2.loss_cls: 0.1642, d2.loss_bbox: 0.3642, d3.loss_cls: 0.1476, d3.loss_bbox: 0.3550, d4.loss_cls: 0.1416, d4.loss_bbox: 0.3509, d5.loss_cls: 0.1401, d5.loss_bbox: 0.3482, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8624, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6864, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6605, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6440, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6379, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6356, d0.loss_map_cls_all: 0.2597, d0.loss_map_pts_all: 1.5841, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2597, d0.loss_map_pts: 1.5841, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2246, d1.loss_map_pts: 1.1272, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1969, d2.loss_map_pts: 0.9152, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1860, d3.loss_map_pts: 0.8221, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1751, d4.loss_map_pts: 0.7924, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1694, d5.loss_map_pts: 0.7848, d5.loss_map_dir: 0.0103, loss: 29.3459, grad_norm: 161.3716 +2026-02-27 23:25:01,076 - DriveTransformer - INFO - Epoch [8][23500/39528] lr: 8.063e-05, eta: 5 days, 11:47:02, time: 0.704, data_time: 0.037, memory: 19865, loss_cls: 0.1202, loss_bbox: 0.3220, loss_traj: 0.6027, loss_traj_cls: 0.0014, loss_map_cls: 0.1533, loss_map_pts: 0.6546, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.3812, d0.loss_plan_l1_fix_dist: 0.4615, d1.loss_plan_l1_fix_time: 0.9251, d1.loss_plan_l1_fix_dist: 0.1926, d2.loss_plan_l1_fix_time: 0.9065, d2.loss_plan_l1_fix_dist: 0.2349, d3.loss_plan_l1_fix_time: 0.9052, d3.loss_plan_l1_fix_dist: 0.2320, d4.loss_plan_l1_fix_time: 0.9072, d4.loss_plan_l1_fix_dist: 0.2300, d5.loss_plan_l1_fix_time: 0.9102, d5.loss_plan_l1_fix_dist: 0.2096, d6.loss_plan_l1_fix_time: 0.9149, d6.loss_plan_l1_fix_dist: 0.2321, d0.loss_cls_all: 0.1663, d0.loss_bbox_all: 0.3911, d0.loss_cls: 0.1663, d0.loss_bbox: 0.3911, d1.loss_cls: 0.1573, d1.loss_bbox: 0.3618, d2.loss_cls: 0.1420, d2.loss_bbox: 0.3398, d3.loss_cls: 0.1273, d3.loss_bbox: 0.3300, d4.loss_cls: 0.1226, d4.loss_bbox: 0.3243, d5.loss_cls: 0.1205, d5.loss_bbox: 0.3223, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8391, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6899, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6301, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6149, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6029, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6013, d0.loss_map_cls_all: 0.2321, d0.loss_map_pts_all: 1.3099, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2321, d0.loss_map_pts: 1.3099, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.2039, d1.loss_map_pts: 0.9305, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1759, d2.loss_map_pts: 0.7578, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1674, d3.loss_map_pts: 0.6869, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1607, d4.loss_map_pts: 0.6605, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1538, d5.loss_map_pts: 0.6559, d5.loss_map_dir: 0.0079, loss: 26.6413, grad_norm: 163.5553 +2026-02-27 23:25:36,311 - DriveTransformer - INFO - Epoch [8][23550/39528] lr: 8.063e-05, eta: 5 days, 11:46:11, time: 0.705, data_time: 0.037, memory: 19865, loss_cls: 0.1340, loss_bbox: 0.3338, loss_traj: 0.6536, loss_traj_cls: 0.0014, loss_map_cls: 0.1244, loss_map_pts: 0.5953, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.8312, d0.loss_plan_l1_fix_dist: 0.4186, d1.loss_plan_l1_fix_time: 0.9323, d1.loss_plan_l1_fix_dist: 0.1855, d2.loss_plan_l1_fix_time: 0.9152, d2.loss_plan_l1_fix_dist: 0.2105, d3.loss_plan_l1_fix_time: 0.9136, d3.loss_plan_l1_fix_dist: 0.1959, d4.loss_plan_l1_fix_time: 0.9153, d4.loss_plan_l1_fix_dist: 0.1927, d5.loss_plan_l1_fix_time: 0.9174, d5.loss_plan_l1_fix_dist: 0.1813, d6.loss_plan_l1_fix_time: 0.9202, d6.loss_plan_l1_fix_dist: 0.2051, d0.loss_cls_all: 0.1763, d0.loss_bbox_all: 0.3969, d0.loss_cls: 0.1763, d0.loss_bbox: 0.3969, d1.loss_cls: 0.1734, d1.loss_bbox: 0.3612, d2.loss_cls: 0.1592, d2.loss_bbox: 0.3422, d3.loss_cls: 0.1435, d3.loss_bbox: 0.3354, d4.loss_cls: 0.1347, d4.loss_bbox: 0.3348, d5.loss_cls: 0.1332, d5.loss_bbox: 0.3339, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9568, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7659, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7021, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6811, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6609, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6562, d0.loss_map_cls_all: 0.1947, d0.loss_map_pts_all: 1.1655, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1947, d0.loss_map_pts: 1.1655, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1680, d1.loss_map_pts: 0.8279, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1476, d2.loss_map_pts: 0.6785, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1347, d3.loss_map_pts: 0.6206, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1305, d4.loss_map_pts: 0.6018, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1254, d5.loss_map_pts: 0.5967, d5.loss_map_dir: 0.0077, loss: 26.6163, grad_norm: 163.3326 +2026-02-27 23:26:11,475 - DriveTransformer - INFO - Epoch [8][23600/39528] lr: 8.063e-05, eta: 5 days, 11:45:20, time: 0.703, data_time: 0.039, memory: 19865, loss_cls: 0.1138, loss_bbox: 0.3089, loss_traj: 0.6915, loss_traj_cls: 0.0014, loss_map_cls: 0.1229, loss_map_pts: 0.5535, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.7907, d0.loss_plan_l1_fix_dist: 0.4230, d1.loss_plan_l1_fix_time: 0.9405, d1.loss_plan_l1_fix_dist: 0.2090, d2.loss_plan_l1_fix_time: 0.9312, d2.loss_plan_l1_fix_dist: 0.1897, d3.loss_plan_l1_fix_time: 0.9336, d3.loss_plan_l1_fix_dist: 0.1816, d4.loss_plan_l1_fix_time: 0.9370, d4.loss_plan_l1_fix_dist: 0.1796, d5.loss_plan_l1_fix_time: 0.9403, d5.loss_plan_l1_fix_dist: 0.1821, d6.loss_plan_l1_fix_time: 0.9432, d6.loss_plan_l1_fix_dist: 0.1971, d0.loss_cls_all: 0.1551, d0.loss_bbox_all: 0.3669, d0.loss_cls: 0.1551, d0.loss_bbox: 0.3669, d1.loss_cls: 0.1471, d1.loss_bbox: 0.3371, d2.loss_cls: 0.1320, d2.loss_bbox: 0.3182, d3.loss_cls: 0.1202, d3.loss_bbox: 0.3089, d4.loss_cls: 0.1154, d4.loss_bbox: 0.3080, d5.loss_cls: 0.1138, d5.loss_bbox: 0.3078, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9793, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7640, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7131, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.7033, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6973, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6960, d0.loss_map_cls_all: 0.1915, d0.loss_map_pts_all: 1.1149, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1915, d0.loss_map_pts: 1.1149, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1677, d1.loss_map_pts: 0.7916, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1460, d2.loss_map_pts: 0.6383, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1336, d3.loss_map_pts: 0.5831, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1309, d4.loss_map_pts: 0.5614, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1248, d5.loss_map_pts: 0.5552, d5.loss_map_dir: 0.0062, loss: 26.0758, grad_norm: 164.3469 +2026-02-27 23:26:48,741 - DriveTransformer - INFO - Epoch [8][23650/39528] lr: 8.063e-05, eta: 5 days, 11:44:51, time: 0.745, data_time: 0.037, memory: 19865, loss_cls: 0.1192, loss_bbox: 0.3237, loss_traj: 0.5220, loss_traj_cls: 0.0015, loss_map_cls: 0.1470, loss_map_pts: 0.6651, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.6613, d0.loss_plan_l1_fix_dist: 0.4238, d1.loss_plan_l1_fix_time: 0.9332, d1.loss_plan_l1_fix_dist: 0.2417, d2.loss_plan_l1_fix_time: 0.9200, d2.loss_plan_l1_fix_dist: 0.1840, d3.loss_plan_l1_fix_time: 0.9210, d3.loss_plan_l1_fix_dist: 0.1964, d4.loss_plan_l1_fix_time: 0.9238, d4.loss_plan_l1_fix_dist: 0.1802, d5.loss_plan_l1_fix_time: 0.9272, d5.loss_plan_l1_fix_dist: 0.1833, d6.loss_plan_l1_fix_time: 0.9304, d6.loss_plan_l1_fix_dist: 0.1967, d0.loss_cls_all: 0.1720, d0.loss_bbox_all: 0.3771, d0.loss_cls: 0.1720, d0.loss_bbox: 0.3771, d1.loss_cls: 0.1649, d1.loss_bbox: 0.3430, d2.loss_cls: 0.1461, d2.loss_bbox: 0.3263, d3.loss_cls: 0.1279, d3.loss_bbox: 0.3230, d4.loss_cls: 0.1223, d4.loss_bbox: 0.3230, d5.loss_cls: 0.1198, d5.loss_bbox: 0.3230, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7336, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5845, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5398, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5317, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5263, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5238, d0.loss_map_cls_all: 0.2092, d0.loss_map_pts_all: 1.3386, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2092, d0.loss_map_pts: 1.3386, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1801, d1.loss_map_pts: 0.9379, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1643, d2.loss_map_pts: 0.7559, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1561, d3.loss_map_pts: 0.6928, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1501, d4.loss_map_pts: 0.6714, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1481, d5.loss_map_pts: 0.6660, d5.loss_map_dir: 0.0091, loss: 26.1539, grad_norm: 164.9386 +2026-02-27 23:27:24,665 - DriveTransformer - INFO - Epoch [8][23700/39528] lr: 8.063e-05, eta: 5 days, 11:44:07, time: 0.718, data_time: 0.036, memory: 19865, loss_cls: 0.1345, loss_bbox: 0.3344, loss_traj: 0.5802, loss_traj_cls: 0.0014, loss_map_cls: 0.1449, loss_map_pts: 0.6408, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.6014, d0.loss_plan_l1_fix_dist: 0.3660, d1.loss_plan_l1_fix_time: 0.9993, d1.loss_plan_l1_fix_dist: 0.2447, d2.loss_plan_l1_fix_time: 0.9872, d2.loss_plan_l1_fix_dist: 0.1743, d3.loss_plan_l1_fix_time: 0.9862, d3.loss_plan_l1_fix_dist: 0.1835, d4.loss_plan_l1_fix_time: 0.9880, d4.loss_plan_l1_fix_dist: 0.1677, d5.loss_plan_l1_fix_time: 0.9903, d5.loss_plan_l1_fix_dist: 0.1749, d6.loss_plan_l1_fix_time: 0.9929, d6.loss_plan_l1_fix_dist: 0.1897, d0.loss_cls_all: 0.1771, d0.loss_bbox_all: 0.3970, d0.loss_cls: 0.1771, d0.loss_bbox: 0.3970, d1.loss_cls: 0.1686, d1.loss_bbox: 0.3628, d2.loss_cls: 0.1588, d2.loss_bbox: 0.3424, d3.loss_cls: 0.1451, d3.loss_bbox: 0.3345, d4.loss_cls: 0.1372, d4.loss_bbox: 0.3323, d5.loss_cls: 0.1351, d5.loss_bbox: 0.3325, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8197, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6344, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5905, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5780, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5784, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5770, d0.loss_map_cls_all: 0.2258, d0.loss_map_pts_all: 1.2533, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2258, d0.loss_map_pts: 1.2533, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1973, d1.loss_map_pts: 0.8912, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1714, d2.loss_map_pts: 0.7302, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1575, d3.loss_map_pts: 0.6710, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1484, d4.loss_map_pts: 0.6482, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1471, d5.loss_map_pts: 0.6418, d5.loss_map_dir: 0.0080, loss: 26.6880, grad_norm: 163.2990 +2026-02-27 23:27:59,991 - DriveTransformer - INFO - Epoch [8][23750/39528] lr: 8.063e-05, eta: 5 days, 11:43:18, time: 0.707, data_time: 0.037, memory: 19865, loss_cls: 0.1265, loss_bbox: 0.3093, loss_traj: 0.6973, loss_traj_cls: 0.0015, loss_map_cls: 0.1222, loss_map_pts: 0.5020, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.6208, d0.loss_plan_l1_fix_dist: 0.3622, d1.loss_plan_l1_fix_time: 1.0045, d1.loss_plan_l1_fix_dist: 0.2565, d2.loss_plan_l1_fix_time: 0.9847, d2.loss_plan_l1_fix_dist: 0.1768, d3.loss_plan_l1_fix_time: 0.9856, d3.loss_plan_l1_fix_dist: 0.1767, d4.loss_plan_l1_fix_time: 0.9872, d4.loss_plan_l1_fix_dist: 0.1738, d5.loss_plan_l1_fix_time: 0.9899, d5.loss_plan_l1_fix_dist: 0.1805, d6.loss_plan_l1_fix_time: 0.9932, d6.loss_plan_l1_fix_dist: 0.2033, d0.loss_cls_all: 0.1657, d0.loss_bbox_all: 0.3674, d0.loss_cls: 0.1657, d0.loss_bbox: 0.3674, d1.loss_cls: 0.1564, d1.loss_bbox: 0.3340, d2.loss_cls: 0.1456, d2.loss_bbox: 0.3177, d3.loss_cls: 0.1345, d3.loss_bbox: 0.3098, d4.loss_cls: 0.1292, d4.loss_bbox: 0.3071, d5.loss_cls: 0.1269, d5.loss_bbox: 0.3084, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8970, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7648, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7138, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6975, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6914, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6924, d0.loss_map_cls_all: 0.1980, d0.loss_map_pts_all: 1.0879, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1980, d0.loss_map_pts: 1.0879, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1698, d1.loss_map_pts: 0.7507, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1482, d2.loss_map_pts: 0.5930, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1389, d3.loss_map_pts: 0.5337, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1330, d4.loss_map_pts: 0.5138, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1251, d5.loss_map_pts: 0.5022, d5.loss_map_dir: 0.0072, loss: 25.8893, grad_norm: 162.3695 +2026-02-27 23:28:36,429 - DriveTransformer - INFO - Epoch [8][23800/39528] lr: 8.063e-05, eta: 5 days, 11:42:40, time: 0.729, data_time: 0.042, memory: 19865, loss_cls: 0.1156, loss_bbox: 0.3453, loss_traj: 0.6394, loss_traj_cls: 0.0015, loss_map_cls: 0.1389, loss_map_pts: 0.6227, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.6129, d0.loss_plan_l1_fix_dist: 0.4362, d1.loss_plan_l1_fix_time: 0.9590, d1.loss_plan_l1_fix_dist: 0.2558, d2.loss_plan_l1_fix_time: 0.9511, d2.loss_plan_l1_fix_dist: 0.1986, d3.loss_plan_l1_fix_time: 0.9554, d3.loss_plan_l1_fix_dist: 0.1920, d4.loss_plan_l1_fix_time: 0.9592, d4.loss_plan_l1_fix_dist: 0.1958, d5.loss_plan_l1_fix_time: 0.9632, d5.loss_plan_l1_fix_dist: 0.1957, d6.loss_plan_l1_fix_time: 0.9677, d6.loss_plan_l1_fix_dist: 0.2094, d0.loss_cls_all: 0.1663, d0.loss_bbox_all: 0.4033, d0.loss_cls: 0.1663, d0.loss_bbox: 0.4033, d1.loss_cls: 0.1570, d1.loss_bbox: 0.3717, d2.loss_cls: 0.1474, d2.loss_bbox: 0.3508, d3.loss_cls: 0.1266, d3.loss_bbox: 0.3471, d4.loss_cls: 0.1185, d4.loss_bbox: 0.3470, d5.loss_cls: 0.1170, d5.loss_bbox: 0.3447, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8848, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7226, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6679, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6521, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6447, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6417, d0.loss_map_cls_all: 0.2240, d0.loss_map_pts_all: 1.2044, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2240, d0.loss_map_pts: 1.2044, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1893, d1.loss_map_pts: 0.8816, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1661, d2.loss_map_pts: 0.7120, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1543, d3.loss_map_pts: 0.6446, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1473, d4.loss_map_pts: 0.6248, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1420, d5.loss_map_pts: 0.6205, d5.loss_map_dir: 0.0079, loss: 26.9035, grad_norm: 162.4111 +2026-02-27 23:29:12,129 - DriveTransformer - INFO - Epoch [8][23850/39528] lr: 8.063e-05, eta: 5 days, 11:41:54, time: 0.714, data_time: 0.037, memory: 19865, loss_cls: 0.1076, loss_bbox: 0.3134, loss_traj: 0.5179, loss_traj_cls: 0.0015, loss_map_cls: 0.1269, loss_map_pts: 0.5688, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.3687, d0.loss_plan_l1_fix_dist: 0.3630, d1.loss_plan_l1_fix_time: 0.9987, d1.loss_plan_l1_fix_dist: 0.2442, d2.loss_plan_l1_fix_time: 0.9826, d2.loss_plan_l1_fix_dist: 0.1886, d3.loss_plan_l1_fix_time: 0.9858, d3.loss_plan_l1_fix_dist: 0.1805, d4.loss_plan_l1_fix_time: 0.9905, d4.loss_plan_l1_fix_dist: 0.1857, d5.loss_plan_l1_fix_time: 0.9951, d5.loss_plan_l1_fix_dist: 0.1948, d6.loss_plan_l1_fix_time: 1.0006, d6.loss_plan_l1_fix_dist: 0.2120, d0.loss_cls_all: 0.1539, d0.loss_bbox_all: 0.3698, d0.loss_cls: 0.1539, d0.loss_bbox: 0.3698, d1.loss_cls: 0.1451, d1.loss_bbox: 0.3391, d2.loss_cls: 0.1326, d2.loss_bbox: 0.3212, d3.loss_cls: 0.1154, d3.loss_bbox: 0.3175, d4.loss_cls: 0.1098, d4.loss_bbox: 0.3150, d5.loss_cls: 0.1081, d5.loss_bbox: 0.3132, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6873, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5736, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5185, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5146, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5148, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5147, d0.loss_map_cls_all: 0.1986, d0.loss_map_pts_all: 1.1114, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1986, d0.loss_map_pts: 1.1114, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1734, d1.loss_map_pts: 0.7777, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1514, d2.loss_map_pts: 0.6411, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1397, d3.loss_map_pts: 0.5908, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1319, d4.loss_map_pts: 0.5753, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1277, d5.loss_map_pts: 0.5674, d5.loss_map_dir: 0.0079, loss: 24.6791, grad_norm: 163.6562 +2026-02-27 23:29:46,153 - DriveTransformer - INFO - Epoch [8][23900/39528] lr: 8.063e-05, eta: 5 days, 11:40:52, time: 0.680, data_time: 0.036, memory: 19865, loss_cls: 0.1386, loss_bbox: 0.3462, loss_traj: 0.5655, loss_traj_cls: 0.0014, loss_map_cls: 0.1291, loss_map_pts: 0.6209, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.7725, d0.loss_plan_l1_fix_dist: 0.3955, d1.loss_plan_l1_fix_time: 1.1345, d1.loss_plan_l1_fix_dist: 0.2357, d2.loss_plan_l1_fix_time: 1.1083, d2.loss_plan_l1_fix_dist: 0.1914, d3.loss_plan_l1_fix_time: 1.1080, d3.loss_plan_l1_fix_dist: 0.1860, d4.loss_plan_l1_fix_time: 1.1110, d4.loss_plan_l1_fix_dist: 0.1949, d5.loss_plan_l1_fix_time: 1.1139, d5.loss_plan_l1_fix_dist: 0.2247, d6.loss_plan_l1_fix_time: 1.1168, d6.loss_plan_l1_fix_dist: 0.2359, d0.loss_cls_all: 0.1907, d0.loss_bbox_all: 0.4162, d0.loss_cls: 0.1907, d0.loss_bbox: 0.4162, d1.loss_cls: 0.1816, d1.loss_bbox: 0.3791, d2.loss_cls: 0.1630, d2.loss_bbox: 0.3608, d3.loss_cls: 0.1489, d3.loss_bbox: 0.3517, d4.loss_cls: 0.1379, d4.loss_bbox: 0.3499, d5.loss_cls: 0.1371, d5.loss_bbox: 0.3471, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8158, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6317, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5952, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5593, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5617, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5652, d0.loss_map_cls_all: 0.2005, d0.loss_map_pts_all: 1.1472, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2005, d0.loss_map_pts: 1.1472, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1693, d1.loss_map_pts: 0.8391, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1510, d2.loss_map_pts: 0.7075, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1402, d3.loss_map_pts: 0.6463, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1337, d4.loss_map_pts: 0.6281, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1297, d5.loss_map_pts: 0.6224, d5.loss_map_dir: 0.0081, loss: 27.3602, grad_norm: 165.5720 +2026-02-27 23:30:22,401 - DriveTransformer - INFO - Epoch [8][23950/39528] lr: 8.063e-05, eta: 5 days, 11:40:12, time: 0.725, data_time: 0.036, memory: 19865, loss_cls: 0.1314, loss_bbox: 0.3211, loss_traj: 0.5533, loss_traj_cls: 0.0015, loss_map_cls: 0.1187, loss_map_pts: 0.5811, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.2627, d0.loss_plan_l1_fix_dist: 0.4195, d1.loss_plan_l1_fix_time: 0.9881, d1.loss_plan_l1_fix_dist: 0.2168, d2.loss_plan_l1_fix_time: 0.9690, d2.loss_plan_l1_fix_dist: 0.1787, d3.loss_plan_l1_fix_time: 0.9644, d3.loss_plan_l1_fix_dist: 0.1827, d4.loss_plan_l1_fix_time: 0.9669, d4.loss_plan_l1_fix_dist: 0.1765, d5.loss_plan_l1_fix_time: 0.9708, d5.loss_plan_l1_fix_dist: 0.2060, d6.loss_plan_l1_fix_time: 0.9764, d6.loss_plan_l1_fix_dist: 0.2036, d0.loss_cls_all: 0.1674, d0.loss_bbox_all: 0.3684, d0.loss_cls: 0.1674, d0.loss_bbox: 0.3684, d1.loss_cls: 0.1596, d1.loss_bbox: 0.3396, d2.loss_cls: 0.1470, d2.loss_bbox: 0.3259, d3.loss_cls: 0.1389, d3.loss_bbox: 0.3189, d4.loss_cls: 0.1326, d4.loss_bbox: 0.3194, d5.loss_cls: 0.1300, d5.loss_bbox: 0.3201, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7663, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6320, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5726, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5597, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5542, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5527, d0.loss_map_cls_all: 0.1980, d0.loss_map_pts_all: 1.2011, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1980, d0.loss_map_pts: 1.2011, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1667, d1.loss_map_pts: 0.8086, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1427, d2.loss_map_pts: 0.6608, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1334, d3.loss_map_pts: 0.6053, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1266, d4.loss_map_pts: 0.5855, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1215, d5.loss_map_pts: 0.5801, d5.loss_map_dir: 0.0078, loss: 25.2263, grad_norm: 165.2169 +2026-02-27 23:30:58,307 - DriveTransformer - INFO - Epoch [8][24000/39528] lr: 8.063e-05, eta: 5 days, 11:39:28, time: 0.718, data_time: 0.039, memory: 19865, loss_cls: 0.1543, loss_bbox: 0.3418, loss_traj: 0.6268, loss_traj_cls: 0.0015, loss_map_cls: 0.1410, loss_map_pts: 0.6287, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.9045, d0.loss_plan_l1_fix_dist: 0.3880, d1.loss_plan_l1_fix_time: 1.0977, d1.loss_plan_l1_fix_dist: 0.2210, d2.loss_plan_l1_fix_time: 1.0819, d2.loss_plan_l1_fix_dist: 0.1935, d3.loss_plan_l1_fix_time: 1.0804, d3.loss_plan_l1_fix_dist: 0.2230, d4.loss_plan_l1_fix_time: 1.0825, d4.loss_plan_l1_fix_dist: 0.2104, d5.loss_plan_l1_fix_time: 1.0854, d5.loss_plan_l1_fix_dist: 0.2269, d6.loss_plan_l1_fix_time: 1.0892, d6.loss_plan_l1_fix_dist: 0.2324, d0.loss_cls_all: 0.1959, d0.loss_bbox_all: 0.4086, d0.loss_cls: 0.1959, d0.loss_bbox: 0.4086, d1.loss_cls: 0.1898, d1.loss_bbox: 0.3727, d2.loss_cls: 0.1766, d2.loss_bbox: 0.3499, d3.loss_cls: 0.1586, d3.loss_bbox: 0.3452, d4.loss_cls: 0.1528, d4.loss_bbox: 0.3434, d5.loss_cls: 0.1532, d5.loss_bbox: 0.3412, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9123, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7065, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6475, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6364, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6296, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6248, d0.loss_map_cls_all: 0.2204, d0.loss_map_pts_all: 1.2429, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2204, d0.loss_map_pts: 1.2429, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1921, d1.loss_map_pts: 0.8682, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1660, d2.loss_map_pts: 0.7142, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1532, d3.loss_map_pts: 0.6543, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1464, d4.loss_map_pts: 0.6358, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1431, d5.loss_map_pts: 0.6297, d5.loss_map_dir: 0.0090, loss: 28.2667, grad_norm: 164.3123 +2026-02-27 23:31:34,480 - DriveTransformer - INFO - Epoch [8][24050/39528] lr: 8.063e-05, eta: 5 days, 11:38:48, time: 0.723, data_time: 0.037, memory: 19865, loss_cls: 0.1454, loss_bbox: 0.3475, loss_traj: 0.5839, loss_traj_cls: 0.0014, loss_map_cls: 0.1367, loss_map_pts: 0.6623, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.5729, d0.loss_plan_l1_fix_dist: 0.4652, d1.loss_plan_l1_fix_time: 1.0360, d1.loss_plan_l1_fix_dist: 0.1975, d2.loss_plan_l1_fix_time: 1.0205, d2.loss_plan_l1_fix_dist: 0.1867, d3.loss_plan_l1_fix_time: 1.0155, d3.loss_plan_l1_fix_dist: 0.2282, d4.loss_plan_l1_fix_time: 1.0186, d4.loss_plan_l1_fix_dist: 0.2275, d5.loss_plan_l1_fix_time: 1.0217, d5.loss_plan_l1_fix_dist: 0.2075, d6.loss_plan_l1_fix_time: 1.0252, d6.loss_plan_l1_fix_dist: 0.2202, d0.loss_cls_all: 0.1909, d0.loss_bbox_all: 0.4027, d0.loss_cls: 0.1909, d0.loss_bbox: 0.4027, d1.loss_cls: 0.1843, d1.loss_bbox: 0.3766, d2.loss_cls: 0.1704, d2.loss_bbox: 0.3565, d3.loss_cls: 0.1526, d3.loss_bbox: 0.3504, d4.loss_cls: 0.1477, d4.loss_bbox: 0.3467, d5.loss_cls: 0.1455, d5.loss_bbox: 0.3464, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7957, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6600, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6056, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5891, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5838, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5864, d0.loss_map_cls_all: 0.2113, d0.loss_map_pts_all: 1.2374, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2113, d0.loss_map_pts: 1.2374, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1788, d1.loss_map_pts: 0.9115, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1598, d2.loss_map_pts: 0.7565, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1492, d3.loss_map_pts: 0.6945, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1420, d4.loss_map_pts: 0.6694, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1381, d5.loss_map_pts: 0.6620, d5.loss_map_dir: 0.0087, loss: 27.3391, grad_norm: 165.5588 +2026-02-27 23:32:09,675 - DriveTransformer - INFO - Epoch [8][24100/39528] lr: 8.063e-05, eta: 5 days, 11:37:57, time: 0.704, data_time: 0.037, memory: 19865, loss_cls: 0.1335, loss_bbox: 0.3204, loss_traj: 0.5834, loss_traj_cls: 0.0014, loss_map_cls: 0.1356, loss_map_pts: 0.6001, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.5312, d0.loss_plan_l1_fix_dist: 0.4756, d1.loss_plan_l1_fix_time: 1.0255, d1.loss_plan_l1_fix_dist: 0.1867, d2.loss_plan_l1_fix_time: 1.0039, d2.loss_plan_l1_fix_dist: 0.1828, d3.loss_plan_l1_fix_time: 0.9980, d3.loss_plan_l1_fix_dist: 0.2215, d4.loss_plan_l1_fix_time: 0.9996, d4.loss_plan_l1_fix_dist: 0.2310, d5.loss_plan_l1_fix_time: 1.0017, d5.loss_plan_l1_fix_dist: 0.2123, d6.loss_plan_l1_fix_time: 1.0048, d6.loss_plan_l1_fix_dist: 0.2292, d0.loss_cls_all: 0.1743, d0.loss_bbox_all: 0.3866, d0.loss_cls: 0.1743, d0.loss_bbox: 0.3866, d1.loss_cls: 0.1709, d1.loss_bbox: 0.3530, d2.loss_cls: 0.1556, d2.loss_bbox: 0.3297, d3.loss_cls: 0.1418, d3.loss_bbox: 0.3236, d4.loss_cls: 0.1340, d4.loss_bbox: 0.3222, d5.loss_cls: 0.1326, d5.loss_bbox: 0.3205, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8048, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6468, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6041, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5905, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5815, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5823, d0.loss_map_cls_all: 0.2102, d0.loss_map_pts_all: 1.1985, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2102, d0.loss_map_pts: 1.1985, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1778, d1.loss_map_pts: 0.8637, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1578, d2.loss_map_pts: 0.6974, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1467, d3.loss_map_pts: 0.6331, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1404, d4.loss_map_pts: 0.6104, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1369, d5.loss_map_pts: 0.6011, d5.loss_map_dir: 0.0077, loss: 26.4436, grad_norm: 166.0024 +2026-02-27 23:32:45,954 - DriveTransformer - INFO - Epoch [8][24150/39528] lr: 8.063e-05, eta: 5 days, 11:37:18, time: 0.726, data_time: 0.037, memory: 19865, loss_cls: 0.1075, loss_bbox: 0.2880, loss_traj: 0.5086, loss_traj_cls: 0.0016, loss_map_cls: 0.1043, loss_map_pts: 0.5112, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.0736, d0.loss_plan_l1_fix_dist: 0.5265, d1.loss_plan_l1_fix_time: 0.8209, d1.loss_plan_l1_fix_dist: 0.1866, d2.loss_plan_l1_fix_time: 0.7931, d2.loss_plan_l1_fix_dist: 0.1978, d3.loss_plan_l1_fix_time: 0.7866, d3.loss_plan_l1_fix_dist: 0.1926, d4.loss_plan_l1_fix_time: 0.7877, d4.loss_plan_l1_fix_dist: 0.2087, d5.loss_plan_l1_fix_time: 0.7896, d5.loss_plan_l1_fix_dist: 0.2034, d6.loss_plan_l1_fix_time: 0.7922, d6.loss_plan_l1_fix_dist: 0.2089, d0.loss_cls_all: 0.1430, d0.loss_bbox_all: 0.3378, d0.loss_cls: 0.1430, d0.loss_bbox: 0.3378, d1.loss_cls: 0.1371, d1.loss_bbox: 0.3122, d2.loss_cls: 0.1262, d2.loss_bbox: 0.2966, d3.loss_cls: 0.1139, d3.loss_bbox: 0.2897, d4.loss_cls: 0.1083, d4.loss_bbox: 0.2879, d5.loss_cls: 0.1072, d5.loss_bbox: 0.2876, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6733, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5616, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5251, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5095, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5026, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5029, d0.loss_map_cls_all: 0.1828, d0.loss_map_pts_all: 1.0749, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1828, d0.loss_map_pts: 1.0749, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1458, d1.loss_map_pts: 0.7538, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1232, d2.loss_map_pts: 0.6012, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1126, d3.loss_map_pts: 0.5452, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1072, d4.loss_map_pts: 0.5232, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1059, d5.loss_map_pts: 0.5113, d5.loss_map_dir: 0.0074, loss: 22.5007, grad_norm: 166.3614 +2026-02-27 23:33:22,537 - DriveTransformer - INFO - Epoch [8][24200/39528] lr: 8.063e-05, eta: 5 days, 11:36:42, time: 0.733, data_time: 0.038, memory: 19865, loss_cls: 0.1370, loss_bbox: 0.3299, loss_traj: 0.5595, loss_traj_cls: 0.0015, loss_map_cls: 0.1370, loss_map_pts: 0.6829, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.3416, d0.loss_plan_l1_fix_dist: 0.4322, d1.loss_plan_l1_fix_time: 0.8714, d1.loss_plan_l1_fix_dist: 0.1937, d2.loss_plan_l1_fix_time: 0.8546, d2.loss_plan_l1_fix_dist: 0.2234, d3.loss_plan_l1_fix_time: 0.8499, d3.loss_plan_l1_fix_dist: 0.1957, d4.loss_plan_l1_fix_time: 0.8519, d4.loss_plan_l1_fix_dist: 0.1926, d5.loss_plan_l1_fix_time: 0.8546, d5.loss_plan_l1_fix_dist: 0.1951, d6.loss_plan_l1_fix_time: 0.8579, d6.loss_plan_l1_fix_dist: 0.2022, d0.loss_cls_all: 0.1790, d0.loss_bbox_all: 0.3980, d0.loss_cls: 0.1790, d0.loss_bbox: 0.3980, d1.loss_cls: 0.1698, d1.loss_bbox: 0.3648, d2.loss_cls: 0.1573, d2.loss_bbox: 0.3452, d3.loss_cls: 0.1448, d3.loss_bbox: 0.3353, d4.loss_cls: 0.1375, d4.loss_bbox: 0.3326, d5.loss_cls: 0.1380, d5.loss_bbox: 0.3300, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7902, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6233, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5786, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5566, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5569, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5531, d0.loss_map_cls_all: 0.2180, d0.loss_map_pts_all: 1.3205, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2180, d0.loss_map_pts: 1.3205, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1822, d1.loss_map_pts: 0.9491, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1627, d2.loss_map_pts: 0.7806, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1516, d3.loss_map_pts: 0.7153, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1442, d4.loss_map_pts: 0.6882, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1396, d5.loss_map_pts: 0.6819, d5.loss_map_dir: 0.0095, loss: 25.9855, grad_norm: 170.2406 +2026-02-27 23:34:00,291 - DriveTransformer - INFO - Epoch [8][24250/39528] lr: 8.063e-05, eta: 5 days, 11:36:17, time: 0.754, data_time: 0.037, memory: 19865, loss_cls: 0.1122, loss_bbox: 0.3120, loss_traj: 0.5436, loss_traj_cls: 0.0015, loss_map_cls: 0.1305, loss_map_pts: 0.6569, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.4078, d0.loss_plan_l1_fix_dist: 0.5405, d1.loss_plan_l1_fix_time: 0.9779, d1.loss_plan_l1_fix_dist: 0.1928, d2.loss_plan_l1_fix_time: 0.9717, d2.loss_plan_l1_fix_dist: 0.2388, d3.loss_plan_l1_fix_time: 0.9681, d3.loss_plan_l1_fix_dist: 0.2172, d4.loss_plan_l1_fix_time: 0.9702, d4.loss_plan_l1_fix_dist: 0.1941, d5.loss_plan_l1_fix_time: 0.9727, d5.loss_plan_l1_fix_dist: 0.1966, d6.loss_plan_l1_fix_time: 0.9758, d6.loss_plan_l1_fix_dist: 0.2026, d0.loss_cls_all: 0.1522, d0.loss_bbox_all: 0.3736, d0.loss_cls: 0.1522, d0.loss_bbox: 0.3736, d1.loss_cls: 0.1456, d1.loss_bbox: 0.3423, d2.loss_cls: 0.1316, d2.loss_bbox: 0.3265, d3.loss_cls: 0.1199, d3.loss_bbox: 0.3187, d4.loss_cls: 0.1129, d4.loss_bbox: 0.3147, d5.loss_cls: 0.1119, d5.loss_bbox: 0.3119, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7470, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6066, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5649, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5515, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5452, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5427, d0.loss_map_cls_all: 0.2041, d0.loss_map_pts_all: 1.3187, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2041, d0.loss_map_pts: 1.3187, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1746, d1.loss_map_pts: 0.9310, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1511, d2.loss_map_pts: 0.7660, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1425, d3.loss_map_pts: 0.7019, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1366, d4.loss_map_pts: 0.6654, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1326, d5.loss_map_pts: 0.6581, d5.loss_map_dir: 0.0093, loss: 26.2145, grad_norm: 166.5331 +2026-02-27 23:34:36,535 - DriveTransformer - INFO - Epoch [8][24300/39528] lr: 8.063e-05, eta: 5 days, 11:35:37, time: 0.725, data_time: 0.036, memory: 19865, loss_cls: 0.1556, loss_bbox: 0.3637, loss_traj: 0.5502, loss_traj_cls: 0.0015, loss_map_cls: 0.1710, loss_map_pts: 0.7954, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.8850, d0.loss_plan_l1_fix_dist: 0.5027, d1.loss_plan_l1_fix_time: 0.9605, d1.loss_plan_l1_fix_dist: 0.1961, d2.loss_plan_l1_fix_time: 0.9479, d2.loss_plan_l1_fix_dist: 0.2456, d3.loss_plan_l1_fix_time: 0.9460, d3.loss_plan_l1_fix_dist: 0.2343, d4.loss_plan_l1_fix_time: 0.9491, d4.loss_plan_l1_fix_dist: 0.2259, d5.loss_plan_l1_fix_time: 0.9529, d5.loss_plan_l1_fix_dist: 0.2369, d6.loss_plan_l1_fix_time: 0.9570, d6.loss_plan_l1_fix_dist: 0.2454, d0.loss_cls_all: 0.2034, d0.loss_bbox_all: 0.4390, d0.loss_cls: 0.2034, d0.loss_bbox: 0.4390, d1.loss_cls: 0.1943, d1.loss_bbox: 0.4019, d2.loss_cls: 0.1791, d2.loss_bbox: 0.3768, d3.loss_cls: 0.1632, d3.loss_bbox: 0.3693, d4.loss_cls: 0.1577, d4.loss_bbox: 0.3643, d5.loss_cls: 0.1547, d5.loss_bbox: 0.3630, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8065, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6290, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5737, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5584, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5572, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5546, d0.loss_map_cls_all: 0.2529, d0.loss_map_pts_all: 1.4477, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2529, d0.loss_map_pts: 1.4477, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2213, d1.loss_map_pts: 1.0602, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1938, d2.loss_map_pts: 0.8940, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1851, d3.loss_map_pts: 0.8344, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1763, d4.loss_map_pts: 0.8035, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1737, d5.loss_map_pts: 0.7958, d5.loss_map_dir: 0.0103, loss: 29.0363, grad_norm: 168.6521 +2026-02-27 23:35:12,095 - DriveTransformer - INFO - Epoch [8][24350/39528] lr: 8.063e-05, eta: 5 days, 11:34:50, time: 0.711, data_time: 0.036, memory: 19865, loss_cls: 0.1318, loss_bbox: 0.3232, loss_traj: 0.5850, loss_traj_cls: 0.0015, loss_map_cls: 0.1322, loss_map_pts: 0.6094, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.4556, d0.loss_plan_l1_fix_dist: 0.4092, d1.loss_plan_l1_fix_time: 0.8618, d1.loss_plan_l1_fix_dist: 0.1870, d2.loss_plan_l1_fix_time: 0.8503, d2.loss_plan_l1_fix_dist: 0.2277, d3.loss_plan_l1_fix_time: 0.8473, d3.loss_plan_l1_fix_dist: 0.2073, d4.loss_plan_l1_fix_time: 0.8511, d4.loss_plan_l1_fix_dist: 0.1960, d5.loss_plan_l1_fix_time: 0.8556, d5.loss_plan_l1_fix_dist: 0.2052, d6.loss_plan_l1_fix_time: 0.8603, d6.loss_plan_l1_fix_dist: 0.2182, d0.loss_cls_all: 0.1753, d0.loss_bbox_all: 0.3816, d0.loss_cls: 0.1753, d0.loss_bbox: 0.3816, d1.loss_cls: 0.1668, d1.loss_bbox: 0.3516, d2.loss_cls: 0.1506, d2.loss_bbox: 0.3313, d3.loss_cls: 0.1392, d3.loss_bbox: 0.3262, d4.loss_cls: 0.1340, d4.loss_bbox: 0.3232, d5.loss_cls: 0.1314, d5.loss_bbox: 0.3232, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8159, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6355, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6128, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5851, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5915, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5832, d0.loss_map_cls_all: 0.2037, d0.loss_map_pts_all: 1.2008, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2037, d0.loss_map_pts: 1.2008, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1781, d1.loss_map_pts: 0.8587, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1542, d2.loss_map_pts: 0.7028, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1432, d3.loss_map_pts: 0.6416, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1368, d4.loss_map_pts: 0.6172, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1325, d5.loss_map_pts: 0.6105, d5.loss_map_dir: 0.0085, loss: 25.3889, grad_norm: 167.7485 +2026-02-27 23:35:47,970 - DriveTransformer - INFO - Epoch [8][24400/39528] lr: 8.063e-05, eta: 5 days, 11:34:06, time: 0.718, data_time: 0.037, memory: 19865, loss_cls: 0.1320, loss_bbox: 0.3312, loss_traj: 0.5824, loss_traj_cls: 0.0014, loss_map_cls: 0.1775, loss_map_pts: 0.7113, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.9671, d0.loss_plan_l1_fix_dist: 0.4451, d1.loss_plan_l1_fix_time: 0.9964, d1.loss_plan_l1_fix_dist: 0.2079, d2.loss_plan_l1_fix_time: 0.9905, d2.loss_plan_l1_fix_dist: 0.2343, d3.loss_plan_l1_fix_time: 0.9937, d3.loss_plan_l1_fix_dist: 0.2115, d4.loss_plan_l1_fix_time: 0.9981, d4.loss_plan_l1_fix_dist: 0.2081, d5.loss_plan_l1_fix_time: 1.0029, d5.loss_plan_l1_fix_dist: 0.2254, d6.loss_plan_l1_fix_time: 1.0086, d6.loss_plan_l1_fix_dist: 0.2538, d0.loss_cls_all: 0.1763, d0.loss_bbox_all: 0.3923, d0.loss_cls: 0.1763, d0.loss_bbox: 0.3923, d1.loss_cls: 0.1677, d1.loss_bbox: 0.3584, d2.loss_cls: 0.1572, d2.loss_bbox: 0.3403, d3.loss_cls: 0.1422, d3.loss_bbox: 0.3322, d4.loss_cls: 0.1357, d4.loss_bbox: 0.3309, d5.loss_cls: 0.1335, d5.loss_bbox: 0.3299, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7974, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6378, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5966, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5820, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5805, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5859, d0.loss_map_cls_all: 0.2583, d0.loss_map_pts_all: 1.4422, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2583, d0.loss_map_pts: 1.4422, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2231, d1.loss_map_pts: 1.0311, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.2010, d2.loss_map_pts: 0.8344, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1912, d3.loss_map_pts: 0.7503, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1840, d4.loss_map_pts: 0.7174, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1790, d5.loss_map_pts: 0.7102, d5.loss_map_dir: 0.0089, loss: 28.5235, grad_norm: 166.6523 +2026-02-27 23:36:24,457 - DriveTransformer - INFO - Epoch [8][24450/39528] lr: 8.063e-05, eta: 5 days, 11:33:29, time: 0.730, data_time: 0.038, memory: 19865, loss_cls: 0.1489, loss_bbox: 0.3430, loss_traj: 0.6225, loss_traj_cls: 0.0014, loss_map_cls: 0.1330, loss_map_pts: 0.6170, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.4510, d0.loss_plan_l1_fix_dist: 0.4318, d1.loss_plan_l1_fix_time: 1.0097, d1.loss_plan_l1_fix_dist: 0.2226, d2.loss_plan_l1_fix_time: 0.9982, d2.loss_plan_l1_fix_dist: 0.2275, d3.loss_plan_l1_fix_time: 1.0009, d3.loss_plan_l1_fix_dist: 0.2046, d4.loss_plan_l1_fix_time: 1.0050, d4.loss_plan_l1_fix_dist: 0.1976, d5.loss_plan_l1_fix_time: 1.0097, d5.loss_plan_l1_fix_dist: 0.2090, d6.loss_plan_l1_fix_time: 1.0157, d6.loss_plan_l1_fix_dist: 0.2374, d0.loss_cls_all: 0.1809, d0.loss_bbox_all: 0.4098, d0.loss_cls: 0.1809, d0.loss_bbox: 0.4098, d1.loss_cls: 0.1783, d1.loss_bbox: 0.3770, d2.loss_cls: 0.1678, d2.loss_bbox: 0.3549, d3.loss_cls: 0.1526, d3.loss_bbox: 0.3489, d4.loss_cls: 0.1491, d4.loss_bbox: 0.3441, d5.loss_cls: 0.1490, d5.loss_bbox: 0.3431, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8784, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6957, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6307, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6251, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6205, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6237, d0.loss_map_cls_all: 0.2068, d0.loss_map_pts_all: 1.2484, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2068, d0.loss_map_pts: 1.2484, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1800, d1.loss_map_pts: 0.8898, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1570, d2.loss_map_pts: 0.7174, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1477, d3.loss_map_pts: 0.6542, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1407, d4.loss_map_pts: 0.6290, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1341, d5.loss_map_pts: 0.6166, d5.loss_map_dir: 0.0076, loss: 27.1498, grad_norm: 166.7030 +2026-02-27 23:37:00,833 - DriveTransformer - INFO - Epoch [8][24500/39528] lr: 8.063e-05, eta: 5 days, 11:32:50, time: 0.728, data_time: 0.035, memory: 19865, loss_cls: 0.1454, loss_bbox: 0.3464, loss_traj: 0.6057, loss_traj_cls: 0.0014, loss_map_cls: 0.1882, loss_map_pts: 0.7256, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.8771, d0.loss_plan_l1_fix_dist: 0.4359, d1.loss_plan_l1_fix_time: 1.1035, d1.loss_plan_l1_fix_dist: 0.2483, d2.loss_plan_l1_fix_time: 1.0854, d2.loss_plan_l1_fix_dist: 0.2256, d3.loss_plan_l1_fix_time: 1.0897, d3.loss_plan_l1_fix_dist: 0.2217, d4.loss_plan_l1_fix_time: 1.0923, d4.loss_plan_l1_fix_dist: 0.2230, d5.loss_plan_l1_fix_time: 1.0954, d5.loss_plan_l1_fix_dist: 0.2271, d6.loss_plan_l1_fix_time: 1.0989, d6.loss_plan_l1_fix_dist: 0.2500, d0.loss_cls_all: 0.1888, d0.loss_bbox_all: 0.4153, d0.loss_cls: 0.1888, d0.loss_bbox: 0.4153, d1.loss_cls: 0.1791, d1.loss_bbox: 0.3785, d2.loss_cls: 0.1605, d2.loss_bbox: 0.3563, d3.loss_cls: 0.1462, d3.loss_bbox: 0.3533, d4.loss_cls: 0.1437, d4.loss_bbox: 0.3487, d5.loss_cls: 0.1453, d5.loss_bbox: 0.3472, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8253, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6655, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6298, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6144, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6091, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6081, d0.loss_map_cls_all: 0.2701, d0.loss_map_pts_all: 1.3792, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2701, d0.loss_map_pts: 1.3792, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2420, d1.loss_map_pts: 1.0076, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.2148, d2.loss_map_pts: 0.8260, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.2016, d3.loss_map_pts: 0.7631, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1940, d4.loss_map_pts: 0.7354, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1885, d5.loss_map_pts: 0.7273, d5.loss_map_dir: 0.0084, loss: 29.4756, grad_norm: 164.9280 +2026-02-27 23:37:36,602 - DriveTransformer - INFO - Epoch [8][24550/39528] lr: 8.063e-05, eta: 5 days, 11:32:05, time: 0.715, data_time: 0.037, memory: 19865, loss_cls: 0.1189, loss_bbox: 0.3052, loss_traj: 0.6292, loss_traj_cls: 0.0014, loss_map_cls: 0.1271, loss_map_pts: 0.5981, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.7083, d0.loss_plan_l1_fix_dist: 0.5459, d1.loss_plan_l1_fix_time: 0.8753, d1.loss_plan_l1_fix_dist: 0.2276, d2.loss_plan_l1_fix_time: 0.8650, d2.loss_plan_l1_fix_dist: 0.1914, d3.loss_plan_l1_fix_time: 0.8657, d3.loss_plan_l1_fix_dist: 0.1942, d4.loss_plan_l1_fix_time: 0.8690, d4.loss_plan_l1_fix_dist: 0.2009, d5.loss_plan_l1_fix_time: 0.8733, d5.loss_plan_l1_fix_dist: 0.2049, d6.loss_plan_l1_fix_time: 0.8776, d6.loss_plan_l1_fix_dist: 0.2270, d0.loss_cls_all: 0.1524, d0.loss_bbox_all: 0.3620, d0.loss_cls: 0.1524, d0.loss_bbox: 0.3620, d1.loss_cls: 0.1468, d1.loss_bbox: 0.3312, d2.loss_cls: 0.1357, d2.loss_bbox: 0.3132, d3.loss_cls: 0.1259, d3.loss_bbox: 0.3072, d4.loss_cls: 0.1207, d4.loss_bbox: 0.3060, d5.loss_cls: 0.1205, d5.loss_bbox: 0.3038, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8832, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6787, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6328, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6253, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6297, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6288, d0.loss_map_cls_all: 0.2097, d0.loss_map_pts_all: 1.2695, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2097, d0.loss_map_pts: 1.2695, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1788, d1.loss_map_pts: 0.8866, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1538, d2.loss_map_pts: 0.6967, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1412, d3.loss_map_pts: 0.6326, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1358, d4.loss_map_pts: 0.6031, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1302, d5.loss_map_pts: 0.5993, d5.loss_map_dir: 0.0072, loss: 26.0032, grad_norm: 162.4200 +2026-02-27 23:38:13,174 - DriveTransformer - INFO - Epoch [8][24600/39528] lr: 8.063e-05, eta: 5 days, 11:31:29, time: 0.731, data_time: 0.039, memory: 19865, loss_cls: 0.1465, loss_bbox: 0.3354, loss_traj: 0.5532, loss_traj_cls: 0.0013, loss_map_cls: 0.1600, loss_map_pts: 0.6850, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.7266, d0.loss_plan_l1_fix_dist: 0.3940, d1.loss_plan_l1_fix_time: 0.9908, d1.loss_plan_l1_fix_dist: 0.2334, d2.loss_plan_l1_fix_time: 0.9764, d2.loss_plan_l1_fix_dist: 0.1945, d3.loss_plan_l1_fix_time: 0.9772, d3.loss_plan_l1_fix_dist: 0.1894, d4.loss_plan_l1_fix_time: 0.9800, d4.loss_plan_l1_fix_dist: 0.2062, d5.loss_plan_l1_fix_time: 0.9828, d5.loss_plan_l1_fix_dist: 0.2112, d6.loss_plan_l1_fix_time: 0.9857, d6.loss_plan_l1_fix_dist: 0.2125, d0.loss_cls_all: 0.1732, d0.loss_bbox_all: 0.3933, d0.loss_cls: 0.1732, d0.loss_bbox: 0.3933, d1.loss_cls: 0.1747, d1.loss_bbox: 0.3555, d2.loss_cls: 0.1622, d2.loss_bbox: 0.3414, d3.loss_cls: 0.1479, d3.loss_bbox: 0.3394, d4.loss_cls: 0.1435, d4.loss_bbox: 0.3370, d5.loss_cls: 0.1458, d5.loss_bbox: 0.3355, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7961, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6179, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5770, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5710, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5618, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5546, d0.loss_map_cls_all: 0.2410, d0.loss_map_pts_all: 1.3687, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2410, d0.loss_map_pts: 1.3687, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.2097, d1.loss_map_pts: 0.9789, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1855, d2.loss_map_pts: 0.7978, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1731, d3.loss_map_pts: 0.7251, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1644, d4.loss_map_pts: 0.6931, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1603, d5.loss_map_pts: 0.6861, d5.loss_map_dir: 0.0082, loss: 27.4983, grad_norm: 161.4065 +2026-02-27 23:38:50,235 - DriveTransformer - INFO - Epoch [8][24650/39528] lr: 8.063e-05, eta: 5 days, 11:30:57, time: 0.741, data_time: 0.038, memory: 19865, loss_cls: 0.1489, loss_bbox: 0.3530, loss_traj: 0.6113, loss_traj_cls: 0.0013, loss_map_cls: 0.1331, loss_map_pts: 0.6302, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.8874, d0.loss_plan_l1_fix_dist: 0.4693, d1.loss_plan_l1_fix_time: 1.0300, d1.loss_plan_l1_fix_dist: 0.2386, d2.loss_plan_l1_fix_time: 1.0201, d2.loss_plan_l1_fix_dist: 0.2188, d3.loss_plan_l1_fix_time: 1.0201, d3.loss_plan_l1_fix_dist: 0.2035, d4.loss_plan_l1_fix_time: 1.0229, d4.loss_plan_l1_fix_dist: 0.2030, d5.loss_plan_l1_fix_time: 1.0266, d5.loss_plan_l1_fix_dist: 0.2197, d6.loss_plan_l1_fix_time: 1.0303, d6.loss_plan_l1_fix_dist: 0.2351, d0.loss_cls_all: 0.1849, d0.loss_bbox_all: 0.4227, d0.loss_cls: 0.1849, d0.loss_bbox: 0.4227, d1.loss_cls: 0.1809, d1.loss_bbox: 0.3852, d2.loss_cls: 0.1650, d2.loss_bbox: 0.3655, d3.loss_cls: 0.1524, d3.loss_bbox: 0.3575, d4.loss_cls: 0.1486, d4.loss_bbox: 0.3551, d5.loss_cls: 0.1482, d5.loss_bbox: 0.3538, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8387, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6982, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6352, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6219, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6127, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6078, d0.loss_map_cls_all: 0.2140, d0.loss_map_pts_all: 1.2857, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2140, d0.loss_map_pts: 1.2857, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1785, d1.loss_map_pts: 0.9345, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1569, d2.loss_map_pts: 0.7503, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1486, d3.loss_map_pts: 0.6751, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1399, d4.loss_map_pts: 0.6425, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1351, d5.loss_map_pts: 0.6297, d5.loss_map_dir: 0.0084, loss: 28.0058, grad_norm: 162.7570 +2026-02-27 23:39:27,271 - DriveTransformer - INFO - Epoch [8][24700/39528] lr: 8.063e-05, eta: 5 days, 11:30:25, time: 0.741, data_time: 0.038, memory: 19865, loss_cls: 0.1277, loss_bbox: 0.3181, loss_traj: 0.5449, loss_traj_cls: 0.0014, loss_map_cls: 0.1289, loss_map_pts: 0.6409, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.8405, d0.loss_plan_l1_fix_dist: 0.4659, d1.loss_plan_l1_fix_time: 0.9580, d1.loss_plan_l1_fix_dist: 0.2311, d2.loss_plan_l1_fix_time: 0.9435, d2.loss_plan_l1_fix_dist: 0.2436, d3.loss_plan_l1_fix_time: 0.9433, d3.loss_plan_l1_fix_dist: 0.2435, d4.loss_plan_l1_fix_time: 0.9465, d4.loss_plan_l1_fix_dist: 0.2202, d5.loss_plan_l1_fix_time: 0.9503, d5.loss_plan_l1_fix_dist: 0.2147, d6.loss_plan_l1_fix_time: 0.9543, d6.loss_plan_l1_fix_dist: 0.2277, d0.loss_cls_all: 0.1648, d0.loss_bbox_all: 0.3842, d0.loss_cls: 0.1648, d0.loss_bbox: 0.3842, d1.loss_cls: 0.1623, d1.loss_bbox: 0.3507, d2.loss_cls: 0.1488, d2.loss_bbox: 0.3317, d3.loss_cls: 0.1326, d3.loss_bbox: 0.3241, d4.loss_cls: 0.1282, d4.loss_bbox: 0.3210, d5.loss_cls: 0.1281, d5.loss_bbox: 0.3183, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7543, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6191, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5634, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5599, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5510, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5434, d0.loss_map_cls_all: 0.2069, d0.loss_map_pts_all: 1.2857, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2069, d0.loss_map_pts: 1.2857, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1767, d1.loss_map_pts: 0.9031, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1573, d2.loss_map_pts: 0.7266, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1459, d3.loss_map_pts: 0.6667, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1378, d4.loss_map_pts: 0.6458, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1323, d5.loss_map_pts: 0.6394, d5.loss_map_dir: 0.0096, loss: 26.5764, grad_norm: 162.2467 +2026-02-27 23:40:03,351 - DriveTransformer - INFO - Epoch [8][24750/39528] lr: 8.063e-05, eta: 5 days, 11:29:44, time: 0.722, data_time: 0.039, memory: 19865, loss_cls: 0.1402, loss_bbox: 0.3249, loss_traj: 0.5622, loss_traj_cls: 0.0014, loss_map_cls: 0.1250, loss_map_pts: 0.5767, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.4570, d0.loss_plan_l1_fix_dist: 0.4436, d1.loss_plan_l1_fix_time: 0.8518, d1.loss_plan_l1_fix_dist: 0.2128, d2.loss_plan_l1_fix_time: 0.8436, d2.loss_plan_l1_fix_dist: 0.2314, d3.loss_plan_l1_fix_time: 0.8424, d3.loss_plan_l1_fix_dist: 0.2309, d4.loss_plan_l1_fix_time: 0.8452, d4.loss_plan_l1_fix_dist: 0.2140, d5.loss_plan_l1_fix_time: 0.8485, d5.loss_plan_l1_fix_dist: 0.2038, d6.loss_plan_l1_fix_time: 0.8520, d6.loss_plan_l1_fix_dist: 0.2139, d0.loss_cls_all: 0.1747, d0.loss_bbox_all: 0.3777, d0.loss_cls: 0.1747, d0.loss_bbox: 0.3777, d1.loss_cls: 0.1715, d1.loss_bbox: 0.3459, d2.loss_cls: 0.1582, d2.loss_bbox: 0.3294, d3.loss_cls: 0.1468, d3.loss_bbox: 0.3245, d4.loss_cls: 0.1392, d4.loss_bbox: 0.3267, d5.loss_cls: 0.1401, d5.loss_bbox: 0.3235, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7944, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6132, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5813, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5720, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5653, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5630, d0.loss_map_cls_all: 0.2002, d0.loss_map_pts_all: 1.1949, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2002, d0.loss_map_pts: 1.1949, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1709, d1.loss_map_pts: 0.8379, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1460, d2.loss_map_pts: 0.6671, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1387, d3.loss_map_pts: 0.6061, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1322, d4.loss_map_pts: 0.5829, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1256, d5.loss_map_pts: 0.5775, d5.loss_map_dir: 0.0077, loss: 25.0610, grad_norm: 154.6212 +2026-02-27 23:40:39,511 - DriveTransformer - INFO - Epoch [8][24800/39528] lr: 8.063e-05, eta: 5 days, 11:29:03, time: 0.723, data_time: 0.038, memory: 19865, loss_cls: 0.1391, loss_bbox: 0.3341, loss_traj: 0.5197, loss_traj_cls: 0.0013, loss_map_cls: 0.1375, loss_map_pts: 0.6545, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.6964, d0.loss_plan_l1_fix_dist: 0.4115, d1.loss_plan_l1_fix_time: 1.1565, d1.loss_plan_l1_fix_dist: 0.2182, d2.loss_plan_l1_fix_time: 1.1481, d2.loss_plan_l1_fix_dist: 0.2398, d3.loss_plan_l1_fix_time: 1.1391, d3.loss_plan_l1_fix_dist: 0.2349, d4.loss_plan_l1_fix_time: 1.1399, d4.loss_plan_l1_fix_dist: 0.2331, d5.loss_plan_l1_fix_time: 1.1419, d5.loss_plan_l1_fix_dist: 0.2179, d6.loss_plan_l1_fix_time: 1.1450, d6.loss_plan_l1_fix_dist: 0.2246, d0.loss_cls_all: 0.1775, d0.loss_bbox_all: 0.4008, d0.loss_cls: 0.1775, d0.loss_bbox: 0.4008, d1.loss_cls: 0.1729, d1.loss_bbox: 0.3634, d2.loss_cls: 0.1558, d2.loss_bbox: 0.3452, d3.loss_cls: 0.1412, d3.loss_bbox: 0.3380, d4.loss_cls: 0.1382, d4.loss_bbox: 0.3344, d5.loss_cls: 0.1384, d5.loss_bbox: 0.3331, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7154, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5771, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5439, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5354, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5220, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5174, d0.loss_map_cls_all: 0.2211, d0.loss_map_pts_all: 1.3170, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2211, d0.loss_map_pts: 1.3170, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.1842, d1.loss_map_pts: 0.9258, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1620, d2.loss_map_pts: 0.7510, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1512, d3.loss_map_pts: 0.6881, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1439, d4.loss_map_pts: 0.6614, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1392, d5.loss_map_pts: 0.6547, d5.loss_map_dir: 0.0097, loss: 27.7810, grad_norm: 149.7159 +2026-02-27 23:41:16,452 - DriveTransformer - INFO - Epoch [8][24850/39528] lr: 8.063e-05, eta: 5 days, 11:28:30, time: 0.739, data_time: 0.038, memory: 19865, loss_cls: 0.1419, loss_bbox: 0.3550, loss_traj: 0.5984, loss_traj_cls: 0.0014, loss_map_cls: 0.1595, loss_map_pts: 0.7358, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 3.1410, d0.loss_plan_l1_fix_dist: 0.4650, d1.loss_plan_l1_fix_time: 1.0422, d1.loss_plan_l1_fix_dist: 0.1998, d2.loss_plan_l1_fix_time: 1.0216, d2.loss_plan_l1_fix_dist: 0.2160, d3.loss_plan_l1_fix_time: 1.0182, d3.loss_plan_l1_fix_dist: 0.2094, d4.loss_plan_l1_fix_time: 1.0201, d4.loss_plan_l1_fix_dist: 0.2056, d5.loss_plan_l1_fix_time: 1.0230, d5.loss_plan_l1_fix_dist: 0.1930, d6.loss_plan_l1_fix_time: 1.0270, d6.loss_plan_l1_fix_dist: 0.2068, d0.loss_cls_all: 0.1915, d0.loss_bbox_all: 0.4241, d0.loss_cls: 0.1915, d0.loss_bbox: 0.4241, d1.loss_cls: 0.1847, d1.loss_bbox: 0.3872, d2.loss_cls: 0.1651, d2.loss_bbox: 0.3674, d3.loss_cls: 0.1509, d3.loss_bbox: 0.3592, d4.loss_cls: 0.1410, d4.loss_bbox: 0.3585, d5.loss_cls: 0.1414, d5.loss_bbox: 0.3555, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8026, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6631, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6141, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6009, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5962, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5945, d0.loss_map_cls_all: 0.2335, d0.loss_map_pts_all: 1.3981, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2335, d0.loss_map_pts: 1.3981, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2044, d1.loss_map_pts: 1.0279, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1835, d2.loss_map_pts: 0.8412, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1725, d3.loss_map_pts: 0.7657, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1656, d4.loss_map_pts: 0.7414, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1614, d5.loss_map_pts: 0.7364, d5.loss_map_dir: 0.0088, loss: 29.0308, grad_norm: 152.3099 +2026-02-27 23:41:51,933 - DriveTransformer - INFO - Epoch [8][24900/39528] lr: 8.063e-05, eta: 5 days, 11:27:43, time: 0.710, data_time: 0.037, memory: 19865, loss_cls: 0.1267, loss_bbox: 0.3225, loss_traj: 0.5705, loss_traj_cls: 0.0014, loss_map_cls: 0.1279, loss_map_pts: 0.6141, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.4623, d0.loss_plan_l1_fix_dist: 0.4424, d1.loss_plan_l1_fix_time: 0.9202, d1.loss_plan_l1_fix_dist: 0.1820, d2.loss_plan_l1_fix_time: 0.9036, d2.loss_plan_l1_fix_dist: 0.1945, d3.loss_plan_l1_fix_time: 0.8990, d3.loss_plan_l1_fix_dist: 0.2009, d4.loss_plan_l1_fix_time: 0.9014, d4.loss_plan_l1_fix_dist: 0.1898, d5.loss_plan_l1_fix_time: 0.9043, d5.loss_plan_l1_fix_dist: 0.1891, d6.loss_plan_l1_fix_time: 0.9084, d6.loss_plan_l1_fix_dist: 0.1991, d0.loss_cls_all: 0.1674, d0.loss_bbox_all: 0.3816, d0.loss_cls: 0.1674, d0.loss_bbox: 0.3816, d1.loss_cls: 0.1606, d1.loss_bbox: 0.3521, d2.loss_cls: 0.1483, d2.loss_bbox: 0.3311, d3.loss_cls: 0.1356, d3.loss_bbox: 0.3252, d4.loss_cls: 0.1282, d4.loss_bbox: 0.3227, d5.loss_cls: 0.1268, d5.loss_bbox: 0.3224, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8494, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6383, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5972, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5797, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5743, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5684, d0.loss_map_cls_all: 0.1912, d0.loss_map_pts_all: 1.1601, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1912, d0.loss_map_pts: 1.1601, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1659, d1.loss_map_pts: 0.8480, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1477, d2.loss_map_pts: 0.7045, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1384, d3.loss_map_pts: 0.6407, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1321, d4.loss_map_pts: 0.6223, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1292, d5.loss_map_pts: 0.6155, d5.loss_map_dir: 0.0072, loss: 25.4264, grad_norm: 144.3646 +2026-02-27 23:42:28,579 - DriveTransformer - INFO - Epoch [8][24950/39528] lr: 8.063e-05, eta: 5 days, 11:27:07, time: 0.733, data_time: 0.036, memory: 19865, loss_cls: 0.1831, loss_bbox: 0.3913, loss_traj: 0.5250, loss_traj_cls: 0.0014, loss_map_cls: 0.1622, loss_map_pts: 0.7758, loss_map_dir: 0.0112, d0.loss_plan_l1_fix_time: 2.7506, d0.loss_plan_l1_fix_dist: 0.4582, d1.loss_plan_l1_fix_time: 1.0053, d1.loss_plan_l1_fix_dist: 0.2422, d2.loss_plan_l1_fix_time: 0.9894, d2.loss_plan_l1_fix_dist: 0.2230, d3.loss_plan_l1_fix_time: 0.9871, d3.loss_plan_l1_fix_dist: 0.2377, d4.loss_plan_l1_fix_time: 0.9883, d4.loss_plan_l1_fix_dist: 0.2219, d5.loss_plan_l1_fix_time: 0.9905, d5.loss_plan_l1_fix_dist: 0.2336, d6.loss_plan_l1_fix_time: 0.9931, d6.loss_plan_l1_fix_dist: 0.2499, d0.loss_cls_all: 0.2240, d0.loss_bbox_all: 0.4662, d0.loss_cls: 0.2240, d0.loss_bbox: 0.4662, d1.loss_cls: 0.2194, d1.loss_bbox: 0.4269, d2.loss_cls: 0.2036, d2.loss_bbox: 0.4037, d3.loss_cls: 0.1890, d3.loss_bbox: 0.3958, d4.loss_cls: 0.1799, d4.loss_bbox: 0.3944, d5.loss_cls: 0.1825, d5.loss_bbox: 0.3924, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7224, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5896, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5441, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5260, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5339, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5245, d0.loss_map_cls_all: 0.2400, d0.loss_map_pts_all: 1.3959, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2400, d0.loss_map_pts: 1.3959, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2085, d1.loss_map_pts: 1.0338, d1.loss_map_dir: 0.0105, d2.loss_map_cls: 0.1886, d2.loss_map_pts: 0.8694, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1743, d3.loss_map_pts: 0.8051, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1682, d4.loss_map_pts: 0.7793, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1631, d5.loss_map_pts: 0.7756, d5.loss_map_dir: 0.0111, loss: 28.9480, grad_norm: 141.8441 +2026-02-27 23:43:05,473 - DriveTransformer - INFO - Epoch [8][25000/39528] lr: 8.063e-05, eta: 5 days, 11:26:34, time: 0.739, data_time: 0.037, memory: 19865, loss_cls: 0.1435, loss_bbox: 0.3423, loss_traj: 0.6315, loss_traj_cls: 0.0014, loss_map_cls: 0.1576, loss_map_pts: 0.6576, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 3.2763, d0.loss_plan_l1_fix_dist: 0.4419, d1.loss_plan_l1_fix_time: 0.9557, d1.loss_plan_l1_fix_dist: 0.2356, d2.loss_plan_l1_fix_time: 0.9363, d2.loss_plan_l1_fix_dist: 0.1991, d3.loss_plan_l1_fix_time: 0.9374, d3.loss_plan_l1_fix_dist: 0.2159, d4.loss_plan_l1_fix_time: 0.9403, d4.loss_plan_l1_fix_dist: 0.2041, d5.loss_plan_l1_fix_time: 0.9440, d5.loss_plan_l1_fix_dist: 0.2118, d6.loss_plan_l1_fix_time: 0.9483, d6.loss_plan_l1_fix_dist: 0.2303, d0.loss_cls_all: 0.1879, d0.loss_bbox_all: 0.4077, d0.loss_cls: 0.1879, d0.loss_bbox: 0.4077, d1.loss_cls: 0.1800, d1.loss_bbox: 0.3696, d2.loss_cls: 0.1680, d2.loss_bbox: 0.3485, d3.loss_cls: 0.1496, d3.loss_bbox: 0.3436, d4.loss_cls: 0.1440, d4.loss_bbox: 0.3424, d5.loss_cls: 0.1412, d5.loss_bbox: 0.3434, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9023, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7145, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6598, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6433, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6343, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6308, d0.loss_map_cls_all: 0.2334, d0.loss_map_pts_all: 1.2934, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2334, d0.loss_map_pts: 1.2934, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.2070, d1.loss_map_pts: 0.9104, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1824, d2.loss_map_pts: 0.7477, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1728, d3.loss_map_pts: 0.6921, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1659, d4.loss_map_pts: 0.6635, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1606, d5.loss_map_pts: 0.6592, d5.loss_map_dir: 0.0077, loss: 28.1989, grad_norm: 141.9172 +2026-02-27 23:43:41,804 - DriveTransformer - INFO - Epoch [8][25050/39528] lr: 8.063e-05, eta: 5 days, 11:25:55, time: 0.725, data_time: 0.038, memory: 19865, loss_cls: 0.1224, loss_bbox: 0.3303, loss_traj: 0.6642, loss_traj_cls: 0.0015, loss_map_cls: 0.1113, loss_map_pts: 0.5740, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.5941, d0.loss_plan_l1_fix_dist: 0.4475, d1.loss_plan_l1_fix_time: 0.8027, d1.loss_plan_l1_fix_dist: 0.2431, d2.loss_plan_l1_fix_time: 0.7894, d2.loss_plan_l1_fix_dist: 0.1943, d3.loss_plan_l1_fix_time: 0.7871, d3.loss_plan_l1_fix_dist: 0.2011, d4.loss_plan_l1_fix_time: 0.7904, d4.loss_plan_l1_fix_dist: 0.1902, d5.loss_plan_l1_fix_time: 0.7939, d5.loss_plan_l1_fix_dist: 0.1918, d6.loss_plan_l1_fix_time: 0.7977, d6.loss_plan_l1_fix_dist: 0.2067, d0.loss_cls_all: 0.1643, d0.loss_bbox_all: 0.3908, d0.loss_cls: 0.1643, d0.loss_bbox: 0.3908, d1.loss_cls: 0.1584, d1.loss_bbox: 0.3576, d2.loss_cls: 0.1428, d2.loss_bbox: 0.3394, d3.loss_cls: 0.1308, d3.loss_bbox: 0.3338, d4.loss_cls: 0.1245, d4.loss_bbox: 0.3314, d5.loss_cls: 0.1226, d5.loss_bbox: 0.3306, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9041, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7388, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6780, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6612, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6648, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6649, d0.loss_map_cls_all: 0.1870, d0.loss_map_pts_all: 1.1771, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1870, d0.loss_map_pts: 1.1771, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1548, d1.loss_map_pts: 0.8178, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1344, d2.loss_map_pts: 0.6523, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1252, d3.loss_map_pts: 0.6009, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1193, d4.loss_map_pts: 0.5812, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1130, d5.loss_map_pts: 0.5751, d5.loss_map_dir: 0.0068, loss: 25.2910, grad_norm: 141.5922 +2026-02-27 23:44:18,559 - DriveTransformer - INFO - Epoch [8][25100/39528] lr: 8.063e-05, eta: 5 days, 11:25:20, time: 0.735, data_time: 0.041, memory: 19865, loss_cls: 0.1240, loss_bbox: 0.3332, loss_traj: 0.5445, loss_traj_cls: 0.0015, loss_map_cls: 0.1427, loss_map_pts: 0.6921, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.5299, d0.loss_plan_l1_fix_dist: 0.4183, d1.loss_plan_l1_fix_time: 1.0137, d1.loss_plan_l1_fix_dist: 0.2597, d2.loss_plan_l1_fix_time: 0.9968, d2.loss_plan_l1_fix_dist: 0.2129, d3.loss_plan_l1_fix_time: 0.9972, d3.loss_plan_l1_fix_dist: 0.2059, d4.loss_plan_l1_fix_time: 1.0002, d4.loss_plan_l1_fix_dist: 0.2015, d5.loss_plan_l1_fix_time: 1.0033, d5.loss_plan_l1_fix_dist: 0.2005, d6.loss_plan_l1_fix_time: 1.0063, d6.loss_plan_l1_fix_dist: 0.2055, d0.loss_cls_all: 0.1699, d0.loss_bbox_all: 0.3802, d0.loss_cls: 0.1699, d0.loss_bbox: 0.3802, d1.loss_cls: 0.1637, d1.loss_bbox: 0.3547, d2.loss_cls: 0.1486, d2.loss_bbox: 0.3396, d3.loss_cls: 0.1330, d3.loss_bbox: 0.3346, d4.loss_cls: 0.1275, d4.loss_bbox: 0.3322, d5.loss_cls: 0.1250, d5.loss_bbox: 0.3320, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7488, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6114, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5671, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5479, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5461, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5429, d0.loss_map_cls_all: 0.2148, d0.loss_map_pts_all: 1.3410, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2148, d0.loss_map_pts: 1.3410, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1865, d1.loss_map_pts: 0.9653, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1647, d2.loss_map_pts: 0.7835, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1553, d3.loss_map_pts: 0.7160, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1489, d4.loss_map_pts: 0.6916, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1448, d5.loss_map_pts: 0.6883, d5.loss_map_dir: 0.0088, loss: 26.9760, grad_norm: 146.2550 +2026-02-27 23:44:55,013 - DriveTransformer - INFO - Epoch [8][25150/39528] lr: 8.063e-05, eta: 5 days, 11:24:42, time: 0.729, data_time: 0.036, memory: 19865, loss_cls: 0.1212, loss_bbox: 0.3191, loss_traj: 0.5280, loss_traj_cls: 0.0015, loss_map_cls: 0.0984, loss_map_pts: 0.6042, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.0526, d0.loss_plan_l1_fix_dist: 0.3719, d1.loss_plan_l1_fix_time: 0.8048, d1.loss_plan_l1_fix_dist: 0.2333, d2.loss_plan_l1_fix_time: 0.7897, d2.loss_plan_l1_fix_dist: 0.1909, d3.loss_plan_l1_fix_time: 0.7846, d3.loss_plan_l1_fix_dist: 0.1924, d4.loss_plan_l1_fix_time: 0.7877, d4.loss_plan_l1_fix_dist: 0.2057, d5.loss_plan_l1_fix_time: 0.7919, d5.loss_plan_l1_fix_dist: 0.2052, d6.loss_plan_l1_fix_time: 0.7962, d6.loss_plan_l1_fix_dist: 0.2088, d0.loss_cls_all: 0.1530, d0.loss_bbox_all: 0.3857, d0.loss_cls: 0.1530, d0.loss_bbox: 0.3857, d1.loss_cls: 0.1493, d1.loss_bbox: 0.3504, d2.loss_cls: 0.1361, d2.loss_bbox: 0.3330, d3.loss_cls: 0.1247, d3.loss_bbox: 0.3255, d4.loss_cls: 0.1222, d4.loss_bbox: 0.3210, d5.loss_cls: 0.1201, d5.loss_bbox: 0.3208, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6956, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5644, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5420, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5389, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5331, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5277, d0.loss_map_cls_all: 0.1690, d0.loss_map_pts_all: 1.1824, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.1690, d0.loss_map_pts: 1.1824, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1363, d1.loss_map_pts: 0.8286, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1198, d2.loss_map_pts: 0.6755, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1112, d3.loss_map_pts: 0.6245, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1043, d4.loss_map_pts: 0.6061, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.0999, d5.loss_map_pts: 0.6014, d5.loss_map_dir: 0.0079, loss: 23.5499, grad_norm: 147.5333 +2026-02-27 23:45:33,207 - DriveTransformer - INFO - Epoch [8][25200/39528] lr: 8.063e-05, eta: 5 days, 11:24:22, time: 0.764, data_time: 0.041, memory: 19865, loss_cls: 0.1413, loss_bbox: 0.3446, loss_traj: 0.6656, loss_traj_cls: 0.0014, loss_map_cls: 0.1405, loss_map_pts: 0.6558, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.8688, d0.loss_plan_l1_fix_dist: 0.4545, d1.loss_plan_l1_fix_time: 0.9935, d1.loss_plan_l1_fix_dist: 0.2464, d2.loss_plan_l1_fix_time: 0.9806, d2.loss_plan_l1_fix_dist: 0.2190, d3.loss_plan_l1_fix_time: 0.9752, d3.loss_plan_l1_fix_dist: 0.2081, d4.loss_plan_l1_fix_time: 0.9777, d4.loss_plan_l1_fix_dist: 0.2182, d5.loss_plan_l1_fix_time: 0.9807, d5.loss_plan_l1_fix_dist: 0.2147, d6.loss_plan_l1_fix_time: 0.9837, d6.loss_plan_l1_fix_dist: 0.2216, d0.loss_cls_all: 0.1793, d0.loss_bbox_all: 0.4240, d0.loss_cls: 0.1793, d0.loss_bbox: 0.4240, d1.loss_cls: 0.1775, d1.loss_bbox: 0.3837, d2.loss_cls: 0.1639, d2.loss_bbox: 0.3605, d3.loss_cls: 0.1489, d3.loss_bbox: 0.3502, d4.loss_cls: 0.1430, d4.loss_bbox: 0.3462, d5.loss_cls: 0.1416, d5.loss_bbox: 0.3444, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8633, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7052, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6624, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6718, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6646, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6641, d0.loss_map_cls_all: 0.2096, d0.loss_map_pts_all: 1.2789, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2096, d0.loss_map_pts: 1.2789, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1763, d1.loss_map_pts: 0.9025, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1605, d2.loss_map_pts: 0.7415, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1521, d3.loss_map_pts: 0.6795, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1450, d4.loss_map_pts: 0.6600, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1416, d5.loss_map_pts: 0.6585, d5.loss_map_dir: 0.0082, loss: 27.9538, grad_norm: 148.4341 +2026-02-27 23:46:09,840 - DriveTransformer - INFO - Epoch [8][25250/39528] lr: 8.063e-05, eta: 5 days, 11:23:46, time: 0.733, data_time: 0.037, memory: 19865, loss_cls: 0.1231, loss_bbox: 0.3200, loss_traj: 0.6019, loss_traj_cls: 0.0015, loss_map_cls: 0.1455, loss_map_pts: 0.6577, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.5848, d0.loss_plan_l1_fix_dist: 0.4056, d1.loss_plan_l1_fix_time: 0.9279, d1.loss_plan_l1_fix_dist: 0.2212, d2.loss_plan_l1_fix_time: 0.9111, d2.loss_plan_l1_fix_dist: 0.1986, d3.loss_plan_l1_fix_time: 0.9071, d3.loss_plan_l1_fix_dist: 0.1866, d4.loss_plan_l1_fix_time: 0.9091, d4.loss_plan_l1_fix_dist: 0.1927, d5.loss_plan_l1_fix_time: 0.9119, d5.loss_plan_l1_fix_dist: 0.1975, d6.loss_plan_l1_fix_time: 0.9154, d6.loss_plan_l1_fix_dist: 0.2298, d0.loss_cls_all: 0.1715, d0.loss_bbox_all: 0.3813, d0.loss_cls: 0.1715, d0.loss_bbox: 0.3813, d1.loss_cls: 0.1653, d1.loss_bbox: 0.3492, d2.loss_cls: 0.1505, d2.loss_bbox: 0.3298, d3.loss_cls: 0.1318, d3.loss_bbox: 0.3240, d4.loss_cls: 0.1263, d4.loss_bbox: 0.3207, d5.loss_cls: 0.1243, d5.loss_bbox: 0.3199, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8036, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6669, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6196, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6063, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6040, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6017, d0.loss_map_cls_all: 0.2155, d0.loss_map_pts_all: 1.2664, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2155, d0.loss_map_pts: 1.2664, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1891, d1.loss_map_pts: 0.8964, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1673, d2.loss_map_pts: 0.7391, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1557, d3.loss_map_pts: 0.6809, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1510, d4.loss_map_pts: 0.6632, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1475, d5.loss_map_pts: 0.6607, d5.loss_map_dir: 0.0087, loss: 26.3863, grad_norm: 147.9070 +2026-02-27 23:46:47,128 - DriveTransformer - INFO - Epoch [8][25300/39528] lr: 8.063e-05, eta: 5 days, 11:23:17, time: 0.746, data_time: 0.039, memory: 19865, loss_cls: 0.1248, loss_bbox: 0.3167, loss_traj: 0.6319, loss_traj_cls: 0.0015, loss_map_cls: 0.1331, loss_map_pts: 0.6055, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.3226, d0.loss_plan_l1_fix_dist: 0.4575, d1.loss_plan_l1_fix_time: 0.9666, d1.loss_plan_l1_fix_dist: 0.2177, d2.loss_plan_l1_fix_time: 0.9555, d2.loss_plan_l1_fix_dist: 0.1908, d3.loss_plan_l1_fix_time: 0.9529, d3.loss_plan_l1_fix_dist: 0.1834, d4.loss_plan_l1_fix_time: 0.9561, d4.loss_plan_l1_fix_dist: 0.2023, d5.loss_plan_l1_fix_time: 0.9590, d5.loss_plan_l1_fix_dist: 0.2079, d6.loss_plan_l1_fix_time: 0.9626, d6.loss_plan_l1_fix_dist: 0.2184, d0.loss_cls_all: 0.1586, d0.loss_bbox_all: 0.3753, d0.loss_cls: 0.1586, d0.loss_bbox: 0.3753, d1.loss_cls: 0.1545, d1.loss_bbox: 0.3424, d2.loss_cls: 0.1434, d2.loss_bbox: 0.3260, d3.loss_cls: 0.1326, d3.loss_bbox: 0.3207, d4.loss_cls: 0.1266, d4.loss_bbox: 0.3184, d5.loss_cls: 0.1248, d5.loss_bbox: 0.3169, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8250, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6884, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6507, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6349, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6313, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6307, d0.loss_map_cls_all: 0.1927, d0.loss_map_pts_all: 1.2597, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1927, d0.loss_map_pts: 1.2597, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1711, d1.loss_map_pts: 0.8671, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1580, d2.loss_map_pts: 0.6959, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1470, d3.loss_map_pts: 0.6313, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1395, d4.loss_map_pts: 0.6101, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1353, d5.loss_map_pts: 0.6052, d5.loss_map_dir: 0.0081, loss: 26.1344, grad_norm: 149.1562 +2026-02-27 23:47:21,756 - DriveTransformer - INFO - Epoch [8][25350/39528] lr: 8.063e-05, eta: 5 days, 11:22:21, time: 0.693, data_time: 0.037, memory: 19865, loss_cls: 0.1231, loss_bbox: 0.3167, loss_traj: 0.6768, loss_traj_cls: 0.0015, loss_map_cls: 0.1348, loss_map_pts: 0.5859, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.7267, d0.loss_plan_l1_fix_dist: 0.4039, d1.loss_plan_l1_fix_time: 0.9191, d1.loss_plan_l1_fix_dist: 0.1850, d2.loss_plan_l1_fix_time: 0.9076, d2.loss_plan_l1_fix_dist: 0.1639, d3.loss_plan_l1_fix_time: 0.9103, d3.loss_plan_l1_fix_dist: 0.1644, d4.loss_plan_l1_fix_time: 0.9141, d4.loss_plan_l1_fix_dist: 0.1734, d5.loss_plan_l1_fix_time: 0.9185, d5.loss_plan_l1_fix_dist: 0.1847, d6.loss_plan_l1_fix_time: 0.9234, d6.loss_plan_l1_fix_dist: 0.1892, d0.loss_cls_all: 0.1619, d0.loss_bbox_all: 0.3755, d0.loss_cls: 0.1619, d0.loss_bbox: 0.3755, d1.loss_cls: 0.1559, d1.loss_bbox: 0.3444, d2.loss_cls: 0.1442, d2.loss_bbox: 0.3247, d3.loss_cls: 0.1276, d3.loss_bbox: 0.3201, d4.loss_cls: 0.1237, d4.loss_bbox: 0.3167, d5.loss_cls: 0.1222, d5.loss_bbox: 0.3168, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9446, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7669, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7067, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6875, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6829, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6769, d0.loss_map_cls_all: 0.2053, d0.loss_map_pts_all: 1.1838, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2053, d0.loss_map_pts: 1.1838, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1807, d1.loss_map_pts: 0.8559, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1605, d2.loss_map_pts: 0.6924, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1468, d3.loss_map_pts: 0.6252, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1403, d4.loss_map_pts: 0.6034, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1358, d5.loss_map_pts: 0.5881, d5.loss_map_dir: 0.0068, loss: 26.3239, grad_norm: 150.7563 +2026-02-27 23:47:58,609 - DriveTransformer - INFO - Epoch [8][25400/39528] lr: 8.063e-05, eta: 5 days, 11:21:47, time: 0.737, data_time: 0.039, memory: 19865, loss_cls: 0.1342, loss_bbox: 0.3384, loss_traj: 0.6348, loss_traj_cls: 0.0014, loss_map_cls: 0.1556, loss_map_pts: 0.7118, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.8481, d0.loss_plan_l1_fix_dist: 0.3941, d1.loss_plan_l1_fix_time: 1.0686, d1.loss_plan_l1_fix_dist: 0.2112, d2.loss_plan_l1_fix_time: 1.0619, d2.loss_plan_l1_fix_dist: 0.1952, d3.loss_plan_l1_fix_time: 1.0583, d3.loss_plan_l1_fix_dist: 0.2010, d4.loss_plan_l1_fix_time: 1.0612, d4.loss_plan_l1_fix_dist: 0.1905, d5.loss_plan_l1_fix_time: 1.0651, d5.loss_plan_l1_fix_dist: 0.1909, d6.loss_plan_l1_fix_time: 1.0695, d6.loss_plan_l1_fix_dist: 0.1959, d0.loss_cls_all: 0.1805, d0.loss_bbox_all: 0.4003, d0.loss_cls: 0.1805, d0.loss_bbox: 0.4003, d1.loss_cls: 0.1712, d1.loss_bbox: 0.3652, d2.loss_cls: 0.1593, d2.loss_bbox: 0.3457, d3.loss_cls: 0.1415, d3.loss_bbox: 0.3416, d4.loss_cls: 0.1360, d4.loss_bbox: 0.3383, d5.loss_cls: 0.1353, d5.loss_bbox: 0.3370, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8416, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7052, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6609, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6367, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6320, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6326, d0.loss_map_cls_all: 0.2367, d0.loss_map_pts_all: 1.3921, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2367, d0.loss_map_pts: 1.3921, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.2095, d1.loss_map_pts: 0.9951, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1831, d2.loss_map_pts: 0.8120, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1705, d3.loss_map_pts: 0.7435, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1634, d4.loss_map_pts: 0.7221, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1580, d5.loss_map_pts: 0.7137, d5.loss_map_dir: 0.0084, loss: 28.7263, grad_norm: 150.4933 +2026-02-27 23:48:36,499 - DriveTransformer - INFO - Epoch [8][25450/39528] lr: 8.063e-05, eta: 5 days, 11:21:23, time: 0.758, data_time: 0.040, memory: 19865, loss_cls: 0.1302, loss_bbox: 0.3425, loss_traj: 0.4991, loss_traj_cls: 0.0015, loss_map_cls: 0.1518, loss_map_pts: 0.7130, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.3958, d0.loss_plan_l1_fix_dist: 0.4295, d1.loss_plan_l1_fix_time: 0.9829, d1.loss_plan_l1_fix_dist: 0.2020, d2.loss_plan_l1_fix_time: 0.9672, d2.loss_plan_l1_fix_dist: 0.1880, d3.loss_plan_l1_fix_time: 0.9697, d3.loss_plan_l1_fix_dist: 0.1978, d4.loss_plan_l1_fix_time: 0.9736, d4.loss_plan_l1_fix_dist: 0.1971, d5.loss_plan_l1_fix_time: 0.9776, d5.loss_plan_l1_fix_dist: 0.1810, d6.loss_plan_l1_fix_time: 0.9813, d6.loss_plan_l1_fix_dist: 0.1939, d0.loss_cls_all: 0.1773, d0.loss_bbox_all: 0.4078, d0.loss_cls: 0.1773, d0.loss_bbox: 0.4078, d1.loss_cls: 0.1669, d1.loss_bbox: 0.3748, d2.loss_cls: 0.1554, d2.loss_bbox: 0.3522, d3.loss_cls: 0.1394, d3.loss_bbox: 0.3468, d4.loss_cls: 0.1321, d4.loss_bbox: 0.3443, d5.loss_cls: 0.1296, d5.loss_bbox: 0.3432, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6548, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5511, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5075, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.4930, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4963, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4981, d0.loss_map_cls_all: 0.2402, d0.loss_map_pts_all: 1.4243, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2402, d0.loss_map_pts: 1.4243, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2073, d1.loss_map_pts: 1.0160, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1796, d2.loss_map_pts: 0.8214, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1668, d3.loss_map_pts: 0.7519, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1609, d4.loss_map_pts: 0.7216, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1564, d5.loss_map_pts: 0.7125, d5.loss_map_dir: 0.0092, loss: 26.8317, grad_norm: 148.3396 +2026-02-27 23:49:13,849 - DriveTransformer - INFO - Epoch [8][25500/39528] lr: 8.063e-05, eta: 5 days, 11:20:55, time: 0.747, data_time: 0.036, memory: 19865, loss_cls: 0.1256, loss_bbox: 0.3408, loss_traj: 0.5986, loss_traj_cls: 0.0015, loss_map_cls: 0.1498, loss_map_pts: 0.7135, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.6578, d0.loss_plan_l1_fix_dist: 0.4061, d1.loss_plan_l1_fix_time: 0.9622, d1.loss_plan_l1_fix_dist: 0.2090, d2.loss_plan_l1_fix_time: 0.9551, d2.loss_plan_l1_fix_dist: 0.1918, d3.loss_plan_l1_fix_time: 0.9620, d3.loss_plan_l1_fix_dist: 0.1967, d4.loss_plan_l1_fix_time: 0.9668, d4.loss_plan_l1_fix_dist: 0.2085, d5.loss_plan_l1_fix_time: 0.9715, d5.loss_plan_l1_fix_dist: 0.2007, d6.loss_plan_l1_fix_time: 0.9763, d6.loss_plan_l1_fix_dist: 0.2137, d0.loss_cls_all: 0.1732, d0.loss_bbox_all: 0.3962, d0.loss_cls: 0.1732, d0.loss_bbox: 0.3962, d1.loss_cls: 0.1650, d1.loss_bbox: 0.3621, d2.loss_cls: 0.1519, d2.loss_bbox: 0.3458, d3.loss_cls: 0.1373, d3.loss_bbox: 0.3438, d4.loss_cls: 0.1298, d4.loss_bbox: 0.3410, d5.loss_cls: 0.1281, d5.loss_bbox: 0.3394, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7894, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6457, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6042, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5997, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5935, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5941, d0.loss_map_cls_all: 0.2264, d0.loss_map_pts_all: 1.3471, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2264, d0.loss_map_pts: 1.3471, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1969, d1.loss_map_pts: 0.9703, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1747, d2.loss_map_pts: 0.8025, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1642, d3.loss_map_pts: 0.7440, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1572, d4.loss_map_pts: 0.7200, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1522, d5.loss_map_pts: 0.7141, d5.loss_map_dir: 0.0082, loss: 27.4286, grad_norm: 146.1514 +2026-02-27 23:49:51,416 - DriveTransformer - INFO - Epoch [8][25550/39528] lr: 8.063e-05, eta: 5 days, 11:20:28, time: 0.751, data_time: 0.038, memory: 19865, loss_cls: 0.1288, loss_bbox: 0.3407, loss_traj: 0.5783, loss_traj_cls: 0.0015, loss_map_cls: 0.1274, loss_map_pts: 0.6440, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.6004, d0.loss_plan_l1_fix_dist: 0.3667, d1.loss_plan_l1_fix_time: 0.9060, d1.loss_plan_l1_fix_dist: 0.2234, d2.loss_plan_l1_fix_time: 0.8982, d2.loss_plan_l1_fix_dist: 0.2145, d3.loss_plan_l1_fix_time: 0.8949, d3.loss_plan_l1_fix_dist: 0.2132, d4.loss_plan_l1_fix_time: 0.8985, d4.loss_plan_l1_fix_dist: 0.2218, d5.loss_plan_l1_fix_time: 0.9031, d5.loss_plan_l1_fix_dist: 0.2242, d6.loss_plan_l1_fix_time: 0.9083, d6.loss_plan_l1_fix_dist: 0.2428, d0.loss_cls_all: 0.1753, d0.loss_bbox_all: 0.3927, d0.loss_cls: 0.1753, d0.loss_bbox: 0.3927, d1.loss_cls: 0.1631, d1.loss_bbox: 0.3625, d2.loss_cls: 0.1552, d2.loss_bbox: 0.3433, d3.loss_cls: 0.1383, d3.loss_bbox: 0.3423, d4.loss_cls: 0.1311, d4.loss_bbox: 0.3396, d5.loss_cls: 0.1294, d5.loss_bbox: 0.3396, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7645, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6107, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5811, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5731, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5760, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5730, d0.loss_map_cls_all: 0.2018, d0.loss_map_pts_all: 1.2737, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2018, d0.loss_map_pts: 1.2737, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1666, d1.loss_map_pts: 0.9017, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1510, d2.loss_map_pts: 0.7381, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1395, d3.loss_map_pts: 0.6793, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1309, d4.loss_map_pts: 0.6510, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1290, d5.loss_map_pts: 0.6450, d5.loss_map_dir: 0.0080, loss: 26.1469, grad_norm: 144.7555 +2026-02-27 23:50:28,378 - DriveTransformer - INFO - Epoch [8][25600/39528] lr: 8.063e-05, eta: 5 days, 11:19:55, time: 0.739, data_time: 0.038, memory: 19865, loss_cls: 0.1235, loss_bbox: 0.3237, loss_traj: 0.5717, loss_traj_cls: 0.0015, loss_map_cls: 0.1333, loss_map_pts: 0.6496, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.3753, d0.loss_plan_l1_fix_dist: 0.3844, d1.loss_plan_l1_fix_time: 0.9265, d1.loss_plan_l1_fix_dist: 0.2082, d2.loss_plan_l1_fix_time: 0.9202, d2.loss_plan_l1_fix_dist: 0.2245, d3.loss_plan_l1_fix_time: 0.9210, d3.loss_plan_l1_fix_dist: 0.2096, d4.loss_plan_l1_fix_time: 0.9259, d4.loss_plan_l1_fix_dist: 0.2124, d5.loss_plan_l1_fix_time: 0.9308, d5.loss_plan_l1_fix_dist: 0.2171, d6.loss_plan_l1_fix_time: 0.9361, d6.loss_plan_l1_fix_dist: 0.2261, d0.loss_cls_all: 0.1615, d0.loss_bbox_all: 0.3833, d0.loss_cls: 0.1615, d0.loss_bbox: 0.3833, d1.loss_cls: 0.1570, d1.loss_bbox: 0.3511, d2.loss_cls: 0.1439, d2.loss_bbox: 0.3323, d3.loss_cls: 0.1296, d3.loss_bbox: 0.3262, d4.loss_cls: 0.1244, d4.loss_bbox: 0.3247, d5.loss_cls: 0.1235, d5.loss_bbox: 0.3243, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7904, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6183, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5732, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5719, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5710, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5680, d0.loss_map_cls_all: 0.2041, d0.loss_map_pts_all: 1.2309, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2041, d0.loss_map_pts: 1.2309, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1790, d1.loss_map_pts: 0.8872, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1609, d2.loss_map_pts: 0.7413, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1480, d3.loss_map_pts: 0.6878, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1400, d4.loss_map_pts: 0.6592, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1347, d5.loss_map_pts: 0.6504, d5.loss_map_dir: 0.0078, loss: 25.8646, grad_norm: 144.8510 +2026-02-27 23:51:04,720 - DriveTransformer - INFO - Epoch [8][25650/39528] lr: 8.063e-05, eta: 5 days, 11:19:16, time: 0.727, data_time: 0.040, memory: 19865, loss_cls: 0.1287, loss_bbox: 0.3399, loss_traj: 0.5181, loss_traj_cls: 0.0015, loss_map_cls: 0.1412, loss_map_pts: 0.6320, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.5605, d0.loss_plan_l1_fix_dist: 0.4514, d1.loss_plan_l1_fix_time: 1.0398, d1.loss_plan_l1_fix_dist: 0.2115, d2.loss_plan_l1_fix_time: 1.0270, d2.loss_plan_l1_fix_dist: 0.2526, d3.loss_plan_l1_fix_time: 1.0258, d3.loss_plan_l1_fix_dist: 0.2333, d4.loss_plan_l1_fix_time: 1.0298, d4.loss_plan_l1_fix_dist: 0.2390, d5.loss_plan_l1_fix_time: 1.0343, d5.loss_plan_l1_fix_dist: 0.2561, d6.loss_plan_l1_fix_time: 1.0394, d6.loss_plan_l1_fix_dist: 0.2590, d0.loss_cls_all: 0.1766, d0.loss_bbox_all: 0.4045, d0.loss_cls: 0.1766, d0.loss_bbox: 0.4045, d1.loss_cls: 0.1678, d1.loss_bbox: 0.3707, d2.loss_cls: 0.1526, d2.loss_bbox: 0.3515, d3.loss_cls: 0.1359, d3.loss_bbox: 0.3450, d4.loss_cls: 0.1304, d4.loss_bbox: 0.3420, d5.loss_cls: 0.1281, d5.loss_bbox: 0.3414, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7404, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5704, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5272, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5238, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5115, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5132, d0.loss_map_cls_all: 0.2080, d0.loss_map_pts_all: 1.2175, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2080, d0.loss_map_pts: 1.2175, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1831, d1.loss_map_pts: 0.9071, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1623, d2.loss_map_pts: 0.7367, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1519, d3.loss_map_pts: 0.6716, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1470, d4.loss_map_pts: 0.6427, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1426, d5.loss_map_pts: 0.6327, d5.loss_map_dir: 0.0073, loss: 26.7264, grad_norm: 147.6262 +2026-02-27 23:51:41,954 - DriveTransformer - INFO - Epoch [8][25700/39528] lr: 8.063e-05, eta: 5 days, 11:18:46, time: 0.745, data_time: 0.037, memory: 19865, loss_cls: 0.1301, loss_bbox: 0.3444, loss_traj: 0.5072, loss_traj_cls: 0.0014, loss_map_cls: 0.1545, loss_map_pts: 0.7639, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.2797, d0.loss_plan_l1_fix_dist: 0.3505, d1.loss_plan_l1_fix_time: 0.9613, d1.loss_plan_l1_fix_dist: 0.1930, d2.loss_plan_l1_fix_time: 0.9636, d2.loss_plan_l1_fix_dist: 0.2465, d3.loss_plan_l1_fix_time: 0.9523, d3.loss_plan_l1_fix_dist: 0.2037, d4.loss_plan_l1_fix_time: 0.9547, d4.loss_plan_l1_fix_dist: 0.1933, d5.loss_plan_l1_fix_time: 0.9590, d5.loss_plan_l1_fix_dist: 0.2054, d6.loss_plan_l1_fix_time: 0.9654, d6.loss_plan_l1_fix_dist: 0.2137, d0.loss_cls_all: 0.1742, d0.loss_bbox_all: 0.4032, d0.loss_cls: 0.1742, d0.loss_bbox: 0.4032, d1.loss_cls: 0.1676, d1.loss_bbox: 0.3713, d2.loss_cls: 0.1550, d2.loss_bbox: 0.3520, d3.loss_cls: 0.1390, d3.loss_bbox: 0.3456, d4.loss_cls: 0.1309, d4.loss_bbox: 0.3440, d5.loss_cls: 0.1307, d5.loss_bbox: 0.3432, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7059, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5695, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5225, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5114, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5049, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5054, d0.loss_map_cls_all: 0.2363, d0.loss_map_pts_all: 1.4842, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2363, d0.loss_map_pts: 1.4842, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2050, d1.loss_map_pts: 1.0649, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1767, d2.loss_map_pts: 0.8718, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1664, d3.loss_map_pts: 0.8003, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1604, d4.loss_map_pts: 0.7716, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1557, d5.loss_map_pts: 0.7646, d5.loss_map_dir: 0.0100, loss: 27.1591, grad_norm: 147.9431 +2026-02-27 23:52:18,550 - DriveTransformer - INFO - Epoch [8][25750/39528] lr: 8.063e-05, eta: 5 days, 11:18:10, time: 0.732, data_time: 0.039, memory: 19865, loss_cls: 0.1265, loss_bbox: 0.3130, loss_traj: 0.6043, loss_traj_cls: 0.0015, loss_map_cls: 0.1299, loss_map_pts: 0.5731, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.6473, d0.loss_plan_l1_fix_dist: 0.4429, d1.loss_plan_l1_fix_time: 0.9806, d1.loss_plan_l1_fix_dist: 0.1810, d2.loss_plan_l1_fix_time: 0.9657, d2.loss_plan_l1_fix_dist: 0.2367, d3.loss_plan_l1_fix_time: 0.9556, d3.loss_plan_l1_fix_dist: 0.1981, d4.loss_plan_l1_fix_time: 0.9566, d4.loss_plan_l1_fix_dist: 0.1925, d5.loss_plan_l1_fix_time: 0.9584, d5.loss_plan_l1_fix_dist: 0.1948, d6.loss_plan_l1_fix_time: 0.9615, d6.loss_plan_l1_fix_dist: 0.2048, d0.loss_cls_all: 0.1745, d0.loss_bbox_all: 0.3664, d0.loss_cls: 0.1745, d0.loss_bbox: 0.3664, d1.loss_cls: 0.1641, d1.loss_bbox: 0.3365, d2.loss_cls: 0.1498, d2.loss_bbox: 0.3182, d3.loss_cls: 0.1327, d3.loss_bbox: 0.3118, d4.loss_cls: 0.1265, d4.loss_bbox: 0.3119, d5.loss_cls: 0.1262, d5.loss_bbox: 0.3124, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8246, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6621, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6069, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6022, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6023, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6067, d0.loss_map_cls_all: 0.2006, d0.loss_map_pts_all: 1.2067, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2006, d0.loss_map_pts: 1.2067, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1740, d1.loss_map_pts: 0.8504, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1553, d2.loss_map_pts: 0.6758, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1444, d3.loss_map_pts: 0.6052, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1378, d4.loss_map_pts: 0.5769, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1321, d5.loss_map_pts: 0.5726, d5.loss_map_dir: 0.0074, loss: 26.0058, grad_norm: 147.9943 +2026-02-27 23:52:54,451 - DriveTransformer - INFO - Epoch [8][25800/39528] lr: 8.063e-05, eta: 5 days, 11:17:27, time: 0.719, data_time: 0.038, memory: 19865, loss_cls: 0.1339, loss_bbox: 0.3432, loss_traj: 0.5536, loss_traj_cls: 0.0015, loss_map_cls: 0.1647, loss_map_pts: 0.6623, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.5413, d0.loss_plan_l1_fix_dist: 0.4611, d1.loss_plan_l1_fix_time: 0.9777, d1.loss_plan_l1_fix_dist: 0.1940, d2.loss_plan_l1_fix_time: 0.9676, d2.loss_plan_l1_fix_dist: 0.2231, d3.loss_plan_l1_fix_time: 0.9696, d3.loss_plan_l1_fix_dist: 0.1835, d4.loss_plan_l1_fix_time: 0.9733, d4.loss_plan_l1_fix_dist: 0.1790, d5.loss_plan_l1_fix_time: 0.9760, d5.loss_plan_l1_fix_dist: 0.1822, d6.loss_plan_l1_fix_time: 0.9781, d6.loss_plan_l1_fix_dist: 0.1973, d0.loss_cls_all: 0.1776, d0.loss_bbox_all: 0.3971, d0.loss_cls: 0.1776, d0.loss_bbox: 0.3971, d1.loss_cls: 0.1738, d1.loss_bbox: 0.3595, d2.loss_cls: 0.1580, d2.loss_bbox: 0.3460, d3.loss_cls: 0.1439, d3.loss_bbox: 0.3414, d4.loss_cls: 0.1349, d4.loss_bbox: 0.3417, d5.loss_cls: 0.1332, d5.loss_bbox: 0.3428, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8168, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6343, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5780, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5671, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5578, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5555, d0.loss_map_cls_all: 0.2246, d0.loss_map_pts_all: 1.2863, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2246, d0.loss_map_pts: 1.2863, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1997, d1.loss_map_pts: 0.9225, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1835, d2.loss_map_pts: 0.7452, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1704, d3.loss_map_pts: 0.6885, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1664, d4.loss_map_pts: 0.6674, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1661, d5.loss_map_pts: 0.6625, d5.loss_map_dir: 0.0072, loss: 26.8526, grad_norm: 146.5075 +2026-02-27 23:53:31,226 - DriveTransformer - INFO - Epoch [8][25850/39528] lr: 8.063e-05, eta: 5 days, 11:16:52, time: 0.734, data_time: 0.036, memory: 19865, loss_cls: 0.1150, loss_bbox: 0.3213, loss_traj: 0.4702, loss_traj_cls: 0.0014, loss_map_cls: 0.1267, loss_map_pts: 0.6613, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.5377, d0.loss_plan_l1_fix_dist: 0.6181, d1.loss_plan_l1_fix_time: 0.9742, d1.loss_plan_l1_fix_dist: 0.2366, d2.loss_plan_l1_fix_time: 0.9658, d2.loss_plan_l1_fix_dist: 0.2337, d3.loss_plan_l1_fix_time: 0.9672, d3.loss_plan_l1_fix_dist: 0.1962, d4.loss_plan_l1_fix_time: 0.9713, d4.loss_plan_l1_fix_dist: 0.1998, d5.loss_plan_l1_fix_time: 0.9755, d5.loss_plan_l1_fix_dist: 0.2058, d6.loss_plan_l1_fix_time: 0.9798, d6.loss_plan_l1_fix_dist: 0.2136, d0.loss_cls_all: 0.1588, d0.loss_bbox_all: 0.3820, d0.loss_cls: 0.1588, d0.loss_bbox: 0.3820, d1.loss_cls: 0.1513, d1.loss_bbox: 0.3466, d2.loss_cls: 0.1376, d2.loss_bbox: 0.3278, d3.loss_cls: 0.1210, d3.loss_bbox: 0.3220, d4.loss_cls: 0.1162, d4.loss_bbox: 0.3195, d5.loss_cls: 0.1152, d5.loss_bbox: 0.3199, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6492, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5370, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4835, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.4769, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4697, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.4675, d0.loss_map_cls_all: 0.2053, d0.loss_map_pts_all: 1.3069, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2053, d0.loss_map_pts: 1.3069, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1737, d1.loss_map_pts: 0.9219, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1552, d2.loss_map_pts: 0.7551, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1408, d3.loss_map_pts: 0.6981, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1333, d4.loss_map_pts: 0.6650, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1291, d5.loss_map_pts: 0.6599, d5.loss_map_dir: 0.0081, loss: 25.9386, grad_norm: 148.2243 +2026-02-27 23:54:06,834 - DriveTransformer - INFO - Epoch [8][25900/39528] lr: 8.063e-05, eta: 5 days, 11:16:06, time: 0.712, data_time: 0.036, memory: 19865, loss_cls: 0.1511, loss_bbox: 0.3603, loss_traj: 0.5646, loss_traj_cls: 0.0014, loss_map_cls: 0.1401, loss_map_pts: 0.6856, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.8541, d0.loss_plan_l1_fix_dist: 0.4639, d1.loss_plan_l1_fix_time: 0.9275, d1.loss_plan_l1_fix_dist: 0.2550, d2.loss_plan_l1_fix_time: 0.9108, d2.loss_plan_l1_fix_dist: 0.2166, d3.loss_plan_l1_fix_time: 0.8997, d3.loss_plan_l1_fix_dist: 0.1853, d4.loss_plan_l1_fix_time: 0.9007, d4.loss_plan_l1_fix_dist: 0.1886, d5.loss_plan_l1_fix_time: 0.9029, d5.loss_plan_l1_fix_dist: 0.1986, d6.loss_plan_l1_fix_time: 0.9058, d6.loss_plan_l1_fix_dist: 0.2104, d0.loss_cls_all: 0.1972, d0.loss_bbox_all: 0.4330, d0.loss_cls: 0.1972, d0.loss_bbox: 0.4330, d1.loss_cls: 0.1892, d1.loss_bbox: 0.3930, d2.loss_cls: 0.1795, d2.loss_bbox: 0.3750, d3.loss_cls: 0.1606, d3.loss_bbox: 0.3643, d4.loss_cls: 0.1547, d4.loss_bbox: 0.3611, d5.loss_cls: 0.1514, d5.loss_bbox: 0.3608, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8414, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6740, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5988, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5741, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5722, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5651, d0.loss_map_cls_all: 0.2167, d0.loss_map_pts_all: 1.2891, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2167, d0.loss_map_pts: 1.2891, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1870, d1.loss_map_pts: 0.9444, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1617, d2.loss_map_pts: 0.7813, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1504, d3.loss_map_pts: 0.7144, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1430, d4.loss_map_pts: 0.6923, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1416, d5.loss_map_pts: 0.6870, d5.loss_map_dir: 0.0075, loss: 27.3739, grad_norm: 144.2759 +2026-02-27 23:54:43,768 - DriveTransformer - INFO - Epoch [8][25950/39528] lr: 8.063e-05, eta: 5 days, 11:15:33, time: 0.739, data_time: 0.036, memory: 19865, loss_cls: 0.1431, loss_bbox: 0.3428, loss_traj: 0.5596, loss_traj_cls: 0.0014, loss_map_cls: 0.1504, loss_map_pts: 0.6699, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.6000, d0.loss_plan_l1_fix_dist: 0.4365, d1.loss_plan_l1_fix_time: 0.9264, d1.loss_plan_l1_fix_dist: 0.2585, d2.loss_plan_l1_fix_time: 0.9075, d2.loss_plan_l1_fix_dist: 0.2016, d3.loss_plan_l1_fix_time: 0.9041, d3.loss_plan_l1_fix_dist: 0.1883, d4.loss_plan_l1_fix_time: 0.9061, d4.loss_plan_l1_fix_dist: 0.1885, d5.loss_plan_l1_fix_time: 0.9088, d5.loss_plan_l1_fix_dist: 0.1988, d6.loss_plan_l1_fix_time: 0.9130, d6.loss_plan_l1_fix_dist: 0.2199, d0.loss_cls_all: 0.1963, d0.loss_bbox_all: 0.4056, d0.loss_cls: 0.1963, d0.loss_bbox: 0.4056, d1.loss_cls: 0.1834, d1.loss_bbox: 0.3690, d2.loss_cls: 0.1716, d2.loss_bbox: 0.3481, d3.loss_cls: 0.1545, d3.loss_bbox: 0.3425, d4.loss_cls: 0.1469, d4.loss_bbox: 0.3411, d5.loss_cls: 0.1445, d5.loss_bbox: 0.3408, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7555, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5981, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5573, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5558, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5593, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5596, d0.loss_map_cls_all: 0.2228, d0.loss_map_pts_all: 1.2947, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2228, d0.loss_map_pts: 1.2947, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1925, d1.loss_map_pts: 0.9383, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1728, d2.loss_map_pts: 0.7641, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1601, d3.loss_map_pts: 0.6998, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1552, d4.loss_map_pts: 0.6741, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1508, d5.loss_map_pts: 0.6681, d5.loss_map_dir: 0.0088, loss: 26.6418, grad_norm: 148.1133 +2026-02-27 23:55:22,390 - DriveTransformer - INFO - Epoch [8][26000/39528] lr: 8.063e-05, eta: 5 days, 11:15:17, time: 0.772, data_time: 0.037, memory: 19865, loss_cls: 0.1268, loss_bbox: 0.3291, loss_traj: 0.5738, loss_traj_cls: 0.0014, loss_map_cls: 0.1225, loss_map_pts: 0.6616, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.3876, d0.loss_plan_l1_fix_dist: 0.4497, d1.loss_plan_l1_fix_time: 0.8477, d1.loss_plan_l1_fix_dist: 0.2534, d2.loss_plan_l1_fix_time: 0.8277, d2.loss_plan_l1_fix_dist: 0.1888, d3.loss_plan_l1_fix_time: 0.8261, d3.loss_plan_l1_fix_dist: 0.1844, d4.loss_plan_l1_fix_time: 0.8290, d4.loss_plan_l1_fix_dist: 0.1836, d5.loss_plan_l1_fix_time: 0.8328, d5.loss_plan_l1_fix_dist: 0.1882, d6.loss_plan_l1_fix_time: 0.8381, d6.loss_plan_l1_fix_dist: 0.1975, d0.loss_cls_all: 0.1703, d0.loss_bbox_all: 0.3944, d0.loss_cls: 0.1703, d0.loss_bbox: 0.3944, d1.loss_cls: 0.1637, d1.loss_bbox: 0.3607, d2.loss_cls: 0.1511, d2.loss_bbox: 0.3397, d3.loss_cls: 0.1362, d3.loss_bbox: 0.3326, d4.loss_cls: 0.1283, d4.loss_bbox: 0.3310, d5.loss_cls: 0.1263, d5.loss_bbox: 0.3295, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7914, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6417, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6000, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5808, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5766, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5705, d0.loss_map_cls_all: 0.2001, d0.loss_map_pts_all: 1.3645, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2001, d0.loss_map_pts: 1.3645, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1670, d1.loss_map_pts: 0.9548, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1481, d2.loss_map_pts: 0.7670, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1371, d3.loss_map_pts: 0.6938, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1278, d4.loss_map_pts: 0.6686, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1232, d5.loss_map_pts: 0.6602, d5.loss_map_dir: 0.0094, loss: 25.7927, grad_norm: 146.9728 +2026-02-27 23:55:57,385 - DriveTransformer - INFO - Epoch [8][26050/39528] lr: 8.063e-05, eta: 5 days, 11:14:25, time: 0.700, data_time: 0.038, memory: 19865, loss_cls: 0.1261, loss_bbox: 0.3168, loss_traj: 0.6136, loss_traj_cls: 0.0014, loss_map_cls: 0.1239, loss_map_pts: 0.5933, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.3856, d0.loss_plan_l1_fix_dist: 0.4210, d1.loss_plan_l1_fix_time: 0.9949, d1.loss_plan_l1_fix_dist: 0.2692, d2.loss_plan_l1_fix_time: 0.9902, d2.loss_plan_l1_fix_dist: 0.2068, d3.loss_plan_l1_fix_time: 0.9963, d3.loss_plan_l1_fix_dist: 0.2082, d4.loss_plan_l1_fix_time: 0.9995, d4.loss_plan_l1_fix_dist: 0.2126, d5.loss_plan_l1_fix_time: 1.0027, d5.loss_plan_l1_fix_dist: 0.2197, d6.loss_plan_l1_fix_time: 1.0061, d6.loss_plan_l1_fix_dist: 0.2185, d0.loss_cls_all: 0.1663, d0.loss_bbox_all: 0.3794, d0.loss_cls: 0.1663, d0.loss_bbox: 0.3794, d1.loss_cls: 0.1599, d1.loss_bbox: 0.3439, d2.loss_cls: 0.1482, d2.loss_bbox: 0.3267, d3.loss_cls: 0.1324, d3.loss_bbox: 0.3206, d4.loss_cls: 0.1255, d4.loss_bbox: 0.3193, d5.loss_cls: 0.1262, d5.loss_bbox: 0.3168, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8822, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7031, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6474, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6294, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6194, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6127, d0.loss_map_cls_all: 0.2107, d0.loss_map_pts_all: 1.1428, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2107, d0.loss_map_pts: 1.1428, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1801, d1.loss_map_pts: 0.8305, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1513, d2.loss_map_pts: 0.6799, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1387, d3.loss_map_pts: 0.6211, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1310, d4.loss_map_pts: 0.6003, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1251, d5.loss_map_pts: 0.5957, d5.loss_map_dir: 0.0067, loss: 26.2307, grad_norm: 146.1248 +2026-02-27 23:56:33,236 - DriveTransformer - INFO - Epoch [8][26100/39528] lr: 8.063e-05, eta: 5 days, 11:13:41, time: 0.717, data_time: 0.037, memory: 19865, loss_cls: 0.1315, loss_bbox: 0.3527, loss_traj: 0.6425, loss_traj_cls: 0.0015, loss_map_cls: 0.1453, loss_map_pts: 0.6815, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.9233, d0.loss_plan_l1_fix_dist: 0.4408, d1.loss_plan_l1_fix_time: 0.9554, d1.loss_plan_l1_fix_dist: 0.2547, d2.loss_plan_l1_fix_time: 0.9228, d2.loss_plan_l1_fix_dist: 0.2028, d3.loss_plan_l1_fix_time: 0.9230, d3.loss_plan_l1_fix_dist: 0.1917, d4.loss_plan_l1_fix_time: 0.9248, d4.loss_plan_l1_fix_dist: 0.1940, d5.loss_plan_l1_fix_time: 0.9268, d5.loss_plan_l1_fix_dist: 0.2058, d6.loss_plan_l1_fix_time: 0.9290, d6.loss_plan_l1_fix_dist: 0.2224, d0.loss_cls_all: 0.1794, d0.loss_bbox_all: 0.4245, d0.loss_cls: 0.1794, d0.loss_bbox: 0.4245, d1.loss_cls: 0.1717, d1.loss_bbox: 0.3875, d2.loss_cls: 0.1579, d2.loss_bbox: 0.3639, d3.loss_cls: 0.1403, d3.loss_bbox: 0.3576, d4.loss_cls: 0.1327, d4.loss_bbox: 0.3547, d5.loss_cls: 0.1308, d5.loss_bbox: 0.3533, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9004, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6984, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6618, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6540, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6448, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6432, d0.loss_map_cls_all: 0.2201, d0.loss_map_pts_all: 1.2558, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2201, d0.loss_map_pts: 1.2558, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1966, d1.loss_map_pts: 0.9017, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1728, d2.loss_map_pts: 0.7453, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1597, d3.loss_map_pts: 0.6987, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1511, d4.loss_map_pts: 0.6790, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1465, d5.loss_map_pts: 0.6792, d5.loss_map_dir: 0.0076, loss: 27.6792, grad_norm: 146.4124 +2026-02-27 23:57:07,699 - DriveTransformer - INFO - Epoch [8][26150/39528] lr: 8.063e-05, eta: 5 days, 11:12:44, time: 0.689, data_time: 0.035, memory: 19865, loss_cls: 0.1055, loss_bbox: 0.2993, loss_traj: 0.4923, loss_traj_cls: 0.0014, loss_map_cls: 0.1513, loss_map_pts: 0.6420, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.3153, d0.loss_plan_l1_fix_dist: 0.4335, d1.loss_plan_l1_fix_time: 0.9464, d1.loss_plan_l1_fix_dist: 0.2115, d2.loss_plan_l1_fix_time: 0.9351, d2.loss_plan_l1_fix_dist: 0.1681, d3.loss_plan_l1_fix_time: 0.9294, d3.loss_plan_l1_fix_dist: 0.1613, d4.loss_plan_l1_fix_time: 0.9325, d4.loss_plan_l1_fix_dist: 0.1623, d5.loss_plan_l1_fix_time: 0.9361, d5.loss_plan_l1_fix_dist: 0.1637, d6.loss_plan_l1_fix_time: 0.9407, d6.loss_plan_l1_fix_dist: 0.1847, d0.loss_cls_all: 0.1506, d0.loss_bbox_all: 0.3564, d0.loss_cls: 0.1506, d0.loss_bbox: 0.3564, d1.loss_cls: 0.1411, d1.loss_bbox: 0.3257, d2.loss_cls: 0.1299, d2.loss_bbox: 0.3092, d3.loss_cls: 0.1137, d3.loss_bbox: 0.3043, d4.loss_cls: 0.1081, d4.loss_bbox: 0.3014, d5.loss_cls: 0.1061, d5.loss_bbox: 0.2997, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6745, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5470, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5066, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4981, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4935, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.4907, d0.loss_map_cls_all: 0.2391, d0.loss_map_pts_all: 1.2695, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2391, d0.loss_map_pts: 1.2695, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.2074, d1.loss_map_pts: 0.9187, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1803, d2.loss_map_pts: 0.7459, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1656, d3.loss_map_pts: 0.6763, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1570, d4.loss_map_pts: 0.6486, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1533, d5.loss_map_pts: 0.6422, d5.loss_map_dir: 0.0072, loss: 25.0498, grad_norm: 147.8324 +2026-02-27 23:57:44,293 - DriveTransformer - INFO - Epoch [8][26200/39528] lr: 8.063e-05, eta: 5 days, 11:12:07, time: 0.732, data_time: 0.037, memory: 19865, loss_cls: 0.1419, loss_bbox: 0.3384, loss_traj: 0.6678, loss_traj_cls: 0.0014, loss_map_cls: 0.1331, loss_map_pts: 0.6603, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.8933, d0.loss_plan_l1_fix_dist: 0.3396, d1.loss_plan_l1_fix_time: 0.9109, d1.loss_plan_l1_fix_dist: 0.2262, d2.loss_plan_l1_fix_time: 0.8979, d2.loss_plan_l1_fix_dist: 0.1847, d3.loss_plan_l1_fix_time: 0.8929, d3.loss_plan_l1_fix_dist: 0.1826, d4.loss_plan_l1_fix_time: 0.8951, d4.loss_plan_l1_fix_dist: 0.1897, d5.loss_plan_l1_fix_time: 0.8983, d5.loss_plan_l1_fix_dist: 0.1918, d6.loss_plan_l1_fix_time: 0.9024, d6.loss_plan_l1_fix_dist: 0.2034, d0.loss_cls_all: 0.1857, d0.loss_bbox_all: 0.4007, d0.loss_cls: 0.1857, d0.loss_bbox: 0.4007, d1.loss_cls: 0.1751, d1.loss_bbox: 0.3661, d2.loss_cls: 0.1636, d2.loss_bbox: 0.3474, d3.loss_cls: 0.1488, d3.loss_bbox: 0.3412, d4.loss_cls: 0.1437, d4.loss_bbox: 0.3383, d5.loss_cls: 0.1407, d5.loss_bbox: 0.3390, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8937, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7204, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6732, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6614, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6626, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6652, d0.loss_map_cls_all: 0.2155, d0.loss_map_pts_all: 1.3022, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2155, d0.loss_map_pts: 1.3022, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1812, d1.loss_map_pts: 0.9124, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1588, d2.loss_map_pts: 0.7544, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1458, d3.loss_map_pts: 0.6933, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1399, d4.loss_map_pts: 0.6666, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1355, d5.loss_map_pts: 0.6630, d5.loss_map_dir: 0.0080, loss: 27.2599, grad_norm: 150.7079 +2026-02-27 23:58:19,865 - DriveTransformer - INFO - Epoch [8][26250/39528] lr: 8.063e-05, eta: 5 days, 11:11:21, time: 0.711, data_time: 0.038, memory: 19865, loss_cls: 0.1300, loss_bbox: 0.3272, loss_traj: 0.6606, loss_traj_cls: 0.0014, loss_map_cls: 0.1391, loss_map_pts: 0.6415, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.4712, d0.loss_plan_l1_fix_dist: 0.3925, d1.loss_plan_l1_fix_time: 0.8970, d1.loss_plan_l1_fix_dist: 0.2232, d2.loss_plan_l1_fix_time: 0.8744, d2.loss_plan_l1_fix_dist: 0.1790, d3.loss_plan_l1_fix_time: 0.8687, d3.loss_plan_l1_fix_dist: 0.1773, d4.loss_plan_l1_fix_time: 0.8703, d4.loss_plan_l1_fix_dist: 0.1842, d5.loss_plan_l1_fix_time: 0.8732, d5.loss_plan_l1_fix_dist: 0.1941, d6.loss_plan_l1_fix_time: 0.8774, d6.loss_plan_l1_fix_dist: 0.2002, d0.loss_cls_all: 0.1777, d0.loss_bbox_all: 0.3785, d0.loss_cls: 0.1777, d0.loss_bbox: 0.3785, d1.loss_cls: 0.1665, d1.loss_bbox: 0.3485, d2.loss_cls: 0.1521, d2.loss_bbox: 0.3310, d3.loss_cls: 0.1376, d3.loss_bbox: 0.3259, d4.loss_cls: 0.1312, d4.loss_bbox: 0.3272, d5.loss_cls: 0.1303, d5.loss_bbox: 0.3259, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8672, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7078, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6811, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6636, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6609, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6587, d0.loss_map_cls_all: 0.2212, d0.loss_map_pts_all: 1.2961, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2212, d0.loss_map_pts: 1.2961, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1882, d1.loss_map_pts: 0.9205, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1655, d2.loss_map_pts: 0.7519, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1524, d3.loss_map_pts: 0.6804, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1448, d4.loss_map_pts: 0.6481, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1404, d5.loss_map_pts: 0.6432, d5.loss_map_dir: 0.0078, loss: 26.4468, grad_norm: 151.8053 +2026-02-27 23:58:54,844 - DriveTransformer - INFO - Epoch [8][26300/39528] lr: 8.063e-05, eta: 5 days, 11:10:29, time: 0.700, data_time: 0.037, memory: 19865, loss_cls: 0.1270, loss_bbox: 0.3275, loss_traj: 0.5416, loss_traj_cls: 0.0014, loss_map_cls: 0.1160, loss_map_pts: 0.6200, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 3.0087, d0.loss_plan_l1_fix_dist: 0.4288, d1.loss_plan_l1_fix_time: 0.8961, d1.loss_plan_l1_fix_dist: 0.2016, d2.loss_plan_l1_fix_time: 0.8796, d2.loss_plan_l1_fix_dist: 0.1603, d3.loss_plan_l1_fix_time: 0.8737, d3.loss_plan_l1_fix_dist: 0.1606, d4.loss_plan_l1_fix_time: 0.8750, d4.loss_plan_l1_fix_dist: 0.1625, d5.loss_plan_l1_fix_time: 0.8774, d5.loss_plan_l1_fix_dist: 0.1690, d6.loss_plan_l1_fix_time: 0.8805, d6.loss_plan_l1_fix_dist: 0.1809, d0.loss_cls_all: 0.1737, d0.loss_bbox_all: 0.3817, d0.loss_cls: 0.1737, d0.loss_bbox: 0.3817, d1.loss_cls: 0.1644, d1.loss_bbox: 0.3496, d2.loss_cls: 0.1507, d2.loss_bbox: 0.3332, d3.loss_cls: 0.1369, d3.loss_bbox: 0.3268, d4.loss_cls: 0.1309, d4.loss_bbox: 0.3252, d5.loss_cls: 0.1273, d5.loss_bbox: 0.3266, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7496, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6028, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5517, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5378, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5378, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5391, d0.loss_map_cls_all: 0.1863, d0.loss_map_pts_all: 1.2409, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1863, d0.loss_map_pts: 1.2409, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1585, d1.loss_map_pts: 0.9152, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1418, d2.loss_map_pts: 0.7380, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1283, d3.loss_map_pts: 0.6603, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1223, d4.loss_map_pts: 0.6305, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1178, d5.loss_map_pts: 0.6215, d5.loss_map_dir: 0.0068, loss: 25.6364, grad_norm: 151.9042 +2026-02-27 23:59:31,738 - DriveTransformer - INFO - Epoch [8][26350/39528] lr: 8.063e-05, eta: 5 days, 11:09:55, time: 0.738, data_time: 0.039, memory: 19865, loss_cls: 0.1213, loss_bbox: 0.3015, loss_traj: 0.5549, loss_traj_cls: 0.0014, loss_map_cls: 0.1217, loss_map_pts: 0.5777, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.7617, d0.loss_plan_l1_fix_dist: 0.3587, d1.loss_plan_l1_fix_time: 0.9975, d1.loss_plan_l1_fix_dist: 0.2172, d2.loss_plan_l1_fix_time: 0.9855, d2.loss_plan_l1_fix_dist: 0.1969, d3.loss_plan_l1_fix_time: 0.9765, d3.loss_plan_l1_fix_dist: 0.2013, d4.loss_plan_l1_fix_time: 0.9780, d4.loss_plan_l1_fix_dist: 0.2092, d5.loss_plan_l1_fix_time: 0.9800, d5.loss_plan_l1_fix_dist: 0.2165, d6.loss_plan_l1_fix_time: 0.9823, d6.loss_plan_l1_fix_dist: 0.2284, d0.loss_cls_all: 0.1580, d0.loss_bbox_all: 0.3542, d0.loss_cls: 0.1580, d0.loss_bbox: 0.3542, d1.loss_cls: 0.1531, d1.loss_bbox: 0.3262, d2.loss_cls: 0.1422, d2.loss_bbox: 0.3086, d3.loss_cls: 0.1278, d3.loss_bbox: 0.3030, d4.loss_cls: 0.1236, d4.loss_bbox: 0.3002, d5.loss_cls: 0.1206, d5.loss_bbox: 0.3014, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8178, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6372, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5698, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5585, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5557, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5545, d0.loss_map_cls_all: 0.1964, d0.loss_map_pts_all: 1.2146, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1964, d0.loss_map_pts: 1.2146, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1698, d1.loss_map_pts: 0.8570, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1505, d2.loss_map_pts: 0.6798, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1365, d3.loss_map_pts: 0.6072, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1282, d4.loss_map_pts: 0.5825, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1241, d5.loss_map_pts: 0.5772, d5.loss_map_dir: 0.0072, loss: 25.7904, grad_norm: 151.9669 +2026-02-28 00:00:08,080 - DriveTransformer - INFO - Epoch [8][26400/39528] lr: 8.063e-05, eta: 5 days, 11:09:17, time: 0.727, data_time: 0.038, memory: 19865, loss_cls: 0.1101, loss_bbox: 0.3138, loss_traj: 0.5133, loss_traj_cls: 0.0014, loss_map_cls: 0.1059, loss_map_pts: 0.5952, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.7041, d0.loss_plan_l1_fix_dist: 0.4636, d1.loss_plan_l1_fix_time: 1.0792, d1.loss_plan_l1_fix_dist: 0.1811, d2.loss_plan_l1_fix_time: 1.0707, d2.loss_plan_l1_fix_dist: 0.1812, d3.loss_plan_l1_fix_time: 1.0620, d3.loss_plan_l1_fix_dist: 0.1869, d4.loss_plan_l1_fix_time: 1.0641, d4.loss_plan_l1_fix_dist: 0.1994, d5.loss_plan_l1_fix_time: 1.0668, d5.loss_plan_l1_fix_dist: 0.2073, d6.loss_plan_l1_fix_time: 1.0699, d6.loss_plan_l1_fix_dist: 0.2309, d0.loss_cls_all: 0.1562, d0.loss_bbox_all: 0.3672, d0.loss_cls: 0.1562, d0.loss_bbox: 0.3672, d1.loss_cls: 0.1495, d1.loss_bbox: 0.3347, d2.loss_cls: 0.1329, d2.loss_bbox: 0.3167, d3.loss_cls: 0.1179, d3.loss_bbox: 0.3130, d4.loss_cls: 0.1125, d4.loss_bbox: 0.3127, d5.loss_cls: 0.1097, d5.loss_bbox: 0.3130, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7277, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5806, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5296, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5222, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5181, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5147, d0.loss_map_cls_all: 0.1838, d0.loss_map_pts_all: 1.2292, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.1838, d0.loss_map_pts: 1.2292, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1517, d1.loss_map_pts: 0.8482, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1308, d2.loss_map_pts: 0.6786, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1175, d3.loss_map_pts: 0.6203, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1108, d4.loss_map_pts: 0.5983, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1080, d5.loss_map_pts: 0.5919, d5.loss_map_dir: 0.0084, loss: 25.9144, grad_norm: 152.4067 +2026-02-28 00:00:44,279 - DriveTransformer - INFO - Epoch [8][26450/39528] lr: 8.063e-05, eta: 5 days, 11:08:36, time: 0.724, data_time: 0.036, memory: 19865, loss_cls: 0.1554, loss_bbox: 0.3545, loss_traj: 0.5845, loss_traj_cls: 0.0014, loss_map_cls: 0.1337, loss_map_pts: 0.6347, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.8493, d0.loss_plan_l1_fix_dist: 0.4283, d1.loss_plan_l1_fix_time: 0.9998, d1.loss_plan_l1_fix_dist: 0.1772, d2.loss_plan_l1_fix_time: 0.9912, d2.loss_plan_l1_fix_dist: 0.1820, d3.loss_plan_l1_fix_time: 0.9849, d3.loss_plan_l1_fix_dist: 0.1870, d4.loss_plan_l1_fix_time: 0.9864, d4.loss_plan_l1_fix_dist: 0.2018, d5.loss_plan_l1_fix_time: 0.9886, d5.loss_plan_l1_fix_dist: 0.2050, d6.loss_plan_l1_fix_time: 0.9912, d6.loss_plan_l1_fix_dist: 0.2154, d0.loss_cls_all: 0.1879, d0.loss_bbox_all: 0.4173, d0.loss_cls: 0.1879, d0.loss_bbox: 0.4173, d1.loss_cls: 0.1862, d1.loss_bbox: 0.3826, d2.loss_cls: 0.1736, d2.loss_bbox: 0.3602, d3.loss_cls: 0.1618, d3.loss_bbox: 0.3549, d4.loss_cls: 0.1600, d4.loss_bbox: 0.3508, d5.loss_cls: 0.1559, d5.loss_bbox: 0.3528, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7802, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6516, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6047, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5884, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5822, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5827, d0.loss_map_cls_all: 0.2043, d0.loss_map_pts_all: 1.2625, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2043, d0.loss_map_pts: 1.2625, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1766, d1.loss_map_pts: 0.9068, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1566, d2.loss_map_pts: 0.7388, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1455, d3.loss_map_pts: 0.6688, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1395, d4.loss_map_pts: 0.6413, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1360, d5.loss_map_pts: 0.6349, d5.loss_map_dir: 0.0082, loss: 27.2393, grad_norm: 148.0748 +2026-02-28 00:01:20,755 - DriveTransformer - INFO - Epoch [8][26500/39528] lr: 8.063e-05, eta: 5 days, 11:07:59, time: 0.729, data_time: 0.036, memory: 19865, loss_cls: 0.1150, loss_bbox: 0.3137, loss_traj: 0.5587, loss_traj_cls: 0.0014, loss_map_cls: 0.1076, loss_map_pts: 0.5207, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.4181, d0.loss_plan_l1_fix_dist: 0.4784, d1.loss_plan_l1_fix_time: 0.9193, d1.loss_plan_l1_fix_dist: 0.1895, d2.loss_plan_l1_fix_time: 0.9147, d2.loss_plan_l1_fix_dist: 0.1949, d3.loss_plan_l1_fix_time: 0.9080, d3.loss_plan_l1_fix_dist: 0.2043, d4.loss_plan_l1_fix_time: 0.9126, d4.loss_plan_l1_fix_dist: 0.2249, d5.loss_plan_l1_fix_time: 0.9174, d5.loss_plan_l1_fix_dist: 0.2416, d6.loss_plan_l1_fix_time: 0.9230, d6.loss_plan_l1_fix_dist: 0.2554, d0.loss_cls_all: 0.1496, d0.loss_bbox_all: 0.3728, d0.loss_cls: 0.1496, d0.loss_bbox: 0.3728, d1.loss_cls: 0.1457, d1.loss_bbox: 0.3391, d2.loss_cls: 0.1328, d2.loss_bbox: 0.3204, d3.loss_cls: 0.1199, d3.loss_bbox: 0.3140, d4.loss_cls: 0.1160, d4.loss_bbox: 0.3121, d5.loss_cls: 0.1156, d5.loss_bbox: 0.3113, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7948, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6113, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5718, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5619, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5609, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5597, d0.loss_map_cls_all: 0.1756, d0.loss_map_pts_all: 1.1135, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1756, d0.loss_map_pts: 1.1135, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1442, d1.loss_map_pts: 0.7430, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1292, d2.loss_map_pts: 0.5897, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1198, d3.loss_map_pts: 0.5358, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1146, d4.loss_map_pts: 0.5218, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1096, d5.loss_map_pts: 0.5202, d5.loss_map_dir: 0.0076, loss: 24.4231, grad_norm: 149.7977 +2026-02-28 00:01:56,548 - DriveTransformer - INFO - Epoch [8][26550/39528] lr: 8.063e-05, eta: 5 days, 11:07:15, time: 0.716, data_time: 0.038, memory: 19865, loss_cls: 0.1303, loss_bbox: 0.3237, loss_traj: 0.6459, loss_traj_cls: 0.0014, loss_map_cls: 0.1119, loss_map_pts: 0.5987, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.4266, d0.loss_plan_l1_fix_dist: 0.5115, d1.loss_plan_l1_fix_time: 0.9403, d1.loss_plan_l1_fix_dist: 0.2068, d2.loss_plan_l1_fix_time: 0.9254, d2.loss_plan_l1_fix_dist: 0.2091, d3.loss_plan_l1_fix_time: 0.9222, d3.loss_plan_l1_fix_dist: 0.2123, d4.loss_plan_l1_fix_time: 0.9253, d4.loss_plan_l1_fix_dist: 0.2189, d5.loss_plan_l1_fix_time: 0.9293, d5.loss_plan_l1_fix_dist: 0.2322, d6.loss_plan_l1_fix_time: 0.9340, d6.loss_plan_l1_fix_dist: 0.2509, d0.loss_cls_all: 0.1686, d0.loss_bbox_all: 0.3842, d0.loss_cls: 0.1686, d0.loss_bbox: 0.3842, d1.loss_cls: 0.1599, d1.loss_bbox: 0.3534, d2.loss_cls: 0.1495, d2.loss_bbox: 0.3324, d3.loss_cls: 0.1373, d3.loss_bbox: 0.3264, d4.loss_cls: 0.1329, d4.loss_bbox: 0.3250, d5.loss_cls: 0.1314, d5.loss_bbox: 0.3228, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9124, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7466, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6718, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6535, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6515, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6490, d0.loss_map_cls_all: 0.2030, d0.loss_map_pts_all: 1.1923, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2030, d0.loss_map_pts: 1.1923, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1613, d1.loss_map_pts: 0.8540, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1401, d2.loss_map_pts: 0.6888, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1279, d3.loss_map_pts: 0.6254, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1198, d4.loss_map_pts: 0.6040, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1150, d5.loss_map_pts: 0.5992, d5.loss_map_dir: 0.0068, loss: 26.3033, grad_norm: 151.2270 +2026-02-28 00:02:34,665 - DriveTransformer - INFO - Epoch [8][26600/39528] lr: 8.063e-05, eta: 5 days, 11:06:54, time: 0.764, data_time: 0.036, memory: 19865, loss_cls: 0.1382, loss_bbox: 0.3056, loss_traj: 0.4838, loss_traj_cls: 0.0014, loss_map_cls: 0.1243, loss_map_pts: 0.6479, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.2989, d0.loss_plan_l1_fix_dist: 0.4831, d1.loss_plan_l1_fix_time: 0.9083, d1.loss_plan_l1_fix_dist: 0.1818, d2.loss_plan_l1_fix_time: 0.8914, d2.loss_plan_l1_fix_dist: 0.1866, d3.loss_plan_l1_fix_time: 0.8797, d3.loss_plan_l1_fix_dist: 0.1897, d4.loss_plan_l1_fix_time: 0.8810, d4.loss_plan_l1_fix_dist: 0.1977, d5.loss_plan_l1_fix_time: 0.8830, d5.loss_plan_l1_fix_dist: 0.2102, d6.loss_plan_l1_fix_time: 0.8853, d6.loss_plan_l1_fix_dist: 0.2285, d0.loss_cls_all: 0.1744, d0.loss_bbox_all: 0.3703, d0.loss_cls: 0.1744, d0.loss_bbox: 0.3703, d1.loss_cls: 0.1646, d1.loss_bbox: 0.3392, d2.loss_cls: 0.1525, d2.loss_bbox: 0.3213, d3.loss_cls: 0.1407, d3.loss_bbox: 0.3133, d4.loss_cls: 0.1403, d4.loss_bbox: 0.3087, d5.loss_cls: 0.1385, d5.loss_bbox: 0.3066, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6677, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5407, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4926, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.4846, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4831, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.4800, d0.loss_map_cls_all: 0.2040, d0.loss_map_pts_all: 1.2657, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2040, d0.loss_map_pts: 1.2657, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1729, d1.loss_map_pts: 0.8881, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1505, d2.loss_map_pts: 0.7231, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1384, d3.loss_map_pts: 0.6725, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1304, d4.loss_map_pts: 0.6554, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1264, d5.loss_map_pts: 0.6474, d5.loss_map_dir: 0.0089, loss: 24.8900, grad_norm: 151.7101 +2026-02-28 00:03:10,769 - DriveTransformer - INFO - Epoch [8][26650/39528] lr: 8.063e-05, eta: 5 days, 11:06:12, time: 0.721, data_time: 0.037, memory: 19865, loss_cls: 0.1465, loss_bbox: 0.3390, loss_traj: 0.5472, loss_traj_cls: 0.0015, loss_map_cls: 0.1406, loss_map_pts: 0.6470, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.3537, d0.loss_plan_l1_fix_dist: 0.4859, d1.loss_plan_l1_fix_time: 0.9859, d1.loss_plan_l1_fix_dist: 0.1997, d2.loss_plan_l1_fix_time: 0.9715, d2.loss_plan_l1_fix_dist: 0.1994, d3.loss_plan_l1_fix_time: 0.9753, d3.loss_plan_l1_fix_dist: 0.2039, d4.loss_plan_l1_fix_time: 0.9788, d4.loss_plan_l1_fix_dist: 0.2159, d5.loss_plan_l1_fix_time: 0.9822, d5.loss_plan_l1_fix_dist: 0.2240, d6.loss_plan_l1_fix_time: 0.9864, d6.loss_plan_l1_fix_dist: 0.2254, d0.loss_cls_all: 0.1892, d0.loss_bbox_all: 0.4024, d0.loss_cls: 0.1892, d0.loss_bbox: 0.4024, d1.loss_cls: 0.1786, d1.loss_bbox: 0.3737, d2.loss_cls: 0.1689, d2.loss_bbox: 0.3526, d3.loss_cls: 0.1541, d3.loss_bbox: 0.3472, d4.loss_cls: 0.1489, d4.loss_bbox: 0.3425, d5.loss_cls: 0.1469, d5.loss_bbox: 0.3406, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7284, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5982, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5616, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5485, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5507, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.5458, d0.loss_map_cls_all: 0.2139, d0.loss_map_pts_all: 1.2845, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2139, d0.loss_map_pts: 1.2845, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1865, d1.loss_map_pts: 0.9110, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1647, d2.loss_map_pts: 0.7415, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1536, d3.loss_map_pts: 0.6741, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1472, d4.loss_map_pts: 0.6530, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1418, d5.loss_map_pts: 0.6475, d5.loss_map_dir: 0.0082, loss: 26.5663, grad_norm: 156.8423 +2026-02-28 00:03:47,944 - DriveTransformer - INFO - Epoch [8][26700/39528] lr: 8.063e-05, eta: 5 days, 11:05:41, time: 0.743, data_time: 0.037, memory: 19865, loss_cls: 0.1281, loss_bbox: 0.3339, loss_traj: 0.5358, loss_traj_cls: 0.0014, loss_map_cls: 0.1490, loss_map_pts: 0.6956, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.6189, d0.loss_plan_l1_fix_dist: 0.4438, d1.loss_plan_l1_fix_time: 0.9427, d1.loss_plan_l1_fix_dist: 0.1870, d2.loss_plan_l1_fix_time: 0.9184, d2.loss_plan_l1_fix_dist: 0.1772, d3.loss_plan_l1_fix_time: 0.9148, d3.loss_plan_l1_fix_dist: 0.1761, d4.loss_plan_l1_fix_time: 0.9170, d4.loss_plan_l1_fix_dist: 0.1840, d5.loss_plan_l1_fix_time: 0.9204, d5.loss_plan_l1_fix_dist: 0.1930, d6.loss_plan_l1_fix_time: 0.9246, d6.loss_plan_l1_fix_dist: 0.2029, d0.loss_cls_all: 0.1770, d0.loss_bbox_all: 0.3952, d0.loss_cls: 0.1770, d0.loss_bbox: 0.3952, d1.loss_cls: 0.1661, d1.loss_bbox: 0.3647, d2.loss_cls: 0.1508, d2.loss_bbox: 0.3453, d3.loss_cls: 0.1385, d3.loss_bbox: 0.3379, d4.loss_cls: 0.1298, d4.loss_bbox: 0.3376, d5.loss_cls: 0.1280, d5.loss_bbox: 0.3352, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7683, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6004, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5465, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5476, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5412, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5399, d0.loss_map_cls_all: 0.2330, d0.loss_map_pts_all: 1.3846, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2330, d0.loss_map_pts: 1.3846, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1987, d1.loss_map_pts: 0.9674, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1714, d2.loss_map_pts: 0.7849, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1606, d3.loss_map_pts: 0.7225, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1537, d4.loss_map_pts: 0.6999, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1502, d5.loss_map_pts: 0.6952, d5.loss_map_dir: 0.0090, loss: 26.7013, grad_norm: 151.5465 +2026-02-28 00:04:24,150 - DriveTransformer - INFO - Epoch [8][26750/39528] lr: 8.063e-05, eta: 5 days, 11:05:01, time: 0.724, data_time: 0.037, memory: 19865, loss_cls: 0.1428, loss_bbox: 0.3136, loss_traj: 0.6331, loss_traj_cls: 0.0015, loss_map_cls: 0.1292, loss_map_pts: 0.6458, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.8022, d0.loss_plan_l1_fix_dist: 0.5061, d1.loss_plan_l1_fix_time: 0.9538, d1.loss_plan_l1_fix_dist: 0.1930, d2.loss_plan_l1_fix_time: 0.9381, d2.loss_plan_l1_fix_dist: 0.1864, d3.loss_plan_l1_fix_time: 0.9349, d3.loss_plan_l1_fix_dist: 0.1879, d4.loss_plan_l1_fix_time: 0.9365, d4.loss_plan_l1_fix_dist: 0.1969, d5.loss_plan_l1_fix_time: 0.9387, d5.loss_plan_l1_fix_dist: 0.2118, d6.loss_plan_l1_fix_time: 0.9414, d6.loss_plan_l1_fix_dist: 0.2348, d0.loss_cls_all: 0.1790, d0.loss_bbox_all: 0.3759, d0.loss_cls: 0.1790, d0.loss_bbox: 0.3759, d1.loss_cls: 0.1706, d1.loss_bbox: 0.3454, d2.loss_cls: 0.1556, d2.loss_bbox: 0.3252, d3.loss_cls: 0.1475, d3.loss_bbox: 0.3188, d4.loss_cls: 0.1447, d4.loss_bbox: 0.3135, d5.loss_cls: 0.1426, d5.loss_bbox: 0.3134, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8215, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6959, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6376, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6285, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6267, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6331, d0.loss_map_cls_all: 0.1952, d0.loss_map_pts_all: 1.2468, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1952, d0.loss_map_pts: 1.2468, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1704, d1.loss_map_pts: 0.9012, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1523, d2.loss_map_pts: 0.7361, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1418, d3.loss_map_pts: 0.6731, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1355, d4.loss_map_pts: 0.6509, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1312, d5.loss_map_pts: 0.6450, d5.loss_map_dir: 0.0075, loss: 26.8431, grad_norm: 150.9273 +2026-02-28 00:05:01,752 - DriveTransformer - INFO - Epoch [8][26800/39528] lr: 8.063e-05, eta: 5 days, 11:04:35, time: 0.752, data_time: 0.044, memory: 19865, loss_cls: 0.1176, loss_bbox: 0.3234, loss_traj: 0.5183, loss_traj_cls: 0.0015, loss_map_cls: 0.1171, loss_map_pts: 0.5873, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.7120, d0.loss_plan_l1_fix_dist: 0.4393, d1.loss_plan_l1_fix_time: 0.9165, d1.loss_plan_l1_fix_dist: 0.1858, d2.loss_plan_l1_fix_time: 0.8982, d2.loss_plan_l1_fix_dist: 0.1761, d3.loss_plan_l1_fix_time: 0.8963, d3.loss_plan_l1_fix_dist: 0.1740, d4.loss_plan_l1_fix_time: 0.8987, d4.loss_plan_l1_fix_dist: 0.1756, d5.loss_plan_l1_fix_time: 0.9014, d5.loss_plan_l1_fix_dist: 0.1803, d6.loss_plan_l1_fix_time: 0.9048, d6.loss_plan_l1_fix_dist: 0.1986, d0.loss_cls_all: 0.1554, d0.loss_bbox_all: 0.3985, d0.loss_cls: 0.1554, d0.loss_bbox: 0.3985, d1.loss_cls: 0.1478, d1.loss_bbox: 0.3589, d2.loss_cls: 0.1366, d2.loss_bbox: 0.3333, d3.loss_cls: 0.1247, d3.loss_bbox: 0.3261, d4.loss_cls: 0.1183, d4.loss_bbox: 0.3247, d5.loss_cls: 0.1178, d5.loss_bbox: 0.3233, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7601, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5856, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5398, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5272, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5187, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5171, d0.loss_map_cls_all: 0.1978, d0.loss_map_pts_all: 1.2270, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1978, d0.loss_map_pts: 1.2270, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1620, d1.loss_map_pts: 0.8396, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1426, d2.loss_map_pts: 0.6781, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1301, d3.loss_map_pts: 0.6171, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1232, d4.loss_map_pts: 0.5959, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1181, d5.loss_map_pts: 0.5888, d5.loss_map_dir: 0.0076, loss: 25.0986, grad_norm: 150.0763 +2026-02-28 00:05:39,523 - DriveTransformer - INFO - Epoch [8][26850/39528] lr: 8.063e-05, eta: 5 days, 11:04:10, time: 0.755, data_time: 0.038, memory: 19865, loss_cls: 0.1235, loss_bbox: 0.3148, loss_traj: 0.5836, loss_traj_cls: 0.0015, loss_map_cls: 0.1258, loss_map_pts: 0.6005, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.3459, d0.loss_plan_l1_fix_dist: 0.3985, d1.loss_plan_l1_fix_time: 0.8689, d1.loss_plan_l1_fix_dist: 0.1959, d2.loss_plan_l1_fix_time: 0.8451, d2.loss_plan_l1_fix_dist: 0.1765, d3.loss_plan_l1_fix_time: 0.8343, d3.loss_plan_l1_fix_dist: 0.1790, d4.loss_plan_l1_fix_time: 0.8365, d4.loss_plan_l1_fix_dist: 0.1941, d5.loss_plan_l1_fix_time: 0.8393, d5.loss_plan_l1_fix_dist: 0.2068, d6.loss_plan_l1_fix_time: 0.8425, d6.loss_plan_l1_fix_dist: 0.2209, d0.loss_cls_all: 0.1556, d0.loss_bbox_all: 0.3761, d0.loss_cls: 0.1556, d0.loss_bbox: 0.3761, d1.loss_cls: 0.1515, d1.loss_bbox: 0.3439, d2.loss_cls: 0.1374, d2.loss_bbox: 0.3259, d3.loss_cls: 0.1279, d3.loss_bbox: 0.3166, d4.loss_cls: 0.1237, d4.loss_bbox: 0.3147, d5.loss_cls: 0.1234, d5.loss_bbox: 0.3154, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7803, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6483, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6169, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5925, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5919, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5847, d0.loss_map_cls_all: 0.1970, d0.loss_map_pts_all: 1.1959, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1970, d0.loss_map_pts: 1.1959, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1734, d1.loss_map_pts: 0.8670, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1524, d2.loss_map_pts: 0.6985, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1401, d3.loss_map_pts: 0.6342, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1340, d4.loss_map_pts: 0.6119, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1277, d5.loss_map_pts: 0.6012, d5.loss_map_dir: 0.0068, loss: 24.8764, grad_norm: 149.2539 +2026-02-28 00:06:15,592 - DriveTransformer - INFO - Epoch [8][26900/39528] lr: 8.063e-05, eta: 5 days, 11:03:29, time: 0.721, data_time: 0.037, memory: 19865, loss_cls: 0.1157, loss_bbox: 0.3056, loss_traj: 0.5065, loss_traj_cls: 0.0015, loss_map_cls: 0.1165, loss_map_pts: 0.5613, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.4025, d0.loss_plan_l1_fix_dist: 0.4782, d1.loss_plan_l1_fix_time: 0.8655, d1.loss_plan_l1_fix_dist: 0.2026, d2.loss_plan_l1_fix_time: 0.8486, d2.loss_plan_l1_fix_dist: 0.1671, d3.loss_plan_l1_fix_time: 0.8461, d3.loss_plan_l1_fix_dist: 0.1716, d4.loss_plan_l1_fix_time: 0.8483, d4.loss_plan_l1_fix_dist: 0.1914, d5.loss_plan_l1_fix_time: 0.8508, d5.loss_plan_l1_fix_dist: 0.2100, d6.loss_plan_l1_fix_time: 0.8538, d6.loss_plan_l1_fix_dist: 0.2130, d0.loss_cls_all: 0.1585, d0.loss_bbox_all: 0.3705, d0.loss_cls: 0.1585, d0.loss_bbox: 0.3705, d1.loss_cls: 0.1513, d1.loss_bbox: 0.3419, d2.loss_cls: 0.1367, d2.loss_bbox: 0.3193, d3.loss_cls: 0.1223, d3.loss_bbox: 0.3109, d4.loss_cls: 0.1169, d4.loss_bbox: 0.3068, d5.loss_cls: 0.1170, d5.loss_bbox: 0.3045, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7338, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5850, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5338, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5103, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5021, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5026, d0.loss_map_cls_all: 0.1948, d0.loss_map_pts_all: 1.1647, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1948, d0.loss_map_pts: 1.1647, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1654, d1.loss_map_pts: 0.8184, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1425, d2.loss_map_pts: 0.6480, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1304, d3.loss_map_pts: 0.5923, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1225, d4.loss_map_pts: 0.5675, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1182, d5.loss_map_pts: 0.5608, d5.loss_map_dir: 0.0073, loss: 24.0559, grad_norm: 148.7749 +2026-02-28 00:06:51,190 - DriveTransformer - INFO - Epoch [8][26950/39528] lr: 8.063e-05, eta: 5 days, 11:02:43, time: 0.712, data_time: 0.040, memory: 19865, loss_cls: 0.1404, loss_bbox: 0.3333, loss_traj: 0.6317, loss_traj_cls: 0.0015, loss_map_cls: 0.1139, loss_map_pts: 0.5539, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.7535, d0.loss_plan_l1_fix_dist: 0.4199, d1.loss_plan_l1_fix_time: 0.9720, d1.loss_plan_l1_fix_dist: 0.2291, d2.loss_plan_l1_fix_time: 0.9614, d2.loss_plan_l1_fix_dist: 0.1939, d3.loss_plan_l1_fix_time: 0.9640, d3.loss_plan_l1_fix_dist: 0.1986, d4.loss_plan_l1_fix_time: 0.9658, d4.loss_plan_l1_fix_dist: 0.2024, d5.loss_plan_l1_fix_time: 0.9681, d5.loss_plan_l1_fix_dist: 0.2074, d6.loss_plan_l1_fix_time: 0.9706, d6.loss_plan_l1_fix_dist: 0.2280, d0.loss_cls_all: 0.1849, d0.loss_bbox_all: 0.4113, d0.loss_cls: 0.1849, d0.loss_bbox: 0.4113, d1.loss_cls: 0.1741, d1.loss_bbox: 0.3674, d2.loss_cls: 0.1589, d2.loss_bbox: 0.3470, d3.loss_cls: 0.1459, d3.loss_bbox: 0.3381, d4.loss_cls: 0.1415, d4.loss_bbox: 0.3343, d5.loss_cls: 0.1399, d5.loss_bbox: 0.3328, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9038, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7084, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6548, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6364, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6295, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6312, d0.loss_map_cls_all: 0.1939, d0.loss_map_pts_all: 1.1080, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1939, d0.loss_map_pts: 1.1080, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1606, d1.loss_map_pts: 0.7746, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1413, d2.loss_map_pts: 0.6305, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1276, d3.loss_map_pts: 0.5808, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1216, d4.loss_map_pts: 0.5624, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1159, d5.loss_map_pts: 0.5539, d5.loss_map_dir: 0.0066, loss: 26.2756, grad_norm: 147.5561 +2026-02-28 00:07:27,966 - DriveTransformer - INFO - Epoch [8][27000/39528] lr: 8.063e-05, eta: 5 days, 11:02:08, time: 0.735, data_time: 0.038, memory: 19865, loss_cls: 0.1317, loss_bbox: 0.3293, loss_traj: 0.4764, loss_traj_cls: 0.0015, loss_map_cls: 0.1413, loss_map_pts: 0.6152, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.9506, d0.loss_plan_l1_fix_dist: 0.4953, d1.loss_plan_l1_fix_time: 1.0328, d1.loss_plan_l1_fix_dist: 0.2316, d2.loss_plan_l1_fix_time: 1.0259, d2.loss_plan_l1_fix_dist: 0.2062, d3.loss_plan_l1_fix_time: 1.0305, d3.loss_plan_l1_fix_dist: 0.2148, d4.loss_plan_l1_fix_time: 1.0355, d4.loss_plan_l1_fix_dist: 0.2245, d5.loss_plan_l1_fix_time: 1.0396, d5.loss_plan_l1_fix_dist: 0.2269, d6.loss_plan_l1_fix_time: 1.0440, d6.loss_plan_l1_fix_dist: 0.2468, d0.loss_cls_all: 0.1736, d0.loss_bbox_all: 0.3945, d0.loss_cls: 0.1736, d0.loss_bbox: 0.3945, d1.loss_cls: 0.1694, d1.loss_bbox: 0.3612, d2.loss_cls: 0.1524, d2.loss_bbox: 0.3393, d3.loss_cls: 0.1377, d3.loss_bbox: 0.3326, d4.loss_cls: 0.1320, d4.loss_bbox: 0.3303, d5.loss_cls: 0.1315, d5.loss_bbox: 0.3290, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7117, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5488, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4863, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.4764, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4760, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.4767, d0.loss_map_cls_all: 0.2229, d0.loss_map_pts_all: 1.2413, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2229, d0.loss_map_pts: 1.2413, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1908, d1.loss_map_pts: 0.8746, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1672, d2.loss_map_pts: 0.7075, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1540, d3.loss_map_pts: 0.6466, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1469, d4.loss_map_pts: 0.6232, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1427, d5.loss_map_pts: 0.6166, d5.loss_map_dir: 0.0077, loss: 26.6934, grad_norm: 150.5028 +2026-02-28 00:08:04,017 - DriveTransformer - INFO - Epoch [8][27050/39528] lr: 8.063e-05, eta: 5 days, 11:01:26, time: 0.721, data_time: 0.039, memory: 19865, loss_cls: 0.1112, loss_bbox: 0.3185, loss_traj: 0.5984, loss_traj_cls: 0.0015, loss_map_cls: 0.1426, loss_map_pts: 0.5783, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.7372, d0.loss_plan_l1_fix_dist: 0.3644, d1.loss_plan_l1_fix_time: 1.0186, d1.loss_plan_l1_fix_dist: 0.2201, d2.loss_plan_l1_fix_time: 1.0053, d2.loss_plan_l1_fix_dist: 0.1952, d3.loss_plan_l1_fix_time: 1.0011, d3.loss_plan_l1_fix_dist: 0.2060, d4.loss_plan_l1_fix_time: 1.0032, d4.loss_plan_l1_fix_dist: 0.2219, d5.loss_plan_l1_fix_time: 1.0058, d5.loss_plan_l1_fix_dist: 0.2240, d6.loss_plan_l1_fix_time: 1.0094, d6.loss_plan_l1_fix_dist: 0.2345, d0.loss_cls_all: 0.1534, d0.loss_bbox_all: 0.3794, d0.loss_cls: 0.1534, d0.loss_bbox: 0.3794, d1.loss_cls: 0.1487, d1.loss_bbox: 0.3481, d2.loss_cls: 0.1360, d2.loss_bbox: 0.3298, d3.loss_cls: 0.1188, d3.loss_bbox: 0.3238, d4.loss_cls: 0.1135, d4.loss_bbox: 0.3208, d5.loss_cls: 0.1110, d5.loss_bbox: 0.3186, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8521, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6788, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6031, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5928, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5943, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5954, d0.loss_map_cls_all: 0.2268, d0.loss_map_pts_all: 1.1720, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2268, d0.loss_map_pts: 1.1720, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1939, d1.loss_map_pts: 0.8140, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1675, d2.loss_map_pts: 0.6618, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1551, d3.loss_map_pts: 0.6059, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1476, d4.loss_map_pts: 0.5849, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1447, d5.loss_map_pts: 0.5786, d5.loss_map_dir: 0.0066, loss: 26.3571, grad_norm: 150.2978 +2026-02-28 00:08:42,136 - DriveTransformer - INFO - Epoch [8][27100/39528] lr: 8.063e-05, eta: 5 days, 11:01:05, time: 0.762, data_time: 0.038, memory: 19865, loss_cls: 0.1274, loss_bbox: 0.3407, loss_traj: 0.5897, loss_traj_cls: 0.0015, loss_map_cls: 0.1357, loss_map_pts: 0.5997, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.5685, d0.loss_plan_l1_fix_dist: 0.4515, d1.loss_plan_l1_fix_time: 0.9243, d1.loss_plan_l1_fix_dist: 0.1988, d2.loss_plan_l1_fix_time: 0.9148, d2.loss_plan_l1_fix_dist: 0.1922, d3.loss_plan_l1_fix_time: 0.9056, d3.loss_plan_l1_fix_dist: 0.1942, d4.loss_plan_l1_fix_time: 0.9073, d4.loss_plan_l1_fix_dist: 0.1995, d5.loss_plan_l1_fix_time: 0.9099, d5.loss_plan_l1_fix_dist: 0.2069, d6.loss_plan_l1_fix_time: 0.9135, d6.loss_plan_l1_fix_dist: 0.2253, d0.loss_cls_all: 0.1635, d0.loss_bbox_all: 0.4008, d0.loss_cls: 0.1635, d0.loss_bbox: 0.4008, d1.loss_cls: 0.1593, d1.loss_bbox: 0.3697, d2.loss_cls: 0.1454, d2.loss_bbox: 0.3503, d3.loss_cls: 0.1316, d3.loss_bbox: 0.3451, d4.loss_cls: 0.1278, d4.loss_bbox: 0.3413, d5.loss_cls: 0.1268, d5.loss_bbox: 0.3403, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8030, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6484, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5921, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.5780, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5764, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5818, d0.loss_map_cls_all: 0.2083, d0.loss_map_pts_all: 1.2573, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2083, d0.loss_map_pts: 1.2573, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1760, d1.loss_map_pts: 0.8813, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1547, d2.loss_map_pts: 0.6926, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1438, d3.loss_map_pts: 0.6289, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1389, d4.loss_map_pts: 0.6051, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1359, d5.loss_map_pts: 0.5978, d5.loss_map_dir: 0.0078, loss: 26.0058, grad_norm: 150.6812 +2026-02-28 00:09:18,560 - DriveTransformer - INFO - Epoch [8][27150/39528] lr: 8.063e-05, eta: 5 days, 11:00:27, time: 0.728, data_time: 0.041, memory: 19865, loss_cls: 0.1297, loss_bbox: 0.3183, loss_traj: 0.5525, loss_traj_cls: 0.0015, loss_map_cls: 0.1384, loss_map_pts: 0.6162, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.4540, d0.loss_plan_l1_fix_dist: 0.4888, d1.loss_plan_l1_fix_time: 0.9065, d1.loss_plan_l1_fix_dist: 0.1765, d2.loss_plan_l1_fix_time: 0.8826, d2.loss_plan_l1_fix_dist: 0.1784, d3.loss_plan_l1_fix_time: 0.8751, d3.loss_plan_l1_fix_dist: 0.1757, d4.loss_plan_l1_fix_time: 0.8764, d4.loss_plan_l1_fix_dist: 0.1850, d5.loss_plan_l1_fix_time: 0.8785, d5.loss_plan_l1_fix_dist: 0.1987, d6.loss_plan_l1_fix_time: 0.8806, d6.loss_plan_l1_fix_dist: 0.2139, d0.loss_cls_all: 0.1636, d0.loss_bbox_all: 0.3828, d0.loss_cls: 0.1636, d0.loss_bbox: 0.3828, d1.loss_cls: 0.1573, d1.loss_bbox: 0.3507, d2.loss_cls: 0.1434, d2.loss_bbox: 0.3345, d3.loss_cls: 0.1345, d3.loss_bbox: 0.3251, d4.loss_cls: 0.1300, d4.loss_bbox: 0.3209, d5.loss_cls: 0.1296, d5.loss_bbox: 0.3189, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7852, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6118, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5745, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5540, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5534, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5497, d0.loss_map_cls_all: 0.2256, d0.loss_map_pts_all: 1.2894, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2256, d0.loss_map_pts: 1.2894, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1963, d1.loss_map_pts: 0.8979, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1661, d2.loss_map_pts: 0.7243, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1548, d3.loss_map_pts: 0.6523, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1454, d4.loss_map_pts: 0.6232, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1395, d5.loss_map_pts: 0.6178, d5.loss_map_dir: 0.0079, loss: 25.6104, grad_norm: 151.2681 +2026-02-28 00:09:52,873 - DriveTransformer - INFO - Epoch [8][27200/39528] lr: 8.063e-05, eta: 5 days, 10:59:28, time: 0.686, data_time: 0.037, memory: 19865, loss_cls: 0.1411, loss_bbox: 0.3552, loss_traj: 0.7863, loss_traj_cls: 0.0015, loss_map_cls: 0.1520, loss_map_pts: 0.5599, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.6693, d0.loss_plan_l1_fix_dist: 0.3950, d1.loss_plan_l1_fix_time: 0.9276, d1.loss_plan_l1_fix_dist: 0.1988, d2.loss_plan_l1_fix_time: 0.9172, d2.loss_plan_l1_fix_dist: 0.2091, d3.loss_plan_l1_fix_time: 0.9184, d3.loss_plan_l1_fix_dist: 0.2226, d4.loss_plan_l1_fix_time: 0.9209, d4.loss_plan_l1_fix_dist: 0.2345, d5.loss_plan_l1_fix_time: 0.9235, d5.loss_plan_l1_fix_dist: 0.2445, d6.loss_plan_l1_fix_time: 0.9262, d6.loss_plan_l1_fix_dist: 0.2450, d0.loss_cls_all: 0.1846, d0.loss_bbox_all: 0.4169, d0.loss_cls: 0.1846, d0.loss_bbox: 0.4169, d1.loss_cls: 0.1761, d1.loss_bbox: 0.3821, d2.loss_cls: 0.1609, d2.loss_bbox: 0.3622, d3.loss_cls: 0.1495, d3.loss_bbox: 0.3551, d4.loss_cls: 0.1462, d4.loss_bbox: 0.3524, d5.loss_cls: 0.1443, d5.loss_bbox: 0.3525, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0645, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.8546, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7985, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7889, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7824, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.7816, d0.loss_map_cls_all: 0.2262, d0.loss_map_pts_all: 1.1265, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.2262, d0.loss_map_pts: 1.1265, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1995, d1.loss_map_pts: 0.8073, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1764, d2.loss_map_pts: 0.6552, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1626, d3.loss_map_pts: 0.5904, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1556, d4.loss_map_pts: 0.5688, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1514, d5.loss_map_pts: 0.5622, d5.loss_map_dir: 0.0055, loss: 27.5875, grad_norm: 151.9044 +2026-02-28 00:10:29,386 - DriveTransformer - INFO - Epoch [8][27250/39528] lr: 8.063e-05, eta: 5 days, 10:58:51, time: 0.730, data_time: 0.037, memory: 19865, loss_cls: 0.1433, loss_bbox: 0.3561, loss_traj: 0.6998, loss_traj_cls: 0.0014, loss_map_cls: 0.1349, loss_map_pts: 0.6812, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 3.2119, d0.loss_plan_l1_fix_dist: 0.4793, d1.loss_plan_l1_fix_time: 1.1236, d1.loss_plan_l1_fix_dist: 0.2077, d2.loss_plan_l1_fix_time: 1.1078, d2.loss_plan_l1_fix_dist: 0.1997, d3.loss_plan_l1_fix_time: 1.1130, d3.loss_plan_l1_fix_dist: 0.2154, d4.loss_plan_l1_fix_time: 1.1175, d4.loss_plan_l1_fix_dist: 0.2105, d5.loss_plan_l1_fix_time: 1.1221, d5.loss_plan_l1_fix_dist: 0.2145, d6.loss_plan_l1_fix_time: 1.1267, d6.loss_plan_l1_fix_dist: 0.2233, d0.loss_cls_all: 0.1928, d0.loss_bbox_all: 0.4245, d0.loss_cls: 0.1928, d0.loss_bbox: 0.4245, d1.loss_cls: 0.1835, d1.loss_bbox: 0.3908, d2.loss_cls: 0.1677, d2.loss_bbox: 0.3692, d3.loss_cls: 0.1500, d3.loss_bbox: 0.3607, d4.loss_cls: 0.1447, d4.loss_bbox: 0.3562, d5.loss_cls: 0.1428, d5.loss_bbox: 0.3560, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9735, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7690, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7225, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.7103, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7062, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.7072, d0.loss_map_cls_all: 0.2210, d0.loss_map_pts_all: 1.3331, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2210, d0.loss_map_pts: 1.3331, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1843, d1.loss_map_pts: 0.9626, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1620, d2.loss_map_pts: 0.7810, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1463, d3.loss_map_pts: 0.7149, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1404, d4.loss_map_pts: 0.6893, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1361, d5.loss_map_pts: 0.6822, d5.loss_map_dir: 0.0087, loss: 29.9164, grad_norm: 150.1943 +2026-02-28 00:11:06,623 - DriveTransformer - INFO - Epoch [8][27300/39528] lr: 8.063e-05, eta: 5 days, 10:58:21, time: 0.745, data_time: 0.038, memory: 19865, loss_cls: 0.1283, loss_bbox: 0.3527, loss_traj: 0.5539, loss_traj_cls: 0.0015, loss_map_cls: 0.1722, loss_map_pts: 0.7543, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.6949, d0.loss_plan_l1_fix_dist: 0.4309, d1.loss_plan_l1_fix_time: 0.9773, d1.loss_plan_l1_fix_dist: 0.1966, d2.loss_plan_l1_fix_time: 0.9696, d2.loss_plan_l1_fix_dist: 0.1712, d3.loss_plan_l1_fix_time: 0.9698, d3.loss_plan_l1_fix_dist: 0.1839, d4.loss_plan_l1_fix_time: 0.9721, d4.loss_plan_l1_fix_dist: 0.1903, d5.loss_plan_l1_fix_time: 0.9752, d5.loss_plan_l1_fix_dist: 0.2115, d6.loss_plan_l1_fix_time: 0.9786, d6.loss_plan_l1_fix_dist: 0.2402, d0.loss_cls_all: 0.1766, d0.loss_bbox_all: 0.4208, d0.loss_cls: 0.1766, d0.loss_bbox: 0.4208, d1.loss_cls: 0.1710, d1.loss_bbox: 0.3854, d2.loss_cls: 0.1539, d2.loss_bbox: 0.3632, d3.loss_cls: 0.1379, d3.loss_bbox: 0.3553, d4.loss_cls: 0.1303, d4.loss_bbox: 0.3537, d5.loss_cls: 0.1282, d5.loss_bbox: 0.3519, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7820, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6188, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5642, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5572, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5565, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5577, d0.loss_map_cls_all: 0.2581, d0.loss_map_pts_all: 1.4747, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2581, d0.loss_map_pts: 1.4747, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2258, d1.loss_map_pts: 1.0630, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.2018, d2.loss_map_pts: 0.8689, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1858, d3.loss_map_pts: 0.7943, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1778, d4.loss_map_pts: 0.7637, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1736, d5.loss_map_pts: 0.7558, d5.loss_map_dir: 0.0092, loss: 28.2399, grad_norm: 151.1563 +2026-02-28 00:11:44,020 - DriveTransformer - INFO - Epoch [8][27350/39528] lr: 8.063e-05, eta: 5 days, 10:57:53, time: 0.748, data_time: 0.038, memory: 19865, loss_cls: 0.1175, loss_bbox: 0.3078, loss_traj: 0.5464, loss_traj_cls: 0.0015, loss_map_cls: 0.1238, loss_map_pts: 0.6302, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.3840, d0.loss_plan_l1_fix_dist: 0.4243, d1.loss_plan_l1_fix_time: 0.8310, d1.loss_plan_l1_fix_dist: 0.2208, d2.loss_plan_l1_fix_time: 0.8272, d2.loss_plan_l1_fix_dist: 0.1873, d3.loss_plan_l1_fix_time: 0.8206, d3.loss_plan_l1_fix_dist: 0.1873, d4.loss_plan_l1_fix_time: 0.8220, d4.loss_plan_l1_fix_dist: 0.1922, d5.loss_plan_l1_fix_time: 0.8250, d5.loss_plan_l1_fix_dist: 0.2113, d6.loss_plan_l1_fix_time: 0.8291, d6.loss_plan_l1_fix_dist: 0.2364, d0.loss_cls_all: 0.1580, d0.loss_bbox_all: 0.3772, d0.loss_cls: 0.1580, d0.loss_bbox: 0.3772, d1.loss_cls: 0.1512, d1.loss_bbox: 0.3480, d2.loss_cls: 0.1396, d2.loss_bbox: 0.3241, d3.loss_cls: 0.1248, d3.loss_bbox: 0.3149, d4.loss_cls: 0.1186, d4.loss_bbox: 0.3112, d5.loss_cls: 0.1179, d5.loss_bbox: 0.3081, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7958, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6225, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5714, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5498, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5453, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5475, d0.loss_map_cls_all: 0.2031, d0.loss_map_pts_all: 1.3499, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2031, d0.loss_map_pts: 1.3499, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1705, d1.loss_map_pts: 0.9448, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1474, d2.loss_map_pts: 0.7431, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1356, d3.loss_map_pts: 0.6645, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1299, d4.loss_map_pts: 0.6363, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1261, d5.loss_map_pts: 0.6314, d5.loss_map_dir: 0.0089, loss: 25.1968, grad_norm: 155.7619 +2026-02-28 00:12:21,254 - DriveTransformer - INFO - Epoch [8][27400/39528] lr: 8.063e-05, eta: 5 days, 10:57:23, time: 0.746, data_time: 0.039, memory: 19865, loss_cls: 0.1531, loss_bbox: 0.3399, loss_traj: 0.6062, loss_traj_cls: 0.0016, loss_map_cls: 0.1380, loss_map_pts: 0.6473, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.8005, d0.loss_plan_l1_fix_dist: 0.5283, d1.loss_plan_l1_fix_time: 0.8957, d1.loss_plan_l1_fix_dist: 0.2304, d2.loss_plan_l1_fix_time: 0.8849, d2.loss_plan_l1_fix_dist: 0.2009, d3.loss_plan_l1_fix_time: 0.8774, d3.loss_plan_l1_fix_dist: 0.1977, d4.loss_plan_l1_fix_time: 0.8777, d4.loss_plan_l1_fix_dist: 0.1982, d5.loss_plan_l1_fix_time: 0.8790, d5.loss_plan_l1_fix_dist: 0.2080, d6.loss_plan_l1_fix_time: 0.8815, d6.loss_plan_l1_fix_dist: 0.2272, d0.loss_cls_all: 0.1892, d0.loss_bbox_all: 0.3967, d0.loss_cls: 0.1892, d0.loss_bbox: 0.3967, d1.loss_cls: 0.1808, d1.loss_bbox: 0.3708, d2.loss_cls: 0.1727, d2.loss_bbox: 0.3506, d3.loss_cls: 0.1593, d3.loss_bbox: 0.3464, d4.loss_cls: 0.1527, d4.loss_bbox: 0.3442, d5.loss_cls: 0.1525, d5.loss_bbox: 0.3421, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8392, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6737, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6322, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6107, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6048, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.6014, d0.loss_map_cls_all: 0.2168, d0.loss_map_pts_all: 1.2794, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2168, d0.loss_map_pts: 1.2794, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1819, d1.loss_map_pts: 0.9153, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1595, d2.loss_map_pts: 0.7446, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1479, d3.loss_map_pts: 0.6808, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1426, d4.loss_map_pts: 0.6537, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1390, d5.loss_map_pts: 0.6491, d5.loss_map_dir: 0.0080, loss: 26.9564, grad_norm: 154.1759 +2026-02-28 00:12:58,580 - DriveTransformer - INFO - Epoch [8][27450/39528] lr: 8.063e-05, eta: 5 days, 10:56:53, time: 0.745, data_time: 0.036, memory: 19865, loss_cls: 0.1319, loss_bbox: 0.3367, loss_traj: 0.5674, loss_traj_cls: 0.0015, loss_map_cls: 0.1432, loss_map_pts: 0.6748, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.8582, d0.loss_plan_l1_fix_dist: 0.3835, d1.loss_plan_l1_fix_time: 1.0058, d1.loss_plan_l1_fix_dist: 0.1993, d2.loss_plan_l1_fix_time: 0.9936, d2.loss_plan_l1_fix_dist: 0.1732, d3.loss_plan_l1_fix_time: 0.9810, d3.loss_plan_l1_fix_dist: 0.1770, d4.loss_plan_l1_fix_time: 0.9821, d4.loss_plan_l1_fix_dist: 0.1938, d5.loss_plan_l1_fix_time: 0.9836, d5.loss_plan_l1_fix_dist: 0.1945, d6.loss_plan_l1_fix_time: 0.9857, d6.loss_plan_l1_fix_dist: 0.2065, d0.loss_cls_all: 0.1744, d0.loss_bbox_all: 0.4054, d0.loss_cls: 0.1744, d0.loss_bbox: 0.4054, d1.loss_cls: 0.1652, d1.loss_bbox: 0.3686, d2.loss_cls: 0.1547, d2.loss_bbox: 0.3465, d3.loss_cls: 0.1419, d3.loss_bbox: 0.3404, d4.loss_cls: 0.1339, d4.loss_bbox: 0.3382, d5.loss_cls: 0.1322, d5.loss_bbox: 0.3367, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8387, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6314, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5903, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5763, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5657, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5642, d0.loss_map_cls_all: 0.2251, d0.loss_map_pts_all: 1.3835, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2251, d0.loss_map_pts: 1.3835, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1893, d1.loss_map_pts: 0.9476, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1664, d2.loss_map_pts: 0.7725, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1557, d3.loss_map_pts: 0.7076, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1496, d4.loss_map_pts: 0.6839, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1445, d5.loss_map_pts: 0.6759, d5.loss_map_dir: 0.0093, loss: 27.4456, grad_norm: 154.1804 +2026-02-28 00:13:37,491 - DriveTransformer - INFO - Epoch [8][27500/39528] lr: 8.063e-05, eta: 5 days, 10:56:39, time: 0.778, data_time: 0.037, memory: 19865, loss_cls: 0.1426, loss_bbox: 0.3454, loss_traj: 0.6168, loss_traj_cls: 0.0015, loss_map_cls: 0.1395, loss_map_pts: 0.7048, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 3.0785, d0.loss_plan_l1_fix_dist: 0.4510, d1.loss_plan_l1_fix_time: 1.0348, d1.loss_plan_l1_fix_dist: 0.2114, d2.loss_plan_l1_fix_time: 1.0224, d2.loss_plan_l1_fix_dist: 0.1864, d3.loss_plan_l1_fix_time: 1.0017, d3.loss_plan_l1_fix_dist: 0.1909, d4.loss_plan_l1_fix_time: 1.0011, d4.loss_plan_l1_fix_dist: 0.2068, d5.loss_plan_l1_fix_time: 1.0019, d5.loss_plan_l1_fix_dist: 0.2047, d6.loss_plan_l1_fix_time: 1.0036, d6.loss_plan_l1_fix_dist: 0.2159, d0.loss_cls_all: 0.1861, d0.loss_bbox_all: 0.4139, d0.loss_cls: 0.1861, d0.loss_bbox: 0.4139, d1.loss_cls: 0.1771, d1.loss_bbox: 0.3775, d2.loss_cls: 0.1634, d2.loss_bbox: 0.3562, d3.loss_cls: 0.1485, d3.loss_bbox: 0.3494, d4.loss_cls: 0.1419, d4.loss_bbox: 0.3481, d5.loss_cls: 0.1407, d5.loss_bbox: 0.3471, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9174, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6880, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6322, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6182, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6143, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6134, d0.loss_map_cls_all: 0.2189, d0.loss_map_pts_all: 1.4869, d0.loss_map_dir_all: 0.0103, d0.loss_map_cls: 0.2189, d0.loss_map_pts: 1.4869, d0.loss_map_dir: 0.0103, d1.loss_map_cls: 0.1829, d1.loss_map_pts: 1.0055, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1636, d2.loss_map_pts: 0.8064, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1526, d3.loss_map_pts: 0.7374, d3.loss_map_dir: 0.0104, d4.loss_map_cls: 0.1441, d4.loss_map_pts: 0.7124, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1412, d5.loss_map_pts: 0.7050, d5.loss_map_dir: 0.0108, loss: 28.8468, grad_norm: 155.1286 +2026-02-28 00:14:14,031 - DriveTransformer - INFO - Epoch [8][27550/39528] lr: 8.063e-05, eta: 5 days, 10:56:02, time: 0.731, data_time: 0.039, memory: 19865, loss_cls: 0.1133, loss_bbox: 0.3190, loss_traj: 0.5745, loss_traj_cls: 0.0015, loss_map_cls: 0.1305, loss_map_pts: 0.5779, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.6537, d0.loss_plan_l1_fix_dist: 0.4813, d1.loss_plan_l1_fix_time: 0.8351, d1.loss_plan_l1_fix_dist: 0.1774, d2.loss_plan_l1_fix_time: 0.8163, d2.loss_plan_l1_fix_dist: 0.1616, d3.loss_plan_l1_fix_time: 0.8192, d3.loss_plan_l1_fix_dist: 0.1660, d4.loss_plan_l1_fix_time: 0.8213, d4.loss_plan_l1_fix_dist: 0.1806, d5.loss_plan_l1_fix_time: 0.8238, d5.loss_plan_l1_fix_dist: 0.1927, d6.loss_plan_l1_fix_time: 0.8269, d6.loss_plan_l1_fix_dist: 0.2080, d0.loss_cls_all: 0.1552, d0.loss_bbox_all: 0.3726, d0.loss_cls: 0.1552, d0.loss_bbox: 0.3726, d1.loss_cls: 0.1440, d1.loss_bbox: 0.3429, d2.loss_cls: 0.1315, d2.loss_bbox: 0.3264, d3.loss_cls: 0.1175, d3.loss_bbox: 0.3213, d4.loss_cls: 0.1145, d4.loss_bbox: 0.3182, d5.loss_cls: 0.1126, d5.loss_bbox: 0.3182, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7899, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6540, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6000, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5892, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5824, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5741, d0.loss_map_cls_all: 0.2000, d0.loss_map_pts_all: 1.1583, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2000, d0.loss_map_pts: 1.1583, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1721, d1.loss_map_pts: 0.8203, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1525, d2.loss_map_pts: 0.6678, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1431, d3.loss_map_pts: 0.6075, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1347, d4.loss_map_pts: 0.5845, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1323, d5.loss_map_pts: 0.5783, d5.loss_map_dir: 0.0074, loss: 24.7466, grad_norm: 151.8359 +2026-02-28 00:14:51,822 - DriveTransformer - INFO - Epoch [8][27600/39528] lr: 8.063e-05, eta: 5 days, 10:55:37, time: 0.756, data_time: 0.037, memory: 19865, loss_cls: 0.1373, loss_bbox: 0.3292, loss_traj: 0.6332, loss_traj_cls: 0.0015, loss_map_cls: 0.1290, loss_map_pts: 0.6759, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.8924, d0.loss_plan_l1_fix_dist: 0.5132, d1.loss_plan_l1_fix_time: 0.9988, d1.loss_plan_l1_fix_dist: 0.2014, d2.loss_plan_l1_fix_time: 0.9853, d2.loss_plan_l1_fix_dist: 0.1936, d3.loss_plan_l1_fix_time: 0.9850, d3.loss_plan_l1_fix_dist: 0.1990, d4.loss_plan_l1_fix_time: 0.9865, d4.loss_plan_l1_fix_dist: 0.2033, d5.loss_plan_l1_fix_time: 0.9887, d5.loss_plan_l1_fix_dist: 0.2134, d6.loss_plan_l1_fix_time: 0.9913, d6.loss_plan_l1_fix_dist: 0.2212, d0.loss_cls_all: 0.1877, d0.loss_bbox_all: 0.3941, d0.loss_cls: 0.1877, d0.loss_bbox: 0.3941, d1.loss_cls: 0.1760, d1.loss_bbox: 0.3607, d2.loss_cls: 0.1649, d2.loss_bbox: 0.3395, d3.loss_cls: 0.1452, d3.loss_bbox: 0.3336, d4.loss_cls: 0.1382, d4.loss_bbox: 0.3305, d5.loss_cls: 0.1369, d5.loss_bbox: 0.3298, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8618, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6966, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6582, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6471, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6430, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6339, d0.loss_map_cls_all: 0.2067, d0.loss_map_pts_all: 1.3584, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2067, d0.loss_map_pts: 1.3584, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.1716, d1.loss_map_pts: 0.9471, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1517, d2.loss_map_pts: 0.7778, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1412, d3.loss_map_pts: 0.7083, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1342, d4.loss_map_pts: 0.6807, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1305, d5.loss_map_pts: 0.6749, d5.loss_map_dir: 0.0098, loss: 27.9694, grad_norm: 150.2626 +2026-02-28 00:15:29,700 - DriveTransformer - INFO - Epoch [8][27650/39528] lr: 8.063e-05, eta: 5 days, 10:55:13, time: 0.757, data_time: 0.039, memory: 19865, loss_cls: 0.1179, loss_bbox: 0.3060, loss_traj: 0.4905, loss_traj_cls: 0.0015, loss_map_cls: 0.1024, loss_map_pts: 0.6113, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.2629, d0.loss_plan_l1_fix_dist: 0.3404, d1.loss_plan_l1_fix_time: 0.7761, d1.loss_plan_l1_fix_dist: 0.1753, d2.loss_plan_l1_fix_time: 0.7638, d2.loss_plan_l1_fix_dist: 0.1723, d3.loss_plan_l1_fix_time: 0.7592, d3.loss_plan_l1_fix_dist: 0.1886, d4.loss_plan_l1_fix_time: 0.7616, d4.loss_plan_l1_fix_dist: 0.1883, d5.loss_plan_l1_fix_time: 0.7644, d5.loss_plan_l1_fix_dist: 0.1981, d6.loss_plan_l1_fix_time: 0.7679, d6.loss_plan_l1_fix_dist: 0.2049, d0.loss_cls_all: 0.1563, d0.loss_bbox_all: 0.3638, d0.loss_cls: 0.1563, d0.loss_bbox: 0.3638, d1.loss_cls: 0.1496, d1.loss_bbox: 0.3361, d2.loss_cls: 0.1340, d2.loss_bbox: 0.3192, d3.loss_cls: 0.1220, d3.loss_bbox: 0.3106, d4.loss_cls: 0.1174, d4.loss_bbox: 0.3067, d5.loss_cls: 0.1180, d5.loss_bbox: 0.3050, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6743, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5727, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5225, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5013, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4947, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.4907, d0.loss_map_cls_all: 0.1864, d0.loss_map_pts_all: 1.2895, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.1864, d0.loss_map_pts: 1.2895, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1501, d1.loss_map_pts: 0.8698, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1262, d2.loss_map_pts: 0.6993, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1150, d3.loss_map_pts: 0.6403, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1087, d4.loss_map_pts: 0.6187, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1041, d5.loss_map_pts: 0.6093, d5.loss_map_dir: 0.0090, loss: 23.5391, grad_norm: 150.8546 +2026-02-28 00:16:05,408 - DriveTransformer - INFO - Epoch [8][27700/39528] lr: 8.063e-05, eta: 5 days, 10:54:28, time: 0.714, data_time: 0.036, memory: 19865, loss_cls: 0.1203, loss_bbox: 0.3026, loss_traj: 0.6164, loss_traj_cls: 0.0015, loss_map_cls: 0.1042, loss_map_pts: 0.5240, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.4334, d0.loss_plan_l1_fix_dist: 0.4912, d1.loss_plan_l1_fix_time: 0.9046, d1.loss_plan_l1_fix_dist: 0.1631, d2.loss_plan_l1_fix_time: 0.8917, d2.loss_plan_l1_fix_dist: 0.1576, d3.loss_plan_l1_fix_time: 0.8881, d3.loss_plan_l1_fix_dist: 0.1830, d4.loss_plan_l1_fix_time: 0.8898, d4.loss_plan_l1_fix_dist: 0.1845, d5.loss_plan_l1_fix_time: 0.8920, d5.loss_plan_l1_fix_dist: 0.1772, d6.loss_plan_l1_fix_time: 0.8946, d6.loss_plan_l1_fix_dist: 0.1879, d0.loss_cls_all: 0.1581, d0.loss_bbox_all: 0.3733, d0.loss_cls: 0.1581, d0.loss_bbox: 0.3733, d1.loss_cls: 0.1447, d1.loss_bbox: 0.3408, d2.loss_cls: 0.1320, d2.loss_bbox: 0.3198, d3.loss_cls: 0.1237, d3.loss_bbox: 0.3098, d4.loss_cls: 0.1212, d4.loss_bbox: 0.3059, d5.loss_cls: 0.1198, d5.loss_bbox: 0.3045, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8981, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6978, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6399, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6260, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6229, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6130, d0.loss_map_cls_all: 0.1798, d0.loss_map_pts_all: 1.1336, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1798, d0.loss_map_pts: 1.1336, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1483, d1.loss_map_pts: 0.7830, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1260, d2.loss_map_pts: 0.6253, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1163, d3.loss_map_pts: 0.5561, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1107, d4.loss_map_pts: 0.5349, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1057, d5.loss_map_pts: 0.5266, d5.loss_map_dir: 0.0068, loss: 24.7097, grad_norm: 152.6255 +2026-02-28 00:16:40,097 - DriveTransformer - INFO - Epoch [8][27750/39528] lr: 8.063e-05, eta: 5 days, 10:53:34, time: 0.694, data_time: 0.036, memory: 19865, loss_cls: 0.1466, loss_bbox: 0.3526, loss_traj: 0.5939, loss_traj_cls: 0.0015, loss_map_cls: 0.1281, loss_map_pts: 0.5746, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.6065, d0.loss_plan_l1_fix_dist: 0.4302, d1.loss_plan_l1_fix_time: 0.8941, d1.loss_plan_l1_fix_dist: 0.1779, d2.loss_plan_l1_fix_time: 0.8819, d2.loss_plan_l1_fix_dist: 0.1681, d3.loss_plan_l1_fix_time: 0.8833, d3.loss_plan_l1_fix_dist: 0.1938, d4.loss_plan_l1_fix_time: 0.8854, d4.loss_plan_l1_fix_dist: 0.2051, d5.loss_plan_l1_fix_time: 0.8876, d5.loss_plan_l1_fix_dist: 0.1915, d6.loss_plan_l1_fix_time: 0.8898, d6.loss_plan_l1_fix_dist: 0.1997, d0.loss_cls_all: 0.1904, d0.loss_bbox_all: 0.4182, d0.loss_cls: 0.1904, d0.loss_bbox: 0.4182, d1.loss_cls: 0.1791, d1.loss_bbox: 0.3827, d2.loss_cls: 0.1638, d2.loss_bbox: 0.3640, d3.loss_cls: 0.1497, d3.loss_bbox: 0.3591, d4.loss_cls: 0.1454, d4.loss_bbox: 0.3557, d5.loss_cls: 0.1469, d5.loss_bbox: 0.3523, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8357, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6585, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6087, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5998, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5944, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5933, d0.loss_map_cls_all: 0.2003, d0.loss_map_pts_all: 1.1460, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2003, d0.loss_map_pts: 1.1460, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1775, d1.loss_map_pts: 0.8124, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1520, d2.loss_map_pts: 0.6727, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1400, d3.loss_map_pts: 0.6130, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1331, d4.loss_map_pts: 0.5862, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1299, d5.loss_map_pts: 0.5774, d5.loss_map_dir: 0.0070, loss: 25.7467, grad_norm: 152.4597 +2026-02-28 00:17:16,197 - DriveTransformer - INFO - Epoch [8][27800/39528] lr: 8.063e-05, eta: 5 days, 10:52:53, time: 0.722, data_time: 0.038, memory: 19865, loss_cls: 0.1447, loss_bbox: 0.3545, loss_traj: 0.5458, loss_traj_cls: 0.0015, loss_map_cls: 0.1295, loss_map_pts: 0.5928, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.8167, d0.loss_plan_l1_fix_dist: 0.4191, d1.loss_plan_l1_fix_time: 1.0190, d1.loss_plan_l1_fix_dist: 0.1858, d2.loss_plan_l1_fix_time: 1.0073, d2.loss_plan_l1_fix_dist: 0.1690, d3.loss_plan_l1_fix_time: 0.9971, d3.loss_plan_l1_fix_dist: 0.1822, d4.loss_plan_l1_fix_time: 0.9989, d4.loss_plan_l1_fix_dist: 0.1974, d5.loss_plan_l1_fix_time: 1.0012, d5.loss_plan_l1_fix_dist: 0.1866, d6.loss_plan_l1_fix_time: 1.0037, d6.loss_plan_l1_fix_dist: 0.1943, d0.loss_cls_all: 0.1819, d0.loss_bbox_all: 0.4101, d0.loss_cls: 0.1819, d0.loss_bbox: 0.4101, d1.loss_cls: 0.1785, d1.loss_bbox: 0.3797, d2.loss_cls: 0.1643, d2.loss_bbox: 0.3607, d3.loss_cls: 0.1508, d3.loss_bbox: 0.3543, d4.loss_cls: 0.1466, d4.loss_bbox: 0.3515, d5.loss_cls: 0.1442, d5.loss_bbox: 0.3527, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7202, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6048, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5646, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5528, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5544, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5493, d0.loss_map_cls_all: 0.2081, d0.loss_map_pts_all: 1.2214, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2081, d0.loss_map_pts: 1.2214, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1743, d1.loss_map_pts: 0.8563, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1494, d2.loss_map_pts: 0.6894, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1407, d3.loss_map_pts: 0.6258, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1339, d4.loss_map_pts: 0.6003, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1314, d5.loss_map_pts: 0.5941, d5.loss_map_dir: 0.0081, loss: 26.4840, grad_norm: 153.2165 +2026-02-28 00:17:52,313 - DriveTransformer - INFO - Epoch [8][27850/39528] lr: 8.063e-05, eta: 5 days, 10:52:12, time: 0.722, data_time: 0.037, memory: 19865, loss_cls: 0.1164, loss_bbox: 0.3255, loss_traj: 0.6018, loss_traj_cls: 0.0015, loss_map_cls: 0.0949, loss_map_pts: 0.4647, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.4300, d0.loss_plan_l1_fix_dist: 0.3871, d1.loss_plan_l1_fix_time: 0.8763, d1.loss_plan_l1_fix_dist: 0.1848, d2.loss_plan_l1_fix_time: 0.8634, d2.loss_plan_l1_fix_dist: 0.1658, d3.loss_plan_l1_fix_time: 0.8667, d3.loss_plan_l1_fix_dist: 0.1671, d4.loss_plan_l1_fix_time: 0.8704, d4.loss_plan_l1_fix_dist: 0.1892, d5.loss_plan_l1_fix_time: 0.8738, d5.loss_plan_l1_fix_dist: 0.1841, d6.loss_plan_l1_fix_time: 0.8768, d6.loss_plan_l1_fix_dist: 0.1960, d0.loss_cls_all: 0.1515, d0.loss_bbox_all: 0.3611, d0.loss_cls: 0.1515, d0.loss_bbox: 0.3611, d1.loss_cls: 0.1480, d1.loss_bbox: 0.3335, d2.loss_cls: 0.1350, d2.loss_bbox: 0.3184, d3.loss_cls: 0.1221, d3.loss_bbox: 0.3155, d4.loss_cls: 0.1179, d4.loss_bbox: 0.3177, d5.loss_cls: 0.1165, d5.loss_bbox: 0.3211, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8049, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6366, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6062, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6009, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6011, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6007, d0.loss_map_cls_all: 0.1620, d0.loss_map_pts_all: 1.0658, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1620, d0.loss_map_pts: 1.0658, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1309, d1.loss_map_pts: 0.7060, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1149, d2.loss_map_pts: 0.5546, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1052, d3.loss_map_pts: 0.4992, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1010, d4.loss_map_pts: 0.4745, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0967, d5.loss_map_pts: 0.4663, d5.loss_map_dir: 0.0064, loss: 23.6182, grad_norm: 153.6637 +2026-02-28 00:18:29,822 - DriveTransformer - INFO - Epoch [8][27900/39528] lr: 8.063e-05, eta: 5 days, 10:51:44, time: 0.750, data_time: 0.038, memory: 19865, loss_cls: 0.1307, loss_bbox: 0.3261, loss_traj: 0.5152, loss_traj_cls: 0.0014, loss_map_cls: 0.1356, loss_map_pts: 0.6362, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.4839, d0.loss_plan_l1_fix_dist: 0.4022, d1.loss_plan_l1_fix_time: 0.8375, d1.loss_plan_l1_fix_dist: 0.1963, d2.loss_plan_l1_fix_time: 0.8236, d2.loss_plan_l1_fix_dist: 0.1954, d3.loss_plan_l1_fix_time: 0.8225, d3.loss_plan_l1_fix_dist: 0.1871, d4.loss_plan_l1_fix_time: 0.8255, d4.loss_plan_l1_fix_dist: 0.1933, d5.loss_plan_l1_fix_time: 0.8293, d5.loss_plan_l1_fix_dist: 0.1955, d6.loss_plan_l1_fix_time: 0.8339, d6.loss_plan_l1_fix_dist: 0.2108, d0.loss_cls_all: 0.1734, d0.loss_bbox_all: 0.3882, d0.loss_cls: 0.1734, d0.loss_bbox: 0.3882, d1.loss_cls: 0.1681, d1.loss_bbox: 0.3520, d2.loss_cls: 0.1521, d2.loss_bbox: 0.3336, d3.loss_cls: 0.1406, d3.loss_bbox: 0.3258, d4.loss_cls: 0.1352, d4.loss_bbox: 0.3261, d5.loss_cls: 0.1316, d5.loss_bbox: 0.3259, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7280, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5722, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5398, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5221, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5190, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5175, d0.loss_map_cls_all: 0.2276, d0.loss_map_pts_all: 1.4128, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2276, d0.loss_map_pts: 1.4128, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1933, d1.loss_map_pts: 0.9465, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1636, d2.loss_map_pts: 0.7493, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1520, d3.loss_map_pts: 0.6721, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1439, d4.loss_map_pts: 0.6472, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1375, d5.loss_map_pts: 0.6381, d5.loss_map_dir: 0.0094, loss: 25.4969, grad_norm: 154.8025 +2026-02-28 00:19:05,434 - DriveTransformer - INFO - Epoch [8][27950/39528] lr: 8.063e-05, eta: 5 days, 10:50:58, time: 0.712, data_time: 0.037, memory: 19865, loss_cls: 0.1263, loss_bbox: 0.3246, loss_traj: 0.5846, loss_traj_cls: 0.0015, loss_map_cls: 0.1307, loss_map_pts: 0.5675, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.5808, d0.loss_plan_l1_fix_dist: 0.4278, d1.loss_plan_l1_fix_time: 0.9316, d1.loss_plan_l1_fix_dist: 0.2112, d2.loss_plan_l1_fix_time: 0.9168, d2.loss_plan_l1_fix_dist: 0.2228, d3.loss_plan_l1_fix_time: 0.9114, d3.loss_plan_l1_fix_dist: 0.2227, d4.loss_plan_l1_fix_time: 0.9130, d4.loss_plan_l1_fix_dist: 0.2108, d5.loss_plan_l1_fix_time: 0.9166, d5.loss_plan_l1_fix_dist: 0.2157, d6.loss_plan_l1_fix_time: 0.9218, d6.loss_plan_l1_fix_dist: 0.2274, d0.loss_cls_all: 0.1632, d0.loss_bbox_all: 0.3838, d0.loss_cls: 0.1632, d0.loss_bbox: 0.3838, d1.loss_cls: 0.1572, d1.loss_bbox: 0.3522, d2.loss_cls: 0.1432, d2.loss_bbox: 0.3324, d3.loss_cls: 0.1315, d3.loss_bbox: 0.3278, d4.loss_cls: 0.1282, d4.loss_bbox: 0.3260, d5.loss_cls: 0.1256, d5.loss_bbox: 0.3251, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8078, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6533, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6037, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5941, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5865, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5809, d0.loss_map_cls_all: 0.2082, d0.loss_map_pts_all: 1.1908, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2082, d0.loss_map_pts: 1.1908, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1834, d1.loss_map_pts: 0.8508, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1574, d2.loss_map_pts: 0.6795, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1442, d3.loss_map_pts: 0.6056, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1365, d4.loss_map_pts: 0.5794, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1326, d5.loss_map_pts: 0.5686, d5.loss_map_dir: 0.0067, loss: 25.7294, grad_norm: 156.7399 +2026-02-28 00:19:40,543 - DriveTransformer - INFO - Epoch [8][28000/39528] lr: 8.063e-05, eta: 5 days, 10:50:08, time: 0.702, data_time: 0.038, memory: 19865, loss_cls: 0.1228, loss_bbox: 0.3273, loss_traj: 0.6086, loss_traj_cls: 0.0014, loss_map_cls: 0.1213, loss_map_pts: 0.5391, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.7770, d0.loss_plan_l1_fix_dist: 0.4790, d1.loss_plan_l1_fix_time: 0.9179, d1.loss_plan_l1_fix_dist: 0.1716, d2.loss_plan_l1_fix_time: 0.9070, d2.loss_plan_l1_fix_dist: 0.1950, d3.loss_plan_l1_fix_time: 0.9040, d3.loss_plan_l1_fix_dist: 0.2110, d4.loss_plan_l1_fix_time: 0.9061, d4.loss_plan_l1_fix_dist: 0.1914, d5.loss_plan_l1_fix_time: 0.9086, d5.loss_plan_l1_fix_dist: 0.1972, d6.loss_plan_l1_fix_time: 0.9115, d6.loss_plan_l1_fix_dist: 0.2066, d0.loss_cls_all: 0.1666, d0.loss_bbox_all: 0.3917, d0.loss_cls: 0.1666, d0.loss_bbox: 0.3917, d1.loss_cls: 0.1593, d1.loss_bbox: 0.3540, d2.loss_cls: 0.1427, d2.loss_bbox: 0.3323, d3.loss_cls: 0.1302, d3.loss_bbox: 0.3282, d4.loss_cls: 0.1238, d4.loss_bbox: 0.3266, d5.loss_cls: 0.1229, d5.loss_bbox: 0.3267, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8507, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6675, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6201, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6146, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6137, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6101, d0.loss_map_cls_all: 0.1958, d0.loss_map_pts_all: 1.1151, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1958, d0.loss_map_pts: 1.1151, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1656, d1.loss_map_pts: 0.7679, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1467, d2.loss_map_pts: 0.6218, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1340, d3.loss_map_pts: 0.5640, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1276, d4.loss_map_pts: 0.5440, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1234, d5.loss_map_pts: 0.5399, d5.loss_map_dir: 0.0062, loss: 25.4550, grad_norm: 157.6709 +2026-02-28 00:20:17,187 - DriveTransformer - INFO - Epoch [8][28050/39528] lr: 8.063e-05, eta: 5 days, 10:49:32, time: 0.733, data_time: 0.038, memory: 19865, loss_cls: 0.1264, loss_bbox: 0.3214, loss_traj: 0.5599, loss_traj_cls: 0.0014, loss_map_cls: 0.1452, loss_map_pts: 0.5894, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.7556, d0.loss_plan_l1_fix_dist: 0.5053, d1.loss_plan_l1_fix_time: 1.0801, d1.loss_plan_l1_fix_dist: 0.1735, d2.loss_plan_l1_fix_time: 1.0624, d2.loss_plan_l1_fix_dist: 0.1880, d3.loss_plan_l1_fix_time: 1.0584, d3.loss_plan_l1_fix_dist: 0.2012, d4.loss_plan_l1_fix_time: 1.0600, d4.loss_plan_l1_fix_dist: 0.1927, d5.loss_plan_l1_fix_time: 1.0619, d5.loss_plan_l1_fix_dist: 0.2027, d6.loss_plan_l1_fix_time: 1.0639, d6.loss_plan_l1_fix_dist: 0.2142, d0.loss_cls_all: 0.1581, d0.loss_bbox_all: 0.3862, d0.loss_cls: 0.1581, d0.loss_bbox: 0.3862, d1.loss_cls: 0.1524, d1.loss_bbox: 0.3481, d2.loss_cls: 0.1439, d2.loss_bbox: 0.3281, d3.loss_cls: 0.1314, d3.loss_bbox: 0.3227, d4.loss_cls: 0.1276, d4.loss_bbox: 0.3209, d5.loss_cls: 0.1262, d5.loss_bbox: 0.3205, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7560, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6086, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5705, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5591, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5596, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5601, d0.loss_map_cls_all: 0.2274, d0.loss_map_pts_all: 1.2469, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2274, d0.loss_map_pts: 1.2469, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1899, d1.loss_map_pts: 0.8591, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1678, d2.loss_map_pts: 0.6977, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1572, d3.loss_map_pts: 0.6256, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1524, d4.loss_map_pts: 0.5970, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1474, d5.loss_map_pts: 0.5904, d5.loss_map_dir: 0.0074, loss: 26.7844, grad_norm: 156.9033 +2026-02-28 00:20:53,562 - DriveTransformer - INFO - Epoch [8][28100/39528] lr: 8.063e-05, eta: 5 days, 10:48:54, time: 0.727, data_time: 0.042, memory: 19865, loss_cls: 0.1361, loss_bbox: 0.3358, loss_traj: 0.6493, loss_traj_cls: 0.0013, loss_map_cls: 0.1534, loss_map_pts: 0.6834, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.7542, d0.loss_plan_l1_fix_dist: 0.4018, d1.loss_plan_l1_fix_time: 1.0589, d1.loss_plan_l1_fix_dist: 0.2038, d2.loss_plan_l1_fix_time: 1.0431, d2.loss_plan_l1_fix_dist: 0.1926, d3.loss_plan_l1_fix_time: 1.0344, d3.loss_plan_l1_fix_dist: 0.2003, d4.loss_plan_l1_fix_time: 1.0356, d4.loss_plan_l1_fix_dist: 0.1934, d5.loss_plan_l1_fix_time: 1.0376, d5.loss_plan_l1_fix_dist: 0.2024, d6.loss_plan_l1_fix_time: 1.0396, d6.loss_plan_l1_fix_dist: 0.2184, d0.loss_cls_all: 0.1708, d0.loss_bbox_all: 0.4006, d0.loss_cls: 0.1708, d0.loss_bbox: 0.4006, d1.loss_cls: 0.1636, d1.loss_bbox: 0.3672, d2.loss_cls: 0.1507, d2.loss_bbox: 0.3502, d3.loss_cls: 0.1387, d3.loss_bbox: 0.3439, d4.loss_cls: 0.1340, d4.loss_bbox: 0.3402, d5.loss_cls: 0.1355, d5.loss_bbox: 0.3368, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9678, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7304, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6596, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6525, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6487, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6502, d0.loss_map_cls_all: 0.2352, d0.loss_map_pts_all: 1.3618, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2352, d0.loss_map_pts: 1.3618, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2099, d1.loss_map_pts: 0.9834, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1798, d2.loss_map_pts: 0.7966, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1669, d3.loss_map_pts: 0.7204, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1599, d4.loss_map_pts: 0.6894, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1557, d5.loss_map_pts: 0.6836, d5.loss_map_dir: 0.0086, loss: 28.4993, grad_norm: 155.7675 +2026-02-28 00:21:30,056 - DriveTransformer - INFO - Epoch [8][28150/39528] lr: 8.063e-05, eta: 5 days, 10:48:16, time: 0.730, data_time: 0.038, memory: 19865, loss_cls: 0.1259, loss_bbox: 0.3185, loss_traj: 0.4744, loss_traj_cls: 0.0014, loss_map_cls: 0.1511, loss_map_pts: 0.6766, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.9470, d0.loss_plan_l1_fix_dist: 0.4800, d1.loss_plan_l1_fix_time: 1.0465, d1.loss_plan_l1_fix_dist: 0.2192, d2.loss_plan_l1_fix_time: 1.0302, d2.loss_plan_l1_fix_dist: 0.1889, d3.loss_plan_l1_fix_time: 1.0247, d3.loss_plan_l1_fix_dist: 0.1957, d4.loss_plan_l1_fix_time: 1.0260, d4.loss_plan_l1_fix_dist: 0.1961, d5.loss_plan_l1_fix_time: 1.0281, d5.loss_plan_l1_fix_dist: 0.1964, d6.loss_plan_l1_fix_time: 1.0306, d6.loss_plan_l1_fix_dist: 0.2144, d0.loss_cls_all: 0.1656, d0.loss_bbox_all: 0.3887, d0.loss_cls: 0.1656, d0.loss_bbox: 0.3887, d1.loss_cls: 0.1574, d1.loss_bbox: 0.3554, d2.loss_cls: 0.1467, d2.loss_bbox: 0.3318, d3.loss_cls: 0.1325, d3.loss_bbox: 0.3240, d4.loss_cls: 0.1255, d4.loss_bbox: 0.3208, d5.loss_cls: 0.1251, d5.loss_bbox: 0.3190, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7078, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5580, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4976, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4851, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4788, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4750, d0.loss_map_cls_all: 0.2258, d0.loss_map_pts_all: 1.3481, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2258, d0.loss_map_pts: 1.3481, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2021, d1.loss_map_pts: 0.9433, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1734, d2.loss_map_pts: 0.7780, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1634, d3.loss_map_pts: 0.7134, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1583, d4.loss_map_pts: 0.6831, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1535, d5.loss_map_pts: 0.6770, d5.loss_map_dir: 0.0087, loss: 27.0850, grad_norm: 154.4770 +2026-02-28 00:22:07,352 - DriveTransformer - INFO - Epoch [8][28200/39528] lr: 8.063e-05, eta: 5 days, 10:47:47, time: 0.747, data_time: 0.037, memory: 19865, loss_cls: 0.1317, loss_bbox: 0.3574, loss_traj: 0.6577, loss_traj_cls: 0.0014, loss_map_cls: 0.1451, loss_map_pts: 0.6807, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.8185, d0.loss_plan_l1_fix_dist: 0.4281, d1.loss_plan_l1_fix_time: 1.0478, d1.loss_plan_l1_fix_dist: 0.2089, d2.loss_plan_l1_fix_time: 1.0310, d2.loss_plan_l1_fix_dist: 0.1790, d3.loss_plan_l1_fix_time: 1.0183, d3.loss_plan_l1_fix_dist: 0.1847, d4.loss_plan_l1_fix_time: 1.0184, d4.loss_plan_l1_fix_dist: 0.1927, d5.loss_plan_l1_fix_time: 1.0199, d5.loss_plan_l1_fix_dist: 0.1879, d6.loss_plan_l1_fix_time: 1.0225, d6.loss_plan_l1_fix_dist: 0.1946, d0.loss_cls_all: 0.1768, d0.loss_bbox_all: 0.4198, d0.loss_cls: 0.1768, d0.loss_bbox: 0.4198, d1.loss_cls: 0.1717, d1.loss_bbox: 0.3802, d2.loss_cls: 0.1565, d2.loss_bbox: 0.3608, d3.loss_cls: 0.1414, d3.loss_bbox: 0.3541, d4.loss_cls: 0.1355, d4.loss_bbox: 0.3539, d5.loss_cls: 0.1329, d5.loss_bbox: 0.3559, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8777, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7167, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6833, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6646, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6581, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6558, d0.loss_map_cls_all: 0.2259, d0.loss_map_pts_all: 1.3844, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2259, d0.loss_map_pts: 1.3844, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1930, d1.loss_map_pts: 0.9660, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1707, d2.loss_map_pts: 0.7848, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1606, d3.loss_map_pts: 0.7150, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1519, d4.loss_map_pts: 0.6881, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1480, d5.loss_map_pts: 0.6809, d5.loss_map_dir: 0.0091, loss: 28.4730, grad_norm: 156.6884 +2026-02-28 00:22:43,639 - DriveTransformer - INFO - Epoch [8][28250/39528] lr: 8.063e-05, eta: 5 days, 10:47:07, time: 0.724, data_time: 0.038, memory: 19865, loss_cls: 0.1252, loss_bbox: 0.3127, loss_traj: 0.5253, loss_traj_cls: 0.0015, loss_map_cls: 0.1075, loss_map_pts: 0.5359, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.6845, d0.loss_plan_l1_fix_dist: 0.4213, d1.loss_plan_l1_fix_time: 0.9291, d1.loss_plan_l1_fix_dist: 0.2186, d2.loss_plan_l1_fix_time: 0.9213, d2.loss_plan_l1_fix_dist: 0.1924, d3.loss_plan_l1_fix_time: 0.9124, d3.loss_plan_l1_fix_dist: 0.1778, d4.loss_plan_l1_fix_time: 0.9146, d4.loss_plan_l1_fix_dist: 0.1890, d5.loss_plan_l1_fix_time: 0.9173, d5.loss_plan_l1_fix_dist: 0.1879, d6.loss_plan_l1_fix_time: 0.9209, d6.loss_plan_l1_fix_dist: 0.1872, d0.loss_cls_all: 0.1654, d0.loss_bbox_all: 0.3741, d0.loss_cls: 0.1654, d0.loss_bbox: 0.3741, d1.loss_cls: 0.1615, d1.loss_bbox: 0.3442, d2.loss_cls: 0.1466, d2.loss_bbox: 0.3245, d3.loss_cls: 0.1313, d3.loss_bbox: 0.3180, d4.loss_cls: 0.1267, d4.loss_bbox: 0.3169, d5.loss_cls: 0.1243, d5.loss_bbox: 0.3152, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7418, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6007, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5501, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5352, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5284, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5234, d0.loss_map_cls_all: 0.1827, d0.loss_map_pts_all: 1.1472, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1827, d0.loss_map_pts: 1.1472, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1524, d1.loss_map_pts: 0.7856, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1322, d2.loss_map_pts: 0.6254, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1207, d3.loss_map_pts: 0.5641, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1137, d4.loss_map_pts: 0.5416, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1089, d5.loss_map_pts: 0.5367, d5.loss_map_dir: 0.0073, loss: 24.6526, grad_norm: 152.0908 +2026-02-28 00:23:17,934 - DriveTransformer - INFO - Epoch [8][28300/39528] lr: 8.063e-05, eta: 5 days, 10:46:09, time: 0.686, data_time: 0.043, memory: 19865, loss_cls: 0.1158, loss_bbox: 0.3212, loss_traj: 0.5376, loss_traj_cls: 0.0014, loss_map_cls: 0.1391, loss_map_pts: 0.5562, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.8448, d0.loss_plan_l1_fix_dist: 0.4845, d1.loss_plan_l1_fix_time: 0.9287, d1.loss_plan_l1_fix_dist: 0.2488, d2.loss_plan_l1_fix_time: 0.9171, d2.loss_plan_l1_fix_dist: 0.2265, d3.loss_plan_l1_fix_time: 0.9150, d3.loss_plan_l1_fix_dist: 0.1995, d4.loss_plan_l1_fix_time: 0.9165, d4.loss_plan_l1_fix_dist: 0.2081, d5.loss_plan_l1_fix_time: 0.9188, d5.loss_plan_l1_fix_dist: 0.2161, d6.loss_plan_l1_fix_time: 0.9218, d6.loss_plan_l1_fix_dist: 0.2114, d0.loss_cls_all: 0.1532, d0.loss_bbox_all: 0.3787, d0.loss_cls: 0.1532, d0.loss_bbox: 0.3787, d1.loss_cls: 0.1495, d1.loss_bbox: 0.3511, d2.loss_cls: 0.1383, d2.loss_bbox: 0.3312, d3.loss_cls: 0.1228, d3.loss_bbox: 0.3260, d4.loss_cls: 0.1173, d4.loss_bbox: 0.3238, d5.loss_cls: 0.1160, d5.loss_bbox: 0.3222, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7898, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6028, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5493, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5363, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5340, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5356, d0.loss_map_cls_all: 0.2172, d0.loss_map_pts_all: 1.1292, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.2172, d0.loss_map_pts: 1.1292, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1885, d1.loss_map_pts: 0.8077, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1633, d2.loss_map_pts: 0.6521, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1506, d3.loss_map_pts: 0.5878, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1444, d4.loss_map_pts: 0.5631, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1399, d5.loss_map_pts: 0.5571, d5.loss_map_dir: 0.0057, loss: 25.4365, grad_norm: 152.9148 +2026-02-28 00:23:54,695 - DriveTransformer - INFO - Epoch [8][28350/39528] lr: 8.063e-05, eta: 5 days, 10:45:34, time: 0.735, data_time: 0.037, memory: 19865, loss_cls: 0.1448, loss_bbox: 0.3288, loss_traj: 0.5118, loss_traj_cls: 0.0014, loss_map_cls: 0.1457, loss_map_pts: 0.6741, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.7316, d0.loss_plan_l1_fix_dist: 0.4476, d1.loss_plan_l1_fix_time: 0.8335, d1.loss_plan_l1_fix_dist: 0.2516, d2.loss_plan_l1_fix_time: 0.8133, d2.loss_plan_l1_fix_dist: 0.2362, d3.loss_plan_l1_fix_time: 0.8129, d3.loss_plan_l1_fix_dist: 0.2155, d4.loss_plan_l1_fix_time: 0.8155, d4.loss_plan_l1_fix_dist: 0.1993, d5.loss_plan_l1_fix_time: 0.8185, d5.loss_plan_l1_fix_dist: 0.2022, d6.loss_plan_l1_fix_time: 0.8221, d6.loss_plan_l1_fix_dist: 0.2006, d0.loss_cls_all: 0.1861, d0.loss_bbox_all: 0.3932, d0.loss_cls: 0.1861, d0.loss_bbox: 0.3932, d1.loss_cls: 0.1824, d1.loss_bbox: 0.3610, d2.loss_cls: 0.1699, d2.loss_bbox: 0.3397, d3.loss_cls: 0.1539, d3.loss_bbox: 0.3320, d4.loss_cls: 0.1461, d4.loss_bbox: 0.3308, d5.loss_cls: 0.1456, d5.loss_bbox: 0.3287, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7501, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5749, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5256, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5177, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5105, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5112, d0.loss_map_cls_all: 0.2237, d0.loss_map_pts_all: 1.3166, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2237, d0.loss_map_pts: 1.3166, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1931, d1.loss_map_pts: 0.9431, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1719, d2.loss_map_pts: 0.7721, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1598, d3.loss_map_pts: 0.7126, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1539, d4.loss_map_pts: 0.6864, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1486, d5.loss_map_pts: 0.6748, d5.loss_map_dir: 0.0076, loss: 26.0078, grad_norm: 153.5021 +2026-02-28 00:24:30,162 - DriveTransformer - INFO - Epoch [8][28400/39528] lr: 8.063e-05, eta: 5 days, 10:44:47, time: 0.709, data_time: 0.039, memory: 19865, loss_cls: 0.1329, loss_bbox: 0.3299, loss_traj: 0.6011, loss_traj_cls: 0.0015, loss_map_cls: 0.1211, loss_map_pts: 0.5746, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.5316, d0.loss_plan_l1_fix_dist: 0.4122, d1.loss_plan_l1_fix_time: 0.9405, d1.loss_plan_l1_fix_dist: 0.2412, d2.loss_plan_l1_fix_time: 0.9259, d2.loss_plan_l1_fix_dist: 0.2341, d3.loss_plan_l1_fix_time: 0.9254, d3.loss_plan_l1_fix_dist: 0.2251, d4.loss_plan_l1_fix_time: 0.9281, d4.loss_plan_l1_fix_dist: 0.1970, d5.loss_plan_l1_fix_time: 0.9308, d5.loss_plan_l1_fix_dist: 0.1942, d6.loss_plan_l1_fix_time: 0.9331, d6.loss_plan_l1_fix_dist: 0.2084, d0.loss_cls_all: 0.1705, d0.loss_bbox_all: 0.3884, d0.loss_cls: 0.1705, d0.loss_bbox: 0.3884, d1.loss_cls: 0.1673, d1.loss_bbox: 0.3549, d2.loss_cls: 0.1536, d2.loss_bbox: 0.3372, d3.loss_cls: 0.1386, d3.loss_bbox: 0.3319, d4.loss_cls: 0.1335, d4.loss_bbox: 0.3294, d5.loss_cls: 0.1328, d5.loss_bbox: 0.3286, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8825, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7045, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6308, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6128, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6044, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5983, d0.loss_map_cls_all: 0.1902, d0.loss_map_pts_all: 1.1567, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1902, d0.loss_map_pts: 1.1567, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1650, d1.loss_map_pts: 0.8144, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1458, d2.loss_map_pts: 0.6575, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1335, d3.loss_map_pts: 0.6004, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1268, d4.loss_map_pts: 0.5804, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1228, d5.loss_map_pts: 0.5744, d5.loss_map_dir: 0.0073, loss: 25.8236, grad_norm: 149.7680 +2026-02-28 00:25:07,074 - DriveTransformer - INFO - Epoch [8][28450/39528] lr: 8.063e-05, eta: 5 days, 10:44:14, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.1364, loss_bbox: 0.3476, loss_traj: 0.5748, loss_traj_cls: 0.0015, loss_map_cls: 0.1267, loss_map_pts: 0.5827, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.8563, d0.loss_plan_l1_fix_dist: 0.3601, d1.loss_plan_l1_fix_time: 0.9892, d1.loss_plan_l1_fix_dist: 0.2270, d2.loss_plan_l1_fix_time: 0.9696, d2.loss_plan_l1_fix_dist: 0.2276, d3.loss_plan_l1_fix_time: 0.9543, d3.loss_plan_l1_fix_dist: 0.2162, d4.loss_plan_l1_fix_time: 0.9547, d4.loss_plan_l1_fix_dist: 0.1986, d5.loss_plan_l1_fix_time: 0.9563, d5.loss_plan_l1_fix_dist: 0.1950, d6.loss_plan_l1_fix_time: 0.9587, d6.loss_plan_l1_fix_dist: 0.2042, d0.loss_cls_all: 0.1864, d0.loss_bbox_all: 0.4159, d0.loss_cls: 0.1864, d0.loss_bbox: 0.4159, d1.loss_cls: 0.1773, d1.loss_bbox: 0.3756, d2.loss_cls: 0.1592, d2.loss_bbox: 0.3573, d3.loss_cls: 0.1441, d3.loss_bbox: 0.3499, d4.loss_cls: 0.1389, d4.loss_bbox: 0.3490, d5.loss_cls: 0.1371, d5.loss_bbox: 0.3481, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9097, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6902, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6071, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5848, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5818, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5786, d0.loss_map_cls_all: 0.2094, d0.loss_map_pts_all: 1.2598, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2094, d0.loss_map_pts: 1.2598, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1713, d1.loss_map_pts: 0.8614, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1475, d2.loss_map_pts: 0.6783, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1380, d3.loss_map_pts: 0.6148, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1327, d4.loss_map_pts: 0.5921, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1281, d5.loss_map_pts: 0.5842, d5.loss_map_dir: 0.0087, loss: 26.7900, grad_norm: 151.1058 +2026-02-28 00:25:43,729 - DriveTransformer - INFO - Epoch [8][28500/39528] lr: 8.063e-05, eta: 5 days, 10:43:38, time: 0.733, data_time: 0.041, memory: 19865, loss_cls: 0.1336, loss_bbox: 0.3526, loss_traj: 0.5788, loss_traj_cls: 0.0015, loss_map_cls: 0.1349, loss_map_pts: 0.6826, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.7089, d0.loss_plan_l1_fix_dist: 0.3711, d1.loss_plan_l1_fix_time: 1.0412, d1.loss_plan_l1_fix_dist: 0.2014, d2.loss_plan_l1_fix_time: 1.0303, d2.loss_plan_l1_fix_dist: 0.2098, d3.loss_plan_l1_fix_time: 1.0250, d3.loss_plan_l1_fix_dist: 0.2003, d4.loss_plan_l1_fix_time: 1.0285, d4.loss_plan_l1_fix_dist: 0.1986, d5.loss_plan_l1_fix_time: 1.0322, d5.loss_plan_l1_fix_dist: 0.1966, d6.loss_plan_l1_fix_time: 1.0361, d6.loss_plan_l1_fix_dist: 0.2045, d0.loss_cls_all: 0.1778, d0.loss_bbox_all: 0.4167, d0.loss_cls: 0.1778, d0.loss_bbox: 0.4167, d1.loss_cls: 0.1737, d1.loss_bbox: 0.3799, d2.loss_cls: 0.1566, d2.loss_bbox: 0.3629, d3.loss_cls: 0.1404, d3.loss_bbox: 0.3571, d4.loss_cls: 0.1385, d4.loss_bbox: 0.3505, d5.loss_cls: 0.1334, d5.loss_bbox: 0.3531, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8408, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6473, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5907, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5863, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5798, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5787, d0.loss_map_cls_all: 0.2172, d0.loss_map_pts_all: 1.3440, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2172, d0.loss_map_pts: 1.3440, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1837, d1.loss_map_pts: 0.9585, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1613, d2.loss_map_pts: 0.7727, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1494, d3.loss_map_pts: 0.7064, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1420, d4.loss_map_pts: 0.6844, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1375, d5.loss_map_pts: 0.6819, d5.loss_map_dir: 0.0081, loss: 27.6934, grad_norm: 151.2619 +2026-02-28 00:26:19,760 - DriveTransformer - INFO - Epoch [8][28550/39528] lr: 8.063e-05, eta: 5 days, 10:42:57, time: 0.720, data_time: 0.039, memory: 19865, loss_cls: 0.1117, loss_bbox: 0.3054, loss_traj: 0.5292, loss_traj_cls: 0.0015, loss_map_cls: 0.1106, loss_map_pts: 0.5232, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.5432, d0.loss_plan_l1_fix_dist: 0.4446, d1.loss_plan_l1_fix_time: 0.9780, d1.loss_plan_l1_fix_dist: 0.1703, d2.loss_plan_l1_fix_time: 0.9613, d2.loss_plan_l1_fix_dist: 0.1717, d3.loss_plan_l1_fix_time: 0.9637, d3.loss_plan_l1_fix_dist: 0.1666, d4.loss_plan_l1_fix_time: 0.9659, d4.loss_plan_l1_fix_dist: 0.1778, d5.loss_plan_l1_fix_time: 0.9684, d5.loss_plan_l1_fix_dist: 0.1859, d6.loss_plan_l1_fix_time: 0.9719, d6.loss_plan_l1_fix_dist: 0.1944, d0.loss_cls_all: 0.1475, d0.loss_bbox_all: 0.3583, d0.loss_cls: 0.1475, d0.loss_bbox: 0.3583, d1.loss_cls: 0.1433, d1.loss_bbox: 0.3286, d2.loss_cls: 0.1321, d2.loss_bbox: 0.3116, d3.loss_cls: 0.1191, d3.loss_bbox: 0.3062, d4.loss_cls: 0.1129, d4.loss_bbox: 0.3059, d5.loss_cls: 0.1113, d5.loss_bbox: 0.3061, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7777, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5912, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5643, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5461, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5348, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5310, d0.loss_map_cls_all: 0.1802, d0.loss_map_pts_all: 1.1219, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1802, d0.loss_map_pts: 1.1219, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1534, d1.loss_map_pts: 0.7866, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1335, d2.loss_map_pts: 0.6225, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1229, d3.loss_map_pts: 0.5576, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1161, d4.loss_map_pts: 0.5299, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1125, d5.loss_map_pts: 0.5222, d5.loss_map_dir: 0.0063, loss: 24.4951, grad_norm: 151.2333 +2026-02-28 00:26:56,299 - DriveTransformer - INFO - Epoch [8][28600/39528] lr: 8.063e-05, eta: 5 days, 10:42:20, time: 0.731, data_time: 0.037, memory: 19865, loss_cls: 0.1394, loss_bbox: 0.3351, loss_traj: 0.5206, loss_traj_cls: 0.0015, loss_map_cls: 0.1363, loss_map_pts: 0.6826, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.5226, d0.loss_plan_l1_fix_dist: 0.5843, d1.loss_plan_l1_fix_time: 0.9833, d1.loss_plan_l1_fix_dist: 0.2255, d2.loss_plan_l1_fix_time: 0.9711, d2.loss_plan_l1_fix_dist: 0.2020, d3.loss_plan_l1_fix_time: 0.9707, d3.loss_plan_l1_fix_dist: 0.2083, d4.loss_plan_l1_fix_time: 0.9737, d4.loss_plan_l1_fix_dist: 0.2132, d5.loss_plan_l1_fix_time: 0.9769, d5.loss_plan_l1_fix_dist: 0.2180, d6.loss_plan_l1_fix_time: 0.9811, d6.loss_plan_l1_fix_dist: 0.2266, d0.loss_cls_all: 0.1860, d0.loss_bbox_all: 0.4112, d0.loss_cls: 0.1860, d0.loss_bbox: 0.4112, d1.loss_cls: 0.1770, d1.loss_bbox: 0.3746, d2.loss_cls: 0.1650, d2.loss_bbox: 0.3489, d3.loss_cls: 0.1497, d3.loss_bbox: 0.3408, d4.loss_cls: 0.1419, d4.loss_bbox: 0.3386, d5.loss_cls: 0.1386, d5.loss_bbox: 0.3377, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7630, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6059, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5326, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5245, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5231, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5253, d0.loss_map_cls_all: 0.2165, d0.loss_map_pts_all: 1.3189, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2165, d0.loss_map_pts: 1.3189, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1820, d1.loss_map_pts: 0.9578, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1592, d2.loss_map_pts: 0.7838, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1494, d3.loss_map_pts: 0.7128, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1430, d4.loss_map_pts: 0.6884, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1378, d5.loss_map_pts: 0.6833, d5.loss_map_dir: 0.0086, loss: 26.9926, grad_norm: 149.8603 +2026-02-28 00:27:31,143 - DriveTransformer - INFO - Epoch [8][28650/39528] lr: 8.063e-05, eta: 5 days, 10:41:27, time: 0.697, data_time: 0.039, memory: 19865, loss_cls: 0.1168, loss_bbox: 0.3024, loss_traj: 0.5207, loss_traj_cls: 0.0015, loss_map_cls: 0.1387, loss_map_pts: 0.5889, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.5276, d0.loss_plan_l1_fix_dist: 0.4388, d1.loss_plan_l1_fix_time: 0.9211, d1.loss_plan_l1_fix_dist: 0.2358, d2.loss_plan_l1_fix_time: 0.9091, d2.loss_plan_l1_fix_dist: 0.1984, d3.loss_plan_l1_fix_time: 0.9121, d3.loss_plan_l1_fix_dist: 0.2036, d4.loss_plan_l1_fix_time: 0.9156, d4.loss_plan_l1_fix_dist: 0.1931, d5.loss_plan_l1_fix_time: 0.9184, d5.loss_plan_l1_fix_dist: 0.1936, d6.loss_plan_l1_fix_time: 0.9217, d6.loss_plan_l1_fix_dist: 0.2175, d0.loss_cls_all: 0.1583, d0.loss_bbox_all: 0.3621, d0.loss_cls: 0.1583, d0.loss_bbox: 0.3621, d1.loss_cls: 0.1505, d1.loss_bbox: 0.3335, d2.loss_cls: 0.1392, d2.loss_bbox: 0.3109, d3.loss_cls: 0.1261, d3.loss_bbox: 0.3053, d4.loss_cls: 0.1177, d4.loss_bbox: 0.3049, d5.loss_cls: 0.1173, d5.loss_bbox: 0.3025, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7409, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5894, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5461, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5308, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5262, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5224, d0.loss_map_cls_all: 0.2113, d0.loss_map_pts_all: 1.1863, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2113, d0.loss_map_pts: 1.1863, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1783, d1.loss_map_pts: 0.8380, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1585, d2.loss_map_pts: 0.6864, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1478, d3.loss_map_pts: 0.6215, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1427, d4.loss_map_pts: 0.5970, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1400, d5.loss_map_pts: 0.5884, d5.loss_map_dir: 0.0071, loss: 25.0343, grad_norm: 152.5027 +2026-02-28 00:28:06,006 - DriveTransformer - INFO - Epoch [8][28700/39528] lr: 8.063e-05, eta: 5 days, 10:40:34, time: 0.697, data_time: 0.037, memory: 19865, loss_cls: 0.1376, loss_bbox: 0.3503, loss_traj: 0.6802, loss_traj_cls: 0.0014, loss_map_cls: 0.1485, loss_map_pts: 0.6686, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.8493, d0.loss_plan_l1_fix_dist: 0.3442, d1.loss_plan_l1_fix_time: 1.0935, d1.loss_plan_l1_fix_dist: 0.2497, d2.loss_plan_l1_fix_time: 1.0725, d2.loss_plan_l1_fix_dist: 0.2071, d3.loss_plan_l1_fix_time: 1.0641, d3.loss_plan_l1_fix_dist: 0.2145, d4.loss_plan_l1_fix_time: 1.0663, d4.loss_plan_l1_fix_dist: 0.2122, d5.loss_plan_l1_fix_time: 1.0692, d5.loss_plan_l1_fix_dist: 0.2059, d6.loss_plan_l1_fix_time: 1.0729, d6.loss_plan_l1_fix_dist: 0.2204, d0.loss_cls_all: 0.1831, d0.loss_bbox_all: 0.4160, d0.loss_cls: 0.1831, d0.loss_bbox: 0.4160, d1.loss_cls: 0.1754, d1.loss_bbox: 0.3801, d2.loss_cls: 0.1595, d2.loss_bbox: 0.3594, d3.loss_cls: 0.1473, d3.loss_bbox: 0.3516, d4.loss_cls: 0.1424, d4.loss_bbox: 0.3479, d5.loss_cls: 0.1383, d5.loss_bbox: 0.3492, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9630, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7522, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6889, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6782, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6747, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6747, d0.loss_map_cls_all: 0.2402, d0.loss_map_pts_all: 1.3284, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2402, d0.loss_map_pts: 1.3284, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.2020, d1.loss_map_pts: 0.9670, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1778, d2.loss_map_pts: 0.7770, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1630, d3.loss_map_pts: 0.7014, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1561, d4.loss_map_pts: 0.6743, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1513, d5.loss_map_pts: 0.6680, d5.loss_map_dir: 0.0074, loss: 28.9468, grad_norm: 154.5562 +2026-02-28 00:28:41,968 - DriveTransformer - INFO - Epoch [8][28750/39528] lr: 8.063e-05, eta: 5 days, 10:39:52, time: 0.719, data_time: 0.037, memory: 19865, loss_cls: 0.1353, loss_bbox: 0.3354, loss_traj: 0.6751, loss_traj_cls: 0.0014, loss_map_cls: 0.1084, loss_map_pts: 0.5730, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 3.2416, d0.loss_plan_l1_fix_dist: 0.5279, d1.loss_plan_l1_fix_time: 1.0538, d1.loss_plan_l1_fix_dist: 0.2542, d2.loss_plan_l1_fix_time: 1.0264, d2.loss_plan_l1_fix_dist: 0.2408, d3.loss_plan_l1_fix_time: 1.0165, d3.loss_plan_l1_fix_dist: 0.2336, d4.loss_plan_l1_fix_time: 1.0189, d4.loss_plan_l1_fix_dist: 0.2325, d5.loss_plan_l1_fix_time: 1.0224, d5.loss_plan_l1_fix_dist: 0.2202, d6.loss_plan_l1_fix_time: 1.0261, d6.loss_plan_l1_fix_dist: 0.2253, d0.loss_cls_all: 0.1718, d0.loss_bbox_all: 0.3918, d0.loss_cls: 0.1718, d0.loss_bbox: 0.3918, d1.loss_cls: 0.1620, d1.loss_bbox: 0.3632, d2.loss_cls: 0.1515, d2.loss_bbox: 0.3434, d3.loss_cls: 0.1388, d3.loss_bbox: 0.3372, d4.loss_cls: 0.1351, d4.loss_bbox: 0.3362, d5.loss_cls: 0.1356, d5.loss_bbox: 0.3355, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8821, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7086, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6675, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6684, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6693, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6694, d0.loss_map_cls_all: 0.1757, d0.loss_map_pts_all: 1.2014, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1757, d0.loss_map_pts: 1.2014, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1471, d1.loss_map_pts: 0.8370, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1329, d2.loss_map_pts: 0.6563, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1222, d3.loss_map_pts: 0.5938, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1155, d4.loss_map_pts: 0.5770, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1105, d5.loss_map_pts: 0.5720, d5.loss_map_dir: 0.0066, loss: 27.6748, grad_norm: 154.2560 +2026-02-28 00:29:18,162 - DriveTransformer - INFO - Epoch [8][28800/39528] lr: 8.063e-05, eta: 5 days, 10:39:12, time: 0.724, data_time: 0.037, memory: 19865, loss_cls: 0.1396, loss_bbox: 0.3534, loss_traj: 0.6031, loss_traj_cls: 0.0014, loss_map_cls: 0.1557, loss_map_pts: 0.7037, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.5552, d0.loss_plan_l1_fix_dist: 0.4177, d1.loss_plan_l1_fix_time: 0.9899, d1.loss_plan_l1_fix_dist: 0.2314, d2.loss_plan_l1_fix_time: 0.9814, d2.loss_plan_l1_fix_dist: 0.2215, d3.loss_plan_l1_fix_time: 0.9764, d3.loss_plan_l1_fix_dist: 0.2077, d4.loss_plan_l1_fix_time: 0.9777, d4.loss_plan_l1_fix_dist: 0.2088, d5.loss_plan_l1_fix_time: 0.9802, d5.loss_plan_l1_fix_dist: 0.2120, d6.loss_plan_l1_fix_time: 0.9829, d6.loss_plan_l1_fix_dist: 0.2369, d0.loss_cls_all: 0.1823, d0.loss_bbox_all: 0.4207, d0.loss_cls: 0.1823, d0.loss_bbox: 0.4207, d1.loss_cls: 0.1773, d1.loss_bbox: 0.3821, d2.loss_cls: 0.1618, d2.loss_bbox: 0.3621, d3.loss_cls: 0.1482, d3.loss_bbox: 0.3547, d4.loss_cls: 0.1445, d4.loss_bbox: 0.3514, d5.loss_cls: 0.1424, d5.loss_bbox: 0.3511, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8582, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6651, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6039, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5962, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5924, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5970, d0.loss_map_cls_all: 0.2296, d0.loss_map_pts_all: 1.4233, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2296, d0.loss_map_pts: 1.4233, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.2028, d1.loss_map_pts: 1.0116, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1823, d2.loss_map_pts: 0.8144, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1700, d3.loss_map_pts: 0.7404, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1613, d4.loss_map_pts: 0.7111, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1571, d5.loss_map_pts: 0.7049, d5.loss_map_dir: 0.0087, loss: 28.0656, grad_norm: 154.3728 +2026-02-28 00:29:54,730 - DriveTransformer - INFO - Epoch [8][28850/39528] lr: 8.063e-05, eta: 5 days, 10:38:35, time: 0.731, data_time: 0.041, memory: 19865, loss_cls: 0.1163, loss_bbox: 0.3210, loss_traj: 0.5164, loss_traj_cls: 0.0014, loss_map_cls: 0.1356, loss_map_pts: 0.6181, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.8355, d0.loss_plan_l1_fix_dist: 0.4104, d1.loss_plan_l1_fix_time: 1.0037, d1.loss_plan_l1_fix_dist: 0.2111, d2.loss_plan_l1_fix_time: 0.9867, d2.loss_plan_l1_fix_dist: 0.2006, d3.loss_plan_l1_fix_time: 0.9864, d3.loss_plan_l1_fix_dist: 0.1889, d4.loss_plan_l1_fix_time: 0.9903, d4.loss_plan_l1_fix_dist: 0.1921, d5.loss_plan_l1_fix_time: 0.9949, d5.loss_plan_l1_fix_dist: 0.2052, d6.loss_plan_l1_fix_time: 1.0006, d6.loss_plan_l1_fix_dist: 0.2090, d0.loss_cls_all: 0.1550, d0.loss_bbox_all: 0.3760, d0.loss_cls: 0.1550, d0.loss_bbox: 0.3760, d1.loss_cls: 0.1489, d1.loss_bbox: 0.3461, d2.loss_cls: 0.1357, d2.loss_bbox: 0.3252, d3.loss_cls: 0.1212, d3.loss_bbox: 0.3205, d4.loss_cls: 0.1170, d4.loss_bbox: 0.3189, d5.loss_cls: 0.1166, d5.loss_bbox: 0.3196, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7245, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5802, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5270, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5149, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5108, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5115, d0.loss_map_cls_all: 0.2028, d0.loss_map_pts_all: 1.2693, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2028, d0.loss_map_pts: 1.2693, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1739, d1.loss_map_pts: 0.8904, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1577, d2.loss_map_pts: 0.7173, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1466, d3.loss_map_pts: 0.6510, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1414, d4.loss_map_pts: 0.6237, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1374, d5.loss_map_pts: 0.6190, d5.loss_map_dir: 0.0079, loss: 26.0940, grad_norm: 153.2202 +2026-02-28 00:30:30,395 - DriveTransformer - INFO - Epoch [8][28900/39528] lr: 8.063e-05, eta: 5 days, 10:37:50, time: 0.713, data_time: 0.038, memory: 19865, loss_cls: 0.1228, loss_bbox: 0.3244, loss_traj: 0.6137, loss_traj_cls: 0.0014, loss_map_cls: 0.1208, loss_map_pts: 0.5896, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.6231, d0.loss_plan_l1_fix_dist: 0.4077, d1.loss_plan_l1_fix_time: 0.9504, d1.loss_plan_l1_fix_dist: 0.1993, d2.loss_plan_l1_fix_time: 0.9371, d2.loss_plan_l1_fix_dist: 0.1910, d3.loss_plan_l1_fix_time: 0.9341, d3.loss_plan_l1_fix_dist: 0.1826, d4.loss_plan_l1_fix_time: 0.9376, d4.loss_plan_l1_fix_dist: 0.1908, d5.loss_plan_l1_fix_time: 0.9419, d5.loss_plan_l1_fix_dist: 0.2094, d6.loss_plan_l1_fix_time: 0.9473, d6.loss_plan_l1_fix_dist: 0.2171, d0.loss_cls_all: 0.1538, d0.loss_bbox_all: 0.3943, d0.loss_cls: 0.1538, d0.loss_bbox: 0.3943, d1.loss_cls: 0.1514, d1.loss_bbox: 0.3536, d2.loss_cls: 0.1420, d2.loss_bbox: 0.3337, d3.loss_cls: 0.1289, d3.loss_bbox: 0.3266, d4.loss_cls: 0.1239, d4.loss_bbox: 0.3249, d5.loss_cls: 0.1231, d5.loss_bbox: 0.3232, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9269, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7097, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6302, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6190, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6176, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6142, d0.loss_map_cls_all: 0.1987, d0.loss_map_pts_all: 1.1628, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1987, d0.loss_map_pts: 1.1628, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1716, d1.loss_map_pts: 0.8388, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1474, d2.loss_map_pts: 0.6881, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1334, d3.loss_map_pts: 0.6200, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1270, d4.loss_map_pts: 0.5945, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1227, d5.loss_map_pts: 0.5908, d5.loss_map_dir: 0.0057, loss: 25.9949, grad_norm: 153.7139 +2026-02-28 00:31:07,584 - DriveTransformer - INFO - Epoch [8][28950/39528] lr: 8.063e-05, eta: 5 days, 10:37:20, time: 0.744, data_time: 0.038, memory: 19865, loss_cls: 0.1360, loss_bbox: 0.3398, loss_traj: 0.6240, loss_traj_cls: 0.0015, loss_map_cls: 0.1391, loss_map_pts: 0.6814, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.9279, d0.loss_plan_l1_fix_dist: 0.3953, d1.loss_plan_l1_fix_time: 0.9823, d1.loss_plan_l1_fix_dist: 0.1853, d2.loss_plan_l1_fix_time: 0.9656, d2.loss_plan_l1_fix_dist: 0.1837, d3.loss_plan_l1_fix_time: 0.9622, d3.loss_plan_l1_fix_dist: 0.1829, d4.loss_plan_l1_fix_time: 0.9646, d4.loss_plan_l1_fix_dist: 0.1874, d5.loss_plan_l1_fix_time: 0.9681, d5.loss_plan_l1_fix_dist: 0.1995, d6.loss_plan_l1_fix_time: 0.9729, d6.loss_plan_l1_fix_dist: 0.2145, d0.loss_cls_all: 0.1816, d0.loss_bbox_all: 0.4053, d0.loss_cls: 0.1816, d0.loss_bbox: 0.4053, d1.loss_cls: 0.1755, d1.loss_bbox: 0.3743, d2.loss_cls: 0.1588, d2.loss_bbox: 0.3560, d3.loss_cls: 0.1438, d3.loss_bbox: 0.3458, d4.loss_cls: 0.1375, d4.loss_bbox: 0.3429, d5.loss_cls: 0.1357, d5.loss_bbox: 0.3405, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9019, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6879, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6435, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6256, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6166, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6169, d0.loss_map_cls_all: 0.2159, d0.loss_map_pts_all: 1.3050, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2159, d0.loss_map_pts: 1.3050, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1871, d1.loss_map_pts: 0.9512, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1652, d2.loss_map_pts: 0.7756, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1509, d3.loss_map_pts: 0.7132, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1446, d4.loss_map_pts: 0.6884, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1410, d5.loss_map_pts: 0.6821, d5.loss_map_dir: 0.0082, loss: 27.6997, grad_norm: 149.6369 +2026-02-28 00:31:44,754 - DriveTransformer - INFO - Epoch [8][29000/39528] lr: 8.063e-05, eta: 5 days, 10:36:49, time: 0.745, data_time: 0.037, memory: 19865, loss_cls: 0.1383, loss_bbox: 0.3461, loss_traj: 0.4650, loss_traj_cls: 0.0015, loss_map_cls: 0.1179, loss_map_pts: 0.6414, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.5525, d0.loss_plan_l1_fix_dist: 0.5275, d1.loss_plan_l1_fix_time: 0.9153, d1.loss_plan_l1_fix_dist: 0.1809, d2.loss_plan_l1_fix_time: 0.8975, d2.loss_plan_l1_fix_dist: 0.1860, d3.loss_plan_l1_fix_time: 0.8951, d3.loss_plan_l1_fix_dist: 0.1995, d4.loss_plan_l1_fix_time: 0.8966, d4.loss_plan_l1_fix_dist: 0.2084, d5.loss_plan_l1_fix_time: 0.8997, d5.loss_plan_l1_fix_dist: 0.2210, d6.loss_plan_l1_fix_time: 0.9034, d6.loss_plan_l1_fix_dist: 0.2336, d0.loss_cls_all: 0.1845, d0.loss_bbox_all: 0.4013, d0.loss_cls: 0.1845, d0.loss_bbox: 0.4013, d1.loss_cls: 0.1793, d1.loss_bbox: 0.3717, d2.loss_cls: 0.1640, d2.loss_bbox: 0.3539, d3.loss_cls: 0.1478, d3.loss_bbox: 0.3486, d4.loss_cls: 0.1399, d4.loss_bbox: 0.3467, d5.loss_cls: 0.1382, d5.loss_bbox: 0.3459, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6822, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5251, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4826, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4658, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4592, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4610, d0.loss_map_cls_all: 0.1945, d0.loss_map_pts_all: 1.2384, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.1945, d0.loss_map_pts: 1.2384, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1616, d1.loss_map_pts: 0.8652, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1413, d2.loss_map_pts: 0.7217, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1296, d3.loss_map_pts: 0.6669, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1230, d4.loss_map_pts: 0.6485, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1192, d5.loss_map_pts: 0.6428, d5.loss_map_dir: 0.0094, loss: 25.3753, grad_norm: 149.1218 +2026-02-28 00:32:22,066 - DriveTransformer - INFO - Epoch [8][29050/39528] lr: 8.063e-05, eta: 5 days, 10:36:19, time: 0.745, data_time: 0.037, memory: 19865, loss_cls: 0.1321, loss_bbox: 0.3372, loss_traj: 0.5159, loss_traj_cls: 0.0014, loss_map_cls: 0.1687, loss_map_pts: 0.7496, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.6709, d0.loss_plan_l1_fix_dist: 0.4541, d1.loss_plan_l1_fix_time: 0.9024, d1.loss_plan_l1_fix_dist: 0.1876, d2.loss_plan_l1_fix_time: 0.8974, d2.loss_plan_l1_fix_dist: 0.1817, d3.loss_plan_l1_fix_time: 0.9002, d3.loss_plan_l1_fix_dist: 0.1862, d4.loss_plan_l1_fix_time: 0.9044, d4.loss_plan_l1_fix_dist: 0.1921, d5.loss_plan_l1_fix_time: 0.9083, d5.loss_plan_l1_fix_dist: 0.1973, d6.loss_plan_l1_fix_time: 0.9125, d6.loss_plan_l1_fix_dist: 0.2189, d0.loss_cls_all: 0.1829, d0.loss_bbox_all: 0.4078, d0.loss_cls: 0.1829, d0.loss_bbox: 0.4078, d1.loss_cls: 0.1737, d1.loss_bbox: 0.3690, d2.loss_cls: 0.1583, d2.loss_bbox: 0.3484, d3.loss_cls: 0.1382, d3.loss_bbox: 0.3416, d4.loss_cls: 0.1335, d4.loss_bbox: 0.3379, d5.loss_cls: 0.1317, d5.loss_bbox: 0.3374, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6763, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5753, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5377, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5261, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5201, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5178, d0.loss_map_cls_all: 0.2606, d0.loss_map_pts_all: 1.4929, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2606, d0.loss_map_pts: 1.4929, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2225, d1.loss_map_pts: 1.0623, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1912, d2.loss_map_pts: 0.8591, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1791, d3.loss_map_pts: 0.7840, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1742, d4.loss_map_pts: 0.7551, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1690, d5.loss_map_pts: 0.7521, d5.loss_map_dir: 0.0093, loss: 27.3566, grad_norm: 150.2796 +2026-02-28 00:32:58,763 - DriveTransformer - INFO - Epoch [8][29100/39528] lr: 8.063e-05, eta: 5 days, 10:35:44, time: 0.734, data_time: 0.037, memory: 19865, loss_cls: 0.1266, loss_bbox: 0.3151, loss_traj: 0.6209, loss_traj_cls: 0.0015, loss_map_cls: 0.1068, loss_map_pts: 0.5443, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.6994, d0.loss_plan_l1_fix_dist: 0.4241, d1.loss_plan_l1_fix_time: 1.0164, d1.loss_plan_l1_fix_dist: 0.1781, d2.loss_plan_l1_fix_time: 1.0026, d2.loss_plan_l1_fix_dist: 0.1755, d3.loss_plan_l1_fix_time: 1.0066, d3.loss_plan_l1_fix_dist: 0.1775, d4.loss_plan_l1_fix_time: 1.0112, d4.loss_plan_l1_fix_dist: 0.1801, d5.loss_plan_l1_fix_time: 1.0155, d5.loss_plan_l1_fix_dist: 0.1908, d6.loss_plan_l1_fix_time: 1.0197, d6.loss_plan_l1_fix_dist: 0.2079, d0.loss_cls_all: 0.1725, d0.loss_bbox_all: 0.3849, d0.loss_cls: 0.1725, d0.loss_bbox: 0.3849, d1.loss_cls: 0.1640, d1.loss_bbox: 0.3486, d2.loss_cls: 0.1468, d2.loss_bbox: 0.3281, d3.loss_cls: 0.1317, d3.loss_bbox: 0.3218, d4.loss_cls: 0.1265, d4.loss_bbox: 0.3191, d5.loss_cls: 0.1263, d5.loss_bbox: 0.3162, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8468, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6933, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6509, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6301, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6220, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6158, d0.loss_map_cls_all: 0.1808, d0.loss_map_pts_all: 1.1260, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1808, d0.loss_map_pts: 1.1260, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1468, d1.loss_map_pts: 0.7994, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1281, d2.loss_map_pts: 0.6450, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1180, d3.loss_map_pts: 0.5802, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1115, d4.loss_map_pts: 0.5519, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1078, d5.loss_map_pts: 0.5441, d5.loss_map_dir: 0.0066, loss: 25.9278, grad_norm: 147.8524 +2026-02-28 00:33:37,029 - DriveTransformer - INFO - Epoch [8][29150/39528] lr: 8.063e-05, eta: 5 days, 10:35:23, time: 0.765, data_time: 0.038, memory: 19865, loss_cls: 0.1320, loss_bbox: 0.3330, loss_traj: 0.4530, loss_traj_cls: 0.0014, loss_map_cls: 0.1519, loss_map_pts: 0.6666, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.7865, d0.loss_plan_l1_fix_dist: 0.4403, d1.loss_plan_l1_fix_time: 1.0399, d1.loss_plan_l1_fix_dist: 0.2038, d2.loss_plan_l1_fix_time: 1.0314, d2.loss_plan_l1_fix_dist: 0.2135, d3.loss_plan_l1_fix_time: 1.0325, d3.loss_plan_l1_fix_dist: 0.2190, d4.loss_plan_l1_fix_time: 1.0366, d4.loss_plan_l1_fix_dist: 0.2182, d5.loss_plan_l1_fix_time: 1.0409, d5.loss_plan_l1_fix_dist: 0.2307, d6.loss_plan_l1_fix_time: 1.0461, d6.loss_plan_l1_fix_dist: 0.2512, d0.loss_cls_all: 0.1725, d0.loss_bbox_all: 0.3951, d0.loss_cls: 0.1725, d0.loss_bbox: 0.3951, d1.loss_cls: 0.1675, d1.loss_bbox: 0.3575, d2.loss_cls: 0.1532, d2.loss_bbox: 0.3408, d3.loss_cls: 0.1378, d3.loss_bbox: 0.3366, d4.loss_cls: 0.1335, d4.loss_bbox: 0.3340, d5.loss_cls: 0.1321, d5.loss_bbox: 0.3328, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6394, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5196, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4834, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4620, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4624, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4596, d0.loss_map_cls_all: 0.2280, d0.loss_map_pts_all: 1.3602, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2280, d0.loss_map_pts: 1.3602, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1889, d1.loss_map_pts: 0.9645, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1713, d2.loss_map_pts: 0.7711, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1618, d3.loss_map_pts: 0.6992, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1565, d4.loss_map_pts: 0.6734, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1524, d5.loss_map_pts: 0.6688, d5.loss_map_dir: 0.0092, loss: 26.9773, grad_norm: 149.1902 +2026-02-28 00:34:12,115 - DriveTransformer - INFO - Epoch [8][29200/39528] lr: 8.063e-05, eta: 5 days, 10:34:33, time: 0.702, data_time: 0.038, memory: 19865, loss_cls: 0.1188, loss_bbox: 0.3327, loss_traj: 0.5672, loss_traj_cls: 0.0015, loss_map_cls: 0.1596, loss_map_pts: 0.6533, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.7662, d0.loss_plan_l1_fix_dist: 0.4561, d1.loss_plan_l1_fix_time: 0.8939, d1.loss_plan_l1_fix_dist: 0.1841, d2.loss_plan_l1_fix_time: 0.8864, d2.loss_plan_l1_fix_dist: 0.1980, d3.loss_plan_l1_fix_time: 0.8936, d3.loss_plan_l1_fix_dist: 0.2003, d4.loss_plan_l1_fix_time: 0.8988, d4.loss_plan_l1_fix_dist: 0.1976, d5.loss_plan_l1_fix_time: 0.9039, d5.loss_plan_l1_fix_dist: 0.2092, d6.loss_plan_l1_fix_time: 0.9099, d6.loss_plan_l1_fix_dist: 0.2310, d0.loss_cls_all: 0.1691, d0.loss_bbox_all: 0.3962, d0.loss_cls: 0.1691, d0.loss_bbox: 0.3962, d1.loss_cls: 0.1585, d1.loss_bbox: 0.3623, d2.loss_cls: 0.1431, d2.loss_bbox: 0.3423, d3.loss_cls: 0.1263, d3.loss_bbox: 0.3336, d4.loss_cls: 0.1214, d4.loss_bbox: 0.3300, d5.loss_cls: 0.1187, d5.loss_bbox: 0.3316, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8013, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6618, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5994, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5796, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5750, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5712, d0.loss_map_cls_all: 0.2388, d0.loss_map_pts_all: 1.2455, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2388, d0.loss_map_pts: 1.2455, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.2079, d1.loss_map_pts: 0.9198, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1836, d2.loss_map_pts: 0.7511, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1728, d3.loss_map_pts: 0.6856, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1660, d4.loss_map_pts: 0.6602, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1616, d5.loss_map_pts: 0.6543, d5.loss_map_dir: 0.0079, loss: 26.5459, grad_norm: 148.9325 +2026-02-28 00:34:49,145 - DriveTransformer - INFO - Epoch [8][29250/39528] lr: 8.063e-05, eta: 5 days, 10:34:01, time: 0.741, data_time: 0.037, memory: 19865, loss_cls: 0.1336, loss_bbox: 0.3266, loss_traj: 0.5717, loss_traj_cls: 0.0014, loss_map_cls: 0.1469, loss_map_pts: 0.6871, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.7329, d0.loss_plan_l1_fix_dist: 0.4404, d1.loss_plan_l1_fix_time: 0.9934, d1.loss_plan_l1_fix_dist: 0.1742, d2.loss_plan_l1_fix_time: 0.9830, d2.loss_plan_l1_fix_dist: 0.1867, d3.loss_plan_l1_fix_time: 0.9817, d3.loss_plan_l1_fix_dist: 0.1875, d4.loss_plan_l1_fix_time: 0.9836, d4.loss_plan_l1_fix_dist: 0.1960, d5.loss_plan_l1_fix_time: 0.9868, d5.loss_plan_l1_fix_dist: 0.2047, d6.loss_plan_l1_fix_time: 0.9902, d6.loss_plan_l1_fix_dist: 0.2105, d0.loss_cls_all: 0.1773, d0.loss_bbox_all: 0.3876, d0.loss_cls: 0.1773, d0.loss_bbox: 0.3876, d1.loss_cls: 0.1713, d1.loss_bbox: 0.3561, d2.loss_cls: 0.1552, d2.loss_bbox: 0.3385, d3.loss_cls: 0.1400, d3.loss_bbox: 0.3305, d4.loss_cls: 0.1357, d4.loss_bbox: 0.3269, d5.loss_cls: 0.1337, d5.loss_bbox: 0.3261, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7688, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6212, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5904, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5856, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5750, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5723, d0.loss_map_cls_all: 0.2245, d0.loss_map_pts_all: 1.4127, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2245, d0.loss_map_pts: 1.4127, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1935, d1.loss_map_pts: 0.9862, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1732, d2.loss_map_pts: 0.8033, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1620, d3.loss_map_pts: 0.7292, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1527, d4.loss_map_pts: 0.6959, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1482, d5.loss_map_pts: 0.6882, d5.loss_map_dir: 0.0090, loss: 27.4571, grad_norm: 148.8224 +2026-02-28 00:35:25,436 - DriveTransformer - INFO - Epoch [8][29300/39528] lr: 8.063e-05, eta: 5 days, 10:33:22, time: 0.726, data_time: 0.037, memory: 19865, loss_cls: 0.1139, loss_bbox: 0.3085, loss_traj: 0.6237, loss_traj_cls: 0.0015, loss_map_cls: 0.1229, loss_map_pts: 0.5911, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.4790, d0.loss_plan_l1_fix_dist: 0.4530, d1.loss_plan_l1_fix_time: 0.8825, d1.loss_plan_l1_fix_dist: 0.1938, d2.loss_plan_l1_fix_time: 0.8612, d2.loss_plan_l1_fix_dist: 0.1891, d3.loss_plan_l1_fix_time: 0.8606, d3.loss_plan_l1_fix_dist: 0.1946, d4.loss_plan_l1_fix_time: 0.8634, d4.loss_plan_l1_fix_dist: 0.1952, d5.loss_plan_l1_fix_time: 0.8672, d5.loss_plan_l1_fix_dist: 0.2022, d6.loss_plan_l1_fix_time: 0.8716, d6.loss_plan_l1_fix_dist: 0.2251, d0.loss_cls_all: 0.1547, d0.loss_bbox_all: 0.3694, d0.loss_cls: 0.1547, d0.loss_bbox: 0.3694, d1.loss_cls: 0.1511, d1.loss_bbox: 0.3368, d2.loss_cls: 0.1355, d2.loss_bbox: 0.3197, d3.loss_cls: 0.1200, d3.loss_bbox: 0.3137, d4.loss_cls: 0.1143, d4.loss_bbox: 0.3116, d5.loss_cls: 0.1134, d5.loss_bbox: 0.3094, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8467, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6878, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6460, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6279, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6250, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6240, d0.loss_map_cls_all: 0.1859, d0.loss_map_pts_all: 1.1467, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1859, d0.loss_map_pts: 1.1467, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1627, d1.loss_map_pts: 0.8203, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1450, d2.loss_map_pts: 0.6695, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1351, d3.loss_map_pts: 0.6166, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1300, d4.loss_map_pts: 0.5945, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1247, d5.loss_map_pts: 0.5916, d5.loss_map_dir: 0.0068, loss: 25.1450, grad_norm: 145.6720 +2026-02-28 00:36:00,948 - DriveTransformer - INFO - Epoch [8][29350/39528] lr: 8.063e-05, eta: 5 days, 10:32:35, time: 0.710, data_time: 0.035, memory: 19865, loss_cls: 0.1369, loss_bbox: 0.3345, loss_traj: 0.6092, loss_traj_cls: 0.0014, loss_map_cls: 0.1492, loss_map_pts: 0.6967, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.5230, d0.loss_plan_l1_fix_dist: 0.4586, d1.loss_plan_l1_fix_time: 0.9228, d1.loss_plan_l1_fix_dist: 0.2219, d2.loss_plan_l1_fix_time: 0.9171, d2.loss_plan_l1_fix_dist: 0.2104, d3.loss_plan_l1_fix_time: 0.9196, d3.loss_plan_l1_fix_dist: 0.2283, d4.loss_plan_l1_fix_time: 0.9226, d4.loss_plan_l1_fix_dist: 0.2195, d5.loss_plan_l1_fix_time: 0.9262, d5.loss_plan_l1_fix_dist: 0.2312, d6.loss_plan_l1_fix_time: 0.9301, d6.loss_plan_l1_fix_dist: 0.2569, d0.loss_cls_all: 0.1852, d0.loss_bbox_all: 0.4072, d0.loss_cls: 0.1852, d0.loss_bbox: 0.4072, d1.loss_cls: 0.1818, d1.loss_bbox: 0.3689, d2.loss_cls: 0.1643, d2.loss_bbox: 0.3450, d3.loss_cls: 0.1465, d3.loss_bbox: 0.3388, d4.loss_cls: 0.1401, d4.loss_bbox: 0.3360, d5.loss_cls: 0.1375, d5.loss_bbox: 0.3350, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7844, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6560, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6165, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6104, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6030, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6104, d0.loss_map_cls_all: 0.2320, d0.loss_map_pts_all: 1.3713, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2320, d0.loss_map_pts: 1.3713, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2047, d1.loss_map_pts: 0.9734, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1772, d2.loss_map_pts: 0.7984, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1641, d3.loss_map_pts: 0.7313, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1564, d4.loss_map_pts: 0.7028, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1513, d5.loss_map_pts: 0.6970, d5.loss_map_dir: 0.0091, loss: 27.4140, grad_norm: 144.9920 +2026-02-28 00:36:38,889 - DriveTransformer - INFO - Epoch [8][29400/39528] lr: 8.063e-05, eta: 5 days, 10:32:11, time: 0.759, data_time: 0.038, memory: 19865, loss_cls: 0.1176, loss_bbox: 0.3049, loss_traj: 0.5373, loss_traj_cls: 0.0014, loss_map_cls: 0.1131, loss_map_pts: 0.5851, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.2251, d0.loss_plan_l1_fix_dist: 0.4529, d1.loss_plan_l1_fix_time: 0.7832, d1.loss_plan_l1_fix_dist: 0.2034, d2.loss_plan_l1_fix_time: 0.7882, d2.loss_plan_l1_fix_dist: 0.1891, d3.loss_plan_l1_fix_time: 0.7907, d3.loss_plan_l1_fix_dist: 0.2096, d4.loss_plan_l1_fix_time: 0.7963, d4.loss_plan_l1_fix_dist: 0.1974, d5.loss_plan_l1_fix_time: 0.8018, d5.loss_plan_l1_fix_dist: 0.1994, d6.loss_plan_l1_fix_time: 0.8078, d6.loss_plan_l1_fix_dist: 0.2147, d0.loss_cls_all: 0.1555, d0.loss_bbox_all: 0.3711, d0.loss_cls: 0.1555, d0.loss_bbox: 0.3711, d1.loss_cls: 0.1525, d1.loss_bbox: 0.3368, d2.loss_cls: 0.1392, d2.loss_bbox: 0.3177, d3.loss_cls: 0.1226, d3.loss_bbox: 0.3124, d4.loss_cls: 0.1191, d4.loss_bbox: 0.3069, d5.loss_cls: 0.1173, d5.loss_bbox: 0.3059, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6808, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5764, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5508, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5398, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5344, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5403, d0.loss_map_cls_all: 0.1890, d0.loss_map_pts_all: 1.2388, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1890, d0.loss_map_pts: 1.2388, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1582, d1.loss_map_pts: 0.8464, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1366, d2.loss_map_pts: 0.6761, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1285, d3.loss_map_pts: 0.6195, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1206, d4.loss_map_pts: 0.5924, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1153, d5.loss_map_pts: 0.5861, d5.loss_map_dir: 0.0086, loss: 23.9316, grad_norm: 144.4125 +2026-02-28 00:37:17,790 - DriveTransformer - INFO - Epoch [8][29450/39528] lr: 8.063e-05, eta: 5 days, 10:31:56, time: 0.778, data_time: 0.041, memory: 19865, loss_cls: 0.1244, loss_bbox: 0.3335, loss_traj: 0.5237, loss_traj_cls: 0.0014, loss_map_cls: 0.1409, loss_map_pts: 0.7002, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.0823, d0.loss_plan_l1_fix_dist: 0.5415, d1.loss_plan_l1_fix_time: 0.8862, d1.loss_plan_l1_fix_dist: 0.2181, d2.loss_plan_l1_fix_time: 0.8800, d2.loss_plan_l1_fix_dist: 0.2096, d3.loss_plan_l1_fix_time: 0.8840, d3.loss_plan_l1_fix_dist: 0.2256, d4.loss_plan_l1_fix_time: 0.8905, d4.loss_plan_l1_fix_dist: 0.2283, d5.loss_plan_l1_fix_time: 0.8966, d5.loss_plan_l1_fix_dist: 0.2407, d6.loss_plan_l1_fix_time: 0.9035, d6.loss_plan_l1_fix_dist: 0.2591, d0.loss_cls_all: 0.1719, d0.loss_bbox_all: 0.3961, d0.loss_cls: 0.1719, d0.loss_bbox: 0.3961, d1.loss_cls: 0.1661, d1.loss_bbox: 0.3601, d2.loss_cls: 0.1469, d2.loss_bbox: 0.3458, d3.loss_cls: 0.1285, d3.loss_bbox: 0.3405, d4.loss_cls: 0.1235, d4.loss_bbox: 0.3384, d5.loss_cls: 0.1236, d5.loss_bbox: 0.3353, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7232, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5858, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5574, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5454, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5290, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5274, d0.loss_map_cls_all: 0.2187, d0.loss_map_pts_all: 1.3867, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2187, d0.loss_map_pts: 1.3867, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1870, d1.loss_map_pts: 0.9761, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1655, d2.loss_map_pts: 0.8002, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1550, d3.loss_map_pts: 0.7373, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1486, d4.loss_map_pts: 0.7093, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1424, d5.loss_map_pts: 0.7008, d5.loss_map_dir: 0.0102, loss: 26.1979, grad_norm: 146.3202 +2026-02-28 00:37:53,732 - DriveTransformer - INFO - Epoch [8][29500/39528] lr: 8.063e-05, eta: 5 days, 10:31:14, time: 0.719, data_time: 0.037, memory: 19865, loss_cls: 0.1237, loss_bbox: 0.3205, loss_traj: 0.5505, loss_traj_cls: 0.0014, loss_map_cls: 0.1431, loss_map_pts: 0.6501, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.7142, d0.loss_plan_l1_fix_dist: 0.4998, d1.loss_plan_l1_fix_time: 1.0059, d1.loss_plan_l1_fix_dist: 0.2070, d2.loss_plan_l1_fix_time: 0.9951, d2.loss_plan_l1_fix_dist: 0.1975, d3.loss_plan_l1_fix_time: 0.9954, d3.loss_plan_l1_fix_dist: 0.2017, d4.loss_plan_l1_fix_time: 0.9967, d4.loss_plan_l1_fix_dist: 0.1948, d5.loss_plan_l1_fix_time: 0.9992, d5.loss_plan_l1_fix_dist: 0.2121, d6.loss_plan_l1_fix_time: 1.0024, d6.loss_plan_l1_fix_dist: 0.2147, d0.loss_cls_all: 0.1674, d0.loss_bbox_all: 0.3800, d0.loss_cls: 0.1674, d0.loss_bbox: 0.3800, d1.loss_cls: 0.1654, d1.loss_bbox: 0.3469, d2.loss_cls: 0.1510, d2.loss_bbox: 0.3303, d3.loss_cls: 0.1336, d3.loss_bbox: 0.3244, d4.loss_cls: 0.1236, d4.loss_bbox: 0.3237, d5.loss_cls: 0.1239, d5.loss_bbox: 0.3205, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7493, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6111, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5652, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5552, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5514, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5531, d0.loss_map_cls_all: 0.2119, d0.loss_map_pts_all: 1.2534, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2119, d0.loss_map_pts: 1.2534, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1852, d1.loss_map_pts: 0.8932, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1626, d2.loss_map_pts: 0.7431, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1561, d3.loss_map_pts: 0.6779, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1494, d4.loss_map_pts: 0.6569, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1446, d5.loss_map_pts: 0.6501, d5.loss_map_dir: 0.0079, loss: 26.6645, grad_norm: 145.3394 +2026-02-28 00:38:31,178 - DriveTransformer - INFO - Epoch [8][29550/39528] lr: 8.063e-05, eta: 5 days, 10:30:46, time: 0.749, data_time: 0.038, memory: 19865, loss_cls: 0.1177, loss_bbox: 0.3398, loss_traj: 0.5392, loss_traj_cls: 0.0014, loss_map_cls: 0.1407, loss_map_pts: 0.6872, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.3218, d0.loss_plan_l1_fix_dist: 0.3797, d1.loss_plan_l1_fix_time: 0.8121, d1.loss_plan_l1_fix_dist: 0.1895, d2.loss_plan_l1_fix_time: 0.8007, d2.loss_plan_l1_fix_dist: 0.1849, d3.loss_plan_l1_fix_time: 0.7981, d3.loss_plan_l1_fix_dist: 0.2038, d4.loss_plan_l1_fix_time: 0.8008, d4.loss_plan_l1_fix_dist: 0.2005, d5.loss_plan_l1_fix_time: 0.8043, d5.loss_plan_l1_fix_dist: 0.2019, d6.loss_plan_l1_fix_time: 0.8079, d6.loss_plan_l1_fix_dist: 0.2121, d0.loss_cls_all: 0.1614, d0.loss_bbox_all: 0.3964, d0.loss_cls: 0.1614, d0.loss_bbox: 0.3964, d1.loss_cls: 0.1562, d1.loss_bbox: 0.3607, d2.loss_cls: 0.1423, d2.loss_bbox: 0.3442, d3.loss_cls: 0.1283, d3.loss_bbox: 0.3400, d4.loss_cls: 0.1191, d4.loss_bbox: 0.3413, d5.loss_cls: 0.1176, d5.loss_bbox: 0.3402, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7500, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6176, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5606, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5472, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5419, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5371, d0.loss_map_cls_all: 0.2237, d0.loss_map_pts_all: 1.4225, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2237, d0.loss_map_pts: 1.4225, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1878, d1.loss_map_pts: 0.9794, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1667, d2.loss_map_pts: 0.8014, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1554, d3.loss_map_pts: 0.7264, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1488, d4.loss_map_pts: 0.6954, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1424, d5.loss_map_pts: 0.6891, d5.loss_map_dir: 0.0093, loss: 25.6660, grad_norm: 143.8827 +2026-02-28 00:39:09,363 - DriveTransformer - INFO - Epoch [8][29600/39528] lr: 8.063e-05, eta: 5 days, 10:30:24, time: 0.764, data_time: 0.036, memory: 19865, loss_cls: 0.1242, loss_bbox: 0.3322, loss_traj: 0.5227, loss_traj_cls: 0.0015, loss_map_cls: 0.1257, loss_map_pts: 0.6437, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.3257, d0.loss_plan_l1_fix_dist: 0.4893, d1.loss_plan_l1_fix_time: 0.9930, d1.loss_plan_l1_fix_dist: 0.2257, d2.loss_plan_l1_fix_time: 0.9778, d2.loss_plan_l1_fix_dist: 0.2205, d3.loss_plan_l1_fix_time: 0.9744, d3.loss_plan_l1_fix_dist: 0.2354, d4.loss_plan_l1_fix_time: 0.9761, d4.loss_plan_l1_fix_dist: 0.2588, d5.loss_plan_l1_fix_time: 0.9792, d5.loss_plan_l1_fix_dist: 0.2449, d6.loss_plan_l1_fix_time: 0.9826, d6.loss_plan_l1_fix_dist: 0.2642, d0.loss_cls_all: 0.1677, d0.loss_bbox_all: 0.3994, d0.loss_cls: 0.1677, d0.loss_bbox: 0.3994, d1.loss_cls: 0.1596, d1.loss_bbox: 0.3664, d2.loss_cls: 0.1463, d2.loss_bbox: 0.3439, d3.loss_cls: 0.1328, d3.loss_bbox: 0.3373, d4.loss_cls: 0.1260, d4.loss_bbox: 0.3343, d5.loss_cls: 0.1242, d5.loss_bbox: 0.3326, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7211, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5868, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5396, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5277, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5232, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5202, d0.loss_map_cls_all: 0.2134, d0.loss_map_pts_all: 1.3397, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2134, d0.loss_map_pts: 1.3397, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1765, d1.loss_map_pts: 0.9378, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1508, d2.loss_map_pts: 0.7473, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1411, d3.loss_map_pts: 0.6752, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1325, d4.loss_map_pts: 0.6501, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1273, d5.loss_map_pts: 0.6451, d5.loss_map_dir: 0.0086, loss: 26.4158, grad_norm: 143.3518 +2026-02-28 00:39:46,309 - DriveTransformer - INFO - Epoch [8][29650/39528] lr: 8.063e-05, eta: 5 days, 10:29:51, time: 0.739, data_time: 0.036, memory: 19865, loss_cls: 0.1308, loss_bbox: 0.3176, loss_traj: 0.5288, loss_traj_cls: 0.0015, loss_map_cls: 0.1248, loss_map_pts: 0.6410, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.7936, d0.loss_plan_l1_fix_dist: 0.3952, d1.loss_plan_l1_fix_time: 0.9641, d1.loss_plan_l1_fix_dist: 0.1930, d2.loss_plan_l1_fix_time: 0.9432, d2.loss_plan_l1_fix_dist: 0.1926, d3.loss_plan_l1_fix_time: 0.9408, d3.loss_plan_l1_fix_dist: 0.1883, d4.loss_plan_l1_fix_time: 0.9415, d4.loss_plan_l1_fix_dist: 0.2232, d5.loss_plan_l1_fix_time: 0.9440, d5.loss_plan_l1_fix_dist: 0.2137, d6.loss_plan_l1_fix_time: 0.9472, d6.loss_plan_l1_fix_dist: 0.2363, d0.loss_cls_all: 0.1666, d0.loss_bbox_all: 0.3691, d0.loss_cls: 0.1666, d0.loss_bbox: 0.3691, d1.loss_cls: 0.1590, d1.loss_bbox: 0.3405, d2.loss_cls: 0.1491, d2.loss_bbox: 0.3215, d3.loss_cls: 0.1346, d3.loss_bbox: 0.3187, d4.loss_cls: 0.1297, d4.loss_bbox: 0.3182, d5.loss_cls: 0.1296, d5.loss_bbox: 0.3168, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6930, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5844, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5434, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5331, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5295, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5301, d0.loss_map_cls_all: 0.1988, d0.loss_map_pts_all: 1.2810, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1988, d0.loss_map_pts: 1.2810, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1660, d1.loss_map_pts: 0.9113, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1475, d2.loss_map_pts: 0.7460, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1375, d3.loss_map_pts: 0.6764, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1311, d4.loss_map_pts: 0.6469, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1258, d5.loss_map_pts: 0.6411, d5.loss_map_dir: 0.0084, loss: 26.0245, grad_norm: 144.9516 +2026-02-28 00:40:23,401 - DriveTransformer - INFO - Epoch [8][29700/39528] lr: 8.063e-05, eta: 5 days, 10:29:19, time: 0.742, data_time: 0.041, memory: 19865, loss_cls: 0.1211, loss_bbox: 0.3039, loss_traj: 0.5657, loss_traj_cls: 0.0015, loss_map_cls: 0.1170, loss_map_pts: 0.5666, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.3606, d0.loss_plan_l1_fix_dist: 0.4611, d1.loss_plan_l1_fix_time: 0.8323, d1.loss_plan_l1_fix_dist: 0.1988, d2.loss_plan_l1_fix_time: 0.8275, d2.loss_plan_l1_fix_dist: 0.2172, d3.loss_plan_l1_fix_time: 0.8292, d3.loss_plan_l1_fix_dist: 0.2128, d4.loss_plan_l1_fix_time: 0.8321, d4.loss_plan_l1_fix_dist: 0.2285, d5.loss_plan_l1_fix_time: 0.8348, d5.loss_plan_l1_fix_dist: 0.2092, d6.loss_plan_l1_fix_time: 0.8387, d6.loss_plan_l1_fix_dist: 0.2213, d0.loss_cls_all: 0.1519, d0.loss_bbox_all: 0.3675, d0.loss_cls: 0.1519, d0.loss_bbox: 0.3675, d1.loss_cls: 0.1510, d1.loss_bbox: 0.3327, d2.loss_cls: 0.1382, d2.loss_bbox: 0.3140, d3.loss_cls: 0.1254, d3.loss_bbox: 0.3089, d4.loss_cls: 0.1218, d4.loss_bbox: 0.3057, d5.loss_cls: 0.1202, d5.loss_bbox: 0.3052, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7964, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6219, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5810, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5718, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5651, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5662, d0.loss_map_cls_all: 0.2003, d0.loss_map_pts_all: 1.1699, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.2003, d0.loss_map_pts: 1.1699, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1707, d1.loss_map_pts: 0.8526, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1451, d2.loss_map_pts: 0.6650, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1310, d3.loss_map_pts: 0.5983, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1228, d4.loss_map_pts: 0.5751, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1185, d5.loss_map_pts: 0.5675, d5.loss_map_dir: 0.0064, loss: 24.4858, grad_norm: 144.8042 +2026-02-28 00:41:00,212 - DriveTransformer - INFO - Epoch [8][29750/39528] lr: 8.063e-05, eta: 5 days, 10:28:45, time: 0.736, data_time: 0.036, memory: 19865, loss_cls: 0.1344, loss_bbox: 0.3342, loss_traj: 0.5444, loss_traj_cls: 0.0015, loss_map_cls: 0.1236, loss_map_pts: 0.6634, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.6054, d0.loss_plan_l1_fix_dist: 0.3616, d1.loss_plan_l1_fix_time: 0.8445, d1.loss_plan_l1_fix_dist: 0.1780, d2.loss_plan_l1_fix_time: 0.8281, d2.loss_plan_l1_fix_dist: 0.1882, d3.loss_plan_l1_fix_time: 0.8271, d3.loss_plan_l1_fix_dist: 0.2027, d4.loss_plan_l1_fix_time: 0.8292, d4.loss_plan_l1_fix_dist: 0.1927, d5.loss_plan_l1_fix_time: 0.8318, d5.loss_plan_l1_fix_dist: 0.1821, d6.loss_plan_l1_fix_time: 0.8356, d6.loss_plan_l1_fix_dist: 0.1836, d0.loss_cls_all: 0.1847, d0.loss_bbox_all: 0.3967, d0.loss_cls: 0.1847, d0.loss_bbox: 0.3967, d1.loss_cls: 0.1781, d1.loss_bbox: 0.3662, d2.loss_cls: 0.1623, d2.loss_bbox: 0.3470, d3.loss_cls: 0.1438, d3.loss_bbox: 0.3427, d4.loss_cls: 0.1362, d4.loss_bbox: 0.3390, d5.loss_cls: 0.1358, d5.loss_bbox: 0.3347, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7123, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5879, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5527, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5445, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5489, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5484, d0.loss_map_cls_all: 0.2072, d0.loss_map_pts_all: 1.3418, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2072, d0.loss_map_pts: 1.3418, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1718, d1.loss_map_pts: 0.9436, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1511, d2.loss_map_pts: 0.7583, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1395, d3.loss_map_pts: 0.6951, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1312, d4.loss_map_pts: 0.6701, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1259, d5.loss_map_pts: 0.6643, d5.loss_map_dir: 0.0099, loss: 25.6672, grad_norm: 144.2189 +2026-02-28 00:41:36,728 - DriveTransformer - INFO - Epoch [8][29800/39528] lr: 8.063e-05, eta: 5 days, 10:28:09, time: 0.732, data_time: 0.037, memory: 19865, loss_cls: 0.1431, loss_bbox: 0.3498, loss_traj: 0.5178, loss_traj_cls: 0.0014, loss_map_cls: 0.1354, loss_map_pts: 0.6437, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.6204, d0.loss_plan_l1_fix_dist: 0.4179, d1.loss_plan_l1_fix_time: 0.8650, d1.loss_plan_l1_fix_dist: 0.1930, d2.loss_plan_l1_fix_time: 0.8589, d2.loss_plan_l1_fix_dist: 0.2089, d3.loss_plan_l1_fix_time: 0.8626, d3.loss_plan_l1_fix_dist: 0.2430, d4.loss_plan_l1_fix_time: 0.8650, d4.loss_plan_l1_fix_dist: 0.2121, d5.loss_plan_l1_fix_time: 0.8674, d5.loss_plan_l1_fix_dist: 0.2138, d6.loss_plan_l1_fix_time: 0.8700, d6.loss_plan_l1_fix_dist: 0.2269, d0.loss_cls_all: 0.1889, d0.loss_bbox_all: 0.4187, d0.loss_cls: 0.1889, d0.loss_bbox: 0.4187, d1.loss_cls: 0.1880, d1.loss_bbox: 0.3812, d2.loss_cls: 0.1724, d2.loss_bbox: 0.3622, d3.loss_cls: 0.1525, d3.loss_bbox: 0.3567, d4.loss_cls: 0.1446, d4.loss_bbox: 0.3531, d5.loss_cls: 0.1438, d5.loss_bbox: 0.3506, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7150, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5957, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5500, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5294, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5185, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5147, d0.loss_map_cls_all: 0.2118, d0.loss_map_pts_all: 1.2948, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2118, d0.loss_map_pts: 1.2948, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1812, d1.loss_map_pts: 0.9240, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1588, d2.loss_map_pts: 0.7493, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1481, d3.loss_map_pts: 0.6769, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1426, d4.loss_map_pts: 0.6516, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1370, d5.loss_map_pts: 0.6448, d5.loss_map_dir: 0.0084, loss: 26.0580, grad_norm: 140.0767 +2026-02-28 00:42:12,613 - DriveTransformer - INFO - Epoch [8][29850/39528] lr: 8.063e-05, eta: 5 days, 10:27:25, time: 0.716, data_time: 0.035, memory: 19865, loss_cls: 0.1330, loss_bbox: 0.3402, loss_traj: 0.5826, loss_traj_cls: 0.0014, loss_map_cls: 0.1793, loss_map_pts: 0.6811, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.6920, d0.loss_plan_l1_fix_dist: 0.3606, d1.loss_plan_l1_fix_time: 0.9624, d1.loss_plan_l1_fix_dist: 0.1825, d2.loss_plan_l1_fix_time: 0.9568, d2.loss_plan_l1_fix_dist: 0.1944, d3.loss_plan_l1_fix_time: 0.9637, d3.loss_plan_l1_fix_dist: 0.2342, d4.loss_plan_l1_fix_time: 0.9675, d4.loss_plan_l1_fix_dist: 0.1916, d5.loss_plan_l1_fix_time: 0.9705, d5.loss_plan_l1_fix_dist: 0.2140, d6.loss_plan_l1_fix_time: 0.9733, d6.loss_plan_l1_fix_dist: 0.2125, d0.loss_cls_all: 0.1718, d0.loss_bbox_all: 0.4021, d0.loss_cls: 0.1718, d0.loss_bbox: 0.4021, d1.loss_cls: 0.1672, d1.loss_bbox: 0.3677, d2.loss_cls: 0.1526, d2.loss_bbox: 0.3513, d3.loss_cls: 0.1374, d3.loss_bbox: 0.3451, d4.loss_cls: 0.1333, d4.loss_bbox: 0.3427, d5.loss_cls: 0.1324, d5.loss_bbox: 0.3412, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7989, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6328, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5996, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5873, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5822, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5802, d0.loss_map_cls_all: 0.2616, d0.loss_map_pts_all: 1.3507, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2616, d0.loss_map_pts: 1.3507, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2271, d1.loss_map_pts: 0.9591, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.2027, d2.loss_map_pts: 0.7848, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1932, d3.loss_map_pts: 0.7127, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1834, d4.loss_map_pts: 0.6878, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1800, d5.loss_map_pts: 0.6804, d5.loss_map_dir: 0.0088, loss: 27.5041, grad_norm: 139.0178 +2026-02-28 00:42:48,482 - DriveTransformer - INFO - Epoch [8][29900/39528] lr: 8.063e-05, eta: 5 days, 10:26:42, time: 0.717, data_time: 0.038, memory: 19865, loss_cls: 0.1217, loss_bbox: 0.2998, loss_traj: 0.5900, loss_traj_cls: 0.0014, loss_map_cls: 0.1215, loss_map_pts: 0.6003, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.4565, d0.loss_plan_l1_fix_dist: 0.4402, d1.loss_plan_l1_fix_time: 0.9738, d1.loss_plan_l1_fix_dist: 0.1633, d2.loss_plan_l1_fix_time: 0.9599, d2.loss_plan_l1_fix_dist: 0.1731, d3.loss_plan_l1_fix_time: 0.9597, d3.loss_plan_l1_fix_dist: 0.2230, d4.loss_plan_l1_fix_time: 0.9621, d4.loss_plan_l1_fix_dist: 0.1999, d5.loss_plan_l1_fix_time: 0.9649, d5.loss_plan_l1_fix_dist: 0.2004, d6.loss_plan_l1_fix_time: 0.9682, d6.loss_plan_l1_fix_dist: 0.1960, d0.loss_cls_all: 0.1648, d0.loss_bbox_all: 0.3625, d0.loss_cls: 0.1648, d0.loss_bbox: 0.3625, d1.loss_cls: 0.1536, d1.loss_bbox: 0.3316, d2.loss_cls: 0.1407, d2.loss_bbox: 0.3136, d3.loss_cls: 0.1271, d3.loss_bbox: 0.3056, d4.loss_cls: 0.1225, d4.loss_bbox: 0.3018, d5.loss_cls: 0.1216, d5.loss_bbox: 0.3013, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7944, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6453, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5985, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5863, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5829, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5882, d0.loss_map_cls_all: 0.2012, d0.loss_map_pts_all: 1.2501, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2012, d0.loss_map_pts: 1.2501, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1677, d1.loss_map_pts: 0.8735, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1423, d2.loss_map_pts: 0.7048, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1316, d3.loss_map_pts: 0.6347, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1252, d4.loss_map_pts: 0.6078, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1211, d5.loss_map_pts: 0.6027, d5.loss_map_dir: 0.0072, loss: 25.7232, grad_norm: 137.1250 +2026-02-28 00:43:23,416 - DriveTransformer - INFO - Epoch [8][29950/39528] lr: 8.063e-05, eta: 5 days, 10:25:50, time: 0.699, data_time: 0.038, memory: 19865, loss_cls: 0.1512, loss_bbox: 0.3457, loss_traj: 0.7139, loss_traj_cls: 0.0014, loss_map_cls: 0.1303, loss_map_pts: 0.6130, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.9242, d0.loss_plan_l1_fix_dist: 0.4839, d1.loss_plan_l1_fix_time: 0.9982, d1.loss_plan_l1_fix_dist: 0.2021, d2.loss_plan_l1_fix_time: 0.9738, d2.loss_plan_l1_fix_dist: 0.2065, d3.loss_plan_l1_fix_time: 0.9686, d3.loss_plan_l1_fix_dist: 0.2284, d4.loss_plan_l1_fix_time: 0.9705, d4.loss_plan_l1_fix_dist: 0.2265, d5.loss_plan_l1_fix_time: 0.9738, d5.loss_plan_l1_fix_dist: 0.2095, d6.loss_plan_l1_fix_time: 0.9779, d6.loss_plan_l1_fix_dist: 0.2215, d0.loss_cls_all: 0.1943, d0.loss_bbox_all: 0.4098, d0.loss_cls: 0.1943, d0.loss_bbox: 0.4098, d1.loss_cls: 0.1831, d1.loss_bbox: 0.3758, d2.loss_cls: 0.1705, d2.loss_bbox: 0.3552, d3.loss_cls: 0.1598, d3.loss_bbox: 0.3471, d4.loss_cls: 0.1542, d4.loss_bbox: 0.3453, d5.loss_cls: 0.1529, d5.loss_bbox: 0.3449, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0053, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8040, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7440, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.7232, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7245, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7147, d0.loss_map_cls_all: 0.2121, d0.loss_map_pts_all: 1.2056, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2121, d0.loss_map_pts: 1.2056, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1758, d1.loss_map_pts: 0.8730, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1551, d2.loss_map_pts: 0.7086, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1430, d3.loss_map_pts: 0.6409, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1372, d4.loss_map_pts: 0.6185, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1327, d5.loss_map_pts: 0.6132, d5.loss_map_dir: 0.0079, loss: 28.1333, grad_norm: 136.0272 +2026-02-28 00:43:59,912 - DriveTransformer - INFO - Epoch [8][30000/39528] lr: 8.063e-05, eta: 5 days, 10:25:13, time: 0.730, data_time: 0.044, memory: 19865, loss_cls: 0.1411, loss_bbox: 0.3407, loss_traj: 0.6102, loss_traj_cls: 0.0014, loss_map_cls: 0.1494, loss_map_pts: 0.6854, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.6906, d0.loss_plan_l1_fix_dist: 0.4371, d1.loss_plan_l1_fix_time: 0.9795, d1.loss_plan_l1_fix_dist: 0.2196, d2.loss_plan_l1_fix_time: 0.9645, d2.loss_plan_l1_fix_dist: 0.2267, d3.loss_plan_l1_fix_time: 0.9665, d3.loss_plan_l1_fix_dist: 0.2323, d4.loss_plan_l1_fix_time: 0.9699, d4.loss_plan_l1_fix_dist: 0.2330, d5.loss_plan_l1_fix_time: 0.9750, d5.loss_plan_l1_fix_dist: 0.2157, d6.loss_plan_l1_fix_time: 0.9811, d6.loss_plan_l1_fix_dist: 0.2272, d0.loss_cls_all: 0.1825, d0.loss_bbox_all: 0.4064, d0.loss_cls: 0.1825, d0.loss_bbox: 0.4064, d1.loss_cls: 0.1766, d1.loss_bbox: 0.3708, d2.loss_cls: 0.1660, d2.loss_bbox: 0.3489, d3.loss_cls: 0.1485, d3.loss_bbox: 0.3447, d4.loss_cls: 0.1420, d4.loss_bbox: 0.3427, d5.loss_cls: 0.1424, d5.loss_bbox: 0.3406, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8457, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6667, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6289, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6125, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6086, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6062, d0.loss_map_cls_all: 0.2269, d0.loss_map_pts_all: 1.2597, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2269, d0.loss_map_pts: 1.2597, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1914, d1.loss_map_pts: 0.9368, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1695, d2.loss_map_pts: 0.7680, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1603, d3.loss_map_pts: 0.7117, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1531, d4.loss_map_pts: 0.6904, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1494, d5.loss_map_pts: 0.6855, d5.loss_map_dir: 0.0082, loss: 27.5739, grad_norm: 139.6916 +2026-02-28 00:44:35,652 - DriveTransformer - INFO - Epoch [8][30050/39528] lr: 8.063e-05, eta: 5 days, 10:24:29, time: 0.715, data_time: 0.037, memory: 19865, loss_cls: 0.1480, loss_bbox: 0.3543, loss_traj: 0.6811, loss_traj_cls: 0.0014, loss_map_cls: 0.1552, loss_map_pts: 0.7062, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.7683, d0.loss_plan_l1_fix_dist: 0.3908, d1.loss_plan_l1_fix_time: 1.0572, d1.loss_plan_l1_fix_dist: 0.2289, d2.loss_plan_l1_fix_time: 1.0397, d2.loss_plan_l1_fix_dist: 0.2500, d3.loss_plan_l1_fix_time: 1.0339, d3.loss_plan_l1_fix_dist: 0.2267, d4.loss_plan_l1_fix_time: 1.0362, d4.loss_plan_l1_fix_dist: 0.2267, d5.loss_plan_l1_fix_time: 1.0399, d5.loss_plan_l1_fix_dist: 0.2072, d6.loss_plan_l1_fix_time: 1.0440, d6.loss_plan_l1_fix_dist: 0.2236, d0.loss_cls_all: 0.1905, d0.loss_bbox_all: 0.4271, d0.loss_cls: 0.1905, d0.loss_bbox: 0.4271, d1.loss_cls: 0.1832, d1.loss_bbox: 0.3853, d2.loss_cls: 0.1702, d2.loss_bbox: 0.3626, d3.loss_cls: 0.1559, d3.loss_bbox: 0.3575, d4.loss_cls: 0.1474, d4.loss_bbox: 0.3575, d5.loss_cls: 0.1473, d5.loss_bbox: 0.3549, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0005, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7630, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7030, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6861, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6786, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6812, d0.loss_map_cls_all: 0.2381, d0.loss_map_pts_all: 1.2989, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2381, d0.loss_map_pts: 1.2989, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.2054, d1.loss_map_pts: 0.9628, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1806, d2.loss_map_pts: 0.8067, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1693, d3.loss_map_pts: 0.7383, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1610, d4.loss_map_pts: 0.7163, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1571, d5.loss_map_pts: 0.7076, d5.loss_map_dir: 0.0077, loss: 29.1324, grad_norm: 139.9149 +2026-02-28 00:45:12,510 - DriveTransformer - INFO - Epoch [8][30100/39528] lr: 8.063e-05, eta: 5 days, 10:23:55, time: 0.737, data_time: 0.038, memory: 19865, loss_cls: 0.1381, loss_bbox: 0.3370, loss_traj: 0.5933, loss_traj_cls: 0.0014, loss_map_cls: 0.1720, loss_map_pts: 0.7457, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.8474, d0.loss_plan_l1_fix_dist: 0.4019, d1.loss_plan_l1_fix_time: 0.9931, d1.loss_plan_l1_fix_dist: 0.2016, d2.loss_plan_l1_fix_time: 0.9893, d2.loss_plan_l1_fix_dist: 0.2363, d3.loss_plan_l1_fix_time: 0.9928, d3.loss_plan_l1_fix_dist: 0.1977, d4.loss_plan_l1_fix_time: 0.9959, d4.loss_plan_l1_fix_dist: 0.2105, d5.loss_plan_l1_fix_time: 0.9991, d5.loss_plan_l1_fix_dist: 0.2015, d6.loss_plan_l1_fix_time: 1.0027, d6.loss_plan_l1_fix_dist: 0.2099, d0.loss_cls_all: 0.1768, d0.loss_bbox_all: 0.4139, d0.loss_cls: 0.1768, d0.loss_bbox: 0.4139, d1.loss_cls: 0.1732, d1.loss_bbox: 0.3740, d2.loss_cls: 0.1599, d2.loss_bbox: 0.3535, d3.loss_cls: 0.1485, d3.loss_bbox: 0.3418, d4.loss_cls: 0.1410, d4.loss_bbox: 0.3395, d5.loss_cls: 0.1390, d5.loss_bbox: 0.3376, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8117, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6761, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6291, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6108, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6027, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5966, d0.loss_map_cls_all: 0.2569, d0.loss_map_pts_all: 1.4970, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2569, d0.loss_map_pts: 1.4970, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2213, d1.loss_map_pts: 1.0728, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.2020, d2.loss_map_pts: 0.8723, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1849, d3.loss_map_pts: 0.7873, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1790, d4.loss_map_pts: 0.7571, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1720, d5.loss_map_pts: 0.7481, d5.loss_map_dir: 0.0092, loss: 28.8649, grad_norm: 141.9549 +2026-02-28 00:45:49,087 - DriveTransformer - INFO - Epoch [8][30150/39528] lr: 8.063e-05, eta: 5 days, 10:23:18, time: 0.732, data_time: 0.041, memory: 19865, loss_cls: 0.1380, loss_bbox: 0.3441, loss_traj: 0.5767, loss_traj_cls: 0.0015, loss_map_cls: 0.1381, loss_map_pts: 0.6427, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.6896, d0.loss_plan_l1_fix_dist: 0.3746, d1.loss_plan_l1_fix_time: 0.9732, d1.loss_plan_l1_fix_dist: 0.1889, d2.loss_plan_l1_fix_time: 0.9587, d2.loss_plan_l1_fix_dist: 0.2416, d3.loss_plan_l1_fix_time: 0.9611, d3.loss_plan_l1_fix_dist: 0.1892, d4.loss_plan_l1_fix_time: 0.9639, d4.loss_plan_l1_fix_dist: 0.2068, d5.loss_plan_l1_fix_time: 0.9664, d5.loss_plan_l1_fix_dist: 0.2068, d6.loss_plan_l1_fix_time: 0.9698, d6.loss_plan_l1_fix_dist: 0.1996, d0.loss_cls_all: 0.1729, d0.loss_bbox_all: 0.4168, d0.loss_cls: 0.1729, d0.loss_bbox: 0.4168, d1.loss_cls: 0.1695, d1.loss_bbox: 0.3763, d2.loss_cls: 0.1568, d2.loss_bbox: 0.3532, d3.loss_cls: 0.1451, d3.loss_bbox: 0.3474, d4.loss_cls: 0.1373, d4.loss_bbox: 0.3466, d5.loss_cls: 0.1369, d5.loss_bbox: 0.3447, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8325, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6478, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6077, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5968, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5790, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5751, d0.loss_map_cls_all: 0.2169, d0.loss_map_pts_all: 1.2673, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2169, d0.loss_map_pts: 1.2673, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1857, d1.loss_map_pts: 0.8876, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1634, d2.loss_map_pts: 0.7347, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1508, d3.loss_map_pts: 0.6786, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1459, d4.loss_map_pts: 0.6576, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1397, d5.loss_map_pts: 0.6458, d5.loss_map_dir: 0.0072, loss: 26.8832, grad_norm: 145.3803 +2026-02-28 00:46:24,553 - DriveTransformer - INFO - Epoch [8][30200/39528] lr: 8.063e-05, eta: 5 days, 10:22:32, time: 0.709, data_time: 0.037, memory: 19865, loss_cls: 0.1111, loss_bbox: 0.3005, loss_traj: 0.5692, loss_traj_cls: 0.0015, loss_map_cls: 0.1221, loss_map_pts: 0.5340, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.4764, d0.loss_plan_l1_fix_dist: 0.4139, d1.loss_plan_l1_fix_time: 0.8673, d1.loss_plan_l1_fix_dist: 0.1960, d2.loss_plan_l1_fix_time: 0.8545, d2.loss_plan_l1_fix_dist: 0.2681, d3.loss_plan_l1_fix_time: 0.8530, d3.loss_plan_l1_fix_dist: 0.2114, d4.loss_plan_l1_fix_time: 0.8557, d4.loss_plan_l1_fix_dist: 0.2076, d5.loss_plan_l1_fix_time: 0.8587, d5.loss_plan_l1_fix_dist: 0.2129, d6.loss_plan_l1_fix_time: 0.8624, d6.loss_plan_l1_fix_dist: 0.2140, d0.loss_cls_all: 0.1462, d0.loss_bbox_all: 0.3636, d0.loss_cls: 0.1462, d0.loss_bbox: 0.3636, d1.loss_cls: 0.1392, d1.loss_bbox: 0.3314, d2.loss_cls: 0.1291, d2.loss_bbox: 0.3126, d3.loss_cls: 0.1161, d3.loss_bbox: 0.3062, d4.loss_cls: 0.1115, d4.loss_bbox: 0.3023, d5.loss_cls: 0.1105, d5.loss_bbox: 0.3004, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7697, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6345, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5771, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5746, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5705, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5659, d0.loss_map_cls_all: 0.1826, d0.loss_map_pts_all: 1.1125, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1826, d0.loss_map_pts: 1.1125, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1613, d1.loss_map_pts: 0.7902, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1452, d2.loss_map_pts: 0.6361, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1335, d3.loss_map_pts: 0.5703, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1283, d4.loss_map_pts: 0.5478, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1241, d5.loss_map_pts: 0.5358, d5.loss_map_dir: 0.0064, loss: 24.2799, grad_norm: 143.1312 +2026-02-28 00:46:59,464 - DriveTransformer - INFO - Epoch [8][30250/39528] lr: 8.063e-05, eta: 5 days, 10:21:40, time: 0.698, data_time: 0.038, memory: 19865, loss_cls: 0.1183, loss_bbox: 0.3143, loss_traj: 0.6099, loss_traj_cls: 0.0015, loss_map_cls: 0.1305, loss_map_pts: 0.5595, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.4210, d0.loss_plan_l1_fix_dist: 0.3798, d1.loss_plan_l1_fix_time: 0.9988, d1.loss_plan_l1_fix_dist: 0.1999, d2.loss_plan_l1_fix_time: 0.9874, d2.loss_plan_l1_fix_dist: 0.2705, d3.loss_plan_l1_fix_time: 0.9811, d3.loss_plan_l1_fix_dist: 0.2367, d4.loss_plan_l1_fix_time: 0.9844, d4.loss_plan_l1_fix_dist: 0.2082, d5.loss_plan_l1_fix_time: 0.9889, d5.loss_plan_l1_fix_dist: 0.2262, d6.loss_plan_l1_fix_time: 0.9933, d6.loss_plan_l1_fix_dist: 0.2425, d0.loss_cls_all: 0.1549, d0.loss_bbox_all: 0.3787, d0.loss_cls: 0.1549, d0.loss_bbox: 0.3787, d1.loss_cls: 0.1496, d1.loss_bbox: 0.3437, d2.loss_cls: 0.1357, d2.loss_bbox: 0.3267, d3.loss_cls: 0.1246, d3.loss_bbox: 0.3191, d4.loss_cls: 0.1197, d4.loss_bbox: 0.3147, d5.loss_cls: 0.1177, d5.loss_bbox: 0.3142, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8403, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6586, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6170, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6107, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6123, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6078, d0.loss_map_cls_all: 0.2111, d0.loss_map_pts_all: 1.1235, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2111, d0.loss_map_pts: 1.1235, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1799, d1.loss_map_pts: 0.8183, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1530, d2.loss_map_pts: 0.6622, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1429, d3.loss_map_pts: 0.5911, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1359, d4.loss_map_pts: 0.5657, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1331, d5.loss_map_pts: 0.5614, d5.loss_map_dir: 0.0070, loss: 25.8047, grad_norm: 142.9324 +2026-02-28 00:47:37,536 - DriveTransformer - INFO - Epoch [8][30300/39528] lr: 8.063e-05, eta: 5 days, 10:21:17, time: 0.761, data_time: 0.035, memory: 19865, loss_cls: 0.1220, loss_bbox: 0.3294, loss_traj: 0.5403, loss_traj_cls: 0.0015, loss_map_cls: 0.1346, loss_map_pts: 0.7003, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.3686, d0.loss_plan_l1_fix_dist: 0.4142, d1.loss_plan_l1_fix_time: 0.8908, d1.loss_plan_l1_fix_dist: 0.1997, d2.loss_plan_l1_fix_time: 0.8745, d2.loss_plan_l1_fix_dist: 0.2784, d3.loss_plan_l1_fix_time: 0.8645, d3.loss_plan_l1_fix_dist: 0.2543, d4.loss_plan_l1_fix_time: 0.8675, d4.loss_plan_l1_fix_dist: 0.2196, d5.loss_plan_l1_fix_time: 0.8714, d5.loss_plan_l1_fix_dist: 0.2143, d6.loss_plan_l1_fix_time: 0.8760, d6.loss_plan_l1_fix_dist: 0.2312, d0.loss_cls_all: 0.1659, d0.loss_bbox_all: 0.3825, d0.loss_cls: 0.1659, d0.loss_bbox: 0.3825, d1.loss_cls: 0.1559, d1.loss_bbox: 0.3514, d2.loss_cls: 0.1429, d2.loss_bbox: 0.3355, d3.loss_cls: 0.1315, d3.loss_bbox: 0.3284, d4.loss_cls: 0.1239, d4.loss_bbox: 0.3297, d5.loss_cls: 0.1225, d5.loss_bbox: 0.3300, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6733, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5911, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5507, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5465, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5457, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5386, d0.loss_map_cls_all: 0.2152, d0.loss_map_pts_all: 1.4406, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2152, d0.loss_map_pts: 1.4406, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.1816, d1.loss_map_pts: 0.9912, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1574, d2.loss_map_pts: 0.8000, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1461, d3.loss_map_pts: 0.7318, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1397, d4.loss_map_pts: 0.7072, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1358, d5.loss_map_pts: 0.7021, d5.loss_map_dir: 0.0097, loss: 26.2353, grad_norm: 141.0188 +2026-02-28 00:48:13,993 - DriveTransformer - INFO - Epoch [8][30350/39528] lr: 8.063e-05, eta: 5 days, 10:20:40, time: 0.729, data_time: 0.037, memory: 19865, loss_cls: 0.1201, loss_bbox: 0.3198, loss_traj: 0.6204, loss_traj_cls: 0.0015, loss_map_cls: 0.1222, loss_map_pts: 0.5908, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.8729, d0.loss_plan_l1_fix_dist: 0.5192, d1.loss_plan_l1_fix_time: 1.1194, d1.loss_plan_l1_fix_dist: 0.1882, d2.loss_plan_l1_fix_time: 1.0992, d2.loss_plan_l1_fix_dist: 0.2693, d3.loss_plan_l1_fix_time: 1.0972, d3.loss_plan_l1_fix_dist: 0.2616, d4.loss_plan_l1_fix_time: 1.0988, d4.loss_plan_l1_fix_dist: 0.2339, d5.loss_plan_l1_fix_time: 1.1003, d5.loss_plan_l1_fix_dist: 0.2098, d6.loss_plan_l1_fix_time: 1.1023, d6.loss_plan_l1_fix_dist: 0.2104, d0.loss_cls_all: 0.1622, d0.loss_bbox_all: 0.3754, d0.loss_cls: 0.1622, d0.loss_bbox: 0.3754, d1.loss_cls: 0.1496, d1.loss_bbox: 0.3440, d2.loss_cls: 0.1387, d2.loss_bbox: 0.3264, d3.loss_cls: 0.1255, d3.loss_bbox: 0.3204, d4.loss_cls: 0.1206, d4.loss_bbox: 0.3193, d5.loss_cls: 0.1199, d5.loss_bbox: 0.3191, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8299, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6808, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6326, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6224, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6226, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6192, d0.loss_map_cls_all: 0.1991, d0.loss_map_pts_all: 1.1859, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1991, d0.loss_map_pts: 1.1859, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1731, d1.loss_map_pts: 0.8372, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1467, d2.loss_map_pts: 0.6799, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1345, d3.loss_map_pts: 0.6230, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1279, d4.loss_map_pts: 0.6005, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1232, d5.loss_map_pts: 0.5945, d5.loss_map_dir: 0.0075, loss: 27.3967, grad_norm: 140.8203 +2026-02-28 00:48:51,303 - DriveTransformer - INFO - Epoch [8][30400/39528] lr: 8.063e-05, eta: 5 days, 10:20:10, time: 0.746, data_time: 0.038, memory: 19865, loss_cls: 0.1183, loss_bbox: 0.3239, loss_traj: 0.5526, loss_traj_cls: 0.0015, loss_map_cls: 0.1315, loss_map_pts: 0.6427, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.5752, d0.loss_plan_l1_fix_dist: 0.4757, d1.loss_plan_l1_fix_time: 0.9716, d1.loss_plan_l1_fix_dist: 0.1867, d2.loss_plan_l1_fix_time: 0.9649, d2.loss_plan_l1_fix_dist: 0.2518, d3.loss_plan_l1_fix_time: 0.9621, d3.loss_plan_l1_fix_dist: 0.2319, d4.loss_plan_l1_fix_time: 0.9642, d4.loss_plan_l1_fix_dist: 0.2111, d5.loss_plan_l1_fix_time: 0.9664, d5.loss_plan_l1_fix_dist: 0.2015, d6.loss_plan_l1_fix_time: 0.9692, d6.loss_plan_l1_fix_dist: 0.2134, d0.loss_cls_all: 0.1635, d0.loss_bbox_all: 0.3884, d0.loss_cls: 0.1635, d0.loss_bbox: 0.3884, d1.loss_cls: 0.1533, d1.loss_bbox: 0.3578, d2.loss_cls: 0.1437, d2.loss_bbox: 0.3367, d3.loss_cls: 0.1253, d3.loss_bbox: 0.3307, d4.loss_cls: 0.1198, d4.loss_bbox: 0.3264, d5.loss_cls: 0.1188, d5.loss_bbox: 0.3244, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7168, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6116, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5641, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5598, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5568, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5520, d0.loss_map_cls_all: 0.2094, d0.loss_map_pts_all: 1.2699, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2094, d0.loss_map_pts: 1.2699, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1711, d1.loss_map_pts: 0.8892, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1496, d2.loss_map_pts: 0.7211, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1403, d3.loss_map_pts: 0.6703, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1338, d4.loss_map_pts: 0.6502, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1314, d5.loss_map_pts: 0.6438, d5.loss_map_dir: 0.0090, loss: 26.2524, grad_norm: 139.7801 +2026-02-28 00:49:28,992 - DriveTransformer - INFO - Epoch [8][30450/39528] lr: 8.063e-05, eta: 5 days, 10:19:44, time: 0.754, data_time: 0.039, memory: 19865, loss_cls: 0.1306, loss_bbox: 0.3403, loss_traj: 0.5461, loss_traj_cls: 0.0015, loss_map_cls: 0.1588, loss_map_pts: 0.6663, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.8302, d0.loss_plan_l1_fix_dist: 0.4389, d1.loss_plan_l1_fix_time: 0.9672, d1.loss_plan_l1_fix_dist: 0.2083, d2.loss_plan_l1_fix_time: 0.9656, d2.loss_plan_l1_fix_dist: 0.2303, d3.loss_plan_l1_fix_time: 0.9678, d3.loss_plan_l1_fix_dist: 0.2190, d4.loss_plan_l1_fix_time: 0.9710, d4.loss_plan_l1_fix_dist: 0.1981, d5.loss_plan_l1_fix_time: 0.9745, d5.loss_plan_l1_fix_dist: 0.2041, d6.loss_plan_l1_fix_time: 0.9779, d6.loss_plan_l1_fix_dist: 0.2204, d0.loss_cls_all: 0.1754, d0.loss_bbox_all: 0.3996, d0.loss_cls: 0.1754, d0.loss_bbox: 0.3996, d1.loss_cls: 0.1668, d1.loss_bbox: 0.3655, d2.loss_cls: 0.1541, d2.loss_bbox: 0.3478, d3.loss_cls: 0.1396, d3.loss_bbox: 0.3418, d4.loss_cls: 0.1321, d4.loss_bbox: 0.3405, d5.loss_cls: 0.1310, d5.loss_bbox: 0.3395, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7386, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5889, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5512, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5505, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5480, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5423, d0.loss_map_cls_all: 0.2360, d0.loss_map_pts_all: 1.3580, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2360, d0.loss_map_pts: 1.3580, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2062, d1.loss_map_pts: 0.9352, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1809, d2.loss_map_pts: 0.7481, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1701, d3.loss_map_pts: 0.6855, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1648, d4.loss_map_pts: 0.6674, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1612, d5.loss_map_pts: 0.6655, d5.loss_map_dir: 0.0086, loss: 27.1902, grad_norm: 137.8297 +2026-02-28 00:50:05,229 - DriveTransformer - INFO - Epoch [8][30500/39528] lr: 8.063e-05, eta: 5 days, 10:19:04, time: 0.725, data_time: 0.038, memory: 19865, loss_cls: 0.1215, loss_bbox: 0.3302, loss_traj: 0.6283, loss_traj_cls: 0.0015, loss_map_cls: 0.1440, loss_map_pts: 0.6990, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.6014, d0.loss_plan_l1_fix_dist: 0.3937, d1.loss_plan_l1_fix_time: 0.9519, d1.loss_plan_l1_fix_dist: 0.2074, d2.loss_plan_l1_fix_time: 0.9402, d2.loss_plan_l1_fix_dist: 0.1853, d3.loss_plan_l1_fix_time: 0.9426, d3.loss_plan_l1_fix_dist: 0.1922, d4.loss_plan_l1_fix_time: 0.9464, d4.loss_plan_l1_fix_dist: 0.1966, d5.loss_plan_l1_fix_time: 0.9507, d5.loss_plan_l1_fix_dist: 0.2194, d6.loss_plan_l1_fix_time: 0.9553, d6.loss_plan_l1_fix_dist: 0.2410, d0.loss_cls_all: 0.1625, d0.loss_bbox_all: 0.4016, d0.loss_cls: 0.1625, d0.loss_bbox: 0.4016, d1.loss_cls: 0.1570, d1.loss_bbox: 0.3636, d2.loss_cls: 0.1431, d2.loss_bbox: 0.3402, d3.loss_cls: 0.1310, d3.loss_bbox: 0.3325, d4.loss_cls: 0.1235, d4.loss_bbox: 0.3302, d5.loss_cls: 0.1222, d5.loss_bbox: 0.3292, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8225, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6784, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6413, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6295, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6343, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6281, d0.loss_map_cls_all: 0.2288, d0.loss_map_pts_all: 1.3592, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2288, d0.loss_map_pts: 1.3592, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1959, d1.loss_map_pts: 1.0096, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1669, d2.loss_map_pts: 0.8121, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1565, d3.loss_map_pts: 0.7311, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1502, d4.loss_map_pts: 0.7041, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1446, d5.loss_map_pts: 0.6994, d5.loss_map_dir: 0.0088, loss: 27.4015, grad_norm: 136.5332 +2026-02-28 00:50:41,912 - DriveTransformer - INFO - Epoch [8][30550/39528] lr: 8.063e-05, eta: 5 days, 10:18:29, time: 0.734, data_time: 0.041, memory: 19865, loss_cls: 0.1218, loss_bbox: 0.3177, loss_traj: 0.5767, loss_traj_cls: 0.0016, loss_map_cls: 0.1418, loss_map_pts: 0.6334, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.4026, d0.loss_plan_l1_fix_dist: 0.4385, d1.loss_plan_l1_fix_time: 0.8493, d1.loss_plan_l1_fix_dist: 0.2280, d2.loss_plan_l1_fix_time: 0.8306, d2.loss_plan_l1_fix_dist: 0.1961, d3.loss_plan_l1_fix_time: 0.8300, d3.loss_plan_l1_fix_dist: 0.1870, d4.loss_plan_l1_fix_time: 0.8335, d4.loss_plan_l1_fix_dist: 0.1921, d5.loss_plan_l1_fix_time: 0.8381, d5.loss_plan_l1_fix_dist: 0.1999, d6.loss_plan_l1_fix_time: 0.8434, d6.loss_plan_l1_fix_dist: 0.2062, d0.loss_cls_all: 0.1577, d0.loss_bbox_all: 0.3802, d0.loss_cls: 0.1577, d0.loss_bbox: 0.3802, d1.loss_cls: 0.1492, d1.loss_bbox: 0.3501, d2.loss_cls: 0.1405, d2.loss_bbox: 0.3299, d3.loss_cls: 0.1294, d3.loss_bbox: 0.3217, d4.loss_cls: 0.1240, d4.loss_bbox: 0.3192, d5.loss_cls: 0.1218, d5.loss_bbox: 0.3178, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8211, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6404, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6017, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5846, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5803, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5801, d0.loss_map_cls_all: 0.2208, d0.loss_map_pts_all: 1.2584, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2208, d0.loss_map_pts: 1.2584, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1911, d1.loss_map_pts: 0.9076, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1653, d2.loss_map_pts: 0.7447, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1545, d3.loss_map_pts: 0.6746, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1471, d4.loss_map_pts: 0.6417, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1436, d5.loss_map_pts: 0.6345, d5.loss_map_dir: 0.0081, loss: 25.4879, grad_norm: 135.2091 +2026-02-28 00:51:16,932 - DriveTransformer - INFO - Epoch [8][30600/39528] lr: 8.063e-05, eta: 5 days, 10:17:38, time: 0.702, data_time: 0.036, memory: 19865, loss_cls: 0.1299, loss_bbox: 0.3480, loss_traj: 0.5530, loss_traj_cls: 0.0015, loss_map_cls: 0.1428, loss_map_pts: 0.6501, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.7989, d0.loss_plan_l1_fix_dist: 0.4527, d1.loss_plan_l1_fix_time: 1.0643, d1.loss_plan_l1_fix_dist: 0.2807, d2.loss_plan_l1_fix_time: 1.0430, d2.loss_plan_l1_fix_dist: 0.2599, d3.loss_plan_l1_fix_time: 1.0428, d3.loss_plan_l1_fix_dist: 0.2363, d4.loss_plan_l1_fix_time: 1.0463, d4.loss_plan_l1_fix_dist: 0.2445, d5.loss_plan_l1_fix_time: 1.0508, d5.loss_plan_l1_fix_dist: 0.2567, d6.loss_plan_l1_fix_time: 1.0552, d6.loss_plan_l1_fix_dist: 0.2809, d0.loss_cls_all: 0.1761, d0.loss_bbox_all: 0.4168, d0.loss_cls: 0.1761, d0.loss_bbox: 0.4168, d1.loss_cls: 0.1679, d1.loss_bbox: 0.3818, d2.loss_cls: 0.1521, d2.loss_bbox: 0.3634, d3.loss_cls: 0.1400, d3.loss_bbox: 0.3530, d4.loss_cls: 0.1342, d4.loss_bbox: 0.3492, d5.loss_cls: 0.1302, d5.loss_bbox: 0.3485, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8240, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6068, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5615, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5587, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5537, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5574, d0.loss_map_cls_all: 0.2220, d0.loss_map_pts_all: 1.2806, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2220, d0.loss_map_pts: 1.2806, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1922, d1.loss_map_pts: 0.9244, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1692, d2.loss_map_pts: 0.7539, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1562, d3.loss_map_pts: 0.6871, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1510, d4.loss_map_pts: 0.6600, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1445, d5.loss_map_pts: 0.6528, d5.loss_map_dir: 0.0074, loss: 27.8668, grad_norm: 139.3792 +2026-02-28 00:51:53,351 - DriveTransformer - INFO - Epoch [8][30650/39528] lr: 8.063e-05, eta: 5 days, 10:17:00, time: 0.727, data_time: 0.036, memory: 19865, loss_cls: 0.1251, loss_bbox: 0.3406, loss_traj: 0.5405, loss_traj_cls: 0.0016, loss_map_cls: 0.1344, loss_map_pts: 0.5988, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.5271, d0.loss_plan_l1_fix_dist: 0.4629, d1.loss_plan_l1_fix_time: 0.9876, d1.loss_plan_l1_fix_dist: 0.2618, d2.loss_plan_l1_fix_time: 0.9784, d2.loss_plan_l1_fix_dist: 0.2585, d3.loss_plan_l1_fix_time: 0.9771, d3.loss_plan_l1_fix_dist: 0.2277, d4.loss_plan_l1_fix_time: 0.9805, d4.loss_plan_l1_fix_dist: 0.2326, d5.loss_plan_l1_fix_time: 0.9841, d5.loss_plan_l1_fix_dist: 0.2415, d6.loss_plan_l1_fix_time: 0.9886, d6.loss_plan_l1_fix_dist: 0.2473, d0.loss_cls_all: 0.1703, d0.loss_bbox_all: 0.3840, d0.loss_cls: 0.1703, d0.loss_bbox: 0.3840, d1.loss_cls: 0.1605, d1.loss_bbox: 0.3548, d2.loss_cls: 0.1482, d2.loss_bbox: 0.3434, d3.loss_cls: 0.1349, d3.loss_bbox: 0.3400, d4.loss_cls: 0.1251, d4.loss_bbox: 0.3420, d5.loss_cls: 0.1237, d5.loss_bbox: 0.3427, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7014, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5724, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5473, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5439, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5481, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5449, d0.loss_map_cls_all: 0.2167, d0.loss_map_pts_all: 1.2547, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2167, d0.loss_map_pts: 1.2547, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1795, d1.loss_map_pts: 0.8565, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1547, d2.loss_map_pts: 0.6839, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1452, d3.loss_map_pts: 0.6280, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1404, d4.loss_map_pts: 0.6040, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1352, d5.loss_map_pts: 0.5995, d5.loss_map_dir: 0.0083, loss: 26.2197, grad_norm: 142.7891 +2026-02-28 00:52:30,282 - DriveTransformer - INFO - Epoch [8][30700/39528] lr: 8.063e-05, eta: 5 days, 10:16:27, time: 0.739, data_time: 0.038, memory: 19865, loss_cls: 0.1367, loss_bbox: 0.3376, loss_traj: 0.5310, loss_traj_cls: 0.0016, loss_map_cls: 0.1271, loss_map_pts: 0.6595, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.2944, d0.loss_plan_l1_fix_dist: 0.4849, d1.loss_plan_l1_fix_time: 0.9100, d1.loss_plan_l1_fix_dist: 0.2637, d2.loss_plan_l1_fix_time: 0.8917, d2.loss_plan_l1_fix_dist: 0.2681, d3.loss_plan_l1_fix_time: 0.8943, d3.loss_plan_l1_fix_dist: 0.2263, d4.loss_plan_l1_fix_time: 0.8975, d4.loss_plan_l1_fix_dist: 0.2189, d5.loss_plan_l1_fix_time: 0.9002, d5.loss_plan_l1_fix_dist: 0.2167, d6.loss_plan_l1_fix_time: 0.9044, d6.loss_plan_l1_fix_dist: 0.2256, d0.loss_cls_all: 0.1757, d0.loss_bbox_all: 0.3989, d0.loss_cls: 0.1757, d0.loss_bbox: 0.3989, d1.loss_cls: 0.1629, d1.loss_bbox: 0.3696, d2.loss_cls: 0.1507, d2.loss_bbox: 0.3510, d3.loss_cls: 0.1392, d3.loss_bbox: 0.3427, d4.loss_cls: 0.1356, d4.loss_bbox: 0.3390, d5.loss_cls: 0.1356, d5.loss_bbox: 0.3380, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7344, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5911, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5499, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5430, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5359, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5290, d0.loss_map_cls_all: 0.2033, d0.loss_map_pts_all: 1.3372, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2033, d0.loss_map_pts: 1.3372, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1697, d1.loss_map_pts: 0.9472, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1520, d2.loss_map_pts: 0.7579, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1440, d3.loss_map_pts: 0.6906, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1358, d4.loss_map_pts: 0.6674, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1299, d5.loss_map_pts: 0.6593, d5.loss_map_dir: 0.0084, loss: 26.0929, grad_norm: 143.7236 +2026-02-28 00:53:07,307 - DriveTransformer - INFO - Epoch [8][30750/39528] lr: 8.063e-05, eta: 5 days, 10:15:54, time: 0.741, data_time: 0.039, memory: 19865, loss_cls: 0.1209, loss_bbox: 0.3245, loss_traj: 0.6006, loss_traj_cls: 0.0016, loss_map_cls: 0.1097, loss_map_pts: 0.5947, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.4813, d0.loss_plan_l1_fix_dist: 0.4529, d1.loss_plan_l1_fix_time: 0.9111, d1.loss_plan_l1_fix_dist: 0.2504, d2.loss_plan_l1_fix_time: 0.8890, d2.loss_plan_l1_fix_dist: 0.2790, d3.loss_plan_l1_fix_time: 0.8823, d3.loss_plan_l1_fix_dist: 0.2353, d4.loss_plan_l1_fix_time: 0.8849, d4.loss_plan_l1_fix_dist: 0.2295, d5.loss_plan_l1_fix_time: 0.8891, d5.loss_plan_l1_fix_dist: 0.2449, d6.loss_plan_l1_fix_time: 0.8938, d6.loss_plan_l1_fix_dist: 0.2755, d0.loss_cls_all: 0.1603, d0.loss_bbox_all: 0.3758, d0.loss_cls: 0.1603, d0.loss_bbox: 0.3758, d1.loss_cls: 0.1546, d1.loss_bbox: 0.3427, d2.loss_cls: 0.1418, d2.loss_bbox: 0.3243, d3.loss_cls: 0.1271, d3.loss_bbox: 0.3188, d4.loss_cls: 0.1222, d4.loss_bbox: 0.3179, d5.loss_cls: 0.1199, d5.loss_bbox: 0.3216, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7926, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6607, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6268, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6055, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6016, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6022, d0.loss_map_cls_all: 0.1861, d0.loss_map_pts_all: 1.2336, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1861, d0.loss_map_pts: 1.2336, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1572, d1.loss_map_pts: 0.8568, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1372, d2.loss_map_pts: 0.6880, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1241, d3.loss_map_pts: 0.6254, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1160, d4.loss_map_pts: 0.5969, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1111, d5.loss_map_pts: 0.5916, d5.loss_map_dir: 0.0070, loss: 25.7084, grad_norm: 142.5740 +2026-02-28 00:53:44,125 - DriveTransformer - INFO - Epoch [8][30800/39528] lr: 8.063e-05, eta: 5 days, 10:15:20, time: 0.736, data_time: 0.036, memory: 19865, loss_cls: 0.1221, loss_bbox: 0.3392, loss_traj: 0.5461, loss_traj_cls: 0.0016, loss_map_cls: 0.1279, loss_map_pts: 0.6303, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.7231, d0.loss_plan_l1_fix_dist: 0.4695, d1.loss_plan_l1_fix_time: 0.9620, d1.loss_plan_l1_fix_dist: 0.2317, d2.loss_plan_l1_fix_time: 0.9541, d2.loss_plan_l1_fix_dist: 0.2500, d3.loss_plan_l1_fix_time: 0.9553, d3.loss_plan_l1_fix_dist: 0.2166, d4.loss_plan_l1_fix_time: 0.9595, d4.loss_plan_l1_fix_dist: 0.2183, d5.loss_plan_l1_fix_time: 0.9644, d5.loss_plan_l1_fix_dist: 0.2357, d6.loss_plan_l1_fix_time: 0.9692, d6.loss_plan_l1_fix_dist: 0.2502, d0.loss_cls_all: 0.1708, d0.loss_bbox_all: 0.3880, d0.loss_cls: 0.1708, d0.loss_bbox: 0.3880, d1.loss_cls: 0.1605, d1.loss_bbox: 0.3552, d2.loss_cls: 0.1472, d2.loss_bbox: 0.3386, d3.loss_cls: 0.1302, d3.loss_bbox: 0.3336, d4.loss_cls: 0.1236, d4.loss_bbox: 0.3346, d5.loss_cls: 0.1229, d5.loss_bbox: 0.3363, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7415, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6005, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5638, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5510, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5469, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5452, d0.loss_map_cls_all: 0.2134, d0.loss_map_pts_all: 1.2370, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2134, d0.loss_map_pts: 1.2370, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1785, d1.loss_map_pts: 0.8763, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1558, d2.loss_map_pts: 0.7226, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1422, d3.loss_map_pts: 0.6624, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1347, d4.loss_map_pts: 0.6405, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1306, d5.loss_map_pts: 0.6308, d5.loss_map_dir: 0.0077, loss: 26.4182, grad_norm: 143.6200 +2026-02-28 00:54:19,655 - DriveTransformer - INFO - Epoch [8][30850/39528] lr: 8.063e-05, eta: 5 days, 10:14:34, time: 0.711, data_time: 0.039, memory: 19865, loss_cls: 0.1179, loss_bbox: 0.3209, loss_traj: 0.6307, loss_traj_cls: 0.0016, loss_map_cls: 0.1160, loss_map_pts: 0.5391, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.4774, d0.loss_plan_l1_fix_dist: 0.4559, d1.loss_plan_l1_fix_time: 0.9678, d1.loss_plan_l1_fix_dist: 0.2219, d2.loss_plan_l1_fix_time: 0.9601, d2.loss_plan_l1_fix_dist: 0.2095, d3.loss_plan_l1_fix_time: 0.9624, d3.loss_plan_l1_fix_dist: 0.1964, d4.loss_plan_l1_fix_time: 0.9651, d4.loss_plan_l1_fix_dist: 0.2047, d5.loss_plan_l1_fix_time: 0.9688, d5.loss_plan_l1_fix_dist: 0.2154, d6.loss_plan_l1_fix_time: 0.9733, d6.loss_plan_l1_fix_dist: 0.2247, d0.loss_cls_all: 0.1522, d0.loss_bbox_all: 0.3649, d0.loss_cls: 0.1522, d0.loss_bbox: 0.3649, d1.loss_cls: 0.1473, d1.loss_bbox: 0.3367, d2.loss_cls: 0.1355, d2.loss_bbox: 0.3222, d3.loss_cls: 0.1215, d3.loss_bbox: 0.3197, d4.loss_cls: 0.1168, d4.loss_bbox: 0.3198, d5.loss_cls: 0.1173, d5.loss_bbox: 0.3194, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8466, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7136, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6529, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.6413, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6347, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6281, d0.loss_map_cls_all: 0.1875, d0.loss_map_pts_all: 1.1233, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1875, d0.loss_map_pts: 1.1233, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1630, d1.loss_map_pts: 0.7855, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1402, d2.loss_map_pts: 0.6338, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1287, d3.loss_map_pts: 0.5685, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1223, d4.loss_map_pts: 0.5495, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1175, d5.loss_map_pts: 0.5392, d5.loss_map_dir: 0.0064, loss: 25.5605, grad_norm: 143.4362 +2026-02-28 00:54:55,530 - DriveTransformer - INFO - Epoch [8][30900/39528] lr: 8.063e-05, eta: 5 days, 10:13:51, time: 0.718, data_time: 0.038, memory: 19865, loss_cls: 0.1251, loss_bbox: 0.3199, loss_traj: 0.5750, loss_traj_cls: 0.0016, loss_map_cls: 0.1125, loss_map_pts: 0.6424, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.7389, d0.loss_plan_l1_fix_dist: 0.4389, d1.loss_plan_l1_fix_time: 0.9116, d1.loss_plan_l1_fix_dist: 0.2167, d2.loss_plan_l1_fix_time: 0.9045, d2.loss_plan_l1_fix_dist: 0.2002, d3.loss_plan_l1_fix_time: 0.8987, d3.loss_plan_l1_fix_dist: 0.1962, d4.loss_plan_l1_fix_time: 0.9017, d4.loss_plan_l1_fix_dist: 0.2043, d5.loss_plan_l1_fix_time: 0.9051, d5.loss_plan_l1_fix_dist: 0.2146, d6.loss_plan_l1_fix_time: 0.9101, d6.loss_plan_l1_fix_dist: 0.2338, d0.loss_cls_all: 0.1680, d0.loss_bbox_all: 0.3866, d0.loss_cls: 0.1680, d0.loss_bbox: 0.3866, d1.loss_cls: 0.1634, d1.loss_bbox: 0.3532, d2.loss_cls: 0.1484, d2.loss_bbox: 0.3318, d3.loss_cls: 0.1308, d3.loss_bbox: 0.3229, d4.loss_cls: 0.1260, d4.loss_bbox: 0.3207, d5.loss_cls: 0.1248, d5.loss_bbox: 0.3192, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8178, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6593, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6002, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5837, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5822, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5792, d0.loss_map_cls_all: 0.1955, d0.loss_map_pts_all: 1.2779, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1955, d0.loss_map_pts: 1.2779, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1599, d1.loss_map_pts: 0.9258, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1388, d2.loss_map_pts: 0.7438, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1255, d3.loss_map_pts: 0.6727, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1200, d4.loss_map_pts: 0.6483, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1136, d5.loss_map_pts: 0.6418, d5.loss_map_dir: 0.0074, loss: 26.2244, grad_norm: 145.6418 +2026-02-28 00:55:32,588 - DriveTransformer - INFO - Epoch [8][30950/39528] lr: 8.063e-05, eta: 5 days, 10:13:19, time: 0.741, data_time: 0.039, memory: 19865, loss_cls: 0.1419, loss_bbox: 0.3384, loss_traj: 0.5906, loss_traj_cls: 0.0015, loss_map_cls: 0.1380, loss_map_pts: 0.5976, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.4912, d0.loss_plan_l1_fix_dist: 0.4492, d1.loss_plan_l1_fix_time: 0.9209, d1.loss_plan_l1_fix_dist: 0.2212, d2.loss_plan_l1_fix_time: 0.9109, d2.loss_plan_l1_fix_dist: 0.1998, d3.loss_plan_l1_fix_time: 0.9140, d3.loss_plan_l1_fix_dist: 0.1997, d4.loss_plan_l1_fix_time: 0.9171, d4.loss_plan_l1_fix_dist: 0.2042, d5.loss_plan_l1_fix_time: 0.9205, d5.loss_plan_l1_fix_dist: 0.2135, d6.loss_plan_l1_fix_time: 0.9245, d6.loss_plan_l1_fix_dist: 0.2333, d0.loss_cls_all: 0.1802, d0.loss_bbox_all: 0.3922, d0.loss_cls: 0.1802, d0.loss_bbox: 0.3922, d1.loss_cls: 0.1752, d1.loss_bbox: 0.3632, d2.loss_cls: 0.1592, d2.loss_bbox: 0.3455, d3.loss_cls: 0.1471, d3.loss_bbox: 0.3378, d4.loss_cls: 0.1399, d4.loss_bbox: 0.3390, d5.loss_cls: 0.1398, d5.loss_bbox: 0.3387, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8165, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6697, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5983, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5962, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5981, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5948, d0.loss_map_cls_all: 0.2150, d0.loss_map_pts_all: 1.2753, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2150, d0.loss_map_pts: 1.2753, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1856, d1.loss_map_pts: 0.8839, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1638, d2.loss_map_pts: 0.7017, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1510, d3.loss_map_pts: 0.6326, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1434, d4.loss_map_pts: 0.6046, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1387, d5.loss_map_pts: 0.5982, d5.loss_map_dir: 0.0069, loss: 26.2762, grad_norm: 145.1381 +2026-02-28 00:56:09,309 - DriveTransformer - INFO - Epoch [8][31000/39528] lr: 8.063e-05, eta: 5 days, 10:12:44, time: 0.734, data_time: 0.039, memory: 19865, loss_cls: 0.1009, loss_bbox: 0.2918, loss_traj: 0.5389, loss_traj_cls: 0.0016, loss_map_cls: 0.1273, loss_map_pts: 0.5776, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.3164, d0.loss_plan_l1_fix_dist: 0.3752, d1.loss_plan_l1_fix_time: 0.8465, d1.loss_plan_l1_fix_dist: 0.1566, d2.loss_plan_l1_fix_time: 0.8328, d2.loss_plan_l1_fix_dist: 0.1559, d3.loss_plan_l1_fix_time: 0.8367, d3.loss_plan_l1_fix_dist: 0.1560, d4.loss_plan_l1_fix_time: 0.8395, d4.loss_plan_l1_fix_dist: 0.1653, d5.loss_plan_l1_fix_time: 0.8418, d5.loss_plan_l1_fix_dist: 0.1825, d6.loss_plan_l1_fix_time: 0.8439, d6.loss_plan_l1_fix_dist: 0.2011, d0.loss_cls_all: 0.1409, d0.loss_bbox_all: 0.3400, d0.loss_cls: 0.1409, d0.loss_bbox: 0.3400, d1.loss_cls: 0.1335, d1.loss_bbox: 0.3104, d2.loss_cls: 0.1206, d2.loss_bbox: 0.2942, d3.loss_cls: 0.1070, d3.loss_bbox: 0.2898, d4.loss_cls: 0.1029, d4.loss_bbox: 0.2889, d5.loss_cls: 0.1016, d5.loss_bbox: 0.2906, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7529, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6048, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5587, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5517, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5463, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5392, d0.loss_map_cls_all: 0.2134, d0.loss_map_pts_all: 1.1987, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2134, d0.loss_map_pts: 1.1987, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1782, d1.loss_map_pts: 0.8406, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1540, d2.loss_map_pts: 0.6772, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1430, d3.loss_map_pts: 0.6129, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1359, d4.loss_map_pts: 0.5857, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1290, d5.loss_map_pts: 0.5798, d5.loss_map_dir: 0.0068, loss: 23.8626, grad_norm: 141.8367 +2026-02-28 00:56:46,230 - DriveTransformer - INFO - Epoch [8][31050/39528] lr: 8.063e-05, eta: 5 days, 10:12:10, time: 0.739, data_time: 0.040, memory: 19865, loss_cls: 0.1169, loss_bbox: 0.3174, loss_traj: 0.5073, loss_traj_cls: 0.0015, loss_map_cls: 0.1183, loss_map_pts: 0.5338, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.4028, d0.loss_plan_l1_fix_dist: 0.5043, d1.loss_plan_l1_fix_time: 0.8414, d1.loss_plan_l1_fix_dist: 0.1839, d2.loss_plan_l1_fix_time: 0.8306, d2.loss_plan_l1_fix_dist: 0.1804, d3.loss_plan_l1_fix_time: 0.8305, d3.loss_plan_l1_fix_dist: 0.1853, d4.loss_plan_l1_fix_time: 0.8330, d4.loss_plan_l1_fix_dist: 0.1916, d5.loss_plan_l1_fix_time: 0.8359, d5.loss_plan_l1_fix_dist: 0.2012, d6.loss_plan_l1_fix_time: 0.8393, d6.loss_plan_l1_fix_dist: 0.2155, d0.loss_cls_all: 0.1548, d0.loss_bbox_all: 0.3717, d0.loss_cls: 0.1548, d0.loss_bbox: 0.3717, d1.loss_cls: 0.1473, d1.loss_bbox: 0.3407, d2.loss_cls: 0.1372, d2.loss_bbox: 0.3248, d3.loss_cls: 0.1228, d3.loss_bbox: 0.3202, d4.loss_cls: 0.1177, d4.loss_bbox: 0.3187, d5.loss_cls: 0.1177, d5.loss_bbox: 0.3166, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6899, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5640, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5223, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5121, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5058, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5124, d0.loss_map_cls_all: 0.1972, d0.loss_map_pts_all: 1.1371, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1972, d0.loss_map_pts: 1.1371, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1632, d1.loss_map_pts: 0.7875, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1410, d2.loss_map_pts: 0.6203, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1301, d3.loss_map_pts: 0.5629, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1240, d4.loss_map_pts: 0.5416, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1201, d5.loss_map_pts: 0.5331, d5.loss_map_dir: 0.0068, loss: 23.7465, grad_norm: 140.5360 +2026-02-28 00:57:20,952 - DriveTransformer - INFO - Epoch [8][31100/39528] lr: 8.063e-05, eta: 5 days, 10:11:17, time: 0.694, data_time: 0.038, memory: 19865, loss_cls: 0.1055, loss_bbox: 0.2999, loss_traj: 0.5758, loss_traj_cls: 0.0016, loss_map_cls: 0.0976, loss_map_pts: 0.4578, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.2553, d0.loss_plan_l1_fix_dist: 0.4008, d1.loss_plan_l1_fix_time: 0.8417, d1.loss_plan_l1_fix_dist: 0.1944, d2.loss_plan_l1_fix_time: 0.8308, d2.loss_plan_l1_fix_dist: 0.1797, d3.loss_plan_l1_fix_time: 0.8231, d3.loss_plan_l1_fix_dist: 0.1847, d4.loss_plan_l1_fix_time: 0.8259, d4.loss_plan_l1_fix_dist: 0.1868, d5.loss_plan_l1_fix_time: 0.8303, d5.loss_plan_l1_fix_dist: 0.1934, d6.loss_plan_l1_fix_time: 0.8357, d6.loss_plan_l1_fix_dist: 0.2051, d0.loss_cls_all: 0.1475, d0.loss_bbox_all: 0.3564, d0.loss_cls: 0.1475, d0.loss_bbox: 0.3564, d1.loss_cls: 0.1398, d1.loss_bbox: 0.3232, d2.loss_cls: 0.1279, d2.loss_bbox: 0.3078, d3.loss_cls: 0.1148, d3.loss_bbox: 0.3014, d4.loss_cls: 0.1070, d4.loss_bbox: 0.2999, d5.loss_cls: 0.1054, d5.loss_bbox: 0.2999, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7360, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6219, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5927, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5814, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5779, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5789, d0.loss_map_cls_all: 0.1803, d0.loss_map_pts_all: 1.0057, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1803, d0.loss_map_pts: 1.0057, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1460, d1.loss_map_pts: 0.6817, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1246, d2.loss_map_pts: 0.5370, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1105, d3.loss_map_pts: 0.4836, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1035, d4.loss_map_pts: 0.4644, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0989, d5.loss_map_pts: 0.4578, d5.loss_map_dir: 0.0056, loss: 22.7806, grad_norm: 142.1992 +2026-02-28 00:57:57,286 - DriveTransformer - INFO - Epoch [8][31150/39528] lr: 8.063e-05, eta: 5 days, 10:10:38, time: 0.727, data_time: 0.036, memory: 19865, loss_cls: 0.1146, loss_bbox: 0.3203, loss_traj: 0.5465, loss_traj_cls: 0.0016, loss_map_cls: 0.1207, loss_map_pts: 0.5589, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.5435, d0.loss_plan_l1_fix_dist: 0.4325, d1.loss_plan_l1_fix_time: 0.8816, d1.loss_plan_l1_fix_dist: 0.2255, d2.loss_plan_l1_fix_time: 0.8620, d2.loss_plan_l1_fix_dist: 0.2087, d3.loss_plan_l1_fix_time: 0.8591, d3.loss_plan_l1_fix_dist: 0.2097, d4.loss_plan_l1_fix_time: 0.8609, d4.loss_plan_l1_fix_dist: 0.2070, d5.loss_plan_l1_fix_time: 0.8642, d5.loss_plan_l1_fix_dist: 0.2123, d6.loss_plan_l1_fix_time: 0.8687, d6.loss_plan_l1_fix_dist: 0.2215, d0.loss_cls_all: 0.1622, d0.loss_bbox_all: 0.3759, d0.loss_cls: 0.1622, d0.loss_bbox: 0.3759, d1.loss_cls: 0.1505, d1.loss_bbox: 0.3416, d2.loss_cls: 0.1361, d2.loss_bbox: 0.3246, d3.loss_cls: 0.1221, d3.loss_bbox: 0.3199, d4.loss_cls: 0.1148, d4.loss_bbox: 0.3179, d5.loss_cls: 0.1141, d5.loss_bbox: 0.3179, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8048, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6347, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5710, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5520, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5474, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5441, d0.loss_map_cls_all: 0.1979, d0.loss_map_pts_all: 1.1375, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1979, d0.loss_map_pts: 1.1375, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1663, d1.loss_map_pts: 0.7876, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1409, d2.loss_map_pts: 0.6415, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1309, d3.loss_map_pts: 0.5867, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1284, d4.loss_map_pts: 0.5649, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1225, d5.loss_map_pts: 0.5609, d5.loss_map_dir: 0.0067, loss: 24.6700, grad_norm: 143.6765 +2026-02-28 00:58:34,893 - DriveTransformer - INFO - Epoch [8][31200/39528] lr: 8.063e-05, eta: 5 days, 10:10:11, time: 0.752, data_time: 0.040, memory: 19865, loss_cls: 0.1162, loss_bbox: 0.3354, loss_traj: 0.5756, loss_traj_cls: 0.0016, loss_map_cls: 0.1384, loss_map_pts: 0.6979, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.8718, d0.loss_plan_l1_fix_dist: 0.4339, d1.loss_plan_l1_fix_time: 0.9684, d1.loss_plan_l1_fix_dist: 0.2388, d2.loss_plan_l1_fix_time: 0.9488, d2.loss_plan_l1_fix_dist: 0.2233, d3.loss_plan_l1_fix_time: 0.9440, d3.loss_plan_l1_fix_dist: 0.2286, d4.loss_plan_l1_fix_time: 0.9459, d4.loss_plan_l1_fix_dist: 0.2287, d5.loss_plan_l1_fix_time: 0.9488, d5.loss_plan_l1_fix_dist: 0.2341, d6.loss_plan_l1_fix_time: 0.9527, d6.loss_plan_l1_fix_dist: 0.2431, d0.loss_cls_all: 0.1629, d0.loss_bbox_all: 0.3945, d0.loss_cls: 0.1629, d0.loss_bbox: 0.3945, d1.loss_cls: 0.1558, d1.loss_bbox: 0.3612, d2.loss_cls: 0.1423, d2.loss_bbox: 0.3442, d3.loss_cls: 0.1256, d3.loss_bbox: 0.3373, d4.loss_cls: 0.1184, d4.loss_bbox: 0.3354, d5.loss_cls: 0.1165, d5.loss_bbox: 0.3347, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7452, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6191, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5842, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5730, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5749, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5764, d0.loss_map_cls_all: 0.2185, d0.loss_map_pts_all: 1.4235, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2185, d0.loss_map_pts: 1.4235, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1882, d1.loss_map_pts: 1.0262, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1640, d2.loss_map_pts: 0.8282, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1517, d3.loss_map_pts: 0.7411, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1447, d4.loss_map_pts: 0.7088, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1393, d5.loss_map_pts: 0.7000, d5.loss_map_dir: 0.0100, loss: 27.5941, grad_norm: 150.0076 +2026-02-28 00:59:12,016 - DriveTransformer - INFO - Epoch [8][31250/39528] lr: 8.063e-05, eta: 5 days, 10:09:40, time: 0.742, data_time: 0.038, memory: 19865, loss_cls: 0.1126, loss_bbox: 0.3007, loss_traj: 0.4769, loss_traj_cls: 0.0015, loss_map_cls: 0.1198, loss_map_pts: 0.5224, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.4131, d0.loss_plan_l1_fix_dist: 0.4593, d1.loss_plan_l1_fix_time: 0.8008, d1.loss_plan_l1_fix_dist: 0.2437, d2.loss_plan_l1_fix_time: 0.7878, d2.loss_plan_l1_fix_dist: 0.2122, d3.loss_plan_l1_fix_time: 0.7867, d3.loss_plan_l1_fix_dist: 0.2208, d4.loss_plan_l1_fix_time: 0.7901, d4.loss_plan_l1_fix_dist: 0.2171, d5.loss_plan_l1_fix_time: 0.7938, d5.loss_plan_l1_fix_dist: 0.2241, d6.loss_plan_l1_fix_time: 0.7985, d6.loss_plan_l1_fix_dist: 0.2409, d0.loss_cls_all: 0.1494, d0.loss_bbox_all: 0.3573, d0.loss_cls: 0.1494, d0.loss_bbox: 0.3573, d1.loss_cls: 0.1456, d1.loss_bbox: 0.3283, d2.loss_cls: 0.1305, d2.loss_bbox: 0.3117, d3.loss_cls: 0.1181, d3.loss_bbox: 0.3041, d4.loss_cls: 0.1126, d4.loss_bbox: 0.3029, d5.loss_cls: 0.1121, d5.loss_bbox: 0.3004, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6307, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5072, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4862, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.4748, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4750, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4764, d0.loss_map_cls_all: 0.1900, d0.loss_map_pts_all: 1.1617, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1900, d0.loss_map_pts: 1.1617, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1630, d1.loss_map_pts: 0.7808, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1450, d2.loss_map_pts: 0.6170, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1322, d3.loss_map_pts: 0.5521, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1259, d4.loss_map_pts: 0.5281, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1201, d5.loss_map_pts: 0.5233, d5.loss_map_dir: 0.0078, loss: 23.2097, grad_norm: 150.8957 +2026-02-28 00:59:50,505 - DriveTransformer - INFO - Epoch [8][31300/39528] lr: 8.063e-05, eta: 5 days, 10:09:21, time: 0.770, data_time: 0.039, memory: 19865, loss_cls: 0.1182, loss_bbox: 0.3087, loss_traj: 0.5311, loss_traj_cls: 0.0016, loss_map_cls: 0.1220, loss_map_pts: 0.6116, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.3827, d0.loss_plan_l1_fix_dist: 0.4394, d1.loss_plan_l1_fix_time: 0.9545, d1.loss_plan_l1_fix_dist: 0.2545, d2.loss_plan_l1_fix_time: 0.9363, d2.loss_plan_l1_fix_dist: 0.2078, d3.loss_plan_l1_fix_time: 0.9386, d3.loss_plan_l1_fix_dist: 0.2116, d4.loss_plan_l1_fix_time: 0.9421, d4.loss_plan_l1_fix_dist: 0.2112, d5.loss_plan_l1_fix_time: 0.9459, d5.loss_plan_l1_fix_dist: 0.2217, d6.loss_plan_l1_fix_time: 0.9502, d6.loss_plan_l1_fix_dist: 0.2340, d0.loss_cls_all: 0.1566, d0.loss_bbox_all: 0.3730, d0.loss_cls: 0.1566, d0.loss_bbox: 0.3730, d1.loss_cls: 0.1466, d1.loss_bbox: 0.3402, d2.loss_cls: 0.1396, d2.loss_bbox: 0.3212, d3.loss_cls: 0.1246, d3.loss_bbox: 0.3145, d4.loss_cls: 0.1205, d4.loss_bbox: 0.3109, d5.loss_cls: 0.1184, d5.loss_bbox: 0.3086, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6929, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5769, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5490, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5385, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5328, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5320, d0.loss_map_cls_all: 0.1975, d0.loss_map_pts_all: 1.3404, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.1975, d0.loss_map_pts: 1.3404, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1632, d1.loss_map_pts: 0.9051, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1451, d2.loss_map_pts: 0.7218, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1359, d3.loss_map_pts: 0.6542, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1269, d4.loss_map_pts: 0.6230, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1224, d5.loss_map_pts: 0.6144, d5.loss_map_dir: 0.0098, loss: 25.6187, grad_norm: 150.4364 +2026-02-28 01:00:25,294 - DriveTransformer - INFO - Epoch [8][31350/39528] lr: 8.063e-05, eta: 5 days, 10:08:28, time: 0.696, data_time: 0.038, memory: 19865, loss_cls: 0.1279, loss_bbox: 0.3226, loss_traj: 0.7101, loss_traj_cls: 0.0015, loss_map_cls: 0.1324, loss_map_pts: 0.5621, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.9268, d0.loss_plan_l1_fix_dist: 0.4289, d1.loss_plan_l1_fix_time: 0.9576, d1.loss_plan_l1_fix_dist: 0.2444, d2.loss_plan_l1_fix_time: 0.9384, d2.loss_plan_l1_fix_dist: 0.2083, d3.loss_plan_l1_fix_time: 0.9352, d3.loss_plan_l1_fix_dist: 0.2116, d4.loss_plan_l1_fix_time: 0.9367, d4.loss_plan_l1_fix_dist: 0.2179, d5.loss_plan_l1_fix_time: 0.9383, d5.loss_plan_l1_fix_dist: 0.2328, d6.loss_plan_l1_fix_time: 0.9409, d6.loss_plan_l1_fix_dist: 0.2338, d0.loss_cls_all: 0.1679, d0.loss_bbox_all: 0.3953, d0.loss_cls: 0.1679, d0.loss_bbox: 0.3953, d1.loss_cls: 0.1569, d1.loss_bbox: 0.3597, d2.loss_cls: 0.1510, d2.loss_bbox: 0.3356, d3.loss_cls: 0.1338, d3.loss_bbox: 0.3298, d4.loss_cls: 0.1290, d4.loss_bbox: 0.3264, d5.loss_cls: 0.1278, d5.loss_bbox: 0.3234, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9499, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7738, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7211, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.7039, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7046, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7073, d0.loss_map_cls_all: 0.2355, d0.loss_map_pts_all: 1.2065, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.2355, d0.loss_map_pts: 1.2065, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1900, d1.loss_map_pts: 0.8487, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1648, d2.loss_map_pts: 0.6694, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1505, d3.loss_map_pts: 0.6033, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1416, d4.loss_map_pts: 0.5733, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1351, d5.loss_map_pts: 0.5648, d5.loss_map_dir: 0.0064, loss: 27.2481, grad_norm: 151.1900 +2026-02-28 01:01:00,937 - DriveTransformer - INFO - Epoch [8][31400/39528] lr: 8.063e-05, eta: 5 days, 10:07:44, time: 0.714, data_time: 0.041, memory: 19865, loss_cls: 0.1329, loss_bbox: 0.3390, loss_traj: 0.6008, loss_traj_cls: 0.0016, loss_map_cls: 0.1110, loss_map_pts: 0.5219, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.6143, d0.loss_plan_l1_fix_dist: 0.4397, d1.loss_plan_l1_fix_time: 0.8580, d1.loss_plan_l1_fix_dist: 0.2020, d2.loss_plan_l1_fix_time: 0.8445, d2.loss_plan_l1_fix_dist: 0.1861, d3.loss_plan_l1_fix_time: 0.8362, d3.loss_plan_l1_fix_dist: 0.1848, d4.loss_plan_l1_fix_time: 0.8375, d4.loss_plan_l1_fix_dist: 0.1902, d5.loss_plan_l1_fix_time: 0.8399, d5.loss_plan_l1_fix_dist: 0.2013, d6.loss_plan_l1_fix_time: 0.8431, d6.loss_plan_l1_fix_dist: 0.2101, d0.loss_cls_all: 0.1776, d0.loss_bbox_all: 0.3947, d0.loss_cls: 0.1776, d0.loss_bbox: 0.3947, d1.loss_cls: 0.1699, d1.loss_bbox: 0.3627, d2.loss_cls: 0.1565, d2.loss_bbox: 0.3439, d3.loss_cls: 0.1403, d3.loss_bbox: 0.3395, d4.loss_cls: 0.1347, d4.loss_bbox: 0.3381, d5.loss_cls: 0.1335, d5.loss_bbox: 0.3373, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8577, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6966, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6461, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6260, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6205, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.6009, d0.loss_map_cls_all: 0.1859, d0.loss_map_pts_all: 1.1127, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1859, d0.loss_map_pts: 1.1127, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1531, d1.loss_map_pts: 0.7591, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1356, d2.loss_map_pts: 0.6062, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1225, d3.loss_map_pts: 0.5537, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1163, d4.loss_map_pts: 0.5285, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1119, d5.loss_map_pts: 0.5245, d5.loss_map_dir: 0.0071, loss: 24.9131, grad_norm: 152.6567 +2026-02-28 01:01:37,736 - DriveTransformer - INFO - Epoch [8][31450/39528] lr: 8.063e-05, eta: 5 days, 10:07:09, time: 0.735, data_time: 0.036, memory: 19865, loss_cls: 0.1189, loss_bbox: 0.3247, loss_traj: 0.5938, loss_traj_cls: 0.0015, loss_map_cls: 0.0977, loss_map_pts: 0.5503, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.5986, d0.loss_plan_l1_fix_dist: 0.4292, d1.loss_plan_l1_fix_time: 0.9468, d1.loss_plan_l1_fix_dist: 0.2162, d2.loss_plan_l1_fix_time: 0.9248, d2.loss_plan_l1_fix_dist: 0.2289, d3.loss_plan_l1_fix_time: 0.9186, d3.loss_plan_l1_fix_dist: 0.2495, d4.loss_plan_l1_fix_time: 0.9205, d4.loss_plan_l1_fix_dist: 0.2622, d5.loss_plan_l1_fix_time: 0.9231, d5.loss_plan_l1_fix_dist: 0.2536, d6.loss_plan_l1_fix_time: 0.9262, d6.loss_plan_l1_fix_dist: 0.2778, d0.loss_cls_all: 0.1585, d0.loss_bbox_all: 0.3855, d0.loss_cls: 0.1585, d0.loss_bbox: 0.3855, d1.loss_cls: 0.1508, d1.loss_bbox: 0.3564, d2.loss_cls: 0.1366, d2.loss_bbox: 0.3370, d3.loss_cls: 0.1224, d3.loss_bbox: 0.3306, d4.loss_cls: 0.1176, d4.loss_bbox: 0.3280, d5.loss_cls: 0.1183, d5.loss_bbox: 0.3247, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8256, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6750, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6092, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5912, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5884, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5879, d0.loss_map_cls_all: 0.1812, d0.loss_map_pts_all: 1.1532, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1812, d0.loss_map_pts: 1.1532, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1475, d1.loss_map_pts: 0.7924, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1262, d2.loss_map_pts: 0.6376, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1113, d3.loss_map_pts: 0.5790, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1029, d4.loss_map_pts: 0.5583, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.0989, d5.loss_map_pts: 0.5507, d5.loss_map_dir: 0.0073, loss: 25.4886, grad_norm: 157.6679 +2026-02-28 01:02:15,184 - DriveTransformer - INFO - Epoch [8][31500/39528] lr: 8.063e-05, eta: 5 days, 10:06:40, time: 0.749, data_time: 0.039, memory: 19865, loss_cls: 0.1334, loss_bbox: 0.3153, loss_traj: 0.6017, loss_traj_cls: 0.0016, loss_map_cls: 0.1124, loss_map_pts: 0.5686, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.4512, d0.loss_plan_l1_fix_dist: 0.4820, d1.loss_plan_l1_fix_time: 0.8274, d1.loss_plan_l1_fix_dist: 0.2186, d2.loss_plan_l1_fix_time: 0.8175, d2.loss_plan_l1_fix_dist: 0.2617, d3.loss_plan_l1_fix_time: 0.8122, d3.loss_plan_l1_fix_dist: 0.2959, d4.loss_plan_l1_fix_time: 0.8150, d4.loss_plan_l1_fix_dist: 0.3024, d5.loss_plan_l1_fix_time: 0.8177, d5.loss_plan_l1_fix_dist: 0.2837, d6.loss_plan_l1_fix_time: 0.8206, d6.loss_plan_l1_fix_dist: 0.2839, d0.loss_cls_all: 0.1664, d0.loss_bbox_all: 0.3757, d0.loss_cls: 0.1664, d0.loss_bbox: 0.3757, d1.loss_cls: 0.1604, d1.loss_bbox: 0.3442, d2.loss_cls: 0.1538, d2.loss_bbox: 0.3234, d3.loss_cls: 0.1388, d3.loss_bbox: 0.3172, d4.loss_cls: 0.1335, d4.loss_bbox: 0.3167, d5.loss_cls: 0.1338, d5.loss_bbox: 0.3146, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8623, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6686, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6189, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6053, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5994, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5964, d0.loss_map_cls_all: 0.1951, d0.loss_map_pts_all: 1.2397, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1951, d0.loss_map_pts: 1.2397, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1613, d1.loss_map_pts: 0.8729, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1415, d2.loss_map_pts: 0.6937, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1294, d3.loss_map_pts: 0.6091, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1211, d4.loss_map_pts: 0.5801, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1160, d5.loss_map_pts: 0.5692, d5.loss_map_dir: 0.0074, loss: 25.5223, grad_norm: 157.6672 +2026-02-28 01:02:50,748 - DriveTransformer - INFO - Epoch [8][31550/39528] lr: 8.063e-05, eta: 5 days, 10:05:54, time: 0.711, data_time: 0.037, memory: 19865, loss_cls: 0.1324, loss_bbox: 0.3250, loss_traj: 0.6020, loss_traj_cls: 0.0016, loss_map_cls: 0.1118, loss_map_pts: 0.5169, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.7237, d0.loss_plan_l1_fix_dist: 0.5029, d1.loss_plan_l1_fix_time: 0.9981, d1.loss_plan_l1_fix_dist: 0.2222, d2.loss_plan_l1_fix_time: 0.9822, d2.loss_plan_l1_fix_dist: 0.2570, d3.loss_plan_l1_fix_time: 0.9756, d3.loss_plan_l1_fix_dist: 0.2894, d4.loss_plan_l1_fix_time: 0.9768, d4.loss_plan_l1_fix_dist: 0.2983, d5.loss_plan_l1_fix_time: 0.9790, d5.loss_plan_l1_fix_dist: 0.2932, d6.loss_plan_l1_fix_time: 0.9821, d6.loss_plan_l1_fix_dist: 0.2900, d0.loss_cls_all: 0.1768, d0.loss_bbox_all: 0.3823, d0.loss_cls: 0.1768, d0.loss_bbox: 0.3823, d1.loss_cls: 0.1698, d1.loss_bbox: 0.3490, d2.loss_cls: 0.1578, d2.loss_bbox: 0.3339, d3.loss_cls: 0.1388, d3.loss_bbox: 0.3291, d4.loss_cls: 0.1337, d4.loss_bbox: 0.3272, d5.loss_cls: 0.1314, d5.loss_bbox: 0.3261, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7927, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6586, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6124, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6018, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5965, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6018, d0.loss_map_cls_all: 0.1924, d0.loss_map_pts_all: 1.1406, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1924, d0.loss_map_pts: 1.1406, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1581, d1.loss_map_pts: 0.7875, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1368, d2.loss_map_pts: 0.6269, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1237, d3.loss_map_pts: 0.5570, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1176, d4.loss_map_pts: 0.5272, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1147, d5.loss_map_pts: 0.5178, d5.loss_map_dir: 0.0070, loss: 26.2328, grad_norm: 161.8920 +2026-02-28 01:03:27,449 - DriveTransformer - INFO - Epoch [8][31600/39528] lr: 8.063e-05, eta: 5 days, 10:05:19, time: 0.734, data_time: 0.039, memory: 19865, loss_cls: 0.1314, loss_bbox: 0.3353, loss_traj: 0.5543, loss_traj_cls: 0.0015, loss_map_cls: 0.1421, loss_map_pts: 0.6580, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.7671, d0.loss_plan_l1_fix_dist: 0.4240, d1.loss_plan_l1_fix_time: 0.9392, d1.loss_plan_l1_fix_dist: 0.2087, d2.loss_plan_l1_fix_time: 0.9222, d2.loss_plan_l1_fix_dist: 0.2373, d3.loss_plan_l1_fix_time: 0.9193, d3.loss_plan_l1_fix_dist: 0.2536, d4.loss_plan_l1_fix_time: 0.9216, d4.loss_plan_l1_fix_dist: 0.2774, d5.loss_plan_l1_fix_time: 0.9246, d5.loss_plan_l1_fix_dist: 0.2855, d6.loss_plan_l1_fix_time: 0.9278, d6.loss_plan_l1_fix_dist: 0.2905, d0.loss_cls_all: 0.1739, d0.loss_bbox_all: 0.3961, d0.loss_cls: 0.1739, d0.loss_bbox: 0.3961, d1.loss_cls: 0.1690, d1.loss_bbox: 0.3623, d2.loss_cls: 0.1544, d2.loss_bbox: 0.3439, d3.loss_cls: 0.1390, d3.loss_bbox: 0.3380, d4.loss_cls: 0.1337, d4.loss_bbox: 0.3356, d5.loss_cls: 0.1316, d5.loss_bbox: 0.3347, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7494, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6166, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5654, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5588, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5555, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5545, d0.loss_map_cls_all: 0.2111, d0.loss_map_pts_all: 1.3076, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2111, d0.loss_map_pts: 1.3076, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1846, d1.loss_map_pts: 0.9489, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1636, d2.loss_map_pts: 0.7798, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1535, d3.loss_map_pts: 0.7057, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1472, d4.loss_map_pts: 0.6720, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1428, d5.loss_map_pts: 0.6612, d5.loss_map_dir: 0.0080, loss: 26.9700, grad_norm: 159.8576 +2026-02-28 01:04:03,258 - DriveTransformer - INFO - Epoch [8][31650/39528] lr: 8.063e-05, eta: 5 days, 10:04:36, time: 0.716, data_time: 0.035, memory: 19865, loss_cls: 0.1400, loss_bbox: 0.3269, loss_traj: 0.5505, loss_traj_cls: 0.0016, loss_map_cls: 0.1555, loss_map_pts: 0.6858, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.8663, d0.loss_plan_l1_fix_dist: 0.3627, d1.loss_plan_l1_fix_time: 0.9110, d1.loss_plan_l1_fix_dist: 0.2107, d2.loss_plan_l1_fix_time: 0.8989, d2.loss_plan_l1_fix_dist: 0.2262, d3.loss_plan_l1_fix_time: 0.8960, d3.loss_plan_l1_fix_dist: 0.2412, d4.loss_plan_l1_fix_time: 0.8986, d4.loss_plan_l1_fix_dist: 0.2664, d5.loss_plan_l1_fix_time: 0.9029, d5.loss_plan_l1_fix_dist: 0.2782, d6.loss_plan_l1_fix_time: 0.9080, d6.loss_plan_l1_fix_dist: 0.2869, d0.loss_cls_all: 0.1784, d0.loss_bbox_all: 0.3994, d0.loss_cls: 0.1784, d0.loss_bbox: 0.3994, d1.loss_cls: 0.1700, d1.loss_bbox: 0.3638, d2.loss_cls: 0.1579, d2.loss_bbox: 0.3433, d3.loss_cls: 0.1444, d3.loss_bbox: 0.3363, d4.loss_cls: 0.1389, d4.loss_bbox: 0.3309, d5.loss_cls: 0.1392, d5.loss_bbox: 0.3285, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7696, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6174, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5695, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5576, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5560, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5504, d0.loss_map_cls_all: 0.2350, d0.loss_map_pts_all: 1.3919, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2350, d0.loss_map_pts: 1.3919, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2055, d1.loss_map_pts: 0.9885, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1824, d2.loss_map_pts: 0.7978, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1704, d3.loss_map_pts: 0.7223, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1642, d4.loss_map_pts: 0.6969, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1587, d5.loss_map_pts: 0.6865, d5.loss_map_dir: 0.0096, loss: 27.3498, grad_norm: 160.5844 +2026-02-28 01:04:38,476 - DriveTransformer - INFO - Epoch [8][31700/39528] lr: 8.063e-05, eta: 5 days, 10:03:47, time: 0.704, data_time: 0.041, memory: 19865, loss_cls: 0.1363, loss_bbox: 0.3506, loss_traj: 0.7331, loss_traj_cls: 0.0015, loss_map_cls: 0.1173, loss_map_pts: 0.5484, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 3.0340, d0.loss_plan_l1_fix_dist: 0.4117, d1.loss_plan_l1_fix_time: 1.1832, d1.loss_plan_l1_fix_dist: 0.2744, d2.loss_plan_l1_fix_time: 1.1722, d2.loss_plan_l1_fix_dist: 0.2681, d3.loss_plan_l1_fix_time: 1.1668, d3.loss_plan_l1_fix_dist: 0.2996, d4.loss_plan_l1_fix_time: 1.1683, d4.loss_plan_l1_fix_dist: 0.2937, d5.loss_plan_l1_fix_time: 1.1704, d5.loss_plan_l1_fix_dist: 0.2954, d6.loss_plan_l1_fix_time: 1.1730, d6.loss_plan_l1_fix_dist: 0.2908, d0.loss_cls_all: 0.1814, d0.loss_bbox_all: 0.4114, d0.loss_cls: 0.1814, d0.loss_bbox: 0.4114, d1.loss_cls: 0.1715, d1.loss_bbox: 0.3793, d2.loss_cls: 0.1583, d2.loss_bbox: 0.3572, d3.loss_cls: 0.1443, d3.loss_bbox: 0.3517, d4.loss_cls: 0.1394, d4.loss_bbox: 0.3495, d5.loss_cls: 0.1373, d5.loss_bbox: 0.3490, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9890, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.8149, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7634, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.7505, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7401, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7344, d0.loss_map_cls_all: 0.1981, d0.loss_map_pts_all: 1.1438, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1981, d0.loss_map_pts: 1.1438, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1610, d1.loss_map_pts: 0.7932, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1412, d2.loss_map_pts: 0.6381, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1289, d3.loss_map_pts: 0.5783, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1241, d4.loss_map_pts: 0.5585, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1176, d5.loss_map_pts: 0.5506, d5.loss_map_dir: 0.0074, loss: 29.1425, grad_norm: 162.0852 +2026-02-28 01:05:14,277 - DriveTransformer - INFO - Epoch [8][31750/39528] lr: 8.063e-05, eta: 5 days, 10:03:04, time: 0.716, data_time: 0.039, memory: 19865, loss_cls: 0.1323, loss_bbox: 0.3464, loss_traj: 0.6305, loss_traj_cls: 0.0015, loss_map_cls: 0.1527, loss_map_pts: 0.7096, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.7362, d0.loss_plan_l1_fix_dist: 0.4887, d1.loss_plan_l1_fix_time: 0.9876, d1.loss_plan_l1_fix_dist: 0.2978, d2.loss_plan_l1_fix_time: 0.9852, d2.loss_plan_l1_fix_dist: 0.2755, d3.loss_plan_l1_fix_time: 0.9844, d3.loss_plan_l1_fix_dist: 0.3398, d4.loss_plan_l1_fix_time: 0.9891, d4.loss_plan_l1_fix_dist: 0.3274, d5.loss_plan_l1_fix_time: 0.9933, d5.loss_plan_l1_fix_dist: 0.3509, d6.loss_plan_l1_fix_time: 0.9976, d6.loss_plan_l1_fix_dist: 0.3589, d0.loss_cls_all: 0.1823, d0.loss_bbox_all: 0.4053, d0.loss_cls: 0.1823, d0.loss_bbox: 0.4053, d1.loss_cls: 0.1720, d1.loss_bbox: 0.3730, d2.loss_cls: 0.1584, d2.loss_bbox: 0.3531, d3.loss_cls: 0.1401, d3.loss_bbox: 0.3496, d4.loss_cls: 0.1328, d4.loss_bbox: 0.3480, d5.loss_cls: 0.1330, d5.loss_bbox: 0.3464, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8701, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6913, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6357, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6335, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6293, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6281, d0.loss_map_cls_all: 0.2374, d0.loss_map_pts_all: 1.3648, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2374, d0.loss_map_pts: 1.3648, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2068, d1.loss_map_pts: 1.0074, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1863, d2.loss_map_pts: 0.8244, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1666, d3.loss_map_pts: 0.7509, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1607, d4.loss_map_pts: 0.7204, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1558, d5.loss_map_pts: 0.7100, d5.loss_map_dir: 0.0084, loss: 29.0191, grad_norm: 161.5558 +2026-02-28 01:05:49,835 - DriveTransformer - INFO - Epoch [8][31800/39528] lr: 8.063e-05, eta: 5 days, 10:02:18, time: 0.711, data_time: 0.041, memory: 19865, loss_cls: 0.1126, loss_bbox: 0.3088, loss_traj: 0.5849, loss_traj_cls: 0.0015, loss_map_cls: 0.1319, loss_map_pts: 0.5333, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.7590, d0.loss_plan_l1_fix_dist: 0.4210, d1.loss_plan_l1_fix_time: 0.8950, d1.loss_plan_l1_fix_dist: 0.2934, d2.loss_plan_l1_fix_time: 0.8674, d2.loss_plan_l1_fix_dist: 0.2628, d3.loss_plan_l1_fix_time: 0.8762, d3.loss_plan_l1_fix_dist: 0.3299, d4.loss_plan_l1_fix_time: 0.8793, d4.loss_plan_l1_fix_dist: 0.2844, d5.loss_plan_l1_fix_time: 0.8826, d5.loss_plan_l1_fix_dist: 0.2929, d6.loss_plan_l1_fix_time: 0.8868, d6.loss_plan_l1_fix_dist: 0.2817, d0.loss_cls_all: 0.1520, d0.loss_bbox_all: 0.3659, d0.loss_cls: 0.1520, d0.loss_bbox: 0.3659, d1.loss_cls: 0.1450, d1.loss_bbox: 0.3344, d2.loss_cls: 0.1342, d2.loss_bbox: 0.3145, d3.loss_cls: 0.1179, d3.loss_bbox: 0.3103, d4.loss_cls: 0.1123, d4.loss_bbox: 0.3091, d5.loss_cls: 0.1122, d5.loss_bbox: 0.3086, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7902, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6339, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5944, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5891, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5837, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5846, d0.loss_map_cls_all: 0.1984, d0.loss_map_pts_all: 1.0822, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1984, d0.loss_map_pts: 1.0822, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1743, d1.loss_map_pts: 0.7830, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1518, d2.loss_map_pts: 0.6260, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1424, d3.loss_map_pts: 0.5588, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1372, d4.loss_map_pts: 0.5381, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1334, d5.loss_map_pts: 0.5328, d5.loss_map_dir: 0.0061, loss: 25.2875, grad_norm: 162.1141 +2026-02-28 01:06:28,173 - DriveTransformer - INFO - Epoch [8][31850/39528] lr: 8.063e-05, eta: 5 days, 10:01:57, time: 0.767, data_time: 0.037, memory: 19865, loss_cls: 0.1146, loss_bbox: 0.3100, loss_traj: 0.5093, loss_traj_cls: 0.0015, loss_map_cls: 0.1178, loss_map_pts: 0.6407, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.1894, d0.loss_plan_l1_fix_dist: 0.4712, d1.loss_plan_l1_fix_time: 0.8228, d1.loss_plan_l1_fix_dist: 0.3205, d2.loss_plan_l1_fix_time: 0.7947, d2.loss_plan_l1_fix_dist: 0.2904, d3.loss_plan_l1_fix_time: 0.7977, d3.loss_plan_l1_fix_dist: 0.3628, d4.loss_plan_l1_fix_time: 0.7999, d4.loss_plan_l1_fix_dist: 0.3459, d5.loss_plan_l1_fix_time: 0.8030, d5.loss_plan_l1_fix_dist: 0.3412, d6.loss_plan_l1_fix_time: 0.8076, d6.loss_plan_l1_fix_dist: 0.3326, d0.loss_cls_all: 0.1469, d0.loss_bbox_all: 0.3753, d0.loss_cls: 0.1469, d0.loss_bbox: 0.3753, d1.loss_cls: 0.1428, d1.loss_bbox: 0.3428, d2.loss_cls: 0.1306, d2.loss_bbox: 0.3212, d3.loss_cls: 0.1188, d3.loss_bbox: 0.3129, d4.loss_cls: 0.1152, d4.loss_bbox: 0.3102, d5.loss_cls: 0.1143, d5.loss_bbox: 0.3095, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7071, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5748, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5256, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5177, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5077, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5064, d0.loss_map_cls_all: 0.1882, d0.loss_map_pts_all: 1.3246, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.1882, d0.loss_map_pts: 1.3246, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1566, d1.loss_map_pts: 0.9083, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1409, d2.loss_map_pts: 0.7321, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1308, d3.loss_map_pts: 0.6711, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1249, d4.loss_map_pts: 0.6470, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1203, d5.loss_map_pts: 0.6415, d5.loss_map_dir: 0.0092, loss: 25.1526, grad_norm: 160.1660 +2026-02-28 01:07:04,576 - DriveTransformer - INFO - Epoch [8][31900/39528] lr: 8.063e-05, eta: 5 days, 10:01:19, time: 0.728, data_time: 0.039, memory: 19865, loss_cls: 0.1360, loss_bbox: 0.3324, loss_traj: 0.5514, loss_traj_cls: 0.0015, loss_map_cls: 0.1548, loss_map_pts: 0.6522, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 3.1198, d0.loss_plan_l1_fix_dist: 0.4430, d1.loss_plan_l1_fix_time: 1.0015, d1.loss_plan_l1_fix_dist: 0.3008, d2.loss_plan_l1_fix_time: 0.9770, d2.loss_plan_l1_fix_dist: 0.2369, d3.loss_plan_l1_fix_time: 0.9598, d3.loss_plan_l1_fix_dist: 0.2783, d4.loss_plan_l1_fix_time: 0.9602, d4.loss_plan_l1_fix_dist: 0.2745, d5.loss_plan_l1_fix_time: 0.9625, d5.loss_plan_l1_fix_dist: 0.2642, d6.loss_plan_l1_fix_time: 0.9656, d6.loss_plan_l1_fix_dist: 0.2885, d0.loss_cls_all: 0.1756, d0.loss_bbox_all: 0.3996, d0.loss_cls: 0.1756, d0.loss_bbox: 0.3996, d1.loss_cls: 0.1657, d1.loss_bbox: 0.3658, d2.loss_cls: 0.1508, d2.loss_bbox: 0.3441, d3.loss_cls: 0.1409, d3.loss_bbox: 0.3359, d4.loss_cls: 0.1371, d4.loss_bbox: 0.3335, d5.loss_cls: 0.1353, d5.loss_bbox: 0.3329, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7828, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6215, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5707, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5512, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5567, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5523, d0.loss_map_cls_all: 0.2189, d0.loss_map_pts_all: 1.3148, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2189, d0.loss_map_pts: 1.3148, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1911, d1.loss_map_pts: 0.9215, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1709, d2.loss_map_pts: 0.7490, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1625, d3.loss_map_pts: 0.6830, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1581, d4.loss_map_pts: 0.6601, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1547, d5.loss_map_pts: 0.6540, d5.loss_map_dir: 0.0089, loss: 27.7358, grad_norm: 160.4185 +2026-02-28 01:07:41,319 - DriveTransformer - INFO - Epoch [8][31950/39528] lr: 8.063e-05, eta: 5 days, 10:00:44, time: 0.735, data_time: 0.037, memory: 19865, loss_cls: 0.1223, loss_bbox: 0.3259, loss_traj: 0.6243, loss_traj_cls: 0.0016, loss_map_cls: 0.1532, loss_map_pts: 0.6409, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.7062, d0.loss_plan_l1_fix_dist: 0.4727, d1.loss_plan_l1_fix_time: 0.9347, d1.loss_plan_l1_fix_dist: 0.2922, d2.loss_plan_l1_fix_time: 0.9123, d2.loss_plan_l1_fix_dist: 0.2579, d3.loss_plan_l1_fix_time: 0.9094, d3.loss_plan_l1_fix_dist: 0.2610, d4.loss_plan_l1_fix_time: 0.9118, d4.loss_plan_l1_fix_dist: 0.2714, d5.loss_plan_l1_fix_time: 0.9154, d5.loss_plan_l1_fix_dist: 0.2894, d6.loss_plan_l1_fix_time: 0.9188, d6.loss_plan_l1_fix_dist: 0.3541, d0.loss_cls_all: 0.1584, d0.loss_bbox_all: 0.3833, d0.loss_cls: 0.1584, d0.loss_bbox: 0.3833, d1.loss_cls: 0.1523, d1.loss_bbox: 0.3502, d2.loss_cls: 0.1385, d2.loss_bbox: 0.3344, d3.loss_cls: 0.1269, d3.loss_bbox: 0.3303, d4.loss_cls: 0.1224, d4.loss_bbox: 0.3270, d5.loss_cls: 0.1214, d5.loss_bbox: 0.3258, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8125, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6814, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6408, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6237, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6175, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6196, d0.loss_map_cls_all: 0.2289, d0.loss_map_pts_all: 1.3272, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2289, d0.loss_map_pts: 1.3272, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.2008, d1.loss_map_pts: 0.9228, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1766, d2.loss_map_pts: 0.7490, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1629, d3.loss_map_pts: 0.6767, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1558, d4.loss_map_pts: 0.6455, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1524, d5.loss_map_pts: 0.6403, d5.loss_map_dir: 0.0074, loss: 27.3434, grad_norm: 161.2928 +2026-02-28 01:08:19,412 - DriveTransformer - INFO - Epoch [8][32000/39528] lr: 8.063e-05, eta: 5 days, 10:00:21, time: 0.762, data_time: 0.040, memory: 19865, loss_cls: 0.1325, loss_bbox: 0.3289, loss_traj: 0.5881, loss_traj_cls: 0.0015, loss_map_cls: 0.1237, loss_map_pts: 0.6209, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.6862, d0.loss_plan_l1_fix_dist: 0.4128, d1.loss_plan_l1_fix_time: 0.9849, d1.loss_plan_l1_fix_dist: 0.2714, d2.loss_plan_l1_fix_time: 0.9753, d2.loss_plan_l1_fix_dist: 0.2707, d3.loss_plan_l1_fix_time: 0.9590, d3.loss_plan_l1_fix_dist: 0.2594, d4.loss_plan_l1_fix_time: 0.9621, d4.loss_plan_l1_fix_dist: 0.2389, d5.loss_plan_l1_fix_time: 0.9660, d5.loss_plan_l1_fix_dist: 0.2535, d6.loss_plan_l1_fix_time: 0.9699, d6.loss_plan_l1_fix_dist: 0.2913, d0.loss_cls_all: 0.1703, d0.loss_bbox_all: 0.3990, d0.loss_cls: 0.1703, d0.loss_bbox: 0.3990, d1.loss_cls: 0.1659, d1.loss_bbox: 0.3651, d2.loss_cls: 0.1522, d2.loss_bbox: 0.3431, d3.loss_cls: 0.1396, d3.loss_bbox: 0.3355, d4.loss_cls: 0.1352, d4.loss_bbox: 0.3306, d5.loss_cls: 0.1318, d5.loss_bbox: 0.3304, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7820, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6451, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5974, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5875, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5784, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5859, d0.loss_map_cls_all: 0.2007, d0.loss_map_pts_all: 1.2936, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2007, d0.loss_map_pts: 1.2936, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1661, d1.loss_map_pts: 0.8879, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1476, d2.loss_map_pts: 0.7176, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1369, d3.loss_map_pts: 0.6517, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1299, d4.loss_map_pts: 0.6293, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1251, d5.loss_map_pts: 0.6211, d5.loss_map_dir: 0.0087, loss: 26.9158, grad_norm: 162.4262 +2026-02-28 01:08:55,437 - DriveTransformer - INFO - Epoch [8][32050/39528] lr: 8.063e-05, eta: 5 days, 9:59:40, time: 0.720, data_time: 0.039, memory: 19865, loss_cls: 0.1272, loss_bbox: 0.3415, loss_traj: 0.6153, loss_traj_cls: 0.0015, loss_map_cls: 0.1464, loss_map_pts: 0.6613, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.9879, d0.loss_plan_l1_fix_dist: 0.4001, d1.loss_plan_l1_fix_time: 0.9682, d1.loss_plan_l1_fix_dist: 0.2537, d2.loss_plan_l1_fix_time: 0.9549, d2.loss_plan_l1_fix_dist: 0.2844, d3.loss_plan_l1_fix_time: 0.9558, d3.loss_plan_l1_fix_dist: 0.2966, d4.loss_plan_l1_fix_time: 0.9583, d4.loss_plan_l1_fix_dist: 0.2464, d5.loss_plan_l1_fix_time: 0.9613, d5.loss_plan_l1_fix_dist: 0.2840, d6.loss_plan_l1_fix_time: 0.9651, d6.loss_plan_l1_fix_dist: 0.3008, d0.loss_cls_all: 0.1696, d0.loss_bbox_all: 0.4205, d0.loss_cls: 0.1696, d0.loss_bbox: 0.4205, d1.loss_cls: 0.1587, d1.loss_bbox: 0.3828, d2.loss_cls: 0.1472, d2.loss_bbox: 0.3598, d3.loss_cls: 0.1343, d3.loss_bbox: 0.3480, d4.loss_cls: 0.1290, d4.loss_bbox: 0.3437, d5.loss_cls: 0.1261, d5.loss_bbox: 0.3429, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8768, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6853, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6402, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6241, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6104, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6142, d0.loss_map_cls_all: 0.2210, d0.loss_map_pts_all: 1.2987, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2210, d0.loss_map_pts: 1.2987, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1925, d1.loss_map_pts: 0.9261, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1679, d2.loss_map_pts: 0.7643, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1607, d3.loss_map_pts: 0.6948, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1539, d4.loss_map_pts: 0.6709, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1477, d5.loss_map_pts: 0.6619, d5.loss_map_dir: 0.0071, loss: 28.0551, grad_norm: 164.1803 +2026-02-28 01:09:31,330 - DriveTransformer - INFO - Epoch [8][32100/39528] lr: 8.063e-05, eta: 5 days, 9:58:57, time: 0.718, data_time: 0.038, memory: 19865, loss_cls: 0.1245, loss_bbox: 0.3037, loss_traj: 0.5824, loss_traj_cls: 0.0016, loss_map_cls: 0.1193, loss_map_pts: 0.5601, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.1268, d0.loss_plan_l1_fix_dist: 0.3455, d1.loss_plan_l1_fix_time: 0.9267, d1.loss_plan_l1_fix_dist: 0.2111, d2.loss_plan_l1_fix_time: 0.9257, d2.loss_plan_l1_fix_dist: 0.2454, d3.loss_plan_l1_fix_time: 0.9323, d3.loss_plan_l1_fix_dist: 0.2730, d4.loss_plan_l1_fix_time: 0.9347, d4.loss_plan_l1_fix_dist: 0.2110, d5.loss_plan_l1_fix_time: 0.9384, d5.loss_plan_l1_fix_dist: 0.2493, d6.loss_plan_l1_fix_time: 0.9431, d6.loss_plan_l1_fix_dist: 0.2486, d0.loss_cls_all: 0.1615, d0.loss_bbox_all: 0.3684, d0.loss_cls: 0.1615, d0.loss_bbox: 0.3684, d1.loss_cls: 0.1565, d1.loss_bbox: 0.3369, d2.loss_cls: 0.1416, d2.loss_bbox: 0.3166, d3.loss_cls: 0.1274, d3.loss_bbox: 0.3103, d4.loss_cls: 0.1240, d4.loss_bbox: 0.3068, d5.loss_cls: 0.1248, d5.loss_bbox: 0.3039, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7549, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6388, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5949, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5859, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5789, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5779, d0.loss_map_cls_all: 0.2006, d0.loss_map_pts_all: 1.1322, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2006, d0.loss_map_pts: 1.1322, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1703, d1.loss_map_pts: 0.7919, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1441, d2.loss_map_pts: 0.6461, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1302, d3.loss_map_pts: 0.5924, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1255, d4.loss_map_pts: 0.5687, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1207, d5.loss_map_pts: 0.5609, d5.loss_map_dir: 0.0071, loss: 24.8206, grad_norm: 162.9549 +2026-02-28 01:10:06,201 - DriveTransformer - INFO - Epoch [8][32150/39528] lr: 8.063e-05, eta: 5 days, 9:58:06, time: 0.697, data_time: 0.037, memory: 19865, loss_cls: 0.1100, loss_bbox: 0.2880, loss_traj: 0.4945, loss_traj_cls: 0.0016, loss_map_cls: 0.1053, loss_map_pts: 0.5088, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.3942, d0.loss_plan_l1_fix_dist: 0.5099, d1.loss_plan_l1_fix_time: 0.8784, d1.loss_plan_l1_fix_dist: 0.2232, d2.loss_plan_l1_fix_time: 0.8698, d2.loss_plan_l1_fix_dist: 0.2558, d3.loss_plan_l1_fix_time: 0.8677, d3.loss_plan_l1_fix_dist: 0.2751, d4.loss_plan_l1_fix_time: 0.8715, d4.loss_plan_l1_fix_dist: 0.2401, d5.loss_plan_l1_fix_time: 0.8752, d5.loss_plan_l1_fix_dist: 0.2478, d6.loss_plan_l1_fix_time: 0.8795, d6.loss_plan_l1_fix_dist: 0.2715, d0.loss_cls_all: 0.1501, d0.loss_bbox_all: 0.3458, d0.loss_cls: 0.1501, d0.loss_bbox: 0.3458, d1.loss_cls: 0.1443, d1.loss_bbox: 0.3172, d2.loss_cls: 0.1285, d2.loss_bbox: 0.2990, d3.loss_cls: 0.1164, d3.loss_bbox: 0.2918, d4.loss_cls: 0.1098, d4.loss_bbox: 0.2905, d5.loss_cls: 0.1093, d5.loss_bbox: 0.2889, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6851, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5540, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5166, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5024, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4929, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4914, d0.loss_map_cls_all: 0.1725, d0.loss_map_pts_all: 1.1156, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1725, d0.loss_map_pts: 1.1156, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1445, d1.loss_map_pts: 0.7650, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1247, d2.loss_map_pts: 0.6041, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1156, d3.loss_map_pts: 0.5400, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1106, d4.loss_map_pts: 0.5144, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1064, d5.loss_map_pts: 0.5091, d5.loss_map_dir: 0.0071, loss: 23.6689, grad_norm: 164.1381 +2026-02-28 01:10:43,352 - DriveTransformer - INFO - Epoch [8][32200/39528] lr: 8.063e-05, eta: 5 days, 9:57:35, time: 0.744, data_time: 0.036, memory: 19865, loss_cls: 0.1426, loss_bbox: 0.3361, loss_traj: 0.5489, loss_traj_cls: 0.0015, loss_map_cls: 0.1486, loss_map_pts: 0.7048, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.4818, d0.loss_plan_l1_fix_dist: 0.4460, d1.loss_plan_l1_fix_time: 0.9069, d1.loss_plan_l1_fix_dist: 0.2505, d2.loss_plan_l1_fix_time: 0.9057, d2.loss_plan_l1_fix_dist: 0.2692, d3.loss_plan_l1_fix_time: 0.8884, d3.loss_plan_l1_fix_dist: 0.2580, d4.loss_plan_l1_fix_time: 0.8911, d4.loss_plan_l1_fix_dist: 0.2410, d5.loss_plan_l1_fix_time: 0.8944, d5.loss_plan_l1_fix_dist: 0.2373, d6.loss_plan_l1_fix_time: 0.8985, d6.loss_plan_l1_fix_dist: 0.2937, d0.loss_cls_all: 0.1893, d0.loss_bbox_all: 0.4008, d0.loss_cls: 0.1893, d0.loss_bbox: 0.4008, d1.loss_cls: 0.1756, d1.loss_bbox: 0.3693, d2.loss_cls: 0.1624, d2.loss_bbox: 0.3496, d3.loss_cls: 0.1501, d3.loss_bbox: 0.3411, d4.loss_cls: 0.1438, d4.loss_bbox: 0.3386, d5.loss_cls: 0.1421, d5.loss_bbox: 0.3374, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7517, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5992, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5554, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5464, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5447, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5456, d0.loss_map_cls_all: 0.2269, d0.loss_map_pts_all: 1.3921, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2269, d0.loss_map_pts: 1.3921, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1930, d1.loss_map_pts: 1.0198, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1758, d2.loss_map_pts: 0.8223, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1631, d3.loss_map_pts: 0.7413, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1563, d4.loss_map_pts: 0.7141, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1515, d5.loss_map_pts: 0.7072, d5.loss_map_dir: 0.0091, loss: 27.1358, grad_norm: 160.9639 +2026-02-28 01:11:20,260 - DriveTransformer - INFO - Epoch [8][32250/39528] lr: 8.063e-05, eta: 5 days, 9:57:01, time: 0.737, data_time: 0.035, memory: 19865, loss_cls: 0.1175, loss_bbox: 0.3344, loss_traj: 0.5395, loss_traj_cls: 0.0016, loss_map_cls: 0.1185, loss_map_pts: 0.5855, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.6519, d0.loss_plan_l1_fix_dist: 0.4882, d1.loss_plan_l1_fix_time: 0.7733, d1.loss_plan_l1_fix_dist: 0.2867, d2.loss_plan_l1_fix_time: 0.7597, d2.loss_plan_l1_fix_dist: 0.2818, d3.loss_plan_l1_fix_time: 0.7582, d3.loss_plan_l1_fix_dist: 0.2367, d4.loss_plan_l1_fix_time: 0.7609, d4.loss_plan_l1_fix_dist: 0.2533, d5.loss_plan_l1_fix_time: 0.7636, d5.loss_plan_l1_fix_dist: 0.2458, d6.loss_plan_l1_fix_time: 0.7666, d6.loss_plan_l1_fix_dist: 0.2904, d0.loss_cls_all: 0.1599, d0.loss_bbox_all: 0.4012, d0.loss_cls: 0.1599, d0.loss_bbox: 0.4012, d1.loss_cls: 0.1488, d1.loss_bbox: 0.3687, d2.loss_cls: 0.1367, d2.loss_bbox: 0.3443, d3.loss_cls: 0.1251, d3.loss_bbox: 0.3372, d4.loss_cls: 0.1178, d4.loss_bbox: 0.3360, d5.loss_cls: 0.1166, d5.loss_bbox: 0.3357, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7415, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6157, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5574, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5369, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5372, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5371, d0.loss_map_cls_all: 0.2061, d0.loss_map_pts_all: 1.2571, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2061, d0.loss_map_pts: 1.2571, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1711, d1.loss_map_pts: 0.8490, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1466, d2.loss_map_pts: 0.6746, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1327, d3.loss_map_pts: 0.6091, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1254, d4.loss_map_pts: 0.5900, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1207, d5.loss_map_pts: 0.5872, d5.loss_map_dir: 0.0080, loss: 25.0294, grad_norm: 154.8981 +2026-02-28 01:11:54,749 - DriveTransformer - INFO - Epoch [8][32300/39528] lr: 8.063e-05, eta: 5 days, 9:56:06, time: 0.690, data_time: 0.038, memory: 19865, loss_cls: 0.1197, loss_bbox: 0.3141, loss_traj: 0.5259, loss_traj_cls: 0.0014, loss_map_cls: 0.1472, loss_map_pts: 0.6341, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.6270, d0.loss_plan_l1_fix_dist: 0.4644, d1.loss_plan_l1_fix_time: 0.8774, d1.loss_plan_l1_fix_dist: 0.2846, d2.loss_plan_l1_fix_time: 0.8579, d2.loss_plan_l1_fix_dist: 0.2584, d3.loss_plan_l1_fix_time: 0.8662, d3.loss_plan_l1_fix_dist: 0.2000, d4.loss_plan_l1_fix_time: 0.8691, d4.loss_plan_l1_fix_dist: 0.2284, d5.loss_plan_l1_fix_time: 0.8719, d5.loss_plan_l1_fix_dist: 0.2357, d6.loss_plan_l1_fix_time: 0.8748, d6.loss_plan_l1_fix_dist: 0.2445, d0.loss_cls_all: 0.1560, d0.loss_bbox_all: 0.3669, d0.loss_cls: 0.1560, d0.loss_bbox: 0.3669, d1.loss_cls: 0.1466, d1.loss_bbox: 0.3371, d2.loss_cls: 0.1372, d2.loss_bbox: 0.3193, d3.loss_cls: 0.1242, d3.loss_bbox: 0.3146, d4.loss_cls: 0.1214, d4.loss_bbox: 0.3130, d5.loss_cls: 0.1192, d5.loss_bbox: 0.3132, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7144, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5819, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5387, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5254, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5178, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5209, d0.loss_map_cls_all: 0.2350, d0.loss_map_pts_all: 1.2773, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2350, d0.loss_map_pts: 1.2773, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.2067, d1.loss_map_pts: 0.9222, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1778, d2.loss_map_pts: 0.7426, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1627, d3.loss_map_pts: 0.6672, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1560, d4.loss_map_pts: 0.6400, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1497, d5.loss_map_pts: 0.6352, d5.loss_map_dir: 0.0070, loss: 25.7384, grad_norm: 154.7861 +2026-02-28 01:12:31,756 - DriveTransformer - INFO - Epoch [8][32350/39528] lr: 8.063e-05, eta: 5 days, 9:55:33, time: 0.740, data_time: 0.040, memory: 19865, loss_cls: 0.1283, loss_bbox: 0.3172, loss_traj: 0.5384, loss_traj_cls: 0.0015, loss_map_cls: 0.0939, loss_map_pts: 0.5238, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.5952, d0.loss_plan_l1_fix_dist: 0.4976, d1.loss_plan_l1_fix_time: 1.0222, d1.loss_plan_l1_fix_dist: 0.3037, d2.loss_plan_l1_fix_time: 1.0001, d2.loss_plan_l1_fix_dist: 0.2878, d3.loss_plan_l1_fix_time: 0.9847, d3.loss_plan_l1_fix_dist: 0.2333, d4.loss_plan_l1_fix_time: 0.9848, d4.loss_plan_l1_fix_dist: 0.2349, d5.loss_plan_l1_fix_time: 0.9874, d5.loss_plan_l1_fix_dist: 0.2429, d6.loss_plan_l1_fix_time: 0.9907, d6.loss_plan_l1_fix_dist: 0.2317, d0.loss_cls_all: 0.1660, d0.loss_bbox_all: 0.3842, d0.loss_cls: 0.1660, d0.loss_bbox: 0.3842, d1.loss_cls: 0.1587, d1.loss_bbox: 0.3529, d2.loss_cls: 0.1464, d2.loss_bbox: 0.3309, d3.loss_cls: 0.1330, d3.loss_bbox: 0.3244, d4.loss_cls: 0.1289, d4.loss_bbox: 0.3209, d5.loss_cls: 0.1277, d5.loss_bbox: 0.3185, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8058, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6226, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5597, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5490, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5431, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5373, d0.loss_map_cls_all: 0.1722, d0.loss_map_pts_all: 1.1228, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1722, d0.loss_map_pts: 1.1228, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1403, d1.loss_map_pts: 0.7670, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1189, d2.loss_map_pts: 0.6027, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1075, d3.loss_map_pts: 0.5487, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1001, d4.loss_map_pts: 0.5279, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.0966, d5.loss_map_pts: 0.5246, d5.loss_map_dir: 0.0069, loss: 25.4446, grad_norm: 154.7532 +2026-02-28 01:13:05,932 - DriveTransformer - INFO - Epoch [8][32400/39528] lr: 8.063e-05, eta: 5 days, 9:54:35, time: 0.684, data_time: 0.037, memory: 19865, loss_cls: 0.1441, loss_bbox: 0.3314, loss_traj: 0.6204, loss_traj_cls: 0.0015, loss_map_cls: 0.1404, loss_map_pts: 0.5978, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.8338, d0.loss_plan_l1_fix_dist: 0.4341, d1.loss_plan_l1_fix_time: 0.9455, d1.loss_plan_l1_fix_dist: 0.3089, d2.loss_plan_l1_fix_time: 0.9270, d2.loss_plan_l1_fix_dist: 0.3053, d3.loss_plan_l1_fix_time: 0.9253, d3.loss_plan_l1_fix_dist: 0.2566, d4.loss_plan_l1_fix_time: 0.9268, d4.loss_plan_l1_fix_dist: 0.2104, d5.loss_plan_l1_fix_time: 0.9290, d5.loss_plan_l1_fix_dist: 0.2221, d6.loss_plan_l1_fix_time: 0.9317, d6.loss_plan_l1_fix_dist: 0.2301, d0.loss_cls_all: 0.1897, d0.loss_bbox_all: 0.3925, d0.loss_cls: 0.1897, d0.loss_bbox: 0.3925, d1.loss_cls: 0.1811, d1.loss_bbox: 0.3612, d2.loss_cls: 0.1648, d2.loss_bbox: 0.3440, d3.loss_cls: 0.1484, d3.loss_bbox: 0.3387, d4.loss_cls: 0.1431, d4.loss_bbox: 0.3342, d5.loss_cls: 0.1429, d5.loss_bbox: 0.3325, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8791, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7120, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6536, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6244, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6202, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6192, d0.loss_map_cls_all: 0.2178, d0.loss_map_pts_all: 1.1467, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.2178, d0.loss_map_pts: 1.1467, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1881, d1.loss_map_pts: 0.8538, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1621, d2.loss_map_pts: 0.6996, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1524, d3.loss_map_pts: 0.6312, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1448, d4.loss_map_pts: 0.6039, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1419, d5.loss_map_pts: 0.5965, d5.loss_map_dir: 0.0061, loss: 26.9414, grad_norm: 152.9693 +2026-02-28 01:13:41,876 - DriveTransformer - INFO - Epoch [8][32450/39528] lr: 8.063e-05, eta: 5 days, 9:53:53, time: 0.719, data_time: 0.039, memory: 19865, loss_cls: 0.1286, loss_bbox: 0.3507, loss_traj: 0.5150, loss_traj_cls: 0.0015, loss_map_cls: 0.1601, loss_map_pts: 0.6931, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.5225, d0.loss_plan_l1_fix_dist: 0.4498, d1.loss_plan_l1_fix_time: 0.9331, d1.loss_plan_l1_fix_dist: 0.3121, d2.loss_plan_l1_fix_time: 0.9312, d2.loss_plan_l1_fix_dist: 0.3007, d3.loss_plan_l1_fix_time: 0.9391, d3.loss_plan_l1_fix_dist: 0.2854, d4.loss_plan_l1_fix_time: 0.9444, d4.loss_plan_l1_fix_dist: 0.2301, d5.loss_plan_l1_fix_time: 0.9485, d5.loss_plan_l1_fix_dist: 0.2176, d6.loss_plan_l1_fix_time: 0.9522, d6.loss_plan_l1_fix_dist: 0.2366, d0.loss_cls_all: 0.1729, d0.loss_bbox_all: 0.4190, d0.loss_cls: 0.1729, d0.loss_bbox: 0.4190, d1.loss_cls: 0.1639, d1.loss_bbox: 0.3816, d2.loss_cls: 0.1501, d2.loss_bbox: 0.3589, d3.loss_cls: 0.1313, d3.loss_bbox: 0.3559, d4.loss_cls: 0.1284, d4.loss_bbox: 0.3520, d5.loss_cls: 0.1282, d5.loss_bbox: 0.3507, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6899, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5511, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5176, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5098, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5147, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5141, d0.loss_map_cls_all: 0.2407, d0.loss_map_pts_all: 1.3316, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2407, d0.loss_map_pts: 1.3316, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.2093, d1.loss_map_pts: 0.9878, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1871, d2.loss_map_pts: 0.8105, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1749, d3.loss_map_pts: 0.7377, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1682, d4.loss_map_pts: 0.7092, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1632, d5.loss_map_pts: 0.6951, d5.loss_map_dir: 0.0081, loss: 27.0901, grad_norm: 153.0737 +2026-02-28 01:14:18,676 - DriveTransformer - INFO - Epoch [8][32500/39528] lr: 8.063e-05, eta: 5 days, 9:53:19, time: 0.736, data_time: 0.040, memory: 19865, loss_cls: 0.1352, loss_bbox: 0.3272, loss_traj: 0.6652, loss_traj_cls: 0.0014, loss_map_cls: 0.1280, loss_map_pts: 0.6057, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.9017, d0.loss_plan_l1_fix_dist: 0.4641, d1.loss_plan_l1_fix_time: 0.9768, d1.loss_plan_l1_fix_dist: 0.2994, d2.loss_plan_l1_fix_time: 0.9615, d2.loss_plan_l1_fix_dist: 0.2744, d3.loss_plan_l1_fix_time: 0.9606, d3.loss_plan_l1_fix_dist: 0.2782, d4.loss_plan_l1_fix_time: 0.9627, d4.loss_plan_l1_fix_dist: 0.2936, d5.loss_plan_l1_fix_time: 0.9652, d5.loss_plan_l1_fix_dist: 0.2817, d6.loss_plan_l1_fix_time: 0.9692, d6.loss_plan_l1_fix_dist: 0.3107, d0.loss_cls_all: 0.1773, d0.loss_bbox_all: 0.3955, d0.loss_cls: 0.1773, d0.loss_bbox: 0.3955, d1.loss_cls: 0.1685, d1.loss_bbox: 0.3590, d2.loss_cls: 0.1561, d2.loss_bbox: 0.3360, d3.loss_cls: 0.1406, d3.loss_bbox: 0.3301, d4.loss_cls: 0.1335, d4.loss_bbox: 0.3286, d5.loss_cls: 0.1345, d5.loss_bbox: 0.3268, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9097, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7420, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6985, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6795, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6666, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6655, d0.loss_map_cls_all: 0.2112, d0.loss_map_pts_all: 1.2579, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2112, d0.loss_map_pts: 1.2579, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1787, d1.loss_map_pts: 0.8854, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1576, d2.loss_map_pts: 0.7116, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1427, d3.loss_map_pts: 0.6419, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1361, d4.loss_map_pts: 0.6127, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1296, d5.loss_map_pts: 0.6071, d5.loss_map_dir: 0.0079, loss: 27.8925, grad_norm: 157.5191 +2026-02-28 01:14:57,106 - DriveTransformer - INFO - Epoch [8][32550/39528] lr: 8.063e-05, eta: 5 days, 9:52:59, time: 0.769, data_time: 0.039, memory: 19865, loss_cls: 0.1228, loss_bbox: 0.3109, loss_traj: 0.4354, loss_traj_cls: 0.0015, loss_map_cls: 0.1195, loss_map_pts: 0.6561, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.2470, d0.loss_plan_l1_fix_dist: 0.4690, d1.loss_plan_l1_fix_time: 0.8812, d1.loss_plan_l1_fix_dist: 0.3024, d2.loss_plan_l1_fix_time: 0.8528, d2.loss_plan_l1_fix_dist: 0.2736, d3.loss_plan_l1_fix_time: 0.8555, d3.loss_plan_l1_fix_dist: 0.2985, d4.loss_plan_l1_fix_time: 0.8587, d4.loss_plan_l1_fix_dist: 0.3550, d5.loss_plan_l1_fix_time: 0.8619, d5.loss_plan_l1_fix_dist: 0.3279, d6.loss_plan_l1_fix_time: 0.8685, d6.loss_plan_l1_fix_dist: 0.3546, d0.loss_cls_all: 0.1623, d0.loss_bbox_all: 0.3558, d0.loss_cls: 0.1623, d0.loss_bbox: 0.3558, d1.loss_cls: 0.1547, d1.loss_bbox: 0.3310, d2.loss_cls: 0.1422, d2.loss_bbox: 0.3148, d3.loss_cls: 0.1283, d3.loss_bbox: 0.3099, d4.loss_cls: 0.1231, d4.loss_bbox: 0.3089, d5.loss_cls: 0.1225, d5.loss_bbox: 0.3100, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6265, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.4810, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4501, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4401, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4347, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4353, d0.loss_map_cls_all: 0.2008, d0.loss_map_pts_all: 1.3525, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2008, d0.loss_map_pts: 1.3525, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1639, d1.loss_map_pts: 0.9408, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1419, d2.loss_map_pts: 0.7589, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1300, d3.loss_map_pts: 0.6912, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1225, d4.loss_map_pts: 0.6668, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1203, d5.loss_map_pts: 0.6579, d5.loss_map_dir: 0.0096, loss: 25.1841, grad_norm: 159.4660 +2026-02-28 01:15:32,563 - DriveTransformer - INFO - Epoch [8][32600/39528] lr: 8.063e-05, eta: 5 days, 9:52:13, time: 0.709, data_time: 0.037, memory: 19865, loss_cls: 0.1182, loss_bbox: 0.3063, loss_traj: 0.5712, loss_traj_cls: 0.0015, loss_map_cls: 0.1491, loss_map_pts: 0.5799, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.6794, d0.loss_plan_l1_fix_dist: 0.5260, d1.loss_plan_l1_fix_time: 0.8522, d1.loss_plan_l1_fix_dist: 0.2762, d2.loss_plan_l1_fix_time: 0.8347, d2.loss_plan_l1_fix_dist: 0.2707, d3.loss_plan_l1_fix_time: 0.8276, d3.loss_plan_l1_fix_dist: 0.2624, d4.loss_plan_l1_fix_time: 0.8301, d4.loss_plan_l1_fix_dist: 0.3114, d5.loss_plan_l1_fix_time: 0.8341, d5.loss_plan_l1_fix_dist: 0.2677, d6.loss_plan_l1_fix_time: 0.8385, d6.loss_plan_l1_fix_dist: 0.2875, d0.loss_cls_all: 0.1485, d0.loss_bbox_all: 0.3725, d0.loss_cls: 0.1485, d0.loss_bbox: 0.3725, d1.loss_cls: 0.1425, d1.loss_bbox: 0.3402, d2.loss_cls: 0.1309, d2.loss_bbox: 0.3224, d3.loss_cls: 0.1197, d3.loss_bbox: 0.3123, d4.loss_cls: 0.1160, d4.loss_bbox: 0.3091, d5.loss_cls: 0.1168, d5.loss_bbox: 0.3071, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7865, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6374, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5782, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5693, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5687, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5700, d0.loss_map_cls_all: 0.2236, d0.loss_map_pts_all: 1.2406, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2236, d0.loss_map_pts: 1.2406, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1934, d1.loss_map_pts: 0.8615, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1710, d2.loss_map_pts: 0.6885, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1590, d3.loss_map_pts: 0.6185, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1536, d4.loss_map_pts: 0.5891, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1506, d5.loss_map_pts: 0.5808, d5.loss_map_dir: 0.0067, loss: 25.7462, grad_norm: 160.8963 +2026-02-28 01:16:09,926 - DriveTransformer - INFO - Epoch [8][32650/39528] lr: 8.063e-05, eta: 5 days, 9:51:43, time: 0.747, data_time: 0.037, memory: 19865, loss_cls: 0.1225, loss_bbox: 0.2988, loss_traj: 0.5383, loss_traj_cls: 0.0015, loss_map_cls: 0.1173, loss_map_pts: 0.5690, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.5170, d0.loss_plan_l1_fix_dist: 0.5262, d1.loss_plan_l1_fix_time: 0.9384, d1.loss_plan_l1_fix_dist: 0.3075, d2.loss_plan_l1_fix_time: 0.9225, d2.loss_plan_l1_fix_dist: 0.3040, d3.loss_plan_l1_fix_time: 0.9220, d3.loss_plan_l1_fix_dist: 0.2851, d4.loss_plan_l1_fix_time: 0.9229, d4.loss_plan_l1_fix_dist: 0.3495, d5.loss_plan_l1_fix_time: 0.9255, d5.loss_plan_l1_fix_dist: 0.2967, d6.loss_plan_l1_fix_time: 0.9277, d6.loss_plan_l1_fix_dist: 0.3175, d0.loss_cls_all: 0.1586, d0.loss_bbox_all: 0.3635, d0.loss_cls: 0.1586, d0.loss_bbox: 0.3635, d1.loss_cls: 0.1543, d1.loss_bbox: 0.3316, d2.loss_cls: 0.1431, d2.loss_bbox: 0.3103, d3.loss_cls: 0.1290, d3.loss_bbox: 0.3041, d4.loss_cls: 0.1229, d4.loss_bbox: 0.3016, d5.loss_cls: 0.1221, d5.loss_bbox: 0.3003, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7677, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6126, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5631, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5446, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5390, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5377, d0.loss_map_cls_all: 0.1956, d0.loss_map_pts_all: 1.2094, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1956, d0.loss_map_pts: 1.2094, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1611, d1.loss_map_pts: 0.8376, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1401, d2.loss_map_pts: 0.6659, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1287, d3.loss_map_pts: 0.5991, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1217, d4.loss_map_pts: 0.5724, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1193, d5.loss_map_pts: 0.5681, d5.loss_map_dir: 0.0079, loss: 25.7297, grad_norm: 158.2051 +2026-02-28 01:16:45,432 - DriveTransformer - INFO - Epoch [8][32700/39528] lr: 8.063e-05, eta: 5 days, 9:50:57, time: 0.710, data_time: 0.036, memory: 19865, loss_cls: 0.1248, loss_bbox: 0.3115, loss_traj: 0.6094, loss_traj_cls: 0.0014, loss_map_cls: 0.1216, loss_map_pts: 0.6142, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.8376, d0.loss_plan_l1_fix_dist: 0.4535, d1.loss_plan_l1_fix_time: 0.9829, d1.loss_plan_l1_fix_dist: 0.2846, d2.loss_plan_l1_fix_time: 0.9702, d2.loss_plan_l1_fix_dist: 0.2764, d3.loss_plan_l1_fix_time: 0.9724, d3.loss_plan_l1_fix_dist: 0.2409, d4.loss_plan_l1_fix_time: 0.9743, d4.loss_plan_l1_fix_dist: 0.3231, d5.loss_plan_l1_fix_time: 0.9758, d5.loss_plan_l1_fix_dist: 0.2512, d6.loss_plan_l1_fix_time: 0.9778, d6.loss_plan_l1_fix_dist: 0.2751, d0.loss_cls_all: 0.1684, d0.loss_bbox_all: 0.3744, d0.loss_cls: 0.1684, d0.loss_bbox: 0.3744, d1.loss_cls: 0.1628, d1.loss_bbox: 0.3406, d2.loss_cls: 0.1489, d2.loss_bbox: 0.3243, d3.loss_cls: 0.1319, d3.loss_bbox: 0.3178, d4.loss_cls: 0.1262, d4.loss_bbox: 0.3140, d5.loss_cls: 0.1258, d5.loss_bbox: 0.3108, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9041, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7029, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6381, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6239, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6169, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6151, d0.loss_map_cls_all: 0.1932, d0.loss_map_pts_all: 1.2199, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1932, d0.loss_map_pts: 1.2199, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1661, d1.loss_map_pts: 0.8739, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1465, d2.loss_map_pts: 0.7142, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1405, d3.loss_map_pts: 0.6520, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1295, d4.loss_map_pts: 0.6250, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1248, d5.loss_map_pts: 0.6149, d5.loss_map_dir: 0.0079, loss: 27.1491, grad_norm: 156.4786 +2026-02-28 01:17:22,129 - DriveTransformer - INFO - Epoch [8][32750/39528] lr: 8.063e-05, eta: 5 days, 9:50:22, time: 0.734, data_time: 0.040, memory: 19865, loss_cls: 0.1370, loss_bbox: 0.3231, loss_traj: 0.6555, loss_traj_cls: 0.0014, loss_map_cls: 0.1582, loss_map_pts: 0.7135, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 3.1520, d0.loss_plan_l1_fix_dist: 0.4466, d1.loss_plan_l1_fix_time: 1.1304, d1.loss_plan_l1_fix_dist: 0.3347, d2.loss_plan_l1_fix_time: 1.1136, d2.loss_plan_l1_fix_dist: 0.3244, d3.loss_plan_l1_fix_time: 1.1124, d3.loss_plan_l1_fix_dist: 0.2827, d4.loss_plan_l1_fix_time: 1.1184, d4.loss_plan_l1_fix_dist: 0.3809, d5.loss_plan_l1_fix_time: 1.1242, d5.loss_plan_l1_fix_dist: 0.3373, d6.loss_plan_l1_fix_time: 1.1307, d6.loss_plan_l1_fix_dist: 0.3360, d0.loss_cls_all: 0.1760, d0.loss_bbox_all: 0.3789, d0.loss_cls: 0.1760, d0.loss_bbox: 0.3789, d1.loss_cls: 0.1652, d1.loss_bbox: 0.3461, d2.loss_cls: 0.1548, d2.loss_bbox: 0.3302, d3.loss_cls: 0.1402, d3.loss_bbox: 0.3273, d4.loss_cls: 0.1351, d4.loss_bbox: 0.3249, d5.loss_cls: 0.1361, d5.loss_bbox: 0.3228, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9677, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7346, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6713, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6549, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6566, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6574, d0.loss_map_cls_all: 0.2412, d0.loss_map_pts_all: 1.3277, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2412, d0.loss_map_pts: 1.3277, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2097, d1.loss_map_pts: 0.9905, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1854, d2.loss_map_pts: 0.8072, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1736, d3.loss_map_pts: 0.7402, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1654, d4.loss_map_pts: 0.7138, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1605, d5.loss_map_pts: 0.7117, d5.loss_map_dir: 0.0084, loss: 30.2140, grad_norm: 159.0464 +2026-02-28 01:17:58,867 - DriveTransformer - INFO - Epoch [8][32800/39528] lr: 8.063e-05, eta: 5 days, 9:49:47, time: 0.735, data_time: 0.038, memory: 19865, loss_cls: 0.1353, loss_bbox: 0.3437, loss_traj: 0.5299, loss_traj_cls: 0.0016, loss_map_cls: 0.1150, loss_map_pts: 0.5897, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.4391, d0.loss_plan_l1_fix_dist: 0.4899, d1.loss_plan_l1_fix_time: 0.9098, d1.loss_plan_l1_fix_dist: 0.3312, d2.loss_plan_l1_fix_time: 0.8930, d2.loss_plan_l1_fix_dist: 0.3067, d3.loss_plan_l1_fix_time: 0.8883, d3.loss_plan_l1_fix_dist: 0.2715, d4.loss_plan_l1_fix_time: 0.8942, d4.loss_plan_l1_fix_dist: 0.3319, d5.loss_plan_l1_fix_time: 0.9009, d5.loss_plan_l1_fix_dist: 0.3062, d6.loss_plan_l1_fix_time: 0.9091, d6.loss_plan_l1_fix_dist: 0.3029, d0.loss_cls_all: 0.1776, d0.loss_bbox_all: 0.3938, d0.loss_cls: 0.1776, d0.loss_bbox: 0.3938, d1.loss_cls: 0.1697, d1.loss_bbox: 0.3660, d2.loss_cls: 0.1579, d2.loss_bbox: 0.3477, d3.loss_cls: 0.1432, d3.loss_bbox: 0.3424, d4.loss_cls: 0.1372, d4.loss_bbox: 0.3420, d5.loss_cls: 0.1358, d5.loss_bbox: 0.3428, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7266, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6011, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5605, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5413, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5329, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5302, d0.loss_map_cls_all: 0.1862, d0.loss_map_pts_all: 1.1751, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.1862, d0.loss_map_pts: 1.1751, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1574, d1.loss_map_pts: 0.8214, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1372, d2.loss_map_pts: 0.6681, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1277, d3.loss_map_pts: 0.6131, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1225, d4.loss_map_pts: 0.5896, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1177, d5.loss_map_pts: 0.5873, d5.loss_map_dir: 0.0091, loss: 25.7535, grad_norm: 153.8830 +2026-02-28 01:18:34,906 - DriveTransformer - INFO - Epoch [8][32850/39528] lr: 8.063e-05, eta: 5 days, 9:49:06, time: 0.721, data_time: 0.039, memory: 19865, loss_cls: 0.1228, loss_bbox: 0.3268, loss_traj: 0.5397, loss_traj_cls: 0.0015, loss_map_cls: 0.1258, loss_map_pts: 0.5730, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.1505, d0.loss_plan_l1_fix_dist: 0.4829, d1.loss_plan_l1_fix_time: 0.9998, d1.loss_plan_l1_fix_dist: 0.3342, d2.loss_plan_l1_fix_time: 0.9903, d2.loss_plan_l1_fix_dist: 0.2997, d3.loss_plan_l1_fix_time: 0.9870, d3.loss_plan_l1_fix_dist: 0.2953, d4.loss_plan_l1_fix_time: 0.9917, d4.loss_plan_l1_fix_dist: 0.3133, d5.loss_plan_l1_fix_time: 0.9971, d5.loss_plan_l1_fix_dist: 0.2851, d6.loss_plan_l1_fix_time: 1.0035, d6.loss_plan_l1_fix_dist: 0.2772, d0.loss_cls_all: 0.1609, d0.loss_bbox_all: 0.3852, d0.loss_cls: 0.1609, d0.loss_bbox: 0.3852, d1.loss_cls: 0.1553, d1.loss_bbox: 0.3491, d2.loss_cls: 0.1402, d2.loss_bbox: 0.3338, d3.loss_cls: 0.1292, d3.loss_bbox: 0.3277, d4.loss_cls: 0.1228, d4.loss_bbox: 0.3274, d5.loss_cls: 0.1224, d5.loss_bbox: 0.3267, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7382, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5934, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5650, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5512, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5467, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5380, d0.loss_map_cls_all: 0.2181, d0.loss_map_pts_all: 1.1916, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2181, d0.loss_map_pts: 1.1916, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1842, d1.loss_map_pts: 0.8419, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1505, d2.loss_map_pts: 0.6711, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1387, d3.loss_map_pts: 0.6024, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1318, d4.loss_map_pts: 0.5830, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1272, d5.loss_map_pts: 0.5754, d5.loss_map_dir: 0.0076, loss: 25.9459, grad_norm: 155.6836 +2026-02-28 01:19:11,563 - DriveTransformer - INFO - Epoch [8][32900/39528] lr: 8.063e-05, eta: 5 days, 9:48:30, time: 0.733, data_time: 0.039, memory: 19865, loss_cls: 0.1409, loss_bbox: 0.3439, loss_traj: 0.5966, loss_traj_cls: 0.0015, loss_map_cls: 0.1575, loss_map_pts: 0.6973, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.8966, d0.loss_plan_l1_fix_dist: 0.4660, d1.loss_plan_l1_fix_time: 0.9999, d1.loss_plan_l1_fix_dist: 0.3222, d2.loss_plan_l1_fix_time: 0.9916, d2.loss_plan_l1_fix_dist: 0.2754, d3.loss_plan_l1_fix_time: 0.9925, d3.loss_plan_l1_fix_dist: 0.2763, d4.loss_plan_l1_fix_time: 0.9929, d4.loss_plan_l1_fix_dist: 0.2611, d5.loss_plan_l1_fix_time: 0.9945, d5.loss_plan_l1_fix_dist: 0.2773, d6.loss_plan_l1_fix_time: 0.9967, d6.loss_plan_l1_fix_dist: 0.2404, d0.loss_cls_all: 0.1823, d0.loss_bbox_all: 0.4045, d0.loss_cls: 0.1823, d0.loss_bbox: 0.4045, d1.loss_cls: 0.1748, d1.loss_bbox: 0.3694, d2.loss_cls: 0.1622, d2.loss_bbox: 0.3499, d3.loss_cls: 0.1482, d3.loss_bbox: 0.3456, d4.loss_cls: 0.1416, d4.loss_bbox: 0.3447, d5.loss_cls: 0.1413, d5.loss_bbox: 0.3442, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7909, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6624, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6306, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6119, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6023, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6000, d0.loss_map_cls_all: 0.2339, d0.loss_map_pts_all: 1.3656, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2339, d0.loss_map_pts: 1.3656, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.2030, d1.loss_map_pts: 0.9815, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1795, d2.loss_map_pts: 0.8014, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1696, d3.loss_map_pts: 0.7288, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1628, d4.loss_map_pts: 0.7079, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1585, d5.loss_map_pts: 0.6984, d5.loss_map_dir: 0.0083, loss: 28.5758, grad_norm: 156.6483 +2026-02-28 01:19:47,384 - DriveTransformer - INFO - Epoch [8][32950/39528] lr: 8.063e-05, eta: 5 days, 9:47:47, time: 0.716, data_time: 0.036, memory: 19865, loss_cls: 0.1167, loss_bbox: 0.3248, loss_traj: 0.5303, loss_traj_cls: 0.0015, loss_map_cls: 0.1524, loss_map_pts: 0.6338, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.2661, d0.loss_plan_l1_fix_dist: 0.4179, d1.loss_plan_l1_fix_time: 0.8571, d1.loss_plan_l1_fix_dist: 0.3191, d2.loss_plan_l1_fix_time: 0.8413, d2.loss_plan_l1_fix_dist: 0.2656, d3.loss_plan_l1_fix_time: 0.8434, d3.loss_plan_l1_fix_dist: 0.3049, d4.loss_plan_l1_fix_time: 0.8452, d4.loss_plan_l1_fix_dist: 0.2285, d5.loss_plan_l1_fix_time: 0.8475, d5.loss_plan_l1_fix_dist: 0.2750, d6.loss_plan_l1_fix_time: 0.8509, d6.loss_plan_l1_fix_dist: 0.2556, d0.loss_cls_all: 0.1659, d0.loss_bbox_all: 0.3868, d0.loss_cls: 0.1659, d0.loss_bbox: 0.3868, d1.loss_cls: 0.1572, d1.loss_bbox: 0.3575, d2.loss_cls: 0.1415, d2.loss_bbox: 0.3357, d3.loss_cls: 0.1243, d3.loss_bbox: 0.3303, d4.loss_cls: 0.1192, d4.loss_bbox: 0.3263, d5.loss_cls: 0.1168, d5.loss_bbox: 0.3258, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7211, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5944, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5401, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5309, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5298, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5294, d0.loss_map_cls_all: 0.2283, d0.loss_map_pts_all: 1.2775, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2283, d0.loss_map_pts: 1.2775, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1960, d1.loss_map_pts: 0.9034, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1725, d2.loss_map_pts: 0.7357, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1673, d3.loss_map_pts: 0.6685, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1582, d4.loss_map_pts: 0.6428, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1543, d5.loss_map_pts: 0.6360, d5.loss_map_dir: 0.0085, loss: 25.5833, grad_norm: 156.8301 +2026-02-28 01:20:25,102 - DriveTransformer - INFO - Epoch [8][33000/39528] lr: 8.063e-05, eta: 5 days, 9:47:21, time: 0.756, data_time: 0.040, memory: 19865, loss_cls: 0.1248, loss_bbox: 0.3352, loss_traj: 0.5598, loss_traj_cls: 0.0016, loss_map_cls: 0.1292, loss_map_pts: 0.6531, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.5071, d0.loss_plan_l1_fix_dist: 0.4159, d1.loss_plan_l1_fix_time: 0.8904, d1.loss_plan_l1_fix_dist: 0.3110, d2.loss_plan_l1_fix_time: 0.8839, d2.loss_plan_l1_fix_dist: 0.2745, d3.loss_plan_l1_fix_time: 0.8823, d3.loss_plan_l1_fix_dist: 0.3674, d4.loss_plan_l1_fix_time: 0.8849, d4.loss_plan_l1_fix_dist: 0.3059, d5.loss_plan_l1_fix_time: 0.8882, d5.loss_plan_l1_fix_dist: 0.2712, d6.loss_plan_l1_fix_time: 0.8915, d6.loss_plan_l1_fix_dist: 0.2634, d0.loss_cls_all: 0.1680, d0.loss_bbox_all: 0.3957, d0.loss_cls: 0.1680, d0.loss_bbox: 0.3957, d1.loss_cls: 0.1599, d1.loss_bbox: 0.3611, d2.loss_cls: 0.1465, d2.loss_bbox: 0.3422, d3.loss_cls: 0.1326, d3.loss_bbox: 0.3360, d4.loss_cls: 0.1253, d4.loss_bbox: 0.3361, d5.loss_cls: 0.1248, d5.loss_bbox: 0.3344, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8068, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6398, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5869, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5673, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5630, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5613, d0.loss_map_cls_all: 0.2119, d0.loss_map_pts_all: 1.3315, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2119, d0.loss_map_pts: 1.3315, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1746, d1.loss_map_pts: 0.9399, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1531, d2.loss_map_pts: 0.7633, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1419, d3.loss_map_pts: 0.6902, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1354, d4.loss_map_pts: 0.6580, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1314, d5.loss_map_pts: 0.6529, d5.loss_map_dir: 0.0089, loss: 26.6963, grad_norm: 156.7647 +2026-02-28 01:21:02,163 - DriveTransformer - INFO - Epoch [8][33050/39528] lr: 8.063e-05, eta: 5 days, 9:46:48, time: 0.740, data_time: 0.035, memory: 19865, loss_cls: 0.1236, loss_bbox: 0.3370, loss_traj: 0.5162, loss_traj_cls: 0.0016, loss_map_cls: 0.1420, loss_map_pts: 0.6460, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.7526, d0.loss_plan_l1_fix_dist: 0.4875, d1.loss_plan_l1_fix_time: 1.0910, d1.loss_plan_l1_fix_dist: 0.2936, d2.loss_plan_l1_fix_time: 1.0835, d2.loss_plan_l1_fix_dist: 0.2715, d3.loss_plan_l1_fix_time: 1.0828, d3.loss_plan_l1_fix_dist: 0.3685, d4.loss_plan_l1_fix_time: 1.0838, d4.loss_plan_l1_fix_dist: 0.3569, d5.loss_plan_l1_fix_time: 1.0857, d5.loss_plan_l1_fix_dist: 0.2296, d6.loss_plan_l1_fix_time: 1.0877, d6.loss_plan_l1_fix_dist: 0.2436, d0.loss_cls_all: 0.1751, d0.loss_bbox_all: 0.3968, d0.loss_cls: 0.1751, d0.loss_bbox: 0.3968, d1.loss_cls: 0.1657, d1.loss_bbox: 0.3654, d2.loss_cls: 0.1512, d2.loss_bbox: 0.3420, d3.loss_cls: 0.1338, d3.loss_bbox: 0.3379, d4.loss_cls: 0.1270, d4.loss_bbox: 0.3360, d5.loss_cls: 0.1246, d5.loss_bbox: 0.3362, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7214, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5824, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5303, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5239, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5112, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5130, d0.loss_map_cls_all: 0.2227, d0.loss_map_pts_all: 1.2895, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2227, d0.loss_map_pts: 1.2895, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1908, d1.loss_map_pts: 0.9144, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1671, d2.loss_map_pts: 0.7432, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1561, d3.loss_map_pts: 0.6802, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1499, d4.loss_map_pts: 0.6552, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1446, d5.loss_map_pts: 0.6470, d5.loss_map_dir: 0.0089, loss: 27.7787, grad_norm: 152.4718 +2026-02-28 01:21:40,539 - DriveTransformer - INFO - Epoch [8][33100/39528] lr: 8.063e-05, eta: 5 days, 9:46:28, time: 0.767, data_time: 0.040, memory: 19865, loss_cls: 0.1293, loss_bbox: 0.2902, loss_traj: 0.5515, loss_traj_cls: 0.0016, loss_map_cls: 0.1089, loss_map_pts: 0.5480, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.6891, d0.loss_plan_l1_fix_dist: 0.4591, d1.loss_plan_l1_fix_time: 0.9397, d1.loss_plan_l1_fix_dist: 0.2757, d2.loss_plan_l1_fix_time: 0.9221, d2.loss_plan_l1_fix_dist: 0.2625, d3.loss_plan_l1_fix_time: 0.9216, d3.loss_plan_l1_fix_dist: 0.3482, d4.loss_plan_l1_fix_time: 0.9221, d4.loss_plan_l1_fix_dist: 0.3650, d5.loss_plan_l1_fix_time: 0.9230, d5.loss_plan_l1_fix_dist: 0.2558, d6.loss_plan_l1_fix_time: 0.9249, d6.loss_plan_l1_fix_dist: 0.2600, d0.loss_cls_all: 0.1700, d0.loss_bbox_all: 0.3518, d0.loss_cls: 0.1700, d0.loss_bbox: 0.3518, d1.loss_cls: 0.1632, d1.loss_bbox: 0.3189, d2.loss_cls: 0.1483, d2.loss_bbox: 0.3007, d3.loss_cls: 0.1368, d3.loss_bbox: 0.2928, d4.loss_cls: 0.1312, d4.loss_bbox: 0.2915, d5.loss_cls: 0.1307, d5.loss_bbox: 0.2889, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7562, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6074, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5565, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5456, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5429, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5483, d0.loss_map_cls_all: 0.1937, d0.loss_map_pts_all: 1.2175, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.1937, d0.loss_map_pts: 1.2175, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1567, d1.loss_map_pts: 0.8346, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1350, d2.loss_map_pts: 0.6478, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1218, d3.loss_map_pts: 0.5843, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1147, d4.loss_map_pts: 0.5554, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1101, d5.loss_map_pts: 0.5485, d5.loss_map_dir: 0.0089, loss: 25.6084, grad_norm: 153.7405 +2026-02-28 01:22:19,766 - DriveTransformer - INFO - Epoch [8][33150/39528] lr: 8.063e-05, eta: 5 days, 9:46:15, time: 0.785, data_time: 0.037, memory: 19865, loss_cls: 0.1198, loss_bbox: 0.3374, loss_traj: 0.5145, loss_traj_cls: 0.0016, loss_map_cls: 0.1483, loss_map_pts: 0.7153, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.7192, d0.loss_plan_l1_fix_dist: 0.4328, d1.loss_plan_l1_fix_time: 0.9133, d1.loss_plan_l1_fix_dist: 0.2781, d2.loss_plan_l1_fix_time: 0.8914, d2.loss_plan_l1_fix_dist: 0.2706, d3.loss_plan_l1_fix_time: 0.8866, d3.loss_plan_l1_fix_dist: 0.3350, d4.loss_plan_l1_fix_time: 0.8883, d4.loss_plan_l1_fix_dist: 0.3697, d5.loss_plan_l1_fix_time: 0.8910, d5.loss_plan_l1_fix_dist: 0.2858, d6.loss_plan_l1_fix_time: 0.8935, d6.loss_plan_l1_fix_dist: 0.2490, d0.loss_cls_all: 0.1704, d0.loss_bbox_all: 0.4012, d0.loss_cls: 0.1704, d0.loss_bbox: 0.4012, d1.loss_cls: 0.1604, d1.loss_bbox: 0.3672, d2.loss_cls: 0.1414, d2.loss_bbox: 0.3491, d3.loss_cls: 0.1257, d3.loss_bbox: 0.3445, d4.loss_cls: 0.1194, d4.loss_bbox: 0.3409, d5.loss_cls: 0.1191, d5.loss_bbox: 0.3381, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6996, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5779, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5275, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5207, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5184, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5155, d0.loss_map_cls_all: 0.2321, d0.loss_map_pts_all: 1.4892, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2321, d0.loss_map_pts: 1.4892, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1947, d1.loss_map_pts: 1.0321, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1756, d2.loss_map_pts: 0.8282, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1627, d3.loss_map_pts: 0.7546, d3.loss_map_dir: 0.0101, d4.loss_map_cls: 0.1556, d4.loss_map_pts: 0.7242, d4.loss_map_dir: 0.0104, d5.loss_map_cls: 0.1501, d5.loss_map_pts: 0.7153, d5.loss_map_dir: 0.0107, loss: 27.4716, grad_norm: 150.0541 +2026-02-28 01:22:54,806 - DriveTransformer - INFO - Epoch [8][33200/39528] lr: 8.063e-05, eta: 5 days, 9:45:25, time: 0.701, data_time: 0.038, memory: 19865, loss_cls: 0.1469, loss_bbox: 0.3483, loss_traj: 0.6474, loss_traj_cls: 0.0015, loss_map_cls: 0.1494, loss_map_pts: 0.6334, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 3.1899, d0.loss_plan_l1_fix_dist: 0.4101, d1.loss_plan_l1_fix_time: 1.1288, d1.loss_plan_l1_fix_dist: 0.2602, d2.loss_plan_l1_fix_time: 1.1168, d2.loss_plan_l1_fix_dist: 0.2438, d3.loss_plan_l1_fix_time: 1.1133, d3.loss_plan_l1_fix_dist: 0.3006, d4.loss_plan_l1_fix_time: 1.1150, d4.loss_plan_l1_fix_dist: 0.3293, d5.loss_plan_l1_fix_time: 1.1181, d5.loss_plan_l1_fix_dist: 0.2908, d6.loss_plan_l1_fix_time: 1.1217, d6.loss_plan_l1_fix_dist: 0.2446, d0.loss_cls_all: 0.1925, d0.loss_bbox_all: 0.4177, d0.loss_cls: 0.1925, d0.loss_bbox: 0.4177, d1.loss_cls: 0.1854, d1.loss_bbox: 0.3799, d2.loss_cls: 0.1721, d2.loss_bbox: 0.3580, d3.loss_cls: 0.1535, d3.loss_bbox: 0.3534, d4.loss_cls: 0.1486, d4.loss_bbox: 0.3514, d5.loss_cls: 0.1433, d5.loss_bbox: 0.3537, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8983, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7275, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6683, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6565, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6545, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6518, d0.loss_map_cls_all: 0.2200, d0.loss_map_pts_all: 1.1951, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2200, d0.loss_map_pts: 1.1951, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1965, d1.loss_map_pts: 0.8978, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1760, d2.loss_map_pts: 0.7396, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1621, d3.loss_map_pts: 0.6704, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1555, d4.loss_map_pts: 0.6404, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1513, d5.loss_map_pts: 0.6343, d5.loss_map_dir: 0.0074, loss: 29.3048, grad_norm: 150.8911 +2026-02-28 01:23:31,696 - DriveTransformer - INFO - Epoch [8][33250/39528] lr: 8.063e-05, eta: 5 days, 9:44:51, time: 0.738, data_time: 0.037, memory: 19865, loss_cls: 0.1191, loss_bbox: 0.3175, loss_traj: 0.5182, loss_traj_cls: 0.0016, loss_map_cls: 0.1326, loss_map_pts: 0.6283, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.7745, d0.loss_plan_l1_fix_dist: 0.4829, d1.loss_plan_l1_fix_time: 1.0211, d1.loss_plan_l1_fix_dist: 0.2502, d2.loss_plan_l1_fix_time: 1.0046, d2.loss_plan_l1_fix_dist: 0.2466, d3.loss_plan_l1_fix_time: 1.0012, d3.loss_plan_l1_fix_dist: 0.2727, d4.loss_plan_l1_fix_time: 1.0027, d4.loss_plan_l1_fix_dist: 0.2678, d5.loss_plan_l1_fix_time: 1.0051, d5.loss_plan_l1_fix_dist: 0.2626, d6.loss_plan_l1_fix_time: 1.0088, d6.loss_plan_l1_fix_dist: 0.2294, d0.loss_cls_all: 0.1574, d0.loss_bbox_all: 0.3863, d0.loss_cls: 0.1574, d0.loss_bbox: 0.3863, d1.loss_cls: 0.1511, d1.loss_bbox: 0.3536, d2.loss_cls: 0.1367, d2.loss_bbox: 0.3347, d3.loss_cls: 0.1246, d3.loss_bbox: 0.3248, d4.loss_cls: 0.1197, d4.loss_bbox: 0.3217, d5.loss_cls: 0.1186, d5.loss_bbox: 0.3192, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6886, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5551, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5251, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5160, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5150, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5147, d0.loss_map_cls_all: 0.2088, d0.loss_map_pts_all: 1.3325, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2088, d0.loss_map_pts: 1.3325, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1802, d1.loss_map_pts: 0.9284, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1584, d2.loss_map_pts: 0.7338, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1466, d3.loss_map_pts: 0.6617, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1397, d4.loss_map_pts: 0.6376, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1347, d5.loss_map_pts: 0.6302, d5.loss_map_dir: 0.0089, loss: 26.7629, grad_norm: 151.2132 +2026-02-28 01:24:08,540 - DriveTransformer - INFO - Epoch [8][33300/39528] lr: 8.063e-05, eta: 5 days, 9:44:17, time: 0.737, data_time: 0.036, memory: 19865, loss_cls: 0.1524, loss_bbox: 0.3443, loss_traj: 0.5371, loss_traj_cls: 0.0015, loss_map_cls: 0.1344, loss_map_pts: 0.6617, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.6058, d0.loss_plan_l1_fix_dist: 0.4410, d1.loss_plan_l1_fix_time: 0.9382, d1.loss_plan_l1_fix_dist: 0.2718, d2.loss_plan_l1_fix_time: 0.9286, d2.loss_plan_l1_fix_dist: 0.2953, d3.loss_plan_l1_fix_time: 0.9276, d3.loss_plan_l1_fix_dist: 0.2666, d4.loss_plan_l1_fix_time: 0.9295, d4.loss_plan_l1_fix_dist: 0.2463, d5.loss_plan_l1_fix_time: 0.9318, d5.loss_plan_l1_fix_dist: 0.2393, d6.loss_plan_l1_fix_time: 0.9348, d6.loss_plan_l1_fix_dist: 0.2342, d0.loss_cls_all: 0.1976, d0.loss_bbox_all: 0.4170, d0.loss_cls: 0.1976, d0.loss_bbox: 0.4170, d1.loss_cls: 0.1832, d1.loss_bbox: 0.3839, d2.loss_cls: 0.1725, d2.loss_bbox: 0.3640, d3.loss_cls: 0.1595, d3.loss_bbox: 0.3526, d4.loss_cls: 0.1540, d4.loss_bbox: 0.3474, d5.loss_cls: 0.1526, d5.loss_bbox: 0.3453, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7578, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5810, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5424, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5315, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5309, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5316, d0.loss_map_cls_all: 0.2196, d0.loss_map_pts_all: 1.3154, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2196, d0.loss_map_pts: 1.3154, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1849, d1.loss_map_pts: 0.9461, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1631, d2.loss_map_pts: 0.7756, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1499, d3.loss_map_pts: 0.7071, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1420, d4.loss_map_pts: 0.6731, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1366, d5.loss_map_pts: 0.6647, d5.loss_map_dir: 0.0093, loss: 27.0323, grad_norm: 148.6549 +2026-02-28 01:24:44,166 - DriveTransformer - INFO - Epoch [8][33350/39528] lr: 8.063e-05, eta: 5 days, 9:43:32, time: 0.712, data_time: 0.038, memory: 19865, loss_cls: 0.1129, loss_bbox: 0.3202, loss_traj: 0.5585, loss_traj_cls: 0.0016, loss_map_cls: 0.1367, loss_map_pts: 0.6352, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.3067, d0.loss_plan_l1_fix_dist: 0.4573, d1.loss_plan_l1_fix_time: 0.8502, d1.loss_plan_l1_fix_dist: 0.2821, d2.loss_plan_l1_fix_time: 0.8402, d2.loss_plan_l1_fix_dist: 0.3119, d3.loss_plan_l1_fix_time: 0.8342, d3.loss_plan_l1_fix_dist: 0.2614, d4.loss_plan_l1_fix_time: 0.8360, d4.loss_plan_l1_fix_dist: 0.2082, d5.loss_plan_l1_fix_time: 0.8388, d5.loss_plan_l1_fix_dist: 0.2139, d6.loss_plan_l1_fix_time: 0.8424, d6.loss_plan_l1_fix_dist: 0.2243, d0.loss_cls_all: 0.1462, d0.loss_bbox_all: 0.3855, d0.loss_cls: 0.1462, d0.loss_bbox: 0.3855, d1.loss_cls: 0.1440, d1.loss_bbox: 0.3522, d2.loss_cls: 0.1320, d2.loss_bbox: 0.3330, d3.loss_cls: 0.1190, d3.loss_bbox: 0.3248, d4.loss_cls: 0.1154, d4.loss_bbox: 0.3204, d5.loss_cls: 0.1121, d5.loss_bbox: 0.3197, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7652, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6265, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5839, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5683, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5573, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5547, d0.loss_map_cls_all: 0.2141, d0.loss_map_pts_all: 1.2871, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2141, d0.loss_map_pts: 1.2871, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1844, d1.loss_map_pts: 0.9043, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1610, d2.loss_map_pts: 0.7324, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1502, d3.loss_map_pts: 0.6739, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1453, d4.loss_map_pts: 0.6450, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1386, d5.loss_map_pts: 0.6379, d5.loss_map_dir: 0.0080, loss: 25.5066, grad_norm: 146.1124 +2026-02-28 01:25:20,708 - DriveTransformer - INFO - Epoch [8][33400/39528] lr: 8.063e-05, eta: 5 days, 9:42:55, time: 0.731, data_time: 0.037, memory: 19865, loss_cls: 0.1231, loss_bbox: 0.3339, loss_traj: 0.4817, loss_traj_cls: 0.0015, loss_map_cls: 0.1240, loss_map_pts: 0.6370, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.5737, d0.loss_plan_l1_fix_dist: 0.4664, d1.loss_plan_l1_fix_time: 0.8912, d1.loss_plan_l1_fix_dist: 0.3021, d2.loss_plan_l1_fix_time: 0.8780, d2.loss_plan_l1_fix_dist: 0.3303, d3.loss_plan_l1_fix_time: 0.8779, d3.loss_plan_l1_fix_dist: 0.2856, d4.loss_plan_l1_fix_time: 0.8800, d4.loss_plan_l1_fix_dist: 0.2169, d5.loss_plan_l1_fix_time: 0.8824, d5.loss_plan_l1_fix_dist: 0.2073, d6.loss_plan_l1_fix_time: 0.8846, d6.loss_plan_l1_fix_dist: 0.2135, d0.loss_cls_all: 0.1647, d0.loss_bbox_all: 0.3928, d0.loss_cls: 0.1647, d0.loss_bbox: 0.3928, d1.loss_cls: 0.1582, d1.loss_bbox: 0.3626, d2.loss_cls: 0.1474, d2.loss_bbox: 0.3417, d3.loss_cls: 0.1323, d3.loss_bbox: 0.3358, d4.loss_cls: 0.1253, d4.loss_bbox: 0.3337, d5.loss_cls: 0.1240, d5.loss_bbox: 0.3329, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7117, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5614, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5026, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4852, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4783, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4807, d0.loss_map_cls_all: 0.1997, d0.loss_map_pts_all: 1.2908, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1997, d0.loss_map_pts: 1.2908, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1696, d1.loss_map_pts: 0.8966, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1488, d2.loss_map_pts: 0.7377, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1387, d3.loss_map_pts: 0.6730, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1301, d4.loss_map_pts: 0.6424, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1266, d5.loss_map_pts: 0.6371, d5.loss_map_dir: 0.0076, loss: 25.6671, grad_norm: 148.7975 +2026-02-28 01:25:58,037 - DriveTransformer - INFO - Epoch [8][33450/39528] lr: 8.063e-05, eta: 5 days, 9:42:25, time: 0.747, data_time: 0.038, memory: 19865, loss_cls: 0.1237, loss_bbox: 0.3159, loss_traj: 0.4870, loss_traj_cls: 0.0016, loss_map_cls: 0.1097, loss_map_pts: 0.5708, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.4000, d0.loss_plan_l1_fix_dist: 0.4215, d1.loss_plan_l1_fix_time: 0.8748, d1.loss_plan_l1_fix_dist: 0.2997, d2.loss_plan_l1_fix_time: 0.8638, d2.loss_plan_l1_fix_dist: 0.3310, d3.loss_plan_l1_fix_time: 0.8563, d3.loss_plan_l1_fix_dist: 0.2742, d4.loss_plan_l1_fix_time: 0.8580, d4.loss_plan_l1_fix_dist: 0.2270, d5.loss_plan_l1_fix_time: 0.8608, d5.loss_plan_l1_fix_dist: 0.2013, d6.loss_plan_l1_fix_time: 0.8640, d6.loss_plan_l1_fix_dist: 0.2121, d0.loss_cls_all: 0.1700, d0.loss_bbox_all: 0.3780, d0.loss_cls: 0.1700, d0.loss_bbox: 0.3780, d1.loss_cls: 0.1575, d1.loss_bbox: 0.3439, d2.loss_cls: 0.1457, d2.loss_bbox: 0.3251, d3.loss_cls: 0.1291, d3.loss_bbox: 0.3199, d4.loss_cls: 0.1263, d4.loss_bbox: 0.3164, d5.loss_cls: 0.1250, d5.loss_bbox: 0.3148, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6979, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5509, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5061, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4924, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4864, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4885, d0.loss_map_cls_all: 0.1832, d0.loss_map_pts_all: 1.1617, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.1832, d0.loss_map_pts: 1.1617, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1497, d1.loss_map_pts: 0.8100, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1337, d2.loss_map_pts: 0.6603, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1225, d3.loss_map_pts: 0.5974, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1161, d4.loss_map_pts: 0.5801, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1114, d5.loss_map_pts: 0.5704, d5.loss_map_dir: 0.0087, loss: 24.3886, grad_norm: 148.6571 +2026-02-28 01:26:35,913 - DriveTransformer - INFO - Epoch [8][33500/39528] lr: 8.063e-05, eta: 5 days, 9:42:00, time: 0.757, data_time: 0.037, memory: 19865, loss_cls: 0.1350, loss_bbox: 0.3354, loss_traj: 0.5649, loss_traj_cls: 0.0015, loss_map_cls: 0.1292, loss_map_pts: 0.6395, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.4612, d0.loss_plan_l1_fix_dist: 0.4273, d1.loss_plan_l1_fix_time: 0.9619, d1.loss_plan_l1_fix_dist: 0.2991, d2.loss_plan_l1_fix_time: 0.9513, d2.loss_plan_l1_fix_dist: 0.3315, d3.loss_plan_l1_fix_time: 0.9501, d3.loss_plan_l1_fix_dist: 0.2587, d4.loss_plan_l1_fix_time: 0.9512, d4.loss_plan_l1_fix_dist: 0.2196, d5.loss_plan_l1_fix_time: 0.9526, d5.loss_plan_l1_fix_dist: 0.2055, d6.loss_plan_l1_fix_time: 0.9549, d6.loss_plan_l1_fix_dist: 0.2222, d0.loss_cls_all: 0.1769, d0.loss_bbox_all: 0.4017, d0.loss_cls: 0.1769, d0.loss_bbox: 0.4017, d1.loss_cls: 0.1697, d1.loss_bbox: 0.3638, d2.loss_cls: 0.1585, d2.loss_bbox: 0.3429, d3.loss_cls: 0.1424, d3.loss_bbox: 0.3363, d4.loss_cls: 0.1369, d4.loss_bbox: 0.3348, d5.loss_cls: 0.1346, d5.loss_bbox: 0.3354, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7929, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6241, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5806, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5683, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5598, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5639, d0.loss_map_cls_all: 0.2069, d0.loss_map_pts_all: 1.3283, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2069, d0.loss_map_pts: 1.3283, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1765, d1.loss_map_pts: 0.9391, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1542, d2.loss_map_pts: 0.7482, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1439, d3.loss_map_pts: 0.6768, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1365, d4.loss_map_pts: 0.6473, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1316, d5.loss_map_pts: 0.6399, d5.loss_map_dir: 0.0090, loss: 26.7923, grad_norm: 148.9822 +2026-02-28 01:27:11,043 - DriveTransformer - INFO - Epoch [8][33550/39528] lr: 8.063e-05, eta: 5 days, 9:41:11, time: 0.703, data_time: 0.036, memory: 19865, loss_cls: 0.1281, loss_bbox: 0.3243, loss_traj: 0.6733, loss_traj_cls: 0.0015, loss_map_cls: 0.1334, loss_map_pts: 0.6090, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.7887, d0.loss_plan_l1_fix_dist: 0.4891, d1.loss_plan_l1_fix_time: 0.9851, d1.loss_plan_l1_fix_dist: 0.2965, d2.loss_plan_l1_fix_time: 0.9788, d2.loss_plan_l1_fix_dist: 0.3225, d3.loss_plan_l1_fix_time: 0.9815, d3.loss_plan_l1_fix_dist: 0.2533, d4.loss_plan_l1_fix_time: 0.9856, d4.loss_plan_l1_fix_dist: 0.2121, d5.loss_plan_l1_fix_time: 0.9894, d5.loss_plan_l1_fix_dist: 0.2133, d6.loss_plan_l1_fix_time: 0.9935, d6.loss_plan_l1_fix_dist: 0.2370, d0.loss_cls_all: 0.1704, d0.loss_bbox_all: 0.3981, d0.loss_cls: 0.1704, d0.loss_bbox: 0.3981, d1.loss_cls: 0.1593, d1.loss_bbox: 0.3616, d2.loss_cls: 0.1459, d2.loss_bbox: 0.3397, d3.loss_cls: 0.1323, d3.loss_bbox: 0.3310, d4.loss_cls: 0.1288, d4.loss_bbox: 0.3274, d5.loss_cls: 0.1279, d5.loss_bbox: 0.3247, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9298, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7404, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6974, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6851, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6751, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6762, d0.loss_map_cls_all: 0.2045, d0.loss_map_pts_all: 1.1583, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2045, d0.loss_map_pts: 1.1583, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1825, d1.loss_map_pts: 0.8737, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1597, d2.loss_map_pts: 0.7117, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1479, d3.loss_map_pts: 0.6429, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1399, d4.loss_map_pts: 0.6192, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1361, d5.loss_map_pts: 0.6102, d5.loss_map_dir: 0.0071, loss: 27.5244, grad_norm: 147.3458 +2026-02-28 01:27:49,093 - DriveTransformer - INFO - Epoch [8][33600/39528] lr: 8.063e-05, eta: 5 days, 9:40:48, time: 0.761, data_time: 0.038, memory: 19865, loss_cls: 0.1468, loss_bbox: 0.3601, loss_traj: 0.5854, loss_traj_cls: 0.0014, loss_map_cls: 0.1548, loss_map_pts: 0.7679, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.8072, d0.loss_plan_l1_fix_dist: 0.3734, d1.loss_plan_l1_fix_time: 1.0261, d1.loss_plan_l1_fix_dist: 0.2679, d2.loss_plan_l1_fix_time: 1.0159, d2.loss_plan_l1_fix_dist: 0.2755, d3.loss_plan_l1_fix_time: 1.0041, d3.loss_plan_l1_fix_dist: 0.2141, d4.loss_plan_l1_fix_time: 1.0060, d4.loss_plan_l1_fix_dist: 0.2143, d5.loss_plan_l1_fix_time: 1.0094, d5.loss_plan_l1_fix_dist: 0.2143, d6.loss_plan_l1_fix_time: 1.0128, d6.loss_plan_l1_fix_dist: 0.2256, d0.loss_cls_all: 0.1912, d0.loss_bbox_all: 0.4213, d0.loss_cls: 0.1912, d0.loss_bbox: 0.4213, d1.loss_cls: 0.1805, d1.loss_bbox: 0.3861, d2.loss_cls: 0.1677, d2.loss_bbox: 0.3670, d3.loss_cls: 0.1540, d3.loss_bbox: 0.3620, d4.loss_cls: 0.1471, d4.loss_bbox: 0.3599, d5.loss_cls: 0.1465, d5.loss_bbox: 0.3591, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8293, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6312, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6036, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5888, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5828, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5839, d0.loss_map_cls_all: 0.2451, d0.loss_map_pts_all: 1.5178, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2451, d0.loss_map_pts: 1.5178, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2103, d1.loss_map_pts: 1.1099, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1832, d2.loss_map_pts: 0.9098, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1732, d3.loss_map_pts: 0.8168, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1638, d4.loss_map_pts: 0.7769, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1581, d5.loss_map_pts: 0.7683, d5.loss_map_dir: 0.0103, loss: 29.2376, grad_norm: 146.7721 +2026-02-28 01:28:24,609 - DriveTransformer - INFO - Epoch [8][33650/39528] lr: 8.063e-05, eta: 5 days, 9:40:02, time: 0.710, data_time: 0.036, memory: 19865, loss_cls: 0.1306, loss_bbox: 0.3160, loss_traj: 0.5840, loss_traj_cls: 0.0015, loss_map_cls: 0.1290, loss_map_pts: 0.6115, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.9217, d0.loss_plan_l1_fix_dist: 0.4638, d1.loss_plan_l1_fix_time: 0.8503, d1.loss_plan_l1_fix_dist: 0.2053, d2.loss_plan_l1_fix_time: 0.8396, d2.loss_plan_l1_fix_dist: 0.2040, d3.loss_plan_l1_fix_time: 0.8410, d3.loss_plan_l1_fix_dist: 0.1737, d4.loss_plan_l1_fix_time: 0.8449, d4.loss_plan_l1_fix_dist: 0.1822, d5.loss_plan_l1_fix_time: 0.8505, d5.loss_plan_l1_fix_dist: 0.1909, d6.loss_plan_l1_fix_time: 0.8565, d6.loss_plan_l1_fix_dist: 0.2078, d0.loss_cls_all: 0.1735, d0.loss_bbox_all: 0.3749, d0.loss_cls: 0.1735, d0.loss_bbox: 0.3749, d1.loss_cls: 0.1585, d1.loss_bbox: 0.3396, d2.loss_cls: 0.1486, d2.loss_bbox: 0.3233, d3.loss_cls: 0.1379, d3.loss_bbox: 0.3159, d4.loss_cls: 0.1320, d4.loss_bbox: 0.3150, d5.loss_cls: 0.1297, d5.loss_bbox: 0.3149, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7987, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6446, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5951, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5855, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5805, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5808, d0.loss_map_cls_all: 0.2002, d0.loss_map_pts_all: 1.1900, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2002, d0.loss_map_pts: 1.1900, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1738, d1.loss_map_pts: 0.8759, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1557, d2.loss_map_pts: 0.7194, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1414, d3.loss_map_pts: 0.6446, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1358, d4.loss_map_pts: 0.6205, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1307, d5.loss_map_pts: 0.6127, d5.loss_map_dir: 0.0069, loss: 25.6518, grad_norm: 151.9301 +2026-02-28 01:29:00,933 - DriveTransformer - INFO - Epoch [8][33700/39528] lr: 8.063e-05, eta: 5 days, 9:39:23, time: 0.726, data_time: 0.039, memory: 19865, loss_cls: 0.1309, loss_bbox: 0.3093, loss_traj: 0.5546, loss_traj_cls: 0.0015, loss_map_cls: 0.1161, loss_map_pts: 0.6047, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.6014, d0.loss_plan_l1_fix_dist: 0.3974, d1.loss_plan_l1_fix_time: 0.9796, d1.loss_plan_l1_fix_dist: 0.2130, d2.loss_plan_l1_fix_time: 0.9639, d2.loss_plan_l1_fix_dist: 0.2048, d3.loss_plan_l1_fix_time: 0.9615, d3.loss_plan_l1_fix_dist: 0.1908, d4.loss_plan_l1_fix_time: 0.9638, d4.loss_plan_l1_fix_dist: 0.1788, d5.loss_plan_l1_fix_time: 0.9674, d5.loss_plan_l1_fix_dist: 0.1854, d6.loss_plan_l1_fix_time: 0.9713, d6.loss_plan_l1_fix_dist: 0.2071, d0.loss_cls_all: 0.1779, d0.loss_bbox_all: 0.3689, d0.loss_cls: 0.1779, d0.loss_bbox: 0.3689, d1.loss_cls: 0.1685, d1.loss_bbox: 0.3377, d2.loss_cls: 0.1538, d2.loss_bbox: 0.3199, d3.loss_cls: 0.1393, d3.loss_bbox: 0.3104, d4.loss_cls: 0.1330, d4.loss_bbox: 0.3087, d5.loss_cls: 0.1315, d5.loss_bbox: 0.3077, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8028, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6339, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5721, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5590, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5606, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5553, d0.loss_map_cls_all: 0.1953, d0.loss_map_pts_all: 1.1568, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1953, d0.loss_map_pts: 1.1568, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1658, d1.loss_map_pts: 0.8554, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1447, d2.loss_map_pts: 0.7033, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1303, d3.loss_map_pts: 0.6383, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1218, d4.loss_map_pts: 0.6130, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1168, d5.loss_map_pts: 0.6058, d5.loss_map_dir: 0.0077, loss: 25.6548, grad_norm: 151.6245 +2026-02-28 01:29:37,820 - DriveTransformer - INFO - Epoch [8][33750/39528] lr: 8.063e-05, eta: 5 days, 9:38:50, time: 0.738, data_time: 0.039, memory: 19865, loss_cls: 0.1166, loss_bbox: 0.3083, loss_traj: 0.6486, loss_traj_cls: 0.0015, loss_map_cls: 0.1165, loss_map_pts: 0.6145, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.6440, d0.loss_plan_l1_fix_dist: 0.4278, d1.loss_plan_l1_fix_time: 0.9289, d1.loss_plan_l1_fix_dist: 0.2079, d2.loss_plan_l1_fix_time: 0.9238, d2.loss_plan_l1_fix_dist: 0.2022, d3.loss_plan_l1_fix_time: 0.9183, d3.loss_plan_l1_fix_dist: 0.1799, d4.loss_plan_l1_fix_time: 0.9209, d4.loss_plan_l1_fix_dist: 0.1715, d5.loss_plan_l1_fix_time: 0.9239, d5.loss_plan_l1_fix_dist: 0.1817, d6.loss_plan_l1_fix_time: 0.9277, d6.loss_plan_l1_fix_dist: 0.1978, d0.loss_cls_all: 0.1538, d0.loss_bbox_all: 0.3717, d0.loss_cls: 0.1538, d0.loss_bbox: 0.3717, d1.loss_cls: 0.1471, d1.loss_bbox: 0.3386, d2.loss_cls: 0.1346, d2.loss_bbox: 0.3209, d3.loss_cls: 0.1235, d3.loss_bbox: 0.3112, d4.loss_cls: 0.1187, d4.loss_bbox: 0.3084, d5.loss_cls: 0.1172, d5.loss_bbox: 0.3067, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8386, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6673, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6438, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6404, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6360, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6417, d0.loss_map_cls_all: 0.1926, d0.loss_map_pts_all: 1.3078, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1926, d0.loss_map_pts: 1.3078, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1661, d1.loss_map_pts: 0.9183, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1432, d2.loss_map_pts: 0.7259, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1326, d3.loss_map_pts: 0.6527, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1241, d4.loss_map_pts: 0.6235, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1185, d5.loss_map_pts: 0.6164, d5.loss_map_dir: 0.0077, loss: 26.1945, grad_norm: 153.5202 +2026-02-28 01:30:13,350 - DriveTransformer - INFO - Epoch [8][33800/39528] lr: 8.063e-05, eta: 5 days, 9:38:04, time: 0.712, data_time: 0.039, memory: 19865, loss_cls: 0.1434, loss_bbox: 0.3523, loss_traj: 0.6001, loss_traj_cls: 0.0015, loss_map_cls: 0.1378, loss_map_pts: 0.5825, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.5824, d0.loss_plan_l1_fix_dist: 0.4855, d1.loss_plan_l1_fix_time: 1.0347, d1.loss_plan_l1_fix_dist: 0.2256, d2.loss_plan_l1_fix_time: 1.0361, d2.loss_plan_l1_fix_dist: 0.2137, d3.loss_plan_l1_fix_time: 1.0192, d3.loss_plan_l1_fix_dist: 0.1940, d4.loss_plan_l1_fix_time: 1.0222, d4.loss_plan_l1_fix_dist: 0.1919, d5.loss_plan_l1_fix_time: 1.0257, d5.loss_plan_l1_fix_dist: 0.1945, d6.loss_plan_l1_fix_time: 1.0299, d6.loss_plan_l1_fix_dist: 0.2122, d0.loss_cls_all: 0.1774, d0.loss_bbox_all: 0.4216, d0.loss_cls: 0.1774, d0.loss_bbox: 0.4216, d1.loss_cls: 0.1755, d1.loss_bbox: 0.3854, d2.loss_cls: 0.1658, d2.loss_bbox: 0.3640, d3.loss_cls: 0.1479, d3.loss_bbox: 0.3596, d4.loss_cls: 0.1442, d4.loss_bbox: 0.3547, d5.loss_cls: 0.1425, d5.loss_bbox: 0.3526, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8483, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6770, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6151, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6056, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5972, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5963, d0.loss_map_cls_all: 0.2086, d0.loss_map_pts_all: 1.1645, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.2086, d0.loss_map_pts: 1.1645, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1830, d1.loss_map_pts: 0.8625, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1614, d2.loss_map_pts: 0.6858, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1517, d3.loss_map_pts: 0.6200, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1457, d4.loss_map_pts: 0.5937, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1395, d5.loss_map_pts: 0.5857, d5.loss_map_dir: 0.0060, loss: 26.9402, grad_norm: 154.2506 +2026-02-28 01:30:49,872 - DriveTransformer - INFO - Epoch [8][33850/39528] lr: 8.063e-05, eta: 5 days, 9:37:27, time: 0.729, data_time: 0.036, memory: 19865, loss_cls: 0.1371, loss_bbox: 0.3373, loss_traj: 0.5977, loss_traj_cls: 0.0015, loss_map_cls: 0.1558, loss_map_pts: 0.6483, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.7115, d0.loss_plan_l1_fix_dist: 0.4130, d1.loss_plan_l1_fix_time: 1.0720, d1.loss_plan_l1_fix_dist: 0.2487, d2.loss_plan_l1_fix_time: 1.0596, d2.loss_plan_l1_fix_dist: 0.2316, d3.loss_plan_l1_fix_time: 1.0431, d3.loss_plan_l1_fix_dist: 0.2100, d4.loss_plan_l1_fix_time: 1.0453, d4.loss_plan_l1_fix_dist: 0.2094, d5.loss_plan_l1_fix_time: 1.0488, d5.loss_plan_l1_fix_dist: 0.2110, d6.loss_plan_l1_fix_time: 1.0531, d6.loss_plan_l1_fix_dist: 0.2418, d0.loss_cls_all: 0.1748, d0.loss_bbox_all: 0.4074, d0.loss_cls: 0.1748, d0.loss_bbox: 0.4074, d1.loss_cls: 0.1744, d1.loss_bbox: 0.3746, d2.loss_cls: 0.1636, d2.loss_bbox: 0.3499, d3.loss_cls: 0.1452, d3.loss_bbox: 0.3435, d4.loss_cls: 0.1395, d4.loss_bbox: 0.3402, d5.loss_cls: 0.1374, d5.loss_bbox: 0.3389, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7982, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6495, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6150, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6026, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5965, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5972, d0.loss_map_cls_all: 0.2197, d0.loss_map_pts_all: 1.2520, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2197, d0.loss_map_pts: 1.2520, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1945, d1.loss_map_pts: 0.8893, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1776, d2.loss_map_pts: 0.7238, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1670, d3.loss_map_pts: 0.6689, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1617, d4.loss_map_pts: 0.6555, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1573, d5.loss_map_pts: 0.6505, d5.loss_map_dir: 0.0088, loss: 27.6703, grad_norm: 155.6356 +2026-02-28 01:31:25,461 - DriveTransformer - INFO - Epoch [8][33900/39528] lr: 8.063e-05, eta: 5 days, 9:36:42, time: 0.712, data_time: 0.040, memory: 19865, loss_cls: 0.1283, loss_bbox: 0.3380, loss_traj: 0.5798, loss_traj_cls: 0.0015, loss_map_cls: 0.1468, loss_map_pts: 0.6542, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.6872, d0.loss_plan_l1_fix_dist: 0.5035, d1.loss_plan_l1_fix_time: 1.0066, d1.loss_plan_l1_fix_dist: 0.2604, d2.loss_plan_l1_fix_time: 0.9919, d2.loss_plan_l1_fix_dist: 0.2380, d3.loss_plan_l1_fix_time: 0.9973, d3.loss_plan_l1_fix_dist: 0.2246, d4.loss_plan_l1_fix_time: 1.0009, d4.loss_plan_l1_fix_dist: 0.2158, d5.loss_plan_l1_fix_time: 1.0046, d5.loss_plan_l1_fix_dist: 0.2109, d6.loss_plan_l1_fix_time: 1.0091, d6.loss_plan_l1_fix_dist: 0.2419, d0.loss_cls_all: 0.1737, d0.loss_bbox_all: 0.4042, d0.loss_cls: 0.1737, d0.loss_bbox: 0.4042, d1.loss_cls: 0.1689, d1.loss_bbox: 0.3707, d2.loss_cls: 0.1539, d2.loss_bbox: 0.3514, d3.loss_cls: 0.1318, d3.loss_bbox: 0.3441, d4.loss_cls: 0.1286, d4.loss_bbox: 0.3393, d5.loss_cls: 0.1271, d5.loss_bbox: 0.3387, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7683, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6329, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5901, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5731, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5751, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5737, d0.loss_map_cls_all: 0.2217, d0.loss_map_pts_all: 1.2318, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2217, d0.loss_map_pts: 1.2318, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1938, d1.loss_map_pts: 0.8995, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1724, d2.loss_map_pts: 0.7443, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1608, d3.loss_map_pts: 0.6825, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1543, d4.loss_map_pts: 0.6613, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1480, d5.loss_map_pts: 0.6548, d5.loss_map_dir: 0.0076, loss: 27.2091, grad_norm: 156.5258 +2026-02-28 01:32:01,446 - DriveTransformer - INFO - Epoch [8][33950/39528] lr: 8.063e-05, eta: 5 days, 9:36:00, time: 0.720, data_time: 0.040, memory: 19865, loss_cls: 0.1243, loss_bbox: 0.3241, loss_traj: 0.5740, loss_traj_cls: 0.0015, loss_map_cls: 0.1355, loss_map_pts: 0.5893, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.7065, d0.loss_plan_l1_fix_dist: 0.5180, d1.loss_plan_l1_fix_time: 1.0307, d1.loss_plan_l1_fix_dist: 0.2577, d2.loss_plan_l1_fix_time: 1.0128, d2.loss_plan_l1_fix_dist: 0.2172, d3.loss_plan_l1_fix_time: 1.0136, d3.loss_plan_l1_fix_dist: 0.2121, d4.loss_plan_l1_fix_time: 1.0166, d4.loss_plan_l1_fix_dist: 0.2030, d5.loss_plan_l1_fix_time: 1.0197, d5.loss_plan_l1_fix_dist: 0.1977, d6.loss_plan_l1_fix_time: 1.0237, d6.loss_plan_l1_fix_dist: 0.2157, d0.loss_cls_all: 0.1671, d0.loss_bbox_all: 0.3776, d0.loss_cls: 0.1671, d0.loss_bbox: 0.3776, d1.loss_cls: 0.1590, d1.loss_bbox: 0.3484, d2.loss_cls: 0.1460, d2.loss_bbox: 0.3308, d3.loss_cls: 0.1302, d3.loss_bbox: 0.3272, d4.loss_cls: 0.1258, d4.loss_bbox: 0.3248, d5.loss_cls: 0.1247, d5.loss_bbox: 0.3239, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7577, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6212, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5886, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5776, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5695, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5691, d0.loss_map_cls_all: 0.2080, d0.loss_map_pts_all: 1.1624, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2080, d0.loss_map_pts: 1.1624, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1789, d1.loss_map_pts: 0.8467, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1580, d2.loss_map_pts: 0.6894, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1491, d3.loss_map_pts: 0.6196, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1430, d4.loss_map_pts: 0.5959, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1372, d5.loss_map_pts: 0.5882, d5.loss_map_dir: 0.0071, loss: 26.4127, grad_norm: 157.5579 +2026-02-28 01:32:37,695 - DriveTransformer - INFO - Epoch [8][34000/39528] lr: 8.063e-05, eta: 5 days, 9:35:21, time: 0.725, data_time: 0.037, memory: 19865, loss_cls: 0.1094, loss_bbox: 0.3284, loss_traj: 0.5967, loss_traj_cls: 0.0014, loss_map_cls: 0.1323, loss_map_pts: 0.5895, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.3807, d0.loss_plan_l1_fix_dist: 0.4201, d1.loss_plan_l1_fix_time: 0.9432, d1.loss_plan_l1_fix_dist: 0.2522, d2.loss_plan_l1_fix_time: 0.9264, d2.loss_plan_l1_fix_dist: 0.1951, d3.loss_plan_l1_fix_time: 0.9252, d3.loss_plan_l1_fix_dist: 0.2114, d4.loss_plan_l1_fix_time: 0.9279, d4.loss_plan_l1_fix_dist: 0.2265, d5.loss_plan_l1_fix_time: 0.9316, d5.loss_plan_l1_fix_dist: 0.2359, d6.loss_plan_l1_fix_time: 0.9357, d6.loss_plan_l1_fix_dist: 0.2478, d0.loss_cls_all: 0.1529, d0.loss_bbox_all: 0.3867, d0.loss_cls: 0.1529, d0.loss_bbox: 0.3867, d1.loss_cls: 0.1452, d1.loss_bbox: 0.3582, d2.loss_cls: 0.1295, d2.loss_bbox: 0.3404, d3.loss_cls: 0.1136, d3.loss_bbox: 0.3317, d4.loss_cls: 0.1079, d4.loss_bbox: 0.3304, d5.loss_cls: 0.1095, d5.loss_bbox: 0.3278, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8390, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6714, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6139, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6015, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5996, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5979, d0.loss_map_cls_all: 0.1975, d0.loss_map_pts_all: 1.1697, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1975, d0.loss_map_pts: 1.1697, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1704, d1.loss_map_pts: 0.8382, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1528, d2.loss_map_pts: 0.6870, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1428, d3.loss_map_pts: 0.6230, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1375, d4.loss_map_pts: 0.5971, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1344, d5.loss_map_pts: 0.5909, d5.loss_map_dir: 0.0064, loss: 25.6784, grad_norm: 159.6305 +2026-02-28 01:33:13,703 - DriveTransformer - INFO - Epoch [8][34050/39528] lr: 8.063e-05, eta: 5 days, 9:34:40, time: 0.720, data_time: 0.037, memory: 19865, loss_cls: 0.1461, loss_bbox: 0.3547, loss_traj: 0.5844, loss_traj_cls: 0.0014, loss_map_cls: 0.1903, loss_map_pts: 0.7584, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 3.1961, d0.loss_plan_l1_fix_dist: 0.3937, d1.loss_plan_l1_fix_time: 1.0897, d1.loss_plan_l1_fix_dist: 0.2553, d2.loss_plan_l1_fix_time: 1.0673, d2.loss_plan_l1_fix_dist: 0.1926, d3.loss_plan_l1_fix_time: 1.0710, d3.loss_plan_l1_fix_dist: 0.2071, d4.loss_plan_l1_fix_time: 1.0759, d4.loss_plan_l1_fix_dist: 0.2222, d5.loss_plan_l1_fix_time: 1.0807, d5.loss_plan_l1_fix_dist: 0.2307, d6.loss_plan_l1_fix_time: 1.0845, d6.loss_plan_l1_fix_dist: 0.2372, d0.loss_cls_all: 0.1910, d0.loss_bbox_all: 0.4125, d0.loss_cls: 0.1910, d0.loss_bbox: 0.4125, d1.loss_cls: 0.1896, d1.loss_bbox: 0.3784, d2.loss_cls: 0.1750, d2.loss_bbox: 0.3594, d3.loss_cls: 0.1559, d3.loss_bbox: 0.3549, d4.loss_cls: 0.1482, d4.loss_bbox: 0.3537, d5.loss_cls: 0.1460, d5.loss_bbox: 0.3539, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8164, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6629, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6072, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5900, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5822, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5828, d0.loss_map_cls_all: 0.2660, d0.loss_map_pts_all: 1.4664, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2660, d0.loss_map_pts: 1.4664, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.2407, d1.loss_map_pts: 1.0908, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.2180, d2.loss_map_pts: 0.8831, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.2049, d3.loss_map_pts: 0.7982, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1968, d4.loss_map_pts: 0.7675, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1922, d5.loss_map_pts: 0.7600, d5.loss_map_dir: 0.0074, loss: 29.9817, grad_norm: 160.9008 +2026-02-28 01:33:50,582 - DriveTransformer - INFO - Epoch [8][34100/39528] lr: 8.063e-05, eta: 5 days, 9:34:06, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.1230, loss_bbox: 0.3402, loss_traj: 0.4835, loss_traj_cls: 0.0015, loss_map_cls: 0.1485, loss_map_pts: 0.6502, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.8319, d0.loss_plan_l1_fix_dist: 0.4499, d1.loss_plan_l1_fix_time: 0.9723, d1.loss_plan_l1_fix_dist: 0.2469, d2.loss_plan_l1_fix_time: 0.9530, d2.loss_plan_l1_fix_dist: 0.2028, d3.loss_plan_l1_fix_time: 0.9487, d3.loss_plan_l1_fix_dist: 0.2064, d4.loss_plan_l1_fix_time: 0.9537, d4.loss_plan_l1_fix_dist: 0.2182, d5.loss_plan_l1_fix_time: 0.9584, d5.loss_plan_l1_fix_dist: 0.2494, d6.loss_plan_l1_fix_time: 0.9638, d6.loss_plan_l1_fix_dist: 0.2795, d0.loss_cls_all: 0.1705, d0.loss_bbox_all: 0.3915, d0.loss_cls: 0.1705, d0.loss_bbox: 0.3915, d1.loss_cls: 0.1642, d1.loss_bbox: 0.3574, d2.loss_cls: 0.1512, d2.loss_bbox: 0.3380, d3.loss_cls: 0.1334, d3.loss_bbox: 0.3344, d4.loss_cls: 0.1272, d4.loss_bbox: 0.3352, d5.loss_cls: 0.1243, d5.loss_bbox: 0.3366, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6795, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5374, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5056, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4962, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4848, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4825, d0.loss_map_cls_all: 0.2306, d0.loss_map_pts_all: 1.3502, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2306, d0.loss_map_pts: 1.3502, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1990, d1.loss_map_pts: 0.9574, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1757, d2.loss_map_pts: 0.7680, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1628, d3.loss_map_pts: 0.6920, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1541, d4.loss_map_pts: 0.6606, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1508, d5.loss_map_pts: 0.6510, d5.loss_map_dir: 0.0088, loss: 26.7003, grad_norm: 162.4339 +2026-02-28 01:34:27,364 - DriveTransformer - INFO - Epoch [8][34150/39528] lr: 8.063e-05, eta: 5 days, 9:33:31, time: 0.736, data_time: 0.038, memory: 19865, loss_cls: 0.1172, loss_bbox: 0.3284, loss_traj: 0.4694, loss_traj_cls: 0.0015, loss_map_cls: 0.1337, loss_map_pts: 0.6652, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.3989, d0.loss_plan_l1_fix_dist: 0.3310, d1.loss_plan_l1_fix_time: 0.7988, d1.loss_plan_l1_fix_dist: 0.2109, d2.loss_plan_l1_fix_time: 0.7845, d2.loss_plan_l1_fix_dist: 0.2042, d3.loss_plan_l1_fix_time: 0.7847, d3.loss_plan_l1_fix_dist: 0.2054, d4.loss_plan_l1_fix_time: 0.7898, d4.loss_plan_l1_fix_dist: 0.1992, d5.loss_plan_l1_fix_time: 0.7950, d5.loss_plan_l1_fix_dist: 0.2321, d6.loss_plan_l1_fix_time: 0.8014, d6.loss_plan_l1_fix_dist: 0.2723, d0.loss_cls_all: 0.1693, d0.loss_bbox_all: 0.3801, d0.loss_cls: 0.1693, d0.loss_bbox: 0.3801, d1.loss_cls: 0.1618, d1.loss_bbox: 0.3508, d2.loss_cls: 0.1493, d2.loss_bbox: 0.3287, d3.loss_cls: 0.1274, d3.loss_bbox: 0.3261, d4.loss_cls: 0.1203, d4.loss_bbox: 0.3246, d5.loss_cls: 0.1181, d5.loss_bbox: 0.3256, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6521, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5235, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4882, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4776, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4675, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4649, d0.loss_map_cls_all: 0.2051, d0.loss_map_pts_all: 1.3267, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2051, d0.loss_map_pts: 1.3267, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1760, d1.loss_map_pts: 0.9289, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1533, d2.loss_map_pts: 0.7618, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1439, d3.loss_map_pts: 0.7016, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1395, d4.loss_map_pts: 0.6747, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1358, d5.loss_map_pts: 0.6666, d5.loss_map_dir: 0.0088, loss: 24.6486, grad_norm: 162.0360 +2026-02-28 01:35:02,567 - DriveTransformer - INFO - Epoch [8][34200/39528] lr: 8.063e-05, eta: 5 days, 9:32:43, time: 0.704, data_time: 0.041, memory: 19865, loss_cls: 0.1321, loss_bbox: 0.3407, loss_traj: 0.4455, loss_traj_cls: 0.0014, loss_map_cls: 0.1405, loss_map_pts: 0.5414, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.7300, d0.loss_plan_l1_fix_dist: 0.4399, d1.loss_plan_l1_fix_time: 0.8269, d1.loss_plan_l1_fix_dist: 0.2293, d2.loss_plan_l1_fix_time: 0.8221, d2.loss_plan_l1_fix_dist: 0.2515, d3.loss_plan_l1_fix_time: 0.8233, d3.loss_plan_l1_fix_dist: 0.2684, d4.loss_plan_l1_fix_time: 0.8267, d4.loss_plan_l1_fix_dist: 0.2497, d5.loss_plan_l1_fix_time: 0.8306, d5.loss_plan_l1_fix_dist: 0.2429, d6.loss_plan_l1_fix_time: 0.8351, d6.loss_plan_l1_fix_dist: 0.2513, d0.loss_cls_all: 0.1756, d0.loss_bbox_all: 0.3925, d0.loss_cls: 0.1756, d0.loss_bbox: 0.3925, d1.loss_cls: 0.1690, d1.loss_bbox: 0.3614, d2.loss_cls: 0.1573, d2.loss_bbox: 0.3448, d3.loss_cls: 0.1397, d3.loss_bbox: 0.3444, d4.loss_cls: 0.1346, d4.loss_bbox: 0.3413, d5.loss_cls: 0.1317, d5.loss_bbox: 0.3413, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6613, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5137, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4699, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4504, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4451, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4443, d0.loss_map_cls_all: 0.2138, d0.loss_map_pts_all: 1.0847, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2138, d0.loss_map_pts: 1.0847, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1844, d1.loss_map_pts: 0.7656, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1670, d2.loss_map_pts: 0.6225, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1565, d3.loss_map_pts: 0.5700, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1495, d4.loss_map_pts: 0.5454, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1432, d5.loss_map_pts: 0.5424, d5.loss_map_dir: 0.0063, loss: 24.3162, grad_norm: 161.0511 +2026-02-28 01:35:39,257 - DriveTransformer - INFO - Epoch [8][34250/39528] lr: 8.063e-05, eta: 5 days, 9:32:07, time: 0.734, data_time: 0.038, memory: 19865, loss_cls: 0.1287, loss_bbox: 0.3431, loss_traj: 0.6282, loss_traj_cls: 0.0015, loss_map_cls: 0.1302, loss_map_pts: 0.6038, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.5343, d0.loss_plan_l1_fix_dist: 0.3813, d1.loss_plan_l1_fix_time: 1.0687, d1.loss_plan_l1_fix_dist: 0.2004, d2.loss_plan_l1_fix_time: 1.0644, d2.loss_plan_l1_fix_dist: 0.2225, d3.loss_plan_l1_fix_time: 1.0644, d3.loss_plan_l1_fix_dist: 0.2546, d4.loss_plan_l1_fix_time: 1.0684, d4.loss_plan_l1_fix_dist: 0.2511, d5.loss_plan_l1_fix_time: 1.0736, d5.loss_plan_l1_fix_dist: 0.2503, d6.loss_plan_l1_fix_time: 1.0797, d6.loss_plan_l1_fix_dist: 0.2591, d0.loss_cls_all: 0.1717, d0.loss_bbox_all: 0.3868, d0.loss_cls: 0.1717, d0.loss_bbox: 0.3868, d1.loss_cls: 0.1636, d1.loss_bbox: 0.3569, d2.loss_cls: 0.1514, d2.loss_bbox: 0.3431, d3.loss_cls: 0.1373, d3.loss_bbox: 0.3400, d4.loss_cls: 0.1324, d4.loss_bbox: 0.3389, d5.loss_cls: 0.1292, d5.loss_bbox: 0.3406, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8649, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6915, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6442, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6286, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6230, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6240, d0.loss_map_cls_all: 0.2106, d0.loss_map_pts_all: 1.2328, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2106, d0.loss_map_pts: 1.2328, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1777, d1.loss_map_pts: 0.8852, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1555, d2.loss_map_pts: 0.7127, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1427, d3.loss_map_pts: 0.6395, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1364, d4.loss_map_pts: 0.6132, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1318, d5.loss_map_pts: 0.6045, d5.loss_map_dir: 0.0072, loss: 27.3815, grad_norm: 164.8572 +2026-02-28 01:36:17,744 - DriveTransformer - INFO - Epoch [8][34300/39528] lr: 8.063e-05, eta: 5 days, 9:31:48, time: 0.770, data_time: 0.037, memory: 19865, loss_cls: 0.1286, loss_bbox: 0.3447, loss_traj: 0.5335, loss_traj_cls: 0.0015, loss_map_cls: 0.1326, loss_map_pts: 0.7221, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.8280, d0.loss_plan_l1_fix_dist: 0.3711, d1.loss_plan_l1_fix_time: 1.1414, d1.loss_plan_l1_fix_dist: 0.2162, d2.loss_plan_l1_fix_time: 1.1385, d2.loss_plan_l1_fix_dist: 0.2104, d3.loss_plan_l1_fix_time: 1.1322, d3.loss_plan_l1_fix_dist: 0.2424, d4.loss_plan_l1_fix_time: 1.1348, d4.loss_plan_l1_fix_dist: 0.2417, d5.loss_plan_l1_fix_time: 1.1385, d5.loss_plan_l1_fix_dist: 0.2345, d6.loss_plan_l1_fix_time: 1.1433, d6.loss_plan_l1_fix_dist: 0.2428, d0.loss_cls_all: 0.1691, d0.loss_bbox_all: 0.4044, d0.loss_cls: 0.1691, d0.loss_bbox: 0.4044, d1.loss_cls: 0.1664, d1.loss_bbox: 0.3707, d2.loss_cls: 0.1582, d2.loss_bbox: 0.3500, d3.loss_cls: 0.1394, d3.loss_bbox: 0.3444, d4.loss_cls: 0.1324, d4.loss_bbox: 0.3444, d5.loss_cls: 0.1307, d5.loss_bbox: 0.3422, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7402, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5894, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5501, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5336, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5335, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5338, d0.loss_map_cls_all: 0.2201, d0.loss_map_pts_all: 1.4076, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2201, d0.loss_map_pts: 1.4076, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1862, d1.loss_map_pts: 1.0190, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1610, d2.loss_map_pts: 0.8284, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1496, d3.loss_map_pts: 0.7581, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1420, d4.loss_map_pts: 0.7304, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1358, d5.loss_map_pts: 0.7226, d5.loss_map_dir: 0.0094, loss: 28.5510, grad_norm: 164.5734 +2026-02-28 01:36:53,842 - DriveTransformer - INFO - Epoch [8][34350/39528] lr: 8.063e-05, eta: 5 days, 9:31:07, time: 0.722, data_time: 0.036, memory: 19865, loss_cls: 0.1383, loss_bbox: 0.3250, loss_traj: 0.5726, loss_traj_cls: 0.0015, loss_map_cls: 0.1100, loss_map_pts: 0.5718, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.3136, d0.loss_plan_l1_fix_dist: 0.4132, d1.loss_plan_l1_fix_time: 0.8361, d1.loss_plan_l1_fix_dist: 0.2275, d2.loss_plan_l1_fix_time: 0.8209, d2.loss_plan_l1_fix_dist: 0.2131, d3.loss_plan_l1_fix_time: 0.8204, d3.loss_plan_l1_fix_dist: 0.2437, d4.loss_plan_l1_fix_time: 0.8233, d4.loss_plan_l1_fix_dist: 0.2758, d5.loss_plan_l1_fix_time: 0.8267, d5.loss_plan_l1_fix_dist: 0.2963, d6.loss_plan_l1_fix_time: 0.8307, d6.loss_plan_l1_fix_dist: 0.3242, d0.loss_cls_all: 0.1778, d0.loss_bbox_all: 0.3763, d0.loss_cls: 0.1778, d0.loss_bbox: 0.3763, d1.loss_cls: 0.1781, d1.loss_bbox: 0.3446, d2.loss_cls: 0.1621, d2.loss_bbox: 0.3277, d3.loss_cls: 0.1463, d3.loss_bbox: 0.3246, d4.loss_cls: 0.1399, d4.loss_bbox: 0.3238, d5.loss_cls: 0.1387, d5.loss_bbox: 0.3240, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8377, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6770, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6000, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5764, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5722, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5749, d0.loss_map_cls_all: 0.1840, d0.loss_map_pts_all: 1.1250, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1840, d0.loss_map_pts: 1.1250, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1540, d1.loss_map_pts: 0.8041, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1312, d2.loss_map_pts: 0.6569, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1225, d3.loss_map_pts: 0.5989, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1179, d4.loss_map_pts: 0.5798, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1120, d5.loss_map_pts: 0.5726, d5.loss_map_dir: 0.0077, loss: 24.8742, grad_norm: 161.5558 +2026-02-28 01:37:31,701 - DriveTransformer - INFO - Epoch [8][34400/39528] lr: 8.063e-05, eta: 5 days, 9:30:41, time: 0.757, data_time: 0.036, memory: 19865, loss_cls: 0.1422, loss_bbox: 0.3531, loss_traj: 0.4894, loss_traj_cls: 0.0015, loss_map_cls: 0.1685, loss_map_pts: 0.7668, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 3.3015, d0.loss_plan_l1_fix_dist: 0.3789, d1.loss_plan_l1_fix_time: 1.0213, d1.loss_plan_l1_fix_dist: 0.2459, d2.loss_plan_l1_fix_time: 1.0019, d2.loss_plan_l1_fix_dist: 0.2303, d3.loss_plan_l1_fix_time: 0.9895, d3.loss_plan_l1_fix_dist: 0.2123, d4.loss_plan_l1_fix_time: 0.9954, d4.loss_plan_l1_fix_dist: 0.2250, d5.loss_plan_l1_fix_time: 1.0005, d5.loss_plan_l1_fix_dist: 0.2370, d6.loss_plan_l1_fix_time: 1.0054, d6.loss_plan_l1_fix_dist: 0.2713, d0.loss_cls_all: 0.1954, d0.loss_bbox_all: 0.4164, d0.loss_cls: 0.1954, d0.loss_bbox: 0.4164, d1.loss_cls: 0.1853, d1.loss_bbox: 0.3830, d2.loss_cls: 0.1682, d2.loss_bbox: 0.3608, d3.loss_cls: 0.1526, d3.loss_bbox: 0.3536, d4.loss_cls: 0.1432, d4.loss_bbox: 0.3527, d5.loss_cls: 0.1418, d5.loss_bbox: 0.3510, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6801, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5367, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4900, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4818, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4803, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4854, d0.loss_map_cls_all: 0.2520, d0.loss_map_pts_all: 1.5104, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2520, d0.loss_map_pts: 1.5104, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2207, d1.loss_map_pts: 1.0615, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1963, d2.loss_map_pts: 0.8663, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1841, d3.loss_map_pts: 0.8023, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1752, d4.loss_map_pts: 0.7745, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1711, d5.loss_map_pts: 0.7678, d5.loss_map_dir: 0.0095, loss: 28.8331, grad_norm: 161.5453 +2026-02-28 01:38:08,961 - DriveTransformer - INFO - Epoch [8][34450/39528] lr: 8.063e-05, eta: 5 days, 9:30:11, time: 0.745, data_time: 0.039, memory: 19865, loss_cls: 0.1285, loss_bbox: 0.3164, loss_traj: 0.5511, loss_traj_cls: 0.0015, loss_map_cls: 0.1357, loss_map_pts: 0.6113, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.4651, d0.loss_plan_l1_fix_dist: 0.4035, d1.loss_plan_l1_fix_time: 0.9556, d1.loss_plan_l1_fix_dist: 0.2473, d2.loss_plan_l1_fix_time: 0.9412, d2.loss_plan_l1_fix_dist: 0.2475, d3.loss_plan_l1_fix_time: 0.9430, d3.loss_plan_l1_fix_dist: 0.2066, d4.loss_plan_l1_fix_time: 0.9480, d4.loss_plan_l1_fix_dist: 0.2137, d5.loss_plan_l1_fix_time: 0.9532, d5.loss_plan_l1_fix_dist: 0.2209, d6.loss_plan_l1_fix_time: 0.9582, d6.loss_plan_l1_fix_dist: 0.2585, d0.loss_cls_all: 0.1680, d0.loss_bbox_all: 0.3654, d0.loss_cls: 0.1680, d0.loss_bbox: 0.3654, d1.loss_cls: 0.1629, d1.loss_bbox: 0.3315, d2.loss_cls: 0.1522, d2.loss_bbox: 0.3149, d3.loss_cls: 0.1349, d3.loss_bbox: 0.3134, d4.loss_cls: 0.1288, d4.loss_bbox: 0.3138, d5.loss_cls: 0.1284, d5.loss_bbox: 0.3135, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8305, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6284, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5737, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5614, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5499, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5493, d0.loss_map_cls_all: 0.2103, d0.loss_map_pts_all: 1.2266, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2103, d0.loss_map_pts: 1.2266, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1814, d1.loss_map_pts: 0.8693, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1594, d2.loss_map_pts: 0.7021, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1498, d3.loss_map_pts: 0.6417, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1437, d4.loss_map_pts: 0.6180, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1370, d5.loss_map_pts: 0.6124, d5.loss_map_dir: 0.0074, loss: 25.9114, grad_norm: 157.9377 +2026-02-28 01:38:44,221 - DriveTransformer - INFO - Epoch [8][34500/39528] lr: 8.063e-05, eta: 5 days, 9:29:23, time: 0.705, data_time: 0.040, memory: 19865, loss_cls: 0.1275, loss_bbox: 0.3087, loss_traj: 0.5625, loss_traj_cls: 0.0015, loss_map_cls: 0.1292, loss_map_pts: 0.5934, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.4491, d0.loss_plan_l1_fix_dist: 0.3796, d1.loss_plan_l1_fix_time: 0.9359, d1.loss_plan_l1_fix_dist: 0.2107, d2.loss_plan_l1_fix_time: 0.9325, d2.loss_plan_l1_fix_dist: 0.2246, d3.loss_plan_l1_fix_time: 0.9392, d3.loss_plan_l1_fix_dist: 0.1907, d4.loss_plan_l1_fix_time: 0.9448, d4.loss_plan_l1_fix_dist: 0.2046, d5.loss_plan_l1_fix_time: 0.9508, d5.loss_plan_l1_fix_dist: 0.2148, d6.loss_plan_l1_fix_time: 0.9570, d6.loss_plan_l1_fix_dist: 0.2282, d0.loss_cls_all: 0.1609, d0.loss_bbox_all: 0.3705, d0.loss_cls: 0.1609, d0.loss_bbox: 0.3705, d1.loss_cls: 0.1526, d1.loss_bbox: 0.3338, d2.loss_cls: 0.1410, d2.loss_bbox: 0.3158, d3.loss_cls: 0.1300, d3.loss_bbox: 0.3086, d4.loss_cls: 0.1265, d4.loss_bbox: 0.3061, d5.loss_cls: 0.1268, d5.loss_bbox: 0.3059, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8014, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6155, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5823, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5727, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5611, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5579, d0.loss_map_cls_all: 0.2120, d0.loss_map_pts_all: 1.1714, d0.loss_map_dir_all: 0.0050, d0.loss_map_cls: 0.2120, d0.loss_map_pts: 1.1714, d0.loss_map_dir: 0.0050, d1.loss_map_cls: 0.1841, d1.loss_map_pts: 0.8508, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1577, d2.loss_map_pts: 0.6893, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1445, d3.loss_map_pts: 0.6209, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1379, d4.loss_map_pts: 0.5984, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1324, d5.loss_map_pts: 0.5937, d5.loss_map_dir: 0.0059, loss: 25.4112, grad_norm: 157.1118 +2026-02-28 01:39:22,049 - DriveTransformer - INFO - Epoch [8][34550/39528] lr: 8.063e-05, eta: 5 days, 9:28:57, time: 0.757, data_time: 0.038, memory: 19865, loss_cls: 0.1327, loss_bbox: 0.3205, loss_traj: 0.5022, loss_traj_cls: 0.0015, loss_map_cls: 0.1114, loss_map_pts: 0.6107, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.2419, d0.loss_plan_l1_fix_dist: 0.3155, d1.loss_plan_l1_fix_time: 0.8019, d1.loss_plan_l1_fix_dist: 0.2024, d2.loss_plan_l1_fix_time: 0.7984, d2.loss_plan_l1_fix_dist: 0.2229, d3.loss_plan_l1_fix_time: 0.7987, d3.loss_plan_l1_fix_dist: 0.1856, d4.loss_plan_l1_fix_time: 0.8056, d4.loss_plan_l1_fix_dist: 0.1855, d5.loss_plan_l1_fix_time: 0.8136, d5.loss_plan_l1_fix_dist: 0.2079, d6.loss_plan_l1_fix_time: 0.8221, d6.loss_plan_l1_fix_dist: 0.2313, d0.loss_cls_all: 0.1762, d0.loss_bbox_all: 0.3864, d0.loss_cls: 0.1762, d0.loss_bbox: 0.3864, d1.loss_cls: 0.1653, d1.loss_bbox: 0.3538, d2.loss_cls: 0.1550, d2.loss_bbox: 0.3331, d3.loss_cls: 0.1400, d3.loss_bbox: 0.3251, d4.loss_cls: 0.1339, d4.loss_bbox: 0.3220, d5.loss_cls: 0.1316, d5.loss_bbox: 0.3210, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6662, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5640, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5223, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5145, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5082, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5046, d0.loss_map_cls_all: 0.1889, d0.loss_map_pts_all: 1.2743, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.1889, d0.loss_map_pts: 1.2743, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1584, d1.loss_map_pts: 0.8902, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1351, d2.loss_map_pts: 0.7040, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1278, d3.loss_map_pts: 0.6400, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1207, d4.loss_map_pts: 0.6153, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1135, d5.loss_map_pts: 0.6101, d5.loss_map_dir: 0.0091, loss: 24.2137, grad_norm: 156.6846 +2026-02-28 01:39:58,469 - DriveTransformer - INFO - Epoch [8][34600/39528] lr: 8.063e-05, eta: 5 days, 9:28:20, time: 0.730, data_time: 0.036, memory: 19865, loss_cls: 0.1257, loss_bbox: 0.3253, loss_traj: 0.5051, loss_traj_cls: 0.0015, loss_map_cls: 0.1479, loss_map_pts: 0.6559, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.9411, d0.loss_plan_l1_fix_dist: 0.4116, d1.loss_plan_l1_fix_time: 0.9501, d1.loss_plan_l1_fix_dist: 0.1991, d2.loss_plan_l1_fix_time: 0.9300, d2.loss_plan_l1_fix_dist: 0.2245, d3.loss_plan_l1_fix_time: 0.9270, d3.loss_plan_l1_fix_dist: 0.2101, d4.loss_plan_l1_fix_time: 0.9312, d4.loss_plan_l1_fix_dist: 0.2010, d5.loss_plan_l1_fix_time: 0.9362, d5.loss_plan_l1_fix_dist: 0.2249, d6.loss_plan_l1_fix_time: 0.9418, d6.loss_plan_l1_fix_dist: 0.2468, d0.loss_cls_all: 0.1700, d0.loss_bbox_all: 0.3903, d0.loss_cls: 0.1700, d0.loss_bbox: 0.3903, d1.loss_cls: 0.1624, d1.loss_bbox: 0.3558, d2.loss_cls: 0.1511, d2.loss_bbox: 0.3342, d3.loss_cls: 0.1332, d3.loss_bbox: 0.3281, d4.loss_cls: 0.1275, d4.loss_bbox: 0.3268, d5.loss_cls: 0.1261, d5.loss_bbox: 0.3253, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7097, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5557, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5221, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5109, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5090, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5089, d0.loss_map_cls_all: 0.2219, d0.loss_map_pts_all: 1.3150, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2219, d0.loss_map_pts: 1.3150, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1943, d1.loss_map_pts: 0.9386, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1698, d2.loss_map_pts: 0.7604, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1600, d3.loss_map_pts: 0.6891, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1537, d4.loss_map_pts: 0.6619, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1486, d5.loss_map_pts: 0.6563, d5.loss_map_dir: 0.0083, loss: 26.5195, grad_norm: 156.2728 +2026-02-28 01:40:34,896 - DriveTransformer - INFO - Epoch [8][34650/39528] lr: 8.063e-05, eta: 5 days, 9:27:42, time: 0.727, data_time: 0.036, memory: 19865, loss_cls: 0.1351, loss_bbox: 0.3195, loss_traj: 0.4884, loss_traj_cls: 0.0016, loss_map_cls: 0.1546, loss_map_pts: 0.6508, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.6776, d0.loss_plan_l1_fix_dist: 0.4593, d1.loss_plan_l1_fix_time: 1.0461, d1.loss_plan_l1_fix_dist: 0.2046, d2.loss_plan_l1_fix_time: 1.0392, d2.loss_plan_l1_fix_dist: 0.2337, d3.loss_plan_l1_fix_time: 1.0424, d3.loss_plan_l1_fix_dist: 0.2109, d4.loss_plan_l1_fix_time: 1.0473, d4.loss_plan_l1_fix_dist: 0.2044, d5.loss_plan_l1_fix_time: 1.0532, d5.loss_plan_l1_fix_dist: 0.2249, d6.loss_plan_l1_fix_time: 1.0601, d6.loss_plan_l1_fix_dist: 0.2318, d0.loss_cls_all: 0.1760, d0.loss_bbox_all: 0.3851, d0.loss_cls: 0.1760, d0.loss_bbox: 0.3851, d1.loss_cls: 0.1669, d1.loss_bbox: 0.3500, d2.loss_cls: 0.1523, d2.loss_bbox: 0.3313, d3.loss_cls: 0.1401, d3.loss_bbox: 0.3224, d4.loss_cls: 0.1348, d4.loss_bbox: 0.3207, d5.loss_cls: 0.1331, d5.loss_bbox: 0.3202, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6847, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5555, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5058, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5024, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4965, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4928, d0.loss_map_cls_all: 0.2216, d0.loss_map_pts_all: 1.3073, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2216, d0.loss_map_pts: 1.3073, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1973, d1.loss_map_pts: 0.9238, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1768, d2.loss_map_pts: 0.7463, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1650, d3.loss_map_pts: 0.6828, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1575, d4.loss_map_pts: 0.6602, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1540, d5.loss_map_pts: 0.6535, d5.loss_map_dir: 0.0075, loss: 26.8543, grad_norm: 155.1971 +2026-02-28 01:41:11,344 - DriveTransformer - INFO - Epoch [8][34700/39528] lr: 8.063e-05, eta: 5 days, 9:27:04, time: 0.729, data_time: 0.039, memory: 19865, loss_cls: 0.1480, loss_bbox: 0.3458, loss_traj: 0.6527, loss_traj_cls: 0.0015, loss_map_cls: 0.1244, loss_map_pts: 0.6101, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.8633, d0.loss_plan_l1_fix_dist: 0.3571, d1.loss_plan_l1_fix_time: 1.0330, d1.loss_plan_l1_fix_dist: 0.1915, d2.loss_plan_l1_fix_time: 1.0175, d2.loss_plan_l1_fix_dist: 0.2252, d3.loss_plan_l1_fix_time: 1.0132, d3.loss_plan_l1_fix_dist: 0.2167, d4.loss_plan_l1_fix_time: 1.0178, d4.loss_plan_l1_fix_dist: 0.2304, d5.loss_plan_l1_fix_time: 1.0238, d5.loss_plan_l1_fix_dist: 0.2267, d6.loss_plan_l1_fix_time: 1.0303, d6.loss_plan_l1_fix_dist: 0.2498, d0.loss_cls_all: 0.1827, d0.loss_bbox_all: 0.3988, d0.loss_cls: 0.1827, d0.loss_bbox: 0.3988, d1.loss_cls: 0.1750, d1.loss_bbox: 0.3693, d2.loss_cls: 0.1622, d2.loss_bbox: 0.3528, d3.loss_cls: 0.1507, d3.loss_bbox: 0.3471, d4.loss_cls: 0.1444, d4.loss_bbox: 0.3486, d5.loss_cls: 0.1462, d5.loss_bbox: 0.3456, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9478, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7539, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6798, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6591, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6559, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6489, d0.loss_map_cls_all: 0.2109, d0.loss_map_pts_all: 1.2137, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2109, d0.loss_map_pts: 1.2137, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1847, d1.loss_map_pts: 0.8827, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1532, d2.loss_map_pts: 0.7203, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1406, d3.loss_map_pts: 0.6502, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1338, d4.loss_map_pts: 0.6204, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1278, d5.loss_map_pts: 0.6124, d5.loss_map_dir: 0.0068, loss: 27.7611, grad_norm: 156.5961 +2026-02-28 01:41:48,137 - DriveTransformer - INFO - Epoch [8][34750/39528] lr: 8.063e-05, eta: 5 days, 9:26:30, time: 0.736, data_time: 0.038, memory: 19865, loss_cls: 0.1216, loss_bbox: 0.3059, loss_traj: 0.5839, loss_traj_cls: 0.0016, loss_map_cls: 0.1118, loss_map_pts: 0.5740, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.5055, d0.loss_plan_l1_fix_dist: 0.4312, d1.loss_plan_l1_fix_time: 0.9689, d1.loss_plan_l1_fix_dist: 0.2018, d2.loss_plan_l1_fix_time: 0.9569, d2.loss_plan_l1_fix_dist: 0.2133, d3.loss_plan_l1_fix_time: 0.9538, d3.loss_plan_l1_fix_dist: 0.2227, d4.loss_plan_l1_fix_time: 0.9575, d4.loss_plan_l1_fix_dist: 0.2621, d5.loss_plan_l1_fix_time: 0.9621, d5.loss_plan_l1_fix_dist: 0.2159, d6.loss_plan_l1_fix_time: 0.9675, d6.loss_plan_l1_fix_dist: 0.2513, d0.loss_cls_all: 0.1530, d0.loss_bbox_all: 0.3631, d0.loss_cls: 0.1530, d0.loss_bbox: 0.3631, d1.loss_cls: 0.1479, d1.loss_bbox: 0.3326, d2.loss_cls: 0.1381, d2.loss_bbox: 0.3133, d3.loss_cls: 0.1244, d3.loss_bbox: 0.3099, d4.loss_cls: 0.1239, d4.loss_bbox: 0.3066, d5.loss_cls: 0.1214, d5.loss_bbox: 0.3059, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7969, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6690, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6043, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5930, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5887, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5864, d0.loss_map_cls_all: 0.1917, d0.loss_map_pts_all: 1.1501, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1917, d0.loss_map_pts: 1.1501, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1571, d1.loss_map_pts: 0.7998, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1344, d2.loss_map_pts: 0.6546, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1238, d3.loss_map_pts: 0.5989, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1182, d4.loss_map_pts: 0.5796, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1138, d5.loss_map_pts: 0.5733, d5.loss_map_dir: 0.0070, loss: 25.4612, grad_norm: 155.3661 +2026-02-28 01:42:24,419 - DriveTransformer - INFO - Epoch [8][34800/39528] lr: 8.063e-05, eta: 5 days, 9:25:51, time: 0.726, data_time: 0.037, memory: 19865, loss_cls: 0.1418, loss_bbox: 0.3169, loss_traj: 0.6027, loss_traj_cls: 0.0016, loss_map_cls: 0.1303, loss_map_pts: 0.6138, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.4940, d0.loss_plan_l1_fix_dist: 0.4775, d1.loss_plan_l1_fix_time: 0.9511, d1.loss_plan_l1_fix_dist: 0.2130, d2.loss_plan_l1_fix_time: 0.9363, d2.loss_plan_l1_fix_dist: 0.2014, d3.loss_plan_l1_fix_time: 0.9342, d3.loss_plan_l1_fix_dist: 0.2005, d4.loss_plan_l1_fix_time: 0.9374, d4.loss_plan_l1_fix_dist: 0.2499, d5.loss_plan_l1_fix_time: 0.9405, d5.loss_plan_l1_fix_dist: 0.2306, d6.loss_plan_l1_fix_time: 0.9435, d6.loss_plan_l1_fix_dist: 0.2291, d0.loss_cls_all: 0.1805, d0.loss_bbox_all: 0.3772, d0.loss_cls: 0.1805, d0.loss_bbox: 0.3772, d1.loss_cls: 0.1717, d1.loss_bbox: 0.3457, d2.loss_cls: 0.1578, d2.loss_bbox: 0.3247, d3.loss_cls: 0.1480, d3.loss_bbox: 0.3176, d4.loss_cls: 0.1411, d4.loss_bbox: 0.3188, d5.loss_cls: 0.1400, d5.loss_bbox: 0.3173, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8293, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6569, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6134, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5974, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5952, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5979, d0.loss_map_cls_all: 0.2186, d0.loss_map_pts_all: 1.2619, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2186, d0.loss_map_pts: 1.2619, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1776, d1.loss_map_pts: 0.8880, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1537, d2.loss_map_pts: 0.7151, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1422, d3.loss_map_pts: 0.6467, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1379, d4.loss_map_pts: 0.6246, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1328, d5.loss_map_pts: 0.6145, d5.loss_map_dir: 0.0077, loss: 26.3930, grad_norm: 153.9434 +2026-02-28 01:43:01,934 - DriveTransformer - INFO - Epoch [8][34850/39528] lr: 8.063e-05, eta: 5 days, 9:25:22, time: 0.750, data_time: 0.037, memory: 19865, loss_cls: 0.1447, loss_bbox: 0.3480, loss_traj: 0.5855, loss_traj_cls: 0.0015, loss_map_cls: 0.1490, loss_map_pts: 0.6456, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 3.2182, d0.loss_plan_l1_fix_dist: 0.5088, d1.loss_plan_l1_fix_time: 1.0353, d1.loss_plan_l1_fix_dist: 0.2596, d2.loss_plan_l1_fix_time: 1.0136, d2.loss_plan_l1_fix_dist: 0.2386, d3.loss_plan_l1_fix_time: 1.0091, d3.loss_plan_l1_fix_dist: 0.2219, d4.loss_plan_l1_fix_time: 1.0139, d4.loss_plan_l1_fix_dist: 0.2537, d5.loss_plan_l1_fix_time: 1.0193, d5.loss_plan_l1_fix_dist: 0.2605, d6.loss_plan_l1_fix_time: 1.0248, d6.loss_plan_l1_fix_dist: 0.2463, d0.loss_cls_all: 0.1739, d0.loss_bbox_all: 0.4087, d0.loss_cls: 0.1739, d0.loss_bbox: 0.4087, d1.loss_cls: 0.1671, d1.loss_bbox: 0.3726, d2.loss_cls: 0.1528, d2.loss_bbox: 0.3551, d3.loss_cls: 0.1421, d3.loss_bbox: 0.3487, d4.loss_cls: 0.1411, d4.loss_bbox: 0.3479, d5.loss_cls: 0.1432, d5.loss_bbox: 0.3448, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9061, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6779, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6084, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5921, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5883, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5864, d0.loss_map_cls_all: 0.2285, d0.loss_map_pts_all: 1.3645, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2285, d0.loss_map_pts: 1.3645, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1950, d1.loss_map_pts: 0.9564, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1709, d2.loss_map_pts: 0.7493, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1596, d3.loss_map_pts: 0.6849, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1548, d4.loss_map_pts: 0.6562, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1510, d5.loss_map_pts: 0.6472, d5.loss_map_dir: 0.0082, loss: 28.6161, grad_norm: 154.4008 +2026-02-28 01:43:37,944 - DriveTransformer - INFO - Epoch [8][34900/39528] lr: 8.063e-05, eta: 5 days, 9:24:41, time: 0.720, data_time: 0.037, memory: 19865, loss_cls: 0.1596, loss_bbox: 0.3618, loss_traj: 0.6112, loss_traj_cls: 0.0015, loss_map_cls: 0.1103, loss_map_pts: 0.5149, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.8721, d0.loss_plan_l1_fix_dist: 0.4101, d1.loss_plan_l1_fix_time: 0.9243, d1.loss_plan_l1_fix_dist: 0.2855, d2.loss_plan_l1_fix_time: 0.9112, d2.loss_plan_l1_fix_dist: 0.2841, d3.loss_plan_l1_fix_time: 0.9077, d3.loss_plan_l1_fix_dist: 0.2463, d4.loss_plan_l1_fix_time: 0.9126, d4.loss_plan_l1_fix_dist: 0.2338, d5.loss_plan_l1_fix_time: 0.9188, d5.loss_plan_l1_fix_dist: 0.2399, d6.loss_plan_l1_fix_time: 0.9254, d6.loss_plan_l1_fix_dist: 0.2314, d0.loss_cls_all: 0.1911, d0.loss_bbox_all: 0.4164, d0.loss_cls: 0.1911, d0.loss_bbox: 0.4164, d1.loss_cls: 0.1838, d1.loss_bbox: 0.3876, d2.loss_cls: 0.1714, d2.loss_bbox: 0.3699, d3.loss_cls: 0.1588, d3.loss_bbox: 0.3649, d4.loss_cls: 0.1572, d4.loss_bbox: 0.3634, d5.loss_cls: 0.1576, d5.loss_bbox: 0.3613, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8162, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6684, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6245, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6153, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6095, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6101, d0.loss_map_cls_all: 0.1976, d0.loss_map_pts_all: 1.0818, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1976, d0.loss_map_pts: 1.0818, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1592, d1.loss_map_pts: 0.7541, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1335, d2.loss_map_pts: 0.6023, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1243, d3.loss_map_pts: 0.5493, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1175, d4.loss_map_pts: 0.5279, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1116, d5.loss_map_pts: 0.5168, d5.loss_map_dir: 0.0067, loss: 26.1122, grad_norm: 154.6137 +2026-02-28 01:44:16,753 - DriveTransformer - INFO - Epoch [8][34950/39528] lr: 8.063e-05, eta: 5 days, 9:24:24, time: 0.776, data_time: 0.037, memory: 19865, loss_cls: 0.1319, loss_bbox: 0.3518, loss_traj: 0.6790, loss_traj_cls: 0.0015, loss_map_cls: 0.1293, loss_map_pts: 0.6512, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.7351, d0.loss_plan_l1_fix_dist: 0.4218, d1.loss_plan_l1_fix_time: 1.0140, d1.loss_plan_l1_fix_dist: 0.3045, d2.loss_plan_l1_fix_time: 1.0026, d2.loss_plan_l1_fix_dist: 0.3157, d3.loss_plan_l1_fix_time: 1.0061, d3.loss_plan_l1_fix_dist: 0.2913, d4.loss_plan_l1_fix_time: 1.0109, d4.loss_plan_l1_fix_dist: 0.2411, d5.loss_plan_l1_fix_time: 1.0157, d5.loss_plan_l1_fix_dist: 0.2455, d6.loss_plan_l1_fix_time: 1.0213, d6.loss_plan_l1_fix_dist: 0.2477, d0.loss_cls_all: 0.1704, d0.loss_bbox_all: 0.4115, d0.loss_cls: 0.1704, d0.loss_bbox: 0.4115, d1.loss_cls: 0.1632, d1.loss_bbox: 0.3813, d2.loss_cls: 0.1477, d2.loss_bbox: 0.3637, d3.loss_cls: 0.1341, d3.loss_bbox: 0.3566, d4.loss_cls: 0.1304, d4.loss_bbox: 0.3544, d5.loss_cls: 0.1313, d5.loss_bbox: 0.3524, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9436, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7716, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7082, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.7016, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6846, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6873, d0.loss_map_cls_all: 0.2037, d0.loss_map_pts_all: 1.3455, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2037, d0.loss_map_pts: 1.3455, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1742, d1.loss_map_pts: 0.9390, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1539, d2.loss_map_pts: 0.7577, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1419, d3.loss_map_pts: 0.6925, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1369, d4.loss_map_pts: 0.6632, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1324, d5.loss_map_pts: 0.6526, d5.loss_map_dir: 0.0084, loss: 28.6080, grad_norm: 156.8010 +2026-02-28 01:44:53,108 - DriveTransformer - INFO - Epoch [8][35000/39528] lr: 8.063e-05, eta: 5 days, 9:23:45, time: 0.727, data_time: 0.038, memory: 19865, loss_cls: 0.1016, loss_bbox: 0.3081, loss_traj: 0.5429, loss_traj_cls: 0.0015, loss_map_cls: 0.1080, loss_map_pts: 0.5363, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.2540, d0.loss_plan_l1_fix_dist: 0.4193, d1.loss_plan_l1_fix_time: 0.8830, d1.loss_plan_l1_fix_dist: 0.3138, d2.loss_plan_l1_fix_time: 0.8767, d2.loss_plan_l1_fix_dist: 0.3262, d3.loss_plan_l1_fix_time: 0.8718, d3.loss_plan_l1_fix_dist: 0.3227, d4.loss_plan_l1_fix_time: 0.8746, d4.loss_plan_l1_fix_dist: 0.2333, d5.loss_plan_l1_fix_time: 0.8778, d5.loss_plan_l1_fix_dist: 0.2392, d6.loss_plan_l1_fix_time: 0.8819, d6.loss_plan_l1_fix_dist: 0.2218, d0.loss_cls_all: 0.1402, d0.loss_bbox_all: 0.3624, d0.loss_cls: 0.1402, d0.loss_bbox: 0.3624, d1.loss_cls: 0.1390, d1.loss_bbox: 0.3305, d2.loss_cls: 0.1243, d2.loss_bbox: 0.3137, d3.loss_cls: 0.1066, d3.loss_bbox: 0.3119, d4.loss_cls: 0.1038, d4.loss_bbox: 0.3088, d5.loss_cls: 0.1019, d5.loss_bbox: 0.3089, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7790, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6125, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5716, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5588, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5477, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5446, d0.loss_map_cls_all: 0.1744, d0.loss_map_pts_all: 1.1416, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1744, d0.loss_map_pts: 1.1416, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1494, d1.loss_map_pts: 0.7656, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1264, d2.loss_map_pts: 0.6076, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1169, d3.loss_map_pts: 0.5567, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1114, d4.loss_map_pts: 0.5385, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1080, d5.loss_map_pts: 0.5365, d5.loss_map_dir: 0.0064, loss: 24.2683, grad_norm: 154.6746 +2026-02-28 01:45:30,829 - DriveTransformer - INFO - Epoch [8][35050/39528] lr: 8.063e-05, eta: 5 days, 9:23:19, time: 0.754, data_time: 0.042, memory: 19865, loss_cls: 0.1343, loss_bbox: 0.3270, loss_traj: 0.5675, loss_traj_cls: 0.0015, loss_map_cls: 0.1310, loss_map_pts: 0.6379, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.4324, d0.loss_plan_l1_fix_dist: 0.4620, d1.loss_plan_l1_fix_time: 0.8075, d1.loss_plan_l1_fix_dist: 0.3285, d2.loss_plan_l1_fix_time: 0.7987, d2.loss_plan_l1_fix_dist: 0.3422, d3.loss_plan_l1_fix_time: 0.7969, d3.loss_plan_l1_fix_dist: 0.3733, d4.loss_plan_l1_fix_time: 0.8009, d4.loss_plan_l1_fix_dist: 0.2852, d5.loss_plan_l1_fix_time: 0.8045, d5.loss_plan_l1_fix_dist: 0.2482, d6.loss_plan_l1_fix_time: 0.8097, d6.loss_plan_l1_fix_dist: 0.2532, d0.loss_cls_all: 0.1742, d0.loss_bbox_all: 0.3840, d0.loss_cls: 0.1742, d0.loss_bbox: 0.3840, d1.loss_cls: 0.1644, d1.loss_bbox: 0.3585, d2.loss_cls: 0.1502, d2.loss_bbox: 0.3394, d3.loss_cls: 0.1361, d3.loss_bbox: 0.3340, d4.loss_cls: 0.1314, d4.loss_bbox: 0.3296, d5.loss_cls: 0.1321, d5.loss_bbox: 0.3279, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7172, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6124, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5854, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5712, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5665, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5654, d0.loss_map_cls_all: 0.2045, d0.loss_map_pts_all: 1.2013, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2045, d0.loss_map_pts: 1.2013, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1714, d1.loss_map_pts: 0.8649, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1504, d2.loss_map_pts: 0.7164, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1443, d3.loss_map_pts: 0.6656, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1358, d4.loss_map_pts: 0.6445, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1326, d5.loss_map_pts: 0.6373, d5.loss_map_dir: 0.0083, loss: 25.6271, grad_norm: 154.3236 +2026-02-28 01:46:08,237 - DriveTransformer - INFO - Epoch [8][35100/39528] lr: 8.063e-05, eta: 5 days, 9:22:49, time: 0.748, data_time: 0.037, memory: 19865, loss_cls: 0.1280, loss_bbox: 0.3212, loss_traj: 0.5536, loss_traj_cls: 0.0016, loss_map_cls: 0.1186, loss_map_pts: 0.5599, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.7564, d0.loss_plan_l1_fix_dist: 0.4404, d1.loss_plan_l1_fix_time: 0.9563, d1.loss_plan_l1_fix_dist: 0.3350, d2.loss_plan_l1_fix_time: 0.9426, d2.loss_plan_l1_fix_dist: 0.3311, d3.loss_plan_l1_fix_time: 0.9331, d3.loss_plan_l1_fix_dist: 0.3671, d4.loss_plan_l1_fix_time: 0.9354, d4.loss_plan_l1_fix_dist: 0.3379, d5.loss_plan_l1_fix_time: 0.9388, d5.loss_plan_l1_fix_dist: 0.2309, d6.loss_plan_l1_fix_time: 0.9436, d6.loss_plan_l1_fix_dist: 0.2377, d0.loss_cls_all: 0.1737, d0.loss_bbox_all: 0.3748, d0.loss_cls: 0.1737, d0.loss_bbox: 0.3748, d1.loss_cls: 0.1665, d1.loss_bbox: 0.3470, d2.loss_cls: 0.1530, d2.loss_bbox: 0.3294, d3.loss_cls: 0.1345, d3.loss_bbox: 0.3250, d4.loss_cls: 0.1289, d4.loss_bbox: 0.3226, d5.loss_cls: 0.1282, d5.loss_bbox: 0.3202, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7843, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6202, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5764, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5620, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5558, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5539, d0.loss_map_cls_all: 0.1917, d0.loss_map_pts_all: 1.1673, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1917, d0.loss_map_pts: 1.1673, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1605, d1.loss_map_pts: 0.8143, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1446, d2.loss_map_pts: 0.6530, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1352, d3.loss_map_pts: 0.5908, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1263, d4.loss_map_pts: 0.5701, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1216, d5.loss_map_pts: 0.5598, d5.loss_map_dir: 0.0072, loss: 26.1296, grad_norm: 154.4183 +2026-02-28 01:46:44,785 - DriveTransformer - INFO - Epoch [8][35150/39528] lr: 8.063e-05, eta: 5 days, 9:22:12, time: 0.731, data_time: 0.037, memory: 19865, loss_cls: 0.1289, loss_bbox: 0.3249, loss_traj: 0.5570, loss_traj_cls: 0.0016, loss_map_cls: 0.1284, loss_map_pts: 0.5895, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.5471, d0.loss_plan_l1_fix_dist: 0.4645, d1.loss_plan_l1_fix_time: 0.9251, d1.loss_plan_l1_fix_dist: 0.3408, d2.loss_plan_l1_fix_time: 0.9065, d2.loss_plan_l1_fix_dist: 0.3276, d3.loss_plan_l1_fix_time: 0.8944, d3.loss_plan_l1_fix_dist: 0.3426, d4.loss_plan_l1_fix_time: 0.8959, d4.loss_plan_l1_fix_dist: 0.3568, d5.loss_plan_l1_fix_time: 0.8987, d5.loss_plan_l1_fix_dist: 0.2798, d6.loss_plan_l1_fix_time: 0.9022, d6.loss_plan_l1_fix_dist: 0.2630, d0.loss_cls_all: 0.1707, d0.loss_bbox_all: 0.3748, d0.loss_cls: 0.1707, d0.loss_bbox: 0.3748, d1.loss_cls: 0.1639, d1.loss_bbox: 0.3446, d2.loss_cls: 0.1516, d2.loss_bbox: 0.3285, d3.loss_cls: 0.1369, d3.loss_bbox: 0.3264, d4.loss_cls: 0.1322, d4.loss_bbox: 0.3234, d5.loss_cls: 0.1297, d5.loss_bbox: 0.3238, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7727, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6279, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5697, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5546, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5539, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5555, d0.loss_map_cls_all: 0.2048, d0.loss_map_pts_all: 1.2131, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2048, d0.loss_map_pts: 1.2131, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1690, d1.loss_map_pts: 0.8385, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1472, d2.loss_map_pts: 0.6818, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1387, d3.loss_map_pts: 0.6203, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1335, d4.loss_map_pts: 0.6019, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1284, d5.loss_map_pts: 0.5906, d5.loss_map_dir: 0.0074, loss: 26.1120, grad_norm: 154.7721 +2026-02-28 01:47:20,778 - DriveTransformer - INFO - Epoch [8][35200/39528] lr: 8.063e-05, eta: 5 days, 9:21:31, time: 0.720, data_time: 0.040, memory: 19865, loss_cls: 0.1393, loss_bbox: 0.3542, loss_traj: 0.6778, loss_traj_cls: 0.0015, loss_map_cls: 0.1111, loss_map_pts: 0.5680, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.5564, d0.loss_plan_l1_fix_dist: 0.4745, d1.loss_plan_l1_fix_time: 0.9652, d1.loss_plan_l1_fix_dist: 0.3196, d2.loss_plan_l1_fix_time: 0.9456, d2.loss_plan_l1_fix_dist: 0.3115, d3.loss_plan_l1_fix_time: 0.9350, d3.loss_plan_l1_fix_dist: 0.3055, d4.loss_plan_l1_fix_time: 0.9367, d4.loss_plan_l1_fix_dist: 0.2982, d5.loss_plan_l1_fix_time: 0.9395, d5.loss_plan_l1_fix_dist: 0.2585, d6.loss_plan_l1_fix_time: 0.9426, d6.loss_plan_l1_fix_dist: 0.2522, d0.loss_cls_all: 0.1862, d0.loss_bbox_all: 0.4165, d0.loss_cls: 0.1862, d0.loss_bbox: 0.4165, d1.loss_cls: 0.1805, d1.loss_bbox: 0.3839, d2.loss_cls: 0.1637, d2.loss_bbox: 0.3646, d3.loss_cls: 0.1463, d3.loss_bbox: 0.3580, d4.loss_cls: 0.1398, d4.loss_bbox: 0.3557, d5.loss_cls: 0.1387, d5.loss_bbox: 0.3547, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9213, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7514, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6992, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6816, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6750, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6769, d0.loss_map_cls_all: 0.1810, d0.loss_map_pts_all: 1.0974, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1810, d0.loss_map_pts: 1.0974, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1498, d1.loss_map_pts: 0.7856, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1302, d2.loss_map_pts: 0.6455, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1196, d3.loss_map_pts: 0.5937, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1149, d4.loss_map_pts: 0.5744, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1126, d5.loss_map_pts: 0.5695, d5.loss_map_dir: 0.0067, loss: 26.9000, grad_norm: 154.3578 +2026-02-28 01:47:57,665 - DriveTransformer - INFO - Epoch [8][35250/39528] lr: 8.063e-05, eta: 5 days, 9:20:57, time: 0.738, data_time: 0.035, memory: 19865, loss_cls: 0.1295, loss_bbox: 0.3388, loss_traj: 0.5413, loss_traj_cls: 0.0016, loss_map_cls: 0.1276, loss_map_pts: 0.6486, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.9443, d0.loss_plan_l1_fix_dist: 0.4741, d1.loss_plan_l1_fix_time: 1.0306, d1.loss_plan_l1_fix_dist: 0.2878, d2.loss_plan_l1_fix_time: 1.0211, d2.loss_plan_l1_fix_dist: 0.2665, d3.loss_plan_l1_fix_time: 1.0272, d3.loss_plan_l1_fix_dist: 0.2634, d4.loss_plan_l1_fix_time: 1.0318, d4.loss_plan_l1_fix_dist: 0.2736, d5.loss_plan_l1_fix_time: 1.0359, d5.loss_plan_l1_fix_dist: 0.2467, d6.loss_plan_l1_fix_time: 1.0400, d6.loss_plan_l1_fix_dist: 0.2477, d0.loss_cls_all: 0.1744, d0.loss_bbox_all: 0.4075, d0.loss_cls: 0.1744, d0.loss_bbox: 0.4075, d1.loss_cls: 0.1699, d1.loss_bbox: 0.3687, d2.loss_cls: 0.1554, d2.loss_bbox: 0.3482, d3.loss_cls: 0.1364, d3.loss_bbox: 0.3447, d4.loss_cls: 0.1306, d4.loss_bbox: 0.3405, d5.loss_cls: 0.1275, d5.loss_bbox: 0.3404, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7436, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5899, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5513, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5440, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5454, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5410, d0.loss_map_cls_all: 0.2015, d0.loss_map_pts_all: 1.2706, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2015, d0.loss_map_pts: 1.2706, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1661, d1.loss_map_pts: 0.9075, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1476, d2.loss_map_pts: 0.7389, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1369, d3.loss_map_pts: 0.6786, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1320, d4.loss_map_pts: 0.6576, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1284, d5.loss_map_pts: 0.6498, d5.loss_map_dir: 0.0079, loss: 27.4734, grad_norm: 148.0079 +2026-02-28 01:48:32,657 - DriveTransformer - INFO - Epoch [8][35300/39528] lr: 8.063e-05, eta: 5 days, 9:20:07, time: 0.700, data_time: 0.038, memory: 19865, loss_cls: 0.1262, loss_bbox: 0.3269, loss_traj: 0.5868, loss_traj_cls: 0.0015, loss_map_cls: 0.1317, loss_map_pts: 0.6166, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.4829, d0.loss_plan_l1_fix_dist: 0.4142, d1.loss_plan_l1_fix_time: 0.9732, d1.loss_plan_l1_fix_dist: 0.2446, d2.loss_plan_l1_fix_time: 0.9586, d2.loss_plan_l1_fix_dist: 0.2396, d3.loss_plan_l1_fix_time: 0.9644, d3.loss_plan_l1_fix_dist: 0.1971, d4.loss_plan_l1_fix_time: 0.9676, d4.loss_plan_l1_fix_dist: 0.2147, d5.loss_plan_l1_fix_time: 0.9711, d5.loss_plan_l1_fix_dist: 0.2142, d6.loss_plan_l1_fix_time: 0.9756, d6.loss_plan_l1_fix_dist: 0.2276, d0.loss_cls_all: 0.1710, d0.loss_bbox_all: 0.3878, d0.loss_cls: 0.1710, d0.loss_bbox: 0.3878, d1.loss_cls: 0.1627, d1.loss_bbox: 0.3540, d2.loss_cls: 0.1476, d2.loss_bbox: 0.3326, d3.loss_cls: 0.1356, d3.loss_bbox: 0.3251, d4.loss_cls: 0.1274, d4.loss_bbox: 0.3250, d5.loss_cls: 0.1267, d5.loss_bbox: 0.3249, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7839, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6420, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5988, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5867, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5869, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5879, d0.loss_map_cls_all: 0.2111, d0.loss_map_pts_all: 1.1914, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2111, d0.loss_map_pts: 1.1914, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1782, d1.loss_map_pts: 0.8605, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1530, d2.loss_map_pts: 0.6912, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1430, d3.loss_map_pts: 0.6371, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1393, d4.loss_map_pts: 0.6186, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1333, d5.loss_map_pts: 0.6152, d5.loss_map_dir: 0.0077, loss: 26.1405, grad_norm: 148.4684 +2026-02-28 01:49:09,313 - DriveTransformer - INFO - Epoch [8][35350/39528] lr: 8.063e-05, eta: 5 days, 9:19:31, time: 0.733, data_time: 0.039, memory: 19865, loss_cls: 0.1264, loss_bbox: 0.3337, loss_traj: 0.6319, loss_traj_cls: 0.0016, loss_map_cls: 0.1358, loss_map_pts: 0.6115, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.5473, d0.loss_plan_l1_fix_dist: 0.4437, d1.loss_plan_l1_fix_time: 1.0149, d1.loss_plan_l1_fix_dist: 0.2215, d2.loss_plan_l1_fix_time: 0.9966, d2.loss_plan_l1_fix_dist: 0.2665, d3.loss_plan_l1_fix_time: 0.9972, d3.loss_plan_l1_fix_dist: 0.2155, d4.loss_plan_l1_fix_time: 1.0004, d4.loss_plan_l1_fix_dist: 0.1882, d5.loss_plan_l1_fix_time: 1.0040, d5.loss_plan_l1_fix_dist: 0.1989, d6.loss_plan_l1_fix_time: 1.0079, d6.loss_plan_l1_fix_dist: 0.2174, d0.loss_cls_all: 0.1641, d0.loss_bbox_all: 0.3855, d0.loss_cls: 0.1641, d0.loss_bbox: 0.3855, d1.loss_cls: 0.1586, d1.loss_bbox: 0.3557, d2.loss_cls: 0.1477, d2.loss_bbox: 0.3373, d3.loss_cls: 0.1325, d3.loss_bbox: 0.3332, d4.loss_cls: 0.1283, d4.loss_bbox: 0.3303, d5.loss_cls: 0.1255, d5.loss_bbox: 0.3330, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8645, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7037, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6630, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6442, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6388, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6350, d0.loss_map_cls_all: 0.2205, d0.loss_map_pts_all: 1.2541, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2205, d0.loss_map_pts: 1.2541, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1908, d1.loss_map_pts: 0.8891, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1654, d2.loss_map_pts: 0.7120, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1501, d3.loss_map_pts: 0.6448, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1439, d4.loss_map_pts: 0.6207, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1368, d5.loss_map_pts: 0.6135, d5.loss_map_dir: 0.0071, loss: 27.0692, grad_norm: 144.8517 +2026-02-28 01:49:44,524 - DriveTransformer - INFO - Epoch [8][35400/39528] lr: 8.063e-05, eta: 5 days, 9:18:44, time: 0.706, data_time: 0.040, memory: 19865, loss_cls: 0.1354, loss_bbox: 0.3372, loss_traj: 0.5836, loss_traj_cls: 0.0016, loss_map_cls: 0.1378, loss_map_pts: 0.6015, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.2377, d0.loss_plan_l1_fix_dist: 0.4381, d1.loss_plan_l1_fix_time: 0.9756, d1.loss_plan_l1_fix_dist: 0.2294, d2.loss_plan_l1_fix_time: 0.9554, d2.loss_plan_l1_fix_dist: 0.2744, d3.loss_plan_l1_fix_time: 0.9490, d3.loss_plan_l1_fix_dist: 0.2358, d4.loss_plan_l1_fix_time: 0.9537, d4.loss_plan_l1_fix_dist: 0.2026, d5.loss_plan_l1_fix_time: 0.9590, d5.loss_plan_l1_fix_dist: 0.2066, d6.loss_plan_l1_fix_time: 0.9646, d6.loss_plan_l1_fix_dist: 0.2306, d0.loss_cls_all: 0.1760, d0.loss_bbox_all: 0.4045, d0.loss_cls: 0.1760, d0.loss_bbox: 0.4045, d1.loss_cls: 0.1660, d1.loss_bbox: 0.3734, d2.loss_cls: 0.1520, d2.loss_bbox: 0.3486, d3.loss_cls: 0.1392, d3.loss_bbox: 0.3424, d4.loss_cls: 0.1355, d4.loss_bbox: 0.3385, d5.loss_cls: 0.1351, d5.loss_bbox: 0.3370, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8638, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6639, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6052, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5907, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5856, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5839, d0.loss_map_cls_all: 0.2180, d0.loss_map_pts_all: 1.1731, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2180, d0.loss_map_pts: 1.1731, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1903, d1.loss_map_pts: 0.8498, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1685, d2.loss_map_pts: 0.6895, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1546, d3.loss_map_pts: 0.6274, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1459, d4.loss_map_pts: 0.6100, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1408, d5.loss_map_pts: 0.6020, d5.loss_map_dir: 0.0074, loss: 26.1566, grad_norm: 144.0044 +2026-02-28 01:50:20,010 - DriveTransformer - INFO - Epoch [8][35450/39528] lr: 8.063e-05, eta: 5 days, 9:17:58, time: 0.708, data_time: 0.037, memory: 19865, loss_cls: 0.1239, loss_bbox: 0.3257, loss_traj: 0.6287, loss_traj_cls: 0.0016, loss_map_cls: 0.1272, loss_map_pts: 0.5813, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.3897, d0.loss_plan_l1_fix_dist: 0.4574, d1.loss_plan_l1_fix_time: 0.9639, d1.loss_plan_l1_fix_dist: 0.2511, d2.loss_plan_l1_fix_time: 0.9538, d2.loss_plan_l1_fix_dist: 0.2717, d3.loss_plan_l1_fix_time: 0.9528, d3.loss_plan_l1_fix_dist: 0.2674, d4.loss_plan_l1_fix_time: 0.9559, d4.loss_plan_l1_fix_dist: 0.2430, d5.loss_plan_l1_fix_time: 0.9594, d5.loss_plan_l1_fix_dist: 0.2315, d6.loss_plan_l1_fix_time: 0.9636, d6.loss_plan_l1_fix_dist: 0.2362, d0.loss_cls_all: 0.1599, d0.loss_bbox_all: 0.3871, d0.loss_cls: 0.1599, d0.loss_bbox: 0.3871, d1.loss_cls: 0.1603, d1.loss_bbox: 0.3511, d2.loss_cls: 0.1436, d2.loss_bbox: 0.3332, d3.loss_cls: 0.1297, d3.loss_bbox: 0.3300, d4.loss_cls: 0.1240, d4.loss_bbox: 0.3262, d5.loss_cls: 0.1232, d5.loss_bbox: 0.3257, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9059, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7133, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6514, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6353, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6320, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6340, d0.loss_map_cls_all: 0.2038, d0.loss_map_pts_all: 1.1562, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2038, d0.loss_map_pts: 1.1562, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1755, d1.loss_map_pts: 0.8370, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1489, d2.loss_map_pts: 0.6837, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1373, d3.loss_map_pts: 0.6161, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1319, d4.loss_map_pts: 0.5908, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1289, d5.loss_map_pts: 0.5831, d5.loss_map_dir: 0.0064, loss: 26.3072, grad_norm: 143.7937 +2026-02-28 01:50:55,637 - DriveTransformer - INFO - Epoch [8][35500/39528] lr: 8.063e-05, eta: 5 days, 9:17:13, time: 0.713, data_time: 0.036, memory: 19865, loss_cls: 0.1322, loss_bbox: 0.3282, loss_traj: 0.7674, loss_traj_cls: 0.0016, loss_map_cls: 0.1151, loss_map_pts: 0.5701, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 3.3166, d0.loss_plan_l1_fix_dist: 0.5345, d1.loss_plan_l1_fix_time: 1.1627, d1.loss_plan_l1_fix_dist: 0.2910, d2.loss_plan_l1_fix_time: 1.1501, d2.loss_plan_l1_fix_dist: 0.2938, d3.loss_plan_l1_fix_time: 1.1495, d3.loss_plan_l1_fix_dist: 0.3062, d4.loss_plan_l1_fix_time: 1.1526, d4.loss_plan_l1_fix_dist: 0.2802, d5.loss_plan_l1_fix_time: 1.1568, d5.loss_plan_l1_fix_dist: 0.2414, d6.loss_plan_l1_fix_time: 1.1615, d6.loss_plan_l1_fix_dist: 0.2461, d0.loss_cls_all: 0.1752, d0.loss_bbox_all: 0.3869, d0.loss_cls: 0.1752, d0.loss_bbox: 0.3869, d1.loss_cls: 0.1672, d1.loss_bbox: 0.3483, d2.loss_cls: 0.1523, d2.loss_bbox: 0.3299, d3.loss_cls: 0.1383, d3.loss_bbox: 0.3267, d4.loss_cls: 0.1321, d4.loss_bbox: 0.3276, d5.loss_cls: 0.1310, d5.loss_bbox: 0.3289, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0607, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8347, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7720, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.7700, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7696, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7677, d0.loss_map_cls_all: 0.1997, d0.loss_map_pts_all: 1.1112, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1997, d0.loss_map_pts: 1.1112, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1636, d1.loss_map_pts: 0.8001, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1422, d2.loss_map_pts: 0.6633, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1280, d3.loss_map_pts: 0.5997, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1193, d4.loss_map_pts: 0.5782, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1160, d5.loss_map_pts: 0.5713, d5.loss_map_dir: 0.0076, loss: 29.4083, grad_norm: 151.1333 +2026-02-28 01:51:31,850 - DriveTransformer - INFO - Epoch [8][35550/39528] lr: 8.063e-05, eta: 5 days, 9:16:34, time: 0.724, data_time: 0.038, memory: 19865, loss_cls: 0.1292, loss_bbox: 0.3224, loss_traj: 0.5966, loss_traj_cls: 0.0016, loss_map_cls: 0.1273, loss_map_pts: 0.5865, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.8419, d0.loss_plan_l1_fix_dist: 0.6075, d1.loss_plan_l1_fix_time: 0.9824, d1.loss_plan_l1_fix_dist: 0.3063, d2.loss_plan_l1_fix_time: 0.9752, d2.loss_plan_l1_fix_dist: 0.2858, d3.loss_plan_l1_fix_time: 0.9878, d3.loss_plan_l1_fix_dist: 0.2865, d4.loss_plan_l1_fix_time: 0.9927, d4.loss_plan_l1_fix_dist: 0.2801, d5.loss_plan_l1_fix_time: 0.9982, d5.loss_plan_l1_fix_dist: 0.2331, d6.loss_plan_l1_fix_time: 1.0047, d6.loss_plan_l1_fix_dist: 0.2469, d0.loss_cls_all: 0.1773, d0.loss_bbox_all: 0.3783, d0.loss_cls: 0.1773, d0.loss_bbox: 0.3783, d1.loss_cls: 0.1705, d1.loss_bbox: 0.3477, d2.loss_cls: 0.1506, d2.loss_bbox: 0.3315, d3.loss_cls: 0.1360, d3.loss_bbox: 0.3241, d4.loss_cls: 0.1303, d4.loss_bbox: 0.3228, d5.loss_cls: 0.1296, d5.loss_bbox: 0.3217, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8267, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6475, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6063, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5946, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5912, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5938, d0.loss_map_cls_all: 0.2079, d0.loss_map_pts_all: 1.2020, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2079, d0.loss_map_pts: 1.2020, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1782, d1.loss_map_pts: 0.8472, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1513, d2.loss_map_pts: 0.6802, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1391, d3.loss_map_pts: 0.6134, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1325, d4.loss_map_pts: 0.5925, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1274, d5.loss_map_pts: 0.5875, d5.loss_map_dir: 0.0079, loss: 27.0641, grad_norm: 149.8396 +2026-02-28 01:52:08,346 - DriveTransformer - INFO - Epoch [8][35600/39528] lr: 8.063e-05, eta: 5 days, 9:15:56, time: 0.730, data_time: 0.037, memory: 19865, loss_cls: 0.1160, loss_bbox: 0.3105, loss_traj: 0.5879, loss_traj_cls: 0.0016, loss_map_cls: 0.1203, loss_map_pts: 0.5421, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.8096, d0.loss_plan_l1_fix_dist: 0.5933, d1.loss_plan_l1_fix_time: 1.0069, d1.loss_plan_l1_fix_dist: 0.2973, d2.loss_plan_l1_fix_time: 0.9969, d2.loss_plan_l1_fix_dist: 0.2619, d3.loss_plan_l1_fix_time: 0.9966, d3.loss_plan_l1_fix_dist: 0.2456, d4.loss_plan_l1_fix_time: 0.9989, d4.loss_plan_l1_fix_dist: 0.2545, d5.loss_plan_l1_fix_time: 1.0024, d5.loss_plan_l1_fix_dist: 0.2370, d6.loss_plan_l1_fix_time: 1.0069, d6.loss_plan_l1_fix_dist: 0.2541, d0.loss_cls_all: 0.1537, d0.loss_bbox_all: 0.3684, d0.loss_cls: 0.1537, d0.loss_bbox: 0.3684, d1.loss_cls: 0.1480, d1.loss_bbox: 0.3346, d2.loss_cls: 0.1362, d2.loss_bbox: 0.3175, d3.loss_cls: 0.1241, d3.loss_bbox: 0.3113, d4.loss_cls: 0.1185, d4.loss_bbox: 0.3106, d5.loss_cls: 0.1170, d5.loss_bbox: 0.3097, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7321, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6063, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5864, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5828, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5826, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5864, d0.loss_map_cls_all: 0.1869, d0.loss_map_pts_all: 1.0859, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1869, d0.loss_map_pts: 1.0859, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1589, d1.loss_map_pts: 0.7592, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1409, d2.loss_map_pts: 0.6196, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1301, d3.loss_map_pts: 0.5702, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1252, d4.loss_map_pts: 0.5532, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1218, d5.loss_map_pts: 0.5444, d5.loss_map_dir: 0.0076, loss: 25.9228, grad_norm: 153.4304 +2026-02-28 01:52:43,692 - DriveTransformer - INFO - Epoch [8][35650/39528] lr: 8.063e-05, eta: 5 days, 9:15:10, time: 0.707, data_time: 0.038, memory: 19865, loss_cls: 0.1112, loss_bbox: 0.3229, loss_traj: 0.6520, loss_traj_cls: 0.0016, loss_map_cls: 0.1168, loss_map_pts: 0.5595, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.4529, d0.loss_plan_l1_fix_dist: 0.4613, d1.loss_plan_l1_fix_time: 0.8585, d1.loss_plan_l1_fix_dist: 0.2979, d2.loss_plan_l1_fix_time: 0.8474, d2.loss_plan_l1_fix_dist: 0.2593, d3.loss_plan_l1_fix_time: 0.8434, d3.loss_plan_l1_fix_dist: 0.2366, d4.loss_plan_l1_fix_time: 0.8449, d4.loss_plan_l1_fix_dist: 0.2409, d5.loss_plan_l1_fix_time: 0.8470, d5.loss_plan_l1_fix_dist: 0.2304, d6.loss_plan_l1_fix_time: 0.8499, d6.loss_plan_l1_fix_dist: 0.2445, d0.loss_cls_all: 0.1508, d0.loss_bbox_all: 0.3797, d0.loss_cls: 0.1508, d0.loss_bbox: 0.3797, d1.loss_cls: 0.1447, d1.loss_bbox: 0.3466, d2.loss_cls: 0.1314, d2.loss_bbox: 0.3310, d3.loss_cls: 0.1193, d3.loss_bbox: 0.3243, d4.loss_cls: 0.1145, d4.loss_bbox: 0.3218, d5.loss_cls: 0.1124, d5.loss_bbox: 0.3211, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8776, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7068, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6650, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6601, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6532, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6538, d0.loss_map_cls_all: 0.1937, d0.loss_map_pts_all: 1.1345, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1937, d0.loss_map_pts: 1.1345, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1655, d1.loss_map_pts: 0.8059, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1442, d2.loss_map_pts: 0.6528, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1316, d3.loss_map_pts: 0.5961, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1245, d4.loss_map_pts: 0.5720, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1187, d5.loss_map_pts: 0.5607, d5.loss_map_dir: 0.0073, loss: 25.4141, grad_norm: 152.2568 +2026-02-28 01:53:20,325 - DriveTransformer - INFO - Epoch [8][35700/39528] lr: 8.063e-05, eta: 5 days, 9:14:34, time: 0.733, data_time: 0.038, memory: 19865, loss_cls: 0.1084, loss_bbox: 0.3081, loss_traj: 0.5534, loss_traj_cls: 0.0016, loss_map_cls: 0.1346, loss_map_pts: 0.5922, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.5560, d0.loss_plan_l1_fix_dist: 0.5101, d1.loss_plan_l1_fix_time: 0.9305, d1.loss_plan_l1_fix_dist: 0.2687, d2.loss_plan_l1_fix_time: 0.9199, d2.loss_plan_l1_fix_dist: 0.2337, d3.loss_plan_l1_fix_time: 0.9195, d3.loss_plan_l1_fix_dist: 0.2140, d4.loss_plan_l1_fix_time: 0.9242, d4.loss_plan_l1_fix_dist: 0.2100, d5.loss_plan_l1_fix_time: 0.9288, d5.loss_plan_l1_fix_dist: 0.2097, d6.loss_plan_l1_fix_time: 0.9335, d6.loss_plan_l1_fix_dist: 0.2319, d0.loss_cls_all: 0.1549, d0.loss_bbox_all: 0.3690, d0.loss_cls: 0.1549, d0.loss_bbox: 0.3690, d1.loss_cls: 0.1467, d1.loss_bbox: 0.3386, d2.loss_cls: 0.1317, d2.loss_bbox: 0.3181, d3.loss_cls: 0.1177, d3.loss_bbox: 0.3113, d4.loss_cls: 0.1103, d4.loss_bbox: 0.3100, d5.loss_cls: 0.1083, d5.loss_bbox: 0.3094, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7668, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6243, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5905, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5668, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5634, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5556, d0.loss_map_cls_all: 0.2156, d0.loss_map_pts_all: 1.1752, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2156, d0.loss_map_pts: 1.1752, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1808, d1.loss_map_pts: 0.8363, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1608, d2.loss_map_pts: 0.6766, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1511, d3.loss_map_pts: 0.6222, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1416, d4.loss_map_pts: 0.5985, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1362, d5.loss_map_pts: 0.5931, d5.loss_map_dir: 0.0083, loss: 25.5564, grad_norm: 144.0747 +2026-02-28 01:53:58,080 - DriveTransformer - INFO - Epoch [8][35750/39528] lr: 8.063e-05, eta: 5 days, 9:14:07, time: 0.755, data_time: 0.039, memory: 19865, loss_cls: 0.1390, loss_bbox: 0.3312, loss_traj: 0.5988, loss_traj_cls: 0.0016, loss_map_cls: 0.1256, loss_map_pts: 0.6076, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.4567, d0.loss_plan_l1_fix_dist: 0.4259, d1.loss_plan_l1_fix_time: 0.9508, d1.loss_plan_l1_fix_dist: 0.2446, d2.loss_plan_l1_fix_time: 0.9398, d2.loss_plan_l1_fix_dist: 0.2115, d3.loss_plan_l1_fix_time: 0.9140, d3.loss_plan_l1_fix_dist: 0.2015, d4.loss_plan_l1_fix_time: 0.9161, d4.loss_plan_l1_fix_dist: 0.1948, d5.loss_plan_l1_fix_time: 0.9200, d5.loss_plan_l1_fix_dist: 0.2124, d6.loss_plan_l1_fix_time: 0.9244, d6.loss_plan_l1_fix_dist: 0.2334, d0.loss_cls_all: 0.1775, d0.loss_bbox_all: 0.3879, d0.loss_cls: 0.1775, d0.loss_bbox: 0.3879, d1.loss_cls: 0.1716, d1.loss_bbox: 0.3565, d2.loss_cls: 0.1572, d2.loss_bbox: 0.3380, d3.loss_cls: 0.1480, d3.loss_bbox: 0.3310, d4.loss_cls: 0.1416, d4.loss_bbox: 0.3307, d5.loss_cls: 0.1397, d5.loss_bbox: 0.3306, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8328, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6459, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6107, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5961, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5977, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5961, d0.loss_map_cls_all: 0.2105, d0.loss_map_pts_all: 1.2831, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2105, d0.loss_map_pts: 1.2831, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1727, d1.loss_map_pts: 0.8901, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1486, d2.loss_map_pts: 0.7070, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1382, d3.loss_map_pts: 0.6423, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1316, d4.loss_map_pts: 0.6140, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1265, d5.loss_map_pts: 0.6094, d5.loss_map_dir: 0.0090, loss: 26.2459, grad_norm: 143.1421 +2026-02-28 01:54:35,635 - DriveTransformer - INFO - Epoch [8][35800/39528] lr: 8.063e-05, eta: 5 days, 9:13:39, time: 0.751, data_time: 0.038, memory: 19865, loss_cls: 0.1234, loss_bbox: 0.3274, loss_traj: 0.6086, loss_traj_cls: 0.0016, loss_map_cls: 0.1389, loss_map_pts: 0.5850, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.3439, d0.loss_plan_l1_fix_dist: 0.5215, d1.loss_plan_l1_fix_time: 0.8902, d1.loss_plan_l1_fix_dist: 0.2225, d2.loss_plan_l1_fix_time: 0.8698, d2.loss_plan_l1_fix_dist: 0.2224, d3.loss_plan_l1_fix_time: 0.8600, d3.loss_plan_l1_fix_dist: 0.2066, d4.loss_plan_l1_fix_time: 0.8612, d4.loss_plan_l1_fix_dist: 0.2087, d5.loss_plan_l1_fix_time: 0.8643, d5.loss_plan_l1_fix_dist: 0.2080, d6.loss_plan_l1_fix_time: 0.8687, d6.loss_plan_l1_fix_dist: 0.2258, d0.loss_cls_all: 0.1661, d0.loss_bbox_all: 0.3835, d0.loss_cls: 0.1661, d0.loss_bbox: 0.3835, d1.loss_cls: 0.1568, d1.loss_bbox: 0.3544, d2.loss_cls: 0.1431, d2.loss_bbox: 0.3350, d3.loss_cls: 0.1277, d3.loss_bbox: 0.3300, d4.loss_cls: 0.1227, d4.loss_bbox: 0.3284, d5.loss_cls: 0.1228, d5.loss_bbox: 0.3275, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7837, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6505, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6077, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6034, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6074, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6060, d0.loss_map_cls_all: 0.1960, d0.loss_map_pts_all: 1.2006, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1960, d0.loss_map_pts: 1.2006, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1667, d1.loss_map_pts: 0.8261, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1535, d2.loss_map_pts: 0.6727, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1472, d3.loss_map_pts: 0.6170, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1423, d4.loss_map_pts: 0.5932, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1383, d5.loss_map_pts: 0.5860, d5.loss_map_dir: 0.0078, loss: 25.3674, grad_norm: 143.8273 +2026-02-28 01:55:12,511 - DriveTransformer - INFO - Epoch [8][35850/39528] lr: 8.063e-05, eta: 5 days, 9:13:05, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.1317, loss_bbox: 0.3340, loss_traj: 0.6347, loss_traj_cls: 0.0015, loss_map_cls: 0.1553, loss_map_pts: 0.6792, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.6376, d0.loss_plan_l1_fix_dist: 0.3509, d1.loss_plan_l1_fix_time: 0.9221, d1.loss_plan_l1_fix_dist: 0.2014, d2.loss_plan_l1_fix_time: 0.9017, d2.loss_plan_l1_fix_dist: 0.2282, d3.loss_plan_l1_fix_time: 0.8972, d3.loss_plan_l1_fix_dist: 0.1889, d4.loss_plan_l1_fix_time: 0.8976, d4.loss_plan_l1_fix_dist: 0.2209, d5.loss_plan_l1_fix_time: 0.8990, d5.loss_plan_l1_fix_dist: 0.2311, d6.loss_plan_l1_fix_time: 0.9017, d6.loss_plan_l1_fix_dist: 0.2516, d0.loss_cls_all: 0.1841, d0.loss_bbox_all: 0.3987, d0.loss_cls: 0.1841, d0.loss_bbox: 0.3987, d1.loss_cls: 0.1718, d1.loss_bbox: 0.3621, d2.loss_cls: 0.1552, d2.loss_bbox: 0.3432, d3.loss_cls: 0.1391, d3.loss_bbox: 0.3358, d4.loss_cls: 0.1323, d4.loss_bbox: 0.3350, d5.loss_cls: 0.1314, d5.loss_bbox: 0.3333, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8579, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6745, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6518, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6379, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6325, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6341, d0.loss_map_cls_all: 0.2310, d0.loss_map_pts_all: 1.3859, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2310, d0.loss_map_pts: 1.3859, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2019, d1.loss_map_pts: 0.9832, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1759, d2.loss_map_pts: 0.7927, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1671, d3.loss_map_pts: 0.7167, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1603, d4.loss_map_pts: 0.6907, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1568, d5.loss_map_pts: 0.6809, d5.loss_map_dir: 0.0088, loss: 27.3916, grad_norm: 139.7948 +2026-02-28 01:55:47,166 - DriveTransformer - INFO - Epoch [8][35900/39528] lr: 8.063e-05, eta: 5 days, 9:12:12, time: 0.693, data_time: 0.039, memory: 19865, loss_cls: 0.1439, loss_bbox: 0.3472, loss_traj: 0.7467, loss_traj_cls: 0.0016, loss_map_cls: 0.1526, loss_map_pts: 0.6396, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 3.1461, d0.loss_plan_l1_fix_dist: 0.4773, d1.loss_plan_l1_fix_time: 1.0013, d1.loss_plan_l1_fix_dist: 0.2438, d2.loss_plan_l1_fix_time: 1.0000, d2.loss_plan_l1_fix_dist: 0.2785, d3.loss_plan_l1_fix_time: 1.0075, d3.loss_plan_l1_fix_dist: 0.2324, d4.loss_plan_l1_fix_time: 1.0112, d4.loss_plan_l1_fix_dist: 0.2496, d5.loss_plan_l1_fix_time: 1.0135, d5.loss_plan_l1_fix_dist: 0.2778, d6.loss_plan_l1_fix_time: 1.0172, d6.loss_plan_l1_fix_dist: 0.2741, d0.loss_cls_all: 0.1869, d0.loss_bbox_all: 0.4229, d0.loss_cls: 0.1869, d0.loss_bbox: 0.4229, d1.loss_cls: 0.1754, d1.loss_bbox: 0.3800, d2.loss_cls: 0.1611, d2.loss_bbox: 0.3596, d3.loss_cls: 0.1493, d3.loss_bbox: 0.3502, d4.loss_cls: 0.1450, d4.loss_bbox: 0.3463, d5.loss_cls: 0.1443, d5.loss_bbox: 0.3456, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9944, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7919, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.7450, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.7334, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7301, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7371, d0.loss_map_cls_all: 0.2321, d0.loss_map_pts_all: 1.2611, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2321, d0.loss_map_pts: 1.2611, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.2035, d1.loss_map_pts: 0.9117, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1777, d2.loss_map_pts: 0.7495, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1669, d3.loss_map_pts: 0.6773, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1619, d4.loss_map_pts: 0.6468, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1548, d5.loss_map_pts: 0.6384, d5.loss_map_dir: 0.0069, loss: 29.3026, grad_norm: 142.9132 +2026-02-28 01:56:23,499 - DriveTransformer - INFO - Epoch [8][35950/39528] lr: 8.063e-05, eta: 5 days, 9:11:34, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.1278, loss_bbox: 0.3313, loss_traj: 0.6499, loss_traj_cls: 0.0016, loss_map_cls: 0.1395, loss_map_pts: 0.6369, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.3092, d0.loss_plan_l1_fix_dist: 0.4932, d1.loss_plan_l1_fix_time: 0.8948, d1.loss_plan_l1_fix_dist: 0.2801, d2.loss_plan_l1_fix_time: 0.8872, d2.loss_plan_l1_fix_dist: 0.2949, d3.loss_plan_l1_fix_time: 0.8901, d3.loss_plan_l1_fix_dist: 0.2635, d4.loss_plan_l1_fix_time: 0.8944, d4.loss_plan_l1_fix_dist: 0.2483, d5.loss_plan_l1_fix_time: 0.8978, d5.loss_plan_l1_fix_dist: 0.2893, d6.loss_plan_l1_fix_time: 0.9026, d6.loss_plan_l1_fix_dist: 0.2601, d0.loss_cls_all: 0.1706, d0.loss_bbox_all: 0.3844, d0.loss_cls: 0.1706, d0.loss_bbox: 0.3844, d1.loss_cls: 0.1632, d1.loss_bbox: 0.3511, d2.loss_cls: 0.1526, d2.loss_bbox: 0.3331, d3.loss_cls: 0.1360, d3.loss_bbox: 0.3291, d4.loss_cls: 0.1286, d4.loss_bbox: 0.3291, d5.loss_cls: 0.1273, d5.loss_bbox: 0.3299, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8560, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7037, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6510, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6481, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6469, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6503, d0.loss_map_cls_all: 0.2250, d0.loss_map_pts_all: 1.2374, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2250, d0.loss_map_pts: 1.2374, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1880, d1.loss_map_pts: 0.8895, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1622, d2.loss_map_pts: 0.7326, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1499, d3.loss_map_pts: 0.6694, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1440, d4.loss_map_pts: 0.6423, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1402, d5.loss_map_pts: 0.6344, d5.loss_map_dir: 0.0077, loss: 26.6825, grad_norm: 147.5619 +2026-02-28 01:56:59,179 - DriveTransformer - INFO - Epoch [8][36000/39528] lr: 8.063e-05, eta: 5 days, 9:10:50, time: 0.714, data_time: 0.038, memory: 19865, loss_cls: 0.1473, loss_bbox: 0.3372, loss_traj: 0.5310, loss_traj_cls: 0.0016, loss_map_cls: 0.1405, loss_map_pts: 0.6475, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.1999, d0.loss_plan_l1_fix_dist: 0.4471, d1.loss_plan_l1_fix_time: 0.8870, d1.loss_plan_l1_fix_dist: 0.2913, d2.loss_plan_l1_fix_time: 0.8654, d2.loss_plan_l1_fix_dist: 0.2886, d3.loss_plan_l1_fix_time: 0.8629, d3.loss_plan_l1_fix_dist: 0.2702, d4.loss_plan_l1_fix_time: 0.8641, d4.loss_plan_l1_fix_dist: 0.2246, d5.loss_plan_l1_fix_time: 0.8666, d5.loss_plan_l1_fix_dist: 0.2779, d6.loss_plan_l1_fix_time: 0.8702, d6.loss_plan_l1_fix_dist: 0.2645, d0.loss_cls_all: 0.1975, d0.loss_bbox_all: 0.3961, d0.loss_cls: 0.1975, d0.loss_bbox: 0.3961, d1.loss_cls: 0.1883, d1.loss_bbox: 0.3678, d2.loss_cls: 0.1710, d2.loss_bbox: 0.3453, d3.loss_cls: 0.1541, d3.loss_bbox: 0.3394, d4.loss_cls: 0.1494, d4.loss_bbox: 0.3369, d5.loss_cls: 0.1465, d5.loss_bbox: 0.3363, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7058, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5908, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5412, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5309, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5304, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5338, d0.loss_map_cls_all: 0.2171, d0.loss_map_pts_all: 1.2296, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2171, d0.loss_map_pts: 1.2296, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1855, d1.loss_map_pts: 0.8722, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1661, d2.loss_map_pts: 0.7237, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1541, d3.loss_map_pts: 0.6701, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1479, d4.loss_map_pts: 0.6537, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1427, d5.loss_map_pts: 0.6465, d5.loss_map_dir: 0.0083, loss: 25.7672, grad_norm: 145.9843 +2026-02-28 01:57:37,331 - DriveTransformer - INFO - Epoch [8][36050/39528] lr: 8.063e-05, eta: 5 days, 9:10:27, time: 0.763, data_time: 0.038, memory: 19865, loss_cls: 0.1349, loss_bbox: 0.3281, loss_traj: 0.5109, loss_traj_cls: 0.0016, loss_map_cls: 0.1406, loss_map_pts: 0.6816, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.4873, d0.loss_plan_l1_fix_dist: 0.4817, d1.loss_plan_l1_fix_time: 0.9764, d1.loss_plan_l1_fix_dist: 0.2928, d2.loss_plan_l1_fix_time: 0.9685, d2.loss_plan_l1_fix_dist: 0.2942, d3.loss_plan_l1_fix_time: 0.9682, d3.loss_plan_l1_fix_dist: 0.2591, d4.loss_plan_l1_fix_time: 0.9730, d4.loss_plan_l1_fix_dist: 0.2264, d5.loss_plan_l1_fix_time: 0.9773, d5.loss_plan_l1_fix_dist: 0.2574, d6.loss_plan_l1_fix_time: 0.9822, d6.loss_plan_l1_fix_dist: 0.3355, d0.loss_cls_all: 0.1790, d0.loss_bbox_all: 0.3984, d0.loss_cls: 0.1790, d0.loss_bbox: 0.3984, d1.loss_cls: 0.1714, d1.loss_bbox: 0.3636, d2.loss_cls: 0.1577, d2.loss_bbox: 0.3415, d3.loss_cls: 0.1404, d3.loss_bbox: 0.3345, d4.loss_cls: 0.1353, d4.loss_bbox: 0.3307, d5.loss_cls: 0.1346, d5.loss_bbox: 0.3286, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7414, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5762, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5239, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5102, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5151, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5140, d0.loss_map_cls_all: 0.2105, d0.loss_map_pts_all: 1.3738, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2105, d0.loss_map_pts: 1.3738, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1838, d1.loss_map_pts: 0.9824, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1619, d2.loss_map_pts: 0.7854, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1518, d3.loss_map_pts: 0.7146, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1462, d4.loss_map_pts: 0.6918, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1412, d5.loss_map_pts: 0.6833, d5.loss_map_dir: 0.0093, loss: 27.1395, grad_norm: 146.0170 +2026-02-28 01:58:13,648 - DriveTransformer - INFO - Epoch [8][36100/39528] lr: 8.063e-05, eta: 5 days, 9:09:48, time: 0.726, data_time: 0.042, memory: 19865, loss_cls: 0.1455, loss_bbox: 0.3120, loss_traj: 0.5864, loss_traj_cls: 0.0016, loss_map_cls: 0.1256, loss_map_pts: 0.5968, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.4965, d0.loss_plan_l1_fix_dist: 0.4294, d1.loss_plan_l1_fix_time: 0.9601, d1.loss_plan_l1_fix_dist: 0.2673, d2.loss_plan_l1_fix_time: 0.9353, d2.loss_plan_l1_fix_dist: 0.2945, d3.loss_plan_l1_fix_time: 0.9291, d3.loss_plan_l1_fix_dist: 0.2434, d4.loss_plan_l1_fix_time: 0.9322, d4.loss_plan_l1_fix_dist: 0.2430, d5.loss_plan_l1_fix_time: 0.9360, d5.loss_plan_l1_fix_dist: 0.2799, d6.loss_plan_l1_fix_time: 0.9405, d6.loss_plan_l1_fix_dist: 0.3697, d0.loss_cls_all: 0.1820, d0.loss_bbox_all: 0.3760, d0.loss_cls: 0.1820, d0.loss_bbox: 0.3760, d1.loss_cls: 0.1745, d1.loss_bbox: 0.3477, d2.loss_cls: 0.1618, d2.loss_bbox: 0.3289, d3.loss_cls: 0.1486, d3.loss_bbox: 0.3181, d4.loss_cls: 0.1464, d4.loss_bbox: 0.3141, d5.loss_cls: 0.1459, d5.loss_bbox: 0.3136, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7514, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6036, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5838, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5832, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5887, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5858, d0.loss_map_cls_all: 0.2035, d0.loss_map_pts_all: 1.2289, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2035, d0.loss_map_pts: 1.2289, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1728, d1.loss_map_pts: 0.8801, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1478, d2.loss_map_pts: 0.7073, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1382, d3.loss_map_pts: 0.6357, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1321, d4.loss_map_pts: 0.6096, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1268, d5.loss_map_pts: 0.5986, d5.loss_map_dir: 0.0078, loss: 26.3154, grad_norm: 146.3314 +2026-02-28 01:58:48,818 - DriveTransformer - INFO - Epoch [8][36150/39528] lr: 8.063e-05, eta: 5 days, 9:09:00, time: 0.703, data_time: 0.038, memory: 19865, loss_cls: 0.1399, loss_bbox: 0.3399, loss_traj: 0.6510, loss_traj_cls: 0.0016, loss_map_cls: 0.1383, loss_map_pts: 0.6162, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.7138, d0.loss_plan_l1_fix_dist: 0.4707, d1.loss_plan_l1_fix_time: 1.0249, d1.loss_plan_l1_fix_dist: 0.2295, d2.loss_plan_l1_fix_time: 1.0100, d2.loss_plan_l1_fix_dist: 0.2685, d3.loss_plan_l1_fix_time: 1.0059, d3.loss_plan_l1_fix_dist: 0.2795, d4.loss_plan_l1_fix_time: 1.0079, d4.loss_plan_l1_fix_dist: 0.2486, d5.loss_plan_l1_fix_time: 1.0100, d5.loss_plan_l1_fix_dist: 0.3816, d6.loss_plan_l1_fix_time: 1.0132, d6.loss_plan_l1_fix_dist: 0.3160, d0.loss_cls_all: 0.1766, d0.loss_bbox_all: 0.4006, d0.loss_cls: 0.1766, d0.loss_bbox: 0.4006, d1.loss_cls: 0.1697, d1.loss_bbox: 0.3718, d2.loss_cls: 0.1576, d2.loss_bbox: 0.3524, d3.loss_cls: 0.1454, d3.loss_bbox: 0.3424, d4.loss_cls: 0.1394, d4.loss_bbox: 0.3400, d5.loss_cls: 0.1415, d5.loss_bbox: 0.3383, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8804, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7153, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6755, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6599, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6579, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6537, d0.loss_map_cls_all: 0.2059, d0.loss_map_pts_all: 1.2339, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2059, d0.loss_map_pts: 1.2339, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1778, d1.loss_map_pts: 0.8980, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1573, d2.loss_map_pts: 0.7287, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1479, d3.loss_map_pts: 0.6530, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1428, d4.loss_map_pts: 0.6244, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1395, d5.loss_map_pts: 0.6179, d5.loss_map_dir: 0.0071, loss: 27.9901, grad_norm: 145.9825 +2026-02-28 01:59:24,235 - DriveTransformer - INFO - Epoch [8][36200/39528] lr: 8.063e-05, eta: 5 days, 9:08:14, time: 0.710, data_time: 0.040, memory: 19865, loss_cls: 0.1185, loss_bbox: 0.3109, loss_traj: 0.6103, loss_traj_cls: 0.0017, loss_map_cls: 0.1203, loss_map_pts: 0.5472, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.4112, d0.loss_plan_l1_fix_dist: 0.3135, d1.loss_plan_l1_fix_time: 0.9008, d1.loss_plan_l1_fix_dist: 0.1938, d2.loss_plan_l1_fix_time: 0.8744, d2.loss_plan_l1_fix_dist: 0.2411, d3.loss_plan_l1_fix_time: 0.8725, d3.loss_plan_l1_fix_dist: 0.2872, d4.loss_plan_l1_fix_time: 0.8764, d4.loss_plan_l1_fix_dist: 0.2317, d5.loss_plan_l1_fix_time: 0.8800, d5.loss_plan_l1_fix_dist: 0.3670, d6.loss_plan_l1_fix_time: 0.8863, d6.loss_plan_l1_fix_dist: 0.2838, d0.loss_cls_all: 0.1526, d0.loss_bbox_all: 0.3651, d0.loss_cls: 0.1526, d0.loss_bbox: 0.3651, d1.loss_cls: 0.1478, d1.loss_bbox: 0.3369, d2.loss_cls: 0.1376, d2.loss_bbox: 0.3178, d3.loss_cls: 0.1241, d3.loss_bbox: 0.3140, d4.loss_cls: 0.1195, d4.loss_bbox: 0.3109, d5.loss_cls: 0.1185, d5.loss_bbox: 0.3096, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8229, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6603, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6148, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6125, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6092, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6060, d0.loss_map_cls_all: 0.1788, d0.loss_map_pts_all: 1.1016, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1788, d0.loss_map_pts: 1.1016, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1561, d1.loss_map_pts: 0.7814, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1404, d2.loss_map_pts: 0.6326, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1295, d3.loss_map_pts: 0.5746, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1254, d4.loss_map_pts: 0.5567, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1218, d5.loss_map_pts: 0.5462, d5.loss_map_dir: 0.0067, loss: 24.9090, grad_norm: 148.4628 +2026-02-28 02:00:01,367 - DriveTransformer - INFO - Epoch [8][36250/39528] lr: 8.063e-05, eta: 5 days, 9:07:42, time: 0.741, data_time: 0.035, memory: 19865, loss_cls: 0.1503, loss_bbox: 0.3437, loss_traj: 0.7460, loss_traj_cls: 0.0016, loss_map_cls: 0.1435, loss_map_pts: 0.7098, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.9666, d0.loss_plan_l1_fix_dist: 0.3929, d1.loss_plan_l1_fix_time: 0.9435, d1.loss_plan_l1_fix_dist: 0.2073, d2.loss_plan_l1_fix_time: 0.9277, d2.loss_plan_l1_fix_dist: 0.2576, d3.loss_plan_l1_fix_time: 0.9143, d3.loss_plan_l1_fix_dist: 0.3419, d4.loss_plan_l1_fix_time: 0.9161, d4.loss_plan_l1_fix_dist: 0.2826, d5.loss_plan_l1_fix_time: 0.9192, d5.loss_plan_l1_fix_dist: 0.3684, d6.loss_plan_l1_fix_time: 0.9240, d6.loss_plan_l1_fix_dist: 0.3404, d0.loss_cls_all: 0.1975, d0.loss_bbox_all: 0.4069, d0.loss_cls: 0.1975, d0.loss_bbox: 0.4069, d1.loss_cls: 0.1897, d1.loss_bbox: 0.3724, d2.loss_cls: 0.1766, d2.loss_bbox: 0.3517, d3.loss_cls: 0.1568, d3.loss_bbox: 0.3460, d4.loss_cls: 0.1489, d4.loss_bbox: 0.3455, d5.loss_cls: 0.1488, d5.loss_bbox: 0.3441, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9607, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7792, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.7552, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.7423, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7449, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7438, d0.loss_map_cls_all: 0.2265, d0.loss_map_pts_all: 1.4304, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2265, d0.loss_map_pts: 1.4304, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1926, d1.loss_map_pts: 1.0115, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1662, d2.loss_map_pts: 0.8196, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1553, d3.loss_map_pts: 0.7465, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1487, d4.loss_map_pts: 0.7190, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1444, d5.loss_map_pts: 0.7118, d5.loss_map_dir: 0.0093, loss: 29.5191, grad_norm: 150.1128 +2026-02-28 02:00:38,397 - DriveTransformer - INFO - Epoch [8][36300/39528] lr: 8.063e-05, eta: 5 days, 9:07:09, time: 0.741, data_time: 0.037, memory: 19865, loss_cls: 0.1515, loss_bbox: 0.3418, loss_traj: 0.6364, loss_traj_cls: 0.0016, loss_map_cls: 0.1280, loss_map_pts: 0.5840, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.2560, d0.loss_plan_l1_fix_dist: 0.4233, d1.loss_plan_l1_fix_time: 0.9013, d1.loss_plan_l1_fix_dist: 0.2062, d2.loss_plan_l1_fix_time: 0.8950, d2.loss_plan_l1_fix_dist: 0.2257, d3.loss_plan_l1_fix_time: 0.8802, d3.loss_plan_l1_fix_dist: 0.3090, d4.loss_plan_l1_fix_time: 0.8805, d4.loss_plan_l1_fix_dist: 0.2416, d5.loss_plan_l1_fix_time: 0.8837, d5.loss_plan_l1_fix_dist: 0.3152, d6.loss_plan_l1_fix_time: 0.8870, d6.loss_plan_l1_fix_dist: 0.2882, d0.loss_cls_all: 0.1913, d0.loss_bbox_all: 0.3963, d0.loss_cls: 0.1913, d0.loss_bbox: 0.3963, d1.loss_cls: 0.1820, d1.loss_bbox: 0.3655, d2.loss_cls: 0.1694, d2.loss_bbox: 0.3477, d3.loss_cls: 0.1566, d3.loss_bbox: 0.3412, d4.loss_cls: 0.1510, d4.loss_bbox: 0.3404, d5.loss_cls: 0.1504, d5.loss_bbox: 0.3414, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8676, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6965, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6537, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6381, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6345, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6333, d0.loss_map_cls_all: 0.2045, d0.loss_map_pts_all: 1.1773, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2045, d0.loss_map_pts: 1.1773, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1757, d1.loss_map_pts: 0.8147, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1532, d2.loss_map_pts: 0.6581, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1403, d3.loss_map_pts: 0.6049, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1340, d4.loss_map_pts: 0.5907, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1292, d5.loss_map_pts: 0.5869, d5.loss_map_dir: 0.0082, loss: 26.1006, grad_norm: 148.5084 +2026-02-28 02:01:14,876 - DriveTransformer - INFO - Epoch [8][36350/39528] lr: 8.063e-05, eta: 5 days, 9:06:32, time: 0.730, data_time: 0.041, memory: 19865, loss_cls: 0.1225, loss_bbox: 0.3253, loss_traj: 0.5548, loss_traj_cls: 0.0016, loss_map_cls: 0.1350, loss_map_pts: 0.6387, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.6755, d0.loss_plan_l1_fix_dist: 0.3196, d1.loss_plan_l1_fix_time: 0.9135, d1.loss_plan_l1_fix_dist: 0.2241, d2.loss_plan_l1_fix_time: 0.8984, d2.loss_plan_l1_fix_dist: 0.2074, d3.loss_plan_l1_fix_time: 0.9015, d3.loss_plan_l1_fix_dist: 0.2459, d4.loss_plan_l1_fix_time: 0.9037, d4.loss_plan_l1_fix_dist: 0.2350, d5.loss_plan_l1_fix_time: 0.9078, d5.loss_plan_l1_fix_dist: 0.2656, d6.loss_plan_l1_fix_time: 0.9109, d6.loss_plan_l1_fix_dist: 0.2653, d0.loss_cls_all: 0.1591, d0.loss_bbox_all: 0.3878, d0.loss_cls: 0.1591, d0.loss_bbox: 0.3878, d1.loss_cls: 0.1518, d1.loss_bbox: 0.3533, d2.loss_cls: 0.1392, d2.loss_bbox: 0.3350, d3.loss_cls: 0.1266, d3.loss_bbox: 0.3298, d4.loss_cls: 0.1221, d4.loss_bbox: 0.3274, d5.loss_cls: 0.1222, d5.loss_bbox: 0.3254, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8068, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6232, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5702, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5608, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5562, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5535, d0.loss_map_cls_all: 0.2092, d0.loss_map_pts_all: 1.2206, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2092, d0.loss_map_pts: 1.2206, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1767, d1.loss_map_pts: 0.8852, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1580, d2.loss_map_pts: 0.7341, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1476, d3.loss_map_pts: 0.6709, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1418, d4.loss_map_pts: 0.6509, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1367, d5.loss_map_pts: 0.6425, d5.loss_map_dir: 0.0078, loss: 26.0177, grad_norm: 148.4167 +2026-02-28 02:01:48,605 - DriveTransformer - INFO - Epoch [8][36400/39528] lr: 8.063e-05, eta: 5 days, 9:05:32, time: 0.675, data_time: 0.037, memory: 19865, loss_cls: 0.1503, loss_bbox: 0.3351, loss_traj: 0.6404, loss_traj_cls: 0.0016, loss_map_cls: 0.1160, loss_map_pts: 0.5637, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.2447, d0.loss_plan_l1_fix_dist: 0.3359, d1.loss_plan_l1_fix_time: 0.9513, d1.loss_plan_l1_fix_dist: 0.2678, d2.loss_plan_l1_fix_time: 0.9282, d2.loss_plan_l1_fix_dist: 0.2735, d3.loss_plan_l1_fix_time: 0.9329, d3.loss_plan_l1_fix_dist: 0.2124, d4.loss_plan_l1_fix_time: 0.9359, d4.loss_plan_l1_fix_dist: 0.2727, d5.loss_plan_l1_fix_time: 0.9386, d5.loss_plan_l1_fix_dist: 0.2424, d6.loss_plan_l1_fix_time: 0.9430, d6.loss_plan_l1_fix_dist: 0.2577, d0.loss_cls_all: 0.1916, d0.loss_bbox_all: 0.4063, d0.loss_cls: 0.1916, d0.loss_bbox: 0.4063, d1.loss_cls: 0.1860, d1.loss_bbox: 0.3701, d2.loss_cls: 0.1684, d2.loss_bbox: 0.3514, d3.loss_cls: 0.1530, d3.loss_bbox: 0.3423, d4.loss_cls: 0.1498, d4.loss_bbox: 0.3379, d5.loss_cls: 0.1502, d5.loss_bbox: 0.3360, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9116, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7148, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6614, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6425, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6374, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6366, d0.loss_map_cls_all: 0.2033, d0.loss_map_pts_all: 1.0623, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.2033, d0.loss_map_pts: 1.0623, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1614, d1.loss_map_pts: 0.7868, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1404, d2.loss_map_pts: 0.6485, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1267, d3.loss_map_pts: 0.5909, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1221, d4.loss_map_pts: 0.5680, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1175, d5.loss_map_pts: 0.5622, d5.loss_map_dir: 0.0057, loss: 25.8949, grad_norm: 151.2514 +2026-02-28 02:02:24,343 - DriveTransformer - INFO - Epoch [8][36450/39528] lr: 8.063e-05, eta: 5 days, 9:04:48, time: 0.715, data_time: 0.040, memory: 19865, loss_cls: 0.1523, loss_bbox: 0.3422, loss_traj: 0.5193, loss_traj_cls: 0.0016, loss_map_cls: 0.1260, loss_map_pts: 0.6043, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.7024, d0.loss_plan_l1_fix_dist: 0.3429, d1.loss_plan_l1_fix_time: 1.0424, d1.loss_plan_l1_fix_dist: 0.2781, d2.loss_plan_l1_fix_time: 1.0318, d2.loss_plan_l1_fix_dist: 0.2961, d3.loss_plan_l1_fix_time: 1.0285, d3.loss_plan_l1_fix_dist: 0.2212, d4.loss_plan_l1_fix_time: 1.0309, d4.loss_plan_l1_fix_dist: 0.2740, d5.loss_plan_l1_fix_time: 1.0332, d5.loss_plan_l1_fix_dist: 0.2386, d6.loss_plan_l1_fix_time: 1.0371, d6.loss_plan_l1_fix_dist: 0.2512, d0.loss_cls_all: 0.1968, d0.loss_bbox_all: 0.4025, d0.loss_cls: 0.1968, d0.loss_bbox: 0.4025, d1.loss_cls: 0.1903, d1.loss_bbox: 0.3690, d2.loss_cls: 0.1736, d2.loss_bbox: 0.3516, d3.loss_cls: 0.1563, d3.loss_bbox: 0.3457, d4.loss_cls: 0.1516, d4.loss_bbox: 0.3440, d5.loss_cls: 0.1516, d5.loss_bbox: 0.3435, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7005, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5560, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5254, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5208, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5189, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5185, d0.loss_map_cls_all: 0.2221, d0.loss_map_pts_all: 1.2066, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2221, d0.loss_map_pts: 1.2066, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1837, d1.loss_map_pts: 0.8612, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1562, d2.loss_map_pts: 0.6900, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1401, d3.loss_map_pts: 0.6260, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1307, d4.loss_map_pts: 0.6018, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1273, d5.loss_map_pts: 0.6020, d5.loss_map_dir: 0.0070, loss: 26.7049, grad_norm: 149.6865 +2026-02-28 02:03:00,931 - DriveTransformer - INFO - Epoch [8][36500/39528] lr: 8.063e-05, eta: 5 days, 9:04:12, time: 0.732, data_time: 0.036, memory: 19865, loss_cls: 0.1447, loss_bbox: 0.3571, loss_traj: 0.6104, loss_traj_cls: 0.0016, loss_map_cls: 0.1428, loss_map_pts: 0.6463, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.7555, d0.loss_plan_l1_fix_dist: 0.4388, d1.loss_plan_l1_fix_time: 0.9202, d1.loss_plan_l1_fix_dist: 0.2834, d2.loss_plan_l1_fix_time: 0.9102, d2.loss_plan_l1_fix_dist: 0.3296, d3.loss_plan_l1_fix_time: 0.9110, d3.loss_plan_l1_fix_dist: 0.2638, d4.loss_plan_l1_fix_time: 0.9136, d4.loss_plan_l1_fix_dist: 0.2847, d5.loss_plan_l1_fix_time: 0.9164, d5.loss_plan_l1_fix_dist: 0.2494, d6.loss_plan_l1_fix_time: 0.9193, d6.loss_plan_l1_fix_dist: 0.2365, d0.loss_cls_all: 0.1891, d0.loss_bbox_all: 0.4180, d0.loss_cls: 0.1891, d0.loss_bbox: 0.4180, d1.loss_cls: 0.1773, d1.loss_bbox: 0.3848, d2.loss_cls: 0.1620, d2.loss_bbox: 0.3659, d3.loss_cls: 0.1508, d3.loss_bbox: 0.3594, d4.loss_cls: 0.1448, d4.loss_bbox: 0.3585, d5.loss_cls: 0.1438, d5.loss_bbox: 0.3576, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8150, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6602, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6263, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6160, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6093, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6102, d0.loss_map_cls_all: 0.2277, d0.loss_map_pts_all: 1.3140, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2277, d0.loss_map_pts: 1.3140, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1974, d1.loss_map_pts: 0.9222, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1729, d2.loss_map_pts: 0.7418, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1578, d3.loss_map_pts: 0.6750, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1484, d4.loss_map_pts: 0.6512, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1438, d5.loss_map_pts: 0.6466, d5.loss_map_dir: 0.0077, loss: 27.5969, grad_norm: 147.9013 +2026-02-28 02:03:35,921 - DriveTransformer - INFO - Epoch [8][36550/39528] lr: 8.063e-05, eta: 5 days, 9:03:22, time: 0.699, data_time: 0.037, memory: 19865, loss_cls: 0.1137, loss_bbox: 0.3090, loss_traj: 0.6989, loss_traj_cls: 0.0015, loss_map_cls: 0.1041, loss_map_pts: 0.5403, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.5709, d0.loss_plan_l1_fix_dist: 0.5271, d1.loss_plan_l1_fix_time: 0.9095, d1.loss_plan_l1_fix_dist: 0.2576, d2.loss_plan_l1_fix_time: 0.8913, d2.loss_plan_l1_fix_dist: 0.2987, d3.loss_plan_l1_fix_time: 0.8865, d3.loss_plan_l1_fix_dist: 0.2381, d4.loss_plan_l1_fix_time: 0.8888, d4.loss_plan_l1_fix_dist: 0.2651, d5.loss_plan_l1_fix_time: 0.8920, d5.loss_plan_l1_fix_dist: 0.2375, d6.loss_plan_l1_fix_time: 0.8962, d6.loss_plan_l1_fix_dist: 0.2305, d0.loss_cls_all: 0.1542, d0.loss_bbox_all: 0.3671, d0.loss_cls: 0.1542, d0.loss_bbox: 0.3671, d1.loss_cls: 0.1534, d1.loss_bbox: 0.3363, d2.loss_cls: 0.1355, d2.loss_bbox: 0.3197, d3.loss_cls: 0.1193, d3.loss_bbox: 0.3134, d4.loss_cls: 0.1142, d4.loss_bbox: 0.3104, d5.loss_cls: 0.1133, d5.loss_bbox: 0.3093, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8421, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7291, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7027, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6931, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6958, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6946, d0.loss_map_cls_all: 0.1750, d0.loss_map_pts_all: 1.1108, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1750, d0.loss_map_pts: 1.1108, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1480, d1.loss_map_pts: 0.7740, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1285, d2.loss_map_pts: 0.6268, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1176, d3.loss_map_pts: 0.5625, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1111, d4.loss_map_pts: 0.5446, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1063, d5.loss_map_pts: 0.5424, d5.loss_map_dir: 0.0066, loss: 25.6725, grad_norm: 145.4485 +2026-02-28 02:04:11,977 - DriveTransformer - INFO - Epoch [8][36600/39528] lr: 8.063e-05, eta: 5 days, 9:02:41, time: 0.721, data_time: 0.037, memory: 19865, loss_cls: 0.1289, loss_bbox: 0.3429, loss_traj: 0.6310, loss_traj_cls: 0.0016, loss_map_cls: 0.1356, loss_map_pts: 0.6491, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.2164, d0.loss_plan_l1_fix_dist: 0.4235, d1.loss_plan_l1_fix_time: 0.7597, d1.loss_plan_l1_fix_dist: 0.2033, d2.loss_plan_l1_fix_time: 0.7473, d2.loss_plan_l1_fix_dist: 0.2678, d3.loss_plan_l1_fix_time: 0.7478, d3.loss_plan_l1_fix_dist: 0.2010, d4.loss_plan_l1_fix_time: 0.7514, d4.loss_plan_l1_fix_dist: 0.2335, d5.loss_plan_l1_fix_time: 0.7553, d5.loss_plan_l1_fix_dist: 0.2222, d6.loss_plan_l1_fix_time: 0.7598, d6.loss_plan_l1_fix_dist: 0.2221, d0.loss_cls_all: 0.1678, d0.loss_bbox_all: 0.3979, d0.loss_cls: 0.1678, d0.loss_bbox: 0.3979, d1.loss_cls: 0.1635, d1.loss_bbox: 0.3689, d2.loss_cls: 0.1497, d2.loss_bbox: 0.3474, d3.loss_cls: 0.1339, d3.loss_bbox: 0.3425, d4.loss_cls: 0.1289, d4.loss_bbox: 0.3409, d5.loss_cls: 0.1290, d5.loss_bbox: 0.3414, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8258, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6744, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6365, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6240, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6270, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6280, d0.loss_map_cls_all: 0.1986, d0.loss_map_pts_all: 1.2584, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1986, d0.loss_map_pts: 1.2584, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1768, d1.loss_map_pts: 0.9053, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1599, d2.loss_map_pts: 0.7429, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1445, d3.loss_map_pts: 0.6794, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1390, d4.loss_map_pts: 0.6528, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1358, d5.loss_map_pts: 0.6467, d5.loss_map_dir: 0.0076, loss: 25.3535, grad_norm: 143.4028 +2026-02-28 02:04:47,575 - DriveTransformer - INFO - Epoch [8][36650/39528] lr: 8.063e-05, eta: 5 days, 9:01:57, time: 0.712, data_time: 0.038, memory: 19865, loss_cls: 0.1233, loss_bbox: 0.3199, loss_traj: 0.6445, loss_traj_cls: 0.0015, loss_map_cls: 0.1151, loss_map_pts: 0.5444, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.4420, d0.loss_plan_l1_fix_dist: 0.4621, d1.loss_plan_l1_fix_time: 0.8625, d1.loss_plan_l1_fix_dist: 0.1928, d2.loss_plan_l1_fix_time: 0.8476, d2.loss_plan_l1_fix_dist: 0.2520, d3.loss_plan_l1_fix_time: 0.8385, d3.loss_plan_l1_fix_dist: 0.2138, d4.loss_plan_l1_fix_time: 0.8437, d4.loss_plan_l1_fix_dist: 0.2172, d5.loss_plan_l1_fix_time: 0.8486, d5.loss_plan_l1_fix_dist: 0.1986, d6.loss_plan_l1_fix_time: 0.8537, d6.loss_plan_l1_fix_dist: 0.2310, d0.loss_cls_all: 0.1585, d0.loss_bbox_all: 0.3796, d0.loss_cls: 0.1585, d0.loss_bbox: 0.3796, d1.loss_cls: 0.1549, d1.loss_bbox: 0.3473, d2.loss_cls: 0.1445, d2.loss_bbox: 0.3290, d3.loss_cls: 0.1283, d3.loss_bbox: 0.3231, d4.loss_cls: 0.1259, d4.loss_bbox: 0.3206, d5.loss_cls: 0.1251, d5.loss_bbox: 0.3193, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9079, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7283, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6604, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6432, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6478, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6434, d0.loss_map_cls_all: 0.1975, d0.loss_map_pts_all: 1.1065, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1975, d0.loss_map_pts: 1.1065, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1611, d1.loss_map_pts: 0.7880, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1395, d2.loss_map_pts: 0.6326, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1292, d3.loss_map_pts: 0.5726, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1222, d4.loss_map_pts: 0.5489, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1172, d5.loss_map_pts: 0.5444, d5.loss_map_dir: 0.0057, loss: 25.0913, grad_norm: 144.8775 +2026-02-28 02:05:23,997 - DriveTransformer - INFO - Epoch [8][36700/39528] lr: 8.063e-05, eta: 5 days, 9:01:19, time: 0.728, data_time: 0.040, memory: 19865, loss_cls: 0.1196, loss_bbox: 0.3334, loss_traj: 0.6275, loss_traj_cls: 0.0016, loss_map_cls: 0.1242, loss_map_pts: 0.5525, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.4283, d0.loss_plan_l1_fix_dist: 0.4797, d1.loss_plan_l1_fix_time: 0.9968, d1.loss_plan_l1_fix_dist: 0.2493, d2.loss_plan_l1_fix_time: 0.9815, d2.loss_plan_l1_fix_dist: 0.2676, d3.loss_plan_l1_fix_time: 0.9788, d3.loss_plan_l1_fix_dist: 0.2633, d4.loss_plan_l1_fix_time: 0.9819, d4.loss_plan_l1_fix_dist: 0.2298, d5.loss_plan_l1_fix_time: 0.9853, d5.loss_plan_l1_fix_dist: 0.2270, d6.loss_plan_l1_fix_time: 0.9901, d6.loss_plan_l1_fix_dist: 0.2743, d0.loss_cls_all: 0.1594, d0.loss_bbox_all: 0.3708, d0.loss_cls: 0.1594, d0.loss_bbox: 0.3708, d1.loss_cls: 0.1567, d1.loss_bbox: 0.3402, d2.loss_cls: 0.1455, d2.loss_bbox: 0.3285, d3.loss_cls: 0.1294, d3.loss_bbox: 0.3298, d4.loss_cls: 0.1216, d4.loss_bbox: 0.3302, d5.loss_cls: 0.1200, d5.loss_bbox: 0.3312, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8783, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6830, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6352, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6159, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6197, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6238, d0.loss_map_cls_all: 0.1883, d0.loss_map_pts_all: 1.1367, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1883, d0.loss_map_pts: 1.1367, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1625, d1.loss_map_pts: 0.7773, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1464, d2.loss_map_pts: 0.6236, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1371, d3.loss_map_pts: 0.5726, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1290, d4.loss_map_pts: 0.5566, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1252, d5.loss_map_pts: 0.5589, d5.loss_map_dir: 0.0067, loss: 26.0391, grad_norm: 143.4813 +2026-02-28 02:06:00,948 - DriveTransformer - INFO - Epoch [8][36750/39528] lr: 8.063e-05, eta: 5 days, 9:00:46, time: 0.739, data_time: 0.035, memory: 19865, loss_cls: 0.1329, loss_bbox: 0.3647, loss_traj: 0.5363, loss_traj_cls: 0.0016, loss_map_cls: 0.1643, loss_map_pts: 0.7298, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.7197, d0.loss_plan_l1_fix_dist: 0.4122, d1.loss_plan_l1_fix_time: 1.0636, d1.loss_plan_l1_fix_dist: 0.3042, d2.loss_plan_l1_fix_time: 1.0516, d2.loss_plan_l1_fix_dist: 0.2643, d3.loss_plan_l1_fix_time: 1.0411, d3.loss_plan_l1_fix_dist: 0.2601, d4.loss_plan_l1_fix_time: 1.0426, d4.loss_plan_l1_fix_dist: 0.2157, d5.loss_plan_l1_fix_time: 1.0454, d5.loss_plan_l1_fix_dist: 0.2692, d6.loss_plan_l1_fix_time: 1.0482, d6.loss_plan_l1_fix_dist: 0.2424, d0.loss_cls_all: 0.1751, d0.loss_bbox_all: 0.4183, d0.loss_cls: 0.1751, d0.loss_bbox: 0.4183, d1.loss_cls: 0.1706, d1.loss_bbox: 0.3821, d2.loss_cls: 0.1559, d2.loss_bbox: 0.3636, d3.loss_cls: 0.1411, d3.loss_bbox: 0.3598, d4.loss_cls: 0.1341, d4.loss_bbox: 0.3603, d5.loss_cls: 0.1321, d5.loss_bbox: 0.3625, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7046, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5581, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5338, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5201, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5280, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5350, d0.loss_map_cls_all: 0.2353, d0.loss_map_pts_all: 1.3883, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2353, d0.loss_map_pts: 1.3883, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.2119, d1.loss_map_pts: 1.0153, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1872, d2.loss_map_pts: 0.8375, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1791, d3.loss_map_pts: 0.7643, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1705, d4.loss_map_pts: 0.7376, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1667, d5.loss_map_pts: 0.7332, d5.loss_map_dir: 0.0096, loss: 28.3671, grad_norm: 146.0605 +2026-02-28 02:06:37,742 - DriveTransformer - INFO - Epoch [8][36800/39528] lr: 8.063e-05, eta: 5 days, 9:00:11, time: 0.736, data_time: 0.036, memory: 19865, loss_cls: 0.1137, loss_bbox: 0.3384, loss_traj: 0.5556, loss_traj_cls: 0.0016, loss_map_cls: 0.1162, loss_map_pts: 0.6533, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.3722, d0.loss_plan_l1_fix_dist: 0.4459, d1.loss_plan_l1_fix_time: 0.7761, d1.loss_plan_l1_fix_dist: 0.3608, d2.loss_plan_l1_fix_time: 0.7685, d2.loss_plan_l1_fix_dist: 0.2737, d3.loss_plan_l1_fix_time: 0.7753, d3.loss_plan_l1_fix_dist: 0.2550, d4.loss_plan_l1_fix_time: 0.7793, d4.loss_plan_l1_fix_dist: 0.2389, d5.loss_plan_l1_fix_time: 0.7838, d5.loss_plan_l1_fix_dist: 0.2964, d6.loss_plan_l1_fix_time: 0.7878, d6.loss_plan_l1_fix_dist: 0.2174, d0.loss_cls_all: 0.1520, d0.loss_bbox_all: 0.3896, d0.loss_cls: 0.1520, d0.loss_bbox: 0.3896, d1.loss_cls: 0.1499, d1.loss_bbox: 0.3588, d2.loss_cls: 0.1376, d2.loss_bbox: 0.3416, d3.loss_cls: 0.1215, d3.loss_bbox: 0.3369, d4.loss_cls: 0.1137, d4.loss_bbox: 0.3373, d5.loss_cls: 0.1132, d5.loss_bbox: 0.3386, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8274, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6309, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5789, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5601, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5574, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5538, d0.loss_map_cls_all: 0.1912, d0.loss_map_pts_all: 1.3175, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.1912, d0.loss_map_pts: 1.3175, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1650, d1.loss_map_pts: 0.9316, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1417, d2.loss_map_pts: 0.7556, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1307, d3.loss_map_pts: 0.6900, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1247, d4.loss_map_pts: 0.6650, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1189, d5.loss_map_pts: 0.6557, d5.loss_map_dir: 0.0088, loss: 25.5200, grad_norm: 146.6676 +2026-02-28 02:07:13,317 - DriveTransformer - INFO - Epoch [8][36850/39528] lr: 8.063e-05, eta: 5 days, 8:59:27, time: 0.711, data_time: 0.037, memory: 19865, loss_cls: 0.1564, loss_bbox: 0.3510, loss_traj: 0.5782, loss_traj_cls: 0.0017, loss_map_cls: 0.1196, loss_map_pts: 0.5962, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.5100, d0.loss_plan_l1_fix_dist: 0.4420, d1.loss_plan_l1_fix_time: 1.0950, d1.loss_plan_l1_fix_dist: 0.3767, d2.loss_plan_l1_fix_time: 1.0812, d2.loss_plan_l1_fix_dist: 0.2572, d3.loss_plan_l1_fix_time: 1.0697, d3.loss_plan_l1_fix_dist: 0.2286, d4.loss_plan_l1_fix_time: 1.0722, d4.loss_plan_l1_fix_dist: 0.2833, d5.loss_plan_l1_fix_time: 1.0756, d5.loss_plan_l1_fix_dist: 0.2873, d6.loss_plan_l1_fix_time: 1.0806, d6.loss_plan_l1_fix_dist: 0.2327, d0.loss_cls_all: 0.1980, d0.loss_bbox_all: 0.4143, d0.loss_cls: 0.1980, d0.loss_bbox: 0.4143, d1.loss_cls: 0.1893, d1.loss_bbox: 0.3782, d2.loss_cls: 0.1783, d2.loss_bbox: 0.3595, d3.loss_cls: 0.1622, d3.loss_bbox: 0.3529, d4.loss_cls: 0.1596, d4.loss_bbox: 0.3490, d5.loss_cls: 0.1557, d5.loss_bbox: 0.3508, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8341, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6379, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5911, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5834, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5767, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5778, d0.loss_map_cls_all: 0.1980, d0.loss_map_pts_all: 1.1620, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1980, d0.loss_map_pts: 1.1620, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1664, d1.loss_map_pts: 0.8441, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1428, d2.loss_map_pts: 0.6940, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1332, d3.loss_map_pts: 0.6286, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1269, d4.loss_map_pts: 0.6057, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1210, d5.loss_map_pts: 0.6006, d5.loss_map_dir: 0.0071, loss: 27.4020, grad_norm: 152.2357 +2026-02-28 02:07:49,108 - DriveTransformer - INFO - Epoch [8][36900/39528] lr: 8.063e-05, eta: 5 days, 8:58:44, time: 0.716, data_time: 0.041, memory: 19865, loss_cls: 0.1405, loss_bbox: 0.3435, loss_traj: 0.6049, loss_traj_cls: 0.0016, loss_map_cls: 0.1220, loss_map_pts: 0.6404, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 3.2119, d0.loss_plan_l1_fix_dist: 0.4377, d1.loss_plan_l1_fix_time: 1.1091, d1.loss_plan_l1_fix_dist: 0.3881, d2.loss_plan_l1_fix_time: 1.0925, d2.loss_plan_l1_fix_dist: 0.2784, d3.loss_plan_l1_fix_time: 1.0924, d3.loss_plan_l1_fix_dist: 0.2340, d4.loss_plan_l1_fix_time: 1.0961, d4.loss_plan_l1_fix_dist: 0.3358, d5.loss_plan_l1_fix_time: 1.1007, d5.loss_plan_l1_fix_dist: 0.2835, d6.loss_plan_l1_fix_time: 1.1063, d6.loss_plan_l1_fix_dist: 0.2740, d0.loss_cls_all: 0.1808, d0.loss_bbox_all: 0.3862, d0.loss_cls: 0.1808, d0.loss_bbox: 0.3862, d1.loss_cls: 0.1776, d1.loss_bbox: 0.3581, d2.loss_cls: 0.1635, d2.loss_bbox: 0.3411, d3.loss_cls: 0.1474, d3.loss_bbox: 0.3384, d4.loss_cls: 0.1434, d4.loss_bbox: 0.3375, d5.loss_cls: 0.1417, d5.loss_bbox: 0.3383, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8378, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6744, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6180, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6037, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6033, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6010, d0.loss_map_cls_all: 0.2002, d0.loss_map_pts_all: 1.2082, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2002, d0.loss_map_pts: 1.2082, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1674, d1.loss_map_pts: 0.8624, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1484, d2.loss_map_pts: 0.7108, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1377, d3.loss_map_pts: 0.6632, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1299, d4.loss_map_pts: 0.6484, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1245, d5.loss_map_pts: 0.6469, d5.loss_map_dir: 0.0087, loss: 28.5836, grad_norm: 152.1650 +2026-02-28 02:08:26,293 - DriveTransformer - INFO - Epoch [8][36950/39528] lr: 8.063e-05, eta: 5 days, 8:58:12, time: 0.744, data_time: 0.037, memory: 19865, loss_cls: 0.1306, loss_bbox: 0.3270, loss_traj: 0.5749, loss_traj_cls: 0.0016, loss_map_cls: 0.1216, loss_map_pts: 0.6468, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.3124, d0.loss_plan_l1_fix_dist: 0.4190, d1.loss_plan_l1_fix_time: 0.9113, d1.loss_plan_l1_fix_dist: 0.3596, d2.loss_plan_l1_fix_time: 0.8943, d2.loss_plan_l1_fix_dist: 0.2929, d3.loss_plan_l1_fix_time: 0.8906, d3.loss_plan_l1_fix_dist: 0.2409, d4.loss_plan_l1_fix_time: 0.8934, d4.loss_plan_l1_fix_dist: 0.3376, d5.loss_plan_l1_fix_time: 0.8979, d5.loss_plan_l1_fix_dist: 0.2609, d6.loss_plan_l1_fix_time: 0.9026, d6.loss_plan_l1_fix_dist: 0.3159, d0.loss_cls_all: 0.1718, d0.loss_bbox_all: 0.3684, d0.loss_cls: 0.1718, d0.loss_bbox: 0.3684, d1.loss_cls: 0.1619, d1.loss_bbox: 0.3376, d2.loss_cls: 0.1497, d2.loss_bbox: 0.3229, d3.loss_cls: 0.1366, d3.loss_bbox: 0.3197, d4.loss_cls: 0.1327, d4.loss_bbox: 0.3199, d5.loss_cls: 0.1299, d5.loss_bbox: 0.3228, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7228, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6244, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5812, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5828, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5782, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5752, d0.loss_map_cls_all: 0.1869, d0.loss_map_pts_all: 1.2387, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.1869, d0.loss_map_pts: 1.2387, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1562, d1.loss_map_pts: 0.8924, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1395, d2.loss_map_pts: 0.7264, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1287, d3.loss_map_pts: 0.6750, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1237, d4.loss_map_pts: 0.6586, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1222, d5.loss_map_pts: 0.6547, d5.loss_map_dir: 0.0085, loss: 26.0105, grad_norm: 156.7258 +2026-02-28 02:09:02,848 - DriveTransformer - INFO - Epoch [8][37000/39528] lr: 8.063e-05, eta: 5 days, 8:57:36, time: 0.733, data_time: 0.039, memory: 19865, loss_cls: 0.1464, loss_bbox: 0.3509, loss_traj: 0.6708, loss_traj_cls: 0.0016, loss_map_cls: 0.1407, loss_map_pts: 0.7125, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.9785, d0.loss_plan_l1_fix_dist: 0.4267, d1.loss_plan_l1_fix_time: 1.0298, d1.loss_plan_l1_fix_dist: 0.3406, d2.loss_plan_l1_fix_time: 1.0129, d2.loss_plan_l1_fix_dist: 0.3041, d3.loss_plan_l1_fix_time: 1.0106, d3.loss_plan_l1_fix_dist: 0.2590, d4.loss_plan_l1_fix_time: 1.0128, d4.loss_plan_l1_fix_dist: 0.3436, d5.loss_plan_l1_fix_time: 1.0178, d5.loss_plan_l1_fix_dist: 0.2679, d6.loss_plan_l1_fix_time: 1.0241, d6.loss_plan_l1_fix_dist: 0.3583, d0.loss_cls_all: 0.1863, d0.loss_bbox_all: 0.4018, d0.loss_cls: 0.1863, d0.loss_bbox: 0.4018, d1.loss_cls: 0.1820, d1.loss_bbox: 0.3682, d2.loss_cls: 0.1654, d2.loss_bbox: 0.3535, d3.loss_cls: 0.1518, d3.loss_bbox: 0.3480, d4.loss_cls: 0.1472, d4.loss_bbox: 0.3469, d5.loss_cls: 0.1458, d5.loss_bbox: 0.3490, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9167, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7279, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6812, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6735, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6672, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6692, d0.loss_map_cls_all: 0.2269, d0.loss_map_pts_all: 1.2636, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2269, d0.loss_map_pts: 1.2636, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1865, d1.loss_map_pts: 0.9805, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1683, d2.loss_map_pts: 0.8198, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1533, d3.loss_map_pts: 0.7543, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1459, d4.loss_map_pts: 0.7274, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1419, d5.loss_map_pts: 0.7183, d5.loss_map_dir: 0.0077, loss: 29.3205, grad_norm: 158.2879 +2026-02-28 02:09:38,788 - DriveTransformer - INFO - Epoch [8][37050/39528] lr: 8.063e-05, eta: 5 days, 8:56:54, time: 0.717, data_time: 0.036, memory: 19865, loss_cls: 0.1410, loss_bbox: 0.3427, loss_traj: 0.5846, loss_traj_cls: 0.0016, loss_map_cls: 0.1515, loss_map_pts: 0.7567, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.7223, d0.loss_plan_l1_fix_dist: 0.4181, d1.loss_plan_l1_fix_time: 1.1485, d1.loss_plan_l1_fix_dist: 0.2991, d2.loss_plan_l1_fix_time: 1.1278, d2.loss_plan_l1_fix_dist: 0.2802, d3.loss_plan_l1_fix_time: 1.1115, d3.loss_plan_l1_fix_dist: 0.2509, d4.loss_plan_l1_fix_time: 1.1114, d4.loss_plan_l1_fix_dist: 0.3407, d5.loss_plan_l1_fix_time: 1.1129, d5.loss_plan_l1_fix_dist: 0.2620, d6.loss_plan_l1_fix_time: 1.1158, d6.loss_plan_l1_fix_dist: 0.3189, d0.loss_cls_all: 0.1822, d0.loss_bbox_all: 0.4062, d0.loss_cls: 0.1822, d0.loss_bbox: 0.4062, d1.loss_cls: 0.1731, d1.loss_bbox: 0.3727, d2.loss_cls: 0.1609, d2.loss_bbox: 0.3504, d3.loss_cls: 0.1474, d3.loss_bbox: 0.3447, d4.loss_cls: 0.1425, d4.loss_bbox: 0.3413, d5.loss_cls: 0.1435, d5.loss_bbox: 0.3393, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8218, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6405, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5972, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5882, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5852, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5838, d0.loss_map_cls_all: 0.2273, d0.loss_map_pts_all: 1.4176, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2273, d0.loss_map_pts: 1.4176, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1961, d1.loss_map_pts: 1.0662, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1732, d2.loss_map_pts: 0.8773, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1621, d3.loss_map_pts: 0.7979, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1561, d4.loss_map_pts: 0.7687, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1520, d5.loss_map_pts: 0.7591, d5.loss_map_dir: 0.0087, loss: 29.5787, grad_norm: 157.1886 +2026-02-28 02:10:17,148 - DriveTransformer - INFO - Epoch [8][37100/39528] lr: 8.063e-05, eta: 5 days, 8:56:32, time: 0.767, data_time: 0.038, memory: 19865, loss_cls: 0.1214, loss_bbox: 0.2949, loss_traj: 0.6211, loss_traj_cls: 0.0016, loss_map_cls: 0.1239, loss_map_pts: 0.6428, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.5555, d0.loss_plan_l1_fix_dist: 0.5063, d1.loss_plan_l1_fix_time: 0.9809, d1.loss_plan_l1_fix_dist: 0.2775, d2.loss_plan_l1_fix_time: 0.9707, d2.loss_plan_l1_fix_dist: 0.2459, d3.loss_plan_l1_fix_time: 0.9575, d3.loss_plan_l1_fix_dist: 0.2423, d4.loss_plan_l1_fix_time: 0.9611, d4.loss_plan_l1_fix_dist: 0.3393, d5.loss_plan_l1_fix_time: 0.9645, d5.loss_plan_l1_fix_dist: 0.2999, d6.loss_plan_l1_fix_time: 0.9671, d6.loss_plan_l1_fix_dist: 0.2748, d0.loss_cls_all: 0.1606, d0.loss_bbox_all: 0.3546, d0.loss_cls: 0.1606, d0.loss_bbox: 0.3546, d1.loss_cls: 0.1521, d1.loss_bbox: 0.3221, d2.loss_cls: 0.1422, d2.loss_bbox: 0.3015, d3.loss_cls: 0.1264, d3.loss_bbox: 0.2975, d4.loss_cls: 0.1219, d4.loss_bbox: 0.2941, d5.loss_cls: 0.1210, d5.loss_bbox: 0.2939, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8166, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6633, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6226, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6194, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6204, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6160, d0.loss_map_cls_all: 0.2050, d0.loss_map_pts_all: 1.3908, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2050, d0.loss_map_pts: 1.3908, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1735, d1.loss_map_pts: 0.9594, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1502, d2.loss_map_pts: 0.7671, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1387, d3.loss_map_pts: 0.6835, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1310, d4.loss_map_pts: 0.6530, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1261, d5.loss_map_pts: 0.6445, d5.loss_map_dir: 0.0083, loss: 27.1986, grad_norm: 149.4037 +2026-02-28 02:10:54,030 - DriveTransformer - INFO - Epoch [8][37150/39528] lr: 8.063e-05, eta: 5 days, 8:55:59, time: 0.738, data_time: 0.036, memory: 19865, loss_cls: 0.1528, loss_bbox: 0.3571, loss_traj: 0.5867, loss_traj_cls: 0.0016, loss_map_cls: 0.1617, loss_map_pts: 0.7366, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.8901, d0.loss_plan_l1_fix_dist: 0.5018, d1.loss_plan_l1_fix_time: 0.9600, d1.loss_plan_l1_fix_dist: 0.2551, d2.loss_plan_l1_fix_time: 0.9412, d2.loss_plan_l1_fix_dist: 0.2285, d3.loss_plan_l1_fix_time: 0.9369, d3.loss_plan_l1_fix_dist: 0.2275, d4.loss_plan_l1_fix_time: 0.9385, d4.loss_plan_l1_fix_dist: 0.2951, d5.loss_plan_l1_fix_time: 0.9413, d5.loss_plan_l1_fix_dist: 0.2998, d6.loss_plan_l1_fix_time: 0.9451, d6.loss_plan_l1_fix_dist: 0.2692, d0.loss_cls_all: 0.1888, d0.loss_bbox_all: 0.4209, d0.loss_cls: 0.1888, d0.loss_bbox: 0.4209, d1.loss_cls: 0.1809, d1.loss_bbox: 0.3859, d2.loss_cls: 0.1678, d2.loss_bbox: 0.3651, d3.loss_cls: 0.1555, d3.loss_bbox: 0.3575, d4.loss_cls: 0.1517, d4.loss_bbox: 0.3554, d5.loss_cls: 0.1515, d5.loss_bbox: 0.3551, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8558, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6773, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6006, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5951, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5851, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5869, d0.loss_map_cls_all: 0.2398, d0.loss_map_pts_all: 1.4597, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2398, d0.loss_map_pts: 1.4597, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2097, d1.loss_map_pts: 1.0283, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1815, d2.loss_map_pts: 0.8429, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1736, d3.loss_map_pts: 0.7699, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1660, d4.loss_map_pts: 0.7494, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1630, d5.loss_map_pts: 0.7402, d5.loss_map_dir: 0.0088, loss: 28.8692, grad_norm: 149.6174 +2026-02-28 02:11:29,738 - DriveTransformer - INFO - Epoch [8][37200/39528] lr: 8.063e-05, eta: 5 days, 8:55:15, time: 0.714, data_time: 0.039, memory: 19865, loss_cls: 0.1244, loss_bbox: 0.3230, loss_traj: 0.6439, loss_traj_cls: 0.0016, loss_map_cls: 0.1259, loss_map_pts: 0.5771, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.8709, d0.loss_plan_l1_fix_dist: 0.5562, d1.loss_plan_l1_fix_time: 0.8080, d1.loss_plan_l1_fix_dist: 0.2833, d2.loss_plan_l1_fix_time: 0.7871, d2.loss_plan_l1_fix_dist: 0.2637, d3.loss_plan_l1_fix_time: 0.7826, d3.loss_plan_l1_fix_dist: 0.2532, d4.loss_plan_l1_fix_time: 0.7882, d4.loss_plan_l1_fix_dist: 0.3039, d5.loss_plan_l1_fix_time: 0.7930, d5.loss_plan_l1_fix_dist: 0.3135, d6.loss_plan_l1_fix_time: 0.7986, d6.loss_plan_l1_fix_dist: 0.3224, d0.loss_cls_all: 0.1577, d0.loss_bbox_all: 0.3744, d0.loss_cls: 0.1577, d0.loss_bbox: 0.3744, d1.loss_cls: 0.1537, d1.loss_bbox: 0.3407, d2.loss_cls: 0.1431, d2.loss_bbox: 0.3253, d3.loss_cls: 0.1293, d3.loss_bbox: 0.3215, d4.loss_cls: 0.1238, d4.loss_bbox: 0.3214, d5.loss_cls: 0.1235, d5.loss_bbox: 0.3222, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9010, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7159, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6781, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6564, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6473, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6462, d0.loss_map_cls_all: 0.2003, d0.loss_map_pts_all: 1.0634, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.2003, d0.loss_map_pts: 1.0634, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1627, d1.loss_map_pts: 0.7852, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1446, d2.loss_map_pts: 0.6511, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1359, d3.loss_map_pts: 0.5986, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1308, d4.loss_map_pts: 0.5874, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1279, d5.loss_map_pts: 0.5853, d5.loss_map_dir: 0.0058, loss: 25.8209, grad_norm: 151.5626 +2026-02-28 02:12:06,249 - DriveTransformer - INFO - Epoch [8][37250/39528] lr: 8.063e-05, eta: 5 days, 8:54:38, time: 0.730, data_time: 0.037, memory: 19865, loss_cls: 0.1145, loss_bbox: 0.3235, loss_traj: 0.5270, loss_traj_cls: 0.0017, loss_map_cls: 0.1294, loss_map_pts: 0.6328, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.4642, d0.loss_plan_l1_fix_dist: 0.4704, d1.loss_plan_l1_fix_time: 0.9481, d1.loss_plan_l1_fix_dist: 0.2807, d2.loss_plan_l1_fix_time: 0.9335, d2.loss_plan_l1_fix_dist: 0.2761, d3.loss_plan_l1_fix_time: 0.9297, d3.loss_plan_l1_fix_dist: 0.2393, d4.loss_plan_l1_fix_time: 0.9319, d4.loss_plan_l1_fix_dist: 0.2565, d5.loss_plan_l1_fix_time: 0.9348, d5.loss_plan_l1_fix_dist: 0.2551, d6.loss_plan_l1_fix_time: 0.9379, d6.loss_plan_l1_fix_dist: 0.2581, d0.loss_cls_all: 0.1623, d0.loss_bbox_all: 0.3751, d0.loss_cls: 0.1623, d0.loss_bbox: 0.3751, d1.loss_cls: 0.1536, d1.loss_bbox: 0.3454, d2.loss_cls: 0.1373, d2.loss_bbox: 0.3268, d3.loss_cls: 0.1206, d3.loss_bbox: 0.3246, d4.loss_cls: 0.1162, d4.loss_bbox: 0.3228, d5.loss_cls: 0.1148, d5.loss_bbox: 0.3230, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7296, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6021, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5465, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5372, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5325, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5299, d0.loss_map_cls_all: 0.2022, d0.loss_map_pts_all: 1.2217, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2022, d0.loss_map_pts: 1.2217, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1713, d1.loss_map_pts: 0.8689, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1484, d2.loss_map_pts: 0.7215, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1415, d3.loss_map_pts: 0.6652, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1345, d4.loss_map_pts: 0.6505, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1303, d5.loss_map_pts: 0.6418, d5.loss_map_dir: 0.0078, loss: 25.8703, grad_norm: 150.6859 +2026-02-28 02:12:44,591 - DriveTransformer - INFO - Epoch [8][37300/39528] lr: 8.063e-05, eta: 5 days, 8:54:16, time: 0.767, data_time: 0.037, memory: 19865, loss_cls: 0.1604, loss_bbox: 0.3733, loss_traj: 0.5191, loss_traj_cls: 0.0015, loss_map_cls: 0.1419, loss_map_pts: 0.7123, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 3.1863, d0.loss_plan_l1_fix_dist: 0.5024, d1.loss_plan_l1_fix_time: 1.0627, d1.loss_plan_l1_fix_dist: 0.2920, d2.loss_plan_l1_fix_time: 1.0622, d2.loss_plan_l1_fix_dist: 0.3066, d3.loss_plan_l1_fix_time: 1.0553, d3.loss_plan_l1_fix_dist: 0.3101, d4.loss_plan_l1_fix_time: 1.0583, d4.loss_plan_l1_fix_dist: 0.2636, d5.loss_plan_l1_fix_time: 1.0620, d5.loss_plan_l1_fix_dist: 0.2447, d6.loss_plan_l1_fix_time: 1.0667, d6.loss_plan_l1_fix_dist: 0.2777, d0.loss_cls_all: 0.2154, d0.loss_bbox_all: 0.4352, d0.loss_cls: 0.2154, d0.loss_bbox: 0.4352, d1.loss_cls: 0.2049, d1.loss_bbox: 0.3982, d2.loss_cls: 0.1902, d2.loss_bbox: 0.3759, d3.loss_cls: 0.1705, d3.loss_bbox: 0.3698, d4.loss_cls: 0.1633, d4.loss_bbox: 0.3694, d5.loss_cls: 0.1597, d5.loss_bbox: 0.3702, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7313, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6079, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5420, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5348, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5263, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5246, d0.loss_map_cls_all: 0.2121, d0.loss_map_pts_all: 1.4370, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2121, d0.loss_map_pts: 1.4370, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1807, d1.loss_map_pts: 1.0050, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1645, d2.loss_map_pts: 0.8229, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1563, d3.loss_map_pts: 0.7421, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1472, d4.loss_map_pts: 0.7213, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1438, d5.loss_map_pts: 0.7188, d5.loss_map_dir: 0.0104, loss: 29.3853, grad_norm: 153.3556 +2026-02-28 02:13:21,270 - DriveTransformer - INFO - Epoch [8][37350/39528] lr: 8.063e-05, eta: 5 days, 8:53:41, time: 0.734, data_time: 0.039, memory: 19865, loss_cls: 0.1456, loss_bbox: 0.3670, loss_traj: 0.5613, loss_traj_cls: 0.0016, loss_map_cls: 0.1385, loss_map_pts: 0.6915, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.6005, d0.loss_plan_l1_fix_dist: 0.4650, d1.loss_plan_l1_fix_time: 1.0506, d1.loss_plan_l1_fix_dist: 0.2789, d2.loss_plan_l1_fix_time: 1.0500, d2.loss_plan_l1_fix_dist: 0.3208, d3.loss_plan_l1_fix_time: 1.0443, d3.loss_plan_l1_fix_dist: 0.3470, d4.loss_plan_l1_fix_time: 1.0492, d4.loss_plan_l1_fix_dist: 0.2449, d5.loss_plan_l1_fix_time: 1.0541, d5.loss_plan_l1_fix_dist: 0.2232, d6.loss_plan_l1_fix_time: 1.0602, d6.loss_plan_l1_fix_dist: 0.2770, d0.loss_cls_all: 0.1853, d0.loss_bbox_all: 0.4245, d0.loss_cls: 0.1853, d0.loss_bbox: 0.4245, d1.loss_cls: 0.1779, d1.loss_bbox: 0.3884, d2.loss_cls: 0.1677, d2.loss_bbox: 0.3667, d3.loss_cls: 0.1540, d3.loss_bbox: 0.3602, d4.loss_cls: 0.1470, d4.loss_bbox: 0.3595, d5.loss_cls: 0.1450, d5.loss_bbox: 0.3629, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7684, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6388, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5827, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5796, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5704, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5639, d0.loss_map_cls_all: 0.2166, d0.loss_map_pts_all: 1.3125, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2166, d0.loss_map_pts: 1.3125, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1768, d1.loss_map_pts: 0.9551, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1552, d2.loss_map_pts: 0.7849, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1474, d3.loss_map_pts: 0.7221, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1433, d4.loss_map_pts: 0.6981, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1401, d5.loss_map_pts: 0.6919, d5.loss_map_dir: 0.0088, loss: 28.2710, grad_norm: 154.3353 +2026-02-28 02:13:57,286 - DriveTransformer - INFO - Epoch [8][37400/39528] lr: 8.063e-05, eta: 5 days, 8:53:00, time: 0.720, data_time: 0.039, memory: 19865, loss_cls: 0.1526, loss_bbox: 0.3651, loss_traj: 0.6010, loss_traj_cls: 0.0016, loss_map_cls: 0.1375, loss_map_pts: 0.6569, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.8145, d0.loss_plan_l1_fix_dist: 0.4234, d1.loss_plan_l1_fix_time: 1.1068, d1.loss_plan_l1_fix_dist: 0.2998, d2.loss_plan_l1_fix_time: 1.0912, d2.loss_plan_l1_fix_dist: 0.3602, d3.loss_plan_l1_fix_time: 1.0887, d3.loss_plan_l1_fix_dist: 0.4124, d4.loss_plan_l1_fix_time: 1.0928, d4.loss_plan_l1_fix_dist: 0.3099, d5.loss_plan_l1_fix_time: 1.0980, d5.loss_plan_l1_fix_dist: 0.2960, d6.loss_plan_l1_fix_time: 1.1037, d6.loss_plan_l1_fix_dist: 0.3046, d0.loss_cls_all: 0.1960, d0.loss_bbox_all: 0.4213, d0.loss_cls: 0.1960, d0.loss_bbox: 0.4213, d1.loss_cls: 0.1877, d1.loss_bbox: 0.3867, d2.loss_cls: 0.1708, d2.loss_bbox: 0.3702, d3.loss_cls: 0.1584, d3.loss_bbox: 0.3622, d4.loss_cls: 0.1521, d4.loss_bbox: 0.3627, d5.loss_cls: 0.1518, d5.loss_bbox: 0.3636, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8260, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6753, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6236, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6144, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6108, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6004, d0.loss_map_cls_all: 0.2303, d0.loss_map_pts_all: 1.2493, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2303, d0.loss_map_pts: 1.2493, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1857, d1.loss_map_pts: 0.8999, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1662, d2.loss_map_pts: 0.7515, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1531, d3.loss_map_pts: 0.6888, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1447, d4.loss_map_pts: 0.6637, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1388, d5.loss_map_pts: 0.6577, d5.loss_map_dir: 0.0076, loss: 29.0433, grad_norm: 155.3906 +2026-02-28 02:14:32,877 - DriveTransformer - INFO - Epoch [8][37450/39528] lr: 8.063e-05, eta: 5 days, 8:52:15, time: 0.712, data_time: 0.039, memory: 19865, loss_cls: 0.1280, loss_bbox: 0.3292, loss_traj: 0.6119, loss_traj_cls: 0.0016, loss_map_cls: 0.1301, loss_map_pts: 0.5600, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.6274, d0.loss_plan_l1_fix_dist: 0.4073, d1.loss_plan_l1_fix_time: 0.9767, d1.loss_plan_l1_fix_dist: 0.2638, d2.loss_plan_l1_fix_time: 0.9655, d2.loss_plan_l1_fix_dist: 0.3519, d3.loss_plan_l1_fix_time: 0.9604, d3.loss_plan_l1_fix_dist: 0.3818, d4.loss_plan_l1_fix_time: 0.9623, d4.loss_plan_l1_fix_dist: 0.2808, d5.loss_plan_l1_fix_time: 0.9653, d5.loss_plan_l1_fix_dist: 0.2652, d6.loss_plan_l1_fix_time: 0.9683, d6.loss_plan_l1_fix_dist: 0.2571, d0.loss_cls_all: 0.1739, d0.loss_bbox_all: 0.3885, d0.loss_cls: 0.1739, d0.loss_bbox: 0.3885, d1.loss_cls: 0.1656, d1.loss_bbox: 0.3550, d2.loss_cls: 0.1512, d2.loss_bbox: 0.3362, d3.loss_cls: 0.1353, d3.loss_bbox: 0.3296, d4.loss_cls: 0.1297, d4.loss_bbox: 0.3269, d5.loss_cls: 0.1278, d5.loss_bbox: 0.3275, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8531, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6825, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6326, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6211, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6129, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6144, d0.loss_map_cls_all: 0.2114, d0.loss_map_pts_all: 1.1645, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2114, d0.loss_map_pts: 1.1645, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1755, d1.loss_map_pts: 0.8258, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1553, d2.loss_map_pts: 0.6660, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1431, d3.loss_map_pts: 0.5906, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1366, d4.loss_map_pts: 0.5733, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1335, d5.loss_map_pts: 0.5631, d5.loss_map_dir: 0.0066, loss: 26.6921, grad_norm: 156.0651 +2026-02-28 02:15:09,187 - DriveTransformer - INFO - Epoch [8][37500/39528] lr: 8.063e-05, eta: 5 days, 8:51:36, time: 0.726, data_time: 0.043, memory: 19865, loss_cls: 0.1305, loss_bbox: 0.3143, loss_traj: 0.5747, loss_traj_cls: 0.0016, loss_map_cls: 0.1309, loss_map_pts: 0.6339, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.5722, d0.loss_plan_l1_fix_dist: 0.3940, d1.loss_plan_l1_fix_time: 0.9208, d1.loss_plan_l1_fix_dist: 0.2570, d2.loss_plan_l1_fix_time: 0.8955, d2.loss_plan_l1_fix_dist: 0.3576, d3.loss_plan_l1_fix_time: 0.8899, d3.loss_plan_l1_fix_dist: 0.3735, d4.loss_plan_l1_fix_time: 0.8918, d4.loss_plan_l1_fix_dist: 0.2651, d5.loss_plan_l1_fix_time: 0.8941, d5.loss_plan_l1_fix_dist: 0.2484, d6.loss_plan_l1_fix_time: 0.8974, d6.loss_plan_l1_fix_dist: 0.2366, d0.loss_cls_all: 0.1725, d0.loss_bbox_all: 0.3836, d0.loss_cls: 0.1725, d0.loss_bbox: 0.3836, d1.loss_cls: 0.1657, d1.loss_bbox: 0.3472, d2.loss_cls: 0.1502, d2.loss_bbox: 0.3261, d3.loss_cls: 0.1359, d3.loss_bbox: 0.3175, d4.loss_cls: 0.1336, d4.loss_bbox: 0.3147, d5.loss_cls: 0.1305, d5.loss_bbox: 0.3144, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8118, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6556, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5909, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5873, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5779, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5757, d0.loss_map_cls_all: 0.2104, d0.loss_map_pts_all: 1.1854, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2104, d0.loss_map_pts: 1.1854, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1770, d1.loss_map_pts: 0.8715, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1550, d2.loss_map_pts: 0.7221, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1428, d3.loss_map_pts: 0.6694, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1366, d4.loss_map_pts: 0.6452, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1329, d5.loss_map_pts: 0.6377, d5.loss_map_dir: 0.0068, loss: 26.2660, grad_norm: 153.6697 +2026-02-28 02:15:46,311 - DriveTransformer - INFO - Epoch [8][37550/39528] lr: 8.063e-05, eta: 5 days, 8:51:05, time: 0.742, data_time: 0.040, memory: 19865, loss_cls: 0.1191, loss_bbox: 0.3136, loss_traj: 0.5420, loss_traj_cls: 0.0017, loss_map_cls: 0.1243, loss_map_pts: 0.6251, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.2853, d0.loss_plan_l1_fix_dist: 0.4480, d1.loss_plan_l1_fix_time: 0.8327, d1.loss_plan_l1_fix_dist: 0.2319, d2.loss_plan_l1_fix_time: 0.8070, d2.loss_plan_l1_fix_dist: 0.3087, d3.loss_plan_l1_fix_time: 0.8062, d3.loss_plan_l1_fix_dist: 0.3367, d4.loss_plan_l1_fix_time: 0.8087, d4.loss_plan_l1_fix_dist: 0.2588, d5.loss_plan_l1_fix_time: 0.8114, d5.loss_plan_l1_fix_dist: 0.2508, d6.loss_plan_l1_fix_time: 0.8148, d6.loss_plan_l1_fix_dist: 0.2362, d0.loss_cls_all: 0.1589, d0.loss_bbox_all: 0.3824, d0.loss_cls: 0.1589, d0.loss_bbox: 0.3824, d1.loss_cls: 0.1499, d1.loss_bbox: 0.3468, d2.loss_cls: 0.1381, d2.loss_bbox: 0.3250, d3.loss_cls: 0.1252, d3.loss_bbox: 0.3169, d4.loss_cls: 0.1202, d4.loss_bbox: 0.3141, d5.loss_cls: 0.1196, d5.loss_bbox: 0.3141, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7560, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6017, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5536, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5452, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5405, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5433, d0.loss_map_cls_all: 0.2079, d0.loss_map_pts_all: 1.2205, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2079, d0.loss_map_pts: 1.2205, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1744, d1.loss_map_pts: 0.8749, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1518, d2.loss_map_pts: 0.7146, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1392, d3.loss_map_pts: 0.6552, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1302, d4.loss_map_pts: 0.6331, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1262, d5.loss_map_pts: 0.6262, d5.loss_map_dir: 0.0075, loss: 25.0033, grad_norm: 148.5803 +2026-02-28 02:16:21,799 - DriveTransformer - INFO - Epoch [8][37600/39528] lr: 8.063e-05, eta: 5 days, 8:50:19, time: 0.710, data_time: 0.038, memory: 19865, loss_cls: 0.1240, loss_bbox: 0.3220, loss_traj: 0.6130, loss_traj_cls: 0.0017, loss_map_cls: 0.1365, loss_map_pts: 0.5958, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.8378, d0.loss_plan_l1_fix_dist: 0.4227, d1.loss_plan_l1_fix_time: 1.0908, d1.loss_plan_l1_fix_dist: 0.2154, d2.loss_plan_l1_fix_time: 1.0851, d2.loss_plan_l1_fix_dist: 0.2417, d3.loss_plan_l1_fix_time: 1.0913, d3.loss_plan_l1_fix_dist: 0.2713, d4.loss_plan_l1_fix_time: 1.0949, d4.loss_plan_l1_fix_dist: 0.2224, d5.loss_plan_l1_fix_time: 1.0992, d5.loss_plan_l1_fix_dist: 0.2160, d6.loss_plan_l1_fix_time: 1.1043, d6.loss_plan_l1_fix_dist: 0.2237, d0.loss_cls_all: 0.1686, d0.loss_bbox_all: 0.3835, d0.loss_cls: 0.1686, d0.loss_bbox: 0.3835, d1.loss_cls: 0.1597, d1.loss_bbox: 0.3447, d2.loss_cls: 0.1455, d2.loss_bbox: 0.3256, d3.loss_cls: 0.1349, d3.loss_bbox: 0.3219, d4.loss_cls: 0.1248, d4.loss_bbox: 0.3221, d5.loss_cls: 0.1231, d5.loss_bbox: 0.3223, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9008, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6785, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6236, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6183, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6135, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6071, d0.loss_map_cls_all: 0.2217, d0.loss_map_pts_all: 1.2054, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2217, d0.loss_map_pts: 1.2054, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1850, d1.loss_map_pts: 0.8480, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1631, d2.loss_map_pts: 0.6895, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1505, d3.loss_map_pts: 0.6298, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1429, d4.loss_map_pts: 0.6034, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1373, d5.loss_map_pts: 0.5969, d5.loss_map_dir: 0.0070, loss: 27.5410, grad_norm: 148.5753 +2026-02-28 02:16:59,167 - DriveTransformer - INFO - Epoch [8][37650/39528] lr: 8.063e-05, eta: 5 days, 8:49:49, time: 0.747, data_time: 0.039, memory: 19865, loss_cls: 0.1317, loss_bbox: 0.3367, loss_traj: 0.5874, loss_traj_cls: 0.0017, loss_map_cls: 0.1362, loss_map_pts: 0.5909, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.6693, d0.loss_plan_l1_fix_dist: 0.4914, d1.loss_plan_l1_fix_time: 0.9924, d1.loss_plan_l1_fix_dist: 0.2653, d2.loss_plan_l1_fix_time: 0.9701, d2.loss_plan_l1_fix_dist: 0.2278, d3.loss_plan_l1_fix_time: 0.9682, d3.loss_plan_l1_fix_dist: 0.2729, d4.loss_plan_l1_fix_time: 0.9701, d4.loss_plan_l1_fix_dist: 0.2319, d5.loss_plan_l1_fix_time: 0.9731, d5.loss_plan_l1_fix_dist: 0.2347, d6.loss_plan_l1_fix_time: 0.9770, d6.loss_plan_l1_fix_dist: 0.2633, d0.loss_cls_all: 0.1796, d0.loss_bbox_all: 0.3890, d0.loss_cls: 0.1796, d0.loss_bbox: 0.3890, d1.loss_cls: 0.1718, d1.loss_bbox: 0.3583, d2.loss_cls: 0.1562, d2.loss_bbox: 0.3420, d3.loss_cls: 0.1388, d3.loss_bbox: 0.3367, d4.loss_cls: 0.1335, d4.loss_bbox: 0.3364, d5.loss_cls: 0.1311, d5.loss_bbox: 0.3368, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8001, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6479, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6078, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6005, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5931, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5880, d0.loss_map_cls_all: 0.2022, d0.loss_map_pts_all: 1.2077, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2022, d0.loss_map_pts: 1.2077, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1751, d1.loss_map_pts: 0.8452, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1589, d2.loss_map_pts: 0.6855, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1480, d3.loss_map_pts: 0.6242, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1421, d4.loss_map_pts: 0.6019, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1365, d5.loss_map_pts: 0.5932, d5.loss_map_dir: 0.0074, loss: 26.7011, grad_norm: 148.1844 +2026-02-28 02:17:34,782 - DriveTransformer - INFO - Epoch [8][37700/39528] lr: 8.063e-05, eta: 5 days, 8:49:05, time: 0.712, data_time: 0.038, memory: 19865, loss_cls: 0.1536, loss_bbox: 0.3443, loss_traj: 0.6297, loss_traj_cls: 0.0016, loss_map_cls: 0.1331, loss_map_pts: 0.6053, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.8744, d0.loss_plan_l1_fix_dist: 0.5133, d1.loss_plan_l1_fix_time: 1.0243, d1.loss_plan_l1_fix_dist: 0.2990, d2.loss_plan_l1_fix_time: 1.0103, d2.loss_plan_l1_fix_dist: 0.2176, d3.loss_plan_l1_fix_time: 1.0082, d3.loss_plan_l1_fix_dist: 0.2701, d4.loss_plan_l1_fix_time: 1.0102, d4.loss_plan_l1_fix_dist: 0.2426, d5.loss_plan_l1_fix_time: 1.0125, d5.loss_plan_l1_fix_dist: 0.2311, d6.loss_plan_l1_fix_time: 1.0158, d6.loss_plan_l1_fix_dist: 0.2497, d0.loss_cls_all: 0.1951, d0.loss_bbox_all: 0.4134, d0.loss_cls: 0.1951, d0.loss_bbox: 0.4134, d1.loss_cls: 0.1897, d1.loss_bbox: 0.3775, d2.loss_cls: 0.1779, d2.loss_bbox: 0.3562, d3.loss_cls: 0.1606, d3.loss_bbox: 0.3510, d4.loss_cls: 0.1540, d4.loss_bbox: 0.3479, d5.loss_cls: 0.1534, d5.loss_bbox: 0.3460, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8458, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6915, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6503, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6351, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6326, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6281, d0.loss_map_cls_all: 0.2040, d0.loss_map_pts_all: 1.2179, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2040, d0.loss_map_pts: 1.2179, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1742, d1.loss_map_pts: 0.8618, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1582, d2.loss_map_pts: 0.6987, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1456, d3.loss_map_pts: 0.6381, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1410, d4.loss_map_pts: 0.6161, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1352, d5.loss_map_pts: 0.6095, d5.loss_map_dir: 0.0070, loss: 27.8423, grad_norm: 147.5078 +2026-02-28 02:18:12,841 - DriveTransformer - INFO - Epoch [8][37750/39528] lr: 8.063e-05, eta: 5 days, 8:48:41, time: 0.761, data_time: 0.038, memory: 19865, loss_cls: 0.1419, loss_bbox: 0.3702, loss_traj: 0.5587, loss_traj_cls: 0.0017, loss_map_cls: 0.1431, loss_map_pts: 0.6845, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.6258, d0.loss_plan_l1_fix_dist: 0.4589, d1.loss_plan_l1_fix_time: 0.9184, d1.loss_plan_l1_fix_dist: 0.2992, d2.loss_plan_l1_fix_time: 0.9071, d2.loss_plan_l1_fix_dist: 0.2396, d3.loss_plan_l1_fix_time: 0.9063, d3.loss_plan_l1_fix_dist: 0.2804, d4.loss_plan_l1_fix_time: 0.9085, d4.loss_plan_l1_fix_dist: 0.2329, d5.loss_plan_l1_fix_time: 0.9110, d5.loss_plan_l1_fix_dist: 0.2310, d6.loss_plan_l1_fix_time: 0.9147, d6.loss_plan_l1_fix_dist: 0.2553, d0.loss_cls_all: 0.1869, d0.loss_bbox_all: 0.4444, d0.loss_cls: 0.1869, d0.loss_bbox: 0.4444, d1.loss_cls: 0.1794, d1.loss_bbox: 0.4046, d2.loss_cls: 0.1681, d2.loss_bbox: 0.3806, d3.loss_cls: 0.1513, d3.loss_bbox: 0.3732, d4.loss_cls: 0.1439, d4.loss_bbox: 0.3700, d5.loss_cls: 0.1418, d5.loss_bbox: 0.3710, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7272, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6035, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5688, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5613, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5560, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5560, d0.loss_map_cls_all: 0.2241, d0.loss_map_pts_all: 1.4066, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2241, d0.loss_map_pts: 1.4066, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1930, d1.loss_map_pts: 0.9597, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1712, d2.loss_map_pts: 0.7873, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1586, d3.loss_map_pts: 0.7173, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1513, d4.loss_map_pts: 0.6943, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1451, d5.loss_map_pts: 0.6883, d5.loss_map_dir: 0.0093, loss: 27.5125, grad_norm: 148.0807 +2026-02-28 02:18:49,042 - DriveTransformer - INFO - Epoch [8][37800/39528] lr: 8.063e-05, eta: 5 days, 8:48:02, time: 0.725, data_time: 0.038, memory: 19865, loss_cls: 0.1366, loss_bbox: 0.3416, loss_traj: 0.5765, loss_traj_cls: 0.0017, loss_map_cls: 0.1423, loss_map_pts: 0.6213, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.4308, d0.loss_plan_l1_fix_dist: 0.5253, d1.loss_plan_l1_fix_time: 0.8933, d1.loss_plan_l1_fix_dist: 0.2957, d2.loss_plan_l1_fix_time: 0.8733, d2.loss_plan_l1_fix_dist: 0.2444, d3.loss_plan_l1_fix_time: 0.8734, d3.loss_plan_l1_fix_dist: 0.2639, d4.loss_plan_l1_fix_time: 0.8746, d4.loss_plan_l1_fix_dist: 0.2066, d5.loss_plan_l1_fix_time: 0.8763, d5.loss_plan_l1_fix_dist: 0.2188, d6.loss_plan_l1_fix_time: 0.8782, d6.loss_plan_l1_fix_dist: 0.2413, d0.loss_cls_all: 0.1829, d0.loss_bbox_all: 0.4073, d0.loss_cls: 0.1829, d0.loss_bbox: 0.4073, d1.loss_cls: 0.1736, d1.loss_bbox: 0.3729, d2.loss_cls: 0.1592, d2.loss_bbox: 0.3520, d3.loss_cls: 0.1422, d3.loss_bbox: 0.3467, d4.loss_cls: 0.1397, d4.loss_bbox: 0.3422, d5.loss_cls: 0.1366, d5.loss_bbox: 0.3417, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7785, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6491, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6087, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5942, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5861, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5819, d0.loss_map_cls_all: 0.2222, d0.loss_map_pts_all: 1.2225, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2222, d0.loss_map_pts: 1.2225, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1882, d1.loss_map_pts: 0.8896, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1676, d2.loss_map_pts: 0.7208, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1542, d3.loss_map_pts: 0.6509, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1477, d4.loss_map_pts: 0.6271, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1418, d5.loss_map_pts: 0.6231, d5.loss_map_dir: 0.0071, loss: 26.2602, grad_norm: 144.7281 +2026-02-28 02:19:26,180 - DriveTransformer - INFO - Epoch [8][37850/39528] lr: 8.063e-05, eta: 5 days, 8:47:29, time: 0.741, data_time: 0.034, memory: 19865, loss_cls: 0.1433, loss_bbox: 0.3371, loss_traj: 0.5472, loss_traj_cls: 0.0016, loss_map_cls: 0.1211, loss_map_pts: 0.5916, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.2490, d0.loss_plan_l1_fix_dist: 0.4702, d1.loss_plan_l1_fix_time: 0.8096, d1.loss_plan_l1_fix_dist: 0.2941, d2.loss_plan_l1_fix_time: 0.7885, d2.loss_plan_l1_fix_dist: 0.2586, d3.loss_plan_l1_fix_time: 0.7860, d3.loss_plan_l1_fix_dist: 0.2662, d4.loss_plan_l1_fix_time: 0.7880, d4.loss_plan_l1_fix_dist: 0.2643, d5.loss_plan_l1_fix_time: 0.7909, d5.loss_plan_l1_fix_dist: 0.2311, d6.loss_plan_l1_fix_time: 0.7941, d6.loss_plan_l1_fix_dist: 0.2571, d0.loss_cls_all: 0.1859, d0.loss_bbox_all: 0.4077, d0.loss_cls: 0.1859, d0.loss_bbox: 0.4077, d1.loss_cls: 0.1779, d1.loss_bbox: 0.3719, d2.loss_cls: 0.1663, d2.loss_bbox: 0.3474, d3.loss_cls: 0.1507, d3.loss_bbox: 0.3420, d4.loss_cls: 0.1455, d4.loss_bbox: 0.3384, d5.loss_cls: 0.1439, d5.loss_bbox: 0.3376, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7637, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6029, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5512, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5397, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5364, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5405, d0.loss_map_cls_all: 0.1962, d0.loss_map_pts_all: 1.2560, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1962, d0.loss_map_pts: 1.2560, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1651, d1.loss_map_pts: 0.8882, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1434, d2.loss_map_pts: 0.7050, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1354, d3.loss_map_pts: 0.6310, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1273, d4.loss_map_pts: 0.6021, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1218, d5.loss_map_pts: 0.5947, d5.loss_map_dir: 0.0085, loss: 25.1209, grad_norm: 143.9895 +2026-02-28 02:20:02,503 - DriveTransformer - INFO - Epoch [8][37900/39528] lr: 8.063e-05, eta: 5 days, 8:46:51, time: 0.726, data_time: 0.041, memory: 19865, loss_cls: 0.1167, loss_bbox: 0.3188, loss_traj: 0.5456, loss_traj_cls: 0.0017, loss_map_cls: 0.1215, loss_map_pts: 0.5531, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.4732, d0.loss_plan_l1_fix_dist: 0.3867, d1.loss_plan_l1_fix_time: 0.9576, d1.loss_plan_l1_fix_dist: 0.3100, d2.loss_plan_l1_fix_time: 0.9450, d2.loss_plan_l1_fix_dist: 0.2709, d3.loss_plan_l1_fix_time: 0.9452, d3.loss_plan_l1_fix_dist: 0.2426, d4.loss_plan_l1_fix_time: 0.9467, d4.loss_plan_l1_fix_dist: 0.2773, d5.loss_plan_l1_fix_time: 0.9493, d5.loss_plan_l1_fix_dist: 0.2363, d6.loss_plan_l1_fix_time: 0.9526, d6.loss_plan_l1_fix_dist: 0.2580, d0.loss_cls_all: 0.1569, d0.loss_bbox_all: 0.3774, d0.loss_cls: 0.1569, d0.loss_bbox: 0.3774, d1.loss_cls: 0.1501, d1.loss_bbox: 0.3481, d2.loss_cls: 0.1376, d2.loss_bbox: 0.3291, d3.loss_cls: 0.1242, d3.loss_bbox: 0.3209, d4.loss_cls: 0.1187, d4.loss_bbox: 0.3186, d5.loss_cls: 0.1177, d5.loss_bbox: 0.3178, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7809, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6240, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5619, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5519, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5424, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5461, d0.loss_map_cls_all: 0.2017, d0.loss_map_pts_all: 1.0791, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2017, d0.loss_map_pts: 1.0791, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1680, d1.loss_map_pts: 0.7572, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1478, d2.loss_map_pts: 0.6253, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1335, d3.loss_map_pts: 0.5792, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1272, d4.loss_map_pts: 0.5611, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1223, d5.loss_map_pts: 0.5543, d5.loss_map_dir: 0.0071, loss: 25.1654, grad_norm: 142.0821 +2026-02-28 02:20:38,677 - DriveTransformer - INFO - Epoch [8][37950/39528] lr: 8.063e-05, eta: 5 days, 8:46:11, time: 0.723, data_time: 0.037, memory: 19865, loss_cls: 0.1264, loss_bbox: 0.3315, loss_traj: 0.4853, loss_traj_cls: 0.0017, loss_map_cls: 0.1224, loss_map_pts: 0.5947, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.2362, d0.loss_plan_l1_fix_dist: 0.4201, d1.loss_plan_l1_fix_time: 0.7400, d1.loss_plan_l1_fix_dist: 0.3324, d2.loss_plan_l1_fix_time: 0.7338, d2.loss_plan_l1_fix_dist: 0.3256, d3.loss_plan_l1_fix_time: 0.7344, d3.loss_plan_l1_fix_dist: 0.2520, d4.loss_plan_l1_fix_time: 0.7377, d4.loss_plan_l1_fix_dist: 0.3411, d5.loss_plan_l1_fix_time: 0.7401, d5.loss_plan_l1_fix_dist: 0.2628, d6.loss_plan_l1_fix_time: 0.7443, d6.loss_plan_l1_fix_dist: 0.2948, d0.loss_cls_all: 0.1674, d0.loss_bbox_all: 0.3881, d0.loss_cls: 0.1674, d0.loss_bbox: 0.3881, d1.loss_cls: 0.1633, d1.loss_bbox: 0.3544, d2.loss_cls: 0.1502, d2.loss_bbox: 0.3374, d3.loss_cls: 0.1328, d3.loss_bbox: 0.3352, d4.loss_cls: 0.1279, d4.loss_bbox: 0.3317, d5.loss_cls: 0.1256, d5.loss_bbox: 0.3325, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7029, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5427, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4965, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4952, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4879, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4894, d0.loss_map_cls_all: 0.2052, d0.loss_map_pts_all: 1.2002, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2052, d0.loss_map_pts: 1.2002, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1695, d1.loss_map_pts: 0.8649, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1505, d2.loss_map_pts: 0.7023, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1381, d3.loss_map_pts: 0.6355, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1297, d4.loss_map_pts: 0.6079, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1243, d5.loss_map_pts: 0.5963, d5.loss_map_dir: 0.0072, loss: 24.2653, grad_norm: 143.5912 +2026-02-28 02:21:14,975 - DriveTransformer - INFO - Epoch [8][38000/39528] lr: 8.063e-05, eta: 5 days, 8:45:33, time: 0.726, data_time: 0.037, memory: 19865, loss_cls: 0.1129, loss_bbox: 0.3155, loss_traj: 0.5219, loss_traj_cls: 0.0017, loss_map_cls: 0.1156, loss_map_pts: 0.5580, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.5445, d0.loss_plan_l1_fix_dist: 0.4807, d1.loss_plan_l1_fix_time: 0.9938, d1.loss_plan_l1_fix_dist: 0.3612, d2.loss_plan_l1_fix_time: 0.9742, d2.loss_plan_l1_fix_dist: 0.3724, d3.loss_plan_l1_fix_time: 0.9694, d3.loss_plan_l1_fix_dist: 0.2855, d4.loss_plan_l1_fix_time: 0.9714, d4.loss_plan_l1_fix_dist: 0.3994, d5.loss_plan_l1_fix_time: 0.9741, d5.loss_plan_l1_fix_dist: 0.2596, d6.loss_plan_l1_fix_time: 0.9774, d6.loss_plan_l1_fix_dist: 0.2908, d0.loss_cls_all: 0.1495, d0.loss_bbox_all: 0.3691, d0.loss_cls: 0.1495, d0.loss_bbox: 0.3691, d1.loss_cls: 0.1439, d1.loss_bbox: 0.3433, d2.loss_cls: 0.1339, d2.loss_bbox: 0.3203, d3.loss_cls: 0.1214, d3.loss_bbox: 0.3160, d4.loss_cls: 0.1148, d4.loss_bbox: 0.3152, d5.loss_cls: 0.1122, d5.loss_bbox: 0.3152, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6859, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5684, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5345, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5234, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5201, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5200, d0.loss_map_cls_all: 0.1882, d0.loss_map_pts_all: 1.2016, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1882, d0.loss_map_pts: 1.2016, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1538, d1.loss_map_pts: 0.8526, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1329, d2.loss_map_pts: 0.6643, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1239, d3.loss_map_pts: 0.5944, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1186, d4.loss_map_pts: 0.5656, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1163, d5.loss_map_pts: 0.5584, d5.loss_map_dir: 0.0066, loss: 25.8231, grad_norm: 142.0724 +2026-02-28 02:21:52,575 - DriveTransformer - INFO - Epoch [8][38050/39528] lr: 8.063e-05, eta: 5 days, 8:45:05, time: 0.752, data_time: 0.038, memory: 19865, loss_cls: 0.1078, loss_bbox: 0.3112, loss_traj: 0.5307, loss_traj_cls: 0.0017, loss_map_cls: 0.1163, loss_map_pts: 0.5842, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.2990, d0.loss_plan_l1_fix_dist: 0.4232, d1.loss_plan_l1_fix_time: 0.8004, d1.loss_plan_l1_fix_dist: 0.3467, d2.loss_plan_l1_fix_time: 0.7862, d2.loss_plan_l1_fix_dist: 0.3684, d3.loss_plan_l1_fix_time: 0.7831, d3.loss_plan_l1_fix_dist: 0.3148, d4.loss_plan_l1_fix_time: 0.7855, d4.loss_plan_l1_fix_dist: 0.4183, d5.loss_plan_l1_fix_time: 0.7889, d5.loss_plan_l1_fix_dist: 0.2768, d6.loss_plan_l1_fix_time: 0.7925, d6.loss_plan_l1_fix_dist: 0.2954, d0.loss_cls_all: 0.1511, d0.loss_bbox_all: 0.3627, d0.loss_cls: 0.1511, d0.loss_bbox: 0.3627, d1.loss_cls: 0.1440, d1.loss_bbox: 0.3302, d2.loss_cls: 0.1304, d2.loss_bbox: 0.3138, d3.loss_cls: 0.1156, d3.loss_bbox: 0.3099, d4.loss_cls: 0.1100, d4.loss_bbox: 0.3101, d5.loss_cls: 0.1089, d5.loss_bbox: 0.3094, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6869, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5768, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5324, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5188, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5373, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5309, d0.loss_map_cls_all: 0.1877, d0.loss_map_pts_all: 1.2459, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1877, d0.loss_map_pts: 1.2459, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1579, d1.loss_map_pts: 0.8603, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1356, d2.loss_map_pts: 0.6776, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1262, d3.loss_map_pts: 0.6105, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1186, d4.loss_map_pts: 0.5884, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1163, d5.loss_map_pts: 0.5858, d5.loss_map_dir: 0.0073, loss: 24.6321, grad_norm: 140.9647 +2026-02-28 02:22:28,996 - DriveTransformer - INFO - Epoch [8][38100/39528] lr: 8.063e-05, eta: 5 days, 8:44:27, time: 0.728, data_time: 0.039, memory: 19865, loss_cls: 0.1229, loss_bbox: 0.3345, loss_traj: 0.5113, loss_traj_cls: 0.0017, loss_map_cls: 0.1327, loss_map_pts: 0.6496, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.7284, d0.loss_plan_l1_fix_dist: 0.4177, d1.loss_plan_l1_fix_time: 0.9584, d1.loss_plan_l1_fix_dist: 0.2983, d2.loss_plan_l1_fix_time: 0.9530, d2.loss_plan_l1_fix_dist: 0.3097, d3.loss_plan_l1_fix_time: 0.9551, d3.loss_plan_l1_fix_dist: 0.3035, d4.loss_plan_l1_fix_time: 0.9579, d4.loss_plan_l1_fix_dist: 0.4135, d5.loss_plan_l1_fix_time: 0.9597, d5.loss_plan_l1_fix_dist: 0.2880, d6.loss_plan_l1_fix_time: 0.9632, d6.loss_plan_l1_fix_dist: 0.2718, d0.loss_cls_all: 0.1653, d0.loss_bbox_all: 0.3891, d0.loss_cls: 0.1653, d0.loss_bbox: 0.3891, d1.loss_cls: 0.1621, d1.loss_bbox: 0.3563, d2.loss_cls: 0.1448, d2.loss_bbox: 0.3389, d3.loss_cls: 0.1315, d3.loss_bbox: 0.3337, d4.loss_cls: 0.1251, d4.loss_bbox: 0.3341, d5.loss_cls: 0.1242, d5.loss_bbox: 0.3332, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7639, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5801, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5282, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5183, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5120, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5128, d0.loss_map_cls_all: 0.1969, d0.loss_map_pts_all: 1.2877, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1969, d0.loss_map_pts: 1.2877, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1768, d1.loss_map_pts: 0.9095, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1545, d2.loss_map_pts: 0.7392, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1449, d3.loss_map_pts: 0.6737, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1379, d4.loss_map_pts: 0.6552, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1341, d5.loss_map_pts: 0.6528, d5.loss_map_dir: 0.0078, loss: 26.8515, grad_norm: 140.8988 +2026-02-28 02:23:05,810 - DriveTransformer - INFO - Epoch [8][38150/39528] lr: 8.063e-05, eta: 5 days, 8:43:52, time: 0.736, data_time: 0.037, memory: 19865, loss_cls: 0.1323, loss_bbox: 0.3407, loss_traj: 0.6266, loss_traj_cls: 0.0018, loss_map_cls: 0.1285, loss_map_pts: 0.6850, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.4795, d0.loss_plan_l1_fix_dist: 0.4936, d1.loss_plan_l1_fix_time: 0.9519, d1.loss_plan_l1_fix_dist: 0.3068, d2.loss_plan_l1_fix_time: 0.9351, d2.loss_plan_l1_fix_dist: 0.3142, d3.loss_plan_l1_fix_time: 0.9319, d3.loss_plan_l1_fix_dist: 0.3402, d4.loss_plan_l1_fix_time: 0.9326, d4.loss_plan_l1_fix_dist: 0.3830, d5.loss_plan_l1_fix_time: 0.9346, d5.loss_plan_l1_fix_dist: 0.3114, d6.loss_plan_l1_fix_time: 0.9366, d6.loss_plan_l1_fix_dist: 0.3010, d0.loss_cls_all: 0.1701, d0.loss_bbox_all: 0.4031, d0.loss_cls: 0.1701, d0.loss_bbox: 0.4031, d1.loss_cls: 0.1671, d1.loss_bbox: 0.3704, d2.loss_cls: 0.1546, d2.loss_bbox: 0.3523, d3.loss_cls: 0.1393, d3.loss_bbox: 0.3436, d4.loss_cls: 0.1343, d4.loss_bbox: 0.3415, d5.loss_cls: 0.1336, d5.loss_bbox: 0.3401, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8253, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6863, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6399, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6292, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6250, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6294, d0.loss_map_cls_all: 0.2185, d0.loss_map_pts_all: 1.3210, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2185, d0.loss_map_pts: 1.3210, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1888, d1.loss_map_pts: 0.9587, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1617, d2.loss_map_pts: 0.7773, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1432, d3.loss_map_pts: 0.7119, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1376, d4.loss_map_pts: 0.6940, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1305, d5.loss_map_pts: 0.6883, d5.loss_map_dir: 0.0082, loss: 27.8658, grad_norm: 141.6547 +2026-02-28 02:23:40,812 - DriveTransformer - INFO - Epoch [8][38200/39528] lr: 8.063e-05, eta: 5 days, 8:43:03, time: 0.700, data_time: 0.037, memory: 19865, loss_cls: 0.1223, loss_bbox: 0.3164, loss_traj: 0.5621, loss_traj_cls: 0.0017, loss_map_cls: 0.1144, loss_map_pts: 0.5497, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.4503, d0.loss_plan_l1_fix_dist: 0.6304, d1.loss_plan_l1_fix_time: 0.8701, d1.loss_plan_l1_fix_dist: 0.3125, d2.loss_plan_l1_fix_time: 0.8444, d2.loss_plan_l1_fix_dist: 0.3236, d3.loss_plan_l1_fix_time: 0.8263, d3.loss_plan_l1_fix_dist: 0.3693, d4.loss_plan_l1_fix_time: 0.8251, d4.loss_plan_l1_fix_dist: 0.3354, d5.loss_plan_l1_fix_time: 0.8262, d5.loss_plan_l1_fix_dist: 0.3022, d6.loss_plan_l1_fix_time: 0.8275, d6.loss_plan_l1_fix_dist: 0.3303, d0.loss_cls_all: 0.1599, d0.loss_bbox_all: 0.3609, d0.loss_cls: 0.1599, d0.loss_bbox: 0.3609, d1.loss_cls: 0.1534, d1.loss_bbox: 0.3316, d2.loss_cls: 0.1423, d2.loss_bbox: 0.3169, d3.loss_cls: 0.1289, d3.loss_bbox: 0.3149, d4.loss_cls: 0.1236, d4.loss_bbox: 0.3144, d5.loss_cls: 0.1222, d5.loss_bbox: 0.3147, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7783, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6307, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5812, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5721, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5630, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5617, d0.loss_map_cls_all: 0.1929, d0.loss_map_pts_all: 1.0476, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1929, d0.loss_map_pts: 1.0476, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1666, d1.loss_map_pts: 0.7801, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1413, d2.loss_map_pts: 0.6409, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1263, d3.loss_map_pts: 0.5781, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1197, d4.loss_map_pts: 0.5558, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.1152, d5.loss_map_pts: 0.5511, d5.loss_map_dir: 0.0053, loss: 25.0347, grad_norm: 145.4470 +2026-02-28 02:24:17,059 - DriveTransformer - INFO - Epoch [8][38250/39528] lr: 8.063e-05, eta: 5 days, 8:42:24, time: 0.725, data_time: 0.038, memory: 19865, loss_cls: 0.1421, loss_bbox: 0.3558, loss_traj: 0.6803, loss_traj_cls: 0.0017, loss_map_cls: 0.1292, loss_map_pts: 0.6197, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.5680, d0.loss_plan_l1_fix_dist: 0.4031, d1.loss_plan_l1_fix_time: 0.9213, d1.loss_plan_l1_fix_dist: 0.2891, d2.loss_plan_l1_fix_time: 0.9112, d2.loss_plan_l1_fix_dist: 0.3126, d3.loss_plan_l1_fix_time: 0.9111, d3.loss_plan_l1_fix_dist: 0.3394, d4.loss_plan_l1_fix_time: 0.9148, d4.loss_plan_l1_fix_dist: 0.2916, d5.loss_plan_l1_fix_time: 0.9174, d5.loss_plan_l1_fix_dist: 0.2804, d6.loss_plan_l1_fix_time: 0.9206, d6.loss_plan_l1_fix_dist: 0.2765, d0.loss_cls_all: 0.1782, d0.loss_bbox_all: 0.4065, d0.loss_cls: 0.1782, d0.loss_bbox: 0.4065, d1.loss_cls: 0.1703, d1.loss_bbox: 0.3759, d2.loss_cls: 0.1592, d2.loss_bbox: 0.3605, d3.loss_cls: 0.1443, d3.loss_bbox: 0.3581, d4.loss_cls: 0.1406, d4.loss_bbox: 0.3564, d5.loss_cls: 0.1405, d5.loss_bbox: 0.3556, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9028, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7444, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7017, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6882, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6819, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6786, d0.loss_map_cls_all: 0.2063, d0.loss_map_pts_all: 1.2025, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2063, d0.loss_map_pts: 1.2025, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1777, d1.loss_map_pts: 0.8705, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1574, d2.loss_map_pts: 0.7130, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1454, d3.loss_map_pts: 0.6523, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1374, d4.loss_map_pts: 0.6307, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1311, d5.loss_map_pts: 0.6215, d5.loss_map_dir: 0.0070, loss: 27.4291, grad_norm: 144.2093 +2026-02-28 02:24:53,414 - DriveTransformer - INFO - Epoch [8][38300/39528] lr: 8.063e-05, eta: 5 days, 8:41:46, time: 0.727, data_time: 0.037, memory: 19865, loss_cls: 0.1390, loss_bbox: 0.3407, loss_traj: 0.4988, loss_traj_cls: 0.0017, loss_map_cls: 0.1326, loss_map_pts: 0.6172, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.4466, d0.loss_plan_l1_fix_dist: 0.5366, d1.loss_plan_l1_fix_time: 1.1148, d1.loss_plan_l1_fix_dist: 0.2950, d2.loss_plan_l1_fix_time: 1.0975, d2.loss_plan_l1_fix_dist: 0.3223, d3.loss_plan_l1_fix_time: 1.0860, d3.loss_plan_l1_fix_dist: 0.3598, d4.loss_plan_l1_fix_time: 1.0882, d4.loss_plan_l1_fix_dist: 0.3143, d5.loss_plan_l1_fix_time: 1.0903, d5.loss_plan_l1_fix_dist: 0.3083, d6.loss_plan_l1_fix_time: 1.0927, d6.loss_plan_l1_fix_dist: 0.2831, d0.loss_cls_all: 0.1857, d0.loss_bbox_all: 0.4045, d0.loss_cls: 0.1857, d0.loss_bbox: 0.4045, d1.loss_cls: 0.1791, d1.loss_bbox: 0.3727, d2.loss_cls: 0.1659, d2.loss_bbox: 0.3531, d3.loss_cls: 0.1474, d3.loss_bbox: 0.3441, d4.loss_cls: 0.1394, d4.loss_bbox: 0.3415, d5.loss_cls: 0.1385, d5.loss_bbox: 0.3397, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7206, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5872, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5209, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5066, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5012, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4973, d0.loss_map_cls_all: 0.2031, d0.loss_map_pts_all: 1.2751, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2031, d0.loss_map_pts: 1.2751, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1742, d1.loss_map_pts: 0.8744, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1525, d2.loss_map_pts: 0.6966, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1447, d3.loss_map_pts: 0.6337, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1397, d4.loss_map_pts: 0.6181, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1332, d5.loss_map_pts: 0.6176, d5.loss_map_dir: 0.0086, loss: 27.4136, grad_norm: 144.0993 +2026-02-28 02:25:32,923 - DriveTransformer - INFO - Epoch [8][38350/39528] lr: 8.063e-05, eta: 5 days, 8:41:33, time: 0.790, data_time: 0.040, memory: 19865, loss_cls: 0.1410, loss_bbox: 0.3446, loss_traj: 0.5382, loss_traj_cls: 0.0017, loss_map_cls: 0.1362, loss_map_pts: 0.7334, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.7451, d0.loss_plan_l1_fix_dist: 0.5230, d1.loss_plan_l1_fix_time: 1.0200, d1.loss_plan_l1_fix_dist: 0.3226, d2.loss_plan_l1_fix_time: 1.0173, d2.loss_plan_l1_fix_dist: 0.3339, d3.loss_plan_l1_fix_time: 1.0208, d3.loss_plan_l1_fix_dist: 0.3860, d4.loss_plan_l1_fix_time: 1.0230, d4.loss_plan_l1_fix_dist: 0.3923, d5.loss_plan_l1_fix_time: 1.0252, d5.loss_plan_l1_fix_dist: 0.3026, d6.loss_plan_l1_fix_time: 1.0280, d6.loss_plan_l1_fix_dist: 0.3058, d0.loss_cls_all: 0.1825, d0.loss_bbox_all: 0.4057, d0.loss_cls: 0.1825, d0.loss_bbox: 0.4057, d1.loss_cls: 0.1756, d1.loss_bbox: 0.3730, d2.loss_cls: 0.1626, d2.loss_bbox: 0.3532, d3.loss_cls: 0.1460, d3.loss_bbox: 0.3492, d4.loss_cls: 0.1425, d4.loss_bbox: 0.3465, d5.loss_cls: 0.1408, d5.loss_bbox: 0.3450, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7621, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6171, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5591, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5510, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5418, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5396, d0.loss_map_cls_all: 0.2111, d0.loss_map_pts_all: 1.3909, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2111, d0.loss_map_pts: 1.3909, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1752, d1.loss_map_pts: 0.9995, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1590, d2.loss_map_pts: 0.8217, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1480, d3.loss_map_pts: 0.7622, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1410, d4.loss_map_pts: 0.7417, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1371, d5.loss_map_pts: 0.7353, d5.loss_map_dir: 0.0103, loss: 28.7321, grad_norm: 141.0136 +2026-02-28 02:26:08,404 - DriveTransformer - INFO - Epoch [8][38400/39528] lr: 8.063e-05, eta: 5 days, 8:40:48, time: 0.710, data_time: 0.038, memory: 19865, loss_cls: 0.1062, loss_bbox: 0.2856, loss_traj: 0.5682, loss_traj_cls: 0.0018, loss_map_cls: 0.0986, loss_map_pts: 0.5324, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.2416, d0.loss_plan_l1_fix_dist: 0.5487, d1.loss_plan_l1_fix_time: 0.7945, d1.loss_plan_l1_fix_dist: 0.2901, d2.loss_plan_l1_fix_time: 0.7727, d2.loss_plan_l1_fix_dist: 0.2843, d3.loss_plan_l1_fix_time: 0.7682, d3.loss_plan_l1_fix_dist: 0.3349, d4.loss_plan_l1_fix_time: 0.7681, d4.loss_plan_l1_fix_dist: 0.3956, d5.loss_plan_l1_fix_time: 0.7688, d5.loss_plan_l1_fix_dist: 0.2492, d6.loss_plan_l1_fix_time: 0.7723, d6.loss_plan_l1_fix_dist: 0.2458, d0.loss_cls_all: 0.1410, d0.loss_bbox_all: 0.3396, d0.loss_cls: 0.1410, d0.loss_bbox: 0.3396, d1.loss_cls: 0.1427, d1.loss_bbox: 0.3122, d2.loss_cls: 0.1328, d2.loss_bbox: 0.2968, d3.loss_cls: 0.1129, d3.loss_bbox: 0.2907, d4.loss_cls: 0.1075, d4.loss_bbox: 0.2891, d5.loss_cls: 0.1055, d5.loss_bbox: 0.2871, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7702, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6160, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5827, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5709, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5707, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5669, d0.loss_map_cls_all: 0.1733, d0.loss_map_pts_all: 1.0582, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1733, d0.loss_map_pts: 1.0582, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1421, d1.loss_map_pts: 0.7600, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1217, d2.loss_map_pts: 0.6129, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1101, d3.loss_map_pts: 0.5555, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1047, d4.loss_map_pts: 0.5393, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1003, d5.loss_map_pts: 0.5351, d5.loss_map_dir: 0.0061, loss: 23.6414, grad_norm: 142.8366 +2026-02-28 02:26:46,640 - DriveTransformer - INFO - Epoch [8][38450/39528] lr: 8.063e-05, eta: 5 days, 8:40:25, time: 0.765, data_time: 0.040, memory: 19865, loss_cls: 0.1409, loss_bbox: 0.3495, loss_traj: 0.6046, loss_traj_cls: 0.0016, loss_map_cls: 0.1387, loss_map_pts: 0.6786, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.8267, d0.loss_plan_l1_fix_dist: 0.5016, d1.loss_plan_l1_fix_time: 1.0775, d1.loss_plan_l1_fix_dist: 0.3180, d2.loss_plan_l1_fix_time: 1.0678, d2.loss_plan_l1_fix_dist: 0.2979, d3.loss_plan_l1_fix_time: 1.0670, d3.loss_plan_l1_fix_dist: 0.3468, d4.loss_plan_l1_fix_time: 1.0689, d4.loss_plan_l1_fix_dist: 0.4197, d5.loss_plan_l1_fix_time: 1.0711, d5.loss_plan_l1_fix_dist: 0.2909, d6.loss_plan_l1_fix_time: 1.0744, d6.loss_plan_l1_fix_dist: 0.2970, d0.loss_cls_all: 0.1866, d0.loss_bbox_all: 0.4129, d0.loss_cls: 0.1866, d0.loss_bbox: 0.4129, d1.loss_cls: 0.1819, d1.loss_bbox: 0.3758, d2.loss_cls: 0.1657, d2.loss_bbox: 0.3576, d3.loss_cls: 0.1483, d3.loss_bbox: 0.3538, d4.loss_cls: 0.1415, d4.loss_bbox: 0.3522, d5.loss_cls: 0.1399, d5.loss_bbox: 0.3511, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9071, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6975, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6347, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6191, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6114, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6127, d0.loss_map_cls_all: 0.2125, d0.loss_map_pts_all: 1.3519, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2125, d0.loss_map_pts: 1.3519, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1790, d1.loss_map_pts: 0.9616, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1598, d2.loss_map_pts: 0.7788, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1524, d3.loss_map_pts: 0.7090, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1462, d4.loss_map_pts: 0.6868, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1400, d5.loss_map_pts: 0.6817, d5.loss_map_dir: 0.0088, loss: 29.2861, grad_norm: 143.1375 +2026-02-28 02:27:22,127 - DriveTransformer - INFO - Epoch [8][38500/39528] lr: 8.063e-05, eta: 5 days, 8:39:40, time: 0.710, data_time: 0.039, memory: 19865, loss_cls: 0.1138, loss_bbox: 0.3126, loss_traj: 0.5924, loss_traj_cls: 0.0018, loss_map_cls: 0.1099, loss_map_pts: 0.5585, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.5856, d0.loss_plan_l1_fix_dist: 0.5254, d1.loss_plan_l1_fix_time: 0.8579, d1.loss_plan_l1_fix_dist: 0.3076, d2.loss_plan_l1_fix_time: 0.8424, d2.loss_plan_l1_fix_dist: 0.2800, d3.loss_plan_l1_fix_time: 0.8298, d3.loss_plan_l1_fix_dist: 0.3264, d4.loss_plan_l1_fix_time: 0.8310, d4.loss_plan_l1_fix_dist: 0.3583, d5.loss_plan_l1_fix_time: 0.8354, d5.loss_plan_l1_fix_dist: 0.2572, d6.loss_plan_l1_fix_time: 0.8409, d6.loss_plan_l1_fix_dist: 0.2544, d0.loss_cls_all: 0.1557, d0.loss_bbox_all: 0.3581, d0.loss_cls: 0.1557, d0.loss_bbox: 0.3581, d1.loss_cls: 0.1509, d1.loss_bbox: 0.3298, d2.loss_cls: 0.1334, d2.loss_bbox: 0.3128, d3.loss_cls: 0.1193, d3.loss_bbox: 0.3104, d4.loss_cls: 0.1134, d4.loss_bbox: 0.3135, d5.loss_cls: 0.1140, d5.loss_bbox: 0.3118, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8058, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6681, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6082, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6000, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5951, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5915, d0.loss_map_cls_all: 0.1949, d0.loss_map_pts_all: 1.1142, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1949, d0.loss_map_pts: 1.1142, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1593, d1.loss_map_pts: 0.8097, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1389, d2.loss_map_pts: 0.6502, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1268, d3.loss_map_pts: 0.5887, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1193, d4.loss_map_pts: 0.5689, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1133, d5.loss_map_pts: 0.5609, d5.loss_map_dir: 0.0063, loss: 25.2329, grad_norm: 144.5510 +2026-02-28 02:27:58,935 - DriveTransformer - INFO - Epoch [8][38550/39528] lr: 8.063e-05, eta: 5 days, 8:39:05, time: 0.736, data_time: 0.039, memory: 19865, loss_cls: 0.1296, loss_bbox: 0.3566, loss_traj: 0.5782, loss_traj_cls: 0.0017, loss_map_cls: 0.1322, loss_map_pts: 0.6840, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.5524, d0.loss_plan_l1_fix_dist: 0.5714, d1.loss_plan_l1_fix_time: 1.1541, d1.loss_plan_l1_fix_dist: 0.3653, d2.loss_plan_l1_fix_time: 1.1209, d2.loss_plan_l1_fix_dist: 0.3070, d3.loss_plan_l1_fix_time: 1.1166, d3.loss_plan_l1_fix_dist: 0.3649, d4.loss_plan_l1_fix_time: 1.1183, d4.loss_plan_l1_fix_dist: 0.3537, d5.loss_plan_l1_fix_time: 1.1216, d5.loss_plan_l1_fix_dist: 0.2897, d6.loss_plan_l1_fix_time: 1.1258, d6.loss_plan_l1_fix_dist: 0.2846, d0.loss_cls_all: 0.1754, d0.loss_bbox_all: 0.4206, d0.loss_cls: 0.1754, d0.loss_bbox: 0.4206, d1.loss_cls: 0.1720, d1.loss_bbox: 0.3875, d2.loss_cls: 0.1542, d2.loss_bbox: 0.3673, d3.loss_cls: 0.1348, d3.loss_bbox: 0.3616, d4.loss_cls: 0.1301, d4.loss_bbox: 0.3580, d5.loss_cls: 0.1299, d5.loss_bbox: 0.3558, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7800, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6398, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5830, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5814, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5794, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5767, d0.loss_map_cls_all: 0.2165, d0.loss_map_pts_all: 1.2925, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2165, d0.loss_map_pts: 1.2925, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1783, d1.loss_map_pts: 0.9496, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1599, d2.loss_map_pts: 0.7745, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1451, d3.loss_map_pts: 0.7159, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1391, d4.loss_map_pts: 0.6926, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1335, d5.loss_map_pts: 0.6853, d5.loss_map_dir: 0.0086, loss: 28.8763, grad_norm: 145.8783 +2026-02-28 02:28:35,382 - DriveTransformer - INFO - Epoch [8][38600/39528] lr: 8.063e-05, eta: 5 days, 8:38:28, time: 0.730, data_time: 0.040, memory: 19865, loss_cls: 0.1308, loss_bbox: 0.3492, loss_traj: 0.6687, loss_traj_cls: 0.0017, loss_map_cls: 0.1271, loss_map_pts: 0.6237, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 3.4431, d0.loss_plan_l1_fix_dist: 0.5603, d1.loss_plan_l1_fix_time: 1.2238, d1.loss_plan_l1_fix_dist: 0.3700, d2.loss_plan_l1_fix_time: 1.1979, d2.loss_plan_l1_fix_dist: 0.2866, d3.loss_plan_l1_fix_time: 1.1953, d3.loss_plan_l1_fix_dist: 0.3660, d4.loss_plan_l1_fix_time: 1.1966, d4.loss_plan_l1_fix_dist: 0.3514, d5.loss_plan_l1_fix_time: 1.1985, d5.loss_plan_l1_fix_dist: 0.3200, d6.loss_plan_l1_fix_time: 1.2010, d6.loss_plan_l1_fix_dist: 0.3308, d0.loss_cls_all: 0.1669, d0.loss_bbox_all: 0.4132, d0.loss_cls: 0.1669, d0.loss_bbox: 0.4132, d1.loss_cls: 0.1637, d1.loss_bbox: 0.3769, d2.loss_cls: 0.1505, d2.loss_bbox: 0.3597, d3.loss_cls: 0.1367, d3.loss_bbox: 0.3546, d4.loss_cls: 0.1312, d4.loss_bbox: 0.3511, d5.loss_cls: 0.1303, d5.loss_bbox: 0.3493, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9188, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7468, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6869, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6677, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6664, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6681, d0.loss_map_cls_all: 0.2038, d0.loss_map_pts_all: 1.2655, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2038, d0.loss_map_pts: 1.2655, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1699, d1.loss_map_pts: 0.9053, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1512, d2.loss_map_pts: 0.7194, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1408, d3.loss_map_pts: 0.6483, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1338, d4.loss_map_pts: 0.6254, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1285, d5.loss_map_pts: 0.6241, d5.loss_map_dir: 0.0069, loss: 30.4054, grad_norm: 156.4063 +2026-02-28 02:29:10,747 - DriveTransformer - INFO - Epoch [8][38650/39528] lr: 8.063e-05, eta: 5 days, 8:37:41, time: 0.706, data_time: 0.037, memory: 19865, loss_cls: 0.1263, loss_bbox: 0.3261, loss_traj: 0.6390, loss_traj_cls: 0.0017, loss_map_cls: 0.1282, loss_map_pts: 0.5092, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.9631, d0.loss_plan_l1_fix_dist: 0.4981, d1.loss_plan_l1_fix_time: 0.9593, d1.loss_plan_l1_fix_dist: 0.3889, d2.loss_plan_l1_fix_time: 0.9370, d2.loss_plan_l1_fix_dist: 0.2553, d3.loss_plan_l1_fix_time: 0.9355, d3.loss_plan_l1_fix_dist: 0.3246, d4.loss_plan_l1_fix_time: 0.9380, d4.loss_plan_l1_fix_dist: 0.3022, d5.loss_plan_l1_fix_time: 0.9391, d5.loss_plan_l1_fix_dist: 0.2799, d6.loss_plan_l1_fix_time: 0.9410, d6.loss_plan_l1_fix_dist: 0.3093, d0.loss_cls_all: 0.1668, d0.loss_bbox_all: 0.3854, d0.loss_cls: 0.1668, d0.loss_bbox: 0.3854, d1.loss_cls: 0.1635, d1.loss_bbox: 0.3479, d2.loss_cls: 0.1464, d2.loss_bbox: 0.3311, d3.loss_cls: 0.1339, d3.loss_bbox: 0.3229, d4.loss_cls: 0.1292, d4.loss_bbox: 0.3228, d5.loss_cls: 0.1265, d5.loss_bbox: 0.3249, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8542, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6926, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6480, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6381, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6413, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6371, d0.loss_map_cls_all: 0.2015, d0.loss_map_pts_all: 1.0315, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.2015, d0.loss_map_pts: 1.0315, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1666, d1.loss_map_pts: 0.7302, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1492, d2.loss_map_pts: 0.5882, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1376, d3.loss_map_pts: 0.5344, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1333, d4.loss_map_pts: 0.5161, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1297, d5.loss_map_pts: 0.5112, d5.loss_map_dir: 0.0059, loss: 26.3804, grad_norm: 157.0277 +2026-02-28 02:29:46,555 - DriveTransformer - INFO - Epoch [8][38700/39528] lr: 8.063e-05, eta: 5 days, 8:36:59, time: 0.716, data_time: 0.038, memory: 19865, loss_cls: 0.1304, loss_bbox: 0.3267, loss_traj: 0.6960, loss_traj_cls: 0.0017, loss_map_cls: 0.1341, loss_map_pts: 0.5992, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.3314, d0.loss_plan_l1_fix_dist: 0.5574, d1.loss_plan_l1_fix_time: 0.8726, d1.loss_plan_l1_fix_dist: 0.4151, d2.loss_plan_l1_fix_time: 0.8552, d2.loss_plan_l1_fix_dist: 0.3045, d3.loss_plan_l1_fix_time: 0.8558, d3.loss_plan_l1_fix_dist: 0.3183, d4.loss_plan_l1_fix_time: 0.8585, d4.loss_plan_l1_fix_dist: 0.2879, d5.loss_plan_l1_fix_time: 0.8603, d5.loss_plan_l1_fix_dist: 0.2770, d6.loss_plan_l1_fix_time: 0.8624, d6.loss_plan_l1_fix_dist: 0.2993, d0.loss_cls_all: 0.1726, d0.loss_bbox_all: 0.3752, d0.loss_cls: 0.1726, d0.loss_bbox: 0.3752, d1.loss_cls: 0.1651, d1.loss_bbox: 0.3432, d2.loss_cls: 0.1535, d2.loss_bbox: 0.3262, d3.loss_cls: 0.1351, d3.loss_bbox: 0.3225, d4.loss_cls: 0.1321, d4.loss_bbox: 0.3220, d5.loss_cls: 0.1305, d5.loss_bbox: 0.3240, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9450, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7435, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7015, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6951, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6883, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6939, d0.loss_map_cls_all: 0.1953, d0.loss_map_pts_all: 1.1592, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1953, d0.loss_map_pts: 1.1592, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1712, d1.loss_map_pts: 0.8225, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1523, d2.loss_map_pts: 0.6802, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1444, d3.loss_map_pts: 0.6237, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1391, d4.loss_map_pts: 0.6034, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1362, d5.loss_map_pts: 0.6015, d5.loss_map_dir: 0.0069, loss: 26.6034, grad_norm: 163.8246 +2026-02-28 02:30:22,959 - DriveTransformer - INFO - Epoch [8][38750/39528] lr: 8.063e-05, eta: 5 days, 8:36:21, time: 0.728, data_time: 0.037, memory: 19865, loss_cls: 0.1133, loss_bbox: 0.3065, loss_traj: 0.6585, loss_traj_cls: 0.0018, loss_map_cls: 0.1113, loss_map_pts: 0.5590, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.8060, d0.loss_plan_l1_fix_dist: 0.5429, d1.loss_plan_l1_fix_time: 1.1247, d1.loss_plan_l1_fix_dist: 0.4447, d2.loss_plan_l1_fix_time: 1.1106, d2.loss_plan_l1_fix_dist: 0.3814, d3.loss_plan_l1_fix_time: 1.1056, d3.loss_plan_l1_fix_dist: 0.3560, d4.loss_plan_l1_fix_time: 1.1082, d4.loss_plan_l1_fix_dist: 0.3357, d5.loss_plan_l1_fix_time: 1.1116, d5.loss_plan_l1_fix_dist: 0.3761, d6.loss_plan_l1_fix_time: 1.1153, d6.loss_plan_l1_fix_dist: 0.4110, d0.loss_cls_all: 0.1584, d0.loss_bbox_all: 0.3521, d0.loss_cls: 0.1584, d0.loss_bbox: 0.3521, d1.loss_cls: 0.1497, d1.loss_bbox: 0.3235, d2.loss_cls: 0.1340, d2.loss_bbox: 0.3086, d3.loss_cls: 0.1176, d3.loss_bbox: 0.3028, d4.loss_cls: 0.1137, d4.loss_bbox: 0.3033, d5.loss_cls: 0.1131, d5.loss_bbox: 0.3040, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8495, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7127, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6679, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6602, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6602, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6591, d0.loss_map_cls_all: 0.1815, d0.loss_map_pts_all: 1.1283, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1815, d0.loss_map_pts: 1.1283, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1546, d1.loss_map_pts: 0.7899, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1324, d2.loss_map_pts: 0.6361, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1225, d3.loss_map_pts: 0.5825, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1184, d4.loss_map_pts: 0.5657, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1132, d5.loss_map_pts: 0.5601, d5.loss_map_dir: 0.0071, loss: 27.9371, grad_norm: 167.2705 +2026-02-28 02:30:58,743 - DriveTransformer - INFO - Epoch [8][38800/39528] lr: 8.063e-05, eta: 5 days, 8:35:38, time: 0.716, data_time: 0.041, memory: 19865, loss_cls: 0.1374, loss_bbox: 0.3398, loss_traj: 0.5379, loss_traj_cls: 0.0017, loss_map_cls: 0.1514, loss_map_pts: 0.6561, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.4454, d0.loss_plan_l1_fix_dist: 0.6179, d1.loss_plan_l1_fix_time: 0.9805, d1.loss_plan_l1_fix_dist: 0.4461, d2.loss_plan_l1_fix_time: 0.9721, d2.loss_plan_l1_fix_dist: 0.3781, d3.loss_plan_l1_fix_time: 0.9708, d3.loss_plan_l1_fix_dist: 0.3307, d4.loss_plan_l1_fix_time: 0.9722, d4.loss_plan_l1_fix_dist: 0.2784, d5.loss_plan_l1_fix_time: 0.9737, d5.loss_plan_l1_fix_dist: 0.2930, d6.loss_plan_l1_fix_time: 0.9761, d6.loss_plan_l1_fix_dist: 0.3157, d0.loss_cls_all: 0.1781, d0.loss_bbox_all: 0.4034, d0.loss_cls: 0.1781, d0.loss_bbox: 0.4034, d1.loss_cls: 0.1695, d1.loss_bbox: 0.3712, d2.loss_cls: 0.1579, d2.loss_bbox: 0.3487, d3.loss_cls: 0.1415, d3.loss_bbox: 0.3437, d4.loss_cls: 0.1384, d4.loss_bbox: 0.3410, d5.loss_cls: 0.1368, d5.loss_bbox: 0.3406, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7306, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5774, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5574, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5442, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5432, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5353, d0.loss_map_cls_all: 0.2198, d0.loss_map_pts_all: 1.2413, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.2198, d0.loss_map_pts: 1.2413, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1986, d1.loss_map_pts: 0.9414, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1757, d2.loss_map_pts: 0.7664, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1645, d3.loss_map_pts: 0.6891, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1580, d4.loss_map_pts: 0.6632, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1532, d5.loss_map_pts: 0.6578, d5.loss_map_dir: 0.0062, loss: 27.4582, grad_norm: 160.7470 +2026-02-28 02:31:34,704 - DriveTransformer - INFO - Epoch [8][38850/39528] lr: 8.063e-05, eta: 5 days, 8:34:57, time: 0.719, data_time: 0.038, memory: 19865, loss_cls: 0.1210, loss_bbox: 0.3196, loss_traj: 0.5564, loss_traj_cls: 0.0017, loss_map_cls: 0.1336, loss_map_pts: 0.6343, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.4010, d0.loss_plan_l1_fix_dist: 0.4688, d1.loss_plan_l1_fix_time: 0.8276, d1.loss_plan_l1_fix_dist: 0.4436, d2.loss_plan_l1_fix_time: 0.8090, d2.loss_plan_l1_fix_dist: 0.3703, d3.loss_plan_l1_fix_time: 0.8068, d3.loss_plan_l1_fix_dist: 0.3034, d4.loss_plan_l1_fix_time: 0.8078, d4.loss_plan_l1_fix_dist: 0.2641, d5.loss_plan_l1_fix_time: 0.8094, d5.loss_plan_l1_fix_dist: 0.2600, d6.loss_plan_l1_fix_time: 0.8122, d6.loss_plan_l1_fix_dist: 0.2660, d0.loss_cls_all: 0.1629, d0.loss_bbox_all: 0.3772, d0.loss_cls: 0.1629, d0.loss_bbox: 0.3772, d1.loss_cls: 0.1564, d1.loss_bbox: 0.3466, d2.loss_cls: 0.1421, d2.loss_bbox: 0.3292, d3.loss_cls: 0.1296, d3.loss_bbox: 0.3220, d4.loss_cls: 0.1209, d4.loss_bbox: 0.3227, d5.loss_cls: 0.1210, d5.loss_bbox: 0.3199, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7635, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6134, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5784, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5639, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5568, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5564, d0.loss_map_cls_all: 0.2085, d0.loss_map_pts_all: 1.2938, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2085, d0.loss_map_pts: 1.2938, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1788, d1.loss_map_pts: 0.9074, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1544, d2.loss_map_pts: 0.7309, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1444, d3.loss_map_pts: 0.6655, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1377, d4.loss_map_pts: 0.6423, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1351, d5.loss_map_pts: 0.6367, d5.loss_map_dir: 0.0075, loss: 25.8400, grad_norm: 161.7008 +2026-02-28 02:32:10,927 - DriveTransformer - INFO - Epoch [8][38900/39528] lr: 8.063e-05, eta: 5 days, 8:34:18, time: 0.724, data_time: 0.039, memory: 19865, loss_cls: 0.1200, loss_bbox: 0.3370, loss_traj: 0.6098, loss_traj_cls: 0.0017, loss_map_cls: 0.1161, loss_map_pts: 0.5873, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.6271, d0.loss_plan_l1_fix_dist: 0.5169, d1.loss_plan_l1_fix_time: 0.9151, d1.loss_plan_l1_fix_dist: 0.4277, d2.loss_plan_l1_fix_time: 0.9006, d2.loss_plan_l1_fix_dist: 0.3505, d3.loss_plan_l1_fix_time: 0.9034, d3.loss_plan_l1_fix_dist: 0.2787, d4.loss_plan_l1_fix_time: 0.9074, d4.loss_plan_l1_fix_dist: 0.2581, d5.loss_plan_l1_fix_time: 0.9127, d5.loss_plan_l1_fix_dist: 0.2687, d6.loss_plan_l1_fix_time: 0.9174, d6.loss_plan_l1_fix_dist: 0.2799, d0.loss_cls_all: 0.1665, d0.loss_bbox_all: 0.3914, d0.loss_cls: 0.1665, d0.loss_bbox: 0.3914, d1.loss_cls: 0.1603, d1.loss_bbox: 0.3588, d2.loss_cls: 0.1439, d2.loss_bbox: 0.3417, d3.loss_cls: 0.1287, d3.loss_bbox: 0.3389, d4.loss_cls: 0.1232, d4.loss_bbox: 0.3363, d5.loss_cls: 0.1199, d5.loss_bbox: 0.3359, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8320, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6826, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6295, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6172, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6107, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6105, d0.loss_map_cls_all: 0.1969, d0.loss_map_pts_all: 1.1587, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1969, d0.loss_map_pts: 1.1587, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1620, d1.loss_map_pts: 0.8356, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1392, d2.loss_map_pts: 0.6802, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1262, d3.loss_map_pts: 0.6190, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1203, d4.loss_map_pts: 0.5973, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1178, d5.loss_map_pts: 0.5892, d5.loss_map_dir: 0.0071, loss: 26.4804, grad_norm: 166.9599 +2026-02-28 02:32:48,422 - DriveTransformer - INFO - Epoch [8][38950/39528] lr: 8.063e-05, eta: 5 days, 8:33:49, time: 0.750, data_time: 0.037, memory: 19865, loss_cls: 0.1326, loss_bbox: 0.3540, loss_traj: 0.6078, loss_traj_cls: 0.0017, loss_map_cls: 0.1218, loss_map_pts: 0.6253, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.6299, d0.loss_plan_l1_fix_dist: 0.4852, d1.loss_plan_l1_fix_time: 1.0207, d1.loss_plan_l1_fix_dist: 0.4317, d2.loss_plan_l1_fix_time: 1.0096, d2.loss_plan_l1_fix_dist: 0.3412, d3.loss_plan_l1_fix_time: 1.0091, d3.loss_plan_l1_fix_dist: 0.2583, d4.loss_plan_l1_fix_time: 1.0127, d4.loss_plan_l1_fix_dist: 0.2451, d5.loss_plan_l1_fix_time: 1.0173, d5.loss_plan_l1_fix_dist: 0.2514, d6.loss_plan_l1_fix_time: 1.0213, d6.loss_plan_l1_fix_dist: 0.2621, d0.loss_cls_all: 0.1784, d0.loss_bbox_all: 0.4080, d0.loss_cls: 0.1784, d0.loss_bbox: 0.4080, d1.loss_cls: 0.1758, d1.loss_bbox: 0.3738, d2.loss_cls: 0.1604, d2.loss_bbox: 0.3550, d3.loss_cls: 0.1396, d3.loss_bbox: 0.3542, d4.loss_cls: 0.1340, d4.loss_bbox: 0.3530, d5.loss_cls: 0.1328, d5.loss_bbox: 0.3524, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8540, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6905, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6265, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6144, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6056, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6056, d0.loss_map_cls_all: 0.1979, d0.loss_map_pts_all: 1.3027, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1979, d0.loss_map_pts: 1.3027, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1686, d1.loss_map_pts: 0.9016, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1488, d2.loss_map_pts: 0.7210, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1372, d3.loss_map_pts: 0.6563, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1294, d4.loss_map_pts: 0.6363, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1243, d5.loss_map_pts: 0.6269, d5.loss_map_dir: 0.0072, loss: 27.8520, grad_norm: 166.3233 +2026-02-28 02:33:25,356 - DriveTransformer - INFO - Epoch [8][39000/39528] lr: 8.063e-05, eta: 5 days, 8:33:15, time: 0.739, data_time: 0.040, memory: 19865, loss_cls: 0.1352, loss_bbox: 0.3330, loss_traj: 0.5871, loss_traj_cls: 0.0017, loss_map_cls: 0.1369, loss_map_pts: 0.6425, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.5410, d0.loss_plan_l1_fix_dist: 0.4130, d1.loss_plan_l1_fix_time: 1.0591, d1.loss_plan_l1_fix_dist: 0.4073, d2.loss_plan_l1_fix_time: 1.0439, d2.loss_plan_l1_fix_dist: 0.2949, d3.loss_plan_l1_fix_time: 1.0432, d3.loss_plan_l1_fix_dist: 0.2387, d4.loss_plan_l1_fix_time: 1.0471, d4.loss_plan_l1_fix_dist: 0.2276, d5.loss_plan_l1_fix_time: 1.0508, d5.loss_plan_l1_fix_dist: 0.2455, d6.loss_plan_l1_fix_time: 1.0550, d6.loss_plan_l1_fix_dist: 0.2700, d0.loss_cls_all: 0.1759, d0.loss_bbox_all: 0.3943, d0.loss_cls: 0.1759, d0.loss_bbox: 0.3943, d1.loss_cls: 0.1639, d1.loss_bbox: 0.3618, d2.loss_cls: 0.1502, d2.loss_bbox: 0.3420, d3.loss_cls: 0.1435, d3.loss_bbox: 0.3352, d4.loss_cls: 0.1374, d4.loss_bbox: 0.3318, d5.loss_cls: 0.1355, d5.loss_bbox: 0.3317, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8585, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6725, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6085, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5932, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5881, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5858, d0.loss_map_cls_all: 0.2186, d0.loss_map_pts_all: 1.3107, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2186, d0.loss_map_pts: 1.3107, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1891, d1.loss_map_pts: 0.9310, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1595, d2.loss_map_pts: 0.7467, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1489, d3.loss_map_pts: 0.6728, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1418, d4.loss_map_pts: 0.6509, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1384, d5.loss_map_pts: 0.6448, d5.loss_map_dir: 0.0070, loss: 27.7944, grad_norm: 164.7556 +2026-02-28 02:34:01,380 - DriveTransformer - INFO - Epoch [8][39050/39528] lr: 8.063e-05, eta: 5 days, 8:32:34, time: 0.720, data_time: 0.037, memory: 19865, loss_cls: 0.1649, loss_bbox: 0.3870, loss_traj: 0.6352, loss_traj_cls: 0.0016, loss_map_cls: 0.1507, loss_map_pts: 0.7190, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 3.2182, d0.loss_plan_l1_fix_dist: 0.4261, d1.loss_plan_l1_fix_time: 1.0289, d1.loss_plan_l1_fix_dist: 0.3726, d2.loss_plan_l1_fix_time: 1.0068, d2.loss_plan_l1_fix_dist: 0.2638, d3.loss_plan_l1_fix_time: 1.0039, d3.loss_plan_l1_fix_dist: 0.2230, d4.loss_plan_l1_fix_time: 1.0072, d4.loss_plan_l1_fix_dist: 0.2089, d5.loss_plan_l1_fix_time: 1.0107, d5.loss_plan_l1_fix_dist: 0.2266, d6.loss_plan_l1_fix_time: 1.0144, d6.loss_plan_l1_fix_dist: 0.2496, d0.loss_cls_all: 0.2218, d0.loss_bbox_all: 0.4559, d0.loss_cls: 0.2218, d0.loss_bbox: 0.4559, d1.loss_cls: 0.2123, d1.loss_bbox: 0.4165, d2.loss_cls: 0.1976, d2.loss_bbox: 0.3924, d3.loss_cls: 0.1726, d3.loss_bbox: 0.3909, d4.loss_cls: 0.1690, d4.loss_bbox: 0.3870, d5.loss_cls: 0.1653, d5.loss_bbox: 0.3868, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8757, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7072, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6615, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6451, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6381, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6360, d0.loss_map_cls_all: 0.2388, d0.loss_map_pts_all: 1.3633, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2388, d0.loss_map_pts: 1.3633, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2006, d1.loss_map_pts: 0.9912, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1752, d2.loss_map_pts: 0.8201, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1623, d3.loss_map_pts: 0.7578, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1571, d4.loss_map_pts: 0.7289, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1518, d5.loss_map_pts: 0.7202, d5.loss_map_dir: 0.0092, loss: 29.8729, grad_norm: 164.9300 +2026-02-28 02:34:38,173 - DriveTransformer - INFO - Epoch [8][39100/39528] lr: 8.063e-05, eta: 5 days, 8:32:00, time: 0.736, data_time: 0.039, memory: 19865, loss_cls: 0.1535, loss_bbox: 0.3680, loss_traj: 0.5410, loss_traj_cls: 0.0017, loss_map_cls: 0.1595, loss_map_pts: 0.6886, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 3.0220, d0.loss_plan_l1_fix_dist: 0.4286, d1.loss_plan_l1_fix_time: 1.1645, d1.loss_plan_l1_fix_dist: 0.3600, d2.loss_plan_l1_fix_time: 1.1403, d2.loss_plan_l1_fix_dist: 0.2602, d3.loss_plan_l1_fix_time: 1.1303, d3.loss_plan_l1_fix_dist: 0.2376, d4.loss_plan_l1_fix_time: 1.1311, d4.loss_plan_l1_fix_dist: 0.2373, d5.loss_plan_l1_fix_time: 1.1336, d5.loss_plan_l1_fix_dist: 0.2317, d6.loss_plan_l1_fix_time: 1.1367, d6.loss_plan_l1_fix_dist: 0.2544, d0.loss_cls_all: 0.2020, d0.loss_bbox_all: 0.4392, d0.loss_cls: 0.2020, d0.loss_bbox: 0.4392, d1.loss_cls: 0.1916, d1.loss_bbox: 0.4009, d2.loss_cls: 0.1780, d2.loss_bbox: 0.3784, d3.loss_cls: 0.1613, d3.loss_bbox: 0.3740, d4.loss_cls: 0.1556, d4.loss_bbox: 0.3711, d5.loss_cls: 0.1536, d5.loss_bbox: 0.3682, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7400, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6044, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5547, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5429, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5405, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5392, d0.loss_map_cls_all: 0.2385, d0.loss_map_pts_all: 1.2931, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2385, d0.loss_map_pts: 1.2931, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2136, d1.loss_map_pts: 0.9685, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1913, d2.loss_map_pts: 0.7922, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1768, d3.loss_map_pts: 0.7244, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1676, d4.loss_map_pts: 0.7010, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1627, d5.loss_map_pts: 0.6899, d5.loss_map_dir: 0.0081, loss: 29.2374, grad_norm: 164.7348 +2026-02-28 02:35:13,759 - DriveTransformer - INFO - Epoch [8][39150/39528] lr: 8.063e-05, eta: 5 days, 8:31:15, time: 0.712, data_time: 0.036, memory: 19865, loss_cls: 0.1121, loss_bbox: 0.3210, loss_traj: 0.5293, loss_traj_cls: 0.0016, loss_map_cls: 0.1320, loss_map_pts: 0.5574, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.7669, d0.loss_plan_l1_fix_dist: 0.4329, d1.loss_plan_l1_fix_time: 0.9422, d1.loss_plan_l1_fix_dist: 0.3194, d2.loss_plan_l1_fix_time: 0.9094, d2.loss_plan_l1_fix_dist: 0.2139, d3.loss_plan_l1_fix_time: 0.9053, d3.loss_plan_l1_fix_dist: 0.2153, d4.loss_plan_l1_fix_time: 0.9068, d4.loss_plan_l1_fix_dist: 0.2326, d5.loss_plan_l1_fix_time: 0.9103, d5.loss_plan_l1_fix_dist: 0.2186, d6.loss_plan_l1_fix_time: 0.9145, d6.loss_plan_l1_fix_dist: 0.2319, d0.loss_cls_all: 0.1569, d0.loss_bbox_all: 0.3782, d0.loss_cls: 0.1569, d0.loss_bbox: 0.3782, d1.loss_cls: 0.1503, d1.loss_bbox: 0.3428, d2.loss_cls: 0.1349, d2.loss_bbox: 0.3243, d3.loss_cls: 0.1194, d3.loss_bbox: 0.3217, d4.loss_cls: 0.1136, d4.loss_bbox: 0.3196, d5.loss_cls: 0.1119, d5.loss_bbox: 0.3210, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7623, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6089, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5503, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5335, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5321, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5328, d0.loss_map_cls_all: 0.2155, d0.loss_map_pts_all: 1.0959, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.2155, d0.loss_map_pts: 1.0959, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1844, d1.loss_map_pts: 0.7944, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1563, d2.loss_map_pts: 0.6472, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1453, d3.loss_map_pts: 0.5838, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1381, d4.loss_map_pts: 0.5621, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1332, d5.loss_map_pts: 0.5567, d5.loss_map_dir: 0.0055, loss: 25.1951, grad_norm: 164.6708 +2026-02-28 02:35:51,339 - DriveTransformer - INFO - Epoch [8][39200/39528] lr: 8.063e-05, eta: 5 days, 8:30:47, time: 0.752, data_time: 0.042, memory: 19865, loss_cls: 0.1200, loss_bbox: 0.3198, loss_traj: 0.4679, loss_traj_cls: 0.0017, loss_map_cls: 0.1491, loss_map_pts: 0.6322, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.4763, d0.loss_plan_l1_fix_dist: 0.3781, d1.loss_plan_l1_fix_time: 0.9209, d1.loss_plan_l1_fix_dist: 0.2974, d2.loss_plan_l1_fix_time: 0.9016, d2.loss_plan_l1_fix_dist: 0.2196, d3.loss_plan_l1_fix_time: 0.8947, d3.loss_plan_l1_fix_dist: 0.2392, d4.loss_plan_l1_fix_time: 0.8960, d4.loss_plan_l1_fix_dist: 0.2505, d5.loss_plan_l1_fix_time: 0.8988, d5.loss_plan_l1_fix_dist: 0.2427, d6.loss_plan_l1_fix_time: 0.9025, d6.loss_plan_l1_fix_dist: 0.2491, d0.loss_cls_all: 0.1588, d0.loss_bbox_all: 0.3729, d0.loss_cls: 0.1588, d0.loss_bbox: 0.3729, d1.loss_cls: 0.1536, d1.loss_bbox: 0.3410, d2.loss_cls: 0.1389, d2.loss_bbox: 0.3245, d3.loss_cls: 0.1234, d3.loss_bbox: 0.3199, d4.loss_cls: 0.1200, d4.loss_bbox: 0.3178, d5.loss_cls: 0.1193, d5.loss_bbox: 0.3188, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6411, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5085, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4809, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4654, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4678, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4641, d0.loss_map_cls_all: 0.2323, d0.loss_map_pts_all: 1.2331, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2323, d0.loss_map_pts: 1.2331, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.2007, d1.loss_map_pts: 0.8856, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1732, d2.loss_map_pts: 0.7168, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1644, d3.loss_map_pts: 0.6588, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1550, d4.loss_map_pts: 0.6416, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1520, d5.loss_map_pts: 0.6338, d5.loss_map_dir: 0.0079, loss: 25.2025, grad_norm: 166.8992 +2026-02-28 02:36:28,737 - DriveTransformer - INFO - Epoch [8][39250/39528] lr: 8.063e-05, eta: 5 days, 8:30:17, time: 0.748, data_time: 0.038, memory: 19865, loss_cls: 0.1128, loss_bbox: 0.3079, loss_traj: 0.5456, loss_traj_cls: 0.0017, loss_map_cls: 0.1066, loss_map_pts: 0.5554, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.4818, d0.loss_plan_l1_fix_dist: 0.5308, d1.loss_plan_l1_fix_time: 0.9283, d1.loss_plan_l1_fix_dist: 0.2649, d2.loss_plan_l1_fix_time: 0.9114, d2.loss_plan_l1_fix_dist: 0.2166, d3.loss_plan_l1_fix_time: 0.9124, d3.loss_plan_l1_fix_dist: 0.2288, d4.loss_plan_l1_fix_time: 0.9155, d4.loss_plan_l1_fix_dist: 0.2234, d5.loss_plan_l1_fix_time: 0.9186, d5.loss_plan_l1_fix_dist: 0.2285, d6.loss_plan_l1_fix_time: 0.9228, d6.loss_plan_l1_fix_dist: 0.2617, d0.loss_cls_all: 0.1496, d0.loss_bbox_all: 0.3599, d0.loss_cls: 0.1496, d0.loss_bbox: 0.3599, d1.loss_cls: 0.1459, d1.loss_bbox: 0.3298, d2.loss_cls: 0.1365, d2.loss_bbox: 0.3118, d3.loss_cls: 0.1184, d3.loss_bbox: 0.3064, d4.loss_cls: 0.1138, d4.loss_bbox: 0.3048, d5.loss_cls: 0.1124, d5.loss_bbox: 0.3054, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7436, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5940, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5453, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5348, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5361, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5390, d0.loss_map_cls_all: 0.1774, d0.loss_map_pts_all: 1.1414, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1774, d0.loss_map_pts: 1.1414, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1473, d1.loss_map_pts: 0.7874, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1283, d2.loss_map_pts: 0.6301, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1182, d3.loss_map_pts: 0.5794, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1113, d4.loss_map_pts: 0.5593, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1076, d5.loss_map_pts: 0.5573, d5.loss_map_dir: 0.0072, loss: 24.6974, grad_norm: 168.4114 +2026-02-28 02:37:06,162 - DriveTransformer - INFO - Epoch [8][39300/39528] lr: 8.063e-05, eta: 5 days, 8:29:47, time: 0.749, data_time: 0.038, memory: 19865, loss_cls: 0.1435, loss_bbox: 0.3456, loss_traj: 0.5954, loss_traj_cls: 0.0016, loss_map_cls: 0.1485, loss_map_pts: 0.7102, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.7459, d0.loss_plan_l1_fix_dist: 0.3924, d1.loss_plan_l1_fix_time: 1.0275, d1.loss_plan_l1_fix_dist: 0.2116, d2.loss_plan_l1_fix_time: 1.0112, d2.loss_plan_l1_fix_dist: 0.1768, d3.loss_plan_l1_fix_time: 1.0113, d3.loss_plan_l1_fix_dist: 0.2118, d4.loss_plan_l1_fix_time: 1.0142, d4.loss_plan_l1_fix_dist: 0.1839, d5.loss_plan_l1_fix_time: 1.0167, d5.loss_plan_l1_fix_dist: 0.1976, d6.loss_plan_l1_fix_time: 1.0197, d6.loss_plan_l1_fix_dist: 0.2289, d0.loss_cls_all: 0.1895, d0.loss_bbox_all: 0.4152, d0.loss_cls: 0.1895, d0.loss_bbox: 0.4152, d1.loss_cls: 0.1852, d1.loss_bbox: 0.3781, d2.loss_cls: 0.1679, d2.loss_bbox: 0.3588, d3.loss_cls: 0.1494, d3.loss_bbox: 0.3518, d4.loss_cls: 0.1435, d4.loss_bbox: 0.3479, d5.loss_cls: 0.1435, d5.loss_bbox: 0.3444, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8655, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6835, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6254, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6106, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6099, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5966, d0.loss_map_cls_all: 0.2336, d0.loss_map_pts_all: 1.4456, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2336, d0.loss_map_pts: 1.4456, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1996, d1.loss_map_pts: 1.0122, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1751, d2.loss_map_pts: 0.8115, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1637, d3.loss_map_pts: 0.7412, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1577, d4.loss_map_pts: 0.7140, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1510, d5.loss_map_pts: 0.7103, d5.loss_map_dir: 0.0099, loss: 28.4415, grad_norm: 168.1758 +2026-02-28 02:37:41,314 - DriveTransformer - INFO - Epoch [8][39350/39528] lr: 8.063e-05, eta: 5 days, 8:29:00, time: 0.703, data_time: 0.039, memory: 19865, loss_cls: 0.1150, loss_bbox: 0.3097, loss_traj: 0.5609, loss_traj_cls: 0.0016, loss_map_cls: 0.1188, loss_map_pts: 0.5266, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.4825, d0.loss_plan_l1_fix_dist: 0.4909, d1.loss_plan_l1_fix_time: 1.0609, d1.loss_plan_l1_fix_dist: 0.2011, d2.loss_plan_l1_fix_time: 1.0478, d2.loss_plan_l1_fix_dist: 0.1901, d3.loss_plan_l1_fix_time: 1.0466, d3.loss_plan_l1_fix_dist: 0.2443, d4.loss_plan_l1_fix_time: 1.0496, d4.loss_plan_l1_fix_dist: 0.2194, d5.loss_plan_l1_fix_time: 1.0532, d5.loss_plan_l1_fix_dist: 0.2290, d6.loss_plan_l1_fix_time: 1.0568, d6.loss_plan_l1_fix_dist: 0.2481, d0.loss_cls_all: 0.1528, d0.loss_bbox_all: 0.3733, d0.loss_cls: 0.1528, d0.loss_bbox: 0.3733, d1.loss_cls: 0.1471, d1.loss_bbox: 0.3398, d2.loss_cls: 0.1365, d2.loss_bbox: 0.3199, d3.loss_cls: 0.1217, d3.loss_bbox: 0.3137, d4.loss_cls: 0.1170, d4.loss_bbox: 0.3115, d5.loss_cls: 0.1154, d5.loss_bbox: 0.3092, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7861, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6192, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5638, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5598, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5612, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5593, d0.loss_map_cls_all: 0.1932, d0.loss_map_pts_all: 1.0706, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1932, d0.loss_map_pts: 1.0706, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1625, d1.loss_map_pts: 0.7751, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1382, d2.loss_map_pts: 0.6251, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1282, d3.loss_map_pts: 0.5594, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1227, d4.loss_map_pts: 0.5345, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1201, d5.loss_map_pts: 0.5276, d5.loss_map_dir: 0.0061, loss: 25.4581, grad_norm: 170.4081 +2026-02-28 02:38:18,152 - DriveTransformer - INFO - Epoch [8][39400/39528] lr: 8.063e-05, eta: 5 days, 8:28:26, time: 0.738, data_time: 0.037, memory: 19865, loss_cls: 0.1171, loss_bbox: 0.3035, loss_traj: 0.6059, loss_traj_cls: 0.0017, loss_map_cls: 0.1112, loss_map_pts: 0.5791, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.6288, d0.loss_plan_l1_fix_dist: 0.5312, d1.loss_plan_l1_fix_time: 0.9512, d1.loss_plan_l1_fix_dist: 0.2093, d2.loss_plan_l1_fix_time: 0.9344, d2.loss_plan_l1_fix_dist: 0.2001, d3.loss_plan_l1_fix_time: 0.9292, d3.loss_plan_l1_fix_dist: 0.2422, d4.loss_plan_l1_fix_time: 0.9315, d4.loss_plan_l1_fix_dist: 0.2140, d5.loss_plan_l1_fix_time: 0.9350, d5.loss_plan_l1_fix_dist: 0.2143, d6.loss_plan_l1_fix_time: 0.9389, d6.loss_plan_l1_fix_dist: 0.2224, d0.loss_cls_all: 0.1523, d0.loss_bbox_all: 0.3702, d0.loss_cls: 0.1523, d0.loss_bbox: 0.3702, d1.loss_cls: 0.1488, d1.loss_bbox: 0.3353, d2.loss_cls: 0.1361, d2.loss_bbox: 0.3139, d3.loss_cls: 0.1229, d3.loss_bbox: 0.3064, d4.loss_cls: 0.1192, d4.loss_bbox: 0.3048, d5.loss_cls: 0.1161, d5.loss_bbox: 0.3047, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8135, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6748, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6248, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6106, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6048, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6036, d0.loss_map_cls_all: 0.1913, d0.loss_map_pts_all: 1.1867, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1913, d0.loss_map_pts: 1.1867, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1563, d1.loss_map_pts: 0.8167, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1349, d2.loss_map_pts: 0.6599, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1226, d3.loss_map_pts: 0.6060, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1183, d4.loss_map_pts: 0.5848, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1129, d5.loss_map_pts: 0.5797, d5.loss_map_dir: 0.0074, loss: 25.6983, grad_norm: 171.7594 +2026-02-28 02:38:53,418 - DriveTransformer - INFO - Epoch [8][39450/39528] lr: 8.063e-05, eta: 5 days, 8:27:38, time: 0.704, data_time: 0.035, memory: 19865, loss_cls: 0.1097, loss_bbox: 0.2993, loss_traj: 0.5675, loss_traj_cls: 0.0017, loss_map_cls: 0.1002, loss_map_pts: 0.5221, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.1543, d0.loss_plan_l1_fix_dist: 0.3812, d1.loss_plan_l1_fix_time: 0.8495, d1.loss_plan_l1_fix_dist: 0.1855, d2.loss_plan_l1_fix_time: 0.8342, d2.loss_plan_l1_fix_dist: 0.1820, d3.loss_plan_l1_fix_time: 0.8362, d3.loss_plan_l1_fix_dist: 0.2205, d4.loss_plan_l1_fix_time: 0.8398, d4.loss_plan_l1_fix_dist: 0.2115, d5.loss_plan_l1_fix_time: 0.8439, d5.loss_plan_l1_fix_dist: 0.2152, d6.loss_plan_l1_fix_time: 0.8484, d6.loss_plan_l1_fix_dist: 0.2274, d0.loss_cls_all: 0.1433, d0.loss_bbox_all: 0.3599, d0.loss_cls: 0.1433, d0.loss_bbox: 0.3599, d1.loss_cls: 0.1402, d1.loss_bbox: 0.3255, d2.loss_cls: 0.1285, d2.loss_bbox: 0.3093, d3.loss_cls: 0.1118, d3.loss_bbox: 0.3060, d4.loss_cls: 0.1087, d4.loss_bbox: 0.3018, d5.loss_cls: 0.1090, d5.loss_bbox: 0.3002, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7713, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6406, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5878, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5789, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5782, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5736, d0.loss_map_cls_all: 0.1830, d0.loss_map_pts_all: 1.0336, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1830, d0.loss_map_pts: 1.0336, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1489, d1.loss_map_pts: 0.7260, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1258, d2.loss_map_pts: 0.5959, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1129, d3.loss_map_pts: 0.5436, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1070, d4.loss_map_pts: 0.5251, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1037, d5.loss_map_pts: 0.5220, d5.loss_map_dir: 0.0066, loss: 23.3086, grad_norm: 172.2648 +2026-02-28 02:39:29,548 - DriveTransformer - INFO - Epoch [8][39500/39528] lr: 8.063e-05, eta: 5 days, 8:26:58, time: 0.723, data_time: 0.038, memory: 19865, loss_cls: 0.1217, loss_bbox: 0.3144, loss_traj: 0.5307, loss_traj_cls: 0.0017, loss_map_cls: 0.1164, loss_map_pts: 0.5574, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.5119, d0.loss_plan_l1_fix_dist: 0.4294, d1.loss_plan_l1_fix_time: 0.8805, d1.loss_plan_l1_fix_dist: 0.1924, d2.loss_plan_l1_fix_time: 0.8802, d2.loss_plan_l1_fix_dist: 0.1930, d3.loss_plan_l1_fix_time: 0.8858, d3.loss_plan_l1_fix_dist: 0.2119, d4.loss_plan_l1_fix_time: 0.8896, d4.loss_plan_l1_fix_dist: 0.1982, d5.loss_plan_l1_fix_time: 0.8935, d5.loss_plan_l1_fix_dist: 0.2063, d6.loss_plan_l1_fix_time: 0.8986, d6.loss_plan_l1_fix_dist: 0.2353, d0.loss_cls_all: 0.1655, d0.loss_bbox_all: 0.3811, d0.loss_cls: 0.1655, d0.loss_bbox: 0.3811, d1.loss_cls: 0.1635, d1.loss_bbox: 0.3492, d2.loss_cls: 0.1456, d2.loss_bbox: 0.3289, d3.loss_cls: 0.1294, d3.loss_bbox: 0.3206, d4.loss_cls: 0.1232, d4.loss_bbox: 0.3175, d5.loss_cls: 0.1215, d5.loss_bbox: 0.3151, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7172, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5847, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5436, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5333, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5326, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5301, d0.loss_map_cls_all: 0.1940, d0.loss_map_pts_all: 1.1120, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1940, d0.loss_map_pts: 1.1120, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1638, d1.loss_map_pts: 0.7679, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1402, d2.loss_map_pts: 0.6300, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1288, d3.loss_map_pts: 0.5838, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1235, d4.loss_map_pts: 0.5670, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1186, d5.loss_map_pts: 0.5572, d5.loss_map_dir: 0.0075, loss: 24.4539, grad_norm: 173.3649 +2026-02-28 02:39:48,347 - DriveTransformer - INFO - Saving checkpoint at 8 epochs +2026-02-28 02:40:35,030 - DriveTransformer - INFO - Epoch [9][50/39528] lr: 7.525e-05, eta: 5 days, 8:24:22, time: 0.892, data_time: 0.184, memory: 19865, loss_cls: 0.1121, loss_bbox: 0.3121, loss_traj: 0.5230, loss_traj_cls: 0.0016, loss_map_cls: 0.1264, loss_map_pts: 0.5875, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.5031, d0.loss_plan_l1_fix_dist: 0.4344, d1.loss_plan_l1_fix_time: 0.8322, d1.loss_plan_l1_fix_dist: 0.1817, d2.loss_plan_l1_fix_time: 0.8154, d2.loss_plan_l1_fix_dist: 0.1788, d3.loss_plan_l1_fix_time: 0.8139, d3.loss_plan_l1_fix_dist: 0.1858, d4.loss_plan_l1_fix_time: 0.8178, d4.loss_plan_l1_fix_dist: 0.1907, d5.loss_plan_l1_fix_time: 0.8216, d5.loss_plan_l1_fix_dist: 0.1979, d6.loss_plan_l1_fix_time: 0.8253, d6.loss_plan_l1_fix_dist: 0.2057, d0.loss_cls_all: 0.1559, d0.loss_bbox_all: 0.3719, d0.loss_cls: 0.1559, d0.loss_bbox: 0.3719, d1.loss_cls: 0.1467, d1.loss_bbox: 0.3375, d2.loss_cls: 0.1335, d2.loss_bbox: 0.3201, d3.loss_cls: 0.1207, d3.loss_bbox: 0.3148, d4.loss_cls: 0.1136, d4.loss_bbox: 0.3134, d5.loss_cls: 0.1117, d5.loss_bbox: 0.3126, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6835, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5719, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5463, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5339, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5293, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5234, d0.loss_map_cls_all: 0.2151, d0.loss_map_pts_all: 1.2212, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2151, d0.loss_map_pts: 1.2212, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1756, d1.loss_map_pts: 0.8339, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1521, d2.loss_map_pts: 0.6709, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1420, d3.loss_map_pts: 0.6136, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1359, d4.loss_map_pts: 0.5942, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1279, d5.loss_map_pts: 0.5885, d5.loss_map_dir: 0.0076, loss: 24.3089, grad_norm: 258.5253 +2026-02-28 02:41:11,471 - DriveTransformer - INFO - Epoch [9][100/39528] lr: 7.525e-05, eta: 5 days, 8:23:45, time: 0.729, data_time: 0.030, memory: 19865, loss_cls: 0.1164, loss_bbox: 0.3269, loss_traj: 0.4800, loss_traj_cls: 0.0016, loss_map_cls: 0.1234, loss_map_pts: 0.5861, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.4184, d0.loss_plan_l1_fix_dist: 0.4190, d1.loss_plan_l1_fix_time: 0.8364, d1.loss_plan_l1_fix_dist: 0.1991, d2.loss_plan_l1_fix_time: 0.8217, d2.loss_plan_l1_fix_dist: 0.2105, d3.loss_plan_l1_fix_time: 0.8188, d3.loss_plan_l1_fix_dist: 0.2131, d4.loss_plan_l1_fix_time: 0.8249, d4.loss_plan_l1_fix_dist: 0.2280, d5.loss_plan_l1_fix_time: 0.8319, d5.loss_plan_l1_fix_dist: 0.2480, d6.loss_plan_l1_fix_time: 0.8377, d6.loss_plan_l1_fix_dist: 0.2704, d0.loss_cls_all: 0.1555, d0.loss_bbox_all: 0.3812, d0.loss_cls: 0.1555, d0.loss_bbox: 0.3812, d1.loss_cls: 0.1485, d1.loss_bbox: 0.3487, d2.loss_cls: 0.1362, d2.loss_bbox: 0.3283, d3.loss_cls: 0.1231, d3.loss_bbox: 0.3256, d4.loss_cls: 0.1183, d4.loss_bbox: 0.3247, d5.loss_cls: 0.1163, d5.loss_bbox: 0.3249, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6678, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5330, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4948, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4814, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4812, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4807, d0.loss_map_cls_all: 0.2048, d0.loss_map_pts_all: 1.2450, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2048, d0.loss_map_pts: 1.2450, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1700, d1.loss_map_pts: 0.8534, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1454, d2.loss_map_pts: 0.6735, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1359, d3.loss_map_pts: 0.6139, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1286, d4.loss_map_pts: 0.5936, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1242, d5.loss_map_pts: 0.5859, d5.loss_map_dir: 0.0077, loss: 24.3091, grad_norm: 397.1751 +2026-02-28 02:41:47,413 - DriveTransformer - INFO - Epoch [9][150/39528] lr: 7.525e-05, eta: 5 days, 8:23:03, time: 0.719, data_time: 0.032, memory: 19865, loss_cls: 0.1412, loss_bbox: 0.3360, loss_traj: 0.5497, loss_traj_cls: 0.0016, loss_map_cls: 0.1168, loss_map_pts: 0.5753, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.9328, d0.loss_plan_l1_fix_dist: 0.4696, d1.loss_plan_l1_fix_time: 0.9666, d1.loss_plan_l1_fix_dist: 0.1854, d2.loss_plan_l1_fix_time: 0.9364, d2.loss_plan_l1_fix_dist: 0.2100, d3.loss_plan_l1_fix_time: 0.9262, d3.loss_plan_l1_fix_dist: 0.2095, d4.loss_plan_l1_fix_time: 0.9302, d4.loss_plan_l1_fix_dist: 0.2172, d5.loss_plan_l1_fix_time: 0.9351, d5.loss_plan_l1_fix_dist: 0.2375, d6.loss_plan_l1_fix_time: 0.9398, d6.loss_plan_l1_fix_dist: 0.2729, d0.loss_cls_all: 0.1816, d0.loss_bbox_all: 0.3949, d0.loss_cls: 0.1816, d0.loss_bbox: 0.3949, d1.loss_cls: 0.1721, d1.loss_bbox: 0.3619, d2.loss_cls: 0.1616, d2.loss_bbox: 0.3416, d3.loss_cls: 0.1468, d3.loss_bbox: 0.3375, d4.loss_cls: 0.1429, d4.loss_bbox: 0.3351, d5.loss_cls: 0.1407, d5.loss_bbox: 0.3353, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7775, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6027, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5533, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5391, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5416, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5460, d0.loss_map_cls_all: 0.2003, d0.loss_map_pts_all: 1.1674, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2003, d0.loss_map_pts: 1.1674, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1682, d1.loss_map_pts: 0.8414, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1430, d2.loss_map_pts: 0.6762, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1303, d3.loss_map_pts: 0.6073, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1235, d4.loss_map_pts: 0.5833, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1181, d5.loss_map_pts: 0.5767, d5.loss_map_dir: 0.0067, loss: 26.0396, grad_norm: 330.4626 +2026-02-28 02:42:22,546 - DriveTransformer - INFO - Epoch [9][200/39528] lr: 7.525e-05, eta: 5 days, 8:22:16, time: 0.703, data_time: 0.036, memory: 19865, loss_cls: 0.1293, loss_bbox: 0.3310, loss_traj: 0.5634, loss_traj_cls: 0.0015, loss_map_cls: 0.1583, loss_map_pts: 0.6674, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.7339, d0.loss_plan_l1_fix_dist: 0.4338, d1.loss_plan_l1_fix_time: 0.9497, d1.loss_plan_l1_fix_dist: 0.1805, d2.loss_plan_l1_fix_time: 0.9284, d2.loss_plan_l1_fix_dist: 0.2130, d3.loss_plan_l1_fix_time: 0.9270, d3.loss_plan_l1_fix_dist: 0.2085, d4.loss_plan_l1_fix_time: 0.9310, d4.loss_plan_l1_fix_dist: 0.2108, d5.loss_plan_l1_fix_time: 0.9352, d5.loss_plan_l1_fix_dist: 0.2158, d6.loss_plan_l1_fix_time: 0.9396, d6.loss_plan_l1_fix_dist: 0.2307, d0.loss_cls_all: 0.1726, d0.loss_bbox_all: 0.3957, d0.loss_cls: 0.1726, d0.loss_bbox: 0.3957, d1.loss_cls: 0.1670, d1.loss_bbox: 0.3602, d2.loss_cls: 0.1524, d2.loss_bbox: 0.3422, d3.loss_cls: 0.1381, d3.loss_bbox: 0.3352, d4.loss_cls: 0.1305, d4.loss_bbox: 0.3336, d5.loss_cls: 0.1297, d5.loss_bbox: 0.3321, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8242, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6457, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5884, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5775, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5685, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5669, d0.loss_map_cls_all: 0.2440, d0.loss_map_pts_all: 1.2848, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2440, d0.loss_map_pts: 1.2848, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.2119, d1.loss_map_pts: 0.9569, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1868, d2.loss_map_pts: 0.7783, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1739, d3.loss_map_pts: 0.7069, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1684, d4.loss_map_pts: 0.6743, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1595, d5.loss_map_pts: 0.6678, d5.loss_map_dir: 0.0071, loss: 27.0202, grad_norm: 269.0301 +2026-02-28 02:43:00,545 - DriveTransformer - INFO - Epoch [9][250/39528] lr: 7.525e-05, eta: 5 days, 8:21:51, time: 0.760, data_time: 0.036, memory: 19865, loss_cls: 0.1121, loss_bbox: 0.3185, loss_traj: 0.5554, loss_traj_cls: 0.0016, loss_map_cls: 0.1330, loss_map_pts: 0.6457, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.5536, d0.loss_plan_l1_fix_dist: 0.5144, d1.loss_plan_l1_fix_time: 1.0485, d1.loss_plan_l1_fix_dist: 0.1798, d2.loss_plan_l1_fix_time: 1.0402, d2.loss_plan_l1_fix_dist: 0.2176, d3.loss_plan_l1_fix_time: 1.0430, d3.loss_plan_l1_fix_dist: 0.2096, d4.loss_plan_l1_fix_time: 1.0478, d4.loss_plan_l1_fix_dist: 0.2211, d5.loss_plan_l1_fix_time: 1.0523, d5.loss_plan_l1_fix_dist: 0.2309, d6.loss_plan_l1_fix_time: 1.0577, d6.loss_plan_l1_fix_dist: 0.2494, d0.loss_cls_all: 0.1564, d0.loss_bbox_all: 0.3881, d0.loss_cls: 0.1564, d0.loss_bbox: 0.3881, d1.loss_cls: 0.1467, d1.loss_bbox: 0.3521, d2.loss_cls: 0.1366, d2.loss_bbox: 0.3306, d3.loss_cls: 0.1222, d3.loss_bbox: 0.3227, d4.loss_cls: 0.1133, d4.loss_bbox: 0.3213, d5.loss_cls: 0.1131, d5.loss_bbox: 0.3191, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7725, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6265, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5718, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5542, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5545, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5550, d0.loss_map_cls_all: 0.2231, d0.loss_map_pts_all: 1.3511, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2231, d0.loss_map_pts: 1.3511, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1857, d1.loss_map_pts: 0.9462, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1591, d2.loss_map_pts: 0.7537, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1472, d3.loss_map_pts: 0.6818, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1389, d4.loss_map_pts: 0.6575, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1346, d5.loss_map_pts: 0.6478, d5.loss_map_dir: 0.0083, loss: 27.1020, grad_norm: 260.6816 +2026-02-28 02:43:36,696 - DriveTransformer - INFO - Epoch [9][300/39528] lr: 7.525e-05, eta: 5 days, 8:21:11, time: 0.723, data_time: 0.037, memory: 19865, loss_cls: 0.1197, loss_bbox: 0.3266, loss_traj: 0.5643, loss_traj_cls: 0.0016, loss_map_cls: 0.1109, loss_map_pts: 0.5150, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.8793, d0.loss_plan_l1_fix_dist: 0.4407, d1.loss_plan_l1_fix_time: 0.9027, d1.loss_plan_l1_fix_dist: 0.1771, d2.loss_plan_l1_fix_time: 0.8915, d2.loss_plan_l1_fix_dist: 0.2140, d3.loss_plan_l1_fix_time: 0.8829, d3.loss_plan_l1_fix_dist: 0.1965, d4.loss_plan_l1_fix_time: 0.8855, d4.loss_plan_l1_fix_dist: 0.2066, d5.loss_plan_l1_fix_time: 0.8890, d5.loss_plan_l1_fix_dist: 0.2105, d6.loss_plan_l1_fix_time: 0.8931, d6.loss_plan_l1_fix_dist: 0.2263, d0.loss_cls_all: 0.1606, d0.loss_bbox_all: 0.3925, d0.loss_cls: 0.1606, d0.loss_bbox: 0.3925, d1.loss_cls: 0.1561, d1.loss_bbox: 0.3588, d2.loss_cls: 0.1433, d2.loss_bbox: 0.3400, d3.loss_cls: 0.1263, d3.loss_bbox: 0.3337, d4.loss_cls: 0.1201, d4.loss_bbox: 0.3303, d5.loss_cls: 0.1192, d5.loss_bbox: 0.3280, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8140, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6258, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5832, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5666, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5645, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5613, d0.loss_map_cls_all: 0.1782, d0.loss_map_pts_all: 1.1111, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1782, d0.loss_map_pts: 1.1111, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1528, d1.loss_map_pts: 0.7722, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1316, d2.loss_map_pts: 0.6043, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1222, d3.loss_map_pts: 0.5434, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1168, d4.loss_map_pts: 0.5214, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1121, d5.loss_map_pts: 0.5162, d5.loss_map_dir: 0.0064, loss: 24.9362, grad_norm: 231.4157 +2026-02-28 02:44:11,738 - DriveTransformer - INFO - Epoch [9][350/39528] lr: 7.525e-05, eta: 5 days, 8:20:22, time: 0.701, data_time: 0.033, memory: 19865, loss_cls: 0.1289, loss_bbox: 0.3157, loss_traj: 0.6148, loss_traj_cls: 0.0015, loss_map_cls: 0.1455, loss_map_pts: 0.5854, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.7007, d0.loss_plan_l1_fix_dist: 0.4074, d1.loss_plan_l1_fix_time: 0.9681, d1.loss_plan_l1_fix_dist: 0.1803, d2.loss_plan_l1_fix_time: 0.9542, d2.loss_plan_l1_fix_dist: 0.2197, d3.loss_plan_l1_fix_time: 0.9522, d3.loss_plan_l1_fix_dist: 0.1991, d4.loss_plan_l1_fix_time: 0.9550, d4.loss_plan_l1_fix_dist: 0.2109, d5.loss_plan_l1_fix_time: 0.9585, d5.loss_plan_l1_fix_dist: 0.2102, d6.loss_plan_l1_fix_time: 0.9623, d6.loss_plan_l1_fix_dist: 0.2222, d0.loss_cls_all: 0.1800, d0.loss_bbox_all: 0.3788, d0.loss_cls: 0.1800, d0.loss_bbox: 0.3788, d1.loss_cls: 0.1687, d1.loss_bbox: 0.3465, d2.loss_cls: 0.1555, d2.loss_bbox: 0.3267, d3.loss_cls: 0.1367, d3.loss_bbox: 0.3181, d4.loss_cls: 0.1310, d4.loss_bbox: 0.3167, d5.loss_cls: 0.1288, d5.loss_bbox: 0.3151, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8222, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6537, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6209, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6080, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6108, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6089, d0.loss_map_cls_all: 0.2219, d0.loss_map_pts_all: 1.1711, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2219, d0.loss_map_pts: 1.1711, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1924, d1.loss_map_pts: 0.8388, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1684, d2.loss_map_pts: 0.6765, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1562, d3.loss_map_pts: 0.6148, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1503, d4.loss_map_pts: 0.5928, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1457, d5.loss_map_pts: 0.5878, d5.loss_map_dir: 0.0064, loss: 26.2439, grad_norm: 217.2393 +2026-02-28 02:44:47,334 - DriveTransformer - INFO - Epoch [9][400/39528] lr: 7.525e-05, eta: 5 days, 8:19:38, time: 0.712, data_time: 0.033, memory: 19865, loss_cls: 0.1164, loss_bbox: 0.3199, loss_traj: 0.6009, loss_traj_cls: 0.0017, loss_map_cls: 0.1006, loss_map_pts: 0.5525, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.4241, d0.loss_plan_l1_fix_dist: 0.4027, d1.loss_plan_l1_fix_time: 0.8000, d1.loss_plan_l1_fix_dist: 0.1592, d2.loss_plan_l1_fix_time: 0.7780, d2.loss_plan_l1_fix_dist: 0.2218, d3.loss_plan_l1_fix_time: 0.7714, d3.loss_plan_l1_fix_dist: 0.2155, d4.loss_plan_l1_fix_time: 0.7759, d4.loss_plan_l1_fix_dist: 0.2216, d5.loss_plan_l1_fix_time: 0.7820, d5.loss_plan_l1_fix_dist: 0.2320, d6.loss_plan_l1_fix_time: 0.7893, d6.loss_plan_l1_fix_dist: 0.2458, d0.loss_cls_all: 0.1529, d0.loss_bbox_all: 0.3809, d0.loss_cls: 0.1529, d0.loss_bbox: 0.3809, d1.loss_cls: 0.1492, d1.loss_bbox: 0.3469, d2.loss_cls: 0.1363, d2.loss_bbox: 0.3292, d3.loss_cls: 0.1217, d3.loss_bbox: 0.3232, d4.loss_cls: 0.1178, d4.loss_bbox: 0.3211, d5.loss_cls: 0.1163, d5.loss_bbox: 0.3203, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8815, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6763, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6075, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5949, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5967, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5949, d0.loss_map_cls_all: 0.1729, d0.loss_map_pts_all: 1.1577, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1729, d0.loss_map_pts: 1.1577, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1444, d1.loss_map_pts: 0.8192, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1212, d2.loss_map_pts: 0.6616, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1118, d3.loss_map_pts: 0.5900, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1065, d4.loss_map_pts: 0.5609, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1009, d5.loss_map_pts: 0.5533, d5.loss_map_dir: 0.0067, loss: 24.3005, grad_norm: 217.0611 +2026-02-28 02:45:24,558 - DriveTransformer - INFO - Epoch [9][450/39528] lr: 7.525e-05, eta: 5 days, 8:19:07, time: 0.744, data_time: 0.033, memory: 19865, loss_cls: 0.1315, loss_bbox: 0.3426, loss_traj: 0.6554, loss_traj_cls: 0.0017, loss_map_cls: 0.1461, loss_map_pts: 0.6478, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.5907, d0.loss_plan_l1_fix_dist: 0.4464, d1.loss_plan_l1_fix_time: 0.9236, d1.loss_plan_l1_fix_dist: 0.1996, d2.loss_plan_l1_fix_time: 0.9114, d2.loss_plan_l1_fix_dist: 0.2327, d3.loss_plan_l1_fix_time: 0.9117, d3.loss_plan_l1_fix_dist: 0.2357, d4.loss_plan_l1_fix_time: 0.9162, d4.loss_plan_l1_fix_dist: 0.2231, d5.loss_plan_l1_fix_time: 0.9217, d5.loss_plan_l1_fix_dist: 0.2373, d6.loss_plan_l1_fix_time: 0.9277, d6.loss_plan_l1_fix_dist: 0.2615, d0.loss_cls_all: 0.1773, d0.loss_bbox_all: 0.4012, d0.loss_cls: 0.1773, d0.loss_bbox: 0.4012, d1.loss_cls: 0.1701, d1.loss_bbox: 0.3640, d2.loss_cls: 0.1569, d2.loss_bbox: 0.3446, d3.loss_cls: 0.1406, d3.loss_bbox: 0.3420, d4.loss_cls: 0.1344, d4.loss_bbox: 0.3407, d5.loss_cls: 0.1311, d5.loss_bbox: 0.3430, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8857, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7007, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6578, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6431, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6430, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6493, d0.loss_map_cls_all: 0.2211, d0.loss_map_pts_all: 1.2907, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2211, d0.loss_map_pts: 1.2907, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1919, d1.loss_map_pts: 0.9196, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1703, d2.loss_map_pts: 0.7427, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1588, d3.loss_map_pts: 0.6776, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1517, d4.loss_map_pts: 0.6560, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1471, d5.loss_map_pts: 0.6485, d5.loss_map_dir: 0.0083, loss: 27.2248, grad_norm: 205.4399 +2026-02-28 02:46:00,462 - DriveTransformer - INFO - Epoch [9][500/39528] lr: 7.525e-05, eta: 5 days, 8:18:25, time: 0.718, data_time: 0.037, memory: 19865, loss_cls: 0.1136, loss_bbox: 0.3059, loss_traj: 0.5358, loss_traj_cls: 0.0017, loss_map_cls: 0.1121, loss_map_pts: 0.5249, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.6975, d0.loss_plan_l1_fix_dist: 0.3848, d1.loss_plan_l1_fix_time: 0.9378, d1.loss_plan_l1_fix_dist: 0.2418, d2.loss_plan_l1_fix_time: 0.9179, d2.loss_plan_l1_fix_dist: 0.2481, d3.loss_plan_l1_fix_time: 0.9227, d3.loss_plan_l1_fix_dist: 0.2508, d4.loss_plan_l1_fix_time: 0.9275, d4.loss_plan_l1_fix_dist: 0.2373, d5.loss_plan_l1_fix_time: 0.9318, d5.loss_plan_l1_fix_dist: 0.2552, d6.loss_plan_l1_fix_time: 0.9369, d6.loss_plan_l1_fix_dist: 0.2909, d0.loss_cls_all: 0.1500, d0.loss_bbox_all: 0.3596, d0.loss_cls: 0.1500, d0.loss_bbox: 0.3596, d1.loss_cls: 0.1432, d1.loss_bbox: 0.3314, d2.loss_cls: 0.1301, d2.loss_bbox: 0.3140, d3.loss_cls: 0.1172, d3.loss_bbox: 0.3098, d4.loss_cls: 0.1131, d4.loss_bbox: 0.3090, d5.loss_cls: 0.1118, d5.loss_bbox: 0.3072, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7536, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5890, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5439, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5323, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5331, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5353, d0.loss_map_cls_all: 0.1860, d0.loss_map_pts_all: 1.1244, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1860, d0.loss_map_pts: 1.1244, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1511, d1.loss_map_pts: 0.7490, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1316, d2.loss_map_pts: 0.5963, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1214, d3.loss_map_pts: 0.5455, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1152, d4.loss_map_pts: 0.5308, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1129, d5.loss_map_pts: 0.5260, d5.loss_map_dir: 0.0071, loss: 24.7300, grad_norm: 201.6625 +2026-02-28 02:46:36,879 - DriveTransformer - INFO - Epoch [9][550/39528] lr: 7.525e-05, eta: 5 days, 8:17:48, time: 0.728, data_time: 0.033, memory: 19865, loss_cls: 0.1290, loss_bbox: 0.3316, loss_traj: 0.5953, loss_traj_cls: 0.0017, loss_map_cls: 0.1302, loss_map_pts: 0.6221, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 3.0148, d0.loss_plan_l1_fix_dist: 0.4398, d1.loss_plan_l1_fix_time: 0.9381, d1.loss_plan_l1_fix_dist: 0.2405, d2.loss_plan_l1_fix_time: 0.9229, d2.loss_plan_l1_fix_dist: 0.2346, d3.loss_plan_l1_fix_time: 0.9236, d3.loss_plan_l1_fix_dist: 0.2474, d4.loss_plan_l1_fix_time: 0.9272, d4.loss_plan_l1_fix_dist: 0.2356, d5.loss_plan_l1_fix_time: 0.9307, d5.loss_plan_l1_fix_dist: 0.2498, d6.loss_plan_l1_fix_time: 0.9350, d6.loss_plan_l1_fix_dist: 0.2764, d0.loss_cls_all: 0.1787, d0.loss_bbox_all: 0.3855, d0.loss_cls: 0.1787, d0.loss_bbox: 0.3855, d1.loss_cls: 0.1682, d1.loss_bbox: 0.3557, d2.loss_cls: 0.1561, d2.loss_bbox: 0.3357, d3.loss_cls: 0.1360, d3.loss_bbox: 0.3314, d4.loss_cls: 0.1290, d4.loss_bbox: 0.3299, d5.loss_cls: 0.1268, d5.loss_bbox: 0.3309, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8094, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6345, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5970, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5863, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5886, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5961, d0.loss_map_cls_all: 0.2065, d0.loss_map_pts_all: 1.2665, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2065, d0.loss_map_pts: 1.2665, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1768, d1.loss_map_pts: 0.8819, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1547, d2.loss_map_pts: 0.7142, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1433, d3.loss_map_pts: 0.6509, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1361, d4.loss_map_pts: 0.6294, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1314, d5.loss_map_pts: 0.6237, d5.loss_map_dir: 0.0084, loss: 26.9250, grad_norm: 198.5880 +2026-02-28 02:47:12,785 - DriveTransformer - INFO - Epoch [9][600/39528] lr: 7.525e-05, eta: 5 days, 8:17:06, time: 0.718, data_time: 0.033, memory: 19865, loss_cls: 0.1086, loss_bbox: 0.3288, loss_traj: 0.6457, loss_traj_cls: 0.0017, loss_map_cls: 0.1402, loss_map_pts: 0.6253, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.3155, d0.loss_plan_l1_fix_dist: 0.3718, d1.loss_plan_l1_fix_time: 0.9551, d1.loss_plan_l1_fix_dist: 0.1975, d2.loss_plan_l1_fix_time: 0.9352, d2.loss_plan_l1_fix_dist: 0.1858, d3.loss_plan_l1_fix_time: 0.9283, d3.loss_plan_l1_fix_dist: 0.2042, d4.loss_plan_l1_fix_time: 0.9313, d4.loss_plan_l1_fix_dist: 0.2058, d5.loss_plan_l1_fix_time: 0.9346, d5.loss_plan_l1_fix_dist: 0.2245, d6.loss_plan_l1_fix_time: 0.9387, d6.loss_plan_l1_fix_dist: 0.2347, d0.loss_cls_all: 0.1556, d0.loss_bbox_all: 0.3768, d0.loss_cls: 0.1556, d0.loss_bbox: 0.3768, d1.loss_cls: 0.1477, d1.loss_bbox: 0.3457, d2.loss_cls: 0.1341, d2.loss_bbox: 0.3251, d3.loss_cls: 0.1171, d3.loss_bbox: 0.3228, d4.loss_cls: 0.1110, d4.loss_bbox: 0.3236, d5.loss_cls: 0.1088, d5.loss_bbox: 0.3261, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8893, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7123, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6488, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6353, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6346, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6450, d0.loss_map_cls_all: 0.2274, d0.loss_map_pts_all: 1.3004, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2274, d0.loss_map_pts: 1.3004, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1940, d1.loss_map_pts: 0.9111, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1653, d2.loss_map_pts: 0.7321, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1532, d3.loss_map_pts: 0.6597, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1460, d4.loss_map_pts: 0.6349, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1407, d5.loss_map_pts: 0.6273, d5.loss_map_dir: 0.0070, loss: 26.3849, grad_norm: 195.5229 +2026-02-28 02:47:48,547 - DriveTransformer - INFO - Epoch [9][650/39528] lr: 7.525e-05, eta: 5 days, 8:16:23, time: 0.715, data_time: 0.034, memory: 19865, loss_cls: 0.1208, loss_bbox: 0.3066, loss_traj: 0.5271, loss_traj_cls: 0.0017, loss_map_cls: 0.1284, loss_map_pts: 0.5327, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.8513, d0.loss_plan_l1_fix_dist: 0.3600, d1.loss_plan_l1_fix_time: 0.8989, d1.loss_plan_l1_fix_dist: 0.1971, d2.loss_plan_l1_fix_time: 0.8904, d2.loss_plan_l1_fix_dist: 0.1833, d3.loss_plan_l1_fix_time: 0.8894, d3.loss_plan_l1_fix_dist: 0.2012, d4.loss_plan_l1_fix_time: 0.8924, d4.loss_plan_l1_fix_dist: 0.1883, d5.loss_plan_l1_fix_time: 0.8963, d5.loss_plan_l1_fix_dist: 0.2031, d6.loss_plan_l1_fix_time: 0.9004, d6.loss_plan_l1_fix_dist: 0.2151, d0.loss_cls_all: 0.1646, d0.loss_bbox_all: 0.3659, d0.loss_cls: 0.1646, d0.loss_bbox: 0.3659, d1.loss_cls: 0.1518, d1.loss_bbox: 0.3332, d2.loss_cls: 0.1410, d2.loss_bbox: 0.3160, d3.loss_cls: 0.1273, d3.loss_bbox: 0.3093, d4.loss_cls: 0.1232, d4.loss_bbox: 0.3053, d5.loss_cls: 0.1204, d5.loss_bbox: 0.3077, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6981, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5640, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5407, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5277, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5262, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5241, d0.loss_map_cls_all: 0.1997, d0.loss_map_pts_all: 1.0722, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1997, d0.loss_map_pts: 1.0722, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1689, d1.loss_map_pts: 0.7456, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1500, d2.loss_map_pts: 0.6121, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1391, d3.loss_map_pts: 0.5625, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1347, d4.loss_map_pts: 0.5393, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1293, d5.loss_map_pts: 0.5334, d5.loss_map_dir: 0.0060, loss: 24.3727, grad_norm: 190.0729 +2026-02-28 02:48:25,217 - DriveTransformer - INFO - Epoch [9][700/39528] lr: 7.525e-05, eta: 5 days, 8:15:48, time: 0.733, data_time: 0.035, memory: 19865, loss_cls: 0.1163, loss_bbox: 0.3267, loss_traj: 0.5261, loss_traj_cls: 0.0017, loss_map_cls: 0.1423, loss_map_pts: 0.6565, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.4106, d0.loss_plan_l1_fix_dist: 0.3681, d1.loss_plan_l1_fix_time: 0.8131, d1.loss_plan_l1_fix_dist: 0.2007, d2.loss_plan_l1_fix_time: 0.8067, d2.loss_plan_l1_fix_dist: 0.1728, d3.loss_plan_l1_fix_time: 0.8030, d3.loss_plan_l1_fix_dist: 0.2072, d4.loss_plan_l1_fix_time: 0.8078, d4.loss_plan_l1_fix_dist: 0.1990, d5.loss_plan_l1_fix_time: 0.8128, d5.loss_plan_l1_fix_dist: 0.2067, d6.loss_plan_l1_fix_time: 0.8175, d6.loss_plan_l1_fix_dist: 0.2207, d0.loss_cls_all: 0.1632, d0.loss_bbox_all: 0.3861, d0.loss_cls: 0.1632, d0.loss_bbox: 0.3861, d1.loss_cls: 0.1558, d1.loss_bbox: 0.3530, d2.loss_cls: 0.1370, d2.loss_bbox: 0.3372, d3.loss_cls: 0.1217, d3.loss_bbox: 0.3307, d4.loss_cls: 0.1175, d4.loss_bbox: 0.3282, d5.loss_cls: 0.1153, d5.loss_bbox: 0.3276, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7489, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5933, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5447, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5319, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5246, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5235, d0.loss_map_cls_all: 0.2316, d0.loss_map_pts_all: 1.3907, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2316, d0.loss_map_pts: 1.3907, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1952, d1.loss_map_pts: 0.9348, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1661, d2.loss_map_pts: 0.7470, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1560, d3.loss_map_pts: 0.6845, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1486, d4.loss_map_pts: 0.6595, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1427, d5.loss_map_pts: 0.6568, d5.loss_map_dir: 0.0085, loss: 25.3120, grad_norm: 187.0739 +2026-02-28 02:49:01,682 - DriveTransformer - INFO - Epoch [9][750/39528] lr: 7.525e-05, eta: 5 days, 8:15:11, time: 0.729, data_time: 0.033, memory: 19865, loss_cls: 0.1060, loss_bbox: 0.2971, loss_traj: 0.5474, loss_traj_cls: 0.0018, loss_map_cls: 0.0906, loss_map_pts: 0.4979, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.6359, d0.loss_plan_l1_fix_dist: 0.5371, d1.loss_plan_l1_fix_time: 0.7750, d1.loss_plan_l1_fix_dist: 0.2310, d2.loss_plan_l1_fix_time: 0.7629, d2.loss_plan_l1_fix_dist: 0.2145, d3.loss_plan_l1_fix_time: 0.7603, d3.loss_plan_l1_fix_dist: 0.2153, d4.loss_plan_l1_fix_time: 0.7638, d4.loss_plan_l1_fix_dist: 0.2274, d5.loss_plan_l1_fix_time: 0.7683, d5.loss_plan_l1_fix_dist: 0.2250, d6.loss_plan_l1_fix_time: 0.7737, d6.loss_plan_l1_fix_dist: 0.2279, d0.loss_cls_all: 0.1443, d0.loss_bbox_all: 0.3557, d0.loss_cls: 0.1443, d0.loss_bbox: 0.3557, d1.loss_cls: 0.1436, d1.loss_bbox: 0.3234, d2.loss_cls: 0.1278, d2.loss_bbox: 0.3051, d3.loss_cls: 0.1121, d3.loss_bbox: 0.2991, d4.loss_cls: 0.1075, d4.loss_bbox: 0.2973, d5.loss_cls: 0.1049, d5.loss_bbox: 0.2971, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7257, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6077, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5643, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5472, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5442, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5441, d0.loss_map_cls_all: 0.1595, d0.loss_map_pts_all: 1.0776, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1595, d0.loss_map_pts: 1.0776, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1296, d1.loss_map_pts: 0.7308, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1099, d2.loss_map_pts: 0.5857, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1014, d3.loss_map_pts: 0.5280, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.0961, d4.loss_map_pts: 0.5037, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.0923, d5.loss_map_pts: 0.4992, d5.loss_map_dir: 0.0067, loss: 23.2170, grad_norm: 182.6788 +2026-02-28 02:49:37,364 - DriveTransformer - INFO - Epoch [9][800/39528] lr: 7.525e-05, eta: 5 days, 8:14:28, time: 0.715, data_time: 0.035, memory: 19865, loss_cls: 0.1126, loss_bbox: 0.3047, loss_traj: 0.5601, loss_traj_cls: 0.0018, loss_map_cls: 0.1329, loss_map_pts: 0.5730, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.4568, d0.loss_plan_l1_fix_dist: 0.3509, d1.loss_plan_l1_fix_time: 0.7985, d1.loss_plan_l1_fix_dist: 0.2154, d2.loss_plan_l1_fix_time: 0.7814, d2.loss_plan_l1_fix_dist: 0.2108, d3.loss_plan_l1_fix_time: 0.7837, d3.loss_plan_l1_fix_dist: 0.1843, d4.loss_plan_l1_fix_time: 0.7865, d4.loss_plan_l1_fix_dist: 0.2029, d5.loss_plan_l1_fix_time: 0.7896, d5.loss_plan_l1_fix_dist: 0.2000, d6.loss_plan_l1_fix_time: 0.7941, d6.loss_plan_l1_fix_dist: 0.2044, d0.loss_cls_all: 0.1544, d0.loss_bbox_all: 0.3632, d0.loss_cls: 0.1544, d0.loss_bbox: 0.3632, d1.loss_cls: 0.1489, d1.loss_bbox: 0.3274, d2.loss_cls: 0.1331, d2.loss_bbox: 0.3120, d3.loss_cls: 0.1184, d3.loss_bbox: 0.3092, d4.loss_cls: 0.1138, d4.loss_bbox: 0.3048, d5.loss_cls: 0.1117, d5.loss_bbox: 0.3048, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8465, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6364, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5847, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5686, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5629, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5579, d0.loss_map_cls_all: 0.2098, d0.loss_map_pts_all: 1.1956, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2098, d0.loss_map_pts: 1.1956, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1814, d1.loss_map_pts: 0.8248, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1588, d2.loss_map_pts: 0.6680, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1441, d3.loss_map_pts: 0.6057, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1383, d4.loss_map_pts: 0.5816, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1337, d5.loss_map_pts: 0.5738, d5.loss_map_dir: 0.0071, loss: 24.3022, grad_norm: 176.2305 +2026-02-28 02:50:13,126 - DriveTransformer - INFO - Epoch [9][850/39528] lr: 7.525e-05, eta: 5 days, 8:13:45, time: 0.714, data_time: 0.033, memory: 19865, loss_cls: 0.1256, loss_bbox: 0.3129, loss_traj: 0.5719, loss_traj_cls: 0.0017, loss_map_cls: 0.1173, loss_map_pts: 0.5402, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.8646, d0.loss_plan_l1_fix_dist: 0.4641, d1.loss_plan_l1_fix_time: 0.9040, d1.loss_plan_l1_fix_dist: 0.2471, d2.loss_plan_l1_fix_time: 0.8954, d2.loss_plan_l1_fix_dist: 0.2837, d3.loss_plan_l1_fix_time: 0.8895, d3.loss_plan_l1_fix_dist: 0.2516, d4.loss_plan_l1_fix_time: 0.8930, d4.loss_plan_l1_fix_dist: 0.2415, d5.loss_plan_l1_fix_time: 0.8971, d5.loss_plan_l1_fix_dist: 0.2432, d6.loss_plan_l1_fix_time: 0.9012, d6.loss_plan_l1_fix_dist: 0.2578, d0.loss_cls_all: 0.1621, d0.loss_bbox_all: 0.3743, d0.loss_cls: 0.1621, d0.loss_bbox: 0.3743, d1.loss_cls: 0.1554, d1.loss_bbox: 0.3412, d2.loss_cls: 0.1449, d2.loss_bbox: 0.3227, d3.loss_cls: 0.1303, d3.loss_bbox: 0.3183, d4.loss_cls: 0.1247, d4.loss_bbox: 0.3153, d5.loss_cls: 0.1248, d5.loss_bbox: 0.3138, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7769, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6263, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5936, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5773, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5740, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5727, d0.loss_map_cls_all: 0.1803, d0.loss_map_pts_all: 1.0903, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1803, d0.loss_map_pts: 1.0903, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1530, d1.loss_map_pts: 0.7743, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1347, d2.loss_map_pts: 0.6299, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1267, d3.loss_map_pts: 0.5718, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1226, d4.loss_map_pts: 0.5463, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1196, d5.loss_map_pts: 0.5402, d5.loss_map_dir: 0.0066, loss: 25.3052, grad_norm: 172.7398 +2026-02-28 02:50:50,778 - DriveTransformer - INFO - Epoch [9][900/39528] lr: 7.525e-05, eta: 5 days, 8:13:17, time: 0.753, data_time: 0.036, memory: 19865, loss_cls: 0.1182, loss_bbox: 0.3248, loss_traj: 0.6136, loss_traj_cls: 0.0017, loss_map_cls: 0.1363, loss_map_pts: 0.6044, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.5531, d0.loss_plan_l1_fix_dist: 0.4133, d1.loss_plan_l1_fix_time: 0.8770, d1.loss_plan_l1_fix_dist: 0.2355, d2.loss_plan_l1_fix_time: 0.8637, d2.loss_plan_l1_fix_dist: 0.2648, d3.loss_plan_l1_fix_time: 0.8693, d3.loss_plan_l1_fix_dist: 0.2348, d4.loss_plan_l1_fix_time: 0.8734, d4.loss_plan_l1_fix_dist: 0.2183, d5.loss_plan_l1_fix_time: 0.8774, d5.loss_plan_l1_fix_dist: 0.2216, d6.loss_plan_l1_fix_time: 0.8814, d6.loss_plan_l1_fix_dist: 0.2395, d0.loss_cls_all: 0.1632, d0.loss_bbox_all: 0.3802, d0.loss_cls: 0.1632, d0.loss_bbox: 0.3802, d1.loss_cls: 0.1584, d1.loss_bbox: 0.3451, d2.loss_cls: 0.1432, d2.loss_bbox: 0.3298, d3.loss_cls: 0.1259, d3.loss_bbox: 0.3259, d4.loss_cls: 0.1209, d4.loss_bbox: 0.3242, d5.loss_cls: 0.1184, d5.loss_bbox: 0.3242, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8288, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6770, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6232, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6073, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6071, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6091, d0.loss_map_cls_all: 0.2097, d0.loss_map_pts_all: 1.2722, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2097, d0.loss_map_pts: 1.2722, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1793, d1.loss_map_pts: 0.8517, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1601, d2.loss_map_pts: 0.6864, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1485, d3.loss_map_pts: 0.6322, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1421, d4.loss_map_pts: 0.6133, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1378, d5.loss_map_pts: 0.6057, d5.loss_map_dir: 0.0076, loss: 25.9619, grad_norm: 167.8175 +2026-02-28 02:51:27,421 - DriveTransformer - INFO - Epoch [9][950/39528] lr: 7.525e-05, eta: 5 days, 8:12:41, time: 0.733, data_time: 0.035, memory: 19865, loss_cls: 0.1234, loss_bbox: 0.3334, loss_traj: 0.5222, loss_traj_cls: 0.0018, loss_map_cls: 0.1195, loss_map_pts: 0.6172, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.4879, d0.loss_plan_l1_fix_dist: 0.4629, d1.loss_plan_l1_fix_time: 0.9722, d1.loss_plan_l1_fix_dist: 0.2101, d2.loss_plan_l1_fix_time: 0.9570, d2.loss_plan_l1_fix_dist: 0.2502, d3.loss_plan_l1_fix_time: 0.9504, d3.loss_plan_l1_fix_dist: 0.2199, d4.loss_plan_l1_fix_time: 0.9520, d4.loss_plan_l1_fix_dist: 0.2156, d5.loss_plan_l1_fix_time: 0.9546, d5.loss_plan_l1_fix_dist: 0.2295, d6.loss_plan_l1_fix_time: 0.9579, d6.loss_plan_l1_fix_dist: 0.2404, d0.loss_cls_all: 0.1661, d0.loss_bbox_all: 0.3903, d0.loss_cls: 0.1661, d0.loss_bbox: 0.3903, d1.loss_cls: 0.1576, d1.loss_bbox: 0.3614, d2.loss_cls: 0.1458, d2.loss_bbox: 0.3420, d3.loss_cls: 0.1326, d3.loss_bbox: 0.3319, d4.loss_cls: 0.1270, d4.loss_bbox: 0.3302, d5.loss_cls: 0.1250, d5.loss_bbox: 0.3313, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7660, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6098, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5471, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5235, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5201, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5227, d0.loss_map_cls_all: 0.1937, d0.loss_map_pts_all: 1.1848, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1937, d0.loss_map_pts: 1.1848, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1600, d1.loss_map_pts: 0.8532, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1421, d2.loss_map_pts: 0.6920, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1303, d3.loss_map_pts: 0.6403, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1264, d4.loss_map_pts: 0.6223, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1205, d5.loss_map_pts: 0.6160, d5.loss_map_dir: 0.0078, loss: 25.6907, grad_norm: 166.4666 +2026-02-28 02:52:03,961 - DriveTransformer - INFO - Epoch [9][1000/39528] lr: 7.525e-05, eta: 5 days, 8:12:04, time: 0.731, data_time: 0.035, memory: 19865, loss_cls: 0.1195, loss_bbox: 0.3317, loss_traj: 0.6905, loss_traj_cls: 0.0017, loss_map_cls: 0.1324, loss_map_pts: 0.5730, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.8937, d0.loss_plan_l1_fix_dist: 0.3925, d1.loss_plan_l1_fix_time: 1.0797, d1.loss_plan_l1_fix_dist: 0.1988, d2.loss_plan_l1_fix_time: 1.0700, d2.loss_plan_l1_fix_dist: 0.2343, d3.loss_plan_l1_fix_time: 1.0656, d3.loss_plan_l1_fix_dist: 0.1983, d4.loss_plan_l1_fix_time: 1.0674, d4.loss_plan_l1_fix_dist: 0.1968, d5.loss_plan_l1_fix_time: 1.0698, d5.loss_plan_l1_fix_dist: 0.2147, d6.loss_plan_l1_fix_time: 1.0729, d6.loss_plan_l1_fix_dist: 0.2371, d0.loss_cls_all: 0.1611, d0.loss_bbox_all: 0.3845, d0.loss_cls: 0.1611, d0.loss_bbox: 0.3845, d1.loss_cls: 0.1561, d1.loss_bbox: 0.3488, d2.loss_cls: 0.1429, d2.loss_bbox: 0.3328, d3.loss_cls: 0.1280, d3.loss_bbox: 0.3303, d4.loss_cls: 0.1225, d4.loss_bbox: 0.3299, d5.loss_cls: 0.1192, d5.loss_bbox: 0.3313, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9496, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7631, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7116, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.7000, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6907, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6870, d0.loss_map_cls_all: 0.2098, d0.loss_map_pts_all: 1.1077, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2098, d0.loss_map_pts: 1.1077, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1797, d1.loss_map_pts: 0.7943, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1645, d2.loss_map_pts: 0.6581, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1471, d3.loss_map_pts: 0.6055, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1408, d4.loss_map_pts: 0.5819, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1356, d5.loss_map_pts: 0.5748, d5.loss_map_dir: 0.0070, loss: 27.4523, grad_norm: 163.3721 +2026-02-28 02:52:40,466 - DriveTransformer - INFO - Epoch [9][1050/39528] lr: 7.525e-05, eta: 5 days, 8:11:28, time: 0.730, data_time: 0.035, memory: 19865, loss_cls: 0.1123, loss_bbox: 0.3116, loss_traj: 0.5665, loss_traj_cls: 0.0018, loss_map_cls: 0.1215, loss_map_pts: 0.5579, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.6017, d0.loss_plan_l1_fix_dist: 0.5177, d1.loss_plan_l1_fix_time: 0.8739, d1.loss_plan_l1_fix_dist: 0.1956, d2.loss_plan_l1_fix_time: 0.8616, d2.loss_plan_l1_fix_dist: 0.2150, d3.loss_plan_l1_fix_time: 0.8507, d3.loss_plan_l1_fix_dist: 0.1879, d4.loss_plan_l1_fix_time: 0.8518, d4.loss_plan_l1_fix_dist: 0.1970, d5.loss_plan_l1_fix_time: 0.8540, d5.loss_plan_l1_fix_dist: 0.2102, d6.loss_plan_l1_fix_time: 0.8573, d6.loss_plan_l1_fix_dist: 0.2467, d0.loss_cls_all: 0.1610, d0.loss_bbox_all: 0.3703, d0.loss_cls: 0.1610, d0.loss_bbox: 0.3703, d1.loss_cls: 0.1480, d1.loss_bbox: 0.3400, d2.loss_cls: 0.1335, d2.loss_bbox: 0.3229, d3.loss_cls: 0.1189, d3.loss_bbox: 0.3176, d4.loss_cls: 0.1141, d4.loss_bbox: 0.3135, d5.loss_cls: 0.1131, d5.loss_bbox: 0.3113, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7977, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6712, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6007, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5811, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5748, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5690, d0.loss_map_cls_all: 0.1995, d0.loss_map_pts_all: 1.1684, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1995, d0.loss_map_pts: 1.1684, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1696, d1.loss_map_pts: 0.8121, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1451, d2.loss_map_pts: 0.6484, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1319, d3.loss_map_pts: 0.5896, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1286, d4.loss_map_pts: 0.5629, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1230, d5.loss_map_pts: 0.5590, d5.loss_map_dir: 0.0072, loss: 24.9507, grad_norm: 161.6867 +2026-02-28 02:53:18,844 - DriveTransformer - INFO - Epoch [9][1100/39528] lr: 7.525e-05, eta: 5 days, 8:11:05, time: 0.768, data_time: 0.038, memory: 19865, loss_cls: 0.1188, loss_bbox: 0.3156, loss_traj: 0.4990, loss_traj_cls: 0.0018, loss_map_cls: 0.1160, loss_map_pts: 0.6116, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.6988, d0.loss_plan_l1_fix_dist: 0.5270, d1.loss_plan_l1_fix_time: 0.8690, d1.loss_plan_l1_fix_dist: 0.2067, d2.loss_plan_l1_fix_time: 0.8530, d2.loss_plan_l1_fix_dist: 0.2031, d3.loss_plan_l1_fix_time: 0.8470, d3.loss_plan_l1_fix_dist: 0.1910, d4.loss_plan_l1_fix_time: 0.8494, d4.loss_plan_l1_fix_dist: 0.2046, d5.loss_plan_l1_fix_time: 0.8525, d5.loss_plan_l1_fix_dist: 0.2052, d6.loss_plan_l1_fix_time: 0.8560, d6.loss_plan_l1_fix_dist: 0.2160, d0.loss_cls_all: 0.1606, d0.loss_bbox_all: 0.3741, d0.loss_cls: 0.1606, d0.loss_bbox: 0.3741, d1.loss_cls: 0.1508, d1.loss_bbox: 0.3421, d2.loss_cls: 0.1371, d2.loss_bbox: 0.3221, d3.loss_cls: 0.1228, d3.loss_bbox: 0.3175, d4.loss_cls: 0.1211, d4.loss_bbox: 0.3134, d5.loss_cls: 0.1197, d5.loss_bbox: 0.3128, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6999, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5580, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5160, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5004, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5030, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5006, d0.loss_map_cls_all: 0.1873, d0.loss_map_pts_all: 1.1840, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1873, d0.loss_map_pts: 1.1840, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1561, d1.loss_map_pts: 0.8651, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1369, d2.loss_map_pts: 0.6999, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1250, d3.loss_map_pts: 0.6432, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1210, d4.loss_map_pts: 0.6204, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1164, d5.loss_map_pts: 0.6128, d5.loss_map_dir: 0.0084, loss: 24.7580, grad_norm: 161.6415 +2026-02-28 02:53:53,519 - DriveTransformer - INFO - Epoch [9][1150/39528] lr: 7.525e-05, eta: 5 days, 8:10:14, time: 0.693, data_time: 0.032, memory: 19865, loss_cls: 0.1183, loss_bbox: 0.3191, loss_traj: 0.5379, loss_traj_cls: 0.0018, loss_map_cls: 0.1427, loss_map_pts: 0.5942, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.2009, d0.loss_plan_l1_fix_dist: 0.4119, d1.loss_plan_l1_fix_time: 0.8794, d1.loss_plan_l1_fix_dist: 0.2068, d2.loss_plan_l1_fix_time: 0.8707, d2.loss_plan_l1_fix_dist: 0.1917, d3.loss_plan_l1_fix_time: 0.8729, d3.loss_plan_l1_fix_dist: 0.1804, d4.loss_plan_l1_fix_time: 0.8750, d4.loss_plan_l1_fix_dist: 0.1837, d5.loss_plan_l1_fix_time: 0.8776, d5.loss_plan_l1_fix_dist: 0.1929, d6.loss_plan_l1_fix_time: 0.8806, d6.loss_plan_l1_fix_dist: 0.1891, d0.loss_cls_all: 0.1663, d0.loss_bbox_all: 0.3806, d0.loss_cls: 0.1663, d0.loss_bbox: 0.3806, d1.loss_cls: 0.1560, d1.loss_bbox: 0.3482, d2.loss_cls: 0.1408, d2.loss_bbox: 0.3283, d3.loss_cls: 0.1277, d3.loss_bbox: 0.3201, d4.loss_cls: 0.1210, d4.loss_bbox: 0.3183, d5.loss_cls: 0.1191, d5.loss_bbox: 0.3172, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8294, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6147, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5708, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5495, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5410, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5389, d0.loss_map_cls_all: 0.2197, d0.loss_map_pts_all: 1.2347, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2197, d0.loss_map_pts: 1.2347, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1919, d1.loss_map_pts: 0.8757, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1714, d2.loss_map_pts: 0.7062, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1566, d3.loss_map_pts: 0.6337, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1486, d4.loss_map_pts: 0.6033, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1433, d5.loss_map_pts: 0.5959, d5.loss_map_dir: 0.0072, loss: 24.9585, grad_norm: 159.1529 +2026-02-28 02:54:31,334 - DriveTransformer - INFO - Epoch [9][1200/39528] lr: 7.525e-05, eta: 5 days, 8:09:48, time: 0.756, data_time: 0.035, memory: 19865, loss_cls: 0.1141, loss_bbox: 0.3218, loss_traj: 0.4992, loss_traj_cls: 0.0018, loss_map_cls: 0.1427, loss_map_pts: 0.6022, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.3458, d0.loss_plan_l1_fix_dist: 0.3967, d1.loss_plan_l1_fix_time: 0.7549, d1.loss_plan_l1_fix_dist: 0.2144, d2.loss_plan_l1_fix_time: 0.7340, d2.loss_plan_l1_fix_dist: 0.2020, d3.loss_plan_l1_fix_time: 0.7263, d3.loss_plan_l1_fix_dist: 0.1888, d4.loss_plan_l1_fix_time: 0.7276, d4.loss_plan_l1_fix_dist: 0.1867, d5.loss_plan_l1_fix_time: 0.7300, d5.loss_plan_l1_fix_dist: 0.1977, d6.loss_plan_l1_fix_time: 0.7339, d6.loss_plan_l1_fix_dist: 0.1987, d0.loss_cls_all: 0.1605, d0.loss_bbox_all: 0.3827, d0.loss_cls: 0.1605, d0.loss_bbox: 0.3827, d1.loss_cls: 0.1525, d1.loss_bbox: 0.3466, d2.loss_cls: 0.1390, d2.loss_bbox: 0.3280, d3.loss_cls: 0.1265, d3.loss_bbox: 0.3204, d4.loss_cls: 0.1184, d4.loss_bbox: 0.3204, d5.loss_cls: 0.1144, d5.loss_bbox: 0.3207, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7122, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5682, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5198, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5091, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5008, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4960, d0.loss_map_cls_all: 0.2183, d0.loss_map_pts_all: 1.2449, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2183, d0.loss_map_pts: 1.2449, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1865, d1.loss_map_pts: 0.8649, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1668, d2.loss_map_pts: 0.6990, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1542, d3.loss_map_pts: 0.6352, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1495, d4.loss_map_pts: 0.6101, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1446, d5.loss_map_pts: 0.6029, d5.loss_map_dir: 0.0077, loss: 23.9050, grad_norm: 159.5870 +2026-02-28 02:55:07,344 - DriveTransformer - INFO - Epoch [9][1250/39528] lr: 7.525e-05, eta: 5 days, 8:09:07, time: 0.720, data_time: 0.036, memory: 19865, loss_cls: 0.1194, loss_bbox: 0.3206, loss_traj: 0.5706, loss_traj_cls: 0.0018, loss_map_cls: 0.1360, loss_map_pts: 0.6299, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.5800, d0.loss_plan_l1_fix_dist: 0.4342, d1.loss_plan_l1_fix_time: 0.8313, d1.loss_plan_l1_fix_dist: 0.2376, d2.loss_plan_l1_fix_time: 0.8196, d2.loss_plan_l1_fix_dist: 0.2252, d3.loss_plan_l1_fix_time: 0.8259, d3.loss_plan_l1_fix_dist: 0.2211, d4.loss_plan_l1_fix_time: 0.8301, d4.loss_plan_l1_fix_dist: 0.2143, d5.loss_plan_l1_fix_time: 0.8345, d5.loss_plan_l1_fix_dist: 0.2228, d6.loss_plan_l1_fix_time: 0.8393, d6.loss_plan_l1_fix_dist: 0.2252, d0.loss_cls_all: 0.1653, d0.loss_bbox_all: 0.3909, d0.loss_cls: 0.1653, d0.loss_bbox: 0.3909, d1.loss_cls: 0.1604, d1.loss_bbox: 0.3511, d2.loss_cls: 0.1436, d2.loss_bbox: 0.3327, d3.loss_cls: 0.1276, d3.loss_bbox: 0.3241, d4.loss_cls: 0.1220, d4.loss_bbox: 0.3199, d5.loss_cls: 0.1205, d5.loss_bbox: 0.3188, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8264, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6452, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5898, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5810, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5746, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5700, d0.loss_map_cls_all: 0.2234, d0.loss_map_pts_all: 1.2779, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2234, d0.loss_map_pts: 1.2779, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1885, d1.loss_map_pts: 0.8967, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1671, d2.loss_map_pts: 0.7341, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1513, d3.loss_map_pts: 0.6659, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1426, d4.loss_map_pts: 0.6380, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1374, d5.loss_map_pts: 0.6312, d5.loss_map_dir: 0.0083, loss: 25.7642, grad_norm: 160.4303 +2026-02-28 02:55:43,049 - DriveTransformer - INFO - Epoch [9][1300/39528] lr: 7.525e-05, eta: 5 days, 8:08:24, time: 0.714, data_time: 0.035, memory: 19865, loss_cls: 0.1322, loss_bbox: 0.3312, loss_traj: 0.5308, loss_traj_cls: 0.0018, loss_map_cls: 0.1117, loss_map_pts: 0.5832, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.6188, d0.loss_plan_l1_fix_dist: 0.4687, d1.loss_plan_l1_fix_time: 0.8908, d1.loss_plan_l1_fix_dist: 0.2169, d2.loss_plan_l1_fix_time: 0.8716, d2.loss_plan_l1_fix_dist: 0.2034, d3.loss_plan_l1_fix_time: 0.8711, d3.loss_plan_l1_fix_dist: 0.2107, d4.loss_plan_l1_fix_time: 0.8730, d4.loss_plan_l1_fix_dist: 0.2130, d5.loss_plan_l1_fix_time: 0.8751, d5.loss_plan_l1_fix_dist: 0.2204, d6.loss_plan_l1_fix_time: 0.8773, d6.loss_plan_l1_fix_dist: 0.2277, d0.loss_cls_all: 0.1741, d0.loss_bbox_all: 0.4018, d0.loss_cls: 0.1741, d0.loss_bbox: 0.4018, d1.loss_cls: 0.1655, d1.loss_bbox: 0.3652, d2.loss_cls: 0.1536, d2.loss_bbox: 0.3443, d3.loss_cls: 0.1363, d3.loss_bbox: 0.3362, d4.loss_cls: 0.1322, d4.loss_bbox: 0.3322, d5.loss_cls: 0.1310, d5.loss_bbox: 0.3316, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7642, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5903, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5480, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5473, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5364, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5297, d0.loss_map_cls_all: 0.1986, d0.loss_map_pts_all: 1.1354, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1986, d0.loss_map_pts: 1.1354, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1625, d1.loss_map_pts: 0.8227, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1398, d2.loss_map_pts: 0.6734, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1269, d3.loss_map_pts: 0.6135, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1192, d4.loss_map_pts: 0.5921, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1140, d5.loss_map_pts: 0.5845, d5.loss_map_dir: 0.0068, loss: 25.1012, grad_norm: 160.9871 +2026-02-28 02:56:18,684 - DriveTransformer - INFO - Epoch [9][1350/39528] lr: 7.525e-05, eta: 5 days, 8:07:40, time: 0.713, data_time: 0.035, memory: 19865, loss_cls: 0.1159, loss_bbox: 0.3206, loss_traj: 0.5802, loss_traj_cls: 0.0018, loss_map_cls: 0.1310, loss_map_pts: 0.5768, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 3.0349, d0.loss_plan_l1_fix_dist: 0.4091, d1.loss_plan_l1_fix_time: 0.9886, d1.loss_plan_l1_fix_dist: 0.2076, d2.loss_plan_l1_fix_time: 0.9823, d2.loss_plan_l1_fix_dist: 0.1967, d3.loss_plan_l1_fix_time: 0.9859, d3.loss_plan_l1_fix_dist: 0.2037, d4.loss_plan_l1_fix_time: 0.9889, d4.loss_plan_l1_fix_dist: 0.2073, d5.loss_plan_l1_fix_time: 0.9922, d5.loss_plan_l1_fix_dist: 0.1968, d6.loss_plan_l1_fix_time: 0.9958, d6.loss_plan_l1_fix_dist: 0.2071, d0.loss_cls_all: 0.1590, d0.loss_bbox_all: 0.3890, d0.loss_cls: 0.1590, d0.loss_bbox: 0.3890, d1.loss_cls: 0.1487, d1.loss_bbox: 0.3522, d2.loss_cls: 0.1318, d2.loss_bbox: 0.3345, d3.loss_cls: 0.1188, d3.loss_bbox: 0.3267, d4.loss_cls: 0.1182, d4.loss_bbox: 0.3214, d5.loss_cls: 0.1178, d5.loss_bbox: 0.3203, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8170, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6476, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5983, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5885, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5799, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5797, d0.loss_map_cls_all: 0.2067, d0.loss_map_pts_all: 1.1038, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2067, d0.loss_map_pts: 1.1038, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1717, d1.loss_map_pts: 0.8099, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1514, d2.loss_map_pts: 0.6690, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1416, d3.loss_map_pts: 0.6061, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1352, d4.loss_map_pts: 0.5848, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1316, d5.loss_map_pts: 0.5774, d5.loss_map_dir: 0.0065, loss: 26.1761, grad_norm: 158.5663 +2026-02-28 02:56:55,573 - DriveTransformer - INFO - Epoch [9][1400/39528] lr: 7.525e-05, eta: 5 days, 8:07:06, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.1092, loss_bbox: 0.3201, loss_traj: 0.5651, loss_traj_cls: 0.0018, loss_map_cls: 0.1557, loss_map_pts: 0.6570, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.7180, d0.loss_plan_l1_fix_dist: 0.4825, d1.loss_plan_l1_fix_time: 0.8316, d1.loss_plan_l1_fix_dist: 0.2133, d2.loss_plan_l1_fix_time: 0.8202, d2.loss_plan_l1_fix_dist: 0.2107, d3.loss_plan_l1_fix_time: 0.8215, d3.loss_plan_l1_fix_dist: 0.2265, d4.loss_plan_l1_fix_time: 0.8242, d4.loss_plan_l1_fix_dist: 0.2275, d5.loss_plan_l1_fix_time: 0.8274, d5.loss_plan_l1_fix_dist: 0.2228, d6.loss_plan_l1_fix_time: 0.8310, d6.loss_plan_l1_fix_dist: 0.2355, d0.loss_cls_all: 0.1553, d0.loss_bbox_all: 0.3750, d0.loss_cls: 0.1553, d0.loss_bbox: 0.3750, d1.loss_cls: 0.1478, d1.loss_bbox: 0.3406, d2.loss_cls: 0.1353, d2.loss_bbox: 0.3215, d3.loss_cls: 0.1169, d3.loss_bbox: 0.3176, d4.loss_cls: 0.1113, d4.loss_bbox: 0.3172, d5.loss_cls: 0.1118, d5.loss_bbox: 0.3178, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7184, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6052, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5635, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5630, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5633, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5580, d0.loss_map_cls_all: 0.2229, d0.loss_map_pts_all: 1.2211, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2229, d0.loss_map_pts: 1.2211, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.2035, d1.loss_map_pts: 0.9072, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1806, d2.loss_map_pts: 0.7413, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1703, d3.loss_map_pts: 0.6814, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1627, d4.loss_map_pts: 0.6600, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1578, d5.loss_map_pts: 0.6572, d5.loss_map_dir: 0.0074, loss: 25.6438, grad_norm: 157.8519 +2026-02-28 02:57:32,681 - DriveTransformer - INFO - Epoch [9][1450/39528] lr: 7.525e-05, eta: 5 days, 8:06:34, time: 0.742, data_time: 0.035, memory: 19865, loss_cls: 0.1282, loss_bbox: 0.3353, loss_traj: 0.5638, loss_traj_cls: 0.0017, loss_map_cls: 0.1466, loss_map_pts: 0.6765, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.5428, d0.loss_plan_l1_fix_dist: 0.3400, d1.loss_plan_l1_fix_time: 0.9368, d1.loss_plan_l1_fix_dist: 0.1979, d2.loss_plan_l1_fix_time: 0.9292, d2.loss_plan_l1_fix_dist: 0.1993, d3.loss_plan_l1_fix_time: 0.9258, d3.loss_plan_l1_fix_dist: 0.2207, d4.loss_plan_l1_fix_time: 0.9280, d4.loss_plan_l1_fix_dist: 0.2095, d5.loss_plan_l1_fix_time: 0.9308, d5.loss_plan_l1_fix_dist: 0.2018, d6.loss_plan_l1_fix_time: 0.9344, d6.loss_plan_l1_fix_dist: 0.2015, d0.loss_cls_all: 0.1696, d0.loss_bbox_all: 0.3954, d0.loss_cls: 0.1696, d0.loss_bbox: 0.3954, d1.loss_cls: 0.1626, d1.loss_bbox: 0.3590, d2.loss_cls: 0.1483, d2.loss_bbox: 0.3442, d3.loss_cls: 0.1301, d3.loss_bbox: 0.3407, d4.loss_cls: 0.1293, d4.loss_bbox: 0.3351, d5.loss_cls: 0.1290, d5.loss_bbox: 0.3355, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7736, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6212, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5724, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5639, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5616, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5609, d0.loss_map_cls_all: 0.2306, d0.loss_map_pts_all: 1.3632, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2306, d0.loss_map_pts: 1.3632, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.2006, d1.loss_map_pts: 0.9594, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1747, d2.loss_map_pts: 0.7755, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1601, d3.loss_map_pts: 0.7056, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1537, d4.loss_map_pts: 0.6820, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1491, d5.loss_map_pts: 0.6761, d5.loss_map_dir: 0.0081, loss: 26.6396, grad_norm: 156.6030 +2026-02-28 02:58:10,673 - DriveTransformer - INFO - Epoch [9][1500/39528] lr: 7.525e-05, eta: 5 days, 8:06:09, time: 0.760, data_time: 0.034, memory: 19865, loss_cls: 0.1129, loss_bbox: 0.3249, loss_traj: 0.4319, loss_traj_cls: 0.0018, loss_map_cls: 0.1099, loss_map_pts: 0.6150, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.4413, d0.loss_plan_l1_fix_dist: 0.4461, d1.loss_plan_l1_fix_time: 0.8333, d1.loss_plan_l1_fix_dist: 0.2191, d2.loss_plan_l1_fix_time: 0.8116, d2.loss_plan_l1_fix_dist: 0.2176, d3.loss_plan_l1_fix_time: 0.8010, d3.loss_plan_l1_fix_dist: 0.2508, d4.loss_plan_l1_fix_time: 0.8027, d4.loss_plan_l1_fix_dist: 0.2491, d5.loss_plan_l1_fix_time: 0.8055, d5.loss_plan_l1_fix_dist: 0.2340, d6.loss_plan_l1_fix_time: 0.8095, d6.loss_plan_l1_fix_dist: 0.2159, d0.loss_cls_all: 0.1611, d0.loss_bbox_all: 0.3782, d0.loss_cls: 0.1611, d0.loss_bbox: 0.3782, d1.loss_cls: 0.1519, d1.loss_bbox: 0.3489, d2.loss_cls: 0.1402, d2.loss_bbox: 0.3314, d3.loss_cls: 0.1224, d3.loss_bbox: 0.3241, d4.loss_cls: 0.1144, d4.loss_bbox: 0.3249, d5.loss_cls: 0.1128, d5.loss_bbox: 0.3243, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6467, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4993, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4513, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4354, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4338, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4328, d0.loss_map_cls_all: 0.1892, d0.loss_map_pts_all: 1.2838, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.1892, d0.loss_map_pts: 1.2838, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1547, d1.loss_map_pts: 0.8857, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1313, d2.loss_map_pts: 0.7090, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1215, d3.loss_map_pts: 0.6428, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1152, d4.loss_map_pts: 0.6217, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1113, d5.loss_map_pts: 0.6153, d5.loss_map_dir: 0.0088, loss: 24.1359, grad_norm: 156.2740 +2026-02-28 02:58:47,409 - DriveTransformer - INFO - Epoch [9][1550/39528] lr: 7.525e-05, eta: 5 days, 8:05:34, time: 0.735, data_time: 0.037, memory: 19865, loss_cls: 0.1361, loss_bbox: 0.3268, loss_traj: 0.5690, loss_traj_cls: 0.0017, loss_map_cls: 0.1217, loss_map_pts: 0.5727, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.9574, d0.loss_plan_l1_fix_dist: 0.3893, d1.loss_plan_l1_fix_time: 1.0399, d1.loss_plan_l1_fix_dist: 0.2367, d2.loss_plan_l1_fix_time: 1.0177, d2.loss_plan_l1_fix_dist: 0.2227, d3.loss_plan_l1_fix_time: 1.0180, d3.loss_plan_l1_fix_dist: 0.2355, d4.loss_plan_l1_fix_time: 1.0202, d4.loss_plan_l1_fix_dist: 0.2366, d5.loss_plan_l1_fix_time: 1.0228, d5.loss_plan_l1_fix_dist: 0.2184, d6.loss_plan_l1_fix_time: 1.0261, d6.loss_plan_l1_fix_dist: 0.2071, d0.loss_cls_all: 0.1835, d0.loss_bbox_all: 0.3961, d0.loss_cls: 0.1835, d0.loss_bbox: 0.3961, d1.loss_cls: 0.1750, d1.loss_bbox: 0.3594, d2.loss_cls: 0.1646, d2.loss_bbox: 0.3369, d3.loss_cls: 0.1431, d3.loss_bbox: 0.3329, d4.loss_cls: 0.1366, d4.loss_bbox: 0.3281, d5.loss_cls: 0.1358, d5.loss_bbox: 0.3272, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8133, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6592, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5961, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5845, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5747, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5710, d0.loss_map_cls_all: 0.2057, d0.loss_map_pts_all: 1.2310, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2057, d0.loss_map_pts: 1.2310, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1741, d1.loss_map_pts: 0.8523, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1490, d2.loss_map_pts: 0.6705, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1357, d3.loss_map_pts: 0.6019, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1284, d4.loss_map_pts: 0.5805, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1234, d5.loss_map_pts: 0.5734, d5.loss_map_dir: 0.0076, loss: 26.8991, grad_norm: 155.4087 +2026-02-28 02:59:21,697 - DriveTransformer - INFO - Epoch [9][1600/39528] lr: 7.525e-05, eta: 5 days, 8:04:40, time: 0.687, data_time: 0.034, memory: 19865, loss_cls: 0.1140, loss_bbox: 0.3344, loss_traj: 0.6606, loss_traj_cls: 0.0017, loss_map_cls: 0.1555, loss_map_pts: 0.6166, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 3.0000, d0.loss_plan_l1_fix_dist: 0.3654, d1.loss_plan_l1_fix_time: 0.9982, d1.loss_plan_l1_fix_dist: 0.2354, d2.loss_plan_l1_fix_time: 0.9830, d2.loss_plan_l1_fix_dist: 0.2255, d3.loss_plan_l1_fix_time: 0.9806, d3.loss_plan_l1_fix_dist: 0.2190, d4.loss_plan_l1_fix_time: 0.9836, d4.loss_plan_l1_fix_dist: 0.2176, d5.loss_plan_l1_fix_time: 0.9862, d5.loss_plan_l1_fix_dist: 0.2041, d6.loss_plan_l1_fix_time: 0.9887, d6.loss_plan_l1_fix_dist: 0.1987, d0.loss_cls_all: 0.1652, d0.loss_bbox_all: 0.3940, d0.loss_cls: 0.1652, d0.loss_bbox: 0.3940, d1.loss_cls: 0.1569, d1.loss_bbox: 0.3570, d2.loss_cls: 0.1425, d2.loss_bbox: 0.3398, d3.loss_cls: 0.1216, d3.loss_bbox: 0.3358, d4.loss_cls: 0.1159, d4.loss_bbox: 0.3326, d5.loss_cls: 0.1145, d5.loss_bbox: 0.3321, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9701, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7602, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7047, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6771, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6683, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6656, d0.loss_map_cls_all: 0.2303, d0.loss_map_pts_all: 1.1980, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.2303, d0.loss_map_pts: 1.1980, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.2008, d1.loss_map_pts: 0.8851, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1799, d2.loss_map_pts: 0.7257, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1680, d3.loss_map_pts: 0.6535, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1618, d4.loss_map_pts: 0.6297, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1572, d5.loss_map_pts: 0.6172, d5.loss_map_dir: 0.0063, loss: 27.6707, grad_norm: 155.1327 +2026-02-28 02:59:58,222 - DriveTransformer - INFO - Epoch [9][1650/39528] lr: 7.525e-05, eta: 5 days, 8:04:03, time: 0.729, data_time: 0.037, memory: 19865, loss_cls: 0.1323, loss_bbox: 0.3376, loss_traj: 0.5617, loss_traj_cls: 0.0018, loss_map_cls: 0.1381, loss_map_pts: 0.6006, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 3.1396, d0.loss_plan_l1_fix_dist: 0.4267, d1.loss_plan_l1_fix_time: 0.9037, d1.loss_plan_l1_fix_dist: 0.2580, d2.loss_plan_l1_fix_time: 0.8943, d2.loss_plan_l1_fix_dist: 0.2639, d3.loss_plan_l1_fix_time: 0.8871, d3.loss_plan_l1_fix_dist: 0.2126, d4.loss_plan_l1_fix_time: 0.8889, d4.loss_plan_l1_fix_dist: 0.1955, d5.loss_plan_l1_fix_time: 0.8909, d5.loss_plan_l1_fix_dist: 0.1930, d6.loss_plan_l1_fix_time: 0.8929, d6.loss_plan_l1_fix_dist: 0.2066, d0.loss_cls_all: 0.1822, d0.loss_bbox_all: 0.4023, d0.loss_cls: 0.1822, d0.loss_bbox: 0.4023, d1.loss_cls: 0.1765, d1.loss_bbox: 0.3643, d2.loss_cls: 0.1582, d2.loss_bbox: 0.3457, d3.loss_cls: 0.1416, d3.loss_bbox: 0.3386, d4.loss_cls: 0.1361, d4.loss_bbox: 0.3353, d5.loss_cls: 0.1333, d5.loss_bbox: 0.3363, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7727, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6243, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5715, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5606, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5613, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5565, d0.loss_map_cls_all: 0.2082, d0.loss_map_pts_all: 1.2022, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2082, d0.loss_map_pts: 1.2022, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1831, d1.loss_map_pts: 0.8600, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1623, d2.loss_map_pts: 0.7067, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1504, d3.loss_map_pts: 0.6431, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1432, d4.loss_map_pts: 0.6179, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1397, d5.loss_map_pts: 0.6031, d5.loss_map_dir: 0.0073, loss: 26.3987, grad_norm: 151.7515 +2026-02-28 03:00:35,143 - DriveTransformer - INFO - Epoch [9][1700/39528] lr: 7.525e-05, eta: 5 days, 8:03:29, time: 0.738, data_time: 0.036, memory: 19865, loss_cls: 0.1282, loss_bbox: 0.3063, loss_traj: 0.5236, loss_traj_cls: 0.0018, loss_map_cls: 0.1250, loss_map_pts: 0.5603, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.5002, d0.loss_plan_l1_fix_dist: 0.3672, d1.loss_plan_l1_fix_time: 0.8105, d1.loss_plan_l1_fix_dist: 0.2912, d2.loss_plan_l1_fix_time: 0.7996, d2.loss_plan_l1_fix_dist: 0.3283, d3.loss_plan_l1_fix_time: 0.7962, d3.loss_plan_l1_fix_dist: 0.2486, d4.loss_plan_l1_fix_time: 0.7979, d4.loss_plan_l1_fix_dist: 0.2271, d5.loss_plan_l1_fix_time: 0.8005, d5.loss_plan_l1_fix_dist: 0.2176, d6.loss_plan_l1_fix_time: 0.8042, d6.loss_plan_l1_fix_dist: 0.2270, d0.loss_cls_all: 0.1672, d0.loss_bbox_all: 0.3657, d0.loss_cls: 0.1672, d0.loss_bbox: 0.3657, d1.loss_cls: 0.1630, d1.loss_bbox: 0.3319, d2.loss_cls: 0.1509, d2.loss_bbox: 0.3153, d3.loss_cls: 0.1356, d3.loss_bbox: 0.3095, d4.loss_cls: 0.1302, d4.loss_bbox: 0.3067, d5.loss_cls: 0.1290, d5.loss_bbox: 0.3052, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6855, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5767, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5328, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5238, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5271, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5242, d0.loss_map_cls_all: 0.1897, d0.loss_map_pts_all: 1.1432, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1897, d0.loss_map_pts: 1.1432, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1629, d1.loss_map_pts: 0.8050, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1465, d2.loss_map_pts: 0.6495, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1357, d3.loss_map_pts: 0.5869, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1301, d4.loss_map_pts: 0.5690, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1251, d5.loss_map_pts: 0.5609, d5.loss_map_dir: 0.0075, loss: 24.1750, grad_norm: 138.9822 +2026-02-28 03:01:10,641 - DriveTransformer - INFO - Epoch [9][1750/39528] lr: 7.525e-05, eta: 5 days, 8:02:44, time: 0.710, data_time: 0.035, memory: 19865, loss_cls: 0.1255, loss_bbox: 0.3293, loss_traj: 0.5101, loss_traj_cls: 0.0017, loss_map_cls: 0.1436, loss_map_pts: 0.6333, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.5123, d0.loss_plan_l1_fix_dist: 0.4462, d1.loss_plan_l1_fix_time: 1.0018, d1.loss_plan_l1_fix_dist: 0.2761, d2.loss_plan_l1_fix_time: 0.9912, d2.loss_plan_l1_fix_dist: 0.3599, d3.loss_plan_l1_fix_time: 0.9913, d3.loss_plan_l1_fix_dist: 0.2840, d4.loss_plan_l1_fix_time: 0.9928, d4.loss_plan_l1_fix_dist: 0.2611, d5.loss_plan_l1_fix_time: 0.9949, d5.loss_plan_l1_fix_dist: 0.2473, d6.loss_plan_l1_fix_time: 0.9974, d6.loss_plan_l1_fix_dist: 0.2318, d0.loss_cls_all: 0.1707, d0.loss_bbox_all: 0.3967, d0.loss_cls: 0.1707, d0.loss_bbox: 0.3967, d1.loss_cls: 0.1683, d1.loss_bbox: 0.3608, d2.loss_cls: 0.1487, d2.loss_bbox: 0.3423, d3.loss_cls: 0.1328, d3.loss_bbox: 0.3327, d4.loss_cls: 0.1258, d4.loss_bbox: 0.3318, d5.loss_cls: 0.1269, d5.loss_bbox: 0.3289, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7339, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5744, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5408, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5185, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5121, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5065, d0.loss_map_cls_all: 0.2481, d0.loss_map_pts_all: 1.2951, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2481, d0.loss_map_pts: 1.2951, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1999, d1.loss_map_pts: 0.9076, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1725, d2.loss_map_pts: 0.7356, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1571, d3.loss_map_pts: 0.6636, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1511, d4.loss_map_pts: 0.6387, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1445, d5.loss_map_pts: 0.6340, d5.loss_map_dir: 0.0075, loss: 26.8066, grad_norm: 139.2531 +2026-02-28 03:01:46,164 - DriveTransformer - INFO - Epoch [9][1800/39528] lr: 7.525e-05, eta: 5 days, 8:02:00, time: 0.710, data_time: 0.036, memory: 19865, loss_cls: 0.1400, loss_bbox: 0.3328, loss_traj: 0.5692, loss_traj_cls: 0.0017, loss_map_cls: 0.1278, loss_map_pts: 0.5773, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.7534, d0.loss_plan_l1_fix_dist: 0.4021, d1.loss_plan_l1_fix_time: 0.9545, d1.loss_plan_l1_fix_dist: 0.2576, d2.loss_plan_l1_fix_time: 0.9453, d2.loss_plan_l1_fix_dist: 0.3657, d3.loss_plan_l1_fix_time: 0.9354, d3.loss_plan_l1_fix_dist: 0.2859, d4.loss_plan_l1_fix_time: 0.9362, d4.loss_plan_l1_fix_dist: 0.2670, d5.loss_plan_l1_fix_time: 0.9377, d5.loss_plan_l1_fix_dist: 0.2433, d6.loss_plan_l1_fix_time: 0.9395, d6.loss_plan_l1_fix_dist: 0.2193, d0.loss_cls_all: 0.1895, d0.loss_bbox_all: 0.4061, d0.loss_cls: 0.1895, d0.loss_bbox: 0.4061, d1.loss_cls: 0.1766, d1.loss_bbox: 0.3734, d2.loss_cls: 0.1626, d2.loss_bbox: 0.3519, d3.loss_cls: 0.1463, d3.loss_bbox: 0.3393, d4.loss_cls: 0.1403, d4.loss_bbox: 0.3360, d5.loss_cls: 0.1406, d5.loss_bbox: 0.3341, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8377, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6594, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5978, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5804, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5720, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5662, d0.loss_map_cls_all: 0.2028, d0.loss_map_pts_all: 1.1734, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2028, d0.loss_map_pts: 1.1734, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1706, d1.loss_map_pts: 0.8200, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1479, d2.loss_map_pts: 0.6707, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1397, d3.loss_map_pts: 0.6075, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1333, d4.loss_map_pts: 0.5851, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1296, d5.loss_map_pts: 0.5776, d5.loss_map_dir: 0.0069, loss: 26.4919, grad_norm: 145.4479 +2026-02-28 03:02:24,863 - DriveTransformer - INFO - Epoch [9][1850/39528] lr: 7.525e-05, eta: 5 days, 8:01:40, time: 0.774, data_time: 0.036, memory: 19865, loss_cls: 0.1206, loss_bbox: 0.3218, loss_traj: 0.4956, loss_traj_cls: 0.0017, loss_map_cls: 0.1502, loss_map_pts: 0.7099, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.5237, d0.loss_plan_l1_fix_dist: 0.4313, d1.loss_plan_l1_fix_time: 0.8488, d1.loss_plan_l1_fix_dist: 0.2364, d2.loss_plan_l1_fix_time: 0.8325, d2.loss_plan_l1_fix_dist: 0.3385, d3.loss_plan_l1_fix_time: 0.8300, d3.loss_plan_l1_fix_dist: 0.2626, d4.loss_plan_l1_fix_time: 0.8324, d4.loss_plan_l1_fix_dist: 0.2509, d5.loss_plan_l1_fix_time: 0.8354, d5.loss_plan_l1_fix_dist: 0.2320, d6.loss_plan_l1_fix_time: 0.8385, d6.loss_plan_l1_fix_dist: 0.2115, d0.loss_cls_all: 0.1670, d0.loss_bbox_all: 0.3903, d0.loss_cls: 0.1670, d0.loss_bbox: 0.3903, d1.loss_cls: 0.1599, d1.loss_bbox: 0.3555, d2.loss_cls: 0.1444, d2.loss_bbox: 0.3350, d3.loss_cls: 0.1309, d3.loss_bbox: 0.3256, d4.loss_cls: 0.1220, d4.loss_bbox: 0.3258, d5.loss_cls: 0.1218, d5.loss_bbox: 0.3216, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6667, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5424, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5130, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4961, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4948, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4948, d0.loss_map_cls_all: 0.2388, d0.loss_map_pts_all: 1.4028, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2388, d0.loss_map_pts: 1.4028, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2057, d1.loss_map_pts: 1.0110, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1779, d2.loss_map_pts: 0.8203, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1643, d3.loss_map_pts: 0.7465, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1579, d4.loss_map_pts: 0.7195, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1517, d5.loss_map_pts: 0.7111, d5.loss_map_dir: 0.0087, loss: 26.1923, grad_norm: 143.2527 +2026-02-28 03:03:01,190 - DriveTransformer - INFO - Epoch [9][1900/39528] lr: 7.525e-05, eta: 5 days, 8:01:02, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.1180, loss_bbox: 0.3157, loss_traj: 0.5975, loss_traj_cls: 0.0017, loss_map_cls: 0.1313, loss_map_pts: 0.5866, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.6696, d0.loss_plan_l1_fix_dist: 0.4314, d1.loss_plan_l1_fix_time: 0.9780, d1.loss_plan_l1_fix_dist: 0.2229, d2.loss_plan_l1_fix_time: 0.9653, d2.loss_plan_l1_fix_dist: 0.2708, d3.loss_plan_l1_fix_time: 0.9565, d3.loss_plan_l1_fix_dist: 0.2211, d4.loss_plan_l1_fix_time: 0.9576, d4.loss_plan_l1_fix_dist: 0.2043, d5.loss_plan_l1_fix_time: 0.9594, d5.loss_plan_l1_fix_dist: 0.2004, d6.loss_plan_l1_fix_time: 0.9619, d6.loss_plan_l1_fix_dist: 0.1956, d0.loss_cls_all: 0.1607, d0.loss_bbox_all: 0.3817, d0.loss_cls: 0.1607, d0.loss_bbox: 0.3817, d1.loss_cls: 0.1541, d1.loss_bbox: 0.3440, d2.loss_cls: 0.1417, d2.loss_bbox: 0.3254, d3.loss_cls: 0.1258, d3.loss_bbox: 0.3195, d4.loss_cls: 0.1202, d4.loss_bbox: 0.3166, d5.loss_cls: 0.1200, d5.loss_bbox: 0.3141, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8777, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6877, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6228, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6090, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6028, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5981, d0.loss_map_cls_all: 0.2144, d0.loss_map_pts_all: 1.2167, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2144, d0.loss_map_pts: 1.2167, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1856, d1.loss_map_pts: 0.8577, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1583, d2.loss_map_pts: 0.6876, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1457, d3.loss_map_pts: 0.6197, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1396, d4.loss_map_pts: 0.5964, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1329, d5.loss_map_pts: 0.5882, d5.loss_map_dir: 0.0071, loss: 26.3443, grad_norm: 141.8284 +2026-02-28 03:03:37,024 - DriveTransformer - INFO - Epoch [9][1950/39528] lr: 7.525e-05, eta: 5 days, 8:00:20, time: 0.717, data_time: 0.036, memory: 19865, loss_cls: 0.1198, loss_bbox: 0.3218, loss_traj: 0.5506, loss_traj_cls: 0.0017, loss_map_cls: 0.1356, loss_map_pts: 0.6207, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.5482, d0.loss_plan_l1_fix_dist: 0.5805, d1.loss_plan_l1_fix_time: 0.8565, d1.loss_plan_l1_fix_dist: 0.2736, d2.loss_plan_l1_fix_time: 0.8461, d2.loss_plan_l1_fix_dist: 0.2442, d3.loss_plan_l1_fix_time: 0.8460, d3.loss_plan_l1_fix_dist: 0.2323, d4.loss_plan_l1_fix_time: 0.8483, d4.loss_plan_l1_fix_dist: 0.2111, d5.loss_plan_l1_fix_time: 0.8509, d5.loss_plan_l1_fix_dist: 0.2038, d6.loss_plan_l1_fix_time: 0.8540, d6.loss_plan_l1_fix_dist: 0.2091, d0.loss_cls_all: 0.1594, d0.loss_bbox_all: 0.3837, d0.loss_cls: 0.1594, d0.loss_bbox: 0.3837, d1.loss_cls: 0.1521, d1.loss_bbox: 0.3469, d2.loss_cls: 0.1398, d2.loss_bbox: 0.3275, d3.loss_cls: 0.1275, d3.loss_bbox: 0.3220, d4.loss_cls: 0.1220, d4.loss_bbox: 0.3212, d5.loss_cls: 0.1199, d5.loss_bbox: 0.3215, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7977, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6302, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5742, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5576, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5528, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5495, d0.loss_map_cls_all: 0.2191, d0.loss_map_pts_all: 1.2270, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2191, d0.loss_map_pts: 1.2270, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1842, d1.loss_map_pts: 0.8808, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1584, d2.loss_map_pts: 0.7136, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1472, d3.loss_map_pts: 0.6524, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1429, d4.loss_map_pts: 0.6318, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1371, d5.loss_map_pts: 0.6227, d5.loss_map_dir: 0.0069, loss: 25.6255, grad_norm: 143.4100 +2026-02-28 03:04:13,812 - DriveTransformer - INFO - Epoch [9][2000/39528] lr: 7.525e-05, eta: 5 days, 7:59:45, time: 0.736, data_time: 0.040, memory: 19865, loss_cls: 0.1199, loss_bbox: 0.3105, loss_traj: 0.4879, loss_traj_cls: 0.0017, loss_map_cls: 0.1304, loss_map_pts: 0.5801, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.3729, d0.loss_plan_l1_fix_dist: 0.5487, d1.loss_plan_l1_fix_time: 0.8046, d1.loss_plan_l1_fix_dist: 0.3318, d2.loss_plan_l1_fix_time: 0.7724, d2.loss_plan_l1_fix_dist: 0.2327, d3.loss_plan_l1_fix_time: 0.7686, d3.loss_plan_l1_fix_dist: 0.2364, d4.loss_plan_l1_fix_time: 0.7707, d4.loss_plan_l1_fix_dist: 0.2203, d5.loss_plan_l1_fix_time: 0.7734, d5.loss_plan_l1_fix_dist: 0.2162, d6.loss_plan_l1_fix_time: 0.7773, d6.loss_plan_l1_fix_dist: 0.2380, d0.loss_cls_all: 0.1660, d0.loss_bbox_all: 0.3539, d0.loss_cls: 0.1660, d0.loss_bbox: 0.3539, d1.loss_cls: 0.1590, d1.loss_bbox: 0.3265, d2.loss_cls: 0.1472, d2.loss_bbox: 0.3082, d3.loss_cls: 0.1295, d3.loss_bbox: 0.3042, d4.loss_cls: 0.1234, d4.loss_bbox: 0.3038, d5.loss_cls: 0.1216, d5.loss_bbox: 0.3061, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6600, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5272, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5017, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4952, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4872, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4878, d0.loss_map_cls_all: 0.2031, d0.loss_map_pts_all: 1.1974, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2031, d0.loss_map_pts: 1.1974, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1764, d1.loss_map_pts: 0.8366, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1519, d2.loss_map_pts: 0.6701, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1407, d3.loss_map_pts: 0.6065, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1366, d4.loss_map_pts: 0.5842, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1332, d5.loss_map_pts: 0.5800, d5.loss_map_dir: 0.0075, loss: 24.0049, grad_norm: 141.2284 +2026-02-28 03:04:50,892 - DriveTransformer - INFO - Epoch [9][2050/39528] lr: 7.525e-05, eta: 5 days, 7:59:13, time: 0.742, data_time: 0.036, memory: 19865, loss_cls: 0.1112, loss_bbox: 0.3218, loss_traj: 0.4793, loss_traj_cls: 0.0017, loss_map_cls: 0.1221, loss_map_pts: 0.6031, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.3230, d0.loss_plan_l1_fix_dist: 0.4378, d1.loss_plan_l1_fix_time: 0.9099, d1.loss_plan_l1_fix_dist: 0.3629, d2.loss_plan_l1_fix_time: 0.8861, d2.loss_plan_l1_fix_dist: 0.2308, d3.loss_plan_l1_fix_time: 0.8840, d3.loss_plan_l1_fix_dist: 0.2485, d4.loss_plan_l1_fix_time: 0.8870, d4.loss_plan_l1_fix_dist: 0.2353, d5.loss_plan_l1_fix_time: 0.8906, d5.loss_plan_l1_fix_dist: 0.2257, d6.loss_plan_l1_fix_time: 0.8956, d6.loss_plan_l1_fix_dist: 0.2422, d0.loss_cls_all: 0.1642, d0.loss_bbox_all: 0.3765, d0.loss_cls: 0.1642, d0.loss_bbox: 0.3765, d1.loss_cls: 0.1527, d1.loss_bbox: 0.3493, d2.loss_cls: 0.1382, d2.loss_bbox: 0.3287, d3.loss_cls: 0.1194, d3.loss_bbox: 0.3234, d4.loss_cls: 0.1138, d4.loss_bbox: 0.3222, d5.loss_cls: 0.1111, d5.loss_bbox: 0.3206, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6889, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5468, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4948, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4806, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4787, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4787, d0.loss_map_cls_all: 0.2001, d0.loss_map_pts_all: 1.2149, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2001, d0.loss_map_pts: 1.2149, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1653, d1.loss_map_pts: 0.8429, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1444, d2.loss_map_pts: 0.6842, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1344, d3.loss_map_pts: 0.6287, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1286, d4.loss_map_pts: 0.6096, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1224, d5.loss_map_pts: 0.6036, d5.loss_map_dir: 0.0081, loss: 24.7908, grad_norm: 141.8079 +2026-02-28 03:05:27,686 - DriveTransformer - INFO - Epoch [9][2100/39528] lr: 7.525e-05, eta: 5 days, 7:58:38, time: 0.736, data_time: 0.037, memory: 19865, loss_cls: 0.1338, loss_bbox: 0.3453, loss_traj: 0.4301, loss_traj_cls: 0.0017, loss_map_cls: 0.1481, loss_map_pts: 0.6786, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 3.0304, d0.loss_plan_l1_fix_dist: 0.4915, d1.loss_plan_l1_fix_time: 0.9231, d1.loss_plan_l1_fix_dist: 0.3691, d2.loss_plan_l1_fix_time: 0.9090, d2.loss_plan_l1_fix_dist: 0.2603, d3.loss_plan_l1_fix_time: 0.9046, d3.loss_plan_l1_fix_dist: 0.2899, d4.loss_plan_l1_fix_time: 0.9066, d4.loss_plan_l1_fix_dist: 0.2823, d5.loss_plan_l1_fix_time: 0.9090, d5.loss_plan_l1_fix_dist: 0.2651, d6.loss_plan_l1_fix_time: 0.9126, d6.loss_plan_l1_fix_dist: 0.2643, d0.loss_cls_all: 0.1804, d0.loss_bbox_all: 0.4154, d0.loss_cls: 0.1804, d0.loss_bbox: 0.4154, d1.loss_cls: 0.1743, d1.loss_bbox: 0.3805, d2.loss_cls: 0.1564, d2.loss_bbox: 0.3591, d3.loss_cls: 0.1424, d3.loss_bbox: 0.3502, d4.loss_cls: 0.1348, d4.loss_bbox: 0.3491, d5.loss_cls: 0.1341, d5.loss_bbox: 0.3462, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6235, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.4835, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4435, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4344, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4328, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4301, d0.loss_map_cls_all: 0.2233, d0.loss_map_pts_all: 1.3887, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2233, d0.loss_map_pts: 1.3887, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1950, d1.loss_map_pts: 0.9534, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1715, d2.loss_map_pts: 0.7654, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1628, d3.loss_map_pts: 0.7002, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1539, d4.loss_map_pts: 0.6846, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1500, d5.loss_map_pts: 0.6789, d5.loss_map_dir: 0.0093, loss: 26.9396, grad_norm: 141.5043 +2026-02-28 03:06:04,701 - DriveTransformer - INFO - Epoch [9][2150/39528] lr: 7.525e-05, eta: 5 days, 7:58:05, time: 0.740, data_time: 0.037, memory: 19865, loss_cls: 0.1270, loss_bbox: 0.3263, loss_traj: 0.5351, loss_traj_cls: 0.0017, loss_map_cls: 0.1074, loss_map_pts: 0.6020, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.2909, d0.loss_plan_l1_fix_dist: 0.4348, d1.loss_plan_l1_fix_time: 0.7925, d1.loss_plan_l1_fix_dist: 0.3048, d2.loss_plan_l1_fix_time: 0.7876, d2.loss_plan_l1_fix_dist: 0.2213, d3.loss_plan_l1_fix_time: 0.7859, d3.loss_plan_l1_fix_dist: 0.2425, d4.loss_plan_l1_fix_time: 0.7883, d4.loss_plan_l1_fix_dist: 0.2178, d5.loss_plan_l1_fix_time: 0.7909, d5.loss_plan_l1_fix_dist: 0.2025, d6.loss_plan_l1_fix_time: 0.7939, d6.loss_plan_l1_fix_dist: 0.2022, d0.loss_cls_all: 0.1654, d0.loss_bbox_all: 0.3859, d0.loss_cls: 0.1654, d0.loss_bbox: 0.3859, d1.loss_cls: 0.1596, d1.loss_bbox: 0.3613, d2.loss_cls: 0.1506, d2.loss_bbox: 0.3401, d3.loss_cls: 0.1346, d3.loss_bbox: 0.3309, d4.loss_cls: 0.1282, d4.loss_bbox: 0.3282, d5.loss_cls: 0.1277, d5.loss_bbox: 0.3253, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7527, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6084, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5642, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5432, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5383, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5383, d0.loss_map_cls_all: 0.1861, d0.loss_map_pts_all: 1.2399, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1861, d0.loss_map_pts: 1.2399, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1571, d1.loss_map_pts: 0.8757, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1346, d2.loss_map_pts: 0.6993, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1236, d3.loss_map_pts: 0.6291, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1149, d4.loss_map_pts: 0.6079, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1093, d5.loss_map_pts: 0.6028, d5.loss_map_dir: 0.0074, loss: 24.5580, grad_norm: 138.4567 +2026-02-28 03:06:41,539 - DriveTransformer - INFO - Epoch [9][2200/39528] lr: 7.525e-05, eta: 5 days, 7:57:31, time: 0.737, data_time: 0.035, memory: 19865, loss_cls: 0.1065, loss_bbox: 0.2791, loss_traj: 0.4336, loss_traj_cls: 0.0018, loss_map_cls: 0.0951, loss_map_pts: 0.4955, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.1561, d0.loss_plan_l1_fix_dist: 0.4335, d1.loss_plan_l1_fix_time: 0.6714, d1.loss_plan_l1_fix_dist: 0.2439, d2.loss_plan_l1_fix_time: 0.6666, d2.loss_plan_l1_fix_dist: 0.2206, d3.loss_plan_l1_fix_time: 0.6490, d3.loss_plan_l1_fix_dist: 0.2016, d4.loss_plan_l1_fix_time: 0.6505, d4.loss_plan_l1_fix_dist: 0.1792, d5.loss_plan_l1_fix_time: 0.6530, d5.loss_plan_l1_fix_dist: 0.1727, d6.loss_plan_l1_fix_time: 0.6561, d6.loss_plan_l1_fix_dist: 0.1900, d0.loss_cls_all: 0.1462, d0.loss_bbox_all: 0.3344, d0.loss_cls: 0.1462, d0.loss_bbox: 0.3344, d1.loss_cls: 0.1426, d1.loss_bbox: 0.3042, d2.loss_cls: 0.1260, d2.loss_bbox: 0.2889, d3.loss_cls: 0.1141, d3.loss_bbox: 0.2818, d4.loss_cls: 0.1086, d4.loss_bbox: 0.2798, d5.loss_cls: 0.1068, d5.loss_bbox: 0.2783, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6108, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4855, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4492, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4404, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4347, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4359, d0.loss_map_cls_all: 0.1669, d0.loss_map_pts_all: 1.0807, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1669, d0.loss_map_pts: 1.0807, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1403, d1.loss_map_pts: 0.7284, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1207, d2.loss_map_pts: 0.5842, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1065, d3.loss_map_pts: 0.5288, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1010, d4.loss_map_pts: 0.5055, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.0963, d5.loss_map_pts: 0.4969, d5.loss_map_dir: 0.0071, loss: 20.9694, grad_norm: 137.8806 +2026-02-28 03:07:15,964 - DriveTransformer - INFO - Epoch [9][2250/39528] lr: 7.525e-05, eta: 5 days, 7:56:38, time: 0.689, data_time: 0.035, memory: 19865, loss_cls: 0.1109, loss_bbox: 0.3063, loss_traj: 0.5932, loss_traj_cls: 0.0017, loss_map_cls: 0.1515, loss_map_pts: 0.6251, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.9599, d0.loss_plan_l1_fix_dist: 0.4043, d1.loss_plan_l1_fix_time: 0.9708, d1.loss_plan_l1_fix_dist: 0.1937, d2.loss_plan_l1_fix_time: 0.9763, d2.loss_plan_l1_fix_dist: 0.2337, d3.loss_plan_l1_fix_time: 0.9597, d3.loss_plan_l1_fix_dist: 0.1921, d4.loss_plan_l1_fix_time: 0.9608, d4.loss_plan_l1_fix_dist: 0.2069, d5.loss_plan_l1_fix_time: 0.9639, d5.loss_plan_l1_fix_dist: 0.2042, d6.loss_plan_l1_fix_time: 0.9673, d6.loss_plan_l1_fix_dist: 0.2332, d0.loss_cls_all: 0.1563, d0.loss_bbox_all: 0.3703, d0.loss_cls: 0.1563, d0.loss_bbox: 0.3703, d1.loss_cls: 0.1529, d1.loss_bbox: 0.3375, d2.loss_cls: 0.1368, d2.loss_bbox: 0.3160, d3.loss_cls: 0.1203, d3.loss_bbox: 0.3106, d4.loss_cls: 0.1113, d4.loss_bbox: 0.3095, d5.loss_cls: 0.1106, d5.loss_bbox: 0.3073, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7956, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6564, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6260, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6072, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5988, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5954, d0.loss_map_cls_all: 0.2399, d0.loss_map_pts_all: 1.1987, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2399, d0.loss_map_pts: 1.1987, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.2055, d1.loss_map_pts: 0.8715, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1777, d2.loss_map_pts: 0.7229, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1666, d3.loss_map_pts: 0.6566, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1586, d4.loss_map_pts: 0.6319, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1531, d5.loss_map_pts: 0.6251, d5.loss_map_dir: 0.0069, loss: 26.6652, grad_norm: 137.7553 +2026-02-28 03:07:51,561 - DriveTransformer - INFO - Epoch [9][2300/39528] lr: 7.525e-05, eta: 5 days, 7:55:54, time: 0.712, data_time: 0.039, memory: 19865, loss_cls: 0.1189, loss_bbox: 0.3295, loss_traj: 0.5931, loss_traj_cls: 0.0018, loss_map_cls: 0.1196, loss_map_pts: 0.5537, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.6826, d0.loss_plan_l1_fix_dist: 0.4839, d1.loss_plan_l1_fix_time: 0.9110, d1.loss_plan_l1_fix_dist: 0.2075, d2.loss_plan_l1_fix_time: 0.8911, d2.loss_plan_l1_fix_dist: 0.2772, d3.loss_plan_l1_fix_time: 0.9029, d3.loss_plan_l1_fix_dist: 0.2520, d4.loss_plan_l1_fix_time: 0.9080, d4.loss_plan_l1_fix_dist: 0.2652, d5.loss_plan_l1_fix_time: 0.9133, d5.loss_plan_l1_fix_dist: 0.2558, d6.loss_plan_l1_fix_time: 0.9190, d6.loss_plan_l1_fix_dist: 0.2796, d0.loss_cls_all: 0.1662, d0.loss_bbox_all: 0.3899, d0.loss_cls: 0.1662, d0.loss_bbox: 0.3899, d1.loss_cls: 0.1572, d1.loss_bbox: 0.3580, d2.loss_cls: 0.1456, d2.loss_bbox: 0.3362, d3.loss_cls: 0.1285, d3.loss_bbox: 0.3319, d4.loss_cls: 0.1214, d4.loss_bbox: 0.3298, d5.loss_cls: 0.1186, d5.loss_bbox: 0.3297, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8379, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6844, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6257, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6051, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6020, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5908, d0.loss_map_cls_all: 0.1903, d0.loss_map_pts_all: 1.0719, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1903, d0.loss_map_pts: 1.0719, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1636, d1.loss_map_pts: 0.7830, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1461, d2.loss_map_pts: 0.6297, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1321, d3.loss_map_pts: 0.5763, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1258, d4.loss_map_pts: 0.5604, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1212, d5.loss_map_pts: 0.5549, d5.loss_map_dir: 0.0073, loss: 25.6619, grad_norm: 138.7498 +2026-02-28 03:08:27,335 - DriveTransformer - INFO - Epoch [9][2350/39528] lr: 7.525e-05, eta: 5 days, 7:55:12, time: 0.715, data_time: 0.037, memory: 19865, loss_cls: 0.1313, loss_bbox: 0.3338, loss_traj: 0.5139, loss_traj_cls: 0.0018, loss_map_cls: 0.1349, loss_map_pts: 0.5840, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.7186, d0.loss_plan_l1_fix_dist: 0.4682, d1.loss_plan_l1_fix_time: 0.9710, d1.loss_plan_l1_fix_dist: 0.1910, d2.loss_plan_l1_fix_time: 0.9564, d2.loss_plan_l1_fix_dist: 0.2491, d3.loss_plan_l1_fix_time: 0.9598, d3.loss_plan_l1_fix_dist: 0.2274, d4.loss_plan_l1_fix_time: 0.9638, d4.loss_plan_l1_fix_dist: 0.2253, d5.loss_plan_l1_fix_time: 0.9683, d5.loss_plan_l1_fix_dist: 0.2525, d6.loss_plan_l1_fix_time: 0.9746, d6.loss_plan_l1_fix_dist: 0.2813, d0.loss_cls_all: 0.1778, d0.loss_bbox_all: 0.3883, d0.loss_cls: 0.1778, d0.loss_bbox: 0.3883, d1.loss_cls: 0.1693, d1.loss_bbox: 0.3573, d2.loss_cls: 0.1546, d2.loss_bbox: 0.3386, d3.loss_cls: 0.1420, d3.loss_bbox: 0.3309, d4.loss_cls: 0.1336, d4.loss_bbox: 0.3315, d5.loss_cls: 0.1320, d5.loss_bbox: 0.3307, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7325, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5833, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5410, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5258, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5233, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5156, d0.loss_map_cls_all: 0.2120, d0.loss_map_pts_all: 1.1490, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2120, d0.loss_map_pts: 1.1490, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1791, d1.loss_map_pts: 0.8176, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1589, d2.loss_map_pts: 0.6570, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1440, d3.loss_map_pts: 0.5990, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1387, d4.loss_map_pts: 0.5819, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1348, d5.loss_map_pts: 0.5810, d5.loss_map_dir: 0.0073, loss: 25.8575, grad_norm: 137.8936 +2026-02-28 03:09:03,359 - DriveTransformer - INFO - Epoch [9][2400/39528] lr: 7.525e-05, eta: 5 days, 7:54:32, time: 0.722, data_time: 0.036, memory: 19865, loss_cls: 0.1046, loss_bbox: 0.3228, loss_traj: 0.4927, loss_traj_cls: 0.0017, loss_map_cls: 0.1306, loss_map_pts: 0.6003, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.7966, d0.loss_plan_l1_fix_dist: 0.4406, d1.loss_plan_l1_fix_time: 0.9249, d1.loss_plan_l1_fix_dist: 0.1931, d2.loss_plan_l1_fix_time: 0.9131, d2.loss_plan_l1_fix_dist: 0.2306, d3.loss_plan_l1_fix_time: 0.9150, d3.loss_plan_l1_fix_dist: 0.2108, d4.loss_plan_l1_fix_time: 0.9189, d4.loss_plan_l1_fix_dist: 0.1986, d5.loss_plan_l1_fix_time: 0.9235, d5.loss_plan_l1_fix_dist: 0.2524, d6.loss_plan_l1_fix_time: 0.9299, d6.loss_plan_l1_fix_dist: 0.2611, d0.loss_cls_all: 0.1510, d0.loss_bbox_all: 0.3745, d0.loss_cls: 0.1510, d0.loss_bbox: 0.3745, d1.loss_cls: 0.1435, d1.loss_bbox: 0.3408, d2.loss_cls: 0.1272, d2.loss_bbox: 0.3274, d3.loss_cls: 0.1109, d3.loss_bbox: 0.3227, d4.loss_cls: 0.1049, d4.loss_bbox: 0.3219, d5.loss_cls: 0.1045, d5.loss_bbox: 0.3221, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7492, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5564, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5134, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4997, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4973, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4932, d0.loss_map_cls_all: 0.2151, d0.loss_map_pts_all: 1.3039, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2151, d0.loss_map_pts: 1.3039, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1827, d1.loss_map_pts: 0.8655, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1587, d2.loss_map_pts: 0.6819, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1462, d3.loss_map_pts: 0.6181, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1389, d4.loss_map_pts: 0.5981, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1330, d5.loss_map_pts: 0.5978, d5.loss_map_dir: 0.0078, loss: 25.5735, grad_norm: 138.3358 +2026-02-28 03:09:39,807 - DriveTransformer - INFO - Epoch [9][2450/39528] lr: 7.525e-05, eta: 5 days, 7:53:54, time: 0.728, data_time: 0.035, memory: 19865, loss_cls: 0.1416, loss_bbox: 0.3560, loss_traj: 0.6039, loss_traj_cls: 0.0017, loss_map_cls: 0.1510, loss_map_pts: 0.6668, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 3.1110, d0.loss_plan_l1_fix_dist: 0.4060, d1.loss_plan_l1_fix_time: 0.9880, d1.loss_plan_l1_fix_dist: 0.2033, d2.loss_plan_l1_fix_time: 0.9630, d2.loss_plan_l1_fix_dist: 0.2254, d3.loss_plan_l1_fix_time: 0.9804, d3.loss_plan_l1_fix_dist: 0.1992, d4.loss_plan_l1_fix_time: 0.9835, d4.loss_plan_l1_fix_dist: 0.1936, d5.loss_plan_l1_fix_time: 0.9854, d5.loss_plan_l1_fix_dist: 0.2254, d6.loss_plan_l1_fix_time: 0.9883, d6.loss_plan_l1_fix_dist: 0.2283, d0.loss_cls_all: 0.1902, d0.loss_bbox_all: 0.4353, d0.loss_cls: 0.1902, d0.loss_bbox: 0.4353, d1.loss_cls: 0.1830, d1.loss_bbox: 0.3930, d2.loss_cls: 0.1656, d2.loss_bbox: 0.3690, d3.loss_cls: 0.1483, d3.loss_bbox: 0.3603, d4.loss_cls: 0.1435, d4.loss_bbox: 0.3574, d5.loss_cls: 0.1422, d5.loss_bbox: 0.3563, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8316, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6670, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6116, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6001, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5992, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5997, d0.loss_map_cls_all: 0.2369, d0.loss_map_pts_all: 1.3050, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2369, d0.loss_map_pts: 1.3050, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.2088, d1.loss_map_pts: 0.9375, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1819, d2.loss_map_pts: 0.7638, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1664, d3.loss_map_pts: 0.6976, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1584, d4.loss_map_pts: 0.6699, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1534, d5.loss_map_pts: 0.6656, d5.loss_map_dir: 0.0083, loss: 28.1378, grad_norm: 139.6193 +2026-02-28 03:10:17,051 - DriveTransformer - INFO - Epoch [9][2500/39528] lr: 7.525e-05, eta: 5 days, 7:53:23, time: 0.745, data_time: 0.035, memory: 19865, loss_cls: 0.1234, loss_bbox: 0.3343, loss_traj: 0.5736, loss_traj_cls: 0.0017, loss_map_cls: 0.1239, loss_map_pts: 0.6039, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.6392, d0.loss_plan_l1_fix_dist: 0.3978, d1.loss_plan_l1_fix_time: 0.9076, d1.loss_plan_l1_fix_dist: 0.1942, d2.loss_plan_l1_fix_time: 0.8891, d2.loss_plan_l1_fix_dist: 0.1908, d3.loss_plan_l1_fix_time: 0.8893, d3.loss_plan_l1_fix_dist: 0.1766, d4.loss_plan_l1_fix_time: 0.8920, d4.loss_plan_l1_fix_dist: 0.1973, d5.loss_plan_l1_fix_time: 0.8950, d5.loss_plan_l1_fix_dist: 0.2127, d6.loss_plan_l1_fix_time: 0.8987, d6.loss_plan_l1_fix_dist: 0.2173, d0.loss_cls_all: 0.1680, d0.loss_bbox_all: 0.3880, d0.loss_cls: 0.1680, d0.loss_bbox: 0.3880, d1.loss_cls: 0.1639, d1.loss_bbox: 0.3552, d2.loss_cls: 0.1517, d2.loss_bbox: 0.3394, d3.loss_cls: 0.1336, d3.loss_bbox: 0.3341, d4.loss_cls: 0.1263, d4.loss_bbox: 0.3344, d5.loss_cls: 0.1240, d5.loss_bbox: 0.3336, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7939, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6411, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5905, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5731, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5693, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5716, d0.loss_map_cls_all: 0.2062, d0.loss_map_pts_all: 1.2253, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2062, d0.loss_map_pts: 1.2253, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1698, d1.loss_map_pts: 0.8663, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1493, d2.loss_map_pts: 0.7027, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1399, d3.loss_map_pts: 0.6390, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1312, d4.loss_map_pts: 0.6124, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1263, d5.loss_map_pts: 0.6035, d5.loss_map_dir: 0.0074, loss: 25.6722, grad_norm: 140.6499 +2026-02-28 03:10:53,672 - DriveTransformer - INFO - Epoch [9][2550/39528] lr: 7.525e-05, eta: 5 days, 7:52:47, time: 0.732, data_time: 0.037, memory: 19865, loss_cls: 0.1210, loss_bbox: 0.3135, loss_traj: 0.4695, loss_traj_cls: 0.0017, loss_map_cls: 0.1527, loss_map_pts: 0.6475, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.5463, d0.loss_plan_l1_fix_dist: 0.4258, d1.loss_plan_l1_fix_time: 0.9311, d1.loss_plan_l1_fix_dist: 0.2043, d2.loss_plan_l1_fix_time: 0.9162, d2.loss_plan_l1_fix_dist: 0.2024, d3.loss_plan_l1_fix_time: 0.9269, d3.loss_plan_l1_fix_dist: 0.1998, d4.loss_plan_l1_fix_time: 0.9314, d4.loss_plan_l1_fix_dist: 0.2398, d5.loss_plan_l1_fix_time: 0.9365, d5.loss_plan_l1_fix_dist: 0.2273, d6.loss_plan_l1_fix_time: 0.9424, d6.loss_plan_l1_fix_dist: 0.2317, d0.loss_cls_all: 0.1639, d0.loss_bbox_all: 0.3718, d0.loss_cls: 0.1639, d0.loss_bbox: 0.3718, d1.loss_cls: 0.1552, d1.loss_bbox: 0.3406, d2.loss_cls: 0.1444, d2.loss_bbox: 0.3206, d3.loss_cls: 0.1310, d3.loss_bbox: 0.3150, d4.loss_cls: 0.1237, d4.loss_bbox: 0.3132, d5.loss_cls: 0.1222, d5.loss_bbox: 0.3121, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6538, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5120, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4783, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4680, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4675, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4671, d0.loss_map_cls_all: 0.2303, d0.loss_map_pts_all: 1.3025, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2303, d0.loss_map_pts: 1.3025, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.2004, d1.loss_map_pts: 0.9363, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1770, d2.loss_map_pts: 0.7505, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1666, d3.loss_map_pts: 0.6804, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1584, d4.loss_map_pts: 0.6558, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1542, d5.loss_map_pts: 0.6474, d5.loss_map_dir: 0.0077, loss: 25.6213, grad_norm: 140.7914 +2026-02-28 03:11:29,330 - DriveTransformer - INFO - Epoch [9][2600/39528] lr: 7.525e-05, eta: 5 days, 7:52:03, time: 0.713, data_time: 0.037, memory: 19865, loss_cls: 0.1226, loss_bbox: 0.3155, loss_traj: 0.5895, loss_traj_cls: 0.0018, loss_map_cls: 0.1230, loss_map_pts: 0.5532, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.7556, d0.loss_plan_l1_fix_dist: 0.4605, d1.loss_plan_l1_fix_time: 1.0163, d1.loss_plan_l1_fix_dist: 0.2116, d2.loss_plan_l1_fix_time: 0.9957, d2.loss_plan_l1_fix_dist: 0.2280, d3.loss_plan_l1_fix_time: 0.9935, d3.loss_plan_l1_fix_dist: 0.2136, d4.loss_plan_l1_fix_time: 0.9942, d4.loss_plan_l1_fix_dist: 0.2571, d5.loss_plan_l1_fix_time: 0.9964, d5.loss_plan_l1_fix_dist: 0.2293, d6.loss_plan_l1_fix_time: 0.9991, d6.loss_plan_l1_fix_dist: 0.2470, d0.loss_cls_all: 0.1655, d0.loss_bbox_all: 0.3702, d0.loss_cls: 0.1655, d0.loss_bbox: 0.3702, d1.loss_cls: 0.1581, d1.loss_bbox: 0.3412, d2.loss_cls: 0.1456, d2.loss_bbox: 0.3203, d3.loss_cls: 0.1296, d3.loss_bbox: 0.3169, d4.loss_cls: 0.1240, d4.loss_bbox: 0.3162, d5.loss_cls: 0.1225, d5.loss_bbox: 0.3150, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8757, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6755, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6038, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5920, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5944, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5916, d0.loss_map_cls_all: 0.1944, d0.loss_map_pts_all: 1.1334, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1944, d0.loss_map_pts: 1.1334, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1664, d1.loss_map_pts: 0.7993, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1432, d2.loss_map_pts: 0.6420, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1327, d3.loss_map_pts: 0.5784, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1263, d4.loss_map_pts: 0.5565, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1251, d5.loss_map_pts: 0.5526, d5.loss_map_dir: 0.0059, loss: 26.1276, grad_norm: 141.3990 +2026-02-28 03:12:04,639 - DriveTransformer - INFO - Epoch [9][2650/39528] lr: 7.525e-05, eta: 5 days, 7:51:17, time: 0.706, data_time: 0.037, memory: 19865, loss_cls: 0.1251, loss_bbox: 0.3181, loss_traj: 0.5548, loss_traj_cls: 0.0019, loss_map_cls: 0.1221, loss_map_pts: 0.5424, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.6446, d0.loss_plan_l1_fix_dist: 0.3356, d1.loss_plan_l1_fix_time: 0.9268, d1.loss_plan_l1_fix_dist: 0.1962, d2.loss_plan_l1_fix_time: 0.9183, d2.loss_plan_l1_fix_dist: 0.2224, d3.loss_plan_l1_fix_time: 0.9110, d3.loss_plan_l1_fix_dist: 0.1943, d4.loss_plan_l1_fix_time: 0.9113, d4.loss_plan_l1_fix_dist: 0.2361, d5.loss_plan_l1_fix_time: 0.9120, d5.loss_plan_l1_fix_dist: 0.2029, d6.loss_plan_l1_fix_time: 0.9134, d6.loss_plan_l1_fix_dist: 0.2531, d0.loss_cls_all: 0.1672, d0.loss_bbox_all: 0.3770, d0.loss_cls: 0.1672, d0.loss_bbox: 0.3770, d1.loss_cls: 0.1591, d1.loss_bbox: 0.3464, d2.loss_cls: 0.1446, d2.loss_bbox: 0.3255, d3.loss_cls: 0.1305, d3.loss_bbox: 0.3213, d4.loss_cls: 0.1255, d4.loss_bbox: 0.3196, d5.loss_cls: 0.1263, d5.loss_bbox: 0.3159, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8405, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6481, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5811, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5557, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5507, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5513, d0.loss_map_cls_all: 0.1988, d0.loss_map_pts_all: 1.0774, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1988, d0.loss_map_pts: 1.0774, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1664, d1.loss_map_pts: 0.7782, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1446, d2.loss_map_pts: 0.6363, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1336, d3.loss_map_pts: 0.5782, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1278, d4.loss_map_pts: 0.5534, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1233, d5.loss_map_pts: 0.5430, d5.loss_map_dir: 0.0064, loss: 24.9658, grad_norm: 141.6176 +2026-02-28 03:12:42,112 - DriveTransformer - INFO - Epoch [9][2700/39528] lr: 7.525e-05, eta: 5 days, 7:50:48, time: 0.749, data_time: 0.037, memory: 19865, loss_cls: 0.1251, loss_bbox: 0.3176, loss_traj: 0.5224, loss_traj_cls: 0.0018, loss_map_cls: 0.1273, loss_map_pts: 0.5573, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.6581, d0.loss_plan_l1_fix_dist: 0.3770, d1.loss_plan_l1_fix_time: 0.8418, d1.loss_plan_l1_fix_dist: 0.1870, d2.loss_plan_l1_fix_time: 0.8244, d2.loss_plan_l1_fix_dist: 0.2270, d3.loss_plan_l1_fix_time: 0.8145, d3.loss_plan_l1_fix_dist: 0.1927, d4.loss_plan_l1_fix_time: 0.8148, d4.loss_plan_l1_fix_dist: 0.2458, d5.loss_plan_l1_fix_time: 0.8160, d5.loss_plan_l1_fix_dist: 0.2121, d6.loss_plan_l1_fix_time: 0.8178, d6.loss_plan_l1_fix_dist: 0.2694, d0.loss_cls_all: 0.1719, d0.loss_bbox_all: 0.3822, d0.loss_cls: 0.1719, d0.loss_bbox: 0.3822, d1.loss_cls: 0.1656, d1.loss_bbox: 0.3487, d2.loss_cls: 0.1476, d2.loss_bbox: 0.3307, d3.loss_cls: 0.1332, d3.loss_bbox: 0.3231, d4.loss_cls: 0.1263, d4.loss_bbox: 0.3208, d5.loss_cls: 0.1258, d5.loss_bbox: 0.3178, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6962, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5757, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5354, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5253, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5263, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5201, d0.loss_map_cls_all: 0.2039, d0.loss_map_pts_all: 1.1222, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2039, d0.loss_map_pts: 1.1222, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1749, d1.loss_map_pts: 0.7902, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1533, d2.loss_map_pts: 0.6408, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1394, d3.loss_map_pts: 0.5859, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1330, d4.loss_map_pts: 0.5650, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1287, d5.loss_map_pts: 0.5582, d5.loss_map_dir: 0.0071, loss: 24.3603, grad_norm: 140.9993 +2026-02-28 03:13:19,470 - DriveTransformer - INFO - Epoch [9][2750/39528] lr: 7.525e-05, eta: 5 days, 7:50:18, time: 0.747, data_time: 0.035, memory: 19865, loss_cls: 0.1274, loss_bbox: 0.3145, loss_traj: 0.6405, loss_traj_cls: 0.0018, loss_map_cls: 0.1211, loss_map_pts: 0.6157, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.9298, d0.loss_plan_l1_fix_dist: 0.3857, d1.loss_plan_l1_fix_time: 0.9906, d1.loss_plan_l1_fix_dist: 0.1944, d2.loss_plan_l1_fix_time: 0.9719, d2.loss_plan_l1_fix_dist: 0.2352, d3.loss_plan_l1_fix_time: 0.9686, d3.loss_plan_l1_fix_dist: 0.1962, d4.loss_plan_l1_fix_time: 0.9698, d4.loss_plan_l1_fix_dist: 0.2604, d5.loss_plan_l1_fix_time: 0.9716, d5.loss_plan_l1_fix_dist: 0.2534, d6.loss_plan_l1_fix_time: 0.9734, d6.loss_plan_l1_fix_dist: 0.2774, d0.loss_cls_all: 0.1651, d0.loss_bbox_all: 0.3700, d0.loss_cls: 0.1651, d0.loss_bbox: 0.3700, d1.loss_cls: 0.1636, d1.loss_bbox: 0.3365, d2.loss_cls: 0.1560, d2.loss_bbox: 0.3189, d3.loss_cls: 0.1370, d3.loss_bbox: 0.3139, d4.loss_cls: 0.1313, d4.loss_bbox: 0.3118, d5.loss_cls: 0.1279, d5.loss_bbox: 0.3130, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9098, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7075, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6548, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6412, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6399, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6389, d0.loss_map_cls_all: 0.2106, d0.loss_map_pts_all: 1.2546, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2106, d0.loss_map_pts: 1.2546, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1773, d1.loss_map_pts: 0.8769, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1501, d2.loss_map_pts: 0.7131, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1385, d3.loss_map_pts: 0.6520, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1297, d4.loss_map_pts: 0.6292, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1223, d5.loss_map_pts: 0.6179, d5.loss_map_dir: 0.0079, loss: 27.1755, grad_norm: 142.4110 +2026-02-28 03:13:55,065 - DriveTransformer - INFO - Epoch [9][2800/39528] lr: 7.525e-05, eta: 5 days, 7:49:34, time: 0.712, data_time: 0.035, memory: 19865, loss_cls: 0.1089, loss_bbox: 0.2922, loss_traj: 0.5633, loss_traj_cls: 0.0019, loss_map_cls: 0.1418, loss_map_pts: 0.6108, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.5414, d0.loss_plan_l1_fix_dist: 0.4507, d1.loss_plan_l1_fix_time: 1.0083, d1.loss_plan_l1_fix_dist: 0.1736, d2.loss_plan_l1_fix_time: 0.9883, d2.loss_plan_l1_fix_dist: 0.2117, d3.loss_plan_l1_fix_time: 0.9865, d3.loss_plan_l1_fix_dist: 0.1914, d4.loss_plan_l1_fix_time: 0.9890, d4.loss_plan_l1_fix_dist: 0.2155, d5.loss_plan_l1_fix_time: 0.9914, d5.loss_plan_l1_fix_dist: 0.2742, d6.loss_plan_l1_fix_time: 0.9945, d6.loss_plan_l1_fix_dist: 0.2577, d0.loss_cls_all: 0.1470, d0.loss_bbox_all: 0.3575, d0.loss_cls: 0.1470, d0.loss_bbox: 0.3575, d1.loss_cls: 0.1393, d1.loss_bbox: 0.3188, d2.loss_cls: 0.1290, d2.loss_bbox: 0.3021, d3.loss_cls: 0.1146, d3.loss_bbox: 0.2963, d4.loss_cls: 0.1084, d4.loss_bbox: 0.2937, d5.loss_cls: 0.1087, d5.loss_bbox: 0.2916, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8338, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6378, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5851, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5743, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5667, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5659, d0.loss_map_cls_all: 0.2258, d0.loss_map_pts_all: 1.2337, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2258, d0.loss_map_pts: 1.2337, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1899, d1.loss_map_pts: 0.8839, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1637, d2.loss_map_pts: 0.7118, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1520, d3.loss_map_pts: 0.6422, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1455, d4.loss_map_pts: 0.6190, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1422, d5.loss_map_pts: 0.6139, d5.loss_map_dir: 0.0078, loss: 26.1156, grad_norm: 142.2185 +2026-02-28 03:14:31,599 - DriveTransformer - INFO - Epoch [9][2850/39528] lr: 7.525e-05, eta: 5 days, 7:48:57, time: 0.731, data_time: 0.036, memory: 19865, loss_cls: 0.1161, loss_bbox: 0.3233, loss_traj: 0.6020, loss_traj_cls: 0.0019, loss_map_cls: 0.1401, loss_map_pts: 0.5745, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.9099, d0.loss_plan_l1_fix_dist: 0.4249, d1.loss_plan_l1_fix_time: 1.0331, d1.loss_plan_l1_fix_dist: 0.1931, d2.loss_plan_l1_fix_time: 1.0127, d2.loss_plan_l1_fix_dist: 0.2271, d3.loss_plan_l1_fix_time: 1.0115, d3.loss_plan_l1_fix_dist: 0.2223, d4.loss_plan_l1_fix_time: 1.0153, d4.loss_plan_l1_fix_dist: 0.2274, d5.loss_plan_l1_fix_time: 1.0186, d5.loss_plan_l1_fix_dist: 0.2977, d6.loss_plan_l1_fix_time: 1.0220, d6.loss_plan_l1_fix_dist: 0.2543, d0.loss_cls_all: 0.1581, d0.loss_bbox_all: 0.3861, d0.loss_cls: 0.1581, d0.loss_bbox: 0.3861, d1.loss_cls: 0.1532, d1.loss_bbox: 0.3532, d2.loss_cls: 0.1376, d2.loss_bbox: 0.3330, d3.loss_cls: 0.1237, d3.loss_bbox: 0.3238, d4.loss_cls: 0.1159, d4.loss_bbox: 0.3245, d5.loss_cls: 0.1153, d5.loss_bbox: 0.3233, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8640, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6872, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6340, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6150, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6142, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6037, d0.loss_map_cls_all: 0.2119, d0.loss_map_pts_all: 1.1951, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2119, d0.loss_map_pts: 1.1951, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1816, d1.loss_map_pts: 0.8342, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1619, d2.loss_map_pts: 0.6695, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1503, d3.loss_map_pts: 0.6067, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1450, d4.loss_map_pts: 0.5809, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1412, d5.loss_map_pts: 0.5745, d5.loss_map_dir: 0.0069, loss: 26.9565, grad_norm: 141.0641 +2026-02-28 03:15:08,723 - DriveTransformer - INFO - Epoch [9][2900/39528] lr: 7.525e-05, eta: 5 days, 7:48:25, time: 0.742, data_time: 0.037, memory: 19865, loss_cls: 0.1028, loss_bbox: 0.2997, loss_traj: 0.5497, loss_traj_cls: 0.0020, loss_map_cls: 0.1246, loss_map_pts: 0.5840, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.4765, d0.loss_plan_l1_fix_dist: 0.4814, d1.loss_plan_l1_fix_time: 0.8127, d1.loss_plan_l1_fix_dist: 0.2119, d2.loss_plan_l1_fix_time: 0.8054, d2.loss_plan_l1_fix_dist: 0.2137, d3.loss_plan_l1_fix_time: 0.7964, d3.loss_plan_l1_fix_dist: 0.2411, d4.loss_plan_l1_fix_time: 0.7985, d4.loss_plan_l1_fix_dist: 0.2603, d5.loss_plan_l1_fix_time: 0.8014, d5.loss_plan_l1_fix_dist: 0.3407, d6.loss_plan_l1_fix_time: 0.8049, d6.loss_plan_l1_fix_dist: 0.2962, d0.loss_cls_all: 0.1457, d0.loss_bbox_all: 0.3550, d0.loss_cls: 0.1457, d0.loss_bbox: 0.3550, d1.loss_cls: 0.1417, d1.loss_bbox: 0.3216, d2.loss_cls: 0.1255, d2.loss_bbox: 0.3072, d3.loss_cls: 0.1102, d3.loss_bbox: 0.3033, d4.loss_cls: 0.1040, d4.loss_bbox: 0.3008, d5.loss_cls: 0.1038, d5.loss_bbox: 0.2990, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7774, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6107, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5725, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.5596, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5528, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5518, d0.loss_map_cls_all: 0.1989, d0.loss_map_pts_all: 1.2536, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1989, d0.loss_map_pts: 1.2536, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1687, d1.loss_map_pts: 0.8512, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1468, d2.loss_map_pts: 0.6794, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1341, d3.loss_map_pts: 0.6177, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1281, d4.loss_map_pts: 0.5898, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1248, d5.loss_map_pts: 0.5850, d5.loss_map_dir: 0.0079, loss: 24.7440, grad_norm: 141.2391 +2026-02-28 03:15:45,441 - DriveTransformer - INFO - Epoch [9][2950/39528] lr: 7.525e-05, eta: 5 days, 7:47:50, time: 0.734, data_time: 0.038, memory: 19865, loss_cls: 0.1195, loss_bbox: 0.3186, loss_traj: 0.5122, loss_traj_cls: 0.0019, loss_map_cls: 0.1352, loss_map_pts: 0.6333, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.7853, d0.loss_plan_l1_fix_dist: 0.3654, d1.loss_plan_l1_fix_time: 0.9707, d1.loss_plan_l1_fix_dist: 0.2098, d2.loss_plan_l1_fix_time: 0.9592, d2.loss_plan_l1_fix_dist: 0.1998, d3.loss_plan_l1_fix_time: 0.9505, d3.loss_plan_l1_fix_dist: 0.2441, d4.loss_plan_l1_fix_time: 0.9520, d4.loss_plan_l1_fix_dist: 0.2672, d5.loss_plan_l1_fix_time: 0.9548, d5.loss_plan_l1_fix_dist: 0.2982, d6.loss_plan_l1_fix_time: 0.9579, d6.loss_plan_l1_fix_dist: 0.2648, d0.loss_cls_all: 0.1620, d0.loss_bbox_all: 0.3829, d0.loss_cls: 0.1620, d0.loss_bbox: 0.3829, d1.loss_cls: 0.1548, d1.loss_bbox: 0.3480, d2.loss_cls: 0.1413, d2.loss_bbox: 0.3270, d3.loss_cls: 0.1283, d3.loss_bbox: 0.3224, d4.loss_cls: 0.1209, d4.loss_bbox: 0.3202, d5.loss_cls: 0.1200, d5.loss_bbox: 0.3182, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7331, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5849, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5324, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5234, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5137, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5128, d0.loss_map_cls_all: 0.2042, d0.loss_map_pts_all: 1.2973, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2042, d0.loss_map_pts: 1.2973, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1758, d1.loss_map_pts: 0.9259, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1585, d2.loss_map_pts: 0.7318, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1471, d3.loss_map_pts: 0.6703, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1424, d4.loss_map_pts: 0.6438, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1376, d5.loss_map_pts: 0.6342, d5.loss_map_dir: 0.0083, loss: 26.3325, grad_norm: 143.0432 +2026-02-28 03:16:21,250 - DriveTransformer - INFO - Epoch [9][3000/39528] lr: 7.525e-05, eta: 5 days, 7:47:08, time: 0.716, data_time: 0.035, memory: 19865, loss_cls: 0.1081, loss_bbox: 0.2963, loss_traj: 0.5190, loss_traj_cls: 0.0019, loss_map_cls: 0.1076, loss_map_pts: 0.5430, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.4595, d0.loss_plan_l1_fix_dist: 0.4825, d1.loss_plan_l1_fix_time: 0.7566, d1.loss_plan_l1_fix_dist: 0.2520, d2.loss_plan_l1_fix_time: 0.7535, d2.loss_plan_l1_fix_dist: 0.2366, d3.loss_plan_l1_fix_time: 0.7498, d3.loss_plan_l1_fix_dist: 0.2954, d4.loss_plan_l1_fix_time: 0.7544, d4.loss_plan_l1_fix_dist: 0.3317, d5.loss_plan_l1_fix_time: 0.7596, d5.loss_plan_l1_fix_dist: 0.3129, d6.loss_plan_l1_fix_time: 0.7645, d6.loss_plan_l1_fix_dist: 0.2652, d0.loss_cls_all: 0.1509, d0.loss_bbox_all: 0.3533, d0.loss_cls: 0.1509, d0.loss_bbox: 0.3533, d1.loss_cls: 0.1477, d1.loss_bbox: 0.3230, d2.loss_cls: 0.1295, d2.loss_bbox: 0.3047, d3.loss_cls: 0.1165, d3.loss_bbox: 0.2945, d4.loss_cls: 0.1098, d4.loss_bbox: 0.2947, d5.loss_cls: 0.1081, d5.loss_bbox: 0.2951, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7546, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5965, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5501, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5353, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5259, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5242, d0.loss_map_cls_all: 0.1873, d0.loss_map_pts_all: 1.1473, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1873, d0.loss_map_pts: 1.1473, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1544, d1.loss_map_pts: 0.7979, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1303, d2.loss_map_pts: 0.6384, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1211, d3.loss_map_pts: 0.5750, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1144, d4.loss_map_pts: 0.5497, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1082, d5.loss_map_pts: 0.5431, d5.loss_map_dir: 0.0070, loss: 23.8308, grad_norm: 146.5206 +2026-02-28 03:16:57,825 - DriveTransformer - INFO - Epoch [9][3050/39528] lr: 7.525e-05, eta: 5 days, 7:46:32, time: 0.732, data_time: 0.039, memory: 19865, loss_cls: 0.1096, loss_bbox: 0.3191, loss_traj: 0.6355, loss_traj_cls: 0.0018, loss_map_cls: 0.1209, loss_map_pts: 0.5942, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.8251, d0.loss_plan_l1_fix_dist: 0.4055, d1.loss_plan_l1_fix_time: 0.9173, d1.loss_plan_l1_fix_dist: 0.2453, d2.loss_plan_l1_fix_time: 0.9150, d2.loss_plan_l1_fix_dist: 0.2159, d3.loss_plan_l1_fix_time: 0.9134, d3.loss_plan_l1_fix_dist: 0.2776, d4.loss_plan_l1_fix_time: 0.9163, d4.loss_plan_l1_fix_dist: 0.3218, d5.loss_plan_l1_fix_time: 0.9200, d5.loss_plan_l1_fix_dist: 0.2884, d6.loss_plan_l1_fix_time: 0.9235, d6.loss_plan_l1_fix_dist: 0.2768, d0.loss_cls_all: 0.1536, d0.loss_bbox_all: 0.3744, d0.loss_cls: 0.1536, d0.loss_bbox: 0.3744, d1.loss_cls: 0.1482, d1.loss_bbox: 0.3457, d2.loss_cls: 0.1357, d2.loss_bbox: 0.3263, d3.loss_cls: 0.1181, d3.loss_bbox: 0.3195, d4.loss_cls: 0.1117, d4.loss_bbox: 0.3180, d5.loss_cls: 0.1104, d5.loss_bbox: 0.3181, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8768, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6996, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6578, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6426, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6363, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6371, d0.loss_map_cls_all: 0.1949, d0.loss_map_pts_all: 1.1715, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1949, d0.loss_map_pts: 1.1715, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1681, d1.loss_map_pts: 0.8396, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1464, d2.loss_map_pts: 0.6837, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1356, d3.loss_map_pts: 0.6266, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1266, d4.loss_map_pts: 0.6052, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1225, d5.loss_map_pts: 0.5945, d5.loss_map_dir: 0.0066, loss: 26.4386, grad_norm: 147.2698 +2026-02-28 03:17:35,206 - DriveTransformer - INFO - Epoch [9][3100/39528] lr: 7.525e-05, eta: 5 days, 7:46:01, time: 0.748, data_time: 0.036, memory: 19865, loss_cls: 0.1085, loss_bbox: 0.3141, loss_traj: 0.5695, loss_traj_cls: 0.0018, loss_map_cls: 0.1298, loss_map_pts: 0.6878, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.5785, d0.loss_plan_l1_fix_dist: 0.4708, d1.loss_plan_l1_fix_time: 0.8375, d1.loss_plan_l1_fix_dist: 0.2678, d2.loss_plan_l1_fix_time: 0.8099, d2.loss_plan_l1_fix_dist: 0.2138, d3.loss_plan_l1_fix_time: 0.8106, d3.loss_plan_l1_fix_dist: 0.2745, d4.loss_plan_l1_fix_time: 0.8122, d4.loss_plan_l1_fix_dist: 0.3155, d5.loss_plan_l1_fix_time: 0.8142, d5.loss_plan_l1_fix_dist: 0.2589, d6.loss_plan_l1_fix_time: 0.8174, d6.loss_plan_l1_fix_dist: 0.2670, d0.loss_cls_all: 0.1556, d0.loss_bbox_all: 0.3692, d0.loss_cls: 0.1556, d0.loss_bbox: 0.3692, d1.loss_cls: 0.1452, d1.loss_bbox: 0.3391, d2.loss_cls: 0.1338, d2.loss_bbox: 0.3189, d3.loss_cls: 0.1178, d3.loss_bbox: 0.3157, d4.loss_cls: 0.1105, d4.loss_bbox: 0.3142, d5.loss_cls: 0.1083, d5.loss_bbox: 0.3136, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8396, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6521, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5938, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5750, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5698, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5671, d0.loss_map_cls_all: 0.2204, d0.loss_map_pts_all: 1.3917, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2204, d0.loss_map_pts: 1.3917, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1820, d1.loss_map_pts: 0.9967, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1577, d2.loss_map_pts: 0.8073, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1445, d3.loss_map_pts: 0.7317, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1366, d4.loss_map_pts: 0.7018, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1318, d5.loss_map_pts: 0.6892, d5.loss_map_dir: 0.0079, loss: 26.3927, grad_norm: 147.2695 +2026-02-28 03:18:12,653 - DriveTransformer - INFO - Epoch [9][3150/39528] lr: 7.525e-05, eta: 5 days, 7:45:32, time: 0.749, data_time: 0.036, memory: 19865, loss_cls: 0.1353, loss_bbox: 0.3368, loss_traj: 0.5714, loss_traj_cls: 0.0018, loss_map_cls: 0.1362, loss_map_pts: 0.7100, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.3944, d0.loss_plan_l1_fix_dist: 0.4349, d1.loss_plan_l1_fix_time: 0.8956, d1.loss_plan_l1_fix_dist: 0.3165, d2.loss_plan_l1_fix_time: 0.8719, d2.loss_plan_l1_fix_dist: 0.2686, d3.loss_plan_l1_fix_time: 0.8724, d3.loss_plan_l1_fix_dist: 0.3321, d4.loss_plan_l1_fix_time: 0.8754, d4.loss_plan_l1_fix_dist: 0.4391, d5.loss_plan_l1_fix_time: 0.8791, d5.loss_plan_l1_fix_dist: 0.3399, d6.loss_plan_l1_fix_time: 0.8829, d6.loss_plan_l1_fix_dist: 0.3306, d0.loss_cls_all: 0.1808, d0.loss_bbox_all: 0.3951, d0.loss_cls: 0.1808, d0.loss_bbox: 0.3951, d1.loss_cls: 0.1707, d1.loss_bbox: 0.3662, d2.loss_cls: 0.1548, d2.loss_bbox: 0.3455, d3.loss_cls: 0.1449, d3.loss_bbox: 0.3376, d4.loss_cls: 0.1365, d4.loss_bbox: 0.3364, d5.loss_cls: 0.1365, d5.loss_bbox: 0.3347, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8161, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6494, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6019, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5794, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5729, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5685, d0.loss_map_cls_all: 0.2239, d0.loss_map_pts_all: 1.3695, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2239, d0.loss_map_pts: 1.3695, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1916, d1.loss_map_pts: 0.9979, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1614, d2.loss_map_pts: 0.8222, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1520, d3.loss_map_pts: 0.7489, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1445, d4.loss_map_pts: 0.7222, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1390, d5.loss_map_pts: 0.7096, d5.loss_map_dir: 0.0093, loss: 27.4824, grad_norm: 151.1166 +2026-02-28 03:18:48,579 - DriveTransformer - INFO - Epoch [9][3200/39528] lr: 7.525e-05, eta: 5 days, 7:44:51, time: 0.720, data_time: 0.034, memory: 19865, loss_cls: 0.1167, loss_bbox: 0.3240, loss_traj: 0.5452, loss_traj_cls: 0.0017, loss_map_cls: 0.1288, loss_map_pts: 0.6227, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 3.0145, d0.loss_plan_l1_fix_dist: 0.5309, d1.loss_plan_l1_fix_time: 0.9828, d1.loss_plan_l1_fix_dist: 0.2893, d2.loss_plan_l1_fix_time: 0.9655, d2.loss_plan_l1_fix_dist: 0.2455, d3.loss_plan_l1_fix_time: 0.9664, d3.loss_plan_l1_fix_dist: 0.2929, d4.loss_plan_l1_fix_time: 0.9691, d4.loss_plan_l1_fix_dist: 0.4312, d5.loss_plan_l1_fix_time: 0.9731, d5.loss_plan_l1_fix_dist: 0.3084, d6.loss_plan_l1_fix_time: 0.9763, d6.loss_plan_l1_fix_dist: 0.2855, d0.loss_cls_all: 0.1572, d0.loss_bbox_all: 0.3886, d0.loss_cls: 0.1572, d0.loss_bbox: 0.3886, d1.loss_cls: 0.1543, d1.loss_bbox: 0.3555, d2.loss_cls: 0.1394, d2.loss_bbox: 0.3359, d3.loss_cls: 0.1222, d3.loss_bbox: 0.3286, d4.loss_cls: 0.1164, d4.loss_bbox: 0.3268, d5.loss_cls: 0.1157, d5.loss_bbox: 0.3252, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7933, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6225, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5772, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5610, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5532, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5488, d0.loss_map_cls_all: 0.2174, d0.loss_map_pts_all: 1.2234, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2174, d0.loss_map_pts: 1.2234, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1804, d1.loss_map_pts: 0.8741, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1530, d2.loss_map_pts: 0.7181, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1427, d3.loss_map_pts: 0.6567, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1353, d4.loss_map_pts: 0.6299, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1301, d5.loss_map_pts: 0.6242, d5.loss_map_dir: 0.0071, loss: 27.2253, grad_norm: 150.1976 +2026-02-28 03:19:26,235 - DriveTransformer - INFO - Epoch [9][3250/39528] lr: 7.525e-05, eta: 5 days, 7:44:22, time: 0.752, data_time: 0.035, memory: 19865, loss_cls: 0.1240, loss_bbox: 0.3216, loss_traj: 0.5572, loss_traj_cls: 0.0019, loss_map_cls: 0.1117, loss_map_pts: 0.6146, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.7941, d0.loss_plan_l1_fix_dist: 0.4338, d1.loss_plan_l1_fix_time: 0.9682, d1.loss_plan_l1_fix_dist: 0.2760, d2.loss_plan_l1_fix_time: 0.9381, d2.loss_plan_l1_fix_dist: 0.2540, d3.loss_plan_l1_fix_time: 0.9299, d3.loss_plan_l1_fix_dist: 0.2989, d4.loss_plan_l1_fix_time: 0.9313, d4.loss_plan_l1_fix_dist: 0.3937, d5.loss_plan_l1_fix_time: 0.9343, d5.loss_plan_l1_fix_dist: 0.3056, d6.loss_plan_l1_fix_time: 0.9372, d6.loss_plan_l1_fix_dist: 0.3213, d0.loss_cls_all: 0.1659, d0.loss_bbox_all: 0.3953, d0.loss_cls: 0.1659, d0.loss_bbox: 0.3953, d1.loss_cls: 0.1600, d1.loss_bbox: 0.3607, d2.loss_cls: 0.1474, d2.loss_bbox: 0.3357, d3.loss_cls: 0.1320, d3.loss_bbox: 0.3280, d4.loss_cls: 0.1246, d4.loss_bbox: 0.3237, d5.loss_cls: 0.1238, d5.loss_bbox: 0.3224, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8358, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6301, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.5788, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5635, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5611, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5588, d0.loss_map_cls_all: 0.1949, d0.loss_map_pts_all: 1.2559, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1949, d0.loss_map_pts: 1.2559, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1661, d1.loss_map_pts: 0.8867, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1423, d2.loss_map_pts: 0.7085, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1274, d3.loss_map_pts: 0.6443, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1181, d4.loss_map_pts: 0.6177, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1137, d5.loss_map_pts: 0.6133, d5.loss_map_dir: 0.0074, loss: 26.7580, grad_norm: 153.0549 +2026-02-28 03:20:02,471 - DriveTransformer - INFO - Epoch [9][3300/39528] lr: 7.525e-05, eta: 5 days, 7:43:44, time: 0.725, data_time: 0.038, memory: 19865, loss_cls: 0.1076, loss_bbox: 0.3282, loss_traj: 0.6027, loss_traj_cls: 0.0018, loss_map_cls: 0.1303, loss_map_pts: 0.6289, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.6538, d0.loss_plan_l1_fix_dist: 0.4267, d1.loss_plan_l1_fix_time: 0.9181, d1.loss_plan_l1_fix_dist: 0.2654, d2.loss_plan_l1_fix_time: 0.8949, d2.loss_plan_l1_fix_dist: 0.2528, d3.loss_plan_l1_fix_time: 0.8842, d3.loss_plan_l1_fix_dist: 0.2868, d4.loss_plan_l1_fix_time: 0.8849, d4.loss_plan_l1_fix_dist: 0.3625, d5.loss_plan_l1_fix_time: 0.8869, d5.loss_plan_l1_fix_dist: 0.2838, d6.loss_plan_l1_fix_time: 0.8905, d6.loss_plan_l1_fix_dist: 0.2731, d0.loss_cls_all: 0.1507, d0.loss_bbox_all: 0.3849, d0.loss_cls: 0.1507, d0.loss_bbox: 0.3849, d1.loss_cls: 0.1429, d1.loss_bbox: 0.3567, d2.loss_cls: 0.1340, d2.loss_bbox: 0.3350, d3.loss_cls: 0.1150, d3.loss_bbox: 0.3307, d4.loss_cls: 0.1090, d4.loss_bbox: 0.3283, d5.loss_cls: 0.1068, d5.loss_bbox: 0.3283, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8732, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6932, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6307, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6101, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6014, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6014, d0.loss_map_cls_all: 0.2108, d0.loss_map_pts_all: 1.2862, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2108, d0.loss_map_pts: 1.2862, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1819, d1.loss_map_pts: 0.9134, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1561, d2.loss_map_pts: 0.7366, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1468, d3.loss_map_pts: 0.6565, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1379, d4.loss_map_pts: 0.6319, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1337, d5.loss_map_pts: 0.6280, d5.loss_map_dir: 0.0074, loss: 26.7091, grad_norm: 153.3666 +2026-02-28 03:20:39,449 - DriveTransformer - INFO - Epoch [9][3350/39528] lr: 7.525e-05, eta: 5 days, 7:43:10, time: 0.740, data_time: 0.041, memory: 19865, loss_cls: 0.1049, loss_bbox: 0.3031, loss_traj: 0.5671, loss_traj_cls: 0.0019, loss_map_cls: 0.1147, loss_map_pts: 0.5491, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.2026, d0.loss_plan_l1_fix_dist: 0.4448, d1.loss_plan_l1_fix_time: 0.8656, d1.loss_plan_l1_fix_dist: 0.2236, d2.loss_plan_l1_fix_time: 0.8388, d2.loss_plan_l1_fix_dist: 0.2235, d3.loss_plan_l1_fix_time: 0.8327, d3.loss_plan_l1_fix_dist: 0.2366, d4.loss_plan_l1_fix_time: 0.8342, d4.loss_plan_l1_fix_dist: 0.3371, d5.loss_plan_l1_fix_time: 0.8362, d5.loss_plan_l1_fix_dist: 0.2871, d6.loss_plan_l1_fix_time: 0.8395, d6.loss_plan_l1_fix_dist: 0.2572, d0.loss_cls_all: 0.1444, d0.loss_bbox_all: 0.3556, d0.loss_cls: 0.1444, d0.loss_bbox: 0.3556, d1.loss_cls: 0.1398, d1.loss_bbox: 0.3253, d2.loss_cls: 0.1292, d2.loss_bbox: 0.3065, d3.loss_cls: 0.1115, d3.loss_bbox: 0.3042, d4.loss_cls: 0.1062, d4.loss_bbox: 0.3031, d5.loss_cls: 0.1044, d5.loss_bbox: 0.3034, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8091, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6546, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5906, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5807, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5715, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5685, d0.loss_map_cls_all: 0.1957, d0.loss_map_pts_all: 1.1157, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1957, d0.loss_map_pts: 1.1157, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1619, d1.loss_map_pts: 0.7742, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1417, d2.loss_map_pts: 0.6232, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1273, d3.loss_map_pts: 0.5702, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1197, d4.loss_map_pts: 0.5540, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1165, d5.loss_map_pts: 0.5479, d5.loss_map_dir: 0.0070, loss: 24.2274, grad_norm: 153.1422 +2026-02-28 03:21:14,039 - DriveTransformer - INFO - Epoch [9][3400/39528] lr: 7.525e-05, eta: 5 days, 7:42:19, time: 0.692, data_time: 0.035, memory: 19865, loss_cls: 0.1292, loss_bbox: 0.3190, loss_traj: 0.5838, loss_traj_cls: 0.0019, loss_map_cls: 0.1341, loss_map_pts: 0.6049, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.7912, d0.loss_plan_l1_fix_dist: 0.4680, d1.loss_plan_l1_fix_time: 0.9563, d1.loss_plan_l1_fix_dist: 0.2071, d2.loss_plan_l1_fix_time: 0.9297, d2.loss_plan_l1_fix_dist: 0.2137, d3.loss_plan_l1_fix_time: 0.9215, d3.loss_plan_l1_fix_dist: 0.2204, d4.loss_plan_l1_fix_time: 0.9225, d4.loss_plan_l1_fix_dist: 0.2930, d5.loss_plan_l1_fix_time: 0.9235, d5.loss_plan_l1_fix_dist: 0.2654, d6.loss_plan_l1_fix_time: 0.9252, d6.loss_plan_l1_fix_dist: 0.2637, d0.loss_cls_all: 0.1697, d0.loss_bbox_all: 0.3766, d0.loss_cls: 0.1697, d0.loss_bbox: 0.3766, d1.loss_cls: 0.1688, d1.loss_bbox: 0.3437, d2.loss_cls: 0.1481, d2.loss_bbox: 0.3293, d3.loss_cls: 0.1371, d3.loss_bbox: 0.3210, d4.loss_cls: 0.1293, d4.loss_bbox: 0.3212, d5.loss_cls: 0.1290, d5.loss_bbox: 0.3187, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8330, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6638, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6145, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5955, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5861, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5840, d0.loss_map_cls_all: 0.2081, d0.loss_map_pts_all: 1.1627, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.2081, d0.loss_map_pts: 1.1627, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1811, d1.loss_map_pts: 0.8417, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1569, d2.loss_map_pts: 0.6904, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1488, d3.loss_map_pts: 0.6250, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1418, d4.loss_map_pts: 0.6023, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1352, d5.loss_map_pts: 0.6030, d5.loss_map_dir: 0.0066, loss: 26.3141, grad_norm: 149.5232 +2026-02-28 03:21:51,785 - DriveTransformer - INFO - Epoch [9][3450/39528] lr: 7.525e-05, eta: 5 days, 7:41:52, time: 0.755, data_time: 0.035, memory: 19865, loss_cls: 0.1174, loss_bbox: 0.3090, loss_traj: 0.4993, loss_traj_cls: 0.0019, loss_map_cls: 0.1142, loss_map_pts: 0.5930, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.4130, d0.loss_plan_l1_fix_dist: 0.4357, d1.loss_plan_l1_fix_time: 0.8062, d1.loss_plan_l1_fix_dist: 0.2024, d2.loss_plan_l1_fix_time: 0.7818, d2.loss_plan_l1_fix_dist: 0.2130, d3.loss_plan_l1_fix_time: 0.7729, d3.loss_plan_l1_fix_dist: 0.2728, d4.loss_plan_l1_fix_time: 0.7738, d4.loss_plan_l1_fix_dist: 0.2587, d5.loss_plan_l1_fix_time: 0.7751, d5.loss_plan_l1_fix_dist: 0.2058, d6.loss_plan_l1_fix_time: 0.7768, d6.loss_plan_l1_fix_dist: 0.2177, d0.loss_cls_all: 0.1536, d0.loss_bbox_all: 0.3757, d0.loss_cls: 0.1536, d0.loss_bbox: 0.3757, d1.loss_cls: 0.1479, d1.loss_bbox: 0.3395, d2.loss_cls: 0.1363, d2.loss_bbox: 0.3195, d3.loss_cls: 0.1252, d3.loss_bbox: 0.3116, d4.loss_cls: 0.1200, d4.loss_bbox: 0.3084, d5.loss_cls: 0.1184, d5.loss_bbox: 0.3080, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7557, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5918, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5259, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5093, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5058, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4976, d0.loss_map_cls_all: 0.1939, d0.loss_map_pts_all: 1.2672, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1939, d0.loss_map_pts: 1.2672, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1619, d1.loss_map_pts: 0.8726, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1376, d2.loss_map_pts: 0.7016, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1275, d3.loss_map_pts: 0.6319, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1202, d4.loss_map_pts: 0.6053, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1162, d5.loss_map_pts: 0.5949, d5.loss_map_dir: 0.0076, loss: 24.2767, grad_norm: 149.5323 +2026-02-28 03:22:29,530 - DriveTransformer - INFO - Epoch [9][3500/39528] lr: 7.525e-05, eta: 5 days, 7:41:24, time: 0.755, data_time: 0.038, memory: 19865, loss_cls: 0.1365, loss_bbox: 0.3357, loss_traj: 0.5608, loss_traj_cls: 0.0018, loss_map_cls: 0.1310, loss_map_pts: 0.6540, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.6487, d0.loss_plan_l1_fix_dist: 0.4039, d1.loss_plan_l1_fix_time: 0.8637, d1.loss_plan_l1_fix_dist: 0.2010, d2.loss_plan_l1_fix_time: 0.8506, d2.loss_plan_l1_fix_dist: 0.2222, d3.loss_plan_l1_fix_time: 0.8493, d3.loss_plan_l1_fix_dist: 0.3089, d4.loss_plan_l1_fix_time: 0.8504, d4.loss_plan_l1_fix_dist: 0.2390, d5.loss_plan_l1_fix_time: 0.8520, d5.loss_plan_l1_fix_dist: 0.2130, d6.loss_plan_l1_fix_time: 0.8538, d6.loss_plan_l1_fix_dist: 0.2253, d0.loss_cls_all: 0.1801, d0.loss_bbox_all: 0.4057, d0.loss_cls: 0.1801, d0.loss_bbox: 0.4057, d1.loss_cls: 0.1715, d1.loss_bbox: 0.3720, d2.loss_cls: 0.1605, d2.loss_bbox: 0.3497, d3.loss_cls: 0.1481, d3.loss_bbox: 0.3393, d4.loss_cls: 0.1385, d4.loss_bbox: 0.3382, d5.loss_cls: 0.1377, d5.loss_bbox: 0.3358, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7959, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6421, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5904, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5753, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5679, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5625, d0.loss_map_cls_all: 0.2130, d0.loss_map_pts_all: 1.3589, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2130, d0.loss_map_pts: 1.3589, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1798, d1.loss_map_pts: 0.9547, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1544, d2.loss_map_pts: 0.7591, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1455, d3.loss_map_pts: 0.6854, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1379, d4.loss_map_pts: 0.6608, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1325, d5.loss_map_pts: 0.6556, d5.loss_map_dir: 0.0090, loss: 26.4822, grad_norm: 150.8012 +2026-02-28 03:23:05,793 - DriveTransformer - INFO - Epoch [9][3550/39528] lr: 7.525e-05, eta: 5 days, 7:40:45, time: 0.725, data_time: 0.035, memory: 19865, loss_cls: 0.1405, loss_bbox: 0.3343, loss_traj: 0.6295, loss_traj_cls: 0.0018, loss_map_cls: 0.1188, loss_map_pts: 0.6377, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.4530, d0.loss_plan_l1_fix_dist: 0.4086, d1.loss_plan_l1_fix_time: 0.8490, d1.loss_plan_l1_fix_dist: 0.2349, d2.loss_plan_l1_fix_time: 0.8320, d2.loss_plan_l1_fix_dist: 0.2513, d3.loss_plan_l1_fix_time: 0.8294, d3.loss_plan_l1_fix_dist: 0.3314, d4.loss_plan_l1_fix_time: 0.8325, d4.loss_plan_l1_fix_dist: 0.2467, d5.loss_plan_l1_fix_time: 0.8366, d5.loss_plan_l1_fix_dist: 0.2423, d6.loss_plan_l1_fix_time: 0.8419, d6.loss_plan_l1_fix_dist: 0.2562, d0.loss_cls_all: 0.1758, d0.loss_bbox_all: 0.3963, d0.loss_cls: 0.1758, d0.loss_bbox: 0.3963, d1.loss_cls: 0.1698, d1.loss_bbox: 0.3687, d2.loss_cls: 0.1565, d2.loss_bbox: 0.3478, d3.loss_cls: 0.1435, d3.loss_bbox: 0.3410, d4.loss_cls: 0.1413, d4.loss_bbox: 0.3375, d5.loss_cls: 0.1404, d5.loss_bbox: 0.3346, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9238, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7195, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6596, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6451, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6278, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6267, d0.loss_map_cls_all: 0.1948, d0.loss_map_pts_all: 1.2575, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.1948, d0.loss_map_pts: 1.2575, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1621, d1.loss_map_pts: 0.9107, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1398, d2.loss_map_pts: 0.7440, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1329, d3.loss_map_pts: 0.6737, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1267, d4.loss_map_pts: 0.6457, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1204, d5.loss_map_pts: 0.6394, d5.loss_map_dir: 0.0088, loss: 26.4102, grad_norm: 151.9722 +2026-02-28 03:23:40,798 - DriveTransformer - INFO - Epoch [9][3600/39528] lr: 7.525e-05, eta: 5 days, 7:39:57, time: 0.700, data_time: 0.035, memory: 19865, loss_cls: 0.1121, loss_bbox: 0.3076, loss_traj: 0.5613, loss_traj_cls: 0.0018, loss_map_cls: 0.1254, loss_map_pts: 0.5308, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.5058, d0.loss_plan_l1_fix_dist: 0.4067, d1.loss_plan_l1_fix_time: 0.8590, d1.loss_plan_l1_fix_dist: 0.2455, d2.loss_plan_l1_fix_time: 0.8499, d2.loss_plan_l1_fix_dist: 0.2453, d3.loss_plan_l1_fix_time: 0.8561, d3.loss_plan_l1_fix_dist: 0.3174, d4.loss_plan_l1_fix_time: 0.8612, d4.loss_plan_l1_fix_dist: 0.2218, d5.loss_plan_l1_fix_time: 0.8667, d5.loss_plan_l1_fix_dist: 0.2100, d6.loss_plan_l1_fix_time: 0.8734, d6.loss_plan_l1_fix_dist: 0.2330, d0.loss_cls_all: 0.1559, d0.loss_bbox_all: 0.3638, d0.loss_cls: 0.1559, d0.loss_bbox: 0.3638, d1.loss_cls: 0.1460, d1.loss_bbox: 0.3339, d2.loss_cls: 0.1329, d2.loss_bbox: 0.3155, d3.loss_cls: 0.1189, d3.loss_bbox: 0.3092, d4.loss_cls: 0.1115, d4.loss_bbox: 0.3098, d5.loss_cls: 0.1106, d5.loss_bbox: 0.3078, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7914, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6252, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5770, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5649, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5639, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5636, d0.loss_map_cls_all: 0.1900, d0.loss_map_pts_all: 1.0884, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1900, d0.loss_map_pts: 1.0884, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1680, d1.loss_map_pts: 0.7821, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1516, d2.loss_map_pts: 0.6237, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1381, d3.loss_map_pts: 0.5596, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1310, d4.loss_map_pts: 0.5365, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1275, d5.loss_map_pts: 0.5320, d5.loss_map_dir: 0.0060, loss: 24.4700, grad_norm: 153.0075 +2026-02-28 03:24:15,211 - DriveTransformer - INFO - Epoch [9][3650/39528] lr: 7.525e-05, eta: 5 days, 7:39:04, time: 0.688, data_time: 0.038, memory: 19865, loss_cls: 0.1210, loss_bbox: 0.3068, loss_traj: 0.5343, loss_traj_cls: 0.0018, loss_map_cls: 0.1298, loss_map_pts: 0.5898, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.6413, d0.loss_plan_l1_fix_dist: 0.4426, d1.loss_plan_l1_fix_time: 0.8450, d1.loss_plan_l1_fix_dist: 0.2553, d2.loss_plan_l1_fix_time: 0.8328, d2.loss_plan_l1_fix_dist: 0.2518, d3.loss_plan_l1_fix_time: 0.8408, d3.loss_plan_l1_fix_dist: 0.3117, d4.loss_plan_l1_fix_time: 0.8481, d4.loss_plan_l1_fix_dist: 0.2360, d5.loss_plan_l1_fix_time: 0.8555, d5.loss_plan_l1_fix_dist: 0.2071, d6.loss_plan_l1_fix_time: 0.8638, d6.loss_plan_l1_fix_dist: 0.2285, d0.loss_cls_all: 0.1501, d0.loss_bbox_all: 0.3696, d0.loss_cls: 0.1501, d0.loss_bbox: 0.3696, d1.loss_cls: 0.1499, d1.loss_bbox: 0.3393, d2.loss_cls: 0.1397, d2.loss_bbox: 0.3167, d3.loss_cls: 0.1246, d3.loss_bbox: 0.3098, d4.loss_cls: 0.1194, d4.loss_bbox: 0.3068, d5.loss_cls: 0.1177, d5.loss_bbox: 0.3074, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7937, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5986, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5610, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5404, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5411, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5349, d0.loss_map_cls_all: 0.2101, d0.loss_map_pts_all: 1.1364, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.2101, d0.loss_map_pts: 1.1364, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1804, d1.loss_map_pts: 0.8360, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1572, d2.loss_map_pts: 0.6829, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1422, d3.loss_map_pts: 0.6183, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1355, d4.loss_map_pts: 0.5954, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1309, d5.loss_map_pts: 0.5894, d5.loss_map_dir: 0.0061, loss: 24.9973, grad_norm: 152.8022 +2026-02-28 03:24:53,597 - DriveTransformer - INFO - Epoch [9][3700/39528] lr: 7.525e-05, eta: 5 days, 7:38:42, time: 0.768, data_time: 0.037, memory: 19865, loss_cls: 0.1453, loss_bbox: 0.3460, loss_traj: 0.5506, loss_traj_cls: 0.0018, loss_map_cls: 0.1472, loss_map_pts: 0.7176, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 3.3167, d0.loss_plan_l1_fix_dist: 0.3610, d1.loss_plan_l1_fix_time: 0.9091, d1.loss_plan_l1_fix_dist: 0.2325, d2.loss_plan_l1_fix_time: 0.8931, d2.loss_plan_l1_fix_dist: 0.2532, d3.loss_plan_l1_fix_time: 0.8944, d3.loss_plan_l1_fix_dist: 0.3000, d4.loss_plan_l1_fix_time: 0.8965, d4.loss_plan_l1_fix_dist: 0.2123, d5.loss_plan_l1_fix_time: 0.8990, d5.loss_plan_l1_fix_dist: 0.2049, d6.loss_plan_l1_fix_time: 0.9020, d6.loss_plan_l1_fix_dist: 0.2136, d0.loss_cls_all: 0.1882, d0.loss_bbox_all: 0.4232, d0.loss_cls: 0.1882, d0.loss_bbox: 0.4232, d1.loss_cls: 0.1833, d1.loss_bbox: 0.3835, d2.loss_cls: 0.1651, d2.loss_bbox: 0.3627, d3.loss_cls: 0.1519, d3.loss_bbox: 0.3539, d4.loss_cls: 0.1472, d4.loss_bbox: 0.3503, d5.loss_cls: 0.1443, d5.loss_bbox: 0.3486, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8083, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6288, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5754, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5600, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5517, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5483, d0.loss_map_cls_all: 0.2307, d0.loss_map_pts_all: 1.4539, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2307, d0.loss_map_pts: 1.4539, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.2032, d1.loss_map_pts: 1.0275, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1734, d2.loss_map_pts: 0.8280, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1611, d3.loss_map_pts: 0.7508, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1544, d4.loss_map_pts: 0.7237, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1493, d5.loss_map_pts: 0.7177, d5.loss_map_dir: 0.0095, loss: 28.2202, grad_norm: 154.6720 +2026-02-28 03:25:30,117 - DriveTransformer - INFO - Epoch [9][3750/39528] lr: 7.525e-05, eta: 5 days, 7:38:05, time: 0.730, data_time: 0.037, memory: 19865, loss_cls: 0.1067, loss_bbox: 0.2918, loss_traj: 0.5281, loss_traj_cls: 0.0018, loss_map_cls: 0.1194, loss_map_pts: 0.5565, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.5382, d0.loss_plan_l1_fix_dist: 0.3841, d1.loss_plan_l1_fix_time: 0.8875, d1.loss_plan_l1_fix_dist: 0.2100, d2.loss_plan_l1_fix_time: 0.8735, d2.loss_plan_l1_fix_dist: 0.2283, d3.loss_plan_l1_fix_time: 0.8697, d3.loss_plan_l1_fix_dist: 0.2832, d4.loss_plan_l1_fix_time: 0.8723, d4.loss_plan_l1_fix_dist: 0.1872, d5.loss_plan_l1_fix_time: 0.8764, d5.loss_plan_l1_fix_dist: 0.1865, d6.loss_plan_l1_fix_time: 0.8812, d6.loss_plan_l1_fix_dist: 0.2073, d0.loss_cls_all: 0.1431, d0.loss_bbox_all: 0.3485, d0.loss_cls: 0.1431, d0.loss_bbox: 0.3485, d1.loss_cls: 0.1383, d1.loss_bbox: 0.3174, d2.loss_cls: 0.1252, d2.loss_bbox: 0.3017, d3.loss_cls: 0.1118, d3.loss_bbox: 0.2976, d4.loss_cls: 0.1064, d4.loss_bbox: 0.2944, d5.loss_cls: 0.1053, d5.loss_bbox: 0.2932, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7993, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6105, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5494, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5347, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5290, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5267, d0.loss_map_cls_all: 0.1891, d0.loss_map_pts_all: 1.1709, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1891, d0.loss_map_pts: 1.1709, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1578, d1.loss_map_pts: 0.8147, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1385, d2.loss_map_pts: 0.6474, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1280, d3.loss_map_pts: 0.5808, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1233, d4.loss_map_pts: 0.5613, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1211, d5.loss_map_pts: 0.5560, d5.loss_map_dir: 0.0072, loss: 24.3240, grad_norm: 163.9945 +2026-02-28 03:26:07,201 - DriveTransformer - INFO - Epoch [9][3800/39528] lr: 7.525e-05, eta: 5 days, 7:37:33, time: 0.742, data_time: 0.035, memory: 19865, loss_cls: 0.1200, loss_bbox: 0.3240, loss_traj: 0.6390, loss_traj_cls: 0.0017, loss_map_cls: 0.1296, loss_map_pts: 0.6399, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.5694, d0.loss_plan_l1_fix_dist: 0.3664, d1.loss_plan_l1_fix_time: 0.9463, d1.loss_plan_l1_fix_dist: 0.2231, d2.loss_plan_l1_fix_time: 0.9278, d2.loss_plan_l1_fix_dist: 0.2225, d3.loss_plan_l1_fix_time: 0.9263, d3.loss_plan_l1_fix_dist: 0.2717, d4.loss_plan_l1_fix_time: 0.9282, d4.loss_plan_l1_fix_dist: 0.1980, d5.loss_plan_l1_fix_time: 0.9315, d5.loss_plan_l1_fix_dist: 0.1954, d6.loss_plan_l1_fix_time: 0.9358, d6.loss_plan_l1_fix_dist: 0.2271, d0.loss_cls_all: 0.1648, d0.loss_bbox_all: 0.3855, d0.loss_cls: 0.1648, d0.loss_bbox: 0.3855, d1.loss_cls: 0.1589, d1.loss_bbox: 0.3487, d2.loss_cls: 0.1442, d2.loss_bbox: 0.3298, d3.loss_cls: 0.1287, d3.loss_bbox: 0.3246, d4.loss_cls: 0.1216, d4.loss_bbox: 0.3228, d5.loss_cls: 0.1194, d5.loss_bbox: 0.3234, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8538, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6971, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6499, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6417, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6391, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6376, d0.loss_map_cls_all: 0.1972, d0.loss_map_pts_all: 1.3035, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1972, d0.loss_map_pts: 1.3035, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1737, d1.loss_map_pts: 0.9311, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1555, d2.loss_map_pts: 0.7392, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1450, d3.loss_map_pts: 0.6693, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1373, d4.loss_map_pts: 0.6470, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1308, d5.loss_map_pts: 0.6412, d5.loss_map_dir: 0.0088, loss: 26.7085, grad_norm: 165.3209 +2026-02-28 03:26:42,752 - DriveTransformer - INFO - Epoch [9][3850/39528] lr: 7.525e-05, eta: 5 days, 7:36:49, time: 0.711, data_time: 0.037, memory: 19865, loss_cls: 0.1170, loss_bbox: 0.3064, loss_traj: 0.5394, loss_traj_cls: 0.0017, loss_map_cls: 0.1119, loss_map_pts: 0.4660, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.6532, d0.loss_plan_l1_fix_dist: 0.3694, d1.loss_plan_l1_fix_time: 0.8358, d1.loss_plan_l1_fix_dist: 0.2213, d2.loss_plan_l1_fix_time: 0.8184, d2.loss_plan_l1_fix_dist: 0.2034, d3.loss_plan_l1_fix_time: 0.8143, d3.loss_plan_l1_fix_dist: 0.2372, d4.loss_plan_l1_fix_time: 0.8145, d4.loss_plan_l1_fix_dist: 0.1931, d5.loss_plan_l1_fix_time: 0.8156, d5.loss_plan_l1_fix_dist: 0.1944, d6.loss_plan_l1_fix_time: 0.8176, d6.loss_plan_l1_fix_dist: 0.2320, d0.loss_cls_all: 0.1557, d0.loss_bbox_all: 0.3750, d0.loss_cls: 0.1557, d0.loss_bbox: 0.3750, d1.loss_cls: 0.1489, d1.loss_bbox: 0.3365, d2.loss_cls: 0.1386, d2.loss_bbox: 0.3177, d3.loss_cls: 0.1247, d3.loss_bbox: 0.3104, d4.loss_cls: 0.1183, d4.loss_bbox: 0.3074, d5.loss_cls: 0.1174, d5.loss_bbox: 0.3063, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8143, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6235, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5637, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5464, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5405, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5380, d0.loss_map_cls_all: 0.1916, d0.loss_map_pts_all: 0.9607, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1916, d0.loss_map_pts: 0.9607, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1629, d1.loss_map_pts: 0.6664, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1389, d2.loss_map_pts: 0.5424, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1274, d3.loss_map_pts: 0.4950, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1180, d4.loss_map_pts: 0.4771, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1143, d5.loss_map_pts: 0.4657, d5.loss_map_dir: 0.0054, loss: 23.3367, grad_norm: 164.3848 +2026-02-28 03:27:19,350 - DriveTransformer - INFO - Epoch [9][3900/39528] lr: 7.525e-05, eta: 5 days, 7:36:13, time: 0.732, data_time: 0.036, memory: 19865, loss_cls: 0.1233, loss_bbox: 0.3090, loss_traj: 0.5382, loss_traj_cls: 0.0017, loss_map_cls: 0.1205, loss_map_pts: 0.6314, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.6472, d0.loss_plan_l1_fix_dist: 0.3529, d1.loss_plan_l1_fix_time: 0.8956, d1.loss_plan_l1_fix_dist: 0.2234, d2.loss_plan_l1_fix_time: 0.8855, d2.loss_plan_l1_fix_dist: 0.2048, d3.loss_plan_l1_fix_time: 0.8842, d3.loss_plan_l1_fix_dist: 0.2356, d4.loss_plan_l1_fix_time: 0.8870, d4.loss_plan_l1_fix_dist: 0.1887, d5.loss_plan_l1_fix_time: 0.8896, d5.loss_plan_l1_fix_dist: 0.1887, d6.loss_plan_l1_fix_time: 0.8929, d6.loss_plan_l1_fix_dist: 0.2360, d0.loss_cls_all: 0.1611, d0.loss_bbox_all: 0.3806, d0.loss_cls: 0.1611, d0.loss_bbox: 0.3806, d1.loss_cls: 0.1611, d1.loss_bbox: 0.3414, d2.loss_cls: 0.1475, d2.loss_bbox: 0.3172, d3.loss_cls: 0.1316, d3.loss_bbox: 0.3114, d4.loss_cls: 0.1250, d4.loss_bbox: 0.3104, d5.loss_cls: 0.1223, d5.loss_bbox: 0.3094, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7667, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6004, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5582, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5414, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5388, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5362, d0.loss_map_cls_all: 0.1949, d0.loss_map_pts_all: 1.2810, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1949, d0.loss_map_pts: 1.2810, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1622, d1.loss_map_pts: 0.8996, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1439, d2.loss_map_pts: 0.7289, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1338, d3.loss_map_pts: 0.6622, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1271, d4.loss_map_pts: 0.6389, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1234, d5.loss_map_pts: 0.6322, d5.loss_map_dir: 0.0082, loss: 25.5101, grad_norm: 162.6029 +2026-02-28 03:27:57,237 - DriveTransformer - INFO - Epoch [9][3950/39528] lr: 7.525e-05, eta: 5 days, 7:35:46, time: 0.758, data_time: 0.036, memory: 19865, loss_cls: 0.1309, loss_bbox: 0.3137, loss_traj: 0.4593, loss_traj_cls: 0.0017, loss_map_cls: 0.1216, loss_map_pts: 0.6365, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.4742, d0.loss_plan_l1_fix_dist: 0.3891, d1.loss_plan_l1_fix_time: 0.9174, d1.loss_plan_l1_fix_dist: 0.2251, d2.loss_plan_l1_fix_time: 0.9063, d2.loss_plan_l1_fix_dist: 0.2203, d3.loss_plan_l1_fix_time: 0.9014, d3.loss_plan_l1_fix_dist: 0.2496, d4.loss_plan_l1_fix_time: 0.9055, d4.loss_plan_l1_fix_dist: 0.2290, d5.loss_plan_l1_fix_time: 0.9097, d5.loss_plan_l1_fix_dist: 0.2226, d6.loss_plan_l1_fix_time: 0.9136, d6.loss_plan_l1_fix_dist: 0.2494, d0.loss_cls_all: 0.1729, d0.loss_bbox_all: 0.3802, d0.loss_cls: 0.1729, d0.loss_bbox: 0.3802, d1.loss_cls: 0.1650, d1.loss_bbox: 0.3433, d2.loss_cls: 0.1515, d2.loss_bbox: 0.3202, d3.loss_cls: 0.1379, d3.loss_bbox: 0.3133, d4.loss_cls: 0.1329, d4.loss_bbox: 0.3125, d5.loss_cls: 0.1316, d5.loss_bbox: 0.3119, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6967, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5343, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4778, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4645, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4636, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4534, d0.loss_map_cls_all: 0.2017, d0.loss_map_pts_all: 1.3053, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2017, d0.loss_map_pts: 1.3053, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1673, d1.loss_map_pts: 0.8987, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1449, d2.loss_map_pts: 0.7313, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1345, d3.loss_map_pts: 0.6693, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1282, d4.loss_map_pts: 0.6446, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1240, d5.loss_map_pts: 0.6375, d5.loss_map_dir: 0.0092, loss: 25.2642, grad_norm: 164.0618 +2026-02-28 03:28:31,418 - DriveTransformer - INFO - Epoch [9][4000/39528] lr: 7.525e-05, eta: 5 days, 7:34:52, time: 0.685, data_time: 0.037, memory: 19865, loss_cls: 0.1196, loss_bbox: 0.3204, loss_traj: 0.5303, loss_traj_cls: 0.0018, loss_map_cls: 0.1399, loss_map_pts: 0.5693, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.5714, d0.loss_plan_l1_fix_dist: 0.4384, d1.loss_plan_l1_fix_time: 0.9576, d1.loss_plan_l1_fix_dist: 0.2229, d2.loss_plan_l1_fix_time: 0.9450, d2.loss_plan_l1_fix_dist: 0.2167, d3.loss_plan_l1_fix_time: 0.9467, d3.loss_plan_l1_fix_dist: 0.2238, d4.loss_plan_l1_fix_time: 0.9494, d4.loss_plan_l1_fix_dist: 0.2232, d5.loss_plan_l1_fix_time: 0.9524, d5.loss_plan_l1_fix_dist: 0.2155, d6.loss_plan_l1_fix_time: 0.9551, d6.loss_plan_l1_fix_dist: 0.2151, d0.loss_cls_all: 0.1658, d0.loss_bbox_all: 0.3945, d0.loss_cls: 0.1658, d0.loss_bbox: 0.3945, d1.loss_cls: 0.1605, d1.loss_bbox: 0.3543, d2.loss_cls: 0.1463, d2.loss_bbox: 0.3328, d3.loss_cls: 0.1248, d3.loss_bbox: 0.3263, d4.loss_cls: 0.1193, d4.loss_bbox: 0.3236, d5.loss_cls: 0.1191, d5.loss_bbox: 0.3203, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7929, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6091, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5598, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5443, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5328, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5303, d0.loss_map_cls_all: 0.2060, d0.loss_map_pts_all: 1.1294, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.2060, d0.loss_map_pts: 1.1294, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1790, d1.loss_map_pts: 0.8053, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1607, d2.loss_map_pts: 0.6550, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1499, d3.loss_map_pts: 0.5921, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1444, d4.loss_map_pts: 0.5728, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1411, d5.loss_map_pts: 0.5698, d5.loss_map_dir: 0.0066, loss: 25.4270, grad_norm: 163.7193 +2026-02-28 03:29:06,860 - DriveTransformer - INFO - Epoch [9][4050/39528] lr: 7.525e-05, eta: 5 days, 7:34:07, time: 0.708, data_time: 0.037, memory: 19865, loss_cls: 0.1273, loss_bbox: 0.3141, loss_traj: 0.5334, loss_traj_cls: 0.0018, loss_map_cls: 0.1239, loss_map_pts: 0.5426, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.3696, d0.loss_plan_l1_fix_dist: 0.4588, d1.loss_plan_l1_fix_time: 0.8584, d1.loss_plan_l1_fix_dist: 0.2346, d2.loss_plan_l1_fix_time: 0.8422, d2.loss_plan_l1_fix_dist: 0.2148, d3.loss_plan_l1_fix_time: 0.8356, d3.loss_plan_l1_fix_dist: 0.2117, d4.loss_plan_l1_fix_time: 0.8377, d4.loss_plan_l1_fix_dist: 0.2106, d5.loss_plan_l1_fix_time: 0.8405, d5.loss_plan_l1_fix_dist: 0.2263, d6.loss_plan_l1_fix_time: 0.8439, d6.loss_plan_l1_fix_dist: 0.2264, d0.loss_cls_all: 0.1678, d0.loss_bbox_all: 0.3760, d0.loss_cls: 0.1678, d0.loss_bbox: 0.3760, d1.loss_cls: 0.1640, d1.loss_bbox: 0.3437, d2.loss_cls: 0.1484, d2.loss_bbox: 0.3254, d3.loss_cls: 0.1339, d3.loss_bbox: 0.3186, d4.loss_cls: 0.1284, d4.loss_bbox: 0.3158, d5.loss_cls: 0.1268, d5.loss_bbox: 0.3147, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7533, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5978, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5513, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5364, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5344, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5336, d0.loss_map_cls_all: 0.2018, d0.loss_map_pts_all: 1.0930, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.2018, d0.loss_map_pts: 1.0930, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1762, d1.loss_map_pts: 0.7872, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1517, d2.loss_map_pts: 0.6412, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1385, d3.loss_map_pts: 0.5759, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1314, d4.loss_map_pts: 0.5490, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1261, d5.loss_map_pts: 0.5436, d5.loss_map_dir: 0.0060, loss: 24.2307, grad_norm: 164.0097 +2026-02-28 03:29:43,226 - DriveTransformer - INFO - Epoch [9][4100/39528] lr: 7.525e-05, eta: 5 days, 7:33:29, time: 0.727, data_time: 0.035, memory: 19865, loss_cls: 0.1024, loss_bbox: 0.2918, loss_traj: 0.5539, loss_traj_cls: 0.0018, loss_map_cls: 0.0835, loss_map_pts: 0.4613, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.6184, d0.loss_plan_l1_fix_dist: 0.4512, d1.loss_plan_l1_fix_time: 0.8746, d1.loss_plan_l1_fix_dist: 0.2672, d2.loss_plan_l1_fix_time: 0.8495, d2.loss_plan_l1_fix_dist: 0.2386, d3.loss_plan_l1_fix_time: 0.8428, d3.loss_plan_l1_fix_dist: 0.2185, d4.loss_plan_l1_fix_time: 0.8461, d4.loss_plan_l1_fix_dist: 0.1987, d5.loss_plan_l1_fix_time: 0.8514, d5.loss_plan_l1_fix_dist: 0.2243, d6.loss_plan_l1_fix_time: 0.8581, d6.loss_plan_l1_fix_dist: 0.2252, d0.loss_cls_all: 0.1346, d0.loss_bbox_all: 0.3539, d0.loss_cls: 0.1346, d0.loss_bbox: 0.3539, d1.loss_cls: 0.1279, d1.loss_bbox: 0.3230, d2.loss_cls: 0.1169, d2.loss_bbox: 0.3044, d3.loss_cls: 0.1051, d3.loss_bbox: 0.2966, d4.loss_cls: 0.1030, d4.loss_bbox: 0.2930, d5.loss_cls: 0.1028, d5.loss_bbox: 0.2915, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7540, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6218, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5700, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5553, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5516, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5525, d0.loss_map_cls_all: 0.1499, d0.loss_map_pts_all: 1.0301, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1499, d0.loss_map_pts: 1.0301, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1206, d1.loss_map_pts: 0.7072, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1034, d2.loss_map_pts: 0.5575, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.0938, d3.loss_map_pts: 0.4940, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0878, d4.loss_map_pts: 0.4719, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0844, d5.loss_map_pts: 0.4640, d5.loss_map_dir: 0.0059, loss: 23.3027, grad_norm: 162.6371 +2026-02-28 03:30:20,731 - DriveTransformer - INFO - Epoch [9][4150/39528] lr: 7.525e-05, eta: 5 days, 7:33:00, time: 0.750, data_time: 0.036, memory: 19865, loss_cls: 0.1154, loss_bbox: 0.2978, loss_traj: 0.4130, loss_traj_cls: 0.0018, loss_map_cls: 0.1280, loss_map_pts: 0.6355, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.4039, d0.loss_plan_l1_fix_dist: 0.5140, d1.loss_plan_l1_fix_time: 0.8824, d1.loss_plan_l1_fix_dist: 0.2927, d2.loss_plan_l1_fix_time: 0.8721, d2.loss_plan_l1_fix_dist: 0.2679, d3.loss_plan_l1_fix_time: 0.8701, d3.loss_plan_l1_fix_dist: 0.2577, d4.loss_plan_l1_fix_time: 0.8743, d4.loss_plan_l1_fix_dist: 0.2130, d5.loss_plan_l1_fix_time: 0.8794, d5.loss_plan_l1_fix_dist: 0.2139, d6.loss_plan_l1_fix_time: 0.8861, d6.loss_plan_l1_fix_dist: 0.2199, d0.loss_cls_all: 0.1514, d0.loss_bbox_all: 0.3581, d0.loss_cls: 0.1514, d0.loss_bbox: 0.3581, d1.loss_cls: 0.1465, d1.loss_bbox: 0.3252, d2.loss_cls: 0.1325, d2.loss_bbox: 0.3090, d3.loss_cls: 0.1217, d3.loss_bbox: 0.3023, d4.loss_cls: 0.1157, d4.loss_bbox: 0.3001, d5.loss_cls: 0.1149, d5.loss_bbox: 0.2985, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6217, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.4746, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4367, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4200, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4158, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4124, d0.loss_map_cls_all: 0.2023, d0.loss_map_pts_all: 1.2442, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2023, d0.loss_map_pts: 1.2442, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1653, d1.loss_map_pts: 0.8982, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1427, d2.loss_map_pts: 0.7277, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1364, d3.loss_map_pts: 0.6606, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1315, d4.loss_map_pts: 0.6381, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1292, d5.loss_map_pts: 0.6343, d5.loss_map_dir: 0.0079, loss: 24.4286, grad_norm: 162.2350 +2026-02-28 03:30:56,549 - DriveTransformer - INFO - Epoch [9][4200/39528] lr: 7.525e-05, eta: 5 days, 7:32:18, time: 0.716, data_time: 0.038, memory: 19865, loss_cls: 0.1210, loss_bbox: 0.3162, loss_traj: 0.5456, loss_traj_cls: 0.0018, loss_map_cls: 0.1294, loss_map_pts: 0.5965, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.8412, d0.loss_plan_l1_fix_dist: 0.4148, d1.loss_plan_l1_fix_time: 0.9720, d1.loss_plan_l1_fix_dist: 0.3053, d2.loss_plan_l1_fix_time: 0.9511, d2.loss_plan_l1_fix_dist: 0.2911, d3.loss_plan_l1_fix_time: 0.9531, d3.loss_plan_l1_fix_dist: 0.2494, d4.loss_plan_l1_fix_time: 0.9549, d4.loss_plan_l1_fix_dist: 0.2327, d5.loss_plan_l1_fix_time: 0.9572, d5.loss_plan_l1_fix_dist: 0.2031, d6.loss_plan_l1_fix_time: 0.9598, d6.loss_plan_l1_fix_dist: 0.2125, d0.loss_cls_all: 0.1684, d0.loss_bbox_all: 0.3792, d0.loss_cls: 0.1684, d0.loss_bbox: 0.3792, d1.loss_cls: 0.1611, d1.loss_bbox: 0.3522, d2.loss_cls: 0.1463, d2.loss_bbox: 0.3312, d3.loss_cls: 0.1275, d3.loss_bbox: 0.3235, d4.loss_cls: 0.1207, d4.loss_bbox: 0.3205, d5.loss_cls: 0.1209, d5.loss_bbox: 0.3165, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7525, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6060, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5574, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5523, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5492, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5446, d0.loss_map_cls_all: 0.2109, d0.loss_map_pts_all: 1.1792, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2109, d0.loss_map_pts: 1.1792, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1814, d1.loss_map_pts: 0.8464, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1566, d2.loss_map_pts: 0.6828, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1445, d3.loss_map_pts: 0.6228, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1369, d4.loss_map_pts: 0.6031, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1316, d5.loss_map_pts: 0.5976, d5.loss_map_dir: 0.0075, loss: 26.1342, grad_norm: 161.2630 +2026-02-28 03:31:32,149 - DriveTransformer - INFO - Epoch [9][4250/39528] lr: 7.525e-05, eta: 5 days, 7:31:34, time: 0.712, data_time: 0.038, memory: 19865, loss_cls: 0.1107, loss_bbox: 0.3005, loss_traj: 0.5284, loss_traj_cls: 0.0018, loss_map_cls: 0.1407, loss_map_pts: 0.6156, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.5247, d0.loss_plan_l1_fix_dist: 0.3702, d1.loss_plan_l1_fix_time: 0.8723, d1.loss_plan_l1_fix_dist: 0.3229, d2.loss_plan_l1_fix_time: 0.8574, d2.loss_plan_l1_fix_dist: 0.3353, d3.loss_plan_l1_fix_time: 0.8605, d3.loss_plan_l1_fix_dist: 0.2460, d4.loss_plan_l1_fix_time: 0.8642, d4.loss_plan_l1_fix_dist: 0.2521, d5.loss_plan_l1_fix_time: 0.8686, d5.loss_plan_l1_fix_dist: 0.2130, d6.loss_plan_l1_fix_time: 0.8734, d6.loss_plan_l1_fix_dist: 0.2169, d0.loss_cls_all: 0.1526, d0.loss_bbox_all: 0.3638, d0.loss_cls: 0.1526, d0.loss_bbox: 0.3638, d1.loss_cls: 0.1468, d1.loss_bbox: 0.3290, d2.loss_cls: 0.1320, d2.loss_bbox: 0.3117, d3.loss_cls: 0.1175, d3.loss_bbox: 0.3064, d4.loss_cls: 0.1117, d4.loss_bbox: 0.3018, d5.loss_cls: 0.1108, d5.loss_bbox: 0.3005, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7745, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6136, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5622, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5449, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5350, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5309, d0.loss_map_cls_all: 0.2184, d0.loss_map_pts_all: 1.1942, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2184, d0.loss_map_pts: 1.1942, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1889, d1.loss_map_pts: 0.8911, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1688, d2.loss_map_pts: 0.7232, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1566, d3.loss_map_pts: 0.6488, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1486, d4.loss_map_pts: 0.6234, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1427, d5.loss_map_pts: 0.6179, d5.loss_map_dir: 0.0078, loss: 25.3369, grad_norm: 161.1752 +2026-02-28 03:32:09,387 - DriveTransformer - INFO - Epoch [9][4300/39528] lr: 7.525e-05, eta: 5 days, 7:31:03, time: 0.745, data_time: 0.035, memory: 19865, loss_cls: 0.1251, loss_bbox: 0.3182, loss_traj: 0.4853, loss_traj_cls: 0.0018, loss_map_cls: 0.1161, loss_map_pts: 0.6620, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.8304, d0.loss_plan_l1_fix_dist: 0.4049, d1.loss_plan_l1_fix_time: 0.9332, d1.loss_plan_l1_fix_dist: 0.3330, d2.loss_plan_l1_fix_time: 0.9155, d2.loss_plan_l1_fix_dist: 0.3791, d3.loss_plan_l1_fix_time: 0.9182, d3.loss_plan_l1_fix_dist: 0.2673, d4.loss_plan_l1_fix_time: 0.9215, d4.loss_plan_l1_fix_dist: 0.3065, d5.loss_plan_l1_fix_time: 0.9252, d5.loss_plan_l1_fix_dist: 0.2723, d6.loss_plan_l1_fix_time: 0.9292, d6.loss_plan_l1_fix_dist: 0.2485, d0.loss_cls_all: 0.1718, d0.loss_bbox_all: 0.3815, d0.loss_cls: 0.1718, d0.loss_bbox: 0.3815, d1.loss_cls: 0.1623, d1.loss_bbox: 0.3516, d2.loss_cls: 0.1489, d2.loss_bbox: 0.3300, d3.loss_cls: 0.1314, d3.loss_bbox: 0.3225, d4.loss_cls: 0.1253, d4.loss_bbox: 0.3188, d5.loss_cls: 0.1237, d5.loss_bbox: 0.3182, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7191, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5574, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5134, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4902, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4852, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4817, d0.loss_map_cls_all: 0.1954, d0.loss_map_pts_all: 1.3174, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.1954, d0.loss_map_pts: 1.3174, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1607, d1.loss_map_pts: 0.9532, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1409, d2.loss_map_pts: 0.7700, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1281, d3.loss_map_pts: 0.6979, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1212, d4.loss_map_pts: 0.6701, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1171, d5.loss_map_pts: 0.6641, d5.loss_map_dir: 0.0097, loss: 26.5086, grad_norm: 162.6265 +2026-02-28 03:32:45,312 - DriveTransformer - INFO - Epoch [9][4350/39528] lr: 7.525e-05, eta: 5 days, 7:30:22, time: 0.718, data_time: 0.040, memory: 19865, loss_cls: 0.1218, loss_bbox: 0.3152, loss_traj: 0.5790, loss_traj_cls: 0.0019, loss_map_cls: 0.1275, loss_map_pts: 0.5653, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.5142, d0.loss_plan_l1_fix_dist: 0.4088, d1.loss_plan_l1_fix_time: 0.8226, d1.loss_plan_l1_fix_dist: 0.3392, d2.loss_plan_l1_fix_time: 0.8137, d2.loss_plan_l1_fix_dist: 0.4256, d3.loss_plan_l1_fix_time: 0.8131, d3.loss_plan_l1_fix_dist: 0.2883, d4.loss_plan_l1_fix_time: 0.8164, d4.loss_plan_l1_fix_dist: 0.3183, d5.loss_plan_l1_fix_time: 0.8194, d5.loss_plan_l1_fix_dist: 0.2936, d6.loss_plan_l1_fix_time: 0.8232, d6.loss_plan_l1_fix_dist: 0.2677, d0.loss_cls_all: 0.1626, d0.loss_bbox_all: 0.3791, d0.loss_cls: 0.1626, d0.loss_bbox: 0.3791, d1.loss_cls: 0.1534, d1.loss_bbox: 0.3462, d2.loss_cls: 0.1407, d2.loss_bbox: 0.3272, d3.loss_cls: 0.1295, d3.loss_bbox: 0.3174, d4.loss_cls: 0.1242, d4.loss_bbox: 0.3157, d5.loss_cls: 0.1224, d5.loss_bbox: 0.3133, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8156, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6346, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5914, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5848, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5826, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5789, d0.loss_map_cls_all: 0.2067, d0.loss_map_pts_all: 1.1268, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2067, d0.loss_map_pts: 1.1268, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1791, d1.loss_map_pts: 0.7935, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1564, d2.loss_map_pts: 0.6554, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1444, d3.loss_map_pts: 0.5920, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1359, d4.loss_map_pts: 0.5728, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1298, d5.loss_map_pts: 0.5692, d5.loss_map_dir: 0.0068, loss: 25.2886, grad_norm: 166.3701 +2026-02-28 03:33:23,372 - DriveTransformer - INFO - Epoch [9][4400/39528] lr: 7.525e-05, eta: 5 days, 7:29:57, time: 0.761, data_time: 0.041, memory: 19865, loss_cls: 0.1193, loss_bbox: 0.3192, loss_traj: 0.5444, loss_traj_cls: 0.0018, loss_map_cls: 0.1244, loss_map_pts: 0.6432, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.5991, d0.loss_plan_l1_fix_dist: 0.3788, d1.loss_plan_l1_fix_time: 0.9613, d1.loss_plan_l1_fix_dist: 0.3063, d2.loss_plan_l1_fix_time: 0.9546, d2.loss_plan_l1_fix_dist: 0.3991, d3.loss_plan_l1_fix_time: 0.9426, d3.loss_plan_l1_fix_dist: 0.2495, d4.loss_plan_l1_fix_time: 0.9473, d4.loss_plan_l1_fix_dist: 0.2812, d5.loss_plan_l1_fix_time: 0.9507, d5.loss_plan_l1_fix_dist: 0.2350, d6.loss_plan_l1_fix_time: 0.9550, d6.loss_plan_l1_fix_dist: 0.2387, d0.loss_cls_all: 0.1681, d0.loss_bbox_all: 0.3943, d0.loss_cls: 0.1681, d0.loss_bbox: 0.3943, d1.loss_cls: 0.1597, d1.loss_bbox: 0.3560, d2.loss_cls: 0.1427, d2.loss_bbox: 0.3349, d3.loss_cls: 0.1267, d3.loss_bbox: 0.3237, d4.loss_cls: 0.1213, d4.loss_bbox: 0.3213, d5.loss_cls: 0.1198, d5.loss_bbox: 0.3187, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7627, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6258, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5661, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5540, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5445, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5432, d0.loss_map_cls_all: 0.2072, d0.loss_map_pts_all: 1.3044, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2072, d0.loss_map_pts: 1.3044, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1689, d1.loss_map_pts: 0.9219, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1466, d2.loss_map_pts: 0.7500, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1377, d3.loss_map_pts: 0.6803, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1314, d4.loss_map_pts: 0.6546, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1260, d5.loss_map_pts: 0.6456, d5.loss_map_dir: 0.0089, loss: 26.6582, grad_norm: 165.7321 +2026-02-28 03:33:58,393 - DriveTransformer - INFO - Epoch [9][4450/39528] lr: 7.525e-05, eta: 5 days, 7:29:09, time: 0.700, data_time: 0.036, memory: 19865, loss_cls: 0.1135, loss_bbox: 0.3021, loss_traj: 0.5018, loss_traj_cls: 0.0019, loss_map_cls: 0.1281, loss_map_pts: 0.5464, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.4234, d0.loss_plan_l1_fix_dist: 0.4900, d1.loss_plan_l1_fix_time: 0.8151, d1.loss_plan_l1_fix_dist: 0.2588, d2.loss_plan_l1_fix_time: 0.8011, d2.loss_plan_l1_fix_dist: 0.3935, d3.loss_plan_l1_fix_time: 0.7848, d3.loss_plan_l1_fix_dist: 0.2897, d4.loss_plan_l1_fix_time: 0.7861, d4.loss_plan_l1_fix_dist: 0.2934, d5.loss_plan_l1_fix_time: 0.7885, d5.loss_plan_l1_fix_dist: 0.2214, d6.loss_plan_l1_fix_time: 0.7916, d6.loss_plan_l1_fix_dist: 0.2375, d0.loss_cls_all: 0.1542, d0.loss_bbox_all: 0.3678, d0.loss_cls: 0.1542, d0.loss_bbox: 0.3678, d1.loss_cls: 0.1493, d1.loss_bbox: 0.3319, d2.loss_cls: 0.1357, d2.loss_bbox: 0.3129, d3.loss_cls: 0.1175, d3.loss_bbox: 0.3085, d4.loss_cls: 0.1144, d4.loss_bbox: 0.3038, d5.loss_cls: 0.1133, d5.loss_bbox: 0.3012, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7329, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5710, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5306, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5181, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5098, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5041, d0.loss_map_cls_all: 0.2082, d0.loss_map_pts_all: 1.1135, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2082, d0.loss_map_pts: 1.1135, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1732, d1.loss_map_pts: 0.7781, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1458, d2.loss_map_pts: 0.6300, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1371, d3.loss_map_pts: 0.5720, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1327, d4.loss_map_pts: 0.5527, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1291, d5.loss_map_pts: 0.5463, d5.loss_map_dir: 0.0067, loss: 24.0650, grad_norm: 164.0613 +2026-02-28 03:34:35,567 - DriveTransformer - INFO - Epoch [9][4500/39528] lr: 7.525e-05, eta: 5 days, 7:28:37, time: 0.743, data_time: 0.037, memory: 19865, loss_cls: 0.1305, loss_bbox: 0.3380, loss_traj: 0.5625, loss_traj_cls: 0.0018, loss_map_cls: 0.1405, loss_map_pts: 0.6621, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.8057, d0.loss_plan_l1_fix_dist: 0.5294, d1.loss_plan_l1_fix_time: 0.8721, d1.loss_plan_l1_fix_dist: 0.2782, d2.loss_plan_l1_fix_time: 0.8547, d2.loss_plan_l1_fix_dist: 0.3786, d3.loss_plan_l1_fix_time: 0.8601, d3.loss_plan_l1_fix_dist: 0.3211, d4.loss_plan_l1_fix_time: 0.8630, d4.loss_plan_l1_fix_dist: 0.2877, d5.loss_plan_l1_fix_time: 0.8670, d5.loss_plan_l1_fix_dist: 0.2452, d6.loss_plan_l1_fix_time: 0.8716, d6.loss_plan_l1_fix_dist: 0.2527, d0.loss_cls_all: 0.1814, d0.loss_bbox_all: 0.4053, d0.loss_cls: 0.1814, d0.loss_bbox: 0.4053, d1.loss_cls: 0.1758, d1.loss_bbox: 0.3640, d2.loss_cls: 0.1645, d2.loss_bbox: 0.3434, d3.loss_cls: 0.1427, d3.loss_bbox: 0.3397, d4.loss_cls: 0.1351, d4.loss_bbox: 0.3375, d5.loss_cls: 0.1309, d5.loss_bbox: 0.3378, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8353, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6405, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5900, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5751, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5680, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5594, d0.loss_map_cls_all: 0.2183, d0.loss_map_pts_all: 1.3235, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2183, d0.loss_map_pts: 1.3235, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1868, d1.loss_map_pts: 0.9488, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1615, d2.loss_map_pts: 0.7744, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1517, d3.loss_map_pts: 0.7064, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1453, d4.loss_map_pts: 0.6728, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1410, d5.loss_map_pts: 0.6631, d5.loss_map_dir: 0.0080, loss: 27.2380, grad_norm: 162.1166 +2026-02-28 03:35:12,310 - DriveTransformer - INFO - Epoch [9][4550/39528] lr: 7.525e-05, eta: 5 days, 7:28:02, time: 0.735, data_time: 0.037, memory: 19865, loss_cls: 0.1301, loss_bbox: 0.3338, loss_traj: 0.5436, loss_traj_cls: 0.0018, loss_map_cls: 0.1345, loss_map_pts: 0.5991, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.5836, d0.loss_plan_l1_fix_dist: 0.4554, d1.loss_plan_l1_fix_time: 0.8724, d1.loss_plan_l1_fix_dist: 0.2666, d2.loss_plan_l1_fix_time: 0.8495, d2.loss_plan_l1_fix_dist: 0.3270, d3.loss_plan_l1_fix_time: 0.8306, d3.loss_plan_l1_fix_dist: 0.2924, d4.loss_plan_l1_fix_time: 0.8307, d4.loss_plan_l1_fix_dist: 0.2365, d5.loss_plan_l1_fix_time: 0.8325, d5.loss_plan_l1_fix_dist: 0.2220, d6.loss_plan_l1_fix_time: 0.8355, d6.loss_plan_l1_fix_dist: 0.2492, d0.loss_cls_all: 0.1770, d0.loss_bbox_all: 0.4033, d0.loss_cls: 0.1770, d0.loss_bbox: 0.4033, d1.loss_cls: 0.1648, d1.loss_bbox: 0.3696, d2.loss_cls: 0.1516, d2.loss_bbox: 0.3489, d3.loss_cls: 0.1359, d3.loss_bbox: 0.3400, d4.loss_cls: 0.1309, d4.loss_bbox: 0.3390, d5.loss_cls: 0.1304, d5.loss_bbox: 0.3350, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7991, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6191, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5782, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5552, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5479, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5434, d0.loss_map_cls_all: 0.2128, d0.loss_map_pts_all: 1.2405, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2128, d0.loss_map_pts: 1.2405, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1794, d1.loss_map_pts: 0.8730, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1565, d2.loss_map_pts: 0.6985, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1457, d3.loss_map_pts: 0.6361, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1407, d4.loss_map_pts: 0.6084, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1357, d5.loss_map_pts: 0.6002, d5.loss_map_dir: 0.0080, loss: 25.8242, grad_norm: 165.2633 +2026-02-28 03:35:47,699 - DriveTransformer - INFO - Epoch [9][4600/39528] lr: 7.525e-05, eta: 5 days, 7:27:17, time: 0.708, data_time: 0.038, memory: 19865, loss_cls: 0.1393, loss_bbox: 0.3219, loss_traj: 0.6642, loss_traj_cls: 0.0019, loss_map_cls: 0.1495, loss_map_pts: 0.6322, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 3.0041, d0.loss_plan_l1_fix_dist: 0.5658, d1.loss_plan_l1_fix_time: 0.9272, d1.loss_plan_l1_fix_dist: 0.3220, d2.loss_plan_l1_fix_time: 0.9012, d2.loss_plan_l1_fix_dist: 0.3152, d3.loss_plan_l1_fix_time: 0.8964, d3.loss_plan_l1_fix_dist: 0.2777, d4.loss_plan_l1_fix_time: 0.8986, d4.loss_plan_l1_fix_dist: 0.2273, d5.loss_plan_l1_fix_time: 0.9009, d5.loss_plan_l1_fix_dist: 0.2319, d6.loss_plan_l1_fix_time: 0.9039, d6.loss_plan_l1_fix_dist: 0.2743, d0.loss_cls_all: 0.1860, d0.loss_bbox_all: 0.3909, d0.loss_cls: 0.1860, d0.loss_bbox: 0.3909, d1.loss_cls: 0.1751, d1.loss_bbox: 0.3510, d2.loss_cls: 0.1645, d2.loss_bbox: 0.3307, d3.loss_cls: 0.1476, d3.loss_bbox: 0.3263, d4.loss_cls: 0.1399, d4.loss_bbox: 0.3248, d5.loss_cls: 0.1397, d5.loss_bbox: 0.3216, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9763, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7310, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6867, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6687, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6643, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6628, d0.loss_map_cls_all: 0.2216, d0.loss_map_pts_all: 1.1580, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.2216, d0.loss_map_pts: 1.1580, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1960, d1.loss_map_pts: 0.8635, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1702, d2.loss_map_pts: 0.7177, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1603, d3.loss_map_pts: 0.6615, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1539, d4.loss_map_pts: 0.6421, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1496, d5.loss_map_pts: 0.6333, d5.loss_map_dir: 0.0062, loss: 27.6810, grad_norm: 161.0356 +2026-02-28 03:36:24,130 - DriveTransformer - INFO - Epoch [9][4650/39528] lr: 7.525e-05, eta: 5 days, 7:26:39, time: 0.729, data_time: 0.037, memory: 19865, loss_cls: 0.1239, loss_bbox: 0.3071, loss_traj: 0.5877, loss_traj_cls: 0.0019, loss_map_cls: 0.1092, loss_map_pts: 0.5745, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.3542, d0.loss_plan_l1_fix_dist: 0.5679, d1.loss_plan_l1_fix_time: 0.8624, d1.loss_plan_l1_fix_dist: 0.3824, d2.loss_plan_l1_fix_time: 0.8437, d2.loss_plan_l1_fix_dist: 0.3323, d3.loss_plan_l1_fix_time: 0.8468, d3.loss_plan_l1_fix_dist: 0.3001, d4.loss_plan_l1_fix_time: 0.8499, d4.loss_plan_l1_fix_dist: 0.2845, d5.loss_plan_l1_fix_time: 0.8531, d5.loss_plan_l1_fix_dist: 0.2929, d6.loss_plan_l1_fix_time: 0.8570, d6.loss_plan_l1_fix_dist: 0.3189, d0.loss_cls_all: 0.1557, d0.loss_bbox_all: 0.3672, d0.loss_cls: 0.1557, d0.loss_bbox: 0.3672, d1.loss_cls: 0.1523, d1.loss_bbox: 0.3331, d2.loss_cls: 0.1431, d2.loss_bbox: 0.3139, d3.loss_cls: 0.1285, d3.loss_bbox: 0.3097, d4.loss_cls: 0.1245, d4.loss_bbox: 0.3072, d5.loss_cls: 0.1238, d5.loss_bbox: 0.3068, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8441, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6588, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6088, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5938, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5896, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5855, d0.loss_map_cls_all: 0.1863, d0.loss_map_pts_all: 1.2060, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1863, d0.loss_map_pts: 1.2060, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1512, d1.loss_map_pts: 0.8344, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1292, d2.loss_map_pts: 0.6667, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1200, d3.loss_map_pts: 0.6047, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1160, d4.loss_map_pts: 0.5823, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1110, d5.loss_map_pts: 0.5753, d5.loss_map_dir: 0.0075, loss: 25.5585, grad_norm: 160.1864 +2026-02-28 03:36:59,740 - DriveTransformer - INFO - Epoch [9][4700/39528] lr: 7.525e-05, eta: 5 days, 7:25:56, time: 0.712, data_time: 0.037, memory: 19865, loss_cls: 0.1179, loss_bbox: 0.3246, loss_traj: 0.5242, loss_traj_cls: 0.0018, loss_map_cls: 0.1333, loss_map_pts: 0.5566, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.7751, d0.loss_plan_l1_fix_dist: 0.5109, d1.loss_plan_l1_fix_time: 0.9250, d1.loss_plan_l1_fix_dist: 0.3795, d2.loss_plan_l1_fix_time: 0.9157, d2.loss_plan_l1_fix_dist: 0.2951, d3.loss_plan_l1_fix_time: 0.9134, d3.loss_plan_l1_fix_dist: 0.2582, d4.loss_plan_l1_fix_time: 0.9147, d4.loss_plan_l1_fix_dist: 0.2727, d5.loss_plan_l1_fix_time: 0.9167, d5.loss_plan_l1_fix_dist: 0.2543, d6.loss_plan_l1_fix_time: 0.9187, d6.loss_plan_l1_fix_dist: 0.2682, d0.loss_cls_all: 0.1664, d0.loss_bbox_all: 0.3813, d0.loss_cls: 0.1664, d0.loss_bbox: 0.3813, d1.loss_cls: 0.1550, d1.loss_bbox: 0.3501, d2.loss_cls: 0.1421, d2.loss_bbox: 0.3303, d3.loss_cls: 0.1259, d3.loss_bbox: 0.3253, d4.loss_cls: 0.1192, d4.loss_bbox: 0.3253, d5.loss_cls: 0.1175, d5.loss_bbox: 0.3243, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7648, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5913, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5441, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5369, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5256, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5231, d0.loss_map_cls_all: 0.2030, d0.loss_map_pts_all: 1.1226, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.2030, d0.loss_map_pts: 1.1226, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1750, d1.loss_map_pts: 0.7961, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1563, d2.loss_map_pts: 0.6489, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1458, d3.loss_map_pts: 0.5883, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1410, d4.loss_map_pts: 0.5676, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1363, d5.loss_map_pts: 0.5570, d5.loss_map_dir: 0.0060, loss: 25.6865, grad_norm: 159.0528 +2026-02-28 03:37:35,905 - DriveTransformer - INFO - Epoch [9][4750/39528] lr: 7.525e-05, eta: 5 days, 7:25:16, time: 0.723, data_time: 0.036, memory: 19865, loss_cls: 0.1242, loss_bbox: 0.3194, loss_traj: 0.6121, loss_traj_cls: 0.0018, loss_map_cls: 0.1281, loss_map_pts: 0.5724, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.5560, d0.loss_plan_l1_fix_dist: 0.4682, d1.loss_plan_l1_fix_time: 0.9802, d1.loss_plan_l1_fix_dist: 0.3214, d2.loss_plan_l1_fix_time: 0.9701, d2.loss_plan_l1_fix_dist: 0.2566, d3.loss_plan_l1_fix_time: 0.9609, d3.loss_plan_l1_fix_dist: 0.2083, d4.loss_plan_l1_fix_time: 0.9620, d4.loss_plan_l1_fix_dist: 0.2471, d5.loss_plan_l1_fix_time: 0.9648, d5.loss_plan_l1_fix_dist: 0.2413, d6.loss_plan_l1_fix_time: 0.9687, d6.loss_plan_l1_fix_dist: 0.2649, d0.loss_cls_all: 0.1689, d0.loss_bbox_all: 0.3807, d0.loss_cls: 0.1689, d0.loss_bbox: 0.3807, d1.loss_cls: 0.1603, d1.loss_bbox: 0.3466, d2.loss_cls: 0.1449, d2.loss_bbox: 0.3275, d3.loss_cls: 0.1302, d3.loss_bbox: 0.3222, d4.loss_cls: 0.1264, d4.loss_bbox: 0.3183, d5.loss_cls: 0.1237, d5.loss_bbox: 0.3197, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8296, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6879, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6425, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6179, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6101, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6108, d0.loss_map_cls_all: 0.1959, d0.loss_map_pts_all: 1.1763, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1959, d0.loss_map_pts: 1.1763, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1645, d1.loss_map_pts: 0.8348, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1486, d2.loss_map_pts: 0.6677, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1371, d3.loss_map_pts: 0.6038, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1318, d4.loss_map_pts: 0.5792, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1278, d5.loss_map_pts: 0.5733, d5.loss_map_dir: 0.0072, loss: 26.3192, grad_norm: 153.6498 +2026-02-28 03:38:13,084 - DriveTransformer - INFO - Epoch [9][4800/39528] lr: 7.525e-05, eta: 5 days, 7:24:45, time: 0.745, data_time: 0.039, memory: 19865, loss_cls: 0.1305, loss_bbox: 0.3173, loss_traj: 0.5190, loss_traj_cls: 0.0019, loss_map_cls: 0.1413, loss_map_pts: 0.6237, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.5617, d0.loss_plan_l1_fix_dist: 0.4472, d1.loss_plan_l1_fix_time: 0.9663, d1.loss_plan_l1_fix_dist: 0.3209, d2.loss_plan_l1_fix_time: 0.9533, d2.loss_plan_l1_fix_dist: 0.2577, d3.loss_plan_l1_fix_time: 0.9457, d3.loss_plan_l1_fix_dist: 0.2366, d4.loss_plan_l1_fix_time: 0.9473, d4.loss_plan_l1_fix_dist: 0.2642, d5.loss_plan_l1_fix_time: 0.9500, d5.loss_plan_l1_fix_dist: 0.2550, d6.loss_plan_l1_fix_time: 0.9541, d6.loss_plan_l1_fix_dist: 0.2904, d0.loss_cls_all: 0.1731, d0.loss_bbox_all: 0.3768, d0.loss_cls: 0.1731, d0.loss_bbox: 0.3768, d1.loss_cls: 0.1696, d1.loss_bbox: 0.3437, d2.loss_cls: 0.1540, d2.loss_bbox: 0.3235, d3.loss_cls: 0.1406, d3.loss_bbox: 0.3172, d4.loss_cls: 0.1326, d4.loss_bbox: 0.3167, d5.loss_cls: 0.1312, d5.loss_bbox: 0.3159, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6922, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5554, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5237, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5212, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5149, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5151, d0.loss_map_cls_all: 0.2203, d0.loss_map_pts_all: 1.2867, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2203, d0.loss_map_pts: 1.2867, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1911, d1.loss_map_pts: 0.8948, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1662, d2.loss_map_pts: 0.7210, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1525, d3.loss_map_pts: 0.6551, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1454, d4.loss_map_pts: 0.6319, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1410, d5.loss_map_pts: 0.6252, d5.loss_map_dir: 0.0081, loss: 26.2567, grad_norm: 153.9341 +2026-02-28 03:38:49,698 - DriveTransformer - INFO - Epoch [9][4850/39528] lr: 7.525e-05, eta: 5 days, 7:24:09, time: 0.731, data_time: 0.033, memory: 19865, loss_cls: 0.1259, loss_bbox: 0.3190, loss_traj: 0.6940, loss_traj_cls: 0.0018, loss_map_cls: 0.1353, loss_map_pts: 0.5610, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.8789, d0.loss_plan_l1_fix_dist: 0.5164, d1.loss_plan_l1_fix_time: 1.0123, d1.loss_plan_l1_fix_dist: 0.3183, d2.loss_plan_l1_fix_time: 0.9885, d2.loss_plan_l1_fix_dist: 0.2535, d3.loss_plan_l1_fix_time: 0.9759, d3.loss_plan_l1_fix_dist: 0.2574, d4.loss_plan_l1_fix_time: 0.9775, d4.loss_plan_l1_fix_dist: 0.3433, d5.loss_plan_l1_fix_time: 0.9804, d5.loss_plan_l1_fix_dist: 0.2588, d6.loss_plan_l1_fix_time: 0.9848, d6.loss_plan_l1_fix_dist: 0.3049, d0.loss_cls_all: 0.1702, d0.loss_bbox_all: 0.3776, d0.loss_cls: 0.1702, d0.loss_bbox: 0.3776, d1.loss_cls: 0.1598, d1.loss_bbox: 0.3450, d2.loss_cls: 0.1493, d2.loss_bbox: 0.3269, d3.loss_cls: 0.1333, d3.loss_bbox: 0.3218, d4.loss_cls: 0.1253, d4.loss_bbox: 0.3201, d5.loss_cls: 0.1257, d5.loss_bbox: 0.3187, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9400, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7448, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7139, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.7011, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6992, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6887, d0.loss_map_cls_all: 0.2025, d0.loss_map_pts_all: 1.1962, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2025, d0.loss_map_pts: 1.1962, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1765, d1.loss_map_pts: 0.8150, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1557, d2.loss_map_pts: 0.6480, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1479, d3.loss_map_pts: 0.5935, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1424, d4.loss_map_pts: 0.5692, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1372, d5.loss_map_pts: 0.5614, d5.loss_map_dir: 0.0079, loss: 27.6070, grad_norm: 155.2781 +2026-02-28 03:39:25,502 - DriveTransformer - INFO - Epoch [9][4900/39528] lr: 7.525e-05, eta: 5 days, 7:23:27, time: 0.716, data_time: 0.037, memory: 19865, loss_cls: 0.1077, loss_bbox: 0.3173, loss_traj: 0.5012, loss_traj_cls: 0.0019, loss_map_cls: 0.1215, loss_map_pts: 0.5497, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.3341, d0.loss_plan_l1_fix_dist: 0.3997, d1.loss_plan_l1_fix_time: 0.8577, d1.loss_plan_l1_fix_dist: 0.2978, d2.loss_plan_l1_fix_time: 0.8488, d2.loss_plan_l1_fix_dist: 0.2208, d3.loss_plan_l1_fix_time: 0.8454, d3.loss_plan_l1_fix_dist: 0.2559, d4.loss_plan_l1_fix_time: 0.8495, d4.loss_plan_l1_fix_dist: 0.3398, d5.loss_plan_l1_fix_time: 0.8541, d5.loss_plan_l1_fix_dist: 0.2406, d6.loss_plan_l1_fix_time: 0.8597, d6.loss_plan_l1_fix_dist: 0.2992, d0.loss_cls_all: 0.1538, d0.loss_bbox_all: 0.3701, d0.loss_cls: 0.1538, d0.loss_bbox: 0.3701, d1.loss_cls: 0.1475, d1.loss_bbox: 0.3384, d2.loss_cls: 0.1293, d2.loss_bbox: 0.3224, d3.loss_cls: 0.1142, d3.loss_bbox: 0.3150, d4.loss_cls: 0.1083, d4.loss_bbox: 0.3159, d5.loss_cls: 0.1071, d5.loss_bbox: 0.3176, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6734, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5592, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5175, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5062, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5027, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5001, d0.loss_map_cls_all: 0.1985, d0.loss_map_pts_all: 1.1049, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1985, d0.loss_map_pts: 1.1049, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1682, d1.loss_map_pts: 0.7598, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1468, d2.loss_map_pts: 0.6233, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1377, d3.loss_map_pts: 0.5751, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1294, d4.loss_map_pts: 0.5564, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1222, d5.loss_map_pts: 0.5498, d5.loss_map_dir: 0.0069, loss: 24.0587, grad_norm: 156.0551 +2026-02-28 03:40:03,445 - DriveTransformer - INFO - Epoch [9][4950/39528] lr: 7.525e-05, eta: 5 days, 7:23:01, time: 0.759, data_time: 0.037, memory: 19865, loss_cls: 0.1389, loss_bbox: 0.3261, loss_traj: 0.5304, loss_traj_cls: 0.0018, loss_map_cls: 0.1305, loss_map_pts: 0.6525, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.6910, d0.loss_plan_l1_fix_dist: 0.3848, d1.loss_plan_l1_fix_time: 0.9028, d1.loss_plan_l1_fix_dist: 0.2891, d2.loss_plan_l1_fix_time: 0.8861, d2.loss_plan_l1_fix_dist: 0.1985, d3.loss_plan_l1_fix_time: 0.8814, d3.loss_plan_l1_fix_dist: 0.2888, d4.loss_plan_l1_fix_time: 0.8828, d4.loss_plan_l1_fix_dist: 0.3107, d5.loss_plan_l1_fix_time: 0.8852, d5.loss_plan_l1_fix_dist: 0.2407, d6.loss_plan_l1_fix_time: 0.8888, d6.loss_plan_l1_fix_dist: 0.3105, d0.loss_cls_all: 0.1798, d0.loss_bbox_all: 0.3884, d0.loss_cls: 0.1798, d0.loss_bbox: 0.3884, d1.loss_cls: 0.1719, d1.loss_bbox: 0.3547, d2.loss_cls: 0.1607, d2.loss_bbox: 0.3310, d3.loss_cls: 0.1473, d3.loss_bbox: 0.3251, d4.loss_cls: 0.1382, d4.loss_bbox: 0.3244, d5.loss_cls: 0.1385, d5.loss_bbox: 0.3242, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7807, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6225, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5743, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5457, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5365, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5311, d0.loss_map_cls_all: 0.2192, d0.loss_map_pts_all: 1.3217, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2192, d0.loss_map_pts: 1.3217, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1824, d1.loss_map_pts: 0.9101, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1558, d2.loss_map_pts: 0.7454, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1447, d3.loss_map_pts: 0.6821, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1370, d4.loss_map_pts: 0.6598, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1321, d5.loss_map_pts: 0.6537, d5.loss_map_dir: 0.0092, loss: 26.5258, grad_norm: 155.6977 +2026-02-28 03:40:39,039 - DriveTransformer - INFO - Epoch [9][5000/39528] lr: 7.525e-05, eta: 5 days, 7:22:17, time: 0.712, data_time: 0.036, memory: 19865, loss_cls: 0.1209, loss_bbox: 0.3023, loss_traj: 0.6202, loss_traj_cls: 0.0018, loss_map_cls: 0.1249, loss_map_pts: 0.5714, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.7625, d0.loss_plan_l1_fix_dist: 0.4242, d1.loss_plan_l1_fix_time: 0.8893, d1.loss_plan_l1_fix_dist: 0.2726, d2.loss_plan_l1_fix_time: 0.8695, d2.loss_plan_l1_fix_dist: 0.2069, d3.loss_plan_l1_fix_time: 0.8622, d3.loss_plan_l1_fix_dist: 0.2947, d4.loss_plan_l1_fix_time: 0.8621, d4.loss_plan_l1_fix_dist: 0.3027, d5.loss_plan_l1_fix_time: 0.8638, d5.loss_plan_l1_fix_dist: 0.2775, d6.loss_plan_l1_fix_time: 0.8667, d6.loss_plan_l1_fix_dist: 0.2953, d0.loss_cls_all: 0.1643, d0.loss_bbox_all: 0.3652, d0.loss_cls: 0.1643, d0.loss_bbox: 0.3652, d1.loss_cls: 0.1570, d1.loss_bbox: 0.3265, d2.loss_cls: 0.1441, d2.loss_bbox: 0.3104, d3.loss_cls: 0.1275, d3.loss_bbox: 0.3045, d4.loss_cls: 0.1215, d4.loss_bbox: 0.3026, d5.loss_cls: 0.1205, d5.loss_bbox: 0.3016, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9071, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6918, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6357, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6185, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6180, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6146, d0.loss_map_cls_all: 0.2007, d0.loss_map_pts_all: 1.1026, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2007, d0.loss_map_pts: 1.1026, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1716, d1.loss_map_pts: 0.7794, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1478, d2.loss_map_pts: 0.6440, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1400, d3.loss_map_pts: 0.5917, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1319, d4.loss_map_pts: 0.5754, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1272, d5.loss_map_pts: 0.5716, d5.loss_map_dir: 0.0071, loss: 25.6990, grad_norm: 154.2395 +2026-02-28 03:41:13,145 - DriveTransformer - INFO - Epoch [9][5050/39528] lr: 7.525e-05, eta: 5 days, 7:21:22, time: 0.682, data_time: 0.038, memory: 19865, loss_cls: 0.1064, loss_bbox: 0.2924, loss_traj: 0.5866, loss_traj_cls: 0.0019, loss_map_cls: 0.1055, loss_map_pts: 0.4494, loss_map_dir: 0.0044, d0.loss_plan_l1_fix_time: 2.7205, d0.loss_plan_l1_fix_dist: 0.4844, d1.loss_plan_l1_fix_time: 0.8799, d1.loss_plan_l1_fix_dist: 0.2393, d2.loss_plan_l1_fix_time: 0.8661, d2.loss_plan_l1_fix_dist: 0.2105, d3.loss_plan_l1_fix_time: 0.8618, d3.loss_plan_l1_fix_dist: 0.2745, d4.loss_plan_l1_fix_time: 0.8625, d4.loss_plan_l1_fix_dist: 0.2594, d5.loss_plan_l1_fix_time: 0.8648, d5.loss_plan_l1_fix_dist: 0.2947, d6.loss_plan_l1_fix_time: 0.8679, d6.loss_plan_l1_fix_dist: 0.2541, d0.loss_cls_all: 0.1452, d0.loss_bbox_all: 0.3567, d0.loss_cls: 0.1452, d0.loss_bbox: 0.3567, d1.loss_cls: 0.1375, d1.loss_bbox: 0.3220, d2.loss_cls: 0.1245, d2.loss_bbox: 0.3061, d3.loss_cls: 0.1094, d3.loss_bbox: 0.2977, d4.loss_cls: 0.1064, d4.loss_bbox: 0.2941, d5.loss_cls: 0.1061, d5.loss_bbox: 0.2928, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8696, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6712, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.6221, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6017, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5956, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5906, d0.loss_map_cls_all: 0.1725, d0.loss_map_pts_all: 0.8901, d0.loss_map_dir_all: 0.0041, d0.loss_map_cls: 0.1725, d0.loss_map_pts: 0.8901, d0.loss_map_dir: 0.0041, d1.loss_map_cls: 0.1477, d1.loss_map_pts: 0.6418, d1.loss_map_dir: 0.0041, d2.loss_map_cls: 0.1287, d2.loss_map_pts: 0.5270, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.1189, d3.loss_map_pts: 0.4742, d3.loss_map_dir: 0.0043, d4.loss_map_cls: 0.1128, d4.loss_map_pts: 0.4551, d4.loss_map_dir: 0.0044, d5.loss_map_cls: 0.1071, d5.loss_map_pts: 0.4485, d5.loss_map_dir: 0.0044, loss: 23.8604, grad_norm: 153.9456 +2026-02-28 03:41:49,165 - DriveTransformer - INFO - Epoch [9][5100/39528] lr: 7.525e-05, eta: 5 days, 7:20:42, time: 0.720, data_time: 0.038, memory: 19865, loss_cls: 0.1363, loss_bbox: 0.3454, loss_traj: 0.5551, loss_traj_cls: 0.0019, loss_map_cls: 0.1382, loss_map_pts: 0.6207, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.6928, d0.loss_plan_l1_fix_dist: 0.4637, d1.loss_plan_l1_fix_time: 0.8373, d1.loss_plan_l1_fix_dist: 0.2439, d2.loss_plan_l1_fix_time: 0.8289, d2.loss_plan_l1_fix_dist: 0.2366, d3.loss_plan_l1_fix_time: 0.8285, d3.loss_plan_l1_fix_dist: 0.3085, d4.loss_plan_l1_fix_time: 0.8317, d4.loss_plan_l1_fix_dist: 0.2530, d5.loss_plan_l1_fix_time: 0.8335, d5.loss_plan_l1_fix_dist: 0.3170, d6.loss_plan_l1_fix_time: 0.8357, d6.loss_plan_l1_fix_dist: 0.2668, d0.loss_cls_all: 0.1826, d0.loss_bbox_all: 0.4194, d0.loss_cls: 0.1826, d0.loss_bbox: 0.4194, d1.loss_cls: 0.1754, d1.loss_bbox: 0.3834, d2.loss_cls: 0.1602, d2.loss_bbox: 0.3618, d3.loss_cls: 0.1422, d3.loss_bbox: 0.3518, d4.loss_cls: 0.1365, d4.loss_bbox: 0.3481, d5.loss_cls: 0.1363, d5.loss_bbox: 0.3456, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8095, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6190, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5763, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5478, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5492, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5526, d0.loss_map_cls_all: 0.2244, d0.loss_map_pts_all: 1.2111, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2244, d0.loss_map_pts: 1.2111, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1930, d1.loss_map_pts: 0.8668, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1671, d2.loss_map_pts: 0.7025, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1526, d3.loss_map_pts: 0.6464, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1460, d4.loss_map_pts: 0.6281, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1419, d5.loss_map_pts: 0.6212, d5.loss_map_dir: 0.0076, loss: 26.1755, grad_norm: 152.8408 +2026-02-28 03:42:24,768 - DriveTransformer - INFO - Epoch [9][5150/39528] lr: 7.525e-05, eta: 5 days, 7:19:58, time: 0.712, data_time: 0.036, memory: 19865, loss_cls: 0.1198, loss_bbox: 0.3229, loss_traj: 0.5830, loss_traj_cls: 0.0018, loss_map_cls: 0.1418, loss_map_pts: 0.6005, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.7065, d0.loss_plan_l1_fix_dist: 0.4320, d1.loss_plan_l1_fix_time: 0.9382, d1.loss_plan_l1_fix_dist: 0.1870, d2.loss_plan_l1_fix_time: 0.9212, d2.loss_plan_l1_fix_dist: 0.1909, d3.loss_plan_l1_fix_time: 0.9103, d3.loss_plan_l1_fix_dist: 0.2967, d4.loss_plan_l1_fix_time: 0.9121, d4.loss_plan_l1_fix_dist: 0.2187, d5.loss_plan_l1_fix_time: 0.9135, d5.loss_plan_l1_fix_dist: 0.2584, d6.loss_plan_l1_fix_time: 0.9154, d6.loss_plan_l1_fix_dist: 0.2291, d0.loss_cls_all: 0.1626, d0.loss_bbox_all: 0.3796, d0.loss_cls: 0.1626, d0.loss_bbox: 0.3796, d1.loss_cls: 0.1575, d1.loss_bbox: 0.3477, d2.loss_cls: 0.1441, d2.loss_bbox: 0.3319, d3.loss_cls: 0.1273, d3.loss_bbox: 0.3249, d4.loss_cls: 0.1222, d4.loss_bbox: 0.3222, d5.loss_cls: 0.1203, d5.loss_bbox: 0.3218, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8247, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6664, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6017, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5821, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5838, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5812, d0.loss_map_cls_all: 0.2191, d0.loss_map_pts_all: 1.1982, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2191, d0.loss_map_pts: 1.1982, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1942, d1.loss_map_pts: 0.8582, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1694, d2.loss_map_pts: 0.7016, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1546, d3.loss_map_pts: 0.6421, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1470, d4.loss_map_pts: 0.6157, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1433, d5.loss_map_pts: 0.6011, d5.loss_map_dir: 0.0074, loss: 26.1697, grad_norm: 150.2391 +2026-02-28 03:43:01,008 - DriveTransformer - INFO - Epoch [9][5200/39528] lr: 7.525e-05, eta: 5 days, 7:19:20, time: 0.725, data_time: 0.038, memory: 19865, loss_cls: 0.1273, loss_bbox: 0.3254, loss_traj: 0.4750, loss_traj_cls: 0.0019, loss_map_cls: 0.1374, loss_map_pts: 0.6099, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.4665, d0.loss_plan_l1_fix_dist: 0.4986, d1.loss_plan_l1_fix_time: 0.9300, d1.loss_plan_l1_fix_dist: 0.1776, d2.loss_plan_l1_fix_time: 0.9157, d2.loss_plan_l1_fix_dist: 0.1865, d3.loss_plan_l1_fix_time: 0.9055, d3.loss_plan_l1_fix_dist: 0.3087, d4.loss_plan_l1_fix_time: 0.9066, d4.loss_plan_l1_fix_dist: 0.2612, d5.loss_plan_l1_fix_time: 0.9088, d5.loss_plan_l1_fix_dist: 0.2223, d6.loss_plan_l1_fix_time: 0.9124, d6.loss_plan_l1_fix_dist: 0.2205, d0.loss_cls_all: 0.1738, d0.loss_bbox_all: 0.3845, d0.loss_cls: 0.1738, d0.loss_bbox: 0.3845, d1.loss_cls: 0.1664, d1.loss_bbox: 0.3549, d2.loss_cls: 0.1505, d2.loss_bbox: 0.3355, d3.loss_cls: 0.1350, d3.loss_bbox: 0.3295, d4.loss_cls: 0.1293, d4.loss_bbox: 0.3275, d5.loss_cls: 0.1269, d5.loss_bbox: 0.3257, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6960, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5497, d2.loss_traj_cls: 0.0012, d2.loss_traj: 0.4960, d3.loss_traj_cls: 0.0010, d3.loss_traj: 0.4783, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.4792, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4737, d0.loss_map_cls_all: 0.2177, d0.loss_map_pts_all: 1.2266, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2177, d0.loss_map_pts: 1.2266, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1846, d1.loss_map_pts: 0.8840, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1632, d2.loss_map_pts: 0.7070, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1507, d3.loss_map_pts: 0.6441, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1437, d4.loss_map_pts: 0.6174, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1389, d5.loss_map_pts: 0.6107, d5.loss_map_dir: 0.0078, loss: 25.3678, grad_norm: 149.1205 +2026-02-28 03:43:38,328 - DriveTransformer - INFO - Epoch [9][5250/39528] lr: 7.525e-05, eta: 5 days, 7:18:49, time: 0.746, data_time: 0.039, memory: 19865, loss_cls: 0.1312, loss_bbox: 0.3215, loss_traj: 0.5428, loss_traj_cls: 0.0019, loss_map_cls: 0.1490, loss_map_pts: 0.6611, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.3488, d0.loss_plan_l1_fix_dist: 0.4090, d1.loss_plan_l1_fix_time: 1.0609, d1.loss_plan_l1_fix_dist: 0.2111, d2.loss_plan_l1_fix_time: 1.0465, d2.loss_plan_l1_fix_dist: 0.2172, d3.loss_plan_l1_fix_time: 1.0504, d3.loss_plan_l1_fix_dist: 0.3430, d4.loss_plan_l1_fix_time: 1.0558, d4.loss_plan_l1_fix_dist: 0.3457, d5.loss_plan_l1_fix_time: 1.0607, d5.loss_plan_l1_fix_dist: 0.2463, d6.loss_plan_l1_fix_time: 1.0657, d6.loss_plan_l1_fix_dist: 0.2612, d0.loss_cls_all: 0.1649, d0.loss_bbox_all: 0.3846, d0.loss_cls: 0.1649, d0.loss_bbox: 0.3846, d1.loss_cls: 0.1564, d1.loss_bbox: 0.3550, d2.loss_cls: 0.1460, d2.loss_bbox: 0.3321, d3.loss_cls: 0.1348, d3.loss_bbox: 0.3244, d4.loss_cls: 0.1307, d4.loss_bbox: 0.3213, d5.loss_cls: 0.1295, d5.loss_bbox: 0.3219, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7274, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5959, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5571, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5428, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5396, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5400, d0.loss_map_cls_all: 0.2205, d0.loss_map_pts_all: 1.2895, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2205, d0.loss_map_pts: 1.2895, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1896, d1.loss_map_pts: 0.9256, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1691, d2.loss_map_pts: 0.7514, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1621, d3.loss_map_pts: 0.6932, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1563, d4.loss_map_pts: 0.6686, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1513, d5.loss_map_pts: 0.6615, d5.loss_map_dir: 0.0089, loss: 27.1064, grad_norm: 150.6811 +2026-02-28 03:44:15,256 - DriveTransformer - INFO - Epoch [9][5300/39528] lr: 7.525e-05, eta: 5 days, 7:18:15, time: 0.739, data_time: 0.038, memory: 19865, loss_cls: 0.1340, loss_bbox: 0.3203, loss_traj: 0.5736, loss_traj_cls: 0.0020, loss_map_cls: 0.1256, loss_map_pts: 0.5622, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.7794, d0.loss_plan_l1_fix_dist: 0.5563, d1.loss_plan_l1_fix_time: 0.8850, d1.loss_plan_l1_fix_dist: 0.2220, d2.loss_plan_l1_fix_time: 0.8748, d2.loss_plan_l1_fix_dist: 0.2194, d3.loss_plan_l1_fix_time: 0.8847, d3.loss_plan_l1_fix_dist: 0.3167, d4.loss_plan_l1_fix_time: 0.8882, d4.loss_plan_l1_fix_dist: 0.3686, d5.loss_plan_l1_fix_time: 0.8913, d5.loss_plan_l1_fix_dist: 0.2298, d6.loss_plan_l1_fix_time: 0.8945, d6.loss_plan_l1_fix_dist: 0.2242, d0.loss_cls_all: 0.1760, d0.loss_bbox_all: 0.3838, d0.loss_cls: 0.1760, d0.loss_bbox: 0.3838, d1.loss_cls: 0.1651, d1.loss_bbox: 0.3456, d2.loss_cls: 0.1551, d2.loss_bbox: 0.3266, d3.loss_cls: 0.1436, d3.loss_bbox: 0.3214, d4.loss_cls: 0.1372, d4.loss_bbox: 0.3198, d5.loss_cls: 0.1353, d5.loss_bbox: 0.3194, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8319, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6571, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6062, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5900, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5781, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5723, d0.loss_map_cls_all: 0.1965, d0.loss_map_pts_all: 1.1350, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1965, d0.loss_map_pts: 1.1350, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1702, d1.loss_map_pts: 0.8009, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1480, d2.loss_map_pts: 0.6501, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1379, d3.loss_map_pts: 0.5884, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1307, d4.loss_map_pts: 0.5687, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1268, d5.loss_map_pts: 0.5631, d5.loss_map_dir: 0.0077, loss: 25.8896, grad_norm: 147.6387 +2026-02-28 03:44:52,755 - DriveTransformer - INFO - Epoch [9][5350/39528] lr: 7.525e-05, eta: 5 days, 7:17:46, time: 0.750, data_time: 0.037, memory: 19865, loss_cls: 0.1244, loss_bbox: 0.3207, loss_traj: 0.6890, loss_traj_cls: 0.0019, loss_map_cls: 0.1395, loss_map_pts: 0.6210, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 3.2501, d0.loss_plan_l1_fix_dist: 0.4704, d1.loss_plan_l1_fix_time: 0.9818, d1.loss_plan_l1_fix_dist: 0.2341, d2.loss_plan_l1_fix_time: 0.9635, d2.loss_plan_l1_fix_dist: 0.2308, d3.loss_plan_l1_fix_time: 0.9666, d3.loss_plan_l1_fix_dist: 0.3149, d4.loss_plan_l1_fix_time: 0.9691, d4.loss_plan_l1_fix_dist: 0.3557, d5.loss_plan_l1_fix_time: 0.9715, d5.loss_plan_l1_fix_dist: 0.2444, d6.loss_plan_l1_fix_time: 0.9737, d6.loss_plan_l1_fix_dist: 0.2267, d0.loss_cls_all: 0.1730, d0.loss_bbox_all: 0.3803, d0.loss_cls: 0.1730, d0.loss_bbox: 0.3803, d1.loss_cls: 0.1606, d1.loss_bbox: 0.3480, d2.loss_cls: 0.1466, d2.loss_bbox: 0.3289, d3.loss_cls: 0.1303, d3.loss_bbox: 0.3251, d4.loss_cls: 0.1243, d4.loss_bbox: 0.3234, d5.loss_cls: 0.1239, d5.loss_bbox: 0.3210, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9472, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7764, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7215, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6948, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6904, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6943, d0.loss_map_cls_all: 0.2299, d0.loss_map_pts_all: 1.2186, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2299, d0.loss_map_pts: 1.2186, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1954, d1.loss_map_pts: 0.8774, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1663, d2.loss_map_pts: 0.7059, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1550, d3.loss_map_pts: 0.6464, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1476, d4.loss_map_pts: 0.6251, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1431, d5.loss_map_pts: 0.6207, d5.loss_map_dir: 0.0071, loss: 28.2525, grad_norm: 140.0200 +2026-02-28 03:45:28,602 - DriveTransformer - INFO - Epoch [9][5400/39528] lr: 7.525e-05, eta: 5 days, 7:17:04, time: 0.717, data_time: 0.036, memory: 19865, loss_cls: 0.1164, loss_bbox: 0.3030, loss_traj: 0.6636, loss_traj_cls: 0.0019, loss_map_cls: 0.1394, loss_map_pts: 0.6061, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.5935, d0.loss_plan_l1_fix_dist: 0.3780, d1.loss_plan_l1_fix_time: 0.8801, d1.loss_plan_l1_fix_dist: 0.2313, d2.loss_plan_l1_fix_time: 0.8673, d2.loss_plan_l1_fix_dist: 0.2124, d3.loss_plan_l1_fix_time: 0.8736, d3.loss_plan_l1_fix_dist: 0.2715, d4.loss_plan_l1_fix_time: 0.8781, d4.loss_plan_l1_fix_dist: 0.3066, d5.loss_plan_l1_fix_time: 0.8816, d5.loss_plan_l1_fix_dist: 0.2134, d6.loss_plan_l1_fix_time: 0.8849, d6.loss_plan_l1_fix_dist: 0.1889, d0.loss_cls_all: 0.1566, d0.loss_bbox_all: 0.3690, d0.loss_cls: 0.1566, d0.loss_bbox: 0.3690, d1.loss_cls: 0.1526, d1.loss_bbox: 0.3333, d2.loss_cls: 0.1373, d2.loss_bbox: 0.3108, d3.loss_cls: 0.1248, d3.loss_bbox: 0.3054, d4.loss_cls: 0.1180, d4.loss_bbox: 0.3045, d5.loss_cls: 0.1173, d5.loss_bbox: 0.3020, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9242, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7391, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6894, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6664, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6620, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6661, d0.loss_map_cls_all: 0.2148, d0.loss_map_pts_all: 1.1944, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2148, d0.loss_map_pts: 1.1944, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1866, d1.loss_map_pts: 0.8739, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1623, d2.loss_map_pts: 0.7019, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1513, d3.loss_map_pts: 0.6350, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1451, d4.loss_map_pts: 0.6139, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1420, d5.loss_map_pts: 0.6062, d5.loss_map_dir: 0.0074, loss: 26.1938, grad_norm: 138.5995 +2026-02-28 03:46:04,352 - DriveTransformer - INFO - Epoch [9][5450/39528] lr: 7.525e-05, eta: 5 days, 7:16:22, time: 0.715, data_time: 0.039, memory: 19865, loss_cls: 0.1550, loss_bbox: 0.3458, loss_traj: 0.6884, loss_traj_cls: 0.0019, loss_map_cls: 0.1432, loss_map_pts: 0.6778, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.4936, d0.loss_plan_l1_fix_dist: 0.3779, d1.loss_plan_l1_fix_time: 0.9896, d1.loss_plan_l1_fix_dist: 0.2743, d2.loss_plan_l1_fix_time: 0.9710, d2.loss_plan_l1_fix_dist: 0.2543, d3.loss_plan_l1_fix_time: 0.9600, d3.loss_plan_l1_fix_dist: 0.2835, d4.loss_plan_l1_fix_time: 0.9618, d4.loss_plan_l1_fix_dist: 0.3224, d5.loss_plan_l1_fix_time: 0.9645, d5.loss_plan_l1_fix_dist: 0.2592, d6.loss_plan_l1_fix_time: 0.9685, d6.loss_plan_l1_fix_dist: 0.2510, d0.loss_cls_all: 0.1935, d0.loss_bbox_all: 0.4136, d0.loss_cls: 0.1935, d0.loss_bbox: 0.4136, d1.loss_cls: 0.1869, d1.loss_bbox: 0.3824, d2.loss_cls: 0.1750, d2.loss_bbox: 0.3570, d3.loss_cls: 0.1609, d3.loss_bbox: 0.3504, d4.loss_cls: 0.1567, d4.loss_bbox: 0.3466, d5.loss_cls: 0.1554, d5.loss_bbox: 0.3453, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9929, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7677, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7192, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.7019, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6909, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6886, d0.loss_map_cls_all: 0.2255, d0.loss_map_pts_all: 1.3104, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2255, d0.loss_map_pts: 1.3104, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1933, d1.loss_map_pts: 0.9578, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1672, d2.loss_map_pts: 0.7794, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1551, d3.loss_map_pts: 0.7099, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1496, d4.loss_map_pts: 0.6855, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1448, d5.loss_map_pts: 0.6771, d5.loss_map_dir: 0.0082, loss: 28.4935, grad_norm: 139.2939 +2026-02-28 03:46:41,349 - DriveTransformer - INFO - Epoch [9][5500/39528] lr: 7.525e-05, eta: 5 days, 7:15:49, time: 0.740, data_time: 0.038, memory: 19865, loss_cls: 0.1148, loss_bbox: 0.3217, loss_traj: 0.5367, loss_traj_cls: 0.0019, loss_map_cls: 0.1436, loss_map_pts: 0.6486, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.5616, d0.loss_plan_l1_fix_dist: 0.3833, d1.loss_plan_l1_fix_time: 0.8104, d1.loss_plan_l1_fix_dist: 0.2372, d2.loss_plan_l1_fix_time: 0.7918, d2.loss_plan_l1_fix_dist: 0.2385, d3.loss_plan_l1_fix_time: 0.7924, d3.loss_plan_l1_fix_dist: 0.2232, d4.loss_plan_l1_fix_time: 0.7956, d4.loss_plan_l1_fix_dist: 0.2515, d5.loss_plan_l1_fix_time: 0.8002, d5.loss_plan_l1_fix_dist: 0.2010, d6.loss_plan_l1_fix_time: 0.8062, d6.loss_plan_l1_fix_dist: 0.2144, d0.loss_cls_all: 0.1592, d0.loss_bbox_all: 0.3824, d0.loss_cls: 0.1592, d0.loss_bbox: 0.3824, d1.loss_cls: 0.1472, d1.loss_bbox: 0.3491, d2.loss_cls: 0.1365, d2.loss_bbox: 0.3286, d3.loss_cls: 0.1202, d3.loss_bbox: 0.3247, d4.loss_cls: 0.1160, d4.loss_bbox: 0.3219, d5.loss_cls: 0.1150, d5.loss_bbox: 0.3206, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7523, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6056, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5571, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5449, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5347, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5346, d0.loss_map_cls_all: 0.2288, d0.loss_map_pts_all: 1.3723, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2288, d0.loss_map_pts: 1.3723, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1946, d1.loss_map_pts: 0.9548, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1700, d2.loss_map_pts: 0.7580, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1582, d3.loss_map_pts: 0.6885, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1516, d4.loss_map_pts: 0.6591, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1465, d5.loss_map_pts: 0.6502, d5.loss_map_dir: 0.0083, loss: 25.5686, grad_norm: 142.1690 +2026-02-28 03:47:17,213 - DriveTransformer - INFO - Epoch [9][5550/39528] lr: 7.525e-05, eta: 5 days, 7:15:07, time: 0.717, data_time: 0.037, memory: 19865, loss_cls: 0.1200, loss_bbox: 0.3087, loss_traj: 0.4891, loss_traj_cls: 0.0019, loss_map_cls: 0.1143, loss_map_pts: 0.5418, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.5097, d0.loss_plan_l1_fix_dist: 0.4163, d1.loss_plan_l1_fix_time: 0.8570, d1.loss_plan_l1_fix_dist: 0.2376, d2.loss_plan_l1_fix_time: 0.8308, d2.loss_plan_l1_fix_dist: 0.2528, d3.loss_plan_l1_fix_time: 0.8293, d3.loss_plan_l1_fix_dist: 0.2276, d4.loss_plan_l1_fix_time: 0.8312, d4.loss_plan_l1_fix_dist: 0.2309, d5.loss_plan_l1_fix_time: 0.8348, d5.loss_plan_l1_fix_dist: 0.1846, d6.loss_plan_l1_fix_time: 0.8397, d6.loss_plan_l1_fix_dist: 0.2093, d0.loss_cls_all: 0.1631, d0.loss_bbox_all: 0.3777, d0.loss_cls: 0.1631, d0.loss_bbox: 0.3777, d1.loss_cls: 0.1578, d1.loss_bbox: 0.3406, d2.loss_cls: 0.1419, d2.loss_bbox: 0.3195, d3.loss_cls: 0.1273, d3.loss_bbox: 0.3136, d4.loss_cls: 0.1223, d4.loss_bbox: 0.3105, d5.loss_cls: 0.1196, d5.loss_bbox: 0.3090, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6951, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5593, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5099, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5028, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4939, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4913, d0.loss_map_cls_all: 0.1902, d0.loss_map_pts_all: 1.1042, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1902, d0.loss_map_pts: 1.1042, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1597, d1.loss_map_pts: 0.7715, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1377, d2.loss_map_pts: 0.6288, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1273, d3.loss_map_pts: 0.5709, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1213, d4.loss_map_pts: 0.5500, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1165, d5.loss_map_pts: 0.5421, d5.loss_map_dir: 0.0075, loss: 23.8407, grad_norm: 140.7112 +2026-02-28 03:47:54,457 - DriveTransformer - INFO - Epoch [9][5600/39528] lr: 7.525e-05, eta: 5 days, 7:14:36, time: 0.746, data_time: 0.040, memory: 19865, loss_cls: 0.1172, loss_bbox: 0.3273, loss_traj: 0.4867, loss_traj_cls: 0.0019, loss_map_cls: 0.1467, loss_map_pts: 0.6819, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.6985, d0.loss_plan_l1_fix_dist: 0.4922, d1.loss_plan_l1_fix_time: 0.8886, d1.loss_plan_l1_fix_dist: 0.2398, d2.loss_plan_l1_fix_time: 0.8672, d2.loss_plan_l1_fix_dist: 0.2707, d3.loss_plan_l1_fix_time: 0.8585, d3.loss_plan_l1_fix_dist: 0.2623, d4.loss_plan_l1_fix_time: 0.8600, d4.loss_plan_l1_fix_dist: 0.2308, d5.loss_plan_l1_fix_time: 0.8618, d5.loss_plan_l1_fix_dist: 0.1956, d6.loss_plan_l1_fix_time: 0.8644, d6.loss_plan_l1_fix_dist: 0.2060, d0.loss_cls_all: 0.1630, d0.loss_bbox_all: 0.3903, d0.loss_cls: 0.1630, d0.loss_bbox: 0.3903, d1.loss_cls: 0.1548, d1.loss_bbox: 0.3565, d2.loss_cls: 0.1388, d2.loss_bbox: 0.3361, d3.loss_cls: 0.1208, d3.loss_bbox: 0.3310, d4.loss_cls: 0.1182, d4.loss_bbox: 0.3276, d5.loss_cls: 0.1176, d5.loss_bbox: 0.3264, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7247, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5626, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5166, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4928, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4916, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4900, d0.loss_map_cls_all: 0.2371, d0.loss_map_pts_all: 1.3579, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2371, d0.loss_map_pts: 1.3579, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1981, d1.loss_map_pts: 0.9740, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1760, d2.loss_map_pts: 0.7983, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1630, d3.loss_map_pts: 0.7283, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1541, d4.loss_map_pts: 0.6932, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1494, d5.loss_map_pts: 0.6835, d5.loss_map_dir: 0.0091, loss: 26.2520, grad_norm: 151.1221 +2026-02-28 03:48:30,884 - DriveTransformer - INFO - Epoch [9][5650/39528] lr: 7.525e-05, eta: 5 days, 7:13:58, time: 0.727, data_time: 0.034, memory: 19865, loss_cls: 0.1240, loss_bbox: 0.3162, loss_traj: 0.5052, loss_traj_cls: 0.0019, loss_map_cls: 0.1276, loss_map_pts: 0.5907, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.7196, d0.loss_plan_l1_fix_dist: 0.4865, d1.loss_plan_l1_fix_time: 0.9975, d1.loss_plan_l1_fix_dist: 0.2658, d2.loss_plan_l1_fix_time: 0.9847, d2.loss_plan_l1_fix_dist: 0.3038, d3.loss_plan_l1_fix_time: 0.9759, d3.loss_plan_l1_fix_dist: 0.3056, d4.loss_plan_l1_fix_time: 0.9800, d4.loss_plan_l1_fix_dist: 0.2534, d5.loss_plan_l1_fix_time: 0.9833, d5.loss_plan_l1_fix_dist: 0.2403, d6.loss_plan_l1_fix_time: 0.9867, d6.loss_plan_l1_fix_dist: 0.2480, d0.loss_cls_all: 0.1658, d0.loss_bbox_all: 0.3786, d0.loss_cls: 0.1658, d0.loss_bbox: 0.3786, d1.loss_cls: 0.1569, d1.loss_bbox: 0.3455, d2.loss_cls: 0.1441, d2.loss_bbox: 0.3253, d3.loss_cls: 0.1321, d3.loss_bbox: 0.3182, d4.loss_cls: 0.1264, d4.loss_bbox: 0.3153, d5.loss_cls: 0.1237, d5.loss_bbox: 0.3151, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7048, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5768, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5285, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5154, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5085, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5039, d0.loss_map_cls_all: 0.1955, d0.loss_map_pts_all: 1.2107, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1955, d0.loss_map_pts: 1.2107, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1661, d1.loss_map_pts: 0.8507, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1485, d2.loss_map_pts: 0.6933, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1406, d3.loss_map_pts: 0.6250, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1362, d4.loss_map_pts: 0.5984, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1302, d5.loss_map_pts: 0.5927, d5.loss_map_dir: 0.0079, loss: 26.0859, grad_norm: 149.9595 +2026-02-28 03:49:06,641 - DriveTransformer - INFO - Epoch [9][5700/39528] lr: 7.525e-05, eta: 5 days, 7:13:16, time: 0.715, data_time: 0.038, memory: 19865, loss_cls: 0.1309, loss_bbox: 0.3131, loss_traj: 0.5786, loss_traj_cls: 0.0019, loss_map_cls: 0.1118, loss_map_pts: 0.4701, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.6728, d0.loss_plan_l1_fix_dist: 0.4598, d1.loss_plan_l1_fix_time: 0.9653, d1.loss_plan_l1_fix_dist: 0.2447, d2.loss_plan_l1_fix_time: 0.9541, d2.loss_plan_l1_fix_dist: 0.2748, d3.loss_plan_l1_fix_time: 0.9488, d3.loss_plan_l1_fix_dist: 0.2804, d4.loss_plan_l1_fix_time: 0.9515, d4.loss_plan_l1_fix_dist: 0.2073, d5.loss_plan_l1_fix_time: 0.9542, d5.loss_plan_l1_fix_dist: 0.2051, d6.loss_plan_l1_fix_time: 0.9574, d6.loss_plan_l1_fix_dist: 0.2155, d0.loss_cls_all: 0.1698, d0.loss_bbox_all: 0.3738, d0.loss_cls: 0.1698, d0.loss_bbox: 0.3738, d1.loss_cls: 0.1606, d1.loss_bbox: 0.3409, d2.loss_cls: 0.1497, d2.loss_bbox: 0.3238, d3.loss_cls: 0.1369, d3.loss_bbox: 0.3155, d4.loss_cls: 0.1317, d4.loss_bbox: 0.3132, d5.loss_cls: 0.1313, d5.loss_bbox: 0.3124, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7759, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6535, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5953, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5829, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5810, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5779, d0.loss_map_cls_all: 0.1807, d0.loss_map_pts_all: 0.9946, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1807, d0.loss_map_pts: 0.9946, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1523, d1.loss_map_pts: 0.6876, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1336, d2.loss_map_pts: 0.5528, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1245, d3.loss_map_pts: 0.4973, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1168, d4.loss_map_pts: 0.4790, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1137, d5.loss_map_pts: 0.4712, d5.loss_map_dir: 0.0058, loss: 24.7974, grad_norm: 151.8550 +2026-02-28 03:49:42,705 - DriveTransformer - INFO - Epoch [9][5750/39528] lr: 7.525e-05, eta: 5 days, 7:12:36, time: 0.721, data_time: 0.038, memory: 19865, loss_cls: 0.1015, loss_bbox: 0.3046, loss_traj: 0.6080, loss_traj_cls: 0.0020, loss_map_cls: 0.0986, loss_map_pts: 0.4564, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.5474, d0.loss_plan_l1_fix_dist: 0.4881, d1.loss_plan_l1_fix_time: 0.8490, d1.loss_plan_l1_fix_dist: 0.2297, d2.loss_plan_l1_fix_time: 0.8423, d2.loss_plan_l1_fix_dist: 0.2693, d3.loss_plan_l1_fix_time: 0.8442, d3.loss_plan_l1_fix_dist: 0.2641, d4.loss_plan_l1_fix_time: 0.8470, d4.loss_plan_l1_fix_dist: 0.2044, d5.loss_plan_l1_fix_time: 0.8505, d5.loss_plan_l1_fix_dist: 0.2075, d6.loss_plan_l1_fix_time: 0.8546, d6.loss_plan_l1_fix_dist: 0.2262, d0.loss_cls_all: 0.1353, d0.loss_bbox_all: 0.3612, d0.loss_cls: 0.1353, d0.loss_bbox: 0.3612, d1.loss_cls: 0.1354, d1.loss_bbox: 0.3289, d2.loss_cls: 0.1217, d2.loss_bbox: 0.3136, d3.loss_cls: 0.1098, d3.loss_bbox: 0.3075, d4.loss_cls: 0.1021, d4.loss_bbox: 0.3060, d5.loss_cls: 0.1024, d5.loss_bbox: 0.3022, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8361, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6699, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6241, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6142, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6109, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6087, d0.loss_map_cls_all: 0.1612, d0.loss_map_pts_all: 0.9507, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1612, d0.loss_map_pts: 0.9507, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1371, d1.loss_map_pts: 0.6591, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1181, d2.loss_map_pts: 0.5307, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1091, d3.loss_map_pts: 0.4806, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1036, d4.loss_map_pts: 0.4628, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0997, d5.loss_map_pts: 0.4562, d5.loss_map_dir: 0.0056, loss: 23.6123, grad_norm: 157.0378 +2026-02-28 03:50:18,675 - DriveTransformer - INFO - Epoch [9][5800/39528] lr: 7.525e-05, eta: 5 days, 7:11:55, time: 0.720, data_time: 0.039, memory: 19865, loss_cls: 0.1170, loss_bbox: 0.3154, loss_traj: 0.4949, loss_traj_cls: 0.0020, loss_map_cls: 0.1296, loss_map_pts: 0.5902, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.5076, d0.loss_plan_l1_fix_dist: 0.5026, d1.loss_plan_l1_fix_time: 0.8875, d1.loss_plan_l1_fix_dist: 0.2316, d2.loss_plan_l1_fix_time: 0.8933, d2.loss_plan_l1_fix_dist: 0.2736, d3.loss_plan_l1_fix_time: 0.9069, d3.loss_plan_l1_fix_dist: 0.2645, d4.loss_plan_l1_fix_time: 0.9145, d4.loss_plan_l1_fix_dist: 0.2179, d5.loss_plan_l1_fix_time: 0.9218, d5.loss_plan_l1_fix_dist: 0.2393, d6.loss_plan_l1_fix_time: 0.9291, d6.loss_plan_l1_fix_dist: 0.2755, d0.loss_cls_all: 0.1616, d0.loss_bbox_all: 0.3862, d0.loss_cls: 0.1616, d0.loss_bbox: 0.3862, d1.loss_cls: 0.1550, d1.loss_bbox: 0.3465, d2.loss_cls: 0.1378, d2.loss_bbox: 0.3280, d3.loss_cls: 0.1239, d3.loss_bbox: 0.3207, d4.loss_cls: 0.1184, d4.loss_bbox: 0.3174, d5.loss_cls: 0.1161, d5.loss_bbox: 0.3156, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7063, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5673, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5206, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5122, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5038, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5021, d0.loss_map_cls_all: 0.2042, d0.loss_map_pts_all: 1.1542, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2042, d0.loss_map_pts: 1.1542, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1770, d1.loss_map_pts: 0.8275, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1527, d2.loss_map_pts: 0.6755, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1419, d3.loss_map_pts: 0.6138, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1358, d4.loss_map_pts: 0.5962, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1311, d5.loss_map_pts: 0.5910, d5.loss_map_dir: 0.0076, loss: 25.1258, grad_norm: 165.3386 +2026-02-28 03:50:55,440 - DriveTransformer - INFO - Epoch [9][5850/39528] lr: 7.525e-05, eta: 5 days, 7:11:20, time: 0.735, data_time: 0.038, memory: 19865, loss_cls: 0.1241, loss_bbox: 0.3181, loss_traj: 0.5840, loss_traj_cls: 0.0019, loss_map_cls: 0.1061, loss_map_pts: 0.5191, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.6442, d0.loss_plan_l1_fix_dist: 0.4391, d1.loss_plan_l1_fix_time: 0.9018, d1.loss_plan_l1_fix_dist: 0.2151, d2.loss_plan_l1_fix_time: 0.8922, d2.loss_plan_l1_fix_dist: 0.2612, d3.loss_plan_l1_fix_time: 0.8944, d3.loss_plan_l1_fix_dist: 0.2493, d4.loss_plan_l1_fix_time: 0.8986, d4.loss_plan_l1_fix_dist: 0.1855, d5.loss_plan_l1_fix_time: 0.9036, d5.loss_plan_l1_fix_dist: 0.1975, d6.loss_plan_l1_fix_time: 0.9086, d6.loss_plan_l1_fix_dist: 0.2281, d0.loss_cls_all: 0.1585, d0.loss_bbox_all: 0.3759, d0.loss_cls: 0.1585, d0.loss_bbox: 0.3759, d1.loss_cls: 0.1521, d1.loss_bbox: 0.3455, d2.loss_cls: 0.1419, d2.loss_bbox: 0.3263, d3.loss_cls: 0.1303, d3.loss_bbox: 0.3203, d4.loss_cls: 0.1227, d4.loss_bbox: 0.3198, d5.loss_cls: 0.1231, d5.loss_bbox: 0.3176, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8201, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6714, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6138, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5972, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5868, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5855, d0.loss_map_cls_all: 0.1804, d0.loss_map_pts_all: 1.1104, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1804, d0.loss_map_pts: 1.1104, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1532, d1.loss_map_pts: 0.7616, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1304, d2.loss_map_pts: 0.6116, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1191, d3.loss_map_pts: 0.5500, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1139, d4.loss_map_pts: 0.5256, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1075, d5.loss_map_pts: 0.5195, d5.loss_map_dir: 0.0071, loss: 24.9508, grad_norm: 166.0464 +2026-02-28 03:51:33,632 - DriveTransformer - INFO - Epoch [9][5900/39528] lr: 7.525e-05, eta: 5 days, 7:10:56, time: 0.764, data_time: 0.038, memory: 19865, loss_cls: 0.1382, loss_bbox: 0.3465, loss_traj: 0.5511, loss_traj_cls: 0.0020, loss_map_cls: 0.1450, loss_map_pts: 0.6647, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.4653, d0.loss_plan_l1_fix_dist: 0.4750, d1.loss_plan_l1_fix_time: 0.8690, d1.loss_plan_l1_fix_dist: 0.2153, d2.loss_plan_l1_fix_time: 0.8572, d2.loss_plan_l1_fix_dist: 0.2690, d3.loss_plan_l1_fix_time: 0.8435, d3.loss_plan_l1_fix_dist: 0.2792, d4.loss_plan_l1_fix_time: 0.8434, d4.loss_plan_l1_fix_dist: 0.2164, d5.loss_plan_l1_fix_time: 0.8450, d5.loss_plan_l1_fix_dist: 0.2151, d6.loss_plan_l1_fix_time: 0.8467, d6.loss_plan_l1_fix_dist: 0.2307, d0.loss_cls_all: 0.1807, d0.loss_bbox_all: 0.4116, d0.loss_cls: 0.1807, d0.loss_bbox: 0.4116, d1.loss_cls: 0.1712, d1.loss_bbox: 0.3751, d2.loss_cls: 0.1600, d2.loss_bbox: 0.3533, d3.loss_cls: 0.1431, d3.loss_bbox: 0.3511, d4.loss_cls: 0.1398, d4.loss_bbox: 0.3480, d5.loss_cls: 0.1374, d5.loss_bbox: 0.3471, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8138, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6168, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5752, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5668, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5583, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5547, d0.loss_map_cls_all: 0.2101, d0.loss_map_pts_all: 1.2853, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2101, d0.loss_map_pts: 1.2853, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1840, d1.loss_map_pts: 0.9273, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1679, d2.loss_map_pts: 0.7614, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1557, d3.loss_map_pts: 0.7000, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1475, d4.loss_map_pts: 0.6744, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1455, d5.loss_map_pts: 0.6644, d5.loss_map_dir: 0.0087, loss: 26.3060, grad_norm: 167.0880 +2026-02-28 03:52:09,414 - DriveTransformer - INFO - Epoch [9][5950/39528] lr: 7.525e-05, eta: 5 days, 7:10:14, time: 0.716, data_time: 0.037, memory: 19865, loss_cls: 0.1260, loss_bbox: 0.3233, loss_traj: 0.5736, loss_traj_cls: 0.0020, loss_map_cls: 0.1366, loss_map_pts: 0.5965, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.7418, d0.loss_plan_l1_fix_dist: 0.4280, d1.loss_plan_l1_fix_time: 0.8428, d1.loss_plan_l1_fix_dist: 0.2003, d2.loss_plan_l1_fix_time: 0.8342, d2.loss_plan_l1_fix_dist: 0.2352, d3.loss_plan_l1_fix_time: 0.8384, d3.loss_plan_l1_fix_dist: 0.2430, d4.loss_plan_l1_fix_time: 0.8423, d4.loss_plan_l1_fix_dist: 0.1943, d5.loss_plan_l1_fix_time: 0.8467, d5.loss_plan_l1_fix_dist: 0.1858, d6.loss_plan_l1_fix_time: 0.8515, d6.loss_plan_l1_fix_dist: 0.2047, d0.loss_cls_all: 0.1717, d0.loss_bbox_all: 0.3807, d0.loss_cls: 0.1717, d0.loss_bbox: 0.3807, d1.loss_cls: 0.1645, d1.loss_bbox: 0.3494, d2.loss_cls: 0.1494, d2.loss_bbox: 0.3316, d3.loss_cls: 0.1351, d3.loss_bbox: 0.3251, d4.loss_cls: 0.1290, d4.loss_bbox: 0.3227, d5.loss_cls: 0.1261, d5.loss_bbox: 0.3220, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8230, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6523, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5909, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5720, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5753, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5752, d0.loss_map_cls_all: 0.2219, d0.loss_map_pts_all: 1.1768, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2219, d0.loss_map_pts: 1.1768, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1879, d1.loss_map_pts: 0.8512, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1651, d2.loss_map_pts: 0.6867, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1528, d3.loss_map_pts: 0.6229, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1454, d4.loss_map_pts: 0.6022, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1394, d5.loss_map_pts: 0.5948, d5.loss_map_dir: 0.0082, loss: 25.5093, grad_norm: 162.5574 +2026-02-28 03:52:46,499 - DriveTransformer - INFO - Epoch [9][6000/39528] lr: 7.525e-05, eta: 5 days, 7:09:41, time: 0.742, data_time: 0.039, memory: 19865, loss_cls: 0.1267, loss_bbox: 0.3305, loss_traj: 0.6387, loss_traj_cls: 0.0019, loss_map_cls: 0.1154, loss_map_pts: 0.5829, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.9645, d0.loss_plan_l1_fix_dist: 0.5136, d1.loss_plan_l1_fix_time: 0.9755, d1.loss_plan_l1_fix_dist: 0.2195, d2.loss_plan_l1_fix_time: 0.9614, d2.loss_plan_l1_fix_dist: 0.2395, d3.loss_plan_l1_fix_time: 0.9614, d3.loss_plan_l1_fix_dist: 0.2400, d4.loss_plan_l1_fix_time: 0.9637, d4.loss_plan_l1_fix_dist: 0.2192, d5.loss_plan_l1_fix_time: 0.9665, d5.loss_plan_l1_fix_dist: 0.2232, d6.loss_plan_l1_fix_time: 0.9708, d6.loss_plan_l1_fix_dist: 0.2457, d0.loss_cls_all: 0.1651, d0.loss_bbox_all: 0.3989, d0.loss_cls: 0.1651, d0.loss_bbox: 0.3989, d1.loss_cls: 0.1573, d1.loss_bbox: 0.3652, d2.loss_cls: 0.1477, d2.loss_bbox: 0.3438, d3.loss_cls: 0.1307, d3.loss_bbox: 0.3353, d4.loss_cls: 0.1273, d4.loss_bbox: 0.3316, d5.loss_cls: 0.1263, d5.loss_bbox: 0.3294, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9120, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7250, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6639, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6494, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6405, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6414, d0.loss_map_cls_all: 0.2024, d0.loss_map_pts_all: 1.2098, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2024, d0.loss_map_pts: 1.2098, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1713, d1.loss_map_pts: 0.8514, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1445, d2.loss_map_pts: 0.6804, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1309, d3.loss_map_pts: 0.6125, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1226, d4.loss_map_pts: 0.5908, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1166, d5.loss_map_pts: 0.5843, d5.loss_map_dir: 0.0076, loss: 27.1097, grad_norm: 160.7728 +2026-02-28 03:53:22,678 - DriveTransformer - INFO - Epoch [9][6050/39528] lr: 7.525e-05, eta: 5 days, 7:09:02, time: 0.724, data_time: 0.037, memory: 19865, loss_cls: 0.1105, loss_bbox: 0.3197, loss_traj: 0.6326, loss_traj_cls: 0.0020, loss_map_cls: 0.1252, loss_map_pts: 0.5937, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.6146, d0.loss_plan_l1_fix_dist: 0.4590, d1.loss_plan_l1_fix_time: 0.9506, d1.loss_plan_l1_fix_dist: 0.2273, d2.loss_plan_l1_fix_time: 0.9454, d2.loss_plan_l1_fix_dist: 0.2157, d3.loss_plan_l1_fix_time: 0.9398, d3.loss_plan_l1_fix_dist: 0.2192, d4.loss_plan_l1_fix_time: 0.9427, d4.loss_plan_l1_fix_dist: 0.2023, d5.loss_plan_l1_fix_time: 0.9462, d5.loss_plan_l1_fix_dist: 0.2062, d6.loss_plan_l1_fix_time: 0.9509, d6.loss_plan_l1_fix_dist: 0.2230, d0.loss_cls_all: 0.1428, d0.loss_bbox_all: 0.3870, d0.loss_cls: 0.1428, d0.loss_bbox: 0.3870, d1.loss_cls: 0.1426, d1.loss_bbox: 0.3511, d2.loss_cls: 0.1304, d2.loss_bbox: 0.3276, d3.loss_cls: 0.1190, d3.loss_bbox: 0.3208, d4.loss_cls: 0.1129, d4.loss_bbox: 0.3184, d5.loss_cls: 0.1100, d5.loss_bbox: 0.3187, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9133, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7174, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6599, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6427, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6359, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6324, d0.loss_map_cls_all: 0.2045, d0.loss_map_pts_all: 1.1956, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2045, d0.loss_map_pts: 1.1956, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1712, d1.loss_map_pts: 0.8501, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1457, d2.loss_map_pts: 0.6926, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1381, d3.loss_map_pts: 0.6238, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1308, d4.loss_map_pts: 0.6009, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1279, d5.loss_map_pts: 0.5935, d5.loss_map_dir: 0.0070, loss: 26.2754, grad_norm: 160.3024 +2026-02-28 03:53:59,828 - DriveTransformer - INFO - Epoch [9][6100/39528] lr: 7.525e-05, eta: 5 days, 7:08:30, time: 0.743, data_time: 0.037, memory: 19865, loss_cls: 0.1354, loss_bbox: 0.3442, loss_traj: 0.4965, loss_traj_cls: 0.0019, loss_map_cls: 0.1188, loss_map_pts: 0.6571, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.7089, d0.loss_plan_l1_fix_dist: 0.3527, d1.loss_plan_l1_fix_time: 0.9876, d1.loss_plan_l1_fix_dist: 0.2363, d2.loss_plan_l1_fix_time: 0.9622, d2.loss_plan_l1_fix_dist: 0.2041, d3.loss_plan_l1_fix_time: 0.9537, d3.loss_plan_l1_fix_dist: 0.2053, d4.loss_plan_l1_fix_time: 0.9545, d4.loss_plan_l1_fix_dist: 0.2085, d5.loss_plan_l1_fix_time: 0.9566, d5.loss_plan_l1_fix_dist: 0.2291, d6.loss_plan_l1_fix_time: 0.9587, d6.loss_plan_l1_fix_dist: 0.2268, d0.loss_cls_all: 0.1752, d0.loss_bbox_all: 0.4069, d0.loss_cls: 0.1752, d0.loss_bbox: 0.4069, d1.loss_cls: 0.1680, d1.loss_bbox: 0.3722, d2.loss_cls: 0.1568, d2.loss_bbox: 0.3525, d3.loss_cls: 0.1382, d3.loss_bbox: 0.3492, d4.loss_cls: 0.1349, d4.loss_bbox: 0.3462, d5.loss_cls: 0.1351, d5.loss_bbox: 0.3432, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7232, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5648, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5135, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4992, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4928, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4948, d0.loss_map_cls_all: 0.1954, d0.loss_map_pts_all: 1.2905, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.1954, d0.loss_map_pts: 1.2905, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1665, d1.loss_map_pts: 0.9188, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1431, d2.loss_map_pts: 0.7535, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1328, d3.loss_map_pts: 0.6906, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1261, d4.loss_map_pts: 0.6644, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1215, d5.loss_map_pts: 0.6580, d5.loss_map_dir: 0.0089, loss: 26.2695, grad_norm: 160.8588 +2026-02-28 03:54:36,254 - DriveTransformer - INFO - Epoch [9][6150/39528] lr: 7.525e-05, eta: 5 days, 7:07:53, time: 0.729, data_time: 0.039, memory: 19865, loss_cls: 0.1328, loss_bbox: 0.3257, loss_traj: 0.4915, loss_traj_cls: 0.0019, loss_map_cls: 0.1507, loss_map_pts: 0.6653, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.7255, d0.loss_plan_l1_fix_dist: 0.4854, d1.loss_plan_l1_fix_time: 0.8596, d1.loss_plan_l1_fix_dist: 0.2480, d2.loss_plan_l1_fix_time: 0.8409, d2.loss_plan_l1_fix_dist: 0.1904, d3.loss_plan_l1_fix_time: 0.8357, d3.loss_plan_l1_fix_dist: 0.1937, d4.loss_plan_l1_fix_time: 0.8375, d4.loss_plan_l1_fix_dist: 0.1968, d5.loss_plan_l1_fix_time: 0.8402, d5.loss_plan_l1_fix_dist: 0.2172, d6.loss_plan_l1_fix_time: 0.8428, d6.loss_plan_l1_fix_dist: 0.2166, d0.loss_cls_all: 0.1810, d0.loss_bbox_all: 0.4000, d0.loss_cls: 0.1810, d0.loss_bbox: 0.4000, d1.loss_cls: 0.1681, d1.loss_bbox: 0.3656, d2.loss_cls: 0.1590, d2.loss_bbox: 0.3372, d3.loss_cls: 0.1409, d3.loss_bbox: 0.3303, d4.loss_cls: 0.1337, d4.loss_bbox: 0.3271, d5.loss_cls: 0.1319, d5.loss_bbox: 0.3254, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7044, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5498, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5200, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5004, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4929, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4944, d0.loss_map_cls_all: 0.2319, d0.loss_map_pts_all: 1.3624, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2319, d0.loss_map_pts: 1.3624, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.2018, d1.loss_map_pts: 0.9758, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1735, d2.loss_map_pts: 0.7812, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1643, d3.loss_map_pts: 0.7068, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1574, d4.loss_map_pts: 0.6752, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1528, d5.loss_map_pts: 0.6669, d5.loss_map_dir: 0.0087, loss: 26.0571, grad_norm: 159.2105 +2026-02-28 03:55:12,107 - DriveTransformer - INFO - Epoch [9][6200/39528] lr: 7.525e-05, eta: 5 days, 7:07:11, time: 0.717, data_time: 0.038, memory: 19865, loss_cls: 0.1009, loss_bbox: 0.2873, loss_traj: 0.5431, loss_traj_cls: 0.0020, loss_map_cls: 0.0922, loss_map_pts: 0.4733, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.6063, d0.loss_plan_l1_fix_dist: 0.5291, d1.loss_plan_l1_fix_time: 0.7431, d1.loss_plan_l1_fix_dist: 0.2732, d2.loss_plan_l1_fix_time: 0.7428, d2.loss_plan_l1_fix_dist: 0.2000, d3.loss_plan_l1_fix_time: 0.7394, d3.loss_plan_l1_fix_dist: 0.2157, d4.loss_plan_l1_fix_time: 0.7437, d4.loss_plan_l1_fix_dist: 0.1970, d5.loss_plan_l1_fix_time: 0.7483, d5.loss_plan_l1_fix_dist: 0.2013, d6.loss_plan_l1_fix_time: 0.7529, d6.loss_plan_l1_fix_dist: 0.2084, d0.loss_cls_all: 0.1366, d0.loss_bbox_all: 0.3411, d0.loss_cls: 0.1366, d0.loss_bbox: 0.3411, d1.loss_cls: 0.1292, d1.loss_bbox: 0.3116, d2.loss_cls: 0.1218, d2.loss_bbox: 0.2939, d3.loss_cls: 0.1057, d3.loss_bbox: 0.2882, d4.loss_cls: 0.1008, d4.loss_bbox: 0.2849, d5.loss_cls: 0.0998, d5.loss_bbox: 0.2841, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7750, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6178, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5733, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5575, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5517, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5459, d0.loss_map_cls_all: 0.1603, d0.loss_map_pts_all: 0.9613, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1603, d0.loss_map_pts: 0.9613, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1346, d1.loss_map_pts: 0.6888, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1136, d2.loss_map_pts: 0.5509, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1058, d3.loss_map_pts: 0.4990, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0994, d4.loss_map_pts: 0.4814, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0951, d5.loss_map_pts: 0.4741, d5.loss_map_dir: 0.0053, loss: 22.5311, grad_norm: 160.3176 +2026-02-28 03:55:47,808 - DriveTransformer - INFO - Epoch [9][6250/39528] lr: 7.525e-05, eta: 5 days, 7:06:29, time: 0.714, data_time: 0.036, memory: 19865, loss_cls: 0.1095, loss_bbox: 0.3308, loss_traj: 0.5224, loss_traj_cls: 0.0019, loss_map_cls: 0.1486, loss_map_pts: 0.6524, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.4096, d0.loss_plan_l1_fix_dist: 0.4379, d1.loss_plan_l1_fix_time: 0.9592, d1.loss_plan_l1_fix_dist: 0.2948, d2.loss_plan_l1_fix_time: 0.9425, d2.loss_plan_l1_fix_dist: 0.2170, d3.loss_plan_l1_fix_time: 0.9457, d3.loss_plan_l1_fix_dist: 0.2315, d4.loss_plan_l1_fix_time: 0.9483, d4.loss_plan_l1_fix_dist: 0.2228, d5.loss_plan_l1_fix_time: 0.9502, d5.loss_plan_l1_fix_dist: 0.2256, d6.loss_plan_l1_fix_time: 0.9527, d6.loss_plan_l1_fix_dist: 0.2404, d0.loss_cls_all: 0.1575, d0.loss_bbox_all: 0.3922, d0.loss_cls: 0.1575, d0.loss_bbox: 0.3922, d1.loss_cls: 0.1483, d1.loss_bbox: 0.3591, d2.loss_cls: 0.1348, d2.loss_bbox: 0.3400, d3.loss_cls: 0.1164, d3.loss_bbox: 0.3347, d4.loss_cls: 0.1105, d4.loss_bbox: 0.3325, d5.loss_cls: 0.1081, d5.loss_bbox: 0.3312, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7560, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5879, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5364, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5236, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5208, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5208, d0.loss_map_cls_all: 0.2316, d0.loss_map_pts_all: 1.2467, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2316, d0.loss_map_pts: 1.2467, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.2045, d1.loss_map_pts: 0.9041, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1764, d2.loss_map_pts: 0.7417, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1622, d3.loss_map_pts: 0.6749, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1553, d4.loss_map_pts: 0.6557, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1507, d5.loss_map_pts: 0.6520, d5.loss_map_dir: 0.0079, loss: 26.1049, grad_norm: 164.1743 +2026-02-28 03:56:24,631 - DriveTransformer - INFO - Epoch [9][6300/39528] lr: 7.525e-05, eta: 5 days, 7:05:54, time: 0.736, data_time: 0.038, memory: 19865, loss_cls: 0.1329, loss_bbox: 0.3338, loss_traj: 0.5147, loss_traj_cls: 0.0019, loss_map_cls: 0.1258, loss_map_pts: 0.6113, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.7875, d0.loss_plan_l1_fix_dist: 0.4071, d1.loss_plan_l1_fix_time: 0.9095, d1.loss_plan_l1_fix_dist: 0.2892, d2.loss_plan_l1_fix_time: 0.8875, d2.loss_plan_l1_fix_dist: 0.2220, d3.loss_plan_l1_fix_time: 0.8907, d3.loss_plan_l1_fix_dist: 0.2277, d4.loss_plan_l1_fix_time: 0.8934, d4.loss_plan_l1_fix_dist: 0.2153, d5.loss_plan_l1_fix_time: 0.8966, d5.loss_plan_l1_fix_dist: 0.2061, d6.loss_plan_l1_fix_time: 0.9005, d6.loss_plan_l1_fix_dist: 0.2150, d0.loss_cls_all: 0.1710, d0.loss_bbox_all: 0.4067, d0.loss_cls: 0.1710, d0.loss_bbox: 0.4067, d1.loss_cls: 0.1669, d1.loss_bbox: 0.3703, d2.loss_cls: 0.1549, d2.loss_bbox: 0.3432, d3.loss_cls: 0.1376, d3.loss_bbox: 0.3394, d4.loss_cls: 0.1329, d4.loss_bbox: 0.3383, d5.loss_cls: 0.1334, d5.loss_bbox: 0.3331, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7786, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6059, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5452, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5277, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5173, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5119, d0.loss_map_cls_all: 0.1935, d0.loss_map_pts_all: 1.1659, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1935, d0.loss_map_pts: 1.1659, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1674, d1.loss_map_pts: 0.8394, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1460, d2.loss_map_pts: 0.6979, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1378, d3.loss_map_pts: 0.6355, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1314, d4.loss_map_pts: 0.6180, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1282, d5.loss_map_pts: 0.6108, d5.loss_map_dir: 0.0074, loss: 25.6549, grad_norm: 164.5031 +2026-02-28 03:57:01,480 - DriveTransformer - INFO - Epoch [9][6350/39528] lr: 7.525e-05, eta: 5 days, 7:05:20, time: 0.737, data_time: 0.037, memory: 19865, loss_cls: 0.1236, loss_bbox: 0.3031, loss_traj: 0.5476, loss_traj_cls: 0.0020, loss_map_cls: 0.1107, loss_map_pts: 0.5438, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.2028, d0.loss_plan_l1_fix_dist: 0.4569, d1.loss_plan_l1_fix_time: 0.8944, d1.loss_plan_l1_fix_dist: 0.2917, d2.loss_plan_l1_fix_time: 0.8850, d2.loss_plan_l1_fix_dist: 0.2444, d3.loss_plan_l1_fix_time: 0.8714, d3.loss_plan_l1_fix_dist: 0.2396, d4.loss_plan_l1_fix_time: 0.8757, d4.loss_plan_l1_fix_dist: 0.2304, d5.loss_plan_l1_fix_time: 0.8816, d5.loss_plan_l1_fix_dist: 0.2299, d6.loss_plan_l1_fix_time: 0.8882, d6.loss_plan_l1_fix_dist: 0.2355, d0.loss_cls_all: 0.1705, d0.loss_bbox_all: 0.3607, d0.loss_cls: 0.1705, d0.loss_bbox: 0.3607, d1.loss_cls: 0.1635, d1.loss_bbox: 0.3263, d2.loss_cls: 0.1499, d2.loss_bbox: 0.3066, d3.loss_cls: 0.1343, d3.loss_bbox: 0.3002, d4.loss_cls: 0.1280, d4.loss_bbox: 0.3006, d5.loss_cls: 0.1256, d5.loss_bbox: 0.2999, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7644, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5856, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5557, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5504, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5465, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5478, d0.loss_map_cls_all: 0.1942, d0.loss_map_pts_all: 1.1765, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1942, d0.loss_map_pts: 1.1765, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1600, d1.loss_map_pts: 0.8048, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1350, d2.loss_map_pts: 0.6394, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1230, d3.loss_map_pts: 0.5715, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1167, d4.loss_map_pts: 0.5481, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1129, d5.loss_map_pts: 0.5429, d5.loss_map_dir: 0.0073, loss: 24.4641, grad_norm: 171.7065 +2026-02-28 03:57:40,442 - DriveTransformer - INFO - Epoch [9][6400/39528] lr: 7.525e-05, eta: 5 days, 7:05:02, time: 0.781, data_time: 0.038, memory: 19865, loss_cls: 0.1191, loss_bbox: 0.3045, loss_traj: 0.4375, loss_traj_cls: 0.0020, loss_map_cls: 0.1219, loss_map_pts: 0.6852, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.5564, d0.loss_plan_l1_fix_dist: 0.3949, d1.loss_plan_l1_fix_time: 0.9029, d1.loss_plan_l1_fix_dist: 0.2661, d2.loss_plan_l1_fix_time: 0.8873, d2.loss_plan_l1_fix_dist: 0.2202, d3.loss_plan_l1_fix_time: 0.8728, d3.loss_plan_l1_fix_dist: 0.2121, d4.loss_plan_l1_fix_time: 0.8738, d4.loss_plan_l1_fix_dist: 0.1969, d5.loss_plan_l1_fix_time: 0.8771, d5.loss_plan_l1_fix_dist: 0.1959, d6.loss_plan_l1_fix_time: 0.8815, d6.loss_plan_l1_fix_dist: 0.2006, d0.loss_cls_all: 0.1664, d0.loss_bbox_all: 0.3717, d0.loss_cls: 0.1664, d0.loss_bbox: 0.3717, d1.loss_cls: 0.1576, d1.loss_bbox: 0.3330, d2.loss_cls: 0.1422, d2.loss_bbox: 0.3115, d3.loss_cls: 0.1249, d3.loss_bbox: 0.3091, d4.loss_cls: 0.1202, d4.loss_bbox: 0.3047, d5.loss_cls: 0.1189, d5.loss_bbox: 0.3034, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6124, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.4871, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4428, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4371, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4384, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4378, d0.loss_map_cls_all: 0.1956, d0.loss_map_pts_all: 1.3863, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.1956, d0.loss_map_pts: 1.3863, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.1636, d1.loss_map_pts: 0.9736, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1435, d2.loss_map_pts: 0.7831, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1364, d3.loss_map_pts: 0.7164, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1294, d4.loss_map_pts: 0.6897, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1241, d5.loss_map_pts: 0.6850, d5.loss_map_dir: 0.0100, loss: 25.1568, grad_norm: 172.0485 +2026-02-28 03:58:16,012 - DriveTransformer - INFO - Epoch [9][6450/39528] lr: 7.525e-05, eta: 5 days, 7:04:18, time: 0.710, data_time: 0.036, memory: 19865, loss_cls: 0.1326, loss_bbox: 0.3299, loss_traj: 0.4568, loss_traj_cls: 0.0019, loss_map_cls: 0.1578, loss_map_pts: 0.6789, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.8366, d0.loss_plan_l1_fix_dist: 0.4052, d1.loss_plan_l1_fix_time: 1.0097, d1.loss_plan_l1_fix_dist: 0.2805, d2.loss_plan_l1_fix_time: 0.9904, d2.loss_plan_l1_fix_dist: 0.2188, d3.loss_plan_l1_fix_time: 0.9857, d3.loss_plan_l1_fix_dist: 0.2163, d4.loss_plan_l1_fix_time: 0.9865, d4.loss_plan_l1_fix_dist: 0.2064, d5.loss_plan_l1_fix_time: 0.9883, d5.loss_plan_l1_fix_dist: 0.2090, d6.loss_plan_l1_fix_time: 0.9907, d6.loss_plan_l1_fix_dist: 0.2070, d0.loss_cls_all: 0.1852, d0.loss_bbox_all: 0.3983, d0.loss_cls: 0.1852, d0.loss_bbox: 0.3983, d1.loss_cls: 0.1750, d1.loss_bbox: 0.3598, d2.loss_cls: 0.1611, d2.loss_bbox: 0.3377, d3.loss_cls: 0.1428, d3.loss_bbox: 0.3320, d4.loss_cls: 0.1335, d4.loss_bbox: 0.3314, d5.loss_cls: 0.1318, d5.loss_bbox: 0.3308, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6891, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5261, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4735, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4675, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4645, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4602, d0.loss_map_cls_all: 0.2408, d0.loss_map_pts_all: 1.2945, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2408, d0.loss_map_pts: 1.2945, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.2113, d1.loss_map_pts: 0.9377, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1844, d2.loss_map_pts: 0.7684, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1720, d3.loss_map_pts: 0.7077, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1656, d4.loss_map_pts: 0.6833, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1606, d5.loss_map_pts: 0.6766, d5.loss_map_dir: 0.0068, loss: 26.7700, grad_norm: 168.9375 +2026-02-28 03:58:52,254 - DriveTransformer - INFO - Epoch [9][6500/39528] lr: 7.525e-05, eta: 5 days, 7:03:39, time: 0.725, data_time: 0.037, memory: 19865, loss_cls: 0.1377, loss_bbox: 0.3458, loss_traj: 0.5386, loss_traj_cls: 0.0018, loss_map_cls: 0.1278, loss_map_pts: 0.5758, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.8275, d0.loss_plan_l1_fix_dist: 0.5493, d1.loss_plan_l1_fix_time: 0.9520, d1.loss_plan_l1_fix_dist: 0.2662, d2.loss_plan_l1_fix_time: 0.9341, d2.loss_plan_l1_fix_dist: 0.2146, d3.loss_plan_l1_fix_time: 0.9352, d3.loss_plan_l1_fix_dist: 0.2143, d4.loss_plan_l1_fix_time: 0.9367, d4.loss_plan_l1_fix_dist: 0.2179, d5.loss_plan_l1_fix_time: 0.9385, d5.loss_plan_l1_fix_dist: 0.2316, d6.loss_plan_l1_fix_time: 0.9407, d6.loss_plan_l1_fix_dist: 0.2225, d0.loss_cls_all: 0.1787, d0.loss_bbox_all: 0.4130, d0.loss_cls: 0.1787, d0.loss_bbox: 0.4130, d1.loss_cls: 0.1685, d1.loss_bbox: 0.3766, d2.loss_cls: 0.1575, d2.loss_bbox: 0.3560, d3.loss_cls: 0.1427, d3.loss_bbox: 0.3489, d4.loss_cls: 0.1407, d4.loss_bbox: 0.3432, d5.loss_cls: 0.1381, d5.loss_bbox: 0.3448, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7972, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6186, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5550, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5421, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5381, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5404, d0.loss_map_cls_all: 0.2104, d0.loss_map_pts_all: 1.1523, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2104, d0.loss_map_pts: 1.1523, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1780, d1.loss_map_pts: 0.8429, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1542, d2.loss_map_pts: 0.6781, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1392, d3.loss_map_pts: 0.6143, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1334, d4.loss_map_pts: 0.5846, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1288, d5.loss_map_pts: 0.5761, d5.loss_map_dir: 0.0073, loss: 26.2171, grad_norm: 167.1280 +2026-02-28 03:59:28,362 - DriveTransformer - INFO - Epoch [9][6550/39528] lr: 7.525e-05, eta: 5 days, 7:02:59, time: 0.722, data_time: 0.036, memory: 19865, loss_cls: 0.1426, loss_bbox: 0.3522, loss_traj: 0.5960, loss_traj_cls: 0.0019, loss_map_cls: 0.1416, loss_map_pts: 0.6209, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 3.1069, d0.loss_plan_l1_fix_dist: 0.5168, d1.loss_plan_l1_fix_time: 1.0037, d1.loss_plan_l1_fix_dist: 0.2550, d2.loss_plan_l1_fix_time: 0.9876, d2.loss_plan_l1_fix_dist: 0.2149, d3.loss_plan_l1_fix_time: 0.9869, d3.loss_plan_l1_fix_dist: 0.2189, d4.loss_plan_l1_fix_time: 0.9894, d4.loss_plan_l1_fix_dist: 0.2285, d5.loss_plan_l1_fix_time: 0.9920, d5.loss_plan_l1_fix_dist: 0.2340, d6.loss_plan_l1_fix_time: 0.9951, d6.loss_plan_l1_fix_dist: 0.2259, d0.loss_cls_all: 0.1867, d0.loss_bbox_all: 0.4169, d0.loss_cls: 0.1867, d0.loss_bbox: 0.4169, d1.loss_cls: 0.1822, d1.loss_bbox: 0.3808, d2.loss_cls: 0.1670, d2.loss_bbox: 0.3603, d3.loss_cls: 0.1488, d3.loss_bbox: 0.3547, d4.loss_cls: 0.1429, d4.loss_bbox: 0.3528, d5.loss_cls: 0.1420, d5.loss_bbox: 0.3519, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8762, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6819, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6205, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6094, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6091, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6064, d0.loss_map_cls_all: 0.2144, d0.loss_map_pts_all: 1.1942, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2144, d0.loss_map_pts: 1.1942, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1824, d1.loss_map_pts: 0.8828, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1593, d2.loss_map_pts: 0.7263, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1513, d3.loss_map_pts: 0.6588, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1462, d4.loss_map_pts: 0.6316, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1426, d5.loss_map_pts: 0.6222, d5.loss_map_dir: 0.0072, loss: 27.7869, grad_norm: 167.4400 +2026-02-28 04:00:05,811 - DriveTransformer - INFO - Epoch [9][6600/39528] lr: 7.525e-05, eta: 5 days, 7:02:29, time: 0.749, data_time: 0.038, memory: 19865, loss_cls: 0.1193, loss_bbox: 0.3252, loss_traj: 0.4987, loss_traj_cls: 0.0019, loss_map_cls: 0.1301, loss_map_pts: 0.6662, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.5666, d0.loss_plan_l1_fix_dist: 0.5167, d1.loss_plan_l1_fix_time: 0.8481, d1.loss_plan_l1_fix_dist: 0.2127, d2.loss_plan_l1_fix_time: 0.8324, d2.loss_plan_l1_fix_dist: 0.1800, d3.loss_plan_l1_fix_time: 0.8286, d3.loss_plan_l1_fix_dist: 0.2090, d4.loss_plan_l1_fix_time: 0.8310, d4.loss_plan_l1_fix_dist: 0.2101, d5.loss_plan_l1_fix_time: 0.8340, d5.loss_plan_l1_fix_dist: 0.2031, d6.loss_plan_l1_fix_time: 0.8374, d6.loss_plan_l1_fix_dist: 0.2219, d0.loss_cls_all: 0.1652, d0.loss_bbox_all: 0.3879, d0.loss_cls: 0.1652, d0.loss_bbox: 0.3879, d1.loss_cls: 0.1596, d1.loss_bbox: 0.3551, d2.loss_cls: 0.1464, d2.loss_bbox: 0.3363, d3.loss_cls: 0.1262, d3.loss_bbox: 0.3300, d4.loss_cls: 0.1205, d4.loss_bbox: 0.3267, d5.loss_cls: 0.1182, d5.loss_bbox: 0.3258, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6810, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5602, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5149, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5035, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4996, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4981, d0.loss_map_cls_all: 0.2063, d0.loss_map_pts_all: 1.3169, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2063, d0.loss_map_pts: 1.3169, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1758, d1.loss_map_pts: 0.9322, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1542, d2.loss_map_pts: 0.7618, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1428, d3.loss_map_pts: 0.7026, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1376, d4.loss_map_pts: 0.6763, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1327, d5.loss_map_pts: 0.6669, d5.loss_map_dir: 0.0089, loss: 25.3840, grad_norm: 167.0189 +2026-02-28 04:00:42,963 - DriveTransformer - INFO - Epoch [9][6650/39528] lr: 7.525e-05, eta: 5 days, 7:01:57, time: 0.743, data_time: 0.041, memory: 19865, loss_cls: 0.1184, loss_bbox: 0.3117, loss_traj: 0.5321, loss_traj_cls: 0.0019, loss_map_cls: 0.1282, loss_map_pts: 0.5804, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.7364, d0.loss_plan_l1_fix_dist: 0.5017, d1.loss_plan_l1_fix_time: 0.9591, d1.loss_plan_l1_fix_dist: 0.1971, d2.loss_plan_l1_fix_time: 0.9389, d2.loss_plan_l1_fix_dist: 0.1817, d3.loss_plan_l1_fix_time: 0.9386, d3.loss_plan_l1_fix_dist: 0.2264, d4.loss_plan_l1_fix_time: 0.9415, d4.loss_plan_l1_fix_dist: 0.2246, d5.loss_plan_l1_fix_time: 0.9443, d5.loss_plan_l1_fix_dist: 0.2262, d6.loss_plan_l1_fix_time: 0.9480, d6.loss_plan_l1_fix_dist: 0.2516, d0.loss_cls_all: 0.1554, d0.loss_bbox_all: 0.3810, d0.loss_cls: 0.1554, d0.loss_bbox: 0.3810, d1.loss_cls: 0.1493, d1.loss_bbox: 0.3470, d2.loss_cls: 0.1381, d2.loss_bbox: 0.3233, d3.loss_cls: 0.1249, d3.loss_bbox: 0.3163, d4.loss_cls: 0.1206, d4.loss_bbox: 0.3120, d5.loss_cls: 0.1188, d5.loss_bbox: 0.3119, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7812, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6241, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5554, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5373, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5356, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5319, d0.loss_map_cls_all: 0.2101, d0.loss_map_pts_all: 1.2085, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2101, d0.loss_map_pts: 1.2085, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1765, d1.loss_map_pts: 0.8416, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1536, d2.loss_map_pts: 0.6727, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1405, d3.loss_map_pts: 0.6121, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1333, d4.loss_map_pts: 0.5886, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1308, d5.loss_map_pts: 0.5813, d5.loss_map_dir: 0.0074, loss: 25.7214, grad_norm: 167.2965 +2026-02-28 04:01:20,207 - DriveTransformer - INFO - Epoch [9][6700/39528] lr: 7.525e-05, eta: 5 days, 7:01:26, time: 0.745, data_time: 0.040, memory: 19865, loss_cls: 0.1134, loss_bbox: 0.3015, loss_traj: 0.4823, loss_traj_cls: 0.0019, loss_map_cls: 0.1388, loss_map_pts: 0.6432, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.5690, d0.loss_plan_l1_fix_dist: 0.3730, d1.loss_plan_l1_fix_time: 0.8774, d1.loss_plan_l1_fix_dist: 0.1788, d2.loss_plan_l1_fix_time: 0.8619, d2.loss_plan_l1_fix_dist: 0.1891, d3.loss_plan_l1_fix_time: 0.8538, d3.loss_plan_l1_fix_dist: 0.2218, d4.loss_plan_l1_fix_time: 0.8553, d4.loss_plan_l1_fix_dist: 0.2034, d5.loss_plan_l1_fix_time: 0.8583, d5.loss_plan_l1_fix_dist: 0.2042, d6.loss_plan_l1_fix_time: 0.8621, d6.loss_plan_l1_fix_dist: 0.2084, d0.loss_cls_all: 0.1547, d0.loss_bbox_all: 0.3656, d0.loss_cls: 0.1547, d0.loss_bbox: 0.3656, d1.loss_cls: 0.1480, d1.loss_bbox: 0.3295, d2.loss_cls: 0.1363, d2.loss_bbox: 0.3111, d3.loss_cls: 0.1210, d3.loss_bbox: 0.3061, d4.loss_cls: 0.1147, d4.loss_bbox: 0.3050, d5.loss_cls: 0.1131, d5.loss_bbox: 0.3030, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6708, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5433, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4925, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4850, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4839, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4810, d0.loss_map_cls_all: 0.2199, d0.loss_map_pts_all: 1.3199, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2199, d0.loss_map_pts: 1.3199, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1921, d1.loss_map_pts: 0.9438, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1654, d2.loss_map_pts: 0.7613, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1539, d3.loss_map_pts: 0.6905, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1453, d4.loss_map_pts: 0.6569, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1405, d5.loss_map_pts: 0.6450, d5.loss_map_dir: 0.0082, loss: 25.0244, grad_norm: 167.3377 +2026-02-28 04:01:57,185 - DriveTransformer - INFO - Epoch [9][6750/39528] lr: 7.525e-05, eta: 5 days, 7:00:52, time: 0.740, data_time: 0.037, memory: 19865, loss_cls: 0.1134, loss_bbox: 0.3165, loss_traj: 0.5707, loss_traj_cls: 0.0019, loss_map_cls: 0.1534, loss_map_pts: 0.6896, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.7245, d0.loss_plan_l1_fix_dist: 0.4582, d1.loss_plan_l1_fix_time: 0.9057, d1.loss_plan_l1_fix_dist: 0.1618, d2.loss_plan_l1_fix_time: 0.8916, d2.loss_plan_l1_fix_dist: 0.1752, d3.loss_plan_l1_fix_time: 0.8823, d3.loss_plan_l1_fix_dist: 0.2051, d4.loss_plan_l1_fix_time: 0.8830, d4.loss_plan_l1_fix_dist: 0.1905, d5.loss_plan_l1_fix_time: 0.8849, d5.loss_plan_l1_fix_dist: 0.1960, d6.loss_plan_l1_fix_time: 0.8875, d6.loss_plan_l1_fix_dist: 0.1979, d0.loss_cls_all: 0.1571, d0.loss_bbox_all: 0.3717, d0.loss_cls: 0.1571, d0.loss_bbox: 0.3717, d1.loss_cls: 0.1531, d1.loss_bbox: 0.3423, d2.loss_cls: 0.1390, d2.loss_bbox: 0.3276, d3.loss_cls: 0.1220, d3.loss_bbox: 0.3220, d4.loss_cls: 0.1153, d4.loss_bbox: 0.3186, d5.loss_cls: 0.1124, d5.loss_bbox: 0.3182, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7822, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6270, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5811, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5688, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5688, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5681, d0.loss_map_cls_all: 0.2359, d0.loss_map_pts_all: 1.3300, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2359, d0.loss_map_pts: 1.3300, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2020, d1.loss_map_pts: 0.9586, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1750, d2.loss_map_pts: 0.7890, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1659, d3.loss_map_pts: 0.7231, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1579, d4.loss_map_pts: 0.6979, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1557, d5.loss_map_pts: 0.6905, d5.loss_map_dir: 0.0083, loss: 26.4314, grad_norm: 168.1711 +2026-02-28 04:02:34,060 - DriveTransformer - INFO - Epoch [9][6800/39528] lr: 7.525e-05, eta: 5 days, 7:00:18, time: 0.737, data_time: 0.039, memory: 19865, loss_cls: 0.1124, loss_bbox: 0.2965, loss_traj: 0.4624, loss_traj_cls: 0.0019, loss_map_cls: 0.1193, loss_map_pts: 0.5499, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.3693, d0.loss_plan_l1_fix_dist: 0.4451, d1.loss_plan_l1_fix_time: 0.7888, d1.loss_plan_l1_fix_dist: 0.1730, d2.loss_plan_l1_fix_time: 0.7760, d2.loss_plan_l1_fix_dist: 0.1781, d3.loss_plan_l1_fix_time: 0.7711, d3.loss_plan_l1_fix_dist: 0.2020, d4.loss_plan_l1_fix_time: 0.7737, d4.loss_plan_l1_fix_dist: 0.2012, d5.loss_plan_l1_fix_time: 0.7770, d5.loss_plan_l1_fix_dist: 0.2203, d6.loss_plan_l1_fix_time: 0.7813, d6.loss_plan_l1_fix_dist: 0.2209, d0.loss_cls_all: 0.1516, d0.loss_bbox_all: 0.3552, d0.loss_cls: 0.1516, d0.loss_bbox: 0.3552, d1.loss_cls: 0.1450, d1.loss_bbox: 0.3229, d2.loss_cls: 0.1344, d2.loss_bbox: 0.3058, d3.loss_cls: 0.1202, d3.loss_bbox: 0.2988, d4.loss_cls: 0.1146, d4.loss_bbox: 0.2953, d5.loss_cls: 0.1123, d5.loss_bbox: 0.2959, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6414, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5082, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4718, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4601, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4677, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4654, d0.loss_map_cls_all: 0.1966, d0.loss_map_pts_all: 1.1872, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1966, d0.loss_map_pts: 1.1872, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1726, d1.loss_map_pts: 0.8111, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1461, d2.loss_map_pts: 0.6422, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1355, d3.loss_map_pts: 0.5809, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1278, d4.loss_map_pts: 0.5588, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1222, d5.loss_map_pts: 0.5508, d5.loss_map_dir: 0.0062, loss: 23.0637, grad_norm: 169.0023 +2026-02-28 04:03:10,578 - DriveTransformer - INFO - Epoch [9][6850/39528] lr: 7.525e-05, eta: 5 days, 6:59:42, time: 0.730, data_time: 0.040, memory: 19865, loss_cls: 0.1440, loss_bbox: 0.3151, loss_traj: 0.6442, loss_traj_cls: 0.0018, loss_map_cls: 0.1160, loss_map_pts: 0.6039, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 3.1322, d0.loss_plan_l1_fix_dist: 0.4470, d1.loss_plan_l1_fix_time: 0.9932, d1.loss_plan_l1_fix_dist: 0.1900, d2.loss_plan_l1_fix_time: 0.9861, d2.loss_plan_l1_fix_dist: 0.2000, d3.loss_plan_l1_fix_time: 0.9853, d3.loss_plan_l1_fix_dist: 0.2106, d4.loss_plan_l1_fix_time: 0.9874, d4.loss_plan_l1_fix_dist: 0.2171, d5.loss_plan_l1_fix_time: 0.9901, d5.loss_plan_l1_fix_dist: 0.2444, d6.loss_plan_l1_fix_time: 0.9938, d6.loss_plan_l1_fix_dist: 0.2406, d0.loss_cls_all: 0.1796, d0.loss_bbox_all: 0.3803, d0.loss_cls: 0.1796, d0.loss_bbox: 0.3803, d1.loss_cls: 0.1699, d1.loss_bbox: 0.3445, d2.loss_cls: 0.1594, d2.loss_bbox: 0.3250, d3.loss_cls: 0.1495, d3.loss_bbox: 0.3174, d4.loss_cls: 0.1453, d4.loss_bbox: 0.3154, d5.loss_cls: 0.1445, d5.loss_bbox: 0.3153, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8617, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7045, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6631, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6422, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6408, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6374, d0.loss_map_cls_all: 0.2029, d0.loss_map_pts_all: 1.1939, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2029, d0.loss_map_pts: 1.1939, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1668, d1.loss_map_pts: 0.8586, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1402, d2.loss_map_pts: 0.6963, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1315, d3.loss_map_pts: 0.6353, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1232, d4.loss_map_pts: 0.6120, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1186, d5.loss_map_pts: 0.6052, d5.loss_map_dir: 0.0076, loss: 27.2439, grad_norm: 168.1715 +2026-02-28 04:03:46,984 - DriveTransformer - INFO - Epoch [9][6900/39528] lr: 7.525e-05, eta: 5 days, 6:59:04, time: 0.728, data_time: 0.038, memory: 19865, loss_cls: 0.1214, loss_bbox: 0.3078, loss_traj: 0.5434, loss_traj_cls: 0.0019, loss_map_cls: 0.1119, loss_map_pts: 0.5250, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.3030, d0.loss_plan_l1_fix_dist: 0.4517, d1.loss_plan_l1_fix_time: 0.8497, d1.loss_plan_l1_fix_dist: 0.1904, d2.loss_plan_l1_fix_time: 0.8451, d2.loss_plan_l1_fix_dist: 0.2031, d3.loss_plan_l1_fix_time: 0.8414, d3.loss_plan_l1_fix_dist: 0.2076, d4.loss_plan_l1_fix_time: 0.8431, d4.loss_plan_l1_fix_dist: 0.2223, d5.loss_plan_l1_fix_time: 0.8458, d5.loss_plan_l1_fix_dist: 0.2340, d6.loss_plan_l1_fix_time: 0.8490, d6.loss_plan_l1_fix_dist: 0.2259, d0.loss_cls_all: 0.1567, d0.loss_bbox_all: 0.3704, d0.loss_cls: 0.1567, d0.loss_bbox: 0.3704, d1.loss_cls: 0.1517, d1.loss_bbox: 0.3345, d2.loss_cls: 0.1394, d2.loss_bbox: 0.3159, d3.loss_cls: 0.1253, d3.loss_bbox: 0.3113, d4.loss_cls: 0.1226, d4.loss_bbox: 0.3090, d5.loss_cls: 0.1219, d5.loss_bbox: 0.3065, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8312, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6121, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5568, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5519, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5487, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5435, d0.loss_map_cls_all: 0.1852, d0.loss_map_pts_all: 1.0769, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1852, d0.loss_map_pts: 1.0769, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1586, d1.loss_map_pts: 0.7533, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1332, d2.loss_map_pts: 0.6015, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1234, d3.loss_map_pts: 0.5493, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1183, d4.loss_map_pts: 0.5294, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1136, d5.loss_map_pts: 0.5231, d5.loss_map_dir: 0.0055, loss: 23.8363, grad_norm: 170.1648 +2026-02-28 04:04:24,318 - DriveTransformer - INFO - Epoch [9][6950/39528] lr: 7.525e-05, eta: 5 days, 6:58:33, time: 0.747, data_time: 0.037, memory: 19865, loss_cls: 0.1325, loss_bbox: 0.3337, loss_traj: 0.5797, loss_traj_cls: 0.0019, loss_map_cls: 0.1275, loss_map_pts: 0.6602, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.1390, d0.loss_plan_l1_fix_dist: 0.3336, d1.loss_plan_l1_fix_time: 0.8747, d1.loss_plan_l1_fix_dist: 0.1805, d2.loss_plan_l1_fix_time: 0.8707, d2.loss_plan_l1_fix_dist: 0.1821, d3.loss_plan_l1_fix_time: 0.8640, d3.loss_plan_l1_fix_dist: 0.2037, d4.loss_plan_l1_fix_time: 0.8659, d4.loss_plan_l1_fix_dist: 0.2308, d5.loss_plan_l1_fix_time: 0.8691, d5.loss_plan_l1_fix_dist: 0.2131, d6.loss_plan_l1_fix_time: 0.8727, d6.loss_plan_l1_fix_dist: 0.2195, d0.loss_cls_all: 0.1856, d0.loss_bbox_all: 0.3994, d0.loss_cls: 0.1856, d0.loss_bbox: 0.3994, d1.loss_cls: 0.1815, d1.loss_bbox: 0.3627, d2.loss_cls: 0.1639, d2.loss_bbox: 0.3406, d3.loss_cls: 0.1425, d3.loss_bbox: 0.3388, d4.loss_cls: 0.1355, d4.loss_bbox: 0.3361, d5.loss_cls: 0.1342, d5.loss_bbox: 0.3329, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7958, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6544, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5936, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5783, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5788, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5766, d0.loss_map_cls_all: 0.2084, d0.loss_map_pts_all: 1.3078, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2084, d0.loss_map_pts: 1.3078, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1756, d1.loss_map_pts: 0.9273, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1529, d2.loss_map_pts: 0.7544, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1417, d3.loss_map_pts: 0.6936, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1351, d4.loss_map_pts: 0.6671, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1293, d5.loss_map_pts: 0.6606, d5.loss_map_dir: 0.0085, loss: 25.7120, grad_norm: 170.1728 +2026-02-28 04:05:00,054 - DriveTransformer - INFO - Epoch [9][7000/39528] lr: 7.525e-05, eta: 5 days, 6:57:51, time: 0.715, data_time: 0.039, memory: 19865, loss_cls: 0.1037, loss_bbox: 0.3084, loss_traj: 0.5634, loss_traj_cls: 0.0020, loss_map_cls: 0.1107, loss_map_pts: 0.4741, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.6939, d0.loss_plan_l1_fix_dist: 0.5157, d1.loss_plan_l1_fix_time: 0.9638, d1.loss_plan_l1_fix_dist: 0.2012, d2.loss_plan_l1_fix_time: 0.9523, d2.loss_plan_l1_fix_dist: 0.2086, d3.loss_plan_l1_fix_time: 0.9485, d3.loss_plan_l1_fix_dist: 0.2352, d4.loss_plan_l1_fix_time: 0.9511, d4.loss_plan_l1_fix_dist: 0.2575, d5.loss_plan_l1_fix_time: 0.9540, d5.loss_plan_l1_fix_dist: 0.2559, d6.loss_plan_l1_fix_time: 0.9570, d6.loss_plan_l1_fix_dist: 0.2717, d0.loss_cls_all: 0.1407, d0.loss_bbox_all: 0.3611, d0.loss_cls: 0.1407, d0.loss_bbox: 0.3611, d1.loss_cls: 0.1376, d1.loss_bbox: 0.3327, d2.loss_cls: 0.1258, d2.loss_bbox: 0.3155, d3.loss_cls: 0.1130, d3.loss_bbox: 0.3094, d4.loss_cls: 0.1076, d4.loss_bbox: 0.3076, d5.loss_cls: 0.1035, d5.loss_bbox: 0.3084, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7808, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6159, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5715, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5610, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5646, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5653, d0.loss_map_cls_all: 0.1783, d0.loss_map_pts_all: 0.9801, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1783, d0.loss_map_pts: 0.9801, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1530, d1.loss_map_pts: 0.6823, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1348, d2.loss_map_pts: 0.5510, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1234, d3.loss_map_pts: 0.4991, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1169, d4.loss_map_pts: 0.4809, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1123, d5.loss_map_pts: 0.4754, d5.loss_map_dir: 0.0055, loss: 24.4471, grad_norm: 170.6373 +2026-02-28 04:05:36,681 - DriveTransformer - INFO - Epoch [9][7050/39528] lr: 7.525e-05, eta: 5 days, 6:57:15, time: 0.733, data_time: 0.039, memory: 19865, loss_cls: 0.1118, loss_bbox: 0.3135, loss_traj: 0.5957, loss_traj_cls: 0.0018, loss_map_cls: 0.1247, loss_map_pts: 0.5698, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.5840, d0.loss_plan_l1_fix_dist: 0.4651, d1.loss_plan_l1_fix_time: 0.9300, d1.loss_plan_l1_fix_dist: 0.1943, d2.loss_plan_l1_fix_time: 0.9153, d2.loss_plan_l1_fix_dist: 0.2253, d3.loss_plan_l1_fix_time: 0.9112, d3.loss_plan_l1_fix_dist: 0.2274, d4.loss_plan_l1_fix_time: 0.9126, d4.loss_plan_l1_fix_dist: 0.2157, d5.loss_plan_l1_fix_time: 0.9145, d5.loss_plan_l1_fix_dist: 0.2208, d6.loss_plan_l1_fix_time: 0.9168, d6.loss_plan_l1_fix_dist: 0.2321, d0.loss_cls_all: 0.1498, d0.loss_bbox_all: 0.3777, d0.loss_cls: 0.1498, d0.loss_bbox: 0.3777, d1.loss_cls: 0.1452, d1.loss_bbox: 0.3439, d2.loss_cls: 0.1333, d2.loss_bbox: 0.3220, d3.loss_cls: 0.1187, d3.loss_bbox: 0.3179, d4.loss_cls: 0.1150, d4.loss_bbox: 0.3148, d5.loss_cls: 0.1133, d5.loss_bbox: 0.3125, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8999, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6697, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6036, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5937, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5931, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5884, d0.loss_map_cls_all: 0.2088, d0.loss_map_pts_all: 1.1649, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2088, d0.loss_map_pts: 1.1649, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1812, d1.loss_map_pts: 0.8347, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1524, d2.loss_map_pts: 0.6607, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1401, d3.loss_map_pts: 0.5951, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1323, d4.loss_map_pts: 0.5772, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1263, d5.loss_map_pts: 0.5711, d5.loss_map_dir: 0.0067, loss: 25.5984, grad_norm: 169.6830 +2026-02-28 04:06:11,686 - DriveTransformer - INFO - Epoch [9][7100/39528] lr: 7.525e-05, eta: 5 days, 6:56:27, time: 0.700, data_time: 0.037, memory: 19865, loss_cls: 0.1276, loss_bbox: 0.3256, loss_traj: 0.5498, loss_traj_cls: 0.0019, loss_map_cls: 0.1404, loss_map_pts: 0.6195, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.8859, d0.loss_plan_l1_fix_dist: 0.3937, d1.loss_plan_l1_fix_time: 0.8975, d1.loss_plan_l1_fix_dist: 0.1706, d2.loss_plan_l1_fix_time: 0.8804, d2.loss_plan_l1_fix_dist: 0.2159, d3.loss_plan_l1_fix_time: 0.8786, d3.loss_plan_l1_fix_dist: 0.2181, d4.loss_plan_l1_fix_time: 0.8794, d4.loss_plan_l1_fix_dist: 0.2072, d5.loss_plan_l1_fix_time: 0.8809, d5.loss_plan_l1_fix_dist: 0.2038, d6.loss_plan_l1_fix_time: 0.8830, d6.loss_plan_l1_fix_dist: 0.2133, d0.loss_cls_all: 0.1718, d0.loss_bbox_all: 0.3900, d0.loss_cls: 0.1718, d0.loss_bbox: 0.3900, d1.loss_cls: 0.1681, d1.loss_bbox: 0.3557, d2.loss_cls: 0.1536, d2.loss_bbox: 0.3373, d3.loss_cls: 0.1349, d3.loss_bbox: 0.3310, d4.loss_cls: 0.1297, d4.loss_bbox: 0.3277, d5.loss_cls: 0.1270, d5.loss_bbox: 0.3271, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8068, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6268, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5638, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5546, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5496, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5488, d0.loss_map_cls_all: 0.2422, d0.loss_map_pts_all: 1.2486, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2422, d0.loss_map_pts: 1.2486, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.2018, d1.loss_map_pts: 0.8876, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1749, d2.loss_map_pts: 0.7216, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1597, d3.loss_map_pts: 0.6552, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1496, d4.loss_map_pts: 0.6260, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1416, d5.loss_map_pts: 0.6211, d5.loss_map_dir: 0.0070, loss: 26.1200, grad_norm: 166.6417 +2026-02-28 04:06:48,386 - DriveTransformer - INFO - Epoch [9][7150/39528] lr: 7.525e-05, eta: 5 days, 6:55:52, time: 0.734, data_time: 0.037, memory: 19865, loss_cls: 0.1291, loss_bbox: 0.3134, loss_traj: 0.5447, loss_traj_cls: 0.0020, loss_map_cls: 0.1076, loss_map_pts: 0.5932, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.8602, d0.loss_plan_l1_fix_dist: 0.5256, d1.loss_plan_l1_fix_time: 0.8919, d1.loss_plan_l1_fix_dist: 0.2155, d2.loss_plan_l1_fix_time: 0.8719, d2.loss_plan_l1_fix_dist: 0.2360, d3.loss_plan_l1_fix_time: 0.8617, d3.loss_plan_l1_fix_dist: 0.2446, d4.loss_plan_l1_fix_time: 0.8634, d4.loss_plan_l1_fix_dist: 0.2518, d5.loss_plan_l1_fix_time: 0.8659, d5.loss_plan_l1_fix_dist: 0.2514, d6.loss_plan_l1_fix_time: 0.8688, d6.loss_plan_l1_fix_dist: 0.2679, d0.loss_cls_all: 0.1782, d0.loss_bbox_all: 0.3699, d0.loss_cls: 0.1782, d0.loss_bbox: 0.3699, d1.loss_cls: 0.1687, d1.loss_bbox: 0.3420, d2.loss_cls: 0.1525, d2.loss_bbox: 0.3236, d3.loss_cls: 0.1390, d3.loss_bbox: 0.3158, d4.loss_cls: 0.1334, d4.loss_bbox: 0.3140, d5.loss_cls: 0.1299, d5.loss_bbox: 0.3135, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7973, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6181, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5641, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5541, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5519, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5496, d0.loss_map_cls_all: 0.1786, d0.loss_map_pts_all: 1.1916, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1786, d0.loss_map_pts: 1.1916, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1474, d1.loss_map_pts: 0.8435, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1307, d2.loss_map_pts: 0.6832, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1205, d3.loss_map_pts: 0.6255, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1136, d4.loss_map_pts: 0.5995, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1089, d5.loss_map_pts: 0.5951, d5.loss_map_dir: 0.0078, loss: 25.6053, grad_norm: 169.2586 +2026-02-28 04:07:23,040 - DriveTransformer - INFO - Epoch [9][7200/39528] lr: 7.525e-05, eta: 5 days, 6:55:02, time: 0.694, data_time: 0.036, memory: 19865, loss_cls: 0.1277, loss_bbox: 0.3272, loss_traj: 0.5320, loss_traj_cls: 0.0019, loss_map_cls: 0.1563, loss_map_pts: 0.5793, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.7803, d0.loss_plan_l1_fix_dist: 0.4743, d1.loss_plan_l1_fix_time: 0.8629, d1.loss_plan_l1_fix_dist: 0.1912, d2.loss_plan_l1_fix_time: 0.8397, d2.loss_plan_l1_fix_dist: 0.1895, d3.loss_plan_l1_fix_time: 0.8360, d3.loss_plan_l1_fix_dist: 0.2062, d4.loss_plan_l1_fix_time: 0.8370, d4.loss_plan_l1_fix_dist: 0.2050, d5.loss_plan_l1_fix_time: 0.8380, d5.loss_plan_l1_fix_dist: 0.2057, d6.loss_plan_l1_fix_time: 0.8401, d6.loss_plan_l1_fix_dist: 0.2167, d0.loss_cls_all: 0.1717, d0.loss_bbox_all: 0.3867, d0.loss_cls: 0.1717, d0.loss_bbox: 0.3867, d1.loss_cls: 0.1675, d1.loss_bbox: 0.3523, d2.loss_cls: 0.1526, d2.loss_bbox: 0.3329, d3.loss_cls: 0.1374, d3.loss_bbox: 0.3291, d4.loss_cls: 0.1302, d4.loss_bbox: 0.3276, d5.loss_cls: 0.1284, d5.loss_bbox: 0.3258, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8479, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6184, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5486, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5328, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5292, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5296, d0.loss_map_cls_all: 0.2367, d0.loss_map_pts_all: 1.1556, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.2367, d0.loss_map_pts: 1.1556, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.2099, d1.loss_map_pts: 0.8352, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1814, d2.loss_map_pts: 0.6780, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1694, d3.loss_map_pts: 0.6127, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1616, d4.loss_map_pts: 0.5873, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1581, d5.loss_map_pts: 0.5802, d5.loss_map_dir: 0.0057, loss: 25.3612, grad_norm: 159.8450 +2026-02-28 04:07:58,702 - DriveTransformer - INFO - Epoch [9][7250/39528] lr: 7.525e-05, eta: 5 days, 6:54:19, time: 0.712, data_time: 0.036, memory: 19865, loss_cls: 0.1223, loss_bbox: 0.3392, loss_traj: 0.6799, loss_traj_cls: 0.0020, loss_map_cls: 0.1260, loss_map_pts: 0.5955, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 3.0192, d0.loss_plan_l1_fix_dist: 0.3936, d1.loss_plan_l1_fix_time: 0.8996, d1.loss_plan_l1_fix_dist: 0.2295, d2.loss_plan_l1_fix_time: 0.8933, d2.loss_plan_l1_fix_dist: 0.2078, d3.loss_plan_l1_fix_time: 0.8966, d3.loss_plan_l1_fix_dist: 0.2312, d4.loss_plan_l1_fix_time: 0.8995, d4.loss_plan_l1_fix_dist: 0.2320, d5.loss_plan_l1_fix_time: 0.9018, d5.loss_plan_l1_fix_dist: 0.2316, d6.loss_plan_l1_fix_time: 0.9043, d6.loss_plan_l1_fix_dist: 0.2739, d0.loss_cls_all: 0.1740, d0.loss_bbox_all: 0.4060, d0.loss_cls: 0.1740, d0.loss_bbox: 0.4060, d1.loss_cls: 0.1644, d1.loss_bbox: 0.3722, d2.loss_cls: 0.1518, d2.loss_bbox: 0.3529, d3.loss_cls: 0.1339, d3.loss_bbox: 0.3451, d4.loss_cls: 0.1258, d4.loss_bbox: 0.3415, d5.loss_cls: 0.1223, d5.loss_bbox: 0.3402, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9367, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7436, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6906, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6719, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6730, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6756, d0.loss_map_cls_all: 0.2111, d0.loss_map_pts_all: 1.1773, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2111, d0.loss_map_pts: 1.1773, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1812, d1.loss_map_pts: 0.8552, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1525, d2.loss_map_pts: 0.6855, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1394, d3.loss_map_pts: 0.6242, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1316, d4.loss_map_pts: 0.6038, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1258, d5.loss_map_pts: 0.5981, d5.loss_map_dir: 0.0070, loss: 27.0129, grad_norm: 159.7797 +2026-02-28 04:08:36,768 - DriveTransformer - INFO - Epoch [9][7300/39528] lr: 7.525e-05, eta: 5 days, 6:53:53, time: 0.761, data_time: 0.038, memory: 19865, loss_cls: 0.1186, loss_bbox: 0.3222, loss_traj: 0.5297, loss_traj_cls: 0.0020, loss_map_cls: 0.1319, loss_map_pts: 0.6120, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.6345, d0.loss_plan_l1_fix_dist: 0.4381, d1.loss_plan_l1_fix_time: 0.9346, d1.loss_plan_l1_fix_dist: 0.2292, d2.loss_plan_l1_fix_time: 0.9222, d2.loss_plan_l1_fix_dist: 0.2167, d3.loss_plan_l1_fix_time: 0.9264, d3.loss_plan_l1_fix_dist: 0.2078, d4.loss_plan_l1_fix_time: 0.9288, d4.loss_plan_l1_fix_dist: 0.2179, d5.loss_plan_l1_fix_time: 0.9305, d5.loss_plan_l1_fix_dist: 0.2172, d6.loss_plan_l1_fix_time: 0.9327, d6.loss_plan_l1_fix_dist: 0.2635, d0.loss_cls_all: 0.1687, d0.loss_bbox_all: 0.3932, d0.loss_cls: 0.1687, d0.loss_bbox: 0.3932, d1.loss_cls: 0.1588, d1.loss_bbox: 0.3531, d2.loss_cls: 0.1479, d2.loss_bbox: 0.3327, d3.loss_cls: 0.1282, d3.loss_bbox: 0.3252, d4.loss_cls: 0.1209, d4.loss_bbox: 0.3246, d5.loss_cls: 0.1190, d5.loss_bbox: 0.3217, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7714, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5910, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5392, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5309, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5311, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5282, d0.loss_map_cls_all: 0.2109, d0.loss_map_pts_all: 1.2611, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2109, d0.loss_map_pts: 1.2611, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1837, d1.loss_map_pts: 0.8627, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1567, d2.loss_map_pts: 0.6919, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1457, d3.loss_map_pts: 0.6312, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1392, d4.loss_map_pts: 0.6134, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1334, d5.loss_map_pts: 0.6104, d5.loss_map_dir: 0.0085, loss: 25.8490, grad_norm: 164.0542 +2026-02-28 04:09:13,706 - DriveTransformer - INFO - Epoch [9][7350/39528] lr: 7.525e-05, eta: 5 days, 6:53:20, time: 0.739, data_time: 0.036, memory: 19865, loss_cls: 0.1084, loss_bbox: 0.3013, loss_traj: 0.5517, loss_traj_cls: 0.0021, loss_map_cls: 0.1252, loss_map_pts: 0.5702, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.1860, d0.loss_plan_l1_fix_dist: 0.4715, d1.loss_plan_l1_fix_time: 0.8191, d1.loss_plan_l1_fix_dist: 0.2297, d2.loss_plan_l1_fix_time: 0.8079, d2.loss_plan_l1_fix_dist: 0.2462, d3.loss_plan_l1_fix_time: 0.8201, d3.loss_plan_l1_fix_dist: 0.1999, d4.loss_plan_l1_fix_time: 0.8250, d4.loss_plan_l1_fix_dist: 0.1897, d5.loss_plan_l1_fix_time: 0.8288, d5.loss_plan_l1_fix_dist: 0.2110, d6.loss_plan_l1_fix_time: 0.8333, d6.loss_plan_l1_fix_dist: 0.2187, d0.loss_cls_all: 0.1414, d0.loss_bbox_all: 0.3546, d0.loss_cls: 0.1414, d0.loss_bbox: 0.3546, d1.loss_cls: 0.1405, d1.loss_bbox: 0.3210, d2.loss_cls: 0.1282, d2.loss_bbox: 0.3058, d3.loss_cls: 0.1155, d3.loss_bbox: 0.3008, d4.loss_cls: 0.1104, d4.loss_bbox: 0.3006, d5.loss_cls: 0.1082, d5.loss_bbox: 0.3000, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7851, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6259, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5659, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5542, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5480, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5482, d0.loss_map_cls_all: 0.2178, d0.loss_map_pts_all: 1.2116, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2178, d0.loss_map_pts: 1.2116, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1818, d1.loss_map_pts: 0.8512, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1524, d2.loss_map_pts: 0.6665, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1399, d3.loss_map_pts: 0.5962, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1340, d4.loss_map_pts: 0.5717, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1270, d5.loss_map_pts: 0.5696, d5.loss_map_dir: 0.0074, loss: 24.2072, grad_norm: 160.7148 +2026-02-28 04:09:50,027 - DriveTransformer - INFO - Epoch [9][7400/39528] lr: 7.525e-05, eta: 5 days, 6:52:42, time: 0.726, data_time: 0.041, memory: 19865, loss_cls: 0.1098, loss_bbox: 0.3219, loss_traj: 0.6119, loss_traj_cls: 0.0020, loss_map_cls: 0.1285, loss_map_pts: 0.5376, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.6580, d0.loss_plan_l1_fix_dist: 0.4296, d1.loss_plan_l1_fix_time: 0.9875, d1.loss_plan_l1_fix_dist: 0.2353, d2.loss_plan_l1_fix_time: 0.9743, d2.loss_plan_l1_fix_dist: 0.2698, d3.loss_plan_l1_fix_time: 0.9742, d3.loss_plan_l1_fix_dist: 0.2316, d4.loss_plan_l1_fix_time: 0.9760, d4.loss_plan_l1_fix_dist: 0.1966, d5.loss_plan_l1_fix_time: 0.9785, d5.loss_plan_l1_fix_dist: 0.2313, d6.loss_plan_l1_fix_time: 0.9817, d6.loss_plan_l1_fix_dist: 0.2215, d0.loss_cls_all: 0.1558, d0.loss_bbox_all: 0.3765, d0.loss_cls: 0.1558, d0.loss_bbox: 0.3765, d1.loss_cls: 0.1469, d1.loss_bbox: 0.3451, d2.loss_cls: 0.1343, d2.loss_bbox: 0.3260, d3.loss_cls: 0.1173, d3.loss_bbox: 0.3245, d4.loss_cls: 0.1106, d4.loss_bbox: 0.3211, d5.loss_cls: 0.1100, d5.loss_bbox: 0.3213, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8235, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6781, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6284, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6120, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6091, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6134, d0.loss_map_cls_all: 0.2084, d0.loss_map_pts_all: 1.0782, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.2084, d0.loss_map_pts: 1.0782, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1781, d1.loss_map_pts: 0.7714, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1553, d2.loss_map_pts: 0.6211, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1423, d3.loss_map_pts: 0.5673, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1351, d4.loss_map_pts: 0.5493, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1305, d5.loss_map_pts: 0.5373, d5.loss_map_dir: 0.0056, loss: 25.7524, grad_norm: 152.3133 +2026-02-28 04:10:27,156 - DriveTransformer - INFO - Epoch [9][7450/39528] lr: 7.525e-05, eta: 5 days, 6:52:09, time: 0.743, data_time: 0.036, memory: 19865, loss_cls: 0.1072, loss_bbox: 0.3028, loss_traj: 0.5322, loss_traj_cls: 0.0020, loss_map_cls: 0.1175, loss_map_pts: 0.5587, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.3587, d0.loss_plan_l1_fix_dist: 0.3316, d1.loss_plan_l1_fix_time: 0.8347, d1.loss_plan_l1_fix_dist: 0.1980, d2.loss_plan_l1_fix_time: 0.8134, d2.loss_plan_l1_fix_dist: 0.2197, d3.loss_plan_l1_fix_time: 0.8166, d3.loss_plan_l1_fix_dist: 0.1935, d4.loss_plan_l1_fix_time: 0.8196, d4.loss_plan_l1_fix_dist: 0.1925, d5.loss_plan_l1_fix_time: 0.8244, d5.loss_plan_l1_fix_dist: 0.2273, d6.loss_plan_l1_fix_time: 0.8302, d6.loss_plan_l1_fix_dist: 0.2230, d0.loss_cls_all: 0.1559, d0.loss_bbox_all: 0.3680, d0.loss_cls: 0.1559, d0.loss_bbox: 0.3680, d1.loss_cls: 0.1477, d1.loss_bbox: 0.3351, d2.loss_cls: 0.1342, d2.loss_bbox: 0.3116, d3.loss_cls: 0.1136, d3.loss_bbox: 0.3077, d4.loss_cls: 0.1090, d4.loss_bbox: 0.3039, d5.loss_cls: 0.1059, d5.loss_bbox: 0.3039, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7572, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6065, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5424, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5403, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5364, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5336, d0.loss_map_cls_all: 0.1925, d0.loss_map_pts_all: 1.1557, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1925, d0.loss_map_pts: 1.1557, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1602, d1.loss_map_pts: 0.8007, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1393, d2.loss_map_pts: 0.6365, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1293, d3.loss_map_pts: 0.5853, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1236, d4.loss_map_pts: 0.5646, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1195, d5.loss_map_pts: 0.5582, d5.loss_map_dir: 0.0074, loss: 23.8161, grad_norm: 153.1172 +2026-02-28 04:11:03,939 - DriveTransformer - INFO - Epoch [9][7500/39528] lr: 7.525e-05, eta: 5 days, 6:51:35, time: 0.736, data_time: 0.040, memory: 19865, loss_cls: 0.1111, loss_bbox: 0.3193, loss_traj: 0.5254, loss_traj_cls: 0.0021, loss_map_cls: 0.1228, loss_map_pts: 0.5492, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.6187, d0.loss_plan_l1_fix_dist: 0.4694, d1.loss_plan_l1_fix_time: 0.9345, d1.loss_plan_l1_fix_dist: 0.2094, d2.loss_plan_l1_fix_time: 0.9204, d2.loss_plan_l1_fix_dist: 0.2130, d3.loss_plan_l1_fix_time: 0.9286, d3.loss_plan_l1_fix_dist: 0.1942, d4.loss_plan_l1_fix_time: 0.9338, d4.loss_plan_l1_fix_dist: 0.2167, d5.loss_plan_l1_fix_time: 0.9406, d5.loss_plan_l1_fix_dist: 0.2292, d6.loss_plan_l1_fix_time: 0.9488, d6.loss_plan_l1_fix_dist: 0.2229, d0.loss_cls_all: 0.1443, d0.loss_bbox_all: 0.3740, d0.loss_cls: 0.1443, d0.loss_bbox: 0.3740, d1.loss_cls: 0.1364, d1.loss_bbox: 0.3441, d2.loss_cls: 0.1263, d2.loss_bbox: 0.3243, d3.loss_cls: 0.1134, d3.loss_bbox: 0.3204, d4.loss_cls: 0.1114, d4.loss_bbox: 0.3190, d5.loss_cls: 0.1096, d5.loss_bbox: 0.3186, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7141, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5856, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5566, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5485, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5343, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5251, d0.loss_map_cls_all: 0.2009, d0.loss_map_pts_all: 1.1566, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2009, d0.loss_map_pts: 1.1566, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1699, d1.loss_map_pts: 0.8089, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1458, d2.loss_map_pts: 0.6325, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1335, d3.loss_map_pts: 0.5804, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1284, d4.loss_map_pts: 0.5532, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1239, d5.loss_map_pts: 0.5496, d5.loss_map_dir: 0.0069, loss: 24.9347, grad_norm: 158.4441 +2026-02-28 04:11:39,479 - DriveTransformer - INFO - Epoch [9][7550/39528] lr: 7.525e-05, eta: 5 days, 6:50:51, time: 0.711, data_time: 0.035, memory: 19865, loss_cls: 0.1224, loss_bbox: 0.3366, loss_traj: 0.4696, loss_traj_cls: 0.0021, loss_map_cls: 0.1128, loss_map_pts: 0.5624, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.9041, d0.loss_plan_l1_fix_dist: 0.4669, d1.loss_plan_l1_fix_time: 1.0367, d1.loss_plan_l1_fix_dist: 0.2360, d2.loss_plan_l1_fix_time: 1.0148, d2.loss_plan_l1_fix_dist: 0.2327, d3.loss_plan_l1_fix_time: 1.0091, d3.loss_plan_l1_fix_dist: 0.2024, d4.loss_plan_l1_fix_time: 1.0107, d4.loss_plan_l1_fix_dist: 0.2236, d5.loss_plan_l1_fix_time: 1.0137, d5.loss_plan_l1_fix_dist: 0.2205, d6.loss_plan_l1_fix_time: 1.0175, d6.loss_plan_l1_fix_dist: 0.2363, d0.loss_cls_all: 0.1593, d0.loss_bbox_all: 0.4005, d0.loss_cls: 0.1593, d0.loss_bbox: 0.4005, d1.loss_cls: 0.1520, d1.loss_bbox: 0.3675, d2.loss_cls: 0.1399, d2.loss_bbox: 0.3466, d3.loss_cls: 0.1256, d3.loss_bbox: 0.3393, d4.loss_cls: 0.1227, d4.loss_bbox: 0.3363, d5.loss_cls: 0.1232, d5.loss_bbox: 0.3351, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6889, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5587, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5038, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4811, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4781, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4708, d0.loss_map_cls_all: 0.1967, d0.loss_map_pts_all: 1.0899, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1967, d0.loss_map_pts: 1.0899, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1635, d1.loss_map_pts: 0.7882, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1386, d2.loss_map_pts: 0.6427, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1284, d3.loss_map_pts: 0.5897, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1185, d4.loss_map_pts: 0.5688, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1140, d5.loss_map_pts: 0.5641, d5.loss_map_dir: 0.0069, loss: 25.5701, grad_norm: 159.1031 +2026-02-28 04:12:16,752 - DriveTransformer - INFO - Epoch [9][7600/39528] lr: 7.525e-05, eta: 5 days, 6:50:20, time: 0.745, data_time: 0.038, memory: 19865, loss_cls: 0.1115, loss_bbox: 0.2976, loss_traj: 0.4729, loss_traj_cls: 0.0021, loss_map_cls: 0.1390, loss_map_pts: 0.6289, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.8567, d0.loss_plan_l1_fix_dist: 0.5113, d1.loss_plan_l1_fix_time: 0.9279, d1.loss_plan_l1_fix_dist: 0.2575, d2.loss_plan_l1_fix_time: 0.9123, d2.loss_plan_l1_fix_dist: 0.2365, d3.loss_plan_l1_fix_time: 0.9095, d3.loss_plan_l1_fix_dist: 0.1946, d4.loss_plan_l1_fix_time: 0.9135, d4.loss_plan_l1_fix_dist: 0.2323, d5.loss_plan_l1_fix_time: 0.9166, d5.loss_plan_l1_fix_dist: 0.2180, d6.loss_plan_l1_fix_time: 0.9204, d6.loss_plan_l1_fix_dist: 0.2585, d0.loss_cls_all: 0.1469, d0.loss_bbox_all: 0.3556, d0.loss_cls: 0.1469, d0.loss_bbox: 0.3556, d1.loss_cls: 0.1435, d1.loss_bbox: 0.3253, d2.loss_cls: 0.1307, d2.loss_bbox: 0.3082, d3.loss_cls: 0.1166, d3.loss_bbox: 0.3001, d4.loss_cls: 0.1122, d4.loss_bbox: 0.2982, d5.loss_cls: 0.1113, d5.loss_bbox: 0.2966, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6967, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5429, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4965, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4803, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4755, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4730, d0.loss_map_cls_all: 0.2171, d0.loss_map_pts_all: 1.2526, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2171, d0.loss_map_pts: 1.2526, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1812, d1.loss_map_pts: 0.9060, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1605, d2.loss_map_pts: 0.7319, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1504, d3.loss_map_pts: 0.6648, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1449, d4.loss_map_pts: 0.6360, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1414, d5.loss_map_pts: 0.6284, d5.loss_map_dir: 0.0074, loss: 25.5790, grad_norm: 159.5779 +2026-02-28 04:12:52,737 - DriveTransformer - INFO - Epoch [9][7650/39528] lr: 7.525e-05, eta: 5 days, 6:49:39, time: 0.720, data_time: 0.038, memory: 19865, loss_cls: 0.1257, loss_bbox: 0.3398, loss_traj: 0.6317, loss_traj_cls: 0.0021, loss_map_cls: 0.1173, loss_map_pts: 0.6086, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.9529, d0.loss_plan_l1_fix_dist: 0.5946, d1.loss_plan_l1_fix_time: 0.9260, d1.loss_plan_l1_fix_dist: 0.2946, d2.loss_plan_l1_fix_time: 0.9243, d2.loss_plan_l1_fix_dist: 0.2721, d3.loss_plan_l1_fix_time: 0.9282, d3.loss_plan_l1_fix_dist: 0.2249, d4.loss_plan_l1_fix_time: 0.9339, d4.loss_plan_l1_fix_dist: 0.2603, d5.loss_plan_l1_fix_time: 0.9383, d5.loss_plan_l1_fix_dist: 0.2405, d6.loss_plan_l1_fix_time: 0.9435, d6.loss_plan_l1_fix_dist: 0.2479, d0.loss_cls_all: 0.1683, d0.loss_bbox_all: 0.4017, d0.loss_cls: 0.1683, d0.loss_bbox: 0.4017, d1.loss_cls: 0.1636, d1.loss_bbox: 0.3676, d2.loss_cls: 0.1487, d2.loss_bbox: 0.3505, d3.loss_cls: 0.1325, d3.loss_bbox: 0.3427, d4.loss_cls: 0.1274, d4.loss_bbox: 0.3391, d5.loss_cls: 0.1257, d5.loss_bbox: 0.3388, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9781, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7317, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6440, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6358, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6322, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6307, d0.loss_map_cls_all: 0.2112, d0.loss_map_pts_all: 1.1464, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2112, d0.loss_map_pts: 1.1464, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1703, d1.loss_map_pts: 0.8490, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1489, d2.loss_map_pts: 0.6975, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1334, d3.loss_map_pts: 0.6373, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1264, d4.loss_map_pts: 0.6155, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1196, d5.loss_map_pts: 0.6075, d5.loss_map_dir: 0.0068, loss: 27.2156, grad_norm: 166.5591 +2026-02-28 04:13:28,964 - DriveTransformer - INFO - Epoch [9][7700/39528] lr: 7.525e-05, eta: 5 days, 6:49:00, time: 0.725, data_time: 0.039, memory: 19865, loss_cls: 0.1221, loss_bbox: 0.3175, loss_traj: 0.5420, loss_traj_cls: 0.0022, loss_map_cls: 0.1163, loss_map_pts: 0.5530, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.6641, d0.loss_plan_l1_fix_dist: 0.4375, d1.loss_plan_l1_fix_time: 1.0167, d1.loss_plan_l1_fix_dist: 0.2678, d2.loss_plan_l1_fix_time: 1.0128, d2.loss_plan_l1_fix_dist: 0.2531, d3.loss_plan_l1_fix_time: 1.0085, d3.loss_plan_l1_fix_dist: 0.2059, d4.loss_plan_l1_fix_time: 1.0124, d4.loss_plan_l1_fix_dist: 0.2268, d5.loss_plan_l1_fix_time: 1.0170, d5.loss_plan_l1_fix_dist: 0.2344, d6.loss_plan_l1_fix_time: 1.0222, d6.loss_plan_l1_fix_dist: 0.2203, d0.loss_cls_all: 0.1578, d0.loss_bbox_all: 0.3658, d0.loss_cls: 0.1578, d0.loss_bbox: 0.3658, d1.loss_cls: 0.1512, d1.loss_bbox: 0.3358, d2.loss_cls: 0.1393, d2.loss_bbox: 0.3185, d3.loss_cls: 0.1280, d3.loss_bbox: 0.3124, d4.loss_cls: 0.1233, d4.loss_bbox: 0.3127, d5.loss_cls: 0.1211, d5.loss_bbox: 0.3138, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8075, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6221, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5622, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5476, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5426, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5404, d0.loss_map_cls_all: 0.1965, d0.loss_map_pts_all: 1.1373, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1965, d0.loss_map_pts: 1.1373, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1594, d1.loss_map_pts: 0.7926, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1373, d2.loss_map_pts: 0.6385, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1272, d3.loss_map_pts: 0.5813, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1214, d4.loss_map_pts: 0.5596, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1172, d5.loss_map_pts: 0.5540, d5.loss_map_dir: 0.0069, loss: 25.6935, grad_norm: 167.2121 +2026-02-28 04:14:04,656 - DriveTransformer - INFO - Epoch [9][7750/39528] lr: 7.525e-05, eta: 5 days, 6:48:18, time: 0.714, data_time: 0.039, memory: 19865, loss_cls: 0.1271, loss_bbox: 0.3214, loss_traj: 0.5575, loss_traj_cls: 0.0020, loss_map_cls: 0.1264, loss_map_pts: 0.5575, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.8906, d0.loss_plan_l1_fix_dist: 0.3895, d1.loss_plan_l1_fix_time: 0.9918, d1.loss_plan_l1_fix_dist: 0.2319, d2.loss_plan_l1_fix_time: 0.9754, d2.loss_plan_l1_fix_dist: 0.2358, d3.loss_plan_l1_fix_time: 0.9723, d3.loss_plan_l1_fix_dist: 0.1981, d4.loss_plan_l1_fix_time: 0.9753, d4.loss_plan_l1_fix_dist: 0.1999, d5.loss_plan_l1_fix_time: 0.9783, d5.loss_plan_l1_fix_dist: 0.2370, d6.loss_plan_l1_fix_time: 0.9815, d6.loss_plan_l1_fix_dist: 0.2117, d0.loss_cls_all: 0.1724, d0.loss_bbox_all: 0.3828, d0.loss_cls: 0.1724, d0.loss_bbox: 0.3828, d1.loss_cls: 0.1648, d1.loss_bbox: 0.3478, d2.loss_cls: 0.1477, d2.loss_bbox: 0.3311, d3.loss_cls: 0.1300, d3.loss_bbox: 0.3238, d4.loss_cls: 0.1262, d4.loss_bbox: 0.3212, d5.loss_cls: 0.1262, d5.loss_bbox: 0.3202, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8351, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6421, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5834, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5634, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5590, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5585, d0.loss_map_cls_all: 0.2018, d0.loss_map_pts_all: 1.0656, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2018, d0.loss_map_pts: 1.0656, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1681, d1.loss_map_pts: 0.7616, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1496, d2.loss_map_pts: 0.6312, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1375, d3.loss_map_pts: 0.5796, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1311, d4.loss_map_pts: 0.5606, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1274, d5.loss_map_pts: 0.5580, d5.loss_map_dir: 0.0068, loss: 25.7486, grad_norm: 164.4942 +2026-02-28 04:14:41,453 - DriveTransformer - INFO - Epoch [9][7800/39528] lr: 7.525e-05, eta: 5 days, 6:47:43, time: 0.736, data_time: 0.038, memory: 19865, loss_cls: 0.1214, loss_bbox: 0.3128, loss_traj: 0.4546, loss_traj_cls: 0.0021, loss_map_cls: 0.1403, loss_map_pts: 0.6274, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.5896, d0.loss_plan_l1_fix_dist: 0.3227, d1.loss_plan_l1_fix_time: 1.0477, d1.loss_plan_l1_fix_dist: 0.2153, d2.loss_plan_l1_fix_time: 1.0422, d2.loss_plan_l1_fix_dist: 0.2240, d3.loss_plan_l1_fix_time: 1.0399, d3.loss_plan_l1_fix_dist: 0.1949, d4.loss_plan_l1_fix_time: 1.0453, d4.loss_plan_l1_fix_dist: 0.1927, d5.loss_plan_l1_fix_time: 1.0511, d5.loss_plan_l1_fix_dist: 0.2438, d6.loss_plan_l1_fix_time: 1.0567, d6.loss_plan_l1_fix_dist: 0.1972, d0.loss_cls_all: 0.1640, d0.loss_bbox_all: 0.3813, d0.loss_cls: 0.1640, d0.loss_bbox: 0.3813, d1.loss_cls: 0.1562, d1.loss_bbox: 0.3456, d2.loss_cls: 0.1445, d2.loss_bbox: 0.3213, d3.loss_cls: 0.1282, d3.loss_bbox: 0.3143, d4.loss_cls: 0.1225, d4.loss_bbox: 0.3118, d5.loss_cls: 0.1208, d5.loss_bbox: 0.3121, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6689, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5382, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4833, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4691, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4605, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4565, d0.loss_map_cls_all: 0.2235, d0.loss_map_pts_all: 1.3265, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2235, d0.loss_map_pts: 1.3265, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1872, d1.loss_map_pts: 0.9351, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1655, d2.loss_map_pts: 0.7356, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1545, d3.loss_map_pts: 0.6652, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1473, d4.loss_map_pts: 0.6362, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1424, d5.loss_map_pts: 0.6286, d5.loss_map_dir: 0.0080, loss: 26.1307, grad_norm: 164.0543 +2026-02-28 04:15:19,733 - DriveTransformer - INFO - Epoch [9][7850/39528] lr: 7.525e-05, eta: 5 days, 6:47:19, time: 0.766, data_time: 0.038, memory: 19865, loss_cls: 0.1173, loss_bbox: 0.3375, loss_traj: 0.5441, loss_traj_cls: 0.0020, loss_map_cls: 0.1352, loss_map_pts: 0.6874, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.5806, d0.loss_plan_l1_fix_dist: 0.3620, d1.loss_plan_l1_fix_time: 1.0238, d1.loss_plan_l1_fix_dist: 0.1933, d2.loss_plan_l1_fix_time: 1.0178, d2.loss_plan_l1_fix_dist: 0.2037, d3.loss_plan_l1_fix_time: 1.0015, d3.loss_plan_l1_fix_dist: 0.1853, d4.loss_plan_l1_fix_time: 1.0038, d4.loss_plan_l1_fix_dist: 0.1769, d5.loss_plan_l1_fix_time: 1.0082, d5.loss_plan_l1_fix_dist: 0.2160, d6.loss_plan_l1_fix_time: 1.0135, d6.loss_plan_l1_fix_dist: 0.1970, d0.loss_cls_all: 0.1574, d0.loss_bbox_all: 0.3965, d0.loss_cls: 0.1574, d0.loss_bbox: 0.3965, d1.loss_cls: 0.1557, d1.loss_bbox: 0.3623, d2.loss_cls: 0.1408, d2.loss_bbox: 0.3434, d3.loss_cls: 0.1260, d3.loss_bbox: 0.3387, d4.loss_cls: 0.1196, d4.loss_bbox: 0.3365, d5.loss_cls: 0.1179, d5.loss_bbox: 0.3359, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8034, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6368, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5785, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5575, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5466, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5467, d0.loss_map_cls_all: 0.2094, d0.loss_map_pts_all: 1.3831, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2094, d0.loss_map_pts: 1.3831, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1797, d1.loss_map_pts: 0.9925, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1594, d2.loss_map_pts: 0.8022, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1472, d3.loss_map_pts: 0.7285, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1414, d4.loss_map_pts: 0.6972, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1359, d5.loss_map_pts: 0.6880, d5.loss_map_dir: 0.0085, loss: 27.0879, grad_norm: 160.9647 +2026-02-28 04:15:56,559 - DriveTransformer - INFO - Epoch [9][7900/39528] lr: 7.525e-05, eta: 5 days, 6:46:45, time: 0.736, data_time: 0.038, memory: 19865, loss_cls: 0.1262, loss_bbox: 0.3241, loss_traj: 0.4831, loss_traj_cls: 0.0020, loss_map_cls: 0.1241, loss_map_pts: 0.6107, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.9110, d0.loss_plan_l1_fix_dist: 0.4404, d1.loss_plan_l1_fix_time: 0.9312, d1.loss_plan_l1_fix_dist: 0.2004, d2.loss_plan_l1_fix_time: 0.9212, d2.loss_plan_l1_fix_dist: 0.2021, d3.loss_plan_l1_fix_time: 0.9301, d3.loss_plan_l1_fix_dist: 0.2120, d4.loss_plan_l1_fix_time: 0.9344, d4.loss_plan_l1_fix_dist: 0.1797, d5.loss_plan_l1_fix_time: 0.9387, d5.loss_plan_l1_fix_dist: 0.2078, d6.loss_plan_l1_fix_time: 0.9443, d6.loss_plan_l1_fix_dist: 0.1964, d0.loss_cls_all: 0.1764, d0.loss_bbox_all: 0.3812, d0.loss_cls: 0.1764, d0.loss_bbox: 0.3812, d1.loss_cls: 0.1646, d1.loss_bbox: 0.3535, d2.loss_cls: 0.1500, d2.loss_bbox: 0.3357, d3.loss_cls: 0.1317, d3.loss_bbox: 0.3295, d4.loss_cls: 0.1270, d4.loss_bbox: 0.3251, d5.loss_cls: 0.1257, d5.loss_bbox: 0.3241, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6762, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5301, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4953, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4801, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4788, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4815, d0.loss_map_cls_all: 0.2005, d0.loss_map_pts_all: 1.1544, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2005, d0.loss_map_pts: 1.1544, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1682, d1.loss_map_pts: 0.8332, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1480, d2.loss_map_pts: 0.6827, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1357, d3.loss_map_pts: 0.6308, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1293, d4.loss_map_pts: 0.6146, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1246, d5.loss_map_pts: 0.6096, d5.loss_map_dir: 0.0082, loss: 25.2990, grad_norm: 162.9611 +2026-02-28 04:16:35,072 - DriveTransformer - INFO - Epoch [9][7950/39528] lr: 7.525e-05, eta: 5 days, 6:46:22, time: 0.770, data_time: 0.035, memory: 19865, loss_cls: 0.1424, loss_bbox: 0.3545, loss_traj: 0.5469, loss_traj_cls: 0.0020, loss_map_cls: 0.1625, loss_map_pts: 0.7191, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.8473, d0.loss_plan_l1_fix_dist: 0.5186, d1.loss_plan_l1_fix_time: 1.0790, d1.loss_plan_l1_fix_dist: 0.2575, d2.loss_plan_l1_fix_time: 1.0785, d2.loss_plan_l1_fix_dist: 0.2295, d3.loss_plan_l1_fix_time: 1.0852, d3.loss_plan_l1_fix_dist: 0.2682, d4.loss_plan_l1_fix_time: 1.0930, d4.loss_plan_l1_fix_dist: 0.2321, d5.loss_plan_l1_fix_time: 1.1001, d5.loss_plan_l1_fix_dist: 0.2382, d6.loss_plan_l1_fix_time: 1.1070, d6.loss_plan_l1_fix_dist: 0.2272, d0.loss_cls_all: 0.1887, d0.loss_bbox_all: 0.4337, d0.loss_cls: 0.1887, d0.loss_bbox: 0.4337, d1.loss_cls: 0.1809, d1.loss_bbox: 0.3960, d2.loss_cls: 0.1672, d2.loss_bbox: 0.3726, d3.loss_cls: 0.1501, d3.loss_bbox: 0.3611, d4.loss_cls: 0.1454, d4.loss_bbox: 0.3546, d5.loss_cls: 0.1436, d5.loss_bbox: 0.3532, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7319, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6063, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5691, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5562, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5496, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5476, d0.loss_map_cls_all: 0.2366, d0.loss_map_pts_all: 1.4303, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2366, d0.loss_map_pts: 1.4303, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.2059, d1.loss_map_pts: 1.0148, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1864, d2.loss_map_pts: 0.8215, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1752, d3.loss_map_pts: 0.7520, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1677, d4.loss_map_pts: 0.7258, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1636, d5.loss_map_pts: 0.7196, d5.loss_map_dir: 0.0094, loss: 29.0609, grad_norm: 160.7112 +2026-02-28 04:17:10,616 - DriveTransformer - INFO - Epoch [9][8000/39528] lr: 7.525e-05, eta: 5 days, 6:45:39, time: 0.712, data_time: 0.038, memory: 19865, loss_cls: 0.1145, loss_bbox: 0.2999, loss_traj: 0.5571, loss_traj_cls: 0.0020, loss_map_cls: 0.1238, loss_map_pts: 0.5769, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.4707, d0.loss_plan_l1_fix_dist: 0.4552, d1.loss_plan_l1_fix_time: 0.9843, d1.loss_plan_l1_fix_dist: 0.2580, d2.loss_plan_l1_fix_time: 0.9890, d2.loss_plan_l1_fix_dist: 0.2099, d3.loss_plan_l1_fix_time: 0.9782, d3.loss_plan_l1_fix_dist: 0.2665, d4.loss_plan_l1_fix_time: 0.9846, d4.loss_plan_l1_fix_dist: 0.2300, d5.loss_plan_l1_fix_time: 0.9914, d5.loss_plan_l1_fix_dist: 0.2136, d6.loss_plan_l1_fix_time: 0.9987, d6.loss_plan_l1_fix_dist: 0.2208, d0.loss_cls_all: 0.1609, d0.loss_bbox_all: 0.3641, d0.loss_cls: 0.1609, d0.loss_bbox: 0.3641, d1.loss_cls: 0.1508, d1.loss_bbox: 0.3326, d2.loss_cls: 0.1365, d2.loss_bbox: 0.3118, d3.loss_cls: 0.1214, d3.loss_bbox: 0.3041, d4.loss_cls: 0.1162, d4.loss_bbox: 0.3006, d5.loss_cls: 0.1141, d5.loss_bbox: 0.2998, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8239, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6427, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5908, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5764, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5652, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5604, d0.loss_map_cls_all: 0.2176, d0.loss_map_pts_all: 1.1279, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2176, d0.loss_map_pts: 1.1279, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1820, d1.loss_map_pts: 0.8136, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1532, d2.loss_map_pts: 0.6744, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1387, d3.loss_map_pts: 0.6106, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1313, d4.loss_map_pts: 0.5856, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1259, d5.loss_map_pts: 0.5781, d5.loss_map_dir: 0.0065, loss: 25.6632, grad_norm: 160.3813 +2026-02-28 04:17:48,015 - DriveTransformer - INFO - Epoch [9][8050/39528] lr: 7.525e-05, eta: 5 days, 6:45:08, time: 0.747, data_time: 0.039, memory: 19865, loss_cls: 0.1200, loss_bbox: 0.3085, loss_traj: 0.5776, loss_traj_cls: 0.0020, loss_map_cls: 0.1188, loss_map_pts: 0.5818, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.9331, d0.loss_plan_l1_fix_dist: 0.4689, d1.loss_plan_l1_fix_time: 0.9100, d1.loss_plan_l1_fix_dist: 0.2650, d2.loss_plan_l1_fix_time: 0.8997, d2.loss_plan_l1_fix_dist: 0.2050, d3.loss_plan_l1_fix_time: 0.9009, d3.loss_plan_l1_fix_dist: 0.2716, d4.loss_plan_l1_fix_time: 0.9042, d4.loss_plan_l1_fix_dist: 0.2609, d5.loss_plan_l1_fix_time: 0.9079, d5.loss_plan_l1_fix_dist: 0.2025, d6.loss_plan_l1_fix_time: 0.9113, d6.loss_plan_l1_fix_dist: 0.1996, d0.loss_cls_all: 0.1625, d0.loss_bbox_all: 0.3669, d0.loss_cls: 0.1625, d0.loss_bbox: 0.3669, d1.loss_cls: 0.1561, d1.loss_bbox: 0.3348, d2.loss_cls: 0.1412, d2.loss_bbox: 0.3186, d3.loss_cls: 0.1261, d3.loss_bbox: 0.3128, d4.loss_cls: 0.1215, d4.loss_bbox: 0.3106, d5.loss_cls: 0.1195, d5.loss_bbox: 0.3100, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8070, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6490, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6079, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5876, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5845, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5810, d0.loss_map_cls_all: 0.1986, d0.loss_map_pts_all: 1.2501, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1986, d0.loss_map_pts: 1.2501, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1675, d1.loss_map_pts: 0.8740, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1454, d2.loss_map_pts: 0.6850, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1331, d3.loss_map_pts: 0.6169, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1258, d4.loss_map_pts: 0.5915, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1212, d5.loss_map_pts: 0.5827, d5.loss_map_dir: 0.0074, loss: 26.0785, grad_norm: 159.6489 +2026-02-28 04:18:23,799 - DriveTransformer - INFO - Epoch [9][8100/39528] lr: 7.525e-05, eta: 5 days, 6:44:26, time: 0.716, data_time: 0.037, memory: 19865, loss_cls: 0.1164, loss_bbox: 0.3009, loss_traj: 0.4899, loss_traj_cls: 0.0021, loss_map_cls: 0.1085, loss_map_pts: 0.5592, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.4845, d0.loss_plan_l1_fix_dist: 0.4932, d1.loss_plan_l1_fix_time: 0.9022, d1.loss_plan_l1_fix_dist: 0.2613, d2.loss_plan_l1_fix_time: 0.8902, d2.loss_plan_l1_fix_dist: 0.2152, d3.loss_plan_l1_fix_time: 0.8941, d3.loss_plan_l1_fix_dist: 0.2616, d4.loss_plan_l1_fix_time: 0.8987, d4.loss_plan_l1_fix_dist: 0.2555, d5.loss_plan_l1_fix_time: 0.9030, d5.loss_plan_l1_fix_dist: 0.2112, d6.loss_plan_l1_fix_time: 0.9076, d6.loss_plan_l1_fix_dist: 0.2226, d0.loss_cls_all: 0.1564, d0.loss_bbox_all: 0.3622, d0.loss_cls: 0.1564, d0.loss_bbox: 0.3622, d1.loss_cls: 0.1464, d1.loss_bbox: 0.3295, d2.loss_cls: 0.1343, d2.loss_bbox: 0.3095, d3.loss_cls: 0.1233, d3.loss_bbox: 0.3033, d4.loss_cls: 0.1190, d4.loss_bbox: 0.3013, d5.loss_cls: 0.1179, d5.loss_bbox: 0.2997, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7258, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5628, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5095, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4886, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4888, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4859, d0.loss_map_cls_all: 0.1930, d0.loss_map_pts_all: 1.1595, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1930, d0.loss_map_pts: 1.1595, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1592, d1.loss_map_pts: 0.8200, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1370, d2.loss_map_pts: 0.6588, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1243, d3.loss_map_pts: 0.5920, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1173, d4.loss_map_pts: 0.5651, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1115, d5.loss_map_pts: 0.5594, d5.loss_map_dir: 0.0066, loss: 24.4671, grad_norm: 158.6345 +2026-02-28 04:19:00,551 - DriveTransformer - INFO - Epoch [9][8150/39528] lr: 7.525e-05, eta: 5 days, 6:43:51, time: 0.735, data_time: 0.037, memory: 19865, loss_cls: 0.1118, loss_bbox: 0.2886, loss_traj: 0.4347, loss_traj_cls: 0.0021, loss_map_cls: 0.1143, loss_map_pts: 0.5747, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.5835, d0.loss_plan_l1_fix_dist: 0.4181, d1.loss_plan_l1_fix_time: 0.9325, d1.loss_plan_l1_fix_dist: 0.2471, d2.loss_plan_l1_fix_time: 0.9131, d2.loss_plan_l1_fix_dist: 0.2273, d3.loss_plan_l1_fix_time: 0.9198, d3.loss_plan_l1_fix_dist: 0.2588, d4.loss_plan_l1_fix_time: 0.9237, d4.loss_plan_l1_fix_dist: 0.2550, d5.loss_plan_l1_fix_time: 0.9277, d5.loss_plan_l1_fix_dist: 0.2149, d6.loss_plan_l1_fix_time: 0.9325, d6.loss_plan_l1_fix_dist: 0.2073, d0.loss_cls_all: 0.1582, d0.loss_bbox_all: 0.3506, d0.loss_cls: 0.1582, d0.loss_bbox: 0.3506, d1.loss_cls: 0.1525, d1.loss_bbox: 0.3131, d2.loss_cls: 0.1403, d2.loss_bbox: 0.2961, d3.loss_cls: 0.1202, d3.loss_bbox: 0.2930, d4.loss_cls: 0.1140, d4.loss_bbox: 0.2898, d5.loss_cls: 0.1122, d5.loss_bbox: 0.2884, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5998, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4868, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4505, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4439, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4389, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4377, d0.loss_map_cls_all: 0.1774, d0.loss_map_pts_all: 1.2114, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1774, d0.loss_map_pts: 1.2114, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1545, d1.loss_map_pts: 0.8470, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1353, d2.loss_map_pts: 0.6776, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1251, d3.loss_map_pts: 0.6111, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1201, d4.loss_map_pts: 0.5842, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1162, d5.loss_map_pts: 0.5755, d5.loss_map_dir: 0.0074, loss: 24.2703, grad_norm: 158.7210 +2026-02-28 04:19:37,114 - DriveTransformer - INFO - Epoch [9][8200/39528] lr: 7.525e-05, eta: 5 days, 6:43:15, time: 0.731, data_time: 0.040, memory: 19865, loss_cls: 0.1202, loss_bbox: 0.3248, loss_traj: 0.5773, loss_traj_cls: 0.0020, loss_map_cls: 0.1217, loss_map_pts: 0.5689, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.7944, d0.loss_plan_l1_fix_dist: 0.4568, d1.loss_plan_l1_fix_time: 0.9342, d1.loss_plan_l1_fix_dist: 0.2513, d2.loss_plan_l1_fix_time: 0.9136, d2.loss_plan_l1_fix_dist: 0.2264, d3.loss_plan_l1_fix_time: 0.9011, d3.loss_plan_l1_fix_dist: 0.2460, d4.loss_plan_l1_fix_time: 0.9024, d4.loss_plan_l1_fix_dist: 0.2535, d5.loss_plan_l1_fix_time: 0.9052, d5.loss_plan_l1_fix_dist: 0.2239, d6.loss_plan_l1_fix_time: 0.9084, d6.loss_plan_l1_fix_dist: 0.2096, d0.loss_cls_all: 0.1712, d0.loss_bbox_all: 0.3744, d0.loss_cls: 0.1712, d0.loss_bbox: 0.3744, d1.loss_cls: 0.1630, d1.loss_bbox: 0.3491, d2.loss_cls: 0.1484, d2.loss_bbox: 0.3323, d3.loss_cls: 0.1289, d3.loss_bbox: 0.3266, d4.loss_cls: 0.1244, d4.loss_bbox: 0.3230, d5.loss_cls: 0.1211, d5.loss_bbox: 0.3225, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8325, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6516, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6017, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5877, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5829, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5759, d0.loss_map_cls_all: 0.2111, d0.loss_map_pts_all: 1.1313, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2111, d0.loss_map_pts: 1.1313, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1784, d1.loss_map_pts: 0.8202, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1540, d2.loss_map_pts: 0.6663, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1384, d3.loss_map_pts: 0.6030, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1318, d4.loss_map_pts: 0.5753, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1247, d5.loss_map_pts: 0.5705, d5.loss_map_dir: 0.0076, loss: 25.8159, grad_norm: 158.1915 +2026-02-28 04:20:14,346 - DriveTransformer - INFO - Epoch [9][8250/39528] lr: 7.525e-05, eta: 5 days, 6:42:43, time: 0.745, data_time: 0.036, memory: 19865, loss_cls: 0.1209, loss_bbox: 0.3137, loss_traj: 0.5204, loss_traj_cls: 0.0020, loss_map_cls: 0.1265, loss_map_pts: 0.6171, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.4501, d0.loss_plan_l1_fix_dist: 0.4035, d1.loss_plan_l1_fix_time: 0.8732, d1.loss_plan_l1_fix_dist: 0.2217, d2.loss_plan_l1_fix_time: 0.8653, d2.loss_plan_l1_fix_dist: 0.2185, d3.loss_plan_l1_fix_time: 0.8555, d3.loss_plan_l1_fix_dist: 0.2229, d4.loss_plan_l1_fix_time: 0.8576, d4.loss_plan_l1_fix_dist: 0.2434, d5.loss_plan_l1_fix_time: 0.8612, d5.loss_plan_l1_fix_dist: 0.2242, d6.loss_plan_l1_fix_time: 0.8647, d6.loss_plan_l1_fix_dist: 0.2144, d0.loss_cls_all: 0.1662, d0.loss_bbox_all: 0.3758, d0.loss_cls: 0.1662, d0.loss_bbox: 0.3758, d1.loss_cls: 0.1571, d1.loss_bbox: 0.3412, d2.loss_cls: 0.1428, d2.loss_bbox: 0.3221, d3.loss_cls: 0.1289, d3.loss_bbox: 0.3147, d4.loss_cls: 0.1236, d4.loss_bbox: 0.3109, d5.loss_cls: 0.1218, d5.loss_bbox: 0.3116, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7803, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5980, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5486, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5278, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5229, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5201, d0.loss_map_cls_all: 0.2058, d0.loss_map_pts_all: 1.2606, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2058, d0.loss_map_pts: 1.2606, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1760, d1.loss_map_pts: 0.8975, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1528, d2.loss_map_pts: 0.7239, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1410, d3.loss_map_pts: 0.6552, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1326, d4.loss_map_pts: 0.6246, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1289, d5.loss_map_pts: 0.6186, d5.loss_map_dir: 0.0087, loss: 25.1897, grad_norm: 160.4212 +2026-02-28 04:20:49,817 - DriveTransformer - INFO - Epoch [9][8300/39528] lr: 7.525e-05, eta: 5 days, 6:41:59, time: 0.709, data_time: 0.035, memory: 19865, loss_cls: 0.1093, loss_bbox: 0.3016, loss_traj: 0.4857, loss_traj_cls: 0.0021, loss_map_cls: 0.0999, loss_map_pts: 0.5312, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.4239, d0.loss_plan_l1_fix_dist: 0.4134, d1.loss_plan_l1_fix_time: 0.8967, d1.loss_plan_l1_fix_dist: 0.2006, d2.loss_plan_l1_fix_time: 0.8889, d2.loss_plan_l1_fix_dist: 0.2112, d3.loss_plan_l1_fix_time: 0.8824, d3.loss_plan_l1_fix_dist: 0.2195, d4.loss_plan_l1_fix_time: 0.8858, d4.loss_plan_l1_fix_dist: 0.2301, d5.loss_plan_l1_fix_time: 0.8898, d5.loss_plan_l1_fix_dist: 0.2090, d6.loss_plan_l1_fix_time: 0.8943, d6.loss_plan_l1_fix_dist: 0.2274, d0.loss_cls_all: 0.1531, d0.loss_bbox_all: 0.3669, d0.loss_cls: 0.1531, d0.loss_bbox: 0.3669, d1.loss_cls: 0.1463, d1.loss_bbox: 0.3301, d2.loss_cls: 0.1329, d2.loss_bbox: 0.3107, d3.loss_cls: 0.1174, d3.loss_bbox: 0.3031, d4.loss_cls: 0.1129, d4.loss_bbox: 0.3006, d5.loss_cls: 0.1097, d5.loss_bbox: 0.3010, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7118, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5576, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5076, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4928, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4898, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4860, d0.loss_map_cls_all: 0.1684, d0.loss_map_pts_all: 1.0502, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1684, d0.loss_map_pts: 1.0502, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1390, d1.loss_map_pts: 0.7563, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1201, d2.loss_map_pts: 0.6127, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1090, d3.loss_map_pts: 0.5612, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1030, d4.loss_map_pts: 0.5419, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1009, d5.loss_map_pts: 0.5320, d5.loss_map_dir: 0.0067, loss: 23.5250, grad_norm: 160.8169 +2026-02-28 04:21:25,392 - DriveTransformer - INFO - Epoch [9][8350/39528] lr: 7.525e-05, eta: 5 days, 6:41:16, time: 0.711, data_time: 0.036, memory: 19865, loss_cls: 0.1145, loss_bbox: 0.3059, loss_traj: 0.5776, loss_traj_cls: 0.0021, loss_map_cls: 0.1231, loss_map_pts: 0.5875, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.3802, d0.loss_plan_l1_fix_dist: 0.4017, d1.loss_plan_l1_fix_time: 0.8565, d1.loss_plan_l1_fix_dist: 0.1809, d2.loss_plan_l1_fix_time: 0.8466, d2.loss_plan_l1_fix_dist: 0.2051, d3.loss_plan_l1_fix_time: 0.8497, d3.loss_plan_l1_fix_dist: 0.2503, d4.loss_plan_l1_fix_time: 0.8529, d4.loss_plan_l1_fix_dist: 0.2195, d5.loss_plan_l1_fix_time: 0.8556, d5.loss_plan_l1_fix_dist: 0.2258, d6.loss_plan_l1_fix_time: 0.8590, d6.loss_plan_l1_fix_dist: 0.2392, d0.loss_cls_all: 0.1553, d0.loss_bbox_all: 0.3681, d0.loss_cls: 0.1553, d0.loss_bbox: 0.3681, d1.loss_cls: 0.1498, d1.loss_bbox: 0.3332, d2.loss_cls: 0.1390, d2.loss_bbox: 0.3138, d3.loss_cls: 0.1232, d3.loss_bbox: 0.3090, d4.loss_cls: 0.1175, d4.loss_bbox: 0.3075, d5.loss_cls: 0.1149, d5.loss_bbox: 0.3069, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7969, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6278, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5845, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5740, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5806, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5772, d0.loss_map_cls_all: 0.2141, d0.loss_map_pts_all: 1.2006, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2141, d0.loss_map_pts: 1.2006, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1737, d1.loss_map_pts: 0.8668, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1476, d2.loss_map_pts: 0.6900, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1361, d3.loss_map_pts: 0.6222, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1300, d4.loss_map_pts: 0.5949, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1243, d5.loss_map_pts: 0.5891, d5.loss_map_dir: 0.0067, loss: 24.8974, grad_norm: 160.0083 +2026-02-28 04:22:01,317 - DriveTransformer - INFO - Epoch [9][8400/39528] lr: 7.525e-05, eta: 5 days, 6:40:35, time: 0.718, data_time: 0.038, memory: 19865, loss_cls: 0.1216, loss_bbox: 0.3262, loss_traj: 0.6849, loss_traj_cls: 0.0021, loss_map_cls: 0.1383, loss_map_pts: 0.5896, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 3.0087, d0.loss_plan_l1_fix_dist: 0.3551, d1.loss_plan_l1_fix_time: 1.1235, d1.loss_plan_l1_fix_dist: 0.1774, d2.loss_plan_l1_fix_time: 1.1134, d2.loss_plan_l1_fix_dist: 0.2159, d3.loss_plan_l1_fix_time: 1.1195, d3.loss_plan_l1_fix_dist: 0.2819, d4.loss_plan_l1_fix_time: 1.1237, d4.loss_plan_l1_fix_dist: 0.2257, d5.loss_plan_l1_fix_time: 1.1272, d5.loss_plan_l1_fix_dist: 0.2495, d6.loss_plan_l1_fix_time: 1.1314, d6.loss_plan_l1_fix_dist: 0.2691, d0.loss_cls_all: 0.1656, d0.loss_bbox_all: 0.3898, d0.loss_cls: 0.1656, d0.loss_bbox: 0.3898, d1.loss_cls: 0.1587, d1.loss_bbox: 0.3579, d2.loss_cls: 0.1486, d2.loss_bbox: 0.3361, d3.loss_cls: 0.1297, d3.loss_bbox: 0.3316, d4.loss_cls: 0.1239, d4.loss_bbox: 0.3291, d5.loss_cls: 0.1217, d5.loss_bbox: 0.3272, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9083, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7412, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7008, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6896, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6885, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6866, d0.loss_map_cls_all: 0.2238, d0.loss_map_pts_all: 1.1710, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2238, d0.loss_map_pts: 1.1710, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1893, d1.loss_map_pts: 0.8288, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1624, d2.loss_map_pts: 0.6714, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1515, d3.loss_map_pts: 0.6152, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1454, d4.loss_map_pts: 0.5937, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1394, d5.loss_map_pts: 0.5912, d5.loss_map_dir: 0.0075, loss: 28.2155, grad_norm: 156.8980 +2026-02-28 04:22:38,520 - DriveTransformer - INFO - Epoch [9][8450/39528] lr: 7.525e-05, eta: 5 days, 6:40:03, time: 0.744, data_time: 0.036, memory: 19865, loss_cls: 0.1026, loss_bbox: 0.3055, loss_traj: 0.4846, loss_traj_cls: 0.0022, loss_map_cls: 0.1283, loss_map_pts: 0.6362, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.2687, d0.loss_plan_l1_fix_dist: 0.3730, d1.loss_plan_l1_fix_time: 0.9707, d1.loss_plan_l1_fix_dist: 0.1839, d2.loss_plan_l1_fix_time: 0.9464, d2.loss_plan_l1_fix_dist: 0.2347, d3.loss_plan_l1_fix_time: 0.9305, d3.loss_plan_l1_fix_dist: 0.2974, d4.loss_plan_l1_fix_time: 0.9325, d4.loss_plan_l1_fix_dist: 0.2460, d5.loss_plan_l1_fix_time: 0.9368, d5.loss_plan_l1_fix_dist: 0.2667, d6.loss_plan_l1_fix_time: 0.9420, d6.loss_plan_l1_fix_dist: 0.3207, d0.loss_cls_all: 0.1498, d0.loss_bbox_all: 0.3637, d0.loss_cls: 0.1498, d0.loss_bbox: 0.3637, d1.loss_cls: 0.1399, d1.loss_bbox: 0.3349, d2.loss_cls: 0.1264, d2.loss_bbox: 0.3137, d3.loss_cls: 0.1087, d3.loss_bbox: 0.3084, d4.loss_cls: 0.1037, d4.loss_bbox: 0.3061, d5.loss_cls: 0.1016, d5.loss_bbox: 0.3062, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6853, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5312, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4983, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4900, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4851, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4857, d0.loss_map_cls_all: 0.2139, d0.loss_map_pts_all: 1.3492, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2139, d0.loss_map_pts: 1.3492, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1803, d1.loss_map_pts: 0.9215, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1551, d2.loss_map_pts: 0.7324, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1415, d3.loss_map_pts: 0.6672, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1336, d4.loss_map_pts: 0.6434, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1310, d5.loss_map_pts: 0.6363, d5.loss_map_dir: 0.0087, loss: 25.4035, grad_norm: 163.2761 +2026-02-28 04:23:15,320 - DriveTransformer - INFO - Epoch [9][8500/39528] lr: 7.525e-05, eta: 5 days, 6:39:28, time: 0.736, data_time: 0.037, memory: 19865, loss_cls: 0.1146, loss_bbox: 0.3031, loss_traj: 0.5002, loss_traj_cls: 0.0022, loss_map_cls: 0.1182, loss_map_pts: 0.5854, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.6172, d0.loss_plan_l1_fix_dist: 0.3559, d1.loss_plan_l1_fix_time: 0.7781, d1.loss_plan_l1_fix_dist: 0.1859, d2.loss_plan_l1_fix_time: 0.7479, d2.loss_plan_l1_fix_dist: 0.2410, d3.loss_plan_l1_fix_time: 0.7571, d3.loss_plan_l1_fix_dist: 0.2922, d4.loss_plan_l1_fix_time: 0.7611, d4.loss_plan_l1_fix_dist: 0.2368, d5.loss_plan_l1_fix_time: 0.7658, d5.loss_plan_l1_fix_dist: 0.2330, d6.loss_plan_l1_fix_time: 0.7714, d6.loss_plan_l1_fix_dist: 0.3146, d0.loss_cls_all: 0.1520, d0.loss_bbox_all: 0.3640, d0.loss_cls: 0.1520, d0.loss_bbox: 0.3640, d1.loss_cls: 0.1456, d1.loss_bbox: 0.3313, d2.loss_cls: 0.1332, d2.loss_bbox: 0.3128, d3.loss_cls: 0.1195, d3.loss_bbox: 0.3059, d4.loss_cls: 0.1144, d4.loss_bbox: 0.3034, d5.loss_cls: 0.1137, d5.loss_bbox: 0.3034, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7335, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5550, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5216, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5115, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5044, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5034, d0.loss_map_cls_all: 0.2012, d0.loss_map_pts_all: 1.1986, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2012, d0.loss_map_pts: 1.1986, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1652, d1.loss_map_pts: 0.8544, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1441, d2.loss_map_pts: 0.6856, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1315, d3.loss_map_pts: 0.6216, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1250, d4.loss_map_pts: 0.5960, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1201, d5.loss_map_pts: 0.5858, d5.loss_map_dir: 0.0071, loss: 24.1153, grad_norm: 161.6459 +2026-02-28 04:23:52,781 - DriveTransformer - INFO - Epoch [9][8550/39528] lr: 7.525e-05, eta: 5 days, 6:38:58, time: 0.749, data_time: 0.038, memory: 19865, loss_cls: 0.1091, loss_bbox: 0.2998, loss_traj: 0.5198, loss_traj_cls: 0.0021, loss_map_cls: 0.1227, loss_map_pts: 0.6322, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.2457, d0.loss_plan_l1_fix_dist: 0.4233, d1.loss_plan_l1_fix_time: 0.7789, d1.loss_plan_l1_fix_dist: 0.1819, d2.loss_plan_l1_fix_time: 0.7586, d2.loss_plan_l1_fix_dist: 0.2335, d3.loss_plan_l1_fix_time: 0.7527, d3.loss_plan_l1_fix_dist: 0.2820, d4.loss_plan_l1_fix_time: 0.7544, d4.loss_plan_l1_fix_dist: 0.2318, d5.loss_plan_l1_fix_time: 0.7568, d5.loss_plan_l1_fix_dist: 0.2398, d6.loss_plan_l1_fix_time: 0.7600, d6.loss_plan_l1_fix_dist: 0.3076, d0.loss_cls_all: 0.1476, d0.loss_bbox_all: 0.3614, d0.loss_cls: 0.1476, d0.loss_bbox: 0.3614, d1.loss_cls: 0.1416, d1.loss_bbox: 0.3314, d2.loss_cls: 0.1298, d2.loss_bbox: 0.3115, d3.loss_cls: 0.1149, d3.loss_bbox: 0.3053, d4.loss_cls: 0.1089, d4.loss_bbox: 0.3028, d5.loss_cls: 0.1083, d5.loss_bbox: 0.3006, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7136, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5822, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5434, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5249, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5179, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5191, d0.loss_map_cls_all: 0.1943, d0.loss_map_pts_all: 1.2143, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1943, d0.loss_map_pts: 1.2143, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1629, d1.loss_map_pts: 0.8854, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1427, d2.loss_map_pts: 0.7298, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1344, d3.loss_map_pts: 0.6619, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1274, d4.loss_map_pts: 0.6414, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1244, d5.loss_map_pts: 0.6325, d5.loss_map_dir: 0.0077, loss: 24.0920, grad_norm: 160.7496 +2026-02-28 04:24:28,197 - DriveTransformer - INFO - Epoch [9][8600/39528] lr: 7.525e-05, eta: 5 days, 6:38:14, time: 0.708, data_time: 0.039, memory: 19865, loss_cls: 0.1197, loss_bbox: 0.3387, loss_traj: 0.5858, loss_traj_cls: 0.0021, loss_map_cls: 0.1278, loss_map_pts: 0.5810, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.5537, d0.loss_plan_l1_fix_dist: 0.3847, d1.loss_plan_l1_fix_time: 0.9579, d1.loss_plan_l1_fix_dist: 0.1839, d2.loss_plan_l1_fix_time: 0.9436, d2.loss_plan_l1_fix_dist: 0.1983, d3.loss_plan_l1_fix_time: 0.9403, d3.loss_plan_l1_fix_dist: 0.2404, d4.loss_plan_l1_fix_time: 0.9435, d4.loss_plan_l1_fix_dist: 0.1997, d5.loss_plan_l1_fix_time: 0.9467, d5.loss_plan_l1_fix_dist: 0.2215, d6.loss_plan_l1_fix_time: 0.9508, d6.loss_plan_l1_fix_dist: 0.2399, d0.loss_cls_all: 0.1660, d0.loss_bbox_all: 0.3982, d0.loss_cls: 0.1660, d0.loss_bbox: 0.3982, d1.loss_cls: 0.1602, d1.loss_bbox: 0.3656, d2.loss_cls: 0.1460, d2.loss_bbox: 0.3459, d3.loss_cls: 0.1296, d3.loss_bbox: 0.3403, d4.loss_cls: 0.1239, d4.loss_bbox: 0.3379, d5.loss_cls: 0.1214, d5.loss_bbox: 0.3368, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8085, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6557, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6053, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5923, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5891, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5872, d0.loss_map_cls_all: 0.2144, d0.loss_map_pts_all: 1.2350, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2144, d0.loss_map_pts: 1.2350, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1806, d1.loss_map_pts: 0.8772, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1562, d2.loss_map_pts: 0.6937, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1415, d3.loss_map_pts: 0.6153, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1350, d4.loss_map_pts: 0.5876, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1302, d5.loss_map_pts: 0.5815, d5.loss_map_dir: 0.0068, loss: 26.0898, grad_norm: 160.7779 +2026-02-28 04:25:05,793 - DriveTransformer - INFO - Epoch [9][8650/39528] lr: 7.525e-05, eta: 5 days, 6:37:45, time: 0.752, data_time: 0.037, memory: 19865, loss_cls: 0.1100, loss_bbox: 0.3119, loss_traj: 0.5740, loss_traj_cls: 0.0022, loss_map_cls: 0.1191, loss_map_pts: 0.6272, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.2155, d0.loss_plan_l1_fix_dist: 0.3967, d1.loss_plan_l1_fix_time: 0.8083, d1.loss_plan_l1_fix_dist: 0.1814, d2.loss_plan_l1_fix_time: 0.7962, d2.loss_plan_l1_fix_dist: 0.1853, d3.loss_plan_l1_fix_time: 0.7957, d3.loss_plan_l1_fix_dist: 0.2182, d4.loss_plan_l1_fix_time: 0.7995, d4.loss_plan_l1_fix_dist: 0.1882, d5.loss_plan_l1_fix_time: 0.8033, d5.loss_plan_l1_fix_dist: 0.2409, d6.loss_plan_l1_fix_time: 0.8072, d6.loss_plan_l1_fix_dist: 0.2360, d0.loss_cls_all: 0.1504, d0.loss_bbox_all: 0.3768, d0.loss_cls: 0.1504, d0.loss_bbox: 0.3768, d1.loss_cls: 0.1447, d1.loss_bbox: 0.3472, d2.loss_cls: 0.1346, d2.loss_bbox: 0.3224, d3.loss_cls: 0.1194, d3.loss_bbox: 0.3146, d4.loss_cls: 0.1152, d4.loss_bbox: 0.3107, d5.loss_cls: 0.1097, d5.loss_bbox: 0.3124, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7992, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6433, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5941, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5850, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5790, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5773, d0.loss_map_cls_all: 0.1973, d0.loss_map_pts_all: 1.2608, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.1973, d0.loss_map_pts: 1.2608, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1607, d1.loss_map_pts: 0.8739, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1405, d2.loss_map_pts: 0.7075, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1328, d3.loss_map_pts: 0.6507, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1252, d4.loss_map_pts: 0.6325, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1204, d5.loss_map_pts: 0.6284, d5.loss_map_dir: 0.0081, loss: 24.6376, grad_norm: 160.8006 +2026-02-28 04:25:42,469 - DriveTransformer - INFO - Epoch [9][8700/39528] lr: 7.525e-05, eta: 5 days, 6:37:09, time: 0.733, data_time: 0.038, memory: 19865, loss_cls: 0.1191, loss_bbox: 0.3143, loss_traj: 0.4598, loss_traj_cls: 0.0023, loss_map_cls: 0.1235, loss_map_pts: 0.6401, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.7927, d0.loss_plan_l1_fix_dist: 0.3600, d1.loss_plan_l1_fix_time: 0.9327, d1.loss_plan_l1_fix_dist: 0.2007, d2.loss_plan_l1_fix_time: 0.9207, d2.loss_plan_l1_fix_dist: 0.1992, d3.loss_plan_l1_fix_time: 0.9224, d3.loss_plan_l1_fix_dist: 0.2402, d4.loss_plan_l1_fix_time: 0.9243, d4.loss_plan_l1_fix_dist: 0.2101, d5.loss_plan_l1_fix_time: 0.9272, d5.loss_plan_l1_fix_dist: 0.2611, d6.loss_plan_l1_fix_time: 0.9299, d6.loss_plan_l1_fix_dist: 0.2763, d0.loss_cls_all: 0.1624, d0.loss_bbox_all: 0.3775, d0.loss_cls: 0.1624, d0.loss_bbox: 0.3775, d1.loss_cls: 0.1586, d1.loss_bbox: 0.3434, d2.loss_cls: 0.1462, d2.loss_bbox: 0.3231, d3.loss_cls: 0.1273, d3.loss_bbox: 0.3186, d4.loss_cls: 0.1221, d4.loss_bbox: 0.3148, d5.loss_cls: 0.1196, d5.loss_bbox: 0.3145, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6776, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5203, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4701, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4597, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4591, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4562, d0.loss_map_cls_all: 0.2015, d0.loss_map_pts_all: 1.2865, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2015, d0.loss_map_pts: 1.2865, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1695, d1.loss_map_pts: 0.9098, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1481, d2.loss_map_pts: 0.7303, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1389, d3.loss_map_pts: 0.6706, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1303, d4.loss_map_pts: 0.6466, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1246, d5.loss_map_pts: 0.6411, d5.loss_map_dir: 0.0085, loss: 25.5249, grad_norm: 163.3436 +2026-02-28 04:26:17,695 - DriveTransformer - INFO - Epoch [9][8750/39528] lr: 7.525e-05, eta: 5 days, 6:36:23, time: 0.705, data_time: 0.037, memory: 19865, loss_cls: 0.1050, loss_bbox: 0.2979, loss_traj: 0.4519, loss_traj_cls: 0.0023, loss_map_cls: 0.1119, loss_map_pts: 0.5103, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.6007, d0.loss_plan_l1_fix_dist: 0.4319, d1.loss_plan_l1_fix_time: 0.8325, d1.loss_plan_l1_fix_dist: 0.1921, d2.loss_plan_l1_fix_time: 0.8147, d2.loss_plan_l1_fix_dist: 0.1970, d3.loss_plan_l1_fix_time: 0.8113, d3.loss_plan_l1_fix_dist: 0.2482, d4.loss_plan_l1_fix_time: 0.8136, d4.loss_plan_l1_fix_dist: 0.2264, d5.loss_plan_l1_fix_time: 0.8169, d5.loss_plan_l1_fix_dist: 0.2373, d6.loss_plan_l1_fix_time: 0.8202, d6.loss_plan_l1_fix_dist: 0.2743, d0.loss_cls_all: 0.1503, d0.loss_bbox_all: 0.3521, d0.loss_cls: 0.1503, d0.loss_bbox: 0.3521, d1.loss_cls: 0.1401, d1.loss_bbox: 0.3228, d2.loss_cls: 0.1287, d2.loss_bbox: 0.3068, d3.loss_cls: 0.1130, d3.loss_bbox: 0.2986, d4.loss_cls: 0.1073, d4.loss_bbox: 0.2967, d5.loss_cls: 0.1057, d5.loss_bbox: 0.2963, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6725, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5230, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4764, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4642, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4564, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4529, d0.loss_map_cls_all: 0.1778, d0.loss_map_pts_all: 1.0980, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1778, d0.loss_map_pts: 1.0980, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1516, d1.loss_map_pts: 0.7335, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1330, d2.loss_map_pts: 0.5869, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1256, d3.loss_map_pts: 0.5321, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1177, d4.loss_map_pts: 0.5155, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1133, d5.loss_map_pts: 0.5113, d5.loss_map_dir: 0.0069, loss: 23.0934, grad_norm: 160.2805 +2026-02-28 04:26:54,555 - DriveTransformer - INFO - Epoch [9][8800/39528] lr: 7.525e-05, eta: 5 days, 6:35:49, time: 0.739, data_time: 0.037, memory: 19865, loss_cls: 0.1107, loss_bbox: 0.3040, loss_traj: 0.5368, loss_traj_cls: 0.0022, loss_map_cls: 0.1181, loss_map_pts: 0.6063, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.7832, d0.loss_plan_l1_fix_dist: 0.4163, d1.loss_plan_l1_fix_time: 1.0599, d1.loss_plan_l1_fix_dist: 0.1939, d2.loss_plan_l1_fix_time: 1.0443, d2.loss_plan_l1_fix_dist: 0.2307, d3.loss_plan_l1_fix_time: 1.0414, d3.loss_plan_l1_fix_dist: 0.2954, d4.loss_plan_l1_fix_time: 1.0447, d4.loss_plan_l1_fix_dist: 0.2902, d5.loss_plan_l1_fix_time: 1.0486, d5.loss_plan_l1_fix_dist: 0.2714, d6.loss_plan_l1_fix_time: 1.0536, d6.loss_plan_l1_fix_dist: 0.2883, d0.loss_cls_all: 0.1530, d0.loss_bbox_all: 0.3666, d0.loss_cls: 0.1530, d0.loss_bbox: 0.3666, d1.loss_cls: 0.1451, d1.loss_bbox: 0.3329, d2.loss_cls: 0.1331, d2.loss_bbox: 0.3127, d3.loss_cls: 0.1171, d3.loss_bbox: 0.3089, d4.loss_cls: 0.1123, d4.loss_bbox: 0.3058, d5.loss_cls: 0.1104, d5.loss_bbox: 0.3046, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7526, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6033, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5626, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5500, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5414, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5376, d0.loss_map_cls_all: 0.1980, d0.loss_map_pts_all: 1.2390, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.1980, d0.loss_map_pts: 1.2390, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1667, d1.loss_map_pts: 0.8691, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1420, d2.loss_map_pts: 0.7056, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1305, d3.loss_map_pts: 0.6381, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1232, d4.loss_map_pts: 0.6149, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1194, d5.loss_map_pts: 0.6064, d5.loss_map_dir: 0.0084, loss: 26.5708, grad_norm: 163.2662 +2026-02-28 04:27:30,857 - DriveTransformer - INFO - Epoch [9][8850/39528] lr: 7.525e-05, eta: 5 days, 6:35:11, time: 0.725, data_time: 0.037, memory: 19865, loss_cls: 0.1082, loss_bbox: 0.2991, loss_traj: 0.4956, loss_traj_cls: 0.0022, loss_map_cls: 0.1190, loss_map_pts: 0.5494, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.3873, d0.loss_plan_l1_fix_dist: 0.4031, d1.loss_plan_l1_fix_time: 0.8193, d1.loss_plan_l1_fix_dist: 0.1953, d2.loss_plan_l1_fix_time: 0.8049, d2.loss_plan_l1_fix_dist: 0.2474, d3.loss_plan_l1_fix_time: 0.8043, d3.loss_plan_l1_fix_dist: 0.3227, d4.loss_plan_l1_fix_time: 0.8089, d4.loss_plan_l1_fix_dist: 0.3392, d5.loss_plan_l1_fix_time: 0.8140, d5.loss_plan_l1_fix_dist: 0.2855, d6.loss_plan_l1_fix_time: 0.8201, d6.loss_plan_l1_fix_dist: 0.3173, d0.loss_cls_all: 0.1457, d0.loss_bbox_all: 0.3555, d0.loss_cls: 0.1457, d0.loss_bbox: 0.3555, d1.loss_cls: 0.1422, d1.loss_bbox: 0.3230, d2.loss_cls: 0.1309, d2.loss_bbox: 0.3082, d3.loss_cls: 0.1138, d3.loss_bbox: 0.3035, d4.loss_cls: 0.1090, d4.loss_bbox: 0.3012, d5.loss_cls: 0.1074, d5.loss_bbox: 0.2990, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7257, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5560, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5183, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5063, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4979, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4960, d0.loss_map_cls_all: 0.1915, d0.loss_map_pts_all: 1.1541, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1915, d0.loss_map_pts: 1.1541, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1610, d1.loss_map_pts: 0.7953, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1391, d2.loss_map_pts: 0.6352, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1285, d3.loss_map_pts: 0.5752, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1228, d4.loss_map_pts: 0.5539, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1205, d5.loss_map_pts: 0.5492, d5.loss_map_dir: 0.0070, loss: 23.9156, grad_norm: 164.6088 +2026-02-28 04:28:07,426 - DriveTransformer - INFO - Epoch [9][8900/39528] lr: 7.525e-05, eta: 5 days, 6:34:34, time: 0.731, data_time: 0.038, memory: 19865, loss_cls: 0.1110, loss_bbox: 0.3016, loss_traj: 0.5639, loss_traj_cls: 0.0022, loss_map_cls: 0.1149, loss_map_pts: 0.5440, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.5564, d0.loss_plan_l1_fix_dist: 0.4898, d1.loss_plan_l1_fix_time: 0.9467, d1.loss_plan_l1_fix_dist: 0.1842, d2.loss_plan_l1_fix_time: 0.9403, d2.loss_plan_l1_fix_dist: 0.2238, d3.loss_plan_l1_fix_time: 0.9433, d3.loss_plan_l1_fix_dist: 0.2825, d4.loss_plan_l1_fix_time: 0.9466, d4.loss_plan_l1_fix_dist: 0.3366, d5.loss_plan_l1_fix_time: 0.9500, d5.loss_plan_l1_fix_dist: 0.3032, d6.loss_plan_l1_fix_time: 0.9550, d6.loss_plan_l1_fix_dist: 0.2960, d0.loss_cls_all: 0.1478, d0.loss_bbox_all: 0.3569, d0.loss_cls: 0.1478, d0.loss_bbox: 0.3569, d1.loss_cls: 0.1430, d1.loss_bbox: 0.3257, d2.loss_cls: 0.1305, d2.loss_bbox: 0.3093, d3.loss_cls: 0.1144, d3.loss_bbox: 0.3020, d4.loss_cls: 0.1110, d4.loss_bbox: 0.2995, d5.loss_cls: 0.1110, d5.loss_bbox: 0.2991, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8106, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6340, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5846, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5736, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5647, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5657, d0.loss_map_cls_all: 0.1871, d0.loss_map_pts_all: 1.1397, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1871, d0.loss_map_pts: 1.1397, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1582, d1.loss_map_pts: 0.8029, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1383, d2.loss_map_pts: 0.6394, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1281, d3.loss_map_pts: 0.5771, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1216, d4.loss_map_pts: 0.5556, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1163, d5.loss_map_pts: 0.5457, d5.loss_map_dir: 0.0070, loss: 25.3736, grad_norm: 162.8123 +2026-02-28 04:28:43,545 - DriveTransformer - INFO - Epoch [9][8950/39528] lr: 7.525e-05, eta: 5 days, 6:33:55, time: 0.722, data_time: 0.038, memory: 19865, loss_cls: 0.1107, loss_bbox: 0.3240, loss_traj: 0.5540, loss_traj_cls: 0.0022, loss_map_cls: 0.1198, loss_map_pts: 0.5796, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.7951, d0.loss_plan_l1_fix_dist: 0.4104, d1.loss_plan_l1_fix_time: 0.9932, d1.loss_plan_l1_fix_dist: 0.2251, d2.loss_plan_l1_fix_time: 0.9743, d2.loss_plan_l1_fix_dist: 0.2666, d3.loss_plan_l1_fix_time: 0.9745, d3.loss_plan_l1_fix_dist: 0.3109, d4.loss_plan_l1_fix_time: 0.9778, d4.loss_plan_l1_fix_dist: 0.4012, d5.loss_plan_l1_fix_time: 0.9819, d5.loss_plan_l1_fix_dist: 0.4001, d6.loss_plan_l1_fix_time: 0.9866, d6.loss_plan_l1_fix_dist: 0.3263, d0.loss_cls_all: 0.1563, d0.loss_bbox_all: 0.3743, d0.loss_cls: 0.1563, d0.loss_bbox: 0.3743, d1.loss_cls: 0.1474, d1.loss_bbox: 0.3469, d2.loss_cls: 0.1312, d2.loss_bbox: 0.3296, d3.loss_cls: 0.1192, d3.loss_bbox: 0.3252, d4.loss_cls: 0.1114, d4.loss_bbox: 0.3249, d5.loss_cls: 0.1092, d5.loss_bbox: 0.3244, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7652, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6273, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5678, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5607, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5571, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5553, d0.loss_map_cls_all: 0.1929, d0.loss_map_pts_all: 1.1520, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1929, d0.loss_map_pts: 1.1520, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1659, d1.loss_map_pts: 0.8175, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1449, d2.loss_map_pts: 0.6674, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1340, d3.loss_map_pts: 0.6105, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1261, d4.loss_map_pts: 0.5881, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1221, d5.loss_map_pts: 0.5794, d5.loss_map_dir: 0.0072, loss: 26.3861, grad_norm: 161.9237 +2026-02-28 04:29:18,997 - DriveTransformer - INFO - Epoch [9][9000/39528] lr: 7.525e-05, eta: 5 days, 6:33:11, time: 0.709, data_time: 0.037, memory: 19865, loss_cls: 0.1219, loss_bbox: 0.3224, loss_traj: 0.5223, loss_traj_cls: 0.0021, loss_map_cls: 0.1335, loss_map_pts: 0.6072, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.8947, d0.loss_plan_l1_fix_dist: 0.3904, d1.loss_plan_l1_fix_time: 0.9196, d1.loss_plan_l1_fix_dist: 0.2022, d2.loss_plan_l1_fix_time: 0.9099, d2.loss_plan_l1_fix_dist: 0.2525, d3.loss_plan_l1_fix_time: 0.9106, d3.loss_plan_l1_fix_dist: 0.2753, d4.loss_plan_l1_fix_time: 0.9137, d4.loss_plan_l1_fix_dist: 0.3635, d5.loss_plan_l1_fix_time: 0.9180, d5.loss_plan_l1_fix_dist: 0.3952, d6.loss_plan_l1_fix_time: 0.9222, d6.loss_plan_l1_fix_dist: 0.2993, d0.loss_cls_all: 0.1692, d0.loss_bbox_all: 0.3890, d0.loss_cls: 0.1692, d0.loss_bbox: 0.3890, d1.loss_cls: 0.1658, d1.loss_bbox: 0.3499, d2.loss_cls: 0.1490, d2.loss_bbox: 0.3328, d3.loss_cls: 0.1303, d3.loss_bbox: 0.3267, d4.loss_cls: 0.1227, d4.loss_bbox: 0.3248, d5.loss_cls: 0.1218, d5.loss_bbox: 0.3230, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7135, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5836, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5362, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5234, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5184, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5191, d0.loss_map_cls_all: 0.2134, d0.loss_map_pts_all: 1.1874, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2134, d0.loss_map_pts: 1.1874, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1836, d1.loss_map_pts: 0.8508, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1567, d2.loss_map_pts: 0.6919, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1447, d3.loss_map_pts: 0.6360, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1402, d4.loss_map_pts: 0.6157, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1358, d5.loss_map_pts: 0.6060, d5.loss_map_dir: 0.0070, loss: 26.1567, grad_norm: 162.5914 +2026-02-28 04:29:55,660 - DriveTransformer - INFO - Epoch [9][9050/39528] lr: 7.525e-05, eta: 5 days, 6:32:35, time: 0.733, data_time: 0.037, memory: 19865, loss_cls: 0.1138, loss_bbox: 0.3143, loss_traj: 0.5240, loss_traj_cls: 0.0022, loss_map_cls: 0.1251, loss_map_pts: 0.6610, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.4544, d0.loss_plan_l1_fix_dist: 0.4234, d1.loss_plan_l1_fix_time: 0.7867, d1.loss_plan_l1_fix_dist: 0.1791, d2.loss_plan_l1_fix_time: 0.7793, d2.loss_plan_l1_fix_dist: 0.2659, d3.loss_plan_l1_fix_time: 0.7801, d3.loss_plan_l1_fix_dist: 0.2909, d4.loss_plan_l1_fix_time: 0.7835, d4.loss_plan_l1_fix_dist: 0.3257, d5.loss_plan_l1_fix_time: 0.7873, d5.loss_plan_l1_fix_dist: 0.3280, d6.loss_plan_l1_fix_time: 0.7913, d6.loss_plan_l1_fix_dist: 0.2829, d0.loss_cls_all: 0.1512, d0.loss_bbox_all: 0.3731, d0.loss_cls: 0.1512, d0.loss_bbox: 0.3731, d1.loss_cls: 0.1471, d1.loss_bbox: 0.3410, d2.loss_cls: 0.1361, d2.loss_bbox: 0.3241, d3.loss_cls: 0.1185, d3.loss_bbox: 0.3189, d4.loss_cls: 0.1148, d4.loss_bbox: 0.3148, d5.loss_cls: 0.1133, d5.loss_bbox: 0.3141, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7387, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5636, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5346, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5258, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5210, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5226, d0.loss_map_cls_all: 0.2021, d0.loss_map_pts_all: 1.2975, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2021, d0.loss_map_pts: 1.2975, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1719, d1.loss_map_pts: 0.9173, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1480, d2.loss_map_pts: 0.7465, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1372, d3.loss_map_pts: 0.6833, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1293, d4.loss_map_pts: 0.6629, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1261, d5.loss_map_pts: 0.6591, d5.loss_map_dir: 0.0083, loss: 25.1465, grad_norm: 162.1243 +2026-02-28 04:30:32,089 - DriveTransformer - INFO - Epoch [9][9100/39528] lr: 7.525e-05, eta: 5 days, 6:31:58, time: 0.729, data_time: 0.037, memory: 19865, loss_cls: 0.1087, loss_bbox: 0.3273, loss_traj: 0.5566, loss_traj_cls: 0.0021, loss_map_cls: 0.1409, loss_map_pts: 0.6747, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.6317, d0.loss_plan_l1_fix_dist: 0.3946, d1.loss_plan_l1_fix_time: 0.8755, d1.loss_plan_l1_fix_dist: 0.1704, d2.loss_plan_l1_fix_time: 0.8670, d2.loss_plan_l1_fix_dist: 0.2783, d3.loss_plan_l1_fix_time: 0.8640, d3.loss_plan_l1_fix_dist: 0.2909, d4.loss_plan_l1_fix_time: 0.8674, d4.loss_plan_l1_fix_dist: 0.3021, d5.loss_plan_l1_fix_time: 0.8723, d5.loss_plan_l1_fix_dist: 0.2798, d6.loss_plan_l1_fix_time: 0.8782, d6.loss_plan_l1_fix_dist: 0.2739, d0.loss_cls_all: 0.1526, d0.loss_bbox_all: 0.3698, d0.loss_cls: 0.1526, d0.loss_bbox: 0.3698, d1.loss_cls: 0.1454, d1.loss_bbox: 0.3408, d2.loss_cls: 0.1311, d2.loss_bbox: 0.3276, d3.loss_cls: 0.1151, d3.loss_bbox: 0.3251, d4.loss_cls: 0.1107, d4.loss_bbox: 0.3251, d5.loss_cls: 0.1085, d5.loss_bbox: 0.3268, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7486, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6063, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5743, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5642, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5585, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5563, d0.loss_map_cls_all: 0.2106, d0.loss_map_pts_all: 1.2990, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2106, d0.loss_map_pts: 1.2990, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1863, d1.loss_map_pts: 0.9414, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1661, d2.loss_map_pts: 0.7632, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1528, d3.loss_map_pts: 0.6981, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1459, d4.loss_map_pts: 0.6729, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1425, d5.loss_map_pts: 0.6697, d5.loss_map_dir: 0.0082, loss: 26.1916, grad_norm: 155.4031 +2026-02-28 04:31:09,568 - DriveTransformer - INFO - Epoch [9][9150/39528] lr: 7.525e-05, eta: 5 days, 6:31:28, time: 0.750, data_time: 0.040, memory: 19865, loss_cls: 0.1159, loss_bbox: 0.3261, loss_traj: 0.5505, loss_traj_cls: 0.0022, loss_map_cls: 0.1150, loss_map_pts: 0.5997, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.6301, d0.loss_plan_l1_fix_dist: 0.4510, d1.loss_plan_l1_fix_time: 0.9692, d1.loss_plan_l1_fix_dist: 0.2001, d2.loss_plan_l1_fix_time: 0.9515, d2.loss_plan_l1_fix_dist: 0.2992, d3.loss_plan_l1_fix_time: 0.9500, d3.loss_plan_l1_fix_dist: 0.3015, d4.loss_plan_l1_fix_time: 0.9518, d4.loss_plan_l1_fix_dist: 0.2855, d5.loss_plan_l1_fix_time: 0.9547, d5.loss_plan_l1_fix_dist: 0.2645, d6.loss_plan_l1_fix_time: 0.9579, d6.loss_plan_l1_fix_dist: 0.3016, d0.loss_cls_all: 0.1648, d0.loss_bbox_all: 0.3919, d0.loss_cls: 0.1648, d0.loss_bbox: 0.3919, d1.loss_cls: 0.1560, d1.loss_bbox: 0.3570, d2.loss_cls: 0.1408, d2.loss_bbox: 0.3354, d3.loss_cls: 0.1219, d3.loss_bbox: 0.3319, d4.loss_cls: 0.1162, d4.loss_bbox: 0.3276, d5.loss_cls: 0.1163, d5.loss_bbox: 0.3254, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7283, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5948, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5658, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5509, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5453, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5482, d0.loss_map_cls_all: 0.1937, d0.loss_map_pts_all: 1.2231, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.1937, d0.loss_map_pts: 1.2231, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1599, d1.loss_map_pts: 0.8697, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1399, d2.loss_map_pts: 0.6985, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1284, d3.loss_map_pts: 0.6352, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1213, d4.loss_map_pts: 0.6086, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1164, d5.loss_map_pts: 0.6002, d5.loss_map_dir: 0.0081, loss: 26.1347, grad_norm: 154.7611 +2026-02-28 04:31:48,004 - DriveTransformer - INFO - Epoch [9][9200/39528] lr: 7.525e-05, eta: 5 days, 6:31:05, time: 0.769, data_time: 0.038, memory: 19865, loss_cls: 0.1016, loss_bbox: 0.3123, loss_traj: 0.4657, loss_traj_cls: 0.0021, loss_map_cls: 0.1435, loss_map_pts: 0.6961, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.2481, d0.loss_plan_l1_fix_dist: 0.4892, d1.loss_plan_l1_fix_time: 0.8573, d1.loss_plan_l1_fix_dist: 0.2104, d2.loss_plan_l1_fix_time: 0.8457, d2.loss_plan_l1_fix_dist: 0.3004, d3.loss_plan_l1_fix_time: 0.8470, d3.loss_plan_l1_fix_dist: 0.3299, d4.loss_plan_l1_fix_time: 0.8528, d4.loss_plan_l1_fix_dist: 0.2579, d5.loss_plan_l1_fix_time: 0.8565, d5.loss_plan_l1_fix_dist: 0.2478, d6.loss_plan_l1_fix_time: 0.8611, d6.loss_plan_l1_fix_dist: 0.2984, d0.loss_cls_all: 0.1480, d0.loss_bbox_all: 0.3725, d0.loss_cls: 0.1480, d0.loss_bbox: 0.3725, d1.loss_cls: 0.1419, d1.loss_bbox: 0.3405, d2.loss_cls: 0.1217, d2.loss_bbox: 0.3277, d3.loss_cls: 0.1068, d3.loss_bbox: 0.3186, d4.loss_cls: 0.1014, d4.loss_bbox: 0.3152, d5.loss_cls: 0.1010, d5.loss_bbox: 0.3131, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6916, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5316, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4825, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4701, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4720, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4688, d0.loss_map_cls_all: 0.2278, d0.loss_map_pts_all: 1.4754, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2278, d0.loss_map_pts: 1.4754, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1945, d1.loss_map_pts: 1.0215, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1703, d2.loss_map_pts: 0.8056, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1597, d3.loss_map_pts: 0.7299, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1505, d4.loss_map_pts: 0.7013, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1451, d5.loss_map_pts: 0.6967, d5.loss_map_dir: 0.0092, loss: 25.8268, grad_norm: 156.0808 +2026-02-28 04:32:26,440 - DriveTransformer - INFO - Epoch [9][9250/39528] lr: 7.525e-05, eta: 5 days, 6:30:41, time: 0.769, data_time: 0.039, memory: 19865, loss_cls: 0.1229, loss_bbox: 0.3462, loss_traj: 0.5149, loss_traj_cls: 0.0020, loss_map_cls: 0.1409, loss_map_pts: 0.6969, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.5327, d0.loss_plan_l1_fix_dist: 0.4025, d1.loss_plan_l1_fix_time: 0.8859, d1.loss_plan_l1_fix_dist: 0.2374, d2.loss_plan_l1_fix_time: 0.8726, d2.loss_plan_l1_fix_dist: 0.3229, d3.loss_plan_l1_fix_time: 0.8730, d3.loss_plan_l1_fix_dist: 0.3943, d4.loss_plan_l1_fix_time: 0.8791, d4.loss_plan_l1_fix_dist: 0.2431, d5.loss_plan_l1_fix_time: 0.8826, d5.loss_plan_l1_fix_dist: 0.2598, d6.loss_plan_l1_fix_time: 0.8870, d6.loss_plan_l1_fix_dist: 0.2676, d0.loss_cls_all: 0.1642, d0.loss_bbox_all: 0.4055, d0.loss_cls: 0.1642, d0.loss_bbox: 0.4055, d1.loss_cls: 0.1605, d1.loss_bbox: 0.3697, d2.loss_cls: 0.1497, d2.loss_bbox: 0.3519, d3.loss_cls: 0.1298, d3.loss_bbox: 0.3471, d4.loss_cls: 0.1235, d4.loss_bbox: 0.3461, d5.loss_cls: 0.1220, d5.loss_bbox: 0.3453, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7202, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5651, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5207, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5144, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5144, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5151, d0.loss_map_cls_all: 0.2186, d0.loss_map_pts_all: 1.3423, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2186, d0.loss_map_pts: 1.3423, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1849, d1.loss_map_pts: 0.9824, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1639, d2.loss_map_pts: 0.8082, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1535, d3.loss_map_pts: 0.7411, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1483, d4.loss_map_pts: 0.7104, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1432, d5.loss_map_pts: 0.6965, d5.loss_map_dir: 0.0086, loss: 26.6237, grad_norm: 152.6003 +2026-02-28 04:33:01,257 - DriveTransformer - INFO - Epoch [9][9300/39528] lr: 7.525e-05, eta: 5 days, 6:29:53, time: 0.696, data_time: 0.038, memory: 19865, loss_cls: 0.1276, loss_bbox: 0.3367, loss_traj: 0.5800, loss_traj_cls: 0.0020, loss_map_cls: 0.1391, loss_map_pts: 0.6277, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.7582, d0.loss_plan_l1_fix_dist: 0.4320, d1.loss_plan_l1_fix_time: 0.8291, d1.loss_plan_l1_fix_dist: 0.2458, d2.loss_plan_l1_fix_time: 0.8182, d2.loss_plan_l1_fix_dist: 0.3411, d3.loss_plan_l1_fix_time: 0.8188, d3.loss_plan_l1_fix_dist: 0.4273, d4.loss_plan_l1_fix_time: 0.8215, d4.loss_plan_l1_fix_dist: 0.2759, d5.loss_plan_l1_fix_time: 0.8248, d5.loss_plan_l1_fix_dist: 0.2705, d6.loss_plan_l1_fix_time: 0.8287, d6.loss_plan_l1_fix_dist: 0.2847, d0.loss_cls_all: 0.1742, d0.loss_bbox_all: 0.3890, d0.loss_cls: 0.1742, d0.loss_bbox: 0.3890, d1.loss_cls: 0.1655, d1.loss_bbox: 0.3558, d2.loss_cls: 0.1481, d2.loss_bbox: 0.3412, d3.loss_cls: 0.1326, d3.loss_bbox: 0.3361, d4.loss_cls: 0.1282, d4.loss_bbox: 0.3343, d5.loss_cls: 0.1275, d5.loss_bbox: 0.3346, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8051, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6479, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6022, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5878, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5856, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5831, d0.loss_map_cls_all: 0.2199, d0.loss_map_pts_all: 1.1712, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2199, d0.loss_map_pts: 1.1712, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1938, d1.loss_map_pts: 0.8765, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1671, d2.loss_map_pts: 0.7218, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1527, d3.loss_map_pts: 0.6569, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1463, d4.loss_map_pts: 0.6365, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1410, d5.loss_map_pts: 0.6278, d5.loss_map_dir: 0.0067, loss: 26.2910, grad_norm: 151.8147 +2026-02-28 04:33:37,380 - DriveTransformer - INFO - Epoch [9][9350/39528] lr: 7.525e-05, eta: 5 days, 6:29:13, time: 0.722, data_time: 0.036, memory: 19865, loss_cls: 0.1166, loss_bbox: 0.3142, loss_traj: 0.5465, loss_traj_cls: 0.0021, loss_map_cls: 0.1173, loss_map_pts: 0.5880, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.6247, d0.loss_plan_l1_fix_dist: 0.4357, d1.loss_plan_l1_fix_time: 0.7752, d1.loss_plan_l1_fix_dist: 0.2370, d2.loss_plan_l1_fix_time: 0.7526, d2.loss_plan_l1_fix_dist: 0.3416, d3.loss_plan_l1_fix_time: 0.7545, d3.loss_plan_l1_fix_dist: 0.4070, d4.loss_plan_l1_fix_time: 0.7571, d4.loss_plan_l1_fix_dist: 0.2797, d5.loss_plan_l1_fix_time: 0.7610, d5.loss_plan_l1_fix_dist: 0.2466, d6.loss_plan_l1_fix_time: 0.7658, d6.loss_plan_l1_fix_dist: 0.2578, d0.loss_cls_all: 0.1578, d0.loss_bbox_all: 0.3699, d0.loss_cls: 0.1578, d0.loss_bbox: 0.3699, d1.loss_cls: 0.1528, d1.loss_bbox: 0.3387, d2.loss_cls: 0.1408, d2.loss_bbox: 0.3207, d3.loss_cls: 0.1234, d3.loss_bbox: 0.3156, d4.loss_cls: 0.1179, d4.loss_bbox: 0.3141, d5.loss_cls: 0.1160, d5.loss_bbox: 0.3139, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7368, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6042, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5604, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5473, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5443, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5453, d0.loss_map_cls_all: 0.1928, d0.loss_map_pts_all: 1.1614, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1928, d0.loss_map_pts: 1.1614, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1622, d1.loss_map_pts: 0.8288, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1416, d2.loss_map_pts: 0.6625, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1317, d3.loss_map_pts: 0.6077, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1233, d4.loss_map_pts: 0.5906, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1186, d5.loss_map_pts: 0.5871, d5.loss_map_dir: 0.0076, loss: 24.6565, grad_norm: 154.6735 +2026-02-28 04:34:13,447 - DriveTransformer - INFO - Epoch [9][9400/39528] lr: 7.525e-05, eta: 5 days, 6:28:33, time: 0.721, data_time: 0.038, memory: 19865, loss_cls: 0.1090, loss_bbox: 0.3081, loss_traj: 0.6499, loss_traj_cls: 0.0020, loss_map_cls: 0.0978, loss_map_pts: 0.5054, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.5306, d0.loss_plan_l1_fix_dist: 0.3787, d1.loss_plan_l1_fix_time: 0.7067, d1.loss_plan_l1_fix_dist: 0.2258, d2.loss_plan_l1_fix_time: 0.6899, d2.loss_plan_l1_fix_dist: 0.3444, d3.loss_plan_l1_fix_time: 0.6884, d3.loss_plan_l1_fix_dist: 0.3919, d4.loss_plan_l1_fix_time: 0.6906, d4.loss_plan_l1_fix_dist: 0.2786, d5.loss_plan_l1_fix_time: 0.6949, d5.loss_plan_l1_fix_dist: 0.2508, d6.loss_plan_l1_fix_time: 0.6997, d6.loss_plan_l1_fix_dist: 0.2545, d0.loss_cls_all: 0.1480, d0.loss_bbox_all: 0.3552, d0.loss_cls: 0.1480, d0.loss_bbox: 0.3552, d1.loss_cls: 0.1435, d1.loss_bbox: 0.3270, d2.loss_cls: 0.1340, d2.loss_bbox: 0.3153, d3.loss_cls: 0.1161, d3.loss_bbox: 0.3083, d4.loss_cls: 0.1096, d4.loss_bbox: 0.3081, d5.loss_cls: 0.1087, d5.loss_bbox: 0.3085, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9022, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7181, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6721, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6605, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6586, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6536, d0.loss_map_cls_all: 0.1780, d0.loss_map_pts_all: 1.0748, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1780, d0.loss_map_pts: 1.0748, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1476, d1.loss_map_pts: 0.7305, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1228, d2.loss_map_pts: 0.5735, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1125, d3.loss_map_pts: 0.5201, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1042, d4.loss_map_pts: 0.5067, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0990, d5.loss_map_pts: 0.5039, d5.loss_map_dir: 0.0066, loss: 23.9318, grad_norm: 154.7233 +2026-02-28 04:34:49,204 - DriveTransformer - INFO - Epoch [9][9450/39528] lr: 7.525e-05, eta: 5 days, 6:27:51, time: 0.715, data_time: 0.036, memory: 19865, loss_cls: 0.1306, loss_bbox: 0.3196, loss_traj: 0.5633, loss_traj_cls: 0.0020, loss_map_cls: 0.1382, loss_map_pts: 0.6176, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.5861, d0.loss_plan_l1_fix_dist: 0.3842, d1.loss_plan_l1_fix_time: 0.9429, d1.loss_plan_l1_fix_dist: 0.2061, d2.loss_plan_l1_fix_time: 0.9341, d2.loss_plan_l1_fix_dist: 0.3136, d3.loss_plan_l1_fix_time: 0.9370, d3.loss_plan_l1_fix_dist: 0.3413, d4.loss_plan_l1_fix_time: 0.9399, d4.loss_plan_l1_fix_dist: 0.2226, d5.loss_plan_l1_fix_time: 0.9433, d5.loss_plan_l1_fix_dist: 0.2374, d6.loss_plan_l1_fix_time: 0.9478, d6.loss_plan_l1_fix_dist: 0.2588, d0.loss_cls_all: 0.1779, d0.loss_bbox_all: 0.3818, d0.loss_cls: 0.1779, d0.loss_bbox: 0.3818, d1.loss_cls: 0.1728, d1.loss_bbox: 0.3460, d2.loss_cls: 0.1605, d2.loss_bbox: 0.3275, d3.loss_cls: 0.1373, d3.loss_bbox: 0.3255, d4.loss_cls: 0.1320, d4.loss_bbox: 0.3220, d5.loss_cls: 0.1300, d5.loss_bbox: 0.3195, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8367, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6515, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5893, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5826, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5798, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5649, d0.loss_map_cls_all: 0.2027, d0.loss_map_pts_all: 1.1955, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2027, d0.loss_map_pts: 1.1955, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1752, d1.loss_map_pts: 0.8931, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1533, d2.loss_map_pts: 0.7237, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1446, d3.loss_map_pts: 0.6519, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1410, d4.loss_map_pts: 0.6237, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1400, d5.loss_map_pts: 0.6177, d5.loss_map_dir: 0.0064, loss: 26.3802, grad_norm: 154.2641 +2026-02-28 04:35:25,398 - DriveTransformer - INFO - Epoch [9][9500/39528] lr: 7.525e-05, eta: 5 days, 6:27:12, time: 0.724, data_time: 0.037, memory: 19865, loss_cls: 0.1335, loss_bbox: 0.3371, loss_traj: 0.6138, loss_traj_cls: 0.0020, loss_map_cls: 0.1292, loss_map_pts: 0.5960, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.5427, d0.loss_plan_l1_fix_dist: 0.4002, d1.loss_plan_l1_fix_time: 0.9021, d1.loss_plan_l1_fix_dist: 0.2101, d2.loss_plan_l1_fix_time: 0.8870, d2.loss_plan_l1_fix_dist: 0.2705, d3.loss_plan_l1_fix_time: 0.8866, d3.loss_plan_l1_fix_dist: 0.3084, d4.loss_plan_l1_fix_time: 0.8885, d4.loss_plan_l1_fix_dist: 0.2155, d5.loss_plan_l1_fix_time: 0.8913, d5.loss_plan_l1_fix_dist: 0.2588, d6.loss_plan_l1_fix_time: 0.8952, d6.loss_plan_l1_fix_dist: 0.3027, d0.loss_cls_all: 0.1746, d0.loss_bbox_all: 0.4107, d0.loss_cls: 0.1746, d0.loss_bbox: 0.4107, d1.loss_cls: 0.1673, d1.loss_bbox: 0.3716, d2.loss_cls: 0.1539, d2.loss_bbox: 0.3507, d3.loss_cls: 0.1397, d3.loss_bbox: 0.3439, d4.loss_cls: 0.1324, d4.loss_bbox: 0.3416, d5.loss_cls: 0.1346, d5.loss_bbox: 0.3377, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8713, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6979, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6466, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6226, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6172, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6121, d0.loss_map_cls_all: 0.2149, d0.loss_map_pts_all: 1.2087, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2149, d0.loss_map_pts: 1.2087, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1808, d1.loss_map_pts: 0.8621, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1580, d2.loss_map_pts: 0.6974, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1439, d3.loss_map_pts: 0.6279, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1351, d4.loss_map_pts: 0.6010, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1320, d5.loss_map_pts: 0.5958, d5.loss_map_dir: 0.0066, loss: 26.4220, grad_norm: 152.5013 +2026-02-28 04:36:01,579 - DriveTransformer - INFO - Epoch [9][9550/39528] lr: 7.525e-05, eta: 5 days, 6:26:33, time: 0.723, data_time: 0.038, memory: 19865, loss_cls: 0.0971, loss_bbox: 0.2580, loss_traj: 0.5239, loss_traj_cls: 0.0022, loss_map_cls: 0.1018, loss_map_pts: 0.4653, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.1508, d0.loss_plan_l1_fix_dist: 0.4610, d1.loss_plan_l1_fix_time: 0.8025, d1.loss_plan_l1_fix_dist: 0.2048, d2.loss_plan_l1_fix_time: 0.7876, d2.loss_plan_l1_fix_dist: 0.2239, d3.loss_plan_l1_fix_time: 0.7898, d3.loss_plan_l1_fix_dist: 0.2546, d4.loss_plan_l1_fix_time: 0.7947, d4.loss_plan_l1_fix_dist: 0.2171, d5.loss_plan_l1_fix_time: 0.7990, d5.loss_plan_l1_fix_dist: 0.2143, d6.loss_plan_l1_fix_time: 0.8038, d6.loss_plan_l1_fix_dist: 0.2451, d0.loss_cls_all: 0.1334, d0.loss_bbox_all: 0.3116, d0.loss_cls: 0.1334, d0.loss_bbox: 0.3116, d1.loss_cls: 0.1294, d1.loss_bbox: 0.2820, d2.loss_cls: 0.1189, d2.loss_bbox: 0.2662, d3.loss_cls: 0.1055, d3.loss_bbox: 0.2599, d4.loss_cls: 0.0989, d4.loss_bbox: 0.2605, d5.loss_cls: 0.0979, d5.loss_bbox: 0.2590, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7404, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5748, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5323, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5259, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5234, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5229, d0.loss_map_cls_all: 0.1657, d0.loss_map_pts_all: 0.9824, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1657, d0.loss_map_pts: 0.9824, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1417, d1.loss_map_pts: 0.6817, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1221, d2.loss_map_pts: 0.5469, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1125, d3.loss_map_pts: 0.4930, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1085, d4.loss_map_pts: 0.4747, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1031, d5.loss_map_pts: 0.4665, d5.loss_map_dir: 0.0057, loss: 21.9822, grad_norm: 147.8299 +2026-02-28 04:36:38,165 - DriveTransformer - INFO - Epoch [9][9600/39528] lr: 7.525e-05, eta: 5 days, 6:25:58, time: 0.733, data_time: 0.040, memory: 19865, loss_cls: 0.1082, loss_bbox: 0.3043, loss_traj: 0.5531, loss_traj_cls: 0.0021, loss_map_cls: 0.0989, loss_map_pts: 0.5163, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.8106, d0.loss_plan_l1_fix_dist: 0.4720, d1.loss_plan_l1_fix_time: 0.8291, d1.loss_plan_l1_fix_dist: 0.2455, d2.loss_plan_l1_fix_time: 0.8196, d2.loss_plan_l1_fix_dist: 0.2390, d3.loss_plan_l1_fix_time: 0.8240, d3.loss_plan_l1_fix_dist: 0.2598, d4.loss_plan_l1_fix_time: 0.8278, d4.loss_plan_l1_fix_dist: 0.2218, d5.loss_plan_l1_fix_time: 0.8311, d5.loss_plan_l1_fix_dist: 0.2378, d6.loss_plan_l1_fix_time: 0.8350, d6.loss_plan_l1_fix_dist: 0.2693, d0.loss_cls_all: 0.1484, d0.loss_bbox_all: 0.3578, d0.loss_cls: 0.1484, d0.loss_bbox: 0.3578, d1.loss_cls: 0.1455, d1.loss_bbox: 0.3271, d2.loss_cls: 0.1338, d2.loss_bbox: 0.3086, d3.loss_cls: 0.1154, d3.loss_bbox: 0.3074, d4.loss_cls: 0.1106, d4.loss_bbox: 0.3043, d5.loss_cls: 0.1094, d5.loss_bbox: 0.3038, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7787, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6158, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5730, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5570, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5512, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5514, d0.loss_map_cls_all: 0.1688, d0.loss_map_pts_all: 1.0494, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1688, d0.loss_map_pts: 1.0494, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1408, d1.loss_map_pts: 0.7180, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1200, d2.loss_map_pts: 0.5932, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1123, d3.loss_map_pts: 0.5363, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1056, d4.loss_map_pts: 0.5198, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1006, d5.loss_map_pts: 0.5159, d5.loss_map_dir: 0.0064, loss: 24.0671, grad_norm: 147.8588 +2026-02-28 04:37:16,158 - DriveTransformer - INFO - Epoch [9][9650/39528] lr: 7.525e-05, eta: 5 days, 6:25:31, time: 0.758, data_time: 0.035, memory: 19865, loss_cls: 0.1132, loss_bbox: 0.2957, loss_traj: 0.4921, loss_traj_cls: 0.0022, loss_map_cls: 0.1120, loss_map_pts: 0.5895, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.2723, d0.loss_plan_l1_fix_dist: 0.5766, d1.loss_plan_l1_fix_time: 0.7764, d1.loss_plan_l1_fix_dist: 0.2781, d2.loss_plan_l1_fix_time: 0.7639, d2.loss_plan_l1_fix_dist: 0.2572, d3.loss_plan_l1_fix_time: 0.7650, d3.loss_plan_l1_fix_dist: 0.2608, d4.loss_plan_l1_fix_time: 0.7674, d4.loss_plan_l1_fix_dist: 0.2302, d5.loss_plan_l1_fix_time: 0.7708, d5.loss_plan_l1_fix_dist: 0.2420, d6.loss_plan_l1_fix_time: 0.7742, d6.loss_plan_l1_fix_dist: 0.2393, d0.loss_cls_all: 0.1567, d0.loss_bbox_all: 0.3630, d0.loss_cls: 0.1567, d0.loss_bbox: 0.3630, d1.loss_cls: 0.1480, d1.loss_bbox: 0.3311, d2.loss_cls: 0.1348, d2.loss_bbox: 0.3101, d3.loss_cls: 0.1201, d3.loss_bbox: 0.3030, d4.loss_cls: 0.1150, d4.loss_bbox: 0.2982, d5.loss_cls: 0.1133, d5.loss_bbox: 0.2966, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7085, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5644, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5102, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4930, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4910, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4932, d0.loss_map_cls_all: 0.1927, d0.loss_map_pts_all: 1.2620, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.1927, d0.loss_map_pts: 1.2620, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1566, d1.loss_map_pts: 0.8624, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1357, d2.loss_map_pts: 0.6814, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1250, d3.loss_map_pts: 0.6146, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1184, d4.loss_map_pts: 0.5939, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1143, d5.loss_map_pts: 0.5894, d5.loss_map_dir: 0.0083, loss: 24.0195, grad_norm: 147.5870 +2026-02-28 04:37:51,537 - DriveTransformer - INFO - Epoch [9][9700/39528] lr: 7.525e-05, eta: 5 days, 6:24:46, time: 0.708, data_time: 0.037, memory: 19865, loss_cls: 0.1356, loss_bbox: 0.3333, loss_traj: 0.4958, loss_traj_cls: 0.0021, loss_map_cls: 0.1464, loss_map_pts: 0.6012, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.6308, d0.loss_plan_l1_fix_dist: 0.4708, d1.loss_plan_l1_fix_time: 0.9065, d1.loss_plan_l1_fix_dist: 0.2873, d2.loss_plan_l1_fix_time: 0.8880, d2.loss_plan_l1_fix_dist: 0.2610, d3.loss_plan_l1_fix_time: 0.8866, d3.loss_plan_l1_fix_dist: 0.2542, d4.loss_plan_l1_fix_time: 0.8890, d4.loss_plan_l1_fix_dist: 0.2394, d5.loss_plan_l1_fix_time: 0.8920, d5.loss_plan_l1_fix_dist: 0.2813, d6.loss_plan_l1_fix_time: 0.8955, d6.loss_plan_l1_fix_dist: 0.2384, d0.loss_cls_all: 0.1782, d0.loss_bbox_all: 0.3911, d0.loss_cls: 0.1782, d0.loss_bbox: 0.3911, d1.loss_cls: 0.1732, d1.loss_bbox: 0.3601, d2.loss_cls: 0.1610, d2.loss_bbox: 0.3411, d3.loss_cls: 0.1449, d3.loss_bbox: 0.3341, d4.loss_cls: 0.1367, d4.loss_bbox: 0.3340, d5.loss_cls: 0.1361, d5.loss_bbox: 0.3331, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6992, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5574, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5119, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5016, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4989, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4963, d0.loss_map_cls_all: 0.2193, d0.loss_map_pts_all: 1.1740, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2193, d0.loss_map_pts: 1.1740, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1951, d1.loss_map_pts: 0.8397, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1718, d2.loss_map_pts: 0.6905, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1599, d3.loss_map_pts: 0.6277, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1527, d4.loss_map_pts: 0.6078, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1468, d5.loss_map_pts: 0.6020, d5.loss_map_dir: 0.0074, loss: 25.6366, grad_norm: 147.4933 +2026-02-28 04:38:28,340 - DriveTransformer - INFO - Epoch [9][9750/39528] lr: 7.525e-05, eta: 5 days, 6:24:11, time: 0.736, data_time: 0.038, memory: 19865, loss_cls: 0.1220, loss_bbox: 0.3143, loss_traj: 0.4711, loss_traj_cls: 0.0021, loss_map_cls: 0.1407, loss_map_pts: 0.6267, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.8032, d0.loss_plan_l1_fix_dist: 0.4194, d1.loss_plan_l1_fix_time: 0.9523, d1.loss_plan_l1_fix_dist: 0.2685, d2.loss_plan_l1_fix_time: 0.9422, d2.loss_plan_l1_fix_dist: 0.2242, d3.loss_plan_l1_fix_time: 0.9425, d3.loss_plan_l1_fix_dist: 0.2296, d4.loss_plan_l1_fix_time: 0.9454, d4.loss_plan_l1_fix_dist: 0.2187, d5.loss_plan_l1_fix_time: 0.9494, d5.loss_plan_l1_fix_dist: 0.3100, d6.loss_plan_l1_fix_time: 0.9539, d6.loss_plan_l1_fix_dist: 0.2577, d0.loss_cls_all: 0.1686, d0.loss_bbox_all: 0.3813, d0.loss_cls: 0.1686, d0.loss_bbox: 0.3813, d1.loss_cls: 0.1634, d1.loss_bbox: 0.3495, d2.loss_cls: 0.1467, d2.loss_bbox: 0.3275, d3.loss_cls: 0.1309, d3.loss_bbox: 0.3194, d4.loss_cls: 0.1223, d4.loss_bbox: 0.3165, d5.loss_cls: 0.1217, d5.loss_bbox: 0.3147, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6893, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5493, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5098, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4809, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4753, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4733, d0.loss_map_cls_all: 0.2269, d0.loss_map_pts_all: 1.2855, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2269, d0.loss_map_pts: 1.2855, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1931, d1.loss_map_pts: 0.9013, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1677, d2.loss_map_pts: 0.7317, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1563, d3.loss_map_pts: 0.6643, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1495, d4.loss_map_pts: 0.6361, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1437, d5.loss_map_pts: 0.6274, d5.loss_map_dir: 0.0073, loss: 26.1418, grad_norm: 146.0854 +2026-02-28 04:39:06,073 - DriveTransformer - INFO - Epoch [9][9800/39528] lr: 7.525e-05, eta: 5 days, 6:23:43, time: 0.755, data_time: 0.037, memory: 19865, loss_cls: 0.1141, loss_bbox: 0.3344, loss_traj: 0.5159, loss_traj_cls: 0.0021, loss_map_cls: 0.1260, loss_map_pts: 0.6936, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.6060, d0.loss_plan_l1_fix_dist: 0.4384, d1.loss_plan_l1_fix_time: 0.9989, d1.loss_plan_l1_fix_dist: 0.2815, d2.loss_plan_l1_fix_time: 0.9764, d2.loss_plan_l1_fix_dist: 0.2535, d3.loss_plan_l1_fix_time: 0.9732, d3.loss_plan_l1_fix_dist: 0.2495, d4.loss_plan_l1_fix_time: 0.9758, d4.loss_plan_l1_fix_dist: 0.2578, d5.loss_plan_l1_fix_time: 0.9793, d5.loss_plan_l1_fix_dist: 0.3541, d6.loss_plan_l1_fix_time: 0.9844, d6.loss_plan_l1_fix_dist: 0.2889, d0.loss_cls_all: 0.1564, d0.loss_bbox_all: 0.4105, d0.loss_cls: 0.1564, d0.loss_bbox: 0.4105, d1.loss_cls: 0.1506, d1.loss_bbox: 0.3735, d2.loss_cls: 0.1361, d2.loss_bbox: 0.3498, d3.loss_cls: 0.1212, d3.loss_bbox: 0.3403, d4.loss_cls: 0.1154, d4.loss_bbox: 0.3354, d5.loss_cls: 0.1148, d5.loss_bbox: 0.3337, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7505, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5655, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5112, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5060, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5051, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5082, d0.loss_map_cls_all: 0.2121, d0.loss_map_pts_all: 1.3522, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2121, d0.loss_map_pts: 1.3522, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1796, d1.loss_map_pts: 0.9714, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1537, d2.loss_map_pts: 0.7939, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1398, d3.loss_map_pts: 0.7265, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1319, d4.loss_map_pts: 0.7041, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1275, d5.loss_map_pts: 0.6949, d5.loss_map_dir: 0.0086, loss: 27.0785, grad_norm: 147.0319 +2026-02-28 04:39:41,535 - DriveTransformer - INFO - Epoch [9][9850/39528] lr: 7.525e-05, eta: 5 days, 6:22:59, time: 0.709, data_time: 0.037, memory: 19865, loss_cls: 0.1091, loss_bbox: 0.3202, loss_traj: 0.5260, loss_traj_cls: 0.0022, loss_map_cls: 0.1475, loss_map_pts: 0.5897, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.4937, d0.loss_plan_l1_fix_dist: 0.4011, d1.loss_plan_l1_fix_time: 0.8594, d1.loss_plan_l1_fix_dist: 0.2630, d2.loss_plan_l1_fix_time: 0.8404, d2.loss_plan_l1_fix_dist: 0.2525, d3.loss_plan_l1_fix_time: 0.8414, d3.loss_plan_l1_fix_dist: 0.2425, d4.loss_plan_l1_fix_time: 0.8453, d4.loss_plan_l1_fix_dist: 0.2636, d5.loss_plan_l1_fix_time: 0.8487, d5.loss_plan_l1_fix_dist: 0.3033, d6.loss_plan_l1_fix_time: 0.8540, d6.loss_plan_l1_fix_dist: 0.2633, d0.loss_cls_all: 0.1587, d0.loss_bbox_all: 0.3768, d0.loss_cls: 0.1587, d0.loss_bbox: 0.3768, d1.loss_cls: 0.1533, d1.loss_bbox: 0.3433, d2.loss_cls: 0.1372, d2.loss_bbox: 0.3285, d3.loss_cls: 0.1170, d3.loss_bbox: 0.3224, d4.loss_cls: 0.1104, d4.loss_bbox: 0.3192, d5.loss_cls: 0.1109, d5.loss_bbox: 0.3179, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7430, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5861, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5390, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5327, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.5273, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5248, d0.loss_map_cls_all: 0.2335, d0.loss_map_pts_all: 1.1898, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2335, d0.loss_map_pts: 1.1898, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1987, d1.loss_map_pts: 0.8448, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1770, d2.loss_map_pts: 0.6783, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1625, d3.loss_map_pts: 0.6170, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1563, d4.loss_map_pts: 0.5947, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1498, d5.loss_map_pts: 0.5893, d5.loss_map_dir: 0.0065, loss: 25.1220, grad_norm: 144.9817 +2026-02-28 04:40:17,129 - DriveTransformer - INFO - Epoch [9][9900/39528] lr: 7.525e-05, eta: 5 days, 6:22:16, time: 0.712, data_time: 0.038, memory: 19865, loss_cls: 0.1026, loss_bbox: 0.3029, loss_traj: 0.4654, loss_traj_cls: 0.0021, loss_map_cls: 0.1290, loss_map_pts: 0.5854, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.5345, d0.loss_plan_l1_fix_dist: 0.4088, d1.loss_plan_l1_fix_time: 0.8662, d1.loss_plan_l1_fix_dist: 0.2686, d2.loss_plan_l1_fix_time: 0.8541, d2.loss_plan_l1_fix_dist: 0.2761, d3.loss_plan_l1_fix_time: 0.8582, d3.loss_plan_l1_fix_dist: 0.2664, d4.loss_plan_l1_fix_time: 0.8610, d4.loss_plan_l1_fix_dist: 0.3357, d5.loss_plan_l1_fix_time: 0.8643, d5.loss_plan_l1_fix_dist: 0.2693, d6.loss_plan_l1_fix_time: 0.8672, d6.loss_plan_l1_fix_dist: 0.2551, d0.loss_cls_all: 0.1453, d0.loss_bbox_all: 0.3586, d0.loss_cls: 0.1453, d0.loss_bbox: 0.3586, d1.loss_cls: 0.1397, d1.loss_bbox: 0.3242, d2.loss_cls: 0.1264, d2.loss_bbox: 0.3048, d3.loss_cls: 0.1097, d3.loss_bbox: 0.3006, d4.loss_cls: 0.1049, d4.loss_bbox: 0.3010, d5.loss_cls: 0.1040, d5.loss_bbox: 0.3003, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6213, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5024, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4661, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.4587, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.4595, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4658, d0.loss_map_cls_all: 0.2063, d0.loss_map_pts_all: 1.2239, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.2063, d0.loss_map_pts: 1.2239, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1767, d1.loss_map_pts: 0.8457, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1538, d2.loss_map_pts: 0.6822, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1432, d3.loss_map_pts: 0.6211, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1375, d4.loss_map_pts: 0.5947, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1317, d5.loss_map_pts: 0.5863, d5.loss_map_dir: 0.0067, loss: 24.4596, grad_norm: 146.4298 +2026-02-28 04:40:53,324 - DriveTransformer - INFO - Epoch [9][9950/39528] lr: 7.525e-05, eta: 5 days, 6:21:37, time: 0.724, data_time: 0.038, memory: 19865, loss_cls: 0.1376, loss_bbox: 0.3499, loss_traj: 0.5624, loss_traj_cls: 0.0021, loss_map_cls: 0.1341, loss_map_pts: 0.6687, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.4842, d0.loss_plan_l1_fix_dist: 0.3725, d1.loss_plan_l1_fix_time: 0.8016, d1.loss_plan_l1_fix_dist: 0.2701, d2.loss_plan_l1_fix_time: 0.7892, d2.loss_plan_l1_fix_dist: 0.2948, d3.loss_plan_l1_fix_time: 0.7900, d3.loss_plan_l1_fix_dist: 0.2898, d4.loss_plan_l1_fix_time: 0.7934, d4.loss_plan_l1_fix_dist: 0.3842, d5.loss_plan_l1_fix_time: 0.7993, d5.loss_plan_l1_fix_dist: 0.3217, d6.loss_plan_l1_fix_time: 0.8039, d6.loss_plan_l1_fix_dist: 0.3189, d0.loss_cls_all: 0.1771, d0.loss_bbox_all: 0.4099, d0.loss_cls: 0.1771, d0.loss_bbox: 0.4099, d1.loss_cls: 0.1756, d1.loss_bbox: 0.3712, d2.loss_cls: 0.1618, d2.loss_bbox: 0.3509, d3.loss_cls: 0.1457, d3.loss_bbox: 0.3446, d4.loss_cls: 0.1401, d4.loss_bbox: 0.3467, d5.loss_cls: 0.1386, d5.loss_bbox: 0.3476, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7814, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6110, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5753, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5608, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5592, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5619, d0.loss_map_cls_all: 0.2208, d0.loss_map_pts_all: 1.2551, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2208, d0.loss_map_pts: 1.2551, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1873, d1.loss_map_pts: 0.9196, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1640, d2.loss_map_pts: 0.7616, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1488, d3.loss_map_pts: 0.6986, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1431, d4.loss_map_pts: 0.6771, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1363, d5.loss_map_pts: 0.6687, d5.loss_map_dir: 0.0080, loss: 26.2386, grad_norm: 147.7489 +2026-02-28 04:41:29,296 - DriveTransformer - INFO - Epoch [9][10000/39528] lr: 7.525e-05, eta: 5 days, 6:20:57, time: 0.719, data_time: 0.038, memory: 19865, loss_cls: 0.1182, loss_bbox: 0.3419, loss_traj: 0.6754, loss_traj_cls: 0.0020, loss_map_cls: 0.1323, loss_map_pts: 0.5856, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.8563, d0.loss_plan_l1_fix_dist: 0.4831, d1.loss_plan_l1_fix_time: 1.0508, d1.loss_plan_l1_fix_dist: 0.2771, d2.loss_plan_l1_fix_time: 1.0407, d2.loss_plan_l1_fix_dist: 0.3123, d3.loss_plan_l1_fix_time: 1.0448, d3.loss_plan_l1_fix_dist: 0.2628, d4.loss_plan_l1_fix_time: 1.0488, d4.loss_plan_l1_fix_dist: 0.3310, d5.loss_plan_l1_fix_time: 1.0533, d5.loss_plan_l1_fix_dist: 0.2605, d6.loss_plan_l1_fix_time: 1.0575, d6.loss_plan_l1_fix_dist: 0.3151, d0.loss_cls_all: 0.1583, d0.loss_bbox_all: 0.3916, d0.loss_cls: 0.1583, d0.loss_bbox: 0.3916, d1.loss_cls: 0.1538, d1.loss_bbox: 0.3568, d2.loss_cls: 0.1399, d2.loss_bbox: 0.3370, d3.loss_cls: 0.1260, d3.loss_bbox: 0.3338, d4.loss_cls: 0.1185, d4.loss_bbox: 0.3371, d5.loss_cls: 0.1183, d5.loss_bbox: 0.3394, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9414, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7522, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7080, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6855, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6814, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6756, d0.loss_map_cls_all: 0.2134, d0.loss_map_pts_all: 1.1490, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.2134, d0.loss_map_pts: 1.1490, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1817, d1.loss_map_pts: 0.8310, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1577, d2.loss_map_pts: 0.6708, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1455, d3.loss_map_pts: 0.6134, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1397, d4.loss_map_pts: 0.5919, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1348, d5.loss_map_pts: 0.5870, d5.loss_map_dir: 0.0066, loss: 27.9884, grad_norm: 149.2121 +2026-02-28 04:42:05,474 - DriveTransformer - INFO - Epoch [9][10050/39528] lr: 7.525e-05, eta: 5 days, 6:20:18, time: 0.724, data_time: 0.038, memory: 19865, loss_cls: 0.1328, loss_bbox: 0.3384, loss_traj: 0.6310, loss_traj_cls: 0.0021, loss_map_cls: 0.1402, loss_map_pts: 0.6108, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.9232, d0.loss_plan_l1_fix_dist: 0.3179, d1.loss_plan_l1_fix_time: 0.9297, d1.loss_plan_l1_fix_dist: 0.2606, d2.loss_plan_l1_fix_time: 0.9210, d2.loss_plan_l1_fix_dist: 0.3098, d3.loss_plan_l1_fix_time: 0.9197, d3.loss_plan_l1_fix_dist: 0.2421, d4.loss_plan_l1_fix_time: 0.9228, d4.loss_plan_l1_fix_dist: 0.2829, d5.loss_plan_l1_fix_time: 0.9251, d5.loss_plan_l1_fix_dist: 0.2521, d6.loss_plan_l1_fix_time: 0.9293, d6.loss_plan_l1_fix_dist: 0.3394, d0.loss_cls_all: 0.1851, d0.loss_bbox_all: 0.4052, d0.loss_cls: 0.1851, d0.loss_bbox: 0.4052, d1.loss_cls: 0.1768, d1.loss_bbox: 0.3664, d2.loss_cls: 0.1604, d2.loss_bbox: 0.3432, d3.loss_cls: 0.1464, d3.loss_bbox: 0.3372, d4.loss_cls: 0.1370, d4.loss_bbox: 0.3375, d5.loss_cls: 0.1327, d5.loss_bbox: 0.3383, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8804, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6973, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6449, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6370, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6326, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6321, d0.loss_map_cls_all: 0.2147, d0.loss_map_pts_all: 1.1824, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2147, d0.loss_map_pts: 1.1824, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1856, d1.loss_map_pts: 0.8382, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1642, d2.loss_map_pts: 0.6859, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1545, d3.loss_map_pts: 0.6321, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1473, d4.loss_map_pts: 0.6142, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1411, d5.loss_map_pts: 0.6122, d5.loss_map_dir: 0.0071, loss: 27.1419, grad_norm: 147.2981 +2026-02-28 04:42:41,513 - DriveTransformer - INFO - Epoch [9][10100/39528] lr: 7.525e-05, eta: 5 days, 6:19:37, time: 0.721, data_time: 0.036, memory: 19865, loss_cls: 0.1211, loss_bbox: 0.3065, loss_traj: 0.5424, loss_traj_cls: 0.0021, loss_map_cls: 0.1305, loss_map_pts: 0.5590, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.5743, d0.loss_plan_l1_fix_dist: 0.4390, d1.loss_plan_l1_fix_time: 0.8972, d1.loss_plan_l1_fix_dist: 0.2678, d2.loss_plan_l1_fix_time: 0.8933, d2.loss_plan_l1_fix_dist: 0.3273, d3.loss_plan_l1_fix_time: 0.8945, d3.loss_plan_l1_fix_dist: 0.2613, d4.loss_plan_l1_fix_time: 0.8993, d4.loss_plan_l1_fix_dist: 0.3010, d5.loss_plan_l1_fix_time: 0.9031, d5.loss_plan_l1_fix_dist: 0.3332, d6.loss_plan_l1_fix_time: 0.9086, d6.loss_plan_l1_fix_dist: 0.3596, d0.loss_cls_all: 0.1635, d0.loss_bbox_all: 0.3723, d0.loss_cls: 0.1635, d0.loss_bbox: 0.3723, d1.loss_cls: 0.1568, d1.loss_bbox: 0.3385, d2.loss_cls: 0.1390, d2.loss_bbox: 0.3188, d3.loss_cls: 0.1274, d3.loss_bbox: 0.3110, d4.loss_cls: 0.1234, d4.loss_bbox: 0.3072, d5.loss_cls: 0.1214, d5.loss_bbox: 0.3073, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7607, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6014, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5685, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5531, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5479, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5468, d0.loss_map_cls_all: 0.2143, d0.loss_map_pts_all: 1.1712, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2143, d0.loss_map_pts: 1.1712, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1772, d1.loss_map_pts: 0.8104, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1532, d2.loss_map_pts: 0.6441, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1424, d3.loss_map_pts: 0.5836, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1376, d4.loss_map_pts: 0.5637, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1333, d5.loss_map_pts: 0.5597, d5.loss_map_dir: 0.0070, loss: 25.5590, grad_norm: 147.8063 +2026-02-28 04:43:16,341 - DriveTransformer - INFO - Epoch [9][10150/39528] lr: 7.525e-05, eta: 5 days, 6:18:49, time: 0.697, data_time: 0.037, memory: 19865, loss_cls: 0.1100, loss_bbox: 0.2981, loss_traj: 0.5879, loss_traj_cls: 0.0022, loss_map_cls: 0.1058, loss_map_pts: 0.4885, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.4544, d0.loss_plan_l1_fix_dist: 0.4827, d1.loss_plan_l1_fix_time: 0.8062, d1.loss_plan_l1_fix_dist: 0.2488, d2.loss_plan_l1_fix_time: 0.7940, d2.loss_plan_l1_fix_dist: 0.2918, d3.loss_plan_l1_fix_time: 0.7911, d3.loss_plan_l1_fix_dist: 0.2340, d4.loss_plan_l1_fix_time: 0.7940, d4.loss_plan_l1_fix_dist: 0.2971, d5.loss_plan_l1_fix_time: 0.7970, d5.loss_plan_l1_fix_dist: 0.3732, d6.loss_plan_l1_fix_time: 0.8006, d6.loss_plan_l1_fix_dist: 0.2766, d0.loss_cls_all: 0.1547, d0.loss_bbox_all: 0.3549, d0.loss_cls: 0.1547, d0.loss_bbox: 0.3549, d1.loss_cls: 0.1442, d1.loss_bbox: 0.3254, d2.loss_cls: 0.1323, d2.loss_bbox: 0.3045, d3.loss_cls: 0.1187, d3.loss_bbox: 0.2984, d4.loss_cls: 0.1118, d4.loss_bbox: 0.2978, d5.loss_cls: 0.1102, d5.loss_bbox: 0.2974, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8390, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6539, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6045, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.6021, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5958, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5939, d0.loss_map_cls_all: 0.1821, d0.loss_map_pts_all: 0.9796, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1821, d0.loss_map_pts: 0.9796, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1548, d1.loss_map_pts: 0.6843, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1291, d2.loss_map_pts: 0.5547, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1187, d3.loss_map_pts: 0.5137, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1124, d4.loss_map_pts: 0.4979, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1074, d5.loss_map_pts: 0.4891, d5.loss_map_dir: 0.0061, loss: 23.8210, grad_norm: 147.0781 +2026-02-28 04:43:53,029 - DriveTransformer - INFO - Epoch [9][10200/39528] lr: 7.525e-05, eta: 5 days, 6:18:14, time: 0.734, data_time: 0.034, memory: 19865, loss_cls: 0.1180, loss_bbox: 0.3366, loss_traj: 0.5690, loss_traj_cls: 0.0020, loss_map_cls: 0.1242, loss_map_pts: 0.6674, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.4755, d0.loss_plan_l1_fix_dist: 0.4363, d1.loss_plan_l1_fix_time: 0.9190, d1.loss_plan_l1_fix_dist: 0.2465, d2.loss_plan_l1_fix_time: 0.9061, d2.loss_plan_l1_fix_dist: 0.2684, d3.loss_plan_l1_fix_time: 0.9037, d3.loss_plan_l1_fix_dist: 0.2315, d4.loss_plan_l1_fix_time: 0.9056, d4.loss_plan_l1_fix_dist: 0.3101, d5.loss_plan_l1_fix_time: 0.9090, d5.loss_plan_l1_fix_dist: 0.3910, d6.loss_plan_l1_fix_time: 0.9125, d6.loss_plan_l1_fix_dist: 0.2428, d0.loss_cls_all: 0.1611, d0.loss_bbox_all: 0.4023, d0.loss_cls: 0.1611, d0.loss_bbox: 0.4023, d1.loss_cls: 0.1530, d1.loss_bbox: 0.3647, d2.loss_cls: 0.1410, d2.loss_bbox: 0.3418, d3.loss_cls: 0.1232, d3.loss_bbox: 0.3388, d4.loss_cls: 0.1185, d4.loss_bbox: 0.3361, d5.loss_cls: 0.1173, d5.loss_bbox: 0.3361, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8122, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6462, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5905, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5870, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5785, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5755, d0.loss_map_cls_all: 0.2112, d0.loss_map_pts_all: 1.3745, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2112, d0.loss_map_pts: 1.3745, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1793, d1.loss_map_pts: 0.9814, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1519, d2.loss_map_pts: 0.7865, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1401, d3.loss_map_pts: 0.7093, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1313, d4.loss_map_pts: 0.6782, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1266, d5.loss_map_pts: 0.6682, d5.loss_map_dir: 0.0078, loss: 26.9503, grad_norm: 146.3108 +2026-02-28 04:44:30,557 - DriveTransformer - INFO - Epoch [9][10250/39528] lr: 7.525e-05, eta: 5 days, 6:17:44, time: 0.751, data_time: 0.037, memory: 19865, loss_cls: 0.1187, loss_bbox: 0.3152, loss_traj: 0.4554, loss_traj_cls: 0.0021, loss_map_cls: 0.1497, loss_map_pts: 0.7135, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.8053, d0.loss_plan_l1_fix_dist: 0.4376, d1.loss_plan_l1_fix_time: 0.9486, d1.loss_plan_l1_fix_dist: 0.2450, d2.loss_plan_l1_fix_time: 0.9235, d2.loss_plan_l1_fix_dist: 0.2507, d3.loss_plan_l1_fix_time: 0.9167, d3.loss_plan_l1_fix_dist: 0.2466, d4.loss_plan_l1_fix_time: 0.9186, d4.loss_plan_l1_fix_dist: 0.2757, d5.loss_plan_l1_fix_time: 0.9217, d5.loss_plan_l1_fix_dist: 0.3437, d6.loss_plan_l1_fix_time: 0.9258, d6.loss_plan_l1_fix_dist: 0.2853, d0.loss_cls_all: 0.1598, d0.loss_bbox_all: 0.3765, d0.loss_cls: 0.1598, d0.loss_bbox: 0.3765, d1.loss_cls: 0.1519, d1.loss_bbox: 0.3484, d2.loss_cls: 0.1400, d2.loss_bbox: 0.3259, d3.loss_cls: 0.1243, d3.loss_bbox: 0.3203, d4.loss_cls: 0.1208, d4.loss_bbox: 0.3159, d5.loss_cls: 0.1185, d5.loss_bbox: 0.3149, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6717, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5106, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4675, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4626, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4562, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4547, d0.loss_map_cls_all: 0.2371, d0.loss_map_pts_all: 1.4055, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2371, d0.loss_map_pts: 1.4055, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.2018, d1.loss_map_pts: 1.0199, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1779, d2.loss_map_pts: 0.8340, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1648, d3.loss_map_pts: 0.7554, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1568, d4.loss_map_pts: 0.7234, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1519, d5.loss_map_pts: 0.7136, d5.loss_map_dir: 0.0082, loss: 26.8285, grad_norm: 146.4992 +2026-02-28 04:45:05,092 - DriveTransformer - INFO - Epoch [9][10300/39528] lr: 7.525e-05, eta: 5 days, 6:16:53, time: 0.691, data_time: 0.036, memory: 19865, loss_cls: 0.1262, loss_bbox: 0.3334, loss_traj: 0.5640, loss_traj_cls: 0.0020, loss_map_cls: 0.1150, loss_map_pts: 0.5889, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.3427, d0.loss_plan_l1_fix_dist: 0.4209, d1.loss_plan_l1_fix_time: 0.8793, d1.loss_plan_l1_fix_dist: 0.2585, d2.loss_plan_l1_fix_time: 0.8627, d2.loss_plan_l1_fix_dist: 0.2436, d3.loss_plan_l1_fix_time: 0.8562, d3.loss_plan_l1_fix_dist: 0.2709, d4.loss_plan_l1_fix_time: 0.8582, d4.loss_plan_l1_fix_dist: 0.2463, d5.loss_plan_l1_fix_time: 0.8609, d5.loss_plan_l1_fix_dist: 0.3024, d6.loss_plan_l1_fix_time: 0.8652, d6.loss_plan_l1_fix_dist: 0.2845, d0.loss_cls_all: 0.1731, d0.loss_bbox_all: 0.3904, d0.loss_cls: 0.1731, d0.loss_bbox: 0.3904, d1.loss_cls: 0.1667, d1.loss_bbox: 0.3588, d2.loss_cls: 0.1528, d2.loss_bbox: 0.3382, d3.loss_cls: 0.1321, d3.loss_bbox: 0.3338, d4.loss_cls: 0.1273, d4.loss_bbox: 0.3328, d5.loss_cls: 0.1271, d5.loss_bbox: 0.3324, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7653, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6191, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5712, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5615, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5647, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5638, d0.loss_map_cls_all: 0.1974, d0.loss_map_pts_all: 1.1853, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1974, d0.loss_map_pts: 1.1853, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1678, d1.loss_map_pts: 0.8504, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1412, d2.loss_map_pts: 0.6835, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1286, d3.loss_map_pts: 0.6230, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1214, d4.loss_map_pts: 0.5982, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1168, d5.loss_map_pts: 0.5902, d5.loss_map_dir: 0.0066, loss: 25.2997, grad_norm: 144.1424 +2026-02-28 04:45:40,916 - DriveTransformer - INFO - Epoch [9][10350/39528] lr: 7.525e-05, eta: 5 days, 6:16:12, time: 0.716, data_time: 0.036, memory: 19865, loss_cls: 0.1028, loss_bbox: 0.2917, loss_traj: 0.4528, loss_traj_cls: 0.0021, loss_map_cls: 0.0996, loss_map_pts: 0.5048, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.7327, d0.loss_plan_l1_fix_dist: 0.5526, d1.loss_plan_l1_fix_time: 0.8059, d1.loss_plan_l1_fix_dist: 0.2849, d2.loss_plan_l1_fix_time: 0.7961, d2.loss_plan_l1_fix_dist: 0.2750, d3.loss_plan_l1_fix_time: 0.7952, d3.loss_plan_l1_fix_dist: 0.3173, d4.loss_plan_l1_fix_time: 0.7981, d4.loss_plan_l1_fix_dist: 0.2698, d5.loss_plan_l1_fix_time: 0.8022, d5.loss_plan_l1_fix_dist: 0.3010, d6.loss_plan_l1_fix_time: 0.8073, d6.loss_plan_l1_fix_dist: 0.2619, d0.loss_cls_all: 0.1424, d0.loss_bbox_all: 0.3438, d0.loss_cls: 0.1424, d0.loss_bbox: 0.3438, d1.loss_cls: 0.1352, d1.loss_bbox: 0.3147, d2.loss_cls: 0.1218, d2.loss_bbox: 0.2962, d3.loss_cls: 0.1104, d3.loss_bbox: 0.2901, d4.loss_cls: 0.1040, d4.loss_bbox: 0.2900, d5.loss_cls: 0.1026, d5.loss_bbox: 0.2910, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6520, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5092, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4714, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4556, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4497, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4451, d0.loss_map_cls_all: 0.1664, d0.loss_map_pts_all: 1.0375, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1664, d0.loss_map_pts: 1.0375, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1417, d1.loss_map_pts: 0.7183, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1228, d2.loss_map_pts: 0.5764, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1114, d3.loss_map_pts: 0.5245, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1046, d4.loss_map_pts: 0.5081, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1012, d5.loss_map_pts: 0.5045, d5.loss_map_dir: 0.0063, loss: 23.1401, grad_norm: 148.7327 +2026-02-28 04:46:17,922 - DriveTransformer - INFO - Epoch [9][10400/39528] lr: 7.525e-05, eta: 5 days, 6:15:39, time: 0.742, data_time: 0.036, memory: 19865, loss_cls: 0.1108, loss_bbox: 0.3163, loss_traj: 0.4718, loss_traj_cls: 0.0020, loss_map_cls: 0.1159, loss_map_pts: 0.5914, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.3569, d0.loss_plan_l1_fix_dist: 0.4965, d1.loss_plan_l1_fix_time: 0.8708, d1.loss_plan_l1_fix_dist: 0.2875, d2.loss_plan_l1_fix_time: 0.8627, d2.loss_plan_l1_fix_dist: 0.2730, d3.loss_plan_l1_fix_time: 0.8596, d3.loss_plan_l1_fix_dist: 0.3241, d4.loss_plan_l1_fix_time: 0.8631, d4.loss_plan_l1_fix_dist: 0.3084, d5.loss_plan_l1_fix_time: 0.8685, d5.loss_plan_l1_fix_dist: 0.3064, d6.loss_plan_l1_fix_time: 0.8741, d6.loss_plan_l1_fix_dist: 0.2573, d0.loss_cls_all: 0.1535, d0.loss_bbox_all: 0.3697, d0.loss_cls: 0.1535, d0.loss_bbox: 0.3697, d1.loss_cls: 0.1491, d1.loss_bbox: 0.3384, d2.loss_cls: 0.1294, d2.loss_bbox: 0.3233, d3.loss_cls: 0.1156, d3.loss_bbox: 0.3173, d4.loss_cls: 0.1112, d4.loss_bbox: 0.3151, d5.loss_cls: 0.1112, d5.loss_bbox: 0.3143, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6584, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5260, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4922, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4789, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4746, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4713, d0.loss_map_cls_all: 0.1918, d0.loss_map_pts_all: 1.2544, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1918, d0.loss_map_pts: 1.2544, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1643, d1.loss_map_pts: 0.8868, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1430, d2.loss_map_pts: 0.7017, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1308, d3.loss_map_pts: 0.6335, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1220, d4.loss_map_pts: 0.5988, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1168, d5.loss_map_pts: 0.5914, d5.loss_map_dir: 0.0079, loss: 24.8372, grad_norm: 146.5134 +2026-02-28 04:46:56,383 - DriveTransformer - INFO - Epoch [9][10450/39528] lr: 7.525e-05, eta: 5 days, 6:15:16, time: 0.768, data_time: 0.039, memory: 19865, loss_cls: 0.1219, loss_bbox: 0.3172, loss_traj: 0.4533, loss_traj_cls: 0.0020, loss_map_cls: 0.1307, loss_map_pts: 0.6388, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.7625, d0.loss_plan_l1_fix_dist: 0.4533, d1.loss_plan_l1_fix_time: 0.8656, d1.loss_plan_l1_fix_dist: 0.2699, d2.loss_plan_l1_fix_time: 0.8574, d2.loss_plan_l1_fix_dist: 0.2694, d3.loss_plan_l1_fix_time: 0.8489, d3.loss_plan_l1_fix_dist: 0.3134, d4.loss_plan_l1_fix_time: 0.8494, d4.loss_plan_l1_fix_dist: 0.3156, d5.loss_plan_l1_fix_time: 0.8511, d5.loss_plan_l1_fix_dist: 0.2488, d6.loss_plan_l1_fix_time: 0.8536, d6.loss_plan_l1_fix_dist: 0.2407, d0.loss_cls_all: 0.1642, d0.loss_bbox_all: 0.3804, d0.loss_cls: 0.1642, d0.loss_bbox: 0.3804, d1.loss_cls: 0.1552, d1.loss_bbox: 0.3481, d2.loss_cls: 0.1406, d2.loss_bbox: 0.3274, d3.loss_cls: 0.1260, d3.loss_bbox: 0.3211, d4.loss_cls: 0.1225, d4.loss_bbox: 0.3185, d5.loss_cls: 0.1212, d5.loss_bbox: 0.3177, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6361, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5147, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4600, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4503, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4567, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4544, d0.loss_map_cls_all: 0.2172, d0.loss_map_pts_all: 1.3262, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2172, d0.loss_map_pts: 1.3262, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1835, d1.loss_map_pts: 0.9053, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1590, d2.loss_map_pts: 0.7279, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1474, d3.loss_map_pts: 0.6693, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1395, d4.loss_map_pts: 0.6441, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1345, d5.loss_map_pts: 0.6387, d5.loss_map_dir: 0.0092, loss: 25.5357, grad_norm: 145.3552 +2026-02-28 04:47:32,138 - DriveTransformer - INFO - Epoch [9][10500/39528] lr: 7.525e-05, eta: 5 days, 6:14:34, time: 0.715, data_time: 0.039, memory: 19865, loss_cls: 0.1143, loss_bbox: 0.3069, loss_traj: 0.6086, loss_traj_cls: 0.0020, loss_map_cls: 0.1231, loss_map_pts: 0.5313, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.5284, d0.loss_plan_l1_fix_dist: 0.5102, d1.loss_plan_l1_fix_time: 0.9627, d1.loss_plan_l1_fix_dist: 0.2573, d2.loss_plan_l1_fix_time: 0.9459, d2.loss_plan_l1_fix_dist: 0.2993, d3.loss_plan_l1_fix_time: 0.9403, d3.loss_plan_l1_fix_dist: 0.3337, d4.loss_plan_l1_fix_time: 0.9422, d4.loss_plan_l1_fix_dist: 0.3434, d5.loss_plan_l1_fix_time: 0.9458, d5.loss_plan_l1_fix_dist: 0.2631, d6.loss_plan_l1_fix_time: 0.9493, d6.loss_plan_l1_fix_dist: 0.2791, d0.loss_cls_all: 0.1485, d0.loss_bbox_all: 0.3640, d0.loss_cls: 0.1485, d0.loss_bbox: 0.3640, d1.loss_cls: 0.1444, d1.loss_bbox: 0.3347, d2.loss_cls: 0.1333, d2.loss_bbox: 0.3180, d3.loss_cls: 0.1202, d3.loss_bbox: 0.3102, d4.loss_cls: 0.1156, d4.loss_bbox: 0.3078, d5.loss_cls: 0.1138, d5.loss_bbox: 0.3077, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8755, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6932, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6353, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6154, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6097, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6092, d0.loss_map_cls_all: 0.2013, d0.loss_map_pts_all: 1.1166, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.2013, d0.loss_map_pts: 1.1166, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1716, d1.loss_map_pts: 0.7924, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1503, d2.loss_map_pts: 0.6296, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1369, d3.loss_map_pts: 0.5614, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1330, d4.loss_map_pts: 0.5385, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1272, d5.loss_map_pts: 0.5310, d5.loss_map_dir: 0.0059, loss: 25.9142, grad_norm: 141.6281 +2026-02-28 04:48:07,642 - DriveTransformer - INFO - Epoch [9][10550/39528] lr: 7.525e-05, eta: 5 days, 6:13:50, time: 0.710, data_time: 0.036, memory: 19865, loss_cls: 0.1148, loss_bbox: 0.2956, loss_traj: 0.4509, loss_traj_cls: 0.0019, loss_map_cls: 0.1202, loss_map_pts: 0.5527, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.3767, d0.loss_plan_l1_fix_dist: 0.4189, d1.loss_plan_l1_fix_time: 0.9658, d1.loss_plan_l1_fix_dist: 0.2315, d2.loss_plan_l1_fix_time: 0.9605, d2.loss_plan_l1_fix_dist: 0.2989, d3.loss_plan_l1_fix_time: 0.9591, d3.loss_plan_l1_fix_dist: 0.3324, d4.loss_plan_l1_fix_time: 0.9622, d4.loss_plan_l1_fix_dist: 0.3281, d5.loss_plan_l1_fix_time: 0.9661, d5.loss_plan_l1_fix_dist: 0.2488, d6.loss_plan_l1_fix_time: 0.9702, d6.loss_plan_l1_fix_dist: 0.2681, d0.loss_cls_all: 0.1571, d0.loss_bbox_all: 0.3634, d0.loss_cls: 0.1571, d0.loss_bbox: 0.3634, d1.loss_cls: 0.1493, d1.loss_bbox: 0.3267, d2.loss_cls: 0.1377, d2.loss_bbox: 0.3048, d3.loss_cls: 0.1205, d3.loss_bbox: 0.2981, d4.loss_cls: 0.1160, d4.loss_bbox: 0.2946, d5.loss_cls: 0.1147, d5.loss_bbox: 0.2937, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6751, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5184, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4711, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4481, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4517, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4492, d0.loss_map_cls_all: 0.1947, d0.loss_map_pts_all: 1.1522, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1947, d0.loss_map_pts: 1.1522, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1651, d1.loss_map_pts: 0.8221, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1430, d2.loss_map_pts: 0.6471, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1334, d3.loss_map_pts: 0.5802, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1264, d4.loss_map_pts: 0.5587, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1214, d5.loss_map_pts: 0.5539, d5.loss_map_dir: 0.0072, loss: 24.6385, grad_norm: 141.1250 +2026-02-28 04:48:44,491 - DriveTransformer - INFO - Epoch [9][10600/39528] lr: 7.525e-05, eta: 5 days, 6:13:15, time: 0.737, data_time: 0.036, memory: 19865, loss_cls: 0.1268, loss_bbox: 0.3156, loss_traj: 0.6141, loss_traj_cls: 0.0020, loss_map_cls: 0.1177, loss_map_pts: 0.5209, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.9541, d0.loss_plan_l1_fix_dist: 0.4713, d1.loss_plan_l1_fix_time: 0.9756, d1.loss_plan_l1_fix_dist: 0.2672, d2.loss_plan_l1_fix_time: 0.9547, d2.loss_plan_l1_fix_dist: 0.3204, d3.loss_plan_l1_fix_time: 0.9450, d3.loss_plan_l1_fix_dist: 0.3430, d4.loss_plan_l1_fix_time: 0.9462, d4.loss_plan_l1_fix_dist: 0.3190, d5.loss_plan_l1_fix_time: 0.9488, d5.loss_plan_l1_fix_dist: 0.2518, d6.loss_plan_l1_fix_time: 0.9526, d6.loss_plan_l1_fix_dist: 0.2675, d0.loss_cls_all: 0.1578, d0.loss_bbox_all: 0.3781, d0.loss_cls: 0.1578, d0.loss_bbox: 0.3781, d1.loss_cls: 0.1486, d1.loss_bbox: 0.3461, d2.loss_cls: 0.1385, d2.loss_bbox: 0.3302, d3.loss_cls: 0.1281, d3.loss_bbox: 0.3209, d4.loss_cls: 0.1262, d4.loss_bbox: 0.3176, d5.loss_cls: 0.1262, d5.loss_bbox: 0.3155, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8479, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6926, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6361, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6233, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6192, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6169, d0.loss_map_cls_all: 0.1854, d0.loss_map_pts_all: 1.0573, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1854, d0.loss_map_pts: 1.0573, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1590, d1.loss_map_pts: 0.7653, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1432, d2.loss_map_pts: 0.6054, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1313, d3.loss_map_pts: 0.5506, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1245, d4.loss_map_pts: 0.5308, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1198, d5.loss_map_pts: 0.5225, d5.loss_map_dir: 0.0067, loss: 26.2134, grad_norm: 142.5857 +2026-02-28 04:49:19,937 - DriveTransformer - INFO - Epoch [9][10650/39528] lr: 7.525e-05, eta: 5 days, 6:12:31, time: 0.709, data_time: 0.040, memory: 19865, loss_cls: 0.1255, loss_bbox: 0.3254, loss_traj: 0.5683, loss_traj_cls: 0.0019, loss_map_cls: 0.1192, loss_map_pts: 0.5480, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.2694, d0.loss_plan_l1_fix_dist: 0.4901, d1.loss_plan_l1_fix_time: 0.8395, d1.loss_plan_l1_fix_dist: 0.3010, d2.loss_plan_l1_fix_time: 0.8178, d2.loss_plan_l1_fix_dist: 0.3185, d3.loss_plan_l1_fix_time: 0.8066, d3.loss_plan_l1_fix_dist: 0.3012, d4.loss_plan_l1_fix_time: 0.8075, d4.loss_plan_l1_fix_dist: 0.2778, d5.loss_plan_l1_fix_time: 0.8104, d5.loss_plan_l1_fix_dist: 0.2525, d6.loss_plan_l1_fix_time: 0.8137, d6.loss_plan_l1_fix_dist: 0.2334, d0.loss_cls_all: 0.1729, d0.loss_bbox_all: 0.3909, d0.loss_cls: 0.1729, d0.loss_bbox: 0.3909, d1.loss_cls: 0.1589, d1.loss_bbox: 0.3600, d2.loss_cls: 0.1454, d2.loss_bbox: 0.3385, d3.loss_cls: 0.1291, d3.loss_bbox: 0.3320, d4.loss_cls: 0.1255, d4.loss_bbox: 0.3277, d5.loss_cls: 0.1247, d5.loss_bbox: 0.3255, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7987, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6423, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5963, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5749, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5700, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5689, d0.loss_map_cls_all: 0.2044, d0.loss_map_pts_all: 1.1262, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.2044, d0.loss_map_pts: 1.1262, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1763, d1.loss_map_pts: 0.8008, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1481, d2.loss_map_pts: 0.6421, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1330, d3.loss_map_pts: 0.5785, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1269, d4.loss_map_pts: 0.5534, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1207, d5.loss_map_pts: 0.5487, d5.loss_map_dir: 0.0061, loss: 24.8167, grad_norm: 141.5182 +2026-02-28 04:49:57,129 - DriveTransformer - INFO - Epoch [9][10700/39528] lr: 7.525e-05, eta: 5 days, 6:11:59, time: 0.744, data_time: 0.037, memory: 19865, loss_cls: 0.1208, loss_bbox: 0.3135, loss_traj: 0.5586, loss_traj_cls: 0.0020, loss_map_cls: 0.1366, loss_map_pts: 0.6726, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.7039, d0.loss_plan_l1_fix_dist: 0.4876, d1.loss_plan_l1_fix_time: 0.9698, d1.loss_plan_l1_fix_dist: 0.3614, d2.loss_plan_l1_fix_time: 0.9632, d2.loss_plan_l1_fix_dist: 0.3210, d3.loss_plan_l1_fix_time: 0.9619, d3.loss_plan_l1_fix_dist: 0.3056, d4.loss_plan_l1_fix_time: 0.9666, d4.loss_plan_l1_fix_dist: 0.2881, d5.loss_plan_l1_fix_time: 0.9713, d5.loss_plan_l1_fix_dist: 0.2720, d6.loss_plan_l1_fix_time: 0.9768, d6.loss_plan_l1_fix_dist: 0.2360, d0.loss_cls_all: 0.1681, d0.loss_bbox_all: 0.3728, d0.loss_cls: 0.1681, d0.loss_bbox: 0.3728, d1.loss_cls: 0.1608, d1.loss_bbox: 0.3442, d2.loss_cls: 0.1479, d2.loss_bbox: 0.3229, d3.loss_cls: 0.1273, d3.loss_bbox: 0.3187, d4.loss_cls: 0.1220, d4.loss_bbox: 0.3151, d5.loss_cls: 0.1212, d5.loss_bbox: 0.3137, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7764, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6159, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5752, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5689, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5600, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5598, d0.loss_map_cls_all: 0.2169, d0.loss_map_pts_all: 1.2893, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2169, d0.loss_map_pts: 1.2893, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1912, d1.loss_map_pts: 0.9245, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1649, d2.loss_map_pts: 0.7647, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1523, d3.loss_map_pts: 0.7011, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1443, d4.loss_map_pts: 0.6837, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1392, d5.loss_map_pts: 0.6724, d5.loss_map_dir: 0.0080, loss: 27.2385, grad_norm: 139.5900 +2026-02-28 04:50:32,508 - DriveTransformer - INFO - Epoch [9][10750/39528] lr: 7.525e-05, eta: 5 days, 6:11:15, time: 0.707, data_time: 0.037, memory: 19865, loss_cls: 0.1129, loss_bbox: 0.3060, loss_traj: 0.5042, loss_traj_cls: 0.0020, loss_map_cls: 0.1191, loss_map_pts: 0.5777, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.2844, d0.loss_plan_l1_fix_dist: 0.4992, d1.loss_plan_l1_fix_time: 0.8718, d1.loss_plan_l1_fix_dist: 0.3754, d2.loss_plan_l1_fix_time: 0.8696, d2.loss_plan_l1_fix_dist: 0.2674, d3.loss_plan_l1_fix_time: 0.8723, d3.loss_plan_l1_fix_dist: 0.2822, d4.loss_plan_l1_fix_time: 0.8759, d4.loss_plan_l1_fix_dist: 0.2437, d5.loss_plan_l1_fix_time: 0.8805, d5.loss_plan_l1_fix_dist: 0.2320, d6.loss_plan_l1_fix_time: 0.8866, d6.loss_plan_l1_fix_dist: 0.2258, d0.loss_cls_all: 0.1501, d0.loss_bbox_all: 0.3741, d0.loss_cls: 0.1501, d0.loss_bbox: 0.3741, d1.loss_cls: 0.1469, d1.loss_bbox: 0.3428, d2.loss_cls: 0.1307, d2.loss_bbox: 0.3223, d3.loss_cls: 0.1179, d3.loss_bbox: 0.3125, d4.loss_cls: 0.1128, d4.loss_bbox: 0.3078, d5.loss_cls: 0.1125, d5.loss_bbox: 0.3053, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7137, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5683, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5114, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5023, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5027, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5003, d0.loss_map_cls_all: 0.1971, d0.loss_map_pts_all: 1.1254, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1971, d0.loss_map_pts: 1.1254, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1689, d1.loss_map_pts: 0.8001, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1475, d2.loss_map_pts: 0.6608, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1357, d3.loss_map_pts: 0.6110, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1263, d4.loss_map_pts: 0.5865, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1212, d5.loss_map_pts: 0.5786, d5.loss_map_dir: 0.0065, loss: 24.4854, grad_norm: 140.3725 +2026-02-28 04:51:09,321 - DriveTransformer - INFO - Epoch [9][10800/39528] lr: 7.525e-05, eta: 5 days, 6:10:40, time: 0.736, data_time: 0.035, memory: 19865, loss_cls: 0.1203, loss_bbox: 0.3224, loss_traj: 0.6058, loss_traj_cls: 0.0019, loss_map_cls: 0.1353, loss_map_pts: 0.6703, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.5824, d0.loss_plan_l1_fix_dist: 0.4726, d1.loss_plan_l1_fix_time: 0.9305, d1.loss_plan_l1_fix_dist: 0.4037, d2.loss_plan_l1_fix_time: 0.9133, d2.loss_plan_l1_fix_dist: 0.2314, d3.loss_plan_l1_fix_time: 0.9112, d3.loss_plan_l1_fix_dist: 0.2606, d4.loss_plan_l1_fix_time: 0.9126, d4.loss_plan_l1_fix_dist: 0.2196, d5.loss_plan_l1_fix_time: 0.9151, d5.loss_plan_l1_fix_dist: 0.2303, d6.loss_plan_l1_fix_time: 0.9178, d6.loss_plan_l1_fix_dist: 0.2363, d0.loss_cls_all: 0.1586, d0.loss_bbox_all: 0.3951, d0.loss_cls: 0.1586, d0.loss_bbox: 0.3951, d1.loss_cls: 0.1524, d1.loss_bbox: 0.3551, d2.loss_cls: 0.1411, d2.loss_bbox: 0.3353, d3.loss_cls: 0.1261, d3.loss_bbox: 0.3279, d4.loss_cls: 0.1202, d4.loss_bbox: 0.3242, d5.loss_cls: 0.1204, d5.loss_bbox: 0.3220, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8476, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6934, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6366, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6186, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6093, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6054, d0.loss_map_cls_all: 0.2149, d0.loss_map_pts_all: 1.3430, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2149, d0.loss_map_pts: 1.3430, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1823, d1.loss_map_pts: 0.9799, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1565, d2.loss_map_pts: 0.7872, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1478, d3.loss_map_pts: 0.7148, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1403, d4.loss_map_pts: 0.6816, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1370, d5.loss_map_pts: 0.6729, d5.loss_map_dir: 0.0076, loss: 27.2153, grad_norm: 139.0111 +2026-02-28 04:51:44,824 - DriveTransformer - INFO - Epoch [9][10850/39528] lr: 7.525e-05, eta: 5 days, 6:09:57, time: 0.710, data_time: 0.036, memory: 19865, loss_cls: 0.1046, loss_bbox: 0.2950, loss_traj: 0.5373, loss_traj_cls: 0.0020, loss_map_cls: 0.1150, loss_map_pts: 0.4622, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.3908, d0.loss_plan_l1_fix_dist: 0.5469, d1.loss_plan_l1_fix_time: 0.7432, d1.loss_plan_l1_fix_dist: 0.4154, d2.loss_plan_l1_fix_time: 0.7356, d2.loss_plan_l1_fix_dist: 0.2523, d3.loss_plan_l1_fix_time: 0.7293, d3.loss_plan_l1_fix_dist: 0.2799, d4.loss_plan_l1_fix_time: 0.7323, d4.loss_plan_l1_fix_dist: 0.2019, d5.loss_plan_l1_fix_time: 0.7354, d5.loss_plan_l1_fix_dist: 0.2049, d6.loss_plan_l1_fix_time: 0.7386, d6.loss_plan_l1_fix_dist: 0.1994, d0.loss_cls_all: 0.1418, d0.loss_bbox_all: 0.3465, d0.loss_cls: 0.1418, d0.loss_bbox: 0.3465, d1.loss_cls: 0.1374, d1.loss_bbox: 0.3185, d2.loss_cls: 0.1237, d2.loss_bbox: 0.3029, d3.loss_cls: 0.1113, d3.loss_bbox: 0.2967, d4.loss_cls: 0.1041, d4.loss_bbox: 0.2971, d5.loss_cls: 0.1032, d5.loss_bbox: 0.2960, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6990, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5932, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5461, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5383, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5377, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5367, d0.loss_map_cls_all: 0.1812, d0.loss_map_pts_all: 1.0108, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1812, d0.loss_map_pts: 1.0108, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1565, d1.loss_map_pts: 0.6950, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1346, d2.loss_map_pts: 0.5439, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1267, d3.loss_map_pts: 0.4923, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1236, d4.loss_map_pts: 0.4727, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1177, d5.loss_map_pts: 0.4635, d5.loss_map_dir: 0.0057, loss: 22.7015, grad_norm: 135.6524 +2026-02-28 04:52:20,529 - DriveTransformer - INFO - Epoch [9][10900/39528] lr: 7.525e-05, eta: 5 days, 6:09:14, time: 0.714, data_time: 0.037, memory: 19865, loss_cls: 0.1024, loss_bbox: 0.2915, loss_traj: 0.5007, loss_traj_cls: 0.0020, loss_map_cls: 0.1042, loss_map_pts: 0.5024, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.2801, d0.loss_plan_l1_fix_dist: 0.5224, d1.loss_plan_l1_fix_time: 0.8836, d1.loss_plan_l1_fix_dist: 0.4081, d2.loss_plan_l1_fix_time: 0.8755, d2.loss_plan_l1_fix_dist: 0.3200, d3.loss_plan_l1_fix_time: 0.8766, d3.loss_plan_l1_fix_dist: 0.3206, d4.loss_plan_l1_fix_time: 0.8798, d4.loss_plan_l1_fix_dist: 0.2025, d5.loss_plan_l1_fix_time: 0.8831, d5.loss_plan_l1_fix_dist: 0.1991, d6.loss_plan_l1_fix_time: 0.8860, d6.loss_plan_l1_fix_dist: 0.2149, d0.loss_cls_all: 0.1455, d0.loss_bbox_all: 0.3480, d0.loss_cls: 0.1455, d0.loss_bbox: 0.3480, d1.loss_cls: 0.1385, d1.loss_bbox: 0.3192, d2.loss_cls: 0.1260, d2.loss_bbox: 0.3008, d3.loss_cls: 0.1108, d3.loss_bbox: 0.2929, d4.loss_cls: 0.1036, d4.loss_bbox: 0.2914, d5.loss_cls: 0.1027, d5.loss_bbox: 0.2910, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6802, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5613, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5067, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5050, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5021, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5001, d0.loss_map_cls_all: 0.1858, d0.loss_map_pts_all: 1.0866, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1858, d0.loss_map_pts: 1.0866, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1475, d1.loss_map_pts: 0.7267, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1263, d2.loss_map_pts: 0.5786, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1144, d3.loss_map_pts: 0.5272, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1087, d4.loss_map_pts: 0.5116, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1056, d5.loss_map_pts: 0.5040, d5.loss_map_dir: 0.0069, loss: 23.6300, grad_norm: 135.9385 +2026-02-28 04:52:57,430 - DriveTransformer - INFO - Epoch [9][10950/39528] lr: 7.525e-05, eta: 5 days, 6:08:40, time: 0.738, data_time: 0.041, memory: 19865, loss_cls: 0.1175, loss_bbox: 0.3276, loss_traj: 0.5872, loss_traj_cls: 0.0020, loss_map_cls: 0.1350, loss_map_pts: 0.5769, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.8542, d0.loss_plan_l1_fix_dist: 0.4884, d1.loss_plan_l1_fix_time: 0.9276, d1.loss_plan_l1_fix_dist: 0.4298, d2.loss_plan_l1_fix_time: 0.9156, d2.loss_plan_l1_fix_dist: 0.3460, d3.loss_plan_l1_fix_time: 0.9153, d3.loss_plan_l1_fix_dist: 0.3274, d4.loss_plan_l1_fix_time: 0.9180, d4.loss_plan_l1_fix_dist: 0.2367, d5.loss_plan_l1_fix_time: 0.9211, d5.loss_plan_l1_fix_dist: 0.2310, d6.loss_plan_l1_fix_time: 0.9251, d6.loss_plan_l1_fix_dist: 0.2426, d0.loss_cls_all: 0.1583, d0.loss_bbox_all: 0.3896, d0.loss_cls: 0.1583, d0.loss_bbox: 0.3896, d1.loss_cls: 0.1536, d1.loss_bbox: 0.3560, d2.loss_cls: 0.1367, d2.loss_bbox: 0.3386, d3.loss_cls: 0.1221, d3.loss_bbox: 0.3302, d4.loss_cls: 0.1179, d4.loss_bbox: 0.3282, d5.loss_cls: 0.1180, d5.loss_bbox: 0.3266, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7879, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6457, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5998, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5911, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5874, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5857, d0.loss_map_cls_all: 0.2132, d0.loss_map_pts_all: 1.1166, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2132, d0.loss_map_pts: 1.1166, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1832, d1.loss_map_pts: 0.7994, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1598, d2.loss_map_pts: 0.6562, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1477, d3.loss_map_pts: 0.6061, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1407, d4.loss_map_pts: 0.5869, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1372, d5.loss_map_pts: 0.5793, d5.loss_map_dir: 0.0068, loss: 26.3618, grad_norm: 134.7529 +2026-02-28 04:53:33,700 - DriveTransformer - INFO - Epoch [9][11000/39528] lr: 7.525e-05, eta: 5 days, 6:08:02, time: 0.725, data_time: 0.041, memory: 19865, loss_cls: 0.0961, loss_bbox: 0.3033, loss_traj: 0.5694, loss_traj_cls: 0.0020, loss_map_cls: 0.1400, loss_map_pts: 0.5786, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.5435, d0.loss_plan_l1_fix_dist: 0.4917, d1.loss_plan_l1_fix_time: 0.9365, d1.loss_plan_l1_fix_dist: 0.4174, d2.loss_plan_l1_fix_time: 0.9210, d2.loss_plan_l1_fix_dist: 0.3572, d3.loss_plan_l1_fix_time: 0.9154, d3.loss_plan_l1_fix_dist: 0.3189, d4.loss_plan_l1_fix_time: 0.9196, d4.loss_plan_l1_fix_dist: 0.2918, d5.loss_plan_l1_fix_time: 0.9244, d5.loss_plan_l1_fix_dist: 0.2955, d6.loss_plan_l1_fix_time: 0.9315, d6.loss_plan_l1_fix_dist: 0.2985, d0.loss_cls_all: 0.1426, d0.loss_bbox_all: 0.3563, d0.loss_cls: 0.1426, d0.loss_bbox: 0.3563, d1.loss_cls: 0.1350, d1.loss_bbox: 0.3269, d2.loss_cls: 0.1179, d2.loss_bbox: 0.3086, d3.loss_cls: 0.1035, d3.loss_bbox: 0.3048, d4.loss_cls: 0.0974, d4.loss_bbox: 0.3042, d5.loss_cls: 0.0948, d5.loss_bbox: 0.3035, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7662, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6312, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5841, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5712, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5726, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5696, d0.loss_map_cls_all: 0.2121, d0.loss_map_pts_all: 1.1904, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2121, d0.loss_map_pts: 1.1904, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1860, d1.loss_map_pts: 0.8428, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1619, d2.loss_map_pts: 0.6722, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1525, d3.loss_map_pts: 0.6114, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1461, d4.loss_map_pts: 0.5862, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1429, d5.loss_map_pts: 0.5805, d5.loss_map_dir: 0.0066, loss: 25.9862, grad_norm: 138.1069 +2026-02-28 04:54:10,066 - DriveTransformer - INFO - Epoch [9][11050/39528] lr: 7.525e-05, eta: 5 days, 6:07:24, time: 0.727, data_time: 0.037, memory: 19865, loss_cls: 0.1317, loss_bbox: 0.3311, loss_traj: 0.6087, loss_traj_cls: 0.0019, loss_map_cls: 0.1386, loss_map_pts: 0.6248, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.9355, d0.loss_plan_l1_fix_dist: 0.4741, d1.loss_plan_l1_fix_time: 0.9551, d1.loss_plan_l1_fix_dist: 0.3963, d2.loss_plan_l1_fix_time: 0.9513, d2.loss_plan_l1_fix_dist: 0.3613, d3.loss_plan_l1_fix_time: 0.9523, d3.loss_plan_l1_fix_dist: 0.3083, d4.loss_plan_l1_fix_time: 0.9558, d4.loss_plan_l1_fix_dist: 0.2682, d5.loss_plan_l1_fix_time: 0.9597, d5.loss_plan_l1_fix_dist: 0.2641, d6.loss_plan_l1_fix_time: 0.9650, d6.loss_plan_l1_fix_dist: 0.2511, d0.loss_cls_all: 0.1776, d0.loss_bbox_all: 0.3945, d0.loss_cls: 0.1776, d0.loss_bbox: 0.3945, d1.loss_cls: 0.1717, d1.loss_bbox: 0.3647, d2.loss_cls: 0.1588, d2.loss_bbox: 0.3449, d3.loss_cls: 0.1383, d3.loss_bbox: 0.3376, d4.loss_cls: 0.1307, d4.loss_bbox: 0.3348, d5.loss_cls: 0.1317, d5.loss_bbox: 0.3311, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8757, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6992, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6436, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6248, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6146, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6074, d0.loss_map_cls_all: 0.2161, d0.loss_map_pts_all: 1.1877, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2161, d0.loss_map_pts: 1.1877, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1842, d1.loss_map_pts: 0.8745, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1625, d2.loss_map_pts: 0.7178, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1501, d3.loss_map_pts: 0.6576, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1441, d4.loss_map_pts: 0.6349, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1410, d5.loss_map_pts: 0.6269, d5.loss_map_dir: 0.0078, loss: 27.6547, grad_norm: 137.5586 +2026-02-28 04:54:47,252 - DriveTransformer - INFO - Epoch [9][11100/39528] lr: 7.525e-05, eta: 5 days, 6:06:52, time: 0.744, data_time: 0.036, memory: 19865, loss_cls: 0.1059, loss_bbox: 0.3200, loss_traj: 0.5247, loss_traj_cls: 0.0019, loss_map_cls: 0.1373, loss_map_pts: 0.6537, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.6649, d0.loss_plan_l1_fix_dist: 0.5662, d1.loss_plan_l1_fix_time: 1.0296, d1.loss_plan_l1_fix_dist: 0.3823, d2.loss_plan_l1_fix_time: 1.0104, d2.loss_plan_l1_fix_dist: 0.3808, d3.loss_plan_l1_fix_time: 1.0042, d3.loss_plan_l1_fix_dist: 0.3495, d4.loss_plan_l1_fix_time: 1.0062, d4.loss_plan_l1_fix_dist: 0.2756, d5.loss_plan_l1_fix_time: 1.0092, d5.loss_plan_l1_fix_dist: 0.2667, d6.loss_plan_l1_fix_time: 1.0129, d6.loss_plan_l1_fix_dist: 0.3125, d0.loss_cls_all: 0.1506, d0.loss_bbox_all: 0.3850, d0.loss_cls: 0.1506, d0.loss_bbox: 0.3850, d1.loss_cls: 0.1450, d1.loss_bbox: 0.3511, d2.loss_cls: 0.1311, d2.loss_bbox: 0.3282, d3.loss_cls: 0.1124, d3.loss_bbox: 0.3228, d4.loss_cls: 0.1063, d4.loss_bbox: 0.3221, d5.loss_cls: 0.1051, d5.loss_bbox: 0.3210, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7522, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6006, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5503, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5377, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5309, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5259, d0.loss_map_cls_all: 0.2169, d0.loss_map_pts_all: 1.3049, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2169, d0.loss_map_pts: 1.3049, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1875, d1.loss_map_pts: 0.9459, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1624, d2.loss_map_pts: 0.7603, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1536, d3.loss_map_pts: 0.6909, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1454, d4.loss_map_pts: 0.6632, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1398, d5.loss_map_pts: 0.6552, d5.loss_map_dir: 0.0082, loss: 27.4457, grad_norm: 137.8696 +2026-02-28 04:55:22,372 - DriveTransformer - INFO - Epoch [9][11150/39528] lr: 7.525e-05, eta: 5 days, 6:06:06, time: 0.702, data_time: 0.039, memory: 19865, loss_cls: 0.1151, loss_bbox: 0.3203, loss_traj: 0.6667, loss_traj_cls: 0.0019, loss_map_cls: 0.1232, loss_map_pts: 0.5624, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 3.0877, d0.loss_plan_l1_fix_dist: 0.4820, d1.loss_plan_l1_fix_time: 0.8976, d1.loss_plan_l1_fix_dist: 0.3136, d2.loss_plan_l1_fix_time: 0.8747, d2.loss_plan_l1_fix_dist: 0.3070, d3.loss_plan_l1_fix_time: 0.8681, d3.loss_plan_l1_fix_dist: 0.2799, d4.loss_plan_l1_fix_time: 0.8709, d4.loss_plan_l1_fix_dist: 0.2204, d5.loss_plan_l1_fix_time: 0.8745, d5.loss_plan_l1_fix_dist: 0.2435, d6.loss_plan_l1_fix_time: 0.8780, d6.loss_plan_l1_fix_dist: 0.2715, d0.loss_cls_all: 0.1577, d0.loss_bbox_all: 0.3820, d0.loss_cls: 0.1577, d0.loss_bbox: 0.3820, d1.loss_cls: 0.1486, d1.loss_bbox: 0.3478, d2.loss_cls: 0.1386, d2.loss_bbox: 0.3265, d3.loss_cls: 0.1223, d3.loss_bbox: 0.3230, d4.loss_cls: 0.1179, d4.loss_bbox: 0.3213, d5.loss_cls: 0.1156, d5.loss_bbox: 0.3209, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9739, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7566, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6945, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6765, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6683, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6665, d0.loss_map_cls_all: 0.2144, d0.loss_map_pts_all: 1.1506, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2144, d0.loss_map_pts: 1.1506, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1773, d1.loss_map_pts: 0.8257, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1532, d2.loss_map_pts: 0.6644, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1391, d3.loss_map_pts: 0.5975, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1302, d4.loss_map_pts: 0.5743, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1248, d5.loss_map_pts: 0.5625, d5.loss_map_dir: 0.0063, loss: 26.7913, grad_norm: 138.6294 +2026-02-28 04:56:00,007 - DriveTransformer - INFO - Epoch [9][11200/39528] lr: 7.525e-05, eta: 5 days, 6:05:37, time: 0.754, data_time: 0.037, memory: 19865, loss_cls: 0.1085, loss_bbox: 0.3040, loss_traj: 0.4735, loss_traj_cls: 0.0018, loss_map_cls: 0.1117, loss_map_pts: 0.6072, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.4601, d0.loss_plan_l1_fix_dist: 0.4912, d1.loss_plan_l1_fix_time: 0.8749, d1.loss_plan_l1_fix_dist: 0.3041, d2.loss_plan_l1_fix_time: 0.8573, d2.loss_plan_l1_fix_dist: 0.2833, d3.loss_plan_l1_fix_time: 0.8545, d3.loss_plan_l1_fix_dist: 0.2615, d4.loss_plan_l1_fix_time: 0.8581, d4.loss_plan_l1_fix_dist: 0.2497, d5.loss_plan_l1_fix_time: 0.8626, d5.loss_plan_l1_fix_dist: 0.2803, d6.loss_plan_l1_fix_time: 0.8665, d6.loss_plan_l1_fix_dist: 0.2565, d0.loss_cls_all: 0.1534, d0.loss_bbox_all: 0.3665, d0.loss_cls: 0.1534, d0.loss_bbox: 0.3665, d1.loss_cls: 0.1448, d1.loss_bbox: 0.3373, d2.loss_cls: 0.1322, d2.loss_bbox: 0.3167, d3.loss_cls: 0.1159, d3.loss_bbox: 0.3109, d4.loss_cls: 0.1092, d4.loss_bbox: 0.3097, d5.loss_cls: 0.1084, d5.loss_bbox: 0.3070, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6420, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5216, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4890, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4772, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4769, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4737, d0.loss_map_cls_all: 0.1863, d0.loss_map_pts_all: 1.1850, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1863, d0.loss_map_pts: 1.1850, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1580, d1.loss_map_pts: 0.8549, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1358, d2.loss_map_pts: 0.6906, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1256, d3.loss_map_pts: 0.6321, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1179, d4.loss_map_pts: 0.6135, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1149, d5.loss_map_pts: 0.6086, d5.loss_map_dir: 0.0077, loss: 24.5380, grad_norm: 137.8636 +2026-02-28 04:56:37,725 - DriveTransformer - INFO - Epoch [9][11250/39528] lr: 7.525e-05, eta: 5 days, 6:05:09, time: 0.753, data_time: 0.034, memory: 19865, loss_cls: 0.1322, loss_bbox: 0.3398, loss_traj: 0.5387, loss_traj_cls: 0.0018, loss_map_cls: 0.1477, loss_map_pts: 0.7332, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.6881, d0.loss_plan_l1_fix_dist: 0.4539, d1.loss_plan_l1_fix_time: 0.9599, d1.loss_plan_l1_fix_dist: 0.2640, d2.loss_plan_l1_fix_time: 0.9538, d2.loss_plan_l1_fix_dist: 0.2528, d3.loss_plan_l1_fix_time: 0.9434, d3.loss_plan_l1_fix_dist: 0.2239, d4.loss_plan_l1_fix_time: 0.9466, d4.loss_plan_l1_fix_dist: 0.2112, d5.loss_plan_l1_fix_time: 0.9502, d5.loss_plan_l1_fix_dist: 0.2377, d6.loss_plan_l1_fix_time: 0.9546, d6.loss_plan_l1_fix_dist: 0.2654, d0.loss_cls_all: 0.1804, d0.loss_bbox_all: 0.4065, d0.loss_cls: 0.1804, d0.loss_bbox: 0.4065, d1.loss_cls: 0.1700, d1.loss_bbox: 0.3693, d2.loss_cls: 0.1552, d2.loss_bbox: 0.3479, d3.loss_cls: 0.1381, d3.loss_bbox: 0.3415, d4.loss_cls: 0.1305, d4.loss_bbox: 0.3420, d5.loss_cls: 0.1291, d5.loss_bbox: 0.3425, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7780, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6123, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5576, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5400, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5403, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5369, d0.loss_map_cls_all: 0.2294, d0.loss_map_pts_all: 1.3845, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2294, d0.loss_map_pts: 1.3845, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1977, d1.loss_map_pts: 1.0110, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1729, d2.loss_map_pts: 0.8260, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1625, d3.loss_map_pts: 0.7653, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1569, d4.loss_map_pts: 0.7404, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1507, d5.loss_map_pts: 0.7337, d5.loss_map_dir: 0.0091, loss: 27.6242, grad_norm: 138.1483 +2026-02-28 04:57:14,285 - DriveTransformer - INFO - Epoch [9][11300/39528] lr: 7.525e-05, eta: 5 days, 6:04:32, time: 0.731, data_time: 0.037, memory: 19865, loss_cls: 0.1305, loss_bbox: 0.3221, loss_traj: 0.6041, loss_traj_cls: 0.0018, loss_map_cls: 0.0985, loss_map_pts: 0.5281, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.7586, d0.loss_plan_l1_fix_dist: 0.4290, d1.loss_plan_l1_fix_time: 0.9169, d1.loss_plan_l1_fix_dist: 0.2333, d2.loss_plan_l1_fix_time: 0.9012, d2.loss_plan_l1_fix_dist: 0.2418, d3.loss_plan_l1_fix_time: 0.8924, d3.loss_plan_l1_fix_dist: 0.2029, d4.loss_plan_l1_fix_time: 0.8957, d4.loss_plan_l1_fix_dist: 0.2013, d5.loss_plan_l1_fix_time: 0.8995, d5.loss_plan_l1_fix_dist: 0.2157, d6.loss_plan_l1_fix_time: 0.9036, d6.loss_plan_l1_fix_dist: 0.2689, d0.loss_cls_all: 0.1718, d0.loss_bbox_all: 0.3865, d0.loss_cls: 0.1718, d0.loss_bbox: 0.3865, d1.loss_cls: 0.1629, d1.loss_bbox: 0.3502, d2.loss_cls: 0.1513, d2.loss_bbox: 0.3315, d3.loss_cls: 0.1349, d3.loss_bbox: 0.3257, d4.loss_cls: 0.1311, d4.loss_bbox: 0.3224, d5.loss_cls: 0.1302, d5.loss_bbox: 0.3211, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8116, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6605, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6199, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6124, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6109, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6049, d0.loss_map_cls_all: 0.1696, d0.loss_map_pts_all: 1.0872, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1696, d0.loss_map_pts: 1.0872, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1426, d1.loss_map_pts: 0.7607, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1208, d2.loss_map_pts: 0.6156, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1090, d3.loss_map_pts: 0.5626, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1037, d4.loss_map_pts: 0.5353, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1003, d5.loss_map_pts: 0.5292, d5.loss_map_dir: 0.0081, loss: 25.2056, grad_norm: 139.0678 +2026-02-28 04:57:51,961 - DriveTransformer - INFO - Epoch [9][11350/39528] lr: 7.525e-05, eta: 5 days, 6:04:03, time: 0.754, data_time: 0.037, memory: 19865, loss_cls: 0.1187, loss_bbox: 0.3238, loss_traj: 0.4825, loss_traj_cls: 0.0017, loss_map_cls: 0.1316, loss_map_pts: 0.6499, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.2881, d0.loss_plan_l1_fix_dist: 0.4549, d1.loss_plan_l1_fix_time: 0.8137, d1.loss_plan_l1_fix_dist: 0.2068, d2.loss_plan_l1_fix_time: 0.8004, d2.loss_plan_l1_fix_dist: 0.2274, d3.loss_plan_l1_fix_time: 0.8033, d3.loss_plan_l1_fix_dist: 0.2100, d4.loss_plan_l1_fix_time: 0.8079, d4.loss_plan_l1_fix_dist: 0.2368, d5.loss_plan_l1_fix_time: 0.8134, d5.loss_plan_l1_fix_dist: 0.2429, d6.loss_plan_l1_fix_time: 0.8190, d6.loss_plan_l1_fix_dist: 0.2466, d0.loss_cls_all: 0.1757, d0.loss_bbox_all: 0.3863, d0.loss_cls: 0.1757, d0.loss_bbox: 0.3863, d1.loss_cls: 0.1624, d1.loss_bbox: 0.3547, d2.loss_cls: 0.1448, d2.loss_bbox: 0.3338, d3.loss_cls: 0.1263, d3.loss_bbox: 0.3295, d4.loss_cls: 0.1208, d4.loss_bbox: 0.3261, d5.loss_cls: 0.1191, d5.loss_bbox: 0.3233, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6370, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5298, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4873, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4785, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4804, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4811, d0.loss_map_cls_all: 0.2196, d0.loss_map_pts_all: 1.3397, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2196, d0.loss_map_pts: 1.3397, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1805, d1.loss_map_pts: 0.9309, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1586, d2.loss_map_pts: 0.7417, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1447, d3.loss_map_pts: 0.6780, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1379, d4.loss_map_pts: 0.6538, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1335, d5.loss_map_pts: 0.6493, d5.loss_map_dir: 0.0092, loss: 24.8425, grad_norm: 142.0275 +2026-02-28 04:58:28,071 - DriveTransformer - INFO - Epoch [9][11400/39528] lr: 7.525e-05, eta: 5 days, 6:03:24, time: 0.722, data_time: 0.040, memory: 19865, loss_cls: 0.1117, loss_bbox: 0.3009, loss_traj: 0.5749, loss_traj_cls: 0.0018, loss_map_cls: 0.1353, loss_map_pts: 0.6249, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.3275, d0.loss_plan_l1_fix_dist: 0.4912, d1.loss_plan_l1_fix_time: 0.8933, d1.loss_plan_l1_fix_dist: 0.2133, d2.loss_plan_l1_fix_time: 0.8738, d2.loss_plan_l1_fix_dist: 0.2268, d3.loss_plan_l1_fix_time: 0.8767, d3.loss_plan_l1_fix_dist: 0.2218, d4.loss_plan_l1_fix_time: 0.8803, d4.loss_plan_l1_fix_dist: 0.2402, d5.loss_plan_l1_fix_time: 0.8844, d5.loss_plan_l1_fix_dist: 0.2524, d6.loss_plan_l1_fix_time: 0.8890, d6.loss_plan_l1_fix_dist: 0.2393, d0.loss_cls_all: 0.1504, d0.loss_bbox_all: 0.3724, d0.loss_cls: 0.1504, d0.loss_bbox: 0.3724, d1.loss_cls: 0.1415, d1.loss_bbox: 0.3322, d2.loss_cls: 0.1263, d2.loss_bbox: 0.3131, d3.loss_cls: 0.1148, d3.loss_bbox: 0.3053, d4.loss_cls: 0.1110, d4.loss_bbox: 0.3031, d5.loss_cls: 0.1103, d5.loss_bbox: 0.3010, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7820, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6408, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5855, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5754, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5744, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5765, d0.loss_map_cls_all: 0.2257, d0.loss_map_pts_all: 1.3322, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2257, d0.loss_map_pts: 1.3322, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1870, d1.loss_map_pts: 0.9408, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1606, d2.loss_map_pts: 0.7425, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1475, d3.loss_map_pts: 0.6600, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1418, d4.loss_map_pts: 0.6295, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1370, d5.loss_map_pts: 0.6247, d5.loss_map_dir: 0.0070, loss: 25.7443, grad_norm: 140.6920 +2026-02-28 04:59:03,889 - DriveTransformer - INFO - Epoch [9][11450/39528] lr: 7.525e-05, eta: 5 days, 6:02:43, time: 0.716, data_time: 0.037, memory: 19865, loss_cls: 0.1174, loss_bbox: 0.3001, loss_traj: 0.5775, loss_traj_cls: 0.0018, loss_map_cls: 0.1241, loss_map_pts: 0.5421, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.4955, d0.loss_plan_l1_fix_dist: 0.4631, d1.loss_plan_l1_fix_time: 0.8739, d1.loss_plan_l1_fix_dist: 0.2162, d2.loss_plan_l1_fix_time: 0.8553, d2.loss_plan_l1_fix_dist: 0.2130, d3.loss_plan_l1_fix_time: 0.8567, d3.loss_plan_l1_fix_dist: 0.1986, d4.loss_plan_l1_fix_time: 0.8611, d4.loss_plan_l1_fix_dist: 0.1916, d5.loss_plan_l1_fix_time: 0.8648, d5.loss_plan_l1_fix_dist: 0.2050, d6.loss_plan_l1_fix_time: 0.8691, d6.loss_plan_l1_fix_dist: 0.2343, d0.loss_cls_all: 0.1579, d0.loss_bbox_all: 0.3639, d0.loss_cls: 0.1579, d0.loss_bbox: 0.3639, d1.loss_cls: 0.1480, d1.loss_bbox: 0.3273, d2.loss_cls: 0.1335, d2.loss_bbox: 0.3076, d3.loss_cls: 0.1200, d3.loss_bbox: 0.3018, d4.loss_cls: 0.1165, d4.loss_bbox: 0.3002, d5.loss_cls: 0.1161, d5.loss_bbox: 0.2993, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7956, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6353, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5927, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5820, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5768, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5770, d0.loss_map_cls_all: 0.2066, d0.loss_map_pts_all: 1.1367, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2066, d0.loss_map_pts: 1.1367, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1759, d1.loss_map_pts: 0.7979, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1544, d2.loss_map_pts: 0.6374, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1381, d3.loss_map_pts: 0.5730, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1302, d4.loss_map_pts: 0.5472, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1248, d5.loss_map_pts: 0.5430, d5.loss_map_dir: 0.0065, loss: 24.5987, grad_norm: 144.1780 +2026-02-28 04:59:41,711 - DriveTransformer - INFO - Epoch [9][11500/39528] lr: 7.525e-05, eta: 5 days, 6:02:15, time: 0.756, data_time: 0.035, memory: 19865, loss_cls: 0.1097, loss_bbox: 0.3200, loss_traj: 0.5104, loss_traj_cls: 0.0018, loss_map_cls: 0.1189, loss_map_pts: 0.6185, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.3958, d0.loss_plan_l1_fix_dist: 0.4318, d1.loss_plan_l1_fix_time: 0.8591, d1.loss_plan_l1_fix_dist: 0.2386, d2.loss_plan_l1_fix_time: 0.8435, d2.loss_plan_l1_fix_dist: 0.2178, d3.loss_plan_l1_fix_time: 0.8297, d3.loss_plan_l1_fix_dist: 0.1991, d4.loss_plan_l1_fix_time: 0.8329, d4.loss_plan_l1_fix_dist: 0.2015, d5.loss_plan_l1_fix_time: 0.8357, d5.loss_plan_l1_fix_dist: 0.2220, d6.loss_plan_l1_fix_time: 0.8392, d6.loss_plan_l1_fix_dist: 0.2728, d0.loss_cls_all: 0.1548, d0.loss_bbox_all: 0.3780, d0.loss_cls: 0.1548, d0.loss_bbox: 0.3780, d1.loss_cls: 0.1442, d1.loss_bbox: 0.3460, d2.loss_cls: 0.1308, d2.loss_bbox: 0.3277, d3.loss_cls: 0.1155, d3.loss_bbox: 0.3239, d4.loss_cls: 0.1095, d4.loss_bbox: 0.3209, d5.loss_cls: 0.1091, d5.loss_bbox: 0.3201, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7307, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5782, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5443, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5297, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5135, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5102, d0.loss_map_cls_all: 0.2084, d0.loss_map_pts_all: 1.3265, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2084, d0.loss_map_pts: 1.3265, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1691, d1.loss_map_pts: 0.9024, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1446, d2.loss_map_pts: 0.7163, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1331, d3.loss_map_pts: 0.6535, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1248, d4.loss_map_pts: 0.6252, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1206, d5.loss_map_pts: 0.6203, d5.loss_map_dir: 0.0088, loss: 24.9702, grad_norm: 145.6764 +2026-02-28 05:00:19,217 - DriveTransformer - INFO - Epoch [9][11550/39528] lr: 7.525e-05, eta: 5 days, 6:01:45, time: 0.750, data_time: 0.038, memory: 19865, loss_cls: 0.1336, loss_bbox: 0.3466, loss_traj: 0.5584, loss_traj_cls: 0.0017, loss_map_cls: 0.1265, loss_map_pts: 0.6522, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.6326, d0.loss_plan_l1_fix_dist: 0.4465, d1.loss_plan_l1_fix_time: 0.8717, d1.loss_plan_l1_fix_dist: 0.2392, d2.loss_plan_l1_fix_time: 0.8544, d2.loss_plan_l1_fix_dist: 0.2024, d3.loss_plan_l1_fix_time: 0.8473, d3.loss_plan_l1_fix_dist: 0.1935, d4.loss_plan_l1_fix_time: 0.8480, d4.loss_plan_l1_fix_dist: 0.1963, d5.loss_plan_l1_fix_time: 0.8494, d5.loss_plan_l1_fix_dist: 0.2100, d6.loss_plan_l1_fix_time: 0.8512, d6.loss_plan_l1_fix_dist: 0.2308, d0.loss_cls_all: 0.1764, d0.loss_bbox_all: 0.4091, d0.loss_cls: 0.1764, d0.loss_bbox: 0.4091, d1.loss_cls: 0.1713, d1.loss_bbox: 0.3746, d2.loss_cls: 0.1569, d2.loss_bbox: 0.3554, d3.loss_cls: 0.1390, d3.loss_bbox: 0.3516, d4.loss_cls: 0.1323, d4.loss_bbox: 0.3506, d5.loss_cls: 0.1330, d5.loss_bbox: 0.3470, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7689, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6056, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5591, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5561, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5504, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5547, d0.loss_map_cls_all: 0.2030, d0.loss_map_pts_all: 1.2730, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2030, d0.loss_map_pts: 1.2730, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1723, d1.loss_map_pts: 0.9054, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1519, d2.loss_map_pts: 0.7369, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1415, d3.loss_map_pts: 0.6782, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1340, d4.loss_map_pts: 0.6562, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1279, d5.loss_map_pts: 0.6515, d5.loss_map_dir: 0.0087, loss: 25.9498, grad_norm: 145.3035 +2026-02-28 05:00:56,037 - DriveTransformer - INFO - Epoch [9][11600/39528] lr: 7.525e-05, eta: 5 days, 6:01:10, time: 0.736, data_time: 0.037, memory: 19865, loss_cls: 0.1179, loss_bbox: 0.3121, loss_traj: 0.6018, loss_traj_cls: 0.0018, loss_map_cls: 0.1220, loss_map_pts: 0.5978, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.9081, d0.loss_plan_l1_fix_dist: 0.4496, d1.loss_plan_l1_fix_time: 0.9017, d1.loss_plan_l1_fix_dist: 0.2484, d2.loss_plan_l1_fix_time: 0.8925, d2.loss_plan_l1_fix_dist: 0.2045, d3.loss_plan_l1_fix_time: 0.8954, d3.loss_plan_l1_fix_dist: 0.2247, d4.loss_plan_l1_fix_time: 0.8991, d4.loss_plan_l1_fix_dist: 0.2372, d5.loss_plan_l1_fix_time: 0.9033, d5.loss_plan_l1_fix_dist: 0.2618, d6.loss_plan_l1_fix_time: 0.9077, d6.loss_plan_l1_fix_dist: 0.2634, d0.loss_cls_all: 0.1611, d0.loss_bbox_all: 0.3753, d0.loss_cls: 0.1611, d0.loss_bbox: 0.3753, d1.loss_cls: 0.1492, d1.loss_bbox: 0.3404, d2.loss_cls: 0.1365, d2.loss_bbox: 0.3200, d3.loss_cls: 0.1204, d3.loss_bbox: 0.3162, d4.loss_cls: 0.1174, d4.loss_bbox: 0.3132, d5.loss_cls: 0.1175, d5.loss_bbox: 0.3117, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8335, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6737, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6301, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6100, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6035, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6038, d0.loss_map_cls_all: 0.2094, d0.loss_map_pts_all: 1.2467, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2094, d0.loss_map_pts: 1.2467, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1747, d1.loss_map_pts: 0.8725, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1496, d2.loss_map_pts: 0.7001, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1387, d3.loss_map_pts: 0.6346, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1292, d4.loss_map_pts: 0.6064, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1239, d5.loss_map_pts: 0.5992, d5.loss_map_dir: 0.0084, loss: 26.3313, grad_norm: 159.1483 +2026-02-28 05:01:31,644 - DriveTransformer - INFO - Epoch [9][11650/39528] lr: 7.525e-05, eta: 5 days, 6:00:27, time: 0.712, data_time: 0.039, memory: 19865, loss_cls: 0.1131, loss_bbox: 0.3188, loss_traj: 0.5915, loss_traj_cls: 0.0018, loss_map_cls: 0.1112, loss_map_pts: 0.6053, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.6506, d0.loss_plan_l1_fix_dist: 0.5079, d1.loss_plan_l1_fix_time: 0.8700, d1.loss_plan_l1_fix_dist: 0.2622, d2.loss_plan_l1_fix_time: 0.8529, d2.loss_plan_l1_fix_dist: 0.2291, d3.loss_plan_l1_fix_time: 0.8485, d3.loss_plan_l1_fix_dist: 0.2745, d4.loss_plan_l1_fix_time: 0.8528, d4.loss_plan_l1_fix_dist: 0.3077, d5.loss_plan_l1_fix_time: 0.8583, d5.loss_plan_l1_fix_dist: 0.3342, d6.loss_plan_l1_fix_time: 0.8641, d6.loss_plan_l1_fix_dist: 0.3465, d0.loss_cls_all: 0.1585, d0.loss_bbox_all: 0.3785, d0.loss_cls: 0.1585, d0.loss_bbox: 0.3785, d1.loss_cls: 0.1523, d1.loss_bbox: 0.3446, d2.loss_cls: 0.1365, d2.loss_bbox: 0.3229, d3.loss_cls: 0.1205, d3.loss_bbox: 0.3178, d4.loss_cls: 0.1142, d4.loss_bbox: 0.3170, d5.loss_cls: 0.1116, d5.loss_bbox: 0.3177, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8427, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6603, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6142, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5954, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5894, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5867, d0.loss_map_cls_all: 0.1920, d0.loss_map_pts_all: 1.1757, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1920, d0.loss_map_pts: 1.1757, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1583, d1.loss_map_pts: 0.8333, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1326, d2.loss_map_pts: 0.6761, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1223, d3.loss_map_pts: 0.6224, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1171, d4.loss_map_pts: 0.6047, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1129, d5.loss_map_pts: 0.6028, d5.loss_map_dir: 0.0074, loss: 25.8010, grad_norm: 155.6140 +2026-02-28 05:02:08,028 - DriveTransformer - INFO - Epoch [9][11700/39528] lr: 7.525e-05, eta: 5 days, 5:59:50, time: 0.728, data_time: 0.036, memory: 19865, loss_cls: 0.1387, loss_bbox: 0.3309, loss_traj: 0.5484, loss_traj_cls: 0.0018, loss_map_cls: 0.1625, loss_map_pts: 0.7122, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.9511, d0.loss_plan_l1_fix_dist: 0.4642, d1.loss_plan_l1_fix_time: 0.9240, d1.loss_plan_l1_fix_dist: 0.2613, d2.loss_plan_l1_fix_time: 0.9110, d2.loss_plan_l1_fix_dist: 0.2202, d3.loss_plan_l1_fix_time: 0.9123, d3.loss_plan_l1_fix_dist: 0.2355, d4.loss_plan_l1_fix_time: 0.9152, d4.loss_plan_l1_fix_dist: 0.2592, d5.loss_plan_l1_fix_time: 0.9183, d5.loss_plan_l1_fix_dist: 0.2703, d6.loss_plan_l1_fix_time: 0.9221, d6.loss_plan_l1_fix_dist: 0.2800, d0.loss_cls_all: 0.1894, d0.loss_bbox_all: 0.4062, d0.loss_cls: 0.1894, d0.loss_bbox: 0.4062, d1.loss_cls: 0.1811, d1.loss_bbox: 0.3685, d2.loss_cls: 0.1629, d2.loss_bbox: 0.3434, d3.loss_cls: 0.1482, d3.loss_bbox: 0.3352, d4.loss_cls: 0.1409, d4.loss_bbox: 0.3312, d5.loss_cls: 0.1401, d5.loss_bbox: 0.3294, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7864, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6188, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5664, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5520, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5558, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5501, d0.loss_map_cls_all: 0.2458, d0.loss_map_pts_all: 1.3502, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2458, d0.loss_map_pts: 1.3502, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.2142, d1.loss_map_pts: 0.9914, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1868, d2.loss_map_pts: 0.8192, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1763, d3.loss_map_pts: 0.7509, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1692, d4.loss_map_pts: 0.7225, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1648, d5.loss_map_pts: 0.7123, d5.loss_map_dir: 0.0079, loss: 27.8064, grad_norm: 155.5571 +2026-02-28 05:02:44,631 - DriveTransformer - INFO - Epoch [9][11750/39528] lr: 7.525e-05, eta: 5 days, 5:59:14, time: 0.732, data_time: 0.035, memory: 19865, loss_cls: 0.1042, loss_bbox: 0.2982, loss_traj: 0.4202, loss_traj_cls: 0.0019, loss_map_cls: 0.1147, loss_map_pts: 0.5408, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.5777, d0.loss_plan_l1_fix_dist: 0.4838, d1.loss_plan_l1_fix_time: 0.9206, d1.loss_plan_l1_fix_dist: 0.2236, d2.loss_plan_l1_fix_time: 0.9116, d2.loss_plan_l1_fix_dist: 0.1998, d3.loss_plan_l1_fix_time: 0.9119, d3.loss_plan_l1_fix_dist: 0.2059, d4.loss_plan_l1_fix_time: 0.9154, d4.loss_plan_l1_fix_dist: 0.2280, d5.loss_plan_l1_fix_time: 0.9194, d5.loss_plan_l1_fix_dist: 0.2284, d6.loss_plan_l1_fix_time: 0.9247, d6.loss_plan_l1_fix_dist: 0.2560, d0.loss_cls_all: 0.1464, d0.loss_bbox_all: 0.3631, d0.loss_cls: 0.1464, d0.loss_bbox: 0.3631, d1.loss_cls: 0.1384, d1.loss_bbox: 0.3339, d2.loss_cls: 0.1271, d2.loss_bbox: 0.3130, d3.loss_cls: 0.1108, d3.loss_bbox: 0.3048, d4.loss_cls: 0.1066, d4.loss_bbox: 0.3007, d5.loss_cls: 0.1046, d5.loss_bbox: 0.2992, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6153, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4807, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4358, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4279, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4202, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4210, d0.loss_map_cls_all: 0.1966, d0.loss_map_pts_all: 1.1297, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1966, d0.loss_map_pts: 1.1297, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1620, d1.loss_map_pts: 0.7818, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1396, d2.loss_map_pts: 0.6296, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1283, d3.loss_map_pts: 0.5728, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1211, d4.loss_map_pts: 0.5531, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1157, d5.loss_map_pts: 0.5425, d5.loss_map_dir: 0.0078, loss: 23.8115, grad_norm: 156.5043 +2026-02-28 05:03:20,678 - DriveTransformer - INFO - Epoch [9][11800/39528] lr: 7.525e-05, eta: 5 days, 5:58:34, time: 0.721, data_time: 0.037, memory: 19865, loss_cls: 0.1328, loss_bbox: 0.3275, loss_traj: 0.5436, loss_traj_cls: 0.0019, loss_map_cls: 0.1198, loss_map_pts: 0.5451, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.8410, d0.loss_plan_l1_fix_dist: 0.5316, d1.loss_plan_l1_fix_time: 0.9021, d1.loss_plan_l1_fix_dist: 0.2037, d2.loss_plan_l1_fix_time: 0.8853, d2.loss_plan_l1_fix_dist: 0.1937, d3.loss_plan_l1_fix_time: 0.8805, d3.loss_plan_l1_fix_dist: 0.2013, d4.loss_plan_l1_fix_time: 0.8833, d4.loss_plan_l1_fix_dist: 0.2293, d5.loss_plan_l1_fix_time: 0.8880, d5.loss_plan_l1_fix_dist: 0.2356, d6.loss_plan_l1_fix_time: 0.8932, d6.loss_plan_l1_fix_dist: 0.2645, d0.loss_cls_all: 0.1700, d0.loss_bbox_all: 0.3882, d0.loss_cls: 0.1700, d0.loss_bbox: 0.3882, d1.loss_cls: 0.1722, d1.loss_bbox: 0.3562, d2.loss_cls: 0.1529, d2.loss_bbox: 0.3390, d3.loss_cls: 0.1370, d3.loss_bbox: 0.3327, d4.loss_cls: 0.1324, d4.loss_bbox: 0.3297, d5.loss_cls: 0.1319, d5.loss_bbox: 0.3272, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7718, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6087, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5705, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5596, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5490, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5445, d0.loss_map_cls_all: 0.1969, d0.loss_map_pts_all: 1.1107, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1969, d0.loss_map_pts: 1.1107, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1699, d1.loss_map_pts: 0.7673, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1449, d2.loss_map_pts: 0.6298, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1342, d3.loss_map_pts: 0.5758, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1275, d4.loss_map_pts: 0.5520, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1216, d5.loss_map_pts: 0.5468, d5.loss_map_dir: 0.0072, loss: 25.2839, grad_norm: 156.8656 +2026-02-28 05:03:56,790 - DriveTransformer - INFO - Epoch [9][11850/39528] lr: 7.525e-05, eta: 5 days, 5:57:54, time: 0.722, data_time: 0.035, memory: 19865, loss_cls: 0.1456, loss_bbox: 0.3446, loss_traj: 0.5291, loss_traj_cls: 0.0018, loss_map_cls: 0.1304, loss_map_pts: 0.6170, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 3.1484, d0.loss_plan_l1_fix_dist: 0.4348, d1.loss_plan_l1_fix_time: 0.9980, d1.loss_plan_l1_fix_dist: 0.2100, d2.loss_plan_l1_fix_time: 0.9830, d2.loss_plan_l1_fix_dist: 0.1935, d3.loss_plan_l1_fix_time: 0.9761, d3.loss_plan_l1_fix_dist: 0.2122, d4.loss_plan_l1_fix_time: 0.9788, d4.loss_plan_l1_fix_dist: 0.2219, d5.loss_plan_l1_fix_time: 0.9822, d5.loss_plan_l1_fix_dist: 0.2369, d6.loss_plan_l1_fix_time: 0.9854, d6.loss_plan_l1_fix_dist: 0.2567, d0.loss_cls_all: 0.1950, d0.loss_bbox_all: 0.4051, d0.loss_cls: 0.1950, d0.loss_bbox: 0.4051, d1.loss_cls: 0.1879, d1.loss_bbox: 0.3692, d2.loss_cls: 0.1734, d2.loss_bbox: 0.3501, d3.loss_cls: 0.1537, d3.loss_bbox: 0.3470, d4.loss_cls: 0.1476, d4.loss_bbox: 0.3468, d5.loss_cls: 0.1472, d5.loss_bbox: 0.3434, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7510, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5943, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5562, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5403, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5358, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5317, d0.loss_map_cls_all: 0.2097, d0.loss_map_pts_all: 1.2180, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2097, d0.loss_map_pts: 1.2180, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1817, d1.loss_map_pts: 0.8692, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1594, d2.loss_map_pts: 0.7168, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1479, d3.loss_map_pts: 0.6492, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1393, d4.loss_map_pts: 0.6229, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1329, d5.loss_map_pts: 0.6183, d5.loss_map_dir: 0.0079, loss: 27.0213, grad_norm: 158.1212 +2026-02-28 05:04:33,374 - DriveTransformer - INFO - Epoch [9][11900/39528] lr: 7.525e-05, eta: 5 days, 5:57:18, time: 0.732, data_time: 0.040, memory: 19865, loss_cls: 0.1145, loss_bbox: 0.2977, loss_traj: 0.6168, loss_traj_cls: 0.0019, loss_map_cls: 0.1098, loss_map_pts: 0.4661, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.6198, d0.loss_plan_l1_fix_dist: 0.3842, d1.loss_plan_l1_fix_time: 0.9702, d1.loss_plan_l1_fix_dist: 0.2189, d2.loss_plan_l1_fix_time: 0.9604, d2.loss_plan_l1_fix_dist: 0.2100, d3.loss_plan_l1_fix_time: 0.9655, d3.loss_plan_l1_fix_dist: 0.2399, d4.loss_plan_l1_fix_time: 0.9710, d4.loss_plan_l1_fix_dist: 0.2403, d5.loss_plan_l1_fix_time: 0.9752, d5.loss_plan_l1_fix_dist: 0.2476, d6.loss_plan_l1_fix_time: 0.9789, d6.loss_plan_l1_fix_dist: 0.2733, d0.loss_cls_all: 0.1646, d0.loss_bbox_all: 0.3555, d0.loss_cls: 0.1646, d0.loss_bbox: 0.3555, d1.loss_cls: 0.1546, d1.loss_bbox: 0.3231, d2.loss_cls: 0.1358, d2.loss_bbox: 0.3064, d3.loss_cls: 0.1213, d3.loss_bbox: 0.3009, d4.loss_cls: 0.1162, d4.loss_bbox: 0.3002, d5.loss_cls: 0.1147, d5.loss_bbox: 0.2974, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8268, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6763, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6344, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6218, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6148, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6165, d0.loss_map_cls_all: 0.1866, d0.loss_map_pts_all: 0.9947, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1866, d0.loss_map_pts: 0.9947, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1564, d1.loss_map_pts: 0.6806, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1314, d2.loss_map_pts: 0.5486, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1204, d3.loss_map_pts: 0.4927, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1152, d4.loss_map_pts: 0.4733, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1110, d5.loss_map_pts: 0.4667, d5.loss_map_dir: 0.0056, loss: 24.7714, grad_norm: 159.9336 +2026-02-28 05:05:08,384 - DriveTransformer - INFO - Epoch [9][11950/39528] lr: 7.525e-05, eta: 5 days, 5:56:31, time: 0.700, data_time: 0.038, memory: 19865, loss_cls: 0.1037, loss_bbox: 0.2990, loss_traj: 0.5573, loss_traj_cls: 0.0019, loss_map_cls: 0.1334, loss_map_pts: 0.5702, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.1514, d0.loss_plan_l1_fix_dist: 0.4104, d1.loss_plan_l1_fix_time: 0.8324, d1.loss_plan_l1_fix_dist: 0.1907, d2.loss_plan_l1_fix_time: 0.8222, d2.loss_plan_l1_fix_dist: 0.1980, d3.loss_plan_l1_fix_time: 0.8241, d3.loss_plan_l1_fix_dist: 0.2208, d4.loss_plan_l1_fix_time: 0.8281, d4.loss_plan_l1_fix_dist: 0.2322, d5.loss_plan_l1_fix_time: 0.8318, d5.loss_plan_l1_fix_dist: 0.2347, d6.loss_plan_l1_fix_time: 0.8360, d6.loss_plan_l1_fix_dist: 0.2546, d0.loss_cls_all: 0.1541, d0.loss_bbox_all: 0.3695, d0.loss_cls: 0.1541, d0.loss_bbox: 0.3695, d1.loss_cls: 0.1397, d1.loss_bbox: 0.3313, d2.loss_cls: 0.1253, d2.loss_bbox: 0.3098, d3.loss_cls: 0.1096, d3.loss_bbox: 0.3023, d4.loss_cls: 0.1047, d4.loss_bbox: 0.2991, d5.loss_cls: 0.1033, d5.loss_bbox: 0.2995, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8498, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6520, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6017, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5753, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5625, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5620, d0.loss_map_cls_all: 0.2130, d0.loss_map_pts_all: 1.1779, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.2130, d0.loss_map_pts: 1.1779, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1846, d1.loss_map_pts: 0.8328, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1598, d2.loss_map_pts: 0.6721, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1479, d3.loss_map_pts: 0.6057, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1409, d4.loss_map_pts: 0.5777, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1353, d5.loss_map_pts: 0.5714, d5.loss_map_dir: 0.0056, loss: 24.3661, grad_norm: 158.0454 +2026-02-28 05:05:44,306 - DriveTransformer - INFO - Epoch [9][12000/39528] lr: 7.525e-05, eta: 5 days, 5:55:51, time: 0.720, data_time: 0.037, memory: 19865, loss_cls: 0.1289, loss_bbox: 0.3224, loss_traj: 0.5301, loss_traj_cls: 0.0019, loss_map_cls: 0.1244, loss_map_pts: 0.5739, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.3954, d0.loss_plan_l1_fix_dist: 0.5253, d1.loss_plan_l1_fix_time: 0.8438, d1.loss_plan_l1_fix_dist: 0.1910, d2.loss_plan_l1_fix_time: 0.8331, d2.loss_plan_l1_fix_dist: 0.1972, d3.loss_plan_l1_fix_time: 0.8280, d3.loss_plan_l1_fix_dist: 0.2221, d4.loss_plan_l1_fix_time: 0.8299, d4.loss_plan_l1_fix_dist: 0.2162, d5.loss_plan_l1_fix_time: 0.8334, d5.loss_plan_l1_fix_dist: 0.2289, d6.loss_plan_l1_fix_time: 0.8379, d6.loss_plan_l1_fix_dist: 0.2480, d0.loss_cls_all: 0.1667, d0.loss_bbox_all: 0.3712, d0.loss_cls: 0.1667, d0.loss_bbox: 0.3712, d1.loss_cls: 0.1619, d1.loss_bbox: 0.3436, d2.loss_cls: 0.1513, d2.loss_bbox: 0.3264, d3.loss_cls: 0.1340, d3.loss_bbox: 0.3227, d4.loss_cls: 0.1267, d4.loss_bbox: 0.3239, d5.loss_cls: 0.1276, d5.loss_bbox: 0.3228, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7991, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6020, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5405, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5339, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5293, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5256, d0.loss_map_cls_all: 0.2020, d0.loss_map_pts_all: 1.1171, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2020, d0.loss_map_pts: 1.1171, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1710, d1.loss_map_pts: 0.8099, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1518, d2.loss_map_pts: 0.6596, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1383, d3.loss_map_pts: 0.5991, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1296, d4.loss_map_pts: 0.5776, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1267, d5.loss_map_pts: 0.5737, d5.loss_map_dir: 0.0075, loss: 24.4991, grad_norm: 164.1894 +2026-02-28 05:06:20,847 - DriveTransformer - INFO - Epoch [9][12050/39528] lr: 7.525e-05, eta: 5 days, 5:55:14, time: 0.729, data_time: 0.035, memory: 19865, loss_cls: 0.1097, loss_bbox: 0.3193, loss_traj: 0.5156, loss_traj_cls: 0.0019, loss_map_cls: 0.1201, loss_map_pts: 0.5474, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.8342, d0.loss_plan_l1_fix_dist: 0.4311, d1.loss_plan_l1_fix_time: 0.9187, d1.loss_plan_l1_fix_dist: 0.1973, d2.loss_plan_l1_fix_time: 0.9136, d2.loss_plan_l1_fix_dist: 0.1993, d3.loss_plan_l1_fix_time: 0.9047, d3.loss_plan_l1_fix_dist: 0.2363, d4.loss_plan_l1_fix_time: 0.9073, d4.loss_plan_l1_fix_dist: 0.2201, d5.loss_plan_l1_fix_time: 0.9121, d5.loss_plan_l1_fix_dist: 0.2363, d6.loss_plan_l1_fix_time: 0.9176, d6.loss_plan_l1_fix_dist: 0.2590, d0.loss_cls_all: 0.1502, d0.loss_bbox_all: 0.3753, d0.loss_cls: 0.1502, d0.loss_bbox: 0.3753, d1.loss_cls: 0.1420, d1.loss_bbox: 0.3440, d2.loss_cls: 0.1305, d2.loss_bbox: 0.3262, d3.loss_cls: 0.1164, d3.loss_bbox: 0.3176, d4.loss_cls: 0.1107, d4.loss_bbox: 0.3184, d5.loss_cls: 0.1097, d5.loss_bbox: 0.3185, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7093, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5752, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5224, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5145, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5084, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5129, d0.loss_map_cls_all: 0.1984, d0.loss_map_pts_all: 1.1496, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1984, d0.loss_map_pts: 1.1496, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1660, d1.loss_map_pts: 0.7961, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1458, d2.loss_map_pts: 0.6338, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1348, d3.loss_map_pts: 0.5742, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1261, d4.loss_map_pts: 0.5514, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1225, d5.loss_map_pts: 0.5478, d5.loss_map_dir: 0.0068, loss: 24.8820, grad_norm: 163.7755 +2026-02-28 05:06:57,880 - DriveTransformer - INFO - Epoch [9][12100/39528] lr: 7.525e-05, eta: 5 days, 5:54:41, time: 0.741, data_time: 0.037, memory: 19865, loss_cls: 0.1169, loss_bbox: 0.3305, loss_traj: 0.5255, loss_traj_cls: 0.0019, loss_map_cls: 0.1206, loss_map_pts: 0.5369, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.9947, d0.loss_plan_l1_fix_dist: 0.4693, d1.loss_plan_l1_fix_time: 0.9623, d1.loss_plan_l1_fix_dist: 0.1943, d2.loss_plan_l1_fix_time: 0.9494, d2.loss_plan_l1_fix_dist: 0.1969, d3.loss_plan_l1_fix_time: 0.9498, d3.loss_plan_l1_fix_dist: 0.2244, d4.loss_plan_l1_fix_time: 0.9532, d4.loss_plan_l1_fix_dist: 0.2143, d5.loss_plan_l1_fix_time: 0.9570, d5.loss_plan_l1_fix_dist: 0.2213, d6.loss_plan_l1_fix_time: 0.9611, d6.loss_plan_l1_fix_dist: 0.2320, d0.loss_cls_all: 0.1628, d0.loss_bbox_all: 0.3921, d0.loss_cls: 0.1628, d0.loss_bbox: 0.3921, d1.loss_cls: 0.1573, d1.loss_bbox: 0.3597, d2.loss_cls: 0.1428, d2.loss_bbox: 0.3424, d3.loss_cls: 0.1248, d3.loss_bbox: 0.3341, d4.loss_cls: 0.1186, d4.loss_bbox: 0.3322, d5.loss_cls: 0.1176, d5.loss_bbox: 0.3304, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7223, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5690, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5269, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5218, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5181, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5194, d0.loss_map_cls_all: 0.1905, d0.loss_map_pts_all: 1.1141, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1905, d0.loss_map_pts: 1.1141, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1610, d1.loss_map_pts: 0.7591, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1438, d2.loss_map_pts: 0.6152, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1352, d3.loss_map_pts: 0.5627, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1273, d4.loss_map_pts: 0.5453, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1218, d5.loss_map_pts: 0.5368, d5.loss_map_dir: 0.0073, loss: 25.3395, grad_norm: 164.9029 +2026-02-28 05:07:36,028 - DriveTransformer - INFO - Epoch [9][12150/39528] lr: 7.525e-05, eta: 5 days, 5:54:15, time: 0.763, data_time: 0.037, memory: 19865, loss_cls: 0.1132, loss_bbox: 0.3158, loss_traj: 0.5769, loss_traj_cls: 0.0019, loss_map_cls: 0.1053, loss_map_pts: 0.6361, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.5558, d0.loss_plan_l1_fix_dist: 0.3824, d1.loss_plan_l1_fix_time: 0.7825, d1.loss_plan_l1_fix_dist: 0.1930, d2.loss_plan_l1_fix_time: 0.7710, d2.loss_plan_l1_fix_dist: 0.2157, d3.loss_plan_l1_fix_time: 0.7486, d3.loss_plan_l1_fix_dist: 0.2231, d4.loss_plan_l1_fix_time: 0.7523, d4.loss_plan_l1_fix_dist: 0.2417, d5.loss_plan_l1_fix_time: 0.7563, d5.loss_plan_l1_fix_dist: 0.2502, d6.loss_plan_l1_fix_time: 0.7608, d6.loss_plan_l1_fix_dist: 0.2597, d0.loss_cls_all: 0.1537, d0.loss_bbox_all: 0.3750, d0.loss_cls: 0.1537, d0.loss_bbox: 0.3750, d1.loss_cls: 0.1503, d1.loss_bbox: 0.3452, d2.loss_cls: 0.1361, d2.loss_bbox: 0.3267, d3.loss_cls: 0.1200, d3.loss_bbox: 0.3207, d4.loss_cls: 0.1125, d4.loss_bbox: 0.3187, d5.loss_cls: 0.1133, d5.loss_bbox: 0.3154, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8409, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6535, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6086, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5846, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5795, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5739, d0.loss_map_cls_all: 0.1888, d0.loss_map_pts_all: 1.3295, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.1888, d0.loss_map_pts: 1.3295, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1520, d1.loss_map_pts: 0.9293, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1316, d2.loss_map_pts: 0.7400, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1183, d3.loss_map_pts: 0.6695, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1113, d4.loss_map_pts: 0.6434, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1075, d5.loss_map_pts: 0.6362, d5.loss_map_dir: 0.0087, loss: 25.1487, grad_norm: 166.0551 +2026-02-28 05:08:11,345 - DriveTransformer - INFO - Epoch [9][12200/39528] lr: 7.525e-05, eta: 5 days, 5:53:31, time: 0.706, data_time: 0.039, memory: 19865, loss_cls: 0.1127, loss_bbox: 0.3175, loss_traj: 0.5867, loss_traj_cls: 0.0019, loss_map_cls: 0.1320, loss_map_pts: 0.5213, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 3.0860, d0.loss_plan_l1_fix_dist: 0.3409, d1.loss_plan_l1_fix_time: 0.9725, d1.loss_plan_l1_fix_dist: 0.1767, d2.loss_plan_l1_fix_time: 0.9596, d2.loss_plan_l1_fix_dist: 0.2124, d3.loss_plan_l1_fix_time: 0.9532, d3.loss_plan_l1_fix_dist: 0.1887, d4.loss_plan_l1_fix_time: 0.9558, d4.loss_plan_l1_fix_dist: 0.2087, d5.loss_plan_l1_fix_time: 0.9588, d5.loss_plan_l1_fix_dist: 0.2107, d6.loss_plan_l1_fix_time: 0.9627, d6.loss_plan_l1_fix_dist: 0.2165, d0.loss_cls_all: 0.1521, d0.loss_bbox_all: 0.3780, d0.loss_cls: 0.1521, d0.loss_bbox: 0.3780, d1.loss_cls: 0.1508, d1.loss_bbox: 0.3399, d2.loss_cls: 0.1379, d2.loss_bbox: 0.3237, d3.loss_cls: 0.1202, d3.loss_bbox: 0.3193, d4.loss_cls: 0.1134, d4.loss_bbox: 0.3184, d5.loss_cls: 0.1116, d5.loss_bbox: 0.3184, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8783, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6648, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6138, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6059, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5933, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5923, d0.loss_map_cls_all: 0.2032, d0.loss_map_pts_all: 1.0958, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.2032, d0.loss_map_pts: 1.0958, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1763, d1.loss_map_pts: 0.7710, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1537, d2.loss_map_pts: 0.6210, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1426, d3.loss_map_pts: 0.5550, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1354, d4.loss_map_pts: 0.5285, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.1341, d5.loss_map_pts: 0.5217, d5.loss_map_dir: 0.0054, loss: 25.7222, grad_norm: 168.4834 +2026-02-28 05:08:47,984 - DriveTransformer - INFO - Epoch [9][12250/39528] lr: 7.525e-05, eta: 5 days, 5:52:55, time: 0.733, data_time: 0.036, memory: 19865, loss_cls: 0.1226, loss_bbox: 0.3416, loss_traj: 0.5321, loss_traj_cls: 0.0019, loss_map_cls: 0.1349, loss_map_pts: 0.6376, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.7989, d0.loss_plan_l1_fix_dist: 0.4410, d1.loss_plan_l1_fix_time: 0.8319, d1.loss_plan_l1_fix_dist: 0.1925, d2.loss_plan_l1_fix_time: 0.8236, d2.loss_plan_l1_fix_dist: 0.2292, d3.loss_plan_l1_fix_time: 0.8219, d3.loss_plan_l1_fix_dist: 0.2023, d4.loss_plan_l1_fix_time: 0.8255, d4.loss_plan_l1_fix_dist: 0.2134, d5.loss_plan_l1_fix_time: 0.8291, d5.loss_plan_l1_fix_dist: 0.2143, d6.loss_plan_l1_fix_time: 0.8337, d6.loss_plan_l1_fix_dist: 0.2275, d0.loss_cls_all: 0.1753, d0.loss_bbox_all: 0.4109, d0.loss_cls: 0.1753, d0.loss_bbox: 0.4109, d1.loss_cls: 0.1620, d1.loss_bbox: 0.3749, d2.loss_cls: 0.1493, d2.loss_bbox: 0.3535, d3.loss_cls: 0.1329, d3.loss_bbox: 0.3439, d4.loss_cls: 0.1245, d4.loss_bbox: 0.3428, d5.loss_cls: 0.1229, d5.loss_bbox: 0.3421, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8241, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6095, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5546, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5420, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5376, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5317, d0.loss_map_cls_all: 0.2183, d0.loss_map_pts_all: 1.3357, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2183, d0.loss_map_pts: 1.3357, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1860, d1.loss_map_pts: 0.9690, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1611, d2.loss_map_pts: 0.7735, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1489, d3.loss_map_pts: 0.6872, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1414, d4.loss_map_pts: 0.6530, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1372, d5.loss_map_pts: 0.6396, d5.loss_map_dir: 0.0071, loss: 26.1404, grad_norm: 168.4256 +2026-02-28 05:09:24,085 - DriveTransformer - INFO - Epoch [9][12300/39528] lr: 7.525e-05, eta: 5 days, 5:52:15, time: 0.722, data_time: 0.036, memory: 19865, loss_cls: 0.1186, loss_bbox: 0.3209, loss_traj: 0.5850, loss_traj_cls: 0.0019, loss_map_cls: 0.1110, loss_map_pts: 0.5104, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 3.0479, d0.loss_plan_l1_fix_dist: 0.3505, d1.loss_plan_l1_fix_time: 0.8674, d1.loss_plan_l1_fix_dist: 0.1593, d2.loss_plan_l1_fix_time: 0.8424, d2.loss_plan_l1_fix_dist: 0.1874, d3.loss_plan_l1_fix_time: 0.8397, d3.loss_plan_l1_fix_dist: 0.1867, d4.loss_plan_l1_fix_time: 0.8407, d4.loss_plan_l1_fix_dist: 0.2009, d5.loss_plan_l1_fix_time: 0.8422, d5.loss_plan_l1_fix_dist: 0.1904, d6.loss_plan_l1_fix_time: 0.8442, d6.loss_plan_l1_fix_dist: 0.1994, d0.loss_cls_all: 0.1681, d0.loss_bbox_all: 0.3746, d0.loss_cls: 0.1681, d0.loss_bbox: 0.3746, d1.loss_cls: 0.1568, d1.loss_bbox: 0.3447, d2.loss_cls: 0.1406, d2.loss_bbox: 0.3303, d3.loss_cls: 0.1263, d3.loss_bbox: 0.3235, d4.loss_cls: 0.1184, d4.loss_bbox: 0.3241, d5.loss_cls: 0.1176, d5.loss_bbox: 0.3217, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8558, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6583, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6090, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5939, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5873, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5852, d0.loss_map_cls_all: 0.1846, d0.loss_map_pts_all: 1.1152, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1846, d0.loss_map_pts: 1.1152, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1552, d1.loss_map_pts: 0.7822, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1336, d2.loss_map_pts: 0.6256, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1235, d3.loss_map_pts: 0.5529, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1166, d4.loss_map_pts: 0.5205, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1124, d5.loss_map_pts: 0.5117, d5.loss_map_dir: 0.0059, loss: 24.8098, grad_norm: 169.2422 +2026-02-28 05:09:59,620 - DriveTransformer - INFO - Epoch [9][12350/39528] lr: 7.525e-05, eta: 5 days, 5:51:32, time: 0.711, data_time: 0.036, memory: 19865, loss_cls: 0.0962, loss_bbox: 0.2942, loss_traj: 0.4570, loss_traj_cls: 0.0019, loss_map_cls: 0.1184, loss_map_pts: 0.5519, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.4716, d0.loss_plan_l1_fix_dist: 0.3976, d1.loss_plan_l1_fix_time: 0.8419, d1.loss_plan_l1_fix_dist: 0.1555, d2.loss_plan_l1_fix_time: 0.8250, d2.loss_plan_l1_fix_dist: 0.1828, d3.loss_plan_l1_fix_time: 0.8237, d3.loss_plan_l1_fix_dist: 0.1709, d4.loss_plan_l1_fix_time: 0.8260, d4.loss_plan_l1_fix_dist: 0.1901, d5.loss_plan_l1_fix_time: 0.8284, d5.loss_plan_l1_fix_dist: 0.1709, d6.loss_plan_l1_fix_time: 0.8315, d6.loss_plan_l1_fix_dist: 0.1801, d0.loss_cls_all: 0.1308, d0.loss_bbox_all: 0.3478, d0.loss_cls: 0.1308, d0.loss_bbox: 0.3478, d1.loss_cls: 0.1217, d1.loss_bbox: 0.3198, d2.loss_cls: 0.1121, d2.loss_bbox: 0.3013, d3.loss_cls: 0.1005, d3.loss_bbox: 0.2961, d4.loss_cls: 0.0963, d4.loss_bbox: 0.2953, d5.loss_cls: 0.0957, d5.loss_bbox: 0.2944, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6641, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5270, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4855, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4692, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4630, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4574, d0.loss_map_cls_all: 0.1999, d0.loss_map_pts_all: 1.1371, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1999, d0.loss_map_pts: 1.1371, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1695, d1.loss_map_pts: 0.7927, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1428, d2.loss_map_pts: 0.6441, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1321, d3.loss_map_pts: 0.5833, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1244, d4.loss_map_pts: 0.5628, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1209, d5.loss_map_pts: 0.5534, d5.loss_map_dir: 0.0065, loss: 23.0274, grad_norm: 168.6989 +2026-02-28 05:10:38,664 - DriveTransformer - INFO - Epoch [9][12400/39528] lr: 7.525e-05, eta: 5 days, 5:51:12, time: 0.781, data_time: 0.038, memory: 19865, loss_cls: 0.1058, loss_bbox: 0.2858, loss_traj: 0.4436, loss_traj_cls: 0.0019, loss_map_cls: 0.1112, loss_map_pts: 0.5728, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.2106, d0.loss_plan_l1_fix_dist: 0.3574, d1.loss_plan_l1_fix_time: 0.8099, d1.loss_plan_l1_fix_dist: 0.1534, d2.loss_plan_l1_fix_time: 0.8017, d2.loss_plan_l1_fix_dist: 0.1843, d3.loss_plan_l1_fix_time: 0.8069, d3.loss_plan_l1_fix_dist: 0.1693, d4.loss_plan_l1_fix_time: 0.8115, d4.loss_plan_l1_fix_dist: 0.1844, d5.loss_plan_l1_fix_time: 0.8160, d5.loss_plan_l1_fix_dist: 0.1837, d6.loss_plan_l1_fix_time: 0.8210, d6.loss_plan_l1_fix_dist: 0.2015, d0.loss_cls_all: 0.1468, d0.loss_bbox_all: 0.3488, d0.loss_cls: 0.1468, d0.loss_bbox: 0.3488, d1.loss_cls: 0.1387, d1.loss_bbox: 0.3190, d2.loss_cls: 0.1257, d2.loss_bbox: 0.2986, d3.loss_cls: 0.1105, d3.loss_bbox: 0.2909, d4.loss_cls: 0.1051, d4.loss_bbox: 0.2883, d5.loss_cls: 0.1052, d5.loss_bbox: 0.2865, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6171, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5050, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4591, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4528, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4446, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4447, d0.loss_map_cls_all: 0.1870, d0.loss_map_pts_all: 1.2694, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1870, d0.loss_map_pts: 1.2694, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1507, d1.loss_map_pts: 0.8503, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1311, d2.loss_map_pts: 0.6705, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1216, d3.loss_map_pts: 0.6082, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1145, d4.loss_map_pts: 0.5830, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1119, d5.loss_map_pts: 0.5755, d5.loss_map_dir: 0.0081, loss: 22.9134, grad_norm: 172.3519 +2026-02-28 05:11:15,334 - DriveTransformer - INFO - Epoch [9][12450/39528] lr: 7.525e-05, eta: 5 days, 5:50:37, time: 0.733, data_time: 0.035, memory: 19865, loss_cls: 0.1102, loss_bbox: 0.3071, loss_traj: 0.5424, loss_traj_cls: 0.0019, loss_map_cls: 0.1281, loss_map_pts: 0.6178, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.3686, d0.loss_plan_l1_fix_dist: 0.3974, d1.loss_plan_l1_fix_time: 0.8997, d1.loss_plan_l1_fix_dist: 0.1542, d2.loss_plan_l1_fix_time: 0.8812, d2.loss_plan_l1_fix_dist: 0.1796, d3.loss_plan_l1_fix_time: 0.8682, d3.loss_plan_l1_fix_dist: 0.1764, d4.loss_plan_l1_fix_time: 0.8709, d4.loss_plan_l1_fix_dist: 0.1712, d5.loss_plan_l1_fix_time: 0.8738, d5.loss_plan_l1_fix_dist: 0.1753, d6.loss_plan_l1_fix_time: 0.8772, d6.loss_plan_l1_fix_dist: 0.1856, d0.loss_cls_all: 0.1507, d0.loss_bbox_all: 0.3776, d0.loss_cls: 0.1507, d0.loss_bbox: 0.3776, d1.loss_cls: 0.1444, d1.loss_bbox: 0.3425, d2.loss_cls: 0.1288, d2.loss_bbox: 0.3217, d3.loss_cls: 0.1164, d3.loss_bbox: 0.3129, d4.loss_cls: 0.1090, d4.loss_bbox: 0.3110, d5.loss_cls: 0.1082, d5.loss_bbox: 0.3086, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7582, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6140, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5604, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5416, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5413, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5419, d0.loss_map_cls_all: 0.2138, d0.loss_map_pts_all: 1.2879, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2138, d0.loss_map_pts: 1.2879, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1796, d1.loss_map_pts: 0.9026, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1558, d2.loss_map_pts: 0.7187, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1414, d3.loss_map_pts: 0.6560, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1338, d4.loss_map_pts: 0.6279, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1300, d5.loss_map_pts: 0.6191, d5.loss_map_dir: 0.0077, loss: 24.9366, grad_norm: 173.1737 +2026-02-28 05:11:51,333 - DriveTransformer - INFO - Epoch [9][12500/39528] lr: 7.525e-05, eta: 5 days, 5:49:57, time: 0.720, data_time: 0.037, memory: 19865, loss_cls: 0.1050, loss_bbox: 0.2960, loss_traj: 0.4594, loss_traj_cls: 0.0018, loss_map_cls: 0.1260, loss_map_pts: 0.6068, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.3780, d0.loss_plan_l1_fix_dist: 0.4725, d1.loss_plan_l1_fix_time: 0.8219, d1.loss_plan_l1_fix_dist: 0.1676, d2.loss_plan_l1_fix_time: 0.7958, d2.loss_plan_l1_fix_dist: 0.1840, d3.loss_plan_l1_fix_time: 0.7883, d3.loss_plan_l1_fix_dist: 0.2035, d4.loss_plan_l1_fix_time: 0.7892, d4.loss_plan_l1_fix_dist: 0.1845, d5.loss_plan_l1_fix_time: 0.7912, d5.loss_plan_l1_fix_dist: 0.1999, d6.loss_plan_l1_fix_time: 0.7936, d6.loss_plan_l1_fix_dist: 0.1906, d0.loss_cls_all: 0.1554, d0.loss_bbox_all: 0.3602, d0.loss_cls: 0.1554, d0.loss_bbox: 0.3602, d1.loss_cls: 0.1472, d1.loss_bbox: 0.3270, d2.loss_cls: 0.1289, d2.loss_bbox: 0.3099, d3.loss_cls: 0.1140, d3.loss_bbox: 0.3018, d4.loss_cls: 0.1070, d4.loss_bbox: 0.2986, d5.loss_cls: 0.1052, d5.loss_bbox: 0.2965, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6792, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5304, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4772, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4649, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4612, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4600, d0.loss_map_cls_all: 0.2111, d0.loss_map_pts_all: 1.2588, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2111, d0.loss_map_pts: 1.2588, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1759, d1.loss_map_pts: 0.8960, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1525, d2.loss_map_pts: 0.7190, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1403, d3.loss_map_pts: 0.6470, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1318, d4.loss_map_pts: 0.6142, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1293, d5.loss_map_pts: 0.6075, d5.loss_map_dir: 0.0077, loss: 23.8120, grad_norm: 172.3565 +2026-02-28 05:12:28,833 - DriveTransformer - INFO - Epoch [9][12550/39528] lr: 7.525e-05, eta: 5 days, 5:49:27, time: 0.750, data_time: 0.036, memory: 19865, loss_cls: 0.1063, loss_bbox: 0.2847, loss_traj: 0.4772, loss_traj_cls: 0.0019, loss_map_cls: 0.1244, loss_map_pts: 0.6260, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.1473, d0.loss_plan_l1_fix_dist: 0.4319, d1.loss_plan_l1_fix_time: 0.7676, d1.loss_plan_l1_fix_dist: 0.1623, d2.loss_plan_l1_fix_time: 0.7587, d2.loss_plan_l1_fix_dist: 0.1770, d3.loss_plan_l1_fix_time: 0.7562, d3.loss_plan_l1_fix_dist: 0.2155, d4.loss_plan_l1_fix_time: 0.7598, d4.loss_plan_l1_fix_dist: 0.2006, d5.loss_plan_l1_fix_time: 0.7638, d5.loss_plan_l1_fix_dist: 0.2118, d6.loss_plan_l1_fix_time: 0.7680, d6.loss_plan_l1_fix_dist: 0.2079, d0.loss_cls_all: 0.1470, d0.loss_bbox_all: 0.3399, d0.loss_cls: 0.1470, d0.loss_bbox: 0.3399, d1.loss_cls: 0.1390, d1.loss_bbox: 0.3126, d2.loss_cls: 0.1270, d2.loss_bbox: 0.2947, d3.loss_cls: 0.1121, d3.loss_bbox: 0.2892, d4.loss_cls: 0.1065, d4.loss_bbox: 0.2874, d5.loss_cls: 0.1068, d5.loss_bbox: 0.2843, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6400, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5282, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4920, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4855, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4795, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4758, d0.loss_map_cls_all: 0.2087, d0.loss_map_pts_all: 1.3574, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2087, d0.loss_map_pts: 1.3574, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1706, d1.loss_map_pts: 0.9363, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1523, d2.loss_map_pts: 0.7368, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1393, d3.loss_map_pts: 0.6681, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1323, d4.loss_map_pts: 0.6337, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1263, d5.loss_map_pts: 0.6273, d5.loss_map_dir: 0.0078, loss: 23.6032, grad_norm: 169.5665 +2026-02-28 05:13:05,206 - DriveTransformer - INFO - Epoch [9][12600/39528] lr: 7.525e-05, eta: 5 days, 5:48:49, time: 0.727, data_time: 0.036, memory: 19865, loss_cls: 0.1247, loss_bbox: 0.3380, loss_traj: 0.5891, loss_traj_cls: 0.0018, loss_map_cls: 0.1392, loss_map_pts: 0.6243, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.8681, d0.loss_plan_l1_fix_dist: 0.4200, d1.loss_plan_l1_fix_time: 0.9163, d1.loss_plan_l1_fix_dist: 0.1848, d2.loss_plan_l1_fix_time: 0.9015, d2.loss_plan_l1_fix_dist: 0.2047, d3.loss_plan_l1_fix_time: 0.9007, d3.loss_plan_l1_fix_dist: 0.2632, d4.loss_plan_l1_fix_time: 0.9040, d4.loss_plan_l1_fix_dist: 0.2638, d5.loss_plan_l1_fix_time: 0.9076, d5.loss_plan_l1_fix_dist: 0.2310, d6.loss_plan_l1_fix_time: 0.9116, d6.loss_plan_l1_fix_dist: 0.2441, d0.loss_cls_all: 0.1694, d0.loss_bbox_all: 0.3981, d0.loss_cls: 0.1694, d0.loss_bbox: 0.3981, d1.loss_cls: 0.1654, d1.loss_bbox: 0.3666, d2.loss_cls: 0.1537, d2.loss_bbox: 0.3481, d3.loss_cls: 0.1335, d3.loss_bbox: 0.3433, d4.loss_cls: 0.1267, d4.loss_bbox: 0.3402, d5.loss_cls: 0.1244, d5.loss_bbox: 0.3392, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8537, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6989, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6332, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6192, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6097, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6030, d0.loss_map_cls_all: 0.2170, d0.loss_map_pts_all: 1.2248, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2170, d0.loss_map_pts: 1.2248, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1852, d1.loss_map_pts: 0.8948, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1667, d2.loss_map_pts: 0.7212, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1527, d3.loss_map_pts: 0.6558, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1454, d4.loss_map_pts: 0.6333, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1404, d5.loss_map_pts: 0.6249, d5.loss_map_dir: 0.0073, loss: 26.7974, grad_norm: 170.7018 +2026-02-28 05:13:41,901 - DriveTransformer - INFO - Epoch [9][12650/39528] lr: 7.525e-05, eta: 5 days, 5:48:14, time: 0.734, data_time: 0.038, memory: 19865, loss_cls: 0.1154, loss_bbox: 0.3208, loss_traj: 0.5202, loss_traj_cls: 0.0018, loss_map_cls: 0.1190, loss_map_pts: 0.5471, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.5496, d0.loss_plan_l1_fix_dist: 0.3913, d1.loss_plan_l1_fix_time: 0.8562, d1.loss_plan_l1_fix_dist: 0.1711, d2.loss_plan_l1_fix_time: 0.8416, d2.loss_plan_l1_fix_dist: 0.1823, d3.loss_plan_l1_fix_time: 0.8426, d3.loss_plan_l1_fix_dist: 0.2205, d4.loss_plan_l1_fix_time: 0.8459, d4.loss_plan_l1_fix_dist: 0.2396, d5.loss_plan_l1_fix_time: 0.8501, d5.loss_plan_l1_fix_dist: 0.2000, d6.loss_plan_l1_fix_time: 0.8552, d6.loss_plan_l1_fix_dist: 0.2103, d0.loss_cls_all: 0.1575, d0.loss_bbox_all: 0.3681, d0.loss_cls: 0.1575, d0.loss_bbox: 0.3681, d1.loss_cls: 0.1484, d1.loss_bbox: 0.3395, d2.loss_cls: 0.1373, d2.loss_bbox: 0.3227, d3.loss_cls: 0.1202, d3.loss_bbox: 0.3218, d4.loss_cls: 0.1159, d4.loss_bbox: 0.3206, d5.loss_cls: 0.1161, d5.loss_bbox: 0.3189, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6918, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5793, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5305, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5254, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5229, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5189, d0.loss_map_cls_all: 0.1933, d0.loss_map_pts_all: 1.1194, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1933, d0.loss_map_pts: 1.1194, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1586, d1.loss_map_pts: 0.8018, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1390, d2.loss_map_pts: 0.6467, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1299, d3.loss_map_pts: 0.5824, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1220, d4.loss_map_pts: 0.5575, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1202, d5.loss_map_pts: 0.5470, d5.loss_map_dir: 0.0067, loss: 24.0485, grad_norm: 171.0367 +2026-02-28 05:14:16,597 - DriveTransformer - INFO - Epoch [9][12700/39528] lr: 7.525e-05, eta: 5 days, 5:47:25, time: 0.694, data_time: 0.042, memory: 19865, loss_cls: 0.1127, loss_bbox: 0.3087, loss_traj: 0.4998, loss_traj_cls: 0.0018, loss_map_cls: 0.1027, loss_map_pts: 0.4779, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.5645, d0.loss_plan_l1_fix_dist: 0.4767, d1.loss_plan_l1_fix_time: 0.8234, d1.loss_plan_l1_fix_dist: 0.1899, d2.loss_plan_l1_fix_time: 0.8036, d2.loss_plan_l1_fix_dist: 0.1934, d3.loss_plan_l1_fix_time: 0.7983, d3.loss_plan_l1_fix_dist: 0.2088, d4.loss_plan_l1_fix_time: 0.8001, d4.loss_plan_l1_fix_dist: 0.2381, d5.loss_plan_l1_fix_time: 0.8027, d5.loss_plan_l1_fix_dist: 0.2103, d6.loss_plan_l1_fix_time: 0.8060, d6.loss_plan_l1_fix_dist: 0.2256, d0.loss_cls_all: 0.1465, d0.loss_bbox_all: 0.3683, d0.loss_cls: 0.1465, d0.loss_bbox: 0.3683, d1.loss_cls: 0.1435, d1.loss_bbox: 0.3330, d2.loss_cls: 0.1338, d2.loss_bbox: 0.3140, d3.loss_cls: 0.1178, d3.loss_bbox: 0.3101, d4.loss_cls: 0.1138, d4.loss_bbox: 0.3069, d5.loss_cls: 0.1123, d5.loss_bbox: 0.3071, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7318, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5672, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5273, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5111, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5059, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5013, d0.loss_map_cls_all: 0.1718, d0.loss_map_pts_all: 0.9837, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1718, d0.loss_map_pts: 0.9837, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1472, d1.loss_map_pts: 0.7023, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1263, d2.loss_map_pts: 0.5715, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1134, d3.loss_map_pts: 0.5162, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1061, d4.loss_map_pts: 0.4940, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1036, d5.loss_map_pts: 0.4796, d5.loss_map_dir: 0.0057, loss: 22.9319, grad_norm: 171.5752 +2026-02-28 05:14:52,285 - DriveTransformer - INFO - Epoch [9][12750/39528] lr: 7.525e-05, eta: 5 days, 5:46:42, time: 0.714, data_time: 0.037, memory: 19865, loss_cls: 0.1133, loss_bbox: 0.3217, loss_traj: 0.5466, loss_traj_cls: 0.0018, loss_map_cls: 0.1278, loss_map_pts: 0.6239, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 3.2116, d0.loss_plan_l1_fix_dist: 0.4041, d1.loss_plan_l1_fix_time: 1.0239, d1.loss_plan_l1_fix_dist: 0.2358, d2.loss_plan_l1_fix_time: 0.9925, d2.loss_plan_l1_fix_dist: 0.2398, d3.loss_plan_l1_fix_time: 0.9897, d3.loss_plan_l1_fix_dist: 0.2374, d4.loss_plan_l1_fix_time: 0.9929, d4.loss_plan_l1_fix_dist: 0.2522, d5.loss_plan_l1_fix_time: 0.9967, d5.loss_plan_l1_fix_dist: 0.2298, d6.loss_plan_l1_fix_time: 1.0010, d6.loss_plan_l1_fix_dist: 0.2481, d0.loss_cls_all: 0.1568, d0.loss_bbox_all: 0.3825, d0.loss_cls: 0.1568, d0.loss_bbox: 0.3825, d1.loss_cls: 0.1478, d1.loss_bbox: 0.3466, d2.loss_cls: 0.1342, d2.loss_bbox: 0.3293, d3.loss_cls: 0.1201, d3.loss_bbox: 0.3238, d4.loss_cls: 0.1144, d4.loss_bbox: 0.3219, d5.loss_cls: 0.1128, d5.loss_bbox: 0.3205, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7839, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5980, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5614, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5480, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5447, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5443, d0.loss_map_cls_all: 0.2115, d0.loss_map_pts_all: 1.2013, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2115, d0.loss_map_pts: 1.2013, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1784, d1.loss_map_pts: 0.8646, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1550, d2.loss_map_pts: 0.7060, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1423, d3.loss_map_pts: 0.6473, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1366, d4.loss_map_pts: 0.6261, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1325, d5.loss_map_pts: 0.6234, d5.loss_map_dir: 0.0079, loss: 26.8256, grad_norm: 170.9337 +2026-02-28 05:15:27,341 - DriveTransformer - INFO - Epoch [9][12800/39528] lr: 7.525e-05, eta: 5 days, 5:45:56, time: 0.702, data_time: 0.037, memory: 19865, loss_cls: 0.1109, loss_bbox: 0.3019, loss_traj: 0.5781, loss_traj_cls: 0.0020, loss_map_cls: 0.1089, loss_map_pts: 0.4874, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.5775, d0.loss_plan_l1_fix_dist: 0.3833, d1.loss_plan_l1_fix_time: 0.8881, d1.loss_plan_l1_fix_dist: 0.2084, d2.loss_plan_l1_fix_time: 0.8689, d2.loss_plan_l1_fix_dist: 0.2363, d3.loss_plan_l1_fix_time: 0.8667, d3.loss_plan_l1_fix_dist: 0.2229, d4.loss_plan_l1_fix_time: 0.8713, d4.loss_plan_l1_fix_dist: 0.2215, d5.loss_plan_l1_fix_time: 0.8776, d5.loss_plan_l1_fix_dist: 0.2146, d6.loss_plan_l1_fix_time: 0.8840, d6.loss_plan_l1_fix_dist: 0.2339, d0.loss_cls_all: 0.1478, d0.loss_bbox_all: 0.3532, d0.loss_cls: 0.1478, d0.loss_bbox: 0.3532, d1.loss_cls: 0.1425, d1.loss_bbox: 0.3214, d2.loss_cls: 0.1309, d2.loss_bbox: 0.3058, d3.loss_cls: 0.1179, d3.loss_bbox: 0.3014, d4.loss_cls: 0.1126, d4.loss_bbox: 0.3004, d5.loss_cls: 0.1111, d5.loss_bbox: 0.3000, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8061, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6357, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5894, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5791, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5766, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5779, d0.loss_map_cls_all: 0.1876, d0.loss_map_pts_all: 1.0424, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1876, d0.loss_map_pts: 1.0424, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1603, d1.loss_map_pts: 0.7346, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1324, d2.loss_map_pts: 0.5749, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1189, d3.loss_map_pts: 0.5137, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1142, d4.loss_map_pts: 0.4933, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1096, d5.loss_map_pts: 0.4886, d5.loss_map_dir: 0.0058, loss: 24.0053, grad_norm: 171.9036 +2026-02-28 05:16:05,341 - DriveTransformer - INFO - Epoch [9][12850/39528] lr: 7.525e-05, eta: 5 days, 5:45:29, time: 0.759, data_time: 0.038, memory: 19865, loss_cls: 0.1003, loss_bbox: 0.3160, loss_traj: 0.4863, loss_traj_cls: 0.0018, loss_map_cls: 0.1422, loss_map_pts: 0.6231, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.2500, d0.loss_plan_l1_fix_dist: 0.3761, d1.loss_plan_l1_fix_time: 0.7712, d1.loss_plan_l1_fix_dist: 0.2176, d2.loss_plan_l1_fix_time: 0.7577, d2.loss_plan_l1_fix_dist: 0.2487, d3.loss_plan_l1_fix_time: 0.7429, d3.loss_plan_l1_fix_dist: 0.2086, d4.loss_plan_l1_fix_time: 0.7449, d4.loss_plan_l1_fix_dist: 0.2193, d5.loss_plan_l1_fix_time: 0.7490, d5.loss_plan_l1_fix_dist: 0.2255, d6.loss_plan_l1_fix_time: 0.7543, d6.loss_plan_l1_fix_dist: 0.2382, d0.loss_cls_all: 0.1456, d0.loss_bbox_all: 0.3640, d0.loss_cls: 0.1456, d0.loss_bbox: 0.3640, d1.loss_cls: 0.1382, d1.loss_bbox: 0.3350, d2.loss_cls: 0.1250, d2.loss_bbox: 0.3197, d3.loss_cls: 0.1097, d3.loss_bbox: 0.3149, d4.loss_cls: 0.1044, d4.loss_bbox: 0.3135, d5.loss_cls: 0.1009, d5.loss_bbox: 0.3141, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6670, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5484, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5036, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4901, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4851, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4865, d0.loss_map_cls_all: 0.2364, d0.loss_map_pts_all: 1.2957, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2364, d0.loss_map_pts: 1.2957, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1990, d1.loss_map_pts: 0.8937, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1716, d2.loss_map_pts: 0.7170, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1549, d3.loss_map_pts: 0.6514, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1479, d4.loss_map_pts: 0.6284, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1434, d5.loss_map_pts: 0.6227, d5.loss_map_dir: 0.0086, loss: 24.0154, grad_norm: 173.1958 +2026-02-28 05:16:41,519 - DriveTransformer - INFO - Epoch [9][12900/39528] lr: 7.525e-05, eta: 5 days, 5:44:50, time: 0.724, data_time: 0.037, memory: 19865, loss_cls: 0.1363, loss_bbox: 0.3375, loss_traj: 0.6111, loss_traj_cls: 0.0018, loss_map_cls: 0.1540, loss_map_pts: 0.6370, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.9682, d0.loss_plan_l1_fix_dist: 0.4006, d1.loss_plan_l1_fix_time: 0.9616, d1.loss_plan_l1_fix_dist: 0.2351, d2.loss_plan_l1_fix_time: 0.9462, d2.loss_plan_l1_fix_dist: 0.2717, d3.loss_plan_l1_fix_time: 0.9411, d3.loss_plan_l1_fix_dist: 0.2226, d4.loss_plan_l1_fix_time: 0.9437, d4.loss_plan_l1_fix_dist: 0.2362, d5.loss_plan_l1_fix_time: 0.9462, d5.loss_plan_l1_fix_dist: 0.2604, d6.loss_plan_l1_fix_time: 0.9495, d6.loss_plan_l1_fix_dist: 0.2732, d0.loss_cls_all: 0.1883, d0.loss_bbox_all: 0.4060, d0.loss_cls: 0.1883, d0.loss_bbox: 0.4060, d1.loss_cls: 0.1803, d1.loss_bbox: 0.3723, d2.loss_cls: 0.1640, d2.loss_bbox: 0.3483, d3.loss_cls: 0.1448, d3.loss_bbox: 0.3392, d4.loss_cls: 0.1391, d4.loss_bbox: 0.3357, d5.loss_cls: 0.1375, d5.loss_bbox: 0.3358, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8793, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6946, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6274, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6171, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6094, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6071, d0.loss_map_cls_all: 0.2307, d0.loss_map_pts_all: 1.2182, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2307, d0.loss_map_pts: 1.2182, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1956, d1.loss_map_pts: 0.8926, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1706, d2.loss_map_pts: 0.7277, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1613, d3.loss_map_pts: 0.6647, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1561, d4.loss_map_pts: 0.6423, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1547, d5.loss_map_pts: 0.6366, d5.loss_map_dir: 0.0076, loss: 27.5181, grad_norm: 175.0979 +2026-02-28 05:17:18,992 - DriveTransformer - INFO - Epoch [9][12950/39528] lr: 7.525e-05, eta: 5 days, 5:44:20, time: 0.749, data_time: 0.038, memory: 19865, loss_cls: 0.1108, loss_bbox: 0.2999, loss_traj: 0.5329, loss_traj_cls: 0.0020, loss_map_cls: 0.1044, loss_map_pts: 0.5461, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.5248, d0.loss_plan_l1_fix_dist: 0.3754, d1.loss_plan_l1_fix_time: 0.8348, d1.loss_plan_l1_fix_dist: 0.2319, d2.loss_plan_l1_fix_time: 0.8305, d2.loss_plan_l1_fix_dist: 0.2646, d3.loss_plan_l1_fix_time: 0.8476, d3.loss_plan_l1_fix_dist: 0.2087, d4.loss_plan_l1_fix_time: 0.8532, d4.loss_plan_l1_fix_dist: 0.2127, d5.loss_plan_l1_fix_time: 0.8570, d5.loss_plan_l1_fix_dist: 0.2344, d6.loss_plan_l1_fix_time: 0.8613, d6.loss_plan_l1_fix_dist: 0.2268, d0.loss_cls_all: 0.1524, d0.loss_bbox_all: 0.3616, d0.loss_cls: 0.1524, d0.loss_bbox: 0.3616, d1.loss_cls: 0.1477, d1.loss_bbox: 0.3262, d2.loss_cls: 0.1326, d2.loss_bbox: 0.3055, d3.loss_cls: 0.1176, d3.loss_bbox: 0.2989, d4.loss_cls: 0.1137, d4.loss_bbox: 0.2973, d5.loss_cls: 0.1103, d5.loss_bbox: 0.2995, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7250, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5900, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5484, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5354, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5336, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5317, d0.loss_map_cls_all: 0.1832, d0.loss_map_pts_all: 1.1697, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1832, d0.loss_map_pts: 1.1697, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1532, d1.loss_map_pts: 0.7928, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1309, d2.loss_map_pts: 0.6339, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1185, d3.loss_map_pts: 0.5745, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1125, d4.loss_map_pts: 0.5539, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1069, d5.loss_map_pts: 0.5464, d5.loss_map_dir: 0.0072, loss: 24.0904, grad_norm: 173.7217 +2026-02-28 05:17:55,403 - DriveTransformer - INFO - Epoch [9][13000/39528] lr: 7.525e-05, eta: 5 days, 5:43:43, time: 0.728, data_time: 0.037, memory: 19865, loss_cls: 0.1318, loss_bbox: 0.3338, loss_traj: 0.4647, loss_traj_cls: 0.0020, loss_map_cls: 0.1085, loss_map_pts: 0.5883, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.9784, d0.loss_plan_l1_fix_dist: 0.3717, d1.loss_plan_l1_fix_time: 0.9233, d1.loss_plan_l1_fix_dist: 0.2253, d2.loss_plan_l1_fix_time: 0.9167, d2.loss_plan_l1_fix_dist: 0.2831, d3.loss_plan_l1_fix_time: 0.9127, d3.loss_plan_l1_fix_dist: 0.2307, d4.loss_plan_l1_fix_time: 0.9149, d4.loss_plan_l1_fix_dist: 0.2012, d5.loss_plan_l1_fix_time: 0.9176, d5.loss_plan_l1_fix_dist: 0.2152, d6.loss_plan_l1_fix_time: 0.9210, d6.loss_plan_l1_fix_dist: 0.2181, d0.loss_cls_all: 0.1760, d0.loss_bbox_all: 0.4049, d0.loss_cls: 0.1760, d0.loss_bbox: 0.4049, d1.loss_cls: 0.1652, d1.loss_bbox: 0.3708, d2.loss_cls: 0.1512, d2.loss_bbox: 0.3501, d3.loss_cls: 0.1373, d3.loss_bbox: 0.3428, d4.loss_cls: 0.1301, d4.loss_bbox: 0.3398, d5.loss_cls: 0.1317, d5.loss_bbox: 0.3353, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6904, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5400, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4909, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4759, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4728, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4687, d0.loss_map_cls_all: 0.1834, d0.loss_map_pts_all: 1.1709, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1834, d0.loss_map_pts: 1.1709, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1567, d1.loss_map_pts: 0.8364, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1345, d2.loss_map_pts: 0.6844, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1220, d3.loss_map_pts: 0.6183, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1156, d4.loss_map_pts: 0.5930, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1097, d5.loss_map_pts: 0.5877, d5.loss_map_dir: 0.0074, loss: 25.3440, grad_norm: 172.2793 +2026-02-28 05:18:33,565 - DriveTransformer - INFO - Epoch [9][13050/39528] lr: 7.525e-05, eta: 5 days, 5:43:17, time: 0.763, data_time: 0.038, memory: 19865, loss_cls: 0.1271, loss_bbox: 0.3484, loss_traj: 0.4768, loss_traj_cls: 0.0019, loss_map_cls: 0.1461, loss_map_pts: 0.6996, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.9080, d0.loss_plan_l1_fix_dist: 0.3441, d1.loss_plan_l1_fix_time: 1.0386, d1.loss_plan_l1_fix_dist: 0.2144, d2.loss_plan_l1_fix_time: 1.0364, d2.loss_plan_l1_fix_dist: 0.3025, d3.loss_plan_l1_fix_time: 1.0300, d3.loss_plan_l1_fix_dist: 0.2605, d4.loss_plan_l1_fix_time: 1.0329, d4.loss_plan_l1_fix_dist: 0.2225, d5.loss_plan_l1_fix_time: 1.0367, d5.loss_plan_l1_fix_dist: 0.2248, d6.loss_plan_l1_fix_time: 1.0407, d6.loss_plan_l1_fix_dist: 0.2377, d0.loss_cls_all: 0.1761, d0.loss_bbox_all: 0.4106, d0.loss_cls: 0.1761, d0.loss_bbox: 0.4106, d1.loss_cls: 0.1706, d1.loss_bbox: 0.3757, d2.loss_cls: 0.1532, d2.loss_bbox: 0.3584, d3.loss_cls: 0.1348, d3.loss_bbox: 0.3522, d4.loss_cls: 0.1291, d4.loss_bbox: 0.3490, d5.loss_cls: 0.1266, d5.loss_bbox: 0.3472, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6883, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5384, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5001, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4817, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4770, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4743, d0.loss_map_cls_all: 0.2265, d0.loss_map_pts_all: 1.3752, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2265, d0.loss_map_pts: 1.3752, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1946, d1.loss_map_pts: 0.9840, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1690, d2.loss_map_pts: 0.8051, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1596, d3.loss_map_pts: 0.7346, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1528, d4.loss_map_pts: 0.7077, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1472, d5.loss_map_pts: 0.7008, d5.loss_map_dir: 0.0098, loss: 27.5982, grad_norm: 171.1176 +2026-02-28 05:19:09,717 - DriveTransformer - INFO - Epoch [9][13100/39528] lr: 7.525e-05, eta: 5 days, 5:42:38, time: 0.723, data_time: 0.037, memory: 19865, loss_cls: 0.1050, loss_bbox: 0.3047, loss_traj: 0.5174, loss_traj_cls: 0.0020, loss_map_cls: 0.1535, loss_map_pts: 0.6131, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.4219, d0.loss_plan_l1_fix_dist: 0.4918, d1.loss_plan_l1_fix_time: 0.8280, d1.loss_plan_l1_fix_dist: 0.1994, d2.loss_plan_l1_fix_time: 0.8107, d2.loss_plan_l1_fix_dist: 0.2982, d3.loss_plan_l1_fix_time: 0.7991, d3.loss_plan_l1_fix_dist: 0.2516, d4.loss_plan_l1_fix_time: 0.7998, d4.loss_plan_l1_fix_dist: 0.2219, d5.loss_plan_l1_fix_time: 0.8017, d5.loss_plan_l1_fix_dist: 0.2032, d6.loss_plan_l1_fix_time: 0.8043, d6.loss_plan_l1_fix_dist: 0.2104, d0.loss_cls_all: 0.1393, d0.loss_bbox_all: 0.3667, d0.loss_cls: 0.1393, d0.loss_bbox: 0.3667, d1.loss_cls: 0.1320, d1.loss_bbox: 0.3352, d2.loss_cls: 0.1245, d2.loss_bbox: 0.3159, d3.loss_cls: 0.1085, d3.loss_bbox: 0.3117, d4.loss_cls: 0.1045, d4.loss_bbox: 0.3066, d5.loss_cls: 0.1044, d5.loss_bbox: 0.3044, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7218, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5950, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5357, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5216, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5183, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5191, d0.loss_map_cls_all: 0.2268, d0.loss_map_pts_all: 1.2644, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2268, d0.loss_map_pts: 1.2644, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.2001, d1.loss_map_pts: 0.9021, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1747, d2.loss_map_pts: 0.7164, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1647, d3.loss_map_pts: 0.6462, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1578, d4.loss_map_pts: 0.6188, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1547, d5.loss_map_pts: 0.6119, d5.loss_map_dir: 0.0075, loss: 24.7998, grad_norm: 167.5997 +2026-02-28 05:19:45,628 - DriveTransformer - INFO - Epoch [9][13150/39528] lr: 7.525e-05, eta: 5 days, 5:41:57, time: 0.718, data_time: 0.036, memory: 19865, loss_cls: 0.1248, loss_bbox: 0.3139, loss_traj: 0.5701, loss_traj_cls: 0.0020, loss_map_cls: 0.1303, loss_map_pts: 0.5292, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.5138, d0.loss_plan_l1_fix_dist: 0.3572, d1.loss_plan_l1_fix_time: 0.8858, d1.loss_plan_l1_fix_dist: 0.1797, d2.loss_plan_l1_fix_time: 0.8751, d2.loss_plan_l1_fix_dist: 0.2881, d3.loss_plan_l1_fix_time: 0.8725, d3.loss_plan_l1_fix_dist: 0.2341, d4.loss_plan_l1_fix_time: 0.8745, d4.loss_plan_l1_fix_dist: 0.2262, d5.loss_plan_l1_fix_time: 0.8773, d5.loss_plan_l1_fix_dist: 0.2027, d6.loss_plan_l1_fix_time: 0.8806, d6.loss_plan_l1_fix_dist: 0.2212, d0.loss_cls_all: 0.1714, d0.loss_bbox_all: 0.3625, d0.loss_cls: 0.1714, d0.loss_bbox: 0.3625, d1.loss_cls: 0.1624, d1.loss_bbox: 0.3401, d2.loss_cls: 0.1501, d2.loss_bbox: 0.3230, d3.loss_cls: 0.1339, d3.loss_bbox: 0.3177, d4.loss_cls: 0.1271, d4.loss_bbox: 0.3142, d5.loss_cls: 0.1258, d5.loss_bbox: 0.3130, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7881, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6408, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5949, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5768, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5686, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5643, d0.loss_map_cls_all: 0.1969, d0.loss_map_pts_all: 1.0624, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1969, d0.loss_map_pts: 1.0624, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1680, d1.loss_map_pts: 0.7455, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1434, d2.loss_map_pts: 0.5982, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1317, d3.loss_map_pts: 0.5497, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1306, d4.loss_map_pts: 0.5347, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1309, d5.loss_map_pts: 0.5288, d5.loss_map_dir: 0.0073, loss: 24.5109, grad_norm: 166.9869 +2026-02-28 05:20:21,914 - DriveTransformer - INFO - Epoch [9][13200/39528] lr: 7.525e-05, eta: 5 days, 5:41:19, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.1293, loss_bbox: 0.3504, loss_traj: 0.5605, loss_traj_cls: 0.0019, loss_map_cls: 0.1517, loss_map_pts: 0.6440, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 3.0089, d0.loss_plan_l1_fix_dist: 0.4434, d1.loss_plan_l1_fix_time: 0.9748, d1.loss_plan_l1_fix_dist: 0.2312, d2.loss_plan_l1_fix_time: 0.9698, d2.loss_plan_l1_fix_dist: 0.2890, d3.loss_plan_l1_fix_time: 0.9628, d3.loss_plan_l1_fix_dist: 0.2496, d4.loss_plan_l1_fix_time: 0.9665, d4.loss_plan_l1_fix_dist: 0.2653, d5.loss_plan_l1_fix_time: 0.9705, d5.loss_plan_l1_fix_dist: 0.2529, d6.loss_plan_l1_fix_time: 0.9749, d6.loss_plan_l1_fix_dist: 0.2475, d0.loss_cls_all: 0.1815, d0.loss_bbox_all: 0.4192, d0.loss_cls: 0.1815, d0.loss_bbox: 0.4192, d1.loss_cls: 0.1710, d1.loss_bbox: 0.3845, d2.loss_cls: 0.1566, d2.loss_bbox: 0.3643, d3.loss_cls: 0.1382, d3.loss_bbox: 0.3554, d4.loss_cls: 0.1309, d4.loss_bbox: 0.3527, d5.loss_cls: 0.1298, d5.loss_bbox: 0.3504, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8441, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6646, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5854, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5656, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5618, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5610, d0.loss_map_cls_all: 0.2349, d0.loss_map_pts_all: 1.2410, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2349, d0.loss_map_pts: 1.2410, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1959, d1.loss_map_pts: 0.8963, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1755, d2.loss_map_pts: 0.7340, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1603, d3.loss_map_pts: 0.6754, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1556, d4.loss_map_pts: 0.6529, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1524, d5.loss_map_pts: 0.6458, d5.loss_map_dir: 0.0075, loss: 27.6231, grad_norm: 151.7315 +2026-02-28 05:20:57,127 - DriveTransformer - INFO - Epoch [9][13250/39528] lr: 7.525e-05, eta: 5 days, 5:40:34, time: 0.704, data_time: 0.037, memory: 19865, loss_cls: 0.1085, loss_bbox: 0.3036, loss_traj: 0.5861, loss_traj_cls: 0.0020, loss_map_cls: 0.1296, loss_map_pts: 0.5288, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.7057, d0.loss_plan_l1_fix_dist: 0.4319, d1.loss_plan_l1_fix_time: 0.8757, d1.loss_plan_l1_fix_dist: 0.2461, d2.loss_plan_l1_fix_time: 0.8700, d2.loss_plan_l1_fix_dist: 0.2499, d3.loss_plan_l1_fix_time: 0.8566, d3.loss_plan_l1_fix_dist: 0.2302, d4.loss_plan_l1_fix_time: 0.8577, d4.loss_plan_l1_fix_dist: 0.2163, d5.loss_plan_l1_fix_time: 0.8600, d5.loss_plan_l1_fix_dist: 0.2266, d6.loss_plan_l1_fix_time: 0.8636, d6.loss_plan_l1_fix_dist: 0.2238, d0.loss_cls_all: 0.1576, d0.loss_bbox_all: 0.3580, d0.loss_cls: 0.1576, d0.loss_bbox: 0.3580, d1.loss_cls: 0.1455, d1.loss_bbox: 0.3284, d2.loss_cls: 0.1306, d2.loss_bbox: 0.3103, d3.loss_cls: 0.1145, d3.loss_bbox: 0.3054, d4.loss_cls: 0.1087, d4.loss_bbox: 0.3032, d5.loss_cls: 0.1081, d5.loss_bbox: 0.3026, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8165, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6654, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5964, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5908, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5908, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5837, d0.loss_map_cls_all: 0.2314, d0.loss_map_pts_all: 1.0915, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2314, d0.loss_map_pts: 1.0915, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1948, d1.loss_map_pts: 0.7953, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1611, d2.loss_map_pts: 0.6353, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1443, d3.loss_map_pts: 0.5606, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1365, d4.loss_map_pts: 0.5358, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1305, d5.loss_map_pts: 0.5314, d5.loss_map_dir: 0.0065, loss: 24.9320, grad_norm: 149.1846 +2026-02-28 05:21:32,504 - DriveTransformer - INFO - Epoch [9][13300/39528] lr: 7.525e-05, eta: 5 days, 5:39:49, time: 0.708, data_time: 0.036, memory: 19865, loss_cls: 0.1327, loss_bbox: 0.3263, loss_traj: 0.4949, loss_traj_cls: 0.0020, loss_map_cls: 0.1028, loss_map_pts: 0.5338, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.5766, d0.loss_plan_l1_fix_dist: 0.4220, d1.loss_plan_l1_fix_time: 0.8557, d1.loss_plan_l1_fix_dist: 0.2933, d2.loss_plan_l1_fix_time: 0.8297, d2.loss_plan_l1_fix_dist: 0.2323, d3.loss_plan_l1_fix_time: 0.8090, d3.loss_plan_l1_fix_dist: 0.2585, d4.loss_plan_l1_fix_time: 0.8117, d4.loss_plan_l1_fix_dist: 0.2178, d5.loss_plan_l1_fix_time: 0.8153, d5.loss_plan_l1_fix_dist: 0.2218, d6.loss_plan_l1_fix_time: 0.8187, d6.loss_plan_l1_fix_dist: 0.2495, d0.loss_cls_all: 0.1741, d0.loss_bbox_all: 0.3957, d0.loss_cls: 0.1741, d0.loss_bbox: 0.3957, d1.loss_cls: 0.1628, d1.loss_bbox: 0.3570, d2.loss_cls: 0.1488, d2.loss_bbox: 0.3389, d3.loss_cls: 0.1365, d3.loss_bbox: 0.3316, d4.loss_cls: 0.1316, d4.loss_bbox: 0.3286, d5.loss_cls: 0.1322, d5.loss_bbox: 0.3256, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7176, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5690, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5205, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5012, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4949, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4926, d0.loss_map_cls_all: 0.1804, d0.loss_map_pts_all: 1.1149, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1804, d0.loss_map_pts: 1.1149, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1477, d1.loss_map_pts: 0.7750, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1285, d2.loss_map_pts: 0.6280, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1173, d3.loss_map_pts: 0.5652, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1103, d4.loss_map_pts: 0.5396, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1046, d5.loss_map_pts: 0.5343, d5.loss_map_dir: 0.0072, loss: 24.1358, grad_norm: 150.3782 +2026-02-28 05:22:09,251 - DriveTransformer - INFO - Epoch [9][13350/39528] lr: 7.525e-05, eta: 5 days, 5:39:14, time: 0.735, data_time: 0.037, memory: 19865, loss_cls: 0.1304, loss_bbox: 0.3167, loss_traj: 0.5608, loss_traj_cls: 0.0020, loss_map_cls: 0.1204, loss_map_pts: 0.5493, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.9671, d0.loss_plan_l1_fix_dist: 0.4778, d1.loss_plan_l1_fix_time: 0.9824, d1.loss_plan_l1_fix_dist: 0.3242, d2.loss_plan_l1_fix_time: 0.9509, d2.loss_plan_l1_fix_dist: 0.2368, d3.loss_plan_l1_fix_time: 0.9443, d3.loss_plan_l1_fix_dist: 0.2513, d4.loss_plan_l1_fix_time: 0.9466, d4.loss_plan_l1_fix_dist: 0.2293, d5.loss_plan_l1_fix_time: 0.9496, d5.loss_plan_l1_fix_dist: 0.2353, d6.loss_plan_l1_fix_time: 0.9525, d6.loss_plan_l1_fix_dist: 0.2658, d0.loss_cls_all: 0.1765, d0.loss_bbox_all: 0.3835, d0.loss_cls: 0.1765, d0.loss_bbox: 0.3835, d1.loss_cls: 0.1689, d1.loss_bbox: 0.3489, d2.loss_cls: 0.1568, d2.loss_bbox: 0.3272, d3.loss_cls: 0.1403, d3.loss_bbox: 0.3200, d4.loss_cls: 0.1321, d4.loss_bbox: 0.3190, d5.loss_cls: 0.1298, d5.loss_bbox: 0.3178, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7856, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6158, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5739, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5653, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5662, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5600, d0.loss_map_cls_all: 0.2029, d0.loss_map_pts_all: 1.1170, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2029, d0.loss_map_pts: 1.1170, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1693, d1.loss_map_pts: 0.7955, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1436, d2.loss_map_pts: 0.6501, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1333, d3.loss_map_pts: 0.5814, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1277, d4.loss_map_pts: 0.5578, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1227, d5.loss_map_pts: 0.5497, d5.loss_map_dir: 0.0070, loss: 26.0709, grad_norm: 152.1453 +2026-02-28 05:22:46,185 - DriveTransformer - INFO - Epoch [9][13400/39528] lr: 7.525e-05, eta: 5 days, 5:38:40, time: 0.739, data_time: 0.037, memory: 19865, loss_cls: 0.1174, loss_bbox: 0.3003, loss_traj: 0.5820, loss_traj_cls: 0.0020, loss_map_cls: 0.1212, loss_map_pts: 0.5832, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.2712, d0.loss_plan_l1_fix_dist: 0.4247, d1.loss_plan_l1_fix_time: 0.9104, d1.loss_plan_l1_fix_dist: 0.3378, d2.loss_plan_l1_fix_time: 0.8943, d2.loss_plan_l1_fix_dist: 0.2685, d3.loss_plan_l1_fix_time: 0.9033, d3.loss_plan_l1_fix_dist: 0.2147, d4.loss_plan_l1_fix_time: 0.9078, d4.loss_plan_l1_fix_dist: 0.2010, d5.loss_plan_l1_fix_time: 0.9120, d5.loss_plan_l1_fix_dist: 0.2163, d6.loss_plan_l1_fix_time: 0.9158, d6.loss_plan_l1_fix_dist: 0.2221, d0.loss_cls_all: 0.1643, d0.loss_bbox_all: 0.3602, d0.loss_cls: 0.1643, d0.loss_bbox: 0.3602, d1.loss_cls: 0.1535, d1.loss_bbox: 0.3280, d2.loss_cls: 0.1366, d2.loss_bbox: 0.3117, d3.loss_cls: 0.1251, d3.loss_bbox: 0.3032, d4.loss_cls: 0.1185, d4.loss_bbox: 0.3011, d5.loss_cls: 0.1183, d5.loss_bbox: 0.2995, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8072, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6495, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6016, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5924, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5892, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5823, d0.loss_map_cls_all: 0.2016, d0.loss_map_pts_all: 1.2374, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2016, d0.loss_map_pts: 1.2374, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1706, d1.loss_map_pts: 0.8579, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1470, d2.loss_map_pts: 0.6861, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1363, d3.loss_map_pts: 0.6205, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1287, d4.loss_map_pts: 0.5928, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1235, d5.loss_map_pts: 0.5834, d5.loss_map_dir: 0.0075, loss: 25.3631, grad_norm: 152.1096 +2026-02-28 05:23:23,614 - DriveTransformer - INFO - Epoch [9][13450/39528] lr: 7.525e-05, eta: 5 days, 5:38:10, time: 0.749, data_time: 0.038, memory: 19865, loss_cls: 0.1063, loss_bbox: 0.3074, loss_traj: 0.6591, loss_traj_cls: 0.0021, loss_map_cls: 0.1268, loss_map_pts: 0.5824, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.4740, d0.loss_plan_l1_fix_dist: 0.5194, d1.loss_plan_l1_fix_time: 0.9233, d1.loss_plan_l1_fix_dist: 0.3439, d2.loss_plan_l1_fix_time: 0.9095, d2.loss_plan_l1_fix_dist: 0.2876, d3.loss_plan_l1_fix_time: 0.9115, d3.loss_plan_l1_fix_dist: 0.2305, d4.loss_plan_l1_fix_time: 0.9148, d4.loss_plan_l1_fix_dist: 0.2183, d5.loss_plan_l1_fix_time: 0.9183, d5.loss_plan_l1_fix_dist: 0.2266, d6.loss_plan_l1_fix_time: 0.9221, d6.loss_plan_l1_fix_dist: 0.2335, d0.loss_cls_all: 0.1557, d0.loss_bbox_all: 0.3689, d0.loss_cls: 0.1557, d0.loss_bbox: 0.3689, d1.loss_cls: 0.1496, d1.loss_bbox: 0.3376, d2.loss_cls: 0.1369, d2.loss_bbox: 0.3160, d3.loss_cls: 0.1176, d3.loss_bbox: 0.3077, d4.loss_cls: 0.1083, d4.loss_bbox: 0.3076, d5.loss_cls: 0.1067, d5.loss_bbox: 0.3069, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8833, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7421, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6756, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6613, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6592, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6572, d0.loss_map_cls_all: 0.2130, d0.loss_map_pts_all: 1.2301, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2130, d0.loss_map_pts: 1.2301, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1812, d1.loss_map_pts: 0.8655, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1556, d2.loss_map_pts: 0.6787, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1421, d3.loss_map_pts: 0.6124, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1349, d4.loss_map_pts: 0.5880, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1294, d5.loss_map_pts: 0.5827, d5.loss_map_dir: 0.0080, loss: 26.3639, grad_norm: 150.4177 +2026-02-28 05:23:59,698 - DriveTransformer - INFO - Epoch [9][13500/39528] lr: 7.525e-05, eta: 5 days, 5:37:30, time: 0.722, data_time: 0.038, memory: 19865, loss_cls: 0.1020, loss_bbox: 0.2910, loss_traj: 0.5436, loss_traj_cls: 0.0021, loss_map_cls: 0.0995, loss_map_pts: 0.5075, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.8062, d0.loss_plan_l1_fix_dist: 0.5585, d1.loss_plan_l1_fix_time: 0.9419, d1.loss_plan_l1_fix_dist: 0.3354, d2.loss_plan_l1_fix_time: 0.9320, d2.loss_plan_l1_fix_dist: 0.2734, d3.loss_plan_l1_fix_time: 0.9289, d3.loss_plan_l1_fix_dist: 0.2325, d4.loss_plan_l1_fix_time: 0.9331, d4.loss_plan_l1_fix_dist: 0.2345, d5.loss_plan_l1_fix_time: 0.9377, d5.loss_plan_l1_fix_dist: 0.2442, d6.loss_plan_l1_fix_time: 0.9431, d6.loss_plan_l1_fix_dist: 0.2456, d0.loss_cls_all: 0.1411, d0.loss_bbox_all: 0.3580, d0.loss_cls: 0.1411, d0.loss_bbox: 0.3580, d1.loss_cls: 0.1361, d1.loss_bbox: 0.3227, d2.loss_cls: 0.1241, d2.loss_bbox: 0.3033, d3.loss_cls: 0.1090, d3.loss_bbox: 0.2943, d4.loss_cls: 0.1046, d4.loss_bbox: 0.2918, d5.loss_cls: 0.1021, d5.loss_bbox: 0.2906, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7628, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6038, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5554, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5472, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5394, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5388, d0.loss_map_cls_all: 0.1752, d0.loss_map_pts_all: 1.0199, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1752, d0.loss_map_pts: 1.0199, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1477, d1.loss_map_pts: 0.7441, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1205, d2.loss_map_pts: 0.5909, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1115, d3.loss_map_pts: 0.5323, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1041, d4.loss_map_pts: 0.5135, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0994, d5.loss_map_pts: 0.5078, d5.loss_map_dir: 0.0059, loss: 24.6305, grad_norm: 150.1028 +2026-02-28 05:24:37,358 - DriveTransformer - INFO - Epoch [9][13550/39528] lr: 7.525e-05, eta: 5 days, 5:37:01, time: 0.753, data_time: 0.037, memory: 19865, loss_cls: 0.1218, loss_bbox: 0.3244, loss_traj: 0.5595, loss_traj_cls: 0.0020, loss_map_cls: 0.1296, loss_map_pts: 0.6370, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.8077, d0.loss_plan_l1_fix_dist: 0.4871, d1.loss_plan_l1_fix_time: 0.9078, d1.loss_plan_l1_fix_dist: 0.3336, d2.loss_plan_l1_fix_time: 0.8992, d2.loss_plan_l1_fix_dist: 0.2616, d3.loss_plan_l1_fix_time: 0.8970, d3.loss_plan_l1_fix_dist: 0.2234, d4.loss_plan_l1_fix_time: 0.9009, d4.loss_plan_l1_fix_dist: 0.2212, d5.loss_plan_l1_fix_time: 0.9061, d5.loss_plan_l1_fix_dist: 0.2229, d6.loss_plan_l1_fix_time: 0.9115, d6.loss_plan_l1_fix_dist: 0.2414, d0.loss_cls_all: 0.1746, d0.loss_bbox_all: 0.3940, d0.loss_cls: 0.1746, d0.loss_bbox: 0.3940, d1.loss_cls: 0.1713, d1.loss_bbox: 0.3557, d2.loss_cls: 0.1502, d2.loss_bbox: 0.3354, d3.loss_cls: 0.1308, d3.loss_bbox: 0.3304, d4.loss_cls: 0.1240, d4.loss_bbox: 0.3263, d5.loss_cls: 0.1226, d5.loss_bbox: 0.3242, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7896, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6449, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5901, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5731, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5657, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5594, d0.loss_map_cls_all: 0.2100, d0.loss_map_pts_all: 1.3375, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2100, d0.loss_map_pts: 1.3375, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1773, d1.loss_map_pts: 0.9365, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1537, d2.loss_map_pts: 0.7521, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1441, d3.loss_map_pts: 0.6807, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1340, d4.loss_map_pts: 0.6481, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1310, d5.loss_map_pts: 0.6390, d5.loss_map_dir: 0.0088, loss: 26.7903, grad_norm: 147.8380 +2026-02-28 05:25:14,555 - DriveTransformer - INFO - Epoch [9][13600/39528] lr: 7.525e-05, eta: 5 days, 5:36:30, time: 0.745, data_time: 0.037, memory: 19865, loss_cls: 0.1079, loss_bbox: 0.2779, loss_traj: 0.4799, loss_traj_cls: 0.0021, loss_map_cls: 0.0949, loss_map_pts: 0.5200, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.1668, d0.loss_plan_l1_fix_dist: 0.4031, d1.loss_plan_l1_fix_time: 0.7573, d1.loss_plan_l1_fix_dist: 0.2921, d2.loss_plan_l1_fix_time: 0.7415, d2.loss_plan_l1_fix_dist: 0.2234, d3.loss_plan_l1_fix_time: 0.7437, d3.loss_plan_l1_fix_dist: 0.1991, d4.loss_plan_l1_fix_time: 0.7491, d4.loss_plan_l1_fix_dist: 0.1854, d5.loss_plan_l1_fix_time: 0.7561, d5.loss_plan_l1_fix_dist: 0.1794, d6.loss_plan_l1_fix_time: 0.7635, d6.loss_plan_l1_fix_dist: 0.2098, d0.loss_cls_all: 0.1506, d0.loss_bbox_all: 0.3355, d0.loss_cls: 0.1506, d0.loss_bbox: 0.3355, d1.loss_cls: 0.1428, d1.loss_bbox: 0.3075, d2.loss_cls: 0.1310, d2.loss_bbox: 0.2881, d3.loss_cls: 0.1150, d3.loss_bbox: 0.2821, d4.loss_cls: 0.1081, d4.loss_bbox: 0.2796, d5.loss_cls: 0.1077, d5.loss_bbox: 0.2776, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6512, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5330, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4967, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4905, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4865, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4831, d0.loss_map_cls_all: 0.1757, d0.loss_map_pts_all: 1.1584, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1757, d0.loss_map_pts: 1.1584, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1428, d1.loss_map_pts: 0.7759, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1209, d2.loss_map_pts: 0.6178, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1088, d3.loss_map_pts: 0.5505, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1025, d4.loss_map_pts: 0.5279, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.0968, d5.loss_map_pts: 0.5206, d5.loss_map_dir: 0.0073, loss: 22.2999, grad_norm: 139.5902 +2026-02-28 05:25:51,842 - DriveTransformer - INFO - Epoch [9][13650/39528] lr: 7.525e-05, eta: 5 days, 5:35:58, time: 0.744, data_time: 0.036, memory: 19865, loss_cls: 0.1198, loss_bbox: 0.3164, loss_traj: 0.6590, loss_traj_cls: 0.0020, loss_map_cls: 0.1214, loss_map_pts: 0.6249, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 3.4014, d0.loss_plan_l1_fix_dist: 0.4301, d1.loss_plan_l1_fix_time: 1.1340, d1.loss_plan_l1_fix_dist: 0.2806, d2.loss_plan_l1_fix_time: 1.1115, d2.loss_plan_l1_fix_dist: 0.2277, d3.loss_plan_l1_fix_time: 1.1072, d3.loss_plan_l1_fix_dist: 0.2381, d4.loss_plan_l1_fix_time: 1.1103, d4.loss_plan_l1_fix_dist: 0.2179, d5.loss_plan_l1_fix_time: 1.1149, d5.loss_plan_l1_fix_dist: 0.2201, d6.loss_plan_l1_fix_time: 1.1207, d6.loss_plan_l1_fix_dist: 0.2329, d0.loss_cls_all: 0.1613, d0.loss_bbox_all: 0.3846, d0.loss_cls: 0.1613, d0.loss_bbox: 0.3846, d1.loss_cls: 0.1561, d1.loss_bbox: 0.3500, d2.loss_cls: 0.1440, d2.loss_bbox: 0.3302, d3.loss_cls: 0.1270, d3.loss_bbox: 0.3233, d4.loss_cls: 0.1219, d4.loss_bbox: 0.3196, d5.loss_cls: 0.1204, d5.loss_bbox: 0.3173, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0086, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7826, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6959, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6714, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6605, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6582, d0.loss_map_cls_all: 0.1996, d0.loss_map_pts_all: 1.2327, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1996, d0.loss_map_pts: 1.2327, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1706, d1.loss_map_pts: 0.8913, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1469, d2.loss_map_pts: 0.7270, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1342, d3.loss_map_pts: 0.6585, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1275, d4.loss_map_pts: 0.6334, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1231, d5.loss_map_pts: 0.6254, d5.loss_map_dir: 0.0081, loss: 28.8408, grad_norm: 139.7218 +2026-02-28 05:26:29,013 - DriveTransformer - INFO - Epoch [9][13700/39528] lr: 7.525e-05, eta: 5 days, 5:35:25, time: 0.743, data_time: 0.038, memory: 19865, loss_cls: 0.1172, loss_bbox: 0.3139, loss_traj: 0.5495, loss_traj_cls: 0.0020, loss_map_cls: 0.1424, loss_map_pts: 0.6837, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.8811, d0.loss_plan_l1_fix_dist: 0.4548, d1.loss_plan_l1_fix_time: 0.9859, d1.loss_plan_l1_fix_dist: 0.2314, d2.loss_plan_l1_fix_time: 0.9757, d2.loss_plan_l1_fix_dist: 0.1938, d3.loss_plan_l1_fix_time: 0.9641, d3.loss_plan_l1_fix_dist: 0.2099, d4.loss_plan_l1_fix_time: 0.9646, d4.loss_plan_l1_fix_dist: 0.1949, d5.loss_plan_l1_fix_time: 0.9666, d5.loss_plan_l1_fix_dist: 0.2094, d6.loss_plan_l1_fix_time: 0.9695, d6.loss_plan_l1_fix_dist: 0.2194, d0.loss_cls_all: 0.1650, d0.loss_bbox_all: 0.3788, d0.loss_cls: 0.1650, d0.loss_bbox: 0.3788, d1.loss_cls: 0.1561, d1.loss_bbox: 0.3483, d2.loss_cls: 0.1392, d2.loss_bbox: 0.3282, d3.loss_cls: 0.1246, d3.loss_bbox: 0.3186, d4.loss_cls: 0.1175, d4.loss_bbox: 0.3170, d5.loss_cls: 0.1171, d5.loss_bbox: 0.3146, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7276, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6023, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5599, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5515, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5472, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5453, d0.loss_map_cls_all: 0.2167, d0.loss_map_pts_all: 1.3444, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2167, d0.loss_map_pts: 1.3444, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1879, d1.loss_map_pts: 0.9832, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1665, d2.loss_map_pts: 0.7945, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1554, d3.loss_map_pts: 0.7199, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1475, d4.loss_map_pts: 0.6929, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1445, d5.loss_map_pts: 0.6837, d5.loss_map_dir: 0.0079, loss: 26.9966, grad_norm: 138.1531 +2026-02-28 05:27:04,871 - DriveTransformer - INFO - Epoch [9][13750/39528] lr: 7.525e-05, eta: 5 days, 5:34:44, time: 0.717, data_time: 0.037, memory: 19865, loss_cls: 0.1249, loss_bbox: 0.3297, loss_traj: 0.5071, loss_traj_cls: 0.0020, loss_map_cls: 0.1410, loss_map_pts: 0.6062, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.5263, d0.loss_plan_l1_fix_dist: 0.4324, d1.loss_plan_l1_fix_time: 0.8667, d1.loss_plan_l1_fix_dist: 0.1777, d2.loss_plan_l1_fix_time: 0.8625, d2.loss_plan_l1_fix_dist: 0.1842, d3.loss_plan_l1_fix_time: 0.8679, d3.loss_plan_l1_fix_dist: 0.1875, d4.loss_plan_l1_fix_time: 0.8703, d4.loss_plan_l1_fix_dist: 0.1911, d5.loss_plan_l1_fix_time: 0.8734, d5.loss_plan_l1_fix_dist: 0.2008, d6.loss_plan_l1_fix_time: 0.8763, d6.loss_plan_l1_fix_dist: 0.2017, d0.loss_cls_all: 0.1743, d0.loss_bbox_all: 0.3943, d0.loss_cls: 0.1743, d0.loss_bbox: 0.3943, d1.loss_cls: 0.1667, d1.loss_bbox: 0.3600, d2.loss_cls: 0.1505, d2.loss_bbox: 0.3418, d3.loss_cls: 0.1338, d3.loss_bbox: 0.3336, d4.loss_cls: 0.1270, d4.loss_bbox: 0.3314, d5.loss_cls: 0.1250, d5.loss_bbox: 0.3301, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7578, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5766, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5326, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5205, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5104, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5052, d0.loss_map_cls_all: 0.2202, d0.loss_map_pts_all: 1.1832, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2202, d0.loss_map_pts: 1.1832, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1887, d1.loss_map_pts: 0.8523, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1705, d2.loss_map_pts: 0.6975, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1555, d3.loss_map_pts: 0.6380, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1487, d4.loss_map_pts: 0.6148, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1431, d5.loss_map_pts: 0.6072, d5.loss_map_dir: 0.0073, loss: 25.0566, grad_norm: 138.8553 +2026-02-28 05:27:40,973 - DriveTransformer - INFO - Epoch [9][13800/39528] lr: 7.525e-05, eta: 5 days, 5:34:05, time: 0.722, data_time: 0.037, memory: 19865, loss_cls: 0.1126, loss_bbox: 0.3133, loss_traj: 0.5482, loss_traj_cls: 0.0020, loss_map_cls: 0.1150, loss_map_pts: 0.5265, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.8113, d0.loss_plan_l1_fix_dist: 0.4127, d1.loss_plan_l1_fix_time: 0.9766, d1.loss_plan_l1_fix_dist: 0.1842, d2.loss_plan_l1_fix_time: 0.9581, d2.loss_plan_l1_fix_dist: 0.2010, d3.loss_plan_l1_fix_time: 0.9490, d3.loss_plan_l1_fix_dist: 0.1984, d4.loss_plan_l1_fix_time: 0.9501, d4.loss_plan_l1_fix_dist: 0.2035, d5.loss_plan_l1_fix_time: 0.9527, d5.loss_plan_l1_fix_dist: 0.1985, d6.loss_plan_l1_fix_time: 0.9555, d6.loss_plan_l1_fix_dist: 0.2013, d0.loss_cls_all: 0.1566, d0.loss_bbox_all: 0.3709, d0.loss_cls: 0.1566, d0.loss_bbox: 0.3709, d1.loss_cls: 0.1483, d1.loss_bbox: 0.3369, d2.loss_cls: 0.1346, d2.loss_bbox: 0.3215, d3.loss_cls: 0.1187, d3.loss_bbox: 0.3150, d4.loss_cls: 0.1157, d4.loss_bbox: 0.3122, d5.loss_cls: 0.1134, d5.loss_bbox: 0.3122, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7641, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6024, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5581, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5497, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5445, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5472, d0.loss_map_cls_all: 0.1980, d0.loss_map_pts_all: 1.0749, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1980, d0.loss_map_pts: 1.0749, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1673, d1.loss_map_pts: 0.7623, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1436, d2.loss_map_pts: 0.6163, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1327, d3.loss_map_pts: 0.5628, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1250, d4.loss_map_pts: 0.5387, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1176, d5.loss_map_pts: 0.5291, d5.loss_map_dir: 0.0059, loss: 24.9124, grad_norm: 135.9112 +2026-02-28 05:28:19,644 - DriveTransformer - INFO - Epoch [9][13850/39528] lr: 7.525e-05, eta: 5 days, 5:33:43, time: 0.773, data_time: 0.035, memory: 19865, loss_cls: 0.1348, loss_bbox: 0.3353, loss_traj: 0.5898, loss_traj_cls: 0.0020, loss_map_cls: 0.1268, loss_map_pts: 0.6396, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.3138, d0.loss_plan_l1_fix_dist: 0.4980, d1.loss_plan_l1_fix_time: 0.8615, d1.loss_plan_l1_fix_dist: 0.2006, d2.loss_plan_l1_fix_time: 0.8420, d2.loss_plan_l1_fix_dist: 0.2101, d3.loss_plan_l1_fix_time: 0.8348, d3.loss_plan_l1_fix_dist: 0.2043, d4.loss_plan_l1_fix_time: 0.8354, d4.loss_plan_l1_fix_dist: 0.1910, d5.loss_plan_l1_fix_time: 0.8362, d5.loss_plan_l1_fix_dist: 0.2020, d6.loss_plan_l1_fix_time: 0.8374, d6.loss_plan_l1_fix_dist: 0.2296, d0.loss_cls_all: 0.1783, d0.loss_bbox_all: 0.4115, d0.loss_cls: 0.1783, d0.loss_bbox: 0.4115, d1.loss_cls: 0.1734, d1.loss_bbox: 0.3731, d2.loss_cls: 0.1588, d2.loss_bbox: 0.3491, d3.loss_cls: 0.1408, d3.loss_bbox: 0.3400, d4.loss_cls: 0.1343, d4.loss_bbox: 0.3387, d5.loss_cls: 0.1342, d5.loss_bbox: 0.3359, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7910, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6382, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6091, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5973, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6012, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5945, d0.loss_map_cls_all: 0.2078, d0.loss_map_pts_all: 1.3342, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2078, d0.loss_map_pts: 1.3342, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1770, d1.loss_map_pts: 0.9438, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1526, d2.loss_map_pts: 0.7583, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1432, d3.loss_map_pts: 0.6810, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1356, d4.loss_map_pts: 0.6521, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1282, d5.loss_map_pts: 0.6417, d5.loss_map_dir: 0.0083, loss: 25.9815, grad_norm: 135.9568 +2026-02-28 05:28:56,105 - DriveTransformer - INFO - Epoch [9][13900/39528] lr: 7.525e-05, eta: 5 days, 5:33:06, time: 0.729, data_time: 0.038, memory: 19865, loss_cls: 0.1068, loss_bbox: 0.3001, loss_traj: 0.6179, loss_traj_cls: 0.0020, loss_map_cls: 0.0906, loss_map_pts: 0.4863, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.5303, d0.loss_plan_l1_fix_dist: 0.4073, d1.loss_plan_l1_fix_time: 0.9648, d1.loss_plan_l1_fix_dist: 0.2115, d2.loss_plan_l1_fix_time: 0.9505, d2.loss_plan_l1_fix_dist: 0.2148, d3.loss_plan_l1_fix_time: 0.9447, d3.loss_plan_l1_fix_dist: 0.2029, d4.loss_plan_l1_fix_time: 0.9472, d4.loss_plan_l1_fix_dist: 0.1969, d5.loss_plan_l1_fix_time: 0.9505, d5.loss_plan_l1_fix_dist: 0.2010, d6.loss_plan_l1_fix_time: 0.9547, d6.loss_plan_l1_fix_dist: 0.2321, d0.loss_cls_all: 0.1454, d0.loss_bbox_all: 0.3608, d0.loss_cls: 0.1454, d0.loss_bbox: 0.3608, d1.loss_cls: 0.1388, d1.loss_bbox: 0.3300, d2.loss_cls: 0.1275, d2.loss_bbox: 0.3084, d3.loss_cls: 0.1092, d3.loss_bbox: 0.3040, d4.loss_cls: 0.1052, d4.loss_bbox: 0.3019, d5.loss_cls: 0.1054, d5.loss_bbox: 0.3009, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8286, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6645, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6308, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6132, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6164, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6178, d0.loss_map_cls_all: 0.1726, d0.loss_map_pts_all: 1.0090, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1726, d0.loss_map_pts: 1.0090, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1401, d1.loss_map_pts: 0.7205, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1187, d2.loss_map_pts: 0.5744, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1059, d3.loss_map_pts: 0.5169, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0980, d4.loss_map_pts: 0.4989, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0927, d5.loss_map_pts: 0.4860, d5.loss_map_dir: 0.0062, loss: 24.3965, grad_norm: 134.9916 +2026-02-28 05:29:33,121 - DriveTransformer - INFO - Epoch [9][13950/39528] lr: 7.525e-05, eta: 5 days, 5:32:32, time: 0.740, data_time: 0.037, memory: 19865, loss_cls: 0.1100, loss_bbox: 0.3043, loss_traj: 0.5630, loss_traj_cls: 0.0019, loss_map_cls: 0.0962, loss_map_pts: 0.5354, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.6921, d0.loss_plan_l1_fix_dist: 0.4505, d1.loss_plan_l1_fix_time: 1.0004, d1.loss_plan_l1_fix_dist: 0.2161, d2.loss_plan_l1_fix_time: 0.9997, d2.loss_plan_l1_fix_dist: 0.2201, d3.loss_plan_l1_fix_time: 1.0027, d3.loss_plan_l1_fix_dist: 0.2192, d4.loss_plan_l1_fix_time: 1.0077, d4.loss_plan_l1_fix_dist: 0.2212, d5.loss_plan_l1_fix_time: 1.0122, d5.loss_plan_l1_fix_dist: 0.2260, d6.loss_plan_l1_fix_time: 1.0168, d6.loss_plan_l1_fix_dist: 0.2318, d0.loss_cls_all: 0.1512, d0.loss_bbox_all: 0.3650, d0.loss_cls: 0.1512, d0.loss_bbox: 0.3650, d1.loss_cls: 0.1449, d1.loss_bbox: 0.3328, d2.loss_cls: 0.1326, d2.loss_bbox: 0.3137, d3.loss_cls: 0.1153, d3.loss_bbox: 0.3078, d4.loss_cls: 0.1108, d4.loss_bbox: 0.3041, d5.loss_cls: 0.1085, d5.loss_bbox: 0.3045, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8208, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6383, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5764, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5659, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5625, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5584, d0.loss_map_cls_all: 0.1722, d0.loss_map_pts_all: 1.1356, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1722, d0.loss_map_pts: 1.1356, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1416, d1.loss_map_pts: 0.7966, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1230, d2.loss_map_pts: 0.6315, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1116, d3.loss_map_pts: 0.5643, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1037, d4.loss_map_pts: 0.5407, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.0985, d5.loss_map_pts: 0.5363, d5.loss_map_dir: 0.0073, loss: 25.3817, grad_norm: 134.7092 +2026-02-28 05:30:08,869 - DriveTransformer - INFO - Epoch [9][14000/39528] lr: 7.525e-05, eta: 5 days, 5:31:50, time: 0.715, data_time: 0.038, memory: 19865, loss_cls: 0.1074, loss_bbox: 0.2870, loss_traj: 0.5367, loss_traj_cls: 0.0020, loss_map_cls: 0.1064, loss_map_pts: 0.5290, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.6908, d0.loss_plan_l1_fix_dist: 0.4862, d1.loss_plan_l1_fix_time: 1.0114, d1.loss_plan_l1_fix_dist: 0.1989, d2.loss_plan_l1_fix_time: 0.9912, d2.loss_plan_l1_fix_dist: 0.2180, d3.loss_plan_l1_fix_time: 0.9853, d3.loss_plan_l1_fix_dist: 0.2156, d4.loss_plan_l1_fix_time: 0.9876, d4.loss_plan_l1_fix_dist: 0.2245, d5.loss_plan_l1_fix_time: 0.9902, d5.loss_plan_l1_fix_dist: 0.2265, d6.loss_plan_l1_fix_time: 0.9944, d6.loss_plan_l1_fix_dist: 0.2321, d0.loss_cls_all: 0.1433, d0.loss_bbox_all: 0.3567, d0.loss_cls: 0.1433, d0.loss_bbox: 0.3567, d1.loss_cls: 0.1384, d1.loss_bbox: 0.3226, d2.loss_cls: 0.1275, d2.loss_bbox: 0.3060, d3.loss_cls: 0.1147, d3.loss_bbox: 0.2962, d4.loss_cls: 0.1097, d4.loss_bbox: 0.2909, d5.loss_cls: 0.1070, d5.loss_bbox: 0.2890, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7958, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6081, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5607, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5427, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5396, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5371, d0.loss_map_cls_all: 0.1848, d0.loss_map_pts_all: 1.0390, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1848, d0.loss_map_pts: 1.0390, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1538, d1.loss_map_pts: 0.7489, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1286, d2.loss_map_pts: 0.6157, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1176, d3.loss_map_pts: 0.5567, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1119, d4.loss_map_pts: 0.5362, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.1072, d5.loss_map_pts: 0.5283, d5.loss_map_dir: 0.0054, loss: 24.8077, grad_norm: 132.1969 +2026-02-28 05:30:44,401 - DriveTransformer - INFO - Epoch [9][14050/39528] lr: 7.525e-05, eta: 5 days, 5:31:07, time: 0.711, data_time: 0.037, memory: 19865, loss_cls: 0.1241, loss_bbox: 0.3090, loss_traj: 0.6336, loss_traj_cls: 0.0020, loss_map_cls: 0.0943, loss_map_pts: 0.5038, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.7722, d0.loss_plan_l1_fix_dist: 0.4412, d1.loss_plan_l1_fix_time: 0.9926, d1.loss_plan_l1_fix_dist: 0.1758, d2.loss_plan_l1_fix_time: 0.9734, d2.loss_plan_l1_fix_dist: 0.1911, d3.loss_plan_l1_fix_time: 0.9720, d3.loss_plan_l1_fix_dist: 0.1850, d4.loss_plan_l1_fix_time: 0.9742, d4.loss_plan_l1_fix_dist: 0.1969, d5.loss_plan_l1_fix_time: 0.9775, d5.loss_plan_l1_fix_dist: 0.1910, d6.loss_plan_l1_fix_time: 0.9829, d6.loss_plan_l1_fix_dist: 0.2080, d0.loss_cls_all: 0.1619, d0.loss_bbox_all: 0.3700, d0.loss_cls: 0.1619, d0.loss_bbox: 0.3700, d1.loss_cls: 0.1579, d1.loss_bbox: 0.3411, d2.loss_cls: 0.1445, d2.loss_bbox: 0.3202, d3.loss_cls: 0.1306, d3.loss_bbox: 0.3157, d4.loss_cls: 0.1258, d4.loss_bbox: 0.3115, d5.loss_cls: 0.1242, d5.loss_bbox: 0.3100, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8241, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6976, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6526, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6341, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6314, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6325, d0.loss_map_cls_all: 0.1695, d0.loss_map_pts_all: 1.0246, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1695, d0.loss_map_pts: 1.0246, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1391, d1.loss_map_pts: 0.7456, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1193, d2.loss_map_pts: 0.5976, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1069, d3.loss_map_pts: 0.5333, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1003, d4.loss_map_pts: 0.5108, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0965, d5.loss_map_pts: 0.5046, d5.loss_map_dir: 0.0057, loss: 25.2103, grad_norm: 134.5238 +2026-02-28 05:31:22,560 - DriveTransformer - INFO - Epoch [9][14100/39528] lr: 7.525e-05, eta: 5 days, 5:30:41, time: 0.763, data_time: 0.042, memory: 19865, loss_cls: 0.1224, loss_bbox: 0.3343, loss_traj: 0.5376, loss_traj_cls: 0.0020, loss_map_cls: 0.1295, loss_map_pts: 0.6037, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.4903, d0.loss_plan_l1_fix_dist: 0.4617, d1.loss_plan_l1_fix_time: 0.8357, d1.loss_plan_l1_fix_dist: 0.1871, d2.loss_plan_l1_fix_time: 0.8189, d2.loss_plan_l1_fix_dist: 0.1901, d3.loss_plan_l1_fix_time: 0.8180, d3.loss_plan_l1_fix_dist: 0.2083, d4.loss_plan_l1_fix_time: 0.8201, d4.loss_plan_l1_fix_dist: 0.2105, d5.loss_plan_l1_fix_time: 0.8239, d5.loss_plan_l1_fix_dist: 0.2157, d6.loss_plan_l1_fix_time: 0.8288, d6.loss_plan_l1_fix_dist: 0.2161, d0.loss_cls_all: 0.1690, d0.loss_bbox_all: 0.3979, d0.loss_cls: 0.1690, d0.loss_bbox: 0.3979, d1.loss_cls: 0.1594, d1.loss_bbox: 0.3640, d2.loss_cls: 0.1451, d2.loss_bbox: 0.3412, d3.loss_cls: 0.1283, d3.loss_bbox: 0.3382, d4.loss_cls: 0.1223, d4.loss_bbox: 0.3355, d5.loss_cls: 0.1220, d5.loss_bbox: 0.3345, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7648, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6000, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5538, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5408, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5364, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5346, d0.loss_map_cls_all: 0.2101, d0.loss_map_pts_all: 1.2153, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2101, d0.loss_map_pts: 1.2153, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1765, d1.loss_map_pts: 0.8793, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1556, d2.loss_map_pts: 0.7064, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1434, d3.loss_map_pts: 0.6383, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1355, d4.loss_map_pts: 0.6144, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1308, d5.loss_map_pts: 0.6049, d5.loss_map_dir: 0.0079, loss: 25.0119, grad_norm: 136.1180 +2026-02-28 05:31:59,885 - DriveTransformer - INFO - Epoch [9][14150/39528] lr: 7.525e-05, eta: 5 days, 5:30:10, time: 0.747, data_time: 0.040, memory: 19865, loss_cls: 0.1373, loss_bbox: 0.3332, loss_traj: 0.5006, loss_traj_cls: 0.0020, loss_map_cls: 0.1389, loss_map_pts: 0.6125, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 3.0342, d0.loss_plan_l1_fix_dist: 0.4524, d1.loss_plan_l1_fix_time: 0.9059, d1.loss_plan_l1_fix_dist: 0.2099, d2.loss_plan_l1_fix_time: 0.8845, d2.loss_plan_l1_fix_dist: 0.2070, d3.loss_plan_l1_fix_time: 0.8937, d3.loss_plan_l1_fix_dist: 0.2207, d4.loss_plan_l1_fix_time: 0.8990, d4.loss_plan_l1_fix_dist: 0.2221, d5.loss_plan_l1_fix_time: 0.9041, d5.loss_plan_l1_fix_dist: 0.2254, d6.loss_plan_l1_fix_time: 0.9091, d6.loss_plan_l1_fix_dist: 0.2348, d0.loss_cls_all: 0.1770, d0.loss_bbox_all: 0.4021, d0.loss_cls: 0.1770, d0.loss_bbox: 0.4021, d1.loss_cls: 0.1744, d1.loss_bbox: 0.3654, d2.loss_cls: 0.1623, d2.loss_bbox: 0.3421, d3.loss_cls: 0.1449, d3.loss_bbox: 0.3368, d4.loss_cls: 0.1392, d4.loss_bbox: 0.3346, d5.loss_cls: 0.1381, d5.loss_bbox: 0.3327, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7165, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5735, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5247, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5133, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5036, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4988, d0.loss_map_cls_all: 0.2076, d0.loss_map_pts_all: 1.1744, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2076, d0.loss_map_pts: 1.1744, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1807, d1.loss_map_pts: 0.8416, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1628, d2.loss_map_pts: 0.7000, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1515, d3.loss_map_pts: 0.6405, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1462, d4.loss_map_pts: 0.6179, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1412, d5.loss_map_pts: 0.6129, d5.loss_map_dir: 0.0076, loss: 25.9104, grad_norm: 136.2436 +2026-02-28 05:32:35,021 - DriveTransformer - INFO - Epoch [9][14200/39528] lr: 7.525e-05, eta: 5 days, 5:29:24, time: 0.703, data_time: 0.038, memory: 19865, loss_cls: 0.1152, loss_bbox: 0.2877, loss_traj: 0.4793, loss_traj_cls: 0.0021, loss_map_cls: 0.0941, loss_map_pts: 0.4614, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.3951, d0.loss_plan_l1_fix_dist: 0.4201, d1.loss_plan_l1_fix_time: 0.8076, d1.loss_plan_l1_fix_dist: 0.1900, d2.loss_plan_l1_fix_time: 0.7897, d2.loss_plan_l1_fix_dist: 0.1964, d3.loss_plan_l1_fix_time: 0.8087, d3.loss_plan_l1_fix_dist: 0.2105, d4.loss_plan_l1_fix_time: 0.8119, d4.loss_plan_l1_fix_dist: 0.1984, d5.loss_plan_l1_fix_time: 0.8146, d5.loss_plan_l1_fix_dist: 0.2111, d6.loss_plan_l1_fix_time: 0.8186, d6.loss_plan_l1_fix_dist: 0.2353, d0.loss_cls_all: 0.1514, d0.loss_bbox_all: 0.3575, d0.loss_cls: 0.1514, d0.loss_bbox: 0.3575, d1.loss_cls: 0.1461, d1.loss_bbox: 0.3261, d2.loss_cls: 0.1354, d2.loss_bbox: 0.3038, d3.loss_cls: 0.1180, d3.loss_bbox: 0.2954, d4.loss_cls: 0.1135, d4.loss_bbox: 0.2924, d5.loss_cls: 0.1120, d5.loss_bbox: 0.2914, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6642, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5329, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4846, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4813, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4790, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4783, d0.loss_map_cls_all: 0.1685, d0.loss_map_pts_all: 0.9454, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1685, d0.loss_map_pts: 0.9454, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1357, d1.loss_map_pts: 0.6652, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1145, d2.loss_map_pts: 0.5332, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1066, d3.loss_map_pts: 0.4779, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0995, d4.loss_map_pts: 0.4633, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0955, d5.loss_map_pts: 0.4620, d5.loss_map_dir: 0.0056, loss: 22.0500, grad_norm: 131.5138 +2026-02-28 05:33:11,409 - DriveTransformer - INFO - Epoch [9][14250/39528] lr: 7.525e-05, eta: 5 days, 5:28:47, time: 0.728, data_time: 0.038, memory: 19865, loss_cls: 0.1004, loss_bbox: 0.2799, loss_traj: 0.4251, loss_traj_cls: 0.0021, loss_map_cls: 0.0906, loss_map_pts: 0.4714, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.2929, d0.loss_plan_l1_fix_dist: 0.4434, d1.loss_plan_l1_fix_time: 0.7296, d1.loss_plan_l1_fix_dist: 0.1617, d2.loss_plan_l1_fix_time: 0.7119, d2.loss_plan_l1_fix_dist: 0.1839, d3.loss_plan_l1_fix_time: 0.6861, d3.loss_plan_l1_fix_dist: 0.1779, d4.loss_plan_l1_fix_time: 0.6850, d4.loss_plan_l1_fix_dist: 0.1836, d5.loss_plan_l1_fix_time: 0.6862, d5.loss_plan_l1_fix_dist: 0.1958, d6.loss_plan_l1_fix_time: 0.6885, d6.loss_plan_l1_fix_dist: 0.1955, d0.loss_cls_all: 0.1391, d0.loss_bbox_all: 0.3336, d0.loss_cls: 0.1391, d0.loss_bbox: 0.3336, d1.loss_cls: 0.1368, d1.loss_bbox: 0.3051, d2.loss_cls: 0.1209, d2.loss_bbox: 0.2838, d3.loss_cls: 0.1080, d3.loss_bbox: 0.2795, d4.loss_cls: 0.1004, d4.loss_bbox: 0.2791, d5.loss_cls: 0.1001, d5.loss_bbox: 0.2780, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6063, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.4841, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4449, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4331, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4301, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4257, d0.loss_map_cls_all: 0.1640, d0.loss_map_pts_all: 1.0600, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1640, d0.loss_map_pts: 1.0600, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1344, d1.loss_map_pts: 0.7202, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1112, d2.loss_map_pts: 0.5576, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1020, d3.loss_map_pts: 0.4951, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0965, d4.loss_map_pts: 0.4752, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0920, d5.loss_map_pts: 0.4723, d5.loss_map_dir: 0.0060, loss: 20.9105, grad_norm: 132.5366 +2026-02-28 05:33:49,002 - DriveTransformer - INFO - Epoch [9][14300/39528] lr: 7.525e-05, eta: 5 days, 5:28:17, time: 0.752, data_time: 0.038, memory: 19865, loss_cls: 0.1344, loss_bbox: 0.3429, loss_traj: 0.5480, loss_traj_cls: 0.0020, loss_map_cls: 0.1488, loss_map_pts: 0.6671, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 3.1504, d0.loss_plan_l1_fix_dist: 0.4472, d1.loss_plan_l1_fix_time: 1.0687, d1.loss_plan_l1_fix_dist: 0.1774, d2.loss_plan_l1_fix_time: 1.0496, d2.loss_plan_l1_fix_dist: 0.2021, d3.loss_plan_l1_fix_time: 1.0511, d3.loss_plan_l1_fix_dist: 0.1886, d4.loss_plan_l1_fix_time: 1.0543, d4.loss_plan_l1_fix_dist: 0.2119, d5.loss_plan_l1_fix_time: 1.0574, d5.loss_plan_l1_fix_dist: 0.2340, d6.loss_plan_l1_fix_time: 1.0600, d6.loss_plan_l1_fix_dist: 0.2190, d0.loss_cls_all: 0.1867, d0.loss_bbox_all: 0.4123, d0.loss_cls: 0.1867, d0.loss_bbox: 0.4123, d1.loss_cls: 0.1781, d1.loss_bbox: 0.3715, d2.loss_cls: 0.1627, d2.loss_bbox: 0.3488, d3.loss_cls: 0.1436, d3.loss_bbox: 0.3461, d4.loss_cls: 0.1385, d4.loss_bbox: 0.3412, d5.loss_cls: 0.1353, d5.loss_bbox: 0.3411, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8207, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6098, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5579, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5498, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5463, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5448, d0.loss_map_cls_all: 0.2336, d0.loss_map_pts_all: 1.3230, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2336, d0.loss_map_pts: 1.3230, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2055, d1.loss_map_pts: 0.9556, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1778, d2.loss_map_pts: 0.7704, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1628, d3.loss_map_pts: 0.7015, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1546, d4.loss_map_pts: 0.6747, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1501, d5.loss_map_pts: 0.6681, d5.loss_map_dir: 0.0085, loss: 28.1555, grad_norm: 132.7277 +2026-02-28 05:34:25,887 - DriveTransformer - INFO - Epoch [9][14350/39528] lr: 7.525e-05, eta: 5 days, 5:27:43, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.1261, loss_bbox: 0.3348, loss_traj: 0.5795, loss_traj_cls: 0.0020, loss_map_cls: 0.1312, loss_map_pts: 0.5935, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.7628, d0.loss_plan_l1_fix_dist: 0.3171, d1.loss_plan_l1_fix_time: 0.9523, d1.loss_plan_l1_fix_dist: 0.1677, d2.loss_plan_l1_fix_time: 0.9361, d2.loss_plan_l1_fix_dist: 0.1769, d3.loss_plan_l1_fix_time: 0.9359, d3.loss_plan_l1_fix_dist: 0.1753, d4.loss_plan_l1_fix_time: 0.9383, d4.loss_plan_l1_fix_dist: 0.2105, d5.loss_plan_l1_fix_time: 0.9409, d5.loss_plan_l1_fix_dist: 0.2202, d6.loss_plan_l1_fix_time: 0.9436, d6.loss_plan_l1_fix_dist: 0.2003, d0.loss_cls_all: 0.1734, d0.loss_bbox_all: 0.4032, d0.loss_cls: 0.1734, d0.loss_bbox: 0.4032, d1.loss_cls: 0.1664, d1.loss_bbox: 0.3686, d2.loss_cls: 0.1514, d2.loss_bbox: 0.3436, d3.loss_cls: 0.1340, d3.loss_bbox: 0.3382, d4.loss_cls: 0.1271, d4.loss_bbox: 0.3354, d5.loss_cls: 0.1247, d5.loss_bbox: 0.3351, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8349, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6452, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6134, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5964, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5882, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5822, d0.loss_map_cls_all: 0.2116, d0.loss_map_pts_all: 1.1533, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2116, d0.loss_map_pts: 1.1533, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1818, d1.loss_map_pts: 0.8417, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1575, d2.loss_map_pts: 0.6957, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1444, d3.loss_map_pts: 0.6353, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1375, d4.loss_map_pts: 0.6059, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1333, d5.loss_map_pts: 0.5944, d5.loss_map_dir: 0.0072, loss: 26.0020, grad_norm: 133.0806 +2026-02-28 05:35:04,643 - DriveTransformer - INFO - Epoch [9][14400/39528] lr: 7.525e-05, eta: 5 days, 5:27:22, time: 0.777, data_time: 0.039, memory: 19865, loss_cls: 0.0973, loss_bbox: 0.2874, loss_traj: 0.4283, loss_traj_cls: 0.0021, loss_map_cls: 0.1026, loss_map_pts: 0.5348, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 1.9529, d0.loss_plan_l1_fix_dist: 0.4004, d1.loss_plan_l1_fix_time: 0.7928, d1.loss_plan_l1_fix_dist: 0.1774, d2.loss_plan_l1_fix_time: 0.7864, d2.loss_plan_l1_fix_dist: 0.1849, d3.loss_plan_l1_fix_time: 0.7811, d3.loss_plan_l1_fix_dist: 0.1812, d4.loss_plan_l1_fix_time: 0.7837, d4.loss_plan_l1_fix_dist: 0.2151, d5.loss_plan_l1_fix_time: 0.7870, d5.loss_plan_l1_fix_dist: 0.2344, d6.loss_plan_l1_fix_time: 0.7922, d6.loss_plan_l1_fix_dist: 0.2277, d0.loss_cls_all: 0.1320, d0.loss_bbox_all: 0.3456, d0.loss_cls: 0.1320, d0.loss_bbox: 0.3456, d1.loss_cls: 0.1263, d1.loss_bbox: 0.3185, d2.loss_cls: 0.1180, d2.loss_bbox: 0.3000, d3.loss_cls: 0.1021, d3.loss_bbox: 0.2935, d4.loss_cls: 0.0971, d4.loss_bbox: 0.2904, d5.loss_cls: 0.0977, d5.loss_bbox: 0.2869, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6076, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4907, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4523, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4343, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4287, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4282, d0.loss_map_cls_all: 0.1806, d0.loss_map_pts_all: 1.1700, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.1806, d0.loss_map_pts: 1.1700, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1467, d1.loss_map_pts: 0.7951, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1264, d2.loss_map_pts: 0.6308, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1146, d3.loss_map_pts: 0.5659, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1084, d4.loss_map_pts: 0.5424, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1036, d5.loss_map_pts: 0.5343, d5.loss_map_dir: 0.0078, loss: 22.0141, grad_norm: 132.5207 +2026-02-28 05:35:41,701 - DriveTransformer - INFO - Epoch [9][14450/39528] lr: 7.525e-05, eta: 5 days, 5:26:48, time: 0.740, data_time: 0.035, memory: 19865, loss_cls: 0.1281, loss_bbox: 0.3170, loss_traj: 0.4968, loss_traj_cls: 0.0020, loss_map_cls: 0.1363, loss_map_pts: 0.6259, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 3.1707, d0.loss_plan_l1_fix_dist: 0.4559, d1.loss_plan_l1_fix_time: 0.8935, d1.loss_plan_l1_fix_dist: 0.1806, d2.loss_plan_l1_fix_time: 0.8762, d2.loss_plan_l1_fix_dist: 0.1964, d3.loss_plan_l1_fix_time: 0.8748, d3.loss_plan_l1_fix_dist: 0.1922, d4.loss_plan_l1_fix_time: 0.8765, d4.loss_plan_l1_fix_dist: 0.2572, d5.loss_plan_l1_fix_time: 0.8787, d5.loss_plan_l1_fix_dist: 0.2321, d6.loss_plan_l1_fix_time: 0.8810, d6.loss_plan_l1_fix_dist: 0.2573, d0.loss_cls_all: 0.1775, d0.loss_bbox_all: 0.3859, d0.loss_cls: 0.1775, d0.loss_bbox: 0.3859, d1.loss_cls: 0.1692, d1.loss_bbox: 0.3507, d2.loss_cls: 0.1561, d2.loss_bbox: 0.3265, d3.loss_cls: 0.1350, d3.loss_bbox: 0.3208, d4.loss_cls: 0.1291, d4.loss_bbox: 0.3174, d5.loss_cls: 0.1274, d5.loss_bbox: 0.3169, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7628, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5910, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5295, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5151, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5049, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4980, d0.loss_map_cls_all: 0.2115, d0.loss_map_pts_all: 1.2797, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2115, d0.loss_map_pts: 1.2797, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1819, d1.loss_map_pts: 0.9173, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1583, d2.loss_map_pts: 0.7366, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1478, d3.loss_map_pts: 0.6593, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1417, d4.loss_map_pts: 0.6315, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1372, d5.loss_map_pts: 0.6254, d5.loss_map_dir: 0.0079, loss: 26.1912, grad_norm: 131.4809 +2026-02-28 05:36:17,062 - DriveTransformer - INFO - Epoch [9][14500/39528] lr: 7.525e-05, eta: 5 days, 5:26:04, time: 0.707, data_time: 0.036, memory: 19865, loss_cls: 0.1205, loss_bbox: 0.3091, loss_traj: 0.6010, loss_traj_cls: 0.0020, loss_map_cls: 0.1360, loss_map_pts: 0.6032, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.7210, d0.loss_plan_l1_fix_dist: 0.4277, d1.loss_plan_l1_fix_time: 0.9015, d1.loss_plan_l1_fix_dist: 0.1724, d2.loss_plan_l1_fix_time: 0.8827, d2.loss_plan_l1_fix_dist: 0.1937, d3.loss_plan_l1_fix_time: 0.8824, d3.loss_plan_l1_fix_dist: 0.2001, d4.loss_plan_l1_fix_time: 0.8843, d4.loss_plan_l1_fix_dist: 0.2682, d5.loss_plan_l1_fix_time: 0.8869, d5.loss_plan_l1_fix_dist: 0.2693, d6.loss_plan_l1_fix_time: 0.8893, d6.loss_plan_l1_fix_dist: 0.2831, d0.loss_cls_all: 0.1624, d0.loss_bbox_all: 0.3765, d0.loss_cls: 0.1624, d0.loss_bbox: 0.3765, d1.loss_cls: 0.1596, d1.loss_bbox: 0.3429, d2.loss_cls: 0.1464, d2.loss_bbox: 0.3214, d3.loss_cls: 0.1253, d3.loss_bbox: 0.3147, d4.loss_cls: 0.1205, d4.loss_bbox: 0.3110, d5.loss_cls: 0.1215, d5.loss_bbox: 0.3085, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8433, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7005, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6378, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6206, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6039, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6044, d0.loss_map_cls_all: 0.2171, d0.loss_map_pts_all: 1.2054, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2171, d0.loss_map_pts: 1.2054, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1806, d1.loss_map_pts: 0.8691, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1589, d2.loss_map_pts: 0.6993, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1490, d3.loss_map_pts: 0.6357, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1419, d4.loss_map_pts: 0.6121, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1374, d5.loss_map_pts: 0.6055, d5.loss_map_dir: 0.0073, loss: 26.0928, grad_norm: 134.7160 +2026-02-28 05:36:52,961 - DriveTransformer - INFO - Epoch [9][14550/39528] lr: 7.525e-05, eta: 5 days, 5:25:23, time: 0.718, data_time: 0.038, memory: 19865, loss_cls: 0.1284, loss_bbox: 0.3092, loss_traj: 0.5331, loss_traj_cls: 0.0021, loss_map_cls: 0.1043, loss_map_pts: 0.5013, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.8308, d0.loss_plan_l1_fix_dist: 0.3915, d1.loss_plan_l1_fix_time: 0.9531, d1.loss_plan_l1_fix_dist: 0.1600, d2.loss_plan_l1_fix_time: 0.9379, d2.loss_plan_l1_fix_dist: 0.1735, d3.loss_plan_l1_fix_time: 0.9367, d3.loss_plan_l1_fix_dist: 0.1756, d4.loss_plan_l1_fix_time: 0.9384, d4.loss_plan_l1_fix_dist: 0.2253, d5.loss_plan_l1_fix_time: 0.9407, d5.loss_plan_l1_fix_dist: 0.2583, d6.loss_plan_l1_fix_time: 0.9427, d6.loss_plan_l1_fix_dist: 0.2295, d0.loss_cls_all: 0.1762, d0.loss_bbox_all: 0.3759, d0.loss_cls: 0.1762, d0.loss_bbox: 0.3759, d1.loss_cls: 0.1689, d1.loss_bbox: 0.3398, d2.loss_cls: 0.1534, d2.loss_bbox: 0.3199, d3.loss_cls: 0.1353, d3.loss_bbox: 0.3141, d4.loss_cls: 0.1298, d4.loss_bbox: 0.3115, d5.loss_cls: 0.1285, d5.loss_bbox: 0.3101, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7113, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5820, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5431, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5281, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5296, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5261, d0.loss_map_cls_all: 0.1760, d0.loss_map_pts_all: 1.0758, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1760, d0.loss_map_pts: 1.0758, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1444, d1.loss_map_pts: 0.7370, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1252, d2.loss_map_pts: 0.5864, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1159, d3.loss_map_pts: 0.5290, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1097, d4.loss_map_pts: 0.5079, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1051, d5.loss_map_pts: 0.5029, d5.loss_map_dir: 0.0064, loss: 24.5307, grad_norm: 136.2401 +2026-02-28 05:37:28,660 - DriveTransformer - INFO - Epoch [9][14600/39528] lr: 7.525e-05, eta: 5 days, 5:24:41, time: 0.714, data_time: 0.041, memory: 19865, loss_cls: 0.1234, loss_bbox: 0.3228, loss_traj: 0.5135, loss_traj_cls: 0.0021, loss_map_cls: 0.1045, loss_map_pts: 0.4811, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.4610, d0.loss_plan_l1_fix_dist: 0.3743, d1.loss_plan_l1_fix_time: 0.8190, d1.loss_plan_l1_fix_dist: 0.1643, d2.loss_plan_l1_fix_time: 0.7983, d2.loss_plan_l1_fix_dist: 0.1720, d3.loss_plan_l1_fix_time: 0.7929, d3.loss_plan_l1_fix_dist: 0.1800, d4.loss_plan_l1_fix_time: 0.7929, d4.loss_plan_l1_fix_dist: 0.2117, d5.loss_plan_l1_fix_time: 0.7939, d5.loss_plan_l1_fix_dist: 0.2563, d6.loss_plan_l1_fix_time: 0.7957, d6.loss_plan_l1_fix_dist: 0.2083, d0.loss_cls_all: 0.1671, d0.loss_bbox_all: 0.3761, d0.loss_cls: 0.1671, d0.loss_bbox: 0.3761, d1.loss_cls: 0.1612, d1.loss_bbox: 0.3477, d2.loss_cls: 0.1481, d2.loss_bbox: 0.3295, d3.loss_cls: 0.1321, d3.loss_bbox: 0.3240, d4.loss_cls: 0.1249, d4.loss_bbox: 0.3215, d5.loss_cls: 0.1234, d5.loss_bbox: 0.3225, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7659, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5996, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5395, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5243, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5092, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5066, d0.loss_map_cls_all: 0.1890, d0.loss_map_pts_all: 1.0198, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1890, d0.loss_map_pts: 1.0198, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1537, d1.loss_map_pts: 0.7084, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1295, d2.loss_map_pts: 0.5647, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1170, d3.loss_map_pts: 0.5046, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1108, d4.loss_map_pts: 0.4858, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1057, d5.loss_map_pts: 0.4825, d5.loss_map_dir: 0.0056, loss: 23.0650, grad_norm: 137.2809 +2026-02-28 05:38:05,677 - DriveTransformer - INFO - Epoch [9][14650/39528] lr: 7.525e-05, eta: 5 days, 5:24:08, time: 0.740, data_time: 0.039, memory: 19865, loss_cls: 0.1136, loss_bbox: 0.3100, loss_traj: 0.5476, loss_traj_cls: 0.0020, loss_map_cls: 0.1159, loss_map_pts: 0.5991, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.6639, d0.loss_plan_l1_fix_dist: 0.4049, d1.loss_plan_l1_fix_time: 0.8624, d1.loss_plan_l1_fix_dist: 0.2019, d2.loss_plan_l1_fix_time: 0.8389, d2.loss_plan_l1_fix_dist: 0.1906, d3.loss_plan_l1_fix_time: 0.8312, d3.loss_plan_l1_fix_dist: 0.2184, d4.loss_plan_l1_fix_time: 0.8308, d4.loss_plan_l1_fix_dist: 0.2127, d5.loss_plan_l1_fix_time: 0.8317, d5.loss_plan_l1_fix_dist: 0.2487, d6.loss_plan_l1_fix_time: 0.8336, d6.loss_plan_l1_fix_dist: 0.2142, d0.loss_cls_all: 0.1590, d0.loss_bbox_all: 0.3644, d0.loss_cls: 0.1590, d0.loss_bbox: 0.3644, d1.loss_cls: 0.1532, d1.loss_bbox: 0.3323, d2.loss_cls: 0.1444, d2.loss_bbox: 0.3146, d3.loss_cls: 0.1254, d3.loss_bbox: 0.3110, d4.loss_cls: 0.1160, d4.loss_bbox: 0.3109, d5.loss_cls: 0.1139, d5.loss_bbox: 0.3101, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7735, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6027, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5655, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5609, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5479, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5488, d0.loss_map_cls_all: 0.1963, d0.loss_map_pts_all: 1.2285, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1963, d0.loss_map_pts: 1.2285, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1632, d1.loss_map_pts: 0.8675, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1417, d2.loss_map_pts: 0.6942, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1302, d3.loss_map_pts: 0.6294, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1231, d4.loss_map_pts: 0.6065, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1174, d5.loss_map_pts: 0.5993, d5.loss_map_dir: 0.0078, loss: 24.9380, grad_norm: 134.8865 +2026-02-28 05:38:42,839 - DriveTransformer - INFO - Epoch [9][14700/39528] lr: 7.525e-05, eta: 5 days, 5:23:35, time: 0.743, data_time: 0.037, memory: 19865, loss_cls: 0.1020, loss_bbox: 0.3030, loss_traj: 0.6595, loss_traj_cls: 0.0020, loss_map_cls: 0.1116, loss_map_pts: 0.5345, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.4804, d0.loss_plan_l1_fix_dist: 0.3759, d1.loss_plan_l1_fix_time: 0.8953, d1.loss_plan_l1_fix_dist: 0.2095, d2.loss_plan_l1_fix_time: 0.8846, d2.loss_plan_l1_fix_dist: 0.1978, d3.loss_plan_l1_fix_time: 0.8909, d3.loss_plan_l1_fix_dist: 0.2177, d4.loss_plan_l1_fix_time: 0.8949, d4.loss_plan_l1_fix_dist: 0.1986, d5.loss_plan_l1_fix_time: 0.8992, d5.loss_plan_l1_fix_dist: 0.2293, d6.loss_plan_l1_fix_time: 0.9040, d6.loss_plan_l1_fix_dist: 0.2069, d0.loss_cls_all: 0.1481, d0.loss_bbox_all: 0.3577, d0.loss_cls: 0.1481, d0.loss_bbox: 0.3577, d1.loss_cls: 0.1415, d1.loss_bbox: 0.3256, d2.loss_cls: 0.1271, d2.loss_bbox: 0.3087, d3.loss_cls: 0.1080, d3.loss_bbox: 0.3058, d4.loss_cls: 0.1042, d4.loss_bbox: 0.3026, d5.loss_cls: 0.1028, d5.loss_bbox: 0.3015, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9229, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7375, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6854, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6760, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6633, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6592, d0.loss_map_cls_all: 0.1816, d0.loss_map_pts_all: 1.0656, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1816, d0.loss_map_pts: 1.0656, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1544, d1.loss_map_pts: 0.7558, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1354, d2.loss_map_pts: 0.6111, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1232, d3.loss_map_pts: 0.5581, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1173, d4.loss_map_pts: 0.5411, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1120, d5.loss_map_pts: 0.5340, d5.loss_map_dir: 0.0065, loss: 24.8737, grad_norm: 134.2821 +2026-02-28 05:39:17,751 - DriveTransformer - INFO - Epoch [9][14750/39528] lr: 7.525e-05, eta: 5 days, 5:22:48, time: 0.698, data_time: 0.037, memory: 19865, loss_cls: 0.1201, loss_bbox: 0.3043, loss_traj: 0.5616, loss_traj_cls: 0.0019, loss_map_cls: 0.1053, loss_map_pts: 0.4777, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.5174, d0.loss_plan_l1_fix_dist: 0.2950, d1.loss_plan_l1_fix_time: 0.8340, d1.loss_plan_l1_fix_dist: 0.1938, d2.loss_plan_l1_fix_time: 0.8179, d2.loss_plan_l1_fix_dist: 0.1788, d3.loss_plan_l1_fix_time: 0.8123, d3.loss_plan_l1_fix_dist: 0.2065, d4.loss_plan_l1_fix_time: 0.8142, d4.loss_plan_l1_fix_dist: 0.1990, d5.loss_plan_l1_fix_time: 0.8173, d5.loss_plan_l1_fix_dist: 0.1954, d6.loss_plan_l1_fix_time: 0.8216, d6.loss_plan_l1_fix_dist: 0.1851, d0.loss_cls_all: 0.1551, d0.loss_bbox_all: 0.3668, d0.loss_cls: 0.1551, d0.loss_bbox: 0.3668, d1.loss_cls: 0.1543, d1.loss_bbox: 0.3321, d2.loss_cls: 0.1377, d2.loss_bbox: 0.3154, d3.loss_cls: 0.1276, d3.loss_bbox: 0.3084, d4.loss_cls: 0.1203, d4.loss_bbox: 0.3059, d5.loss_cls: 0.1189, d5.loss_bbox: 0.3053, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8152, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6620, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5874, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5737, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5671, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5617, d0.loss_map_cls_all: 0.1760, d0.loss_map_pts_all: 0.9600, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1760, d0.loss_map_pts: 0.9600, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1437, d1.loss_map_pts: 0.6838, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1260, d2.loss_map_pts: 0.5577, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1170, d3.loss_map_pts: 0.5009, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1111, d4.loss_map_pts: 0.4823, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1058, d5.loss_map_pts: 0.4765, d5.loss_map_dir: 0.0059, loss: 23.1247, grad_norm: 134.4504 +2026-02-28 05:39:52,884 - DriveTransformer - INFO - Epoch [9][14800/39528] lr: 7.525e-05, eta: 5 days, 5:22:02, time: 0.703, data_time: 0.038, memory: 19865, loss_cls: 0.1028, loss_bbox: 0.2953, loss_traj: 0.4951, loss_traj_cls: 0.0019, loss_map_cls: 0.1173, loss_map_pts: 0.5326, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.4279, d0.loss_plan_l1_fix_dist: 0.3553, d1.loss_plan_l1_fix_time: 0.9556, d1.loss_plan_l1_fix_dist: 0.2096, d2.loss_plan_l1_fix_time: 0.9300, d2.loss_plan_l1_fix_dist: 0.2114, d3.loss_plan_l1_fix_time: 0.9250, d3.loss_plan_l1_fix_dist: 0.2241, d4.loss_plan_l1_fix_time: 0.9275, d4.loss_plan_l1_fix_dist: 0.2492, d5.loss_plan_l1_fix_time: 0.9307, d5.loss_plan_l1_fix_dist: 0.1835, d6.loss_plan_l1_fix_time: 0.9346, d6.loss_plan_l1_fix_dist: 0.1901, d0.loss_cls_all: 0.1441, d0.loss_bbox_all: 0.3607, d0.loss_cls: 0.1441, d0.loss_bbox: 0.3607, d1.loss_cls: 0.1376, d1.loss_bbox: 0.3238, d2.loss_cls: 0.1245, d2.loss_bbox: 0.3038, d3.loss_cls: 0.1082, d3.loss_bbox: 0.2986, d4.loss_cls: 0.1027, d4.loss_bbox: 0.2960, d5.loss_cls: 0.1021, d5.loss_bbox: 0.2962, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7596, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5625, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5151, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4990, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4972, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4969, d0.loss_map_cls_all: 0.1985, d0.loss_map_pts_all: 1.1428, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1985, d0.loss_map_pts: 1.1428, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1673, d1.loss_map_pts: 0.7966, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1428, d2.loss_map_pts: 0.6375, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1315, d3.loss_map_pts: 0.5667, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1246, d4.loss_map_pts: 0.5419, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1198, d5.loss_map_pts: 0.5344, d5.loss_map_dir: 0.0062, loss: 24.1314, grad_norm: 136.0332 +2026-02-28 05:40:31,398 - DriveTransformer - INFO - Epoch [9][14850/39528] lr: 7.525e-05, eta: 5 days, 5:21:39, time: 0.770, data_time: 0.036, memory: 19865, loss_cls: 0.1312, loss_bbox: 0.3491, loss_traj: 0.5044, loss_traj_cls: 0.0018, loss_map_cls: 0.1634, loss_map_pts: 0.8097, loss_map_dir: 0.0109, d0.loss_plan_l1_fix_time: 2.5456, d0.loss_plan_l1_fix_dist: 0.3978, d1.loss_plan_l1_fix_time: 0.9074, d1.loss_plan_l1_fix_dist: 0.2221, d2.loss_plan_l1_fix_time: 0.9000, d2.loss_plan_l1_fix_dist: 0.2467, d3.loss_plan_l1_fix_time: 0.8966, d3.loss_plan_l1_fix_dist: 0.2407, d4.loss_plan_l1_fix_time: 0.8987, d4.loss_plan_l1_fix_dist: 0.2830, d5.loss_plan_l1_fix_time: 0.9015, d5.loss_plan_l1_fix_dist: 0.2067, d6.loss_plan_l1_fix_time: 0.9048, d6.loss_plan_l1_fix_dist: 0.2123, d0.loss_cls_all: 0.1713, d0.loss_bbox_all: 0.4133, d0.loss_cls: 0.1713, d0.loss_bbox: 0.4133, d1.loss_cls: 0.1608, d1.loss_bbox: 0.3770, d2.loss_cls: 0.1538, d2.loss_bbox: 0.3542, d3.loss_cls: 0.1363, d3.loss_bbox: 0.3488, d4.loss_cls: 0.1301, d4.loss_bbox: 0.3507, d5.loss_cls: 0.1299, d5.loss_bbox: 0.3489, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7589, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5525, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5111, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5062, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5039, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5009, d0.loss_map_cls_all: 0.2451, d0.loss_map_pts_all: 1.5807, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2451, d0.loss_map_pts: 1.5807, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.2117, d1.loss_map_pts: 1.1492, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1911, d2.loss_map_pts: 0.9282, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1804, d3.loss_map_pts: 0.8518, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1724, d4.loss_map_pts: 0.8196, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1669, d5.loss_map_pts: 0.8104, d5.loss_map_dir: 0.0109, loss: 27.9373, grad_norm: 146.6355 +2026-02-28 05:41:07,429 - DriveTransformer - INFO - Epoch [9][14900/39528] lr: 7.525e-05, eta: 5 days, 5:20:59, time: 0.721, data_time: 0.039, memory: 19865, loss_cls: 0.1036, loss_bbox: 0.2940, loss_traj: 0.4887, loss_traj_cls: 0.0020, loss_map_cls: 0.1140, loss_map_pts: 0.5569, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.3220, d0.loss_plan_l1_fix_dist: 0.4599, d1.loss_plan_l1_fix_time: 0.7535, d1.loss_plan_l1_fix_dist: 0.2082, d2.loss_plan_l1_fix_time: 0.7424, d2.loss_plan_l1_fix_dist: 0.2614, d3.loss_plan_l1_fix_time: 0.7432, d3.loss_plan_l1_fix_dist: 0.2448, d4.loss_plan_l1_fix_time: 0.7456, d4.loss_plan_l1_fix_dist: 0.3062, d5.loss_plan_l1_fix_time: 0.7488, d5.loss_plan_l1_fix_dist: 0.2247, d6.loss_plan_l1_fix_time: 0.7528, d6.loss_plan_l1_fix_dist: 0.2298, d0.loss_cls_all: 0.1408, d0.loss_bbox_all: 0.3531, d0.loss_cls: 0.1408, d0.loss_bbox: 0.3531, d1.loss_cls: 0.1316, d1.loss_bbox: 0.3218, d2.loss_cls: 0.1246, d2.loss_bbox: 0.2996, d3.loss_cls: 0.1083, d3.loss_bbox: 0.2949, d4.loss_cls: 0.1030, d4.loss_bbox: 0.2933, d5.loss_cls: 0.1036, d5.loss_bbox: 0.2919, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6951, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5240, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4926, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4836, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4866, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4856, d0.loss_map_cls_all: 0.1937, d0.loss_map_pts_all: 1.1272, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1937, d0.loss_map_pts: 1.1272, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1547, d1.loss_map_pts: 0.7958, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1367, d2.loss_map_pts: 0.6416, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1254, d3.loss_map_pts: 0.5837, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1199, d4.loss_map_pts: 0.5663, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1148, d5.loss_map_pts: 0.5595, d5.loss_map_dir: 0.0062, loss: 23.0236, grad_norm: 145.8393 +2026-02-28 05:41:44,259 - DriveTransformer - INFO - Epoch [9][14950/39528] lr: 7.525e-05, eta: 5 days, 5:20:24, time: 0.737, data_time: 0.039, memory: 19865, loss_cls: 0.1107, loss_bbox: 0.3145, loss_traj: 0.4995, loss_traj_cls: 0.0018, loss_map_cls: 0.1398, loss_map_pts: 0.6343, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.4984, d0.loss_plan_l1_fix_dist: 0.5170, d1.loss_plan_l1_fix_time: 0.8876, d1.loss_plan_l1_fix_dist: 0.2052, d2.loss_plan_l1_fix_time: 0.8674, d2.loss_plan_l1_fix_dist: 0.2553, d3.loss_plan_l1_fix_time: 0.8695, d3.loss_plan_l1_fix_dist: 0.2286, d4.loss_plan_l1_fix_time: 0.8714, d4.loss_plan_l1_fix_dist: 0.2976, d5.loss_plan_l1_fix_time: 0.8742, d5.loss_plan_l1_fix_dist: 0.2142, d6.loss_plan_l1_fix_time: 0.8778, d6.loss_plan_l1_fix_dist: 0.2221, d0.loss_cls_all: 0.1541, d0.loss_bbox_all: 0.3831, d0.loss_cls: 0.1541, d0.loss_bbox: 0.3831, d1.loss_cls: 0.1447, d1.loss_bbox: 0.3478, d2.loss_cls: 0.1336, d2.loss_bbox: 0.3273, d3.loss_cls: 0.1178, d3.loss_bbox: 0.3210, d4.loss_cls: 0.1120, d4.loss_bbox: 0.3165, d5.loss_cls: 0.1104, d5.loss_bbox: 0.3148, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7043, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5600, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5003, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4958, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4962, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4963, d0.loss_map_cls_all: 0.2194, d0.loss_map_pts_all: 1.2515, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2194, d0.loss_map_pts: 1.2515, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1902, d1.loss_map_pts: 0.8895, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1641, d2.loss_map_pts: 0.7189, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1536, d3.loss_map_pts: 0.6589, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1465, d4.loss_map_pts: 0.6435, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1418, d5.loss_map_pts: 0.6358, d5.loss_map_dir: 0.0072, loss: 25.3052, grad_norm: 143.7130 +2026-02-28 05:42:19,154 - DriveTransformer - INFO - Epoch [9][15000/39528] lr: 7.525e-05, eta: 5 days, 5:19:37, time: 0.698, data_time: 0.041, memory: 19865, loss_cls: 0.0955, loss_bbox: 0.2894, loss_traj: 0.5883, loss_traj_cls: 0.0018, loss_map_cls: 0.1010, loss_map_pts: 0.4961, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.5259, d0.loss_plan_l1_fix_dist: 0.4989, d1.loss_plan_l1_fix_time: 0.8947, d1.loss_plan_l1_fix_dist: 0.2085, d2.loss_plan_l1_fix_time: 0.8808, d2.loss_plan_l1_fix_dist: 0.2465, d3.loss_plan_l1_fix_time: 0.8689, d3.loss_plan_l1_fix_dist: 0.2349, d4.loss_plan_l1_fix_time: 0.8736, d4.loss_plan_l1_fix_dist: 0.2922, d5.loss_plan_l1_fix_time: 0.8787, d5.loss_plan_l1_fix_dist: 0.2188, d6.loss_plan_l1_fix_time: 0.8862, d6.loss_plan_l1_fix_dist: 0.2332, d0.loss_cls_all: 0.1330, d0.loss_bbox_all: 0.3464, d0.loss_cls: 0.1330, d0.loss_bbox: 0.3464, d1.loss_cls: 0.1290, d1.loss_bbox: 0.3165, d2.loss_cls: 0.1151, d2.loss_bbox: 0.2990, d3.loss_cls: 0.0997, d3.loss_bbox: 0.2922, d4.loss_cls: 0.0952, d4.loss_bbox: 0.2898, d5.loss_cls: 0.0952, d5.loss_bbox: 0.2880, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7684, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6275, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5817, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5773, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5762, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5831, d0.loss_map_cls_all: 0.1656, d0.loss_map_pts_all: 0.9629, d0.loss_map_dir_all: 0.0045, d0.loss_map_cls: 0.1656, d0.loss_map_pts: 0.9629, d0.loss_map_dir: 0.0045, d1.loss_map_cls: 0.1396, d1.loss_map_pts: 0.6923, d1.loss_map_dir: 0.0042, d2.loss_map_cls: 0.1218, d2.loss_map_pts: 0.5630, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.1122, d3.loss_map_pts: 0.5170, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.1074, d4.loss_map_pts: 0.4991, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.1037, d5.loss_map_pts: 0.4952, d5.loss_map_dir: 0.0046, loss: 23.6549, grad_norm: 144.3569 +2026-02-28 05:42:56,901 - DriveTransformer - INFO - Epoch [9][15050/39528] lr: 7.525e-05, eta: 5 days, 5:19:08, time: 0.755, data_time: 0.039, memory: 19865, loss_cls: 0.1179, loss_bbox: 0.2920, loss_traj: 0.4759, loss_traj_cls: 0.0019, loss_map_cls: 0.1137, loss_map_pts: 0.6074, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.3307, d0.loss_plan_l1_fix_dist: 0.4136, d1.loss_plan_l1_fix_time: 0.7650, d1.loss_plan_l1_fix_dist: 0.2068, d2.loss_plan_l1_fix_time: 0.7472, d2.loss_plan_l1_fix_dist: 0.2092, d3.loss_plan_l1_fix_time: 0.7358, d3.loss_plan_l1_fix_dist: 0.2040, d4.loss_plan_l1_fix_time: 0.7410, d4.loss_plan_l1_fix_dist: 0.2497, d5.loss_plan_l1_fix_time: 0.7466, d5.loss_plan_l1_fix_dist: 0.1846, d6.loss_plan_l1_fix_time: 0.7535, d6.loss_plan_l1_fix_dist: 0.1835, d0.loss_cls_all: 0.1621, d0.loss_bbox_all: 0.3543, d0.loss_cls: 0.1621, d0.loss_bbox: 0.3543, d1.loss_cls: 0.1522, d1.loss_bbox: 0.3215, d2.loss_cls: 0.1409, d2.loss_bbox: 0.3016, d3.loss_cls: 0.1255, d3.loss_bbox: 0.2942, d4.loss_cls: 0.1197, d4.loss_bbox: 0.2931, d5.loss_cls: 0.1176, d5.loss_bbox: 0.2925, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6221, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5132, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.4798, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4711, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4718, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4717, d0.loss_map_cls_all: 0.1855, d0.loss_map_pts_all: 1.2076, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1855, d0.loss_map_pts: 1.2076, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1582, d1.loss_map_pts: 0.8412, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1350, d2.loss_map_pts: 0.6898, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1234, d3.loss_map_pts: 0.6344, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1176, d4.loss_map_pts: 0.6131, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1146, d5.loss_map_pts: 0.6083, d5.loss_map_dir: 0.0074, loss: 23.1864, grad_norm: 144.7806 +2026-02-28 05:43:33,119 - DriveTransformer - INFO - Epoch [9][15100/39528] lr: 7.525e-05, eta: 5 days, 5:18:30, time: 0.724, data_time: 0.038, memory: 19865, loss_cls: 0.1073, loss_bbox: 0.2858, loss_traj: 0.5070, loss_traj_cls: 0.0019, loss_map_cls: 0.1055, loss_map_pts: 0.5497, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.5510, d0.loss_plan_l1_fix_dist: 0.5613, d1.loss_plan_l1_fix_time: 0.8687, d1.loss_plan_l1_fix_dist: 0.2444, d2.loss_plan_l1_fix_time: 0.8310, d2.loss_plan_l1_fix_dist: 0.2104, d3.loss_plan_l1_fix_time: 0.8137, d3.loss_plan_l1_fix_dist: 0.2076, d4.loss_plan_l1_fix_time: 0.8142, d4.loss_plan_l1_fix_dist: 0.2316, d5.loss_plan_l1_fix_time: 0.8184, d5.loss_plan_l1_fix_dist: 0.2025, d6.loss_plan_l1_fix_time: 0.8233, d6.loss_plan_l1_fix_dist: 0.1951, d0.loss_cls_all: 0.1471, d0.loss_bbox_all: 0.3574, d0.loss_cls: 0.1471, d0.loss_bbox: 0.3574, d1.loss_cls: 0.1392, d1.loss_bbox: 0.3218, d2.loss_cls: 0.1289, d2.loss_bbox: 0.3014, d3.loss_cls: 0.1124, d3.loss_bbox: 0.2932, d4.loss_cls: 0.1073, d4.loss_bbox: 0.2891, d5.loss_cls: 0.1060, d5.loss_bbox: 0.2870, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7249, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5822, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5332, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5094, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5103, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5065, d0.loss_map_cls_all: 0.1963, d0.loss_map_pts_all: 1.1469, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1963, d0.loss_map_pts: 1.1469, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1544, d1.loss_map_pts: 0.8057, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1290, d2.loss_map_pts: 0.6356, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1183, d3.loss_map_pts: 0.5732, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1126, d4.loss_map_pts: 0.5534, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1078, d5.loss_map_pts: 0.5497, d5.loss_map_dir: 0.0069, loss: 23.8768, grad_norm: 143.6617 +2026-02-28 05:44:09,925 - DriveTransformer - INFO - Epoch [9][15150/39528] lr: 7.525e-05, eta: 5 days, 5:17:55, time: 0.736, data_time: 0.039, memory: 19865, loss_cls: 0.1171, loss_bbox: 0.3359, loss_traj: 0.6859, loss_traj_cls: 0.0018, loss_map_cls: 0.1104, loss_map_pts: 0.5415, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.6227, d0.loss_plan_l1_fix_dist: 0.4692, d1.loss_plan_l1_fix_time: 1.0548, d1.loss_plan_l1_fix_dist: 0.2678, d2.loss_plan_l1_fix_time: 1.0186, d2.loss_plan_l1_fix_dist: 0.1948, d3.loss_plan_l1_fix_time: 1.0159, d3.loss_plan_l1_fix_dist: 0.2101, d4.loss_plan_l1_fix_time: 1.0190, d4.loss_plan_l1_fix_dist: 0.2098, d5.loss_plan_l1_fix_time: 1.0245, d5.loss_plan_l1_fix_dist: 0.1991, d6.loss_plan_l1_fix_time: 1.0308, d6.loss_plan_l1_fix_dist: 0.1974, d0.loss_cls_all: 0.1603, d0.loss_bbox_all: 0.3995, d0.loss_cls: 0.1603, d0.loss_bbox: 0.3995, d1.loss_cls: 0.1522, d1.loss_bbox: 0.3619, d2.loss_cls: 0.1410, d2.loss_bbox: 0.3404, d3.loss_cls: 0.1254, d3.loss_bbox: 0.3364, d4.loss_cls: 0.1183, d4.loss_bbox: 0.3363, d5.loss_cls: 0.1155, d5.loss_bbox: 0.3362, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0387, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7892, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.7099, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6828, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6829, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6877, d0.loss_map_cls_all: 0.1839, d0.loss_map_pts_all: 1.0765, d0.loss_map_dir_all: 0.0047, d0.loss_map_cls: 0.1839, d0.loss_map_pts: 1.0765, d0.loss_map_dir: 0.0047, d1.loss_map_cls: 0.1578, d1.loss_map_pts: 0.7840, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.1351, d2.loss_map_pts: 0.6347, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.1217, d3.loss_map_pts: 0.5681, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.1175, d4.loss_map_pts: 0.5464, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.1128, d5.loss_map_pts: 0.5401, d5.loss_map_dir: 0.0049, loss: 26.6830, grad_norm: 154.0774 +2026-02-28 05:44:47,331 - DriveTransformer - INFO - Epoch [9][15200/39528] lr: 7.525e-05, eta: 5 days, 5:17:24, time: 0.750, data_time: 0.039, memory: 19865, loss_cls: 0.1392, loss_bbox: 0.3599, loss_traj: 0.5811, loss_traj_cls: 0.0018, loss_map_cls: 0.1340, loss_map_pts: 0.6855, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.3793, d0.loss_plan_l1_fix_dist: 0.3574, d1.loss_plan_l1_fix_time: 0.9622, d1.loss_plan_l1_fix_dist: 0.2491, d2.loss_plan_l1_fix_time: 0.9447, d2.loss_plan_l1_fix_dist: 0.1618, d3.loss_plan_l1_fix_time: 0.9387, d3.loss_plan_l1_fix_dist: 0.1901, d4.loss_plan_l1_fix_time: 0.9401, d4.loss_plan_l1_fix_dist: 0.1910, d5.loss_plan_l1_fix_time: 0.9433, d5.loss_plan_l1_fix_dist: 0.1694, d6.loss_plan_l1_fix_time: 0.9479, d6.loss_plan_l1_fix_dist: 0.1682, d0.loss_cls_all: 0.1806, d0.loss_bbox_all: 0.4202, d0.loss_cls: 0.1806, d0.loss_bbox: 0.4202, d1.loss_cls: 0.1782, d1.loss_bbox: 0.3877, d2.loss_cls: 0.1620, d2.loss_bbox: 0.3681, d3.loss_cls: 0.1460, d3.loss_bbox: 0.3627, d4.loss_cls: 0.1413, d4.loss_bbox: 0.3609, d5.loss_cls: 0.1399, d5.loss_bbox: 0.3588, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7929, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6387, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5924, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5797, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5738, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5725, d0.loss_map_cls_all: 0.2183, d0.loss_map_pts_all: 1.2560, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2183, d0.loss_map_pts: 1.2560, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1877, d1.loss_map_pts: 0.9261, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1600, d2.loss_map_pts: 0.7727, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1475, d3.loss_map_pts: 0.7117, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1410, d4.loss_map_pts: 0.6892, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1349, d5.loss_map_pts: 0.6849, d5.loss_map_dir: 0.0076, loss: 26.5712, grad_norm: 158.2832 +2026-02-28 05:45:22,557 - DriveTransformer - INFO - Epoch [9][15250/39528] lr: 7.525e-05, eta: 5 days, 5:16:39, time: 0.703, data_time: 0.036, memory: 19865, loss_cls: 0.1145, loss_bbox: 0.3282, loss_traj: 0.6037, loss_traj_cls: 0.0018, loss_map_cls: 0.1343, loss_map_pts: 0.5455, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.7863, d0.loss_plan_l1_fix_dist: 0.5289, d1.loss_plan_l1_fix_time: 0.9071, d1.loss_plan_l1_fix_dist: 0.2775, d2.loss_plan_l1_fix_time: 0.8992, d2.loss_plan_l1_fix_dist: 0.2126, d3.loss_plan_l1_fix_time: 0.8958, d3.loss_plan_l1_fix_dist: 0.2306, d4.loss_plan_l1_fix_time: 0.9015, d4.loss_plan_l1_fix_dist: 0.2390, d5.loss_plan_l1_fix_time: 0.9062, d5.loss_plan_l1_fix_dist: 0.2167, d6.loss_plan_l1_fix_time: 0.9114, d6.loss_plan_l1_fix_dist: 0.2020, d0.loss_cls_all: 0.1705, d0.loss_bbox_all: 0.3899, d0.loss_cls: 0.1705, d0.loss_bbox: 0.3899, d1.loss_cls: 0.1616, d1.loss_bbox: 0.3558, d2.loss_cls: 0.1452, d2.loss_bbox: 0.3357, d3.loss_cls: 0.1237, d3.loss_bbox: 0.3305, d4.loss_cls: 0.1161, d4.loss_bbox: 0.3284, d5.loss_cls: 0.1145, d5.loss_bbox: 0.3275, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8742, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6592, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6188, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6034, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6033, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6028, d0.loss_map_cls_all: 0.2113, d0.loss_map_pts_all: 1.1255, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.2113, d0.loss_map_pts: 1.1255, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1815, d1.loss_map_pts: 0.8073, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1605, d2.loss_map_pts: 0.6468, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.1474, d3.loss_map_pts: 0.5787, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1426, d4.loss_map_pts: 0.5531, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.1376, d5.loss_map_pts: 0.5435, d5.loss_map_dir: 0.0051, loss: 25.8822, grad_norm: 158.4327 +2026-02-28 05:45:57,923 - DriveTransformer - INFO - Epoch [9][15300/39528] lr: 7.525e-05, eta: 5 days, 5:15:55, time: 0.707, data_time: 0.038, memory: 19865, loss_cls: 0.0963, loss_bbox: 0.2766, loss_traj: 0.5214, loss_traj_cls: 0.0018, loss_map_cls: 0.1166, loss_map_pts: 0.5287, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.3825, d0.loss_plan_l1_fix_dist: 0.4253, d1.loss_plan_l1_fix_time: 0.8647, d1.loss_plan_l1_fix_dist: 0.2575, d2.loss_plan_l1_fix_time: 0.8345, d2.loss_plan_l1_fix_dist: 0.1987, d3.loss_plan_l1_fix_time: 0.8306, d3.loss_plan_l1_fix_dist: 0.2062, d4.loss_plan_l1_fix_time: 0.8332, d4.loss_plan_l1_fix_dist: 0.2152, d5.loss_plan_l1_fix_time: 0.8355, d5.loss_plan_l1_fix_dist: 0.2031, d6.loss_plan_l1_fix_time: 0.8387, d6.loss_plan_l1_fix_dist: 0.1971, d0.loss_cls_all: 0.1439, d0.loss_bbox_all: 0.3327, d0.loss_cls: 0.1439, d0.loss_bbox: 0.3327, d1.loss_cls: 0.1312, d1.loss_bbox: 0.3052, d2.loss_cls: 0.1194, d2.loss_bbox: 0.2875, d3.loss_cls: 0.1044, d3.loss_bbox: 0.2806, d4.loss_cls: 0.0989, d4.loss_bbox: 0.2782, d5.loss_cls: 0.0968, d5.loss_bbox: 0.2768, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7442, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5881, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5385, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5234, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5197, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5201, d0.loss_map_cls_all: 0.1871, d0.loss_map_pts_all: 1.0576, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1871, d0.loss_map_pts: 1.0576, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1616, d1.loss_map_pts: 0.7612, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1409, d2.loss_map_pts: 0.6198, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1269, d3.loss_map_pts: 0.5620, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1230, d4.loss_map_pts: 0.5395, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1184, d5.loss_map_pts: 0.5291, d5.loss_map_dir: 0.0059, loss: 23.2541, grad_norm: 158.5673 +2026-02-28 05:46:35,070 - DriveTransformer - INFO - Epoch [9][15350/39528] lr: 7.525e-05, eta: 5 days, 5:15:22, time: 0.743, data_time: 0.037, memory: 19865, loss_cls: 0.1177, loss_bbox: 0.3043, loss_traj: 0.5473, loss_traj_cls: 0.0019, loss_map_cls: 0.1346, loss_map_pts: 0.6503, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.6665, d0.loss_plan_l1_fix_dist: 0.4947, d1.loss_plan_l1_fix_time: 0.9286, d1.loss_plan_l1_fix_dist: 0.2551, d2.loss_plan_l1_fix_time: 0.9165, d2.loss_plan_l1_fix_dist: 0.2236, d3.loss_plan_l1_fix_time: 0.9038, d3.loss_plan_l1_fix_dist: 0.2386, d4.loss_plan_l1_fix_time: 0.9067, d4.loss_plan_l1_fix_dist: 0.2683, d5.loss_plan_l1_fix_time: 0.9103, d5.loss_plan_l1_fix_dist: 0.2261, d6.loss_plan_l1_fix_time: 0.9143, d6.loss_plan_l1_fix_dist: 0.2290, d0.loss_cls_all: 0.1541, d0.loss_bbox_all: 0.3671, d0.loss_cls: 0.1541, d0.loss_bbox: 0.3671, d1.loss_cls: 0.1469, d1.loss_bbox: 0.3334, d2.loss_cls: 0.1336, d2.loss_bbox: 0.3131, d3.loss_cls: 0.1236, d3.loss_bbox: 0.3063, d4.loss_cls: 0.1170, d4.loss_bbox: 0.3068, d5.loss_cls: 0.1166, d5.loss_bbox: 0.3047, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7777, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6270, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5753, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5556, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5509, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5505, d0.loss_map_cls_all: 0.2175, d0.loss_map_pts_all: 1.2979, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2175, d0.loss_map_pts: 1.2979, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1839, d1.loss_map_pts: 0.9201, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1625, d2.loss_map_pts: 0.7400, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1488, d3.loss_map_pts: 0.6724, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1409, d4.loss_map_pts: 0.6544, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1361, d5.loss_map_pts: 0.6506, d5.loss_map_dir: 0.0081, loss: 26.2269, grad_norm: 156.5644 +2026-02-28 05:47:11,437 - DriveTransformer - INFO - Epoch [9][15400/39528] lr: 7.525e-05, eta: 5 days, 5:14:44, time: 0.727, data_time: 0.037, memory: 19865, loss_cls: 0.1244, loss_bbox: 0.3327, loss_traj: 0.5686, loss_traj_cls: 0.0019, loss_map_cls: 0.1306, loss_map_pts: 0.6084, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.9719, d0.loss_plan_l1_fix_dist: 0.4852, d1.loss_plan_l1_fix_time: 0.8685, d1.loss_plan_l1_fix_dist: 0.2717, d2.loss_plan_l1_fix_time: 0.8520, d2.loss_plan_l1_fix_dist: 0.2559, d3.loss_plan_l1_fix_time: 0.8577, d3.loss_plan_l1_fix_dist: 0.2594, d4.loss_plan_l1_fix_time: 0.8601, d4.loss_plan_l1_fix_dist: 0.2868, d5.loss_plan_l1_fix_time: 0.8633, d5.loss_plan_l1_fix_dist: 0.2431, d6.loss_plan_l1_fix_time: 0.8667, d6.loss_plan_l1_fix_dist: 0.2511, d0.loss_cls_all: 0.1713, d0.loss_bbox_all: 0.3970, d0.loss_cls: 0.1713, d0.loss_bbox: 0.3970, d1.loss_cls: 0.1644, d1.loss_bbox: 0.3588, d2.loss_cls: 0.1502, d2.loss_bbox: 0.3392, d3.loss_cls: 0.1296, d3.loss_bbox: 0.3350, d4.loss_cls: 0.1259, d4.loss_bbox: 0.3322, d5.loss_cls: 0.1244, d5.loss_bbox: 0.3322, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8388, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6415, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5896, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5762, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5719, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5700, d0.loss_map_cls_all: 0.2229, d0.loss_map_pts_all: 1.1994, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2229, d0.loss_map_pts: 1.1994, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1863, d1.loss_map_pts: 0.8447, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1594, d2.loss_map_pts: 0.6919, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1437, d3.loss_map_pts: 0.6366, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1363, d4.loss_map_pts: 0.6166, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1316, d5.loss_map_pts: 0.6098, d5.loss_map_dir: 0.0077, loss: 26.3432, grad_norm: 158.0119 +2026-02-28 05:47:49,052 - DriveTransformer - INFO - Epoch [9][15450/39528] lr: 7.525e-05, eta: 5 days, 5:14:15, time: 0.752, data_time: 0.038, memory: 19865, loss_cls: 0.1236, loss_bbox: 0.3083, loss_traj: 0.5567, loss_traj_cls: 0.0019, loss_map_cls: 0.1156, loss_map_pts: 0.6242, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.5586, d0.loss_plan_l1_fix_dist: 0.4644, d1.loss_plan_l1_fix_time: 1.0179, d1.loss_plan_l1_fix_dist: 0.2286, d2.loss_plan_l1_fix_time: 1.0079, d2.loss_plan_l1_fix_dist: 0.2262, d3.loss_plan_l1_fix_time: 0.9980, d3.loss_plan_l1_fix_dist: 0.2234, d4.loss_plan_l1_fix_time: 1.0001, d4.loss_plan_l1_fix_dist: 0.2772, d5.loss_plan_l1_fix_time: 1.0043, d5.loss_plan_l1_fix_dist: 0.2177, d6.loss_plan_l1_fix_time: 1.0081, d6.loss_plan_l1_fix_dist: 0.2235, d0.loss_cls_all: 0.1683, d0.loss_bbox_all: 0.3727, d0.loss_cls: 0.1683, d0.loss_bbox: 0.3727, d1.loss_cls: 0.1651, d1.loss_bbox: 0.3384, d2.loss_cls: 0.1501, d2.loss_bbox: 0.3184, d3.loss_cls: 0.1319, d3.loss_bbox: 0.3126, d4.loss_cls: 0.1245, d4.loss_bbox: 0.3095, d5.loss_cls: 0.1234, d5.loss_bbox: 0.3080, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7168, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6020, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5700, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5608, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5607, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5599, d0.loss_map_cls_all: 0.2030, d0.loss_map_pts_all: 1.2199, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2030, d0.loss_map_pts: 1.2199, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1667, d1.loss_map_pts: 0.8671, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1432, d2.loss_map_pts: 0.7001, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1295, d3.loss_map_pts: 0.6472, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1236, d4.loss_map_pts: 0.6257, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1175, d5.loss_map_pts: 0.6239, d5.loss_map_dir: 0.0077, loss: 26.1750, grad_norm: 158.3181 +2026-02-28 05:48:25,715 - DriveTransformer - INFO - Epoch [9][15500/39528] lr: 7.525e-05, eta: 5 days, 5:13:39, time: 0.733, data_time: 0.038, memory: 19865, loss_cls: 0.1266, loss_bbox: 0.3327, loss_traj: 0.5691, loss_traj_cls: 0.0019, loss_map_cls: 0.1174, loss_map_pts: 0.5782, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.7049, d0.loss_plan_l1_fix_dist: 0.4558, d1.loss_plan_l1_fix_time: 0.8998, d1.loss_plan_l1_fix_dist: 0.2096, d2.loss_plan_l1_fix_time: 0.8869, d2.loss_plan_l1_fix_dist: 0.2186, d3.loss_plan_l1_fix_time: 0.8857, d3.loss_plan_l1_fix_dist: 0.2273, d4.loss_plan_l1_fix_time: 0.8883, d4.loss_plan_l1_fix_dist: 0.2635, d5.loss_plan_l1_fix_time: 0.8920, d5.loss_plan_l1_fix_dist: 0.2241, d6.loss_plan_l1_fix_time: 0.8953, d6.loss_plan_l1_fix_dist: 0.2183, d0.loss_cls_all: 0.1729, d0.loss_bbox_all: 0.3970, d0.loss_cls: 0.1729, d0.loss_bbox: 0.3970, d1.loss_cls: 0.1674, d1.loss_bbox: 0.3629, d2.loss_cls: 0.1550, d2.loss_bbox: 0.3434, d3.loss_cls: 0.1357, d3.loss_bbox: 0.3406, d4.loss_cls: 0.1300, d4.loss_bbox: 0.3360, d5.loss_cls: 0.1264, d5.loss_bbox: 0.3341, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8113, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6520, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5951, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5780, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5756, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5690, d0.loss_map_cls_all: 0.1960, d0.loss_map_pts_all: 1.1482, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1960, d0.loss_map_pts: 1.1482, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1631, d1.loss_map_pts: 0.8100, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1415, d2.loss_map_pts: 0.6657, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1294, d3.loss_map_pts: 0.6141, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1243, d4.loss_map_pts: 0.5885, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1193, d5.loss_map_pts: 0.5788, d5.loss_map_dir: 0.0072, loss: 25.6335, grad_norm: 159.1703 +2026-02-28 05:49:01,074 - DriveTransformer - INFO - Epoch [9][15550/39528] lr: 7.525e-05, eta: 5 days, 5:12:55, time: 0.707, data_time: 0.036, memory: 19865, loss_cls: 0.1336, loss_bbox: 0.3298, loss_traj: 0.6896, loss_traj_cls: 0.0018, loss_map_cls: 0.1193, loss_map_pts: 0.5970, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.4295, d0.loss_plan_l1_fix_dist: 0.3696, d1.loss_plan_l1_fix_time: 0.9167, d1.loss_plan_l1_fix_dist: 0.1818, d2.loss_plan_l1_fix_time: 0.9066, d2.loss_plan_l1_fix_dist: 0.2072, d3.loss_plan_l1_fix_time: 0.9103, d3.loss_plan_l1_fix_dist: 0.2104, d4.loss_plan_l1_fix_time: 0.9129, d4.loss_plan_l1_fix_dist: 0.2132, d5.loss_plan_l1_fix_time: 0.9152, d5.loss_plan_l1_fix_dist: 0.1860, d6.loss_plan_l1_fix_time: 0.9183, d6.loss_plan_l1_fix_dist: 0.1953, d0.loss_cls_all: 0.1851, d0.loss_bbox_all: 0.3921, d0.loss_cls: 0.1851, d0.loss_bbox: 0.3921, d1.loss_cls: 0.1715, d1.loss_bbox: 0.3623, d2.loss_cls: 0.1618, d2.loss_bbox: 0.3391, d3.loss_cls: 0.1425, d3.loss_bbox: 0.3348, d4.loss_cls: 0.1346, d4.loss_bbox: 0.3325, d5.loss_cls: 0.1333, d5.loss_bbox: 0.3307, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9630, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7618, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.7092, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6884, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6922, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6889, d0.loss_map_cls_all: 0.2044, d0.loss_map_pts_all: 1.1293, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2044, d0.loss_map_pts: 1.1293, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1711, d1.loss_map_pts: 0.8265, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1460, d2.loss_map_pts: 0.6900, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1325, d3.loss_map_pts: 0.6296, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1248, d4.loss_map_pts: 0.6046, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1211, d5.loss_map_pts: 0.5970, d5.loss_map_dir: 0.0066, loss: 26.2123, grad_norm: 159.4266 +2026-02-28 05:49:37,020 - DriveTransformer - INFO - Epoch [9][15600/39528] lr: 7.525e-05, eta: 5 days, 5:12:15, time: 0.719, data_time: 0.039, memory: 19865, loss_cls: 0.1221, loss_bbox: 0.3244, loss_traj: 0.5375, loss_traj_cls: 0.0018, loss_map_cls: 0.1070, loss_map_pts: 0.5557, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.7858, d0.loss_plan_l1_fix_dist: 0.4521, d1.loss_plan_l1_fix_time: 0.9711, d1.loss_plan_l1_fix_dist: 0.1710, d2.loss_plan_l1_fix_time: 0.9601, d2.loss_plan_l1_fix_dist: 0.2019, d3.loss_plan_l1_fix_time: 0.9546, d3.loss_plan_l1_fix_dist: 0.2051, d4.loss_plan_l1_fix_time: 0.9569, d4.loss_plan_l1_fix_dist: 0.2035, d5.loss_plan_l1_fix_time: 0.9593, d5.loss_plan_l1_fix_dist: 0.1742, d6.loss_plan_l1_fix_time: 0.9633, d6.loss_plan_l1_fix_dist: 0.1835, d0.loss_cls_all: 0.1702, d0.loss_bbox_all: 0.3748, d0.loss_cls: 0.1702, d0.loss_bbox: 0.3748, d1.loss_cls: 0.1600, d1.loss_bbox: 0.3480, d2.loss_cls: 0.1478, d2.loss_bbox: 0.3274, d3.loss_cls: 0.1300, d3.loss_bbox: 0.3242, d4.loss_cls: 0.1250, d4.loss_bbox: 0.3220, d5.loss_cls: 0.1230, d5.loss_bbox: 0.3224, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7713, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6159, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5580, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5427, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5405, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5383, d0.loss_map_cls_all: 0.1792, d0.loss_map_pts_all: 1.0719, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1792, d0.loss_map_pts: 1.0719, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1497, d1.loss_map_pts: 0.7734, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1283, d2.loss_map_pts: 0.6385, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1208, d3.loss_map_pts: 0.5825, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1137, d4.loss_map_pts: 0.5599, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1093, d5.loss_map_pts: 0.5554, d5.loss_map_dir: 0.0064, loss: 25.0663, grad_norm: 159.5628 +2026-02-28 05:50:12,509 - DriveTransformer - INFO - Epoch [9][15650/39528] lr: 7.525e-05, eta: 5 days, 5:11:31, time: 0.710, data_time: 0.039, memory: 19865, loss_cls: 0.0990, loss_bbox: 0.2830, loss_traj: 0.5116, loss_traj_cls: 0.0019, loss_map_cls: 0.1126, loss_map_pts: 0.5270, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.5238, d0.loss_plan_l1_fix_dist: 0.4851, d1.loss_plan_l1_fix_time: 0.9069, d1.loss_plan_l1_fix_dist: 0.1933, d2.loss_plan_l1_fix_time: 0.8848, d2.loss_plan_l1_fix_dist: 0.2025, d3.loss_plan_l1_fix_time: 0.8819, d3.loss_plan_l1_fix_dist: 0.2229, d4.loss_plan_l1_fix_time: 0.8843, d4.loss_plan_l1_fix_dist: 0.2098, d5.loss_plan_l1_fix_time: 0.8876, d5.loss_plan_l1_fix_dist: 0.1876, d6.loss_plan_l1_fix_time: 0.8922, d6.loss_plan_l1_fix_dist: 0.1978, d0.loss_cls_all: 0.1317, d0.loss_bbox_all: 0.3407, d0.loss_cls: 0.1317, d0.loss_bbox: 0.3407, d1.loss_cls: 0.1285, d1.loss_bbox: 0.3072, d2.loss_cls: 0.1161, d2.loss_bbox: 0.2893, d3.loss_cls: 0.1010, d3.loss_bbox: 0.2848, d4.loss_cls: 0.0997, d4.loss_bbox: 0.2809, d5.loss_cls: 0.0987, d5.loss_bbox: 0.2819, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7669, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5581, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5256, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5124, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5096, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5136, d0.loss_map_cls_all: 0.1936, d0.loss_map_pts_all: 1.0585, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1936, d0.loss_map_pts: 1.0585, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1607, d1.loss_map_pts: 0.7648, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1354, d2.loss_map_pts: 0.6211, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1250, d3.loss_map_pts: 0.5578, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1183, d4.loss_map_pts: 0.5333, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1142, d5.loss_map_pts: 0.5267, d5.loss_map_dir: 0.0056, loss: 23.6246, grad_norm: 159.0193 +2026-02-28 05:50:49,576 - DriveTransformer - INFO - Epoch [9][15700/39528] lr: 7.525e-05, eta: 5 days, 5:10:58, time: 0.741, data_time: 0.037, memory: 19865, loss_cls: 0.1146, loss_bbox: 0.3200, loss_traj: 0.5381, loss_traj_cls: 0.0019, loss_map_cls: 0.1252, loss_map_pts: 0.6352, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.6043, d0.loss_plan_l1_fix_dist: 0.4281, d1.loss_plan_l1_fix_time: 0.8916, d1.loss_plan_l1_fix_dist: 0.2035, d2.loss_plan_l1_fix_time: 0.8803, d2.loss_plan_l1_fix_dist: 0.2123, d3.loss_plan_l1_fix_time: 0.8719, d3.loss_plan_l1_fix_dist: 0.2359, d4.loss_plan_l1_fix_time: 0.8742, d4.loss_plan_l1_fix_dist: 0.1964, d5.loss_plan_l1_fix_time: 0.8770, d5.loss_plan_l1_fix_dist: 0.1876, d6.loss_plan_l1_fix_time: 0.8808, d6.loss_plan_l1_fix_dist: 0.2023, d0.loss_cls_all: 0.1585, d0.loss_bbox_all: 0.3788, d0.loss_cls: 0.1585, d0.loss_bbox: 0.3788, d1.loss_cls: 0.1506, d1.loss_bbox: 0.3487, d2.loss_cls: 0.1351, d2.loss_bbox: 0.3321, d3.loss_cls: 0.1203, d3.loss_bbox: 0.3233, d4.loss_cls: 0.1155, d4.loss_bbox: 0.3199, d5.loss_cls: 0.1150, d5.loss_bbox: 0.3191, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7931, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6181, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5707, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5552, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5423, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5355, d0.loss_map_cls_all: 0.2161, d0.loss_map_pts_all: 1.3081, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2161, d0.loss_map_pts: 1.3081, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1828, d1.loss_map_pts: 0.9370, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1558, d2.loss_map_pts: 0.7488, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1430, d3.loss_map_pts: 0.6739, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1341, d4.loss_map_pts: 0.6458, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1289, d5.loss_map_pts: 0.6353, d5.loss_map_dir: 0.0079, loss: 25.7514, grad_norm: 157.2225 +2026-02-28 05:51:26,350 - DriveTransformer - INFO - Epoch [9][15750/39528] lr: 7.525e-05, eta: 5 days, 5:10:23, time: 0.736, data_time: 0.035, memory: 19865, loss_cls: 0.0995, loss_bbox: 0.2995, loss_traj: 0.4416, loss_traj_cls: 0.0019, loss_map_cls: 0.1360, loss_map_pts: 0.6852, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.6860, d0.loss_plan_l1_fix_dist: 0.3457, d1.loss_plan_l1_fix_time: 0.8696, d1.loss_plan_l1_fix_dist: 0.2065, d2.loss_plan_l1_fix_time: 0.8556, d2.loss_plan_l1_fix_dist: 0.2154, d3.loss_plan_l1_fix_time: 0.8534, d3.loss_plan_l1_fix_dist: 0.2501, d4.loss_plan_l1_fix_time: 0.8561, d4.loss_plan_l1_fix_dist: 0.2155, d5.loss_plan_l1_fix_time: 0.8592, d5.loss_plan_l1_fix_dist: 0.2295, d6.loss_plan_l1_fix_time: 0.8627, d6.loss_plan_l1_fix_dist: 0.2441, d0.loss_cls_all: 0.1445, d0.loss_bbox_all: 0.3570, d0.loss_cls: 0.1445, d0.loss_bbox: 0.3570, d1.loss_cls: 0.1359, d1.loss_bbox: 0.3271, d2.loss_cls: 0.1230, d2.loss_bbox: 0.3069, d3.loss_cls: 0.1063, d3.loss_bbox: 0.3009, d4.loss_cls: 0.1001, d4.loss_bbox: 0.2985, d5.loss_cls: 0.0993, d5.loss_bbox: 0.2984, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6515, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5059, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4656, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4539, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4476, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4422, d0.loss_map_cls_all: 0.2228, d0.loss_map_pts_all: 1.3448, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2228, d0.loss_map_pts: 1.3448, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1862, d1.loss_map_pts: 0.9617, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1644, d2.loss_map_pts: 0.7828, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1501, d3.loss_map_pts: 0.7165, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1444, d4.loss_map_pts: 0.6884, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1384, d5.loss_map_pts: 0.6850, d5.loss_map_dir: 0.0076, loss: 25.0964, grad_norm: 163.8385 +2026-02-28 05:52:04,096 - DriveTransformer - INFO - Epoch [9][15800/39528] lr: 7.525e-05, eta: 5 days, 5:09:55, time: 0.755, data_time: 0.038, memory: 19865, loss_cls: 0.1123, loss_bbox: 0.3218, loss_traj: 0.4817, loss_traj_cls: 0.0019, loss_map_cls: 0.1159, loss_map_pts: 0.6291, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.4218, d0.loss_plan_l1_fix_dist: 0.4615, d1.loss_plan_l1_fix_time: 0.9508, d1.loss_plan_l1_fix_dist: 0.2432, d2.loss_plan_l1_fix_time: 0.9364, d2.loss_plan_l1_fix_dist: 0.2319, d3.loss_plan_l1_fix_time: 0.9339, d3.loss_plan_l1_fix_dist: 0.2673, d4.loss_plan_l1_fix_time: 0.9364, d4.loss_plan_l1_fix_dist: 0.2346, d5.loss_plan_l1_fix_time: 0.9396, d5.loss_plan_l1_fix_dist: 0.2525, d6.loss_plan_l1_fix_time: 0.9434, d6.loss_plan_l1_fix_dist: 0.2551, d0.loss_cls_all: 0.1615, d0.loss_bbox_all: 0.3820, d0.loss_cls: 0.1615, d0.loss_bbox: 0.3820, d1.loss_cls: 0.1536, d1.loss_bbox: 0.3472, d2.loss_cls: 0.1350, d2.loss_bbox: 0.3306, d3.loss_cls: 0.1199, d3.loss_bbox: 0.3242, d4.loss_cls: 0.1131, d4.loss_bbox: 0.3222, d5.loss_cls: 0.1126, d5.loss_bbox: 0.3206, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6771, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5520, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5120, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4928, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4847, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4833, d0.loss_map_cls_all: 0.1968, d0.loss_map_pts_all: 1.2314, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.1968, d0.loss_map_pts: 1.2314, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1658, d1.loss_map_pts: 0.8639, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1420, d2.loss_map_pts: 0.7135, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1308, d3.loss_map_pts: 0.6560, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1233, d4.loss_map_pts: 0.6362, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1175, d5.loss_map_pts: 0.6293, d5.loss_map_dir: 0.0084, loss: 25.3449, grad_norm: 163.5539 +2026-02-28 05:52:39,767 - DriveTransformer - INFO - Epoch [9][15850/39528] lr: 7.525e-05, eta: 5 days, 5:09:12, time: 0.713, data_time: 0.037, memory: 19865, loss_cls: 0.1377, loss_bbox: 0.3458, loss_traj: 0.6411, loss_traj_cls: 0.0019, loss_map_cls: 0.1409, loss_map_pts: 0.6651, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 3.2326, d0.loss_plan_l1_fix_dist: 0.4928, d1.loss_plan_l1_fix_time: 1.0466, d1.loss_plan_l1_fix_dist: 0.2572, d2.loss_plan_l1_fix_time: 1.0358, d2.loss_plan_l1_fix_dist: 0.2310, d3.loss_plan_l1_fix_time: 1.0363, d3.loss_plan_l1_fix_dist: 0.2627, d4.loss_plan_l1_fix_time: 1.0379, d4.loss_plan_l1_fix_dist: 0.2487, d5.loss_plan_l1_fix_time: 1.0397, d5.loss_plan_l1_fix_dist: 0.2805, d6.loss_plan_l1_fix_time: 1.0424, d6.loss_plan_l1_fix_dist: 0.2785, d0.loss_cls_all: 0.1863, d0.loss_bbox_all: 0.4220, d0.loss_cls: 0.1863, d0.loss_bbox: 0.4220, d1.loss_cls: 0.1804, d1.loss_bbox: 0.3798, d2.loss_cls: 0.1639, d2.loss_bbox: 0.3565, d3.loss_cls: 0.1470, d3.loss_bbox: 0.3501, d4.loss_cls: 0.1411, d4.loss_bbox: 0.3479, d5.loss_cls: 0.1371, d5.loss_bbox: 0.3469, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9656, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7458, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6640, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6475, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6395, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6404, d0.loss_map_cls_all: 0.2203, d0.loss_map_pts_all: 1.2123, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2203, d0.loss_map_pts: 1.2123, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1955, d1.loss_map_pts: 0.8873, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1697, d2.loss_map_pts: 0.7435, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1555, d3.loss_map_pts: 0.6845, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1490, d4.loss_map_pts: 0.6638, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1433, d5.loss_map_pts: 0.6630, d5.loss_map_dir: 0.0070, loss: 28.9053, grad_norm: 162.9654 +2026-02-28 05:53:15,748 - DriveTransformer - INFO - Epoch [9][15900/39528] lr: 7.525e-05, eta: 5 days, 5:08:32, time: 0.720, data_time: 0.040, memory: 19865, loss_cls: 0.1034, loss_bbox: 0.2910, loss_traj: 0.5120, loss_traj_cls: 0.0020, loss_map_cls: 0.0965, loss_map_pts: 0.4911, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.5623, d0.loss_plan_l1_fix_dist: 0.4805, d1.loss_plan_l1_fix_time: 0.8413, d1.loss_plan_l1_fix_dist: 0.2457, d2.loss_plan_l1_fix_time: 0.8209, d2.loss_plan_l1_fix_dist: 0.2081, d3.loss_plan_l1_fix_time: 0.8098, d3.loss_plan_l1_fix_dist: 0.2422, d4.loss_plan_l1_fix_time: 0.8132, d4.loss_plan_l1_fix_dist: 0.2319, d5.loss_plan_l1_fix_time: 0.8173, d5.loss_plan_l1_fix_dist: 0.2397, d6.loss_plan_l1_fix_time: 0.8218, d6.loss_plan_l1_fix_dist: 0.2312, d0.loss_cls_all: 0.1405, d0.loss_bbox_all: 0.3443, d0.loss_cls: 0.1405, d0.loss_bbox: 0.3443, d1.loss_cls: 0.1336, d1.loss_bbox: 0.3150, d2.loss_cls: 0.1265, d2.loss_bbox: 0.2972, d3.loss_cls: 0.1121, d3.loss_bbox: 0.2905, d4.loss_cls: 0.1033, d4.loss_bbox: 0.2926, d5.loss_cls: 0.1039, d5.loss_bbox: 0.2898, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7058, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5785, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5405, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5221, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5164, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5143, d0.loss_map_cls_all: 0.1654, d0.loss_map_pts_all: 1.0179, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1654, d0.loss_map_pts: 1.0179, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1386, d1.loss_map_pts: 0.7229, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1190, d2.loss_map_pts: 0.5737, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1105, d3.loss_map_pts: 0.5182, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1029, d4.loss_map_pts: 0.4999, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0991, d5.loss_map_pts: 0.4900, d5.loss_map_dir: 0.0060, loss: 23.0668, grad_norm: 161.6299 +2026-02-28 05:53:53,303 - DriveTransformer - INFO - Epoch [9][15950/39528] lr: 7.525e-05, eta: 5 days, 5:08:02, time: 0.751, data_time: 0.041, memory: 19865, loss_cls: 0.1176, loss_bbox: 0.3165, loss_traj: 0.5425, loss_traj_cls: 0.0019, loss_map_cls: 0.1466, loss_map_pts: 0.6708, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.7079, d0.loss_plan_l1_fix_dist: 0.4353, d1.loss_plan_l1_fix_time: 0.8587, d1.loss_plan_l1_fix_dist: 0.2592, d2.loss_plan_l1_fix_time: 0.8441, d2.loss_plan_l1_fix_dist: 0.2214, d3.loss_plan_l1_fix_time: 0.8343, d3.loss_plan_l1_fix_dist: 0.2720, d4.loss_plan_l1_fix_time: 0.8405, d4.loss_plan_l1_fix_dist: 0.3132, d5.loss_plan_l1_fix_time: 0.8472, d5.loss_plan_l1_fix_dist: 0.2896, d6.loss_plan_l1_fix_time: 0.8529, d6.loss_plan_l1_fix_dist: 0.3088, d0.loss_cls_all: 0.1661, d0.loss_bbox_all: 0.3728, d0.loss_cls: 0.1661, d0.loss_bbox: 0.3728, d1.loss_cls: 0.1597, d1.loss_bbox: 0.3368, d2.loss_cls: 0.1401, d2.loss_bbox: 0.3212, d3.loss_cls: 0.1266, d3.loss_bbox: 0.3164, d4.loss_cls: 0.1201, d4.loss_bbox: 0.3147, d5.loss_cls: 0.1180, d5.loss_bbox: 0.3158, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7321, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6086, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5617, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5482, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5451, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5438, d0.loss_map_cls_all: 0.2238, d0.loss_map_pts_all: 1.2930, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2238, d0.loss_map_pts: 1.2930, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1933, d1.loss_map_pts: 0.9355, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1704, d2.loss_map_pts: 0.7580, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1584, d3.loss_map_pts: 0.6927, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1528, d4.loss_map_pts: 0.6746, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1482, d5.loss_map_pts: 0.6673, d5.loss_map_dir: 0.0079, loss: 26.2161, grad_norm: 165.5600 +2026-02-28 05:54:30,425 - DriveTransformer - INFO - Epoch [9][16000/39528] lr: 7.525e-05, eta: 5 days, 5:07:30, time: 0.744, data_time: 0.038, memory: 19865, loss_cls: 0.1370, loss_bbox: 0.3225, loss_traj: 0.5216, loss_traj_cls: 0.0019, loss_map_cls: 0.1254, loss_map_pts: 0.6275, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.5456, d0.loss_plan_l1_fix_dist: 0.4105, d1.loss_plan_l1_fix_time: 0.8599, d1.loss_plan_l1_fix_dist: 0.2457, d2.loss_plan_l1_fix_time: 0.8497, d2.loss_plan_l1_fix_dist: 0.2155, d3.loss_plan_l1_fix_time: 0.8505, d3.loss_plan_l1_fix_dist: 0.2340, d4.loss_plan_l1_fix_time: 0.8545, d4.loss_plan_l1_fix_dist: 0.3053, d5.loss_plan_l1_fix_time: 0.8597, d5.loss_plan_l1_fix_dist: 0.2327, d6.loss_plan_l1_fix_time: 0.8636, d6.loss_plan_l1_fix_dist: 0.2455, d0.loss_cls_all: 0.1847, d0.loss_bbox_all: 0.3895, d0.loss_cls: 0.1847, d0.loss_bbox: 0.3895, d1.loss_cls: 0.1746, d1.loss_bbox: 0.3514, d2.loss_cls: 0.1575, d2.loss_bbox: 0.3297, d3.loss_cls: 0.1481, d3.loss_bbox: 0.3224, d4.loss_cls: 0.1390, d4.loss_bbox: 0.3233, d5.loss_cls: 0.1376, d5.loss_bbox: 0.3211, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7507, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5799, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5408, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5297, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5255, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5199, d0.loss_map_cls_all: 0.2055, d0.loss_map_pts_all: 1.2075, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2055, d0.loss_map_pts: 1.2075, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1748, d1.loss_map_pts: 0.8633, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1518, d2.loss_map_pts: 0.7037, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1360, d3.loss_map_pts: 0.6494, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1310, d4.loss_map_pts: 0.6282, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1270, d5.loss_map_pts: 0.6253, d5.loss_map_dir: 0.0083, loss: 25.3935, grad_norm: 172.1079 +2026-02-28 05:55:05,848 - DriveTransformer - INFO - Epoch [9][16050/39528] lr: 7.525e-05, eta: 5 days, 5:06:46, time: 0.707, data_time: 0.036, memory: 19865, loss_cls: 0.1354, loss_bbox: 0.3506, loss_traj: 0.6136, loss_traj_cls: 0.0019, loss_map_cls: 0.1479, loss_map_pts: 0.6429, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.5458, d0.loss_plan_l1_fix_dist: 0.4422, d1.loss_plan_l1_fix_time: 0.9822, d1.loss_plan_l1_fix_dist: 0.2630, d2.loss_plan_l1_fix_time: 0.9676, d2.loss_plan_l1_fix_dist: 0.2466, d3.loss_plan_l1_fix_time: 0.9709, d3.loss_plan_l1_fix_dist: 0.2401, d4.loss_plan_l1_fix_time: 0.9733, d4.loss_plan_l1_fix_dist: 0.3128, d5.loss_plan_l1_fix_time: 0.9764, d5.loss_plan_l1_fix_dist: 0.2367, d6.loss_plan_l1_fix_time: 0.9805, d6.loss_plan_l1_fix_dist: 0.2607, d0.loss_cls_all: 0.1848, d0.loss_bbox_all: 0.4138, d0.loss_cls: 0.1848, d0.loss_bbox: 0.4138, d1.loss_cls: 0.1809, d1.loss_bbox: 0.3751, d2.loss_cls: 0.1650, d2.loss_bbox: 0.3562, d3.loss_cls: 0.1454, d3.loss_bbox: 0.3511, d4.loss_cls: 0.1385, d4.loss_bbox: 0.3506, d5.loss_cls: 0.1339, d5.loss_bbox: 0.3514, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8599, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6664, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6233, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6154, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6174, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6128, d0.loss_map_cls_all: 0.2229, d0.loss_map_pts_all: 1.1628, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2229, d0.loss_map_pts: 1.1628, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1927, d1.loss_map_pts: 0.8733, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1690, d2.loss_map_pts: 0.7247, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1600, d3.loss_map_pts: 0.6709, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1537, d4.loss_map_pts: 0.6505, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1487, d5.loss_map_pts: 0.6444, d5.loss_map_dir: 0.0072, loss: 27.2509, grad_norm: 171.9974 +2026-02-28 05:55:41,357 - DriveTransformer - INFO - Epoch [9][16100/39528] lr: 7.525e-05, eta: 5 days, 5:06:03, time: 0.710, data_time: 0.034, memory: 19865, loss_cls: 0.1223, loss_bbox: 0.3228, loss_traj: 0.5291, loss_traj_cls: 0.0019, loss_map_cls: 0.1226, loss_map_pts: 0.5458, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.6812, d0.loss_plan_l1_fix_dist: 0.3489, d1.loss_plan_l1_fix_time: 0.9014, d1.loss_plan_l1_fix_dist: 0.2342, d2.loss_plan_l1_fix_time: 0.8783, d2.loss_plan_l1_fix_dist: 0.2303, d3.loss_plan_l1_fix_time: 0.8833, d3.loss_plan_l1_fix_dist: 0.2066, d4.loss_plan_l1_fix_time: 0.8855, d4.loss_plan_l1_fix_dist: 0.2935, d5.loss_plan_l1_fix_time: 0.8876, d5.loss_plan_l1_fix_dist: 0.2195, d6.loss_plan_l1_fix_time: 0.8910, d6.loss_plan_l1_fix_dist: 0.2350, d0.loss_cls_all: 0.1703, d0.loss_bbox_all: 0.3824, d0.loss_cls: 0.1703, d0.loss_bbox: 0.3824, d1.loss_cls: 0.1650, d1.loss_bbox: 0.3501, d2.loss_cls: 0.1519, d2.loss_bbox: 0.3307, d3.loss_cls: 0.1309, d3.loss_bbox: 0.3273, d4.loss_cls: 0.1249, d4.loss_bbox: 0.3243, d5.loss_cls: 0.1225, d5.loss_bbox: 0.3234, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7593, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6062, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5562, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5387, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5291, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5271, d0.loss_map_cls_all: 0.1979, d0.loss_map_pts_all: 1.0594, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1979, d0.loss_map_pts: 1.0594, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1632, d1.loss_map_pts: 0.7665, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1445, d2.loss_map_pts: 0.6252, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1340, d3.loss_map_pts: 0.5719, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1282, d4.loss_map_pts: 0.5514, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1239, d5.loss_map_pts: 0.5463, d5.loss_map_dir: 0.0068, loss: 24.7203, grad_norm: 166.1943 +2026-02-28 05:56:17,517 - DriveTransformer - INFO - Epoch [9][16150/39528] lr: 7.525e-05, eta: 5 days, 5:05:24, time: 0.723, data_time: 0.037, memory: 19865, loss_cls: 0.1209, loss_bbox: 0.3115, loss_traj: 0.5323, loss_traj_cls: 0.0019, loss_map_cls: 0.1154, loss_map_pts: 0.5709, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.7973, d0.loss_plan_l1_fix_dist: 0.3375, d1.loss_plan_l1_fix_time: 0.9482, d1.loss_plan_l1_fix_dist: 0.1883, d2.loss_plan_l1_fix_time: 0.9312, d2.loss_plan_l1_fix_dist: 0.2192, d3.loss_plan_l1_fix_time: 0.9325, d3.loss_plan_l1_fix_dist: 0.2172, d4.loss_plan_l1_fix_time: 0.9347, d4.loss_plan_l1_fix_dist: 0.3163, d5.loss_plan_l1_fix_time: 0.9374, d5.loss_plan_l1_fix_dist: 0.2392, d6.loss_plan_l1_fix_time: 0.9398, d6.loss_plan_l1_fix_dist: 0.2354, d0.loss_cls_all: 0.1640, d0.loss_bbox_all: 0.3677, d0.loss_cls: 0.1640, d0.loss_bbox: 0.3677, d1.loss_cls: 0.1607, d1.loss_bbox: 0.3380, d2.loss_cls: 0.1455, d2.loss_bbox: 0.3187, d3.loss_cls: 0.1266, d3.loss_bbox: 0.3145, d4.loss_cls: 0.1234, d4.loss_bbox: 0.3116, d5.loss_cls: 0.1212, d5.loss_bbox: 0.3116, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7686, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6112, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5580, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5408, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5371, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5368, d0.loss_map_cls_all: 0.1927, d0.loss_map_pts_all: 1.1199, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1927, d0.loss_map_pts: 1.1199, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1604, d1.loss_map_pts: 0.8074, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1395, d2.loss_map_pts: 0.6612, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1277, d3.loss_map_pts: 0.5988, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1192, d4.loss_map_pts: 0.5780, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1153, d5.loss_map_pts: 0.5722, d5.loss_map_dir: 0.0071, loss: 25.2801, grad_norm: 164.4941 +2026-02-28 05:56:53,355 - DriveTransformer - INFO - Epoch [9][16200/39528] lr: 7.525e-05, eta: 5 days, 5:04:43, time: 0.717, data_time: 0.038, memory: 19865, loss_cls: 0.1277, loss_bbox: 0.3327, loss_traj: 0.6052, loss_traj_cls: 0.0020, loss_map_cls: 0.1339, loss_map_pts: 0.6160, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.5048, d0.loss_plan_l1_fix_dist: 0.4139, d1.loss_plan_l1_fix_time: 0.9996, d1.loss_plan_l1_fix_dist: 0.1892, d2.loss_plan_l1_fix_time: 0.9919, d2.loss_plan_l1_fix_dist: 0.2320, d3.loss_plan_l1_fix_time: 0.9839, d3.loss_plan_l1_fix_dist: 0.2606, d4.loss_plan_l1_fix_time: 0.9854, d4.loss_plan_l1_fix_dist: 0.3002, d5.loss_plan_l1_fix_time: 0.9874, d5.loss_plan_l1_fix_dist: 0.2543, d6.loss_plan_l1_fix_time: 0.9900, d6.loss_plan_l1_fix_dist: 0.2514, d0.loss_cls_all: 0.1835, d0.loss_bbox_all: 0.3967, d0.loss_cls: 0.1835, d0.loss_bbox: 0.3967, d1.loss_cls: 0.1751, d1.loss_bbox: 0.3629, d2.loss_cls: 0.1617, d2.loss_bbox: 0.3386, d3.loss_cls: 0.1376, d3.loss_bbox: 0.3314, d4.loss_cls: 0.1285, d4.loss_bbox: 0.3315, d5.loss_cls: 0.1269, d5.loss_bbox: 0.3326, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8381, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6638, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6234, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6126, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6080, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6073, d0.loss_map_cls_all: 0.2169, d0.loss_map_pts_all: 1.1844, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2169, d0.loss_map_pts: 1.1844, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1841, d1.loss_map_pts: 0.8662, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1590, d2.loss_map_pts: 0.7047, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1472, d3.loss_map_pts: 0.6432, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1402, d4.loss_map_pts: 0.6212, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1351, d5.loss_map_pts: 0.6167, d5.loss_map_dir: 0.0072, loss: 26.7844, grad_norm: 166.3938 +2026-02-28 05:57:30,943 - DriveTransformer - INFO - Epoch [9][16250/39528] lr: 7.525e-05, eta: 5 days, 5:04:13, time: 0.752, data_time: 0.037, memory: 19865, loss_cls: 0.1177, loss_bbox: 0.2997, loss_traj: 0.5156, loss_traj_cls: 0.0019, loss_map_cls: 0.1148, loss_map_pts: 0.6215, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.4240, d0.loss_plan_l1_fix_dist: 0.4927, d1.loss_plan_l1_fix_time: 0.8201, d1.loss_plan_l1_fix_dist: 0.2021, d2.loss_plan_l1_fix_time: 0.8105, d2.loss_plan_l1_fix_dist: 0.2280, d3.loss_plan_l1_fix_time: 0.8018, d3.loss_plan_l1_fix_dist: 0.2952, d4.loss_plan_l1_fix_time: 0.8040, d4.loss_plan_l1_fix_dist: 0.2405, d5.loss_plan_l1_fix_time: 0.8073, d5.loss_plan_l1_fix_dist: 0.2307, d6.loss_plan_l1_fix_time: 0.8117, d6.loss_plan_l1_fix_dist: 0.2348, d0.loss_cls_all: 0.1549, d0.loss_bbox_all: 0.3541, d0.loss_cls: 0.1549, d0.loss_bbox: 0.3541, d1.loss_cls: 0.1494, d1.loss_bbox: 0.3225, d2.loss_cls: 0.1389, d2.loss_bbox: 0.3021, d3.loss_cls: 0.1256, d3.loss_bbox: 0.2951, d4.loss_cls: 0.1186, d4.loss_bbox: 0.2980, d5.loss_cls: 0.1184, d5.loss_bbox: 0.2977, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7341, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6201, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5570, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5383, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5294, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5166, d0.loss_map_cls_all: 0.2015, d0.loss_map_pts_all: 1.2773, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2015, d0.loss_map_pts: 1.2773, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1630, d1.loss_map_pts: 0.9107, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1401, d2.loss_map_pts: 0.7286, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1304, d3.loss_map_pts: 0.6553, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1203, d4.loss_map_pts: 0.6278, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1172, d5.loss_map_pts: 0.6213, d5.loss_map_dir: 0.0081, loss: 24.7925, grad_norm: 166.9138 +2026-02-28 05:58:05,058 - DriveTransformer - INFO - Epoch [9][16300/39528] lr: 7.525e-05, eta: 5 days, 5:03:21, time: 0.682, data_time: 0.040, memory: 19865, loss_cls: 0.1192, loss_bbox: 0.3082, loss_traj: 0.6261, loss_traj_cls: 0.0019, loss_map_cls: 0.0938, loss_map_pts: 0.4311, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.8588, d0.loss_plan_l1_fix_dist: 0.3456, d1.loss_plan_l1_fix_time: 0.8721, d1.loss_plan_l1_fix_dist: 0.2080, d2.loss_plan_l1_fix_time: 0.8548, d2.loss_plan_l1_fix_dist: 0.2142, d3.loss_plan_l1_fix_time: 0.8508, d3.loss_plan_l1_fix_dist: 0.3450, d4.loss_plan_l1_fix_time: 0.8529, d4.loss_plan_l1_fix_dist: 0.1947, d5.loss_plan_l1_fix_time: 0.8558, d5.loss_plan_l1_fix_dist: 0.2067, d6.loss_plan_l1_fix_time: 0.8595, d6.loss_plan_l1_fix_dist: 0.2140, d0.loss_cls_all: 0.1690, d0.loss_bbox_all: 0.3659, d0.loss_cls: 0.1690, d0.loss_bbox: 0.3659, d1.loss_cls: 0.1580, d1.loss_bbox: 0.3365, d2.loss_cls: 0.1461, d2.loss_bbox: 0.3171, d3.loss_cls: 0.1277, d3.loss_bbox: 0.3090, d4.loss_cls: 0.1204, d4.loss_bbox: 0.3090, d5.loss_cls: 0.1194, d5.loss_bbox: 0.3078, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8622, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6840, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6341, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6239, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6268, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6294, d0.loss_map_cls_all: 0.1627, d0.loss_map_pts_all: 0.8468, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1627, d0.loss_map_pts: 0.8468, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1365, d1.loss_map_pts: 0.6040, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1172, d2.loss_map_pts: 0.5045, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1064, d3.loss_map_pts: 0.4572, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.1004, d4.loss_map_pts: 0.4416, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0955, d5.loss_map_pts: 0.4329, d5.loss_map_dir: 0.0052, loss: 23.7562, grad_norm: 169.8291 +2026-02-28 05:58:43,929 - DriveTransformer - INFO - Epoch [9][16350/39528] lr: 7.525e-05, eta: 5 days, 5:02:59, time: 0.777, data_time: 0.039, memory: 19865, loss_cls: 0.1219, loss_bbox: 0.3370, loss_traj: 0.5029, loss_traj_cls: 0.0019, loss_map_cls: 0.1335, loss_map_pts: 0.7462, loss_map_dir: 0.0105, d0.loss_plan_l1_fix_time: 2.2357, d0.loss_plan_l1_fix_dist: 0.4450, d1.loss_plan_l1_fix_time: 0.8593, d1.loss_plan_l1_fix_dist: 0.2364, d2.loss_plan_l1_fix_time: 0.8396, d2.loss_plan_l1_fix_dist: 0.2065, d3.loss_plan_l1_fix_time: 0.8392, d3.loss_plan_l1_fix_dist: 0.3586, d4.loss_plan_l1_fix_time: 0.8418, d4.loss_plan_l1_fix_dist: 0.2237, d5.loss_plan_l1_fix_time: 0.8454, d5.loss_plan_l1_fix_dist: 0.2123, d6.loss_plan_l1_fix_time: 0.8496, d6.loss_plan_l1_fix_dist: 0.2204, d0.loss_cls_all: 0.1612, d0.loss_bbox_all: 0.4143, d0.loss_cls: 0.1612, d0.loss_bbox: 0.4143, d1.loss_cls: 0.1522, d1.loss_bbox: 0.3775, d2.loss_cls: 0.1426, d2.loss_bbox: 0.3525, d3.loss_cls: 0.1293, d3.loss_bbox: 0.3420, d4.loss_cls: 0.1235, d4.loss_bbox: 0.3381, d5.loss_cls: 0.1225, d5.loss_bbox: 0.3362, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7287, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5796, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5166, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5046, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5020, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4999, d0.loss_map_cls_all: 0.2278, d0.loss_map_pts_all: 1.5002, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2278, d0.loss_map_pts: 1.5002, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1923, d1.loss_map_pts: 1.0545, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1644, d2.loss_map_pts: 0.8584, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1514, d3.loss_map_pts: 0.7838, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1430, d4.loss_map_pts: 0.7545, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1356, d5.loss_map_pts: 0.7478, d5.loss_map_dir: 0.0103, loss: 26.4814, grad_norm: 172.2371 +2026-02-28 05:59:18,017 - DriveTransformer - INFO - Epoch [9][16400/39528] lr: 7.525e-05, eta: 5 days, 5:02:07, time: 0.682, data_time: 0.038, memory: 19865, loss_cls: 0.1376, loss_bbox: 0.3515, loss_traj: 0.7033, loss_traj_cls: 0.0018, loss_map_cls: 0.1380, loss_map_pts: 0.5824, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.6523, d0.loss_plan_l1_fix_dist: 0.4728, d1.loss_plan_l1_fix_time: 1.0232, d1.loss_plan_l1_fix_dist: 0.2686, d2.loss_plan_l1_fix_time: 1.0054, d2.loss_plan_l1_fix_dist: 0.2232, d3.loss_plan_l1_fix_time: 1.0048, d3.loss_plan_l1_fix_dist: 0.3423, d4.loss_plan_l1_fix_time: 1.0069, d4.loss_plan_l1_fix_dist: 0.2712, d5.loss_plan_l1_fix_time: 1.0094, d5.loss_plan_l1_fix_dist: 0.2405, d6.loss_plan_l1_fix_time: 1.0123, d6.loss_plan_l1_fix_dist: 0.2351, d0.loss_cls_all: 0.1853, d0.loss_bbox_all: 0.4212, d0.loss_cls: 0.1853, d0.loss_bbox: 0.4212, d1.loss_cls: 0.1813, d1.loss_bbox: 0.3827, d2.loss_cls: 0.1662, d2.loss_bbox: 0.3629, d3.loss_cls: 0.1459, d3.loss_bbox: 0.3568, d4.loss_cls: 0.1388, d4.loss_bbox: 0.3549, d5.loss_cls: 0.1375, d5.loss_bbox: 0.3531, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9315, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7628, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.7150, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.7134, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7061, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7024, d0.loss_map_cls_all: 0.2263, d0.loss_map_pts_all: 1.1089, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.2263, d0.loss_map_pts: 1.1089, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1916, d1.loss_map_pts: 0.8308, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1629, d2.loss_map_pts: 0.6719, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1515, d3.loss_map_pts: 0.6115, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1460, d4.loss_map_pts: 0.5889, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1405, d5.loss_map_pts: 0.5825, d5.loss_map_dir: 0.0060, loss: 27.8069, grad_norm: 170.9812 +2026-02-28 05:59:54,139 - DriveTransformer - INFO - Epoch [9][16450/39528] lr: 7.525e-05, eta: 5 days, 5:01:28, time: 0.722, data_time: 0.038, memory: 19865, loss_cls: 0.1156, loss_bbox: 0.3233, loss_traj: 0.4790, loss_traj_cls: 0.0019, loss_map_cls: 0.1329, loss_map_pts: 0.6459, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.5941, d0.loss_plan_l1_fix_dist: 0.4248, d1.loss_plan_l1_fix_time: 0.9202, d1.loss_plan_l1_fix_dist: 0.2652, d2.loss_plan_l1_fix_time: 0.8994, d2.loss_plan_l1_fix_dist: 0.2210, d3.loss_plan_l1_fix_time: 0.8976, d3.loss_plan_l1_fix_dist: 0.3000, d4.loss_plan_l1_fix_time: 0.9011, d4.loss_plan_l1_fix_dist: 0.2544, d5.loss_plan_l1_fix_time: 0.9044, d5.loss_plan_l1_fix_dist: 0.2443, d6.loss_plan_l1_fix_time: 0.9069, d6.loss_plan_l1_fix_dist: 0.2512, d0.loss_cls_all: 0.1621, d0.loss_bbox_all: 0.3803, d0.loss_cls: 0.1621, d0.loss_bbox: 0.3803, d1.loss_cls: 0.1567, d1.loss_bbox: 0.3477, d2.loss_cls: 0.1423, d2.loss_bbox: 0.3319, d3.loss_cls: 0.1239, d3.loss_bbox: 0.3275, d4.loss_cls: 0.1166, d4.loss_bbox: 0.3258, d5.loss_cls: 0.1147, d5.loss_bbox: 0.3249, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6938, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5492, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5005, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4895, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4862, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4781, d0.loss_map_cls_all: 0.2061, d0.loss_map_pts_all: 1.2426, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2061, d0.loss_map_pts: 1.2426, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1768, d1.loss_map_pts: 0.9052, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1557, d2.loss_map_pts: 0.7347, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1452, d3.loss_map_pts: 0.6738, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1383, d4.loss_map_pts: 0.6539, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1352, d5.loss_map_pts: 0.6478, d5.loss_map_dir: 0.0077, loss: 25.6057, grad_norm: 165.6997 +2026-02-28 06:00:31,173 - DriveTransformer - INFO - Epoch [9][16500/39528] lr: 7.525e-05, eta: 5 days, 5:00:55, time: 0.741, data_time: 0.038, memory: 19865, loss_cls: 0.1346, loss_bbox: 0.3363, loss_traj: 0.5386, loss_traj_cls: 0.0019, loss_map_cls: 0.1204, loss_map_pts: 0.6099, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 3.1713, d0.loss_plan_l1_fix_dist: 0.5444, d1.loss_plan_l1_fix_time: 0.9001, d1.loss_plan_l1_fix_dist: 0.2903, d2.loss_plan_l1_fix_time: 0.8872, d2.loss_plan_l1_fix_dist: 0.2528, d3.loss_plan_l1_fix_time: 0.8886, d3.loss_plan_l1_fix_dist: 0.3010, d4.loss_plan_l1_fix_time: 0.8940, d4.loss_plan_l1_fix_dist: 0.2612, d5.loss_plan_l1_fix_time: 0.8994, d5.loss_plan_l1_fix_dist: 0.2589, d6.loss_plan_l1_fix_time: 0.9050, d6.loss_plan_l1_fix_dist: 0.2786, d0.loss_cls_all: 0.1827, d0.loss_bbox_all: 0.3979, d0.loss_cls: 0.1827, d0.loss_bbox: 0.3979, d1.loss_cls: 0.1750, d1.loss_bbox: 0.3691, d2.loss_cls: 0.1632, d2.loss_bbox: 0.3475, d3.loss_cls: 0.1409, d3.loss_bbox: 0.3437, d4.loss_cls: 0.1356, d4.loss_bbox: 0.3397, d5.loss_cls: 0.1345, d5.loss_bbox: 0.3380, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7379, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6020, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5616, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5487, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5450, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5393, d0.loss_map_cls_all: 0.1830, d0.loss_map_pts_all: 1.1722, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1830, d0.loss_map_pts: 1.1722, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1583, d1.loss_map_pts: 0.8488, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1416, d2.loss_map_pts: 0.6894, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1303, d3.loss_map_pts: 0.6344, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1259, d4.loss_map_pts: 0.6148, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1224, d5.loss_map_pts: 0.6092, d5.loss_map_dir: 0.0081, loss: 26.5094, grad_norm: 165.9641 +2026-02-28 06:01:09,306 - DriveTransformer - INFO - Epoch [9][16550/39528] lr: 7.525e-05, eta: 5 days, 5:00:28, time: 0.763, data_time: 0.038, memory: 19865, loss_cls: 0.1155, loss_bbox: 0.3283, loss_traj: 0.5156, loss_traj_cls: 0.0019, loss_map_cls: 0.1260, loss_map_pts: 0.6205, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.5247, d0.loss_plan_l1_fix_dist: 0.4680, d1.loss_plan_l1_fix_time: 0.9742, d1.loss_plan_l1_fix_dist: 0.2970, d2.loss_plan_l1_fix_time: 0.9547, d2.loss_plan_l1_fix_dist: 0.2339, d3.loss_plan_l1_fix_time: 0.9553, d3.loss_plan_l1_fix_dist: 0.2750, d4.loss_plan_l1_fix_time: 0.9594, d4.loss_plan_l1_fix_dist: 0.2358, d5.loss_plan_l1_fix_time: 0.9642, d5.loss_plan_l1_fix_dist: 0.2170, d6.loss_plan_l1_fix_time: 0.9701, d6.loss_plan_l1_fix_dist: 0.2410, d0.loss_cls_all: 0.1589, d0.loss_bbox_all: 0.3887, d0.loss_cls: 0.1589, d0.loss_bbox: 0.3887, d1.loss_cls: 0.1513, d1.loss_bbox: 0.3584, d2.loss_cls: 0.1384, d2.loss_bbox: 0.3374, d3.loss_cls: 0.1234, d3.loss_bbox: 0.3318, d4.loss_cls: 0.1177, d4.loss_bbox: 0.3289, d5.loss_cls: 0.1159, d5.loss_bbox: 0.3290, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7407, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5765, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5327, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5193, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5177, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5144, d0.loss_map_cls_all: 0.2022, d0.loss_map_pts_all: 1.2710, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2022, d0.loss_map_pts: 1.2710, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1686, d1.loss_map_pts: 0.8866, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1499, d2.loss_map_pts: 0.7123, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1379, d3.loss_map_pts: 0.6466, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1310, d4.loss_map_pts: 0.6258, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1271, d5.loss_map_pts: 0.6200, d5.loss_map_dir: 0.0079, loss: 26.0273, grad_norm: 166.3388 +2026-02-28 06:01:47,404 - DriveTransformer - INFO - Epoch [9][16600/39528] lr: 7.525e-05, eta: 5 days, 5:00:02, time: 0.762, data_time: 0.036, memory: 19865, loss_cls: 0.1275, loss_bbox: 0.3166, loss_traj: 0.4543, loss_traj_cls: 0.0019, loss_map_cls: 0.1266, loss_map_pts: 0.6129, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.1539, d0.loss_plan_l1_fix_dist: 0.3933, d1.loss_plan_l1_fix_time: 0.8456, d1.loss_plan_l1_fix_dist: 0.2959, d2.loss_plan_l1_fix_time: 0.8481, d2.loss_plan_l1_fix_dist: 0.2164, d3.loss_plan_l1_fix_time: 0.8528, d3.loss_plan_l1_fix_dist: 0.2716, d4.loss_plan_l1_fix_time: 0.8587, d4.loss_plan_l1_fix_dist: 0.2580, d5.loss_plan_l1_fix_time: 0.8655, d5.loss_plan_l1_fix_dist: 0.2374, d6.loss_plan_l1_fix_time: 0.8728, d6.loss_plan_l1_fix_dist: 0.2481, d0.loss_cls_all: 0.1747, d0.loss_bbox_all: 0.3785, d0.loss_cls: 0.1747, d0.loss_bbox: 0.3785, d1.loss_cls: 0.1691, d1.loss_bbox: 0.3434, d2.loss_cls: 0.1510, d2.loss_bbox: 0.3223, d3.loss_cls: 0.1331, d3.loss_bbox: 0.3189, d4.loss_cls: 0.1278, d4.loss_bbox: 0.3172, d5.loss_cls: 0.1253, d5.loss_bbox: 0.3181, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6132, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.4998, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4681, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4536, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4530, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4513, d0.loss_map_cls_all: 0.2031, d0.loss_map_pts_all: 1.2729, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2031, d0.loss_map_pts: 1.2729, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1679, d1.loss_map_pts: 0.8691, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1477, d2.loss_map_pts: 0.6985, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1377, d3.loss_map_pts: 0.6410, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1323, d4.loss_map_pts: 0.6188, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1284, d5.loss_map_pts: 0.6127, d5.loss_map_dir: 0.0088, loss: 24.4081, grad_norm: 171.5717 +2026-02-28 06:02:24,044 - DriveTransformer - INFO - Epoch [9][16650/39528] lr: 7.525e-05, eta: 5 days, 4:59:26, time: 0.733, data_time: 0.039, memory: 19865, loss_cls: 0.1054, loss_bbox: 0.3023, loss_traj: 0.5722, loss_traj_cls: 0.0020, loss_map_cls: 0.0950, loss_map_pts: 0.5016, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.3022, d0.loss_plan_l1_fix_dist: 0.4937, d1.loss_plan_l1_fix_time: 0.7790, d1.loss_plan_l1_fix_dist: 0.2638, d2.loss_plan_l1_fix_time: 0.7684, d2.loss_plan_l1_fix_dist: 0.1980, d3.loss_plan_l1_fix_time: 0.7691, d3.loss_plan_l1_fix_dist: 0.2404, d4.loss_plan_l1_fix_time: 0.7751, d4.loss_plan_l1_fix_dist: 0.2351, d5.loss_plan_l1_fix_time: 0.7818, d5.loss_plan_l1_fix_dist: 0.2303, d6.loss_plan_l1_fix_time: 0.7894, d6.loss_plan_l1_fix_dist: 0.2226, d0.loss_cls_all: 0.1425, d0.loss_bbox_all: 0.3533, d0.loss_cls: 0.1425, d0.loss_bbox: 0.3533, d1.loss_cls: 0.1368, d1.loss_bbox: 0.3241, d2.loss_cls: 0.1248, d2.loss_bbox: 0.3079, d3.loss_cls: 0.1099, d3.loss_bbox: 0.3034, d4.loss_cls: 0.1051, d4.loss_bbox: 0.3021, d5.loss_cls: 0.1046, d5.loss_bbox: 0.3024, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7755, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6206, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5831, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5777, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5734, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5749, d0.loss_map_cls_all: 0.1668, d0.loss_map_pts_all: 1.0098, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1668, d0.loss_map_pts: 1.0098, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1346, d1.loss_map_pts: 0.6986, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1179, d2.loss_map_pts: 0.5744, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1076, d3.loss_map_pts: 0.5251, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1029, d4.loss_map_pts: 0.5076, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0981, d5.loss_map_pts: 0.5007, d5.loss_map_dir: 0.0060, loss: 23.0188, grad_norm: 172.2280 +2026-02-28 06:03:00,139 - DriveTransformer - INFO - Epoch [9][16700/39528] lr: 7.525e-05, eta: 5 days, 4:58:47, time: 0.722, data_time: 0.036, memory: 19865, loss_cls: 0.1084, loss_bbox: 0.3080, loss_traj: 0.5485, loss_traj_cls: 0.0019, loss_map_cls: 0.1348, loss_map_pts: 0.5867, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.8645, d0.loss_plan_l1_fix_dist: 0.3583, d1.loss_plan_l1_fix_time: 0.9766, d1.loss_plan_l1_fix_dist: 0.2292, d2.loss_plan_l1_fix_time: 0.9626, d2.loss_plan_l1_fix_dist: 0.1862, d3.loss_plan_l1_fix_time: 0.9576, d3.loss_plan_l1_fix_dist: 0.2106, d4.loss_plan_l1_fix_time: 0.9604, d4.loss_plan_l1_fix_dist: 0.1973, d5.loss_plan_l1_fix_time: 0.9643, d5.loss_plan_l1_fix_dist: 0.2111, d6.loss_plan_l1_fix_time: 0.9691, d6.loss_plan_l1_fix_dist: 0.2389, d0.loss_cls_all: 0.1577, d0.loss_bbox_all: 0.3659, d0.loss_cls: 0.1577, d0.loss_bbox: 0.3659, d1.loss_cls: 0.1510, d1.loss_bbox: 0.3328, d2.loss_cls: 0.1368, d2.loss_bbox: 0.3138, d3.loss_cls: 0.1198, d3.loss_bbox: 0.3107, d4.loss_cls: 0.1101, d4.loss_bbox: 0.3105, d5.loss_cls: 0.1077, d5.loss_bbox: 0.3094, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7783, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6335, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5683, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5510, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5520, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5520, d0.loss_map_cls_all: 0.2019, d0.loss_map_pts_all: 1.1707, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.2019, d0.loss_map_pts: 1.1707, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1778, d1.loss_map_pts: 0.8432, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1592, d2.loss_map_pts: 0.6822, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1459, d3.loss_map_pts: 0.6150, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1405, d4.loss_map_pts: 0.5915, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1373, d5.loss_map_pts: 0.5863, d5.loss_map_dir: 0.0065, loss: 25.7376, grad_norm: 172.2129 +2026-02-28 06:03:36,964 - DriveTransformer - INFO - Epoch [9][16750/39528] lr: 7.525e-05, eta: 5 days, 4:58:12, time: 0.736, data_time: 0.037, memory: 19865, loss_cls: 0.1124, loss_bbox: 0.2976, loss_traj: 0.6631, loss_traj_cls: 0.0019, loss_map_cls: 0.0978, loss_map_pts: 0.5074, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 3.1151, d0.loss_plan_l1_fix_dist: 0.3870, d1.loss_plan_l1_fix_time: 0.9660, d1.loss_plan_l1_fix_dist: 0.2052, d2.loss_plan_l1_fix_time: 0.9447, d2.loss_plan_l1_fix_dist: 0.1662, d3.loss_plan_l1_fix_time: 0.9319, d3.loss_plan_l1_fix_dist: 0.2120, d4.loss_plan_l1_fix_time: 0.9366, d4.loss_plan_l1_fix_dist: 0.1833, d5.loss_plan_l1_fix_time: 0.9421, d5.loss_plan_l1_fix_dist: 0.1854, d6.loss_plan_l1_fix_time: 0.9483, d6.loss_plan_l1_fix_dist: 0.2227, d0.loss_cls_all: 0.1562, d0.loss_bbox_all: 0.3568, d0.loss_cls: 0.1562, d0.loss_bbox: 0.3568, d1.loss_cls: 0.1474, d1.loss_bbox: 0.3229, d2.loss_cls: 0.1375, d2.loss_bbox: 0.3054, d3.loss_cls: 0.1206, d3.loss_bbox: 0.2981, d4.loss_cls: 0.1135, d4.loss_bbox: 0.2982, d5.loss_cls: 0.1128, d5.loss_bbox: 0.2958, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8923, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7098, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6812, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6710, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6675, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6653, d0.loss_map_cls_all: 0.1788, d0.loss_map_pts_all: 1.0604, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1788, d0.loss_map_pts: 1.0604, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1448, d1.loss_map_pts: 0.7397, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1238, d2.loss_map_pts: 0.5936, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1127, d3.loss_map_pts: 0.5320, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1059, d4.loss_map_pts: 0.5110, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1004, d5.loss_map_pts: 0.5071, d5.loss_map_dir: 0.0063, loss: 25.4957, grad_norm: 162.5232 +2026-02-28 06:04:14,356 - DriveTransformer - INFO - Epoch [9][16800/39528] lr: 7.525e-05, eta: 5 days, 4:57:41, time: 0.749, data_time: 0.039, memory: 19865, loss_cls: 0.1313, loss_bbox: 0.3560, loss_traj: 0.5718, loss_traj_cls: 0.0019, loss_map_cls: 0.1336, loss_map_pts: 0.6244, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 3.0773, d0.loss_plan_l1_fix_dist: 0.4457, d1.loss_plan_l1_fix_time: 1.2142, d1.loss_plan_l1_fix_dist: 0.2378, d2.loss_plan_l1_fix_time: 1.1990, d2.loss_plan_l1_fix_dist: 0.2129, d3.loss_plan_l1_fix_time: 1.1921, d3.loss_plan_l1_fix_dist: 0.2430, d4.loss_plan_l1_fix_time: 1.1980, d4.loss_plan_l1_fix_dist: 0.2157, d5.loss_plan_l1_fix_time: 1.2037, d5.loss_plan_l1_fix_dist: 0.2251, d6.loss_plan_l1_fix_time: 1.2098, d6.loss_plan_l1_fix_dist: 0.2395, d0.loss_cls_all: 0.1780, d0.loss_bbox_all: 0.4230, d0.loss_cls: 0.1780, d0.loss_bbox: 0.4230, d1.loss_cls: 0.1737, d1.loss_bbox: 0.3885, d2.loss_cls: 0.1569, d2.loss_bbox: 0.3670, d3.loss_cls: 0.1410, d3.loss_bbox: 0.3585, d4.loss_cls: 0.1340, d4.loss_bbox: 0.3572, d5.loss_cls: 0.1311, d5.loss_bbox: 0.3561, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8029, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6431, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5938, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5755, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5728, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5713, d0.loss_map_cls_all: 0.2118, d0.loss_map_pts_all: 1.2621, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2118, d0.loss_map_pts: 1.2621, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1804, d1.loss_map_pts: 0.8953, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1577, d2.loss_map_pts: 0.7251, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1455, d3.loss_map_pts: 0.6592, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1392, d4.loss_map_pts: 0.6334, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1345, d5.loss_map_pts: 0.6271, d5.loss_map_dir: 0.0077, loss: 28.7688, grad_norm: 160.8908 +2026-02-28 06:04:50,085 - DriveTransformer - INFO - Epoch [9][16850/39528] lr: 7.525e-05, eta: 5 days, 4:56:59, time: 0.713, data_time: 0.037, memory: 19865, loss_cls: 0.1182, loss_bbox: 0.3289, loss_traj: 0.5546, loss_traj_cls: 0.0020, loss_map_cls: 0.1286, loss_map_pts: 0.5980, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.5783, d0.loss_plan_l1_fix_dist: 0.4197, d1.loss_plan_l1_fix_time: 0.8153, d1.loss_plan_l1_fix_dist: 0.2326, d2.loss_plan_l1_fix_time: 0.7941, d2.loss_plan_l1_fix_dist: 0.2347, d3.loss_plan_l1_fix_time: 0.7906, d3.loss_plan_l1_fix_dist: 0.2502, d4.loss_plan_l1_fix_time: 0.7993, d4.loss_plan_l1_fix_dist: 0.2166, d5.loss_plan_l1_fix_time: 0.8047, d5.loss_plan_l1_fix_dist: 0.2377, d6.loss_plan_l1_fix_time: 0.8103, d6.loss_plan_l1_fix_dist: 0.2499, d0.loss_cls_all: 0.1660, d0.loss_bbox_all: 0.3923, d0.loss_cls: 0.1660, d0.loss_bbox: 0.3923, d1.loss_cls: 0.1592, d1.loss_bbox: 0.3594, d2.loss_cls: 0.1434, d2.loss_bbox: 0.3380, d3.loss_cls: 0.1242, d3.loss_bbox: 0.3331, d4.loss_cls: 0.1190, d4.loss_bbox: 0.3297, d5.loss_cls: 0.1176, d5.loss_bbox: 0.3287, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8300, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6365, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5712, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5511, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5475, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5533, d0.loss_map_cls_all: 0.2022, d0.loss_map_pts_all: 1.1721, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2022, d0.loss_map_pts: 1.1721, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1739, d1.loss_map_pts: 0.8474, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1539, d2.loss_map_pts: 0.6851, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1438, d3.loss_map_pts: 0.6267, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1367, d4.loss_map_pts: 0.6037, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1310, d5.loss_map_pts: 0.5979, d5.loss_map_dir: 0.0070, loss: 25.0312, grad_norm: 161.9232 +2026-02-28 06:05:27,745 - DriveTransformer - INFO - Epoch [9][16900/39528] lr: 7.525e-05, eta: 5 days, 4:56:30, time: 0.753, data_time: 0.040, memory: 19865, loss_cls: 0.1196, loss_bbox: 0.3433, loss_traj: 0.6116, loss_traj_cls: 0.0020, loss_map_cls: 0.1342, loss_map_pts: 0.6365, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.7589, d0.loss_plan_l1_fix_dist: 0.4464, d1.loss_plan_l1_fix_time: 0.8374, d1.loss_plan_l1_fix_dist: 0.2474, d2.loss_plan_l1_fix_time: 0.8356, d2.loss_plan_l1_fix_dist: 0.2604, d3.loss_plan_l1_fix_time: 0.8463, d3.loss_plan_l1_fix_dist: 0.2915, d4.loss_plan_l1_fix_time: 0.8545, d4.loss_plan_l1_fix_dist: 0.2237, d5.loss_plan_l1_fix_time: 0.8600, d5.loss_plan_l1_fix_dist: 0.2370, d6.loss_plan_l1_fix_time: 0.8662, d6.loss_plan_l1_fix_dist: 0.2412, d0.loss_cls_all: 0.1705, d0.loss_bbox_all: 0.4083, d0.loss_cls: 0.1705, d0.loss_bbox: 0.4083, d1.loss_cls: 0.1672, d1.loss_bbox: 0.3710, d2.loss_cls: 0.1508, d2.loss_bbox: 0.3514, d3.loss_cls: 0.1322, d3.loss_bbox: 0.3461, d4.loss_cls: 0.1221, d4.loss_bbox: 0.3441, d5.loss_cls: 0.1202, d5.loss_bbox: 0.3435, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8465, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6969, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6426, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6247, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6219, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6154, d0.loss_map_cls_all: 0.2174, d0.loss_map_pts_all: 1.2390, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2174, d0.loss_map_pts: 1.2390, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1852, d1.loss_map_pts: 0.8943, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1597, d2.loss_map_pts: 0.7328, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1472, d3.loss_map_pts: 0.6695, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1407, d4.loss_map_pts: 0.6416, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1356, d5.loss_map_pts: 0.6366, d5.loss_map_dir: 0.0085, loss: 26.6344, grad_norm: 164.2895 +2026-02-28 06:06:04,255 - DriveTransformer - INFO - Epoch [9][16950/39528] lr: 7.525e-05, eta: 5 days, 4:55:53, time: 0.730, data_time: 0.040, memory: 19865, loss_cls: 0.1218, loss_bbox: 0.3278, loss_traj: 0.6148, loss_traj_cls: 0.0019, loss_map_cls: 0.1200, loss_map_pts: 0.5911, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.4530, d0.loss_plan_l1_fix_dist: 0.4227, d1.loss_plan_l1_fix_time: 0.8458, d1.loss_plan_l1_fix_dist: 0.2083, d2.loss_plan_l1_fix_time: 0.8283, d2.loss_plan_l1_fix_dist: 0.2433, d3.loss_plan_l1_fix_time: 0.8197, d3.loss_plan_l1_fix_dist: 0.2865, d4.loss_plan_l1_fix_time: 0.8230, d4.loss_plan_l1_fix_dist: 0.2209, d5.loss_plan_l1_fix_time: 0.8285, d5.loss_plan_l1_fix_dist: 0.1927, d6.loss_plan_l1_fix_time: 0.8354, d6.loss_plan_l1_fix_dist: 0.2041, d0.loss_cls_all: 0.1624, d0.loss_bbox_all: 0.3888, d0.loss_cls: 0.1624, d0.loss_bbox: 0.3888, d1.loss_cls: 0.1568, d1.loss_bbox: 0.3579, d2.loss_cls: 0.1434, d2.loss_bbox: 0.3325, d3.loss_cls: 0.1287, d3.loss_bbox: 0.3273, d4.loss_cls: 0.1221, d4.loss_bbox: 0.3283, d5.loss_cls: 0.1228, d5.loss_bbox: 0.3266, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8383, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6849, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6312, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6146, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6175, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6167, d0.loss_map_cls_all: 0.2190, d0.loss_map_pts_all: 1.2156, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2190, d0.loss_map_pts: 1.2156, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1840, d1.loss_map_pts: 0.8694, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1541, d2.loss_map_pts: 0.6922, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1369, d3.loss_map_pts: 0.6201, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1278, d4.loss_map_pts: 0.5972, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1224, d5.loss_map_pts: 0.5917, d5.loss_map_dir: 0.0073, loss: 25.4668, grad_norm: 163.6378 +2026-02-28 06:06:41,103 - DriveTransformer - INFO - Epoch [9][17000/39528] lr: 7.525e-05, eta: 5 days, 4:55:19, time: 0.737, data_time: 0.039, memory: 19865, loss_cls: 0.1048, loss_bbox: 0.3026, loss_traj: 0.4433, loss_traj_cls: 0.0020, loss_map_cls: 0.1360, loss_map_pts: 0.6346, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.4295, d0.loss_plan_l1_fix_dist: 0.4229, d1.loss_plan_l1_fix_time: 0.8562, d1.loss_plan_l1_fix_dist: 0.2418, d2.loss_plan_l1_fix_time: 0.8373, d2.loss_plan_l1_fix_dist: 0.2818, d3.loss_plan_l1_fix_time: 0.8409, d3.loss_plan_l1_fix_dist: 0.3270, d4.loss_plan_l1_fix_time: 0.8432, d4.loss_plan_l1_fix_dist: 0.2810, d5.loss_plan_l1_fix_time: 0.8480, d5.loss_plan_l1_fix_dist: 0.2411, d6.loss_plan_l1_fix_time: 0.8539, d6.loss_plan_l1_fix_dist: 0.2589, d0.loss_cls_all: 0.1508, d0.loss_bbox_all: 0.3648, d0.loss_cls: 0.1508, d0.loss_bbox: 0.3648, d1.loss_cls: 0.1409, d1.loss_bbox: 0.3295, d2.loss_cls: 0.1283, d2.loss_bbox: 0.3086, d3.loss_cls: 0.1130, d3.loss_bbox: 0.3050, d4.loss_cls: 0.1074, d4.loss_bbox: 0.3022, d5.loss_cls: 0.1056, d5.loss_bbox: 0.3015, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6124, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.4917, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4477, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4437, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4447, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4450, d0.loss_map_cls_all: 0.2168, d0.loss_map_pts_all: 1.2950, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2168, d0.loss_map_pts: 1.2950, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1846, d1.loss_map_pts: 0.9158, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1606, d2.loss_map_pts: 0.7396, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1483, d3.loss_map_pts: 0.6695, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1413, d4.loss_map_pts: 0.6415, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1377, d5.loss_map_pts: 0.6362, d5.loss_map_dir: 0.0089, loss: 24.7189, grad_norm: 162.2226 +2026-02-28 06:07:18,693 - DriveTransformer - INFO - Epoch [9][17050/39528] lr: 7.525e-05, eta: 5 days, 4:54:49, time: 0.752, data_time: 0.037, memory: 19865, loss_cls: 0.1149, loss_bbox: 0.3269, loss_traj: 0.5455, loss_traj_cls: 0.0019, loss_map_cls: 0.1120, loss_map_pts: 0.6577, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.3214, d0.loss_plan_l1_fix_dist: 0.4710, d1.loss_plan_l1_fix_time: 0.8503, d1.loss_plan_l1_fix_dist: 0.2620, d2.loss_plan_l1_fix_time: 0.8323, d2.loss_plan_l1_fix_dist: 0.2789, d3.loss_plan_l1_fix_time: 0.8294, d3.loss_plan_l1_fix_dist: 0.3147, d4.loss_plan_l1_fix_time: 0.8316, d4.loss_plan_l1_fix_dist: 0.2785, d5.loss_plan_l1_fix_time: 0.8358, d5.loss_plan_l1_fix_dist: 0.2301, d6.loss_plan_l1_fix_time: 0.8403, d6.loss_plan_l1_fix_dist: 0.2338, d0.loss_cls_all: 0.1589, d0.loss_bbox_all: 0.3862, d0.loss_cls: 0.1589, d0.loss_bbox: 0.3862, d1.loss_cls: 0.1557, d1.loss_bbox: 0.3512, d2.loss_cls: 0.1432, d2.loss_bbox: 0.3297, d3.loss_cls: 0.1236, d3.loss_bbox: 0.3276, d4.loss_cls: 0.1164, d4.loss_bbox: 0.3267, d5.loss_cls: 0.1151, d5.loss_bbox: 0.3267, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7470, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6038, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5560, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5406, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5410, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5429, d0.loss_map_cls_all: 0.1998, d0.loss_map_pts_all: 1.2908, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.1998, d0.loss_map_pts: 1.2908, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1606, d1.loss_map_pts: 0.9316, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1394, d2.loss_map_pts: 0.7620, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1270, d3.loss_map_pts: 0.6910, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1190, d4.loss_map_pts: 0.6649, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1139, d5.loss_map_pts: 0.6594, d5.loss_map_dir: 0.0091, loss: 25.5344, grad_norm: 163.9272 +2026-02-28 06:07:55,362 - DriveTransformer - INFO - Epoch [9][17100/39528] lr: 7.525e-05, eta: 5 days, 4:54:13, time: 0.733, data_time: 0.034, memory: 19865, loss_cls: 0.1048, loss_bbox: 0.3084, loss_traj: 0.4907, loss_traj_cls: 0.0020, loss_map_cls: 0.1116, loss_map_pts: 0.5590, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.5145, d0.loss_plan_l1_fix_dist: 0.5199, d1.loss_plan_l1_fix_time: 0.8989, d1.loss_plan_l1_fix_dist: 0.2649, d2.loss_plan_l1_fix_time: 0.8737, d2.loss_plan_l1_fix_dist: 0.2540, d3.loss_plan_l1_fix_time: 0.8687, d3.loss_plan_l1_fix_dist: 0.2795, d4.loss_plan_l1_fix_time: 0.8717, d4.loss_plan_l1_fix_dist: 0.2600, d5.loss_plan_l1_fix_time: 0.8759, d5.loss_plan_l1_fix_dist: 0.2442, d6.loss_plan_l1_fix_time: 0.8800, d6.loss_plan_l1_fix_dist: 0.2334, d0.loss_cls_all: 0.1489, d0.loss_bbox_all: 0.3729, d0.loss_cls: 0.1489, d0.loss_bbox: 0.3729, d1.loss_cls: 0.1437, d1.loss_bbox: 0.3391, d2.loss_cls: 0.1303, d2.loss_bbox: 0.3198, d3.loss_cls: 0.1122, d3.loss_bbox: 0.3134, d4.loss_cls: 0.1057, d4.loss_bbox: 0.3106, d5.loss_cls: 0.1045, d5.loss_bbox: 0.3089, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7488, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5894, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5104, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4913, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4939, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4912, d0.loss_map_cls_all: 0.2017, d0.loss_map_pts_all: 1.1971, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2017, d0.loss_map_pts: 1.1971, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1605, d1.loss_map_pts: 0.8297, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1356, d2.loss_map_pts: 0.6572, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1269, d3.loss_map_pts: 0.5879, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1194, d4.loss_map_pts: 0.5618, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1131, d5.loss_map_pts: 0.5590, d5.loss_map_dir: 0.0075, loss: 24.6853, grad_norm: 165.8001 +2026-02-28 06:08:32,920 - DriveTransformer - INFO - Epoch [9][17150/39528] lr: 7.525e-05, eta: 5 days, 4:53:43, time: 0.751, data_time: 0.035, memory: 19865, loss_cls: 0.1125, loss_bbox: 0.3034, loss_traj: 0.4071, loss_traj_cls: 0.0020, loss_map_cls: 0.1330, loss_map_pts: 0.6646, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.6550, d0.loss_plan_l1_fix_dist: 0.4832, d1.loss_plan_l1_fix_time: 0.8569, d1.loss_plan_l1_fix_dist: 0.2889, d2.loss_plan_l1_fix_time: 0.8395, d2.loss_plan_l1_fix_dist: 0.2614, d3.loss_plan_l1_fix_time: 0.8429, d3.loss_plan_l1_fix_dist: 0.2617, d4.loss_plan_l1_fix_time: 0.8466, d4.loss_plan_l1_fix_dist: 0.2336, d5.loss_plan_l1_fix_time: 0.8499, d5.loss_plan_l1_fix_dist: 0.2443, d6.loss_plan_l1_fix_time: 0.8540, d6.loss_plan_l1_fix_dist: 0.2283, d0.loss_cls_all: 0.1595, d0.loss_bbox_all: 0.3736, d0.loss_cls: 0.1595, d0.loss_bbox: 0.3736, d1.loss_cls: 0.1518, d1.loss_bbox: 0.3371, d2.loss_cls: 0.1380, d2.loss_bbox: 0.3118, d3.loss_cls: 0.1206, d3.loss_bbox: 0.3072, d4.loss_cls: 0.1151, d4.loss_bbox: 0.3029, d5.loss_cls: 0.1123, d5.loss_bbox: 0.3040, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6340, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.4781, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4281, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4247, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4116, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4069, d0.loss_map_cls_all: 0.2159, d0.loss_map_pts_all: 1.3808, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2159, d0.loss_map_pts: 1.3808, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1834, d1.loss_map_pts: 0.9670, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1611, d2.loss_map_pts: 0.7679, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1478, d3.loss_map_pts: 0.6984, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1411, d4.loss_map_pts: 0.6716, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1358, d5.loss_map_pts: 0.6655, d5.loss_map_dir: 0.0088, loss: 25.2244, grad_norm: 165.7261 +2026-02-28 06:09:09,504 - DriveTransformer - INFO - Epoch [9][17200/39528] lr: 7.525e-05, eta: 5 days, 4:53:07, time: 0.732, data_time: 0.035, memory: 19865, loss_cls: 0.1232, loss_bbox: 0.3270, loss_traj: 0.5139, loss_traj_cls: 0.0020, loss_map_cls: 0.1308, loss_map_pts: 0.6433, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.5225, d0.loss_plan_l1_fix_dist: 0.4882, d1.loss_plan_l1_fix_time: 0.9091, d1.loss_plan_l1_fix_dist: 0.2855, d2.loss_plan_l1_fix_time: 0.8942, d2.loss_plan_l1_fix_dist: 0.2583, d3.loss_plan_l1_fix_time: 0.8775, d3.loss_plan_l1_fix_dist: 0.2465, d4.loss_plan_l1_fix_time: 0.8789, d4.loss_plan_l1_fix_dist: 0.2059, d5.loss_plan_l1_fix_time: 0.8812, d5.loss_plan_l1_fix_dist: 0.2204, d6.loss_plan_l1_fix_time: 0.8854, d6.loss_plan_l1_fix_dist: 0.2017, d0.loss_cls_all: 0.1672, d0.loss_bbox_all: 0.3928, d0.loss_cls: 0.1672, d0.loss_bbox: 0.3928, d1.loss_cls: 0.1578, d1.loss_bbox: 0.3632, d2.loss_cls: 0.1422, d2.loss_bbox: 0.3434, d3.loss_cls: 0.1297, d3.loss_bbox: 0.3323, d4.loss_cls: 0.1237, d4.loss_bbox: 0.3301, d5.loss_cls: 0.1219, d5.loss_bbox: 0.3286, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6907, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5729, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5250, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5098, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5122, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5133, d0.loss_map_cls_all: 0.2127, d0.loss_map_pts_all: 1.2732, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2127, d0.loss_map_pts: 1.2732, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1827, d1.loss_map_pts: 0.9142, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1568, d2.loss_map_pts: 0.7451, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1458, d3.loss_map_pts: 0.6756, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1377, d4.loss_map_pts: 0.6486, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1324, d5.loss_map_pts: 0.6440, d5.loss_map_dir: 0.0076, loss: 25.7288, grad_norm: 165.1897 +2026-02-28 06:09:44,255 - DriveTransformer - INFO - Epoch [9][17250/39528] lr: 7.525e-05, eta: 5 days, 4:52:19, time: 0.695, data_time: 0.036, memory: 19865, loss_cls: 0.1396, loss_bbox: 0.3419, loss_traj: 0.5730, loss_traj_cls: 0.0019, loss_map_cls: 0.1372, loss_map_pts: 0.6006, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.8592, d0.loss_plan_l1_fix_dist: 0.5017, d1.loss_plan_l1_fix_time: 1.0158, d1.loss_plan_l1_fix_dist: 0.3137, d2.loss_plan_l1_fix_time: 1.0015, d2.loss_plan_l1_fix_dist: 0.2360, d3.loss_plan_l1_fix_time: 1.0069, d3.loss_plan_l1_fix_dist: 0.2325, d4.loss_plan_l1_fix_time: 1.0099, d4.loss_plan_l1_fix_dist: 0.2065, d5.loss_plan_l1_fix_time: 1.0127, d5.loss_plan_l1_fix_dist: 0.2329, d6.loss_plan_l1_fix_time: 1.0161, d6.loss_plan_l1_fix_dist: 0.2261, d0.loss_cls_all: 0.1918, d0.loss_bbox_all: 0.4206, d0.loss_cls: 0.1918, d0.loss_bbox: 0.4206, d1.loss_cls: 0.1813, d1.loss_bbox: 0.3801, d2.loss_cls: 0.1679, d2.loss_bbox: 0.3558, d3.loss_cls: 0.1466, d3.loss_bbox: 0.3496, d4.loss_cls: 0.1424, d4.loss_bbox: 0.3444, d5.loss_cls: 0.1393, d5.loss_bbox: 0.3428, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8381, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6560, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6024, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5815, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5753, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5727, d0.loss_map_cls_all: 0.2208, d0.loss_map_pts_all: 1.1934, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2208, d0.loss_map_pts: 1.1934, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1920, d1.loss_map_pts: 0.8763, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1658, d2.loss_map_pts: 0.7116, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1512, d3.loss_map_pts: 0.6387, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1454, d4.loss_map_pts: 0.6097, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1401, d5.loss_map_pts: 0.6013, d5.loss_map_dir: 0.0069, loss: 27.3849, grad_norm: 162.5353 +2026-02-28 06:10:20,441 - DriveTransformer - INFO - Epoch [9][17300/39528] lr: 7.525e-05, eta: 5 days, 4:51:40, time: 0.724, data_time: 0.040, memory: 19865, loss_cls: 0.0991, loss_bbox: 0.2954, loss_traj: 0.5393, loss_traj_cls: 0.0020, loss_map_cls: 0.1038, loss_map_pts: 0.4765, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.5901, d0.loss_plan_l1_fix_dist: 0.4209, d1.loss_plan_l1_fix_time: 0.8623, d1.loss_plan_l1_fix_dist: 0.3103, d2.loss_plan_l1_fix_time: 0.8475, d2.loss_plan_l1_fix_dist: 0.2029, d3.loss_plan_l1_fix_time: 0.8325, d3.loss_plan_l1_fix_dist: 0.2310, d4.loss_plan_l1_fix_time: 0.8349, d4.loss_plan_l1_fix_dist: 0.2102, d5.loss_plan_l1_fix_time: 0.8383, d5.loss_plan_l1_fix_dist: 0.2079, d6.loss_plan_l1_fix_time: 0.8425, d6.loss_plan_l1_fix_dist: 0.2138, d0.loss_cls_all: 0.1433, d0.loss_bbox_all: 0.3585, d0.loss_cls: 0.1433, d0.loss_bbox: 0.3585, d1.loss_cls: 0.1339, d1.loss_bbox: 0.3224, d2.loss_cls: 0.1224, d2.loss_bbox: 0.3031, d3.loss_cls: 0.1039, d3.loss_bbox: 0.2985, d4.loss_cls: 0.0998, d4.loss_bbox: 0.2953, d5.loss_cls: 0.0993, d5.loss_bbox: 0.2944, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7437, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5924, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5522, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5433, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5397, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5392, d0.loss_map_cls_all: 0.1887, d0.loss_map_pts_all: 1.0519, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1887, d0.loss_map_pts: 1.0519, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1537, d1.loss_map_pts: 0.7095, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1286, d2.loss_map_pts: 0.5566, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1170, d3.loss_map_pts: 0.4983, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1099, d4.loss_map_pts: 0.4817, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1063, d5.loss_map_pts: 0.4775, d5.loss_map_dir: 0.0066, loss: 23.4247, grad_norm: 163.4567 +2026-02-28 06:10:57,091 - DriveTransformer - INFO - Epoch [9][17350/39528] lr: 7.525e-05, eta: 5 days, 4:51:04, time: 0.733, data_time: 0.037, memory: 19865, loss_cls: 0.1091, loss_bbox: 0.2984, loss_traj: 0.4736, loss_traj_cls: 0.0019, loss_map_cls: 0.1063, loss_map_pts: 0.5446, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.4258, d0.loss_plan_l1_fix_dist: 0.5448, d1.loss_plan_l1_fix_time: 0.8409, d1.loss_plan_l1_fix_dist: 0.3147, d2.loss_plan_l1_fix_time: 0.8205, d2.loss_plan_l1_fix_dist: 0.2295, d3.loss_plan_l1_fix_time: 0.8134, d3.loss_plan_l1_fix_dist: 0.2687, d4.loss_plan_l1_fix_time: 0.8166, d4.loss_plan_l1_fix_dist: 0.2503, d5.loss_plan_l1_fix_time: 0.8210, d5.loss_plan_l1_fix_dist: 0.2475, d6.loss_plan_l1_fix_time: 0.8262, d6.loss_plan_l1_fix_dist: 0.2643, d0.loss_cls_all: 0.1562, d0.loss_bbox_all: 0.3581, d0.loss_cls: 0.1562, d0.loss_bbox: 0.3581, d1.loss_cls: 0.1515, d1.loss_bbox: 0.3236, d2.loss_cls: 0.1373, d2.loss_bbox: 0.3032, d3.loss_cls: 0.1203, d3.loss_bbox: 0.2980, d4.loss_cls: 0.1122, d4.loss_bbox: 0.2991, d5.loss_cls: 0.1085, d5.loss_bbox: 0.2990, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7159, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5543, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5065, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4828, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4776, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4709, d0.loss_map_cls_all: 0.1899, d0.loss_map_pts_all: 1.1159, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1899, d0.loss_map_pts: 1.1159, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1558, d1.loss_map_pts: 0.7767, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1350, d2.loss_map_pts: 0.6345, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1178, d3.loss_map_pts: 0.5760, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1128, d4.loss_map_pts: 0.5526, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1072, d5.loss_map_pts: 0.5448, d5.loss_map_dir: 0.0064, loss: 23.7882, grad_norm: 159.4088 +2026-02-28 06:11:32,381 - DriveTransformer - INFO - Epoch [9][17400/39528] lr: 7.525e-05, eta: 5 days, 4:50:20, time: 0.706, data_time: 0.036, memory: 19865, loss_cls: 0.1164, loss_bbox: 0.3010, loss_traj: 0.6457, loss_traj_cls: 0.0019, loss_map_cls: 0.1309, loss_map_pts: 0.5800, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.6890, d0.loss_plan_l1_fix_dist: 0.4028, d1.loss_plan_l1_fix_time: 0.8837, d1.loss_plan_l1_fix_dist: 0.2948, d2.loss_plan_l1_fix_time: 0.8580, d2.loss_plan_l1_fix_dist: 0.2266, d3.loss_plan_l1_fix_time: 0.8595, d3.loss_plan_l1_fix_dist: 0.2414, d4.loss_plan_l1_fix_time: 0.8620, d4.loss_plan_l1_fix_dist: 0.2153, d5.loss_plan_l1_fix_time: 0.8654, d5.loss_plan_l1_fix_dist: 0.2201, d6.loss_plan_l1_fix_time: 0.8695, d6.loss_plan_l1_fix_dist: 0.2288, d0.loss_cls_all: 0.1563, d0.loss_bbox_all: 0.3616, d0.loss_cls: 0.1563, d0.loss_bbox: 0.3616, d1.loss_cls: 0.1518, d1.loss_bbox: 0.3258, d2.loss_cls: 0.1401, d2.loss_bbox: 0.3086, d3.loss_cls: 0.1239, d3.loss_bbox: 0.3015, d4.loss_cls: 0.1172, d4.loss_bbox: 0.3013, d5.loss_cls: 0.1167, d5.loss_bbox: 0.3007, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9154, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7260, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6690, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6522, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6513, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6460, d0.loss_map_cls_all: 0.2190, d0.loss_map_pts_all: 1.1870, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.2190, d0.loss_map_pts: 1.1870, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1812, d1.loss_map_pts: 0.8367, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1565, d2.loss_map_pts: 0.6852, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1449, d3.loss_map_pts: 0.6197, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1389, d4.loss_map_pts: 0.5940, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1329, d5.loss_map_pts: 0.5815, d5.loss_map_dir: 0.0058, loss: 25.9093, grad_norm: 159.9027 +2026-02-28 06:12:10,328 - DriveTransformer - INFO - Epoch [9][17450/39528] lr: 7.525e-05, eta: 5 days, 4:49:52, time: 0.759, data_time: 0.038, memory: 19865, loss_cls: 0.1169, loss_bbox: 0.3064, loss_traj: 0.4972, loss_traj_cls: 0.0019, loss_map_cls: 0.1082, loss_map_pts: 0.5586, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.8044, d0.loss_plan_l1_fix_dist: 0.4389, d1.loss_plan_l1_fix_time: 0.8360, d1.loss_plan_l1_fix_dist: 0.2666, d2.loss_plan_l1_fix_time: 0.8201, d2.loss_plan_l1_fix_dist: 0.2430, d3.loss_plan_l1_fix_time: 0.8107, d3.loss_plan_l1_fix_dist: 0.2352, d4.loss_plan_l1_fix_time: 0.8120, d4.loss_plan_l1_fix_dist: 0.2040, d5.loss_plan_l1_fix_time: 0.8149, d5.loss_plan_l1_fix_dist: 0.2205, d6.loss_plan_l1_fix_time: 0.8184, d6.loss_plan_l1_fix_dist: 0.2219, d0.loss_cls_all: 0.1581, d0.loss_bbox_all: 0.3727, d0.loss_cls: 0.1581, d0.loss_bbox: 0.3727, d1.loss_cls: 0.1499, d1.loss_bbox: 0.3415, d2.loss_cls: 0.1397, d2.loss_bbox: 0.3167, d3.loss_cls: 0.1236, d3.loss_bbox: 0.3110, d4.loss_cls: 0.1193, d4.loss_bbox: 0.3063, d5.loss_cls: 0.1166, d5.loss_bbox: 0.3064, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7519, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5822, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5325, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5126, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5040, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4995, d0.loss_map_cls_all: 0.1982, d0.loss_map_pts_all: 1.2107, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1982, d0.loss_map_pts: 1.2107, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1599, d1.loss_map_pts: 0.8326, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1359, d2.loss_map_pts: 0.6613, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1225, d3.loss_map_pts: 0.5942, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1142, d4.loss_map_pts: 0.5675, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1095, d5.loss_map_pts: 0.5592, d5.loss_map_dir: 0.0075, loss: 24.5515, grad_norm: 159.5206 +2026-02-28 06:12:47,134 - DriveTransformer - INFO - Epoch [9][17500/39528] lr: 7.525e-05, eta: 5 days, 4:49:18, time: 0.736, data_time: 0.037, memory: 19865, loss_cls: 0.1194, loss_bbox: 0.3214, loss_traj: 0.5788, loss_traj_cls: 0.0019, loss_map_cls: 0.1332, loss_map_pts: 0.6038, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.5787, d0.loss_plan_l1_fix_dist: 0.4691, d1.loss_plan_l1_fix_time: 0.9545, d1.loss_plan_l1_fix_dist: 0.2255, d2.loss_plan_l1_fix_time: 0.9368, d2.loss_plan_l1_fix_dist: 0.2236, d3.loss_plan_l1_fix_time: 0.9288, d3.loss_plan_l1_fix_dist: 0.1957, d4.loss_plan_l1_fix_time: 0.9309, d4.loss_plan_l1_fix_dist: 0.1780, d5.loss_plan_l1_fix_time: 0.9338, d5.loss_plan_l1_fix_dist: 0.1866, d6.loss_plan_l1_fix_time: 0.9374, d6.loss_plan_l1_fix_dist: 0.2005, d0.loss_cls_all: 0.1656, d0.loss_bbox_all: 0.3913, d0.loss_cls: 0.1656, d0.loss_bbox: 0.3913, d1.loss_cls: 0.1557, d1.loss_bbox: 0.3589, d2.loss_cls: 0.1486, d2.loss_bbox: 0.3328, d3.loss_cls: 0.1303, d3.loss_bbox: 0.3252, d4.loss_cls: 0.1210, d4.loss_bbox: 0.3228, d5.loss_cls: 0.1190, d5.loss_bbox: 0.3212, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8416, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6464, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5892, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5746, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5695, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5683, d0.loss_map_cls_all: 0.2128, d0.loss_map_pts_all: 1.2718, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2128, d0.loss_map_pts: 1.2718, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1772, d1.loss_map_pts: 0.8982, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1554, d2.loss_map_pts: 0.7181, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1457, d3.loss_map_pts: 0.6452, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1406, d4.loss_map_pts: 0.6091, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1363, d5.loss_map_pts: 0.6026, d5.loss_map_dir: 0.0068, loss: 26.1324, grad_norm: 159.3344 +2026-02-28 06:13:24,419 - DriveTransformer - INFO - Epoch [9][17550/39528] lr: 7.525e-05, eta: 5 days, 4:48:46, time: 0.746, data_time: 0.035, memory: 19865, loss_cls: 0.1141, loss_bbox: 0.3029, loss_traj: 0.4633, loss_traj_cls: 0.0020, loss_map_cls: 0.1274, loss_map_pts: 0.6612, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.8030, d0.loss_plan_l1_fix_dist: 0.5581, d1.loss_plan_l1_fix_time: 0.8973, d1.loss_plan_l1_fix_dist: 0.2457, d2.loss_plan_l1_fix_time: 0.8812, d2.loss_plan_l1_fix_dist: 0.2562, d3.loss_plan_l1_fix_time: 0.8704, d3.loss_plan_l1_fix_dist: 0.2078, d4.loss_plan_l1_fix_time: 0.8721, d4.loss_plan_l1_fix_dist: 0.2132, d5.loss_plan_l1_fix_time: 0.8750, d5.loss_plan_l1_fix_dist: 0.2189, d6.loss_plan_l1_fix_time: 0.8788, d6.loss_plan_l1_fix_dist: 0.2528, d0.loss_cls_all: 0.1609, d0.loss_bbox_all: 0.3748, d0.loss_cls: 0.1609, d0.loss_bbox: 0.3748, d1.loss_cls: 0.1502, d1.loss_bbox: 0.3382, d2.loss_cls: 0.1376, d2.loss_bbox: 0.3142, d3.loss_cls: 0.1190, d3.loss_bbox: 0.3082, d4.loss_cls: 0.1159, d4.loss_bbox: 0.3025, d5.loss_cls: 0.1140, d5.loss_bbox: 0.3024, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6747, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5345, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4911, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4785, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4704, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4671, d0.loss_map_cls_all: 0.2097, d0.loss_map_pts_all: 1.2904, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2097, d0.loss_map_pts: 1.2904, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1774, d1.loss_map_pts: 0.9337, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1533, d2.loss_map_pts: 0.7611, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1409, d3.loss_map_pts: 0.6956, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1334, d4.loss_map_pts: 0.6686, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1294, d5.loss_map_pts: 0.6626, d5.loss_map_dir: 0.0086, loss: 25.6194, grad_norm: 155.5255 +2026-02-28 06:14:01,309 - DriveTransformer - INFO - Epoch [9][17600/39528] lr: 7.525e-05, eta: 5 days, 4:48:12, time: 0.739, data_time: 0.041, memory: 19865, loss_cls: 0.1243, loss_bbox: 0.3134, loss_traj: 0.4713, loss_traj_cls: 0.0020, loss_map_cls: 0.1390, loss_map_pts: 0.6174, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 3.0492, d0.loss_plan_l1_fix_dist: 0.4376, d1.loss_plan_l1_fix_time: 0.9304, d1.loss_plan_l1_fix_dist: 0.2169, d2.loss_plan_l1_fix_time: 0.9125, d2.loss_plan_l1_fix_dist: 0.2487, d3.loss_plan_l1_fix_time: 0.9062, d3.loss_plan_l1_fix_dist: 0.1896, d4.loss_plan_l1_fix_time: 0.9095, d4.loss_plan_l1_fix_dist: 0.1974, d5.loss_plan_l1_fix_time: 0.9131, d5.loss_plan_l1_fix_dist: 0.2003, d6.loss_plan_l1_fix_time: 0.9175, d6.loss_plan_l1_fix_dist: 0.2395, d0.loss_cls_all: 0.1717, d0.loss_bbox_all: 0.3814, d0.loss_cls: 0.1717, d0.loss_bbox: 0.3814, d1.loss_cls: 0.1646, d1.loss_bbox: 0.3508, d2.loss_cls: 0.1509, d2.loss_bbox: 0.3257, d3.loss_cls: 0.1308, d3.loss_bbox: 0.3190, d4.loss_cls: 0.1254, d4.loss_bbox: 0.3157, d5.loss_cls: 0.1247, d5.loss_bbox: 0.3127, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7236, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5524, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5016, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4866, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4816, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4714, d0.loss_map_cls_all: 0.2119, d0.loss_map_pts_all: 1.3096, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2119, d0.loss_map_pts: 1.3096, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1837, d1.loss_map_pts: 0.9139, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1601, d2.loss_map_pts: 0.7161, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1492, d3.loss_map_pts: 0.6438, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1456, d4.loss_map_pts: 0.6211, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1404, d5.loss_map_pts: 0.6173, d5.loss_map_dir: 0.0083, loss: 25.9834, grad_norm: 153.0047 +2026-02-28 06:14:38,217 - DriveTransformer - INFO - Epoch [9][17650/39528] lr: 7.525e-05, eta: 5 days, 4:47:37, time: 0.737, data_time: 0.036, memory: 19865, loss_cls: 0.1307, loss_bbox: 0.3180, loss_traj: 0.5287, loss_traj_cls: 0.0020, loss_map_cls: 0.1205, loss_map_pts: 0.5439, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.6020, d0.loss_plan_l1_fix_dist: 0.4980, d1.loss_plan_l1_fix_time: 0.8764, d1.loss_plan_l1_fix_dist: 0.2470, d2.loss_plan_l1_fix_time: 0.8666, d2.loss_plan_l1_fix_dist: 0.2658, d3.loss_plan_l1_fix_time: 0.8649, d3.loss_plan_l1_fix_dist: 0.2089, d4.loss_plan_l1_fix_time: 0.8693, d4.loss_plan_l1_fix_dist: 0.2156, d5.loss_plan_l1_fix_time: 0.8744, d5.loss_plan_l1_fix_dist: 0.2049, d6.loss_plan_l1_fix_time: 0.8801, d6.loss_plan_l1_fix_dist: 0.2487, d0.loss_cls_all: 0.1634, d0.loss_bbox_all: 0.3784, d0.loss_cls: 0.1634, d0.loss_bbox: 0.3784, d1.loss_cls: 0.1582, d1.loss_bbox: 0.3465, d2.loss_cls: 0.1440, d2.loss_bbox: 0.3289, d3.loss_cls: 0.1371, d3.loss_bbox: 0.3237, d4.loss_cls: 0.1295, d4.loss_bbox: 0.3221, d5.loss_cls: 0.1293, d5.loss_bbox: 0.3193, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7962, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5868, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5434, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5359, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5334, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5300, d0.loss_map_cls_all: 0.1920, d0.loss_map_pts_all: 1.1292, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1920, d0.loss_map_pts: 1.1292, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1703, d1.loss_map_pts: 0.7927, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1500, d2.loss_map_pts: 0.6424, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1367, d3.loss_map_pts: 0.5789, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1290, d4.loss_map_pts: 0.5567, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1235, d5.loss_map_pts: 0.5457, d5.loss_map_dir: 0.0071, loss: 24.8427, grad_norm: 155.3515 +2026-02-28 06:15:15,861 - DriveTransformer - INFO - Epoch [9][17700/39528] lr: 7.525e-05, eta: 5 days, 4:47:08, time: 0.753, data_time: 0.038, memory: 19865, loss_cls: 0.1158, loss_bbox: 0.3032, loss_traj: 0.4926, loss_traj_cls: 0.0019, loss_map_cls: 0.1075, loss_map_pts: 0.5496, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.3506, d0.loss_plan_l1_fix_dist: 0.4974, d1.loss_plan_l1_fix_time: 0.8384, d1.loss_plan_l1_fix_dist: 0.2610, d2.loss_plan_l1_fix_time: 0.8212, d2.loss_plan_l1_fix_dist: 0.2282, d3.loss_plan_l1_fix_time: 0.8123, d3.loss_plan_l1_fix_dist: 0.1960, d4.loss_plan_l1_fix_time: 0.8138, d4.loss_plan_l1_fix_dist: 0.2017, d5.loss_plan_l1_fix_time: 0.8165, d5.loss_plan_l1_fix_dist: 0.1901, d6.loss_plan_l1_fix_time: 0.8201, d6.loss_plan_l1_fix_dist: 0.2276, d0.loss_cls_all: 0.1564, d0.loss_bbox_all: 0.3695, d0.loss_cls: 0.1564, d0.loss_bbox: 0.3695, d1.loss_cls: 0.1522, d1.loss_bbox: 0.3372, d2.loss_cls: 0.1389, d2.loss_bbox: 0.3183, d3.loss_cls: 0.1235, d3.loss_bbox: 0.3103, d4.loss_cls: 0.1179, d4.loss_bbox: 0.3067, d5.loss_cls: 0.1151, d5.loss_bbox: 0.3043, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7534, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5798, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5264, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5075, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5028, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4958, d0.loss_map_cls_all: 0.1922, d0.loss_map_pts_all: 1.1771, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1922, d0.loss_map_pts: 1.1771, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1548, d1.loss_map_pts: 0.8175, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1321, d2.loss_map_pts: 0.6476, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1218, d3.loss_map_pts: 0.5829, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1139, d4.loss_map_pts: 0.5594, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1097, d5.loss_map_pts: 0.5524, d5.loss_map_dir: 0.0073, loss: 23.8790, grad_norm: 155.5208 +2026-02-28 06:15:52,277 - DriveTransformer - INFO - Epoch [9][17750/39528] lr: 7.525e-05, eta: 5 days, 4:46:30, time: 0.728, data_time: 0.038, memory: 19865, loss_cls: 0.1147, loss_bbox: 0.3180, loss_traj: 0.5433, loss_traj_cls: 0.0019, loss_map_cls: 0.1252, loss_map_pts: 0.5814, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.3904, d0.loss_plan_l1_fix_dist: 0.4635, d1.loss_plan_l1_fix_time: 0.9167, d1.loss_plan_l1_fix_dist: 0.2532, d2.loss_plan_l1_fix_time: 0.9064, d2.loss_plan_l1_fix_dist: 0.2105, d3.loss_plan_l1_fix_time: 0.9045, d3.loss_plan_l1_fix_dist: 0.1926, d4.loss_plan_l1_fix_time: 0.9080, d4.loss_plan_l1_fix_dist: 0.1966, d5.loss_plan_l1_fix_time: 0.9118, d5.loss_plan_l1_fix_dist: 0.1947, d6.loss_plan_l1_fix_time: 0.9154, d6.loss_plan_l1_fix_dist: 0.2067, d0.loss_cls_all: 0.1626, d0.loss_bbox_all: 0.3908, d0.loss_cls: 0.1626, d0.loss_bbox: 0.3908, d1.loss_cls: 0.1560, d1.loss_bbox: 0.3553, d2.loss_cls: 0.1389, d2.loss_bbox: 0.3342, d3.loss_cls: 0.1214, d3.loss_bbox: 0.3254, d4.loss_cls: 0.1155, d4.loss_bbox: 0.3215, d5.loss_cls: 0.1141, d5.loss_bbox: 0.3195, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7640, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6300, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5678, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5496, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5462, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5429, d0.loss_map_cls_all: 0.1981, d0.loss_map_pts_all: 1.2277, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1981, d0.loss_map_pts: 1.2277, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1661, d1.loss_map_pts: 0.8503, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1460, d2.loss_map_pts: 0.6705, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1368, d3.loss_map_pts: 0.6099, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1312, d4.loss_map_pts: 0.5887, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1257, d5.loss_map_pts: 0.5839, d5.loss_map_dir: 0.0079, loss: 25.1911, grad_norm: 156.1266 +2026-02-28 06:16:29,368 - DriveTransformer - INFO - Epoch [9][17800/39528] lr: 7.525e-05, eta: 5 days, 4:45:57, time: 0.742, data_time: 0.041, memory: 19865, loss_cls: 0.1130, loss_bbox: 0.3055, loss_traj: 0.4922, loss_traj_cls: 0.0020, loss_map_cls: 0.1353, loss_map_pts: 0.5848, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.2542, d0.loss_plan_l1_fix_dist: 0.4571, d1.loss_plan_l1_fix_time: 0.8573, d1.loss_plan_l1_fix_dist: 0.2565, d2.loss_plan_l1_fix_time: 0.8463, d2.loss_plan_l1_fix_dist: 0.2245, d3.loss_plan_l1_fix_time: 0.8494, d3.loss_plan_l1_fix_dist: 0.2002, d4.loss_plan_l1_fix_time: 0.8538, d4.loss_plan_l1_fix_dist: 0.1923, d5.loss_plan_l1_fix_time: 0.8579, d5.loss_plan_l1_fix_dist: 0.1955, d6.loss_plan_l1_fix_time: 0.8616, d6.loss_plan_l1_fix_dist: 0.2416, d0.loss_cls_all: 0.1588, d0.loss_bbox_all: 0.3662, d0.loss_cls: 0.1588, d0.loss_bbox: 0.3662, d1.loss_cls: 0.1540, d1.loss_bbox: 0.3374, d2.loss_cls: 0.1435, d2.loss_bbox: 0.3148, d3.loss_cls: 0.1218, d3.loss_bbox: 0.3113, d4.loss_cls: 0.1167, d4.loss_bbox: 0.3060, d5.loss_cls: 0.1138, d5.loss_bbox: 0.3057, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6824, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5443, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5213, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5036, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4971, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4936, d0.loss_map_cls_all: 0.2132, d0.loss_map_pts_all: 1.2333, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2132, d0.loss_map_pts: 1.2333, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1815, d1.loss_map_pts: 0.8616, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1601, d2.loss_map_pts: 0.6831, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1457, d3.loss_map_pts: 0.6183, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1413, d4.loss_map_pts: 0.5956, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1373, d5.loss_map_pts: 0.5864, d5.loss_map_dir: 0.0071, loss: 24.3611, grad_norm: 153.9676 +2026-02-28 06:17:06,447 - DriveTransformer - INFO - Epoch [9][17850/39528] lr: 7.525e-05, eta: 5 days, 4:45:24, time: 0.742, data_time: 0.041, memory: 19865, loss_cls: 0.1106, loss_bbox: 0.2953, loss_traj: 0.5616, loss_traj_cls: 0.0019, loss_map_cls: 0.1018, loss_map_pts: 0.5172, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.7415, d0.loss_plan_l1_fix_dist: 0.4851, d1.loss_plan_l1_fix_time: 0.8770, d1.loss_plan_l1_fix_dist: 0.2390, d2.loss_plan_l1_fix_time: 0.8614, d2.loss_plan_l1_fix_dist: 0.2365, d3.loss_plan_l1_fix_time: 0.8554, d3.loss_plan_l1_fix_dist: 0.2193, d4.loss_plan_l1_fix_time: 0.8578, d4.loss_plan_l1_fix_dist: 0.2169, d5.loss_plan_l1_fix_time: 0.8607, d5.loss_plan_l1_fix_dist: 0.2201, d6.loss_plan_l1_fix_time: 0.8652, d6.loss_plan_l1_fix_dist: 0.2972, d0.loss_cls_all: 0.1473, d0.loss_bbox_all: 0.3497, d0.loss_cls: 0.1473, d0.loss_bbox: 0.3497, d1.loss_cls: 0.1437, d1.loss_bbox: 0.3204, d2.loss_cls: 0.1305, d2.loss_bbox: 0.3048, d3.loss_cls: 0.1186, d3.loss_bbox: 0.2978, d4.loss_cls: 0.1133, d4.loss_bbox: 0.2943, d5.loss_cls: 0.1117, d5.loss_bbox: 0.2941, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8224, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6144, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5728, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5649, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5575, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5590, d0.loss_map_cls_all: 0.1787, d0.loss_map_pts_all: 1.0529, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1787, d0.loss_map_pts: 1.0529, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1443, d1.loss_map_pts: 0.7370, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1265, d2.loss_map_pts: 0.5971, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1140, d3.loss_map_pts: 0.5443, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1077, d4.loss_map_pts: 0.5258, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1038, d5.loss_map_pts: 0.5177, d5.loss_map_dir: 0.0064, loss: 24.2730, grad_norm: 153.9187 +2026-02-28 06:17:42,787 - DriveTransformer - INFO - Epoch [9][17900/39528] lr: 7.525e-05, eta: 5 days, 4:44:46, time: 0.727, data_time: 0.039, memory: 19865, loss_cls: 0.1257, loss_bbox: 0.3232, loss_traj: 0.4765, loss_traj_cls: 0.0020, loss_map_cls: 0.1194, loss_map_pts: 0.5383, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.5913, d0.loss_plan_l1_fix_dist: 0.3878, d1.loss_plan_l1_fix_time: 0.8157, d1.loss_plan_l1_fix_dist: 0.2220, d2.loss_plan_l1_fix_time: 0.7968, d2.loss_plan_l1_fix_dist: 0.2637, d3.loss_plan_l1_fix_time: 0.7946, d3.loss_plan_l1_fix_dist: 0.2393, d4.loss_plan_l1_fix_time: 0.7992, d4.loss_plan_l1_fix_dist: 0.2565, d5.loss_plan_l1_fix_time: 0.8045, d5.loss_plan_l1_fix_dist: 0.2591, d6.loss_plan_l1_fix_time: 0.8112, d6.loss_plan_l1_fix_dist: 0.3335, d0.loss_cls_all: 0.1685, d0.loss_bbox_all: 0.3867, d0.loss_cls: 0.1685, d0.loss_bbox: 0.3867, d1.loss_cls: 0.1665, d1.loss_bbox: 0.3495, d2.loss_cls: 0.1524, d2.loss_bbox: 0.3294, d3.loss_cls: 0.1329, d3.loss_bbox: 0.3248, d4.loss_cls: 0.1268, d4.loss_bbox: 0.3223, d5.loss_cls: 0.1248, d5.loss_bbox: 0.3230, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7026, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5458, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5013, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4862, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4807, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4761, d0.loss_map_cls_all: 0.1961, d0.loss_map_pts_all: 1.1260, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1961, d0.loss_map_pts: 1.1260, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1631, d1.loss_map_pts: 0.7865, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1417, d2.loss_map_pts: 0.6300, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1297, d3.loss_map_pts: 0.5721, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1243, d4.loss_map_pts: 0.5527, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1202, d5.loss_map_pts: 0.5389, d5.loss_map_dir: 0.0073, loss: 24.0812, grad_norm: 157.5506 +2026-02-28 06:18:19,750 - DriveTransformer - INFO - Epoch [9][17950/39528] lr: 7.525e-05, eta: 5 days, 4:44:13, time: 0.739, data_time: 0.036, memory: 19865, loss_cls: 0.1142, loss_bbox: 0.3186, loss_traj: 0.5404, loss_traj_cls: 0.0019, loss_map_cls: 0.1296, loss_map_pts: 0.6515, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.5047, d0.loss_plan_l1_fix_dist: 0.3988, d1.loss_plan_l1_fix_time: 0.8288, d1.loss_plan_l1_fix_dist: 0.2105, d2.loss_plan_l1_fix_time: 0.8047, d2.loss_plan_l1_fix_dist: 0.2537, d3.loss_plan_l1_fix_time: 0.8066, d3.loss_plan_l1_fix_dist: 0.2100, d4.loss_plan_l1_fix_time: 0.8120, d4.loss_plan_l1_fix_dist: 0.2242, d5.loss_plan_l1_fix_time: 0.8179, d5.loss_plan_l1_fix_dist: 0.2201, d6.loss_plan_l1_fix_time: 0.8249, d6.loss_plan_l1_fix_dist: 0.2640, d0.loss_cls_all: 0.1534, d0.loss_bbox_all: 0.3767, d0.loss_cls: 0.1534, d0.loss_bbox: 0.3767, d1.loss_cls: 0.1445, d1.loss_bbox: 0.3426, d2.loss_cls: 0.1349, d2.loss_bbox: 0.3232, d3.loss_cls: 0.1196, d3.loss_bbox: 0.3198, d4.loss_cls: 0.1150, d4.loss_bbox: 0.3180, d5.loss_cls: 0.1138, d5.loss_bbox: 0.3184, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7486, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6020, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5585, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5440, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5359, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5394, d0.loss_map_cls_all: 0.2140, d0.loss_map_pts_all: 1.3247, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2140, d0.loss_map_pts: 1.3247, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1823, d1.loss_map_pts: 0.9297, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1568, d2.loss_map_pts: 0.7598, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1442, d3.loss_map_pts: 0.6888, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1381, d4.loss_map_pts: 0.6619, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1321, d5.loss_map_pts: 0.6522, d5.loss_map_dir: 0.0088, loss: 25.3725, grad_norm: 158.8737 +2026-02-28 06:18:56,561 - DriveTransformer - INFO - Epoch [9][18000/39528] lr: 7.525e-05, eta: 5 days, 4:43:38, time: 0.736, data_time: 0.037, memory: 19865, loss_cls: 0.1092, loss_bbox: 0.3010, loss_traj: 0.5611, loss_traj_cls: 0.0019, loss_map_cls: 0.1113, loss_map_pts: 0.5454, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.6868, d0.loss_plan_l1_fix_dist: 0.3438, d1.loss_plan_l1_fix_time: 0.8034, d1.loss_plan_l1_fix_dist: 0.1861, d2.loss_plan_l1_fix_time: 0.7872, d2.loss_plan_l1_fix_dist: 0.2445, d3.loss_plan_l1_fix_time: 0.7914, d3.loss_plan_l1_fix_dist: 0.1774, d4.loss_plan_l1_fix_time: 0.7947, d4.loss_plan_l1_fix_dist: 0.1917, d5.loss_plan_l1_fix_time: 0.7981, d5.loss_plan_l1_fix_dist: 0.2168, d6.loss_plan_l1_fix_time: 0.8018, d6.loss_plan_l1_fix_dist: 0.2103, d0.loss_cls_all: 0.1554, d0.loss_bbox_all: 0.3544, d0.loss_cls: 0.1554, d0.loss_bbox: 0.3544, d1.loss_cls: 0.1446, d1.loss_bbox: 0.3256, d2.loss_cls: 0.1316, d2.loss_bbox: 0.3080, d3.loss_cls: 0.1151, d3.loss_bbox: 0.3037, d4.loss_cls: 0.1104, d4.loss_bbox: 0.3017, d5.loss_cls: 0.1090, d5.loss_bbox: 0.3012, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7646, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6172, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5781, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5668, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5615, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5632, d0.loss_map_cls_all: 0.1869, d0.loss_map_pts_all: 1.1502, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1869, d0.loss_map_pts: 1.1502, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1596, d1.loss_map_pts: 0.7842, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1345, d2.loss_map_pts: 0.6256, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1241, d3.loss_map_pts: 0.5671, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1180, d4.loss_map_pts: 0.5470, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1120, d5.loss_map_pts: 0.5457, d5.loss_map_dir: 0.0076, loss: 23.9424, grad_norm: 158.4551 +2026-02-28 06:19:35,720 - DriveTransformer - INFO - Epoch [9][18050/39528] lr: 7.525e-05, eta: 5 days, 4:43:18, time: 0.783, data_time: 0.037, memory: 19865, loss_cls: 0.1089, loss_bbox: 0.3233, loss_traj: 0.5365, loss_traj_cls: 0.0019, loss_map_cls: 0.1290, loss_map_pts: 0.6372, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 3.0918, d0.loss_plan_l1_fix_dist: 0.3591, d1.loss_plan_l1_fix_time: 0.9656, d1.loss_plan_l1_fix_dist: 0.2134, d2.loss_plan_l1_fix_time: 0.9491, d2.loss_plan_l1_fix_dist: 0.2703, d3.loss_plan_l1_fix_time: 0.9467, d3.loss_plan_l1_fix_dist: 0.2018, d4.loss_plan_l1_fix_time: 0.9493, d4.loss_plan_l1_fix_dist: 0.2128, d5.loss_plan_l1_fix_time: 0.9525, d5.loss_plan_l1_fix_dist: 0.2411, d6.loss_plan_l1_fix_time: 0.9560, d6.loss_plan_l1_fix_dist: 0.2416, d0.loss_cls_all: 0.1641, d0.loss_bbox_all: 0.3802, d0.loss_cls: 0.1641, d0.loss_bbox: 0.3802, d1.loss_cls: 0.1547, d1.loss_bbox: 0.3478, d2.loss_cls: 0.1400, d2.loss_bbox: 0.3273, d3.loss_cls: 0.1187, d3.loss_bbox: 0.3240, d4.loss_cls: 0.1110, d4.loss_bbox: 0.3235, d5.loss_cls: 0.1091, d5.loss_bbox: 0.3240, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7592, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6070, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5610, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5437, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5369, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5375, d0.loss_map_cls_all: 0.2084, d0.loss_map_pts_all: 1.2965, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2084, d0.loss_map_pts: 1.2965, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1733, d1.loss_map_pts: 0.8907, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1520, d2.loss_map_pts: 0.7181, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1421, d3.loss_map_pts: 0.6625, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1342, d4.loss_map_pts: 0.6445, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1292, d5.loss_map_pts: 0.6378, d5.loss_map_dir: 0.0092, loss: 26.5711, grad_norm: 152.4354 +2026-02-28 06:20:12,320 - DriveTransformer - INFO - Epoch [9][18100/39528] lr: 7.525e-05, eta: 5 days, 4:42:42, time: 0.732, data_time: 0.038, memory: 19865, loss_cls: 0.1113, loss_bbox: 0.2965, loss_traj: 0.5494, loss_traj_cls: 0.0020, loss_map_cls: 0.1219, loss_map_pts: 0.5428, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.6158, d0.loss_plan_l1_fix_dist: 0.4727, d1.loss_plan_l1_fix_time: 0.8487, d1.loss_plan_l1_fix_dist: 0.2172, d2.loss_plan_l1_fix_time: 0.8389, d2.loss_plan_l1_fix_dist: 0.2507, d3.loss_plan_l1_fix_time: 0.8365, d3.loss_plan_l1_fix_dist: 0.2224, d4.loss_plan_l1_fix_time: 0.8389, d4.loss_plan_l1_fix_dist: 0.2163, d5.loss_plan_l1_fix_time: 0.8421, d5.loss_plan_l1_fix_dist: 0.2014, d6.loss_plan_l1_fix_time: 0.8450, d6.loss_plan_l1_fix_dist: 0.2297, d0.loss_cls_all: 0.1466, d0.loss_bbox_all: 0.3538, d0.loss_cls: 0.1466, d0.loss_bbox: 0.3538, d1.loss_cls: 0.1429, d1.loss_bbox: 0.3201, d2.loss_cls: 0.1319, d2.loss_bbox: 0.3003, d3.loss_cls: 0.1167, d3.loss_bbox: 0.2961, d4.loss_cls: 0.1132, d4.loss_bbox: 0.2953, d5.loss_cls: 0.1110, d5.loss_bbox: 0.2956, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8147, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6414, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5664, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5575, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5510, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5490, d0.loss_map_cls_all: 0.1990, d0.loss_map_pts_all: 1.1199, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1990, d0.loss_map_pts: 1.1199, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1707, d1.loss_map_pts: 0.7948, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1453, d2.loss_map_pts: 0.6376, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1337, d3.loss_map_pts: 0.5779, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1264, d4.loss_map_pts: 0.5516, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1235, d5.loss_map_pts: 0.5439, d5.loss_map_dir: 0.0062, loss: 24.3998, grad_norm: 152.0239 +2026-02-28 06:20:48,905 - DriveTransformer - INFO - Epoch [9][18150/39528] lr: 7.525e-05, eta: 5 days, 4:42:05, time: 0.732, data_time: 0.035, memory: 19865, loss_cls: 0.1336, loss_bbox: 0.3210, loss_traj: 0.6998, loss_traj_cls: 0.0020, loss_map_cls: 0.1102, loss_map_pts: 0.5683, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.6401, d0.loss_plan_l1_fix_dist: 0.4459, d1.loss_plan_l1_fix_time: 0.9249, d1.loss_plan_l1_fix_dist: 0.2389, d2.loss_plan_l1_fix_time: 0.8877, d2.loss_plan_l1_fix_dist: 0.2456, d3.loss_plan_l1_fix_time: 0.8813, d3.loss_plan_l1_fix_dist: 0.2559, d4.loss_plan_l1_fix_time: 0.8827, d4.loss_plan_l1_fix_dist: 0.2621, d5.loss_plan_l1_fix_time: 0.8844, d5.loss_plan_l1_fix_dist: 0.2381, d6.loss_plan_l1_fix_time: 0.8869, d6.loss_plan_l1_fix_dist: 0.2602, d0.loss_cls_all: 0.1676, d0.loss_bbox_all: 0.3963, d0.loss_cls: 0.1676, d0.loss_bbox: 0.3963, d1.loss_cls: 0.1622, d1.loss_bbox: 0.3590, d2.loss_cls: 0.1485, d2.loss_bbox: 0.3396, d3.loss_cls: 0.1372, d3.loss_bbox: 0.3293, d4.loss_cls: 0.1354, d4.loss_bbox: 0.3234, d5.loss_cls: 0.1335, d5.loss_bbox: 0.3221, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9920, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8062, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.7337, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.7088, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7013, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6975, d0.loss_map_cls_all: 0.1842, d0.loss_map_pts_all: 1.1071, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1842, d0.loss_map_pts: 1.1071, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1533, d1.loss_map_pts: 0.7903, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1341, d2.loss_map_pts: 0.6456, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1214, d3.loss_map_pts: 0.5926, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1170, d4.loss_map_pts: 0.5717, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1122, d5.loss_map_pts: 0.5679, d5.loss_map_dir: 0.0079, loss: 26.3827, grad_norm: 154.1711 +2026-02-28 06:21:24,591 - DriveTransformer - INFO - Epoch [9][18200/39528] lr: 7.525e-05, eta: 5 days, 4:41:24, time: 0.714, data_time: 0.038, memory: 19865, loss_cls: 0.1340, loss_bbox: 0.3392, loss_traj: 0.5690, loss_traj_cls: 0.0020, loss_map_cls: 0.1361, loss_map_pts: 0.5923, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.8190, d0.loss_plan_l1_fix_dist: 0.4966, d1.loss_plan_l1_fix_time: 0.9580, d1.loss_plan_l1_fix_dist: 0.2521, d2.loss_plan_l1_fix_time: 0.9347, d2.loss_plan_l1_fix_dist: 0.2308, d3.loss_plan_l1_fix_time: 0.9339, d3.loss_plan_l1_fix_dist: 0.2492, d4.loss_plan_l1_fix_time: 0.9367, d4.loss_plan_l1_fix_dist: 0.2641, d5.loss_plan_l1_fix_time: 0.9393, d5.loss_plan_l1_fix_dist: 0.2387, d6.loss_plan_l1_fix_time: 0.9427, d6.loss_plan_l1_fix_dist: 0.2460, d0.loss_cls_all: 0.1860, d0.loss_bbox_all: 0.4200, d0.loss_cls: 0.1860, d0.loss_bbox: 0.4200, d1.loss_cls: 0.1782, d1.loss_bbox: 0.3825, d2.loss_cls: 0.1614, d2.loss_bbox: 0.3562, d3.loss_cls: 0.1419, d3.loss_bbox: 0.3487, d4.loss_cls: 0.1340, d4.loss_bbox: 0.3440, d5.loss_cls: 0.1332, d5.loss_bbox: 0.3410, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8160, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6568, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5981, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5885, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5777, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5712, d0.loss_map_cls_all: 0.2125, d0.loss_map_pts_all: 1.1431, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2125, d0.loss_map_pts: 1.1431, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1784, d1.loss_map_pts: 0.8294, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1589, d2.loss_map_pts: 0.6703, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1492, d3.loss_map_pts: 0.6150, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1422, d4.loss_map_pts: 0.5948, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1378, d5.loss_map_pts: 0.5929, d5.loss_map_dir: 0.0068, loss: 26.5927, grad_norm: 149.1264 +2026-02-28 06:22:01,557 - DriveTransformer - INFO - Epoch [9][18250/39528] lr: 7.525e-05, eta: 5 days, 4:40:50, time: 0.739, data_time: 0.038, memory: 19865, loss_cls: 0.1222, loss_bbox: 0.3326, loss_traj: 0.5685, loss_traj_cls: 0.0019, loss_map_cls: 0.1349, loss_map_pts: 0.5854, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.8836, d0.loss_plan_l1_fix_dist: 0.4709, d1.loss_plan_l1_fix_time: 0.9165, d1.loss_plan_l1_fix_dist: 0.2639, d2.loss_plan_l1_fix_time: 0.9138, d2.loss_plan_l1_fix_dist: 0.2366, d3.loss_plan_l1_fix_time: 0.9113, d3.loss_plan_l1_fix_dist: 0.2557, d4.loss_plan_l1_fix_time: 0.9149, d4.loss_plan_l1_fix_dist: 0.2853, d5.loss_plan_l1_fix_time: 0.9190, d5.loss_plan_l1_fix_dist: 0.2791, d6.loss_plan_l1_fix_time: 0.9238, d6.loss_plan_l1_fix_dist: 0.2877, d0.loss_cls_all: 0.1593, d0.loss_bbox_all: 0.4069, d0.loss_cls: 0.1593, d0.loss_bbox: 0.4069, d1.loss_cls: 0.1534, d1.loss_bbox: 0.3711, d2.loss_cls: 0.1420, d2.loss_bbox: 0.3469, d3.loss_cls: 0.1281, d3.loss_bbox: 0.3370, d4.loss_cls: 0.1219, d4.loss_bbox: 0.3336, d5.loss_cls: 0.1213, d5.loss_bbox: 0.3330, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8305, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6626, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6090, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5751, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5751, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5682, d0.loss_map_cls_all: 0.2138, d0.loss_map_pts_all: 1.1857, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2138, d0.loss_map_pts: 1.1857, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1835, d1.loss_map_pts: 0.8518, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1650, d2.loss_map_pts: 0.6837, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1515, d3.loss_map_pts: 0.6180, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1413, d4.loss_map_pts: 0.5931, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1371, d5.loss_map_pts: 0.5857, d5.loss_map_dir: 0.0067, loss: 26.5160, grad_norm: 160.1244 +2026-02-28 06:22:36,822 - DriveTransformer - INFO - Epoch [9][18300/39528] lr: 7.525e-05, eta: 5 days, 4:40:05, time: 0.705, data_time: 0.037, memory: 19865, loss_cls: 0.1248, loss_bbox: 0.3419, loss_traj: 0.6884, loss_traj_cls: 0.0020, loss_map_cls: 0.1208, loss_map_pts: 0.5356, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.6700, d0.loss_plan_l1_fix_dist: 0.5073, d1.loss_plan_l1_fix_time: 0.9017, d1.loss_plan_l1_fix_dist: 0.2739, d2.loss_plan_l1_fix_time: 0.8874, d2.loss_plan_l1_fix_dist: 0.2552, d3.loss_plan_l1_fix_time: 0.8890, d3.loss_plan_l1_fix_dist: 0.2562, d4.loss_plan_l1_fix_time: 0.8924, d4.loss_plan_l1_fix_dist: 0.2866, d5.loss_plan_l1_fix_time: 0.8965, d5.loss_plan_l1_fix_dist: 0.2751, d6.loss_plan_l1_fix_time: 0.9014, d6.loss_plan_l1_fix_dist: 0.2681, d0.loss_cls_all: 0.1630, d0.loss_bbox_all: 0.4041, d0.loss_cls: 0.1630, d0.loss_bbox: 0.4041, d1.loss_cls: 0.1583, d1.loss_bbox: 0.3723, d2.loss_cls: 0.1467, d2.loss_bbox: 0.3518, d3.loss_cls: 0.1305, d3.loss_bbox: 0.3454, d4.loss_cls: 0.1264, d4.loss_bbox: 0.3412, d5.loss_cls: 0.1251, d5.loss_bbox: 0.3419, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0092, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7995, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.7334, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.7045, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6942, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6877, d0.loss_map_cls_all: 0.1905, d0.loss_map_pts_all: 1.0534, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1905, d0.loss_map_pts: 1.0534, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1657, d1.loss_map_pts: 0.7584, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1462, d2.loss_map_pts: 0.6248, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1325, d3.loss_map_pts: 0.5684, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1258, d4.loss_map_pts: 0.5437, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1223, d5.loss_map_pts: 0.5360, d5.loss_map_dir: 0.0068, loss: 26.4475, grad_norm: 160.7248 +2026-02-28 06:23:12,380 - DriveTransformer - INFO - Epoch [9][18350/39528] lr: 7.525e-05, eta: 5 days, 4:39:22, time: 0.711, data_time: 0.039, memory: 19865, loss_cls: 0.1091, loss_bbox: 0.3156, loss_traj: 0.5708, loss_traj_cls: 0.0021, loss_map_cls: 0.1004, loss_map_pts: 0.4531, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.7639, d0.loss_plan_l1_fix_dist: 0.4836, d1.loss_plan_l1_fix_time: 0.9214, d1.loss_plan_l1_fix_dist: 0.2865, d2.loss_plan_l1_fix_time: 0.8990, d2.loss_plan_l1_fix_dist: 0.2745, d3.loss_plan_l1_fix_time: 0.8963, d3.loss_plan_l1_fix_dist: 0.2725, d4.loss_plan_l1_fix_time: 0.8986, d4.loss_plan_l1_fix_dist: 0.3177, d5.loss_plan_l1_fix_time: 0.9012, d5.loss_plan_l1_fix_dist: 0.2978, d6.loss_plan_l1_fix_time: 0.9044, d6.loss_plan_l1_fix_dist: 0.2700, d0.loss_cls_all: 0.1495, d0.loss_bbox_all: 0.3721, d0.loss_cls: 0.1495, d0.loss_bbox: 0.3721, d1.loss_cls: 0.1414, d1.loss_bbox: 0.3416, d2.loss_cls: 0.1308, d2.loss_bbox: 0.3228, d3.loss_cls: 0.1171, d3.loss_bbox: 0.3172, d4.loss_cls: 0.1107, d4.loss_bbox: 0.3157, d5.loss_cls: 0.1093, d5.loss_bbox: 0.3154, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8108, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6423, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5894, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5727, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5725, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5703, d0.loss_map_cls_all: 0.1657, d0.loss_map_pts_all: 0.9365, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1657, d0.loss_map_pts: 0.9365, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1396, d1.loss_map_pts: 0.6569, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1242, d2.loss_map_pts: 0.5247, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1117, d3.loss_map_pts: 0.4749, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1063, d4.loss_map_pts: 0.4577, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1018, d5.loss_map_pts: 0.4529, d5.loss_map_dir: 0.0058, loss: 24.3664, grad_norm: 163.8843 +2026-02-28 06:23:48,606 - DriveTransformer - INFO - Epoch [9][18400/39528] lr: 7.525e-05, eta: 5 days, 4:38:44, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.1228, loss_bbox: 0.3185, loss_traj: 0.5154, loss_traj_cls: 0.0021, loss_map_cls: 0.1470, loss_map_pts: 0.6280, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.5650, d0.loss_plan_l1_fix_dist: 0.5092, d1.loss_plan_l1_fix_time: 0.9052, d1.loss_plan_l1_fix_dist: 0.2958, d2.loss_plan_l1_fix_time: 0.8935, d2.loss_plan_l1_fix_dist: 0.2785, d3.loss_plan_l1_fix_time: 0.8904, d3.loss_plan_l1_fix_dist: 0.2628, d4.loss_plan_l1_fix_time: 0.8940, d4.loss_plan_l1_fix_dist: 0.3113, d5.loss_plan_l1_fix_time: 0.8969, d5.loss_plan_l1_fix_dist: 0.3277, d6.loss_plan_l1_fix_time: 0.8998, d6.loss_plan_l1_fix_dist: 0.3061, d0.loss_cls_all: 0.1626, d0.loss_bbox_all: 0.3828, d0.loss_cls: 0.1626, d0.loss_bbox: 0.3828, d1.loss_cls: 0.1523, d1.loss_bbox: 0.3515, d2.loss_cls: 0.1435, d2.loss_bbox: 0.3300, d3.loss_cls: 0.1323, d3.loss_bbox: 0.3228, d4.loss_cls: 0.1235, d4.loss_bbox: 0.3213, d5.loss_cls: 0.1215, d5.loss_bbox: 0.3196, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7546, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5940, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5397, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5215, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5165, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5130, d0.loss_map_cls_all: 0.2231, d0.loss_map_pts_all: 1.2501, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2231, d0.loss_map_pts: 1.2501, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1912, d1.loss_map_pts: 0.8898, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1695, d2.loss_map_pts: 0.7180, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1588, d3.loss_map_pts: 0.6574, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1529, d4.loss_map_pts: 0.6346, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1478, d5.loss_map_pts: 0.6284, d5.loss_map_dir: 0.0079, loss: 26.1780, grad_norm: 162.5913 +2026-02-28 06:24:24,621 - DriveTransformer - INFO - Epoch [9][18450/39528] lr: 7.525e-05, eta: 5 days, 4:38:04, time: 0.719, data_time: 0.036, memory: 19865, loss_cls: 0.1204, loss_bbox: 0.3046, loss_traj: 0.5498, loss_traj_cls: 0.0021, loss_map_cls: 0.1150, loss_map_pts: 0.6019, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.3578, d0.loss_plan_l1_fix_dist: 0.5135, d1.loss_plan_l1_fix_time: 0.7867, d1.loss_plan_l1_fix_dist: 0.2626, d2.loss_plan_l1_fix_time: 0.7789, d2.loss_plan_l1_fix_dist: 0.2401, d3.loss_plan_l1_fix_time: 0.7779, d3.loss_plan_l1_fix_dist: 0.2148, d4.loss_plan_l1_fix_time: 0.7799, d4.loss_plan_l1_fix_dist: 0.2304, d5.loss_plan_l1_fix_time: 0.7824, d5.loss_plan_l1_fix_dist: 0.2642, d6.loss_plan_l1_fix_time: 0.7850, d6.loss_plan_l1_fix_dist: 0.2579, d0.loss_cls_all: 0.1581, d0.loss_bbox_all: 0.3691, d0.loss_cls: 0.1581, d0.loss_bbox: 0.3691, d1.loss_cls: 0.1563, d1.loss_bbox: 0.3353, d2.loss_cls: 0.1444, d2.loss_bbox: 0.3171, d3.loss_cls: 0.1271, d3.loss_bbox: 0.3103, d4.loss_cls: 0.1223, d4.loss_bbox: 0.3066, d5.loss_cls: 0.1205, d5.loss_bbox: 0.3057, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7843, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6358, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5825, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5624, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5556, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5515, d0.loss_map_cls_all: 0.1970, d0.loss_map_pts_all: 1.1997, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1970, d0.loss_map_pts: 1.1997, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1615, d1.loss_map_pts: 0.8607, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1381, d2.loss_map_pts: 0.6891, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1280, d3.loss_map_pts: 0.6292, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1223, d4.loss_map_pts: 0.6085, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1181, d5.loss_map_pts: 0.6022, d5.loss_map_dir: 0.0073, loss: 24.6106, grad_norm: 163.2927 +2026-02-28 06:24:59,371 - DriveTransformer - INFO - Epoch [9][18500/39528] lr: 7.525e-05, eta: 5 days, 4:37:16, time: 0.695, data_time: 0.037, memory: 19865, loss_cls: 0.1279, loss_bbox: 0.3171, loss_traj: 0.5601, loss_traj_cls: 0.0020, loss_map_cls: 0.1307, loss_map_pts: 0.5424, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.4265, d0.loss_plan_l1_fix_dist: 0.4295, d1.loss_plan_l1_fix_time: 0.8440, d1.loss_plan_l1_fix_dist: 0.2585, d2.loss_plan_l1_fix_time: 0.8362, d2.loss_plan_l1_fix_dist: 0.2485, d3.loss_plan_l1_fix_time: 0.8348, d3.loss_plan_l1_fix_dist: 0.2509, d4.loss_plan_l1_fix_time: 0.8370, d4.loss_plan_l1_fix_dist: 0.2299, d5.loss_plan_l1_fix_time: 0.8401, d5.loss_plan_l1_fix_dist: 0.2473, d6.loss_plan_l1_fix_time: 0.8441, d6.loss_plan_l1_fix_dist: 0.2446, d0.loss_cls_all: 0.1667, d0.loss_bbox_all: 0.3812, d0.loss_cls: 0.1667, d0.loss_bbox: 0.3812, d1.loss_cls: 0.1640, d1.loss_bbox: 0.3473, d2.loss_cls: 0.1470, d2.loss_bbox: 0.3307, d3.loss_cls: 0.1322, d3.loss_bbox: 0.3233, d4.loss_cls: 0.1275, d4.loss_bbox: 0.3201, d5.loss_cls: 0.1268, d5.loss_bbox: 0.3181, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7656, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6314, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5820, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5641, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5670, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5648, d0.loss_map_cls_all: 0.2164, d0.loss_map_pts_all: 1.1138, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.2164, d0.loss_map_pts: 1.1138, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1881, d1.loss_map_pts: 0.7963, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1595, d2.loss_map_pts: 0.6360, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1462, d3.loss_map_pts: 0.5730, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1382, d4.loss_map_pts: 0.5485, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1336, d5.loss_map_pts: 0.5434, d5.loss_map_dir: 0.0061, loss: 24.7361, grad_norm: 164.0559 +2026-02-28 06:25:35,940 - DriveTransformer - INFO - Epoch [9][18550/39528] lr: 7.525e-05, eta: 5 days, 4:36:40, time: 0.731, data_time: 0.036, memory: 19865, loss_cls: 0.1325, loss_bbox: 0.3434, loss_traj: 0.5725, loss_traj_cls: 0.0020, loss_map_cls: 0.1339, loss_map_pts: 0.6609, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.5112, d0.loss_plan_l1_fix_dist: 0.4370, d1.loss_plan_l1_fix_time: 0.9758, d1.loss_plan_l1_fix_dist: 0.2430, d2.loss_plan_l1_fix_time: 0.9503, d2.loss_plan_l1_fix_dist: 0.2433, d3.loss_plan_l1_fix_time: 0.9463, d3.loss_plan_l1_fix_dist: 0.2742, d4.loss_plan_l1_fix_time: 0.9476, d4.loss_plan_l1_fix_dist: 0.2273, d5.loss_plan_l1_fix_time: 0.9503, d5.loss_plan_l1_fix_dist: 0.2253, d6.loss_plan_l1_fix_time: 0.9536, d6.loss_plan_l1_fix_dist: 0.2407, d0.loss_cls_all: 0.1763, d0.loss_bbox_all: 0.4070, d0.loss_cls: 0.1763, d0.loss_bbox: 0.4070, d1.loss_cls: 0.1672, d1.loss_bbox: 0.3745, d2.loss_cls: 0.1532, d2.loss_bbox: 0.3524, d3.loss_cls: 0.1398, d3.loss_bbox: 0.3470, d4.loss_cls: 0.1337, d4.loss_bbox: 0.3444, d5.loss_cls: 0.1333, d5.loss_bbox: 0.3417, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8271, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6649, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6111, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5905, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5793, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5760, d0.loss_map_cls_all: 0.2136, d0.loss_map_pts_all: 1.3511, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2136, d0.loss_map_pts: 1.3511, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1843, d1.loss_map_pts: 0.9718, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1597, d2.loss_map_pts: 0.7790, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1465, d3.loss_map_pts: 0.7017, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1416, d4.loss_map_pts: 0.6720, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1366, d5.loss_map_pts: 0.6621, d5.loss_map_dir: 0.0077, loss: 27.2239, grad_norm: 163.7748 +2026-02-28 06:26:11,642 - DriveTransformer - INFO - Epoch [9][18600/39528] lr: 7.525e-05, eta: 5 days, 4:35:58, time: 0.714, data_time: 0.037, memory: 19865, loss_cls: 0.1233, loss_bbox: 0.3158, loss_traj: 0.5498, loss_traj_cls: 0.0020, loss_map_cls: 0.1122, loss_map_pts: 0.5383, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.3961, d0.loss_plan_l1_fix_dist: 0.4429, d1.loss_plan_l1_fix_time: 0.8932, d1.loss_plan_l1_fix_dist: 0.2212, d2.loss_plan_l1_fix_time: 0.8853, d2.loss_plan_l1_fix_dist: 0.2400, d3.loss_plan_l1_fix_time: 0.8869, d3.loss_plan_l1_fix_dist: 0.2880, d4.loss_plan_l1_fix_time: 0.8894, d4.loss_plan_l1_fix_dist: 0.2546, d5.loss_plan_l1_fix_time: 0.8927, d5.loss_plan_l1_fix_dist: 0.2528, d6.loss_plan_l1_fix_time: 0.8962, d6.loss_plan_l1_fix_dist: 0.2858, d0.loss_cls_all: 0.1675, d0.loss_bbox_all: 0.3777, d0.loss_cls: 0.1675, d0.loss_bbox: 0.3777, d1.loss_cls: 0.1610, d1.loss_bbox: 0.3476, d2.loss_cls: 0.1507, d2.loss_bbox: 0.3262, d3.loss_cls: 0.1352, d3.loss_bbox: 0.3192, d4.loss_cls: 0.1255, d4.loss_bbox: 0.3179, d5.loss_cls: 0.1243, d5.loss_bbox: 0.3159, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8050, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6283, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5724, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5582, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5504, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5496, d0.loss_map_cls_all: 0.1976, d0.loss_map_pts_all: 1.1200, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1976, d0.loss_map_pts: 1.1200, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1660, d1.loss_map_pts: 0.8111, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1404, d2.loss_map_pts: 0.6391, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1271, d3.loss_map_pts: 0.5687, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1190, d4.loss_map_pts: 0.5447, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1144, d5.loss_map_pts: 0.5384, d5.loss_map_dir: 0.0066, loss: 24.9034, grad_norm: 164.5679 +2026-02-28 06:26:47,628 - DriveTransformer - INFO - Epoch [9][18650/39528] lr: 7.525e-05, eta: 5 days, 4:35:18, time: 0.720, data_time: 0.036, memory: 19865, loss_cls: 0.1024, loss_bbox: 0.2804, loss_traj: 0.5611, loss_traj_cls: 0.0021, loss_map_cls: 0.0944, loss_map_pts: 0.4877, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.5482, d0.loss_plan_l1_fix_dist: 0.4283, d1.loss_plan_l1_fix_time: 0.7640, d1.loss_plan_l1_fix_dist: 0.2200, d2.loss_plan_l1_fix_time: 0.7528, d2.loss_plan_l1_fix_dist: 0.2519, d3.loss_plan_l1_fix_time: 0.7483, d3.loss_plan_l1_fix_dist: 0.2699, d4.loss_plan_l1_fix_time: 0.7498, d4.loss_plan_l1_fix_dist: 0.2458, d5.loss_plan_l1_fix_time: 0.7521, d5.loss_plan_l1_fix_dist: 0.2264, d6.loss_plan_l1_fix_time: 0.7547, d6.loss_plan_l1_fix_dist: 0.2352, d0.loss_cls_all: 0.1340, d0.loss_bbox_all: 0.3438, d0.loss_cls: 0.1340, d0.loss_bbox: 0.3438, d1.loss_cls: 0.1312, d1.loss_bbox: 0.3128, d2.loss_cls: 0.1222, d2.loss_bbox: 0.2922, d3.loss_cls: 0.1091, d3.loss_bbox: 0.2846, d4.loss_cls: 0.1042, d4.loss_bbox: 0.2816, d5.loss_cls: 0.1032, d5.loss_bbox: 0.2803, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8019, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6457, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5931, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5697, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5651, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5664, d0.loss_map_cls_all: 0.1676, d0.loss_map_pts_all: 1.0341, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1676, d0.loss_map_pts: 1.0341, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1364, d1.loss_map_pts: 0.7297, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1158, d2.loss_map_pts: 0.5800, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1057, d3.loss_map_pts: 0.5190, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1001, d4.loss_map_pts: 0.4971, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0965, d5.loss_map_pts: 0.4874, d5.loss_map_dir: 0.0058, loss: 23.0164, grad_norm: 163.5367 +2026-02-28 06:27:23,756 - DriveTransformer - INFO - Epoch [9][18700/39528] lr: 7.525e-05, eta: 5 days, 4:34:39, time: 0.723, data_time: 0.037, memory: 19865, loss_cls: 0.1344, loss_bbox: 0.3204, loss_traj: 0.5282, loss_traj_cls: 0.0020, loss_map_cls: 0.1433, loss_map_pts: 0.6544, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.5612, d0.loss_plan_l1_fix_dist: 0.3719, d1.loss_plan_l1_fix_time: 0.9088, d1.loss_plan_l1_fix_dist: 0.1825, d2.loss_plan_l1_fix_time: 0.8966, d2.loss_plan_l1_fix_dist: 0.2191, d3.loss_plan_l1_fix_time: 0.8954, d3.loss_plan_l1_fix_dist: 0.2075, d4.loss_plan_l1_fix_time: 0.8966, d4.loss_plan_l1_fix_dist: 0.2079, d5.loss_plan_l1_fix_time: 0.8985, d5.loss_plan_l1_fix_dist: 0.1994, d6.loss_plan_l1_fix_time: 0.9008, d6.loss_plan_l1_fix_dist: 0.2102, d0.loss_cls_all: 0.1839, d0.loss_bbox_all: 0.3912, d0.loss_cls: 0.1839, d0.loss_bbox: 0.3912, d1.loss_cls: 0.1760, d1.loss_bbox: 0.3563, d2.loss_cls: 0.1622, d2.loss_bbox: 0.3353, d3.loss_cls: 0.1407, d3.loss_bbox: 0.3279, d4.loss_cls: 0.1351, d4.loss_bbox: 0.3244, d5.loss_cls: 0.1331, d5.loss_bbox: 0.3227, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7271, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5887, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5439, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5310, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5312, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5286, d0.loss_map_cls_all: 0.2297, d0.loss_map_pts_all: 1.3399, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2297, d0.loss_map_pts: 1.3399, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1925, d1.loss_map_pts: 0.9670, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1701, d2.loss_map_pts: 0.7695, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1606, d3.loss_map_pts: 0.6889, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1531, d4.loss_map_pts: 0.6614, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1460, d5.loss_map_pts: 0.6563, d5.loss_map_dir: 0.0086, loss: 26.1297, grad_norm: 159.8528 +2026-02-28 06:28:00,344 - DriveTransformer - INFO - Epoch [9][18750/39528] lr: 7.525e-05, eta: 5 days, 4:34:03, time: 0.732, data_time: 0.040, memory: 19865, loss_cls: 0.1293, loss_bbox: 0.3285, loss_traj: 0.5751, loss_traj_cls: 0.0020, loss_map_cls: 0.1444, loss_map_pts: 0.6304, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.6660, d0.loss_plan_l1_fix_dist: 0.4076, d1.loss_plan_l1_fix_time: 0.9333, d1.loss_plan_l1_fix_dist: 0.2232, d2.loss_plan_l1_fix_time: 0.9232, d2.loss_plan_l1_fix_dist: 0.2344, d3.loss_plan_l1_fix_time: 0.9239, d3.loss_plan_l1_fix_dist: 0.2201, d4.loss_plan_l1_fix_time: 0.9267, d4.loss_plan_l1_fix_dist: 0.2214, d5.loss_plan_l1_fix_time: 0.9301, d5.loss_plan_l1_fix_dist: 0.2198, d6.loss_plan_l1_fix_time: 0.9340, d6.loss_plan_l1_fix_dist: 0.2350, d0.loss_cls_all: 0.1752, d0.loss_bbox_all: 0.3917, d0.loss_cls: 0.1752, d0.loss_bbox: 0.3917, d1.loss_cls: 0.1644, d1.loss_bbox: 0.3571, d2.loss_cls: 0.1487, d2.loss_bbox: 0.3371, d3.loss_cls: 0.1340, d3.loss_bbox: 0.3304, d4.loss_cls: 0.1278, d4.loss_bbox: 0.3302, d5.loss_cls: 0.1298, d5.loss_bbox: 0.3274, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8818, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6660, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5939, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5797, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5758, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5735, d0.loss_map_cls_all: 0.2403, d0.loss_map_pts_all: 1.2905, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2403, d0.loss_map_pts: 1.2905, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.2014, d1.loss_map_pts: 0.9432, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1736, d2.loss_map_pts: 0.7553, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1617, d3.loss_map_pts: 0.6758, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1538, d4.loss_map_pts: 0.6451, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1468, d5.loss_map_pts: 0.6309, d5.loss_map_dir: 0.0067, loss: 26.8055, grad_norm: 160.8518 +2026-02-28 06:28:36,424 - DriveTransformer - INFO - Epoch [9][18800/39528] lr: 7.525e-05, eta: 5 days, 4:33:23, time: 0.722, data_time: 0.038, memory: 19865, loss_cls: 0.1139, loss_bbox: 0.3113, loss_traj: 0.5883, loss_traj_cls: 0.0020, loss_map_cls: 0.1059, loss_map_pts: 0.4895, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.6586, d0.loss_plan_l1_fix_dist: 0.4064, d1.loss_plan_l1_fix_time: 0.8040, d1.loss_plan_l1_fix_dist: 0.2258, d2.loss_plan_l1_fix_time: 0.7898, d2.loss_plan_l1_fix_dist: 0.2136, d3.loss_plan_l1_fix_time: 0.7878, d3.loss_plan_l1_fix_dist: 0.2069, d4.loss_plan_l1_fix_time: 0.7902, d4.loss_plan_l1_fix_dist: 0.1852, d5.loss_plan_l1_fix_time: 0.7932, d5.loss_plan_l1_fix_dist: 0.1991, d6.loss_plan_l1_fix_time: 0.7969, d6.loss_plan_l1_fix_dist: 0.2392, d0.loss_cls_all: 0.1489, d0.loss_bbox_all: 0.3771, d0.loss_cls: 0.1489, d0.loss_bbox: 0.3771, d1.loss_cls: 0.1452, d1.loss_bbox: 0.3418, d2.loss_cls: 0.1337, d2.loss_bbox: 0.3199, d3.loss_cls: 0.1185, d3.loss_bbox: 0.3152, d4.loss_cls: 0.1146, d4.loss_bbox: 0.3128, d5.loss_cls: 0.1139, d5.loss_bbox: 0.3123, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8250, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6693, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6135, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5925, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5919, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5851, d0.loss_map_cls_all: 0.1720, d0.loss_map_pts_all: 1.0296, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1720, d0.loss_map_pts: 1.0296, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1458, d1.loss_map_pts: 0.7325, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1280, d2.loss_map_pts: 0.5810, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1176, d3.loss_map_pts: 0.5224, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1128, d4.loss_map_pts: 0.4981, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1071, d5.loss_map_pts: 0.4909, d5.loss_map_dir: 0.0062, loss: 23.7577, grad_norm: 159.1375 +2026-02-28 06:29:13,222 - DriveTransformer - INFO - Epoch [9][18850/39528] lr: 7.525e-05, eta: 5 days, 4:32:48, time: 0.736, data_time: 0.037, memory: 19865, loss_cls: 0.1096, loss_bbox: 0.3015, loss_traj: 0.5368, loss_traj_cls: 0.0021, loss_map_cls: 0.1004, loss_map_pts: 0.5209, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.4390, d0.loss_plan_l1_fix_dist: 0.4201, d1.loss_plan_l1_fix_time: 0.8484, d1.loss_plan_l1_fix_dist: 0.2308, d2.loss_plan_l1_fix_time: 0.8378, d2.loss_plan_l1_fix_dist: 0.2255, d3.loss_plan_l1_fix_time: 0.8381, d3.loss_plan_l1_fix_dist: 0.2230, d4.loss_plan_l1_fix_time: 0.8413, d4.loss_plan_l1_fix_dist: 0.2225, d5.loss_plan_l1_fix_time: 0.8456, d5.loss_plan_l1_fix_dist: 0.2401, d6.loss_plan_l1_fix_time: 0.8504, d6.loss_plan_l1_fix_dist: 0.2940, d0.loss_cls_all: 0.1491, d0.loss_bbox_all: 0.3571, d0.loss_cls: 0.1491, d0.loss_bbox: 0.3571, d1.loss_cls: 0.1434, d1.loss_bbox: 0.3274, d2.loss_cls: 0.1308, d2.loss_bbox: 0.3082, d3.loss_cls: 0.1165, d3.loss_bbox: 0.3046, d4.loss_cls: 0.1100, d4.loss_bbox: 0.3018, d5.loss_cls: 0.1098, d5.loss_bbox: 0.3009, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7884, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6230, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5642, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5484, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5423, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5367, d0.loss_map_cls_all: 0.1768, d0.loss_map_pts_all: 1.0787, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1768, d0.loss_map_pts: 1.0787, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1470, d1.loss_map_pts: 0.7697, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1253, d2.loss_map_pts: 0.6079, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1153, d3.loss_map_pts: 0.5466, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1082, d4.loss_map_pts: 0.5261, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1027, d5.loss_map_pts: 0.5221, d5.loss_map_dir: 0.0067, loss: 23.8359, grad_norm: 160.5859 +2026-02-28 06:29:49,444 - DriveTransformer - INFO - Epoch [9][18900/39528] lr: 7.525e-05, eta: 5 days, 4:32:10, time: 0.724, data_time: 0.037, memory: 19865, loss_cls: 0.1077, loss_bbox: 0.3019, loss_traj: 0.4939, loss_traj_cls: 0.0021, loss_map_cls: 0.1128, loss_map_pts: 0.5461, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.5018, d0.loss_plan_l1_fix_dist: 0.5612, d1.loss_plan_l1_fix_time: 0.7702, d1.loss_plan_l1_fix_dist: 0.2401, d2.loss_plan_l1_fix_time: 0.7542, d2.loss_plan_l1_fix_dist: 0.2469, d3.loss_plan_l1_fix_time: 0.7535, d3.loss_plan_l1_fix_dist: 0.2380, d4.loss_plan_l1_fix_time: 0.7559, d4.loss_plan_l1_fix_dist: 0.2444, d5.loss_plan_l1_fix_time: 0.7599, d5.loss_plan_l1_fix_dist: 0.2582, d6.loss_plan_l1_fix_time: 0.7644, d6.loss_plan_l1_fix_dist: 0.3064, d0.loss_cls_all: 0.1488, d0.loss_bbox_all: 0.3581, d0.loss_cls: 0.1488, d0.loss_bbox: 0.3581, d1.loss_cls: 0.1393, d1.loss_bbox: 0.3273, d2.loss_cls: 0.1263, d2.loss_bbox: 0.3086, d3.loss_cls: 0.1121, d3.loss_bbox: 0.3058, d4.loss_cls: 0.1090, d4.loss_bbox: 0.3010, d5.loss_cls: 0.1080, d5.loss_bbox: 0.3019, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6619, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5415, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5036, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4879, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4927, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4916, d0.loss_map_cls_all: 0.1868, d0.loss_map_pts_all: 1.1084, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1868, d0.loss_map_pts: 1.1084, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1652, d1.loss_map_pts: 0.7906, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1406, d2.loss_map_pts: 0.6384, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1271, d3.loss_map_pts: 0.5791, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1193, d4.loss_map_pts: 0.5547, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1147, d5.loss_map_pts: 0.5470, d5.loss_map_dir: 0.0075, loss: 23.4841, grad_norm: 163.6715 +2026-02-28 06:30:26,221 - DriveTransformer - INFO - Epoch [9][18950/39528] lr: 7.525e-05, eta: 5 days, 4:31:35, time: 0.736, data_time: 0.040, memory: 19865, loss_cls: 0.1159, loss_bbox: 0.3005, loss_traj: 0.5866, loss_traj_cls: 0.0020, loss_map_cls: 0.1117, loss_map_pts: 0.5023, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.7657, d0.loss_plan_l1_fix_dist: 0.3711, d1.loss_plan_l1_fix_time: 0.8288, d1.loss_plan_l1_fix_dist: 0.2165, d2.loss_plan_l1_fix_time: 0.8191, d2.loss_plan_l1_fix_dist: 0.2306, d3.loss_plan_l1_fix_time: 0.8190, d3.loss_plan_l1_fix_dist: 0.2088, d4.loss_plan_l1_fix_time: 0.8214, d4.loss_plan_l1_fix_dist: 0.2150, d5.loss_plan_l1_fix_time: 0.8248, d5.loss_plan_l1_fix_dist: 0.2331, d6.loss_plan_l1_fix_time: 0.8292, d6.loss_plan_l1_fix_dist: 0.2704, d0.loss_cls_all: 0.1564, d0.loss_bbox_all: 0.3604, d0.loss_cls: 0.1564, d0.loss_bbox: 0.3604, d1.loss_cls: 0.1473, d1.loss_bbox: 0.3289, d2.loss_cls: 0.1365, d2.loss_bbox: 0.3085, d3.loss_cls: 0.1176, d3.loss_bbox: 0.3039, d4.loss_cls: 0.1125, d4.loss_bbox: 0.3023, d5.loss_cls: 0.1134, d5.loss_bbox: 0.3018, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8062, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6473, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6051, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5909, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5884, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5860, d0.loss_map_cls_all: 0.1753, d0.loss_map_pts_all: 1.0680, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1753, d0.loss_map_pts: 1.0680, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1505, d1.loss_map_pts: 0.7663, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1322, d2.loss_map_pts: 0.5956, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1210, d3.loss_map_pts: 0.5287, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1150, d4.loss_map_pts: 0.5064, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1123, d5.loss_map_pts: 0.5034, d5.loss_map_dir: 0.0065, loss: 24.1752, grad_norm: 163.1288 +2026-02-28 06:31:01,135 - DriveTransformer - INFO - Epoch [9][19000/39528] lr: 7.525e-05, eta: 5 days, 4:30:48, time: 0.698, data_time: 0.038, memory: 19865, loss_cls: 0.1183, loss_bbox: 0.3301, loss_traj: 0.5926, loss_traj_cls: 0.0020, loss_map_cls: 0.1013, loss_map_pts: 0.4476, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.2893, d0.loss_plan_l1_fix_dist: 0.4129, d1.loss_plan_l1_fix_time: 0.8399, d1.loss_plan_l1_fix_dist: 0.2120, d2.loss_plan_l1_fix_time: 0.8302, d2.loss_plan_l1_fix_dist: 0.2403, d3.loss_plan_l1_fix_time: 0.8228, d3.loss_plan_l1_fix_dist: 0.2103, d4.loss_plan_l1_fix_time: 0.8236, d4.loss_plan_l1_fix_dist: 0.2128, d5.loss_plan_l1_fix_time: 0.8249, d5.loss_plan_l1_fix_dist: 0.2317, d6.loss_plan_l1_fix_time: 0.8272, d6.loss_plan_l1_fix_dist: 0.2401, d0.loss_cls_all: 0.1605, d0.loss_bbox_all: 0.3871, d0.loss_cls: 0.1605, d0.loss_bbox: 0.3871, d1.loss_cls: 0.1532, d1.loss_bbox: 0.3560, d2.loss_cls: 0.1396, d2.loss_bbox: 0.3397, d3.loss_cls: 0.1272, d3.loss_bbox: 0.3337, d4.loss_cls: 0.1196, d4.loss_bbox: 0.3321, d5.loss_cls: 0.1184, d5.loss_bbox: 0.3303, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8797, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6985, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6256, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6065, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5951, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5913, d0.loss_map_cls_all: 0.1713, d0.loss_map_pts_all: 0.9231, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1713, d0.loss_map_pts: 0.9231, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1448, d1.loss_map_pts: 0.6555, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1267, d2.loss_map_pts: 0.5248, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1159, d3.loss_map_pts: 0.4695, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1072, d4.loss_map_pts: 0.4521, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1029, d5.loss_map_pts: 0.4485, d5.loss_map_dir: 0.0060, loss: 23.4404, grad_norm: 162.4690 +2026-02-28 06:31:36,761 - DriveTransformer - INFO - Epoch [9][19050/39528] lr: 7.525e-05, eta: 5 days, 4:30:06, time: 0.713, data_time: 0.037, memory: 19865, loss_cls: 0.1125, loss_bbox: 0.2986, loss_traj: 0.6009, loss_traj_cls: 0.0020, loss_map_cls: 0.1087, loss_map_pts: 0.4999, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.9965, d0.loss_plan_l1_fix_dist: 0.4392, d1.loss_plan_l1_fix_time: 0.7951, d1.loss_plan_l1_fix_dist: 0.1888, d2.loss_plan_l1_fix_time: 0.7948, d2.loss_plan_l1_fix_dist: 0.2459, d3.loss_plan_l1_fix_time: 0.7972, d3.loss_plan_l1_fix_dist: 0.2267, d4.loss_plan_l1_fix_time: 0.8001, d4.loss_plan_l1_fix_dist: 0.2176, d5.loss_plan_l1_fix_time: 0.8030, d5.loss_plan_l1_fix_dist: 0.2195, d6.loss_plan_l1_fix_time: 0.8067, d6.loss_plan_l1_fix_dist: 0.2325, d0.loss_cls_all: 0.1563, d0.loss_bbox_all: 0.3656, d0.loss_cls: 0.1563, d0.loss_bbox: 0.3656, d1.loss_cls: 0.1520, d1.loss_bbox: 0.3291, d2.loss_cls: 0.1411, d2.loss_bbox: 0.3085, d3.loss_cls: 0.1197, d3.loss_bbox: 0.3038, d4.loss_cls: 0.1139, d4.loss_bbox: 0.3014, d5.loss_cls: 0.1124, d5.loss_bbox: 0.2997, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9669, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7114, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6331, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6078, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6008, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5981, d0.loss_map_cls_all: 0.1820, d0.loss_map_pts_all: 0.9721, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1820, d0.loss_map_pts: 0.9721, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1544, d1.loss_map_pts: 0.7025, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1325, d2.loss_map_pts: 0.5751, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1213, d3.loss_map_pts: 0.5192, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1141, d4.loss_map_pts: 0.5043, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1095, d5.loss_map_pts: 0.5000, d5.loss_map_dir: 0.0058, loss: 24.3212, grad_norm: 162.3214 +2026-02-28 06:32:13,322 - DriveTransformer - INFO - Epoch [9][19100/39528] lr: 7.525e-05, eta: 5 days, 4:29:30, time: 0.731, data_time: 0.036, memory: 19865, loss_cls: 0.1209, loss_bbox: 0.2930, loss_traj: 0.5080, loss_traj_cls: 0.0020, loss_map_cls: 0.1159, loss_map_pts: 0.5590, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.9221, d0.loss_plan_l1_fix_dist: 0.4826, d1.loss_plan_l1_fix_time: 0.8072, d1.loss_plan_l1_fix_dist: 0.1810, d2.loss_plan_l1_fix_time: 0.7880, d2.loss_plan_l1_fix_dist: 0.2568, d3.loss_plan_l1_fix_time: 0.7875, d3.loss_plan_l1_fix_dist: 0.2500, d4.loss_plan_l1_fix_time: 0.7891, d4.loss_plan_l1_fix_dist: 0.2284, d5.loss_plan_l1_fix_time: 0.7914, d5.loss_plan_l1_fix_dist: 0.2232, d6.loss_plan_l1_fix_time: 0.7943, d6.loss_plan_l1_fix_dist: 0.2432, d0.loss_cls_all: 0.1550, d0.loss_bbox_all: 0.3590, d0.loss_cls: 0.1550, d0.loss_bbox: 0.3590, d1.loss_cls: 0.1471, d1.loss_bbox: 0.3236, d2.loss_cls: 0.1334, d2.loss_bbox: 0.3034, d3.loss_cls: 0.1234, d3.loss_bbox: 0.2982, d4.loss_cls: 0.1185, d4.loss_bbox: 0.2961, d5.loss_cls: 0.1199, d5.loss_bbox: 0.2944, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7405, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5962, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5424, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5283, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5137, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5071, d0.loss_map_cls_all: 0.1887, d0.loss_map_pts_all: 1.1189, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1887, d0.loss_map_pts: 1.1189, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1567, d1.loss_map_pts: 0.7936, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1382, d2.loss_map_pts: 0.6463, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1284, d3.loss_map_pts: 0.5848, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1226, d4.loss_map_pts: 0.5632, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1174, d5.loss_map_pts: 0.5598, d5.loss_map_dir: 0.0067, loss: 24.2424, grad_norm: 162.1648 +2026-02-28 06:32:49,196 - DriveTransformer - INFO - Epoch [9][19150/39528] lr: 7.525e-05, eta: 5 days, 4:28:49, time: 0.717, data_time: 0.040, memory: 19865, loss_cls: 0.1052, loss_bbox: 0.2974, loss_traj: 0.5661, loss_traj_cls: 0.0020, loss_map_cls: 0.1073, loss_map_pts: 0.5210, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.9062, d0.loss_plan_l1_fix_dist: 0.3971, d1.loss_plan_l1_fix_time: 0.9292, d1.loss_plan_l1_fix_dist: 0.1763, d2.loss_plan_l1_fix_time: 0.9116, d2.loss_plan_l1_fix_dist: 0.2679, d3.loss_plan_l1_fix_time: 0.9051, d3.loss_plan_l1_fix_dist: 0.2486, d4.loss_plan_l1_fix_time: 0.9080, d4.loss_plan_l1_fix_dist: 0.2189, d5.loss_plan_l1_fix_time: 0.9107, d5.loss_plan_l1_fix_dist: 0.2334, d6.loss_plan_l1_fix_time: 0.9131, d6.loss_plan_l1_fix_dist: 0.2865, d0.loss_cls_all: 0.1511, d0.loss_bbox_all: 0.3570, d0.loss_cls: 0.1511, d0.loss_bbox: 0.3570, d1.loss_cls: 0.1398, d1.loss_bbox: 0.3235, d2.loss_cls: 0.1270, d2.loss_bbox: 0.3078, d3.loss_cls: 0.1127, d3.loss_bbox: 0.3014, d4.loss_cls: 0.1068, d4.loss_bbox: 0.2983, d5.loss_cls: 0.1055, d5.loss_bbox: 0.2973, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7739, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6376, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5955, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5791, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5704, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5663, d0.loss_map_cls_all: 0.1837, d0.loss_map_pts_all: 1.0553, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1837, d0.loss_map_pts: 1.0553, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1526, d1.loss_map_pts: 0.7514, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1321, d2.loss_map_pts: 0.6003, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1194, d3.loss_map_pts: 0.5461, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1119, d4.loss_map_pts: 0.5278, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1084, d5.loss_map_pts: 0.5219, d5.loss_map_dir: 0.0074, loss: 24.7839, grad_norm: 163.8426 +2026-02-28 06:33:26,157 - DriveTransformer - INFO - Epoch [9][19200/39528] lr: 7.525e-05, eta: 5 days, 4:28:16, time: 0.741, data_time: 0.037, memory: 19865, loss_cls: 0.1034, loss_bbox: 0.2890, loss_traj: 0.5090, loss_traj_cls: 0.0022, loss_map_cls: 0.1083, loss_map_pts: 0.5192, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.2666, d0.loss_plan_l1_fix_dist: 0.4192, d1.loss_plan_l1_fix_time: 0.7718, d1.loss_plan_l1_fix_dist: 0.1755, d2.loss_plan_l1_fix_time: 0.7484, d2.loss_plan_l1_fix_dist: 0.2706, d3.loss_plan_l1_fix_time: 0.7322, d3.loss_plan_l1_fix_dist: 0.2525, d4.loss_plan_l1_fix_time: 0.7349, d4.loss_plan_l1_fix_dist: 0.2433, d5.loss_plan_l1_fix_time: 0.7381, d5.loss_plan_l1_fix_dist: 0.2568, d6.loss_plan_l1_fix_time: 0.7413, d6.loss_plan_l1_fix_dist: 0.3097, d0.loss_cls_all: 0.1394, d0.loss_bbox_all: 0.3458, d0.loss_cls: 0.1394, d0.loss_bbox: 0.3458, d1.loss_cls: 0.1312, d1.loss_bbox: 0.3163, d2.loss_cls: 0.1222, d2.loss_bbox: 0.2993, d3.loss_cls: 0.1102, d3.loss_bbox: 0.2929, d4.loss_cls: 0.1049, d4.loss_bbox: 0.2903, d5.loss_cls: 0.1037, d5.loss_bbox: 0.2887, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7170, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5700, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5271, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5208, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5169, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5138, d0.loss_map_cls_all: 0.1897, d0.loss_map_pts_all: 1.1135, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1897, d0.loss_map_pts: 1.1135, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1543, d1.loss_map_pts: 0.7766, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1300, d2.loss_map_pts: 0.6085, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1181, d3.loss_map_pts: 0.5505, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1134, d4.loss_map_pts: 0.5303, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1094, d5.loss_map_pts: 0.5206, d5.loss_map_dir: 0.0068, loss: 22.8654, grad_norm: 160.2512 +2026-02-28 06:34:01,089 - DriveTransformer - INFO - Epoch [9][19250/39528] lr: 7.525e-05, eta: 5 days, 4:27:29, time: 0.697, data_time: 0.035, memory: 19865, loss_cls: 0.1128, loss_bbox: 0.3128, loss_traj: 0.5293, loss_traj_cls: 0.0020, loss_map_cls: 0.1410, loss_map_pts: 0.6009, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.5997, d0.loss_plan_l1_fix_dist: 0.3062, d1.loss_plan_l1_fix_time: 0.8005, d1.loss_plan_l1_fix_dist: 0.1561, d2.loss_plan_l1_fix_time: 0.7838, d2.loss_plan_l1_fix_dist: 0.2623, d3.loss_plan_l1_fix_time: 0.7850, d3.loss_plan_l1_fix_dist: 0.2241, d4.loss_plan_l1_fix_time: 0.7882, d4.loss_plan_l1_fix_dist: 0.2149, d5.loss_plan_l1_fix_time: 0.7918, d5.loss_plan_l1_fix_dist: 0.2138, d6.loss_plan_l1_fix_time: 0.7952, d6.loss_plan_l1_fix_dist: 0.2364, d0.loss_cls_all: 0.1597, d0.loss_bbox_all: 0.3814, d0.loss_cls: 0.1597, d0.loss_bbox: 0.3814, d1.loss_cls: 0.1487, d1.loss_bbox: 0.3485, d2.loss_cls: 0.1375, d2.loss_bbox: 0.3268, d3.loss_cls: 0.1200, d3.loss_bbox: 0.3175, d4.loss_cls: 0.1148, d4.loss_bbox: 0.3144, d5.loss_cls: 0.1120, d5.loss_bbox: 0.3137, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7666, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5876, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5469, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5278, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5270, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5275, d0.loss_map_cls_all: 0.2155, d0.loss_map_pts_all: 1.1982, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2155, d0.loss_map_pts: 1.1982, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1844, d1.loss_map_pts: 0.8661, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1679, d2.loss_map_pts: 0.6940, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1544, d3.loss_map_pts: 0.6288, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1462, d4.loss_map_pts: 0.6070, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1434, d5.loss_map_pts: 0.6011, d5.loss_map_dir: 0.0073, loss: 24.5572, grad_norm: 157.4853 +2026-02-28 06:34:35,584 - DriveTransformer - INFO - Epoch [9][19300/39528] lr: 7.525e-05, eta: 5 days, 4:26:39, time: 0.690, data_time: 0.038, memory: 19865, loss_cls: 0.1265, loss_bbox: 0.3428, loss_traj: 0.7082, loss_traj_cls: 0.0020, loss_map_cls: 0.1136, loss_map_pts: 0.5563, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.8560, d0.loss_plan_l1_fix_dist: 0.4106, d1.loss_plan_l1_fix_time: 1.0517, d1.loss_plan_l1_fix_dist: 0.2233, d2.loss_plan_l1_fix_time: 1.0429, d2.loss_plan_l1_fix_dist: 0.3177, d3.loss_plan_l1_fix_time: 1.0438, d3.loss_plan_l1_fix_dist: 0.2627, d4.loss_plan_l1_fix_time: 1.0458, d4.loss_plan_l1_fix_dist: 0.2685, d5.loss_plan_l1_fix_time: 1.0483, d5.loss_plan_l1_fix_dist: 0.2550, d6.loss_plan_l1_fix_time: 1.0511, d6.loss_plan_l1_fix_dist: 0.2397, d0.loss_cls_all: 0.1724, d0.loss_bbox_all: 0.4083, d0.loss_cls: 0.1724, d0.loss_bbox: 0.4083, d1.loss_cls: 0.1643, d1.loss_bbox: 0.3691, d2.loss_cls: 0.1494, d2.loss_bbox: 0.3527, d3.loss_cls: 0.1344, d3.loss_bbox: 0.3462, d4.loss_cls: 0.1282, d4.loss_bbox: 0.3445, d5.loss_cls: 0.1268, d5.loss_bbox: 0.3429, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0429, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.8246, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.7468, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.7319, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.7121, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7039, d0.loss_map_cls_all: 0.1890, d0.loss_map_pts_all: 1.1528, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1890, d0.loss_map_pts: 1.1528, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1611, d1.loss_map_pts: 0.8446, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1381, d2.loss_map_pts: 0.6623, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1257, d3.loss_map_pts: 0.5906, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1208, d4.loss_map_pts: 0.5647, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1154, d5.loss_map_pts: 0.5580, d5.loss_map_dir: 0.0058, loss: 27.9633, grad_norm: 157.2543 +2026-02-28 06:35:11,447 - DriveTransformer - INFO - Epoch [9][19350/39528] lr: 7.525e-05, eta: 5 days, 4:25:59, time: 0.718, data_time: 0.042, memory: 19865, loss_cls: 0.1115, loss_bbox: 0.3036, loss_traj: 0.5372, loss_traj_cls: 0.0020, loss_map_cls: 0.1108, loss_map_pts: 0.5409, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.6167, d0.loss_plan_l1_fix_dist: 0.3862, d1.loss_plan_l1_fix_time: 0.8989, d1.loss_plan_l1_fix_dist: 0.2386, d2.loss_plan_l1_fix_time: 0.8911, d2.loss_plan_l1_fix_dist: 0.2866, d3.loss_plan_l1_fix_time: 0.8779, d3.loss_plan_l1_fix_dist: 0.1955, d4.loss_plan_l1_fix_time: 0.8774, d4.loss_plan_l1_fix_dist: 0.1990, d5.loss_plan_l1_fix_time: 0.8788, d5.loss_plan_l1_fix_dist: 0.1936, d6.loss_plan_l1_fix_time: 0.8815, d6.loss_plan_l1_fix_dist: 0.1879, d0.loss_cls_all: 0.1498, d0.loss_bbox_all: 0.3640, d0.loss_cls: 0.1498, d0.loss_bbox: 0.3640, d1.loss_cls: 0.1404, d1.loss_bbox: 0.3336, d2.loss_cls: 0.1294, d2.loss_bbox: 0.3154, d3.loss_cls: 0.1166, d3.loss_bbox: 0.3081, d4.loss_cls: 0.1142, d4.loss_bbox: 0.3041, d5.loss_cls: 0.1131, d5.loss_bbox: 0.3025, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7740, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5956, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5586, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5454, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5403, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5359, d0.loss_map_cls_all: 0.2028, d0.loss_map_pts_all: 1.1373, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2028, d0.loss_map_pts: 1.1373, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1604, d1.loss_map_pts: 0.7958, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1365, d2.loss_map_pts: 0.6280, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1250, d3.loss_map_pts: 0.5654, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1188, d4.loss_map_pts: 0.5455, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1131, d5.loss_map_pts: 0.5412, d5.loss_map_dir: 0.0071, loss: 24.4412, grad_norm: 159.4726 +2026-02-28 06:35:47,803 - DriveTransformer - INFO - Epoch [9][19400/39528] lr: 7.525e-05, eta: 5 days, 4:25:21, time: 0.727, data_time: 0.038, memory: 19865, loss_cls: 0.1215, loss_bbox: 0.3337, loss_traj: 0.4887, loss_traj_cls: 0.0021, loss_map_cls: 0.1380, loss_map_pts: 0.5994, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.7749, d0.loss_plan_l1_fix_dist: 0.4740, d1.loss_plan_l1_fix_time: 1.0471, d1.loss_plan_l1_fix_dist: 0.2915, d2.loss_plan_l1_fix_time: 1.0282, d2.loss_plan_l1_fix_dist: 0.2904, d3.loss_plan_l1_fix_time: 1.0215, d3.loss_plan_l1_fix_dist: 0.2382, d4.loss_plan_l1_fix_time: 1.0230, d4.loss_plan_l1_fix_dist: 0.2228, d5.loss_plan_l1_fix_time: 1.0260, d5.loss_plan_l1_fix_dist: 0.2271, d6.loss_plan_l1_fix_time: 1.0305, d6.loss_plan_l1_fix_dist: 0.2388, d0.loss_cls_all: 0.1655, d0.loss_bbox_all: 0.4045, d0.loss_cls: 0.1655, d0.loss_bbox: 0.4045, d1.loss_cls: 0.1575, d1.loss_bbox: 0.3690, d2.loss_cls: 0.1427, d2.loss_bbox: 0.3465, d3.loss_cls: 0.1265, d3.loss_bbox: 0.3397, d4.loss_cls: 0.1213, d4.loss_bbox: 0.3349, d5.loss_cls: 0.1217, d5.loss_bbox: 0.3335, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6988, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5529, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5183, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4975, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4892, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4875, d0.loss_map_cls_all: 0.2183, d0.loss_map_pts_all: 1.2574, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2183, d0.loss_map_pts: 1.2574, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1815, d1.loss_map_pts: 0.8759, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1620, d2.loss_map_pts: 0.6937, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1503, d3.loss_map_pts: 0.6299, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1450, d4.loss_map_pts: 0.6068, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1383, d5.loss_map_pts: 0.6016, d5.loss_map_dir: 0.0079, loss: 26.5975, grad_norm: 160.9731 +2026-02-28 06:36:25,019 - DriveTransformer - INFO - Epoch [9][19450/39528] lr: 7.525e-05, eta: 5 days, 4:24:49, time: 0.744, data_time: 0.038, memory: 19865, loss_cls: 0.1044, loss_bbox: 0.3111, loss_traj: 0.5153, loss_traj_cls: 0.0021, loss_map_cls: 0.1129, loss_map_pts: 0.5325, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.8694, d0.loss_plan_l1_fix_dist: 0.3877, d1.loss_plan_l1_fix_time: 0.8195, d1.loss_plan_l1_fix_dist: 0.3161, d2.loss_plan_l1_fix_time: 0.7947, d2.loss_plan_l1_fix_dist: 0.2775, d3.loss_plan_l1_fix_time: 0.7867, d3.loss_plan_l1_fix_dist: 0.2518, d4.loss_plan_l1_fix_time: 0.7875, d4.loss_plan_l1_fix_dist: 0.2096, d5.loss_plan_l1_fix_time: 0.7895, d5.loss_plan_l1_fix_dist: 0.2082, d6.loss_plan_l1_fix_time: 0.7927, d6.loss_plan_l1_fix_dist: 0.2126, d0.loss_cls_all: 0.1478, d0.loss_bbox_all: 0.3765, d0.loss_cls: 0.1478, d0.loss_bbox: 0.3765, d1.loss_cls: 0.1370, d1.loss_bbox: 0.3413, d2.loss_cls: 0.1258, d2.loss_bbox: 0.3224, d3.loss_cls: 0.1099, d3.loss_bbox: 0.3163, d4.loss_cls: 0.1064, d4.loss_bbox: 0.3120, d5.loss_cls: 0.1045, d5.loss_bbox: 0.3112, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7190, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5660, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5452, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5272, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5175, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5168, d0.loss_map_cls_all: 0.1971, d0.loss_map_pts_all: 1.1029, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1971, d0.loss_map_pts: 1.1029, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1621, d1.loss_map_pts: 0.7847, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1388, d2.loss_map_pts: 0.6217, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1265, d3.loss_map_pts: 0.5625, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1195, d4.loss_map_pts: 0.5391, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1148, d5.loss_map_pts: 0.5312, d5.loss_map_dir: 0.0069, loss: 24.0696, grad_norm: 159.9447 +2026-02-28 06:37:01,872 - DriveTransformer - INFO - Epoch [9][19500/39528] lr: 7.525e-05, eta: 5 days, 4:24:14, time: 0.737, data_time: 0.037, memory: 19865, loss_cls: 0.1058, loss_bbox: 0.2804, loss_traj: 0.4377, loss_traj_cls: 0.0021, loss_map_cls: 0.0972, loss_map_pts: 0.5174, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.4620, d0.loss_plan_l1_fix_dist: 0.4508, d1.loss_plan_l1_fix_time: 0.7954, d1.loss_plan_l1_fix_dist: 0.3334, d2.loss_plan_l1_fix_time: 0.7742, d2.loss_plan_l1_fix_dist: 0.2496, d3.loss_plan_l1_fix_time: 0.7358, d3.loss_plan_l1_fix_dist: 0.2772, d4.loss_plan_l1_fix_time: 0.7356, d4.loss_plan_l1_fix_dist: 0.2171, d5.loss_plan_l1_fix_time: 0.7381, d5.loss_plan_l1_fix_dist: 0.1967, d6.loss_plan_l1_fix_time: 0.7411, d6.loss_plan_l1_fix_dist: 0.1942, d0.loss_cls_all: 0.1466, d0.loss_bbox_all: 0.3364, d0.loss_cls: 0.1466, d0.loss_bbox: 0.3364, d1.loss_cls: 0.1396, d1.loss_bbox: 0.3094, d2.loss_cls: 0.1269, d2.loss_bbox: 0.2902, d3.loss_cls: 0.1123, d3.loss_bbox: 0.2853, d4.loss_cls: 0.1065, d4.loss_bbox: 0.2831, d5.loss_cls: 0.1053, d5.loss_bbox: 0.2825, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6122, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4978, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4515, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4423, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4417, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4394, d0.loss_map_cls_all: 0.1762, d0.loss_map_pts_all: 1.1356, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1762, d0.loss_map_pts: 1.1356, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1368, d1.loss_map_pts: 0.7887, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1174, d2.loss_map_pts: 0.6083, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1087, d3.loss_map_pts: 0.5471, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1036, d4.loss_map_pts: 0.5255, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.0992, d5.loss_map_pts: 0.5193, d5.loss_map_dir: 0.0069, loss: 22.4713, grad_norm: 156.1764 +2026-02-28 06:37:38,101 - DriveTransformer - INFO - Epoch [9][19550/39528] lr: 7.525e-05, eta: 5 days, 4:23:36, time: 0.725, data_time: 0.037, memory: 19865, loss_cls: 0.0917, loss_bbox: 0.2924, loss_traj: 0.4340, loss_traj_cls: 0.0021, loss_map_cls: 0.1102, loss_map_pts: 0.5308, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.2926, d0.loss_plan_l1_fix_dist: 0.4873, d1.loss_plan_l1_fix_time: 0.8005, d1.loss_plan_l1_fix_dist: 0.3617, d2.loss_plan_l1_fix_time: 0.7795, d2.loss_plan_l1_fix_dist: 0.2509, d3.loss_plan_l1_fix_time: 0.7675, d3.loss_plan_l1_fix_dist: 0.3251, d4.loss_plan_l1_fix_time: 0.7686, d4.loss_plan_l1_fix_dist: 0.2483, d5.loss_plan_l1_fix_time: 0.7714, d5.loss_plan_l1_fix_dist: 0.2131, d6.loss_plan_l1_fix_time: 0.7750, d6.loss_plan_l1_fix_dist: 0.2241, d0.loss_cls_all: 0.1294, d0.loss_bbox_all: 0.3482, d0.loss_cls: 0.1294, d0.loss_bbox: 0.3482, d1.loss_cls: 0.1239, d1.loss_bbox: 0.3194, d2.loss_cls: 0.1106, d2.loss_bbox: 0.3002, d3.loss_cls: 0.0949, d3.loss_bbox: 0.2950, d4.loss_cls: 0.0918, d4.loss_bbox: 0.2930, d5.loss_cls: 0.0925, d5.loss_bbox: 0.2915, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6275, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5103, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4609, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4419, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4392, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4340, d0.loss_map_cls_all: 0.1772, d0.loss_map_pts_all: 1.1266, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1772, d0.loss_map_pts: 1.1266, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1476, d1.loss_map_pts: 0.7722, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1287, d2.loss_map_pts: 0.6122, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1206, d3.loss_map_pts: 0.5564, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1146, d4.loss_map_pts: 0.5357, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1110, d5.loss_map_pts: 0.5319, d5.loss_map_dir: 0.0064, loss: 22.7018, grad_norm: 152.9094 +2026-02-28 06:38:15,026 - DriveTransformer - INFO - Epoch [9][19600/39528] lr: 7.525e-05, eta: 5 days, 4:23:02, time: 0.738, data_time: 0.037, memory: 19865, loss_cls: 0.1013, loss_bbox: 0.2972, loss_traj: 0.5235, loss_traj_cls: 0.0020, loss_map_cls: 0.1157, loss_map_pts: 0.5542, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.3050, d0.loss_plan_l1_fix_dist: 0.4615, d1.loss_plan_l1_fix_time: 0.9768, d1.loss_plan_l1_fix_dist: 0.4030, d2.loss_plan_l1_fix_time: 0.9806, d2.loss_plan_l1_fix_dist: 0.2747, d3.loss_plan_l1_fix_time: 0.9680, d3.loss_plan_l1_fix_dist: 0.3247, d4.loss_plan_l1_fix_time: 0.9722, d4.loss_plan_l1_fix_dist: 0.2526, d5.loss_plan_l1_fix_time: 0.9764, d5.loss_plan_l1_fix_dist: 0.2247, d6.loss_plan_l1_fix_time: 0.9816, d6.loss_plan_l1_fix_dist: 0.2380, d0.loss_cls_all: 0.1455, d0.loss_bbox_all: 0.3677, d0.loss_cls: 0.1455, d0.loss_bbox: 0.3677, d1.loss_cls: 0.1351, d1.loss_bbox: 0.3352, d2.loss_cls: 0.1213, d2.loss_bbox: 0.3131, d3.loss_cls: 0.1057, d3.loss_bbox: 0.3045, d4.loss_cls: 0.1018, d4.loss_bbox: 0.2993, d5.loss_cls: 0.1011, d5.loss_bbox: 0.2984, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7446, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6073, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5575, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5471, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5323, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5322, d0.loss_map_cls_all: 0.2001, d0.loss_map_pts_all: 1.2049, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2001, d0.loss_map_pts: 1.2049, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1608, d1.loss_map_pts: 0.8316, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1416, d2.loss_map_pts: 0.6534, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1299, d3.loss_map_pts: 0.5843, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1220, d4.loss_map_pts: 0.5617, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1179, d5.loss_map_pts: 0.5553, d5.loss_map_dir: 0.0069, loss: 25.3223, grad_norm: 152.8431 +2026-02-28 06:38:50,538 - DriveTransformer - INFO - Epoch [9][19650/39528] lr: 7.525e-05, eta: 5 days, 4:22:19, time: 0.710, data_time: 0.038, memory: 19865, loss_cls: 0.1190, loss_bbox: 0.3131, loss_traj: 0.5462, loss_traj_cls: 0.0020, loss_map_cls: 0.1310, loss_map_pts: 0.5916, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.7067, d0.loss_plan_l1_fix_dist: 0.3798, d1.loss_plan_l1_fix_time: 0.9206, d1.loss_plan_l1_fix_dist: 0.4071, d2.loss_plan_l1_fix_time: 0.9059, d2.loss_plan_l1_fix_dist: 0.2897, d3.loss_plan_l1_fix_time: 0.9014, d3.loss_plan_l1_fix_dist: 0.2878, d4.loss_plan_l1_fix_time: 0.9053, d4.loss_plan_l1_fix_dist: 0.2196, d5.loss_plan_l1_fix_time: 0.9097, d5.loss_plan_l1_fix_dist: 0.2068, d6.loss_plan_l1_fix_time: 0.9151, d6.loss_plan_l1_fix_dist: 0.2251, d0.loss_cls_all: 0.1646, d0.loss_bbox_all: 0.3806, d0.loss_cls: 0.1646, d0.loss_bbox: 0.3806, d1.loss_cls: 0.1540, d1.loss_bbox: 0.3446, d2.loss_cls: 0.1397, d2.loss_bbox: 0.3217, d3.loss_cls: 0.1272, d3.loss_bbox: 0.3150, d4.loss_cls: 0.1187, d4.loss_bbox: 0.3159, d5.loss_cls: 0.1193, d5.loss_bbox: 0.3127, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7998, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6297, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5870, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5658, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5593, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5497, d0.loss_map_cls_all: 0.2168, d0.loss_map_pts_all: 1.2187, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2168, d0.loss_map_pts: 1.2187, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1795, d1.loss_map_pts: 0.8736, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1558, d2.loss_map_pts: 0.6967, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1447, d3.loss_map_pts: 0.6227, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1376, d4.loss_map_pts: 0.5984, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1333, d5.loss_map_pts: 0.5926, d5.loss_map_dir: 0.0073, loss: 26.0018, grad_norm: 153.7381 +2026-02-28 06:39:27,712 - DriveTransformer - INFO - Epoch [9][19700/39528] lr: 7.525e-05, eta: 5 days, 4:21:46, time: 0.743, data_time: 0.039, memory: 19865, loss_cls: 0.1076, loss_bbox: 0.3141, loss_traj: 0.5600, loss_traj_cls: 0.0021, loss_map_cls: 0.1178, loss_map_pts: 0.5925, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.4402, d0.loss_plan_l1_fix_dist: 0.4480, d1.loss_plan_l1_fix_time: 1.0072, d1.loss_plan_l1_fix_dist: 0.3958, d2.loss_plan_l1_fix_time: 0.9761, d2.loss_plan_l1_fix_dist: 0.3195, d3.loss_plan_l1_fix_time: 0.9568, d3.loss_plan_l1_fix_dist: 0.2886, d4.loss_plan_l1_fix_time: 0.9574, d4.loss_plan_l1_fix_dist: 0.2414, d5.loss_plan_l1_fix_time: 0.9603, d5.loss_plan_l1_fix_dist: 0.2518, d6.loss_plan_l1_fix_time: 0.9642, d6.loss_plan_l1_fix_dist: 0.2381, d0.loss_cls_all: 0.1516, d0.loss_bbox_all: 0.3669, d0.loss_cls: 0.1516, d0.loss_bbox: 0.3669, d1.loss_cls: 0.1446, d1.loss_bbox: 0.3398, d2.loss_cls: 0.1311, d2.loss_bbox: 0.3224, d3.loss_cls: 0.1165, d3.loss_bbox: 0.3140, d4.loss_cls: 0.1112, d4.loss_bbox: 0.3112, d5.loss_cls: 0.1093, d5.loss_bbox: 0.3118, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7510, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6332, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5795, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5706, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5659, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5632, d0.loss_map_cls_all: 0.2079, d0.loss_map_pts_all: 1.2309, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2079, d0.loss_map_pts: 1.2309, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1744, d1.loss_map_pts: 0.8879, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1480, d2.loss_map_pts: 0.6978, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1324, d3.loss_map_pts: 0.6287, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1235, d4.loss_map_pts: 0.6019, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1195, d5.loss_map_pts: 0.5946, d5.loss_map_dir: 0.0078, loss: 26.1044, grad_norm: 153.0521 +2026-02-28 06:40:03,516 - DriveTransformer - INFO - Epoch [9][19750/39528] lr: 7.525e-05, eta: 5 days, 4:21:05, time: 0.716, data_time: 0.040, memory: 19865, loss_cls: 0.1068, loss_bbox: 0.3142, loss_traj: 0.7009, loss_traj_cls: 0.0020, loss_map_cls: 0.1055, loss_map_pts: 0.5088, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.8438, d0.loss_plan_l1_fix_dist: 0.4570, d1.loss_plan_l1_fix_time: 0.9500, d1.loss_plan_l1_fix_dist: 0.3592, d2.loss_plan_l1_fix_time: 0.9142, d2.loss_plan_l1_fix_dist: 0.2930, d3.loss_plan_l1_fix_time: 0.9033, d3.loss_plan_l1_fix_dist: 0.2487, d4.loss_plan_l1_fix_time: 0.9040, d4.loss_plan_l1_fix_dist: 0.2187, d5.loss_plan_l1_fix_time: 0.9062, d5.loss_plan_l1_fix_dist: 0.2303, d6.loss_plan_l1_fix_time: 0.9086, d6.loss_plan_l1_fix_dist: 0.2123, d0.loss_cls_all: 0.1484, d0.loss_bbox_all: 0.3745, d0.loss_cls: 0.1484, d0.loss_bbox: 0.3745, d1.loss_cls: 0.1400, d1.loss_bbox: 0.3423, d2.loss_cls: 0.1304, d2.loss_bbox: 0.3222, d3.loss_cls: 0.1121, d3.loss_bbox: 0.3157, d4.loss_cls: 0.1093, d4.loss_bbox: 0.3138, d5.loss_cls: 0.1077, d5.loss_bbox: 0.3136, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9744, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7546, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.7034, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.7053, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.7066, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7014, d0.loss_map_cls_all: 0.1773, d0.loss_map_pts_all: 1.0435, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1773, d0.loss_map_pts: 1.0435, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1473, d1.loss_map_pts: 0.7474, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1273, d2.loss_map_pts: 0.5916, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1188, d3.loss_map_pts: 0.5406, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1117, d4.loss_map_pts: 0.5187, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1055, d5.loss_map_pts: 0.5100, d5.loss_map_dir: 0.0055, loss: 25.8935, grad_norm: 149.3438 +2026-02-28 06:40:41,311 - DriveTransformer - INFO - Epoch [9][19800/39528] lr: 7.525e-05, eta: 5 days, 4:20:36, time: 0.756, data_time: 0.037, memory: 19865, loss_cls: 0.1184, loss_bbox: 0.3074, loss_traj: 0.5163, loss_traj_cls: 0.0020, loss_map_cls: 0.0939, loss_map_pts: 0.5465, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.7314, d0.loss_plan_l1_fix_dist: 0.3734, d1.loss_plan_l1_fix_time: 0.8833, d1.loss_plan_l1_fix_dist: 0.2844, d2.loss_plan_l1_fix_time: 0.8586, d2.loss_plan_l1_fix_dist: 0.2370, d3.loss_plan_l1_fix_time: 0.8539, d3.loss_plan_l1_fix_dist: 0.1995, d4.loss_plan_l1_fix_time: 0.8562, d4.loss_plan_l1_fix_dist: 0.1741, d5.loss_plan_l1_fix_time: 0.8590, d5.loss_plan_l1_fix_dist: 0.1823, d6.loss_plan_l1_fix_time: 0.8622, d6.loss_plan_l1_fix_dist: 0.2111, d0.loss_cls_all: 0.1509, d0.loss_bbox_all: 0.3724, d0.loss_cls: 0.1509, d0.loss_bbox: 0.3724, d1.loss_cls: 0.1449, d1.loss_bbox: 0.3390, d2.loss_cls: 0.1365, d2.loss_bbox: 0.3185, d3.loss_cls: 0.1255, d3.loss_bbox: 0.3102, d4.loss_cls: 0.1204, d4.loss_bbox: 0.3082, d5.loss_cls: 0.1202, d5.loss_bbox: 0.3074, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7065, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5731, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5372, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5264, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5230, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5209, d0.loss_map_cls_all: 0.1744, d0.loss_map_pts_all: 1.2006, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1744, d0.loss_map_pts: 1.2006, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1396, d1.loss_map_pts: 0.8106, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1186, d2.loss_map_pts: 0.6339, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1083, d3.loss_map_pts: 0.5762, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1016, d4.loss_map_pts: 0.5563, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.0961, d5.loss_map_pts: 0.5486, d5.loss_map_dir: 0.0080, loss: 24.3229, grad_norm: 147.8382 +2026-02-28 06:41:18,889 - DriveTransformer - INFO - Epoch [9][19850/39528] lr: 7.525e-05, eta: 5 days, 4:20:06, time: 0.752, data_time: 0.037, memory: 19865, loss_cls: 0.1081, loss_bbox: 0.3125, loss_traj: 0.5214, loss_traj_cls: 0.0021, loss_map_cls: 0.1111, loss_map_pts: 0.5690, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.5999, d0.loss_plan_l1_fix_dist: 0.5072, d1.loss_plan_l1_fix_time: 0.9717, d1.loss_plan_l1_fix_dist: 0.2283, d2.loss_plan_l1_fix_time: 0.9649, d2.loss_plan_l1_fix_dist: 0.2090, d3.loss_plan_l1_fix_time: 0.9411, d3.loss_plan_l1_fix_dist: 0.2007, d4.loss_plan_l1_fix_time: 0.9449, d4.loss_plan_l1_fix_dist: 0.1818, d5.loss_plan_l1_fix_time: 0.9487, d5.loss_plan_l1_fix_dist: 0.1991, d6.loss_plan_l1_fix_time: 0.9536, d6.loss_plan_l1_fix_dist: 0.2207, d0.loss_cls_all: 0.1508, d0.loss_bbox_all: 0.3649, d0.loss_cls: 0.1508, d0.loss_bbox: 0.3649, d1.loss_cls: 0.1404, d1.loss_bbox: 0.3372, d2.loss_cls: 0.1293, d2.loss_bbox: 0.3223, d3.loss_cls: 0.1149, d3.loss_bbox: 0.3147, d4.loss_cls: 0.1080, d4.loss_bbox: 0.3142, d5.loss_cls: 0.1077, d5.loss_bbox: 0.3124, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7034, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5739, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5357, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5282, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5197, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5184, d0.loss_map_cls_all: 0.1983, d0.loss_map_pts_all: 1.2294, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.1983, d0.loss_map_pts: 1.2294, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1601, d1.loss_map_pts: 0.8450, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1347, d2.loss_map_pts: 0.6578, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1244, d3.loss_map_pts: 0.5970, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1174, d4.loss_map_pts: 0.5733, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1129, d5.loss_map_pts: 0.5696, d5.loss_map_dir: 0.0084, loss: 25.1264, grad_norm: 135.4321 +2026-02-28 06:41:55,249 - DriveTransformer - INFO - Epoch [9][19900/39528] lr: 7.525e-05, eta: 5 days, 4:19:29, time: 0.727, data_time: 0.037, memory: 19865, loss_cls: 0.1145, loss_bbox: 0.3101, loss_traj: 0.5128, loss_traj_cls: 0.0020, loss_map_cls: 0.1483, loss_map_pts: 0.6100, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.3776, d0.loss_plan_l1_fix_dist: 0.4570, d1.loss_plan_l1_fix_time: 0.8948, d1.loss_plan_l1_fix_dist: 0.2282, d2.loss_plan_l1_fix_time: 0.8846, d2.loss_plan_l1_fix_dist: 0.2392, d3.loss_plan_l1_fix_time: 0.8730, d3.loss_plan_l1_fix_dist: 0.2582, d4.loss_plan_l1_fix_time: 0.8763, d4.loss_plan_l1_fix_dist: 0.2374, d5.loss_plan_l1_fix_time: 0.8803, d5.loss_plan_l1_fix_dist: 0.2283, d6.loss_plan_l1_fix_time: 0.8856, d6.loss_plan_l1_fix_dist: 0.2452, d0.loss_cls_all: 0.1581, d0.loss_bbox_all: 0.3764, d0.loss_cls: 0.1581, d0.loss_bbox: 0.3764, d1.loss_cls: 0.1462, d1.loss_bbox: 0.3421, d2.loss_cls: 0.1329, d2.loss_bbox: 0.3207, d3.loss_cls: 0.1227, d3.loss_bbox: 0.3141, d4.loss_cls: 0.1167, d4.loss_bbox: 0.3109, d5.loss_cls: 0.1152, d5.loss_bbox: 0.3092, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7475, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5998, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5335, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5178, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5078, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5102, d0.loss_map_cls_all: 0.2331, d0.loss_map_pts_all: 1.2360, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2331, d0.loss_map_pts: 1.2360, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.2017, d1.loss_map_pts: 0.8914, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1735, d2.loss_map_pts: 0.7211, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1613, d3.loss_map_pts: 0.6543, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1548, d4.loss_map_pts: 0.6233, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1505, d5.loss_map_pts: 0.6116, d5.loss_map_dir: 0.0077, loss: 25.3234, grad_norm: 137.9004 +2026-02-28 06:42:32,484 - DriveTransformer - INFO - Epoch [9][19950/39528] lr: 7.525e-05, eta: 5 days, 4:18:57, time: 0.745, data_time: 0.039, memory: 19865, loss_cls: 0.1041, loss_bbox: 0.3273, loss_traj: 0.4969, loss_traj_cls: 0.0021, loss_map_cls: 0.1201, loss_map_pts: 0.6020, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.6504, d0.loss_plan_l1_fix_dist: 0.4427, d1.loss_plan_l1_fix_time: 0.8123, d1.loss_plan_l1_fix_dist: 0.2122, d2.loss_plan_l1_fix_time: 0.7916, d2.loss_plan_l1_fix_dist: 0.2444, d3.loss_plan_l1_fix_time: 0.7884, d3.loss_plan_l1_fix_dist: 0.2720, d4.loss_plan_l1_fix_time: 0.7922, d4.loss_plan_l1_fix_dist: 0.2058, d5.loss_plan_l1_fix_time: 0.7973, d5.loss_plan_l1_fix_dist: 0.2167, d6.loss_plan_l1_fix_time: 0.8036, d6.loss_plan_l1_fix_dist: 0.1989, d0.loss_cls_all: 0.1573, d0.loss_bbox_all: 0.3849, d0.loss_cls: 0.1573, d0.loss_bbox: 0.3849, d1.loss_cls: 0.1465, d1.loss_bbox: 0.3542, d2.loss_cls: 0.1311, d2.loss_bbox: 0.3354, d3.loss_cls: 0.1100, d3.loss_bbox: 0.3305, d4.loss_cls: 0.1055, d4.loss_bbox: 0.3259, d5.loss_cls: 0.1037, d5.loss_bbox: 0.3255, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6941, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5565, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5132, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4938, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4946, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4938, d0.loss_map_cls_all: 0.2018, d0.loss_map_pts_all: 1.2540, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2018, d0.loss_map_pts: 1.2540, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1668, d1.loss_map_pts: 0.8748, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1453, d2.loss_map_pts: 0.7028, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1338, d3.loss_map_pts: 0.6365, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1255, d4.loss_map_pts: 0.6115, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1213, d5.loss_map_pts: 0.6054, d5.loss_map_dir: 0.0078, loss: 24.5816, grad_norm: 134.4452 +2026-02-28 06:43:08,641 - DriveTransformer - INFO - Epoch [9][20000/39528] lr: 7.525e-05, eta: 5 days, 4:18:18, time: 0.725, data_time: 0.036, memory: 19865, loss_cls: 0.1126, loss_bbox: 0.3143, loss_traj: 0.5173, loss_traj_cls: 0.0021, loss_map_cls: 0.1113, loss_map_pts: 0.5414, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.7879, d0.loss_plan_l1_fix_dist: 0.4814, d1.loss_plan_l1_fix_time: 1.1167, d1.loss_plan_l1_fix_dist: 0.2205, d2.loss_plan_l1_fix_time: 1.0874, d2.loss_plan_l1_fix_dist: 0.2740, d3.loss_plan_l1_fix_time: 1.0773, d3.loss_plan_l1_fix_dist: 0.3112, d4.loss_plan_l1_fix_time: 1.0785, d4.loss_plan_l1_fix_dist: 0.2197, d5.loss_plan_l1_fix_time: 1.0811, d5.loss_plan_l1_fix_dist: 0.2683, d6.loss_plan_l1_fix_time: 1.0855, d6.loss_plan_l1_fix_dist: 0.2524, d0.loss_cls_all: 0.1580, d0.loss_bbox_all: 0.3760, d0.loss_cls: 0.1580, d0.loss_bbox: 0.3760, d1.loss_cls: 0.1455, d1.loss_bbox: 0.3423, d2.loss_cls: 0.1308, d2.loss_bbox: 0.3227, d3.loss_cls: 0.1164, d3.loss_bbox: 0.3164, d4.loss_cls: 0.1124, d4.loss_bbox: 0.3152, d5.loss_cls: 0.1122, d5.loss_bbox: 0.3139, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7288, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5863, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5331, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5159, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5110, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5126, d0.loss_map_cls_all: 0.1916, d0.loss_map_pts_all: 1.0973, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1916, d0.loss_map_pts: 1.0973, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1609, d1.loss_map_pts: 0.7901, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1376, d2.loss_map_pts: 0.6376, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1249, d3.loss_map_pts: 0.5803, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1176, d4.loss_map_pts: 0.5538, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1138, d5.loss_map_pts: 0.5432, d5.loss_map_dir: 0.0071, loss: 26.0219, grad_norm: 133.0939 +2026-02-28 06:43:44,423 - DriveTransformer - INFO - Epoch [9][20050/39528] lr: 7.525e-05, eta: 5 days, 4:17:37, time: 0.714, data_time: 0.038, memory: 19865, loss_cls: 0.1256, loss_bbox: 0.3282, loss_traj: 0.5724, loss_traj_cls: 0.0021, loss_map_cls: 0.1375, loss_map_pts: 0.5579, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.7170, d0.loss_plan_l1_fix_dist: 0.4493, d1.loss_plan_l1_fix_time: 0.9714, d1.loss_plan_l1_fix_dist: 0.1983, d2.loss_plan_l1_fix_time: 0.9390, d2.loss_plan_l1_fix_dist: 0.2722, d3.loss_plan_l1_fix_time: 0.9189, d3.loss_plan_l1_fix_dist: 0.3064, d4.loss_plan_l1_fix_time: 0.9201, d4.loss_plan_l1_fix_dist: 0.2333, d5.loss_plan_l1_fix_time: 0.9228, d5.loss_plan_l1_fix_dist: 0.2801, d6.loss_plan_l1_fix_time: 0.9268, d6.loss_plan_l1_fix_dist: 0.2837, d0.loss_cls_all: 0.1805, d0.loss_bbox_all: 0.3930, d0.loss_cls: 0.1805, d0.loss_bbox: 0.3930, d1.loss_cls: 0.1683, d1.loss_bbox: 0.3610, d2.loss_cls: 0.1491, d2.loss_bbox: 0.3389, d3.loss_cls: 0.1331, d3.loss_bbox: 0.3319, d4.loss_cls: 0.1258, d4.loss_bbox: 0.3298, d5.loss_cls: 0.1248, d5.loss_bbox: 0.3284, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7883, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6230, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5761, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5704, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5724, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5712, d0.loss_map_cls_all: 0.2318, d0.loss_map_pts_all: 1.1265, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2318, d0.loss_map_pts: 1.1265, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1990, d1.loss_map_pts: 0.8063, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1703, d2.loss_map_pts: 0.6490, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1549, d3.loss_map_pts: 0.5905, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1458, d4.loss_map_pts: 0.5674, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1402, d5.loss_map_pts: 0.5593, d5.loss_map_dir: 0.0070, loss: 26.0613, grad_norm: 141.7763 +2026-02-28 06:44:20,782 - DriveTransformer - INFO - Epoch [9][20100/39528] lr: 7.525e-05, eta: 5 days, 4:16:59, time: 0.727, data_time: 0.036, memory: 19865, loss_cls: 0.1267, loss_bbox: 0.3415, loss_traj: 0.5583, loss_traj_cls: 0.0021, loss_map_cls: 0.1116, loss_map_pts: 0.5515, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.8742, d0.loss_plan_l1_fix_dist: 0.5280, d1.loss_plan_l1_fix_time: 1.0332, d1.loss_plan_l1_fix_dist: 0.2374, d2.loss_plan_l1_fix_time: 0.9951, d2.loss_plan_l1_fix_dist: 0.3167, d3.loss_plan_l1_fix_time: 0.9791, d3.loss_plan_l1_fix_dist: 0.3504, d4.loss_plan_l1_fix_time: 0.9817, d4.loss_plan_l1_fix_dist: 0.2985, d5.loss_plan_l1_fix_time: 0.9860, d5.loss_plan_l1_fix_dist: 0.3273, d6.loss_plan_l1_fix_time: 0.9917, d6.loss_plan_l1_fix_dist: 0.3465, d0.loss_cls_all: 0.1799, d0.loss_bbox_all: 0.3962, d0.loss_cls: 0.1799, d0.loss_bbox: 0.3962, d1.loss_cls: 0.1693, d1.loss_bbox: 0.3678, d2.loss_cls: 0.1546, d2.loss_bbox: 0.3499, d3.loss_cls: 0.1332, d3.loss_bbox: 0.3457, d4.loss_cls: 0.1305, d4.loss_bbox: 0.3409, d5.loss_cls: 0.1279, d5.loss_bbox: 0.3400, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7372, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5976, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5615, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5607, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5559, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5589, d0.loss_map_cls_all: 0.1867, d0.loss_map_pts_all: 1.1006, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1867, d0.loss_map_pts: 1.1006, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1562, d1.loss_map_pts: 0.7843, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1374, d2.loss_map_pts: 0.6339, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1255, d3.loss_map_pts: 0.5771, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1181, d4.loss_map_pts: 0.5626, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1132, d5.loss_map_pts: 0.5521, d5.loss_map_dir: 0.0076, loss: 26.5218, grad_norm: 142.9272 +2026-02-28 06:44:57,151 - DriveTransformer - INFO - Epoch [9][20150/39528] lr: 7.525e-05, eta: 5 days, 4:16:21, time: 0.727, data_time: 0.039, memory: 19865, loss_cls: 0.1000, loss_bbox: 0.3133, loss_traj: 0.5108, loss_traj_cls: 0.0021, loss_map_cls: 0.1157, loss_map_pts: 0.5612, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.6037, d0.loss_plan_l1_fix_dist: 0.5653, d1.loss_plan_l1_fix_time: 0.9084, d1.loss_plan_l1_fix_dist: 0.2280, d2.loss_plan_l1_fix_time: 0.8759, d2.loss_plan_l1_fix_dist: 0.2831, d3.loss_plan_l1_fix_time: 0.8735, d3.loss_plan_l1_fix_dist: 0.2833, d4.loss_plan_l1_fix_time: 0.8765, d4.loss_plan_l1_fix_dist: 0.2412, d5.loss_plan_l1_fix_time: 0.8815, d5.loss_plan_l1_fix_dist: 0.2368, d6.loss_plan_l1_fix_time: 0.8877, d6.loss_plan_l1_fix_dist: 0.2691, d0.loss_cls_all: 0.1460, d0.loss_bbox_all: 0.3630, d0.loss_cls: 0.1460, d0.loss_bbox: 0.3630, d1.loss_cls: 0.1385, d1.loss_bbox: 0.3348, d2.loss_cls: 0.1259, d2.loss_bbox: 0.3171, d3.loss_cls: 0.1063, d3.loss_bbox: 0.3134, d4.loss_cls: 0.1017, d4.loss_bbox: 0.3112, d5.loss_cls: 0.1003, d5.loss_bbox: 0.3120, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6921, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5445, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5091, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5010, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5057, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5096, d0.loss_map_cls_all: 0.1842, d0.loss_map_pts_all: 1.1777, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1842, d0.loss_map_pts: 1.1777, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1556, d1.loss_map_pts: 0.8366, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1351, d2.loss_map_pts: 0.6712, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1256, d3.loss_map_pts: 0.5975, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1197, d4.loss_map_pts: 0.5700, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1175, d5.loss_map_pts: 0.5622, d5.loss_map_dir: 0.0065, loss: 24.7280, grad_norm: 144.1452 +2026-02-28 06:45:34,441 - DriveTransformer - INFO - Epoch [9][20200/39528] lr: 7.525e-05, eta: 5 days, 4:15:50, time: 0.746, data_time: 0.039, memory: 19865, loss_cls: 0.1280, loss_bbox: 0.3330, loss_traj: 0.4036, loss_traj_cls: 0.0022, loss_map_cls: 0.1197, loss_map_pts: 0.5807, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.5269, d0.loss_plan_l1_fix_dist: 0.4298, d1.loss_plan_l1_fix_time: 0.8489, d1.loss_plan_l1_fix_dist: 0.2181, d2.loss_plan_l1_fix_time: 0.8242, d2.loss_plan_l1_fix_dist: 0.2788, d3.loss_plan_l1_fix_time: 0.8133, d3.loss_plan_l1_fix_dist: 0.2507, d4.loss_plan_l1_fix_time: 0.8145, d4.loss_plan_l1_fix_dist: 0.2355, d5.loss_plan_l1_fix_time: 0.8161, d5.loss_plan_l1_fix_dist: 0.2273, d6.loss_plan_l1_fix_time: 0.8191, d6.loss_plan_l1_fix_dist: 0.2547, d0.loss_cls_all: 0.1721, d0.loss_bbox_all: 0.3913, d0.loss_cls: 0.1721, d0.loss_bbox: 0.3913, d1.loss_cls: 0.1660, d1.loss_bbox: 0.3588, d2.loss_cls: 0.1496, d2.loss_bbox: 0.3372, d3.loss_cls: 0.1340, d3.loss_bbox: 0.3337, d4.loss_cls: 0.1268, d4.loss_bbox: 0.3339, d5.loss_cls: 0.1267, d5.loss_bbox: 0.3328, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5974, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.4616, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4147, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4078, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4033, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4049, d0.loss_map_cls_all: 0.1906, d0.loss_map_pts_all: 1.1394, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1906, d0.loss_map_pts: 1.1394, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1662, d1.loss_map_pts: 0.8094, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1412, d2.loss_map_pts: 0.6586, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1302, d3.loss_map_pts: 0.6054, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1243, d4.loss_map_pts: 0.5868, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1210, d5.loss_map_pts: 0.5811, d5.loss_map_dir: 0.0078, loss: 23.7913, grad_norm: 141.5263 +2026-02-28 06:46:10,445 - DriveTransformer - INFO - Epoch [9][20250/39528] lr: 7.525e-05, eta: 5 days, 4:15:10, time: 0.720, data_time: 0.039, memory: 19865, loss_cls: 0.1202, loss_bbox: 0.3136, loss_traj: 0.5515, loss_traj_cls: 0.0022, loss_map_cls: 0.0913, loss_map_pts: 0.4810, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.4316, d0.loss_plan_l1_fix_dist: 0.4512, d1.loss_plan_l1_fix_time: 0.8754, d1.loss_plan_l1_fix_dist: 0.2153, d2.loss_plan_l1_fix_time: 0.8602, d2.loss_plan_l1_fix_dist: 0.2846, d3.loss_plan_l1_fix_time: 0.8601, d3.loss_plan_l1_fix_dist: 0.2482, d4.loss_plan_l1_fix_time: 0.8633, d4.loss_plan_l1_fix_dist: 0.2341, d5.loss_plan_l1_fix_time: 0.8673, d5.loss_plan_l1_fix_dist: 0.2594, d6.loss_plan_l1_fix_time: 0.8711, d6.loss_plan_l1_fix_dist: 0.2597, d0.loss_cls_all: 0.1566, d0.loss_bbox_all: 0.3583, d0.loss_cls: 0.1566, d0.loss_bbox: 0.3583, d1.loss_cls: 0.1500, d1.loss_bbox: 0.3320, d2.loss_cls: 0.1409, d2.loss_bbox: 0.3169, d3.loss_cls: 0.1273, d3.loss_bbox: 0.3134, d4.loss_cls: 0.1207, d4.loss_bbox: 0.3124, d5.loss_cls: 0.1202, d5.loss_bbox: 0.3117, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7670, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5981, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5665, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5579, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5519, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5564, d0.loss_map_cls_all: 0.1651, d0.loss_map_pts_all: 1.0426, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1651, d0.loss_map_pts: 1.0426, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1288, d1.loss_map_pts: 0.7133, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1118, d2.loss_map_pts: 0.5611, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1027, d3.loss_map_pts: 0.5081, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.0966, d4.loss_map_pts: 0.4866, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0933, d5.loss_map_pts: 0.4806, d5.loss_map_dir: 0.0064, loss: 23.7700, grad_norm: 144.0886 +2026-02-28 06:46:47,750 - DriveTransformer - INFO - Epoch [9][20300/39528] lr: 7.525e-05, eta: 5 days, 4:14:38, time: 0.746, data_time: 0.037, memory: 19865, loss_cls: 0.1352, loss_bbox: 0.3262, loss_traj: 0.4952, loss_traj_cls: 0.0022, loss_map_cls: 0.1328, loss_map_pts: 0.6712, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.4583, d0.loss_plan_l1_fix_dist: 0.4235, d1.loss_plan_l1_fix_time: 0.9819, d1.loss_plan_l1_fix_dist: 0.2153, d2.loss_plan_l1_fix_time: 0.9674, d2.loss_plan_l1_fix_dist: 0.2749, d3.loss_plan_l1_fix_time: 0.9627, d3.loss_plan_l1_fix_dist: 0.2347, d4.loss_plan_l1_fix_time: 0.9667, d4.loss_plan_l1_fix_dist: 0.2202, d5.loss_plan_l1_fix_time: 0.9712, d5.loss_plan_l1_fix_dist: 0.2641, d6.loss_plan_l1_fix_time: 0.9753, d6.loss_plan_l1_fix_dist: 0.2502, d0.loss_cls_all: 0.1737, d0.loss_bbox_all: 0.3877, d0.loss_cls: 0.1737, d0.loss_bbox: 0.3877, d1.loss_cls: 0.1664, d1.loss_bbox: 0.3577, d2.loss_cls: 0.1600, d2.loss_bbox: 0.3333, d3.loss_cls: 0.1457, d3.loss_bbox: 0.3239, d4.loss_cls: 0.1379, d4.loss_bbox: 0.3246, d5.loss_cls: 0.1352, d5.loss_bbox: 0.3248, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7159, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5591, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5036, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4945, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4874, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4949, d0.loss_map_cls_all: 0.2230, d0.loss_map_pts_all: 1.3668, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2230, d0.loss_map_pts: 1.3668, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1864, d1.loss_map_pts: 0.9684, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1602, d2.loss_map_pts: 0.7692, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1487, d3.loss_map_pts: 0.7006, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1406, d4.loss_map_pts: 0.6797, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1343, d5.loss_map_pts: 0.6715, d5.loss_map_dir: 0.0078, loss: 26.5222, grad_norm: 145.6145 +2026-02-28 06:47:24,701 - DriveTransformer - INFO - Epoch [9][20350/39528] lr: 7.525e-05, eta: 5 days, 4:14:04, time: 0.739, data_time: 0.038, memory: 19865, loss_cls: 0.1183, loss_bbox: 0.3025, loss_traj: 0.5264, loss_traj_cls: 0.0022, loss_map_cls: 0.1376, loss_map_pts: 0.6419, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.4914, d0.loss_plan_l1_fix_dist: 0.4947, d1.loss_plan_l1_fix_time: 0.9177, d1.loss_plan_l1_fix_dist: 0.2182, d2.loss_plan_l1_fix_time: 0.9086, d2.loss_plan_l1_fix_dist: 0.2655, d3.loss_plan_l1_fix_time: 0.9074, d3.loss_plan_l1_fix_dist: 0.2215, d4.loss_plan_l1_fix_time: 0.9124, d4.loss_plan_l1_fix_dist: 0.2166, d5.loss_plan_l1_fix_time: 0.9177, d5.loss_plan_l1_fix_dist: 0.2684, d6.loss_plan_l1_fix_time: 0.9221, d6.loss_plan_l1_fix_dist: 0.2475, d0.loss_cls_all: 0.1547, d0.loss_bbox_all: 0.3603, d0.loss_cls: 0.1547, d0.loss_bbox: 0.3603, d1.loss_cls: 0.1466, d1.loss_bbox: 0.3281, d2.loss_cls: 0.1378, d2.loss_bbox: 0.3097, d3.loss_cls: 0.1240, d3.loss_bbox: 0.3033, d4.loss_cls: 0.1207, d4.loss_bbox: 0.2998, d5.loss_cls: 0.1188, d5.loss_bbox: 0.2997, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7600, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5838, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5360, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5302, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5266, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5253, d0.loss_map_cls_all: 0.2194, d0.loss_map_pts_all: 1.2972, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2194, d0.loss_map_pts: 1.2972, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1850, d1.loss_map_pts: 0.9234, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1627, d2.loss_map_pts: 0.7459, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1505, d3.loss_map_pts: 0.6770, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1446, d4.loss_map_pts: 0.6452, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1396, d5.loss_map_pts: 0.6407, d5.loss_map_dir: 0.0072, loss: 25.8282, grad_norm: 146.0751 +2026-02-28 06:48:02,842 - DriveTransformer - INFO - Epoch [9][20400/39528] lr: 7.525e-05, eta: 5 days, 4:13:37, time: 0.763, data_time: 0.041, memory: 19865, loss_cls: 0.1169, loss_bbox: 0.3097, loss_traj: 0.4315, loss_traj_cls: 0.0021, loss_map_cls: 0.1300, loss_map_pts: 0.6455, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.3230, d0.loss_plan_l1_fix_dist: 0.4482, d1.loss_plan_l1_fix_time: 0.9070, d1.loss_plan_l1_fix_dist: 0.2208, d2.loss_plan_l1_fix_time: 0.9051, d2.loss_plan_l1_fix_dist: 0.2444, d3.loss_plan_l1_fix_time: 0.9119, d3.loss_plan_l1_fix_dist: 0.2227, d4.loss_plan_l1_fix_time: 0.9172, d4.loss_plan_l1_fix_dist: 0.2284, d5.loss_plan_l1_fix_time: 0.9232, d5.loss_plan_l1_fix_dist: 0.2437, d6.loss_plan_l1_fix_time: 0.9296, d6.loss_plan_l1_fix_dist: 0.2237, d0.loss_cls_all: 0.1569, d0.loss_bbox_all: 0.3743, d0.loss_cls: 0.1569, d0.loss_bbox: 0.3743, d1.loss_cls: 0.1472, d1.loss_bbox: 0.3433, d2.loss_cls: 0.1375, d2.loss_bbox: 0.3216, d3.loss_cls: 0.1219, d3.loss_bbox: 0.3133, d4.loss_cls: 0.1176, d4.loss_bbox: 0.3105, d5.loss_cls: 0.1171, d5.loss_bbox: 0.3092, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6656, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.4876, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4483, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4341, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4298, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4300, d0.loss_map_cls_all: 0.2219, d0.loss_map_pts_all: 1.4012, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2219, d0.loss_map_pts: 1.4012, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1813, d1.loss_map_pts: 0.9792, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1569, d2.loss_map_pts: 0.7710, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1452, d3.loss_map_pts: 0.6904, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1380, d4.loss_map_pts: 0.6588, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1326, d5.loss_map_pts: 0.6454, d5.loss_map_dir: 0.0082, loss: 25.2944, grad_norm: 147.0411 +2026-02-28 06:48:37,778 - DriveTransformer - INFO - Epoch [9][20450/39528] lr: 7.525e-05, eta: 5 days, 4:12:51, time: 0.699, data_time: 0.039, memory: 19865, loss_cls: 0.1170, loss_bbox: 0.3110, loss_traj: 0.6783, loss_traj_cls: 0.0021, loss_map_cls: 0.1134, loss_map_pts: 0.4925, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.7100, d0.loss_plan_l1_fix_dist: 0.5005, d1.loss_plan_l1_fix_time: 0.9878, d1.loss_plan_l1_fix_dist: 0.2474, d2.loss_plan_l1_fix_time: 0.9768, d2.loss_plan_l1_fix_dist: 0.2543, d3.loss_plan_l1_fix_time: 0.9691, d3.loss_plan_l1_fix_dist: 0.2488, d4.loss_plan_l1_fix_time: 0.9719, d4.loss_plan_l1_fix_dist: 0.2921, d5.loss_plan_l1_fix_time: 0.9771, d5.loss_plan_l1_fix_dist: 0.2852, d6.loss_plan_l1_fix_time: 0.9845, d6.loss_plan_l1_fix_dist: 0.2731, d0.loss_cls_all: 0.1552, d0.loss_bbox_all: 0.3660, d0.loss_cls: 0.1552, d0.loss_bbox: 0.3660, d1.loss_cls: 0.1477, d1.loss_bbox: 0.3378, d2.loss_cls: 0.1388, d2.loss_bbox: 0.3171, d3.loss_cls: 0.1239, d3.loss_bbox: 0.3131, d4.loss_cls: 0.1164, d4.loss_bbox: 0.3132, d5.loss_cls: 0.1171, d5.loss_bbox: 0.3107, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9576, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7508, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6978, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6820, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6782, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6771, d0.loss_map_cls_all: 0.1888, d0.loss_map_pts_all: 1.0245, d0.loss_map_dir_all: 0.0048, d0.loss_map_cls: 0.1888, d0.loss_map_pts: 1.0245, d0.loss_map_dir: 0.0048, d1.loss_map_cls: 0.1563, d1.loss_map_pts: 0.7203, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.1351, d2.loss_map_pts: 0.5606, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.1249, d3.loss_map_pts: 0.5107, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.1190, d4.loss_map_pts: 0.4952, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.1144, d5.loss_map_pts: 0.4923, d5.loss_map_dir: 0.0050, loss: 26.0136, grad_norm: 145.8577 +2026-02-28 06:49:14,015 - DriveTransformer - INFO - Epoch [9][20500/39528] lr: 7.525e-05, eta: 5 days, 4:12:13, time: 0.725, data_time: 0.038, memory: 19865, loss_cls: 0.1216, loss_bbox: 0.3459, loss_traj: 0.5371, loss_traj_cls: 0.0021, loss_map_cls: 0.1364, loss_map_pts: 0.6445, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.5300, d0.loss_plan_l1_fix_dist: 0.5007, d1.loss_plan_l1_fix_time: 0.8968, d1.loss_plan_l1_fix_dist: 0.2357, d2.loss_plan_l1_fix_time: 0.8790, d2.loss_plan_l1_fix_dist: 0.2300, d3.loss_plan_l1_fix_time: 0.8787, d3.loss_plan_l1_fix_dist: 0.2128, d4.loss_plan_l1_fix_time: 0.8817, d4.loss_plan_l1_fix_dist: 0.3058, d5.loss_plan_l1_fix_time: 0.8857, d5.loss_plan_l1_fix_dist: 0.2435, d6.loss_plan_l1_fix_time: 0.8916, d6.loss_plan_l1_fix_dist: 0.2545, d0.loss_cls_all: 0.1818, d0.loss_bbox_all: 0.4035, d0.loss_cls: 0.1818, d0.loss_bbox: 0.4035, d1.loss_cls: 0.1723, d1.loss_bbox: 0.3702, d2.loss_cls: 0.1585, d2.loss_bbox: 0.3498, d3.loss_cls: 0.1338, d3.loss_bbox: 0.3477, d4.loss_cls: 0.1240, d4.loss_bbox: 0.3473, d5.loss_cls: 0.1208, d5.loss_bbox: 0.3463, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8593, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6232, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5623, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5458, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5409, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5399, d0.loss_map_cls_all: 0.2114, d0.loss_map_pts_all: 1.2611, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2114, d0.loss_map_pts: 1.2611, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1815, d1.loss_map_pts: 0.8939, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1587, d2.loss_map_pts: 0.7255, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1479, d3.loss_map_pts: 0.6707, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1423, d4.loss_map_pts: 0.6489, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1382, d5.loss_map_pts: 0.6449, d5.loss_map_dir: 0.0080, loss: 26.2907, grad_norm: 142.2785 +2026-02-28 06:49:49,062 - DriveTransformer - INFO - Epoch [9][20550/39528] lr: 7.525e-05, eta: 5 days, 4:11:27, time: 0.701, data_time: 0.038, memory: 19865, loss_cls: 0.1310, loss_bbox: 0.3430, loss_traj: 0.5671, loss_traj_cls: 0.0021, loss_map_cls: 0.1248, loss_map_pts: 0.5495, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.6594, d0.loss_plan_l1_fix_dist: 0.4036, d1.loss_plan_l1_fix_time: 0.8866, d1.loss_plan_l1_fix_dist: 0.2417, d2.loss_plan_l1_fix_time: 0.8841, d2.loss_plan_l1_fix_dist: 0.2253, d3.loss_plan_l1_fix_time: 0.8872, d3.loss_plan_l1_fix_dist: 0.2043, d4.loss_plan_l1_fix_time: 0.8906, d4.loss_plan_l1_fix_dist: 0.3250, d5.loss_plan_l1_fix_time: 0.8940, d5.loss_plan_l1_fix_dist: 0.2442, d6.loss_plan_l1_fix_time: 0.8984, d6.loss_plan_l1_fix_dist: 0.2731, d0.loss_cls_all: 0.1649, d0.loss_bbox_all: 0.4059, d0.loss_cls: 0.1649, d0.loss_bbox: 0.4059, d1.loss_cls: 0.1622, d1.loss_bbox: 0.3737, d2.loss_cls: 0.1544, d2.loss_bbox: 0.3518, d3.loss_cls: 0.1395, d3.loss_bbox: 0.3463, d4.loss_cls: 0.1318, d4.loss_bbox: 0.3448, d5.loss_cls: 0.1307, d5.loss_bbox: 0.3432, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7458, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6131, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5828, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5760, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5709, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5688, d0.loss_map_cls_all: 0.2043, d0.loss_map_pts_all: 1.1364, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.2043, d0.loss_map_pts: 1.1364, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1789, d1.loss_map_pts: 0.8036, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1511, d2.loss_map_pts: 0.6419, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1403, d3.loss_map_pts: 0.5816, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1340, d4.loss_map_pts: 0.5586, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1269, d5.loss_map_pts: 0.5511, d5.loss_map_dir: 0.0057, loss: 25.5110, grad_norm: 140.3990 +2026-02-28 06:50:25,467 - DriveTransformer - INFO - Epoch [9][20600/39528] lr: 7.525e-05, eta: 5 days, 4:10:50, time: 0.728, data_time: 0.040, memory: 19865, loss_cls: 0.1377, loss_bbox: 0.3299, loss_traj: 0.5664, loss_traj_cls: 0.0020, loss_map_cls: 0.1207, loss_map_pts: 0.6381, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.7462, d0.loss_plan_l1_fix_dist: 0.4059, d1.loss_plan_l1_fix_time: 0.9383, d1.loss_plan_l1_fix_dist: 0.2259, d2.loss_plan_l1_fix_time: 0.9242, d2.loss_plan_l1_fix_dist: 0.2134, d3.loss_plan_l1_fix_time: 0.9263, d3.loss_plan_l1_fix_dist: 0.2016, d4.loss_plan_l1_fix_time: 0.9296, d4.loss_plan_l1_fix_dist: 0.2983, d5.loss_plan_l1_fix_time: 0.9338, d5.loss_plan_l1_fix_dist: 0.2476, d6.loss_plan_l1_fix_time: 0.9385, d6.loss_plan_l1_fix_dist: 0.2522, d0.loss_cls_all: 0.1792, d0.loss_bbox_all: 0.3939, d0.loss_cls: 0.1792, d0.loss_bbox: 0.3939, d1.loss_cls: 0.1692, d1.loss_bbox: 0.3606, d2.loss_cls: 0.1613, d2.loss_bbox: 0.3389, d3.loss_cls: 0.1428, d3.loss_bbox: 0.3348, d4.loss_cls: 0.1375, d4.loss_bbox: 0.3317, d5.loss_cls: 0.1382, d5.loss_bbox: 0.3303, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8408, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6472, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5907, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5810, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5740, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5671, d0.loss_map_cls_all: 0.2033, d0.loss_map_pts_all: 1.2088, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2033, d0.loss_map_pts: 1.2088, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1706, d1.loss_map_pts: 0.9005, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1497, d2.loss_map_pts: 0.7400, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1377, d3.loss_map_pts: 0.6737, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1288, d4.loss_map_pts: 0.6488, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1232, d5.loss_map_pts: 0.6413, d5.loss_map_dir: 0.0075, loss: 26.5710, grad_norm: 143.2526 +2026-02-28 06:51:03,008 - DriveTransformer - INFO - Epoch [9][20650/39528] lr: 7.525e-05, eta: 5 days, 4:10:19, time: 0.751, data_time: 0.039, memory: 19865, loss_cls: 0.1129, loss_bbox: 0.3208, loss_traj: 0.5085, loss_traj_cls: 0.0020, loss_map_cls: 0.1240, loss_map_pts: 0.6091, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.7074, d0.loss_plan_l1_fix_dist: 0.3622, d1.loss_plan_l1_fix_time: 0.8697, d1.loss_plan_l1_fix_dist: 0.2049, d2.loss_plan_l1_fix_time: 0.8601, d2.loss_plan_l1_fix_dist: 0.2206, d3.loss_plan_l1_fix_time: 0.8814, d3.loss_plan_l1_fix_dist: 0.2336, d4.loss_plan_l1_fix_time: 0.8860, d4.loss_plan_l1_fix_dist: 0.2924, d5.loss_plan_l1_fix_time: 0.8899, d5.loss_plan_l1_fix_dist: 0.2911, d6.loss_plan_l1_fix_time: 0.8945, d6.loss_plan_l1_fix_dist: 0.2707, d0.loss_cls_all: 0.1547, d0.loss_bbox_all: 0.3815, d0.loss_cls: 0.1547, d0.loss_bbox: 0.3815, d1.loss_cls: 0.1494, d1.loss_bbox: 0.3490, d2.loss_cls: 0.1349, d2.loss_bbox: 0.3313, d3.loss_cls: 0.1185, d3.loss_bbox: 0.3250, d4.loss_cls: 0.1138, d4.loss_bbox: 0.3233, d5.loss_cls: 0.1132, d5.loss_bbox: 0.3207, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7574, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5729, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5308, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5150, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5084, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5091, d0.loss_map_cls_all: 0.2164, d0.loss_map_pts_all: 1.2799, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2164, d0.loss_map_pts: 1.2799, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1893, d1.loss_map_pts: 0.8830, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1574, d2.loss_map_pts: 0.6970, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1409, d3.loss_map_pts: 0.6382, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1312, d4.loss_map_pts: 0.6121, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1269, d5.loss_map_pts: 0.6103, d5.loss_map_dir: 0.0074, loss: 25.5292, grad_norm: 144.3515 +2026-02-28 06:51:38,206 - DriveTransformer - INFO - Epoch [9][20700/39528] lr: 7.525e-05, eta: 5 days, 4:09:35, time: 0.704, data_time: 0.037, memory: 19865, loss_cls: 0.1172, loss_bbox: 0.3132, loss_traj: 0.5785, loss_traj_cls: 0.0020, loss_map_cls: 0.1197, loss_map_pts: 0.5586, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.4937, d0.loss_plan_l1_fix_dist: 0.5177, d1.loss_plan_l1_fix_time: 0.8715, d1.loss_plan_l1_fix_dist: 0.2181, d2.loss_plan_l1_fix_time: 0.8532, d2.loss_plan_l1_fix_dist: 0.2440, d3.loss_plan_l1_fix_time: 0.8698, d3.loss_plan_l1_fix_dist: 0.2503, d4.loss_plan_l1_fix_time: 0.8740, d4.loss_plan_l1_fix_dist: 0.2810, d5.loss_plan_l1_fix_time: 0.8766, d5.loss_plan_l1_fix_dist: 0.2889, d6.loss_plan_l1_fix_time: 0.8797, d6.loss_plan_l1_fix_dist: 0.2500, d0.loss_cls_all: 0.1596, d0.loss_bbox_all: 0.3740, d0.loss_cls: 0.1596, d0.loss_bbox: 0.3740, d1.loss_cls: 0.1509, d1.loss_bbox: 0.3434, d2.loss_cls: 0.1407, d2.loss_bbox: 0.3235, d3.loss_cls: 0.1248, d3.loss_bbox: 0.3162, d4.loss_cls: 0.1184, d4.loss_bbox: 0.3145, d5.loss_cls: 0.1180, d5.loss_bbox: 0.3127, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8164, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6242, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5899, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5799, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5823, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5811, d0.loss_map_cls_all: 0.1966, d0.loss_map_pts_all: 1.0651, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1966, d0.loss_map_pts: 1.0651, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1659, d1.loss_map_pts: 0.8045, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1420, d2.loss_map_pts: 0.6521, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1325, d3.loss_map_pts: 0.5953, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1265, d4.loss_map_pts: 0.5697, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1209, d5.loss_map_pts: 0.5613, d5.loss_map_dir: 0.0056, loss: 25.0043, grad_norm: 144.2829 +2026-02-28 06:52:15,111 - DriveTransformer - INFO - Epoch [9][20750/39528] lr: 7.525e-05, eta: 5 days, 4:09:00, time: 0.738, data_time: 0.037, memory: 19865, loss_cls: 0.1055, loss_bbox: 0.2997, loss_traj: 0.5317, loss_traj_cls: 0.0020, loss_map_cls: 0.1062, loss_map_pts: 0.5928, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.3504, d0.loss_plan_l1_fix_dist: 0.4024, d1.loss_plan_l1_fix_time: 0.8927, d1.loss_plan_l1_fix_dist: 0.1873, d2.loss_plan_l1_fix_time: 0.8816, d2.loss_plan_l1_fix_dist: 0.2224, d3.loss_plan_l1_fix_time: 0.8783, d3.loss_plan_l1_fix_dist: 0.2764, d4.loss_plan_l1_fix_time: 0.8818, d4.loss_plan_l1_fix_dist: 0.2832, d5.loss_plan_l1_fix_time: 0.8857, d5.loss_plan_l1_fix_dist: 0.2923, d6.loss_plan_l1_fix_time: 0.8906, d6.loss_plan_l1_fix_dist: 0.2941, d0.loss_cls_all: 0.1464, d0.loss_bbox_all: 0.3618, d0.loss_cls: 0.1464, d0.loss_bbox: 0.3618, d1.loss_cls: 0.1396, d1.loss_bbox: 0.3308, d2.loss_cls: 0.1276, d2.loss_bbox: 0.3106, d3.loss_cls: 0.1125, d3.loss_bbox: 0.3027, d4.loss_cls: 0.1081, d4.loss_bbox: 0.2995, d5.loss_cls: 0.1062, d5.loss_bbox: 0.2985, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7431, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5864, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5447, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5412, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5308, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5310, d0.loss_map_cls_all: 0.1920, d0.loss_map_pts_all: 1.2054, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1920, d0.loss_map_pts: 1.2054, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1590, d1.loss_map_pts: 0.8525, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1331, d2.loss_map_pts: 0.6760, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1220, d3.loss_map_pts: 0.6187, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1143, d4.loss_map_pts: 0.5971, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1085, d5.loss_map_pts: 0.5943, d5.loss_map_dir: 0.0078, loss: 24.7241, grad_norm: 143.2505 +2026-02-28 06:52:51,431 - DriveTransformer - INFO - Epoch [9][20800/39528] lr: 7.525e-05, eta: 5 days, 4:08:23, time: 0.728, data_time: 0.039, memory: 19865, loss_cls: 0.1189, loss_bbox: 0.3157, loss_traj: 0.5447, loss_traj_cls: 0.0020, loss_map_cls: 0.1300, loss_map_pts: 0.6074, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.5829, d0.loss_plan_l1_fix_dist: 0.4325, d1.loss_plan_l1_fix_time: 0.8344, d1.loss_plan_l1_fix_dist: 0.2137, d2.loss_plan_l1_fix_time: 0.8284, d2.loss_plan_l1_fix_dist: 0.2319, d3.loss_plan_l1_fix_time: 0.8420, d3.loss_plan_l1_fix_dist: 0.2923, d4.loss_plan_l1_fix_time: 0.8459, d4.loss_plan_l1_fix_dist: 0.2795, d5.loss_plan_l1_fix_time: 0.8500, d5.loss_plan_l1_fix_dist: 0.2754, d6.loss_plan_l1_fix_time: 0.8554, d6.loss_plan_l1_fix_dist: 0.2894, d0.loss_cls_all: 0.1620, d0.loss_bbox_all: 0.3748, d0.loss_cls: 0.1620, d0.loss_bbox: 0.3748, d1.loss_cls: 0.1563, d1.loss_bbox: 0.3479, d2.loss_cls: 0.1407, d2.loss_bbox: 0.3281, d3.loss_cls: 0.1261, d3.loss_bbox: 0.3189, d4.loss_cls: 0.1211, d4.loss_bbox: 0.3160, d5.loss_cls: 0.1194, d5.loss_bbox: 0.3162, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7519, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5934, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5572, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5415, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5417, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5442, d0.loss_map_cls_all: 0.2076, d0.loss_map_pts_all: 1.1410, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2076, d0.loss_map_pts: 1.1410, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1802, d1.loss_map_pts: 0.8446, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1549, d2.loss_map_pts: 0.7013, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1432, d3.loss_map_pts: 0.6444, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1371, d4.loss_map_pts: 0.6194, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1318, d5.loss_map_pts: 0.6133, d5.loss_map_dir: 0.0078, loss: 25.1999, grad_norm: 144.7435 +2026-02-28 06:53:28,579 - DriveTransformer - INFO - Epoch [9][20850/39528] lr: 7.525e-05, eta: 5 days, 4:07:50, time: 0.742, data_time: 0.035, memory: 19865, loss_cls: 0.1158, loss_bbox: 0.3322, loss_traj: 0.5619, loss_traj_cls: 0.0020, loss_map_cls: 0.1214, loss_map_pts: 0.6178, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.8126, d0.loss_plan_l1_fix_dist: 0.4137, d1.loss_plan_l1_fix_time: 0.9622, d1.loss_plan_l1_fix_dist: 0.2327, d2.loss_plan_l1_fix_time: 0.9502, d2.loss_plan_l1_fix_dist: 0.2578, d3.loss_plan_l1_fix_time: 0.9556, d3.loss_plan_l1_fix_dist: 0.3074, d4.loss_plan_l1_fix_time: 0.9573, d4.loss_plan_l1_fix_dist: 0.2795, d5.loss_plan_l1_fix_time: 0.9603, d5.loss_plan_l1_fix_dist: 0.2474, d6.loss_plan_l1_fix_time: 0.9641, d6.loss_plan_l1_fix_dist: 0.2683, d0.loss_cls_all: 0.1666, d0.loss_bbox_all: 0.3925, d0.loss_cls: 0.1666, d0.loss_bbox: 0.3925, d1.loss_cls: 0.1593, d1.loss_bbox: 0.3603, d2.loss_cls: 0.1455, d2.loss_bbox: 0.3394, d3.loss_cls: 0.1261, d3.loss_bbox: 0.3337, d4.loss_cls: 0.1186, d4.loss_bbox: 0.3313, d5.loss_cls: 0.1174, d5.loss_bbox: 0.3309, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7836, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6388, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5905, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5677, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5660, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5638, d0.loss_map_cls_all: 0.2088, d0.loss_map_pts_all: 1.2418, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2088, d0.loss_map_pts: 1.2418, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1810, d1.loss_map_pts: 0.8732, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1494, d2.loss_map_pts: 0.7096, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1338, d3.loss_map_pts: 0.6507, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1280, d4.loss_map_pts: 0.6268, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1221, d5.loss_map_pts: 0.6236, d5.loss_map_dir: 0.0082, loss: 26.6797, grad_norm: 147.3607 +2026-02-28 06:54:04,418 - DriveTransformer - INFO - Epoch [9][20900/39528] lr: 7.525e-05, eta: 5 days, 4:07:09, time: 0.717, data_time: 0.037, memory: 19865, loss_cls: 0.1160, loss_bbox: 0.3302, loss_traj: 0.5496, loss_traj_cls: 0.0020, loss_map_cls: 0.1185, loss_map_pts: 0.6635, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.4313, d0.loss_plan_l1_fix_dist: 0.4029, d1.loss_plan_l1_fix_time: 0.9032, d1.loss_plan_l1_fix_dist: 0.2651, d2.loss_plan_l1_fix_time: 0.8923, d2.loss_plan_l1_fix_dist: 0.2886, d3.loss_plan_l1_fix_time: 0.8935, d3.loss_plan_l1_fix_dist: 0.3319, d4.loss_plan_l1_fix_time: 0.8971, d4.loss_plan_l1_fix_dist: 0.3315, d5.loss_plan_l1_fix_time: 0.9017, d5.loss_plan_l1_fix_dist: 0.2851, d6.loss_plan_l1_fix_time: 0.9066, d6.loss_plan_l1_fix_dist: 0.3027, d0.loss_cls_all: 0.1637, d0.loss_bbox_all: 0.3800, d0.loss_cls: 0.1637, d0.loss_bbox: 0.3800, d1.loss_cls: 0.1555, d1.loss_bbox: 0.3528, d2.loss_cls: 0.1417, d2.loss_bbox: 0.3339, d3.loss_cls: 0.1249, d3.loss_bbox: 0.3306, d4.loss_cls: 0.1177, d4.loss_bbox: 0.3295, d5.loss_cls: 0.1173, d5.loss_bbox: 0.3289, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7875, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5979, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5485, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5426, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5436, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5469, d0.loss_map_cls_all: 0.1961, d0.loss_map_pts_all: 1.2946, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.1961, d0.loss_map_pts: 1.2946, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1648, d1.loss_map_pts: 0.9235, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1430, d2.loss_map_pts: 0.7519, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1358, d3.loss_map_pts: 0.6902, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1277, d4.loss_map_pts: 0.6691, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1214, d5.loss_map_pts: 0.6660, d5.loss_map_dir: 0.0088, loss: 26.2507, grad_norm: 155.5352 +2026-02-28 06:54:39,797 - DriveTransformer - INFO - Epoch [9][20950/39528] lr: 7.525e-05, eta: 5 days, 4:06:25, time: 0.707, data_time: 0.037, memory: 19865, loss_cls: 0.0979, loss_bbox: 0.3171, loss_traj: 0.5972, loss_traj_cls: 0.0020, loss_map_cls: 0.1150, loss_map_pts: 0.6003, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.5394, d0.loss_plan_l1_fix_dist: 0.5210, d1.loss_plan_l1_fix_time: 0.8876, d1.loss_plan_l1_fix_dist: 0.2950, d2.loss_plan_l1_fix_time: 0.8840, d2.loss_plan_l1_fix_dist: 0.3000, d3.loss_plan_l1_fix_time: 0.8878, d3.loss_plan_l1_fix_dist: 0.3185, d4.loss_plan_l1_fix_time: 0.8942, d4.loss_plan_l1_fix_dist: 0.3413, d5.loss_plan_l1_fix_time: 0.9010, d5.loss_plan_l1_fix_dist: 0.2735, d6.loss_plan_l1_fix_time: 0.9075, d6.loss_plan_l1_fix_dist: 0.2966, d0.loss_cls_all: 0.1359, d0.loss_bbox_all: 0.3697, d0.loss_cls: 0.1359, d0.loss_bbox: 0.3697, d1.loss_cls: 0.1328, d1.loss_bbox: 0.3377, d2.loss_cls: 0.1216, d2.loss_bbox: 0.3211, d3.loss_cls: 0.1068, d3.loss_bbox: 0.3172, d4.loss_cls: 0.1001, d4.loss_bbox: 0.3176, d5.loss_cls: 0.0986, d5.loss_bbox: 0.3184, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7483, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6325, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5937, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5899, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5908, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5965, d0.loss_map_cls_all: 0.1937, d0.loss_map_pts_all: 1.2269, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1937, d0.loss_map_pts: 1.2269, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1598, d1.loss_map_pts: 0.8919, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1382, d2.loss_map_pts: 0.7044, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1305, d3.loss_map_pts: 0.6341, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1218, d4.loss_map_pts: 0.6078, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1171, d5.loss_map_pts: 0.6021, d5.loss_map_dir: 0.0069, loss: 25.9191, grad_norm: 155.0819 +2026-02-28 06:55:17,248 - DriveTransformer - INFO - Epoch [9][21000/39528] lr: 7.525e-05, eta: 5 days, 4:05:54, time: 0.749, data_time: 0.040, memory: 19865, loss_cls: 0.1296, loss_bbox: 0.3477, loss_traj: 0.5357, loss_traj_cls: 0.0020, loss_map_cls: 0.1439, loss_map_pts: 0.7169, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.6666, d0.loss_plan_l1_fix_dist: 0.4447, d1.loss_plan_l1_fix_time: 0.8785, d1.loss_plan_l1_fix_dist: 0.2900, d2.loss_plan_l1_fix_time: 0.8741, d2.loss_plan_l1_fix_dist: 0.2743, d3.loss_plan_l1_fix_time: 0.8812, d3.loss_plan_l1_fix_dist: 0.2718, d4.loss_plan_l1_fix_time: 0.8857, d4.loss_plan_l1_fix_dist: 0.2809, d5.loss_plan_l1_fix_time: 0.8893, d5.loss_plan_l1_fix_dist: 0.2320, d6.loss_plan_l1_fix_time: 0.8934, d6.loss_plan_l1_fix_dist: 0.2512, d0.loss_cls_all: 0.1693, d0.loss_bbox_all: 0.4187, d0.loss_cls: 0.1693, d0.loss_bbox: 0.4187, d1.loss_cls: 0.1639, d1.loss_bbox: 0.3789, d2.loss_cls: 0.1517, d2.loss_bbox: 0.3577, d3.loss_cls: 0.1367, d3.loss_bbox: 0.3496, d4.loss_cls: 0.1312, d4.loss_bbox: 0.3494, d5.loss_cls: 0.1287, d5.loss_bbox: 0.3483, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7983, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6035, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5634, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5630, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5372, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5350, d0.loss_map_cls_all: 0.2228, d0.loss_map_pts_all: 1.3676, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2228, d0.loss_map_pts: 1.3676, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1901, d1.loss_map_pts: 1.0330, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1692, d2.loss_map_pts: 0.8410, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1593, d3.loss_map_pts: 0.7656, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1524, d4.loss_map_pts: 0.7271, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1464, d5.loss_map_pts: 0.7188, d5.loss_map_dir: 0.0083, loss: 27.3135, grad_norm: 154.9299 +2026-02-28 06:55:54,842 - DriveTransformer - INFO - Epoch [9][21050/39528] lr: 7.525e-05, eta: 5 days, 4:05:24, time: 0.752, data_time: 0.040, memory: 19865, loss_cls: 0.0965, loss_bbox: 0.2928, loss_traj: 0.4687, loss_traj_cls: 0.0020, loss_map_cls: 0.1301, loss_map_pts: 0.6547, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.1595, d0.loss_plan_l1_fix_dist: 0.3962, d1.loss_plan_l1_fix_time: 0.8004, d1.loss_plan_l1_fix_dist: 0.2915, d2.loss_plan_l1_fix_time: 0.7877, d2.loss_plan_l1_fix_dist: 0.2898, d3.loss_plan_l1_fix_time: 0.7912, d3.loss_plan_l1_fix_dist: 0.2873, d4.loss_plan_l1_fix_time: 0.7948, d4.loss_plan_l1_fix_dist: 0.2917, d5.loss_plan_l1_fix_time: 0.7987, d5.loss_plan_l1_fix_dist: 0.2702, d6.loss_plan_l1_fix_time: 0.8037, d6.loss_plan_l1_fix_dist: 0.2760, d0.loss_cls_all: 0.1348, d0.loss_bbox_all: 0.3531, d0.loss_cls: 0.1348, d0.loss_bbox: 0.3531, d1.loss_cls: 0.1281, d1.loss_bbox: 0.3197, d2.loss_cls: 0.1164, d2.loss_bbox: 0.3017, d3.loss_cls: 0.1039, d3.loss_bbox: 0.2950, d4.loss_cls: 0.0996, d4.loss_bbox: 0.2925, d5.loss_cls: 0.0968, d5.loss_bbox: 0.2926, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6734, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5282, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4885, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4734, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4717, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4706, d0.loss_map_cls_all: 0.2114, d0.loss_map_pts_all: 1.3593, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2114, d0.loss_map_pts: 1.3593, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1810, d1.loss_map_pts: 0.9656, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1570, d2.loss_map_pts: 0.7662, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1466, d3.loss_map_pts: 0.6952, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1400, d4.loss_map_pts: 0.6662, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1329, d5.loss_map_pts: 0.6578, d5.loss_map_dir: 0.0081, loss: 24.5299, grad_norm: 157.2188 +2026-02-28 06:56:31,854 - DriveTransformer - INFO - Epoch [9][21100/39528] lr: 7.525e-05, eta: 5 days, 4:04:51, time: 0.740, data_time: 0.037, memory: 19865, loss_cls: 0.1100, loss_bbox: 0.3153, loss_traj: 0.5268, loss_traj_cls: 0.0020, loss_map_cls: 0.1249, loss_map_pts: 0.5790, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.7088, d0.loss_plan_l1_fix_dist: 0.4153, d1.loss_plan_l1_fix_time: 1.0158, d1.loss_plan_l1_fix_dist: 0.2418, d2.loss_plan_l1_fix_time: 0.9966, d2.loss_plan_l1_fix_dist: 0.2448, d3.loss_plan_l1_fix_time: 0.9981, d3.loss_plan_l1_fix_dist: 0.2396, d4.loss_plan_l1_fix_time: 1.0016, d4.loss_plan_l1_fix_dist: 0.2585, d5.loss_plan_l1_fix_time: 1.0059, d5.loss_plan_l1_fix_dist: 0.2138, d6.loss_plan_l1_fix_time: 1.0104, d6.loss_plan_l1_fix_dist: 0.2393, d0.loss_cls_all: 0.1502, d0.loss_bbox_all: 0.3592, d0.loss_cls: 0.1502, d0.loss_bbox: 0.3592, d1.loss_cls: 0.1453, d1.loss_bbox: 0.3316, d2.loss_cls: 0.1339, d2.loss_bbox: 0.3161, d3.loss_cls: 0.1161, d3.loss_bbox: 0.3143, d4.loss_cls: 0.1106, d4.loss_bbox: 0.3138, d5.loss_cls: 0.1095, d5.loss_bbox: 0.3148, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7070, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5771, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5317, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5276, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5260, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5264, d0.loss_map_cls_all: 0.2125, d0.loss_map_pts_all: 1.2337, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2125, d0.loss_map_pts: 1.2337, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1774, d1.loss_map_pts: 0.8520, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1507, d2.loss_map_pts: 0.6731, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1425, d3.loss_map_pts: 0.6065, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1329, d4.loss_map_pts: 0.5858, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1286, d5.loss_map_pts: 0.5825, d5.loss_map_dir: 0.0072, loss: 25.8572, grad_norm: 156.4277 +2026-02-28 06:57:07,946 - DriveTransformer - INFO - Epoch [9][21150/39528] lr: 7.525e-05, eta: 5 days, 4:04:12, time: 0.722, data_time: 0.039, memory: 19865, loss_cls: 0.1061, loss_bbox: 0.3196, loss_traj: 0.4897, loss_traj_cls: 0.0021, loss_map_cls: 0.1037, loss_map_pts: 0.5364, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.6547, d0.loss_plan_l1_fix_dist: 0.5629, d1.loss_plan_l1_fix_time: 0.8562, d1.loss_plan_l1_fix_dist: 0.2251, d2.loss_plan_l1_fix_time: 0.8361, d2.loss_plan_l1_fix_dist: 0.2272, d3.loss_plan_l1_fix_time: 0.8309, d3.loss_plan_l1_fix_dist: 0.2406, d4.loss_plan_l1_fix_time: 0.8329, d4.loss_plan_l1_fix_dist: 0.2652, d5.loss_plan_l1_fix_time: 0.8364, d5.loss_plan_l1_fix_dist: 0.2396, d6.loss_plan_l1_fix_time: 0.8410, d6.loss_plan_l1_fix_dist: 0.2767, d0.loss_cls_all: 0.1486, d0.loss_bbox_all: 0.3628, d0.loss_cls: 0.1486, d0.loss_bbox: 0.3628, d1.loss_cls: 0.1407, d1.loss_bbox: 0.3333, d2.loss_cls: 0.1291, d2.loss_bbox: 0.3192, d3.loss_cls: 0.1147, d3.loss_bbox: 0.3160, d4.loss_cls: 0.1090, d4.loss_bbox: 0.3164, d5.loss_cls: 0.1060, d5.loss_bbox: 0.3179, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6698, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5431, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5096, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4984, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4935, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4951, d0.loss_map_cls_all: 0.1854, d0.loss_map_pts_all: 1.0854, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1854, d0.loss_map_pts: 1.0854, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1511, d1.loss_map_pts: 0.7638, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1312, d2.loss_map_pts: 0.6146, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1177, d3.loss_map_pts: 0.5629, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1125, d4.loss_map_pts: 0.5489, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1058, d5.loss_map_pts: 0.5462, d5.loss_map_dir: 0.0068, loss: 23.9740, grad_norm: 155.9626 +2026-02-28 06:57:44,332 - DriveTransformer - INFO - Epoch [9][21200/39528] lr: 7.525e-05, eta: 5 days, 4:03:34, time: 0.728, data_time: 0.037, memory: 19865, loss_cls: 0.1135, loss_bbox: 0.3206, loss_traj: 0.6112, loss_traj_cls: 0.0019, loss_map_cls: 0.1220, loss_map_pts: 0.6829, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.9236, d0.loss_plan_l1_fix_dist: 0.3788, d1.loss_plan_l1_fix_time: 0.8927, d1.loss_plan_l1_fix_dist: 0.1934, d2.loss_plan_l1_fix_time: 0.8836, d2.loss_plan_l1_fix_dist: 0.2027, d3.loss_plan_l1_fix_time: 0.8845, d3.loss_plan_l1_fix_dist: 0.2374, d4.loss_plan_l1_fix_time: 0.8875, d4.loss_plan_l1_fix_dist: 0.2576, d5.loss_plan_l1_fix_time: 0.8905, d5.loss_plan_l1_fix_dist: 0.2453, d6.loss_plan_l1_fix_time: 0.8953, d6.loss_plan_l1_fix_dist: 0.2882, d0.loss_cls_all: 0.1515, d0.loss_bbox_all: 0.3940, d0.loss_cls: 0.1515, d0.loss_bbox: 0.3940, d1.loss_cls: 0.1483, d1.loss_bbox: 0.3533, d2.loss_cls: 0.1363, d2.loss_bbox: 0.3307, d3.loss_cls: 0.1213, d3.loss_bbox: 0.3230, d4.loss_cls: 0.1121, d4.loss_bbox: 0.3211, d5.loss_cls: 0.1112, d5.loss_bbox: 0.3205, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8702, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6784, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6316, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6125, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6104, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6097, d0.loss_map_cls_all: 0.2085, d0.loss_map_pts_all: 1.3535, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2085, d0.loss_map_pts: 1.3535, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1727, d1.loss_map_pts: 0.9660, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1484, d2.loss_map_pts: 0.7804, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1372, d3.loss_map_pts: 0.7152, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1295, d4.loss_map_pts: 0.6906, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1235, d5.loss_map_pts: 0.6866, d5.loss_map_dir: 0.0081, loss: 27.0382, grad_norm: 160.6046 +2026-02-28 06:58:20,551 - DriveTransformer - INFO - Epoch [9][21250/39528] lr: 7.525e-05, eta: 5 days, 4:02:56, time: 0.724, data_time: 0.041, memory: 19865, loss_cls: 0.1324, loss_bbox: 0.3168, loss_traj: 0.5196, loss_traj_cls: 0.0020, loss_map_cls: 0.1089, loss_map_pts: 0.6134, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.4899, d0.loss_plan_l1_fix_dist: 0.4257, d1.loss_plan_l1_fix_time: 0.8486, d1.loss_plan_l1_fix_dist: 0.1945, d2.loss_plan_l1_fix_time: 0.8322, d2.loss_plan_l1_fix_dist: 0.1952, d3.loss_plan_l1_fix_time: 0.8307, d3.loss_plan_l1_fix_dist: 0.2127, d4.loss_plan_l1_fix_time: 0.8335, d4.loss_plan_l1_fix_dist: 0.2438, d5.loss_plan_l1_fix_time: 0.8367, d5.loss_plan_l1_fix_dist: 0.2213, d6.loss_plan_l1_fix_time: 0.8408, d6.loss_plan_l1_fix_dist: 0.2587, d0.loss_cls_all: 0.1765, d0.loss_bbox_all: 0.3959, d0.loss_cls: 0.1765, d0.loss_bbox: 0.3959, d1.loss_cls: 0.1727, d1.loss_bbox: 0.3533, d2.loss_cls: 0.1562, d2.loss_bbox: 0.3303, d3.loss_cls: 0.1407, d3.loss_bbox: 0.3223, d4.loss_cls: 0.1355, d4.loss_bbox: 0.3179, d5.loss_cls: 0.1330, d5.loss_bbox: 0.3171, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7240, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5660, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5289, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5214, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5136, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5153, d0.loss_map_cls_all: 0.1833, d0.loss_map_pts_all: 1.1762, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1833, d0.loss_map_pts: 1.1762, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1507, d1.loss_map_pts: 0.8511, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1317, d2.loss_map_pts: 0.6996, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1218, d3.loss_map_pts: 0.6363, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1156, d4.loss_map_pts: 0.6179, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1107, d5.loss_map_pts: 0.6167, d5.loss_map_dir: 0.0069, loss: 24.6815, grad_norm: 160.5078 +2026-02-28 06:58:55,069 - DriveTransformer - INFO - Epoch [9][21300/39528] lr: 7.525e-05, eta: 5 days, 4:02:07, time: 0.690, data_time: 0.039, memory: 19865, loss_cls: 0.1256, loss_bbox: 0.3244, loss_traj: 0.5792, loss_traj_cls: 0.0019, loss_map_cls: 0.1131, loss_map_pts: 0.5713, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.6434, d0.loss_plan_l1_fix_dist: 0.4156, d1.loss_plan_l1_fix_time: 0.8144, d1.loss_plan_l1_fix_dist: 0.2069, d2.loss_plan_l1_fix_time: 0.7986, d2.loss_plan_l1_fix_dist: 0.2152, d3.loss_plan_l1_fix_time: 0.8001, d3.loss_plan_l1_fix_dist: 0.2013, d4.loss_plan_l1_fix_time: 0.8018, d4.loss_plan_l1_fix_dist: 0.2445, d5.loss_plan_l1_fix_time: 0.8042, d5.loss_plan_l1_fix_dist: 0.2310, d6.loss_plan_l1_fix_time: 0.8074, d6.loss_plan_l1_fix_dist: 0.2699, d0.loss_cls_all: 0.1733, d0.loss_bbox_all: 0.3898, d0.loss_cls: 0.1733, d0.loss_bbox: 0.3898, d1.loss_cls: 0.1645, d1.loss_bbox: 0.3555, d2.loss_cls: 0.1457, d2.loss_bbox: 0.3361, d3.loss_cls: 0.1341, d3.loss_bbox: 0.3272, d4.loss_cls: 0.1294, d4.loss_bbox: 0.3235, d5.loss_cls: 0.1252, d5.loss_bbox: 0.3243, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8184, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6518, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6072, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5913, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5834, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5800, d0.loss_map_cls_all: 0.2066, d0.loss_map_pts_all: 1.1453, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.2066, d0.loss_map_pts: 1.1453, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1715, d1.loss_map_pts: 0.8540, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1448, d2.loss_map_pts: 0.6836, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1302, d3.loss_map_pts: 0.6075, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1221, d4.loss_map_pts: 0.5838, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1163, d5.loss_map_pts: 0.5751, d5.loss_map_dir: 0.0060, loss: 25.0388, grad_norm: 162.4094 +2026-02-28 06:59:31,801 - DriveTransformer - INFO - Epoch [9][21350/39528] lr: 7.525e-05, eta: 5 days, 4:01:32, time: 0.735, data_time: 0.038, memory: 19865, loss_cls: 0.1169, loss_bbox: 0.3126, loss_traj: 0.6636, loss_traj_cls: 0.0019, loss_map_cls: 0.1114, loss_map_pts: 0.6080, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.5322, d0.loss_plan_l1_fix_dist: 0.3842, d1.loss_plan_l1_fix_time: 0.7694, d1.loss_plan_l1_fix_dist: 0.2070, d2.loss_plan_l1_fix_time: 0.7550, d2.loss_plan_l1_fix_dist: 0.2278, d3.loss_plan_l1_fix_time: 0.7570, d3.loss_plan_l1_fix_dist: 0.2197, d4.loss_plan_l1_fix_time: 0.7601, d4.loss_plan_l1_fix_dist: 0.2544, d5.loss_plan_l1_fix_time: 0.7639, d5.loss_plan_l1_fix_dist: 0.2486, d6.loss_plan_l1_fix_time: 0.7680, d6.loss_plan_l1_fix_dist: 0.2805, d0.loss_cls_all: 0.1577, d0.loss_bbox_all: 0.3728, d0.loss_cls: 0.1577, d0.loss_bbox: 0.3728, d1.loss_cls: 0.1555, d1.loss_bbox: 0.3368, d2.loss_cls: 0.1386, d2.loss_bbox: 0.3204, d3.loss_cls: 0.1227, d3.loss_bbox: 0.3128, d4.loss_cls: 0.1193, d4.loss_bbox: 0.3115, d5.loss_cls: 0.1186, d5.loss_bbox: 0.3110, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9000, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7314, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6823, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6730, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6612, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6626, d0.loss_map_cls_all: 0.2031, d0.loss_map_pts_all: 1.2858, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2031, d0.loss_map_pts: 1.2858, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1657, d1.loss_map_pts: 0.9069, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1429, d2.loss_map_pts: 0.7167, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1271, d3.loss_map_pts: 0.6450, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1201, d4.loss_map_pts: 0.6159, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1146, d5.loss_map_pts: 0.6095, d5.loss_map_dir: 0.0072, loss: 25.5639, grad_norm: 165.3353 +2026-02-28 07:00:10,801 - DriveTransformer - INFO - Epoch [9][21400/39528] lr: 7.525e-05, eta: 5 days, 4:01:10, time: 0.780, data_time: 0.039, memory: 19865, loss_cls: 0.1180, loss_bbox: 0.3065, loss_traj: 0.4609, loss_traj_cls: 0.0019, loss_map_cls: 0.1277, loss_map_pts: 0.6927, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.7705, d0.loss_plan_l1_fix_dist: 0.4188, d1.loss_plan_l1_fix_time: 0.9995, d1.loss_plan_l1_fix_dist: 0.1896, d2.loss_plan_l1_fix_time: 0.9904, d2.loss_plan_l1_fix_dist: 0.2263, d3.loss_plan_l1_fix_time: 0.9913, d3.loss_plan_l1_fix_dist: 0.2191, d4.loss_plan_l1_fix_time: 0.9940, d4.loss_plan_l1_fix_dist: 0.2134, d5.loss_plan_l1_fix_time: 0.9971, d5.loss_plan_l1_fix_dist: 0.2313, d6.loss_plan_l1_fix_time: 1.0000, d6.loss_plan_l1_fix_dist: 0.2285, d0.loss_cls_all: 0.1611, d0.loss_bbox_all: 0.3707, d0.loss_cls: 0.1611, d0.loss_bbox: 0.3707, d1.loss_cls: 0.1516, d1.loss_bbox: 0.3385, d2.loss_cls: 0.1394, d2.loss_bbox: 0.3178, d3.loss_cls: 0.1216, d3.loss_bbox: 0.3143, d4.loss_cls: 0.1189, d4.loss_bbox: 0.3089, d5.loss_cls: 0.1179, d5.loss_bbox: 0.3079, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6661, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5313, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4866, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4686, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4677, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4627, d0.loss_map_cls_all: 0.2155, d0.loss_map_pts_all: 1.3986, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2155, d0.loss_map_pts: 1.3986, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1774, d1.loss_map_pts: 0.9971, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1538, d2.loss_map_pts: 0.8051, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1412, d3.loss_map_pts: 0.7411, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1356, d4.loss_map_pts: 0.7079, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1308, d5.loss_map_pts: 0.6961, d5.loss_map_dir: 0.0086, loss: 26.5474, grad_norm: 165.5063 +2026-02-28 07:00:47,409 - DriveTransformer - INFO - Epoch [9][21450/39528] lr: 7.525e-05, eta: 5 days, 4:00:34, time: 0.732, data_time: 0.038, memory: 19865, loss_cls: 0.1145, loss_bbox: 0.3123, loss_traj: 0.6317, loss_traj_cls: 0.0020, loss_map_cls: 0.1323, loss_map_pts: 0.6307, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.8740, d0.loss_plan_l1_fix_dist: 0.4671, d1.loss_plan_l1_fix_time: 0.8348, d1.loss_plan_l1_fix_dist: 0.1775, d2.loss_plan_l1_fix_time: 0.8277, d2.loss_plan_l1_fix_dist: 0.2440, d3.loss_plan_l1_fix_time: 0.8293, d3.loss_plan_l1_fix_dist: 0.2662, d4.loss_plan_l1_fix_time: 0.8337, d4.loss_plan_l1_fix_dist: 0.2352, d5.loss_plan_l1_fix_time: 0.8379, d5.loss_plan_l1_fix_dist: 0.2690, d6.loss_plan_l1_fix_time: 0.8422, d6.loss_plan_l1_fix_dist: 0.2877, d0.loss_cls_all: 0.1477, d0.loss_bbox_all: 0.3743, d0.loss_cls: 0.1477, d0.loss_bbox: 0.3743, d1.loss_cls: 0.1451, d1.loss_bbox: 0.3390, d2.loss_cls: 0.1358, d2.loss_bbox: 0.3204, d3.loss_cls: 0.1190, d3.loss_bbox: 0.3174, d4.loss_cls: 0.1153, d4.loss_bbox: 0.3141, d5.loss_cls: 0.1145, d5.loss_bbox: 0.3131, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8908, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7167, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6638, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6470, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6388, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6358, d0.loss_map_cls_all: 0.2081, d0.loss_map_pts_all: 1.2719, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2081, d0.loss_map_pts: 1.2719, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1810, d1.loss_map_pts: 0.9062, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1570, d2.loss_map_pts: 0.7385, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1453, d3.loss_map_pts: 0.6683, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1371, d4.loss_map_pts: 0.6420, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1329, d5.loss_map_pts: 0.6355, d5.loss_map_dir: 0.0075, loss: 26.4876, grad_norm: 170.7655 +2026-02-28 07:01:24,215 - DriveTransformer - INFO - Epoch [9][21500/39528] lr: 7.525e-05, eta: 5 days, 3:59:59, time: 0.736, data_time: 0.035, memory: 19865, loss_cls: 0.1137, loss_bbox: 0.3038, loss_traj: 0.5096, loss_traj_cls: 0.0020, loss_map_cls: 0.1309, loss_map_pts: 0.6213, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.3779, d0.loss_plan_l1_fix_dist: 0.3794, d1.loss_plan_l1_fix_time: 0.8466, d1.loss_plan_l1_fix_dist: 0.1920, d2.loss_plan_l1_fix_time: 0.8414, d2.loss_plan_l1_fix_dist: 0.2530, d3.loss_plan_l1_fix_time: 0.8433, d3.loss_plan_l1_fix_dist: 0.2939, d4.loss_plan_l1_fix_time: 0.8489, d4.loss_plan_l1_fix_dist: 0.2439, d5.loss_plan_l1_fix_time: 0.8544, d5.loss_plan_l1_fix_dist: 0.2576, d6.loss_plan_l1_fix_time: 0.8601, d6.loss_plan_l1_fix_dist: 0.2731, d0.loss_cls_all: 0.1588, d0.loss_bbox_all: 0.3628, d0.loss_cls: 0.1588, d0.loss_bbox: 0.3628, d1.loss_cls: 0.1504, d1.loss_bbox: 0.3341, d2.loss_cls: 0.1341, d2.loss_bbox: 0.3182, d3.loss_cls: 0.1163, d3.loss_bbox: 0.3103, d4.loss_cls: 0.1134, d4.loss_bbox: 0.3056, d5.loss_cls: 0.1132, d5.loss_bbox: 0.3048, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7624, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5829, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5348, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5172, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5136, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5157, d0.loss_map_cls_all: 0.2203, d0.loss_map_pts_all: 1.3245, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2203, d0.loss_map_pts: 1.3245, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1871, d1.loss_map_pts: 0.9380, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1571, d2.loss_map_pts: 0.7325, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1453, d3.loss_map_pts: 0.6620, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1385, d4.loss_map_pts: 0.6328, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1328, d5.loss_map_pts: 0.6262, d5.loss_map_dir: 0.0070, loss: 25.2186, grad_norm: 168.0696 +2026-02-28 07:01:59,835 - DriveTransformer - INFO - Epoch [9][21550/39528] lr: 7.525e-05, eta: 5 days, 3:59:17, time: 0.712, data_time: 0.035, memory: 19865, loss_cls: 0.1165, loss_bbox: 0.3195, loss_traj: 0.5704, loss_traj_cls: 0.0020, loss_map_cls: 0.1046, loss_map_pts: 0.5618, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.4433, d0.loss_plan_l1_fix_dist: 0.4060, d1.loss_plan_l1_fix_time: 0.8248, d1.loss_plan_l1_fix_dist: 0.2043, d2.loss_plan_l1_fix_time: 0.8125, d2.loss_plan_l1_fix_dist: 0.2361, d3.loss_plan_l1_fix_time: 0.8127, d3.loss_plan_l1_fix_dist: 0.2841, d4.loss_plan_l1_fix_time: 0.8154, d4.loss_plan_l1_fix_dist: 0.2517, d5.loss_plan_l1_fix_time: 0.8182, d5.loss_plan_l1_fix_dist: 0.2433, d6.loss_plan_l1_fix_time: 0.8213, d6.loss_plan_l1_fix_dist: 0.2604, d0.loss_cls_all: 0.1652, d0.loss_bbox_all: 0.3757, d0.loss_cls: 0.1652, d0.loss_bbox: 0.3757, d1.loss_cls: 0.1581, d1.loss_bbox: 0.3461, d2.loss_cls: 0.1410, d2.loss_bbox: 0.3273, d3.loss_cls: 0.1241, d3.loss_bbox: 0.3220, d4.loss_cls: 0.1181, d4.loss_bbox: 0.3213, d5.loss_cls: 0.1162, d5.loss_bbox: 0.3208, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8196, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6519, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5964, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5797, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5722, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5712, d0.loss_map_cls_all: 0.1830, d0.loss_map_pts_all: 1.1704, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1830, d0.loss_map_pts: 1.1704, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1507, d1.loss_map_pts: 0.8398, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1275, d2.loss_map_pts: 0.6630, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1169, d3.loss_map_pts: 0.5971, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1095, d4.loss_map_pts: 0.5759, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1063, d5.loss_map_pts: 0.5668, d5.loss_map_dir: 0.0066, loss: 24.6947, grad_norm: 167.7379 +2026-02-28 07:02:35,601 - DriveTransformer - INFO - Epoch [9][21600/39528] lr: 7.525e-05, eta: 5 days, 3:58:36, time: 0.717, data_time: 0.036, memory: 19865, loss_cls: 0.1349, loss_bbox: 0.3288, loss_traj: 0.6283, loss_traj_cls: 0.0020, loss_map_cls: 0.1028, loss_map_pts: 0.5753, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.5980, d0.loss_plan_l1_fix_dist: 0.4318, d1.loss_plan_l1_fix_time: 0.8812, d1.loss_plan_l1_fix_dist: 0.2231, d2.loss_plan_l1_fix_time: 0.8708, d2.loss_plan_l1_fix_dist: 0.2573, d3.loss_plan_l1_fix_time: 0.8721, d3.loss_plan_l1_fix_dist: 0.3047, d4.loss_plan_l1_fix_time: 0.8739, d4.loss_plan_l1_fix_dist: 0.3031, d5.loss_plan_l1_fix_time: 0.8761, d5.loss_plan_l1_fix_dist: 0.2985, d6.loss_plan_l1_fix_time: 0.8798, d6.loss_plan_l1_fix_dist: 0.3469, d0.loss_cls_all: 0.1702, d0.loss_bbox_all: 0.3869, d0.loss_cls: 0.1702, d0.loss_bbox: 0.3869, d1.loss_cls: 0.1643, d1.loss_bbox: 0.3514, d2.loss_cls: 0.1535, d2.loss_bbox: 0.3332, d3.loss_cls: 0.1405, d3.loss_bbox: 0.3287, d4.loss_cls: 0.1337, d4.loss_bbox: 0.3282, d5.loss_cls: 0.1345, d5.loss_bbox: 0.3276, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9296, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7141, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6439, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6319, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6312, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6315, d0.loss_map_cls_all: 0.1847, d0.loss_map_pts_all: 1.2505, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1847, d0.loss_map_pts: 1.2505, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1539, d1.loss_map_pts: 0.8738, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1306, d2.loss_map_pts: 0.6865, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1181, d3.loss_map_pts: 0.6111, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1104, d4.loss_map_pts: 0.5873, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1039, d5.loss_map_pts: 0.5802, d5.loss_map_dir: 0.0066, loss: 26.3638, grad_norm: 174.7652 +2026-02-28 07:03:10,879 - DriveTransformer - INFO - Epoch [9][21650/39528] lr: 7.525e-05, eta: 5 days, 3:57:52, time: 0.704, data_time: 0.035, memory: 19865, loss_cls: 0.1216, loss_bbox: 0.3041, loss_traj: 0.5580, loss_traj_cls: 0.0019, loss_map_cls: 0.1298, loss_map_pts: 0.6119, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.3439, d0.loss_plan_l1_fix_dist: 0.3862, d1.loss_plan_l1_fix_time: 0.9429, d1.loss_plan_l1_fix_dist: 0.2285, d2.loss_plan_l1_fix_time: 0.9358, d2.loss_plan_l1_fix_dist: 0.2611, d3.loss_plan_l1_fix_time: 0.9366, d3.loss_plan_l1_fix_dist: 0.2972, d4.loss_plan_l1_fix_time: 0.9391, d4.loss_plan_l1_fix_dist: 0.3111, d5.loss_plan_l1_fix_time: 0.9427, d5.loss_plan_l1_fix_dist: 0.2657, d6.loss_plan_l1_fix_time: 0.9479, d6.loss_plan_l1_fix_dist: 0.3130, d0.loss_cls_all: 0.1561, d0.loss_bbox_all: 0.3703, d0.loss_cls: 0.1561, d0.loss_bbox: 0.3703, d1.loss_cls: 0.1516, d1.loss_bbox: 0.3306, d2.loss_cls: 0.1410, d2.loss_bbox: 0.3096, d3.loss_cls: 0.1267, d3.loss_bbox: 0.3026, d4.loss_cls: 0.1236, d4.loss_bbox: 0.3005, d5.loss_cls: 0.1203, d5.loss_bbox: 0.3032, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8271, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6437, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5888, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5709, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5650, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5572, d0.loss_map_cls_all: 0.2221, d0.loss_map_pts_all: 1.2962, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2221, d0.loss_map_pts: 1.2962, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1839, d1.loss_map_pts: 0.9247, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1557, d2.loss_map_pts: 0.7247, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1437, d3.loss_map_pts: 0.6476, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1384, d4.loss_map_pts: 0.6207, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1322, d5.loss_map_pts: 0.6136, d5.loss_map_dir: 0.0070, loss: 26.1762, grad_norm: 168.0126 +2026-02-28 07:03:46,769 - DriveTransformer - INFO - Epoch [9][21700/39528] lr: 7.525e-05, eta: 5 days, 3:57:11, time: 0.718, data_time: 0.035, memory: 19865, loss_cls: 0.1130, loss_bbox: 0.2979, loss_traj: 0.5173, loss_traj_cls: 0.0020, loss_map_cls: 0.1169, loss_map_pts: 0.5526, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.6489, d0.loss_plan_l1_fix_dist: 0.3614, d1.loss_plan_l1_fix_time: 0.9253, d1.loss_plan_l1_fix_dist: 0.1979, d2.loss_plan_l1_fix_time: 0.9203, d2.loss_plan_l1_fix_dist: 0.2315, d3.loss_plan_l1_fix_time: 0.9213, d3.loss_plan_l1_fix_dist: 0.2690, d4.loss_plan_l1_fix_time: 0.9233, d4.loss_plan_l1_fix_dist: 0.2965, d5.loss_plan_l1_fix_time: 0.9264, d5.loss_plan_l1_fix_dist: 0.2447, d6.loss_plan_l1_fix_time: 0.9306, d6.loss_plan_l1_fix_dist: 0.2692, d0.loss_cls_all: 0.1479, d0.loss_bbox_all: 0.3451, d0.loss_cls: 0.1479, d0.loss_bbox: 0.3451, d1.loss_cls: 0.1386, d1.loss_bbox: 0.3180, d2.loss_cls: 0.1287, d2.loss_bbox: 0.3002, d3.loss_cls: 0.1145, d3.loss_bbox: 0.2955, d4.loss_cls: 0.1130, d4.loss_bbox: 0.2943, d5.loss_cls: 0.1124, d5.loss_bbox: 0.2967, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7114, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5686, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5218, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5181, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5142, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5158, d0.loss_map_cls_all: 0.1947, d0.loss_map_pts_all: 1.1253, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1947, d0.loss_map_pts: 1.1253, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1659, d1.loss_map_pts: 0.8059, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1436, d2.loss_map_pts: 0.6422, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1313, d3.loss_map_pts: 0.5841, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1255, d4.loss_map_pts: 0.5614, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1199, d5.loss_map_pts: 0.5541, d5.loss_map_dir: 0.0056, loss: 24.6366, grad_norm: 166.5870 +2026-02-28 07:04:24,104 - DriveTransformer - INFO - Epoch [9][21750/39528] lr: 7.525e-05, eta: 5 days, 3:56:40, time: 0.747, data_time: 0.037, memory: 19865, loss_cls: 0.1436, loss_bbox: 0.3409, loss_traj: 0.5336, loss_traj_cls: 0.0019, loss_map_cls: 0.1465, loss_map_pts: 0.7026, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.7036, d0.loss_plan_l1_fix_dist: 0.4223, d1.loss_plan_l1_fix_time: 0.9679, d1.loss_plan_l1_fix_dist: 0.2008, d2.loss_plan_l1_fix_time: 0.9507, d2.loss_plan_l1_fix_dist: 0.2323, d3.loss_plan_l1_fix_time: 0.9476, d3.loss_plan_l1_fix_dist: 0.2729, d4.loss_plan_l1_fix_time: 0.9488, d4.loss_plan_l1_fix_dist: 0.2914, d5.loss_plan_l1_fix_time: 0.9513, d5.loss_plan_l1_fix_dist: 0.2497, d6.loss_plan_l1_fix_time: 0.9534, d6.loss_plan_l1_fix_dist: 0.2510, d0.loss_cls_all: 0.1929, d0.loss_bbox_all: 0.4144, d0.loss_cls: 0.1929, d0.loss_bbox: 0.4144, d1.loss_cls: 0.1828, d1.loss_bbox: 0.3788, d2.loss_cls: 0.1672, d2.loss_bbox: 0.3564, d3.loss_cls: 0.1490, d3.loss_bbox: 0.3469, d4.loss_cls: 0.1412, d4.loss_bbox: 0.3434, d5.loss_cls: 0.1435, d5.loss_bbox: 0.3400, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8257, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6296, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5620, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5415, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5381, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5334, d0.loss_map_cls_all: 0.2316, d0.loss_map_pts_all: 1.3720, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2316, d0.loss_map_pts: 1.3720, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.2009, d1.loss_map_pts: 1.0184, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1747, d2.loss_map_pts: 0.8117, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1607, d3.loss_map_pts: 0.7388, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1527, d4.loss_map_pts: 0.7096, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1482, d5.loss_map_pts: 0.7039, d5.loss_map_dir: 0.0083, loss: 27.7029, grad_norm: 169.0204 +2026-02-28 07:05:01,577 - DriveTransformer - INFO - Epoch [9][21800/39528] lr: 7.525e-05, eta: 5 days, 3:56:09, time: 0.749, data_time: 0.037, memory: 19865, loss_cls: 0.1178, loss_bbox: 0.3192, loss_traj: 0.5107, loss_traj_cls: 0.0020, loss_map_cls: 0.0995, loss_map_pts: 0.5509, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.6165, d0.loss_plan_l1_fix_dist: 0.4020, d1.loss_plan_l1_fix_time: 0.8358, d1.loss_plan_l1_fix_dist: 0.2113, d2.loss_plan_l1_fix_time: 0.8117, d2.loss_plan_l1_fix_dist: 0.2585, d3.loss_plan_l1_fix_time: 0.8094, d3.loss_plan_l1_fix_dist: 0.3110, d4.loss_plan_l1_fix_time: 0.8124, d4.loss_plan_l1_fix_dist: 0.3091, d5.loss_plan_l1_fix_time: 0.8166, d5.loss_plan_l1_fix_dist: 0.2764, d6.loss_plan_l1_fix_time: 0.8203, d6.loss_plan_l1_fix_dist: 0.2544, d0.loss_cls_all: 0.1594, d0.loss_bbox_all: 0.3731, d0.loss_cls: 0.1594, d0.loss_bbox: 0.3731, d1.loss_cls: 0.1494, d1.loss_bbox: 0.3426, d2.loss_cls: 0.1402, d2.loss_bbox: 0.3220, d3.loss_cls: 0.1227, d3.loss_bbox: 0.3183, d4.loss_cls: 0.1177, d4.loss_bbox: 0.3163, d5.loss_cls: 0.1174, d5.loss_bbox: 0.3171, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7040, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5676, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5324, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5208, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5148, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5120, d0.loss_map_cls_all: 0.1826, d0.loss_map_pts_all: 1.1329, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1826, d0.loss_map_pts: 1.1329, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1471, d1.loss_map_pts: 0.7817, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1254, d2.loss_map_pts: 0.6300, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1143, d3.loss_map_pts: 0.5773, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1058, d4.loss_map_pts: 0.5564, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1011, d5.loss_map_pts: 0.5535, d5.loss_map_dir: 0.0077, loss: 24.2159, grad_norm: 173.0345 +2026-02-28 07:05:36,449 - DriveTransformer - INFO - Epoch [9][21850/39528] lr: 7.525e-05, eta: 5 days, 3:55:22, time: 0.698, data_time: 0.035, memory: 19865, loss_cls: 0.1338, loss_bbox: 0.3147, loss_traj: 0.5901, loss_traj_cls: 0.0020, loss_map_cls: 0.1103, loss_map_pts: 0.5157, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.4645, d0.loss_plan_l1_fix_dist: 0.4071, d1.loss_plan_l1_fix_time: 0.8623, d1.loss_plan_l1_fix_dist: 0.2031, d2.loss_plan_l1_fix_time: 0.8449, d2.loss_plan_l1_fix_dist: 0.2425, d3.loss_plan_l1_fix_time: 0.8405, d3.loss_plan_l1_fix_dist: 0.2919, d4.loss_plan_l1_fix_time: 0.8418, d4.loss_plan_l1_fix_dist: 0.2816, d5.loss_plan_l1_fix_time: 0.8443, d5.loss_plan_l1_fix_dist: 0.2539, d6.loss_plan_l1_fix_time: 0.8468, d6.loss_plan_l1_fix_dist: 0.2335, d0.loss_cls_all: 0.1698, d0.loss_bbox_all: 0.3773, d0.loss_cls: 0.1698, d0.loss_bbox: 0.3773, d1.loss_cls: 0.1622, d1.loss_bbox: 0.3435, d2.loss_cls: 0.1522, d2.loss_bbox: 0.3257, d3.loss_cls: 0.1377, d3.loss_bbox: 0.3212, d4.loss_cls: 0.1337, d4.loss_bbox: 0.3172, d5.loss_cls: 0.1324, d5.loss_bbox: 0.3148, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8055, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6640, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.6075, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5927, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5844, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5857, d0.loss_map_cls_all: 0.1868, d0.loss_map_pts_all: 1.0436, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1868, d0.loss_map_pts: 1.0436, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1555, d1.loss_map_pts: 0.7469, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1326, d2.loss_map_pts: 0.6021, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1213, d3.loss_map_pts: 0.5447, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1154, d4.loss_map_pts: 0.5203, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.1122, d5.loss_map_pts: 0.5196, d5.loss_map_dir: 0.0052, loss: 24.4774, grad_norm: 169.9205 +2026-02-28 07:06:13,306 - DriveTransformer - INFO - Epoch [9][21900/39528] lr: 7.525e-05, eta: 5 days, 3:54:48, time: 0.737, data_time: 0.037, memory: 19865, loss_cls: 0.1184, loss_bbox: 0.3275, loss_traj: 0.5178, loss_traj_cls: 0.0019, loss_map_cls: 0.1118, loss_map_pts: 0.5839, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.8458, d0.loss_plan_l1_fix_dist: 0.4157, d1.loss_plan_l1_fix_time: 0.9536, d1.loss_plan_l1_fix_dist: 0.2243, d2.loss_plan_l1_fix_time: 0.9319, d2.loss_plan_l1_fix_dist: 0.2248, d3.loss_plan_l1_fix_time: 0.9290, d3.loss_plan_l1_fix_dist: 0.2665, d4.loss_plan_l1_fix_time: 0.9305, d4.loss_plan_l1_fix_dist: 0.2666, d5.loss_plan_l1_fix_time: 0.9327, d5.loss_plan_l1_fix_dist: 0.2631, d6.loss_plan_l1_fix_time: 0.9357, d6.loss_plan_l1_fix_dist: 0.2548, d0.loss_cls_all: 0.1629, d0.loss_bbox_all: 0.3807, d0.loss_cls: 0.1629, d0.loss_bbox: 0.3807, d1.loss_cls: 0.1569, d1.loss_bbox: 0.3506, d2.loss_cls: 0.1401, d2.loss_bbox: 0.3334, d3.loss_cls: 0.1232, d3.loss_bbox: 0.3297, d4.loss_cls: 0.1191, d4.loss_bbox: 0.3268, d5.loss_cls: 0.1174, d5.loss_bbox: 0.3271, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7543, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5891, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5427, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5312, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5240, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5209, d0.loss_map_cls_all: 0.1903, d0.loss_map_pts_all: 1.2102, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1903, d0.loss_map_pts: 1.2102, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1583, d1.loss_map_pts: 0.8258, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1345, d2.loss_map_pts: 0.6678, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1231, d3.loss_map_pts: 0.6140, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1182, d4.loss_map_pts: 0.5870, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1137, d5.loss_map_pts: 0.5848, d5.loss_map_dir: 0.0075, loss: 25.7025, grad_norm: 176.2372 +2026-02-28 07:06:49,598 - DriveTransformer - INFO - Epoch [9][21950/39528] lr: 7.525e-05, eta: 5 days, 3:54:10, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.1137, loss_bbox: 0.3411, loss_traj: 0.5247, loss_traj_cls: 0.0019, loss_map_cls: 0.1331, loss_map_pts: 0.5634, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.3645, d0.loss_plan_l1_fix_dist: 0.4099, d1.loss_plan_l1_fix_time: 0.8659, d1.loss_plan_l1_fix_dist: 0.2815, d2.loss_plan_l1_fix_time: 0.8631, d2.loss_plan_l1_fix_dist: 0.2418, d3.loss_plan_l1_fix_time: 0.8630, d3.loss_plan_l1_fix_dist: 0.2830, d4.loss_plan_l1_fix_time: 0.8673, d4.loss_plan_l1_fix_dist: 0.2891, d5.loss_plan_l1_fix_time: 0.8717, d5.loss_plan_l1_fix_dist: 0.2989, d6.loss_plan_l1_fix_time: 0.8774, d6.loss_plan_l1_fix_dist: 0.3031, d0.loss_cls_all: 0.1482, d0.loss_bbox_all: 0.3830, d0.loss_cls: 0.1482, d0.loss_bbox: 0.3830, d1.loss_cls: 0.1411, d1.loss_bbox: 0.3540, d2.loss_cls: 0.1277, d2.loss_bbox: 0.3378, d3.loss_cls: 0.1154, d3.loss_bbox: 0.3371, d4.loss_cls: 0.1134, d4.loss_bbox: 0.3364, d5.loss_cls: 0.1127, d5.loss_bbox: 0.3391, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7363, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6001, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5401, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5325, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5264, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5234, d0.loss_map_cls_all: 0.2136, d0.loss_map_pts_all: 1.1993, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2136, d0.loss_map_pts: 1.1993, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1799, d1.loss_map_pts: 0.8294, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1611, d2.loss_map_pts: 0.6594, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1486, d3.loss_map_pts: 0.5991, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1429, d4.loss_map_pts: 0.5737, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1363, d5.loss_map_pts: 0.5656, d5.loss_map_dir: 0.0066, loss: 25.0715, grad_norm: 175.7102 +2026-02-28 07:07:24,759 - DriveTransformer - INFO - Epoch [9][22000/39528] lr: 7.525e-05, eta: 5 days, 3:53:25, time: 0.703, data_time: 0.036, memory: 19865, loss_cls: 0.1032, loss_bbox: 0.3111, loss_traj: 0.5929, loss_traj_cls: 0.0019, loss_map_cls: 0.1279, loss_map_pts: 0.5512, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.8314, d0.loss_plan_l1_fix_dist: 0.3784, d1.loss_plan_l1_fix_time: 0.8459, d1.loss_plan_l1_fix_dist: 0.2771, d2.loss_plan_l1_fix_time: 0.8260, d2.loss_plan_l1_fix_dist: 0.2222, d3.loss_plan_l1_fix_time: 0.8280, d3.loss_plan_l1_fix_dist: 0.2624, d4.loss_plan_l1_fix_time: 0.8309, d4.loss_plan_l1_fix_dist: 0.1931, d5.loss_plan_l1_fix_time: 0.8343, d5.loss_plan_l1_fix_dist: 0.2128, d6.loss_plan_l1_fix_time: 0.8385, d6.loss_plan_l1_fix_dist: 0.2674, d0.loss_cls_all: 0.1455, d0.loss_bbox_all: 0.3697, d0.loss_cls: 0.1455, d0.loss_bbox: 0.3697, d1.loss_cls: 0.1400, d1.loss_bbox: 0.3370, d2.loss_cls: 0.1278, d2.loss_bbox: 0.3169, d3.loss_cls: 0.1109, d3.loss_bbox: 0.3126, d4.loss_cls: 0.1047, d4.loss_bbox: 0.3107, d5.loss_cls: 0.1032, d5.loss_bbox: 0.3105, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8699, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6712, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6137, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5970, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5920, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5901, d0.loss_map_cls_all: 0.2016, d0.loss_map_pts_all: 1.1128, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.2016, d0.loss_map_pts: 1.1128, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1729, d1.loss_map_pts: 0.7995, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1520, d2.loss_map_pts: 0.6429, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1422, d3.loss_map_pts: 0.5824, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1334, d4.loss_map_pts: 0.5585, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1298, d5.loss_map_pts: 0.5524, d5.loss_map_dir: 0.0062, loss: 25.0213, grad_norm: 175.8160 +2026-02-28 07:08:01,647 - DriveTransformer - INFO - Epoch [9][22050/39528] lr: 7.525e-05, eta: 5 days, 3:52:50, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.1099, loss_bbox: 0.3034, loss_traj: 0.5172, loss_traj_cls: 0.0020, loss_map_cls: 0.1077, loss_map_pts: 0.5146, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.7456, d0.loss_plan_l1_fix_dist: 0.3846, d1.loss_plan_l1_fix_time: 0.8642, d1.loss_plan_l1_fix_dist: 0.3030, d2.loss_plan_l1_fix_time: 0.8403, d2.loss_plan_l1_fix_dist: 0.2547, d3.loss_plan_l1_fix_time: 0.8404, d3.loss_plan_l1_fix_dist: 0.2906, d4.loss_plan_l1_fix_time: 0.8431, d4.loss_plan_l1_fix_dist: 0.2272, d5.loss_plan_l1_fix_time: 0.8464, d5.loss_plan_l1_fix_dist: 0.2465, d6.loss_plan_l1_fix_time: 0.8503, d6.loss_plan_l1_fix_dist: 0.2931, d0.loss_cls_all: 0.1514, d0.loss_bbox_all: 0.3555, d0.loss_cls: 0.1514, d0.loss_bbox: 0.3555, d1.loss_cls: 0.1474, d1.loss_bbox: 0.3231, d2.loss_cls: 0.1339, d2.loss_bbox: 0.3063, d3.loss_cls: 0.1153, d3.loss_bbox: 0.3022, d4.loss_cls: 0.1112, d4.loss_bbox: 0.2993, d5.loss_cls: 0.1098, d5.loss_bbox: 0.3005, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7364, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5811, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5374, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5200, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5178, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5164, d0.loss_map_cls_all: 0.1914, d0.loss_map_pts_all: 1.1013, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1914, d0.loss_map_pts: 1.1013, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1599, d1.loss_map_pts: 0.7537, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1334, d2.loss_map_pts: 0.5931, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1218, d3.loss_map_pts: 0.5398, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1140, d4.loss_map_pts: 0.5183, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1096, d5.loss_map_pts: 0.5153, d5.loss_map_dir: 0.0066, loss: 24.1568, grad_norm: 178.6209 +2026-02-28 07:08:38,079 - DriveTransformer - INFO - Epoch [9][22100/39528] lr: 7.525e-05, eta: 5 days, 3:52:13, time: 0.729, data_time: 0.039, memory: 19865, loss_cls: 0.0926, loss_bbox: 0.3200, loss_traj: 0.5109, loss_traj_cls: 0.0020, loss_map_cls: 0.1113, loss_map_pts: 0.5357, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.4279, d0.loss_plan_l1_fix_dist: 0.4078, d1.loss_plan_l1_fix_time: 0.8318, d1.loss_plan_l1_fix_dist: 0.2910, d2.loss_plan_l1_fix_time: 0.8228, d2.loss_plan_l1_fix_dist: 0.2524, d3.loss_plan_l1_fix_time: 0.8261, d3.loss_plan_l1_fix_dist: 0.2669, d4.loss_plan_l1_fix_time: 0.8311, d4.loss_plan_l1_fix_dist: 0.2083, d5.loss_plan_l1_fix_time: 0.8364, d5.loss_plan_l1_fix_dist: 0.2157, d6.loss_plan_l1_fix_time: 0.8423, d6.loss_plan_l1_fix_dist: 0.2437, d0.loss_cls_all: 0.1335, d0.loss_bbox_all: 0.3531, d0.loss_cls: 0.1335, d0.loss_bbox: 0.3531, d1.loss_cls: 0.1248, d1.loss_bbox: 0.3275, d2.loss_cls: 0.1138, d2.loss_bbox: 0.3120, d3.loss_cls: 0.0994, d3.loss_bbox: 0.3087, d4.loss_cls: 0.0940, d4.loss_bbox: 0.3108, d5.loss_cls: 0.0915, d5.loss_bbox: 0.3159, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7289, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5850, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5371, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5185, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5096, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5056, d0.loss_map_cls_all: 0.1850, d0.loss_map_pts_all: 1.1644, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1850, d0.loss_map_pts: 1.1644, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1546, d1.loss_map_pts: 0.7977, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1351, d2.loss_map_pts: 0.6267, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1252, d3.loss_map_pts: 0.5632, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1194, d4.loss_map_pts: 0.5395, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1140, d5.loss_map_pts: 0.5357, d5.loss_map_dir: 0.0069, loss: 23.8017, grad_norm: 179.4099 +2026-02-28 07:09:16,241 - DriveTransformer - INFO - Epoch [9][22150/39528] lr: 7.525e-05, eta: 5 days, 3:51:47, time: 0.763, data_time: 0.037, memory: 19865, loss_cls: 0.1061, loss_bbox: 0.2996, loss_traj: 0.4416, loss_traj_cls: 0.0020, loss_map_cls: 0.1022, loss_map_pts: 0.5839, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.4284, d0.loss_plan_l1_fix_dist: 0.3933, d1.loss_plan_l1_fix_time: 0.7721, d1.loss_plan_l1_fix_dist: 0.2754, d2.loss_plan_l1_fix_time: 0.7533, d2.loss_plan_l1_fix_dist: 0.2238, d3.loss_plan_l1_fix_time: 0.7530, d3.loss_plan_l1_fix_dist: 0.2155, d4.loss_plan_l1_fix_time: 0.7571, d4.loss_plan_l1_fix_dist: 0.1880, d5.loss_plan_l1_fix_time: 0.7615, d5.loss_plan_l1_fix_dist: 0.1918, d6.loss_plan_l1_fix_time: 0.7664, d6.loss_plan_l1_fix_dist: 0.2144, d0.loss_cls_all: 0.1397, d0.loss_bbox_all: 0.3605, d0.loss_cls: 0.1397, d0.loss_bbox: 0.3605, d1.loss_cls: 0.1374, d1.loss_bbox: 0.3286, d2.loss_cls: 0.1293, d2.loss_bbox: 0.3077, d3.loss_cls: 0.1117, d3.loss_bbox: 0.3053, d4.loss_cls: 0.1096, d4.loss_bbox: 0.3001, d5.loss_cls: 0.1066, d5.loss_bbox: 0.2995, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6669, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5106, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4613, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4482, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4428, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4378, d0.loss_map_cls_all: 0.1861, d0.loss_map_pts_all: 1.2494, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.1861, d0.loss_map_pts: 1.2494, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1528, d1.loss_map_pts: 0.8474, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1328, d2.loss_map_pts: 0.6681, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1204, d3.loss_map_pts: 0.6130, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1124, d4.loss_map_pts: 0.5934, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1059, d5.loss_map_pts: 0.5837, d5.loss_map_dir: 0.0085, loss: 23.2059, grad_norm: 179.7219 +2026-02-28 07:09:51,764 - DriveTransformer - INFO - Epoch [9][22200/39528] lr: 7.525e-05, eta: 5 days, 3:51:04, time: 0.710, data_time: 0.038, memory: 19865, loss_cls: 0.1362, loss_bbox: 0.3423, loss_traj: 0.5408, loss_traj_cls: 0.0019, loss_map_cls: 0.1334, loss_map_pts: 0.6280, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.9698, d0.loss_plan_l1_fix_dist: 0.4918, d1.loss_plan_l1_fix_time: 0.8686, d1.loss_plan_l1_fix_dist: 0.2588, d2.loss_plan_l1_fix_time: 0.8531, d2.loss_plan_l1_fix_dist: 0.2359, d3.loss_plan_l1_fix_time: 0.8498, d3.loss_plan_l1_fix_dist: 0.2165, d4.loss_plan_l1_fix_time: 0.8514, d4.loss_plan_l1_fix_dist: 0.2053, d5.loss_plan_l1_fix_time: 0.8535, d5.loss_plan_l1_fix_dist: 0.2124, d6.loss_plan_l1_fix_time: 0.8562, d6.loss_plan_l1_fix_dist: 0.2205, d0.loss_cls_all: 0.1775, d0.loss_bbox_all: 0.4084, d0.loss_cls: 0.1775, d0.loss_bbox: 0.4084, d1.loss_cls: 0.1725, d1.loss_bbox: 0.3750, d2.loss_cls: 0.1612, d2.loss_bbox: 0.3511, d3.loss_cls: 0.1408, d3.loss_bbox: 0.3453, d4.loss_cls: 0.1373, d4.loss_bbox: 0.3410, d5.loss_cls: 0.1354, d5.loss_bbox: 0.3415, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7943, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6142, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5671, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5479, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5401, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5384, d0.loss_map_cls_all: 0.2130, d0.loss_map_pts_all: 1.1387, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2130, d0.loss_map_pts: 1.1387, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1798, d1.loss_map_pts: 0.8618, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1580, d2.loss_map_pts: 0.7161, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1485, d3.loss_map_pts: 0.6564, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1408, d4.loss_map_pts: 0.6328, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1367, d5.loss_map_pts: 0.6267, d5.loss_map_dir: 0.0066, loss: 26.0190, grad_norm: 178.6794 +2026-02-28 07:10:28,888 - DriveTransformer - INFO - Epoch [9][22250/39528] lr: 7.525e-05, eta: 5 days, 3:50:31, time: 0.742, data_time: 0.035, memory: 19865, loss_cls: 0.1366, loss_bbox: 0.3585, loss_traj: 0.5575, loss_traj_cls: 0.0019, loss_map_cls: 0.1229, loss_map_pts: 0.6878, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.7632, d0.loss_plan_l1_fix_dist: 0.4093, d1.loss_plan_l1_fix_time: 0.9450, d1.loss_plan_l1_fix_dist: 0.2534, d2.loss_plan_l1_fix_time: 0.9153, d2.loss_plan_l1_fix_dist: 0.2440, d3.loss_plan_l1_fix_time: 0.9116, d3.loss_plan_l1_fix_dist: 0.2147, d4.loss_plan_l1_fix_time: 0.9130, d4.loss_plan_l1_fix_dist: 0.1994, d5.loss_plan_l1_fix_time: 0.9157, d5.loss_plan_l1_fix_dist: 0.1996, d6.loss_plan_l1_fix_time: 0.9193, d6.loss_plan_l1_fix_dist: 0.2189, d0.loss_cls_all: 0.1837, d0.loss_bbox_all: 0.4204, d0.loss_cls: 0.1837, d0.loss_bbox: 0.4204, d1.loss_cls: 0.1787, d1.loss_bbox: 0.3881, d2.loss_cls: 0.1637, d2.loss_bbox: 0.3654, d3.loss_cls: 0.1438, d3.loss_bbox: 0.3607, d4.loss_cls: 0.1369, d4.loss_bbox: 0.3578, d5.loss_cls: 0.1360, d5.loss_bbox: 0.3580, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8022, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6516, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5980, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5717, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5657, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5580, d0.loss_map_cls_all: 0.2031, d0.loss_map_pts_all: 1.3614, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2031, d0.loss_map_pts: 1.3614, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1709, d1.loss_map_pts: 0.9705, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1479, d2.loss_map_pts: 0.7866, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1357, d3.loss_map_pts: 0.7219, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1294, d4.loss_map_pts: 0.6956, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1248, d5.loss_map_pts: 0.6897, d5.loss_map_dir: 0.0088, loss: 27.2083, grad_norm: 176.8273 +2026-02-28 07:11:04,441 - DriveTransformer - INFO - Epoch [9][22300/39528] lr: 7.525e-05, eta: 5 days, 3:49:49, time: 0.711, data_time: 0.039, memory: 19865, loss_cls: 0.1064, loss_bbox: 0.3141, loss_traj: 0.5404, loss_traj_cls: 0.0020, loss_map_cls: 0.1059, loss_map_pts: 0.5267, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.8554, d0.loss_plan_l1_fix_dist: 0.4317, d1.loss_plan_l1_fix_time: 0.9029, d1.loss_plan_l1_fix_dist: 0.2152, d2.loss_plan_l1_fix_time: 0.8893, d2.loss_plan_l1_fix_dist: 0.2508, d3.loss_plan_l1_fix_time: 0.8865, d3.loss_plan_l1_fix_dist: 0.2166, d4.loss_plan_l1_fix_time: 0.8879, d4.loss_plan_l1_fix_dist: 0.1952, d5.loss_plan_l1_fix_time: 0.8898, d5.loss_plan_l1_fix_dist: 0.1979, d6.loss_plan_l1_fix_time: 0.8921, d6.loss_plan_l1_fix_dist: 0.2265, d0.loss_cls_all: 0.1492, d0.loss_bbox_all: 0.3768, d0.loss_cls: 0.1492, d0.loss_bbox: 0.3768, d1.loss_cls: 0.1422, d1.loss_bbox: 0.3405, d2.loss_cls: 0.1271, d2.loss_bbox: 0.3192, d3.loss_cls: 0.1135, d3.loss_bbox: 0.3119, d4.loss_cls: 0.1069, d4.loss_bbox: 0.3133, d5.loss_cls: 0.1058, d5.loss_bbox: 0.3137, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8001, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6334, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5700, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5524, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5459, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5416, d0.loss_map_cls_all: 0.1867, d0.loss_map_pts_all: 1.0588, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1867, d0.loss_map_pts: 1.0588, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1538, d1.loss_map_pts: 0.7776, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1278, d2.loss_map_pts: 0.6221, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1182, d3.loss_map_pts: 0.5638, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1119, d4.loss_map_pts: 0.5444, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1078, d5.loss_map_pts: 0.5303, d5.loss_map_dir: 0.0062, loss: 24.6254, grad_norm: 177.4767 +2026-02-28 07:11:41,390 - DriveTransformer - INFO - Epoch [9][22350/39528] lr: 7.525e-05, eta: 5 days, 3:49:15, time: 0.739, data_time: 0.039, memory: 19865, loss_cls: 0.1212, loss_bbox: 0.3324, loss_traj: 0.5045, loss_traj_cls: 0.0020, loss_map_cls: 0.1133, loss_map_pts: 0.5691, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.8014, d0.loss_plan_l1_fix_dist: 0.5454, d1.loss_plan_l1_fix_time: 0.9447, d1.loss_plan_l1_fix_dist: 0.2144, d2.loss_plan_l1_fix_time: 0.9362, d2.loss_plan_l1_fix_dist: 0.2773, d3.loss_plan_l1_fix_time: 0.9384, d3.loss_plan_l1_fix_dist: 0.2442, d4.loss_plan_l1_fix_time: 0.9406, d4.loss_plan_l1_fix_dist: 0.2323, d5.loss_plan_l1_fix_time: 0.9427, d5.loss_plan_l1_fix_dist: 0.2297, d6.loss_plan_l1_fix_time: 0.9456, d6.loss_plan_l1_fix_dist: 0.2412, d0.loss_cls_all: 0.1573, d0.loss_bbox_all: 0.4026, d0.loss_cls: 0.1573, d0.loss_bbox: 0.4026, d1.loss_cls: 0.1506, d1.loss_bbox: 0.3679, d2.loss_cls: 0.1394, d2.loss_bbox: 0.3440, d3.loss_cls: 0.1279, d3.loss_bbox: 0.3395, d4.loss_cls: 0.1235, d4.loss_bbox: 0.3349, d5.loss_cls: 0.1221, d5.loss_bbox: 0.3332, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7722, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6037, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5362, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5091, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5050, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5017, d0.loss_map_cls_all: 0.1857, d0.loss_map_pts_all: 1.1612, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1857, d0.loss_map_pts: 1.1612, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1560, d1.loss_map_pts: 0.8189, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1353, d2.loss_map_pts: 0.6527, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1265, d3.loss_map_pts: 0.5993, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1207, d4.loss_map_pts: 0.5790, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1155, d5.loss_map_pts: 0.5706, d5.loss_map_dir: 0.0076, loss: 25.6390, grad_norm: 177.7950 +2026-02-28 07:12:18,311 - DriveTransformer - INFO - Epoch [9][22400/39528] lr: 7.525e-05, eta: 5 days, 3:48:41, time: 0.740, data_time: 0.037, memory: 19865, loss_cls: 0.1154, loss_bbox: 0.3134, loss_traj: 0.5525, loss_traj_cls: 0.0019, loss_map_cls: 0.1373, loss_map_pts: 0.6088, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.7254, d0.loss_plan_l1_fix_dist: 0.3949, d1.loss_plan_l1_fix_time: 0.8802, d1.loss_plan_l1_fix_dist: 0.1861, d2.loss_plan_l1_fix_time: 0.8721, d2.loss_plan_l1_fix_dist: 0.2521, d3.loss_plan_l1_fix_time: 0.8699, d3.loss_plan_l1_fix_dist: 0.2061, d4.loss_plan_l1_fix_time: 0.8707, d4.loss_plan_l1_fix_dist: 0.1936, d5.loss_plan_l1_fix_time: 0.8721, d5.loss_plan_l1_fix_dist: 0.2051, d6.loss_plan_l1_fix_time: 0.8744, d6.loss_plan_l1_fix_dist: 0.2231, d0.loss_cls_all: 0.1583, d0.loss_bbox_all: 0.3715, d0.loss_cls: 0.1583, d0.loss_bbox: 0.3715, d1.loss_cls: 0.1541, d1.loss_bbox: 0.3396, d2.loss_cls: 0.1361, d2.loss_bbox: 0.3215, d3.loss_cls: 0.1197, d3.loss_bbox: 0.3172, d4.loss_cls: 0.1148, d4.loss_bbox: 0.3140, d5.loss_cls: 0.1141, d5.loss_bbox: 0.3143, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7270, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6006, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5727, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5607, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5549, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5518, d0.loss_map_cls_all: 0.2165, d0.loss_map_pts_all: 1.3035, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2165, d0.loss_map_pts: 1.3035, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1858, d1.loss_map_pts: 0.9113, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1648, d2.loss_map_pts: 0.7130, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1526, d3.loss_map_pts: 0.6425, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1446, d4.loss_map_pts: 0.6181, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1390, d5.loss_map_pts: 0.6102, d5.loss_map_dir: 0.0072, loss: 25.6093, grad_norm: 175.0745 +2026-02-28 07:12:53,102 - DriveTransformer - INFO - Epoch [9][22450/39528] lr: 7.525e-05, eta: 5 days, 3:47:53, time: 0.694, data_time: 0.035, memory: 19865, loss_cls: 0.1069, loss_bbox: 0.2967, loss_traj: 0.5912, loss_traj_cls: 0.0020, loss_map_cls: 0.1089, loss_map_pts: 0.5384, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.7504, d0.loss_plan_l1_fix_dist: 0.4821, d1.loss_plan_l1_fix_time: 1.0050, d1.loss_plan_l1_fix_dist: 0.1974, d2.loss_plan_l1_fix_time: 0.9908, d2.loss_plan_l1_fix_dist: 0.2709, d3.loss_plan_l1_fix_time: 0.9929, d3.loss_plan_l1_fix_dist: 0.2131, d4.loss_plan_l1_fix_time: 0.9962, d4.loss_plan_l1_fix_dist: 0.2120, d5.loss_plan_l1_fix_time: 1.0002, d5.loss_plan_l1_fix_dist: 0.2455, d6.loss_plan_l1_fix_time: 1.0040, d6.loss_plan_l1_fix_dist: 0.2755, d0.loss_cls_all: 0.1478, d0.loss_bbox_all: 0.3452, d0.loss_cls: 0.1478, d0.loss_bbox: 0.3452, d1.loss_cls: 0.1468, d1.loss_bbox: 0.3185, d2.loss_cls: 0.1321, d2.loss_bbox: 0.3053, d3.loss_cls: 0.1146, d3.loss_bbox: 0.2988, d4.loss_cls: 0.1077, d4.loss_bbox: 0.2972, d5.loss_cls: 0.1071, d5.loss_bbox: 0.2958, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8306, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6695, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6244, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6051, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5952, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5922, d0.loss_map_cls_all: 0.1910, d0.loss_map_pts_all: 1.1106, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1910, d0.loss_map_pts: 1.1106, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1568, d1.loss_map_pts: 0.7826, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1346, d2.loss_map_pts: 0.6185, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1237, d3.loss_map_pts: 0.5583, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1136, d4.loss_map_pts: 0.5414, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1100, d5.loss_map_pts: 0.5394, d5.loss_map_dir: 0.0062, loss: 25.6443, grad_norm: 175.0615 +2026-02-28 07:13:28,771 - DriveTransformer - INFO - Epoch [9][22500/39528] lr: 7.525e-05, eta: 5 days, 3:47:12, time: 0.713, data_time: 0.037, memory: 19865, loss_cls: 0.1260, loss_bbox: 0.3273, loss_traj: 0.4834, loss_traj_cls: 0.0020, loss_map_cls: 0.1412, loss_map_pts: 0.6703, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.4465, d0.loss_plan_l1_fix_dist: 0.5799, d1.loss_plan_l1_fix_time: 0.8528, d1.loss_plan_l1_fix_dist: 0.2392, d2.loss_plan_l1_fix_time: 0.8434, d2.loss_plan_l1_fix_dist: 0.2944, d3.loss_plan_l1_fix_time: 0.8451, d3.loss_plan_l1_fix_dist: 0.2537, d4.loss_plan_l1_fix_time: 0.8484, d4.loss_plan_l1_fix_dist: 0.2646, d5.loss_plan_l1_fix_time: 0.8526, d5.loss_plan_l1_fix_dist: 0.2961, d6.loss_plan_l1_fix_time: 0.8568, d6.loss_plan_l1_fix_dist: 0.3272, d0.loss_cls_all: 0.1654, d0.loss_bbox_all: 0.3998, d0.loss_cls: 0.1654, d0.loss_bbox: 0.3998, d1.loss_cls: 0.1605, d1.loss_bbox: 0.3652, d2.loss_cls: 0.1472, d2.loss_bbox: 0.3400, d3.loss_cls: 0.1313, d3.loss_bbox: 0.3318, d4.loss_cls: 0.1265, d4.loss_bbox: 0.3285, d5.loss_cls: 0.1251, d5.loss_bbox: 0.3280, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7305, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5556, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5041, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4956, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4846, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4790, d0.loss_map_cls_all: 0.2136, d0.loss_map_pts_all: 1.3083, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2136, d0.loss_map_pts: 1.3083, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1840, d1.loss_map_pts: 0.9310, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1654, d2.loss_map_pts: 0.7703, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1589, d3.loss_map_pts: 0.7084, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1485, d4.loss_map_pts: 0.6773, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1435, d5.loss_map_pts: 0.6722, d5.loss_map_dir: 0.0085, loss: 25.9878, grad_norm: 167.3673 +2026-02-28 07:14:05,173 - DriveTransformer - INFO - Epoch [9][22550/39528] lr: 7.525e-05, eta: 5 days, 3:46:34, time: 0.728, data_time: 0.037, memory: 19865, loss_cls: 0.1093, loss_bbox: 0.2996, loss_traj: 0.4812, loss_traj_cls: 0.0020, loss_map_cls: 0.1096, loss_map_pts: 0.5560, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.5325, d0.loss_plan_l1_fix_dist: 0.3731, d1.loss_plan_l1_fix_time: 0.8443, d1.loss_plan_l1_fix_dist: 0.2225, d2.loss_plan_l1_fix_time: 0.8320, d2.loss_plan_l1_fix_dist: 0.2623, d3.loss_plan_l1_fix_time: 0.8396, d3.loss_plan_l1_fix_dist: 0.2079, d4.loss_plan_l1_fix_time: 0.8440, d4.loss_plan_l1_fix_dist: 0.2172, d5.loss_plan_l1_fix_time: 0.8480, d5.loss_plan_l1_fix_dist: 0.2342, d6.loss_plan_l1_fix_time: 0.8528, d6.loss_plan_l1_fix_dist: 0.2453, d0.loss_cls_all: 0.1477, d0.loss_bbox_all: 0.3575, d0.loss_cls: 0.1477, d0.loss_bbox: 0.3575, d1.loss_cls: 0.1400, d1.loss_bbox: 0.3282, d2.loss_cls: 0.1292, d2.loss_bbox: 0.3072, d3.loss_cls: 0.1128, d3.loss_bbox: 0.3025, d4.loss_cls: 0.1098, d4.loss_bbox: 0.3002, d5.loss_cls: 0.1078, d5.loss_bbox: 0.3005, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6580, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5231, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4917, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4823, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4771, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4804, d0.loss_map_cls_all: 0.1869, d0.loss_map_pts_all: 1.1885, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1869, d0.loss_map_pts: 1.1885, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1530, d1.loss_map_pts: 0.8182, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1327, d2.loss_map_pts: 0.6519, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1230, d3.loss_map_pts: 0.5908, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1157, d4.loss_map_pts: 0.5674, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1109, d5.loss_map_pts: 0.5587, d5.loss_map_dir: 0.0066, loss: 23.8043, grad_norm: 165.6876 +2026-02-28 07:14:42,535 - DriveTransformer - INFO - Epoch [9][22600/39528] lr: 7.525e-05, eta: 5 days, 3:46:03, time: 0.747, data_time: 0.039, memory: 19865, loss_cls: 0.1310, loss_bbox: 0.3342, loss_traj: 0.6050, loss_traj_cls: 0.0020, loss_map_cls: 0.1420, loss_map_pts: 0.6411, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.9046, d0.loss_plan_l1_fix_dist: 0.4835, d1.loss_plan_l1_fix_time: 0.9121, d1.loss_plan_l1_fix_dist: 0.2921, d2.loss_plan_l1_fix_time: 0.9121, d2.loss_plan_l1_fix_dist: 0.3236, d3.loss_plan_l1_fix_time: 0.9105, d3.loss_plan_l1_fix_dist: 0.2892, d4.loss_plan_l1_fix_time: 0.9169, d4.loss_plan_l1_fix_dist: 0.3161, d5.loss_plan_l1_fix_time: 0.9229, d5.loss_plan_l1_fix_dist: 0.3474, d6.loss_plan_l1_fix_time: 0.9294, d6.loss_plan_l1_fix_dist: 0.3529, d0.loss_cls_all: 0.1791, d0.loss_bbox_all: 0.3985, d0.loss_cls: 0.1791, d0.loss_bbox: 0.3985, d1.loss_cls: 0.1772, d1.loss_bbox: 0.3644, d2.loss_cls: 0.1570, d2.loss_bbox: 0.3450, d3.loss_cls: 0.1401, d3.loss_bbox: 0.3377, d4.loss_cls: 0.1353, d4.loss_bbox: 0.3349, d5.loss_cls: 0.1316, d5.loss_bbox: 0.3350, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8572, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6679, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6185, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6034, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6007, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6035, d0.loss_map_cls_all: 0.2226, d0.loss_map_pts_all: 1.2878, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2226, d0.loss_map_pts: 1.2878, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1906, d1.loss_map_pts: 0.9101, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1663, d2.loss_map_pts: 0.7314, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1553, d3.loss_map_pts: 0.6693, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1482, d4.loss_map_pts: 0.6475, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1426, d5.loss_map_pts: 0.6414, d5.loss_map_dir: 0.0081, loss: 27.7245, grad_norm: 172.3829 +2026-02-28 07:15:19,116 - DriveTransformer - INFO - Epoch [9][22650/39528] lr: 7.525e-05, eta: 5 days, 3:45:27, time: 0.732, data_time: 0.038, memory: 19865, loss_cls: 0.1198, loss_bbox: 0.3128, loss_traj: 0.5258, loss_traj_cls: 0.0020, loss_map_cls: 0.1040, loss_map_pts: 0.6076, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.5279, d0.loss_plan_l1_fix_dist: 0.4995, d1.loss_plan_l1_fix_time: 0.8961, d1.loss_plan_l1_fix_dist: 0.2957, d2.loss_plan_l1_fix_time: 0.8925, d2.loss_plan_l1_fix_dist: 0.2975, d3.loss_plan_l1_fix_time: 0.8885, d3.loss_plan_l1_fix_dist: 0.2791, d4.loss_plan_l1_fix_time: 0.8937, d4.loss_plan_l1_fix_dist: 0.2883, d5.loss_plan_l1_fix_time: 0.8993, d5.loss_plan_l1_fix_dist: 0.3320, d6.loss_plan_l1_fix_time: 0.9051, d6.loss_plan_l1_fix_dist: 0.3251, d0.loss_cls_all: 0.1661, d0.loss_bbox_all: 0.3671, d0.loss_cls: 0.1661, d0.loss_bbox: 0.3671, d1.loss_cls: 0.1592, d1.loss_bbox: 0.3383, d2.loss_cls: 0.1446, d2.loss_bbox: 0.3209, d3.loss_cls: 0.1267, d3.loss_bbox: 0.3138, d4.loss_cls: 0.1224, d4.loss_bbox: 0.3113, d5.loss_cls: 0.1193, d5.loss_bbox: 0.3124, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7243, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5801, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5403, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5300, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5242, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5252, d0.loss_map_cls_all: 0.1872, d0.loss_map_pts_all: 1.2444, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1872, d0.loss_map_pts: 1.2444, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1523, d1.loss_map_pts: 0.8823, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1293, d2.loss_map_pts: 0.7074, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1189, d3.loss_map_pts: 0.6393, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1098, d4.loss_map_pts: 0.6162, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1049, d5.loss_map_pts: 0.6057, d5.loss_map_dir: 0.0075, loss: 25.6458, grad_norm: 171.7895 +2026-02-28 07:15:56,206 - DriveTransformer - INFO - Epoch [9][22700/39528] lr: 7.525e-05, eta: 5 days, 3:44:53, time: 0.742, data_time: 0.038, memory: 19865, loss_cls: 0.1228, loss_bbox: 0.3109, loss_traj: 0.4737, loss_traj_cls: 0.0020, loss_map_cls: 0.1268, loss_map_pts: 0.6771, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.7561, d0.loss_plan_l1_fix_dist: 0.4880, d1.loss_plan_l1_fix_time: 0.9869, d1.loss_plan_l1_fix_dist: 0.2802, d2.loss_plan_l1_fix_time: 0.9672, d2.loss_plan_l1_fix_dist: 0.2571, d3.loss_plan_l1_fix_time: 0.9633, d3.loss_plan_l1_fix_dist: 0.2919, d4.loss_plan_l1_fix_time: 0.9663, d4.loss_plan_l1_fix_dist: 0.2741, d5.loss_plan_l1_fix_time: 0.9709, d5.loss_plan_l1_fix_dist: 0.3142, d6.loss_plan_l1_fix_time: 0.9761, d6.loss_plan_l1_fix_dist: 0.2963, d0.loss_cls_all: 0.1631, d0.loss_bbox_all: 0.3762, d0.loss_cls: 0.1631, d0.loss_bbox: 0.3762, d1.loss_cls: 0.1594, d1.loss_bbox: 0.3416, d2.loss_cls: 0.1455, d2.loss_bbox: 0.3214, d3.loss_cls: 0.1274, d3.loss_bbox: 0.3137, d4.loss_cls: 0.1250, d4.loss_bbox: 0.3118, d5.loss_cls: 0.1231, d5.loss_bbox: 0.3113, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6915, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5233, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4978, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4839, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4736, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4737, d0.loss_map_cls_all: 0.2279, d0.loss_map_pts_all: 1.3562, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2279, d0.loss_map_pts: 1.3562, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1876, d1.loss_map_pts: 0.9503, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1598, d2.loss_map_pts: 0.7594, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1449, d3.loss_map_pts: 0.6977, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1371, d4.loss_map_pts: 0.6777, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1287, d5.loss_map_pts: 0.6749, d5.loss_map_dir: 0.0090, loss: 26.7643, grad_norm: 186.4980 +2026-02-28 07:16:32,326 - DriveTransformer - INFO - Epoch [9][22750/39528] lr: 7.525e-05, eta: 5 days, 3:44:14, time: 0.722, data_time: 0.039, memory: 19865, loss_cls: 0.1173, loss_bbox: 0.3063, loss_traj: 0.5028, loss_traj_cls: 0.0020, loss_map_cls: 0.1124, loss_map_pts: 0.5435, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.4768, d0.loss_plan_l1_fix_dist: 0.5264, d1.loss_plan_l1_fix_time: 0.8148, d1.loss_plan_l1_fix_dist: 0.2839, d2.loss_plan_l1_fix_time: 0.7956, d2.loss_plan_l1_fix_dist: 0.2318, d3.loss_plan_l1_fix_time: 0.7986, d3.loss_plan_l1_fix_dist: 0.3005, d4.loss_plan_l1_fix_time: 0.8013, d4.loss_plan_l1_fix_dist: 0.2754, d5.loss_plan_l1_fix_time: 0.8044, d5.loss_plan_l1_fix_dist: 0.2839, d6.loss_plan_l1_fix_time: 0.8084, d6.loss_plan_l1_fix_dist: 0.2777, d0.loss_cls_all: 0.1647, d0.loss_bbox_all: 0.3664, d0.loss_cls: 0.1647, d0.loss_bbox: 0.3664, d1.loss_cls: 0.1564, d1.loss_bbox: 0.3378, d2.loss_cls: 0.1392, d2.loss_bbox: 0.3204, d3.loss_cls: 0.1245, d3.loss_bbox: 0.3118, d4.loss_cls: 0.1202, d4.loss_bbox: 0.3080, d5.loss_cls: 0.1168, d5.loss_bbox: 0.3070, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6871, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5626, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5150, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5026, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5045, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5006, d0.loss_map_cls_all: 0.1886, d0.loss_map_pts_all: 1.1196, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1886, d0.loss_map_pts: 1.1196, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1570, d1.loss_map_pts: 0.7838, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1349, d2.loss_map_pts: 0.6265, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1259, d3.loss_map_pts: 0.5703, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1197, d4.loss_map_pts: 0.5521, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1144, d5.loss_map_pts: 0.5441, d5.loss_map_dir: 0.0063, loss: 24.0400, grad_norm: 186.8267 +2026-02-28 07:17:08,507 - DriveTransformer - INFO - Epoch [9][22800/39528] lr: 7.525e-05, eta: 5 days, 3:43:36, time: 0.724, data_time: 0.038, memory: 19865, loss_cls: 0.1181, loss_bbox: 0.3083, loss_traj: 0.4809, loss_traj_cls: 0.0020, loss_map_cls: 0.1478, loss_map_pts: 0.6525, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.8188, d0.loss_plan_l1_fix_dist: 0.5304, d1.loss_plan_l1_fix_time: 1.0192, d1.loss_plan_l1_fix_dist: 0.3154, d2.loss_plan_l1_fix_time: 1.0081, d2.loss_plan_l1_fix_dist: 0.2247, d3.loss_plan_l1_fix_time: 1.0107, d3.loss_plan_l1_fix_dist: 0.2684, d4.loss_plan_l1_fix_time: 1.0127, d4.loss_plan_l1_fix_dist: 0.2727, d5.loss_plan_l1_fix_time: 1.0151, d5.loss_plan_l1_fix_dist: 0.2588, d6.loss_plan_l1_fix_time: 1.0177, d6.loss_plan_l1_fix_dist: 0.2931, d0.loss_cls_all: 0.1609, d0.loss_bbox_all: 0.3820, d0.loss_cls: 0.1609, d0.loss_bbox: 0.3820, d1.loss_cls: 0.1560, d1.loss_bbox: 0.3453, d2.loss_cls: 0.1407, d2.loss_bbox: 0.3223, d3.loss_cls: 0.1252, d3.loss_bbox: 0.3126, d4.loss_cls: 0.1206, d4.loss_bbox: 0.3107, d5.loss_cls: 0.1182, d5.loss_bbox: 0.3088, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6652, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5286, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4995, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4766, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4816, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4790, d0.loss_map_cls_all: 0.2320, d0.loss_map_pts_all: 1.2796, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2320, d0.loss_map_pts: 1.2796, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.2017, d1.loss_map_pts: 0.9370, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1750, d2.loss_map_pts: 0.7575, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1643, d3.loss_map_pts: 0.6928, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1565, d4.loss_map_pts: 0.6633, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1492, d5.loss_map_pts: 0.6551, d5.loss_map_dir: 0.0072, loss: 26.8878, grad_norm: 182.0329 +2026-02-28 07:17:45,497 - DriveTransformer - INFO - Epoch [9][22850/39528] lr: 7.525e-05, eta: 5 days, 3:43:02, time: 0.740, data_time: 0.037, memory: 19865, loss_cls: 0.1113, loss_bbox: 0.2789, loss_traj: 0.4451, loss_traj_cls: 0.0020, loss_map_cls: 0.1088, loss_map_pts: 0.5976, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.3010, d0.loss_plan_l1_fix_dist: 0.4809, d1.loss_plan_l1_fix_time: 0.7987, d1.loss_plan_l1_fix_dist: 0.2879, d2.loss_plan_l1_fix_time: 0.7813, d2.loss_plan_l1_fix_dist: 0.2078, d3.loss_plan_l1_fix_time: 0.7790, d3.loss_plan_l1_fix_dist: 0.2171, d4.loss_plan_l1_fix_time: 0.7819, d4.loss_plan_l1_fix_dist: 0.2429, d5.loss_plan_l1_fix_time: 0.7857, d5.loss_plan_l1_fix_dist: 0.2237, d6.loss_plan_l1_fix_time: 0.7893, d6.loss_plan_l1_fix_dist: 0.2715, d0.loss_cls_all: 0.1535, d0.loss_bbox_all: 0.3341, d0.loss_cls: 0.1535, d0.loss_bbox: 0.3341, d1.loss_cls: 0.1478, d1.loss_bbox: 0.3081, d2.loss_cls: 0.1331, d2.loss_bbox: 0.2888, d3.loss_cls: 0.1201, d3.loss_bbox: 0.2838, d4.loss_cls: 0.1140, d4.loss_bbox: 0.2816, d5.loss_cls: 0.1121, d5.loss_bbox: 0.2797, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6522, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5247, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4760, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4578, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4493, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4454, d0.loss_map_cls_all: 0.1933, d0.loss_map_pts_all: 1.2619, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1933, d0.loss_map_pts: 1.2619, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1599, d1.loss_map_pts: 0.8700, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1356, d2.loss_map_pts: 0.6910, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1233, d3.loss_map_pts: 0.6294, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1157, d4.loss_map_pts: 0.6033, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1097, d5.loss_map_pts: 0.5977, d5.loss_map_dir: 0.0071, loss: 23.5500, grad_norm: 184.3894 +2026-02-28 07:18:21,527 - DriveTransformer - INFO - Epoch [9][22900/39528] lr: 7.525e-05, eta: 5 days, 3:42:22, time: 0.721, data_time: 0.037, memory: 19865, loss_cls: 0.1213, loss_bbox: 0.3219, loss_traj: 0.6035, loss_traj_cls: 0.0020, loss_map_cls: 0.1255, loss_map_pts: 0.5196, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.7935, d0.loss_plan_l1_fix_dist: 0.4199, d1.loss_plan_l1_fix_time: 0.9119, d1.loss_plan_l1_fix_dist: 0.2919, d2.loss_plan_l1_fix_time: 0.9037, d2.loss_plan_l1_fix_dist: 0.2479, d3.loss_plan_l1_fix_time: 0.9043, d3.loss_plan_l1_fix_dist: 0.2559, d4.loss_plan_l1_fix_time: 0.9080, d4.loss_plan_l1_fix_dist: 0.2987, d5.loss_plan_l1_fix_time: 0.9124, d5.loss_plan_l1_fix_dist: 0.2725, d6.loss_plan_l1_fix_time: 0.9165, d6.loss_plan_l1_fix_dist: 0.2808, d0.loss_cls_all: 0.1663, d0.loss_bbox_all: 0.3775, d0.loss_cls: 0.1663, d0.loss_bbox: 0.3775, d1.loss_cls: 0.1556, d1.loss_bbox: 0.3487, d2.loss_cls: 0.1446, d2.loss_bbox: 0.3309, d3.loss_cls: 0.1277, d3.loss_bbox: 0.3279, d4.loss_cls: 0.1235, d4.loss_bbox: 0.3257, d5.loss_cls: 0.1210, d5.loss_bbox: 0.3238, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8332, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6762, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6264, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6137, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6084, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6070, d0.loss_map_cls_all: 0.1970, d0.loss_map_pts_all: 1.1200, d0.loss_map_dir_all: 0.0050, d0.loss_map_cls: 0.1970, d0.loss_map_pts: 1.1200, d0.loss_map_dir: 0.0050, d1.loss_map_cls: 0.1668, d1.loss_map_pts: 0.7935, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1469, d2.loss_map_pts: 0.6302, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1358, d3.loss_map_pts: 0.5600, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1308, d4.loss_map_pts: 0.5298, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1268, d5.loss_map_pts: 0.5204, d5.loss_map_dir: 0.0055, loss: 25.8147, grad_norm: 184.0979 +2026-02-28 07:18:57,523 - DriveTransformer - INFO - Epoch [9][22950/39528] lr: 7.525e-05, eta: 5 days, 3:41:43, time: 0.720, data_time: 0.037, memory: 19865, loss_cls: 0.1324, loss_bbox: 0.3152, loss_traj: 0.5613, loss_traj_cls: 0.0021, loss_map_cls: 0.1259, loss_map_pts: 0.5643, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.6018, d0.loss_plan_l1_fix_dist: 0.4402, d1.loss_plan_l1_fix_time: 0.9103, d1.loss_plan_l1_fix_dist: 0.2918, d2.loss_plan_l1_fix_time: 0.8958, d2.loss_plan_l1_fix_dist: 0.2544, d3.loss_plan_l1_fix_time: 0.8977, d3.loss_plan_l1_fix_dist: 0.2459, d4.loss_plan_l1_fix_time: 0.9008, d4.loss_plan_l1_fix_dist: 0.3050, d5.loss_plan_l1_fix_time: 0.9035, d5.loss_plan_l1_fix_dist: 0.2801, d6.loss_plan_l1_fix_time: 0.9064, d6.loss_plan_l1_fix_dist: 0.2516, d0.loss_cls_all: 0.1738, d0.loss_bbox_all: 0.3718, d0.loss_cls: 0.1738, d0.loss_bbox: 0.3718, d1.loss_cls: 0.1664, d1.loss_bbox: 0.3466, d2.loss_cls: 0.1539, d2.loss_bbox: 0.3269, d3.loss_cls: 0.1375, d3.loss_bbox: 0.3221, d4.loss_cls: 0.1333, d4.loss_bbox: 0.3174, d5.loss_cls: 0.1299, d5.loss_bbox: 0.3177, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8051, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6597, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5937, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5726, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5649, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5605, d0.loss_map_cls_all: 0.2092, d0.loss_map_pts_all: 1.1797, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2092, d0.loss_map_pts: 1.1797, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1726, d1.loss_map_pts: 0.8435, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1511, d2.loss_map_pts: 0.6758, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1392, d3.loss_map_pts: 0.6064, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1330, d4.loss_map_pts: 0.5784, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1274, d5.loss_map_pts: 0.5666, d5.loss_map_dir: 0.0066, loss: 25.8134, grad_norm: 183.2919 +2026-02-28 07:19:33,966 - DriveTransformer - INFO - Epoch [9][23000/39528] lr: 7.525e-05, eta: 5 days, 3:41:06, time: 0.729, data_time: 0.038, memory: 19865, loss_cls: 0.0986, loss_bbox: 0.2893, loss_traj: 0.5520, loss_traj_cls: 0.0021, loss_map_cls: 0.1213, loss_map_pts: 0.5668, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.8632, d0.loss_plan_l1_fix_dist: 0.4738, d1.loss_plan_l1_fix_time: 0.9793, d1.loss_plan_l1_fix_dist: 0.2686, d2.loss_plan_l1_fix_time: 0.9678, d2.loss_plan_l1_fix_dist: 0.2344, d3.loss_plan_l1_fix_time: 0.9660, d3.loss_plan_l1_fix_dist: 0.2336, d4.loss_plan_l1_fix_time: 0.9684, d4.loss_plan_l1_fix_dist: 0.2797, d5.loss_plan_l1_fix_time: 0.9703, d5.loss_plan_l1_fix_dist: 0.2801, d6.loss_plan_l1_fix_time: 0.9725, d6.loss_plan_l1_fix_dist: 0.2757, d0.loss_cls_all: 0.1444, d0.loss_bbox_all: 0.3460, d0.loss_cls: 0.1444, d0.loss_bbox: 0.3460, d1.loss_cls: 0.1375, d1.loss_bbox: 0.3127, d2.loss_cls: 0.1206, d2.loss_bbox: 0.2958, d3.loss_cls: 0.1078, d3.loss_bbox: 0.2921, d4.loss_cls: 0.1018, d4.loss_bbox: 0.2895, d5.loss_cls: 0.1002, d5.loss_bbox: 0.2882, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7581, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6241, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5729, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5594, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5535, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5511, d0.loss_map_cls_all: 0.1871, d0.loss_map_pts_all: 1.1399, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1871, d0.loss_map_pts: 1.1399, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1597, d1.loss_map_pts: 0.7969, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1423, d2.loss_map_pts: 0.6487, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1300, d3.loss_map_pts: 0.5894, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1266, d4.loss_map_pts: 0.5726, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1220, d5.loss_map_pts: 0.5661, d5.loss_map_dir: 0.0068, loss: 25.5763, grad_norm: 184.1432 +2026-02-28 07:20:10,480 - DriveTransformer - INFO - Epoch [9][23050/39528] lr: 7.525e-05, eta: 5 days, 3:40:29, time: 0.730, data_time: 0.038, memory: 19865, loss_cls: 0.1038, loss_bbox: 0.3024, loss_traj: 0.4664, loss_traj_cls: 0.0020, loss_map_cls: 0.1154, loss_map_pts: 0.5734, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.7286, d0.loss_plan_l1_fix_dist: 0.5674, d1.loss_plan_l1_fix_time: 0.8843, d1.loss_plan_l1_fix_dist: 0.2408, d2.loss_plan_l1_fix_time: 0.8682, d2.loss_plan_l1_fix_dist: 0.2266, d3.loss_plan_l1_fix_time: 0.8671, d3.loss_plan_l1_fix_dist: 0.2384, d4.loss_plan_l1_fix_time: 0.8689, d4.loss_plan_l1_fix_dist: 0.2537, d5.loss_plan_l1_fix_time: 0.8709, d5.loss_plan_l1_fix_dist: 0.2615, d6.loss_plan_l1_fix_time: 0.8738, d6.loss_plan_l1_fix_dist: 0.2742, d0.loss_cls_all: 0.1401, d0.loss_bbox_all: 0.3628, d0.loss_cls: 0.1401, d0.loss_bbox: 0.3628, d1.loss_cls: 0.1360, d1.loss_bbox: 0.3289, d2.loss_cls: 0.1235, d2.loss_bbox: 0.3078, d3.loss_cls: 0.1097, d3.loss_bbox: 0.3010, d4.loss_cls: 0.1054, d4.loss_bbox: 0.3015, d5.loss_cls: 0.1035, d5.loss_bbox: 0.3014, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6470, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5120, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4835, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4682, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4634, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4666, d0.loss_map_cls_all: 0.1854, d0.loss_map_pts_all: 1.1795, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1854, d0.loss_map_pts: 1.1795, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1575, d1.loss_map_pts: 0.8381, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1392, d2.loss_map_pts: 0.6691, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1285, d3.loss_map_pts: 0.6072, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1225, d4.loss_map_pts: 0.5809, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1174, d5.loss_map_pts: 0.5750, d5.loss_map_dir: 0.0066, loss: 24.4745, grad_norm: 179.6403 +2026-02-28 07:20:46,570 - DriveTransformer - INFO - Epoch [9][23100/39528] lr: 7.525e-05, eta: 5 days, 3:39:50, time: 0.722, data_time: 0.037, memory: 19865, loss_cls: 0.1247, loss_bbox: 0.3338, loss_traj: 0.4754, loss_traj_cls: 0.0020, loss_map_cls: 0.1364, loss_map_pts: 0.6480, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.6794, d0.loss_plan_l1_fix_dist: 0.3714, d1.loss_plan_l1_fix_time: 0.8929, d1.loss_plan_l1_fix_dist: 0.1758, d2.loss_plan_l1_fix_time: 0.8747, d2.loss_plan_l1_fix_dist: 0.1848, d3.loss_plan_l1_fix_time: 0.8701, d3.loss_plan_l1_fix_dist: 0.2187, d4.loss_plan_l1_fix_time: 0.8713, d4.loss_plan_l1_fix_dist: 0.2111, d5.loss_plan_l1_fix_time: 0.8742, d5.loss_plan_l1_fix_dist: 0.2374, d6.loss_plan_l1_fix_time: 0.8780, d6.loss_plan_l1_fix_dist: 0.2588, d0.loss_cls_all: 0.1713, d0.loss_bbox_all: 0.4009, d0.loss_cls: 0.1713, d0.loss_bbox: 0.4009, d1.loss_cls: 0.1629, d1.loss_bbox: 0.3660, d2.loss_cls: 0.1456, d2.loss_bbox: 0.3453, d3.loss_cls: 0.1301, d3.loss_bbox: 0.3369, d4.loss_cls: 0.1258, d4.loss_bbox: 0.3341, d5.loss_cls: 0.1244, d5.loss_bbox: 0.3337, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6959, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5490, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4979, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4822, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4796, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4757, d0.loss_map_cls_all: 0.2113, d0.loss_map_pts_all: 1.2135, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2113, d0.loss_map_pts: 1.2135, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1854, d1.loss_map_pts: 0.8725, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1616, d2.loss_map_pts: 0.7298, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1495, d3.loss_map_pts: 0.6746, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1432, d4.loss_map_pts: 0.6548, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1386, d5.loss_map_pts: 0.6493, d5.loss_map_dir: 0.0085, loss: 25.3302, grad_norm: 181.5953 +2026-02-28 07:21:23,689 - DriveTransformer - INFO - Epoch [9][23150/39528] lr: 7.525e-05, eta: 5 days, 3:39:17, time: 0.742, data_time: 0.037, memory: 19865, loss_cls: 0.1012, loss_bbox: 0.2950, loss_traj: 0.5071, loss_traj_cls: 0.0021, loss_map_cls: 0.0980, loss_map_pts: 0.5338, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.5202, d0.loss_plan_l1_fix_dist: 0.4726, d1.loss_plan_l1_fix_time: 0.7465, d1.loss_plan_l1_fix_dist: 0.1702, d2.loss_plan_l1_fix_time: 0.7196, d2.loss_plan_l1_fix_dist: 0.1941, d3.loss_plan_l1_fix_time: 0.7176, d3.loss_plan_l1_fix_dist: 0.2376, d4.loss_plan_l1_fix_time: 0.7203, d4.loss_plan_l1_fix_dist: 0.2098, d5.loss_plan_l1_fix_time: 0.7242, d5.loss_plan_l1_fix_dist: 0.2336, d6.loss_plan_l1_fix_time: 0.7288, d6.loss_plan_l1_fix_dist: 0.2519, d0.loss_cls_all: 0.1445, d0.loss_bbox_all: 0.3554, d0.loss_cls: 0.1445, d0.loss_bbox: 0.3554, d1.loss_cls: 0.1388, d1.loss_bbox: 0.3204, d2.loss_cls: 0.1251, d2.loss_bbox: 0.3022, d3.loss_cls: 0.1087, d3.loss_bbox: 0.2969, d4.loss_cls: 0.1042, d4.loss_bbox: 0.2937, d5.loss_cls: 0.1015, d5.loss_bbox: 0.2938, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7337, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5799, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5284, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5158, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5094, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5098, d0.loss_map_cls_all: 0.1637, d0.loss_map_pts_all: 1.1233, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1637, d0.loss_map_pts: 1.1233, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1379, d1.loss_map_pts: 0.7661, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1202, d2.loss_map_pts: 0.6182, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1088, d3.loss_map_pts: 0.5662, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1041, d4.loss_map_pts: 0.5437, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.0996, d5.loss_map_pts: 0.5355, d5.loss_map_dir: 0.0073, loss: 22.8829, grad_norm: 180.8383 +2026-02-28 07:22:00,927 - DriveTransformer - INFO - Epoch [9][23200/39528] lr: 7.525e-05, eta: 5 days, 3:38:45, time: 0.746, data_time: 0.037, memory: 19865, loss_cls: 0.1124, loss_bbox: 0.2986, loss_traj: 0.4646, loss_traj_cls: 0.0020, loss_map_cls: 0.1120, loss_map_pts: 0.6302, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.6191, d0.loss_plan_l1_fix_dist: 0.4247, d1.loss_plan_l1_fix_time: 0.9097, d1.loss_plan_l1_fix_dist: 0.1891, d2.loss_plan_l1_fix_time: 0.8934, d2.loss_plan_l1_fix_dist: 0.2085, d3.loss_plan_l1_fix_time: 0.8900, d3.loss_plan_l1_fix_dist: 0.2667, d4.loss_plan_l1_fix_time: 0.8924, d4.loss_plan_l1_fix_dist: 0.2470, d5.loss_plan_l1_fix_time: 0.8963, d5.loss_plan_l1_fix_dist: 0.2450, d6.loss_plan_l1_fix_time: 0.9005, d6.loss_plan_l1_fix_dist: 0.2737, d0.loss_cls_all: 0.1580, d0.loss_bbox_all: 0.3528, d0.loss_cls: 0.1580, d0.loss_bbox: 0.3528, d1.loss_cls: 0.1471, d1.loss_bbox: 0.3219, d2.loss_cls: 0.1368, d2.loss_bbox: 0.3034, d3.loss_cls: 0.1223, d3.loss_bbox: 0.2992, d4.loss_cls: 0.1153, d4.loss_bbox: 0.2957, d5.loss_cls: 0.1118, d5.loss_bbox: 0.2976, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6683, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5270, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4769, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4735, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4600, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4595, d0.loss_map_cls_all: 0.1883, d0.loss_map_pts_all: 1.2852, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1883, d0.loss_map_pts: 1.2852, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1584, d1.loss_map_pts: 0.8994, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1369, d2.loss_map_pts: 0.7292, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1261, d3.loss_map_pts: 0.6631, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1187, d4.loss_map_pts: 0.6366, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1125, d5.loss_map_pts: 0.6321, d5.loss_map_dir: 0.0085, loss: 24.9444, grad_norm: 174.9463 +2026-02-28 07:22:38,387 - DriveTransformer - INFO - Epoch [9][23250/39528] lr: 7.525e-05, eta: 5 days, 3:38:14, time: 0.748, data_time: 0.037, memory: 19865, loss_cls: 0.1257, loss_bbox: 0.3366, loss_traj: 0.4127, loss_traj_cls: 0.0021, loss_map_cls: 0.1315, loss_map_pts: 0.6707, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.2378, d0.loss_plan_l1_fix_dist: 0.4724, d1.loss_plan_l1_fix_time: 0.7648, d1.loss_plan_l1_fix_dist: 0.2058, d2.loss_plan_l1_fix_time: 0.7504, d2.loss_plan_l1_fix_dist: 0.2310, d3.loss_plan_l1_fix_time: 0.7531, d3.loss_plan_l1_fix_dist: 0.2778, d4.loss_plan_l1_fix_time: 0.7563, d4.loss_plan_l1_fix_dist: 0.2577, d5.loss_plan_l1_fix_time: 0.7601, d5.loss_plan_l1_fix_dist: 0.2443, d6.loss_plan_l1_fix_time: 0.7648, d6.loss_plan_l1_fix_dist: 0.2782, d0.loss_cls_all: 0.1692, d0.loss_bbox_all: 0.3933, d0.loss_cls: 0.1692, d0.loss_bbox: 0.3933, d1.loss_cls: 0.1605, d1.loss_bbox: 0.3636, d2.loss_cls: 0.1466, d2.loss_bbox: 0.3452, d3.loss_cls: 0.1362, d3.loss_bbox: 0.3369, d4.loss_cls: 0.1281, d4.loss_bbox: 0.3354, d5.loss_cls: 0.1269, d5.loss_bbox: 0.3347, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6095, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4780, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4354, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4243, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4194, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4152, d0.loss_map_cls_all: 0.2131, d0.loss_map_pts_all: 1.2897, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2131, d0.loss_map_pts: 1.2897, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1832, d1.loss_map_pts: 0.9511, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1566, d2.loss_map_pts: 0.7756, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1451, d3.loss_map_pts: 0.7074, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1356, d4.loss_map_pts: 0.6786, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1324, d5.loss_map_pts: 0.6712, d5.loss_map_dir: 0.0097, loss: 24.3778, grad_norm: 172.2397 +2026-02-28 07:23:14,563 - DriveTransformer - INFO - Epoch [9][23300/39528] lr: 7.525e-05, eta: 5 days, 3:37:35, time: 0.723, data_time: 0.041, memory: 19865, loss_cls: 0.1083, loss_bbox: 0.2998, loss_traj: 0.5519, loss_traj_cls: 0.0021, loss_map_cls: 0.1123, loss_map_pts: 0.5245, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.4514, d0.loss_plan_l1_fix_dist: 0.4199, d1.loss_plan_l1_fix_time: 0.8700, d1.loss_plan_l1_fix_dist: 0.1792, d2.loss_plan_l1_fix_time: 0.8543, d2.loss_plan_l1_fix_dist: 0.2111, d3.loss_plan_l1_fix_time: 0.8536, d3.loss_plan_l1_fix_dist: 0.2446, d4.loss_plan_l1_fix_time: 0.8547, d4.loss_plan_l1_fix_dist: 0.2248, d5.loss_plan_l1_fix_time: 0.8564, d5.loss_plan_l1_fix_dist: 0.2145, d6.loss_plan_l1_fix_time: 0.8593, d6.loss_plan_l1_fix_dist: 0.2393, d0.loss_cls_all: 0.1429, d0.loss_bbox_all: 0.3462, d0.loss_cls: 0.1429, d0.loss_bbox: 0.3462, d1.loss_cls: 0.1395, d1.loss_bbox: 0.3184, d2.loss_cls: 0.1266, d2.loss_bbox: 0.3028, d3.loss_cls: 0.1148, d3.loss_bbox: 0.2989, d4.loss_cls: 0.1081, d4.loss_bbox: 0.2992, d5.loss_cls: 0.1070, d5.loss_bbox: 0.2996, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7580, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6066, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5697, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5595, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5529, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5519, d0.loss_map_cls_all: 0.1924, d0.loss_map_pts_all: 1.0530, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1924, d0.loss_map_pts: 1.0530, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1586, d1.loss_map_pts: 0.7620, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1389, d2.loss_map_pts: 0.6139, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1282, d3.loss_map_pts: 0.5493, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1204, d4.loss_map_pts: 0.5293, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1142, d5.loss_map_pts: 0.5242, d5.loss_map_dir: 0.0066, loss: 23.8086, grad_norm: 170.9202 +2026-02-28 07:23:52,169 - DriveTransformer - INFO - Epoch [9][23350/39528] lr: 7.525e-05, eta: 5 days, 3:37:05, time: 0.752, data_time: 0.044, memory: 19865, loss_cls: 0.1029, loss_bbox: 0.3106, loss_traj: 0.4935, loss_traj_cls: 0.0021, loss_map_cls: 0.1235, loss_map_pts: 0.6145, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.5452, d0.loss_plan_l1_fix_dist: 0.4537, d1.loss_plan_l1_fix_time: 0.7991, d1.loss_plan_l1_fix_dist: 0.1745, d2.loss_plan_l1_fix_time: 0.7847, d2.loss_plan_l1_fix_dist: 0.2101, d3.loss_plan_l1_fix_time: 0.7829, d3.loss_plan_l1_fix_dist: 0.2343, d4.loss_plan_l1_fix_time: 0.7853, d4.loss_plan_l1_fix_dist: 0.2489, d5.loss_plan_l1_fix_time: 0.7878, d5.loss_plan_l1_fix_dist: 0.2428, d6.loss_plan_l1_fix_time: 0.7912, d6.loss_plan_l1_fix_dist: 0.2568, d0.loss_cls_all: 0.1463, d0.loss_bbox_all: 0.3728, d0.loss_cls: 0.1463, d0.loss_bbox: 0.3728, d1.loss_cls: 0.1412, d1.loss_bbox: 0.3398, d2.loss_cls: 0.1262, d2.loss_bbox: 0.3228, d3.loss_cls: 0.1102, d3.loss_bbox: 0.3149, d4.loss_cls: 0.1053, d4.loss_bbox: 0.3103, d5.loss_cls: 0.1030, d5.loss_bbox: 0.3103, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6967, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5652, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5163, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5008, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4975, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4950, d0.loss_map_cls_all: 0.2075, d0.loss_map_pts_all: 1.2562, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2075, d0.loss_map_pts: 1.2562, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1781, d1.loss_map_pts: 0.8749, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1523, d2.loss_map_pts: 0.7166, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1398, d3.loss_map_pts: 0.6543, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1325, d4.loss_map_pts: 0.6276, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1256, d5.loss_map_pts: 0.6162, d5.loss_map_dir: 0.0085, loss: 24.4548, grad_norm: 167.6734 +2026-02-28 07:24:26,865 - DriveTransformer - INFO - Epoch [9][23400/39528] lr: 7.525e-05, eta: 5 days, 3:36:17, time: 0.694, data_time: 0.038, memory: 19865, loss_cls: 0.1065, loss_bbox: 0.3034, loss_traj: 0.5939, loss_traj_cls: 0.0022, loss_map_cls: 0.1117, loss_map_pts: 0.5027, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.4213, d0.loss_plan_l1_fix_dist: 0.4083, d1.loss_plan_l1_fix_time: 0.7801, d1.loss_plan_l1_fix_dist: 0.1797, d2.loss_plan_l1_fix_time: 0.7607, d2.loss_plan_l1_fix_dist: 0.2061, d3.loss_plan_l1_fix_time: 0.7559, d3.loss_plan_l1_fix_dist: 0.2337, d4.loss_plan_l1_fix_time: 0.7572, d4.loss_plan_l1_fix_dist: 0.2550, d5.loss_plan_l1_fix_time: 0.7593, d5.loss_plan_l1_fix_dist: 0.2500, d6.loss_plan_l1_fix_time: 0.7620, d6.loss_plan_l1_fix_dist: 0.2498, d0.loss_cls_all: 0.1571, d0.loss_bbox_all: 0.3615, d0.loss_cls: 0.1571, d0.loss_bbox: 0.3615, d1.loss_cls: 0.1514, d1.loss_bbox: 0.3289, d2.loss_cls: 0.1336, d2.loss_bbox: 0.3110, d3.loss_cls: 0.1144, d3.loss_bbox: 0.3059, d4.loss_cls: 0.1087, d4.loss_bbox: 0.3029, d5.loss_cls: 0.1066, d5.loss_bbox: 0.3035, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8974, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6767, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6128, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6053, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5958, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5966, d0.loss_map_cls_all: 0.1730, d0.loss_map_pts_all: 0.9907, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1730, d0.loss_map_pts: 0.9907, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1495, d1.loss_map_pts: 0.7108, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1289, d2.loss_map_pts: 0.5822, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1202, d3.loss_map_pts: 0.5290, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1165, d4.loss_map_pts: 0.5086, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1129, d5.loss_map_pts: 0.5034, d5.loss_map_dir: 0.0057, loss: 23.4272, grad_norm: 164.6478 +2026-02-28 07:25:02,187 - DriveTransformer - INFO - Epoch [9][23450/39528] lr: 7.525e-05, eta: 5 days, 3:35:34, time: 0.706, data_time: 0.039, memory: 19865, loss_cls: 0.1048, loss_bbox: 0.2850, loss_traj: 0.5644, loss_traj_cls: 0.0022, loss_map_cls: 0.0843, loss_map_pts: 0.4608, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.2327, d0.loss_plan_l1_fix_dist: 0.4622, d1.loss_plan_l1_fix_time: 0.7285, d1.loss_plan_l1_fix_dist: 0.1771, d2.loss_plan_l1_fix_time: 0.6971, d2.loss_plan_l1_fix_dist: 0.1795, d3.loss_plan_l1_fix_time: 0.6874, d3.loss_plan_l1_fix_dist: 0.1892, d4.loss_plan_l1_fix_time: 0.6881, d4.loss_plan_l1_fix_dist: 0.2101, d5.loss_plan_l1_fix_time: 0.6900, d5.loss_plan_l1_fix_dist: 0.2246, d6.loss_plan_l1_fix_time: 0.6922, d6.loss_plan_l1_fix_dist: 0.2434, d0.loss_cls_all: 0.1400, d0.loss_bbox_all: 0.3504, d0.loss_cls: 0.1400, d0.loss_bbox: 0.3504, d1.loss_cls: 0.1385, d1.loss_bbox: 0.3145, d2.loss_cls: 0.1261, d2.loss_bbox: 0.2947, d3.loss_cls: 0.1117, d3.loss_bbox: 0.2893, d4.loss_cls: 0.1056, d4.loss_bbox: 0.2872, d5.loss_cls: 0.1037, d5.loss_bbox: 0.2864, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8274, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6352, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5761, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5661, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5627, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5626, d0.loss_map_cls_all: 0.1509, d0.loss_map_pts_all: 0.9732, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1509, d0.loss_map_pts: 0.9732, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1280, d1.loss_map_pts: 0.7011, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1067, d2.loss_map_pts: 0.5528, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0949, d3.loss_map_pts: 0.4913, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0903, d4.loss_map_pts: 0.4701, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0856, d5.loss_map_pts: 0.4629, d5.loss_map_dir: 0.0055, loss: 21.8514, grad_norm: 163.9055 +2026-02-28 07:25:39,766 - DriveTransformer - INFO - Epoch [9][23500/39528] lr: 7.525e-05, eta: 5 days, 3:35:03, time: 0.752, data_time: 0.038, memory: 19865, loss_cls: 0.0947, loss_bbox: 0.2875, loss_traj: 0.4694, loss_traj_cls: 0.0022, loss_map_cls: 0.1180, loss_map_pts: 0.5695, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.3484, d0.loss_plan_l1_fix_dist: 0.4286, d1.loss_plan_l1_fix_time: 0.8619, d1.loss_plan_l1_fix_dist: 0.2132, d2.loss_plan_l1_fix_time: 0.8498, d2.loss_plan_l1_fix_dist: 0.2172, d3.loss_plan_l1_fix_time: 0.8438, d3.loss_plan_l1_fix_dist: 0.2367, d4.loss_plan_l1_fix_time: 0.8457, d4.loss_plan_l1_fix_dist: 0.2365, d5.loss_plan_l1_fix_time: 0.8488, d5.loss_plan_l1_fix_dist: 0.2700, d6.loss_plan_l1_fix_time: 0.8518, d6.loss_plan_l1_fix_dist: 0.2931, d0.loss_cls_all: 0.1402, d0.loss_bbox_all: 0.3360, d0.loss_cls: 0.1402, d0.loss_bbox: 0.3360, d1.loss_cls: 0.1327, d1.loss_bbox: 0.3067, d2.loss_cls: 0.1200, d2.loss_bbox: 0.2919, d3.loss_cls: 0.1057, d3.loss_bbox: 0.2872, d4.loss_cls: 0.0999, d4.loss_bbox: 0.2859, d5.loss_cls: 0.0948, d5.loss_bbox: 0.2865, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6376, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5164, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4829, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4697, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4674, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4684, d0.loss_map_cls_all: 0.1904, d0.loss_map_pts_all: 1.2089, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1904, d0.loss_map_pts: 1.2089, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1597, d1.loss_map_pts: 0.8399, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1394, d2.loss_map_pts: 0.6611, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1303, d3.loss_map_pts: 0.5961, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1252, d4.loss_map_pts: 0.5760, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1203, d5.loss_map_pts: 0.5694, d5.loss_map_dir: 0.0080, loss: 23.6752, grad_norm: 163.4236 +2026-02-28 07:26:15,920 - DriveTransformer - INFO - Epoch [9][23550/39528] lr: 7.525e-05, eta: 5 days, 3:34:25, time: 0.723, data_time: 0.038, memory: 19865, loss_cls: 0.1172, loss_bbox: 0.3165, loss_traj: 0.4957, loss_traj_cls: 0.0021, loss_map_cls: 0.1350, loss_map_pts: 0.6312, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.6762, d0.loss_plan_l1_fix_dist: 0.5399, d1.loss_plan_l1_fix_time: 0.9314, d1.loss_plan_l1_fix_dist: 0.2384, d2.loss_plan_l1_fix_time: 0.9203, d2.loss_plan_l1_fix_dist: 0.2543, d3.loss_plan_l1_fix_time: 0.9189, d3.loss_plan_l1_fix_dist: 0.2739, d4.loss_plan_l1_fix_time: 0.9216, d4.loss_plan_l1_fix_dist: 0.2627, d5.loss_plan_l1_fix_time: 0.9248, d5.loss_plan_l1_fix_dist: 0.2838, d6.loss_plan_l1_fix_time: 0.9282, d6.loss_plan_l1_fix_dist: 0.2884, d0.loss_cls_all: 0.1610, d0.loss_bbox_all: 0.3806, d0.loss_cls: 0.1610, d0.loss_bbox: 0.3806, d1.loss_cls: 0.1560, d1.loss_bbox: 0.3456, d2.loss_cls: 0.1414, d2.loss_bbox: 0.3234, d3.loss_cls: 0.1268, d3.loss_bbox: 0.3165, d4.loss_cls: 0.1207, d4.loss_bbox: 0.3143, d5.loss_cls: 0.1180, d5.loss_bbox: 0.3143, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6997, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5496, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5133, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5052, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4981, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4976, d0.loss_map_cls_all: 0.2047, d0.loss_map_pts_all: 1.2001, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2047, d0.loss_map_pts: 1.2001, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1803, d1.loss_map_pts: 0.8861, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1578, d2.loss_map_pts: 0.7213, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1464, d3.loss_map_pts: 0.6583, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1390, d4.loss_map_pts: 0.6381, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1355, d5.loss_map_pts: 0.6316, d5.loss_map_dir: 0.0075, loss: 25.8523, grad_norm: 162.4118 +2026-02-28 07:26:51,884 - DriveTransformer - INFO - Epoch [9][23600/39528] lr: 7.525e-05, eta: 5 days, 3:33:45, time: 0.719, data_time: 0.035, memory: 19865, loss_cls: 0.1527, loss_bbox: 0.3742, loss_traj: 0.6810, loss_traj_cls: 0.0020, loss_map_cls: 0.1429, loss_map_pts: 0.7059, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 3.2002, d0.loss_plan_l1_fix_dist: 0.3654, d1.loss_plan_l1_fix_time: 1.1076, d1.loss_plan_l1_fix_dist: 0.2448, d2.loss_plan_l1_fix_time: 1.0906, d2.loss_plan_l1_fix_dist: 0.2550, d3.loss_plan_l1_fix_time: 1.0833, d3.loss_plan_l1_fix_dist: 0.2472, d4.loss_plan_l1_fix_time: 1.0844, d4.loss_plan_l1_fix_dist: 0.2571, d5.loss_plan_l1_fix_time: 1.0859, d5.loss_plan_l1_fix_dist: 0.2608, d6.loss_plan_l1_fix_time: 1.0882, d6.loss_plan_l1_fix_dist: 0.2744, d0.loss_cls_all: 0.2154, d0.loss_bbox_all: 0.4454, d0.loss_cls: 0.2154, d0.loss_bbox: 0.4454, d1.loss_cls: 0.2061, d1.loss_bbox: 0.4118, d2.loss_cls: 0.1880, d2.loss_bbox: 0.3875, d3.loss_cls: 0.1627, d3.loss_bbox: 0.3821, d4.loss_cls: 0.1553, d4.loss_bbox: 0.3768, d5.loss_cls: 0.1536, d5.loss_bbox: 0.3745, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9747, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7838, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.7107, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6895, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6806, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6783, d0.loss_map_cls_all: 0.2361, d0.loss_map_pts_all: 1.3285, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2361, d0.loss_map_pts: 1.3285, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1978, d1.loss_map_pts: 0.9987, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1708, d2.loss_map_pts: 0.8248, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1582, d3.loss_map_pts: 0.7416, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1497, d4.loss_map_pts: 0.7138, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1444, d5.loss_map_pts: 0.7073, d5.loss_map_dir: 0.0082, loss: 30.3466, grad_norm: 163.8542 +2026-02-28 07:27:28,298 - DriveTransformer - INFO - Epoch [9][23650/39528] lr: 7.525e-05, eta: 5 days, 3:33:07, time: 0.728, data_time: 0.038, memory: 19865, loss_cls: 0.1204, loss_bbox: 0.3259, loss_traj: 0.5475, loss_traj_cls: 0.0021, loss_map_cls: 0.1390, loss_map_pts: 0.5910, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.6315, d0.loss_plan_l1_fix_dist: 0.4142, d1.loss_plan_l1_fix_time: 0.8871, d1.loss_plan_l1_fix_dist: 0.2240, d2.loss_plan_l1_fix_time: 0.8751, d2.loss_plan_l1_fix_dist: 0.2518, d3.loss_plan_l1_fix_time: 0.8709, d3.loss_plan_l1_fix_dist: 0.2310, d4.loss_plan_l1_fix_time: 0.8727, d4.loss_plan_l1_fix_dist: 0.2361, d5.loss_plan_l1_fix_time: 0.8755, d5.loss_plan_l1_fix_dist: 0.2373, d6.loss_plan_l1_fix_time: 0.8796, d6.loss_plan_l1_fix_dist: 0.2524, d0.loss_cls_all: 0.1651, d0.loss_bbox_all: 0.3861, d0.loss_cls: 0.1651, d0.loss_bbox: 0.3861, d1.loss_cls: 0.1601, d1.loss_bbox: 0.3512, d2.loss_cls: 0.1452, d2.loss_bbox: 0.3332, d3.loss_cls: 0.1295, d3.loss_bbox: 0.3283, d4.loss_cls: 0.1225, d4.loss_bbox: 0.3259, d5.loss_cls: 0.1206, d5.loss_bbox: 0.3264, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7790, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6327, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5776, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5577, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5506, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5490, d0.loss_map_cls_all: 0.2138, d0.loss_map_pts_all: 1.1746, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2138, d0.loss_map_pts: 1.1746, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1826, d1.loss_map_pts: 0.8559, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1614, d2.loss_map_pts: 0.6960, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1531, d3.loss_map_pts: 0.6279, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1456, d4.loss_map_pts: 0.5979, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1408, d5.loss_map_pts: 0.5907, d5.loss_map_dir: 0.0067, loss: 25.5433, grad_norm: 161.5167 +2026-02-28 07:28:05,168 - DriveTransformer - INFO - Epoch [9][23700/39528] lr: 7.525e-05, eta: 5 days, 3:32:33, time: 0.737, data_time: 0.040, memory: 19865, loss_cls: 0.1274, loss_bbox: 0.3239, loss_traj: 0.6023, loss_traj_cls: 0.0021, loss_map_cls: 0.1460, loss_map_pts: 0.6261, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 3.0755, d0.loss_plan_l1_fix_dist: 0.5046, d1.loss_plan_l1_fix_time: 0.9395, d1.loss_plan_l1_fix_dist: 0.2107, d2.loss_plan_l1_fix_time: 0.9233, d2.loss_plan_l1_fix_dist: 0.2539, d3.loss_plan_l1_fix_time: 0.9289, d3.loss_plan_l1_fix_dist: 0.2333, d4.loss_plan_l1_fix_time: 0.9319, d4.loss_plan_l1_fix_dist: 0.2317, d5.loss_plan_l1_fix_time: 0.9361, d5.loss_plan_l1_fix_dist: 0.2482, d6.loss_plan_l1_fix_time: 0.9401, d6.loss_plan_l1_fix_dist: 0.2825, d0.loss_cls_all: 0.1682, d0.loss_bbox_all: 0.3910, d0.loss_cls: 0.1682, d0.loss_bbox: 0.3910, d1.loss_cls: 0.1676, d1.loss_bbox: 0.3568, d2.loss_cls: 0.1519, d2.loss_bbox: 0.3351, d3.loss_cls: 0.1352, d3.loss_bbox: 0.3284, d4.loss_cls: 0.1280, d4.loss_bbox: 0.3261, d5.loss_cls: 0.1276, d5.loss_bbox: 0.3238, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7890, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6619, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6208, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6049, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6033, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6022, d0.loss_map_cls_all: 0.2251, d0.loss_map_pts_all: 1.2457, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2251, d0.loss_map_pts: 1.2457, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1940, d1.loss_map_pts: 0.8937, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1727, d2.loss_map_pts: 0.7314, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1594, d3.loss_map_pts: 0.6581, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1531, d4.loss_map_pts: 0.6307, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1471, d5.loss_map_pts: 0.6269, d5.loss_map_dir: 0.0072, loss: 27.2192, grad_norm: 161.5249 +2026-02-28 07:28:41,771 - DriveTransformer - INFO - Epoch [9][23750/39528] lr: 7.525e-05, eta: 5 days, 3:31:57, time: 0.732, data_time: 0.037, memory: 19865, loss_cls: 0.1068, loss_bbox: 0.3012, loss_traj: 0.5172, loss_traj_cls: 0.0022, loss_map_cls: 0.1105, loss_map_pts: 0.5407, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 1.9896, d0.loss_plan_l1_fix_dist: 0.4464, d1.loss_plan_l1_fix_time: 0.7266, d1.loss_plan_l1_fix_dist: 0.2111, d2.loss_plan_l1_fix_time: 0.7082, d2.loss_plan_l1_fix_dist: 0.2554, d3.loss_plan_l1_fix_time: 0.7088, d3.loss_plan_l1_fix_dist: 0.2465, d4.loss_plan_l1_fix_time: 0.7132, d4.loss_plan_l1_fix_dist: 0.2383, d5.loss_plan_l1_fix_time: 0.7187, d5.loss_plan_l1_fix_dist: 0.2598, d6.loss_plan_l1_fix_time: 0.7244, d6.loss_plan_l1_fix_dist: 0.2979, d0.loss_cls_all: 0.1478, d0.loss_bbox_all: 0.3602, d0.loss_cls: 0.1478, d0.loss_bbox: 0.3602, d1.loss_cls: 0.1405, d1.loss_bbox: 0.3298, d2.loss_cls: 0.1316, d2.loss_bbox: 0.3086, d3.loss_cls: 0.1125, d3.loss_bbox: 0.3039, d4.loss_cls: 0.1080, d4.loss_bbox: 0.3005, d5.loss_cls: 0.1069, d5.loss_bbox: 0.3011, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7250, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5799, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5347, d3.loss_traj_cls: 0.0009, d3.loss_traj: 0.5218, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5160, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5171, d0.loss_map_cls_all: 0.1894, d0.loss_map_pts_all: 1.1673, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1894, d0.loss_map_pts: 1.1673, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1583, d1.loss_map_pts: 0.8082, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1337, d2.loss_map_pts: 0.6300, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1229, d3.loss_map_pts: 0.5737, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1166, d4.loss_map_pts: 0.5487, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1122, d5.loss_map_pts: 0.5413, d5.loss_map_dir: 0.0067, loss: 22.8936, grad_norm: 163.2859 +2026-02-28 07:29:18,085 - DriveTransformer - INFO - Epoch [9][23800/39528] lr: 7.525e-05, eta: 5 days, 3:31:19, time: 0.726, data_time: 0.040, memory: 19865, loss_cls: 0.1262, loss_bbox: 0.3416, loss_traj: 0.5552, loss_traj_cls: 0.0021, loss_map_cls: 0.1566, loss_map_pts: 0.7115, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 3.4275, d0.loss_plan_l1_fix_dist: 0.4365, d1.loss_plan_l1_fix_time: 1.1571, d1.loss_plan_l1_fix_dist: 0.2046, d2.loss_plan_l1_fix_time: 1.1360, d2.loss_plan_l1_fix_dist: 0.2575, d3.loss_plan_l1_fix_time: 1.1401, d3.loss_plan_l1_fix_dist: 0.2348, d4.loss_plan_l1_fix_time: 1.1421, d4.loss_plan_l1_fix_dist: 0.2166, d5.loss_plan_l1_fix_time: 1.1446, d5.loss_plan_l1_fix_dist: 0.2341, d6.loss_plan_l1_fix_time: 1.1476, d6.loss_plan_l1_fix_dist: 0.2390, d0.loss_cls_all: 0.1734, d0.loss_bbox_all: 0.4076, d0.loss_cls: 0.1734, d0.loss_bbox: 0.4076, d1.loss_cls: 0.1659, d1.loss_bbox: 0.3693, d2.loss_cls: 0.1480, d2.loss_bbox: 0.3518, d3.loss_cls: 0.1303, d3.loss_bbox: 0.3495, d4.loss_cls: 0.1256, d4.loss_bbox: 0.3438, d5.loss_cls: 0.1250, d5.loss_bbox: 0.3422, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7990, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6284, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5728, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5672, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5612, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5591, d0.loss_map_cls_all: 0.2379, d0.loss_map_pts_all: 1.3804, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2379, d0.loss_map_pts: 1.3804, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.2072, d1.loss_map_pts: 0.9947, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1833, d2.loss_map_pts: 0.8130, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1685, d3.loss_map_pts: 0.7494, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1618, d4.loss_map_pts: 0.7172, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1576, d5.loss_map_pts: 0.7126, d5.loss_map_dir: 0.0080, loss: 29.4801, grad_norm: 161.5047 +2026-02-28 07:29:55,083 - DriveTransformer - INFO - Epoch [9][23850/39528] lr: 7.525e-05, eta: 5 days, 3:30:45, time: 0.740, data_time: 0.037, memory: 19865, loss_cls: 0.0995, loss_bbox: 0.3007, loss_traj: 0.5473, loss_traj_cls: 0.0022, loss_map_cls: 0.0982, loss_map_pts: 0.5605, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.4371, d0.loss_plan_l1_fix_dist: 0.4703, d1.loss_plan_l1_fix_time: 0.7791, d1.loss_plan_l1_fix_dist: 0.2013, d2.loss_plan_l1_fix_time: 0.7688, d2.loss_plan_l1_fix_dist: 0.2777, d3.loss_plan_l1_fix_time: 0.7667, d3.loss_plan_l1_fix_dist: 0.2545, d4.loss_plan_l1_fix_time: 0.7710, d4.loss_plan_l1_fix_dist: 0.2393, d5.loss_plan_l1_fix_time: 0.7748, d5.loss_plan_l1_fix_dist: 0.2699, d6.loss_plan_l1_fix_time: 0.7794, d6.loss_plan_l1_fix_dist: 0.2778, d0.loss_cls_all: 0.1419, d0.loss_bbox_all: 0.3538, d0.loss_cls: 0.1419, d0.loss_bbox: 0.3538, d1.loss_cls: 0.1356, d1.loss_bbox: 0.3248, d2.loss_cls: 0.1242, d2.loss_bbox: 0.3046, d3.loss_cls: 0.1055, d3.loss_bbox: 0.3008, d4.loss_cls: 0.1028, d4.loss_bbox: 0.2989, d5.loss_cls: 0.0998, d5.loss_bbox: 0.3002, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7719, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6001, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5820, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5563, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5468, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5491, d0.loss_map_cls_all: 0.1728, d0.loss_map_pts_all: 1.1020, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1728, d0.loss_map_pts: 1.1020, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1408, d1.loss_map_pts: 0.7905, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1182, d2.loss_map_pts: 0.6409, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1075, d3.loss_map_pts: 0.5859, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1017, d4.loss_map_pts: 0.5661, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.0988, d5.loss_map_pts: 0.5621, d5.loss_map_dir: 0.0069, loss: 23.6937, grad_norm: 161.7765 +2026-02-28 07:30:31,681 - DriveTransformer - INFO - Epoch [9][23900/39528] lr: 7.525e-05, eta: 5 days, 3:30:09, time: 0.732, data_time: 0.039, memory: 19865, loss_cls: 0.1080, loss_bbox: 0.2981, loss_traj: 0.5410, loss_traj_cls: 0.0021, loss_map_cls: 0.0991, loss_map_pts: 0.5058, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.3623, d0.loss_plan_l1_fix_dist: 0.4202, d1.loss_plan_l1_fix_time: 0.8169, d1.loss_plan_l1_fix_dist: 0.1914, d2.loss_plan_l1_fix_time: 0.7948, d2.loss_plan_l1_fix_dist: 0.2746, d3.loss_plan_l1_fix_time: 0.7844, d3.loss_plan_l1_fix_dist: 0.2463, d4.loss_plan_l1_fix_time: 0.7871, d4.loss_plan_l1_fix_dist: 0.2037, d5.loss_plan_l1_fix_time: 0.7898, d5.loss_plan_l1_fix_dist: 0.2234, d6.loss_plan_l1_fix_time: 0.7925, d6.loss_plan_l1_fix_dist: 0.2230, d0.loss_cls_all: 0.1395, d0.loss_bbox_all: 0.3651, d0.loss_cls: 0.1395, d0.loss_bbox: 0.3651, d1.loss_cls: 0.1376, d1.loss_bbox: 0.3280, d2.loss_cls: 0.1272, d2.loss_bbox: 0.3080, d3.loss_cls: 0.1142, d3.loss_bbox: 0.3023, d4.loss_cls: 0.1109, d4.loss_bbox: 0.2984, d5.loss_cls: 0.1091, d5.loss_bbox: 0.2975, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7744, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6207, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5699, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5542, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5505, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5449, d0.loss_map_cls_all: 0.1771, d0.loss_map_pts_all: 1.0929, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1771, d0.loss_map_pts: 1.0929, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1446, d1.loss_map_pts: 0.7617, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1244, d2.loss_map_pts: 0.5969, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1110, d3.loss_map_pts: 0.5365, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1042, d4.loss_map_pts: 0.5139, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1011, d5.loss_map_pts: 0.5051, d5.loss_map_dir: 0.0066, loss: 23.3170, grad_norm: 161.7271 +2026-02-28 07:31:09,289 - DriveTransformer - INFO - Epoch [9][23950/39528] lr: 7.525e-05, eta: 5 days, 3:29:39, time: 0.752, data_time: 0.045, memory: 19865, loss_cls: 0.1081, loss_bbox: 0.3118, loss_traj: 0.6316, loss_traj_cls: 0.0021, loss_map_cls: 0.1147, loss_map_pts: 0.6088, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 3.0893, d0.loss_plan_l1_fix_dist: 0.4120, d1.loss_plan_l1_fix_time: 0.8684, d1.loss_plan_l1_fix_dist: 0.2139, d2.loss_plan_l1_fix_time: 0.8490, d2.loss_plan_l1_fix_dist: 0.3245, d3.loss_plan_l1_fix_time: 0.8480, d3.loss_plan_l1_fix_dist: 0.2921, d4.loss_plan_l1_fix_time: 0.8527, d4.loss_plan_l1_fix_dist: 0.2494, d5.loss_plan_l1_fix_time: 0.8569, d5.loss_plan_l1_fix_dist: 0.3128, d6.loss_plan_l1_fix_time: 0.8606, d6.loss_plan_l1_fix_dist: 0.3033, d0.loss_cls_all: 0.1466, d0.loss_bbox_all: 0.3718, d0.loss_cls: 0.1466, d0.loss_bbox: 0.3718, d1.loss_cls: 0.1420, d1.loss_bbox: 0.3420, d2.loss_cls: 0.1299, d2.loss_bbox: 0.3204, d3.loss_cls: 0.1131, d3.loss_bbox: 0.3166, d4.loss_cls: 0.1084, d4.loss_bbox: 0.3148, d5.loss_cls: 0.1073, d5.loss_bbox: 0.3138, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8347, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7018, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6516, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6395, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6357, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6345, d0.loss_map_cls_all: 0.2011, d0.loss_map_pts_all: 1.2530, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2011, d0.loss_map_pts: 1.2530, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1664, d1.loss_map_pts: 0.8781, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1414, d2.loss_map_pts: 0.7090, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1308, d3.loss_map_pts: 0.6424, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1233, d4.loss_map_pts: 0.6108, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1171, d5.loss_map_pts: 0.6060, d5.loss_map_dir: 0.0076, loss: 26.5515, grad_norm: 165.0418 +2026-02-28 07:31:46,834 - DriveTransformer - INFO - Epoch [9][24000/39528] lr: 7.525e-05, eta: 5 days, 3:29:09, time: 0.752, data_time: 0.038, memory: 19865, loss_cls: 0.1283, loss_bbox: 0.3195, loss_traj: 0.5222, loss_traj_cls: 0.0020, loss_map_cls: 0.1262, loss_map_pts: 0.5814, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.5418, d0.loss_plan_l1_fix_dist: 0.3627, d1.loss_plan_l1_fix_time: 0.8675, d1.loss_plan_l1_fix_dist: 0.2030, d2.loss_plan_l1_fix_time: 0.8505, d2.loss_plan_l1_fix_dist: 0.3119, d3.loss_plan_l1_fix_time: 0.8457, d3.loss_plan_l1_fix_dist: 0.2655, d4.loss_plan_l1_fix_time: 0.8479, d4.loss_plan_l1_fix_dist: 0.2238, d5.loss_plan_l1_fix_time: 0.8504, d5.loss_plan_l1_fix_dist: 0.3007, d6.loss_plan_l1_fix_time: 0.8531, d6.loss_plan_l1_fix_dist: 0.2609, d0.loss_cls_all: 0.1749, d0.loss_bbox_all: 0.3756, d0.loss_cls: 0.1749, d0.loss_bbox: 0.3756, d1.loss_cls: 0.1683, d1.loss_bbox: 0.3439, d2.loss_cls: 0.1510, d2.loss_bbox: 0.3301, d3.loss_cls: 0.1340, d3.loss_bbox: 0.3220, d4.loss_cls: 0.1294, d4.loss_bbox: 0.3197, d5.loss_cls: 0.1286, d5.loss_bbox: 0.3193, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7537, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5932, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5443, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5255, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5212, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5203, d0.loss_map_cls_all: 0.2132, d0.loss_map_pts_all: 1.3233, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2132, d0.loss_map_pts: 1.3233, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1782, d1.loss_map_pts: 0.9103, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1521, d2.loss_map_pts: 0.7041, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1428, d3.loss_map_pts: 0.6229, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1331, d4.loss_map_pts: 0.5961, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1296, d5.loss_map_pts: 0.5817, d5.loss_map_dir: 0.0081, loss: 25.4614, grad_norm: 168.9771 +2026-02-28 07:32:25,645 - DriveTransformer - INFO - Epoch [9][24050/39528] lr: 7.525e-05, eta: 5 days, 3:28:45, time: 0.775, data_time: 0.036, memory: 19865, loss_cls: 0.1397, loss_bbox: 0.3504, loss_traj: 0.5787, loss_traj_cls: 0.0020, loss_map_cls: 0.1447, loss_map_pts: 0.7340, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.6552, d0.loss_plan_l1_fix_dist: 0.3478, d1.loss_plan_l1_fix_time: 0.9801, d1.loss_plan_l1_fix_dist: 0.2305, d2.loss_plan_l1_fix_time: 0.9616, d2.loss_plan_l1_fix_dist: 0.3297, d3.loss_plan_l1_fix_time: 0.9600, d3.loss_plan_l1_fix_dist: 0.2786, d4.loss_plan_l1_fix_time: 0.9623, d4.loss_plan_l1_fix_dist: 0.2362, d5.loss_plan_l1_fix_time: 0.9658, d5.loss_plan_l1_fix_dist: 0.2734, d6.loss_plan_l1_fix_time: 0.9700, d6.loss_plan_l1_fix_dist: 0.2558, d0.loss_cls_all: 0.1907, d0.loss_bbox_all: 0.4097, d0.loss_cls: 0.1907, d0.loss_bbox: 0.4097, d1.loss_cls: 0.1839, d1.loss_bbox: 0.3824, d2.loss_cls: 0.1682, d2.loss_bbox: 0.3589, d3.loss_cls: 0.1455, d3.loss_bbox: 0.3555, d4.loss_cls: 0.1399, d4.loss_bbox: 0.3525, d5.loss_cls: 0.1387, d5.loss_bbox: 0.3512, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8478, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6508, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5929, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5791, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5769, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5752, d0.loss_map_cls_all: 0.2290, d0.loss_map_pts_all: 1.4773, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2290, d0.loss_map_pts: 1.4773, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1967, d1.loss_map_pts: 1.0525, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1711, d2.loss_map_pts: 0.8563, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1610, d3.loss_map_pts: 0.7762, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1560, d4.loss_map_pts: 0.7436, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1463, d5.loss_map_pts: 0.7364, d5.loss_map_dir: 0.0094, loss: 28.4420, grad_norm: 167.3930 +2026-02-28 07:33:03,230 - DriveTransformer - INFO - Epoch [9][24100/39528] lr: 7.525e-05, eta: 5 days, 3:28:15, time: 0.752, data_time: 0.037, memory: 19865, loss_cls: 0.1113, loss_bbox: 0.3118, loss_traj: 0.5439, loss_traj_cls: 0.0021, loss_map_cls: 0.1276, loss_map_pts: 0.6050, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.5617, d0.loss_plan_l1_fix_dist: 0.4783, d1.loss_plan_l1_fix_time: 0.8939, d1.loss_plan_l1_fix_dist: 0.2724, d2.loss_plan_l1_fix_time: 0.8742, d2.loss_plan_l1_fix_dist: 0.3655, d3.loss_plan_l1_fix_time: 0.8692, d3.loss_plan_l1_fix_dist: 0.3291, d4.loss_plan_l1_fix_time: 0.8722, d4.loss_plan_l1_fix_dist: 0.3021, d5.loss_plan_l1_fix_time: 0.8764, d5.loss_plan_l1_fix_dist: 0.2705, d6.loss_plan_l1_fix_time: 0.8816, d6.loss_plan_l1_fix_dist: 0.2960, d0.loss_cls_all: 0.1480, d0.loss_bbox_all: 0.3678, d0.loss_cls: 0.1480, d0.loss_bbox: 0.3678, d1.loss_cls: 0.1430, d1.loss_bbox: 0.3354, d2.loss_cls: 0.1336, d2.loss_bbox: 0.3144, d3.loss_cls: 0.1193, d3.loss_bbox: 0.3110, d4.loss_cls: 0.1133, d4.loss_bbox: 0.3098, d5.loss_cls: 0.1125, d5.loss_bbox: 0.3096, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7464, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5920, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5594, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5469, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5439, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5456, d0.loss_map_cls_all: 0.2141, d0.loss_map_pts_all: 1.2440, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2141, d0.loss_map_pts: 1.2440, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1765, d1.loss_map_pts: 0.8653, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1530, d2.loss_map_pts: 0.6909, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1407, d3.loss_map_pts: 0.6293, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1348, d4.loss_map_pts: 0.6104, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1288, d5.loss_map_pts: 0.6073, d5.loss_map_dir: 0.0071, loss: 25.7263, grad_norm: 170.0055 +2026-02-28 07:33:37,777 - DriveTransformer - INFO - Epoch [9][24150/39528] lr: 7.525e-05, eta: 5 days, 3:27:27, time: 0.691, data_time: 0.038, memory: 19865, loss_cls: 0.1096, loss_bbox: 0.2872, loss_traj: 0.6458, loss_traj_cls: 0.0021, loss_map_cls: 0.0955, loss_map_pts: 0.4478, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.8317, d0.loss_plan_l1_fix_dist: 0.4061, d1.loss_plan_l1_fix_time: 0.8992, d1.loss_plan_l1_fix_dist: 0.2825, d2.loss_plan_l1_fix_time: 0.8812, d2.loss_plan_l1_fix_dist: 0.3319, d3.loss_plan_l1_fix_time: 0.8860, d3.loss_plan_l1_fix_dist: 0.3021, d4.loss_plan_l1_fix_time: 0.8886, d4.loss_plan_l1_fix_dist: 0.3261, d5.loss_plan_l1_fix_time: 0.8915, d5.loss_plan_l1_fix_dist: 0.2467, d6.loss_plan_l1_fix_time: 0.8949, d6.loss_plan_l1_fix_dist: 0.2755, d0.loss_cls_all: 0.1494, d0.loss_bbox_all: 0.3519, d0.loss_cls: 0.1494, d0.loss_bbox: 0.3519, d1.loss_cls: 0.1439, d1.loss_bbox: 0.3184, d2.loss_cls: 0.1296, d2.loss_bbox: 0.3012, d3.loss_cls: 0.1132, d3.loss_bbox: 0.2927, d4.loss_cls: 0.1101, d4.loss_bbox: 0.2900, d5.loss_cls: 0.1090, d5.loss_bbox: 0.2872, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8966, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7402, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6853, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6566, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6537, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6497, d0.loss_map_cls_all: 0.1882, d0.loss_map_pts_all: 0.9799, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1882, d0.loss_map_pts: 0.9799, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1507, d1.loss_map_pts: 0.6783, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1258, d2.loss_map_pts: 0.5352, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.1119, d3.loss_map_pts: 0.4756, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.1032, d4.loss_map_pts: 0.4559, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0972, d5.loss_map_pts: 0.4478, d5.loss_map_dir: 0.0050, loss: 24.8743, grad_norm: 168.6222 +2026-02-28 07:34:15,121 - DriveTransformer - INFO - Epoch [9][24200/39528] lr: 7.525e-05, eta: 5 days, 3:26:55, time: 0.747, data_time: 0.037, memory: 19865, loss_cls: 0.1085, loss_bbox: 0.2975, loss_traj: 0.4661, loss_traj_cls: 0.0021, loss_map_cls: 0.1199, loss_map_pts: 0.5815, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.2745, d0.loss_plan_l1_fix_dist: 0.3666, d1.loss_plan_l1_fix_time: 0.8178, d1.loss_plan_l1_fix_dist: 0.2729, d2.loss_plan_l1_fix_time: 0.8052, d2.loss_plan_l1_fix_dist: 0.2727, d3.loss_plan_l1_fix_time: 0.8054, d3.loss_plan_l1_fix_dist: 0.2391, d4.loss_plan_l1_fix_time: 0.8082, d4.loss_plan_l1_fix_dist: 0.2950, d5.loss_plan_l1_fix_time: 0.8103, d5.loss_plan_l1_fix_dist: 0.2347, d6.loss_plan_l1_fix_time: 0.8129, d6.loss_plan_l1_fix_dist: 0.2817, d0.loss_cls_all: 0.1523, d0.loss_bbox_all: 0.3587, d0.loss_cls: 0.1523, d0.loss_bbox: 0.3587, d1.loss_cls: 0.1447, d1.loss_bbox: 0.3270, d2.loss_cls: 0.1329, d2.loss_bbox: 0.3104, d3.loss_cls: 0.1172, d3.loss_bbox: 0.3033, d4.loss_cls: 0.1098, d4.loss_bbox: 0.3002, d5.loss_cls: 0.1080, d5.loss_bbox: 0.2983, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6381, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5266, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4892, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4697, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4708, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4671, d0.loss_map_cls_all: 0.2030, d0.loss_map_pts_all: 1.2186, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2030, d0.loss_map_pts: 1.2186, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1702, d1.loss_map_pts: 0.8611, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1464, d2.loss_map_pts: 0.6812, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1335, d3.loss_map_pts: 0.6128, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1264, d4.loss_map_pts: 0.5886, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1221, d5.loss_map_pts: 0.5815, d5.loss_map_dir: 0.0075, loss: 23.8386, grad_norm: 160.0178 +2026-02-28 07:34:52,852 - DriveTransformer - INFO - Epoch [9][24250/39528] lr: 7.525e-05, eta: 5 days, 3:26:25, time: 0.755, data_time: 0.037, memory: 19865, loss_cls: 0.1191, loss_bbox: 0.3194, loss_traj: 0.4247, loss_traj_cls: 0.0021, loss_map_cls: 0.1441, loss_map_pts: 0.6537, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.7215, d0.loss_plan_l1_fix_dist: 0.5365, d1.loss_plan_l1_fix_time: 0.9223, d1.loss_plan_l1_fix_dist: 0.3258, d2.loss_plan_l1_fix_time: 0.9161, d2.loss_plan_l1_fix_dist: 0.2987, d3.loss_plan_l1_fix_time: 0.9097, d3.loss_plan_l1_fix_dist: 0.2705, d4.loss_plan_l1_fix_time: 0.9117, d4.loss_plan_l1_fix_dist: 0.2982, d5.loss_plan_l1_fix_time: 0.9140, d5.loss_plan_l1_fix_dist: 0.2886, d6.loss_plan_l1_fix_time: 0.9161, d6.loss_plan_l1_fix_dist: 0.2779, d0.loss_cls_all: 0.1654, d0.loss_bbox_all: 0.3815, d0.loss_cls: 0.1654, d0.loss_bbox: 0.3815, d1.loss_cls: 0.1611, d1.loss_bbox: 0.3492, d2.loss_cls: 0.1464, d2.loss_bbox: 0.3303, d3.loss_cls: 0.1303, d3.loss_bbox: 0.3238, d4.loss_cls: 0.1219, d4.loss_bbox: 0.3199, d5.loss_cls: 0.1203, d5.loss_bbox: 0.3186, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5838, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4807, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4454, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4327, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4282, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4258, d0.loss_map_cls_all: 0.2161, d0.loss_map_pts_all: 1.3441, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2161, d0.loss_map_pts: 1.3441, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1868, d1.loss_map_pts: 0.9409, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1640, d2.loss_map_pts: 0.7629, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1549, d3.loss_map_pts: 0.6918, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1499, d4.loss_map_pts: 0.6590, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1461, d5.loss_map_pts: 0.6532, d5.loss_map_dir: 0.0093, loss: 26.0913, grad_norm: 159.5048 +2026-02-28 07:35:29,515 - DriveTransformer - INFO - Epoch [9][24300/39528] lr: 7.525e-05, eta: 5 days, 3:25:50, time: 0.733, data_time: 0.042, memory: 19865, loss_cls: 0.1157, loss_bbox: 0.3190, loss_traj: 0.5642, loss_traj_cls: 0.0021, loss_map_cls: 0.1163, loss_map_pts: 0.5263, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.4709, d0.loss_plan_l1_fix_dist: 0.3750, d1.loss_plan_l1_fix_time: 0.8350, d1.loss_plan_l1_fix_dist: 0.3321, d2.loss_plan_l1_fix_time: 0.8300, d2.loss_plan_l1_fix_dist: 0.2628, d3.loss_plan_l1_fix_time: 0.8334, d3.loss_plan_l1_fix_dist: 0.2673, d4.loss_plan_l1_fix_time: 0.8368, d4.loss_plan_l1_fix_dist: 0.2797, d5.loss_plan_l1_fix_time: 0.8405, d5.loss_plan_l1_fix_dist: 0.3084, d6.loss_plan_l1_fix_time: 0.8437, d6.loss_plan_l1_fix_dist: 0.2459, d0.loss_cls_all: 0.1598, d0.loss_bbox_all: 0.3796, d0.loss_cls: 0.1598, d0.loss_bbox: 0.3796, d1.loss_cls: 0.1556, d1.loss_bbox: 0.3510, d2.loss_cls: 0.1393, d2.loss_bbox: 0.3329, d3.loss_cls: 0.1218, d3.loss_bbox: 0.3253, d4.loss_cls: 0.1165, d4.loss_bbox: 0.3211, d5.loss_cls: 0.1151, d5.loss_bbox: 0.3190, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8033, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6328, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5885, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5714, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5681, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5672, d0.loss_map_cls_all: 0.1885, d0.loss_map_pts_all: 1.1222, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1885, d0.loss_map_pts: 1.1222, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1600, d1.loss_map_pts: 0.7876, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1399, d2.loss_map_pts: 0.6201, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1299, d3.loss_map_pts: 0.5544, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1247, d4.loss_map_pts: 0.5311, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1185, d5.loss_map_pts: 0.5263, d5.loss_map_dir: 0.0070, loss: 24.6875, grad_norm: 145.6286 +2026-02-28 07:36:05,980 - DriveTransformer - INFO - Epoch [9][24350/39528] lr: 7.525e-05, eta: 5 days, 3:25:13, time: 0.729, data_time: 0.037, memory: 19865, loss_cls: 0.1005, loss_bbox: 0.3031, loss_traj: 0.4764, loss_traj_cls: 0.0021, loss_map_cls: 0.1430, loss_map_pts: 0.6206, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.6081, d0.loss_plan_l1_fix_dist: 0.4775, d1.loss_plan_l1_fix_time: 0.7980, d1.loss_plan_l1_fix_dist: 0.3287, d2.loss_plan_l1_fix_time: 0.7896, d2.loss_plan_l1_fix_dist: 0.2580, d3.loss_plan_l1_fix_time: 0.7889, d3.loss_plan_l1_fix_dist: 0.2968, d4.loss_plan_l1_fix_time: 0.7914, d4.loss_plan_l1_fix_dist: 0.2422, d5.loss_plan_l1_fix_time: 0.7947, d5.loss_plan_l1_fix_dist: 0.2806, d6.loss_plan_l1_fix_time: 0.7978, d6.loss_plan_l1_fix_dist: 0.2387, d0.loss_cls_all: 0.1439, d0.loss_bbox_all: 0.3715, d0.loss_cls: 0.1439, d0.loss_bbox: 0.3715, d1.loss_cls: 0.1374, d1.loss_bbox: 0.3395, d2.loss_cls: 0.1207, d2.loss_bbox: 0.3161, d3.loss_cls: 0.1063, d3.loss_bbox: 0.3081, d4.loss_cls: 0.1015, d4.loss_bbox: 0.3050, d5.loss_cls: 0.1000, d5.loss_bbox: 0.3039, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7047, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5356, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4925, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4786, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4746, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4740, d0.loss_map_cls_all: 0.2215, d0.loss_map_pts_all: 1.2019, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2215, d0.loss_map_pts: 1.2019, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1921, d1.loss_map_pts: 0.8864, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1674, d2.loss_map_pts: 0.7097, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1578, d3.loss_map_pts: 0.6500, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1500, d4.loss_map_pts: 0.6264, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1451, d5.loss_map_pts: 0.6221, d5.loss_map_dir: 0.0072, loss: 24.6810, grad_norm: 144.8285 +2026-02-28 07:36:41,957 - DriveTransformer - INFO - Epoch [9][24400/39528] lr: 7.525e-05, eta: 5 days, 3:24:33, time: 0.720, data_time: 0.040, memory: 19865, loss_cls: 0.1207, loss_bbox: 0.3282, loss_traj: 0.5018, loss_traj_cls: 0.0022, loss_map_cls: 0.1142, loss_map_pts: 0.5794, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.8200, d0.loss_plan_l1_fix_dist: 0.4502, d1.loss_plan_l1_fix_time: 0.8976, d1.loss_plan_l1_fix_dist: 0.3363, d2.loss_plan_l1_fix_time: 0.8791, d2.loss_plan_l1_fix_dist: 0.3016, d3.loss_plan_l1_fix_time: 0.8758, d3.loss_plan_l1_fix_dist: 0.3419, d4.loss_plan_l1_fix_time: 0.8778, d4.loss_plan_l1_fix_dist: 0.2394, d5.loss_plan_l1_fix_time: 0.8801, d5.loss_plan_l1_fix_dist: 0.2581, d6.loss_plan_l1_fix_time: 0.8839, d6.loss_plan_l1_fix_dist: 0.2611, d0.loss_cls_all: 0.1699, d0.loss_bbox_all: 0.3954, d0.loss_cls: 0.1699, d0.loss_bbox: 0.3954, d1.loss_cls: 0.1611, d1.loss_bbox: 0.3613, d2.loss_cls: 0.1465, d2.loss_bbox: 0.3382, d3.loss_cls: 0.1286, d3.loss_bbox: 0.3326, d4.loss_cls: 0.1221, d4.loss_bbox: 0.3297, d5.loss_cls: 0.1213, d5.loss_bbox: 0.3281, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7254, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5679, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5293, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5132, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5109, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5048, d0.loss_map_cls_all: 0.1910, d0.loss_map_pts_all: 1.1710, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.1910, d0.loss_map_pts: 1.1710, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1614, d1.loss_map_pts: 0.8394, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1388, d2.loss_map_pts: 0.6693, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1275, d3.loss_map_pts: 0.6062, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1210, d4.loss_map_pts: 0.5852, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1168, d5.loss_map_pts: 0.5788, d5.loss_map_dir: 0.0082, loss: 25.5391, grad_norm: 144.8427 +2026-02-28 07:37:17,463 - DriveTransformer - INFO - Epoch [9][24450/39528] lr: 7.525e-05, eta: 5 days, 3:23:50, time: 0.710, data_time: 0.037, memory: 19865, loss_cls: 0.0976, loss_bbox: 0.2827, loss_traj: 0.4967, loss_traj_cls: 0.0023, loss_map_cls: 0.1135, loss_map_pts: 0.5196, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.4102, d0.loss_plan_l1_fix_dist: 0.5408, d1.loss_plan_l1_fix_time: 0.8807, d1.loss_plan_l1_fix_dist: 0.3250, d2.loss_plan_l1_fix_time: 0.8605, d2.loss_plan_l1_fix_dist: 0.3101, d3.loss_plan_l1_fix_time: 0.8493, d3.loss_plan_l1_fix_dist: 0.3446, d4.loss_plan_l1_fix_time: 0.8515, d4.loss_plan_l1_fix_dist: 0.2251, d5.loss_plan_l1_fix_time: 0.8548, d5.loss_plan_l1_fix_dist: 0.2026, d6.loss_plan_l1_fix_time: 0.8585, d6.loss_plan_l1_fix_dist: 0.2223, d0.loss_cls_all: 0.1366, d0.loss_bbox_all: 0.3465, d0.loss_cls: 0.1366, d0.loss_bbox: 0.3465, d1.loss_cls: 0.1270, d1.loss_bbox: 0.3134, d2.loss_cls: 0.1152, d2.loss_bbox: 0.2949, d3.loss_cls: 0.1026, d3.loss_bbox: 0.2879, d4.loss_cls: 0.0970, d4.loss_bbox: 0.2853, d5.loss_cls: 0.0980, d5.loss_bbox: 0.2819, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7187, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5667, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5116, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5080, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5051, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5006, d0.loss_map_cls_all: 0.1809, d0.loss_map_pts_all: 1.1006, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1809, d0.loss_map_pts: 1.1006, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1550, d1.loss_map_pts: 0.7738, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1317, d2.loss_map_pts: 0.6115, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1239, d3.loss_map_pts: 0.5476, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1196, d4.loss_map_pts: 0.5255, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1160, d5.loss_map_pts: 0.5206, d5.loss_map_dir: 0.0068, loss: 23.7748, grad_norm: 142.1852 +2026-02-28 07:37:52,506 - DriveTransformer - INFO - Epoch [9][24500/39528] lr: 7.525e-05, eta: 5 days, 3:23:05, time: 0.701, data_time: 0.036, memory: 19865, loss_cls: 0.1025, loss_bbox: 0.3016, loss_traj: 0.6125, loss_traj_cls: 0.0023, loss_map_cls: 0.1155, loss_map_pts: 0.5190, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.8629, d0.loss_plan_l1_fix_dist: 0.4586, d1.loss_plan_l1_fix_time: 0.7540, d1.loss_plan_l1_fix_dist: 0.3479, d2.loss_plan_l1_fix_time: 0.7337, d2.loss_plan_l1_fix_dist: 0.3892, d3.loss_plan_l1_fix_time: 0.7288, d3.loss_plan_l1_fix_dist: 0.3557, d4.loss_plan_l1_fix_time: 0.7314, d4.loss_plan_l1_fix_dist: 0.2667, d5.loss_plan_l1_fix_time: 0.7346, d5.loss_plan_l1_fix_dist: 0.2259, d6.loss_plan_l1_fix_time: 0.7376, d6.loss_plan_l1_fix_dist: 0.2494, d0.loss_cls_all: 0.1464, d0.loss_bbox_all: 0.3644, d0.loss_cls: 0.1464, d0.loss_bbox: 0.3644, d1.loss_cls: 0.1381, d1.loss_bbox: 0.3319, d2.loss_cls: 0.1216, d2.loss_bbox: 0.3102, d3.loss_cls: 0.1107, d3.loss_bbox: 0.3055, d4.loss_cls: 0.1046, d4.loss_bbox: 0.3020, d5.loss_cls: 0.1036, d5.loss_bbox: 0.3008, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8740, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6939, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6392, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6197, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6122, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6100, d0.loss_map_cls_all: 0.1904, d0.loss_map_pts_all: 1.0616, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1904, d0.loss_map_pts: 1.0616, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1618, d1.loss_map_pts: 0.7596, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1392, d2.loss_map_pts: 0.6015, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1274, d3.loss_map_pts: 0.5431, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1200, d4.loss_map_pts: 0.5243, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1166, d5.loss_map_pts: 0.5201, d5.loss_map_dir: 0.0063, loss: 24.6008, grad_norm: 141.7618 +2026-02-28 07:38:28,154 - DriveTransformer - INFO - Epoch [9][24550/39528] lr: 7.525e-05, eta: 5 days, 3:22:23, time: 0.713, data_time: 0.039, memory: 19865, loss_cls: 0.1043, loss_bbox: 0.3000, loss_traj: 0.5034, loss_traj_cls: 0.0023, loss_map_cls: 0.1069, loss_map_pts: 0.4996, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.6280, d0.loss_plan_l1_fix_dist: 0.4310, d1.loss_plan_l1_fix_time: 0.8320, d1.loss_plan_l1_fix_dist: 0.3424, d2.loss_plan_l1_fix_time: 0.8166, d2.loss_plan_l1_fix_dist: 0.4164, d3.loss_plan_l1_fix_time: 0.8142, d3.loss_plan_l1_fix_dist: 0.3400, d4.loss_plan_l1_fix_time: 0.8161, d4.loss_plan_l1_fix_dist: 0.2561, d5.loss_plan_l1_fix_time: 0.8191, d5.loss_plan_l1_fix_dist: 0.2064, d6.loss_plan_l1_fix_time: 0.8229, d6.loss_plan_l1_fix_dist: 0.2155, d0.loss_cls_all: 0.1478, d0.loss_bbox_all: 0.3541, d0.loss_cls: 0.1478, d0.loss_bbox: 0.3541, d1.loss_cls: 0.1425, d1.loss_bbox: 0.3267, d2.loss_cls: 0.1282, d2.loss_bbox: 0.3081, d3.loss_cls: 0.1109, d3.loss_bbox: 0.3048, d4.loss_cls: 0.1053, d4.loss_bbox: 0.3013, d5.loss_cls: 0.1043, d5.loss_bbox: 0.3001, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7134, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5676, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5298, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5154, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5054, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5026, d0.loss_map_cls_all: 0.1808, d0.loss_map_pts_all: 1.0419, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1808, d0.loss_map_pts: 1.0419, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1532, d1.loss_map_pts: 0.7310, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1305, d2.loss_map_pts: 0.5838, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1200, d3.loss_map_pts: 0.5264, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1146, d4.loss_map_pts: 0.5060, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1085, d5.loss_map_pts: 0.5000, d5.loss_map_dir: 0.0063, loss: 23.7163, grad_norm: 140.9453 +2026-02-28 07:39:05,613 - DriveTransformer - INFO - Epoch [9][24600/39528] lr: 7.525e-05, eta: 5 days, 3:21:52, time: 0.749, data_time: 0.037, memory: 19865, loss_cls: 0.1055, loss_bbox: 0.3053, loss_traj: 0.5105, loss_traj_cls: 0.0022, loss_map_cls: 0.1120, loss_map_pts: 0.6449, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.5247, d0.loss_plan_l1_fix_dist: 0.3955, d1.loss_plan_l1_fix_time: 0.7717, d1.loss_plan_l1_fix_dist: 0.3050, d2.loss_plan_l1_fix_time: 0.7531, d2.loss_plan_l1_fix_dist: 0.3900, d3.loss_plan_l1_fix_time: 0.7469, d3.loss_plan_l1_fix_dist: 0.3129, d4.loss_plan_l1_fix_time: 0.7493, d4.loss_plan_l1_fix_dist: 0.2557, d5.loss_plan_l1_fix_time: 0.7522, d5.loss_plan_l1_fix_dist: 0.2205, d6.loss_plan_l1_fix_time: 0.7570, d6.loss_plan_l1_fix_dist: 0.2124, d0.loss_cls_all: 0.1518, d0.loss_bbox_all: 0.3666, d0.loss_cls: 0.1518, d0.loss_bbox: 0.3666, d1.loss_cls: 0.1452, d1.loss_bbox: 0.3327, d2.loss_cls: 0.1285, d2.loss_bbox: 0.3156, d3.loss_cls: 0.1125, d3.loss_bbox: 0.3077, d4.loss_cls: 0.1077, d4.loss_bbox: 0.3048, d5.loss_cls: 0.1051, d5.loss_bbox: 0.3040, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7030, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5811, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5341, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5243, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5150, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5109, d0.loss_map_cls_all: 0.2028, d0.loss_map_pts_all: 1.2817, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2028, d0.loss_map_pts: 1.2817, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1662, d1.loss_map_pts: 0.8937, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1435, d2.loss_map_pts: 0.7314, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1295, d3.loss_map_pts: 0.6772, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1198, d4.loss_map_pts: 0.6505, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1146, d5.loss_map_pts: 0.6458, d5.loss_map_dir: 0.0080, loss: 24.7069, grad_norm: 141.4568 +2026-02-28 07:39:42,348 - DriveTransformer - INFO - Epoch [9][24650/39528] lr: 7.525e-05, eta: 5 days, 3:21:17, time: 0.735, data_time: 0.037, memory: 19865, loss_cls: 0.0851, loss_bbox: 0.2716, loss_traj: 0.4753, loss_traj_cls: 0.0023, loss_map_cls: 0.0817, loss_map_pts: 0.4556, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.3570, d0.loss_plan_l1_fix_dist: 0.4656, d1.loss_plan_l1_fix_time: 0.7456, d1.loss_plan_l1_fix_dist: 0.2655, d2.loss_plan_l1_fix_time: 0.7260, d2.loss_plan_l1_fix_dist: 0.3556, d3.loss_plan_l1_fix_time: 0.7164, d3.loss_plan_l1_fix_dist: 0.2969, d4.loss_plan_l1_fix_time: 0.7184, d4.loss_plan_l1_fix_dist: 0.2573, d5.loss_plan_l1_fix_time: 0.7206, d5.loss_plan_l1_fix_dist: 0.2451, d6.loss_plan_l1_fix_time: 0.7234, d6.loss_plan_l1_fix_dist: 0.2279, d0.loss_cls_all: 0.1183, d0.loss_bbox_all: 0.3257, d0.loss_cls: 0.1183, d0.loss_bbox: 0.3257, d1.loss_cls: 0.1141, d1.loss_bbox: 0.2973, d2.loss_cls: 0.1067, d2.loss_bbox: 0.2794, d3.loss_cls: 0.0946, d3.loss_bbox: 0.2724, d4.loss_cls: 0.0875, d4.loss_bbox: 0.2708, d5.loss_cls: 0.0873, d5.loss_bbox: 0.2695, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6702, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5237, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4922, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4766, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4783, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4732, d0.loss_map_cls_all: 0.1526, d0.loss_map_pts_all: 0.9611, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1526, d0.loss_map_pts: 0.9611, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1227, d1.loss_map_pts: 0.6603, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1054, d2.loss_map_pts: 0.5231, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0939, d3.loss_map_pts: 0.4807, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0887, d4.loss_map_pts: 0.4633, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0835, d5.loss_map_pts: 0.4584, d5.loss_map_dir: 0.0055, loss: 21.4322, grad_norm: 144.2310 +2026-02-28 07:40:19,346 - DriveTransformer - INFO - Epoch [9][24700/39528] lr: 7.525e-05, eta: 5 days, 3:20:43, time: 0.740, data_time: 0.037, memory: 19865, loss_cls: 0.1106, loss_bbox: 0.3126, loss_traj: 0.4822, loss_traj_cls: 0.0023, loss_map_cls: 0.1156, loss_map_pts: 0.5759, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.3594, d0.loss_plan_l1_fix_dist: 0.4956, d1.loss_plan_l1_fix_time: 0.8560, d1.loss_plan_l1_fix_dist: 0.2612, d2.loss_plan_l1_fix_time: 0.8380, d2.loss_plan_l1_fix_dist: 0.3574, d3.loss_plan_l1_fix_time: 0.8394, d3.loss_plan_l1_fix_dist: 0.3081, d4.loss_plan_l1_fix_time: 0.8415, d4.loss_plan_l1_fix_dist: 0.2473, d5.loss_plan_l1_fix_time: 0.8440, d5.loss_plan_l1_fix_dist: 0.2321, d6.loss_plan_l1_fix_time: 0.8460, d6.loss_plan_l1_fix_dist: 0.2235, d0.loss_cls_all: 0.1571, d0.loss_bbox_all: 0.3734, d0.loss_cls: 0.1571, d0.loss_bbox: 0.3734, d1.loss_cls: 0.1502, d1.loss_bbox: 0.3414, d2.loss_cls: 0.1375, d2.loss_bbox: 0.3227, d3.loss_cls: 0.1189, d3.loss_bbox: 0.3168, d4.loss_cls: 0.1131, d4.loss_bbox: 0.3139, d5.loss_cls: 0.1108, d5.loss_bbox: 0.3132, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6955, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5495, d2.loss_traj_cls: 0.0011, d2.loss_traj: 0.5097, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4949, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4862, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4808, d0.loss_map_cls_all: 0.1971, d0.loss_map_pts_all: 1.1532, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1971, d0.loss_map_pts: 1.1532, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1659, d1.loss_map_pts: 0.8354, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1443, d2.loss_map_pts: 0.6804, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1304, d3.loss_map_pts: 0.6144, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1244, d4.loss_map_pts: 0.5884, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1181, d5.loss_map_pts: 0.5792, d5.loss_map_dir: 0.0062, loss: 24.3986, grad_norm: 142.1945 +2026-02-28 07:40:55,163 - DriveTransformer - INFO - Epoch [9][24750/39528] lr: 7.525e-05, eta: 5 days, 3:20:02, time: 0.716, data_time: 0.037, memory: 19865, loss_cls: 0.0962, loss_bbox: 0.2907, loss_traj: 0.5578, loss_traj_cls: 0.0023, loss_map_cls: 0.1304, loss_map_pts: 0.5683, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.4113, d0.loss_plan_l1_fix_dist: 0.4768, d1.loss_plan_l1_fix_time: 0.8336, d1.loss_plan_l1_fix_dist: 0.2260, d2.loss_plan_l1_fix_time: 0.8115, d2.loss_plan_l1_fix_dist: 0.3518, d3.loss_plan_l1_fix_time: 0.8037, d3.loss_plan_l1_fix_dist: 0.2718, d4.loss_plan_l1_fix_time: 0.8052, d4.loss_plan_l1_fix_dist: 0.2059, d5.loss_plan_l1_fix_time: 0.8085, d5.loss_plan_l1_fix_dist: 0.1926, d6.loss_plan_l1_fix_time: 0.8120, d6.loss_plan_l1_fix_dist: 0.2294, d0.loss_cls_all: 0.1367, d0.loss_bbox_all: 0.3518, d0.loss_cls: 0.1367, d0.loss_bbox: 0.3518, d1.loss_cls: 0.1311, d1.loss_bbox: 0.3194, d2.loss_cls: 0.1193, d2.loss_bbox: 0.2989, d3.loss_cls: 0.1042, d3.loss_bbox: 0.2954, d4.loss_cls: 0.0981, d4.loss_bbox: 0.2928, d5.loss_cls: 0.0964, d5.loss_bbox: 0.2915, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7953, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6284, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5757, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5644, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5548, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5556, d0.loss_map_cls_all: 0.2139, d0.loss_map_pts_all: 1.1435, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.2139, d0.loss_map_pts: 1.1435, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1816, d1.loss_map_pts: 0.8332, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1583, d2.loss_map_pts: 0.6661, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1449, d3.loss_map_pts: 0.6030, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1374, d4.loss_map_pts: 0.5777, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1312, d5.loss_map_pts: 0.5703, d5.loss_map_dir: 0.0063, loss: 24.3570, grad_norm: 144.5755 +2026-02-28 07:41:31,455 - DriveTransformer - INFO - Epoch [9][24800/39528] lr: 7.525e-05, eta: 5 days, 3:19:25, time: 0.727, data_time: 0.038, memory: 19865, loss_cls: 0.1060, loss_bbox: 0.3129, loss_traj: 0.5338, loss_traj_cls: 0.0022, loss_map_cls: 0.1026, loss_map_pts: 0.5818, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.7456, d0.loss_plan_l1_fix_dist: 0.4656, d1.loss_plan_l1_fix_time: 0.8144, d1.loss_plan_l1_fix_dist: 0.2076, d2.loss_plan_l1_fix_time: 0.7944, d2.loss_plan_l1_fix_dist: 0.3067, d3.loss_plan_l1_fix_time: 0.7887, d3.loss_plan_l1_fix_dist: 0.2124, d4.loss_plan_l1_fix_time: 0.7901, d4.loss_plan_l1_fix_dist: 0.2023, d5.loss_plan_l1_fix_time: 0.7931, d5.loss_plan_l1_fix_dist: 0.2310, d6.loss_plan_l1_fix_time: 0.7971, d6.loss_plan_l1_fix_dist: 0.2399, d0.loss_cls_all: 0.1500, d0.loss_bbox_all: 0.3886, d0.loss_cls: 0.1500, d0.loss_bbox: 0.3886, d1.loss_cls: 0.1462, d1.loss_bbox: 0.3514, d2.loss_cls: 0.1299, d2.loss_bbox: 0.3279, d3.loss_cls: 0.1133, d3.loss_bbox: 0.3205, d4.loss_cls: 0.1069, d4.loss_bbox: 0.3164, d5.loss_cls: 0.1054, d5.loss_bbox: 0.3138, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7843, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6132, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5569, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5417, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5372, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5328, d0.loss_map_cls_all: 0.1777, d0.loss_map_pts_all: 1.1803, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1777, d0.loss_map_pts: 1.1803, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1478, d1.loss_map_pts: 0.8586, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1259, d2.loss_map_pts: 0.6846, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1163, d3.loss_map_pts: 0.6146, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1109, d4.loss_map_pts: 0.5860, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1050, d5.loss_map_pts: 0.5816, d5.loss_map_dir: 0.0065, loss: 24.6059, grad_norm: 143.3097 +2026-02-28 07:42:08,850 - DriveTransformer - INFO - Epoch [9][24850/39528] lr: 7.525e-05, eta: 5 days, 3:18:53, time: 0.746, data_time: 0.036, memory: 19865, loss_cls: 0.1198, loss_bbox: 0.2932, loss_traj: 0.4291, loss_traj_cls: 0.0022, loss_map_cls: 0.1127, loss_map_pts: 0.6163, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.4728, d0.loss_plan_l1_fix_dist: 0.4730, d1.loss_plan_l1_fix_time: 0.8184, d1.loss_plan_l1_fix_dist: 0.2729, d2.loss_plan_l1_fix_time: 0.7973, d2.loss_plan_l1_fix_dist: 0.3161, d3.loss_plan_l1_fix_time: 0.7926, d3.loss_plan_l1_fix_dist: 0.2317, d4.loss_plan_l1_fix_time: 0.7929, d4.loss_plan_l1_fix_dist: 0.2540, d5.loss_plan_l1_fix_time: 0.7953, d5.loss_plan_l1_fix_dist: 0.2878, d6.loss_plan_l1_fix_time: 0.7996, d6.loss_plan_l1_fix_dist: 0.2681, d0.loss_cls_all: 0.1610, d0.loss_bbox_all: 0.3622, d0.loss_cls: 0.1610, d0.loss_bbox: 0.3622, d1.loss_cls: 0.1583, d1.loss_bbox: 0.3257, d2.loss_cls: 0.1433, d2.loss_bbox: 0.3055, d3.loss_cls: 0.1275, d3.loss_bbox: 0.2996, d4.loss_cls: 0.1229, d4.loss_bbox: 0.2955, d5.loss_cls: 0.1211, d5.loss_bbox: 0.2935, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6360, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5030, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4481, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4354, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4276, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4260, d0.loss_map_cls_all: 0.2066, d0.loss_map_pts_all: 1.2574, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2066, d0.loss_map_pts: 1.2574, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1669, d1.loss_map_pts: 0.9010, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1411, d2.loss_map_pts: 0.7137, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1288, d3.loss_map_pts: 0.6482, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1197, d4.loss_map_pts: 0.6241, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1154, d5.loss_map_pts: 0.6159, d5.loss_map_dir: 0.0077, loss: 24.2287, grad_norm: 144.3291 +2026-02-28 07:42:45,837 - DriveTransformer - INFO - Epoch [9][24900/39528] lr: 7.525e-05, eta: 5 days, 3:18:19, time: 0.740, data_time: 0.036, memory: 19865, loss_cls: 0.1158, loss_bbox: 0.2945, loss_traj: 0.4961, loss_traj_cls: 0.0021, loss_map_cls: 0.1129, loss_map_pts: 0.6221, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.3969, d0.loss_plan_l1_fix_dist: 0.4836, d1.loss_plan_l1_fix_time: 0.8040, d1.loss_plan_l1_fix_dist: 0.2556, d2.loss_plan_l1_fix_time: 0.7838, d2.loss_plan_l1_fix_dist: 0.2616, d3.loss_plan_l1_fix_time: 0.7756, d3.loss_plan_l1_fix_dist: 0.2167, d4.loss_plan_l1_fix_time: 0.7770, d4.loss_plan_l1_fix_dist: 0.2123, d5.loss_plan_l1_fix_time: 0.7790, d5.loss_plan_l1_fix_dist: 0.2169, d6.loss_plan_l1_fix_time: 0.7813, d6.loss_plan_l1_fix_dist: 0.2340, d0.loss_cls_all: 0.1647, d0.loss_bbox_all: 0.3646, d0.loss_cls: 0.1647, d0.loss_bbox: 0.3646, d1.loss_cls: 0.1555, d1.loss_bbox: 0.3285, d2.loss_cls: 0.1381, d2.loss_bbox: 0.3100, d3.loss_cls: 0.1226, d3.loss_bbox: 0.2998, d4.loss_cls: 0.1169, d4.loss_bbox: 0.2956, d5.loss_cls: 0.1160, d5.loss_bbox: 0.2936, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6706, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5618, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5186, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5052, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4996, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4962, d0.loss_map_cls_all: 0.2062, d0.loss_map_pts_all: 1.2111, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2062, d0.loss_map_pts: 1.2111, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1684, d1.loss_map_pts: 0.8684, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1417, d2.loss_map_pts: 0.7014, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1287, d3.loss_map_pts: 0.6454, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1201, d4.loss_map_pts: 0.6251, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1152, d5.loss_map_pts: 0.6225, d5.loss_map_dir: 0.0075, loss: 24.1457, grad_norm: 141.9788 +2026-02-28 07:43:24,525 - DriveTransformer - INFO - Epoch [9][24950/39528] lr: 7.525e-05, eta: 5 days, 3:17:55, time: 0.774, data_time: 0.037, memory: 19865, loss_cls: 0.1438, loss_bbox: 0.3546, loss_traj: 0.6059, loss_traj_cls: 0.0020, loss_map_cls: 0.1745, loss_map_pts: 0.7799, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.9800, d0.loss_plan_l1_fix_dist: 0.4504, d1.loss_plan_l1_fix_time: 1.0893, d1.loss_plan_l1_fix_dist: 0.2879, d2.loss_plan_l1_fix_time: 1.0874, d2.loss_plan_l1_fix_dist: 0.2646, d3.loss_plan_l1_fix_time: 1.0649, d3.loss_plan_l1_fix_dist: 0.2591, d4.loss_plan_l1_fix_time: 1.0671, d4.loss_plan_l1_fix_dist: 0.2619, d5.loss_plan_l1_fix_time: 1.0696, d5.loss_plan_l1_fix_dist: 0.2724, d6.loss_plan_l1_fix_time: 1.0719, d6.loss_plan_l1_fix_dist: 0.3021, d0.loss_cls_all: 0.1980, d0.loss_bbox_all: 0.4450, d0.loss_cls: 0.1980, d0.loss_bbox: 0.4450, d1.loss_cls: 0.1900, d1.loss_bbox: 0.4014, d2.loss_cls: 0.1707, d2.loss_bbox: 0.3697, d3.loss_cls: 0.1546, d3.loss_bbox: 0.3606, d4.loss_cls: 0.1457, d4.loss_bbox: 0.3573, d5.loss_cls: 0.1432, d5.loss_bbox: 0.3561, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8526, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6811, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6350, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6246, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6065, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6050, d0.loss_map_cls_all: 0.2643, d0.loss_map_pts_all: 1.5496, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2643, d0.loss_map_pts: 1.5496, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2304, d1.loss_map_pts: 1.1211, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.2048, d2.loss_map_pts: 0.8996, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1913, d3.loss_map_pts: 0.8176, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1841, d4.loss_map_pts: 0.7877, d4.loss_map_dir: 0.0100, d5.loss_map_cls: 0.1769, d5.loss_map_pts: 0.7803, d5.loss_map_dir: 0.0101, loss: 30.6341, grad_norm: 142.3797 +2026-02-28 07:44:00,493 - DriveTransformer - INFO - Epoch [9][25000/39528] lr: 7.525e-05, eta: 5 days, 3:17:15, time: 0.719, data_time: 0.037, memory: 19865, loss_cls: 0.1137, loss_bbox: 0.3223, loss_traj: 0.4726, loss_traj_cls: 0.0020, loss_map_cls: 0.1480, loss_map_pts: 0.6094, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 3.0918, d0.loss_plan_l1_fix_dist: 0.4664, d1.loss_plan_l1_fix_time: 0.8770, d1.loss_plan_l1_fix_dist: 0.2672, d2.loss_plan_l1_fix_time: 0.8577, d2.loss_plan_l1_fix_dist: 0.2384, d3.loss_plan_l1_fix_time: 0.8608, d3.loss_plan_l1_fix_dist: 0.2173, d4.loss_plan_l1_fix_time: 0.8640, d4.loss_plan_l1_fix_dist: 0.2353, d5.loss_plan_l1_fix_time: 0.8674, d5.loss_plan_l1_fix_dist: 0.2495, d6.loss_plan_l1_fix_time: 0.8707, d6.loss_plan_l1_fix_dist: 0.2709, d0.loss_cls_all: 0.1633, d0.loss_bbox_all: 0.3865, d0.loss_cls: 0.1633, d0.loss_bbox: 0.3865, d1.loss_cls: 0.1538, d1.loss_bbox: 0.3542, d2.loss_cls: 0.1342, d2.loss_bbox: 0.3349, d3.loss_cls: 0.1196, d3.loss_bbox: 0.3275, d4.loss_cls: 0.1148, d4.loss_bbox: 0.3250, d5.loss_cls: 0.1138, d5.loss_bbox: 0.3225, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7094, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5453, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4950, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4791, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4736, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4688, d0.loss_map_cls_all: 0.2191, d0.loss_map_pts_all: 1.1942, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2191, d0.loss_map_pts: 1.1942, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1924, d1.loss_map_pts: 0.8446, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1695, d2.loss_map_pts: 0.6883, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1595, d3.loss_map_pts: 0.6362, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1547, d4.loss_map_pts: 0.6138, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1492, d5.loss_map_pts: 0.6109, d5.loss_map_dir: 0.0077, loss: 25.5829, grad_norm: 144.6322 +2026-02-28 07:44:37,844 - DriveTransformer - INFO - Epoch [9][25050/39528] lr: 7.525e-05, eta: 5 days, 3:16:44, time: 0.747, data_time: 0.039, memory: 19865, loss_cls: 0.1195, loss_bbox: 0.3204, loss_traj: 0.5924, loss_traj_cls: 0.0020, loss_map_cls: 0.1173, loss_map_pts: 0.5929, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.6091, d0.loss_plan_l1_fix_dist: 0.4634, d1.loss_plan_l1_fix_time: 0.9938, d1.loss_plan_l1_fix_dist: 0.2616, d2.loss_plan_l1_fix_time: 0.9844, d2.loss_plan_l1_fix_dist: 0.2571, d3.loss_plan_l1_fix_time: 0.9874, d3.loss_plan_l1_fix_dist: 0.2165, d4.loss_plan_l1_fix_time: 0.9906, d4.loss_plan_l1_fix_dist: 0.2374, d5.loss_plan_l1_fix_time: 0.9944, d5.loss_plan_l1_fix_dist: 0.2427, d6.loss_plan_l1_fix_time: 0.9984, d6.loss_plan_l1_fix_dist: 0.2567, d0.loss_cls_all: 0.1653, d0.loss_bbox_all: 0.3871, d0.loss_cls: 0.1653, d0.loss_bbox: 0.3871, d1.loss_cls: 0.1587, d1.loss_bbox: 0.3501, d2.loss_cls: 0.1422, d2.loss_bbox: 0.3297, d3.loss_cls: 0.1270, d3.loss_bbox: 0.3239, d4.loss_cls: 0.1193, d4.loss_bbox: 0.3233, d5.loss_cls: 0.1188, d5.loss_bbox: 0.3211, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8471, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6508, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6140, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5973, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5897, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5908, d0.loss_map_cls_all: 0.1944, d0.loss_map_pts_all: 1.2046, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1944, d0.loss_map_pts: 1.2046, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1623, d1.loss_map_pts: 0.8484, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1396, d2.loss_map_pts: 0.6812, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1291, d3.loss_map_pts: 0.6191, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1234, d4.loss_map_pts: 0.5950, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1188, d5.loss_map_pts: 0.5917, d5.loss_map_dir: 0.0076, loss: 26.4174, grad_norm: 146.1128 +2026-02-28 07:45:14,666 - DriveTransformer - INFO - Epoch [9][25100/39528] lr: 7.525e-05, eta: 5 days, 3:16:09, time: 0.736, data_time: 0.038, memory: 19865, loss_cls: 0.1209, loss_bbox: 0.3054, loss_traj: 0.4723, loss_traj_cls: 0.0020, loss_map_cls: 0.1110, loss_map_pts: 0.5174, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.3510, d0.loss_plan_l1_fix_dist: 0.5232, d1.loss_plan_l1_fix_time: 0.8443, d1.loss_plan_l1_fix_dist: 0.2489, d2.loss_plan_l1_fix_time: 0.8319, d2.loss_plan_l1_fix_dist: 0.2661, d3.loss_plan_l1_fix_time: 0.8351, d3.loss_plan_l1_fix_dist: 0.2433, d4.loss_plan_l1_fix_time: 0.8386, d4.loss_plan_l1_fix_dist: 0.2507, d5.loss_plan_l1_fix_time: 0.8416, d5.loss_plan_l1_fix_dist: 0.2201, d6.loss_plan_l1_fix_time: 0.8454, d6.loss_plan_l1_fix_dist: 0.2533, d0.loss_cls_all: 0.1621, d0.loss_bbox_all: 0.3619, d0.loss_cls: 0.1621, d0.loss_bbox: 0.3619, d1.loss_cls: 0.1598, d1.loss_bbox: 0.3309, d2.loss_cls: 0.1470, d2.loss_bbox: 0.3124, d3.loss_cls: 0.1290, d3.loss_bbox: 0.3073, d4.loss_cls: 0.1234, d4.loss_bbox: 0.3048, d5.loss_cls: 0.1214, d5.loss_bbox: 0.3043, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6648, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5259, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4972, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4800, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4759, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4713, d0.loss_map_cls_all: 0.1885, d0.loss_map_pts_all: 1.0818, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1885, d0.loss_map_pts: 1.0818, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1594, d1.loss_map_pts: 0.7399, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1331, d2.loss_map_pts: 0.5995, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1219, d3.loss_map_pts: 0.5475, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1151, d4.loss_map_pts: 0.5234, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1121, d5.loss_map_pts: 0.5181, d5.loss_map_dir: 0.0065, loss: 23.4930, grad_norm: 141.2584 +2026-02-28 07:45:50,580 - DriveTransformer - INFO - Epoch [9][25150/39528] lr: 7.525e-05, eta: 5 days, 3:15:29, time: 0.718, data_time: 0.038, memory: 19865, loss_cls: 0.1140, loss_bbox: 0.2920, loss_traj: 0.4806, loss_traj_cls: 0.0020, loss_map_cls: 0.1205, loss_map_pts: 0.5750, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.6354, d0.loss_plan_l1_fix_dist: 0.5479, d1.loss_plan_l1_fix_time: 0.8109, d1.loss_plan_l1_fix_dist: 0.2605, d2.loss_plan_l1_fix_time: 0.7963, d2.loss_plan_l1_fix_dist: 0.2619, d3.loss_plan_l1_fix_time: 0.7976, d3.loss_plan_l1_fix_dist: 0.2700, d4.loss_plan_l1_fix_time: 0.8000, d4.loss_plan_l1_fix_dist: 0.2762, d5.loss_plan_l1_fix_time: 0.8023, d5.loss_plan_l1_fix_dist: 0.2435, d6.loss_plan_l1_fix_time: 0.8057, d6.loss_plan_l1_fix_dist: 0.2924, d0.loss_cls_all: 0.1491, d0.loss_bbox_all: 0.3499, d0.loss_cls: 0.1491, d0.loss_bbox: 0.3499, d1.loss_cls: 0.1423, d1.loss_bbox: 0.3162, d2.loss_cls: 0.1324, d2.loss_bbox: 0.3000, d3.loss_cls: 0.1214, d3.loss_bbox: 0.2927, d4.loss_cls: 0.1177, d4.loss_bbox: 0.2891, d5.loss_cls: 0.1139, d5.loss_bbox: 0.2909, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6502, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5249, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4870, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4803, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4798, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4823, d0.loss_map_cls_all: 0.2017, d0.loss_map_pts_all: 1.1042, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2017, d0.loss_map_pts: 1.1042, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1698, d1.loss_map_pts: 0.8064, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1454, d2.loss_map_pts: 0.6568, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1337, d3.loss_map_pts: 0.6040, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1277, d4.loss_map_pts: 0.5822, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1227, d5.loss_map_pts: 0.5748, d5.loss_map_dir: 0.0072, loss: 23.9992, grad_norm: 142.9512 +2026-02-28 07:46:27,234 - DriveTransformer - INFO - Epoch [9][25200/39528] lr: 7.525e-05, eta: 5 days, 3:14:53, time: 0.733, data_time: 0.041, memory: 19865, loss_cls: 0.1246, loss_bbox: 0.3001, loss_traj: 0.5499, loss_traj_cls: 0.0020, loss_map_cls: 0.1195, loss_map_pts: 0.5609, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.6050, d0.loss_plan_l1_fix_dist: 0.4551, d1.loss_plan_l1_fix_time: 0.8086, d1.loss_plan_l1_fix_dist: 0.2600, d2.loss_plan_l1_fix_time: 0.7903, d2.loss_plan_l1_fix_dist: 0.2008, d3.loss_plan_l1_fix_time: 0.7841, d3.loss_plan_l1_fix_dist: 0.2118, d4.loss_plan_l1_fix_time: 0.7850, d4.loss_plan_l1_fix_dist: 0.2155, d5.loss_plan_l1_fix_time: 0.7878, d5.loss_plan_l1_fix_dist: 0.2007, d6.loss_plan_l1_fix_time: 0.7919, d6.loss_plan_l1_fix_dist: 0.2257, d0.loss_cls_all: 0.1531, d0.loss_bbox_all: 0.3624, d0.loss_cls: 0.1531, d0.loss_bbox: 0.3624, d1.loss_cls: 0.1461, d1.loss_bbox: 0.3313, d2.loss_cls: 0.1352, d2.loss_bbox: 0.3135, d3.loss_cls: 0.1278, d3.loss_bbox: 0.3045, d4.loss_cls: 0.1238, d4.loss_bbox: 0.3029, d5.loss_cls: 0.1236, d5.loss_bbox: 0.3009, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8127, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6207, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5644, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5558, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5548, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5504, d0.loss_map_cls_all: 0.2093, d0.loss_map_pts_all: 1.1167, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2093, d0.loss_map_pts: 1.1167, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1773, d1.loss_map_pts: 0.8055, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1469, d2.loss_map_pts: 0.6526, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1333, d3.loss_map_pts: 0.5924, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1264, d4.loss_map_pts: 0.5683, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1211, d5.loss_map_pts: 0.5626, d5.loss_map_dir: 0.0067, loss: 24.2742, grad_norm: 148.7282 +2026-02-28 07:47:03,202 - DriveTransformer - INFO - Epoch [9][25250/39528] lr: 7.525e-05, eta: 5 days, 3:14:13, time: 0.719, data_time: 0.038, memory: 19865, loss_cls: 0.1165, loss_bbox: 0.3059, loss_traj: 0.4999, loss_traj_cls: 0.0020, loss_map_cls: 0.1220, loss_map_pts: 0.5612, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.4374, d0.loss_plan_l1_fix_dist: 0.4353, d1.loss_plan_l1_fix_time: 0.8405, d1.loss_plan_l1_fix_dist: 0.3267, d2.loss_plan_l1_fix_time: 0.8268, d2.loss_plan_l1_fix_dist: 0.2331, d3.loss_plan_l1_fix_time: 0.8273, d3.loss_plan_l1_fix_dist: 0.2265, d4.loss_plan_l1_fix_time: 0.8297, d4.loss_plan_l1_fix_dist: 0.2245, d5.loss_plan_l1_fix_time: 0.8330, d5.loss_plan_l1_fix_dist: 0.2238, d6.loss_plan_l1_fix_time: 0.8372, d6.loss_plan_l1_fix_dist: 0.2427, d0.loss_cls_all: 0.1592, d0.loss_bbox_all: 0.3684, d0.loss_cls: 0.1592, d0.loss_bbox: 0.3684, d1.loss_cls: 0.1520, d1.loss_bbox: 0.3379, d2.loss_cls: 0.1390, d2.loss_bbox: 0.3167, d3.loss_cls: 0.1229, d3.loss_bbox: 0.3091, d4.loss_cls: 0.1197, d4.loss_bbox: 0.3060, d5.loss_cls: 0.1168, d5.loss_bbox: 0.3058, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6920, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5550, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5166, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5035, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4992, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4942, d0.loss_map_cls_all: 0.2127, d0.loss_map_pts_all: 1.1742, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2127, d0.loss_map_pts: 1.1742, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1772, d1.loss_map_pts: 0.8128, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1518, d2.loss_map_pts: 0.6492, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1365, d3.loss_map_pts: 0.5864, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1277, d4.loss_map_pts: 0.5691, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1229, d5.loss_map_pts: 0.5624, d5.loss_map_dir: 0.0072, loss: 24.2250, grad_norm: 167.3997 +2026-02-28 07:47:41,298 - DriveTransformer - INFO - Epoch [9][25300/39528] lr: 7.525e-05, eta: 5 days, 3:13:45, time: 0.762, data_time: 0.039, memory: 19865, loss_cls: 0.1198, loss_bbox: 0.3344, loss_traj: 0.5581, loss_traj_cls: 0.0020, loss_map_cls: 0.1232, loss_map_pts: 0.6323, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.3010, d0.loss_plan_l1_fix_dist: 0.5292, d1.loss_plan_l1_fix_time: 0.9183, d1.loss_plan_l1_fix_dist: 0.3856, d2.loss_plan_l1_fix_time: 0.8985, d2.loss_plan_l1_fix_dist: 0.3180, d3.loss_plan_l1_fix_time: 0.8774, d3.loss_plan_l1_fix_dist: 0.2898, d4.loss_plan_l1_fix_time: 0.8771, d4.loss_plan_l1_fix_dist: 0.2706, d5.loss_plan_l1_fix_time: 0.8786, d5.loss_plan_l1_fix_dist: 0.2628, d6.loss_plan_l1_fix_time: 0.8811, d6.loss_plan_l1_fix_dist: 0.2460, d0.loss_cls_all: 0.1644, d0.loss_bbox_all: 0.3853, d0.loss_cls: 0.1644, d0.loss_bbox: 0.3853, d1.loss_cls: 0.1631, d1.loss_bbox: 0.3525, d2.loss_cls: 0.1468, d2.loss_bbox: 0.3357, d3.loss_cls: 0.1274, d3.loss_bbox: 0.3346, d4.loss_cls: 0.1202, d4.loss_bbox: 0.3349, d5.loss_cls: 0.1206, d5.loss_bbox: 0.3323, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7926, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6438, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5884, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5705, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5651, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5575, d0.loss_map_cls_all: 0.2149, d0.loss_map_pts_all: 1.2667, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2149, d0.loss_map_pts: 1.2667, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1790, d1.loss_map_pts: 0.9016, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1501, d2.loss_map_pts: 0.7305, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1376, d3.loss_map_pts: 0.6679, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1293, d4.loss_map_pts: 0.6428, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1240, d5.loss_map_pts: 0.6347, d5.loss_map_dir: 0.0087, loss: 26.2230, grad_norm: 167.7550 +2026-02-28 07:48:16,806 - DriveTransformer - INFO - Epoch [9][25350/39528] lr: 7.525e-05, eta: 5 days, 3:13:03, time: 0.710, data_time: 0.039, memory: 19865, loss_cls: 0.0999, loss_bbox: 0.3063, loss_traj: 0.5543, loss_traj_cls: 0.0020, loss_map_cls: 0.1087, loss_map_pts: 0.5136, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.6654, d0.loss_plan_l1_fix_dist: 0.5166, d1.loss_plan_l1_fix_time: 0.9361, d1.loss_plan_l1_fix_dist: 0.3863, d2.loss_plan_l1_fix_time: 0.9167, d2.loss_plan_l1_fix_dist: 0.3384, d3.loss_plan_l1_fix_time: 0.9052, d3.loss_plan_l1_fix_dist: 0.3126, d4.loss_plan_l1_fix_time: 0.9059, d4.loss_plan_l1_fix_dist: 0.3038, d5.loss_plan_l1_fix_time: 0.9078, d5.loss_plan_l1_fix_dist: 0.2983, d6.loss_plan_l1_fix_time: 0.9102, d6.loss_plan_l1_fix_dist: 0.2620, d0.loss_cls_all: 0.1457, d0.loss_bbox_all: 0.3677, d0.loss_cls: 0.1457, d0.loss_bbox: 0.3677, d1.loss_cls: 0.1377, d1.loss_bbox: 0.3330, d2.loss_cls: 0.1246, d2.loss_bbox: 0.3160, d3.loss_cls: 0.1073, d3.loss_bbox: 0.3078, d4.loss_cls: 0.1017, d4.loss_bbox: 0.3063, d5.loss_cls: 0.0996, d5.loss_bbox: 0.3059, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7952, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6302, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5816, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5633, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5603, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5537, d0.loss_map_cls_all: 0.1997, d0.loss_map_pts_all: 1.0977, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1997, d0.loss_map_pts: 1.0977, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1590, d1.loss_map_pts: 0.7777, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1325, d2.loss_map_pts: 0.6131, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1223, d3.loss_map_pts: 0.5374, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1164, d4.loss_map_pts: 0.5207, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1109, d5.loss_map_pts: 0.5146, d5.loss_map_dir: 0.0062, loss: 25.2539, grad_norm: 167.8476 +2026-02-28 07:48:53,916 - DriveTransformer - INFO - Epoch [9][25400/39528] lr: 7.525e-05, eta: 5 days, 3:12:30, time: 0.742, data_time: 0.038, memory: 19865, loss_cls: 0.1169, loss_bbox: 0.3066, loss_traj: 0.5580, loss_traj_cls: 0.0020, loss_map_cls: 0.1298, loss_map_pts: 0.6644, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.7566, d0.loss_plan_l1_fix_dist: 0.4682, d1.loss_plan_l1_fix_time: 0.7751, d1.loss_plan_l1_fix_dist: 0.3043, d2.loss_plan_l1_fix_time: 0.7573, d2.loss_plan_l1_fix_dist: 0.2416, d3.loss_plan_l1_fix_time: 0.7516, d3.loss_plan_l1_fix_dist: 0.2314, d4.loss_plan_l1_fix_time: 0.7525, d4.loss_plan_l1_fix_dist: 0.2286, d5.loss_plan_l1_fix_time: 0.7541, d5.loss_plan_l1_fix_dist: 0.2300, d6.loss_plan_l1_fix_time: 0.7560, d6.loss_plan_l1_fix_dist: 0.2080, d0.loss_cls_all: 0.1582, d0.loss_bbox_all: 0.3834, d0.loss_cls: 0.1582, d0.loss_bbox: 0.3834, d1.loss_cls: 0.1507, d1.loss_bbox: 0.3415, d2.loss_cls: 0.1391, d2.loss_bbox: 0.3190, d3.loss_cls: 0.1240, d3.loss_bbox: 0.3121, d4.loss_cls: 0.1199, d4.loss_bbox: 0.3066, d5.loss_cls: 0.1172, d5.loss_bbox: 0.3062, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7938, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6253, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5744, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5663, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5615, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5550, d0.loss_map_cls_all: 0.2251, d0.loss_map_pts_all: 1.3675, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2251, d0.loss_map_pts: 1.3675, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1872, d1.loss_map_pts: 0.9975, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1577, d2.loss_map_pts: 0.7808, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1466, d3.loss_map_pts: 0.7045, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1394, d4.loss_map_pts: 0.6744, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1324, d5.loss_map_pts: 0.6664, d5.loss_map_dir: 0.0085, loss: 25.8321, grad_norm: 167.7261 +2026-02-28 07:49:29,522 - DriveTransformer - INFO - Epoch [9][25450/39528] lr: 7.525e-05, eta: 5 days, 3:11:48, time: 0.712, data_time: 0.037, memory: 19865, loss_cls: 0.1335, loss_bbox: 0.3179, loss_traj: 0.6309, loss_traj_cls: 0.0020, loss_map_cls: 0.1193, loss_map_pts: 0.5263, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.6811, d0.loss_plan_l1_fix_dist: 0.4325, d1.loss_plan_l1_fix_time: 0.8785, d1.loss_plan_l1_fix_dist: 0.2352, d2.loss_plan_l1_fix_time: 0.8599, d2.loss_plan_l1_fix_dist: 0.1868, d3.loss_plan_l1_fix_time: 0.8644, d3.loss_plan_l1_fix_dist: 0.2071, d4.loss_plan_l1_fix_time: 0.8664, d4.loss_plan_l1_fix_dist: 0.1906, d5.loss_plan_l1_fix_time: 0.8683, d5.loss_plan_l1_fix_dist: 0.1974, d6.loss_plan_l1_fix_time: 0.8707, d6.loss_plan_l1_fix_dist: 0.2299, d0.loss_cls_all: 0.1720, d0.loss_bbox_all: 0.3882, d0.loss_cls: 0.1720, d0.loss_bbox: 0.3882, d1.loss_cls: 0.1651, d1.loss_bbox: 0.3481, d2.loss_cls: 0.1562, d2.loss_bbox: 0.3280, d3.loss_cls: 0.1413, d3.loss_bbox: 0.3214, d4.loss_cls: 0.1340, d4.loss_bbox: 0.3204, d5.loss_cls: 0.1338, d5.loss_bbox: 0.3178, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9097, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7481, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6742, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6397, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6386, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6291, d0.loss_map_cls_all: 0.1998, d0.loss_map_pts_all: 1.1250, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1998, d0.loss_map_pts: 1.1250, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1644, d1.loss_map_pts: 0.7906, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1430, d2.loss_map_pts: 0.6310, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1327, d3.loss_map_pts: 0.5631, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1280, d4.loss_map_pts: 0.5334, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1216, d5.loss_map_pts: 0.5274, d5.loss_map_dir: 0.0061, loss: 25.4611, grad_norm: 167.6522 +2026-02-28 07:50:06,732 - DriveTransformer - INFO - Epoch [9][25500/39528] lr: 7.525e-05, eta: 5 days, 3:11:15, time: 0.744, data_time: 0.037, memory: 19865, loss_cls: 0.1253, loss_bbox: 0.3324, loss_traj: 0.5777, loss_traj_cls: 0.0019, loss_map_cls: 0.1478, loss_map_pts: 0.7382, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.8787, d0.loss_plan_l1_fix_dist: 0.4519, d1.loss_plan_l1_fix_time: 0.9351, d1.loss_plan_l1_fix_dist: 0.2261, d2.loss_plan_l1_fix_time: 0.9115, d2.loss_plan_l1_fix_dist: 0.2241, d3.loss_plan_l1_fix_time: 0.9030, d3.loss_plan_l1_fix_dist: 0.2676, d4.loss_plan_l1_fix_time: 0.9054, d4.loss_plan_l1_fix_dist: 0.2431, d5.loss_plan_l1_fix_time: 0.9081, d5.loss_plan_l1_fix_dist: 0.2170, d6.loss_plan_l1_fix_time: 0.9116, d6.loss_plan_l1_fix_dist: 0.2724, d0.loss_cls_all: 0.1719, d0.loss_bbox_all: 0.3959, d0.loss_cls: 0.1719, d0.loss_bbox: 0.3959, d1.loss_cls: 0.1664, d1.loss_bbox: 0.3631, d2.loss_cls: 0.1520, d2.loss_bbox: 0.3389, d3.loss_cls: 0.1356, d3.loss_bbox: 0.3332, d4.loss_cls: 0.1278, d4.loss_bbox: 0.3316, d5.loss_cls: 0.1269, d5.loss_bbox: 0.3308, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8095, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6565, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6059, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5908, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5853, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5793, d0.loss_map_cls_all: 0.2341, d0.loss_map_pts_all: 1.4354, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2341, d0.loss_map_pts: 1.4354, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2029, d1.loss_map_pts: 1.0465, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1769, d2.loss_map_pts: 0.8515, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1635, d3.loss_map_pts: 0.7762, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1554, d4.loss_map_pts: 0.7453, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1494, d5.loss_map_pts: 0.7380, d5.loss_map_dir: 0.0091, loss: 27.9694, grad_norm: 170.1678 +2026-02-28 07:50:44,827 - DriveTransformer - INFO - Epoch [9][25550/39528] lr: 7.525e-05, eta: 5 days, 3:10:48, time: 0.762, data_time: 0.037, memory: 19865, loss_cls: 0.1217, loss_bbox: 0.3193, loss_traj: 0.4813, loss_traj_cls: 0.0021, loss_map_cls: 0.1386, loss_map_pts: 0.6948, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.8501, d0.loss_plan_l1_fix_dist: 0.4921, d1.loss_plan_l1_fix_time: 0.8657, d1.loss_plan_l1_fix_dist: 0.2158, d2.loss_plan_l1_fix_time: 0.8518, d2.loss_plan_l1_fix_dist: 0.2437, d3.loss_plan_l1_fix_time: 0.8505, d3.loss_plan_l1_fix_dist: 0.3043, d4.loss_plan_l1_fix_time: 0.8575, d4.loss_plan_l1_fix_dist: 0.2618, d5.loss_plan_l1_fix_time: 0.8618, d5.loss_plan_l1_fix_dist: 0.2281, d6.loss_plan_l1_fix_time: 0.8663, d6.loss_plan_l1_fix_dist: 0.2628, d0.loss_cls_all: 0.1642, d0.loss_bbox_all: 0.3826, d0.loss_cls: 0.1642, d0.loss_bbox: 0.3826, d1.loss_cls: 0.1600, d1.loss_bbox: 0.3476, d2.loss_cls: 0.1438, d2.loss_bbox: 0.3309, d3.loss_cls: 0.1279, d3.loss_bbox: 0.3233, d4.loss_cls: 0.1236, d4.loss_bbox: 0.3191, d5.loss_cls: 0.1210, d5.loss_bbox: 0.3194, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6931, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5503, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4995, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4774, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4777, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4791, d0.loss_map_cls_all: 0.2359, d0.loss_map_pts_all: 1.3971, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2359, d0.loss_map_pts: 1.3971, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.1928, d1.loss_map_pts: 1.0011, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1629, d2.loss_map_pts: 0.8075, d2.loss_map_dir: 0.0097, d3.loss_map_cls: 0.1520, d3.loss_map_pts: 0.7395, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1449, d4.loss_map_pts: 0.7043, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1406, d5.loss_map_pts: 0.6960, d5.loss_map_dir: 0.0102, loss: 26.4500, grad_norm: 165.8203 +2026-02-28 07:51:22,429 - DriveTransformer - INFO - Epoch [9][25600/39528] lr: 7.525e-05, eta: 5 days, 3:10:18, time: 0.753, data_time: 0.037, memory: 19865, loss_cls: 0.1264, loss_bbox: 0.3372, loss_traj: 0.5016, loss_traj_cls: 0.0020, loss_map_cls: 0.1197, loss_map_pts: 0.6477, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.7738, d0.loss_plan_l1_fix_dist: 0.3790, d1.loss_plan_l1_fix_time: 0.8049, d1.loss_plan_l1_fix_dist: 0.1809, d2.loss_plan_l1_fix_time: 0.7881, d2.loss_plan_l1_fix_dist: 0.2251, d3.loss_plan_l1_fix_time: 0.7945, d3.loss_plan_l1_fix_dist: 0.2722, d4.loss_plan_l1_fix_time: 0.7971, d4.loss_plan_l1_fix_dist: 0.2128, d5.loss_plan_l1_fix_time: 0.7996, d5.loss_plan_l1_fix_dist: 0.1994, d6.loss_plan_l1_fix_time: 0.8026, d6.loss_plan_l1_fix_dist: 0.2379, d0.loss_cls_all: 0.1837, d0.loss_bbox_all: 0.4098, d0.loss_cls: 0.1837, d0.loss_bbox: 0.4098, d1.loss_cls: 0.1723, d1.loss_bbox: 0.3749, d2.loss_cls: 0.1570, d2.loss_bbox: 0.3490, d3.loss_cls: 0.1340, d3.loss_bbox: 0.3432, d4.loss_cls: 0.1276, d4.loss_bbox: 0.3402, d5.loss_cls: 0.1255, d5.loss_bbox: 0.3392, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7513, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5858, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5343, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5125, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5032, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5045, d0.loss_map_cls_all: 0.2070, d0.loss_map_pts_all: 1.2615, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2070, d0.loss_map_pts: 1.2615, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1730, d1.loss_map_pts: 0.9212, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1488, d2.loss_map_pts: 0.7521, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1384, d3.loss_map_pts: 0.6834, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1285, d4.loss_map_pts: 0.6574, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1230, d5.loss_map_pts: 0.6484, d5.loss_map_dir: 0.0092, loss: 25.4324, grad_norm: 161.6053 +2026-02-28 07:51:56,819 - DriveTransformer - INFO - Epoch [9][25650/39528] lr: 7.525e-05, eta: 5 days, 3:09:29, time: 0.686, data_time: 0.036, memory: 19865, loss_cls: 0.1154, loss_bbox: 0.3129, loss_traj: 0.5936, loss_traj_cls: 0.0021, loss_map_cls: 0.1067, loss_map_pts: 0.5677, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.6432, d0.loss_plan_l1_fix_dist: 0.5040, d1.loss_plan_l1_fix_time: 0.8822, d1.loss_plan_l1_fix_dist: 0.1934, d2.loss_plan_l1_fix_time: 0.8627, d2.loss_plan_l1_fix_dist: 0.2346, d3.loss_plan_l1_fix_time: 0.8642, d3.loss_plan_l1_fix_dist: 0.2623, d4.loss_plan_l1_fix_time: 0.8662, d4.loss_plan_l1_fix_dist: 0.2196, d5.loss_plan_l1_fix_time: 0.8691, d5.loss_plan_l1_fix_dist: 0.1995, d6.loss_plan_l1_fix_time: 0.8727, d6.loss_plan_l1_fix_dist: 0.2245, d0.loss_cls_all: 0.1606, d0.loss_bbox_all: 0.3850, d0.loss_cls: 0.1606, d0.loss_bbox: 0.3850, d1.loss_cls: 0.1514, d1.loss_bbox: 0.3507, d2.loss_cls: 0.1367, d2.loss_bbox: 0.3300, d3.loss_cls: 0.1225, d3.loss_bbox: 0.3194, d4.loss_cls: 0.1188, d4.loss_bbox: 0.3139, d5.loss_cls: 0.1156, d5.loss_bbox: 0.3139, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8249, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6781, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6239, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5973, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5915, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5908, d0.loss_map_cls_all: 0.1928, d0.loss_map_pts_all: 1.0941, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1928, d0.loss_map_pts: 1.0941, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1576, d1.loss_map_pts: 0.8082, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1334, d2.loss_map_pts: 0.6565, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1198, d3.loss_map_pts: 0.5983, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1102, d4.loss_map_pts: 0.5732, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1067, d5.loss_map_pts: 0.5691, d5.loss_map_dir: 0.0073, loss: 25.1376, grad_norm: 160.0726 +2026-02-28 07:52:33,146 - DriveTransformer - INFO - Epoch [9][25700/39528] lr: 7.525e-05, eta: 5 days, 3:08:51, time: 0.727, data_time: 0.038, memory: 19865, loss_cls: 0.1058, loss_bbox: 0.2938, loss_traj: 0.5829, loss_traj_cls: 0.0021, loss_map_cls: 0.1031, loss_map_pts: 0.5089, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.6907, d0.loss_plan_l1_fix_dist: 0.4127, d1.loss_plan_l1_fix_time: 0.8424, d1.loss_plan_l1_fix_dist: 0.1898, d2.loss_plan_l1_fix_time: 0.8269, d2.loss_plan_l1_fix_dist: 0.2354, d3.loss_plan_l1_fix_time: 0.8174, d3.loss_plan_l1_fix_dist: 0.2487, d4.loss_plan_l1_fix_time: 0.8179, d4.loss_plan_l1_fix_dist: 0.2166, d5.loss_plan_l1_fix_time: 0.8199, d5.loss_plan_l1_fix_dist: 0.1981, d6.loss_plan_l1_fix_time: 0.8222, d6.loss_plan_l1_fix_dist: 0.2145, d0.loss_cls_all: 0.1493, d0.loss_bbox_all: 0.3468, d0.loss_cls: 0.1493, d0.loss_bbox: 0.3468, d1.loss_cls: 0.1423, d1.loss_bbox: 0.3171, d2.loss_cls: 0.1277, d2.loss_bbox: 0.2989, d3.loss_cls: 0.1131, d3.loss_bbox: 0.2962, d4.loss_cls: 0.1084, d4.loss_bbox: 0.2943, d5.loss_cls: 0.1057, d5.loss_bbox: 0.2942, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8104, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6484, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5977, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5793, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5782, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5824, d0.loss_map_cls_all: 0.1796, d0.loss_map_pts_all: 1.0347, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1796, d0.loss_map_pts: 1.0347, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1513, d1.loss_map_pts: 0.7506, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1321, d2.loss_map_pts: 0.6016, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1201, d3.loss_map_pts: 0.5376, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1098, d4.loss_map_pts: 0.5174, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1037, d5.loss_map_pts: 0.5092, d5.loss_map_dir: 0.0068, loss: 23.8572, grad_norm: 160.0490 +2026-02-28 07:53:08,432 - DriveTransformer - INFO - Epoch [9][25750/39528] lr: 7.525e-05, eta: 5 days, 3:08:07, time: 0.706, data_time: 0.036, memory: 19865, loss_cls: 0.1143, loss_bbox: 0.3214, loss_traj: 0.6387, loss_traj_cls: 0.0021, loss_map_cls: 0.0997, loss_map_pts: 0.5109, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.8610, d0.loss_plan_l1_fix_dist: 0.4393, d1.loss_plan_l1_fix_time: 1.0582, d1.loss_plan_l1_fix_dist: 0.2203, d2.loss_plan_l1_fix_time: 1.0497, d2.loss_plan_l1_fix_dist: 0.2735, d3.loss_plan_l1_fix_time: 1.0428, d3.loss_plan_l1_fix_dist: 0.2700, d4.loss_plan_l1_fix_time: 1.0465, d4.loss_plan_l1_fix_dist: 0.2437, d5.loss_plan_l1_fix_time: 1.0509, d5.loss_plan_l1_fix_dist: 0.2559, d6.loss_plan_l1_fix_time: 1.0555, d6.loss_plan_l1_fix_dist: 0.2812, d0.loss_cls_all: 0.1664, d0.loss_bbox_all: 0.3759, d0.loss_cls: 0.1664, d0.loss_bbox: 0.3759, d1.loss_cls: 0.1516, d1.loss_bbox: 0.3462, d2.loss_cls: 0.1376, d2.loss_bbox: 0.3275, d3.loss_cls: 0.1228, d3.loss_bbox: 0.3210, d4.loss_cls: 0.1166, d4.loss_bbox: 0.3209, d5.loss_cls: 0.1139, d5.loss_bbox: 0.3223, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8891, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7460, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6565, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6801, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6335, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6324, d0.loss_map_cls_all: 0.1706, d0.loss_map_pts_all: 1.0082, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1706, d0.loss_map_pts: 1.0082, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1395, d1.loss_map_pts: 0.7307, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1188, d2.loss_map_pts: 0.5970, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1102, d3.loss_map_pts: 0.5338, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1041, d4.loss_map_pts: 0.5141, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1009, d5.loss_map_pts: 0.5110, d5.loss_map_dir: 0.0074, loss: 26.3207, grad_norm: 162.0960 +2026-02-28 07:53:46,277 - DriveTransformer - INFO - Epoch [9][25800/39528] lr: 7.525e-05, eta: 5 days, 3:07:38, time: 0.757, data_time: 0.037, memory: 19865, loss_cls: 0.1137, loss_bbox: 0.3195, loss_traj: 0.5193, loss_traj_cls: 0.0021, loss_map_cls: 0.1170, loss_map_pts: 0.6403, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.1799, d0.loss_plan_l1_fix_dist: 0.4497, d1.loss_plan_l1_fix_time: 0.8291, d1.loss_plan_l1_fix_dist: 0.1974, d2.loss_plan_l1_fix_time: 0.8081, d2.loss_plan_l1_fix_dist: 0.2563, d3.loss_plan_l1_fix_time: 0.8031, d3.loss_plan_l1_fix_dist: 0.2346, d4.loss_plan_l1_fix_time: 0.8066, d4.loss_plan_l1_fix_dist: 0.1924, d5.loss_plan_l1_fix_time: 0.8113, d5.loss_plan_l1_fix_dist: 0.2213, d6.loss_plan_l1_fix_time: 0.8161, d6.loss_plan_l1_fix_dist: 0.2578, d0.loss_cls_all: 0.1666, d0.loss_bbox_all: 0.3746, d0.loss_cls: 0.1666, d0.loss_bbox: 0.3746, d1.loss_cls: 0.1555, d1.loss_bbox: 0.3451, d2.loss_cls: 0.1407, d2.loss_bbox: 0.3235, d3.loss_cls: 0.1226, d3.loss_bbox: 0.3190, d4.loss_cls: 0.1161, d4.loss_bbox: 0.3178, d5.loss_cls: 0.1137, d5.loss_bbox: 0.3192, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6779, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5336, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5213, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5138, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5163, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5158, d0.loss_map_cls_all: 0.1962, d0.loss_map_pts_all: 1.2590, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.1962, d0.loss_map_pts: 1.2590, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1651, d1.loss_map_pts: 0.9130, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1400, d2.loss_map_pts: 0.7401, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1320, d3.loss_map_pts: 0.6706, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1241, d4.loss_map_pts: 0.6474, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1184, d5.loss_map_pts: 0.6420, d5.loss_map_dir: 0.0094, loss: 24.4906, grad_norm: 164.0299 +2026-02-28 07:54:23,038 - DriveTransformer - INFO - Epoch [9][25850/39528] lr: 7.525e-05, eta: 5 days, 3:07:03, time: 0.735, data_time: 0.038, memory: 19865, loss_cls: 0.1158, loss_bbox: 0.3257, loss_traj: 0.5616, loss_traj_cls: 0.0020, loss_map_cls: 0.1145, loss_map_pts: 0.5899, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.5306, d0.loss_plan_l1_fix_dist: 0.3954, d1.loss_plan_l1_fix_time: 0.8176, d1.loss_plan_l1_fix_dist: 0.1770, d2.loss_plan_l1_fix_time: 0.8141, d2.loss_plan_l1_fix_dist: 0.2334, d3.loss_plan_l1_fix_time: 0.8160, d3.loss_plan_l1_fix_dist: 0.1981, d4.loss_plan_l1_fix_time: 0.8187, d4.loss_plan_l1_fix_dist: 0.1896, d5.loss_plan_l1_fix_time: 0.8220, d5.loss_plan_l1_fix_dist: 0.1981, d6.loss_plan_l1_fix_time: 0.8257, d6.loss_plan_l1_fix_dist: 0.2425, d0.loss_cls_all: 0.1633, d0.loss_bbox_all: 0.3826, d0.loss_cls: 0.1633, d0.loss_bbox: 0.3826, d1.loss_cls: 0.1569, d1.loss_bbox: 0.3514, d2.loss_cls: 0.1422, d2.loss_bbox: 0.3313, d3.loss_cls: 0.1223, d3.loss_bbox: 0.3274, d4.loss_cls: 0.1179, d4.loss_bbox: 0.3254, d5.loss_cls: 0.1145, d5.loss_bbox: 0.3269, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7839, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6327, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5738, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5630, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5565, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5586, d0.loss_map_cls_all: 0.2005, d0.loss_map_pts_all: 1.2479, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2005, d0.loss_map_pts: 1.2479, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1647, d1.loss_map_pts: 0.8660, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1401, d2.loss_map_pts: 0.6945, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1300, d3.loss_map_pts: 0.6263, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1221, d4.loss_map_pts: 0.5962, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1161, d5.loss_map_pts: 0.5911, d5.loss_map_dir: 0.0087, loss: 24.8810, grad_norm: 163.1629 +2026-02-28 07:54:59,176 - DriveTransformer - INFO - Epoch [9][25900/39528] lr: 7.525e-05, eta: 5 days, 3:06:24, time: 0.723, data_time: 0.038, memory: 19865, loss_cls: 0.1187, loss_bbox: 0.3117, loss_traj: 0.5618, loss_traj_cls: 0.0021, loss_map_cls: 0.1074, loss_map_pts: 0.5410, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.6328, d0.loss_plan_l1_fix_dist: 0.4335, d1.loss_plan_l1_fix_time: 0.8576, d1.loss_plan_l1_fix_dist: 0.1755, d2.loss_plan_l1_fix_time: 0.8443, d2.loss_plan_l1_fix_dist: 0.2345, d3.loss_plan_l1_fix_time: 0.8380, d3.loss_plan_l1_fix_dist: 0.1921, d4.loss_plan_l1_fix_time: 0.8400, d4.loss_plan_l1_fix_dist: 0.2238, d5.loss_plan_l1_fix_time: 0.8428, d5.loss_plan_l1_fix_dist: 0.2066, d6.loss_plan_l1_fix_time: 0.8459, d6.loss_plan_l1_fix_dist: 0.2641, d0.loss_cls_all: 0.1625, d0.loss_bbox_all: 0.3720, d0.loss_cls: 0.1625, d0.loss_bbox: 0.3720, d1.loss_cls: 0.1556, d1.loss_bbox: 0.3406, d2.loss_cls: 0.1424, d2.loss_bbox: 0.3214, d3.loss_cls: 0.1256, d3.loss_bbox: 0.3171, d4.loss_cls: 0.1200, d4.loss_bbox: 0.3132, d5.loss_cls: 0.1185, d5.loss_bbox: 0.3123, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7786, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6219, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5832, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5671, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5647, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5588, d0.loss_map_cls_all: 0.1759, d0.loss_map_pts_all: 1.0546, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1759, d0.loss_map_pts: 1.0546, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1507, d1.loss_map_pts: 0.7567, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1293, d2.loss_map_pts: 0.6223, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1202, d3.loss_map_pts: 0.5672, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1144, d4.loss_map_pts: 0.5480, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1103, d5.loss_map_pts: 0.5411, d5.loss_map_dir: 0.0060, loss: 24.2571, grad_norm: 160.1156 +2026-02-28 07:55:34,626 - DriveTransformer - INFO - Epoch [9][25950/39528] lr: 7.525e-05, eta: 5 days, 3:05:41, time: 0.709, data_time: 0.040, memory: 19865, loss_cls: 0.1267, loss_bbox: 0.3381, loss_traj: 0.6047, loss_traj_cls: 0.0021, loss_map_cls: 0.1221, loss_map_pts: 0.5363, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.9747, d0.loss_plan_l1_fix_dist: 0.4351, d1.loss_plan_l1_fix_time: 0.9836, d1.loss_plan_l1_fix_dist: 0.2042, d2.loss_plan_l1_fix_time: 0.9598, d2.loss_plan_l1_fix_dist: 0.2386, d3.loss_plan_l1_fix_time: 0.9576, d3.loss_plan_l1_fix_dist: 0.2074, d4.loss_plan_l1_fix_time: 0.9598, d4.loss_plan_l1_fix_dist: 0.2515, d5.loss_plan_l1_fix_time: 0.9624, d5.loss_plan_l1_fix_dist: 0.2294, d6.loss_plan_l1_fix_time: 0.9653, d6.loss_plan_l1_fix_dist: 0.2818, d0.loss_cls_all: 0.1733, d0.loss_bbox_all: 0.3842, d0.loss_cls: 0.1733, d0.loss_bbox: 0.3842, d1.loss_cls: 0.1706, d1.loss_bbox: 0.3554, d2.loss_cls: 0.1535, d2.loss_bbox: 0.3373, d3.loss_cls: 0.1366, d3.loss_bbox: 0.3331, d4.loss_cls: 0.1291, d4.loss_bbox: 0.3348, d5.loss_cls: 0.1260, d5.loss_bbox: 0.3368, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8377, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6789, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6235, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6091, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6062, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6043, d0.loss_map_cls_all: 0.1929, d0.loss_map_pts_all: 1.1034, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1929, d0.loss_map_pts: 1.1034, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1674, d1.loss_map_pts: 0.7902, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1467, d2.loss_map_pts: 0.6178, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1353, d3.loss_map_pts: 0.5558, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1288, d4.loss_map_pts: 0.5388, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1245, d5.loss_map_pts: 0.5359, d5.loss_map_dir: 0.0067, loss: 26.2211, grad_norm: 162.4885 +2026-02-28 07:56:13,358 - DriveTransformer - INFO - Epoch [9][26000/39528] lr: 7.525e-05, eta: 5 days, 3:05:17, time: 0.775, data_time: 0.038, memory: 19865, loss_cls: 0.1267, loss_bbox: 0.3505, loss_traj: 0.5537, loss_traj_cls: 0.0020, loss_map_cls: 0.1413, loss_map_pts: 0.6867, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.6598, d0.loss_plan_l1_fix_dist: 0.4380, d1.loss_plan_l1_fix_time: 0.9578, d1.loss_plan_l1_fix_dist: 0.2386, d2.loss_plan_l1_fix_time: 0.9415, d2.loss_plan_l1_fix_dist: 0.2613, d3.loss_plan_l1_fix_time: 0.9422, d3.loss_plan_l1_fix_dist: 0.2323, d4.loss_plan_l1_fix_time: 0.9460, d4.loss_plan_l1_fix_dist: 0.2844, d5.loss_plan_l1_fix_time: 0.9500, d5.loss_plan_l1_fix_dist: 0.2689, d6.loss_plan_l1_fix_time: 0.9547, d6.loss_plan_l1_fix_dist: 0.2825, d0.loss_cls_all: 0.1789, d0.loss_bbox_all: 0.4092, d0.loss_cls: 0.1789, d0.loss_bbox: 0.4092, d1.loss_cls: 0.1742, d1.loss_bbox: 0.3710, d2.loss_cls: 0.1597, d2.loss_bbox: 0.3486, d3.loss_cls: 0.1353, d3.loss_bbox: 0.3444, d4.loss_cls: 0.1281, d4.loss_bbox: 0.3450, d5.loss_cls: 0.1262, d5.loss_bbox: 0.3475, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7716, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6336, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5818, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5614, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5617, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5544, d0.loss_map_cls_all: 0.2222, d0.loss_map_pts_all: 1.4147, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2222, d0.loss_map_pts: 1.4147, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1925, d1.loss_map_pts: 1.0081, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1685, d2.loss_map_pts: 0.8034, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1564, d3.loss_map_pts: 0.7239, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1477, d4.loss_map_pts: 0.6929, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1432, d5.loss_map_pts: 0.6868, d5.loss_map_dir: 0.0095, loss: 27.6150, grad_norm: 164.8168 +2026-02-28 07:56:49,324 - DriveTransformer - INFO - Epoch [9][26050/39528] lr: 7.525e-05, eta: 5 days, 3:04:38, time: 0.719, data_time: 0.040, memory: 19865, loss_cls: 0.1138, loss_bbox: 0.3269, loss_traj: 0.6026, loss_traj_cls: 0.0020, loss_map_cls: 0.1187, loss_map_pts: 0.5306, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 3.1287, d0.loss_plan_l1_fix_dist: 0.4230, d1.loss_plan_l1_fix_time: 0.9948, d1.loss_plan_l1_fix_dist: 0.2340, d2.loss_plan_l1_fix_time: 0.9615, d2.loss_plan_l1_fix_dist: 0.2444, d3.loss_plan_l1_fix_time: 0.9563, d3.loss_plan_l1_fix_dist: 0.2172, d4.loss_plan_l1_fix_time: 0.9570, d4.loss_plan_l1_fix_dist: 0.2578, d5.loss_plan_l1_fix_time: 0.9579, d5.loss_plan_l1_fix_dist: 0.2907, d6.loss_plan_l1_fix_time: 0.9600, d6.loss_plan_l1_fix_dist: 0.2762, d0.loss_cls_all: 0.1664, d0.loss_bbox_all: 0.3844, d0.loss_cls: 0.1664, d0.loss_bbox: 0.3844, d1.loss_cls: 0.1571, d1.loss_bbox: 0.3498, d2.loss_cls: 0.1387, d2.loss_bbox: 0.3314, d3.loss_cls: 0.1193, d3.loss_bbox: 0.3270, d4.loss_cls: 0.1152, d4.loss_bbox: 0.3251, d5.loss_cls: 0.1120, d5.loss_bbox: 0.3270, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8303, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6943, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6381, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6222, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6107, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6063, d0.loss_map_cls_all: 0.2025, d0.loss_map_pts_all: 1.1276, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.2025, d0.loss_map_pts: 1.1276, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1710, d1.loss_map_pts: 0.7905, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1483, d2.loss_map_pts: 0.6308, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1356, d3.loss_map_pts: 0.5648, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1261, d4.loss_map_pts: 0.5416, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1206, d5.loss_map_pts: 0.5304, d5.loss_map_dir: 0.0063, loss: 26.4343, grad_norm: 163.7441 +2026-02-28 07:57:26,022 - DriveTransformer - INFO - Epoch [9][26100/39528] lr: 7.525e-05, eta: 5 days, 3:04:02, time: 0.734, data_time: 0.038, memory: 19865, loss_cls: 0.1202, loss_bbox: 0.3229, loss_traj: 0.5746, loss_traj_cls: 0.0020, loss_map_cls: 0.1215, loss_map_pts: 0.5879, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.3094, d0.loss_plan_l1_fix_dist: 0.4422, d1.loss_plan_l1_fix_time: 0.7886, d1.loss_plan_l1_fix_dist: 0.2154, d2.loss_plan_l1_fix_time: 0.7656, d2.loss_plan_l1_fix_dist: 0.2218, d3.loss_plan_l1_fix_time: 0.7610, d3.loss_plan_l1_fix_dist: 0.2400, d4.loss_plan_l1_fix_time: 0.7635, d4.loss_plan_l1_fix_dist: 0.2323, d5.loss_plan_l1_fix_time: 0.7661, d5.loss_plan_l1_fix_dist: 0.2978, d6.loss_plan_l1_fix_time: 0.7697, d6.loss_plan_l1_fix_dist: 0.2648, d0.loss_cls_all: 0.1660, d0.loss_bbox_all: 0.3878, d0.loss_cls: 0.1660, d0.loss_bbox: 0.3878, d1.loss_cls: 0.1571, d1.loss_bbox: 0.3550, d2.loss_cls: 0.1439, d2.loss_bbox: 0.3349, d3.loss_cls: 0.1283, d3.loss_bbox: 0.3266, d4.loss_cls: 0.1217, d4.loss_bbox: 0.3240, d5.loss_cls: 0.1211, d5.loss_bbox: 0.3227, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7485, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6174, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5912, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5794, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5774, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5749, d0.loss_map_cls_all: 0.2022, d0.loss_map_pts_all: 1.1654, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2022, d0.loss_map_pts: 1.1654, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1664, d1.loss_map_pts: 0.8345, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1450, d2.loss_map_pts: 0.6779, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1358, d3.loss_map_pts: 0.6197, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1283, d4.loss_map_pts: 0.5958, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1238, d5.loss_map_pts: 0.5895, d5.loss_map_dir: 0.0079, loss: 24.5177, grad_norm: 162.6960 +2026-02-28 07:58:02,659 - DriveTransformer - INFO - Epoch [9][26150/39528] lr: 7.525e-05, eta: 5 days, 3:03:26, time: 0.732, data_time: 0.038, memory: 19865, loss_cls: 0.1054, loss_bbox: 0.3064, loss_traj: 0.5381, loss_traj_cls: 0.0022, loss_map_cls: 0.0994, loss_map_pts: 0.4561, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.5049, d0.loss_plan_l1_fix_dist: 0.4552, d1.loss_plan_l1_fix_time: 0.8313, d1.loss_plan_l1_fix_dist: 0.1998, d2.loss_plan_l1_fix_time: 0.8217, d2.loss_plan_l1_fix_dist: 0.2104, d3.loss_plan_l1_fix_time: 0.8272, d3.loss_plan_l1_fix_dist: 0.2683, d4.loss_plan_l1_fix_time: 0.8318, d4.loss_plan_l1_fix_dist: 0.2168, d5.loss_plan_l1_fix_time: 0.8369, d5.loss_plan_l1_fix_dist: 0.2985, d6.loss_plan_l1_fix_time: 0.8432, d6.loss_plan_l1_fix_dist: 0.3002, d0.loss_cls_all: 0.1503, d0.loss_bbox_all: 0.3518, d0.loss_cls: 0.1503, d0.loss_bbox: 0.3518, d1.loss_cls: 0.1406, d1.loss_bbox: 0.3244, d2.loss_cls: 0.1312, d2.loss_bbox: 0.3048, d3.loss_cls: 0.1135, d3.loss_bbox: 0.3023, d4.loss_cls: 0.1066, d4.loss_bbox: 0.3032, d5.loss_cls: 0.1043, d5.loss_bbox: 0.3063, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7297, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6120, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5664, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5476, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5420, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5393, d0.loss_map_cls_all: 0.1725, d0.loss_map_pts_all: 0.9617, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1725, d0.loss_map_pts: 0.9617, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1438, d1.loss_map_pts: 0.6633, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1215, d2.loss_map_pts: 0.5322, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1097, d3.loss_map_pts: 0.4849, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1056, d4.loss_map_pts: 0.4631, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.1013, d5.loss_map_pts: 0.4580, d5.loss_map_dir: 0.0052, loss: 23.1312, grad_norm: 173.5722 +2026-02-28 07:58:39,611 - DriveTransformer - INFO - Epoch [9][26200/39528] lr: 7.525e-05, eta: 5 days, 3:02:52, time: 0.739, data_time: 0.039, memory: 19865, loss_cls: 0.1183, loss_bbox: 0.3420, loss_traj: 0.4921, loss_traj_cls: 0.0021, loss_map_cls: 0.0995, loss_map_pts: 0.5291, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.3504, d0.loss_plan_l1_fix_dist: 0.4692, d1.loss_plan_l1_fix_time: 0.8279, d1.loss_plan_l1_fix_dist: 0.2117, d2.loss_plan_l1_fix_time: 0.8023, d2.loss_plan_l1_fix_dist: 0.2273, d3.loss_plan_l1_fix_time: 0.7990, d3.loss_plan_l1_fix_dist: 0.3237, d4.loss_plan_l1_fix_time: 0.8021, d4.loss_plan_l1_fix_dist: 0.2354, d5.loss_plan_l1_fix_time: 0.8073, d5.loss_plan_l1_fix_dist: 0.3098, d6.loss_plan_l1_fix_time: 0.8143, d6.loss_plan_l1_fix_dist: 0.3317, d0.loss_cls_all: 0.1623, d0.loss_bbox_all: 0.3714, d0.loss_cls: 0.1623, d0.loss_bbox: 0.3714, d1.loss_cls: 0.1573, d1.loss_bbox: 0.3399, d2.loss_cls: 0.1418, d2.loss_bbox: 0.3282, d3.loss_cls: 0.1285, d3.loss_bbox: 0.3267, d4.loss_cls: 0.1201, d4.loss_bbox: 0.3316, d5.loss_cls: 0.1187, d5.loss_bbox: 0.3361, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7047, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5703, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5210, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4981, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4924, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4972, d0.loss_map_cls_all: 0.1890, d0.loss_map_pts_all: 1.0955, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1890, d0.loss_map_pts: 1.0955, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1509, d1.loss_map_pts: 0.7449, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1279, d2.loss_map_pts: 0.6008, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1158, d3.loss_map_pts: 0.5529, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1083, d4.loss_map_pts: 0.5354, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1025, d5.loss_map_pts: 0.5293, d5.loss_map_dir: 0.0064, loss: 23.7689, grad_norm: 174.2450 +2026-02-28 07:59:16,214 - DriveTransformer - INFO - Epoch [9][26250/39528] lr: 7.525e-05, eta: 5 days, 3:02:16, time: 0.732, data_time: 0.037, memory: 19865, loss_cls: 0.1298, loss_bbox: 0.3552, loss_traj: 0.5097, loss_traj_cls: 0.0020, loss_map_cls: 0.1502, loss_map_pts: 0.7094, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.6989, d0.loss_plan_l1_fix_dist: 0.4311, d1.loss_plan_l1_fix_time: 0.9556, d1.loss_plan_l1_fix_dist: 0.2072, d2.loss_plan_l1_fix_time: 0.9430, d2.loss_plan_l1_fix_dist: 0.2328, d3.loss_plan_l1_fix_time: 0.9487, d3.loss_plan_l1_fix_dist: 0.3603, d4.loss_plan_l1_fix_time: 0.9521, d4.loss_plan_l1_fix_dist: 0.2810, d5.loss_plan_l1_fix_time: 0.9562, d5.loss_plan_l1_fix_dist: 0.3175, d6.loss_plan_l1_fix_time: 0.9620, d6.loss_plan_l1_fix_dist: 0.2902, d0.loss_cls_all: 0.1787, d0.loss_bbox_all: 0.3983, d0.loss_cls: 0.1787, d0.loss_bbox: 0.3983, d1.loss_cls: 0.1659, d1.loss_bbox: 0.3690, d2.loss_cls: 0.1498, d2.loss_bbox: 0.3512, d3.loss_cls: 0.1358, d3.loss_bbox: 0.3504, d4.loss_cls: 0.1298, d4.loss_bbox: 0.3503, d5.loss_cls: 0.1293, d5.loss_bbox: 0.3517, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7538, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5979, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5479, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5241, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5164, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5118, d0.loss_map_cls_all: 0.2485, d0.loss_map_pts_all: 1.4121, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2485, d0.loss_map_pts: 1.4121, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.2076, d1.loss_map_pts: 1.0306, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1784, d2.loss_map_pts: 0.8255, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1665, d3.loss_map_pts: 0.7504, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1595, d4.loss_map_pts: 0.7191, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1541, d5.loss_map_pts: 0.7114, d5.loss_map_dir: 0.0081, loss: 27.7721, grad_norm: 171.8426 +2026-02-28 07:59:53,857 - DriveTransformer - INFO - Epoch [9][26300/39528] lr: 7.525e-05, eta: 5 days, 3:01:46, time: 0.753, data_time: 0.036, memory: 19865, loss_cls: 0.1233, loss_bbox: 0.3359, loss_traj: 0.5674, loss_traj_cls: 0.0021, loss_map_cls: 0.1369, loss_map_pts: 0.6299, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.4654, d0.loss_plan_l1_fix_dist: 0.3928, d1.loss_plan_l1_fix_time: 1.0120, d1.loss_plan_l1_fix_dist: 0.1877, d2.loss_plan_l1_fix_time: 1.0054, d2.loss_plan_l1_fix_dist: 0.2105, d3.loss_plan_l1_fix_time: 1.0078, d3.loss_plan_l1_fix_dist: 0.3824, d4.loss_plan_l1_fix_time: 1.0120, d4.loss_plan_l1_fix_dist: 0.3583, d5.loss_plan_l1_fix_time: 1.0166, d5.loss_plan_l1_fix_dist: 0.3314, d6.loss_plan_l1_fix_time: 1.0212, d6.loss_plan_l1_fix_dist: 0.2886, d0.loss_cls_all: 0.1688, d0.loss_bbox_all: 0.3957, d0.loss_cls: 0.1688, d0.loss_bbox: 0.3957, d1.loss_cls: 0.1624, d1.loss_bbox: 0.3635, d2.loss_cls: 0.1487, d2.loss_bbox: 0.3448, d3.loss_cls: 0.1322, d3.loss_bbox: 0.3379, d4.loss_cls: 0.1250, d4.loss_bbox: 0.3368, d5.loss_cls: 0.1246, d5.loss_bbox: 0.3357, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7795, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6431, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5882, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5756, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5675, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5679, d0.loss_map_cls_all: 0.2217, d0.loss_map_pts_all: 1.2799, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2217, d0.loss_map_pts: 1.2799, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1916, d1.loss_map_pts: 0.9090, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1610, d2.loss_map_pts: 0.7276, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1496, d3.loss_map_pts: 0.6630, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1423, d4.loss_map_pts: 0.6386, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1378, d5.loss_map_pts: 0.6302, d5.loss_map_dir: 0.0078, loss: 27.1699, grad_norm: 171.8751 +2026-02-28 08:00:30,483 - DriveTransformer - INFO - Epoch [9][26350/39528] lr: 7.525e-05, eta: 5 days, 3:01:10, time: 0.732, data_time: 0.038, memory: 19865, loss_cls: 0.1205, loss_bbox: 0.3282, loss_traj: 0.5213, loss_traj_cls: 0.0021, loss_map_cls: 0.1444, loss_map_pts: 0.6119, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 3.0420, d0.loss_plan_l1_fix_dist: 0.3787, d1.loss_plan_l1_fix_time: 0.9627, d1.loss_plan_l1_fix_dist: 0.1675, d2.loss_plan_l1_fix_time: 0.9606, d2.loss_plan_l1_fix_dist: 0.2041, d3.loss_plan_l1_fix_time: 0.9656, d3.loss_plan_l1_fix_dist: 0.3300, d4.loss_plan_l1_fix_time: 0.9704, d4.loss_plan_l1_fix_dist: 0.3440, d5.loss_plan_l1_fix_time: 0.9749, d5.loss_plan_l1_fix_dist: 0.2783, d6.loss_plan_l1_fix_time: 0.9789, d6.loss_plan_l1_fix_dist: 0.2486, d0.loss_cls_all: 0.1685, d0.loss_bbox_all: 0.3906, d0.loss_cls: 0.1685, d0.loss_bbox: 0.3906, d1.loss_cls: 0.1608, d1.loss_bbox: 0.3551, d2.loss_cls: 0.1434, d2.loss_bbox: 0.3361, d3.loss_cls: 0.1296, d3.loss_bbox: 0.3299, d4.loss_cls: 0.1225, d4.loss_bbox: 0.3287, d5.loss_cls: 0.1205, d5.loss_bbox: 0.3277, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7881, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6208, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5611, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5328, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5210, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5179, d0.loss_map_cls_all: 0.2271, d0.loss_map_pts_all: 1.2278, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2271, d0.loss_map_pts: 1.2278, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1957, d1.loss_map_pts: 0.8689, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1718, d2.loss_map_pts: 0.7084, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1621, d3.loss_map_pts: 0.6453, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1538, d4.loss_map_pts: 0.6221, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1462, d5.loss_map_pts: 0.6126, d5.loss_map_dir: 0.0070, loss: 26.8046, grad_norm: 170.1537 +2026-02-28 08:01:06,749 - DriveTransformer - INFO - Epoch [9][26400/39528] lr: 7.525e-05, eta: 5 days, 3:00:32, time: 0.727, data_time: 0.040, memory: 19865, loss_cls: 0.1195, loss_bbox: 0.3064, loss_traj: 0.4909, loss_traj_cls: 0.0022, loss_map_cls: 0.1192, loss_map_pts: 0.5571, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.3479, d0.loss_plan_l1_fix_dist: 0.4818, d1.loss_plan_l1_fix_time: 0.8532, d1.loss_plan_l1_fix_dist: 0.2311, d2.loss_plan_l1_fix_time: 0.8358, d2.loss_plan_l1_fix_dist: 0.2987, d3.loss_plan_l1_fix_time: 0.8343, d3.loss_plan_l1_fix_dist: 0.3446, d4.loss_plan_l1_fix_time: 0.8390, d4.loss_plan_l1_fix_dist: 0.3663, d5.loss_plan_l1_fix_time: 0.8452, d5.loss_plan_l1_fix_dist: 0.3184, d6.loss_plan_l1_fix_time: 0.8520, d6.loss_plan_l1_fix_dist: 0.3300, d0.loss_cls_all: 0.1580, d0.loss_bbox_all: 0.3580, d0.loss_cls: 0.1580, d0.loss_bbox: 0.3580, d1.loss_cls: 0.1438, d1.loss_bbox: 0.3265, d2.loss_cls: 0.1338, d2.loss_bbox: 0.3094, d3.loss_cls: 0.1221, d3.loss_bbox: 0.3057, d4.loss_cls: 0.1169, d4.loss_bbox: 0.3039, d5.loss_cls: 0.1168, d5.loss_bbox: 0.3056, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7010, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5871, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5169, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5048, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5013, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5001, d0.loss_map_cls_all: 0.1945, d0.loss_map_pts_all: 1.1065, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1945, d0.loss_map_pts: 1.1065, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1666, d1.loss_map_pts: 0.7932, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1427, d2.loss_map_pts: 0.6380, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1328, d3.loss_map_pts: 0.5810, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1247, d4.loss_map_pts: 0.5598, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1205, d5.loss_map_pts: 0.5559, d5.loss_map_dir: 0.0062, loss: 24.3703, grad_norm: 176.9128 +2026-02-28 08:01:43,382 - DriveTransformer - INFO - Epoch [9][26450/39528] lr: 7.525e-05, eta: 5 days, 2:59:56, time: 0.731, data_time: 0.039, memory: 19865, loss_cls: 0.1085, loss_bbox: 0.3033, loss_traj: 0.4797, loss_traj_cls: 0.0021, loss_map_cls: 0.1090, loss_map_pts: 0.5744, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.4118, d0.loss_plan_l1_fix_dist: 0.3433, d1.loss_plan_l1_fix_time: 0.9503, d1.loss_plan_l1_fix_dist: 0.2252, d2.loss_plan_l1_fix_time: 0.9278, d2.loss_plan_l1_fix_dist: 0.3100, d3.loss_plan_l1_fix_time: 0.9291, d3.loss_plan_l1_fix_dist: 0.3130, d4.loss_plan_l1_fix_time: 0.9358, d4.loss_plan_l1_fix_dist: 0.3265, d5.loss_plan_l1_fix_time: 0.9434, d5.loss_plan_l1_fix_dist: 0.2801, d6.loss_plan_l1_fix_time: 0.9520, d6.loss_plan_l1_fix_dist: 0.3612, d0.loss_cls_all: 0.1451, d0.loss_bbox_all: 0.3639, d0.loss_cls: 0.1451, d0.loss_bbox: 0.3639, d1.loss_cls: 0.1384, d1.loss_bbox: 0.3320, d2.loss_cls: 0.1238, d2.loss_bbox: 0.3106, d3.loss_cls: 0.1109, d3.loss_bbox: 0.3029, d4.loss_cls: 0.1074, d4.loss_bbox: 0.3004, d5.loss_cls: 0.1077, d5.loss_bbox: 0.2999, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6950, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5436, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4955, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4875, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4883, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4816, d0.loss_map_cls_all: 0.2026, d0.loss_map_pts_all: 1.1752, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2026, d0.loss_map_pts: 1.1752, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1672, d1.loss_map_pts: 0.8284, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1402, d2.loss_map_pts: 0.6555, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1261, d3.loss_map_pts: 0.5946, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1166, d4.loss_map_pts: 0.5782, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1111, d5.loss_map_pts: 0.5750, d5.loss_map_dir: 0.0077, loss: 24.8419, grad_norm: 177.4934 +2026-02-28 08:02:20,533 - DriveTransformer - INFO - Epoch [9][26500/39528] lr: 7.525e-05, eta: 5 days, 2:59:23, time: 0.743, data_time: 0.035, memory: 19865, loss_cls: 0.1242, loss_bbox: 0.3279, loss_traj: 0.5573, loss_traj_cls: 0.0021, loss_map_cls: 0.1428, loss_map_pts: 0.6447, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.4330, d0.loss_plan_l1_fix_dist: 0.4258, d1.loss_plan_l1_fix_time: 0.9608, d1.loss_plan_l1_fix_dist: 0.2536, d2.loss_plan_l1_fix_time: 0.9366, d2.loss_plan_l1_fix_dist: 0.3295, d3.loss_plan_l1_fix_time: 0.9335, d3.loss_plan_l1_fix_dist: 0.2998, d4.loss_plan_l1_fix_time: 0.9375, d4.loss_plan_l1_fix_dist: 0.3157, d5.loss_plan_l1_fix_time: 0.9424, d5.loss_plan_l1_fix_dist: 0.2505, d6.loss_plan_l1_fix_time: 0.9481, d6.loss_plan_l1_fix_dist: 0.3885, d0.loss_cls_all: 0.1773, d0.loss_bbox_all: 0.3908, d0.loss_cls: 0.1773, d0.loss_bbox: 0.3908, d1.loss_cls: 0.1623, d1.loss_bbox: 0.3575, d2.loss_cls: 0.1423, d2.loss_bbox: 0.3346, d3.loss_cls: 0.1319, d3.loss_bbox: 0.3276, d4.loss_cls: 0.1263, d4.loss_bbox: 0.3247, d5.loss_cls: 0.1257, d5.loss_bbox: 0.3251, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7448, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5998, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5565, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5437, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5427, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5410, d0.loss_map_cls_all: 0.2047, d0.loss_map_pts_all: 1.3471, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2047, d0.loss_map_pts: 1.3471, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1811, d1.loss_map_pts: 0.9430, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1629, d2.loss_map_pts: 0.7450, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1563, d3.loss_map_pts: 0.6718, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1485, d4.loss_map_pts: 0.6478, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1441, d5.loss_map_pts: 0.6444, d5.loss_map_dir: 0.0087, loss: 26.7979, grad_norm: 181.5529 +2026-02-28 08:02:55,691 - DriveTransformer - INFO - Epoch [9][26550/39528] lr: 7.525e-05, eta: 5 days, 2:58:38, time: 0.703, data_time: 0.041, memory: 19865, loss_cls: 0.1169, loss_bbox: 0.3028, loss_traj: 0.6179, loss_traj_cls: 0.0022, loss_map_cls: 0.1218, loss_map_pts: 0.5507, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.7208, d0.loss_plan_l1_fix_dist: 0.4378, d1.loss_plan_l1_fix_time: 0.8828, d1.loss_plan_l1_fix_dist: 0.2393, d2.loss_plan_l1_fix_time: 0.8551, d2.loss_plan_l1_fix_dist: 0.3018, d3.loss_plan_l1_fix_time: 0.8528, d3.loss_plan_l1_fix_dist: 0.2589, d4.loss_plan_l1_fix_time: 0.8537, d4.loss_plan_l1_fix_dist: 0.2956, d5.loss_plan_l1_fix_time: 0.8558, d5.loss_plan_l1_fix_dist: 0.2369, d6.loss_plan_l1_fix_time: 0.8581, d6.loss_plan_l1_fix_dist: 0.3878, d0.loss_cls_all: 0.1581, d0.loss_bbox_all: 0.3645, d0.loss_cls: 0.1581, d0.loss_bbox: 0.3645, d1.loss_cls: 0.1513, d1.loss_bbox: 0.3296, d2.loss_cls: 0.1370, d2.loss_bbox: 0.3107, d3.loss_cls: 0.1225, d3.loss_bbox: 0.3049, d4.loss_cls: 0.1160, d4.loss_bbox: 0.3044, d5.loss_cls: 0.1164, d5.loss_bbox: 0.3020, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9093, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7098, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6574, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6408, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6266, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6211, d0.loss_map_cls_all: 0.1992, d0.loss_map_pts_all: 1.0474, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1992, d0.loss_map_pts: 1.0474, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1694, d1.loss_map_pts: 0.7718, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1452, d2.loss_map_pts: 0.6322, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1352, d3.loss_map_pts: 0.5787, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1297, d4.loss_map_pts: 0.5603, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.1239, d5.loss_map_pts: 0.5509, d5.loss_map_dir: 0.0054, loss: 25.4911, grad_norm: 181.3142 +2026-02-28 08:03:31,247 - DriveTransformer - INFO - Epoch [9][26600/39528] lr: 7.525e-05, eta: 5 days, 2:57:56, time: 0.711, data_time: 0.040, memory: 19865, loss_cls: 0.1261, loss_bbox: 0.3242, loss_traj: 0.7173, loss_traj_cls: 0.0022, loss_map_cls: 0.1178, loss_map_pts: 0.5321, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 3.0963, d0.loss_plan_l1_fix_dist: 0.4272, d1.loss_plan_l1_fix_time: 1.0052, d1.loss_plan_l1_fix_dist: 0.2477, d2.loss_plan_l1_fix_time: 0.9810, d2.loss_plan_l1_fix_dist: 0.2816, d3.loss_plan_l1_fix_time: 0.9773, d3.loss_plan_l1_fix_dist: 0.2664, d4.loss_plan_l1_fix_time: 0.9777, d4.loss_plan_l1_fix_dist: 0.3086, d5.loss_plan_l1_fix_time: 0.9794, d5.loss_plan_l1_fix_dist: 0.2819, d6.loss_plan_l1_fix_time: 0.9814, d6.loss_plan_l1_fix_dist: 0.3807, d0.loss_cls_all: 0.1703, d0.loss_bbox_all: 0.3849, d0.loss_cls: 0.1703, d0.loss_bbox: 0.3849, d1.loss_cls: 0.1615, d1.loss_bbox: 0.3535, d2.loss_cls: 0.1468, d2.loss_bbox: 0.3341, d3.loss_cls: 0.1300, d3.loss_bbox: 0.3276, d4.loss_cls: 0.1246, d4.loss_bbox: 0.3272, d5.loss_cls: 0.1261, d5.loss_bbox: 0.3247, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0097, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.8240, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.7556, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.7339, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.7300, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.7258, d0.loss_map_cls_all: 0.1910, d0.loss_map_pts_all: 1.0161, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1910, d0.loss_map_pts: 1.0161, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1617, d1.loss_map_pts: 0.7540, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1409, d2.loss_map_pts: 0.6197, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1302, d3.loss_map_pts: 0.5564, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.1237, d4.loss_map_pts: 0.5347, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.1197, d5.loss_map_pts: 0.5311, d5.loss_map_dir: 0.0053, loss: 27.3895, grad_norm: 177.7450 +2026-02-28 08:04:07,483 - DriveTransformer - INFO - Epoch [9][26650/39528] lr: 7.525e-05, eta: 5 days, 2:57:18, time: 0.725, data_time: 0.039, memory: 19865, loss_cls: 0.1348, loss_bbox: 0.3241, loss_traj: 0.5982, loss_traj_cls: 0.0021, loss_map_cls: 0.1309, loss_map_pts: 0.5605, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.5621, d0.loss_plan_l1_fix_dist: 0.3877, d1.loss_plan_l1_fix_time: 0.8555, d1.loss_plan_l1_fix_dist: 0.2520, d2.loss_plan_l1_fix_time: 0.8441, d2.loss_plan_l1_fix_dist: 0.2388, d3.loss_plan_l1_fix_time: 0.8412, d3.loss_plan_l1_fix_dist: 0.2283, d4.loss_plan_l1_fix_time: 0.8426, d4.loss_plan_l1_fix_dist: 0.2944, d5.loss_plan_l1_fix_time: 0.8449, d5.loss_plan_l1_fix_dist: 0.3033, d6.loss_plan_l1_fix_time: 0.8480, d6.loss_plan_l1_fix_dist: 0.3518, d0.loss_cls_all: 0.1780, d0.loss_bbox_all: 0.3823, d0.loss_cls: 0.1780, d0.loss_bbox: 0.3823, d1.loss_cls: 0.1646, d1.loss_bbox: 0.3519, d2.loss_cls: 0.1515, d2.loss_bbox: 0.3356, d3.loss_cls: 0.1381, d3.loss_bbox: 0.3267, d4.loss_cls: 0.1352, d4.loss_bbox: 0.3248, d5.loss_cls: 0.1343, d5.loss_bbox: 0.3242, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8480, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6813, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6371, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6129, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6028, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6004, d0.loss_map_cls_all: 0.2150, d0.loss_map_pts_all: 1.1953, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.2150, d0.loss_map_pts: 1.1953, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1798, d1.loss_map_pts: 0.8431, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1588, d2.loss_map_pts: 0.6677, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1440, d3.loss_map_pts: 0.6046, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1373, d4.loss_map_pts: 0.5715, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1328, d5.loss_map_pts: 0.5625, d5.loss_map_dir: 0.0063, loss: 25.8120, grad_norm: 176.1901 +2026-02-28 08:04:43,078 - DriveTransformer - INFO - Epoch [9][26700/39528] lr: 7.525e-05, eta: 5 days, 2:56:36, time: 0.712, data_time: 0.038, memory: 19865, loss_cls: 0.1286, loss_bbox: 0.3252, loss_traj: 0.6676, loss_traj_cls: 0.0022, loss_map_cls: 0.1114, loss_map_pts: 0.5178, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.8025, d0.loss_plan_l1_fix_dist: 0.5404, d1.loss_plan_l1_fix_time: 0.9242, d1.loss_plan_l1_fix_dist: 0.2905, d2.loss_plan_l1_fix_time: 0.9116, d2.loss_plan_l1_fix_dist: 0.2693, d3.loss_plan_l1_fix_time: 0.9078, d3.loss_plan_l1_fix_dist: 0.2646, d4.loss_plan_l1_fix_time: 0.9094, d4.loss_plan_l1_fix_dist: 0.3345, d5.loss_plan_l1_fix_time: 0.9114, d5.loss_plan_l1_fix_dist: 0.3568, d6.loss_plan_l1_fix_time: 0.9140, d6.loss_plan_l1_fix_dist: 0.3693, d0.loss_cls_all: 0.1746, d0.loss_bbox_all: 0.3969, d0.loss_cls: 0.1746, d0.loss_bbox: 0.3969, d1.loss_cls: 0.1676, d1.loss_bbox: 0.3605, d2.loss_cls: 0.1513, d2.loss_bbox: 0.3399, d3.loss_cls: 0.1364, d3.loss_bbox: 0.3299, d4.loss_cls: 0.1305, d4.loss_bbox: 0.3278, d5.loss_cls: 0.1292, d5.loss_bbox: 0.3248, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9408, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7367, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6980, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6751, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6717, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6670, d0.loss_map_cls_all: 0.1913, d0.loss_map_pts_all: 1.0238, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1913, d0.loss_map_pts: 1.0238, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1610, d1.loss_map_pts: 0.7505, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1389, d2.loss_map_pts: 0.6072, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1270, d3.loss_map_pts: 0.5477, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1193, d4.loss_map_pts: 0.5267, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1142, d5.loss_map_pts: 0.5192, d5.loss_map_dir: 0.0061, loss: 26.4835, grad_norm: 182.5479 +2026-02-28 08:05:18,917 - DriveTransformer - INFO - Epoch [9][26750/39528] lr: 7.525e-05, eta: 5 days, 2:55:55, time: 0.717, data_time: 0.036, memory: 19865, loss_cls: 0.1307, loss_bbox: 0.3492, loss_traj: 0.6532, loss_traj_cls: 0.0022, loss_map_cls: 0.1326, loss_map_pts: 0.5726, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.7381, d0.loss_plan_l1_fix_dist: 0.4094, d1.loss_plan_l1_fix_time: 1.0489, d1.loss_plan_l1_fix_dist: 0.3171, d2.loss_plan_l1_fix_time: 1.0415, d2.loss_plan_l1_fix_dist: 0.2589, d3.loss_plan_l1_fix_time: 1.0416, d3.loss_plan_l1_fix_dist: 0.2627, d4.loss_plan_l1_fix_time: 1.0450, d4.loss_plan_l1_fix_dist: 0.3344, d5.loss_plan_l1_fix_time: 1.0486, d5.loss_plan_l1_fix_dist: 0.3480, d6.loss_plan_l1_fix_time: 1.0530, d6.loss_plan_l1_fix_dist: 0.3241, d0.loss_cls_all: 0.1737, d0.loss_bbox_all: 0.4028, d0.loss_cls: 0.1737, d0.loss_bbox: 0.4028, d1.loss_cls: 0.1679, d1.loss_bbox: 0.3771, d2.loss_cls: 0.1510, d2.loss_bbox: 0.3571, d3.loss_cls: 0.1329, d3.loss_bbox: 0.3523, d4.loss_cls: 0.1277, d4.loss_bbox: 0.3517, d5.loss_cls: 0.1301, d5.loss_bbox: 0.3494, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8816, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7291, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6870, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6672, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6725, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6756, d0.loss_map_cls_all: 0.2112, d0.loss_map_pts_all: 1.1479, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2112, d0.loss_map_pts: 1.1479, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1806, d1.loss_map_pts: 0.8255, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1601, d2.loss_map_pts: 0.6570, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1471, d3.loss_map_pts: 0.5973, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1405, d4.loss_map_pts: 0.5771, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1340, d5.loss_map_pts: 0.5737, d5.loss_map_dir: 0.0070, loss: 27.8460, grad_norm: 181.0944 +2026-02-28 08:05:55,006 - DriveTransformer - INFO - Epoch [9][26800/39528] lr: 7.525e-05, eta: 5 days, 2:55:16, time: 0.722, data_time: 0.038, memory: 19865, loss_cls: 0.1062, loss_bbox: 0.3165, loss_traj: 0.6272, loss_traj_cls: 0.0022, loss_map_cls: 0.1312, loss_map_pts: 0.5469, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.7555, d0.loss_plan_l1_fix_dist: 0.4322, d1.loss_plan_l1_fix_time: 0.8642, d1.loss_plan_l1_fix_dist: 0.3198, d2.loss_plan_l1_fix_time: 0.8598, d2.loss_plan_l1_fix_dist: 0.2485, d3.loss_plan_l1_fix_time: 0.8579, d3.loss_plan_l1_fix_dist: 0.2335, d4.loss_plan_l1_fix_time: 0.8595, d4.loss_plan_l1_fix_dist: 0.3111, d5.loss_plan_l1_fix_time: 0.8621, d5.loss_plan_l1_fix_dist: 0.3698, d6.loss_plan_l1_fix_time: 0.8653, d6.loss_plan_l1_fix_dist: 0.2896, d0.loss_cls_all: 0.1538, d0.loss_bbox_all: 0.3782, d0.loss_cls: 0.1538, d0.loss_bbox: 0.3782, d1.loss_cls: 0.1447, d1.loss_bbox: 0.3395, d2.loss_cls: 0.1262, d2.loss_bbox: 0.3186, d3.loss_cls: 0.1090, d3.loss_bbox: 0.3155, d4.loss_cls: 0.1075, d4.loss_bbox: 0.3139, d5.loss_cls: 0.1061, d5.loss_bbox: 0.3166, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8463, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6982, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6479, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6453, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6425, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6374, d0.loss_map_cls_all: 0.2136, d0.loss_map_pts_all: 1.0592, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.2136, d0.loss_map_pts: 1.0592, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1868, d1.loss_map_pts: 0.7716, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1617, d2.loss_map_pts: 0.6256, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1490, d3.loss_map_pts: 0.5716, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1407, d4.loss_map_pts: 0.5537, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1337, d5.loss_map_pts: 0.5486, d5.loss_map_dir: 0.0054, loss: 25.6738, grad_norm: 173.3376 +2026-02-28 08:06:32,242 - DriveTransformer - INFO - Epoch [9][26850/39528] lr: 7.525e-05, eta: 5 days, 2:54:44, time: 0.745, data_time: 0.038, memory: 19865, loss_cls: 0.1343, loss_bbox: 0.3392, loss_traj: 0.5543, loss_traj_cls: 0.0022, loss_map_cls: 0.1364, loss_map_pts: 0.6306, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.9057, d0.loss_plan_l1_fix_dist: 0.4158, d1.loss_plan_l1_fix_time: 0.9191, d1.loss_plan_l1_fix_dist: 0.3124, d2.loss_plan_l1_fix_time: 0.8974, d2.loss_plan_l1_fix_dist: 0.2589, d3.loss_plan_l1_fix_time: 0.9022, d3.loss_plan_l1_fix_dist: 0.2108, d4.loss_plan_l1_fix_time: 0.9050, d4.loss_plan_l1_fix_dist: 0.2745, d5.loss_plan_l1_fix_time: 0.9082, d5.loss_plan_l1_fix_dist: 0.3631, d6.loss_plan_l1_fix_time: 0.9125, d6.loss_plan_l1_fix_dist: 0.2888, d0.loss_cls_all: 0.1811, d0.loss_bbox_all: 0.3967, d0.loss_cls: 0.1811, d0.loss_bbox: 0.3967, d1.loss_cls: 0.1716, d1.loss_bbox: 0.3636, d2.loss_cls: 0.1590, d2.loss_bbox: 0.3417, d3.loss_cls: 0.1409, d3.loss_bbox: 0.3398, d4.loss_cls: 0.1372, d4.loss_bbox: 0.3367, d5.loss_cls: 0.1372, d5.loss_bbox: 0.3363, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7881, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6255, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5737, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5552, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5511, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5511, d0.loss_map_cls_all: 0.2170, d0.loss_map_pts_all: 1.2841, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2170, d0.loss_map_pts: 1.2841, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1895, d1.loss_map_pts: 0.9294, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1666, d2.loss_map_pts: 0.7473, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1508, d3.loss_map_pts: 0.6738, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1437, d4.loss_map_pts: 0.6411, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1385, d5.loss_map_pts: 0.6306, d5.loss_map_dir: 0.0073, loss: 27.0105, grad_norm: 155.2522 +2026-02-28 08:07:08,139 - DriveTransformer - INFO - Epoch [9][26900/39528] lr: 7.525e-05, eta: 5 days, 2:54:04, time: 0.718, data_time: 0.038, memory: 19865, loss_cls: 0.1121, loss_bbox: 0.3184, loss_traj: 0.5572, loss_traj_cls: 0.0023, loss_map_cls: 0.1221, loss_map_pts: 0.5573, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.6790, d0.loss_plan_l1_fix_dist: 0.4037, d1.loss_plan_l1_fix_time: 0.8677, d1.loss_plan_l1_fix_dist: 0.2635, d2.loss_plan_l1_fix_time: 0.8450, d2.loss_plan_l1_fix_dist: 0.2880, d3.loss_plan_l1_fix_time: 0.8433, d3.loss_plan_l1_fix_dist: 0.2702, d4.loss_plan_l1_fix_time: 0.8444, d4.loss_plan_l1_fix_dist: 0.2252, d5.loss_plan_l1_fix_time: 0.8466, d5.loss_plan_l1_fix_dist: 0.2787, d6.loss_plan_l1_fix_time: 0.8495, d6.loss_plan_l1_fix_dist: 0.2205, d0.loss_cls_all: 0.1556, d0.loss_bbox_all: 0.3773, d0.loss_cls: 0.1556, d0.loss_bbox: 0.3773, d1.loss_cls: 0.1487, d1.loss_bbox: 0.3422, d2.loss_cls: 0.1314, d2.loss_bbox: 0.3278, d3.loss_cls: 0.1172, d3.loss_bbox: 0.3227, d4.loss_cls: 0.1142, d4.loss_bbox: 0.3193, d5.loss_cls: 0.1122, d5.loss_bbox: 0.3180, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7969, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6248, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5711, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5552, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5530, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5538, d0.loss_map_cls_all: 0.1949, d0.loss_map_pts_all: 1.1163, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1949, d0.loss_map_pts: 1.1163, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1678, d1.loss_map_pts: 0.8177, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1449, d2.loss_map_pts: 0.6508, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1347, d3.loss_map_pts: 0.5831, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1290, d4.loss_map_pts: 0.5643, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1232, d5.loss_map_pts: 0.5594, d5.loss_map_dir: 0.0063, loss: 24.9202, grad_norm: 153.8801 +2026-02-28 08:07:46,205 - DriveTransformer - INFO - Epoch [9][26950/39528] lr: 7.525e-05, eta: 5 days, 2:53:36, time: 0.761, data_time: 0.038, memory: 19865, loss_cls: 0.1036, loss_bbox: 0.2985, loss_traj: 0.4943, loss_traj_cls: 0.0023, loss_map_cls: 0.1048, loss_map_pts: 0.5025, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.1573, d0.loss_plan_l1_fix_dist: 0.4048, d1.loss_plan_l1_fix_time: 0.7775, d1.loss_plan_l1_fix_dist: 0.2814, d2.loss_plan_l1_fix_time: 0.7627, d2.loss_plan_l1_fix_dist: 0.3495, d3.loss_plan_l1_fix_time: 0.7527, d3.loss_plan_l1_fix_dist: 0.3562, d4.loss_plan_l1_fix_time: 0.7537, d4.loss_plan_l1_fix_dist: 0.2803, d5.loss_plan_l1_fix_time: 0.7560, d5.loss_plan_l1_fix_dist: 0.2741, d6.loss_plan_l1_fix_time: 0.7586, d6.loss_plan_l1_fix_dist: 0.2525, d0.loss_cls_all: 0.1415, d0.loss_bbox_all: 0.3465, d0.loss_cls: 0.1415, d0.loss_bbox: 0.3465, d1.loss_cls: 0.1365, d1.loss_bbox: 0.3194, d2.loss_cls: 0.1219, d2.loss_bbox: 0.3017, d3.loss_cls: 0.1110, d3.loss_bbox: 0.2992, d4.loss_cls: 0.1039, d4.loss_bbox: 0.2980, d5.loss_cls: 0.1034, d5.loss_bbox: 0.2983, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6723, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5408, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5084, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4931, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4915, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4922, d0.loss_map_cls_all: 0.1821, d0.loss_map_pts_all: 1.1137, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1821, d0.loss_map_pts: 1.1137, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1515, d1.loss_map_pts: 0.7483, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1271, d2.loss_map_pts: 0.5841, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1182, d3.loss_map_pts: 0.5297, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1114, d4.loss_map_pts: 0.5093, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1069, d5.loss_map_pts: 0.5040, d5.loss_map_dir: 0.0065, loss: 22.8287, grad_norm: 151.7193 +2026-02-28 08:08:23,003 - DriveTransformer - INFO - Epoch [9][27000/39528] lr: 7.525e-05, eta: 5 days, 2:53:01, time: 0.736, data_time: 0.038, memory: 19865, loss_cls: 0.1018, loss_bbox: 0.2874, loss_traj: 0.5703, loss_traj_cls: 0.0023, loss_map_cls: 0.1125, loss_map_pts: 0.5032, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.6275, d0.loss_plan_l1_fix_dist: 0.4298, d1.loss_plan_l1_fix_time: 0.8854, d1.loss_plan_l1_fix_dist: 0.2648, d2.loss_plan_l1_fix_time: 0.8665, d2.loss_plan_l1_fix_dist: 0.3885, d3.loss_plan_l1_fix_time: 0.8572, d3.loss_plan_l1_fix_dist: 0.4282, d4.loss_plan_l1_fix_time: 0.8586, d4.loss_plan_l1_fix_dist: 0.3943, d5.loss_plan_l1_fix_time: 0.8613, d5.loss_plan_l1_fix_dist: 0.2957, d6.loss_plan_l1_fix_time: 0.8641, d6.loss_plan_l1_fix_dist: 0.2937, d0.loss_cls_all: 0.1415, d0.loss_bbox_all: 0.3435, d0.loss_cls: 0.1415, d0.loss_bbox: 0.3435, d1.loss_cls: 0.1346, d1.loss_bbox: 0.3160, d2.loss_cls: 0.1210, d2.loss_bbox: 0.2954, d3.loss_cls: 0.1073, d3.loss_bbox: 0.2897, d4.loss_cls: 0.1021, d4.loss_bbox: 0.2872, d5.loss_cls: 0.1008, d5.loss_bbox: 0.2878, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7792, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6335, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5803, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5655, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5586, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5604, d0.loss_map_cls_all: 0.1784, d0.loss_map_pts_all: 1.1087, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1784, d0.loss_map_pts: 1.1087, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1550, d1.loss_map_pts: 0.7703, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1369, d2.loss_map_pts: 0.5945, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1240, d3.loss_map_pts: 0.5296, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1177, d4.loss_map_pts: 0.5093, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1141, d5.loss_map_pts: 0.5048, d5.loss_map_dir: 0.0066, loss: 24.7678, grad_norm: 152.0126 +2026-02-28 08:08:59,372 - DriveTransformer - INFO - Epoch [9][27050/39528] lr: 7.525e-05, eta: 5 days, 2:52:23, time: 0.727, data_time: 0.038, memory: 19865, loss_cls: 0.1298, loss_bbox: 0.3317, loss_traj: 0.5302, loss_traj_cls: 0.0024, loss_map_cls: 0.1204, loss_map_pts: 0.5459, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.6632, d0.loss_plan_l1_fix_dist: 0.4399, d1.loss_plan_l1_fix_time: 0.8550, d1.loss_plan_l1_fix_dist: 0.2481, d2.loss_plan_l1_fix_time: 0.8377, d2.loss_plan_l1_fix_dist: 0.4024, d3.loss_plan_l1_fix_time: 0.8326, d3.loss_plan_l1_fix_dist: 0.4221, d4.loss_plan_l1_fix_time: 0.8347, d4.loss_plan_l1_fix_dist: 0.4167, d5.loss_plan_l1_fix_time: 0.8374, d5.loss_plan_l1_fix_dist: 0.2981, d6.loss_plan_l1_fix_time: 0.8410, d6.loss_plan_l1_fix_dist: 0.2861, d0.loss_cls_all: 0.1680, d0.loss_bbox_all: 0.3922, d0.loss_cls: 0.1680, d0.loss_bbox: 0.3922, d1.loss_cls: 0.1665, d1.loss_bbox: 0.3609, d2.loss_cls: 0.1515, d2.loss_bbox: 0.3414, d3.loss_cls: 0.1351, d3.loss_bbox: 0.3374, d4.loss_cls: 0.1325, d4.loss_bbox: 0.3332, d5.loss_cls: 0.1304, d5.loss_bbox: 0.3317, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6990, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5879, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5477, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5342, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5327, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5319, d0.loss_map_cls_all: 0.1859, d0.loss_map_pts_all: 1.1289, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1859, d0.loss_map_pts: 1.1289, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1552, d1.loss_map_pts: 0.7868, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1391, d2.loss_map_pts: 0.6257, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1314, d3.loss_map_pts: 0.5711, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1255, d4.loss_map_pts: 0.5511, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1218, d5.loss_map_pts: 0.5455, d5.loss_map_dir: 0.0076, loss: 25.2973, grad_norm: 152.2783 +2026-02-28 08:09:36,294 - DriveTransformer - INFO - Epoch [9][27100/39528] lr: 7.525e-05, eta: 5 days, 2:51:49, time: 0.738, data_time: 0.037, memory: 19865, loss_cls: 0.1226, loss_bbox: 0.3376, loss_traj: 0.5066, loss_traj_cls: 0.0023, loss_map_cls: 0.1342, loss_map_pts: 0.6235, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.4535, d0.loss_plan_l1_fix_dist: 0.4155, d1.loss_plan_l1_fix_time: 0.8295, d1.loss_plan_l1_fix_dist: 0.2460, d2.loss_plan_l1_fix_time: 0.8234, d2.loss_plan_l1_fix_dist: 0.4454, d3.loss_plan_l1_fix_time: 0.8155, d3.loss_plan_l1_fix_dist: 0.4569, d4.loss_plan_l1_fix_time: 0.8186, d4.loss_plan_l1_fix_dist: 0.4418, d5.loss_plan_l1_fix_time: 0.8228, d5.loss_plan_l1_fix_dist: 0.2888, d6.loss_plan_l1_fix_time: 0.8281, d6.loss_plan_l1_fix_dist: 0.2604, d0.loss_cls_all: 0.1687, d0.loss_bbox_all: 0.3935, d0.loss_cls: 0.1687, d0.loss_bbox: 0.3935, d1.loss_cls: 0.1632, d1.loss_bbox: 0.3602, d2.loss_cls: 0.1450, d2.loss_bbox: 0.3409, d3.loss_cls: 0.1277, d3.loss_bbox: 0.3393, d4.loss_cls: 0.1234, d4.loss_bbox: 0.3385, d5.loss_cls: 0.1228, d5.loss_bbox: 0.3378, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7129, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5585, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5135, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5026, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5016, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5016, d0.loss_map_cls_all: 0.2181, d0.loss_map_pts_all: 1.2289, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2181, d0.loss_map_pts: 1.2289, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1845, d1.loss_map_pts: 0.8701, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1573, d2.loss_map_pts: 0.7044, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1473, d3.loss_map_pts: 0.6522, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1391, d4.loss_map_pts: 0.6300, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1363, d5.loss_map_pts: 0.6248, d5.loss_map_dir: 0.0077, loss: 25.6907, grad_norm: 149.9989 +2026-02-28 08:10:12,819 - DriveTransformer - INFO - Epoch [9][27150/39528] lr: 7.525e-05, eta: 5 days, 2:51:12, time: 0.730, data_time: 0.038, memory: 19865, loss_cls: 0.1265, loss_bbox: 0.3215, loss_traj: 0.6540, loss_traj_cls: 0.0023, loss_map_cls: 0.0993, loss_map_pts: 0.5238, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.6345, d0.loss_plan_l1_fix_dist: 0.4721, d1.loss_plan_l1_fix_time: 0.8945, d1.loss_plan_l1_fix_dist: 0.2213, d2.loss_plan_l1_fix_time: 0.8798, d2.loss_plan_l1_fix_dist: 0.4562, d3.loss_plan_l1_fix_time: 0.8813, d3.loss_plan_l1_fix_dist: 0.4685, d4.loss_plan_l1_fix_time: 0.8858, d4.loss_plan_l1_fix_dist: 0.4423, d5.loss_plan_l1_fix_time: 0.8908, d5.loss_plan_l1_fix_dist: 0.2956, d6.loss_plan_l1_fix_time: 0.8963, d6.loss_plan_l1_fix_dist: 0.2953, d0.loss_cls_all: 0.1709, d0.loss_bbox_all: 0.3796, d0.loss_cls: 0.1709, d0.loss_bbox: 0.3796, d1.loss_cls: 0.1627, d1.loss_bbox: 0.3460, d2.loss_cls: 0.1490, d2.loss_bbox: 0.3265, d3.loss_cls: 0.1326, d3.loss_bbox: 0.3221, d4.loss_cls: 0.1252, d4.loss_bbox: 0.3225, d5.loss_cls: 0.1263, d5.loss_bbox: 0.3206, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9502, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7445, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6727, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6539, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6525, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6502, d0.loss_map_cls_all: 0.1805, d0.loss_map_pts_all: 1.0942, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1805, d0.loss_map_pts: 1.0942, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1448, d1.loss_map_pts: 0.7563, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1234, d2.loss_map_pts: 0.6034, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1115, d3.loss_map_pts: 0.5497, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1044, d4.loss_map_pts: 0.5288, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1018, d5.loss_map_pts: 0.5240, d5.loss_map_dir: 0.0069, loss: 26.2567, grad_norm: 150.0591 +2026-02-28 08:10:47,752 - DriveTransformer - INFO - Epoch [9][27200/39528] lr: 7.525e-05, eta: 5 days, 2:50:27, time: 0.700, data_time: 0.044, memory: 19865, loss_cls: 0.1141, loss_bbox: 0.3115, loss_traj: 0.6521, loss_traj_cls: 0.0023, loss_map_cls: 0.1140, loss_map_pts: 0.5354, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.3978, d0.loss_plan_l1_fix_dist: 0.5330, d1.loss_plan_l1_fix_time: 0.8449, d1.loss_plan_l1_fix_dist: 0.2031, d2.loss_plan_l1_fix_time: 0.8191, d2.loss_plan_l1_fix_dist: 0.4280, d3.loss_plan_l1_fix_time: 0.8123, d3.loss_plan_l1_fix_dist: 0.4153, d4.loss_plan_l1_fix_time: 0.8146, d4.loss_plan_l1_fix_dist: 0.3696, d5.loss_plan_l1_fix_time: 0.8182, d5.loss_plan_l1_fix_dist: 0.2726, d6.loss_plan_l1_fix_time: 0.8223, d6.loss_plan_l1_fix_dist: 0.3180, d0.loss_cls_all: 0.1498, d0.loss_bbox_all: 0.3723, d0.loss_cls: 0.1498, d0.loss_bbox: 0.3723, d1.loss_cls: 0.1432, d1.loss_bbox: 0.3437, d2.loss_cls: 0.1322, d2.loss_bbox: 0.3245, d3.loss_cls: 0.1190, d3.loss_bbox: 0.3179, d4.loss_cls: 0.1134, d4.loss_bbox: 0.3132, d5.loss_cls: 0.1129, d5.loss_bbox: 0.3120, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8479, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7193, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6667, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6595, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6582, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6542, d0.loss_map_cls_all: 0.2024, d0.loss_map_pts_all: 1.0507, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.2024, d0.loss_map_pts: 1.0507, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1702, d1.loss_map_pts: 0.7580, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1468, d2.loss_map_pts: 0.6137, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1330, d3.loss_map_pts: 0.5648, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1220, d4.loss_map_pts: 0.5421, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1175, d5.loss_map_pts: 0.5358, d5.loss_map_dir: 0.0057, loss: 25.3416, grad_norm: 153.0436 +2026-02-28 08:11:24,576 - DriveTransformer - INFO - Epoch [9][27250/39528] lr: 7.525e-05, eta: 5 days, 2:49:52, time: 0.735, data_time: 0.036, memory: 19865, loss_cls: 0.1283, loss_bbox: 0.3290, loss_traj: 0.5036, loss_traj_cls: 0.0022, loss_map_cls: 0.1249, loss_map_pts: 0.5967, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.7582, d0.loss_plan_l1_fix_dist: 0.4519, d1.loss_plan_l1_fix_time: 0.9354, d1.loss_plan_l1_fix_dist: 0.2670, d2.loss_plan_l1_fix_time: 0.9083, d2.loss_plan_l1_fix_dist: 0.3997, d3.loss_plan_l1_fix_time: 0.9056, d3.loss_plan_l1_fix_dist: 0.3659, d4.loss_plan_l1_fix_time: 0.9082, d4.loss_plan_l1_fix_dist: 0.2841, d5.loss_plan_l1_fix_time: 0.9113, d5.loss_plan_l1_fix_dist: 0.2590, d6.loss_plan_l1_fix_time: 0.9148, d6.loss_plan_l1_fix_dist: 0.3012, d0.loss_cls_all: 0.1765, d0.loss_bbox_all: 0.3945, d0.loss_cls: 0.1765, d0.loss_bbox: 0.3945, d1.loss_cls: 0.1702, d1.loss_bbox: 0.3598, d2.loss_cls: 0.1543, d2.loss_bbox: 0.3377, d3.loss_cls: 0.1354, d3.loss_bbox: 0.3336, d4.loss_cls: 0.1285, d4.loss_bbox: 0.3337, d5.loss_cls: 0.1274, d5.loss_bbox: 0.3301, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7074, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5537, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5142, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5038, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5034, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5002, d0.loss_map_cls_all: 0.2025, d0.loss_map_pts_all: 1.2271, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2025, d0.loss_map_pts: 1.2271, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1695, d1.loss_map_pts: 0.8661, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1486, d2.loss_map_pts: 0.6922, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1380, d3.loss_map_pts: 0.6253, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1321, d4.loss_map_pts: 0.6029, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1262, d5.loss_map_pts: 0.5964, d5.loss_map_dir: 0.0074, loss: 26.1103, grad_norm: 153.4100 +2026-02-28 08:12:01,311 - DriveTransformer - INFO - Epoch [9][27300/39528] lr: 7.525e-05, eta: 5 days, 2:49:17, time: 0.735, data_time: 0.038, memory: 19865, loss_cls: 0.1141, loss_bbox: 0.2928, loss_traj: 0.5305, loss_traj_cls: 0.0022, loss_map_cls: 0.1172, loss_map_pts: 0.6048, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.7090, d0.loss_plan_l1_fix_dist: 0.4905, d1.loss_plan_l1_fix_time: 0.8563, d1.loss_plan_l1_fix_dist: 0.3378, d2.loss_plan_l1_fix_time: 0.8423, d2.loss_plan_l1_fix_dist: 0.3424, d3.loss_plan_l1_fix_time: 0.8466, d3.loss_plan_l1_fix_dist: 0.3228, d4.loss_plan_l1_fix_time: 0.8505, d4.loss_plan_l1_fix_dist: 0.2473, d5.loss_plan_l1_fix_time: 0.8545, d5.loss_plan_l1_fix_dist: 0.2461, d6.loss_plan_l1_fix_time: 0.8588, d6.loss_plan_l1_fix_dist: 0.2729, d0.loss_cls_all: 0.1478, d0.loss_bbox_all: 0.3533, d0.loss_cls: 0.1478, d0.loss_bbox: 0.3533, d1.loss_cls: 0.1431, d1.loss_bbox: 0.3195, d2.loss_cls: 0.1340, d2.loss_bbox: 0.3014, d3.loss_cls: 0.1186, d3.loss_bbox: 0.2953, d4.loss_cls: 0.1154, d4.loss_bbox: 0.2925, d5.loss_cls: 0.1134, d5.loss_bbox: 0.2931, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7645, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6100, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5695, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5501, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5395, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5362, d0.loss_map_cls_all: 0.1984, d0.loss_map_pts_all: 1.2205, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1984, d0.loss_map_pts: 1.2205, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1665, d1.loss_map_pts: 0.8792, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1443, d2.loss_map_pts: 0.7104, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1330, d3.loss_map_pts: 0.6422, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1256, d4.loss_map_pts: 0.6140, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1197, d5.loss_map_pts: 0.6057, d5.loss_map_dir: 0.0069, loss: 25.4757, grad_norm: 151.6696 +2026-02-28 08:12:36,677 - DriveTransformer - INFO - Epoch [9][27350/39528] lr: 7.525e-05, eta: 5 days, 2:48:33, time: 0.707, data_time: 0.037, memory: 19865, loss_cls: 0.1221, loss_bbox: 0.3214, loss_traj: 0.5607, loss_traj_cls: 0.0021, loss_map_cls: 0.1481, loss_map_pts: 0.6016, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 3.3642, d0.loss_plan_l1_fix_dist: 0.5372, d1.loss_plan_l1_fix_time: 1.0019, d1.loss_plan_l1_fix_dist: 0.4415, d2.loss_plan_l1_fix_time: 0.9838, d2.loss_plan_l1_fix_dist: 0.3188, d3.loss_plan_l1_fix_time: 0.9800, d3.loss_plan_l1_fix_dist: 0.3109, d4.loss_plan_l1_fix_time: 0.9817, d4.loss_plan_l1_fix_dist: 0.2558, d5.loss_plan_l1_fix_time: 0.9838, d5.loss_plan_l1_fix_dist: 0.2908, d6.loss_plan_l1_fix_time: 0.9866, d6.loss_plan_l1_fix_dist: 0.3570, d0.loss_cls_all: 0.1716, d0.loss_bbox_all: 0.3819, d0.loss_cls: 0.1716, d0.loss_bbox: 0.3819, d1.loss_cls: 0.1612, d1.loss_bbox: 0.3456, d2.loss_cls: 0.1464, d2.loss_bbox: 0.3270, d3.loss_cls: 0.1284, d3.loss_bbox: 0.3227, d4.loss_cls: 0.1238, d4.loss_bbox: 0.3189, d5.loss_cls: 0.1218, d5.loss_bbox: 0.3207, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8129, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6079, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5440, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5525, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5539, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5604, d0.loss_map_cls_all: 0.2271, d0.loss_map_pts_all: 1.2115, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2271, d0.loss_map_pts: 1.2115, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.2010, d1.loss_map_pts: 0.8787, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1736, d2.loss_map_pts: 0.7079, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1638, d3.loss_map_pts: 0.6381, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1555, d4.loss_map_pts: 0.6145, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1510, d5.loss_map_pts: 0.6036, d5.loss_map_dir: 0.0072, loss: 27.8300, grad_norm: 149.7513 +2026-02-28 08:13:11,401 - DriveTransformer - INFO - Epoch [9][27400/39528] lr: 7.525e-05, eta: 5 days, 2:47:47, time: 0.694, data_time: 0.036, memory: 19865, loss_cls: 0.1126, loss_bbox: 0.2988, loss_traj: 0.5153, loss_traj_cls: 0.0022, loss_map_cls: 0.1015, loss_map_pts: 0.4711, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.5587, d0.loss_plan_l1_fix_dist: 0.5406, d1.loss_plan_l1_fix_time: 0.8121, d1.loss_plan_l1_fix_dist: 0.4425, d2.loss_plan_l1_fix_time: 0.7825, d2.loss_plan_l1_fix_dist: 0.2908, d3.loss_plan_l1_fix_time: 0.7822, d3.loss_plan_l1_fix_dist: 0.2860, d4.loss_plan_l1_fix_time: 0.7838, d4.loss_plan_l1_fix_dist: 0.2197, d5.loss_plan_l1_fix_time: 0.7855, d5.loss_plan_l1_fix_dist: 0.2515, d6.loss_plan_l1_fix_time: 0.7892, d6.loss_plan_l1_fix_dist: 0.3684, d0.loss_cls_all: 0.1436, d0.loss_bbox_all: 0.3663, d0.loss_cls: 0.1436, d0.loss_bbox: 0.3663, d1.loss_cls: 0.1385, d1.loss_bbox: 0.3327, d2.loss_cls: 0.1284, d2.loss_bbox: 0.3121, d3.loss_cls: 0.1160, d3.loss_bbox: 0.3032, d4.loss_cls: 0.1116, d4.loss_bbox: 0.2994, d5.loss_cls: 0.1117, d5.loss_bbox: 0.2983, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7349, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5602, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5104, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5003, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5074, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5112, d0.loss_map_cls_all: 0.1738, d0.loss_map_pts_all: 0.9460, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1738, d0.loss_map_pts: 0.9460, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1449, d1.loss_map_pts: 0.6747, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1241, d2.loss_map_pts: 0.5427, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1132, d3.loss_map_pts: 0.4907, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1063, d4.loss_map_pts: 0.4756, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1034, d5.loss_map_pts: 0.4715, d5.loss_map_dir: 0.0058, loss: 23.2290, grad_norm: 148.1311 +2026-02-28 08:13:49,372 - DriveTransformer - INFO - Epoch [9][27450/39528] lr: 7.525e-05, eta: 5 days, 2:47:18, time: 0.759, data_time: 0.039, memory: 19865, loss_cls: 0.1348, loss_bbox: 0.3310, loss_traj: 0.5072, loss_traj_cls: 0.0021, loss_map_cls: 0.1297, loss_map_pts: 0.6209, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.8778, d0.loss_plan_l1_fix_dist: 0.5260, d1.loss_plan_l1_fix_time: 0.9188, d1.loss_plan_l1_fix_dist: 0.4581, d2.loss_plan_l1_fix_time: 0.9001, d2.loss_plan_l1_fix_dist: 0.3212, d3.loss_plan_l1_fix_time: 0.9044, d3.loss_plan_l1_fix_dist: 0.3286, d4.loss_plan_l1_fix_time: 0.9071, d4.loss_plan_l1_fix_dist: 0.2838, d5.loss_plan_l1_fix_time: 0.9097, d5.loss_plan_l1_fix_dist: 0.2704, d6.loss_plan_l1_fix_time: 0.9133, d6.loss_plan_l1_fix_dist: 0.3672, d0.loss_cls_all: 0.1793, d0.loss_bbox_all: 0.3945, d0.loss_cls: 0.1793, d0.loss_bbox: 0.3945, d1.loss_cls: 0.1758, d1.loss_bbox: 0.3582, d2.loss_cls: 0.1598, d2.loss_bbox: 0.3384, d3.loss_cls: 0.1419, d3.loss_bbox: 0.3342, d4.loss_cls: 0.1350, d4.loss_bbox: 0.3301, d5.loss_cls: 0.1328, d5.loss_bbox: 0.3312, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7391, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5908, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5334, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5105, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5079, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5059, d0.loss_map_cls_all: 0.2159, d0.loss_map_pts_all: 1.2508, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2159, d0.loss_map_pts: 1.2508, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1832, d1.loss_map_pts: 0.8609, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1566, d2.loss_map_pts: 0.7038, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1452, d3.loss_map_pts: 0.6459, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1356, d4.loss_map_pts: 0.6294, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1306, d5.loss_map_pts: 0.6228, d5.loss_map_dir: 0.0090, loss: 26.8088, grad_norm: 148.8050 +2026-02-28 08:14:24,810 - DriveTransformer - INFO - Epoch [9][27500/39528] lr: 7.525e-05, eta: 5 days, 2:46:35, time: 0.709, data_time: 0.041, memory: 19865, loss_cls: 0.1232, loss_bbox: 0.3132, loss_traj: 0.6286, loss_traj_cls: 0.0021, loss_map_cls: 0.1263, loss_map_pts: 0.5540, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.6693, d0.loss_plan_l1_fix_dist: 0.5038, d1.loss_plan_l1_fix_time: 1.0072, d1.loss_plan_l1_fix_dist: 0.4396, d2.loss_plan_l1_fix_time: 0.9839, d2.loss_plan_l1_fix_dist: 0.3314, d3.loss_plan_l1_fix_time: 0.9798, d3.loss_plan_l1_fix_dist: 0.3221, d4.loss_plan_l1_fix_time: 0.9818, d4.loss_plan_l1_fix_dist: 0.3179, d5.loss_plan_l1_fix_time: 0.9846, d5.loss_plan_l1_fix_dist: 0.2795, d6.loss_plan_l1_fix_time: 0.9874, d6.loss_plan_l1_fix_dist: 0.3671, d0.loss_cls_all: 0.1616, d0.loss_bbox_all: 0.3802, d0.loss_cls: 0.1616, d0.loss_bbox: 0.3802, d1.loss_cls: 0.1554, d1.loss_bbox: 0.3434, d2.loss_cls: 0.1458, d2.loss_bbox: 0.3207, d3.loss_cls: 0.1317, d3.loss_bbox: 0.3165, d4.loss_cls: 0.1247, d4.loss_bbox: 0.3135, d5.loss_cls: 0.1232, d5.loss_bbox: 0.3124, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8548, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6730, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6241, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6285, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6277, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6284, d0.loss_map_cls_all: 0.2019, d0.loss_map_pts_all: 1.1144, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.2019, d0.loss_map_pts: 1.1144, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1731, d1.loss_map_pts: 0.8256, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1474, d2.loss_map_pts: 0.6498, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1376, d3.loss_map_pts: 0.5834, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1318, d4.loss_map_pts: 0.5613, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1267, d5.loss_map_pts: 0.5556, d5.loss_map_dir: 0.0058, loss: 26.8853, grad_norm: 151.3197 +2026-02-28 08:14:59,092 - DriveTransformer - INFO - Epoch [9][27550/39528] lr: 7.525e-05, eta: 5 days, 2:45:46, time: 0.686, data_time: 0.038, memory: 19865, loss_cls: 0.1114, loss_bbox: 0.3049, loss_traj: 0.6511, loss_traj_cls: 0.0021, loss_map_cls: 0.0911, loss_map_pts: 0.4277, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.5281, d0.loss_plan_l1_fix_dist: 0.5877, d1.loss_plan_l1_fix_time: 0.8760, d1.loss_plan_l1_fix_dist: 0.3907, d2.loss_plan_l1_fix_time: 0.8606, d2.loss_plan_l1_fix_dist: 0.3088, d3.loss_plan_l1_fix_time: 0.8647, d3.loss_plan_l1_fix_dist: 0.2741, d4.loss_plan_l1_fix_time: 0.8665, d4.loss_plan_l1_fix_dist: 0.2781, d5.loss_plan_l1_fix_time: 0.8690, d5.loss_plan_l1_fix_dist: 0.2630, d6.loss_plan_l1_fix_time: 0.8718, d6.loss_plan_l1_fix_dist: 0.3465, d0.loss_cls_all: 0.1513, d0.loss_bbox_all: 0.3739, d0.loss_cls: 0.1513, d0.loss_bbox: 0.3739, d1.loss_cls: 0.1430, d1.loss_bbox: 0.3372, d2.loss_cls: 0.1316, d2.loss_bbox: 0.3158, d3.loss_cls: 0.1166, d3.loss_bbox: 0.3096, d4.loss_cls: 0.1125, d4.loss_bbox: 0.3068, d5.loss_cls: 0.1121, d5.loss_bbox: 0.3048, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9190, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7160, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6694, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6530, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6519, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6517, d0.loss_map_cls_all: 0.1571, d0.loss_map_pts_all: 0.8741, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1571, d0.loss_map_pts: 0.8741, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1293, d1.loss_map_pts: 0.6291, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1135, d2.loss_map_pts: 0.5057, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1024, d3.loss_map_pts: 0.4533, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0949, d4.loss_map_pts: 0.4342, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0912, d5.loss_map_pts: 0.4277, d5.loss_map_dir: 0.0051, loss: 24.3641, grad_norm: 149.0147 +2026-02-28 08:15:35,477 - DriveTransformer - INFO - Epoch [9][27600/39528] lr: 7.525e-05, eta: 5 days, 2:45:09, time: 0.728, data_time: 0.037, memory: 19865, loss_cls: 0.1348, loss_bbox: 0.3409, loss_traj: 0.6797, loss_traj_cls: 0.0020, loss_map_cls: 0.1478, loss_map_pts: 0.6134, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.7953, d0.loss_plan_l1_fix_dist: 0.5272, d1.loss_plan_l1_fix_time: 1.0206, d1.loss_plan_l1_fix_dist: 0.4053, d2.loss_plan_l1_fix_time: 0.9955, d2.loss_plan_l1_fix_dist: 0.3467, d3.loss_plan_l1_fix_time: 0.9943, d3.loss_plan_l1_fix_dist: 0.2927, d4.loss_plan_l1_fix_time: 0.9959, d4.loss_plan_l1_fix_dist: 0.2757, d5.loss_plan_l1_fix_time: 0.9992, d5.loss_plan_l1_fix_dist: 0.2968, d6.loss_plan_l1_fix_time: 1.0033, d6.loss_plan_l1_fix_dist: 0.3190, d0.loss_cls_all: 0.1774, d0.loss_bbox_all: 0.4102, d0.loss_cls: 0.1774, d0.loss_bbox: 0.4102, d1.loss_cls: 0.1734, d1.loss_bbox: 0.3709, d2.loss_cls: 0.1549, d2.loss_bbox: 0.3480, d3.loss_cls: 0.1404, d3.loss_bbox: 0.3412, d4.loss_cls: 0.1350, d4.loss_bbox: 0.3405, d5.loss_cls: 0.1344, d5.loss_bbox: 0.3395, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9339, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7861, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.7049, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6845, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6833, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6788, d0.loss_map_cls_all: 0.2310, d0.loss_map_pts_all: 1.2765, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2310, d0.loss_map_pts: 1.2765, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1991, d1.loss_map_pts: 0.9064, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1750, d2.loss_map_pts: 0.7172, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1621, d3.loss_map_pts: 0.6487, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1550, d4.loss_map_pts: 0.6226, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1506, d5.loss_map_pts: 0.6137, d5.loss_map_dir: 0.0070, loss: 28.7373, grad_norm: 147.1247 +2026-02-28 08:16:11,887 - DriveTransformer - INFO - Epoch [9][27650/39528] lr: 7.525e-05, eta: 5 days, 2:44:32, time: 0.728, data_time: 0.039, memory: 19865, loss_cls: 0.1176, loss_bbox: 0.2948, loss_traj: 0.5457, loss_traj_cls: 0.0020, loss_map_cls: 0.1042, loss_map_pts: 0.5179, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.6976, d0.loss_plan_l1_fix_dist: 0.5618, d1.loss_plan_l1_fix_time: 0.8196, d1.loss_plan_l1_fix_dist: 0.3611, d2.loss_plan_l1_fix_time: 0.8105, d2.loss_plan_l1_fix_dist: 0.3129, d3.loss_plan_l1_fix_time: 0.8069, d3.loss_plan_l1_fix_dist: 0.2692, d4.loss_plan_l1_fix_time: 0.8079, d4.loss_plan_l1_fix_dist: 0.2343, d5.loss_plan_l1_fix_time: 0.8102, d5.loss_plan_l1_fix_dist: 0.3076, d6.loss_plan_l1_fix_time: 0.8132, d6.loss_plan_l1_fix_dist: 0.2899, d0.loss_cls_all: 0.1462, d0.loss_bbox_all: 0.3524, d0.loss_cls: 0.1462, d0.loss_bbox: 0.3524, d1.loss_cls: 0.1425, d1.loss_bbox: 0.3166, d2.loss_cls: 0.1340, d2.loss_bbox: 0.2990, d3.loss_cls: 0.1201, d3.loss_bbox: 0.2934, d4.loss_cls: 0.1164, d4.loss_bbox: 0.2919, d5.loss_cls: 0.1169, d5.loss_bbox: 0.2935, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7661, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6151, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5643, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5474, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5430, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5458, d0.loss_map_cls_all: 0.1775, d0.loss_map_pts_all: 1.0925, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1775, d0.loss_map_pts: 1.0925, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1487, d1.loss_map_pts: 0.7585, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1295, d2.loss_map_pts: 0.5996, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1171, d3.loss_map_pts: 0.5389, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1101, d4.loss_map_pts: 0.5225, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1051, d5.loss_map_pts: 0.5174, d5.loss_map_dir: 0.0066, loss: 24.3319, grad_norm: 148.0621 +2026-02-28 08:16:49,807 - DriveTransformer - INFO - Epoch [9][27700/39528] lr: 7.525e-05, eta: 5 days, 2:44:03, time: 0.758, data_time: 0.038, memory: 19865, loss_cls: 0.1176, loss_bbox: 0.3118, loss_traj: 0.4577, loss_traj_cls: 0.0021, loss_map_cls: 0.1220, loss_map_pts: 0.6138, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.8033, d0.loss_plan_l1_fix_dist: 0.4796, d1.loss_plan_l1_fix_time: 0.9290, d1.loss_plan_l1_fix_dist: 0.3350, d2.loss_plan_l1_fix_time: 0.9167, d2.loss_plan_l1_fix_dist: 0.2911, d3.loss_plan_l1_fix_time: 0.9108, d3.loss_plan_l1_fix_dist: 0.2761, d4.loss_plan_l1_fix_time: 0.9125, d4.loss_plan_l1_fix_dist: 0.2424, d5.loss_plan_l1_fix_time: 0.9150, d5.loss_plan_l1_fix_dist: 0.3263, d6.loss_plan_l1_fix_time: 0.9179, d6.loss_plan_l1_fix_dist: 0.3103, d0.loss_cls_all: 0.1646, d0.loss_bbox_all: 0.3826, d0.loss_cls: 0.1646, d0.loss_bbox: 0.3826, d1.loss_cls: 0.1571, d1.loss_bbox: 0.3442, d2.loss_cls: 0.1419, d2.loss_bbox: 0.3214, d3.loss_cls: 0.1249, d3.loss_bbox: 0.3146, d4.loss_cls: 0.1204, d4.loss_bbox: 0.3114, d5.loss_cls: 0.1174, d5.loss_bbox: 0.3117, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6358, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5040, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4738, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4678, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4650, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4624, d0.loss_map_cls_all: 0.2134, d0.loss_map_pts_all: 1.2595, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2134, d0.loss_map_pts: 1.2595, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1759, d1.loss_map_pts: 0.8855, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1481, d2.loss_map_pts: 0.7134, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1342, d3.loss_map_pts: 0.6520, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1290, d4.loss_map_pts: 0.6210, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1240, d5.loss_map_pts: 0.6155, d5.loss_map_dir: 0.0070, loss: 25.7642, grad_norm: 148.6138 +2026-02-28 08:17:27,023 - DriveTransformer - INFO - Epoch [9][27750/39528] lr: 7.525e-05, eta: 5 days, 2:43:30, time: 0.744, data_time: 0.036, memory: 19865, loss_cls: 0.1157, loss_bbox: 0.3119, loss_traj: 0.5741, loss_traj_cls: 0.0021, loss_map_cls: 0.0892, loss_map_pts: 0.4963, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.6394, d0.loss_plan_l1_fix_dist: 0.6230, d1.loss_plan_l1_fix_time: 1.0109, d1.loss_plan_l1_fix_dist: 0.3300, d2.loss_plan_l1_fix_time: 1.0059, d2.loss_plan_l1_fix_dist: 0.2984, d3.loss_plan_l1_fix_time: 1.0033, d3.loss_plan_l1_fix_dist: 0.3047, d4.loss_plan_l1_fix_time: 1.0075, d4.loss_plan_l1_fix_dist: 0.2700, d5.loss_plan_l1_fix_time: 1.0110, d5.loss_plan_l1_fix_dist: 0.3465, d6.loss_plan_l1_fix_time: 1.0142, d6.loss_plan_l1_fix_dist: 0.3674, d0.loss_cls_all: 0.1517, d0.loss_bbox_all: 0.3786, d0.loss_cls: 0.1517, d0.loss_bbox: 0.3786, d1.loss_cls: 0.1487, d1.loss_bbox: 0.3455, d2.loss_cls: 0.1355, d2.loss_bbox: 0.3225, d3.loss_cls: 0.1222, d3.loss_bbox: 0.3162, d4.loss_cls: 0.1168, d4.loss_bbox: 0.3125, d5.loss_cls: 0.1161, d5.loss_bbox: 0.3113, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8803, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6562, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5804, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5708, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5707, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5706, d0.loss_map_cls_all: 0.1753, d0.loss_map_pts_all: 1.1395, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1753, d0.loss_map_pts: 1.1395, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1382, d1.loss_map_pts: 0.7766, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1156, d2.loss_map_pts: 0.5932, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1038, d3.loss_map_pts: 0.5266, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.0955, d4.loss_map_pts: 0.5034, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0912, d5.loss_map_pts: 0.4984, d5.loss_map_dir: 0.0064, loss: 26.0854, grad_norm: 140.8870 +2026-02-28 08:18:02,132 - DriveTransformer - INFO - Epoch [9][27800/39528] lr: 7.525e-05, eta: 5 days, 2:42:46, time: 0.702, data_time: 0.040, memory: 19865, loss_cls: 0.1149, loss_bbox: 0.3088, loss_traj: 0.4606, loss_traj_cls: 0.0020, loss_map_cls: 0.1185, loss_map_pts: 0.5452, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.5232, d0.loss_plan_l1_fix_dist: 0.4873, d1.loss_plan_l1_fix_time: 0.7969, d1.loss_plan_l1_fix_dist: 0.3049, d2.loss_plan_l1_fix_time: 0.7863, d2.loss_plan_l1_fix_dist: 0.2522, d3.loss_plan_l1_fix_time: 0.7863, d3.loss_plan_l1_fix_dist: 0.2586, d4.loss_plan_l1_fix_time: 0.7905, d4.loss_plan_l1_fix_dist: 0.2433, d5.loss_plan_l1_fix_time: 0.7939, d5.loss_plan_l1_fix_dist: 0.3070, d6.loss_plan_l1_fix_time: 0.7982, d6.loss_plan_l1_fix_dist: 0.3633, d0.loss_cls_all: 0.1591, d0.loss_bbox_all: 0.3710, d0.loss_cls: 0.1591, d0.loss_bbox: 0.3710, d1.loss_cls: 0.1493, d1.loss_bbox: 0.3364, d2.loss_cls: 0.1335, d2.loss_bbox: 0.3171, d3.loss_cls: 0.1200, d3.loss_bbox: 0.3097, d4.loss_cls: 0.1139, d4.loss_bbox: 0.3088, d5.loss_cls: 0.1141, d5.loss_bbox: 0.3081, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6480, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5212, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4823, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4692, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4666, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4657, d0.loss_map_cls_all: 0.1941, d0.loss_map_pts_all: 1.0856, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1941, d0.loss_map_pts: 1.0856, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1616, d1.loss_map_pts: 0.7817, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1428, d2.loss_map_pts: 0.6304, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1313, d3.loss_map_pts: 0.5703, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1234, d4.loss_map_pts: 0.5506, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1199, d5.loss_map_pts: 0.5458, d5.loss_map_dir: 0.0062, loss: 23.7366, grad_norm: 139.4057 +2026-02-28 08:18:39,577 - DriveTransformer - INFO - Epoch [9][27850/39528] lr: 7.525e-05, eta: 5 days, 2:42:14, time: 0.749, data_time: 0.040, memory: 19865, loss_cls: 0.1084, loss_bbox: 0.3280, loss_traj: 0.4875, loss_traj_cls: 0.0020, loss_map_cls: 0.1363, loss_map_pts: 0.6635, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.7513, d0.loss_plan_l1_fix_dist: 0.5433, d1.loss_plan_l1_fix_time: 0.9594, d1.loss_plan_l1_fix_dist: 0.3538, d2.loss_plan_l1_fix_time: 0.9402, d2.loss_plan_l1_fix_dist: 0.2846, d3.loss_plan_l1_fix_time: 0.9242, d3.loss_plan_l1_fix_dist: 0.3136, d4.loss_plan_l1_fix_time: 0.9244, d4.loss_plan_l1_fix_dist: 0.3077, d5.loss_plan_l1_fix_time: 0.9260, d5.loss_plan_l1_fix_dist: 0.3357, d6.loss_plan_l1_fix_time: 0.9302, d6.loss_plan_l1_fix_dist: 0.3766, d0.loss_cls_all: 0.1571, d0.loss_bbox_all: 0.3917, d0.loss_cls: 0.1571, d0.loss_bbox: 0.3917, d1.loss_cls: 0.1512, d1.loss_bbox: 0.3550, d2.loss_cls: 0.1333, d2.loss_bbox: 0.3361, d3.loss_cls: 0.1157, d3.loss_bbox: 0.3297, d4.loss_cls: 0.1091, d4.loss_bbox: 0.3279, d5.loss_cls: 0.1080, d5.loss_bbox: 0.3273, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7124, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5664, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5104, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4987, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4945, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4901, d0.loss_map_cls_all: 0.2177, d0.loss_map_pts_all: 1.3065, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2177, d0.loss_map_pts: 1.3065, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1866, d1.loss_map_pts: 0.9439, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1639, d2.loss_map_pts: 0.7599, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1512, d3.loss_map_pts: 0.6929, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1434, d4.loss_map_pts: 0.6715, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1384, d5.loss_map_pts: 0.6634, d5.loss_map_dir: 0.0083, loss: 26.8945, grad_norm: 140.9266 +2026-02-28 08:19:16,547 - DriveTransformer - INFO - Epoch [9][27900/39528] lr: 7.525e-05, eta: 5 days, 2:41:40, time: 0.739, data_time: 0.037, memory: 19865, loss_cls: 0.1143, loss_bbox: 0.3260, loss_traj: 0.5095, loss_traj_cls: 0.0020, loss_map_cls: 0.1326, loss_map_pts: 0.6080, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.6051, d0.loss_plan_l1_fix_dist: 0.4163, d1.loss_plan_l1_fix_time: 0.9231, d1.loss_plan_l1_fix_dist: 0.3015, d2.loss_plan_l1_fix_time: 0.9046, d2.loss_plan_l1_fix_dist: 0.2365, d3.loss_plan_l1_fix_time: 0.9016, d3.loss_plan_l1_fix_dist: 0.2831, d4.loss_plan_l1_fix_time: 0.9041, d4.loss_plan_l1_fix_dist: 0.2912, d5.loss_plan_l1_fix_time: 0.9079, d5.loss_plan_l1_fix_dist: 0.2599, d6.loss_plan_l1_fix_time: 0.9130, d6.loss_plan_l1_fix_dist: 0.2797, d0.loss_cls_all: 0.1636, d0.loss_bbox_all: 0.3989, d0.loss_cls: 0.1636, d0.loss_bbox: 0.3989, d1.loss_cls: 0.1507, d1.loss_bbox: 0.3668, d2.loss_cls: 0.1362, d2.loss_bbox: 0.3410, d3.loss_cls: 0.1235, d3.loss_bbox: 0.3315, d4.loss_cls: 0.1169, d4.loss_bbox: 0.3287, d5.loss_cls: 0.1145, d5.loss_bbox: 0.3275, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7170, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5895, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5330, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5169, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5120, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5069, d0.loss_map_cls_all: 0.2090, d0.loss_map_pts_all: 1.1976, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2090, d0.loss_map_pts: 1.1976, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1795, d1.loss_map_pts: 0.8651, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1589, d2.loss_map_pts: 0.6977, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1484, d3.loss_map_pts: 0.6357, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1416, d4.loss_map_pts: 0.6146, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1358, d5.loss_map_pts: 0.6069, d5.loss_map_dir: 0.0079, loss: 25.7218, grad_norm: 142.3522 +2026-02-28 08:19:54,328 - DriveTransformer - INFO - Epoch [9][27950/39528] lr: 7.525e-05, eta: 5 days, 2:41:11, time: 0.756, data_time: 0.037, memory: 19865, loss_cls: 0.1305, loss_bbox: 0.3298, loss_traj: 0.4969, loss_traj_cls: 0.0020, loss_map_cls: 0.1316, loss_map_pts: 0.6738, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.7506, d0.loss_plan_l1_fix_dist: 0.4486, d1.loss_plan_l1_fix_time: 0.8521, d1.loss_plan_l1_fix_dist: 0.2941, d2.loss_plan_l1_fix_time: 0.8315, d2.loss_plan_l1_fix_dist: 0.2255, d3.loss_plan_l1_fix_time: 0.8207, d3.loss_plan_l1_fix_dist: 0.2842, d4.loss_plan_l1_fix_time: 0.8237, d4.loss_plan_l1_fix_dist: 0.3107, d5.loss_plan_l1_fix_time: 0.8288, d5.loss_plan_l1_fix_dist: 0.2647, d6.loss_plan_l1_fix_time: 0.8335, d6.loss_plan_l1_fix_dist: 0.2593, d0.loss_cls_all: 0.1795, d0.loss_bbox_all: 0.3970, d0.loss_cls: 0.1795, d0.loss_bbox: 0.3970, d1.loss_cls: 0.1734, d1.loss_bbox: 0.3607, d2.loss_cls: 0.1585, d2.loss_bbox: 0.3405, d3.loss_cls: 0.1418, d3.loss_bbox: 0.3317, d4.loss_cls: 0.1333, d4.loss_bbox: 0.3306, d5.loss_cls: 0.1308, d5.loss_bbox: 0.3302, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7308, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5738, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5291, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5116, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5020, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4961, d0.loss_map_cls_all: 0.2192, d0.loss_map_pts_all: 1.3375, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2192, d0.loss_map_pts: 1.3375, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1825, d1.loss_map_pts: 0.9496, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1598, d2.loss_map_pts: 0.7715, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1480, d3.loss_map_pts: 0.7007, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1393, d4.loss_map_pts: 0.6759, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1332, d5.loss_map_pts: 0.6723, d5.loss_map_dir: 0.0080, loss: 26.2339, grad_norm: 142.8485 +2026-02-28 08:20:30,840 - DriveTransformer - INFO - Epoch [9][28000/39528] lr: 7.525e-05, eta: 5 days, 2:40:34, time: 0.732, data_time: 0.037, memory: 19865, loss_cls: 0.1137, loss_bbox: 0.3303, loss_traj: 0.5363, loss_traj_cls: 0.0021, loss_map_cls: 0.1354, loss_map_pts: 0.6131, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 3.4684, d0.loss_plan_l1_fix_dist: 0.3894, d1.loss_plan_l1_fix_time: 0.9715, d1.loss_plan_l1_fix_dist: 0.2931, d2.loss_plan_l1_fix_time: 0.9469, d2.loss_plan_l1_fix_dist: 0.2361, d3.loss_plan_l1_fix_time: 0.9436, d3.loss_plan_l1_fix_dist: 0.3183, d4.loss_plan_l1_fix_time: 0.9458, d4.loss_plan_l1_fix_dist: 0.3255, d5.loss_plan_l1_fix_time: 0.9493, d5.loss_plan_l1_fix_dist: 0.2830, d6.loss_plan_l1_fix_time: 0.9534, d6.loss_plan_l1_fix_dist: 0.2674, d0.loss_cls_all: 0.1577, d0.loss_bbox_all: 0.3881, d0.loss_cls: 0.1577, d0.loss_bbox: 0.3881, d1.loss_cls: 0.1542, d1.loss_bbox: 0.3552, d2.loss_cls: 0.1429, d2.loss_bbox: 0.3326, d3.loss_cls: 0.1243, d3.loss_bbox: 0.3295, d4.loss_cls: 0.1161, d4.loss_bbox: 0.3304, d5.loss_cls: 0.1144, d5.loss_bbox: 0.3300, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7302, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5949, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5462, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5366, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5318, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5354, d0.loss_map_cls_all: 0.2128, d0.loss_map_pts_all: 1.2177, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2128, d0.loss_map_pts: 1.2177, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1834, d1.loss_map_pts: 0.8573, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1619, d2.loss_map_pts: 0.6968, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1497, d3.loss_map_pts: 0.6406, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1433, d4.loss_map_pts: 0.6199, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1382, d5.loss_map_pts: 0.6134, d5.loss_map_dir: 0.0078, loss: 27.0492, grad_norm: 141.6627 +2026-02-28 08:21:06,642 - DriveTransformer - INFO - Epoch [9][28050/39528] lr: 7.525e-05, eta: 5 days, 2:39:53, time: 0.715, data_time: 0.037, memory: 19865, loss_cls: 0.1122, loss_bbox: 0.2915, loss_traj: 0.5968, loss_traj_cls: 0.0020, loss_map_cls: 0.1107, loss_map_pts: 0.5367, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.3937, d0.loss_plan_l1_fix_dist: 0.4719, d1.loss_plan_l1_fix_time: 0.8315, d1.loss_plan_l1_fix_dist: 0.2876, d2.loss_plan_l1_fix_time: 0.8061, d2.loss_plan_l1_fix_dist: 0.2546, d3.loss_plan_l1_fix_time: 0.8004, d3.loss_plan_l1_fix_dist: 0.3541, d4.loss_plan_l1_fix_time: 0.8010, d4.loss_plan_l1_fix_dist: 0.3406, d5.loss_plan_l1_fix_time: 0.8032, d5.loss_plan_l1_fix_dist: 0.2907, d6.loss_plan_l1_fix_time: 0.8073, d6.loss_plan_l1_fix_dist: 0.2817, d0.loss_cls_all: 0.1508, d0.loss_bbox_all: 0.3534, d0.loss_cls: 0.1508, d0.loss_bbox: 0.3534, d1.loss_cls: 0.1443, d1.loss_bbox: 0.3239, d2.loss_cls: 0.1319, d2.loss_bbox: 0.3044, d3.loss_cls: 0.1192, d3.loss_bbox: 0.2940, d4.loss_cls: 0.1128, d4.loss_bbox: 0.2913, d5.loss_cls: 0.1125, d5.loss_bbox: 0.2904, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7882, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6460, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6045, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5912, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5953, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5921, d0.loss_map_cls_all: 0.1804, d0.loss_map_pts_all: 1.1366, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1804, d0.loss_map_pts: 1.1366, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1511, d1.loss_map_pts: 0.7924, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1320, d2.loss_map_pts: 0.6303, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1246, d3.loss_map_pts: 0.5654, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1176, d4.loss_map_pts: 0.5443, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1123, d5.loss_map_pts: 0.5382, d5.loss_map_dir: 0.0066, loss: 24.5220, grad_norm: 139.1243 +2026-02-28 08:21:42,132 - DriveTransformer - INFO - Epoch [9][28100/39528] lr: 7.525e-05, eta: 5 days, 2:39:11, time: 0.710, data_time: 0.037, memory: 19865, loss_cls: 0.1153, loss_bbox: 0.3143, loss_traj: 0.5387, loss_traj_cls: 0.0020, loss_map_cls: 0.1362, loss_map_pts: 0.5812, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.5542, d0.loss_plan_l1_fix_dist: 0.3871, d1.loss_plan_l1_fix_time: 0.8706, d1.loss_plan_l1_fix_dist: 0.2130, d2.loss_plan_l1_fix_time: 0.8560, d2.loss_plan_l1_fix_dist: 0.1971, d3.loss_plan_l1_fix_time: 0.8496, d3.loss_plan_l1_fix_dist: 0.2978, d4.loss_plan_l1_fix_time: 0.8493, d4.loss_plan_l1_fix_dist: 0.2894, d5.loss_plan_l1_fix_time: 0.8497, d5.loss_plan_l1_fix_dist: 0.2391, d6.loss_plan_l1_fix_time: 0.8519, d6.loss_plan_l1_fix_dist: 0.2362, d0.loss_cls_all: 0.1579, d0.loss_bbox_all: 0.3764, d0.loss_cls: 0.1579, d0.loss_bbox: 0.3764, d1.loss_cls: 0.1503, d1.loss_bbox: 0.3463, d2.loss_cls: 0.1369, d2.loss_bbox: 0.3262, d3.loss_cls: 0.1205, d3.loss_bbox: 0.3219, d4.loss_cls: 0.1153, d4.loss_bbox: 0.3175, d5.loss_cls: 0.1142, d5.loss_bbox: 0.3157, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7618, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6164, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5552, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5420, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5386, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5342, d0.loss_map_cls_all: 0.2201, d0.loss_map_pts_all: 1.1283, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2201, d0.loss_map_pts: 1.1283, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1852, d1.loss_map_pts: 0.8229, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1613, d2.loss_map_pts: 0.6678, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1504, d3.loss_map_pts: 0.6079, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1431, d4.loss_map_pts: 0.5882, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1387, d5.loss_map_pts: 0.5815, d5.loss_map_dir: 0.0065, loss: 24.9116, grad_norm: 135.1306 +2026-02-28 08:22:18,475 - DriveTransformer - INFO - Epoch [9][28150/39528] lr: 7.525e-05, eta: 5 days, 2:38:33, time: 0.727, data_time: 0.038, memory: 19865, loss_cls: 0.1141, loss_bbox: 0.3171, loss_traj: 0.5222, loss_traj_cls: 0.0020, loss_map_cls: 0.1436, loss_map_pts: 0.7038, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.6727, d0.loss_plan_l1_fix_dist: 0.3582, d1.loss_plan_l1_fix_time: 0.8341, d1.loss_plan_l1_fix_dist: 0.2324, d2.loss_plan_l1_fix_time: 0.8198, d2.loss_plan_l1_fix_dist: 0.2267, d3.loss_plan_l1_fix_time: 0.8086, d3.loss_plan_l1_fix_dist: 0.2695, d4.loss_plan_l1_fix_time: 0.8091, d4.loss_plan_l1_fix_dist: 0.2650, d5.loss_plan_l1_fix_time: 0.8106, d5.loss_plan_l1_fix_dist: 0.2113, d6.loss_plan_l1_fix_time: 0.8128, d6.loss_plan_l1_fix_dist: 0.2280, d0.loss_cls_all: 0.1587, d0.loss_bbox_all: 0.3840, d0.loss_cls: 0.1587, d0.loss_bbox: 0.3840, d1.loss_cls: 0.1541, d1.loss_bbox: 0.3530, d2.loss_cls: 0.1406, d2.loss_bbox: 0.3337, d3.loss_cls: 0.1188, d3.loss_bbox: 0.3252, d4.loss_cls: 0.1131, d4.loss_bbox: 0.3219, d5.loss_cls: 0.1131, d5.loss_bbox: 0.3172, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7638, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5974, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5448, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5268, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5249, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5209, d0.loss_map_cls_all: 0.2272, d0.loss_map_pts_all: 1.3150, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2272, d0.loss_map_pts: 1.3150, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1908, d1.loss_map_pts: 0.9663, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1702, d2.loss_map_pts: 0.7969, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1565, d3.loss_map_pts: 0.7321, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1500, d4.loss_map_pts: 0.7106, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1456, d5.loss_map_pts: 0.7040, d5.loss_map_dir: 0.0079, loss: 25.8884, grad_norm: 135.5053 +2026-02-28 08:22:54,741 - DriveTransformer - INFO - Epoch [9][28200/39528] lr: 7.525e-05, eta: 5 days, 2:37:55, time: 0.725, data_time: 0.039, memory: 19865, loss_cls: 0.1136, loss_bbox: 0.2966, loss_traj: 0.5276, loss_traj_cls: 0.0021, loss_map_cls: 0.1121, loss_map_pts: 0.5368, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.5590, d0.loss_plan_l1_fix_dist: 0.4682, d1.loss_plan_l1_fix_time: 0.8332, d1.loss_plan_l1_fix_dist: 0.2766, d2.loss_plan_l1_fix_time: 0.8114, d2.loss_plan_l1_fix_dist: 0.2644, d3.loss_plan_l1_fix_time: 0.8068, d3.loss_plan_l1_fix_dist: 0.2891, d4.loss_plan_l1_fix_time: 0.8082, d4.loss_plan_l1_fix_dist: 0.2812, d5.loss_plan_l1_fix_time: 0.8106, d5.loss_plan_l1_fix_dist: 0.2357, d6.loss_plan_l1_fix_time: 0.8136, d6.loss_plan_l1_fix_dist: 0.2666, d0.loss_cls_all: 0.1443, d0.loss_bbox_all: 0.3594, d0.loss_cls: 0.1443, d0.loss_bbox: 0.3594, d1.loss_cls: 0.1438, d1.loss_bbox: 0.3285, d2.loss_cls: 0.1301, d2.loss_bbox: 0.3077, d3.loss_cls: 0.1191, d3.loss_bbox: 0.3002, d4.loss_cls: 0.1156, d4.loss_bbox: 0.2966, d5.loss_cls: 0.1143, d5.loss_bbox: 0.2959, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7046, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5812, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5400, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5296, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5246, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5239, d0.loss_map_cls_all: 0.1877, d0.loss_map_pts_all: 1.1117, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1877, d0.loss_map_pts: 1.1117, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1581, d1.loss_map_pts: 0.7683, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1358, d2.loss_map_pts: 0.6177, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1250, d3.loss_map_pts: 0.5584, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1183, d4.loss_map_pts: 0.5391, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1145, d5.loss_map_pts: 0.5370, d5.loss_map_dir: 0.0063, loss: 24.0019, grad_norm: 140.6341 +2026-02-28 08:23:31,194 - DriveTransformer - INFO - Epoch [9][28250/39528] lr: 7.525e-05, eta: 5 days, 2:37:18, time: 0.729, data_time: 0.038, memory: 19865, loss_cls: 0.1053, loss_bbox: 0.2927, loss_traj: 0.5130, loss_traj_cls: 0.0021, loss_map_cls: 0.1080, loss_map_pts: 0.5697, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.5090, d0.loss_plan_l1_fix_dist: 0.5599, d1.loss_plan_l1_fix_time: 0.7993, d1.loss_plan_l1_fix_dist: 0.2981, d2.loss_plan_l1_fix_time: 0.7780, d2.loss_plan_l1_fix_dist: 0.2841, d3.loss_plan_l1_fix_time: 0.7733, d3.loss_plan_l1_fix_dist: 0.3178, d4.loss_plan_l1_fix_time: 0.7758, d4.loss_plan_l1_fix_dist: 0.3129, d5.loss_plan_l1_fix_time: 0.7810, d5.loss_plan_l1_fix_dist: 0.2871, d6.loss_plan_l1_fix_time: 0.7853, d6.loss_plan_l1_fix_dist: 0.2818, d0.loss_cls_all: 0.1423, d0.loss_bbox_all: 0.3549, d0.loss_cls: 0.1423, d0.loss_bbox: 0.3549, d1.loss_cls: 0.1422, d1.loss_bbox: 0.3240, d2.loss_cls: 0.1280, d2.loss_bbox: 0.3032, d3.loss_cls: 0.1115, d3.loss_bbox: 0.2999, d4.loss_cls: 0.1068, d4.loss_bbox: 0.2954, d5.loss_cls: 0.1050, d5.loss_bbox: 0.2936, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6565, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5570, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5299, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5170, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5125, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5103, d0.loss_map_cls_all: 0.1793, d0.loss_map_pts_all: 1.1479, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1793, d0.loss_map_pts: 1.1479, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1506, d1.loss_map_pts: 0.8024, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1285, d2.loss_map_pts: 0.6468, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1197, d3.loss_map_pts: 0.5941, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1146, d4.loss_map_pts: 0.5728, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1108, d5.loss_map_pts: 0.5707, d5.loss_map_dir: 0.0079, loss: 24.0537, grad_norm: 141.5925 +2026-02-28 08:24:07,359 - DriveTransformer - INFO - Epoch [9][28300/39528] lr: 7.525e-05, eta: 5 days, 2:36:40, time: 0.723, data_time: 0.039, memory: 19865, loss_cls: 0.1120, loss_bbox: 0.3028, loss_traj: 0.5851, loss_traj_cls: 0.0021, loss_map_cls: 0.1150, loss_map_pts: 0.5845, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.4162, d0.loss_plan_l1_fix_dist: 0.5413, d1.loss_plan_l1_fix_time: 0.9410, d1.loss_plan_l1_fix_dist: 0.3174, d2.loss_plan_l1_fix_time: 0.9277, d2.loss_plan_l1_fix_dist: 0.3316, d3.loss_plan_l1_fix_time: 0.9185, d3.loss_plan_l1_fix_dist: 0.3395, d4.loss_plan_l1_fix_time: 0.9199, d4.loss_plan_l1_fix_dist: 0.3180, d5.loss_plan_l1_fix_time: 0.9221, d5.loss_plan_l1_fix_dist: 0.2855, d6.loss_plan_l1_fix_time: 0.9249, d6.loss_plan_l1_fix_dist: 0.3398, d0.loss_cls_all: 0.1505, d0.loss_bbox_all: 0.3581, d0.loss_cls: 0.1505, d0.loss_bbox: 0.3581, d1.loss_cls: 0.1448, d1.loss_bbox: 0.3257, d2.loss_cls: 0.1313, d2.loss_bbox: 0.3076, d3.loss_cls: 0.1153, d3.loss_bbox: 0.3047, d4.loss_cls: 0.1115, d4.loss_bbox: 0.3040, d5.loss_cls: 0.1106, d5.loss_bbox: 0.3027, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7665, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6388, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5892, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5873, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5889, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5846, d0.loss_map_cls_all: 0.1913, d0.loss_map_pts_all: 1.1360, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1913, d0.loss_map_pts: 1.1360, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1625, d1.loss_map_pts: 0.8424, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1380, d2.loss_map_pts: 0.6849, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1269, d3.loss_map_pts: 0.6206, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1206, d4.loss_map_pts: 0.5948, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1170, d5.loss_map_pts: 0.5849, d5.loss_map_dir: 0.0061, loss: 25.7739, grad_norm: 134.1093 +2026-02-28 08:24:44,128 - DriveTransformer - INFO - Epoch [9][28350/39528] lr: 7.525e-05, eta: 5 days, 2:36:05, time: 0.735, data_time: 0.038, memory: 19865, loss_cls: 0.1244, loss_bbox: 0.3274, loss_traj: 0.5420, loss_traj_cls: 0.0021, loss_map_cls: 0.1371, loss_map_pts: 0.6420, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.2485, d0.loss_plan_l1_fix_dist: 0.4825, d1.loss_plan_l1_fix_time: 0.8690, d1.loss_plan_l1_fix_dist: 0.3369, d2.loss_plan_l1_fix_time: 0.8597, d2.loss_plan_l1_fix_dist: 0.3420, d3.loss_plan_l1_fix_time: 0.8493, d3.loss_plan_l1_fix_dist: 0.3346, d4.loss_plan_l1_fix_time: 0.8548, d4.loss_plan_l1_fix_dist: 0.3629, d5.loss_plan_l1_fix_time: 0.8577, d5.loss_plan_l1_fix_dist: 0.2620, d6.loss_plan_l1_fix_time: 0.8621, d6.loss_plan_l1_fix_dist: 0.3595, d0.loss_cls_all: 0.1610, d0.loss_bbox_all: 0.3961, d0.loss_cls: 0.1610, d0.loss_bbox: 0.3961, d1.loss_cls: 0.1566, d1.loss_bbox: 0.3576, d2.loss_cls: 0.1407, d2.loss_bbox: 0.3387, d3.loss_cls: 0.1290, d3.loss_bbox: 0.3317, d4.loss_cls: 0.1246, d4.loss_bbox: 0.3275, d5.loss_cls: 0.1233, d5.loss_bbox: 0.3258, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7513, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6196, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5696, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5486, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5434, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5418, d0.loss_map_cls_all: 0.2157, d0.loss_map_pts_all: 1.2035, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2157, d0.loss_map_pts: 1.2035, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1841, d1.loss_map_pts: 0.9015, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1607, d2.loss_map_pts: 0.7397, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1491, d3.loss_map_pts: 0.6690, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1415, d4.loss_map_pts: 0.6448, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1385, d5.loss_map_pts: 0.6399, d5.loss_map_dir: 0.0066, loss: 25.9660, grad_norm: 139.4224 +2026-02-28 08:25:20,352 - DriveTransformer - INFO - Epoch [9][28400/39528] lr: 7.525e-05, eta: 5 days, 2:35:26, time: 0.724, data_time: 0.038, memory: 19865, loss_cls: 0.1034, loss_bbox: 0.2941, loss_traj: 0.5628, loss_traj_cls: 0.0021, loss_map_cls: 0.1238, loss_map_pts: 0.5917, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.5940, d0.loss_plan_l1_fix_dist: 0.5149, d1.loss_plan_l1_fix_time: 0.9529, d1.loss_plan_l1_fix_dist: 0.3486, d2.loss_plan_l1_fix_time: 0.9294, d2.loss_plan_l1_fix_dist: 0.3462, d3.loss_plan_l1_fix_time: 0.9294, d3.loss_plan_l1_fix_dist: 0.3321, d4.loss_plan_l1_fix_time: 0.9332, d4.loss_plan_l1_fix_dist: 0.4156, d5.loss_plan_l1_fix_time: 0.9377, d5.loss_plan_l1_fix_dist: 0.2505, d6.loss_plan_l1_fix_time: 0.9418, d6.loss_plan_l1_fix_dist: 0.3371, d0.loss_cls_all: 0.1456, d0.loss_bbox_all: 0.3544, d0.loss_cls: 0.1456, d0.loss_bbox: 0.3544, d1.loss_cls: 0.1397, d1.loss_bbox: 0.3201, d2.loss_cls: 0.1234, d2.loss_bbox: 0.3031, d3.loss_cls: 0.1077, d3.loss_bbox: 0.2955, d4.loss_cls: 0.1035, d4.loss_bbox: 0.2936, d5.loss_cls: 0.1031, d5.loss_bbox: 0.2925, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7728, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5954, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5598, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5542, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5561, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5569, d0.loss_map_cls_all: 0.2188, d0.loss_map_pts_all: 1.1462, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2188, d0.loss_map_pts: 1.1462, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1851, d1.loss_map_pts: 0.8403, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1524, d2.loss_map_pts: 0.6907, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1381, d3.loss_map_pts: 0.6228, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1306, d4.loss_map_pts: 0.5999, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1248, d5.loss_map_pts: 0.5913, d5.loss_map_dir: 0.0071, loss: 25.9857, grad_norm: 141.8393 +2026-02-28 08:25:57,190 - DriveTransformer - INFO - Epoch [9][28450/39528] lr: 7.525e-05, eta: 5 days, 2:34:52, time: 0.737, data_time: 0.039, memory: 19865, loss_cls: 0.1064, loss_bbox: 0.2838, loss_traj: 0.4664, loss_traj_cls: 0.0022, loss_map_cls: 0.1011, loss_map_pts: 0.5023, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.6695, d0.loss_plan_l1_fix_dist: 0.5284, d1.loss_plan_l1_fix_time: 0.9394, d1.loss_plan_l1_fix_dist: 0.3528, d2.loss_plan_l1_fix_time: 0.9277, d2.loss_plan_l1_fix_dist: 0.3954, d3.loss_plan_l1_fix_time: 0.9341, d3.loss_plan_l1_fix_dist: 0.3842, d4.loss_plan_l1_fix_time: 0.9374, d4.loss_plan_l1_fix_dist: 0.4241, d5.loss_plan_l1_fix_time: 0.9408, d5.loss_plan_l1_fix_dist: 0.3122, d6.loss_plan_l1_fix_time: 0.9439, d6.loss_plan_l1_fix_dist: 0.3252, d0.loss_cls_all: 0.1470, d0.loss_bbox_all: 0.3430, d0.loss_cls: 0.1470, d0.loss_bbox: 0.3430, d1.loss_cls: 0.1386, d1.loss_bbox: 0.3152, d2.loss_cls: 0.1254, d2.loss_bbox: 0.2972, d3.loss_cls: 0.1120, d3.loss_bbox: 0.2892, d4.loss_cls: 0.1075, d4.loss_bbox: 0.2863, d5.loss_cls: 0.1065, d5.loss_bbox: 0.2845, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7068, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5351, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4854, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4711, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4653, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4641, d0.loss_map_cls_all: 0.1680, d0.loss_map_pts_all: 1.0809, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1680, d0.loss_map_pts: 1.0809, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1390, d1.loss_map_pts: 0.7517, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1178, d2.loss_map_pts: 0.5927, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1104, d3.loss_map_pts: 0.5349, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1062, d4.loss_map_pts: 0.5082, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1018, d5.loss_map_pts: 0.5040, d5.loss_map_dir: 0.0068, loss: 24.6698, grad_norm: 144.3404 +2026-02-28 08:26:32,523 - DriveTransformer - INFO - Epoch [9][28500/39528] lr: 7.525e-05, eta: 5 days, 2:34:08, time: 0.707, data_time: 0.037, memory: 19865, loss_cls: 0.1194, loss_bbox: 0.3141, loss_traj: 0.6366, loss_traj_cls: 0.0021, loss_map_cls: 0.1136, loss_map_pts: 0.5071, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.6122, d0.loss_plan_l1_fix_dist: 0.4658, d1.loss_plan_l1_fix_time: 0.9188, d1.loss_plan_l1_fix_dist: 0.2901, d2.loss_plan_l1_fix_time: 0.8868, d2.loss_plan_l1_fix_dist: 0.3676, d3.loss_plan_l1_fix_time: 0.8825, d3.loss_plan_l1_fix_dist: 0.3545, d4.loss_plan_l1_fix_time: 0.8859, d4.loss_plan_l1_fix_dist: 0.3683, d5.loss_plan_l1_fix_time: 0.8877, d5.loss_plan_l1_fix_dist: 0.3422, d6.loss_plan_l1_fix_time: 0.8907, d6.loss_plan_l1_fix_dist: 0.2802, d0.loss_cls_all: 0.1633, d0.loss_bbox_all: 0.3879, d0.loss_cls: 0.1633, d0.loss_bbox: 0.3879, d1.loss_cls: 0.1574, d1.loss_bbox: 0.3492, d2.loss_cls: 0.1439, d2.loss_bbox: 0.3303, d3.loss_cls: 0.1277, d3.loss_bbox: 0.3199, d4.loss_cls: 0.1200, d4.loss_bbox: 0.3175, d5.loss_cls: 0.1189, d5.loss_bbox: 0.3143, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8814, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7055, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6564, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6370, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6359, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6318, d0.loss_map_cls_all: 0.1908, d0.loss_map_pts_all: 1.0623, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1908, d0.loss_map_pts: 1.0623, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1583, d1.loss_map_pts: 0.7536, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1362, d2.loss_map_pts: 0.6069, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1251, d3.loss_map_pts: 0.5481, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1186, d4.loss_map_pts: 0.5207, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1147, d5.loss_map_pts: 0.5080, d5.loss_map_dir: 0.0064, loss: 25.8252, grad_norm: 146.8471 +2026-02-28 08:27:09,758 - DriveTransformer - INFO - Epoch [9][28550/39528] lr: 7.525e-05, eta: 5 days, 2:33:36, time: 0.745, data_time: 0.037, memory: 19865, loss_cls: 0.1304, loss_bbox: 0.3561, loss_traj: 0.4771, loss_traj_cls: 0.0021, loss_map_cls: 0.1235, loss_map_pts: 0.6120, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 3.2710, d0.loss_plan_l1_fix_dist: 0.5082, d1.loss_plan_l1_fix_time: 0.8998, d1.loss_plan_l1_fix_dist: 0.2986, d2.loss_plan_l1_fix_time: 0.8802, d2.loss_plan_l1_fix_dist: 0.3725, d3.loss_plan_l1_fix_time: 0.8673, d3.loss_plan_l1_fix_dist: 0.4011, d4.loss_plan_l1_fix_time: 0.8673, d4.loss_plan_l1_fix_dist: 0.3501, d5.loss_plan_l1_fix_time: 0.8695, d5.loss_plan_l1_fix_dist: 0.3543, d6.loss_plan_l1_fix_time: 0.8725, d6.loss_plan_l1_fix_dist: 0.3039, d0.loss_cls_all: 0.1807, d0.loss_bbox_all: 0.4217, d0.loss_cls: 0.1807, d0.loss_bbox: 0.4217, d1.loss_cls: 0.1745, d1.loss_bbox: 0.3864, d2.loss_cls: 0.1580, d2.loss_bbox: 0.3630, d3.loss_cls: 0.1413, d3.loss_bbox: 0.3568, d4.loss_cls: 0.1332, d4.loss_bbox: 0.3557, d5.loss_cls: 0.1307, d5.loss_bbox: 0.3551, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6952, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5310, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4864, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4799, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4718, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4763, d0.loss_map_cls_all: 0.1993, d0.loss_map_pts_all: 1.1929, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.1993, d0.loss_map_pts: 1.1929, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1680, d1.loss_map_pts: 0.8384, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1488, d2.loss_map_pts: 0.6905, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1362, d3.loss_map_pts: 0.6334, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1292, d4.loss_map_pts: 0.6160, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1257, d5.loss_map_pts: 0.6126, d5.loss_map_dir: 0.0084, loss: 26.6718, grad_norm: 147.3600 +2026-02-28 08:27:45,688 - DriveTransformer - INFO - Epoch [9][28600/39528] lr: 7.525e-05, eta: 5 days, 2:32:56, time: 0.719, data_time: 0.036, memory: 19865, loss_cls: 0.1090, loss_bbox: 0.3098, loss_traj: 0.5578, loss_traj_cls: 0.0021, loss_map_cls: 0.1320, loss_map_pts: 0.6169, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.5112, d0.loss_plan_l1_fix_dist: 0.4790, d1.loss_plan_l1_fix_time: 0.8150, d1.loss_plan_l1_fix_dist: 0.2906, d2.loss_plan_l1_fix_time: 0.7999, d2.loss_plan_l1_fix_dist: 0.3449, d3.loss_plan_l1_fix_time: 0.7879, d3.loss_plan_l1_fix_dist: 0.4416, d4.loss_plan_l1_fix_time: 0.7888, d4.loss_plan_l1_fix_dist: 0.3254, d5.loss_plan_l1_fix_time: 0.7924, d5.loss_plan_l1_fix_dist: 0.3482, d6.loss_plan_l1_fix_time: 0.7977, d6.loss_plan_l1_fix_dist: 0.3431, d0.loss_cls_all: 0.1541, d0.loss_bbox_all: 0.3756, d0.loss_cls: 0.1541, d0.loss_bbox: 0.3756, d1.loss_cls: 0.1452, d1.loss_bbox: 0.3418, d2.loss_cls: 0.1311, d2.loss_bbox: 0.3221, d3.loss_cls: 0.1152, d3.loss_bbox: 0.3148, d4.loss_cls: 0.1103, d4.loss_bbox: 0.3119, d5.loss_cls: 0.1089, d5.loss_bbox: 0.3096, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8525, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6609, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6039, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5665, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5589, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5576, d0.loss_map_cls_all: 0.2133, d0.loss_map_pts_all: 1.2119, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2133, d0.loss_map_pts: 1.2119, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1815, d1.loss_map_pts: 0.8855, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1568, d2.loss_map_pts: 0.7184, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1440, d3.loss_map_pts: 0.6484, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1383, d4.loss_map_pts: 0.6266, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1330, d5.loss_map_pts: 0.6182, d5.loss_map_dir: 0.0080, loss: 25.8306, grad_norm: 149.2834 +2026-02-28 08:28:22,092 - DriveTransformer - INFO - Epoch [9][28650/39528] lr: 7.525e-05, eta: 5 days, 2:32:19, time: 0.728, data_time: 0.044, memory: 19865, loss_cls: 0.1013, loss_bbox: 0.2973, loss_traj: 0.5528, loss_traj_cls: 0.0021, loss_map_cls: 0.1148, loss_map_pts: 0.5388, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.3524, d0.loss_plan_l1_fix_dist: 0.5523, d1.loss_plan_l1_fix_time: 0.8213, d1.loss_plan_l1_fix_dist: 0.2750, d2.loss_plan_l1_fix_time: 0.8121, d2.loss_plan_l1_fix_dist: 0.2979, d3.loss_plan_l1_fix_time: 0.8132, d3.loss_plan_l1_fix_dist: 0.4208, d4.loss_plan_l1_fix_time: 0.8166, d4.loss_plan_l1_fix_dist: 0.3121, d5.loss_plan_l1_fix_time: 0.8218, d5.loss_plan_l1_fix_dist: 0.3011, d6.loss_plan_l1_fix_time: 0.8273, d6.loss_plan_l1_fix_dist: 0.2714, d0.loss_cls_all: 0.1370, d0.loss_bbox_all: 0.3541, d0.loss_cls: 0.1370, d0.loss_bbox: 0.3541, d1.loss_cls: 0.1318, d1.loss_bbox: 0.3230, d2.loss_cls: 0.1215, d2.loss_bbox: 0.3052, d3.loss_cls: 0.1083, d3.loss_bbox: 0.3004, d4.loss_cls: 0.1053, d4.loss_bbox: 0.2973, d5.loss_cls: 0.1012, d5.loss_bbox: 0.2981, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7502, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6119, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5741, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5597, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5518, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5515, d0.loss_map_cls_all: 0.1907, d0.loss_map_pts_all: 1.1389, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1907, d0.loss_map_pts: 1.1389, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1570, d1.loss_map_pts: 0.8208, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1378, d2.loss_map_pts: 0.6500, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1296, d3.loss_map_pts: 0.5813, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1215, d4.loss_map_pts: 0.5517, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1167, d5.loss_map_pts: 0.5398, d5.loss_map_dir: 0.0062, loss: 24.4936, grad_norm: 148.7398 +2026-02-28 08:28:57,287 - DriveTransformer - INFO - Epoch [9][28700/39528] lr: 7.525e-05, eta: 5 days, 2:31:35, time: 0.704, data_time: 0.037, memory: 19865, loss_cls: 0.1047, loss_bbox: 0.3091, loss_traj: 0.5160, loss_traj_cls: 0.0021, loss_map_cls: 0.1222, loss_map_pts: 0.5624, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.3098, d0.loss_plan_l1_fix_dist: 0.5117, d1.loss_plan_l1_fix_time: 0.7582, d1.loss_plan_l1_fix_dist: 0.3084, d2.loss_plan_l1_fix_time: 0.7471, d2.loss_plan_l1_fix_dist: 0.3039, d3.loss_plan_l1_fix_time: 0.7459, d3.loss_plan_l1_fix_dist: 0.4072, d4.loss_plan_l1_fix_time: 0.7478, d4.loss_plan_l1_fix_dist: 0.3241, d5.loss_plan_l1_fix_time: 0.7504, d5.loss_plan_l1_fix_dist: 0.2835, d6.loss_plan_l1_fix_time: 0.7546, d6.loss_plan_l1_fix_dist: 0.2494, d0.loss_cls_all: 0.1540, d0.loss_bbox_all: 0.3668, d0.loss_cls: 0.1540, d0.loss_bbox: 0.3668, d1.loss_cls: 0.1412, d1.loss_bbox: 0.3383, d2.loss_cls: 0.1286, d2.loss_bbox: 0.3182, d3.loss_cls: 0.1139, d3.loss_bbox: 0.3115, d4.loss_cls: 0.1088, d4.loss_bbox: 0.3077, d5.loss_cls: 0.1057, d5.loss_bbox: 0.3084, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7430, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5883, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5475, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5291, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5244, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5189, d0.loss_map_cls_all: 0.2106, d0.loss_map_pts_all: 1.1464, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.2106, d0.loss_map_pts: 1.1464, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1742, d1.loss_map_pts: 0.8217, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1455, d2.loss_map_pts: 0.6573, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1337, d3.loss_map_pts: 0.6018, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1281, d4.loss_map_pts: 0.5722, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1242, d5.loss_map_pts: 0.5635, d5.loss_map_dir: 0.0062, loss: 24.1825, grad_norm: 148.9414 +2026-02-28 08:29:33,937 - DriveTransformer - INFO - Epoch [9][28750/39528] lr: 7.525e-05, eta: 5 days, 2:30:59, time: 0.733, data_time: 0.036, memory: 19865, loss_cls: 0.1190, loss_bbox: 0.3356, loss_traj: 0.6146, loss_traj_cls: 0.0021, loss_map_cls: 0.1156, loss_map_pts: 0.5633, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.8444, d0.loss_plan_l1_fix_dist: 0.5474, d1.loss_plan_l1_fix_time: 1.0350, d1.loss_plan_l1_fix_dist: 0.3247, d2.loss_plan_l1_fix_time: 1.0221, d2.loss_plan_l1_fix_dist: 0.2916, d3.loss_plan_l1_fix_time: 1.0158, d3.loss_plan_l1_fix_dist: 0.3919, d4.loss_plan_l1_fix_time: 1.0161, d4.loss_plan_l1_fix_dist: 0.3444, d5.loss_plan_l1_fix_time: 1.0181, d5.loss_plan_l1_fix_dist: 0.2854, d6.loss_plan_l1_fix_time: 1.0218, d6.loss_plan_l1_fix_dist: 0.2567, d0.loss_cls_all: 0.1674, d0.loss_bbox_all: 0.3886, d0.loss_cls: 0.1674, d0.loss_bbox: 0.3886, d1.loss_cls: 0.1576, d1.loss_bbox: 0.3576, d2.loss_cls: 0.1394, d2.loss_bbox: 0.3425, d3.loss_cls: 0.1239, d3.loss_bbox: 0.3364, d4.loss_cls: 0.1199, d4.loss_bbox: 0.3332, d5.loss_cls: 0.1190, d5.loss_bbox: 0.3343, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8342, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6764, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6321, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6239, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6157, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6147, d0.loss_map_cls_all: 0.1955, d0.loss_map_pts_all: 1.1277, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1955, d0.loss_map_pts: 1.1277, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1627, d1.loss_map_pts: 0.8077, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1416, d2.loss_map_pts: 0.6561, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1291, d3.loss_map_pts: 0.5967, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1225, d4.loss_map_pts: 0.5725, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1173, d5.loss_map_pts: 0.5644, d5.loss_map_dir: 0.0069, loss: 27.2131, grad_norm: 147.8045 +2026-02-28 08:30:12,211 - DriveTransformer - INFO - Epoch [9][28800/39528] lr: 7.525e-05, eta: 5 days, 2:30:32, time: 0.767, data_time: 0.041, memory: 19865, loss_cls: 0.1126, loss_bbox: 0.3149, loss_traj: 0.5556, loss_traj_cls: 0.0021, loss_map_cls: 0.1262, loss_map_pts: 0.6399, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.6473, d0.loss_plan_l1_fix_dist: 0.3988, d1.loss_plan_l1_fix_time: 0.8897, d1.loss_plan_l1_fix_dist: 0.3305, d2.loss_plan_l1_fix_time: 0.8619, d2.loss_plan_l1_fix_dist: 0.2629, d3.loss_plan_l1_fix_time: 0.8621, d3.loss_plan_l1_fix_dist: 0.3577, d4.loss_plan_l1_fix_time: 0.8637, d4.loss_plan_l1_fix_dist: 0.3337, d5.loss_plan_l1_fix_time: 0.8668, d5.loss_plan_l1_fix_dist: 0.2673, d6.loss_plan_l1_fix_time: 0.8710, d6.loss_plan_l1_fix_dist: 0.2328, d0.loss_cls_all: 0.1585, d0.loss_bbox_all: 0.3852, d0.loss_cls: 0.1585, d0.loss_bbox: 0.3852, d1.loss_cls: 0.1507, d1.loss_bbox: 0.3514, d2.loss_cls: 0.1401, d2.loss_bbox: 0.3271, d3.loss_cls: 0.1208, d3.loss_bbox: 0.3211, d4.loss_cls: 0.1132, d4.loss_bbox: 0.3189, d5.loss_cls: 0.1136, d5.loss_bbox: 0.3149, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7480, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6168, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5833, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5667, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5578, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5545, d0.loss_map_cls_all: 0.2040, d0.loss_map_pts_all: 1.2978, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2040, d0.loss_map_pts: 1.2978, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1737, d1.loss_map_pts: 0.9337, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1547, d2.loss_map_pts: 0.7436, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1391, d3.loss_map_pts: 0.6761, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1339, d4.loss_map_pts: 0.6515, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1290, d5.loss_map_pts: 0.6417, d5.loss_map_dir: 0.0081, loss: 26.2316, grad_norm: 146.3279 +2026-02-28 08:30:46,887 - DriveTransformer - INFO - Epoch [9][28850/39528] lr: 7.525e-05, eta: 5 days, 2:29:45, time: 0.692, data_time: 0.035, memory: 19865, loss_cls: 0.1200, loss_bbox: 0.3080, loss_traj: 0.4983, loss_traj_cls: 0.0021, loss_map_cls: 0.1218, loss_map_pts: 0.5142, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.7216, d0.loss_plan_l1_fix_dist: 0.4961, d1.loss_plan_l1_fix_time: 0.9267, d1.loss_plan_l1_fix_dist: 0.3517, d2.loss_plan_l1_fix_time: 0.9065, d2.loss_plan_l1_fix_dist: 0.2846, d3.loss_plan_l1_fix_time: 0.9055, d3.loss_plan_l1_fix_dist: 0.3116, d4.loss_plan_l1_fix_time: 0.9092, d4.loss_plan_l1_fix_dist: 0.3871, d5.loss_plan_l1_fix_time: 0.9142, d5.loss_plan_l1_fix_dist: 0.2520, d6.loss_plan_l1_fix_time: 0.9189, d6.loss_plan_l1_fix_dist: 0.2550, d0.loss_cls_all: 0.1610, d0.loss_bbox_all: 0.3740, d0.loss_cls: 0.1610, d0.loss_bbox: 0.3740, d1.loss_cls: 0.1560, d1.loss_bbox: 0.3381, d2.loss_cls: 0.1446, d2.loss_bbox: 0.3166, d3.loss_cls: 0.1260, d3.loss_bbox: 0.3103, d4.loss_cls: 0.1210, d4.loss_bbox: 0.3074, d5.loss_cls: 0.1198, d5.loss_bbox: 0.3071, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7327, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5637, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5133, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5067, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4989, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4976, d0.loss_map_cls_all: 0.1988, d0.loss_map_pts_all: 1.0105, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1988, d0.loss_map_pts: 1.0105, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1713, d1.loss_map_pts: 0.7222, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1485, d2.loss_map_pts: 0.5900, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1337, d3.loss_map_pts: 0.5393, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1277, d4.loss_map_pts: 0.5225, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1233, d5.loss_map_pts: 0.5142, d5.loss_map_dir: 0.0054, loss: 24.7943, grad_norm: 147.5703 +2026-02-28 08:31:24,377 - DriveTransformer - INFO - Epoch [9][28900/39528] lr: 7.525e-05, eta: 5 days, 2:29:14, time: 0.750, data_time: 0.039, memory: 19865, loss_cls: 0.1098, loss_bbox: 0.3054, loss_traj: 0.5085, loss_traj_cls: 0.0021, loss_map_cls: 0.0999, loss_map_pts: 0.5539, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.5336, d0.loss_plan_l1_fix_dist: 0.5023, d1.loss_plan_l1_fix_time: 0.9392, d1.loss_plan_l1_fix_dist: 0.3872, d2.loss_plan_l1_fix_time: 0.9228, d2.loss_plan_l1_fix_dist: 0.3107, d3.loss_plan_l1_fix_time: 0.9123, d3.loss_plan_l1_fix_dist: 0.2753, d4.loss_plan_l1_fix_time: 0.9132, d4.loss_plan_l1_fix_dist: 0.4136, d5.loss_plan_l1_fix_time: 0.9153, d5.loss_plan_l1_fix_dist: 0.2311, d6.loss_plan_l1_fix_time: 0.9181, d6.loss_plan_l1_fix_dist: 0.2481, d0.loss_cls_all: 0.1532, d0.loss_bbox_all: 0.3596, d0.loss_cls: 0.1532, d0.loss_bbox: 0.3596, d1.loss_cls: 0.1460, d1.loss_bbox: 0.3298, d2.loss_cls: 0.1362, d2.loss_bbox: 0.3106, d3.loss_cls: 0.1200, d3.loss_bbox: 0.3047, d4.loss_cls: 0.1134, d4.loss_bbox: 0.3029, d5.loss_cls: 0.1109, d5.loss_bbox: 0.3036, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7147, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5686, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5285, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5121, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5077, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5076, d0.loss_map_cls_all: 0.1754, d0.loss_map_pts_all: 1.1091, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1754, d0.loss_map_pts: 1.1091, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1411, d1.loss_map_pts: 0.7807, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1207, d2.loss_map_pts: 0.6362, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1137, d3.loss_map_pts: 0.5841, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1062, d4.loss_map_pts: 0.5598, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1014, d5.loss_map_pts: 0.5535, d5.loss_map_dir: 0.0075, loss: 24.8759, grad_norm: 147.9235 +2026-02-28 08:32:01,302 - DriveTransformer - INFO - Epoch [9][28950/39528] lr: 7.525e-05, eta: 5 days, 2:28:40, time: 0.738, data_time: 0.039, memory: 19865, loss_cls: 0.1028, loss_bbox: 0.2918, loss_traj: 0.5178, loss_traj_cls: 0.0020, loss_map_cls: 0.0994, loss_map_pts: 0.5080, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.5650, d0.loss_plan_l1_fix_dist: 0.4286, d1.loss_plan_l1_fix_time: 0.8632, d1.loss_plan_l1_fix_dist: 0.4169, d2.loss_plan_l1_fix_time: 0.8396, d2.loss_plan_l1_fix_dist: 0.3216, d3.loss_plan_l1_fix_time: 0.8362, d3.loss_plan_l1_fix_dist: 0.2549, d4.loss_plan_l1_fix_time: 0.8381, d4.loss_plan_l1_fix_dist: 0.3895, d5.loss_plan_l1_fix_time: 0.8389, d5.loss_plan_l1_fix_dist: 0.2426, d6.loss_plan_l1_fix_time: 0.8413, d6.loss_plan_l1_fix_dist: 0.2607, d0.loss_cls_all: 0.1491, d0.loss_bbox_all: 0.3456, d0.loss_cls: 0.1491, d0.loss_bbox: 0.3456, d1.loss_cls: 0.1415, d1.loss_bbox: 0.3156, d2.loss_cls: 0.1277, d2.loss_bbox: 0.2986, d3.loss_cls: 0.1109, d3.loss_bbox: 0.2917, d4.loss_cls: 0.1066, d4.loss_bbox: 0.2894, d5.loss_cls: 0.1035, d5.loss_bbox: 0.2897, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7646, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5854, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5302, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5251, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5166, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5182, d0.loss_map_cls_all: 0.1798, d0.loss_map_pts_all: 1.0508, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1798, d0.loss_map_pts: 1.0508, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1448, d1.loss_map_pts: 0.7343, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1223, d2.loss_map_pts: 0.5898, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1120, d3.loss_map_pts: 0.5404, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1052, d4.loss_map_pts: 0.5187, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1010, d5.loss_map_pts: 0.5087, d5.loss_map_dir: 0.0064, loss: 23.9580, grad_norm: 147.5308 +2026-02-28 08:32:37,102 - DriveTransformer - INFO - Epoch [9][29000/39528] lr: 7.525e-05, eta: 5 days, 2:27:59, time: 0.716, data_time: 0.036, memory: 19865, loss_cls: 0.0999, loss_bbox: 0.2948, loss_traj: 0.4885, loss_traj_cls: 0.0021, loss_map_cls: 0.1149, loss_map_pts: 0.5458, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.6823, d0.loss_plan_l1_fix_dist: 0.5548, d1.loss_plan_l1_fix_time: 0.9481, d1.loss_plan_l1_fix_dist: 0.4271, d2.loss_plan_l1_fix_time: 0.9378, d2.loss_plan_l1_fix_dist: 0.3134, d3.loss_plan_l1_fix_time: 0.9171, d3.loss_plan_l1_fix_dist: 0.2680, d4.loss_plan_l1_fix_time: 0.9196, d4.loss_plan_l1_fix_dist: 0.3843, d5.loss_plan_l1_fix_time: 0.9216, d5.loss_plan_l1_fix_dist: 0.2666, d6.loss_plan_l1_fix_time: 0.9244, d6.loss_plan_l1_fix_dist: 0.2752, d0.loss_cls_all: 0.1469, d0.loss_bbox_all: 0.3552, d0.loss_cls: 0.1469, d0.loss_bbox: 0.3552, d1.loss_cls: 0.1406, d1.loss_bbox: 0.3237, d2.loss_cls: 0.1249, d2.loss_bbox: 0.3014, d3.loss_cls: 0.1093, d3.loss_bbox: 0.2960, d4.loss_cls: 0.1031, d4.loss_bbox: 0.2954, d5.loss_cls: 0.0988, d5.loss_bbox: 0.2958, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6466, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5332, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4966, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4917, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4862, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4868, d0.loss_map_cls_all: 0.1939, d0.loss_map_pts_all: 1.0882, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1939, d0.loss_map_pts: 1.0882, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1631, d1.loss_map_pts: 0.7881, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1395, d2.loss_map_pts: 0.6313, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1288, d3.loss_map_pts: 0.5751, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1233, d4.loss_map_pts: 0.5550, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1176, d5.loss_map_pts: 0.5463, d5.loss_map_dir: 0.0065, loss: 24.9102, grad_norm: 146.5333 +2026-02-28 08:33:13,928 - DriveTransformer - INFO - Epoch [9][29050/39528] lr: 7.525e-05, eta: 5 days, 2:27:24, time: 0.736, data_time: 0.038, memory: 19865, loss_cls: 0.1091, loss_bbox: 0.3044, loss_traj: 0.5766, loss_traj_cls: 0.0020, loss_map_cls: 0.1161, loss_map_pts: 0.5605, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.7352, d0.loss_plan_l1_fix_dist: 0.5197, d1.loss_plan_l1_fix_time: 0.8833, d1.loss_plan_l1_fix_dist: 0.3954, d2.loss_plan_l1_fix_time: 0.8679, d2.loss_plan_l1_fix_dist: 0.2666, d3.loss_plan_l1_fix_time: 0.8621, d3.loss_plan_l1_fix_dist: 0.2532, d4.loss_plan_l1_fix_time: 0.8644, d4.loss_plan_l1_fix_dist: 0.2967, d5.loss_plan_l1_fix_time: 0.8663, d5.loss_plan_l1_fix_dist: 0.2349, d6.loss_plan_l1_fix_time: 0.8685, d6.loss_plan_l1_fix_dist: 0.2468, d0.loss_cls_all: 0.1563, d0.loss_bbox_all: 0.3674, d0.loss_cls: 0.1563, d0.loss_bbox: 0.3674, d1.loss_cls: 0.1487, d1.loss_bbox: 0.3328, d2.loss_cls: 0.1331, d2.loss_bbox: 0.3124, d3.loss_cls: 0.1185, d3.loss_bbox: 0.3053, d4.loss_cls: 0.1131, d4.loss_bbox: 0.3021, d5.loss_cls: 0.1108, d5.loss_bbox: 0.3023, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8224, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6517, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5975, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5761, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5725, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5731, d0.loss_map_cls_all: 0.1978, d0.loss_map_pts_all: 1.1035, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1978, d0.loss_map_pts: 1.1035, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1675, d1.loss_map_pts: 0.8033, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1449, d2.loss_map_pts: 0.6538, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1306, d3.loss_map_pts: 0.5912, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1229, d4.loss_map_pts: 0.5689, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1184, d5.loss_map_pts: 0.5612, d5.loss_map_dir: 0.0065, loss: 25.3706, grad_norm: 145.8611 +2026-02-28 08:33:51,148 - DriveTransformer - INFO - Epoch [9][29100/39528] lr: 7.525e-05, eta: 5 days, 2:26:51, time: 0.744, data_time: 0.039, memory: 19865, loss_cls: 0.1012, loss_bbox: 0.2806, loss_traj: 0.6093, loss_traj_cls: 0.0021, loss_map_cls: 0.0986, loss_map_pts: 0.4889, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.4342, d0.loss_plan_l1_fix_dist: 0.4693, d1.loss_plan_l1_fix_time: 0.7523, d1.loss_plan_l1_fix_dist: 0.3361, d2.loss_plan_l1_fix_time: 0.7265, d2.loss_plan_l1_fix_dist: 0.2305, d3.loss_plan_l1_fix_time: 0.7263, d3.loss_plan_l1_fix_dist: 0.2203, d4.loss_plan_l1_fix_time: 0.7295, d4.loss_plan_l1_fix_dist: 0.2328, d5.loss_plan_l1_fix_time: 0.7338, d5.loss_plan_l1_fix_dist: 0.2526, d6.loss_plan_l1_fix_time: 0.7378, d6.loss_plan_l1_fix_dist: 0.2076, d0.loss_cls_all: 0.1374, d0.loss_bbox_all: 0.3351, d0.loss_cls: 0.1374, d0.loss_bbox: 0.3351, d1.loss_cls: 0.1339, d1.loss_bbox: 0.3002, d2.loss_cls: 0.1230, d2.loss_bbox: 0.2838, d3.loss_cls: 0.1036, d3.loss_bbox: 0.2819, d4.loss_cls: 0.1008, d4.loss_bbox: 0.2812, d5.loss_cls: 0.1005, d5.loss_bbox: 0.2800, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8836, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6902, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6391, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6126, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6052, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6033, d0.loss_map_cls_all: 0.1694, d0.loss_map_pts_all: 0.9751, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1694, d0.loss_map_pts: 0.9751, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1450, d1.loss_map_pts: 0.7181, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1240, d2.loss_map_pts: 0.5818, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1121, d3.loss_map_pts: 0.5226, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1041, d4.loss_map_pts: 0.4988, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0996, d5.loss_map_pts: 0.4907, d5.loss_map_dir: 0.0059, loss: 23.0754, grad_norm: 144.4457 +2026-02-28 08:34:28,070 - DriveTransformer - INFO - Epoch [9][29150/39528] lr: 7.525e-05, eta: 5 days, 2:26:17, time: 0.738, data_time: 0.036, memory: 19865, loss_cls: 0.1069, loss_bbox: 0.3003, loss_traj: 0.5194, loss_traj_cls: 0.0020, loss_map_cls: 0.1164, loss_map_pts: 0.5567, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.8101, d0.loss_plan_l1_fix_dist: 0.5127, d1.loss_plan_l1_fix_time: 1.0220, d1.loss_plan_l1_fix_dist: 0.3513, d2.loss_plan_l1_fix_time: 1.0022, d2.loss_plan_l1_fix_dist: 0.2672, d3.loss_plan_l1_fix_time: 1.0002, d3.loss_plan_l1_fix_dist: 0.2194, d4.loss_plan_l1_fix_time: 1.0031, d4.loss_plan_l1_fix_dist: 0.2537, d5.loss_plan_l1_fix_time: 1.0074, d5.loss_plan_l1_fix_dist: 0.3187, d6.loss_plan_l1_fix_time: 1.0128, d6.loss_plan_l1_fix_dist: 0.2379, d0.loss_cls_all: 0.1512, d0.loss_bbox_all: 0.3611, d0.loss_cls: 0.1512, d0.loss_bbox: 0.3611, d1.loss_cls: 0.1430, d1.loss_bbox: 0.3289, d2.loss_cls: 0.1319, d2.loss_bbox: 0.3106, d3.loss_cls: 0.1154, d3.loss_bbox: 0.3053, d4.loss_cls: 0.1090, d4.loss_bbox: 0.3023, d5.loss_cls: 0.1065, d5.loss_bbox: 0.3009, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7406, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5889, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5504, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5337, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5209, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5184, d0.loss_map_cls_all: 0.1995, d0.loss_map_pts_all: 1.1360, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.1995, d0.loss_map_pts: 1.1360, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1667, d1.loss_map_pts: 0.7910, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1428, d2.loss_map_pts: 0.6364, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1299, d3.loss_map_pts: 0.5849, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1232, d4.loss_map_pts: 0.5644, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1168, d5.loss_map_pts: 0.5583, d5.loss_map_dir: 0.0083, loss: 25.8068, grad_norm: 144.6005 +2026-02-28 08:35:06,624 - DriveTransformer - INFO - Epoch [9][29200/39528] lr: 7.525e-05, eta: 5 days, 2:25:52, time: 0.771, data_time: 0.042, memory: 19865, loss_cls: 0.1097, loss_bbox: 0.3043, loss_traj: 0.4865, loss_traj_cls: 0.0021, loss_map_cls: 0.1134, loss_map_pts: 0.6108, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.7186, d0.loss_plan_l1_fix_dist: 0.5448, d1.loss_plan_l1_fix_time: 0.9984, d1.loss_plan_l1_fix_dist: 0.3735, d2.loss_plan_l1_fix_time: 0.9898, d2.loss_plan_l1_fix_dist: 0.3219, d3.loss_plan_l1_fix_time: 0.9842, d3.loss_plan_l1_fix_dist: 0.2900, d4.loss_plan_l1_fix_time: 0.9898, d4.loss_plan_l1_fix_dist: 0.2863, d5.loss_plan_l1_fix_time: 0.9970, d5.loss_plan_l1_fix_dist: 0.3436, d6.loss_plan_l1_fix_time: 1.0066, d6.loss_plan_l1_fix_dist: 0.2824, d0.loss_cls_all: 0.1589, d0.loss_bbox_all: 0.3728, d0.loss_cls: 0.1589, d0.loss_bbox: 0.3728, d1.loss_cls: 0.1504, d1.loss_bbox: 0.3376, d2.loss_cls: 0.1345, d2.loss_bbox: 0.3150, d3.loss_cls: 0.1167, d3.loss_bbox: 0.3093, d4.loss_cls: 0.1133, d4.loss_bbox: 0.3055, d5.loss_cls: 0.1103, d5.loss_bbox: 0.3041, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7691, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5631, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5071, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5014, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4920, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4891, d0.loss_map_cls_all: 0.1980, d0.loss_map_pts_all: 1.2803, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.1980, d0.loss_map_pts: 1.2803, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1699, d1.loss_map_pts: 0.9085, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1413, d2.loss_map_pts: 0.7208, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1281, d3.loss_map_pts: 0.6500, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1198, d4.loss_map_pts: 0.6211, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1145, d5.loss_map_pts: 0.6116, d5.loss_map_dir: 0.0083, loss: 26.5469, grad_norm: 147.0026 +2026-02-28 08:35:43,370 - DriveTransformer - INFO - Epoch [9][29250/39528] lr: 7.525e-05, eta: 5 days, 2:25:16, time: 0.735, data_time: 0.038, memory: 19865, loss_cls: 0.1286, loss_bbox: 0.3290, loss_traj: 0.6042, loss_traj_cls: 0.0020, loss_map_cls: 0.1316, loss_map_pts: 0.5962, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.5228, d0.loss_plan_l1_fix_dist: 0.5210, d1.loss_plan_l1_fix_time: 1.0161, d1.loss_plan_l1_fix_dist: 0.3892, d2.loss_plan_l1_fix_time: 1.0024, d2.loss_plan_l1_fix_dist: 0.3647, d3.loss_plan_l1_fix_time: 0.9939, d3.loss_plan_l1_fix_dist: 0.3330, d4.loss_plan_l1_fix_time: 0.9968, d4.loss_plan_l1_fix_dist: 0.2582, d5.loss_plan_l1_fix_time: 1.0016, d5.loss_plan_l1_fix_dist: 0.3558, d6.loss_plan_l1_fix_time: 1.0092, d6.loss_plan_l1_fix_dist: 0.2751, d0.loss_cls_all: 0.1695, d0.loss_bbox_all: 0.4011, d0.loss_cls: 0.1695, d0.loss_bbox: 0.4011, d1.loss_cls: 0.1656, d1.loss_bbox: 0.3634, d2.loss_cls: 0.1538, d2.loss_bbox: 0.3406, d3.loss_cls: 0.1405, d3.loss_bbox: 0.3321, d4.loss_cls: 0.1322, d4.loss_bbox: 0.3303, d5.loss_cls: 0.1299, d5.loss_bbox: 0.3288, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8789, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7008, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6411, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6216, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6098, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6060, d0.loss_map_cls_all: 0.2188, d0.loss_map_pts_all: 1.2115, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.2188, d0.loss_map_pts: 1.2115, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1853, d1.loss_map_pts: 0.8913, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1628, d2.loss_map_pts: 0.6987, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1468, d3.loss_map_pts: 0.6305, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1389, d4.loss_map_pts: 0.6048, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1345, d5.loss_map_pts: 0.5955, d5.loss_map_dir: 0.0063, loss: 27.5511, grad_norm: 148.9133 +2026-02-28 08:36:21,049 - DriveTransformer - INFO - Epoch [9][29300/39528] lr: 7.525e-05, eta: 5 days, 2:24:46, time: 0.754, data_time: 0.039, memory: 19865, loss_cls: 0.1077, loss_bbox: 0.3246, loss_traj: 0.5165, loss_traj_cls: 0.0021, loss_map_cls: 0.1308, loss_map_pts: 0.6327, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.3823, d0.loss_plan_l1_fix_dist: 0.4881, d1.loss_plan_l1_fix_time: 0.8573, d1.loss_plan_l1_fix_dist: 0.3827, d2.loss_plan_l1_fix_time: 0.8393, d2.loss_plan_l1_fix_dist: 0.4339, d3.loss_plan_l1_fix_time: 0.8329, d3.loss_plan_l1_fix_dist: 0.3838, d4.loss_plan_l1_fix_time: 0.8332, d4.loss_plan_l1_fix_dist: 0.2528, d5.loss_plan_l1_fix_time: 0.8355, d5.loss_plan_l1_fix_dist: 0.3606, d6.loss_plan_l1_fix_time: 0.8404, d6.loss_plan_l1_fix_dist: 0.2640, d0.loss_cls_all: 0.1537, d0.loss_bbox_all: 0.3835, d0.loss_cls: 0.1537, d0.loss_bbox: 0.3835, d1.loss_cls: 0.1464, d1.loss_bbox: 0.3482, d2.loss_cls: 0.1337, d2.loss_bbox: 0.3308, d3.loss_cls: 0.1159, d3.loss_bbox: 0.3268, d4.loss_cls: 0.1075, d4.loss_bbox: 0.3254, d5.loss_cls: 0.1074, d5.loss_bbox: 0.3237, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7260, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5751, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5402, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5230, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5186, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5210, d0.loss_map_cls_all: 0.2149, d0.loss_map_pts_all: 1.2398, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2149, d0.loss_map_pts: 1.2398, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1864, d1.loss_map_pts: 0.8967, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1578, d2.loss_map_pts: 0.7222, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1460, d3.loss_map_pts: 0.6638, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1401, d4.loss_map_pts: 0.6405, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1339, d5.loss_map_pts: 0.6327, d5.loss_map_dir: 0.0076, loss: 25.7385, grad_norm: 149.0999 +2026-02-28 08:36:56,736 - DriveTransformer - INFO - Epoch [9][29350/39528] lr: 7.525e-05, eta: 5 days, 2:24:05, time: 0.714, data_time: 0.038, memory: 19865, loss_cls: 0.1141, loss_bbox: 0.3183, loss_traj: 0.5618, loss_traj_cls: 0.0021, loss_map_cls: 0.1073, loss_map_pts: 0.5030, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.9228, d0.loss_plan_l1_fix_dist: 0.5264, d1.loss_plan_l1_fix_time: 0.9354, d1.loss_plan_l1_fix_dist: 0.3777, d2.loss_plan_l1_fix_time: 0.9254, d2.loss_plan_l1_fix_dist: 0.4672, d3.loss_plan_l1_fix_time: 0.9207, d3.loss_plan_l1_fix_dist: 0.4370, d4.loss_plan_l1_fix_time: 0.9213, d4.loss_plan_l1_fix_dist: 0.3347, d5.loss_plan_l1_fix_time: 0.9226, d5.loss_plan_l1_fix_dist: 0.2982, d6.loss_plan_l1_fix_time: 0.9241, d6.loss_plan_l1_fix_dist: 0.2797, d0.loss_cls_all: 0.1576, d0.loss_bbox_all: 0.3777, d0.loss_cls: 0.1576, d0.loss_bbox: 0.3777, d1.loss_cls: 0.1517, d1.loss_bbox: 0.3477, d2.loss_cls: 0.1381, d2.loss_bbox: 0.3268, d3.loss_cls: 0.1211, d3.loss_bbox: 0.3217, d4.loss_cls: 0.1186, d4.loss_bbox: 0.3175, d5.loss_cls: 0.1166, d5.loss_bbox: 0.3163, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7901, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6449, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5851, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5738, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5656, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5643, d0.loss_map_cls_all: 0.1798, d0.loss_map_pts_all: 0.9861, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1798, d0.loss_map_pts: 0.9861, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1493, d1.loss_map_pts: 0.7259, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1292, d2.loss_map_pts: 0.5852, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1185, d3.loss_map_pts: 0.5292, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1134, d4.loss_map_pts: 0.5070, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1087, d5.loss_map_pts: 0.5037, d5.loss_map_dir: 0.0057, loss: 25.7211, grad_norm: 145.8495 +2026-02-28 08:37:33,298 - DriveTransformer - INFO - Epoch [9][29400/39528] lr: 7.525e-05, eta: 5 days, 2:23:29, time: 0.731, data_time: 0.039, memory: 19865, loss_cls: 0.1466, loss_bbox: 0.3407, loss_traj: 0.6034, loss_traj_cls: 0.0020, loss_map_cls: 0.1442, loss_map_pts: 0.6898, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.4353, d0.loss_plan_l1_fix_dist: 0.4818, d1.loss_plan_l1_fix_time: 0.9681, d1.loss_plan_l1_fix_dist: 0.3612, d2.loss_plan_l1_fix_time: 0.9558, d2.loss_plan_l1_fix_dist: 0.4681, d3.loss_plan_l1_fix_time: 0.9585, d3.loss_plan_l1_fix_dist: 0.4582, d4.loss_plan_l1_fix_time: 0.9616, d4.loss_plan_l1_fix_dist: 0.3947, d5.loss_plan_l1_fix_time: 0.9650, d5.loss_plan_l1_fix_dist: 0.2758, d6.loss_plan_l1_fix_time: 0.9674, d6.loss_plan_l1_fix_dist: 0.3104, d0.loss_cls_all: 0.1945, d0.loss_bbox_all: 0.4146, d0.loss_cls: 0.1945, d0.loss_bbox: 0.4146, d1.loss_cls: 0.1905, d1.loss_bbox: 0.3772, d2.loss_cls: 0.1743, d2.loss_bbox: 0.3563, d3.loss_cls: 0.1545, d3.loss_bbox: 0.3491, d4.loss_cls: 0.1482, d4.loss_bbox: 0.3431, d5.loss_cls: 0.1466, d5.loss_bbox: 0.3406, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8433, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6838, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6191, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6133, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6097, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6027, d0.loss_map_cls_all: 0.2221, d0.loss_map_pts_all: 1.3045, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2221, d0.loss_map_pts: 1.3045, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1880, d1.loss_map_pts: 0.9621, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1690, d2.loss_map_pts: 0.7858, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1561, d3.loss_map_pts: 0.7209, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1484, d4.loss_map_pts: 0.6953, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1453, d5.loss_map_pts: 0.6893, d5.loss_map_dir: 0.0079, loss: 28.4386, grad_norm: 146.6657 +2026-02-28 08:38:09,809 - DriveTransformer - INFO - Epoch [9][29450/39528] lr: 7.525e-05, eta: 5 days, 2:22:52, time: 0.730, data_time: 0.038, memory: 19865, loss_cls: 0.1179, loss_bbox: 0.3120, loss_traj: 0.5479, loss_traj_cls: 0.0021, loss_map_cls: 0.1316, loss_map_pts: 0.6296, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 3.0640, d0.loss_plan_l1_fix_dist: 0.5024, d1.loss_plan_l1_fix_time: 0.9996, d1.loss_plan_l1_fix_dist: 0.3189, d2.loss_plan_l1_fix_time: 0.9831, d2.loss_plan_l1_fix_dist: 0.4153, d3.loss_plan_l1_fix_time: 0.9831, d3.loss_plan_l1_fix_dist: 0.4175, d4.loss_plan_l1_fix_time: 0.9857, d4.loss_plan_l1_fix_dist: 0.3604, d5.loss_plan_l1_fix_time: 0.9880, d5.loss_plan_l1_fix_dist: 0.2691, d6.loss_plan_l1_fix_time: 0.9904, d6.loss_plan_l1_fix_dist: 0.2742, d0.loss_cls_all: 0.1648, d0.loss_bbox_all: 0.3765, d0.loss_cls: 0.1648, d0.loss_bbox: 0.3765, d1.loss_cls: 0.1595, d1.loss_bbox: 0.3427, d2.loss_cls: 0.1494, d2.loss_bbox: 0.3204, d3.loss_cls: 0.1295, d3.loss_bbox: 0.3165, d4.loss_cls: 0.1215, d4.loss_bbox: 0.3144, d5.loss_cls: 0.1183, d5.loss_bbox: 0.3128, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7662, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6124, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5796, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5606, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5513, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5510, d0.loss_map_cls_all: 0.2004, d0.loss_map_pts_all: 1.1820, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2004, d0.loss_map_pts: 1.1820, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1729, d1.loss_map_pts: 0.8575, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1548, d2.loss_map_pts: 0.7088, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1444, d3.loss_map_pts: 0.6597, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1374, d4.loss_map_pts: 0.6352, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1327, d5.loss_map_pts: 0.6310, d5.loss_map_dir: 0.0083, loss: 27.3492, grad_norm: 143.6607 +2026-02-28 08:38:45,874 - DriveTransformer - INFO - Epoch [9][29500/39528] lr: 7.525e-05, eta: 5 days, 2:22:13, time: 0.721, data_time: 0.037, memory: 19865, loss_cls: 0.1290, loss_bbox: 0.3205, loss_traj: 0.5902, loss_traj_cls: 0.0020, loss_map_cls: 0.1331, loss_map_pts: 0.6489, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.7184, d0.loss_plan_l1_fix_dist: 0.5347, d1.loss_plan_l1_fix_time: 0.8377, d1.loss_plan_l1_fix_dist: 0.3185, d2.loss_plan_l1_fix_time: 0.8169, d2.loss_plan_l1_fix_dist: 0.3761, d3.loss_plan_l1_fix_time: 0.8065, d3.loss_plan_l1_fix_dist: 0.3923, d4.loss_plan_l1_fix_time: 0.8078, d4.loss_plan_l1_fix_dist: 0.3482, d5.loss_plan_l1_fix_time: 0.8107, d5.loss_plan_l1_fix_dist: 0.2758, d6.loss_plan_l1_fix_time: 0.8147, d6.loss_plan_l1_fix_dist: 0.2652, d0.loss_cls_all: 0.1717, d0.loss_bbox_all: 0.3851, d0.loss_cls: 0.1717, d0.loss_bbox: 0.3851, d1.loss_cls: 0.1657, d1.loss_bbox: 0.3498, d2.loss_cls: 0.1501, d2.loss_bbox: 0.3329, d3.loss_cls: 0.1342, d3.loss_bbox: 0.3261, d4.loss_cls: 0.1321, d4.loss_bbox: 0.3207, d5.loss_cls: 0.1296, d5.loss_bbox: 0.3197, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8314, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6780, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6238, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5955, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5912, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5912, d0.loss_map_cls_all: 0.2159, d0.loss_map_pts_all: 1.2422, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2159, d0.loss_map_pts: 1.2422, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1849, d1.loss_map_pts: 0.9297, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1591, d2.loss_map_pts: 0.7556, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1470, d3.loss_map_pts: 0.6862, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1402, d4.loss_map_pts: 0.6583, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1350, d5.loss_map_pts: 0.6508, d5.loss_map_dir: 0.0075, loss: 26.7596, grad_norm: 142.0160 +2026-02-28 08:39:22,199 - DriveTransformer - INFO - Epoch [9][29550/39528] lr: 7.525e-05, eta: 5 days, 2:21:35, time: 0.726, data_time: 0.041, memory: 19865, loss_cls: 0.1101, loss_bbox: 0.2941, loss_traj: 0.5684, loss_traj_cls: 0.0020, loss_map_cls: 0.1103, loss_map_pts: 0.5529, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 3.0734, d0.loss_plan_l1_fix_dist: 0.5617, d1.loss_plan_l1_fix_time: 0.8770, d1.loss_plan_l1_fix_dist: 0.3295, d2.loss_plan_l1_fix_time: 0.8651, d2.loss_plan_l1_fix_dist: 0.3552, d3.loss_plan_l1_fix_time: 0.8616, d3.loss_plan_l1_fix_dist: 0.3810, d4.loss_plan_l1_fix_time: 0.8642, d4.loss_plan_l1_fix_dist: 0.3181, d5.loss_plan_l1_fix_time: 0.8680, d5.loss_plan_l1_fix_dist: 0.3005, d6.loss_plan_l1_fix_time: 0.8733, d6.loss_plan_l1_fix_dist: 0.2976, d0.loss_cls_all: 0.1519, d0.loss_bbox_all: 0.3611, d0.loss_cls: 0.1519, d0.loss_bbox: 0.3611, d1.loss_cls: 0.1459, d1.loss_bbox: 0.3275, d2.loss_cls: 0.1325, d2.loss_bbox: 0.3052, d3.loss_cls: 0.1164, d3.loss_bbox: 0.2964, d4.loss_cls: 0.1086, d4.loss_bbox: 0.2974, d5.loss_cls: 0.1096, d5.loss_bbox: 0.2938, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7890, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6321, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5890, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5655, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5677, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5602, d0.loss_map_cls_all: 0.1823, d0.loss_map_pts_all: 1.0953, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1823, d0.loss_map_pts: 1.0953, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1502, d1.loss_map_pts: 0.8279, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1313, d2.loss_map_pts: 0.6508, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1224, d3.loss_map_pts: 0.5844, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1178, d4.loss_map_pts: 0.5587, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1128, d5.loss_map_pts: 0.5546, d5.loss_map_dir: 0.0066, loss: 25.7499, grad_norm: 141.6020 +2026-02-28 08:39:58,819 - DriveTransformer - INFO - Epoch [9][29600/39528] lr: 7.525e-05, eta: 5 days, 2:21:00, time: 0.734, data_time: 0.038, memory: 19865, loss_cls: 0.1141, loss_bbox: 0.3152, loss_traj: 0.4482, loss_traj_cls: 0.0020, loss_map_cls: 0.1282, loss_map_pts: 0.5903, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.4615, d0.loss_plan_l1_fix_dist: 0.4870, d1.loss_plan_l1_fix_time: 0.8910, d1.loss_plan_l1_fix_dist: 0.3580, d2.loss_plan_l1_fix_time: 0.8720, d2.loss_plan_l1_fix_dist: 0.3382, d3.loss_plan_l1_fix_time: 0.8490, d3.loss_plan_l1_fix_dist: 0.3758, d4.loss_plan_l1_fix_time: 0.8488, d4.loss_plan_l1_fix_dist: 0.2805, d5.loss_plan_l1_fix_time: 0.8509, d5.loss_plan_l1_fix_dist: 0.2804, d6.loss_plan_l1_fix_time: 0.8545, d6.loss_plan_l1_fix_dist: 0.3018, d0.loss_cls_all: 0.1622, d0.loss_bbox_all: 0.3750, d0.loss_cls: 0.1622, d0.loss_bbox: 0.3750, d1.loss_cls: 0.1555, d1.loss_bbox: 0.3427, d2.loss_cls: 0.1423, d2.loss_bbox: 0.3221, d3.loss_cls: 0.1234, d3.loss_bbox: 0.3175, d4.loss_cls: 0.1160, d4.loss_bbox: 0.3157, d5.loss_cls: 0.1144, d5.loss_bbox: 0.3145, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6558, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5078, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4583, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4438, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4441, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4471, d0.loss_map_cls_all: 0.2106, d0.loss_map_pts_all: 1.1708, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2106, d0.loss_map_pts: 1.1708, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1758, d1.loss_map_pts: 0.8375, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1501, d2.loss_map_pts: 0.6727, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1412, d3.loss_map_pts: 0.6164, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1351, d4.loss_map_pts: 0.5975, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1304, d5.loss_map_pts: 0.5914, d5.loss_map_dir: 0.0085, loss: 24.8259, grad_norm: 137.2586 +2026-02-28 08:40:35,825 - DriveTransformer - INFO - Epoch [9][29650/39528] lr: 7.525e-05, eta: 5 days, 2:20:25, time: 0.739, data_time: 0.036, memory: 19865, loss_cls: 0.1200, loss_bbox: 0.3114, loss_traj: 0.4692, loss_traj_cls: 0.0020, loss_map_cls: 0.1220, loss_map_pts: 0.5853, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.4456, d0.loss_plan_l1_fix_dist: 0.5977, d1.loss_plan_l1_fix_time: 0.7968, d1.loss_plan_l1_fix_dist: 0.3587, d2.loss_plan_l1_fix_time: 0.7921, d2.loss_plan_l1_fix_dist: 0.2672, d3.loss_plan_l1_fix_time: 0.7912, d3.loss_plan_l1_fix_dist: 0.3138, d4.loss_plan_l1_fix_time: 0.7944, d4.loss_plan_l1_fix_dist: 0.2393, d5.loss_plan_l1_fix_time: 0.7984, d5.loss_plan_l1_fix_dist: 0.2757, d6.loss_plan_l1_fix_time: 0.8021, d6.loss_plan_l1_fix_dist: 0.2586, d0.loss_cls_all: 0.1632, d0.loss_bbox_all: 0.3778, d0.loss_cls: 0.1632, d0.loss_bbox: 0.3778, d1.loss_cls: 0.1591, d1.loss_bbox: 0.3448, d2.loss_cls: 0.1431, d2.loss_bbox: 0.3231, d3.loss_cls: 0.1273, d3.loss_bbox: 0.3164, d4.loss_cls: 0.1226, d4.loss_bbox: 0.3124, d5.loss_cls: 0.1206, d5.loss_bbox: 0.3105, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6845, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5296, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4925, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4768, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4721, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4693, d0.loss_map_cls_all: 0.1957, d0.loss_map_pts_all: 1.1365, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1957, d0.loss_map_pts: 1.1365, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1617, d1.loss_map_pts: 0.8181, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1427, d2.loss_map_pts: 0.6684, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1308, d3.loss_map_pts: 0.6107, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1276, d4.loss_map_pts: 0.5889, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1237, d5.loss_map_pts: 0.5860, d5.loss_map_dir: 0.0072, loss: 24.3126, grad_norm: 136.5861 +2026-02-28 08:41:10,846 - DriveTransformer - INFO - Epoch [9][29700/39528] lr: 7.525e-05, eta: 5 days, 2:19:40, time: 0.700, data_time: 0.039, memory: 19865, loss_cls: 0.1095, loss_bbox: 0.3111, loss_traj: 0.5160, loss_traj_cls: 0.0020, loss_map_cls: 0.1091, loss_map_pts: 0.4954, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.5131, d0.loss_plan_l1_fix_dist: 0.5094, d1.loss_plan_l1_fix_time: 0.9286, d1.loss_plan_l1_fix_dist: 0.3645, d2.loss_plan_l1_fix_time: 0.9201, d2.loss_plan_l1_fix_dist: 0.2779, d3.loss_plan_l1_fix_time: 0.9186, d3.loss_plan_l1_fix_dist: 0.3190, d4.loss_plan_l1_fix_time: 0.9206, d4.loss_plan_l1_fix_dist: 0.2695, d5.loss_plan_l1_fix_time: 0.9232, d5.loss_plan_l1_fix_dist: 0.3030, d6.loss_plan_l1_fix_time: 0.9265, d6.loss_plan_l1_fix_dist: 0.2714, d0.loss_cls_all: 0.1570, d0.loss_bbox_all: 0.3706, d0.loss_cls: 0.1570, d0.loss_bbox: 0.3706, d1.loss_cls: 0.1543, d1.loss_bbox: 0.3328, d2.loss_cls: 0.1379, d2.loss_bbox: 0.3172, d3.loss_cls: 0.1214, d3.loss_bbox: 0.3113, d4.loss_cls: 0.1135, d4.loss_bbox: 0.3098, d5.loss_cls: 0.1099, d5.loss_bbox: 0.3107, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7284, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5915, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5464, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5299, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5235, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5182, d0.loss_map_cls_all: 0.1789, d0.loss_map_pts_all: 1.0242, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1789, d0.loss_map_pts: 1.0242, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1535, d1.loss_map_pts: 0.7418, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1320, d2.loss_map_pts: 0.5910, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1203, d3.loss_map_pts: 0.5227, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1138, d4.loss_map_pts: 0.5025, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1115, d5.loss_map_pts: 0.4959, d5.loss_map_dir: 0.0056, loss: 24.5601, grad_norm: 136.7119 +2026-02-28 08:41:47,653 - DriveTransformer - INFO - Epoch [9][29750/39528] lr: 7.525e-05, eta: 5 days, 2:19:05, time: 0.736, data_time: 0.038, memory: 19865, loss_cls: 0.1247, loss_bbox: 0.3221, loss_traj: 0.5108, loss_traj_cls: 0.0020, loss_map_cls: 0.1031, loss_map_pts: 0.6117, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.5854, d0.loss_plan_l1_fix_dist: 0.4732, d1.loss_plan_l1_fix_time: 0.8890, d1.loss_plan_l1_fix_dist: 0.3457, d2.loss_plan_l1_fix_time: 0.8704, d2.loss_plan_l1_fix_dist: 0.2956, d3.loss_plan_l1_fix_time: 0.8758, d3.loss_plan_l1_fix_dist: 0.3104, d4.loss_plan_l1_fix_time: 0.8810, d4.loss_plan_l1_fix_dist: 0.2882, d5.loss_plan_l1_fix_time: 0.8872, d5.loss_plan_l1_fix_dist: 0.2588, d6.loss_plan_l1_fix_time: 0.8928, d6.loss_plan_l1_fix_dist: 0.2605, d0.loss_cls_all: 0.1686, d0.loss_bbox_all: 0.3738, d0.loss_cls: 0.1686, d0.loss_bbox: 0.3738, d1.loss_cls: 0.1598, d1.loss_bbox: 0.3476, d2.loss_cls: 0.1466, d2.loss_bbox: 0.3298, d3.loss_cls: 0.1308, d3.loss_bbox: 0.3277, d4.loss_cls: 0.1249, d4.loss_bbox: 0.3240, d5.loss_cls: 0.1234, d5.loss_bbox: 0.3235, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7101, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5766, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5299, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5229, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5146, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5114, d0.loss_map_cls_all: 0.1767, d0.loss_map_pts_all: 1.1813, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1767, d0.loss_map_pts: 1.1813, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1481, d1.loss_map_pts: 0.8378, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1265, d2.loss_map_pts: 0.6907, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1162, d3.loss_map_pts: 0.6363, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1099, d4.loss_map_pts: 0.6157, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1062, d5.loss_map_pts: 0.6115, d5.loss_map_dir: 0.0075, loss: 25.3559, grad_norm: 136.6073 +2026-02-28 08:42:24,785 - DriveTransformer - INFO - Epoch [9][29800/39528] lr: 7.525e-05, eta: 5 days, 2:18:32, time: 0.743, data_time: 0.040, memory: 19865, loss_cls: 0.1234, loss_bbox: 0.3271, loss_traj: 0.5413, loss_traj_cls: 0.0020, loss_map_cls: 0.1192, loss_map_pts: 0.5588, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.3151, d0.loss_plan_l1_fix_dist: 0.4544, d1.loss_plan_l1_fix_time: 0.9346, d1.loss_plan_l1_fix_dist: 0.3361, d2.loss_plan_l1_fix_time: 0.9153, d2.loss_plan_l1_fix_dist: 0.3115, d3.loss_plan_l1_fix_time: 0.9035, d3.loss_plan_l1_fix_dist: 0.2743, d4.loss_plan_l1_fix_time: 0.9076, d4.loss_plan_l1_fix_dist: 0.3239, d5.loss_plan_l1_fix_time: 0.9137, d5.loss_plan_l1_fix_dist: 0.2625, d6.loss_plan_l1_fix_time: 0.9196, d6.loss_plan_l1_fix_dist: 0.3051, d0.loss_cls_all: 0.1778, d0.loss_bbox_all: 0.3836, d0.loss_cls: 0.1778, d0.loss_bbox: 0.3836, d1.loss_cls: 0.1700, d1.loss_bbox: 0.3533, d2.loss_cls: 0.1516, d2.loss_bbox: 0.3350, d3.loss_cls: 0.1296, d3.loss_bbox: 0.3315, d4.loss_cls: 0.1243, d4.loss_bbox: 0.3291, d5.loss_cls: 0.1232, d5.loss_bbox: 0.3273, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7612, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6069, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5622, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5507, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5438, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5404, d0.loss_map_cls_all: 0.1914, d0.loss_map_pts_all: 1.0971, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1914, d0.loss_map_pts: 1.0971, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1626, d1.loss_map_pts: 0.7842, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1427, d2.loss_map_pts: 0.6323, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1314, d3.loss_map_pts: 0.5798, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1258, d4.loss_map_pts: 0.5636, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1202, d5.loss_map_pts: 0.5583, d5.loss_map_dir: 0.0064, loss: 25.2444, grad_norm: 138.2505 +2026-02-28 08:42:59,963 - DriveTransformer - INFO - Epoch [9][29850/39528] lr: 7.525e-05, eta: 5 days, 2:17:48, time: 0.704, data_time: 0.037, memory: 19865, loss_cls: 0.1084, loss_bbox: 0.3153, loss_traj: 0.5400, loss_traj_cls: 0.0021, loss_map_cls: 0.1066, loss_map_pts: 0.5467, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.6068, d0.loss_plan_l1_fix_dist: 0.5964, d1.loss_plan_l1_fix_time: 0.7506, d1.loss_plan_l1_fix_dist: 0.3360, d2.loss_plan_l1_fix_time: 0.7321, d2.loss_plan_l1_fix_dist: 0.3541, d3.loss_plan_l1_fix_time: 0.7371, d3.loss_plan_l1_fix_dist: 0.2551, d4.loss_plan_l1_fix_time: 0.7436, d4.loss_plan_l1_fix_dist: 0.3601, d5.loss_plan_l1_fix_time: 0.7513, d5.loss_plan_l1_fix_dist: 0.2893, d6.loss_plan_l1_fix_time: 0.7585, d6.loss_plan_l1_fix_dist: 0.3146, d0.loss_cls_all: 0.1520, d0.loss_bbox_all: 0.3587, d0.loss_cls: 0.1520, d0.loss_bbox: 0.3587, d1.loss_cls: 0.1428, d1.loss_bbox: 0.3324, d2.loss_cls: 0.1304, d2.loss_bbox: 0.3143, d3.loss_cls: 0.1127, d3.loss_bbox: 0.3150, d4.loss_cls: 0.1102, d4.loss_bbox: 0.3128, d5.loss_cls: 0.1086, d5.loss_bbox: 0.3130, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7399, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6106, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5640, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5512, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5410, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5417, d0.loss_map_cls_all: 0.1882, d0.loss_map_pts_all: 1.0910, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1882, d0.loss_map_pts: 1.0910, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1526, d1.loss_map_pts: 0.7756, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1299, d2.loss_map_pts: 0.6156, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1197, d3.loss_map_pts: 0.5673, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1129, d4.loss_map_pts: 0.5498, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1087, d5.loss_map_pts: 0.5458, d5.loss_map_dir: 0.0077, loss: 24.2679, grad_norm: 137.9963 +2026-02-28 08:43:38,589 - DriveTransformer - INFO - Epoch [9][29900/39528] lr: 7.525e-05, eta: 5 days, 2:17:23, time: 0.773, data_time: 0.036, memory: 19865, loss_cls: 0.1290, loss_bbox: 0.3294, loss_traj: 0.4988, loss_traj_cls: 0.0020, loss_map_cls: 0.1187, loss_map_pts: 0.6050, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.5950, d0.loss_plan_l1_fix_dist: 0.5343, d1.loss_plan_l1_fix_time: 0.9148, d1.loss_plan_l1_fix_dist: 0.3495, d2.loss_plan_l1_fix_time: 0.8967, d2.loss_plan_l1_fix_dist: 0.3873, d3.loss_plan_l1_fix_time: 0.8965, d3.loss_plan_l1_fix_dist: 0.2865, d4.loss_plan_l1_fix_time: 0.8992, d4.loss_plan_l1_fix_dist: 0.3725, d5.loss_plan_l1_fix_time: 0.9028, d5.loss_plan_l1_fix_dist: 0.3039, d6.loss_plan_l1_fix_time: 0.9069, d6.loss_plan_l1_fix_dist: 0.3037, d0.loss_cls_all: 0.1810, d0.loss_bbox_all: 0.3916, d0.loss_cls: 0.1810, d0.loss_bbox: 0.3916, d1.loss_cls: 0.1733, d1.loss_bbox: 0.3583, d2.loss_cls: 0.1547, d2.loss_bbox: 0.3403, d3.loss_cls: 0.1369, d3.loss_bbox: 0.3341, d4.loss_cls: 0.1306, d4.loss_bbox: 0.3301, d5.loss_cls: 0.1288, d5.loss_bbox: 0.3288, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6770, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5603, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5198, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5108, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5057, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5018, d0.loss_map_cls_all: 0.2061, d0.loss_map_pts_all: 1.2225, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2061, d0.loss_map_pts: 1.2225, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1673, d1.loss_map_pts: 0.8369, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1446, d2.loss_map_pts: 0.6774, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1319, d3.loss_map_pts: 0.6284, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1251, d4.loss_map_pts: 0.6089, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1203, d5.loss_map_pts: 0.6045, d5.loss_map_dir: 0.0081, loss: 26.0407, grad_norm: 139.7167 +2026-02-28 08:44:14,048 - DriveTransformer - INFO - Epoch [9][29950/39528] lr: 7.525e-05, eta: 5 days, 2:16:41, time: 0.709, data_time: 0.037, memory: 19865, loss_cls: 0.1149, loss_bbox: 0.3289, loss_traj: 0.5806, loss_traj_cls: 0.0020, loss_map_cls: 0.1412, loss_map_pts: 0.6183, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.6835, d0.loss_plan_l1_fix_dist: 0.5012, d1.loss_plan_l1_fix_time: 0.9080, d1.loss_plan_l1_fix_dist: 0.2849, d2.loss_plan_l1_fix_time: 0.8954, d2.loss_plan_l1_fix_dist: 0.3437, d3.loss_plan_l1_fix_time: 0.8950, d3.loss_plan_l1_fix_dist: 0.2524, d4.loss_plan_l1_fix_time: 0.8966, d4.loss_plan_l1_fix_dist: 0.3305, d5.loss_plan_l1_fix_time: 0.8986, d5.loss_plan_l1_fix_dist: 0.2981, d6.loss_plan_l1_fix_time: 0.9012, d6.loss_plan_l1_fix_dist: 0.2442, d0.loss_cls_all: 0.1618, d0.loss_bbox_all: 0.3904, d0.loss_cls: 0.1618, d0.loss_bbox: 0.3904, d1.loss_cls: 0.1578, d1.loss_bbox: 0.3530, d2.loss_cls: 0.1390, d2.loss_bbox: 0.3326, d3.loss_cls: 0.1244, d3.loss_bbox: 0.3289, d4.loss_cls: 0.1183, d4.loss_bbox: 0.3275, d5.loss_cls: 0.1164, d5.loss_bbox: 0.3261, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8383, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6647, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5998, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5861, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5819, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5811, d0.loss_map_cls_all: 0.2244, d0.loss_map_pts_all: 1.2165, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2244, d0.loss_map_pts: 1.2165, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1932, d1.loss_map_pts: 0.8756, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1712, d2.loss_map_pts: 0.7065, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1577, d3.loss_map_pts: 0.6527, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1508, d4.loss_map_pts: 0.6266, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1438, d5.loss_map_pts: 0.6193, d5.loss_map_dir: 0.0080, loss: 26.6451, grad_norm: 134.1199 +2026-02-28 08:44:51,193 - DriveTransformer - INFO - Epoch [9][30000/39528] lr: 7.525e-05, eta: 5 days, 2:16:08, time: 0.743, data_time: 0.038, memory: 19865, loss_cls: 0.1353, loss_bbox: 0.3326, loss_traj: 0.5479, loss_traj_cls: 0.0020, loss_map_cls: 0.1430, loss_map_pts: 0.6547, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.6758, d0.loss_plan_l1_fix_dist: 0.5546, d1.loss_plan_l1_fix_time: 0.8663, d1.loss_plan_l1_fix_dist: 0.2673, d2.loss_plan_l1_fix_time: 0.8573, d2.loss_plan_l1_fix_dist: 0.3465, d3.loss_plan_l1_fix_time: 0.8456, d3.loss_plan_l1_fix_dist: 0.3201, d4.loss_plan_l1_fix_time: 0.8483, d4.loss_plan_l1_fix_dist: 0.3240, d5.loss_plan_l1_fix_time: 0.8517, d5.loss_plan_l1_fix_dist: 0.3411, d6.loss_plan_l1_fix_time: 0.8548, d6.loss_plan_l1_fix_dist: 0.2783, d0.loss_cls_all: 0.1841, d0.loss_bbox_all: 0.3958, d0.loss_cls: 0.1841, d0.loss_bbox: 0.3958, d1.loss_cls: 0.1739, d1.loss_bbox: 0.3615, d2.loss_cls: 0.1616, d2.loss_bbox: 0.3394, d3.loss_cls: 0.1415, d3.loss_bbox: 0.3335, d4.loss_cls: 0.1360, d4.loss_bbox: 0.3308, d5.loss_cls: 0.1338, d5.loss_bbox: 0.3316, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7992, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6327, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5737, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5504, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5470, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5444, d0.loss_map_cls_all: 0.2234, d0.loss_map_pts_all: 1.2935, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2234, d0.loss_map_pts: 1.2935, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1881, d1.loss_map_pts: 0.9473, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1673, d2.loss_map_pts: 0.7526, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1556, d3.loss_map_pts: 0.6832, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1501, d4.loss_map_pts: 0.6610, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1443, d5.loss_map_pts: 0.6545, d5.loss_map_dir: 0.0076, loss: 26.8970, grad_norm: 134.4871 +2026-02-28 08:45:27,725 - DriveTransformer - INFO - Epoch [9][30050/39528] lr: 7.525e-05, eta: 5 days, 2:15:31, time: 0.731, data_time: 0.038, memory: 19865, loss_cls: 0.1170, loss_bbox: 0.3150, loss_traj: 0.5322, loss_traj_cls: 0.0021, loss_map_cls: 0.1393, loss_map_pts: 0.6254, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.7057, d0.loss_plan_l1_fix_dist: 0.5594, d1.loss_plan_l1_fix_time: 0.8848, d1.loss_plan_l1_fix_dist: 0.2185, d2.loss_plan_l1_fix_time: 0.8646, d2.loss_plan_l1_fix_dist: 0.3194, d3.loss_plan_l1_fix_time: 0.8550, d3.loss_plan_l1_fix_dist: 0.3677, d4.loss_plan_l1_fix_time: 0.8550, d4.loss_plan_l1_fix_dist: 0.2825, d5.loss_plan_l1_fix_time: 0.8574, d5.loss_plan_l1_fix_dist: 0.2953, d6.loss_plan_l1_fix_time: 0.8605, d6.loss_plan_l1_fix_dist: 0.2559, d0.loss_cls_all: 0.1674, d0.loss_bbox_all: 0.3760, d0.loss_cls: 0.1674, d0.loss_bbox: 0.3760, d1.loss_cls: 0.1564, d1.loss_bbox: 0.3421, d2.loss_cls: 0.1469, d2.loss_bbox: 0.3209, d3.loss_cls: 0.1285, d3.loss_bbox: 0.3159, d4.loss_cls: 0.1202, d4.loss_bbox: 0.3148, d5.loss_cls: 0.1175, d5.loss_bbox: 0.3140, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7545, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5880, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5501, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5375, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5342, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5301, d0.loss_map_cls_all: 0.2242, d0.loss_map_pts_all: 1.2265, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2242, d0.loss_map_pts: 1.2265, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1889, d1.loss_map_pts: 0.8807, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1651, d2.loss_map_pts: 0.7047, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1522, d3.loss_map_pts: 0.6505, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1483, d4.loss_map_pts: 0.6302, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1435, d5.loss_map_pts: 0.6244, d5.loss_map_dir: 0.0081, loss: 26.0287, grad_norm: 133.7810 +2026-02-28 08:46:04,826 - DriveTransformer - INFO - Epoch [9][30100/39528] lr: 7.525e-05, eta: 5 days, 2:14:58, time: 0.742, data_time: 0.035, memory: 19865, loss_cls: 0.1524, loss_bbox: 0.3511, loss_traj: 0.5900, loss_traj_cls: 0.0021, loss_map_cls: 0.1200, loss_map_pts: 0.6293, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 3.1130, d0.loss_plan_l1_fix_dist: 0.4583, d1.loss_plan_l1_fix_time: 0.9261, d1.loss_plan_l1_fix_dist: 0.2019, d2.loss_plan_l1_fix_time: 0.9201, d2.loss_plan_l1_fix_dist: 0.2945, d3.loss_plan_l1_fix_time: 0.9150, d3.loss_plan_l1_fix_dist: 0.4319, d4.loss_plan_l1_fix_time: 0.9161, d4.loss_plan_l1_fix_dist: 0.3000, d5.loss_plan_l1_fix_time: 0.9185, d5.loss_plan_l1_fix_dist: 0.2742, d6.loss_plan_l1_fix_time: 0.9220, d6.loss_plan_l1_fix_dist: 0.2624, d0.loss_cls_all: 0.2020, d0.loss_bbox_all: 0.4156, d0.loss_cls: 0.2020, d0.loss_bbox: 0.4156, d1.loss_cls: 0.1960, d1.loss_bbox: 0.3777, d2.loss_cls: 0.1796, d2.loss_bbox: 0.3595, d3.loss_cls: 0.1602, d3.loss_bbox: 0.3553, d4.loss_cls: 0.1542, d4.loss_bbox: 0.3520, d5.loss_cls: 0.1513, d5.loss_bbox: 0.3511, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8164, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6647, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6152, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5957, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5907, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5879, d0.loss_map_cls_all: 0.1999, d0.loss_map_pts_all: 1.2632, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1999, d0.loss_map_pts: 1.2632, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1650, d1.loss_map_pts: 0.9150, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1443, d2.loss_map_pts: 0.7344, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1362, d3.loss_map_pts: 0.6670, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1284, d4.loss_map_pts: 0.6389, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1214, d5.loss_map_pts: 0.6323, d5.loss_map_dir: 0.0080, loss: 27.7184, grad_norm: 132.0227 +2026-02-28 08:46:41,999 - DriveTransformer - INFO - Epoch [9][30150/39528] lr: 7.525e-05, eta: 5 days, 2:14:25, time: 0.743, data_time: 0.038, memory: 19865, loss_cls: 0.1097, loss_bbox: 0.3042, loss_traj: 0.5323, loss_traj_cls: 0.0021, loss_map_cls: 0.1272, loss_map_pts: 0.6021, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.5642, d0.loss_plan_l1_fix_dist: 0.5432, d1.loss_plan_l1_fix_time: 0.9946, d1.loss_plan_l1_fix_dist: 0.2393, d2.loss_plan_l1_fix_time: 0.9715, d2.loss_plan_l1_fix_dist: 0.3055, d3.loss_plan_l1_fix_time: 0.9699, d3.loss_plan_l1_fix_dist: 0.4543, d4.loss_plan_l1_fix_time: 0.9735, d4.loss_plan_l1_fix_dist: 0.3789, d5.loss_plan_l1_fix_time: 0.9761, d5.loss_plan_l1_fix_dist: 0.3151, d6.loss_plan_l1_fix_time: 0.9795, d6.loss_plan_l1_fix_dist: 0.2907, d0.loss_cls_all: 0.1594, d0.loss_bbox_all: 0.3668, d0.loss_cls: 0.1594, d0.loss_bbox: 0.3668, d1.loss_cls: 0.1489, d1.loss_bbox: 0.3340, d2.loss_cls: 0.1341, d2.loss_bbox: 0.3144, d3.loss_cls: 0.1168, d3.loss_bbox: 0.3065, d4.loss_cls: 0.1120, d4.loss_bbox: 0.3046, d5.loss_cls: 0.1097, d5.loss_bbox: 0.3032, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8073, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6074, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5538, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5351, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5357, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5321, d0.loss_map_cls_all: 0.2202, d0.loss_map_pts_all: 1.2417, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2202, d0.loss_map_pts: 1.2417, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1770, d1.loss_map_pts: 0.8922, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1504, d2.loss_map_pts: 0.7046, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1395, d3.loss_map_pts: 0.6368, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1340, d4.loss_map_pts: 0.6123, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1306, d5.loss_map_pts: 0.6026, d5.loss_map_dir: 0.0081, loss: 26.6139, grad_norm: 131.4496 +2026-02-28 08:47:15,921 - DriveTransformer - INFO - Epoch [9][30200/39528] lr: 7.525e-05, eta: 5 days, 2:13:34, time: 0.678, data_time: 0.036, memory: 19865, loss_cls: 0.1261, loss_bbox: 0.3154, loss_traj: 0.6043, loss_traj_cls: 0.0021, loss_map_cls: 0.1402, loss_map_pts: 0.5627, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 3.0980, d0.loss_plan_l1_fix_dist: 0.4241, d1.loss_plan_l1_fix_time: 1.0028, d1.loss_plan_l1_fix_dist: 0.2263, d2.loss_plan_l1_fix_time: 0.9862, d2.loss_plan_l1_fix_dist: 0.3094, d3.loss_plan_l1_fix_time: 0.9763, d3.loss_plan_l1_fix_dist: 0.4048, d4.loss_plan_l1_fix_time: 0.9767, d4.loss_plan_l1_fix_dist: 0.3981, d5.loss_plan_l1_fix_time: 0.9780, d5.loss_plan_l1_fix_dist: 0.2901, d6.loss_plan_l1_fix_time: 0.9801, d6.loss_plan_l1_fix_dist: 0.2584, d0.loss_cls_all: 0.1725, d0.loss_bbox_all: 0.3819, d0.loss_cls: 0.1725, d0.loss_bbox: 0.3819, d1.loss_cls: 0.1672, d1.loss_bbox: 0.3426, d2.loss_cls: 0.1519, d2.loss_bbox: 0.3231, d3.loss_cls: 0.1343, d3.loss_bbox: 0.3182, d4.loss_cls: 0.1295, d4.loss_bbox: 0.3152, d5.loss_cls: 0.1271, d5.loss_bbox: 0.3154, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8242, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6836, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6340, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6203, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6106, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6066, d0.loss_map_cls_all: 0.2365, d0.loss_map_pts_all: 1.0868, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.2365, d0.loss_map_pts: 1.0868, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1947, d1.loss_map_pts: 0.8116, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1664, d2.loss_map_pts: 0.6530, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1532, d3.loss_map_pts: 0.5902, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1458, d4.loss_map_pts: 0.5686, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1412, d5.loss_map_pts: 0.5636, d5.loss_map_dir: 0.0059, loss: 27.1580, grad_norm: 130.0140 +2026-02-28 08:47:53,766 - DriveTransformer - INFO - Epoch [9][30250/39528] lr: 7.525e-05, eta: 5 days, 2:13:04, time: 0.757, data_time: 0.036, memory: 19865, loss_cls: 0.1176, loss_bbox: 0.3324, loss_traj: 0.5912, loss_traj_cls: 0.0021, loss_map_cls: 0.1419, loss_map_pts: 0.6691, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 3.1016, d0.loss_plan_l1_fix_dist: 0.3967, d1.loss_plan_l1_fix_time: 0.9250, d1.loss_plan_l1_fix_dist: 0.2453, d2.loss_plan_l1_fix_time: 0.9030, d2.loss_plan_l1_fix_dist: 0.3510, d3.loss_plan_l1_fix_time: 0.9098, d3.loss_plan_l1_fix_dist: 0.3781, d4.loss_plan_l1_fix_time: 0.9110, d4.loss_plan_l1_fix_dist: 0.3679, d5.loss_plan_l1_fix_time: 0.9131, d5.loss_plan_l1_fix_dist: 0.3008, d6.loss_plan_l1_fix_time: 0.9158, d6.loss_plan_l1_fix_dist: 0.2787, d0.loss_cls_all: 0.1686, d0.loss_bbox_all: 0.3995, d0.loss_cls: 0.1686, d0.loss_bbox: 0.3995, d1.loss_cls: 0.1672, d1.loss_bbox: 0.3576, d2.loss_cls: 0.1488, d2.loss_bbox: 0.3368, d3.loss_cls: 0.1317, d3.loss_bbox: 0.3295, d4.loss_cls: 0.1201, d4.loss_bbox: 0.3313, d5.loss_cls: 0.1177, d5.loss_bbox: 0.3313, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8784, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6843, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6254, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5992, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5879, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5903, d0.loss_map_cls_all: 0.2277, d0.loss_map_pts_all: 1.3137, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2277, d0.loss_map_pts: 1.3137, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1920, d1.loss_map_pts: 0.9456, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1679, d2.loss_map_pts: 0.7624, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1559, d3.loss_map_pts: 0.6991, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1484, d4.loss_map_pts: 0.6773, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1429, d5.loss_map_pts: 0.6701, d5.loss_map_dir: 0.0085, loss: 27.9416, grad_norm: 129.9812 +2026-02-28 08:48:28,787 - DriveTransformer - INFO - Epoch [9][30300/39528] lr: 7.525e-05, eta: 5 days, 2:12:20, time: 0.700, data_time: 0.040, memory: 19865, loss_cls: 0.0995, loss_bbox: 0.2922, loss_traj: 0.5735, loss_traj_cls: 0.0022, loss_map_cls: 0.0964, loss_map_pts: 0.4384, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.2849, d0.loss_plan_l1_fix_dist: 0.5614, d1.loss_plan_l1_fix_time: 0.8083, d1.loss_plan_l1_fix_dist: 0.2629, d2.loss_plan_l1_fix_time: 0.7873, d2.loss_plan_l1_fix_dist: 0.3908, d3.loss_plan_l1_fix_time: 0.7842, d3.loss_plan_l1_fix_dist: 0.3620, d4.loss_plan_l1_fix_time: 0.7867, d4.loss_plan_l1_fix_dist: 0.2834, d5.loss_plan_l1_fix_time: 0.7895, d5.loss_plan_l1_fix_dist: 0.2757, d6.loss_plan_l1_fix_time: 0.7937, d6.loss_plan_l1_fix_dist: 0.2639, d0.loss_cls_all: 0.1319, d0.loss_bbox_all: 0.3524, d0.loss_cls: 0.1319, d0.loss_bbox: 0.3524, d1.loss_cls: 0.1255, d1.loss_bbox: 0.3203, d2.loss_cls: 0.1173, d2.loss_bbox: 0.3011, d3.loss_cls: 0.1056, d3.loss_bbox: 0.2935, d4.loss_cls: 0.1008, d4.loss_bbox: 0.2930, d5.loss_cls: 0.0992, d5.loss_bbox: 0.2920, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9016, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6717, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5997, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5791, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5748, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5696, d0.loss_map_cls_all: 0.1739, d0.loss_map_pts_all: 0.8956, d0.loss_map_dir_all: 0.0049, d0.loss_map_cls: 0.1739, d0.loss_map_pts: 0.8956, d0.loss_map_dir: 0.0049, d1.loss_map_cls: 0.1370, d1.loss_map_pts: 0.6362, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.1173, d2.loss_map_pts: 0.5101, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.1051, d3.loss_map_pts: 0.4610, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.1009, d4.loss_map_pts: 0.4449, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0975, d5.loss_map_pts: 0.4392, d5.loss_map_dir: 0.0048, loss: 23.0809, grad_norm: 130.1647 +2026-02-28 08:49:05,172 - DriveTransformer - INFO - Epoch [9][30350/39528] lr: 7.525e-05, eta: 5 days, 2:11:42, time: 0.728, data_time: 0.039, memory: 19865, loss_cls: 0.1062, loss_bbox: 0.2861, loss_traj: 0.5797, loss_traj_cls: 0.0022, loss_map_cls: 0.1175, loss_map_pts: 0.5461, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.6201, d0.loss_plan_l1_fix_dist: 0.3549, d1.loss_plan_l1_fix_time: 0.9559, d1.loss_plan_l1_fix_dist: 0.2623, d2.loss_plan_l1_fix_time: 0.9415, d2.loss_plan_l1_fix_dist: 0.4066, d3.loss_plan_l1_fix_time: 0.9408, d3.loss_plan_l1_fix_dist: 0.3661, d4.loss_plan_l1_fix_time: 0.9435, d4.loss_plan_l1_fix_dist: 0.2606, d5.loss_plan_l1_fix_time: 0.9475, d5.loss_plan_l1_fix_dist: 0.2410, d6.loss_plan_l1_fix_time: 0.9511, d6.loss_plan_l1_fix_dist: 0.2647, d0.loss_cls_all: 0.1487, d0.loss_bbox_all: 0.3512, d0.loss_cls: 0.1487, d0.loss_bbox: 0.3512, d1.loss_cls: 0.1431, d1.loss_bbox: 0.3119, d2.loss_cls: 0.1298, d2.loss_bbox: 0.2944, d3.loss_cls: 0.1135, d3.loss_bbox: 0.2877, d4.loss_cls: 0.1085, d4.loss_bbox: 0.2856, d5.loss_cls: 0.1056, d5.loss_bbox: 0.2859, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8596, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6786, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6107, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5926, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5836, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5784, d0.loss_map_cls_all: 0.1932, d0.loss_map_pts_all: 1.1555, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1932, d0.loss_map_pts: 1.1555, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1604, d1.loss_map_pts: 0.8123, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1389, d2.loss_map_pts: 0.6478, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1265, d3.loss_map_pts: 0.5828, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1231, d4.loss_map_pts: 0.5557, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1191, d5.loss_map_pts: 0.5473, d5.loss_map_dir: 0.0066, loss: 25.6305, grad_norm: 132.7729 +2026-02-28 08:49:41,210 - DriveTransformer - INFO - Epoch [9][30400/39528] lr: 7.525e-05, eta: 5 days, 2:11:03, time: 0.722, data_time: 0.037, memory: 19865, loss_cls: 0.1221, loss_bbox: 0.3177, loss_traj: 0.4694, loss_traj_cls: 0.0021, loss_map_cls: 0.1305, loss_map_pts: 0.6072, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.8205, d0.loss_plan_l1_fix_dist: 0.5022, d1.loss_plan_l1_fix_time: 0.8520, d1.loss_plan_l1_fix_dist: 0.2806, d2.loss_plan_l1_fix_time: 0.8350, d2.loss_plan_l1_fix_dist: 0.4286, d3.loss_plan_l1_fix_time: 0.8337, d3.loss_plan_l1_fix_dist: 0.4546, d4.loss_plan_l1_fix_time: 0.8358, d4.loss_plan_l1_fix_dist: 0.3573, d5.loss_plan_l1_fix_time: 0.8397, d5.loss_plan_l1_fix_dist: 0.3325, d6.loss_plan_l1_fix_time: 0.8432, d6.loss_plan_l1_fix_dist: 0.3314, d0.loss_cls_all: 0.1651, d0.loss_bbox_all: 0.3884, d0.loss_cls: 0.1651, d0.loss_bbox: 0.3884, d1.loss_cls: 0.1569, d1.loss_bbox: 0.3512, d2.loss_cls: 0.1425, d2.loss_bbox: 0.3305, d3.loss_cls: 0.1298, d3.loss_bbox: 0.3217, d4.loss_cls: 0.1232, d4.loss_bbox: 0.3188, d5.loss_cls: 0.1217, d5.loss_bbox: 0.3175, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7030, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5564, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5019, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4919, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4804, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4690, d0.loss_map_cls_all: 0.2137, d0.loss_map_pts_all: 1.2139, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2137, d0.loss_map_pts: 1.2139, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1790, d1.loss_map_pts: 0.8788, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1542, d2.loss_map_pts: 0.7070, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1423, d3.loss_map_pts: 0.6418, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1379, d4.loss_map_pts: 0.6150, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1323, d5.loss_map_pts: 0.6073, d5.loss_map_dir: 0.0078, loss: 25.9345, grad_norm: 133.2583 +2026-02-28 08:50:17,928 - DriveTransformer - INFO - Epoch [9][30450/39528] lr: 7.525e-05, eta: 5 days, 2:10:28, time: 0.733, data_time: 0.035, memory: 19865, loss_cls: 0.1048, loss_bbox: 0.2966, loss_traj: 0.4425, loss_traj_cls: 0.0022, loss_map_cls: 0.1432, loss_map_pts: 0.6038, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.3583, d0.loss_plan_l1_fix_dist: 0.5595, d1.loss_plan_l1_fix_time: 0.7395, d1.loss_plan_l1_fix_dist: 0.3050, d2.loss_plan_l1_fix_time: 0.7151, d2.loss_plan_l1_fix_dist: 0.4288, d3.loss_plan_l1_fix_time: 0.7050, d3.loss_plan_l1_fix_dist: 0.4576, d4.loss_plan_l1_fix_time: 0.7070, d4.loss_plan_l1_fix_dist: 0.3995, d5.loss_plan_l1_fix_time: 0.7096, d5.loss_plan_l1_fix_dist: 0.3975, d6.loss_plan_l1_fix_time: 0.7129, d6.loss_plan_l1_fix_dist: 0.3715, d0.loss_cls_all: 0.1575, d0.loss_bbox_all: 0.3584, d0.loss_cls: 0.1575, d0.loss_bbox: 0.3584, d1.loss_cls: 0.1447, d1.loss_bbox: 0.3246, d2.loss_cls: 0.1308, d2.loss_bbox: 0.3032, d3.loss_cls: 0.1128, d3.loss_bbox: 0.2986, d4.loss_cls: 0.1067, d4.loss_bbox: 0.2953, d5.loss_cls: 0.1045, d5.loss_bbox: 0.2959, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6412, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5104, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4623, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4518, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4474, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4455, d0.loss_map_cls_all: 0.2312, d0.loss_map_pts_all: 1.2566, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2312, d0.loss_map_pts: 1.2566, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1921, d1.loss_map_pts: 0.8670, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1670, d2.loss_map_pts: 0.6975, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1526, d3.loss_map_pts: 0.6354, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1476, d4.loss_map_pts: 0.6111, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1431, d5.loss_map_pts: 0.6042, d5.loss_map_dir: 0.0077, loss: 24.5251, grad_norm: 132.4712 +2026-02-28 08:50:55,787 - DriveTransformer - INFO - Epoch [9][30500/39528] lr: 7.525e-05, eta: 5 days, 2:09:58, time: 0.757, data_time: 0.038, memory: 19865, loss_cls: 0.1049, loss_bbox: 0.2925, loss_traj: 0.4973, loss_traj_cls: 0.0022, loss_map_cls: 0.1246, loss_map_pts: 0.5549, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.9802, d0.loss_plan_l1_fix_dist: 0.5196, d1.loss_plan_l1_fix_time: 0.8865, d1.loss_plan_l1_fix_dist: 0.3236, d2.loss_plan_l1_fix_time: 0.8559, d2.loss_plan_l1_fix_dist: 0.4112, d3.loss_plan_l1_fix_time: 0.8402, d3.loss_plan_l1_fix_dist: 0.3889, d4.loss_plan_l1_fix_time: 0.8418, d4.loss_plan_l1_fix_dist: 0.3585, d5.loss_plan_l1_fix_time: 0.8441, d5.loss_plan_l1_fix_dist: 0.3597, d6.loss_plan_l1_fix_time: 0.8481, d6.loss_plan_l1_fix_dist: 0.3641, d0.loss_cls_all: 0.1491, d0.loss_bbox_all: 0.3575, d0.loss_cls: 0.1491, d0.loss_bbox: 0.3575, d1.loss_cls: 0.1416, d1.loss_bbox: 0.3203, d2.loss_cls: 0.1282, d2.loss_bbox: 0.3007, d3.loss_cls: 0.1121, d3.loss_bbox: 0.2952, d4.loss_cls: 0.1086, d4.loss_bbox: 0.2924, d5.loss_cls: 0.1057, d5.loss_bbox: 0.2923, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7291, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5834, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5239, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5079, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5020, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4972, d0.loss_map_cls_all: 0.2013, d0.loss_map_pts_all: 1.2049, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2013, d0.loss_map_pts: 1.2049, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1694, d1.loss_map_pts: 0.8330, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1477, d2.loss_map_pts: 0.6520, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1357, d3.loss_map_pts: 0.5876, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1314, d4.loss_map_pts: 0.5652, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1270, d5.loss_map_pts: 0.5565, d5.loss_map_dir: 0.0079, loss: 25.6352, grad_norm: 130.4004 +2026-02-28 08:51:33,027 - DriveTransformer - INFO - Epoch [9][30550/39528] lr: 7.525e-05, eta: 5 days, 2:09:26, time: 0.745, data_time: 0.036, memory: 19865, loss_cls: 0.1174, loss_bbox: 0.3213, loss_traj: 0.5298, loss_traj_cls: 0.0022, loss_map_cls: 0.1318, loss_map_pts: 0.6167, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.8554, d0.loss_plan_l1_fix_dist: 0.3833, d1.loss_plan_l1_fix_time: 0.8991, d1.loss_plan_l1_fix_dist: 0.3362, d2.loss_plan_l1_fix_time: 0.8773, d2.loss_plan_l1_fix_dist: 0.3949, d3.loss_plan_l1_fix_time: 0.8510, d3.loss_plan_l1_fix_dist: 0.2931, d4.loss_plan_l1_fix_time: 0.8522, d4.loss_plan_l1_fix_dist: 0.2777, d5.loss_plan_l1_fix_time: 0.8546, d5.loss_plan_l1_fix_dist: 0.2540, d6.loss_plan_l1_fix_time: 0.8574, d6.loss_plan_l1_fix_dist: 0.2769, d0.loss_cls_all: 0.1724, d0.loss_bbox_all: 0.3890, d0.loss_cls: 0.1724, d0.loss_bbox: 0.3890, d1.loss_cls: 0.1639, d1.loss_bbox: 0.3490, d2.loss_cls: 0.1456, d2.loss_bbox: 0.3294, d3.loss_cls: 0.1268, d3.loss_bbox: 0.3255, d4.loss_cls: 0.1190, d4.loss_bbox: 0.3213, d5.loss_cls: 0.1169, d5.loss_bbox: 0.3222, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7648, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6026, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5512, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5352, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5346, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5318, d0.loss_map_cls_all: 0.2252, d0.loss_map_pts_all: 1.2461, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2252, d0.loss_map_pts: 1.2461, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1887, d1.loss_map_pts: 0.8865, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1623, d2.loss_map_pts: 0.7102, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1474, d3.loss_map_pts: 0.6449, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1402, d4.loss_map_pts: 0.6212, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1347, d5.loss_map_pts: 0.6166, d5.loss_map_dir: 0.0070, loss: 26.2004, grad_norm: 130.8072 +2026-02-28 08:52:10,087 - DriveTransformer - INFO - Epoch [9][30600/39528] lr: 7.525e-05, eta: 5 days, 2:08:52, time: 0.741, data_time: 0.038, memory: 19865, loss_cls: 0.1050, loss_bbox: 0.2821, loss_traj: 0.5457, loss_traj_cls: 0.0022, loss_map_cls: 0.0981, loss_map_pts: 0.5698, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.8013, d0.loss_plan_l1_fix_dist: 0.5052, d1.loss_plan_l1_fix_time: 0.9147, d1.loss_plan_l1_fix_dist: 0.3837, d2.loss_plan_l1_fix_time: 0.9010, d2.loss_plan_l1_fix_dist: 0.4392, d3.loss_plan_l1_fix_time: 0.8946, d3.loss_plan_l1_fix_dist: 0.2828, d4.loss_plan_l1_fix_time: 0.8960, d4.loss_plan_l1_fix_dist: 0.2762, d5.loss_plan_l1_fix_time: 0.8972, d5.loss_plan_l1_fix_dist: 0.2654, d6.loss_plan_l1_fix_time: 0.8984, d6.loss_plan_l1_fix_dist: 0.2700, d0.loss_cls_all: 0.1487, d0.loss_bbox_all: 0.3398, d0.loss_cls: 0.1487, d0.loss_bbox: 0.3398, d1.loss_cls: 0.1380, d1.loss_bbox: 0.3115, d2.loss_cls: 0.1265, d2.loss_bbox: 0.2949, d3.loss_cls: 0.1114, d3.loss_bbox: 0.2877, d4.loss_cls: 0.1068, d4.loss_bbox: 0.2843, d5.loss_cls: 0.1053, d5.loss_bbox: 0.2827, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7965, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6294, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5640, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5541, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5428, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5463, d0.loss_map_cls_all: 0.1729, d0.loss_map_pts_all: 1.1503, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1729, d0.loss_map_pts: 1.1503, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1363, d1.loss_map_pts: 0.8029, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1192, d2.loss_map_pts: 0.6562, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1088, d3.loss_map_pts: 0.5977, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1026, d4.loss_map_pts: 0.5735, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.0998, d5.loss_map_pts: 0.5688, d5.loss_map_dir: 0.0071, loss: 25.3611, grad_norm: 130.5671 +2026-02-28 08:52:47,911 - DriveTransformer - INFO - Epoch [9][30650/39528] lr: 7.525e-05, eta: 5 days, 2:08:23, time: 0.756, data_time: 0.036, memory: 19865, loss_cls: 0.1152, loss_bbox: 0.3187, loss_traj: 0.4454, loss_traj_cls: 0.0022, loss_map_cls: 0.1282, loss_map_pts: 0.6571, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.4136, d0.loss_plan_l1_fix_dist: 0.4709, d1.loss_plan_l1_fix_time: 0.9305, d1.loss_plan_l1_fix_dist: 0.4128, d2.loss_plan_l1_fix_time: 0.9332, d2.loss_plan_l1_fix_dist: 0.3778, d3.loss_plan_l1_fix_time: 0.9364, d3.loss_plan_l1_fix_dist: 0.2439, d4.loss_plan_l1_fix_time: 0.9380, d4.loss_plan_l1_fix_dist: 0.2630, d5.loss_plan_l1_fix_time: 0.9410, d5.loss_plan_l1_fix_dist: 0.3017, d6.loss_plan_l1_fix_time: 0.9450, d6.loss_plan_l1_fix_dist: 0.3435, d0.loss_cls_all: 0.1662, d0.loss_bbox_all: 0.3905, d0.loss_cls: 0.1662, d0.loss_bbox: 0.3905, d1.loss_cls: 0.1574, d1.loss_bbox: 0.3561, d2.loss_cls: 0.1434, d2.loss_bbox: 0.3319, d3.loss_cls: 0.1243, d3.loss_bbox: 0.3257, d4.loss_cls: 0.1165, d4.loss_bbox: 0.3210, d5.loss_cls: 0.1142, d5.loss_bbox: 0.3201, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6914, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5285, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4710, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4531, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4488, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4466, d0.loss_map_cls_all: 0.2173, d0.loss_map_pts_all: 1.3006, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2173, d0.loss_map_pts: 1.3006, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1787, d1.loss_map_pts: 0.9182, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1541, d2.loss_map_pts: 0.7423, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1422, d3.loss_map_pts: 0.6861, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1349, d4.loss_map_pts: 0.6634, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1286, d5.loss_map_pts: 0.6577, d5.loss_map_dir: 0.0085, loss: 26.0949, grad_norm: 133.1972 +2026-02-28 08:53:23,702 - DriveTransformer - INFO - Epoch [9][30700/39528] lr: 7.525e-05, eta: 5 days, 2:07:42, time: 0.716, data_time: 0.036, memory: 19865, loss_cls: 0.1139, loss_bbox: 0.3017, loss_traj: 0.5254, loss_traj_cls: 0.0021, loss_map_cls: 0.1243, loss_map_pts: 0.6157, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.2654, d0.loss_plan_l1_fix_dist: 0.5689, d1.loss_plan_l1_fix_time: 0.7798, d1.loss_plan_l1_fix_dist: 0.4776, d2.loss_plan_l1_fix_time: 0.7723, d2.loss_plan_l1_fix_dist: 0.4348, d3.loss_plan_l1_fix_time: 0.7706, d3.loss_plan_l1_fix_dist: 0.3438, d4.loss_plan_l1_fix_time: 0.7743, d4.loss_plan_l1_fix_dist: 0.3491, d5.loss_plan_l1_fix_time: 0.7789, d5.loss_plan_l1_fix_dist: 0.3757, d6.loss_plan_l1_fix_time: 0.7853, d6.loss_plan_l1_fix_dist: 0.4078, d0.loss_cls_all: 0.1542, d0.loss_bbox_all: 0.3588, d0.loss_cls: 0.1542, d0.loss_bbox: 0.3588, d1.loss_cls: 0.1454, d1.loss_bbox: 0.3322, d2.loss_cls: 0.1346, d2.loss_bbox: 0.3090, d3.loss_cls: 0.1196, d3.loss_bbox: 0.3042, d4.loss_cls: 0.1148, d4.loss_bbox: 0.3028, d5.loss_cls: 0.1144, d5.loss_bbox: 0.3006, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7302, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5939, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5488, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5319, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5279, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5300, d0.loss_map_cls_all: 0.2025, d0.loss_map_pts_all: 1.1704, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2025, d0.loss_map_pts: 1.1704, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1692, d1.loss_map_pts: 0.8567, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1488, d2.loss_map_pts: 0.6963, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1380, d3.loss_map_pts: 0.6304, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1311, d4.loss_map_pts: 0.6148, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1256, d5.loss_map_pts: 0.6141, d5.loss_map_dir: 0.0071, loss: 25.1658, grad_norm: 137.3362 +2026-02-28 08:54:00,577 - DriveTransformer - INFO - Epoch [9][30750/39528] lr: 7.525e-05, eta: 5 days, 2:07:07, time: 0.738, data_time: 0.035, memory: 19865, loss_cls: 0.1221, loss_bbox: 0.3308, loss_traj: 0.5359, loss_traj_cls: 0.0021, loss_map_cls: 0.1245, loss_map_pts: 0.6109, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.7673, d0.loss_plan_l1_fix_dist: 0.5089, d1.loss_plan_l1_fix_time: 0.8997, d1.loss_plan_l1_fix_dist: 0.5313, d2.loss_plan_l1_fix_time: 0.8829, d2.loss_plan_l1_fix_dist: 0.4850, d3.loss_plan_l1_fix_time: 0.8766, d3.loss_plan_l1_fix_dist: 0.4114, d4.loss_plan_l1_fix_time: 0.8797, d4.loss_plan_l1_fix_dist: 0.4148, d5.loss_plan_l1_fix_time: 0.8837, d5.loss_plan_l1_fix_dist: 0.4439, d6.loss_plan_l1_fix_time: 0.8891, d6.loss_plan_l1_fix_dist: 0.4583, d0.loss_cls_all: 0.1695, d0.loss_bbox_all: 0.4012, d0.loss_cls: 0.1695, d0.loss_bbox: 0.4012, d1.loss_cls: 0.1622, d1.loss_bbox: 0.3654, d2.loss_cls: 0.1438, d2.loss_bbox: 0.3428, d3.loss_cls: 0.1253, d3.loss_bbox: 0.3348, d4.loss_cls: 0.1212, d4.loss_bbox: 0.3308, d5.loss_cls: 0.1212, d5.loss_bbox: 0.3307, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7868, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5959, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5565, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5416, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5384, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5355, d0.loss_map_cls_all: 0.2191, d0.loss_map_pts_all: 1.2045, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2191, d0.loss_map_pts: 1.2045, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1800, d1.loss_map_pts: 0.8776, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1516, d2.loss_map_pts: 0.7071, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1394, d3.loss_map_pts: 0.6414, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1311, d4.loss_map_pts: 0.6199, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1257, d5.loss_map_pts: 0.6114, d5.loss_map_dir: 0.0074, loss: 27.2285, grad_norm: 142.4706 +2026-02-28 08:54:37,613 - DriveTransformer - INFO - Epoch [9][30800/39528] lr: 7.525e-05, eta: 5 days, 2:06:34, time: 0.741, data_time: 0.038, memory: 19865, loss_cls: 0.1124, loss_bbox: 0.3144, loss_traj: 0.5034, loss_traj_cls: 0.0021, loss_map_cls: 0.1311, loss_map_pts: 0.6000, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.8043, d0.loss_plan_l1_fix_dist: 0.5078, d1.loss_plan_l1_fix_time: 0.9634, d1.loss_plan_l1_fix_dist: 0.4942, d2.loss_plan_l1_fix_time: 0.9560, d2.loss_plan_l1_fix_dist: 0.4594, d3.loss_plan_l1_fix_time: 0.9526, d3.loss_plan_l1_fix_dist: 0.3873, d4.loss_plan_l1_fix_time: 0.9568, d4.loss_plan_l1_fix_dist: 0.4106, d5.loss_plan_l1_fix_time: 0.9610, d5.loss_plan_l1_fix_dist: 0.4454, d6.loss_plan_l1_fix_time: 0.9663, d6.loss_plan_l1_fix_dist: 0.4429, d0.loss_cls_all: 0.1466, d0.loss_bbox_all: 0.3865, d0.loss_cls: 0.1466, d0.loss_bbox: 0.3865, d1.loss_cls: 0.1386, d1.loss_bbox: 0.3504, d2.loss_cls: 0.1299, d2.loss_bbox: 0.3270, d3.loss_cls: 0.1163, d3.loss_bbox: 0.3159, d4.loss_cls: 0.1123, d4.loss_bbox: 0.3141, d5.loss_cls: 0.1123, d5.loss_bbox: 0.3130, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7024, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5744, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5284, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5166, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5074, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5034, d0.loss_map_cls_all: 0.2212, d0.loss_map_pts_all: 1.1818, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2212, d0.loss_map_pts: 1.1818, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1835, d1.loss_map_pts: 0.8359, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1549, d2.loss_map_pts: 0.6803, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1438, d3.loss_map_pts: 0.6270, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1359, d4.loss_map_pts: 0.6078, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1329, d5.loss_map_pts: 0.6019, d5.loss_map_dir: 0.0080, loss: 26.9790, grad_norm: 141.0710 +2026-02-28 08:55:15,945 - DriveTransformer - INFO - Epoch [9][30850/39528] lr: 7.525e-05, eta: 5 days, 2:06:07, time: 0.767, data_time: 0.037, memory: 19865, loss_cls: 0.1034, loss_bbox: 0.2872, loss_traj: 0.4913, loss_traj_cls: 0.0021, loss_map_cls: 0.1282, loss_map_pts: 0.6667, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.8997, d0.loss_plan_l1_fix_dist: 0.4779, d1.loss_plan_l1_fix_time: 0.9323, d1.loss_plan_l1_fix_dist: 0.4536, d2.loss_plan_l1_fix_time: 0.9109, d2.loss_plan_l1_fix_dist: 0.4167, d3.loss_plan_l1_fix_time: 0.9013, d3.loss_plan_l1_fix_dist: 0.3592, d4.loss_plan_l1_fix_time: 0.9036, d4.loss_plan_l1_fix_dist: 0.3771, d5.loss_plan_l1_fix_time: 0.9076, d5.loss_plan_l1_fix_dist: 0.4086, d6.loss_plan_l1_fix_time: 0.9127, d6.loss_plan_l1_fix_dist: 0.4469, d0.loss_cls_all: 0.1469, d0.loss_bbox_all: 0.3522, d0.loss_cls: 0.1469, d0.loss_bbox: 0.3522, d1.loss_cls: 0.1383, d1.loss_bbox: 0.3196, d2.loss_cls: 0.1228, d2.loss_bbox: 0.3004, d3.loss_cls: 0.1107, d3.loss_bbox: 0.2931, d4.loss_cls: 0.1041, d4.loss_bbox: 0.2896, d5.loss_cls: 0.1043, d5.loss_bbox: 0.2873, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7152, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5650, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5194, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4961, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4909, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4888, d0.loss_map_cls_all: 0.2193, d0.loss_map_pts_all: 1.3236, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2193, d0.loss_map_pts: 1.3236, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1818, d1.loss_map_pts: 0.9347, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1571, d2.loss_map_pts: 0.7618, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1444, d3.loss_map_pts: 0.6955, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1355, d4.loss_map_pts: 0.6740, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1301, d5.loss_map_pts: 0.6672, d5.loss_map_dir: 0.0085, loss: 26.9703, grad_norm: 139.8035 +2026-02-28 08:55:52,246 - DriveTransformer - INFO - Epoch [9][30900/39528] lr: 7.525e-05, eta: 5 days, 2:05:29, time: 0.726, data_time: 0.042, memory: 19865, loss_cls: 0.1112, loss_bbox: 0.3175, loss_traj: 0.5275, loss_traj_cls: 0.0020, loss_map_cls: 0.1449, loss_map_pts: 0.6679, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.7700, d0.loss_plan_l1_fix_dist: 0.4613, d1.loss_plan_l1_fix_time: 0.8713, d1.loss_plan_l1_fix_dist: 0.4023, d2.loss_plan_l1_fix_time: 0.8564, d2.loss_plan_l1_fix_dist: 0.3431, d3.loss_plan_l1_fix_time: 0.8601, d3.loss_plan_l1_fix_dist: 0.3454, d4.loss_plan_l1_fix_time: 0.8627, d4.loss_plan_l1_fix_dist: 0.3389, d5.loss_plan_l1_fix_time: 0.8654, d5.loss_plan_l1_fix_dist: 0.3744, d6.loss_plan_l1_fix_time: 0.8688, d6.loss_plan_l1_fix_dist: 0.3808, d0.loss_cls_all: 0.1593, d0.loss_bbox_all: 0.3846, d0.loss_cls: 0.1593, d0.loss_bbox: 0.3846, d1.loss_cls: 0.1534, d1.loss_bbox: 0.3478, d2.loss_cls: 0.1390, d2.loss_bbox: 0.3271, d3.loss_cls: 0.1185, d3.loss_bbox: 0.3236, d4.loss_cls: 0.1131, d4.loss_bbox: 0.3199, d5.loss_cls: 0.1123, d5.loss_bbox: 0.3172, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7222, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5885, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5547, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5375, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5301, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5289, d0.loss_map_cls_all: 0.2267, d0.loss_map_pts_all: 1.3398, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2267, d0.loss_map_pts: 1.3398, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1969, d1.loss_map_pts: 0.9538, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1680, d2.loss_map_pts: 0.7723, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1583, d3.loss_map_pts: 0.7016, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1512, d4.loss_map_pts: 0.6776, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1460, d5.loss_map_pts: 0.6676, d5.loss_map_dir: 0.0075, loss: 26.9840, grad_norm: 139.2538 +2026-02-28 08:56:28,811 - DriveTransformer - INFO - Epoch [9][30950/39528] lr: 7.525e-05, eta: 5 days, 2:04:53, time: 0.731, data_time: 0.036, memory: 19865, loss_cls: 0.1193, loss_bbox: 0.3203, loss_traj: 0.5269, loss_traj_cls: 0.0020, loss_map_cls: 0.1023, loss_map_pts: 0.6495, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.6209, d0.loss_plan_l1_fix_dist: 0.4675, d1.loss_plan_l1_fix_time: 0.9442, d1.loss_plan_l1_fix_dist: 0.3764, d2.loss_plan_l1_fix_time: 0.9196, d2.loss_plan_l1_fix_dist: 0.3221, d3.loss_plan_l1_fix_time: 0.9151, d3.loss_plan_l1_fix_dist: 0.3383, d4.loss_plan_l1_fix_time: 0.9164, d4.loss_plan_l1_fix_dist: 0.3292, d5.loss_plan_l1_fix_time: 0.9191, d5.loss_plan_l1_fix_dist: 0.4200, d6.loss_plan_l1_fix_time: 0.9222, d6.loss_plan_l1_fix_dist: 0.4287, d0.loss_cls_all: 0.1669, d0.loss_bbox_all: 0.3884, d0.loss_cls: 0.1669, d0.loss_bbox: 0.3884, d1.loss_cls: 0.1616, d1.loss_bbox: 0.3537, d2.loss_cls: 0.1471, d2.loss_bbox: 0.3323, d3.loss_cls: 0.1285, d3.loss_bbox: 0.3253, d4.loss_cls: 0.1221, d4.loss_bbox: 0.3207, d5.loss_cls: 0.1209, d5.loss_bbox: 0.3194, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7328, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5960, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5539, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5418, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5358, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5290, d0.loss_map_cls_all: 0.1831, d0.loss_map_pts_all: 1.2143, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.1831, d0.loss_map_pts: 1.2143, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1503, d1.loss_map_pts: 0.8751, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1276, d2.loss_map_pts: 0.7249, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1148, d3.loss_map_pts: 0.6710, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1090, d4.loss_map_pts: 0.6499, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1035, d5.loss_map_pts: 0.6499, d5.loss_map_dir: 0.0085, loss: 26.5336, grad_norm: 138.9143 +2026-02-28 08:57:05,563 - DriveTransformer - INFO - Epoch [9][31000/39528] lr: 7.525e-05, eta: 5 days, 2:04:17, time: 0.735, data_time: 0.040, memory: 19865, loss_cls: 0.1162, loss_bbox: 0.3111, loss_traj: 0.5677, loss_traj_cls: 0.0020, loss_map_cls: 0.1244, loss_map_pts: 0.5506, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.8999, d0.loss_plan_l1_fix_dist: 0.4312, d1.loss_plan_l1_fix_time: 0.9770, d1.loss_plan_l1_fix_dist: 0.3202, d2.loss_plan_l1_fix_time: 0.9498, d2.loss_plan_l1_fix_dist: 0.3091, d3.loss_plan_l1_fix_time: 0.9426, d3.loss_plan_l1_fix_dist: 0.3178, d4.loss_plan_l1_fix_time: 0.9439, d4.loss_plan_l1_fix_dist: 0.3407, d5.loss_plan_l1_fix_time: 0.9478, d5.loss_plan_l1_fix_dist: 0.4251, d6.loss_plan_l1_fix_time: 0.9518, d6.loss_plan_l1_fix_dist: 0.4664, d0.loss_cls_all: 0.1559, d0.loss_bbox_all: 0.3778, d0.loss_cls: 0.1559, d0.loss_bbox: 0.3778, d1.loss_cls: 0.1496, d1.loss_bbox: 0.3434, d2.loss_cls: 0.1379, d2.loss_bbox: 0.3243, d3.loss_cls: 0.1219, d3.loss_bbox: 0.3165, d4.loss_cls: 0.1164, d4.loss_bbox: 0.3123, d5.loss_cls: 0.1150, d5.loss_bbox: 0.3122, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8275, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6505, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5849, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5682, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5655, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5646, d0.loss_map_cls_all: 0.2105, d0.loss_map_pts_all: 1.1587, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2105, d0.loss_map_pts: 1.1587, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1741, d1.loss_map_pts: 0.8053, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1514, d2.loss_map_pts: 0.6422, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1388, d3.loss_map_pts: 0.5780, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1321, d4.loss_map_pts: 0.5563, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1266, d5.loss_map_pts: 0.5511, d5.loss_map_dir: 0.0067, loss: 26.6263, grad_norm: 138.9308 +2026-02-28 08:57:42,023 - DriveTransformer - INFO - Epoch [9][31050/39528] lr: 7.525e-05, eta: 5 days, 2:03:40, time: 0.729, data_time: 0.037, memory: 19865, loss_cls: 0.1388, loss_bbox: 0.3444, loss_traj: 0.5635, loss_traj_cls: 0.0019, loss_map_cls: 0.1479, loss_map_pts: 0.7044, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.8936, d0.loss_plan_l1_fix_dist: 0.5064, d1.loss_plan_l1_fix_time: 0.9992, d1.loss_plan_l1_fix_dist: 0.2858, d2.loss_plan_l1_fix_time: 0.9846, d2.loss_plan_l1_fix_dist: 0.3245, d3.loss_plan_l1_fix_time: 0.9775, d3.loss_plan_l1_fix_dist: 0.3506, d4.loss_plan_l1_fix_time: 0.9784, d4.loss_plan_l1_fix_dist: 0.3266, d5.loss_plan_l1_fix_time: 0.9807, d5.loss_plan_l1_fix_dist: 0.3802, d6.loss_plan_l1_fix_time: 0.9831, d6.loss_plan_l1_fix_dist: 0.4419, d0.loss_cls_all: 0.1842, d0.loss_bbox_all: 0.4116, d0.loss_cls: 0.1842, d0.loss_bbox: 0.4116, d1.loss_cls: 0.1783, d1.loss_bbox: 0.3726, d2.loss_cls: 0.1653, d2.loss_bbox: 0.3499, d3.loss_cls: 0.1453, d3.loss_bbox: 0.3484, d4.loss_cls: 0.1396, d4.loss_bbox: 0.3466, d5.loss_cls: 0.1384, d5.loss_bbox: 0.3452, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7966, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6487, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5953, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5791, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5721, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5675, d0.loss_map_cls_all: 0.2277, d0.loss_map_pts_all: 1.3656, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2277, d0.loss_map_pts: 1.3656, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2043, d1.loss_map_pts: 1.0136, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1748, d2.loss_map_pts: 0.8184, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1647, d3.loss_map_pts: 0.7419, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1569, d4.loss_map_pts: 0.7118, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1494, d5.loss_map_pts: 0.7049, d5.loss_map_dir: 0.0082, loss: 28.8918, grad_norm: 141.6858 +2026-02-28 08:58:16,714 - DriveTransformer - INFO - Epoch [9][31100/39528] lr: 7.525e-05, eta: 5 days, 2:02:54, time: 0.694, data_time: 0.038, memory: 19865, loss_cls: 0.1078, loss_bbox: 0.3120, loss_traj: 0.5325, loss_traj_cls: 0.0020, loss_map_cls: 0.1452, loss_map_pts: 0.5775, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.7259, d0.loss_plan_l1_fix_dist: 0.4960, d1.loss_plan_l1_fix_time: 0.9423, d1.loss_plan_l1_fix_dist: 0.2426, d2.loss_plan_l1_fix_time: 0.9201, d2.loss_plan_l1_fix_dist: 0.3054, d3.loss_plan_l1_fix_time: 0.9197, d3.loss_plan_l1_fix_dist: 0.4402, d4.loss_plan_l1_fix_time: 0.9218, d4.loss_plan_l1_fix_dist: 0.3164, d5.loss_plan_l1_fix_time: 0.9248, d5.loss_plan_l1_fix_dist: 0.4339, d6.loss_plan_l1_fix_time: 0.9267, d6.loss_plan_l1_fix_dist: 0.4080, d0.loss_cls_all: 0.1496, d0.loss_bbox_all: 0.3686, d0.loss_cls: 0.1496, d0.loss_bbox: 0.3686, d1.loss_cls: 0.1416, d1.loss_bbox: 0.3381, d2.loss_cls: 0.1278, d2.loss_bbox: 0.3242, d3.loss_cls: 0.1136, d3.loss_bbox: 0.3151, d4.loss_cls: 0.1068, d4.loss_bbox: 0.3138, d5.loss_cls: 0.1067, d5.loss_bbox: 0.3126, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8245, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6331, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5565, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5372, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5324, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5294, d0.loss_map_cls_all: 0.2195, d0.loss_map_pts_all: 1.1209, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.2195, d0.loss_map_pts: 1.1209, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1922, d1.loss_map_pts: 0.8292, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1704, d2.loss_map_pts: 0.6760, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1602, d3.loss_map_pts: 0.6104, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1522, d4.loss_map_pts: 0.5876, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1472, d5.loss_map_pts: 0.5780, d5.loss_map_dir: 0.0058, loss: 26.2841, grad_norm: 142.1308 +2026-02-28 08:58:52,872 - DriveTransformer - INFO - Epoch [9][31150/39528] lr: 7.525e-05, eta: 5 days, 2:02:15, time: 0.723, data_time: 0.039, memory: 19865, loss_cls: 0.1181, loss_bbox: 0.3090, loss_traj: 0.5403, loss_traj_cls: 0.0020, loss_map_cls: 0.1087, loss_map_pts: 0.5359, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.7395, d0.loss_plan_l1_fix_dist: 0.5613, d1.loss_plan_l1_fix_time: 0.8160, d1.loss_plan_l1_fix_dist: 0.2331, d2.loss_plan_l1_fix_time: 0.8073, d2.loss_plan_l1_fix_dist: 0.3104, d3.loss_plan_l1_fix_time: 0.8017, d3.loss_plan_l1_fix_dist: 0.5473, d4.loss_plan_l1_fix_time: 0.8041, d4.loss_plan_l1_fix_dist: 0.3148, d5.loss_plan_l1_fix_time: 0.8066, d5.loss_plan_l1_fix_dist: 0.4612, d6.loss_plan_l1_fix_time: 0.8091, d6.loss_plan_l1_fix_dist: 0.3546, d0.loss_cls_all: 0.1654, d0.loss_bbox_all: 0.3681, d0.loss_cls: 0.1654, d0.loss_bbox: 0.3681, d1.loss_cls: 0.1622, d1.loss_bbox: 0.3369, d2.loss_cls: 0.1455, d2.loss_bbox: 0.3180, d3.loss_cls: 0.1258, d3.loss_bbox: 0.3134, d4.loss_cls: 0.1212, d4.loss_bbox: 0.3106, d5.loss_cls: 0.1195, d5.loss_bbox: 0.3081, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7022, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5845, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5543, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5468, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5356, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5374, d0.loss_map_cls_all: 0.1807, d0.loss_map_pts_all: 1.0401, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1807, d0.loss_map_pts: 1.0401, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1502, d1.loss_map_pts: 0.7493, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1313, d2.loss_map_pts: 0.6123, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1200, d3.loss_map_pts: 0.5616, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1151, d4.loss_map_pts: 0.5396, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1102, d5.loss_map_pts: 0.5365, d5.loss_map_dir: 0.0070, loss: 24.8991, grad_norm: 141.8099 +2026-02-28 08:59:28,305 - DriveTransformer - INFO - Epoch [9][31200/39528] lr: 7.525e-05, eta: 5 days, 2:01:33, time: 0.710, data_time: 0.040, memory: 19865, loss_cls: 0.1236, loss_bbox: 0.3100, loss_traj: 0.5616, loss_traj_cls: 0.0019, loss_map_cls: 0.1127, loss_map_pts: 0.5401, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.5111, d0.loss_plan_l1_fix_dist: 0.4185, d1.loss_plan_l1_fix_time: 0.8830, d1.loss_plan_l1_fix_dist: 0.2332, d2.loss_plan_l1_fix_time: 0.8617, d2.loss_plan_l1_fix_dist: 0.3370, d3.loss_plan_l1_fix_time: 0.8553, d3.loss_plan_l1_fix_dist: 0.5390, d4.loss_plan_l1_fix_time: 0.8583, d4.loss_plan_l1_fix_dist: 0.3328, d5.loss_plan_l1_fix_time: 0.8624, d5.loss_plan_l1_fix_dist: 0.4151, d6.loss_plan_l1_fix_time: 0.8668, d6.loss_plan_l1_fix_dist: 0.3566, d0.loss_cls_all: 0.1616, d0.loss_bbox_all: 0.3773, d0.loss_cls: 0.1616, d0.loss_bbox: 0.3773, d1.loss_cls: 0.1576, d1.loss_bbox: 0.3419, d2.loss_cls: 0.1480, d2.loss_bbox: 0.3219, d3.loss_cls: 0.1331, d3.loss_bbox: 0.3162, d4.loss_cls: 0.1276, d4.loss_bbox: 0.3119, d5.loss_cls: 0.1246, d5.loss_bbox: 0.3109, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7994, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6277, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5795, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5589, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5536, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5549, d0.loss_map_cls_all: 0.2066, d0.loss_map_pts_all: 1.0786, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2066, d0.loss_map_pts: 1.0786, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1652, d1.loss_map_pts: 0.7668, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1409, d2.loss_map_pts: 0.6229, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1273, d3.loss_map_pts: 0.5635, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1207, d4.loss_map_pts: 0.5455, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1143, d5.loss_map_pts: 0.5402, d5.loss_map_dir: 0.0066, loss: 25.3610, grad_norm: 149.4031 +2026-02-28 09:00:04,239 - DriveTransformer - INFO - Epoch [9][31250/39528] lr: 7.525e-05, eta: 5 days, 2:00:53, time: 0.717, data_time: 0.037, memory: 19865, loss_cls: 0.1077, loss_bbox: 0.3173, loss_traj: 0.5570, loss_traj_cls: 0.0020, loss_map_cls: 0.1002, loss_map_pts: 0.4655, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.9021, d0.loss_plan_l1_fix_dist: 0.5618, d1.loss_plan_l1_fix_time: 0.8951, d1.loss_plan_l1_fix_dist: 0.2688, d2.loss_plan_l1_fix_time: 0.8907, d2.loss_plan_l1_fix_dist: 0.4073, d3.loss_plan_l1_fix_time: 0.8789, d3.loss_plan_l1_fix_dist: 0.4798, d4.loss_plan_l1_fix_time: 0.8840, d4.loss_plan_l1_fix_dist: 0.3704, d5.loss_plan_l1_fix_time: 0.8895, d5.loss_plan_l1_fix_dist: 0.4324, d6.loss_plan_l1_fix_time: 0.8958, d6.loss_plan_l1_fix_dist: 0.4139, d0.loss_cls_all: 0.1522, d0.loss_bbox_all: 0.3700, d0.loss_cls: 0.1522, d0.loss_bbox: 0.3700, d1.loss_cls: 0.1461, d1.loss_bbox: 0.3400, d2.loss_cls: 0.1353, d2.loss_bbox: 0.3201, d3.loss_cls: 0.1158, d3.loss_bbox: 0.3182, d4.loss_cls: 0.1090, d4.loss_bbox: 0.3193, d5.loss_cls: 0.1070, d5.loss_bbox: 0.3190, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7627, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6087, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5666, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5546, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5545, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5577, d0.loss_map_cls_all: 0.1649, d0.loss_map_pts_all: 0.9500, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1649, d0.loss_map_pts: 0.9500, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1350, d1.loss_map_pts: 0.6813, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1184, d2.loss_map_pts: 0.5442, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1091, d3.loss_map_pts: 0.4928, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1058, d4.loss_map_pts: 0.4750, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1015, d5.loss_map_pts: 0.4651, d5.loss_map_dir: 0.0063, loss: 25.1107, grad_norm: 154.9574 +2026-02-28 09:00:41,302 - DriveTransformer - INFO - Epoch [9][31300/39528] lr: 7.525e-05, eta: 5 days, 2:00:19, time: 0.741, data_time: 0.037, memory: 19865, loss_cls: 0.1196, loss_bbox: 0.3619, loss_traj: 0.5663, loss_traj_cls: 0.0020, loss_map_cls: 0.1413, loss_map_pts: 0.6558, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.9303, d0.loss_plan_l1_fix_dist: 0.4488, d1.loss_plan_l1_fix_time: 0.9582, d1.loss_plan_l1_fix_dist: 0.2780, d2.loss_plan_l1_fix_time: 0.9263, d2.loss_plan_l1_fix_dist: 0.4633, d3.loss_plan_l1_fix_time: 0.9247, d3.loss_plan_l1_fix_dist: 0.3905, d4.loss_plan_l1_fix_time: 0.9282, d4.loss_plan_l1_fix_dist: 0.3048, d5.loss_plan_l1_fix_time: 0.9333, d5.loss_plan_l1_fix_dist: 0.3505, d6.loss_plan_l1_fix_time: 0.9393, d6.loss_plan_l1_fix_dist: 0.3329, d0.loss_cls_all: 0.1712, d0.loss_bbox_all: 0.4172, d0.loss_cls: 0.1712, d0.loss_bbox: 0.4172, d1.loss_cls: 0.1651, d1.loss_bbox: 0.3824, d2.loss_cls: 0.1501, d2.loss_bbox: 0.3612, d3.loss_cls: 0.1283, d3.loss_bbox: 0.3621, d4.loss_cls: 0.1207, d4.loss_bbox: 0.3611, d5.loss_cls: 0.1196, d5.loss_bbox: 0.3613, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8529, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6449, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5933, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5765, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5739, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5660, d0.loss_map_cls_all: 0.2216, d0.loss_map_pts_all: 1.2783, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2216, d0.loss_map_pts: 1.2783, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1942, d1.loss_map_pts: 0.9158, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1707, d2.loss_map_pts: 0.7379, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1565, d3.loss_map_pts: 0.6790, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1489, d4.loss_map_pts: 0.6602, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1441, d5.loss_map_pts: 0.6559, d5.loss_map_dir: 0.0082, loss: 27.9830, grad_norm: 156.3814 +2026-02-28 09:01:18,470 - DriveTransformer - INFO - Epoch [9][31350/39528] lr: 7.525e-05, eta: 5 days, 1:59:46, time: 0.743, data_time: 0.038, memory: 19865, loss_cls: 0.1007, loss_bbox: 0.3104, loss_traj: 0.5709, loss_traj_cls: 0.0020, loss_map_cls: 0.1087, loss_map_pts: 0.5458, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.9187, d0.loss_plan_l1_fix_dist: 0.4743, d1.loss_plan_l1_fix_time: 0.8740, d1.loss_plan_l1_fix_dist: 0.2730, d2.loss_plan_l1_fix_time: 0.8332, d2.loss_plan_l1_fix_dist: 0.4918, d3.loss_plan_l1_fix_time: 0.8322, d3.loss_plan_l1_fix_dist: 0.3047, d4.loss_plan_l1_fix_time: 0.8353, d4.loss_plan_l1_fix_dist: 0.2897, d5.loss_plan_l1_fix_time: 0.8391, d5.loss_plan_l1_fix_dist: 0.3242, d6.loss_plan_l1_fix_time: 0.8436, d6.loss_plan_l1_fix_dist: 0.3340, d0.loss_cls_all: 0.1456, d0.loss_bbox_all: 0.3765, d0.loss_cls: 0.1456, d0.loss_bbox: 0.3765, d1.loss_cls: 0.1378, d1.loss_bbox: 0.3436, d2.loss_cls: 0.1263, d2.loss_bbox: 0.3195, d3.loss_cls: 0.1071, d3.loss_bbox: 0.3151, d4.loss_cls: 0.1019, d4.loss_bbox: 0.3110, d5.loss_cls: 0.1018, d5.loss_bbox: 0.3097, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7957, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6149, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5804, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5714, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5730, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5688, d0.loss_map_cls_all: 0.1764, d0.loss_map_pts_all: 1.0950, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1764, d0.loss_map_pts: 1.0950, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1460, d1.loss_map_pts: 0.7843, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1280, d2.loss_map_pts: 0.6262, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1188, d3.loss_map_pts: 0.5719, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1121, d4.loss_map_pts: 0.5497, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1097, d5.loss_map_pts: 0.5458, d5.loss_map_dir: 0.0070, loss: 25.3252, grad_norm: 155.8102 +2026-02-28 09:01:55,636 - DriveTransformer - INFO - Epoch [9][31400/39528] lr: 7.525e-05, eta: 5 days, 1:59:13, time: 0.743, data_time: 0.038, memory: 19865, loss_cls: 0.0953, loss_bbox: 0.3010, loss_traj: 0.5608, loss_traj_cls: 0.0021, loss_map_cls: 0.1124, loss_map_pts: 0.5259, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.8090, d0.loss_plan_l1_fix_dist: 0.4751, d1.loss_plan_l1_fix_time: 1.0101, d1.loss_plan_l1_fix_dist: 0.2955, d2.loss_plan_l1_fix_time: 0.9956, d2.loss_plan_l1_fix_dist: 0.4619, d3.loss_plan_l1_fix_time: 0.9940, d3.loss_plan_l1_fix_dist: 0.2927, d4.loss_plan_l1_fix_time: 0.9956, d4.loss_plan_l1_fix_dist: 0.2970, d5.loss_plan_l1_fix_time: 0.9985, d5.loss_plan_l1_fix_dist: 0.3286, d6.loss_plan_l1_fix_time: 1.0019, d6.loss_plan_l1_fix_dist: 0.3438, d0.loss_cls_all: 0.1466, d0.loss_bbox_all: 0.3529, d0.loss_cls: 0.1466, d0.loss_bbox: 0.3529, d1.loss_cls: 0.1410, d1.loss_bbox: 0.3219, d2.loss_cls: 0.1214, d2.loss_bbox: 0.3042, d3.loss_cls: 0.1016, d3.loss_bbox: 0.3014, d4.loss_cls: 0.0946, d4.loss_bbox: 0.3011, d5.loss_cls: 0.0933, d5.loss_bbox: 0.3013, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7800, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6313, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5743, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5654, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5609, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5620, d0.loss_map_cls_all: 0.1964, d0.loss_map_pts_all: 1.1088, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1964, d0.loss_map_pts: 1.1088, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1607, d1.loss_map_pts: 0.7672, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1374, d2.loss_map_pts: 0.6067, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1247, d3.loss_map_pts: 0.5462, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1167, d4.loss_map_pts: 0.5283, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1126, d5.loss_map_pts: 0.5258, d5.loss_map_dir: 0.0069, loss: 25.9481, grad_norm: 151.2369 +2026-02-28 09:02:31,309 - DriveTransformer - INFO - Epoch [9][31450/39528] lr: 7.525e-05, eta: 5 days, 1:58:32, time: 0.713, data_time: 0.039, memory: 19865, loss_cls: 0.1199, loss_bbox: 0.3184, loss_traj: 0.5270, loss_traj_cls: 0.0020, loss_map_cls: 0.1224, loss_map_pts: 0.5732, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.5086, d0.loss_plan_l1_fix_dist: 0.4164, d1.loss_plan_l1_fix_time: 0.8975, d1.loss_plan_l1_fix_dist: 0.2901, d2.loss_plan_l1_fix_time: 0.8829, d2.loss_plan_l1_fix_dist: 0.3984, d3.loss_plan_l1_fix_time: 0.8788, d3.loss_plan_l1_fix_dist: 0.2757, d4.loss_plan_l1_fix_time: 0.8793, d4.loss_plan_l1_fix_dist: 0.2919, d5.loss_plan_l1_fix_time: 0.8820, d5.loss_plan_l1_fix_dist: 0.2773, d6.loss_plan_l1_fix_time: 0.8858, d6.loss_plan_l1_fix_dist: 0.3391, d0.loss_cls_all: 0.1674, d0.loss_bbox_all: 0.3814, d0.loss_cls: 0.1674, d0.loss_bbox: 0.3814, d1.loss_cls: 0.1572, d1.loss_bbox: 0.3519, d2.loss_cls: 0.1411, d2.loss_bbox: 0.3311, d3.loss_cls: 0.1251, d3.loss_bbox: 0.3244, d4.loss_cls: 0.1207, d4.loss_bbox: 0.3190, d5.loss_cls: 0.1186, d5.loss_bbox: 0.3196, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7820, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6102, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5537, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5322, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5254, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5260, d0.loss_map_cls_all: 0.2009, d0.loss_map_pts_all: 1.1391, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2009, d0.loss_map_pts: 1.1391, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1701, d1.loss_map_pts: 0.8136, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1451, d2.loss_map_pts: 0.6558, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1352, d3.loss_map_pts: 0.5974, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1284, d4.loss_map_pts: 0.5787, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1236, d5.loss_map_pts: 0.5737, d5.loss_map_dir: 0.0073, loss: 25.3666, grad_norm: 154.7178 +2026-02-28 09:03:06,405 - DriveTransformer - INFO - Epoch [9][31500/39528] lr: 7.525e-05, eta: 5 days, 1:57:48, time: 0.702, data_time: 0.042, memory: 19865, loss_cls: 0.1121, loss_bbox: 0.2923, loss_traj: 0.4949, loss_traj_cls: 0.0022, loss_map_cls: 0.1110, loss_map_pts: 0.4891, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.4801, d0.loss_plan_l1_fix_dist: 0.4919, d1.loss_plan_l1_fix_time: 0.8211, d1.loss_plan_l1_fix_dist: 0.2929, d2.loss_plan_l1_fix_time: 0.7994, d2.loss_plan_l1_fix_dist: 0.3187, d3.loss_plan_l1_fix_time: 0.7869, d3.loss_plan_l1_fix_dist: 0.2910, d4.loss_plan_l1_fix_time: 0.7867, d4.loss_plan_l1_fix_dist: 0.3072, d5.loss_plan_l1_fix_time: 0.7888, d5.loss_plan_l1_fix_dist: 0.2683, d6.loss_plan_l1_fix_time: 0.7916, d6.loss_plan_l1_fix_dist: 0.3481, d0.loss_cls_all: 0.1563, d0.loss_bbox_all: 0.3510, d0.loss_cls: 0.1563, d0.loss_bbox: 0.3510, d1.loss_cls: 0.1508, d1.loss_bbox: 0.3165, d2.loss_cls: 0.1380, d2.loss_bbox: 0.2983, d3.loss_cls: 0.1193, d3.loss_bbox: 0.2961, d4.loss_cls: 0.1132, d4.loss_bbox: 0.2953, d5.loss_cls: 0.1114, d5.loss_bbox: 0.2924, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6983, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5506, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5080, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4946, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4936, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4935, d0.loss_map_cls_all: 0.1699, d0.loss_map_pts_all: 1.0166, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1699, d0.loss_map_pts: 1.0166, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1451, d1.loss_map_pts: 0.7036, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1284, d2.loss_map_pts: 0.5671, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1196, d3.loss_map_pts: 0.5122, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1143, d4.loss_map_pts: 0.4938, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1112, d5.loss_map_pts: 0.4893, d5.loss_map_dir: 0.0063, loss: 23.2702, grad_norm: 153.5728 +2026-02-28 09:03:43,762 - DriveTransformer - INFO - Epoch [9][31550/39528] lr: 7.525e-05, eta: 5 days, 1:57:16, time: 0.747, data_time: 0.038, memory: 19865, loss_cls: 0.1103, loss_bbox: 0.3056, loss_traj: 0.5014, loss_traj_cls: 0.0022, loss_map_cls: 0.1135, loss_map_pts: 0.5900, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.2051, d0.loss_plan_l1_fix_dist: 0.3923, d1.loss_plan_l1_fix_time: 0.8208, d1.loss_plan_l1_fix_dist: 0.3160, d2.loss_plan_l1_fix_time: 0.8060, d2.loss_plan_l1_fix_dist: 0.2900, d3.loss_plan_l1_fix_time: 0.8017, d3.loss_plan_l1_fix_dist: 0.2805, d4.loss_plan_l1_fix_time: 0.8040, d4.loss_plan_l1_fix_dist: 0.3002, d5.loss_plan_l1_fix_time: 0.8063, d5.loss_plan_l1_fix_dist: 0.2655, d6.loss_plan_l1_fix_time: 0.8099, d6.loss_plan_l1_fix_dist: 0.3098, d0.loss_cls_all: 0.1503, d0.loss_bbox_all: 0.3609, d0.loss_cls: 0.1503, d0.loss_bbox: 0.3609, d1.loss_cls: 0.1428, d1.loss_bbox: 0.3321, d2.loss_cls: 0.1324, d2.loss_bbox: 0.3122, d3.loss_cls: 0.1178, d3.loss_bbox: 0.3075, d4.loss_cls: 0.1119, d4.loss_bbox: 0.3046, d5.loss_cls: 0.1101, d5.loss_bbox: 0.3056, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6840, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5686, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5233, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5092, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5019, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5033, d0.loss_map_cls_all: 0.1837, d0.loss_map_pts_all: 1.1975, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1837, d0.loss_map_pts: 1.1975, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1582, d1.loss_map_pts: 0.8537, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1410, d2.loss_map_pts: 0.6832, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1273, d3.loss_map_pts: 0.6227, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1184, d4.loss_map_pts: 0.5980, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1149, d5.loss_map_pts: 0.5901, d5.loss_map_dir: 0.0081, loss: 24.1583, grad_norm: 153.2641 +2026-02-28 09:04:21,118 - DriveTransformer - INFO - Epoch [9][31600/39528] lr: 7.525e-05, eta: 5 days, 1:56:43, time: 0.747, data_time: 0.037, memory: 19865, loss_cls: 0.0917, loss_bbox: 0.2931, loss_traj: 0.4828, loss_traj_cls: 0.0021, loss_map_cls: 0.1262, loss_map_pts: 0.6072, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.7518, d0.loss_plan_l1_fix_dist: 0.4539, d1.loss_plan_l1_fix_time: 0.8384, d1.loss_plan_l1_fix_dist: 0.3261, d2.loss_plan_l1_fix_time: 0.8137, d2.loss_plan_l1_fix_dist: 0.2564, d3.loss_plan_l1_fix_time: 0.8054, d3.loss_plan_l1_fix_dist: 0.2976, d4.loss_plan_l1_fix_time: 0.8095, d4.loss_plan_l1_fix_dist: 0.3208, d5.loss_plan_l1_fix_time: 0.8131, d5.loss_plan_l1_fix_dist: 0.2857, d6.loss_plan_l1_fix_time: 0.8183, d6.loss_plan_l1_fix_dist: 0.2887, d0.loss_cls_all: 0.1244, d0.loss_bbox_all: 0.3556, d0.loss_cls: 0.1244, d0.loss_bbox: 0.3556, d1.loss_cls: 0.1204, d1.loss_bbox: 0.3205, d2.loss_cls: 0.1096, d2.loss_bbox: 0.3009, d3.loss_cls: 0.0973, d3.loss_bbox: 0.2959, d4.loss_cls: 0.0929, d4.loss_bbox: 0.2933, d5.loss_cls: 0.0920, d5.loss_bbox: 0.2930, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7064, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5622, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5098, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4913, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4837, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4811, d0.loss_map_cls_all: 0.2052, d0.loss_map_pts_all: 1.2837, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2052, d0.loss_map_pts: 1.2837, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1721, d1.loss_map_pts: 0.8843, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1542, d2.loss_map_pts: 0.7037, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1407, d3.loss_map_pts: 0.6362, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1322, d4.loss_map_pts: 0.6124, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1281, d5.loss_map_pts: 0.6073, d5.loss_map_dir: 0.0081, loss: 24.9096, grad_norm: 151.5957 +2026-02-28 09:04:58,284 - DriveTransformer - INFO - Epoch [9][31650/39528] lr: 7.525e-05, eta: 5 days, 1:56:10, time: 0.743, data_time: 0.038, memory: 19865, loss_cls: 0.1185, loss_bbox: 0.3084, loss_traj: 0.5542, loss_traj_cls: 0.0021, loss_map_cls: 0.1345, loss_map_pts: 0.6537, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.3093, d0.loss_plan_l1_fix_dist: 0.4278, d1.loss_plan_l1_fix_time: 0.7317, d1.loss_plan_l1_fix_dist: 0.3199, d2.loss_plan_l1_fix_time: 0.7142, d2.loss_plan_l1_fix_dist: 0.2476, d3.loss_plan_l1_fix_time: 0.7204, d3.loss_plan_l1_fix_dist: 0.3060, d4.loss_plan_l1_fix_time: 0.7238, d4.loss_plan_l1_fix_dist: 0.3080, d5.loss_plan_l1_fix_time: 0.7279, d5.loss_plan_l1_fix_dist: 0.2665, d6.loss_plan_l1_fix_time: 0.7327, d6.loss_plan_l1_fix_dist: 0.2669, d0.loss_cls_all: 0.1607, d0.loss_bbox_all: 0.3759, d0.loss_cls: 0.1607, d0.loss_bbox: 0.3759, d1.loss_cls: 0.1563, d1.loss_bbox: 0.3375, d2.loss_cls: 0.1419, d2.loss_bbox: 0.3173, d3.loss_cls: 0.1269, d3.loss_bbox: 0.3103, d4.loss_cls: 0.1212, d4.loss_bbox: 0.3083, d5.loss_cls: 0.1184, d5.loss_bbox: 0.3078, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7538, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6071, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5685, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5574, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5567, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5547, d0.loss_map_cls_all: 0.2186, d0.loss_map_pts_all: 1.3084, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2186, d0.loss_map_pts: 1.3084, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1862, d1.loss_map_pts: 0.9485, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1624, d2.loss_map_pts: 0.7612, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1485, d3.loss_map_pts: 0.6889, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1410, d4.loss_map_pts: 0.6616, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1362, d5.loss_map_pts: 0.6554, d5.loss_map_dir: 0.0077, loss: 25.1002, grad_norm: 149.5294 +2026-02-28 09:05:35,722 - DriveTransformer - INFO - Epoch [9][31700/39528] lr: 7.525e-05, eta: 5 days, 1:55:39, time: 0.749, data_time: 0.039, memory: 19865, loss_cls: 0.1139, loss_bbox: 0.3006, loss_traj: 0.6115, loss_traj_cls: 0.0021, loss_map_cls: 0.0982, loss_map_pts: 0.5012, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.3249, d0.loss_plan_l1_fix_dist: 0.4569, d1.loss_plan_l1_fix_time: 0.8388, d1.loss_plan_l1_fix_dist: 0.3120, d2.loss_plan_l1_fix_time: 0.8292, d2.loss_plan_l1_fix_dist: 0.2445, d3.loss_plan_l1_fix_time: 0.8337, d3.loss_plan_l1_fix_dist: 0.3079, d4.loss_plan_l1_fix_time: 0.8358, d4.loss_plan_l1_fix_dist: 0.2800, d5.loss_plan_l1_fix_time: 0.8408, d5.loss_plan_l1_fix_dist: 0.2566, d6.loss_plan_l1_fix_time: 0.8451, d6.loss_plan_l1_fix_dist: 0.3218, d0.loss_cls_all: 0.1519, d0.loss_bbox_all: 0.3543, d0.loss_cls: 0.1519, d0.loss_bbox: 0.3543, d1.loss_cls: 0.1467, d1.loss_bbox: 0.3263, d2.loss_cls: 0.1338, d2.loss_bbox: 0.3106, d3.loss_cls: 0.1175, d3.loss_bbox: 0.3060, d4.loss_cls: 0.1132, d4.loss_bbox: 0.3028, d5.loss_cls: 0.1132, d5.loss_bbox: 0.3009, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7619, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6379, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6051, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5968, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6016, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6032, d0.loss_map_cls_all: 0.1850, d0.loss_map_pts_all: 1.0474, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1850, d0.loss_map_pts: 1.0474, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1456, d1.loss_map_pts: 0.7313, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1234, d2.loss_map_pts: 0.5814, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1106, d3.loss_map_pts: 0.5316, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1053, d4.loss_map_pts: 0.5080, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1003, d5.loss_map_pts: 0.5016, d5.loss_map_dir: 0.0063, loss: 24.1047, grad_norm: 149.7305 +2026-02-28 09:06:12,132 - DriveTransformer - INFO - Epoch [9][31750/39528] lr: 7.525e-05, eta: 5 days, 1:55:02, time: 0.728, data_time: 0.039, memory: 19865, loss_cls: 0.1190, loss_bbox: 0.3241, loss_traj: 0.5457, loss_traj_cls: 0.0021, loss_map_cls: 0.1378, loss_map_pts: 0.6684, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.5387, d0.loss_plan_l1_fix_dist: 0.3453, d1.loss_plan_l1_fix_time: 0.8967, d1.loss_plan_l1_fix_dist: 0.2739, d2.loss_plan_l1_fix_time: 0.8891, d2.loss_plan_l1_fix_dist: 0.2420, d3.loss_plan_l1_fix_time: 0.8862, d3.loss_plan_l1_fix_dist: 0.3187, d4.loss_plan_l1_fix_time: 0.8886, d4.loss_plan_l1_fix_dist: 0.2598, d5.loss_plan_l1_fix_time: 0.8928, d5.loss_plan_l1_fix_dist: 0.2515, d6.loss_plan_l1_fix_time: 0.8975, d6.loss_plan_l1_fix_dist: 0.3454, d0.loss_cls_all: 0.1739, d0.loss_bbox_all: 0.3978, d0.loss_cls: 0.1739, d0.loss_bbox: 0.3978, d1.loss_cls: 0.1632, d1.loss_bbox: 0.3574, d2.loss_cls: 0.1494, d2.loss_bbox: 0.3333, d3.loss_cls: 0.1276, d3.loss_bbox: 0.3300, d4.loss_cls: 0.1198, d4.loss_bbox: 0.3270, d5.loss_cls: 0.1182, d5.loss_bbox: 0.3251, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7736, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6018, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5710, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5546, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5521, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5437, d0.loss_map_cls_all: 0.2273, d0.loss_map_pts_all: 1.2910, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2273, d0.loss_map_pts: 1.2910, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1894, d1.loss_map_pts: 0.9301, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1648, d2.loss_map_pts: 0.7640, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1528, d3.loss_map_pts: 0.7006, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1455, d4.loss_map_pts: 0.6768, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1397, d5.loss_map_pts: 0.6696, d5.loss_map_dir: 0.0077, loss: 26.4489, grad_norm: 158.9771 +2026-02-28 09:06:48,971 - DriveTransformer - INFO - Epoch [9][31800/39528] lr: 7.525e-05, eta: 5 days, 1:54:27, time: 0.737, data_time: 0.041, memory: 19865, loss_cls: 0.1059, loss_bbox: 0.3074, loss_traj: 0.5669, loss_traj_cls: 0.0022, loss_map_cls: 0.0996, loss_map_pts: 0.4949, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.2617, d0.loss_plan_l1_fix_dist: 0.4515, d1.loss_plan_l1_fix_time: 0.8384, d1.loss_plan_l1_fix_dist: 0.2630, d2.loss_plan_l1_fix_time: 0.8218, d2.loss_plan_l1_fix_dist: 0.2618, d3.loss_plan_l1_fix_time: 0.8192, d3.loss_plan_l1_fix_dist: 0.3273, d4.loss_plan_l1_fix_time: 0.8248, d4.loss_plan_l1_fix_dist: 0.2875, d5.loss_plan_l1_fix_time: 0.8318, d5.loss_plan_l1_fix_dist: 0.2624, d6.loss_plan_l1_fix_time: 0.8403, d6.loss_plan_l1_fix_dist: 0.3319, d0.loss_cls_all: 0.1460, d0.loss_bbox_all: 0.3611, d0.loss_cls: 0.1460, d0.loss_bbox: 0.3611, d1.loss_cls: 0.1434, d1.loss_bbox: 0.3302, d2.loss_cls: 0.1352, d2.loss_bbox: 0.3124, d3.loss_cls: 0.1163, d3.loss_bbox: 0.3080, d4.loss_cls: 0.1082, d4.loss_bbox: 0.3066, d5.loss_cls: 0.1072, d5.loss_bbox: 0.3058, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7747, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6189, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5933, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5785, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5740, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5660, d0.loss_map_cls_all: 0.1750, d0.loss_map_pts_all: 1.0316, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1750, d0.loss_map_pts: 1.0316, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1434, d1.loss_map_pts: 0.7272, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1253, d2.loss_map_pts: 0.5872, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1151, d3.loss_map_pts: 0.5287, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1074, d4.loss_map_pts: 0.5054, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1014, d5.loss_map_pts: 0.4964, d5.loss_map_dir: 0.0059, loss: 23.7950, grad_norm: 159.3740 +2026-02-28 09:07:25,604 - DriveTransformer - INFO - Epoch [9][31850/39528] lr: 7.525e-05, eta: 5 days, 1:53:51, time: 0.733, data_time: 0.041, memory: 19865, loss_cls: 0.1044, loss_bbox: 0.2822, loss_traj: 0.5319, loss_traj_cls: 0.0022, loss_map_cls: 0.1004, loss_map_pts: 0.4815, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.4122, d0.loss_plan_l1_fix_dist: 0.4464, d1.loss_plan_l1_fix_time: 0.7729, d1.loss_plan_l1_fix_dist: 0.2633, d2.loss_plan_l1_fix_time: 0.7620, d2.loss_plan_l1_fix_dist: 0.2586, d3.loss_plan_l1_fix_time: 0.7616, d3.loss_plan_l1_fix_dist: 0.2707, d4.loss_plan_l1_fix_time: 0.7660, d4.loss_plan_l1_fix_dist: 0.2751, d5.loss_plan_l1_fix_time: 0.7717, d5.loss_plan_l1_fix_dist: 0.2486, d6.loss_plan_l1_fix_time: 0.7796, d6.loss_plan_l1_fix_dist: 0.2889, d0.loss_cls_all: 0.1435, d0.loss_bbox_all: 0.3452, d0.loss_cls: 0.1435, d0.loss_bbox: 0.3452, d1.loss_cls: 0.1375, d1.loss_bbox: 0.3141, d2.loss_cls: 0.1274, d2.loss_bbox: 0.2914, d3.loss_cls: 0.1116, d3.loss_bbox: 0.2872, d4.loss_cls: 0.1065, d4.loss_bbox: 0.2837, d5.loss_cls: 0.1033, d5.loss_bbox: 0.2833, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7307, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5821, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5367, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5298, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5264, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5261, d0.loss_map_cls_all: 0.1792, d0.loss_map_pts_all: 1.0496, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1792, d0.loss_map_pts: 1.0496, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1456, d1.loss_map_pts: 0.7237, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1232, d2.loss_map_pts: 0.5569, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1116, d3.loss_map_pts: 0.5012, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1036, d4.loss_map_pts: 0.4876, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1005, d5.loss_map_pts: 0.4822, d5.loss_map_dir: 0.0061, loss: 22.8839, grad_norm: 160.3779 +2026-02-28 09:08:02,172 - DriveTransformer - INFO - Epoch [9][31900/39528] lr: 7.525e-05, eta: 5 days, 1:53:14, time: 0.731, data_time: 0.037, memory: 19865, loss_cls: 0.1129, loss_bbox: 0.3328, loss_traj: 0.5818, loss_traj_cls: 0.0022, loss_map_cls: 0.1219, loss_map_pts: 0.6379, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.6194, d0.loss_plan_l1_fix_dist: 0.5006, d1.loss_plan_l1_fix_time: 0.8551, d1.loss_plan_l1_fix_dist: 0.2908, d2.loss_plan_l1_fix_time: 0.8461, d2.loss_plan_l1_fix_dist: 0.3053, d3.loss_plan_l1_fix_time: 0.8373, d3.loss_plan_l1_fix_dist: 0.2693, d4.loss_plan_l1_fix_time: 0.8399, d4.loss_plan_l1_fix_dist: 0.2769, d5.loss_plan_l1_fix_time: 0.8432, d5.loss_plan_l1_fix_dist: 0.2660, d6.loss_plan_l1_fix_time: 0.8488, d6.loss_plan_l1_fix_dist: 0.2792, d0.loss_cls_all: 0.1625, d0.loss_bbox_all: 0.4062, d0.loss_cls: 0.1625, d0.loss_bbox: 0.4062, d1.loss_cls: 0.1541, d1.loss_bbox: 0.3681, d2.loss_cls: 0.1376, d2.loss_bbox: 0.3450, d3.loss_cls: 0.1201, d3.loss_bbox: 0.3395, d4.loss_cls: 0.1144, d4.loss_bbox: 0.3353, d5.loss_cls: 0.1128, d5.loss_bbox: 0.3336, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8458, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6667, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6063, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5922, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5865, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5820, d0.loss_map_cls_all: 0.1927, d0.loss_map_pts_all: 1.2119, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.1927, d0.loss_map_pts: 1.2119, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1675, d1.loss_map_pts: 0.8710, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1448, d2.loss_map_pts: 0.7225, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1343, d3.loss_map_pts: 0.6640, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1272, d4.loss_map_pts: 0.6434, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1227, d5.loss_map_pts: 0.6380, d5.loss_map_dir: 0.0076, loss: 26.1565, grad_norm: 159.6194 +2026-02-28 09:08:38,770 - DriveTransformer - INFO - Epoch [9][31950/39528] lr: 7.525e-05, eta: 5 days, 1:52:38, time: 0.732, data_time: 0.036, memory: 19865, loss_cls: 0.1092, loss_bbox: 0.3163, loss_traj: 0.5430, loss_traj_cls: 0.0022, loss_map_cls: 0.1267, loss_map_pts: 0.6039, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.7262, d0.loss_plan_l1_fix_dist: 0.3506, d1.loss_plan_l1_fix_time: 0.8843, d1.loss_plan_l1_fix_dist: 0.2838, d2.loss_plan_l1_fix_time: 0.8688, d2.loss_plan_l1_fix_dist: 0.3491, d3.loss_plan_l1_fix_time: 0.8547, d3.loss_plan_l1_fix_dist: 0.2951, d4.loss_plan_l1_fix_time: 0.8571, d4.loss_plan_l1_fix_dist: 0.2479, d5.loss_plan_l1_fix_time: 0.8596, d5.loss_plan_l1_fix_dist: 0.2733, d6.loss_plan_l1_fix_time: 0.8628, d6.loss_plan_l1_fix_dist: 0.2269, d0.loss_cls_all: 0.1617, d0.loss_bbox_all: 0.3796, d0.loss_cls: 0.1617, d0.loss_bbox: 0.3796, d1.loss_cls: 0.1544, d1.loss_bbox: 0.3430, d2.loss_cls: 0.1362, d2.loss_bbox: 0.3227, d3.loss_cls: 0.1182, d3.loss_bbox: 0.3176, d4.loss_cls: 0.1111, d4.loss_bbox: 0.3170, d5.loss_cls: 0.1099, d5.loss_bbox: 0.3158, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7218, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5839, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5520, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5440, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5408, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5407, d0.loss_map_cls_all: 0.1985, d0.loss_map_pts_all: 1.2526, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1985, d0.loss_map_pts: 1.2526, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1757, d1.loss_map_pts: 0.9005, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1520, d2.loss_map_pts: 0.7033, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1421, d3.loss_map_pts: 0.6370, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1353, d4.loss_map_pts: 0.6092, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1292, d5.loss_map_pts: 0.6031, d5.loss_map_dir: 0.0080, loss: 25.6102, grad_norm: 157.3426 +2026-02-28 09:09:15,690 - DriveTransformer - INFO - Epoch [9][32000/39528] lr: 7.525e-05, eta: 5 days, 1:52:04, time: 0.740, data_time: 0.038, memory: 19865, loss_cls: 0.1222, loss_bbox: 0.3397, loss_traj: 0.6911, loss_traj_cls: 0.0021, loss_map_cls: 0.1596, loss_map_pts: 0.7099, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.8730, d0.loss_plan_l1_fix_dist: 0.5190, d1.loss_plan_l1_fix_time: 0.9328, d1.loss_plan_l1_fix_dist: 0.2956, d2.loss_plan_l1_fix_time: 0.9185, d2.loss_plan_l1_fix_dist: 0.3715, d3.loss_plan_l1_fix_time: 0.9163, d3.loss_plan_l1_fix_dist: 0.3395, d4.loss_plan_l1_fix_time: 0.9194, d4.loss_plan_l1_fix_dist: 0.2651, d5.loss_plan_l1_fix_time: 0.9228, d5.loss_plan_l1_fix_dist: 0.3160, d6.loss_plan_l1_fix_time: 0.9266, d6.loss_plan_l1_fix_dist: 0.2929, d0.loss_cls_all: 0.1675, d0.loss_bbox_all: 0.4099, d0.loss_cls: 0.1675, d0.loss_bbox: 0.4099, d1.loss_cls: 0.1604, d1.loss_bbox: 0.3696, d2.loss_cls: 0.1479, d2.loss_bbox: 0.3491, d3.loss_cls: 0.1301, d3.loss_bbox: 0.3442, d4.loss_cls: 0.1241, d4.loss_bbox: 0.3411, d5.loss_cls: 0.1225, d5.loss_bbox: 0.3401, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9809, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7897, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.7235, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.7040, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6997, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6916, d0.loss_map_cls_all: 0.2578, d0.loss_map_pts_all: 1.4110, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2578, d0.loss_map_pts: 1.4110, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.2233, d1.loss_map_pts: 1.0569, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1919, d2.loss_map_pts: 0.8404, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1783, d3.loss_map_pts: 0.7486, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1696, d4.loss_map_pts: 0.7168, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1623, d5.loss_map_pts: 0.7101, d5.loss_map_dir: 0.0074, loss: 29.4040, grad_norm: 155.9381 +2026-02-28 09:09:52,418 - DriveTransformer - INFO - Epoch [9][32050/39528] lr: 7.525e-05, eta: 5 days, 1:51:28, time: 0.733, data_time: 0.036, memory: 19865, loss_cls: 0.1143, loss_bbox: 0.3064, loss_traj: 0.6393, loss_traj_cls: 0.0022, loss_map_cls: 0.1132, loss_map_pts: 0.5701, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.5506, d0.loss_plan_l1_fix_dist: 0.4228, d1.loss_plan_l1_fix_time: 0.8919, d1.loss_plan_l1_fix_dist: 0.2552, d2.loss_plan_l1_fix_time: 0.8833, d2.loss_plan_l1_fix_dist: 0.3245, d3.loss_plan_l1_fix_time: 0.8841, d3.loss_plan_l1_fix_dist: 0.3207, d4.loss_plan_l1_fix_time: 0.8868, d4.loss_plan_l1_fix_dist: 0.2553, d5.loss_plan_l1_fix_time: 0.8899, d5.loss_plan_l1_fix_dist: 0.3067, d6.loss_plan_l1_fix_time: 0.8935, d6.loss_plan_l1_fix_dist: 0.3536, d0.loss_cls_all: 0.1561, d0.loss_bbox_all: 0.3710, d0.loss_cls: 0.1561, d0.loss_bbox: 0.3710, d1.loss_cls: 0.1477, d1.loss_bbox: 0.3354, d2.loss_cls: 0.1352, d2.loss_bbox: 0.3159, d3.loss_cls: 0.1201, d3.loss_bbox: 0.3098, d4.loss_cls: 0.1158, d4.loss_bbox: 0.3058, d5.loss_cls: 0.1153, d5.loss_bbox: 0.3047, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8243, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6859, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6427, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6313, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6348, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6393, d0.loss_map_cls_all: 0.1852, d0.loss_map_pts_all: 1.2097, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1852, d0.loss_map_pts: 1.2097, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1534, d1.loss_map_pts: 0.8524, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1325, d2.loss_map_pts: 0.6716, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1244, d3.loss_map_pts: 0.5994, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1175, d4.loss_map_pts: 0.5751, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1152, d5.loss_map_pts: 0.5710, d5.loss_map_dir: 0.0078, loss: 25.9520, grad_norm: 156.1903 +2026-02-28 09:10:29,239 - DriveTransformer - INFO - Epoch [9][32100/39528] lr: 7.525e-05, eta: 5 days, 1:50:53, time: 0.736, data_time: 0.036, memory: 19865, loss_cls: 0.1081, loss_bbox: 0.3128, loss_traj: 0.5113, loss_traj_cls: 0.0022, loss_map_cls: 0.0868, loss_map_pts: 0.5244, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.4971, d0.loss_plan_l1_fix_dist: 0.5215, d1.loss_plan_l1_fix_time: 0.7507, d1.loss_plan_l1_fix_dist: 0.2355, d2.loss_plan_l1_fix_time: 0.7288, d2.loss_plan_l1_fix_dist: 0.2970, d3.loss_plan_l1_fix_time: 0.7242, d3.loss_plan_l1_fix_dist: 0.2882, d4.loss_plan_l1_fix_time: 0.7262, d4.loss_plan_l1_fix_dist: 0.2585, d5.loss_plan_l1_fix_time: 0.7292, d5.loss_plan_l1_fix_dist: 0.2967, d6.loss_plan_l1_fix_time: 0.7329, d6.loss_plan_l1_fix_dist: 0.3233, d0.loss_cls_all: 0.1543, d0.loss_bbox_all: 0.3714, d0.loss_cls: 0.1543, d0.loss_bbox: 0.3714, d1.loss_cls: 0.1475, d1.loss_bbox: 0.3383, d2.loss_cls: 0.1359, d2.loss_bbox: 0.3169, d3.loss_cls: 0.1215, d3.loss_bbox: 0.3092, d4.loss_cls: 0.1123, d4.loss_bbox: 0.3089, d5.loss_cls: 0.1084, d5.loss_bbox: 0.3110, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6999, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5660, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5206, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5018, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4999, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4958, d0.loss_map_cls_all: 0.1691, d0.loss_map_pts_all: 1.0814, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.1691, d0.loss_map_pts: 1.0814, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1354, d1.loss_map_pts: 0.7631, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1144, d2.loss_map_pts: 0.6076, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1035, d3.loss_map_pts: 0.5530, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.0942, d4.loss_map_pts: 0.5325, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.0885, d5.loss_map_pts: 0.5265, d5.loss_map_dir: 0.0078, loss: 23.2880, grad_norm: 156.0449 +2026-02-28 09:11:06,853 - DriveTransformer - INFO - Epoch [9][32150/39528] lr: 7.525e-05, eta: 5 days, 1:50:23, time: 0.752, data_time: 0.038, memory: 19865, loss_cls: 0.1089, loss_bbox: 0.2944, loss_traj: 0.5167, loss_traj_cls: 0.0022, loss_map_cls: 0.1217, loss_map_pts: 0.5672, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.4971, d0.loss_plan_l1_fix_dist: 0.4569, d1.loss_plan_l1_fix_time: 0.9705, d1.loss_plan_l1_fix_dist: 0.2233, d2.loss_plan_l1_fix_time: 0.9574, d2.loss_plan_l1_fix_dist: 0.2615, d3.loss_plan_l1_fix_time: 0.9595, d3.loss_plan_l1_fix_dist: 0.2408, d4.loss_plan_l1_fix_time: 0.9632, d4.loss_plan_l1_fix_dist: 0.2666, d5.loss_plan_l1_fix_time: 0.9672, d5.loss_plan_l1_fix_dist: 0.2603, d6.loss_plan_l1_fix_time: 0.9708, d6.loss_plan_l1_fix_dist: 0.2360, d0.loss_cls_all: 0.1502, d0.loss_bbox_all: 0.3512, d0.loss_cls: 0.1502, d0.loss_bbox: 0.3512, d1.loss_cls: 0.1442, d1.loss_bbox: 0.3201, d2.loss_cls: 0.1283, d2.loss_bbox: 0.3030, d3.loss_cls: 0.1142, d3.loss_bbox: 0.2967, d4.loss_cls: 0.1098, d4.loss_bbox: 0.2954, d5.loss_cls: 0.1100, d5.loss_bbox: 0.2937, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7127, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5885, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5474, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5360, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5247, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5169, d0.loss_map_cls_all: 0.2043, d0.loss_map_pts_all: 1.1927, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2043, d0.loss_map_pts: 1.1927, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1738, d1.loss_map_pts: 0.8355, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1440, d2.loss_map_pts: 0.6614, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1345, d3.loss_map_pts: 0.5961, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1265, d4.loss_map_pts: 0.5737, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1228, d5.loss_map_pts: 0.5679, d5.loss_map_dir: 0.0078, loss: 25.1840, grad_norm: 156.4291 +2026-02-28 09:11:43,033 - DriveTransformer - INFO - Epoch [9][32200/39528] lr: 7.525e-05, eta: 5 days, 1:49:44, time: 0.724, data_time: 0.038, memory: 19865, loss_cls: 0.1109, loss_bbox: 0.3220, loss_traj: 0.5961, loss_traj_cls: 0.0022, loss_map_cls: 0.1051, loss_map_pts: 0.5176, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 3.0478, d0.loss_plan_l1_fix_dist: 0.5138, d1.loss_plan_l1_fix_time: 0.8535, d1.loss_plan_l1_fix_dist: 0.2740, d2.loss_plan_l1_fix_time: 0.8346, d2.loss_plan_l1_fix_dist: 0.2672, d3.loss_plan_l1_fix_time: 0.8507, d3.loss_plan_l1_fix_dist: 0.2619, d4.loss_plan_l1_fix_time: 0.8551, d4.loss_plan_l1_fix_dist: 0.2836, d5.loss_plan_l1_fix_time: 0.8583, d5.loss_plan_l1_fix_dist: 0.2839, d6.loss_plan_l1_fix_time: 0.8621, d6.loss_plan_l1_fix_dist: 0.2613, d0.loss_cls_all: 0.1558, d0.loss_bbox_all: 0.3803, d0.loss_cls: 0.1558, d0.loss_bbox: 0.3803, d1.loss_cls: 0.1491, d1.loss_bbox: 0.3453, d2.loss_cls: 0.1356, d2.loss_bbox: 0.3278, d3.loss_cls: 0.1183, d3.loss_bbox: 0.3210, d4.loss_cls: 0.1131, d4.loss_bbox: 0.3214, d5.loss_cls: 0.1108, d5.loss_bbox: 0.3217, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8478, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6772, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6387, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6084, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6039, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5990, d0.loss_map_cls_all: 0.1798, d0.loss_map_pts_all: 1.0739, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1798, d0.loss_map_pts: 1.0739, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1533, d1.loss_map_pts: 0.7658, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1306, d2.loss_map_pts: 0.6053, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1173, d3.loss_map_pts: 0.5483, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1121, d4.loss_map_pts: 0.5234, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1071, d5.loss_map_pts: 0.5162, d5.loss_map_dir: 0.0067, loss: 25.4179, grad_norm: 157.7719 +2026-02-28 09:12:19,096 - DriveTransformer - INFO - Epoch [9][32250/39528] lr: 7.525e-05, eta: 5 days, 1:49:05, time: 0.721, data_time: 0.038, memory: 19865, loss_cls: 0.0982, loss_bbox: 0.2910, loss_traj: 0.5393, loss_traj_cls: 0.0023, loss_map_cls: 0.0949, loss_map_pts: 0.4600, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.6313, d0.loss_plan_l1_fix_dist: 0.5445, d1.loss_plan_l1_fix_time: 0.9243, d1.loss_plan_l1_fix_dist: 0.2847, d2.loss_plan_l1_fix_time: 0.9175, d2.loss_plan_l1_fix_dist: 0.2743, d3.loss_plan_l1_fix_time: 0.9106, d3.loss_plan_l1_fix_dist: 0.2787, d4.loss_plan_l1_fix_time: 0.9134, d4.loss_plan_l1_fix_dist: 0.2692, d5.loss_plan_l1_fix_time: 0.9164, d5.loss_plan_l1_fix_dist: 0.2856, d6.loss_plan_l1_fix_time: 0.9209, d6.loss_plan_l1_fix_dist: 0.2757, d0.loss_cls_all: 0.1348, d0.loss_bbox_all: 0.3511, d0.loss_cls: 0.1348, d0.loss_bbox: 0.3511, d1.loss_cls: 0.1312, d1.loss_bbox: 0.3199, d2.loss_cls: 0.1183, d2.loss_bbox: 0.3009, d3.loss_cls: 0.1042, d3.loss_bbox: 0.2945, d4.loss_cls: 0.0986, d4.loss_bbox: 0.2926, d5.loss_cls: 0.0976, d5.loss_bbox: 0.2914, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7532, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6093, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5624, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5474, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5392, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5378, d0.loss_map_cls_all: 0.1688, d0.loss_map_pts_all: 0.9505, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1688, d0.loss_map_pts: 0.9505, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1346, d1.loss_map_pts: 0.6652, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1150, d2.loss_map_pts: 0.5335, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1060, d3.loss_map_pts: 0.4846, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1007, d4.loss_map_pts: 0.4638, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.0957, d5.loss_map_pts: 0.4599, d5.loss_map_dir: 0.0067, loss: 23.8596, grad_norm: 155.6203 +2026-02-28 09:12:55,236 - DriveTransformer - INFO - Epoch [9][32300/39528] lr: 7.525e-05, eta: 5 days, 1:48:26, time: 0.723, data_time: 0.037, memory: 19865, loss_cls: 0.1320, loss_bbox: 0.3281, loss_traj: 0.6504, loss_traj_cls: 0.0022, loss_map_cls: 0.1000, loss_map_pts: 0.5540, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.7491, d0.loss_plan_l1_fix_dist: 0.4568, d1.loss_plan_l1_fix_time: 0.8296, d1.loss_plan_l1_fix_dist: 0.2824, d2.loss_plan_l1_fix_time: 0.8205, d2.loss_plan_l1_fix_dist: 0.2863, d3.loss_plan_l1_fix_time: 0.8112, d3.loss_plan_l1_fix_dist: 0.2781, d4.loss_plan_l1_fix_time: 0.8133, d4.loss_plan_l1_fix_dist: 0.2432, d5.loss_plan_l1_fix_time: 0.8159, d5.loss_plan_l1_fix_dist: 0.2597, d6.loss_plan_l1_fix_time: 0.8197, d6.loss_plan_l1_fix_dist: 0.2768, d0.loss_cls_all: 0.1779, d0.loss_bbox_all: 0.3930, d0.loss_cls: 0.1779, d0.loss_bbox: 0.3930, d1.loss_cls: 0.1693, d1.loss_bbox: 0.3568, d2.loss_cls: 0.1558, d2.loss_bbox: 0.3364, d3.loss_cls: 0.1361, d3.loss_bbox: 0.3338, d4.loss_cls: 0.1338, d4.loss_bbox: 0.3304, d5.loss_cls: 0.1305, d5.loss_bbox: 0.3291, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9219, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7422, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6846, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6679, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6526, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6496, d0.loss_map_cls_all: 0.1785, d0.loss_map_pts_all: 1.0913, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1785, d0.loss_map_pts: 1.0913, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1514, d1.loss_map_pts: 0.7906, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1283, d2.loss_map_pts: 0.6410, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1143, d3.loss_map_pts: 0.5860, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1066, d4.loss_map_pts: 0.5650, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1016, d5.loss_map_pts: 0.5547, d5.loss_map_dir: 0.0069, loss: 25.7195, grad_norm: 152.3353 +2026-02-28 09:13:33,602 - DriveTransformer - INFO - Epoch [9][32350/39528] lr: 7.525e-05, eta: 5 days, 1:48:00, time: 0.767, data_time: 0.038, memory: 19865, loss_cls: 0.1174, loss_bbox: 0.3261, loss_traj: 0.4831, loss_traj_cls: 0.0022, loss_map_cls: 0.1313, loss_map_pts: 0.6647, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.7712, d0.loss_plan_l1_fix_dist: 0.4781, d1.loss_plan_l1_fix_time: 1.0270, d1.loss_plan_l1_fix_dist: 0.3197, d2.loss_plan_l1_fix_time: 1.0105, d2.loss_plan_l1_fix_dist: 0.3671, d3.loss_plan_l1_fix_time: 1.0049, d3.loss_plan_l1_fix_dist: 0.3710, d4.loss_plan_l1_fix_time: 1.0061, d4.loss_plan_l1_fix_dist: 0.2928, d5.loss_plan_l1_fix_time: 1.0091, d5.loss_plan_l1_fix_dist: 0.3298, d6.loss_plan_l1_fix_time: 1.0131, d6.loss_plan_l1_fix_dist: 0.3095, d0.loss_cls_all: 0.1702, d0.loss_bbox_all: 0.3860, d0.loss_cls: 0.1702, d0.loss_bbox: 0.3860, d1.loss_cls: 0.1596, d1.loss_bbox: 0.3528, d2.loss_cls: 0.1443, d2.loss_bbox: 0.3324, d3.loss_cls: 0.1244, d3.loss_bbox: 0.3311, d4.loss_cls: 0.1206, d4.loss_bbox: 0.3283, d5.loss_cls: 0.1169, d5.loss_bbox: 0.3255, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6868, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5448, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5078, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4919, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4833, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4883, d0.loss_map_cls_all: 0.2072, d0.loss_map_pts_all: 1.3055, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2072, d0.loss_map_pts: 1.3055, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1768, d1.loss_map_pts: 0.9458, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1582, d2.loss_map_pts: 0.7613, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1448, d3.loss_map_pts: 0.6993, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1368, d4.loss_map_pts: 0.6726, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1326, d5.loss_map_pts: 0.6659, d5.loss_map_dir: 0.0098, loss: 27.2852, grad_norm: 147.5402 +2026-02-28 09:14:10,254 - DriveTransformer - INFO - Epoch [9][32400/39528] lr: 7.525e-05, eta: 5 days, 1:47:24, time: 0.733, data_time: 0.039, memory: 19865, loss_cls: 0.1255, loss_bbox: 0.3203, loss_traj: 0.5352, loss_traj_cls: 0.0023, loss_map_cls: 0.1447, loss_map_pts: 0.6656, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.8908, d0.loss_plan_l1_fix_dist: 0.4526, d1.loss_plan_l1_fix_time: 0.8601, d1.loss_plan_l1_fix_dist: 0.2815, d2.loss_plan_l1_fix_time: 0.8450, d2.loss_plan_l1_fix_dist: 0.3593, d3.loss_plan_l1_fix_time: 0.8493, d3.loss_plan_l1_fix_dist: 0.3739, d4.loss_plan_l1_fix_time: 0.8533, d4.loss_plan_l1_fix_dist: 0.2858, d5.loss_plan_l1_fix_time: 0.8574, d5.loss_plan_l1_fix_dist: 0.2836, d6.loss_plan_l1_fix_time: 0.8611, d6.loss_plan_l1_fix_dist: 0.2527, d0.loss_cls_all: 0.1750, d0.loss_bbox_all: 0.3798, d0.loss_cls: 0.1750, d0.loss_bbox: 0.3798, d1.loss_cls: 0.1686, d1.loss_bbox: 0.3494, d2.loss_cls: 0.1502, d2.loss_bbox: 0.3320, d3.loss_cls: 0.1318, d3.loss_bbox: 0.3255, d4.loss_cls: 0.1274, d4.loss_bbox: 0.3211, d5.loss_cls: 0.1256, d5.loss_bbox: 0.3196, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7174, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5810, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5515, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5378, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5298, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5345, d0.loss_map_cls_all: 0.2372, d0.loss_map_pts_all: 1.2722, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2372, d0.loss_map_pts: 1.2722, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1970, d1.loss_map_pts: 0.9371, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1700, d2.loss_map_pts: 0.7677, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1583, d3.loss_map_pts: 0.6996, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1525, d4.loss_map_pts: 0.6728, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1465, d5.loss_map_pts: 0.6655, d5.loss_map_dir: 0.0082, loss: 26.6680, grad_norm: 149.0318 +2026-02-28 09:14:47,228 - DriveTransformer - INFO - Epoch [9][32450/39528] lr: 7.525e-05, eta: 5 days, 1:46:50, time: 0.740, data_time: 0.036, memory: 19865, loss_cls: 0.1099, loss_bbox: 0.2889, loss_traj: 0.4695, loss_traj_cls: 0.0022, loss_map_cls: 0.1305, loss_map_pts: 0.6239, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.5414, d0.loss_plan_l1_fix_dist: 0.4253, d1.loss_plan_l1_fix_time: 0.9476, d1.loss_plan_l1_fix_dist: 0.2725, d2.loss_plan_l1_fix_time: 0.9370, d2.loss_plan_l1_fix_dist: 0.3531, d3.loss_plan_l1_fix_time: 0.9306, d3.loss_plan_l1_fix_dist: 0.3742, d4.loss_plan_l1_fix_time: 0.9336, d4.loss_plan_l1_fix_dist: 0.2937, d5.loss_plan_l1_fix_time: 0.9368, d5.loss_plan_l1_fix_dist: 0.2903, d6.loss_plan_l1_fix_time: 0.9404, d6.loss_plan_l1_fix_dist: 0.2819, d0.loss_cls_all: 0.1568, d0.loss_bbox_all: 0.3508, d0.loss_cls: 0.1568, d0.loss_bbox: 0.3508, d1.loss_cls: 0.1488, d1.loss_bbox: 0.3208, d2.loss_cls: 0.1315, d2.loss_bbox: 0.3018, d3.loss_cls: 0.1140, d3.loss_bbox: 0.2943, d4.loss_cls: 0.1102, d4.loss_bbox: 0.2896, d5.loss_cls: 0.1096, d5.loss_bbox: 0.2886, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6817, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5434, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4990, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4792, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4736, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4713, d0.loss_map_cls_all: 0.2360, d0.loss_map_pts_all: 1.2990, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2360, d0.loss_map_pts: 1.2990, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1925, d1.loss_map_pts: 0.9213, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1615, d2.loss_map_pts: 0.7292, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1495, d3.loss_map_pts: 0.6534, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1406, d4.loss_map_pts: 0.6251, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1339, d5.loss_map_pts: 0.6226, d5.loss_map_dir: 0.0088, loss: 25.8289, grad_norm: 149.9133 +2026-02-28 09:15:25,720 - DriveTransformer - INFO - Epoch [9][32500/39528] lr: 7.525e-05, eta: 5 days, 1:46:24, time: 0.770, data_time: 0.037, memory: 19865, loss_cls: 0.1229, loss_bbox: 0.3130, loss_traj: 0.5118, loss_traj_cls: 0.0023, loss_map_cls: 0.1145, loss_map_pts: 0.5722, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.4065, d0.loss_plan_l1_fix_dist: 0.4172, d1.loss_plan_l1_fix_time: 0.8377, d1.loss_plan_l1_fix_dist: 0.2545, d2.loss_plan_l1_fix_time: 0.8375, d2.loss_plan_l1_fix_dist: 0.3040, d3.loss_plan_l1_fix_time: 0.8393, d3.loss_plan_l1_fix_dist: 0.3376, d4.loss_plan_l1_fix_time: 0.8408, d4.loss_plan_l1_fix_dist: 0.2581, d5.loss_plan_l1_fix_time: 0.8435, d5.loss_plan_l1_fix_dist: 0.2618, d6.loss_plan_l1_fix_time: 0.8480, d6.loss_plan_l1_fix_dist: 0.2709, d0.loss_cls_all: 0.1689, d0.loss_bbox_all: 0.3746, d0.loss_cls: 0.1689, d0.loss_bbox: 0.3746, d1.loss_cls: 0.1628, d1.loss_bbox: 0.3402, d2.loss_cls: 0.1469, d2.loss_bbox: 0.3212, d3.loss_cls: 0.1305, d3.loss_bbox: 0.3149, d4.loss_cls: 0.1249, d4.loss_bbox: 0.3132, d5.loss_cls: 0.1222, d5.loss_bbox: 0.3128, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7133, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5835, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5370, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5198, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5132, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5128, d0.loss_map_cls_all: 0.1928, d0.loss_map_pts_all: 1.1896, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1928, d0.loss_map_pts: 1.1896, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1601, d1.loss_map_pts: 0.8352, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1367, d2.loss_map_pts: 0.6592, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1281, d3.loss_map_pts: 0.5970, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1215, d4.loss_map_pts: 0.5784, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1161, d5.loss_map_pts: 0.5736, d5.loss_map_dir: 0.0080, loss: 24.6885, grad_norm: 150.2748 +2026-02-28 09:16:03,627 - DriveTransformer - INFO - Epoch [9][32550/39528] lr: 7.525e-05, eta: 5 days, 1:45:54, time: 0.758, data_time: 0.038, memory: 19865, loss_cls: 0.1217, loss_bbox: 0.3094, loss_traj: 0.5917, loss_traj_cls: 0.0022, loss_map_cls: 0.1284, loss_map_pts: 0.6424, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.6877, d0.loss_plan_l1_fix_dist: 0.4490, d1.loss_plan_l1_fix_time: 0.8919, d1.loss_plan_l1_fix_dist: 0.2547, d2.loss_plan_l1_fix_time: 0.8863, d2.loss_plan_l1_fix_dist: 0.2730, d3.loss_plan_l1_fix_time: 0.8878, d3.loss_plan_l1_fix_dist: 0.2984, d4.loss_plan_l1_fix_time: 0.8895, d4.loss_plan_l1_fix_dist: 0.2315, d5.loss_plan_l1_fix_time: 0.8926, d5.loss_plan_l1_fix_dist: 0.2140, d6.loss_plan_l1_fix_time: 0.8968, d6.loss_plan_l1_fix_dist: 0.2330, d0.loss_cls_all: 0.1664, d0.loss_bbox_all: 0.3710, d0.loss_cls: 0.1664, d0.loss_bbox: 0.3710, d1.loss_cls: 0.1547, d1.loss_bbox: 0.3397, d2.loss_cls: 0.1417, d2.loss_bbox: 0.3192, d3.loss_cls: 0.1274, d3.loss_bbox: 0.3112, d4.loss_cls: 0.1221, d4.loss_bbox: 0.3100, d5.loss_cls: 0.1209, d5.loss_bbox: 0.3093, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7990, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6671, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6095, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5997, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6039, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5935, d0.loss_map_cls_all: 0.2120, d0.loss_map_pts_all: 1.3292, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2120, d0.loss_map_pts: 1.3292, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1781, d1.loss_map_pts: 0.9451, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1542, d2.loss_map_pts: 0.7535, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1432, d3.loss_map_pts: 0.6807, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1351, d4.loss_map_pts: 0.6534, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1308, d5.loss_map_pts: 0.6449, d5.loss_map_dir: 0.0088, loss: 26.5606, grad_norm: 151.2910 +2026-02-28 09:16:39,447 - DriveTransformer - INFO - Epoch [9][32600/39528] lr: 7.525e-05, eta: 5 days, 1:45:14, time: 0.716, data_time: 0.037, memory: 19865, loss_cls: 0.1007, loss_bbox: 0.2925, loss_traj: 0.5396, loss_traj_cls: 0.0023, loss_map_cls: 0.1175, loss_map_pts: 0.5146, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.2530, d0.loss_plan_l1_fix_dist: 0.4230, d1.loss_plan_l1_fix_time: 0.7648, d1.loss_plan_l1_fix_dist: 0.2462, d2.loss_plan_l1_fix_time: 0.7383, d2.loss_plan_l1_fix_dist: 0.2275, d3.loss_plan_l1_fix_time: 0.7393, d3.loss_plan_l1_fix_dist: 0.2608, d4.loss_plan_l1_fix_time: 0.7429, d4.loss_plan_l1_fix_dist: 0.1978, d5.loss_plan_l1_fix_time: 0.7458, d5.loss_plan_l1_fix_dist: 0.1942, d6.loss_plan_l1_fix_time: 0.7487, d6.loss_plan_l1_fix_dist: 0.2045, d0.loss_cls_all: 0.1473, d0.loss_bbox_all: 0.3453, d0.loss_cls: 0.1473, d0.loss_bbox: 0.3453, d1.loss_cls: 0.1404, d1.loss_bbox: 0.3180, d2.loss_cls: 0.1283, d2.loss_bbox: 0.3019, d3.loss_cls: 0.1072, d3.loss_bbox: 0.2969, d4.loss_cls: 0.1016, d4.loss_bbox: 0.2943, d5.loss_cls: 0.1009, d5.loss_bbox: 0.2928, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7465, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5946, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5562, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5418, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5383, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5415, d0.loss_map_cls_all: 0.1865, d0.loss_map_pts_all: 1.0621, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1865, d0.loss_map_pts: 1.0621, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1635, d1.loss_map_pts: 0.7712, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1401, d2.loss_map_pts: 0.6125, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1304, d3.loss_map_pts: 0.5410, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1226, d4.loss_map_pts: 0.5184, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1196, d5.loss_map_pts: 0.5155, d5.loss_map_dir: 0.0062, loss: 22.8260, grad_norm: 150.2897 +2026-02-28 09:17:14,281 - DriveTransformer - INFO - Epoch [9][32650/39528] lr: 7.525e-05, eta: 5 days, 1:44:28, time: 0.697, data_time: 0.039, memory: 19865, loss_cls: 0.1301, loss_bbox: 0.3212, loss_traj: 0.5178, loss_traj_cls: 0.0022, loss_map_cls: 0.1366, loss_map_pts: 0.6279, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.6141, d0.loss_plan_l1_fix_dist: 0.5009, d1.loss_plan_l1_fix_time: 0.8853, d1.loss_plan_l1_fix_dist: 0.2677, d2.loss_plan_l1_fix_time: 0.8580, d2.loss_plan_l1_fix_dist: 0.2131, d3.loss_plan_l1_fix_time: 0.8542, d3.loss_plan_l1_fix_dist: 0.2742, d4.loss_plan_l1_fix_time: 0.8563, d4.loss_plan_l1_fix_dist: 0.2049, d5.loss_plan_l1_fix_time: 0.8591, d5.loss_plan_l1_fix_dist: 0.2029, d6.loss_plan_l1_fix_time: 0.8618, d6.loss_plan_l1_fix_dist: 0.2335, d0.loss_cls_all: 0.1694, d0.loss_bbox_all: 0.3910, d0.loss_cls: 0.1694, d0.loss_bbox: 0.3910, d1.loss_cls: 0.1640, d1.loss_bbox: 0.3536, d2.loss_cls: 0.1495, d2.loss_bbox: 0.3329, d3.loss_cls: 0.1360, d3.loss_bbox: 0.3273, d4.loss_cls: 0.1297, d4.loss_bbox: 0.3258, d5.loss_cls: 0.1288, d5.loss_bbox: 0.3231, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7567, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5953, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5323, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5215, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5198, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5168, d0.loss_map_cls_all: 0.2257, d0.loss_map_pts_all: 1.2443, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2257, d0.loss_map_pts: 1.2443, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1964, d1.loss_map_pts: 0.9098, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1639, d2.loss_map_pts: 0.7299, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1501, d3.loss_map_pts: 0.6570, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1438, d4.loss_map_pts: 0.6358, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1396, d5.loss_map_pts: 0.6288, d5.loss_map_dir: 0.0073, loss: 25.7124, grad_norm: 147.5554 +2026-02-28 09:17:50,399 - DriveTransformer - INFO - Epoch [9][32700/39528] lr: 7.525e-05, eta: 5 days, 1:43:50, time: 0.722, data_time: 0.039, memory: 19865, loss_cls: 0.1083, loss_bbox: 0.3033, loss_traj: 0.5977, loss_traj_cls: 0.0022, loss_map_cls: 0.1225, loss_map_pts: 0.5379, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.6455, d0.loss_plan_l1_fix_dist: 0.4835, d1.loss_plan_l1_fix_time: 0.8591, d1.loss_plan_l1_fix_dist: 0.2787, d2.loss_plan_l1_fix_time: 0.8465, d2.loss_plan_l1_fix_dist: 0.2084, d3.loss_plan_l1_fix_time: 0.8399, d3.loss_plan_l1_fix_dist: 0.2882, d4.loss_plan_l1_fix_time: 0.8404, d4.loss_plan_l1_fix_dist: 0.2203, d5.loss_plan_l1_fix_time: 0.8429, d5.loss_plan_l1_fix_dist: 0.2173, d6.loss_plan_l1_fix_time: 0.8460, d6.loss_plan_l1_fix_dist: 0.2569, d0.loss_cls_all: 0.1547, d0.loss_bbox_all: 0.3670, d0.loss_cls: 0.1547, d0.loss_bbox: 0.3670, d1.loss_cls: 0.1471, d1.loss_bbox: 0.3359, d2.loss_cls: 0.1336, d2.loss_bbox: 0.3163, d3.loss_cls: 0.1176, d3.loss_bbox: 0.3103, d4.loss_cls: 0.1100, d4.loss_bbox: 0.3062, d5.loss_cls: 0.1088, d5.loss_bbox: 0.3040, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9305, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6766, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6163, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6026, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5945, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5932, d0.loss_map_cls_all: 0.2113, d0.loss_map_pts_all: 1.1176, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2113, d0.loss_map_pts: 1.1176, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1747, d1.loss_map_pts: 0.8051, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1513, d2.loss_map_pts: 0.6398, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1372, d3.loss_map_pts: 0.5738, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1290, d4.loss_map_pts: 0.5447, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1250, d5.loss_map_pts: 0.5385, d5.loss_map_dir: 0.0066, loss: 25.1261, grad_norm: 148.8080 +2026-02-28 09:18:28,481 - DriveTransformer - INFO - Epoch [9][32750/39528] lr: 7.525e-05, eta: 5 days, 1:43:21, time: 0.762, data_time: 0.042, memory: 19865, loss_cls: 0.1208, loss_bbox: 0.3236, loss_traj: 0.5855, loss_traj_cls: 0.0022, loss_map_cls: 0.1210, loss_map_pts: 0.6312, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.7048, d0.loss_plan_l1_fix_dist: 0.4516, d1.loss_plan_l1_fix_time: 0.8714, d1.loss_plan_l1_fix_dist: 0.2762, d2.loss_plan_l1_fix_time: 0.8627, d2.loss_plan_l1_fix_dist: 0.2183, d3.loss_plan_l1_fix_time: 0.8580, d3.loss_plan_l1_fix_dist: 0.2844, d4.loss_plan_l1_fix_time: 0.8575, d4.loss_plan_l1_fix_dist: 0.2513, d5.loss_plan_l1_fix_time: 0.8601, d5.loss_plan_l1_fix_dist: 0.2329, d6.loss_plan_l1_fix_time: 0.8639, d6.loss_plan_l1_fix_dist: 0.2649, d0.loss_cls_all: 0.1724, d0.loss_bbox_all: 0.3886, d0.loss_cls: 0.1724, d0.loss_bbox: 0.3886, d1.loss_cls: 0.1627, d1.loss_bbox: 0.3525, d2.loss_cls: 0.1504, d2.loss_bbox: 0.3311, d3.loss_cls: 0.1314, d3.loss_bbox: 0.3282, d4.loss_cls: 0.1245, d4.loss_bbox: 0.3249, d5.loss_cls: 0.1200, d5.loss_bbox: 0.3252, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8217, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6499, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6036, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5889, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5851, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5830, d0.loss_map_cls_all: 0.2190, d0.loss_map_pts_all: 1.2598, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2190, d0.loss_map_pts: 1.2598, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1806, d1.loss_map_pts: 0.9202, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1505, d2.loss_map_pts: 0.7249, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1352, d3.loss_map_pts: 0.6570, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1274, d4.loss_map_pts: 0.6356, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1222, d5.loss_map_pts: 0.6322, d5.loss_map_dir: 0.0085, loss: 26.2621, grad_norm: 150.7387 +2026-02-28 09:19:04,529 - DriveTransformer - INFO - Epoch [9][32800/39528] lr: 7.525e-05, eta: 5 days, 1:42:43, time: 0.722, data_time: 0.038, memory: 19865, loss_cls: 0.1004, loss_bbox: 0.3000, loss_traj: 0.4995, loss_traj_cls: 0.0022, loss_map_cls: 0.1112, loss_map_pts: 0.5499, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.5616, d0.loss_plan_l1_fix_dist: 0.4624, d1.loss_plan_l1_fix_time: 0.8151, d1.loss_plan_l1_fix_dist: 0.2548, d2.loss_plan_l1_fix_time: 0.8098, d2.loss_plan_l1_fix_dist: 0.2186, d3.loss_plan_l1_fix_time: 0.8120, d3.loss_plan_l1_fix_dist: 0.2569, d4.loss_plan_l1_fix_time: 0.8137, d4.loss_plan_l1_fix_dist: 0.2513, d5.loss_plan_l1_fix_time: 0.8164, d5.loss_plan_l1_fix_dist: 0.2081, d6.loss_plan_l1_fix_time: 0.8205, d6.loss_plan_l1_fix_dist: 0.2436, d0.loss_cls_all: 0.1461, d0.loss_bbox_all: 0.3629, d0.loss_cls: 0.1461, d0.loss_bbox: 0.3629, d1.loss_cls: 0.1387, d1.loss_bbox: 0.3299, d2.loss_cls: 0.1273, d2.loss_bbox: 0.3078, d3.loss_cls: 0.1083, d3.loss_bbox: 0.3034, d4.loss_cls: 0.1035, d4.loss_bbox: 0.2994, d5.loss_cls: 0.1000, d5.loss_bbox: 0.2996, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6958, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5650, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5107, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5023, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5022, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5015, d0.loss_map_cls_all: 0.1902, d0.loss_map_pts_all: 1.1042, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1902, d0.loss_map_pts: 1.1042, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1568, d1.loss_map_pts: 0.8089, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1342, d2.loss_map_pts: 0.6456, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1231, d3.loss_map_pts: 0.5817, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1174, d4.loss_map_pts: 0.5574, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1123, d5.loss_map_pts: 0.5509, d5.loss_map_dir: 0.0064, loss: 23.7541, grad_norm: 143.8681 +2026-02-28 09:19:39,913 - DriveTransformer - INFO - Epoch [9][32850/39528] lr: 7.525e-05, eta: 5 days, 1:42:00, time: 0.706, data_time: 0.036, memory: 19865, loss_cls: 0.1419, loss_bbox: 0.3458, loss_traj: 0.6640, loss_traj_cls: 0.0022, loss_map_cls: 0.1278, loss_map_pts: 0.6829, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.8602, d0.loss_plan_l1_fix_dist: 0.5230, d1.loss_plan_l1_fix_time: 0.9589, d1.loss_plan_l1_fix_dist: 0.2681, d2.loss_plan_l1_fix_time: 0.9395, d2.loss_plan_l1_fix_dist: 0.2658, d3.loss_plan_l1_fix_time: 0.9366, d3.loss_plan_l1_fix_dist: 0.2384, d4.loss_plan_l1_fix_time: 0.9385, d4.loss_plan_l1_fix_dist: 0.2487, d5.loss_plan_l1_fix_time: 0.9409, d5.loss_plan_l1_fix_dist: 0.2255, d6.loss_plan_l1_fix_time: 0.9438, d6.loss_plan_l1_fix_dist: 0.2353, d0.loss_cls_all: 0.1834, d0.loss_bbox_all: 0.4253, d0.loss_cls: 0.1834, d0.loss_bbox: 0.4253, d1.loss_cls: 0.1797, d1.loss_bbox: 0.3809, d2.loss_cls: 0.1673, d2.loss_bbox: 0.3577, d3.loss_cls: 0.1506, d3.loss_bbox: 0.3511, d4.loss_cls: 0.1443, d4.loss_bbox: 0.3485, d5.loss_cls: 0.1420, d5.loss_bbox: 0.3466, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9501, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7422, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6831, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6604, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6578, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6635, d0.loss_map_cls_all: 0.2116, d0.loss_map_pts_all: 1.3193, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2116, d0.loss_map_pts: 1.3193, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1801, d1.loss_map_pts: 0.9899, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1511, d2.loss_map_pts: 0.8085, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1393, d3.loss_map_pts: 0.7254, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1325, d4.loss_map_pts: 0.6915, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1292, d5.loss_map_pts: 0.6842, d5.loss_map_dir: 0.0086, loss: 28.3967, grad_norm: 139.8685 +2026-02-28 09:20:14,925 - DriveTransformer - INFO - Epoch [9][32900/39528] lr: 7.525e-05, eta: 5 days, 1:41:15, time: 0.700, data_time: 0.042, memory: 19865, loss_cls: 0.1208, loss_bbox: 0.3244, loss_traj: 0.5959, loss_traj_cls: 0.0022, loss_map_cls: 0.1178, loss_map_pts: 0.5358, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 3.0369, d0.loss_plan_l1_fix_dist: 0.3918, d1.loss_plan_l1_fix_time: 1.0588, d1.loss_plan_l1_fix_dist: 0.2544, d2.loss_plan_l1_fix_time: 1.0553, d2.loss_plan_l1_fix_dist: 0.2725, d3.loss_plan_l1_fix_time: 1.0557, d3.loss_plan_l1_fix_dist: 0.2230, d4.loss_plan_l1_fix_time: 1.0591, d4.loss_plan_l1_fix_dist: 0.2421, d5.loss_plan_l1_fix_time: 1.0620, d5.loss_plan_l1_fix_dist: 0.1972, d6.loss_plan_l1_fix_time: 1.0645, d6.loss_plan_l1_fix_dist: 0.2073, d0.loss_cls_all: 0.1645, d0.loss_bbox_all: 0.3969, d0.loss_cls: 0.1645, d0.loss_bbox: 0.3969, d1.loss_cls: 0.1624, d1.loss_bbox: 0.3590, d2.loss_cls: 0.1447, d2.loss_bbox: 0.3404, d3.loss_cls: 0.1256, d3.loss_bbox: 0.3329, d4.loss_cls: 0.1208, d4.loss_bbox: 0.3283, d5.loss_cls: 0.1202, d5.loss_bbox: 0.3263, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8685, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6896, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6286, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6068, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6009, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5948, d0.loss_map_cls_all: 0.2069, d0.loss_map_pts_all: 1.1098, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.2069, d0.loss_map_pts: 1.1098, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1765, d1.loss_map_pts: 0.7795, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1465, d2.loss_map_pts: 0.6306, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1349, d3.loss_map_pts: 0.5625, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1275, d4.loss_map_pts: 0.5413, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1198, d5.loss_map_pts: 0.5357, d5.loss_map_dir: 0.0059, loss: 26.7887, grad_norm: 138.5360 +2026-02-28 09:20:53,708 - DriveTransformer - INFO - Epoch [9][32950/39528] lr: 7.525e-05, eta: 5 days, 1:40:50, time: 0.776, data_time: 0.038, memory: 19865, loss_cls: 0.1010, loss_bbox: 0.3018, loss_traj: 0.5239, loss_traj_cls: 0.0023, loss_map_cls: 0.0973, loss_map_pts: 0.5650, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.1421, d0.loss_plan_l1_fix_dist: 0.4191, d1.loss_plan_l1_fix_time: 0.7468, d1.loss_plan_l1_fix_dist: 0.2595, d2.loss_plan_l1_fix_time: 0.7335, d2.loss_plan_l1_fix_dist: 0.2857, d3.loss_plan_l1_fix_time: 0.7236, d3.loss_plan_l1_fix_dist: 0.2609, d4.loss_plan_l1_fix_time: 0.7256, d4.loss_plan_l1_fix_dist: 0.2526, d5.loss_plan_l1_fix_time: 0.7287, d5.loss_plan_l1_fix_dist: 0.1981, d6.loss_plan_l1_fix_time: 0.7323, d6.loss_plan_l1_fix_dist: 0.2153, d0.loss_cls_all: 0.1426, d0.loss_bbox_all: 0.3583, d0.loss_cls: 0.1426, d0.loss_bbox: 0.3583, d1.loss_cls: 0.1382, d1.loss_bbox: 0.3287, d2.loss_cls: 0.1242, d2.loss_bbox: 0.3095, d3.loss_cls: 0.1082, d3.loss_bbox: 0.3024, d4.loss_cls: 0.1039, d4.loss_bbox: 0.3005, d5.loss_cls: 0.1011, d5.loss_bbox: 0.3009, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7433, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6077, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5612, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5399, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5322, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5296, d0.loss_map_cls_all: 0.1753, d0.loss_map_pts_all: 1.2424, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.1753, d0.loss_map_pts: 1.2424, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1428, d1.loss_map_pts: 0.8424, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1220, d2.loss_map_pts: 0.6517, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1110, d3.loss_map_pts: 0.5930, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1054, d4.loss_map_pts: 0.5734, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.0998, d5.loss_map_pts: 0.5656, d5.loss_map_dir: 0.0079, loss: 23.3589, grad_norm: 138.7878 +2026-02-28 09:21:29,876 - DriveTransformer - INFO - Epoch [9][33000/39528] lr: 7.525e-05, eta: 5 days, 1:40:12, time: 0.723, data_time: 0.038, memory: 19865, loss_cls: 0.1059, loss_bbox: 0.3099, loss_traj: 0.5181, loss_traj_cls: 0.0022, loss_map_cls: 0.1143, loss_map_pts: 0.5533, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.5460, d0.loss_plan_l1_fix_dist: 0.4080, d1.loss_plan_l1_fix_time: 0.9070, d1.loss_plan_l1_fix_dist: 0.2725, d2.loss_plan_l1_fix_time: 0.8944, d2.loss_plan_l1_fix_dist: 0.3051, d3.loss_plan_l1_fix_time: 0.8945, d3.loss_plan_l1_fix_dist: 0.3040, d4.loss_plan_l1_fix_time: 0.8973, d4.loss_plan_l1_fix_dist: 0.2341, d5.loss_plan_l1_fix_time: 0.9008, d5.loss_plan_l1_fix_dist: 0.2112, d6.loss_plan_l1_fix_time: 0.9055, d6.loss_plan_l1_fix_dist: 0.2508, d0.loss_cls_all: 0.1504, d0.loss_bbox_all: 0.3715, d0.loss_cls: 0.1504, d0.loss_bbox: 0.3715, d1.loss_cls: 0.1422, d1.loss_bbox: 0.3388, d2.loss_cls: 0.1309, d2.loss_bbox: 0.3171, d3.loss_cls: 0.1127, d3.loss_bbox: 0.3100, d4.loss_cls: 0.1073, d4.loss_bbox: 0.3076, d5.loss_cls: 0.1057, d5.loss_bbox: 0.3081, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7750, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6125, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5477, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5255, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5196, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5160, d0.loss_map_cls_all: 0.2000, d0.loss_map_pts_all: 1.1437, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2000, d0.loss_map_pts: 1.1437, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1684, d1.loss_map_pts: 0.8115, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1404, d2.loss_map_pts: 0.6432, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1285, d3.loss_map_pts: 0.5820, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1206, d4.loss_map_pts: 0.5600, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1176, d5.loss_map_pts: 0.5541, d5.loss_map_dir: 0.0073, loss: 24.8294, grad_norm: 148.9432 +2026-02-28 09:22:04,274 - DriveTransformer - INFO - Epoch [9][33050/39528] lr: 7.525e-05, eta: 5 days, 1:39:24, time: 0.688, data_time: 0.039, memory: 19865, loss_cls: 0.1266, loss_bbox: 0.3237, loss_traj: 0.5601, loss_traj_cls: 0.0021, loss_map_cls: 0.1097, loss_map_pts: 0.5140, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.8133, d0.loss_plan_l1_fix_dist: 0.4048, d1.loss_plan_l1_fix_time: 1.0505, d1.loss_plan_l1_fix_dist: 0.2914, d2.loss_plan_l1_fix_time: 1.0298, d2.loss_plan_l1_fix_dist: 0.3374, d3.loss_plan_l1_fix_time: 1.0266, d3.loss_plan_l1_fix_dist: 0.3399, d4.loss_plan_l1_fix_time: 1.0287, d4.loss_plan_l1_fix_dist: 0.2306, d5.loss_plan_l1_fix_time: 1.0325, d5.loss_plan_l1_fix_dist: 0.2290, d6.loss_plan_l1_fix_time: 1.0378, d6.loss_plan_l1_fix_dist: 0.2912, d0.loss_cls_all: 0.1711, d0.loss_bbox_all: 0.3949, d0.loss_cls: 0.1711, d0.loss_bbox: 0.3949, d1.loss_cls: 0.1634, d1.loss_bbox: 0.3596, d2.loss_cls: 0.1513, d2.loss_bbox: 0.3362, d3.loss_cls: 0.1331, d3.loss_bbox: 0.3279, d4.loss_cls: 0.1257, d4.loss_bbox: 0.3248, d5.loss_cls: 0.1255, d5.loss_bbox: 0.3229, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7929, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6336, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5947, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5744, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5679, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5631, d0.loss_map_cls_all: 0.2008, d0.loss_map_pts_all: 1.0112, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.2008, d0.loss_map_pts: 1.0112, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1635, d1.loss_map_pts: 0.7424, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1345, d2.loss_map_pts: 0.5968, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1230, d3.loss_map_pts: 0.5365, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1163, d4.loss_map_pts: 0.5186, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1114, d5.loss_map_pts: 0.5138, d5.loss_map_dir: 0.0054, loss: 26.0376, grad_norm: 146.0549 +2026-02-28 09:22:40,635 - DriveTransformer - INFO - Epoch [9][33100/39528] lr: 7.525e-05, eta: 5 days, 1:38:46, time: 0.727, data_time: 0.037, memory: 19865, loss_cls: 0.1229, loss_bbox: 0.3140, loss_traj: 0.6754, loss_traj_cls: 0.0022, loss_map_cls: 0.1162, loss_map_pts: 0.5470, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.8858, d0.loss_plan_l1_fix_dist: 0.4325, d1.loss_plan_l1_fix_time: 0.8977, d1.loss_plan_l1_fix_dist: 0.2720, d2.loss_plan_l1_fix_time: 0.8791, d2.loss_plan_l1_fix_dist: 0.3175, d3.loss_plan_l1_fix_time: 0.8788, d3.loss_plan_l1_fix_dist: 0.3133, d4.loss_plan_l1_fix_time: 0.8819, d4.loss_plan_l1_fix_dist: 0.2180, d5.loss_plan_l1_fix_time: 0.8848, d5.loss_plan_l1_fix_dist: 0.2128, d6.loss_plan_l1_fix_time: 0.8888, d6.loss_plan_l1_fix_dist: 0.2562, d0.loss_cls_all: 0.1571, d0.loss_bbox_all: 0.3837, d0.loss_cls: 0.1571, d0.loss_bbox: 0.3837, d1.loss_cls: 0.1581, d1.loss_bbox: 0.3453, d2.loss_cls: 0.1438, d2.loss_bbox: 0.3277, d3.loss_cls: 0.1272, d3.loss_bbox: 0.3204, d4.loss_cls: 0.1230, d4.loss_bbox: 0.3161, d5.loss_cls: 0.1233, d5.loss_bbox: 0.3142, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8944, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7601, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6966, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6782, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.6671, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6723, d0.loss_map_cls_all: 0.1984, d0.loss_map_pts_all: 1.1019, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1984, d0.loss_map_pts: 1.1019, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1645, d1.loss_map_pts: 0.7732, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1396, d2.loss_map_pts: 0.6311, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1295, d3.loss_map_pts: 0.5739, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1237, d4.loss_map_pts: 0.5512, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1189, d5.loss_map_pts: 0.5462, d5.loss_map_dir: 0.0064, loss: 26.1556, grad_norm: 146.3808 +2026-02-28 09:23:17,420 - DriveTransformer - INFO - Epoch [9][33150/39528] lr: 7.525e-05, eta: 5 days, 1:38:11, time: 0.736, data_time: 0.038, memory: 19865, loss_cls: 0.1141, loss_bbox: 0.3119, loss_traj: 0.5420, loss_traj_cls: 0.0021, loss_map_cls: 0.0933, loss_map_pts: 0.5452, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.8319, d0.loss_plan_l1_fix_dist: 0.4533, d1.loss_plan_l1_fix_time: 0.9157, d1.loss_plan_l1_fix_dist: 0.2738, d2.loss_plan_l1_fix_time: 0.8950, d2.loss_plan_l1_fix_dist: 0.3151, d3.loss_plan_l1_fix_time: 0.8868, d3.loss_plan_l1_fix_dist: 0.2986, d4.loss_plan_l1_fix_time: 0.8888, d4.loss_plan_l1_fix_dist: 0.2386, d5.loss_plan_l1_fix_time: 0.8907, d5.loss_plan_l1_fix_dist: 0.2386, d6.loss_plan_l1_fix_time: 0.8932, d6.loss_plan_l1_fix_dist: 0.2450, d0.loss_cls_all: 0.1646, d0.loss_bbox_all: 0.3729, d0.loss_cls: 0.1646, d0.loss_bbox: 0.3729, d1.loss_cls: 0.1558, d1.loss_bbox: 0.3394, d2.loss_cls: 0.1420, d2.loss_bbox: 0.3217, d3.loss_cls: 0.1228, d3.loss_bbox: 0.3153, d4.loss_cls: 0.1178, d4.loss_bbox: 0.3129, d5.loss_cls: 0.1150, d5.loss_bbox: 0.3115, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7742, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6099, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5626, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5445, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5447, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5405, d0.loss_map_cls_all: 0.1735, d0.loss_map_pts_all: 1.0901, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1735, d0.loss_map_pts: 1.0901, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1386, d1.loss_map_pts: 0.7669, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1189, d2.loss_map_pts: 0.6224, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1071, d3.loss_map_pts: 0.5691, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1011, d4.loss_map_pts: 0.5524, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.0956, d5.loss_map_pts: 0.5456, d5.loss_map_dir: 0.0072, loss: 24.9866, grad_norm: 147.0359 +2026-02-28 09:23:54,356 - DriveTransformer - INFO - Epoch [9][33200/39528] lr: 7.525e-05, eta: 5 days, 1:37:37, time: 0.739, data_time: 0.037, memory: 19865, loss_cls: 0.1047, loss_bbox: 0.3026, loss_traj: 0.5348, loss_traj_cls: 0.0022, loss_map_cls: 0.0861, loss_map_pts: 0.5028, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.0613, d0.loss_plan_l1_fix_dist: 0.4837, d1.loss_plan_l1_fix_time: 0.8275, d1.loss_plan_l1_fix_dist: 0.2457, d2.loss_plan_l1_fix_time: 0.8224, d2.loss_plan_l1_fix_dist: 0.2849, d3.loss_plan_l1_fix_time: 0.8179, d3.loss_plan_l1_fix_dist: 0.2717, d4.loss_plan_l1_fix_time: 0.8214, d4.loss_plan_l1_fix_dist: 0.2504, d5.loss_plan_l1_fix_time: 0.8249, d5.loss_plan_l1_fix_dist: 0.2602, d6.loss_plan_l1_fix_time: 0.8288, d6.loss_plan_l1_fix_dist: 0.2321, d0.loss_cls_all: 0.1432, d0.loss_bbox_all: 0.3583, d0.loss_cls: 0.1432, d0.loss_bbox: 0.3583, d1.loss_cls: 0.1384, d1.loss_bbox: 0.3254, d2.loss_cls: 0.1238, d2.loss_bbox: 0.3101, d3.loss_cls: 0.1101, d3.loss_bbox: 0.3057, d4.loss_cls: 0.1049, d4.loss_bbox: 0.3040, d5.loss_cls: 0.1059, d5.loss_bbox: 0.3021, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7389, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5946, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5552, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5421, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5383, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5341, d0.loss_map_cls_all: 0.1615, d0.loss_map_pts_all: 1.0230, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1615, d0.loss_map_pts: 1.0230, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1302, d1.loss_map_pts: 0.7224, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1078, d2.loss_map_pts: 0.5819, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.0965, d3.loss_map_pts: 0.5267, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.0923, d4.loss_map_pts: 0.5091, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0879, d5.loss_map_pts: 0.5022, d5.loss_map_dir: 0.0065, loss: 22.9867, grad_norm: 158.8089 +2026-02-28 09:24:30,824 - DriveTransformer - INFO - Epoch [9][33250/39528] lr: 7.525e-05, eta: 5 days, 1:37:00, time: 0.729, data_time: 0.036, memory: 19865, loss_cls: 0.1132, loss_bbox: 0.3208, loss_traj: 0.6034, loss_traj_cls: 0.0021, loss_map_cls: 0.1287, loss_map_pts: 0.5817, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.7299, d0.loss_plan_l1_fix_dist: 0.4235, d1.loss_plan_l1_fix_time: 1.0507, d1.loss_plan_l1_fix_dist: 0.2329, d2.loss_plan_l1_fix_time: 1.0334, d2.loss_plan_l1_fix_dist: 0.2591, d3.loss_plan_l1_fix_time: 1.0267, d3.loss_plan_l1_fix_dist: 0.2322, d4.loss_plan_l1_fix_time: 1.0281, d4.loss_plan_l1_fix_dist: 0.2220, d5.loss_plan_l1_fix_time: 1.0301, d5.loss_plan_l1_fix_dist: 0.2391, d6.loss_plan_l1_fix_time: 1.0333, d6.loss_plan_l1_fix_dist: 0.2175, d0.loss_cls_all: 0.1592, d0.loss_bbox_all: 0.3829, d0.loss_cls: 0.1592, d0.loss_bbox: 0.3829, d1.loss_cls: 0.1554, d1.loss_bbox: 0.3447, d2.loss_cls: 0.1378, d2.loss_bbox: 0.3284, d3.loss_cls: 0.1223, d3.loss_bbox: 0.3211, d4.loss_cls: 0.1145, d4.loss_bbox: 0.3213, d5.loss_cls: 0.1132, d5.loss_bbox: 0.3207, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9559, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6970, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6297, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6126, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.6028, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6011, d0.loss_map_cls_all: 0.2123, d0.loss_map_pts_all: 1.1833, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2123, d0.loss_map_pts: 1.1833, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1797, d1.loss_map_pts: 0.8432, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1542, d2.loss_map_pts: 0.6661, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1434, d3.loss_map_pts: 0.6073, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1369, d4.loss_map_pts: 0.5859, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1302, d5.loss_map_pts: 0.5819, d5.loss_map_dir: 0.0073, loss: 26.8515, grad_norm: 163.0277 +2026-02-28 09:25:08,984 - DriveTransformer - INFO - Epoch [9][33300/39528] lr: 7.525e-05, eta: 5 days, 1:36:32, time: 0.763, data_time: 0.037, memory: 19865, loss_cls: 0.0874, loss_bbox: 0.2775, loss_traj: 0.4515, loss_traj_cls: 0.0022, loss_map_cls: 0.1121, loss_map_pts: 0.5782, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.3945, d0.loss_plan_l1_fix_dist: 0.4646, d1.loss_plan_l1_fix_time: 0.7305, d1.loss_plan_l1_fix_dist: 0.2330, d2.loss_plan_l1_fix_time: 0.7162, d2.loss_plan_l1_fix_dist: 0.2336, d3.loss_plan_l1_fix_time: 0.7048, d3.loss_plan_l1_fix_dist: 0.2113, d4.loss_plan_l1_fix_time: 0.7062, d4.loss_plan_l1_fix_dist: 0.2321, d5.loss_plan_l1_fix_time: 0.7088, d5.loss_plan_l1_fix_dist: 0.2282, d6.loss_plan_l1_fix_time: 0.7125, d6.loss_plan_l1_fix_dist: 0.2329, d0.loss_cls_all: 0.1304, d0.loss_bbox_all: 0.3479, d0.loss_cls: 0.1304, d0.loss_bbox: 0.3479, d1.loss_cls: 0.1217, d1.loss_bbox: 0.3099, d2.loss_cls: 0.1082, d2.loss_bbox: 0.2879, d3.loss_cls: 0.0943, d3.loss_bbox: 0.2807, d4.loss_cls: 0.0908, d4.loss_bbox: 0.2773, d5.loss_cls: 0.0881, d5.loss_bbox: 0.2782, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7019, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5196, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4700, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4603, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4526, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4505, d0.loss_map_cls_all: 0.2018, d0.loss_map_pts_all: 1.3225, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2018, d0.loss_map_pts: 1.3225, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1583, d1.loss_map_pts: 0.8665, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1388, d2.loss_map_pts: 0.6745, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1259, d3.loss_map_pts: 0.6086, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1195, d4.loss_map_pts: 0.5860, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1154, d5.loss_map_pts: 0.5801, d5.loss_map_dir: 0.0092, loss: 23.0649, grad_norm: 164.2766 +2026-02-28 09:25:45,746 - DriveTransformer - INFO - Epoch [9][33350/39528] lr: 7.525e-05, eta: 5 days, 1:35:57, time: 0.735, data_time: 0.037, memory: 19865, loss_cls: 0.1113, loss_bbox: 0.2897, loss_traj: 0.5180, loss_traj_cls: 0.0021, loss_map_cls: 0.1125, loss_map_pts: 0.5053, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.0643, d0.loss_plan_l1_fix_dist: 0.5137, d1.loss_plan_l1_fix_time: 0.7127, d1.loss_plan_l1_fix_dist: 0.2162, d2.loss_plan_l1_fix_time: 0.7021, d2.loss_plan_l1_fix_dist: 0.1920, d3.loss_plan_l1_fix_time: 0.6979, d3.loss_plan_l1_fix_dist: 0.1913, d4.loss_plan_l1_fix_time: 0.6999, d4.loss_plan_l1_fix_dist: 0.2470, d5.loss_plan_l1_fix_time: 0.7033, d5.loss_plan_l1_fix_dist: 0.1891, d6.loss_plan_l1_fix_time: 0.7073, d6.loss_plan_l1_fix_dist: 0.2001, d0.loss_cls_all: 0.1531, d0.loss_bbox_all: 0.3502, d0.loss_cls: 0.1531, d0.loss_bbox: 0.3502, d1.loss_cls: 0.1433, d1.loss_bbox: 0.3180, d2.loss_cls: 0.1342, d2.loss_bbox: 0.3016, d3.loss_cls: 0.1194, d3.loss_bbox: 0.2957, d4.loss_cls: 0.1129, d4.loss_bbox: 0.2922, d5.loss_cls: 0.1103, d5.loss_bbox: 0.2922, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7190, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5918, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5426, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5294, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5225, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5196, d0.loss_map_cls_all: 0.1837, d0.loss_map_pts_all: 1.0866, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1837, d0.loss_map_pts: 1.0866, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1599, d1.loss_map_pts: 0.7551, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1404, d2.loss_map_pts: 0.6000, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1277, d3.loss_map_pts: 0.5346, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1203, d4.loss_map_pts: 0.5115, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1158, d5.loss_map_pts: 0.5050, d5.loss_map_dir: 0.0065, loss: 22.2920, grad_norm: 156.0840 +2026-02-28 09:26:22,471 - DriveTransformer - INFO - Epoch [9][33400/39528] lr: 7.525e-05, eta: 5 days, 1:35:21, time: 0.735, data_time: 0.036, memory: 19865, loss_cls: 0.1245, loss_bbox: 0.3338, loss_traj: 0.4677, loss_traj_cls: 0.0020, loss_map_cls: 0.1206, loss_map_pts: 0.5620, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.8123, d0.loss_plan_l1_fix_dist: 0.4267, d1.loss_plan_l1_fix_time: 0.9137, d1.loss_plan_l1_fix_dist: 0.2515, d2.loss_plan_l1_fix_time: 0.9037, d2.loss_plan_l1_fix_dist: 0.1982, d3.loss_plan_l1_fix_time: 0.9031, d3.loss_plan_l1_fix_dist: 0.2214, d4.loss_plan_l1_fix_time: 0.9048, d4.loss_plan_l1_fix_dist: 0.3139, d5.loss_plan_l1_fix_time: 0.9076, d5.loss_plan_l1_fix_dist: 0.2170, d6.loss_plan_l1_fix_time: 0.9112, d6.loss_plan_l1_fix_dist: 0.2094, d0.loss_cls_all: 0.1660, d0.loss_bbox_all: 0.3947, d0.loss_cls: 0.1660, d0.loss_bbox: 0.3947, d1.loss_cls: 0.1557, d1.loss_bbox: 0.3603, d2.loss_cls: 0.1442, d2.loss_bbox: 0.3421, d3.loss_cls: 0.1326, d3.loss_bbox: 0.3349, d4.loss_cls: 0.1285, d4.loss_bbox: 0.3325, d5.loss_cls: 0.1259, d5.loss_bbox: 0.3330, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7008, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5465, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5022, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4774, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4720, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4695, d0.loss_map_cls_all: 0.1992, d0.loss_map_pts_all: 1.2147, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.1992, d0.loss_map_pts: 1.2147, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1715, d1.loss_map_pts: 0.8288, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1447, d2.loss_map_pts: 0.6535, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1332, d3.loss_map_pts: 0.5969, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1257, d4.loss_map_pts: 0.5729, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1215, d5.loss_map_pts: 0.5637, d5.loss_map_dir: 0.0087, loss: 25.1965, grad_norm: 156.7915 +2026-02-28 09:26:58,173 - DriveTransformer - INFO - Epoch [9][33450/39528] lr: 7.525e-05, eta: 5 days, 1:34:40, time: 0.714, data_time: 0.040, memory: 19865, loss_cls: 0.1121, loss_bbox: 0.3154, loss_traj: 0.5935, loss_traj_cls: 0.0021, loss_map_cls: 0.1333, loss_map_pts: 0.5782, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 3.1502, d0.loss_plan_l1_fix_dist: 0.4388, d1.loss_plan_l1_fix_time: 0.9164, d1.loss_plan_l1_fix_dist: 0.2491, d2.loss_plan_l1_fix_time: 0.9051, d2.loss_plan_l1_fix_dist: 0.2040, d3.loss_plan_l1_fix_time: 0.9038, d3.loss_plan_l1_fix_dist: 0.2165, d4.loss_plan_l1_fix_time: 0.9062, d4.loss_plan_l1_fix_dist: 0.2976, d5.loss_plan_l1_fix_time: 0.9085, d5.loss_plan_l1_fix_dist: 0.2160, d6.loss_plan_l1_fix_time: 0.9117, d6.loss_plan_l1_fix_dist: 0.1866, d0.loss_cls_all: 0.1478, d0.loss_bbox_all: 0.3886, d0.loss_cls: 0.1478, d0.loss_bbox: 0.3886, d1.loss_cls: 0.1453, d1.loss_bbox: 0.3520, d2.loss_cls: 0.1342, d2.loss_bbox: 0.3257, d3.loss_cls: 0.1180, d3.loss_bbox: 0.3205, d4.loss_cls: 0.1148, d4.loss_bbox: 0.3164, d5.loss_cls: 0.1116, d5.loss_bbox: 0.3164, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8683, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6720, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6182, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6033, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5973, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5930, d0.loss_map_cls_all: 0.2108, d0.loss_map_pts_all: 1.1657, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2108, d0.loss_map_pts: 1.1657, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1873, d1.loss_map_pts: 0.8542, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1612, d2.loss_map_pts: 0.6796, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1479, d3.loss_map_pts: 0.6130, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1402, d4.loss_map_pts: 0.5860, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1356, d5.loss_map_pts: 0.5796, d5.loss_map_dir: 0.0068, loss: 26.3197, grad_norm: 156.7416 +2026-02-28 09:27:34,226 - DriveTransformer - INFO - Epoch [9][33500/39528] lr: 7.525e-05, eta: 5 days, 1:34:01, time: 0.721, data_time: 0.038, memory: 19865, loss_cls: 0.0943, loss_bbox: 0.2791, loss_traj: 0.5155, loss_traj_cls: 0.0022, loss_map_cls: 0.1152, loss_map_pts: 0.5309, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.4118, d0.loss_plan_l1_fix_dist: 0.4541, d1.loss_plan_l1_fix_time: 0.8766, d1.loss_plan_l1_fix_dist: 0.2461, d2.loss_plan_l1_fix_time: 0.8671, d2.loss_plan_l1_fix_dist: 0.2232, d3.loss_plan_l1_fix_time: 0.8588, d3.loss_plan_l1_fix_dist: 0.2185, d4.loss_plan_l1_fix_time: 0.8610, d4.loss_plan_l1_fix_dist: 0.2595, d5.loss_plan_l1_fix_time: 0.8631, d5.loss_plan_l1_fix_dist: 0.1935, d6.loss_plan_l1_fix_time: 0.8662, d6.loss_plan_l1_fix_dist: 0.1912, d0.loss_cls_all: 0.1281, d0.loss_bbox_all: 0.3352, d0.loss_cls: 0.1281, d0.loss_bbox: 0.3352, d1.loss_cls: 0.1251, d1.loss_bbox: 0.3026, d2.loss_cls: 0.1133, d2.loss_bbox: 0.2883, d3.loss_cls: 0.0990, d3.loss_bbox: 0.2841, d4.loss_cls: 0.0960, d4.loss_bbox: 0.2815, d5.loss_cls: 0.0946, d5.loss_bbox: 0.2793, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7143, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5717, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5344, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5212, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5191, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5166, d0.loss_map_cls_all: 0.1867, d0.loss_map_pts_all: 1.1208, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1867, d0.loss_map_pts: 1.1208, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1563, d1.loss_map_pts: 0.7832, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1363, d2.loss_map_pts: 0.6184, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1251, d3.loss_map_pts: 0.5591, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1207, d4.loss_map_pts: 0.5386, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1171, d5.loss_map_pts: 0.5318, d5.loss_map_dir: 0.0070, loss: 23.5562, grad_norm: 157.4551 +2026-02-28 09:28:10,769 - DriveTransformer - INFO - Epoch [9][33550/39528] lr: 7.525e-05, eta: 5 days, 1:33:25, time: 0.731, data_time: 0.037, memory: 19865, loss_cls: 0.1366, loss_bbox: 0.3346, loss_traj: 0.4835, loss_traj_cls: 0.0020, loss_map_cls: 0.1302, loss_map_pts: 0.5824, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.3923, d0.loss_plan_l1_fix_dist: 0.3957, d1.loss_plan_l1_fix_time: 0.8811, d1.loss_plan_l1_fix_dist: 0.2401, d2.loss_plan_l1_fix_time: 0.8787, d2.loss_plan_l1_fix_dist: 0.2404, d3.loss_plan_l1_fix_time: 0.8793, d3.loss_plan_l1_fix_dist: 0.2256, d4.loss_plan_l1_fix_time: 0.8821, d4.loss_plan_l1_fix_dist: 0.2323, d5.loss_plan_l1_fix_time: 0.8847, d5.loss_plan_l1_fix_dist: 0.1878, d6.loss_plan_l1_fix_time: 0.8874, d6.loss_plan_l1_fix_dist: 0.2033, d0.loss_cls_all: 0.1734, d0.loss_bbox_all: 0.3961, d0.loss_cls: 0.1734, d0.loss_bbox: 0.3961, d1.loss_cls: 0.1672, d1.loss_bbox: 0.3612, d2.loss_cls: 0.1533, d2.loss_bbox: 0.3443, d3.loss_cls: 0.1426, d3.loss_bbox: 0.3391, d4.loss_cls: 0.1390, d4.loss_bbox: 0.3353, d5.loss_cls: 0.1378, d5.loss_bbox: 0.3345, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7093, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5506, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5035, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4890, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4828, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4838, d0.loss_map_cls_all: 0.1932, d0.loss_map_pts_all: 1.2090, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.1932, d0.loss_map_pts: 1.2090, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1735, d1.loss_map_pts: 0.8377, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1521, d2.loss_map_pts: 0.6678, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1428, d3.loss_map_pts: 0.6116, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1377, d4.loss_map_pts: 0.5878, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1307, d5.loss_map_pts: 0.5839, d5.loss_map_dir: 0.0078, loss: 24.7904, grad_norm: 157.5277 +2026-02-28 09:28:47,283 - DriveTransformer - INFO - Epoch [9][33600/39528] lr: 7.525e-05, eta: 5 days, 1:32:48, time: 0.732, data_time: 0.038, memory: 19865, loss_cls: 0.1246, loss_bbox: 0.3060, loss_traj: 0.5528, loss_traj_cls: 0.0021, loss_map_cls: 0.1141, loss_map_pts: 0.5381, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.2960, d0.loss_plan_l1_fix_dist: 0.4130, d1.loss_plan_l1_fix_time: 0.7993, d1.loss_plan_l1_fix_dist: 0.2401, d2.loss_plan_l1_fix_time: 0.7829, d2.loss_plan_l1_fix_dist: 0.2582, d3.loss_plan_l1_fix_time: 0.7831, d3.loss_plan_l1_fix_dist: 0.2579, d4.loss_plan_l1_fix_time: 0.7859, d4.loss_plan_l1_fix_dist: 0.1975, d5.loss_plan_l1_fix_time: 0.7894, d5.loss_plan_l1_fix_dist: 0.1769, d6.loss_plan_l1_fix_time: 0.7932, d6.loss_plan_l1_fix_dist: 0.2092, d0.loss_cls_all: 0.1644, d0.loss_bbox_all: 0.3692, d0.loss_cls: 0.1644, d0.loss_bbox: 0.3692, d1.loss_cls: 0.1591, d1.loss_bbox: 0.3384, d2.loss_cls: 0.1436, d2.loss_bbox: 0.3204, d3.loss_cls: 0.1284, d3.loss_bbox: 0.3144, d4.loss_cls: 0.1235, d4.loss_bbox: 0.3100, d5.loss_cls: 0.1236, d5.loss_bbox: 0.3069, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7888, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6282, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5773, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5599, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5544, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5529, d0.loss_map_cls_all: 0.1959, d0.loss_map_pts_all: 1.0953, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1959, d0.loss_map_pts: 1.0953, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1662, d1.loss_map_pts: 0.7747, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1400, d2.loss_map_pts: 0.6256, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1281, d3.loss_map_pts: 0.5705, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1213, d4.loss_map_pts: 0.5475, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1165, d5.loss_map_pts: 0.5396, d5.loss_map_dir: 0.0066, loss: 23.7853, grad_norm: 159.6313 +2026-02-28 09:29:24,559 - DriveTransformer - INFO - Epoch [9][33650/39528] lr: 7.525e-05, eta: 5 days, 1:32:15, time: 0.744, data_time: 0.034, memory: 19865, loss_cls: 0.1180, loss_bbox: 0.3182, loss_traj: 0.5735, loss_traj_cls: 0.0020, loss_map_cls: 0.1308, loss_map_pts: 0.6621, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.7353, d0.loss_plan_l1_fix_dist: 0.3829, d1.loss_plan_l1_fix_time: 0.9286, d1.loss_plan_l1_fix_dist: 0.2413, d2.loss_plan_l1_fix_time: 0.9082, d2.loss_plan_l1_fix_dist: 0.2640, d3.loss_plan_l1_fix_time: 0.9022, d3.loss_plan_l1_fix_dist: 0.2759, d4.loss_plan_l1_fix_time: 0.9055, d4.loss_plan_l1_fix_dist: 0.1897, d5.loss_plan_l1_fix_time: 0.9090, d5.loss_plan_l1_fix_dist: 0.1796, d6.loss_plan_l1_fix_time: 0.9130, d6.loss_plan_l1_fix_dist: 0.1974, d0.loss_cls_all: 0.1530, d0.loss_bbox_all: 0.3839, d0.loss_cls: 0.1530, d0.loss_bbox: 0.3839, d1.loss_cls: 0.1480, d1.loss_bbox: 0.3510, d2.loss_cls: 0.1334, d2.loss_bbox: 0.3300, d3.loss_cls: 0.1202, d3.loss_bbox: 0.3245, d4.loss_cls: 0.1178, d4.loss_bbox: 0.3197, d5.loss_cls: 0.1171, d5.loss_bbox: 0.3189, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8291, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6660, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5959, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5826, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5762, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5744, d0.loss_map_cls_all: 0.2156, d0.loss_map_pts_all: 1.4076, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2156, d0.loss_map_pts: 1.4076, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1858, d1.loss_map_pts: 0.9886, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1589, d2.loss_map_pts: 0.7787, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1470, d3.loss_map_pts: 0.7001, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1405, d4.loss_map_pts: 0.6700, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1331, d5.loss_map_pts: 0.6630, d5.loss_map_dir: 0.0092, loss: 26.8015, grad_norm: 159.6121 +2026-02-28 09:30:00,787 - DriveTransformer - INFO - Epoch [9][33700/39528] lr: 7.525e-05, eta: 5 days, 1:31:37, time: 0.725, data_time: 0.037, memory: 19865, loss_cls: 0.1051, loss_bbox: 0.3032, loss_traj: 0.5054, loss_traj_cls: 0.0021, loss_map_cls: 0.1056, loss_map_pts: 0.4871, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.4874, d0.loss_plan_l1_fix_dist: 0.4368, d1.loss_plan_l1_fix_time: 0.7699, d1.loss_plan_l1_fix_dist: 0.2667, d2.loss_plan_l1_fix_time: 0.7469, d2.loss_plan_l1_fix_dist: 0.2717, d3.loss_plan_l1_fix_time: 0.7476, d3.loss_plan_l1_fix_dist: 0.2735, d4.loss_plan_l1_fix_time: 0.7502, d4.loss_plan_l1_fix_dist: 0.2299, d5.loss_plan_l1_fix_time: 0.7526, d5.loss_plan_l1_fix_dist: 0.2184, d6.loss_plan_l1_fix_time: 0.7554, d6.loss_plan_l1_fix_dist: 0.2106, d0.loss_cls_all: 0.1445, d0.loss_bbox_all: 0.3611, d0.loss_cls: 0.1445, d0.loss_bbox: 0.3611, d1.loss_cls: 0.1364, d1.loss_bbox: 0.3294, d2.loss_cls: 0.1249, d2.loss_bbox: 0.3139, d3.loss_cls: 0.1110, d3.loss_bbox: 0.3079, d4.loss_cls: 0.1055, d4.loss_bbox: 0.3058, d5.loss_cls: 0.1042, d5.loss_bbox: 0.3046, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7200, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5725, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5234, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5075, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5035, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4999, d0.loss_map_cls_all: 0.1821, d0.loss_map_pts_all: 1.0215, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1821, d0.loss_map_pts: 1.0215, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1537, d1.loss_map_pts: 0.7082, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1300, d2.loss_map_pts: 0.5668, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1194, d3.loss_map_pts: 0.5165, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1138, d4.loss_map_pts: 0.4965, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1076, d5.loss_map_pts: 0.4889, d5.loss_map_dir: 0.0065, loss: 22.7722, grad_norm: 160.6686 +2026-02-28 09:30:38,535 - DriveTransformer - INFO - Epoch [9][33750/39528] lr: 7.525e-05, eta: 5 days, 1:31:07, time: 0.755, data_time: 0.040, memory: 19865, loss_cls: 0.1157, loss_bbox: 0.3097, loss_traj: 0.5749, loss_traj_cls: 0.0021, loss_map_cls: 0.1284, loss_map_pts: 0.5768, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.9095, d0.loss_plan_l1_fix_dist: 0.4176, d1.loss_plan_l1_fix_time: 0.9270, d1.loss_plan_l1_fix_dist: 0.2809, d2.loss_plan_l1_fix_time: 0.9159, d2.loss_plan_l1_fix_dist: 0.2737, d3.loss_plan_l1_fix_time: 0.9114, d3.loss_plan_l1_fix_dist: 0.2527, d4.loss_plan_l1_fix_time: 0.9120, d4.loss_plan_l1_fix_dist: 0.2492, d5.loss_plan_l1_fix_time: 0.9137, d5.loss_plan_l1_fix_dist: 0.2141, d6.loss_plan_l1_fix_time: 0.9162, d6.loss_plan_l1_fix_dist: 0.2015, d0.loss_cls_all: 0.1577, d0.loss_bbox_all: 0.3766, d0.loss_cls: 0.1577, d0.loss_bbox: 0.3766, d1.loss_cls: 0.1500, d1.loss_bbox: 0.3444, d2.loss_cls: 0.1373, d2.loss_bbox: 0.3242, d3.loss_cls: 0.1217, d3.loss_bbox: 0.3152, d4.loss_cls: 0.1159, d4.loss_bbox: 0.3117, d5.loss_cls: 0.1157, d5.loss_bbox: 0.3099, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8050, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6292, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5890, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5724, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5689, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5716, d0.loss_map_cls_all: 0.2114, d0.loss_map_pts_all: 1.1514, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2114, d0.loss_map_pts: 1.1514, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1732, d1.loss_map_pts: 0.8299, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1503, d2.loss_map_pts: 0.6685, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1390, d3.loss_map_pts: 0.6093, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1340, d4.loss_map_pts: 0.5846, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1297, d5.loss_map_pts: 0.5778, d5.loss_map_dir: 0.0070, loss: 25.8354, grad_norm: 159.6703 +2026-02-28 09:31:15,298 - DriveTransformer - INFO - Epoch [9][33800/39528] lr: 7.525e-05, eta: 5 days, 1:30:32, time: 0.735, data_time: 0.037, memory: 19865, loss_cls: 0.1163, loss_bbox: 0.3040, loss_traj: 0.5132, loss_traj_cls: 0.0022, loss_map_cls: 0.1241, loss_map_pts: 0.5989, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.6598, d0.loss_plan_l1_fix_dist: 0.5310, d1.loss_plan_l1_fix_time: 0.7736, d1.loss_plan_l1_fix_dist: 0.2934, d2.loss_plan_l1_fix_time: 0.7575, d2.loss_plan_l1_fix_dist: 0.2725, d3.loss_plan_l1_fix_time: 0.7496, d3.loss_plan_l1_fix_dist: 0.2752, d4.loss_plan_l1_fix_time: 0.7513, d4.loss_plan_l1_fix_dist: 0.2505, d5.loss_plan_l1_fix_time: 0.7538, d5.loss_plan_l1_fix_dist: 0.1986, d6.loss_plan_l1_fix_time: 0.7569, d6.loss_plan_l1_fix_dist: 0.2306, d0.loss_cls_all: 0.1561, d0.loss_bbox_all: 0.3655, d0.loss_cls: 0.1561, d0.loss_bbox: 0.3655, d1.loss_cls: 0.1464, d1.loss_bbox: 0.3324, d2.loss_cls: 0.1372, d2.loss_bbox: 0.3135, d3.loss_cls: 0.1214, d3.loss_bbox: 0.3088, d4.loss_cls: 0.1160, d4.loss_bbox: 0.3064, d5.loss_cls: 0.1149, d5.loss_bbox: 0.3058, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6975, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5609, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5193, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5153, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5117, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5129, d0.loss_map_cls_all: 0.1988, d0.loss_map_pts_all: 1.2350, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1988, d0.loss_map_pts: 1.2350, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1672, d1.loss_map_pts: 0.8903, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1439, d2.loss_map_pts: 0.7077, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1350, d3.loss_map_pts: 0.6329, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1299, d4.loss_map_pts: 0.6053, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1254, d5.loss_map_pts: 0.5995, d5.loss_map_dir: 0.0069, loss: 24.5393, grad_norm: 158.7738 +2026-02-28 09:31:50,580 - DriveTransformer - INFO - Epoch [9][33850/39528] lr: 7.525e-05, eta: 5 days, 1:29:49, time: 0.706, data_time: 0.038, memory: 19865, loss_cls: 0.1056, loss_bbox: 0.2744, loss_traj: 0.5185, loss_traj_cls: 0.0022, loss_map_cls: 0.0995, loss_map_pts: 0.4603, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.5110, d0.loss_plan_l1_fix_dist: 0.4796, d1.loss_plan_l1_fix_time: 0.8041, d1.loss_plan_l1_fix_dist: 0.3002, d2.loss_plan_l1_fix_time: 0.7798, d2.loss_plan_l1_fix_dist: 0.2488, d3.loss_plan_l1_fix_time: 0.7717, d3.loss_plan_l1_fix_dist: 0.2882, d4.loss_plan_l1_fix_time: 0.7728, d4.loss_plan_l1_fix_dist: 0.2636, d5.loss_plan_l1_fix_time: 0.7752, d5.loss_plan_l1_fix_dist: 0.2114, d6.loss_plan_l1_fix_time: 0.7779, d6.loss_plan_l1_fix_dist: 0.2649, d0.loss_cls_all: 0.1376, d0.loss_bbox_all: 0.3366, d0.loss_cls: 0.1376, d0.loss_bbox: 0.3366, d1.loss_cls: 0.1315, d1.loss_bbox: 0.3079, d2.loss_cls: 0.1199, d2.loss_bbox: 0.2856, d3.loss_cls: 0.1075, d3.loss_bbox: 0.2787, d4.loss_cls: 0.1058, d4.loss_bbox: 0.2749, d5.loss_cls: 0.1055, d5.loss_bbox: 0.2740, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7291, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5876, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5308, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5174, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5179, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5136, d0.loss_map_cls_all: 0.1735, d0.loss_map_pts_all: 0.9631, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1735, d0.loss_map_pts: 0.9631, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1452, d1.loss_map_pts: 0.6767, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1221, d2.loss_map_pts: 0.5436, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1107, d3.loss_map_pts: 0.4878, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1053, d4.loss_map_pts: 0.4670, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1003, d5.loss_map_pts: 0.4607, d5.loss_map_dir: 0.0061, loss: 22.5913, grad_norm: 158.4830 +2026-02-28 09:32:26,200 - DriveTransformer - INFO - Epoch [9][33900/39528] lr: 7.525e-05, eta: 5 days, 1:29:07, time: 0.712, data_time: 0.036, memory: 19865, loss_cls: 0.1141, loss_bbox: 0.3087, loss_traj: 0.5479, loss_traj_cls: 0.0021, loss_map_cls: 0.1251, loss_map_pts: 0.5368, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.5738, d0.loss_plan_l1_fix_dist: 0.4334, d1.loss_plan_l1_fix_time: 0.8663, d1.loss_plan_l1_fix_dist: 0.3087, d2.loss_plan_l1_fix_time: 0.8516, d2.loss_plan_l1_fix_dist: 0.2623, d3.loss_plan_l1_fix_time: 0.8422, d3.loss_plan_l1_fix_dist: 0.3188, d4.loss_plan_l1_fix_time: 0.8435, d4.loss_plan_l1_fix_dist: 0.3000, d5.loss_plan_l1_fix_time: 0.8448, d5.loss_plan_l1_fix_dist: 0.2836, d6.loss_plan_l1_fix_time: 0.8470, d6.loss_plan_l1_fix_dist: 0.2963, d0.loss_cls_all: 0.1580, d0.loss_bbox_all: 0.3739, d0.loss_cls: 0.1580, d0.loss_bbox: 0.3739, d1.loss_cls: 0.1449, d1.loss_bbox: 0.3400, d2.loss_cls: 0.1366, d2.loss_bbox: 0.3174, d3.loss_cls: 0.1237, d3.loss_bbox: 0.3117, d4.loss_cls: 0.1169, d4.loss_bbox: 0.3100, d5.loss_cls: 0.1151, d5.loss_bbox: 0.3088, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8143, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6168, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5608, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5513, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5507, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5493, d0.loss_map_cls_all: 0.1993, d0.loss_map_pts_all: 1.0733, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1993, d0.loss_map_pts: 1.0733, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1758, d1.loss_map_pts: 0.7821, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1509, d2.loss_map_pts: 0.6369, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1393, d3.loss_map_pts: 0.5742, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1322, d4.loss_map_pts: 0.5468, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1265, d5.loss_map_pts: 0.5386, d5.loss_map_dir: 0.0068, loss: 24.8455, grad_norm: 158.8722 +2026-02-28 09:33:02,239 - DriveTransformer - INFO - Epoch [9][33950/39528] lr: 7.525e-05, eta: 5 days, 1:28:28, time: 0.721, data_time: 0.035, memory: 19865, loss_cls: 0.1151, loss_bbox: 0.3236, loss_traj: 0.5207, loss_traj_cls: 0.0021, loss_map_cls: 0.1338, loss_map_pts: 0.6556, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.5021, d0.loss_plan_l1_fix_dist: 0.4221, d1.loss_plan_l1_fix_time: 0.9067, d1.loss_plan_l1_fix_dist: 0.2945, d2.loss_plan_l1_fix_time: 0.8878, d2.loss_plan_l1_fix_dist: 0.2762, d3.loss_plan_l1_fix_time: 0.8774, d3.loss_plan_l1_fix_dist: 0.3272, d4.loss_plan_l1_fix_time: 0.8777, d4.loss_plan_l1_fix_dist: 0.2928, d5.loss_plan_l1_fix_time: 0.8795, d5.loss_plan_l1_fix_dist: 0.2930, d6.loss_plan_l1_fix_time: 0.8823, d6.loss_plan_l1_fix_dist: 0.2723, d0.loss_cls_all: 0.1615, d0.loss_bbox_all: 0.3849, d0.loss_cls: 0.1615, d0.loss_bbox: 0.3849, d1.loss_cls: 0.1538, d1.loss_bbox: 0.3513, d2.loss_cls: 0.1408, d2.loss_bbox: 0.3312, d3.loss_cls: 0.1256, d3.loss_bbox: 0.3257, d4.loss_cls: 0.1173, d4.loss_bbox: 0.3248, d5.loss_cls: 0.1151, d5.loss_bbox: 0.3243, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7392, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5938, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5427, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5210, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5220, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5187, d0.loss_map_cls_all: 0.2218, d0.loss_map_pts_all: 1.2364, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2218, d0.loss_map_pts: 1.2364, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1899, d1.loss_map_pts: 0.9022, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1618, d2.loss_map_pts: 0.7432, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1493, d3.loss_map_pts: 0.6879, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1426, d4.loss_map_pts: 0.6645, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1364, d5.loss_map_pts: 0.6562, d5.loss_map_dir: 0.0089, loss: 26.0092, grad_norm: 159.9449 +2026-02-28 09:33:39,874 - DriveTransformer - INFO - Epoch [9][34000/39528] lr: 7.525e-05, eta: 5 days, 1:27:57, time: 0.753, data_time: 0.038, memory: 19865, loss_cls: 0.1154, loss_bbox: 0.3237, loss_traj: 0.4721, loss_traj_cls: 0.0021, loss_map_cls: 0.1357, loss_map_pts: 0.6551, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.2561, d0.loss_plan_l1_fix_dist: 0.5185, d1.loss_plan_l1_fix_time: 0.9142, d1.loss_plan_l1_fix_dist: 0.2966, d2.loss_plan_l1_fix_time: 0.9059, d2.loss_plan_l1_fix_dist: 0.3010, d3.loss_plan_l1_fix_time: 0.9041, d3.loss_plan_l1_fix_dist: 0.3258, d4.loss_plan_l1_fix_time: 0.9050, d4.loss_plan_l1_fix_dist: 0.2920, d5.loss_plan_l1_fix_time: 0.9068, d5.loss_plan_l1_fix_dist: 0.2908, d6.loss_plan_l1_fix_time: 0.9092, d6.loss_plan_l1_fix_dist: 0.2713, d0.loss_cls_all: 0.1652, d0.loss_bbox_all: 0.3891, d0.loss_cls: 0.1652, d0.loss_bbox: 0.3891, d1.loss_cls: 0.1575, d1.loss_bbox: 0.3558, d2.loss_cls: 0.1424, d2.loss_bbox: 0.3295, d3.loss_cls: 0.1272, d3.loss_bbox: 0.3265, d4.loss_cls: 0.1190, d4.loss_bbox: 0.3249, d5.loss_cls: 0.1165, d5.loss_bbox: 0.3241, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6413, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5232, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4834, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4747, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4732, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4725, d0.loss_map_cls_all: 0.2278, d0.loss_map_pts_all: 1.2199, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2278, d0.loss_map_pts: 1.2199, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1946, d1.loss_map_pts: 0.9183, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1676, d2.loss_map_pts: 0.7428, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1531, d3.loss_map_pts: 0.6840, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1442, d4.loss_map_pts: 0.6612, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1398, d5.loss_map_pts: 0.6551, d5.loss_map_dir: 0.0092, loss: 25.6342, grad_norm: 158.3907 +2026-02-28 09:34:16,673 - DriveTransformer - INFO - Epoch [9][34050/39528] lr: 7.525e-05, eta: 5 days, 1:27:22, time: 0.736, data_time: 0.039, memory: 19865, loss_cls: 0.1061, loss_bbox: 0.2984, loss_traj: 0.5088, loss_traj_cls: 0.0021, loss_map_cls: 0.1259, loss_map_pts: 0.5955, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.3449, d0.loss_plan_l1_fix_dist: 0.4405, d1.loss_plan_l1_fix_time: 0.7966, d1.loss_plan_l1_fix_dist: 0.2739, d2.loss_plan_l1_fix_time: 0.7904, d2.loss_plan_l1_fix_dist: 0.2853, d3.loss_plan_l1_fix_time: 0.7788, d3.loss_plan_l1_fix_dist: 0.2628, d4.loss_plan_l1_fix_time: 0.7806, d4.loss_plan_l1_fix_dist: 0.2320, d5.loss_plan_l1_fix_time: 0.7827, d5.loss_plan_l1_fix_dist: 0.2265, d6.loss_plan_l1_fix_time: 0.7852, d6.loss_plan_l1_fix_dist: 0.2229, d0.loss_cls_all: 0.1463, d0.loss_bbox_all: 0.3600, d0.loss_cls: 0.1463, d0.loss_bbox: 0.3600, d1.loss_cls: 0.1402, d1.loss_bbox: 0.3285, d2.loss_cls: 0.1278, d2.loss_bbox: 0.3111, d3.loss_cls: 0.1132, d3.loss_bbox: 0.3028, d4.loss_cls: 0.1074, d4.loss_bbox: 0.2999, d5.loss_cls: 0.1054, d5.loss_bbox: 0.2988, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6931, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5814, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5399, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5171, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5140, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5098, d0.loss_map_cls_all: 0.2151, d0.loss_map_pts_all: 1.2226, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2151, d0.loss_map_pts: 1.2226, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1831, d1.loss_map_pts: 0.8911, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1531, d2.loss_map_pts: 0.7069, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1397, d3.loss_map_pts: 0.6353, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1329, d4.loss_map_pts: 0.6069, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1295, d5.loss_map_pts: 0.5967, d5.loss_map_dir: 0.0082, loss: 24.2617, grad_norm: 157.7101 +2026-02-28 09:34:53,182 - DriveTransformer - INFO - Epoch [9][34100/39528] lr: 7.525e-05, eta: 5 days, 1:26:46, time: 0.730, data_time: 0.038, memory: 19865, loss_cls: 0.1263, loss_bbox: 0.3196, loss_traj: 0.5452, loss_traj_cls: 0.0020, loss_map_cls: 0.1420, loss_map_pts: 0.6639, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.9310, d0.loss_plan_l1_fix_dist: 0.4509, d1.loss_plan_l1_fix_time: 0.9584, d1.loss_plan_l1_fix_dist: 0.2852, d2.loss_plan_l1_fix_time: 0.9427, d2.loss_plan_l1_fix_dist: 0.3034, d3.loss_plan_l1_fix_time: 0.9389, d3.loss_plan_l1_fix_dist: 0.2378, d4.loss_plan_l1_fix_time: 0.9405, d4.loss_plan_l1_fix_dist: 0.2285, d5.loss_plan_l1_fix_time: 0.9431, d5.loss_plan_l1_fix_dist: 0.2308, d6.loss_plan_l1_fix_time: 0.9458, d6.loss_plan_l1_fix_dist: 0.2233, d0.loss_cls_all: 0.1696, d0.loss_bbox_all: 0.3988, d0.loss_cls: 0.1696, d0.loss_bbox: 0.3988, d1.loss_cls: 0.1643, d1.loss_bbox: 0.3620, d2.loss_cls: 0.1546, d2.loss_bbox: 0.3355, d3.loss_cls: 0.1364, d3.loss_bbox: 0.3273, d4.loss_cls: 0.1280, d4.loss_bbox: 0.3233, d5.loss_cls: 0.1268, d5.loss_bbox: 0.3207, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8095, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6159, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5730, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5570, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5542, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5465, d0.loss_map_cls_all: 0.2421, d0.loss_map_pts_all: 1.2843, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2421, d0.loss_map_pts: 1.2843, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1980, d1.loss_map_pts: 0.9416, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1680, d2.loss_map_pts: 0.7645, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1555, d3.loss_map_pts: 0.6974, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1480, d4.loss_map_pts: 0.6723, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1424, d5.loss_map_pts: 0.6653, d5.loss_map_dir: 0.0088, loss: 27.2102, grad_norm: 158.0296 +2026-02-28 09:35:31,234 - DriveTransformer - INFO - Epoch [9][34150/39528] lr: 7.525e-05, eta: 5 days, 1:26:17, time: 0.761, data_time: 0.036, memory: 19865, loss_cls: 0.1217, loss_bbox: 0.3311, loss_traj: 0.5132, loss_traj_cls: 0.0020, loss_map_cls: 0.1508, loss_map_pts: 0.6779, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.3795, d0.loss_plan_l1_fix_dist: 0.4894, d1.loss_plan_l1_fix_time: 0.8887, d1.loss_plan_l1_fix_dist: 0.2648, d2.loss_plan_l1_fix_time: 0.8782, d2.loss_plan_l1_fix_dist: 0.2956, d3.loss_plan_l1_fix_time: 0.8615, d3.loss_plan_l1_fix_dist: 0.2575, d4.loss_plan_l1_fix_time: 0.8650, d4.loss_plan_l1_fix_dist: 0.2285, d5.loss_plan_l1_fix_time: 0.8683, d5.loss_plan_l1_fix_dist: 0.2395, d6.loss_plan_l1_fix_time: 0.8714, d6.loss_plan_l1_fix_dist: 0.2323, d0.loss_cls_all: 0.1650, d0.loss_bbox_all: 0.3996, d0.loss_cls: 0.1650, d0.loss_bbox: 0.3996, d1.loss_cls: 0.1601, d1.loss_bbox: 0.3707, d2.loss_cls: 0.1478, d2.loss_bbox: 0.3458, d3.loss_cls: 0.1292, d3.loss_bbox: 0.3382, d4.loss_cls: 0.1223, d4.loss_bbox: 0.3368, d5.loss_cls: 0.1221, d5.loss_bbox: 0.3322, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7152, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5947, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5462, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5318, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5203, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5146, d0.loss_map_cls_all: 0.2326, d0.loss_map_pts_all: 1.4041, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2326, d0.loss_map_pts: 1.4041, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2005, d1.loss_map_pts: 0.9912, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1761, d2.loss_map_pts: 0.7857, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1642, d3.loss_map_pts: 0.7178, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1578, d4.loss_map_pts: 0.6863, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1510, d5.loss_map_pts: 0.6795, d5.loss_map_dir: 0.0089, loss: 26.4339, grad_norm: 161.0110 +2026-02-28 09:36:07,403 - DriveTransformer - INFO - Epoch [9][34200/39528] lr: 7.525e-05, eta: 5 days, 1:25:39, time: 0.723, data_time: 0.038, memory: 19865, loss_cls: 0.1086, loss_bbox: 0.3261, loss_traj: 0.5845, loss_traj_cls: 0.0021, loss_map_cls: 0.1293, loss_map_pts: 0.5880, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.3939, d0.loss_plan_l1_fix_dist: 0.3588, d1.loss_plan_l1_fix_time: 0.9368, d1.loss_plan_l1_fix_dist: 0.2279, d2.loss_plan_l1_fix_time: 0.9217, d2.loss_plan_l1_fix_dist: 0.2752, d3.loss_plan_l1_fix_time: 0.9275, d3.loss_plan_l1_fix_dist: 0.2873, d4.loss_plan_l1_fix_time: 0.9301, d4.loss_plan_l1_fix_dist: 0.2418, d5.loss_plan_l1_fix_time: 0.9336, d5.loss_plan_l1_fix_dist: 0.2430, d6.loss_plan_l1_fix_time: 0.9369, d6.loss_plan_l1_fix_dist: 0.2407, d0.loss_cls_all: 0.1483, d0.loss_bbox_all: 0.3888, d0.loss_cls: 0.1483, d0.loss_bbox: 0.3888, d1.loss_cls: 0.1396, d1.loss_bbox: 0.3532, d2.loss_cls: 0.1298, d2.loss_bbox: 0.3295, d3.loss_cls: 0.1126, d3.loss_bbox: 0.3247, d4.loss_cls: 0.1106, d4.loss_bbox: 0.3229, d5.loss_cls: 0.1080, d5.loss_bbox: 0.3242, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8605, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6625, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6107, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5906, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5841, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5837, d0.loss_map_cls_all: 0.2176, d0.loss_map_pts_all: 1.2081, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2176, d0.loss_map_pts: 1.2081, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1809, d1.loss_map_pts: 0.8538, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1599, d2.loss_map_pts: 0.6834, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1459, d3.loss_map_pts: 0.6227, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1381, d4.loss_map_pts: 0.5956, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1324, d5.loss_map_pts: 0.5875, d5.loss_map_dir: 0.0081, loss: 25.8349, grad_norm: 162.3450 +2026-02-28 09:36:44,036 - DriveTransformer - INFO - Epoch [9][34250/39528] lr: 7.525e-05, eta: 5 days, 1:25:03, time: 0.733, data_time: 0.038, memory: 19865, loss_cls: 0.1261, loss_bbox: 0.3451, loss_traj: 0.5288, loss_traj_cls: 0.0020, loss_map_cls: 0.1416, loss_map_pts: 0.6948, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.7830, d0.loss_plan_l1_fix_dist: 0.4293, d1.loss_plan_l1_fix_time: 0.9806, d1.loss_plan_l1_fix_dist: 0.2397, d2.loss_plan_l1_fix_time: 0.9727, d2.loss_plan_l1_fix_dist: 0.2707, d3.loss_plan_l1_fix_time: 0.9524, d3.loss_plan_l1_fix_dist: 0.2987, d4.loss_plan_l1_fix_time: 0.9533, d4.loss_plan_l1_fix_dist: 0.2425, d5.loss_plan_l1_fix_time: 0.9555, d5.loss_plan_l1_fix_dist: 0.2482, d6.loss_plan_l1_fix_time: 0.9585, d6.loss_plan_l1_fix_dist: 0.2462, d0.loss_cls_all: 0.1800, d0.loss_bbox_all: 0.4108, d0.loss_cls: 0.1800, d0.loss_bbox: 0.4108, d1.loss_cls: 0.1727, d1.loss_bbox: 0.3712, d2.loss_cls: 0.1581, d2.loss_bbox: 0.3514, d3.loss_cls: 0.1384, d3.loss_bbox: 0.3440, d4.loss_cls: 0.1314, d4.loss_bbox: 0.3424, d5.loss_cls: 0.1265, d5.loss_bbox: 0.3446, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7839, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.5926, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5496, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5331, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5299, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5313, d0.loss_map_cls_all: 0.2298, d0.loss_map_pts_all: 1.2969, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2298, d0.loss_map_pts: 1.2969, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1936, d1.loss_map_pts: 0.9629, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1693, d2.loss_map_pts: 0.7833, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1580, d3.loss_map_pts: 0.7227, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1500, d4.loss_map_pts: 0.6988, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1430, d5.loss_map_pts: 0.6945, d5.loss_map_dir: 0.0087, loss: 27.3547, grad_norm: 164.4448 +2026-02-28 09:37:19,939 - DriveTransformer - INFO - Epoch [9][34300/39528] lr: 7.525e-05, eta: 5 days, 1:24:23, time: 0.718, data_time: 0.037, memory: 19865, loss_cls: 0.1116, loss_bbox: 0.3041, loss_traj: 0.4789, loss_traj_cls: 0.0021, loss_map_cls: 0.1054, loss_map_pts: 0.5153, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.4211, d0.loss_plan_l1_fix_dist: 0.4631, d1.loss_plan_l1_fix_time: 0.7987, d1.loss_plan_l1_fix_dist: 0.2287, d2.loss_plan_l1_fix_time: 0.7881, d2.loss_plan_l1_fix_dist: 0.2397, d3.loss_plan_l1_fix_time: 0.7959, d3.loss_plan_l1_fix_dist: 0.2866, d4.loss_plan_l1_fix_time: 0.7996, d4.loss_plan_l1_fix_dist: 0.2724, d5.loss_plan_l1_fix_time: 0.8036, d5.loss_plan_l1_fix_dist: 0.2222, d6.loss_plan_l1_fix_time: 0.8086, d6.loss_plan_l1_fix_dist: 0.2448, d0.loss_cls_all: 0.1520, d0.loss_bbox_all: 0.3656, d0.loss_cls: 0.1520, d0.loss_bbox: 0.3656, d1.loss_cls: 0.1476, d1.loss_bbox: 0.3307, d2.loss_cls: 0.1355, d2.loss_bbox: 0.3113, d3.loss_cls: 0.1178, d3.loss_bbox: 0.3086, d4.loss_cls: 0.1121, d4.loss_bbox: 0.3068, d5.loss_cls: 0.1085, d5.loss_bbox: 0.3072, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6886, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5351, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4883, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4805, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4798, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4800, d0.loss_map_cls_all: 0.1787, d0.loss_map_pts_all: 1.0148, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1787, d0.loss_map_pts: 1.0148, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1495, d1.loss_map_pts: 0.7255, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1266, d2.loss_map_pts: 0.5821, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1161, d3.loss_map_pts: 0.5336, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1095, d4.loss_map_pts: 0.5194, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1056, d5.loss_map_pts: 0.5172, d5.loss_map_dir: 0.0066, loss: 22.9937, grad_norm: 162.8815 +2026-02-28 09:37:56,514 - DriveTransformer - INFO - Epoch [9][34350/39528] lr: 7.525e-05, eta: 5 days, 1:23:46, time: 0.731, data_time: 0.039, memory: 19865, loss_cls: 0.1288, loss_bbox: 0.3111, loss_traj: 0.5344, loss_traj_cls: 0.0020, loss_map_cls: 0.1393, loss_map_pts: 0.6210, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.4776, d0.loss_plan_l1_fix_dist: 0.4271, d1.loss_plan_l1_fix_time: 0.9260, d1.loss_plan_l1_fix_dist: 0.2458, d2.loss_plan_l1_fix_time: 0.9144, d2.loss_plan_l1_fix_dist: 0.2161, d3.loss_plan_l1_fix_time: 0.9080, d3.loss_plan_l1_fix_dist: 0.2824, d4.loss_plan_l1_fix_time: 0.9091, d4.loss_plan_l1_fix_dist: 0.3092, d5.loss_plan_l1_fix_time: 0.9108, d5.loss_plan_l1_fix_dist: 0.2140, d6.loss_plan_l1_fix_time: 0.9137, d6.loss_plan_l1_fix_dist: 0.2336, d0.loss_cls_all: 0.1704, d0.loss_bbox_all: 0.3964, d0.loss_cls: 0.1704, d0.loss_bbox: 0.3964, d1.loss_cls: 0.1670, d1.loss_bbox: 0.3543, d2.loss_cls: 0.1549, d2.loss_bbox: 0.3250, d3.loss_cls: 0.1345, d3.loss_bbox: 0.3192, d4.loss_cls: 0.1284, d4.loss_bbox: 0.3146, d5.loss_cls: 0.1271, d5.loss_bbox: 0.3121, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7866, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5998, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5556, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5423, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5390, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5329, d0.loss_map_cls_all: 0.2234, d0.loss_map_pts_all: 1.2799, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2234, d0.loss_map_pts: 1.2799, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1894, d1.loss_map_pts: 0.9321, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1656, d2.loss_map_pts: 0.7348, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1535, d3.loss_map_pts: 0.6592, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1450, d4.loss_map_pts: 0.6341, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1406, d5.loss_map_pts: 0.6230, d5.loss_map_dir: 0.0072, loss: 26.0947, grad_norm: 160.9709 +2026-02-28 09:38:34,724 - DriveTransformer - INFO - Epoch [9][34400/39528] lr: 7.525e-05, eta: 5 days, 1:23:19, time: 0.766, data_time: 0.037, memory: 19865, loss_cls: 0.1139, loss_bbox: 0.3241, loss_traj: 0.4777, loss_traj_cls: 0.0020, loss_map_cls: 0.1438, loss_map_pts: 0.6750, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.5812, d0.loss_plan_l1_fix_dist: 0.3929, d1.loss_plan_l1_fix_time: 0.8726, d1.loss_plan_l1_fix_dist: 0.2410, d2.loss_plan_l1_fix_time: 0.8694, d2.loss_plan_l1_fix_dist: 0.1890, d3.loss_plan_l1_fix_time: 0.8560, d3.loss_plan_l1_fix_dist: 0.2616, d4.loss_plan_l1_fix_time: 0.8569, d4.loss_plan_l1_fix_dist: 0.3340, d5.loss_plan_l1_fix_time: 0.8589, d5.loss_plan_l1_fix_dist: 0.2284, d6.loss_plan_l1_fix_time: 0.8607, d6.loss_plan_l1_fix_dist: 0.2017, d0.loss_cls_all: 0.1666, d0.loss_bbox_all: 0.3925, d0.loss_cls: 0.1666, d0.loss_bbox: 0.3925, d1.loss_cls: 0.1590, d1.loss_bbox: 0.3563, d2.loss_cls: 0.1423, d2.loss_bbox: 0.3373, d3.loss_cls: 0.1247, d3.loss_bbox: 0.3295, d4.loss_cls: 0.1179, d4.loss_bbox: 0.3251, d5.loss_cls: 0.1152, d5.loss_bbox: 0.3230, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6792, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.5433, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4890, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4824, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4735, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4748, d0.loss_map_cls_all: 0.2318, d0.loss_map_pts_all: 1.4283, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2318, d0.loss_map_pts: 1.4283, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2015, d1.loss_map_pts: 1.0155, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1756, d2.loss_map_pts: 0.8020, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1609, d3.loss_map_pts: 0.7168, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1552, d4.loss_map_pts: 0.6843, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1461, d5.loss_map_pts: 0.6761, d5.loss_map_dir: 0.0087, loss: 26.0585, grad_norm: 159.5476 +2026-02-28 09:39:10,019 - DriveTransformer - INFO - Epoch [9][34450/39528] lr: 7.525e-05, eta: 5 days, 1:22:36, time: 0.704, data_time: 0.037, memory: 19865, loss_cls: 0.1120, loss_bbox: 0.3004, loss_traj: 0.5656, loss_traj_cls: 0.0020, loss_map_cls: 0.1062, loss_map_pts: 0.4831, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.6507, d0.loss_plan_l1_fix_dist: 0.4407, d1.loss_plan_l1_fix_time: 0.8667, d1.loss_plan_l1_fix_dist: 0.2743, d2.loss_plan_l1_fix_time: 0.8512, d2.loss_plan_l1_fix_dist: 0.2276, d3.loss_plan_l1_fix_time: 0.8392, d3.loss_plan_l1_fix_dist: 0.2659, d4.loss_plan_l1_fix_time: 0.8412, d4.loss_plan_l1_fix_dist: 0.3385, d5.loss_plan_l1_fix_time: 0.8435, d5.loss_plan_l1_fix_dist: 0.2526, d6.loss_plan_l1_fix_time: 0.8464, d6.loss_plan_l1_fix_dist: 0.2210, d0.loss_cls_all: 0.1502, d0.loss_bbox_all: 0.3627, d0.loss_cls: 0.1502, d0.loss_bbox: 0.3627, d1.loss_cls: 0.1461, d1.loss_bbox: 0.3297, d2.loss_cls: 0.1316, d2.loss_bbox: 0.3116, d3.loss_cls: 0.1171, d3.loss_bbox: 0.3040, d4.loss_cls: 0.1125, d4.loss_bbox: 0.3009, d5.loss_cls: 0.1109, d5.loss_bbox: 0.3018, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8063, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.6459, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5872, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5745, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5669, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5673, d0.loss_map_cls_all: 0.1926, d0.loss_map_pts_all: 1.0239, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1926, d0.loss_map_pts: 1.0239, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1587, d1.loss_map_pts: 0.7333, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1318, d2.loss_map_pts: 0.5863, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1185, d3.loss_map_pts: 0.5200, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1129, d4.loss_map_pts: 0.4962, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1089, d5.loss_map_pts: 0.4851, d5.loss_map_dir: 0.0059, loss: 24.2050, grad_norm: 158.9715 +2026-02-28 09:39:47,344 - DriveTransformer - INFO - Epoch [9][34500/39528] lr: 7.525e-05, eta: 5 days, 1:22:03, time: 0.746, data_time: 0.038, memory: 19865, loss_cls: 0.1230, loss_bbox: 0.3177, loss_traj: 0.5595, loss_traj_cls: 0.0019, loss_map_cls: 0.1216, loss_map_pts: 0.5900, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.6220, d0.loss_plan_l1_fix_dist: 0.4104, d1.loss_plan_l1_fix_time: 0.8939, d1.loss_plan_l1_fix_dist: 0.2786, d2.loss_plan_l1_fix_time: 0.8765, d2.loss_plan_l1_fix_dist: 0.2524, d3.loss_plan_l1_fix_time: 0.8713, d3.loss_plan_l1_fix_dist: 0.3114, d4.loss_plan_l1_fix_time: 0.8742, d4.loss_plan_l1_fix_dist: 0.2868, d5.loss_plan_l1_fix_time: 0.8760, d5.loss_plan_l1_fix_dist: 0.2305, d6.loss_plan_l1_fix_time: 0.8787, d6.loss_plan_l1_fix_dist: 0.2216, d0.loss_cls_all: 0.1633, d0.loss_bbox_all: 0.3914, d0.loss_cls: 0.1633, d0.loss_bbox: 0.3914, d1.loss_cls: 0.1594, d1.loss_bbox: 0.3575, d2.loss_cls: 0.1435, d2.loss_bbox: 0.3326, d3.loss_cls: 0.1289, d3.loss_bbox: 0.3242, d4.loss_cls: 0.1233, d4.loss_bbox: 0.3212, d5.loss_cls: 0.1215, d5.loss_bbox: 0.3189, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8267, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.6480, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5918, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5714, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5644, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5599, d0.loss_map_cls_all: 0.2153, d0.loss_map_pts_all: 1.2021, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2153, d0.loss_map_pts: 1.2021, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1748, d1.loss_map_pts: 0.8594, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1500, d2.loss_map_pts: 0.6908, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1362, d3.loss_map_pts: 0.6270, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1274, d4.loss_map_pts: 0.6013, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1239, d5.loss_map_pts: 0.5918, d5.loss_map_dir: 0.0077, loss: 25.7835, grad_norm: 160.5303 +2026-02-28 09:40:23,595 - DriveTransformer - INFO - Epoch [9][34550/39528] lr: 7.525e-05, eta: 5 days, 1:21:25, time: 0.725, data_time: 0.040, memory: 19865, loss_cls: 0.1143, loss_bbox: 0.3018, loss_traj: 0.5879, loss_traj_cls: 0.0020, loss_map_cls: 0.1045, loss_map_pts: 0.5468, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.4299, d0.loss_plan_l1_fix_dist: 0.5322, d1.loss_plan_l1_fix_time: 0.8576, d1.loss_plan_l1_fix_dist: 0.3180, d2.loss_plan_l1_fix_time: 0.8425, d2.loss_plan_l1_fix_dist: 0.3218, d3.loss_plan_l1_fix_time: 0.8349, d3.loss_plan_l1_fix_dist: 0.4418, d4.loss_plan_l1_fix_time: 0.8367, d4.loss_plan_l1_fix_dist: 0.3136, d5.loss_plan_l1_fix_time: 0.8384, d5.loss_plan_l1_fix_dist: 0.2675, d6.loss_plan_l1_fix_time: 0.8403, d6.loss_plan_l1_fix_dist: 0.2566, d0.loss_cls_all: 0.1538, d0.loss_bbox_all: 0.3574, d0.loss_cls: 0.1538, d0.loss_bbox: 0.3574, d1.loss_cls: 0.1488, d1.loss_bbox: 0.3260, d2.loss_cls: 0.1381, d2.loss_bbox: 0.3084, d3.loss_cls: 0.1224, d3.loss_bbox: 0.3025, d4.loss_cls: 0.1166, d4.loss_bbox: 0.2999, d5.loss_cls: 0.1160, d5.loss_bbox: 0.2991, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8813, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6667, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6006, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5927, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5884, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5856, d0.loss_map_cls_all: 0.1778, d0.loss_map_pts_all: 1.1484, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1778, d0.loss_map_pts: 1.1484, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1455, d1.loss_map_pts: 0.8421, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1257, d2.loss_map_pts: 0.6585, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1155, d3.loss_map_pts: 0.5868, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1092, d4.loss_map_pts: 0.5613, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1060, d5.loss_map_pts: 0.5493, d5.loss_map_dir: 0.0071, loss: 25.2151, grad_norm: 163.5579 +2026-02-28 09:40:58,808 - DriveTransformer - INFO - Epoch [9][34600/39528] lr: 7.525e-05, eta: 5 days, 1:20:42, time: 0.704, data_time: 0.035, memory: 19865, loss_cls: 0.0999, loss_bbox: 0.2869, loss_traj: 0.5226, loss_traj_cls: 0.0020, loss_map_cls: 0.0904, loss_map_pts: 0.4528, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.4503, d0.loss_plan_l1_fix_dist: 0.4792, d1.loss_plan_l1_fix_time: 0.9664, d1.loss_plan_l1_fix_dist: 0.3026, d2.loss_plan_l1_fix_time: 0.9507, d2.loss_plan_l1_fix_dist: 0.3252, d3.loss_plan_l1_fix_time: 0.9481, d3.loss_plan_l1_fix_dist: 0.4455, d4.loss_plan_l1_fix_time: 0.9504, d4.loss_plan_l1_fix_dist: 0.2521, d5.loss_plan_l1_fix_time: 0.9525, d5.loss_plan_l1_fix_dist: 0.2493, d6.loss_plan_l1_fix_time: 0.9553, d6.loss_plan_l1_fix_dist: 0.2801, d0.loss_cls_all: 0.1395, d0.loss_bbox_all: 0.3437, d0.loss_cls: 0.1395, d0.loss_bbox: 0.3437, d1.loss_cls: 0.1365, d1.loss_bbox: 0.3116, d2.loss_cls: 0.1246, d2.loss_bbox: 0.2945, d3.loss_cls: 0.1099, d3.loss_bbox: 0.2877, d4.loss_cls: 0.1023, d4.loss_bbox: 0.2872, d5.loss_cls: 0.0995, d5.loss_bbox: 0.2874, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7325, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.6003, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5516, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5337, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5316, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5293, d0.loss_map_cls_all: 0.1684, d0.loss_map_pts_all: 1.0141, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1684, d0.loss_map_pts: 1.0141, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1348, d1.loss_map_pts: 0.6986, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1131, d2.loss_map_pts: 0.5381, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1028, d3.loss_map_pts: 0.4808, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.0954, d4.loss_map_pts: 0.4624, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0922, d5.loss_map_pts: 0.4549, d5.loss_map_dir: 0.0068, loss: 24.0449, grad_norm: 156.0809 +2026-02-28 09:41:34,997 - DriveTransformer - INFO - Epoch [9][34650/39528] lr: 7.525e-05, eta: 5 days, 1:20:03, time: 0.724, data_time: 0.043, memory: 19865, loss_cls: 0.1267, loss_bbox: 0.3226, loss_traj: 0.5162, loss_traj_cls: 0.0020, loss_map_cls: 0.1287, loss_map_pts: 0.6079, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.5068, d0.loss_plan_l1_fix_dist: 0.4703, d1.loss_plan_l1_fix_time: 0.9515, d1.loss_plan_l1_fix_dist: 0.3118, d2.loss_plan_l1_fix_time: 0.9450, d2.loss_plan_l1_fix_dist: 0.3641, d3.loss_plan_l1_fix_time: 0.9152, d3.loss_plan_l1_fix_dist: 0.4446, d4.loss_plan_l1_fix_time: 0.9144, d4.loss_plan_l1_fix_dist: 0.2963, d5.loss_plan_l1_fix_time: 0.9156, d5.loss_plan_l1_fix_dist: 0.3397, d6.loss_plan_l1_fix_time: 0.9177, d6.loss_plan_l1_fix_dist: 0.4111, d0.loss_cls_all: 0.1778, d0.loss_bbox_all: 0.3823, d0.loss_cls: 0.1778, d0.loss_bbox: 0.3823, d1.loss_cls: 0.1617, d1.loss_bbox: 0.3562, d2.loss_cls: 0.1538, d2.loss_bbox: 0.3332, d3.loss_cls: 0.1368, d3.loss_bbox: 0.3266, d4.loss_cls: 0.1299, d4.loss_bbox: 0.3224, d5.loss_cls: 0.1268, d5.loss_bbox: 0.3225, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7158, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5897, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5408, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5299, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5252, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5181, d0.loss_map_cls_all: 0.2111, d0.loss_map_pts_all: 1.1897, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2111, d0.loss_map_pts: 1.1897, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1796, d1.loss_map_pts: 0.8732, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1541, d2.loss_map_pts: 0.6987, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1427, d3.loss_map_pts: 0.6334, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1364, d4.loss_map_pts: 0.6135, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1311, d5.loss_map_pts: 0.6090, d5.loss_map_dir: 0.0076, loss: 26.3543, grad_norm: 157.3654 +2026-02-28 09:42:11,544 - DriveTransformer - INFO - Epoch [9][34700/39528] lr: 7.525e-05, eta: 5 days, 1:19:27, time: 0.731, data_time: 0.036, memory: 19865, loss_cls: 0.1017, loss_bbox: 0.2968, loss_traj: 0.5161, loss_traj_cls: 0.0020, loss_map_cls: 0.1097, loss_map_pts: 0.5697, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.2439, d0.loss_plan_l1_fix_dist: 0.3747, d1.loss_plan_l1_fix_time: 0.8685, d1.loss_plan_l1_fix_dist: 0.2954, d2.loss_plan_l1_fix_time: 0.8575, d2.loss_plan_l1_fix_dist: 0.3503, d3.loss_plan_l1_fix_time: 0.8477, d3.loss_plan_l1_fix_dist: 0.3833, d4.loss_plan_l1_fix_time: 0.8481, d4.loss_plan_l1_fix_dist: 0.2785, d5.loss_plan_l1_fix_time: 0.8500, d5.loss_plan_l1_fix_dist: 0.3005, d6.loss_plan_l1_fix_time: 0.8523, d6.loss_plan_l1_fix_dist: 0.3651, d0.loss_cls_all: 0.1512, d0.loss_bbox_all: 0.3489, d0.loss_cls: 0.1512, d0.loss_bbox: 0.3489, d1.loss_cls: 0.1419, d1.loss_bbox: 0.3219, d2.loss_cls: 0.1272, d2.loss_bbox: 0.3052, d3.loss_cls: 0.1089, d3.loss_bbox: 0.3007, d4.loss_cls: 0.1024, d4.loss_bbox: 0.2975, d5.loss_cls: 0.1013, d5.loss_bbox: 0.2977, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7539, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.5934, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5445, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5298, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5182, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5167, d0.loss_map_cls_all: 0.1965, d0.loss_map_pts_all: 1.2255, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.1965, d0.loss_map_pts: 1.2255, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1611, d1.loss_map_pts: 0.8427, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1366, d2.loss_map_pts: 0.6716, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1249, d3.loss_map_pts: 0.6035, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1166, d4.loss_map_pts: 0.5769, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1121, d5.loss_map_pts: 0.5693, d5.loss_map_dir: 0.0088, loss: 24.7043, grad_norm: 160.3206 +2026-02-28 09:42:47,373 - DriveTransformer - INFO - Epoch [9][34750/39528] lr: 7.525e-05, eta: 5 days, 1:18:47, time: 0.717, data_time: 0.041, memory: 19865, loss_cls: 0.1245, loss_bbox: 0.3384, loss_traj: 0.6135, loss_traj_cls: 0.0020, loss_map_cls: 0.1385, loss_map_pts: 0.6154, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.5648, d0.loss_plan_l1_fix_dist: 0.4755, d1.loss_plan_l1_fix_time: 0.8597, d1.loss_plan_l1_fix_dist: 0.3087, d2.loss_plan_l1_fix_time: 0.8424, d2.loss_plan_l1_fix_dist: 0.3742, d3.loss_plan_l1_fix_time: 0.8325, d3.loss_plan_l1_fix_dist: 0.4090, d4.loss_plan_l1_fix_time: 0.8320, d4.loss_plan_l1_fix_dist: 0.3140, d5.loss_plan_l1_fix_time: 0.8331, d5.loss_plan_l1_fix_dist: 0.3176, d6.loss_plan_l1_fix_time: 0.8350, d6.loss_plan_l1_fix_dist: 0.3181, d0.loss_cls_all: 0.1682, d0.loss_bbox_all: 0.4029, d0.loss_cls: 0.1682, d0.loss_bbox: 0.4029, d1.loss_cls: 0.1608, d1.loss_bbox: 0.3697, d2.loss_cls: 0.1474, d2.loss_bbox: 0.3493, d3.loss_cls: 0.1298, d3.loss_bbox: 0.3422, d4.loss_cls: 0.1257, d4.loss_bbox: 0.3396, d5.loss_cls: 0.1246, d5.loss_bbox: 0.3384, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8630, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6780, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6256, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6205, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6147, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6136, d0.loss_map_cls_all: 0.2255, d0.loss_map_pts_all: 1.1776, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2255, d0.loss_map_pts: 1.1776, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1929, d1.loss_map_pts: 0.8797, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1639, d2.loss_map_pts: 0.7088, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1517, d3.loss_map_pts: 0.6415, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1467, d4.loss_map_pts: 0.6202, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1404, d5.loss_map_pts: 0.6153, d5.loss_map_dir: 0.0069, loss: 26.6581, grad_norm: 160.1467 +2026-02-28 09:43:23,302 - DriveTransformer - INFO - Epoch [9][34800/39528] lr: 7.525e-05, eta: 5 days, 1:18:07, time: 0.719, data_time: 0.037, memory: 19865, loss_cls: 0.1082, loss_bbox: 0.2900, loss_traj: 0.5285, loss_traj_cls: 0.0020, loss_map_cls: 0.1206, loss_map_pts: 0.5330, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.4262, d0.loss_plan_l1_fix_dist: 0.3586, d1.loss_plan_l1_fix_time: 0.8720, d1.loss_plan_l1_fix_dist: 0.2576, d2.loss_plan_l1_fix_time: 0.8570, d2.loss_plan_l1_fix_dist: 0.3348, d3.loss_plan_l1_fix_time: 0.8471, d3.loss_plan_l1_fix_dist: 0.3573, d4.loss_plan_l1_fix_time: 0.8485, d4.loss_plan_l1_fix_dist: 0.2466, d5.loss_plan_l1_fix_time: 0.8511, d5.loss_plan_l1_fix_dist: 0.2615, d6.loss_plan_l1_fix_time: 0.8534, d6.loss_plan_l1_fix_dist: 0.2446, d0.loss_cls_all: 0.1488, d0.loss_bbox_all: 0.3502, d0.loss_cls: 0.1488, d0.loss_bbox: 0.3502, d1.loss_cls: 0.1406, d1.loss_bbox: 0.3206, d2.loss_cls: 0.1310, d2.loss_bbox: 0.3007, d3.loss_cls: 0.1178, d3.loss_bbox: 0.2936, d4.loss_cls: 0.1124, d4.loss_bbox: 0.2910, d5.loss_cls: 0.1093, d5.loss_bbox: 0.2898, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7385, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.5966, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5593, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5414, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5283, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5256, d0.loss_map_cls_all: 0.1859, d0.loss_map_pts_all: 1.1095, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1859, d0.loss_map_pts: 1.1095, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1612, d1.loss_map_pts: 0.7763, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1394, d2.loss_map_pts: 0.6271, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1291, d3.loss_map_pts: 0.5676, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1244, d4.loss_map_pts: 0.5423, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1201, d5.loss_map_pts: 0.5345, d5.loss_map_dir: 0.0068, loss: 24.1640, grad_norm: 147.0877 +2026-02-28 09:44:02,145 - DriveTransformer - INFO - Epoch [9][34850/39528] lr: 7.525e-05, eta: 5 days, 1:17:43, time: 0.777, data_time: 0.042, memory: 19865, loss_cls: 0.1190, loss_bbox: 0.3214, loss_traj: 0.5057, loss_traj_cls: 0.0020, loss_map_cls: 0.1344, loss_map_pts: 0.6477, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.0233, d0.loss_plan_l1_fix_dist: 0.3957, d1.loss_plan_l1_fix_time: 0.7252, d1.loss_plan_l1_fix_dist: 0.2293, d2.loss_plan_l1_fix_time: 0.7161, d2.loss_plan_l1_fix_dist: 0.3167, d3.loss_plan_l1_fix_time: 0.7182, d3.loss_plan_l1_fix_dist: 0.3120, d4.loss_plan_l1_fix_time: 0.7225, d4.loss_plan_l1_fix_dist: 0.2561, d5.loss_plan_l1_fix_time: 0.7264, d5.loss_plan_l1_fix_dist: 0.2579, d6.loss_plan_l1_fix_time: 0.7307, d6.loss_plan_l1_fix_dist: 0.2599, d0.loss_cls_all: 0.1602, d0.loss_bbox_all: 0.3813, d0.loss_cls: 0.1602, d0.loss_bbox: 0.3813, d1.loss_cls: 0.1518, d1.loss_bbox: 0.3504, d2.loss_cls: 0.1416, d2.loss_bbox: 0.3302, d3.loss_cls: 0.1271, d3.loss_bbox: 0.3249, d4.loss_cls: 0.1205, d4.loss_bbox: 0.3231, d5.loss_cls: 0.1190, d5.loss_bbox: 0.3214, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6688, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5528, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5081, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4992, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5028, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5019, d0.loss_map_cls_all: 0.2154, d0.loss_map_pts_all: 1.3131, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2154, d0.loss_map_pts: 1.3131, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1828, d1.loss_map_pts: 0.9468, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1623, d2.loss_map_pts: 0.7546, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1490, d3.loss_map_pts: 0.6838, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1412, d4.loss_map_pts: 0.6575, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1361, d5.loss_map_pts: 0.6487, d5.loss_map_dir: 0.0095, loss: 24.3431, grad_norm: 152.0188 +2026-02-28 09:44:37,795 - DriveTransformer - INFO - Epoch [9][34900/39528] lr: 7.525e-05, eta: 5 days, 1:17:01, time: 0.713, data_time: 0.039, memory: 19865, loss_cls: 0.1022, loss_bbox: 0.3184, loss_traj: 0.4989, loss_traj_cls: 0.0019, loss_map_cls: 0.1185, loss_map_pts: 0.5496, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.5659, d0.loss_plan_l1_fix_dist: 0.3873, d1.loss_plan_l1_fix_time: 0.9545, d1.loss_plan_l1_fix_dist: 0.1990, d2.loss_plan_l1_fix_time: 0.9410, d2.loss_plan_l1_fix_dist: 0.2927, d3.loss_plan_l1_fix_time: 0.9382, d3.loss_plan_l1_fix_dist: 0.2773, d4.loss_plan_l1_fix_time: 0.9390, d4.loss_plan_l1_fix_dist: 0.2574, d5.loss_plan_l1_fix_time: 0.9409, d5.loss_plan_l1_fix_dist: 0.2618, d6.loss_plan_l1_fix_time: 0.9440, d6.loss_plan_l1_fix_dist: 0.2764, d0.loss_cls_all: 0.1560, d0.loss_bbox_all: 0.3718, d0.loss_cls: 0.1560, d0.loss_bbox: 0.3718, d1.loss_cls: 0.1496, d1.loss_bbox: 0.3407, d2.loss_cls: 0.1313, d2.loss_bbox: 0.3258, d3.loss_cls: 0.1103, d3.loss_bbox: 0.3215, d4.loss_cls: 0.1039, d4.loss_bbox: 0.3185, d5.loss_cls: 0.1031, d5.loss_bbox: 0.3169, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7172, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.5742, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5146, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4951, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4984, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4991, d0.loss_map_cls_all: 0.2055, d0.loss_map_pts_all: 1.0738, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2055, d0.loss_map_pts: 1.0738, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1719, d1.loss_map_pts: 0.7720, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1423, d2.loss_map_pts: 0.6347, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1323, d3.loss_map_pts: 0.5776, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1267, d4.loss_map_pts: 0.5561, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1210, d5.loss_map_pts: 0.5496, d5.loss_map_dir: 0.0068, loss: 24.7427, grad_norm: 151.1695 +2026-02-28 09:45:14,567 - DriveTransformer - INFO - Epoch [9][34950/39528] lr: 7.525e-05, eta: 5 days, 1:16:26, time: 0.735, data_time: 0.038, memory: 19865, loss_cls: 0.1175, loss_bbox: 0.3191, loss_traj: 0.5625, loss_traj_cls: 0.0020, loss_map_cls: 0.1212, loss_map_pts: 0.6301, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.6931, d0.loss_plan_l1_fix_dist: 0.4485, d1.loss_plan_l1_fix_time: 0.8341, d1.loss_plan_l1_fix_dist: 0.2061, d2.loss_plan_l1_fix_time: 0.8096, d2.loss_plan_l1_fix_dist: 0.2978, d3.loss_plan_l1_fix_time: 0.8024, d3.loss_plan_l1_fix_dist: 0.2870, d4.loss_plan_l1_fix_time: 0.8029, d4.loss_plan_l1_fix_dist: 0.2490, d5.loss_plan_l1_fix_time: 0.8046, d5.loss_plan_l1_fix_dist: 0.2594, d6.loss_plan_l1_fix_time: 0.8073, d6.loss_plan_l1_fix_dist: 0.3053, d0.loss_cls_all: 0.1557, d0.loss_bbox_all: 0.3765, d0.loss_cls: 0.1557, d0.loss_bbox: 0.3765, d1.loss_cls: 0.1521, d1.loss_bbox: 0.3457, d2.loss_cls: 0.1354, d2.loss_bbox: 0.3263, d3.loss_cls: 0.1216, d3.loss_bbox: 0.3197, d4.loss_cls: 0.1169, d4.loss_bbox: 0.3173, d5.loss_cls: 0.1157, d5.loss_bbox: 0.3183, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7957, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6526, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5897, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5762, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5728, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5660, d0.loss_map_cls_all: 0.2026, d0.loss_map_pts_all: 1.2595, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2026, d0.loss_map_pts: 1.2595, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1675, d1.loss_map_pts: 0.9104, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1434, d2.loss_map_pts: 0.7213, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1340, d3.loss_map_pts: 0.6577, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1289, d4.loss_map_pts: 0.6351, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1222, d5.loss_map_pts: 0.6308, d5.loss_map_dir: 0.0076, loss: 25.6842, grad_norm: 152.8571 +2026-02-28 09:45:50,697 - DriveTransformer - INFO - Epoch [9][35000/39528] lr: 7.525e-05, eta: 5 days, 1:15:47, time: 0.723, data_time: 0.037, memory: 19865, loss_cls: 0.1111, loss_bbox: 0.2958, loss_traj: 0.5145, loss_traj_cls: 0.0020, loss_map_cls: 0.1001, loss_map_pts: 0.5092, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.7490, d0.loss_plan_l1_fix_dist: 0.4418, d1.loss_plan_l1_fix_time: 1.0422, d1.loss_plan_l1_fix_dist: 0.2101, d2.loss_plan_l1_fix_time: 1.0119, d2.loss_plan_l1_fix_dist: 0.2992, d3.loss_plan_l1_fix_time: 1.0143, d3.loss_plan_l1_fix_dist: 0.3099, d4.loss_plan_l1_fix_time: 1.0201, d4.loss_plan_l1_fix_dist: 0.2773, d5.loss_plan_l1_fix_time: 1.0269, d5.loss_plan_l1_fix_dist: 0.2967, d6.loss_plan_l1_fix_time: 1.0329, d6.loss_plan_l1_fix_dist: 0.3460, d0.loss_cls_all: 0.1583, d0.loss_bbox_all: 0.3564, d0.loss_cls: 0.1583, d0.loss_bbox: 0.3564, d1.loss_cls: 0.1460, d1.loss_bbox: 0.3240, d2.loss_cls: 0.1308, d2.loss_bbox: 0.3037, d3.loss_cls: 0.1191, d3.loss_bbox: 0.2979, d4.loss_cls: 0.1125, d4.loss_bbox: 0.2956, d5.loss_cls: 0.1116, d5.loss_bbox: 0.2935, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7001, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5583, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5222, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5146, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5140, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5141, d0.loss_map_cls_all: 0.1789, d0.loss_map_pts_all: 1.0382, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1789, d0.loss_map_pts: 1.0382, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1470, d1.loss_map_pts: 0.7356, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1206, d2.loss_map_pts: 0.5914, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1120, d3.loss_map_pts: 0.5337, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1049, d4.loss_map_pts: 0.5144, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1017, d5.loss_map_pts: 0.5090, d5.loss_map_dir: 0.0075, loss: 25.0663, grad_norm: 152.7007 +2026-02-28 09:46:27,345 - DriveTransformer - INFO - Epoch [9][35050/39528] lr: 7.525e-05, eta: 5 days, 1:15:11, time: 0.733, data_time: 0.038, memory: 19865, loss_cls: 0.1079, loss_bbox: 0.3148, loss_traj: 0.5808, loss_traj_cls: 0.0020, loss_map_cls: 0.1434, loss_map_pts: 0.6767, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.6560, d0.loss_plan_l1_fix_dist: 0.3850, d1.loss_plan_l1_fix_time: 0.9597, d1.loss_plan_l1_fix_dist: 0.2312, d2.loss_plan_l1_fix_time: 0.9312, d2.loss_plan_l1_fix_dist: 0.2887, d3.loss_plan_l1_fix_time: 0.9175, d3.loss_plan_l1_fix_dist: 0.3045, d4.loss_plan_l1_fix_time: 0.9202, d4.loss_plan_l1_fix_dist: 0.2790, d5.loss_plan_l1_fix_time: 0.9251, d5.loss_plan_l1_fix_dist: 0.2882, d6.loss_plan_l1_fix_time: 0.9295, d6.loss_plan_l1_fix_dist: 0.2959, d0.loss_cls_all: 0.1444, d0.loss_bbox_all: 0.3706, d0.loss_cls: 0.1444, d0.loss_bbox: 0.3706, d1.loss_cls: 0.1379, d1.loss_bbox: 0.3421, d2.loss_cls: 0.1252, d2.loss_bbox: 0.3232, d3.loss_cls: 0.1116, d3.loss_bbox: 0.3191, d4.loss_cls: 0.1084, d4.loss_bbox: 0.3161, d5.loss_cls: 0.1082, d5.loss_bbox: 0.3134, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8022, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.6378, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5987, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5819, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5792, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5757, d0.loss_map_cls_all: 0.2275, d0.loss_map_pts_all: 1.3332, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2275, d0.loss_map_pts: 1.3332, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1941, d1.loss_map_pts: 0.9810, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1672, d2.loss_map_pts: 0.7742, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1559, d3.loss_map_pts: 0.7062, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1490, d4.loss_map_pts: 0.6817, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1447, d5.loss_map_pts: 0.6765, d5.loss_map_dir: 0.0089, loss: 26.9739, grad_norm: 153.9784 +2026-02-28 09:47:03,723 - DriveTransformer - INFO - Epoch [9][35100/39528] lr: 7.525e-05, eta: 5 days, 1:14:34, time: 0.728, data_time: 0.041, memory: 19865, loss_cls: 0.0811, loss_bbox: 0.2709, loss_traj: 0.5020, loss_traj_cls: 0.0022, loss_map_cls: 0.0904, loss_map_pts: 0.4556, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.1262, d0.loss_plan_l1_fix_dist: 0.4024, d1.loss_plan_l1_fix_time: 0.7267, d1.loss_plan_l1_fix_dist: 0.2376, d2.loss_plan_l1_fix_time: 0.7009, d2.loss_plan_l1_fix_dist: 0.2722, d3.loss_plan_l1_fix_time: 0.6971, d3.loss_plan_l1_fix_dist: 0.2836, d4.loss_plan_l1_fix_time: 0.7019, d4.loss_plan_l1_fix_dist: 0.2818, d5.loss_plan_l1_fix_time: 0.7068, d5.loss_plan_l1_fix_dist: 0.2731, d6.loss_plan_l1_fix_time: 0.7123, d6.loss_plan_l1_fix_dist: 0.2783, d0.loss_cls_all: 0.1226, d0.loss_bbox_all: 0.3160, d0.loss_cls: 0.1226, d0.loss_bbox: 0.3160, d1.loss_cls: 0.1185, d1.loss_bbox: 0.2883, d2.loss_cls: 0.1056, d2.loss_bbox: 0.2721, d3.loss_cls: 0.0876, d3.loss_bbox: 0.2707, d4.loss_cls: 0.0826, d4.loss_bbox: 0.2683, d5.loss_cls: 0.0808, d5.loss_bbox: 0.2689, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6169, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5167, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4966, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4970, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4977, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5026, d0.loss_map_cls_all: 0.1620, d0.loss_map_pts_all: 1.0101, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1620, d0.loss_map_pts: 1.0101, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1319, d1.loss_map_pts: 0.6891, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1123, d2.loss_map_pts: 0.5326, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.0997, d3.loss_map_pts: 0.4810, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0964, d4.loss_map_pts: 0.4604, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0919, d5.loss_map_pts: 0.4547, d5.loss_map_dir: 0.0062, loss: 21.1998, grad_norm: 163.7454 +2026-02-28 09:47:41,316 - DriveTransformer - INFO - Epoch [9][35150/39528] lr: 7.525e-05, eta: 5 days, 1:14:03, time: 0.752, data_time: 0.039, memory: 19865, loss_cls: 0.1084, loss_bbox: 0.3046, loss_traj: 0.5141, loss_traj_cls: 0.0021, loss_map_cls: 0.1243, loss_map_pts: 0.6321, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.8422, d0.loss_plan_l1_fix_dist: 0.4279, d1.loss_plan_l1_fix_time: 0.8743, d1.loss_plan_l1_fix_dist: 0.2674, d2.loss_plan_l1_fix_time: 0.8675, d2.loss_plan_l1_fix_dist: 0.2624, d3.loss_plan_l1_fix_time: 0.8749, d3.loss_plan_l1_fix_dist: 0.2744, d4.loss_plan_l1_fix_time: 0.8802, d4.loss_plan_l1_fix_dist: 0.3007, d5.loss_plan_l1_fix_time: 0.8848, d5.loss_plan_l1_fix_dist: 0.2793, d6.loss_plan_l1_fix_time: 0.8904, d6.loss_plan_l1_fix_dist: 0.3088, d0.loss_cls_all: 0.1496, d0.loss_bbox_all: 0.3628, d0.loss_cls: 0.1496, d0.loss_bbox: 0.3628, d1.loss_cls: 0.1426, d1.loss_bbox: 0.3329, d2.loss_cls: 0.1251, d2.loss_bbox: 0.3135, d3.loss_cls: 0.1117, d3.loss_bbox: 0.3062, d4.loss_cls: 0.1077, d4.loss_bbox: 0.3044, d5.loss_cls: 0.1071, d5.loss_bbox: 0.3039, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7568, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5860, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5351, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5186, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5142, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5102, d0.loss_map_cls_all: 0.2091, d0.loss_map_pts_all: 1.2637, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2091, d0.loss_map_pts: 1.2637, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1687, d1.loss_map_pts: 0.9015, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1476, d2.loss_map_pts: 0.7269, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1380, d3.loss_map_pts: 0.6619, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1308, d4.loss_map_pts: 0.6367, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1251, d5.loss_map_pts: 0.6319, d5.loss_map_dir: 0.0082, loss: 25.8062, grad_norm: 166.7504 +2026-02-28 09:48:16,994 - DriveTransformer - INFO - Epoch [9][35200/39528] lr: 7.525e-05, eta: 5 days, 1:13:22, time: 0.715, data_time: 0.037, memory: 19865, loss_cls: 0.1177, loss_bbox: 0.3239, loss_traj: 0.5158, loss_traj_cls: 0.0021, loss_map_cls: 0.1246, loss_map_pts: 0.5345, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.8538, d0.loss_plan_l1_fix_dist: 0.4869, d1.loss_plan_l1_fix_time: 0.8443, d1.loss_plan_l1_fix_dist: 0.2675, d2.loss_plan_l1_fix_time: 0.8507, d2.loss_plan_l1_fix_dist: 0.2374, d3.loss_plan_l1_fix_time: 0.8508, d3.loss_plan_l1_fix_dist: 0.2457, d4.loss_plan_l1_fix_time: 0.8572, d4.loss_plan_l1_fix_dist: 0.2710, d5.loss_plan_l1_fix_time: 0.8625, d5.loss_plan_l1_fix_dist: 0.2372, d6.loss_plan_l1_fix_time: 0.8685, d6.loss_plan_l1_fix_dist: 0.2569, d0.loss_cls_all: 0.1587, d0.loss_bbox_all: 0.3955, d0.loss_cls: 0.1587, d0.loss_bbox: 0.3955, d1.loss_cls: 0.1520, d1.loss_bbox: 0.3611, d2.loss_cls: 0.1374, d2.loss_bbox: 0.3389, d3.loss_cls: 0.1237, d3.loss_bbox: 0.3303, d4.loss_cls: 0.1182, d4.loss_bbox: 0.3268, d5.loss_cls: 0.1163, d5.loss_bbox: 0.3252, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7281, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5713, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5348, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5247, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5258, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5202, d0.loss_map_cls_all: 0.1988, d0.loss_map_pts_all: 1.0845, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1988, d0.loss_map_pts: 1.0845, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1645, d1.loss_map_pts: 0.7683, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1440, d2.loss_map_pts: 0.6165, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1356, d3.loss_map_pts: 0.5584, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1288, d4.loss_map_pts: 0.5397, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1255, d5.loss_map_pts: 0.5333, d5.loss_map_dir: 0.0064, loss: 24.7883, grad_norm: 174.8016 +2026-02-28 09:48:53,688 - DriveTransformer - INFO - Epoch [9][35250/39528] lr: 7.525e-05, eta: 5 days, 1:12:46, time: 0.732, data_time: 0.037, memory: 19865, loss_cls: 0.1090, loss_bbox: 0.3014, loss_traj: 0.5881, loss_traj_cls: 0.0022, loss_map_cls: 0.1339, loss_map_pts: 0.5884, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.5355, d0.loss_plan_l1_fix_dist: 0.4860, d1.loss_plan_l1_fix_time: 0.7830, d1.loss_plan_l1_fix_dist: 0.3019, d2.loss_plan_l1_fix_time: 0.7707, d2.loss_plan_l1_fix_dist: 0.2260, d3.loss_plan_l1_fix_time: 0.7565, d3.loss_plan_l1_fix_dist: 0.2292, d4.loss_plan_l1_fix_time: 0.7597, d4.loss_plan_l1_fix_dist: 0.2881, d5.loss_plan_l1_fix_time: 0.7642, d5.loss_plan_l1_fix_dist: 0.2389, d6.loss_plan_l1_fix_time: 0.7686, d6.loss_plan_l1_fix_dist: 0.2411, d0.loss_cls_all: 0.1559, d0.loss_bbox_all: 0.3746, d0.loss_cls: 0.1559, d0.loss_bbox: 0.3746, d1.loss_cls: 0.1485, d1.loss_bbox: 0.3379, d2.loss_cls: 0.1363, d2.loss_bbox: 0.3169, d3.loss_cls: 0.1139, d3.loss_bbox: 0.3083, d4.loss_cls: 0.1090, d4.loss_bbox: 0.3046, d5.loss_cls: 0.1079, d5.loss_bbox: 0.3019, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8009, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6389, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5954, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5899, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5879, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5872, d0.loss_map_cls_all: 0.2130, d0.loss_map_pts_all: 1.2822, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2130, d0.loss_map_pts: 1.2822, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1769, d1.loss_map_pts: 0.8894, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1559, d2.loss_map_pts: 0.6920, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1465, d3.loss_map_pts: 0.6210, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1385, d4.loss_map_pts: 0.5979, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1343, d5.loss_map_pts: 0.5904, d5.loss_map_dir: 0.0079, loss: 25.1180, grad_norm: 177.7743 +2026-02-28 09:49:29,755 - DriveTransformer - INFO - Epoch [9][35300/39528] lr: 7.525e-05, eta: 5 days, 1:12:07, time: 0.721, data_time: 0.038, memory: 19865, loss_cls: 0.1293, loss_bbox: 0.3356, loss_traj: 0.5694, loss_traj_cls: 0.0021, loss_map_cls: 0.1291, loss_map_pts: 0.6198, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.9889, d0.loss_plan_l1_fix_dist: 0.4891, d1.loss_plan_l1_fix_time: 0.9548, d1.loss_plan_l1_fix_dist: 0.3138, d2.loss_plan_l1_fix_time: 0.9535, d2.loss_plan_l1_fix_dist: 0.2344, d3.loss_plan_l1_fix_time: 0.9501, d3.loss_plan_l1_fix_dist: 0.2238, d4.loss_plan_l1_fix_time: 0.9537, d4.loss_plan_l1_fix_dist: 0.3011, d5.loss_plan_l1_fix_time: 0.9578, d5.loss_plan_l1_fix_dist: 0.2433, d6.loss_plan_l1_fix_time: 0.9617, d6.loss_plan_l1_fix_dist: 0.2467, d0.loss_cls_all: 0.1753, d0.loss_bbox_all: 0.4094, d0.loss_cls: 0.1753, d0.loss_bbox: 0.4094, d1.loss_cls: 0.1682, d1.loss_bbox: 0.3769, d2.loss_cls: 0.1555, d2.loss_bbox: 0.3517, d3.loss_cls: 0.1377, d3.loss_bbox: 0.3460, d4.loss_cls: 0.1306, d4.loss_bbox: 0.3403, d5.loss_cls: 0.1294, d5.loss_bbox: 0.3365, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8337, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6338, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5879, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5760, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5730, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5679, d0.loss_map_cls_all: 0.2116, d0.loss_map_pts_all: 1.2423, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2116, d0.loss_map_pts: 1.2423, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1729, d1.loss_map_pts: 0.8952, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1550, d2.loss_map_pts: 0.7198, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1439, d3.loss_map_pts: 0.6529, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1364, d4.loss_map_pts: 0.6289, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1311, d5.loss_map_pts: 0.6217, d5.loss_map_dir: 0.0076, loss: 27.2021, grad_norm: 178.0425 +2026-02-28 09:50:06,813 - DriveTransformer - INFO - Epoch [9][35350/39528] lr: 7.525e-05, eta: 5 days, 1:11:34, time: 0.741, data_time: 0.039, memory: 19865, loss_cls: 0.0987, loss_bbox: 0.2858, loss_traj: 0.4361, loss_traj_cls: 0.0023, loss_map_cls: 0.1109, loss_map_pts: 0.5459, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.4063, d0.loss_plan_l1_fix_dist: 0.5012, d1.loss_plan_l1_fix_time: 0.7886, d1.loss_plan_l1_fix_dist: 0.2846, d2.loss_plan_l1_fix_time: 0.7700, d2.loss_plan_l1_fix_dist: 0.2302, d3.loss_plan_l1_fix_time: 0.7570, d3.loss_plan_l1_fix_dist: 0.2351, d4.loss_plan_l1_fix_time: 0.7585, d4.loss_plan_l1_fix_dist: 0.2863, d5.loss_plan_l1_fix_time: 0.7607, d5.loss_plan_l1_fix_dist: 0.2343, d6.loss_plan_l1_fix_time: 0.7635, d6.loss_plan_l1_fix_dist: 0.2279, d0.loss_cls_all: 0.1464, d0.loss_bbox_all: 0.3480, d0.loss_cls: 0.1464, d0.loss_bbox: 0.3480, d1.loss_cls: 0.1397, d1.loss_bbox: 0.3132, d2.loss_cls: 0.1238, d2.loss_bbox: 0.2947, d3.loss_cls: 0.1068, d3.loss_bbox: 0.2886, d4.loss_cls: 0.1006, d4.loss_bbox: 0.2868, d5.loss_cls: 0.0998, d5.loss_bbox: 0.2847, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6086, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.4891, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4436, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4402, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4288, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4284, d0.loss_map_cls_all: 0.1898, d0.loss_map_pts_all: 1.1346, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.1898, d0.loss_map_pts: 1.1346, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1563, d1.loss_map_pts: 0.7836, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1333, d2.loss_map_pts: 0.6338, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1248, d3.loss_map_pts: 0.5753, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1179, d4.loss_map_pts: 0.5525, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1132, d5.loss_map_pts: 0.5468, d5.loss_map_dir: 0.0077, loss: 22.8028, grad_norm: 177.9289 +2026-02-28 09:50:42,725 - DriveTransformer - INFO - Epoch [9][35400/39528] lr: 7.525e-05, eta: 5 days, 1:10:54, time: 0.718, data_time: 0.037, memory: 19865, loss_cls: 0.0964, loss_bbox: 0.2762, loss_traj: 0.5099, loss_traj_cls: 0.0022, loss_map_cls: 0.1180, loss_map_pts: 0.5638, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.3095, d0.loss_plan_l1_fix_dist: 0.5022, d1.loss_plan_l1_fix_time: 0.8833, d1.loss_plan_l1_fix_dist: 0.2927, d2.loss_plan_l1_fix_time: 0.8628, d2.loss_plan_l1_fix_dist: 0.2295, d3.loss_plan_l1_fix_time: 0.8590, d3.loss_plan_l1_fix_dist: 0.2837, d4.loss_plan_l1_fix_time: 0.8640, d4.loss_plan_l1_fix_dist: 0.2672, d5.loss_plan_l1_fix_time: 0.8690, d5.loss_plan_l1_fix_dist: 0.2148, d6.loss_plan_l1_fix_time: 0.8752, d6.loss_plan_l1_fix_dist: 0.2390, d0.loss_cls_all: 0.1333, d0.loss_bbox_all: 0.3375, d0.loss_cls: 0.1333, d0.loss_bbox: 0.3375, d1.loss_cls: 0.1292, d1.loss_bbox: 0.3059, d2.loss_cls: 0.1170, d2.loss_bbox: 0.2865, d3.loss_cls: 0.1018, d3.loss_bbox: 0.2828, d4.loss_cls: 0.0994, d4.loss_bbox: 0.2772, d5.loss_cls: 0.0969, d5.loss_bbox: 0.2761, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7161, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5603, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5217, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5044, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5050, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5074, d0.loss_map_cls_all: 0.2046, d0.loss_map_pts_all: 1.1551, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.2046, d0.loss_map_pts: 1.1551, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1676, d1.loss_map_pts: 0.8275, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1446, d2.loss_map_pts: 0.6599, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1319, d3.loss_map_pts: 0.5916, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1253, d4.loss_map_pts: 0.5702, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1203, d5.loss_map_pts: 0.5645, d5.loss_map_dir: 0.0064, loss: 24.0250, grad_norm: 177.8932 +2026-02-28 09:51:20,866 - DriveTransformer - INFO - Epoch [9][35450/39528] lr: 7.525e-05, eta: 5 days, 1:10:26, time: 0.763, data_time: 0.037, memory: 19865, loss_cls: 0.1166, loss_bbox: 0.3171, loss_traj: 0.4207, loss_traj_cls: 0.0022, loss_map_cls: 0.1343, loss_map_pts: 0.6724, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.5296, d0.loss_plan_l1_fix_dist: 0.4293, d1.loss_plan_l1_fix_time: 0.8663, d1.loss_plan_l1_fix_dist: 0.2694, d2.loss_plan_l1_fix_time: 0.8408, d2.loss_plan_l1_fix_dist: 0.2247, d3.loss_plan_l1_fix_time: 0.8353, d3.loss_plan_l1_fix_dist: 0.3035, d4.loss_plan_l1_fix_time: 0.8392, d4.loss_plan_l1_fix_dist: 0.2396, d5.loss_plan_l1_fix_time: 0.8441, d5.loss_plan_l1_fix_dist: 0.2064, d6.loss_plan_l1_fix_time: 0.8495, d6.loss_plan_l1_fix_dist: 0.2524, d0.loss_cls_all: 0.1662, d0.loss_bbox_all: 0.3866, d0.loss_cls: 0.1662, d0.loss_bbox: 0.3866, d1.loss_cls: 0.1515, d1.loss_bbox: 0.3560, d2.loss_cls: 0.1407, d2.loss_bbox: 0.3303, d3.loss_cls: 0.1229, d3.loss_bbox: 0.3252, d4.loss_cls: 0.1179, d4.loss_bbox: 0.3209, d5.loss_cls: 0.1155, d5.loss_bbox: 0.3190, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6506, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.4951, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4461, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4337, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4301, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4251, d0.loss_map_cls_all: 0.2252, d0.loss_map_pts_all: 1.4054, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2252, d0.loss_map_pts: 1.4054, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1856, d1.loss_map_pts: 0.9792, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1609, d2.loss_map_pts: 0.7739, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1520, d3.loss_map_pts: 0.7047, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1439, d4.loss_map_pts: 0.6799, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1373, d5.loss_map_pts: 0.6733, d5.loss_map_dir: 0.0094, loss: 25.4095, grad_norm: 178.0114 +2026-02-28 09:51:56,899 - DriveTransformer - INFO - Epoch [9][35500/39528] lr: 7.525e-05, eta: 5 days, 1:09:47, time: 0.721, data_time: 0.038, memory: 19865, loss_cls: 0.1104, loss_bbox: 0.3136, loss_traj: 0.5387, loss_traj_cls: 0.0022, loss_map_cls: 0.1144, loss_map_pts: 0.5645, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.4486, d0.loss_plan_l1_fix_dist: 0.3736, d1.loss_plan_l1_fix_time: 0.7933, d1.loss_plan_l1_fix_dist: 0.2664, d2.loss_plan_l1_fix_time: 0.7683, d2.loss_plan_l1_fix_dist: 0.2303, d3.loss_plan_l1_fix_time: 0.7764, d3.loss_plan_l1_fix_dist: 0.2994, d4.loss_plan_l1_fix_time: 0.7809, d4.loss_plan_l1_fix_dist: 0.2632, d5.loss_plan_l1_fix_time: 0.7843, d5.loss_plan_l1_fix_dist: 0.2302, d6.loss_plan_l1_fix_time: 0.7891, d6.loss_plan_l1_fix_dist: 0.2874, d0.loss_cls_all: 0.1525, d0.loss_bbox_all: 0.3708, d0.loss_cls: 0.1525, d0.loss_bbox: 0.3708, d1.loss_cls: 0.1462, d1.loss_bbox: 0.3343, d2.loss_cls: 0.1340, d2.loss_bbox: 0.3174, d3.loss_cls: 0.1147, d3.loss_bbox: 0.3146, d4.loss_cls: 0.1111, d4.loss_bbox: 0.3117, d5.loss_cls: 0.1103, d5.loss_bbox: 0.3124, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8221, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6262, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5666, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5501, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5421, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5351, d0.loss_map_cls_all: 0.2110, d0.loss_map_pts_all: 1.1505, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2110, d0.loss_map_pts: 1.1505, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1687, d1.loss_map_pts: 0.8103, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1433, d2.loss_map_pts: 0.6438, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1291, d3.loss_map_pts: 0.5873, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1212, d4.loss_map_pts: 0.5704, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1160, d5.loss_map_pts: 0.5658, d5.loss_map_dir: 0.0075, loss: 24.2739, grad_norm: 181.3689 +2026-02-28 09:52:32,127 - DriveTransformer - INFO - Epoch [9][35550/39528] lr: 7.525e-05, eta: 5 days, 1:09:03, time: 0.705, data_time: 0.037, memory: 19865, loss_cls: 0.1102, loss_bbox: 0.3142, loss_traj: 0.5507, loss_traj_cls: 0.0022, loss_map_cls: 0.1186, loss_map_pts: 0.5438, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.5093, d0.loss_plan_l1_fix_dist: 0.3933, d1.loss_plan_l1_fix_time: 0.9909, d1.loss_plan_l1_fix_dist: 0.2667, d2.loss_plan_l1_fix_time: 0.9839, d2.loss_plan_l1_fix_dist: 0.2493, d3.loss_plan_l1_fix_time: 0.9824, d3.loss_plan_l1_fix_dist: 0.3056, d4.loss_plan_l1_fix_time: 0.9841, d4.loss_plan_l1_fix_dist: 0.3181, d5.loss_plan_l1_fix_time: 0.9857, d5.loss_plan_l1_fix_dist: 0.2776, d6.loss_plan_l1_fix_time: 0.9893, d6.loss_plan_l1_fix_dist: 0.3172, d0.loss_cls_all: 0.1517, d0.loss_bbox_all: 0.3663, d0.loss_cls: 0.1517, d0.loss_bbox: 0.3663, d1.loss_cls: 0.1450, d1.loss_bbox: 0.3364, d2.loss_cls: 0.1327, d2.loss_bbox: 0.3160, d3.loss_cls: 0.1196, d3.loss_bbox: 0.3113, d4.loss_cls: 0.1120, d4.loss_bbox: 0.3124, d5.loss_cls: 0.1105, d5.loss_bbox: 0.3127, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7680, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6200, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5710, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5567, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5507, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5509, d0.loss_map_cls_all: 0.1955, d0.loss_map_pts_all: 1.1161, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1955, d0.loss_map_pts: 1.1161, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1667, d1.loss_map_pts: 0.8036, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1431, d2.loss_map_pts: 0.6430, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1316, d3.loss_map_pts: 0.5772, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1239, d4.loss_map_pts: 0.5512, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1212, d5.loss_map_pts: 0.5439, d5.loss_map_dir: 0.0068, loss: 25.5410, grad_norm: 186.6075 +2026-02-28 09:53:07,848 - DriveTransformer - INFO - Epoch [9][35600/39528] lr: 7.525e-05, eta: 5 days, 1:08:22, time: 0.714, data_time: 0.037, memory: 19865, loss_cls: 0.1155, loss_bbox: 0.3157, loss_traj: 0.5842, loss_traj_cls: 0.0021, loss_map_cls: 0.1313, loss_map_pts: 0.5443, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.5407, d0.loss_plan_l1_fix_dist: 0.4174, d1.loss_plan_l1_fix_time: 0.8670, d1.loss_plan_l1_fix_dist: 0.2651, d2.loss_plan_l1_fix_time: 0.8533, d2.loss_plan_l1_fix_dist: 0.2554, d3.loss_plan_l1_fix_time: 0.8463, d3.loss_plan_l1_fix_dist: 0.3084, d4.loss_plan_l1_fix_time: 0.8468, d4.loss_plan_l1_fix_dist: 0.3405, d5.loss_plan_l1_fix_time: 0.8483, d5.loss_plan_l1_fix_dist: 0.2765, d6.loss_plan_l1_fix_time: 0.8498, d6.loss_plan_l1_fix_dist: 0.3040, d0.loss_cls_all: 0.1554, d0.loss_bbox_all: 0.3804, d0.loss_cls: 0.1554, d0.loss_bbox: 0.3804, d1.loss_cls: 0.1508, d1.loss_bbox: 0.3477, d2.loss_cls: 0.1385, d2.loss_bbox: 0.3238, d3.loss_cls: 0.1214, d3.loss_bbox: 0.3199, d4.loss_cls: 0.1163, d4.loss_bbox: 0.3158, d5.loss_cls: 0.1156, d5.loss_bbox: 0.3149, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8295, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6515, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6091, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5947, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5893, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5848, d0.loss_map_cls_all: 0.2071, d0.loss_map_pts_all: 1.0829, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2071, d0.loss_map_pts: 1.0829, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1739, d1.loss_map_pts: 0.7842, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1501, d2.loss_map_pts: 0.6324, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1429, d3.loss_map_pts: 0.5762, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1353, d4.loss_map_pts: 0.5512, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1325, d5.loss_map_pts: 0.5459, d5.loss_map_dir: 0.0064, loss: 25.1672, grad_norm: 185.1008 +2026-02-28 09:53:45,202 - DriveTransformer - INFO - Epoch [9][35650/39528] lr: 7.525e-05, eta: 5 days, 1:07:50, time: 0.747, data_time: 0.038, memory: 19865, loss_cls: 0.1108, loss_bbox: 0.3117, loss_traj: 0.5445, loss_traj_cls: 0.0022, loss_map_cls: 0.1291, loss_map_pts: 0.6331, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.4654, d0.loss_plan_l1_fix_dist: 0.3961, d1.loss_plan_l1_fix_time: 0.8224, d1.loss_plan_l1_fix_dist: 0.2300, d2.loss_plan_l1_fix_time: 0.8057, d2.loss_plan_l1_fix_dist: 0.2310, d3.loss_plan_l1_fix_time: 0.8078, d3.loss_plan_l1_fix_dist: 0.2689, d4.loss_plan_l1_fix_time: 0.8145, d4.loss_plan_l1_fix_dist: 0.3142, d5.loss_plan_l1_fix_time: 0.8200, d5.loss_plan_l1_fix_dist: 0.2487, d6.loss_plan_l1_fix_time: 0.8246, d6.loss_plan_l1_fix_dist: 0.3246, d0.loss_cls_all: 0.1479, d0.loss_bbox_all: 0.3804, d0.loss_cls: 0.1479, d0.loss_bbox: 0.3804, d1.loss_cls: 0.1422, d1.loss_bbox: 0.3461, d2.loss_cls: 0.1338, d2.loss_bbox: 0.3237, d3.loss_cls: 0.1182, d3.loss_bbox: 0.3189, d4.loss_cls: 0.1125, d4.loss_bbox: 0.3148, d5.loss_cls: 0.1109, d5.loss_bbox: 0.3125, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7829, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6225, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5734, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5602, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5525, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5475, d0.loss_map_cls_all: 0.2130, d0.loss_map_pts_all: 1.2590, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2130, d0.loss_map_pts: 1.2590, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1761, d1.loss_map_pts: 0.9061, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1517, d2.loss_map_pts: 0.7328, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1409, d3.loss_map_pts: 0.6703, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1340, d4.loss_map_pts: 0.6421, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1307, d5.loss_map_pts: 0.6350, d5.loss_map_dir: 0.0078, loss: 25.3645, grad_norm: 184.3551 +2026-02-28 09:54:21,382 - DriveTransformer - INFO - Epoch [9][35700/39528] lr: 7.525e-05, eta: 5 days, 1:07:12, time: 0.724, data_time: 0.038, memory: 19865, loss_cls: 0.1172, loss_bbox: 0.3140, loss_traj: 0.5470, loss_traj_cls: 0.0022, loss_map_cls: 0.1111, loss_map_pts: 0.5535, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.7030, d0.loss_plan_l1_fix_dist: 0.5069, d1.loss_plan_l1_fix_time: 0.8153, d1.loss_plan_l1_fix_dist: 0.2204, d2.loss_plan_l1_fix_time: 0.7967, d2.loss_plan_l1_fix_dist: 0.2317, d3.loss_plan_l1_fix_time: 0.8046, d3.loss_plan_l1_fix_dist: 0.2620, d4.loss_plan_l1_fix_time: 0.8144, d4.loss_plan_l1_fix_dist: 0.3073, d5.loss_plan_l1_fix_time: 0.8235, d5.loss_plan_l1_fix_dist: 0.2849, d6.loss_plan_l1_fix_time: 0.8323, d6.loss_plan_l1_fix_dist: 0.3381, d0.loss_cls_all: 0.1668, d0.loss_bbox_all: 0.3788, d0.loss_cls: 0.1668, d0.loss_bbox: 0.3788, d1.loss_cls: 0.1574, d1.loss_bbox: 0.3449, d2.loss_cls: 0.1439, d2.loss_bbox: 0.3233, d3.loss_cls: 0.1273, d3.loss_bbox: 0.3157, d4.loss_cls: 0.1179, d4.loss_bbox: 0.3147, d5.loss_cls: 0.1154, d5.loss_bbox: 0.3150, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7696, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6095, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5714, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5567, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5518, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5478, d0.loss_map_cls_all: 0.1868, d0.loss_map_pts_all: 1.1076, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1868, d0.loss_map_pts: 1.1076, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1505, d1.loss_map_pts: 0.7914, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1297, d2.loss_map_pts: 0.6360, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1224, d3.loss_map_pts: 0.5807, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1156, d4.loss_map_pts: 0.5582, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1130, d5.loss_map_pts: 0.5537, d5.loss_map_dir: 0.0078, loss: 24.7668, grad_norm: 184.2761 +2026-02-28 09:54:58,581 - DriveTransformer - INFO - Epoch [9][35750/39528] lr: 7.525e-05, eta: 5 days, 1:06:39, time: 0.744, data_time: 0.037, memory: 19865, loss_cls: 0.1228, loss_bbox: 0.3332, loss_traj: 0.6136, loss_traj_cls: 0.0023, loss_map_cls: 0.1219, loss_map_pts: 0.5553, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.6823, d0.loss_plan_l1_fix_dist: 0.3448, d1.loss_plan_l1_fix_time: 0.9143, d1.loss_plan_l1_fix_dist: 0.2080, d2.loss_plan_l1_fix_time: 0.9102, d2.loss_plan_l1_fix_dist: 0.2114, d3.loss_plan_l1_fix_time: 0.9156, d3.loss_plan_l1_fix_dist: 0.2761, d4.loss_plan_l1_fix_time: 0.9235, d4.loss_plan_l1_fix_dist: 0.2997, d5.loss_plan_l1_fix_time: 0.9314, d5.loss_plan_l1_fix_dist: 0.3603, d6.loss_plan_l1_fix_time: 0.9400, d6.loss_plan_l1_fix_dist: 0.3184, d0.loss_cls_all: 0.1721, d0.loss_bbox_all: 0.3979, d0.loss_cls: 0.1721, d0.loss_bbox: 0.3979, d1.loss_cls: 0.1622, d1.loss_bbox: 0.3616, d2.loss_cls: 0.1477, d2.loss_bbox: 0.3411, d3.loss_cls: 0.1304, d3.loss_bbox: 0.3378, d4.loss_cls: 0.1256, d4.loss_bbox: 0.3325, d5.loss_cls: 0.1239, d5.loss_bbox: 0.3323, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8833, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6925, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6449, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6236, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6189, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6140, d0.loss_map_cls_all: 0.2076, d0.loss_map_pts_all: 1.1600, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2076, d0.loss_map_pts: 1.1600, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1702, d1.loss_map_pts: 0.8053, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1462, d2.loss_map_pts: 0.6479, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1357, d3.loss_map_pts: 0.5863, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1274, d4.loss_map_pts: 0.5638, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1224, d5.loss_map_pts: 0.5550, d5.loss_map_dir: 0.0072, loss: 26.2536, grad_norm: 182.1216 +2026-02-28 09:55:34,931 - DriveTransformer - INFO - Epoch [9][35800/39528] lr: 7.525e-05, eta: 5 days, 1:06:01, time: 0.727, data_time: 0.039, memory: 19865, loss_cls: 0.1069, loss_bbox: 0.2965, loss_traj: 0.5386, loss_traj_cls: 0.0024, loss_map_cls: 0.1078, loss_map_pts: 0.5323, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.7301, d0.loss_plan_l1_fix_dist: 0.4329, d1.loss_plan_l1_fix_time: 0.8974, d1.loss_plan_l1_fix_dist: 0.2526, d2.loss_plan_l1_fix_time: 0.8847, d2.loss_plan_l1_fix_dist: 0.2487, d3.loss_plan_l1_fix_time: 0.8875, d3.loss_plan_l1_fix_dist: 0.3445, d4.loss_plan_l1_fix_time: 0.8926, d4.loss_plan_l1_fix_dist: 0.3148, d5.loss_plan_l1_fix_time: 0.8979, d5.loss_plan_l1_fix_dist: 0.4060, d6.loss_plan_l1_fix_time: 0.9047, d6.loss_plan_l1_fix_dist: 0.3430, d0.loss_cls_all: 0.1504, d0.loss_bbox_all: 0.3643, d0.loss_cls: 0.1504, d0.loss_bbox: 0.3643, d1.loss_cls: 0.1434, d1.loss_bbox: 0.3287, d2.loss_cls: 0.1293, d2.loss_bbox: 0.3095, d3.loss_cls: 0.1137, d3.loss_bbox: 0.3019, d4.loss_cls: 0.1082, d4.loss_bbox: 0.2975, d5.loss_cls: 0.1071, d5.loss_bbox: 0.2960, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7057, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5911, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5564, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5453, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5410, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5386, d0.loss_map_cls_all: 0.1846, d0.loss_map_pts_all: 1.0851, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1846, d0.loss_map_pts: 1.0851, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1492, d1.loss_map_pts: 0.7652, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1272, d2.loss_map_pts: 0.6127, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1197, d3.loss_map_pts: 0.5557, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1123, d4.loss_map_pts: 0.5401, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1096, d5.loss_map_pts: 0.5335, d5.loss_map_dir: 0.0065, loss: 24.8863, grad_norm: 180.8788 +2026-02-28 09:56:12,056 - DriveTransformer - INFO - Epoch [9][35850/39528] lr: 7.525e-05, eta: 5 days, 1:05:28, time: 0.742, data_time: 0.038, memory: 19865, loss_cls: 0.1019, loss_bbox: 0.2952, loss_traj: 0.5655, loss_traj_cls: 0.0023, loss_map_cls: 0.1005, loss_map_pts: 0.5318, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.7536, d0.loss_plan_l1_fix_dist: 0.5493, d1.loss_plan_l1_fix_time: 0.8383, d1.loss_plan_l1_fix_dist: 0.2809, d2.loss_plan_l1_fix_time: 0.8155, d2.loss_plan_l1_fix_dist: 0.2833, d3.loss_plan_l1_fix_time: 0.8085, d3.loss_plan_l1_fix_dist: 0.3653, d4.loss_plan_l1_fix_time: 0.8111, d4.loss_plan_l1_fix_dist: 0.3258, d5.loss_plan_l1_fix_time: 0.8146, d5.loss_plan_l1_fix_dist: 0.3994, d6.loss_plan_l1_fix_time: 0.8201, d6.loss_plan_l1_fix_dist: 0.4248, d0.loss_cls_all: 0.1431, d0.loss_bbox_all: 0.3614, d0.loss_cls: 0.1431, d0.loss_bbox: 0.3614, d1.loss_cls: 0.1344, d1.loss_bbox: 0.3289, d2.loss_cls: 0.1197, d2.loss_bbox: 0.3082, d3.loss_cls: 0.1089, d3.loss_bbox: 0.3012, d4.loss_cls: 0.1037, d4.loss_bbox: 0.2974, d5.loss_cls: 0.1021, d5.loss_bbox: 0.2957, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7650, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6318, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5859, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5752, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5693, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5666, d0.loss_map_cls_all: 0.1937, d0.loss_map_pts_all: 1.1530, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1937, d0.loss_map_pts: 1.1530, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1535, d1.loss_map_pts: 0.7949, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1298, d2.loss_map_pts: 0.6240, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1155, d3.loss_map_pts: 0.5584, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1075, d4.loss_map_pts: 0.5376, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1017, d5.loss_map_pts: 0.5336, d5.loss_map_dir: 0.0069, loss: 25.0999, grad_norm: 179.7732 +2026-02-28 09:56:48,327 - DriveTransformer - INFO - Epoch [9][35900/39528] lr: 7.525e-05, eta: 5 days, 1:04:50, time: 0.725, data_time: 0.039, memory: 19865, loss_cls: 0.0973, loss_bbox: 0.2785, loss_traj: 0.4772, loss_traj_cls: 0.0023, loss_map_cls: 0.1045, loss_map_pts: 0.5102, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.4658, d0.loss_plan_l1_fix_dist: 0.5461, d1.loss_plan_l1_fix_time: 0.8237, d1.loss_plan_l1_fix_dist: 0.2823, d2.loss_plan_l1_fix_time: 0.8030, d2.loss_plan_l1_fix_dist: 0.2876, d3.loss_plan_l1_fix_time: 0.7956, d3.loss_plan_l1_fix_dist: 0.3369, d4.loss_plan_l1_fix_time: 0.7980, d4.loss_plan_l1_fix_dist: 0.3095, d5.loss_plan_l1_fix_time: 0.8024, d5.loss_plan_l1_fix_dist: 0.3330, d6.loss_plan_l1_fix_time: 0.8080, d6.loss_plan_l1_fix_dist: 0.4174, d0.loss_cls_all: 0.1461, d0.loss_bbox_all: 0.3370, d0.loss_cls: 0.1461, d0.loss_bbox: 0.3370, d1.loss_cls: 0.1393, d1.loss_bbox: 0.3076, d2.loss_cls: 0.1214, d2.loss_bbox: 0.2893, d3.loss_cls: 0.1053, d3.loss_bbox: 0.2836, d4.loss_cls: 0.1004, d4.loss_bbox: 0.2802, d5.loss_cls: 0.0970, d5.loss_bbox: 0.2800, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7117, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5710, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5128, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4918, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4875, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4816, d0.loss_map_cls_all: 0.1876, d0.loss_map_pts_all: 1.0437, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1876, d0.loss_map_pts: 1.0437, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1527, d1.loss_map_pts: 0.7414, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1325, d2.loss_map_pts: 0.5946, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1175, d3.loss_map_pts: 0.5400, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1102, d4.loss_map_pts: 0.5176, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1055, d5.loss_map_pts: 0.5099, d5.loss_map_dir: 0.0071, loss: 23.5529, grad_norm: 179.0724 +2026-02-28 09:57:24,936 - DriveTransformer - INFO - Epoch [9][35950/39528] lr: 7.525e-05, eta: 5 days, 1:04:14, time: 0.732, data_time: 0.038, memory: 19865, loss_cls: 0.0973, loss_bbox: 0.2876, loss_traj: 0.5569, loss_traj_cls: 0.0023, loss_map_cls: 0.1041, loss_map_pts: 0.4984, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.6739, d0.loss_plan_l1_fix_dist: 0.4453, d1.loss_plan_l1_fix_time: 0.8362, d1.loss_plan_l1_fix_dist: 0.2665, d2.loss_plan_l1_fix_time: 0.8270, d2.loss_plan_l1_fix_dist: 0.2564, d3.loss_plan_l1_fix_time: 0.8226, d3.loss_plan_l1_fix_dist: 0.2874, d4.loss_plan_l1_fix_time: 0.8257, d4.loss_plan_l1_fix_dist: 0.3147, d5.loss_plan_l1_fix_time: 0.8288, d5.loss_plan_l1_fix_dist: 0.2898, d6.loss_plan_l1_fix_time: 0.8324, d6.loss_plan_l1_fix_dist: 0.4309, d0.loss_cls_all: 0.1318, d0.loss_bbox_all: 0.3458, d0.loss_cls: 0.1318, d0.loss_bbox: 0.3458, d1.loss_cls: 0.1283, d1.loss_bbox: 0.3115, d2.loss_cls: 0.1173, d2.loss_bbox: 0.2934, d3.loss_cls: 0.1038, d3.loss_bbox: 0.2878, d4.loss_cls: 0.0983, d4.loss_bbox: 0.2870, d5.loss_cls: 0.0978, d5.loss_bbox: 0.2862, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7425, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6030, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5692, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5613, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5567, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5566, d0.loss_map_cls_all: 0.1913, d0.loss_map_pts_all: 0.9997, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1913, d0.loss_map_pts: 0.9997, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1586, d1.loss_map_pts: 0.7281, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1333, d2.loss_map_pts: 0.5859, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1223, d3.loss_map_pts: 0.5312, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1133, d4.loss_map_pts: 0.5099, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1072, d5.loss_map_pts: 0.4989, d5.loss_map_dir: 0.0057, loss: 23.9600, grad_norm: 177.7650 +2026-02-28 09:58:02,015 - DriveTransformer - INFO - Epoch [9][36000/39528] lr: 7.525e-05, eta: 5 days, 1:03:40, time: 0.743, data_time: 0.038, memory: 19865, loss_cls: 0.1114, loss_bbox: 0.3133, loss_traj: 0.6057, loss_traj_cls: 0.0022, loss_map_cls: 0.1244, loss_map_pts: 0.6201, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.3671, d0.loss_plan_l1_fix_dist: 0.4247, d1.loss_plan_l1_fix_time: 0.7608, d1.loss_plan_l1_fix_dist: 0.2666, d2.loss_plan_l1_fix_time: 0.7496, d2.loss_plan_l1_fix_dist: 0.2565, d3.loss_plan_l1_fix_time: 0.7425, d3.loss_plan_l1_fix_dist: 0.2893, d4.loss_plan_l1_fix_time: 0.7457, d4.loss_plan_l1_fix_dist: 0.3557, d5.loss_plan_l1_fix_time: 0.7489, d5.loss_plan_l1_fix_dist: 0.3490, d6.loss_plan_l1_fix_time: 0.7532, d6.loss_plan_l1_fix_dist: 0.3966, d0.loss_cls_all: 0.1504, d0.loss_bbox_all: 0.3750, d0.loss_cls: 0.1504, d0.loss_bbox: 0.3750, d1.loss_cls: 0.1468, d1.loss_bbox: 0.3419, d2.loss_cls: 0.1337, d2.loss_bbox: 0.3237, d3.loss_cls: 0.1173, d3.loss_bbox: 0.3168, d4.loss_cls: 0.1132, d4.loss_bbox: 0.3151, d5.loss_cls: 0.1112, d5.loss_bbox: 0.3140, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8560, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6765, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6080, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6048, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5980, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6052, d0.loss_map_cls_all: 0.2100, d0.loss_map_pts_all: 1.2271, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2100, d0.loss_map_pts: 1.2271, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1753, d1.loss_map_pts: 0.8717, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1520, d2.loss_map_pts: 0.7050, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1403, d3.loss_map_pts: 0.6480, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1329, d4.loss_map_pts: 0.6273, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1269, d5.loss_map_pts: 0.6207, d5.loss_map_dir: 0.0084, loss: 25.3595, grad_norm: 185.3619 +2026-02-28 09:58:38,623 - DriveTransformer - INFO - Epoch [9][36050/39528] lr: 7.525e-05, eta: 5 days, 1:03:04, time: 0.731, data_time: 0.037, memory: 19865, loss_cls: 0.1223, loss_bbox: 0.3549, loss_traj: 0.5509, loss_traj_cls: 0.0022, loss_map_cls: 0.1276, loss_map_pts: 0.5514, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.8115, d0.loss_plan_l1_fix_dist: 0.4680, d1.loss_plan_l1_fix_time: 0.9948, d1.loss_plan_l1_fix_dist: 0.2719, d2.loss_plan_l1_fix_time: 0.9872, d2.loss_plan_l1_fix_dist: 0.2805, d3.loss_plan_l1_fix_time: 0.9852, d3.loss_plan_l1_fix_dist: 0.2979, d4.loss_plan_l1_fix_time: 0.9885, d4.loss_plan_l1_fix_dist: 0.4163, d5.loss_plan_l1_fix_time: 0.9917, d5.loss_plan_l1_fix_dist: 0.4751, d6.loss_plan_l1_fix_time: 0.9961, d6.loss_plan_l1_fix_dist: 0.3267, d0.loss_cls_all: 0.1730, d0.loss_bbox_all: 0.4100, d0.loss_cls: 0.1730, d0.loss_bbox: 0.4100, d1.loss_cls: 0.1667, d1.loss_bbox: 0.3806, d2.loss_cls: 0.1507, d2.loss_bbox: 0.3648, d3.loss_cls: 0.1305, d3.loss_bbox: 0.3601, d4.loss_cls: 0.1227, d4.loss_bbox: 0.3598, d5.loss_cls: 0.1218, d5.loss_bbox: 0.3575, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8688, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6343, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5732, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5659, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5604, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5555, d0.loss_map_cls_all: 0.2105, d0.loss_map_pts_all: 1.0732, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2105, d0.loss_map_pts: 1.0732, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1770, d1.loss_map_pts: 0.7625, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1545, d2.loss_map_pts: 0.6367, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1427, d3.loss_map_pts: 0.5806, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1332, d4.loss_map_pts: 0.5609, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1277, d5.loss_map_pts: 0.5528, d5.loss_map_dir: 0.0067, loss: 26.8927, grad_norm: 187.4902 +2026-02-28 09:59:16,309 - DriveTransformer - INFO - Epoch [9][36100/39528] lr: 7.525e-05, eta: 5 days, 1:02:33, time: 0.754, data_time: 0.037, memory: 19865, loss_cls: 0.1048, loss_bbox: 0.3438, loss_traj: 0.5204, loss_traj_cls: 0.0021, loss_map_cls: 0.1155, loss_map_pts: 0.5628, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.7479, d0.loss_plan_l1_fix_dist: 0.3522, d1.loss_plan_l1_fix_time: 0.8949, d1.loss_plan_l1_fix_dist: 0.2704, d2.loss_plan_l1_fix_time: 0.8822, d2.loss_plan_l1_fix_dist: 0.2841, d3.loss_plan_l1_fix_time: 0.8727, d3.loss_plan_l1_fix_dist: 0.2898, d4.loss_plan_l1_fix_time: 0.8763, d4.loss_plan_l1_fix_dist: 0.4216, d5.loss_plan_l1_fix_time: 0.8795, d5.loss_plan_l1_fix_dist: 0.5164, d6.loss_plan_l1_fix_time: 0.8845, d6.loss_plan_l1_fix_dist: 0.3574, d0.loss_cls_all: 0.1447, d0.loss_bbox_all: 0.4066, d0.loss_cls: 0.1447, d0.loss_bbox: 0.4066, d1.loss_cls: 0.1370, d1.loss_bbox: 0.3722, d2.loss_cls: 0.1302, d2.loss_bbox: 0.3571, d3.loss_cls: 0.1117, d3.loss_bbox: 0.3536, d4.loss_cls: 0.1078, d4.loss_bbox: 0.3483, d5.loss_cls: 0.1050, d5.loss_bbox: 0.3453, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7937, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5838, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5495, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5310, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5243, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5224, d0.loss_map_cls_all: 0.2013, d0.loss_map_pts_all: 1.2295, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2013, d0.loss_map_pts: 1.2295, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1676, d1.loss_map_pts: 0.8436, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1425, d2.loss_map_pts: 0.6525, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1301, d3.loss_map_pts: 0.5956, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1231, d4.loss_map_pts: 0.5737, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1178, d5.loss_map_pts: 0.5637, d5.loss_map_dir: 0.0080, loss: 25.9938, grad_norm: 193.2840 +2026-02-28 09:59:53,952 - DriveTransformer - INFO - Epoch [9][36150/39528] lr: 7.525e-05, eta: 5 days, 1:02:02, time: 0.753, data_time: 0.043, memory: 19865, loss_cls: 0.1042, loss_bbox: 0.3213, loss_traj: 0.5385, loss_traj_cls: 0.0022, loss_map_cls: 0.1026, loss_map_pts: 0.5267, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.6963, d0.loss_plan_l1_fix_dist: 0.4609, d1.loss_plan_l1_fix_time: 0.8539, d1.loss_plan_l1_fix_dist: 0.2642, d2.loss_plan_l1_fix_time: 0.8444, d2.loss_plan_l1_fix_dist: 0.2868, d3.loss_plan_l1_fix_time: 0.8387, d3.loss_plan_l1_fix_dist: 0.2864, d4.loss_plan_l1_fix_time: 0.8407, d4.loss_plan_l1_fix_dist: 0.4105, d5.loss_plan_l1_fix_time: 0.8428, d5.loss_plan_l1_fix_dist: 0.5484, d6.loss_plan_l1_fix_time: 0.8460, d6.loss_plan_l1_fix_dist: 0.5129, d0.loss_cls_all: 0.1521, d0.loss_bbox_all: 0.3720, d0.loss_cls: 0.1521, d0.loss_bbox: 0.3720, d1.loss_cls: 0.1417, d1.loss_bbox: 0.3428, d2.loss_cls: 0.1289, d2.loss_bbox: 0.3269, d3.loss_cls: 0.1130, d3.loss_bbox: 0.3227, d4.loss_cls: 0.1063, d4.loss_bbox: 0.3201, d5.loss_cls: 0.1041, d5.loss_bbox: 0.3199, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7548, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6244, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5695, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5597, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5480, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5452, d0.loss_map_cls_all: 0.1829, d0.loss_map_pts_all: 1.1132, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1829, d0.loss_map_pts: 1.1132, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1480, d1.loss_map_pts: 0.7926, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1246, d2.loss_map_pts: 0.6111, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1142, d3.loss_map_pts: 0.5530, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1075, d4.loss_map_pts: 0.5317, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1047, d5.loss_map_pts: 0.5283, d5.loss_map_dir: 0.0074, loss: 25.2739, grad_norm: 191.0209 +2026-02-28 10:00:31,636 - DriveTransformer - INFO - Epoch [9][36200/39528] lr: 7.525e-05, eta: 5 days, 1:01:32, time: 0.754, data_time: 0.038, memory: 19865, loss_cls: 0.1049, loss_bbox: 0.3236, loss_traj: 0.5904, loss_traj_cls: 0.0021, loss_map_cls: 0.1085, loss_map_pts: 0.5591, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.5633, d0.loss_plan_l1_fix_dist: 0.4517, d1.loss_plan_l1_fix_time: 0.8964, d1.loss_plan_l1_fix_dist: 0.2379, d2.loss_plan_l1_fix_time: 0.8908, d2.loss_plan_l1_fix_dist: 0.2570, d3.loss_plan_l1_fix_time: 0.8775, d3.loss_plan_l1_fix_dist: 0.2441, d4.loss_plan_l1_fix_time: 0.8783, d4.loss_plan_l1_fix_dist: 0.3672, d5.loss_plan_l1_fix_time: 0.8800, d5.loss_plan_l1_fix_dist: 0.4354, d6.loss_plan_l1_fix_time: 0.8819, d6.loss_plan_l1_fix_dist: 0.4426, d0.loss_cls_all: 0.1541, d0.loss_bbox_all: 0.3758, d0.loss_cls: 0.1541, d0.loss_bbox: 0.3758, d1.loss_cls: 0.1471, d1.loss_bbox: 0.3429, d2.loss_cls: 0.1335, d2.loss_bbox: 0.3243, d3.loss_cls: 0.1133, d3.loss_bbox: 0.3201, d4.loss_cls: 0.1062, d4.loss_bbox: 0.3197, d5.loss_cls: 0.1054, d5.loss_bbox: 0.3194, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8711, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6872, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6302, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6069, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5956, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5924, d0.loss_map_cls_all: 0.1905, d0.loss_map_pts_all: 1.1602, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1905, d0.loss_map_pts: 1.1602, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1538, d1.loss_map_pts: 0.8128, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1310, d2.loss_map_pts: 0.6345, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1190, d3.loss_map_pts: 0.5825, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1143, d4.loss_map_pts: 0.5622, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1093, d5.loss_map_pts: 0.5587, d5.loss_map_dir: 0.0072, loss: 25.8102, grad_norm: 188.3042 +2026-02-28 10:01:09,156 - DriveTransformer - INFO - Epoch [9][36250/39528] lr: 7.525e-05, eta: 5 days, 1:01:00, time: 0.750, data_time: 0.037, memory: 19865, loss_cls: 0.1018, loss_bbox: 0.3130, loss_traj: 0.5030, loss_traj_cls: 0.0022, loss_map_cls: 0.1104, loss_map_pts: 0.5616, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.4802, d0.loss_plan_l1_fix_dist: 0.3818, d1.loss_plan_l1_fix_time: 0.7215, d1.loss_plan_l1_fix_dist: 0.1939, d2.loss_plan_l1_fix_time: 0.7111, d2.loss_plan_l1_fix_dist: 0.1974, d3.loss_plan_l1_fix_time: 0.7244, d3.loss_plan_l1_fix_dist: 0.1945, d4.loss_plan_l1_fix_time: 0.7284, d4.loss_plan_l1_fix_dist: 0.3253, d5.loss_plan_l1_fix_time: 0.7338, d5.loss_plan_l1_fix_dist: 0.3113, d6.loss_plan_l1_fix_time: 0.7375, d6.loss_plan_l1_fix_dist: 0.3268, d0.loss_cls_all: 0.1413, d0.loss_bbox_all: 0.3620, d0.loss_cls: 0.1413, d0.loss_bbox: 0.3620, d1.loss_cls: 0.1358, d1.loss_bbox: 0.3317, d2.loss_cls: 0.1236, d2.loss_bbox: 0.3125, d3.loss_cls: 0.1088, d3.loss_bbox: 0.3071, d4.loss_cls: 0.1035, d4.loss_bbox: 0.3071, d5.loss_cls: 0.1019, d5.loss_bbox: 0.3107, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6957, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5638, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5232, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5049, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5018, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5023, d0.loss_map_cls_all: 0.1792, d0.loss_map_pts_all: 1.1223, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1792, d0.loss_map_pts: 1.1223, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1518, d1.loss_map_pts: 0.7989, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1312, d2.loss_map_pts: 0.6432, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1214, d3.loss_map_pts: 0.5878, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1158, d4.loss_map_pts: 0.5663, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1117, d5.loss_map_pts: 0.5617, d5.loss_map_dir: 0.0079, loss: 23.2583, grad_norm: 193.1871 +2026-02-28 10:01:45,370 - DriveTransformer - INFO - Epoch [9][36300/39528] lr: 7.525e-05, eta: 5 days, 1:00:22, time: 0.724, data_time: 0.037, memory: 19865, loss_cls: 0.1062, loss_bbox: 0.3404, loss_traj: 0.5321, loss_traj_cls: 0.0020, loss_map_cls: 0.1286, loss_map_pts: 0.6646, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.5104, d0.loss_plan_l1_fix_dist: 0.4247, d1.loss_plan_l1_fix_time: 0.8782, d1.loss_plan_l1_fix_dist: 0.2218, d2.loss_plan_l1_fix_time: 0.8606, d2.loss_plan_l1_fix_dist: 0.2216, d3.loss_plan_l1_fix_time: 0.8645, d3.loss_plan_l1_fix_dist: 0.2589, d4.loss_plan_l1_fix_time: 0.8698, d4.loss_plan_l1_fix_dist: 0.3539, d5.loss_plan_l1_fix_time: 0.8761, d5.loss_plan_l1_fix_dist: 0.3363, d6.loss_plan_l1_fix_time: 0.8811, d6.loss_plan_l1_fix_dist: 0.3259, d0.loss_cls_all: 0.1493, d0.loss_bbox_all: 0.3866, d0.loss_cls: 0.1493, d0.loss_bbox: 0.3866, d1.loss_cls: 0.1455, d1.loss_bbox: 0.3538, d2.loss_cls: 0.1369, d2.loss_bbox: 0.3356, d3.loss_cls: 0.1169, d3.loss_bbox: 0.3328, d4.loss_cls: 0.1095, d4.loss_bbox: 0.3340, d5.loss_cls: 0.1072, d5.loss_bbox: 0.3364, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7738, d1.loss_traj_cls: 0.0006, d1.loss_traj: 0.6274, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5559, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5329, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5293, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5289, d0.loss_map_cls_all: 0.2130, d0.loss_map_pts_all: 1.2443, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2130, d0.loss_map_pts: 1.2443, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1841, d1.loss_map_pts: 0.9207, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1526, d2.loss_map_pts: 0.7486, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1423, d3.loss_map_pts: 0.6904, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1353, d4.loss_map_pts: 0.6677, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1319, d5.loss_map_pts: 0.6634, d5.loss_map_dir: 0.0086, loss: 26.0088, grad_norm: 193.2459 +2026-02-28 10:02:22,826 - DriveTransformer - INFO - Epoch [9][36350/39528] lr: 7.525e-05, eta: 5 days, 0:59:50, time: 0.749, data_time: 0.039, memory: 19865, loss_cls: 0.1182, loss_bbox: 0.3312, loss_traj: 0.5873, loss_traj_cls: 0.0020, loss_map_cls: 0.1151, loss_map_pts: 0.6164, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.8625, d0.loss_plan_l1_fix_dist: 0.4508, d1.loss_plan_l1_fix_time: 0.8664, d1.loss_plan_l1_fix_dist: 0.2519, d2.loss_plan_l1_fix_time: 0.8532, d2.loss_plan_l1_fix_dist: 0.2558, d3.loss_plan_l1_fix_time: 0.8433, d3.loss_plan_l1_fix_dist: 0.3221, d4.loss_plan_l1_fix_time: 0.8456, d4.loss_plan_l1_fix_dist: 0.3548, d5.loss_plan_l1_fix_time: 0.8495, d5.loss_plan_l1_fix_dist: 0.3379, d6.loss_plan_l1_fix_time: 0.8547, d6.loss_plan_l1_fix_dist: 0.2845, d0.loss_cls_all: 0.1623, d0.loss_bbox_all: 0.3834, d0.loss_cls: 0.1623, d0.loss_bbox: 0.3834, d1.loss_cls: 0.1547, d1.loss_bbox: 0.3542, d2.loss_cls: 0.1412, d2.loss_bbox: 0.3345, d3.loss_cls: 0.1230, d3.loss_bbox: 0.3342, d4.loss_cls: 0.1172, d4.loss_bbox: 0.3317, d5.loss_cls: 0.1172, d5.loss_bbox: 0.3302, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8828, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6859, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6225, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5998, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5945, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5913, d0.loss_map_cls_all: 0.1750, d0.loss_map_pts_all: 1.1641, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1750, d0.loss_map_pts: 1.1641, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1522, d1.loss_map_pts: 0.8508, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1334, d2.loss_map_pts: 0.6958, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1237, d3.loss_map_pts: 0.6376, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1196, d4.loss_map_pts: 0.6218, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1167, d5.loss_map_pts: 0.6184, d5.loss_map_dir: 0.0077, loss: 26.2238, grad_norm: 193.9734 +2026-02-28 10:03:00,483 - DriveTransformer - INFO - Epoch [9][36400/39528] lr: 7.525e-05, eta: 5 days, 0:59:20, time: 0.753, data_time: 0.036, memory: 19865, loss_cls: 0.1097, loss_bbox: 0.2987, loss_traj: 0.5344, loss_traj_cls: 0.0021, loss_map_cls: 0.1070, loss_map_pts: 0.5898, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.6938, d0.loss_plan_l1_fix_dist: 0.5602, d1.loss_plan_l1_fix_time: 0.9520, d1.loss_plan_l1_fix_dist: 0.2803, d2.loss_plan_l1_fix_time: 0.9319, d2.loss_plan_l1_fix_dist: 0.2992, d3.loss_plan_l1_fix_time: 0.8912, d3.loss_plan_l1_fix_dist: 0.3989, d4.loss_plan_l1_fix_time: 0.8950, d4.loss_plan_l1_fix_dist: 0.3954, d5.loss_plan_l1_fix_time: 0.9008, d5.loss_plan_l1_fix_dist: 0.4041, d6.loss_plan_l1_fix_time: 0.9071, d6.loss_plan_l1_fix_dist: 0.3013, d0.loss_cls_all: 0.1450, d0.loss_bbox_all: 0.3502, d0.loss_cls: 0.1450, d0.loss_bbox: 0.3502, d1.loss_cls: 0.1393, d1.loss_bbox: 0.3224, d2.loss_cls: 0.1276, d2.loss_bbox: 0.3061, d3.loss_cls: 0.1131, d3.loss_bbox: 0.3003, d4.loss_cls: 0.1093, d4.loss_bbox: 0.2987, d5.loss_cls: 0.1095, d5.loss_bbox: 0.2985, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7629, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6152, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5641, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5417, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5375, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5301, d0.loss_map_cls_all: 0.1738, d0.loss_map_pts_all: 1.2060, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.1738, d0.loss_map_pts: 1.2060, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1472, d1.loss_map_pts: 0.8452, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1287, d2.loss_map_pts: 0.6819, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1202, d3.loss_map_pts: 0.6144, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1136, d4.loss_map_pts: 0.5935, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1096, d5.loss_map_pts: 0.5894, d5.loss_map_dir: 0.0077, loss: 25.8895, grad_norm: 194.5232 +2026-02-28 10:03:37,585 - DriveTransformer - INFO - Epoch [9][36450/39528] lr: 7.525e-05, eta: 5 days, 0:58:46, time: 0.742, data_time: 0.038, memory: 19865, loss_cls: 0.1203, loss_bbox: 0.3393, loss_traj: 0.5785, loss_traj_cls: 0.0020, loss_map_cls: 0.1401, loss_map_pts: 0.6900, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.6092, d0.loss_plan_l1_fix_dist: 0.4275, d1.loss_plan_l1_fix_time: 0.9539, d1.loss_plan_l1_fix_dist: 0.2765, d2.loss_plan_l1_fix_time: 0.9342, d2.loss_plan_l1_fix_dist: 0.2774, d3.loss_plan_l1_fix_time: 0.9589, d3.loss_plan_l1_fix_dist: 0.3503, d4.loss_plan_l1_fix_time: 0.9649, d4.loss_plan_l1_fix_dist: 0.3943, d5.loss_plan_l1_fix_time: 0.9697, d5.loss_plan_l1_fix_dist: 0.3489, d6.loss_plan_l1_fix_time: 0.9743, d6.loss_plan_l1_fix_dist: 0.2854, d0.loss_cls_all: 0.1613, d0.loss_bbox_all: 0.3933, d0.loss_cls: 0.1613, d0.loss_bbox: 0.3933, d1.loss_cls: 0.1546, d1.loss_bbox: 0.3624, d2.loss_cls: 0.1432, d2.loss_bbox: 0.3446, d3.loss_cls: 0.1260, d3.loss_bbox: 0.3400, d4.loss_cls: 0.1209, d4.loss_bbox: 0.3390, d5.loss_cls: 0.1207, d5.loss_bbox: 0.3382, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8147, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6553, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6018, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5916, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5868, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5797, d0.loss_map_cls_all: 0.2182, d0.loss_map_pts_all: 1.3745, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2182, d0.loss_map_pts: 1.3745, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1882, d1.loss_map_pts: 1.0047, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1666, d2.loss_map_pts: 0.8073, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1548, d3.loss_map_pts: 0.7232, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1482, d4.loss_map_pts: 0.6977, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1420, d5.loss_map_pts: 0.6913, d5.loss_map_dir: 0.0092, loss: 27.9064, grad_norm: 184.8518 +2026-02-28 10:04:14,195 - DriveTransformer - INFO - Epoch [9][36500/39528] lr: 7.525e-05, eta: 5 days, 0:58:10, time: 0.732, data_time: 0.037, memory: 19865, loss_cls: 0.1202, loss_bbox: 0.3445, loss_traj: 0.5439, loss_traj_cls: 0.0020, loss_map_cls: 0.1573, loss_map_pts: 0.7142, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 3.0001, d0.loss_plan_l1_fix_dist: 0.4194, d1.loss_plan_l1_fix_time: 1.0094, d1.loss_plan_l1_fix_dist: 0.2522, d2.loss_plan_l1_fix_time: 0.9944, d2.loss_plan_l1_fix_dist: 0.2293, d3.loss_plan_l1_fix_time: 0.9866, d3.loss_plan_l1_fix_dist: 0.2592, d4.loss_plan_l1_fix_time: 0.9891, d4.loss_plan_l1_fix_dist: 0.3289, d5.loss_plan_l1_fix_time: 0.9927, d5.loss_plan_l1_fix_dist: 0.2632, d6.loss_plan_l1_fix_time: 0.9967, d6.loss_plan_l1_fix_dist: 0.2938, d0.loss_cls_all: 0.1752, d0.loss_bbox_all: 0.3949, d0.loss_cls: 0.1752, d0.loss_bbox: 0.3949, d1.loss_cls: 0.1662, d1.loss_bbox: 0.3652, d2.loss_cls: 0.1528, d2.loss_bbox: 0.3461, d3.loss_cls: 0.1316, d3.loss_bbox: 0.3438, d4.loss_cls: 0.1248, d4.loss_bbox: 0.3429, d5.loss_cls: 0.1206, d5.loss_bbox: 0.3448, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7609, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6260, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5780, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5613, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5489, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5438, d0.loss_map_cls_all: 0.2335, d0.loss_map_pts_all: 1.3287, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2335, d0.loss_map_pts: 1.3287, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2089, d1.loss_map_pts: 0.9805, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1851, d2.loss_map_pts: 0.8071, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1727, d3.loss_map_pts: 0.7417, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1673, d4.loss_map_pts: 0.7161, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1601, d5.loss_map_pts: 0.7143, d5.loss_map_dir: 0.0087, loss: 28.1455, grad_norm: 183.6784 +2026-02-28 10:04:52,408 - DriveTransformer - INFO - Epoch [9][36550/39528] lr: 7.525e-05, eta: 5 days, 0:57:42, time: 0.764, data_time: 0.040, memory: 19865, loss_cls: 0.1103, loss_bbox: 0.3063, loss_traj: 0.5393, loss_traj_cls: 0.0022, loss_map_cls: 0.1221, loss_map_pts: 0.6202, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.1339, d0.loss_plan_l1_fix_dist: 0.3890, d1.loss_plan_l1_fix_time: 0.8406, d1.loss_plan_l1_fix_dist: 0.2501, d2.loss_plan_l1_fix_time: 0.8264, d2.loss_plan_l1_fix_dist: 0.2385, d3.loss_plan_l1_fix_time: 0.7981, d3.loss_plan_l1_fix_dist: 0.2589, d4.loss_plan_l1_fix_time: 0.7988, d4.loss_plan_l1_fix_dist: 0.3163, d5.loss_plan_l1_fix_time: 0.8018, d5.loss_plan_l1_fix_dist: 0.2721, d6.loss_plan_l1_fix_time: 0.8064, d6.loss_plan_l1_fix_dist: 0.3295, d0.loss_cls_all: 0.1534, d0.loss_bbox_all: 0.3761, d0.loss_cls: 0.1534, d0.loss_bbox: 0.3761, d1.loss_cls: 0.1495, d1.loss_bbox: 0.3396, d2.loss_cls: 0.1334, d2.loss_bbox: 0.3183, d3.loss_cls: 0.1164, d3.loss_bbox: 0.3111, d4.loss_cls: 0.1113, d4.loss_bbox: 0.3084, d5.loss_cls: 0.1093, d5.loss_bbox: 0.3073, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8093, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6204, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5677, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5442, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5405, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5425, d0.loss_map_cls_all: 0.2054, d0.loss_map_pts_all: 1.3164, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2054, d0.loss_map_pts: 1.3164, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1781, d1.loss_map_pts: 0.9010, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1452, d2.loss_map_pts: 0.7103, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1362, d3.loss_map_pts: 0.6479, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1289, d4.loss_map_pts: 0.6250, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1246, d5.loss_map_pts: 0.6209, d5.loss_map_dir: 0.0088, loss: 24.9839, grad_norm: 184.1112 +2026-02-28 10:05:29,263 - DriveTransformer - INFO - Epoch [9][36600/39528] lr: 7.525e-05, eta: 5 days, 0:57:07, time: 0.737, data_time: 0.035, memory: 19865, loss_cls: 0.1161, loss_bbox: 0.3263, loss_traj: 0.5580, loss_traj_cls: 0.0020, loss_map_cls: 0.1318, loss_map_pts: 0.6623, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.3877, d0.loss_plan_l1_fix_dist: 0.4017, d1.loss_plan_l1_fix_time: 0.8316, d1.loss_plan_l1_fix_dist: 0.2730, d2.loss_plan_l1_fix_time: 0.8169, d2.loss_plan_l1_fix_dist: 0.2554, d3.loss_plan_l1_fix_time: 0.8049, d3.loss_plan_l1_fix_dist: 0.2947, d4.loss_plan_l1_fix_time: 0.8081, d4.loss_plan_l1_fix_dist: 0.2853, d5.loss_plan_l1_fix_time: 0.8141, d5.loss_plan_l1_fix_dist: 0.3091, d6.loss_plan_l1_fix_time: 0.8207, d6.loss_plan_l1_fix_dist: 0.3448, d0.loss_cls_all: 0.1558, d0.loss_bbox_all: 0.3825, d0.loss_cls: 0.1558, d0.loss_bbox: 0.3825, d1.loss_cls: 0.1528, d1.loss_bbox: 0.3479, d2.loss_cls: 0.1356, d2.loss_bbox: 0.3314, d3.loss_cls: 0.1257, d3.loss_bbox: 0.3276, d4.loss_cls: 0.1172, d4.loss_bbox: 0.3276, d5.loss_cls: 0.1161, d5.loss_bbox: 0.3254, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7631, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6142, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5830, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5685, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5649, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5651, d0.loss_map_cls_all: 0.2197, d0.loss_map_pts_all: 1.3475, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2197, d0.loss_map_pts: 1.3475, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1881, d1.loss_map_pts: 0.9485, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1614, d2.loss_map_pts: 0.7630, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1500, d3.loss_map_pts: 0.6917, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1390, d4.loss_map_pts: 0.6684, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1344, d5.loss_map_pts: 0.6633, d5.loss_map_dir: 0.0080, loss: 25.9968, grad_norm: 184.3043 +2026-02-28 10:06:07,111 - DriveTransformer - INFO - Epoch [9][36650/39528] lr: 7.525e-05, eta: 5 days, 0:56:37, time: 0.757, data_time: 0.037, memory: 19865, loss_cls: 0.0965, loss_bbox: 0.2906, loss_traj: 0.4787, loss_traj_cls: 0.0021, loss_map_cls: 0.1034, loss_map_pts: 0.5930, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.5410, d0.loss_plan_l1_fix_dist: 0.4483, d1.loss_plan_l1_fix_time: 0.8033, d1.loss_plan_l1_fix_dist: 0.3210, d2.loss_plan_l1_fix_time: 0.7966, d2.loss_plan_l1_fix_dist: 0.3283, d3.loss_plan_l1_fix_time: 0.7929, d3.loss_plan_l1_fix_dist: 0.3815, d4.loss_plan_l1_fix_time: 0.7986, d4.loss_plan_l1_fix_dist: 0.3087, d5.loss_plan_l1_fix_time: 0.8064, d5.loss_plan_l1_fix_dist: 0.4364, d6.loss_plan_l1_fix_time: 0.8140, d6.loss_plan_l1_fix_dist: 0.3541, d0.loss_cls_all: 0.1373, d0.loss_bbox_all: 0.3365, d0.loss_cls: 0.1373, d0.loss_bbox: 0.3365, d1.loss_cls: 0.1313, d1.loss_bbox: 0.3096, d2.loss_cls: 0.1191, d2.loss_bbox: 0.2942, d3.loss_cls: 0.1021, d3.loss_bbox: 0.2935, d4.loss_cls: 0.0982, d4.loss_bbox: 0.2903, d5.loss_cls: 0.0967, d5.loss_bbox: 0.2892, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6297, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5195, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4977, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4879, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4788, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4763, d0.loss_map_cls_all: 0.1731, d0.loss_map_pts_all: 1.2255, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1731, d0.loss_map_pts: 1.2255, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1437, d1.loss_map_pts: 0.8400, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1277, d2.loss_map_pts: 0.6771, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1168, d3.loss_map_pts: 0.6182, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1099, d4.loss_map_pts: 0.5997, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1049, d5.loss_map_pts: 0.5942, d5.loss_map_dir: 0.0078, loss: 24.3531, grad_norm: 183.3985 +2026-02-28 10:06:44,829 - DriveTransformer - INFO - Epoch [9][36700/39528] lr: 7.525e-05, eta: 5 days, 0:56:07, time: 0.754, data_time: 0.041, memory: 19865, loss_cls: 0.1234, loss_bbox: 0.3306, loss_traj: 0.5331, loss_traj_cls: 0.0020, loss_map_cls: 0.1483, loss_map_pts: 0.7498, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.7111, d0.loss_plan_l1_fix_dist: 0.5124, d1.loss_plan_l1_fix_time: 0.9577, d1.loss_plan_l1_fix_dist: 0.3466, d2.loss_plan_l1_fix_time: 0.9416, d2.loss_plan_l1_fix_dist: 0.3444, d3.loss_plan_l1_fix_time: 0.9500, d3.loss_plan_l1_fix_dist: 0.4034, d4.loss_plan_l1_fix_time: 0.9544, d4.loss_plan_l1_fix_dist: 0.2915, d5.loss_plan_l1_fix_time: 0.9592, d5.loss_plan_l1_fix_dist: 0.4763, d6.loss_plan_l1_fix_time: 0.9635, d6.loss_plan_l1_fix_dist: 0.3098, d0.loss_cls_all: 0.1723, d0.loss_bbox_all: 0.3925, d0.loss_cls: 0.1723, d0.loss_bbox: 0.3925, d1.loss_cls: 0.1615, d1.loss_bbox: 0.3616, d2.loss_cls: 0.1512, d2.loss_bbox: 0.3394, d3.loss_cls: 0.1312, d3.loss_bbox: 0.3365, d4.loss_cls: 0.1242, d4.loss_bbox: 0.3325, d5.loss_cls: 0.1233, d5.loss_bbox: 0.3309, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7742, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6024, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5581, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5396, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5366, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5353, d0.loss_map_cls_all: 0.2277, d0.loss_map_pts_all: 1.4380, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2277, d0.loss_map_pts: 1.4380, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2011, d1.loss_map_pts: 1.0454, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1739, d2.loss_map_pts: 0.8585, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1627, d3.loss_map_pts: 0.7858, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1577, d4.loss_map_pts: 0.7573, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1504, d5.loss_map_pts: 0.7496, d5.loss_map_dir: 0.0095, loss: 28.5283, grad_norm: 172.7020 +2026-02-28 10:07:20,791 - DriveTransformer - INFO - Epoch [9][36750/39528] lr: 7.525e-05, eta: 5 days, 0:55:27, time: 0.719, data_time: 0.036, memory: 19865, loss_cls: 0.1328, loss_bbox: 0.3267, loss_traj: 0.6038, loss_traj_cls: 0.0020, loss_map_cls: 0.1326, loss_map_pts: 0.6408, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.4235, d0.loss_plan_l1_fix_dist: 0.3872, d1.loss_plan_l1_fix_time: 0.8877, d1.loss_plan_l1_fix_dist: 0.3064, d2.loss_plan_l1_fix_time: 0.8688, d2.loss_plan_l1_fix_dist: 0.2826, d3.loss_plan_l1_fix_time: 0.8747, d3.loss_plan_l1_fix_dist: 0.3678, d4.loss_plan_l1_fix_time: 0.8776, d4.loss_plan_l1_fix_dist: 0.2516, d5.loss_plan_l1_fix_time: 0.8802, d5.loss_plan_l1_fix_dist: 0.4186, d6.loss_plan_l1_fix_time: 0.8833, d6.loss_plan_l1_fix_dist: 0.2726, d0.loss_cls_all: 0.1749, d0.loss_bbox_all: 0.3896, d0.loss_cls: 0.1749, d0.loss_bbox: 0.3896, d1.loss_cls: 0.1653, d1.loss_bbox: 0.3592, d2.loss_cls: 0.1556, d2.loss_bbox: 0.3340, d3.loss_cls: 0.1408, d3.loss_bbox: 0.3277, d4.loss_cls: 0.1333, d4.loss_bbox: 0.3270, d5.loss_cls: 0.1317, d5.loss_bbox: 0.3272, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8435, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6799, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6315, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6156, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6143, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6042, d0.loss_map_cls_all: 0.2119, d0.loss_map_pts_all: 1.1985, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2119, d0.loss_map_pts: 1.1985, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1861, d1.loss_map_pts: 0.8819, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1622, d2.loss_map_pts: 0.7287, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1478, d3.loss_map_pts: 0.6691, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1397, d4.loss_map_pts: 0.6465, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1339, d5.loss_map_pts: 0.6409, d5.loss_map_dir: 0.0073, loss: 26.5602, grad_norm: 171.2942 +2026-02-28 10:07:57,264 - DriveTransformer - INFO - Epoch [9][36800/39528] lr: 7.525e-05, eta: 5 days, 0:54:51, time: 0.731, data_time: 0.038, memory: 19865, loss_cls: 0.0984, loss_bbox: 0.3089, loss_traj: 0.4883, loss_traj_cls: 0.0020, loss_map_cls: 0.1032, loss_map_pts: 0.5818, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.6168, d0.loss_plan_l1_fix_dist: 0.4277, d1.loss_plan_l1_fix_time: 0.8178, d1.loss_plan_l1_fix_dist: 0.3106, d2.loss_plan_l1_fix_time: 0.8003, d2.loss_plan_l1_fix_dist: 0.2848, d3.loss_plan_l1_fix_time: 0.7999, d3.loss_plan_l1_fix_dist: 0.3723, d4.loss_plan_l1_fix_time: 0.8017, d4.loss_plan_l1_fix_dist: 0.2983, d5.loss_plan_l1_fix_time: 0.8043, d5.loss_plan_l1_fix_dist: 0.3715, d6.loss_plan_l1_fix_time: 0.8075, d6.loss_plan_l1_fix_dist: 0.3055, d0.loss_cls_all: 0.1472, d0.loss_bbox_all: 0.3627, d0.loss_cls: 0.1472, d0.loss_bbox: 0.3627, d1.loss_cls: 0.1376, d1.loss_bbox: 0.3359, d2.loss_cls: 0.1213, d2.loss_bbox: 0.3186, d3.loss_cls: 0.1057, d3.loss_bbox: 0.3112, d4.loss_cls: 0.0996, d4.loss_bbox: 0.3097, d5.loss_cls: 0.0974, d5.loss_bbox: 0.3093, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6984, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5654, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5252, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4964, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4924, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4890, d0.loss_map_cls_all: 0.1809, d0.loss_map_pts_all: 1.1038, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1809, d0.loss_map_pts: 1.1038, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1544, d1.loss_map_pts: 0.8022, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1293, d2.loss_map_pts: 0.6633, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1174, d3.loss_map_pts: 0.6124, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1098, d4.loss_map_pts: 0.5903, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1047, d5.loss_map_pts: 0.5826, d5.loss_map_dir: 0.0071, loss: 24.3309, grad_norm: 161.7438 +2026-02-28 10:08:34,513 - DriveTransformer - INFO - Epoch [9][36850/39528] lr: 7.525e-05, eta: 5 days, 0:54:17, time: 0.744, data_time: 0.043, memory: 19865, loss_cls: 0.1162, loss_bbox: 0.3114, loss_traj: 0.6569, loss_traj_cls: 0.0021, loss_map_cls: 0.1252, loss_map_pts: 0.5473, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.7744, d0.loss_plan_l1_fix_dist: 0.3907, d1.loss_plan_l1_fix_time: 1.0141, d1.loss_plan_l1_fix_dist: 0.2424, d2.loss_plan_l1_fix_time: 0.9932, d2.loss_plan_l1_fix_dist: 0.2173, d3.loss_plan_l1_fix_time: 0.9915, d3.loss_plan_l1_fix_dist: 0.2582, d4.loss_plan_l1_fix_time: 0.9925, d4.loss_plan_l1_fix_dist: 0.2331, d5.loss_plan_l1_fix_time: 0.9944, d5.loss_plan_l1_fix_dist: 0.2623, d6.loss_plan_l1_fix_time: 0.9964, d6.loss_plan_l1_fix_dist: 0.2822, d0.loss_cls_all: 0.1531, d0.loss_bbox_all: 0.3728, d0.loss_cls: 0.1531, d0.loss_bbox: 0.3728, d1.loss_cls: 0.1518, d1.loss_bbox: 0.3386, d2.loss_cls: 0.1415, d2.loss_bbox: 0.3188, d3.loss_cls: 0.1211, d3.loss_bbox: 0.3155, d4.loss_cls: 0.1164, d4.loss_bbox: 0.3115, d5.loss_cls: 0.1161, d5.loss_bbox: 0.3111, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9683, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7470, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6725, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6647, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6525, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6533, d0.loss_map_cls_all: 0.2084, d0.loss_map_pts_all: 1.1001, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.2084, d0.loss_map_pts: 1.1001, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1738, d1.loss_map_pts: 0.7979, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1473, d2.loss_map_pts: 0.6451, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1350, d3.loss_map_pts: 0.5802, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1282, d4.loss_map_pts: 0.5552, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1268, d5.loss_map_pts: 0.5486, d5.loss_map_dir: 0.0062, loss: 26.5607, grad_norm: 158.2128 +2026-02-28 10:09:10,419 - DriveTransformer - INFO - Epoch [9][36900/39528] lr: 7.525e-05, eta: 5 days, 0:53:38, time: 0.718, data_time: 0.036, memory: 19865, loss_cls: 0.1120, loss_bbox: 0.3202, loss_traj: 0.5368, loss_traj_cls: 0.0022, loss_map_cls: 0.1379, loss_map_pts: 0.5416, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 3.1602, d0.loss_plan_l1_fix_dist: 0.4414, d1.loss_plan_l1_fix_time: 0.8681, d1.loss_plan_l1_fix_dist: 0.2151, d2.loss_plan_l1_fix_time: 0.8453, d2.loss_plan_l1_fix_dist: 0.2161, d3.loss_plan_l1_fix_time: 0.8430, d3.loss_plan_l1_fix_dist: 0.2131, d4.loss_plan_l1_fix_time: 0.8449, d4.loss_plan_l1_fix_dist: 0.2162, d5.loss_plan_l1_fix_time: 0.8477, d5.loss_plan_l1_fix_dist: 0.2524, d6.loss_plan_l1_fix_time: 0.8527, d6.loss_plan_l1_fix_dist: 0.2599, d0.loss_cls_all: 0.1569, d0.loss_bbox_all: 0.3820, d0.loss_cls: 0.1569, d0.loss_bbox: 0.3820, d1.loss_cls: 0.1502, d1.loss_bbox: 0.3470, d2.loss_cls: 0.1399, d2.loss_bbox: 0.3289, d3.loss_cls: 0.1225, d3.loss_bbox: 0.3233, d4.loss_cls: 0.1143, d4.loss_bbox: 0.3224, d5.loss_cls: 0.1127, d5.loss_bbox: 0.3199, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7412, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5959, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5603, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5404, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5350, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5334, d0.loss_map_cls_all: 0.2058, d0.loss_map_pts_all: 1.0819, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.2058, d0.loss_map_pts: 1.0819, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1764, d1.loss_map_pts: 0.7812, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1560, d2.loss_map_pts: 0.6296, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1479, d3.loss_map_pts: 0.5717, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1427, d4.loss_map_pts: 0.5492, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1388, d5.loss_map_pts: 0.5421, d5.loss_map_dir: 0.0063, loss: 25.0559, grad_norm: 159.4848 +2026-02-28 10:09:45,232 - DriveTransformer - INFO - Epoch [9][36950/39528] lr: 7.525e-05, eta: 5 days, 0:52:52, time: 0.696, data_time: 0.037, memory: 19865, loss_cls: 0.1095, loss_bbox: 0.3133, loss_traj: 0.5588, loss_traj_cls: 0.0023, loss_map_cls: 0.1128, loss_map_pts: 0.5013, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.3302, d0.loss_plan_l1_fix_dist: 0.5103, d1.loss_plan_l1_fix_time: 0.8084, d1.loss_plan_l1_fix_dist: 0.2419, d2.loss_plan_l1_fix_time: 0.7907, d2.loss_plan_l1_fix_dist: 0.2600, d3.loss_plan_l1_fix_time: 0.7814, d3.loss_plan_l1_fix_dist: 0.3047, d4.loss_plan_l1_fix_time: 0.7828, d4.loss_plan_l1_fix_dist: 0.2725, d5.loss_plan_l1_fix_time: 0.7846, d5.loss_plan_l1_fix_dist: 0.3568, d6.loss_plan_l1_fix_time: 0.7883, d6.loss_plan_l1_fix_dist: 0.2786, d0.loss_cls_all: 0.1530, d0.loss_bbox_all: 0.3586, d0.loss_cls: 0.1530, d0.loss_bbox: 0.3586, d1.loss_cls: 0.1446, d1.loss_bbox: 0.3339, d2.loss_cls: 0.1351, d2.loss_bbox: 0.3190, d3.loss_cls: 0.1171, d3.loss_bbox: 0.3157, d4.loss_cls: 0.1118, d4.loss_bbox: 0.3123, d5.loss_cls: 0.1098, d5.loss_bbox: 0.3120, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8006, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6530, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6043, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5769, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5642, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5557, d0.loss_map_cls_all: 0.1825, d0.loss_map_pts_all: 1.0371, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1825, d0.loss_map_pts: 1.0371, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1535, d1.loss_map_pts: 0.7313, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1335, d2.loss_map_pts: 0.5796, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1243, d3.loss_map_pts: 0.5219, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1212, d4.loss_map_pts: 0.5047, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1152, d5.loss_map_pts: 0.5016, d5.loss_map_dir: 0.0054, loss: 23.8511, grad_norm: 160.1206 +2026-02-28 10:10:20,660 - DriveTransformer - INFO - Epoch [9][37000/39528] lr: 7.525e-05, eta: 5 days, 0:52:10, time: 0.709, data_time: 0.036, memory: 19865, loss_cls: 0.1192, loss_bbox: 0.3342, loss_traj: 0.5340, loss_traj_cls: 0.0022, loss_map_cls: 0.1411, loss_map_pts: 0.5950, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.5852, d0.loss_plan_l1_fix_dist: 0.4460, d1.loss_plan_l1_fix_time: 0.8444, d1.loss_plan_l1_fix_dist: 0.2703, d2.loss_plan_l1_fix_time: 0.8439, d2.loss_plan_l1_fix_dist: 0.2726, d3.loss_plan_l1_fix_time: 0.8435, d3.loss_plan_l1_fix_dist: 0.3477, d4.loss_plan_l1_fix_time: 0.8457, d4.loss_plan_l1_fix_dist: 0.2775, d5.loss_plan_l1_fix_time: 0.8472, d5.loss_plan_l1_fix_dist: 0.3616, d6.loss_plan_l1_fix_time: 0.8496, d6.loss_plan_l1_fix_dist: 0.2807, d0.loss_cls_all: 0.1623, d0.loss_bbox_all: 0.3912, d0.loss_cls: 0.1623, d0.loss_bbox: 0.3912, d1.loss_cls: 0.1577, d1.loss_bbox: 0.3586, d2.loss_cls: 0.1456, d2.loss_bbox: 0.3409, d3.loss_cls: 0.1258, d3.loss_bbox: 0.3345, d4.loss_cls: 0.1201, d4.loss_bbox: 0.3348, d5.loss_cls: 0.1188, d5.loss_bbox: 0.3338, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7970, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6096, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5598, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5399, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5410, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5349, d0.loss_map_cls_all: 0.2201, d0.loss_map_pts_all: 1.1594, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.2201, d0.loss_map_pts: 1.1594, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1896, d1.loss_map_pts: 0.8230, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1648, d2.loss_map_pts: 0.6799, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1540, d3.loss_map_pts: 0.6203, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1480, d4.loss_map_pts: 0.6025, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1427, d5.loss_map_pts: 0.5956, d5.loss_map_dir: 0.0064, loss: 25.6337, grad_norm: 162.0533 +2026-02-28 10:10:57,517 - DriveTransformer - INFO - Epoch [9][37050/39528] lr: 7.525e-05, eta: 5 days, 0:51:35, time: 0.737, data_time: 0.038, memory: 19865, loss_cls: 0.1070, loss_bbox: 0.3133, loss_traj: 0.5613, loss_traj_cls: 0.0022, loss_map_cls: 0.1311, loss_map_pts: 0.5632, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.6860, d0.loss_plan_l1_fix_dist: 0.4528, d1.loss_plan_l1_fix_time: 0.9409, d1.loss_plan_l1_fix_dist: 0.2897, d2.loss_plan_l1_fix_time: 0.9271, d2.loss_plan_l1_fix_dist: 0.2744, d3.loss_plan_l1_fix_time: 0.9161, d3.loss_plan_l1_fix_dist: 0.3820, d4.loss_plan_l1_fix_time: 0.9171, d4.loss_plan_l1_fix_dist: 0.2798, d5.loss_plan_l1_fix_time: 0.9201, d5.loss_plan_l1_fix_dist: 0.3846, d6.loss_plan_l1_fix_time: 0.9237, d6.loss_plan_l1_fix_dist: 0.3278, d0.loss_cls_all: 0.1571, d0.loss_bbox_all: 0.3676, d0.loss_cls: 0.1571, d0.loss_bbox: 0.3676, d1.loss_cls: 0.1496, d1.loss_bbox: 0.3373, d2.loss_cls: 0.1341, d2.loss_bbox: 0.3175, d3.loss_cls: 0.1177, d3.loss_bbox: 0.3141, d4.loss_cls: 0.1106, d4.loss_bbox: 0.3132, d5.loss_cls: 0.1081, d5.loss_bbox: 0.3127, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7548, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6145, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5729, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5677, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5628, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5621, d0.loss_map_cls_all: 0.1972, d0.loss_map_pts_all: 1.1463, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1972, d0.loss_map_pts: 1.1463, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1732, d1.loss_map_pts: 0.8060, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1507, d2.loss_map_pts: 0.6529, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1383, d3.loss_map_pts: 0.5922, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1362, d4.loss_map_pts: 0.5695, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1323, d5.loss_map_pts: 0.5641, d5.loss_map_dir: 0.0074, loss: 25.8644, grad_norm: 163.3546 +2026-02-28 10:11:34,022 - DriveTransformer - INFO - Epoch [9][37100/39528] lr: 7.525e-05, eta: 5 days, 0:50:58, time: 0.730, data_time: 0.036, memory: 19865, loss_cls: 0.1303, loss_bbox: 0.3164, loss_traj: 0.5667, loss_traj_cls: 0.0022, loss_map_cls: 0.1328, loss_map_pts: 0.6101, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.4707, d0.loss_plan_l1_fix_dist: 0.5054, d1.loss_plan_l1_fix_time: 0.8766, d1.loss_plan_l1_fix_dist: 0.3064, d2.loss_plan_l1_fix_time: 0.8674, d2.loss_plan_l1_fix_dist: 0.2934, d3.loss_plan_l1_fix_time: 0.8660, d3.loss_plan_l1_fix_dist: 0.4008, d4.loss_plan_l1_fix_time: 0.8694, d4.loss_plan_l1_fix_dist: 0.3012, d5.loss_plan_l1_fix_time: 0.8729, d5.loss_plan_l1_fix_dist: 0.3448, d6.loss_plan_l1_fix_time: 0.8765, d6.loss_plan_l1_fix_dist: 0.3293, d0.loss_cls_all: 0.1679, d0.loss_bbox_all: 0.3764, d0.loss_cls: 0.1679, d0.loss_bbox: 0.3764, d1.loss_cls: 0.1631, d1.loss_bbox: 0.3417, d2.loss_cls: 0.1503, d2.loss_bbox: 0.3251, d3.loss_cls: 0.1350, d3.loss_bbox: 0.3186, d4.loss_cls: 0.1297, d4.loss_bbox: 0.3183, d5.loss_cls: 0.1292, d5.loss_bbox: 0.3164, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7831, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6212, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5898, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5755, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5749, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5652, d0.loss_map_cls_all: 0.2081, d0.loss_map_pts_all: 1.2330, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2081, d0.loss_map_pts: 1.2330, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1738, d1.loss_map_pts: 0.8706, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1516, d2.loss_map_pts: 0.7068, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1432, d3.loss_map_pts: 0.6466, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1381, d4.loss_map_pts: 0.6229, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1342, d5.loss_map_pts: 0.6116, d5.loss_map_dir: 0.0083, loss: 26.2151, grad_norm: 160.4614 +2026-02-28 10:12:11,238 - DriveTransformer - INFO - Epoch [9][37150/39528] lr: 7.525e-05, eta: 5 days, 0:50:25, time: 0.744, data_time: 0.035, memory: 19865, loss_cls: 0.1497, loss_bbox: 0.3494, loss_traj: 0.6659, loss_traj_cls: 0.0022, loss_map_cls: 0.1374, loss_map_pts: 0.6799, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.6618, d0.loss_plan_l1_fix_dist: 0.4961, d1.loss_plan_l1_fix_time: 0.9962, d1.loss_plan_l1_fix_dist: 0.3114, d2.loss_plan_l1_fix_time: 0.9809, d2.loss_plan_l1_fix_dist: 0.3143, d3.loss_plan_l1_fix_time: 0.9848, d3.loss_plan_l1_fix_dist: 0.3789, d4.loss_plan_l1_fix_time: 0.9867, d4.loss_plan_l1_fix_dist: 0.3278, d5.loss_plan_l1_fix_time: 0.9895, d5.loss_plan_l1_fix_dist: 0.3125, d6.loss_plan_l1_fix_time: 0.9925, d6.loss_plan_l1_fix_dist: 0.3436, d0.loss_cls_all: 0.1954, d0.loss_bbox_all: 0.4151, d0.loss_cls: 0.1954, d0.loss_bbox: 0.4151, d1.loss_cls: 0.1888, d1.loss_bbox: 0.3778, d2.loss_cls: 0.1752, d2.loss_bbox: 0.3582, d3.loss_cls: 0.1545, d3.loss_bbox: 0.3548, d4.loss_cls: 0.1512, d4.loss_bbox: 0.3517, d5.loss_cls: 0.1499, d5.loss_bbox: 0.3504, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8764, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7291, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6744, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.6611, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6582, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6596, d0.loss_map_cls_all: 0.2235, d0.loss_map_pts_all: 1.3329, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2235, d0.loss_map_pts: 1.3329, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1920, d1.loss_map_pts: 0.9734, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1637, d2.loss_map_pts: 0.7888, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1486, d3.loss_map_pts: 0.7206, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1435, d4.loss_map_pts: 0.6926, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1383, d5.loss_map_pts: 0.6814, d5.loss_map_dir: 0.0074, loss: 28.9727, grad_norm: 153.7469 +2026-02-28 10:12:46,988 - DriveTransformer - INFO - Epoch [9][37200/39528] lr: 7.525e-05, eta: 5 days, 0:49:45, time: 0.715, data_time: 0.037, memory: 19865, loss_cls: 0.0979, loss_bbox: 0.3074, loss_traj: 0.6075, loss_traj_cls: 0.0021, loss_map_cls: 0.1295, loss_map_pts: 0.5660, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.7624, d0.loss_plan_l1_fix_dist: 0.4797, d1.loss_plan_l1_fix_time: 1.0100, d1.loss_plan_l1_fix_dist: 0.2614, d2.loss_plan_l1_fix_time: 0.9915, d2.loss_plan_l1_fix_dist: 0.3078, d3.loss_plan_l1_fix_time: 0.9923, d3.loss_plan_l1_fix_dist: 0.2792, d4.loss_plan_l1_fix_time: 0.9951, d4.loss_plan_l1_fix_dist: 0.2820, d5.loss_plan_l1_fix_time: 0.9982, d5.loss_plan_l1_fix_dist: 0.2517, d6.loss_plan_l1_fix_time: 1.0020, d6.loss_plan_l1_fix_dist: 0.2880, d0.loss_cls_all: 0.1348, d0.loss_bbox_all: 0.3684, d0.loss_cls: 0.1348, d0.loss_bbox: 0.3684, d1.loss_cls: 0.1303, d1.loss_bbox: 0.3338, d2.loss_cls: 0.1209, d2.loss_bbox: 0.3132, d3.loss_cls: 0.1011, d3.loss_bbox: 0.3115, d4.loss_cls: 0.0991, d4.loss_bbox: 0.3068, d5.loss_cls: 0.0979, d5.loss_bbox: 0.3062, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8108, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6379, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5947, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5942, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5942, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6007, d0.loss_map_cls_all: 0.2059, d0.loss_map_pts_all: 1.1729, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2059, d0.loss_map_pts: 1.1729, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1745, d1.loss_map_pts: 0.8329, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1503, d2.loss_map_pts: 0.6680, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1392, d3.loss_map_pts: 0.6026, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1332, d4.loss_map_pts: 0.5743, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1293, d5.loss_map_pts: 0.5673, d5.loss_map_dir: 0.0065, loss: 26.3578, grad_norm: 153.7470 +2026-02-28 10:13:22,996 - DriveTransformer - INFO - Epoch [9][37250/39528] lr: 7.525e-05, eta: 5 days, 0:49:06, time: 0.720, data_time: 0.037, memory: 19865, loss_cls: 0.1102, loss_bbox: 0.3052, loss_traj: 0.5094, loss_traj_cls: 0.0021, loss_map_cls: 0.1215, loss_map_pts: 0.5607, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.3881, d0.loss_plan_l1_fix_dist: 0.4198, d1.loss_plan_l1_fix_time: 0.9210, d1.loss_plan_l1_fix_dist: 0.2329, d2.loss_plan_l1_fix_time: 0.9147, d2.loss_plan_l1_fix_dist: 0.3114, d3.loss_plan_l1_fix_time: 0.9183, d3.loss_plan_l1_fix_dist: 0.2419, d4.loss_plan_l1_fix_time: 0.9217, d4.loss_plan_l1_fix_dist: 0.3038, d5.loss_plan_l1_fix_time: 0.9254, d5.loss_plan_l1_fix_dist: 0.2657, d6.loss_plan_l1_fix_time: 0.9302, d6.loss_plan_l1_fix_dist: 0.2752, d0.loss_cls_all: 0.1547, d0.loss_bbox_all: 0.3627, d0.loss_cls: 0.1547, d0.loss_bbox: 0.3627, d1.loss_cls: 0.1485, d1.loss_bbox: 0.3314, d2.loss_cls: 0.1351, d2.loss_bbox: 0.3132, d3.loss_cls: 0.1174, d3.loss_bbox: 0.3081, d4.loss_cls: 0.1133, d4.loss_bbox: 0.3036, d5.loss_cls: 0.1102, d5.loss_bbox: 0.3041, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7216, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5742, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5213, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5114, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5085, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5071, d0.loss_map_cls_all: 0.1907, d0.loss_map_pts_all: 1.1255, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1907, d0.loss_map_pts: 1.1255, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1621, d1.loss_map_pts: 0.7971, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1388, d2.loss_map_pts: 0.6442, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1288, d3.loss_map_pts: 0.5886, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1225, d4.loss_map_pts: 0.5650, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1224, d5.loss_map_pts: 0.5604, d5.loss_map_dir: 0.0072, loss: 24.6679, grad_norm: 154.5058 +2026-02-28 10:14:00,673 - DriveTransformer - INFO - Epoch [9][37300/39528] lr: 7.525e-05, eta: 5 days, 0:48:35, time: 0.754, data_time: 0.037, memory: 19865, loss_cls: 0.1093, loss_bbox: 0.3122, loss_traj: 0.5102, loss_traj_cls: 0.0021, loss_map_cls: 0.1213, loss_map_pts: 0.6304, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.5488, d0.loss_plan_l1_fix_dist: 0.5245, d1.loss_plan_l1_fix_time: 0.8171, d1.loss_plan_l1_fix_dist: 0.2136, d2.loss_plan_l1_fix_time: 0.8122, d2.loss_plan_l1_fix_dist: 0.2960, d3.loss_plan_l1_fix_time: 0.8138, d3.loss_plan_l1_fix_dist: 0.2588, d4.loss_plan_l1_fix_time: 0.8182, d4.loss_plan_l1_fix_dist: 0.4108, d5.loss_plan_l1_fix_time: 0.8230, d5.loss_plan_l1_fix_dist: 0.3234, d6.loss_plan_l1_fix_time: 0.8298, d6.loss_plan_l1_fix_dist: 0.3170, d0.loss_cls_all: 0.1523, d0.loss_bbox_all: 0.3655, d0.loss_cls: 0.1523, d0.loss_bbox: 0.3655, d1.loss_cls: 0.1443, d1.loss_bbox: 0.3366, d2.loss_cls: 0.1311, d2.loss_bbox: 0.3196, d3.loss_cls: 0.1139, d3.loss_bbox: 0.3150, d4.loss_cls: 0.1098, d4.loss_bbox: 0.3127, d5.loss_cls: 0.1092, d5.loss_bbox: 0.3120, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6783, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5448, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5149, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5062, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5064, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5115, d0.loss_map_cls_all: 0.1974, d0.loss_map_pts_all: 1.2540, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1974, d0.loss_map_pts: 1.2540, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1652, d1.loss_map_pts: 0.9204, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1418, d2.loss_map_pts: 0.7391, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1306, d3.loss_map_pts: 0.6707, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1269, d4.loss_map_pts: 0.6385, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1228, d5.loss_map_pts: 0.6324, d5.loss_map_dir: 0.0080, loss: 25.2524, grad_norm: 156.1244 +2026-02-28 10:14:38,204 - DriveTransformer - INFO - Epoch [9][37350/39528] lr: 7.525e-05, eta: 5 days, 0:48:03, time: 0.751, data_time: 0.038, memory: 19865, loss_cls: 0.1074, loss_bbox: 0.3082, loss_traj: 0.4413, loss_traj_cls: 0.0020, loss_map_cls: 0.1272, loss_map_pts: 0.6072, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.3996, d0.loss_plan_l1_fix_dist: 0.4477, d1.loss_plan_l1_fix_time: 0.8462, d1.loss_plan_l1_fix_dist: 0.2205, d2.loss_plan_l1_fix_time: 0.8299, d2.loss_plan_l1_fix_dist: 0.3041, d3.loss_plan_l1_fix_time: 0.8274, d3.loss_plan_l1_fix_dist: 0.3068, d4.loss_plan_l1_fix_time: 0.8321, d4.loss_plan_l1_fix_dist: 0.5034, d5.loss_plan_l1_fix_time: 0.8357, d5.loss_plan_l1_fix_dist: 0.3117, d6.loss_plan_l1_fix_time: 0.8409, d6.loss_plan_l1_fix_dist: 0.3638, d0.loss_cls_all: 0.1507, d0.loss_bbox_all: 0.3659, d0.loss_cls: 0.1507, d0.loss_bbox: 0.3659, d1.loss_cls: 0.1451, d1.loss_bbox: 0.3370, d2.loss_cls: 0.1323, d2.loss_bbox: 0.3177, d3.loss_cls: 0.1147, d3.loss_bbox: 0.3098, d4.loss_cls: 0.1082, d4.loss_bbox: 0.3090, d5.loss_cls: 0.1077, d5.loss_bbox: 0.3080, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6017, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.4772, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4429, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4366, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4376, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4436, d0.loss_map_cls_all: 0.2097, d0.loss_map_pts_all: 1.1976, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2097, d0.loss_map_pts: 1.1976, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1726, d1.loss_map_pts: 0.8601, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1512, d2.loss_map_pts: 0.7062, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1396, d3.loss_map_pts: 0.6416, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1342, d4.loss_map_pts: 0.6122, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1284, d5.loss_map_pts: 0.6073, d5.loss_map_dir: 0.0080, loss: 24.5619, grad_norm: 154.3402 +2026-02-28 10:15:14,483 - DriveTransformer - INFO - Epoch [9][37400/39528] lr: 7.525e-05, eta: 5 days, 0:47:25, time: 0.726, data_time: 0.037, memory: 19865, loss_cls: 0.1317, loss_bbox: 0.3219, loss_traj: 0.5645, loss_traj_cls: 0.0021, loss_map_cls: 0.1177, loss_map_pts: 0.5812, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.6087, d0.loss_plan_l1_fix_dist: 0.3864, d1.loss_plan_l1_fix_time: 0.8906, d1.loss_plan_l1_fix_dist: 0.2068, d2.loss_plan_l1_fix_time: 0.8639, d2.loss_plan_l1_fix_dist: 0.2921, d3.loss_plan_l1_fix_time: 0.8636, d3.loss_plan_l1_fix_dist: 0.3070, d4.loss_plan_l1_fix_time: 0.8667, d4.loss_plan_l1_fix_dist: 0.4831, d5.loss_plan_l1_fix_time: 0.8705, d5.loss_plan_l1_fix_dist: 0.2601, d6.loss_plan_l1_fix_time: 0.8739, d6.loss_plan_l1_fix_dist: 0.4329, d0.loss_cls_all: 0.1772, d0.loss_bbox_all: 0.3830, d0.loss_cls: 0.1772, d0.loss_bbox: 0.3830, d1.loss_cls: 0.1668, d1.loss_bbox: 0.3526, d2.loss_cls: 0.1571, d2.loss_bbox: 0.3328, d3.loss_cls: 0.1382, d3.loss_bbox: 0.3266, d4.loss_cls: 0.1338, d4.loss_bbox: 0.3224, d5.loss_cls: 0.1321, d5.loss_bbox: 0.3223, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7898, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6479, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5889, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5737, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5666, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5669, d0.loss_map_cls_all: 0.1910, d0.loss_map_pts_all: 1.1287, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1910, d0.loss_map_pts: 1.1287, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1573, d1.loss_map_pts: 0.7980, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1389, d2.loss_map_pts: 0.6548, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1278, d3.loss_map_pts: 0.6025, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1221, d4.loss_map_pts: 0.5839, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1187, d5.loss_map_pts: 0.5792, d5.loss_map_dir: 0.0071, loss: 25.7467, grad_norm: 154.2231 +2026-02-28 10:15:51,165 - DriveTransformer - INFO - Epoch [9][37450/39528] lr: 7.525e-05, eta: 5 days, 0:46:50, time: 0.734, data_time: 0.038, memory: 19865, loss_cls: 0.1155, loss_bbox: 0.3027, loss_traj: 0.4516, loss_traj_cls: 0.0020, loss_map_cls: 0.1185, loss_map_pts: 0.5513, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.5330, d0.loss_plan_l1_fix_dist: 0.4028, d1.loss_plan_l1_fix_time: 0.8791, d1.loss_plan_l1_fix_dist: 0.2040, d2.loss_plan_l1_fix_time: 0.8602, d2.loss_plan_l1_fix_dist: 0.2932, d3.loss_plan_l1_fix_time: 0.8588, d3.loss_plan_l1_fix_dist: 0.3223, d4.loss_plan_l1_fix_time: 0.8609, d4.loss_plan_l1_fix_dist: 0.4585, d5.loss_plan_l1_fix_time: 0.8652, d5.loss_plan_l1_fix_dist: 0.2624, d6.loss_plan_l1_fix_time: 0.8703, d6.loss_plan_l1_fix_dist: 0.4649, d0.loss_cls_all: 0.1534, d0.loss_bbox_all: 0.3702, d0.loss_cls: 0.1534, d0.loss_bbox: 0.3702, d1.loss_cls: 0.1454, d1.loss_bbox: 0.3375, d2.loss_cls: 0.1354, d2.loss_bbox: 0.3158, d3.loss_cls: 0.1222, d3.loss_bbox: 0.3089, d4.loss_cls: 0.1167, d4.loss_bbox: 0.3053, d5.loss_cls: 0.1155, d5.loss_bbox: 0.3025, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6403, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5012, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4619, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4503, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4510, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4540, d0.loss_map_cls_all: 0.1940, d0.loss_map_pts_all: 1.1996, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1940, d0.loss_map_pts: 1.1996, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1645, d1.loss_map_pts: 0.8138, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1430, d2.loss_map_pts: 0.6448, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1311, d3.loss_map_pts: 0.5820, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1243, d4.loss_map_pts: 0.5569, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1194, d5.loss_map_pts: 0.5518, d5.loss_map_dir: 0.0074, loss: 24.5700, grad_norm: 157.6236 +2026-02-28 10:16:29,676 - DriveTransformer - INFO - Epoch [9][37500/39528] lr: 7.525e-05, eta: 5 days, 0:46:23, time: 0.770, data_time: 0.037, memory: 19865, loss_cls: 0.1122, loss_bbox: 0.2995, loss_traj: 0.5035, loss_traj_cls: 0.0020, loss_map_cls: 0.1145, loss_map_pts: 0.6707, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.4760, d0.loss_plan_l1_fix_dist: 0.4252, d1.loss_plan_l1_fix_time: 0.8568, d1.loss_plan_l1_fix_dist: 0.2105, d2.loss_plan_l1_fix_time: 0.8388, d2.loss_plan_l1_fix_dist: 0.2549, d3.loss_plan_l1_fix_time: 0.8379, d3.loss_plan_l1_fix_dist: 0.3272, d4.loss_plan_l1_fix_time: 0.8412, d4.loss_plan_l1_fix_dist: 0.3965, d5.loss_plan_l1_fix_time: 0.8460, d5.loss_plan_l1_fix_dist: 0.2702, d6.loss_plan_l1_fix_time: 0.8526, d6.loss_plan_l1_fix_dist: 0.4187, d0.loss_cls_all: 0.1517, d0.loss_bbox_all: 0.3670, d0.loss_cls: 0.1517, d0.loss_bbox: 0.3670, d1.loss_cls: 0.1454, d1.loss_bbox: 0.3362, d2.loss_cls: 0.1342, d2.loss_bbox: 0.3136, d3.loss_cls: 0.1170, d3.loss_bbox: 0.3057, d4.loss_cls: 0.1135, d4.loss_bbox: 0.3009, d5.loss_cls: 0.1119, d5.loss_bbox: 0.2999, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6799, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5542, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5139, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5050, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5031, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5048, d0.loss_map_cls_all: 0.1837, d0.loss_map_pts_all: 1.3813, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.1837, d0.loss_map_pts: 1.3813, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1592, d1.loss_map_pts: 0.9758, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.1362, d2.loss_map_pts: 0.7814, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1272, d3.loss_map_pts: 0.7094, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1195, d4.loss_map_pts: 0.6811, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1162, d5.loss_map_pts: 0.6718, d5.loss_map_dir: 0.0093, loss: 25.7159, grad_norm: 158.2798 +2026-02-28 10:17:04,592 - DriveTransformer - INFO - Epoch [9][37550/39528] lr: 7.525e-05, eta: 5 days, 0:45:38, time: 0.698, data_time: 0.039, memory: 19865, loss_cls: 0.1131, loss_bbox: 0.3119, loss_traj: 0.5793, loss_traj_cls: 0.0021, loss_map_cls: 0.1319, loss_map_pts: 0.5239, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.6420, d0.loss_plan_l1_fix_dist: 0.4246, d1.loss_plan_l1_fix_time: 0.8399, d1.loss_plan_l1_fix_dist: 0.2265, d2.loss_plan_l1_fix_time: 0.8269, d2.loss_plan_l1_fix_dist: 0.2310, d3.loss_plan_l1_fix_time: 0.8249, d3.loss_plan_l1_fix_dist: 0.3217, d4.loss_plan_l1_fix_time: 0.8279, d4.loss_plan_l1_fix_dist: 0.3802, d5.loss_plan_l1_fix_time: 0.8310, d5.loss_plan_l1_fix_dist: 0.3031, d6.loss_plan_l1_fix_time: 0.8353, d6.loss_plan_l1_fix_dist: 0.3420, d0.loss_cls_all: 0.1557, d0.loss_bbox_all: 0.3710, d0.loss_cls: 0.1557, d0.loss_bbox: 0.3710, d1.loss_cls: 0.1504, d1.loss_bbox: 0.3358, d2.loss_cls: 0.1339, d2.loss_bbox: 0.3153, d3.loss_cls: 0.1188, d3.loss_bbox: 0.3115, d4.loss_cls: 0.1128, d4.loss_bbox: 0.3101, d5.loss_cls: 0.1125, d5.loss_bbox: 0.3100, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8229, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6692, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5960, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5811, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5734, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5762, d0.loss_map_cls_all: 0.2148, d0.loss_map_pts_all: 1.1103, d0.loss_map_dir_all: 0.0049, d0.loss_map_cls: 0.2148, d0.loss_map_pts: 1.1103, d0.loss_map_dir: 0.0049, d1.loss_map_cls: 0.1779, d1.loss_map_pts: 0.7803, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.1518, d2.loss_map_pts: 0.6289, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.1432, d3.loss_map_pts: 0.5615, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.1377, d4.loss_map_pts: 0.5346, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.1329, d5.loss_map_pts: 0.5248, d5.loss_map_dir: 0.0052, loss: 25.0697, grad_norm: 165.9854 +2026-02-28 10:17:42,508 - DriveTransformer - INFO - Epoch [9][37600/39528] lr: 7.525e-05, eta: 5 days, 0:45:09, time: 0.760, data_time: 0.037, memory: 19865, loss_cls: 0.1299, loss_bbox: 0.3344, loss_traj: 0.6371, loss_traj_cls: 0.0020, loss_map_cls: 0.1116, loss_map_pts: 0.5868, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.7900, d0.loss_plan_l1_fix_dist: 0.4200, d1.loss_plan_l1_fix_time: 0.9204, d1.loss_plan_l1_fix_dist: 0.2468, d2.loss_plan_l1_fix_time: 0.9027, d2.loss_plan_l1_fix_dist: 0.2591, d3.loss_plan_l1_fix_time: 0.9002, d3.loss_plan_l1_fix_dist: 0.3006, d4.loss_plan_l1_fix_time: 0.9024, d4.loss_plan_l1_fix_dist: 0.3095, d5.loss_plan_l1_fix_time: 0.9051, d5.loss_plan_l1_fix_dist: 0.2670, d6.loss_plan_l1_fix_time: 0.9078, d6.loss_plan_l1_fix_dist: 0.3117, d0.loss_cls_all: 0.1746, d0.loss_bbox_all: 0.4070, d0.loss_cls: 0.1746, d0.loss_bbox: 0.4070, d1.loss_cls: 0.1672, d1.loss_bbox: 0.3701, d2.loss_cls: 0.1585, d2.loss_bbox: 0.3458, d3.loss_cls: 0.1392, d3.loss_bbox: 0.3380, d4.loss_cls: 0.1328, d4.loss_bbox: 0.3341, d5.loss_cls: 0.1307, d5.loss_bbox: 0.3339, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8612, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6946, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6507, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6391, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.6318, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6333, d0.loss_map_cls_all: 0.1962, d0.loss_map_pts_all: 1.2257, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1962, d0.loss_map_pts: 1.2257, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1587, d1.loss_map_pts: 0.8516, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1367, d2.loss_map_pts: 0.6875, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1248, d3.loss_map_pts: 0.6235, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1185, d4.loss_map_pts: 0.5938, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1136, d5.loss_map_pts: 0.5871, d5.loss_map_dir: 0.0075, loss: 26.7740, grad_norm: 159.6017 +2026-02-28 10:18:19,965 - DriveTransformer - INFO - Epoch [9][37650/39528] lr: 7.525e-05, eta: 5 days, 0:44:37, time: 0.748, data_time: 0.039, memory: 19865, loss_cls: 0.0959, loss_bbox: 0.2749, loss_traj: 0.5102, loss_traj_cls: 0.0022, loss_map_cls: 0.0965, loss_map_pts: 0.4664, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.6805, d0.loss_plan_l1_fix_dist: 0.4794, d1.loss_plan_l1_fix_time: 0.8852, d1.loss_plan_l1_fix_dist: 0.2444, d2.loss_plan_l1_fix_time: 0.8659, d2.loss_plan_l1_fix_dist: 0.2852, d3.loss_plan_l1_fix_time: 0.8603, d3.loss_plan_l1_fix_dist: 0.2739, d4.loss_plan_l1_fix_time: 0.8624, d4.loss_plan_l1_fix_dist: 0.2626, d5.loss_plan_l1_fix_time: 0.8657, d5.loss_plan_l1_fix_dist: 0.3138, d6.loss_plan_l1_fix_time: 0.8694, d6.loss_plan_l1_fix_dist: 0.3773, d0.loss_cls_all: 0.1312, d0.loss_bbox_all: 0.3335, d0.loss_cls: 0.1312, d0.loss_bbox: 0.3335, d1.loss_cls: 0.1268, d1.loss_bbox: 0.3034, d2.loss_cls: 0.1151, d2.loss_bbox: 0.2857, d3.loss_cls: 0.0992, d3.loss_bbox: 0.2793, d4.loss_cls: 0.0966, d4.loss_bbox: 0.2762, d5.loss_cls: 0.0961, d5.loss_bbox: 0.2745, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6532, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5484, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5115, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5096, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5111, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5111, d0.loss_map_cls_all: 0.1625, d0.loss_map_pts_all: 1.0525, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1625, d0.loss_map_pts: 1.0525, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1324, d1.loss_map_pts: 0.6957, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1174, d2.loss_map_pts: 0.5306, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1064, d3.loss_map_pts: 0.4808, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1004, d4.loss_map_pts: 0.4654, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.0973, d5.loss_map_pts: 0.4641, d5.loss_map_dir: 0.0071, loss: 23.3806, grad_norm: 158.2892 +2026-02-28 10:18:55,632 - DriveTransformer - INFO - Epoch [9][37700/39528] lr: 7.525e-05, eta: 5 days, 0:43:56, time: 0.713, data_time: 0.037, memory: 19865, loss_cls: 0.1170, loss_bbox: 0.2990, loss_traj: 0.5228, loss_traj_cls: 0.0021, loss_map_cls: 0.1110, loss_map_pts: 0.5255, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.5710, d0.loss_plan_l1_fix_dist: 0.3732, d1.loss_plan_l1_fix_time: 0.8408, d1.loss_plan_l1_fix_dist: 0.2209, d2.loss_plan_l1_fix_time: 0.8296, d2.loss_plan_l1_fix_dist: 0.2634, d3.loss_plan_l1_fix_time: 0.8210, d3.loss_plan_l1_fix_dist: 0.2172, d4.loss_plan_l1_fix_time: 0.8227, d4.loss_plan_l1_fix_dist: 0.2520, d5.loss_plan_l1_fix_time: 0.8251, d5.loss_plan_l1_fix_dist: 0.3268, d6.loss_plan_l1_fix_time: 0.8293, d6.loss_plan_l1_fix_dist: 0.3394, d0.loss_cls_all: 0.1581, d0.loss_bbox_all: 0.3699, d0.loss_cls: 0.1581, d0.loss_bbox: 0.3699, d1.loss_cls: 0.1557, d1.loss_bbox: 0.3350, d2.loss_cls: 0.1402, d2.loss_bbox: 0.3096, d3.loss_cls: 0.1269, d3.loss_bbox: 0.3012, d4.loss_cls: 0.1189, d4.loss_bbox: 0.3009, d5.loss_cls: 0.1176, d5.loss_bbox: 0.2992, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7608, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5962, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5370, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5258, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5233, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5205, d0.loss_map_cls_all: 0.2011, d0.loss_map_pts_all: 1.1462, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2011, d0.loss_map_pts: 1.1462, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1629, d1.loss_map_pts: 0.7871, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1377, d2.loss_map_pts: 0.6134, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1247, d3.loss_map_pts: 0.5513, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1173, d4.loss_map_pts: 0.5330, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1118, d5.loss_map_pts: 0.5264, d5.loss_map_dir: 0.0064, loss: 24.2523, grad_norm: 157.0650 +2026-02-28 10:19:33,443 - DriveTransformer - INFO - Epoch [9][37750/39528] lr: 7.525e-05, eta: 5 days, 0:43:26, time: 0.756, data_time: 0.039, memory: 19865, loss_cls: 0.1255, loss_bbox: 0.3322, loss_traj: 0.4965, loss_traj_cls: 0.0021, loss_map_cls: 0.1558, loss_map_pts: 0.7318, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.8977, d0.loss_plan_l1_fix_dist: 0.3816, d1.loss_plan_l1_fix_time: 0.9851, d1.loss_plan_l1_fix_dist: 0.2612, d2.loss_plan_l1_fix_time: 0.9739, d2.loss_plan_l1_fix_dist: 0.3246, d3.loss_plan_l1_fix_time: 0.9708, d3.loss_plan_l1_fix_dist: 0.2501, d4.loss_plan_l1_fix_time: 0.9723, d4.loss_plan_l1_fix_dist: 0.3101, d5.loss_plan_l1_fix_time: 0.9749, d5.loss_plan_l1_fix_dist: 0.3823, d6.loss_plan_l1_fix_time: 0.9797, d6.loss_plan_l1_fix_dist: 0.3739, d0.loss_cls_all: 0.1808, d0.loss_bbox_all: 0.4028, d0.loss_cls: 0.1808, d0.loss_bbox: 0.4028, d1.loss_cls: 0.1683, d1.loss_bbox: 0.3648, d2.loss_cls: 0.1522, d2.loss_bbox: 0.3460, d3.loss_cls: 0.1343, d3.loss_bbox: 0.3386, d4.loss_cls: 0.1263, d4.loss_bbox: 0.3343, d5.loss_cls: 0.1260, d5.loss_bbox: 0.3317, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7039, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5682, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5083, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5038, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4975, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4957, d0.loss_map_cls_all: 0.2504, d0.loss_map_pts_all: 1.5201, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2504, d0.loss_map_pts: 1.5201, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2117, d1.loss_map_pts: 1.0950, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1821, d2.loss_map_pts: 0.8675, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1689, d3.loss_map_pts: 0.7751, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1631, d4.loss_map_pts: 0.7385, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1574, d5.loss_map_pts: 0.7313, d5.loss_map_dir: 0.0093, loss: 28.4565, grad_norm: 165.3233 +2026-02-28 10:20:09,489 - DriveTransformer - INFO - Epoch [9][37800/39528] lr: 7.525e-05, eta: 5 days, 0:42:47, time: 0.721, data_time: 0.038, memory: 19865, loss_cls: 0.1179, loss_bbox: 0.3268, loss_traj: 0.6008, loss_traj_cls: 0.0020, loss_map_cls: 0.1183, loss_map_pts: 0.6042, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.5771, d0.loss_plan_l1_fix_dist: 0.4298, d1.loss_plan_l1_fix_time: 0.9611, d1.loss_plan_l1_fix_dist: 0.2868, d2.loss_plan_l1_fix_time: 0.9456, d2.loss_plan_l1_fix_dist: 0.3790, d3.loss_plan_l1_fix_time: 0.9435, d3.loss_plan_l1_fix_dist: 0.2785, d4.loss_plan_l1_fix_time: 0.9459, d4.loss_plan_l1_fix_dist: 0.3596, d5.loss_plan_l1_fix_time: 0.9495, d5.loss_plan_l1_fix_dist: 0.4343, d6.loss_plan_l1_fix_time: 0.9543, d6.loss_plan_l1_fix_dist: 0.3968, d0.loss_cls_all: 0.1698, d0.loss_bbox_all: 0.3928, d0.loss_cls: 0.1698, d0.loss_bbox: 0.3928, d1.loss_cls: 0.1590, d1.loss_bbox: 0.3621, d2.loss_cls: 0.1481, d2.loss_bbox: 0.3375, d3.loss_cls: 0.1284, d3.loss_bbox: 0.3286, d4.loss_cls: 0.1213, d4.loss_bbox: 0.3264, d5.loss_cls: 0.1178, d5.loss_bbox: 0.3260, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8227, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6748, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6202, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6011, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.6007, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5998, d0.loss_map_cls_all: 0.2047, d0.loss_map_pts_all: 1.2449, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2047, d0.loss_map_pts: 1.2449, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1685, d1.loss_map_pts: 0.8691, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1436, d2.loss_map_pts: 0.6963, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1335, d3.loss_map_pts: 0.6305, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1263, d4.loss_map_pts: 0.6068, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1214, d5.loss_map_pts: 0.6007, d5.loss_map_dir: 0.0074, loss: 27.0703, grad_norm: 167.8668 +2026-02-28 10:20:46,342 - DriveTransformer - INFO - Epoch [9][37850/39528] lr: 7.525e-05, eta: 5 days, 0:42:12, time: 0.737, data_time: 0.038, memory: 19865, loss_cls: 0.1177, loss_bbox: 0.3123, loss_traj: 0.4807, loss_traj_cls: 0.0021, loss_map_cls: 0.1315, loss_map_pts: 0.6221, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.5581, d0.loss_plan_l1_fix_dist: 0.3364, d1.loss_plan_l1_fix_time: 0.8516, d1.loss_plan_l1_fix_dist: 0.2633, d2.loss_plan_l1_fix_time: 0.8280, d2.loss_plan_l1_fix_dist: 0.3885, d3.loss_plan_l1_fix_time: 0.8307, d3.loss_plan_l1_fix_dist: 0.2828, d4.loss_plan_l1_fix_time: 0.8328, d4.loss_plan_l1_fix_dist: 0.3677, d5.loss_plan_l1_fix_time: 0.8353, d5.loss_plan_l1_fix_dist: 0.4195, d6.loss_plan_l1_fix_time: 0.8379, d6.loss_plan_l1_fix_dist: 0.3058, d0.loss_cls_all: 0.1621, d0.loss_bbox_all: 0.3677, d0.loss_cls: 0.1621, d0.loss_bbox: 0.3677, d1.loss_cls: 0.1557, d1.loss_bbox: 0.3349, d2.loss_cls: 0.1433, d2.loss_bbox: 0.3134, d3.loss_cls: 0.1263, d3.loss_bbox: 0.3083, d4.loss_cls: 0.1203, d4.loss_bbox: 0.3067, d5.loss_cls: 0.1175, d5.loss_bbox: 0.3093, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7168, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5851, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5242, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4980, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4912, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4829, d0.loss_map_cls_all: 0.2137, d0.loss_map_pts_all: 1.2630, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2137, d0.loss_map_pts: 1.2630, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1792, d1.loss_map_pts: 0.9036, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1552, d2.loss_map_pts: 0.7227, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1473, d3.loss_map_pts: 0.6552, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1381, d4.loss_map_pts: 0.6271, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1343, d5.loss_map_pts: 0.6226, d5.loss_map_dir: 0.0069, loss: 25.4956, grad_norm: 160.4961 +2026-02-28 10:21:21,317 - DriveTransformer - INFO - Epoch [9][37900/39528] lr: 7.525e-05, eta: 5 days, 0:41:27, time: 0.699, data_time: 0.038, memory: 19865, loss_cls: 0.1031, loss_bbox: 0.2949, loss_traj: 0.4924, loss_traj_cls: 0.0022, loss_map_cls: 0.1277, loss_map_pts: 0.5429, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.7252, d0.loss_plan_l1_fix_dist: 0.4140, d1.loss_plan_l1_fix_time: 0.9569, d1.loss_plan_l1_fix_dist: 0.2688, d2.loss_plan_l1_fix_time: 0.9494, d2.loss_plan_l1_fix_dist: 0.4206, d3.loss_plan_l1_fix_time: 0.9423, d3.loss_plan_l1_fix_dist: 0.3589, d4.loss_plan_l1_fix_time: 0.9464, d4.loss_plan_l1_fix_dist: 0.3871, d5.loss_plan_l1_fix_time: 0.9494, d5.loss_plan_l1_fix_dist: 0.4160, d6.loss_plan_l1_fix_time: 0.9549, d6.loss_plan_l1_fix_dist: 0.3164, d0.loss_cls_all: 0.1449, d0.loss_bbox_all: 0.3516, d0.loss_cls: 0.1449, d0.loss_bbox: 0.3516, d1.loss_cls: 0.1383, d1.loss_bbox: 0.3188, d2.loss_cls: 0.1257, d2.loss_bbox: 0.3014, d3.loss_cls: 0.1103, d3.loss_bbox: 0.2949, d4.loss_cls: 0.1062, d4.loss_bbox: 0.2929, d5.loss_cls: 0.1035, d5.loss_bbox: 0.2940, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6985, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5600, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5163, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4996, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4932, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4909, d0.loss_map_cls_all: 0.2166, d0.loss_map_pts_all: 1.1095, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2166, d0.loss_map_pts: 1.1095, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1789, d1.loss_map_pts: 0.7973, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1516, d2.loss_map_pts: 0.6306, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1401, d3.loss_map_pts: 0.5700, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1337, d4.loss_map_pts: 0.5494, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1304, d5.loss_map_pts: 0.5433, d5.loss_map_dir: 0.0060, loss: 25.4368, grad_norm: 157.0755 +2026-02-28 10:21:58,309 - DriveTransformer - INFO - Epoch [9][37950/39528] lr: 7.525e-05, eta: 5 days, 0:40:53, time: 0.740, data_time: 0.037, memory: 19865, loss_cls: 0.1239, loss_bbox: 0.3219, loss_traj: 0.5711, loss_traj_cls: 0.0021, loss_map_cls: 0.1044, loss_map_pts: 0.5458, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.6064, d0.loss_plan_l1_fix_dist: 0.4105, d1.loss_plan_l1_fix_time: 0.8502, d1.loss_plan_l1_fix_dist: 0.2588, d2.loss_plan_l1_fix_time: 0.8337, d2.loss_plan_l1_fix_dist: 0.4035, d3.loss_plan_l1_fix_time: 0.8311, d3.loss_plan_l1_fix_dist: 0.3746, d4.loss_plan_l1_fix_time: 0.8337, d4.loss_plan_l1_fix_dist: 0.2774, d5.loss_plan_l1_fix_time: 0.8354, d5.loss_plan_l1_fix_dist: 0.2969, d6.loss_plan_l1_fix_time: 0.8396, d6.loss_plan_l1_fix_dist: 0.2590, d0.loss_cls_all: 0.1631, d0.loss_bbox_all: 0.3923, d0.loss_cls: 0.1631, d0.loss_bbox: 0.3923, d1.loss_cls: 0.1576, d1.loss_bbox: 0.3573, d2.loss_cls: 0.1476, d2.loss_bbox: 0.3352, d3.loss_cls: 0.1321, d3.loss_bbox: 0.3277, d4.loss_cls: 0.1261, d4.loss_bbox: 0.3243, d5.loss_cls: 0.1237, d5.loss_bbox: 0.3222, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7601, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6341, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5939, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5762, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5722, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5704, d0.loss_map_cls_all: 0.1772, d0.loss_map_pts_all: 1.1832, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1772, d0.loss_map_pts: 1.1832, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1478, d1.loss_map_pts: 0.8091, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1285, d2.loss_map_pts: 0.6403, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1181, d3.loss_map_pts: 0.5712, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1097, d4.loss_map_pts: 0.5517, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1057, d5.loss_map_pts: 0.5466, d5.loss_map_dir: 0.0074, loss: 25.2632, grad_norm: 156.3094 +2026-02-28 10:22:34,950 - DriveTransformer - INFO - Epoch [9][38000/39528] lr: 7.525e-05, eta: 5 days, 0:40:17, time: 0.733, data_time: 0.037, memory: 19865, loss_cls: 0.0986, loss_bbox: 0.3093, loss_traj: 0.4489, loss_traj_cls: 0.0021, loss_map_cls: 0.1176, loss_map_pts: 0.5617, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.4513, d0.loss_plan_l1_fix_dist: 0.4673, d1.loss_plan_l1_fix_time: 0.8225, d1.loss_plan_l1_fix_dist: 0.2908, d2.loss_plan_l1_fix_time: 0.7981, d2.loss_plan_l1_fix_dist: 0.4426, d3.loss_plan_l1_fix_time: 0.7926, d3.loss_plan_l1_fix_dist: 0.4183, d4.loss_plan_l1_fix_time: 0.7947, d4.loss_plan_l1_fix_dist: 0.2598, d5.loss_plan_l1_fix_time: 0.7992, d5.loss_plan_l1_fix_dist: 0.3201, d6.loss_plan_l1_fix_time: 0.8024, d6.loss_plan_l1_fix_dist: 0.3276, d0.loss_cls_all: 0.1434, d0.loss_bbox_all: 0.3653, d0.loss_cls: 0.1434, d0.loss_bbox: 0.3653, d1.loss_cls: 0.1429, d1.loss_bbox: 0.3328, d2.loss_cls: 0.1272, d2.loss_bbox: 0.3152, d3.loss_cls: 0.1077, d3.loss_bbox: 0.3121, d4.loss_cls: 0.0991, d4.loss_bbox: 0.3106, d5.loss_cls: 0.0980, d5.loss_bbox: 0.3087, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6463, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5136, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4624, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4495, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4489, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4472, d0.loss_map_cls_all: 0.1985, d0.loss_map_pts_all: 1.1773, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1985, d0.loss_map_pts: 1.1773, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1677, d1.loss_map_pts: 0.8198, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1432, d2.loss_map_pts: 0.6664, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1317, d3.loss_map_pts: 0.5992, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1253, d4.loss_map_pts: 0.5743, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1196, d5.loss_map_pts: 0.5623, d5.loss_map_dir: 0.0064, loss: 24.1805, grad_norm: 157.8584 +2026-02-28 10:23:10,705 - DriveTransformer - INFO - Epoch [9][38050/39528] lr: 7.525e-05, eta: 5 days, 0:39:37, time: 0.715, data_time: 0.039, memory: 19865, loss_cls: 0.1106, loss_bbox: 0.3030, loss_traj: 0.5080, loss_traj_cls: 0.0021, loss_map_cls: 0.0944, loss_map_pts: 0.4831, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.4200, d0.loss_plan_l1_fix_dist: 0.4070, d1.loss_plan_l1_fix_time: 0.9774, d1.loss_plan_l1_fix_dist: 0.3012, d2.loss_plan_l1_fix_time: 0.9675, d2.loss_plan_l1_fix_dist: 0.4623, d3.loss_plan_l1_fix_time: 0.9712, d3.loss_plan_l1_fix_dist: 0.4388, d4.loss_plan_l1_fix_time: 0.9755, d4.loss_plan_l1_fix_dist: 0.3277, d5.loss_plan_l1_fix_time: 0.9807, d5.loss_plan_l1_fix_dist: 0.4301, d6.loss_plan_l1_fix_time: 0.9841, d6.loss_plan_l1_fix_dist: 0.3740, d0.loss_cls_all: 0.1565, d0.loss_bbox_all: 0.3661, d0.loss_cls: 0.1565, d0.loss_bbox: 0.3661, d1.loss_cls: 0.1483, d1.loss_bbox: 0.3328, d2.loss_cls: 0.1360, d2.loss_bbox: 0.3118, d3.loss_cls: 0.1201, d3.loss_bbox: 0.3060, d4.loss_cls: 0.1135, d4.loss_bbox: 0.3043, d5.loss_cls: 0.1105, d5.loss_bbox: 0.3031, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6916, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5652, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5252, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5124, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5087, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5061, d0.loss_map_cls_all: 0.1642, d0.loss_map_pts_all: 1.0176, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1642, d0.loss_map_pts: 1.0176, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1353, d1.loss_map_pts: 0.7094, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1135, d2.loss_map_pts: 0.5686, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1060, d3.loss_map_pts: 0.5119, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1008, d4.loss_map_pts: 0.4888, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0958, d5.loss_map_pts: 0.4838, d5.loss_map_dir: 0.0062, loss: 24.7911, grad_norm: 161.6217 +2026-02-28 10:23:47,284 - DriveTransformer - INFO - Epoch [9][38100/39528] lr: 7.525e-05, eta: 5 days, 0:39:00, time: 0.732, data_time: 0.035, memory: 19865, loss_cls: 0.1107, loss_bbox: 0.3075, loss_traj: 0.5622, loss_traj_cls: 0.0021, loss_map_cls: 0.1251, loss_map_pts: 0.5500, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.5884, d0.loss_plan_l1_fix_dist: 0.4357, d1.loss_plan_l1_fix_time: 0.9061, d1.loss_plan_l1_fix_dist: 0.2836, d2.loss_plan_l1_fix_time: 0.8948, d2.loss_plan_l1_fix_dist: 0.4556, d3.loss_plan_l1_fix_time: 0.8958, d3.loss_plan_l1_fix_dist: 0.4025, d4.loss_plan_l1_fix_time: 0.8983, d4.loss_plan_l1_fix_dist: 0.2884, d5.loss_plan_l1_fix_time: 0.9010, d5.loss_plan_l1_fix_dist: 0.4035, d6.loss_plan_l1_fix_time: 0.9034, d6.loss_plan_l1_fix_dist: 0.2592, d0.loss_cls_all: 0.1555, d0.loss_bbox_all: 0.3745, d0.loss_cls: 0.1555, d0.loss_bbox: 0.3745, d1.loss_cls: 0.1473, d1.loss_bbox: 0.3373, d2.loss_cls: 0.1361, d2.loss_bbox: 0.3167, d3.loss_cls: 0.1169, d3.loss_bbox: 0.3108, d4.loss_cls: 0.1115, d4.loss_bbox: 0.3078, d5.loss_cls: 0.1102, d5.loss_bbox: 0.3068, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7450, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6181, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5794, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5618, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5591, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5618, d0.loss_map_cls_all: 0.2076, d0.loss_map_pts_all: 1.1564, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2076, d0.loss_map_pts: 1.1564, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1715, d1.loss_map_pts: 0.8116, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1478, d2.loss_map_pts: 0.6433, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1374, d3.loss_map_pts: 0.5820, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1329, d4.loss_map_pts: 0.5576, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1287, d5.loss_map_pts: 0.5514, d5.loss_map_dir: 0.0069, loss: 25.7099, grad_norm: 166.9394 +2026-02-28 10:24:23,898 - DriveTransformer - INFO - Epoch [9][38150/39528] lr: 7.525e-05, eta: 5 days, 0:38:24, time: 0.732, data_time: 0.038, memory: 19865, loss_cls: 0.1058, loss_bbox: 0.2957, loss_traj: 0.4905, loss_traj_cls: 0.0022, loss_map_cls: 0.1152, loss_map_pts: 0.5623, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.5396, d0.loss_plan_l1_fix_dist: 0.3979, d1.loss_plan_l1_fix_time: 0.8139, d1.loss_plan_l1_fix_dist: 0.2900, d2.loss_plan_l1_fix_time: 0.7993, d2.loss_plan_l1_fix_dist: 0.4375, d3.loss_plan_l1_fix_time: 0.7955, d3.loss_plan_l1_fix_dist: 0.3654, d4.loss_plan_l1_fix_time: 0.7978, d4.loss_plan_l1_fix_dist: 0.2399, d5.loss_plan_l1_fix_time: 0.8008, d5.loss_plan_l1_fix_dist: 0.3082, d6.loss_plan_l1_fix_time: 0.8031, d6.loss_plan_l1_fix_dist: 0.2411, d0.loss_cls_all: 0.1465, d0.loss_bbox_all: 0.3499, d0.loss_cls: 0.1465, d0.loss_bbox: 0.3499, d1.loss_cls: 0.1372, d1.loss_bbox: 0.3194, d2.loss_cls: 0.1273, d2.loss_bbox: 0.2999, d3.loss_cls: 0.1108, d3.loss_bbox: 0.2955, d4.loss_cls: 0.1062, d4.loss_bbox: 0.2944, d5.loss_cls: 0.1055, d5.loss_bbox: 0.2935, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6825, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5441, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5023, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4914, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4879, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4879, d0.loss_map_cls_all: 0.1984, d0.loss_map_pts_all: 1.1723, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1984, d0.loss_map_pts: 1.1723, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1635, d1.loss_map_pts: 0.8235, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1399, d2.loss_map_pts: 0.6551, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1280, d3.loss_map_pts: 0.5992, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1229, d4.loss_map_pts: 0.5734, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1177, d5.loss_map_pts: 0.5637, d5.loss_map_dir: 0.0067, loss: 24.1663, grad_norm: 164.4573 +2026-02-28 10:25:01,172 - DriveTransformer - INFO - Epoch [9][38200/39528] lr: 7.525e-05, eta: 5 days, 0:37:51, time: 0.745, data_time: 0.040, memory: 19865, loss_cls: 0.1210, loss_bbox: 0.3152, loss_traj: 0.5994, loss_traj_cls: 0.0020, loss_map_cls: 0.1370, loss_map_pts: 0.6127, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.6988, d0.loss_plan_l1_fix_dist: 0.3899, d1.loss_plan_l1_fix_time: 0.8755, d1.loss_plan_l1_fix_dist: 0.3407, d2.loss_plan_l1_fix_time: 0.8670, d2.loss_plan_l1_fix_dist: 0.4148, d3.loss_plan_l1_fix_time: 0.8687, d3.loss_plan_l1_fix_dist: 0.3318, d4.loss_plan_l1_fix_time: 0.8706, d4.loss_plan_l1_fix_dist: 0.2269, d5.loss_plan_l1_fix_time: 0.8731, d5.loss_plan_l1_fix_dist: 0.2417, d6.loss_plan_l1_fix_time: 0.8754, d6.loss_plan_l1_fix_dist: 0.3149, d0.loss_cls_all: 0.1663, d0.loss_bbox_all: 0.3867, d0.loss_cls: 0.1663, d0.loss_bbox: 0.3867, d1.loss_cls: 0.1600, d1.loss_bbox: 0.3496, d2.loss_cls: 0.1449, d2.loss_bbox: 0.3304, d3.loss_cls: 0.1254, d3.loss_bbox: 0.3227, d4.loss_cls: 0.1205, d4.loss_bbox: 0.3172, d5.loss_cls: 0.1202, d5.loss_bbox: 0.3154, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7847, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6640, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6208, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6080, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6006, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5996, d0.loss_map_cls_all: 0.2230, d0.loss_map_pts_all: 1.2309, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2230, d0.loss_map_pts: 1.2309, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1861, d1.loss_map_pts: 0.8649, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1629, d2.loss_map_pts: 0.7046, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1522, d3.loss_map_pts: 0.6417, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1450, d4.loss_map_pts: 0.6197, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1389, d5.loss_map_pts: 0.6146, d5.loss_map_dir: 0.0079, loss: 26.4698, grad_norm: 163.1822 +2026-02-28 10:25:38,182 - DriveTransformer - INFO - Epoch [9][38250/39528] lr: 7.525e-05, eta: 5 days, 0:37:17, time: 0.740, data_time: 0.038, memory: 19865, loss_cls: 0.1089, loss_bbox: 0.3086, loss_traj: 0.6538, loss_traj_cls: 0.0020, loss_map_cls: 0.1242, loss_map_pts: 0.6247, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.8179, d0.loss_plan_l1_fix_dist: 0.5019, d1.loss_plan_l1_fix_time: 0.8692, d1.loss_plan_l1_fix_dist: 0.3591, d2.loss_plan_l1_fix_time: 0.8600, d2.loss_plan_l1_fix_dist: 0.3244, d3.loss_plan_l1_fix_time: 0.8576, d3.loss_plan_l1_fix_dist: 0.2606, d4.loss_plan_l1_fix_time: 0.8597, d4.loss_plan_l1_fix_dist: 0.2175, d5.loss_plan_l1_fix_time: 0.8627, d5.loss_plan_l1_fix_dist: 0.2240, d6.loss_plan_l1_fix_time: 0.8673, d6.loss_plan_l1_fix_dist: 0.3047, d0.loss_cls_all: 0.1471, d0.loss_bbox_all: 0.3739, d0.loss_cls: 0.1471, d0.loss_bbox: 0.3739, d1.loss_cls: 0.1407, d1.loss_bbox: 0.3433, d2.loss_cls: 0.1310, d2.loss_bbox: 0.3220, d3.loss_cls: 0.1146, d3.loss_bbox: 0.3146, d4.loss_cls: 0.1102, d4.loss_bbox: 0.3105, d5.loss_cls: 0.1094, d5.loss_bbox: 0.3076, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8925, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7170, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6689, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6588, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.6483, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6514, d0.loss_map_cls_all: 0.2109, d0.loss_map_pts_all: 1.2621, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2109, d0.loss_map_pts: 1.2621, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1766, d1.loss_map_pts: 0.8959, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1526, d2.loss_map_pts: 0.7267, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1408, d3.loss_map_pts: 0.6626, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1332, d4.loss_map_pts: 0.6337, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1276, d5.loss_map_pts: 0.6247, d5.loss_map_dir: 0.0069, loss: 26.7716, grad_norm: 161.7670 +2026-02-28 10:26:13,215 - DriveTransformer - INFO - Epoch [9][38300/39528] lr: 7.525e-05, eta: 5 days, 0:36:33, time: 0.701, data_time: 0.036, memory: 19865, loss_cls: 0.1186, loss_bbox: 0.3177, loss_traj: 0.5402, loss_traj_cls: 0.0021, loss_map_cls: 0.1214, loss_map_pts: 0.5465, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.5403, d0.loss_plan_l1_fix_dist: 0.5288, d1.loss_plan_l1_fix_time: 0.8806, d1.loss_plan_l1_fix_dist: 0.3991, d2.loss_plan_l1_fix_time: 0.8600, d2.loss_plan_l1_fix_dist: 0.3183, d3.loss_plan_l1_fix_time: 0.8566, d3.loss_plan_l1_fix_dist: 0.2891, d4.loss_plan_l1_fix_time: 0.8593, d4.loss_plan_l1_fix_dist: 0.2920, d5.loss_plan_l1_fix_time: 0.8633, d5.loss_plan_l1_fix_dist: 0.3001, d6.loss_plan_l1_fix_time: 0.8691, d6.loss_plan_l1_fix_dist: 0.3210, d0.loss_cls_all: 0.1740, d0.loss_bbox_all: 0.3716, d0.loss_cls: 0.1740, d0.loss_bbox: 0.3716, d1.loss_cls: 0.1659, d1.loss_bbox: 0.3420, d2.loss_cls: 0.1495, d2.loss_bbox: 0.3228, d3.loss_cls: 0.1295, d3.loss_bbox: 0.3194, d4.loss_cls: 0.1202, d4.loss_bbox: 0.3179, d5.loss_cls: 0.1189, d5.loss_bbox: 0.3169, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7288, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5921, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5494, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5421, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5413, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5395, d0.loss_map_cls_all: 0.2086, d0.loss_map_pts_all: 1.1058, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2086, d0.loss_map_pts: 1.1058, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1762, d1.loss_map_pts: 0.7921, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1491, d2.loss_map_pts: 0.6354, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1373, d3.loss_map_pts: 0.5725, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1271, d4.loss_map_pts: 0.5532, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1233, d5.loss_map_pts: 0.5465, d5.loss_map_dir: 0.0060, loss: 25.2055, grad_norm: 167.0506 +2026-02-28 10:26:48,061 - DriveTransformer - INFO - Epoch [9][38350/39528] lr: 7.525e-05, eta: 5 days, 0:35:48, time: 0.697, data_time: 0.035, memory: 19865, loss_cls: 0.1291, loss_bbox: 0.3321, loss_traj: 0.5300, loss_traj_cls: 0.0020, loss_map_cls: 0.1084, loss_map_pts: 0.5536, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.9045, d0.loss_plan_l1_fix_dist: 0.4435, d1.loss_plan_l1_fix_time: 0.9172, d1.loss_plan_l1_fix_dist: 0.3843, d2.loss_plan_l1_fix_time: 0.8882, d2.loss_plan_l1_fix_dist: 0.2531, d3.loss_plan_l1_fix_time: 0.8796, d3.loss_plan_l1_fix_dist: 0.2256, d4.loss_plan_l1_fix_time: 0.8824, d4.loss_plan_l1_fix_dist: 0.2422, d5.loss_plan_l1_fix_time: 0.8863, d5.loss_plan_l1_fix_dist: 0.2592, d6.loss_plan_l1_fix_time: 0.8910, d6.loss_plan_l1_fix_dist: 0.2483, d0.loss_cls_all: 0.1764, d0.loss_bbox_all: 0.3888, d0.loss_cls: 0.1764, d0.loss_bbox: 0.3888, d1.loss_cls: 0.1667, d1.loss_bbox: 0.3607, d2.loss_cls: 0.1558, d2.loss_bbox: 0.3410, d3.loss_cls: 0.1391, d3.loss_bbox: 0.3333, d4.loss_cls: 0.1317, d4.loss_bbox: 0.3313, d5.loss_cls: 0.1284, d5.loss_bbox: 0.3330, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7507, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6137, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5643, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5426, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5327, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5324, d0.loss_map_cls_all: 0.1891, d0.loss_map_pts_all: 1.0954, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1891, d0.loss_map_pts: 1.0954, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1562, d1.loss_map_pts: 0.7901, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1339, d2.loss_map_pts: 0.6397, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1221, d3.loss_map_pts: 0.5840, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1153, d4.loss_map_pts: 0.5619, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1103, d5.loss_map_pts: 0.5540, d5.loss_map_dir: 0.0070, loss: 25.4451, grad_norm: 167.8280 +2026-02-28 10:27:25,352 - DriveTransformer - INFO - Epoch [9][38400/39528] lr: 7.525e-05, eta: 5 days, 0:35:16, time: 0.747, data_time: 0.038, memory: 19865, loss_cls: 0.1151, loss_bbox: 0.3180, loss_traj: 0.5256, loss_traj_cls: 0.0020, loss_map_cls: 0.1311, loss_map_pts: 0.6511, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.5504, d0.loss_plan_l1_fix_dist: 0.5130, d1.loss_plan_l1_fix_time: 0.7856, d1.loss_plan_l1_fix_dist: 0.3731, d2.loss_plan_l1_fix_time: 0.7790, d2.loss_plan_l1_fix_dist: 0.2351, d3.loss_plan_l1_fix_time: 0.7682, d3.loss_plan_l1_fix_dist: 0.2279, d4.loss_plan_l1_fix_time: 0.7726, d4.loss_plan_l1_fix_dist: 0.2453, d5.loss_plan_l1_fix_time: 0.7780, d5.loss_plan_l1_fix_dist: 0.2655, d6.loss_plan_l1_fix_time: 0.7832, d6.loss_plan_l1_fix_dist: 0.2373, d0.loss_cls_all: 0.1670, d0.loss_bbox_all: 0.3805, d0.loss_cls: 0.1670, d0.loss_bbox: 0.3805, d1.loss_cls: 0.1635, d1.loss_bbox: 0.3451, d2.loss_cls: 0.1492, d2.loss_bbox: 0.3248, d3.loss_cls: 0.1289, d3.loss_bbox: 0.3160, d4.loss_cls: 0.1198, d4.loss_bbox: 0.3158, d5.loss_cls: 0.1171, d5.loss_bbox: 0.3160, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7511, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5917, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5416, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5257, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5228, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5271, d0.loss_map_cls_all: 0.2099, d0.loss_map_pts_all: 1.3183, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2099, d0.loss_map_pts: 1.3183, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1782, d1.loss_map_pts: 0.9635, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1558, d2.loss_map_pts: 0.7699, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1459, d3.loss_map_pts: 0.6895, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1386, d4.loss_map_pts: 0.6572, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1328, d5.loss_map_pts: 0.6523, d5.loss_map_dir: 0.0081, loss: 25.5172, grad_norm: 167.7011 +2026-02-28 10:28:01,871 - DriveTransformer - INFO - Epoch [9][38450/39528] lr: 7.525e-05, eta: 5 days, 0:34:39, time: 0.729, data_time: 0.036, memory: 19865, loss_cls: 0.0921, loss_bbox: 0.2829, loss_traj: 0.6062, loss_traj_cls: 0.0021, loss_map_cls: 0.1099, loss_map_pts: 0.5303, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.2387, d0.loss_plan_l1_fix_dist: 0.4996, d1.loss_plan_l1_fix_time: 0.7557, d1.loss_plan_l1_fix_dist: 0.3582, d2.loss_plan_l1_fix_time: 0.7445, d2.loss_plan_l1_fix_dist: 0.2052, d3.loss_plan_l1_fix_time: 0.7371, d3.loss_plan_l1_fix_dist: 0.1997, d4.loss_plan_l1_fix_time: 0.7391, d4.loss_plan_l1_fix_dist: 0.1927, d5.loss_plan_l1_fix_time: 0.7422, d5.loss_plan_l1_fix_dist: 0.2279, d6.loss_plan_l1_fix_time: 0.7460, d6.loss_plan_l1_fix_dist: 0.2598, d0.loss_cls_all: 0.1313, d0.loss_bbox_all: 0.3432, d0.loss_cls: 0.1313, d0.loss_bbox: 0.3432, d1.loss_cls: 0.1216, d1.loss_bbox: 0.3116, d2.loss_cls: 0.1096, d2.loss_bbox: 0.2926, d3.loss_cls: 0.0980, d3.loss_bbox: 0.2845, d4.loss_cls: 0.0947, d4.loss_bbox: 0.2816, d5.loss_cls: 0.0914, d5.loss_bbox: 0.2826, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8326, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6752, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6312, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6126, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6110, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6098, d0.loss_map_cls_all: 0.1796, d0.loss_map_pts_all: 1.0927, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1796, d0.loss_map_pts: 1.0927, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1517, d1.loss_map_pts: 0.7684, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1323, d2.loss_map_pts: 0.6233, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1246, d3.loss_map_pts: 0.5720, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1156, d4.loss_map_pts: 0.5475, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1116, d5.loss_map_pts: 0.5322, d5.loss_map_dir: 0.0061, loss: 23.4347, grad_norm: 168.8068 +2026-02-28 10:28:37,590 - DriveTransformer - INFO - Epoch [9][38500/39528] lr: 7.525e-05, eta: 5 days, 0:33:58, time: 0.714, data_time: 0.038, memory: 19865, loss_cls: 0.1297, loss_bbox: 0.3303, loss_traj: 0.6353, loss_traj_cls: 0.0021, loss_map_cls: 0.1102, loss_map_pts: 0.5563, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.7398, d0.loss_plan_l1_fix_dist: 0.4277, d1.loss_plan_l1_fix_time: 0.8867, d1.loss_plan_l1_fix_dist: 0.3554, d2.loss_plan_l1_fix_time: 0.8681, d2.loss_plan_l1_fix_dist: 0.1932, d3.loss_plan_l1_fix_time: 0.8592, d3.loss_plan_l1_fix_dist: 0.2000, d4.loss_plan_l1_fix_time: 0.8615, d4.loss_plan_l1_fix_dist: 0.1938, d5.loss_plan_l1_fix_time: 0.8645, d5.loss_plan_l1_fix_dist: 0.2556, d6.loss_plan_l1_fix_time: 0.8681, d6.loss_plan_l1_fix_dist: 0.3045, d0.loss_cls_all: 0.1777, d0.loss_bbox_all: 0.3895, d0.loss_cls: 0.1777, d0.loss_bbox: 0.3895, d1.loss_cls: 0.1692, d1.loss_bbox: 0.3581, d2.loss_cls: 0.1537, d2.loss_bbox: 0.3373, d3.loss_cls: 0.1357, d3.loss_bbox: 0.3293, d4.loss_cls: 0.1314, d4.loss_bbox: 0.3269, d5.loss_cls: 0.1307, d5.loss_bbox: 0.3269, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9010, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7230, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6739, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6505, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6404, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6344, d0.loss_map_cls_all: 0.1874, d0.loss_map_pts_all: 1.0979, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1874, d0.loss_map_pts: 1.0979, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1563, d1.loss_map_pts: 0.8088, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1340, d2.loss_map_pts: 0.6492, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1218, d3.loss_map_pts: 0.5856, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1163, d4.loss_map_pts: 0.5621, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1115, d5.loss_map_pts: 0.5581, d5.loss_map_dir: 0.0070, loss: 25.8318, grad_norm: 168.5402 +2026-02-28 10:29:15,263 - DriveTransformer - INFO - Epoch [9][38550/39528] lr: 7.525e-05, eta: 5 days, 0:33:27, time: 0.753, data_time: 0.036, memory: 19865, loss_cls: 0.1057, loss_bbox: 0.2969, loss_traj: 0.4227, loss_traj_cls: 0.0021, loss_map_cls: 0.1176, loss_map_pts: 0.6437, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.4827, d0.loss_plan_l1_fix_dist: 0.4298, d1.loss_plan_l1_fix_time: 0.7788, d1.loss_plan_l1_fix_dist: 0.3525, d2.loss_plan_l1_fix_time: 0.7695, d2.loss_plan_l1_fix_dist: 0.2295, d3.loss_plan_l1_fix_time: 0.7700, d3.loss_plan_l1_fix_dist: 0.2323, d4.loss_plan_l1_fix_time: 0.7729, d4.loss_plan_l1_fix_dist: 0.2484, d5.loss_plan_l1_fix_time: 0.7759, d5.loss_plan_l1_fix_dist: 0.2766, d6.loss_plan_l1_fix_time: 0.7792, d6.loss_plan_l1_fix_dist: 0.2590, d0.loss_cls_all: 0.1555, d0.loss_bbox_all: 0.3476, d0.loss_cls: 0.1555, d0.loss_bbox: 0.3476, d1.loss_cls: 0.1456, d1.loss_bbox: 0.3197, d2.loss_cls: 0.1303, d2.loss_bbox: 0.3044, d3.loss_cls: 0.1170, d3.loss_bbox: 0.2982, d4.loss_cls: 0.1098, d4.loss_bbox: 0.2963, d5.loss_cls: 0.1044, d5.loss_bbox: 0.2984, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6375, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.4712, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4432, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4303, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4238, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4237, d0.loss_map_cls_all: 0.1993, d0.loss_map_pts_all: 1.2568, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.1993, d0.loss_map_pts: 1.2568, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1612, d1.loss_map_pts: 0.9036, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1404, d2.loss_map_pts: 0.7317, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1306, d3.loss_map_pts: 0.6739, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1252, d4.loss_map_pts: 0.6521, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1202, d5.loss_map_pts: 0.6439, d5.loss_map_dir: 0.0088, loss: 23.9729, grad_norm: 170.2895 +2026-02-28 10:29:52,238 - DriveTransformer - INFO - Epoch [9][38600/39528] lr: 7.525e-05, eta: 5 days, 0:32:53, time: 0.739, data_time: 0.047, memory: 19865, loss_cls: 0.1029, loss_bbox: 0.2938, loss_traj: 0.5438, loss_traj_cls: 0.0022, loss_map_cls: 0.1162, loss_map_pts: 0.4923, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.9806, d0.loss_plan_l1_fix_dist: 0.5426, d1.loss_plan_l1_fix_time: 0.9382, d1.loss_plan_l1_fix_dist: 0.3469, d2.loss_plan_l1_fix_time: 0.9241, d2.loss_plan_l1_fix_dist: 0.2691, d3.loss_plan_l1_fix_time: 0.9276, d3.loss_plan_l1_fix_dist: 0.2633, d4.loss_plan_l1_fix_time: 0.9290, d4.loss_plan_l1_fix_dist: 0.2628, d5.loss_plan_l1_fix_time: 0.9311, d5.loss_plan_l1_fix_dist: 0.2739, d6.loss_plan_l1_fix_time: 0.9342, d6.loss_plan_l1_fix_dist: 0.2520, d0.loss_cls_all: 0.1416, d0.loss_bbox_all: 0.3545, d0.loss_cls: 0.1416, d0.loss_bbox: 0.3545, d1.loss_cls: 0.1356, d1.loss_bbox: 0.3256, d2.loss_cls: 0.1273, d2.loss_bbox: 0.3016, d3.loss_cls: 0.1118, d3.loss_bbox: 0.2974, d4.loss_cls: 0.1054, d4.loss_bbox: 0.2935, d5.loss_cls: 0.1030, d5.loss_bbox: 0.2938, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7831, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6151, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5630, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5511, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5468, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5477, d0.loss_map_cls_all: 0.1832, d0.loss_map_pts_all: 0.9993, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1832, d0.loss_map_pts: 0.9993, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1573, d1.loss_map_pts: 0.7108, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1381, d2.loss_map_pts: 0.5746, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1263, d3.loss_map_pts: 0.5195, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1220, d4.loss_map_pts: 0.5023, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1174, d5.loss_map_pts: 0.4926, d5.loss_map_dir: 0.0055, loss: 24.8948, grad_norm: 170.9418 +2026-02-28 10:30:28,995 - DriveTransformer - INFO - Epoch [9][38650/39528] lr: 7.525e-05, eta: 5 days, 0:32:17, time: 0.735, data_time: 0.037, memory: 19865, loss_cls: 0.1017, loss_bbox: 0.3085, loss_traj: 0.4756, loss_traj_cls: 0.0021, loss_map_cls: 0.1199, loss_map_pts: 0.5858, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.7862, d0.loss_plan_l1_fix_dist: 0.5117, d1.loss_plan_l1_fix_time: 0.8706, d1.loss_plan_l1_fix_dist: 0.3195, d2.loss_plan_l1_fix_time: 0.8532, d2.loss_plan_l1_fix_dist: 0.2608, d3.loss_plan_l1_fix_time: 0.8502, d3.loss_plan_l1_fix_dist: 0.2446, d4.loss_plan_l1_fix_time: 0.8524, d4.loss_plan_l1_fix_dist: 0.2404, d5.loss_plan_l1_fix_time: 0.8551, d5.loss_plan_l1_fix_dist: 0.2415, d6.loss_plan_l1_fix_time: 0.8591, d6.loss_plan_l1_fix_dist: 0.2658, d0.loss_cls_all: 0.1541, d0.loss_bbox_all: 0.3567, d0.loss_cls: 0.1541, d0.loss_bbox: 0.3567, d1.loss_cls: 0.1477, d1.loss_bbox: 0.3277, d2.loss_cls: 0.1296, d2.loss_bbox: 0.3133, d3.loss_cls: 0.1111, d3.loss_bbox: 0.3081, d4.loss_cls: 0.1045, d4.loss_bbox: 0.3078, d5.loss_cls: 0.1023, d5.loss_bbox: 0.3076, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6803, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5263, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4896, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4737, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4782, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4769, d0.loss_map_cls_all: 0.2075, d0.loss_map_pts_all: 1.2273, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2075, d0.loss_map_pts: 1.2273, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1717, d1.loss_map_pts: 0.8527, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1456, d2.loss_map_pts: 0.6802, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1331, d3.loss_map_pts: 0.6180, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1267, d4.loss_map_pts: 0.5940, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1224, d5.loss_map_pts: 0.5858, d5.loss_map_dir: 0.0076, loss: 24.8749, grad_norm: 169.7582 +2026-02-28 10:31:06,300 - DriveTransformer - INFO - Epoch [9][38700/39528] lr: 7.525e-05, eta: 5 days, 0:31:45, time: 0.746, data_time: 0.035, memory: 19865, loss_cls: 0.1013, loss_bbox: 0.3058, loss_traj: 0.5297, loss_traj_cls: 0.0022, loss_map_cls: 0.0965, loss_map_pts: 0.5624, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.6158, d0.loss_plan_l1_fix_dist: 0.4446, d1.loss_plan_l1_fix_time: 0.8015, d1.loss_plan_l1_fix_dist: 0.2846, d2.loss_plan_l1_fix_time: 0.7755, d2.loss_plan_l1_fix_dist: 0.2567, d3.loss_plan_l1_fix_time: 0.7745, d3.loss_plan_l1_fix_dist: 0.2406, d4.loss_plan_l1_fix_time: 0.7768, d4.loss_plan_l1_fix_dist: 0.2580, d5.loss_plan_l1_fix_time: 0.7799, d5.loss_plan_l1_fix_dist: 0.2611, d6.loss_plan_l1_fix_time: 0.7836, d6.loss_plan_l1_fix_dist: 0.2837, d0.loss_cls_all: 0.1570, d0.loss_bbox_all: 0.3638, d0.loss_cls: 0.1570, d0.loss_bbox: 0.3638, d1.loss_cls: 0.1477, d1.loss_bbox: 0.3322, d2.loss_cls: 0.1317, d2.loss_bbox: 0.3122, d3.loss_cls: 0.1113, d3.loss_bbox: 0.3078, d4.loss_cls: 0.1027, d4.loss_bbox: 0.3074, d5.loss_cls: 0.0997, d5.loss_bbox: 0.3079, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7130, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5874, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5399, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5386, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5350, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5294, d0.loss_map_cls_all: 0.1775, d0.loss_map_pts_all: 1.1523, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1775, d0.loss_map_pts: 1.1523, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1425, d1.loss_map_pts: 0.8044, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1216, d2.loss_map_pts: 0.6534, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1104, d3.loss_map_pts: 0.5959, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1048, d4.loss_map_pts: 0.5709, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.0984, d5.loss_map_pts: 0.5631, d5.loss_map_dir: 0.0076, loss: 24.0696, grad_norm: 171.4979 +2026-02-28 10:31:42,796 - DriveTransformer - INFO - Epoch [9][38750/39528] lr: 7.525e-05, eta: 5 days, 0:31:08, time: 0.730, data_time: 0.040, memory: 19865, loss_cls: 0.1023, loss_bbox: 0.2901, loss_traj: 0.4697, loss_traj_cls: 0.0022, loss_map_cls: 0.0987, loss_map_pts: 0.5102, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.5299, d0.loss_plan_l1_fix_dist: 0.5104, d1.loss_plan_l1_fix_time: 0.7803, d1.loss_plan_l1_fix_dist: 0.2396, d2.loss_plan_l1_fix_time: 0.7612, d2.loss_plan_l1_fix_dist: 0.2165, d3.loss_plan_l1_fix_time: 0.7587, d3.loss_plan_l1_fix_dist: 0.1936, d4.loss_plan_l1_fix_time: 0.7615, d4.loss_plan_l1_fix_dist: 0.2145, d5.loss_plan_l1_fix_time: 0.7644, d5.loss_plan_l1_fix_dist: 0.2284, d6.loss_plan_l1_fix_time: 0.7672, d6.loss_plan_l1_fix_dist: 0.2411, d0.loss_cls_all: 0.1398, d0.loss_bbox_all: 0.3488, d0.loss_cls: 0.1398, d0.loss_bbox: 0.3488, d1.loss_cls: 0.1314, d1.loss_bbox: 0.3185, d2.loss_cls: 0.1239, d2.loss_bbox: 0.2962, d3.loss_cls: 0.1062, d3.loss_bbox: 0.2925, d4.loss_cls: 0.1045, d4.loss_bbox: 0.2882, d5.loss_cls: 0.1022, d5.loss_bbox: 0.2900, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6835, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5486, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4875, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4746, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4670, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4708, d0.loss_map_cls_all: 0.1732, d0.loss_map_pts_all: 1.1065, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1732, d0.loss_map_pts: 1.1065, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1448, d1.loss_map_pts: 0.7535, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1205, d2.loss_map_pts: 0.5950, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1106, d3.loss_map_pts: 0.5411, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1048, d4.loss_map_pts: 0.5169, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1008, d5.loss_map_pts: 0.5109, d5.loss_map_dir: 0.0067, loss: 22.7180, grad_norm: 171.5885 +2026-02-28 10:32:20,727 - DriveTransformer - INFO - Epoch [9][38800/39528] lr: 7.525e-05, eta: 5 days, 0:30:38, time: 0.759, data_time: 0.037, memory: 19865, loss_cls: 0.1184, loss_bbox: 0.3276, loss_traj: 0.6009, loss_traj_cls: 0.0021, loss_map_cls: 0.1317, loss_map_pts: 0.6333, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.5603, d0.loss_plan_l1_fix_dist: 0.4213, d1.loss_plan_l1_fix_time: 0.8776, d1.loss_plan_l1_fix_dist: 0.2198, d2.loss_plan_l1_fix_time: 0.8608, d2.loss_plan_l1_fix_dist: 0.2017, d3.loss_plan_l1_fix_time: 0.8567, d3.loss_plan_l1_fix_dist: 0.2208, d4.loss_plan_l1_fix_time: 0.8577, d4.loss_plan_l1_fix_dist: 0.2110, d5.loss_plan_l1_fix_time: 0.8596, d5.loss_plan_l1_fix_dist: 0.2325, d6.loss_plan_l1_fix_time: 0.8617, d6.loss_plan_l1_fix_dist: 0.2520, d0.loss_cls_all: 0.1646, d0.loss_bbox_all: 0.3916, d0.loss_cls: 0.1646, d0.loss_bbox: 0.3916, d1.loss_cls: 0.1633, d1.loss_bbox: 0.3599, d2.loss_cls: 0.1452, d2.loss_bbox: 0.3396, d3.loss_cls: 0.1278, d3.loss_bbox: 0.3317, d4.loss_cls: 0.1213, d4.loss_bbox: 0.3281, d5.loss_cls: 0.1193, d5.loss_bbox: 0.3264, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8398, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6737, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6302, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6101, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6063, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6027, d0.loss_map_cls_all: 0.2132, d0.loss_map_pts_all: 1.2479, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2132, d0.loss_map_pts: 1.2479, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1855, d1.loss_map_pts: 0.9079, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1590, d2.loss_map_pts: 0.7281, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1458, d3.loss_map_pts: 0.6636, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1393, d4.loss_map_pts: 0.6404, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1334, d5.loss_map_pts: 0.6350, d5.loss_map_dir: 0.0077, loss: 26.0696, grad_norm: 171.9003 +2026-02-28 10:32:56,593 - DriveTransformer - INFO - Epoch [9][38850/39528] lr: 7.525e-05, eta: 5 days, 0:29:58, time: 0.717, data_time: 0.038, memory: 19865, loss_cls: 0.1062, loss_bbox: 0.2962, loss_traj: 0.5330, loss_traj_cls: 0.0021, loss_map_cls: 0.1177, loss_map_pts: 0.5803, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.3889, d0.loss_plan_l1_fix_dist: 0.4695, d1.loss_plan_l1_fix_time: 0.7711, d1.loss_plan_l1_fix_dist: 0.1988, d2.loss_plan_l1_fix_time: 0.7544, d2.loss_plan_l1_fix_dist: 0.1895, d3.loss_plan_l1_fix_time: 0.7503, d3.loss_plan_l1_fix_dist: 0.2458, d4.loss_plan_l1_fix_time: 0.7513, d4.loss_plan_l1_fix_dist: 0.2083, d5.loss_plan_l1_fix_time: 0.7533, d5.loss_plan_l1_fix_dist: 0.2266, d6.loss_plan_l1_fix_time: 0.7561, d6.loss_plan_l1_fix_dist: 0.2380, d0.loss_cls_all: 0.1537, d0.loss_bbox_all: 0.3608, d0.loss_cls: 0.1537, d0.loss_bbox: 0.3608, d1.loss_cls: 0.1412, d1.loss_bbox: 0.3289, d2.loss_cls: 0.1317, d2.loss_bbox: 0.3078, d3.loss_cls: 0.1144, d3.loss_bbox: 0.2997, d4.loss_cls: 0.1085, d4.loss_bbox: 0.2963, d5.loss_cls: 0.1067, d5.loss_bbox: 0.2956, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7669, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5989, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5539, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5412, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5338, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5328, d0.loss_map_cls_all: 0.2040, d0.loss_map_pts_all: 1.1077, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2040, d0.loss_map_pts: 1.1077, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1776, d1.loss_map_pts: 0.8199, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1471, d2.loss_map_pts: 0.6687, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1377, d3.loss_map_pts: 0.6062, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1292, d4.loss_map_pts: 0.5835, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1211, d5.loss_map_pts: 0.5792, d5.loss_map_dir: 0.0060, loss: 23.6702, grad_norm: 169.8840 +2026-02-28 10:33:33,292 - DriveTransformer - INFO - Epoch [9][38900/39528] lr: 7.525e-05, eta: 5 days, 0:29:23, time: 0.734, data_time: 0.039, memory: 19865, loss_cls: 0.1081, loss_bbox: 0.3247, loss_traj: 0.4760, loss_traj_cls: 0.0021, loss_map_cls: 0.1245, loss_map_pts: 0.6227, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.5554, d0.loss_plan_l1_fix_dist: 0.5082, d1.loss_plan_l1_fix_time: 0.7984, d1.loss_plan_l1_fix_dist: 0.2241, d2.loss_plan_l1_fix_time: 0.7880, d2.loss_plan_l1_fix_dist: 0.2154, d3.loss_plan_l1_fix_time: 0.7781, d3.loss_plan_l1_fix_dist: 0.2717, d4.loss_plan_l1_fix_time: 0.7784, d4.loss_plan_l1_fix_dist: 0.2526, d5.loss_plan_l1_fix_time: 0.7799, d5.loss_plan_l1_fix_dist: 0.2699, d6.loss_plan_l1_fix_time: 0.7821, d6.loss_plan_l1_fix_dist: 0.2723, d0.loss_cls_all: 0.1628, d0.loss_bbox_all: 0.3915, d0.loss_cls: 0.1628, d0.loss_bbox: 0.3915, d1.loss_cls: 0.1543, d1.loss_bbox: 0.3590, d2.loss_cls: 0.1415, d2.loss_bbox: 0.3370, d3.loss_cls: 0.1198, d3.loss_bbox: 0.3296, d4.loss_cls: 0.1131, d4.loss_bbox: 0.3261, d5.loss_cls: 0.1091, d5.loss_bbox: 0.3252, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6936, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5575, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4981, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4830, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4758, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4728, d0.loss_map_cls_all: 0.2106, d0.loss_map_pts_all: 1.1971, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2106, d0.loss_map_pts: 1.1971, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1763, d1.loss_map_pts: 0.8884, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1486, d2.loss_map_pts: 0.7237, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1388, d3.loss_map_pts: 0.6548, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1306, d4.loss_map_pts: 0.6324, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1268, d5.loss_map_pts: 0.6227, d5.loss_map_dir: 0.0077, loss: 24.6574, grad_norm: 167.9953 +2026-02-28 10:34:11,676 - DriveTransformer - INFO - Epoch [9][38950/39528] lr: 7.525e-05, eta: 5 days, 0:28:55, time: 0.768, data_time: 0.043, memory: 19865, loss_cls: 0.1042, loss_bbox: 0.3058, loss_traj: 0.5414, loss_traj_cls: 0.0022, loss_map_cls: 0.1276, loss_map_pts: 0.5896, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.8466, d0.loss_plan_l1_fix_dist: 0.5260, d1.loss_plan_l1_fix_time: 0.8228, d1.loss_plan_l1_fix_dist: 0.2328, d2.loss_plan_l1_fix_time: 0.8070, d2.loss_plan_l1_fix_dist: 0.2242, d3.loss_plan_l1_fix_time: 0.8071, d3.loss_plan_l1_fix_dist: 0.2589, d4.loss_plan_l1_fix_time: 0.8085, d4.loss_plan_l1_fix_dist: 0.2635, d5.loss_plan_l1_fix_time: 0.8105, d5.loss_plan_l1_fix_dist: 0.2894, d6.loss_plan_l1_fix_time: 0.8135, d6.loss_plan_l1_fix_dist: 0.3150, d0.loss_cls_all: 0.1536, d0.loss_bbox_all: 0.3727, d0.loss_cls: 0.1536, d0.loss_bbox: 0.3727, d1.loss_cls: 0.1442, d1.loss_bbox: 0.3394, d2.loss_cls: 0.1278, d2.loss_bbox: 0.3171, d3.loss_cls: 0.1123, d3.loss_bbox: 0.3092, d4.loss_cls: 0.1049, d4.loss_bbox: 0.3072, d5.loss_cls: 0.1030, d5.loss_bbox: 0.3064, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7234, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6005, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5612, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5408, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5372, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5388, d0.loss_map_cls_all: 0.2048, d0.loss_map_pts_all: 1.1955, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2048, d0.loss_map_pts: 1.1955, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1710, d1.loss_map_pts: 0.8520, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1484, d2.loss_map_pts: 0.6751, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1393, d3.loss_map_pts: 0.6214, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1324, d4.loss_map_pts: 0.5995, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1294, d5.loss_map_pts: 0.5895, d5.loss_map_dir: 0.0072, loss: 25.1427, grad_norm: 169.9493 +2026-02-28 10:34:47,204 - DriveTransformer - INFO - Epoch [9][39000/39528] lr: 7.525e-05, eta: 5 days, 0:28:14, time: 0.711, data_time: 0.037, memory: 19865, loss_cls: 0.1206, loss_bbox: 0.3263, loss_traj: 0.5722, loss_traj_cls: 0.0021, loss_map_cls: 0.1460, loss_map_pts: 0.6729, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.9670, d0.loss_plan_l1_fix_dist: 0.5577, d1.loss_plan_l1_fix_time: 0.8574, d1.loss_plan_l1_fix_dist: 0.2263, d2.loss_plan_l1_fix_time: 0.8423, d2.loss_plan_l1_fix_dist: 0.2063, d3.loss_plan_l1_fix_time: 0.8322, d3.loss_plan_l1_fix_dist: 0.2212, d4.loss_plan_l1_fix_time: 0.8318, d4.loss_plan_l1_fix_dist: 0.2245, d5.loss_plan_l1_fix_time: 0.8326, d5.loss_plan_l1_fix_dist: 0.2289, d6.loss_plan_l1_fix_time: 0.8342, d6.loss_plan_l1_fix_dist: 0.2594, d0.loss_cls_all: 0.1730, d0.loss_bbox_all: 0.3945, d0.loss_cls: 0.1730, d0.loss_bbox: 0.3945, d1.loss_cls: 0.1652, d1.loss_bbox: 0.3557, d2.loss_cls: 0.1484, d2.loss_bbox: 0.3343, d3.loss_cls: 0.1314, d3.loss_bbox: 0.3281, d4.loss_cls: 0.1251, d4.loss_bbox: 0.3245, d5.loss_cls: 0.1225, d5.loss_bbox: 0.3245, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7938, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6393, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5947, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5756, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5700, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5726, d0.loss_map_cls_all: 0.2363, d0.loss_map_pts_all: 1.2613, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2363, d0.loss_map_pts: 1.2613, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.2012, d1.loss_map_pts: 0.9371, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1712, d2.loss_map_pts: 0.7738, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1586, d3.loss_map_pts: 0.7068, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1536, d4.loss_map_pts: 0.6801, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1475, d5.loss_map_pts: 0.6740, d5.loss_map_dir: 0.0076, loss: 26.6646, grad_norm: 169.7781 +2026-02-28 10:35:24,415 - DriveTransformer - INFO - Epoch [9][39050/39528] lr: 7.525e-05, eta: 5 days, 0:27:40, time: 0.744, data_time: 0.038, memory: 19865, loss_cls: 0.1097, loss_bbox: 0.3252, loss_traj: 0.6298, loss_traj_cls: 0.0021, loss_map_cls: 0.1340, loss_map_pts: 0.6066, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.8432, d0.loss_plan_l1_fix_dist: 0.4770, d1.loss_plan_l1_fix_time: 0.9556, d1.loss_plan_l1_fix_dist: 0.1954, d2.loss_plan_l1_fix_time: 0.9404, d2.loss_plan_l1_fix_dist: 0.1802, d3.loss_plan_l1_fix_time: 0.9404, d3.loss_plan_l1_fix_dist: 0.1822, d4.loss_plan_l1_fix_time: 0.9420, d4.loss_plan_l1_fix_dist: 0.1807, d5.loss_plan_l1_fix_time: 0.9441, d5.loss_plan_l1_fix_dist: 0.2056, d6.loss_plan_l1_fix_time: 0.9465, d6.loss_plan_l1_fix_dist: 0.2334, d0.loss_cls_all: 0.1591, d0.loss_bbox_all: 0.3877, d0.loss_cls: 0.1591, d0.loss_bbox: 0.3877, d1.loss_cls: 0.1522, d1.loss_bbox: 0.3516, d2.loss_cls: 0.1380, d2.loss_bbox: 0.3342, d3.loss_cls: 0.1200, d3.loss_bbox: 0.3269, d4.loss_cls: 0.1120, d4.loss_bbox: 0.3265, d5.loss_cls: 0.1096, d5.loss_bbox: 0.3256, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8492, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7057, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6483, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6290, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6320, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6293, d0.loss_map_cls_all: 0.2108, d0.loss_map_pts_all: 1.2562, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2108, d0.loss_map_pts: 1.2562, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1854, d1.loss_map_pts: 0.8991, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1611, d2.loss_map_pts: 0.7117, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1497, d3.loss_map_pts: 0.6407, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1425, d4.loss_map_pts: 0.6182, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1364, d5.loss_map_pts: 0.6089, d5.loss_map_dir: 0.0074, loss: 26.7057, grad_norm: 165.5433 +2026-02-28 10:35:59,392 - DriveTransformer - INFO - Epoch [9][39100/39528] lr: 7.525e-05, eta: 5 days, 0:26:56, time: 0.700, data_time: 0.035, memory: 19865, loss_cls: 0.1154, loss_bbox: 0.3026, loss_traj: 0.5211, loss_traj_cls: 0.0021, loss_map_cls: 0.1372, loss_map_pts: 0.6004, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.8624, d0.loss_plan_l1_fix_dist: 0.3870, d1.loss_plan_l1_fix_time: 1.0327, d1.loss_plan_l1_fix_dist: 0.2019, d2.loss_plan_l1_fix_time: 1.0156, d2.loss_plan_l1_fix_dist: 0.1931, d3.loss_plan_l1_fix_time: 1.0007, d3.loss_plan_l1_fix_dist: 0.2141, d4.loss_plan_l1_fix_time: 1.0007, d4.loss_plan_l1_fix_dist: 0.2124, d5.loss_plan_l1_fix_time: 1.0027, d5.loss_plan_l1_fix_dist: 0.2436, d6.loss_plan_l1_fix_time: 1.0055, d6.loss_plan_l1_fix_dist: 0.2683, d0.loss_cls_all: 0.1697, d0.loss_bbox_all: 0.3757, d0.loss_cls: 0.1697, d0.loss_bbox: 0.3757, d1.loss_cls: 0.1606, d1.loss_bbox: 0.3375, d2.loss_cls: 0.1456, d2.loss_bbox: 0.3156, d3.loss_cls: 0.1221, d3.loss_bbox: 0.3084, d4.loss_cls: 0.1150, d4.loss_bbox: 0.3063, d5.loss_cls: 0.1148, d5.loss_bbox: 0.3038, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8157, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5951, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5447, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5320, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5247, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5186, d0.loss_map_cls_all: 0.2254, d0.loss_map_pts_all: 1.1942, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2254, d0.loss_map_pts: 1.1942, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1946, d1.loss_map_pts: 0.8795, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1644, d2.loss_map_pts: 0.7068, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1534, d3.loss_map_pts: 0.6367, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1460, d4.loss_map_pts: 0.6093, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1401, d5.loss_map_pts: 0.6001, d5.loss_map_dir: 0.0073, loss: 26.3019, grad_norm: 166.3300 +2026-02-28 10:36:35,837 - DriveTransformer - INFO - Epoch [9][39150/39528] lr: 7.525e-05, eta: 5 days, 0:26:19, time: 0.729, data_time: 0.037, memory: 19865, loss_cls: 0.1140, loss_bbox: 0.3057, loss_traj: 0.4954, loss_traj_cls: 0.0021, loss_map_cls: 0.1279, loss_map_pts: 0.6553, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.5037, d0.loss_plan_l1_fix_dist: 0.4506, d1.loss_plan_l1_fix_time: 0.7621, d1.loss_plan_l1_fix_dist: 0.1991, d2.loss_plan_l1_fix_time: 0.7543, d2.loss_plan_l1_fix_dist: 0.2023, d3.loss_plan_l1_fix_time: 0.7440, d3.loss_plan_l1_fix_dist: 0.2228, d4.loss_plan_l1_fix_time: 0.7456, d4.loss_plan_l1_fix_dist: 0.2185, d5.loss_plan_l1_fix_time: 0.7476, d5.loss_plan_l1_fix_dist: 0.2471, d6.loss_plan_l1_fix_time: 0.7503, d6.loss_plan_l1_fix_dist: 0.2842, d0.loss_cls_all: 0.1628, d0.loss_bbox_all: 0.3654, d0.loss_cls: 0.1628, d0.loss_bbox: 0.3654, d1.loss_cls: 0.1559, d1.loss_bbox: 0.3375, d2.loss_cls: 0.1370, d2.loss_bbox: 0.3192, d3.loss_cls: 0.1193, d3.loss_bbox: 0.3125, d4.loss_cls: 0.1153, d4.loss_bbox: 0.3080, d5.loss_cls: 0.1152, d5.loss_bbox: 0.3053, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7143, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5894, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5312, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5080, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4984, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4983, d0.loss_map_cls_all: 0.2032, d0.loss_map_pts_all: 1.2233, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2032, d0.loss_map_pts: 1.2233, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1759, d1.loss_map_pts: 0.9351, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1544, d2.loss_map_pts: 0.7513, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1438, d3.loss_map_pts: 0.6859, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1359, d4.loss_map_pts: 0.6611, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1300, d5.loss_map_pts: 0.6545, d5.loss_map_dir: 0.0079, loss: 24.5017, grad_norm: 162.4018 +2026-02-28 10:37:11,445 - DriveTransformer - INFO - Epoch [9][39200/39528] lr: 7.525e-05, eta: 5 days, 0:25:38, time: 0.714, data_time: 0.037, memory: 19865, loss_cls: 0.1149, loss_bbox: 0.3137, loss_traj: 0.6187, loss_traj_cls: 0.0022, loss_map_cls: 0.1114, loss_map_pts: 0.5273, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.9715, d0.loss_plan_l1_fix_dist: 0.3721, d1.loss_plan_l1_fix_time: 0.9041, d1.loss_plan_l1_fix_dist: 0.1931, d2.loss_plan_l1_fix_time: 0.8862, d2.loss_plan_l1_fix_dist: 0.2204, d3.loss_plan_l1_fix_time: 0.8818, d3.loss_plan_l1_fix_dist: 0.2260, d4.loss_plan_l1_fix_time: 0.8826, d4.loss_plan_l1_fix_dist: 0.2226, d5.loss_plan_l1_fix_time: 0.8835, d5.loss_plan_l1_fix_dist: 0.2255, d6.loss_plan_l1_fix_time: 0.8849, d6.loss_plan_l1_fix_dist: 0.2497, d0.loss_cls_all: 0.1666, d0.loss_bbox_all: 0.3760, d0.loss_cls: 0.1666, d0.loss_bbox: 0.3760, d1.loss_cls: 0.1531, d1.loss_bbox: 0.3459, d2.loss_cls: 0.1375, d2.loss_bbox: 0.3234, d3.loss_cls: 0.1205, d3.loss_bbox: 0.3192, d4.loss_cls: 0.1166, d4.loss_bbox: 0.3144, d5.loss_cls: 0.1128, d5.loss_bbox: 0.3154, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8910, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6991, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6493, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6236, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6176, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6162, d0.loss_map_cls_all: 0.1932, d0.loss_map_pts_all: 1.1091, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1932, d0.loss_map_pts: 1.1091, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1599, d1.loss_map_pts: 0.7705, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1341, d2.loss_map_pts: 0.6198, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1241, d3.loss_map_pts: 0.5551, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1183, d4.loss_map_pts: 0.5343, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1137, d5.loss_map_pts: 0.5283, d5.loss_map_dir: 0.0063, loss: 25.4483, grad_norm: 162.5313 +2026-02-28 10:37:49,147 - DriveTransformer - INFO - Epoch [9][39250/39528] lr: 7.525e-05, eta: 5 days, 0:25:07, time: 0.753, data_time: 0.035, memory: 19865, loss_cls: 0.1229, loss_bbox: 0.3259, loss_traj: 0.5140, loss_traj_cls: 0.0021, loss_map_cls: 0.1408, loss_map_pts: 0.6887, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.3208, d0.loss_plan_l1_fix_dist: 0.4526, d1.loss_plan_l1_fix_time: 0.8475, d1.loss_plan_l1_fix_dist: 0.1879, d2.loss_plan_l1_fix_time: 0.8378, d2.loss_plan_l1_fix_dist: 0.1990, d3.loss_plan_l1_fix_time: 0.8207, d3.loss_plan_l1_fix_dist: 0.1916, d4.loss_plan_l1_fix_time: 0.8202, d4.loss_plan_l1_fix_dist: 0.2049, d5.loss_plan_l1_fix_time: 0.8213, d5.loss_plan_l1_fix_dist: 0.2113, d6.loss_plan_l1_fix_time: 0.8237, d6.loss_plan_l1_fix_dist: 0.2446, d0.loss_cls_all: 0.1650, d0.loss_bbox_all: 0.4047, d0.loss_cls: 0.1650, d0.loss_bbox: 0.4047, d1.loss_cls: 0.1541, d1.loss_bbox: 0.3680, d2.loss_cls: 0.1439, d2.loss_bbox: 0.3395, d3.loss_cls: 0.1248, d3.loss_bbox: 0.3321, d4.loss_cls: 0.1226, d4.loss_bbox: 0.3265, d5.loss_cls: 0.1216, d5.loss_bbox: 0.3262, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7639, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6101, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5492, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5284, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5199, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5174, d0.loss_map_cls_all: 0.2395, d0.loss_map_pts_all: 1.3751, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2395, d0.loss_map_pts: 1.3751, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1975, d1.loss_map_pts: 1.0096, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1680, d2.loss_map_pts: 0.8164, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1576, d3.loss_map_pts: 0.7333, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1495, d4.loss_map_pts: 0.7002, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1434, d5.loss_map_pts: 0.6899, d5.loss_map_dir: 0.0081, loss: 25.8263, grad_norm: 161.7998 +2026-02-28 10:38:25,327 - DriveTransformer - INFO - Epoch [9][39300/39528] lr: 7.525e-05, eta: 5 days, 0:24:29, time: 0.724, data_time: 0.036, memory: 19865, loss_cls: 0.1097, loss_bbox: 0.3078, loss_traj: 0.5589, loss_traj_cls: 0.0021, loss_map_cls: 0.1121, loss_map_pts: 0.5606, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.5173, d0.loss_plan_l1_fix_dist: 0.3720, d1.loss_plan_l1_fix_time: 0.8634, d1.loss_plan_l1_fix_dist: 0.1809, d2.loss_plan_l1_fix_time: 0.8481, d2.loss_plan_l1_fix_dist: 0.1885, d3.loss_plan_l1_fix_time: 0.8444, d3.loss_plan_l1_fix_dist: 0.1808, d4.loss_plan_l1_fix_time: 0.8456, d4.loss_plan_l1_fix_dist: 0.1931, d5.loss_plan_l1_fix_time: 0.8474, d5.loss_plan_l1_fix_dist: 0.1956, d6.loss_plan_l1_fix_time: 0.8502, d6.loss_plan_l1_fix_dist: 0.2213, d0.loss_cls_all: 0.1579, d0.loss_bbox_all: 0.3643, d0.loss_cls: 0.1579, d0.loss_bbox: 0.3643, d1.loss_cls: 0.1501, d1.loss_bbox: 0.3356, d2.loss_cls: 0.1440, d2.loss_bbox: 0.3167, d3.loss_cls: 0.1182, d3.loss_bbox: 0.3101, d4.loss_cls: 0.1105, d4.loss_bbox: 0.3095, d5.loss_cls: 0.1102, d5.loss_bbox: 0.3078, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7907, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6401, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5780, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5693, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5632, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5578, d0.loss_map_cls_all: 0.1860, d0.loss_map_pts_all: 1.1653, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1860, d0.loss_map_pts: 1.1653, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1509, d1.loss_map_pts: 0.8203, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1332, d2.loss_map_pts: 0.6520, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1232, d3.loss_map_pts: 0.5925, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1171, d4.loss_map_pts: 0.5664, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1140, d5.loss_map_pts: 0.5609, d5.loss_map_dir: 0.0072, loss: 24.3499, grad_norm: 156.6292 +2026-02-28 10:39:02,963 - DriveTransformer - INFO - Epoch [9][39350/39528] lr: 7.525e-05, eta: 5 days, 0:23:58, time: 0.753, data_time: 0.037, memory: 19865, loss_cls: 0.1052, loss_bbox: 0.2916, loss_traj: 0.5592, loss_traj_cls: 0.0022, loss_map_cls: 0.1184, loss_map_pts: 0.5717, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.6123, d0.loss_plan_l1_fix_dist: 0.3577, d1.loss_plan_l1_fix_time: 0.8523, d1.loss_plan_l1_fix_dist: 0.1903, d2.loss_plan_l1_fix_time: 0.8401, d2.loss_plan_l1_fix_dist: 0.1888, d3.loss_plan_l1_fix_time: 0.8409, d3.loss_plan_l1_fix_dist: 0.1861, d4.loss_plan_l1_fix_time: 0.8439, d4.loss_plan_l1_fix_dist: 0.1746, d5.loss_plan_l1_fix_time: 0.8466, d5.loss_plan_l1_fix_dist: 0.1900, d6.loss_plan_l1_fix_time: 0.8500, d6.loss_plan_l1_fix_dist: 0.2154, d0.loss_cls_all: 0.1499, d0.loss_bbox_all: 0.3581, d0.loss_cls: 0.1499, d0.loss_bbox: 0.3581, d1.loss_cls: 0.1408, d1.loss_bbox: 0.3230, d2.loss_cls: 0.1299, d2.loss_bbox: 0.3020, d3.loss_cls: 0.1128, d3.loss_bbox: 0.2958, d4.loss_cls: 0.1081, d4.loss_bbox: 0.2904, d5.loss_cls: 0.1066, d5.loss_bbox: 0.2902, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7639, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6110, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5797, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5613, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5597, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5582, d0.loss_map_cls_all: 0.2067, d0.loss_map_pts_all: 1.1914, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2067, d0.loss_map_pts: 1.1914, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1695, d1.loss_map_pts: 0.8377, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1465, d2.loss_map_pts: 0.6676, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1355, d3.loss_map_pts: 0.6023, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1275, d4.loss_map_pts: 0.5783, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1207, d5.loss_map_pts: 0.5715, d5.loss_map_dir: 0.0077, loss: 24.4070, grad_norm: 147.4036 +2026-02-28 10:39:39,694 - DriveTransformer - INFO - Epoch [9][39400/39528] lr: 7.525e-05, eta: 5 days, 0:23:22, time: 0.735, data_time: 0.036, memory: 19865, loss_cls: 0.1060, loss_bbox: 0.2958, loss_traj: 0.5000, loss_traj_cls: 0.0021, loss_map_cls: 0.1278, loss_map_pts: 0.6539, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.3732, d0.loss_plan_l1_fix_dist: 0.4922, d1.loss_plan_l1_fix_time: 0.8104, d1.loss_plan_l1_fix_dist: 0.2113, d2.loss_plan_l1_fix_time: 0.8042, d2.loss_plan_l1_fix_dist: 0.2239, d3.loss_plan_l1_fix_time: 0.7948, d3.loss_plan_l1_fix_dist: 0.2225, d4.loss_plan_l1_fix_time: 0.7969, d4.loss_plan_l1_fix_dist: 0.2089, d5.loss_plan_l1_fix_time: 0.7996, d5.loss_plan_l1_fix_dist: 0.2140, d6.loss_plan_l1_fix_time: 0.8029, d6.loss_plan_l1_fix_dist: 0.2275, d0.loss_cls_all: 0.1561, d0.loss_bbox_all: 0.3745, d0.loss_cls: 0.1561, d0.loss_bbox: 0.3745, d1.loss_cls: 0.1470, d1.loss_bbox: 0.3390, d2.loss_cls: 0.1312, d2.loss_bbox: 0.3146, d3.loss_cls: 0.1149, d3.loss_bbox: 0.3035, d4.loss_cls: 0.1073, d4.loss_bbox: 0.2982, d5.loss_cls: 0.1057, d5.loss_bbox: 0.2962, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7047, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5619, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5168, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5056, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4993, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5003, d0.loss_map_cls_all: 0.2270, d0.loss_map_pts_all: 1.3282, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2270, d0.loss_map_pts: 1.3282, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1857, d1.loss_map_pts: 0.9873, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1564, d2.loss_map_pts: 0.7858, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1431, d3.loss_map_pts: 0.6951, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1359, d4.loss_map_pts: 0.6591, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1300, d5.loss_map_pts: 0.6530, d5.loss_map_dir: 0.0078, loss: 24.8827, grad_norm: 143.7144 +2026-02-28 10:40:14,665 - DriveTransformer - INFO - Epoch [9][39450/39528] lr: 7.525e-05, eta: 5 days, 0:22:38, time: 0.699, data_time: 0.038, memory: 19865, loss_cls: 0.1084, loss_bbox: 0.3005, loss_traj: 0.5763, loss_traj_cls: 0.0021, loss_map_cls: 0.0909, loss_map_pts: 0.4758, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.5876, d0.loss_plan_l1_fix_dist: 0.3638, d1.loss_plan_l1_fix_time: 0.9119, d1.loss_plan_l1_fix_dist: 0.2049, d2.loss_plan_l1_fix_time: 0.9108, d2.loss_plan_l1_fix_dist: 0.2193, d3.loss_plan_l1_fix_time: 0.9187, d3.loss_plan_l1_fix_dist: 0.2151, d4.loss_plan_l1_fix_time: 0.9237, d4.loss_plan_l1_fix_dist: 0.2012, d5.loss_plan_l1_fix_time: 0.9278, d5.loss_plan_l1_fix_dist: 0.2208, d6.loss_plan_l1_fix_time: 0.9321, d6.loss_plan_l1_fix_dist: 0.2102, d0.loss_cls_all: 0.1536, d0.loss_bbox_all: 0.3592, d0.loss_cls: 0.1536, d0.loss_bbox: 0.3592, d1.loss_cls: 0.1466, d1.loss_bbox: 0.3265, d2.loss_cls: 0.1362, d2.loss_bbox: 0.3077, d3.loss_cls: 0.1173, d3.loss_bbox: 0.3038, d4.loss_cls: 0.1112, d4.loss_bbox: 0.3004, d5.loss_cls: 0.1088, d5.loss_bbox: 0.2994, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8124, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6614, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5997, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5881, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5765, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5762, d0.loss_map_cls_all: 0.1771, d0.loss_map_pts_all: 0.9659, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1771, d0.loss_map_pts: 0.9659, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1407, d1.loss_map_pts: 0.6821, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1140, d2.loss_map_pts: 0.5457, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1040, d3.loss_map_pts: 0.4942, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0972, d4.loss_map_pts: 0.4782, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0928, d5.loss_map_pts: 0.4759, d5.loss_map_dir: 0.0056, loss: 23.8604, grad_norm: 144.0071 +2026-02-28 10:40:50,794 - DriveTransformer - INFO - Epoch [9][39500/39528] lr: 7.525e-05, eta: 5 days, 0:21:59, time: 0.723, data_time: 0.038, memory: 19865, loss_cls: 0.1193, loss_bbox: 0.3097, loss_traj: 0.5382, loss_traj_cls: 0.0020, loss_map_cls: 0.1263, loss_map_pts: 0.5760, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.6823, d0.loss_plan_l1_fix_dist: 0.4537, d1.loss_plan_l1_fix_time: 0.7838, d1.loss_plan_l1_fix_dist: 0.2250, d2.loss_plan_l1_fix_time: 0.7708, d2.loss_plan_l1_fix_dist: 0.2273, d3.loss_plan_l1_fix_time: 0.7610, d3.loss_plan_l1_fix_dist: 0.2242, d4.loss_plan_l1_fix_time: 0.7626, d4.loss_plan_l1_fix_dist: 0.2191, d5.loss_plan_l1_fix_time: 0.7653, d5.loss_plan_l1_fix_dist: 0.2564, d6.loss_plan_l1_fix_time: 0.7680, d6.loss_plan_l1_fix_dist: 0.2526, d0.loss_cls_all: 0.1632, d0.loss_bbox_all: 0.3717, d0.loss_cls: 0.1632, d0.loss_bbox: 0.3717, d1.loss_cls: 0.1589, d1.loss_bbox: 0.3418, d2.loss_cls: 0.1454, d2.loss_bbox: 0.3213, d3.loss_cls: 0.1250, d3.loss_bbox: 0.3162, d4.loss_cls: 0.1180, d4.loss_bbox: 0.3135, d5.loss_cls: 0.1180, d5.loss_bbox: 0.3114, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7751, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6087, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5586, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5374, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5382, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5352, d0.loss_map_cls_all: 0.2145, d0.loss_map_pts_all: 1.1886, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2145, d0.loss_map_pts: 1.1886, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1773, d1.loss_map_pts: 0.8392, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1535, d2.loss_map_pts: 0.6696, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1400, d3.loss_map_pts: 0.6072, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1338, d4.loss_map_pts: 0.5842, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1287, d5.loss_map_pts: 0.5769, d5.loss_map_dir: 0.0071, loss: 24.5934, grad_norm: 143.3576 +2026-02-28 10:41:11,391 - DriveTransformer - INFO - Saving checkpoint at 9 epochs +2026-02-28 10:41:57,155 - DriveTransformer - INFO - Epoch [10][50/39528] lr: 6.944e-05, eta: 5 days, 0:19:56, time: 0.874, data_time: 0.148, memory: 19865, loss_cls: 0.0975, loss_bbox: 0.2782, loss_traj: 0.4701, loss_traj_cls: 0.0021, loss_map_cls: 0.0851, loss_map_pts: 0.4817, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.1403, d0.loss_plan_l1_fix_dist: 0.4063, d1.loss_plan_l1_fix_time: 0.7252, d1.loss_plan_l1_fix_dist: 0.2662, d2.loss_plan_l1_fix_time: 0.7021, d2.loss_plan_l1_fix_dist: 0.2153, d3.loss_plan_l1_fix_time: 0.6970, d3.loss_plan_l1_fix_dist: 0.2151, d4.loss_plan_l1_fix_time: 0.7001, d4.loss_plan_l1_fix_dist: 0.2009, d5.loss_plan_l1_fix_time: 0.7042, d5.loss_plan_l1_fix_dist: 0.2398, d6.loss_plan_l1_fix_time: 0.7096, d6.loss_plan_l1_fix_dist: 0.2230, d0.loss_cls_all: 0.1357, d0.loss_bbox_all: 0.3389, d0.loss_cls: 0.1357, d0.loss_bbox: 0.3389, d1.loss_cls: 0.1355, d1.loss_bbox: 0.3087, d2.loss_cls: 0.1198, d2.loss_bbox: 0.2919, d3.loss_cls: 0.1042, d3.loss_bbox: 0.2839, d4.loss_cls: 0.0981, d4.loss_bbox: 0.2800, d5.loss_cls: 0.0974, d5.loss_bbox: 0.2777, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6641, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5478, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4966, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4824, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4767, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4721, d0.loss_map_cls_all: 0.1769, d0.loss_map_pts_all: 1.0698, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1769, d0.loss_map_pts: 1.0698, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1373, d1.loss_map_pts: 0.7358, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1093, d2.loss_map_pts: 0.5713, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.0994, d3.loss_map_pts: 0.5110, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.0930, d4.loss_map_pts: 0.4893, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0876, d5.loss_map_pts: 0.4820, d5.loss_map_dir: 0.0065, loss: 21.5110, grad_norm: 111.2347 +2026-02-28 10:42:35,166 - DriveTransformer - INFO - Epoch [10][100/39528] lr: 6.944e-05, eta: 5 days, 0:19:27, time: 0.760, data_time: 0.035, memory: 19865, loss_cls: 0.1037, loss_bbox: 0.3285, loss_traj: 0.4962, loss_traj_cls: 0.0020, loss_map_cls: 0.1255, loss_map_pts: 0.6356, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.6660, d0.loss_plan_l1_fix_dist: 0.3549, d1.loss_plan_l1_fix_time: 0.9048, d1.loss_plan_l1_fix_dist: 0.2770, d2.loss_plan_l1_fix_time: 0.8940, d2.loss_plan_l1_fix_dist: 0.1910, d3.loss_plan_l1_fix_time: 0.8914, d3.loss_plan_l1_fix_dist: 0.2190, d4.loss_plan_l1_fix_time: 0.8932, d4.loss_plan_l1_fix_dist: 0.2070, d5.loss_plan_l1_fix_time: 0.8948, d5.loss_plan_l1_fix_dist: 0.2328, d6.loss_plan_l1_fix_time: 0.8971, d6.loss_plan_l1_fix_dist: 0.2326, d0.loss_cls_all: 0.1487, d0.loss_bbox_all: 0.3998, d0.loss_cls: 0.1487, d0.loss_bbox: 0.3998, d1.loss_cls: 0.1454, d1.loss_bbox: 0.3598, d2.loss_cls: 0.1320, d2.loss_bbox: 0.3368, d3.loss_cls: 0.1135, d3.loss_bbox: 0.3312, d4.loss_cls: 0.1054, d4.loss_bbox: 0.3294, d5.loss_cls: 0.1037, d5.loss_bbox: 0.3287, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7474, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5867, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5306, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5056, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5032, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4997, d0.loss_map_cls_all: 0.2145, d0.loss_map_pts_all: 1.2821, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2145, d0.loss_map_pts: 1.2821, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1755, d1.loss_map_pts: 0.9114, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1542, d2.loss_map_pts: 0.7368, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1423, d3.loss_map_pts: 0.6709, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1351, d4.loss_map_pts: 0.6469, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1272, d5.loss_map_pts: 0.6364, d5.loss_map_dir: 0.0084, loss: 25.6050, grad_norm: 117.9605 +2026-02-28 10:43:10,359 - DriveTransformer - INFO - Epoch [10][150/39528] lr: 6.944e-05, eta: 5 days, 0:18:43, time: 0.704, data_time: 0.032, memory: 19865, loss_cls: 0.1000, loss_bbox: 0.2853, loss_traj: 0.5571, loss_traj_cls: 0.0021, loss_map_cls: 0.0880, loss_map_pts: 0.4657, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.3216, d0.loss_plan_l1_fix_dist: 0.5039, d1.loss_plan_l1_fix_time: 0.8748, d1.loss_plan_l1_fix_dist: 0.2883, d2.loss_plan_l1_fix_time: 0.8572, d2.loss_plan_l1_fix_dist: 0.2084, d3.loss_plan_l1_fix_time: 0.8482, d3.loss_plan_l1_fix_dist: 0.2396, d4.loss_plan_l1_fix_time: 0.8492, d4.loss_plan_l1_fix_dist: 0.2248, d5.loss_plan_l1_fix_time: 0.8509, d5.loss_plan_l1_fix_dist: 0.2325, d6.loss_plan_l1_fix_time: 0.8533, d6.loss_plan_l1_fix_dist: 0.2475, d0.loss_cls_all: 0.1478, d0.loss_bbox_all: 0.3592, d0.loss_cls: 0.1478, d0.loss_bbox: 0.3592, d1.loss_cls: 0.1388, d1.loss_bbox: 0.3204, d2.loss_cls: 0.1277, d2.loss_bbox: 0.2959, d3.loss_cls: 0.1086, d3.loss_bbox: 0.2886, d4.loss_cls: 0.1013, d4.loss_bbox: 0.2870, d5.loss_cls: 0.0999, d5.loss_bbox: 0.2860, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8723, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6540, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5865, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5666, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5596, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5589, d0.loss_map_cls_all: 0.1885, d0.loss_map_pts_all: 1.0439, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1885, d0.loss_map_pts: 1.0439, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1440, d1.loss_map_pts: 0.7170, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1156, d2.loss_map_pts: 0.5661, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1018, d3.loss_map_pts: 0.4975, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0945, d4.loss_map_pts: 0.4716, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0900, d5.loss_map_pts: 0.4661, d5.loss_map_dir: 0.0060, loss: 23.5458, grad_norm: 107.7528 +2026-02-28 10:43:46,949 - DriveTransformer - INFO - Epoch [10][200/39528] lr: 6.944e-05, eta: 5 days, 0:18:07, time: 0.732, data_time: 0.031, memory: 19865, loss_cls: 0.1015, loss_bbox: 0.2880, loss_traj: 0.4982, loss_traj_cls: 0.0021, loss_map_cls: 0.1304, loss_map_pts: 0.5780, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.4713, d0.loss_plan_l1_fix_dist: 0.4847, d1.loss_plan_l1_fix_time: 0.9274, d1.loss_plan_l1_fix_dist: 0.3096, d2.loss_plan_l1_fix_time: 0.9200, d2.loss_plan_l1_fix_dist: 0.2502, d3.loss_plan_l1_fix_time: 0.9156, d3.loss_plan_l1_fix_dist: 0.2842, d4.loss_plan_l1_fix_time: 0.9186, d4.loss_plan_l1_fix_dist: 0.2382, d5.loss_plan_l1_fix_time: 0.9233, d5.loss_plan_l1_fix_dist: 0.2551, d6.loss_plan_l1_fix_time: 0.9278, d6.loss_plan_l1_fix_dist: 0.2987, d0.loss_cls_all: 0.1519, d0.loss_bbox_all: 0.3549, d0.loss_cls: 0.1519, d0.loss_bbox: 0.3549, d1.loss_cls: 0.1435, d1.loss_bbox: 0.3214, d2.loss_cls: 0.1299, d2.loss_bbox: 0.2984, d3.loss_cls: 0.1080, d3.loss_bbox: 0.2942, d4.loss_cls: 0.1020, d4.loss_bbox: 0.2898, d5.loss_cls: 0.1014, d5.loss_bbox: 0.2878, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7134, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5760, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5231, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5088, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5006, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4974, d0.loss_map_cls_all: 0.2150, d0.loss_map_pts_all: 1.2282, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2150, d0.loss_map_pts: 1.2282, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1774, d1.loss_map_pts: 0.8610, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1541, d2.loss_map_pts: 0.6828, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1411, d3.loss_map_pts: 0.6138, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1354, d4.loss_map_pts: 0.5880, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1333, d5.loss_map_pts: 0.5787, d5.loss_map_dir: 0.0078, loss: 25.1512, grad_norm: 127.5323 +2026-02-28 10:44:24,156 - DriveTransformer - INFO - Epoch [10][250/39528] lr: 6.944e-05, eta: 5 days, 0:17:34, time: 0.744, data_time: 0.031, memory: 19865, loss_cls: 0.1154, loss_bbox: 0.3071, loss_traj: 0.5408, loss_traj_cls: 0.0020, loss_map_cls: 0.0928, loss_map_pts: 0.5740, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.8856, d0.loss_plan_l1_fix_dist: 0.4435, d1.loss_plan_l1_fix_time: 0.7960, d1.loss_plan_l1_fix_dist: 0.3044, d2.loss_plan_l1_fix_time: 0.7753, d2.loss_plan_l1_fix_dist: 0.2685, d3.loss_plan_l1_fix_time: 0.7700, d3.loss_plan_l1_fix_dist: 0.2907, d4.loss_plan_l1_fix_time: 0.7733, d4.loss_plan_l1_fix_dist: 0.2279, d5.loss_plan_l1_fix_time: 0.7772, d5.loss_plan_l1_fix_dist: 0.2459, d6.loss_plan_l1_fix_time: 0.7812, d6.loss_plan_l1_fix_dist: 0.2712, d0.loss_cls_all: 0.1572, d0.loss_bbox_all: 0.3704, d0.loss_cls: 0.1572, d0.loss_bbox: 0.3704, d1.loss_cls: 0.1479, d1.loss_bbox: 0.3352, d2.loss_cls: 0.1375, d2.loss_bbox: 0.3150, d3.loss_cls: 0.1218, d3.loss_bbox: 0.3116, d4.loss_cls: 0.1169, d4.loss_bbox: 0.3086, d5.loss_cls: 0.1158, d5.loss_bbox: 0.3072, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7420, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6107, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5561, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5452, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5411, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5388, d0.loss_map_cls_all: 0.1658, d0.loss_map_pts_all: 1.1702, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1658, d0.loss_map_pts: 1.1702, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1332, d1.loss_map_pts: 0.8461, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1165, d2.loss_map_pts: 0.6764, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1081, d3.loss_map_pts: 0.6098, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1004, d4.loss_map_pts: 0.5869, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.0958, d5.loss_map_pts: 0.5735, d5.loss_map_dir: 0.0076, loss: 24.6324, grad_norm: 122.8881 +2026-02-28 10:44:59,139 - DriveTransformer - INFO - Epoch [10][300/39528] lr: 6.944e-05, eta: 5 days, 0:16:50, time: 0.700, data_time: 0.033, memory: 19865, loss_cls: 0.1148, loss_bbox: 0.3026, loss_traj: 0.5051, loss_traj_cls: 0.0020, loss_map_cls: 0.1157, loss_map_pts: 0.5025, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.4190, d0.loss_plan_l1_fix_dist: 0.3814, d1.loss_plan_l1_fix_time: 0.8303, d1.loss_plan_l1_fix_dist: 0.2750, d2.loss_plan_l1_fix_time: 0.8107, d2.loss_plan_l1_fix_dist: 0.2852, d3.loss_plan_l1_fix_time: 0.8131, d3.loss_plan_l1_fix_dist: 0.2872, d4.loss_plan_l1_fix_time: 0.8172, d4.loss_plan_l1_fix_dist: 0.2334, d5.loss_plan_l1_fix_time: 0.8217, d5.loss_plan_l1_fix_dist: 0.2689, d6.loss_plan_l1_fix_time: 0.8267, d6.loss_plan_l1_fix_dist: 0.2486, d0.loss_cls_all: 0.1556, d0.loss_bbox_all: 0.3643, d0.loss_cls: 0.1556, d0.loss_bbox: 0.3643, d1.loss_cls: 0.1480, d1.loss_bbox: 0.3314, d2.loss_cls: 0.1379, d2.loss_bbox: 0.3107, d3.loss_cls: 0.1230, d3.loss_bbox: 0.3045, d4.loss_cls: 0.1181, d4.loss_bbox: 0.3011, d5.loss_cls: 0.1150, d5.loss_bbox: 0.3018, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7398, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5805, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5273, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5082, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5056, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5024, d0.loss_map_cls_all: 0.2085, d0.loss_map_pts_all: 1.0604, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.2085, d0.loss_map_pts: 1.0604, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1700, d1.loss_map_pts: 0.7722, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1432, d2.loss_map_pts: 0.6101, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1309, d3.loss_map_pts: 0.5381, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1231, d4.loss_map_pts: 0.5122, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1172, d5.loss_map_pts: 0.5035, d5.loss_map_dir: 0.0055, loss: 23.6617, grad_norm: 120.1890 +2026-02-28 10:45:37,988 - DriveTransformer - INFO - Epoch [10][350/39528] lr: 6.944e-05, eta: 5 days, 0:16:25, time: 0.777, data_time: 0.032, memory: 19865, loss_cls: 0.1143, loss_bbox: 0.3197, loss_traj: 0.4160, loss_traj_cls: 0.0020, loss_map_cls: 0.1121, loss_map_pts: 0.6302, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.4322, d0.loss_plan_l1_fix_dist: 0.4167, d1.loss_plan_l1_fix_time: 0.8909, d1.loss_plan_l1_fix_dist: 0.2178, d2.loss_plan_l1_fix_time: 0.8765, d2.loss_plan_l1_fix_dist: 0.2536, d3.loss_plan_l1_fix_time: 0.8727, d3.loss_plan_l1_fix_dist: 0.2265, d4.loss_plan_l1_fix_time: 0.8758, d4.loss_plan_l1_fix_dist: 0.2013, d5.loss_plan_l1_fix_time: 0.8803, d5.loss_plan_l1_fix_dist: 0.2399, d6.loss_plan_l1_fix_time: 0.8859, d6.loss_plan_l1_fix_dist: 0.2446, d0.loss_cls_all: 0.1626, d0.loss_bbox_all: 0.3792, d0.loss_cls: 0.1626, d0.loss_bbox: 0.3792, d1.loss_cls: 0.1601, d1.loss_bbox: 0.3424, d2.loss_cls: 0.1379, d2.loss_bbox: 0.3280, d3.loss_cls: 0.1234, d3.loss_bbox: 0.3226, d4.loss_cls: 0.1159, d4.loss_bbox: 0.3226, d5.loss_cls: 0.1145, d5.loss_bbox: 0.3205, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6024, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.4519, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4306, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4195, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4196, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4171, d0.loss_map_cls_all: 0.1984, d0.loss_map_pts_all: 1.2748, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.1984, d0.loss_map_pts: 1.2748, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1627, d1.loss_map_pts: 0.9054, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1363, d2.loss_map_pts: 0.7235, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1255, d3.loss_map_pts: 0.6598, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1188, d4.loss_map_pts: 0.6368, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1137, d5.loss_map_pts: 0.6306, d5.loss_map_dir: 0.0095, loss: 24.4595, grad_norm: 117.1315 +2026-02-28 10:46:14,856 - DriveTransformer - INFO - Epoch [10][400/39528] lr: 6.944e-05, eta: 5 days, 0:15:50, time: 0.737, data_time: 0.033, memory: 19865, loss_cls: 0.1022, loss_bbox: 0.2954, loss_traj: 0.4539, loss_traj_cls: 0.0020, loss_map_cls: 0.1245, loss_map_pts: 0.6150, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.9678, d0.loss_plan_l1_fix_dist: 0.3981, d1.loss_plan_l1_fix_time: 0.7652, d1.loss_plan_l1_fix_dist: 0.2001, d2.loss_plan_l1_fix_time: 0.7475, d2.loss_plan_l1_fix_dist: 0.2750, d3.loss_plan_l1_fix_time: 0.7424, d3.loss_plan_l1_fix_dist: 0.2018, d4.loss_plan_l1_fix_time: 0.7460, d4.loss_plan_l1_fix_dist: 0.2245, d5.loss_plan_l1_fix_time: 0.7505, d5.loss_plan_l1_fix_dist: 0.2356, d6.loss_plan_l1_fix_time: 0.7559, d6.loss_plan_l1_fix_dist: 0.2784, d0.loss_cls_all: 0.1498, d0.loss_bbox_all: 0.3532, d0.loss_cls: 0.1498, d0.loss_bbox: 0.3532, d1.loss_cls: 0.1450, d1.loss_bbox: 0.3212, d2.loss_cls: 0.1266, d2.loss_bbox: 0.3023, d3.loss_cls: 0.1127, d3.loss_bbox: 0.2973, d4.loss_cls: 0.1044, d4.loss_bbox: 0.2969, d5.loss_cls: 0.1016, d5.loss_bbox: 0.2959, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6680, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5183, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4631, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4563, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4555, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4535, d0.loss_map_cls_all: 0.2085, d0.loss_map_pts_all: 1.2249, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2085, d0.loss_map_pts: 1.2249, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1747, d1.loss_map_pts: 0.8740, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1508, d2.loss_map_pts: 0.7051, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1395, d3.loss_map_pts: 0.6402, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1308, d4.loss_map_pts: 0.6229, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1274, d5.loss_map_pts: 0.6157, d5.loss_map_dir: 0.0078, loss: 24.1194, grad_norm: 122.5500 +2026-02-28 10:46:51,010 - DriveTransformer - INFO - Epoch [10][450/39528] lr: 6.944e-05, eta: 5 days, 0:15:11, time: 0.723, data_time: 0.033, memory: 19865, loss_cls: 0.1001, loss_bbox: 0.2870, loss_traj: 0.4432, loss_traj_cls: 0.0021, loss_map_cls: 0.1112, loss_map_pts: 0.5199, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.0844, d0.loss_plan_l1_fix_dist: 0.4271, d1.loss_plan_l1_fix_time: 0.7575, d1.loss_plan_l1_fix_dist: 0.2037, d2.loss_plan_l1_fix_time: 0.7433, d2.loss_plan_l1_fix_dist: 0.2766, d3.loss_plan_l1_fix_time: 0.7260, d3.loss_plan_l1_fix_dist: 0.1950, d4.loss_plan_l1_fix_time: 0.7274, d4.loss_plan_l1_fix_dist: 0.2344, d5.loss_plan_l1_fix_time: 0.7316, d5.loss_plan_l1_fix_dist: 0.2188, d6.loss_plan_l1_fix_time: 0.7376, d6.loss_plan_l1_fix_dist: 0.3123, d0.loss_cls_all: 0.1415, d0.loss_bbox_all: 0.3414, d0.loss_cls: 0.1415, d0.loss_bbox: 0.3414, d1.loss_cls: 0.1350, d1.loss_bbox: 0.3134, d2.loss_cls: 0.1211, d2.loss_bbox: 0.2963, d3.loss_cls: 0.1056, d3.loss_bbox: 0.2901, d4.loss_cls: 0.1013, d4.loss_bbox: 0.2878, d5.loss_cls: 0.0999, d5.loss_bbox: 0.2873, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6176, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5032, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4542, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4465, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4422, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4427, d0.loss_map_cls_all: 0.1836, d0.loss_map_pts_all: 1.0834, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1836, d0.loss_map_pts: 1.0834, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1557, d1.loss_map_pts: 0.7626, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1368, d2.loss_map_pts: 0.5989, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1251, d3.loss_map_pts: 0.5467, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1197, d4.loss_map_pts: 0.5257, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1125, d5.loss_map_pts: 0.5206, d5.loss_map_dir: 0.0061, loss: 21.9404, grad_norm: 126.2685 +2026-02-28 10:47:28,270 - DriveTransformer - INFO - Epoch [10][500/39528] lr: 6.944e-05, eta: 5 days, 0:14:38, time: 0.745, data_time: 0.038, memory: 19865, loss_cls: 0.0985, loss_bbox: 0.2818, loss_traj: 0.4882, loss_traj_cls: 0.0021, loss_map_cls: 0.1093, loss_map_pts: 0.5398, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.4766, d0.loss_plan_l1_fix_dist: 0.3949, d1.loss_plan_l1_fix_time: 0.7056, d1.loss_plan_l1_fix_dist: 0.2140, d2.loss_plan_l1_fix_time: 0.6751, d2.loss_plan_l1_fix_dist: 0.2693, d3.loss_plan_l1_fix_time: 0.6844, d3.loss_plan_l1_fix_dist: 0.2135, d4.loss_plan_l1_fix_time: 0.6884, d4.loss_plan_l1_fix_dist: 0.2423, d5.loss_plan_l1_fix_time: 0.6938, d5.loss_plan_l1_fix_dist: 0.2381, d6.loss_plan_l1_fix_time: 0.6998, d6.loss_plan_l1_fix_dist: 0.3519, d0.loss_cls_all: 0.1410, d0.loss_bbox_all: 0.3457, d0.loss_cls: 0.1410, d0.loss_bbox: 0.3457, d1.loss_cls: 0.1339, d1.loss_bbox: 0.3171, d2.loss_cls: 0.1252, d2.loss_bbox: 0.2920, d3.loss_cls: 0.1076, d3.loss_bbox: 0.2873, d4.loss_cls: 0.1005, d4.loss_bbox: 0.2843, d5.loss_cls: 0.0994, d5.loss_bbox: 0.2818, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7108, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5441, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4983, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4896, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4853, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4855, d0.loss_map_cls_all: 0.1930, d0.loss_map_pts_all: 1.1363, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1930, d0.loss_map_pts: 1.1363, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1584, d1.loss_map_pts: 0.7934, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1341, d2.loss_map_pts: 0.6250, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1234, d3.loss_map_pts: 0.5672, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1165, d4.loss_map_pts: 0.5441, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1122, d5.loss_map_pts: 0.5401, d5.loss_map_dir: 0.0075, loss: 22.7191, grad_norm: 125.8666 +2026-02-28 10:48:04,027 - DriveTransformer - INFO - Epoch [10][550/39528] lr: 6.944e-05, eta: 5 days, 0:13:58, time: 0.715, data_time: 0.032, memory: 19865, loss_cls: 0.0997, loss_bbox: 0.2948, loss_traj: 0.7025, loss_traj_cls: 0.0021, loss_map_cls: 0.0915, loss_map_pts: 0.4590, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.7757, d0.loss_plan_l1_fix_dist: 0.4537, d1.loss_plan_l1_fix_time: 0.7640, d1.loss_plan_l1_fix_dist: 0.2399, d2.loss_plan_l1_fix_time: 0.7452, d2.loss_plan_l1_fix_dist: 0.2730, d3.loss_plan_l1_fix_time: 0.7510, d3.loss_plan_l1_fix_dist: 0.2317, d4.loss_plan_l1_fix_time: 0.7541, d4.loss_plan_l1_fix_dist: 0.2514, d5.loss_plan_l1_fix_time: 0.7581, d5.loss_plan_l1_fix_dist: 0.2573, d6.loss_plan_l1_fix_time: 0.7625, d6.loss_plan_l1_fix_dist: 0.3290, d0.loss_cls_all: 0.1350, d0.loss_bbox_all: 0.3464, d0.loss_cls: 0.1350, d0.loss_bbox: 0.3464, d1.loss_cls: 0.1304, d1.loss_bbox: 0.3160, d2.loss_cls: 0.1211, d2.loss_bbox: 0.2988, d3.loss_cls: 0.1071, d3.loss_bbox: 0.2958, d4.loss_cls: 0.1029, d4.loss_bbox: 0.2944, d5.loss_cls: 0.0999, d5.loss_bbox: 0.2946, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9919, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7938, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.7294, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.7080, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.7015, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6978, d0.loss_map_cls_all: 0.1747, d0.loss_map_pts_all: 0.9186, d0.loss_map_dir_all: 0.0044, d0.loss_map_cls: 0.1747, d0.loss_map_pts: 0.9186, d0.loss_map_dir: 0.0044, d1.loss_map_cls: 0.1412, d1.loss_map_pts: 0.6808, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.1143, d2.loss_map_pts: 0.5493, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.1050, d3.loss_map_pts: 0.4926, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0982, d4.loss_map_pts: 0.4725, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0941, d5.loss_map_pts: 0.4599, d5.loss_map_dir: 0.0050, loss: 24.0791, grad_norm: 124.7960 +2026-02-28 10:48:39,672 - DriveTransformer - INFO - Epoch [10][600/39528] lr: 6.944e-05, eta: 5 days, 0:13:17, time: 0.714, data_time: 0.035, memory: 19865, loss_cls: 0.1126, loss_bbox: 0.3009, loss_traj: 0.5429, loss_traj_cls: 0.0021, loss_map_cls: 0.1210, loss_map_pts: 0.5330, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.6397, d0.loss_plan_l1_fix_dist: 0.4263, d1.loss_plan_l1_fix_time: 0.7865, d1.loss_plan_l1_fix_dist: 0.2668, d2.loss_plan_l1_fix_time: 0.7753, d2.loss_plan_l1_fix_dist: 0.2801, d3.loss_plan_l1_fix_time: 0.7719, d3.loss_plan_l1_fix_dist: 0.2232, d4.loss_plan_l1_fix_time: 0.7759, d4.loss_plan_l1_fix_dist: 0.2459, d5.loss_plan_l1_fix_time: 0.7788, d5.loss_plan_l1_fix_dist: 0.2616, d6.loss_plan_l1_fix_time: 0.7827, d6.loss_plan_l1_fix_dist: 0.2568, d0.loss_cls_all: 0.1557, d0.loss_bbox_all: 0.3725, d0.loss_cls: 0.1557, d0.loss_bbox: 0.3725, d1.loss_cls: 0.1531, d1.loss_bbox: 0.3322, d2.loss_cls: 0.1399, d2.loss_bbox: 0.3096, d3.loss_cls: 0.1210, d3.loss_bbox: 0.3030, d4.loss_cls: 0.1141, d4.loss_bbox: 0.3011, d5.loss_cls: 0.1132, d5.loss_bbox: 0.2992, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7917, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6304, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5636, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5526, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5433, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5443, d0.loss_map_cls_all: 0.2134, d0.loss_map_pts_all: 1.0801, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2134, d0.loss_map_pts: 1.0801, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1754, d1.loss_map_pts: 0.7733, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1489, d2.loss_map_pts: 0.6278, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1367, d3.loss_map_pts: 0.5664, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1282, d4.loss_map_pts: 0.5422, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1233, d5.loss_map_pts: 0.5349, d5.loss_map_dir: 0.0061, loss: 24.1509, grad_norm: 132.3206 +2026-02-28 10:49:16,012 - DriveTransformer - INFO - Epoch [10][650/39528] lr: 6.944e-05, eta: 5 days, 0:12:40, time: 0.725, data_time: 0.031, memory: 19865, loss_cls: 0.1095, loss_bbox: 0.3132, loss_traj: 0.5302, loss_traj_cls: 0.0020, loss_map_cls: 0.1388, loss_map_pts: 0.6334, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.5344, d0.loss_plan_l1_fix_dist: 0.4120, d1.loss_plan_l1_fix_time: 0.9632, d1.loss_plan_l1_fix_dist: 0.2800, d2.loss_plan_l1_fix_time: 0.9611, d2.loss_plan_l1_fix_dist: 0.2661, d3.loss_plan_l1_fix_time: 0.9536, d3.loss_plan_l1_fix_dist: 0.2223, d4.loss_plan_l1_fix_time: 0.9589, d4.loss_plan_l1_fix_dist: 0.2331, d5.loss_plan_l1_fix_time: 0.9637, d5.loss_plan_l1_fix_dist: 0.2580, d6.loss_plan_l1_fix_time: 0.9692, d6.loss_plan_l1_fix_dist: 0.2496, d0.loss_cls_all: 0.1595, d0.loss_bbox_all: 0.3737, d0.loss_cls: 0.1595, d0.loss_bbox: 0.3737, d1.loss_cls: 0.1503, d1.loss_bbox: 0.3413, d2.loss_cls: 0.1353, d2.loss_bbox: 0.3204, d3.loss_cls: 0.1182, d3.loss_bbox: 0.3158, d4.loss_cls: 0.1108, d4.loss_bbox: 0.3136, d5.loss_cls: 0.1090, d5.loss_bbox: 0.3133, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7467, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5917, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5490, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5350, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5316, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5313, d0.loss_map_cls_all: 0.2256, d0.loss_map_pts_all: 1.2484, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2256, d0.loss_map_pts: 1.2484, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1894, d1.loss_map_pts: 0.9004, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1658, d2.loss_map_pts: 0.7225, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1556, d3.loss_map_pts: 0.6631, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1477, d4.loss_map_pts: 0.6418, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1415, d5.loss_map_pts: 0.6349, d5.loss_map_dir: 0.0079, loss: 26.1105, grad_norm: 133.0348 +2026-02-28 10:49:52,499 - DriveTransformer - INFO - Epoch [10][700/39528] lr: 6.944e-05, eta: 5 days, 0:12:03, time: 0.730, data_time: 0.031, memory: 19865, loss_cls: 0.1094, loss_bbox: 0.3126, loss_traj: 0.4861, loss_traj_cls: 0.0020, loss_map_cls: 0.1118, loss_map_pts: 0.6365, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.4797, d0.loss_plan_l1_fix_dist: 0.4345, d1.loss_plan_l1_fix_time: 0.7644, d1.loss_plan_l1_fix_dist: 0.2991, d2.loss_plan_l1_fix_time: 0.7503, d2.loss_plan_l1_fix_dist: 0.2391, d3.loss_plan_l1_fix_time: 0.7536, d3.loss_plan_l1_fix_dist: 0.2137, d4.loss_plan_l1_fix_time: 0.7589, d4.loss_plan_l1_fix_dist: 0.2045, d5.loss_plan_l1_fix_time: 0.7634, d5.loss_plan_l1_fix_dist: 0.2028, d6.loss_plan_l1_fix_time: 0.7688, d6.loss_plan_l1_fix_dist: 0.2373, d0.loss_cls_all: 0.1575, d0.loss_bbox_all: 0.3835, d0.loss_cls: 0.1575, d0.loss_bbox: 0.3835, d1.loss_cls: 0.1510, d1.loss_bbox: 0.3456, d2.loss_cls: 0.1368, d2.loss_bbox: 0.3212, d3.loss_cls: 0.1188, d3.loss_bbox: 0.3142, d4.loss_cls: 0.1118, d4.loss_bbox: 0.3125, d5.loss_cls: 0.1092, d5.loss_bbox: 0.3123, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7068, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5632, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5160, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5026, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4933, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4918, d0.loss_map_cls_all: 0.2002, d0.loss_map_pts_all: 1.2494, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2002, d0.loss_map_pts: 1.2494, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1588, d1.loss_map_pts: 0.8961, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1364, d2.loss_map_pts: 0.7209, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1269, d3.loss_map_pts: 0.6606, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1194, d4.loss_map_pts: 0.6431, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1145, d5.loss_map_pts: 0.6374, d5.loss_map_dir: 0.0078, loss: 24.2968, grad_norm: 133.1584 +2026-02-28 10:50:28,705 - DriveTransformer - INFO - Epoch [10][750/39528] lr: 6.944e-05, eta: 5 days, 0:11:25, time: 0.724, data_time: 0.035, memory: 19865, loss_cls: 0.1149, loss_bbox: 0.2954, loss_traj: 0.5299, loss_traj_cls: 0.0021, loss_map_cls: 0.1031, loss_map_pts: 0.5173, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.5697, d0.loss_plan_l1_fix_dist: 0.4604, d1.loss_plan_l1_fix_time: 0.7574, d1.loss_plan_l1_fix_dist: 0.3057, d2.loss_plan_l1_fix_time: 0.7440, d2.loss_plan_l1_fix_dist: 0.2301, d3.loss_plan_l1_fix_time: 0.7456, d3.loss_plan_l1_fix_dist: 0.2251, d4.loss_plan_l1_fix_time: 0.7486, d4.loss_plan_l1_fix_dist: 0.2398, d5.loss_plan_l1_fix_time: 0.7515, d5.loss_plan_l1_fix_dist: 0.2513, d6.loss_plan_l1_fix_time: 0.7554, d6.loss_plan_l1_fix_dist: 0.2860, d0.loss_cls_all: 0.1547, d0.loss_bbox_all: 0.3559, d0.loss_cls: 0.1547, d0.loss_bbox: 0.3559, d1.loss_cls: 0.1500, d1.loss_bbox: 0.3285, d2.loss_cls: 0.1379, d2.loss_bbox: 0.3067, d3.loss_cls: 0.1221, d3.loss_bbox: 0.3004, d4.loss_cls: 0.1162, d4.loss_bbox: 0.2976, d5.loss_cls: 0.1151, d5.loss_bbox: 0.2960, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7020, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5811, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5496, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5381, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5321, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5286, d0.loss_map_cls_all: 0.1807, d0.loss_map_pts_all: 1.0719, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1807, d0.loss_map_pts: 1.0719, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1472, d1.loss_map_pts: 0.7636, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1255, d2.loss_map_pts: 0.5972, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1153, d3.loss_map_pts: 0.5412, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1105, d4.loss_map_pts: 0.5221, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1058, d5.loss_map_pts: 0.5181, d5.loss_map_dir: 0.0066, loss: 23.3657, grad_norm: 134.1621 +2026-02-28 10:51:05,079 - DriveTransformer - INFO - Epoch [10][800/39528] lr: 6.944e-05, eta: 5 days, 0:10:47, time: 0.727, data_time: 0.035, memory: 19865, loss_cls: 0.1060, loss_bbox: 0.3057, loss_traj: 0.5652, loss_traj_cls: 0.0020, loss_map_cls: 0.1168, loss_map_pts: 0.5251, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 3.1205, d0.loss_plan_l1_fix_dist: 0.4974, d1.loss_plan_l1_fix_time: 0.8765, d1.loss_plan_l1_fix_dist: 0.2973, d2.loss_plan_l1_fix_time: 0.8499, d2.loss_plan_l1_fix_dist: 0.2151, d3.loss_plan_l1_fix_time: 0.8334, d3.loss_plan_l1_fix_dist: 0.2253, d4.loss_plan_l1_fix_time: 0.8344, d4.loss_plan_l1_fix_dist: 0.2590, d5.loss_plan_l1_fix_time: 0.8364, d5.loss_plan_l1_fix_dist: 0.2690, d6.loss_plan_l1_fix_time: 0.8389, d6.loss_plan_l1_fix_dist: 0.2776, d0.loss_cls_all: 0.1474, d0.loss_bbox_all: 0.3703, d0.loss_cls: 0.1474, d0.loss_bbox: 0.3703, d1.loss_cls: 0.1385, d1.loss_bbox: 0.3384, d2.loss_cls: 0.1267, d2.loss_bbox: 0.3174, d3.loss_cls: 0.1115, d3.loss_bbox: 0.3113, d4.loss_cls: 0.1064, d4.loss_bbox: 0.3078, d5.loss_cls: 0.1063, d5.loss_bbox: 0.3053, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8396, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6709, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6102, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5811, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5677, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5647, d0.loss_map_cls_all: 0.2136, d0.loss_map_pts_all: 1.1334, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2136, d0.loss_map_pts: 1.1334, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1749, d1.loss_map_pts: 0.7978, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1466, d2.loss_map_pts: 0.6347, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1347, d3.loss_map_pts: 0.5636, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1268, d4.loss_map_pts: 0.5331, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1198, d5.loss_map_pts: 0.5263, d5.loss_map_dir: 0.0061, loss: 25.3964, grad_norm: 131.8817 +2026-02-28 10:51:40,733 - DriveTransformer - INFO - Epoch [10][850/39528] lr: 6.944e-05, eta: 5 days, 0:10:06, time: 0.713, data_time: 0.033, memory: 19865, loss_cls: 0.1129, loss_bbox: 0.3087, loss_traj: 0.4768, loss_traj_cls: 0.0020, loss_map_cls: 0.1167, loss_map_pts: 0.5491, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.8480, d0.loss_plan_l1_fix_dist: 0.4023, d1.loss_plan_l1_fix_time: 0.7863, d1.loss_plan_l1_fix_dist: 0.2630, d2.loss_plan_l1_fix_time: 0.7709, d2.loss_plan_l1_fix_dist: 0.1973, d3.loss_plan_l1_fix_time: 0.7642, d3.loss_plan_l1_fix_dist: 0.2156, d4.loss_plan_l1_fix_time: 0.7665, d4.loss_plan_l1_fix_dist: 0.2630, d5.loss_plan_l1_fix_time: 0.7689, d5.loss_plan_l1_fix_dist: 0.2763, d6.loss_plan_l1_fix_time: 0.7711, d6.loss_plan_l1_fix_dist: 0.2503, d0.loss_cls_all: 0.1629, d0.loss_bbox_all: 0.3769, d0.loss_cls: 0.1629, d0.loss_bbox: 0.3769, d1.loss_cls: 0.1567, d1.loss_bbox: 0.3408, d2.loss_cls: 0.1371, d2.loss_bbox: 0.3188, d3.loss_cls: 0.1197, d3.loss_bbox: 0.3138, d4.loss_cls: 0.1149, d4.loss_bbox: 0.3110, d5.loss_cls: 0.1136, d5.loss_bbox: 0.3096, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6916, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5350, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4965, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4855, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4811, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4786, d0.loss_map_cls_all: 0.2060, d0.loss_map_pts_all: 1.1462, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2060, d0.loss_map_pts: 1.1462, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1741, d1.loss_map_pts: 0.8180, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1478, d2.loss_map_pts: 0.6537, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1344, d3.loss_map_pts: 0.5826, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1260, d4.loss_map_pts: 0.5579, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1185, d5.loss_map_pts: 0.5502, d5.loss_map_dir: 0.0066, loss: 24.0178, grad_norm: 131.5628 +2026-02-28 10:52:18,893 - DriveTransformer - INFO - Epoch [10][900/39528] lr: 6.944e-05, eta: 5 days, 0:09:38, time: 0.763, data_time: 0.034, memory: 19865, loss_cls: 0.1109, loss_bbox: 0.3065, loss_traj: 0.4271, loss_traj_cls: 0.0021, loss_map_cls: 0.1433, loss_map_pts: 0.6907, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.5331, d0.loss_plan_l1_fix_dist: 0.4678, d1.loss_plan_l1_fix_time: 0.8088, d1.loss_plan_l1_fix_dist: 0.2479, d2.loss_plan_l1_fix_time: 0.7930, d2.loss_plan_l1_fix_dist: 0.2056, d3.loss_plan_l1_fix_time: 0.7940, d3.loss_plan_l1_fix_dist: 0.2251, d4.loss_plan_l1_fix_time: 0.7955, d4.loss_plan_l1_fix_dist: 0.2662, d5.loss_plan_l1_fix_time: 0.7978, d5.loss_plan_l1_fix_dist: 0.2799, d6.loss_plan_l1_fix_time: 0.8007, d6.loss_plan_l1_fix_dist: 0.2310, d0.loss_cls_all: 0.1613, d0.loss_bbox_all: 0.3725, d0.loss_cls: 0.1613, d0.loss_bbox: 0.3725, d1.loss_cls: 0.1533, d1.loss_bbox: 0.3362, d2.loss_cls: 0.1345, d2.loss_bbox: 0.3164, d3.loss_cls: 0.1156, d3.loss_bbox: 0.3115, d4.loss_cls: 0.1093, d4.loss_bbox: 0.3097, d5.loss_cls: 0.1097, d5.loss_bbox: 0.3073, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6130, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.4769, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4376, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4329, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4262, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4235, d0.loss_map_cls_all: 0.2344, d0.loss_map_pts_all: 1.3559, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2344, d0.loss_map_pts: 1.3559, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.2040, d1.loss_map_pts: 0.9892, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1765, d2.loss_map_pts: 0.7996, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1622, d3.loss_map_pts: 0.7222, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1533, d4.loss_map_pts: 0.6992, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1456, d5.loss_map_pts: 0.6926, d5.loss_map_dir: 0.0076, loss: 24.9982, grad_norm: 130.2516 +2026-02-28 10:52:58,578 - DriveTransformer - INFO - Epoch [10][950/39528] lr: 6.944e-05, eta: 5 days, 0:09:17, time: 0.794, data_time: 0.040, memory: 19865, loss_cls: 0.1029, loss_bbox: 0.2968, loss_traj: 0.4904, loss_traj_cls: 0.0020, loss_map_cls: 0.1270, loss_map_pts: 0.6080, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.4798, d0.loss_plan_l1_fix_dist: 0.3750, d1.loss_plan_l1_fix_time: 0.7564, d1.loss_plan_l1_fix_dist: 0.2104, d2.loss_plan_l1_fix_time: 0.7434, d2.loss_plan_l1_fix_dist: 0.1919, d3.loss_plan_l1_fix_time: 0.7386, d3.loss_plan_l1_fix_dist: 0.2333, d4.loss_plan_l1_fix_time: 0.7407, d4.loss_plan_l1_fix_dist: 0.2776, d5.loss_plan_l1_fix_time: 0.7435, d5.loss_plan_l1_fix_dist: 0.2863, d6.loss_plan_l1_fix_time: 0.7473, d6.loss_plan_l1_fix_dist: 0.2295, d0.loss_cls_all: 0.1471, d0.loss_bbox_all: 0.3606, d0.loss_cls: 0.1471, d0.loss_bbox: 0.3606, d1.loss_cls: 0.1381, d1.loss_bbox: 0.3268, d2.loss_cls: 0.1231, d2.loss_bbox: 0.3092, d3.loss_cls: 0.1081, d3.loss_bbox: 0.3008, d4.loss_cls: 0.1043, d4.loss_bbox: 0.2981, d5.loss_cls: 0.1029, d5.loss_bbox: 0.2965, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6806, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5598, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5111, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4942, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4920, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4885, d0.loss_map_cls_all: 0.2188, d0.loss_map_pts_all: 1.2760, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2188, d0.loss_map_pts: 1.2760, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1790, d1.loss_map_pts: 0.8956, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1568, d2.loss_map_pts: 0.7112, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1431, d3.loss_map_pts: 0.6442, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1344, d4.loss_map_pts: 0.6201, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1285, d5.loss_map_pts: 0.6084, d5.loss_map_dir: 0.0080, loss: 24.0090, grad_norm: 129.7769 +2026-02-28 10:53:35,301 - DriveTransformer - INFO - Epoch [10][1000/39528] lr: 6.944e-05, eta: 5 days, 0:08:41, time: 0.734, data_time: 0.035, memory: 19865, loss_cls: 0.0935, loss_bbox: 0.3010, loss_traj: 0.4848, loss_traj_cls: 0.0020, loss_map_cls: 0.1206, loss_map_pts: 0.5898, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.7162, d0.loss_plan_l1_fix_dist: 0.3973, d1.loss_plan_l1_fix_time: 0.8346, d1.loss_plan_l1_fix_dist: 0.1791, d2.loss_plan_l1_fix_time: 0.8162, d2.loss_plan_l1_fix_dist: 0.2122, d3.loss_plan_l1_fix_time: 0.8137, d3.loss_plan_l1_fix_dist: 0.2253, d4.loss_plan_l1_fix_time: 0.8159, d4.loss_plan_l1_fix_dist: 0.2126, d5.loss_plan_l1_fix_time: 0.8184, d5.loss_plan_l1_fix_dist: 0.2177, d6.loss_plan_l1_fix_time: 0.8215, d6.loss_plan_l1_fix_dist: 0.2439, d0.loss_cls_all: 0.1470, d0.loss_bbox_all: 0.3582, d0.loss_cls: 0.1470, d0.loss_bbox: 0.3582, d1.loss_cls: 0.1385, d1.loss_bbox: 0.3282, d2.loss_cls: 0.1221, d2.loss_bbox: 0.3088, d3.loss_cls: 0.1047, d3.loss_bbox: 0.3022, d4.loss_cls: 0.0979, d4.loss_bbox: 0.3003, d5.loss_cls: 0.0948, d5.loss_bbox: 0.3000, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6896, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5504, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4986, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4822, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4790, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4759, d0.loss_map_cls_all: 0.2122, d0.loss_map_pts_all: 1.2058, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2122, d0.loss_map_pts: 1.2058, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1719, d1.loss_map_pts: 0.8668, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1476, d2.loss_map_pts: 0.6853, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1347, d3.loss_map_pts: 0.6143, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1276, d4.loss_map_pts: 0.5942, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1223, d5.loss_map_pts: 0.5904, d5.loss_map_dir: 0.0077, loss: 24.1575, grad_norm: 128.6816 +2026-02-28 10:54:12,121 - DriveTransformer - INFO - Epoch [10][1050/39528] lr: 6.944e-05, eta: 5 days, 0:08:06, time: 0.736, data_time: 0.034, memory: 19865, loss_cls: 0.0996, loss_bbox: 0.2986, loss_traj: 0.5220, loss_traj_cls: 0.0021, loss_map_cls: 0.1111, loss_map_pts: 0.5689, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.7745, d0.loss_plan_l1_fix_dist: 0.3818, d1.loss_plan_l1_fix_time: 0.7900, d1.loss_plan_l1_fix_dist: 0.1588, d2.loss_plan_l1_fix_time: 0.7804, d2.loss_plan_l1_fix_dist: 0.2040, d3.loss_plan_l1_fix_time: 0.7755, d3.loss_plan_l1_fix_dist: 0.2407, d4.loss_plan_l1_fix_time: 0.7781, d4.loss_plan_l1_fix_dist: 0.1855, d5.loss_plan_l1_fix_time: 0.7816, d5.loss_plan_l1_fix_dist: 0.2322, d6.loss_plan_l1_fix_time: 0.7859, d6.loss_plan_l1_fix_dist: 0.2293, d0.loss_cls_all: 0.1442, d0.loss_bbox_all: 0.3631, d0.loss_cls: 0.1442, d0.loss_bbox: 0.3631, d1.loss_cls: 0.1385, d1.loss_bbox: 0.3299, d2.loss_cls: 0.1260, d2.loss_bbox: 0.3105, d3.loss_cls: 0.1126, d3.loss_bbox: 0.3037, d4.loss_cls: 0.1023, d4.loss_bbox: 0.2991, d5.loss_cls: 0.1006, d5.loss_bbox: 0.2984, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7381, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5934, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5435, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5298, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5226, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5210, d0.loss_map_cls_all: 0.1983, d0.loss_map_pts_all: 1.2177, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1983, d0.loss_map_pts: 1.2177, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1610, d1.loss_map_pts: 0.8644, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1361, d2.loss_map_pts: 0.6669, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1255, d3.loss_map_pts: 0.5967, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1204, d4.loss_map_pts: 0.5757, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1140, d5.loss_map_pts: 0.5688, d5.loss_map_dir: 0.0079, loss: 24.1127, grad_norm: 129.3908 +2026-02-28 10:54:48,261 - DriveTransformer - INFO - Epoch [10][1100/39528] lr: 6.944e-05, eta: 5 days, 0:07:28, time: 0.723, data_time: 0.033, memory: 19865, loss_cls: 0.1109, loss_bbox: 0.2971, loss_traj: 0.5458, loss_traj_cls: 0.0021, loss_map_cls: 0.1334, loss_map_pts: 0.6072, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.6420, d0.loss_plan_l1_fix_dist: 0.4850, d1.loss_plan_l1_fix_time: 0.9890, d1.loss_plan_l1_fix_dist: 0.1872, d2.loss_plan_l1_fix_time: 0.9772, d2.loss_plan_l1_fix_dist: 0.2344, d3.loss_plan_l1_fix_time: 0.9462, d3.loss_plan_l1_fix_dist: 0.2604, d4.loss_plan_l1_fix_time: 0.9492, d4.loss_plan_l1_fix_dist: 0.2588, d5.loss_plan_l1_fix_time: 0.9533, d5.loss_plan_l1_fix_dist: 0.3217, d6.loss_plan_l1_fix_time: 0.9578, d6.loss_plan_l1_fix_dist: 0.2418, d0.loss_cls_all: 0.1520, d0.loss_bbox_all: 0.3646, d0.loss_cls: 0.1520, d0.loss_bbox: 0.3646, d1.loss_cls: 0.1499, d1.loss_bbox: 0.3310, d2.loss_cls: 0.1354, d2.loss_bbox: 0.3104, d3.loss_cls: 0.1191, d3.loss_bbox: 0.3033, d4.loss_cls: 0.1122, d4.loss_bbox: 0.3004, d5.loss_cls: 0.1113, d5.loss_bbox: 0.2972, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8238, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6254, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5701, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5581, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5526, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5484, d0.loss_map_cls_all: 0.2282, d0.loss_map_pts_all: 1.2799, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2282, d0.loss_map_pts: 1.2799, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1895, d1.loss_map_pts: 0.9131, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1611, d2.loss_map_pts: 0.7101, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1478, d3.loss_map_pts: 0.6403, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1404, d4.loss_map_pts: 0.6144, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1357, d5.loss_map_pts: 0.6083, d5.loss_map_dir: 0.0076, loss: 26.3211, grad_norm: 129.4456 +2026-02-28 10:55:26,285 - DriveTransformer - INFO - Epoch [10][1150/39528] lr: 6.944e-05, eta: 5 days, 0:06:59, time: 0.760, data_time: 0.040, memory: 19865, loss_cls: 0.1194, loss_bbox: 0.3277, loss_traj: 0.5635, loss_traj_cls: 0.0021, loss_map_cls: 0.1326, loss_map_pts: 0.6259, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.6582, d0.loss_plan_l1_fix_dist: 0.4857, d1.loss_plan_l1_fix_time: 0.8738, d1.loss_plan_l1_fix_dist: 0.1929, d2.loss_plan_l1_fix_time: 0.8580, d2.loss_plan_l1_fix_dist: 0.2367, d3.loss_plan_l1_fix_time: 0.8610, d3.loss_plan_l1_fix_dist: 0.2454, d4.loss_plan_l1_fix_time: 0.8634, d4.loss_plan_l1_fix_dist: 0.2975, d5.loss_plan_l1_fix_time: 0.8661, d5.loss_plan_l1_fix_dist: 0.3584, d6.loss_plan_l1_fix_time: 0.8700, d6.loss_plan_l1_fix_dist: 0.2438, d0.loss_cls_all: 0.1636, d0.loss_bbox_all: 0.3975, d0.loss_cls: 0.1636, d0.loss_bbox: 0.3975, d1.loss_cls: 0.1558, d1.loss_bbox: 0.3614, d2.loss_cls: 0.1418, d2.loss_bbox: 0.3391, d3.loss_cls: 0.1280, d3.loss_bbox: 0.3310, d4.loss_cls: 0.1202, d4.loss_bbox: 0.3288, d5.loss_cls: 0.1184, d5.loss_bbox: 0.3276, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8002, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6367, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5758, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5637, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5608, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5609, d0.loss_map_cls_all: 0.2091, d0.loss_map_pts_all: 1.2205, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2091, d0.loss_map_pts: 1.2205, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1753, d1.loss_map_pts: 0.8880, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1579, d2.loss_map_pts: 0.7163, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1461, d3.loss_map_pts: 0.6556, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1383, d4.loss_map_pts: 0.6349, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1336, d5.loss_map_pts: 0.6266, d5.loss_map_dir: 0.0081, loss: 26.0523, grad_norm: 130.4176 +2026-02-28 10:56:03,204 - DriveTransformer - INFO - Epoch [10][1200/39528] lr: 6.944e-05, eta: 5 days, 0:06:24, time: 0.738, data_time: 0.036, memory: 19865, loss_cls: 0.1039, loss_bbox: 0.2933, loss_traj: 0.5409, loss_traj_cls: 0.0021, loss_map_cls: 0.1020, loss_map_pts: 0.5273, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.4598, d0.loss_plan_l1_fix_dist: 0.3534, d1.loss_plan_l1_fix_time: 0.7017, d1.loss_plan_l1_fix_dist: 0.1707, d2.loss_plan_l1_fix_time: 0.6982, d2.loss_plan_l1_fix_dist: 0.2335, d3.loss_plan_l1_fix_time: 0.6979, d3.loss_plan_l1_fix_dist: 0.2085, d4.loss_plan_l1_fix_time: 0.7015, d4.loss_plan_l1_fix_dist: 0.2782, d5.loss_plan_l1_fix_time: 0.7058, d5.loss_plan_l1_fix_dist: 0.3192, d6.loss_plan_l1_fix_time: 0.7115, d6.loss_plan_l1_fix_dist: 0.2132, d0.loss_cls_all: 0.1502, d0.loss_bbox_all: 0.3483, d0.loss_cls: 0.1502, d0.loss_bbox: 0.3483, d1.loss_cls: 0.1402, d1.loss_bbox: 0.3223, d2.loss_cls: 0.1249, d2.loss_bbox: 0.3037, d3.loss_cls: 0.1101, d3.loss_bbox: 0.2979, d4.loss_cls: 0.1052, d4.loss_bbox: 0.2953, d5.loss_cls: 0.1029, d5.loss_bbox: 0.2940, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7794, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6174, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5723, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5547, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5486, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5432, d0.loss_map_cls_all: 0.1873, d0.loss_map_pts_all: 1.0550, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1873, d0.loss_map_pts: 1.0550, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1519, d1.loss_map_pts: 0.7560, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1319, d2.loss_map_pts: 0.6095, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1164, d3.loss_map_pts: 0.5533, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1099, d4.loss_map_pts: 0.5349, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1031, d5.loss_map_pts: 0.5280, d5.loss_map_dir: 0.0072, loss: 22.8707, grad_norm: 129.3070 +2026-02-28 10:56:40,260 - DriveTransformer - INFO - Epoch [10][1250/39528] lr: 6.944e-05, eta: 5 days, 0:05:50, time: 0.741, data_time: 0.032, memory: 19865, loss_cls: 0.1004, loss_bbox: 0.2920, loss_traj: 0.4336, loss_traj_cls: 0.0021, loss_map_cls: 0.1142, loss_map_pts: 0.5778, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.3319, d0.loss_plan_l1_fix_dist: 0.3790, d1.loss_plan_l1_fix_time: 0.8324, d1.loss_plan_l1_fix_dist: 0.1561, d2.loss_plan_l1_fix_time: 0.8244, d2.loss_plan_l1_fix_dist: 0.2390, d3.loss_plan_l1_fix_time: 0.8217, d3.loss_plan_l1_fix_dist: 0.1867, d4.loss_plan_l1_fix_time: 0.8261, d4.loss_plan_l1_fix_dist: 0.2543, d5.loss_plan_l1_fix_time: 0.8313, d5.loss_plan_l1_fix_dist: 0.2785, d6.loss_plan_l1_fix_time: 0.8365, d6.loss_plan_l1_fix_dist: 0.2223, d0.loss_cls_all: 0.1456, d0.loss_bbox_all: 0.3565, d0.loss_cls: 0.1456, d0.loss_bbox: 0.3565, d1.loss_cls: 0.1381, d1.loss_bbox: 0.3254, d2.loss_cls: 0.1229, d2.loss_bbox: 0.3056, d3.loss_cls: 0.1041, d3.loss_bbox: 0.2992, d4.loss_cls: 0.0984, d4.loss_bbox: 0.2959, d5.loss_cls: 0.0995, d5.loss_bbox: 0.2931, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6758, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5053, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4568, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4424, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4371, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4333, d0.loss_map_cls_all: 0.1995, d0.loss_map_pts_all: 1.1716, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1995, d0.loss_map_pts: 1.1716, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1646, d1.loss_map_pts: 0.8370, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1429, d2.loss_map_pts: 0.6707, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1287, d3.loss_map_pts: 0.6111, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1223, d4.loss_map_pts: 0.5874, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1168, d5.loss_map_pts: 0.5794, d5.loss_map_dir: 0.0071, loss: 23.3427, grad_norm: 129.4765 +2026-02-28 10:57:15,045 - DriveTransformer - INFO - Epoch [10][1300/39528] lr: 6.944e-05, eta: 5 days, 0:05:05, time: 0.696, data_time: 0.035, memory: 19865, loss_cls: 0.1217, loss_bbox: 0.3176, loss_traj: 0.5203, loss_traj_cls: 0.0021, loss_map_cls: 0.1066, loss_map_pts: 0.5252, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.7561, d0.loss_plan_l1_fix_dist: 0.4370, d1.loss_plan_l1_fix_time: 0.8625, d1.loss_plan_l1_fix_dist: 0.1927, d2.loss_plan_l1_fix_time: 0.8401, d2.loss_plan_l1_fix_dist: 0.2785, d3.loss_plan_l1_fix_time: 0.8352, d3.loss_plan_l1_fix_dist: 0.2377, d4.loss_plan_l1_fix_time: 0.8388, d4.loss_plan_l1_fix_dist: 0.2539, d5.loss_plan_l1_fix_time: 0.8426, d5.loss_plan_l1_fix_dist: 0.2468, d6.loss_plan_l1_fix_time: 0.8461, d6.loss_plan_l1_fix_dist: 0.2590, d0.loss_cls_all: 0.1721, d0.loss_bbox_all: 0.3943, d0.loss_cls: 0.1721, d0.loss_bbox: 0.3943, d1.loss_cls: 0.1620, d1.loss_bbox: 0.3579, d2.loss_cls: 0.1476, d2.loss_bbox: 0.3334, d3.loss_cls: 0.1304, d3.loss_bbox: 0.3239, d4.loss_cls: 0.1240, d4.loss_bbox: 0.3214, d5.loss_cls: 0.1215, d5.loss_bbox: 0.3196, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7471, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5943, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5506, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5275, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5239, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5205, d0.loss_map_cls_all: 0.1945, d0.loss_map_pts_all: 1.0345, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1945, d0.loss_map_pts: 1.0345, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1599, d1.loss_map_pts: 0.7594, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1344, d2.loss_map_pts: 0.6142, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1212, d3.loss_map_pts: 0.5557, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1122, d4.loss_map_pts: 0.5326, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1082, d5.loss_map_pts: 0.5270, d5.loss_map_dir: 0.0060, loss: 24.3946, grad_norm: 128.8078 +2026-02-28 10:57:51,077 - DriveTransformer - INFO - Epoch [10][1350/39528] lr: 6.944e-05, eta: 5 days, 0:04:26, time: 0.721, data_time: 0.032, memory: 19865, loss_cls: 0.1072, loss_bbox: 0.2875, loss_traj: 0.4662, loss_traj_cls: 0.0020, loss_map_cls: 0.1078, loss_map_pts: 0.6101, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.7280, d0.loss_plan_l1_fix_dist: 0.3824, d1.loss_plan_l1_fix_time: 0.9835, d1.loss_plan_l1_fix_dist: 0.1976, d2.loss_plan_l1_fix_time: 0.9732, d2.loss_plan_l1_fix_dist: 0.2880, d3.loss_plan_l1_fix_time: 0.9666, d3.loss_plan_l1_fix_dist: 0.2857, d4.loss_plan_l1_fix_time: 0.9720, d4.loss_plan_l1_fix_dist: 0.2407, d5.loss_plan_l1_fix_time: 0.9775, d5.loss_plan_l1_fix_dist: 0.2508, d6.loss_plan_l1_fix_time: 0.9829, d6.loss_plan_l1_fix_dist: 0.2913, d0.loss_cls_all: 0.1455, d0.loss_bbox_all: 0.3570, d0.loss_cls: 0.1455, d0.loss_bbox: 0.3570, d1.loss_cls: 0.1428, d1.loss_bbox: 0.3241, d2.loss_cls: 0.1283, d2.loss_bbox: 0.3044, d3.loss_cls: 0.1138, d3.loss_bbox: 0.2954, d4.loss_cls: 0.1081, d4.loss_bbox: 0.2923, d5.loss_cls: 0.1076, d5.loss_bbox: 0.2878, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6635, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5299, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4834, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4753, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4735, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4691, d0.loss_map_cls_all: 0.1971, d0.loss_map_pts_all: 1.1964, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1971, d0.loss_map_pts: 1.1964, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1621, d1.loss_map_pts: 0.8691, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1373, d2.loss_map_pts: 0.7062, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1241, d3.loss_map_pts: 0.6438, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1161, d4.loss_map_pts: 0.6189, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1106, d5.loss_map_pts: 0.6124, d5.loss_map_dir: 0.0071, loss: 25.2543, grad_norm: 134.6964 +2026-02-28 10:58:28,216 - DriveTransformer - INFO - Epoch [10][1400/39528] lr: 6.944e-05, eta: 5 days, 0:03:53, time: 0.744, data_time: 0.036, memory: 19865, loss_cls: 0.1191, loss_bbox: 0.3184, loss_traj: 0.5062, loss_traj_cls: 0.0020, loss_map_cls: 0.1383, loss_map_pts: 0.6442, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.6203, d0.loss_plan_l1_fix_dist: 0.3689, d1.loss_plan_l1_fix_time: 0.7861, d1.loss_plan_l1_fix_dist: 0.1930, d2.loss_plan_l1_fix_time: 0.7828, d2.loss_plan_l1_fix_dist: 0.2876, d3.loss_plan_l1_fix_time: 0.7912, d3.loss_plan_l1_fix_dist: 0.3045, d4.loss_plan_l1_fix_time: 0.7977, d4.loss_plan_l1_fix_dist: 0.2173, d5.loss_plan_l1_fix_time: 0.8040, d5.loss_plan_l1_fix_dist: 0.2681, d6.loss_plan_l1_fix_time: 0.8101, d6.loss_plan_l1_fix_dist: 0.2946, d0.loss_cls_all: 0.1630, d0.loss_bbox_all: 0.3960, d0.loss_cls: 0.1630, d0.loss_bbox: 0.3960, d1.loss_cls: 0.1554, d1.loss_bbox: 0.3579, d2.loss_cls: 0.1420, d2.loss_bbox: 0.3332, d3.loss_cls: 0.1245, d3.loss_bbox: 0.3236, d4.loss_cls: 0.1202, d4.loss_bbox: 0.3193, d5.loss_cls: 0.1191, d5.loss_bbox: 0.3178, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7630, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5869, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5364, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5251, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5137, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5063, d0.loss_map_cls_all: 0.2260, d0.loss_map_pts_all: 1.2646, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2260, d0.loss_map_pts: 1.2646, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1920, d1.loss_map_pts: 0.9345, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1670, d2.loss_map_pts: 0.7503, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1540, d3.loss_map_pts: 0.6794, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1464, d4.loss_map_pts: 0.6544, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1408, d5.loss_map_pts: 0.6457, d5.loss_map_dir: 0.0077, loss: 25.4273, grad_norm: 136.7169 +2026-02-28 10:59:03,535 - DriveTransformer - INFO - Epoch [10][1450/39528] lr: 6.944e-05, eta: 5 days, 0:03:10, time: 0.705, data_time: 0.032, memory: 19865, loss_cls: 0.0962, loss_bbox: 0.2762, loss_traj: 0.4713, loss_traj_cls: 0.0021, loss_map_cls: 0.1009, loss_map_pts: 0.4975, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.4153, d0.loss_plan_l1_fix_dist: 0.3742, d1.loss_plan_l1_fix_time: 0.6702, d1.loss_plan_l1_fix_dist: 0.1688, d2.loss_plan_l1_fix_time: 0.6639, d2.loss_plan_l1_fix_dist: 0.2704, d3.loss_plan_l1_fix_time: 0.6690, d3.loss_plan_l1_fix_dist: 0.2976, d4.loss_plan_l1_fix_time: 0.6724, d4.loss_plan_l1_fix_dist: 0.2012, d5.loss_plan_l1_fix_time: 0.6759, d5.loss_plan_l1_fix_dist: 0.2684, d6.loss_plan_l1_fix_time: 0.6799, d6.loss_plan_l1_fix_dist: 0.2931, d0.loss_cls_all: 0.1316, d0.loss_bbox_all: 0.3341, d0.loss_cls: 0.1316, d0.loss_bbox: 0.3341, d1.loss_cls: 0.1234, d1.loss_bbox: 0.3074, d2.loss_cls: 0.1131, d2.loss_bbox: 0.2853, d3.loss_cls: 0.0980, d3.loss_bbox: 0.2793, d4.loss_cls: 0.0953, d4.loss_bbox: 0.2773, d5.loss_cls: 0.0959, d5.loss_bbox: 0.2764, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6804, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5362, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4842, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4763, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4709, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4691, d0.loss_map_cls_all: 0.1774, d0.loss_map_pts_all: 1.0074, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1774, d0.loss_map_pts: 1.0074, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1482, d1.loss_map_pts: 0.7079, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1244, d2.loss_map_pts: 0.5670, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1127, d3.loss_map_pts: 0.5139, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1068, d4.loss_map_pts: 0.5009, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.1032, d5.loss_map_pts: 0.4951, d5.loss_map_dir: 0.0053, loss: 21.5608, grad_norm: 139.0331 +2026-02-28 10:59:41,095 - DriveTransformer - INFO - Epoch [10][1500/39528] lr: 6.944e-05, eta: 5 days, 0:02:38, time: 0.751, data_time: 0.035, memory: 19865, loss_cls: 0.1107, loss_bbox: 0.2867, loss_traj: 0.4476, loss_traj_cls: 0.0021, loss_map_cls: 0.1030, loss_map_pts: 0.5190, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.5318, d0.loss_plan_l1_fix_dist: 0.4282, d1.loss_plan_l1_fix_time: 0.7840, d1.loss_plan_l1_fix_dist: 0.1747, d2.loss_plan_l1_fix_time: 0.7685, d2.loss_plan_l1_fix_dist: 0.2838, d3.loss_plan_l1_fix_time: 0.7662, d3.loss_plan_l1_fix_dist: 0.3030, d4.loss_plan_l1_fix_time: 0.7684, d4.loss_plan_l1_fix_dist: 0.2268, d5.loss_plan_l1_fix_time: 0.7710, d5.loss_plan_l1_fix_dist: 0.3006, d6.loss_plan_l1_fix_time: 0.7741, d6.loss_plan_l1_fix_dist: 0.3012, d0.loss_cls_all: 0.1518, d0.loss_bbox_all: 0.3496, d0.loss_cls: 0.1518, d0.loss_bbox: 0.3496, d1.loss_cls: 0.1460, d1.loss_bbox: 0.3187, d2.loss_cls: 0.1320, d2.loss_bbox: 0.2988, d3.loss_cls: 0.1161, d3.loss_bbox: 0.2919, d4.loss_cls: 0.1102, d4.loss_bbox: 0.2892, d5.loss_cls: 0.1105, d5.loss_bbox: 0.2866, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6670, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5035, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4667, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4535, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4521, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4474, d0.loss_map_cls_all: 0.1810, d0.loss_map_pts_all: 1.1051, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1810, d0.loss_map_pts: 1.1051, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1508, d1.loss_map_pts: 0.7530, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1294, d2.loss_map_pts: 0.5903, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1185, d3.loss_map_pts: 0.5354, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1109, d4.loss_map_pts: 0.5204, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1051, d5.loss_map_pts: 0.5187, d5.loss_map_dir: 0.0077, loss: 22.9141, grad_norm: 138.1704 +2026-02-28 11:00:16,827 - DriveTransformer - INFO - Epoch [10][1550/39528] lr: 6.944e-05, eta: 5 days, 0:01:58, time: 0.715, data_time: 0.037, memory: 19865, loss_cls: 0.0950, loss_bbox: 0.2699, loss_traj: 0.5299, loss_traj_cls: 0.0021, loss_map_cls: 0.0737, loss_map_pts: 0.4279, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.6758, d0.loss_plan_l1_fix_dist: 0.4699, d1.loss_plan_l1_fix_time: 0.7511, d1.loss_plan_l1_fix_dist: 0.1576, d2.loss_plan_l1_fix_time: 0.7297, d2.loss_plan_l1_fix_dist: 0.2440, d3.loss_plan_l1_fix_time: 0.7296, d3.loss_plan_l1_fix_dist: 0.2572, d4.loss_plan_l1_fix_time: 0.7323, d4.loss_plan_l1_fix_dist: 0.1977, d5.loss_plan_l1_fix_time: 0.7355, d5.loss_plan_l1_fix_dist: 0.2485, d6.loss_plan_l1_fix_time: 0.7397, d6.loss_plan_l1_fix_dist: 0.2571, d0.loss_cls_all: 0.1418, d0.loss_bbox_all: 0.3331, d0.loss_cls: 0.1418, d0.loss_bbox: 0.3331, d1.loss_cls: 0.1348, d1.loss_bbox: 0.3011, d2.loss_cls: 0.1190, d2.loss_bbox: 0.2805, d3.loss_cls: 0.1027, d3.loss_bbox: 0.2721, d4.loss_cls: 0.0955, d4.loss_bbox: 0.2708, d5.loss_cls: 0.0946, d5.loss_bbox: 0.2699, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8252, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6154, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5509, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5338, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5306, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5285, d0.loss_map_cls_all: 0.1377, d0.loss_map_pts_all: 0.9260, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1377, d0.loss_map_pts: 0.9260, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1085, d1.loss_map_pts: 0.6365, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.0894, d2.loss_map_pts: 0.5009, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0827, d3.loss_map_pts: 0.4495, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0776, d4.loss_map_pts: 0.4357, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0747, d5.loss_map_pts: 0.4285, d5.loss_map_dir: 0.0054, loss: 21.8584, grad_norm: 138.5518 +2026-02-28 11:00:55,521 - DriveTransformer - INFO - Epoch [10][1600/39528] lr: 6.944e-05, eta: 5 days, 0:01:32, time: 0.774, data_time: 0.034, memory: 19865, loss_cls: 0.1080, loss_bbox: 0.3100, loss_traj: 0.3901, loss_traj_cls: 0.0020, loss_map_cls: 0.1206, loss_map_pts: 0.6469, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.7851, d0.loss_plan_l1_fix_dist: 0.4151, d1.loss_plan_l1_fix_time: 0.7950, d1.loss_plan_l1_fix_dist: 0.1910, d2.loss_plan_l1_fix_time: 0.7714, d2.loss_plan_l1_fix_dist: 0.2265, d3.loss_plan_l1_fix_time: 0.7497, d3.loss_plan_l1_fix_dist: 0.2258, d4.loss_plan_l1_fix_time: 0.7498, d4.loss_plan_l1_fix_dist: 0.1856, d5.loss_plan_l1_fix_time: 0.7513, d5.loss_plan_l1_fix_dist: 0.2016, d6.loss_plan_l1_fix_time: 0.7535, d6.loss_plan_l1_fix_dist: 0.2247, d0.loss_cls_all: 0.1575, d0.loss_bbox_all: 0.3744, d0.loss_cls: 0.1575, d0.loss_bbox: 0.3744, d1.loss_cls: 0.1541, d1.loss_bbox: 0.3387, d2.loss_cls: 0.1343, d2.loss_bbox: 0.3192, d3.loss_cls: 0.1169, d3.loss_bbox: 0.3123, d4.loss_cls: 0.1108, d4.loss_bbox: 0.3093, d5.loss_cls: 0.1095, d5.loss_bbox: 0.3084, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5814, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.4470, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4102, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.3985, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3867, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3888, d0.loss_map_cls_all: 0.2057, d0.loss_map_pts_all: 1.3500, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2057, d0.loss_map_pts: 1.3500, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1705, d1.loss_map_pts: 0.9586, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1491, d2.loss_map_pts: 0.7442, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1380, d3.loss_map_pts: 0.6734, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1288, d4.loss_map_pts: 0.6511, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1236, d5.loss_map_pts: 0.6467, d5.loss_map_dir: 0.0088, loss: 24.0620, grad_norm: 137.0435 +2026-02-28 11:01:31,161 - DriveTransformer - INFO - Epoch [10][1650/39528] lr: 6.944e-05, eta: 5 days, 0:00:51, time: 0.713, data_time: 0.034, memory: 19865, loss_cls: 0.1221, loss_bbox: 0.3119, loss_traj: 0.4994, loss_traj_cls: 0.0021, loss_map_cls: 0.1327, loss_map_pts: 0.5682, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.8384, d0.loss_plan_l1_fix_dist: 0.4446, d1.loss_plan_l1_fix_time: 0.8030, d1.loss_plan_l1_fix_dist: 0.2323, d2.loss_plan_l1_fix_time: 0.7885, d2.loss_plan_l1_fix_dist: 0.2212, d3.loss_plan_l1_fix_time: 0.7906, d3.loss_plan_l1_fix_dist: 0.2079, d4.loss_plan_l1_fix_time: 0.7934, d4.loss_plan_l1_fix_dist: 0.2020, d5.loss_plan_l1_fix_time: 0.7959, d5.loss_plan_l1_fix_dist: 0.2092, d6.loss_plan_l1_fix_time: 0.7987, d6.loss_plan_l1_fix_dist: 0.2338, d0.loss_cls_all: 0.1613, d0.loss_bbox_all: 0.3814, d0.loss_cls: 0.1613, d0.loss_bbox: 0.3814, d1.loss_cls: 0.1572, d1.loss_bbox: 0.3448, d2.loss_cls: 0.1420, d2.loss_bbox: 0.3223, d3.loss_cls: 0.1282, d3.loss_bbox: 0.3150, d4.loss_cls: 0.1219, d4.loss_bbox: 0.3131, d5.loss_cls: 0.1217, d5.loss_bbox: 0.3108, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7626, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6044, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5390, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5004, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4924, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4888, d0.loss_map_cls_all: 0.2155, d0.loss_map_pts_all: 1.1596, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2155, d0.loss_map_pts: 1.1596, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1839, d1.loss_map_pts: 0.8398, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1570, d2.loss_map_pts: 0.6622, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1458, d3.loss_map_pts: 0.5961, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1387, d4.loss_map_pts: 0.5738, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1344, d5.loss_map_pts: 0.5689, d5.loss_map_dir: 0.0067, loss: 24.5540, grad_norm: 136.7396 +2026-02-28 11:02:07,505 - DriveTransformer - INFO - Epoch [10][1700/39528] lr: 6.944e-05, eta: 5 days, 0:00:13, time: 0.727, data_time: 0.035, memory: 19865, loss_cls: 0.0926, loss_bbox: 0.2901, loss_traj: 0.4947, loss_traj_cls: 0.0020, loss_map_cls: 0.0961, loss_map_pts: 0.5017, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.1704, d0.loss_plan_l1_fix_dist: 0.4182, d1.loss_plan_l1_fix_time: 0.7304, d1.loss_plan_l1_fix_dist: 0.2283, d2.loss_plan_l1_fix_time: 0.7267, d2.loss_plan_l1_fix_dist: 0.1724, d3.loss_plan_l1_fix_time: 0.7268, d3.loss_plan_l1_fix_dist: 0.1680, d4.loss_plan_l1_fix_time: 0.7308, d4.loss_plan_l1_fix_dist: 0.1859, d5.loss_plan_l1_fix_time: 0.7341, d5.loss_plan_l1_fix_dist: 0.2033, d6.loss_plan_l1_fix_time: 0.7381, d6.loss_plan_l1_fix_dist: 0.2228, d0.loss_cls_all: 0.1278, d0.loss_bbox_all: 0.3467, d0.loss_cls: 0.1278, d0.loss_bbox: 0.3467, d1.loss_cls: 0.1225, d1.loss_bbox: 0.3153, d2.loss_cls: 0.1106, d2.loss_bbox: 0.2990, d3.loss_cls: 0.0991, d3.loss_bbox: 0.2917, d4.loss_cls: 0.0943, d4.loss_bbox: 0.2902, d5.loss_cls: 0.0927, d5.loss_bbox: 0.2894, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7248, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5641, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5192, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5075, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4965, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4924, d0.loss_map_cls_all: 0.1808, d0.loss_map_pts_all: 1.1143, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1808, d0.loss_map_pts: 1.1143, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1433, d1.loss_map_pts: 0.7620, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1204, d2.loss_map_pts: 0.5907, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1098, d3.loss_map_pts: 0.5293, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1030, d4.loss_map_pts: 0.5111, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0981, d5.loss_map_pts: 0.5012, d5.loss_map_dir: 0.0064, loss: 22.0065, grad_norm: 141.1077 +2026-02-28 11:02:43,836 - DriveTransformer - INFO - Epoch [10][1750/39528] lr: 6.944e-05, eta: 4 days, 23:59:36, time: 0.727, data_time: 0.032, memory: 19865, loss_cls: 0.1124, loss_bbox: 0.2919, loss_traj: 0.5138, loss_traj_cls: 0.0020, loss_map_cls: 0.1186, loss_map_pts: 0.6027, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.6818, d0.loss_plan_l1_fix_dist: 0.4211, d1.loss_plan_l1_fix_time: 0.8837, d1.loss_plan_l1_fix_dist: 0.2584, d2.loss_plan_l1_fix_time: 0.8721, d2.loss_plan_l1_fix_dist: 0.1906, d3.loss_plan_l1_fix_time: 0.8614, d3.loss_plan_l1_fix_dist: 0.1910, d4.loss_plan_l1_fix_time: 0.8640, d4.loss_plan_l1_fix_dist: 0.2123, d5.loss_plan_l1_fix_time: 0.8672, d5.loss_plan_l1_fix_dist: 0.2381, d6.loss_plan_l1_fix_time: 0.8715, d6.loss_plan_l1_fix_dist: 0.2521, d0.loss_cls_all: 0.1573, d0.loss_bbox_all: 0.3596, d0.loss_cls: 0.1573, d0.loss_bbox: 0.3596, d1.loss_cls: 0.1501, d1.loss_bbox: 0.3250, d2.loss_cls: 0.1336, d2.loss_bbox: 0.3054, d3.loss_cls: 0.1160, d3.loss_bbox: 0.2973, d4.loss_cls: 0.1128, d4.loss_bbox: 0.2927, d5.loss_cls: 0.1107, d5.loss_bbox: 0.2921, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7221, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5623, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5290, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5198, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5162, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5148, d0.loss_map_cls_all: 0.2062, d0.loss_map_pts_all: 1.1869, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2062, d0.loss_map_pts: 1.1869, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1742, d1.loss_map_pts: 0.8755, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1447, d2.loss_map_pts: 0.6998, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1331, d3.loss_map_pts: 0.6362, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1265, d4.loss_map_pts: 0.6110, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1207, d5.loss_map_pts: 0.6032, d5.loss_map_dir: 0.0083, loss: 24.8209, grad_norm: 144.5508 +2026-02-28 11:03:17,846 - DriveTransformer - INFO - Epoch [10][1800/39528] lr: 6.944e-05, eta: 4 days, 23:58:47, time: 0.680, data_time: 0.033, memory: 19865, loss_cls: 0.1162, loss_bbox: 0.3053, loss_traj: 0.5887, loss_traj_cls: 0.0019, loss_map_cls: 0.1124, loss_map_pts: 0.4678, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 3.0979, d0.loss_plan_l1_fix_dist: 0.4009, d1.loss_plan_l1_fix_time: 0.8874, d1.loss_plan_l1_fix_dist: 0.2583, d2.loss_plan_l1_fix_time: 0.8723, d2.loss_plan_l1_fix_dist: 0.1896, d3.loss_plan_l1_fix_time: 0.8707, d3.loss_plan_l1_fix_dist: 0.1885, d4.loss_plan_l1_fix_time: 0.8727, d4.loss_plan_l1_fix_dist: 0.1963, d5.loss_plan_l1_fix_time: 0.8746, d5.loss_plan_l1_fix_dist: 0.2250, d6.loss_plan_l1_fix_time: 0.8770, d6.loss_plan_l1_fix_dist: 0.2383, d0.loss_cls_all: 0.1566, d0.loss_bbox_all: 0.3756, d0.loss_cls: 0.1566, d0.loss_bbox: 0.3756, d1.loss_cls: 0.1516, d1.loss_bbox: 0.3395, d2.loss_cls: 0.1401, d2.loss_bbox: 0.3170, d3.loss_cls: 0.1225, d3.loss_bbox: 0.3106, d4.loss_cls: 0.1173, d4.loss_bbox: 0.3073, d5.loss_cls: 0.1153, d5.loss_bbox: 0.3063, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8243, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6709, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6142, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5973, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5908, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5846, d0.loss_map_cls_all: 0.1860, d0.loss_map_pts_all: 0.9388, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1860, d0.loss_map_pts: 0.9388, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1583, d1.loss_map_pts: 0.6932, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1344, d2.loss_map_pts: 0.5577, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1219, d3.loss_map_pts: 0.5022, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1178, d4.loss_map_pts: 0.4804, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.1149, d5.loss_map_pts: 0.4684, d5.loss_map_dir: 0.0053, loss: 24.4629, grad_norm: 142.0680 +2026-02-28 11:03:53,166 - DriveTransformer - INFO - Epoch [10][1850/39528] lr: 6.944e-05, eta: 4 days, 23:58:04, time: 0.706, data_time: 0.034, memory: 19865, loss_cls: 0.1035, loss_bbox: 0.2966, loss_traj: 0.6323, loss_traj_cls: 0.0020, loss_map_cls: 0.1141, loss_map_pts: 0.5326, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.4124, d0.loss_plan_l1_fix_dist: 0.4215, d1.loss_plan_l1_fix_time: 0.7721, d1.loss_plan_l1_fix_dist: 0.2541, d2.loss_plan_l1_fix_time: 0.7588, d2.loss_plan_l1_fix_dist: 0.1969, d3.loss_plan_l1_fix_time: 0.7635, d3.loss_plan_l1_fix_dist: 0.1939, d4.loss_plan_l1_fix_time: 0.7663, d4.loss_plan_l1_fix_dist: 0.2172, d5.loss_plan_l1_fix_time: 0.7688, d5.loss_plan_l1_fix_dist: 0.2247, d6.loss_plan_l1_fix_time: 0.7708, d6.loss_plan_l1_fix_dist: 0.2524, d0.loss_cls_all: 0.1519, d0.loss_bbox_all: 0.3640, d0.loss_cls: 0.1519, d0.loss_bbox: 0.3640, d1.loss_cls: 0.1435, d1.loss_bbox: 0.3296, d2.loss_cls: 0.1309, d2.loss_bbox: 0.3065, d3.loss_cls: 0.1124, d3.loss_bbox: 0.3006, d4.loss_cls: 0.1050, d4.loss_bbox: 0.2978, d5.loss_cls: 0.1040, d5.loss_bbox: 0.2962, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9177, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7176, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6600, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6453, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6399, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6347, d0.loss_map_cls_all: 0.2134, d0.loss_map_pts_all: 1.1118, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2134, d0.loss_map_pts: 1.1118, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1794, d1.loss_map_pts: 0.7819, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1469, d2.loss_map_pts: 0.6208, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1326, d3.loss_map_pts: 0.5592, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1248, d4.loss_map_pts: 0.5366, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1163, d5.loss_map_pts: 0.5334, d5.loss_map_dir: 0.0065, loss: 24.2666, grad_norm: 143.8614 +2026-02-28 11:04:29,822 - DriveTransformer - INFO - Epoch [10][1900/39528] lr: 6.944e-05, eta: 4 days, 23:57:28, time: 0.733, data_time: 0.036, memory: 19865, loss_cls: 0.1125, loss_bbox: 0.3214, loss_traj: 0.5896, loss_traj_cls: 0.0019, loss_map_cls: 0.1366, loss_map_pts: 0.6122, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 3.2179, d0.loss_plan_l1_fix_dist: 0.4450, d1.loss_plan_l1_fix_time: 0.8125, d1.loss_plan_l1_fix_dist: 0.2500, d2.loss_plan_l1_fix_time: 0.8006, d2.loss_plan_l1_fix_dist: 0.1972, d3.loss_plan_l1_fix_time: 0.7968, d3.loss_plan_l1_fix_dist: 0.2000, d4.loss_plan_l1_fix_time: 0.7996, d4.loss_plan_l1_fix_dist: 0.2324, d5.loss_plan_l1_fix_time: 0.8033, d5.loss_plan_l1_fix_dist: 0.2386, d6.loss_plan_l1_fix_time: 0.8067, d6.loss_plan_l1_fix_dist: 0.2492, d0.loss_cls_all: 0.1675, d0.loss_bbox_all: 0.3872, d0.loss_cls: 0.1675, d0.loss_bbox: 0.3872, d1.loss_cls: 0.1583, d1.loss_bbox: 0.3553, d2.loss_cls: 0.1414, d2.loss_bbox: 0.3326, d3.loss_cls: 0.1240, d3.loss_bbox: 0.3246, d4.loss_cls: 0.1153, d4.loss_bbox: 0.3232, d5.loss_cls: 0.1131, d5.loss_bbox: 0.3217, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7790, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6351, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6144, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6053, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5950, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5923, d0.loss_map_cls_all: 0.2168, d0.loss_map_pts_all: 1.2289, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2168, d0.loss_map_pts: 1.2289, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1842, d1.loss_map_pts: 0.9015, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1626, d2.loss_map_pts: 0.7178, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1494, d3.loss_map_pts: 0.6472, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1443, d4.loss_map_pts: 0.6207, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1387, d5.loss_map_pts: 0.6130, d5.loss_map_dir: 0.0072, loss: 26.0958, grad_norm: 144.4512 +2026-02-28 11:05:06,339 - DriveTransformer - INFO - Epoch [10][1950/39528] lr: 6.944e-05, eta: 4 days, 23:56:52, time: 0.730, data_time: 0.035, memory: 19865, loss_cls: 0.1385, loss_bbox: 0.3468, loss_traj: 0.5477, loss_traj_cls: 0.0019, loss_map_cls: 0.1243, loss_map_pts: 0.5689, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 3.1390, d0.loss_plan_l1_fix_dist: 0.4647, d1.loss_plan_l1_fix_time: 0.9143, d1.loss_plan_l1_fix_dist: 0.2409, d2.loss_plan_l1_fix_time: 0.8976, d2.loss_plan_l1_fix_dist: 0.1955, d3.loss_plan_l1_fix_time: 0.9010, d3.loss_plan_l1_fix_dist: 0.2091, d4.loss_plan_l1_fix_time: 0.9037, d4.loss_plan_l1_fix_dist: 0.2307, d5.loss_plan_l1_fix_time: 0.9064, d5.loss_plan_l1_fix_dist: 0.2370, d6.loss_plan_l1_fix_time: 0.9091, d6.loss_plan_l1_fix_dist: 0.2139, d0.loss_cls_all: 0.1868, d0.loss_bbox_all: 0.4256, d0.loss_cls: 0.1868, d0.loss_bbox: 0.4256, d1.loss_cls: 0.1789, d1.loss_bbox: 0.3850, d2.loss_cls: 0.1617, d2.loss_bbox: 0.3624, d3.loss_cls: 0.1449, d3.loss_bbox: 0.3540, d4.loss_cls: 0.1410, d4.loss_bbox: 0.3500, d5.loss_cls: 0.1382, d5.loss_bbox: 0.3480, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8075, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6269, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5718, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5628, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5519, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5478, d0.loss_map_cls_all: 0.2069, d0.loss_map_pts_all: 1.1079, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2069, d0.loss_map_pts: 1.1079, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1741, d1.loss_map_pts: 0.8346, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1511, d2.loss_map_pts: 0.6790, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1391, d3.loss_map_pts: 0.6061, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1327, d4.loss_map_pts: 0.5799, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1270, d5.loss_map_pts: 0.5705, d5.loss_map_dir: 0.0063, loss: 26.2282, grad_norm: 145.1221 +2026-02-28 11:05:41,993 - DriveTransformer - INFO - Epoch [10][2000/39528] lr: 6.944e-05, eta: 4 days, 23:56:11, time: 0.713, data_time: 0.032, memory: 19865, loss_cls: 0.1174, loss_bbox: 0.3060, loss_traj: 0.4755, loss_traj_cls: 0.0020, loss_map_cls: 0.1092, loss_map_pts: 0.5276, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.8154, d0.loss_plan_l1_fix_dist: 0.5605, d1.loss_plan_l1_fix_time: 0.8260, d1.loss_plan_l1_fix_dist: 0.2268, d2.loss_plan_l1_fix_time: 0.8106, d2.loss_plan_l1_fix_dist: 0.2032, d3.loss_plan_l1_fix_time: 0.7935, d3.loss_plan_l1_fix_dist: 0.2225, d4.loss_plan_l1_fix_time: 0.7929, d4.loss_plan_l1_fix_dist: 0.2290, d5.loss_plan_l1_fix_time: 0.7943, d5.loss_plan_l1_fix_dist: 0.2481, d6.loss_plan_l1_fix_time: 0.7971, d6.loss_plan_l1_fix_dist: 0.2209, d0.loss_cls_all: 0.1531, d0.loss_bbox_all: 0.3759, d0.loss_cls: 0.1531, d0.loss_bbox: 0.3759, d1.loss_cls: 0.1473, d1.loss_bbox: 0.3409, d2.loss_cls: 0.1378, d2.loss_bbox: 0.3173, d3.loss_cls: 0.1204, d3.loss_bbox: 0.3119, d4.loss_cls: 0.1162, d4.loss_bbox: 0.3085, d5.loss_cls: 0.1157, d5.loss_bbox: 0.3075, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6692, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5459, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5025, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4843, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4780, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4756, d0.loss_map_cls_all: 0.1806, d0.loss_map_pts_all: 1.0432, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1806, d0.loss_map_pts: 1.0432, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1536, d1.loss_map_pts: 0.7605, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1320, d2.loss_map_pts: 0.6138, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1220, d3.loss_map_pts: 0.5575, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1143, d4.loss_map_pts: 0.5358, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1100, d5.loss_map_pts: 0.5286, d5.loss_map_dir: 0.0062, loss: 23.6448, grad_norm: 143.9384 +2026-02-28 11:06:18,806 - DriveTransformer - INFO - Epoch [10][2050/39528] lr: 6.944e-05, eta: 4 days, 23:55:36, time: 0.736, data_time: 0.032, memory: 19865, loss_cls: 0.1237, loss_bbox: 0.3247, loss_traj: 0.6346, loss_traj_cls: 0.0019, loss_map_cls: 0.1344, loss_map_pts: 0.6440, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.8723, d0.loss_plan_l1_fix_dist: 0.3817, d1.loss_plan_l1_fix_time: 0.8266, d1.loss_plan_l1_fix_dist: 0.2023, d2.loss_plan_l1_fix_time: 0.8067, d2.loss_plan_l1_fix_dist: 0.2014, d3.loss_plan_l1_fix_time: 0.8036, d3.loss_plan_l1_fix_dist: 0.2058, d4.loss_plan_l1_fix_time: 0.8054, d4.loss_plan_l1_fix_dist: 0.2164, d5.loss_plan_l1_fix_time: 0.8074, d5.loss_plan_l1_fix_dist: 0.2485, d6.loss_plan_l1_fix_time: 0.8102, d6.loss_plan_l1_fix_dist: 0.2181, d0.loss_cls_all: 0.1701, d0.loss_bbox_all: 0.3857, d0.loss_cls: 0.1701, d0.loss_bbox: 0.3857, d1.loss_cls: 0.1614, d1.loss_bbox: 0.3528, d2.loss_cls: 0.1518, d2.loss_bbox: 0.3320, d3.loss_cls: 0.1326, d3.loss_bbox: 0.3284, d4.loss_cls: 0.1267, d4.loss_bbox: 0.3263, d5.loss_cls: 0.1232, d5.loss_bbox: 0.3259, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9014, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7145, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6549, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6443, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6378, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6373, d0.loss_map_cls_all: 0.2236, d0.loss_map_pts_all: 1.2665, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2236, d0.loss_map_pts: 1.2665, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1888, d1.loss_map_pts: 0.9235, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1631, d2.loss_map_pts: 0.7552, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1500, d3.loss_map_pts: 0.6780, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1406, d4.loss_map_pts: 0.6509, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1361, d5.loss_map_pts: 0.6440, d5.loss_map_dir: 0.0079, loss: 26.4080, grad_norm: 143.5711 +2026-02-28 11:06:56,258 - DriveTransformer - INFO - Epoch [10][2100/39528] lr: 6.944e-05, eta: 4 days, 23:55:04, time: 0.749, data_time: 0.037, memory: 19865, loss_cls: 0.1229, loss_bbox: 0.3234, loss_traj: 0.4792, loss_traj_cls: 0.0018, loss_map_cls: 0.1377, loss_map_pts: 0.6718, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.8816, d0.loss_plan_l1_fix_dist: 0.4749, d1.loss_plan_l1_fix_time: 0.9964, d1.loss_plan_l1_fix_dist: 0.2236, d2.loss_plan_l1_fix_time: 0.9704, d2.loss_plan_l1_fix_dist: 0.2624, d3.loss_plan_l1_fix_time: 0.9486, d3.loss_plan_l1_fix_dist: 0.2500, d4.loss_plan_l1_fix_time: 0.9496, d4.loss_plan_l1_fix_dist: 0.2717, d5.loss_plan_l1_fix_time: 0.9513, d5.loss_plan_l1_fix_dist: 0.3001, d6.loss_plan_l1_fix_time: 0.9540, d6.loss_plan_l1_fix_dist: 0.2841, d0.loss_cls_all: 0.1675, d0.loss_bbox_all: 0.3922, d0.loss_cls: 0.1675, d0.loss_bbox: 0.3922, d1.loss_cls: 0.1607, d1.loss_bbox: 0.3588, d2.loss_cls: 0.1471, d2.loss_bbox: 0.3347, d3.loss_cls: 0.1289, d3.loss_bbox: 0.3268, d4.loss_cls: 0.1241, d4.loss_bbox: 0.3241, d5.loss_cls: 0.1238, d5.loss_bbox: 0.3228, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6795, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5378, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4927, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4871, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4895, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4839, d0.loss_map_cls_all: 0.2164, d0.loss_map_pts_all: 1.3188, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2164, d0.loss_map_pts: 1.3188, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1861, d1.loss_map_pts: 0.9702, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1661, d2.loss_map_pts: 0.7713, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1520, d3.loss_map_pts: 0.7031, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1468, d4.loss_map_pts: 0.6752, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1395, d5.loss_map_pts: 0.6716, d5.loss_map_dir: 0.0080, loss: 26.8168, grad_norm: 145.2026 +2026-02-28 11:07:34,636 - DriveTransformer - INFO - Epoch [10][2150/39528] lr: 6.944e-05, eta: 4 days, 23:54:36, time: 0.767, data_time: 0.037, memory: 19865, loss_cls: 0.1064, loss_bbox: 0.2966, loss_traj: 0.4752, loss_traj_cls: 0.0019, loss_map_cls: 0.1272, loss_map_pts: 0.6213, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.2593, d0.loss_plan_l1_fix_dist: 0.4537, d1.loss_plan_l1_fix_time: 0.7757, d1.loss_plan_l1_fix_dist: 0.1919, d2.loss_plan_l1_fix_time: 0.7708, d2.loss_plan_l1_fix_dist: 0.2587, d3.loss_plan_l1_fix_time: 0.7716, d3.loss_plan_l1_fix_dist: 0.2253, d4.loss_plan_l1_fix_time: 0.7750, d4.loss_plan_l1_fix_dist: 0.2208, d5.loss_plan_l1_fix_time: 0.7783, d5.loss_plan_l1_fix_dist: 0.2272, d6.loss_plan_l1_fix_time: 0.7814, d6.loss_plan_l1_fix_dist: 0.2211, d0.loss_cls_all: 0.1517, d0.loss_bbox_all: 0.3577, d0.loss_cls: 0.1517, d0.loss_bbox: 0.3577, d1.loss_cls: 0.1445, d1.loss_bbox: 0.3257, d2.loss_cls: 0.1302, d2.loss_bbox: 0.3072, d3.loss_cls: 0.1144, d3.loss_bbox: 0.3002, d4.loss_cls: 0.1082, d4.loss_bbox: 0.2980, d5.loss_cls: 0.1062, d5.loss_bbox: 0.2973, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6414, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5191, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4889, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4790, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4760, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4765, d0.loss_map_cls_all: 0.2118, d0.loss_map_pts_all: 1.2900, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2118, d0.loss_map_pts: 1.2900, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1761, d1.loss_map_pts: 0.9152, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1545, d2.loss_map_pts: 0.7323, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1430, d3.loss_map_pts: 0.6598, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1363, d4.loss_map_pts: 0.6309, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1305, d5.loss_map_pts: 0.6219, d5.loss_map_dir: 0.0080, loss: 23.9414, grad_norm: 145.0218 +2026-02-28 11:08:11,219 - DriveTransformer - INFO - Epoch [10][2200/39528] lr: 6.944e-05, eta: 4 days, 23:54:00, time: 0.733, data_time: 0.035, memory: 19865, loss_cls: 0.1057, loss_bbox: 0.2795, loss_traj: 0.5108, loss_traj_cls: 0.0019, loss_map_cls: 0.0996, loss_map_pts: 0.5291, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.2036, d0.loss_plan_l1_fix_dist: 0.3918, d1.loss_plan_l1_fix_time: 0.6994, d1.loss_plan_l1_fix_dist: 0.1753, d2.loss_plan_l1_fix_time: 0.6899, d2.loss_plan_l1_fix_dist: 0.2698, d3.loss_plan_l1_fix_time: 0.6783, d3.loss_plan_l1_fix_dist: 0.2392, d4.loss_plan_l1_fix_time: 0.6798, d4.loss_plan_l1_fix_dist: 0.1974, d5.loss_plan_l1_fix_time: 0.6829, d5.loss_plan_l1_fix_dist: 0.2021, d6.loss_plan_l1_fix_time: 0.6863, d6.loss_plan_l1_fix_dist: 0.2016, d0.loss_cls_all: 0.1430, d0.loss_bbox_all: 0.3397, d0.loss_cls: 0.1430, d0.loss_bbox: 0.3397, d1.loss_cls: 0.1364, d1.loss_bbox: 0.3096, d2.loss_cls: 0.1247, d2.loss_bbox: 0.2920, d3.loss_cls: 0.1111, d3.loss_bbox: 0.2841, d4.loss_cls: 0.1065, d4.loss_bbox: 0.2812, d5.loss_cls: 0.1041, d5.loss_bbox: 0.2804, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7500, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5753, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5302, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5117, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5069, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5086, d0.loss_map_cls_all: 0.1813, d0.loss_map_pts_all: 1.0643, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1813, d0.loss_map_pts: 1.0643, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1542, d1.loss_map_pts: 0.7555, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1274, d2.loss_map_pts: 0.6026, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1160, d3.loss_map_pts: 0.5528, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1073, d4.loss_map_pts: 0.5339, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1011, d5.loss_map_pts: 0.5304, d5.loss_map_dir: 0.0066, loss: 22.0317, grad_norm: 141.0352 +2026-02-28 11:08:47,700 - DriveTransformer - INFO - Epoch [10][2250/39528] lr: 6.944e-05, eta: 4 days, 23:53:23, time: 0.728, data_time: 0.034, memory: 19865, loss_cls: 0.1263, loss_bbox: 0.3027, loss_traj: 0.4672, loss_traj_cls: 0.0019, loss_map_cls: 0.1009, loss_map_pts: 0.5277, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.6332, d0.loss_plan_l1_fix_dist: 0.4546, d1.loss_plan_l1_fix_time: 0.7944, d1.loss_plan_l1_fix_dist: 0.1777, d2.loss_plan_l1_fix_time: 0.7735, d2.loss_plan_l1_fix_dist: 0.2874, d3.loss_plan_l1_fix_time: 0.7713, d3.loss_plan_l1_fix_dist: 0.2532, d4.loss_plan_l1_fix_time: 0.7726, d4.loss_plan_l1_fix_dist: 0.1950, d5.loss_plan_l1_fix_time: 0.7746, d5.loss_plan_l1_fix_dist: 0.2112, d6.loss_plan_l1_fix_time: 0.7765, d6.loss_plan_l1_fix_dist: 0.2081, d0.loss_cls_all: 0.1742, d0.loss_bbox_all: 0.3690, d0.loss_cls: 0.1742, d0.loss_bbox: 0.3690, d1.loss_cls: 0.1640, d1.loss_bbox: 0.3353, d2.loss_cls: 0.1497, d2.loss_bbox: 0.3146, d3.loss_cls: 0.1334, d3.loss_bbox: 0.3094, d4.loss_cls: 0.1284, d4.loss_bbox: 0.3058, d5.loss_cls: 0.1270, d5.loss_bbox: 0.3031, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7080, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5301, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4901, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4701, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4670, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4641, d0.loss_map_cls_all: 0.1912, d0.loss_map_pts_all: 1.0752, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1912, d0.loss_map_pts: 1.0752, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1558, d1.loss_map_pts: 0.7618, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1303, d2.loss_map_pts: 0.6201, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1176, d3.loss_map_pts: 0.5583, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1100, d4.loss_map_pts: 0.5372, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1043, d5.loss_map_pts: 0.5278, d5.loss_map_dir: 0.0068, loss: 23.3108, grad_norm: 139.4593 +2026-02-28 11:09:25,838 - DriveTransformer - INFO - Epoch [10][2300/39528] lr: 6.944e-05, eta: 4 days, 23:52:54, time: 0.763, data_time: 0.035, memory: 19865, loss_cls: 0.1317, loss_bbox: 0.3234, loss_traj: 0.4412, loss_traj_cls: 0.0019, loss_map_cls: 0.1605, loss_map_pts: 0.6593, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.5010, d0.loss_plan_l1_fix_dist: 0.3236, d1.loss_plan_l1_fix_time: 0.9366, d1.loss_plan_l1_fix_dist: 0.2078, d2.loss_plan_l1_fix_time: 0.9111, d2.loss_plan_l1_fix_dist: 0.2969, d3.loss_plan_l1_fix_time: 0.9088, d3.loss_plan_l1_fix_dist: 0.2557, d4.loss_plan_l1_fix_time: 0.9098, d4.loss_plan_l1_fix_dist: 0.2234, d5.loss_plan_l1_fix_time: 0.9117, d5.loss_plan_l1_fix_dist: 0.2377, d6.loss_plan_l1_fix_time: 0.9140, d6.loss_plan_l1_fix_dist: 0.2277, d0.loss_cls_all: 0.1807, d0.loss_bbox_all: 0.3964, d0.loss_cls: 0.1807, d0.loss_bbox: 0.3964, d1.loss_cls: 0.1732, d1.loss_bbox: 0.3598, d2.loss_cls: 0.1604, d2.loss_bbox: 0.3378, d3.loss_cls: 0.1394, d3.loss_bbox: 0.3301, d4.loss_cls: 0.1313, d4.loss_bbox: 0.3271, d5.loss_cls: 0.1301, d5.loss_bbox: 0.3254, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6227, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5076, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4498, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4470, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4409, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4387, d0.loss_map_cls_all: 0.2513, d0.loss_map_pts_all: 1.3875, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2513, d0.loss_map_pts: 1.3875, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2138, d1.loss_map_pts: 0.9771, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1916, d2.loss_map_pts: 0.7729, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1777, d3.loss_map_pts: 0.6932, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1698, d4.loss_map_pts: 0.6659, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1630, d5.loss_map_pts: 0.6596, d5.loss_map_dir: 0.0084, loss: 25.9924, grad_norm: 139.4179 +2026-02-28 11:10:03,180 - DriveTransformer - INFO - Epoch [10][2350/39528] lr: 6.944e-05, eta: 4 days, 23:52:22, time: 0.747, data_time: 0.033, memory: 19865, loss_cls: 0.1104, loss_bbox: 0.3148, loss_traj: 0.5238, loss_traj_cls: 0.0020, loss_map_cls: 0.1221, loss_map_pts: 0.6072, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.6521, d0.loss_plan_l1_fix_dist: 0.3948, d1.loss_plan_l1_fix_time: 0.8444, d1.loss_plan_l1_fix_dist: 0.2103, d2.loss_plan_l1_fix_time: 0.8273, d2.loss_plan_l1_fix_dist: 0.2388, d3.loss_plan_l1_fix_time: 0.8255, d3.loss_plan_l1_fix_dist: 0.2125, d4.loss_plan_l1_fix_time: 0.8297, d4.loss_plan_l1_fix_dist: 0.2059, d5.loss_plan_l1_fix_time: 0.8347, d5.loss_plan_l1_fix_dist: 0.1986, d6.loss_plan_l1_fix_time: 0.8400, d6.loss_plan_l1_fix_dist: 0.1910, d0.loss_cls_all: 0.1564, d0.loss_bbox_all: 0.3753, d0.loss_cls: 0.1564, d0.loss_bbox: 0.3753, d1.loss_cls: 0.1478, d1.loss_bbox: 0.3439, d2.loss_cls: 0.1341, d2.loss_bbox: 0.3265, d3.loss_cls: 0.1159, d3.loss_bbox: 0.3212, d4.loss_cls: 0.1104, d4.loss_bbox: 0.3181, d5.loss_cls: 0.1112, d5.loss_bbox: 0.3155, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7263, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5918, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5443, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5281, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5270, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5250, d0.loss_map_cls_all: 0.2070, d0.loss_map_pts_all: 1.2590, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2070, d0.loss_map_pts: 1.2590, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1702, d1.loss_map_pts: 0.8923, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1461, d2.loss_map_pts: 0.7142, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1345, d3.loss_map_pts: 0.6394, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1291, d4.loss_map_pts: 0.6169, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1248, d5.loss_map_pts: 0.6065, d5.loss_map_dir: 0.0077, loss: 24.9078, grad_norm: 138.2432 +2026-02-28 11:10:42,108 - DriveTransformer - INFO - Epoch [10][2400/39528] lr: 6.944e-05, eta: 4 days, 23:51:57, time: 0.778, data_time: 0.036, memory: 19865, loss_cls: 0.0995, loss_bbox: 0.2804, loss_traj: 0.4956, loss_traj_cls: 0.0020, loss_map_cls: 0.0919, loss_map_pts: 0.5111, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.5751, d0.loss_plan_l1_fix_dist: 0.6088, d1.loss_plan_l1_fix_time: 0.7598, d1.loss_plan_l1_fix_dist: 0.2869, d2.loss_plan_l1_fix_time: 0.7427, d2.loss_plan_l1_fix_dist: 0.2656, d3.loss_plan_l1_fix_time: 0.7550, d3.loss_plan_l1_fix_dist: 0.2724, d4.loss_plan_l1_fix_time: 0.7590, d4.loss_plan_l1_fix_dist: 0.2668, d5.loss_plan_l1_fix_time: 0.7633, d5.loss_plan_l1_fix_dist: 0.2503, d6.loss_plan_l1_fix_time: 0.7688, d6.loss_plan_l1_fix_dist: 0.2383, d0.loss_cls_all: 0.1336, d0.loss_bbox_all: 0.3377, d0.loss_cls: 0.1336, d0.loss_bbox: 0.3377, d1.loss_cls: 0.1269, d1.loss_bbox: 0.3069, d2.loss_cls: 0.1150, d2.loss_bbox: 0.2891, d3.loss_cls: 0.1047, d3.loss_bbox: 0.2814, d4.loss_cls: 0.0997, d4.loss_bbox: 0.2802, d5.loss_cls: 0.0991, d5.loss_bbox: 0.2812, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6605, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5445, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5161, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5049, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4979, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4976, d0.loss_map_cls_all: 0.1648, d0.loss_map_pts_all: 1.1759, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1648, d0.loss_map_pts: 1.1759, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1316, d1.loss_map_pts: 0.7863, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1137, d2.loss_map_pts: 0.6084, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1028, d3.loss_map_pts: 0.5390, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.0987, d4.loss_map_pts: 0.5186, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.0940, d5.loss_map_pts: 0.5122, d5.loss_map_dir: 0.0075, loss: 23.1924, grad_norm: 147.0526 +2026-02-28 11:11:18,814 - DriveTransformer - INFO - Epoch [10][2450/39528] lr: 6.944e-05, eta: 4 days, 23:51:21, time: 0.734, data_time: 0.035, memory: 19865, loss_cls: 0.1332, loss_bbox: 0.3415, loss_traj: 0.5637, loss_traj_cls: 0.0019, loss_map_cls: 0.1480, loss_map_pts: 0.6406, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 3.0319, d0.loss_plan_l1_fix_dist: 0.4880, d1.loss_plan_l1_fix_time: 0.9758, d1.loss_plan_l1_fix_dist: 0.3408, d2.loss_plan_l1_fix_time: 0.9572, d2.loss_plan_l1_fix_dist: 0.2764, d3.loss_plan_l1_fix_time: 0.9491, d3.loss_plan_l1_fix_dist: 0.2964, d4.loss_plan_l1_fix_time: 0.9513, d4.loss_plan_l1_fix_dist: 0.3001, d5.loss_plan_l1_fix_time: 0.9540, d5.loss_plan_l1_fix_dist: 0.2783, d6.loss_plan_l1_fix_time: 0.9580, d6.loss_plan_l1_fix_dist: 0.2598, d0.loss_cls_all: 0.1885, d0.loss_bbox_all: 0.4063, d0.loss_cls: 0.1885, d0.loss_bbox: 0.4063, d1.loss_cls: 0.1728, d1.loss_bbox: 0.3708, d2.loss_cls: 0.1586, d2.loss_bbox: 0.3505, d3.loss_cls: 0.1386, d3.loss_bbox: 0.3466, d4.loss_cls: 0.1346, d4.loss_bbox: 0.3412, d5.loss_cls: 0.1336, d5.loss_bbox: 0.3401, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7841, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6393, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5888, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5731, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5670, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5636, d0.loss_map_cls_all: 0.2302, d0.loss_map_pts_all: 1.2645, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2302, d0.loss_map_pts: 1.2645, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.2027, d1.loss_map_pts: 0.9184, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1795, d2.loss_map_pts: 0.7441, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1633, d3.loss_map_pts: 0.6730, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1544, d4.loss_map_pts: 0.6498, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1508, d5.loss_map_pts: 0.6412, d5.loss_map_dir: 0.0080, loss: 27.7733, grad_norm: 152.0447 +2026-02-28 11:11:55,475 - DriveTransformer - INFO - Epoch [10][2500/39528] lr: 6.944e-05, eta: 4 days, 23:50:45, time: 0.733, data_time: 0.037, memory: 19865, loss_cls: 0.1048, loss_bbox: 0.2981, loss_traj: 0.5614, loss_traj_cls: 0.0020, loss_map_cls: 0.1010, loss_map_pts: 0.5276, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.7118, d0.loss_plan_l1_fix_dist: 0.5137, d1.loss_plan_l1_fix_time: 0.8211, d1.loss_plan_l1_fix_dist: 0.3618, d2.loss_plan_l1_fix_time: 0.8033, d2.loss_plan_l1_fix_dist: 0.3018, d3.loss_plan_l1_fix_time: 0.7999, d3.loss_plan_l1_fix_dist: 0.3030, d4.loss_plan_l1_fix_time: 0.8014, d4.loss_plan_l1_fix_dist: 0.3078, d5.loss_plan_l1_fix_time: 0.8030, d5.loss_plan_l1_fix_dist: 0.2704, d6.loss_plan_l1_fix_time: 0.8056, d6.loss_plan_l1_fix_dist: 0.2454, d0.loss_cls_all: 0.1466, d0.loss_bbox_all: 0.3534, d0.loss_cls: 0.1466, d0.loss_bbox: 0.3534, d1.loss_cls: 0.1376, d1.loss_bbox: 0.3235, d2.loss_cls: 0.1247, d2.loss_bbox: 0.3054, d3.loss_cls: 0.1131, d3.loss_bbox: 0.2988, d4.loss_cls: 0.1072, d4.loss_bbox: 0.2961, d5.loss_cls: 0.1044, d5.loss_bbox: 0.2978, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7706, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6258, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5805, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5680, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5594, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5575, d0.loss_map_cls_all: 0.1763, d0.loss_map_pts_all: 1.0850, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1763, d0.loss_map_pts: 1.0850, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1483, d1.loss_map_pts: 0.7604, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1296, d2.loss_map_pts: 0.6097, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1131, d3.loss_map_pts: 0.5524, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1057, d4.loss_map_pts: 0.5342, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1022, d5.loss_map_pts: 0.5284, d5.loss_map_dir: 0.0067, loss: 24.3786, grad_norm: 151.1060 +2026-02-28 11:12:31,983 - DriveTransformer - INFO - Epoch [10][2550/39528] lr: 6.944e-05, eta: 4 days, 23:50:09, time: 0.730, data_time: 0.035, memory: 19865, loss_cls: 0.1138, loss_bbox: 0.3164, loss_traj: 0.5573, loss_traj_cls: 0.0019, loss_map_cls: 0.1162, loss_map_pts: 0.6049, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.4769, d0.loss_plan_l1_fix_dist: 0.3816, d1.loss_plan_l1_fix_time: 0.7847, d1.loss_plan_l1_fix_dist: 0.3300, d2.loss_plan_l1_fix_time: 0.7753, d2.loss_plan_l1_fix_dist: 0.2717, d3.loss_plan_l1_fix_time: 0.7791, d3.loss_plan_l1_fix_dist: 0.2733, d4.loss_plan_l1_fix_time: 0.7802, d4.loss_plan_l1_fix_dist: 0.2895, d5.loss_plan_l1_fix_time: 0.7819, d5.loss_plan_l1_fix_dist: 0.2331, d6.loss_plan_l1_fix_time: 0.7839, d6.loss_plan_l1_fix_dist: 0.2268, d0.loss_cls_all: 0.1614, d0.loss_bbox_all: 0.3763, d0.loss_cls: 0.1614, d0.loss_bbox: 0.3763, d1.loss_cls: 0.1589, d1.loss_bbox: 0.3421, d2.loss_cls: 0.1427, d2.loss_bbox: 0.3252, d3.loss_cls: 0.1229, d3.loss_bbox: 0.3197, d4.loss_cls: 0.1167, d4.loss_bbox: 0.3171, d5.loss_cls: 0.1145, d5.loss_bbox: 0.3163, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7967, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6344, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5745, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5620, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5557, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5539, d0.loss_map_cls_all: 0.1962, d0.loss_map_pts_all: 1.1994, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1962, d0.loss_map_pts: 1.1994, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1644, d1.loss_map_pts: 0.8754, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1440, d2.loss_map_pts: 0.7009, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1325, d3.loss_map_pts: 0.6376, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1248, d4.loss_map_pts: 0.6117, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1188, d5.loss_map_pts: 0.6061, d5.loss_map_dir: 0.0071, loss: 24.8759, grad_norm: 150.9716 +2026-02-28 11:13:09,229 - DriveTransformer - INFO - Epoch [10][2600/39528] lr: 6.944e-05, eta: 4 days, 23:49:36, time: 0.745, data_time: 0.036, memory: 19865, loss_cls: 0.1093, loss_bbox: 0.3142, loss_traj: 0.5516, loss_traj_cls: 0.0020, loss_map_cls: 0.1168, loss_map_pts: 0.6260, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.1583, d0.loss_plan_l1_fix_dist: 0.4244, d1.loss_plan_l1_fix_time: 0.8403, d1.loss_plan_l1_fix_dist: 0.3426, d2.loss_plan_l1_fix_time: 0.8237, d2.loss_plan_l1_fix_dist: 0.3258, d3.loss_plan_l1_fix_time: 0.8029, d3.loss_plan_l1_fix_dist: 0.3404, d4.loss_plan_l1_fix_time: 0.8040, d4.loss_plan_l1_fix_dist: 0.2919, d5.loss_plan_l1_fix_time: 0.8067, d5.loss_plan_l1_fix_dist: 0.2559, d6.loss_plan_l1_fix_time: 0.8099, d6.loss_plan_l1_fix_dist: 0.2551, d0.loss_cls_all: 0.1479, d0.loss_bbox_all: 0.3759, d0.loss_cls: 0.1479, d0.loss_bbox: 0.3759, d1.loss_cls: 0.1463, d1.loss_bbox: 0.3393, d2.loss_cls: 0.1329, d2.loss_bbox: 0.3221, d3.loss_cls: 0.1172, d3.loss_bbox: 0.3152, d4.loss_cls: 0.1119, d4.loss_bbox: 0.3120, d5.loss_cls: 0.1085, d5.loss_bbox: 0.3140, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8161, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6291, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5775, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5558, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5533, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5464, d0.loss_map_cls_all: 0.2087, d0.loss_map_pts_all: 1.1993, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2087, d0.loss_map_pts: 1.1993, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1683, d1.loss_map_pts: 0.8775, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1458, d2.loss_map_pts: 0.7079, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1337, d3.loss_map_pts: 0.6454, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1261, d4.loss_map_pts: 0.6241, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1197, d5.loss_map_pts: 0.6227, d5.loss_map_dir: 0.0078, loss: 25.0006, grad_norm: 151.4941 +2026-02-28 11:13:45,555 - DriveTransformer - INFO - Epoch [10][2650/39528] lr: 6.944e-05, eta: 4 days, 23:48:58, time: 0.726, data_time: 0.034, memory: 19865, loss_cls: 0.1284, loss_bbox: 0.3205, loss_traj: 0.4671, loss_traj_cls: 0.0020, loss_map_cls: 0.1293, loss_map_pts: 0.6226, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.5698, d0.loss_plan_l1_fix_dist: 0.4231, d1.loss_plan_l1_fix_time: 0.8830, d1.loss_plan_l1_fix_dist: 0.3337, d2.loss_plan_l1_fix_time: 0.8752, d2.loss_plan_l1_fix_dist: 0.3284, d3.loss_plan_l1_fix_time: 0.8607, d3.loss_plan_l1_fix_dist: 0.3582, d4.loss_plan_l1_fix_time: 0.8624, d4.loss_plan_l1_fix_dist: 0.2831, d5.loss_plan_l1_fix_time: 0.8649, d5.loss_plan_l1_fix_dist: 0.2709, d6.loss_plan_l1_fix_time: 0.8673, d6.loss_plan_l1_fix_dist: 0.2937, d0.loss_cls_all: 0.1807, d0.loss_bbox_all: 0.3886, d0.loss_cls: 0.1807, d0.loss_bbox: 0.3886, d1.loss_cls: 0.1714, d1.loss_bbox: 0.3507, d2.loss_cls: 0.1554, d2.loss_bbox: 0.3294, d3.loss_cls: 0.1365, d3.loss_bbox: 0.3219, d4.loss_cls: 0.1293, d4.loss_bbox: 0.3189, d5.loss_cls: 0.1274, d5.loss_bbox: 0.3196, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6655, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5308, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4840, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4776, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4762, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4676, d0.loss_map_cls_all: 0.2134, d0.loss_map_pts_all: 1.2324, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2134, d0.loss_map_pts: 1.2324, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1835, d1.loss_map_pts: 0.9138, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1597, d2.loss_map_pts: 0.7323, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1461, d3.loss_map_pts: 0.6598, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1375, d4.loss_map_pts: 0.6336, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1317, d5.loss_map_pts: 0.6234, d5.loss_map_dir: 0.0069, loss: 25.6163, grad_norm: 150.2952 +2026-02-28 11:14:23,224 - DriveTransformer - INFO - Epoch [10][2700/39528] lr: 6.944e-05, eta: 4 days, 23:48:27, time: 0.753, data_time: 0.038, memory: 19865, loss_cls: 0.0913, loss_bbox: 0.2808, loss_traj: 0.4982, loss_traj_cls: 0.0021, loss_map_cls: 0.1096, loss_map_pts: 0.5142, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.6833, d0.loss_plan_l1_fix_dist: 0.4573, d1.loss_plan_l1_fix_time: 0.8337, d1.loss_plan_l1_fix_dist: 0.2995, d2.loss_plan_l1_fix_time: 0.8267, d2.loss_plan_l1_fix_dist: 0.2923, d3.loss_plan_l1_fix_time: 0.8214, d3.loss_plan_l1_fix_dist: 0.3329, d4.loss_plan_l1_fix_time: 0.8257, d4.loss_plan_l1_fix_dist: 0.2528, d5.loss_plan_l1_fix_time: 0.8297, d5.loss_plan_l1_fix_dist: 0.2667, d6.loss_plan_l1_fix_time: 0.8338, d6.loss_plan_l1_fix_dist: 0.2667, d0.loss_cls_all: 0.1325, d0.loss_bbox_all: 0.3388, d0.loss_cls: 0.1325, d0.loss_bbox: 0.3388, d1.loss_cls: 0.1255, d1.loss_bbox: 0.3080, d2.loss_cls: 0.1113, d2.loss_bbox: 0.2898, d3.loss_cls: 0.0972, d3.loss_bbox: 0.2849, d4.loss_cls: 0.0926, d4.loss_bbox: 0.2821, d5.loss_cls: 0.0913, d5.loss_bbox: 0.2813, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7497, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5798, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5072, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5041, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5069, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4983, d0.loss_map_cls_all: 0.1838, d0.loss_map_pts_all: 1.1061, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1838, d0.loss_map_pts: 1.1061, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1527, d1.loss_map_pts: 0.7455, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1332, d2.loss_map_pts: 0.5939, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1235, d3.loss_map_pts: 0.5414, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1161, d4.loss_map_pts: 0.5204, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1111, d5.loss_map_pts: 0.5141, d5.loss_map_dir: 0.0066, loss: 23.7602, grad_norm: 149.6457 +2026-02-28 11:14:59,471 - DriveTransformer - INFO - Epoch [10][2750/39528] lr: 6.944e-05, eta: 4 days, 23:47:49, time: 0.725, data_time: 0.036, memory: 19865, loss_cls: 0.0994, loss_bbox: 0.3128, loss_traj: 0.5844, loss_traj_cls: 0.0020, loss_map_cls: 0.1458, loss_map_pts: 0.6264, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.2444, d0.loss_plan_l1_fix_dist: 0.3736, d1.loss_plan_l1_fix_time: 0.9243, d1.loss_plan_l1_fix_dist: 0.2783, d2.loss_plan_l1_fix_time: 0.9182, d2.loss_plan_l1_fix_dist: 0.2696, d3.loss_plan_l1_fix_time: 0.9203, d3.loss_plan_l1_fix_dist: 0.3125, d4.loss_plan_l1_fix_time: 0.9241, d4.loss_plan_l1_fix_dist: 0.2274, d5.loss_plan_l1_fix_time: 0.9285, d5.loss_plan_l1_fix_dist: 0.2595, d6.loss_plan_l1_fix_time: 0.9336, d6.loss_plan_l1_fix_dist: 0.2434, d0.loss_cls_all: 0.1439, d0.loss_bbox_all: 0.3850, d0.loss_cls: 0.1439, d0.loss_bbox: 0.3850, d1.loss_cls: 0.1352, d1.loss_bbox: 0.3498, d2.loss_cls: 0.1238, d2.loss_bbox: 0.3252, d3.loss_cls: 0.1069, d3.loss_bbox: 0.3207, d4.loss_cls: 0.1000, d4.loss_bbox: 0.3163, d5.loss_cls: 0.0986, d5.loss_bbox: 0.3150, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8396, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6618, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5955, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5931, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5837, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5844, d0.loss_map_cls_all: 0.2287, d0.loss_map_pts_all: 1.2822, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2287, d0.loss_map_pts: 1.2822, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.2019, d1.loss_map_pts: 0.9140, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1726, d2.loss_map_pts: 0.7341, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1583, d3.loss_map_pts: 0.6576, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1521, d4.loss_map_pts: 0.6349, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1478, d5.loss_map_pts: 0.6262, d5.loss_map_dir: 0.0071, loss: 26.1169, grad_norm: 151.2687 +2026-02-28 11:15:35,594 - DriveTransformer - INFO - Epoch [10][2800/39528] lr: 6.944e-05, eta: 4 days, 23:47:10, time: 0.722, data_time: 0.040, memory: 19865, loss_cls: 0.1092, loss_bbox: 0.2917, loss_traj: 0.4861, loss_traj_cls: 0.0020, loss_map_cls: 0.1271, loss_map_pts: 0.5416, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.3694, d0.loss_plan_l1_fix_dist: 0.4108, d1.loss_plan_l1_fix_time: 0.8380, d1.loss_plan_l1_fix_dist: 0.2402, d2.loss_plan_l1_fix_time: 0.8243, d2.loss_plan_l1_fix_dist: 0.2363, d3.loss_plan_l1_fix_time: 0.8228, d3.loss_plan_l1_fix_dist: 0.2896, d4.loss_plan_l1_fix_time: 0.8273, d4.loss_plan_l1_fix_dist: 0.2320, d5.loss_plan_l1_fix_time: 0.8327, d5.loss_plan_l1_fix_dist: 0.2628, d6.loss_plan_l1_fix_time: 0.8383, d6.loss_plan_l1_fix_dist: 0.2256, d0.loss_cls_all: 0.1528, d0.loss_bbox_all: 0.3664, d0.loss_cls: 0.1528, d0.loss_bbox: 0.3664, d1.loss_cls: 0.1479, d1.loss_bbox: 0.3270, d2.loss_cls: 0.1366, d2.loss_bbox: 0.3033, d3.loss_cls: 0.1175, d3.loss_bbox: 0.2970, d4.loss_cls: 0.1103, d4.loss_bbox: 0.2935, d5.loss_cls: 0.1087, d5.loss_bbox: 0.2920, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6873, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5507, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4912, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4895, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4836, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4880, d0.loss_map_cls_all: 0.2150, d0.loss_map_pts_all: 1.1713, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2150, d0.loss_map_pts: 1.1713, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1814, d1.loss_map_pts: 0.8312, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1540, d2.loss_map_pts: 0.6490, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1408, d3.loss_map_pts: 0.5765, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1347, d4.loss_map_pts: 0.5487, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1294, d5.loss_map_pts: 0.5424, d5.loss_map_dir: 0.0069, loss: 23.8897, grad_norm: 151.7148 +2026-02-28 11:16:11,001 - DriveTransformer - INFO - Epoch [10][2850/39528] lr: 6.944e-05, eta: 4 days, 23:46:28, time: 0.708, data_time: 0.036, memory: 19865, loss_cls: 0.1124, loss_bbox: 0.3087, loss_traj: 0.6057, loss_traj_cls: 0.0020, loss_map_cls: 0.1131, loss_map_pts: 0.4839, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.8953, d0.loss_plan_l1_fix_dist: 0.4613, d1.loss_plan_l1_fix_time: 0.8505, d1.loss_plan_l1_fix_dist: 0.2366, d2.loss_plan_l1_fix_time: 0.8388, d2.loss_plan_l1_fix_dist: 0.2325, d3.loss_plan_l1_fix_time: 0.8355, d3.loss_plan_l1_fix_dist: 0.2640, d4.loss_plan_l1_fix_time: 0.8374, d4.loss_plan_l1_fix_dist: 0.2405, d5.loss_plan_l1_fix_time: 0.8408, d5.loss_plan_l1_fix_dist: 0.2631, d6.loss_plan_l1_fix_time: 0.8451, d6.loss_plan_l1_fix_dist: 0.2332, d0.loss_cls_all: 0.1630, d0.loss_bbox_all: 0.3749, d0.loss_cls: 0.1630, d0.loss_bbox: 0.3749, d1.loss_cls: 0.1533, d1.loss_bbox: 0.3394, d2.loss_cls: 0.1420, d2.loss_bbox: 0.3169, d3.loss_cls: 0.1235, d3.loss_bbox: 0.3137, d4.loss_cls: 0.1146, d4.loss_bbox: 0.3111, d5.loss_cls: 0.1134, d5.loss_bbox: 0.3089, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8549, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6738, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6385, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6184, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6108, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6059, d0.loss_map_cls_all: 0.1956, d0.loss_map_pts_all: 0.9745, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1956, d0.loss_map_pts: 0.9745, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1618, d1.loss_map_pts: 0.7011, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1410, d2.loss_map_pts: 0.5662, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1294, d3.loss_map_pts: 0.5111, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1204, d4.loss_map_pts: 0.4926, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.1154, d5.loss_map_pts: 0.4837, d5.loss_map_dir: 0.0055, loss: 24.6242, grad_norm: 150.2402 +2026-02-28 11:16:47,074 - DriveTransformer - INFO - Epoch [10][2900/39528] lr: 6.944e-05, eta: 4 days, 23:45:50, time: 0.721, data_time: 0.034, memory: 19865, loss_cls: 0.1038, loss_bbox: 0.3030, loss_traj: 0.5209, loss_traj_cls: 0.0021, loss_map_cls: 0.1089, loss_map_pts: 0.5834, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.2994, d0.loss_plan_l1_fix_dist: 0.5034, d1.loss_plan_l1_fix_time: 0.7812, d1.loss_plan_l1_fix_dist: 0.2200, d2.loss_plan_l1_fix_time: 0.7658, d2.loss_plan_l1_fix_dist: 0.2140, d3.loss_plan_l1_fix_time: 0.7574, d3.loss_plan_l1_fix_dist: 0.2444, d4.loss_plan_l1_fix_time: 0.7582, d4.loss_plan_l1_fix_dist: 0.2319, d5.loss_plan_l1_fix_time: 0.7601, d5.loss_plan_l1_fix_dist: 0.2449, d6.loss_plan_l1_fix_time: 0.7632, d6.loss_plan_l1_fix_dist: 0.2371, d0.loss_cls_all: 0.1516, d0.loss_bbox_all: 0.3733, d0.loss_cls: 0.1516, d0.loss_bbox: 0.3733, d1.loss_cls: 0.1431, d1.loss_bbox: 0.3392, d2.loss_cls: 0.1321, d2.loss_bbox: 0.3146, d3.loss_cls: 0.1134, d3.loss_bbox: 0.3091, d4.loss_cls: 0.1069, d4.loss_bbox: 0.3072, d5.loss_cls: 0.1048, d5.loss_bbox: 0.3045, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7865, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6004, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5481, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5323, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5235, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5213, d0.loss_map_cls_all: 0.1809, d0.loss_map_pts_all: 1.0912, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1809, d0.loss_map_pts: 1.0912, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1549, d1.loss_map_pts: 0.7958, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1336, d2.loss_map_pts: 0.6563, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1246, d3.loss_map_pts: 0.6073, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1170, d4.loss_map_pts: 0.5878, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1134, d5.loss_map_pts: 0.5834, d5.loss_map_dir: 0.0075, loss: 23.6225, grad_norm: 151.3603 +2026-02-28 11:17:24,771 - DriveTransformer - INFO - Epoch [10][2950/39528] lr: 6.944e-05, eta: 4 days, 23:45:19, time: 0.754, data_time: 0.033, memory: 19865, loss_cls: 0.1001, loss_bbox: 0.2822, loss_traj: 0.4228, loss_traj_cls: 0.0021, loss_map_cls: 0.1014, loss_map_pts: 0.5675, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.6379, d0.loss_plan_l1_fix_dist: 0.4729, d1.loss_plan_l1_fix_time: 0.8301, d1.loss_plan_l1_fix_dist: 0.2296, d2.loss_plan_l1_fix_time: 0.8174, d2.loss_plan_l1_fix_dist: 0.2235, d3.loss_plan_l1_fix_time: 0.8100, d3.loss_plan_l1_fix_dist: 0.2674, d4.loss_plan_l1_fix_time: 0.8122, d4.loss_plan_l1_fix_dist: 0.2428, d5.loss_plan_l1_fix_time: 0.8153, d5.loss_plan_l1_fix_dist: 0.2542, d6.loss_plan_l1_fix_time: 0.8190, d6.loss_plan_l1_fix_dist: 0.2406, d0.loss_cls_all: 0.1477, d0.loss_bbox_all: 0.3460, d0.loss_cls: 0.1477, d0.loss_bbox: 0.3460, d1.loss_cls: 0.1375, d1.loss_bbox: 0.3144, d2.loss_cls: 0.1255, d2.loss_bbox: 0.2933, d3.loss_cls: 0.1075, d3.loss_bbox: 0.2884, d4.loss_cls: 0.1029, d4.loss_bbox: 0.2829, d5.loss_cls: 0.1015, d5.loss_bbox: 0.2820, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6454, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.4974, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4353, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4247, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4263, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4256, d0.loss_map_cls_all: 0.1731, d0.loss_map_pts_all: 1.1301, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1731, d0.loss_map_pts: 1.1301, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1452, d1.loss_map_pts: 0.7943, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1220, d2.loss_map_pts: 0.6436, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1133, d3.loss_map_pts: 0.5885, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1087, d4.loss_map_pts: 0.5715, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1026, d5.loss_map_pts: 0.5676, d5.loss_map_dir: 0.0073, loss: 23.2530, grad_norm: 147.1304 +2026-02-28 11:18:01,900 - DriveTransformer - INFO - Epoch [10][3000/39528] lr: 6.944e-05, eta: 4 days, 23:44:45, time: 0.744, data_time: 0.036, memory: 19865, loss_cls: 0.1094, loss_bbox: 0.3213, loss_traj: 0.5820, loss_traj_cls: 0.0021, loss_map_cls: 0.1227, loss_map_pts: 0.6269, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.7643, d0.loss_plan_l1_fix_dist: 0.4540, d1.loss_plan_l1_fix_time: 0.8811, d1.loss_plan_l1_fix_dist: 0.2415, d2.loss_plan_l1_fix_time: 0.8722, d2.loss_plan_l1_fix_dist: 0.2316, d3.loss_plan_l1_fix_time: 0.8683, d3.loss_plan_l1_fix_dist: 0.2820, d4.loss_plan_l1_fix_time: 0.8690, d4.loss_plan_l1_fix_dist: 0.2414, d5.loss_plan_l1_fix_time: 0.8700, d5.loss_plan_l1_fix_dist: 0.2603, d6.loss_plan_l1_fix_time: 0.8719, d6.loss_plan_l1_fix_dist: 0.2532, d0.loss_cls_all: 0.1596, d0.loss_bbox_all: 0.4008, d0.loss_cls: 0.1596, d0.loss_bbox: 0.4008, d1.loss_cls: 0.1538, d1.loss_bbox: 0.3609, d2.loss_cls: 0.1370, d2.loss_bbox: 0.3352, d3.loss_cls: 0.1200, d3.loss_bbox: 0.3256, d4.loss_cls: 0.1122, d4.loss_bbox: 0.3223, d5.loss_cls: 0.1099, d5.loss_bbox: 0.3214, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8469, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6738, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6063, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5946, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5863, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5818, d0.loss_map_cls_all: 0.2113, d0.loss_map_pts_all: 1.2396, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2113, d0.loss_map_pts: 1.2396, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1764, d1.loss_map_pts: 0.8991, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1484, d2.loss_map_pts: 0.7281, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1342, d3.loss_map_pts: 0.6582, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1284, d4.loss_map_pts: 0.6351, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1249, d5.loss_map_pts: 0.6266, d5.loss_map_dir: 0.0084, loss: 26.2648, grad_norm: 143.2954 +2026-02-28 11:18:37,809 - DriveTransformer - INFO - Epoch [10][3050/39528] lr: 6.944e-05, eta: 4 days, 23:44:05, time: 0.717, data_time: 0.037, memory: 19865, loss_cls: 0.1133, loss_bbox: 0.3183, loss_traj: 0.5006, loss_traj_cls: 0.0021, loss_map_cls: 0.1107, loss_map_pts: 0.4886, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.7550, d0.loss_plan_l1_fix_dist: 0.4042, d1.loss_plan_l1_fix_time: 0.7862, d1.loss_plan_l1_fix_dist: 0.2383, d2.loss_plan_l1_fix_time: 0.7724, d2.loss_plan_l1_fix_dist: 0.2228, d3.loss_plan_l1_fix_time: 0.7769, d3.loss_plan_l1_fix_dist: 0.2952, d4.loss_plan_l1_fix_time: 0.7799, d4.loss_plan_l1_fix_dist: 0.2431, d5.loss_plan_l1_fix_time: 0.7828, d5.loss_plan_l1_fix_dist: 0.2423, d6.loss_plan_l1_fix_time: 0.7868, d6.loss_plan_l1_fix_dist: 0.2528, d0.loss_cls_all: 0.1623, d0.loss_bbox_all: 0.3811, d0.loss_cls: 0.1623, d0.loss_bbox: 0.3811, d1.loss_cls: 0.1558, d1.loss_bbox: 0.3473, d2.loss_cls: 0.1412, d2.loss_bbox: 0.3244, d3.loss_cls: 0.1240, d3.loss_bbox: 0.3195, d4.loss_cls: 0.1179, d4.loss_bbox: 0.3205, d5.loss_cls: 0.1173, d5.loss_bbox: 0.3166, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7351, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5674, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5152, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5040, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5001, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4960, d0.loss_map_cls_all: 0.1843, d0.loss_map_pts_all: 0.9831, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1843, d0.loss_map_pts: 0.9831, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1573, d1.loss_map_pts: 0.7038, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1350, d2.loss_map_pts: 0.5593, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1226, d3.loss_map_pts: 0.5087, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1174, d4.loss_map_pts: 0.4940, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1129, d5.loss_map_pts: 0.4889, d5.loss_map_dir: 0.0068, loss: 23.3523, grad_norm: 140.7922 +2026-02-28 11:19:15,877 - DriveTransformer - INFO - Epoch [10][3100/39528] lr: 6.944e-05, eta: 4 days, 23:43:36, time: 0.761, data_time: 0.036, memory: 19865, loss_cls: 0.1025, loss_bbox: 0.2987, loss_traj: 0.4938, loss_traj_cls: 0.0021, loss_map_cls: 0.1206, loss_map_pts: 0.6141, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.6188, d0.loss_plan_l1_fix_dist: 0.5212, d1.loss_plan_l1_fix_time: 0.9062, d1.loss_plan_l1_fix_dist: 0.2456, d2.loss_plan_l1_fix_time: 0.8826, d2.loss_plan_l1_fix_dist: 0.2305, d3.loss_plan_l1_fix_time: 0.8820, d3.loss_plan_l1_fix_dist: 0.2929, d4.loss_plan_l1_fix_time: 0.8844, d4.loss_plan_l1_fix_dist: 0.2637, d5.loss_plan_l1_fix_time: 0.8870, d5.loss_plan_l1_fix_dist: 0.2377, d6.loss_plan_l1_fix_time: 0.8899, d6.loss_plan_l1_fix_dist: 0.2583, d0.loss_cls_all: 0.1489, d0.loss_bbox_all: 0.3657, d0.loss_cls: 0.1489, d0.loss_bbox: 0.3657, d1.loss_cls: 0.1435, d1.loss_bbox: 0.3268, d2.loss_cls: 0.1299, d2.loss_bbox: 0.3055, d3.loss_cls: 0.1106, d3.loss_bbox: 0.3021, d4.loss_cls: 0.1034, d4.loss_bbox: 0.3014, d5.loss_cls: 0.1032, d5.loss_bbox: 0.2991, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7086, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5435, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5141, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5016, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4958, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4925, d0.loss_map_cls_all: 0.1977, d0.loss_map_pts_all: 1.1879, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1977, d0.loss_map_pts: 1.1879, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1652, d1.loss_map_pts: 0.8852, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1445, d2.loss_map_pts: 0.7087, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1336, d3.loss_map_pts: 0.6433, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1292, d4.loss_map_pts: 0.6218, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1234, d5.loss_map_pts: 0.6144, d5.loss_map_dir: 0.0080, loss: 25.0490, grad_norm: 140.8251 +2026-02-28 11:19:52,914 - DriveTransformer - INFO - Epoch [10][3150/39528] lr: 6.944e-05, eta: 4 days, 23:43:02, time: 0.741, data_time: 0.037, memory: 19865, loss_cls: 0.1058, loss_bbox: 0.3071, loss_traj: 0.5927, loss_traj_cls: 0.0020, loss_map_cls: 0.1248, loss_map_pts: 0.5767, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.9742, d0.loss_plan_l1_fix_dist: 0.4380, d1.loss_plan_l1_fix_time: 0.9081, d1.loss_plan_l1_fix_dist: 0.2281, d2.loss_plan_l1_fix_time: 0.8881, d2.loss_plan_l1_fix_dist: 0.2136, d3.loss_plan_l1_fix_time: 0.8934, d3.loss_plan_l1_fix_dist: 0.2699, d4.loss_plan_l1_fix_time: 0.8952, d4.loss_plan_l1_fix_dist: 0.2597, d5.loss_plan_l1_fix_time: 0.8971, d5.loss_plan_l1_fix_dist: 0.2254, d6.loss_plan_l1_fix_time: 0.8995, d6.loss_plan_l1_fix_dist: 0.2275, d0.loss_cls_all: 0.1504, d0.loss_bbox_all: 0.3738, d0.loss_cls: 0.1504, d0.loss_bbox: 0.3738, d1.loss_cls: 0.1473, d1.loss_bbox: 0.3374, d2.loss_cls: 0.1318, d2.loss_bbox: 0.3182, d3.loss_cls: 0.1115, d3.loss_bbox: 0.3118, d4.loss_cls: 0.1076, d4.loss_bbox: 0.3078, d5.loss_cls: 0.1067, d5.loss_bbox: 0.3055, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8514, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6644, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6191, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6030, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5967, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5940, d0.loss_map_cls_all: 0.2106, d0.loss_map_pts_all: 1.0907, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2106, d0.loss_map_pts: 1.0907, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1793, d1.loss_map_pts: 0.7951, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1523, d2.loss_map_pts: 0.6518, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1399, d3.loss_map_pts: 0.5983, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1321, d4.loss_map_pts: 0.5813, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1273, d5.loss_map_pts: 0.5780, d5.loss_map_dir: 0.0067, loss: 25.6854, grad_norm: 140.7215 +2026-02-28 11:20:30,323 - DriveTransformer - INFO - Epoch [10][3200/39528] lr: 6.944e-05, eta: 4 days, 23:42:30, time: 0.748, data_time: 0.036, memory: 19865, loss_cls: 0.0996, loss_bbox: 0.2886, loss_traj: 0.4745, loss_traj_cls: 0.0022, loss_map_cls: 0.0980, loss_map_pts: 0.5310, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.1170, d0.loss_plan_l1_fix_dist: 0.4534, d1.loss_plan_l1_fix_time: 0.7163, d1.loss_plan_l1_fix_dist: 0.2192, d2.loss_plan_l1_fix_time: 0.7002, d2.loss_plan_l1_fix_dist: 0.2066, d3.loss_plan_l1_fix_time: 0.7000, d3.loss_plan_l1_fix_dist: 0.2555, d4.loss_plan_l1_fix_time: 0.7014, d4.loss_plan_l1_fix_dist: 0.2814, d5.loss_plan_l1_fix_time: 0.7035, d5.loss_plan_l1_fix_dist: 0.2493, d6.loss_plan_l1_fix_time: 0.7059, d6.loss_plan_l1_fix_dist: 0.2260, d0.loss_cls_all: 0.1444, d0.loss_bbox_all: 0.3579, d0.loss_cls: 0.1444, d0.loss_bbox: 0.3579, d1.loss_cls: 0.1388, d1.loss_bbox: 0.3217, d2.loss_cls: 0.1230, d2.loss_bbox: 0.3015, d3.loss_cls: 0.1068, d3.loss_bbox: 0.2931, d4.loss_cls: 0.1019, d4.loss_bbox: 0.2905, d5.loss_cls: 0.1003, d5.loss_bbox: 0.2884, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7025, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5534, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5044, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4832, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4715, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4687, d0.loss_map_cls_all: 0.1739, d0.loss_map_pts_all: 1.0787, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1739, d0.loss_map_pts: 1.0787, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1395, d1.loss_map_pts: 0.7409, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1169, d2.loss_map_pts: 0.6050, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1084, d3.loss_map_pts: 0.5557, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1026, d4.loss_map_pts: 0.5349, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.0989, d5.loss_map_pts: 0.5296, d5.loss_map_dir: 0.0073, loss: 22.0858, grad_norm: 142.3353 +2026-02-28 11:21:07,675 - DriveTransformer - INFO - Epoch [10][3250/39528] lr: 6.944e-05, eta: 4 days, 23:41:57, time: 0.747, data_time: 0.036, memory: 19865, loss_cls: 0.1132, loss_bbox: 0.3135, loss_traj: 0.6056, loss_traj_cls: 0.0020, loss_map_cls: 0.1452, loss_map_pts: 0.6950, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 3.2319, d0.loss_plan_l1_fix_dist: 0.4025, d1.loss_plan_l1_fix_time: 0.9239, d1.loss_plan_l1_fix_dist: 0.2153, d2.loss_plan_l1_fix_time: 0.9080, d2.loss_plan_l1_fix_dist: 0.2019, d3.loss_plan_l1_fix_time: 0.8955, d3.loss_plan_l1_fix_dist: 0.2390, d4.loss_plan_l1_fix_time: 0.8967, d4.loss_plan_l1_fix_dist: 0.2950, d5.loss_plan_l1_fix_time: 0.8994, d5.loss_plan_l1_fix_dist: 0.2786, d6.loss_plan_l1_fix_time: 0.9027, d6.loss_plan_l1_fix_dist: 0.2719, d0.loss_cls_all: 0.1617, d0.loss_bbox_all: 0.3787, d0.loss_cls: 0.1617, d0.loss_bbox: 0.3787, d1.loss_cls: 0.1534, d1.loss_bbox: 0.3449, d2.loss_cls: 0.1391, d2.loss_bbox: 0.3207, d3.loss_cls: 0.1213, d3.loss_bbox: 0.3149, d4.loss_cls: 0.1133, d4.loss_bbox: 0.3159, d5.loss_cls: 0.1128, d5.loss_bbox: 0.3143, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8510, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6668, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6188, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6126, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6045, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6023, d0.loss_map_cls_all: 0.2391, d0.loss_map_pts_all: 1.3059, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2391, d0.loss_map_pts: 1.3059, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.2068, d1.loss_map_pts: 0.9741, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1757, d2.loss_map_pts: 0.7921, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1620, d3.loss_map_pts: 0.7236, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1535, d4.loss_map_pts: 0.6979, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1469, d5.loss_map_pts: 0.6954, d5.loss_map_dir: 0.0079, loss: 27.6086, grad_norm: 143.7542 +2026-02-28 11:21:42,840 - DriveTransformer - INFO - Epoch [10][3300/39528] lr: 6.944e-05, eta: 4 days, 23:41:14, time: 0.703, data_time: 0.035, memory: 19865, loss_cls: 0.1128, loss_bbox: 0.3073, loss_traj: 0.5137, loss_traj_cls: 0.0021, loss_map_cls: 0.1187, loss_map_pts: 0.5358, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.9362, d0.loss_plan_l1_fix_dist: 0.4560, d1.loss_plan_l1_fix_time: 0.8194, d1.loss_plan_l1_fix_dist: 0.2109, d2.loss_plan_l1_fix_time: 0.8021, d2.loss_plan_l1_fix_dist: 0.1781, d3.loss_plan_l1_fix_time: 0.8000, d3.loss_plan_l1_fix_dist: 0.2117, d4.loss_plan_l1_fix_time: 0.8016, d4.loss_plan_l1_fix_dist: 0.2437, d5.loss_plan_l1_fix_time: 0.8044, d5.loss_plan_l1_fix_dist: 0.2360, d6.loss_plan_l1_fix_time: 0.8076, d6.loss_plan_l1_fix_dist: 0.2255, d0.loss_cls_all: 0.1616, d0.loss_bbox_all: 0.3746, d0.loss_cls: 0.1616, d0.loss_bbox: 0.3746, d1.loss_cls: 0.1539, d1.loss_bbox: 0.3417, d2.loss_cls: 0.1364, d2.loss_bbox: 0.3190, d3.loss_cls: 0.1184, d3.loss_bbox: 0.3121, d4.loss_cls: 0.1142, d4.loss_bbox: 0.3094, d5.loss_cls: 0.1127, d5.loss_bbox: 0.3072, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7435, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5933, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5398, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5261, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5194, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5200, d0.loss_map_cls_all: 0.2061, d0.loss_map_pts_all: 1.0590, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2061, d0.loss_map_pts: 1.0590, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1708, d1.loss_map_pts: 0.7746, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1452, d2.loss_map_pts: 0.6284, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1346, d3.loss_map_pts: 0.5693, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1269, d4.loss_map_pts: 0.5446, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1215, d5.loss_map_pts: 0.5373, d5.loss_map_dir: 0.0064, loss: 24.2015, grad_norm: 138.2717 +2026-02-28 11:22:20,135 - DriveTransformer - INFO - Epoch [10][3350/39528] lr: 6.944e-05, eta: 4 days, 23:40:41, time: 0.746, data_time: 0.038, memory: 19865, loss_cls: 0.1207, loss_bbox: 0.3148, loss_traj: 0.5367, loss_traj_cls: 0.0021, loss_map_cls: 0.1202, loss_map_pts: 0.5899, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.5366, d0.loss_plan_l1_fix_dist: 0.4022, d1.loss_plan_l1_fix_time: 0.8875, d1.loss_plan_l1_fix_dist: 0.2414, d2.loss_plan_l1_fix_time: 0.8750, d2.loss_plan_l1_fix_dist: 0.2223, d3.loss_plan_l1_fix_time: 0.8633, d3.loss_plan_l1_fix_dist: 0.2545, d4.loss_plan_l1_fix_time: 0.8657, d4.loss_plan_l1_fix_dist: 0.2794, d5.loss_plan_l1_fix_time: 0.8687, d5.loss_plan_l1_fix_dist: 0.2610, d6.loss_plan_l1_fix_time: 0.8726, d6.loss_plan_l1_fix_dist: 0.2890, d0.loss_cls_all: 0.1671, d0.loss_bbox_all: 0.3721, d0.loss_cls: 0.1671, d0.loss_bbox: 0.3721, d1.loss_cls: 0.1601, d1.loss_bbox: 0.3425, d2.loss_cls: 0.1473, d2.loss_bbox: 0.3230, d3.loss_cls: 0.1289, d3.loss_bbox: 0.3164, d4.loss_cls: 0.1249, d4.loss_bbox: 0.3139, d5.loss_cls: 0.1215, d5.loss_bbox: 0.3147, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7655, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6015, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5575, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5438, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5355, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5350, d0.loss_map_cls_all: 0.2032, d0.loss_map_pts_all: 1.1884, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2032, d0.loss_map_pts: 1.1884, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1724, d1.loss_map_pts: 0.8424, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1476, d2.loss_map_pts: 0.6798, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1359, d3.loss_map_pts: 0.6186, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1276, d4.loss_map_pts: 0.5946, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1217, d5.loss_map_pts: 0.5903, d5.loss_map_dir: 0.0077, loss: 25.1924, grad_norm: 138.3679 +2026-02-28 11:22:57,107 - DriveTransformer - INFO - Epoch [10][3400/39528] lr: 6.944e-05, eta: 4 days, 23:40:07, time: 0.739, data_time: 0.039, memory: 19865, loss_cls: 0.1273, loss_bbox: 0.3058, loss_traj: 0.5027, loss_traj_cls: 0.0022, loss_map_cls: 0.1032, loss_map_pts: 0.5357, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.6687, d0.loss_plan_l1_fix_dist: 0.4723, d1.loss_plan_l1_fix_time: 0.7814, d1.loss_plan_l1_fix_dist: 0.2595, d2.loss_plan_l1_fix_time: 0.7712, d2.loss_plan_l1_fix_dist: 0.2683, d3.loss_plan_l1_fix_time: 0.7692, d3.loss_plan_l1_fix_dist: 0.2792, d4.loss_plan_l1_fix_time: 0.7725, d4.loss_plan_l1_fix_dist: 0.3189, d5.loss_plan_l1_fix_time: 0.7758, d5.loss_plan_l1_fix_dist: 0.2976, d6.loss_plan_l1_fix_time: 0.7805, d6.loss_plan_l1_fix_dist: 0.3243, d0.loss_cls_all: 0.1754, d0.loss_bbox_all: 0.3756, d0.loss_cls: 0.1754, d0.loss_bbox: 0.3756, d1.loss_cls: 0.1676, d1.loss_bbox: 0.3402, d2.loss_cls: 0.1491, d2.loss_bbox: 0.3186, d3.loss_cls: 0.1333, d3.loss_bbox: 0.3113, d4.loss_cls: 0.1278, d4.loss_bbox: 0.3086, d5.loss_cls: 0.1269, d5.loss_bbox: 0.3078, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7100, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5548, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5117, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5115, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5021, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4987, d0.loss_map_cls_all: 0.1921, d0.loss_map_pts_all: 1.0901, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1921, d0.loss_map_pts: 1.0901, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1514, d1.loss_map_pts: 0.7713, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1243, d2.loss_map_pts: 0.6155, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1170, d3.loss_map_pts: 0.5605, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1113, d4.loss_map_pts: 0.5438, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1052, d5.loss_map_pts: 0.5379, d5.loss_map_dir: 0.0069, loss: 24.0613, grad_norm: 145.3560 +2026-02-28 11:23:33,930 - DriveTransformer - INFO - Epoch [10][3450/39528] lr: 6.944e-05, eta: 4 days, 23:39:32, time: 0.736, data_time: 0.036, memory: 19865, loss_cls: 0.1069, loss_bbox: 0.3105, loss_traj: 0.4997, loss_traj_cls: 0.0021, loss_map_cls: 0.1164, loss_map_pts: 0.5740, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.5506, d0.loss_plan_l1_fix_dist: 0.4810, d1.loss_plan_l1_fix_time: 0.8555, d1.loss_plan_l1_fix_dist: 0.2440, d2.loss_plan_l1_fix_time: 0.8436, d2.loss_plan_l1_fix_dist: 0.2515, d3.loss_plan_l1_fix_time: 0.8422, d3.loss_plan_l1_fix_dist: 0.2624, d4.loss_plan_l1_fix_time: 0.8440, d4.loss_plan_l1_fix_dist: 0.2839, d5.loss_plan_l1_fix_time: 0.8459, d5.loss_plan_l1_fix_dist: 0.2782, d6.loss_plan_l1_fix_time: 0.8493, d6.loss_plan_l1_fix_dist: 0.2456, d0.loss_cls_all: 0.1539, d0.loss_bbox_all: 0.3753, d0.loss_cls: 0.1539, d0.loss_bbox: 0.3753, d1.loss_cls: 0.1434, d1.loss_bbox: 0.3428, d2.loss_cls: 0.1244, d2.loss_bbox: 0.3232, d3.loss_cls: 0.1106, d3.loss_bbox: 0.3160, d4.loss_cls: 0.1070, d4.loss_bbox: 0.3122, d5.loss_cls: 0.1056, d5.loss_bbox: 0.3116, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7377, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5721, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5222, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5048, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5047, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5002, d0.loss_map_cls_all: 0.2002, d0.loss_map_pts_all: 1.1210, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2002, d0.loss_map_pts: 1.1210, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1663, d1.loss_map_pts: 0.8128, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1431, d2.loss_map_pts: 0.6616, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1331, d3.loss_map_pts: 0.6064, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1247, d4.loss_map_pts: 0.5856, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1178, d5.loss_map_pts: 0.5761, d5.loss_map_dir: 0.0071, loss: 24.5132, grad_norm: 143.9226 +2026-02-28 11:24:11,973 - DriveTransformer - INFO - Epoch [10][3500/39528] lr: 6.944e-05, eta: 4 days, 23:39:02, time: 0.761, data_time: 0.041, memory: 19865, loss_cls: 0.1060, loss_bbox: 0.2952, loss_traj: 0.5496, loss_traj_cls: 0.0021, loss_map_cls: 0.1049, loss_map_pts: 0.5450, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.6701, d0.loss_plan_l1_fix_dist: 0.5024, d1.loss_plan_l1_fix_time: 0.7543, d1.loss_plan_l1_fix_dist: 0.2579, d2.loss_plan_l1_fix_time: 0.7365, d2.loss_plan_l1_fix_dist: 0.2652, d3.loss_plan_l1_fix_time: 0.7343, d3.loss_plan_l1_fix_dist: 0.2793, d4.loss_plan_l1_fix_time: 0.7359, d4.loss_plan_l1_fix_dist: 0.2862, d5.loss_plan_l1_fix_time: 0.7380, d5.loss_plan_l1_fix_dist: 0.2768, d6.loss_plan_l1_fix_time: 0.7402, d6.loss_plan_l1_fix_dist: 0.2530, d0.loss_cls_all: 0.1437, d0.loss_bbox_all: 0.3630, d0.loss_cls: 0.1437, d0.loss_bbox: 0.3630, d1.loss_cls: 0.1359, d1.loss_bbox: 0.3290, d2.loss_cls: 0.1261, d2.loss_bbox: 0.3067, d3.loss_cls: 0.1103, d3.loss_bbox: 0.3003, d4.loss_cls: 0.1070, d4.loss_bbox: 0.2963, d5.loss_cls: 0.1052, d5.loss_bbox: 0.2948, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7927, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6335, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5750, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5572, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5523, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5492, d0.loss_map_cls_all: 0.1761, d0.loss_map_pts_all: 1.0691, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1761, d0.loss_map_pts: 1.0691, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1447, d1.loss_map_pts: 0.7772, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1240, d2.loss_map_pts: 0.6309, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1154, d3.loss_map_pts: 0.5731, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1100, d4.loss_map_pts: 0.5514, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1067, d5.loss_map_pts: 0.5451, d5.loss_map_dir: 0.0063, loss: 23.8420, grad_norm: 142.6973 +2026-02-28 11:24:47,972 - DriveTransformer - INFO - Epoch [10][3550/39528] lr: 6.944e-05, eta: 4 days, 23:38:23, time: 0.720, data_time: 0.038, memory: 19865, loss_cls: 0.1055, loss_bbox: 0.3076, loss_traj: 0.5984, loss_traj_cls: 0.0020, loss_map_cls: 0.1230, loss_map_pts: 0.5094, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 3.2066, d0.loss_plan_l1_fix_dist: 0.5313, d1.loss_plan_l1_fix_time: 0.8759, d1.loss_plan_l1_fix_dist: 0.2839, d2.loss_plan_l1_fix_time: 0.8616, d2.loss_plan_l1_fix_dist: 0.2964, d3.loss_plan_l1_fix_time: 0.8606, d3.loss_plan_l1_fix_dist: 0.3359, d4.loss_plan_l1_fix_time: 0.8624, d4.loss_plan_l1_fix_dist: 0.2883, d5.loss_plan_l1_fix_time: 0.8650, d5.loss_plan_l1_fix_dist: 0.3014, d6.loss_plan_l1_fix_time: 0.8671, d6.loss_plan_l1_fix_dist: 0.3025, d0.loss_cls_all: 0.1478, d0.loss_bbox_all: 0.3788, d0.loss_cls: 0.1478, d0.loss_bbox: 0.3788, d1.loss_cls: 0.1383, d1.loss_bbox: 0.3416, d2.loss_cls: 0.1264, d2.loss_bbox: 0.3186, d3.loss_cls: 0.1118, d3.loss_bbox: 0.3117, d4.loss_cls: 0.1062, d4.loss_bbox: 0.3089, d5.loss_cls: 0.1054, d5.loss_bbox: 0.3082, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8629, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6631, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6129, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6151, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6092, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6055, d0.loss_map_cls_all: 0.2007, d0.loss_map_pts_all: 1.0458, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.2007, d0.loss_map_pts: 1.0458, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1725, d1.loss_map_pts: 0.7544, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1472, d2.loss_map_pts: 0.5969, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1370, d3.loss_map_pts: 0.5365, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1299, d4.loss_map_pts: 0.5154, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1249, d5.loss_map_pts: 0.5109, d5.loss_map_dir: 0.0056, loss: 25.7511, grad_norm: 143.1567 +2026-02-28 11:25:23,657 - DriveTransformer - INFO - Epoch [10][3600/39528] lr: 6.944e-05, eta: 4 days, 23:37:42, time: 0.714, data_time: 0.037, memory: 19865, loss_cls: 0.0918, loss_bbox: 0.2906, loss_traj: 0.5297, loss_traj_cls: 0.0020, loss_map_cls: 0.1308, loss_map_pts: 0.5682, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.3009, d0.loss_plan_l1_fix_dist: 0.4468, d1.loss_plan_l1_fix_time: 0.7914, d1.loss_plan_l1_fix_dist: 0.2550, d2.loss_plan_l1_fix_time: 0.7739, d2.loss_plan_l1_fix_dist: 0.2608, d3.loss_plan_l1_fix_time: 0.7684, d3.loss_plan_l1_fix_dist: 0.3428, d4.loss_plan_l1_fix_time: 0.7711, d4.loss_plan_l1_fix_dist: 0.2436, d5.loss_plan_l1_fix_time: 0.7742, d5.loss_plan_l1_fix_dist: 0.2844, d6.loss_plan_l1_fix_time: 0.7782, d6.loss_plan_l1_fix_dist: 0.2592, d0.loss_cls_all: 0.1382, d0.loss_bbox_all: 0.3445, d0.loss_cls: 0.1382, d0.loss_bbox: 0.3445, d1.loss_cls: 0.1314, d1.loss_bbox: 0.3100, d2.loss_cls: 0.1145, d2.loss_bbox: 0.2968, d3.loss_cls: 0.0992, d3.loss_bbox: 0.2939, d4.loss_cls: 0.0932, d4.loss_bbox: 0.2930, d5.loss_cls: 0.0914, d5.loss_bbox: 0.2930, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7321, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5881, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5371, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5295, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5289, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5304, d0.loss_map_cls_all: 0.2123, d0.loss_map_pts_all: 1.1339, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.2123, d0.loss_map_pts: 1.1339, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1801, d1.loss_map_pts: 0.8316, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1544, d2.loss_map_pts: 0.6628, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1429, d3.loss_map_pts: 0.5968, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1365, d4.loss_map_pts: 0.5734, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1319, d5.loss_map_pts: 0.5682, d5.loss_map_dir: 0.0062, loss: 23.8159, grad_norm: 143.1839 +2026-02-28 11:26:00,080 - DriveTransformer - INFO - Epoch [10][3650/39528] lr: 6.944e-05, eta: 4 days, 23:37:05, time: 0.728, data_time: 0.039, memory: 19865, loss_cls: 0.1018, loss_bbox: 0.2778, loss_traj: 0.5663, loss_traj_cls: 0.0020, loss_map_cls: 0.0903, loss_map_pts: 0.4882, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.8490, d0.loss_plan_l1_fix_dist: 0.3934, d1.loss_plan_l1_fix_time: 0.9929, d1.loss_plan_l1_fix_dist: 0.2507, d2.loss_plan_l1_fix_time: 0.9671, d2.loss_plan_l1_fix_dist: 0.2590, d3.loss_plan_l1_fix_time: 0.9651, d3.loss_plan_l1_fix_dist: 0.3408, d4.loss_plan_l1_fix_time: 0.9681, d4.loss_plan_l1_fix_dist: 0.2456, d5.loss_plan_l1_fix_time: 0.9725, d5.loss_plan_l1_fix_dist: 0.2943, d6.loss_plan_l1_fix_time: 0.9778, d6.loss_plan_l1_fix_dist: 0.2434, d0.loss_cls_all: 0.1381, d0.loss_bbox_all: 0.3365, d0.loss_cls: 0.1381, d0.loss_bbox: 0.3365, d1.loss_cls: 0.1295, d1.loss_bbox: 0.3043, d2.loss_cls: 0.1187, d2.loss_bbox: 0.2865, d3.loss_cls: 0.1076, d3.loss_bbox: 0.2801, d4.loss_cls: 0.1032, d4.loss_bbox: 0.2787, d5.loss_cls: 0.1014, d5.loss_bbox: 0.2778, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8328, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6345, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5866, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5771, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5761, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5681, d0.loss_map_cls_all: 0.1546, d0.loss_map_pts_all: 0.9743, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1546, d0.loss_map_pts: 0.9743, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1247, d1.loss_map_pts: 0.7009, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1072, d2.loss_map_pts: 0.5666, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0995, d3.loss_map_pts: 0.5141, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0956, d4.loss_map_pts: 0.4961, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0911, d5.loss_map_pts: 0.4893, d5.loss_map_dir: 0.0059, loss: 24.5527, grad_norm: 143.5670 +2026-02-28 11:26:37,054 - DriveTransformer - INFO - Epoch [10][3700/39528] lr: 6.944e-05, eta: 4 days, 23:36:31, time: 0.739, data_time: 0.039, memory: 19865, loss_cls: 0.1008, loss_bbox: 0.2945, loss_traj: 0.4973, loss_traj_cls: 0.0020, loss_map_cls: 0.1055, loss_map_pts: 0.5750, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.7326, d0.loss_plan_l1_fix_dist: 0.4229, d1.loss_plan_l1_fix_time: 0.9000, d1.loss_plan_l1_fix_dist: 0.2485, d2.loss_plan_l1_fix_time: 0.8759, d2.loss_plan_l1_fix_dist: 0.2655, d3.loss_plan_l1_fix_time: 0.8738, d3.loss_plan_l1_fix_dist: 0.3382, d4.loss_plan_l1_fix_time: 0.8777, d4.loss_plan_l1_fix_dist: 0.2696, d5.loss_plan_l1_fix_time: 0.8833, d5.loss_plan_l1_fix_dist: 0.3100, d6.loss_plan_l1_fix_time: 0.8897, d6.loss_plan_l1_fix_dist: 0.2431, d0.loss_cls_all: 0.1471, d0.loss_bbox_all: 0.3564, d0.loss_cls: 0.1471, d0.loss_bbox: 0.3564, d1.loss_cls: 0.1373, d1.loss_bbox: 0.3254, d2.loss_cls: 0.1248, d2.loss_bbox: 0.3032, d3.loss_cls: 0.1097, d3.loss_bbox: 0.2964, d4.loss_cls: 0.1035, d4.loss_bbox: 0.2926, d5.loss_cls: 0.1021, d5.loss_bbox: 0.2927, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7031, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5696, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5285, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5089, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5005, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4961, d0.loss_map_cls_all: 0.1775, d0.loss_map_pts_all: 1.1858, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1775, d0.loss_map_pts: 1.1858, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1545, d1.loss_map_pts: 0.8418, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1294, d2.loss_map_pts: 0.6743, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1183, d3.loss_map_pts: 0.6094, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1121, d4.loss_map_pts: 0.5864, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1076, d5.loss_map_pts: 0.5762, d5.loss_map_dir: 0.0078, loss: 24.8086, grad_norm: 152.8522 +2026-02-28 11:27:12,969 - DriveTransformer - INFO - Epoch [10][3750/39528] lr: 6.944e-05, eta: 4 days, 23:35:51, time: 0.718, data_time: 0.038, memory: 19865, loss_cls: 0.1055, loss_bbox: 0.2948, loss_traj: 0.5573, loss_traj_cls: 0.0019, loss_map_cls: 0.1189, loss_map_pts: 0.5436, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.7981, d0.loss_plan_l1_fix_dist: 0.4157, d1.loss_plan_l1_fix_time: 0.9335, d1.loss_plan_l1_fix_dist: 0.2371, d2.loss_plan_l1_fix_time: 0.9206, d2.loss_plan_l1_fix_dist: 0.2650, d3.loss_plan_l1_fix_time: 0.9196, d3.loss_plan_l1_fix_dist: 0.3221, d4.loss_plan_l1_fix_time: 0.9239, d4.loss_plan_l1_fix_dist: 0.2829, d5.loss_plan_l1_fix_time: 0.9289, d5.loss_plan_l1_fix_dist: 0.3050, d6.loss_plan_l1_fix_time: 0.9347, d6.loss_plan_l1_fix_dist: 0.2515, d0.loss_cls_all: 0.1511, d0.loss_bbox_all: 0.3588, d0.loss_cls: 0.1511, d0.loss_bbox: 0.3588, d1.loss_cls: 0.1405, d1.loss_bbox: 0.3221, d2.loss_cls: 0.1272, d2.loss_bbox: 0.3017, d3.loss_cls: 0.1122, d3.loss_bbox: 0.2946, d4.loss_cls: 0.1076, d4.loss_bbox: 0.2914, d5.loss_cls: 0.1052, d5.loss_bbox: 0.2943, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8434, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.6279, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5796, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5581, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5569, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5508, d0.loss_map_cls_all: 0.1996, d0.loss_map_pts_all: 1.0913, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1996, d0.loss_map_pts: 1.0913, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1653, d1.loss_map_pts: 0.8040, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1430, d2.loss_map_pts: 0.6397, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1307, d3.loss_map_pts: 0.5722, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1254, d4.loss_map_pts: 0.5488, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1211, d5.loss_map_pts: 0.5414, d5.loss_map_dir: 0.0058, loss: 25.3181, grad_norm: 162.4846 +2026-02-28 11:27:49,043 - DriveTransformer - INFO - Epoch [10][3800/39528] lr: 6.944e-05, eta: 4 days, 23:35:13, time: 0.723, data_time: 0.036, memory: 19865, loss_cls: 0.0958, loss_bbox: 0.2984, loss_traj: 0.4649, loss_traj_cls: 0.0019, loss_map_cls: 0.0898, loss_map_pts: 0.4805, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.6135, d0.loss_plan_l1_fix_dist: 0.3371, d1.loss_plan_l1_fix_time: 0.7965, d1.loss_plan_l1_fix_dist: 0.2053, d2.loss_plan_l1_fix_time: 0.7767, d2.loss_plan_l1_fix_dist: 0.2286, d3.loss_plan_l1_fix_time: 0.7690, d3.loss_plan_l1_fix_dist: 0.2752, d4.loss_plan_l1_fix_time: 0.7708, d4.loss_plan_l1_fix_dist: 0.2485, d5.loss_plan_l1_fix_time: 0.7749, d5.loss_plan_l1_fix_dist: 0.2586, d6.loss_plan_l1_fix_time: 0.7801, d6.loss_plan_l1_fix_dist: 0.2245, d0.loss_cls_all: 0.1381, d0.loss_bbox_all: 0.3521, d0.loss_cls: 0.1381, d0.loss_bbox: 0.3521, d1.loss_cls: 0.1272, d1.loss_bbox: 0.3211, d2.loss_cls: 0.1143, d2.loss_bbox: 0.3037, d3.loss_cls: 0.1014, d3.loss_bbox: 0.2991, d4.loss_cls: 0.0958, d4.loss_bbox: 0.2965, d5.loss_cls: 0.0948, d5.loss_bbox: 0.2985, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7032, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5338, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4869, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4716, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4704, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4668, d0.loss_map_cls_all: 0.1651, d0.loss_map_pts_all: 1.0226, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1651, d0.loss_map_pts: 1.0226, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1333, d1.loss_map_pts: 0.7100, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1115, d2.loss_map_pts: 0.5623, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1039, d3.loss_map_pts: 0.5023, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0971, d4.loss_map_pts: 0.4841, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0929, d5.loss_map_pts: 0.4783, d5.loss_map_dir: 0.0058, loss: 22.3575, grad_norm: 169.6259 +2026-02-28 11:28:23,950 - DriveTransformer - INFO - Epoch [10][3850/39528] lr: 6.944e-05, eta: 4 days, 23:34:28, time: 0.697, data_time: 0.034, memory: 19865, loss_cls: 0.1163, loss_bbox: 0.3091, loss_traj: 0.6428, loss_traj_cls: 0.0019, loss_map_cls: 0.1260, loss_map_pts: 0.5978, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.6420, d0.loss_plan_l1_fix_dist: 0.3918, d1.loss_plan_l1_fix_time: 0.8918, d1.loss_plan_l1_fix_dist: 0.2159, d2.loss_plan_l1_fix_time: 0.8666, d2.loss_plan_l1_fix_dist: 0.2419, d3.loss_plan_l1_fix_time: 0.8622, d3.loss_plan_l1_fix_dist: 0.2730, d4.loss_plan_l1_fix_time: 0.8623, d4.loss_plan_l1_fix_dist: 0.2531, d5.loss_plan_l1_fix_time: 0.8637, d5.loss_plan_l1_fix_dist: 0.2728, d6.loss_plan_l1_fix_time: 0.8671, d6.loss_plan_l1_fix_dist: 0.2448, d0.loss_cls_all: 0.1605, d0.loss_bbox_all: 0.3788, d0.loss_cls: 0.1605, d0.loss_bbox: 0.3788, d1.loss_cls: 0.1513, d1.loss_bbox: 0.3420, d2.loss_cls: 0.1372, d2.loss_bbox: 0.3187, d3.loss_cls: 0.1214, d3.loss_bbox: 0.3117, d4.loss_cls: 0.1163, d4.loss_bbox: 0.3087, d5.loss_cls: 0.1145, d5.loss_bbox: 0.3095, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9612, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.7571, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6769, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6454, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6465, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6451, d0.loss_map_cls_all: 0.2141, d0.loss_map_pts_all: 1.2034, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2141, d0.loss_map_pts: 1.2034, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1755, d1.loss_map_pts: 0.8457, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1524, d2.loss_map_pts: 0.6862, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1427, d3.loss_map_pts: 0.6231, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1330, d4.loss_map_pts: 0.6012, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1296, d5.loss_map_pts: 0.5972, d5.loss_map_dir: 0.0070, loss: 26.1668, grad_norm: 171.7247 +2026-02-28 11:29:00,677 - DriveTransformer - INFO - Epoch [10][3900/39528] lr: 6.944e-05, eta: 4 days, 23:33:53, time: 0.735, data_time: 0.037, memory: 19865, loss_cls: 0.1104, loss_bbox: 0.2907, loss_traj: 0.4850, loss_traj_cls: 0.0019, loss_map_cls: 0.1180, loss_map_pts: 0.5428, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.9096, d0.loss_plan_l1_fix_dist: 0.4738, d1.loss_plan_l1_fix_time: 0.9456, d1.loss_plan_l1_fix_dist: 0.1977, d2.loss_plan_l1_fix_time: 0.9283, d2.loss_plan_l1_fix_dist: 0.2240, d3.loss_plan_l1_fix_time: 0.9299, d3.loss_plan_l1_fix_dist: 0.2527, d4.loss_plan_l1_fix_time: 0.9311, d4.loss_plan_l1_fix_dist: 0.2424, d5.loss_plan_l1_fix_time: 0.9320, d5.loss_plan_l1_fix_dist: 0.2839, d6.loss_plan_l1_fix_time: 0.9347, d6.loss_plan_l1_fix_dist: 0.2426, d0.loss_cls_all: 0.1597, d0.loss_bbox_all: 0.3446, d0.loss_cls: 0.1597, d0.loss_bbox: 0.3446, d1.loss_cls: 0.1500, d1.loss_bbox: 0.3165, d2.loss_cls: 0.1341, d2.loss_bbox: 0.3014, d3.loss_cls: 0.1182, d3.loss_bbox: 0.2948, d4.loss_cls: 0.1110, d4.loss_bbox: 0.2922, d5.loss_cls: 0.1114, d5.loss_bbox: 0.2900, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6459, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5208, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4827, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4792, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4807, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4804, d0.loss_map_cls_all: 0.1910, d0.loss_map_pts_all: 1.0718, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1910, d0.loss_map_pts: 1.0718, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1607, d1.loss_map_pts: 0.7714, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1387, d2.loss_map_pts: 0.6143, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1278, d3.loss_map_pts: 0.5663, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1225, d4.loss_map_pts: 0.5496, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1200, d5.loss_map_pts: 0.5430, d5.loss_map_dir: 0.0075, loss: 24.4990, grad_norm: 171.5707 +2026-02-28 11:29:37,752 - DriveTransformer - INFO - Epoch [10][3950/39528] lr: 6.944e-05, eta: 4 days, 23:33:19, time: 0.742, data_time: 0.036, memory: 19865, loss_cls: 0.1034, loss_bbox: 0.2956, loss_traj: 0.5588, loss_traj_cls: 0.0020, loss_map_cls: 0.1081, loss_map_pts: 0.5603, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.2923, d0.loss_plan_l1_fix_dist: 0.4684, d1.loss_plan_l1_fix_time: 0.7640, d1.loss_plan_l1_fix_dist: 0.1709, d2.loss_plan_l1_fix_time: 0.7444, d2.loss_plan_l1_fix_dist: 0.1943, d3.loss_plan_l1_fix_time: 0.7459, d3.loss_plan_l1_fix_dist: 0.2156, d4.loss_plan_l1_fix_time: 0.7469, d4.loss_plan_l1_fix_dist: 0.2051, d5.loss_plan_l1_fix_time: 0.7483, d5.loss_plan_l1_fix_dist: 0.2480, d6.loss_plan_l1_fix_time: 0.7509, d6.loss_plan_l1_fix_dist: 0.2364, d0.loss_cls_all: 0.1470, d0.loss_bbox_all: 0.3555, d0.loss_cls: 0.1470, d0.loss_bbox: 0.3555, d1.loss_cls: 0.1420, d1.loss_bbox: 0.3219, d2.loss_cls: 0.1302, d2.loss_bbox: 0.3030, d3.loss_cls: 0.1115, d3.loss_bbox: 0.2996, d4.loss_cls: 0.1063, d4.loss_bbox: 0.2962, d5.loss_cls: 0.1037, d5.loss_bbox: 0.2966, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8020, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6397, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5789, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5602, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5580, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5623, d0.loss_map_cls_all: 0.1802, d0.loss_map_pts_all: 1.1472, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1802, d0.loss_map_pts: 1.1472, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1550, d1.loss_map_pts: 0.8197, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1334, d2.loss_map_pts: 0.6631, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1231, d3.loss_map_pts: 0.5904, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1155, d4.loss_map_pts: 0.5683, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1112, d5.loss_map_pts: 0.5604, d5.loss_map_dir: 0.0067, loss: 23.5288, grad_norm: 174.8078 +2026-02-28 11:30:16,720 - DriveTransformer - INFO - Epoch [10][4000/39528] lr: 6.944e-05, eta: 4 days, 23:32:54, time: 0.779, data_time: 0.041, memory: 19865, loss_cls: 0.1083, loss_bbox: 0.3126, loss_traj: 0.4881, loss_traj_cls: 0.0020, loss_map_cls: 0.1108, loss_map_pts: 0.5945, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.6579, d0.loss_plan_l1_fix_dist: 0.5278, d1.loss_plan_l1_fix_time: 0.9275, d1.loss_plan_l1_fix_dist: 0.2065, d2.loss_plan_l1_fix_time: 0.9104, d2.loss_plan_l1_fix_dist: 0.2091, d3.loss_plan_l1_fix_time: 0.9095, d3.loss_plan_l1_fix_dist: 0.2177, d4.loss_plan_l1_fix_time: 0.9117, d4.loss_plan_l1_fix_dist: 0.2052, d5.loss_plan_l1_fix_time: 0.9147, d5.loss_plan_l1_fix_dist: 0.2561, d6.loss_plan_l1_fix_time: 0.9176, d6.loss_plan_l1_fix_dist: 0.2841, d0.loss_cls_all: 0.1591, d0.loss_bbox_all: 0.3689, d0.loss_cls: 0.1591, d0.loss_bbox: 0.3689, d1.loss_cls: 0.1512, d1.loss_bbox: 0.3380, d2.loss_cls: 0.1350, d2.loss_bbox: 0.3182, d3.loss_cls: 0.1174, d3.loss_bbox: 0.3136, d4.loss_cls: 0.1111, d4.loss_bbox: 0.3112, d5.loss_cls: 0.1091, d5.loss_bbox: 0.3117, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7254, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5582, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5060, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4926, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4874, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4870, d0.loss_map_cls_all: 0.1918, d0.loss_map_pts_all: 1.1736, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1918, d0.loss_map_pts: 1.1736, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1587, d1.loss_map_pts: 0.8450, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1359, d2.loss_map_pts: 0.6847, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1249, d3.loss_map_pts: 0.6239, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1187, d4.loss_map_pts: 0.6021, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1130, d5.loss_map_pts: 0.5956, d5.loss_map_dir: 0.0077, loss: 25.0003, grad_norm: 173.0301 +2026-02-28 11:30:52,985 - DriveTransformer - INFO - Epoch [10][4050/39528] lr: 6.944e-05, eta: 4 days, 23:32:16, time: 0.725, data_time: 0.034, memory: 19865, loss_cls: 0.1052, loss_bbox: 0.3176, loss_traj: 0.5412, loss_traj_cls: 0.0020, loss_map_cls: 0.1098, loss_map_pts: 0.5466, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.9135, d0.loss_plan_l1_fix_dist: 0.5356, d1.loss_plan_l1_fix_time: 0.7942, d1.loss_plan_l1_fix_dist: 0.2286, d2.loss_plan_l1_fix_time: 0.7874, d2.loss_plan_l1_fix_dist: 0.2088, d3.loss_plan_l1_fix_time: 0.7841, d3.loss_plan_l1_fix_dist: 0.2126, d4.loss_plan_l1_fix_time: 0.7866, d4.loss_plan_l1_fix_dist: 0.1950, d5.loss_plan_l1_fix_time: 0.7898, d5.loss_plan_l1_fix_dist: 0.2379, d6.loss_plan_l1_fix_time: 0.7922, d6.loss_plan_l1_fix_dist: 0.2685, d0.loss_cls_all: 0.1442, d0.loss_bbox_all: 0.3824, d0.loss_cls: 0.1442, d0.loss_bbox: 0.3824, d1.loss_cls: 0.1410, d1.loss_bbox: 0.3457, d2.loss_cls: 0.1251, d2.loss_bbox: 0.3274, d3.loss_cls: 0.1107, d3.loss_bbox: 0.3211, d4.loss_cls: 0.1075, d4.loss_bbox: 0.3171, d5.loss_cls: 0.1043, d5.loss_bbox: 0.3193, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7747, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6259, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5634, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5547, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5509, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5472, d0.loss_map_cls_all: 0.1806, d0.loss_map_pts_all: 1.1160, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1806, d0.loss_map_pts: 1.1160, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1527, d1.loss_map_pts: 0.8018, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1334, d2.loss_map_pts: 0.6421, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1228, d3.loss_map_pts: 0.5755, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1174, d4.loss_map_pts: 0.5520, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1122, d5.loss_map_pts: 0.5465, d5.loss_map_dir: 0.0062, loss: 24.4506, grad_norm: 167.9128 +2026-02-28 11:31:29,506 - DriveTransformer - INFO - Epoch [10][4100/39528] lr: 6.944e-05, eta: 4 days, 23:31:39, time: 0.730, data_time: 0.038, memory: 19865, loss_cls: 0.1048, loss_bbox: 0.2968, loss_traj: 0.5151, loss_traj_cls: 0.0020, loss_map_cls: 0.1165, loss_map_pts: 0.5867, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.1492, d0.loss_plan_l1_fix_dist: 0.4605, d1.loss_plan_l1_fix_time: 0.7663, d1.loss_plan_l1_fix_dist: 0.2371, d2.loss_plan_l1_fix_time: 0.7490, d2.loss_plan_l1_fix_dist: 0.1981, d3.loss_plan_l1_fix_time: 0.7438, d3.loss_plan_l1_fix_dist: 0.2054, d4.loss_plan_l1_fix_time: 0.7456, d4.loss_plan_l1_fix_dist: 0.1875, d5.loss_plan_l1_fix_time: 0.7484, d5.loss_plan_l1_fix_dist: 0.1986, d6.loss_plan_l1_fix_time: 0.7518, d6.loss_plan_l1_fix_dist: 0.2384, d0.loss_cls_all: 0.1542, d0.loss_bbox_all: 0.3632, d0.loss_cls: 0.1542, d0.loss_bbox: 0.3632, d1.loss_cls: 0.1443, d1.loss_bbox: 0.3277, d2.loss_cls: 0.1287, d2.loss_bbox: 0.3084, d3.loss_cls: 0.1111, d3.loss_bbox: 0.3007, d4.loss_cls: 0.1059, d4.loss_bbox: 0.2975, d5.loss_cls: 0.1039, d5.loss_bbox: 0.2971, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7317, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5858, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5557, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5390, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5256, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5176, d0.loss_map_cls_all: 0.1971, d0.loss_map_pts_all: 1.2309, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1971, d0.loss_map_pts: 1.2309, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1701, d1.loss_map_pts: 0.8845, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1454, d2.loss_map_pts: 0.6956, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1304, d3.loss_map_pts: 0.6191, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1227, d4.loss_map_pts: 0.5954, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1181, d5.loss_map_pts: 0.5884, d5.loss_map_dir: 0.0070, loss: 23.6018, grad_norm: 168.2331 +2026-02-28 11:32:06,719 - DriveTransformer - INFO - Epoch [10][4150/39528] lr: 6.944e-05, eta: 4 days, 23:31:06, time: 0.744, data_time: 0.039, memory: 19865, loss_cls: 0.0907, loss_bbox: 0.2868, loss_traj: 0.4670, loss_traj_cls: 0.0020, loss_map_cls: 0.0971, loss_map_pts: 0.5142, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.5797, d0.loss_plan_l1_fix_dist: 0.4689, d1.loss_plan_l1_fix_time: 0.7629, d1.loss_plan_l1_fix_dist: 0.2777, d2.loss_plan_l1_fix_time: 0.7403, d2.loss_plan_l1_fix_dist: 0.2276, d3.loss_plan_l1_fix_time: 0.7398, d3.loss_plan_l1_fix_dist: 0.2199, d4.loss_plan_l1_fix_time: 0.7412, d4.loss_plan_l1_fix_dist: 0.2033, d5.loss_plan_l1_fix_time: 0.7435, d5.loss_plan_l1_fix_dist: 0.2110, d6.loss_plan_l1_fix_time: 0.7473, d6.loss_plan_l1_fix_dist: 0.2397, d0.loss_cls_all: 0.1367, d0.loss_bbox_all: 0.3412, d0.loss_cls: 0.1367, d0.loss_bbox: 0.3412, d1.loss_cls: 0.1293, d1.loss_bbox: 0.3129, d2.loss_cls: 0.1116, d2.loss_bbox: 0.2958, d3.loss_cls: 0.0987, d3.loss_bbox: 0.2880, d4.loss_cls: 0.0936, d4.loss_bbox: 0.2863, d5.loss_cls: 0.0911, d5.loss_bbox: 0.2862, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6881, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5282, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4902, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4777, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4694, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4666, d0.loss_map_cls_all: 0.1771, d0.loss_map_pts_all: 1.0866, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1771, d0.loss_map_pts: 1.0866, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1431, d1.loss_map_pts: 0.7550, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1228, d2.loss_map_pts: 0.6002, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1124, d3.loss_map_pts: 0.5429, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1048, d4.loss_map_pts: 0.5204, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.0997, d5.loss_map_pts: 0.5156, d5.loss_map_dir: 0.0071, loss: 22.5365, grad_norm: 168.6101 +2026-02-28 11:32:43,592 - DriveTransformer - INFO - Epoch [10][4200/39528] lr: 6.944e-05, eta: 4 days, 23:30:31, time: 0.737, data_time: 0.037, memory: 19865, loss_cls: 0.1100, loss_bbox: 0.3243, loss_traj: 0.5355, loss_traj_cls: 0.0020, loss_map_cls: 0.1117, loss_map_pts: 0.6015, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.5513, d0.loss_plan_l1_fix_dist: 0.4283, d1.loss_plan_l1_fix_time: 0.7692, d1.loss_plan_l1_fix_dist: 0.2814, d2.loss_plan_l1_fix_time: 0.7498, d2.loss_plan_l1_fix_dist: 0.2371, d3.loss_plan_l1_fix_time: 0.7531, d3.loss_plan_l1_fix_dist: 0.2162, d4.loss_plan_l1_fix_time: 0.7566, d4.loss_plan_l1_fix_dist: 0.2118, d5.loss_plan_l1_fix_time: 0.7605, d5.loss_plan_l1_fix_dist: 0.2310, d6.loss_plan_l1_fix_time: 0.7657, d6.loss_plan_l1_fix_dist: 0.2393, d0.loss_cls_all: 0.1581, d0.loss_bbox_all: 0.3903, d0.loss_cls: 0.1581, d0.loss_bbox: 0.3903, d1.loss_cls: 0.1527, d1.loss_bbox: 0.3563, d2.loss_cls: 0.1353, d2.loss_bbox: 0.3364, d3.loss_cls: 0.1169, d3.loss_bbox: 0.3295, d4.loss_cls: 0.1106, d4.loss_bbox: 0.3264, d5.loss_cls: 0.1105, d5.loss_bbox: 0.3246, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7815, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5896, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5409, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5347, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5362, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5392, d0.loss_map_cls_all: 0.1964, d0.loss_map_pts_all: 1.1870, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1964, d0.loss_map_pts: 1.1870, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1603, d1.loss_map_pts: 0.8727, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1370, d2.loss_map_pts: 0.7023, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1259, d3.loss_map_pts: 0.6349, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1190, d4.loss_map_pts: 0.6116, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1139, d5.loss_map_pts: 0.6026, d5.loss_map_dir: 0.0066, loss: 24.4584, grad_norm: 173.3080 +2026-02-28 11:33:20,648 - DriveTransformer - INFO - Epoch [10][4250/39528] lr: 6.944e-05, eta: 4 days, 23:29:57, time: 0.741, data_time: 0.032, memory: 19865, loss_cls: 0.1064, loss_bbox: 0.3105, loss_traj: 0.4944, loss_traj_cls: 0.0019, loss_map_cls: 0.1223, loss_map_pts: 0.6869, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.4443, d0.loss_plan_l1_fix_dist: 0.4550, d1.loss_plan_l1_fix_time: 0.8419, d1.loss_plan_l1_fix_dist: 0.2663, d2.loss_plan_l1_fix_time: 0.8163, d2.loss_plan_l1_fix_dist: 0.2287, d3.loss_plan_l1_fix_time: 0.8106, d3.loss_plan_l1_fix_dist: 0.2098, d4.loss_plan_l1_fix_time: 0.8125, d4.loss_plan_l1_fix_dist: 0.2105, d5.loss_plan_l1_fix_time: 0.8155, d5.loss_plan_l1_fix_dist: 0.2450, d6.loss_plan_l1_fix_time: 0.8195, d6.loss_plan_l1_fix_dist: 0.2420, d0.loss_cls_all: 0.1603, d0.loss_bbox_all: 0.3730, d0.loss_cls: 0.1603, d0.loss_bbox: 0.3730, d1.loss_cls: 0.1507, d1.loss_bbox: 0.3387, d2.loss_cls: 0.1353, d2.loss_bbox: 0.3191, d3.loss_cls: 0.1179, d3.loss_bbox: 0.3127, d4.loss_cls: 0.1095, d4.loss_bbox: 0.3124, d5.loss_cls: 0.1063, d5.loss_bbox: 0.3126, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6979, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5443, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5001, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4942, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4942, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4961, d0.loss_map_cls_all: 0.2180, d0.loss_map_pts_all: 1.4032, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2180, d0.loss_map_pts: 1.4032, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1808, d1.loss_map_pts: 1.0091, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1526, d2.loss_map_pts: 0.8053, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1403, d3.loss_map_pts: 0.7217, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1300, d4.loss_map_pts: 0.6932, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1244, d5.loss_map_pts: 0.6876, d5.loss_map_dir: 0.0078, loss: 25.4025, grad_norm: 173.9812 +2026-02-28 11:33:58,077 - DriveTransformer - INFO - Epoch [10][4300/39528] lr: 6.944e-05, eta: 4 days, 23:29:25, time: 0.749, data_time: 0.038, memory: 19865, loss_cls: 0.1079, loss_bbox: 0.3004, loss_traj: 0.4847, loss_traj_cls: 0.0020, loss_map_cls: 0.0946, loss_map_pts: 0.5279, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.8012, d0.loss_plan_l1_fix_dist: 0.4532, d1.loss_plan_l1_fix_time: 0.8392, d1.loss_plan_l1_fix_dist: 0.2527, d2.loss_plan_l1_fix_time: 0.8313, d2.loss_plan_l1_fix_dist: 0.2185, d3.loss_plan_l1_fix_time: 0.8232, d3.loss_plan_l1_fix_dist: 0.2084, d4.loss_plan_l1_fix_time: 0.8243, d4.loss_plan_l1_fix_dist: 0.2148, d5.loss_plan_l1_fix_time: 0.8262, d5.loss_plan_l1_fix_dist: 0.2608, d6.loss_plan_l1_fix_time: 0.8285, d6.loss_plan_l1_fix_dist: 0.2644, d0.loss_cls_all: 0.1552, d0.loss_bbox_all: 0.3649, d0.loss_cls: 0.1552, d0.loss_bbox: 0.3649, d1.loss_cls: 0.1458, d1.loss_bbox: 0.3334, d2.loss_cls: 0.1332, d2.loss_bbox: 0.3108, d3.loss_cls: 0.1174, d3.loss_bbox: 0.3067, d4.loss_cls: 0.1101, d4.loss_bbox: 0.3050, d5.loss_cls: 0.1082, d5.loss_bbox: 0.3011, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7306, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5775, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5148, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4991, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4915, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4862, d0.loss_map_cls_all: 0.1643, d0.loss_map_pts_all: 1.0640, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1643, d0.loss_map_pts: 1.0640, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1353, d1.loss_map_pts: 0.7479, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1142, d2.loss_map_pts: 0.6070, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1045, d3.loss_map_pts: 0.5566, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.0981, d4.loss_map_pts: 0.5363, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.0951, d5.loss_map_pts: 0.5288, d5.loss_map_dir: 0.0067, loss: 23.7142, grad_norm: 174.1521 +2026-02-28 11:34:34,085 - DriveTransformer - INFO - Epoch [10][4350/39528] lr: 6.944e-05, eta: 4 days, 23:28:46, time: 0.720, data_time: 0.037, memory: 19865, loss_cls: 0.0916, loss_bbox: 0.2736, loss_traj: 0.5921, loss_traj_cls: 0.0020, loss_map_cls: 0.0952, loss_map_pts: 0.4749, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.6089, d0.loss_plan_l1_fix_dist: 0.3891, d1.loss_plan_l1_fix_time: 0.7722, d1.loss_plan_l1_fix_dist: 0.2288, d2.loss_plan_l1_fix_time: 0.7613, d2.loss_plan_l1_fix_dist: 0.1782, d3.loss_plan_l1_fix_time: 0.7569, d3.loss_plan_l1_fix_dist: 0.1764, d4.loss_plan_l1_fix_time: 0.7583, d4.loss_plan_l1_fix_dist: 0.1726, d5.loss_plan_l1_fix_time: 0.7609, d5.loss_plan_l1_fix_dist: 0.2087, d6.loss_plan_l1_fix_time: 0.7645, d6.loss_plan_l1_fix_dist: 0.2232, d0.loss_cls_all: 0.1348, d0.loss_bbox_all: 0.3406, d0.loss_cls: 0.1348, d0.loss_bbox: 0.3406, d1.loss_cls: 0.1338, d1.loss_bbox: 0.3050, d2.loss_cls: 0.1171, d2.loss_bbox: 0.2860, d3.loss_cls: 0.0988, d3.loss_bbox: 0.2820, d4.loss_cls: 0.0936, d4.loss_bbox: 0.2767, d5.loss_cls: 0.0918, d5.loss_bbox: 0.2752, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8449, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6717, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.6110, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5944, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5928, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5891, d0.loss_map_cls_all: 0.1802, d0.loss_map_pts_all: 0.9550, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1802, d0.loss_map_pts: 0.9550, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1498, d1.loss_map_pts: 0.6852, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1221, d2.loss_map_pts: 0.5601, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1109, d3.loss_map_pts: 0.5047, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1055, d4.loss_map_pts: 0.4805, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0991, d5.loss_map_pts: 0.4756, d5.loss_map_dir: 0.0054, loss: 22.7159, grad_norm: 172.4028 +2026-02-28 11:35:12,175 - DriveTransformer - INFO - Epoch [10][4400/39528] lr: 6.944e-05, eta: 4 days, 23:28:16, time: 0.762, data_time: 0.040, memory: 19865, loss_cls: 0.1037, loss_bbox: 0.2937, loss_traj: 0.4639, loss_traj_cls: 0.0020, loss_map_cls: 0.1058, loss_map_pts: 0.5101, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.4010, d0.loss_plan_l1_fix_dist: 0.4254, d1.loss_plan_l1_fix_time: 0.7534, d1.loss_plan_l1_fix_dist: 0.2197, d2.loss_plan_l1_fix_time: 0.7482, d2.loss_plan_l1_fix_dist: 0.1794, d3.loss_plan_l1_fix_time: 0.7470, d3.loss_plan_l1_fix_dist: 0.1896, d4.loss_plan_l1_fix_time: 0.7513, d4.loss_plan_l1_fix_dist: 0.1865, d5.loss_plan_l1_fix_time: 0.7551, d5.loss_plan_l1_fix_dist: 0.2009, d6.loss_plan_l1_fix_time: 0.7599, d6.loss_plan_l1_fix_dist: 0.2174, d0.loss_cls_all: 0.1472, d0.loss_bbox_all: 0.3422, d0.loss_cls: 0.1472, d0.loss_bbox: 0.3422, d1.loss_cls: 0.1413, d1.loss_bbox: 0.3178, d2.loss_cls: 0.1287, d2.loss_bbox: 0.2998, d3.loss_cls: 0.1104, d3.loss_bbox: 0.2961, d4.loss_cls: 0.1036, d4.loss_bbox: 0.2959, d5.loss_cls: 0.1046, d5.loss_bbox: 0.2940, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6342, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5231, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4736, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4703, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4683, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4631, d0.loss_map_cls_all: 0.1800, d0.loss_map_pts_all: 1.0630, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1800, d0.loss_map_pts: 1.0630, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1529, d1.loss_map_pts: 0.7418, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1303, d2.loss_map_pts: 0.5850, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1187, d3.loss_map_pts: 0.5338, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1130, d4.loss_map_pts: 0.5158, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1074, d5.loss_map_pts: 0.5106, d5.loss_map_dir: 0.0066, loss: 22.1701, grad_norm: 173.6633 +2026-02-28 11:35:49,478 - DriveTransformer - INFO - Epoch [10][4450/39528] lr: 6.944e-05, eta: 4 days, 23:27:44, time: 0.746, data_time: 0.039, memory: 19865, loss_cls: 0.1103, loss_bbox: 0.3127, loss_traj: 0.5175, loss_traj_cls: 0.0020, loss_map_cls: 0.1232, loss_map_pts: 0.5764, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.5902, d0.loss_plan_l1_fix_dist: 0.4137, d1.loss_plan_l1_fix_time: 0.8536, d1.loss_plan_l1_fix_dist: 0.2388, d2.loss_plan_l1_fix_time: 0.8426, d2.loss_plan_l1_fix_dist: 0.1975, d3.loss_plan_l1_fix_time: 0.8430, d3.loss_plan_l1_fix_dist: 0.2106, d4.loss_plan_l1_fix_time: 0.8459, d4.loss_plan_l1_fix_dist: 0.1912, d5.loss_plan_l1_fix_time: 0.8490, d5.loss_plan_l1_fix_dist: 0.1949, d6.loss_plan_l1_fix_time: 0.8528, d6.loss_plan_l1_fix_dist: 0.2040, d0.loss_cls_all: 0.1550, d0.loss_bbox_all: 0.3807, d0.loss_cls: 0.1550, d0.loss_bbox: 0.3807, d1.loss_cls: 0.1491, d1.loss_bbox: 0.3428, d2.loss_cls: 0.1360, d2.loss_bbox: 0.3223, d3.loss_cls: 0.1167, d3.loss_bbox: 0.3164, d4.loss_cls: 0.1111, d4.loss_bbox: 0.3139, d5.loss_cls: 0.1104, d5.loss_bbox: 0.3133, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7568, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5931, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5326, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5277, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5238, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5184, d0.loss_map_cls_all: 0.2084, d0.loss_map_pts_all: 1.1627, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2084, d0.loss_map_pts: 1.1627, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1780, d1.loss_map_pts: 0.8414, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1537, d2.loss_map_pts: 0.6733, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1399, d3.loss_map_pts: 0.6114, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1315, d4.loss_map_pts: 0.5870, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1259, d5.loss_map_pts: 0.5762, d5.loss_map_dir: 0.0064, loss: 24.5410, grad_norm: 178.6153 +2026-02-28 11:36:27,197 - DriveTransformer - INFO - Epoch [10][4500/39528] lr: 6.944e-05, eta: 4 days, 23:27:13, time: 0.754, data_time: 0.042, memory: 19865, loss_cls: 0.1055, loss_bbox: 0.3009, loss_traj: 0.4614, loss_traj_cls: 0.0021, loss_map_cls: 0.1029, loss_map_pts: 0.5547, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.5289, d0.loss_plan_l1_fix_dist: 0.4911, d1.loss_plan_l1_fix_time: 0.8048, d1.loss_plan_l1_fix_dist: 0.2485, d2.loss_plan_l1_fix_time: 0.7896, d2.loss_plan_l1_fix_dist: 0.2082, d3.loss_plan_l1_fix_time: 0.7884, d3.loss_plan_l1_fix_dist: 0.2319, d4.loss_plan_l1_fix_time: 0.7913, d4.loss_plan_l1_fix_dist: 0.2019, d5.loss_plan_l1_fix_time: 0.7948, d5.loss_plan_l1_fix_dist: 0.2115, d6.loss_plan_l1_fix_time: 0.7986, d6.loss_plan_l1_fix_dist: 0.2230, d0.loss_cls_all: 0.1493, d0.loss_bbox_all: 0.3624, d0.loss_cls: 0.1493, d0.loss_bbox: 0.3624, d1.loss_cls: 0.1419, d1.loss_bbox: 0.3327, d2.loss_cls: 0.1285, d2.loss_bbox: 0.3114, d3.loss_cls: 0.1084, d3.loss_bbox: 0.3099, d4.loss_cls: 0.1062, d4.loss_bbox: 0.3048, d5.loss_cls: 0.1034, d5.loss_bbox: 0.3041, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6657, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5393, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4935, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4741, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4685, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4633, d0.loss_map_cls_all: 0.1860, d0.loss_map_pts_all: 1.1495, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1860, d0.loss_map_pts: 1.1495, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1479, d1.loss_map_pts: 0.8184, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1244, d2.loss_map_pts: 0.6502, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1151, d3.loss_map_pts: 0.5887, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1102, d4.loss_map_pts: 0.5618, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1057, d5.loss_map_pts: 0.5553, d5.loss_map_dir: 0.0063, loss: 23.4223, grad_norm: 177.8738 +2026-02-28 11:37:02,996 - DriveTransformer - INFO - Epoch [10][4550/39528] lr: 6.944e-05, eta: 4 days, 23:26:33, time: 0.716, data_time: 0.035, memory: 19865, loss_cls: 0.1056, loss_bbox: 0.2977, loss_traj: 0.5057, loss_traj_cls: 0.0021, loss_map_cls: 0.1046, loss_map_pts: 0.5469, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.5036, d0.loss_plan_l1_fix_dist: 0.4573, d1.loss_plan_l1_fix_time: 0.7382, d1.loss_plan_l1_fix_dist: 0.2271, d2.loss_plan_l1_fix_time: 0.7203, d2.loss_plan_l1_fix_dist: 0.2121, d3.loss_plan_l1_fix_time: 0.7215, d3.loss_plan_l1_fix_dist: 0.2494, d4.loss_plan_l1_fix_time: 0.7247, d4.loss_plan_l1_fix_dist: 0.2263, d5.loss_plan_l1_fix_time: 0.7284, d5.loss_plan_l1_fix_dist: 0.2574, d6.loss_plan_l1_fix_time: 0.7318, d6.loss_plan_l1_fix_dist: 0.2255, d0.loss_cls_all: 0.1497, d0.loss_bbox_all: 0.3632, d0.loss_cls: 0.1497, d0.loss_bbox: 0.3632, d1.loss_cls: 0.1406, d1.loss_bbox: 0.3313, d2.loss_cls: 0.1265, d2.loss_bbox: 0.3111, d3.loss_cls: 0.1104, d3.loss_bbox: 0.3039, d4.loss_cls: 0.1059, d4.loss_bbox: 0.3003, d5.loss_cls: 0.1043, d5.loss_bbox: 0.2984, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7382, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5660, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5251, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5126, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5104, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5061, d0.loss_map_cls_all: 0.1968, d0.loss_map_pts_all: 1.1250, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1968, d0.loss_map_pts: 1.1250, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1605, d1.loss_map_pts: 0.8083, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1319, d2.loss_map_pts: 0.6448, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1201, d3.loss_map_pts: 0.5820, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1113, d4.loss_map_pts: 0.5548, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1070, d5.loss_map_pts: 0.5472, d5.loss_map_dir: 0.0065, loss: 23.2693, grad_norm: 176.8672 +2026-02-28 11:37:40,875 - DriveTransformer - INFO - Epoch [10][4600/39528] lr: 6.944e-05, eta: 4 days, 23:26:03, time: 0.759, data_time: 0.038, memory: 19865, loss_cls: 0.1118, loss_bbox: 0.2957, loss_traj: 0.5141, loss_traj_cls: 0.0020, loss_map_cls: 0.1084, loss_map_pts: 0.5619, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.8772, d0.loss_plan_l1_fix_dist: 0.3766, d1.loss_plan_l1_fix_time: 0.9553, d1.loss_plan_l1_fix_dist: 0.2060, d2.loss_plan_l1_fix_time: 0.9389, d2.loss_plan_l1_fix_dist: 0.2069, d3.loss_plan_l1_fix_time: 0.9392, d3.loss_plan_l1_fix_dist: 0.2494, d4.loss_plan_l1_fix_time: 0.9425, d4.loss_plan_l1_fix_dist: 0.2340, d5.loss_plan_l1_fix_time: 0.9468, d5.loss_plan_l1_fix_dist: 0.2772, d6.loss_plan_l1_fix_time: 0.9505, d6.loss_plan_l1_fix_dist: 0.2290, d0.loss_cls_all: 0.1637, d0.loss_bbox_all: 0.3544, d0.loss_cls: 0.1637, d0.loss_bbox: 0.3544, d1.loss_cls: 0.1552, d1.loss_bbox: 0.3214, d2.loss_cls: 0.1396, d2.loss_bbox: 0.3028, d3.loss_cls: 0.1175, d3.loss_bbox: 0.2995, d4.loss_cls: 0.1144, d4.loss_bbox: 0.2963, d5.loss_cls: 0.1106, d5.loss_bbox: 0.2962, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7224, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5650, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5170, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5062, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5078, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5100, d0.loss_map_cls_all: 0.1941, d0.loss_map_pts_all: 1.1457, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1941, d0.loss_map_pts: 1.1457, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1619, d1.loss_map_pts: 0.8366, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1370, d2.loss_map_pts: 0.6712, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1235, d3.loss_map_pts: 0.6010, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1172, d4.loss_map_pts: 0.5713, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1115, d5.loss_map_pts: 0.5620, d5.loss_map_dir: 0.0070, loss: 25.0745, grad_norm: 181.9106 +2026-02-28 11:38:16,838 - DriveTransformer - INFO - Epoch [10][4650/39528] lr: 6.944e-05, eta: 4 days, 23:25:23, time: 0.718, data_time: 0.032, memory: 19865, loss_cls: 0.1165, loss_bbox: 0.3063, loss_traj: 0.5071, loss_traj_cls: 0.0020, loss_map_cls: 0.1126, loss_map_pts: 0.5605, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.5186, d0.loss_plan_l1_fix_dist: 0.5125, d1.loss_plan_l1_fix_time: 0.7848, d1.loss_plan_l1_fix_dist: 0.1827, d2.loss_plan_l1_fix_time: 0.7721, d2.loss_plan_l1_fix_dist: 0.2072, d3.loss_plan_l1_fix_time: 0.7678, d3.loss_plan_l1_fix_dist: 0.2387, d4.loss_plan_l1_fix_time: 0.7705, d4.loss_plan_l1_fix_dist: 0.2385, d5.loss_plan_l1_fix_time: 0.7740, d5.loss_plan_l1_fix_dist: 0.2749, d6.loss_plan_l1_fix_time: 0.7786, d6.loss_plan_l1_fix_dist: 0.2438, d0.loss_cls_all: 0.1599, d0.loss_bbox_all: 0.3630, d0.loss_cls: 0.1599, d0.loss_bbox: 0.3630, d1.loss_cls: 0.1531, d1.loss_bbox: 0.3338, d2.loss_cls: 0.1380, d2.loss_bbox: 0.3114, d3.loss_cls: 0.1229, d3.loss_bbox: 0.3063, d4.loss_cls: 0.1184, d4.loss_bbox: 0.3041, d5.loss_cls: 0.1166, d5.loss_bbox: 0.3049, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7231, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5740, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5312, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5093, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5058, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5041, d0.loss_map_cls_all: 0.1924, d0.loss_map_pts_all: 1.1811, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1924, d0.loss_map_pts: 1.1811, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1617, d1.loss_map_pts: 0.8489, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1397, d2.loss_map_pts: 0.6727, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1274, d3.loss_map_pts: 0.5956, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1201, d4.loss_map_pts: 0.5687, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1148, d5.loss_map_pts: 0.5612, d5.loss_map_dir: 0.0070, loss: 23.9889, grad_norm: 182.1238 +2026-02-28 11:38:55,444 - DriveTransformer - INFO - Epoch [10][4700/39528] lr: 6.944e-05, eta: 4 days, 23:24:56, time: 0.772, data_time: 0.038, memory: 19865, loss_cls: 0.0994, loss_bbox: 0.2878, loss_traj: 0.4797, loss_traj_cls: 0.0020, loss_map_cls: 0.1097, loss_map_pts: 0.6363, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.5752, d0.loss_plan_l1_fix_dist: 0.3930, d1.loss_plan_l1_fix_time: 0.8525, d1.loss_plan_l1_fix_dist: 0.1837, d2.loss_plan_l1_fix_time: 0.8403, d2.loss_plan_l1_fix_dist: 0.2170, d3.loss_plan_l1_fix_time: 0.8298, d3.loss_plan_l1_fix_dist: 0.2595, d4.loss_plan_l1_fix_time: 0.8320, d4.loss_plan_l1_fix_dist: 0.2385, d5.loss_plan_l1_fix_time: 0.8339, d5.loss_plan_l1_fix_dist: 0.2711, d6.loss_plan_l1_fix_time: 0.8373, d6.loss_plan_l1_fix_dist: 0.2388, d0.loss_cls_all: 0.1440, d0.loss_bbox_all: 0.3571, d0.loss_cls: 0.1440, d0.loss_bbox: 0.3571, d1.loss_cls: 0.1371, d1.loss_bbox: 0.3234, d2.loss_cls: 0.1250, d2.loss_bbox: 0.3020, d3.loss_cls: 0.1057, d3.loss_bbox: 0.2959, d4.loss_cls: 0.0996, d4.loss_bbox: 0.2921, d5.loss_cls: 0.0983, d5.loss_bbox: 0.2901, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6816, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5541, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5013, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4859, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4797, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4798, d0.loss_map_cls_all: 0.2053, d0.loss_map_pts_all: 1.3120, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2053, d0.loss_map_pts: 1.3120, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1643, d1.loss_map_pts: 0.9577, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1381, d2.loss_map_pts: 0.7555, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1253, d3.loss_map_pts: 0.6787, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1182, d4.loss_map_pts: 0.6473, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1129, d5.loss_map_pts: 0.6362, d5.loss_map_dir: 0.0077, loss: 24.7043, grad_norm: 181.8178 +2026-02-28 11:39:31,428 - DriveTransformer - INFO - Epoch [10][4750/39528] lr: 6.944e-05, eta: 4 days, 23:24:17, time: 0.720, data_time: 0.036, memory: 19865, loss_cls: 0.0812, loss_bbox: 0.2717, loss_traj: 0.5211, loss_traj_cls: 0.0021, loss_map_cls: 0.0935, loss_map_pts: 0.4585, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.5155, d0.loss_plan_l1_fix_dist: 0.4650, d1.loss_plan_l1_fix_time: 0.7608, d1.loss_plan_l1_fix_dist: 0.1910, d2.loss_plan_l1_fix_time: 0.7419, d2.loss_plan_l1_fix_dist: 0.2319, d3.loss_plan_l1_fix_time: 0.7408, d3.loss_plan_l1_fix_dist: 0.2705, d4.loss_plan_l1_fix_time: 0.7435, d4.loss_plan_l1_fix_dist: 0.2424, d5.loss_plan_l1_fix_time: 0.7456, d5.loss_plan_l1_fix_dist: 0.2658, d6.loss_plan_l1_fix_time: 0.7489, d6.loss_plan_l1_fix_dist: 0.2417, d0.loss_cls_all: 0.1282, d0.loss_bbox_all: 0.3249, d0.loss_cls: 0.1282, d0.loss_bbox: 0.3249, d1.loss_cls: 0.1212, d1.loss_bbox: 0.2945, d2.loss_cls: 0.1092, d2.loss_bbox: 0.2751, d3.loss_cls: 0.0917, d3.loss_bbox: 0.2713, d4.loss_cls: 0.0832, d4.loss_bbox: 0.2723, d5.loss_cls: 0.0819, d5.loss_bbox: 0.2721, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7314, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5697, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5288, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5220, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5250, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5218, d0.loss_map_cls_all: 0.1715, d0.loss_map_pts_all: 0.9722, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1715, d0.loss_map_pts: 0.9722, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1367, d1.loss_map_pts: 0.6651, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1190, d2.loss_map_pts: 0.5271, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1063, d3.loss_map_pts: 0.4778, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0989, d4.loss_map_pts: 0.4624, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0956, d5.loss_map_pts: 0.4571, d5.loss_map_dir: 0.0057, loss: 21.9952, grad_norm: 181.6757 +2026-02-28 11:40:08,910 - DriveTransformer - INFO - Epoch [10][4800/39528] lr: 6.944e-05, eta: 4 days, 23:23:45, time: 0.750, data_time: 0.037, memory: 19865, loss_cls: 0.0971, loss_bbox: 0.2975, loss_traj: 0.5135, loss_traj_cls: 0.0020, loss_map_cls: 0.1195, loss_map_pts: 0.5585, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.6553, d0.loss_plan_l1_fix_dist: 0.4707, d1.loss_plan_l1_fix_time: 0.8029, d1.loss_plan_l1_fix_dist: 0.2224, d2.loss_plan_l1_fix_time: 0.7848, d2.loss_plan_l1_fix_dist: 0.2576, d3.loss_plan_l1_fix_time: 0.7843, d3.loss_plan_l1_fix_dist: 0.2918, d4.loss_plan_l1_fix_time: 0.7860, d4.loss_plan_l1_fix_dist: 0.2424, d5.loss_plan_l1_fix_time: 0.7888, d5.loss_plan_l1_fix_dist: 0.2478, d6.loss_plan_l1_fix_time: 0.7922, d6.loss_plan_l1_fix_dist: 0.2324, d0.loss_cls_all: 0.1423, d0.loss_bbox_all: 0.3637, d0.loss_cls: 0.1423, d0.loss_bbox: 0.3637, d1.loss_cls: 0.1378, d1.loss_bbox: 0.3285, d2.loss_cls: 0.1242, d2.loss_bbox: 0.3081, d3.loss_cls: 0.1033, d3.loss_bbox: 0.3038, d4.loss_cls: 0.0967, d4.loss_bbox: 0.3011, d5.loss_cls: 0.0962, d5.loss_bbox: 0.2996, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7178, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5529, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5143, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5118, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5072, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5083, d0.loss_map_cls_all: 0.2066, d0.loss_map_pts_all: 1.1660, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2066, d0.loss_map_pts: 1.1660, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1709, d1.loss_map_pts: 0.8509, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1443, d2.loss_map_pts: 0.6725, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1310, d3.loss_map_pts: 0.5961, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1250, d4.loss_map_pts: 0.5653, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1215, d5.loss_map_pts: 0.5592, d5.loss_map_dir: 0.0070, loss: 24.1124, grad_norm: 180.4746 +2026-02-28 11:40:45,229 - DriveTransformer - INFO - Epoch [10][4850/39528] lr: 6.944e-05, eta: 4 days, 23:23:07, time: 0.726, data_time: 0.036, memory: 19865, loss_cls: 0.1250, loss_bbox: 0.3215, loss_traj: 0.5210, loss_traj_cls: 0.0019, loss_map_cls: 0.1258, loss_map_pts: 0.6007, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 3.1148, d0.loss_plan_l1_fix_dist: 0.3171, d1.loss_plan_l1_fix_time: 0.9741, d1.loss_plan_l1_fix_dist: 0.2231, d2.loss_plan_l1_fix_time: 0.9575, d2.loss_plan_l1_fix_dist: 0.2645, d3.loss_plan_l1_fix_time: 0.9498, d3.loss_plan_l1_fix_dist: 0.3033, d4.loss_plan_l1_fix_time: 0.9516, d4.loss_plan_l1_fix_dist: 0.2197, d5.loss_plan_l1_fix_time: 0.9538, d5.loss_plan_l1_fix_dist: 0.2120, d6.loss_plan_l1_fix_time: 0.9563, d6.loss_plan_l1_fix_dist: 0.2248, d0.loss_cls_all: 0.1773, d0.loss_bbox_all: 0.3954, d0.loss_cls: 0.1773, d0.loss_bbox: 0.3954, d1.loss_cls: 0.1673, d1.loss_bbox: 0.3599, d2.loss_cls: 0.1554, d2.loss_bbox: 0.3358, d3.loss_cls: 0.1334, d3.loss_bbox: 0.3315, d4.loss_cls: 0.1262, d4.loss_bbox: 0.3258, d5.loss_cls: 0.1250, d5.loss_bbox: 0.3232, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7696, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5895, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5482, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5345, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5260, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5210, d0.loss_map_cls_all: 0.2196, d0.loss_map_pts_all: 1.2252, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2196, d0.loss_map_pts: 1.2252, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1809, d1.loss_map_pts: 0.8869, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1565, d2.loss_map_pts: 0.7119, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1434, d3.loss_map_pts: 0.6372, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1339, d4.loss_map_pts: 0.6101, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1287, d5.loss_map_pts: 0.6012, d5.loss_map_dir: 0.0073, loss: 26.4774, grad_norm: 182.9894 +2026-02-28 11:41:21,368 - DriveTransformer - INFO - Epoch [10][4900/39528] lr: 6.944e-05, eta: 4 days, 23:22:29, time: 0.723, data_time: 0.035, memory: 19865, loss_cls: 0.0994, loss_bbox: 0.2862, loss_traj: 0.4203, loss_traj_cls: 0.0020, loss_map_cls: 0.0986, loss_map_pts: 0.5473, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.3010, d0.loss_plan_l1_fix_dist: 0.4559, d1.loss_plan_l1_fix_time: 0.7623, d1.loss_plan_l1_fix_dist: 0.2504, d2.loss_plan_l1_fix_time: 0.7564, d2.loss_plan_l1_fix_dist: 0.2847, d3.loss_plan_l1_fix_time: 0.7579, d3.loss_plan_l1_fix_dist: 0.3316, d4.loss_plan_l1_fix_time: 0.7616, d4.loss_plan_l1_fix_dist: 0.2266, d5.loss_plan_l1_fix_time: 0.7652, d5.loss_plan_l1_fix_dist: 0.2285, d6.loss_plan_l1_fix_time: 0.7687, d6.loss_plan_l1_fix_dist: 0.2432, d0.loss_cls_all: 0.1437, d0.loss_bbox_all: 0.3506, d0.loss_cls: 0.1437, d0.loss_bbox: 0.3506, d1.loss_cls: 0.1358, d1.loss_bbox: 0.3163, d2.loss_cls: 0.1237, d2.loss_bbox: 0.2969, d3.loss_cls: 0.1063, d3.loss_bbox: 0.2913, d4.loss_cls: 0.1016, d4.loss_bbox: 0.2881, d5.loss_cls: 0.0991, d5.loss_bbox: 0.2870, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6060, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4672, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4327, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4270, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4224, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4216, d0.loss_map_cls_all: 0.1962, d0.loss_map_pts_all: 1.1560, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1962, d0.loss_map_pts: 1.1560, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1567, d1.loss_map_pts: 0.8082, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1294, d2.loss_map_pts: 0.6283, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1146, d3.loss_map_pts: 0.5673, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1060, d4.loss_map_pts: 0.5504, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1005, d5.loss_map_pts: 0.5463, d5.loss_map_dir: 0.0068, loss: 22.6324, grad_norm: 183.8136 +2026-02-28 11:41:59,221 - DriveTransformer - INFO - Epoch [10][4950/39528] lr: 6.944e-05, eta: 4 days, 23:21:59, time: 0.757, data_time: 0.041, memory: 19865, loss_cls: 0.0955, loss_bbox: 0.2772, loss_traj: 0.4731, loss_traj_cls: 0.0021, loss_map_cls: 0.0802, loss_map_pts: 0.4727, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.1050, d0.loss_plan_l1_fix_dist: 0.4485, d1.loss_plan_l1_fix_time: 0.6479, d1.loss_plan_l1_fix_dist: 0.3037, d2.loss_plan_l1_fix_time: 0.6279, d2.loss_plan_l1_fix_dist: 0.3326, d3.loss_plan_l1_fix_time: 0.6281, d3.loss_plan_l1_fix_dist: 0.4149, d4.loss_plan_l1_fix_time: 0.6298, d4.loss_plan_l1_fix_dist: 0.3322, d5.loss_plan_l1_fix_time: 0.6327, d5.loss_plan_l1_fix_dist: 0.3746, d6.loss_plan_l1_fix_time: 0.6370, d6.loss_plan_l1_fix_dist: 0.3273, d0.loss_cls_all: 0.1348, d0.loss_bbox_all: 0.3297, d0.loss_cls: 0.1348, d0.loss_bbox: 0.3297, d1.loss_cls: 0.1299, d1.loss_bbox: 0.3015, d2.loss_cls: 0.1175, d2.loss_bbox: 0.2840, d3.loss_cls: 0.1025, d3.loss_bbox: 0.2802, d4.loss_cls: 0.0985, d4.loss_bbox: 0.2778, d5.loss_cls: 0.0950, d5.loss_bbox: 0.2783, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6439, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5039, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4816, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4746, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4739, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4718, d0.loss_map_cls_all: 0.1555, d0.loss_map_pts_all: 1.0676, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1555, d0.loss_map_pts: 1.0676, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1229, d1.loss_map_pts: 0.7190, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1040, d2.loss_map_pts: 0.5550, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.0934, d3.loss_map_pts: 0.4989, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.0855, d4.loss_map_pts: 0.4786, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.0809, d5.loss_map_pts: 0.4746, d5.loss_map_dir: 0.0069, loss: 21.5045, grad_norm: 184.4940 +2026-02-28 11:42:36,815 - DriveTransformer - INFO - Epoch [10][5000/39528] lr: 6.944e-05, eta: 4 days, 23:21:27, time: 0.752, data_time: 0.038, memory: 19865, loss_cls: 0.1267, loss_bbox: 0.3379, loss_traj: 0.5185, loss_traj_cls: 0.0020, loss_map_cls: 0.1181, loss_map_pts: 0.6148, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.7295, d0.loss_plan_l1_fix_dist: 0.4183, d1.loss_plan_l1_fix_time: 0.8171, d1.loss_plan_l1_fix_dist: 0.2941, d2.loss_plan_l1_fix_time: 0.7967, d2.loss_plan_l1_fix_dist: 0.3100, d3.loss_plan_l1_fix_time: 0.7975, d3.loss_plan_l1_fix_dist: 0.3816, d4.loss_plan_l1_fix_time: 0.8002, d4.loss_plan_l1_fix_dist: 0.3117, d5.loss_plan_l1_fix_time: 0.8037, d5.loss_plan_l1_fix_dist: 0.3554, d6.loss_plan_l1_fix_time: 0.8081, d6.loss_plan_l1_fix_dist: 0.2836, d0.loss_cls_all: 0.1751, d0.loss_bbox_all: 0.4032, d0.loss_cls: 0.1751, d0.loss_bbox: 0.4032, d1.loss_cls: 0.1647, d1.loss_bbox: 0.3689, d2.loss_cls: 0.1559, d2.loss_bbox: 0.3435, d3.loss_cls: 0.1381, d3.loss_bbox: 0.3408, d4.loss_cls: 0.1297, d4.loss_bbox: 0.3372, d5.loss_cls: 0.1275, d5.loss_bbox: 0.3369, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7085, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5761, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5348, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5212, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5194, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5153, d0.loss_map_cls_all: 0.2078, d0.loss_map_pts_all: 1.2571, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2078, d0.loss_map_pts: 1.2571, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1715, d1.loss_map_pts: 0.8888, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1469, d2.loss_map_pts: 0.7078, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1334, d3.loss_map_pts: 0.6399, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1254, d4.loss_map_pts: 0.6197, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1211, d5.loss_map_pts: 0.6154, d5.loss_map_dir: 0.0082, loss: 25.7692, grad_norm: 178.4253 +2026-02-28 11:43:14,744 - DriveTransformer - INFO - Epoch [10][5050/39528] lr: 6.944e-05, eta: 4 days, 23:20:57, time: 0.759, data_time: 0.039, memory: 19865, loss_cls: 0.1151, loss_bbox: 0.3265, loss_traj: 0.5518, loss_traj_cls: 0.0019, loss_map_cls: 0.1138, loss_map_pts: 0.5992, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.8704, d0.loss_plan_l1_fix_dist: 0.4142, d1.loss_plan_l1_fix_time: 0.9068, d1.loss_plan_l1_fix_dist: 0.2952, d2.loss_plan_l1_fix_time: 0.8925, d2.loss_plan_l1_fix_dist: 0.2978, d3.loss_plan_l1_fix_time: 0.8882, d3.loss_plan_l1_fix_dist: 0.3303, d4.loss_plan_l1_fix_time: 0.8900, d4.loss_plan_l1_fix_dist: 0.3020, d5.loss_plan_l1_fix_time: 0.8929, d5.loss_plan_l1_fix_dist: 0.3358, d6.loss_plan_l1_fix_time: 0.8964, d6.loss_plan_l1_fix_dist: 0.2912, d0.loss_cls_all: 0.1718, d0.loss_bbox_all: 0.3956, d0.loss_cls: 0.1718, d0.loss_bbox: 0.3956, d1.loss_cls: 0.1598, d1.loss_bbox: 0.3569, d2.loss_cls: 0.1400, d2.loss_bbox: 0.3359, d3.loss_cls: 0.1221, d3.loss_bbox: 0.3322, d4.loss_cls: 0.1162, d4.loss_bbox: 0.3295, d5.loss_cls: 0.1148, d5.loss_bbox: 0.3277, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7853, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6297, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5682, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5596, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5553, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5526, d0.loss_map_cls_all: 0.1944, d0.loss_map_pts_all: 1.2053, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1944, d0.loss_map_pts: 1.2053, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1627, d1.loss_map_pts: 0.8722, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1395, d2.loss_map_pts: 0.6967, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1292, d3.loss_map_pts: 0.6304, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1217, d4.loss_map_pts: 0.6063, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1158, d5.loss_map_pts: 0.6006, d5.loss_map_dir: 0.0080, loss: 26.2739, grad_norm: 178.5528 +2026-02-28 11:43:50,819 - DriveTransformer - INFO - Epoch [10][5100/39528] lr: 6.944e-05, eta: 4 days, 23:20:18, time: 0.722, data_time: 0.039, memory: 19865, loss_cls: 0.1089, loss_bbox: 0.3020, loss_traj: 0.5656, loss_traj_cls: 0.0019, loss_map_cls: 0.1147, loss_map_pts: 0.5156, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.5262, d0.loss_plan_l1_fix_dist: 0.4050, d1.loss_plan_l1_fix_time: 0.9019, d1.loss_plan_l1_fix_dist: 0.2739, d2.loss_plan_l1_fix_time: 0.8720, d2.loss_plan_l1_fix_dist: 0.2668, d3.loss_plan_l1_fix_time: 0.8691, d3.loss_plan_l1_fix_dist: 0.2771, d4.loss_plan_l1_fix_time: 0.8698, d4.loss_plan_l1_fix_dist: 0.2914, d5.loss_plan_l1_fix_time: 0.8718, d5.loss_plan_l1_fix_dist: 0.2979, d6.loss_plan_l1_fix_time: 0.8750, d6.loss_plan_l1_fix_dist: 0.2653, d0.loss_cls_all: 0.1517, d0.loss_bbox_all: 0.3673, d0.loss_cls: 0.1517, d0.loss_bbox: 0.3673, d1.loss_cls: 0.1431, d1.loss_bbox: 0.3341, d2.loss_cls: 0.1317, d2.loss_bbox: 0.3127, d3.loss_cls: 0.1157, d3.loss_bbox: 0.3067, d4.loss_cls: 0.1109, d4.loss_bbox: 0.3045, d5.loss_cls: 0.1079, d5.loss_bbox: 0.3042, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7939, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6366, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5855, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5721, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5659, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5646, d0.loss_map_cls_all: 0.2007, d0.loss_map_pts_all: 1.1019, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2007, d0.loss_map_pts: 1.1019, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1662, d1.loss_map_pts: 0.7893, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1419, d2.loss_map_pts: 0.6132, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1307, d3.loss_map_pts: 0.5446, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1239, d4.loss_map_pts: 0.5214, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1171, d5.loss_map_pts: 0.5166, d5.loss_map_dir: 0.0065, loss: 24.7255, grad_norm: 178.9829 +2026-02-28 11:44:28,527 - DriveTransformer - INFO - Epoch [10][5150/39528] lr: 6.944e-05, eta: 4 days, 23:19:47, time: 0.754, data_time: 0.034, memory: 19865, loss_cls: 0.0967, loss_bbox: 0.2959, loss_traj: 0.5398, loss_traj_cls: 0.0019, loss_map_cls: 0.0901, loss_map_pts: 0.5264, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.7445, d0.loss_plan_l1_fix_dist: 0.4461, d1.loss_plan_l1_fix_time: 0.8192, d1.loss_plan_l1_fix_dist: 0.2440, d2.loss_plan_l1_fix_time: 0.7981, d2.loss_plan_l1_fix_dist: 0.2488, d3.loss_plan_l1_fix_time: 0.7949, d3.loss_plan_l1_fix_dist: 0.2344, d4.loss_plan_l1_fix_time: 0.7966, d4.loss_plan_l1_fix_dist: 0.2911, d5.loss_plan_l1_fix_time: 0.7985, d5.loss_plan_l1_fix_dist: 0.2817, d6.loss_plan_l1_fix_time: 0.8014, d6.loss_plan_l1_fix_dist: 0.2512, d0.loss_cls_all: 0.1438, d0.loss_bbox_all: 0.3642, d0.loss_cls: 0.1438, d0.loss_bbox: 0.3642, d1.loss_cls: 0.1343, d1.loss_bbox: 0.3322, d2.loss_cls: 0.1202, d2.loss_bbox: 0.3102, d3.loss_cls: 0.1030, d3.loss_bbox: 0.3037, d4.loss_cls: 0.0967, d4.loss_bbox: 0.3005, d5.loss_cls: 0.0967, d5.loss_bbox: 0.2974, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7802, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6236, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5707, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5526, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5449, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5414, d0.loss_map_cls_all: 0.1678, d0.loss_map_pts_all: 1.1339, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1678, d0.loss_map_pts: 1.1339, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1318, d1.loss_map_pts: 0.7812, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1134, d2.loss_map_pts: 0.6203, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1029, d3.loss_map_pts: 0.5571, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.0967, d4.loss_map_pts: 0.5322, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.0925, d5.loss_map_pts: 0.5262, d5.loss_map_dir: 0.0074, loss: 24.0470, grad_norm: 178.0790 +2026-02-28 11:45:05,259 - DriveTransformer - INFO - Epoch [10][5200/39528] lr: 6.944e-05, eta: 4 days, 23:19:12, time: 0.735, data_time: 0.038, memory: 19865, loss_cls: 0.1161, loss_bbox: 0.3137, loss_traj: 0.4866, loss_traj_cls: 0.0019, loss_map_cls: 0.1215, loss_map_pts: 0.5985, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 3.0140, d0.loss_plan_l1_fix_dist: 0.4637, d1.loss_plan_l1_fix_time: 0.8859, d1.loss_plan_l1_fix_dist: 0.2218, d2.loss_plan_l1_fix_time: 0.8793, d2.loss_plan_l1_fix_dist: 0.2365, d3.loss_plan_l1_fix_time: 0.8778, d3.loss_plan_l1_fix_dist: 0.2011, d4.loss_plan_l1_fix_time: 0.8795, d4.loss_plan_l1_fix_dist: 0.2914, d5.loss_plan_l1_fix_time: 0.8825, d5.loss_plan_l1_fix_dist: 0.2482, d6.loss_plan_l1_fix_time: 0.8852, d6.loss_plan_l1_fix_dist: 0.2237, d0.loss_cls_all: 0.1631, d0.loss_bbox_all: 0.3848, d0.loss_cls: 0.1631, d0.loss_bbox: 0.3848, d1.loss_cls: 0.1562, d1.loss_bbox: 0.3495, d2.loss_cls: 0.1394, d2.loss_bbox: 0.3297, d3.loss_cls: 0.1234, d3.loss_bbox: 0.3232, d4.loss_cls: 0.1187, d4.loss_bbox: 0.3177, d5.loss_cls: 0.1158, d5.loss_bbox: 0.3160, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6782, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5595, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5088, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4960, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4955, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4883, d0.loss_map_cls_all: 0.2033, d0.loss_map_pts_all: 1.1803, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2033, d0.loss_map_pts: 1.1803, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1731, d1.loss_map_pts: 0.8611, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1504, d2.loss_map_pts: 0.6891, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1387, d3.loss_map_pts: 0.6275, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1316, d4.loss_map_pts: 0.6064, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1251, d5.loss_map_pts: 0.5988, d5.loss_map_dir: 0.0075, loss: 25.3715, grad_norm: 177.2583 +2026-02-28 11:45:42,666 - DriveTransformer - INFO - Epoch [10][5250/39528] lr: 6.944e-05, eta: 4 days, 23:18:39, time: 0.748, data_time: 0.035, memory: 19865, loss_cls: 0.1037, loss_bbox: 0.3028, loss_traj: 0.4786, loss_traj_cls: 0.0019, loss_map_cls: 0.1261, loss_map_pts: 0.5782, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.7780, d0.loss_plan_l1_fix_dist: 0.4705, d1.loss_plan_l1_fix_time: 0.7866, d1.loss_plan_l1_fix_dist: 0.2383, d2.loss_plan_l1_fix_time: 0.7690, d2.loss_plan_l1_fix_dist: 0.2461, d3.loss_plan_l1_fix_time: 0.7589, d3.loss_plan_l1_fix_dist: 0.2386, d4.loss_plan_l1_fix_time: 0.7596, d4.loss_plan_l1_fix_dist: 0.3023, d5.loss_plan_l1_fix_time: 0.7624, d5.loss_plan_l1_fix_dist: 0.2477, d6.loss_plan_l1_fix_time: 0.7660, d6.loss_plan_l1_fix_dist: 0.2263, d0.loss_cls_all: 0.1522, d0.loss_bbox_all: 0.3657, d0.loss_cls: 0.1522, d0.loss_bbox: 0.3657, d1.loss_cls: 0.1442, d1.loss_bbox: 0.3347, d2.loss_cls: 0.1326, d2.loss_bbox: 0.3146, d3.loss_cls: 0.1136, d3.loss_bbox: 0.3084, d4.loss_cls: 0.1073, d4.loss_bbox: 0.3052, d5.loss_cls: 0.1037, d5.loss_bbox: 0.3045, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6944, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5564, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5007, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4870, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4823, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4806, d0.loss_map_cls_all: 0.2067, d0.loss_map_pts_all: 1.2148, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2067, d0.loss_map_pts: 1.2148, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1741, d1.loss_map_pts: 0.8473, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1501, d2.loss_map_pts: 0.6715, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1420, d3.loss_map_pts: 0.6065, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1329, d4.loss_map_pts: 0.5844, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1276, d5.loss_map_pts: 0.5791, d5.loss_map_dir: 0.0077, loss: 24.2718, grad_norm: 178.9934 +2026-02-28 11:46:18,729 - DriveTransformer - INFO - Epoch [10][5300/39528] lr: 6.944e-05, eta: 4 days, 23:18:01, time: 0.721, data_time: 0.036, memory: 19865, loss_cls: 0.1085, loss_bbox: 0.3054, loss_traj: 0.5317, loss_traj_cls: 0.0019, loss_map_cls: 0.0970, loss_map_pts: 0.5255, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.6490, d0.loss_plan_l1_fix_dist: 0.5015, d1.loss_plan_l1_fix_time: 0.7559, d1.loss_plan_l1_fix_dist: 0.2644, d2.loss_plan_l1_fix_time: 0.7324, d2.loss_plan_l1_fix_dist: 0.2783, d3.loss_plan_l1_fix_time: 0.7144, d3.loss_plan_l1_fix_dist: 0.2833, d4.loss_plan_l1_fix_time: 0.7170, d4.loss_plan_l1_fix_dist: 0.2876, d5.loss_plan_l1_fix_time: 0.7191, d5.loss_plan_l1_fix_dist: 0.2291, d6.loss_plan_l1_fix_time: 0.7233, d6.loss_plan_l1_fix_dist: 0.2127, d0.loss_cls_all: 0.1529, d0.loss_bbox_all: 0.3671, d0.loss_cls: 0.1529, d0.loss_bbox: 0.3671, d1.loss_cls: 0.1458, d1.loss_bbox: 0.3396, d2.loss_cls: 0.1335, d2.loss_bbox: 0.3156, d3.loss_cls: 0.1149, d3.loss_bbox: 0.3096, d4.loss_cls: 0.1116, d4.loss_bbox: 0.3057, d5.loss_cls: 0.1087, d5.loss_bbox: 0.3067, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7723, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6213, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5567, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5395, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5293, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5342, d0.loss_map_cls_all: 0.1796, d0.loss_map_pts_all: 1.0779, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1796, d0.loss_map_pts: 1.0779, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1490, d1.loss_map_pts: 0.7845, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1239, d2.loss_map_pts: 0.6197, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1114, d3.loss_map_pts: 0.5608, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1037, d4.loss_map_pts: 0.5355, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0989, d5.loss_map_pts: 0.5273, d5.loss_map_dir: 0.0062, loss: 23.6078, grad_norm: 167.9137 +2026-02-28 11:46:55,101 - DriveTransformer - INFO - Epoch [10][5350/39528] lr: 6.944e-05, eta: 4 days, 23:17:23, time: 0.727, data_time: 0.037, memory: 19865, loss_cls: 0.1017, loss_bbox: 0.2934, loss_traj: 0.5486, loss_traj_cls: 0.0019, loss_map_cls: 0.1000, loss_map_pts: 0.4881, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.4278, d0.loss_plan_l1_fix_dist: 0.4987, d1.loss_plan_l1_fix_time: 0.7654, d1.loss_plan_l1_fix_dist: 0.2917, d2.loss_plan_l1_fix_time: 0.7470, d2.loss_plan_l1_fix_dist: 0.2986, d3.loss_plan_l1_fix_time: 0.7420, d3.loss_plan_l1_fix_dist: 0.3356, d4.loss_plan_l1_fix_time: 0.7453, d4.loss_plan_l1_fix_dist: 0.2905, d5.loss_plan_l1_fix_time: 0.7477, d5.loss_plan_l1_fix_dist: 0.2371, d6.loss_plan_l1_fix_time: 0.7511, d6.loss_plan_l1_fix_dist: 0.2553, d0.loss_cls_all: 0.1512, d0.loss_bbox_all: 0.3541, d0.loss_cls: 0.1512, d0.loss_bbox: 0.3541, d1.loss_cls: 0.1423, d1.loss_bbox: 0.3223, d2.loss_cls: 0.1291, d2.loss_bbox: 0.3012, d3.loss_cls: 0.1102, d3.loss_bbox: 0.2976, d4.loss_cls: 0.1036, d4.loss_bbox: 0.2958, d5.loss_cls: 0.1016, d5.loss_bbox: 0.2943, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8122, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6028, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5516, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5471, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5456, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5452, d0.loss_map_cls_all: 0.1798, d0.loss_map_pts_all: 1.0320, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1798, d0.loss_map_pts: 1.0320, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1526, d1.loss_map_pts: 0.7343, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1298, d2.loss_map_pts: 0.5722, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1159, d3.loss_map_pts: 0.5153, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1080, d4.loss_map_pts: 0.4959, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1026, d5.loss_map_pts: 0.4891, d5.loss_map_dir: 0.0059, loss: 23.2712, grad_norm: 159.8295 +2026-02-28 11:47:31,624 - DriveTransformer - INFO - Epoch [10][5400/39528] lr: 6.944e-05, eta: 4 days, 23:16:47, time: 0.732, data_time: 0.038, memory: 19865, loss_cls: 0.0898, loss_bbox: 0.2899, loss_traj: 0.4386, loss_traj_cls: 0.0019, loss_map_cls: 0.1430, loss_map_pts: 0.5991, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.7711, d0.loss_plan_l1_fix_dist: 0.4025, d1.loss_plan_l1_fix_time: 0.8325, d1.loss_plan_l1_fix_dist: 0.3085, d2.loss_plan_l1_fix_time: 0.8167, d2.loss_plan_l1_fix_dist: 0.2544, d3.loss_plan_l1_fix_time: 0.8005, d3.loss_plan_l1_fix_dist: 0.3114, d4.loss_plan_l1_fix_time: 0.8010, d4.loss_plan_l1_fix_dist: 0.2606, d5.loss_plan_l1_fix_time: 0.8024, d5.loss_plan_l1_fix_dist: 0.2228, d6.loss_plan_l1_fix_time: 0.8034, d6.loss_plan_l1_fix_dist: 0.2108, d0.loss_cls_all: 0.1391, d0.loss_bbox_all: 0.3637, d0.loss_cls: 0.1391, d0.loss_bbox: 0.3637, d1.loss_cls: 0.1256, d1.loss_bbox: 0.3266, d2.loss_cls: 0.1119, d2.loss_bbox: 0.3015, d3.loss_cls: 0.0951, d3.loss_bbox: 0.2952, d4.loss_cls: 0.0920, d4.loss_bbox: 0.2927, d5.loss_cls: 0.0905, d5.loss_bbox: 0.2906, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6214, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4926, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4503, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4448, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4361, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4394, d0.loss_map_cls_all: 0.2316, d0.loss_map_pts_all: 1.2993, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2316, d0.loss_map_pts: 1.2993, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1942, d1.loss_map_pts: 0.9092, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1680, d2.loss_map_pts: 0.7083, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1567, d3.loss_map_pts: 0.6323, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1497, d4.loss_map_pts: 0.6049, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1450, d5.loss_map_pts: 0.5999, d5.loss_map_dir: 0.0074, loss: 24.4664, grad_norm: 152.5427 +2026-02-28 11:48:08,820 - DriveTransformer - INFO - Epoch [10][5450/39528] lr: 6.944e-05, eta: 4 days, 23:16:13, time: 0.743, data_time: 0.039, memory: 19865, loss_cls: 0.1151, loss_bbox: 0.3206, loss_traj: 0.5856, loss_traj_cls: 0.0019, loss_map_cls: 0.1162, loss_map_pts: 0.5964, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 3.0245, d0.loss_plan_l1_fix_dist: 0.4232, d1.loss_plan_l1_fix_time: 0.9173, d1.loss_plan_l1_fix_dist: 0.3541, d2.loss_plan_l1_fix_time: 0.9002, d2.loss_plan_l1_fix_dist: 0.2680, d3.loss_plan_l1_fix_time: 0.8920, d3.loss_plan_l1_fix_dist: 0.3463, d4.loss_plan_l1_fix_time: 0.8919, d4.loss_plan_l1_fix_dist: 0.2959, d5.loss_plan_l1_fix_time: 0.8947, d5.loss_plan_l1_fix_dist: 0.2882, d6.loss_plan_l1_fix_time: 0.8974, d6.loss_plan_l1_fix_dist: 0.2333, d0.loss_cls_all: 0.1650, d0.loss_bbox_all: 0.3929, d0.loss_cls: 0.1650, d0.loss_bbox: 0.3929, d1.loss_cls: 0.1541, d1.loss_bbox: 0.3579, d2.loss_cls: 0.1405, d2.loss_bbox: 0.3296, d3.loss_cls: 0.1256, d3.loss_bbox: 0.3233, d4.loss_cls: 0.1188, d4.loss_bbox: 0.3217, d5.loss_cls: 0.1149, d5.loss_bbox: 0.3216, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8447, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6665, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6185, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6009, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5881, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5862, d0.loss_map_cls_all: 0.1978, d0.loss_map_pts_all: 1.2375, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1978, d0.loss_map_pts: 1.2375, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1669, d1.loss_map_pts: 0.8681, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1428, d2.loss_map_pts: 0.6904, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1342, d3.loss_map_pts: 0.6224, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1244, d4.loss_map_pts: 0.6018, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1184, d5.loss_map_pts: 0.5959, d5.loss_map_dir: 0.0073, loss: 26.6893, grad_norm: 151.0112 +2026-02-28 11:48:47,171 - DriveTransformer - INFO - Epoch [10][5500/39528] lr: 6.944e-05, eta: 4 days, 23:15:45, time: 0.767, data_time: 0.037, memory: 19865, loss_cls: 0.1151, loss_bbox: 0.2955, loss_traj: 0.4320, loss_traj_cls: 0.0019, loss_map_cls: 0.1358, loss_map_pts: 0.6567, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.6633, d0.loss_plan_l1_fix_dist: 0.3911, d1.loss_plan_l1_fix_time: 0.8604, d1.loss_plan_l1_fix_dist: 0.3327, d2.loss_plan_l1_fix_time: 0.8506, d2.loss_plan_l1_fix_dist: 0.2575, d3.loss_plan_l1_fix_time: 0.8566, d3.loss_plan_l1_fix_dist: 0.3006, d4.loss_plan_l1_fix_time: 0.8594, d4.loss_plan_l1_fix_dist: 0.2806, d5.loss_plan_l1_fix_time: 0.8625, d5.loss_plan_l1_fix_dist: 0.2627, d6.loss_plan_l1_fix_time: 0.8669, d6.loss_plan_l1_fix_dist: 0.2189, d0.loss_cls_all: 0.1539, d0.loss_bbox_all: 0.3692, d0.loss_cls: 0.1539, d0.loss_bbox: 0.3692, d1.loss_cls: 0.1482, d1.loss_bbox: 0.3334, d2.loss_cls: 0.1355, d2.loss_bbox: 0.3078, d3.loss_cls: 0.1243, d3.loss_bbox: 0.3001, d4.loss_cls: 0.1172, d4.loss_bbox: 0.2982, d5.loss_cls: 0.1158, d5.loss_bbox: 0.2956, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6437, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5087, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4662, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4441, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4350, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4329, d0.loss_map_cls_all: 0.2195, d0.loss_map_pts_all: 1.3528, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2195, d0.loss_map_pts: 1.3528, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1849, d1.loss_map_pts: 0.9760, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1622, d2.loss_map_pts: 0.7745, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1498, d3.loss_map_pts: 0.6984, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1423, d4.loss_map_pts: 0.6681, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1377, d5.loss_map_pts: 0.6574, d5.loss_map_dir: 0.0082, loss: 25.4184, grad_norm: 151.4880 +2026-02-28 11:49:22,099 - DriveTransformer - INFO - Epoch [10][5550/39528] lr: 6.944e-05, eta: 4 days, 23:15:01, time: 0.699, data_time: 0.038, memory: 19865, loss_cls: 0.1068, loss_bbox: 0.2820, loss_traj: 0.5645, loss_traj_cls: 0.0020, loss_map_cls: 0.0748, loss_map_pts: 0.4030, loss_map_dir: 0.0042, d0.loss_plan_l1_fix_time: 2.4880, d0.loss_plan_l1_fix_dist: 0.4913, d1.loss_plan_l1_fix_time: 0.7599, d1.loss_plan_l1_fix_dist: 0.3330, d2.loss_plan_l1_fix_time: 0.7448, d2.loss_plan_l1_fix_dist: 0.2796, d3.loss_plan_l1_fix_time: 0.7379, d3.loss_plan_l1_fix_dist: 0.3043, d4.loss_plan_l1_fix_time: 0.7402, d4.loss_plan_l1_fix_dist: 0.3209, d5.loss_plan_l1_fix_time: 0.7425, d5.loss_plan_l1_fix_dist: 0.3027, d6.loss_plan_l1_fix_time: 0.7453, d6.loss_plan_l1_fix_dist: 0.2364, d0.loss_cls_all: 0.1431, d0.loss_bbox_all: 0.3447, d0.loss_cls: 0.1431, d0.loss_bbox: 0.3447, d1.loss_cls: 0.1414, d1.loss_bbox: 0.3125, d2.loss_cls: 0.1278, d2.loss_bbox: 0.2939, d3.loss_cls: 0.1137, d3.loss_bbox: 0.2890, d4.loss_cls: 0.1085, d4.loss_bbox: 0.2842, d5.loss_cls: 0.1064, d5.loss_bbox: 0.2841, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7746, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6251, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5826, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5636, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5626, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5631, d0.loss_map_cls_all: 0.1483, d0.loss_map_pts_all: 0.8450, d0.loss_map_dir_all: 0.0045, d0.loss_map_cls: 0.1483, d0.loss_map_pts: 0.8450, d0.loss_map_dir: 0.0045, d1.loss_map_cls: 0.1157, d1.loss_map_pts: 0.5875, d1.loss_map_dir: 0.0043, d2.loss_map_cls: 0.0979, d2.loss_map_pts: 0.4650, d2.loss_map_dir: 0.0040, d3.loss_map_cls: 0.0884, d3.loss_map_pts: 0.4222, d3.loss_map_dir: 0.0040, d4.loss_map_cls: 0.0816, d4.loss_map_pts: 0.4065, d4.loss_map_dir: 0.0042, d5.loss_map_cls: 0.0762, d5.loss_map_pts: 0.4040, d5.loss_map_dir: 0.0042, loss: 22.1386, grad_norm: 148.7024 +2026-02-28 11:49:58,390 - DriveTransformer - INFO - Epoch [10][5600/39528] lr: 6.944e-05, eta: 4 days, 23:14:23, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.1133, loss_bbox: 0.3124, loss_traj: 0.5060, loss_traj_cls: 0.0019, loss_map_cls: 0.1190, loss_map_pts: 0.5584, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.8246, d0.loss_plan_l1_fix_dist: 0.4154, d1.loss_plan_l1_fix_time: 0.8174, d1.loss_plan_l1_fix_dist: 0.3073, d2.loss_plan_l1_fix_time: 0.8014, d2.loss_plan_l1_fix_dist: 0.2873, d3.loss_plan_l1_fix_time: 0.8018, d3.loss_plan_l1_fix_dist: 0.2835, d4.loss_plan_l1_fix_time: 0.8034, d4.loss_plan_l1_fix_dist: 0.3329, d5.loss_plan_l1_fix_time: 0.8056, d5.loss_plan_l1_fix_dist: 0.3208, d6.loss_plan_l1_fix_time: 0.8084, d6.loss_plan_l1_fix_dist: 0.2348, d0.loss_cls_all: 0.1604, d0.loss_bbox_all: 0.3825, d0.loss_cls: 0.1604, d0.loss_bbox: 0.3825, d1.loss_cls: 0.1479, d1.loss_bbox: 0.3489, d2.loss_cls: 0.1358, d2.loss_bbox: 0.3281, d3.loss_cls: 0.1204, d3.loss_bbox: 0.3208, d4.loss_cls: 0.1143, d4.loss_bbox: 0.3168, d5.loss_cls: 0.1130, d5.loss_bbox: 0.3145, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7391, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5737, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5303, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5085, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5043, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5050, d0.loss_map_cls_all: 0.2189, d0.loss_map_pts_all: 1.0596, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.2189, d0.loss_map_pts: 1.0596, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1814, d1.loss_map_pts: 0.7891, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1546, d2.loss_map_pts: 0.6367, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1355, d3.loss_map_pts: 0.5835, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1287, d4.loss_map_pts: 0.5632, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1219, d5.loss_map_pts: 0.5597, d5.loss_map_dir: 0.0058, loss: 24.6244, grad_norm: 142.6632 +2026-02-28 11:50:35,268 - DriveTransformer - INFO - Epoch [10][5650/39528] lr: 6.944e-05, eta: 4 days, 23:13:48, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.1087, loss_bbox: 0.2945, loss_traj: 0.6035, loss_traj_cls: 0.0019, loss_map_cls: 0.1205, loss_map_pts: 0.6112, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.6602, d0.loss_plan_l1_fix_dist: 0.3666, d1.loss_plan_l1_fix_time: 0.9041, d1.loss_plan_l1_fix_dist: 0.2827, d2.loss_plan_l1_fix_time: 0.8889, d2.loss_plan_l1_fix_dist: 0.2878, d3.loss_plan_l1_fix_time: 0.8771, d3.loss_plan_l1_fix_dist: 0.2647, d4.loss_plan_l1_fix_time: 0.8782, d4.loss_plan_l1_fix_dist: 0.3162, d5.loss_plan_l1_fix_time: 0.8805, d5.loss_plan_l1_fix_dist: 0.2800, d6.loss_plan_l1_fix_time: 0.8842, d6.loss_plan_l1_fix_dist: 0.2246, d0.loss_cls_all: 0.1427, d0.loss_bbox_all: 0.3542, d0.loss_cls: 0.1427, d0.loss_bbox: 0.3542, d1.loss_cls: 0.1343, d1.loss_bbox: 0.3242, d2.loss_cls: 0.1255, d2.loss_bbox: 0.3011, d3.loss_cls: 0.1148, d3.loss_bbox: 0.2973, d4.loss_cls: 0.1104, d4.loss_bbox: 0.2949, d5.loss_cls: 0.1087, d5.loss_bbox: 0.2952, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9326, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7035, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6224, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6155, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6067, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6101, d0.loss_map_cls_all: 0.2111, d0.loss_map_pts_all: 1.2390, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2111, d0.loss_map_pts: 1.2390, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1780, d1.loss_map_pts: 0.9015, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1496, d2.loss_map_pts: 0.7260, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1372, d3.loss_map_pts: 0.6496, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1295, d4.loss_map_pts: 0.6244, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1230, d5.loss_map_pts: 0.6103, d5.loss_map_dir: 0.0065, loss: 26.1113, grad_norm: 142.3861 +2026-02-28 11:51:10,892 - DriveTransformer - INFO - Epoch [10][5700/39528] lr: 6.944e-05, eta: 4 days, 23:13:07, time: 0.712, data_time: 0.034, memory: 19865, loss_cls: 0.1105, loss_bbox: 0.2916, loss_traj: 0.5154, loss_traj_cls: 0.0019, loss_map_cls: 0.1159, loss_map_pts: 0.5391, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.6786, d0.loss_plan_l1_fix_dist: 0.4200, d1.loss_plan_l1_fix_time: 0.8418, d1.loss_plan_l1_fix_dist: 0.2424, d2.loss_plan_l1_fix_time: 0.8241, d2.loss_plan_l1_fix_dist: 0.2873, d3.loss_plan_l1_fix_time: 0.8223, d3.loss_plan_l1_fix_dist: 0.2512, d4.loss_plan_l1_fix_time: 0.8237, d4.loss_plan_l1_fix_dist: 0.2632, d5.loss_plan_l1_fix_time: 0.8261, d5.loss_plan_l1_fix_dist: 0.2102, d6.loss_plan_l1_fix_time: 0.8298, d6.loss_plan_l1_fix_dist: 0.2450, d0.loss_cls_all: 0.1432, d0.loss_bbox_all: 0.3569, d0.loss_cls: 0.1432, d0.loss_bbox: 0.3569, d1.loss_cls: 0.1415, d1.loss_bbox: 0.3218, d2.loss_cls: 0.1298, d2.loss_bbox: 0.3021, d3.loss_cls: 0.1176, d3.loss_bbox: 0.2942, d4.loss_cls: 0.1117, d4.loss_bbox: 0.2917, d5.loss_cls: 0.1102, d5.loss_bbox: 0.2914, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7481, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5816, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5347, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5178, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5122, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5112, d0.loss_map_cls_all: 0.2025, d0.loss_map_pts_all: 1.1195, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2025, d0.loss_map_pts: 1.1195, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1680, d1.loss_map_pts: 0.7970, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1424, d2.loss_map_pts: 0.6438, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1292, d3.loss_map_pts: 0.5765, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1225, d4.loss_map_pts: 0.5484, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1179, d5.loss_map_pts: 0.5380, d5.loss_map_dir: 0.0068, loss: 24.1430, grad_norm: 143.8703 +2026-02-28 11:51:47,385 - DriveTransformer - INFO - Epoch [10][5750/39528] lr: 6.944e-05, eta: 4 days, 23:12:30, time: 0.730, data_time: 0.037, memory: 19865, loss_cls: 0.1169, loss_bbox: 0.3002, loss_traj: 0.5784, loss_traj_cls: 0.0020, loss_map_cls: 0.1198, loss_map_pts: 0.5555, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.7266, d0.loss_plan_l1_fix_dist: 0.4134, d1.loss_plan_l1_fix_time: 0.8009, d1.loss_plan_l1_fix_dist: 0.2236, d2.loss_plan_l1_fix_time: 0.7880, d2.loss_plan_l1_fix_dist: 0.2872, d3.loss_plan_l1_fix_time: 0.7959, d3.loss_plan_l1_fix_dist: 0.2768, d4.loss_plan_l1_fix_time: 0.8006, d4.loss_plan_l1_fix_dist: 0.2383, d5.loss_plan_l1_fix_time: 0.8041, d5.loss_plan_l1_fix_dist: 0.2113, d6.loss_plan_l1_fix_time: 0.8083, d6.loss_plan_l1_fix_dist: 0.2353, d0.loss_cls_all: 0.1675, d0.loss_bbox_all: 0.3670, d0.loss_cls: 0.1675, d0.loss_bbox: 0.3670, d1.loss_cls: 0.1577, d1.loss_bbox: 0.3311, d2.loss_cls: 0.1431, d2.loss_bbox: 0.3061, d3.loss_cls: 0.1265, d3.loss_bbox: 0.3008, d4.loss_cls: 0.1187, d4.loss_bbox: 0.2985, d5.loss_cls: 0.1171, d5.loss_bbox: 0.2979, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8850, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6889, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6090, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5845, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5777, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5785, d0.loss_map_cls_all: 0.2017, d0.loss_map_pts_all: 1.1691, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2017, d0.loss_map_pts: 1.1691, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1701, d1.loss_map_pts: 0.8213, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1459, d2.loss_map_pts: 0.6524, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1339, d3.loss_map_pts: 0.5873, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1285, d4.loss_map_pts: 0.5598, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1216, d5.loss_map_pts: 0.5561, d5.loss_map_dir: 0.0069, loss: 24.9502, grad_norm: 143.6238 +2026-02-28 11:52:23,300 - DriveTransformer - INFO - Epoch [10][5800/39528] lr: 6.944e-05, eta: 4 days, 23:11:51, time: 0.718, data_time: 0.035, memory: 19865, loss_cls: 0.1070, loss_bbox: 0.3256, loss_traj: 0.5841, loss_traj_cls: 0.0020, loss_map_cls: 0.1072, loss_map_pts: 0.5647, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.6101, d0.loss_plan_l1_fix_dist: 0.4370, d1.loss_plan_l1_fix_time: 0.9417, d1.loss_plan_l1_fix_dist: 0.2048, d2.loss_plan_l1_fix_time: 0.9399, d2.loss_plan_l1_fix_dist: 0.2744, d3.loss_plan_l1_fix_time: 0.9382, d3.loss_plan_l1_fix_dist: 0.2849, d4.loss_plan_l1_fix_time: 0.9410, d4.loss_plan_l1_fix_dist: 0.2187, d5.loss_plan_l1_fix_time: 0.9428, d5.loss_plan_l1_fix_dist: 0.2284, d6.loss_plan_l1_fix_time: 0.9453, d6.loss_plan_l1_fix_dist: 0.2358, d0.loss_cls_all: 0.1547, d0.loss_bbox_all: 0.3869, d0.loss_cls: 0.1547, d0.loss_bbox: 0.3869, d1.loss_cls: 0.1490, d1.loss_bbox: 0.3533, d2.loss_cls: 0.1338, d2.loss_bbox: 0.3329, d3.loss_cls: 0.1180, d3.loss_bbox: 0.3256, d4.loss_cls: 0.1097, d4.loss_bbox: 0.3249, d5.loss_cls: 0.1076, d5.loss_bbox: 0.3250, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8582, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6730, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6081, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5881, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5840, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5809, d0.loss_map_cls_all: 0.1862, d0.loss_map_pts_all: 1.1399, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1862, d0.loss_map_pts: 1.1399, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1526, d1.loss_map_pts: 0.8300, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1296, d2.loss_map_pts: 0.6613, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1209, d3.loss_map_pts: 0.5936, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1131, d4.loss_map_pts: 0.5696, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1093, d5.loss_map_pts: 0.5652, d5.loss_map_dir: 0.0067, loss: 25.6434, grad_norm: 140.0312 +2026-02-28 11:53:01,202 - DriveTransformer - INFO - Epoch [10][5850/39528] lr: 6.944e-05, eta: 4 days, 23:11:21, time: 0.758, data_time: 0.037, memory: 19865, loss_cls: 0.1067, loss_bbox: 0.3071, loss_traj: 0.4323, loss_traj_cls: 0.0020, loss_map_cls: 0.1253, loss_map_pts: 0.6703, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.5473, d0.loss_plan_l1_fix_dist: 0.3679, d1.loss_plan_l1_fix_time: 0.8664, d1.loss_plan_l1_fix_dist: 0.2053, d2.loss_plan_l1_fix_time: 0.8536, d2.loss_plan_l1_fix_dist: 0.2666, d3.loss_plan_l1_fix_time: 0.8521, d3.loss_plan_l1_fix_dist: 0.2878, d4.loss_plan_l1_fix_time: 0.8548, d4.loss_plan_l1_fix_dist: 0.2419, d5.loss_plan_l1_fix_time: 0.8566, d5.loss_plan_l1_fix_dist: 0.2580, d6.loss_plan_l1_fix_time: 0.8595, d6.loss_plan_l1_fix_dist: 0.2330, d0.loss_cls_all: 0.1559, d0.loss_bbox_all: 0.3713, d0.loss_cls: 0.1559, d0.loss_bbox: 0.3713, d1.loss_cls: 0.1441, d1.loss_bbox: 0.3393, d2.loss_cls: 0.1336, d2.loss_bbox: 0.3174, d3.loss_cls: 0.1149, d3.loss_bbox: 0.3132, d4.loss_cls: 0.1080, d4.loss_bbox: 0.3111, d5.loss_cls: 0.1078, d5.loss_bbox: 0.3076, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6113, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4975, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4567, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4350, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4325, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4273, d0.loss_map_cls_all: 0.2196, d0.loss_map_pts_all: 1.2890, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2196, d0.loss_map_pts: 1.2890, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1836, d1.loss_map_pts: 0.9525, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1548, d2.loss_map_pts: 0.7762, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1418, d3.loss_map_pts: 0.7096, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1343, d4.loss_map_pts: 0.6759, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1283, d5.loss_map_pts: 0.6700, d5.loss_map_dir: 0.0082, loss: 24.9188, grad_norm: 140.0332 +2026-02-28 11:53:38,325 - DriveTransformer - INFO - Epoch [10][5900/39528] lr: 6.944e-05, eta: 4 days, 23:10:47, time: 0.742, data_time: 0.038, memory: 19865, loss_cls: 0.0978, loss_bbox: 0.2891, loss_traj: 0.5104, loss_traj_cls: 0.0020, loss_map_cls: 0.1223, loss_map_pts: 0.5509, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.2972, d0.loss_plan_l1_fix_dist: 0.4346, d1.loss_plan_l1_fix_time: 0.7680, d1.loss_plan_l1_fix_dist: 0.2236, d2.loss_plan_l1_fix_time: 0.7502, d2.loss_plan_l1_fix_dist: 0.2741, d3.loss_plan_l1_fix_time: 0.7418, d3.loss_plan_l1_fix_dist: 0.2914, d4.loss_plan_l1_fix_time: 0.7442, d4.loss_plan_l1_fix_dist: 0.2844, d5.loss_plan_l1_fix_time: 0.7470, d5.loss_plan_l1_fix_dist: 0.2888, d6.loss_plan_l1_fix_time: 0.7501, d6.loss_plan_l1_fix_dist: 0.2264, d0.loss_cls_all: 0.1393, d0.loss_bbox_all: 0.3488, d0.loss_cls: 0.1393, d0.loss_bbox: 0.3488, d1.loss_cls: 0.1300, d1.loss_bbox: 0.3156, d2.loss_cls: 0.1193, d2.loss_bbox: 0.2963, d3.loss_cls: 0.1050, d3.loss_bbox: 0.2908, d4.loss_cls: 0.0987, d4.loss_bbox: 0.2890, d5.loss_cls: 0.0962, d5.loss_bbox: 0.2898, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7363, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5786, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5311, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5151, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5120, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5117, d0.loss_map_cls_all: 0.2100, d0.loss_map_pts_all: 1.1874, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2100, d0.loss_map_pts: 1.1874, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1763, d1.loss_map_pts: 0.8311, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1476, d2.loss_map_pts: 0.6592, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1359, d3.loss_map_pts: 0.5929, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1306, d4.loss_map_pts: 0.5606, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1253, d5.loss_map_pts: 0.5515, d5.loss_map_dir: 0.0061, loss: 23.5454, grad_norm: 142.0854 +2026-02-28 11:54:16,557 - DriveTransformer - INFO - Epoch [10][5950/39528] lr: 6.944e-05, eta: 4 days, 23:10:18, time: 0.765, data_time: 0.039, memory: 19865, loss_cls: 0.1024, loss_bbox: 0.2922, loss_traj: 0.5315, loss_traj_cls: 0.0019, loss_map_cls: 0.1067, loss_map_pts: 0.5862, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.7669, d0.loss_plan_l1_fix_dist: 0.4111, d1.loss_plan_l1_fix_time: 0.8471, d1.loss_plan_l1_fix_dist: 0.2073, d2.loss_plan_l1_fix_time: 0.8206, d2.loss_plan_l1_fix_dist: 0.2720, d3.loss_plan_l1_fix_time: 0.8075, d3.loss_plan_l1_fix_dist: 0.2704, d4.loss_plan_l1_fix_time: 0.8082, d4.loss_plan_l1_fix_dist: 0.2676, d5.loss_plan_l1_fix_time: 0.8110, d5.loss_plan_l1_fix_dist: 0.2809, d6.loss_plan_l1_fix_time: 0.8133, d6.loss_plan_l1_fix_dist: 0.2186, d0.loss_cls_all: 0.1469, d0.loss_bbox_all: 0.3629, d0.loss_cls: 0.1469, d0.loss_bbox: 0.3629, d1.loss_cls: 0.1376, d1.loss_bbox: 0.3272, d2.loss_cls: 0.1242, d2.loss_bbox: 0.3068, d3.loss_cls: 0.1106, d3.loss_bbox: 0.2976, d4.loss_cls: 0.1038, d4.loss_bbox: 0.2949, d5.loss_cls: 0.1021, d5.loss_bbox: 0.2927, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7531, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6109, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5645, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5464, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5400, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5321, d0.loss_map_cls_all: 0.1855, d0.loss_map_pts_all: 1.2259, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1855, d0.loss_map_pts: 1.2259, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1555, d1.loss_map_pts: 0.8572, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1347, d2.loss_map_pts: 0.6819, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1222, d3.loss_map_pts: 0.6209, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1148, d4.loss_map_pts: 0.5923, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1093, d5.loss_map_pts: 0.5861, d5.loss_map_dir: 0.0074, loss: 24.7487, grad_norm: 139.6195 +2026-02-28 11:54:51,275 - DriveTransformer - INFO - Epoch [10][6000/39528] lr: 6.944e-05, eta: 4 days, 23:09:33, time: 0.694, data_time: 0.039, memory: 19865, loss_cls: 0.1164, loss_bbox: 0.2947, loss_traj: 0.5606, loss_traj_cls: 0.0019, loss_map_cls: 0.1142, loss_map_pts: 0.5080, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.9117, d0.loss_plan_l1_fix_dist: 0.3822, d1.loss_plan_l1_fix_time: 0.8096, d1.loss_plan_l1_fix_dist: 0.1946, d2.loss_plan_l1_fix_time: 0.7903, d2.loss_plan_l1_fix_dist: 0.2927, d3.loss_plan_l1_fix_time: 0.7912, d3.loss_plan_l1_fix_dist: 0.2542, d4.loss_plan_l1_fix_time: 0.7939, d4.loss_plan_l1_fix_dist: 0.2655, d5.loss_plan_l1_fix_time: 0.7979, d5.loss_plan_l1_fix_dist: 0.2746, d6.loss_plan_l1_fix_time: 0.8012, d6.loss_plan_l1_fix_dist: 0.2248, d0.loss_cls_all: 0.1599, d0.loss_bbox_all: 0.3580, d0.loss_cls: 0.1599, d0.loss_bbox: 0.3580, d1.loss_cls: 0.1512, d1.loss_bbox: 0.3258, d2.loss_cls: 0.1401, d2.loss_bbox: 0.3023, d3.loss_cls: 0.1267, d3.loss_bbox: 0.2963, d4.loss_cls: 0.1190, d4.loss_bbox: 0.2945, d5.loss_cls: 0.1152, d5.loss_bbox: 0.2952, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8373, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6567, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5934, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5763, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5673, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5623, d0.loss_map_cls_all: 0.1831, d0.loss_map_pts_all: 1.0144, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1831, d0.loss_map_pts: 1.0144, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1590, d1.loss_map_pts: 0.7304, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1370, d2.loss_map_pts: 0.5831, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1266, d3.loss_map_pts: 0.5322, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1204, d4.loss_map_pts: 0.5133, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1176, d5.loss_map_pts: 0.5080, d5.loss_map_dir: 0.0057, loss: 24.1490, grad_norm: 138.4666 +2026-02-28 11:55:29,298 - DriveTransformer - INFO - Epoch [10][6050/39528] lr: 6.944e-05, eta: 4 days, 23:09:04, time: 0.760, data_time: 0.038, memory: 19865, loss_cls: 0.0945, loss_bbox: 0.2863, loss_traj: 0.4750, loss_traj_cls: 0.0018, loss_map_cls: 0.0999, loss_map_pts: 0.5538, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.4577, d0.loss_plan_l1_fix_dist: 0.4317, d1.loss_plan_l1_fix_time: 0.7187, d1.loss_plan_l1_fix_dist: 0.2177, d2.loss_plan_l1_fix_time: 0.7086, d2.loss_plan_l1_fix_dist: 0.3023, d3.loss_plan_l1_fix_time: 0.7102, d3.loss_plan_l1_fix_dist: 0.2383, d4.loss_plan_l1_fix_time: 0.7127, d4.loss_plan_l1_fix_dist: 0.2833, d5.loss_plan_l1_fix_time: 0.7167, d5.loss_plan_l1_fix_dist: 0.2495, d6.loss_plan_l1_fix_time: 0.7222, d6.loss_plan_l1_fix_dist: 0.2404, d0.loss_cls_all: 0.1406, d0.loss_bbox_all: 0.3487, d0.loss_cls: 0.1406, d0.loss_bbox: 0.3487, d1.loss_cls: 0.1337, d1.loss_bbox: 0.3152, d2.loss_cls: 0.1184, d2.loss_bbox: 0.2973, d3.loss_cls: 0.1032, d3.loss_bbox: 0.2915, d4.loss_cls: 0.0983, d4.loss_bbox: 0.2875, d5.loss_cls: 0.0954, d5.loss_bbox: 0.2862, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6775, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5439, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4938, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4833, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4812, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4784, d0.loss_map_cls_all: 0.2096, d0.loss_map_pts_all: 1.1327, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2096, d0.loss_map_pts: 1.1327, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1596, d1.loss_map_pts: 0.8101, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1314, d2.loss_map_pts: 0.6373, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1190, d3.loss_map_pts: 0.5799, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1110, d4.loss_map_pts: 0.5617, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1016, d5.loss_map_pts: 0.5568, d5.loss_map_dir: 0.0083, loss: 22.9077, grad_norm: 134.7618 +2026-02-28 11:56:03,944 - DriveTransformer - INFO - Epoch [10][6100/39528] lr: 6.944e-05, eta: 4 days, 23:08:18, time: 0.693, data_time: 0.037, memory: 19865, loss_cls: 0.0959, loss_bbox: 0.2751, loss_traj: 0.5146, loss_traj_cls: 0.0019, loss_map_cls: 0.0968, loss_map_pts: 0.4462, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.4226, d0.loss_plan_l1_fix_dist: 0.4087, d1.loss_plan_l1_fix_time: 0.8285, d1.loss_plan_l1_fix_dist: 0.2060, d2.loss_plan_l1_fix_time: 0.8145, d2.loss_plan_l1_fix_dist: 0.3062, d3.loss_plan_l1_fix_time: 0.8069, d3.loss_plan_l1_fix_dist: 0.2463, d4.loss_plan_l1_fix_time: 0.8077, d4.loss_plan_l1_fix_dist: 0.3114, d5.loss_plan_l1_fix_time: 0.8097, d5.loss_plan_l1_fix_dist: 0.2421, d6.loss_plan_l1_fix_time: 0.8132, d6.loss_plan_l1_fix_dist: 0.2285, d0.loss_cls_all: 0.1460, d0.loss_bbox_all: 0.3369, d0.loss_cls: 0.1460, d0.loss_bbox: 0.3369, d1.loss_cls: 0.1381, d1.loss_bbox: 0.3077, d2.loss_cls: 0.1220, d2.loss_bbox: 0.2882, d3.loss_cls: 0.1039, d3.loss_bbox: 0.2799, d4.loss_cls: 0.0976, d4.loss_bbox: 0.2780, d5.loss_cls: 0.0959, d5.loss_bbox: 0.2757, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7277, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5820, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5303, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5220, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5167, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5193, d0.loss_map_cls_all: 0.1788, d0.loss_map_pts_all: 0.9495, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1788, d0.loss_map_pts: 0.9495, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1481, d1.loss_map_pts: 0.6717, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1245, d2.loss_map_pts: 0.5269, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1113, d3.loss_map_pts: 0.4683, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1051, d4.loss_map_pts: 0.4492, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0998, d5.loss_map_pts: 0.4456, d5.loss_map_dir: 0.0054, loss: 22.4880, grad_norm: 134.0112 +2026-02-28 11:56:42,252 - DriveTransformer - INFO - Epoch [10][6150/39528] lr: 6.944e-05, eta: 4 days, 23:07:50, time: 0.766, data_time: 0.039, memory: 19865, loss_cls: 0.1108, loss_bbox: 0.3041, loss_traj: 0.4756, loss_traj_cls: 0.0019, loss_map_cls: 0.1222, loss_map_pts: 0.6149, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.3348, d0.loss_plan_l1_fix_dist: 0.4671, d1.loss_plan_l1_fix_time: 0.7804, d1.loss_plan_l1_fix_dist: 0.2104, d2.loss_plan_l1_fix_time: 0.7641, d2.loss_plan_l1_fix_dist: 0.3359, d3.loss_plan_l1_fix_time: 0.7561, d3.loss_plan_l1_fix_dist: 0.3143, d4.loss_plan_l1_fix_time: 0.7566, d4.loss_plan_l1_fix_dist: 0.3108, d5.loss_plan_l1_fix_time: 0.7570, d5.loss_plan_l1_fix_dist: 0.2823, d6.loss_plan_l1_fix_time: 0.7585, d6.loss_plan_l1_fix_dist: 0.2324, d0.loss_cls_all: 0.1489, d0.loss_bbox_all: 0.3712, d0.loss_cls: 0.1489, d0.loss_bbox: 0.3712, d1.loss_cls: 0.1400, d1.loss_bbox: 0.3369, d2.loss_cls: 0.1292, d2.loss_bbox: 0.3155, d3.loss_cls: 0.1155, d3.loss_bbox: 0.3101, d4.loss_cls: 0.1111, d4.loss_bbox: 0.3068, d5.loss_cls: 0.1094, d5.loss_bbox: 0.3064, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6621, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5426, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4986, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4833, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4753, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4767, d0.loss_map_cls_all: 0.1989, d0.loss_map_pts_all: 1.1935, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1989, d0.loss_map_pts: 1.1935, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1697, d1.loss_map_pts: 0.8744, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1488, d2.loss_map_pts: 0.7060, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1366, d3.loss_map_pts: 0.6415, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1288, d4.loss_map_pts: 0.6207, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1237, d5.loss_map_pts: 0.6158, d5.loss_map_dir: 0.0082, loss: 24.0676, grad_norm: 132.2092 +2026-02-28 11:57:19,443 - DriveTransformer - INFO - Epoch [10][6200/39528] lr: 6.944e-05, eta: 4 days, 23:07:17, time: 0.745, data_time: 0.037, memory: 19865, loss_cls: 0.1229, loss_bbox: 0.3277, loss_traj: 0.3959, loss_traj_cls: 0.0019, loss_map_cls: 0.1116, loss_map_pts: 0.6223, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.6706, d0.loss_plan_l1_fix_dist: 0.4131, d1.loss_plan_l1_fix_time: 0.8128, d1.loss_plan_l1_fix_dist: 0.2320, d2.loss_plan_l1_fix_time: 0.8025, d2.loss_plan_l1_fix_dist: 0.3558, d3.loss_plan_l1_fix_time: 0.8053, d3.loss_plan_l1_fix_dist: 0.3610, d4.loss_plan_l1_fix_time: 0.8093, d4.loss_plan_l1_fix_dist: 0.3023, d5.loss_plan_l1_fix_time: 0.8119, d5.loss_plan_l1_fix_dist: 0.2623, d6.loss_plan_l1_fix_time: 0.8147, d6.loss_plan_l1_fix_dist: 0.2296, d0.loss_cls_all: 0.1634, d0.loss_bbox_all: 0.3956, d0.loss_cls: 0.1634, d0.loss_bbox: 0.3956, d1.loss_cls: 0.1586, d1.loss_bbox: 0.3610, d2.loss_cls: 0.1421, d2.loss_bbox: 0.3418, d3.loss_cls: 0.1311, d3.loss_bbox: 0.3329, d4.loss_cls: 0.1242, d4.loss_bbox: 0.3303, d5.loss_cls: 0.1231, d5.loss_bbox: 0.3282, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6035, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4680, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4171, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4041, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3971, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3939, d0.loss_map_cls_all: 0.1913, d0.loss_map_pts_all: 1.1703, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.1913, d0.loss_map_pts: 1.1703, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1599, d1.loss_map_pts: 0.8661, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1371, d2.loss_map_pts: 0.7118, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1269, d3.loss_map_pts: 0.6559, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1188, d4.loss_map_pts: 0.6305, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1140, d5.loss_map_pts: 0.6230, d5.loss_map_dir: 0.0084, loss: 24.3784, grad_norm: 129.0990 +2026-02-28 11:57:56,069 - DriveTransformer - INFO - Epoch [10][6250/39528] lr: 6.944e-05, eta: 4 days, 23:06:40, time: 0.731, data_time: 0.035, memory: 19865, loss_cls: 0.0948, loss_bbox: 0.2838, loss_traj: 0.6300, loss_traj_cls: 0.0019, loss_map_cls: 0.1147, loss_map_pts: 0.5438, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.7213, d0.loss_plan_l1_fix_dist: 0.4223, d1.loss_plan_l1_fix_time: 0.9212, d1.loss_plan_l1_fix_dist: 0.2374, d2.loss_plan_l1_fix_time: 0.9054, d2.loss_plan_l1_fix_dist: 0.3492, d3.loss_plan_l1_fix_time: 0.8975, d3.loss_plan_l1_fix_dist: 0.3599, d4.loss_plan_l1_fix_time: 0.9002, d4.loss_plan_l1_fix_dist: 0.2429, d5.loss_plan_l1_fix_time: 0.9026, d5.loss_plan_l1_fix_dist: 0.2084, d6.loss_plan_l1_fix_time: 0.9057, d6.loss_plan_l1_fix_dist: 0.2434, d0.loss_cls_all: 0.1367, d0.loss_bbox_all: 0.3445, d0.loss_cls: 0.1367, d0.loss_bbox: 0.3445, d1.loss_cls: 0.1303, d1.loss_bbox: 0.3125, d2.loss_cls: 0.1149, d2.loss_bbox: 0.2951, d3.loss_cls: 0.0998, d3.loss_bbox: 0.2885, d4.loss_cls: 0.0960, d4.loss_bbox: 0.2862, d5.loss_cls: 0.0929, d5.loss_bbox: 0.2850, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9145, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7096, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6622, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6509, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6434, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6310, d0.loss_map_cls_all: 0.1949, d0.loss_map_pts_all: 1.1129, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1949, d0.loss_map_pts: 1.1129, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1663, d1.loss_map_pts: 0.7981, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1429, d2.loss_map_pts: 0.6375, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1309, d3.loss_map_pts: 0.5756, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1228, d4.loss_map_pts: 0.5508, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1175, d5.loss_map_pts: 0.5449, d5.loss_map_dir: 0.0065, loss: 25.5190, grad_norm: 128.5806 +2026-02-28 11:58:33,009 - DriveTransformer - INFO - Epoch [10][6300/39528] lr: 6.944e-05, eta: 4 days, 23:06:06, time: 0.739, data_time: 0.036, memory: 19865, loss_cls: 0.0900, loss_bbox: 0.2849, loss_traj: 0.4094, loss_traj_cls: 0.0019, loss_map_cls: 0.1135, loss_map_pts: 0.5327, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.2068, d0.loss_plan_l1_fix_dist: 0.5280, d1.loss_plan_l1_fix_time: 0.7743, d1.loss_plan_l1_fix_dist: 0.2339, d2.loss_plan_l1_fix_time: 0.7559, d2.loss_plan_l1_fix_dist: 0.3411, d3.loss_plan_l1_fix_time: 0.7551, d3.loss_plan_l1_fix_dist: 0.3606, d4.loss_plan_l1_fix_time: 0.7567, d4.loss_plan_l1_fix_dist: 0.2220, d5.loss_plan_l1_fix_time: 0.7592, d5.loss_plan_l1_fix_dist: 0.2283, d6.loss_plan_l1_fix_time: 0.7629, d6.loss_plan_l1_fix_dist: 0.2213, d0.loss_cls_all: 0.1320, d0.loss_bbox_all: 0.3390, d0.loss_cls: 0.1320, d0.loss_bbox: 0.3390, d1.loss_cls: 0.1266, d1.loss_bbox: 0.3135, d2.loss_cls: 0.1143, d2.loss_bbox: 0.2922, d3.loss_cls: 0.0999, d3.loss_bbox: 0.2869, d4.loss_cls: 0.0928, d4.loss_bbox: 0.2854, d5.loss_cls: 0.0909, d5.loss_bbox: 0.2840, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6285, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4720, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4317, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4186, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4116, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4093, d0.loss_map_cls_all: 0.1990, d0.loss_map_pts_all: 1.1181, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1990, d0.loss_map_pts: 1.1181, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1644, d1.loss_map_pts: 0.7768, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1395, d2.loss_map_pts: 0.6179, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1276, d3.loss_map_pts: 0.5641, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1211, d4.loss_map_pts: 0.5398, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1159, d5.loss_map_pts: 0.5340, d5.loss_map_dir: 0.0073, loss: 22.4370, grad_norm: 127.7628 +2026-02-28 11:59:08,111 - DriveTransformer - INFO - Epoch [10][6350/39528] lr: 6.944e-05, eta: 4 days, 23:05:22, time: 0.702, data_time: 0.036, memory: 19865, loss_cls: 0.1066, loss_bbox: 0.2921, loss_traj: 0.5637, loss_traj_cls: 0.0019, loss_map_cls: 0.0990, loss_map_pts: 0.4683, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.5176, d0.loss_plan_l1_fix_dist: 0.4884, d1.loss_plan_l1_fix_time: 0.7701, d1.loss_plan_l1_fix_dist: 0.2233, d2.loss_plan_l1_fix_time: 0.7656, d2.loss_plan_l1_fix_dist: 0.3206, d3.loss_plan_l1_fix_time: 0.7668, d3.loss_plan_l1_fix_dist: 0.3743, d4.loss_plan_l1_fix_time: 0.7699, d4.loss_plan_l1_fix_dist: 0.2604, d5.loss_plan_l1_fix_time: 0.7725, d5.loss_plan_l1_fix_dist: 0.2615, d6.loss_plan_l1_fix_time: 0.7757, d6.loss_plan_l1_fix_dist: 0.2274, d0.loss_cls_all: 0.1555, d0.loss_bbox_all: 0.3579, d0.loss_cls: 0.1555, d0.loss_bbox: 0.3579, d1.loss_cls: 0.1499, d1.loss_bbox: 0.3245, d2.loss_cls: 0.1364, d2.loss_bbox: 0.3031, d3.loss_cls: 0.1151, d3.loss_bbox: 0.2980, d4.loss_cls: 0.1093, d4.loss_bbox: 0.2928, d5.loss_cls: 0.1075, d5.loss_bbox: 0.2922, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8147, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6479, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5936, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5741, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5691, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5679, d0.loss_map_cls_all: 0.1724, d0.loss_map_pts_all: 0.9263, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1724, d0.loss_map_pts: 0.9263, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1448, d1.loss_map_pts: 0.6680, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1238, d2.loss_map_pts: 0.5462, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1119, d3.loss_map_pts: 0.4971, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.1061, d4.loss_map_pts: 0.4758, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.1010, d5.loss_map_pts: 0.4696, d5.loss_map_dir: 0.0052, loss: 23.2386, grad_norm: 128.6085 +2026-02-28 11:59:43,737 - DriveTransformer - INFO - Epoch [10][6400/39528] lr: 6.944e-05, eta: 4 days, 23:04:41, time: 0.712, data_time: 0.038, memory: 19865, loss_cls: 0.1175, loss_bbox: 0.3013, loss_traj: 0.5721, loss_traj_cls: 0.0020, loss_map_cls: 0.1154, loss_map_pts: 0.5161, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.8216, d0.loss_plan_l1_fix_dist: 0.3835, d1.loss_plan_l1_fix_time: 0.9157, d1.loss_plan_l1_fix_dist: 0.2553, d2.loss_plan_l1_fix_time: 0.9005, d2.loss_plan_l1_fix_dist: 0.3206, d3.loss_plan_l1_fix_time: 0.9010, d3.loss_plan_l1_fix_dist: 0.3817, d4.loss_plan_l1_fix_time: 0.9029, d4.loss_plan_l1_fix_dist: 0.2677, d5.loss_plan_l1_fix_time: 0.9040, d5.loss_plan_l1_fix_dist: 0.2395, d6.loss_plan_l1_fix_time: 0.9063, d6.loss_plan_l1_fix_dist: 0.2309, d0.loss_cls_all: 0.1660, d0.loss_bbox_all: 0.3683, d0.loss_cls: 0.1660, d0.loss_bbox: 0.3683, d1.loss_cls: 0.1565, d1.loss_bbox: 0.3342, d2.loss_cls: 0.1422, d2.loss_bbox: 0.3113, d3.loss_cls: 0.1290, d3.loss_bbox: 0.3040, d4.loss_cls: 0.1203, d4.loss_bbox: 0.3016, d5.loss_cls: 0.1181, d5.loss_bbox: 0.3008, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8354, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6508, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5952, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5763, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5697, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5716, d0.loss_map_cls_all: 0.1884, d0.loss_map_pts_all: 1.0431, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1884, d0.loss_map_pts: 1.0431, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1650, d1.loss_map_pts: 0.7578, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1395, d2.loss_map_pts: 0.6093, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1299, d3.loss_map_pts: 0.5498, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1230, d4.loss_map_pts: 0.5266, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1189, d5.loss_map_pts: 0.5175, d5.loss_map_dir: 0.0059, loss: 25.1944, grad_norm: 128.9663 +2026-02-28 12:00:20,468 - DriveTransformer - INFO - Epoch [10][6450/39528] lr: 6.944e-05, eta: 4 days, 23:04:06, time: 0.735, data_time: 0.037, memory: 19865, loss_cls: 0.0879, loss_bbox: 0.2704, loss_traj: 0.4007, loss_traj_cls: 0.0021, loss_map_cls: 0.0792, loss_map_pts: 0.4554, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 1.9350, d0.loss_plan_l1_fix_dist: 0.4637, d1.loss_plan_l1_fix_time: 0.7918, d1.loss_plan_l1_fix_dist: 0.2523, d2.loss_plan_l1_fix_time: 0.7784, d2.loss_plan_l1_fix_dist: 0.3000, d3.loss_plan_l1_fix_time: 0.7748, d3.loss_plan_l1_fix_dist: 0.3515, d4.loss_plan_l1_fix_time: 0.7785, d4.loss_plan_l1_fix_dist: 0.2539, d5.loss_plan_l1_fix_time: 0.7823, d5.loss_plan_l1_fix_dist: 0.2201, d6.loss_plan_l1_fix_time: 0.7877, d6.loss_plan_l1_fix_dist: 0.2254, d0.loss_cls_all: 0.1230, d0.loss_bbox_all: 0.3256, d0.loss_cls: 0.1230, d0.loss_bbox: 0.3256, d1.loss_cls: 0.1175, d1.loss_bbox: 0.2953, d2.loss_cls: 0.1049, d2.loss_bbox: 0.2782, d3.loss_cls: 0.0910, d3.loss_bbox: 0.2722, d4.loss_cls: 0.0876, d4.loss_bbox: 0.2714, d5.loss_cls: 0.0879, d5.loss_bbox: 0.2700, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5510, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4533, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4216, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4066, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4026, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4009, d0.loss_map_cls_all: 0.1434, d0.loss_map_pts_all: 0.9296, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1434, d0.loss_map_pts: 0.9296, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1154, d1.loss_map_pts: 0.6403, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1013, d2.loss_map_pts: 0.5140, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.0906, d3.loss_map_pts: 0.4743, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.0851, d4.loss_map_pts: 0.4579, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0806, d5.loss_map_pts: 0.4542, d5.loss_map_dir: 0.0065, loss: 20.6190, grad_norm: 126.2752 +2026-02-28 12:00:56,934 - DriveTransformer - INFO - Epoch [10][6500/39528] lr: 6.944e-05, eta: 4 days, 23:03:29, time: 0.729, data_time: 0.038, memory: 19865, loss_cls: 0.0887, loss_bbox: 0.2952, loss_traj: 0.4822, loss_traj_cls: 0.0020, loss_map_cls: 0.0979, loss_map_pts: 0.5537, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.6198, d0.loss_plan_l1_fix_dist: 0.4637, d1.loss_plan_l1_fix_time: 0.7994, d1.loss_plan_l1_fix_dist: 0.2842, d2.loss_plan_l1_fix_time: 0.7827, d2.loss_plan_l1_fix_dist: 0.2859, d3.loss_plan_l1_fix_time: 0.7864, d3.loss_plan_l1_fix_dist: 0.3317, d4.loss_plan_l1_fix_time: 0.7893, d4.loss_plan_l1_fix_dist: 0.2607, d5.loss_plan_l1_fix_time: 0.7926, d5.loss_plan_l1_fix_dist: 0.2049, d6.loss_plan_l1_fix_time: 0.7949, d6.loss_plan_l1_fix_dist: 0.2332, d0.loss_cls_all: 0.1374, d0.loss_bbox_all: 0.3555, d0.loss_cls: 0.1374, d0.loss_bbox: 0.3555, d1.loss_cls: 0.1280, d1.loss_bbox: 0.3270, d2.loss_cls: 0.1149, d2.loss_bbox: 0.3044, d3.loss_cls: 0.0947, d3.loss_bbox: 0.2990, d4.loss_cls: 0.0889, d4.loss_bbox: 0.2971, d5.loss_cls: 0.0888, d5.loss_bbox: 0.2945, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7063, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5395, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4954, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4854, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4837, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4812, d0.loss_map_cls_all: 0.1768, d0.loss_map_pts_all: 1.0833, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1768, d0.loss_map_pts: 1.0833, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1488, d1.loss_map_pts: 0.7883, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1240, d2.loss_map_pts: 0.6357, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1107, d3.loss_map_pts: 0.5811, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1040, d4.loss_map_pts: 0.5622, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.0999, d5.loss_map_pts: 0.5555, d5.loss_map_dir: 0.0068, loss: 23.4537, grad_norm: 126.8175 +2026-02-28 12:01:34,010 - DriveTransformer - INFO - Epoch [10][6550/39528] lr: 6.944e-05, eta: 4 days, 23:02:55, time: 0.742, data_time: 0.038, memory: 19865, loss_cls: 0.0961, loss_bbox: 0.2946, loss_traj: 0.5323, loss_traj_cls: 0.0020, loss_map_cls: 0.1107, loss_map_pts: 0.5669, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.7611, d0.loss_plan_l1_fix_dist: 0.4594, d1.loss_plan_l1_fix_time: 0.8488, d1.loss_plan_l1_fix_dist: 0.3005, d2.loss_plan_l1_fix_time: 0.8346, d2.loss_plan_l1_fix_dist: 0.2698, d3.loss_plan_l1_fix_time: 0.8334, d3.loss_plan_l1_fix_dist: 0.3144, d4.loss_plan_l1_fix_time: 0.8357, d4.loss_plan_l1_fix_dist: 0.2693, d5.loss_plan_l1_fix_time: 0.8392, d5.loss_plan_l1_fix_dist: 0.2007, d6.loss_plan_l1_fix_time: 0.8416, d6.loss_plan_l1_fix_dist: 0.2355, d0.loss_cls_all: 0.1376, d0.loss_bbox_all: 0.3575, d0.loss_cls: 0.1376, d0.loss_bbox: 0.3575, d1.loss_cls: 0.1311, d1.loss_bbox: 0.3261, d2.loss_cls: 0.1174, d2.loss_bbox: 0.3057, d3.loss_cls: 0.1029, d3.loss_bbox: 0.2991, d4.loss_cls: 0.0962, d4.loss_bbox: 0.2978, d5.loss_cls: 0.0964, d5.loss_bbox: 0.2945, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7615, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6104, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5691, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5439, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5323, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5324, d0.loss_map_cls_all: 0.2049, d0.loss_map_pts_all: 1.1584, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2049, d0.loss_map_pts: 1.1584, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1670, d1.loss_map_pts: 0.8198, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1388, d2.loss_map_pts: 0.6537, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1268, d3.loss_map_pts: 0.5908, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1188, d4.loss_map_pts: 0.5717, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1134, d5.loss_map_pts: 0.5673, d5.loss_map_dir: 0.0075, loss: 24.7131, grad_norm: 123.4488 +2026-02-28 12:02:11,067 - DriveTransformer - INFO - Epoch [10][6600/39528] lr: 6.944e-05, eta: 4 days, 23:02:21, time: 0.741, data_time: 0.038, memory: 19865, loss_cls: 0.0920, loss_bbox: 0.2669, loss_traj: 0.4125, loss_traj_cls: 0.0020, loss_map_cls: 0.1002, loss_map_pts: 0.4947, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.3781, d0.loss_plan_l1_fix_dist: 0.4076, d1.loss_plan_l1_fix_time: 0.7459, d1.loss_plan_l1_fix_dist: 0.2853, d2.loss_plan_l1_fix_time: 0.7352, d2.loss_plan_l1_fix_dist: 0.2291, d3.loss_plan_l1_fix_time: 0.7289, d3.loss_plan_l1_fix_dist: 0.2670, d4.loss_plan_l1_fix_time: 0.7307, d4.loss_plan_l1_fix_dist: 0.2588, d5.loss_plan_l1_fix_time: 0.7345, d5.loss_plan_l1_fix_dist: 0.1882, d6.loss_plan_l1_fix_time: 0.7394, d6.loss_plan_l1_fix_dist: 0.2022, d0.loss_cls_all: 0.1262, d0.loss_bbox_all: 0.3272, d0.loss_cls: 0.1262, d0.loss_bbox: 0.3272, d1.loss_cls: 0.1236, d1.loss_bbox: 0.2962, d2.loss_cls: 0.1125, d2.loss_bbox: 0.2771, d3.loss_cls: 0.1002, d3.loss_bbox: 0.2703, d4.loss_cls: 0.0933, d4.loss_bbox: 0.2687, d5.loss_cls: 0.0918, d5.loss_bbox: 0.2676, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6241, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4731, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4276, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4172, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4129, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4126, d0.loss_map_cls_all: 0.1708, d0.loss_map_pts_all: 1.0565, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1708, d0.loss_map_pts: 1.0565, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1390, d1.loss_map_pts: 0.7379, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1213, d2.loss_map_pts: 0.5759, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1131, d3.loss_map_pts: 0.5213, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1068, d4.loss_map_pts: 0.5037, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1014, d5.loss_map_pts: 0.4947, d5.loss_map_dir: 0.0075, loss: 21.5077, grad_norm: 123.4709 +2026-02-28 12:02:47,349 - DriveTransformer - INFO - Epoch [10][6650/39528] lr: 6.944e-05, eta: 4 days, 23:01:43, time: 0.726, data_time: 0.037, memory: 19865, loss_cls: 0.1003, loss_bbox: 0.2939, loss_traj: 0.5516, loss_traj_cls: 0.0020, loss_map_cls: 0.0964, loss_map_pts: 0.5317, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.3735, d0.loss_plan_l1_fix_dist: 0.4540, d1.loss_plan_l1_fix_time: 0.8731, d1.loss_plan_l1_fix_dist: 0.3167, d2.loss_plan_l1_fix_time: 0.8625, d2.loss_plan_l1_fix_dist: 0.2590, d3.loss_plan_l1_fix_time: 0.8642, d3.loss_plan_l1_fix_dist: 0.2777, d4.loss_plan_l1_fix_time: 0.8663, d4.loss_plan_l1_fix_dist: 0.2852, d5.loss_plan_l1_fix_time: 0.8694, d5.loss_plan_l1_fix_dist: 0.2293, d6.loss_plan_l1_fix_time: 0.8741, d6.loss_plan_l1_fix_dist: 0.2253, d0.loss_cls_all: 0.1423, d0.loss_bbox_all: 0.3531, d0.loss_cls: 0.1423, d0.loss_bbox: 0.3531, d1.loss_cls: 0.1353, d1.loss_bbox: 0.3220, d2.loss_cls: 0.1239, d2.loss_bbox: 0.3020, d3.loss_cls: 0.1083, d3.loss_bbox: 0.2966, d4.loss_cls: 0.1019, d4.loss_bbox: 0.2946, d5.loss_cls: 0.1003, d5.loss_bbox: 0.2935, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8634, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6440, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5779, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5607, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5518, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5495, d0.loss_map_cls_all: 0.1760, d0.loss_map_pts_all: 1.0872, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1760, d0.loss_map_pts: 1.0872, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1451, d1.loss_map_pts: 0.7741, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1230, d2.loss_map_pts: 0.6192, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1118, d3.loss_map_pts: 0.5612, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1043, d4.loss_map_pts: 0.5426, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.0999, d5.loss_map_pts: 0.5310, d5.loss_map_dir: 0.0071, loss: 24.2217, grad_norm: 122.1180 +2026-02-28 12:03:23,686 - DriveTransformer - INFO - Epoch [10][6700/39528] lr: 6.944e-05, eta: 4 days, 23:01:05, time: 0.727, data_time: 0.036, memory: 19865, loss_cls: 0.1133, loss_bbox: 0.3022, loss_traj: 0.4700, loss_traj_cls: 0.0020, loss_map_cls: 0.1039, loss_map_pts: 0.5183, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.5918, d0.loss_plan_l1_fix_dist: 0.4869, d1.loss_plan_l1_fix_time: 0.8037, d1.loss_plan_l1_fix_dist: 0.3105, d2.loss_plan_l1_fix_time: 0.7924, d2.loss_plan_l1_fix_dist: 0.2783, d3.loss_plan_l1_fix_time: 0.7901, d3.loss_plan_l1_fix_dist: 0.2919, d4.loss_plan_l1_fix_time: 0.7922, d4.loss_plan_l1_fix_dist: 0.2879, d5.loss_plan_l1_fix_time: 0.7944, d5.loss_plan_l1_fix_dist: 0.2269, d6.loss_plan_l1_fix_time: 0.7976, d6.loss_plan_l1_fix_dist: 0.2297, d0.loss_cls_all: 0.1556, d0.loss_bbox_all: 0.3685, d0.loss_cls: 0.1556, d0.loss_bbox: 0.3685, d1.loss_cls: 0.1498, d1.loss_bbox: 0.3378, d2.loss_cls: 0.1345, d2.loss_bbox: 0.3169, d3.loss_cls: 0.1197, d3.loss_bbox: 0.3086, d4.loss_cls: 0.1149, d4.loss_bbox: 0.3058, d5.loss_cls: 0.1139, d5.loss_bbox: 0.3029, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7285, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5535, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4940, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4795, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4698, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4692, d0.loss_map_cls_all: 0.1805, d0.loss_map_pts_all: 1.0198, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1805, d0.loss_map_pts: 1.0198, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1505, d1.loss_map_pts: 0.7352, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1268, d2.loss_map_pts: 0.5941, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1177, d3.loss_map_pts: 0.5410, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1104, d4.loss_map_pts: 0.5235, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1062, d5.loss_map_pts: 0.5179, d5.loss_map_dir: 0.0071, loss: 23.4169, grad_norm: 121.8073 +2026-02-28 12:03:59,073 - DriveTransformer - INFO - Epoch [10][6750/39528] lr: 6.944e-05, eta: 4 days, 23:00:23, time: 0.708, data_time: 0.041, memory: 19865, loss_cls: 0.0933, loss_bbox: 0.2935, loss_traj: 0.4885, loss_traj_cls: 0.0021, loss_map_cls: 0.1041, loss_map_pts: 0.4927, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.4112, d0.loss_plan_l1_fix_dist: 0.4774, d1.loss_plan_l1_fix_time: 0.8072, d1.loss_plan_l1_fix_dist: 0.2942, d2.loss_plan_l1_fix_time: 0.8035, d2.loss_plan_l1_fix_dist: 0.2718, d3.loss_plan_l1_fix_time: 0.8009, d3.loss_plan_l1_fix_dist: 0.3013, d4.loss_plan_l1_fix_time: 0.8053, d4.loss_plan_l1_fix_dist: 0.2564, d5.loss_plan_l1_fix_time: 0.8087, d5.loss_plan_l1_fix_dist: 0.2196, d6.loss_plan_l1_fix_time: 0.8122, d6.loss_plan_l1_fix_dist: 0.2189, d0.loss_cls_all: 0.1319, d0.loss_bbox_all: 0.3443, d0.loss_cls: 0.1319, d0.loss_bbox: 0.3443, d1.loss_cls: 0.1255, d1.loss_bbox: 0.3215, d2.loss_cls: 0.1150, d2.loss_bbox: 0.3026, d3.loss_cls: 0.0978, d3.loss_bbox: 0.2961, d4.loss_cls: 0.0937, d4.loss_bbox: 0.2938, d5.loss_cls: 0.0930, d5.loss_bbox: 0.2934, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7875, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5815, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5236, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5096, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4972, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4905, d0.loss_map_cls_all: 0.1794, d0.loss_map_pts_all: 1.0332, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1794, d0.loss_map_pts: 1.0332, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1500, d1.loss_map_pts: 0.7416, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1254, d2.loss_map_pts: 0.5744, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1144, d3.loss_map_pts: 0.5158, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1084, d4.loss_map_pts: 0.4979, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1051, d5.loss_map_pts: 0.4928, d5.loss_map_dir: 0.0057, loss: 23.0382, grad_norm: 121.0800 +2026-02-28 12:04:34,961 - DriveTransformer - INFO - Epoch [10][6800/39528] lr: 6.944e-05, eta: 4 days, 22:59:44, time: 0.718, data_time: 0.036, memory: 19865, loss_cls: 0.1101, loss_bbox: 0.2896, loss_traj: 0.5133, loss_traj_cls: 0.0021, loss_map_cls: 0.1041, loss_map_pts: 0.5396, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.5246, d0.loss_plan_l1_fix_dist: 0.4221, d1.loss_plan_l1_fix_time: 0.7949, d1.loss_plan_l1_fix_dist: 0.2834, d2.loss_plan_l1_fix_time: 0.7865, d2.loss_plan_l1_fix_dist: 0.3095, d3.loss_plan_l1_fix_time: 0.7865, d3.loss_plan_l1_fix_dist: 0.3670, d4.loss_plan_l1_fix_time: 0.7898, d4.loss_plan_l1_fix_dist: 0.2408, d5.loss_plan_l1_fix_time: 0.7920, d5.loss_plan_l1_fix_dist: 0.2725, d6.loss_plan_l1_fix_time: 0.7941, d6.loss_plan_l1_fix_dist: 0.2670, d0.loss_cls_all: 0.1501, d0.loss_bbox_all: 0.3481, d0.loss_cls: 0.1501, d0.loss_bbox: 0.3481, d1.loss_cls: 0.1468, d1.loss_bbox: 0.3164, d2.loss_cls: 0.1333, d2.loss_bbox: 0.2988, d3.loss_cls: 0.1168, d3.loss_bbox: 0.2912, d4.loss_cls: 0.1097, d4.loss_bbox: 0.2913, d5.loss_cls: 0.1099, d5.loss_bbox: 0.2892, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7229, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5722, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5325, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5159, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5135, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5111, d0.loss_map_cls_all: 0.1852, d0.loss_map_pts_all: 1.1406, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.1852, d0.loss_map_pts: 1.1406, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1478, d1.loss_map_pts: 0.7869, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1302, d2.loss_map_pts: 0.6253, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1201, d3.loss_map_pts: 0.5688, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1104, d4.loss_map_pts: 0.5463, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1062, d5.loss_map_pts: 0.5400, d5.loss_map_dir: 0.0081, loss: 23.8612, grad_norm: 122.0481 +2026-02-28 12:05:12,955 - DriveTransformer - INFO - Epoch [10][6850/39528] lr: 6.944e-05, eta: 4 days, 22:59:14, time: 0.760, data_time: 0.036, memory: 19865, loss_cls: 0.1209, loss_bbox: 0.3137, loss_traj: 0.5285, loss_traj_cls: 0.0020, loss_map_cls: 0.1198, loss_map_pts: 0.6033, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.9065, d0.loss_plan_l1_fix_dist: 0.4448, d1.loss_plan_l1_fix_time: 0.8655, d1.loss_plan_l1_fix_dist: 0.2868, d2.loss_plan_l1_fix_time: 0.8522, d2.loss_plan_l1_fix_dist: 0.2988, d3.loss_plan_l1_fix_time: 0.8558, d3.loss_plan_l1_fix_dist: 0.3554, d4.loss_plan_l1_fix_time: 0.8587, d4.loss_plan_l1_fix_dist: 0.2459, d5.loss_plan_l1_fix_time: 0.8613, d5.loss_plan_l1_fix_dist: 0.2732, d6.loss_plan_l1_fix_time: 0.8641, d6.loss_plan_l1_fix_dist: 0.2582, d0.loss_cls_all: 0.1613, d0.loss_bbox_all: 0.3788, d0.loss_cls: 0.1613, d0.loss_bbox: 0.3788, d1.loss_cls: 0.1546, d1.loss_bbox: 0.3461, d2.loss_cls: 0.1407, d2.loss_bbox: 0.3274, d3.loss_cls: 0.1249, d3.loss_bbox: 0.3212, d4.loss_cls: 0.1205, d4.loss_bbox: 0.3174, d5.loss_cls: 0.1208, d5.loss_bbox: 0.3145, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7911, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6104, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5519, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5364, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5304, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5299, d0.loss_map_cls_all: 0.2009, d0.loss_map_pts_all: 1.2077, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2009, d0.loss_map_pts: 1.2077, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1668, d1.loss_map_pts: 0.8735, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1447, d2.loss_map_pts: 0.7053, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1332, d3.loss_map_pts: 0.6397, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1276, d4.loss_map_pts: 0.6119, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1213, d5.loss_map_pts: 0.6047, d5.loss_map_dir: 0.0079, loss: 25.8465, grad_norm: 121.8191 +2026-02-28 12:05:49,538 - DriveTransformer - INFO - Epoch [10][6900/39528] lr: 6.944e-05, eta: 4 days, 22:58:38, time: 0.732, data_time: 0.036, memory: 19865, loss_cls: 0.1019, loss_bbox: 0.2989, loss_traj: 0.4787, loss_traj_cls: 0.0020, loss_map_cls: 0.0989, loss_map_pts: 0.5379, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.5018, d0.loss_plan_l1_fix_dist: 0.3517, d1.loss_plan_l1_fix_time: 0.7659, d1.loss_plan_l1_fix_dist: 0.2628, d2.loss_plan_l1_fix_time: 0.7527, d2.loss_plan_l1_fix_dist: 0.2625, d3.loss_plan_l1_fix_time: 0.7490, d3.loss_plan_l1_fix_dist: 0.3141, d4.loss_plan_l1_fix_time: 0.7511, d4.loss_plan_l1_fix_dist: 0.2292, d5.loss_plan_l1_fix_time: 0.7536, d5.loss_plan_l1_fix_dist: 0.2786, d6.loss_plan_l1_fix_time: 0.7568, d6.loss_plan_l1_fix_dist: 0.2423, d0.loss_cls_all: 0.1464, d0.loss_bbox_all: 0.3508, d0.loss_cls: 0.1464, d0.loss_bbox: 0.3508, d1.loss_cls: 0.1390, d1.loss_bbox: 0.3206, d2.loss_cls: 0.1237, d2.loss_bbox: 0.3055, d3.loss_cls: 0.1067, d3.loss_bbox: 0.3000, d4.loss_cls: 0.1011, d4.loss_bbox: 0.2995, d5.loss_cls: 0.1012, d5.loss_bbox: 0.2980, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6890, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5542, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5158, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4975, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4855, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4785, d0.loss_map_cls_all: 0.1855, d0.loss_map_pts_all: 1.0978, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1855, d0.loss_map_pts: 1.0978, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1482, d1.loss_map_pts: 0.7531, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1248, d2.loss_map_pts: 0.6050, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1130, d3.loss_map_pts: 0.5574, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1060, d4.loss_map_pts: 0.5360, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1011, d5.loss_map_pts: 0.5337, d5.loss_map_dir: 0.0073, loss: 23.0081, grad_norm: 124.4458 +2026-02-28 12:06:25,841 - DriveTransformer - INFO - Epoch [10][6950/39528] lr: 6.944e-05, eta: 4 days, 22:58:00, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.1075, loss_bbox: 0.3015, loss_traj: 0.4668, loss_traj_cls: 0.0019, loss_map_cls: 0.1145, loss_map_pts: 0.5611, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.7617, d0.loss_plan_l1_fix_dist: 0.5003, d1.loss_plan_l1_fix_time: 0.9986, d1.loss_plan_l1_fix_dist: 0.3050, d2.loss_plan_l1_fix_time: 0.9808, d2.loss_plan_l1_fix_dist: 0.3126, d3.loss_plan_l1_fix_time: 0.9822, d3.loss_plan_l1_fix_dist: 0.3647, d4.loss_plan_l1_fix_time: 0.9851, d4.loss_plan_l1_fix_dist: 0.2929, d5.loss_plan_l1_fix_time: 0.9881, d5.loss_plan_l1_fix_dist: 0.3412, d6.loss_plan_l1_fix_time: 0.9913, d6.loss_plan_l1_fix_dist: 0.3162, d0.loss_cls_all: 0.1506, d0.loss_bbox_all: 0.3638, d0.loss_cls: 0.1506, d0.loss_bbox: 0.3638, d1.loss_cls: 0.1460, d1.loss_bbox: 0.3324, d2.loss_cls: 0.1303, d2.loss_bbox: 0.3102, d3.loss_cls: 0.1153, d3.loss_bbox: 0.3057, d4.loss_cls: 0.1094, d4.loss_bbox: 0.3021, d5.loss_cls: 0.1064, d5.loss_bbox: 0.3027, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6889, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5306, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4929, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4763, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4653, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4654, d0.loss_map_cls_all: 0.2031, d0.loss_map_pts_all: 1.1652, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2031, d0.loss_map_pts: 1.1652, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1635, d1.loss_map_pts: 0.8375, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1395, d2.loss_map_pts: 0.6625, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1285, d3.loss_map_pts: 0.5965, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1214, d4.loss_map_pts: 0.5656, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1160, d5.loss_map_pts: 0.5605, d5.loss_map_dir: 0.0072, loss: 25.6717, grad_norm: 125.6301 +2026-02-28 12:07:02,460 - DriveTransformer - INFO - Epoch [10][7000/39528] lr: 6.944e-05, eta: 4 days, 22:57:24, time: 0.734, data_time: 0.035, memory: 19865, loss_cls: 0.0980, loss_bbox: 0.2747, loss_traj: 0.5778, loss_traj_cls: 0.0019, loss_map_cls: 0.1150, loss_map_pts: 0.5261, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.9356, d0.loss_plan_l1_fix_dist: 0.4598, d1.loss_plan_l1_fix_time: 0.8638, d1.loss_plan_l1_fix_dist: 0.2594, d2.loss_plan_l1_fix_time: 0.8446, d2.loss_plan_l1_fix_dist: 0.2624, d3.loss_plan_l1_fix_time: 0.8356, d3.loss_plan_l1_fix_dist: 0.3089, d4.loss_plan_l1_fix_time: 0.8377, d4.loss_plan_l1_fix_dist: 0.2356, d5.loss_plan_l1_fix_time: 0.8411, d5.loss_plan_l1_fix_dist: 0.2435, d6.loss_plan_l1_fix_time: 0.8436, d6.loss_plan_l1_fix_dist: 0.2599, d0.loss_cls_all: 0.1325, d0.loss_bbox_all: 0.3290, d0.loss_cls: 0.1325, d0.loss_bbox: 0.3290, d1.loss_cls: 0.1288, d1.loss_bbox: 0.2994, d2.loss_cls: 0.1179, d2.loss_bbox: 0.2791, d3.loss_cls: 0.1027, d3.loss_bbox: 0.2775, d4.loss_cls: 0.0988, d4.loss_bbox: 0.2751, d5.loss_cls: 0.0980, d5.loss_bbox: 0.2744, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7816, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6330, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5958, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5878, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5816, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5813, d0.loss_map_cls_all: 0.1975, d0.loss_map_pts_all: 1.1419, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1975, d0.loss_map_pts: 1.1419, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1670, d1.loss_map_pts: 0.7953, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1428, d2.loss_map_pts: 0.6095, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1301, d3.loss_map_pts: 0.5498, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1226, d4.loss_map_pts: 0.5299, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1171, d5.loss_map_pts: 0.5250, d5.loss_map_dir: 0.0068, loss: 24.6843, grad_norm: 127.3235 +2026-02-28 12:07:38,216 - DriveTransformer - INFO - Epoch [10][7050/39528] lr: 6.944e-05, eta: 4 days, 22:56:43, time: 0.714, data_time: 0.034, memory: 19865, loss_cls: 0.1025, loss_bbox: 0.2993, loss_traj: 0.5070, loss_traj_cls: 0.0019, loss_map_cls: 0.1172, loss_map_pts: 0.5838, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.3841, d0.loss_plan_l1_fix_dist: 0.4928, d1.loss_plan_l1_fix_time: 0.8945, d1.loss_plan_l1_fix_dist: 0.2519, d2.loss_plan_l1_fix_time: 0.8826, d2.loss_plan_l1_fix_dist: 0.2500, d3.loss_plan_l1_fix_time: 0.8844, d3.loss_plan_l1_fix_dist: 0.3214, d4.loss_plan_l1_fix_time: 0.8871, d4.loss_plan_l1_fix_dist: 0.2583, d5.loss_plan_l1_fix_time: 0.8906, d5.loss_plan_l1_fix_dist: 0.2557, d6.loss_plan_l1_fix_time: 0.8959, d6.loss_plan_l1_fix_dist: 0.3086, d0.loss_cls_all: 0.1456, d0.loss_bbox_all: 0.3637, d0.loss_cls: 0.1456, d0.loss_bbox: 0.3637, d1.loss_cls: 0.1371, d1.loss_bbox: 0.3278, d2.loss_cls: 0.1215, d2.loss_bbox: 0.3100, d3.loss_cls: 0.1094, d3.loss_bbox: 0.3016, d4.loss_cls: 0.1025, d4.loss_bbox: 0.3004, d5.loss_cls: 0.1018, d5.loss_bbox: 0.2998, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6962, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5642, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5291, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5154, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5105, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5049, d0.loss_map_cls_all: 0.2070, d0.loss_map_pts_all: 1.1698, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2070, d0.loss_map_pts: 1.1698, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1749, d1.loss_map_pts: 0.8372, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1471, d2.loss_map_pts: 0.6774, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1341, d3.loss_map_pts: 0.6151, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1260, d4.loss_map_pts: 0.5872, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1191, d5.loss_map_pts: 0.5835, d5.loss_map_dir: 0.0071, loss: 24.7355, grad_norm: 128.2521 +2026-02-28 12:08:16,231 - DriveTransformer - INFO - Epoch [10][7100/39528] lr: 6.944e-05, eta: 4 days, 22:56:14, time: 0.760, data_time: 0.036, memory: 19865, loss_cls: 0.1096, loss_bbox: 0.3008, loss_traj: 0.4112, loss_traj_cls: 0.0020, loss_map_cls: 0.1138, loss_map_pts: 0.5625, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.7337, d0.loss_plan_l1_fix_dist: 0.4542, d1.loss_plan_l1_fix_time: 0.8708, d1.loss_plan_l1_fix_dist: 0.2483, d2.loss_plan_l1_fix_time: 0.8627, d2.loss_plan_l1_fix_dist: 0.2495, d3.loss_plan_l1_fix_time: 0.8584, d3.loss_plan_l1_fix_dist: 0.3144, d4.loss_plan_l1_fix_time: 0.8596, d4.loss_plan_l1_fix_dist: 0.2454, d5.loss_plan_l1_fix_time: 0.8623, d5.loss_plan_l1_fix_dist: 0.2512, d6.loss_plan_l1_fix_time: 0.8675, d6.loss_plan_l1_fix_dist: 0.2764, d0.loss_cls_all: 0.1589, d0.loss_bbox_all: 0.3693, d0.loss_cls: 0.1589, d0.loss_bbox: 0.3693, d1.loss_cls: 0.1500, d1.loss_bbox: 0.3312, d2.loss_cls: 0.1324, d2.loss_bbox: 0.3107, d3.loss_cls: 0.1185, d3.loss_bbox: 0.3051, d4.loss_cls: 0.1133, d4.loss_bbox: 0.3022, d5.loss_cls: 0.1108, d5.loss_bbox: 0.3007, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5965, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4573, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4295, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4169, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4114, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4117, d0.loss_map_cls_all: 0.1990, d0.loss_map_pts_all: 1.1905, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1990, d0.loss_map_pts: 1.1905, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1652, d1.loss_map_pts: 0.8353, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1413, d2.loss_map_pts: 0.6538, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1283, d3.loss_map_pts: 0.5962, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1209, d4.loss_map_pts: 0.5675, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1168, d5.loss_map_pts: 0.5621, d5.loss_map_dir: 0.0077, loss: 24.1400, grad_norm: 128.8480 +2026-02-28 12:08:51,952 - DriveTransformer - INFO - Epoch [10][7150/39528] lr: 6.944e-05, eta: 4 days, 22:55:33, time: 0.715, data_time: 0.039, memory: 19865, loss_cls: 0.0808, loss_bbox: 0.2692, loss_traj: 0.4286, loss_traj_cls: 0.0021, loss_map_cls: 0.0965, loss_map_pts: 0.4395, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.2234, d0.loss_plan_l1_fix_dist: 0.4580, d1.loss_plan_l1_fix_time: 0.7058, d1.loss_plan_l1_fix_dist: 0.2053, d2.loss_plan_l1_fix_time: 0.6945, d2.loss_plan_l1_fix_dist: 0.1983, d3.loss_plan_l1_fix_time: 0.6909, d3.loss_plan_l1_fix_dist: 0.2464, d4.loss_plan_l1_fix_time: 0.6911, d4.loss_plan_l1_fix_dist: 0.2090, d5.loss_plan_l1_fix_time: 0.6932, d5.loss_plan_l1_fix_dist: 0.2231, d6.loss_plan_l1_fix_time: 0.6967, d6.loss_plan_l1_fix_dist: 0.2418, d0.loss_cls_all: 0.1176, d0.loss_bbox_all: 0.3318, d0.loss_cls: 0.1176, d0.loss_bbox: 0.3318, d1.loss_cls: 0.1139, d1.loss_bbox: 0.3007, d2.loss_cls: 0.1015, d2.loss_bbox: 0.2779, d3.loss_cls: 0.0874, d3.loss_bbox: 0.2747, d4.loss_cls: 0.0825, d4.loss_bbox: 0.2714, d5.loss_cls: 0.0802, d5.loss_bbox: 0.2710, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6159, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4991, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4547, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4378, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4351, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4282, d0.loss_map_cls_all: 0.1687, d0.loss_map_pts_all: 0.8956, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1687, d0.loss_map_pts: 0.8956, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1390, d1.loss_map_pts: 0.6401, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1174, d2.loss_map_pts: 0.5041, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1092, d3.loss_map_pts: 0.4575, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1022, d4.loss_map_pts: 0.4433, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0988, d5.loss_map_pts: 0.4401, d5.loss_map_dir: 0.0052, loss: 20.3521, grad_norm: 130.1182 +2026-02-28 12:09:27,846 - DriveTransformer - INFO - Epoch [10][7200/39528] lr: 6.944e-05, eta: 4 days, 22:54:54, time: 0.718, data_time: 0.037, memory: 19865, loss_cls: 0.1066, loss_bbox: 0.2877, loss_traj: 0.4863, loss_traj_cls: 0.0020, loss_map_cls: 0.1079, loss_map_pts: 0.5561, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.6388, d0.loss_plan_l1_fix_dist: 0.4358, d1.loss_plan_l1_fix_time: 0.7910, d1.loss_plan_l1_fix_dist: 0.1991, d2.loss_plan_l1_fix_time: 0.7760, d2.loss_plan_l1_fix_dist: 0.1900, d3.loss_plan_l1_fix_time: 0.7697, d3.loss_plan_l1_fix_dist: 0.2246, d4.loss_plan_l1_fix_time: 0.7719, d4.loss_plan_l1_fix_dist: 0.1941, d5.loss_plan_l1_fix_time: 0.7744, d5.loss_plan_l1_fix_dist: 0.1938, d6.loss_plan_l1_fix_time: 0.7765, d6.loss_plan_l1_fix_dist: 0.2152, d0.loss_cls_all: 0.1462, d0.loss_bbox_all: 0.3469, d0.loss_cls: 0.1462, d0.loss_bbox: 0.3469, d1.loss_cls: 0.1362, d1.loss_bbox: 0.3164, d2.loss_cls: 0.1265, d2.loss_bbox: 0.2977, d3.loss_cls: 0.1126, d3.loss_bbox: 0.2921, d4.loss_cls: 0.1069, d4.loss_bbox: 0.2900, d5.loss_cls: 0.1062, d5.loss_bbox: 0.2887, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6598, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5404, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4986, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4860, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4877, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4884, d0.loss_map_cls_all: 0.2017, d0.loss_map_pts_all: 1.1328, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2017, d0.loss_map_pts: 1.1328, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1642, d1.loss_map_pts: 0.8095, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1384, d2.loss_map_pts: 0.6406, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1237, d3.loss_map_pts: 0.5843, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1165, d4.loss_map_pts: 0.5635, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1104, d5.loss_map_pts: 0.5572, d5.loss_map_dir: 0.0065, loss: 23.2512, grad_norm: 130.9111 +2026-02-28 12:10:05,248 - DriveTransformer - INFO - Epoch [10][7250/39528] lr: 6.944e-05, eta: 4 days, 22:54:21, time: 0.748, data_time: 0.035, memory: 19865, loss_cls: 0.1138, loss_bbox: 0.3122, loss_traj: 0.5805, loss_traj_cls: 0.0020, loss_map_cls: 0.1089, loss_map_pts: 0.6025, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.4721, d0.loss_plan_l1_fix_dist: 0.4011, d1.loss_plan_l1_fix_time: 0.8432, d1.loss_plan_l1_fix_dist: 0.1948, d2.loss_plan_l1_fix_time: 0.8248, d2.loss_plan_l1_fix_dist: 0.2025, d3.loss_plan_l1_fix_time: 0.8100, d3.loss_plan_l1_fix_dist: 0.2373, d4.loss_plan_l1_fix_time: 0.8112, d4.loss_plan_l1_fix_dist: 0.2132, d5.loss_plan_l1_fix_time: 0.8134, d5.loss_plan_l1_fix_dist: 0.2138, d6.loss_plan_l1_fix_time: 0.8151, d6.loss_plan_l1_fix_dist: 0.2161, d0.loss_cls_all: 0.1614, d0.loss_bbox_all: 0.3761, d0.loss_cls: 0.1614, d0.loss_bbox: 0.3761, d1.loss_cls: 0.1559, d1.loss_bbox: 0.3413, d2.loss_cls: 0.1388, d2.loss_bbox: 0.3183, d3.loss_cls: 0.1205, d3.loss_bbox: 0.3149, d4.loss_cls: 0.1162, d4.loss_bbox: 0.3131, d5.loss_cls: 0.1138, d5.loss_bbox: 0.3130, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8052, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6352, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5932, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5810, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5745, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5771, d0.loss_map_cls_all: 0.1960, d0.loss_map_pts_all: 1.2087, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1960, d0.loss_map_pts: 1.2087, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1618, d1.loss_map_pts: 0.8956, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1350, d2.loss_map_pts: 0.7047, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1223, d3.loss_map_pts: 0.6369, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1157, d4.loss_map_pts: 0.6105, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1108, d5.loss_map_pts: 0.6019, d5.loss_map_dir: 0.0075, loss: 24.8421, grad_norm: 131.0818 +2026-02-28 12:10:41,836 - DriveTransformer - INFO - Epoch [10][7300/39528] lr: 6.944e-05, eta: 4 days, 22:53:45, time: 0.732, data_time: 0.039, memory: 19865, loss_cls: 0.1131, loss_bbox: 0.3146, loss_traj: 0.5019, loss_traj_cls: 0.0019, loss_map_cls: 0.1224, loss_map_pts: 0.5708, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.5157, d0.loss_plan_l1_fix_dist: 0.4258, d1.loss_plan_l1_fix_time: 0.8943, d1.loss_plan_l1_fix_dist: 0.2113, d2.loss_plan_l1_fix_time: 0.8776, d2.loss_plan_l1_fix_dist: 0.2224, d3.loss_plan_l1_fix_time: 0.8721, d3.loss_plan_l1_fix_dist: 0.2018, d4.loss_plan_l1_fix_time: 0.8751, d4.loss_plan_l1_fix_dist: 0.2172, d5.loss_plan_l1_fix_time: 0.8780, d5.loss_plan_l1_fix_dist: 0.2136, d6.loss_plan_l1_fix_time: 0.8806, d6.loss_plan_l1_fix_dist: 0.2202, d0.loss_cls_all: 0.1511, d0.loss_bbox_all: 0.3777, d0.loss_cls: 0.1511, d0.loss_bbox: 0.3777, d1.loss_cls: 0.1535, d1.loss_bbox: 0.3464, d2.loss_cls: 0.1379, d2.loss_bbox: 0.3254, d3.loss_cls: 0.1191, d3.loss_bbox: 0.3186, d4.loss_cls: 0.1147, d4.loss_bbox: 0.3167, d5.loss_cls: 0.1122, d5.loss_bbox: 0.3161, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6965, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5481, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5221, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5103, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5007, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5022, d0.loss_map_cls_all: 0.2047, d0.loss_map_pts_all: 1.1565, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2047, d0.loss_map_pts: 1.1565, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1722, d1.loss_map_pts: 0.8246, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1498, d2.loss_map_pts: 0.6650, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1368, d3.loss_map_pts: 0.5994, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1303, d4.loss_map_pts: 0.5767, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1243, d5.loss_map_pts: 0.5707, d5.loss_map_dir: 0.0074, loss: 24.4637, grad_norm: 133.2078 +2026-02-28 12:11:18,416 - DriveTransformer - INFO - Epoch [10][7350/39528] lr: 6.944e-05, eta: 4 days, 22:53:09, time: 0.732, data_time: 0.037, memory: 19865, loss_cls: 0.1193, loss_bbox: 0.3076, loss_traj: 0.4812, loss_traj_cls: 0.0020, loss_map_cls: 0.1206, loss_map_pts: 0.6146, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.6330, d0.loss_plan_l1_fix_dist: 0.5475, d1.loss_plan_l1_fix_time: 0.8576, d1.loss_plan_l1_fix_dist: 0.2322, d2.loss_plan_l1_fix_time: 0.8452, d2.loss_plan_l1_fix_dist: 0.2325, d3.loss_plan_l1_fix_time: 0.8448, d3.loss_plan_l1_fix_dist: 0.1991, d4.loss_plan_l1_fix_time: 0.8468, d4.loss_plan_l1_fix_dist: 0.2174, d5.loss_plan_l1_fix_time: 0.8492, d5.loss_plan_l1_fix_dist: 0.2091, d6.loss_plan_l1_fix_time: 0.8522, d6.loss_plan_l1_fix_dist: 0.2246, d0.loss_cls_all: 0.1695, d0.loss_bbox_all: 0.3805, d0.loss_cls: 0.1695, d0.loss_bbox: 0.3805, d1.loss_cls: 0.1568, d1.loss_bbox: 0.3438, d2.loss_cls: 0.1447, d2.loss_bbox: 0.3232, d3.loss_cls: 0.1287, d3.loss_bbox: 0.3146, d4.loss_cls: 0.1224, d4.loss_bbox: 0.3101, d5.loss_cls: 0.1199, d5.loss_bbox: 0.3079, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7016, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5619, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5060, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4873, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4783, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4827, d0.loss_map_cls_all: 0.2079, d0.loss_map_pts_all: 1.1877, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2079, d0.loss_map_pts: 1.1877, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1721, d1.loss_map_pts: 0.8678, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1475, d2.loss_map_pts: 0.7086, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1348, d3.loss_map_pts: 0.6447, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1281, d4.loss_map_pts: 0.6203, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1227, d5.loss_map_pts: 0.6147, d5.loss_map_dir: 0.0077, loss: 24.8439, grad_norm: 132.9757 +2026-02-28 12:11:53,897 - DriveTransformer - INFO - Epoch [10][7400/39528] lr: 6.944e-05, eta: 4 days, 22:52:27, time: 0.710, data_time: 0.037, memory: 19865, loss_cls: 0.1106, loss_bbox: 0.3017, loss_traj: 0.5726, loss_traj_cls: 0.0020, loss_map_cls: 0.1091, loss_map_pts: 0.5361, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.4534, d0.loss_plan_l1_fix_dist: 0.4283, d1.loss_plan_l1_fix_time: 0.7914, d1.loss_plan_l1_fix_dist: 0.2404, d2.loss_plan_l1_fix_time: 0.7845, d2.loss_plan_l1_fix_dist: 0.2284, d3.loss_plan_l1_fix_time: 0.7823, d3.loss_plan_l1_fix_dist: 0.2191, d4.loss_plan_l1_fix_time: 0.7846, d4.loss_plan_l1_fix_dist: 0.1940, d5.loss_plan_l1_fix_time: 0.7868, d5.loss_plan_l1_fix_dist: 0.1978, d6.loss_plan_l1_fix_time: 0.7899, d6.loss_plan_l1_fix_dist: 0.2028, d0.loss_cls_all: 0.1581, d0.loss_bbox_all: 0.3676, d0.loss_cls: 0.1581, d0.loss_bbox: 0.3676, d1.loss_cls: 0.1528, d1.loss_bbox: 0.3326, d2.loss_cls: 0.1391, d2.loss_bbox: 0.3127, d3.loss_cls: 0.1184, d3.loss_bbox: 0.3065, d4.loss_cls: 0.1113, d4.loss_bbox: 0.3039, d5.loss_cls: 0.1113, d5.loss_bbox: 0.3011, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7692, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6275, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5877, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5758, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5764, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5731, d0.loss_map_cls_all: 0.1897, d0.loss_map_pts_all: 1.0294, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1897, d0.loss_map_pts: 1.0294, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1546, d1.loss_map_pts: 0.7505, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1298, d2.loss_map_pts: 0.6143, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1193, d3.loss_map_pts: 0.5589, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1145, d4.loss_map_pts: 0.5404, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1103, d5.loss_map_pts: 0.5365, d5.loss_map_dir: 0.0062, loss: 23.5874, grad_norm: 131.9761 +2026-02-28 12:12:30,986 - DriveTransformer - INFO - Epoch [10][7450/39528] lr: 6.944e-05, eta: 4 days, 22:51:53, time: 0.742, data_time: 0.035, memory: 19865, loss_cls: 0.1380, loss_bbox: 0.3522, loss_traj: 0.5921, loss_traj_cls: 0.0018, loss_map_cls: 0.1664, loss_map_pts: 0.7853, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 3.1872, d0.loss_plan_l1_fix_dist: 0.3657, d1.loss_plan_l1_fix_time: 0.8424, d1.loss_plan_l1_fix_dist: 0.2421, d2.loss_plan_l1_fix_time: 0.8300, d2.loss_plan_l1_fix_dist: 0.2297, d3.loss_plan_l1_fix_time: 0.8296, d3.loss_plan_l1_fix_dist: 0.2097, d4.loss_plan_l1_fix_time: 0.8305, d4.loss_plan_l1_fix_dist: 0.1888, d5.loss_plan_l1_fix_time: 0.8322, d5.loss_plan_l1_fix_dist: 0.1831, d6.loss_plan_l1_fix_time: 0.8341, d6.loss_plan_l1_fix_dist: 0.1833, d0.loss_cls_all: 0.1855, d0.loss_bbox_all: 0.4305, d0.loss_cls: 0.1855, d0.loss_bbox: 0.4305, d1.loss_cls: 0.1800, d1.loss_bbox: 0.3920, d2.loss_cls: 0.1679, d2.loss_bbox: 0.3661, d3.loss_cls: 0.1450, d3.loss_bbox: 0.3580, d4.loss_cls: 0.1402, d4.loss_bbox: 0.3532, d5.loss_cls: 0.1387, d5.loss_bbox: 0.3520, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8617, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6812, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6201, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6022, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5952, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5906, d0.loss_map_cls_all: 0.2655, d0.loss_map_pts_all: 1.5056, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2655, d0.loss_map_pts: 1.5056, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2272, d1.loss_map_pts: 1.1275, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1951, d2.loss_map_pts: 0.9228, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1863, d3.loss_map_pts: 0.8335, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1758, d4.loss_map_pts: 0.7951, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1693, d5.loss_map_pts: 0.7875, d5.loss_map_dir: 0.0092, loss: 28.6378, grad_norm: 133.0544 +2026-02-28 12:13:07,276 - DriveTransformer - INFO - Epoch [10][7500/39528] lr: 6.944e-05, eta: 4 days, 22:51:15, time: 0.726, data_time: 0.035, memory: 19865, loss_cls: 0.1059, loss_bbox: 0.2863, loss_traj: 0.4997, loss_traj_cls: 0.0020, loss_map_cls: 0.0906, loss_map_pts: 0.5115, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.4414, d0.loss_plan_l1_fix_dist: 0.4538, d1.loss_plan_l1_fix_time: 0.6664, d1.loss_plan_l1_fix_dist: 0.2338, d2.loss_plan_l1_fix_time: 0.6418, d2.loss_plan_l1_fix_dist: 0.2418, d3.loss_plan_l1_fix_time: 0.6390, d3.loss_plan_l1_fix_dist: 0.2326, d4.loss_plan_l1_fix_time: 0.6412, d4.loss_plan_l1_fix_dist: 0.1922, d5.loss_plan_l1_fix_time: 0.6442, d5.loss_plan_l1_fix_dist: 0.1859, d6.loss_plan_l1_fix_time: 0.6475, d6.loss_plan_l1_fix_dist: 0.1890, d0.loss_cls_all: 0.1436, d0.loss_bbox_all: 0.3449, d0.loss_cls: 0.1436, d0.loss_bbox: 0.3449, d1.loss_cls: 0.1386, d1.loss_bbox: 0.3120, d2.loss_cls: 0.1252, d2.loss_bbox: 0.2936, d3.loss_cls: 0.1109, d3.loss_bbox: 0.2919, d4.loss_cls: 0.1057, d4.loss_bbox: 0.2906, d5.loss_cls: 0.1049, d5.loss_bbox: 0.2878, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6929, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5580, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5203, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5076, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5005, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4992, d0.loss_map_cls_all: 0.1603, d0.loss_map_pts_all: 1.0722, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1603, d0.loss_map_pts: 1.0722, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1361, d1.loss_map_pts: 0.7484, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1156, d2.loss_map_pts: 0.5942, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1038, d3.loss_map_pts: 0.5406, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.0971, d4.loss_map_pts: 0.5206, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.0918, d5.loss_map_pts: 0.5150, d5.loss_map_dir: 0.0068, loss: 21.8514, grad_norm: 131.4072 +2026-02-28 12:13:47,139 - DriveTransformer - INFO - Epoch [10][7550/39528] lr: 6.944e-05, eta: 4 days, 22:50:54, time: 0.797, data_time: 0.036, memory: 19865, loss_cls: 0.0937, loss_bbox: 0.3056, loss_traj: 0.4711, loss_traj_cls: 0.0019, loss_map_cls: 0.1104, loss_map_pts: 0.6549, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.4722, d0.loss_plan_l1_fix_dist: 0.4448, d1.loss_plan_l1_fix_time: 0.8871, d1.loss_plan_l1_fix_dist: 0.2435, d2.loss_plan_l1_fix_time: 0.8756, d2.loss_plan_l1_fix_dist: 0.2366, d3.loss_plan_l1_fix_time: 0.8733, d3.loss_plan_l1_fix_dist: 0.2367, d4.loss_plan_l1_fix_time: 0.8753, d4.loss_plan_l1_fix_dist: 0.1789, d5.loss_plan_l1_fix_time: 0.8777, d5.loss_plan_l1_fix_dist: 0.1710, d6.loss_plan_l1_fix_time: 0.8813, d6.loss_plan_l1_fix_dist: 0.1780, d0.loss_cls_all: 0.1466, d0.loss_bbox_all: 0.3720, d0.loss_cls: 0.1466, d0.loss_bbox: 0.3720, d1.loss_cls: 0.1434, d1.loss_bbox: 0.3374, d2.loss_cls: 0.1243, d2.loss_bbox: 0.3187, d3.loss_cls: 0.1038, d3.loss_bbox: 0.3115, d4.loss_cls: 0.0962, d4.loss_bbox: 0.3068, d5.loss_cls: 0.0943, d5.loss_bbox: 0.3050, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7054, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5514, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4954, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4807, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4697, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4673, d0.loss_map_cls_all: 0.2043, d0.loss_map_pts_all: 1.3448, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2043, d0.loss_map_pts: 1.3448, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1665, d1.loss_map_pts: 0.9362, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1407, d2.loss_map_pts: 0.7482, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1252, d3.loss_map_pts: 0.6838, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1192, d4.loss_map_pts: 0.6568, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1134, d5.loss_map_pts: 0.6532, d5.loss_map_dir: 0.0091, loss: 24.9361, grad_norm: 133.8493 +2026-02-28 12:14:24,745 - DriveTransformer - INFO - Epoch [10][7600/39528] lr: 6.944e-05, eta: 4 days, 22:50:23, time: 0.752, data_time: 0.037, memory: 19865, loss_cls: 0.1001, loss_bbox: 0.2788, loss_traj: 0.4740, loss_traj_cls: 0.0020, loss_map_cls: 0.1044, loss_map_pts: 0.5103, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.3357, d0.loss_plan_l1_fix_dist: 0.5152, d1.loss_plan_l1_fix_time: 0.7521, d1.loss_plan_l1_fix_dist: 0.2587, d2.loss_plan_l1_fix_time: 0.7471, d2.loss_plan_l1_fix_dist: 0.2470, d3.loss_plan_l1_fix_time: 0.7400, d3.loss_plan_l1_fix_dist: 0.2480, d4.loss_plan_l1_fix_time: 0.7418, d4.loss_plan_l1_fix_dist: 0.1886, d5.loss_plan_l1_fix_time: 0.7442, d5.loss_plan_l1_fix_dist: 0.1902, d6.loss_plan_l1_fix_time: 0.7474, d6.loss_plan_l1_fix_dist: 0.1967, d0.loss_cls_all: 0.1400, d0.loss_bbox_all: 0.3449, d0.loss_cls: 0.1400, d0.loss_bbox: 0.3449, d1.loss_cls: 0.1330, d1.loss_bbox: 0.3118, d2.loss_cls: 0.1226, d2.loss_bbox: 0.2882, d3.loss_cls: 0.1106, d3.loss_bbox: 0.2822, d4.loss_cls: 0.1024, d4.loss_bbox: 0.2809, d5.loss_cls: 0.1010, d5.loss_bbox: 0.2792, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6426, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5122, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4800, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4708, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4730, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4731, d0.loss_map_cls_all: 0.1820, d0.loss_map_pts_all: 1.1347, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1820, d0.loss_map_pts: 1.1347, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1502, d1.loss_map_pts: 0.8020, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1255, d2.loss_map_pts: 0.6127, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1155, d3.loss_map_pts: 0.5402, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1109, d4.loss_map_pts: 0.5121, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1068, d5.loss_map_pts: 0.5089, d5.loss_map_dir: 0.0070, loss: 22.4340, grad_norm: 134.6116 +2026-02-28 12:15:01,309 - DriveTransformer - INFO - Epoch [10][7650/39528] lr: 6.944e-05, eta: 4 days, 22:49:46, time: 0.731, data_time: 0.040, memory: 19865, loss_cls: 0.0979, loss_bbox: 0.2824, loss_traj: 0.5269, loss_traj_cls: 0.0019, loss_map_cls: 0.0964, loss_map_pts: 0.5108, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.2796, d0.loss_plan_l1_fix_dist: 0.4025, d1.loss_plan_l1_fix_time: 0.7363, d1.loss_plan_l1_fix_dist: 0.2323, d2.loss_plan_l1_fix_time: 0.7304, d2.loss_plan_l1_fix_dist: 0.2065, d3.loss_plan_l1_fix_time: 0.7294, d3.loss_plan_l1_fix_dist: 0.2044, d4.loss_plan_l1_fix_time: 0.7315, d4.loss_plan_l1_fix_dist: 0.1595, d5.loss_plan_l1_fix_time: 0.7342, d5.loss_plan_l1_fix_dist: 0.1630, d6.loss_plan_l1_fix_time: 0.7367, d6.loss_plan_l1_fix_dist: 0.1690, d0.loss_cls_all: 0.1389, d0.loss_bbox_all: 0.3474, d0.loss_cls: 0.1389, d0.loss_bbox: 0.3474, d1.loss_cls: 0.1326, d1.loss_bbox: 0.3113, d2.loss_cls: 0.1207, d2.loss_bbox: 0.2912, d3.loss_cls: 0.1051, d3.loss_bbox: 0.2862, d4.loss_cls: 0.1002, d4.loss_bbox: 0.2835, d5.loss_cls: 0.0983, d5.loss_bbox: 0.2829, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7521, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5906, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5468, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5327, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5301, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5289, d0.loss_map_cls_all: 0.1792, d0.loss_map_pts_all: 1.0296, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1792, d0.loss_map_pts: 1.0296, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1466, d1.loss_map_pts: 0.7449, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1249, d2.loss_map_pts: 0.5995, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1104, d3.loss_map_pts: 0.5397, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1040, d4.loss_map_pts: 0.5200, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0991, d5.loss_map_pts: 0.5100, d5.loss_map_dir: 0.0059, loss: 22.1656, grad_norm: 134.0907 +2026-02-28 12:15:38,399 - DriveTransformer - INFO - Epoch [10][7700/39528] lr: 6.944e-05, eta: 4 days, 22:49:12, time: 0.742, data_time: 0.036, memory: 19865, loss_cls: 0.0954, loss_bbox: 0.2827, loss_traj: 0.5376, loss_traj_cls: 0.0019, loss_map_cls: 0.1114, loss_map_pts: 0.5567, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.7572, d0.loss_plan_l1_fix_dist: 0.6068, d1.loss_plan_l1_fix_time: 0.7513, d1.loss_plan_l1_fix_dist: 0.2391, d2.loss_plan_l1_fix_time: 0.7451, d2.loss_plan_l1_fix_dist: 0.2110, d3.loss_plan_l1_fix_time: 0.7271, d3.loss_plan_l1_fix_dist: 0.2100, d4.loss_plan_l1_fix_time: 0.7272, d4.loss_plan_l1_fix_dist: 0.1884, d5.loss_plan_l1_fix_time: 0.7290, d5.loss_plan_l1_fix_dist: 0.1834, d6.loss_plan_l1_fix_time: 0.7312, d6.loss_plan_l1_fix_dist: 0.1896, d0.loss_cls_all: 0.1476, d0.loss_bbox_all: 0.3495, d0.loss_cls: 0.1476, d0.loss_bbox: 0.3495, d1.loss_cls: 0.1369, d1.loss_bbox: 0.3120, d2.loss_cls: 0.1229, d2.loss_bbox: 0.2936, d3.loss_cls: 0.1050, d3.loss_bbox: 0.2883, d4.loss_cls: 0.0965, d4.loss_bbox: 0.2856, d5.loss_cls: 0.0950, d5.loss_bbox: 0.2838, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8026, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6196, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5754, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5457, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5422, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5379, d0.loss_map_cls_all: 0.1916, d0.loss_map_pts_all: 1.1356, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1916, d0.loss_map_pts: 1.1356, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1589, d1.loss_map_pts: 0.7969, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1397, d2.loss_map_pts: 0.6423, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1276, d3.loss_map_pts: 0.5849, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1181, d4.loss_map_pts: 0.5629, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1142, d5.loss_map_pts: 0.5556, d5.loss_map_dir: 0.0065, loss: 23.7308, grad_norm: 134.2395 +2026-02-28 12:16:17,161 - DriveTransformer - INFO - Epoch [10][7750/39528] lr: 6.944e-05, eta: 4 days, 22:48:46, time: 0.775, data_time: 0.039, memory: 19865, loss_cls: 0.0889, loss_bbox: 0.2777, loss_traj: 0.4238, loss_traj_cls: 0.0019, loss_map_cls: 0.1121, loss_map_pts: 0.5757, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.3856, d0.loss_plan_l1_fix_dist: 0.4250, d1.loss_plan_l1_fix_time: 0.8547, d1.loss_plan_l1_fix_dist: 0.2109, d2.loss_plan_l1_fix_time: 0.8395, d2.loss_plan_l1_fix_dist: 0.2008, d3.loss_plan_l1_fix_time: 0.8337, d3.loss_plan_l1_fix_dist: 0.2038, d4.loss_plan_l1_fix_time: 0.8355, d4.loss_plan_l1_fix_dist: 0.1836, d5.loss_plan_l1_fix_time: 0.8374, d5.loss_plan_l1_fix_dist: 0.1755, d6.loss_plan_l1_fix_time: 0.8403, d6.loss_plan_l1_fix_dist: 0.1794, d0.loss_cls_all: 0.1412, d0.loss_bbox_all: 0.3455, d0.loss_cls: 0.1412, d0.loss_bbox: 0.3455, d1.loss_cls: 0.1295, d1.loss_bbox: 0.3097, d2.loss_cls: 0.1142, d2.loss_bbox: 0.2914, d3.loss_cls: 0.0965, d3.loss_bbox: 0.2838, d4.loss_cls: 0.0916, d4.loss_bbox: 0.2792, d5.loss_cls: 0.0900, d5.loss_bbox: 0.2779, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6551, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5115, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4520, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4371, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4291, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4278, d0.loss_map_cls_all: 0.1872, d0.loss_map_pts_all: 1.2113, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.1872, d0.loss_map_pts: 1.2113, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1602, d1.loss_map_pts: 0.8399, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1369, d2.loss_map_pts: 0.6715, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1258, d3.loss_map_pts: 0.6106, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1189, d4.loss_map_pts: 0.5822, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1141, d5.loss_map_pts: 0.5761, d5.loss_map_dir: 0.0082, loss: 23.1389, grad_norm: 135.3551 +2026-02-28 12:16:53,211 - DriveTransformer - INFO - Epoch [10][7800/39528] lr: 6.944e-05, eta: 4 days, 22:48:07, time: 0.722, data_time: 0.039, memory: 19865, loss_cls: 0.1183, loss_bbox: 0.3081, loss_traj: 0.4998, loss_traj_cls: 0.0019, loss_map_cls: 0.0962, loss_map_pts: 0.5117, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.4416, d0.loss_plan_l1_fix_dist: 0.4418, d1.loss_plan_l1_fix_time: 0.8514, d1.loss_plan_l1_fix_dist: 0.2137, d2.loss_plan_l1_fix_time: 0.8425, d2.loss_plan_l1_fix_dist: 0.2034, d3.loss_plan_l1_fix_time: 0.8366, d3.loss_plan_l1_fix_dist: 0.2053, d4.loss_plan_l1_fix_time: 0.8385, d4.loss_plan_l1_fix_dist: 0.1918, d5.loss_plan_l1_fix_time: 0.8410, d5.loss_plan_l1_fix_dist: 0.1785, d6.loss_plan_l1_fix_time: 0.8439, d6.loss_plan_l1_fix_dist: 0.1836, d0.loss_cls_all: 0.1676, d0.loss_bbox_all: 0.3776, d0.loss_cls: 0.1676, d0.loss_bbox: 0.3776, d1.loss_cls: 0.1620, d1.loss_bbox: 0.3427, d2.loss_cls: 0.1472, d2.loss_bbox: 0.3211, d3.loss_cls: 0.1238, d3.loss_bbox: 0.3171, d4.loss_cls: 0.1190, d4.loss_bbox: 0.3124, d5.loss_cls: 0.1174, d5.loss_bbox: 0.3099, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6957, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5658, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5113, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5011, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5014, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4991, d0.loss_map_cls_all: 0.1823, d0.loss_map_pts_all: 0.9903, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1823, d0.loss_map_pts: 0.9903, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1510, d1.loss_map_pts: 0.7210, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1232, d2.loss_map_pts: 0.5857, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1117, d3.loss_map_pts: 0.5329, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1033, d4.loss_map_pts: 0.5170, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0976, d5.loss_map_pts: 0.5123, d5.loss_map_dir: 0.0059, loss: 23.1406, grad_norm: 139.2271 +2026-02-28 12:17:30,180 - DriveTransformer - INFO - Epoch [10][7850/39528] lr: 6.944e-05, eta: 4 days, 22:47:32, time: 0.738, data_time: 0.037, memory: 19865, loss_cls: 0.1179, loss_bbox: 0.3255, loss_traj: 0.5757, loss_traj_cls: 0.0019, loss_map_cls: 0.1356, loss_map_pts: 0.6274, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.9606, d0.loss_plan_l1_fix_dist: 0.4049, d1.loss_plan_l1_fix_time: 0.9467, d1.loss_plan_l1_fix_dist: 0.2393, d2.loss_plan_l1_fix_time: 0.9277, d2.loss_plan_l1_fix_dist: 0.1850, d3.loss_plan_l1_fix_time: 0.9220, d3.loss_plan_l1_fix_dist: 0.1894, d4.loss_plan_l1_fix_time: 0.9243, d4.loss_plan_l1_fix_dist: 0.1855, d5.loss_plan_l1_fix_time: 0.9268, d5.loss_plan_l1_fix_dist: 0.1765, d6.loss_plan_l1_fix_time: 0.9297, d6.loss_plan_l1_fix_dist: 0.1836, d0.loss_cls_all: 0.1741, d0.loss_bbox_all: 0.3837, d0.loss_cls: 0.1741, d0.loss_bbox: 0.3837, d1.loss_cls: 0.1603, d1.loss_bbox: 0.3490, d2.loss_cls: 0.1437, d2.loss_bbox: 0.3300, d3.loss_cls: 0.1259, d3.loss_bbox: 0.3276, d4.loss_cls: 0.1207, d4.loss_bbox: 0.3250, d5.loss_cls: 0.1178, d5.loss_bbox: 0.3260, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7994, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6403, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5868, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5762, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5792, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5761, d0.loss_map_cls_all: 0.2236, d0.loss_map_pts_all: 1.2600, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2236, d0.loss_map_pts: 1.2600, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1898, d1.loss_map_pts: 0.9211, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1620, d2.loss_map_pts: 0.7309, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1493, d3.loss_map_pts: 0.6579, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1418, d4.loss_map_pts: 0.6344, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1367, d5.loss_map_pts: 0.6284, d5.loss_map_dir: 0.0072, loss: 26.4657, grad_norm: 142.5807 +2026-02-28 12:18:07,810 - DriveTransformer - INFO - Epoch [10][7900/39528] lr: 6.944e-05, eta: 4 days, 22:47:01, time: 0.753, data_time: 0.040, memory: 19865, loss_cls: 0.1243, loss_bbox: 0.3316, loss_traj: 0.5524, loss_traj_cls: 0.0019, loss_map_cls: 0.1199, loss_map_pts: 0.6045, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.8810, d0.loss_plan_l1_fix_dist: 0.4818, d1.loss_plan_l1_fix_time: 0.8507, d1.loss_plan_l1_fix_dist: 0.2800, d2.loss_plan_l1_fix_time: 0.8297, d2.loss_plan_l1_fix_dist: 0.2027, d3.loss_plan_l1_fix_time: 0.8262, d3.loss_plan_l1_fix_dist: 0.2149, d4.loss_plan_l1_fix_time: 0.8266, d4.loss_plan_l1_fix_dist: 0.2075, d5.loss_plan_l1_fix_time: 0.8280, d5.loss_plan_l1_fix_dist: 0.1982, d6.loss_plan_l1_fix_time: 0.8299, d6.loss_plan_l1_fix_dist: 0.1972, d0.loss_cls_all: 0.1736, d0.loss_bbox_all: 0.3980, d0.loss_cls: 0.1736, d0.loss_bbox: 0.3980, d1.loss_cls: 0.1693, d1.loss_bbox: 0.3606, d2.loss_cls: 0.1551, d2.loss_bbox: 0.3414, d3.loss_cls: 0.1338, d3.loss_bbox: 0.3363, d4.loss_cls: 0.1258, d4.loss_bbox: 0.3333, d5.loss_cls: 0.1251, d5.loss_bbox: 0.3311, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7600, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6152, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5694, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5563, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5576, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5501, d0.loss_map_cls_all: 0.1940, d0.loss_map_pts_all: 1.2601, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1940, d0.loss_map_pts: 1.2601, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1622, d1.loss_map_pts: 0.8936, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1410, d2.loss_map_pts: 0.7057, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1325, d3.loss_map_pts: 0.6364, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1249, d4.loss_map_pts: 0.6096, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1216, d5.loss_map_pts: 0.6052, d5.loss_map_dir: 0.0076, loss: 25.6590, grad_norm: 142.6536 +2026-02-28 12:18:43,428 - DriveTransformer - INFO - Epoch [10][7950/39528] lr: 6.944e-05, eta: 4 days, 22:46:20, time: 0.712, data_time: 0.040, memory: 19865, loss_cls: 0.0909, loss_bbox: 0.2772, loss_traj: 0.5419, loss_traj_cls: 0.0020, loss_map_cls: 0.0946, loss_map_pts: 0.4435, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.3446, d0.loss_plan_l1_fix_dist: 0.5364, d1.loss_plan_l1_fix_time: 0.7832, d1.loss_plan_l1_fix_dist: 0.2990, d2.loss_plan_l1_fix_time: 0.7621, d2.loss_plan_l1_fix_dist: 0.2189, d3.loss_plan_l1_fix_time: 0.7533, d3.loss_plan_l1_fix_dist: 0.2401, d4.loss_plan_l1_fix_time: 0.7548, d4.loss_plan_l1_fix_dist: 0.2146, d5.loss_plan_l1_fix_time: 0.7569, d5.loss_plan_l1_fix_dist: 0.2123, d6.loss_plan_l1_fix_time: 0.7593, d6.loss_plan_l1_fix_dist: 0.2118, d0.loss_cls_all: 0.1341, d0.loss_bbox_all: 0.3287, d0.loss_cls: 0.1341, d0.loss_bbox: 0.3287, d1.loss_cls: 0.1234, d1.loss_bbox: 0.3011, d2.loss_cls: 0.1092, d2.loss_bbox: 0.2841, d3.loss_cls: 0.0985, d3.loss_bbox: 0.2770, d4.loss_cls: 0.0927, d4.loss_bbox: 0.2760, d5.loss_cls: 0.0898, d5.loss_bbox: 0.2770, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7717, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6094, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5799, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5519, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5472, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5401, d0.loss_map_cls_all: 0.1670, d0.loss_map_pts_all: 0.9869, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1670, d0.loss_map_pts: 0.9869, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1345, d1.loss_map_pts: 0.6757, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1122, d2.loss_map_pts: 0.5285, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1044, d3.loss_map_pts: 0.4697, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0997, d4.loss_map_pts: 0.4497, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0967, d5.loss_map_pts: 0.4439, d5.loss_map_dir: 0.0052, loss: 22.2222, grad_norm: 140.9245 +2026-02-28 12:19:20,849 - DriveTransformer - INFO - Epoch [10][8000/39528] lr: 6.944e-05, eta: 4 days, 22:45:47, time: 0.748, data_time: 0.038, memory: 19865, loss_cls: 0.0982, loss_bbox: 0.2936, loss_traj: 0.5003, loss_traj_cls: 0.0019, loss_map_cls: 0.1131, loss_map_pts: 0.5538, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.8539, d0.loss_plan_l1_fix_dist: 0.4662, d1.loss_plan_l1_fix_time: 0.9690, d1.loss_plan_l1_fix_dist: 0.2961, d2.loss_plan_l1_fix_time: 0.9438, d2.loss_plan_l1_fix_dist: 0.2219, d3.loss_plan_l1_fix_time: 0.9161, d3.loss_plan_l1_fix_dist: 0.2564, d4.loss_plan_l1_fix_time: 0.9162, d4.loss_plan_l1_fix_dist: 0.1962, d5.loss_plan_l1_fix_time: 0.9179, d5.loss_plan_l1_fix_dist: 0.2002, d6.loss_plan_l1_fix_time: 0.9203, d6.loss_plan_l1_fix_dist: 0.2107, d0.loss_cls_all: 0.1413, d0.loss_bbox_all: 0.3515, d0.loss_cls: 0.1413, d0.loss_bbox: 0.3515, d1.loss_cls: 0.1334, d1.loss_bbox: 0.3212, d2.loss_cls: 0.1203, d2.loss_bbox: 0.3048, d3.loss_cls: 0.1037, d3.loss_bbox: 0.2994, d4.loss_cls: 0.0983, d4.loss_bbox: 0.2958, d5.loss_cls: 0.0979, d5.loss_bbox: 0.2943, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7409, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5923, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5262, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5177, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5074, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5041, d0.loss_map_cls_all: 0.1919, d0.loss_map_pts_all: 1.1506, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1919, d0.loss_map_pts: 1.1506, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1653, d1.loss_map_pts: 0.8189, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1397, d2.loss_map_pts: 0.6527, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1283, d3.loss_map_pts: 0.5871, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1221, d4.loss_map_pts: 0.5590, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1157, d5.loss_map_pts: 0.5541, d5.loss_map_dir: 0.0058, loss: 24.8682, grad_norm: 141.7400 +2026-02-28 12:19:59,716 - DriveTransformer - INFO - Epoch [10][8050/39528] lr: 6.944e-05, eta: 4 days, 22:45:22, time: 0.777, data_time: 0.037, memory: 19865, loss_cls: 0.0970, loss_bbox: 0.2923, loss_traj: 0.4311, loss_traj_cls: 0.0018, loss_map_cls: 0.1355, loss_map_pts: 0.6429, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.5991, d0.loss_plan_l1_fix_dist: 0.4106, d1.loss_plan_l1_fix_time: 0.7788, d1.loss_plan_l1_fix_dist: 0.2624, d2.loss_plan_l1_fix_time: 0.7613, d2.loss_plan_l1_fix_dist: 0.2026, d3.loss_plan_l1_fix_time: 0.7399, d3.loss_plan_l1_fix_dist: 0.2268, d4.loss_plan_l1_fix_time: 0.7422, d4.loss_plan_l1_fix_dist: 0.1778, d5.loss_plan_l1_fix_time: 0.7455, d5.loss_plan_l1_fix_dist: 0.1752, d6.loss_plan_l1_fix_time: 0.7493, d6.loss_plan_l1_fix_dist: 0.1841, d0.loss_cls_all: 0.1430, d0.loss_bbox_all: 0.3529, d0.loss_cls: 0.1430, d0.loss_bbox: 0.3529, d1.loss_cls: 0.1360, d1.loss_bbox: 0.3221, d2.loss_cls: 0.1222, d2.loss_bbox: 0.3027, d3.loss_cls: 0.1047, d3.loss_bbox: 0.2952, d4.loss_cls: 0.0986, d4.loss_bbox: 0.2933, d5.loss_cls: 0.0968, d5.loss_bbox: 0.2922, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6447, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4923, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4418, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4384, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4312, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4322, d0.loss_map_cls_all: 0.2279, d0.loss_map_pts_all: 1.4008, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2279, d0.loss_map_pts: 1.4008, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1927, d1.loss_map_pts: 0.9925, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1666, d2.loss_map_pts: 0.7635, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1538, d3.loss_map_pts: 0.6854, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1446, d4.loss_map_pts: 0.6509, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1386, d5.loss_map_pts: 0.6446, d5.loss_map_dir: 0.0083, loss: 24.1503, grad_norm: 140.9243 +2026-02-28 12:20:39,158 - DriveTransformer - INFO - Epoch [10][8100/39528] lr: 6.944e-05, eta: 4 days, 22:44:58, time: 0.789, data_time: 0.042, memory: 19865, loss_cls: 0.1017, loss_bbox: 0.3088, loss_traj: 0.4434, loss_traj_cls: 0.0018, loss_map_cls: 0.1064, loss_map_pts: 0.5936, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.6185, d0.loss_plan_l1_fix_dist: 0.4092, d1.loss_plan_l1_fix_time: 0.8466, d1.loss_plan_l1_fix_dist: 0.2508, d2.loss_plan_l1_fix_time: 0.8398, d2.loss_plan_l1_fix_dist: 0.2136, d3.loss_plan_l1_fix_time: 0.8351, d3.loss_plan_l1_fix_dist: 0.2307, d4.loss_plan_l1_fix_time: 0.8377, d4.loss_plan_l1_fix_dist: 0.1994, d5.loss_plan_l1_fix_time: 0.8411, d5.loss_plan_l1_fix_dist: 0.1883, d6.loss_plan_l1_fix_time: 0.8452, d6.loss_plan_l1_fix_dist: 0.1798, d0.loss_cls_all: 0.1522, d0.loss_bbox_all: 0.3633, d0.loss_cls: 0.1522, d0.loss_bbox: 0.3633, d1.loss_cls: 0.1427, d1.loss_bbox: 0.3346, d2.loss_cls: 0.1273, d2.loss_bbox: 0.3148, d3.loss_cls: 0.1111, d3.loss_bbox: 0.3112, d4.loss_cls: 0.1022, d4.loss_bbox: 0.3115, d5.loss_cls: 0.1021, d5.loss_bbox: 0.3084, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6014, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4911, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4528, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4484, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4449, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4434, d0.loss_map_cls_all: 0.1895, d0.loss_map_pts_all: 1.2844, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.1895, d0.loss_map_pts: 1.2844, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1525, d1.loss_map_pts: 0.8825, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1321, d2.loss_map_pts: 0.6908, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1201, d3.loss_map_pts: 0.6226, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1117, d4.loss_map_pts: 0.5986, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1083, d5.loss_map_pts: 0.5949, d5.loss_map_dir: 0.0089, loss: 24.0058, grad_norm: 141.6655 +2026-02-28 12:21:16,744 - DriveTransformer - INFO - Epoch [10][8150/39528] lr: 6.944e-05, eta: 4 days, 22:44:27, time: 0.752, data_time: 0.038, memory: 19865, loss_cls: 0.1185, loss_bbox: 0.3266, loss_traj: 0.4400, loss_traj_cls: 0.0019, loss_map_cls: 0.1123, loss_map_pts: 0.5912, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.5399, d0.loss_plan_l1_fix_dist: 0.4127, d1.loss_plan_l1_fix_time: 0.8094, d1.loss_plan_l1_fix_dist: 0.2449, d2.loss_plan_l1_fix_time: 0.7846, d2.loss_plan_l1_fix_dist: 0.2218, d3.loss_plan_l1_fix_time: 0.7846, d3.loss_plan_l1_fix_dist: 0.2261, d4.loss_plan_l1_fix_time: 0.7857, d4.loss_plan_l1_fix_dist: 0.2142, d5.loss_plan_l1_fix_time: 0.7871, d5.loss_plan_l1_fix_dist: 0.1988, d6.loss_plan_l1_fix_time: 0.7892, d6.loss_plan_l1_fix_dist: 0.2009, d0.loss_cls_all: 0.1728, d0.loss_bbox_all: 0.3922, d0.loss_cls: 0.1728, d0.loss_bbox: 0.3922, d1.loss_cls: 0.1658, d1.loss_bbox: 0.3578, d2.loss_cls: 0.1491, d2.loss_bbox: 0.3353, d3.loss_cls: 0.1281, d3.loss_bbox: 0.3322, d4.loss_cls: 0.1230, d4.loss_bbox: 0.3253, d5.loss_cls: 0.1180, d5.loss_bbox: 0.3276, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6308, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5055, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4603, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4423, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4385, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4390, d0.loss_map_cls_all: 0.1939, d0.loss_map_pts_all: 1.1606, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1939, d0.loss_map_pts: 1.1606, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1611, d1.loss_map_pts: 0.8370, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1376, d2.loss_map_pts: 0.6718, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1275, d3.loss_map_pts: 0.6204, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1200, d4.loss_map_pts: 0.6001, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1154, d5.loss_map_pts: 0.5911, d5.loss_map_dir: 0.0072, loss: 23.7526, grad_norm: 141.7830 +2026-02-28 12:21:52,665 - DriveTransformer - INFO - Epoch [10][8200/39528] lr: 6.944e-05, eta: 4 days, 22:43:47, time: 0.718, data_time: 0.038, memory: 19865, loss_cls: 0.1129, loss_bbox: 0.3307, loss_traj: 0.5907, loss_traj_cls: 0.0018, loss_map_cls: 0.1333, loss_map_pts: 0.6009, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.7965, d0.loss_plan_l1_fix_dist: 0.4158, d1.loss_plan_l1_fix_time: 0.9273, d1.loss_plan_l1_fix_dist: 0.2122, d2.loss_plan_l1_fix_time: 0.9249, d2.loss_plan_l1_fix_dist: 0.2033, d3.loss_plan_l1_fix_time: 0.9391, d3.loss_plan_l1_fix_dist: 0.1929, d4.loss_plan_l1_fix_time: 0.9420, d4.loss_plan_l1_fix_dist: 0.1999, d5.loss_plan_l1_fix_time: 0.9445, d5.loss_plan_l1_fix_dist: 0.1869, d6.loss_plan_l1_fix_time: 0.9473, d6.loss_plan_l1_fix_dist: 0.2041, d0.loss_cls_all: 0.1654, d0.loss_bbox_all: 0.3939, d0.loss_cls: 0.1654, d0.loss_bbox: 0.3939, d1.loss_cls: 0.1542, d1.loss_bbox: 0.3633, d2.loss_cls: 0.1438, d2.loss_bbox: 0.3408, d3.loss_cls: 0.1269, d3.loss_bbox: 0.3345, d4.loss_cls: 0.1168, d4.loss_bbox: 0.3329, d5.loss_cls: 0.1140, d5.loss_bbox: 0.3307, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8447, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6653, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6134, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.5995, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5914, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5901, d0.loss_map_cls_all: 0.2089, d0.loss_map_pts_all: 1.1976, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2089, d0.loss_map_pts: 1.1976, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1787, d1.loss_map_pts: 0.8761, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1573, d2.loss_map_pts: 0.6958, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1454, d3.loss_map_pts: 0.6290, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1382, d4.loss_map_pts: 0.6051, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1352, d5.loss_map_pts: 0.6003, d5.loss_map_dir: 0.0063, loss: 26.2168, grad_norm: 142.2925 +2026-02-28 12:22:30,832 - DriveTransformer - INFO - Epoch [10][8250/39528] lr: 6.944e-05, eta: 4 days, 22:43:18, time: 0.763, data_time: 0.039, memory: 19865, loss_cls: 0.1035, loss_bbox: 0.3098, loss_traj: 0.5635, loss_traj_cls: 0.0018, loss_map_cls: 0.1267, loss_map_pts: 0.5799, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.7585, d0.loss_plan_l1_fix_dist: 0.4193, d1.loss_plan_l1_fix_time: 0.8276, d1.loss_plan_l1_fix_dist: 0.1845, d2.loss_plan_l1_fix_time: 0.8109, d2.loss_plan_l1_fix_dist: 0.1838, d3.loss_plan_l1_fix_time: 0.7933, d3.loss_plan_l1_fix_dist: 0.1677, d4.loss_plan_l1_fix_time: 0.7924, d4.loss_plan_l1_fix_dist: 0.1890, d5.loss_plan_l1_fix_time: 0.7935, d5.loss_plan_l1_fix_dist: 0.1788, d6.loss_plan_l1_fix_time: 0.7948, d6.loss_plan_l1_fix_dist: 0.2014, d0.loss_cls_all: 0.1481, d0.loss_bbox_all: 0.3698, d0.loss_cls: 0.1481, d0.loss_bbox: 0.3698, d1.loss_cls: 0.1380, d1.loss_bbox: 0.3394, d2.loss_cls: 0.1246, d2.loss_bbox: 0.3196, d3.loss_cls: 0.1085, d3.loss_bbox: 0.3161, d4.loss_cls: 0.1030, d4.loss_bbox: 0.3137, d5.loss_cls: 0.1035, d5.loss_bbox: 0.3113, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7727, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6275, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5829, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5669, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5644, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5615, d0.loss_map_cls_all: 0.2078, d0.loss_map_pts_all: 1.2400, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2078, d0.loss_map_pts: 1.2400, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1733, d1.loss_map_pts: 0.8896, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1534, d2.loss_map_pts: 0.6947, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1411, d3.loss_map_pts: 0.6200, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1341, d4.loss_map_pts: 0.5880, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1290, d5.loss_map_pts: 0.5795, d5.loss_map_dir: 0.0069, loss: 24.7274, grad_norm: 142.7503 +2026-02-28 12:23:07,277 - DriveTransformer - INFO - Epoch [10][8300/39528] lr: 6.944e-05, eta: 4 days, 22:42:41, time: 0.729, data_time: 0.038, memory: 19865, loss_cls: 0.0834, loss_bbox: 0.2568, loss_traj: 0.5244, loss_traj_cls: 0.0018, loss_map_cls: 0.1038, loss_map_pts: 0.5490, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.3013, d0.loss_plan_l1_fix_dist: 0.4198, d1.loss_plan_l1_fix_time: 0.7237, d1.loss_plan_l1_fix_dist: 0.1631, d2.loss_plan_l1_fix_time: 0.7095, d2.loss_plan_l1_fix_dist: 0.1727, d3.loss_plan_l1_fix_time: 0.6980, d3.loss_plan_l1_fix_dist: 0.1539, d4.loss_plan_l1_fix_time: 0.7021, d4.loss_plan_l1_fix_dist: 0.1775, d5.loss_plan_l1_fix_time: 0.7055, d5.loss_plan_l1_fix_dist: 0.1654, d6.loss_plan_l1_fix_time: 0.7085, d6.loss_plan_l1_fix_dist: 0.1814, d0.loss_cls_all: 0.1247, d0.loss_bbox_all: 0.3152, d0.loss_cls: 0.1247, d0.loss_bbox: 0.3152, d1.loss_cls: 0.1185, d1.loss_bbox: 0.2857, d2.loss_cls: 0.1047, d2.loss_bbox: 0.2676, d3.loss_cls: 0.0875, d3.loss_bbox: 0.2615, d4.loss_cls: 0.0850, d4.loss_bbox: 0.2579, d5.loss_cls: 0.0831, d5.loss_bbox: 0.2573, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.7354, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5944, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5389, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5279, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5285, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5267, d0.loss_map_cls_all: 0.1930, d0.loss_map_pts_all: 1.1487, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1930, d0.loss_map_pts: 1.1487, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1625, d1.loss_map_pts: 0.8280, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1323, d2.loss_map_pts: 0.6440, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1197, d3.loss_map_pts: 0.5793, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1126, d4.loss_map_pts: 0.5562, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1064, d5.loss_map_pts: 0.5492, d5.loss_map_dir: 0.0068, loss: 22.1735, grad_norm: 142.8527 +2026-02-28 12:23:44,621 - DriveTransformer - INFO - Epoch [10][8350/39528] lr: 6.944e-05, eta: 4 days, 22:42:08, time: 0.747, data_time: 0.038, memory: 19865, loss_cls: 0.1053, loss_bbox: 0.3081, loss_traj: 0.5404, loss_traj_cls: 0.0017, loss_map_cls: 0.1195, loss_map_pts: 0.5787, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.6859, d0.loss_plan_l1_fix_dist: 0.3958, d1.loss_plan_l1_fix_time: 0.7786, d1.loss_plan_l1_fix_dist: 0.1890, d2.loss_plan_l1_fix_time: 0.7656, d2.loss_plan_l1_fix_dist: 0.1924, d3.loss_plan_l1_fix_time: 0.7760, d3.loss_plan_l1_fix_dist: 0.1870, d4.loss_plan_l1_fix_time: 0.7803, d4.loss_plan_l1_fix_dist: 0.2078, d5.loss_plan_l1_fix_time: 0.7838, d5.loss_plan_l1_fix_dist: 0.1994, d6.loss_plan_l1_fix_time: 0.7877, d6.loss_plan_l1_fix_dist: 0.2209, d0.loss_cls_all: 0.1513, d0.loss_bbox_all: 0.3679, d0.loss_cls: 0.1513, d0.loss_bbox: 0.3679, d1.loss_cls: 0.1469, d1.loss_bbox: 0.3361, d2.loss_cls: 0.1348, d2.loss_bbox: 0.3187, d3.loss_cls: 0.1150, d3.loss_bbox: 0.3142, d4.loss_cls: 0.1086, d4.loss_bbox: 0.3098, d5.loss_cls: 0.1060, d5.loss_bbox: 0.3088, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7779, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6228, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5651, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5567, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5471, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5423, d0.loss_map_cls_all: 0.2127, d0.loss_map_pts_all: 1.2083, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2127, d0.loss_map_pts: 1.2083, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1810, d1.loss_map_pts: 0.8692, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1517, d2.loss_map_pts: 0.6771, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1363, d3.loss_map_pts: 0.6083, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1282, d4.loss_map_pts: 0.5870, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1224, d5.loss_map_pts: 0.5804, d5.loss_map_dir: 0.0075, loss: 24.4011, grad_norm: 147.4940 +2026-02-28 12:24:20,539 - DriveTransformer - INFO - Epoch [10][8400/39528] lr: 6.944e-05, eta: 4 days, 22:41:29, time: 0.718, data_time: 0.038, memory: 19865, loss_cls: 0.1066, loss_bbox: 0.3087, loss_traj: 0.5999, loss_traj_cls: 0.0018, loss_map_cls: 0.1011, loss_map_pts: 0.5560, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.4771, d0.loss_plan_l1_fix_dist: 0.3990, d1.loss_plan_l1_fix_time: 0.8232, d1.loss_plan_l1_fix_dist: 0.1948, d2.loss_plan_l1_fix_time: 0.8047, d2.loss_plan_l1_fix_dist: 0.1973, d3.loss_plan_l1_fix_time: 0.7975, d3.loss_plan_l1_fix_dist: 0.1822, d4.loss_plan_l1_fix_time: 0.7989, d4.loss_plan_l1_fix_dist: 0.1937, d5.loss_plan_l1_fix_time: 0.8024, d5.loss_plan_l1_fix_dist: 0.1864, d6.loss_plan_l1_fix_time: 0.8072, d6.loss_plan_l1_fix_dist: 0.1964, d0.loss_cls_all: 0.1435, d0.loss_bbox_all: 0.3677, d0.loss_cls: 0.1435, d0.loss_bbox: 0.3677, d1.loss_cls: 0.1355, d1.loss_bbox: 0.3355, d2.loss_cls: 0.1257, d2.loss_bbox: 0.3174, d3.loss_cls: 0.1147, d3.loss_bbox: 0.3098, d4.loss_cls: 0.1092, d4.loss_bbox: 0.3086, d5.loss_cls: 0.1069, d5.loss_bbox: 0.3082, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8500, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6853, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6213, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6154, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.6072, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6043, d0.loss_map_cls_all: 0.1777, d0.loss_map_pts_all: 1.1092, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1777, d0.loss_map_pts: 1.1092, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1517, d1.loss_map_pts: 0.8062, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1289, d2.loss_map_pts: 0.6393, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1153, d3.loss_map_pts: 0.5822, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1093, d4.loss_map_pts: 0.5604, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1041, d5.loss_map_pts: 0.5561, d5.loss_map_dir: 0.0063, loss: 24.0920, grad_norm: 147.7212 +2026-02-28 12:24:56,424 - DriveTransformer - INFO - Epoch [10][8450/39528] lr: 6.944e-05, eta: 4 days, 22:40:49, time: 0.718, data_time: 0.042, memory: 19865, loss_cls: 0.1045, loss_bbox: 0.2950, loss_traj: 0.5738, loss_traj_cls: 0.0018, loss_map_cls: 0.1327, loss_map_pts: 0.5694, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.2692, d0.loss_plan_l1_fix_dist: 0.4530, d1.loss_plan_l1_fix_time: 0.8195, d1.loss_plan_l1_fix_dist: 0.2058, d2.loss_plan_l1_fix_time: 0.8086, d2.loss_plan_l1_fix_dist: 0.1992, d3.loss_plan_l1_fix_time: 0.7968, d3.loss_plan_l1_fix_dist: 0.1881, d4.loss_plan_l1_fix_time: 0.7973, d4.loss_plan_l1_fix_dist: 0.1972, d5.loss_plan_l1_fix_time: 0.7989, d5.loss_plan_l1_fix_dist: 0.1969, d6.loss_plan_l1_fix_time: 0.8018, d6.loss_plan_l1_fix_dist: 0.2067, d0.loss_cls_all: 0.1436, d0.loss_bbox_all: 0.3549, d0.loss_cls: 0.1436, d0.loss_bbox: 0.3549, d1.loss_cls: 0.1387, d1.loss_bbox: 0.3238, d2.loss_cls: 0.1284, d2.loss_bbox: 0.3044, d3.loss_cls: 0.1100, d3.loss_bbox: 0.3011, d4.loss_cls: 0.1060, d4.loss_bbox: 0.2975, d5.loss_cls: 0.1049, d5.loss_bbox: 0.2952, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8094, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6546, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5904, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5734, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5742, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5724, d0.loss_map_cls_all: 0.2170, d0.loss_map_pts_all: 1.1479, d0.loss_map_dir_all: 0.0045, d0.loss_map_cls: 0.2170, d0.loss_map_pts: 1.1479, d0.loss_map_dir: 0.0045, d1.loss_map_cls: 0.1896, d1.loss_map_pts: 0.8500, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.1622, d2.loss_map_pts: 0.6668, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.1472, d3.loss_map_pts: 0.5984, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.1399, d4.loss_map_pts: 0.5771, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.1352, d5.loss_map_pts: 0.5701, d5.loss_map_dir: 0.0052, loss: 24.1067, grad_norm: 148.4667 +2026-02-28 12:25:33,183 - DriveTransformer - INFO - Epoch [10][8500/39528] lr: 6.944e-05, eta: 4 days, 22:40:13, time: 0.735, data_time: 0.037, memory: 19865, loss_cls: 0.1041, loss_bbox: 0.3096, loss_traj: 0.4598, loss_traj_cls: 0.0018, loss_map_cls: 0.1088, loss_map_pts: 0.5878, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.6535, d0.loss_plan_l1_fix_dist: 0.4535, d1.loss_plan_l1_fix_time: 0.7933, d1.loss_plan_l1_fix_dist: 0.2382, d2.loss_plan_l1_fix_time: 0.7734, d2.loss_plan_l1_fix_dist: 0.2209, d3.loss_plan_l1_fix_time: 0.7622, d3.loss_plan_l1_fix_dist: 0.2333, d4.loss_plan_l1_fix_time: 0.7642, d4.loss_plan_l1_fix_dist: 0.2267, d5.loss_plan_l1_fix_time: 0.7669, d5.loss_plan_l1_fix_dist: 0.2289, d6.loss_plan_l1_fix_time: 0.7702, d6.loss_plan_l1_fix_dist: 0.2383, d0.loss_cls_all: 0.1563, d0.loss_bbox_all: 0.3621, d0.loss_cls: 0.1563, d0.loss_bbox: 0.3621, d1.loss_cls: 0.1514, d1.loss_bbox: 0.3322, d2.loss_cls: 0.1348, d2.loss_bbox: 0.3151, d3.loss_cls: 0.1111, d3.loss_bbox: 0.3123, d4.loss_cls: 0.1053, d4.loss_bbox: 0.3094, d5.loss_cls: 0.1039, d5.loss_bbox: 0.3091, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6616, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5067, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4678, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4641, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4612, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4597, d0.loss_map_cls_all: 0.1905, d0.loss_map_pts_all: 1.1850, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1905, d0.loss_map_pts: 1.1850, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1599, d1.loss_map_pts: 0.8489, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1360, d2.loss_map_pts: 0.6730, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1232, d3.loss_map_pts: 0.6123, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1147, d4.loss_map_pts: 0.5936, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1112, d5.loss_map_pts: 0.5847, d5.loss_map_dir: 0.0077, loss: 23.7118, grad_norm: 147.2949 +2026-02-28 12:26:09,687 - DriveTransformer - INFO - Epoch [10][8550/39528] lr: 6.944e-05, eta: 4 days, 22:39:37, time: 0.730, data_time: 0.038, memory: 19865, loss_cls: 0.1148, loss_bbox: 0.2943, loss_traj: 0.4833, loss_traj_cls: 0.0018, loss_map_cls: 0.1125, loss_map_pts: 0.5360, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.7274, d0.loss_plan_l1_fix_dist: 0.5353, d1.loss_plan_l1_fix_time: 0.8537, d1.loss_plan_l1_fix_dist: 0.2436, d2.loss_plan_l1_fix_time: 0.8339, d2.loss_plan_l1_fix_dist: 0.2152, d3.loss_plan_l1_fix_time: 0.8214, d3.loss_plan_l1_fix_dist: 0.2396, d4.loss_plan_l1_fix_time: 0.8223, d4.loss_plan_l1_fix_dist: 0.2089, d5.loss_plan_l1_fix_time: 0.8237, d5.loss_plan_l1_fix_dist: 0.2229, d6.loss_plan_l1_fix_time: 0.8257, d6.loss_plan_l1_fix_dist: 0.2200, d0.loss_cls_all: 0.1525, d0.loss_bbox_all: 0.3684, d0.loss_cls: 0.1525, d0.loss_bbox: 0.3684, d1.loss_cls: 0.1472, d1.loss_bbox: 0.3311, d2.loss_cls: 0.1369, d2.loss_bbox: 0.3073, d3.loss_cls: 0.1199, d3.loss_bbox: 0.2983, d4.loss_cls: 0.1145, d4.loss_bbox: 0.2959, d5.loss_cls: 0.1140, d5.loss_bbox: 0.2936, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7518, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5714, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5068, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4924, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4894, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4852, d0.loss_map_cls_all: 0.1922, d0.loss_map_pts_all: 1.1282, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1922, d0.loss_map_pts: 1.1282, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1612, d1.loss_map_pts: 0.8085, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1401, d2.loss_map_pts: 0.6336, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1267, d3.loss_map_pts: 0.5611, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1192, d4.loss_map_pts: 0.5371, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1151, d5.loss_map_pts: 0.5348, d5.loss_map_dir: 0.0063, loss: 24.0658, grad_norm: 144.3358 +2026-02-28 12:26:46,248 - DriveTransformer - INFO - Epoch [10][8600/39528] lr: 6.944e-05, eta: 4 days, 22:39:01, time: 0.733, data_time: 0.036, memory: 19865, loss_cls: 0.0847, loss_bbox: 0.2748, loss_traj: 0.4789, loss_traj_cls: 0.0018, loss_map_cls: 0.1007, loss_map_pts: 0.5269, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.0340, d0.loss_plan_l1_fix_dist: 0.4457, d1.loss_plan_l1_fix_time: 0.7134, d1.loss_plan_l1_fix_dist: 0.2209, d2.loss_plan_l1_fix_time: 0.6968, d2.loss_plan_l1_fix_dist: 0.1820, d3.loss_plan_l1_fix_time: 0.6964, d3.loss_plan_l1_fix_dist: 0.2145, d4.loss_plan_l1_fix_time: 0.6981, d4.loss_plan_l1_fix_dist: 0.1862, d5.loss_plan_l1_fix_time: 0.7000, d5.loss_plan_l1_fix_dist: 0.1842, d6.loss_plan_l1_fix_time: 0.7029, d6.loss_plan_l1_fix_dist: 0.1830, d0.loss_cls_all: 0.1275, d0.loss_bbox_all: 0.3354, d0.loss_cls: 0.1275, d0.loss_bbox: 0.3354, d1.loss_cls: 0.1179, d1.loss_bbox: 0.3016, d2.loss_cls: 0.1034, d2.loss_bbox: 0.2850, d3.loss_cls: 0.0904, d3.loss_bbox: 0.2785, d4.loss_cls: 0.0869, d4.loss_bbox: 0.2748, d5.loss_cls: 0.0856, d5.loss_bbox: 0.2750, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6933, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5491, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5020, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4792, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4755, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4789, d0.loss_map_cls_all: 0.1879, d0.loss_map_pts_all: 1.1092, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.1879, d0.loss_map_pts: 1.1092, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1521, d1.loss_map_pts: 0.7614, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1292, d2.loss_map_pts: 0.5998, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1163, d3.loss_map_pts: 0.5496, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1083, d4.loss_map_pts: 0.5329, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1029, d5.loss_map_pts: 0.5291, d5.loss_map_dir: 0.0073, loss: 21.5695, grad_norm: 142.8382 +2026-02-28 12:27:24,357 - DriveTransformer - INFO - Epoch [10][8650/39528] lr: 6.944e-05, eta: 4 days, 22:38:31, time: 0.761, data_time: 0.035, memory: 19865, loss_cls: 0.1141, loss_bbox: 0.3314, loss_traj: 0.4282, loss_traj_cls: 0.0017, loss_map_cls: 0.1174, loss_map_pts: 0.6802, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.7619, d0.loss_plan_l1_fix_dist: 0.4380, d1.loss_plan_l1_fix_time: 0.8274, d1.loss_plan_l1_fix_dist: 0.2457, d2.loss_plan_l1_fix_time: 0.8139, d2.loss_plan_l1_fix_dist: 0.2148, d3.loss_plan_l1_fix_time: 0.7937, d3.loss_plan_l1_fix_dist: 0.2424, d4.loss_plan_l1_fix_time: 0.7931, d4.loss_plan_l1_fix_dist: 0.2447, d5.loss_plan_l1_fix_time: 0.7936, d5.loss_plan_l1_fix_dist: 0.2354, d6.loss_plan_l1_fix_time: 0.7945, d6.loss_plan_l1_fix_dist: 0.2433, d0.loss_cls_all: 0.1680, d0.loss_bbox_all: 0.4011, d0.loss_cls: 0.1680, d0.loss_bbox: 0.4011, d1.loss_cls: 0.1567, d1.loss_bbox: 0.3656, d2.loss_cls: 0.1408, d2.loss_bbox: 0.3422, d3.loss_cls: 0.1218, d3.loss_bbox: 0.3365, d4.loss_cls: 0.1154, d4.loss_bbox: 0.3336, d5.loss_cls: 0.1141, d5.loss_bbox: 0.3314, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6536, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5152, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4615, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4404, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4352, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4323, d0.loss_map_cls_all: 0.2055, d0.loss_map_pts_all: 1.3947, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2055, d0.loss_map_pts: 1.3947, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1682, d1.loss_map_pts: 1.0026, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1452, d2.loss_map_pts: 0.7979, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1326, d3.loss_map_pts: 0.7239, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1243, d4.loss_map_pts: 0.6928, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1191, d5.loss_map_pts: 0.6821, d5.loss_map_dir: 0.0094, loss: 25.4172, grad_norm: 145.7070 +2026-02-28 12:28:02,230 - DriveTransformer - INFO - Epoch [10][8700/39528] lr: 6.944e-05, eta: 4 days, 22:38:00, time: 0.757, data_time: 0.041, memory: 19865, loss_cls: 0.1183, loss_bbox: 0.3060, loss_traj: 0.5106, loss_traj_cls: 0.0018, loss_map_cls: 0.1206, loss_map_pts: 0.6813, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.6831, d0.loss_plan_l1_fix_dist: 0.4192, d1.loss_plan_l1_fix_time: 0.8429, d1.loss_plan_l1_fix_dist: 0.2411, d2.loss_plan_l1_fix_time: 0.8368, d2.loss_plan_l1_fix_dist: 0.2301, d3.loss_plan_l1_fix_time: 0.8330, d3.loss_plan_l1_fix_dist: 0.2570, d4.loss_plan_l1_fix_time: 0.8353, d4.loss_plan_l1_fix_dist: 0.2739, d5.loss_plan_l1_fix_time: 0.8375, d5.loss_plan_l1_fix_dist: 0.2727, d6.loss_plan_l1_fix_time: 0.8398, d6.loss_plan_l1_fix_dist: 0.2927, d0.loss_cls_all: 0.1635, d0.loss_bbox_all: 0.3769, d0.loss_cls: 0.1635, d0.loss_bbox: 0.3769, d1.loss_cls: 0.1579, d1.loss_bbox: 0.3348, d2.loss_cls: 0.1437, d2.loss_bbox: 0.3143, d3.loss_cls: 0.1231, d3.loss_bbox: 0.3080, d4.loss_cls: 0.1184, d4.loss_bbox: 0.3051, d5.loss_cls: 0.1181, d5.loss_bbox: 0.3054, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7489, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5799, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5278, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5204, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5160, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5143, d0.loss_map_cls_all: 0.1960, d0.loss_map_pts_all: 1.3830, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1960, d0.loss_map_pts: 1.3830, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1687, d1.loss_map_pts: 1.0352, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1507, d2.loss_map_pts: 0.8166, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1378, d3.loss_map_pts: 0.7337, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1296, d4.loss_map_pts: 0.6994, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1235, d5.loss_map_pts: 0.6843, d5.loss_map_dir: 0.0082, loss: 26.0564, grad_norm: 146.1690 +2026-02-28 12:28:39,329 - DriveTransformer - INFO - Epoch [10][8750/39528] lr: 6.944e-05, eta: 4 days, 22:37:26, time: 0.742, data_time: 0.039, memory: 19865, loss_cls: 0.1169, loss_bbox: 0.3123, loss_traj: 0.4757, loss_traj_cls: 0.0018, loss_map_cls: 0.1268, loss_map_pts: 0.6151, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.7736, d0.loss_plan_l1_fix_dist: 0.4431, d1.loss_plan_l1_fix_time: 0.8264, d1.loss_plan_l1_fix_dist: 0.2270, d2.loss_plan_l1_fix_time: 0.8149, d2.loss_plan_l1_fix_dist: 0.2133, d3.loss_plan_l1_fix_time: 0.7972, d3.loss_plan_l1_fix_dist: 0.2368, d4.loss_plan_l1_fix_time: 0.7974, d4.loss_plan_l1_fix_dist: 0.2497, d5.loss_plan_l1_fix_time: 0.7985, d5.loss_plan_l1_fix_dist: 0.2232, d6.loss_plan_l1_fix_time: 0.8003, d6.loss_plan_l1_fix_dist: 0.2324, d0.loss_cls_all: 0.1636, d0.loss_bbox_all: 0.3801, d0.loss_cls: 0.1636, d0.loss_bbox: 0.3801, d1.loss_cls: 0.1546, d1.loss_bbox: 0.3437, d2.loss_cls: 0.1406, d2.loss_bbox: 0.3212, d3.loss_cls: 0.1226, d3.loss_bbox: 0.3154, d4.loss_cls: 0.1173, d4.loss_bbox: 0.3142, d5.loss_cls: 0.1164, d5.loss_bbox: 0.3131, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6798, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5343, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4855, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4798, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4774, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4757, d0.loss_map_cls_all: 0.2202, d0.loss_map_pts_all: 1.2654, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2202, d0.loss_map_pts: 1.2654, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1782, d1.loss_map_pts: 0.9272, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1527, d2.loss_map_pts: 0.7266, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1409, d3.loss_map_pts: 0.6527, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1336, d4.loss_map_pts: 0.6256, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1281, d5.loss_map_pts: 0.6162, d5.loss_map_dir: 0.0076, loss: 24.8759, grad_norm: 145.1106 +2026-02-28 12:29:14,392 - DriveTransformer - INFO - Epoch [10][8800/39528] lr: 6.944e-05, eta: 4 days, 22:36:43, time: 0.701, data_time: 0.039, memory: 19865, loss_cls: 0.1121, loss_bbox: 0.2970, loss_traj: 0.5539, loss_traj_cls: 0.0019, loss_map_cls: 0.0914, loss_map_pts: 0.5320, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.6359, d0.loss_plan_l1_fix_dist: 0.4695, d1.loss_plan_l1_fix_time: 0.8242, d1.loss_plan_l1_fix_dist: 0.2009, d2.loss_plan_l1_fix_time: 0.8157, d2.loss_plan_l1_fix_dist: 0.1915, d3.loss_plan_l1_fix_time: 0.8059, d3.loss_plan_l1_fix_dist: 0.2077, d4.loss_plan_l1_fix_time: 0.8077, d4.loss_plan_l1_fix_dist: 0.2366, d5.loss_plan_l1_fix_time: 0.8096, d5.loss_plan_l1_fix_dist: 0.2154, d6.loss_plan_l1_fix_time: 0.8119, d6.loss_plan_l1_fix_dist: 0.2129, d0.loss_cls_all: 0.1481, d0.loss_bbox_all: 0.3554, d0.loss_cls: 0.1481, d0.loss_bbox: 0.3554, d1.loss_cls: 0.1445, d1.loss_bbox: 0.3220, d2.loss_cls: 0.1317, d2.loss_bbox: 0.3033, d3.loss_cls: 0.1167, d3.loss_bbox: 0.2967, d4.loss_cls: 0.1124, d4.loss_bbox: 0.2935, d5.loss_cls: 0.1126, d5.loss_bbox: 0.2949, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7986, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6217, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5669, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5616, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5557, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5525, d0.loss_map_cls_all: 0.1661, d0.loss_map_pts_all: 1.0107, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1661, d0.loss_map_pts: 1.0107, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1390, d1.loss_map_pts: 0.7523, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1126, d2.loss_map_pts: 0.6087, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1020, d3.loss_map_pts: 0.5489, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0969, d4.loss_map_pts: 0.5318, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0929, d5.loss_map_pts: 0.5299, d5.loss_map_dir: 0.0060, loss: 23.5468, grad_norm: 143.1187 +2026-02-28 12:29:51,088 - DriveTransformer - INFO - Epoch [10][8850/39528] lr: 6.944e-05, eta: 4 days, 22:36:07, time: 0.734, data_time: 0.038, memory: 19865, loss_cls: 0.1109, loss_bbox: 0.2854, loss_traj: 0.5998, loss_traj_cls: 0.0018, loss_map_cls: 0.0823, loss_map_pts: 0.4797, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.8067, d0.loss_plan_l1_fix_dist: 0.5088, d1.loss_plan_l1_fix_time: 0.7333, d1.loss_plan_l1_fix_dist: 0.1945, d2.loss_plan_l1_fix_time: 0.7145, d2.loss_plan_l1_fix_dist: 0.1947, d3.loss_plan_l1_fix_time: 0.7093, d3.loss_plan_l1_fix_dist: 0.1948, d4.loss_plan_l1_fix_time: 0.7107, d4.loss_plan_l1_fix_dist: 0.2273, d5.loss_plan_l1_fix_time: 0.7130, d5.loss_plan_l1_fix_dist: 0.2300, d6.loss_plan_l1_fix_time: 0.7162, d6.loss_plan_l1_fix_dist: 0.2436, d0.loss_cls_all: 0.1420, d0.loss_bbox_all: 0.3418, d0.loss_cls: 0.1420, d0.loss_bbox: 0.3418, d1.loss_cls: 0.1420, d1.loss_bbox: 0.3109, d2.loss_cls: 0.1323, d2.loss_bbox: 0.2897, d3.loss_cls: 0.1160, d3.loss_bbox: 0.2872, d4.loss_cls: 0.1117, d4.loss_bbox: 0.2849, d5.loss_cls: 0.1114, d5.loss_bbox: 0.2841, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8820, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6914, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6308, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6117, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6018, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5987, d0.loss_map_cls_all: 0.1653, d0.loss_map_pts_all: 0.9976, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1653, d0.loss_map_pts: 0.9976, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1296, d1.loss_map_pts: 0.7002, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1103, d2.loss_map_pts: 0.5389, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0977, d3.loss_map_pts: 0.4852, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0902, d4.loss_map_pts: 0.4722, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0847, d5.loss_map_pts: 0.4742, d5.loss_map_dir: 0.0059, loss: 23.0712, grad_norm: 144.2719 +2026-02-28 12:30:27,361 - DriveTransformer - INFO - Epoch [10][8900/39528] lr: 6.944e-05, eta: 4 days, 22:35:29, time: 0.725, data_time: 0.037, memory: 19865, loss_cls: 0.1117, loss_bbox: 0.2993, loss_traj: 0.4659, loss_traj_cls: 0.0018, loss_map_cls: 0.1365, loss_map_pts: 0.6373, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.7536, d0.loss_plan_l1_fix_dist: 0.3748, d1.loss_plan_l1_fix_time: 0.8230, d1.loss_plan_l1_fix_dist: 0.1737, d2.loss_plan_l1_fix_time: 0.8092, d2.loss_plan_l1_fix_dist: 0.1939, d3.loss_plan_l1_fix_time: 0.8028, d3.loss_plan_l1_fix_dist: 0.1937, d4.loss_plan_l1_fix_time: 0.8039, d4.loss_plan_l1_fix_dist: 0.2109, d5.loss_plan_l1_fix_time: 0.8057, d5.loss_plan_l1_fix_dist: 0.2206, d6.loss_plan_l1_fix_time: 0.8082, d6.loss_plan_l1_fix_dist: 0.2351, d0.loss_cls_all: 0.1664, d0.loss_bbox_all: 0.3693, d0.loss_cls: 0.1664, d0.loss_bbox: 0.3693, d1.loss_cls: 0.1569, d1.loss_bbox: 0.3360, d2.loss_cls: 0.1397, d2.loss_bbox: 0.3124, d3.loss_cls: 0.1216, d3.loss_bbox: 0.3061, d4.loss_cls: 0.1147, d4.loss_bbox: 0.3033, d5.loss_cls: 0.1109, d5.loss_bbox: 0.3012, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6710, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5351, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4877, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4754, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4702, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4651, d0.loss_map_cls_all: 0.2105, d0.loss_map_pts_all: 1.2097, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2105, d0.loss_map_pts: 1.2097, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1776, d1.loss_map_pts: 0.8785, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1580, d2.loss_map_pts: 0.7077, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1471, d3.loss_map_pts: 0.6485, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1422, d4.loss_map_pts: 0.6313, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1385, d5.loss_map_pts: 0.6356, d5.loss_map_dir: 0.0071, loss: 24.4068, grad_norm: 143.7505 +2026-02-28 12:31:03,515 - DriveTransformer - INFO - Epoch [10][8950/39528] lr: 6.944e-05, eta: 4 days, 22:34:51, time: 0.723, data_time: 0.040, memory: 19865, loss_cls: 0.0973, loss_bbox: 0.2908, loss_traj: 0.5118, loss_traj_cls: 0.0018, loss_map_cls: 0.1091, loss_map_pts: 0.5682, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.2353, d0.loss_plan_l1_fix_dist: 0.3887, d1.loss_plan_l1_fix_time: 0.7444, d1.loss_plan_l1_fix_dist: 0.1668, d2.loss_plan_l1_fix_time: 0.7291, d2.loss_plan_l1_fix_dist: 0.1833, d3.loss_plan_l1_fix_time: 0.7281, d3.loss_plan_l1_fix_dist: 0.2015, d4.loss_plan_l1_fix_time: 0.7296, d4.loss_plan_l1_fix_dist: 0.2089, d5.loss_plan_l1_fix_time: 0.7317, d5.loss_plan_l1_fix_dist: 0.1990, d6.loss_plan_l1_fix_time: 0.7346, d6.loss_plan_l1_fix_dist: 0.2155, d0.loss_cls_all: 0.1312, d0.loss_bbox_all: 0.3557, d0.loss_cls: 0.1312, d0.loss_bbox: 0.3557, d1.loss_cls: 0.1291, d1.loss_bbox: 0.3247, d2.loss_cls: 0.1198, d2.loss_bbox: 0.3008, d3.loss_cls: 0.1042, d3.loss_bbox: 0.2947, d4.loss_cls: 0.0986, d4.loss_bbox: 0.2922, d5.loss_cls: 0.0975, d5.loss_bbox: 0.2912, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7910, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5912, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5321, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5204, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5179, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5133, d0.loss_map_cls_all: 0.1911, d0.loss_map_pts_all: 1.1902, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1911, d0.loss_map_pts: 1.1902, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1545, d1.loss_map_pts: 0.8399, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1340, d2.loss_map_pts: 0.6574, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1241, d3.loss_map_pts: 0.5904, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1161, d4.loss_map_pts: 0.5715, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1110, d5.loss_map_pts: 0.5695, d5.loss_map_dir: 0.0068, loss: 22.9569, grad_norm: 143.9101 +2026-02-28 12:31:39,854 - DriveTransformer - INFO - Epoch [10][9000/39528] lr: 6.944e-05, eta: 4 days, 22:34:13, time: 0.727, data_time: 0.039, memory: 19865, loss_cls: 0.1127, loss_bbox: 0.3207, loss_traj: 0.5226, loss_traj_cls: 0.0018, loss_map_cls: 0.1425, loss_map_pts: 0.7029, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.3149, d0.loss_plan_l1_fix_dist: 0.4024, d1.loss_plan_l1_fix_time: 0.7678, d1.loss_plan_l1_fix_dist: 0.1615, d2.loss_plan_l1_fix_time: 0.7558, d2.loss_plan_l1_fix_dist: 0.1784, d3.loss_plan_l1_fix_time: 0.7530, d3.loss_plan_l1_fix_dist: 0.2123, d4.loss_plan_l1_fix_time: 0.7560, d4.loss_plan_l1_fix_dist: 0.2182, d5.loss_plan_l1_fix_time: 0.7583, d5.loss_plan_l1_fix_dist: 0.2092, d6.loss_plan_l1_fix_time: 0.7611, d6.loss_plan_l1_fix_dist: 0.2353, d0.loss_cls_all: 0.1523, d0.loss_bbox_all: 0.3782, d0.loss_cls: 0.1523, d0.loss_bbox: 0.3782, d1.loss_cls: 0.1460, d1.loss_bbox: 0.3492, d2.loss_cls: 0.1340, d2.loss_bbox: 0.3275, d3.loss_cls: 0.1169, d3.loss_bbox: 0.3249, d4.loss_cls: 0.1130, d4.loss_bbox: 0.3219, d5.loss_cls: 0.1110, d5.loss_bbox: 0.3219, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7813, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6124, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5494, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5391, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5306, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5264, d0.loss_map_cls_all: 0.2326, d0.loss_map_pts_all: 1.4362, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.2326, d0.loss_map_pts: 1.4362, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.2013, d1.loss_map_pts: 1.0611, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1758, d2.loss_map_pts: 0.8304, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1601, d3.loss_map_pts: 0.7476, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1517, d4.loss_map_pts: 0.7123, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1455, d5.loss_map_pts: 0.7032, d5.loss_map_dir: 0.0064, loss: 25.4344, grad_norm: 144.2975 +2026-02-28 12:32:16,263 - DriveTransformer - INFO - Epoch [10][9050/39528] lr: 6.944e-05, eta: 4 days, 22:33:36, time: 0.728, data_time: 0.038, memory: 19865, loss_cls: 0.0984, loss_bbox: 0.2863, loss_traj: 0.5149, loss_traj_cls: 0.0018, loss_map_cls: 0.1089, loss_map_pts: 0.6029, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.8788, d0.loss_plan_l1_fix_dist: 0.4451, d1.loss_plan_l1_fix_time: 0.7557, d1.loss_plan_l1_fix_dist: 0.1734, d2.loss_plan_l1_fix_time: 0.7340, d2.loss_plan_l1_fix_dist: 0.1900, d3.loss_plan_l1_fix_time: 0.7208, d3.loss_plan_l1_fix_dist: 0.2083, d4.loss_plan_l1_fix_time: 0.7208, d4.loss_plan_l1_fix_dist: 0.1908, d5.loss_plan_l1_fix_time: 0.7218, d5.loss_plan_l1_fix_dist: 0.2008, d6.loss_plan_l1_fix_time: 0.7232, d6.loss_plan_l1_fix_dist: 0.2081, d0.loss_cls_all: 0.1407, d0.loss_bbox_all: 0.3562, d0.loss_cls: 0.1407, d0.loss_bbox: 0.3562, d1.loss_cls: 0.1364, d1.loss_bbox: 0.3191, d2.loss_cls: 0.1245, d2.loss_bbox: 0.2939, d3.loss_cls: 0.1042, d3.loss_bbox: 0.2891, d4.loss_cls: 0.1009, d4.loss_bbox: 0.2854, d5.loss_cls: 0.0997, d5.loss_bbox: 0.2867, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8049, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5774, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5273, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5160, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5167, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5181, d0.loss_map_cls_all: 0.1921, d0.loss_map_pts_all: 1.2690, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1921, d0.loss_map_pts: 1.2690, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1550, d1.loss_map_pts: 0.9230, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1315, d2.loss_map_pts: 0.7254, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1213, d3.loss_map_pts: 0.6481, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1135, d4.loss_map_pts: 0.6116, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1116, d5.loss_map_pts: 0.6038, d5.loss_map_dir: 0.0070, loss: 24.1051, grad_norm: 149.6888 +2026-02-28 12:32:53,330 - DriveTransformer - INFO - Epoch [10][9100/39528] lr: 6.944e-05, eta: 4 days, 22:33:02, time: 0.741, data_time: 0.038, memory: 19865, loss_cls: 0.1049, loss_bbox: 0.3121, loss_traj: 0.4805, loss_traj_cls: 0.0018, loss_map_cls: 0.1256, loss_map_pts: 0.6428, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.9677, d0.loss_plan_l1_fix_dist: 0.4267, d1.loss_plan_l1_fix_time: 0.8355, d1.loss_plan_l1_fix_dist: 0.1853, d2.loss_plan_l1_fix_time: 0.8200, d2.loss_plan_l1_fix_dist: 0.2093, d3.loss_plan_l1_fix_time: 0.8084, d3.loss_plan_l1_fix_dist: 0.2383, d4.loss_plan_l1_fix_time: 0.8096, d4.loss_plan_l1_fix_dist: 0.2348, d5.loss_plan_l1_fix_time: 0.8112, d5.loss_plan_l1_fix_dist: 0.2709, d6.loss_plan_l1_fix_time: 0.8127, d6.loss_plan_l1_fix_dist: 0.2825, d0.loss_cls_all: 0.1485, d0.loss_bbox_all: 0.3800, d0.loss_cls: 0.1485, d0.loss_bbox: 0.3800, d1.loss_cls: 0.1403, d1.loss_bbox: 0.3440, d2.loss_cls: 0.1280, d2.loss_bbox: 0.3228, d3.loss_cls: 0.1118, d3.loss_bbox: 0.3135, d4.loss_cls: 0.1067, d4.loss_bbox: 0.3118, d5.loss_cls: 0.1059, d5.loss_bbox: 0.3113, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6792, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5481, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5020, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4888, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4818, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4777, d0.loss_map_cls_all: 0.2097, d0.loss_map_pts_all: 1.2522, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2097, d0.loss_map_pts: 1.2522, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1733, d1.loss_map_pts: 0.9057, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1500, d2.loss_map_pts: 0.7284, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1412, d3.loss_map_pts: 0.6657, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1331, d4.loss_map_pts: 0.6448, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1295, d5.loss_map_pts: 0.6414, d5.loss_map_dir: 0.0071, loss: 25.1086, grad_norm: 149.4297 +2026-02-28 12:33:31,305 - DriveTransformer - INFO - Epoch [10][9150/39528] lr: 6.944e-05, eta: 4 days, 22:32:32, time: 0.759, data_time: 0.041, memory: 19865, loss_cls: 0.0974, loss_bbox: 0.2888, loss_traj: 0.4471, loss_traj_cls: 0.0018, loss_map_cls: 0.1064, loss_map_pts: 0.5501, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.3380, d0.loss_plan_l1_fix_dist: 0.4555, d1.loss_plan_l1_fix_time: 0.7607, d1.loss_plan_l1_fix_dist: 0.1826, d2.loss_plan_l1_fix_time: 0.7519, d2.loss_plan_l1_fix_dist: 0.1961, d3.loss_plan_l1_fix_time: 0.7500, d3.loss_plan_l1_fix_dist: 0.2112, d4.loss_plan_l1_fix_time: 0.7517, d4.loss_plan_l1_fix_dist: 0.2116, d5.loss_plan_l1_fix_time: 0.7544, d5.loss_plan_l1_fix_dist: 0.2181, d6.loss_plan_l1_fix_time: 0.7581, d6.loss_plan_l1_fix_dist: 0.2347, d0.loss_cls_all: 0.1422, d0.loss_bbox_all: 0.3436, d0.loss_cls: 0.1422, d0.loss_bbox: 0.3436, d1.loss_cls: 0.1351, d1.loss_bbox: 0.3135, d2.loss_cls: 0.1208, d2.loss_bbox: 0.2942, d3.loss_cls: 0.1072, d3.loss_bbox: 0.2889, d4.loss_cls: 0.0995, d4.loss_bbox: 0.2889, d5.loss_cls: 0.0975, d5.loss_bbox: 0.2886, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5830, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4949, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4539, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4477, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4449, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4442, d0.loss_map_cls_all: 0.1909, d0.loss_map_pts_all: 1.1221, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1909, d0.loss_map_pts: 1.1221, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1557, d1.loss_map_pts: 0.7933, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1301, d2.loss_map_pts: 0.6163, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1205, d3.loss_map_pts: 0.5620, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1140, d4.loss_map_pts: 0.5494, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1080, d5.loss_map_pts: 0.5512, d5.loss_map_dir: 0.0076, loss: 22.3323, grad_norm: 151.2400 +2026-02-28 12:34:07,681 - DriveTransformer - INFO - Epoch [10][9200/39528] lr: 6.944e-05, eta: 4 days, 22:31:55, time: 0.728, data_time: 0.037, memory: 19865, loss_cls: 0.1103, loss_bbox: 0.3009, loss_traj: 0.5163, loss_traj_cls: 0.0018, loss_map_cls: 0.1195, loss_map_pts: 0.5760, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.8929, d0.loss_plan_l1_fix_dist: 0.4373, d1.loss_plan_l1_fix_time: 0.9468, d1.loss_plan_l1_fix_dist: 0.1912, d2.loss_plan_l1_fix_time: 0.9300, d2.loss_plan_l1_fix_dist: 0.2097, d3.loss_plan_l1_fix_time: 0.9293, d3.loss_plan_l1_fix_dist: 0.2270, d4.loss_plan_l1_fix_time: 0.9318, d4.loss_plan_l1_fix_dist: 0.2482, d5.loss_plan_l1_fix_time: 0.9353, d5.loss_plan_l1_fix_dist: 0.2539, d6.loss_plan_l1_fix_time: 0.9397, d6.loss_plan_l1_fix_dist: 0.2822, d0.loss_cls_all: 0.1510, d0.loss_bbox_all: 0.3688, d0.loss_cls: 0.1510, d0.loss_bbox: 0.3688, d1.loss_cls: 0.1427, d1.loss_bbox: 0.3322, d2.loss_cls: 0.1284, d2.loss_bbox: 0.3149, d3.loss_cls: 0.1126, d3.loss_bbox: 0.3069, d4.loss_cls: 0.1108, d4.loss_bbox: 0.3023, d5.loss_cls: 0.1096, d5.loss_bbox: 0.3009, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7062, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5768, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5330, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5125, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5138, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5179, d0.loss_map_cls_all: 0.1953, d0.loss_map_pts_all: 1.1635, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1953, d0.loss_map_pts: 1.1635, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1690, d1.loss_map_pts: 0.8423, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1459, d2.loss_map_pts: 0.6639, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1330, d3.loss_map_pts: 0.5998, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1259, d4.loss_map_pts: 0.5826, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1211, d5.loss_map_pts: 0.5821, d5.loss_map_dir: 0.0064, loss: 25.2791, grad_norm: 150.2809 +2026-02-28 12:34:43,114 - DriveTransformer - INFO - Epoch [10][9250/39528] lr: 6.944e-05, eta: 4 days, 22:31:13, time: 0.708, data_time: 0.038, memory: 19865, loss_cls: 0.1151, loss_bbox: 0.3206, loss_traj: 0.6249, loss_traj_cls: 0.0018, loss_map_cls: 0.1132, loss_map_pts: 0.6152, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.5842, d0.loss_plan_l1_fix_dist: 0.4023, d1.loss_plan_l1_fix_time: 0.7772, d1.loss_plan_l1_fix_dist: 0.1679, d2.loss_plan_l1_fix_time: 0.7619, d2.loss_plan_l1_fix_dist: 0.1832, d3.loss_plan_l1_fix_time: 0.7519, d3.loss_plan_l1_fix_dist: 0.1957, d4.loss_plan_l1_fix_time: 0.7538, d4.loss_plan_l1_fix_dist: 0.2126, d5.loss_plan_l1_fix_time: 0.7555, d5.loss_plan_l1_fix_dist: 0.2166, d6.loss_plan_l1_fix_time: 0.7575, d6.loss_plan_l1_fix_dist: 0.2253, d0.loss_cls_all: 0.1535, d0.loss_bbox_all: 0.3902, d0.loss_cls: 0.1535, d0.loss_bbox: 0.3902, d1.loss_cls: 0.1507, d1.loss_bbox: 0.3564, d2.loss_cls: 0.1396, d2.loss_bbox: 0.3301, d3.loss_cls: 0.1232, d3.loss_bbox: 0.3226, d4.loss_cls: 0.1165, d4.loss_bbox: 0.3210, d5.loss_cls: 0.1146, d5.loss_bbox: 0.3215, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8733, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7223, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6688, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6326, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6434, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6435, d0.loss_map_cls_all: 0.1785, d0.loss_map_pts_all: 1.1385, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1785, d0.loss_map_pts: 1.1385, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1523, d1.loss_map_pts: 0.8932, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1316, d2.loss_map_pts: 0.7201, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1252, d3.loss_map_pts: 0.6493, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1197, d4.loss_map_pts: 0.6287, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1154, d5.loss_map_pts: 0.6224, d5.loss_map_dir: 0.0057, loss: 24.9455, grad_norm: 149.7560 +2026-02-28 12:35:17,958 - DriveTransformer - INFO - Epoch [10][9300/39528] lr: 6.944e-05, eta: 4 days, 22:30:28, time: 0.697, data_time: 0.037, memory: 19865, loss_cls: 0.1015, loss_bbox: 0.2781, loss_traj: 0.5535, loss_traj_cls: 0.0019, loss_map_cls: 0.0884, loss_map_pts: 0.5269, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.8306, d0.loss_plan_l1_fix_dist: 0.4131, d1.loss_plan_l1_fix_time: 0.7665, d1.loss_plan_l1_fix_dist: 0.1607, d2.loss_plan_l1_fix_time: 0.7511, d2.loss_plan_l1_fix_dist: 0.1779, d3.loss_plan_l1_fix_time: 0.7454, d3.loss_plan_l1_fix_dist: 0.2007, d4.loss_plan_l1_fix_time: 0.7473, d4.loss_plan_l1_fix_dist: 0.2457, d5.loss_plan_l1_fix_time: 0.7495, d5.loss_plan_l1_fix_dist: 0.2386, d6.loss_plan_l1_fix_time: 0.7514, d6.loss_plan_l1_fix_dist: 0.2512, d0.loss_cls_all: 0.1461, d0.loss_bbox_all: 0.3314, d0.loss_cls: 0.1461, d0.loss_bbox: 0.3314, d1.loss_cls: 0.1376, d1.loss_bbox: 0.2993, d2.loss_cls: 0.1230, d2.loss_bbox: 0.2830, d3.loss_cls: 0.1098, d3.loss_bbox: 0.2778, d4.loss_cls: 0.1035, d4.loss_bbox: 0.2756, d5.loss_cls: 0.1022, d5.loss_bbox: 0.2760, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7644, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6321, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5812, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5629, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5561, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5525, d0.loss_map_cls_all: 0.1782, d0.loss_map_pts_all: 1.0789, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1782, d0.loss_map_pts: 1.0789, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1474, d1.loss_map_pts: 0.8090, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1182, d2.loss_map_pts: 0.6394, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1051, d3.loss_map_pts: 0.5642, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0979, d4.loss_map_pts: 0.5390, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0912, d5.loss_map_pts: 0.5293, d5.loss_map_dir: 0.0053, loss: 23.3729, grad_norm: 150.0774 +2026-02-28 12:35:54,557 - DriveTransformer - INFO - Epoch [10][9350/39528] lr: 6.944e-05, eta: 4 days, 22:29:52, time: 0.732, data_time: 0.040, memory: 19865, loss_cls: 0.0950, loss_bbox: 0.2895, loss_traj: 0.5117, loss_traj_cls: 0.0019, loss_map_cls: 0.1016, loss_map_pts: 0.6009, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.5989, d0.loss_plan_l1_fix_dist: 0.4288, d1.loss_plan_l1_fix_time: 0.7275, d1.loss_plan_l1_fix_dist: 0.1598, d2.loss_plan_l1_fix_time: 0.7114, d2.loss_plan_l1_fix_dist: 0.1788, d3.loss_plan_l1_fix_time: 0.7089, d3.loss_plan_l1_fix_dist: 0.1735, d4.loss_plan_l1_fix_time: 0.7099, d4.loss_plan_l1_fix_dist: 0.2209, d5.loss_plan_l1_fix_time: 0.7116, d5.loss_plan_l1_fix_dist: 0.1895, d6.loss_plan_l1_fix_time: 0.7135, d6.loss_plan_l1_fix_dist: 0.2161, d0.loss_cls_all: 0.1403, d0.loss_bbox_all: 0.3468, d0.loss_cls: 0.1403, d0.loss_bbox: 0.3468, d1.loss_cls: 0.1303, d1.loss_bbox: 0.3161, d2.loss_cls: 0.1117, d2.loss_bbox: 0.2942, d3.loss_cls: 0.0994, d3.loss_bbox: 0.2874, d4.loss_cls: 0.0957, d4.loss_bbox: 0.2870, d5.loss_cls: 0.0933, d5.loss_bbox: 0.2883, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7379, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5852, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5362, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5177, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5161, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5143, d0.loss_map_cls_all: 0.1840, d0.loss_map_pts_all: 1.2081, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1840, d0.loss_map_pts: 1.2081, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1525, d1.loss_map_pts: 0.8804, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1269, d2.loss_map_pts: 0.6974, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1160, d3.loss_map_pts: 0.6268, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1104, d4.loss_map_pts: 0.6048, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1041, d5.loss_map_pts: 0.6024, d5.loss_map_dir: 0.0069, loss: 23.2994, grad_norm: 152.5128 +2026-02-28 12:36:29,934 - DriveTransformer - INFO - Epoch [10][9400/39528] lr: 6.944e-05, eta: 4 days, 22:29:11, time: 0.709, data_time: 0.038, memory: 19865, loss_cls: 0.1117, loss_bbox: 0.2880, loss_traj: 0.5630, loss_traj_cls: 0.0019, loss_map_cls: 0.0951, loss_map_pts: 0.4872, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.2609, d0.loss_plan_l1_fix_dist: 0.4074, d1.loss_plan_l1_fix_time: 0.7300, d1.loss_plan_l1_fix_dist: 0.1658, d2.loss_plan_l1_fix_time: 0.7204, d2.loss_plan_l1_fix_dist: 0.1919, d3.loss_plan_l1_fix_time: 0.7100, d3.loss_plan_l1_fix_dist: 0.1916, d4.loss_plan_l1_fix_time: 0.7111, d4.loss_plan_l1_fix_dist: 0.2235, d5.loss_plan_l1_fix_time: 0.7134, d5.loss_plan_l1_fix_dist: 0.2199, d6.loss_plan_l1_fix_time: 0.7160, d6.loss_plan_l1_fix_dist: 0.2504, d0.loss_cls_all: 0.1421, d0.loss_bbox_all: 0.3480, d0.loss_cls: 0.1421, d0.loss_bbox: 0.3480, d1.loss_cls: 0.1383, d1.loss_bbox: 0.3114, d2.loss_cls: 0.1291, d2.loss_bbox: 0.2900, d3.loss_cls: 0.1151, d3.loss_bbox: 0.2849, d4.loss_cls: 0.1125, d4.loss_bbox: 0.2830, d5.loss_cls: 0.1111, d5.loss_bbox: 0.2853, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8333, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6462, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5905, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5772, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5678, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5627, d0.loss_map_cls_all: 0.1676, d0.loss_map_pts_all: 0.9873, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1676, d0.loss_map_pts: 0.9873, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1392, d1.loss_map_pts: 0.7223, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1215, d2.loss_map_pts: 0.5639, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.1086, d3.loss_map_pts: 0.5052, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.1012, d4.loss_map_pts: 0.4933, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0971, d5.loss_map_pts: 0.4923, d5.loss_map_dir: 0.0050, loss: 22.2771, grad_norm: 150.9585 +2026-02-28 12:37:06,912 - DriveTransformer - INFO - Epoch [10][9450/39528] lr: 6.944e-05, eta: 4 days, 22:28:36, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.1138, loss_bbox: 0.3002, loss_traj: 0.4720, loss_traj_cls: 0.0019, loss_map_cls: 0.1391, loss_map_pts: 0.6443, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.4236, d0.loss_plan_l1_fix_dist: 0.4237, d1.loss_plan_l1_fix_time: 0.8942, d1.loss_plan_l1_fix_dist: 0.1703, d2.loss_plan_l1_fix_time: 0.8809, d2.loss_plan_l1_fix_dist: 0.1807, d3.loss_plan_l1_fix_time: 0.8832, d3.loss_plan_l1_fix_dist: 0.2004, d4.loss_plan_l1_fix_time: 0.8855, d4.loss_plan_l1_fix_dist: 0.2016, d5.loss_plan_l1_fix_time: 0.8876, d5.loss_plan_l1_fix_dist: 0.2012, d6.loss_plan_l1_fix_time: 0.8903, d6.loss_plan_l1_fix_dist: 0.2090, d0.loss_cls_all: 0.1596, d0.loss_bbox_all: 0.3629, d0.loss_cls: 0.1596, d0.loss_bbox: 0.3629, d1.loss_cls: 0.1486, d1.loss_bbox: 0.3270, d2.loss_cls: 0.1357, d2.loss_bbox: 0.3065, d3.loss_cls: 0.1196, d3.loss_bbox: 0.3024, d4.loss_cls: 0.1160, d4.loss_bbox: 0.2989, d5.loss_cls: 0.1147, d5.loss_bbox: 0.2988, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6714, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5390, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4916, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4756, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4756, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4735, d0.loss_map_cls_all: 0.2243, d0.loss_map_pts_all: 1.3384, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2243, d0.loss_map_pts: 1.3384, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1941, d1.loss_map_pts: 0.9718, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1656, d2.loss_map_pts: 0.7632, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1543, d3.loss_map_pts: 0.6862, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1478, d4.loss_map_pts: 0.6525, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1417, d5.loss_map_pts: 0.6479, d5.loss_map_dir: 0.0073, loss: 25.0533, grad_norm: 148.2684 +2026-02-28 12:37:43,254 - DriveTransformer - INFO - Epoch [10][9500/39528] lr: 6.944e-05, eta: 4 days, 22:27:58, time: 0.727, data_time: 0.040, memory: 19865, loss_cls: 0.0919, loss_bbox: 0.2880, loss_traj: 0.5163, loss_traj_cls: 0.0020, loss_map_cls: 0.1069, loss_map_pts: 0.5425, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 3.1811, d0.loss_plan_l1_fix_dist: 0.4299, d1.loss_plan_l1_fix_time: 0.8267, d1.loss_plan_l1_fix_dist: 0.1942, d2.loss_plan_l1_fix_time: 0.8224, d2.loss_plan_l1_fix_dist: 0.2063, d3.loss_plan_l1_fix_time: 0.8295, d3.loss_plan_l1_fix_dist: 0.2185, d4.loss_plan_l1_fix_time: 0.8325, d4.loss_plan_l1_fix_dist: 0.2359, d5.loss_plan_l1_fix_time: 0.8348, d5.loss_plan_l1_fix_dist: 0.2151, d6.loss_plan_l1_fix_time: 0.8377, d6.loss_plan_l1_fix_dist: 0.2340, d0.loss_cls_all: 0.1339, d0.loss_bbox_all: 0.3445, d0.loss_cls: 0.1339, d0.loss_bbox: 0.3445, d1.loss_cls: 0.1282, d1.loss_bbox: 0.3177, d2.loss_cls: 0.1134, d2.loss_bbox: 0.3010, d3.loss_cls: 0.0997, d3.loss_bbox: 0.2940, d4.loss_cls: 0.0934, d4.loss_bbox: 0.2904, d5.loss_cls: 0.0914, d5.loss_bbox: 0.2893, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7768, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6005, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5415, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5277, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5220, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5191, d0.loss_map_cls_all: 0.1903, d0.loss_map_pts_all: 1.1107, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1903, d0.loss_map_pts: 1.1107, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1571, d1.loss_map_pts: 0.7856, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1312, d2.loss_map_pts: 0.6231, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1187, d3.loss_map_pts: 0.5662, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1139, d4.loss_map_pts: 0.5491, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1091, d5.loss_map_pts: 0.5476, d5.loss_map_dir: 0.0062, loss: 24.2659, grad_norm: 148.0649 +2026-02-28 12:38:20,247 - DriveTransformer - INFO - Epoch [10][9550/39528] lr: 6.944e-05, eta: 4 days, 22:27:24, time: 0.740, data_time: 0.040, memory: 19865, loss_cls: 0.1136, loss_bbox: 0.3257, loss_traj: 0.5393, loss_traj_cls: 0.0019, loss_map_cls: 0.1355, loss_map_pts: 0.6500, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.8377, d0.loss_plan_l1_fix_dist: 0.4157, d1.loss_plan_l1_fix_time: 0.9045, d1.loss_plan_l1_fix_dist: 0.2116, d2.loss_plan_l1_fix_time: 0.8922, d2.loss_plan_l1_fix_dist: 0.2276, d3.loss_plan_l1_fix_time: 0.8790, d3.loss_plan_l1_fix_dist: 0.2474, d4.loss_plan_l1_fix_time: 0.8797, d4.loss_plan_l1_fix_dist: 0.2481, d5.loss_plan_l1_fix_time: 0.8810, d5.loss_plan_l1_fix_dist: 0.2394, d6.loss_plan_l1_fix_time: 0.8830, d6.loss_plan_l1_fix_dist: 0.2584, d0.loss_cls_all: 0.1657, d0.loss_bbox_all: 0.4014, d0.loss_cls: 0.1657, d0.loss_bbox: 0.4014, d1.loss_cls: 0.1547, d1.loss_bbox: 0.3601, d2.loss_cls: 0.1384, d2.loss_bbox: 0.3397, d3.loss_cls: 0.1197, d3.loss_bbox: 0.3343, d4.loss_cls: 0.1156, d4.loss_bbox: 0.3289, d5.loss_cls: 0.1132, d5.loss_bbox: 0.3271, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7340, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6234, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5778, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5459, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5411, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5400, d0.loss_map_cls_all: 0.2106, d0.loss_map_pts_all: 1.3275, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2106, d0.loss_map_pts: 1.3275, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1797, d1.loss_map_pts: 0.9491, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1560, d2.loss_map_pts: 0.7460, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1471, d3.loss_map_pts: 0.6760, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1405, d4.loss_map_pts: 0.6566, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1363, d5.loss_map_pts: 0.6543, d5.loss_map_dir: 0.0079, loss: 26.3841, grad_norm: 149.1104 +2026-02-28 12:38:57,649 - DriveTransformer - INFO - Epoch [10][9600/39528] lr: 6.944e-05, eta: 4 days, 22:26:51, time: 0.748, data_time: 0.038, memory: 19865, loss_cls: 0.1250, loss_bbox: 0.3216, loss_traj: 0.4063, loss_traj_cls: 0.0020, loss_map_cls: 0.1137, loss_map_pts: 0.6676, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.4024, d0.loss_plan_l1_fix_dist: 0.4171, d1.loss_plan_l1_fix_time: 0.8274, d1.loss_plan_l1_fix_dist: 0.1702, d2.loss_plan_l1_fix_time: 0.8111, d2.loss_plan_l1_fix_dist: 0.1847, d3.loss_plan_l1_fix_time: 0.8126, d3.loss_plan_l1_fix_dist: 0.2286, d4.loss_plan_l1_fix_time: 0.8150, d4.loss_plan_l1_fix_dist: 0.2010, d5.loss_plan_l1_fix_time: 0.8175, d5.loss_plan_l1_fix_dist: 0.1989, d6.loss_plan_l1_fix_time: 0.8210, d6.loss_plan_l1_fix_dist: 0.2047, d0.loss_cls_all: 0.1738, d0.loss_bbox_all: 0.3935, d0.loss_cls: 0.1738, d0.loss_bbox: 0.3935, d1.loss_cls: 0.1681, d1.loss_bbox: 0.3568, d2.loss_cls: 0.1504, d2.loss_bbox: 0.3338, d3.loss_cls: 0.1343, d3.loss_bbox: 0.3272, d4.loss_cls: 0.1274, d4.loss_bbox: 0.3246, d5.loss_cls: 0.1254, d5.loss_bbox: 0.3234, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6203, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4914, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4319, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4214, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4114, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4064, d0.loss_map_cls_all: 0.2073, d0.loss_map_pts_all: 1.3370, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2073, d0.loss_map_pts: 1.3370, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1736, d1.loss_map_pts: 0.9784, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1454, d2.loss_map_pts: 0.7869, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1321, d3.loss_map_pts: 0.7106, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1233, d4.loss_map_pts: 0.6816, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1168, d5.loss_map_pts: 0.6720, d5.loss_map_dir: 0.0077, loss: 24.5107, grad_norm: 150.3852 +2026-02-28 12:39:33,789 - DriveTransformer - INFO - Epoch [10][9650/39528] lr: 6.944e-05, eta: 4 days, 22:26:13, time: 0.723, data_time: 0.037, memory: 19865, loss_cls: 0.1063, loss_bbox: 0.2992, loss_traj: 0.5278, loss_traj_cls: 0.0019, loss_map_cls: 0.1041, loss_map_pts: 0.5713, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.3590, d0.loss_plan_l1_fix_dist: 0.3607, d1.loss_plan_l1_fix_time: 0.8191, d1.loss_plan_l1_fix_dist: 0.1527, d2.loss_plan_l1_fix_time: 0.8011, d2.loss_plan_l1_fix_dist: 0.1759, d3.loss_plan_l1_fix_time: 0.7971, d3.loss_plan_l1_fix_dist: 0.2146, d4.loss_plan_l1_fix_time: 0.7982, d4.loss_plan_l1_fix_dist: 0.1813, d5.loss_plan_l1_fix_time: 0.7995, d5.loss_plan_l1_fix_dist: 0.1941, d6.loss_plan_l1_fix_time: 0.8014, d6.loss_plan_l1_fix_dist: 0.1898, d0.loss_cls_all: 0.1431, d0.loss_bbox_all: 0.3544, d0.loss_cls: 0.1431, d0.loss_bbox: 0.3544, d1.loss_cls: 0.1375, d1.loss_bbox: 0.3259, d2.loss_cls: 0.1271, d2.loss_bbox: 0.3082, d3.loss_cls: 0.1105, d3.loss_bbox: 0.3034, d4.loss_cls: 0.1052, d4.loss_bbox: 0.3018, d5.loss_cls: 0.1056, d5.loss_bbox: 0.3005, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7642, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6035, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5543, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5377, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5327, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5310, d0.loss_map_cls_all: 0.1736, d0.loss_map_pts_all: 1.1852, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1736, d0.loss_map_pts: 1.1852, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1440, d1.loss_map_pts: 0.8817, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1235, d2.loss_map_pts: 0.6982, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1161, d3.loss_map_pts: 0.6181, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1124, d4.loss_map_pts: 0.5877, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1063, d5.loss_map_pts: 0.5751, d5.loss_map_dir: 0.0061, loss: 23.6325, grad_norm: 150.1068 +2026-02-28 12:40:09,656 - DriveTransformer - INFO - Epoch [10][9700/39528] lr: 6.944e-05, eta: 4 days, 22:25:33, time: 0.717, data_time: 0.038, memory: 19865, loss_cls: 0.1206, loss_bbox: 0.3071, loss_traj: 0.4880, loss_traj_cls: 0.0020, loss_map_cls: 0.1140, loss_map_pts: 0.5936, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.7741, d0.loss_plan_l1_fix_dist: 0.2713, d1.loss_plan_l1_fix_time: 0.9381, d1.loss_plan_l1_fix_dist: 0.1586, d2.loss_plan_l1_fix_time: 0.9203, d2.loss_plan_l1_fix_dist: 0.1868, d3.loss_plan_l1_fix_time: 0.9200, d3.loss_plan_l1_fix_dist: 0.2054, d4.loss_plan_l1_fix_time: 0.9207, d4.loss_plan_l1_fix_dist: 0.1881, d5.loss_plan_l1_fix_time: 0.9215, d5.loss_plan_l1_fix_dist: 0.2168, d6.loss_plan_l1_fix_time: 0.9222, d6.loss_plan_l1_fix_dist: 0.2185, d0.loss_cls_all: 0.1632, d0.loss_bbox_all: 0.3607, d0.loss_cls: 0.1632, d0.loss_bbox: 0.3607, d1.loss_cls: 0.1567, d1.loss_bbox: 0.3280, d2.loss_cls: 0.1434, d2.loss_bbox: 0.3118, d3.loss_cls: 0.1269, d3.loss_bbox: 0.3086, d4.loss_cls: 0.1214, d4.loss_bbox: 0.3072, d5.loss_cls: 0.1215, d5.loss_bbox: 0.3051, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7104, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5705, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5063, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4957, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4904, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4878, d0.loss_map_cls_all: 0.2001, d0.loss_map_pts_all: 1.1999, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2001, d0.loss_map_pts: 1.1999, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1677, d1.loss_map_pts: 0.8741, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1401, d2.loss_map_pts: 0.7021, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1271, d3.loss_map_pts: 0.6335, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1216, d4.loss_map_pts: 0.6044, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1159, d5.loss_map_pts: 0.5943, d5.loss_map_dir: 0.0075, loss: 24.8703, grad_norm: 150.8068 +2026-02-28 12:40:44,029 - DriveTransformer - INFO - Epoch [10][9750/39528] lr: 6.944e-05, eta: 4 days, 22:24:46, time: 0.687, data_time: 0.036, memory: 19865, loss_cls: 0.1043, loss_bbox: 0.2887, loss_traj: 0.4929, loss_traj_cls: 0.0021, loss_map_cls: 0.1088, loss_map_pts: 0.5184, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.6907, d0.loss_plan_l1_fix_dist: 0.4480, d1.loss_plan_l1_fix_time: 0.8130, d1.loss_plan_l1_fix_dist: 0.1862, d2.loss_plan_l1_fix_time: 0.8040, d2.loss_plan_l1_fix_dist: 0.1994, d3.loss_plan_l1_fix_time: 0.8043, d3.loss_plan_l1_fix_dist: 0.2082, d4.loss_plan_l1_fix_time: 0.8059, d4.loss_plan_l1_fix_dist: 0.2026, d5.loss_plan_l1_fix_time: 0.8071, d5.loss_plan_l1_fix_dist: 0.2141, d6.loss_plan_l1_fix_time: 0.8086, d6.loss_plan_l1_fix_dist: 0.2263, d0.loss_cls_all: 0.1501, d0.loss_bbox_all: 0.3545, d0.loss_cls: 0.1501, d0.loss_bbox: 0.3545, d1.loss_cls: 0.1391, d1.loss_bbox: 0.3239, d2.loss_cls: 0.1258, d2.loss_bbox: 0.3016, d3.loss_cls: 0.1091, d3.loss_bbox: 0.2945, d4.loss_cls: 0.1050, d4.loss_bbox: 0.2914, d5.loss_cls: 0.1027, d5.loss_bbox: 0.2906, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7352, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5714, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5144, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5037, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4997, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4954, d0.loss_map_cls_all: 0.1835, d0.loss_map_pts_all: 1.0631, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1835, d0.loss_map_pts: 1.0631, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1526, d1.loss_map_pts: 0.7555, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1320, d2.loss_map_pts: 0.6005, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1226, d3.loss_map_pts: 0.5434, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1134, d4.loss_map_pts: 0.5253, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1102, d5.loss_map_pts: 0.5212, d5.loss_map_dir: 0.0056, loss: 23.2654, grad_norm: 151.4241 +2026-02-28 12:41:20,147 - DriveTransformer - INFO - Epoch [10][9800/39528] lr: 6.944e-05, eta: 4 days, 22:24:08, time: 0.722, data_time: 0.038, memory: 19865, loss_cls: 0.1009, loss_bbox: 0.2878, loss_traj: 0.6437, loss_traj_cls: 0.0021, loss_map_cls: 0.0926, loss_map_pts: 0.4946, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.7013, d0.loss_plan_l1_fix_dist: 0.4339, d1.loss_plan_l1_fix_time: 0.8511, d1.loss_plan_l1_fix_dist: 0.1780, d2.loss_plan_l1_fix_time: 0.8370, d2.loss_plan_l1_fix_dist: 0.1798, d3.loss_plan_l1_fix_time: 0.8372, d3.loss_plan_l1_fix_dist: 0.1883, d4.loss_plan_l1_fix_time: 0.8387, d4.loss_plan_l1_fix_dist: 0.1954, d5.loss_plan_l1_fix_time: 0.8407, d5.loss_plan_l1_fix_dist: 0.1863, d6.loss_plan_l1_fix_time: 0.8431, d6.loss_plan_l1_fix_dist: 0.1974, d0.loss_cls_all: 0.1450, d0.loss_bbox_all: 0.3540, d0.loss_cls: 0.1450, d0.loss_bbox: 0.3540, d1.loss_cls: 0.1370, d1.loss_bbox: 0.3233, d2.loss_cls: 0.1273, d2.loss_bbox: 0.2998, d3.loss_cls: 0.1069, d3.loss_bbox: 0.2929, d4.loss_cls: 0.1024, d4.loss_bbox: 0.2882, d5.loss_cls: 0.1023, d5.loss_bbox: 0.2872, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9328, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7451, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6888, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6588, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6541, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6457, d0.loss_map_cls_all: 0.1729, d0.loss_map_pts_all: 0.9870, d0.loss_map_dir_all: 0.0049, d0.loss_map_cls: 0.1729, d0.loss_map_pts: 0.9870, d0.loss_map_dir: 0.0049, d1.loss_map_cls: 0.1427, d1.loss_map_pts: 0.7213, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1177, d2.loss_map_pts: 0.5810, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.1058, d3.loss_map_pts: 0.5275, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0990, d4.loss_map_pts: 0.5086, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0948, d5.loss_map_pts: 0.5048, d5.loss_map_dir: 0.0049, loss: 24.0866, grad_norm: 149.1356 +2026-02-28 12:41:54,332 - DriveTransformer - INFO - Epoch [10][9850/39528] lr: 6.944e-05, eta: 4 days, 22:23:21, time: 0.684, data_time: 0.039, memory: 19865, loss_cls: 0.0990, loss_bbox: 0.2977, loss_traj: 0.6320, loss_traj_cls: 0.0020, loss_map_cls: 0.1088, loss_map_pts: 0.5033, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.4025, d0.loss_plan_l1_fix_dist: 0.4275, d1.loss_plan_l1_fix_time: 0.8321, d1.loss_plan_l1_fix_dist: 0.2028, d2.loss_plan_l1_fix_time: 0.8174, d2.loss_plan_l1_fix_dist: 0.1895, d3.loss_plan_l1_fix_time: 0.8178, d3.loss_plan_l1_fix_dist: 0.1871, d4.loss_plan_l1_fix_time: 0.8194, d4.loss_plan_l1_fix_dist: 0.1992, d5.loss_plan_l1_fix_time: 0.8215, d5.loss_plan_l1_fix_dist: 0.1963, d6.loss_plan_l1_fix_time: 0.8243, d6.loss_plan_l1_fix_dist: 0.2067, d0.loss_cls_all: 0.1387, d0.loss_bbox_all: 0.3669, d0.loss_cls: 0.1387, d0.loss_bbox: 0.3669, d1.loss_cls: 0.1379, d1.loss_bbox: 0.3333, d2.loss_cls: 0.1228, d2.loss_bbox: 0.3092, d3.loss_cls: 0.1056, d3.loss_bbox: 0.3020, d4.loss_cls: 0.1001, d4.loss_bbox: 0.2981, d5.loss_cls: 0.0988, d5.loss_bbox: 0.2973, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9142, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7225, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6494, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6360, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6311, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6347, d0.loss_map_cls_all: 0.2005, d0.loss_map_pts_all: 1.0610, d0.loss_map_dir_all: 0.0049, d0.loss_map_cls: 0.2005, d0.loss_map_pts: 1.0610, d0.loss_map_dir: 0.0049, d1.loss_map_cls: 0.1643, d1.loss_map_pts: 0.7887, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.1341, d2.loss_map_pts: 0.6119, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.1198, d3.loss_map_pts: 0.5381, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.1157, d4.loss_map_pts: 0.5151, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.1124, d5.loss_map_pts: 0.5119, d5.loss_map_dir: 0.0047, loss: 24.0682, grad_norm: 149.9674 +2026-02-28 12:42:32,297 - DriveTransformer - INFO - Epoch [10][9900/39528] lr: 6.944e-05, eta: 4 days, 22:22:51, time: 0.759, data_time: 0.038, memory: 19865, loss_cls: 0.1092, loss_bbox: 0.3120, loss_traj: 0.5601, loss_traj_cls: 0.0019, loss_map_cls: 0.1146, loss_map_pts: 0.6876, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.5738, d0.loss_plan_l1_fix_dist: 0.4269, d1.loss_plan_l1_fix_time: 0.8669, d1.loss_plan_l1_fix_dist: 0.2366, d2.loss_plan_l1_fix_time: 0.8510, d2.loss_plan_l1_fix_dist: 0.2211, d3.loss_plan_l1_fix_time: 0.8415, d3.loss_plan_l1_fix_dist: 0.2208, d4.loss_plan_l1_fix_time: 0.8436, d4.loss_plan_l1_fix_dist: 0.2346, d5.loss_plan_l1_fix_time: 0.8465, d5.loss_plan_l1_fix_dist: 0.2369, d6.loss_plan_l1_fix_time: 0.8507, d6.loss_plan_l1_fix_dist: 0.2512, d0.loss_cls_all: 0.1522, d0.loss_bbox_all: 0.3731, d0.loss_cls: 0.1522, d0.loss_bbox: 0.3731, d1.loss_cls: 0.1440, d1.loss_bbox: 0.3391, d2.loss_cls: 0.1326, d2.loss_bbox: 0.3171, d3.loss_cls: 0.1161, d3.loss_bbox: 0.3135, d4.loss_cls: 0.1094, d4.loss_bbox: 0.3118, d5.loss_cls: 0.1085, d5.loss_bbox: 0.3119, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8557, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6764, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6173, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5900, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5766, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5780, d0.loss_map_cls_all: 0.1949, d0.loss_map_pts_all: 1.4327, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.1949, d0.loss_map_pts: 1.4327, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1645, d1.loss_map_pts: 1.0476, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1405, d2.loss_map_pts: 0.8157, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1291, d3.loss_map_pts: 0.7271, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1219, d4.loss_map_pts: 0.6952, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1177, d5.loss_map_pts: 0.6900, d5.loss_map_dir: 0.0086, loss: 26.4116, grad_norm: 150.6407 +2026-02-28 12:43:08,627 - DriveTransformer - INFO - Epoch [10][9950/39528] lr: 6.944e-05, eta: 4 days, 22:22:13, time: 0.727, data_time: 0.037, memory: 19865, loss_cls: 0.1206, loss_bbox: 0.3284, loss_traj: 0.5290, loss_traj_cls: 0.0019, loss_map_cls: 0.1062, loss_map_pts: 0.5548, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.8010, d0.loss_plan_l1_fix_dist: 0.3875, d1.loss_plan_l1_fix_time: 0.8580, d1.loss_plan_l1_fix_dist: 0.2365, d2.loss_plan_l1_fix_time: 0.8441, d2.loss_plan_l1_fix_dist: 0.2219, d3.loss_plan_l1_fix_time: 0.8381, d3.loss_plan_l1_fix_dist: 0.2157, d4.loss_plan_l1_fix_time: 0.8397, d4.loss_plan_l1_fix_dist: 0.2229, d5.loss_plan_l1_fix_time: 0.8428, d5.loss_plan_l1_fix_dist: 0.2125, d6.loss_plan_l1_fix_time: 0.8468, d6.loss_plan_l1_fix_dist: 0.2320, d0.loss_cls_all: 0.1606, d0.loss_bbox_all: 0.3917, d0.loss_cls: 0.1606, d0.loss_bbox: 0.3917, d1.loss_cls: 0.1579, d1.loss_bbox: 0.3557, d2.loss_cls: 0.1451, d2.loss_bbox: 0.3361, d3.loss_cls: 0.1250, d3.loss_bbox: 0.3331, d4.loss_cls: 0.1205, d4.loss_bbox: 0.3287, d5.loss_cls: 0.1194, d5.loss_bbox: 0.3289, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7561, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6063, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5552, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5370, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5308, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5276, d0.loss_map_cls_all: 0.1903, d0.loss_map_pts_all: 1.2085, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1903, d0.loss_map_pts: 1.2085, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1535, d1.loss_map_pts: 0.8573, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1328, d2.loss_map_pts: 0.6632, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1225, d3.loss_map_pts: 0.5918, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1153, d4.loss_map_pts: 0.5646, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1093, d5.loss_map_pts: 0.5564, d5.loss_map_dir: 0.0071, loss: 24.9352, grad_norm: 147.0020 +2026-02-28 12:43:45,396 - DriveTransformer - INFO - Epoch [10][10000/39528] lr: 6.944e-05, eta: 4 days, 22:21:37, time: 0.735, data_time: 0.038, memory: 19865, loss_cls: 0.1055, loss_bbox: 0.3072, loss_traj: 0.5369, loss_traj_cls: 0.0020, loss_map_cls: 0.1072, loss_map_pts: 0.5437, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.7688, d0.loss_plan_l1_fix_dist: 0.4608, d1.loss_plan_l1_fix_time: 0.8173, d1.loss_plan_l1_fix_dist: 0.2239, d2.loss_plan_l1_fix_time: 0.8007, d2.loss_plan_l1_fix_dist: 0.2161, d3.loss_plan_l1_fix_time: 0.7962, d3.loss_plan_l1_fix_dist: 0.2337, d4.loss_plan_l1_fix_time: 0.7979, d4.loss_plan_l1_fix_dist: 0.2200, d5.loss_plan_l1_fix_time: 0.8007, d5.loss_plan_l1_fix_dist: 0.2183, d6.loss_plan_l1_fix_time: 0.8033, d6.loss_plan_l1_fix_dist: 0.2469, d0.loss_cls_all: 0.1533, d0.loss_bbox_all: 0.3658, d0.loss_cls: 0.1533, d0.loss_bbox: 0.3658, d1.loss_cls: 0.1445, d1.loss_bbox: 0.3346, d2.loss_cls: 0.1302, d2.loss_bbox: 0.3158, d3.loss_cls: 0.1102, d3.loss_bbox: 0.3113, d4.loss_cls: 0.1056, d4.loss_bbox: 0.3094, d5.loss_cls: 0.1058, d5.loss_bbox: 0.3067, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7344, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6042, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5607, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5476, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5454, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5415, d0.loss_map_cls_all: 0.1748, d0.loss_map_pts_all: 1.1695, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1748, d0.loss_map_pts: 1.1695, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1494, d1.loss_map_pts: 0.8314, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1288, d2.loss_map_pts: 0.6470, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1186, d3.loss_map_pts: 0.5733, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1115, d4.loss_map_pts: 0.5525, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1084, d5.loss_map_pts: 0.5442, d5.loss_map_dir: 0.0072, loss: 24.2670, grad_norm: 148.3357 +2026-02-28 12:44:22,173 - DriveTransformer - INFO - Epoch [10][10050/39528] lr: 6.944e-05, eta: 4 days, 22:21:02, time: 0.736, data_time: 0.036, memory: 19865, loss_cls: 0.1151, loss_bbox: 0.3127, loss_traj: 0.5825, loss_traj_cls: 0.0019, loss_map_cls: 0.1181, loss_map_pts: 0.5771, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.7896, d0.loss_plan_l1_fix_dist: 0.4586, d1.loss_plan_l1_fix_time: 0.7844, d1.loss_plan_l1_fix_dist: 0.2307, d2.loss_plan_l1_fix_time: 0.7618, d2.loss_plan_l1_fix_dist: 0.2286, d3.loss_plan_l1_fix_time: 0.7564, d3.loss_plan_l1_fix_dist: 0.2635, d4.loss_plan_l1_fix_time: 0.7588, d4.loss_plan_l1_fix_dist: 0.2169, d5.loss_plan_l1_fix_time: 0.7619, d5.loss_plan_l1_fix_dist: 0.2261, d6.loss_plan_l1_fix_time: 0.7650, d6.loss_plan_l1_fix_dist: 0.2366, d0.loss_cls_all: 0.1594, d0.loss_bbox_all: 0.3787, d0.loss_cls: 0.1594, d0.loss_bbox: 0.3787, d1.loss_cls: 0.1580, d1.loss_bbox: 0.3459, d2.loss_cls: 0.1412, d2.loss_bbox: 0.3260, d3.loss_cls: 0.1198, d3.loss_bbox: 0.3164, d4.loss_cls: 0.1169, d4.loss_bbox: 0.3126, d5.loss_cls: 0.1140, d5.loss_bbox: 0.3128, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8028, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6359, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5966, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5937, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5875, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5825, d0.loss_map_cls_all: 0.2071, d0.loss_map_pts_all: 1.1764, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2071, d0.loss_map_pts: 1.1764, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1666, d1.loss_map_pts: 0.8517, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1438, d2.loss_map_pts: 0.6771, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1319, d3.loss_map_pts: 0.6094, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1255, d4.loss_map_pts: 0.5877, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1203, d5.loss_map_pts: 0.5808, d5.loss_map_dir: 0.0068, loss: 24.9058, grad_norm: 148.4106 +2026-02-28 12:44:59,859 - DriveTransformer - INFO - Epoch [10][10100/39528] lr: 6.944e-05, eta: 4 days, 22:20:31, time: 0.754, data_time: 0.039, memory: 19865, loss_cls: 0.1022, loss_bbox: 0.3168, loss_traj: 0.5977, loss_traj_cls: 0.0020, loss_map_cls: 0.1066, loss_map_pts: 0.5573, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.6736, d0.loss_plan_l1_fix_dist: 0.4036, d1.loss_plan_l1_fix_time: 0.8322, d1.loss_plan_l1_fix_dist: 0.2414, d2.loss_plan_l1_fix_time: 0.8183, d2.loss_plan_l1_fix_dist: 0.2320, d3.loss_plan_l1_fix_time: 0.8081, d3.loss_plan_l1_fix_dist: 0.2538, d4.loss_plan_l1_fix_time: 0.8086, d4.loss_plan_l1_fix_dist: 0.1983, d5.loss_plan_l1_fix_time: 0.8107, d5.loss_plan_l1_fix_dist: 0.2155, d6.loss_plan_l1_fix_time: 0.8135, d6.loss_plan_l1_fix_dist: 0.2162, d0.loss_cls_all: 0.1475, d0.loss_bbox_all: 0.3741, d0.loss_cls: 0.1475, d0.loss_bbox: 0.3741, d1.loss_cls: 0.1388, d1.loss_bbox: 0.3439, d2.loss_cls: 0.1270, d2.loss_bbox: 0.3246, d3.loss_cls: 0.1092, d3.loss_bbox: 0.3180, d4.loss_cls: 0.1035, d4.loss_bbox: 0.3180, d5.loss_cls: 0.1027, d5.loss_bbox: 0.3172, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8459, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6872, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6278, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6085, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6044, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5987, d0.loss_map_cls_all: 0.1855, d0.loss_map_pts_all: 1.1518, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1855, d0.loss_map_pts: 1.1518, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1522, d1.loss_map_pts: 0.8255, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1351, d2.loss_map_pts: 0.6454, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1235, d3.loss_map_pts: 0.5823, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1148, d4.loss_map_pts: 0.5654, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1094, d5.loss_map_pts: 0.5629, d5.loss_map_dir: 0.0068, loss: 24.7765, grad_norm: 146.8416 +2026-02-28 12:45:36,002 - DriveTransformer - INFO - Epoch [10][10150/39528] lr: 6.944e-05, eta: 4 days, 22:19:52, time: 0.723, data_time: 0.037, memory: 19865, loss_cls: 0.1035, loss_bbox: 0.3008, loss_traj: 0.4941, loss_traj_cls: 0.0019, loss_map_cls: 0.1254, loss_map_pts: 0.5967, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.8930, d0.loss_plan_l1_fix_dist: 0.3377, d1.loss_plan_l1_fix_time: 0.7530, d1.loss_plan_l1_fix_dist: 0.2361, d2.loss_plan_l1_fix_time: 0.7416, d2.loss_plan_l1_fix_dist: 0.2303, d3.loss_plan_l1_fix_time: 0.7417, d3.loss_plan_l1_fix_dist: 0.2478, d4.loss_plan_l1_fix_time: 0.7445, d4.loss_plan_l1_fix_dist: 0.1959, d5.loss_plan_l1_fix_time: 0.7474, d5.loss_plan_l1_fix_dist: 0.2125, d6.loss_plan_l1_fix_time: 0.7512, d6.loss_plan_l1_fix_dist: 0.2220, d0.loss_cls_all: 0.1536, d0.loss_bbox_all: 0.3570, d0.loss_cls: 0.1536, d0.loss_bbox: 0.3570, d1.loss_cls: 0.1399, d1.loss_bbox: 0.3270, d2.loss_cls: 0.1246, d2.loss_bbox: 0.3089, d3.loss_cls: 0.1076, d3.loss_bbox: 0.3026, d4.loss_cls: 0.1047, d4.loss_bbox: 0.3000, d5.loss_cls: 0.1028, d5.loss_bbox: 0.2995, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6769, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5646, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5194, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5076, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4967, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4945, d0.loss_map_cls_all: 0.2213, d0.loss_map_pts_all: 1.2090, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2213, d0.loss_map_pts: 1.2090, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1867, d1.loss_map_pts: 0.8755, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1577, d2.loss_map_pts: 0.6952, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1409, d3.loss_map_pts: 0.6318, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1336, d4.loss_map_pts: 0.6091, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1282, d5.loss_map_pts: 0.6048, d5.loss_map_dir: 0.0076, loss: 24.1644, grad_norm: 149.2699 +2026-02-28 12:46:11,844 - DriveTransformer - INFO - Epoch [10][10200/39528] lr: 6.944e-05, eta: 4 days, 22:19:13, time: 0.718, data_time: 0.040, memory: 19865, loss_cls: 0.1030, loss_bbox: 0.2985, loss_traj: 0.5459, loss_traj_cls: 0.0020, loss_map_cls: 0.1084, loss_map_pts: 0.5315, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.1230, d0.loss_plan_l1_fix_dist: 0.4200, d1.loss_plan_l1_fix_time: 0.7111, d1.loss_plan_l1_fix_dist: 0.2145, d2.loss_plan_l1_fix_time: 0.6904, d2.loss_plan_l1_fix_dist: 0.2164, d3.loss_plan_l1_fix_time: 0.6905, d3.loss_plan_l1_fix_dist: 0.2469, d4.loss_plan_l1_fix_time: 0.6944, d4.loss_plan_l1_fix_dist: 0.1953, d5.loss_plan_l1_fix_time: 0.6980, d5.loss_plan_l1_fix_dist: 0.2055, d6.loss_plan_l1_fix_time: 0.7025, d6.loss_plan_l1_fix_dist: 0.2234, d0.loss_cls_all: 0.1406, d0.loss_bbox_all: 0.3574, d0.loss_cls: 0.1406, d0.loss_bbox: 0.3574, d1.loss_cls: 0.1343, d1.loss_bbox: 0.3266, d2.loss_cls: 0.1225, d2.loss_bbox: 0.3040, d3.loss_cls: 0.1070, d3.loss_bbox: 0.2986, d4.loss_cls: 0.1037, d4.loss_bbox: 0.2961, d5.loss_cls: 0.1024, d5.loss_bbox: 0.2956, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7528, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5936, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5624, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5558, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5490, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5509, d0.loss_map_cls_all: 0.1936, d0.loss_map_pts_all: 1.0582, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1936, d0.loss_map_pts: 1.0582, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1538, d1.loss_map_pts: 0.7792, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1345, d2.loss_map_pts: 0.6258, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1234, d3.loss_map_pts: 0.5673, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1149, d4.loss_map_pts: 0.5523, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1108, d5.loss_map_pts: 0.5480, d5.loss_map_dir: 0.0066, loss: 22.5440, grad_norm: 154.6794 +2026-02-28 12:46:49,218 - DriveTransformer - INFO - Epoch [10][10250/39528] lr: 6.944e-05, eta: 4 days, 22:18:40, time: 0.746, data_time: 0.035, memory: 19865, loss_cls: 0.1057, loss_bbox: 0.3063, loss_traj: 0.4761, loss_traj_cls: 0.0019, loss_map_cls: 0.1154, loss_map_pts: 0.6144, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.5050, d0.loss_plan_l1_fix_dist: 0.4581, d1.loss_plan_l1_fix_time: 0.8417, d1.loss_plan_l1_fix_dist: 0.2349, d2.loss_plan_l1_fix_time: 0.8232, d2.loss_plan_l1_fix_dist: 0.2347, d3.loss_plan_l1_fix_time: 0.8206, d3.loss_plan_l1_fix_dist: 0.2519, d4.loss_plan_l1_fix_time: 0.8230, d4.loss_plan_l1_fix_dist: 0.2200, d5.loss_plan_l1_fix_time: 0.8252, d5.loss_plan_l1_fix_dist: 0.2097, d6.loss_plan_l1_fix_time: 0.8278, d6.loss_plan_l1_fix_dist: 0.2257, d0.loss_cls_all: 0.1416, d0.loss_bbox_all: 0.3654, d0.loss_cls: 0.1416, d0.loss_bbox: 0.3654, d1.loss_cls: 0.1349, d1.loss_bbox: 0.3375, d2.loss_cls: 0.1267, d2.loss_bbox: 0.3146, d3.loss_cls: 0.1101, d3.loss_bbox: 0.3125, d4.loss_cls: 0.1059, d4.loss_bbox: 0.3092, d5.loss_cls: 0.1058, d5.loss_bbox: 0.3065, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6971, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5385, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4902, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4853, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4790, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4802, d0.loss_map_cls_all: 0.1904, d0.loss_map_pts_all: 1.3011, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1904, d0.loss_map_pts: 1.3011, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1608, d1.loss_map_pts: 0.9258, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1402, d2.loss_map_pts: 0.7387, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1294, d3.loss_map_pts: 0.6632, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1226, d4.loss_map_pts: 0.6310, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1184, d5.loss_map_pts: 0.6243, d5.loss_map_dir: 0.0073, loss: 24.5695, grad_norm: 150.9066 +2026-02-28 12:47:28,156 - DriveTransformer - INFO - Epoch [10][10300/39528] lr: 6.944e-05, eta: 4 days, 22:18:14, time: 0.779, data_time: 0.038, memory: 19865, loss_cls: 0.0932, loss_bbox: 0.3066, loss_traj: 0.4319, loss_traj_cls: 0.0019, loss_map_cls: 0.1149, loss_map_pts: 0.6286, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.3025, d0.loss_plan_l1_fix_dist: 0.3948, d1.loss_plan_l1_fix_time: 0.8329, d1.loss_plan_l1_fix_dist: 0.2116, d2.loss_plan_l1_fix_time: 0.8093, d2.loss_plan_l1_fix_dist: 0.2254, d3.loss_plan_l1_fix_time: 0.7964, d3.loss_plan_l1_fix_dist: 0.2315, d4.loss_plan_l1_fix_time: 0.7980, d4.loss_plan_l1_fix_dist: 0.2180, d5.loss_plan_l1_fix_time: 0.8013, d5.loss_plan_l1_fix_dist: 0.2109, d6.loss_plan_l1_fix_time: 0.8052, d6.loss_plan_l1_fix_dist: 0.2094, d0.loss_cls_all: 0.1366, d0.loss_bbox_all: 0.3700, d0.loss_cls: 0.1366, d0.loss_bbox: 0.3700, d1.loss_cls: 0.1331, d1.loss_bbox: 0.3363, d2.loss_cls: 0.1234, d2.loss_bbox: 0.3131, d3.loss_cls: 0.1044, d3.loss_bbox: 0.3094, d4.loss_cls: 0.0967, d4.loss_bbox: 0.3073, d5.loss_cls: 0.0930, d5.loss_bbox: 0.3065, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6334, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4961, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4500, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4410, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4350, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4310, d0.loss_map_cls_all: 0.2034, d0.loss_map_pts_all: 1.3674, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2034, d0.loss_map_pts: 1.3674, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.1696, d1.loss_map_pts: 0.9644, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1437, d2.loss_map_pts: 0.7444, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1327, d3.loss_map_pts: 0.6680, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1234, d4.loss_map_pts: 0.6409, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1172, d5.loss_map_pts: 0.6357, d5.loss_map_dir: 0.0093, loss: 24.0086, grad_norm: 153.5263 +2026-02-28 12:48:04,624 - DriveTransformer - INFO - Epoch [10][10350/39528] lr: 6.944e-05, eta: 4 days, 22:17:37, time: 0.729, data_time: 0.036, memory: 19865, loss_cls: 0.1027, loss_bbox: 0.2903, loss_traj: 0.4573, loss_traj_cls: 0.0019, loss_map_cls: 0.1069, loss_map_pts: 0.5654, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.2333, d0.loss_plan_l1_fix_dist: 0.4180, d1.loss_plan_l1_fix_time: 0.7021, d1.loss_plan_l1_fix_dist: 0.1877, d2.loss_plan_l1_fix_time: 0.6885, d2.loss_plan_l1_fix_dist: 0.2192, d3.loss_plan_l1_fix_time: 0.6915, d3.loss_plan_l1_fix_dist: 0.2195, d4.loss_plan_l1_fix_time: 0.6955, d4.loss_plan_l1_fix_dist: 0.2067, d5.loss_plan_l1_fix_time: 0.7008, d5.loss_plan_l1_fix_dist: 0.2132, d6.loss_plan_l1_fix_time: 0.7067, d6.loss_plan_l1_fix_dist: 0.2056, d0.loss_cls_all: 0.1462, d0.loss_bbox_all: 0.3472, d0.loss_cls: 0.1462, d0.loss_bbox: 0.3472, d1.loss_cls: 0.1389, d1.loss_bbox: 0.3149, d2.loss_cls: 0.1256, d2.loss_bbox: 0.2959, d3.loss_cls: 0.1074, d3.loss_bbox: 0.2933, d4.loss_cls: 0.1031, d4.loss_bbox: 0.2907, d5.loss_cls: 0.1017, d5.loss_bbox: 0.2899, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6792, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5369, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4827, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4721, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4662, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4577, d0.loss_map_cls_all: 0.1845, d0.loss_map_pts_all: 1.1900, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1845, d0.loss_map_pts: 1.1900, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1498, d1.loss_map_pts: 0.8621, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1309, d2.loss_map_pts: 0.6772, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1205, d3.loss_map_pts: 0.6053, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1139, d4.loss_map_pts: 0.5732, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1093, d5.loss_map_pts: 0.5686, d5.loss_map_dir: 0.0068, loss: 22.4736, grad_norm: 153.6540 +2026-02-28 12:48:41,453 - DriveTransformer - INFO - Epoch [10][10400/39528] lr: 6.944e-05, eta: 4 days, 22:17:02, time: 0.737, data_time: 0.039, memory: 19865, loss_cls: 0.1073, loss_bbox: 0.3139, loss_traj: 0.5036, loss_traj_cls: 0.0018, loss_map_cls: 0.1088, loss_map_pts: 0.5526, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.2016, d0.loss_plan_l1_fix_dist: 0.3991, d1.loss_plan_l1_fix_time: 0.7241, d1.loss_plan_l1_fix_dist: 0.1646, d2.loss_plan_l1_fix_time: 0.7049, d2.loss_plan_l1_fix_dist: 0.2193, d3.loss_plan_l1_fix_time: 0.6987, d3.loss_plan_l1_fix_dist: 0.1940, d4.loss_plan_l1_fix_time: 0.6995, d4.loss_plan_l1_fix_dist: 0.1670, d5.loss_plan_l1_fix_time: 0.7019, d5.loss_plan_l1_fix_dist: 0.1592, d6.loss_plan_l1_fix_time: 0.7055, d6.loss_plan_l1_fix_dist: 0.1785, d0.loss_cls_all: 0.1471, d0.loss_bbox_all: 0.3727, d0.loss_cls: 0.1471, d0.loss_bbox: 0.3727, d1.loss_cls: 0.1426, d1.loss_bbox: 0.3398, d2.loss_cls: 0.1327, d2.loss_bbox: 0.3209, d3.loss_cls: 0.1163, d3.loss_bbox: 0.3146, d4.loss_cls: 0.1104, d4.loss_bbox: 0.3130, d5.loss_cls: 0.1071, d5.loss_bbox: 0.3125, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7329, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5917, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5368, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5120, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5053, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5031, d0.loss_map_cls_all: 0.2001, d0.loss_map_pts_all: 1.1669, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2001, d0.loss_map_pts: 1.1669, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1628, d1.loss_map_pts: 0.8366, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1354, d2.loss_map_pts: 0.6547, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1246, d3.loss_map_pts: 0.5897, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1170, d4.loss_map_pts: 0.5618, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1116, d5.loss_map_pts: 0.5525, d5.loss_map_dir: 0.0071, loss: 22.7778, grad_norm: 153.8857 +2026-02-28 12:49:15,884 - DriveTransformer - INFO - Epoch [10][10450/39528] lr: 6.944e-05, eta: 4 days, 22:16:15, time: 0.689, data_time: 0.038, memory: 19865, loss_cls: 0.1180, loss_bbox: 0.3118, loss_traj: 0.5759, loss_traj_cls: 0.0018, loss_map_cls: 0.1091, loss_map_pts: 0.4895, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.6553, d0.loss_plan_l1_fix_dist: 0.4619, d1.loss_plan_l1_fix_time: 0.7664, d1.loss_plan_l1_fix_dist: 0.1974, d2.loss_plan_l1_fix_time: 0.7557, d2.loss_plan_l1_fix_dist: 0.2291, d3.loss_plan_l1_fix_time: 0.7560, d3.loss_plan_l1_fix_dist: 0.2013, d4.loss_plan_l1_fix_time: 0.7585, d4.loss_plan_l1_fix_dist: 0.1966, d5.loss_plan_l1_fix_time: 0.7604, d5.loss_plan_l1_fix_dist: 0.2076, d6.loss_plan_l1_fix_time: 0.7629, d6.loss_plan_l1_fix_dist: 0.2284, d0.loss_cls_all: 0.1531, d0.loss_bbox_all: 0.3675, d0.loss_cls: 0.1531, d0.loss_bbox: 0.3675, d1.loss_cls: 0.1471, d1.loss_bbox: 0.3343, d2.loss_cls: 0.1353, d2.loss_bbox: 0.3126, d3.loss_cls: 0.1222, d3.loss_bbox: 0.3077, d4.loss_cls: 0.1195, d4.loss_bbox: 0.3063, d5.loss_cls: 0.1171, d5.loss_bbox: 0.3096, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8759, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6799, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6189, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5970, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5860, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5789, d0.loss_map_cls_all: 0.1835, d0.loss_map_pts_all: 1.0116, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1835, d0.loss_map_pts: 1.0116, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1585, d1.loss_map_pts: 0.7357, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1409, d2.loss_map_pts: 0.5774, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1266, d3.loss_map_pts: 0.5137, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1196, d4.loss_map_pts: 0.4909, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.1131, d5.loss_map_pts: 0.4862, d5.loss_map_dir: 0.0053, loss: 23.6332, grad_norm: 153.2463 +2026-02-28 12:49:52,452 - DriveTransformer - INFO - Epoch [10][10500/39528] lr: 6.944e-05, eta: 4 days, 22:15:39, time: 0.731, data_time: 0.039, memory: 19865, loss_cls: 0.1100, loss_bbox: 0.3083, loss_traj: 0.5883, loss_traj_cls: 0.0019, loss_map_cls: 0.1346, loss_map_pts: 0.5916, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 3.0370, d0.loss_plan_l1_fix_dist: 0.4427, d1.loss_plan_l1_fix_time: 0.8231, d1.loss_plan_l1_fix_dist: 0.2168, d2.loss_plan_l1_fix_time: 0.8190, d2.loss_plan_l1_fix_dist: 0.2402, d3.loss_plan_l1_fix_time: 0.8192, d3.loss_plan_l1_fix_dist: 0.1927, d4.loss_plan_l1_fix_time: 0.8221, d4.loss_plan_l1_fix_dist: 0.1783, d5.loss_plan_l1_fix_time: 0.8246, d5.loss_plan_l1_fix_dist: 0.1855, d6.loss_plan_l1_fix_time: 0.8273, d6.loss_plan_l1_fix_dist: 0.1958, d0.loss_cls_all: 0.1600, d0.loss_bbox_all: 0.3672, d0.loss_cls: 0.1600, d0.loss_bbox: 0.3672, d1.loss_cls: 0.1521, d1.loss_bbox: 0.3331, d2.loss_cls: 0.1379, d2.loss_bbox: 0.3139, d3.loss_cls: 0.1191, d3.loss_bbox: 0.3080, d4.loss_cls: 0.1134, d4.loss_bbox: 0.3045, d5.loss_cls: 0.1104, d5.loss_bbox: 0.3054, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8907, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6864, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6168, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5979, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5897, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5856, d0.loss_map_cls_all: 0.2060, d0.loss_map_pts_all: 1.1381, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.2060, d0.loss_map_pts: 1.1381, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1788, d1.loss_map_pts: 0.8442, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1590, d2.loss_map_pts: 0.6849, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1495, d3.loss_map_pts: 0.6257, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1427, d4.loss_map_pts: 0.6042, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1363, d5.loss_map_pts: 0.5939, d5.loss_map_dir: 0.0061, loss: 25.4384, grad_norm: 152.1596 +2026-02-28 12:50:29,548 - DriveTransformer - INFO - Epoch [10][10550/39528] lr: 6.944e-05, eta: 4 days, 22:15:05, time: 0.742, data_time: 0.038, memory: 19865, loss_cls: 0.1097, loss_bbox: 0.3181, loss_traj: 0.5015, loss_traj_cls: 0.0019, loss_map_cls: 0.1177, loss_map_pts: 0.6057, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.5188, d0.loss_plan_l1_fix_dist: 0.4375, d1.loss_plan_l1_fix_time: 0.8115, d1.loss_plan_l1_fix_dist: 0.2482, d2.loss_plan_l1_fix_time: 0.8025, d2.loss_plan_l1_fix_dist: 0.2686, d3.loss_plan_l1_fix_time: 0.7934, d3.loss_plan_l1_fix_dist: 0.2060, d4.loss_plan_l1_fix_time: 0.7939, d4.loss_plan_l1_fix_dist: 0.1873, d5.loss_plan_l1_fix_time: 0.7954, d5.loss_plan_l1_fix_dist: 0.2028, d6.loss_plan_l1_fix_time: 0.7974, d6.loss_plan_l1_fix_dist: 0.2117, d0.loss_cls_all: 0.1564, d0.loss_bbox_all: 0.3748, d0.loss_cls: 0.1564, d0.loss_bbox: 0.3748, d1.loss_cls: 0.1496, d1.loss_bbox: 0.3424, d2.loss_cls: 0.1372, d2.loss_bbox: 0.3276, d3.loss_cls: 0.1162, d3.loss_bbox: 0.3248, d4.loss_cls: 0.1123, d4.loss_bbox: 0.3187, d5.loss_cls: 0.1106, d5.loss_bbox: 0.3169, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7303, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5784, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5331, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5085, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5055, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5042, d0.loss_map_cls_all: 0.1876, d0.loss_map_pts_all: 1.2241, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1876, d0.loss_map_pts: 1.2241, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1648, d1.loss_map_pts: 0.8649, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1441, d2.loss_map_pts: 0.6946, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1326, d3.loss_map_pts: 0.6388, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1257, d4.loss_map_pts: 0.6164, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1208, d5.loss_map_pts: 0.6114, d5.loss_map_dir: 0.0075, loss: 24.4103, grad_norm: 152.9879 +2026-02-28 12:51:06,594 - DriveTransformer - INFO - Epoch [10][10600/39528] lr: 6.944e-05, eta: 4 days, 22:14:31, time: 0.741, data_time: 0.039, memory: 19865, loss_cls: 0.1262, loss_bbox: 0.3317, loss_traj: 0.6522, loss_traj_cls: 0.0019, loss_map_cls: 0.1239, loss_map_pts: 0.6306, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.6718, d0.loss_plan_l1_fix_dist: 0.4970, d1.loss_plan_l1_fix_time: 0.8890, d1.loss_plan_l1_fix_dist: 0.2935, d2.loss_plan_l1_fix_time: 0.8855, d2.loss_plan_l1_fix_dist: 0.2494, d3.loss_plan_l1_fix_time: 0.8746, d3.loss_plan_l1_fix_dist: 0.2322, d4.loss_plan_l1_fix_time: 0.8759, d4.loss_plan_l1_fix_dist: 0.2127, d5.loss_plan_l1_fix_time: 0.8782, d5.loss_plan_l1_fix_dist: 0.2241, d6.loss_plan_l1_fix_time: 0.8806, d6.loss_plan_l1_fix_dist: 0.2259, d0.loss_cls_all: 0.1717, d0.loss_bbox_all: 0.4034, d0.loss_cls: 0.1717, d0.loss_bbox: 0.4034, d1.loss_cls: 0.1686, d1.loss_bbox: 0.3660, d2.loss_cls: 0.1539, d2.loss_bbox: 0.3414, d3.loss_cls: 0.1360, d3.loss_bbox: 0.3340, d4.loss_cls: 0.1275, d4.loss_bbox: 0.3316, d5.loss_cls: 0.1266, d5.loss_bbox: 0.3308, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9462, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7524, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6973, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6716, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6617, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6570, d0.loss_map_cls_all: 0.2181, d0.loss_map_pts_all: 1.2849, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2181, d0.loss_map_pts: 1.2849, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1785, d1.loss_map_pts: 0.9409, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1518, d2.loss_map_pts: 0.7480, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1396, d3.loss_map_pts: 0.6737, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1320, d4.loss_map_pts: 0.6480, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1261, d5.loss_map_pts: 0.6379, d5.loss_map_dir: 0.0076, loss: 27.1556, grad_norm: 151.0568 +2026-02-28 12:51:43,199 - DriveTransformer - INFO - Epoch [10][10650/39528] lr: 6.944e-05, eta: 4 days, 22:13:54, time: 0.732, data_time: 0.041, memory: 19865, loss_cls: 0.1365, loss_bbox: 0.3308, loss_traj: 0.4514, loss_traj_cls: 0.0019, loss_map_cls: 0.1367, loss_map_pts: 0.6237, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.7520, d0.loss_plan_l1_fix_dist: 0.4574, d1.loss_plan_l1_fix_time: 0.8968, d1.loss_plan_l1_fix_dist: 0.3067, d2.loss_plan_l1_fix_time: 0.8975, d2.loss_plan_l1_fix_dist: 0.2241, d3.loss_plan_l1_fix_time: 0.8991, d3.loss_plan_l1_fix_dist: 0.2303, d4.loss_plan_l1_fix_time: 0.9015, d4.loss_plan_l1_fix_dist: 0.2067, d5.loss_plan_l1_fix_time: 0.9042, d5.loss_plan_l1_fix_dist: 0.2116, d6.loss_plan_l1_fix_time: 0.9066, d6.loss_plan_l1_fix_dist: 0.2152, d0.loss_cls_all: 0.1822, d0.loss_bbox_all: 0.4019, d0.loss_cls: 0.1822, d0.loss_bbox: 0.4019, d1.loss_cls: 0.1781, d1.loss_bbox: 0.3624, d2.loss_cls: 0.1635, d2.loss_bbox: 0.3392, d3.loss_cls: 0.1411, d3.loss_bbox: 0.3368, d4.loss_cls: 0.1357, d4.loss_bbox: 0.3310, d5.loss_cls: 0.1365, d5.loss_bbox: 0.3297, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6835, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5346, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4788, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4617, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4591, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4530, d0.loss_map_cls_all: 0.2121, d0.loss_map_pts_all: 1.2881, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2121, d0.loss_map_pts: 1.2881, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1822, d1.loss_map_pts: 0.9391, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1596, d2.loss_map_pts: 0.7431, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1501, d3.loss_map_pts: 0.6647, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1435, d4.loss_map_pts: 0.6365, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1376, d5.loss_map_pts: 0.6298, d5.loss_map_dir: 0.0074, loss: 25.8329, grad_norm: 144.4275 +2026-02-28 12:52:21,340 - DriveTransformer - INFO - Epoch [10][10700/39528] lr: 6.944e-05, eta: 4 days, 22:13:25, time: 0.763, data_time: 0.037, memory: 19865, loss_cls: 0.1168, loss_bbox: 0.3127, loss_traj: 0.4116, loss_traj_cls: 0.0019, loss_map_cls: 0.1248, loss_map_pts: 0.6187, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 3.2971, d0.loss_plan_l1_fix_dist: 0.4922, d1.loss_plan_l1_fix_time: 0.8115, d1.loss_plan_l1_fix_dist: 0.3036, d2.loss_plan_l1_fix_time: 0.7990, d2.loss_plan_l1_fix_dist: 0.2184, d3.loss_plan_l1_fix_time: 0.8046, d3.loss_plan_l1_fix_dist: 0.2481, d4.loss_plan_l1_fix_time: 0.8071, d4.loss_plan_l1_fix_dist: 0.2215, d5.loss_plan_l1_fix_time: 0.8090, d5.loss_plan_l1_fix_dist: 0.2253, d6.loss_plan_l1_fix_time: 0.8115, d6.loss_plan_l1_fix_dist: 0.2280, d0.loss_cls_all: 0.1662, d0.loss_bbox_all: 0.3889, d0.loss_cls: 0.1662, d0.loss_bbox: 0.3889, d1.loss_cls: 0.1643, d1.loss_bbox: 0.3532, d2.loss_cls: 0.1419, d2.loss_bbox: 0.3273, d3.loss_cls: 0.1245, d3.loss_bbox: 0.3199, d4.loss_cls: 0.1160, d4.loss_bbox: 0.3172, d5.loss_cls: 0.1173, d5.loss_bbox: 0.3132, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5931, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4674, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4300, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4183, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4117, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4086, d0.loss_map_cls_all: 0.2051, d0.loss_map_pts_all: 1.3320, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2051, d0.loss_map_pts: 1.3320, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1702, d1.loss_map_pts: 0.9326, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1483, d2.loss_map_pts: 0.7236, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1381, d3.loss_map_pts: 0.6523, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1316, d4.loss_map_pts: 0.6265, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1276, d5.loss_map_pts: 0.6201, d5.loss_map_dir: 0.0093, loss: 25.2191, grad_norm: 158.5012 +2026-02-28 12:52:58,425 - DriveTransformer - INFO - Epoch [10][10750/39528] lr: 6.944e-05, eta: 4 days, 22:12:51, time: 0.742, data_time: 0.036, memory: 19865, loss_cls: 0.1126, loss_bbox: 0.3236, loss_traj: 0.5757, loss_traj_cls: 0.0019, loss_map_cls: 0.1126, loss_map_pts: 0.5756, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.6832, d0.loss_plan_l1_fix_dist: 0.4023, d1.loss_plan_l1_fix_time: 0.9326, d1.loss_plan_l1_fix_dist: 0.3028, d2.loss_plan_l1_fix_time: 0.9138, d2.loss_plan_l1_fix_dist: 0.2181, d3.loss_plan_l1_fix_time: 0.9141, d3.loss_plan_l1_fix_dist: 0.2541, d4.loss_plan_l1_fix_time: 0.9158, d4.loss_plan_l1_fix_dist: 0.2041, d5.loss_plan_l1_fix_time: 0.9176, d5.loss_plan_l1_fix_dist: 0.2042, d6.loss_plan_l1_fix_time: 0.9200, d6.loss_plan_l1_fix_dist: 0.2128, d0.loss_cls_all: 0.1603, d0.loss_bbox_all: 0.3850, d0.loss_cls: 0.1603, d0.loss_bbox: 0.3850, d1.loss_cls: 0.1521, d1.loss_bbox: 0.3512, d2.loss_cls: 0.1402, d2.loss_bbox: 0.3279, d3.loss_cls: 0.1233, d3.loss_bbox: 0.3231, d4.loss_cls: 0.1156, d4.loss_bbox: 0.3229, d5.loss_cls: 0.1127, d5.loss_bbox: 0.3222, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8027, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6494, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5955, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5828, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5746, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5814, d0.loss_map_cls_all: 0.1964, d0.loss_map_pts_all: 1.1697, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1964, d0.loss_map_pts: 1.1697, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1598, d1.loss_map_pts: 0.8280, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1364, d2.loss_map_pts: 0.6640, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1280, d3.loss_map_pts: 0.6054, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1195, d4.loss_map_pts: 0.5817, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1149, d5.loss_map_pts: 0.5755, d5.loss_map_dir: 0.0079, loss: 25.5777, grad_norm: 155.5834 +2026-02-28 12:53:35,029 - DriveTransformer - INFO - Epoch [10][10800/39528] lr: 6.944e-05, eta: 4 days, 22:12:14, time: 0.732, data_time: 0.039, memory: 19865, loss_cls: 0.0964, loss_bbox: 0.2888, loss_traj: 0.5270, loss_traj_cls: 0.0019, loss_map_cls: 0.0988, loss_map_pts: 0.4859, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.5863, d0.loss_plan_l1_fix_dist: 0.4830, d1.loss_plan_l1_fix_time: 0.7360, d1.loss_plan_l1_fix_dist: 0.3067, d2.loss_plan_l1_fix_time: 0.7222, d2.loss_plan_l1_fix_dist: 0.2583, d3.loss_plan_l1_fix_time: 0.7232, d3.loss_plan_l1_fix_dist: 0.2998, d4.loss_plan_l1_fix_time: 0.7246, d4.loss_plan_l1_fix_dist: 0.2028, d5.loss_plan_l1_fix_time: 0.7266, d5.loss_plan_l1_fix_dist: 0.2055, d6.loss_plan_l1_fix_time: 0.7292, d6.loss_plan_l1_fix_dist: 0.2276, d0.loss_cls_all: 0.1331, d0.loss_bbox_all: 0.3444, d0.loss_cls: 0.1331, d0.loss_bbox: 0.3444, d1.loss_cls: 0.1290, d1.loss_bbox: 0.3125, d2.loss_cls: 0.1171, d2.loss_bbox: 0.2958, d3.loss_cls: 0.1037, d3.loss_bbox: 0.2903, d4.loss_cls: 0.0980, d4.loss_bbox: 0.2884, d5.loss_cls: 0.0961, d5.loss_bbox: 0.2882, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7628, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6007, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5491, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5342, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5295, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5297, d0.loss_map_cls_all: 0.1695, d0.loss_map_pts_all: 0.9632, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1695, d0.loss_map_pts: 0.9632, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1406, d1.loss_map_pts: 0.7156, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1208, d2.loss_map_pts: 0.5707, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1111, d3.loss_map_pts: 0.5159, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1043, d4.loss_map_pts: 0.4939, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0988, d5.loss_map_pts: 0.4872, d5.loss_map_dir: 0.0058, loss: 22.5843, grad_norm: 156.7158 +2026-02-28 12:54:11,682 - DriveTransformer - INFO - Epoch [10][10850/39528] lr: 6.944e-05, eta: 4 days, 22:11:38, time: 0.733, data_time: 0.038, memory: 19865, loss_cls: 0.1002, loss_bbox: 0.2928, loss_traj: 0.5082, loss_traj_cls: 0.0019, loss_map_cls: 0.0982, loss_map_pts: 0.5160, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.4437, d0.loss_plan_l1_fix_dist: 0.5368, d1.loss_plan_l1_fix_time: 0.7239, d1.loss_plan_l1_fix_dist: 0.2895, d2.loss_plan_l1_fix_time: 0.7096, d2.loss_plan_l1_fix_dist: 0.2618, d3.loss_plan_l1_fix_time: 0.7118, d3.loss_plan_l1_fix_dist: 0.2930, d4.loss_plan_l1_fix_time: 0.7136, d4.loss_plan_l1_fix_dist: 0.2142, d5.loss_plan_l1_fix_time: 0.7157, d5.loss_plan_l1_fix_dist: 0.2185, d6.loss_plan_l1_fix_time: 0.7180, d6.loss_plan_l1_fix_dist: 0.2198, d0.loss_cls_all: 0.1413, d0.loss_bbox_all: 0.3488, d0.loss_cls: 0.1413, d0.loss_bbox: 0.3488, d1.loss_cls: 0.1392, d1.loss_bbox: 0.3136, d2.loss_cls: 0.1249, d2.loss_bbox: 0.2957, d3.loss_cls: 0.1087, d3.loss_bbox: 0.2899, d4.loss_cls: 0.1024, d4.loss_bbox: 0.2897, d5.loss_cls: 0.0993, d5.loss_bbox: 0.2918, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7490, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5799, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5341, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5248, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5155, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5115, d0.loss_map_cls_all: 0.1700, d0.loss_map_pts_all: 1.0882, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1700, d0.loss_map_pts: 1.0882, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1403, d1.loss_map_pts: 0.7631, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1209, d2.loss_map_pts: 0.6060, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1107, d3.loss_map_pts: 0.5504, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1041, d4.loss_map_pts: 0.5285, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0999, d5.loss_map_pts: 0.5207, d5.loss_map_dir: 0.0066, loss: 22.8550, grad_norm: 158.0322 +2026-02-28 12:54:48,341 - DriveTransformer - INFO - Epoch [10][10900/39528] lr: 6.944e-05, eta: 4 days, 22:11:02, time: 0.733, data_time: 0.038, memory: 19865, loss_cls: 0.1131, loss_bbox: 0.3133, loss_traj: 0.4782, loss_traj_cls: 0.0018, loss_map_cls: 0.1073, loss_map_pts: 0.5469, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.4938, d0.loss_plan_l1_fix_dist: 0.4398, d1.loss_plan_l1_fix_time: 0.8355, d1.loss_plan_l1_fix_dist: 0.2600, d2.loss_plan_l1_fix_time: 0.8221, d2.loss_plan_l1_fix_dist: 0.2196, d3.loss_plan_l1_fix_time: 0.8166, d3.loss_plan_l1_fix_dist: 0.2481, d4.loss_plan_l1_fix_time: 0.8181, d4.loss_plan_l1_fix_dist: 0.1915, d5.loss_plan_l1_fix_time: 0.8194, d5.loss_plan_l1_fix_dist: 0.1973, d6.loss_plan_l1_fix_time: 0.8211, d6.loss_plan_l1_fix_dist: 0.1958, d0.loss_cls_all: 0.1589, d0.loss_bbox_all: 0.3764, d0.loss_cls: 0.1589, d0.loss_bbox: 0.3764, d1.loss_cls: 0.1562, d1.loss_bbox: 0.3464, d2.loss_cls: 0.1363, d2.loss_bbox: 0.3264, d3.loss_cls: 0.1192, d3.loss_bbox: 0.3196, d4.loss_cls: 0.1140, d4.loss_bbox: 0.3153, d5.loss_cls: 0.1138, d5.loss_bbox: 0.3134, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7157, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5325, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4956, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4793, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4755, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4768, d0.loss_map_cls_all: 0.1913, d0.loss_map_pts_all: 1.1467, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1913, d0.loss_map_pts: 1.1467, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1603, d1.loss_map_pts: 0.8179, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1354, d2.loss_map_pts: 0.6418, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1225, d3.loss_map_pts: 0.5753, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1146, d4.loss_map_pts: 0.5531, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1096, d5.loss_map_pts: 0.5478, d5.loss_map_dir: 0.0065, loss: 23.7558, grad_norm: 158.5630 +2026-02-28 12:55:24,770 - DriveTransformer - INFO - Epoch [10][10950/39528] lr: 6.944e-05, eta: 4 days, 22:10:25, time: 0.729, data_time: 0.036, memory: 19865, loss_cls: 0.1379, loss_bbox: 0.3344, loss_traj: 0.4707, loss_traj_cls: 0.0018, loss_map_cls: 0.1439, loss_map_pts: 0.6890, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.7584, d0.loss_plan_l1_fix_dist: 0.3966, d1.loss_plan_l1_fix_time: 0.8187, d1.loss_plan_l1_fix_dist: 0.2437, d2.loss_plan_l1_fix_time: 0.8072, d2.loss_plan_l1_fix_dist: 0.2205, d3.loss_plan_l1_fix_time: 0.8018, d3.loss_plan_l1_fix_dist: 0.2317, d4.loss_plan_l1_fix_time: 0.8037, d4.loss_plan_l1_fix_dist: 0.1799, d5.loss_plan_l1_fix_time: 0.8055, d5.loss_plan_l1_fix_dist: 0.1867, d6.loss_plan_l1_fix_time: 0.8082, d6.loss_plan_l1_fix_dist: 0.2021, d0.loss_cls_all: 0.1926, d0.loss_bbox_all: 0.4106, d0.loss_cls: 0.1926, d0.loss_bbox: 0.4106, d1.loss_cls: 0.1829, d1.loss_bbox: 0.3728, d2.loss_cls: 0.1651, d2.loss_bbox: 0.3489, d3.loss_cls: 0.1462, d3.loss_bbox: 0.3414, d4.loss_cls: 0.1401, d4.loss_bbox: 0.3371, d5.loss_cls: 0.1378, d5.loss_bbox: 0.3347, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6964, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5569, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4929, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4802, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4726, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4722, d0.loss_map_cls_all: 0.2309, d0.loss_map_pts_all: 1.3504, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2309, d0.loss_map_pts: 1.3504, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1954, d1.loss_map_pts: 0.9950, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1750, d2.loss_map_pts: 0.8048, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1612, d3.loss_map_pts: 0.7291, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1520, d4.loss_map_pts: 0.7000, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1474, d5.loss_map_pts: 0.6912, d5.loss_map_dir: 0.0087, loss: 25.9101, grad_norm: 156.3843 +2026-02-28 12:55:59,917 - DriveTransformer - INFO - Epoch [10][11000/39528] lr: 6.944e-05, eta: 4 days, 22:09:43, time: 0.704, data_time: 0.039, memory: 19865, loss_cls: 0.1212, loss_bbox: 0.3046, loss_traj: 0.6389, loss_traj_cls: 0.0017, loss_map_cls: 0.0883, loss_map_pts: 0.4967, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.5429, d0.loss_plan_l1_fix_dist: 0.4219, d1.loss_plan_l1_fix_time: 0.7381, d1.loss_plan_l1_fix_dist: 0.2270, d2.loss_plan_l1_fix_time: 0.7093, d2.loss_plan_l1_fix_dist: 0.2224, d3.loss_plan_l1_fix_time: 0.7061, d3.loss_plan_l1_fix_dist: 0.2163, d4.loss_plan_l1_fix_time: 0.7071, d4.loss_plan_l1_fix_dist: 0.1743, d5.loss_plan_l1_fix_time: 0.7090, d5.loss_plan_l1_fix_dist: 0.1866, d6.loss_plan_l1_fix_time: 0.7114, d6.loss_plan_l1_fix_dist: 0.2061, d0.loss_cls_all: 0.1535, d0.loss_bbox_all: 0.3688, d0.loss_cls: 0.1535, d0.loss_bbox: 0.3688, d1.loss_cls: 0.1512, d1.loss_bbox: 0.3391, d2.loss_cls: 0.1394, d2.loss_bbox: 0.3153, d3.loss_cls: 0.1244, d3.loss_bbox: 0.3038, d4.loss_cls: 0.1212, d4.loss_bbox: 0.3026, d5.loss_cls: 0.1213, d5.loss_bbox: 0.3018, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8798, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7156, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6733, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6502, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6448, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6412, d0.loss_map_cls_all: 0.1686, d0.loss_map_pts_all: 1.0480, d0.loss_map_dir_all: 0.0049, d0.loss_map_cls: 0.1686, d0.loss_map_pts: 1.0480, d0.loss_map_dir: 0.0049, d1.loss_map_cls: 0.1372, d1.loss_map_pts: 0.7532, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1145, d2.loss_map_pts: 0.5873, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1014, d3.loss_map_pts: 0.5253, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0948, d4.loss_map_pts: 0.5034, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0906, d5.loss_map_pts: 0.4987, d5.loss_map_dir: 0.0054, loss: 23.4845, grad_norm: 156.6483 +2026-02-28 12:56:36,968 - DriveTransformer - INFO - Epoch [10][11050/39528] lr: 6.944e-05, eta: 4 days, 22:09:08, time: 0.740, data_time: 0.035, memory: 19865, loss_cls: 0.1030, loss_bbox: 0.2933, loss_traj: 0.4133, loss_traj_cls: 0.0018, loss_map_cls: 0.0782, loss_map_pts: 0.4525, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.0139, d0.loss_plan_l1_fix_dist: 0.5002, d1.loss_plan_l1_fix_time: 0.7402, d1.loss_plan_l1_fix_dist: 0.2079, d2.loss_plan_l1_fix_time: 0.7186, d2.loss_plan_l1_fix_dist: 0.2254, d3.loss_plan_l1_fix_time: 0.7105, d3.loss_plan_l1_fix_dist: 0.1851, d4.loss_plan_l1_fix_time: 0.7104, d4.loss_plan_l1_fix_dist: 0.1686, d5.loss_plan_l1_fix_time: 0.7118, d5.loss_plan_l1_fix_dist: 0.1712, d6.loss_plan_l1_fix_time: 0.7140, d6.loss_plan_l1_fix_dist: 0.1771, d0.loss_cls_all: 0.1389, d0.loss_bbox_all: 0.3479, d0.loss_cls: 0.1389, d0.loss_bbox: 0.3479, d1.loss_cls: 0.1358, d1.loss_bbox: 0.3157, d2.loss_cls: 0.1261, d2.loss_bbox: 0.2963, d3.loss_cls: 0.1096, d3.loss_bbox: 0.2946, d4.loss_cls: 0.1048, d4.loss_bbox: 0.2929, d5.loss_cls: 0.1032, d5.loss_bbox: 0.2916, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5758, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4693, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4315, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4164, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4156, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4079, d0.loss_map_cls_all: 0.1497, d0.loss_map_pts_all: 0.9703, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1497, d0.loss_map_pts: 0.9703, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1196, d1.loss_map_pts: 0.6647, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1016, d2.loss_map_pts: 0.5224, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.0911, d3.loss_map_pts: 0.4743, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.0853, d4.loss_map_pts: 0.4559, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.0801, d5.loss_map_pts: 0.4523, d5.loss_map_dir: 0.0066, loss: 20.4009, grad_norm: 155.8210 +2026-02-28 12:57:14,078 - DriveTransformer - INFO - Epoch [10][11100/39528] lr: 6.944e-05, eta: 4 days, 22:08:34, time: 0.742, data_time: 0.039, memory: 19865, loss_cls: 0.1110, loss_bbox: 0.3288, loss_traj: 0.5172, loss_traj_cls: 0.0018, loss_map_cls: 0.1342, loss_map_pts: 0.6304, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.9305, d0.loss_plan_l1_fix_dist: 0.4916, d1.loss_plan_l1_fix_time: 0.9092, d1.loss_plan_l1_fix_dist: 0.2094, d2.loss_plan_l1_fix_time: 0.8871, d2.loss_plan_l1_fix_dist: 0.2525, d3.loss_plan_l1_fix_time: 0.8717, d3.loss_plan_l1_fix_dist: 0.2020, d4.loss_plan_l1_fix_time: 0.8723, d4.loss_plan_l1_fix_dist: 0.2021, d5.loss_plan_l1_fix_time: 0.8736, d5.loss_plan_l1_fix_dist: 0.2028, d6.loss_plan_l1_fix_time: 0.8753, d6.loss_plan_l1_fix_dist: 0.2094, d0.loss_cls_all: 0.1570, d0.loss_bbox_all: 0.3890, d0.loss_cls: 0.1570, d0.loss_bbox: 0.3890, d1.loss_cls: 0.1508, d1.loss_bbox: 0.3541, d2.loss_cls: 0.1382, d2.loss_bbox: 0.3352, d3.loss_cls: 0.1191, d3.loss_bbox: 0.3300, d4.loss_cls: 0.1114, d4.loss_bbox: 0.3296, d5.loss_cls: 0.1107, d5.loss_bbox: 0.3283, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7625, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6065, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5453, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5181, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5191, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5164, d0.loss_map_cls_all: 0.2245, d0.loss_map_pts_all: 1.2491, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2245, d0.loss_map_pts: 1.2491, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1909, d1.loss_map_pts: 0.9146, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1647, d2.loss_map_pts: 0.7298, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1509, d3.loss_map_pts: 0.6646, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1424, d4.loss_map_pts: 0.6359, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1366, d5.loss_map_pts: 0.6317, d5.loss_map_dir: 0.0076, loss: 25.9527, grad_norm: 156.1325 +2026-02-28 12:57:49,250 - DriveTransformer - INFO - Epoch [10][11150/39528] lr: 6.944e-05, eta: 4 days, 22:07:51, time: 0.703, data_time: 0.040, memory: 19865, loss_cls: 0.1404, loss_bbox: 0.3182, loss_traj: 0.5227, loss_traj_cls: 0.0018, loss_map_cls: 0.1154, loss_map_pts: 0.5174, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.5213, d0.loss_plan_l1_fix_dist: 0.4379, d1.loss_plan_l1_fix_time: 0.8561, d1.loss_plan_l1_fix_dist: 0.1810, d2.loss_plan_l1_fix_time: 0.8297, d2.loss_plan_l1_fix_dist: 0.2223, d3.loss_plan_l1_fix_time: 0.8217, d3.loss_plan_l1_fix_dist: 0.1688, d4.loss_plan_l1_fix_time: 0.8224, d4.loss_plan_l1_fix_dist: 0.1799, d5.loss_plan_l1_fix_time: 0.8235, d5.loss_plan_l1_fix_dist: 0.1862, d6.loss_plan_l1_fix_time: 0.8246, d6.loss_plan_l1_fix_dist: 0.1938, d0.loss_cls_all: 0.1767, d0.loss_bbox_all: 0.3847, d0.loss_cls: 0.1767, d0.loss_bbox: 0.3847, d1.loss_cls: 0.1686, d1.loss_bbox: 0.3490, d2.loss_cls: 0.1590, d2.loss_bbox: 0.3289, d3.loss_cls: 0.1466, d3.loss_bbox: 0.3241, d4.loss_cls: 0.1398, d4.loss_bbox: 0.3201, d5.loss_cls: 0.1385, d5.loss_bbox: 0.3180, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8139, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6085, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5594, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5425, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5303, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5265, d0.loss_map_cls_all: 0.1999, d0.loss_map_pts_all: 1.0840, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1999, d0.loss_map_pts: 1.0840, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1715, d1.loss_map_pts: 0.7689, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1437, d2.loss_map_pts: 0.6073, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1319, d3.loss_map_pts: 0.5479, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1250, d4.loss_map_pts: 0.5237, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1188, d5.loss_map_pts: 0.5175, d5.loss_map_dir: 0.0058, loss: 24.0556, grad_norm: 159.5959 +2026-02-28 12:58:25,636 - DriveTransformer - INFO - Epoch [10][11200/39528] lr: 6.944e-05, eta: 4 days, 22:07:14, time: 0.728, data_time: 0.041, memory: 19865, loss_cls: 0.1140, loss_bbox: 0.3076, loss_traj: 0.6179, loss_traj_cls: 0.0018, loss_map_cls: 0.0997, loss_map_pts: 0.4889, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.6053, d0.loss_plan_l1_fix_dist: 0.4081, d1.loss_plan_l1_fix_time: 0.8593, d1.loss_plan_l1_fix_dist: 0.2035, d2.loss_plan_l1_fix_time: 0.8467, d2.loss_plan_l1_fix_dist: 0.2166, d3.loss_plan_l1_fix_time: 0.8343, d3.loss_plan_l1_fix_dist: 0.1784, d4.loss_plan_l1_fix_time: 0.8348, d4.loss_plan_l1_fix_dist: 0.1863, d5.loss_plan_l1_fix_time: 0.8365, d5.loss_plan_l1_fix_dist: 0.1877, d6.loss_plan_l1_fix_time: 0.8383, d6.loss_plan_l1_fix_dist: 0.1986, d0.loss_cls_all: 0.1479, d0.loss_bbox_all: 0.3634, d0.loss_cls: 0.1479, d0.loss_bbox: 0.3634, d1.loss_cls: 0.1447, d1.loss_bbox: 0.3335, d2.loss_cls: 0.1331, d2.loss_bbox: 0.3142, d3.loss_cls: 0.1213, d3.loss_bbox: 0.3079, d4.loss_cls: 0.1158, d4.loss_bbox: 0.3065, d5.loss_cls: 0.1133, d5.loss_bbox: 0.3071, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9447, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7162, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6556, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6354, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6219, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6173, d0.loss_map_cls_all: 0.1848, d0.loss_map_pts_all: 1.0280, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1848, d0.loss_map_pts: 1.0280, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1415, d1.loss_map_pts: 0.7276, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1235, d2.loss_map_pts: 0.5719, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1120, d3.loss_map_pts: 0.5171, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1062, d4.loss_map_pts: 0.4950, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1018, d5.loss_map_pts: 0.4914, d5.loss_map_dir: 0.0063, loss: 24.1431, grad_norm: 156.8159 +2026-02-28 12:59:02,484 - DriveTransformer - INFO - Epoch [10][11250/39528] lr: 6.944e-05, eta: 4 days, 22:06:39, time: 0.737, data_time: 0.040, memory: 19865, loss_cls: 0.1049, loss_bbox: 0.2949, loss_traj: 0.5312, loss_traj_cls: 0.0018, loss_map_cls: 0.1213, loss_map_pts: 0.6140, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.6873, d0.loss_plan_l1_fix_dist: 0.4299, d1.loss_plan_l1_fix_time: 0.8177, d1.loss_plan_l1_fix_dist: 0.2243, d2.loss_plan_l1_fix_time: 0.8001, d2.loss_plan_l1_fix_dist: 0.2238, d3.loss_plan_l1_fix_time: 0.7950, d3.loss_plan_l1_fix_dist: 0.1978, d4.loss_plan_l1_fix_time: 0.7952, d4.loss_plan_l1_fix_dist: 0.1987, d5.loss_plan_l1_fix_time: 0.7962, d5.loss_plan_l1_fix_dist: 0.2018, d6.loss_plan_l1_fix_time: 0.7979, d6.loss_plan_l1_fix_dist: 0.2157, d0.loss_cls_all: 0.1447, d0.loss_bbox_all: 0.3468, d0.loss_cls: 0.1447, d0.loss_bbox: 0.3468, d1.loss_cls: 0.1364, d1.loss_bbox: 0.3168, d2.loss_cls: 0.1260, d2.loss_bbox: 0.2973, d3.loss_cls: 0.1123, d3.loss_bbox: 0.2928, d4.loss_cls: 0.1080, d4.loss_bbox: 0.2912, d5.loss_cls: 0.1061, d5.loss_bbox: 0.2914, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7454, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6102, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5582, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5378, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5296, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5296, d0.loss_map_cls_all: 0.2086, d0.loss_map_pts_all: 1.2815, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2086, d0.loss_map_pts: 1.2815, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1708, d1.loss_map_pts: 0.9146, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1449, d2.loss_map_pts: 0.7235, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1316, d3.loss_map_pts: 0.6520, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1263, d4.loss_map_pts: 0.6235, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1234, d5.loss_map_pts: 0.6170, d5.loss_map_dir: 0.0084, loss: 24.6995, grad_norm: 157.5242 +2026-02-28 12:59:38,618 - DriveTransformer - INFO - Epoch [10][11300/39528] lr: 6.944e-05, eta: 4 days, 22:06:00, time: 0.723, data_time: 0.036, memory: 19865, loss_cls: 0.1014, loss_bbox: 0.3096, loss_traj: 0.5445, loss_traj_cls: 0.0019, loss_map_cls: 0.0964, loss_map_pts: 0.5195, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.4824, d0.loss_plan_l1_fix_dist: 0.3639, d1.loss_plan_l1_fix_time: 0.7175, d1.loss_plan_l1_fix_dist: 0.2093, d2.loss_plan_l1_fix_time: 0.7015, d2.loss_plan_l1_fix_dist: 0.1995, d3.loss_plan_l1_fix_time: 0.7033, d3.loss_plan_l1_fix_dist: 0.1818, d4.loss_plan_l1_fix_time: 0.7046, d4.loss_plan_l1_fix_dist: 0.1748, d5.loss_plan_l1_fix_time: 0.7063, d5.loss_plan_l1_fix_dist: 0.1851, d6.loss_plan_l1_fix_time: 0.7088, d6.loss_plan_l1_fix_dist: 0.1931, d0.loss_cls_all: 0.1510, d0.loss_bbox_all: 0.3685, d0.loss_cls: 0.1510, d0.loss_bbox: 0.3685, d1.loss_cls: 0.1429, d1.loss_bbox: 0.3366, d2.loss_cls: 0.1257, d2.loss_bbox: 0.3176, d3.loss_cls: 0.1090, d3.loss_bbox: 0.3114, d4.loss_cls: 0.1047, d4.loss_bbox: 0.3084, d5.loss_cls: 0.1012, d5.loss_bbox: 0.3085, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7632, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6058, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5689, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5479, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5422, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5421, d0.loss_map_cls_all: 0.1740, d0.loss_map_pts_all: 1.0603, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1740, d0.loss_map_pts: 1.0603, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1435, d1.loss_map_pts: 0.7664, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1222, d2.loss_map_pts: 0.6133, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1105, d3.loss_map_pts: 0.5494, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1044, d4.loss_map_pts: 0.5258, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0987, d5.loss_map_pts: 0.5218, d5.loss_map_dir: 0.0062, loss: 22.6599, grad_norm: 158.2101 +2026-02-28 13:00:16,218 - DriveTransformer - INFO - Epoch [10][11350/39528] lr: 6.944e-05, eta: 4 days, 22:05:29, time: 0.752, data_time: 0.038, memory: 19865, loss_cls: 0.1239, loss_bbox: 0.3310, loss_traj: 0.5040, loss_traj_cls: 0.0018, loss_map_cls: 0.1259, loss_map_pts: 0.6268, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.4584, d0.loss_plan_l1_fix_dist: 0.3989, d1.loss_plan_l1_fix_time: 0.8302, d1.loss_plan_l1_fix_dist: 0.2169, d2.loss_plan_l1_fix_time: 0.8202, d2.loss_plan_l1_fix_dist: 0.1896, d3.loss_plan_l1_fix_time: 0.8205, d3.loss_plan_l1_fix_dist: 0.1896, d4.loss_plan_l1_fix_time: 0.8231, d4.loss_plan_l1_fix_dist: 0.1725, d5.loss_plan_l1_fix_time: 0.8250, d5.loss_plan_l1_fix_dist: 0.1769, d6.loss_plan_l1_fix_time: 0.8271, d6.loss_plan_l1_fix_dist: 0.1816, d0.loss_cls_all: 0.1604, d0.loss_bbox_all: 0.4050, d0.loss_cls: 0.1604, d0.loss_bbox: 0.4050, d1.loss_cls: 0.1568, d1.loss_bbox: 0.3711, d2.loss_cls: 0.1442, d2.loss_bbox: 0.3441, d3.loss_cls: 0.1290, d3.loss_bbox: 0.3357, d4.loss_cls: 0.1243, d4.loss_bbox: 0.3329, d5.loss_cls: 0.1232, d5.loss_bbox: 0.3313, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7546, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5759, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5255, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5124, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5069, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5047, d0.loss_map_cls_all: 0.2144, d0.loss_map_pts_all: 1.2934, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2144, d0.loss_map_pts: 1.2934, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1738, d1.loss_map_pts: 0.9371, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1484, d2.loss_map_pts: 0.7400, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1376, d3.loss_map_pts: 0.6678, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1332, d4.loss_map_pts: 0.6362, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1281, d5.loss_map_pts: 0.6299, d5.loss_map_dir: 0.0086, loss: 24.9674, grad_norm: 158.2419 +2026-02-28 13:00:53,107 - DriveTransformer - INFO - Epoch [10][11400/39528] lr: 6.944e-05, eta: 4 days, 22:04:53, time: 0.738, data_time: 0.036, memory: 19865, loss_cls: 0.0950, loss_bbox: 0.3051, loss_traj: 0.4777, loss_traj_cls: 0.0019, loss_map_cls: 0.0966, loss_map_pts: 0.5195, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.1355, d0.loss_plan_l1_fix_dist: 0.4798, d1.loss_plan_l1_fix_time: 0.7221, d1.loss_plan_l1_fix_dist: 0.2163, d2.loss_plan_l1_fix_time: 0.7062, d2.loss_plan_l1_fix_dist: 0.1807, d3.loss_plan_l1_fix_time: 0.7210, d3.loss_plan_l1_fix_dist: 0.1954, d4.loss_plan_l1_fix_time: 0.7247, d4.loss_plan_l1_fix_dist: 0.1751, d5.loss_plan_l1_fix_time: 0.7272, d5.loss_plan_l1_fix_dist: 0.1787, d6.loss_plan_l1_fix_time: 0.7293, d6.loss_plan_l1_fix_dist: 0.1855, d0.loss_cls_all: 0.1378, d0.loss_bbox_all: 0.3683, d0.loss_cls: 0.1378, d0.loss_bbox: 0.3683, d1.loss_cls: 0.1337, d1.loss_bbox: 0.3349, d2.loss_cls: 0.1178, d2.loss_bbox: 0.3152, d3.loss_cls: 0.1026, d3.loss_bbox: 0.3083, d4.loss_cls: 0.0970, d4.loss_bbox: 0.3059, d5.loss_cls: 0.0947, d5.loss_bbox: 0.3052, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6725, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5290, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4942, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4777, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4802, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4752, d0.loss_map_cls_all: 0.1941, d0.loss_map_pts_all: 1.0992, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1941, d0.loss_map_pts: 1.0992, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1557, d1.loss_map_pts: 0.7777, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1268, d2.loss_map_pts: 0.6104, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1155, d3.loss_map_pts: 0.5450, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1059, d4.loss_map_pts: 0.5261, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0996, d5.loss_map_pts: 0.5201, d5.loss_map_dir: 0.0062, loss: 22.0522, grad_norm: 159.1223 +2026-02-28 13:01:30,531 - DriveTransformer - INFO - Epoch [10][11450/39528] lr: 6.944e-05, eta: 4 days, 22:04:21, time: 0.748, data_time: 0.039, memory: 19865, loss_cls: 0.1007, loss_bbox: 0.2909, loss_traj: 0.4737, loss_traj_cls: 0.0019, loss_map_cls: 0.1172, loss_map_pts: 0.6004, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.6933, d0.loss_plan_l1_fix_dist: 0.4240, d1.loss_plan_l1_fix_time: 0.8944, d1.loss_plan_l1_fix_dist: 0.2374, d2.loss_plan_l1_fix_time: 0.8799, d2.loss_plan_l1_fix_dist: 0.2004, d3.loss_plan_l1_fix_time: 0.8736, d3.loss_plan_l1_fix_dist: 0.2210, d4.loss_plan_l1_fix_time: 0.8745, d4.loss_plan_l1_fix_dist: 0.2173, d5.loss_plan_l1_fix_time: 0.8758, d5.loss_plan_l1_fix_dist: 0.2267, d6.loss_plan_l1_fix_time: 0.8773, d6.loss_plan_l1_fix_dist: 0.2324, d0.loss_cls_all: 0.1466, d0.loss_bbox_all: 0.3516, d0.loss_cls: 0.1466, d0.loss_bbox: 0.3516, d1.loss_cls: 0.1394, d1.loss_bbox: 0.3204, d2.loss_cls: 0.1274, d2.loss_bbox: 0.3006, d3.loss_cls: 0.1085, d3.loss_bbox: 0.2950, d4.loss_cls: 0.1022, d4.loss_bbox: 0.2917, d5.loss_cls: 0.1009, d5.loss_bbox: 0.2901, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6748, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5321, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4984, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4799, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4781, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4732, d0.loss_map_cls_all: 0.2108, d0.loss_map_pts_all: 1.2241, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2108, d0.loss_map_pts: 1.2241, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1690, d1.loss_map_pts: 0.8602, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1430, d2.loss_map_pts: 0.6963, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1302, d3.loss_map_pts: 0.6319, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1241, d4.loss_map_pts: 0.6073, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1194, d5.loss_map_pts: 0.6040, d5.loss_map_dir: 0.0079, loss: 24.5461, grad_norm: 166.5948 +2026-02-28 13:02:05,977 - DriveTransformer - INFO - Epoch [10][11500/39528] lr: 6.944e-05, eta: 4 days, 22:03:39, time: 0.709, data_time: 0.038, memory: 19865, loss_cls: 0.0943, loss_bbox: 0.2852, loss_traj: 0.5989, loss_traj_cls: 0.0019, loss_map_cls: 0.1024, loss_map_pts: 0.4807, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.8121, d0.loss_plan_l1_fix_dist: 0.4797, d1.loss_plan_l1_fix_time: 0.8592, d1.loss_plan_l1_fix_dist: 0.2275, d2.loss_plan_l1_fix_time: 0.8425, d2.loss_plan_l1_fix_dist: 0.1831, d3.loss_plan_l1_fix_time: 0.8374, d3.loss_plan_l1_fix_dist: 0.1968, d4.loss_plan_l1_fix_time: 0.8397, d4.loss_plan_l1_fix_dist: 0.1999, d5.loss_plan_l1_fix_time: 0.8423, d5.loss_plan_l1_fix_dist: 0.2107, d6.loss_plan_l1_fix_time: 0.8453, d6.loss_plan_l1_fix_dist: 0.2256, d0.loss_cls_all: 0.1278, d0.loss_bbox_all: 0.3455, d0.loss_cls: 0.1278, d0.loss_bbox: 0.3455, d1.loss_cls: 0.1223, d1.loss_bbox: 0.3161, d2.loss_cls: 0.1125, d2.loss_bbox: 0.2939, d3.loss_cls: 0.1018, d3.loss_bbox: 0.2879, d4.loss_cls: 0.0956, d4.loss_bbox: 0.2859, d5.loss_cls: 0.0936, d5.loss_bbox: 0.2848, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8014, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6495, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6128, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6063, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6017, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5999, d0.loss_map_cls_all: 0.1724, d0.loss_map_pts_all: 1.0652, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1724, d0.loss_map_pts: 1.0652, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1468, d1.loss_map_pts: 0.7619, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1248, d2.loss_map_pts: 0.5902, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1144, d3.loss_map_pts: 0.5180, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1102, d4.loss_map_pts: 0.4930, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1046, d5.loss_map_pts: 0.4856, d5.loss_map_dir: 0.0055, loss: 23.9494, grad_norm: 166.3621 +2026-02-28 13:02:43,404 - DriveTransformer - INFO - Epoch [10][11550/39528] lr: 6.944e-05, eta: 4 days, 22:03:07, time: 0.748, data_time: 0.035, memory: 19865, loss_cls: 0.1024, loss_bbox: 0.2935, loss_traj: 0.4564, loss_traj_cls: 0.0019, loss_map_cls: 0.1165, loss_map_pts: 0.6250, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.8128, d0.loss_plan_l1_fix_dist: 0.4530, d1.loss_plan_l1_fix_time: 0.7503, d1.loss_plan_l1_fix_dist: 0.2348, d2.loss_plan_l1_fix_time: 0.7383, d2.loss_plan_l1_fix_dist: 0.2114, d3.loss_plan_l1_fix_time: 0.7393, d3.loss_plan_l1_fix_dist: 0.2164, d4.loss_plan_l1_fix_time: 0.7433, d4.loss_plan_l1_fix_dist: 0.2346, d5.loss_plan_l1_fix_time: 0.7471, d5.loss_plan_l1_fix_dist: 0.2498, d6.loss_plan_l1_fix_time: 0.7512, d6.loss_plan_l1_fix_dist: 0.2677, d0.loss_cls_all: 0.1463, d0.loss_bbox_all: 0.3599, d0.loss_cls: 0.1463, d0.loss_bbox: 0.3599, d1.loss_cls: 0.1407, d1.loss_bbox: 0.3279, d2.loss_cls: 0.1279, d2.loss_bbox: 0.3033, d3.loss_cls: 0.1101, d3.loss_bbox: 0.2955, d4.loss_cls: 0.1064, d4.loss_bbox: 0.2921, d5.loss_cls: 0.1034, d5.loss_bbox: 0.2919, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6471, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5142, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4708, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4644, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4570, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4600, d0.loss_map_cls_all: 0.1950, d0.loss_map_pts_all: 1.3113, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1950, d0.loss_map_pts: 1.3113, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1620, d1.loss_map_pts: 0.9278, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1409, d2.loss_map_pts: 0.7321, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1304, d3.loss_map_pts: 0.6588, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1234, d4.loss_map_pts: 0.6293, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1191, d5.loss_map_pts: 0.6228, d5.loss_map_dir: 0.0081, loss: 24.1966, grad_norm: 170.7168 +2026-02-28 13:03:20,246 - DriveTransformer - INFO - Epoch [10][11600/39528] lr: 6.944e-05, eta: 4 days, 22:02:31, time: 0.737, data_time: 0.038, memory: 19865, loss_cls: 0.1048, loss_bbox: 0.2869, loss_traj: 0.5509, loss_traj_cls: 0.0019, loss_map_cls: 0.1166, loss_map_pts: 0.6046, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.6538, d0.loss_plan_l1_fix_dist: 0.3932, d1.loss_plan_l1_fix_time: 0.7982, d1.loss_plan_l1_fix_dist: 0.2027, d2.loss_plan_l1_fix_time: 0.7896, d2.loss_plan_l1_fix_dist: 0.1759, d3.loss_plan_l1_fix_time: 0.7839, d3.loss_plan_l1_fix_dist: 0.1851, d4.loss_plan_l1_fix_time: 0.7859, d4.loss_plan_l1_fix_dist: 0.2060, d5.loss_plan_l1_fix_time: 0.7884, d5.loss_plan_l1_fix_dist: 0.2202, d6.loss_plan_l1_fix_time: 0.7917, d6.loss_plan_l1_fix_dist: 0.2320, d0.loss_cls_all: 0.1464, d0.loss_bbox_all: 0.3436, d0.loss_cls: 0.1464, d0.loss_bbox: 0.3436, d1.loss_cls: 0.1430, d1.loss_bbox: 0.3126, d2.loss_cls: 0.1245, d2.loss_bbox: 0.2956, d3.loss_cls: 0.1135, d3.loss_bbox: 0.2886, d4.loss_cls: 0.1077, d4.loss_bbox: 0.2852, d5.loss_cls: 0.1054, d5.loss_bbox: 0.2856, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7793, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6173, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5709, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5570, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5531, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5520, d0.loss_map_cls_all: 0.1936, d0.loss_map_pts_all: 1.2209, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1936, d0.loss_map_pts: 1.2209, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1637, d1.loss_map_pts: 0.8889, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1407, d2.loss_map_pts: 0.7065, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1307, d3.loss_map_pts: 0.6353, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1239, d4.loss_map_pts: 0.6100, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1188, d5.loss_map_pts: 0.6034, d5.loss_map_dir: 0.0075, loss: 24.3566, grad_norm: 169.3057 +2026-02-28 13:03:57,757 - DriveTransformer - INFO - Epoch [10][11650/39528] lr: 6.944e-05, eta: 4 days, 22:01:59, time: 0.750, data_time: 0.040, memory: 19865, loss_cls: 0.1197, loss_bbox: 0.3275, loss_traj: 0.4274, loss_traj_cls: 0.0020, loss_map_cls: 0.1155, loss_map_pts: 0.5818, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.7409, d0.loss_plan_l1_fix_dist: 0.4340, d1.loss_plan_l1_fix_time: 0.8921, d1.loss_plan_l1_fix_dist: 0.2224, d2.loss_plan_l1_fix_time: 0.8803, d2.loss_plan_l1_fix_dist: 0.1808, d3.loss_plan_l1_fix_time: 0.8782, d3.loss_plan_l1_fix_dist: 0.1964, d4.loss_plan_l1_fix_time: 0.8796, d4.loss_plan_l1_fix_dist: 0.2026, d5.loss_plan_l1_fix_time: 0.8818, d5.loss_plan_l1_fix_dist: 0.2071, d6.loss_plan_l1_fix_time: 0.8846, d6.loss_plan_l1_fix_dist: 0.2159, d0.loss_cls_all: 0.1657, d0.loss_bbox_all: 0.3827, d0.loss_cls: 0.1657, d0.loss_bbox: 0.3827, d1.loss_cls: 0.1638, d1.loss_bbox: 0.3504, d2.loss_cls: 0.1477, d2.loss_bbox: 0.3319, d3.loss_cls: 0.1272, d3.loss_bbox: 0.3268, d4.loss_cls: 0.1216, d4.loss_bbox: 0.3256, d5.loss_cls: 0.1209, d5.loss_bbox: 0.3254, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6315, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4906, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4387, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4261, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4339, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4249, d0.loss_map_cls_all: 0.1916, d0.loss_map_pts_all: 1.1897, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1916, d0.loss_map_pts: 1.1897, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1599, d1.loss_map_pts: 0.8617, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1397, d2.loss_map_pts: 0.6810, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1278, d3.loss_map_pts: 0.6153, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1221, d4.loss_map_pts: 0.5885, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1176, d5.loss_map_pts: 0.5835, d5.loss_map_dir: 0.0068, loss: 24.3733, grad_norm: 167.3839 +2026-02-28 13:04:34,983 - DriveTransformer - INFO - Epoch [10][11700/39528] lr: 6.944e-05, eta: 4 days, 22:01:26, time: 0.744, data_time: 0.039, memory: 19865, loss_cls: 0.0882, loss_bbox: 0.2751, loss_traj: 0.5483, loss_traj_cls: 0.0020, loss_map_cls: 0.1100, loss_map_pts: 0.5369, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.7242, d0.loss_plan_l1_fix_dist: 0.3427, d1.loss_plan_l1_fix_time: 0.8198, d1.loss_plan_l1_fix_dist: 0.2069, d2.loss_plan_l1_fix_time: 0.8052, d2.loss_plan_l1_fix_dist: 0.1906, d3.loss_plan_l1_fix_time: 0.7726, d3.loss_plan_l1_fix_dist: 0.1949, d4.loss_plan_l1_fix_time: 0.7712, d4.loss_plan_l1_fix_dist: 0.1998, d5.loss_plan_l1_fix_time: 0.7726, d5.loss_plan_l1_fix_dist: 0.2117, d6.loss_plan_l1_fix_time: 0.7749, d6.loss_plan_l1_fix_dist: 0.2318, d0.loss_cls_all: 0.1244, d0.loss_bbox_all: 0.3296, d0.loss_cls: 0.1244, d0.loss_bbox: 0.3296, d1.loss_cls: 0.1232, d1.loss_bbox: 0.3015, d2.loss_cls: 0.1119, d2.loss_bbox: 0.2810, d3.loss_cls: 0.0953, d3.loss_bbox: 0.2771, d4.loss_cls: 0.0906, d4.loss_bbox: 0.2753, d5.loss_cls: 0.0887, d5.loss_bbox: 0.2751, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7885, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6207, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5689, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5503, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5470, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5508, d0.loss_map_cls_all: 0.1982, d0.loss_map_pts_all: 1.2090, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1982, d0.loss_map_pts: 1.2090, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1624, d1.loss_map_pts: 0.8436, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1391, d2.loss_map_pts: 0.6446, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1279, d3.loss_map_pts: 0.5717, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1190, d4.loss_map_pts: 0.5437, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1123, d5.loss_map_pts: 0.5389, d5.loss_map_dir: 0.0066, loss: 23.7085, grad_norm: 168.3113 +2026-02-28 13:05:11,698 - DriveTransformer - INFO - Epoch [10][11750/39528] lr: 6.944e-05, eta: 4 days, 22:00:50, time: 0.734, data_time: 0.039, memory: 19865, loss_cls: 0.1183, loss_bbox: 0.3153, loss_traj: 0.5473, loss_traj_cls: 0.0019, loss_map_cls: 0.1191, loss_map_pts: 0.5744, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.9838, d0.loss_plan_l1_fix_dist: 0.4044, d1.loss_plan_l1_fix_time: 0.8894, d1.loss_plan_l1_fix_dist: 0.2055, d2.loss_plan_l1_fix_time: 0.8791, d2.loss_plan_l1_fix_dist: 0.2083, d3.loss_plan_l1_fix_time: 0.8645, d3.loss_plan_l1_fix_dist: 0.1941, d4.loss_plan_l1_fix_time: 0.8648, d4.loss_plan_l1_fix_dist: 0.1994, d5.loss_plan_l1_fix_time: 0.8657, d5.loss_plan_l1_fix_dist: 0.2227, d6.loss_plan_l1_fix_time: 0.8669, d6.loss_plan_l1_fix_dist: 0.2415, d0.loss_cls_all: 0.1561, d0.loss_bbox_all: 0.3834, d0.loss_cls: 0.1561, d0.loss_bbox: 0.3834, d1.loss_cls: 0.1507, d1.loss_bbox: 0.3446, d2.loss_cls: 0.1380, d2.loss_bbox: 0.3244, d3.loss_cls: 0.1248, d3.loss_bbox: 0.3202, d4.loss_cls: 0.1187, d4.loss_bbox: 0.3177, d5.loss_cls: 0.1185, d5.loss_bbox: 0.3154, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7606, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6098, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5689, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5535, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5526, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5477, d0.loss_map_cls_all: 0.2105, d0.loss_map_pts_all: 1.1147, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2105, d0.loss_map_pts: 1.1147, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1720, d1.loss_map_pts: 0.8096, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1457, d2.loss_map_pts: 0.6687, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1318, d3.loss_map_pts: 0.6031, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1267, d4.loss_map_pts: 0.5842, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1212, d5.loss_map_pts: 0.5753, d5.loss_map_dir: 0.0069, loss: 25.1590, grad_norm: 167.1411 +2026-02-28 13:05:48,921 - DriveTransformer - INFO - Epoch [10][11800/39528] lr: 6.944e-05, eta: 4 days, 22:00:17, time: 0.746, data_time: 0.040, memory: 19865, loss_cls: 0.0967, loss_bbox: 0.2904, loss_traj: 0.5815, loss_traj_cls: 0.0019, loss_map_cls: 0.0939, loss_map_pts: 0.5149, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 3.0714, d0.loss_plan_l1_fix_dist: 0.4441, d1.loss_plan_l1_fix_time: 0.9817, d1.loss_plan_l1_fix_dist: 0.2098, d2.loss_plan_l1_fix_time: 0.9640, d2.loss_plan_l1_fix_dist: 0.2222, d3.loss_plan_l1_fix_time: 0.9359, d3.loss_plan_l1_fix_dist: 0.2307, d4.loss_plan_l1_fix_time: 0.9362, d4.loss_plan_l1_fix_dist: 0.2563, d5.loss_plan_l1_fix_time: 0.9375, d5.loss_plan_l1_fix_dist: 0.2915, d6.loss_plan_l1_fix_time: 0.9390, d6.loss_plan_l1_fix_dist: 0.3106, d0.loss_cls_all: 0.1349, d0.loss_bbox_all: 0.3484, d0.loss_cls: 0.1349, d0.loss_bbox: 0.3484, d1.loss_cls: 0.1291, d1.loss_bbox: 0.3168, d2.loss_cls: 0.1185, d2.loss_bbox: 0.2963, d3.loss_cls: 0.1033, d3.loss_bbox: 0.2914, d4.loss_cls: 0.0981, d4.loss_bbox: 0.2893, d5.loss_cls: 0.0969, d5.loss_bbox: 0.2890, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8653, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6662, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5992, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5888, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5882, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5808, d0.loss_map_cls_all: 0.1741, d0.loss_map_pts_all: 1.0784, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1741, d0.loss_map_pts: 1.0784, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1383, d1.loss_map_pts: 0.7663, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1190, d2.loss_map_pts: 0.6086, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1075, d3.loss_map_pts: 0.5425, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1011, d4.loss_map_pts: 0.5202, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.0957, d5.loss_map_pts: 0.5148, d5.loss_map_dir: 0.0070, loss: 25.2722, grad_norm: 163.7726 +2026-02-28 13:06:24,859 - DriveTransformer - INFO - Epoch [10][11850/39528] lr: 6.944e-05, eta: 4 days, 21:59:37, time: 0.717, data_time: 0.037, memory: 19865, loss_cls: 0.0934, loss_bbox: 0.2883, loss_traj: 0.5107, loss_traj_cls: 0.0020, loss_map_cls: 0.1106, loss_map_pts: 0.5208, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.7423, d0.loss_plan_l1_fix_dist: 0.4490, d1.loss_plan_l1_fix_time: 0.8199, d1.loss_plan_l1_fix_dist: 0.1754, d2.loss_plan_l1_fix_time: 0.8121, d2.loss_plan_l1_fix_dist: 0.1881, d3.loss_plan_l1_fix_time: 0.8137, d3.loss_plan_l1_fix_dist: 0.1813, d4.loss_plan_l1_fix_time: 0.8151, d4.loss_plan_l1_fix_dist: 0.1873, d5.loss_plan_l1_fix_time: 0.8168, d5.loss_plan_l1_fix_dist: 0.2007, d6.loss_plan_l1_fix_time: 0.8191, d6.loss_plan_l1_fix_dist: 0.2158, d0.loss_cls_all: 0.1337, d0.loss_bbox_all: 0.3468, d0.loss_cls: 0.1337, d0.loss_bbox: 0.3468, d1.loss_cls: 0.1314, d1.loss_bbox: 0.3121, d2.loss_cls: 0.1125, d2.loss_bbox: 0.2955, d3.loss_cls: 0.0991, d3.loss_bbox: 0.2909, d4.loss_cls: 0.0942, d4.loss_bbox: 0.2885, d5.loss_cls: 0.0923, d5.loss_bbox: 0.2881, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7243, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5722, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5295, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5174, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5146, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5104, d0.loss_map_cls_all: 0.1979, d0.loss_map_pts_all: 1.1062, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1979, d0.loss_map_pts: 1.1062, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1616, d1.loss_map_pts: 0.7961, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1358, d2.loss_map_pts: 0.6180, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1245, d3.loss_map_pts: 0.5519, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1181, d4.loss_map_pts: 0.5272, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1131, d5.loss_map_pts: 0.5208, d5.loss_map_dir: 0.0059, loss: 23.4237, grad_norm: 164.3232 +2026-02-28 13:07:00,497 - DriveTransformer - INFO - Epoch [10][11900/39528] lr: 6.944e-05, eta: 4 days, 21:58:56, time: 0.713, data_time: 0.036, memory: 19865, loss_cls: 0.1166, loss_bbox: 0.2915, loss_traj: 0.5503, loss_traj_cls: 0.0020, loss_map_cls: 0.1076, loss_map_pts: 0.5312, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.9949, d0.loss_plan_l1_fix_dist: 0.3625, d1.loss_plan_l1_fix_time: 0.7806, d1.loss_plan_l1_fix_dist: 0.1511, d2.loss_plan_l1_fix_time: 0.7646, d2.loss_plan_l1_fix_dist: 0.2030, d3.loss_plan_l1_fix_time: 0.7589, d3.loss_plan_l1_fix_dist: 0.1925, d4.loss_plan_l1_fix_time: 0.7592, d4.loss_plan_l1_fix_dist: 0.2096, d5.loss_plan_l1_fix_time: 0.7605, d5.loss_plan_l1_fix_dist: 0.2309, d6.loss_plan_l1_fix_time: 0.7625, d6.loss_plan_l1_fix_dist: 0.2603, d0.loss_cls_all: 0.1566, d0.loss_bbox_all: 0.3533, d0.loss_cls: 0.1566, d0.loss_bbox: 0.3533, d1.loss_cls: 0.1463, d1.loss_bbox: 0.3178, d2.loss_cls: 0.1382, d2.loss_bbox: 0.2988, d3.loss_cls: 0.1230, d3.loss_bbox: 0.2943, d4.loss_cls: 0.1173, d4.loss_bbox: 0.2923, d5.loss_cls: 0.1156, d5.loss_bbox: 0.2915, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7784, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6294, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5888, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5652, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5546, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5555, d0.loss_map_cls_all: 0.1954, d0.loss_map_pts_all: 1.1110, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1954, d0.loss_map_pts: 1.1110, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1600, d1.loss_map_pts: 0.8044, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1350, d2.loss_map_pts: 0.6378, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1208, d3.loss_map_pts: 0.5720, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1143, d4.loss_map_pts: 0.5466, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1113, d5.loss_map_pts: 0.5313, d5.loss_map_dir: 0.0062, loss: 24.0168, grad_norm: 160.2281 +2026-02-28 13:07:36,471 - DriveTransformer - INFO - Epoch [10][11950/39528] lr: 6.944e-05, eta: 4 days, 21:58:17, time: 0.719, data_time: 0.040, memory: 19865, loss_cls: 0.1243, loss_bbox: 0.3004, loss_traj: 0.4976, loss_traj_cls: 0.0020, loss_map_cls: 0.1099, loss_map_pts: 0.5687, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.8028, d0.loss_plan_l1_fix_dist: 0.3854, d1.loss_plan_l1_fix_time: 0.8346, d1.loss_plan_l1_fix_dist: 0.1680, d2.loss_plan_l1_fix_time: 0.8133, d2.loss_plan_l1_fix_dist: 0.2188, d3.loss_plan_l1_fix_time: 0.8172, d3.loss_plan_l1_fix_dist: 0.1884, d4.loss_plan_l1_fix_time: 0.8195, d4.loss_plan_l1_fix_dist: 0.2008, d5.loss_plan_l1_fix_time: 0.8220, d5.loss_plan_l1_fix_dist: 0.2198, d6.loss_plan_l1_fix_time: 0.8247, d6.loss_plan_l1_fix_dist: 0.2369, d0.loss_cls_all: 0.1646, d0.loss_bbox_all: 0.3563, d0.loss_cls: 0.1646, d0.loss_bbox: 0.3563, d1.loss_cls: 0.1537, d1.loss_bbox: 0.3236, d2.loss_cls: 0.1462, d2.loss_bbox: 0.3049, d3.loss_cls: 0.1359, d3.loss_bbox: 0.3005, d4.loss_cls: 0.1249, d4.loss_bbox: 0.2990, d5.loss_cls: 0.1239, d5.loss_bbox: 0.2989, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7654, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5834, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5179, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5006, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4983, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4991, d0.loss_map_cls_all: 0.1922, d0.loss_map_pts_all: 1.1182, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1922, d0.loss_map_pts: 1.1182, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1613, d1.loss_map_pts: 0.8274, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1336, d2.loss_map_pts: 0.6627, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1238, d3.loss_map_pts: 0.6017, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1159, d4.loss_map_pts: 0.5761, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1108, d5.loss_map_pts: 0.5692, d5.loss_map_dir: 0.0065, loss: 24.1322, grad_norm: 159.9994 +2026-02-28 13:08:12,277 - DriveTransformer - INFO - Epoch [10][12000/39528] lr: 6.944e-05, eta: 4 days, 21:57:37, time: 0.716, data_time: 0.038, memory: 19865, loss_cls: 0.0933, loss_bbox: 0.2899, loss_traj: 0.4940, loss_traj_cls: 0.0020, loss_map_cls: 0.1114, loss_map_pts: 0.5450, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.8341, d0.loss_plan_l1_fix_dist: 0.4440, d1.loss_plan_l1_fix_time: 0.8028, d1.loss_plan_l1_fix_dist: 0.1617, d2.loss_plan_l1_fix_time: 0.7910, d2.loss_plan_l1_fix_dist: 0.1916, d3.loss_plan_l1_fix_time: 0.7872, d3.loss_plan_l1_fix_dist: 0.1827, d4.loss_plan_l1_fix_time: 0.7887, d4.loss_plan_l1_fix_dist: 0.1942, d5.loss_plan_l1_fix_time: 0.7906, d5.loss_plan_l1_fix_dist: 0.2185, d6.loss_plan_l1_fix_time: 0.7929, d6.loss_plan_l1_fix_dist: 0.2417, d0.loss_cls_all: 0.1351, d0.loss_bbox_all: 0.3496, d0.loss_cls: 0.1351, d0.loss_bbox: 0.3496, d1.loss_cls: 0.1289, d1.loss_bbox: 0.3172, d2.loss_cls: 0.1154, d2.loss_bbox: 0.2971, d3.loss_cls: 0.0999, d3.loss_bbox: 0.2904, d4.loss_cls: 0.0952, d4.loss_bbox: 0.2884, d5.loss_cls: 0.0935, d5.loss_bbox: 0.2889, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7281, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5524, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5011, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4931, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4946, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4926, d0.loss_map_cls_all: 0.1942, d0.loss_map_pts_all: 1.1074, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1942, d0.loss_map_pts: 1.1074, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1608, d1.loss_map_pts: 0.8130, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1347, d2.loss_map_pts: 0.6465, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1257, d3.loss_map_pts: 0.5771, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1193, d4.loss_map_pts: 0.5516, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1134, d5.loss_map_pts: 0.5455, d5.loss_map_dir: 0.0063, loss: 23.4472, grad_norm: 161.0297 +2026-02-28 13:08:48,910 - DriveTransformer - INFO - Epoch [10][12050/39528] lr: 6.944e-05, eta: 4 days, 21:57:01, time: 0.733, data_time: 0.041, memory: 19865, loss_cls: 0.1079, loss_bbox: 0.2790, loss_traj: 0.5698, loss_traj_cls: 0.0020, loss_map_cls: 0.0972, loss_map_pts: 0.4911, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.6882, d0.loss_plan_l1_fix_dist: 0.3617, d1.loss_plan_l1_fix_time: 0.8299, d1.loss_plan_l1_fix_dist: 0.1695, d2.loss_plan_l1_fix_time: 0.8177, d2.loss_plan_l1_fix_dist: 0.2110, d3.loss_plan_l1_fix_time: 0.8187, d3.loss_plan_l1_fix_dist: 0.1925, d4.loss_plan_l1_fix_time: 0.8220, d4.loss_plan_l1_fix_dist: 0.2016, d5.loss_plan_l1_fix_time: 0.8249, d5.loss_plan_l1_fix_dist: 0.2171, d6.loss_plan_l1_fix_time: 0.8275, d6.loss_plan_l1_fix_dist: 0.2350, d0.loss_cls_all: 0.1456, d0.loss_bbox_all: 0.3414, d0.loss_cls: 0.1456, d0.loss_bbox: 0.3414, d1.loss_cls: 0.1404, d1.loss_bbox: 0.3098, d2.loss_cls: 0.1281, d2.loss_bbox: 0.2902, d3.loss_cls: 0.1147, d3.loss_bbox: 0.2825, d4.loss_cls: 0.1083, d4.loss_bbox: 0.2816, d5.loss_cls: 0.1080, d5.loss_bbox: 0.2799, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8216, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6387, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5915, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5810, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5722, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5701, d0.loss_map_cls_all: 0.1838, d0.loss_map_pts_all: 1.0474, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1838, d0.loss_map_pts: 1.0474, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1479, d1.loss_map_pts: 0.7527, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1221, d2.loss_map_pts: 0.5943, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1118, d3.loss_map_pts: 0.5275, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1053, d4.loss_map_pts: 0.5009, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0995, d5.loss_map_pts: 0.4905, d5.loss_map_dir: 0.0062, loss: 23.5254, grad_norm: 160.6684 +2026-02-28 13:09:23,487 - DriveTransformer - INFO - Epoch [10][12100/39528] lr: 6.944e-05, eta: 4 days, 21:56:16, time: 0.692, data_time: 0.036, memory: 19865, loss_cls: 0.1059, loss_bbox: 0.2764, loss_traj: 0.4797, loss_traj_cls: 0.0021, loss_map_cls: 0.0809, loss_map_pts: 0.4081, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.2758, d0.loss_plan_l1_fix_dist: 0.4344, d1.loss_plan_l1_fix_time: 0.7214, d1.loss_plan_l1_fix_dist: 0.1810, d2.loss_plan_l1_fix_time: 0.7063, d2.loss_plan_l1_fix_dist: 0.2258, d3.loss_plan_l1_fix_time: 0.7156, d3.loss_plan_l1_fix_dist: 0.2006, d4.loss_plan_l1_fix_time: 0.7189, d4.loss_plan_l1_fix_dist: 0.2159, d5.loss_plan_l1_fix_time: 0.7221, d5.loss_plan_l1_fix_dist: 0.2346, d6.loss_plan_l1_fix_time: 0.7251, d6.loss_plan_l1_fix_dist: 0.2518, d0.loss_cls_all: 0.1474, d0.loss_bbox_all: 0.3336, d0.loss_cls: 0.1474, d0.loss_bbox: 0.3336, d1.loss_cls: 0.1395, d1.loss_bbox: 0.3054, d2.loss_cls: 0.1267, d2.loss_bbox: 0.2841, d3.loss_cls: 0.1113, d3.loss_bbox: 0.2772, d4.loss_cls: 0.1066, d4.loss_bbox: 0.2761, d5.loss_cls: 0.1061, d5.loss_bbox: 0.2747, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6814, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5329, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4953, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4836, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4831, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4821, d0.loss_map_cls_all: 0.1591, d0.loss_map_pts_all: 0.8967, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1591, d0.loss_map_pts: 0.8967, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1220, d1.loss_map_pts: 0.6127, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1039, d2.loss_map_pts: 0.4792, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0923, d3.loss_map_pts: 0.4252, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0871, d4.loss_map_pts: 0.4112, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0826, d5.loss_map_pts: 0.4076, d5.loss_map_dir: 0.0055, loss: 20.7945, grad_norm: 164.6733 +2026-02-28 13:10:00,893 - DriveTransformer - INFO - Epoch [10][12150/39528] lr: 6.944e-05, eta: 4 days, 21:55:43, time: 0.748, data_time: 0.037, memory: 19865, loss_cls: 0.1114, loss_bbox: 0.3124, loss_traj: 0.4787, loss_traj_cls: 0.0019, loss_map_cls: 0.1431, loss_map_pts: 0.6480, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.5799, d0.loss_plan_l1_fix_dist: 0.3243, d1.loss_plan_l1_fix_time: 0.6919, d1.loss_plan_l1_fix_dist: 0.1849, d2.loss_plan_l1_fix_time: 0.6798, d2.loss_plan_l1_fix_dist: 0.1961, d3.loss_plan_l1_fix_time: 0.6974, d3.loss_plan_l1_fix_dist: 0.1699, d4.loss_plan_l1_fix_time: 0.7010, d4.loss_plan_l1_fix_dist: 0.1848, d5.loss_plan_l1_fix_time: 0.7034, d5.loss_plan_l1_fix_dist: 0.1973, d6.loss_plan_l1_fix_time: 0.7061, d6.loss_plan_l1_fix_dist: 0.2094, d0.loss_cls_all: 0.1528, d0.loss_bbox_all: 0.3759, d0.loss_cls: 0.1528, d0.loss_bbox: 0.3759, d1.loss_cls: 0.1460, d1.loss_bbox: 0.3426, d2.loss_cls: 0.1372, d2.loss_bbox: 0.3203, d3.loss_cls: 0.1209, d3.loss_bbox: 0.3138, d4.loss_cls: 0.1143, d4.loss_bbox: 0.3118, d5.loss_cls: 0.1123, d5.loss_bbox: 0.3113, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7196, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5552, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5129, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4873, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4843, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4778, d0.loss_map_cls_all: 0.2234, d0.loss_map_pts_all: 1.3848, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2234, d0.loss_map_pts: 1.3848, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1939, d1.loss_map_pts: 0.9877, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1712, d2.loss_map_pts: 0.7613, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1580, d3.loss_map_pts: 0.6817, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1499, d4.loss_map_pts: 0.6562, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1443, d5.loss_map_pts: 0.6486, d5.loss_map_dir: 0.0082, loss: 24.2829, grad_norm: 163.7033 +2026-02-28 13:10:38,509 - DriveTransformer - INFO - Epoch [10][12200/39528] lr: 6.944e-05, eta: 4 days, 21:55:11, time: 0.752, data_time: 0.038, memory: 19865, loss_cls: 0.1042, loss_bbox: 0.2968, loss_traj: 0.4569, loss_traj_cls: 0.0020, loss_map_cls: 0.1270, loss_map_pts: 0.5732, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.7683, d0.loss_plan_l1_fix_dist: 0.4009, d1.loss_plan_l1_fix_time: 0.8265, d1.loss_plan_l1_fix_dist: 0.2041, d2.loss_plan_l1_fix_time: 0.8095, d2.loss_plan_l1_fix_dist: 0.1878, d3.loss_plan_l1_fix_time: 0.8151, d3.loss_plan_l1_fix_dist: 0.1791, d4.loss_plan_l1_fix_time: 0.8188, d4.loss_plan_l1_fix_dist: 0.1887, d5.loss_plan_l1_fix_time: 0.8217, d5.loss_plan_l1_fix_dist: 0.2019, d6.loss_plan_l1_fix_time: 0.8250, d6.loss_plan_l1_fix_dist: 0.2178, d0.loss_cls_all: 0.1529, d0.loss_bbox_all: 0.3609, d0.loss_cls: 0.1529, d0.loss_bbox: 0.3609, d1.loss_cls: 0.1465, d1.loss_bbox: 0.3248, d2.loss_cls: 0.1329, d2.loss_bbox: 0.3062, d3.loss_cls: 0.1155, d3.loss_bbox: 0.2986, d4.loss_cls: 0.1081, d4.loss_bbox: 0.2962, d5.loss_cls: 0.1050, d5.loss_bbox: 0.2958, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6630, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5343, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4885, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4699, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4641, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4577, d0.loss_map_cls_all: 0.2107, d0.loss_map_pts_all: 1.1863, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2107, d0.loss_map_pts: 1.1863, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1770, d1.loss_map_pts: 0.8465, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1526, d2.loss_map_pts: 0.6702, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1408, d3.loss_map_pts: 0.6070, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1328, d4.loss_map_pts: 0.5789, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1295, d5.loss_map_pts: 0.5730, d5.loss_map_dir: 0.0074, loss: 23.9251, grad_norm: 164.0219 +2026-02-28 13:11:16,195 - DriveTransformer - INFO - Epoch [10][12250/39528] lr: 6.944e-05, eta: 4 days, 21:54:40, time: 0.754, data_time: 0.035, memory: 19865, loss_cls: 0.1113, loss_bbox: 0.2864, loss_traj: 0.4156, loss_traj_cls: 0.0020, loss_map_cls: 0.1132, loss_map_pts: 0.5852, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.3576, d0.loss_plan_l1_fix_dist: 0.4339, d1.loss_plan_l1_fix_time: 0.7152, d1.loss_plan_l1_fix_dist: 0.2302, d2.loss_plan_l1_fix_time: 0.6972, d2.loss_plan_l1_fix_dist: 0.2083, d3.loss_plan_l1_fix_time: 0.6933, d3.loss_plan_l1_fix_dist: 0.2062, d4.loss_plan_l1_fix_time: 0.6953, d4.loss_plan_l1_fix_dist: 0.2174, d5.loss_plan_l1_fix_time: 0.6978, d5.loss_plan_l1_fix_dist: 0.2358, d6.loss_plan_l1_fix_time: 0.7011, d6.loss_plan_l1_fix_dist: 0.2585, d0.loss_cls_all: 0.1563, d0.loss_bbox_all: 0.3532, d0.loss_cls: 0.1563, d0.loss_bbox: 0.3532, d1.loss_cls: 0.1500, d1.loss_bbox: 0.3154, d2.loss_cls: 0.1341, d2.loss_bbox: 0.2927, d3.loss_cls: 0.1179, d3.loss_bbox: 0.2895, d4.loss_cls: 0.1126, d4.loss_bbox: 0.2875, d5.loss_cls: 0.1124, d5.loss_bbox: 0.2861, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6507, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4810, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4346, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4245, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4172, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4146, d0.loss_map_cls_all: 0.2097, d0.loss_map_pts_all: 1.2992, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2097, d0.loss_map_pts: 1.2992, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1729, d1.loss_map_pts: 0.9001, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1448, d2.loss_map_pts: 0.6911, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1309, d3.loss_map_pts: 0.6183, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1219, d4.loss_map_pts: 0.5914, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1163, d5.loss_map_pts: 0.5865, d5.loss_map_dir: 0.0076, loss: 22.9556, grad_norm: 165.8029 +2026-02-28 13:11:51,630 - DriveTransformer - INFO - Epoch [10][12300/39528] lr: 6.944e-05, eta: 4 days, 21:53:58, time: 0.709, data_time: 0.035, memory: 19865, loss_cls: 0.1130, loss_bbox: 0.3039, loss_traj: 0.5617, loss_traj_cls: 0.0019, loss_map_cls: 0.1067, loss_map_pts: 0.5073, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.8969, d0.loss_plan_l1_fix_dist: 0.4264, d1.loss_plan_l1_fix_time: 0.7753, d1.loss_plan_l1_fix_dist: 0.2261, d2.loss_plan_l1_fix_time: 0.7630, d2.loss_plan_l1_fix_dist: 0.1896, d3.loss_plan_l1_fix_time: 0.7610, d3.loss_plan_l1_fix_dist: 0.2119, d4.loss_plan_l1_fix_time: 0.7625, d4.loss_plan_l1_fix_dist: 0.1992, d5.loss_plan_l1_fix_time: 0.7643, d5.loss_plan_l1_fix_dist: 0.2180, d6.loss_plan_l1_fix_time: 0.7666, d6.loss_plan_l1_fix_dist: 0.2410, d0.loss_cls_all: 0.1548, d0.loss_bbox_all: 0.3741, d0.loss_cls: 0.1548, d0.loss_bbox: 0.3741, d1.loss_cls: 0.1465, d1.loss_bbox: 0.3368, d2.loss_cls: 0.1351, d2.loss_bbox: 0.3142, d3.loss_cls: 0.1216, d3.loss_bbox: 0.3069, d4.loss_cls: 0.1167, d4.loss_bbox: 0.3041, d5.loss_cls: 0.1148, d5.loss_bbox: 0.3025, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8129, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6514, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5869, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5716, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5717, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5667, d0.loss_map_cls_all: 0.1997, d0.loss_map_pts_all: 1.1000, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1997, d0.loss_map_pts: 1.1000, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1610, d1.loss_map_pts: 0.7732, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1358, d2.loss_map_pts: 0.6050, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1205, d3.loss_map_pts: 0.5428, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1128, d4.loss_map_pts: 0.5212, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1083, d5.loss_map_pts: 0.5095, d5.loss_map_dir: 0.0065, loss: 24.0600, grad_norm: 153.5023 +2026-02-28 13:12:27,468 - DriveTransformer - INFO - Epoch [10][12350/39528] lr: 6.944e-05, eta: 4 days, 21:53:19, time: 0.717, data_time: 0.038, memory: 19865, loss_cls: 0.0902, loss_bbox: 0.2851, loss_traj: 0.5599, loss_traj_cls: 0.0019, loss_map_cls: 0.1002, loss_map_pts: 0.4644, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.8741, d0.loss_plan_l1_fix_dist: 0.3808, d1.loss_plan_l1_fix_time: 0.8287, d1.loss_plan_l1_fix_dist: 0.2392, d2.loss_plan_l1_fix_time: 0.8249, d2.loss_plan_l1_fix_dist: 0.1978, d3.loss_plan_l1_fix_time: 0.8271, d3.loss_plan_l1_fix_dist: 0.2294, d4.loss_plan_l1_fix_time: 0.8289, d4.loss_plan_l1_fix_dist: 0.1910, d5.loss_plan_l1_fix_time: 0.8308, d5.loss_plan_l1_fix_dist: 0.1980, d6.loss_plan_l1_fix_time: 0.8330, d6.loss_plan_l1_fix_dist: 0.1975, d0.loss_cls_all: 0.1359, d0.loss_bbox_all: 0.3481, d0.loss_cls: 0.1359, d0.loss_bbox: 0.3481, d1.loss_cls: 0.1302, d1.loss_bbox: 0.3126, d2.loss_cls: 0.1161, d2.loss_bbox: 0.2941, d3.loss_cls: 0.0978, d3.loss_bbox: 0.2873, d4.loss_cls: 0.0924, d4.loss_bbox: 0.2852, d5.loss_cls: 0.0895, d5.loss_bbox: 0.2856, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8421, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6539, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5954, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5709, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5731, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5632, d0.loss_map_cls_all: 0.1904, d0.loss_map_pts_all: 1.0344, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1904, d0.loss_map_pts: 1.0344, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1496, d1.loss_map_pts: 0.6957, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1257, d2.loss_map_pts: 0.5435, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1138, d3.loss_map_pts: 0.4890, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1070, d4.loss_map_pts: 0.4701, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1020, d5.loss_map_pts: 0.4650, d5.loss_map_dir: 0.0065, loss: 23.5087, grad_norm: 156.0974 +2026-02-28 13:13:03,221 - DriveTransformer - INFO - Epoch [10][12400/39528] lr: 6.944e-05, eta: 4 days, 21:52:38, time: 0.715, data_time: 0.039, memory: 19865, loss_cls: 0.1139, loss_bbox: 0.2900, loss_traj: 0.5675, loss_traj_cls: 0.0019, loss_map_cls: 0.0858, loss_map_pts: 0.4850, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.8440, d0.loss_plan_l1_fix_dist: 0.4080, d1.loss_plan_l1_fix_time: 0.7986, d1.loss_plan_l1_fix_dist: 0.2237, d2.loss_plan_l1_fix_time: 0.7858, d2.loss_plan_l1_fix_dist: 0.2066, d3.loss_plan_l1_fix_time: 0.7866, d3.loss_plan_l1_fix_dist: 0.2279, d4.loss_plan_l1_fix_time: 0.7888, d4.loss_plan_l1_fix_dist: 0.1873, d5.loss_plan_l1_fix_time: 0.7908, d5.loss_plan_l1_fix_dist: 0.1899, d6.loss_plan_l1_fix_time: 0.7937, d6.loss_plan_l1_fix_dist: 0.1967, d0.loss_cls_all: 0.1481, d0.loss_bbox_all: 0.3490, d0.loss_cls: 0.1481, d0.loss_bbox: 0.3490, d1.loss_cls: 0.1418, d1.loss_bbox: 0.3160, d2.loss_cls: 0.1312, d2.loss_bbox: 0.2988, d3.loss_cls: 0.1170, d3.loss_bbox: 0.2952, d4.loss_cls: 0.1139, d4.loss_bbox: 0.2929, d5.loss_cls: 0.1133, d5.loss_bbox: 0.2913, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8918, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6893, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6063, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5879, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5756, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5712, d0.loss_map_cls_all: 0.1704, d0.loss_map_pts_all: 0.9971, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1704, d0.loss_map_pts: 0.9971, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1370, d1.loss_map_pts: 0.7062, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1137, d2.loss_map_pts: 0.5655, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0999, d3.loss_map_pts: 0.5124, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0928, d4.loss_map_pts: 0.4935, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0875, d5.loss_map_pts: 0.4848, d5.loss_map_dir: 0.0054, loss: 23.4766, grad_norm: 156.4580 +2026-02-28 13:13:37,436 - DriveTransformer - INFO - Epoch [10][12450/39528] lr: 6.944e-05, eta: 4 days, 21:51:52, time: 0.684, data_time: 0.038, memory: 19865, loss_cls: 0.1074, loss_bbox: 0.2921, loss_traj: 0.5469, loss_traj_cls: 0.0019, loss_map_cls: 0.1366, loss_map_pts: 0.5364, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 3.1271, d0.loss_plan_l1_fix_dist: 0.5087, d1.loss_plan_l1_fix_time: 0.8871, d1.loss_plan_l1_fix_dist: 0.2367, d2.loss_plan_l1_fix_time: 0.8800, d2.loss_plan_l1_fix_dist: 0.2357, d3.loss_plan_l1_fix_time: 0.8792, d3.loss_plan_l1_fix_dist: 0.2366, d4.loss_plan_l1_fix_time: 0.8803, d4.loss_plan_l1_fix_dist: 0.1966, d5.loss_plan_l1_fix_time: 0.8812, d5.loss_plan_l1_fix_dist: 0.2035, d6.loss_plan_l1_fix_time: 0.8823, d6.loss_plan_l1_fix_dist: 0.2134, d0.loss_cls_all: 0.1539, d0.loss_bbox_all: 0.3614, d0.loss_cls: 0.1539, d0.loss_bbox: 0.3614, d1.loss_cls: 0.1426, d1.loss_bbox: 0.3276, d2.loss_cls: 0.1275, d2.loss_bbox: 0.3048, d3.loss_cls: 0.1170, d3.loss_bbox: 0.2947, d4.loss_cls: 0.1095, d4.loss_bbox: 0.2927, d5.loss_cls: 0.1092, d5.loss_bbox: 0.2906, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8752, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6404, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5911, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5657, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5575, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5521, d0.loss_map_cls_all: 0.2151, d0.loss_map_pts_all: 1.1217, d0.loss_map_dir_all: 0.0050, d0.loss_map_cls: 0.2151, d0.loss_map_pts: 1.1217, d0.loss_map_dir: 0.0050, d1.loss_map_cls: 0.1834, d1.loss_map_pts: 0.8056, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1602, d2.loss_map_pts: 0.6426, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1486, d3.loss_map_pts: 0.5687, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.1430, d4.loss_map_pts: 0.5433, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.1389, d5.loss_map_pts: 0.5383, d5.loss_map_dir: 0.0054, loss: 25.3901, grad_norm: 155.4718 +2026-02-28 13:14:12,810 - DriveTransformer - INFO - Epoch [10][12500/39528] lr: 6.944e-05, eta: 4 days, 21:51:10, time: 0.707, data_time: 0.037, memory: 19865, loss_cls: 0.1250, loss_bbox: 0.3096, loss_traj: 0.4484, loss_traj_cls: 0.0018, loss_map_cls: 0.1243, loss_map_pts: 0.5842, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.8005, d0.loss_plan_l1_fix_dist: 0.4044, d1.loss_plan_l1_fix_time: 0.8590, d1.loss_plan_l1_fix_dist: 0.1996, d2.loss_plan_l1_fix_time: 0.8524, d2.loss_plan_l1_fix_dist: 0.2120, d3.loss_plan_l1_fix_time: 0.8503, d3.loss_plan_l1_fix_dist: 0.2088, d4.loss_plan_l1_fix_time: 0.8514, d4.loss_plan_l1_fix_dist: 0.1730, d5.loss_plan_l1_fix_time: 0.8532, d5.loss_plan_l1_fix_dist: 0.1846, d6.loss_plan_l1_fix_time: 0.8546, d6.loss_plan_l1_fix_dist: 0.1980, d0.loss_cls_all: 0.1682, d0.loss_bbox_all: 0.3797, d0.loss_cls: 0.1682, d0.loss_bbox: 0.3797, d1.loss_cls: 0.1610, d1.loss_bbox: 0.3397, d2.loss_cls: 0.1485, d2.loss_bbox: 0.3175, d3.loss_cls: 0.1315, d3.loss_bbox: 0.3112, d4.loss_cls: 0.1281, d4.loss_bbox: 0.3088, d5.loss_cls: 0.1263, d5.loss_bbox: 0.3076, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6623, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5173, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4685, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4557, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4554, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4516, d0.loss_map_cls_all: 0.2074, d0.loss_map_pts_all: 1.1311, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2074, d0.loss_map_pts: 1.1311, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1771, d1.loss_map_pts: 0.8403, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1527, d2.loss_map_pts: 0.6846, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1387, d3.loss_map_pts: 0.6166, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1309, d4.loss_map_pts: 0.5898, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1260, d5.loss_map_pts: 0.5854, d5.loss_map_dir: 0.0067, loss: 24.2590, grad_norm: 154.8534 +2026-02-28 13:14:49,312 - DriveTransformer - INFO - Epoch [10][12550/39528] lr: 6.944e-05, eta: 4 days, 21:50:33, time: 0.730, data_time: 0.038, memory: 19865, loss_cls: 0.1015, loss_bbox: 0.2825, loss_traj: 0.4852, loss_traj_cls: 0.0019, loss_map_cls: 0.1456, loss_map_pts: 0.5654, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.7133, d0.loss_plan_l1_fix_dist: 0.3944, d1.loss_plan_l1_fix_time: 0.8364, d1.loss_plan_l1_fix_dist: 0.1945, d2.loss_plan_l1_fix_time: 0.8231, d2.loss_plan_l1_fix_dist: 0.2132, d3.loss_plan_l1_fix_time: 0.8161, d3.loss_plan_l1_fix_dist: 0.2120, d4.loss_plan_l1_fix_time: 0.8169, d4.loss_plan_l1_fix_dist: 0.1798, d5.loss_plan_l1_fix_time: 0.8187, d5.loss_plan_l1_fix_dist: 0.1977, d6.loss_plan_l1_fix_time: 0.8209, d6.loss_plan_l1_fix_dist: 0.2079, d0.loss_cls_all: 0.1467, d0.loss_bbox_all: 0.3483, d0.loss_cls: 0.1467, d0.loss_bbox: 0.3483, d1.loss_cls: 0.1436, d1.loss_bbox: 0.3156, d2.loss_cls: 0.1280, d2.loss_bbox: 0.2959, d3.loss_cls: 0.1098, d3.loss_bbox: 0.2879, d4.loss_cls: 0.1035, d4.loss_bbox: 0.2841, d5.loss_cls: 0.1017, d5.loss_bbox: 0.2831, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7475, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5834, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5270, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4998, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4963, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4903, d0.loss_map_cls_all: 0.2219, d0.loss_map_pts_all: 1.1477, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.2219, d0.loss_map_pts: 1.1477, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1967, d1.loss_map_pts: 0.8226, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1698, d2.loss_map_pts: 0.6617, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1596, d3.loss_map_pts: 0.5969, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1534, d4.loss_map_pts: 0.5744, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1484, d5.loss_map_pts: 0.5671, d5.loss_map_dir: 0.0061, loss: 24.0564, grad_norm: 154.3930 +2026-02-28 13:15:25,661 - DriveTransformer - INFO - Epoch [10][12600/39528] lr: 6.944e-05, eta: 4 days, 21:49:56, time: 0.728, data_time: 0.039, memory: 19865, loss_cls: 0.0881, loss_bbox: 0.2837, loss_traj: 0.4899, loss_traj_cls: 0.0019, loss_map_cls: 0.0962, loss_map_pts: 0.4838, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.6286, d0.loss_plan_l1_fix_dist: 0.4410, d1.loss_plan_l1_fix_time: 0.8259, d1.loss_plan_l1_fix_dist: 0.1738, d2.loss_plan_l1_fix_time: 0.8144, d2.loss_plan_l1_fix_dist: 0.2391, d3.loss_plan_l1_fix_time: 0.8132, d3.loss_plan_l1_fix_dist: 0.2070, d4.loss_plan_l1_fix_time: 0.8149, d4.loss_plan_l1_fix_dist: 0.1881, d5.loss_plan_l1_fix_time: 0.8174, d5.loss_plan_l1_fix_dist: 0.2086, d6.loss_plan_l1_fix_time: 0.8200, d6.loss_plan_l1_fix_dist: 0.2162, d0.loss_cls_all: 0.1290, d0.loss_bbox_all: 0.3524, d0.loss_cls: 0.1290, d0.loss_bbox: 0.3524, d1.loss_cls: 0.1224, d1.loss_bbox: 0.3197, d2.loss_cls: 0.1086, d2.loss_bbox: 0.2981, d3.loss_cls: 0.0943, d3.loss_bbox: 0.2909, d4.loss_cls: 0.0898, d4.loss_bbox: 0.2858, d5.loss_cls: 0.0889, d5.loss_bbox: 0.2833, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6586, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5339, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4989, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4913, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4916, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4900, d0.loss_map_cls_all: 0.1699, d0.loss_map_pts_all: 1.0141, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1699, d0.loss_map_pts: 1.0141, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1438, d1.loss_map_pts: 0.7183, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1211, d2.loss_map_pts: 0.5675, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1116, d3.loss_map_pts: 0.5093, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1037, d4.loss_map_pts: 0.4869, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0979, d5.loss_map_pts: 0.4847, d5.loss_map_dir: 0.0066, loss: 22.5302, grad_norm: 157.4040 +2026-02-28 13:16:01,610 - DriveTransformer - INFO - Epoch [10][12650/39528] lr: 6.944e-05, eta: 4 days, 21:49:16, time: 0.718, data_time: 0.035, memory: 19865, loss_cls: 0.1157, loss_bbox: 0.2882, loss_traj: 0.5038, loss_traj_cls: 0.0018, loss_map_cls: 0.1110, loss_map_pts: 0.5436, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.3381, d0.loss_plan_l1_fix_dist: 0.4905, d1.loss_plan_l1_fix_time: 0.8537, d1.loss_plan_l1_fix_dist: 0.1784, d2.loss_plan_l1_fix_time: 0.8462, d2.loss_plan_l1_fix_dist: 0.2453, d3.loss_plan_l1_fix_time: 0.8438, d3.loss_plan_l1_fix_dist: 0.1948, d4.loss_plan_l1_fix_time: 0.8454, d4.loss_plan_l1_fix_dist: 0.1925, d5.loss_plan_l1_fix_time: 0.8479, d5.loss_plan_l1_fix_dist: 0.2028, d6.loss_plan_l1_fix_time: 0.8504, d6.loss_plan_l1_fix_dist: 0.2082, d0.loss_cls_all: 0.1521, d0.loss_bbox_all: 0.3634, d0.loss_cls: 0.1521, d0.loss_bbox: 0.3634, d1.loss_cls: 0.1473, d1.loss_bbox: 0.3267, d2.loss_cls: 0.1391, d2.loss_bbox: 0.2988, d3.loss_cls: 0.1239, d3.loss_bbox: 0.2917, d4.loss_cls: 0.1201, d4.loss_bbox: 0.2878, d5.loss_cls: 0.1171, d5.loss_bbox: 0.2863, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7567, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5777, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5328, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5125, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5077, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5063, d0.loss_map_cls_all: 0.1964, d0.loss_map_pts_all: 1.1073, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1964, d0.loss_map_pts: 1.1073, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1621, d1.loss_map_pts: 0.7964, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1378, d2.loss_map_pts: 0.6317, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1249, d3.loss_map_pts: 0.5739, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1178, d4.loss_map_pts: 0.5521, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1127, d5.loss_map_pts: 0.5451, d5.loss_map_dir: 0.0064, loss: 23.6822, grad_norm: 157.3023 +2026-02-28 13:16:37,915 - DriveTransformer - INFO - Epoch [10][12700/39528] lr: 6.944e-05, eta: 4 days, 21:48:39, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.0965, loss_bbox: 0.2955, loss_traj: 0.5121, loss_traj_cls: 0.0017, loss_map_cls: 0.1328, loss_map_pts: 0.5900, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.3492, d0.loss_plan_l1_fix_dist: 0.4439, d1.loss_plan_l1_fix_time: 0.7833, d1.loss_plan_l1_fix_dist: 0.1929, d2.loss_plan_l1_fix_time: 0.7751, d2.loss_plan_l1_fix_dist: 0.2147, d3.loss_plan_l1_fix_time: 0.7729, d3.loss_plan_l1_fix_dist: 0.1909, d4.loss_plan_l1_fix_time: 0.7748, d4.loss_plan_l1_fix_dist: 0.2025, d5.loss_plan_l1_fix_time: 0.7775, d5.loss_plan_l1_fix_dist: 0.2243, d6.loss_plan_l1_fix_time: 0.7804, d6.loss_plan_l1_fix_dist: 0.2483, d0.loss_cls_all: 0.1459, d0.loss_bbox_all: 0.3563, d0.loss_cls: 0.1459, d0.loss_bbox: 0.3563, d1.loss_cls: 0.1363, d1.loss_bbox: 0.3259, d2.loss_cls: 0.1228, d2.loss_bbox: 0.3057, d3.loss_cls: 0.1038, d3.loss_bbox: 0.2999, d4.loss_cls: 0.1003, d4.loss_bbox: 0.2942, d5.loss_cls: 0.0963, d5.loss_bbox: 0.2953, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7550, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5973, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5428, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5230, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5201, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5166, d0.loss_map_cls_all: 0.2097, d0.loss_map_pts_all: 1.1802, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2097, d0.loss_map_pts: 1.1802, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1834, d1.loss_map_pts: 0.8477, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1562, d2.loss_map_pts: 0.6847, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1465, d3.loss_map_pts: 0.6229, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1382, d4.loss_map_pts: 0.5980, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1336, d5.loss_map_pts: 0.5915, d5.loss_map_dir: 0.0076, loss: 23.8469, grad_norm: 160.4189 +2026-02-28 13:17:13,269 - DriveTransformer - INFO - Epoch [10][12750/39528] lr: 6.944e-05, eta: 4 days, 21:47:57, time: 0.707, data_time: 0.037, memory: 19865, loss_cls: 0.1138, loss_bbox: 0.3056, loss_traj: 0.5346, loss_traj_cls: 0.0017, loss_map_cls: 0.1472, loss_map_pts: 0.6084, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.9781, d0.loss_plan_l1_fix_dist: 0.4592, d1.loss_plan_l1_fix_time: 0.8328, d1.loss_plan_l1_fix_dist: 0.2192, d2.loss_plan_l1_fix_time: 0.8150, d2.loss_plan_l1_fix_dist: 0.2161, d3.loss_plan_l1_fix_time: 0.8074, d3.loss_plan_l1_fix_dist: 0.1889, d4.loss_plan_l1_fix_time: 0.8082, d4.loss_plan_l1_fix_dist: 0.2024, d5.loss_plan_l1_fix_time: 0.8099, d5.loss_plan_l1_fix_dist: 0.2077, d6.loss_plan_l1_fix_time: 0.8118, d6.loss_plan_l1_fix_dist: 0.2169, d0.loss_cls_all: 0.1647, d0.loss_bbox_all: 0.3770, d0.loss_cls: 0.1647, d0.loss_bbox: 0.3770, d1.loss_cls: 0.1582, d1.loss_bbox: 0.3427, d2.loss_cls: 0.1419, d2.loss_bbox: 0.3183, d3.loss_cls: 0.1216, d3.loss_bbox: 0.3116, d4.loss_cls: 0.1139, d4.loss_bbox: 0.3088, d5.loss_cls: 0.1129, d5.loss_bbox: 0.3071, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7845, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6130, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5642, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5422, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5371, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5344, d0.loss_map_cls_all: 0.2340, d0.loss_map_pts_all: 1.1980, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.2340, d0.loss_map_pts: 1.1980, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.2028, d1.loss_map_pts: 0.8702, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1771, d2.loss_map_pts: 0.7126, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1622, d3.loss_map_pts: 0.6437, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1543, d4.loss_map_pts: 0.6185, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1497, d5.loss_map_pts: 0.6109, d5.loss_map_dir: 0.0067, loss: 25.4022, grad_norm: 156.0069 +2026-02-28 13:17:50,822 - DriveTransformer - INFO - Epoch [10][12800/39528] lr: 6.944e-05, eta: 4 days, 21:47:25, time: 0.751, data_time: 0.038, memory: 19865, loss_cls: 0.0814, loss_bbox: 0.2678, loss_traj: 0.4430, loss_traj_cls: 0.0018, loss_map_cls: 0.0968, loss_map_pts: 0.5032, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.2473, d0.loss_plan_l1_fix_dist: 0.4365, d1.loss_plan_l1_fix_time: 0.7288, d1.loss_plan_l1_fix_dist: 0.2279, d2.loss_plan_l1_fix_time: 0.7054, d2.loss_plan_l1_fix_dist: 0.2221, d3.loss_plan_l1_fix_time: 0.7044, d3.loss_plan_l1_fix_dist: 0.2085, d4.loss_plan_l1_fix_time: 0.7065, d4.loss_plan_l1_fix_dist: 0.2340, d5.loss_plan_l1_fix_time: 0.7086, d5.loss_plan_l1_fix_dist: 0.2534, d6.loss_plan_l1_fix_time: 0.7110, d6.loss_plan_l1_fix_dist: 0.2622, d0.loss_cls_all: 0.1226, d0.loss_bbox_all: 0.3256, d0.loss_cls: 0.1226, d0.loss_bbox: 0.3256, d1.loss_cls: 0.1146, d1.loss_bbox: 0.2980, d2.loss_cls: 0.1031, d2.loss_bbox: 0.2800, d3.loss_cls: 0.0882, d3.loss_bbox: 0.2718, d4.loss_cls: 0.0837, d4.loss_bbox: 0.2690, d5.loss_cls: 0.0814, d5.loss_bbox: 0.2678, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6601, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5112, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4665, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4513, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4446, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4427, d0.loss_map_cls_all: 0.1710, d0.loss_map_pts_all: 1.0285, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1710, d0.loss_map_pts: 1.0285, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1419, d1.loss_map_pts: 0.7184, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1171, d2.loss_map_pts: 0.5787, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1092, d3.loss_map_pts: 0.5265, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1032, d4.loss_map_pts: 0.5081, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.0995, d5.loss_map_pts: 0.5051, d5.loss_map_dir: 0.0066, loss: 21.3460, grad_norm: 157.2851 +2026-02-28 13:18:27,054 - DriveTransformer - INFO - Epoch [10][12850/39528] lr: 6.944e-05, eta: 4 days, 21:46:47, time: 0.725, data_time: 0.036, memory: 19865, loss_cls: 0.1114, loss_bbox: 0.2910, loss_traj: 0.5060, loss_traj_cls: 0.0018, loss_map_cls: 0.1255, loss_map_pts: 0.5710, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.7109, d0.loss_plan_l1_fix_dist: 0.4911, d1.loss_plan_l1_fix_time: 0.8612, d1.loss_plan_l1_fix_dist: 0.2350, d2.loss_plan_l1_fix_time: 0.8446, d2.loss_plan_l1_fix_dist: 0.1955, d3.loss_plan_l1_fix_time: 0.8312, d3.loss_plan_l1_fix_dist: 0.2117, d4.loss_plan_l1_fix_time: 0.8318, d4.loss_plan_l1_fix_dist: 0.2144, d5.loss_plan_l1_fix_time: 0.8335, d5.loss_plan_l1_fix_dist: 0.2290, d6.loss_plan_l1_fix_time: 0.8362, d6.loss_plan_l1_fix_dist: 0.2388, d0.loss_cls_all: 0.1507, d0.loss_bbox_all: 0.3592, d0.loss_cls: 0.1507, d0.loss_bbox: 0.3592, d1.loss_cls: 0.1391, d1.loss_bbox: 0.3276, d2.loss_cls: 0.1296, d2.loss_bbox: 0.3042, d3.loss_cls: 0.1166, d3.loss_bbox: 0.2958, d4.loss_cls: 0.1139, d4.loss_bbox: 0.2921, d5.loss_cls: 0.1120, d5.loss_bbox: 0.2909, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7025, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5708, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5225, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5138, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5074, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5068, d0.loss_map_cls_all: 0.2072, d0.loss_map_pts_all: 1.1541, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2072, d0.loss_map_pts: 1.1541, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1768, d1.loss_map_pts: 0.8218, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1522, d2.loss_map_pts: 0.6622, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1417, d3.loss_map_pts: 0.5994, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1332, d4.loss_map_pts: 0.5778, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1284, d5.loss_map_pts: 0.5710, d5.loss_map_dir: 0.0076, loss: 24.3871, grad_norm: 157.5229 +2026-02-28 13:19:02,633 - DriveTransformer - INFO - Epoch [10][12900/39528] lr: 6.944e-05, eta: 4 days, 21:46:06, time: 0.712, data_time: 0.036, memory: 19865, loss_cls: 0.1190, loss_bbox: 0.3066, loss_traj: 0.4909, loss_traj_cls: 0.0017, loss_map_cls: 0.1086, loss_map_pts: 0.5603, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.6691, d0.loss_plan_l1_fix_dist: 0.3943, d1.loss_plan_l1_fix_time: 0.7498, d1.loss_plan_l1_fix_dist: 0.2333, d2.loss_plan_l1_fix_time: 0.7414, d2.loss_plan_l1_fix_dist: 0.1844, d3.loss_plan_l1_fix_time: 0.7348, d3.loss_plan_l1_fix_dist: 0.2271, d4.loss_plan_l1_fix_time: 0.7367, d4.loss_plan_l1_fix_dist: 0.2143, d5.loss_plan_l1_fix_time: 0.7396, d5.loss_plan_l1_fix_dist: 0.2234, d6.loss_plan_l1_fix_time: 0.7438, d6.loss_plan_l1_fix_dist: 0.2398, d0.loss_cls_all: 0.1649, d0.loss_bbox_all: 0.3783, d0.loss_cls: 0.1649, d0.loss_bbox: 0.3783, d1.loss_cls: 0.1561, d1.loss_bbox: 0.3474, d2.loss_cls: 0.1451, d2.loss_bbox: 0.3220, d3.loss_cls: 0.1266, d3.loss_bbox: 0.3140, d4.loss_cls: 0.1201, d4.loss_bbox: 0.3096, d5.loss_cls: 0.1198, d5.loss_bbox: 0.3063, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6885, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5726, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5170, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5028, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5001, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4949, d0.loss_map_cls_all: 0.1954, d0.loss_map_pts_all: 1.0977, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1954, d0.loss_map_pts: 1.0977, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1615, d1.loss_map_pts: 0.7809, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1369, d2.loss_map_pts: 0.6376, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1237, d3.loss_map_pts: 0.5871, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1148, d4.loss_map_pts: 0.5653, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1092, d5.loss_map_pts: 0.5612, d5.loss_map_dir: 0.0072, loss: 23.4740, grad_norm: 155.6198 +2026-02-28 13:19:38,778 - DriveTransformer - INFO - Epoch [10][12950/39528] lr: 6.944e-05, eta: 4 days, 21:45:28, time: 0.723, data_time: 0.036, memory: 19865, loss_cls: 0.0952, loss_bbox: 0.2927, loss_traj: 0.4861, loss_traj_cls: 0.0018, loss_map_cls: 0.1054, loss_map_pts: 0.5292, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.7337, d0.loss_plan_l1_fix_dist: 0.4623, d1.loss_plan_l1_fix_time: 0.8073, d1.loss_plan_l1_fix_dist: 0.2407, d2.loss_plan_l1_fix_time: 0.7921, d2.loss_plan_l1_fix_dist: 0.2001, d3.loss_plan_l1_fix_time: 0.7870, d3.loss_plan_l1_fix_dist: 0.2336, d4.loss_plan_l1_fix_time: 0.7892, d4.loss_plan_l1_fix_dist: 0.2366, d5.loss_plan_l1_fix_time: 0.7923, d5.loss_plan_l1_fix_dist: 0.2561, d6.loss_plan_l1_fix_time: 0.7970, d6.loss_plan_l1_fix_dist: 0.2811, d0.loss_cls_all: 0.1390, d0.loss_bbox_all: 0.3425, d0.loss_cls: 0.1390, d0.loss_bbox: 0.3425, d1.loss_cls: 0.1289, d1.loss_bbox: 0.3161, d2.loss_cls: 0.1161, d2.loss_bbox: 0.2982, d3.loss_cls: 0.1019, d3.loss_bbox: 0.2921, d4.loss_cls: 0.0963, d4.loss_bbox: 0.2912, d5.loss_cls: 0.0948, d5.loss_bbox: 0.2913, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7142, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5578, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5093, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5007, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4976, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4919, d0.loss_map_cls_all: 0.1699, d0.loss_map_pts_all: 1.0747, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1699, d0.loss_map_pts: 1.0747, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1441, d1.loss_map_pts: 0.7654, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1279, d2.loss_map_pts: 0.6115, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1165, d3.loss_map_pts: 0.5583, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1109, d4.loss_map_pts: 0.5380, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1064, d5.loss_map_pts: 0.5308, d5.loss_map_dir: 0.0066, loss: 23.3365, grad_norm: 164.4051 +2026-02-28 13:20:15,085 - DriveTransformer - INFO - Epoch [10][13000/39528] lr: 6.944e-05, eta: 4 days, 21:44:50, time: 0.726, data_time: 0.039, memory: 19865, loss_cls: 0.0993, loss_bbox: 0.2921, loss_traj: 0.5887, loss_traj_cls: 0.0018, loss_map_cls: 0.1151, loss_map_pts: 0.5716, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.5008, d0.loss_plan_l1_fix_dist: 0.3403, d1.loss_plan_l1_fix_time: 0.8031, d1.loss_plan_l1_fix_dist: 0.2227, d2.loss_plan_l1_fix_time: 0.7872, d2.loss_plan_l1_fix_dist: 0.1858, d3.loss_plan_l1_fix_time: 0.7806, d3.loss_plan_l1_fix_dist: 0.2167, d4.loss_plan_l1_fix_time: 0.7831, d4.loss_plan_l1_fix_dist: 0.2046, d5.loss_plan_l1_fix_time: 0.7866, d5.loss_plan_l1_fix_dist: 0.2253, d6.loss_plan_l1_fix_time: 0.7912, d6.loss_plan_l1_fix_dist: 0.2505, d0.loss_cls_all: 0.1479, d0.loss_bbox_all: 0.3551, d0.loss_cls: 0.1479, d0.loss_bbox: 0.3551, d1.loss_cls: 0.1436, d1.loss_bbox: 0.3189, d2.loss_cls: 0.1309, d2.loss_bbox: 0.2955, d3.loss_cls: 0.1092, d3.loss_bbox: 0.2928, d4.loss_cls: 0.1032, d4.loss_bbox: 0.2888, d5.loss_cls: 0.1023, d5.loss_bbox: 0.2883, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8617, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6518, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6023, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5934, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5825, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5824, d0.loss_map_cls_all: 0.2143, d0.loss_map_pts_all: 1.1832, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2143, d0.loss_map_pts: 1.1832, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1796, d1.loss_map_pts: 0.8498, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1483, d2.loss_map_pts: 0.6690, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1347, d3.loss_map_pts: 0.6045, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1262, d4.loss_map_pts: 0.5783, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1178, d5.loss_map_pts: 0.5724, d5.loss_map_dir: 0.0073, loss: 24.3366, grad_norm: 166.2513 +2026-02-28 13:20:50,551 - DriveTransformer - INFO - Epoch [10][13050/39528] lr: 6.944e-05, eta: 4 days, 21:44:09, time: 0.709, data_time: 0.036, memory: 19865, loss_cls: 0.1035, loss_bbox: 0.2885, loss_traj: 0.5775, loss_traj_cls: 0.0018, loss_map_cls: 0.1052, loss_map_pts: 0.4414, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.6467, d0.loss_plan_l1_fix_dist: 0.4367, d1.loss_plan_l1_fix_time: 0.8656, d1.loss_plan_l1_fix_dist: 0.2465, d2.loss_plan_l1_fix_time: 0.8497, d2.loss_plan_l1_fix_dist: 0.2234, d3.loss_plan_l1_fix_time: 0.8417, d3.loss_plan_l1_fix_dist: 0.2510, d4.loss_plan_l1_fix_time: 0.8421, d4.loss_plan_l1_fix_dist: 0.2399, d5.loss_plan_l1_fix_time: 0.8438, d5.loss_plan_l1_fix_dist: 0.2432, d6.loss_plan_l1_fix_time: 0.8460, d6.loss_plan_l1_fix_dist: 0.2599, d0.loss_cls_all: 0.1408, d0.loss_bbox_all: 0.3563, d0.loss_cls: 0.1408, d0.loss_bbox: 0.3563, d1.loss_cls: 0.1377, d1.loss_bbox: 0.3198, d2.loss_cls: 0.1277, d2.loss_bbox: 0.2992, d3.loss_cls: 0.1112, d3.loss_bbox: 0.2922, d4.loss_cls: 0.1050, d4.loss_bbox: 0.2904, d5.loss_cls: 0.1047, d5.loss_bbox: 0.2877, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8077, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6580, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6040, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5884, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5858, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5834, d0.loss_map_cls_all: 0.1733, d0.loss_map_pts_all: 0.9479, d0.loss_map_dir_all: 0.0047, d0.loss_map_cls: 0.1733, d0.loss_map_pts: 0.9479, d0.loss_map_dir: 0.0047, d1.loss_map_cls: 0.1505, d1.loss_map_pts: 0.6768, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.1279, d2.loss_map_pts: 0.5378, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.1196, d3.loss_map_pts: 0.4761, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.1130, d4.loss_map_pts: 0.4498, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.1082, d5.loss_map_pts: 0.4424, d5.loss_map_dir: 0.0048, loss: 23.5377, grad_norm: 160.5288 +2026-02-28 13:21:26,936 - DriveTransformer - INFO - Epoch [10][13100/39528] lr: 6.944e-05, eta: 4 days, 21:43:32, time: 0.728, data_time: 0.037, memory: 19865, loss_cls: 0.0920, loss_bbox: 0.3017, loss_traj: 0.4954, loss_traj_cls: 0.0018, loss_map_cls: 0.1164, loss_map_pts: 0.5477, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.2127, d0.loss_plan_l1_fix_dist: 0.3034, d1.loss_plan_l1_fix_time: 0.8578, d1.loss_plan_l1_fix_dist: 0.1949, d2.loss_plan_l1_fix_time: 0.8511, d2.loss_plan_l1_fix_dist: 0.1921, d3.loss_plan_l1_fix_time: 0.8534, d3.loss_plan_l1_fix_dist: 0.2248, d4.loss_plan_l1_fix_time: 0.8570, d4.loss_plan_l1_fix_dist: 0.2423, d5.loss_plan_l1_fix_time: 0.8602, d5.loss_plan_l1_fix_dist: 0.2472, d6.loss_plan_l1_fix_time: 0.8637, d6.loss_plan_l1_fix_dist: 0.2603, d0.loss_cls_all: 0.1392, d0.loss_bbox_all: 0.3618, d0.loss_cls: 0.1392, d0.loss_bbox: 0.3618, d1.loss_cls: 0.1341, d1.loss_bbox: 0.3283, d2.loss_cls: 0.1203, d2.loss_bbox: 0.3112, d3.loss_cls: 0.1021, d3.loss_bbox: 0.3051, d4.loss_cls: 0.0953, d4.loss_bbox: 0.3023, d5.loss_cls: 0.0931, d5.loss_bbox: 0.3010, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7189, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5605, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5087, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5006, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4963, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4964, d0.loss_map_cls_all: 0.1959, d0.loss_map_pts_all: 1.1453, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1959, d0.loss_map_pts: 1.1453, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1611, d1.loss_map_pts: 0.7944, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1359, d2.loss_map_pts: 0.6300, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1281, d3.loss_map_pts: 0.5755, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1224, d4.loss_map_pts: 0.5550, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1187, d5.loss_map_pts: 0.5471, d5.loss_map_dir: 0.0074, loss: 23.4663, grad_norm: 162.3484 +2026-02-28 13:22:01,913 - DriveTransformer - INFO - Epoch [10][13150/39528] lr: 6.944e-05, eta: 4 days, 21:42:48, time: 0.700, data_time: 0.041, memory: 19865, loss_cls: 0.0862, loss_bbox: 0.3000, loss_traj: 0.4634, loss_traj_cls: 0.0018, loss_map_cls: 0.1047, loss_map_pts: 0.4671, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.6803, d0.loss_plan_l1_fix_dist: 0.3622, d1.loss_plan_l1_fix_time: 0.7892, d1.loss_plan_l1_fix_dist: 0.1894, d2.loss_plan_l1_fix_time: 0.7739, d2.loss_plan_l1_fix_dist: 0.1863, d3.loss_plan_l1_fix_time: 0.7744, d3.loss_plan_l1_fix_dist: 0.2066, d4.loss_plan_l1_fix_time: 0.7776, d4.loss_plan_l1_fix_dist: 0.2343, d5.loss_plan_l1_fix_time: 0.7805, d5.loss_plan_l1_fix_dist: 0.2401, d6.loss_plan_l1_fix_time: 0.7836, d6.loss_plan_l1_fix_dist: 0.2417, d0.loss_cls_all: 0.1306, d0.loss_bbox_all: 0.3418, d0.loss_cls: 0.1306, d0.loss_bbox: 0.3418, d1.loss_cls: 0.1274, d1.loss_bbox: 0.3141, d2.loss_cls: 0.1112, d2.loss_bbox: 0.3004, d3.loss_cls: 0.0942, d3.loss_bbox: 0.2984, d4.loss_cls: 0.0879, d4.loss_bbox: 0.2989, d5.loss_cls: 0.0856, d5.loss_bbox: 0.2995, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7122, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5468, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4950, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4753, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4710, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4711, d0.loss_map_cls_all: 0.1845, d0.loss_map_pts_all: 0.9719, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1845, d0.loss_map_pts: 0.9719, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1546, d1.loss_map_pts: 0.6829, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1326, d2.loss_map_pts: 0.5318, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1182, d3.loss_map_pts: 0.4839, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1115, d4.loss_map_pts: 0.4706, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1071, d5.loss_map_pts: 0.4667, d5.loss_map_dir: 0.0067, loss: 22.2066, grad_norm: 160.4747 +2026-02-28 13:22:37,162 - DriveTransformer - INFO - Epoch [10][13200/39528] lr: 6.944e-05, eta: 4 days, 21:42:06, time: 0.705, data_time: 0.038, memory: 19865, loss_cls: 0.1090, loss_bbox: 0.3032, loss_traj: 0.5796, loss_traj_cls: 0.0018, loss_map_cls: 0.0845, loss_map_pts: 0.4791, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.7517, d0.loss_plan_l1_fix_dist: 0.4898, d1.loss_plan_l1_fix_time: 0.8188, d1.loss_plan_l1_fix_dist: 0.1824, d2.loss_plan_l1_fix_time: 0.8027, d2.loss_plan_l1_fix_dist: 0.1986, d3.loss_plan_l1_fix_time: 0.7764, d3.loss_plan_l1_fix_dist: 0.2017, d4.loss_plan_l1_fix_time: 0.7769, d4.loss_plan_l1_fix_dist: 0.2062, d5.loss_plan_l1_fix_time: 0.7793, d5.loss_plan_l1_fix_dist: 0.2108, d6.loss_plan_l1_fix_time: 0.7824, d6.loss_plan_l1_fix_dist: 0.2167, d0.loss_cls_all: 0.1522, d0.loss_bbox_all: 0.3590, d0.loss_cls: 0.1522, d0.loss_bbox: 0.3590, d1.loss_cls: 0.1442, d1.loss_bbox: 0.3297, d2.loss_cls: 0.1298, d2.loss_bbox: 0.3098, d3.loss_cls: 0.1158, d3.loss_bbox: 0.3033, d4.loss_cls: 0.1105, d4.loss_bbox: 0.3021, d5.loss_cls: 0.1088, d5.loss_bbox: 0.3020, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8384, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6500, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6027, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5867, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5848, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5798, d0.loss_map_cls_all: 0.1698, d0.loss_map_pts_all: 0.9897, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1698, d0.loss_map_pts: 0.9897, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1361, d1.loss_map_pts: 0.7060, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1129, d2.loss_map_pts: 0.5623, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0994, d3.loss_map_pts: 0.5037, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0918, d4.loss_map_pts: 0.4828, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0870, d5.loss_map_pts: 0.4794, d5.loss_map_dir: 0.0059, loss: 23.4032, grad_norm: 159.3901 +2026-02-28 13:23:14,257 - DriveTransformer - INFO - Epoch [10][13250/39528] lr: 6.944e-05, eta: 4 days, 21:41:32, time: 0.742, data_time: 0.037, memory: 19865, loss_cls: 0.1168, loss_bbox: 0.2971, loss_traj: 0.4757, loss_traj_cls: 0.0018, loss_map_cls: 0.1087, loss_map_pts: 0.5476, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.3624, d0.loss_plan_l1_fix_dist: 0.4516, d1.loss_plan_l1_fix_time: 0.7964, d1.loss_plan_l1_fix_dist: 0.1797, d2.loss_plan_l1_fix_time: 0.7805, d2.loss_plan_l1_fix_dist: 0.2289, d3.loss_plan_l1_fix_time: 0.7729, d3.loss_plan_l1_fix_dist: 0.2369, d4.loss_plan_l1_fix_time: 0.7758, d4.loss_plan_l1_fix_dist: 0.2514, d5.loss_plan_l1_fix_time: 0.7789, d5.loss_plan_l1_fix_dist: 0.2626, d6.loss_plan_l1_fix_time: 0.7828, d6.loss_plan_l1_fix_dist: 0.2794, d0.loss_cls_all: 0.1555, d0.loss_bbox_all: 0.3622, d0.loss_cls: 0.1555, d0.loss_bbox: 0.3622, d1.loss_cls: 0.1497, d1.loss_bbox: 0.3297, d2.loss_cls: 0.1366, d2.loss_bbox: 0.3083, d3.loss_cls: 0.1236, d3.loss_bbox: 0.3021, d4.loss_cls: 0.1166, d4.loss_bbox: 0.2996, d5.loss_cls: 0.1151, d5.loss_bbox: 0.2974, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7119, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5555, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5030, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4909, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4935, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4805, d0.loss_map_cls_all: 0.1815, d0.loss_map_pts_all: 1.0930, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1815, d0.loss_map_pts: 1.0930, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1546, d1.loss_map_pts: 0.7843, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1327, d2.loss_map_pts: 0.6377, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1233, d3.loss_map_pts: 0.5802, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1171, d4.loss_map_pts: 0.5565, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1115, d5.loss_map_pts: 0.5496, d5.loss_map_dir: 0.0062, loss: 23.2873, grad_norm: 158.9336 +2026-02-28 13:23:49,907 - DriveTransformer - INFO - Epoch [10][13300/39528] lr: 6.944e-05, eta: 4 days, 21:40:51, time: 0.713, data_time: 0.036, memory: 19865, loss_cls: 0.0982, loss_bbox: 0.2843, loss_traj: 0.5474, loss_traj_cls: 0.0018, loss_map_cls: 0.1107, loss_map_pts: 0.4842, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.9944, d0.loss_plan_l1_fix_dist: 0.3506, d1.loss_plan_l1_fix_time: 0.8936, d1.loss_plan_l1_fix_dist: 0.1706, d2.loss_plan_l1_fix_time: 0.8797, d2.loss_plan_l1_fix_dist: 0.2077, d3.loss_plan_l1_fix_time: 0.8736, d3.loss_plan_l1_fix_dist: 0.2082, d4.loss_plan_l1_fix_time: 0.8763, d4.loss_plan_l1_fix_dist: 0.2195, d5.loss_plan_l1_fix_time: 0.8791, d5.loss_plan_l1_fix_dist: 0.2267, d6.loss_plan_l1_fix_time: 0.8822, d6.loss_plan_l1_fix_dist: 0.2429, d0.loss_cls_all: 0.1411, d0.loss_bbox_all: 0.3515, d0.loss_cls: 0.1411, d0.loss_bbox: 0.3515, d1.loss_cls: 0.1344, d1.loss_bbox: 0.3163, d2.loss_cls: 0.1218, d2.loss_bbox: 0.2927, d3.loss_cls: 0.1077, d3.loss_bbox: 0.2877, d4.loss_cls: 0.1008, d4.loss_bbox: 0.2860, d5.loss_cls: 0.0975, d5.loss_bbox: 0.2853, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7852, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6195, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5648, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5551, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5488, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5495, d0.loss_map_cls_all: 0.1922, d0.loss_map_pts_all: 1.0454, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1922, d0.loss_map_pts: 1.0454, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1561, d1.loss_map_pts: 0.7069, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1361, d2.loss_map_pts: 0.5619, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1248, d3.loss_map_pts: 0.5110, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1191, d4.loss_map_pts: 0.4882, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1127, d5.loss_map_pts: 0.4840, d5.loss_map_dir: 0.0060, loss: 23.9977, grad_norm: 158.5494 +2026-02-28 13:24:25,448 - DriveTransformer - INFO - Epoch [10][13350/39528] lr: 6.944e-05, eta: 4 days, 21:40:10, time: 0.711, data_time: 0.039, memory: 19865, loss_cls: 0.1042, loss_bbox: 0.2859, loss_traj: 0.5513, loss_traj_cls: 0.0018, loss_map_cls: 0.0761, loss_map_pts: 0.4537, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.6774, d0.loss_plan_l1_fix_dist: 0.4408, d1.loss_plan_l1_fix_time: 0.7550, d1.loss_plan_l1_fix_dist: 0.1965, d2.loss_plan_l1_fix_time: 0.7369, d2.loss_plan_l1_fix_dist: 0.1849, d3.loss_plan_l1_fix_time: 0.7285, d3.loss_plan_l1_fix_dist: 0.2167, d4.loss_plan_l1_fix_time: 0.7307, d4.loss_plan_l1_fix_dist: 0.2056, d5.loss_plan_l1_fix_time: 0.7338, d5.loss_plan_l1_fix_dist: 0.2250, d6.loss_plan_l1_fix_time: 0.7368, d6.loss_plan_l1_fix_dist: 0.2397, d0.loss_cls_all: 0.1383, d0.loss_bbox_all: 0.3463, d0.loss_cls: 0.1383, d0.loss_bbox: 0.3463, d1.loss_cls: 0.1323, d1.loss_bbox: 0.3157, d2.loss_cls: 0.1217, d2.loss_bbox: 0.2943, d3.loss_cls: 0.1090, d3.loss_bbox: 0.2877, d4.loss_cls: 0.1050, d4.loss_bbox: 0.2874, d5.loss_cls: 0.1041, d5.loss_bbox: 0.2857, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7834, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6237, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5859, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5682, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5604, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5544, d0.loss_map_cls_all: 0.1491, d0.loss_map_pts_all: 0.9256, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1491, d0.loss_map_pts: 0.9256, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1185, d1.loss_map_pts: 0.6589, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.0992, d2.loss_map_pts: 0.5233, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.0895, d3.loss_map_pts: 0.4790, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.0829, d4.loss_map_pts: 0.4591, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0780, d5.loss_map_pts: 0.4553, d5.loss_map_dir: 0.0065, loss: 22.2182, grad_norm: 158.1196 +2026-02-28 13:25:03,356 - DriveTransformer - INFO - Epoch [10][13400/39528] lr: 6.944e-05, eta: 4 days, 21:39:40, time: 0.760, data_time: 0.035, memory: 19865, loss_cls: 0.1082, loss_bbox: 0.2980, loss_traj: 0.4390, loss_traj_cls: 0.0018, loss_map_cls: 0.1228, loss_map_pts: 0.6969, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.8423, d0.loss_plan_l1_fix_dist: 0.4674, d1.loss_plan_l1_fix_time: 0.8138, d1.loss_plan_l1_fix_dist: 0.2435, d2.loss_plan_l1_fix_time: 0.8090, d2.loss_plan_l1_fix_dist: 0.2317, d3.loss_plan_l1_fix_time: 0.8057, d3.loss_plan_l1_fix_dist: 0.2747, d4.loss_plan_l1_fix_time: 0.8091, d4.loss_plan_l1_fix_dist: 0.2633, d5.loss_plan_l1_fix_time: 0.8121, d5.loss_plan_l1_fix_dist: 0.2978, d6.loss_plan_l1_fix_time: 0.8153, d6.loss_plan_l1_fix_dist: 0.3174, d0.loss_cls_all: 0.1625, d0.loss_bbox_all: 0.3740, d0.loss_cls: 0.1625, d0.loss_bbox: 0.3740, d1.loss_cls: 0.1529, d1.loss_bbox: 0.3358, d2.loss_cls: 0.1367, d2.loss_bbox: 0.3124, d3.loss_cls: 0.1166, d3.loss_bbox: 0.3027, d4.loss_cls: 0.1103, d4.loss_bbox: 0.3005, d5.loss_cls: 0.1081, d5.loss_bbox: 0.2990, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6376, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4959, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4574, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4471, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4471, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4412, d0.loss_map_cls_all: 0.2192, d0.loss_map_pts_all: 1.4053, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2192, d0.loss_map_pts: 1.4053, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.1823, d1.loss_map_pts: 1.0110, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1515, d2.loss_map_pts: 0.8131, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1409, d3.loss_map_pts: 0.7322, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1317, d4.loss_map_pts: 0.7029, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1257, d5.loss_map_pts: 0.6982, d5.loss_map_dir: 0.0100, loss: 25.6652, grad_norm: 157.3182 +2026-02-28 13:25:40,454 - DriveTransformer - INFO - Epoch [10][13450/39528] lr: 6.944e-05, eta: 4 days, 21:39:06, time: 0.741, data_time: 0.037, memory: 19865, loss_cls: 0.0986, loss_bbox: 0.2727, loss_traj: 0.4688, loss_traj_cls: 0.0019, loss_map_cls: 0.1068, loss_map_pts: 0.5103, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.6034, d0.loss_plan_l1_fix_dist: 0.4497, d1.loss_plan_l1_fix_time: 0.8092, d1.loss_plan_l1_fix_dist: 0.2062, d2.loss_plan_l1_fix_time: 0.7978, d2.loss_plan_l1_fix_dist: 0.1867, d3.loss_plan_l1_fix_time: 0.7912, d3.loss_plan_l1_fix_dist: 0.2094, d4.loss_plan_l1_fix_time: 0.7931, d4.loss_plan_l1_fix_dist: 0.1883, d5.loss_plan_l1_fix_time: 0.7958, d5.loss_plan_l1_fix_dist: 0.1989, d6.loss_plan_l1_fix_time: 0.7991, d6.loss_plan_l1_fix_dist: 0.2136, d0.loss_cls_all: 0.1370, d0.loss_bbox_all: 0.3346, d0.loss_cls: 0.1370, d0.loss_bbox: 0.3346, d1.loss_cls: 0.1308, d1.loss_bbox: 0.3026, d2.loss_cls: 0.1165, d2.loss_bbox: 0.2836, d3.loss_cls: 0.1051, d3.loss_bbox: 0.2768, d4.loss_cls: 0.0994, d4.loss_bbox: 0.2744, d5.loss_cls: 0.0980, d5.loss_bbox: 0.2730, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6527, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5222, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4810, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4701, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4677, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4691, d0.loss_map_cls_all: 0.1751, d0.loss_map_pts_all: 1.0574, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1751, d0.loss_map_pts: 1.0574, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1470, d1.loss_map_pts: 0.7273, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1290, d2.loss_map_pts: 0.5774, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1194, d3.loss_map_pts: 0.5313, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1139, d4.loss_map_pts: 0.5143, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1085, d5.loss_map_pts: 0.5111, d5.loss_map_dir: 0.0070, loss: 22.4732, grad_norm: 156.9753 +2026-02-28 13:26:18,661 - DriveTransformer - INFO - Epoch [10][13500/39528] lr: 6.944e-05, eta: 4 days, 21:38:36, time: 0.764, data_time: 0.033, memory: 19865, loss_cls: 0.1056, loss_bbox: 0.2871, loss_traj: 0.4921, loss_traj_cls: 0.0018, loss_map_cls: 0.1102, loss_map_pts: 0.6131, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.6498, d0.loss_plan_l1_fix_dist: 0.4193, d1.loss_plan_l1_fix_time: 0.8376, d1.loss_plan_l1_fix_dist: 0.1974, d2.loss_plan_l1_fix_time: 0.8277, d2.loss_plan_l1_fix_dist: 0.1867, d3.loss_plan_l1_fix_time: 0.8292, d3.loss_plan_l1_fix_dist: 0.2159, d4.loss_plan_l1_fix_time: 0.8311, d4.loss_plan_l1_fix_dist: 0.2068, d5.loss_plan_l1_fix_time: 0.8333, d5.loss_plan_l1_fix_dist: 0.2113, d6.loss_plan_l1_fix_time: 0.8364, d6.loss_plan_l1_fix_dist: 0.2326, d0.loss_cls_all: 0.1498, d0.loss_bbox_all: 0.3502, d0.loss_cls: 0.1498, d0.loss_bbox: 0.3502, d1.loss_cls: 0.1415, d1.loss_bbox: 0.3161, d2.loss_cls: 0.1268, d2.loss_bbox: 0.2966, d3.loss_cls: 0.1154, d3.loss_bbox: 0.2877, d4.loss_cls: 0.1078, d4.loss_bbox: 0.2871, d5.loss_cls: 0.1057, d5.loss_bbox: 0.2871, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6830, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5582, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5081, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4992, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4983, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4953, d0.loss_map_cls_all: 0.2000, d0.loss_map_pts_all: 1.2611, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2000, d0.loss_map_pts: 1.2611, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1702, d1.loss_map_pts: 0.9095, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1406, d2.loss_map_pts: 0.7098, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1259, d3.loss_map_pts: 0.6469, d3.loss_map_dir: 0.0087, d4.loss_map_cls: 0.1180, d4.loss_map_pts: 0.6191, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1125, d5.loss_map_pts: 0.6130, d5.loss_map_dir: 0.0090, loss: 24.4015, grad_norm: 155.9373 +2026-02-28 13:26:54,651 - DriveTransformer - INFO - Epoch [10][13550/39528] lr: 6.944e-05, eta: 4 days, 21:37:57, time: 0.720, data_time: 0.039, memory: 19865, loss_cls: 0.1025, loss_bbox: 0.2922, loss_traj: 0.4836, loss_traj_cls: 0.0018, loss_map_cls: 0.1043, loss_map_pts: 0.4780, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.6670, d0.loss_plan_l1_fix_dist: 0.3558, d1.loss_plan_l1_fix_time: 0.7395, d1.loss_plan_l1_fix_dist: 0.1821, d2.loss_plan_l1_fix_time: 0.7249, d2.loss_plan_l1_fix_dist: 0.1674, d3.loss_plan_l1_fix_time: 0.7273, d3.loss_plan_l1_fix_dist: 0.1821, d4.loss_plan_l1_fix_time: 0.7304, d4.loss_plan_l1_fix_dist: 0.1773, d5.loss_plan_l1_fix_time: 0.7330, d5.loss_plan_l1_fix_dist: 0.1856, d6.loss_plan_l1_fix_time: 0.7361, d6.loss_plan_l1_fix_dist: 0.2004, d0.loss_cls_all: 0.1472, d0.loss_bbox_all: 0.3600, d0.loss_cls: 0.1472, d0.loss_bbox: 0.3600, d1.loss_cls: 0.1420, d1.loss_bbox: 0.3229, d2.loss_cls: 0.1310, d2.loss_bbox: 0.3033, d3.loss_cls: 0.1131, d3.loss_bbox: 0.2962, d4.loss_cls: 0.1046, d4.loss_bbox: 0.2950, d5.loss_cls: 0.1032, d5.loss_bbox: 0.2921, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7345, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5772, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5230, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4971, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4913, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4901, d0.loss_map_cls_all: 0.1870, d0.loss_map_pts_all: 1.0495, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1870, d0.loss_map_pts: 1.0495, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1519, d1.loss_map_pts: 0.7342, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1330, d2.loss_map_pts: 0.5711, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1192, d3.loss_map_pts: 0.5032, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1124, d4.loss_map_pts: 0.4830, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1069, d5.loss_map_pts: 0.4788, d5.loss_map_dir: 0.0060, loss: 22.3201, grad_norm: 156.6601 +2026-02-28 13:27:30,456 - DriveTransformer - INFO - Epoch [10][13600/39528] lr: 6.944e-05, eta: 4 days, 21:37:18, time: 0.716, data_time: 0.036, memory: 19865, loss_cls: 0.1135, loss_bbox: 0.2935, loss_traj: 0.4250, loss_traj_cls: 0.0019, loss_map_cls: 0.1084, loss_map_pts: 0.5473, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.7090, d0.loss_plan_l1_fix_dist: 0.3683, d1.loss_plan_l1_fix_time: 0.7912, d1.loss_plan_l1_fix_dist: 0.1742, d2.loss_plan_l1_fix_time: 0.7840, d2.loss_plan_l1_fix_dist: 0.1700, d3.loss_plan_l1_fix_time: 0.7857, d3.loss_plan_l1_fix_dist: 0.1764, d4.loss_plan_l1_fix_time: 0.7872, d4.loss_plan_l1_fix_dist: 0.1858, d5.loss_plan_l1_fix_time: 0.7889, d5.loss_plan_l1_fix_dist: 0.1945, d6.loss_plan_l1_fix_time: 0.7909, d6.loss_plan_l1_fix_dist: 0.1988, d0.loss_cls_all: 0.1561, d0.loss_bbox_all: 0.3597, d0.loss_cls: 0.1561, d0.loss_bbox: 0.3597, d1.loss_cls: 0.1533, d1.loss_bbox: 0.3274, d2.loss_cls: 0.1394, d2.loss_bbox: 0.3055, d3.loss_cls: 0.1223, d3.loss_bbox: 0.2985, d4.loss_cls: 0.1156, d4.loss_bbox: 0.2964, d5.loss_cls: 0.1134, d5.loss_bbox: 0.2952, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6168, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4890, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4482, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4260, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4245, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4246, d0.loss_map_cls_all: 0.1955, d0.loss_map_pts_all: 1.0875, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1955, d0.loss_map_pts: 1.0875, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1620, d1.loss_map_pts: 0.8150, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1381, d2.loss_map_pts: 0.6549, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1246, d3.loss_map_pts: 0.5860, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1175, d4.loss_map_pts: 0.5568, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1121, d5.loss_map_pts: 0.5475, d5.loss_map_dir: 0.0060, loss: 22.8553, grad_norm: 157.1271 +2026-02-28 13:28:07,116 - DriveTransformer - INFO - Epoch [10][13650/39528] lr: 6.944e-05, eta: 4 days, 21:36:42, time: 0.733, data_time: 0.039, memory: 19865, loss_cls: 0.0995, loss_bbox: 0.2910, loss_traj: 0.5126, loss_traj_cls: 0.0018, loss_map_cls: 0.0897, loss_map_pts: 0.4993, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.8112, d0.loss_plan_l1_fix_dist: 0.4229, d1.loss_plan_l1_fix_time: 0.8762, d1.loss_plan_l1_fix_dist: 0.1884, d2.loss_plan_l1_fix_time: 0.8570, d2.loss_plan_l1_fix_dist: 0.1974, d3.loss_plan_l1_fix_time: 0.8416, d3.loss_plan_l1_fix_dist: 0.1960, d4.loss_plan_l1_fix_time: 0.8417, d4.loss_plan_l1_fix_dist: 0.2233, d5.loss_plan_l1_fix_time: 0.8432, d5.loss_plan_l1_fix_dist: 0.2241, d6.loss_plan_l1_fix_time: 0.8451, d6.loss_plan_l1_fix_dist: 0.2386, d0.loss_cls_all: 0.1459, d0.loss_bbox_all: 0.3617, d0.loss_cls: 0.1459, d0.loss_bbox: 0.3617, d1.loss_cls: 0.1378, d1.loss_bbox: 0.3219, d2.loss_cls: 0.1236, d2.loss_bbox: 0.2992, d3.loss_cls: 0.1073, d3.loss_bbox: 0.2925, d4.loss_cls: 0.1009, d4.loss_bbox: 0.2905, d5.loss_cls: 0.0997, d5.loss_bbox: 0.2897, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8151, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6179, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5528, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5297, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5179, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5178, d0.loss_map_cls_all: 0.1767, d0.loss_map_pts_all: 1.0485, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1767, d0.loss_map_pts: 1.0485, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1401, d1.loss_map_pts: 0.7614, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1152, d2.loss_map_pts: 0.5937, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1022, d3.loss_map_pts: 0.5313, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.0959, d4.loss_map_pts: 0.5078, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0903, d5.loss_map_pts: 0.4995, d5.loss_map_dir: 0.0063, loss: 23.6724, grad_norm: 158.0537 +2026-02-28 13:28:45,762 - DriveTransformer - INFO - Epoch [10][13700/39528] lr: 6.944e-05, eta: 4 days, 21:36:14, time: 0.773, data_time: 0.038, memory: 19865, loss_cls: 0.1181, loss_bbox: 0.3269, loss_traj: 0.4102, loss_traj_cls: 0.0018, loss_map_cls: 0.1204, loss_map_pts: 0.5984, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.4604, d0.loss_plan_l1_fix_dist: 0.3608, d1.loss_plan_l1_fix_time: 0.6933, d1.loss_plan_l1_fix_dist: 0.1729, d2.loss_plan_l1_fix_time: 0.6745, d2.loss_plan_l1_fix_dist: 0.1743, d3.loss_plan_l1_fix_time: 0.6666, d3.loss_plan_l1_fix_dist: 0.1624, d4.loss_plan_l1_fix_time: 0.6672, d4.loss_plan_l1_fix_dist: 0.1896, d5.loss_plan_l1_fix_time: 0.6688, d5.loss_plan_l1_fix_dist: 0.1815, d6.loss_plan_l1_fix_time: 0.6703, d6.loss_plan_l1_fix_dist: 0.1903, d0.loss_cls_all: 0.1691, d0.loss_bbox_all: 0.3846, d0.loss_cls: 0.1691, d0.loss_bbox: 0.3846, d1.loss_cls: 0.1616, d1.loss_bbox: 0.3524, d2.loss_cls: 0.1464, d2.loss_bbox: 0.3328, d3.loss_cls: 0.1254, d3.loss_bbox: 0.3291, d4.loss_cls: 0.1202, d4.loss_bbox: 0.3268, d5.loss_cls: 0.1187, d5.loss_bbox: 0.3261, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5900, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.4517, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4181, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4045, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4097, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4116, d0.loss_map_cls_all: 0.2075, d0.loss_map_pts_all: 1.2578, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2075, d0.loss_map_pts: 1.2578, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1717, d1.loss_map_pts: 0.8924, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1473, d2.loss_map_pts: 0.7007, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1356, d3.loss_map_pts: 0.6380, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1267, d4.loss_map_pts: 0.6110, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1223, d5.loss_map_pts: 0.5992, d5.loss_map_dir: 0.0087, loss: 22.7906, grad_norm: 153.2187 +2026-02-28 13:29:21,099 - DriveTransformer - INFO - Epoch [10][13750/39528] lr: 6.944e-05, eta: 4 days, 21:35:32, time: 0.707, data_time: 0.037, memory: 19865, loss_cls: 0.0927, loss_bbox: 0.2674, loss_traj: 0.4380, loss_traj_cls: 0.0019, loss_map_cls: 0.1002, loss_map_pts: 0.5001, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.3972, d0.loss_plan_l1_fix_dist: 0.5006, d1.loss_plan_l1_fix_time: 0.7335, d1.loss_plan_l1_fix_dist: 0.1814, d2.loss_plan_l1_fix_time: 0.7098, d2.loss_plan_l1_fix_dist: 0.1928, d3.loss_plan_l1_fix_time: 0.7000, d3.loss_plan_l1_fix_dist: 0.1884, d4.loss_plan_l1_fix_time: 0.7004, d4.loss_plan_l1_fix_dist: 0.2207, d5.loss_plan_l1_fix_time: 0.7020, d5.loss_plan_l1_fix_dist: 0.2209, d6.loss_plan_l1_fix_time: 0.7039, d6.loss_plan_l1_fix_dist: 0.2309, d0.loss_cls_all: 0.1348, d0.loss_bbox_all: 0.3289, d0.loss_cls: 0.1348, d0.loss_bbox: 0.3289, d1.loss_cls: 0.1291, d1.loss_bbox: 0.2930, d2.loss_cls: 0.1126, d2.loss_bbox: 0.2757, d3.loss_cls: 0.0975, d3.loss_bbox: 0.2709, d4.loss_cls: 0.0922, d4.loss_bbox: 0.2688, d5.loss_cls: 0.0925, d5.loss_bbox: 0.2679, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6278, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5053, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4637, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4459, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4410, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4362, d0.loss_map_cls_all: 0.1770, d0.loss_map_pts_all: 1.0307, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1770, d0.loss_map_pts: 1.0307, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1491, d1.loss_map_pts: 0.7594, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1254, d2.loss_map_pts: 0.6011, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1129, d3.loss_map_pts: 0.5377, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1060, d4.loss_map_pts: 0.5107, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1021, d5.loss_map_pts: 0.4999, d5.loss_map_dir: 0.0060, loss: 21.5030, grad_norm: 155.9234 +2026-02-28 13:29:58,650 - DriveTransformer - INFO - Epoch [10][13800/39528] lr: 6.944e-05, eta: 4 days, 21:35:00, time: 0.751, data_time: 0.035, memory: 19865, loss_cls: 0.1090, loss_bbox: 0.3034, loss_traj: 0.4538, loss_traj_cls: 0.0019, loss_map_cls: 0.1129, loss_map_pts: 0.6000, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.3844, d0.loss_plan_l1_fix_dist: 0.3921, d1.loss_plan_l1_fix_time: 0.7520, d1.loss_plan_l1_fix_dist: 0.1771, d2.loss_plan_l1_fix_time: 0.7423, d2.loss_plan_l1_fix_dist: 0.1839, d3.loss_plan_l1_fix_time: 0.7389, d3.loss_plan_l1_fix_dist: 0.1829, d4.loss_plan_l1_fix_time: 0.7401, d4.loss_plan_l1_fix_dist: 0.1873, d5.loss_plan_l1_fix_time: 0.7417, d5.loss_plan_l1_fix_dist: 0.1881, d6.loss_plan_l1_fix_time: 0.7443, d6.loss_plan_l1_fix_dist: 0.1990, d0.loss_cls_all: 0.1548, d0.loss_bbox_all: 0.3621, d0.loss_cls: 0.1548, d0.loss_bbox: 0.3621, d1.loss_cls: 0.1446, d1.loss_bbox: 0.3328, d2.loss_cls: 0.1330, d2.loss_bbox: 0.3114, d3.loss_cls: 0.1161, d3.loss_bbox: 0.3061, d4.loss_cls: 0.1116, d4.loss_bbox: 0.3037, d5.loss_cls: 0.1087, d5.loss_bbox: 0.3041, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6972, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5302, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4775, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4656, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4559, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4517, d0.loss_map_cls_all: 0.1879, d0.loss_map_pts_all: 1.2041, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.1879, d0.loss_map_pts: 1.2041, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1591, d1.loss_map_pts: 0.8534, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1350, d2.loss_map_pts: 0.6789, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1254, d3.loss_map_pts: 0.6276, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1179, d4.loss_map_pts: 0.6042, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1147, d5.loss_map_pts: 0.6006, d5.loss_map_dir: 0.0082, loss: 23.0904, grad_norm: 155.5705 +2026-02-28 13:30:34,150 - DriveTransformer - INFO - Epoch [10][13850/39528] lr: 6.944e-05, eta: 4 days, 21:34:19, time: 0.710, data_time: 0.037, memory: 19865, loss_cls: 0.0993, loss_bbox: 0.2765, loss_traj: 0.4741, loss_traj_cls: 0.0019, loss_map_cls: 0.0985, loss_map_pts: 0.4904, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.5181, d0.loss_plan_l1_fix_dist: 0.5292, d1.loss_plan_l1_fix_time: 0.7541, d1.loss_plan_l1_fix_dist: 0.1892, d2.loss_plan_l1_fix_time: 0.7321, d2.loss_plan_l1_fix_dist: 0.1988, d3.loss_plan_l1_fix_time: 0.7175, d3.loss_plan_l1_fix_dist: 0.2286, d4.loss_plan_l1_fix_time: 0.7178, d4.loss_plan_l1_fix_dist: 0.2312, d5.loss_plan_l1_fix_time: 0.7194, d5.loss_plan_l1_fix_dist: 0.2310, d6.loss_plan_l1_fix_time: 0.7215, d6.loss_plan_l1_fix_dist: 0.2475, d0.loss_cls_all: 0.1427, d0.loss_bbox_all: 0.3463, d0.loss_cls: 0.1427, d0.loss_bbox: 0.3463, d1.loss_cls: 0.1379, d1.loss_bbox: 0.3088, d2.loss_cls: 0.1193, d2.loss_bbox: 0.2914, d3.loss_cls: 0.1063, d3.loss_bbox: 0.2826, d4.loss_cls: 0.0998, d4.loss_bbox: 0.2794, d5.loss_cls: 0.0991, d5.loss_bbox: 0.2771, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6797, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5320, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4912, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4773, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4789, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4741, d0.loss_map_cls_all: 0.1812, d0.loss_map_pts_all: 1.0694, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1812, d0.loss_map_pts: 1.0694, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1449, d1.loss_map_pts: 0.7373, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1258, d2.loss_map_pts: 0.5845, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1133, d3.loss_map_pts: 0.5250, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1058, d4.loss_map_pts: 0.5026, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1003, d5.loss_map_pts: 0.4921, d5.loss_map_dir: 0.0058, loss: 22.2733, grad_norm: 153.6794 +2026-02-28 13:31:10,770 - DriveTransformer - INFO - Epoch [10][13900/39528] lr: 6.944e-05, eta: 4 days, 21:33:43, time: 0.732, data_time: 0.038, memory: 19865, loss_cls: 0.0887, loss_bbox: 0.2817, loss_traj: 0.4783, loss_traj_cls: 0.0019, loss_map_cls: 0.0961, loss_map_pts: 0.4665, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.5032, d0.loss_plan_l1_fix_dist: 0.3995, d1.loss_plan_l1_fix_time: 0.7250, d1.loss_plan_l1_fix_dist: 0.1930, d2.loss_plan_l1_fix_time: 0.7134, d2.loss_plan_l1_fix_dist: 0.1809, d3.loss_plan_l1_fix_time: 0.7165, d3.loss_plan_l1_fix_dist: 0.2302, d4.loss_plan_l1_fix_time: 0.7185, d4.loss_plan_l1_fix_dist: 0.2188, d5.loss_plan_l1_fix_time: 0.7206, d5.loss_plan_l1_fix_dist: 0.2143, d6.loss_plan_l1_fix_time: 0.7232, d6.loss_plan_l1_fix_dist: 0.2220, d0.loss_cls_all: 0.1394, d0.loss_bbox_all: 0.3319, d0.loss_cls: 0.1394, d0.loss_bbox: 0.3319, d1.loss_cls: 0.1307, d1.loss_bbox: 0.3007, d2.loss_cls: 0.1152, d2.loss_bbox: 0.2853, d3.loss_cls: 0.0988, d3.loss_bbox: 0.2827, d4.loss_cls: 0.0925, d4.loss_bbox: 0.2797, d5.loss_cls: 0.0898, d5.loss_bbox: 0.2807, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6777, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5411, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4994, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4825, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4778, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4774, d0.loss_map_cls_all: 0.1792, d0.loss_map_pts_all: 1.0334, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1792, d0.loss_map_pts: 1.0334, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1425, d1.loss_map_pts: 0.7143, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1198, d2.loss_map_pts: 0.5575, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1119, d3.loss_map_pts: 0.4986, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1025, d4.loss_map_pts: 0.4779, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0973, d5.loss_map_pts: 0.4673, d5.loss_map_dir: 0.0065, loss: 21.7192, grad_norm: 153.4241 +2026-02-28 13:31:46,154 - DriveTransformer - INFO - Epoch [10][13950/39528] lr: 6.944e-05, eta: 4 days, 21:33:01, time: 0.708, data_time: 0.036, memory: 19865, loss_cls: 0.0964, loss_bbox: 0.2871, loss_traj: 0.5296, loss_traj_cls: 0.0019, loss_map_cls: 0.1033, loss_map_pts: 0.5370, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.7230, d0.loss_plan_l1_fix_dist: 0.4130, d1.loss_plan_l1_fix_time: 0.8210, d1.loss_plan_l1_fix_dist: 0.1985, d2.loss_plan_l1_fix_time: 0.8169, d2.loss_plan_l1_fix_dist: 0.1724, d3.loss_plan_l1_fix_time: 0.8079, d3.loss_plan_l1_fix_dist: 0.2167, d4.loss_plan_l1_fix_time: 0.8091, d4.loss_plan_l1_fix_dist: 0.2029, d5.loss_plan_l1_fix_time: 0.8107, d5.loss_plan_l1_fix_dist: 0.2069, d6.loss_plan_l1_fix_time: 0.8128, d6.loss_plan_l1_fix_dist: 0.2116, d0.loss_cls_all: 0.1401, d0.loss_bbox_all: 0.3407, d0.loss_cls: 0.1401, d0.loss_bbox: 0.3407, d1.loss_cls: 0.1333, d1.loss_bbox: 0.3084, d2.loss_cls: 0.1240, d2.loss_bbox: 0.2884, d3.loss_cls: 0.1018, d3.loss_bbox: 0.2876, d4.loss_cls: 0.0977, d4.loss_bbox: 0.2858, d5.loss_cls: 0.0950, d5.loss_bbox: 0.2873, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8393, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6197, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5512, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5304, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5268, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5262, d0.loss_map_cls_all: 0.1926, d0.loss_map_pts_all: 1.0931, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1926, d0.loss_map_pts: 1.0931, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1557, d1.loss_map_pts: 0.7984, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1306, d2.loss_map_pts: 0.6366, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1178, d3.loss_map_pts: 0.5711, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1120, d4.loss_map_pts: 0.5478, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1065, d5.loss_map_pts: 0.5384, d5.loss_map_dir: 0.0060, loss: 23.6826, grad_norm: 149.8104 +2026-02-28 13:32:23,544 - DriveTransformer - INFO - Epoch [10][14000/39528] lr: 6.944e-05, eta: 4 days, 21:32:28, time: 0.748, data_time: 0.036, memory: 19865, loss_cls: 0.1054, loss_bbox: 0.2932, loss_traj: 0.5043, loss_traj_cls: 0.0019, loss_map_cls: 0.1014, loss_map_pts: 0.5116, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.4829, d0.loss_plan_l1_fix_dist: 0.3809, d1.loss_plan_l1_fix_time: 0.8129, d1.loss_plan_l1_fix_dist: 0.2004, d2.loss_plan_l1_fix_time: 0.7966, d2.loss_plan_l1_fix_dist: 0.1726, d3.loss_plan_l1_fix_time: 0.7895, d3.loss_plan_l1_fix_dist: 0.2115, d4.loss_plan_l1_fix_time: 0.7912, d4.loss_plan_l1_fix_dist: 0.1927, d5.loss_plan_l1_fix_time: 0.7944, d5.loss_plan_l1_fix_dist: 0.2074, d6.loss_plan_l1_fix_time: 0.7978, d6.loss_plan_l1_fix_dist: 0.2081, d0.loss_cls_all: 0.1418, d0.loss_bbox_all: 0.3482, d0.loss_cls: 0.1418, d0.loss_bbox: 0.3482, d1.loss_cls: 0.1345, d1.loss_bbox: 0.3184, d2.loss_cls: 0.1253, d2.loss_bbox: 0.2985, d3.loss_cls: 0.1139, d3.loss_bbox: 0.2930, d4.loss_cls: 0.1081, d4.loss_bbox: 0.2920, d5.loss_cls: 0.1060, d5.loss_bbox: 0.2925, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7445, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5674, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5237, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5114, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5032, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5037, d0.loss_map_cls_all: 0.1813, d0.loss_map_pts_all: 1.1230, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1813, d0.loss_map_pts: 1.1230, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1501, d1.loss_map_pts: 0.7590, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1269, d2.loss_map_pts: 0.6019, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1151, d3.loss_map_pts: 0.5439, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1076, d4.loss_map_pts: 0.5200, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1029, d5.loss_map_pts: 0.5121, d5.loss_map_dir: 0.0067, loss: 22.9799, grad_norm: 149.9994 +2026-02-28 13:32:58,937 - DriveTransformer - INFO - Epoch [10][14050/39528] lr: 6.944e-05, eta: 4 days, 21:31:47, time: 0.708, data_time: 0.038, memory: 19865, loss_cls: 0.1120, loss_bbox: 0.3174, loss_traj: 0.6173, loss_traj_cls: 0.0020, loss_map_cls: 0.1013, loss_map_pts: 0.5377, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.4622, d0.loss_plan_l1_fix_dist: 0.4155, d1.loss_plan_l1_fix_time: 0.8015, d1.loss_plan_l1_fix_dist: 0.2014, d2.loss_plan_l1_fix_time: 0.7904, d2.loss_plan_l1_fix_dist: 0.1924, d3.loss_plan_l1_fix_time: 0.7833, d3.loss_plan_l1_fix_dist: 0.2225, d4.loss_plan_l1_fix_time: 0.7874, d4.loss_plan_l1_fix_dist: 0.2107, d5.loss_plan_l1_fix_time: 0.7928, d5.loss_plan_l1_fix_dist: 0.2173, d6.loss_plan_l1_fix_time: 0.7985, d6.loss_plan_l1_fix_dist: 0.2223, d0.loss_cls_all: 0.1548, d0.loss_bbox_all: 0.3706, d0.loss_cls: 0.1548, d0.loss_bbox: 0.3706, d1.loss_cls: 0.1479, d1.loss_bbox: 0.3366, d2.loss_cls: 0.1319, d2.loss_bbox: 0.3217, d3.loss_cls: 0.1150, d3.loss_bbox: 0.3211, d4.loss_cls: 0.1113, d4.loss_bbox: 0.3172, d5.loss_cls: 0.1119, d5.loss_bbox: 0.3157, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9168, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7308, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6596, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6384, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.6227, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6180, d0.loss_map_cls_all: 0.1886, d0.loss_map_pts_all: 1.1290, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1886, d0.loss_map_pts: 1.1290, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1544, d1.loss_map_pts: 0.8152, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1292, d2.loss_map_pts: 0.6409, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1170, d3.loss_map_pts: 0.5719, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1093, d4.loss_map_pts: 0.5476, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1031, d5.loss_map_pts: 0.5382, d5.loss_map_dir: 0.0064, loss: 24.4714, grad_norm: 157.0284 +2026-02-28 13:33:36,074 - DriveTransformer - INFO - Epoch [10][14100/39528] lr: 6.944e-05, eta: 4 days, 21:31:13, time: 0.743, data_time: 0.035, memory: 19865, loss_cls: 0.1083, loss_bbox: 0.3181, loss_traj: 0.5242, loss_traj_cls: 0.0020, loss_map_cls: 0.1110, loss_map_pts: 0.5726, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.8643, d0.loss_plan_l1_fix_dist: 0.4642, d1.loss_plan_l1_fix_time: 0.8261, d1.loss_plan_l1_fix_dist: 0.1915, d2.loss_plan_l1_fix_time: 0.8147, d2.loss_plan_l1_fix_dist: 0.2002, d3.loss_plan_l1_fix_time: 0.8169, d3.loss_plan_l1_fix_dist: 0.2063, d4.loss_plan_l1_fix_time: 0.8209, d4.loss_plan_l1_fix_dist: 0.1913, d5.loss_plan_l1_fix_time: 0.8257, d5.loss_plan_l1_fix_dist: 0.1852, d6.loss_plan_l1_fix_time: 0.8308, d6.loss_plan_l1_fix_dist: 0.1945, d0.loss_cls_all: 0.1504, d0.loss_bbox_all: 0.3644, d0.loss_cls: 0.1504, d0.loss_bbox: 0.3644, d1.loss_cls: 0.1438, d1.loss_bbox: 0.3340, d2.loss_cls: 0.1280, d2.loss_bbox: 0.3174, d3.loss_cls: 0.1103, d3.loss_bbox: 0.3185, d4.loss_cls: 0.1073, d4.loss_bbox: 0.3164, d5.loss_cls: 0.1073, d5.loss_bbox: 0.3170, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7664, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6086, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5501, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5329, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5287, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5291, d0.loss_map_cls_all: 0.1906, d0.loss_map_pts_all: 1.1854, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1906, d0.loss_map_pts: 1.1854, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1590, d1.loss_map_pts: 0.8496, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1365, d2.loss_map_pts: 0.6791, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1253, d3.loss_map_pts: 0.6080, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1182, d4.loss_map_pts: 0.5797, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1144, d5.loss_map_pts: 0.5738, d5.loss_map_dir: 0.0066, loss: 24.5675, grad_norm: 158.7956 +2026-02-28 13:34:12,668 - DriveTransformer - INFO - Epoch [10][14150/39528] lr: 6.944e-05, eta: 4 days, 21:30:36, time: 0.732, data_time: 0.039, memory: 19865, loss_cls: 0.0983, loss_bbox: 0.3084, loss_traj: 0.5848, loss_traj_cls: 0.0020, loss_map_cls: 0.1052, loss_map_pts: 0.5477, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.6864, d0.loss_plan_l1_fix_dist: 0.4827, d1.loss_plan_l1_fix_time: 0.8274, d1.loss_plan_l1_fix_dist: 0.1661, d2.loss_plan_l1_fix_time: 0.8185, d2.loss_plan_l1_fix_dist: 0.1806, d3.loss_plan_l1_fix_time: 0.8186, d3.loss_plan_l1_fix_dist: 0.1688, d4.loss_plan_l1_fix_time: 0.8210, d4.loss_plan_l1_fix_dist: 0.1789, d5.loss_plan_l1_fix_time: 0.8237, d5.loss_plan_l1_fix_dist: 0.1734, d6.loss_plan_l1_fix_time: 0.8267, d6.loss_plan_l1_fix_dist: 0.1982, d0.loss_cls_all: 0.1372, d0.loss_bbox_all: 0.3627, d0.loss_cls: 0.1372, d0.loss_bbox: 0.3627, d1.loss_cls: 0.1289, d1.loss_bbox: 0.3342, d2.loss_cls: 0.1197, d2.loss_bbox: 0.3158, d3.loss_cls: 0.1064, d3.loss_bbox: 0.3081, d4.loss_cls: 0.1010, d4.loss_bbox: 0.3057, d5.loss_cls: 0.0999, d5.loss_bbox: 0.3055, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9064, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6809, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6186, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5977, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5890, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5862, d0.loss_map_cls_all: 0.1807, d0.loss_map_pts_all: 1.1395, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1807, d0.loss_map_pts: 1.1395, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1513, d1.loss_map_pts: 0.8101, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1326, d2.loss_map_pts: 0.6466, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1181, d3.loss_map_pts: 0.5789, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1122, d4.loss_map_pts: 0.5533, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1068, d5.loss_map_pts: 0.5495, d5.loss_map_dir: 0.0068, loss: 24.3787, grad_norm: 160.5052 +2026-02-28 13:34:48,096 - DriveTransformer - INFO - Epoch [10][14200/39528] lr: 6.944e-05, eta: 4 days, 21:29:55, time: 0.710, data_time: 0.038, memory: 19865, loss_cls: 0.0827, loss_bbox: 0.2742, loss_traj: 0.5185, loss_traj_cls: 0.0020, loss_map_cls: 0.0807, loss_map_pts: 0.4127, loss_map_dir: 0.0047, d0.loss_plan_l1_fix_time: 2.7480, d0.loss_plan_l1_fix_dist: 0.3226, d1.loss_plan_l1_fix_time: 0.7636, d1.loss_plan_l1_fix_dist: 0.1475, d2.loss_plan_l1_fix_time: 0.7442, d2.loss_plan_l1_fix_dist: 0.1608, d3.loss_plan_l1_fix_time: 0.7408, d3.loss_plan_l1_fix_dist: 0.1496, d4.loss_plan_l1_fix_time: 0.7433, d4.loss_plan_l1_fix_dist: 0.1813, d5.loss_plan_l1_fix_time: 0.7457, d5.loss_plan_l1_fix_dist: 0.1688, d6.loss_plan_l1_fix_time: 0.7487, d6.loss_plan_l1_fix_dist: 0.1857, d0.loss_cls_all: 0.1196, d0.loss_bbox_all: 0.3278, d0.loss_cls: 0.1196, d0.loss_bbox: 0.3278, d1.loss_cls: 0.1145, d1.loss_bbox: 0.2966, d2.loss_cls: 0.1024, d2.loss_bbox: 0.2821, d3.loss_cls: 0.0893, d3.loss_bbox: 0.2753, d4.loss_cls: 0.0840, d4.loss_bbox: 0.2741, d5.loss_cls: 0.0823, d5.loss_bbox: 0.2737, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8052, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6064, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5461, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5230, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5213, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5194, d0.loss_map_cls_all: 0.1562, d0.loss_map_pts_all: 0.8913, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1562, d0.loss_map_pts: 0.8913, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1242, d1.loss_map_pts: 0.6316, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1043, d2.loss_map_pts: 0.4982, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.0929, d3.loss_map_pts: 0.4447, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0860, d4.loss_map_pts: 0.4211, d4.loss_map_dir: 0.0046, d5.loss_map_cls: 0.0826, d5.loss_map_pts: 0.4152, d5.loss_map_dir: 0.0047, loss: 21.2511, grad_norm: 159.9107 +2026-02-28 13:35:24,622 - DriveTransformer - INFO - Epoch [10][14250/39528] lr: 6.944e-05, eta: 4 days, 21:29:18, time: 0.729, data_time: 0.034, memory: 19865, loss_cls: 0.1157, loss_bbox: 0.3124, loss_traj: 0.4802, loss_traj_cls: 0.0020, loss_map_cls: 0.1077, loss_map_pts: 0.5994, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.3550, d0.loss_plan_l1_fix_dist: 0.4220, d1.loss_plan_l1_fix_time: 0.8842, d1.loss_plan_l1_fix_dist: 0.1722, d2.loss_plan_l1_fix_time: 0.8730, d2.loss_plan_l1_fix_dist: 0.1773, d3.loss_plan_l1_fix_time: 0.8704, d3.loss_plan_l1_fix_dist: 0.1662, d4.loss_plan_l1_fix_time: 0.8726, d4.loss_plan_l1_fix_dist: 0.1894, d5.loss_plan_l1_fix_time: 0.8753, d5.loss_plan_l1_fix_dist: 0.1744, d6.loss_plan_l1_fix_time: 0.8787, d6.loss_plan_l1_fix_dist: 0.1860, d0.loss_cls_all: 0.1604, d0.loss_bbox_all: 0.3832, d0.loss_cls: 0.1604, d0.loss_bbox: 0.3832, d1.loss_cls: 0.1543, d1.loss_bbox: 0.3456, d2.loss_cls: 0.1417, d2.loss_bbox: 0.3232, d3.loss_cls: 0.1245, d3.loss_bbox: 0.3145, d4.loss_cls: 0.1180, d4.loss_bbox: 0.3129, d5.loss_cls: 0.1159, d5.loss_bbox: 0.3124, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6925, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5501, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5034, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4801, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4783, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4753, d0.loss_map_cls_all: 0.1956, d0.loss_map_pts_all: 1.1551, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.1956, d0.loss_map_pts: 1.1551, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1615, d1.loss_map_pts: 0.8490, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1387, d2.loss_map_pts: 0.6955, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1242, d3.loss_map_pts: 0.6341, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1152, d4.loss_map_pts: 0.6098, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1104, d5.loss_map_pts: 0.5999, d5.loss_map_dir: 0.0083, loss: 24.0543, grad_norm: 161.0907 +2026-02-28 13:36:02,173 - DriveTransformer - INFO - Epoch [10][14300/39528] lr: 6.944e-05, eta: 4 days, 21:28:46, time: 0.751, data_time: 0.037, memory: 19865, loss_cls: 0.1010, loss_bbox: 0.2908, loss_traj: 0.5159, loss_traj_cls: 0.0020, loss_map_cls: 0.1309, loss_map_pts: 0.5538, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.5526, d0.loss_plan_l1_fix_dist: 0.4706, d1.loss_plan_l1_fix_time: 0.8610, d1.loss_plan_l1_fix_dist: 0.1946, d2.loss_plan_l1_fix_time: 0.8452, d2.loss_plan_l1_fix_dist: 0.1920, d3.loss_plan_l1_fix_time: 0.8291, d3.loss_plan_l1_fix_dist: 0.1928, d4.loss_plan_l1_fix_time: 0.8304, d4.loss_plan_l1_fix_dist: 0.1984, d5.loss_plan_l1_fix_time: 0.8327, d5.loss_plan_l1_fix_dist: 0.1909, d6.loss_plan_l1_fix_time: 0.8361, d6.loss_plan_l1_fix_dist: 0.1982, d0.loss_cls_all: 0.1399, d0.loss_bbox_all: 0.3483, d0.loss_cls: 0.1399, d0.loss_bbox: 0.3483, d1.loss_cls: 0.1337, d1.loss_bbox: 0.3167, d2.loss_cls: 0.1245, d2.loss_bbox: 0.2970, d3.loss_cls: 0.1071, d3.loss_bbox: 0.2928, d4.loss_cls: 0.1018, d4.loss_bbox: 0.2912, d5.loss_cls: 0.1013, d5.loss_bbox: 0.2901, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7584, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5834, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.5253, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5166, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5124, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5142, d0.loss_map_cls_all: 0.2208, d0.loss_map_pts_all: 1.1879, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2208, d0.loss_map_pts: 1.1879, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1868, d1.loss_map_pts: 0.8446, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1604, d2.loss_map_pts: 0.6543, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1482, d3.loss_map_pts: 0.5829, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1403, d4.loss_map_pts: 0.5569, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1337, d5.loss_map_pts: 0.5535, d5.loss_map_dir: 0.0065, loss: 24.0978, grad_norm: 168.4224 +2026-02-28 13:36:40,564 - DriveTransformer - INFO - Epoch [10][14350/39528] lr: 6.944e-05, eta: 4 days, 21:28:18, time: 0.768, data_time: 0.039, memory: 19865, loss_cls: 0.0899, loss_bbox: 0.2674, loss_traj: 0.4732, loss_traj_cls: 0.0021, loss_map_cls: 0.0953, loss_map_pts: 0.5327, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.3740, d0.loss_plan_l1_fix_dist: 0.4980, d1.loss_plan_l1_fix_time: 0.7365, d1.loss_plan_l1_fix_dist: 0.1720, d2.loss_plan_l1_fix_time: 0.7261, d2.loss_plan_l1_fix_dist: 0.1683, d3.loss_plan_l1_fix_time: 0.7176, d3.loss_plan_l1_fix_dist: 0.1819, d4.loss_plan_l1_fix_time: 0.7209, d4.loss_plan_l1_fix_dist: 0.1779, d5.loss_plan_l1_fix_time: 0.7253, d5.loss_plan_l1_fix_dist: 0.1718, d6.loss_plan_l1_fix_time: 0.7303, d6.loss_plan_l1_fix_dist: 0.1823, d0.loss_cls_all: 0.1341, d0.loss_bbox_all: 0.3296, d0.loss_cls: 0.1341, d0.loss_bbox: 0.3296, d1.loss_cls: 0.1277, d1.loss_bbox: 0.2978, d2.loss_cls: 0.1121, d2.loss_bbox: 0.2779, d3.loss_cls: 0.0961, d3.loss_bbox: 0.2717, d4.loss_cls: 0.0925, d4.loss_bbox: 0.2681, d5.loss_cls: 0.0894, d5.loss_bbox: 0.2683, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6789, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5457, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4908, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4763, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4724, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4750, d0.loss_map_cls_all: 0.1695, d0.loss_map_pts_all: 1.1311, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.1695, d0.loss_map_pts: 1.1311, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1420, d1.loss_map_pts: 0.7974, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1170, d2.loss_map_pts: 0.6186, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1081, d3.loss_map_pts: 0.5583, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1016, d4.loss_map_pts: 0.5367, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.0975, d5.loss_map_pts: 0.5316, d5.loss_map_dir: 0.0078, loss: 21.9896, grad_norm: 169.7534 +2026-02-28 13:37:17,170 - DriveTransformer - INFO - Epoch [10][14400/39528] lr: 6.944e-05, eta: 4 days, 21:27:41, time: 0.732, data_time: 0.036, memory: 19865, loss_cls: 0.0910, loss_bbox: 0.2972, loss_traj: 0.4138, loss_traj_cls: 0.0021, loss_map_cls: 0.0945, loss_map_pts: 0.5207, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.5142, d0.loss_plan_l1_fix_dist: 0.4411, d1.loss_plan_l1_fix_time: 0.8414, d1.loss_plan_l1_fix_dist: 0.1747, d2.loss_plan_l1_fix_time: 0.8283, d2.loss_plan_l1_fix_dist: 0.1695, d3.loss_plan_l1_fix_time: 0.8026, d3.loss_plan_l1_fix_dist: 0.1729, d4.loss_plan_l1_fix_time: 0.8040, d4.loss_plan_l1_fix_dist: 0.1712, d5.loss_plan_l1_fix_time: 0.8068, d5.loss_plan_l1_fix_dist: 0.1730, d6.loss_plan_l1_fix_time: 0.8101, d6.loss_plan_l1_fix_dist: 0.1792, d0.loss_cls_all: 0.1372, d0.loss_bbox_all: 0.3578, d0.loss_cls: 0.1372, d0.loss_bbox: 0.3578, d1.loss_cls: 0.1255, d1.loss_bbox: 0.3306, d2.loss_cls: 0.1112, d2.loss_bbox: 0.3087, d3.loss_cls: 0.0972, d3.loss_bbox: 0.3031, d4.loss_cls: 0.0907, d4.loss_bbox: 0.3004, d5.loss_cls: 0.0899, d5.loss_bbox: 0.2983, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5883, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.4805, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4416, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4285, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4192, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4158, d0.loss_map_cls_all: 0.1630, d0.loss_map_pts_all: 1.0935, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1630, d0.loss_map_pts: 1.0935, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1350, d1.loss_map_pts: 0.7484, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1176, d2.loss_map_pts: 0.5934, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1070, d3.loss_map_pts: 0.5422, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1006, d4.loss_map_pts: 0.5250, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.0969, d5.loss_map_pts: 0.5214, d5.loss_map_dir: 0.0075, loss: 22.1926, grad_norm: 167.4001 +2026-02-28 13:37:53,046 - DriveTransformer - INFO - Epoch [10][14450/39528] lr: 6.944e-05, eta: 4 days, 21:27:02, time: 0.718, data_time: 0.036, memory: 19865, loss_cls: 0.0996, loss_bbox: 0.2891, loss_traj: 0.4625, loss_traj_cls: 0.0020, loss_map_cls: 0.1091, loss_map_pts: 0.5171, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.4719, d0.loss_plan_l1_fix_dist: 0.4551, d1.loss_plan_l1_fix_time: 0.7831, d1.loss_plan_l1_fix_dist: 0.1783, d2.loss_plan_l1_fix_time: 0.7791, d2.loss_plan_l1_fix_dist: 0.1561, d3.loss_plan_l1_fix_time: 0.7850, d3.loss_plan_l1_fix_dist: 0.1794, d4.loss_plan_l1_fix_time: 0.7903, d4.loss_plan_l1_fix_dist: 0.1742, d5.loss_plan_l1_fix_time: 0.7951, d5.loss_plan_l1_fix_dist: 0.1770, d6.loss_plan_l1_fix_time: 0.7995, d6.loss_plan_l1_fix_dist: 0.1795, d0.loss_cls_all: 0.1422, d0.loss_bbox_all: 0.3502, d0.loss_cls: 0.1422, d0.loss_bbox: 0.3502, d1.loss_cls: 0.1371, d1.loss_bbox: 0.3171, d2.loss_cls: 0.1245, d2.loss_bbox: 0.2960, d3.loss_cls: 0.1056, d3.loss_bbox: 0.2923, d4.loss_cls: 0.1021, d4.loss_bbox: 0.2875, d5.loss_cls: 0.0999, d5.loss_bbox: 0.2882, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6796, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5341, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4805, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4669, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4660, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4627, d0.loss_map_cls_all: 0.1995, d0.loss_map_pts_all: 1.1323, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1995, d0.loss_map_pts: 1.1323, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1638, d1.loss_map_pts: 0.7905, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1383, d2.loss_map_pts: 0.6135, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1252, d3.loss_map_pts: 0.5469, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1169, d4.loss_map_pts: 0.5248, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1121, d5.loss_map_pts: 0.5185, d5.loss_map_dir: 0.0066, loss: 22.6782, grad_norm: 167.0751 +2026-02-28 13:38:29,611 - DriveTransformer - INFO - Epoch [10][14500/39528] lr: 6.944e-05, eta: 4 days, 21:26:25, time: 0.731, data_time: 0.036, memory: 19865, loss_cls: 0.1078, loss_bbox: 0.3190, loss_traj: 0.4720, loss_traj_cls: 0.0020, loss_map_cls: 0.0870, loss_map_pts: 0.4475, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.6740, d0.loss_plan_l1_fix_dist: 0.3550, d1.loss_plan_l1_fix_time: 0.8545, d1.loss_plan_l1_fix_dist: 0.1972, d2.loss_plan_l1_fix_time: 0.8476, d2.loss_plan_l1_fix_dist: 0.1757, d3.loss_plan_l1_fix_time: 0.8360, d3.loss_plan_l1_fix_dist: 0.2002, d4.loss_plan_l1_fix_time: 0.8404, d4.loss_plan_l1_fix_dist: 0.1946, d5.loss_plan_l1_fix_time: 0.8455, d5.loss_plan_l1_fix_dist: 0.1975, d6.loss_plan_l1_fix_time: 0.8505, d6.loss_plan_l1_fix_dist: 0.2103, d0.loss_cls_all: 0.1484, d0.loss_bbox_all: 0.3735, d0.loss_cls: 0.1484, d0.loss_bbox: 0.3735, d1.loss_cls: 0.1423, d1.loss_bbox: 0.3430, d2.loss_cls: 0.1324, d2.loss_bbox: 0.3223, d3.loss_cls: 0.1168, d3.loss_bbox: 0.3178, d4.loss_cls: 0.1108, d4.loss_bbox: 0.3174, d5.loss_cls: 0.1086, d5.loss_bbox: 0.3182, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7106, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5624, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4968, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4769, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4722, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4712, d0.loss_map_cls_all: 0.1662, d0.loss_map_pts_all: 0.9608, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1662, d0.loss_map_pts: 0.9608, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1331, d1.loss_map_pts: 0.6630, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1107, d2.loss_map_pts: 0.5291, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1026, d3.loss_map_pts: 0.4755, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0943, d4.loss_map_pts: 0.4545, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0891, d5.loss_map_pts: 0.4478, d5.loss_map_dir: 0.0058, loss: 22.5820, grad_norm: 169.6513 +2026-02-28 13:39:06,427 - DriveTransformer - INFO - Epoch [10][14550/39528] lr: 6.944e-05, eta: 4 days, 21:25:50, time: 0.736, data_time: 0.035, memory: 19865, loss_cls: 0.1100, loss_bbox: 0.3058, loss_traj: 0.4399, loss_traj_cls: 0.0020, loss_map_cls: 0.1197, loss_map_pts: 0.5869, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.5156, d0.loss_plan_l1_fix_dist: 0.3726, d1.loss_plan_l1_fix_time: 0.7301, d1.loss_plan_l1_fix_dist: 0.1887, d2.loss_plan_l1_fix_time: 0.7181, d2.loss_plan_l1_fix_dist: 0.1819, d3.loss_plan_l1_fix_time: 0.7332, d3.loss_plan_l1_fix_dist: 0.2018, d4.loss_plan_l1_fix_time: 0.7387, d4.loss_plan_l1_fix_dist: 0.2045, d5.loss_plan_l1_fix_time: 0.7438, d5.loss_plan_l1_fix_dist: 0.1950, d6.loss_plan_l1_fix_time: 0.7488, d6.loss_plan_l1_fix_dist: 0.2020, d0.loss_cls_all: 0.1519, d0.loss_bbox_all: 0.3677, d0.loss_cls: 0.1519, d0.loss_bbox: 0.3677, d1.loss_cls: 0.1449, d1.loss_bbox: 0.3349, d2.loss_cls: 0.1303, d2.loss_bbox: 0.3176, d3.loss_cls: 0.1147, d3.loss_bbox: 0.3115, d4.loss_cls: 0.1098, d4.loss_bbox: 0.3083, d5.loss_cls: 0.1078, d5.loss_bbox: 0.3088, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6687, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5201, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4705, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4444, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4415, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4424, d0.loss_map_cls_all: 0.2013, d0.loss_map_pts_all: 1.1587, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2013, d0.loss_map_pts: 1.1587, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1678, d1.loss_map_pts: 0.8423, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1449, d2.loss_map_pts: 0.6736, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1336, d3.loss_map_pts: 0.6112, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1271, d4.loss_map_pts: 0.5894, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1223, d5.loss_map_pts: 0.5857, d5.loss_map_dir: 0.0079, loss: 23.0379, grad_norm: 162.1460 +2026-02-28 13:39:42,737 - DriveTransformer - INFO - Epoch [10][14600/39528] lr: 6.944e-05, eta: 4 days, 21:25:13, time: 0.726, data_time: 0.037, memory: 19865, loss_cls: 0.0869, loss_bbox: 0.2779, loss_traj: 0.5068, loss_traj_cls: 0.0019, loss_map_cls: 0.1019, loss_map_pts: 0.4968, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.6188, d0.loss_plan_l1_fix_dist: 0.4016, d1.loss_plan_l1_fix_time: 0.8115, d1.loss_plan_l1_fix_dist: 0.1813, d2.loss_plan_l1_fix_time: 0.7949, d2.loss_plan_l1_fix_dist: 0.1745, d3.loss_plan_l1_fix_time: 0.7901, d3.loss_plan_l1_fix_dist: 0.2033, d4.loss_plan_l1_fix_time: 0.7936, d4.loss_plan_l1_fix_dist: 0.2255, d5.loss_plan_l1_fix_time: 0.7978, d5.loss_plan_l1_fix_dist: 0.2011, d6.loss_plan_l1_fix_time: 0.8034, d6.loss_plan_l1_fix_dist: 0.2031, d0.loss_cls_all: 0.1292, d0.loss_bbox_all: 0.3341, d0.loss_cls: 0.1292, d0.loss_bbox: 0.3341, d1.loss_cls: 0.1243, d1.loss_bbox: 0.3045, d2.loss_cls: 0.1108, d2.loss_bbox: 0.2857, d3.loss_cls: 0.0930, d3.loss_bbox: 0.2797, d4.loss_cls: 0.0893, d4.loss_bbox: 0.2774, d5.loss_cls: 0.0876, d5.loss_bbox: 0.2765, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7295, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5732, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5266, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5131, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5087, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5056, d0.loss_map_cls_all: 0.1749, d0.loss_map_pts_all: 1.0918, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1749, d0.loss_map_pts: 1.0918, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1500, d1.loss_map_pts: 0.7659, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1289, d2.loss_map_pts: 0.5976, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1181, d3.loss_map_pts: 0.5265, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1108, d4.loss_map_pts: 0.5024, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1047, d5.loss_map_pts: 0.4979, d5.loss_map_dir: 0.0062, loss: 22.7730, grad_norm: 165.3492 +2026-02-28 13:40:20,314 - DriveTransformer - INFO - Epoch [10][14650/39528] lr: 6.944e-05, eta: 4 days, 21:24:40, time: 0.752, data_time: 0.036, memory: 19865, loss_cls: 0.0928, loss_bbox: 0.3083, loss_traj: 0.4626, loss_traj_cls: 0.0019, loss_map_cls: 0.1069, loss_map_pts: 0.5640, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.6682, d0.loss_plan_l1_fix_dist: 0.4034, d1.loss_plan_l1_fix_time: 0.7691, d1.loss_plan_l1_fix_dist: 0.1678, d2.loss_plan_l1_fix_time: 0.7624, d2.loss_plan_l1_fix_dist: 0.1705, d3.loss_plan_l1_fix_time: 0.7585, d3.loss_plan_l1_fix_dist: 0.1965, d4.loss_plan_l1_fix_time: 0.7619, d4.loss_plan_l1_fix_dist: 0.2268, d5.loss_plan_l1_fix_time: 0.7661, d5.loss_plan_l1_fix_dist: 0.2024, d6.loss_plan_l1_fix_time: 0.7719, d6.loss_plan_l1_fix_dist: 0.2066, d0.loss_cls_all: 0.1391, d0.loss_bbox_all: 0.3610, d0.loss_cls: 0.1391, d0.loss_bbox: 0.3610, d1.loss_cls: 0.1304, d1.loss_bbox: 0.3304, d2.loss_cls: 0.1179, d2.loss_bbox: 0.3120, d3.loss_cls: 0.1020, d3.loss_bbox: 0.3052, d4.loss_cls: 0.0956, d4.loss_bbox: 0.3046, d5.loss_cls: 0.0927, d5.loss_bbox: 0.3062, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6569, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5193, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4800, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4574, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4589, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4600, d0.loss_map_cls_all: 0.1845, d0.loss_map_pts_all: 1.1821, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1845, d0.loss_map_pts: 1.1821, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1604, d1.loss_map_pts: 0.8247, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1350, d2.loss_map_pts: 0.6564, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1239, d3.loss_map_pts: 0.5949, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1134, d4.loss_map_pts: 0.5737, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1099, d5.loss_map_pts: 0.5635, d5.loss_map_dir: 0.0074, loss: 23.1485, grad_norm: 165.4307 +2026-02-28 13:40:56,597 - DriveTransformer - INFO - Epoch [10][14700/39528] lr: 6.944e-05, eta: 4 days, 21:24:03, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.0827, loss_bbox: 0.2796, loss_traj: 0.4515, loss_traj_cls: 0.0019, loss_map_cls: 0.1137, loss_map_pts: 0.5154, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.4978, d0.loss_plan_l1_fix_dist: 0.3871, d1.loss_plan_l1_fix_time: 0.7041, d1.loss_plan_l1_fix_dist: 0.1508, d2.loss_plan_l1_fix_time: 0.6825, d2.loss_plan_l1_fix_dist: 0.1607, d3.loss_plan_l1_fix_time: 0.6685, d3.loss_plan_l1_fix_dist: 0.1747, d4.loss_plan_l1_fix_time: 0.6698, d4.loss_plan_l1_fix_dist: 0.1964, d5.loss_plan_l1_fix_time: 0.6720, d5.loss_plan_l1_fix_dist: 0.1689, d6.loss_plan_l1_fix_time: 0.6751, d6.loss_plan_l1_fix_dist: 0.1627, d0.loss_cls_all: 0.1192, d0.loss_bbox_all: 0.3302, d0.loss_cls: 0.1192, d0.loss_bbox: 0.3302, d1.loss_cls: 0.1170, d1.loss_bbox: 0.3038, d2.loss_cls: 0.1084, d2.loss_bbox: 0.2850, d3.loss_cls: 0.0909, d3.loss_bbox: 0.2799, d4.loss_cls: 0.0844, d4.loss_bbox: 0.2782, d5.loss_cls: 0.0832, d5.loss_bbox: 0.2780, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6382, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5035, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4604, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.4483, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4481, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4505, d0.loss_map_cls_all: 0.1887, d0.loss_map_pts_all: 1.1056, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1887, d0.loss_map_pts: 1.1056, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1607, d1.loss_map_pts: 0.7785, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1366, d2.loss_map_pts: 0.6229, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1284, d3.loss_map_pts: 0.5523, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1216, d4.loss_map_pts: 0.5236, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1166, d5.loss_map_pts: 0.5158, d5.loss_map_dir: 0.0058, loss: 21.4680, grad_norm: 163.5174 +2026-02-28 13:41:33,824 - DriveTransformer - INFO - Epoch [10][14750/39528] lr: 6.944e-05, eta: 4 days, 21:23:29, time: 0.745, data_time: 0.036, memory: 19865, loss_cls: 0.1123, loss_bbox: 0.3067, loss_traj: 0.4663, loss_traj_cls: 0.0019, loss_map_cls: 0.1151, loss_map_pts: 0.5549, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.6763, d0.loss_plan_l1_fix_dist: 0.3979, d1.loss_plan_l1_fix_time: 0.8330, d1.loss_plan_l1_fix_dist: 0.1617, d2.loss_plan_l1_fix_time: 0.8179, d2.loss_plan_l1_fix_dist: 0.1750, d3.loss_plan_l1_fix_time: 0.8182, d3.loss_plan_l1_fix_dist: 0.1767, d4.loss_plan_l1_fix_time: 0.8196, d4.loss_plan_l1_fix_dist: 0.2035, d5.loss_plan_l1_fix_time: 0.8206, d5.loss_plan_l1_fix_dist: 0.1737, d6.loss_plan_l1_fix_time: 0.8216, d6.loss_plan_l1_fix_dist: 0.1689, d0.loss_cls_all: 0.1553, d0.loss_bbox_all: 0.3704, d0.loss_cls: 0.1553, d0.loss_bbox: 0.3704, d1.loss_cls: 0.1491, d1.loss_bbox: 0.3328, d2.loss_cls: 0.1374, d2.loss_bbox: 0.3137, d3.loss_cls: 0.1202, d3.loss_bbox: 0.3083, d4.loss_cls: 0.1160, d4.loss_bbox: 0.3055, d5.loss_cls: 0.1134, d5.loss_bbox: 0.3054, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6489, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5036, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4787, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4627, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4594, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4606, d0.loss_map_cls_all: 0.2118, d0.loss_map_pts_all: 1.1903, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2118, d0.loss_map_pts: 1.1903, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1727, d1.loss_map_pts: 0.8421, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1471, d2.loss_map_pts: 0.6592, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1334, d3.loss_map_pts: 0.5913, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1244, d4.loss_map_pts: 0.5615, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1179, d5.loss_map_pts: 0.5540, d5.loss_map_dir: 0.0070, loss: 23.6558, grad_norm: 162.0327 +2026-02-28 13:42:10,981 - DriveTransformer - INFO - Epoch [10][14800/39528] lr: 6.944e-05, eta: 4 days, 21:22:55, time: 0.743, data_time: 0.038, memory: 19865, loss_cls: 0.0975, loss_bbox: 0.2885, loss_traj: 0.5437, loss_traj_cls: 0.0019, loss_map_cls: 0.1096, loss_map_pts: 0.5497, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.9039, d0.loss_plan_l1_fix_dist: 0.3564, d1.loss_plan_l1_fix_time: 0.8396, d1.loss_plan_l1_fix_dist: 0.1700, d2.loss_plan_l1_fix_time: 0.8221, d2.loss_plan_l1_fix_dist: 0.1915, d3.loss_plan_l1_fix_time: 0.8188, d3.loss_plan_l1_fix_dist: 0.1768, d4.loss_plan_l1_fix_time: 0.8213, d4.loss_plan_l1_fix_dist: 0.2145, d5.loss_plan_l1_fix_time: 0.8240, d5.loss_plan_l1_fix_dist: 0.1825, d6.loss_plan_l1_fix_time: 0.8268, d6.loss_plan_l1_fix_dist: 0.1788, d0.loss_cls_all: 0.1406, d0.loss_bbox_all: 0.3543, d0.loss_cls: 0.1406, d0.loss_bbox: 0.3543, d1.loss_cls: 0.1366, d1.loss_bbox: 0.3189, d2.loss_cls: 0.1219, d2.loss_bbox: 0.2961, d3.loss_cls: 0.1060, d3.loss_bbox: 0.2891, d4.loss_cls: 0.1007, d4.loss_bbox: 0.2884, d5.loss_cls: 0.0976, d5.loss_bbox: 0.2885, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8435, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6322, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5655, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5436, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5387, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5424, d0.loss_map_cls_all: 0.1958, d0.loss_map_pts_all: 1.1254, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1958, d0.loss_map_pts: 1.1254, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1605, d1.loss_map_pts: 0.8101, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1382, d2.loss_map_pts: 0.6441, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1256, d3.loss_map_pts: 0.5789, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1197, d4.loss_map_pts: 0.5530, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1131, d5.loss_map_pts: 0.5474, d5.loss_map_dir: 0.0070, loss: 24.1079, grad_norm: 164.3417 +2026-02-28 13:42:47,893 - DriveTransformer - INFO - Epoch [10][14850/39528] lr: 6.944e-05, eta: 4 days, 21:22:20, time: 0.738, data_time: 0.041, memory: 19865, loss_cls: 0.1057, loss_bbox: 0.3138, loss_traj: 0.5071, loss_traj_cls: 0.0019, loss_map_cls: 0.1004, loss_map_pts: 0.4591, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.6305, d0.loss_plan_l1_fix_dist: 0.3625, d1.loss_plan_l1_fix_time: 0.8191, d1.loss_plan_l1_fix_dist: 0.1835, d2.loss_plan_l1_fix_time: 0.8009, d2.loss_plan_l1_fix_dist: 0.1708, d3.loss_plan_l1_fix_time: 0.7972, d3.loss_plan_l1_fix_dist: 0.1719, d4.loss_plan_l1_fix_time: 0.8003, d4.loss_plan_l1_fix_dist: 0.1947, d5.loss_plan_l1_fix_time: 0.8033, d5.loss_plan_l1_fix_dist: 0.1754, d6.loss_plan_l1_fix_time: 0.8061, d6.loss_plan_l1_fix_dist: 0.1811, d0.loss_cls_all: 0.1511, d0.loss_bbox_all: 0.3719, d0.loss_cls: 0.1511, d0.loss_bbox: 0.3719, d1.loss_cls: 0.1466, d1.loss_bbox: 0.3360, d2.loss_cls: 0.1339, d2.loss_bbox: 0.3181, d3.loss_cls: 0.1151, d3.loss_bbox: 0.3177, d4.loss_cls: 0.1077, d4.loss_bbox: 0.3144, d5.loss_cls: 0.1072, d5.loss_bbox: 0.3129, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7067, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5717, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5355, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5177, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5085, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5077, d0.loss_map_cls_all: 0.1841, d0.loss_map_pts_all: 1.0077, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1841, d0.loss_map_pts: 1.0077, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1512, d1.loss_map_pts: 0.7126, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1271, d2.loss_map_pts: 0.5572, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1132, d3.loss_map_pts: 0.4973, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1072, d4.loss_map_pts: 0.4730, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1029, d5.loss_map_pts: 0.4582, d5.loss_map_dir: 0.0055, loss: 22.7193, grad_norm: 163.2999 +2026-02-28 13:43:23,325 - DriveTransformer - INFO - Epoch [10][14900/39528] lr: 6.944e-05, eta: 4 days, 21:21:39, time: 0.709, data_time: 0.039, memory: 19865, loss_cls: 0.0925, loss_bbox: 0.2845, loss_traj: 0.5120, loss_traj_cls: 0.0020, loss_map_cls: 0.1035, loss_map_pts: 0.4919, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.3404, d0.loss_plan_l1_fix_dist: 0.5023, d1.loss_plan_l1_fix_time: 0.7625, d1.loss_plan_l1_fix_dist: 0.2216, d2.loss_plan_l1_fix_time: 0.7450, d2.loss_plan_l1_fix_dist: 0.1870, d3.loss_plan_l1_fix_time: 0.7345, d3.loss_plan_l1_fix_dist: 0.2095, d4.loss_plan_l1_fix_time: 0.7364, d4.loss_plan_l1_fix_dist: 0.2073, d5.loss_plan_l1_fix_time: 0.7396, d5.loss_plan_l1_fix_dist: 0.1963, d6.loss_plan_l1_fix_time: 0.7436, d6.loss_plan_l1_fix_dist: 0.2140, d0.loss_cls_all: 0.1338, d0.loss_bbox_all: 0.3369, d0.loss_cls: 0.1338, d0.loss_bbox: 0.3369, d1.loss_cls: 0.1298, d1.loss_bbox: 0.3058, d2.loss_cls: 0.1155, d2.loss_bbox: 0.2858, d3.loss_cls: 0.0983, d3.loss_bbox: 0.2822, d4.loss_cls: 0.0952, d4.loss_bbox: 0.2806, d5.loss_cls: 0.0936, d5.loss_bbox: 0.2824, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7811, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5880, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5456, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5197, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5106, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5105, d0.loss_map_cls_all: 0.1847, d0.loss_map_pts_all: 1.0186, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1847, d0.loss_map_pts: 1.0186, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1505, d1.loss_map_pts: 0.7340, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1299, d2.loss_map_pts: 0.5799, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1192, d3.loss_map_pts: 0.5234, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1113, d4.loss_map_pts: 0.5042, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1064, d5.loss_map_pts: 0.4919, d5.loss_map_dir: 0.0058, loss: 22.3010, grad_norm: 163.3647 +2026-02-28 13:43:59,796 - DriveTransformer - INFO - Epoch [10][14950/39528] lr: 6.944e-05, eta: 4 days, 21:21:02, time: 0.729, data_time: 0.035, memory: 19865, loss_cls: 0.1108, loss_bbox: 0.3278, loss_traj: 0.4838, loss_traj_cls: 0.0019, loss_map_cls: 0.1205, loss_map_pts: 0.5673, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 3.2145, d0.loss_plan_l1_fix_dist: 0.5262, d1.loss_plan_l1_fix_time: 0.8983, d1.loss_plan_l1_fix_dist: 0.2481, d2.loss_plan_l1_fix_time: 0.8802, d2.loss_plan_l1_fix_dist: 0.2114, d3.loss_plan_l1_fix_time: 0.8952, d3.loss_plan_l1_fix_dist: 0.2370, d4.loss_plan_l1_fix_time: 0.8998, d4.loss_plan_l1_fix_dist: 0.2186, d5.loss_plan_l1_fix_time: 0.9046, d5.loss_plan_l1_fix_dist: 0.2177, d6.loss_plan_l1_fix_time: 0.9103, d6.loss_plan_l1_fix_dist: 0.2328, d0.loss_cls_all: 0.1589, d0.loss_bbox_all: 0.3813, d0.loss_cls: 0.1589, d0.loss_bbox: 0.3813, d1.loss_cls: 0.1480, d1.loss_bbox: 0.3495, d2.loss_cls: 0.1335, d2.loss_bbox: 0.3319, d3.loss_cls: 0.1184, d3.loss_bbox: 0.3273, d4.loss_cls: 0.1100, d4.loss_bbox: 0.3282, d5.loss_cls: 0.1108, d5.loss_bbox: 0.3268, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7192, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5472, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5064, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4839, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4816, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4831, d0.loss_map_cls_all: 0.2083, d0.loss_map_pts_all: 1.1772, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2083, d0.loss_map_pts: 1.1772, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1712, d1.loss_map_pts: 0.8462, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1467, d2.loss_map_pts: 0.6700, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1353, d3.loss_map_pts: 0.5998, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1285, d4.loss_map_pts: 0.5754, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1235, d5.loss_map_pts: 0.5681, d5.loss_map_dir: 0.0072, loss: 25.4909, grad_norm: 167.6778 +2026-02-28 13:44:37,811 - DriveTransformer - INFO - Epoch [10][15000/39528] lr: 6.944e-05, eta: 4 days, 21:20:32, time: 0.762, data_time: 0.038, memory: 19865, loss_cls: 0.1039, loss_bbox: 0.3137, loss_traj: 0.4680, loss_traj_cls: 0.0019, loss_map_cls: 0.1243, loss_map_pts: 0.6007, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.2838, d0.loss_plan_l1_fix_dist: 0.4006, d1.loss_plan_l1_fix_time: 0.7654, d1.loss_plan_l1_fix_dist: 0.2542, d2.loss_plan_l1_fix_time: 0.7481, d2.loss_plan_l1_fix_dist: 0.2031, d3.loss_plan_l1_fix_time: 0.7412, d3.loss_plan_l1_fix_dist: 0.2423, d4.loss_plan_l1_fix_time: 0.7440, d4.loss_plan_l1_fix_dist: 0.1911, d5.loss_plan_l1_fix_time: 0.7483, d5.loss_plan_l1_fix_dist: 0.1978, d6.loss_plan_l1_fix_time: 0.7536, d6.loss_plan_l1_fix_dist: 0.1947, d0.loss_cls_all: 0.1509, d0.loss_bbox_all: 0.3727, d0.loss_cls: 0.1509, d0.loss_bbox: 0.3727, d1.loss_cls: 0.1415, d1.loss_bbox: 0.3398, d2.loss_cls: 0.1277, d2.loss_bbox: 0.3207, d3.loss_cls: 0.1116, d3.loss_bbox: 0.3144, d4.loss_cls: 0.1068, d4.loss_bbox: 0.3122, d5.loss_cls: 0.1039, d5.loss_bbox: 0.3121, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6489, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5153, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4814, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4697, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4647, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4684, d0.loss_map_cls_all: 0.2066, d0.loss_map_pts_all: 1.2483, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2066, d0.loss_map_pts: 1.2483, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1737, d1.loss_map_pts: 0.8932, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1530, d2.loss_map_pts: 0.7045, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1389, d3.loss_map_pts: 0.6357, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1318, d4.loss_map_pts: 0.6104, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1267, d5.loss_map_pts: 0.6020, d5.loss_map_dir: 0.0078, loss: 23.5125, grad_norm: 167.8451 +2026-02-28 13:45:15,289 - DriveTransformer - INFO - Epoch [10][15050/39528] lr: 6.944e-05, eta: 4 days, 21:19:59, time: 0.748, data_time: 0.036, memory: 19865, loss_cls: 0.0900, loss_bbox: 0.2835, loss_traj: 0.4257, loss_traj_cls: 0.0019, loss_map_cls: 0.1097, loss_map_pts: 0.5265, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.5929, d0.loss_plan_l1_fix_dist: 0.3935, d1.loss_plan_l1_fix_time: 0.8623, d1.loss_plan_l1_fix_dist: 0.2577, d2.loss_plan_l1_fix_time: 0.8508, d2.loss_plan_l1_fix_dist: 0.2130, d3.loss_plan_l1_fix_time: 0.8444, d3.loss_plan_l1_fix_dist: 0.2537, d4.loss_plan_l1_fix_time: 0.8452, d4.loss_plan_l1_fix_dist: 0.2094, d5.loss_plan_l1_fix_time: 0.8470, d5.loss_plan_l1_fix_dist: 0.2205, d6.loss_plan_l1_fix_time: 0.8491, d6.loss_plan_l1_fix_dist: 0.2114, d0.loss_cls_all: 0.1334, d0.loss_bbox_all: 0.3434, d0.loss_cls: 0.1334, d0.loss_bbox: 0.3434, d1.loss_cls: 0.1314, d1.loss_bbox: 0.3102, d2.loss_cls: 0.1198, d2.loss_bbox: 0.2907, d3.loss_cls: 0.0985, d3.loss_bbox: 0.2867, d4.loss_cls: 0.0896, d4.loss_bbox: 0.2868, d5.loss_cls: 0.0887, d5.loss_bbox: 0.2838, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6930, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5104, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4550, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4344, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4291, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4294, d0.loss_map_cls_all: 0.1870, d0.loss_map_pts_all: 1.1485, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1870, d0.loss_map_pts: 1.1485, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1558, d1.loss_map_pts: 0.7881, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1346, d2.loss_map_pts: 0.6167, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1235, d3.loss_map_pts: 0.5569, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1176, d4.loss_map_pts: 0.5330, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1122, d5.loss_map_pts: 0.5268, d5.loss_map_dir: 0.0069, loss: 23.1744, grad_norm: 167.6937 +2026-02-28 13:45:51,821 - DriveTransformer - INFO - Epoch [10][15100/39528] lr: 6.944e-05, eta: 4 days, 21:19:23, time: 0.731, data_time: 0.038, memory: 19865, loss_cls: 0.1159, loss_bbox: 0.3242, loss_traj: 0.5957, loss_traj_cls: 0.0018, loss_map_cls: 0.1054, loss_map_pts: 0.5682, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.8154, d0.loss_plan_l1_fix_dist: 0.4670, d1.loss_plan_l1_fix_time: 0.9065, d1.loss_plan_l1_fix_dist: 0.2555, d2.loss_plan_l1_fix_time: 0.8987, d2.loss_plan_l1_fix_dist: 0.2149, d3.loss_plan_l1_fix_time: 0.8819, d3.loss_plan_l1_fix_dist: 0.2440, d4.loss_plan_l1_fix_time: 0.8829, d4.loss_plan_l1_fix_dist: 0.2152, d5.loss_plan_l1_fix_time: 0.8847, d5.loss_plan_l1_fix_dist: 0.2207, d6.loss_plan_l1_fix_time: 0.8873, d6.loss_plan_l1_fix_dist: 0.2225, d0.loss_cls_all: 0.1648, d0.loss_bbox_all: 0.3936, d0.loss_cls: 0.1648, d0.loss_bbox: 0.3936, d1.loss_cls: 0.1559, d1.loss_bbox: 0.3567, d2.loss_cls: 0.1451, d2.loss_bbox: 0.3327, d3.loss_cls: 0.1265, d3.loss_bbox: 0.3282, d4.loss_cls: 0.1198, d4.loss_bbox: 0.3248, d5.loss_cls: 0.1174, d5.loss_bbox: 0.3232, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8551, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6687, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6177, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5986, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5942, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5924, d0.loss_map_cls_all: 0.1979, d0.loss_map_pts_all: 1.1735, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1979, d0.loss_map_pts: 1.1735, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1630, d1.loss_map_pts: 0.8478, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1371, d2.loss_map_pts: 0.6769, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1210, d3.loss_map_pts: 0.6033, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1156, d4.loss_map_pts: 0.5772, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1087, d5.loss_map_pts: 0.5692, d5.loss_map_dir: 0.0066, loss: 25.8007, grad_norm: 166.8444 +2026-02-28 13:46:26,724 - DriveTransformer - INFO - Epoch [10][15150/39528] lr: 6.944e-05, eta: 4 days, 21:18:39, time: 0.698, data_time: 0.037, memory: 19865, loss_cls: 0.0969, loss_bbox: 0.2889, loss_traj: 0.5201, loss_traj_cls: 0.0018, loss_map_cls: 0.0968, loss_map_pts: 0.4518, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.9152, d0.loss_plan_l1_fix_dist: 0.5360, d1.loss_plan_l1_fix_time: 0.8089, d1.loss_plan_l1_fix_dist: 0.2349, d2.loss_plan_l1_fix_time: 0.7908, d2.loss_plan_l1_fix_dist: 0.2071, d3.loss_plan_l1_fix_time: 0.7842, d3.loss_plan_l1_fix_dist: 0.2320, d4.loss_plan_l1_fix_time: 0.7865, d4.loss_plan_l1_fix_dist: 0.2047, d5.loss_plan_l1_fix_time: 0.7894, d5.loss_plan_l1_fix_dist: 0.2041, d6.loss_plan_l1_fix_time: 0.7929, d6.loss_plan_l1_fix_dist: 0.2300, d0.loss_cls_all: 0.1409, d0.loss_bbox_all: 0.3622, d0.loss_cls: 0.1409, d0.loss_bbox: 0.3622, d1.loss_cls: 0.1342, d1.loss_bbox: 0.3279, d2.loss_cls: 0.1206, d2.loss_bbox: 0.3028, d3.loss_cls: 0.1058, d3.loss_bbox: 0.2940, d4.loss_cls: 0.0989, d4.loss_bbox: 0.2898, d5.loss_cls: 0.0970, d5.loss_bbox: 0.2887, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7549, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5905, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5420, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5258, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5197, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5196, d0.loss_map_cls_all: 0.1704, d0.loss_map_pts_all: 0.9759, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1704, d0.loss_map_pts: 0.9759, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1427, d1.loss_map_pts: 0.6890, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1216, d2.loss_map_pts: 0.5418, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1099, d3.loss_map_pts: 0.4855, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1029, d4.loss_map_pts: 0.4616, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0985, d5.loss_map_pts: 0.4523, d5.loss_map_dir: 0.0055, loss: 23.0381, grad_norm: 165.6198 +2026-02-28 13:47:03,706 - DriveTransformer - INFO - Epoch [10][15200/39528] lr: 6.944e-05, eta: 4 days, 21:18:04, time: 0.740, data_time: 0.038, memory: 19865, loss_cls: 0.1041, loss_bbox: 0.3083, loss_traj: 0.4807, loss_traj_cls: 0.0019, loss_map_cls: 0.1121, loss_map_pts: 0.5564, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.7156, d0.loss_plan_l1_fix_dist: 0.4236, d1.loss_plan_l1_fix_time: 0.7851, d1.loss_plan_l1_fix_dist: 0.1977, d2.loss_plan_l1_fix_time: 0.7745, d2.loss_plan_l1_fix_dist: 0.1900, d3.loss_plan_l1_fix_time: 0.7681, d3.loss_plan_l1_fix_dist: 0.2017, d4.loss_plan_l1_fix_time: 0.7701, d4.loss_plan_l1_fix_dist: 0.1722, d5.loss_plan_l1_fix_time: 0.7726, d5.loss_plan_l1_fix_dist: 0.1823, d6.loss_plan_l1_fix_time: 0.7761, d6.loss_plan_l1_fix_dist: 0.1880, d0.loss_cls_all: 0.1466, d0.loss_bbox_all: 0.3549, d0.loss_cls: 0.1466, d0.loss_bbox: 0.3549, d1.loss_cls: 0.1385, d1.loss_bbox: 0.3241, d2.loss_cls: 0.1285, d2.loss_bbox: 0.3059, d3.loss_cls: 0.1084, d3.loss_bbox: 0.3048, d4.loss_cls: 0.1048, d4.loss_bbox: 0.3047, d5.loss_cls: 0.1029, d5.loss_bbox: 0.3072, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7486, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5789, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5138, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4933, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4860, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4793, d0.loss_map_cls_all: 0.1897, d0.loss_map_pts_all: 1.1447, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1897, d0.loss_map_pts: 1.1447, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1579, d1.loss_map_pts: 0.8174, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1399, d2.loss_map_pts: 0.6589, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1250, d3.loss_map_pts: 0.5971, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1195, d4.loss_map_pts: 0.5695, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1146, d5.loss_map_pts: 0.5577, d5.loss_map_dir: 0.0076, loss: 23.5046, grad_norm: 165.3814 +2026-02-28 13:47:40,226 - DriveTransformer - INFO - Epoch [10][15250/39528] lr: 6.944e-05, eta: 4 days, 21:17:28, time: 0.730, data_time: 0.039, memory: 19865, loss_cls: 0.1066, loss_bbox: 0.3041, loss_traj: 0.5148, loss_traj_cls: 0.0019, loss_map_cls: 0.0972, loss_map_pts: 0.4836, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.3599, d0.loss_plan_l1_fix_dist: 0.3544, d1.loss_plan_l1_fix_time: 0.7440, d1.loss_plan_l1_fix_dist: 0.1727, d2.loss_plan_l1_fix_time: 0.7298, d2.loss_plan_l1_fix_dist: 0.1892, d3.loss_plan_l1_fix_time: 0.7157, d3.loss_plan_l1_fix_dist: 0.1852, d4.loss_plan_l1_fix_time: 0.7169, d4.loss_plan_l1_fix_dist: 0.1662, d5.loss_plan_l1_fix_time: 0.7186, d5.loss_plan_l1_fix_dist: 0.1854, d6.loss_plan_l1_fix_time: 0.7208, d6.loss_plan_l1_fix_dist: 0.1907, d0.loss_cls_all: 0.1524, d0.loss_bbox_all: 0.3551, d0.loss_cls: 0.1524, d0.loss_bbox: 0.3551, d1.loss_cls: 0.1418, d1.loss_bbox: 0.3262, d2.loss_cls: 0.1279, d2.loss_bbox: 0.3095, d3.loss_cls: 0.1148, d3.loss_bbox: 0.3044, d4.loss_cls: 0.1074, d4.loss_bbox: 0.3045, d5.loss_cls: 0.1062, d5.loss_bbox: 0.3037, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7640, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5662, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5317, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5239, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5205, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5167, d0.loss_map_cls_all: 0.1683, d0.loss_map_pts_all: 1.0114, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1683, d0.loss_map_pts: 1.0114, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1417, d1.loss_map_pts: 0.7070, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1222, d2.loss_map_pts: 0.5700, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1093, d3.loss_map_pts: 0.5151, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1037, d4.loss_map_pts: 0.4914, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0983, d5.loss_map_pts: 0.4843, d5.loss_map_dir: 0.0061, loss: 21.9979, grad_norm: 163.6363 +2026-02-28 13:48:16,662 - DriveTransformer - INFO - Epoch [10][15300/39528] lr: 6.944e-05, eta: 4 days, 21:16:51, time: 0.729, data_time: 0.037, memory: 19865, loss_cls: 0.1083, loss_bbox: 0.3235, loss_traj: 0.4881, loss_traj_cls: 0.0019, loss_map_cls: 0.1163, loss_map_pts: 0.5447, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 3.1933, d0.loss_plan_l1_fix_dist: 0.4568, d1.loss_plan_l1_fix_time: 0.9488, d1.loss_plan_l1_fix_dist: 0.1837, d2.loss_plan_l1_fix_time: 0.9399, d2.loss_plan_l1_fix_dist: 0.2150, d3.loss_plan_l1_fix_time: 0.9379, d3.loss_plan_l1_fix_dist: 0.1917, d4.loss_plan_l1_fix_time: 0.9400, d4.loss_plan_l1_fix_dist: 0.1944, d5.loss_plan_l1_fix_time: 0.9418, d5.loss_plan_l1_fix_dist: 0.2064, d6.loss_plan_l1_fix_time: 0.9438, d6.loss_plan_l1_fix_dist: 0.2383, d0.loss_cls_all: 0.1509, d0.loss_bbox_all: 0.3874, d0.loss_cls: 0.1509, d0.loss_bbox: 0.3874, d1.loss_cls: 0.1477, d1.loss_bbox: 0.3507, d2.loss_cls: 0.1335, d2.loss_bbox: 0.3286, d3.loss_cls: 0.1175, d3.loss_bbox: 0.3219, d4.loss_cls: 0.1116, d4.loss_bbox: 0.3207, d5.loss_cls: 0.1087, d5.loss_bbox: 0.3214, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7177, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5714, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5165, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5006, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4892, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4898, d0.loss_map_cls_all: 0.1906, d0.loss_map_pts_all: 1.0863, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1906, d0.loss_map_pts: 1.0863, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1635, d1.loss_map_pts: 0.7866, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1399, d2.loss_map_pts: 0.6262, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1294, d3.loss_map_pts: 0.5723, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1234, d4.loss_map_pts: 0.5511, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1188, d5.loss_map_pts: 0.5451, d5.loss_map_dir: 0.0074, loss: 25.1122, grad_norm: 163.7761 +2026-02-28 13:48:53,486 - DriveTransformer - INFO - Epoch [10][15350/39528] lr: 6.944e-05, eta: 4 days, 21:16:15, time: 0.736, data_time: 0.037, memory: 19865, loss_cls: 0.0993, loss_bbox: 0.3009, loss_traj: 0.5119, loss_traj_cls: 0.0019, loss_map_cls: 0.1101, loss_map_pts: 0.5747, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.8417, d0.loss_plan_l1_fix_dist: 0.4336, d1.loss_plan_l1_fix_time: 0.8256, d1.loss_plan_l1_fix_dist: 0.1792, d2.loss_plan_l1_fix_time: 0.8183, d2.loss_plan_l1_fix_dist: 0.2000, d3.loss_plan_l1_fix_time: 0.8204, d3.loss_plan_l1_fix_dist: 0.1886, d4.loss_plan_l1_fix_time: 0.8242, d4.loss_plan_l1_fix_dist: 0.1865, d5.loss_plan_l1_fix_time: 0.8275, d5.loss_plan_l1_fix_dist: 0.1852, d6.loss_plan_l1_fix_time: 0.8311, d6.loss_plan_l1_fix_dist: 0.1982, d0.loss_cls_all: 0.1448, d0.loss_bbox_all: 0.3551, d0.loss_cls: 0.1448, d0.loss_bbox: 0.3551, d1.loss_cls: 0.1369, d1.loss_bbox: 0.3220, d2.loss_cls: 0.1231, d2.loss_bbox: 0.3018, d3.loss_cls: 0.1054, d3.loss_bbox: 0.2987, d4.loss_cls: 0.1022, d4.loss_bbox: 0.2962, d5.loss_cls: 0.1007, d5.loss_bbox: 0.2976, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7431, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5832, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5439, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5271, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5123, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5119, d0.loss_map_cls_all: 0.1932, d0.loss_map_pts_all: 1.1850, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1932, d0.loss_map_pts: 1.1850, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1617, d1.loss_map_pts: 0.8451, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1393, d2.loss_map_pts: 0.6762, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1269, d3.loss_map_pts: 0.6071, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1185, d4.loss_map_pts: 0.5832, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1130, d5.loss_map_pts: 0.5753, d5.loss_map_dir: 0.0081, loss: 24.2332, grad_norm: 160.7843 +2026-02-28 13:49:29,256 - DriveTransformer - INFO - Epoch [10][15400/39528] lr: 6.944e-05, eta: 4 days, 21:15:35, time: 0.715, data_time: 0.037, memory: 19865, loss_cls: 0.1080, loss_bbox: 0.3123, loss_traj: 0.4946, loss_traj_cls: 0.0019, loss_map_cls: 0.1125, loss_map_pts: 0.5624, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 3.1018, d0.loss_plan_l1_fix_dist: 0.4175, d1.loss_plan_l1_fix_time: 0.8734, d1.loss_plan_l1_fix_dist: 0.1963, d2.loss_plan_l1_fix_time: 0.8581, d2.loss_plan_l1_fix_dist: 0.1920, d3.loss_plan_l1_fix_time: 0.8336, d3.loss_plan_l1_fix_dist: 0.1800, d4.loss_plan_l1_fix_time: 0.8342, d4.loss_plan_l1_fix_dist: 0.1965, d5.loss_plan_l1_fix_time: 0.8365, d5.loss_plan_l1_fix_dist: 0.1939, d6.loss_plan_l1_fix_time: 0.8394, d6.loss_plan_l1_fix_dist: 0.1951, d0.loss_cls_all: 0.1578, d0.loss_bbox_all: 0.3789, d0.loss_cls: 0.1578, d0.loss_bbox: 0.3789, d1.loss_cls: 0.1506, d1.loss_bbox: 0.3465, d2.loss_cls: 0.1358, d2.loss_bbox: 0.3258, d3.loss_cls: 0.1168, d3.loss_bbox: 0.3199, d4.loss_cls: 0.1117, d4.loss_bbox: 0.3148, d5.loss_cls: 0.1081, d5.loss_bbox: 0.3134, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7569, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5870, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5188, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5053, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5016, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4944, d0.loss_map_cls_all: 0.1945, d0.loss_map_pts_all: 1.1177, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1945, d0.loss_map_pts: 1.1177, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1615, d1.loss_map_pts: 0.8144, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1426, d2.loss_map_pts: 0.6522, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1294, d3.loss_map_pts: 0.5931, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1230, d4.loss_map_pts: 0.5660, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1153, d5.loss_map_pts: 0.5632, d5.loss_map_dir: 0.0070, loss: 24.5653, grad_norm: 162.6944 +2026-02-28 13:50:07,537 - DriveTransformer - INFO - Epoch [10][15450/39528] lr: 6.944e-05, eta: 4 days, 21:15:06, time: 0.766, data_time: 0.037, memory: 19865, loss_cls: 0.0983, loss_bbox: 0.2947, loss_traj: 0.5154, loss_traj_cls: 0.0019, loss_map_cls: 0.0892, loss_map_pts: 0.4846, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.5509, d0.loss_plan_l1_fix_dist: 0.4151, d1.loss_plan_l1_fix_time: 0.7135, d1.loss_plan_l1_fix_dist: 0.2187, d2.loss_plan_l1_fix_time: 0.7048, d2.loss_plan_l1_fix_dist: 0.1911, d3.loss_plan_l1_fix_time: 0.7073, d3.loss_plan_l1_fix_dist: 0.1844, d4.loss_plan_l1_fix_time: 0.7106, d4.loss_plan_l1_fix_dist: 0.1894, d5.loss_plan_l1_fix_time: 0.7142, d5.loss_plan_l1_fix_dist: 0.1975, d6.loss_plan_l1_fix_time: 0.7189, d6.loss_plan_l1_fix_dist: 0.1940, d0.loss_cls_all: 0.1421, d0.loss_bbox_all: 0.3521, d0.loss_cls: 0.1421, d0.loss_bbox: 0.3521, d1.loss_cls: 0.1342, d1.loss_bbox: 0.3192, d2.loss_cls: 0.1211, d2.loss_bbox: 0.3035, d3.loss_cls: 0.1064, d3.loss_bbox: 0.2986, d4.loss_cls: 0.1015, d4.loss_bbox: 0.2954, d5.loss_cls: 0.0989, d5.loss_bbox: 0.2953, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7292, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5942, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5431, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5213, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5186, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5148, d0.loss_map_cls_all: 0.1698, d0.loss_map_pts_all: 1.0463, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1698, d0.loss_map_pts: 1.0463, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1335, d1.loss_map_pts: 0.7169, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1113, d2.loss_map_pts: 0.5629, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1007, d3.loss_map_pts: 0.5106, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.0957, d4.loss_map_pts: 0.4891, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.0918, d5.loss_map_pts: 0.4846, d5.loss_map_dir: 0.0069, loss: 22.1668, grad_norm: 162.8250 +2026-02-28 13:50:43,607 - DriveTransformer - INFO - Epoch [10][15500/39528] lr: 6.944e-05, eta: 4 days, 21:14:28, time: 0.721, data_time: 0.037, memory: 19865, loss_cls: 0.1011, loss_bbox: 0.2876, loss_traj: 0.5034, loss_traj_cls: 0.0019, loss_map_cls: 0.1041, loss_map_pts: 0.4917, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.0971, d0.loss_plan_l1_fix_dist: 0.5567, d1.loss_plan_l1_fix_time: 0.7964, d1.loss_plan_l1_fix_dist: 0.2367, d2.loss_plan_l1_fix_time: 0.7863, d2.loss_plan_l1_fix_dist: 0.1910, d3.loss_plan_l1_fix_time: 0.7637, d3.loss_plan_l1_fix_dist: 0.2155, d4.loss_plan_l1_fix_time: 0.7647, d4.loss_plan_l1_fix_dist: 0.1984, d5.loss_plan_l1_fix_time: 0.7674, d5.loss_plan_l1_fix_dist: 0.2167, d6.loss_plan_l1_fix_time: 0.7715, d6.loss_plan_l1_fix_dist: 0.2147, d0.loss_cls_all: 0.1435, d0.loss_bbox_all: 0.3496, d0.loss_cls: 0.1435, d0.loss_bbox: 0.3496, d1.loss_cls: 0.1357, d1.loss_bbox: 0.3184, d2.loss_cls: 0.1223, d2.loss_bbox: 0.2990, d3.loss_cls: 0.1048, d3.loss_bbox: 0.2934, d4.loss_cls: 0.1001, d4.loss_bbox: 0.2910, d5.loss_cls: 0.1004, d5.loss_bbox: 0.2879, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7779, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5813, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5277, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5134, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5100, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5053, d0.loss_map_cls_all: 0.1880, d0.loss_map_pts_all: 1.0439, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1880, d0.loss_map_pts: 1.0439, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1542, d1.loss_map_pts: 0.7326, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1303, d2.loss_map_pts: 0.5714, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1148, d3.loss_map_pts: 0.5184, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1103, d4.loss_map_pts: 0.4986, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1057, d5.loss_map_pts: 0.4917, d5.loss_map_dir: 0.0061, loss: 22.4659, grad_norm: 160.5479 +2026-02-28 13:51:19,415 - DriveTransformer - INFO - Epoch [10][15550/39528] lr: 6.944e-05, eta: 4 days, 21:13:48, time: 0.716, data_time: 0.037, memory: 19865, loss_cls: 0.1061, loss_bbox: 0.3174, loss_traj: 0.5155, loss_traj_cls: 0.0018, loss_map_cls: 0.1111, loss_map_pts: 0.5223, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.6602, d0.loss_plan_l1_fix_dist: 0.4951, d1.loss_plan_l1_fix_time: 0.8329, d1.loss_plan_l1_fix_dist: 0.2588, d2.loss_plan_l1_fix_time: 0.8201, d2.loss_plan_l1_fix_dist: 0.2051, d3.loss_plan_l1_fix_time: 0.8203, d3.loss_plan_l1_fix_dist: 0.2466, d4.loss_plan_l1_fix_time: 0.8243, d4.loss_plan_l1_fix_dist: 0.2311, d5.loss_plan_l1_fix_time: 0.8283, d5.loss_plan_l1_fix_dist: 0.2499, d6.loss_plan_l1_fix_time: 0.8326, d6.loss_plan_l1_fix_dist: 0.2761, d0.loss_cls_all: 0.1609, d0.loss_bbox_all: 0.3757, d0.loss_cls: 0.1609, d0.loss_bbox: 0.3757, d1.loss_cls: 0.1520, d1.loss_bbox: 0.3417, d2.loss_cls: 0.1370, d2.loss_bbox: 0.3213, d3.loss_cls: 0.1149, d3.loss_bbox: 0.3176, d4.loss_cls: 0.1090, d4.loss_bbox: 0.3160, d5.loss_cls: 0.1082, d5.loss_bbox: 0.3151, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7315, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5965, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5332, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5172, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5154, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5138, d0.loss_map_cls_all: 0.2123, d0.loss_map_pts_all: 1.0789, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.2123, d0.loss_map_pts: 1.0789, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1716, d1.loss_map_pts: 0.7771, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1384, d2.loss_map_pts: 0.6099, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1242, d3.loss_map_pts: 0.5503, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1172, d4.loss_map_pts: 0.5307, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1117, d5.loss_map_pts: 0.5245, d5.loss_map_dir: 0.0057, loss: 24.1568, grad_norm: 166.0717 +2026-02-28 13:51:55,067 - DriveTransformer - INFO - Epoch [10][15600/39528] lr: 6.944e-05, eta: 4 days, 21:13:08, time: 0.713, data_time: 0.038, memory: 19865, loss_cls: 0.1036, loss_bbox: 0.3093, loss_traj: 0.6330, loss_traj_cls: 0.0018, loss_map_cls: 0.1134, loss_map_pts: 0.5073, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.6894, d0.loss_plan_l1_fix_dist: 0.4757, d1.loss_plan_l1_fix_time: 0.8553, d1.loss_plan_l1_fix_dist: 0.2645, d2.loss_plan_l1_fix_time: 0.8430, d2.loss_plan_l1_fix_dist: 0.2063, d3.loss_plan_l1_fix_time: 0.8369, d3.loss_plan_l1_fix_dist: 0.2360, d4.loss_plan_l1_fix_time: 0.8399, d4.loss_plan_l1_fix_dist: 0.2140, d5.loss_plan_l1_fix_time: 0.8436, d5.loss_plan_l1_fix_dist: 0.2175, d6.loss_plan_l1_fix_time: 0.8475, d6.loss_plan_l1_fix_dist: 0.2444, d0.loss_cls_all: 0.1527, d0.loss_bbox_all: 0.3594, d0.loss_cls: 0.1527, d0.loss_bbox: 0.3594, d1.loss_cls: 0.1447, d1.loss_bbox: 0.3275, d2.loss_cls: 0.1300, d2.loss_bbox: 0.3108, d3.loss_cls: 0.1121, d3.loss_bbox: 0.3075, d4.loss_cls: 0.1062, d4.loss_bbox: 0.3059, d5.loss_cls: 0.1031, d5.loss_bbox: 0.3091, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8549, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.7161, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6578, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6390, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6340, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6302, d0.loss_map_cls_all: 0.1984, d0.loss_map_pts_all: 1.0838, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1984, d0.loss_map_pts: 1.0838, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1715, d1.loss_map_pts: 0.7717, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1425, d2.loss_map_pts: 0.6022, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1259, d3.loss_map_pts: 0.5357, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1191, d4.loss_map_pts: 0.5121, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1157, d5.loss_map_pts: 0.5076, d5.loss_map_dir: 0.0061, loss: 24.8152, grad_norm: 167.3434 +2026-02-28 13:52:31,773 - DriveTransformer - INFO - Epoch [10][15650/39528] lr: 6.944e-05, eta: 4 days, 21:12:32, time: 0.734, data_time: 0.036, memory: 19865, loss_cls: 0.1033, loss_bbox: 0.3143, loss_traj: 0.5662, loss_traj_cls: 0.0019, loss_map_cls: 0.1121, loss_map_pts: 0.5157, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.7116, d0.loss_plan_l1_fix_dist: 0.4359, d1.loss_plan_l1_fix_time: 0.9132, d1.loss_plan_l1_fix_dist: 0.2758, d2.loss_plan_l1_fix_time: 0.9154, d2.loss_plan_l1_fix_dist: 0.2185, d3.loss_plan_l1_fix_time: 0.9032, d3.loss_plan_l1_fix_dist: 0.2464, d4.loss_plan_l1_fix_time: 0.9072, d4.loss_plan_l1_fix_dist: 0.2405, d5.loss_plan_l1_fix_time: 0.9112, d5.loss_plan_l1_fix_dist: 0.2133, d6.loss_plan_l1_fix_time: 0.9147, d6.loss_plan_l1_fix_dist: 0.2234, d0.loss_cls_all: 0.1364, d0.loss_bbox_all: 0.3752, d0.loss_cls: 0.1364, d0.loss_bbox: 0.3752, d1.loss_cls: 0.1349, d1.loss_bbox: 0.3421, d2.loss_cls: 0.1217, d2.loss_bbox: 0.3221, d3.loss_cls: 0.1081, d3.loss_bbox: 0.3160, d4.loss_cls: 0.1036, d4.loss_bbox: 0.3141, d5.loss_cls: 0.1030, d5.loss_bbox: 0.3144, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8047, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6323, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5826, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5719, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5680, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5664, d0.loss_map_cls_all: 0.1924, d0.loss_map_pts_all: 1.0250, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1924, d0.loss_map_pts: 1.0250, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1609, d1.loss_map_pts: 0.7449, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1356, d2.loss_map_pts: 0.5992, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1269, d3.loss_map_pts: 0.5414, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1195, d4.loss_map_pts: 0.5241, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1138, d5.loss_map_pts: 0.5165, d5.loss_map_dir: 0.0066, loss: 24.6471, grad_norm: 160.6694 +2026-02-28 13:53:09,203 - DriveTransformer - INFO - Epoch [10][15700/39528] lr: 6.944e-05, eta: 4 days, 21:11:59, time: 0.749, data_time: 0.038, memory: 19865, loss_cls: 0.0850, loss_bbox: 0.2770, loss_traj: 0.4002, loss_traj_cls: 0.0019, loss_map_cls: 0.1053, loss_map_pts: 0.5464, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.3376, d0.loss_plan_l1_fix_dist: 0.4592, d1.loss_plan_l1_fix_time: 0.7763, d1.loss_plan_l1_fix_dist: 0.2674, d2.loss_plan_l1_fix_time: 0.7628, d2.loss_plan_l1_fix_dist: 0.1979, d3.loss_plan_l1_fix_time: 0.7951, d3.loss_plan_l1_fix_dist: 0.2322, d4.loss_plan_l1_fix_time: 0.8016, d4.loss_plan_l1_fix_dist: 0.2338, d5.loss_plan_l1_fix_time: 0.8075, d5.loss_plan_l1_fix_dist: 0.1927, d6.loss_plan_l1_fix_time: 0.8134, d6.loss_plan_l1_fix_dist: 0.1959, d0.loss_cls_all: 0.1209, d0.loss_bbox_all: 0.3301, d0.loss_cls: 0.1209, d0.loss_bbox: 0.3301, d1.loss_cls: 0.1172, d1.loss_bbox: 0.2999, d2.loss_cls: 0.1031, d2.loss_bbox: 0.2810, d3.loss_cls: 0.0882, d3.loss_bbox: 0.2746, d4.loss_cls: 0.0856, d4.loss_bbox: 0.2734, d5.loss_cls: 0.0855, d5.loss_bbox: 0.2746, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5824, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4529, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4095, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4049, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4012, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4022, d0.loss_map_cls_all: 0.1852, d0.loss_map_pts_all: 1.1033, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1852, d0.loss_map_pts: 1.1033, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1533, d1.loss_map_pts: 0.7984, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1294, d2.loss_map_pts: 0.6307, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1182, d3.loss_map_pts: 0.5741, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1117, d4.loss_map_pts: 0.5512, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1081, d5.loss_map_pts: 0.5466, d5.loss_map_dir: 0.0077, loss: 22.0912, grad_norm: 160.8735 +2026-02-28 13:53:45,695 - DriveTransformer - INFO - Epoch [10][15750/39528] lr: 6.944e-05, eta: 4 days, 21:11:22, time: 0.730, data_time: 0.041, memory: 19865, loss_cls: 0.0977, loss_bbox: 0.2901, loss_traj: 0.4428, loss_traj_cls: 0.0019, loss_map_cls: 0.1033, loss_map_pts: 0.4635, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.3946, d0.loss_plan_l1_fix_dist: 0.4378, d1.loss_plan_l1_fix_time: 0.7700, d1.loss_plan_l1_fix_dist: 0.2603, d2.loss_plan_l1_fix_time: 0.7521, d2.loss_plan_l1_fix_dist: 0.2060, d3.loss_plan_l1_fix_time: 0.7484, d3.loss_plan_l1_fix_dist: 0.2169, d4.loss_plan_l1_fix_time: 0.7502, d4.loss_plan_l1_fix_dist: 0.2299, d5.loss_plan_l1_fix_time: 0.7541, d5.loss_plan_l1_fix_dist: 0.1881, d6.loss_plan_l1_fix_time: 0.7593, d6.loss_plan_l1_fix_dist: 0.1852, d0.loss_cls_all: 0.1414, d0.loss_bbox_all: 0.3448, d0.loss_cls: 0.1414, d0.loss_bbox: 0.3448, d1.loss_cls: 0.1348, d1.loss_bbox: 0.3085, d2.loss_cls: 0.1214, d2.loss_bbox: 0.2918, d3.loss_cls: 0.1077, d3.loss_bbox: 0.2848, d4.loss_cls: 0.1003, d4.loss_bbox: 0.2862, d5.loss_cls: 0.0971, d5.loss_bbox: 0.2890, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6439, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5057, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4665, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4497, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4434, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4427, d0.loss_map_cls_all: 0.1772, d0.loss_map_pts_all: 1.0394, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1772, d0.loss_map_pts: 1.0394, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1463, d1.loss_map_pts: 0.7086, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1236, d2.loss_map_pts: 0.5508, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1141, d3.loss_map_pts: 0.4900, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1085, d4.loss_map_pts: 0.4675, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1042, d5.loss_map_pts: 0.4637, d5.loss_map_dir: 0.0069, loss: 21.7668, grad_norm: 159.6773 +2026-02-28 13:54:22,852 - DriveTransformer - INFO - Epoch [10][15800/39528] lr: 6.944e-05, eta: 4 days, 21:10:49, time: 0.745, data_time: 0.038, memory: 19865, loss_cls: 0.1150, loss_bbox: 0.3138, loss_traj: 0.4802, loss_traj_cls: 0.0019, loss_map_cls: 0.1163, loss_map_pts: 0.5425, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.7446, d0.loss_plan_l1_fix_dist: 0.5251, d1.loss_plan_l1_fix_time: 0.7594, d1.loss_plan_l1_fix_dist: 0.2477, d2.loss_plan_l1_fix_time: 0.7428, d2.loss_plan_l1_fix_dist: 0.2237, d3.loss_plan_l1_fix_time: 0.7411, d3.loss_plan_l1_fix_dist: 0.2277, d4.loss_plan_l1_fix_time: 0.7426, d4.loss_plan_l1_fix_dist: 0.2382, d5.loss_plan_l1_fix_time: 0.7445, d5.loss_plan_l1_fix_dist: 0.2079, d6.loss_plan_l1_fix_time: 0.7470, d6.loss_plan_l1_fix_dist: 0.1900, d0.loss_cls_all: 0.1612, d0.loss_bbox_all: 0.3836, d0.loss_cls: 0.1612, d0.loss_bbox: 0.3836, d1.loss_cls: 0.1553, d1.loss_bbox: 0.3473, d2.loss_cls: 0.1420, d2.loss_bbox: 0.3247, d3.loss_cls: 0.1223, d3.loss_bbox: 0.3193, d4.loss_cls: 0.1163, d4.loss_bbox: 0.3166, d5.loss_cls: 0.1145, d5.loss_bbox: 0.3151, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7083, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5702, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5109, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4921, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4881, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4820, d0.loss_map_cls_all: 0.1967, d0.loss_map_pts_all: 1.0999, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1967, d0.loss_map_pts: 1.0999, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1685, d1.loss_map_pts: 0.7958, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1406, d2.loss_map_pts: 0.6368, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1293, d3.loss_map_pts: 0.5766, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1225, d4.loss_map_pts: 0.5513, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1173, d5.loss_map_pts: 0.5441, d5.loss_map_dir: 0.0063, loss: 23.6956, grad_norm: 153.8560 +2026-02-28 13:54:58,980 - DriveTransformer - INFO - Epoch [10][15850/39528] lr: 6.944e-05, eta: 4 days, 21:10:10, time: 0.721, data_time: 0.036, memory: 19865, loss_cls: 0.0991, loss_bbox: 0.2903, loss_traj: 0.4435, loss_traj_cls: 0.0019, loss_map_cls: 0.1256, loss_map_pts: 0.5551, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.5117, d0.loss_plan_l1_fix_dist: 0.4566, d1.loss_plan_l1_fix_time: 0.8239, d1.loss_plan_l1_fix_dist: 0.2178, d2.loss_plan_l1_fix_time: 0.8082, d2.loss_plan_l1_fix_dist: 0.1925, d3.loss_plan_l1_fix_time: 0.7857, d3.loss_plan_l1_fix_dist: 0.1966, d4.loss_plan_l1_fix_time: 0.7870, d4.loss_plan_l1_fix_dist: 0.2219, d5.loss_plan_l1_fix_time: 0.7890, d5.loss_plan_l1_fix_dist: 0.1896, d6.loss_plan_l1_fix_time: 0.7917, d6.loss_plan_l1_fix_dist: 0.1870, d0.loss_cls_all: 0.1468, d0.loss_bbox_all: 0.3479, d0.loss_cls: 0.1468, d0.loss_bbox: 0.3479, d1.loss_cls: 0.1408, d1.loss_bbox: 0.3214, d2.loss_cls: 0.1252, d2.loss_bbox: 0.3012, d3.loss_cls: 0.1074, d3.loss_bbox: 0.2942, d4.loss_cls: 0.1002, d4.loss_bbox: 0.2913, d5.loss_cls: 0.0985, d5.loss_bbox: 0.2905, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6476, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5132, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4673, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4592, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4442, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4430, d0.loss_map_cls_all: 0.2010, d0.loss_map_pts_all: 1.1718, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2010, d0.loss_map_pts: 1.1718, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1725, d1.loss_map_pts: 0.8297, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1482, d2.loss_map_pts: 0.6526, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1384, d3.loss_map_pts: 0.5881, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1322, d4.loss_map_pts: 0.5605, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1281, d5.loss_map_pts: 0.5555, d5.loss_map_dir: 0.0070, loss: 23.2213, grad_norm: 153.4151 +2026-02-28 13:55:37,499 - DriveTransformer - INFO - Epoch [10][15900/39528] lr: 6.944e-05, eta: 4 days, 21:09:42, time: 0.770, data_time: 0.037, memory: 19865, loss_cls: 0.1062, loss_bbox: 0.2859, loss_traj: 0.4267, loss_traj_cls: 0.0019, loss_map_cls: 0.1233, loss_map_pts: 0.5478, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.8045, d0.loss_plan_l1_fix_dist: 0.4393, d1.loss_plan_l1_fix_time: 0.7713, d1.loss_plan_l1_fix_dist: 0.2101, d2.loss_plan_l1_fix_time: 0.7644, d2.loss_plan_l1_fix_dist: 0.2057, d3.loss_plan_l1_fix_time: 0.7607, d3.loss_plan_l1_fix_dist: 0.1991, d4.loss_plan_l1_fix_time: 0.7624, d4.loss_plan_l1_fix_dist: 0.2218, d5.loss_plan_l1_fix_time: 0.7645, d5.loss_plan_l1_fix_dist: 0.1916, d6.loss_plan_l1_fix_time: 0.7666, d6.loss_plan_l1_fix_dist: 0.2006, d0.loss_cls_all: 0.1503, d0.loss_bbox_all: 0.3475, d0.loss_cls: 0.1503, d0.loss_bbox: 0.3475, d1.loss_cls: 0.1430, d1.loss_bbox: 0.3173, d2.loss_cls: 0.1281, d2.loss_bbox: 0.2985, d3.loss_cls: 0.1129, d3.loss_bbox: 0.2921, d4.loss_cls: 0.1073, d4.loss_bbox: 0.2887, d5.loss_cls: 0.1047, d5.loss_bbox: 0.2881, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5933, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.4684, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4371, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4272, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4226, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4257, d0.loss_map_cls_all: 0.2006, d0.loss_map_pts_all: 1.1262, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2006, d0.loss_map_pts: 1.1262, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1723, d1.loss_map_pts: 0.8167, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1456, d2.loss_map_pts: 0.6490, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1372, d3.loss_map_pts: 0.5845, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1301, d4.loss_map_pts: 0.5575, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1248, d5.loss_map_pts: 0.5487, d5.loss_map_dir: 0.0066, loss: 22.9823, grad_norm: 143.2433 +2026-02-28 13:56:12,893 - DriveTransformer - INFO - Epoch [10][15950/39528] lr: 6.944e-05, eta: 4 days, 21:09:00, time: 0.708, data_time: 0.037, memory: 19865, loss_cls: 0.0877, loss_bbox: 0.2775, loss_traj: 0.5605, loss_traj_cls: 0.0019, loss_map_cls: 0.1136, loss_map_pts: 0.5527, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.6924, d0.loss_plan_l1_fix_dist: 0.3971, d1.loss_plan_l1_fix_time: 0.7246, d1.loss_plan_l1_fix_dist: 0.1601, d2.loss_plan_l1_fix_time: 0.7140, d2.loss_plan_l1_fix_dist: 0.1748, d3.loss_plan_l1_fix_time: 0.7083, d3.loss_plan_l1_fix_dist: 0.1738, d4.loss_plan_l1_fix_time: 0.7113, d4.loss_plan_l1_fix_dist: 0.1764, d5.loss_plan_l1_fix_time: 0.7142, d5.loss_plan_l1_fix_dist: 0.1711, d6.loss_plan_l1_fix_time: 0.7173, d6.loss_plan_l1_fix_dist: 0.1776, d0.loss_cls_all: 0.1238, d0.loss_bbox_all: 0.3333, d0.loss_cls: 0.1238, d0.loss_bbox: 0.3333, d1.loss_cls: 0.1218, d1.loss_bbox: 0.3055, d2.loss_cls: 0.1078, d2.loss_bbox: 0.2877, d3.loss_cls: 0.0932, d3.loss_bbox: 0.2816, d4.loss_cls: 0.0883, d4.loss_bbox: 0.2794, d5.loss_cls: 0.0875, d5.loss_bbox: 0.2785, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8157, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6461, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5884, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5688, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5633, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5624, d0.loss_map_cls_all: 0.1851, d0.loss_map_pts_all: 1.0772, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1851, d0.loss_map_pts: 1.0772, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1555, d1.loss_map_pts: 0.7961, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1358, d2.loss_map_pts: 0.6346, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1244, d3.loss_map_pts: 0.5786, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1186, d4.loss_map_pts: 0.5579, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1156, d5.loss_map_pts: 0.5525, d5.loss_map_dir: 0.0066, loss: 22.9507, grad_norm: 141.4490 +2026-02-28 13:56:48,320 - DriveTransformer - INFO - Epoch [10][16000/39528] lr: 6.944e-05, eta: 4 days, 21:08:19, time: 0.709, data_time: 0.037, memory: 19865, loss_cls: 0.1106, loss_bbox: 0.3099, loss_traj: 0.5223, loss_traj_cls: 0.0018, loss_map_cls: 0.1111, loss_map_pts: 0.5302, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.9433, d0.loss_plan_l1_fix_dist: 0.4556, d1.loss_plan_l1_fix_time: 0.9411, d1.loss_plan_l1_fix_dist: 0.1717, d2.loss_plan_l1_fix_time: 0.9285, d2.loss_plan_l1_fix_dist: 0.1846, d3.loss_plan_l1_fix_time: 0.9251, d3.loss_plan_l1_fix_dist: 0.2055, d4.loss_plan_l1_fix_time: 0.9280, d4.loss_plan_l1_fix_dist: 0.1877, d5.loss_plan_l1_fix_time: 0.9308, d5.loss_plan_l1_fix_dist: 0.1946, d6.loss_plan_l1_fix_time: 0.9337, d6.loss_plan_l1_fix_dist: 0.2033, d0.loss_cls_all: 0.1585, d0.loss_bbox_all: 0.3805, d0.loss_cls: 0.1585, d0.loss_bbox: 0.3805, d1.loss_cls: 0.1508, d1.loss_bbox: 0.3432, d2.loss_cls: 0.1382, d2.loss_bbox: 0.3233, d3.loss_cls: 0.1188, d3.loss_bbox: 0.3163, d4.loss_cls: 0.1147, d4.loss_bbox: 0.3111, d5.loss_cls: 0.1117, d5.loss_bbox: 0.3102, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7452, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.5872, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5461, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5341, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5236, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5185, d0.loss_map_cls_all: 0.1953, d0.loss_map_pts_all: 1.0174, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1953, d0.loss_map_pts: 1.0174, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1649, d1.loss_map_pts: 0.7467, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1380, d2.loss_map_pts: 0.6170, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1227, d3.loss_map_pts: 0.5615, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1180, d4.loss_map_pts: 0.5389, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1134, d5.loss_map_pts: 0.5303, d5.loss_map_dir: 0.0056, loss: 24.6170, grad_norm: 142.9091 +2026-02-28 13:57:27,031 - DriveTransformer - INFO - Epoch [10][16050/39528] lr: 6.944e-05, eta: 4 days, 21:07:52, time: 0.774, data_time: 0.039, memory: 19865, loss_cls: 0.1066, loss_bbox: 0.3089, loss_traj: 0.4623, loss_traj_cls: 0.0019, loss_map_cls: 0.1180, loss_map_pts: 0.5877, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.4699, d0.loss_plan_l1_fix_dist: 0.4393, d1.loss_plan_l1_fix_time: 0.9555, d1.loss_plan_l1_fix_dist: 0.1899, d2.loss_plan_l1_fix_time: 0.9492, d2.loss_plan_l1_fix_dist: 0.1982, d3.loss_plan_l1_fix_time: 0.9403, d3.loss_plan_l1_fix_dist: 0.2244, d4.loss_plan_l1_fix_time: 0.9434, d4.loss_plan_l1_fix_dist: 0.1960, d5.loss_plan_l1_fix_time: 0.9469, d5.loss_plan_l1_fix_dist: 0.2036, d6.loss_plan_l1_fix_time: 0.9506, d6.loss_plan_l1_fix_dist: 0.2210, d0.loss_cls_all: 0.1493, d0.loss_bbox_all: 0.3726, d0.loss_cls: 0.1493, d0.loss_bbox: 0.3726, d1.loss_cls: 0.1434, d1.loss_bbox: 0.3361, d2.loss_cls: 0.1317, d2.loss_bbox: 0.3144, d3.loss_cls: 0.1150, d3.loss_bbox: 0.3075, d4.loss_cls: 0.1090, d4.loss_bbox: 0.3070, d5.loss_cls: 0.1059, d5.loss_bbox: 0.3081, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6269, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5121, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4802, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4635, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4605, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4582, d0.loss_map_cls_all: 0.2043, d0.loss_map_pts_all: 1.2007, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2043, d0.loss_map_pts: 1.2007, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1692, d1.loss_map_pts: 0.8683, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1462, d2.loss_map_pts: 0.6916, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1326, d3.loss_map_pts: 0.6252, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1255, d4.loss_map_pts: 0.5961, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1197, d5.loss_map_pts: 0.5886, d5.loss_map_dir: 0.0083, loss: 24.5800, grad_norm: 142.2036 +2026-02-28 13:58:03,024 - DriveTransformer - INFO - Epoch [10][16100/39528] lr: 6.944e-05, eta: 4 days, 21:07:13, time: 0.720, data_time: 0.036, memory: 19865, loss_cls: 0.1136, loss_bbox: 0.3158, loss_traj: 0.5349, loss_traj_cls: 0.0019, loss_map_cls: 0.1351, loss_map_pts: 0.5603, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 3.2586, d0.loss_plan_l1_fix_dist: 0.3676, d1.loss_plan_l1_fix_time: 1.0010, d1.loss_plan_l1_fix_dist: 0.1793, d2.loss_plan_l1_fix_time: 0.9850, d2.loss_plan_l1_fix_dist: 0.1798, d3.loss_plan_l1_fix_time: 0.9856, d3.loss_plan_l1_fix_dist: 0.1973, d4.loss_plan_l1_fix_time: 0.9887, d4.loss_plan_l1_fix_dist: 0.1707, d5.loss_plan_l1_fix_time: 0.9918, d5.loss_plan_l1_fix_dist: 0.1751, d6.loss_plan_l1_fix_time: 0.9956, d6.loss_plan_l1_fix_dist: 0.1882, d0.loss_cls_all: 0.1694, d0.loss_bbox_all: 0.3814, d0.loss_cls: 0.1694, d0.loss_bbox: 0.3814, d1.loss_cls: 0.1609, d1.loss_bbox: 0.3461, d2.loss_cls: 0.1423, d2.loss_bbox: 0.3253, d3.loss_cls: 0.1215, d3.loss_bbox: 0.3205, d4.loss_cls: 0.1157, d4.loss_bbox: 0.3166, d5.loss_cls: 0.1135, d5.loss_bbox: 0.3161, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7868, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.6016, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5584, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5441, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5377, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5348, d0.loss_map_cls_all: 0.2253, d0.loss_map_pts_all: 1.1042, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2253, d0.loss_map_pts: 1.1042, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1897, d1.loss_map_pts: 0.8151, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1634, d2.loss_map_pts: 0.6548, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1520, d3.loss_map_pts: 0.5932, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1435, d4.loss_map_pts: 0.5665, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1377, d5.loss_map_pts: 0.5603, d5.loss_map_dir: 0.0068, loss: 25.9624, grad_norm: 138.6685 +2026-02-28 13:58:39,193 - DriveTransformer - INFO - Epoch [10][16150/39528] lr: 6.944e-05, eta: 4 days, 21:06:35, time: 0.723, data_time: 0.038, memory: 19865, loss_cls: 0.0969, loss_bbox: 0.2942, loss_traj: 0.5239, loss_traj_cls: 0.0020, loss_map_cls: 0.1130, loss_map_pts: 0.5219, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.5327, d0.loss_plan_l1_fix_dist: 0.4730, d1.loss_plan_l1_fix_time: 0.7689, d1.loss_plan_l1_fix_dist: 0.1967, d2.loss_plan_l1_fix_time: 0.7606, d2.loss_plan_l1_fix_dist: 0.1927, d3.loss_plan_l1_fix_time: 0.7586, d3.loss_plan_l1_fix_dist: 0.2039, d4.loss_plan_l1_fix_time: 0.7623, d4.loss_plan_l1_fix_dist: 0.2027, d5.loss_plan_l1_fix_time: 0.7665, d5.loss_plan_l1_fix_dist: 0.2059, d6.loss_plan_l1_fix_time: 0.7716, d6.loss_plan_l1_fix_dist: 0.2068, d0.loss_cls_all: 0.1438, d0.loss_bbox_all: 0.3581, d0.loss_cls: 0.1438, d0.loss_bbox: 0.3581, d1.loss_cls: 0.1376, d1.loss_bbox: 0.3252, d2.loss_cls: 0.1231, d2.loss_bbox: 0.3032, d3.loss_cls: 0.1044, d3.loss_bbox: 0.2971, d4.loss_cls: 0.0997, d4.loss_bbox: 0.2933, d5.loss_cls: 0.0972, d5.loss_bbox: 0.2936, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7644, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5946, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5429, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5215, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5251, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5234, d0.loss_map_cls_all: 0.1991, d0.loss_map_pts_all: 1.0870, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1991, d0.loss_map_pts: 1.0870, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1659, d1.loss_map_pts: 0.7640, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1391, d2.loss_map_pts: 0.6169, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1251, d3.loss_map_pts: 0.5531, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1200, d4.loss_map_pts: 0.5291, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1149, d5.loss_map_pts: 0.5234, d5.loss_map_dir: 0.0061, loss: 23.1811, grad_norm: 136.9874 +2026-02-28 13:59:15,318 - DriveTransformer - INFO - Epoch [10][16200/39528] lr: 6.944e-05, eta: 4 days, 21:05:56, time: 0.722, data_time: 0.040, memory: 19865, loss_cls: 0.1133, loss_bbox: 0.3189, loss_traj: 0.5428, loss_traj_cls: 0.0019, loss_map_cls: 0.1065, loss_map_pts: 0.5044, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.8377, d0.loss_plan_l1_fix_dist: 0.4664, d1.loss_plan_l1_fix_time: 0.9393, d1.loss_plan_l1_fix_dist: 0.2214, d2.loss_plan_l1_fix_time: 0.9247, d2.loss_plan_l1_fix_dist: 0.2108, d3.loss_plan_l1_fix_time: 0.9262, d3.loss_plan_l1_fix_dist: 0.1967, d4.loss_plan_l1_fix_time: 0.9279, d4.loss_plan_l1_fix_dist: 0.2143, d5.loss_plan_l1_fix_time: 0.9306, d5.loss_plan_l1_fix_dist: 0.2171, d6.loss_plan_l1_fix_time: 0.9332, d6.loss_plan_l1_fix_dist: 0.2093, d0.loss_cls_all: 0.1630, d0.loss_bbox_all: 0.3887, d0.loss_cls: 0.1630, d0.loss_bbox: 0.3887, d1.loss_cls: 0.1564, d1.loss_bbox: 0.3516, d2.loss_cls: 0.1386, d2.loss_bbox: 0.3272, d3.loss_cls: 0.1212, d3.loss_bbox: 0.3238, d4.loss_cls: 0.1153, d4.loss_bbox: 0.3210, d5.loss_cls: 0.1141, d5.loss_bbox: 0.3189, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8158, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6318, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5784, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5542, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5484, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5470, d0.loss_map_cls_all: 0.1922, d0.loss_map_pts_all: 0.9990, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1922, d0.loss_map_pts: 0.9990, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1571, d1.loss_map_pts: 0.7253, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1318, d2.loss_map_pts: 0.5779, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1225, d3.loss_map_pts: 0.5268, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1151, d4.loss_map_pts: 0.5083, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1097, d5.loss_map_pts: 0.5033, d5.loss_map_dir: 0.0066, loss: 24.7283, grad_norm: 132.6290 +2026-02-28 13:59:54,297 - DriveTransformer - INFO - Epoch [10][16250/39528] lr: 6.944e-05, eta: 4 days, 21:05:30, time: 0.780, data_time: 0.038, memory: 19865, loss_cls: 0.1142, loss_bbox: 0.3224, loss_traj: 0.5094, loss_traj_cls: 0.0019, loss_map_cls: 0.1158, loss_map_pts: 0.6316, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.8788, d0.loss_plan_l1_fix_dist: 0.3977, d1.loss_plan_l1_fix_time: 0.8817, d1.loss_plan_l1_fix_dist: 0.2036, d2.loss_plan_l1_fix_time: 0.8763, d2.loss_plan_l1_fix_dist: 0.2016, d3.loss_plan_l1_fix_time: 0.8721, d3.loss_plan_l1_fix_dist: 0.1787, d4.loss_plan_l1_fix_time: 0.8733, d4.loss_plan_l1_fix_dist: 0.2030, d5.loss_plan_l1_fix_time: 0.8759, d5.loss_plan_l1_fix_dist: 0.2077, d6.loss_plan_l1_fix_time: 0.8786, d6.loss_plan_l1_fix_dist: 0.2072, d0.loss_cls_all: 0.1645, d0.loss_bbox_all: 0.3932, d0.loss_cls: 0.1645, d0.loss_bbox: 0.3932, d1.loss_cls: 0.1580, d1.loss_bbox: 0.3579, d2.loss_cls: 0.1441, d2.loss_bbox: 0.3348, d3.loss_cls: 0.1233, d3.loss_bbox: 0.3269, d4.loss_cls: 0.1164, d4.loss_bbox: 0.3246, d5.loss_cls: 0.1151, d5.loss_bbox: 0.3225, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6920, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5642, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5185, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5105, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5057, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5068, d0.loss_map_cls_all: 0.1990, d0.loss_map_pts_all: 1.2955, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.1990, d0.loss_map_pts: 1.2955, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1647, d1.loss_map_pts: 0.9123, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1432, d2.loss_map_pts: 0.7342, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1324, d3.loss_map_pts: 0.6686, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1231, d4.loss_map_pts: 0.6370, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1177, d5.loss_map_pts: 0.6317, d5.loss_map_dir: 0.0086, loss: 25.4932, grad_norm: 130.6342 +2026-02-28 14:00:32,439 - DriveTransformer - INFO - Epoch [10][16300/39528] lr: 6.944e-05, eta: 4 days, 21:05:00, time: 0.763, data_time: 0.039, memory: 19865, loss_cls: 0.1123, loss_bbox: 0.3103, loss_traj: 0.4315, loss_traj_cls: 0.0020, loss_map_cls: 0.1310, loss_map_pts: 0.6385, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.6635, d0.loss_plan_l1_fix_dist: 0.4648, d1.loss_plan_l1_fix_time: 0.7583, d1.loss_plan_l1_fix_dist: 0.2241, d2.loss_plan_l1_fix_time: 0.7389, d2.loss_plan_l1_fix_dist: 0.2281, d3.loss_plan_l1_fix_time: 0.7367, d3.loss_plan_l1_fix_dist: 0.2072, d4.loss_plan_l1_fix_time: 0.7384, d4.loss_plan_l1_fix_dist: 0.2238, d5.loss_plan_l1_fix_time: 0.7404, d5.loss_plan_l1_fix_dist: 0.2054, d6.loss_plan_l1_fix_time: 0.7432, d6.loss_plan_l1_fix_dist: 0.2274, d0.loss_cls_all: 0.1643, d0.loss_bbox_all: 0.3748, d0.loss_cls: 0.1643, d0.loss_bbox: 0.3748, d1.loss_cls: 0.1565, d1.loss_bbox: 0.3395, d2.loss_cls: 0.1377, d2.loss_bbox: 0.3167, d3.loss_cls: 0.1197, d3.loss_bbox: 0.3146, d4.loss_cls: 0.1123, d4.loss_bbox: 0.3137, d5.loss_cls: 0.1114, d5.loss_bbox: 0.3121, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6705, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.4969, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4449, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4390, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4303, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4316, d0.loss_map_cls_all: 0.2133, d0.loss_map_pts_all: 1.2196, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2133, d0.loss_map_pts: 1.2196, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1789, d1.loss_map_pts: 0.8824, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1535, d2.loss_map_pts: 0.7258, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1420, d3.loss_map_pts: 0.6692, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1364, d4.loss_map_pts: 0.6426, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1325, d5.loss_map_pts: 0.6398, d5.loss_map_dir: 0.0072, loss: 23.9823, grad_norm: 130.5818 +2026-02-28 14:01:07,453 - DriveTransformer - INFO - Epoch [10][16350/39528] lr: 6.944e-05, eta: 4 days, 21:04:17, time: 0.700, data_time: 0.038, memory: 19865, loss_cls: 0.1014, loss_bbox: 0.3194, loss_traj: 0.6206, loss_traj_cls: 0.0019, loss_map_cls: 0.1196, loss_map_pts: 0.5485, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.3998, d0.loss_plan_l1_fix_dist: 0.3472, d1.loss_plan_l1_fix_time: 0.8149, d1.loss_plan_l1_fix_dist: 0.2131, d2.loss_plan_l1_fix_time: 0.7981, d2.loss_plan_l1_fix_dist: 0.2126, d3.loss_plan_l1_fix_time: 0.7864, d3.loss_plan_l1_fix_dist: 0.1968, d4.loss_plan_l1_fix_time: 0.7877, d4.loss_plan_l1_fix_dist: 0.2247, d5.loss_plan_l1_fix_time: 0.7900, d5.loss_plan_l1_fix_dist: 0.1892, d6.loss_plan_l1_fix_time: 0.7923, d6.loss_plan_l1_fix_dist: 0.2263, d0.loss_cls_all: 0.1424, d0.loss_bbox_all: 0.4022, d0.loss_cls: 0.1424, d0.loss_bbox: 0.4022, d1.loss_cls: 0.1388, d1.loss_bbox: 0.3625, d2.loss_cls: 0.1247, d2.loss_bbox: 0.3367, d3.loss_cls: 0.1092, d3.loss_bbox: 0.3259, d4.loss_cls: 0.1035, d4.loss_bbox: 0.3218, d5.loss_cls: 0.1010, d5.loss_bbox: 0.3208, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8388, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6777, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5863, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6211, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6177, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6194, d0.loss_map_cls_all: 0.2082, d0.loss_map_pts_all: 1.1221, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.2082, d0.loss_map_pts: 1.1221, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1759, d1.loss_map_pts: 0.8251, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1490, d2.loss_map_pts: 0.6599, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1356, d3.loss_map_pts: 0.5826, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1270, d4.loss_map_pts: 0.5561, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1220, d5.loss_map_pts: 0.5498, d5.loss_map_dir: 0.0060, loss: 24.3810, grad_norm: 132.1555 +2026-02-28 14:01:44,579 - DriveTransformer - INFO - Epoch [10][16400/39528] lr: 6.944e-05, eta: 4 days, 21:03:43, time: 0.742, data_time: 0.039, memory: 19865, loss_cls: 0.1206, loss_bbox: 0.3147, loss_traj: 0.4295, loss_traj_cls: 0.0019, loss_map_cls: 0.1210, loss_map_pts: 0.5996, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.8600, d0.loss_plan_l1_fix_dist: 0.3632, d1.loss_plan_l1_fix_time: 0.8743, d1.loss_plan_l1_fix_dist: 0.1875, d2.loss_plan_l1_fix_time: 0.8564, d2.loss_plan_l1_fix_dist: 0.1882, d3.loss_plan_l1_fix_time: 0.8529, d3.loss_plan_l1_fix_dist: 0.1760, d4.loss_plan_l1_fix_time: 0.8550, d4.loss_plan_l1_fix_dist: 0.2167, d5.loss_plan_l1_fix_time: 0.8578, d5.loss_plan_l1_fix_dist: 0.1868, d6.loss_plan_l1_fix_time: 0.8613, d6.loss_plan_l1_fix_dist: 0.2064, d0.loss_cls_all: 0.1763, d0.loss_bbox_all: 0.3807, d0.loss_cls: 0.1763, d0.loss_bbox: 0.3807, d1.loss_cls: 0.1668, d1.loss_bbox: 0.3449, d2.loss_cls: 0.1486, d2.loss_bbox: 0.3253, d3.loss_cls: 0.1261, d3.loss_bbox: 0.3216, d4.loss_cls: 0.1213, d4.loss_bbox: 0.3171, d5.loss_cls: 0.1209, d5.loss_bbox: 0.3149, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6366, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.4855, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4431, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4373, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4305, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4272, d0.loss_map_cls_all: 0.2209, d0.loss_map_pts_all: 1.2511, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2209, d0.loss_map_pts: 1.2511, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1845, d1.loss_map_pts: 0.9054, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1563, d2.loss_map_pts: 0.7159, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1381, d3.loss_map_pts: 0.6379, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1301, d4.loss_map_pts: 0.6094, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1238, d5.loss_map_pts: 0.6005, d5.loss_map_dir: 0.0078, loss: 24.6227, grad_norm: 138.8491 +2026-02-28 14:02:20,301 - DriveTransformer - INFO - Epoch [10][16450/39528] lr: 6.944e-05, eta: 4 days, 21:03:03, time: 0.714, data_time: 0.038, memory: 19865, loss_cls: 0.1012, loss_bbox: 0.2944, loss_traj: 0.6080, loss_traj_cls: 0.0019, loss_map_cls: 0.1094, loss_map_pts: 0.4872, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.5677, d0.loss_plan_l1_fix_dist: 0.4257, d1.loss_plan_l1_fix_time: 0.7965, d1.loss_plan_l1_fix_dist: 0.1756, d2.loss_plan_l1_fix_time: 0.7906, d2.loss_plan_l1_fix_dist: 0.1764, d3.loss_plan_l1_fix_time: 0.7917, d3.loss_plan_l1_fix_dist: 0.1723, d4.loss_plan_l1_fix_time: 0.7945, d4.loss_plan_l1_fix_dist: 0.2092, d5.loss_plan_l1_fix_time: 0.7977, d5.loss_plan_l1_fix_dist: 0.1960, d6.loss_plan_l1_fix_time: 0.8011, d6.loss_plan_l1_fix_dist: 0.1926, d0.loss_cls_all: 0.1434, d0.loss_bbox_all: 0.3489, d0.loss_cls: 0.1434, d0.loss_bbox: 0.3489, d1.loss_cls: 0.1364, d1.loss_bbox: 0.3205, d2.loss_cls: 0.1209, d2.loss_bbox: 0.3040, d3.loss_cls: 0.1085, d3.loss_bbox: 0.2981, d4.loss_cls: 0.1021, d4.loss_bbox: 0.2958, d5.loss_cls: 0.1010, d5.loss_bbox: 0.2946, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8501, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7029, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6404, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6209, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6148, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6066, d0.loss_map_cls_all: 0.1934, d0.loss_map_pts_all: 0.9958, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1934, d0.loss_map_pts: 0.9958, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1597, d1.loss_map_pts: 0.7188, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1378, d2.loss_map_pts: 0.5754, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1234, d3.loss_map_pts: 0.5133, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1169, d4.loss_map_pts: 0.4935, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1119, d5.loss_map_pts: 0.4874, d5.loss_map_dir: 0.0057, loss: 23.4578, grad_norm: 138.3239 +2026-02-28 14:02:57,345 - DriveTransformer - INFO - Epoch [10][16500/39528] lr: 6.944e-05, eta: 4 days, 21:02:29, time: 0.741, data_time: 0.038, memory: 19865, loss_cls: 0.0943, loss_bbox: 0.2921, loss_traj: 0.5164, loss_traj_cls: 0.0019, loss_map_cls: 0.0928, loss_map_pts: 0.5057, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.8096, d0.loss_plan_l1_fix_dist: 0.4985, d1.loss_plan_l1_fix_time: 0.7691, d1.loss_plan_l1_fix_dist: 0.1870, d2.loss_plan_l1_fix_time: 0.7558, d2.loss_plan_l1_fix_dist: 0.1870, d3.loss_plan_l1_fix_time: 0.7534, d3.loss_plan_l1_fix_dist: 0.1864, d4.loss_plan_l1_fix_time: 0.7549, d4.loss_plan_l1_fix_dist: 0.2310, d5.loss_plan_l1_fix_time: 0.7570, d5.loss_plan_l1_fix_dist: 0.2264, d6.loss_plan_l1_fix_time: 0.7598, d6.loss_plan_l1_fix_dist: 0.1982, d0.loss_cls_all: 0.1358, d0.loss_bbox_all: 0.3526, d0.loss_cls: 0.1358, d0.loss_bbox: 0.3526, d1.loss_cls: 0.1260, d1.loss_bbox: 0.3221, d2.loss_cls: 0.1151, d2.loss_bbox: 0.3027, d3.loss_cls: 0.0994, d3.loss_bbox: 0.2967, d4.loss_cls: 0.0956, d4.loss_bbox: 0.2939, d5.loss_cls: 0.0958, d5.loss_bbox: 0.2902, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6955, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5770, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5375, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5315, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5245, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5135, d0.loss_map_cls_all: 0.1698, d0.loss_map_pts_all: 1.0521, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1698, d0.loss_map_pts: 1.0521, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1389, d1.loss_map_pts: 0.7458, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1172, d2.loss_map_pts: 0.5915, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1083, d3.loss_map_pts: 0.5344, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1001, d4.loss_map_pts: 0.5130, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0949, d5.loss_map_pts: 0.5070, d5.loss_map_dir: 0.0068, loss: 22.9238, grad_norm: 137.1356 +2026-02-28 14:03:32,606 - DriveTransformer - INFO - Epoch [10][16550/39528] lr: 6.944e-05, eta: 4 days, 21:01:47, time: 0.705, data_time: 0.036, memory: 19865, loss_cls: 0.1056, loss_bbox: 0.2994, loss_traj: 0.5753, loss_traj_cls: 0.0019, loss_map_cls: 0.1175, loss_map_pts: 0.5226, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.4299, d0.loss_plan_l1_fix_dist: 0.3283, d1.loss_plan_l1_fix_time: 0.8583, d1.loss_plan_l1_fix_dist: 0.1556, d2.loss_plan_l1_fix_time: 0.8392, d2.loss_plan_l1_fix_dist: 0.1630, d3.loss_plan_l1_fix_time: 0.8300, d3.loss_plan_l1_fix_dist: 0.1634, d4.loss_plan_l1_fix_time: 0.8332, d4.loss_plan_l1_fix_dist: 0.2017, d5.loss_plan_l1_fix_time: 0.8383, d5.loss_plan_l1_fix_dist: 0.2039, d6.loss_plan_l1_fix_time: 0.8443, d6.loss_plan_l1_fix_dist: 0.1613, d0.loss_cls_all: 0.1482, d0.loss_bbox_all: 0.3624, d0.loss_cls: 0.1482, d0.loss_bbox: 0.3624, d1.loss_cls: 0.1396, d1.loss_bbox: 0.3310, d2.loss_cls: 0.1282, d2.loss_bbox: 0.3099, d3.loss_cls: 0.1117, d3.loss_bbox: 0.3024, d4.loss_cls: 0.1065, d4.loss_bbox: 0.2998, d5.loss_cls: 0.1059, d5.loss_bbox: 0.2990, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8165, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6456, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5956, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5888, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5827, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5771, d0.loss_map_cls_all: 0.1968, d0.loss_map_pts_all: 1.0826, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1968, d0.loss_map_pts: 1.0826, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1685, d1.loss_map_pts: 0.7770, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1448, d2.loss_map_pts: 0.6163, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1337, d3.loss_map_pts: 0.5553, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1265, d4.loss_map_pts: 0.5294, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1201, d5.loss_map_pts: 0.5240, d5.loss_map_dir: 0.0057, loss: 23.7360, grad_norm: 135.0337 +2026-02-28 14:04:09,860 - DriveTransformer - INFO - Epoch [10][16600/39528] lr: 6.944e-05, eta: 4 days, 21:01:13, time: 0.746, data_time: 0.037, memory: 19865, loss_cls: 0.1098, loss_bbox: 0.2842, loss_traj: 0.4501, loss_traj_cls: 0.0019, loss_map_cls: 0.1255, loss_map_pts: 0.5758, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.4729, d0.loss_plan_l1_fix_dist: 0.4588, d1.loss_plan_l1_fix_time: 0.7735, d1.loss_plan_l1_fix_dist: 0.1738, d2.loss_plan_l1_fix_time: 0.7545, d2.loss_plan_l1_fix_dist: 0.1740, d3.loss_plan_l1_fix_time: 0.7537, d3.loss_plan_l1_fix_dist: 0.1857, d4.loss_plan_l1_fix_time: 0.7581, d4.loss_plan_l1_fix_dist: 0.1979, d5.loss_plan_l1_fix_time: 0.7630, d5.loss_plan_l1_fix_dist: 0.2080, d6.loss_plan_l1_fix_time: 0.7685, d6.loss_plan_l1_fix_dist: 0.1833, d0.loss_cls_all: 0.1471, d0.loss_bbox_all: 0.3442, d0.loss_cls: 0.1471, d0.loss_bbox: 0.3442, d1.loss_cls: 0.1414, d1.loss_bbox: 0.3130, d2.loss_cls: 0.1307, d2.loss_bbox: 0.2921, d3.loss_cls: 0.1161, d3.loss_bbox: 0.2867, d4.loss_cls: 0.1119, d4.loss_bbox: 0.2844, d5.loss_cls: 0.1115, d5.loss_bbox: 0.2837, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6705, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5142, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4689, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4623, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4569, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4501, d0.loss_map_cls_all: 0.1971, d0.loss_map_pts_all: 1.1720, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1971, d0.loss_map_pts: 1.1720, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1689, d1.loss_map_pts: 0.8421, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1446, d2.loss_map_pts: 0.6752, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1349, d3.loss_map_pts: 0.6108, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1311, d4.loss_map_pts: 0.5877, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1277, d5.loss_map_pts: 0.5761, d5.loss_map_dir: 0.0071, loss: 23.0467, grad_norm: 137.1648 +2026-02-28 14:04:44,226 - DriveTransformer - INFO - Epoch [10][16650/39528] lr: 6.944e-05, eta: 4 days, 21:00:27, time: 0.686, data_time: 0.036, memory: 19865, loss_cls: 0.1062, loss_bbox: 0.2878, loss_traj: 0.5807, loss_traj_cls: 0.0018, loss_map_cls: 0.1115, loss_map_pts: 0.4905, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.6833, d0.loss_plan_l1_fix_dist: 0.3958, d1.loss_plan_l1_fix_time: 0.8316, d1.loss_plan_l1_fix_dist: 0.1879, d2.loss_plan_l1_fix_time: 0.8033, d2.loss_plan_l1_fix_dist: 0.1867, d3.loss_plan_l1_fix_time: 0.8008, d3.loss_plan_l1_fix_dist: 0.2087, d4.loss_plan_l1_fix_time: 0.8033, d4.loss_plan_l1_fix_dist: 0.1894, d5.loss_plan_l1_fix_time: 0.8068, d5.loss_plan_l1_fix_dist: 0.2067, d6.loss_plan_l1_fix_time: 0.8109, d6.loss_plan_l1_fix_dist: 0.2009, d0.loss_cls_all: 0.1439, d0.loss_bbox_all: 0.3472, d0.loss_cls: 0.1439, d0.loss_bbox: 0.3472, d1.loss_cls: 0.1387, d1.loss_bbox: 0.3152, d2.loss_cls: 0.1302, d2.loss_bbox: 0.2967, d3.loss_cls: 0.1127, d3.loss_bbox: 0.2938, d4.loss_cls: 0.1056, d4.loss_bbox: 0.2911, d5.loss_cls: 0.1055, d5.loss_bbox: 0.2898, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8276, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6467, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5950, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5816, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5800, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5797, d0.loss_map_cls_all: 0.1944, d0.loss_map_pts_all: 0.9978, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1944, d0.loss_map_pts: 0.9978, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1584, d1.loss_map_pts: 0.7348, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1336, d2.loss_map_pts: 0.5856, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1222, d3.loss_map_pts: 0.5210, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1173, d4.loss_map_pts: 0.5005, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.1123, d5.loss_map_pts: 0.4912, d5.loss_map_dir: 0.0054, loss: 23.4746, grad_norm: 137.8676 +2026-02-28 14:05:21,139 - DriveTransformer - INFO - Epoch [10][16700/39528] lr: 6.944e-05, eta: 4 days, 20:59:52, time: 0.738, data_time: 0.041, memory: 19865, loss_cls: 0.1074, loss_bbox: 0.2934, loss_traj: 0.5756, loss_traj_cls: 0.0019, loss_map_cls: 0.1213, loss_map_pts: 0.5681, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.7686, d0.loss_plan_l1_fix_dist: 0.4135, d1.loss_plan_l1_fix_time: 0.8492, d1.loss_plan_l1_fix_dist: 0.1870, d2.loss_plan_l1_fix_time: 0.8320, d2.loss_plan_l1_fix_dist: 0.1851, d3.loss_plan_l1_fix_time: 0.8285, d3.loss_plan_l1_fix_dist: 0.2222, d4.loss_plan_l1_fix_time: 0.8296, d4.loss_plan_l1_fix_dist: 0.1895, d5.loss_plan_l1_fix_time: 0.8318, d5.loss_plan_l1_fix_dist: 0.1849, d6.loss_plan_l1_fix_time: 0.8345, d6.loss_plan_l1_fix_dist: 0.1923, d0.loss_cls_all: 0.1513, d0.loss_bbox_all: 0.3635, d0.loss_cls: 0.1513, d0.loss_bbox: 0.3635, d1.loss_cls: 0.1463, d1.loss_bbox: 0.3274, d2.loss_cls: 0.1318, d2.loss_bbox: 0.3081, d3.loss_cls: 0.1126, d3.loss_bbox: 0.3018, d4.loss_cls: 0.1077, d4.loss_bbox: 0.2953, d5.loss_cls: 0.1075, d5.loss_bbox: 0.2937, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8424, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6498, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5953, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5821, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5729, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5702, d0.loss_map_cls_all: 0.2006, d0.loss_map_pts_all: 1.1022, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.2006, d0.loss_map_pts: 1.1022, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1696, d1.loss_map_pts: 0.8127, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1452, d2.loss_map_pts: 0.6620, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1356, d3.loss_map_pts: 0.5982, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1293, d4.loss_map_pts: 0.5757, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1239, d5.loss_map_pts: 0.5694, d5.loss_map_dir: 0.0062, loss: 24.5705, grad_norm: 138.8018 +2026-02-28 14:05:57,892 - DriveTransformer - INFO - Epoch [10][16750/39528] lr: 6.944e-05, eta: 4 days, 20:59:16, time: 0.735, data_time: 0.037, memory: 19865, loss_cls: 0.0873, loss_bbox: 0.2664, loss_traj: 0.4954, loss_traj_cls: 0.0019, loss_map_cls: 0.0892, loss_map_pts: 0.4783, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.4326, d0.loss_plan_l1_fix_dist: 0.4675, d1.loss_plan_l1_fix_time: 0.7768, d1.loss_plan_l1_fix_dist: 0.1865, d2.loss_plan_l1_fix_time: 0.7575, d2.loss_plan_l1_fix_dist: 0.1810, d3.loss_plan_l1_fix_time: 0.7457, d3.loss_plan_l1_fix_dist: 0.2338, d4.loss_plan_l1_fix_time: 0.7489, d4.loss_plan_l1_fix_dist: 0.2213, d5.loss_plan_l1_fix_time: 0.7519, d5.loss_plan_l1_fix_dist: 0.1794, d6.loss_plan_l1_fix_time: 0.7546, d6.loss_plan_l1_fix_dist: 0.1843, d0.loss_cls_all: 0.1227, d0.loss_bbox_all: 0.3371, d0.loss_cls: 0.1227, d0.loss_bbox: 0.3371, d1.loss_cls: 0.1200, d1.loss_bbox: 0.3056, d2.loss_cls: 0.1082, d2.loss_bbox: 0.2829, d3.loss_cls: 0.0943, d3.loss_bbox: 0.2744, d4.loss_cls: 0.0877, d4.loss_bbox: 0.2696, d5.loss_cls: 0.0879, d5.loss_bbox: 0.2666, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7183, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5632, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5160, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5057, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4992, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4954, d0.loss_map_cls_all: 0.1571, d0.loss_map_pts_all: 0.9795, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1571, d0.loss_map_pts: 0.9795, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1296, d1.loss_map_pts: 0.6969, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1088, d2.loss_map_pts: 0.5534, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1000, d3.loss_map_pts: 0.5072, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0954, d4.loss_map_pts: 0.4827, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0913, d5.loss_map_pts: 0.4788, d5.loss_map_dir: 0.0058, loss: 21.7241, grad_norm: 139.1469 +2026-02-28 14:06:34,877 - DriveTransformer - INFO - Epoch [10][16800/39528] lr: 6.944e-05, eta: 4 days, 20:58:42, time: 0.740, data_time: 0.037, memory: 19865, loss_cls: 0.1022, loss_bbox: 0.2860, loss_traj: 0.5758, loss_traj_cls: 0.0019, loss_map_cls: 0.0962, loss_map_pts: 0.5004, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.6973, d0.loss_plan_l1_fix_dist: 0.3798, d1.loss_plan_l1_fix_time: 0.8897, d1.loss_plan_l1_fix_dist: 0.1986, d2.loss_plan_l1_fix_time: 0.8751, d2.loss_plan_l1_fix_dist: 0.1790, d3.loss_plan_l1_fix_time: 0.8530, d3.loss_plan_l1_fix_dist: 0.2561, d4.loss_plan_l1_fix_time: 0.8538, d4.loss_plan_l1_fix_dist: 0.2754, d5.loss_plan_l1_fix_time: 0.8560, d5.loss_plan_l1_fix_dist: 0.2139, d6.loss_plan_l1_fix_time: 0.8586, d6.loss_plan_l1_fix_dist: 0.1916, d0.loss_cls_all: 0.1408, d0.loss_bbox_all: 0.3497, d0.loss_cls: 0.1408, d0.loss_bbox: 0.3497, d1.loss_cls: 0.1367, d1.loss_bbox: 0.3149, d2.loss_cls: 0.1251, d2.loss_bbox: 0.2958, d3.loss_cls: 0.1107, d3.loss_bbox: 0.2910, d4.loss_cls: 0.1043, d4.loss_bbox: 0.2878, d5.loss_cls: 0.1026, d5.loss_bbox: 0.2858, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8184, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6464, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5960, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5758, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5740, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5734, d0.loss_map_cls_all: 0.1767, d0.loss_map_pts_all: 1.0657, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1767, d0.loss_map_pts: 1.0657, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1431, d1.loss_map_pts: 0.7738, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1196, d2.loss_map_pts: 0.6036, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1088, d3.loss_map_pts: 0.5381, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1035, d4.loss_map_pts: 0.5120, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0981, d5.loss_map_pts: 0.5015, d5.loss_map_dir: 0.0059, loss: 23.9985, grad_norm: 139.4346 +2026-02-28 14:07:11,160 - DriveTransformer - INFO - Epoch [10][16850/39528] lr: 6.944e-05, eta: 4 days, 20:58:04, time: 0.726, data_time: 0.036, memory: 19865, loss_cls: 0.1244, loss_bbox: 0.3192, loss_traj: 0.5140, loss_traj_cls: 0.0019, loss_map_cls: 0.1229, loss_map_pts: 0.5967, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.9822, d0.loss_plan_l1_fix_dist: 0.4540, d1.loss_plan_l1_fix_time: 1.0042, d1.loss_plan_l1_fix_dist: 0.2158, d2.loss_plan_l1_fix_time: 1.0059, d2.loss_plan_l1_fix_dist: 0.1955, d3.loss_plan_l1_fix_time: 1.0008, d3.loss_plan_l1_fix_dist: 0.2672, d4.loss_plan_l1_fix_time: 1.0040, d4.loss_plan_l1_fix_dist: 0.3141, d5.loss_plan_l1_fix_time: 1.0073, d5.loss_plan_l1_fix_dist: 0.2555, d6.loss_plan_l1_fix_time: 1.0116, d6.loss_plan_l1_fix_dist: 0.2249, d0.loss_cls_all: 0.1670, d0.loss_bbox_all: 0.3888, d0.loss_cls: 0.1670, d0.loss_bbox: 0.3888, d1.loss_cls: 0.1571, d1.loss_bbox: 0.3553, d2.loss_cls: 0.1472, d2.loss_bbox: 0.3325, d3.loss_cls: 0.1327, d3.loss_bbox: 0.3229, d4.loss_cls: 0.1271, d4.loss_bbox: 0.3209, d5.loss_cls: 0.1256, d5.loss_bbox: 0.3200, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7033, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5801, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5254, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5192, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5155, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5127, d0.loss_map_cls_all: 0.1961, d0.loss_map_pts_all: 1.1812, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1961, d0.loss_map_pts: 1.1812, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1645, d1.loss_map_pts: 0.8707, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1433, d2.loss_map_pts: 0.7065, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1329, d3.loss_map_pts: 0.6324, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1272, d4.loss_map_pts: 0.6056, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1242, d5.loss_map_pts: 0.5981, d5.loss_map_dir: 0.0067, loss: 26.3509, grad_norm: 140.4811 +2026-02-28 14:07:49,420 - DriveTransformer - INFO - Epoch [10][16900/39528] lr: 6.944e-05, eta: 4 days, 20:57:35, time: 0.765, data_time: 0.038, memory: 19865, loss_cls: 0.1022, loss_bbox: 0.2916, loss_traj: 0.3910, loss_traj_cls: 0.0020, loss_map_cls: 0.1140, loss_map_pts: 0.6166, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.2505, d0.loss_plan_l1_fix_dist: 0.4480, d1.loss_plan_l1_fix_time: 0.7727, d1.loss_plan_l1_fix_dist: 0.1719, d2.loss_plan_l1_fix_time: 0.7580, d2.loss_plan_l1_fix_dist: 0.1718, d3.loss_plan_l1_fix_time: 0.7544, d3.loss_plan_l1_fix_dist: 0.2222, d4.loss_plan_l1_fix_time: 0.7557, d4.loss_plan_l1_fix_dist: 0.2735, d5.loss_plan_l1_fix_time: 0.7582, d5.loss_plan_l1_fix_dist: 0.2205, d6.loss_plan_l1_fix_time: 0.7616, d6.loss_plan_l1_fix_dist: 0.1944, d0.loss_cls_all: 0.1461, d0.loss_bbox_all: 0.3591, d0.loss_cls: 0.1461, d0.loss_bbox: 0.3591, d1.loss_cls: 0.1416, d1.loss_bbox: 0.3227, d2.loss_cls: 0.1261, d2.loss_bbox: 0.3029, d3.loss_cls: 0.1084, d3.loss_bbox: 0.2951, d4.loss_cls: 0.1054, d4.loss_bbox: 0.2919, d5.loss_cls: 0.1030, d5.loss_bbox: 0.2919, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5909, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.4388, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.3973, d3.loss_traj_cls: 0.0008, d3.loss_traj: 0.3843, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.3847, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3909, d0.loss_map_cls_all: 0.1895, d0.loss_map_pts_all: 1.1850, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1895, d0.loss_map_pts: 1.1850, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1600, d1.loss_map_pts: 0.8721, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1381, d2.loss_map_pts: 0.7065, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1274, d3.loss_map_pts: 0.6499, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1231, d4.loss_map_pts: 0.6234, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1183, d5.loss_map_pts: 0.6162, d5.loss_map_dir: 0.0069, loss: 22.6609, grad_norm: 139.3634 +2026-02-28 14:08:25,646 - DriveTransformer - INFO - Epoch [10][16950/39528] lr: 6.944e-05, eta: 4 days, 20:56:57, time: 0.725, data_time: 0.041, memory: 19865, loss_cls: 0.1126, loss_bbox: 0.3026, loss_traj: 0.4842, loss_traj_cls: 0.0018, loss_map_cls: 0.1230, loss_map_pts: 0.5381, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.7664, d0.loss_plan_l1_fix_dist: 0.2892, d1.loss_plan_l1_fix_time: 0.8464, d1.loss_plan_l1_fix_dist: 0.1763, d2.loss_plan_l1_fix_time: 0.8266, d2.loss_plan_l1_fix_dist: 0.1781, d3.loss_plan_l1_fix_time: 0.8193, d3.loss_plan_l1_fix_dist: 0.1990, d4.loss_plan_l1_fix_time: 0.8234, d4.loss_plan_l1_fix_dist: 0.2513, d5.loss_plan_l1_fix_time: 0.8263, d5.loss_plan_l1_fix_dist: 0.1876, d6.loss_plan_l1_fix_time: 0.8293, d6.loss_plan_l1_fix_dist: 0.1907, d0.loss_cls_all: 0.1562, d0.loss_bbox_all: 0.3716, d0.loss_cls: 0.1562, d0.loss_bbox: 0.3716, d1.loss_cls: 0.1513, d1.loss_bbox: 0.3359, d2.loss_cls: 0.1362, d2.loss_bbox: 0.3157, d3.loss_cls: 0.1165, d3.loss_bbox: 0.3100, d4.loss_cls: 0.1119, d4.loss_bbox: 0.3059, d5.loss_cls: 0.1107, d5.loss_bbox: 0.3050, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7085, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5666, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5180, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4947, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4852, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4851, d0.loss_map_cls_all: 0.2100, d0.loss_map_pts_all: 1.1075, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.2100, d0.loss_map_pts: 1.1075, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1739, d1.loss_map_pts: 0.8121, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1439, d2.loss_map_pts: 0.6345, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1340, d3.loss_map_pts: 0.5628, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1285, d4.loss_map_pts: 0.5422, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1243, d5.loss_map_pts: 0.5392, d5.loss_map_dir: 0.0062, loss: 23.7685, grad_norm: 139.8649 +2026-02-28 14:09:02,728 - DriveTransformer - INFO - Epoch [10][17000/39528] lr: 6.944e-05, eta: 4 days, 20:56:23, time: 0.742, data_time: 0.036, memory: 19865, loss_cls: 0.1176, loss_bbox: 0.3080, loss_traj: 0.4686, loss_traj_cls: 0.0019, loss_map_cls: 0.1062, loss_map_pts: 0.5894, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.5766, d0.loss_plan_l1_fix_dist: 0.3453, d1.loss_plan_l1_fix_time: 0.7402, d1.loss_plan_l1_fix_dist: 0.2011, d2.loss_plan_l1_fix_time: 0.7275, d2.loss_plan_l1_fix_dist: 0.2098, d3.loss_plan_l1_fix_time: 0.7262, d3.loss_plan_l1_fix_dist: 0.1908, d4.loss_plan_l1_fix_time: 0.7318, d4.loss_plan_l1_fix_dist: 0.2365, d5.loss_plan_l1_fix_time: 0.7362, d5.loss_plan_l1_fix_dist: 0.1721, d6.loss_plan_l1_fix_time: 0.7402, d6.loss_plan_l1_fix_dist: 0.1948, d0.loss_cls_all: 0.1653, d0.loss_bbox_all: 0.3737, d0.loss_cls: 0.1653, d0.loss_bbox: 0.3737, d1.loss_cls: 0.1608, d1.loss_bbox: 0.3369, d2.loss_cls: 0.1473, d2.loss_bbox: 0.3183, d3.loss_cls: 0.1287, d3.loss_bbox: 0.3096, d4.loss_cls: 0.1218, d4.loss_bbox: 0.3084, d5.loss_cls: 0.1182, d5.loss_bbox: 0.3094, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6994, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5562, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4959, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4767, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4751, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4737, d0.loss_map_cls_all: 0.1919, d0.loss_map_pts_all: 1.2016, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1919, d0.loss_map_pts: 1.2016, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1545, d1.loss_map_pts: 0.8720, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1327, d2.loss_map_pts: 0.6900, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1208, d3.loss_map_pts: 0.6214, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1132, d4.loss_map_pts: 0.5991, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1091, d5.loss_map_pts: 0.5901, d5.loss_map_dir: 0.0073, loss: 23.4862, grad_norm: 140.2042 +2026-02-28 14:09:38,287 - DriveTransformer - INFO - Epoch [10][17050/39528] lr: 6.944e-05, eta: 4 days, 20:55:42, time: 0.711, data_time: 0.038, memory: 19865, loss_cls: 0.1104, loss_bbox: 0.2953, loss_traj: 0.4519, loss_traj_cls: 0.0019, loss_map_cls: 0.1376, loss_map_pts: 0.5869, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 3.0085, d0.loss_plan_l1_fix_dist: 0.4148, d1.loss_plan_l1_fix_time: 0.8565, d1.loss_plan_l1_fix_dist: 0.2047, d2.loss_plan_l1_fix_time: 0.8369, d2.loss_plan_l1_fix_dist: 0.2233, d3.loss_plan_l1_fix_time: 0.8247, d3.loss_plan_l1_fix_dist: 0.2005, d4.loss_plan_l1_fix_time: 0.8261, d4.loss_plan_l1_fix_dist: 0.2057, d5.loss_plan_l1_fix_time: 0.8284, d5.loss_plan_l1_fix_dist: 0.1817, d6.loss_plan_l1_fix_time: 0.8313, d6.loss_plan_l1_fix_dist: 0.1819, d0.loss_cls_all: 0.1537, d0.loss_bbox_all: 0.3615, d0.loss_cls: 0.1537, d0.loss_bbox: 0.3615, d1.loss_cls: 0.1471, d1.loss_bbox: 0.3296, d2.loss_cls: 0.1331, d2.loss_bbox: 0.3087, d3.loss_cls: 0.1150, d3.loss_bbox: 0.3036, d4.loss_cls: 0.1088, d4.loss_bbox: 0.3004, d5.loss_cls: 0.1085, d5.loss_bbox: 0.2985, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6928, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5246, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4707, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4604, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4527, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4532, d0.loss_map_cls_all: 0.2176, d0.loss_map_pts_all: 1.1149, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.2176, d0.loss_map_pts: 1.1149, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1867, d1.loss_map_pts: 0.8295, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1651, d2.loss_map_pts: 0.6800, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1501, d3.loss_map_pts: 0.6222, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1428, d4.loss_map_pts: 0.5930, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1385, d5.loss_map_pts: 0.5878, d5.loss_map_dir: 0.0061, loss: 24.2605, grad_norm: 140.5202 +2026-02-28 14:10:15,009 - DriveTransformer - INFO - Epoch [10][17100/39528] lr: 6.944e-05, eta: 4 days, 20:55:06, time: 0.734, data_time: 0.037, memory: 19865, loss_cls: 0.1323, loss_bbox: 0.3271, loss_traj: 0.5685, loss_traj_cls: 0.0019, loss_map_cls: 0.1151, loss_map_pts: 0.6024, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.8745, d0.loss_plan_l1_fix_dist: 0.3755, d1.loss_plan_l1_fix_time: 0.8633, d1.loss_plan_l1_fix_dist: 0.2325, d2.loss_plan_l1_fix_time: 0.8455, d2.loss_plan_l1_fix_dist: 0.2722, d3.loss_plan_l1_fix_time: 0.8383, d3.loss_plan_l1_fix_dist: 0.2581, d4.loss_plan_l1_fix_time: 0.8396, d4.loss_plan_l1_fix_dist: 0.2191, d5.loss_plan_l1_fix_time: 0.8418, d5.loss_plan_l1_fix_dist: 0.2344, d6.loss_plan_l1_fix_time: 0.8444, d6.loss_plan_l1_fix_dist: 0.2107, d0.loss_cls_all: 0.1821, d0.loss_bbox_all: 0.4074, d0.loss_cls: 0.1821, d0.loss_bbox: 0.4074, d1.loss_cls: 0.1787, d1.loss_bbox: 0.3624, d2.loss_cls: 0.1640, d2.loss_bbox: 0.3366, d3.loss_cls: 0.1400, d3.loss_bbox: 0.3297, d4.loss_cls: 0.1318, d4.loss_bbox: 0.3281, d5.loss_cls: 0.1322, d5.loss_bbox: 0.3263, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8450, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6464, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5934, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5729, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5688, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5671, d0.loss_map_cls_all: 0.1962, d0.loss_map_pts_all: 1.1796, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1962, d0.loss_map_pts: 1.1796, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1648, d1.loss_map_pts: 0.8717, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1419, d2.loss_map_pts: 0.7046, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1302, d3.loss_map_pts: 0.6327, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1231, d4.loss_map_pts: 0.6088, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1181, d5.loss_map_pts: 0.6020, d5.loss_map_dir: 0.0072, loss: 25.8089, grad_norm: 141.5607 +2026-02-28 14:10:52,602 - DriveTransformer - INFO - Epoch [10][17150/39528] lr: 6.944e-05, eta: 4 days, 20:54:34, time: 0.752, data_time: 0.041, memory: 19865, loss_cls: 0.0766, loss_bbox: 0.2630, loss_traj: 0.4232, loss_traj_cls: 0.0019, loss_map_cls: 0.0907, loss_map_pts: 0.4785, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.5516, d0.loss_plan_l1_fix_dist: 0.4473, d1.loss_plan_l1_fix_time: 0.7262, d1.loss_plan_l1_fix_dist: 0.2184, d2.loss_plan_l1_fix_time: 0.7083, d2.loss_plan_l1_fix_dist: 0.2668, d3.loss_plan_l1_fix_time: 0.7110, d3.loss_plan_l1_fix_dist: 0.2413, d4.loss_plan_l1_fix_time: 0.7136, d4.loss_plan_l1_fix_dist: 0.1958, d5.loss_plan_l1_fix_time: 0.7162, d5.loss_plan_l1_fix_dist: 0.2121, d6.loss_plan_l1_fix_time: 0.7192, d6.loss_plan_l1_fix_dist: 0.2028, d0.loss_cls_all: 0.1145, d0.loss_bbox_all: 0.3223, d0.loss_cls: 0.1145, d0.loss_bbox: 0.3223, d1.loss_cls: 0.1112, d1.loss_bbox: 0.2896, d2.loss_cls: 0.0989, d2.loss_bbox: 0.2689, d3.loss_cls: 0.0829, d3.loss_bbox: 0.2653, d4.loss_cls: 0.0778, d4.loss_bbox: 0.2634, d5.loss_cls: 0.0768, d5.loss_bbox: 0.2633, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6091, d1.loss_traj_cls: 0.0008, d1.loss_traj: 0.4759, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4363, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4257, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4278, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4253, d0.loss_map_cls_all: 0.1619, d0.loss_map_pts_all: 1.0516, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1619, d0.loss_map_pts: 1.0516, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1314, d1.loss_map_pts: 0.7140, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1093, d2.loss_map_pts: 0.5631, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1025, d3.loss_map_pts: 0.5023, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.0966, d4.loss_map_pts: 0.4858, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0923, d5.loss_map_pts: 0.4795, d5.loss_map_dir: 0.0064, loss: 21.1963, grad_norm: 137.3778 +2026-02-28 14:11:29,868 - DriveTransformer - INFO - Epoch [10][17200/39528] lr: 6.944e-05, eta: 4 days, 20:54:00, time: 0.745, data_time: 0.040, memory: 19865, loss_cls: 0.1023, loss_bbox: 0.2945, loss_traj: 0.4807, loss_traj_cls: 0.0019, loss_map_cls: 0.1147, loss_map_pts: 0.5477, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.4381, d0.loss_plan_l1_fix_dist: 0.3660, d1.loss_plan_l1_fix_time: 0.7965, d1.loss_plan_l1_fix_dist: 0.2000, d2.loss_plan_l1_fix_time: 0.7883, d2.loss_plan_l1_fix_dist: 0.2627, d3.loss_plan_l1_fix_time: 0.7899, d3.loss_plan_l1_fix_dist: 0.2520, d4.loss_plan_l1_fix_time: 0.7917, d4.loss_plan_l1_fix_dist: 0.1964, d5.loss_plan_l1_fix_time: 0.7941, d5.loss_plan_l1_fix_dist: 0.1984, d6.loss_plan_l1_fix_time: 0.7971, d6.loss_plan_l1_fix_dist: 0.2115, d0.loss_cls_all: 0.1411, d0.loss_bbox_all: 0.3582, d0.loss_cls: 0.1411, d0.loss_bbox: 0.3582, d1.loss_cls: 0.1348, d1.loss_bbox: 0.3242, d2.loss_cls: 0.1236, d2.loss_bbox: 0.3063, d3.loss_cls: 0.1088, d3.loss_bbox: 0.3001, d4.loss_cls: 0.1036, d4.loss_bbox: 0.2967, d5.loss_cls: 0.1021, d5.loss_bbox: 0.2949, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7451, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5600, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5025, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4850, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4777, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4755, d0.loss_map_cls_all: 0.2053, d0.loss_map_pts_all: 1.1411, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2053, d0.loss_map_pts: 1.1411, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1648, d1.loss_map_pts: 0.8147, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1397, d2.loss_map_pts: 0.6448, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1280, d3.loss_map_pts: 0.5841, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1203, d4.loss_map_pts: 0.5606, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1159, d5.loss_map_pts: 0.5494, d5.loss_map_dir: 0.0063, loss: 23.3336, grad_norm: 134.2290 +2026-02-28 14:12:05,533 - DriveTransformer - INFO - Epoch [10][17250/39528] lr: 6.944e-05, eta: 4 days, 20:53:20, time: 0.713, data_time: 0.037, memory: 19865, loss_cls: 0.1011, loss_bbox: 0.3120, loss_traj: 0.5293, loss_traj_cls: 0.0019, loss_map_cls: 0.1451, loss_map_pts: 0.6345, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.3952, d0.loss_plan_l1_fix_dist: 0.3715, d1.loss_plan_l1_fix_time: 0.7879, d1.loss_plan_l1_fix_dist: 0.1760, d2.loss_plan_l1_fix_time: 0.7726, d2.loss_plan_l1_fix_dist: 0.2367, d3.loss_plan_l1_fix_time: 0.7697, d3.loss_plan_l1_fix_dist: 0.2354, d4.loss_plan_l1_fix_time: 0.7727, d4.loss_plan_l1_fix_dist: 0.1847, d5.loss_plan_l1_fix_time: 0.7758, d5.loss_plan_l1_fix_dist: 0.1879, d6.loss_plan_l1_fix_time: 0.7792, d6.loss_plan_l1_fix_dist: 0.2082, d0.loss_cls_all: 0.1460, d0.loss_bbox_all: 0.3775, d0.loss_cls: 0.1460, d0.loss_bbox: 0.3775, d1.loss_cls: 0.1402, d1.loss_bbox: 0.3419, d2.loss_cls: 0.1279, d2.loss_bbox: 0.3209, d3.loss_cls: 0.1083, d3.loss_bbox: 0.3168, d4.loss_cls: 0.1043, d4.loss_bbox: 0.3142, d5.loss_cls: 0.1012, d5.loss_bbox: 0.3124, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7985, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6160, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5541, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5359, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5401, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5281, d0.loss_map_cls_all: 0.2339, d0.loss_map_pts_all: 1.2438, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2339, d0.loss_map_pts: 1.2438, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.2049, d1.loss_map_pts: 0.9224, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1756, d2.loss_map_pts: 0.7433, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1625, d3.loss_map_pts: 0.6758, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1529, d4.loss_map_pts: 0.6503, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1479, d5.loss_map_pts: 0.6355, d5.loss_map_dir: 0.0067, loss: 24.6676, grad_norm: 134.2278 +2026-02-28 14:12:41,868 - DriveTransformer - INFO - Epoch [10][17300/39528] lr: 6.944e-05, eta: 4 days, 20:52:43, time: 0.727, data_time: 0.040, memory: 19865, loss_cls: 0.0932, loss_bbox: 0.2826, loss_traj: 0.4644, loss_traj_cls: 0.0019, loss_map_cls: 0.1075, loss_map_pts: 0.5152, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.7171, d0.loss_plan_l1_fix_dist: 0.4580, d1.loss_plan_l1_fix_time: 0.8485, d1.loss_plan_l1_fix_dist: 0.1901, d2.loss_plan_l1_fix_time: 0.8317, d2.loss_plan_l1_fix_dist: 0.2397, d3.loss_plan_l1_fix_time: 0.8373, d3.loss_plan_l1_fix_dist: 0.2250, d4.loss_plan_l1_fix_time: 0.8402, d4.loss_plan_l1_fix_dist: 0.1882, d5.loss_plan_l1_fix_time: 0.8434, d5.loss_plan_l1_fix_dist: 0.1984, d6.loss_plan_l1_fix_time: 0.8476, d6.loss_plan_l1_fix_dist: 0.2086, d0.loss_cls_all: 0.1349, d0.loss_bbox_all: 0.3426, d0.loss_cls: 0.1349, d0.loss_bbox: 0.3426, d1.loss_cls: 0.1301, d1.loss_bbox: 0.3114, d2.loss_cls: 0.1167, d2.loss_bbox: 0.2917, d3.loss_cls: 0.0998, d3.loss_bbox: 0.2867, d4.loss_cls: 0.0955, d4.loss_bbox: 0.2841, d5.loss_cls: 0.0941, d5.loss_bbox: 0.2831, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6896, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5200, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4850, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4709, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4680, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4648, d0.loss_map_cls_all: 0.1757, d0.loss_map_pts_all: 1.0471, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1757, d0.loss_map_pts: 1.0471, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1480, d1.loss_map_pts: 0.7602, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1262, d2.loss_map_pts: 0.6036, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1178, d3.loss_map_pts: 0.5442, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1117, d4.loss_map_pts: 0.5212, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1081, d5.loss_map_pts: 0.5162, d5.loss_map_dir: 0.0066, loss: 23.0445, grad_norm: 132.5038 +2026-02-28 14:13:19,870 - DriveTransformer - INFO - Epoch [10][17350/39528] lr: 6.944e-05, eta: 4 days, 20:52:12, time: 0.760, data_time: 0.039, memory: 19865, loss_cls: 0.1286, loss_bbox: 0.3305, loss_traj: 0.6076, loss_traj_cls: 0.0018, loss_map_cls: 0.1377, loss_map_pts: 0.6724, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 3.1408, d0.loss_plan_l1_fix_dist: 0.3992, d1.loss_plan_l1_fix_time: 1.0232, d1.loss_plan_l1_fix_dist: 0.2102, d2.loss_plan_l1_fix_time: 1.0085, d2.loss_plan_l1_fix_dist: 0.2537, d3.loss_plan_l1_fix_time: 0.9841, d3.loss_plan_l1_fix_dist: 0.2429, d4.loss_plan_l1_fix_time: 0.9861, d4.loss_plan_l1_fix_dist: 0.2029, d5.loss_plan_l1_fix_time: 0.9891, d5.loss_plan_l1_fix_dist: 0.2377, d6.loss_plan_l1_fix_time: 0.9938, d6.loss_plan_l1_fix_dist: 0.2058, d0.loss_cls_all: 0.1723, d0.loss_bbox_all: 0.4026, d0.loss_cls: 0.1723, d0.loss_bbox: 0.4026, d1.loss_cls: 0.1667, d1.loss_bbox: 0.3605, d2.loss_cls: 0.1532, d2.loss_bbox: 0.3359, d3.loss_cls: 0.1370, d3.loss_bbox: 0.3304, d4.loss_cls: 0.1320, d4.loss_bbox: 0.3285, d5.loss_cls: 0.1287, d5.loss_bbox: 0.3301, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9029, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7156, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6306, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6120, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6076, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6062, d0.loss_map_cls_all: 0.2314, d0.loss_map_pts_all: 1.3346, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2314, d0.loss_map_pts: 1.3346, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.2025, d1.loss_map_pts: 1.0157, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1699, d2.loss_map_pts: 0.8041, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1568, d3.loss_map_pts: 0.7141, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1481, d4.loss_map_pts: 0.6810, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1413, d5.loss_map_pts: 0.6730, d5.loss_map_dir: 0.0066, loss: 28.2777, grad_norm: 134.8831 +2026-02-28 14:13:57,873 - DriveTransformer - INFO - Epoch [10][17400/39528] lr: 6.944e-05, eta: 4 days, 20:51:42, time: 0.761, data_time: 0.039, memory: 19865, loss_cls: 0.1004, loss_bbox: 0.2871, loss_traj: 0.4389, loss_traj_cls: 0.0019, loss_map_cls: 0.0971, loss_map_pts: 0.5315, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.5082, d0.loss_plan_l1_fix_dist: 0.3910, d1.loss_plan_l1_fix_time: 0.7393, d1.loss_plan_l1_fix_dist: 0.1945, d2.loss_plan_l1_fix_time: 0.7141, d2.loss_plan_l1_fix_dist: 0.2277, d3.loss_plan_l1_fix_time: 0.7091, d3.loss_plan_l1_fix_dist: 0.2203, d4.loss_plan_l1_fix_time: 0.7110, d4.loss_plan_l1_fix_dist: 0.1817, d5.loss_plan_l1_fix_time: 0.7133, d5.loss_plan_l1_fix_dist: 0.2450, d6.loss_plan_l1_fix_time: 0.7162, d6.loss_plan_l1_fix_dist: 0.1905, d0.loss_cls_all: 0.1484, d0.loss_bbox_all: 0.3499, d0.loss_cls: 0.1484, d0.loss_bbox: 0.3499, d1.loss_cls: 0.1419, d1.loss_bbox: 0.3168, d2.loss_cls: 0.1273, d2.loss_bbox: 0.2976, d3.loss_cls: 0.1077, d3.loss_bbox: 0.2911, d4.loss_cls: 0.1018, d4.loss_bbox: 0.2889, d5.loss_cls: 0.1013, d5.loss_bbox: 0.2877, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6491, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5067, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4490, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4342, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4364, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4376, d0.loss_map_cls_all: 0.1802, d0.loss_map_pts_all: 1.1054, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1802, d0.loss_map_pts: 1.1054, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1480, d1.loss_map_pts: 0.7809, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1229, d2.loss_map_pts: 0.6208, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1090, d3.loss_map_pts: 0.5628, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1023, d4.loss_map_pts: 0.5418, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.0980, d5.loss_map_pts: 0.5322, d5.loss_map_dir: 0.0070, loss: 22.1416, grad_norm: 136.1833 +2026-02-28 14:14:33,828 - DriveTransformer - INFO - Epoch [10][17450/39528] lr: 6.944e-05, eta: 4 days, 20:51:03, time: 0.718, data_time: 0.037, memory: 19865, loss_cls: 0.1067, loss_bbox: 0.2882, loss_traj: 0.4824, loss_traj_cls: 0.0019, loss_map_cls: 0.0911, loss_map_pts: 0.4986, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.5433, d0.loss_plan_l1_fix_dist: 0.4883, d1.loss_plan_l1_fix_time: 0.7326, d1.loss_plan_l1_fix_dist: 0.2080, d2.loss_plan_l1_fix_time: 0.7123, d2.loss_plan_l1_fix_dist: 0.2403, d3.loss_plan_l1_fix_time: 0.7106, d3.loss_plan_l1_fix_dist: 0.2240, d4.loss_plan_l1_fix_time: 0.7123, d4.loss_plan_l1_fix_dist: 0.1797, d5.loss_plan_l1_fix_time: 0.7148, d5.loss_plan_l1_fix_dist: 0.2501, d6.loss_plan_l1_fix_time: 0.7172, d6.loss_plan_l1_fix_dist: 0.2135, d0.loss_cls_all: 0.1478, d0.loss_bbox_all: 0.3442, d0.loss_cls: 0.1478, d0.loss_bbox: 0.3442, d1.loss_cls: 0.1429, d1.loss_bbox: 0.3202, d2.loss_cls: 0.1315, d2.loss_bbox: 0.2990, d3.loss_cls: 0.1138, d3.loss_bbox: 0.2921, d4.loss_cls: 0.1083, d4.loss_bbox: 0.2893, d5.loss_cls: 0.1063, d5.loss_bbox: 0.2890, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6788, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5400, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5004, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4926, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4853, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4858, d0.loss_map_cls_all: 0.1658, d0.loss_map_pts_all: 0.9774, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1658, d0.loss_map_pts: 0.9774, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1344, d1.loss_map_pts: 0.7013, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1128, d2.loss_map_pts: 0.5704, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1038, d3.loss_map_pts: 0.5218, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0970, d4.loss_map_pts: 0.5037, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0933, d5.loss_map_pts: 0.4991, d5.loss_map_dir: 0.0060, loss: 22.0518, grad_norm: 135.4546 +2026-02-28 14:15:10,393 - DriveTransformer - INFO - Epoch [10][17500/39528] lr: 6.944e-05, eta: 4 days, 20:50:26, time: 0.731, data_time: 0.041, memory: 19865, loss_cls: 0.0978, loss_bbox: 0.2816, loss_traj: 0.4626, loss_traj_cls: 0.0020, loss_map_cls: 0.0854, loss_map_pts: 0.4538, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.5062, d0.loss_plan_l1_fix_dist: 0.4037, d1.loss_plan_l1_fix_time: 0.7135, d1.loss_plan_l1_fix_dist: 0.2136, d2.loss_plan_l1_fix_time: 0.6948, d2.loss_plan_l1_fix_dist: 0.2494, d3.loss_plan_l1_fix_time: 0.6902, d3.loss_plan_l1_fix_dist: 0.2351, d4.loss_plan_l1_fix_time: 0.6914, d4.loss_plan_l1_fix_dist: 0.1998, d5.loss_plan_l1_fix_time: 0.6937, d5.loss_plan_l1_fix_dist: 0.2476, d6.loss_plan_l1_fix_time: 0.6960, d6.loss_plan_l1_fix_dist: 0.2122, d0.loss_cls_all: 0.1361, d0.loss_bbox_all: 0.3336, d0.loss_cls: 0.1361, d0.loss_bbox: 0.3336, d1.loss_cls: 0.1338, d1.loss_bbox: 0.3029, d2.loss_cls: 0.1230, d2.loss_bbox: 0.2869, d3.loss_cls: 0.1065, d3.loss_bbox: 0.2817, d4.loss_cls: 0.1004, d4.loss_bbox: 0.2810, d5.loss_cls: 0.0987, d5.loss_bbox: 0.2804, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7050, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5205, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4834, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4714, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4655, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4635, d0.loss_map_cls_all: 0.1522, d0.loss_map_pts_all: 0.9609, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1522, d0.loss_map_pts: 0.9609, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1245, d1.loss_map_pts: 0.6954, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1068, d2.loss_map_pts: 0.5432, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0984, d3.loss_map_pts: 0.4837, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0921, d4.loss_map_pts: 0.4612, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0876, d5.loss_map_pts: 0.4546, d5.loss_map_dir: 0.0055, loss: 21.2962, grad_norm: 135.1600 +2026-02-28 14:15:47,827 - DriveTransformer - INFO - Epoch [10][17550/39528] lr: 6.944e-05, eta: 4 days, 20:49:54, time: 0.749, data_time: 0.037, memory: 19865, loss_cls: 0.1013, loss_bbox: 0.2849, loss_traj: 0.4141, loss_traj_cls: 0.0019, loss_map_cls: 0.1246, loss_map_pts: 0.5877, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.0658, d0.loss_plan_l1_fix_dist: 0.4192, d1.loss_plan_l1_fix_time: 0.7386, d1.loss_plan_l1_fix_dist: 0.1919, d2.loss_plan_l1_fix_time: 0.7236, d2.loss_plan_l1_fix_dist: 0.2306, d3.loss_plan_l1_fix_time: 0.7167, d3.loss_plan_l1_fix_dist: 0.2183, d4.loss_plan_l1_fix_time: 0.7183, d4.loss_plan_l1_fix_dist: 0.2043, d5.loss_plan_l1_fix_time: 0.7210, d5.loss_plan_l1_fix_dist: 0.2005, d6.loss_plan_l1_fix_time: 0.7232, d6.loss_plan_l1_fix_dist: 0.1917, d0.loss_cls_all: 0.1484, d0.loss_bbox_all: 0.3476, d0.loss_cls: 0.1484, d0.loss_bbox: 0.3476, d1.loss_cls: 0.1374, d1.loss_bbox: 0.3144, d2.loss_cls: 0.1222, d2.loss_bbox: 0.2946, d3.loss_cls: 0.1125, d3.loss_bbox: 0.2894, d4.loss_cls: 0.1065, d4.loss_bbox: 0.2854, d5.loss_cls: 0.1020, d5.loss_bbox: 0.2853, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6003, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.4705, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4402, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4287, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4169, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4139, d0.loss_map_cls_all: 0.2184, d0.loss_map_pts_all: 1.2228, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2184, d0.loss_map_pts: 1.2228, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1801, d1.loss_map_pts: 0.8799, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1549, d2.loss_map_pts: 0.6962, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1422, d3.loss_map_pts: 0.6209, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1346, d4.loss_map_pts: 0.5922, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1288, d5.loss_map_pts: 0.5879, d5.loss_map_dir: 0.0069, loss: 22.4489, grad_norm: 135.1955 +2026-02-28 14:16:23,701 - DriveTransformer - INFO - Epoch [10][17600/39528] lr: 6.944e-05, eta: 4 days, 20:49:14, time: 0.717, data_time: 0.037, memory: 19865, loss_cls: 0.1140, loss_bbox: 0.2984, loss_traj: 0.4789, loss_traj_cls: 0.0019, loss_map_cls: 0.1020, loss_map_pts: 0.5212, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.6279, d0.loss_plan_l1_fix_dist: 0.5168, d1.loss_plan_l1_fix_time: 0.8518, d1.loss_plan_l1_fix_dist: 0.1981, d2.loss_plan_l1_fix_time: 0.8422, d2.loss_plan_l1_fix_dist: 0.2492, d3.loss_plan_l1_fix_time: 0.8371, d3.loss_plan_l1_fix_dist: 0.2494, d4.loss_plan_l1_fix_time: 0.8390, d4.loss_plan_l1_fix_dist: 0.2615, d5.loss_plan_l1_fix_time: 0.8411, d5.loss_plan_l1_fix_dist: 0.2233, d6.loss_plan_l1_fix_time: 0.8434, d6.loss_plan_l1_fix_dist: 0.2125, d0.loss_cls_all: 0.1557, d0.loss_bbox_all: 0.3618, d0.loss_cls: 0.1557, d0.loss_bbox: 0.3618, d1.loss_cls: 0.1489, d1.loss_bbox: 0.3279, d2.loss_cls: 0.1351, d2.loss_bbox: 0.3071, d3.loss_cls: 0.1228, d3.loss_bbox: 0.3024, d4.loss_cls: 0.1169, d4.loss_bbox: 0.2988, d5.loss_cls: 0.1139, d5.loss_bbox: 0.2994, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7081, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5565, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5108, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4936, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4829, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4796, d0.loss_map_cls_all: 0.1808, d0.loss_map_pts_all: 1.0218, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1808, d0.loss_map_pts: 1.0218, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1490, d1.loss_map_pts: 0.7402, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1260, d2.loss_map_pts: 0.6014, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1146, d3.loss_map_pts: 0.5464, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1082, d4.loss_map_pts: 0.5266, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1036, d5.loss_map_pts: 0.5219, d5.loss_map_dir: 0.0062, loss: 23.5479, grad_norm: 135.7416 +2026-02-28 14:16:59,902 - DriveTransformer - INFO - Epoch [10][17650/39528] lr: 6.944e-05, eta: 4 days, 20:48:36, time: 0.724, data_time: 0.036, memory: 19865, loss_cls: 0.1018, loss_bbox: 0.3086, loss_traj: 0.5624, loss_traj_cls: 0.0019, loss_map_cls: 0.1162, loss_map_pts: 0.5656, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.8715, d0.loss_plan_l1_fix_dist: 0.4416, d1.loss_plan_l1_fix_time: 0.9733, d1.loss_plan_l1_fix_dist: 0.2014, d2.loss_plan_l1_fix_time: 0.9564, d2.loss_plan_l1_fix_dist: 0.2443, d3.loss_plan_l1_fix_time: 0.9426, d3.loss_plan_l1_fix_dist: 0.2534, d4.loss_plan_l1_fix_time: 0.9429, d4.loss_plan_l1_fix_dist: 0.2902, d5.loss_plan_l1_fix_time: 0.9446, d5.loss_plan_l1_fix_dist: 0.2290, d6.loss_plan_l1_fix_time: 0.9468, d6.loss_plan_l1_fix_dist: 0.2184, d0.loss_cls_all: 0.1476, d0.loss_bbox_all: 0.3803, d0.loss_cls: 0.1476, d0.loss_bbox: 0.3803, d1.loss_cls: 0.1419, d1.loss_bbox: 0.3413, d2.loss_cls: 0.1247, d2.loss_bbox: 0.3176, d3.loss_cls: 0.1089, d3.loss_bbox: 0.3106, d4.loss_cls: 0.1030, d4.loss_bbox: 0.3082, d5.loss_cls: 0.1014, d5.loss_bbox: 0.3078, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8383, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6477, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5868, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5684, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5631, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5580, d0.loss_map_cls_all: 0.1939, d0.loss_map_pts_all: 1.0753, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1939, d0.loss_map_pts: 1.0753, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1588, d1.loss_map_pts: 0.7792, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1378, d2.loss_map_pts: 0.6437, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1296, d3.loss_map_pts: 0.5886, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1227, d4.loss_map_pts: 0.5731, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1186, d5.loss_map_pts: 0.5652, d5.loss_map_dir: 0.0066, loss: 25.5106, grad_norm: 135.7121 +2026-02-28 14:17:35,322 - DriveTransformer - INFO - Epoch [10][17700/39528] lr: 6.944e-05, eta: 4 days, 20:47:55, time: 0.708, data_time: 0.038, memory: 19865, loss_cls: 0.0867, loss_bbox: 0.2703, loss_traj: 0.4807, loss_traj_cls: 0.0019, loss_map_cls: 0.0886, loss_map_pts: 0.4371, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.3769, d0.loss_plan_l1_fix_dist: 0.4186, d1.loss_plan_l1_fix_time: 0.7549, d1.loss_plan_l1_fix_dist: 0.1749, d2.loss_plan_l1_fix_time: 0.7351, d2.loss_plan_l1_fix_dist: 0.2016, d3.loss_plan_l1_fix_time: 0.7369, d3.loss_plan_l1_fix_dist: 0.2273, d4.loss_plan_l1_fix_time: 0.7382, d4.loss_plan_l1_fix_dist: 0.2735, d5.loss_plan_l1_fix_time: 0.7400, d5.loss_plan_l1_fix_dist: 0.2082, d6.loss_plan_l1_fix_time: 0.7425, d6.loss_plan_l1_fix_dist: 0.1973, d0.loss_cls_all: 0.1294, d0.loss_bbox_all: 0.3245, d0.loss_cls: 0.1294, d0.loss_bbox: 0.3245, d1.loss_cls: 0.1205, d1.loss_bbox: 0.2970, d2.loss_cls: 0.1059, d2.loss_bbox: 0.2760, d3.loss_cls: 0.0903, d3.loss_bbox: 0.2732, d4.loss_cls: 0.0864, d4.loss_bbox: 0.2711, d5.loss_cls: 0.0869, d5.loss_bbox: 0.2699, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6828, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5763, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5135, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4971, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4875, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4836, d0.loss_map_cls_all: 0.1676, d0.loss_map_pts_all: 0.9341, d0.loss_map_dir_all: 0.0050, d0.loss_map_cls: 0.1676, d0.loss_map_pts: 0.9341, d0.loss_map_dir: 0.0050, d1.loss_map_cls: 0.1357, d1.loss_map_pts: 0.6503, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.1158, d2.loss_map_pts: 0.5185, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.1039, d3.loss_map_pts: 0.4647, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.0966, d4.loss_map_pts: 0.4447, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0900, d5.loss_map_pts: 0.4374, d5.loss_map_dir: 0.0047, loss: 21.2204, grad_norm: 136.1150 +2026-02-28 14:18:12,251 - DriveTransformer - INFO - Epoch [10][17750/39528] lr: 6.944e-05, eta: 4 days, 20:47:20, time: 0.739, data_time: 0.039, memory: 19865, loss_cls: 0.1031, loss_bbox: 0.2890, loss_traj: 0.4927, loss_traj_cls: 0.0018, loss_map_cls: 0.0984, loss_map_pts: 0.4869, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.7732, d0.loss_plan_l1_fix_dist: 0.3612, d1.loss_plan_l1_fix_time: 0.8165, d1.loss_plan_l1_fix_dist: 0.2061, d2.loss_plan_l1_fix_time: 0.8005, d2.loss_plan_l1_fix_dist: 0.2049, d3.loss_plan_l1_fix_time: 0.7959, d3.loss_plan_l1_fix_dist: 0.2144, d4.loss_plan_l1_fix_time: 0.7962, d4.loss_plan_l1_fix_dist: 0.2814, d5.loss_plan_l1_fix_time: 0.7980, d5.loss_plan_l1_fix_dist: 0.2142, d6.loss_plan_l1_fix_time: 0.8005, d6.loss_plan_l1_fix_dist: 0.1845, d0.loss_cls_all: 0.1454, d0.loss_bbox_all: 0.3624, d0.loss_cls: 0.1454, d0.loss_bbox: 0.3624, d1.loss_cls: 0.1362, d1.loss_bbox: 0.3233, d2.loss_cls: 0.1251, d2.loss_bbox: 0.3001, d3.loss_cls: 0.1105, d3.loss_bbox: 0.2933, d4.loss_cls: 0.1058, d4.loss_bbox: 0.2901, d5.loss_cls: 0.1040, d5.loss_bbox: 0.2890, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7805, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5862, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5199, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5040, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4970, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4952, d0.loss_map_cls_all: 0.1858, d0.loss_map_pts_all: 1.0859, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1858, d0.loss_map_pts: 1.0859, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1520, d1.loss_map_pts: 0.7421, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1300, d2.loss_map_pts: 0.5869, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1158, d3.loss_map_pts: 0.5229, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1079, d4.loss_map_pts: 0.4961, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1008, d5.loss_map_pts: 0.4881, d5.loss_map_dir: 0.0055, loss: 23.2298, grad_norm: 135.5075 +2026-02-28 14:18:49,939 - DriveTransformer - INFO - Epoch [10][17800/39528] lr: 6.944e-05, eta: 4 days, 20:46:48, time: 0.754, data_time: 0.040, memory: 19865, loss_cls: 0.0993, loss_bbox: 0.2807, loss_traj: 0.4514, loss_traj_cls: 0.0019, loss_map_cls: 0.0809, loss_map_pts: 0.5368, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.4890, d0.loss_plan_l1_fix_dist: 0.5614, d1.loss_plan_l1_fix_time: 0.8603, d1.loss_plan_l1_fix_dist: 0.2551, d2.loss_plan_l1_fix_time: 0.8362, d2.loss_plan_l1_fix_dist: 0.2266, d3.loss_plan_l1_fix_time: 0.8292, d3.loss_plan_l1_fix_dist: 0.2253, d4.loss_plan_l1_fix_time: 0.8297, d4.loss_plan_l1_fix_dist: 0.3076, d5.loss_plan_l1_fix_time: 0.8312, d5.loss_plan_l1_fix_dist: 0.2464, d6.loss_plan_l1_fix_time: 0.8337, d6.loss_plan_l1_fix_dist: 0.2174, d0.loss_cls_all: 0.1481, d0.loss_bbox_all: 0.3370, d0.loss_cls: 0.1481, d0.loss_bbox: 0.3370, d1.loss_cls: 0.1384, d1.loss_bbox: 0.3112, d2.loss_cls: 0.1245, d2.loss_bbox: 0.2907, d3.loss_cls: 0.1094, d3.loss_bbox: 0.2861, d4.loss_cls: 0.1016, d4.loss_bbox: 0.2835, d5.loss_cls: 0.0991, d5.loss_bbox: 0.2818, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6402, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5118, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4721, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4662, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4520, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4511, d0.loss_map_cls_all: 0.1572, d0.loss_map_pts_all: 1.0842, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.1572, d0.loss_map_pts: 1.0842, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1246, d1.loss_map_pts: 0.7709, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1042, d2.loss_map_pts: 0.6246, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.0937, d3.loss_map_pts: 0.5673, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.0871, d4.loss_map_pts: 0.5435, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.0818, d5.loss_map_pts: 0.5383, d5.loss_map_dir: 0.0075, loss: 23.0740, grad_norm: 135.0737 +2026-02-28 14:19:26,692 - DriveTransformer - INFO - Epoch [10][17850/39528] lr: 6.944e-05, eta: 4 days, 20:46:12, time: 0.735, data_time: 0.037, memory: 19865, loss_cls: 0.0929, loss_bbox: 0.2852, loss_traj: 0.4620, loss_traj_cls: 0.0019, loss_map_cls: 0.1024, loss_map_pts: 0.5284, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.2228, d0.loss_plan_l1_fix_dist: 0.4737, d1.loss_plan_l1_fix_time: 0.7218, d1.loss_plan_l1_fix_dist: 0.2503, d2.loss_plan_l1_fix_time: 0.6963, d2.loss_plan_l1_fix_dist: 0.1970, d3.loss_plan_l1_fix_time: 0.6947, d3.loss_plan_l1_fix_dist: 0.1904, d4.loss_plan_l1_fix_time: 0.6971, d4.loss_plan_l1_fix_dist: 0.2555, d5.loss_plan_l1_fix_time: 0.7000, d5.loss_plan_l1_fix_dist: 0.2081, d6.loss_plan_l1_fix_time: 0.7035, d6.loss_plan_l1_fix_dist: 0.1784, d0.loss_cls_all: 0.1426, d0.loss_bbox_all: 0.3495, d0.loss_cls: 0.1426, d0.loss_bbox: 0.3495, d1.loss_cls: 0.1326, d1.loss_bbox: 0.3170, d2.loss_cls: 0.1208, d2.loss_bbox: 0.2960, d3.loss_cls: 0.1039, d3.loss_bbox: 0.2901, d4.loss_cls: 0.0975, d4.loss_bbox: 0.2858, d5.loss_cls: 0.0936, d5.loss_bbox: 0.2852, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7179, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5543, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4912, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4756, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4684, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4622, d0.loss_map_cls_all: 0.1911, d0.loss_map_pts_all: 1.1160, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1911, d0.loss_map_pts: 1.1160, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1531, d1.loss_map_pts: 0.7926, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1290, d2.loss_map_pts: 0.6227, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1185, d3.loss_map_pts: 0.5585, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1110, d4.loss_map_pts: 0.5350, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1053, d5.loss_map_pts: 0.5293, d5.loss_map_dir: 0.0069, loss: 22.1669, grad_norm: 134.3804 +2026-02-28 14:20:01,692 - DriveTransformer - INFO - Epoch [10][17900/39528] lr: 6.944e-05, eta: 4 days, 20:45:29, time: 0.700, data_time: 0.039, memory: 19865, loss_cls: 0.1030, loss_bbox: 0.3066, loss_traj: 0.5791, loss_traj_cls: 0.0019, loss_map_cls: 0.1011, loss_map_pts: 0.4981, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.6409, d0.loss_plan_l1_fix_dist: 0.4244, d1.loss_plan_l1_fix_time: 0.8381, d1.loss_plan_l1_fix_dist: 0.2767, d2.loss_plan_l1_fix_time: 0.8202, d2.loss_plan_l1_fix_dist: 0.2240, d3.loss_plan_l1_fix_time: 0.8122, d3.loss_plan_l1_fix_dist: 0.2475, d4.loss_plan_l1_fix_time: 0.8136, d4.loss_plan_l1_fix_dist: 0.2379, d5.loss_plan_l1_fix_time: 0.8157, d5.loss_plan_l1_fix_dist: 0.1893, d6.loss_plan_l1_fix_time: 0.8190, d6.loss_plan_l1_fix_dist: 0.1765, d0.loss_cls_all: 0.1576, d0.loss_bbox_all: 0.3607, d0.loss_cls: 0.1576, d0.loss_bbox: 0.3607, d1.loss_cls: 0.1492, d1.loss_bbox: 0.3286, d2.loss_cls: 0.1330, d2.loss_bbox: 0.3095, d3.loss_cls: 0.1136, d3.loss_bbox: 0.3055, d4.loss_cls: 0.1044, d4.loss_bbox: 0.3051, d5.loss_cls: 0.1039, d5.loss_bbox: 0.3044, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8076, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6585, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6132, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5940, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5817, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5797, d0.loss_map_cls_all: 0.1810, d0.loss_map_pts_all: 0.9433, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1810, d0.loss_map_pts: 0.9433, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1493, d1.loss_map_pts: 0.6982, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1285, d2.loss_map_pts: 0.5675, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1181, d3.loss_map_pts: 0.5175, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1097, d4.loss_map_pts: 0.5014, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1044, d5.loss_map_pts: 0.4982, d5.loss_map_dir: 0.0058, loss: 23.6477, grad_norm: 135.3797 +2026-02-28 14:20:38,953 - DriveTransformer - INFO - Epoch [10][17950/39528] lr: 6.944e-05, eta: 4 days, 20:44:56, time: 0.745, data_time: 0.037, memory: 19865, loss_cls: 0.1191, loss_bbox: 0.3264, loss_traj: 0.4797, loss_traj_cls: 0.0019, loss_map_cls: 0.1318, loss_map_pts: 0.6458, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.8019, d0.loss_plan_l1_fix_dist: 0.4098, d1.loss_plan_l1_fix_time: 0.8235, d1.loss_plan_l1_fix_dist: 0.3096, d2.loss_plan_l1_fix_time: 0.8097, d2.loss_plan_l1_fix_dist: 0.2949, d3.loss_plan_l1_fix_time: 0.7955, d3.loss_plan_l1_fix_dist: 0.3323, d4.loss_plan_l1_fix_time: 0.7984, d4.loss_plan_l1_fix_dist: 0.2544, d5.loss_plan_l1_fix_time: 0.8021, d5.loss_plan_l1_fix_dist: 0.2291, d6.loss_plan_l1_fix_time: 0.8068, d6.loss_plan_l1_fix_dist: 0.2063, d0.loss_cls_all: 0.1649, d0.loss_bbox_all: 0.3947, d0.loss_cls: 0.1649, d0.loss_bbox: 0.3947, d1.loss_cls: 0.1537, d1.loss_bbox: 0.3584, d2.loss_cls: 0.1403, d2.loss_bbox: 0.3376, d3.loss_cls: 0.1285, d3.loss_bbox: 0.3276, d4.loss_cls: 0.1206, d4.loss_bbox: 0.3266, d5.loss_cls: 0.1197, d5.loss_bbox: 0.3258, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7129, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5739, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5102, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4927, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4843, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4802, d0.loss_map_cls_all: 0.2201, d0.loss_map_pts_all: 1.2444, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2201, d0.loss_map_pts: 1.2444, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1847, d1.loss_map_pts: 0.9406, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1601, d2.loss_map_pts: 0.7573, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1475, d3.loss_map_pts: 0.6855, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1404, d4.loss_map_pts: 0.6542, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1352, d5.loss_map_pts: 0.6461, d5.loss_map_dir: 0.0070, loss: 25.5332, grad_norm: 133.9672 +2026-02-28 14:21:16,786 - DriveTransformer - INFO - Epoch [10][18000/39528] lr: 6.944e-05, eta: 4 days, 20:44:25, time: 0.757, data_time: 0.037, memory: 19865, loss_cls: 0.0926, loss_bbox: 0.2854, loss_traj: 0.4159, loss_traj_cls: 0.0019, loss_map_cls: 0.1129, loss_map_pts: 0.6028, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.3964, d0.loss_plan_l1_fix_dist: 0.4880, d1.loss_plan_l1_fix_time: 0.7169, d1.loss_plan_l1_fix_dist: 0.2957, d2.loss_plan_l1_fix_time: 0.7061, d2.loss_plan_l1_fix_dist: 0.3184, d3.loss_plan_l1_fix_time: 0.7004, d3.loss_plan_l1_fix_dist: 0.3629, d4.loss_plan_l1_fix_time: 0.7022, d4.loss_plan_l1_fix_dist: 0.2135, d5.loss_plan_l1_fix_time: 0.7049, d5.loss_plan_l1_fix_dist: 0.2016, d6.loss_plan_l1_fix_time: 0.7081, d6.loss_plan_l1_fix_dist: 0.1938, d0.loss_cls_all: 0.1387, d0.loss_bbox_all: 0.3422, d0.loss_cls: 0.1387, d0.loss_bbox: 0.3422, d1.loss_cls: 0.1315, d1.loss_bbox: 0.3147, d2.loss_cls: 0.1205, d2.loss_bbox: 0.2914, d3.loss_cls: 0.1023, d3.loss_bbox: 0.2872, d4.loss_cls: 0.0953, d4.loss_bbox: 0.2860, d5.loss_cls: 0.0929, d5.loss_bbox: 0.2854, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5988, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.4860, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4304, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4144, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4108, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4112, d0.loss_map_cls_all: 0.1881, d0.loss_map_pts_all: 1.1799, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1881, d0.loss_map_pts: 1.1799, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1601, d1.loss_map_pts: 0.8517, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1388, d2.loss_map_pts: 0.6914, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1278, d3.loss_map_pts: 0.6368, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1206, d4.loss_map_pts: 0.6096, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1146, d5.loss_map_pts: 0.6053, d5.loss_map_dir: 0.0072, loss: 22.7952, grad_norm: 124.6471 +2026-02-28 14:21:52,518 - DriveTransformer - INFO - Epoch [10][18050/39528] lr: 6.944e-05, eta: 4 days, 20:43:45, time: 0.715, data_time: 0.037, memory: 19865, loss_cls: 0.1035, loss_bbox: 0.2974, loss_traj: 0.5509, loss_traj_cls: 0.0019, loss_map_cls: 0.1125, loss_map_pts: 0.5400, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.8009, d0.loss_plan_l1_fix_dist: 0.3777, d1.loss_plan_l1_fix_time: 1.0100, d1.loss_plan_l1_fix_dist: 0.3072, d2.loss_plan_l1_fix_time: 0.9968, d2.loss_plan_l1_fix_dist: 0.3304, d3.loss_plan_l1_fix_time: 1.0017, d3.loss_plan_l1_fix_dist: 0.3848, d4.loss_plan_l1_fix_time: 1.0052, d4.loss_plan_l1_fix_dist: 0.2155, d5.loss_plan_l1_fix_time: 1.0091, d5.loss_plan_l1_fix_dist: 0.2251, d6.loss_plan_l1_fix_time: 1.0120, d6.loss_plan_l1_fix_dist: 0.2378, d0.loss_cls_all: 0.1541, d0.loss_bbox_all: 0.3550, d0.loss_cls: 0.1541, d0.loss_bbox: 0.3550, d1.loss_cls: 0.1435, d1.loss_bbox: 0.3213, d2.loss_cls: 0.1312, d2.loss_bbox: 0.3025, d3.loss_cls: 0.1121, d3.loss_bbox: 0.3000, d4.loss_cls: 0.1036, d4.loss_bbox: 0.2987, d5.loss_cls: 0.1025, d5.loss_bbox: 0.2975, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7949, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6231, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5616, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5517, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5529, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5528, d0.loss_map_cls_all: 0.2050, d0.loss_map_pts_all: 1.0911, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2050, d0.loss_map_pts: 1.0911, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1661, d1.loss_map_pts: 0.8060, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1417, d2.loss_map_pts: 0.6453, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1270, d3.loss_map_pts: 0.5746, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1195, d4.loss_map_pts: 0.5498, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1140, d5.loss_map_pts: 0.5416, d5.loss_map_dir: 0.0067, loss: 25.7239, grad_norm: 125.8085 +2026-02-28 14:22:27,137 - DriveTransformer - INFO - Epoch [10][18100/39528] lr: 6.944e-05, eta: 4 days, 20:43:00, time: 0.692, data_time: 0.037, memory: 19865, loss_cls: 0.0940, loss_bbox: 0.2883, loss_traj: 0.4305, loss_traj_cls: 0.0020, loss_map_cls: 0.1015, loss_map_pts: 0.4523, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.5718, d0.loss_plan_l1_fix_dist: 0.4527, d1.loss_plan_l1_fix_time: 0.8404, d1.loss_plan_l1_fix_dist: 0.2869, d2.loss_plan_l1_fix_time: 0.8213, d2.loss_plan_l1_fix_dist: 0.3335, d3.loss_plan_l1_fix_time: 0.8104, d3.loss_plan_l1_fix_dist: 0.4004, d4.loss_plan_l1_fix_time: 0.8133, d4.loss_plan_l1_fix_dist: 0.2480, d5.loss_plan_l1_fix_time: 0.8169, d5.loss_plan_l1_fix_dist: 0.2292, d6.loss_plan_l1_fix_time: 0.8206, d6.loss_plan_l1_fix_dist: 0.2375, d0.loss_cls_all: 0.1377, d0.loss_bbox_all: 0.3420, d0.loss_cls: 0.1377, d0.loss_bbox: 0.3420, d1.loss_cls: 0.1292, d1.loss_bbox: 0.3094, d2.loss_cls: 0.1220, d2.loss_bbox: 0.2929, d3.loss_cls: 0.1021, d3.loss_bbox: 0.2880, d4.loss_cls: 0.0948, d4.loss_bbox: 0.2865, d5.loss_cls: 0.0935, d5.loss_bbox: 0.2866, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6117, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.4929, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4559, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4445, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4335, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4311, d0.loss_map_cls_all: 0.1703, d0.loss_map_pts_all: 0.9536, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1703, d0.loss_map_pts: 0.9536, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1435, d1.loss_map_pts: 0.6754, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1260, d2.loss_map_pts: 0.5385, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.1140, d3.loss_map_pts: 0.4816, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1072, d4.loss_map_pts: 0.4589, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.1036, d5.loss_map_pts: 0.4529, d5.loss_map_dir: 0.0051, loss: 22.3803, grad_norm: 127.8459 +2026-02-28 14:23:03,377 - DriveTransformer - INFO - Epoch [10][18150/39528] lr: 6.944e-05, eta: 4 days, 20:42:22, time: 0.725, data_time: 0.038, memory: 19865, loss_cls: 0.1014, loss_bbox: 0.2962, loss_traj: 0.4852, loss_traj_cls: 0.0020, loss_map_cls: 0.1153, loss_map_pts: 0.5002, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.2389, d0.loss_plan_l1_fix_dist: 0.3053, d1.loss_plan_l1_fix_time: 0.7718, d1.loss_plan_l1_fix_dist: 0.2651, d2.loss_plan_l1_fix_time: 0.7564, d2.loss_plan_l1_fix_dist: 0.3192, d3.loss_plan_l1_fix_time: 0.7418, d3.loss_plan_l1_fix_dist: 0.3876, d4.loss_plan_l1_fix_time: 0.7427, d4.loss_plan_l1_fix_dist: 0.2512, d5.loss_plan_l1_fix_time: 0.7451, d5.loss_plan_l1_fix_dist: 0.1992, d6.loss_plan_l1_fix_time: 0.7480, d6.loss_plan_l1_fix_dist: 0.1999, d0.loss_cls_all: 0.1457, d0.loss_bbox_all: 0.3441, d0.loss_cls: 0.1457, d0.loss_bbox: 0.3441, d1.loss_cls: 0.1365, d1.loss_bbox: 0.3149, d2.loss_cls: 0.1254, d2.loss_bbox: 0.3007, d3.loss_cls: 0.1128, d3.loss_bbox: 0.2940, d4.loss_cls: 0.1035, d4.loss_bbox: 0.2940, d5.loss_cls: 0.1020, d5.loss_bbox: 0.2948, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6904, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5534, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5195, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4952, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4888, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4872, d0.loss_map_cls_all: 0.1980, d0.loss_map_pts_all: 1.0161, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1980, d0.loss_map_pts: 1.0161, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1622, d1.loss_map_pts: 0.7197, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1383, d2.loss_map_pts: 0.5764, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1251, d3.loss_map_pts: 0.5228, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1219, d4.loss_map_pts: 0.5062, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1178, d5.loss_map_pts: 0.5007, d5.loss_map_dir: 0.0064, loss: 22.4407, grad_norm: 124.7247 +2026-02-28 14:23:40,348 - DriveTransformer - INFO - Epoch [10][18200/39528] lr: 6.944e-05, eta: 4 days, 20:41:48, time: 0.741, data_time: 0.038, memory: 19865, loss_cls: 0.0962, loss_bbox: 0.2958, loss_traj: 0.5221, loss_traj_cls: 0.0020, loss_map_cls: 0.1195, loss_map_pts: 0.5345, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.6906, d0.loss_plan_l1_fix_dist: 0.4087, d1.loss_plan_l1_fix_time: 0.7341, d1.loss_plan_l1_fix_dist: 0.2701, d2.loss_plan_l1_fix_time: 0.7204, d2.loss_plan_l1_fix_dist: 0.3382, d3.loss_plan_l1_fix_time: 0.6938, d3.loss_plan_l1_fix_dist: 0.4166, d4.loss_plan_l1_fix_time: 0.6937, d4.loss_plan_l1_fix_dist: 0.2926, d5.loss_plan_l1_fix_time: 0.6961, d5.loss_plan_l1_fix_dist: 0.2355, d6.loss_plan_l1_fix_time: 0.6992, d6.loss_plan_l1_fix_dist: 0.2098, d0.loss_cls_all: 0.1353, d0.loss_bbox_all: 0.3569, d0.loss_cls: 0.1353, d0.loss_bbox: 0.3569, d1.loss_cls: 0.1272, d1.loss_bbox: 0.3222, d2.loss_cls: 0.1171, d2.loss_bbox: 0.3037, d3.loss_cls: 0.1034, d3.loss_bbox: 0.2981, d4.loss_cls: 0.0982, d4.loss_bbox: 0.2968, d5.loss_cls: 0.0960, d5.loss_bbox: 0.2955, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7188, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5690, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5379, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5251, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5239, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5238, d0.loss_map_cls_all: 0.2042, d0.loss_map_pts_all: 1.0655, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2042, d0.loss_map_pts: 1.0655, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1720, d1.loss_map_pts: 0.7625, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1477, d2.loss_map_pts: 0.6268, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1356, d3.loss_map_pts: 0.5643, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1268, d4.loss_map_pts: 0.5406, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1222, d5.loss_map_pts: 0.5334, d5.loss_map_dir: 0.0063, loss: 23.4365, grad_norm: 131.8412 +2026-02-28 14:24:19,528 - DriveTransformer - INFO - Epoch [10][18250/39528] lr: 6.944e-05, eta: 4 days, 20:41:22, time: 0.782, data_time: 0.038, memory: 19865, loss_cls: 0.0976, loss_bbox: 0.3078, loss_traj: 0.3809, loss_traj_cls: 0.0019, loss_map_cls: 0.0957, loss_map_pts: 0.5794, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.5704, d0.loss_plan_l1_fix_dist: 0.5160, d1.loss_plan_l1_fix_time: 0.7640, d1.loss_plan_l1_fix_dist: 0.2465, d2.loss_plan_l1_fix_time: 0.7496, d2.loss_plan_l1_fix_dist: 0.3241, d3.loss_plan_l1_fix_time: 0.7425, d3.loss_plan_l1_fix_dist: 0.3800, d4.loss_plan_l1_fix_time: 0.7463, d4.loss_plan_l1_fix_dist: 0.2754, d5.loss_plan_l1_fix_time: 0.7500, d5.loss_plan_l1_fix_dist: 0.2397, d6.loss_plan_l1_fix_time: 0.7540, d6.loss_plan_l1_fix_dist: 0.2112, d0.loss_cls_all: 0.1487, d0.loss_bbox_all: 0.3682, d0.loss_cls: 0.1487, d0.loss_bbox: 0.3682, d1.loss_cls: 0.1397, d1.loss_bbox: 0.3372, d2.loss_cls: 0.1248, d2.loss_bbox: 0.3186, d3.loss_cls: 0.1064, d3.loss_bbox: 0.3133, d4.loss_cls: 0.0986, d4.loss_bbox: 0.3106, d5.loss_cls: 0.0968, d5.loss_bbox: 0.3089, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5253, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.4317, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.3896, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.3831, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.3827, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.3802, d0.loss_map_cls_all: 0.1767, d0.loss_map_pts_all: 1.1652, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.1767, d0.loss_map_pts: 1.1652, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1417, d1.loss_map_pts: 0.8217, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1182, d2.loss_map_pts: 0.6594, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1082, d3.loss_map_pts: 0.6038, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1024, d4.loss_map_pts: 0.5824, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.0985, d5.loss_map_pts: 0.5790, d5.loss_map_dir: 0.0081, loss: 22.9834, grad_norm: 131.8042 +2026-02-28 14:24:55,417 - DriveTransformer - INFO - Epoch [10][18300/39528] lr: 6.944e-05, eta: 4 days, 20:40:42, time: 0.718, data_time: 0.040, memory: 19865, loss_cls: 0.0972, loss_bbox: 0.2941, loss_traj: 0.5158, loss_traj_cls: 0.0019, loss_map_cls: 0.1032, loss_map_pts: 0.4887, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.2996, d0.loss_plan_l1_fix_dist: 0.3883, d1.loss_plan_l1_fix_time: 0.7931, d1.loss_plan_l1_fix_dist: 0.2205, d2.loss_plan_l1_fix_time: 0.7917, d2.loss_plan_l1_fix_dist: 0.3154, d3.loss_plan_l1_fix_time: 0.7990, d3.loss_plan_l1_fix_dist: 0.3496, d4.loss_plan_l1_fix_time: 0.8028, d4.loss_plan_l1_fix_dist: 0.2400, d5.loss_plan_l1_fix_time: 0.8055, d5.loss_plan_l1_fix_dist: 0.2250, d6.loss_plan_l1_fix_time: 0.8088, d6.loss_plan_l1_fix_dist: 0.2181, d0.loss_cls_all: 0.1405, d0.loss_bbox_all: 0.3501, d0.loss_cls: 0.1405, d0.loss_bbox: 0.3501, d1.loss_cls: 0.1358, d1.loss_bbox: 0.3200, d2.loss_cls: 0.1209, d2.loss_bbox: 0.3020, d3.loss_cls: 0.1030, d3.loss_bbox: 0.2967, d4.loss_cls: 0.0987, d4.loss_bbox: 0.2940, d5.loss_cls: 0.0969, d5.loss_bbox: 0.2937, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6933, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5831, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5346, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5232, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5170, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5151, d0.loss_map_cls_all: 0.1910, d0.loss_map_pts_all: 1.0222, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1910, d0.loss_map_pts: 1.0222, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1551, d1.loss_map_pts: 0.7246, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1269, d2.loss_map_pts: 0.5733, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1180, d3.loss_map_pts: 0.5107, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1115, d4.loss_map_pts: 0.4932, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1059, d5.loss_map_pts: 0.4900, d5.loss_map_dir: 0.0058, loss: 22.8538, grad_norm: 132.4616 +2026-02-28 14:25:33,179 - DriveTransformer - INFO - Epoch [10][18350/39528] lr: 6.944e-05, eta: 4 days, 20:40:11, time: 0.755, data_time: 0.039, memory: 19865, loss_cls: 0.0933, loss_bbox: 0.2866, loss_traj: 0.4643, loss_traj_cls: 0.0018, loss_map_cls: 0.1136, loss_map_pts: 0.5740, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.5105, d0.loss_plan_l1_fix_dist: 0.4859, d1.loss_plan_l1_fix_time: 0.8061, d1.loss_plan_l1_fix_dist: 0.2232, d2.loss_plan_l1_fix_time: 0.7918, d2.loss_plan_l1_fix_dist: 0.3204, d3.loss_plan_l1_fix_time: 0.7832, d3.loss_plan_l1_fix_dist: 0.3293, d4.loss_plan_l1_fix_time: 0.7854, d4.loss_plan_l1_fix_dist: 0.2059, d5.loss_plan_l1_fix_time: 0.7884, d5.loss_plan_l1_fix_dist: 0.2020, d6.loss_plan_l1_fix_time: 0.7924, d6.loss_plan_l1_fix_dist: 0.1984, d0.loss_cls_all: 0.1391, d0.loss_bbox_all: 0.3516, d0.loss_cls: 0.1391, d0.loss_bbox: 0.3516, d1.loss_cls: 0.1321, d1.loss_bbox: 0.3175, d2.loss_cls: 0.1160, d2.loss_bbox: 0.3000, d3.loss_cls: 0.0990, d3.loss_bbox: 0.2925, d4.loss_cls: 0.0937, d4.loss_bbox: 0.2905, d5.loss_cls: 0.0938, d5.loss_bbox: 0.2877, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6736, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5338, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4931, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4749, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4686, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4687, d0.loss_map_cls_all: 0.1909, d0.loss_map_pts_all: 1.1352, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1909, d0.loss_map_pts: 1.1352, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1602, d1.loss_map_pts: 0.8075, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1372, d2.loss_map_pts: 0.6498, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1285, d3.loss_map_pts: 0.5960, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1209, d4.loss_map_pts: 0.5768, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1146, d5.loss_map_pts: 0.5745, d5.loss_map_dir: 0.0073, loss: 23.4558, grad_norm: 134.6950 +2026-02-28 14:26:08,560 - DriveTransformer - INFO - Epoch [10][18400/39528] lr: 6.944e-05, eta: 4 days, 20:39:30, time: 0.708, data_time: 0.036, memory: 19865, loss_cls: 0.1201, loss_bbox: 0.3204, loss_traj: 0.5545, loss_traj_cls: 0.0018, loss_map_cls: 0.1209, loss_map_pts: 0.5536, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.6633, d0.loss_plan_l1_fix_dist: 0.4545, d1.loss_plan_l1_fix_time: 0.7828, d1.loss_plan_l1_fix_dist: 0.2199, d2.loss_plan_l1_fix_time: 0.7620, d2.loss_plan_l1_fix_dist: 0.2984, d3.loss_plan_l1_fix_time: 0.7587, d3.loss_plan_l1_fix_dist: 0.3077, d4.loss_plan_l1_fix_time: 0.7613, d4.loss_plan_l1_fix_dist: 0.1988, d5.loss_plan_l1_fix_time: 0.7653, d5.loss_plan_l1_fix_dist: 0.1932, d6.loss_plan_l1_fix_time: 0.7703, d6.loss_plan_l1_fix_dist: 0.2029, d0.loss_cls_all: 0.1656, d0.loss_bbox_all: 0.3850, d0.loss_cls: 0.1656, d0.loss_bbox: 0.3850, d1.loss_cls: 0.1639, d1.loss_bbox: 0.3487, d2.loss_cls: 0.1474, d2.loss_bbox: 0.3298, d3.loss_cls: 0.1282, d3.loss_bbox: 0.3242, d4.loss_cls: 0.1204, d4.loss_bbox: 0.3208, d5.loss_cls: 0.1195, d5.loss_bbox: 0.3201, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8135, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6404, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5843, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5681, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5568, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5577, d0.loss_map_cls_all: 0.1897, d0.loss_map_pts_all: 1.0506, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1897, d0.loss_map_pts: 1.0506, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1637, d1.loss_map_pts: 0.7765, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1450, d2.loss_map_pts: 0.6301, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1347, d3.loss_map_pts: 0.5791, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1286, d4.loss_map_pts: 0.5583, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1227, d5.loss_map_pts: 0.5532, d5.loss_map_dir: 0.0063, loss: 24.2836, grad_norm: 134.5830 +2026-02-28 14:26:46,047 - DriveTransformer - INFO - Epoch [10][18450/39528] lr: 6.944e-05, eta: 4 days, 20:38:57, time: 0.750, data_time: 0.039, memory: 19865, loss_cls: 0.0954, loss_bbox: 0.2993, loss_traj: 0.3785, loss_traj_cls: 0.0019, loss_map_cls: 0.1150, loss_map_pts: 0.5741, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.5664, d0.loss_plan_l1_fix_dist: 0.5607, d1.loss_plan_l1_fix_time: 0.8111, d1.loss_plan_l1_fix_dist: 0.2503, d2.loss_plan_l1_fix_time: 0.7941, d2.loss_plan_l1_fix_dist: 0.2774, d3.loss_plan_l1_fix_time: 0.8035, d3.loss_plan_l1_fix_dist: 0.2654, d4.loss_plan_l1_fix_time: 0.8059, d4.loss_plan_l1_fix_dist: 0.1963, d5.loss_plan_l1_fix_time: 0.8094, d5.loss_plan_l1_fix_dist: 0.1898, d6.loss_plan_l1_fix_time: 0.8144, d6.loss_plan_l1_fix_dist: 0.1954, d0.loss_cls_all: 0.1355, d0.loss_bbox_all: 0.3621, d0.loss_cls: 0.1355, d0.loss_bbox: 0.3621, d1.loss_cls: 0.1317, d1.loss_bbox: 0.3269, d2.loss_cls: 0.1168, d2.loss_bbox: 0.3066, d3.loss_cls: 0.1037, d3.loss_bbox: 0.3006, d4.loss_cls: 0.0989, d4.loss_bbox: 0.2984, d5.loss_cls: 0.0959, d5.loss_bbox: 0.2988, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5618, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.4360, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4036, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.3921, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.3866, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.3785, d0.loss_map_cls_all: 0.1970, d0.loss_map_pts_all: 1.1924, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1970, d0.loss_map_pts: 1.1924, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1601, d1.loss_map_pts: 0.8494, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1385, d2.loss_map_pts: 0.6752, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1287, d3.loss_map_pts: 0.6042, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1216, d4.loss_map_pts: 0.5797, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1166, d5.loss_map_pts: 0.5751, d5.loss_map_dir: 0.0074, loss: 23.2276, grad_norm: 134.0004 +2026-02-28 14:27:21,057 - DriveTransformer - INFO - Epoch [10][18500/39528] lr: 6.944e-05, eta: 4 days, 20:38:14, time: 0.700, data_time: 0.037, memory: 19865, loss_cls: 0.0904, loss_bbox: 0.2717, loss_traj: 0.5819, loss_traj_cls: 0.0018, loss_map_cls: 0.1093, loss_map_pts: 0.5063, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.3404, d0.loss_plan_l1_fix_dist: 0.4624, d1.loss_plan_l1_fix_time: 0.8481, d1.loss_plan_l1_fix_dist: 0.2956, d2.loss_plan_l1_fix_time: 0.8447, d2.loss_plan_l1_fix_dist: 0.2401, d3.loss_plan_l1_fix_time: 0.8392, d3.loss_plan_l1_fix_dist: 0.2446, d4.loss_plan_l1_fix_time: 0.8434, d4.loss_plan_l1_fix_dist: 0.1845, d5.loss_plan_l1_fix_time: 0.8477, d5.loss_plan_l1_fix_dist: 0.1933, d6.loss_plan_l1_fix_time: 0.8523, d6.loss_plan_l1_fix_dist: 0.2129, d0.loss_cls_all: 0.1272, d0.loss_bbox_all: 0.3303, d0.loss_cls: 0.1272, d0.loss_bbox: 0.3303, d1.loss_cls: 0.1245, d1.loss_bbox: 0.2977, d2.loss_cls: 0.1111, d2.loss_bbox: 0.2784, d3.loss_cls: 0.0956, d3.loss_bbox: 0.2732, d4.loss_cls: 0.0906, d4.loss_bbox: 0.2705, d5.loss_cls: 0.0903, d5.loss_bbox: 0.2711, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8314, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6625, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6105, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5924, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5898, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5835, d0.loss_map_cls_all: 0.1862, d0.loss_map_pts_all: 1.0099, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1862, d0.loss_map_pts: 1.0099, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1589, d1.loss_map_pts: 0.7368, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1314, d2.loss_map_pts: 0.5860, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1201, d3.loss_map_pts: 0.5316, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1142, d4.loss_map_pts: 0.5139, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1111, d5.loss_map_pts: 0.5059, d5.loss_map_dir: 0.0057, loss: 23.4513, grad_norm: 138.3543 +2026-02-28 14:27:56,993 - DriveTransformer - INFO - Epoch [10][18550/39528] lr: 6.944e-05, eta: 4 days, 20:37:35, time: 0.719, data_time: 0.037, memory: 19865, loss_cls: 0.1099, loss_bbox: 0.3140, loss_traj: 0.5537, loss_traj_cls: 0.0018, loss_map_cls: 0.1279, loss_map_pts: 0.6272, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.7031, d0.loss_plan_l1_fix_dist: 0.4762, d1.loss_plan_l1_fix_time: 0.9174, d1.loss_plan_l1_fix_dist: 0.3720, d2.loss_plan_l1_fix_time: 0.8991, d2.loss_plan_l1_fix_dist: 0.2986, d3.loss_plan_l1_fix_time: 0.8985, d3.loss_plan_l1_fix_dist: 0.2976, d4.loss_plan_l1_fix_time: 0.9030, d4.loss_plan_l1_fix_dist: 0.2483, d5.loss_plan_l1_fix_time: 0.9074, d5.loss_plan_l1_fix_dist: 0.2688, d6.loss_plan_l1_fix_time: 0.9116, d6.loss_plan_l1_fix_dist: 0.3070, d0.loss_cls_all: 0.1497, d0.loss_bbox_all: 0.3824, d0.loss_cls: 0.1497, d0.loss_bbox: 0.3824, d1.loss_cls: 0.1410, d1.loss_bbox: 0.3475, d2.loss_cls: 0.1324, d2.loss_bbox: 0.3243, d3.loss_cls: 0.1148, d3.loss_bbox: 0.3182, d4.loss_cls: 0.1107, d4.loss_bbox: 0.3144, d5.loss_cls: 0.1097, d5.loss_bbox: 0.3135, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7293, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6098, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5687, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5602, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5513, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5498, d0.loss_map_cls_all: 0.2095, d0.loss_map_pts_all: 1.2134, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2095, d0.loss_map_pts: 1.2134, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1746, d1.loss_map_pts: 0.9016, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1486, d2.loss_map_pts: 0.7348, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1398, d3.loss_map_pts: 0.6610, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1346, d4.loss_map_pts: 0.6351, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1318, d5.loss_map_pts: 0.6267, d5.loss_map_dir: 0.0068, loss: 26.1947, grad_norm: 141.0295 +2026-02-28 14:28:34,400 - DriveTransformer - INFO - Epoch [10][18600/39528] lr: 6.944e-05, eta: 4 days, 20:37:02, time: 0.748, data_time: 0.036, memory: 19865, loss_cls: 0.0986, loss_bbox: 0.2903, loss_traj: 0.5812, loss_traj_cls: 0.0019, loss_map_cls: 0.0967, loss_map_pts: 0.5350, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.7928, d0.loss_plan_l1_fix_dist: 0.6050, d1.loss_plan_l1_fix_time: 0.9241, d1.loss_plan_l1_fix_dist: 0.3758, d2.loss_plan_l1_fix_time: 0.9102, d2.loss_plan_l1_fix_dist: 0.2758, d3.loss_plan_l1_fix_time: 0.9067, d3.loss_plan_l1_fix_dist: 0.2461, d4.loss_plan_l1_fix_time: 0.9106, d4.loss_plan_l1_fix_dist: 0.2319, d5.loss_plan_l1_fix_time: 0.9141, d5.loss_plan_l1_fix_dist: 0.2247, d6.loss_plan_l1_fix_time: 0.9178, d6.loss_plan_l1_fix_dist: 0.2415, d0.loss_cls_all: 0.1420, d0.loss_bbox_all: 0.3466, d0.loss_cls: 0.1420, d0.loss_bbox: 0.3466, d1.loss_cls: 0.1322, d1.loss_bbox: 0.3222, d2.loss_cls: 0.1227, d2.loss_bbox: 0.2977, d3.loss_cls: 0.1084, d3.loss_bbox: 0.2908, d4.loss_cls: 0.1008, d4.loss_bbox: 0.2895, d5.loss_cls: 0.0995, d5.loss_bbox: 0.2893, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8267, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6631, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6089, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5853, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5805, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5768, d0.loss_map_cls_all: 0.1613, d0.loss_map_pts_all: 1.0299, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1613, d0.loss_map_pts: 1.0299, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1354, d1.loss_map_pts: 0.7558, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1149, d2.loss_map_pts: 0.6188, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1054, d3.loss_map_pts: 0.5615, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1025, d4.loss_map_pts: 0.5418, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0980, d5.loss_map_pts: 0.5357, d5.loss_map_dir: 0.0059, loss: 24.9569, grad_norm: 139.2374 +2026-02-28 14:29:10,946 - DriveTransformer - INFO - Epoch [10][18650/39528] lr: 6.944e-05, eta: 4 days, 20:36:25, time: 0.731, data_time: 0.036, memory: 19865, loss_cls: 0.1041, loss_bbox: 0.2926, loss_traj: 0.4671, loss_traj_cls: 0.0018, loss_map_cls: 0.1025, loss_map_pts: 0.5437, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.5874, d0.loss_plan_l1_fix_dist: 0.5461, d1.loss_plan_l1_fix_time: 0.8295, d1.loss_plan_l1_fix_dist: 0.3576, d2.loss_plan_l1_fix_time: 0.8021, d2.loss_plan_l1_fix_dist: 0.2571, d3.loss_plan_l1_fix_time: 0.8000, d3.loss_plan_l1_fix_dist: 0.2336, d4.loss_plan_l1_fix_time: 0.8032, d4.loss_plan_l1_fix_dist: 0.2489, d5.loss_plan_l1_fix_time: 0.8066, d5.loss_plan_l1_fix_dist: 0.2548, d6.loss_plan_l1_fix_time: 0.8101, d6.loss_plan_l1_fix_dist: 0.2663, d0.loss_cls_all: 0.1432, d0.loss_bbox_all: 0.3628, d0.loss_cls: 0.1432, d0.loss_bbox: 0.3628, d1.loss_cls: 0.1373, d1.loss_bbox: 0.3277, d2.loss_cls: 0.1243, d2.loss_bbox: 0.3072, d3.loss_cls: 0.1100, d3.loss_bbox: 0.2978, d4.loss_cls: 0.1048, d4.loss_bbox: 0.2941, d5.loss_cls: 0.1040, d5.loss_bbox: 0.2924, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6695, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5499, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4884, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4758, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4731, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4670, d0.loss_map_cls_all: 0.1917, d0.loss_map_pts_all: 1.0892, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1917, d0.loss_map_pts: 1.0892, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1538, d1.loss_map_pts: 0.7800, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1261, d2.loss_map_pts: 0.6275, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1135, d3.loss_map_pts: 0.5686, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1087, d4.loss_map_pts: 0.5478, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1032, d5.loss_map_pts: 0.5445, d5.loss_map_dir: 0.0069, loss: 23.6473, grad_norm: 139.0482 +2026-02-28 14:29:48,510 - DriveTransformer - INFO - Epoch [10][18700/39528] lr: 6.944e-05, eta: 4 days, 20:35:53, time: 0.751, data_time: 0.038, memory: 19865, loss_cls: 0.0976, loss_bbox: 0.3003, loss_traj: 0.5871, loss_traj_cls: 0.0018, loss_map_cls: 0.1124, loss_map_pts: 0.5937, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.2648, d0.loss_plan_l1_fix_dist: 0.4896, d1.loss_plan_l1_fix_time: 0.7062, d1.loss_plan_l1_fix_dist: 0.3269, d2.loss_plan_l1_fix_time: 0.7042, d2.loss_plan_l1_fix_dist: 0.2087, d3.loss_plan_l1_fix_time: 0.7020, d3.loss_plan_l1_fix_dist: 0.1957, d4.loss_plan_l1_fix_time: 0.7058, d4.loss_plan_l1_fix_dist: 0.2033, d5.loss_plan_l1_fix_time: 0.7102, d5.loss_plan_l1_fix_dist: 0.2142, d6.loss_plan_l1_fix_time: 0.7142, d6.loss_plan_l1_fix_dist: 0.2288, d0.loss_cls_all: 0.1413, d0.loss_bbox_all: 0.3715, d0.loss_cls: 0.1413, d0.loss_bbox: 0.3715, d1.loss_cls: 0.1322, d1.loss_bbox: 0.3392, d2.loss_cls: 0.1187, d2.loss_bbox: 0.3135, d3.loss_cls: 0.1043, d3.loss_bbox: 0.3051, d4.loss_cls: 0.0991, d4.loss_bbox: 0.3017, d5.loss_cls: 0.0968, d5.loss_bbox: 0.3004, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8176, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6556, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6042, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5935, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5925, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5908, d0.loss_map_cls_all: 0.1819, d0.loss_map_pts_all: 1.1521, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1819, d0.loss_map_pts: 1.1521, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1492, d1.loss_map_pts: 0.8437, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1326, d2.loss_map_pts: 0.6832, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1219, d3.loss_map_pts: 0.6200, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1161, d4.loss_map_pts: 0.5990, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1129, d5.loss_map_pts: 0.5935, d5.loss_map_dir: 0.0072, loss: 23.7601, grad_norm: 139.0130 +2026-02-28 14:30:25,981 - DriveTransformer - INFO - Epoch [10][18750/39528] lr: 6.944e-05, eta: 4 days, 20:35:20, time: 0.749, data_time: 0.038, memory: 19865, loss_cls: 0.1025, loss_bbox: 0.3020, loss_traj: 0.4507, loss_traj_cls: 0.0018, loss_map_cls: 0.1167, loss_map_pts: 0.6182, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.2792, d0.loss_plan_l1_fix_dist: 0.5471, d1.loss_plan_l1_fix_time: 0.8304, d1.loss_plan_l1_fix_dist: 0.3346, d2.loss_plan_l1_fix_time: 0.8226, d2.loss_plan_l1_fix_dist: 0.2159, d3.loss_plan_l1_fix_time: 0.8169, d3.loss_plan_l1_fix_dist: 0.2129, d4.loss_plan_l1_fix_time: 0.8199, d4.loss_plan_l1_fix_dist: 0.2171, d5.loss_plan_l1_fix_time: 0.8238, d5.loss_plan_l1_fix_dist: 0.2261, d6.loss_plan_l1_fix_time: 0.8283, d6.loss_plan_l1_fix_dist: 0.2625, d0.loss_cls_all: 0.1477, d0.loss_bbox_all: 0.3677, d0.loss_cls: 0.1477, d0.loss_bbox: 0.3677, d1.loss_cls: 0.1432, d1.loss_bbox: 0.3328, d2.loss_cls: 0.1250, d2.loss_bbox: 0.3098, d3.loss_cls: 0.1095, d3.loss_bbox: 0.3042, d4.loss_cls: 0.1026, d4.loss_bbox: 0.3032, d5.loss_cls: 0.1012, d5.loss_bbox: 0.3025, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6347, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5011, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4561, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4446, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4523, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4509, d0.loss_map_cls_all: 0.1973, d0.loss_map_pts_all: 1.2903, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.1973, d0.loss_map_pts: 1.2903, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1659, d1.loss_map_pts: 0.9289, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1396, d2.loss_map_pts: 0.7259, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1296, d3.loss_map_pts: 0.6508, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1226, d4.loss_map_pts: 0.6236, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1183, d5.loss_map_pts: 0.6181, d5.loss_map_dir: 0.0073, loss: 24.1963, grad_norm: 138.9306 +2026-02-28 14:31:02,805 - DriveTransformer - INFO - Epoch [10][18800/39528] lr: 6.944e-05, eta: 4 days, 20:34:45, time: 0.736, data_time: 0.041, memory: 19865, loss_cls: 0.0963, loss_bbox: 0.2709, loss_traj: 0.5058, loss_traj_cls: 0.0019, loss_map_cls: 0.0893, loss_map_pts: 0.4617, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.4625, d0.loss_plan_l1_fix_dist: 0.5446, d1.loss_plan_l1_fix_time: 0.7770, d1.loss_plan_l1_fix_dist: 0.3208, d2.loss_plan_l1_fix_time: 0.7656, d2.loss_plan_l1_fix_dist: 0.2274, d3.loss_plan_l1_fix_time: 0.7561, d3.loss_plan_l1_fix_dist: 0.2186, d4.loss_plan_l1_fix_time: 0.7595, d4.loss_plan_l1_fix_dist: 0.2089, d5.loss_plan_l1_fix_time: 0.7635, d5.loss_plan_l1_fix_dist: 0.2250, d6.loss_plan_l1_fix_time: 0.7687, d6.loss_plan_l1_fix_dist: 0.2853, d0.loss_cls_all: 0.1309, d0.loss_bbox_all: 0.3231, d0.loss_cls: 0.1309, d0.loss_bbox: 0.3231, d1.loss_cls: 0.1276, d1.loss_bbox: 0.2936, d2.loss_cls: 0.1177, d2.loss_bbox: 0.2763, d3.loss_cls: 0.1029, d3.loss_bbox: 0.2706, d4.loss_cls: 0.0978, d4.loss_bbox: 0.2708, d5.loss_cls: 0.0968, d5.loss_bbox: 0.2705, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6732, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5657, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5234, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5158, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5096, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5049, d0.loss_map_cls_all: 0.1610, d0.loss_map_pts_all: 0.9862, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1610, d0.loss_map_pts: 0.9862, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1360, d1.loss_map_pts: 0.7027, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1125, d2.loss_map_pts: 0.5468, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1011, d3.loss_map_pts: 0.4890, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0955, d4.loss_map_pts: 0.4672, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0912, d5.loss_map_pts: 0.4607, d5.loss_map_dir: 0.0054, loss: 22.1783, grad_norm: 141.6923 +2026-02-28 14:31:37,954 - DriveTransformer - INFO - Epoch [10][18850/39528] lr: 6.944e-05, eta: 4 days, 20:34:02, time: 0.703, data_time: 0.038, memory: 19865, loss_cls: 0.1053, loss_bbox: 0.2964, loss_traj: 0.5156, loss_traj_cls: 0.0018, loss_map_cls: 0.1244, loss_map_pts: 0.5346, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.6315, d0.loss_plan_l1_fix_dist: 0.5969, d1.loss_plan_l1_fix_time: 0.7518, d1.loss_plan_l1_fix_dist: 0.3405, d2.loss_plan_l1_fix_time: 0.7520, d2.loss_plan_l1_fix_dist: 0.2558, d3.loss_plan_l1_fix_time: 0.7534, d3.loss_plan_l1_fix_dist: 0.2347, d4.loss_plan_l1_fix_time: 0.7557, d4.loss_plan_l1_fix_dist: 0.2004, d5.loss_plan_l1_fix_time: 0.7582, d5.loss_plan_l1_fix_dist: 0.2111, d6.loss_plan_l1_fix_time: 0.7618, d6.loss_plan_l1_fix_dist: 0.2771, d0.loss_cls_all: 0.1520, d0.loss_bbox_all: 0.3580, d0.loss_cls: 0.1520, d0.loss_bbox: 0.3580, d1.loss_cls: 0.1424, d1.loss_bbox: 0.3258, d2.loss_cls: 0.1280, d2.loss_bbox: 0.3062, d3.loss_cls: 0.1126, d3.loss_bbox: 0.3012, d4.loss_cls: 0.1062, d4.loss_bbox: 0.2985, d5.loss_cls: 0.1053, d5.loss_bbox: 0.2970, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7815, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6108, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5547, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5290, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5217, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5181, d0.loss_map_cls_all: 0.2027, d0.loss_map_pts_all: 1.0846, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.2027, d0.loss_map_pts: 1.0846, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1733, d1.loss_map_pts: 0.7921, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1510, d2.loss_map_pts: 0.6329, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1367, d3.loss_map_pts: 0.5682, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1320, d4.loss_map_pts: 0.5413, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1250, d5.loss_map_pts: 0.5356, d5.loss_map_dir: 0.0063, loss: 23.9343, grad_norm: 141.2401 +2026-02-28 14:32:14,531 - DriveTransformer - INFO - Epoch [10][18900/39528] lr: 6.944e-05, eta: 4 days, 20:33:26, time: 0.732, data_time: 0.037, memory: 19865, loss_cls: 0.1072, loss_bbox: 0.2909, loss_traj: 0.5416, loss_traj_cls: 0.0018, loss_map_cls: 0.1142, loss_map_pts: 0.5689, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.7480, d0.loss_plan_l1_fix_dist: 0.4916, d1.loss_plan_l1_fix_time: 0.8595, d1.loss_plan_l1_fix_dist: 0.3343, d2.loss_plan_l1_fix_time: 0.8459, d2.loss_plan_l1_fix_dist: 0.2558, d3.loss_plan_l1_fix_time: 0.8310, d3.loss_plan_l1_fix_dist: 0.2554, d4.loss_plan_l1_fix_time: 0.8318, d4.loss_plan_l1_fix_dist: 0.2307, d5.loss_plan_l1_fix_time: 0.8335, d5.loss_plan_l1_fix_dist: 0.2248, d6.loss_plan_l1_fix_time: 0.8358, d6.loss_plan_l1_fix_dist: 0.2788, d0.loss_cls_all: 0.1520, d0.loss_bbox_all: 0.3611, d0.loss_cls: 0.1520, d0.loss_bbox: 0.3611, d1.loss_cls: 0.1488, d1.loss_bbox: 0.3212, d2.loss_cls: 0.1339, d2.loss_bbox: 0.3031, d3.loss_cls: 0.1139, d3.loss_bbox: 0.2964, d4.loss_cls: 0.1083, d4.loss_bbox: 0.2930, d5.loss_cls: 0.1079, d5.loss_bbox: 0.2900, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7556, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6058, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5549, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5442, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5412, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5422, d0.loss_map_cls_all: 0.1870, d0.loss_map_pts_all: 1.1435, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1870, d0.loss_map_pts: 1.1435, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1582, d1.loss_map_pts: 0.8242, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1385, d2.loss_map_pts: 0.6567, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1286, d3.loss_map_pts: 0.5978, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1208, d4.loss_map_pts: 0.5781, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1168, d5.loss_map_pts: 0.5696, d5.loss_map_dir: 0.0079, loss: 24.7829, grad_norm: 143.4638 +2026-02-28 14:32:50,885 - DriveTransformer - INFO - Epoch [10][18950/39528] lr: 6.944e-05, eta: 4 days, 20:32:49, time: 0.727, data_time: 0.039, memory: 19865, loss_cls: 0.1081, loss_bbox: 0.3160, loss_traj: 0.4688, loss_traj_cls: 0.0018, loss_map_cls: 0.1120, loss_map_pts: 0.5284, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.7746, d0.loss_plan_l1_fix_dist: 0.5236, d1.loss_plan_l1_fix_time: 0.7951, d1.loss_plan_l1_fix_dist: 0.3432, d2.loss_plan_l1_fix_time: 0.7812, d2.loss_plan_l1_fix_dist: 0.2812, d3.loss_plan_l1_fix_time: 0.7841, d3.loss_plan_l1_fix_dist: 0.2909, d4.loss_plan_l1_fix_time: 0.7877, d4.loss_plan_l1_fix_dist: 0.2764, d5.loss_plan_l1_fix_time: 0.7914, d5.loss_plan_l1_fix_dist: 0.2711, d6.loss_plan_l1_fix_time: 0.7951, d6.loss_plan_l1_fix_dist: 0.2771, d0.loss_cls_all: 0.1551, d0.loss_bbox_all: 0.3816, d0.loss_cls: 0.1551, d0.loss_bbox: 0.3816, d1.loss_cls: 0.1458, d1.loss_bbox: 0.3503, d2.loss_cls: 0.1345, d2.loss_bbox: 0.3249, d3.loss_cls: 0.1165, d3.loss_bbox: 0.3181, d4.loss_cls: 0.1098, d4.loss_bbox: 0.3154, d5.loss_cls: 0.1083, d5.loss_bbox: 0.3148, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6639, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5314, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4882, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4772, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4707, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4692, d0.loss_map_cls_all: 0.1929, d0.loss_map_pts_all: 1.0415, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1929, d0.loss_map_pts: 1.0415, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1593, d1.loss_map_pts: 0.7497, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1394, d2.loss_map_pts: 0.6003, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1270, d3.loss_map_pts: 0.5460, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1206, d4.loss_map_pts: 0.5321, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1150, d5.loss_map_pts: 0.5291, d5.loss_map_dir: 0.0062, loss: 23.8617, grad_norm: 141.4747 +2026-02-28 14:33:29,461 - DriveTransformer - INFO - Epoch [10][19000/39528] lr: 6.944e-05, eta: 4 days, 20:32:21, time: 0.773, data_time: 0.037, memory: 19865, loss_cls: 0.1145, loss_bbox: 0.3228, loss_traj: 0.4666, loss_traj_cls: 0.0018, loss_map_cls: 0.1093, loss_map_pts: 0.6485, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.7832, d0.loss_plan_l1_fix_dist: 0.4149, d1.loss_plan_l1_fix_time: 0.9064, d1.loss_plan_l1_fix_dist: 0.3092, d2.loss_plan_l1_fix_time: 0.8958, d2.loss_plan_l1_fix_dist: 0.2413, d3.loss_plan_l1_fix_time: 0.8931, d3.loss_plan_l1_fix_dist: 0.2537, d4.loss_plan_l1_fix_time: 0.8969, d4.loss_plan_l1_fix_dist: 0.2380, d5.loss_plan_l1_fix_time: 0.9011, d5.loss_plan_l1_fix_dist: 0.2412, d6.loss_plan_l1_fix_time: 0.9053, d6.loss_plan_l1_fix_dist: 0.2489, d0.loss_cls_all: 0.1674, d0.loss_bbox_all: 0.3929, d0.loss_cls: 0.1674, d0.loss_bbox: 0.3929, d1.loss_cls: 0.1576, d1.loss_bbox: 0.3597, d2.loss_cls: 0.1421, d2.loss_bbox: 0.3351, d3.loss_cls: 0.1230, d3.loss_bbox: 0.3269, d4.loss_cls: 0.1154, d4.loss_bbox: 0.3233, d5.loss_cls: 0.1139, d5.loss_bbox: 0.3228, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6841, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5229, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4951, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4809, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4699, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4675, d0.loss_map_cls_all: 0.1934, d0.loss_map_pts_all: 1.2603, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.1934, d0.loss_map_pts: 1.2603, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1574, d1.loss_map_pts: 0.9259, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1351, d2.loss_map_pts: 0.7425, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1245, d3.loss_map_pts: 0.6810, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1175, d4.loss_map_pts: 0.6586, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1118, d5.loss_map_pts: 0.6484, d5.loss_map_dir: 0.0081, loss: 25.6318, grad_norm: 141.0660 +2026-02-28 14:34:05,850 - DriveTransformer - INFO - Epoch [10][19050/39528] lr: 6.944e-05, eta: 4 days, 20:31:43, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.0883, loss_bbox: 0.2715, loss_traj: 0.5350, loss_traj_cls: 0.0018, loss_map_cls: 0.0823, loss_map_pts: 0.4378, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.3008, d0.loss_plan_l1_fix_dist: 0.4329, d1.loss_plan_l1_fix_time: 0.7994, d1.loss_plan_l1_fix_dist: 0.2817, d2.loss_plan_l1_fix_time: 0.7827, d2.loss_plan_l1_fix_dist: 0.2385, d3.loss_plan_l1_fix_time: 0.7548, d3.loss_plan_l1_fix_dist: 0.2517, d4.loss_plan_l1_fix_time: 0.7565, d4.loss_plan_l1_fix_dist: 0.2341, d5.loss_plan_l1_fix_time: 0.7605, d5.loss_plan_l1_fix_dist: 0.2415, d6.loss_plan_l1_fix_time: 0.7644, d6.loss_plan_l1_fix_dist: 0.2608, d0.loss_cls_all: 0.1223, d0.loss_bbox_all: 0.3275, d0.loss_cls: 0.1223, d0.loss_bbox: 0.3275, d1.loss_cls: 0.1193, d1.loss_bbox: 0.2981, d2.loss_cls: 0.1069, d2.loss_bbox: 0.2823, d3.loss_cls: 0.0929, d3.loss_bbox: 0.2752, d4.loss_cls: 0.0896, d4.loss_bbox: 0.2709, d5.loss_cls: 0.0876, d5.loss_bbox: 0.2706, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7158, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5989, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5529, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5405, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5329, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5310, d0.loss_map_cls_all: 0.1595, d0.loss_map_pts_all: 0.9616, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1595, d0.loss_map_pts: 0.9616, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1289, d1.loss_map_pts: 0.6537, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1044, d2.loss_map_pts: 0.5101, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0942, d3.loss_map_pts: 0.4534, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0884, d4.loss_map_pts: 0.4450, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0840, d5.loss_map_pts: 0.4379, d5.loss_map_dir: 0.0057, loss: 21.8341, grad_norm: 141.6438 +2026-02-28 14:34:43,862 - DriveTransformer - INFO - Epoch [10][19100/39528] lr: 6.944e-05, eta: 4 days, 20:31:13, time: 0.760, data_time: 0.036, memory: 19865, loss_cls: 0.1092, loss_bbox: 0.3015, loss_traj: 0.5975, loss_traj_cls: 0.0018, loss_map_cls: 0.1012, loss_map_pts: 0.5412, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.6197, d0.loss_plan_l1_fix_dist: 0.5409, d1.loss_plan_l1_fix_time: 0.9280, d1.loss_plan_l1_fix_dist: 0.2324, d2.loss_plan_l1_fix_time: 0.9083, d2.loss_plan_l1_fix_dist: 0.2115, d3.loss_plan_l1_fix_time: 0.8768, d3.loss_plan_l1_fix_dist: 0.2186, d4.loss_plan_l1_fix_time: 0.8768, d4.loss_plan_l1_fix_dist: 0.2108, d5.loss_plan_l1_fix_time: 0.8789, d5.loss_plan_l1_fix_dist: 0.2273, d6.loss_plan_l1_fix_time: 0.8818, d6.loss_plan_l1_fix_dist: 0.2803, d0.loss_cls_all: 0.1543, d0.loss_bbox_all: 0.3611, d0.loss_cls: 0.1543, d0.loss_bbox: 0.3611, d1.loss_cls: 0.1471, d1.loss_bbox: 0.3315, d2.loss_cls: 0.1351, d2.loss_bbox: 0.3111, d3.loss_cls: 0.1161, d3.loss_bbox: 0.3068, d4.loss_cls: 0.1119, d4.loss_bbox: 0.3028, d5.loss_cls: 0.1084, d5.loss_bbox: 0.3024, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8527, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6818, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6225, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6039, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5983, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5971, d0.loss_map_cls_all: 0.1658, d0.loss_map_pts_all: 1.1004, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1658, d0.loss_map_pts: 1.1004, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1381, d1.loss_map_pts: 0.7870, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1193, d2.loss_map_pts: 0.6261, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1103, d3.loss_map_pts: 0.5654, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1074, d4.loss_map_pts: 0.5467, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1043, d5.loss_map_pts: 0.5416, d5.loss_map_dir: 0.0073, loss: 24.9465, grad_norm: 142.4052 +2026-02-28 14:35:21,087 - DriveTransformer - INFO - Epoch [10][19150/39528] lr: 6.944e-05, eta: 4 days, 20:30:39, time: 0.744, data_time: 0.039, memory: 19865, loss_cls: 0.1097, loss_bbox: 0.2883, loss_traj: 0.4350, loss_traj_cls: 0.0019, loss_map_cls: 0.0856, loss_map_pts: 0.4813, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.4141, d0.loss_plan_l1_fix_dist: 0.4710, d1.loss_plan_l1_fix_time: 0.6792, d1.loss_plan_l1_fix_dist: 0.2034, d2.loss_plan_l1_fix_time: 0.6574, d2.loss_plan_l1_fix_dist: 0.2193, d3.loss_plan_l1_fix_time: 0.6618, d3.loss_plan_l1_fix_dist: 0.2422, d4.loss_plan_l1_fix_time: 0.6659, d4.loss_plan_l1_fix_dist: 0.2421, d5.loss_plan_l1_fix_time: 0.6704, d5.loss_plan_l1_fix_dist: 0.2642, d6.loss_plan_l1_fix_time: 0.6759, d6.loss_plan_l1_fix_dist: 0.3346, d0.loss_cls_all: 0.1482, d0.loss_bbox_all: 0.3434, d0.loss_cls: 0.1482, d0.loss_bbox: 0.3434, d1.loss_cls: 0.1429, d1.loss_bbox: 0.3122, d2.loss_cls: 0.1320, d2.loss_bbox: 0.2917, d3.loss_cls: 0.1188, d3.loss_bbox: 0.2863, d4.loss_cls: 0.1118, d4.loss_bbox: 0.2871, d5.loss_cls: 0.1112, d5.loss_bbox: 0.2861, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6485, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5036, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4612, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4460, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4393, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4351, d0.loss_map_cls_all: 0.1575, d0.loss_map_pts_all: 1.0318, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1575, d0.loss_map_pts: 1.0318, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1282, d1.loss_map_pts: 0.7309, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1085, d2.loss_map_pts: 0.5728, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0988, d3.loss_map_pts: 0.5089, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0934, d4.loss_map_pts: 0.4855, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0888, d5.loss_map_pts: 0.4807, d5.loss_map_dir: 0.0054, loss: 21.5261, grad_norm: 147.6606 +2026-02-28 14:35:56,954 - DriveTransformer - INFO - Epoch [10][19200/39528] lr: 6.944e-05, eta: 4 days, 20:30:00, time: 0.718, data_time: 0.037, memory: 19865, loss_cls: 0.0899, loss_bbox: 0.2805, loss_traj: 0.4942, loss_traj_cls: 0.0018, loss_map_cls: 0.0810, loss_map_pts: 0.4599, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.3994, d0.loss_plan_l1_fix_dist: 0.3906, d1.loss_plan_l1_fix_time: 0.7901, d1.loss_plan_l1_fix_dist: 0.1807, d2.loss_plan_l1_fix_time: 0.7659, d2.loss_plan_l1_fix_dist: 0.2053, d3.loss_plan_l1_fix_time: 0.7585, d3.loss_plan_l1_fix_dist: 0.2424, d4.loss_plan_l1_fix_time: 0.7618, d4.loss_plan_l1_fix_dist: 0.2147, d5.loss_plan_l1_fix_time: 0.7658, d5.loss_plan_l1_fix_dist: 0.2440, d6.loss_plan_l1_fix_time: 0.7709, d6.loss_plan_l1_fix_dist: 0.2987, d0.loss_cls_all: 0.1240, d0.loss_bbox_all: 0.3376, d0.loss_cls: 0.1240, d0.loss_bbox: 0.3376, d1.loss_cls: 0.1209, d1.loss_bbox: 0.3073, d2.loss_cls: 0.1084, d2.loss_bbox: 0.2891, d3.loss_cls: 0.0972, d3.loss_bbox: 0.2821, d4.loss_cls: 0.0930, d4.loss_bbox: 0.2806, d5.loss_cls: 0.0900, d5.loss_bbox: 0.2798, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7236, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5719, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5230, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5041, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5029, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4985, d0.loss_map_cls_all: 0.1502, d0.loss_map_pts_all: 0.9595, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1502, d0.loss_map_pts: 0.9595, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1203, d1.loss_map_pts: 0.6673, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1033, d2.loss_map_pts: 0.5348, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0922, d3.loss_map_pts: 0.4810, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0871, d4.loss_map_pts: 0.4664, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0827, d5.loss_map_pts: 0.4608, d5.loss_map_dir: 0.0057, loss: 21.7577, grad_norm: 146.0867 +2026-02-28 14:36:32,924 - DriveTransformer - INFO - Epoch [10][19250/39528] lr: 6.944e-05, eta: 4 days, 20:29:21, time: 0.719, data_time: 0.038, memory: 19865, loss_cls: 0.1092, loss_bbox: 0.3005, loss_traj: 0.4417, loss_traj_cls: 0.0018, loss_map_cls: 0.1192, loss_map_pts: 0.5741, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.6885, d0.loss_plan_l1_fix_dist: 0.3882, d1.loss_plan_l1_fix_time: 0.9170, d1.loss_plan_l1_fix_dist: 0.1862, d2.loss_plan_l1_fix_time: 0.8988, d2.loss_plan_l1_fix_dist: 0.2115, d3.loss_plan_l1_fix_time: 0.8863, d3.loss_plan_l1_fix_dist: 0.2438, d4.loss_plan_l1_fix_time: 0.8887, d4.loss_plan_l1_fix_dist: 0.2190, d5.loss_plan_l1_fix_time: 0.8917, d5.loss_plan_l1_fix_dist: 0.2756, d6.loss_plan_l1_fix_time: 0.8957, d6.loss_plan_l1_fix_dist: 0.2997, d0.loss_cls_all: 0.1642, d0.loss_bbox_all: 0.3617, d0.loss_cls: 0.1642, d0.loss_bbox: 0.3617, d1.loss_cls: 0.1561, d1.loss_bbox: 0.3283, d2.loss_cls: 0.1397, d2.loss_bbox: 0.3075, d3.loss_cls: 0.1185, d3.loss_bbox: 0.3027, d4.loss_cls: 0.1116, d4.loss_bbox: 0.3001, d5.loss_cls: 0.1092, d5.loss_bbox: 0.2990, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6525, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.4999, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4670, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4548, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4505, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4510, d0.loss_map_cls_all: 0.2119, d0.loss_map_pts_all: 1.1101, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2119, d0.loss_map_pts: 1.1101, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1773, d1.loss_map_pts: 0.8102, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1479, d2.loss_map_pts: 0.6638, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1350, d3.loss_map_pts: 0.6049, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1276, d4.loss_map_pts: 0.5846, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1208, d5.loss_map_pts: 0.5734, d5.loss_map_dir: 0.0070, loss: 24.2878, grad_norm: 151.4686 +2026-02-28 14:37:07,715 - DriveTransformer - INFO - Epoch [10][19300/39528] lr: 6.944e-05, eta: 4 days, 20:28:37, time: 0.696, data_time: 0.036, memory: 19865, loss_cls: 0.1196, loss_bbox: 0.3113, loss_traj: 0.5448, loss_traj_cls: 0.0018, loss_map_cls: 0.0977, loss_map_pts: 0.5429, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.7051, d0.loss_plan_l1_fix_dist: 0.4300, d1.loss_plan_l1_fix_time: 0.9191, d1.loss_plan_l1_fix_dist: 0.2297, d2.loss_plan_l1_fix_time: 0.9097, d2.loss_plan_l1_fix_dist: 0.2541, d3.loss_plan_l1_fix_time: 0.9142, d3.loss_plan_l1_fix_dist: 0.2743, d4.loss_plan_l1_fix_time: 0.9193, d4.loss_plan_l1_fix_dist: 0.2775, d5.loss_plan_l1_fix_time: 0.9242, d5.loss_plan_l1_fix_dist: 0.3400, d6.loss_plan_l1_fix_time: 0.9299, d6.loss_plan_l1_fix_dist: 0.3452, d0.loss_cls_all: 0.1659, d0.loss_bbox_all: 0.3762, d0.loss_cls: 0.1659, d0.loss_bbox: 0.3762, d1.loss_cls: 0.1582, d1.loss_bbox: 0.3435, d2.loss_cls: 0.1417, d2.loss_bbox: 0.3208, d3.loss_cls: 0.1275, d3.loss_bbox: 0.3153, d4.loss_cls: 0.1207, d4.loss_bbox: 0.3111, d5.loss_cls: 0.1188, d5.loss_bbox: 0.3100, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8724, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6573, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5960, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5635, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5527, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5489, d0.loss_map_cls_all: 0.1874, d0.loss_map_pts_all: 1.0814, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1874, d0.loss_map_pts: 1.0814, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1518, d1.loss_map_pts: 0.7906, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1303, d2.loss_map_pts: 0.6379, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1146, d3.loss_map_pts: 0.5715, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1051, d4.loss_map_pts: 0.5518, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0999, d5.loss_map_pts: 0.5425, d5.loss_map_dir: 0.0067, loss: 25.4244, grad_norm: 152.4331 +2026-02-28 14:37:44,568 - DriveTransformer - INFO - Epoch [10][19350/39528] lr: 6.944e-05, eta: 4 days, 20:28:02, time: 0.737, data_time: 0.038, memory: 19865, loss_cls: 0.1150, loss_bbox: 0.3077, loss_traj: 0.5095, loss_traj_cls: 0.0018, loss_map_cls: 0.1389, loss_map_pts: 0.6225, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.6878, d0.loss_plan_l1_fix_dist: 0.3881, d1.loss_plan_l1_fix_time: 0.8380, d1.loss_plan_l1_fix_dist: 0.2106, d2.loss_plan_l1_fix_time: 0.8367, d2.loss_plan_l1_fix_dist: 0.2282, d3.loss_plan_l1_fix_time: 0.8444, d3.loss_plan_l1_fix_dist: 0.2296, d4.loss_plan_l1_fix_time: 0.8497, d4.loss_plan_l1_fix_dist: 0.2366, d5.loss_plan_l1_fix_time: 0.8555, d5.loss_plan_l1_fix_dist: 0.2686, d6.loss_plan_l1_fix_time: 0.8616, d6.loss_plan_l1_fix_dist: 0.2577, d0.loss_cls_all: 0.1544, d0.loss_bbox_all: 0.3710, d0.loss_cls: 0.1544, d0.loss_bbox: 0.3710, d1.loss_cls: 0.1470, d1.loss_bbox: 0.3370, d2.loss_cls: 0.1352, d2.loss_bbox: 0.3162, d3.loss_cls: 0.1205, d3.loss_bbox: 0.3096, d4.loss_cls: 0.1131, d4.loss_bbox: 0.3088, d5.loss_cls: 0.1141, d5.loss_bbox: 0.3073, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7284, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5729, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5280, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5139, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5112, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5112, d0.loss_map_cls_all: 0.2313, d0.loss_map_pts_all: 1.2691, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2313, d0.loss_map_pts: 1.2691, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1946, d1.loss_map_pts: 0.9149, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1675, d2.loss_map_pts: 0.7231, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1538, d3.loss_map_pts: 0.6507, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1453, d4.loss_map_pts: 0.6280, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1410, d5.loss_map_pts: 0.6218, d5.loss_map_dir: 0.0076, loss: 25.3207, grad_norm: 152.3631 +2026-02-28 14:38:22,948 - DriveTransformer - INFO - Epoch [10][19400/39528] lr: 6.944e-05, eta: 4 days, 20:27:33, time: 0.768, data_time: 0.037, memory: 19865, loss_cls: 0.1140, loss_bbox: 0.3056, loss_traj: 0.5257, loss_traj_cls: 0.0018, loss_map_cls: 0.1239, loss_map_pts: 0.6681, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.6900, d0.loss_plan_l1_fix_dist: 0.4363, d1.loss_plan_l1_fix_time: 0.9875, d1.loss_plan_l1_fix_dist: 0.2395, d2.loss_plan_l1_fix_time: 0.9695, d2.loss_plan_l1_fix_dist: 0.2679, d3.loss_plan_l1_fix_time: 0.9605, d3.loss_plan_l1_fix_dist: 0.2725, d4.loss_plan_l1_fix_time: 0.9637, d4.loss_plan_l1_fix_dist: 0.2809, d5.loss_plan_l1_fix_time: 0.9677, d5.loss_plan_l1_fix_dist: 0.2976, d6.loss_plan_l1_fix_time: 0.9726, d6.loss_plan_l1_fix_dist: 0.3258, d0.loss_cls_all: 0.1576, d0.loss_bbox_all: 0.3845, d0.loss_cls: 0.1576, d0.loss_bbox: 0.3845, d1.loss_cls: 0.1477, d1.loss_bbox: 0.3429, d2.loss_cls: 0.1387, d2.loss_bbox: 0.3190, d3.loss_cls: 0.1187, d3.loss_bbox: 0.3100, d4.loss_cls: 0.1149, d4.loss_bbox: 0.3068, d5.loss_cls: 0.1139, d5.loss_bbox: 0.3051, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7359, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5969, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5500, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5327, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5311, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5273, d0.loss_map_cls_all: 0.2224, d0.loss_map_pts_all: 1.3400, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2224, d0.loss_map_pts: 1.3400, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1838, d1.loss_map_pts: 0.9855, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1541, d2.loss_map_pts: 0.7776, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1410, d3.loss_map_pts: 0.7000, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1315, d4.loss_map_pts: 0.6725, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1257, d5.loss_map_pts: 0.6674, d5.loss_map_dir: 0.0087, loss: 26.8842, grad_norm: 153.6856 +2026-02-28 14:38:59,730 - DriveTransformer - INFO - Epoch [10][19450/39528] lr: 6.944e-05, eta: 4 days, 20:26:57, time: 0.736, data_time: 0.039, memory: 19865, loss_cls: 0.1206, loss_bbox: 0.3173, loss_traj: 0.5736, loss_traj_cls: 0.0018, loss_map_cls: 0.1140, loss_map_pts: 0.5994, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.7638, d0.loss_plan_l1_fix_dist: 0.3673, d1.loss_plan_l1_fix_time: 0.7606, d1.loss_plan_l1_fix_dist: 0.2060, d2.loss_plan_l1_fix_time: 0.7474, d2.loss_plan_l1_fix_dist: 0.2400, d3.loss_plan_l1_fix_time: 0.7464, d3.loss_plan_l1_fix_dist: 0.2232, d4.loss_plan_l1_fix_time: 0.7494, d4.loss_plan_l1_fix_dist: 0.2203, d5.loss_plan_l1_fix_time: 0.7527, d5.loss_plan_l1_fix_dist: 0.2340, d6.loss_plan_l1_fix_time: 0.7572, d6.loss_plan_l1_fix_dist: 0.3067, d0.loss_cls_all: 0.1664, d0.loss_bbox_all: 0.3817, d0.loss_cls: 0.1664, d0.loss_bbox: 0.3817, d1.loss_cls: 0.1591, d1.loss_bbox: 0.3504, d2.loss_cls: 0.1467, d2.loss_bbox: 0.3279, d3.loss_cls: 0.1296, d3.loss_bbox: 0.3206, d4.loss_cls: 0.1223, d4.loss_bbox: 0.3173, d5.loss_cls: 0.1200, d5.loss_bbox: 0.3159, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8484, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6608, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5987, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5822, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5756, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5760, d0.loss_map_cls_all: 0.2030, d0.loss_map_pts_all: 1.1443, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2030, d0.loss_map_pts: 1.1443, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1731, d1.loss_map_pts: 0.8501, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1468, d2.loss_map_pts: 0.6880, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1311, d3.loss_map_pts: 0.6301, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1213, d4.loss_map_pts: 0.6057, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1156, d5.loss_map_pts: 0.6003, d5.loss_map_dir: 0.0077, loss: 24.8733, grad_norm: 155.6696 +2026-02-28 14:39:35,596 - DriveTransformer - INFO - Epoch [10][19500/39528] lr: 6.944e-05, eta: 4 days, 20:26:18, time: 0.717, data_time: 0.038, memory: 19865, loss_cls: 0.0924, loss_bbox: 0.2790, loss_traj: 0.5598, loss_traj_cls: 0.0018, loss_map_cls: 0.1205, loss_map_pts: 0.5509, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.4618, d0.loss_plan_l1_fix_dist: 0.3930, d1.loss_plan_l1_fix_time: 0.8070, d1.loss_plan_l1_fix_dist: 0.1907, d2.loss_plan_l1_fix_time: 0.7957, d2.loss_plan_l1_fix_dist: 0.2256, d3.loss_plan_l1_fix_time: 0.7924, d3.loss_plan_l1_fix_dist: 0.2153, d4.loss_plan_l1_fix_time: 0.7944, d4.loss_plan_l1_fix_dist: 0.2149, d5.loss_plan_l1_fix_time: 0.7981, d5.loss_plan_l1_fix_dist: 0.2040, d6.loss_plan_l1_fix_time: 0.8029, d6.loss_plan_l1_fix_dist: 0.2605, d0.loss_cls_all: 0.1296, d0.loss_bbox_all: 0.3446, d0.loss_cls: 0.1296, d0.loss_bbox: 0.3446, d1.loss_cls: 0.1189, d1.loss_bbox: 0.3149, d2.loss_cls: 0.1091, d2.loss_bbox: 0.2941, d3.loss_cls: 0.0956, d3.loss_bbox: 0.2852, d4.loss_cls: 0.0913, d4.loss_bbox: 0.2819, d5.loss_cls: 0.0924, d5.loss_bbox: 0.2788, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7463, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6096, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5702, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5562, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5574, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5570, d0.loss_map_cls_all: 0.2022, d0.loss_map_pts_all: 1.1474, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.2022, d0.loss_map_pts: 1.1474, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1732, d1.loss_map_pts: 0.8374, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1475, d2.loss_map_pts: 0.6459, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1340, d3.loss_map_pts: 0.5818, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1293, d4.loss_map_pts: 0.5549, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1243, d5.loss_map_pts: 0.5495, d5.loss_map_dir: 0.0064, loss: 23.6982, grad_norm: 155.3011 +2026-02-28 14:40:12,151 - DriveTransformer - INFO - Epoch [10][19550/39528] lr: 6.944e-05, eta: 4 days, 20:25:41, time: 0.731, data_time: 0.038, memory: 19865, loss_cls: 0.0932, loss_bbox: 0.2845, loss_traj: 0.5207, loss_traj_cls: 0.0018, loss_map_cls: 0.0987, loss_map_pts: 0.5346, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.6213, d0.loss_plan_l1_fix_dist: 0.4531, d1.loss_plan_l1_fix_time: 0.7474, d1.loss_plan_l1_fix_dist: 0.1841, d2.loss_plan_l1_fix_time: 0.7327, d2.loss_plan_l1_fix_dist: 0.2086, d3.loss_plan_l1_fix_time: 0.7311, d3.loss_plan_l1_fix_dist: 0.2164, d4.loss_plan_l1_fix_time: 0.7343, d4.loss_plan_l1_fix_dist: 0.2291, d5.loss_plan_l1_fix_time: 0.7385, d5.loss_plan_l1_fix_dist: 0.2617, d6.loss_plan_l1_fix_time: 0.7424, d6.loss_plan_l1_fix_dist: 0.2609, d0.loss_cls_all: 0.1392, d0.loss_bbox_all: 0.3401, d0.loss_cls: 0.1392, d0.loss_bbox: 0.3401, d1.loss_cls: 0.1292, d1.loss_bbox: 0.3090, d2.loss_cls: 0.1162, d2.loss_bbox: 0.2896, d3.loss_cls: 0.0991, d3.loss_bbox: 0.2859, d4.loss_cls: 0.0958, d4.loss_bbox: 0.2834, d5.loss_cls: 0.0930, d5.loss_bbox: 0.2846, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7767, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6003, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5530, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5336, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5205, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5215, d0.loss_map_cls_all: 0.1927, d0.loss_map_pts_all: 1.1110, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1927, d0.loss_map_pts: 1.1110, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1534, d1.loss_map_pts: 0.8006, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1290, d2.loss_map_pts: 0.6323, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1166, d3.loss_map_pts: 0.5691, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1072, d4.loss_map_pts: 0.5410, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1014, d5.loss_map_pts: 0.5362, d5.loss_map_dir: 0.0070, loss: 23.1995, grad_norm: 153.7996 +2026-02-28 14:40:48,728 - DriveTransformer - INFO - Epoch [10][19600/39528] lr: 6.944e-05, eta: 4 days, 20:25:05, time: 0.732, data_time: 0.036, memory: 19865, loss_cls: 0.0931, loss_bbox: 0.2725, loss_traj: 0.4625, loss_traj_cls: 0.0018, loss_map_cls: 0.1001, loss_map_pts: 0.4565, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.6564, d0.loss_plan_l1_fix_dist: 0.4300, d1.loss_plan_l1_fix_time: 0.8352, d1.loss_plan_l1_fix_dist: 0.1956, d2.loss_plan_l1_fix_time: 0.8236, d2.loss_plan_l1_fix_dist: 0.1892, d3.loss_plan_l1_fix_time: 0.8199, d3.loss_plan_l1_fix_dist: 0.1944, d4.loss_plan_l1_fix_time: 0.8247, d4.loss_plan_l1_fix_dist: 0.2098, d5.loss_plan_l1_fix_time: 0.8281, d5.loss_plan_l1_fix_dist: 0.2364, d6.loss_plan_l1_fix_time: 0.8314, d6.loss_plan_l1_fix_dist: 0.2249, d0.loss_cls_all: 0.1312, d0.loss_bbox_all: 0.3315, d0.loss_cls: 0.1312, d0.loss_bbox: 0.3315, d1.loss_cls: 0.1252, d1.loss_bbox: 0.3033, d2.loss_cls: 0.1141, d2.loss_bbox: 0.2831, d3.loss_cls: 0.0984, d3.loss_bbox: 0.2758, d4.loss_cls: 0.0960, d4.loss_bbox: 0.2724, d5.loss_cls: 0.0934, d5.loss_bbox: 0.2720, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6596, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5386, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4994, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4783, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4690, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4663, d0.loss_map_cls_all: 0.1778, d0.loss_map_pts_all: 0.9244, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1778, d0.loss_map_pts: 0.9244, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1422, d1.loss_map_pts: 0.6530, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1233, d2.loss_map_pts: 0.5324, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1124, d3.loss_map_pts: 0.4863, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1056, d4.loss_map_pts: 0.4654, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1022, d5.loss_map_pts: 0.4582, d5.loss_map_dir: 0.0063, loss: 22.0990, grad_norm: 155.0996 +2026-02-28 14:41:25,989 - DriveTransformer - INFO - Epoch [10][19650/39528] lr: 6.944e-05, eta: 4 days, 20:24:31, time: 0.745, data_time: 0.037, memory: 19865, loss_cls: 0.0951, loss_bbox: 0.2775, loss_traj: 0.4434, loss_traj_cls: 0.0018, loss_map_cls: 0.0934, loss_map_pts: 0.4979, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.1598, d0.loss_plan_l1_fix_dist: 0.4567, d1.loss_plan_l1_fix_time: 0.8397, d1.loss_plan_l1_fix_dist: 0.2256, d2.loss_plan_l1_fix_time: 0.8361, d2.loss_plan_l1_fix_dist: 0.2069, d3.loss_plan_l1_fix_time: 0.8351, d3.loss_plan_l1_fix_dist: 0.2259, d4.loss_plan_l1_fix_time: 0.8388, d4.loss_plan_l1_fix_dist: 0.2317, d5.loss_plan_l1_fix_time: 0.8420, d5.loss_plan_l1_fix_dist: 0.2388, d6.loss_plan_l1_fix_time: 0.8459, d6.loss_plan_l1_fix_dist: 0.2454, d0.loss_cls_all: 0.1426, d0.loss_bbox_all: 0.3421, d0.loss_cls: 0.1426, d0.loss_bbox: 0.3421, d1.loss_cls: 0.1355, d1.loss_bbox: 0.3047, d2.loss_cls: 0.1200, d2.loss_bbox: 0.2861, d3.loss_cls: 0.1029, d3.loss_bbox: 0.2805, d4.loss_cls: 0.0971, d4.loss_bbox: 0.2791, d5.loss_cls: 0.0959, d5.loss_bbox: 0.2768, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6256, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5031, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4525, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4449, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4409, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4409, d0.loss_map_cls_all: 0.1732, d0.loss_map_pts_all: 1.0318, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1732, d0.loss_map_pts: 1.0318, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1439, d1.loss_map_pts: 0.7318, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1171, d2.loss_map_pts: 0.5786, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1064, d3.loss_map_pts: 0.5213, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.0989, d4.loss_map_pts: 0.5028, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.0953, d5.loss_map_pts: 0.4994, d5.loss_map_dir: 0.0067, loss: 22.1574, grad_norm: 156.0013 +2026-02-28 14:42:00,267 - DriveTransformer - INFO - Epoch [10][19700/39528] lr: 6.944e-05, eta: 4 days, 20:23:45, time: 0.686, data_time: 0.037, memory: 19865, loss_cls: 0.1149, loss_bbox: 0.3109, loss_traj: 0.5031, loss_traj_cls: 0.0018, loss_map_cls: 0.1209, loss_map_pts: 0.5905, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.9937, d0.loss_plan_l1_fix_dist: 0.4305, d1.loss_plan_l1_fix_time: 0.8711, d1.loss_plan_l1_fix_dist: 0.2423, d2.loss_plan_l1_fix_time: 0.8559, d2.loss_plan_l1_fix_dist: 0.2237, d3.loss_plan_l1_fix_time: 0.8636, d3.loss_plan_l1_fix_dist: 0.2430, d4.loss_plan_l1_fix_time: 0.8675, d4.loss_plan_l1_fix_dist: 0.2447, d5.loss_plan_l1_fix_time: 0.8706, d5.loss_plan_l1_fix_dist: 0.2355, d6.loss_plan_l1_fix_time: 0.8745, d6.loss_plan_l1_fix_dist: 0.2564, d0.loss_cls_all: 0.1627, d0.loss_bbox_all: 0.3827, d0.loss_cls: 0.1627, d0.loss_bbox: 0.3827, d1.loss_cls: 0.1492, d1.loss_bbox: 0.3442, d2.loss_cls: 0.1376, d2.loss_bbox: 0.3233, d3.loss_cls: 0.1222, d3.loss_bbox: 0.3147, d4.loss_cls: 0.1158, d4.loss_bbox: 0.3123, d5.loss_cls: 0.1142, d5.loss_bbox: 0.3107, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7583, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5822, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5200, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5162, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5136, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5058, d0.loss_map_cls_all: 0.1992, d0.loss_map_pts_all: 1.1564, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1992, d0.loss_map_pts: 1.1564, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1689, d1.loss_map_pts: 0.8526, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1461, d2.loss_map_pts: 0.6930, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1336, d3.loss_map_pts: 0.6242, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1272, d4.loss_map_pts: 0.5985, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1228, d5.loss_map_pts: 0.5927, d5.loss_map_dir: 0.0064, loss: 25.2713, grad_norm: 155.2103 +2026-02-28 14:42:37,437 - DriveTransformer - INFO - Epoch [10][19750/39528] lr: 6.944e-05, eta: 4 days, 20:23:11, time: 0.743, data_time: 0.038, memory: 19865, loss_cls: 0.1163, loss_bbox: 0.3101, loss_traj: 0.5717, loss_traj_cls: 0.0018, loss_map_cls: 0.1293, loss_map_pts: 0.6566, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.2986, d0.loss_plan_l1_fix_dist: 0.3732, d1.loss_plan_l1_fix_time: 0.8098, d1.loss_plan_l1_fix_dist: 0.2294, d2.loss_plan_l1_fix_time: 0.7950, d2.loss_plan_l1_fix_dist: 0.1986, d3.loss_plan_l1_fix_time: 0.7947, d3.loss_plan_l1_fix_dist: 0.2106, d4.loss_plan_l1_fix_time: 0.7986, d4.loss_plan_l1_fix_dist: 0.2227, d5.loss_plan_l1_fix_time: 0.8036, d5.loss_plan_l1_fix_dist: 0.2303, d6.loss_plan_l1_fix_time: 0.8094, d6.loss_plan_l1_fix_dist: 0.2681, d0.loss_cls_all: 0.1622, d0.loss_bbox_all: 0.3787, d0.loss_cls: 0.1622, d0.loss_bbox: 0.3787, d1.loss_cls: 0.1568, d1.loss_bbox: 0.3418, d2.loss_cls: 0.1401, d2.loss_bbox: 0.3224, d3.loss_cls: 0.1201, d3.loss_bbox: 0.3155, d4.loss_cls: 0.1158, d4.loss_bbox: 0.3138, d5.loss_cls: 0.1140, d5.loss_bbox: 0.3124, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7910, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6408, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5975, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5810, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5754, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5707, d0.loss_map_cls_all: 0.2202, d0.loss_map_pts_all: 1.3035, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2202, d0.loss_map_pts: 1.3035, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1834, d1.loss_map_pts: 0.9513, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1555, d2.loss_map_pts: 0.7610, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1423, d3.loss_map_pts: 0.6902, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1365, d4.loss_map_pts: 0.6609, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1309, d5.loss_map_pts: 0.6557, d5.loss_map_dir: 0.0086, loss: 25.3077, grad_norm: 160.8429 +2026-02-28 14:43:13,956 - DriveTransformer - INFO - Epoch [10][19800/39528] lr: 6.944e-05, eta: 4 days, 20:22:35, time: 0.732, data_time: 0.039, memory: 19865, loss_cls: 0.1046, loss_bbox: 0.2951, loss_traj: 0.6631, loss_traj_cls: 0.0018, loss_map_cls: 0.1075, loss_map_pts: 0.5396, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.8447, d0.loss_plan_l1_fix_dist: 0.3822, d1.loss_plan_l1_fix_time: 0.9215, d1.loss_plan_l1_fix_dist: 0.2380, d2.loss_plan_l1_fix_time: 0.9078, d2.loss_plan_l1_fix_dist: 0.2122, d3.loss_plan_l1_fix_time: 0.9151, d3.loss_plan_l1_fix_dist: 0.2288, d4.loss_plan_l1_fix_time: 0.9194, d4.loss_plan_l1_fix_dist: 0.2281, d5.loss_plan_l1_fix_time: 0.9241, d5.loss_plan_l1_fix_dist: 0.2443, d6.loss_plan_l1_fix_time: 0.9295, d6.loss_plan_l1_fix_dist: 0.2938, d0.loss_cls_all: 0.1496, d0.loss_bbox_all: 0.3600, d0.loss_cls: 0.1496, d0.loss_bbox: 0.3600, d1.loss_cls: 0.1438, d1.loss_bbox: 0.3218, d2.loss_cls: 0.1263, d2.loss_bbox: 0.3043, d3.loss_cls: 0.1093, d3.loss_bbox: 0.2991, d4.loss_cls: 0.1044, d4.loss_bbox: 0.2972, d5.loss_cls: 0.1055, d5.loss_bbox: 0.2948, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8710, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7186, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6745, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6635, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6635, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6657, d0.loss_map_cls_all: 0.1860, d0.loss_map_pts_all: 1.0978, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1860, d0.loss_map_pts: 1.0978, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1540, d1.loss_map_pts: 0.8034, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1291, d2.loss_map_pts: 0.6352, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1179, d3.loss_map_pts: 0.5690, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1127, d4.loss_map_pts: 0.5469, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1085, d5.loss_map_pts: 0.5395, d5.loss_map_dir: 0.0068, loss: 25.6256, grad_norm: 151.8933 +2026-02-28 14:43:51,670 - DriveTransformer - INFO - Epoch [10][19850/39528] lr: 6.944e-05, eta: 4 days, 20:22:03, time: 0.753, data_time: 0.036, memory: 19865, loss_cls: 0.0996, loss_bbox: 0.2874, loss_traj: 0.4835, loss_traj_cls: 0.0019, loss_map_cls: 0.0936, loss_map_pts: 0.5284, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.7867, d0.loss_plan_l1_fix_dist: 0.3984, d1.loss_plan_l1_fix_time: 0.7608, d1.loss_plan_l1_fix_dist: 0.2189, d2.loss_plan_l1_fix_time: 0.7482, d2.loss_plan_l1_fix_dist: 0.1983, d3.loss_plan_l1_fix_time: 0.7466, d3.loss_plan_l1_fix_dist: 0.2131, d4.loss_plan_l1_fix_time: 0.7489, d4.loss_plan_l1_fix_dist: 0.2065, d5.loss_plan_l1_fix_time: 0.7518, d5.loss_plan_l1_fix_dist: 0.2237, d6.loss_plan_l1_fix_time: 0.7551, d6.loss_plan_l1_fix_dist: 0.2529, d0.loss_cls_all: 0.1420, d0.loss_bbox_all: 0.3530, d0.loss_cls: 0.1420, d0.loss_bbox: 0.3530, d1.loss_cls: 0.1285, d1.loss_bbox: 0.3259, d2.loss_cls: 0.1211, d2.loss_bbox: 0.3016, d3.loss_cls: 0.1058, d3.loss_bbox: 0.2944, d4.loss_cls: 0.1000, d4.loss_bbox: 0.2906, d5.loss_cls: 0.1002, d5.loss_bbox: 0.2871, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6819, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5663, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5194, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4996, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4920, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4847, d0.loss_map_cls_all: 0.1599, d0.loss_map_pts_all: 1.0348, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1599, d0.loss_map_pts: 1.0348, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1315, d1.loss_map_pts: 0.7450, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1107, d2.loss_map_pts: 0.6050, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1023, d3.loss_map_pts: 0.5532, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.0985, d4.loss_map_pts: 0.5338, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.0939, d5.loss_map_pts: 0.5298, d5.loss_map_dir: 0.0072, loss: 22.7476, grad_norm: 151.1676 +2026-02-28 14:44:29,466 - DriveTransformer - INFO - Epoch [10][19900/39528] lr: 6.944e-05, eta: 4 days, 20:21:31, time: 0.756, data_time: 0.037, memory: 19865, loss_cls: 0.1057, loss_bbox: 0.2965, loss_traj: 0.5323, loss_traj_cls: 0.0018, loss_map_cls: 0.1269, loss_map_pts: 0.6402, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.7691, d0.loss_plan_l1_fix_dist: 0.3721, d1.loss_plan_l1_fix_time: 0.8405, d1.loss_plan_l1_fix_dist: 0.2184, d2.loss_plan_l1_fix_time: 0.8341, d2.loss_plan_l1_fix_dist: 0.1940, d3.loss_plan_l1_fix_time: 0.8326, d3.loss_plan_l1_fix_dist: 0.2228, d4.loss_plan_l1_fix_time: 0.8351, d4.loss_plan_l1_fix_dist: 0.2294, d5.loss_plan_l1_fix_time: 0.8379, d5.loss_plan_l1_fix_dist: 0.2588, d6.loss_plan_l1_fix_time: 0.8412, d6.loss_plan_l1_fix_dist: 0.2876, d0.loss_cls_all: 0.1523, d0.loss_bbox_all: 0.3660, d0.loss_cls: 0.1523, d0.loss_bbox: 0.3660, d1.loss_cls: 0.1457, d1.loss_bbox: 0.3290, d2.loss_cls: 0.1304, d2.loss_bbox: 0.3084, d3.loss_cls: 0.1163, d3.loss_bbox: 0.2982, d4.loss_cls: 0.1089, d4.loss_bbox: 0.2948, d5.loss_cls: 0.1057, d5.loss_bbox: 0.2949, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7662, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5964, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5492, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5344, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5325, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5323, d0.loss_map_cls_all: 0.2102, d0.loss_map_pts_all: 1.3050, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2102, d0.loss_map_pts: 1.3050, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1776, d1.loss_map_pts: 0.9311, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1511, d2.loss_map_pts: 0.7502, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1396, d3.loss_map_pts: 0.6778, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1343, d4.loss_map_pts: 0.6491, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1295, d5.loss_map_pts: 0.6403, d5.loss_map_dir: 0.0081, loss: 25.4376, grad_norm: 151.8565 +2026-02-28 14:45:04,676 - DriveTransformer - INFO - Epoch [10][19950/39528] lr: 6.944e-05, eta: 4 days, 20:20:49, time: 0.704, data_time: 0.039, memory: 19865, loss_cls: 0.0996, loss_bbox: 0.2960, loss_traj: 0.4426, loss_traj_cls: 0.0018, loss_map_cls: 0.1252, loss_map_pts: 0.5724, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.4082, d0.loss_plan_l1_fix_dist: 0.3388, d1.loss_plan_l1_fix_time: 0.8207, d1.loss_plan_l1_fix_dist: 0.1991, d2.loss_plan_l1_fix_time: 0.8158, d2.loss_plan_l1_fix_dist: 0.1870, d3.loss_plan_l1_fix_time: 0.8208, d3.loss_plan_l1_fix_dist: 0.2091, d4.loss_plan_l1_fix_time: 0.8256, d4.loss_plan_l1_fix_dist: 0.2100, d5.loss_plan_l1_fix_time: 0.8301, d5.loss_plan_l1_fix_dist: 0.2395, d6.loss_plan_l1_fix_time: 0.8345, d6.loss_plan_l1_fix_dist: 0.2162, d0.loss_cls_all: 0.1471, d0.loss_bbox_all: 0.3625, d0.loss_cls: 0.1471, d0.loss_bbox: 0.3625, d1.loss_cls: 0.1412, d1.loss_bbox: 0.3256, d2.loss_cls: 0.1265, d2.loss_bbox: 0.3031, d3.loss_cls: 0.1081, d3.loss_bbox: 0.2970, d4.loss_cls: 0.1030, d4.loss_bbox: 0.2942, d5.loss_cls: 0.0999, d5.loss_bbox: 0.2946, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6166, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.4947, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4567, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4475, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4455, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4476, d0.loss_map_cls_all: 0.2027, d0.loss_map_pts_all: 1.0999, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2027, d0.loss_map_pts: 1.0999, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1747, d1.loss_map_pts: 0.8118, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1512, d2.loss_map_pts: 0.6551, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1390, d3.loss_map_pts: 0.6004, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1318, d4.loss_map_pts: 0.5771, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1279, d5.loss_map_pts: 0.5724, d5.loss_map_dir: 0.0065, loss: 23.1182, grad_norm: 150.4925 +2026-02-28 14:45:42,244 - DriveTransformer - INFO - Epoch [10][20000/39528] lr: 6.944e-05, eta: 4 days, 20:20:17, time: 0.751, data_time: 0.040, memory: 19865, loss_cls: 0.1103, loss_bbox: 0.2994, loss_traj: 0.4777, loss_traj_cls: 0.0018, loss_map_cls: 0.1088, loss_map_pts: 0.5289, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.8846, d0.loss_plan_l1_fix_dist: 0.4157, d1.loss_plan_l1_fix_time: 0.7607, d1.loss_plan_l1_fix_dist: 0.2008, d2.loss_plan_l1_fix_time: 0.7428, d2.loss_plan_l1_fix_dist: 0.2069, d3.loss_plan_l1_fix_time: 0.7423, d3.loss_plan_l1_fix_dist: 0.2200, d4.loss_plan_l1_fix_time: 0.7452, d4.loss_plan_l1_fix_dist: 0.2257, d5.loss_plan_l1_fix_time: 0.7492, d5.loss_plan_l1_fix_dist: 0.2339, d6.loss_plan_l1_fix_time: 0.7532, d6.loss_plan_l1_fix_dist: 0.2218, d0.loss_cls_all: 0.1532, d0.loss_bbox_all: 0.3762, d0.loss_cls: 0.1532, d0.loss_bbox: 0.3762, d1.loss_cls: 0.1437, d1.loss_bbox: 0.3387, d2.loss_cls: 0.1326, d2.loss_bbox: 0.3165, d3.loss_cls: 0.1162, d3.loss_bbox: 0.3056, d4.loss_cls: 0.1102, d4.loss_bbox: 0.3015, d5.loss_cls: 0.1104, d5.loss_bbox: 0.3000, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6815, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5450, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5006, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4877, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4832, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4795, d0.loss_map_cls_all: 0.1831, d0.loss_map_pts_all: 1.0869, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1831, d0.loss_map_pts: 1.0869, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1561, d1.loss_map_pts: 0.7730, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1353, d2.loss_map_pts: 0.6162, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1220, d3.loss_map_pts: 0.5586, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1152, d4.loss_map_pts: 0.5376, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1108, d5.loss_map_pts: 0.5299, d5.loss_map_dir: 0.0069, loss: 23.2966, grad_norm: 149.1505 +2026-02-28 14:46:19,759 - DriveTransformer - INFO - Epoch [10][20050/39528] lr: 6.944e-05, eta: 4 days, 20:19:44, time: 0.750, data_time: 0.037, memory: 19865, loss_cls: 0.0986, loss_bbox: 0.2846, loss_traj: 0.4938, loss_traj_cls: 0.0019, loss_map_cls: 0.1026, loss_map_pts: 0.5338, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.3519, d0.loss_plan_l1_fix_dist: 0.4536, d1.loss_plan_l1_fix_time: 0.7600, d1.loss_plan_l1_fix_dist: 0.1675, d2.loss_plan_l1_fix_time: 0.7462, d2.loss_plan_l1_fix_dist: 0.1915, d3.loss_plan_l1_fix_time: 0.7488, d3.loss_plan_l1_fix_dist: 0.1909, d4.loss_plan_l1_fix_time: 0.7526, d4.loss_plan_l1_fix_dist: 0.2236, d5.loss_plan_l1_fix_time: 0.7571, d5.loss_plan_l1_fix_dist: 0.2186, d6.loss_plan_l1_fix_time: 0.7625, d6.loss_plan_l1_fix_dist: 0.2344, d0.loss_cls_all: 0.1384, d0.loss_bbox_all: 0.3483, d0.loss_cls: 0.1384, d0.loss_bbox: 0.3483, d1.loss_cls: 0.1346, d1.loss_bbox: 0.3125, d2.loss_cls: 0.1220, d2.loss_bbox: 0.2924, d3.loss_cls: 0.1005, d3.loss_bbox: 0.2889, d4.loss_cls: 0.0989, d4.loss_bbox: 0.2858, d5.loss_cls: 0.0972, d5.loss_bbox: 0.2859, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6888, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5741, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5263, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5090, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5058, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4987, d0.loss_map_cls_all: 0.1822, d0.loss_map_pts_all: 1.1474, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1822, d0.loss_map_pts: 1.1474, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1530, d1.loss_map_pts: 0.7981, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1304, d2.loss_map_pts: 0.6353, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1181, d3.loss_map_pts: 0.5728, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1110, d4.loss_map_pts: 0.5450, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1064, d5.loss_map_pts: 0.5337, d5.loss_map_dir: 0.0071, loss: 22.7943, grad_norm: 151.4904 +2026-02-28 14:46:55,928 - DriveTransformer - INFO - Epoch [10][20100/39528] lr: 6.944e-05, eta: 4 days, 20:19:06, time: 0.723, data_time: 0.037, memory: 19865, loss_cls: 0.0963, loss_bbox: 0.2871, loss_traj: 0.4967, loss_traj_cls: 0.0018, loss_map_cls: 0.1091, loss_map_pts: 0.5408, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 3.0093, d0.loss_plan_l1_fix_dist: 0.4007, d1.loss_plan_l1_fix_time: 0.8561, d1.loss_plan_l1_fix_dist: 0.1740, d2.loss_plan_l1_fix_time: 0.8524, d2.loss_plan_l1_fix_dist: 0.2029, d3.loss_plan_l1_fix_time: 0.8556, d3.loss_plan_l1_fix_dist: 0.1953, d4.loss_plan_l1_fix_time: 0.8590, d4.loss_plan_l1_fix_dist: 0.2191, d5.loss_plan_l1_fix_time: 0.8631, d5.loss_plan_l1_fix_dist: 0.2066, d6.loss_plan_l1_fix_time: 0.8679, d6.loss_plan_l1_fix_dist: 0.2593, d0.loss_cls_all: 0.1389, d0.loss_bbox_all: 0.3525, d0.loss_cls: 0.1389, d0.loss_bbox: 0.3525, d1.loss_cls: 0.1316, d1.loss_bbox: 0.3188, d2.loss_cls: 0.1164, d2.loss_bbox: 0.3006, d3.loss_cls: 0.0992, d3.loss_bbox: 0.2934, d4.loss_cls: 0.0957, d4.loss_bbox: 0.2892, d5.loss_cls: 0.0948, d5.loss_bbox: 0.2878, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7359, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5750, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5310, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5057, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5020, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5004, d0.loss_map_cls_all: 0.1877, d0.loss_map_pts_all: 1.1090, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1877, d0.loss_map_pts: 1.1090, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1582, d1.loss_map_pts: 0.8018, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1340, d2.loss_map_pts: 0.6458, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1224, d3.loss_map_pts: 0.5764, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1149, d4.loss_map_pts: 0.5526, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1110, d5.loss_map_pts: 0.5417, d5.loss_map_dir: 0.0060, loss: 24.1188, grad_norm: 147.2798 +2026-02-28 14:47:30,755 - DriveTransformer - INFO - Epoch [10][20150/39528] lr: 6.944e-05, eta: 4 days, 20:18:22, time: 0.697, data_time: 0.037, memory: 19865, loss_cls: 0.1128, loss_bbox: 0.3104, loss_traj: 0.5537, loss_traj_cls: 0.0018, loss_map_cls: 0.1026, loss_map_pts: 0.4847, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.7360, d0.loss_plan_l1_fix_dist: 0.3794, d1.loss_plan_l1_fix_time: 0.8485, d1.loss_plan_l1_fix_dist: 0.1737, d2.loss_plan_l1_fix_time: 0.8386, d2.loss_plan_l1_fix_dist: 0.2086, d3.loss_plan_l1_fix_time: 0.8110, d3.loss_plan_l1_fix_dist: 0.2019, d4.loss_plan_l1_fix_time: 0.8107, d4.loss_plan_l1_fix_dist: 0.2130, d5.loss_plan_l1_fix_time: 0.8120, d5.loss_plan_l1_fix_dist: 0.1966, d6.loss_plan_l1_fix_time: 0.8144, d6.loss_plan_l1_fix_dist: 0.2486, d0.loss_cls_all: 0.1547, d0.loss_bbox_all: 0.3729, d0.loss_cls: 0.1547, d0.loss_bbox: 0.3729, d1.loss_cls: 0.1500, d1.loss_bbox: 0.3407, d2.loss_cls: 0.1358, d2.loss_bbox: 0.3205, d3.loss_cls: 0.1221, d3.loss_bbox: 0.3140, d4.loss_cls: 0.1134, d4.loss_bbox: 0.3125, d5.loss_cls: 0.1125, d5.loss_bbox: 0.3105, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8854, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6683, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5951, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5672, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5605, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5550, d0.loss_map_cls_all: 0.1884, d0.loss_map_pts_all: 0.9657, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1884, d0.loss_map_pts: 0.9657, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1593, d1.loss_map_pts: 0.7003, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1298, d2.loss_map_pts: 0.5616, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1138, d3.loss_map_pts: 0.5096, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1083, d4.loss_map_pts: 0.4897, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.1040, d5.loss_map_pts: 0.4857, d5.loss_map_dir: 0.0054, loss: 23.6954, grad_norm: 143.6570 +2026-02-28 14:48:06,548 - DriveTransformer - INFO - Epoch [10][20200/39528] lr: 6.944e-05, eta: 4 days, 20:17:43, time: 0.716, data_time: 0.036, memory: 19865, loss_cls: 0.1220, loss_bbox: 0.3299, loss_traj: 0.4944, loss_traj_cls: 0.0018, loss_map_cls: 0.1433, loss_map_pts: 0.6374, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.6596, d0.loss_plan_l1_fix_dist: 0.3587, d1.loss_plan_l1_fix_time: 0.8188, d1.loss_plan_l1_fix_dist: 0.2070, d2.loss_plan_l1_fix_time: 0.8091, d2.loss_plan_l1_fix_dist: 0.2313, d3.loss_plan_l1_fix_time: 0.8027, d3.loss_plan_l1_fix_dist: 0.2400, d4.loss_plan_l1_fix_time: 0.8046, d4.loss_plan_l1_fix_dist: 0.2283, d5.loss_plan_l1_fix_time: 0.8070, d5.loss_plan_l1_fix_dist: 0.2569, d6.loss_plan_l1_fix_time: 0.8102, d6.loss_plan_l1_fix_dist: 0.2248, d0.loss_cls_all: 0.1637, d0.loss_bbox_all: 0.4043, d0.loss_cls: 0.1637, d0.loss_bbox: 0.4043, d1.loss_cls: 0.1549, d1.loss_bbox: 0.3670, d2.loss_cls: 0.1424, d2.loss_bbox: 0.3430, d3.loss_cls: 0.1299, d3.loss_bbox: 0.3336, d4.loss_cls: 0.1239, d4.loss_bbox: 0.3314, d5.loss_cls: 0.1200, d5.loss_bbox: 0.3318, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7535, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5775, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5217, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5029, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4967, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4963, d0.loss_map_cls_all: 0.2328, d0.loss_map_pts_all: 1.2856, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2328, d0.loss_map_pts: 1.2856, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1985, d1.loss_map_pts: 0.9401, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1727, d2.loss_map_pts: 0.7456, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1599, d3.loss_map_pts: 0.6706, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1510, d4.loss_map_pts: 0.6444, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1455, d5.loss_map_pts: 0.6372, d5.loss_map_dir: 0.0081, loss: 25.4207, grad_norm: 143.8885 +2026-02-28 14:48:44,091 - DriveTransformer - INFO - Epoch [10][20250/39528] lr: 6.944e-05, eta: 4 days, 20:17:10, time: 0.751, data_time: 0.037, memory: 19865, loss_cls: 0.0974, loss_bbox: 0.2916, loss_traj: 0.4404, loss_traj_cls: 0.0018, loss_map_cls: 0.1199, loss_map_pts: 0.5611, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.4660, d0.loss_plan_l1_fix_dist: 0.4820, d1.loss_plan_l1_fix_time: 0.7277, d1.loss_plan_l1_fix_dist: 0.2067, d2.loss_plan_l1_fix_time: 0.7204, d2.loss_plan_l1_fix_dist: 0.2344, d3.loss_plan_l1_fix_time: 0.7208, d3.loss_plan_l1_fix_dist: 0.2417, d4.loss_plan_l1_fix_time: 0.7241, d4.loss_plan_l1_fix_dist: 0.2103, d5.loss_plan_l1_fix_time: 0.7266, d5.loss_plan_l1_fix_dist: 0.2573, d6.loss_plan_l1_fix_time: 0.7298, d6.loss_plan_l1_fix_dist: 0.2242, d0.loss_cls_all: 0.1350, d0.loss_bbox_all: 0.3648, d0.loss_cls: 0.1350, d0.loss_bbox: 0.3648, d1.loss_cls: 0.1318, d1.loss_bbox: 0.3308, d2.loss_cls: 0.1196, d2.loss_bbox: 0.3084, d3.loss_cls: 0.1035, d3.loss_bbox: 0.2984, d4.loss_cls: 0.0986, d4.loss_bbox: 0.2946, d5.loss_cls: 0.0971, d5.loss_bbox: 0.2921, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6519, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5139, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4632, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4530, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4454, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4427, d0.loss_map_cls_all: 0.2127, d0.loss_map_pts_all: 1.2102, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2127, d0.loss_map_pts: 1.2102, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1743, d1.loss_map_pts: 0.8570, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1489, d2.loss_map_pts: 0.6654, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1361, d3.loss_map_pts: 0.5920, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1267, d4.loss_map_pts: 0.5668, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1214, d5.loss_map_pts: 0.5608, d5.loss_map_dir: 0.0078, loss: 23.0909, grad_norm: 143.5909 +2026-02-28 14:49:20,731 - DriveTransformer - INFO - Epoch [10][20300/39528] lr: 6.944e-05, eta: 4 days, 20:16:34, time: 0.733, data_time: 0.038, memory: 19865, loss_cls: 0.0858, loss_bbox: 0.2710, loss_traj: 0.5204, loss_traj_cls: 0.0019, loss_map_cls: 0.0938, loss_map_pts: 0.5149, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.2629, d0.loss_plan_l1_fix_dist: 0.4153, d1.loss_plan_l1_fix_time: 0.7857, d1.loss_plan_l1_fix_dist: 0.2042, d2.loss_plan_l1_fix_time: 0.7770, d2.loss_plan_l1_fix_dist: 0.2479, d3.loss_plan_l1_fix_time: 0.7750, d3.loss_plan_l1_fix_dist: 0.2490, d4.loss_plan_l1_fix_time: 0.7770, d4.loss_plan_l1_fix_dist: 0.2093, d5.loss_plan_l1_fix_time: 0.7790, d5.loss_plan_l1_fix_dist: 0.2359, d6.loss_plan_l1_fix_time: 0.7813, d6.loss_plan_l1_fix_dist: 0.2388, d0.loss_cls_all: 0.1229, d0.loss_bbox_all: 0.3327, d0.loss_cls: 0.1229, d0.loss_bbox: 0.3327, d1.loss_cls: 0.1188, d1.loss_bbox: 0.3008, d2.loss_cls: 0.1090, d2.loss_bbox: 0.2812, d3.loss_cls: 0.0924, d3.loss_bbox: 0.2756, d4.loss_cls: 0.0866, d4.loss_bbox: 0.2734, d5.loss_cls: 0.0859, d5.loss_bbox: 0.2710, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7163, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5944, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5404, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5338, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5237, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5188, d0.loss_map_cls_all: 0.1679, d0.loss_map_pts_all: 1.0718, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1679, d0.loss_map_pts: 1.0718, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1362, d1.loss_map_pts: 0.7501, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1175, d2.loss_map_pts: 0.5960, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1071, d3.loss_map_pts: 0.5409, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0997, d4.loss_map_pts: 0.5234, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0951, d5.loss_map_pts: 0.5167, d5.loss_map_dir: 0.0058, loss: 22.4737, grad_norm: 143.4136 +2026-02-28 14:49:58,180 - DriveTransformer - INFO - Epoch [10][20350/39528] lr: 6.944e-05, eta: 4 days, 20:16:01, time: 0.749, data_time: 0.042, memory: 19865, loss_cls: 0.1067, loss_bbox: 0.2932, loss_traj: 0.4793, loss_traj_cls: 0.0019, loss_map_cls: 0.0991, loss_map_pts: 0.5148, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.7898, d0.loss_plan_l1_fix_dist: 0.3969, d1.loss_plan_l1_fix_time: 0.8910, d1.loss_plan_l1_fix_dist: 0.2298, d2.loss_plan_l1_fix_time: 0.8827, d2.loss_plan_l1_fix_dist: 0.2894, d3.loss_plan_l1_fix_time: 0.8709, d3.loss_plan_l1_fix_dist: 0.2794, d4.loss_plan_l1_fix_time: 0.8715, d4.loss_plan_l1_fix_dist: 0.2338, d5.loss_plan_l1_fix_time: 0.8736, d5.loss_plan_l1_fix_dist: 0.2389, d6.loss_plan_l1_fix_time: 0.8753, d6.loss_plan_l1_fix_dist: 0.2617, d0.loss_cls_all: 0.1455, d0.loss_bbox_all: 0.3529, d0.loss_cls: 0.1455, d0.loss_bbox: 0.3529, d1.loss_cls: 0.1406, d1.loss_bbox: 0.3223, d2.loss_cls: 0.1275, d2.loss_bbox: 0.3037, d3.loss_cls: 0.1119, d3.loss_bbox: 0.3007, d4.loss_cls: 0.1066, d4.loss_bbox: 0.2971, d5.loss_cls: 0.1055, d5.loss_bbox: 0.2948, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6643, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5383, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4869, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4831, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4785, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4834, d0.loss_map_cls_all: 0.1774, d0.loss_map_pts_all: 1.0487, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1774, d0.loss_map_pts: 1.0487, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1449, d1.loss_map_pts: 0.7424, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1222, d2.loss_map_pts: 0.5934, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1112, d3.loss_map_pts: 0.5456, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1048, d4.loss_map_pts: 0.5282, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1002, d5.loss_map_pts: 0.5155, d5.loss_map_dir: 0.0069, loss: 23.7416, grad_norm: 144.3635 +2026-02-28 14:50:33,864 - DriveTransformer - INFO - Epoch [10][20400/39528] lr: 6.944e-05, eta: 4 days, 20:15:21, time: 0.714, data_time: 0.039, memory: 19865, loss_cls: 0.1131, loss_bbox: 0.3172, loss_traj: 0.5665, loss_traj_cls: 0.0019, loss_map_cls: 0.1210, loss_map_pts: 0.5578, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.6519, d0.loss_plan_l1_fix_dist: 0.3998, d1.loss_plan_l1_fix_time: 0.8268, d1.loss_plan_l1_fix_dist: 0.2044, d2.loss_plan_l1_fix_time: 0.8033, d2.loss_plan_l1_fix_dist: 0.2545, d3.loss_plan_l1_fix_time: 0.7896, d3.loss_plan_l1_fix_dist: 0.2637, d4.loss_plan_l1_fix_time: 0.7898, d4.loss_plan_l1_fix_dist: 0.2309, d5.loss_plan_l1_fix_time: 0.7916, d5.loss_plan_l1_fix_dist: 0.2038, d6.loss_plan_l1_fix_time: 0.7938, d6.loss_plan_l1_fix_dist: 0.2426, d0.loss_cls_all: 0.1647, d0.loss_bbox_all: 0.3837, d0.loss_cls: 0.1647, d0.loss_bbox: 0.3837, d1.loss_cls: 0.1566, d1.loss_bbox: 0.3464, d2.loss_cls: 0.1387, d2.loss_bbox: 0.3261, d3.loss_cls: 0.1213, d3.loss_bbox: 0.3214, d4.loss_cls: 0.1148, d4.loss_bbox: 0.3177, d5.loss_cls: 0.1130, d5.loss_bbox: 0.3175, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8138, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6463, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5956, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5791, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5724, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5701, d0.loss_map_cls_all: 0.2023, d0.loss_map_pts_all: 1.1319, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2023, d0.loss_map_pts: 1.1319, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1684, d1.loss_map_pts: 0.8254, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1459, d2.loss_map_pts: 0.6529, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1339, d3.loss_map_pts: 0.5897, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1275, d4.loss_map_pts: 0.5673, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1228, d5.loss_map_pts: 0.5588, d5.loss_map_dir: 0.0069, loss: 24.6915, grad_norm: 141.2805 +2026-02-28 14:51:10,129 - DriveTransformer - INFO - Epoch [10][20450/39528] lr: 6.944e-05, eta: 4 days, 20:14:43, time: 0.725, data_time: 0.038, memory: 19865, loss_cls: 0.1028, loss_bbox: 0.3028, loss_traj: 0.4796, loss_traj_cls: 0.0019, loss_map_cls: 0.1050, loss_map_pts: 0.5433, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.7081, d0.loss_plan_l1_fix_dist: 0.4608, d1.loss_plan_l1_fix_time: 0.8125, d1.loss_plan_l1_fix_dist: 0.2236, d2.loss_plan_l1_fix_time: 0.7915, d2.loss_plan_l1_fix_dist: 0.2374, d3.loss_plan_l1_fix_time: 0.7867, d3.loss_plan_l1_fix_dist: 0.2616, d4.loss_plan_l1_fix_time: 0.7891, d4.loss_plan_l1_fix_dist: 0.2559, d5.loss_plan_l1_fix_time: 0.7920, d5.loss_plan_l1_fix_dist: 0.2162, d6.loss_plan_l1_fix_time: 0.7955, d6.loss_plan_l1_fix_dist: 0.2310, d0.loss_cls_all: 0.1427, d0.loss_bbox_all: 0.3632, d0.loss_cls: 0.1427, d0.loss_bbox: 0.3632, d1.loss_cls: 0.1373, d1.loss_bbox: 0.3333, d2.loss_cls: 0.1230, d2.loss_bbox: 0.3137, d3.loss_cls: 0.1089, d3.loss_bbox: 0.3071, d4.loss_cls: 0.1044, d4.loss_bbox: 0.3048, d5.loss_cls: 0.1021, d5.loss_bbox: 0.3046, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7121, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5806, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5419, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5217, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5101, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5081, d0.loss_map_cls_all: 0.1864, d0.loss_map_pts_all: 1.1025, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1864, d0.loss_map_pts: 1.1025, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1551, d1.loss_map_pts: 0.7988, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1313, d2.loss_map_pts: 0.6446, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1202, d3.loss_map_pts: 0.5762, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1122, d4.loss_map_pts: 0.5526, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1073, d5.loss_map_pts: 0.5435, d5.loss_map_dir: 0.0067, loss: 23.8002, grad_norm: 141.8011 +2026-02-28 14:51:46,824 - DriveTransformer - INFO - Epoch [10][20500/39528] lr: 6.944e-05, eta: 4 days, 20:14:07, time: 0.734, data_time: 0.037, memory: 19865, loss_cls: 0.0955, loss_bbox: 0.2868, loss_traj: 0.4564, loss_traj_cls: 0.0018, loss_map_cls: 0.1168, loss_map_pts: 0.5950, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 3.0058, d0.loss_plan_l1_fix_dist: 0.3966, d1.loss_plan_l1_fix_time: 0.8848, d1.loss_plan_l1_fix_dist: 0.2371, d2.loss_plan_l1_fix_time: 0.8668, d2.loss_plan_l1_fix_dist: 0.2239, d3.loss_plan_l1_fix_time: 0.8596, d3.loss_plan_l1_fix_dist: 0.2386, d4.loss_plan_l1_fix_time: 0.8605, d4.loss_plan_l1_fix_dist: 0.2344, d5.loss_plan_l1_fix_time: 0.8622, d5.loss_plan_l1_fix_dist: 0.2181, d6.loss_plan_l1_fix_time: 0.8644, d6.loss_plan_l1_fix_dist: 0.2154, d0.loss_cls_all: 0.1435, d0.loss_bbox_all: 0.3468, d0.loss_cls: 0.1435, d0.loss_bbox: 0.3468, d1.loss_cls: 0.1375, d1.loss_bbox: 0.3158, d2.loss_cls: 0.1228, d2.loss_bbox: 0.2970, d3.loss_cls: 0.1030, d3.loss_bbox: 0.2885, d4.loss_cls: 0.0954, d4.loss_bbox: 0.2870, d5.loss_cls: 0.0952, d5.loss_bbox: 0.2862, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6785, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5309, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4828, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4697, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4609, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4590, d0.loss_map_cls_all: 0.2110, d0.loss_map_pts_all: 1.1764, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2110, d0.loss_map_pts: 1.1764, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1769, d1.loss_map_pts: 0.8612, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1459, d2.loss_map_pts: 0.6898, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1327, d3.loss_map_pts: 0.6257, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1264, d4.loss_map_pts: 0.6004, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1189, d5.loss_map_pts: 0.5954, d5.loss_map_dir: 0.0077, loss: 24.5260, grad_norm: 139.3095 +2026-02-28 14:52:21,995 - DriveTransformer - INFO - Epoch [10][20550/39528] lr: 6.944e-05, eta: 4 days, 20:13:25, time: 0.703, data_time: 0.038, memory: 19865, loss_cls: 0.1049, loss_bbox: 0.2951, loss_traj: 0.5095, loss_traj_cls: 0.0019, loss_map_cls: 0.0996, loss_map_pts: 0.4735, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.4879, d0.loss_plan_l1_fix_dist: 0.3703, d1.loss_plan_l1_fix_time: 0.8126, d1.loss_plan_l1_fix_dist: 0.2679, d2.loss_plan_l1_fix_time: 0.8048, d2.loss_plan_l1_fix_dist: 0.2083, d3.loss_plan_l1_fix_time: 0.7877, d3.loss_plan_l1_fix_dist: 0.2010, d4.loss_plan_l1_fix_time: 0.7884, d4.loss_plan_l1_fix_dist: 0.2055, d5.loss_plan_l1_fix_time: 0.7899, d5.loss_plan_l1_fix_dist: 0.1916, d6.loss_plan_l1_fix_time: 0.7914, d6.loss_plan_l1_fix_dist: 0.2104, d0.loss_cls_all: 0.1510, d0.loss_bbox_all: 0.3565, d0.loss_cls: 0.1510, d0.loss_bbox: 0.3565, d1.loss_cls: 0.1422, d1.loss_bbox: 0.3243, d2.loss_cls: 0.1301, d2.loss_bbox: 0.3019, d3.loss_cls: 0.1113, d3.loss_bbox: 0.2986, d4.loss_cls: 0.1059, d4.loss_bbox: 0.2953, d5.loss_cls: 0.1043, d5.loss_bbox: 0.2956, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7807, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5918, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5295, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5211, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5117, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5097, d0.loss_map_cls_all: 0.1855, d0.loss_map_pts_all: 0.9712, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1855, d0.loss_map_pts: 0.9712, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1526, d1.loss_map_pts: 0.7115, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1308, d2.loss_map_pts: 0.5601, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1137, d3.loss_map_pts: 0.5017, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1064, d4.loss_map_pts: 0.4825, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1008, d5.loss_map_pts: 0.4736, d5.loss_map_dir: 0.0057, loss: 22.6675, grad_norm: 138.6648 +2026-02-28 14:52:58,781 - DriveTransformer - INFO - Epoch [10][20600/39528] lr: 6.944e-05, eta: 4 days, 20:12:50, time: 0.737, data_time: 0.036, memory: 19865, loss_cls: 0.0976, loss_bbox: 0.3025, loss_traj: 0.5534, loss_traj_cls: 0.0018, loss_map_cls: 0.1102, loss_map_pts: 0.5878, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.2013, d0.loss_plan_l1_fix_dist: 0.4120, d1.loss_plan_l1_fix_time: 0.8437, d1.loss_plan_l1_fix_dist: 0.2923, d2.loss_plan_l1_fix_time: 0.8168, d2.loss_plan_l1_fix_dist: 0.2305, d3.loss_plan_l1_fix_time: 0.8015, d3.loss_plan_l1_fix_dist: 0.2044, d4.loss_plan_l1_fix_time: 0.8039, d4.loss_plan_l1_fix_dist: 0.2152, d5.loss_plan_l1_fix_time: 0.8064, d5.loss_plan_l1_fix_dist: 0.2152, d6.loss_plan_l1_fix_time: 0.8093, d6.loss_plan_l1_fix_dist: 0.2635, d0.loss_cls_all: 0.1386, d0.loss_bbox_all: 0.3712, d0.loss_cls: 0.1386, d0.loss_bbox: 0.3712, d1.loss_cls: 0.1384, d1.loss_bbox: 0.3326, d2.loss_cls: 0.1243, d2.loss_bbox: 0.3128, d3.loss_cls: 0.1043, d3.loss_bbox: 0.3046, d4.loss_cls: 0.0976, d4.loss_bbox: 0.3025, d5.loss_cls: 0.0971, d5.loss_bbox: 0.3014, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7868, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6083, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5630, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5545, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5476, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5541, d0.loss_map_cls_all: 0.2093, d0.loss_map_pts_all: 1.2151, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2093, d0.loss_map_pts: 1.2151, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1726, d1.loss_map_pts: 0.8685, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1421, d2.loss_map_pts: 0.6920, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1286, d3.loss_map_pts: 0.6271, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1202, d4.loss_map_pts: 0.5977, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1133, d5.loss_map_pts: 0.5879, d5.loss_map_dir: 0.0079, loss: 24.2844, grad_norm: 144.8353 +2026-02-28 14:53:33,974 - DriveTransformer - INFO - Epoch [10][20650/39528] lr: 6.944e-05, eta: 4 days, 20:12:08, time: 0.702, data_time: 0.038, memory: 19865, loss_cls: 0.1107, loss_bbox: 0.3208, loss_traj: 0.5423, loss_traj_cls: 0.0018, loss_map_cls: 0.1302, loss_map_pts: 0.5915, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.6907, d0.loss_plan_l1_fix_dist: 0.4511, d1.loss_plan_l1_fix_time: 0.9297, d1.loss_plan_l1_fix_dist: 0.3278, d2.loss_plan_l1_fix_time: 0.8984, d2.loss_plan_l1_fix_dist: 0.2971, d3.loss_plan_l1_fix_time: 0.8749, d3.loss_plan_l1_fix_dist: 0.2643, d4.loss_plan_l1_fix_time: 0.8753, d4.loss_plan_l1_fix_dist: 0.2342, d5.loss_plan_l1_fix_time: 0.8780, d5.loss_plan_l1_fix_dist: 0.2413, d6.loss_plan_l1_fix_time: 0.8812, d6.loss_plan_l1_fix_dist: 0.2811, d0.loss_cls_all: 0.1651, d0.loss_bbox_all: 0.3870, d0.loss_cls: 0.1651, d0.loss_bbox: 0.3870, d1.loss_cls: 0.1614, d1.loss_bbox: 0.3504, d2.loss_cls: 0.1445, d2.loss_bbox: 0.3318, d3.loss_cls: 0.1197, d3.loss_bbox: 0.3255, d4.loss_cls: 0.1137, d4.loss_bbox: 0.3220, d5.loss_cls: 0.1113, d5.loss_bbox: 0.3200, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8325, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6204, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5571, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5405, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5408, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5422, d0.loss_map_cls_all: 0.2135, d0.loss_map_pts_all: 1.1249, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2135, d0.loss_map_pts: 1.1249, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1774, d1.loss_map_pts: 0.8450, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1579, d2.loss_map_pts: 0.6797, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1452, d3.loss_map_pts: 0.6195, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1388, d4.loss_map_pts: 0.5959, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1329, d5.loss_map_pts: 0.5920, d5.loss_map_dir: 0.0069, loss: 25.6810, grad_norm: 145.6048 +2026-02-28 14:54:10,391 - DriveTransformer - INFO - Epoch [10][20700/39528] lr: 6.944e-05, eta: 4 days, 20:11:30, time: 0.728, data_time: 0.037, memory: 19865, loss_cls: 0.1006, loss_bbox: 0.2914, loss_traj: 0.5510, loss_traj_cls: 0.0019, loss_map_cls: 0.0910, loss_map_pts: 0.4770, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.6007, d0.loss_plan_l1_fix_dist: 0.5163, d1.loss_plan_l1_fix_time: 0.8835, d1.loss_plan_l1_fix_dist: 0.3276, d2.loss_plan_l1_fix_time: 0.8582, d2.loss_plan_l1_fix_dist: 0.3188, d3.loss_plan_l1_fix_time: 0.8496, d3.loss_plan_l1_fix_dist: 0.2804, d4.loss_plan_l1_fix_time: 0.8509, d4.loss_plan_l1_fix_dist: 0.2255, d5.loss_plan_l1_fix_time: 0.8536, d5.loss_plan_l1_fix_dist: 0.2374, d6.loss_plan_l1_fix_time: 0.8569, d6.loss_plan_l1_fix_dist: 0.2704, d0.loss_cls_all: 0.1393, d0.loss_bbox_all: 0.3506, d0.loss_cls: 0.1393, d0.loss_bbox: 0.3506, d1.loss_cls: 0.1377, d1.loss_bbox: 0.3178, d2.loss_cls: 0.1237, d2.loss_bbox: 0.2983, d3.loss_cls: 0.1085, d3.loss_bbox: 0.2930, d4.loss_cls: 0.1025, d4.loss_bbox: 0.2908, d5.loss_cls: 0.1007, d5.loss_bbox: 0.2906, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7635, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6293, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5730, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5527, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5496, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5507, d0.loss_map_cls_all: 0.1679, d0.loss_map_pts_all: 0.9991, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1679, d0.loss_map_pts: 0.9991, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1348, d1.loss_map_pts: 0.7058, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1122, d2.loss_map_pts: 0.5531, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1019, d3.loss_map_pts: 0.4991, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.0956, d4.loss_map_pts: 0.4801, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0919, d5.loss_map_pts: 0.4775, d5.loss_map_dir: 0.0063, loss: 23.7462, grad_norm: 146.5547 +2026-02-28 14:54:48,731 - DriveTransformer - INFO - Epoch [10][20750/39528] lr: 6.944e-05, eta: 4 days, 20:11:01, time: 0.767, data_time: 0.041, memory: 19865, loss_cls: 0.0942, loss_bbox: 0.2945, loss_traj: 0.4986, loss_traj_cls: 0.0018, loss_map_cls: 0.1065, loss_map_pts: 0.5548, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.4652, d0.loss_plan_l1_fix_dist: 0.4853, d1.loss_plan_l1_fix_time: 0.8368, d1.loss_plan_l1_fix_dist: 0.3246, d2.loss_plan_l1_fix_time: 0.8339, d2.loss_plan_l1_fix_dist: 0.3212, d3.loss_plan_l1_fix_time: 0.8348, d3.loss_plan_l1_fix_dist: 0.2752, d4.loss_plan_l1_fix_time: 0.8394, d4.loss_plan_l1_fix_dist: 0.2138, d5.loss_plan_l1_fix_time: 0.8430, d5.loss_plan_l1_fix_dist: 0.2412, d6.loss_plan_l1_fix_time: 0.8469, d6.loss_plan_l1_fix_dist: 0.2635, d0.loss_cls_all: 0.1313, d0.loss_bbox_all: 0.3534, d0.loss_cls: 0.1313, d0.loss_bbox: 0.3534, d1.loss_cls: 0.1300, d1.loss_bbox: 0.3201, d2.loss_cls: 0.1155, d2.loss_bbox: 0.3030, d3.loss_cls: 0.0968, d3.loss_bbox: 0.3009, d4.loss_cls: 0.0927, d4.loss_bbox: 0.2976, d5.loss_cls: 0.0932, d5.loss_bbox: 0.2950, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7468, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5790, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5309, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5080, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5061, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5007, d0.loss_map_cls_all: 0.1910, d0.loss_map_pts_all: 1.1445, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1910, d0.loss_map_pts: 1.1445, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1583, d1.loss_map_pts: 0.8232, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1333, d2.loss_map_pts: 0.6539, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1224, d3.loss_map_pts: 0.5880, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1131, d4.loss_map_pts: 0.5624, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1094, d5.loss_map_pts: 0.5558, d5.loss_map_dir: 0.0068, loss: 24.1120, grad_norm: 141.7231 +2026-02-28 14:55:23,402 - DriveTransformer - INFO - Epoch [10][20800/39528] lr: 6.944e-05, eta: 4 days, 20:10:17, time: 0.693, data_time: 0.038, memory: 19865, loss_cls: 0.1003, loss_bbox: 0.2765, loss_traj: 0.5366, loss_traj_cls: 0.0018, loss_map_cls: 0.1077, loss_map_pts: 0.4867, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.6687, d0.loss_plan_l1_fix_dist: 0.4066, d1.loss_plan_l1_fix_time: 0.8573, d1.loss_plan_l1_fix_dist: 0.3196, d2.loss_plan_l1_fix_time: 0.8557, d2.loss_plan_l1_fix_dist: 0.3229, d3.loss_plan_l1_fix_time: 0.8569, d3.loss_plan_l1_fix_dist: 0.2674, d4.loss_plan_l1_fix_time: 0.8599, d4.loss_plan_l1_fix_dist: 0.2293, d5.loss_plan_l1_fix_time: 0.8621, d5.loss_plan_l1_fix_dist: 0.2477, d6.loss_plan_l1_fix_time: 0.8643, d6.loss_plan_l1_fix_dist: 0.2621, d0.loss_cls_all: 0.1456, d0.loss_bbox_all: 0.3433, d0.loss_cls: 0.1456, d0.loss_bbox: 0.3433, d1.loss_cls: 0.1385, d1.loss_bbox: 0.3083, d2.loss_cls: 0.1243, d2.loss_bbox: 0.2909, d3.loss_cls: 0.1071, d3.loss_bbox: 0.2832, d4.loss_cls: 0.1010, d4.loss_bbox: 0.2790, d5.loss_cls: 0.1002, d5.loss_bbox: 0.2773, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8107, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6287, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5685, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5493, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5433, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5382, d0.loss_map_cls_all: 0.1884, d0.loss_map_pts_all: 0.9823, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1884, d0.loss_map_pts: 0.9823, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1578, d1.loss_map_pts: 0.7061, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1334, d2.loss_map_pts: 0.5608, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1226, d3.loss_map_pts: 0.5095, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1154, d4.loss_map_pts: 0.4944, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1102, d5.loss_map_pts: 0.4875, d5.loss_map_dir: 0.0060, loss: 23.8074, grad_norm: 141.9581 +2026-02-28 14:55:59,032 - DriveTransformer - INFO - Epoch [10][20850/39528] lr: 6.944e-05, eta: 4 days, 20:09:37, time: 0.713, data_time: 0.039, memory: 19865, loss_cls: 0.0948, loss_bbox: 0.2628, loss_traj: 0.4242, loss_traj_cls: 0.0019, loss_map_cls: 0.0911, loss_map_pts: 0.4484, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.4386, d0.loss_plan_l1_fix_dist: 0.4803, d1.loss_plan_l1_fix_time: 0.6861, d1.loss_plan_l1_fix_dist: 0.2954, d2.loss_plan_l1_fix_time: 0.6581, d2.loss_plan_l1_fix_dist: 0.2955, d3.loss_plan_l1_fix_time: 0.6589, d3.loss_plan_l1_fix_dist: 0.2176, d4.loss_plan_l1_fix_time: 0.6616, d4.loss_plan_l1_fix_dist: 0.2060, d5.loss_plan_l1_fix_time: 0.6639, d5.loss_plan_l1_fix_dist: 0.2114, d6.loss_plan_l1_fix_time: 0.6672, d6.loss_plan_l1_fix_dist: 0.2605, d0.loss_cls_all: 0.1350, d0.loss_bbox_all: 0.3211, d0.loss_cls: 0.1350, d0.loss_bbox: 0.3211, d1.loss_cls: 0.1300, d1.loss_bbox: 0.2873, d2.loss_cls: 0.1160, d2.loss_bbox: 0.2703, d3.loss_cls: 0.1019, d3.loss_bbox: 0.2634, d4.loss_cls: 0.0979, d4.loss_bbox: 0.2603, d5.loss_cls: 0.0952, d5.loss_bbox: 0.2613, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6453, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.4778, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4375, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4241, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4168, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4241, d0.loss_map_cls_all: 0.1662, d0.loss_map_pts_all: 0.9376, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1662, d0.loss_map_pts: 0.9376, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1406, d1.loss_map_pts: 0.6781, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1153, d2.loss_map_pts: 0.5348, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1039, d3.loss_map_pts: 0.4806, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0977, d4.loss_map_pts: 0.4586, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0929, d5.loss_map_pts: 0.4501, d5.loss_map_dir: 0.0056, loss: 20.7550, grad_norm: 136.7680 +2026-02-28 14:56:36,553 - DriveTransformer - INFO - Epoch [10][20900/39528] lr: 6.944e-05, eta: 4 days, 20:09:04, time: 0.750, data_time: 0.039, memory: 19865, loss_cls: 0.0946, loss_bbox: 0.2847, loss_traj: 0.4785, loss_traj_cls: 0.0019, loss_map_cls: 0.0923, loss_map_pts: 0.4400, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.4345, d0.loss_plan_l1_fix_dist: 0.4127, d1.loss_plan_l1_fix_time: 0.7665, d1.loss_plan_l1_fix_dist: 0.3070, d2.loss_plan_l1_fix_time: 0.7516, d2.loss_plan_l1_fix_dist: 0.3259, d3.loss_plan_l1_fix_time: 0.7500, d3.loss_plan_l1_fix_dist: 0.2529, d4.loss_plan_l1_fix_time: 0.7537, d4.loss_plan_l1_fix_dist: 0.2479, d5.loss_plan_l1_fix_time: 0.7571, d5.loss_plan_l1_fix_dist: 0.2486, d6.loss_plan_l1_fix_time: 0.7611, d6.loss_plan_l1_fix_dist: 0.2933, d0.loss_cls_all: 0.1349, d0.loss_bbox_all: 0.3353, d0.loss_cls: 0.1349, d0.loss_bbox: 0.3353, d1.loss_cls: 0.1279, d1.loss_bbox: 0.3104, d2.loss_cls: 0.1139, d2.loss_bbox: 0.2940, d3.loss_cls: 0.1018, d3.loss_bbox: 0.2859, d4.loss_cls: 0.0961, d4.loss_bbox: 0.2850, d5.loss_cls: 0.0945, d5.loss_bbox: 0.2836, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6903, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5433, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4990, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4848, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4788, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4785, d0.loss_map_cls_all: 0.1676, d0.loss_map_pts_all: 0.9647, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1676, d0.loss_map_pts: 0.9647, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1362, d1.loss_map_pts: 0.6653, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1141, d2.loss_map_pts: 0.5205, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1033, d3.loss_map_pts: 0.4690, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0973, d4.loss_map_pts: 0.4484, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0931, d5.loss_map_pts: 0.4409, d5.loss_map_dir: 0.0060, loss: 21.9701, grad_norm: 134.8805 +2026-02-28 14:57:11,995 - DriveTransformer - INFO - Epoch [10][20950/39528] lr: 6.944e-05, eta: 4 days, 20:08:23, time: 0.709, data_time: 0.036, memory: 19865, loss_cls: 0.1265, loss_bbox: 0.3199, loss_traj: 0.5990, loss_traj_cls: 0.0018, loss_map_cls: 0.1317, loss_map_pts: 0.5722, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.8815, d0.loss_plan_l1_fix_dist: 0.3800, d1.loss_plan_l1_fix_time: 0.8931, d1.loss_plan_l1_fix_dist: 0.2813, d2.loss_plan_l1_fix_time: 0.8729, d2.loss_plan_l1_fix_dist: 0.3199, d3.loss_plan_l1_fix_time: 0.8968, d3.loss_plan_l1_fix_dist: 0.2618, d4.loss_plan_l1_fix_time: 0.9009, d4.loss_plan_l1_fix_dist: 0.2309, d5.loss_plan_l1_fix_time: 0.9037, d5.loss_plan_l1_fix_dist: 0.2479, d6.loss_plan_l1_fix_time: 0.9068, d6.loss_plan_l1_fix_dist: 0.2790, d0.loss_cls_all: 0.1719, d0.loss_bbox_all: 0.3939, d0.loss_cls: 0.1719, d0.loss_bbox: 0.3939, d1.loss_cls: 0.1640, d1.loss_bbox: 0.3556, d2.loss_cls: 0.1463, d2.loss_bbox: 0.3319, d3.loss_cls: 0.1335, d3.loss_bbox: 0.3246, d4.loss_cls: 0.1278, d4.loss_bbox: 0.3221, d5.loss_cls: 0.1270, d5.loss_bbox: 0.3196, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8396, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6664, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6261, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.6126, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.6019, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6021, d0.loss_map_cls_all: 0.2163, d0.loss_map_pts_all: 1.0429, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2163, d0.loss_map_pts: 1.0429, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1848, d1.loss_map_pts: 0.8045, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1589, d2.loss_map_pts: 0.6676, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1490, d3.loss_map_pts: 0.6073, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1389, d4.loss_map_pts: 0.5792, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1344, d5.loss_map_pts: 0.5731, d5.loss_map_dir: 0.0067, loss: 26.0149, grad_norm: 134.4215 +2026-02-28 14:57:48,285 - DriveTransformer - INFO - Epoch [10][21000/39528] lr: 6.944e-05, eta: 4 days, 20:07:45, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.1157, loss_bbox: 0.3459, loss_traj: 0.6111, loss_traj_cls: 0.0018, loss_map_cls: 0.1364, loss_map_pts: 0.6504, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 3.3926, d0.loss_plan_l1_fix_dist: 0.4696, d1.loss_plan_l1_fix_time: 1.0172, d1.loss_plan_l1_fix_dist: 0.2736, d2.loss_plan_l1_fix_time: 0.9976, d2.loss_plan_l1_fix_dist: 0.3350, d3.loss_plan_l1_fix_time: 0.9930, d3.loss_plan_l1_fix_dist: 0.3212, d4.loss_plan_l1_fix_time: 0.9938, d4.loss_plan_l1_fix_dist: 0.2794, d5.loss_plan_l1_fix_time: 0.9952, d5.loss_plan_l1_fix_dist: 0.3212, d6.loss_plan_l1_fix_time: 0.9976, d6.loss_plan_l1_fix_dist: 0.3138, d0.loss_cls_all: 0.1617, d0.loss_bbox_all: 0.4275, d0.loss_cls: 0.1617, d0.loss_bbox: 0.4275, d1.loss_cls: 0.1552, d1.loss_bbox: 0.3829, d2.loss_cls: 0.1401, d2.loss_bbox: 0.3589, d3.loss_cls: 0.1251, d3.loss_bbox: 0.3496, d4.loss_cls: 0.1180, d4.loss_bbox: 0.3479, d5.loss_cls: 0.1153, d5.loss_bbox: 0.3454, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9619, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.7317, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6538, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.6226, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.6103, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6088, d0.loss_map_cls_all: 0.2240, d0.loss_map_pts_all: 1.2469, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2240, d0.loss_map_pts: 1.2469, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1893, d1.loss_map_pts: 0.9301, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1638, d2.loss_map_pts: 0.7564, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1514, d3.loss_map_pts: 0.6868, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1434, d4.loss_map_pts: 0.6569, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1380, d5.loss_map_pts: 0.6513, d5.loss_map_dir: 0.0074, loss: 28.8406, grad_norm: 133.8022 +2026-02-28 14:58:23,932 - DriveTransformer - INFO - Epoch [10][21050/39528] lr: 6.944e-05, eta: 4 days, 20:07:05, time: 0.713, data_time: 0.038, memory: 19865, loss_cls: 0.0938, loss_bbox: 0.2802, loss_traj: 0.4584, loss_traj_cls: 0.0020, loss_map_cls: 0.0988, loss_map_pts: 0.4569, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.1785, d0.loss_plan_l1_fix_dist: 0.5498, d1.loss_plan_l1_fix_time: 0.7639, d1.loss_plan_l1_fix_dist: 0.2343, d2.loss_plan_l1_fix_time: 0.7460, d2.loss_plan_l1_fix_dist: 0.2762, d3.loss_plan_l1_fix_time: 0.7469, d3.loss_plan_l1_fix_dist: 0.2871, d4.loss_plan_l1_fix_time: 0.7491, d4.loss_plan_l1_fix_dist: 0.2710, d5.loss_plan_l1_fix_time: 0.7524, d5.loss_plan_l1_fix_dist: 0.3181, d6.loss_plan_l1_fix_time: 0.7559, d6.loss_plan_l1_fix_dist: 0.2942, d0.loss_cls_all: 0.1292, d0.loss_bbox_all: 0.3400, d0.loss_cls: 0.1292, d0.loss_bbox: 0.3400, d1.loss_cls: 0.1274, d1.loss_bbox: 0.3085, d2.loss_cls: 0.1217, d2.loss_bbox: 0.2855, d3.loss_cls: 0.1032, d3.loss_bbox: 0.2807, d4.loss_cls: 0.0966, d4.loss_bbox: 0.2794, d5.loss_cls: 0.0941, d5.loss_bbox: 0.2794, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6545, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5281, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4860, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4699, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4639, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4603, d0.loss_map_cls_all: 0.1606, d0.loss_map_pts_all: 0.9153, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1606, d0.loss_map_pts: 0.9153, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1399, d1.loss_map_pts: 0.6575, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1194, d2.loss_map_pts: 0.5252, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1093, d3.loss_map_pts: 0.4802, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1037, d4.loss_map_pts: 0.4615, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1005, d5.loss_map_pts: 0.4584, d5.loss_map_dir: 0.0055, loss: 21.6471, grad_norm: 132.9206 +2026-02-28 14:58:59,892 - DriveTransformer - INFO - Epoch [10][21100/39528] lr: 6.944e-05, eta: 4 days, 20:06:26, time: 0.719, data_time: 0.038, memory: 19865, loss_cls: 0.1173, loss_bbox: 0.3109, loss_traj: 0.4676, loss_traj_cls: 0.0019, loss_map_cls: 0.1064, loss_map_pts: 0.5370, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.5323, d0.loss_plan_l1_fix_dist: 0.5016, d1.loss_plan_l1_fix_time: 0.7007, d1.loss_plan_l1_fix_dist: 0.2691, d2.loss_plan_l1_fix_time: 0.6797, d2.loss_plan_l1_fix_dist: 0.2787, d3.loss_plan_l1_fix_time: 0.6789, d3.loss_plan_l1_fix_dist: 0.2900, d4.loss_plan_l1_fix_time: 0.6835, d4.loss_plan_l1_fix_dist: 0.3079, d5.loss_plan_l1_fix_time: 0.6891, d5.loss_plan_l1_fix_dist: 0.3413, d6.loss_plan_l1_fix_time: 0.6943, d6.loss_plan_l1_fix_dist: 0.3788, d0.loss_cls_all: 0.1606, d0.loss_bbox_all: 0.3694, d0.loss_cls: 0.1606, d0.loss_bbox: 0.3694, d1.loss_cls: 0.1546, d1.loss_bbox: 0.3357, d2.loss_cls: 0.1412, d2.loss_bbox: 0.3162, d3.loss_cls: 0.1225, d3.loss_bbox: 0.3118, d4.loss_cls: 0.1182, d4.loss_bbox: 0.3099, d5.loss_cls: 0.1164, d5.loss_bbox: 0.3101, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7121, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5472, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4846, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4741, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4722, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4675, d0.loss_map_cls_all: 0.1921, d0.loss_map_pts_all: 1.0793, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1921, d0.loss_map_pts: 1.0793, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1657, d1.loss_map_pts: 0.7820, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1369, d2.loss_map_pts: 0.6306, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1224, d3.loss_map_pts: 0.5701, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1138, d4.loss_map_pts: 0.5458, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1086, d5.loss_map_pts: 0.5374, d5.loss_map_dir: 0.0064, loss: 23.3338, grad_norm: 138.9564 +2026-02-28 14:59:36,116 - DriveTransformer - INFO - Epoch [10][21150/39528] lr: 6.944e-05, eta: 4 days, 20:05:48, time: 0.724, data_time: 0.039, memory: 19865, loss_cls: 0.0934, loss_bbox: 0.2882, loss_traj: 0.5259, loss_traj_cls: 0.0019, loss_map_cls: 0.0950, loss_map_pts: 0.5144, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.7732, d0.loss_plan_l1_fix_dist: 0.5069, d1.loss_plan_l1_fix_time: 0.8635, d1.loss_plan_l1_fix_dist: 0.2905, d2.loss_plan_l1_fix_time: 0.8487, d2.loss_plan_l1_fix_dist: 0.3034, d3.loss_plan_l1_fix_time: 0.8435, d3.loss_plan_l1_fix_dist: 0.2833, d4.loss_plan_l1_fix_time: 0.8468, d4.loss_plan_l1_fix_dist: 0.2935, d5.loss_plan_l1_fix_time: 0.8513, d5.loss_plan_l1_fix_dist: 0.2992, d6.loss_plan_l1_fix_time: 0.8562, d6.loss_plan_l1_fix_dist: 0.3912, d0.loss_cls_all: 0.1419, d0.loss_bbox_all: 0.3560, d0.loss_cls: 0.1419, d0.loss_bbox: 0.3560, d1.loss_cls: 0.1361, d1.loss_bbox: 0.3176, d2.loss_cls: 0.1166, d2.loss_bbox: 0.2981, d3.loss_cls: 0.1013, d3.loss_bbox: 0.2901, d4.loss_cls: 0.0956, d4.loss_bbox: 0.2882, d5.loss_cls: 0.0928, d5.loss_bbox: 0.2871, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8331, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6151, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5613, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5410, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5300, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5261, d0.loss_map_cls_all: 0.1824, d0.loss_map_pts_all: 1.0797, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1824, d0.loss_map_pts: 1.0797, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1459, d1.loss_map_pts: 0.7604, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1217, d2.loss_map_pts: 0.5969, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1095, d3.loss_map_pts: 0.5450, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1018, d4.loss_map_pts: 0.5200, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0964, d5.loss_map_pts: 0.5151, d5.loss_map_dir: 0.0067, loss: 24.4923, grad_norm: 143.4141 +2026-02-28 15:00:12,411 - DriveTransformer - INFO - Epoch [10][21200/39528] lr: 6.944e-05, eta: 4 days, 20:05:11, time: 0.726, data_time: 0.039, memory: 19865, loss_cls: 0.0984, loss_bbox: 0.3166, loss_traj: 0.4851, loss_traj_cls: 0.0019, loss_map_cls: 0.1121, loss_map_pts: 0.5386, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.7262, d0.loss_plan_l1_fix_dist: 0.4558, d1.loss_plan_l1_fix_time: 0.9181, d1.loss_plan_l1_fix_dist: 0.2841, d2.loss_plan_l1_fix_time: 0.8940, d2.loss_plan_l1_fix_dist: 0.3189, d3.loss_plan_l1_fix_time: 0.8935, d3.loss_plan_l1_fix_dist: 0.2841, d4.loss_plan_l1_fix_time: 0.8956, d4.loss_plan_l1_fix_dist: 0.2738, d5.loss_plan_l1_fix_time: 0.8977, d5.loss_plan_l1_fix_dist: 0.2607, d6.loss_plan_l1_fix_time: 0.9000, d6.loss_plan_l1_fix_dist: 0.3751, d0.loss_cls_all: 0.1501, d0.loss_bbox_all: 0.3790, d0.loss_cls: 0.1501, d0.loss_bbox: 0.3790, d1.loss_cls: 0.1474, d1.loss_bbox: 0.3412, d2.loss_cls: 0.1282, d2.loss_bbox: 0.3252, d3.loss_cls: 0.1066, d3.loss_bbox: 0.3183, d4.loss_cls: 0.1012, d4.loss_bbox: 0.3153, d5.loss_cls: 0.0987, d5.loss_bbox: 0.3150, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6945, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5532, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5125, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5045, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4967, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4904, d0.loss_map_cls_all: 0.1888, d0.loss_map_pts_all: 1.0677, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1888, d0.loss_map_pts: 1.0677, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1637, d1.loss_map_pts: 0.7627, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1386, d2.loss_map_pts: 0.6162, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1263, d3.loss_map_pts: 0.5632, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1185, d4.loss_map_pts: 0.5419, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1137, d5.loss_map_pts: 0.5380, d5.loss_map_dir: 0.0071, loss: 24.6940, grad_norm: 144.0414 +2026-02-28 15:00:49,444 - DriveTransformer - INFO - Epoch [10][21250/39528] lr: 6.944e-05, eta: 4 days, 20:04:36, time: 0.741, data_time: 0.038, memory: 19865, loss_cls: 0.1080, loss_bbox: 0.3024, loss_traj: 0.5501, loss_traj_cls: 0.0020, loss_map_cls: 0.0966, loss_map_pts: 0.5422, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.5780, d0.loss_plan_l1_fix_dist: 0.5533, d1.loss_plan_l1_fix_time: 0.8082, d1.loss_plan_l1_fix_dist: 0.2744, d2.loss_plan_l1_fix_time: 0.7943, d2.loss_plan_l1_fix_dist: 0.3146, d3.loss_plan_l1_fix_time: 0.7907, d3.loss_plan_l1_fix_dist: 0.2899, d4.loss_plan_l1_fix_time: 0.7930, d4.loss_plan_l1_fix_dist: 0.2558, d5.loss_plan_l1_fix_time: 0.7961, d5.loss_plan_l1_fix_dist: 0.2422, d6.loss_plan_l1_fix_time: 0.7997, d6.loss_plan_l1_fix_dist: 0.3545, d0.loss_cls_all: 0.1627, d0.loss_bbox_all: 0.3650, d0.loss_cls: 0.1627, d0.loss_bbox: 0.3650, d1.loss_cls: 0.1550, d1.loss_bbox: 0.3327, d2.loss_cls: 0.1369, d2.loss_bbox: 0.3115, d3.loss_cls: 0.1187, d3.loss_bbox: 0.3042, d4.loss_cls: 0.1116, d4.loss_bbox: 0.3004, d5.loss_cls: 0.1087, d5.loss_bbox: 0.3010, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7893, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6234, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5747, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5590, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5514, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5527, d0.loss_map_cls_all: 0.1670, d0.loss_map_pts_all: 1.0661, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1670, d0.loss_map_pts: 1.0661, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1358, d1.loss_map_pts: 0.7702, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1189, d2.loss_map_pts: 0.6133, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1088, d3.loss_map_pts: 0.5632, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1023, d4.loss_map_pts: 0.5469, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.0976, d5.loss_map_pts: 0.5425, d5.loss_map_dir: 0.0070, loss: 24.2580, grad_norm: 142.6355 +2026-02-28 15:01:25,488 - DriveTransformer - INFO - Epoch [10][21300/39528] lr: 6.944e-05, eta: 4 days, 20:03:58, time: 0.721, data_time: 0.038, memory: 19865, loss_cls: 0.0909, loss_bbox: 0.2867, loss_traj: 0.5103, loss_traj_cls: 0.0019, loss_map_cls: 0.1071, loss_map_pts: 0.5279, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.5374, d0.loss_plan_l1_fix_dist: 0.4706, d1.loss_plan_l1_fix_time: 0.8701, d1.loss_plan_l1_fix_dist: 0.2352, d2.loss_plan_l1_fix_time: 0.8525, d2.loss_plan_l1_fix_dist: 0.2736, d3.loss_plan_l1_fix_time: 0.8452, d3.loss_plan_l1_fix_dist: 0.2541, d4.loss_plan_l1_fix_time: 0.8484, d4.loss_plan_l1_fix_dist: 0.2258, d5.loss_plan_l1_fix_time: 0.8514, d5.loss_plan_l1_fix_dist: 0.2264, d6.loss_plan_l1_fix_time: 0.8550, d6.loss_plan_l1_fix_dist: 0.3399, d0.loss_cls_all: 0.1371, d0.loss_bbox_all: 0.3531, d0.loss_cls: 0.1371, d0.loss_bbox: 0.3531, d1.loss_cls: 0.1301, d1.loss_bbox: 0.3186, d2.loss_cls: 0.1159, d2.loss_bbox: 0.2995, d3.loss_cls: 0.0959, d3.loss_bbox: 0.2930, d4.loss_cls: 0.0926, d4.loss_bbox: 0.2879, d5.loss_cls: 0.0917, d5.loss_bbox: 0.2855, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7180, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5764, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5359, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5228, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5126, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5099, d0.loss_map_cls_all: 0.1983, d0.loss_map_pts_all: 1.1244, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1983, d0.loss_map_pts: 1.1244, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1598, d1.loss_map_pts: 0.7900, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1337, d2.loss_map_pts: 0.6220, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1222, d3.loss_map_pts: 0.5596, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1135, d4.loss_map_pts: 0.5338, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1095, d5.loss_map_pts: 0.5276, d5.loss_map_dir: 0.0071, loss: 23.9541, grad_norm: 142.3817 +2026-02-28 15:02:00,492 - DriveTransformer - INFO - Epoch [10][21350/39528] lr: 6.944e-05, eta: 4 days, 20:03:15, time: 0.700, data_time: 0.036, memory: 19865, loss_cls: 0.1137, loss_bbox: 0.2939, loss_traj: 0.5435, loss_traj_cls: 0.0019, loss_map_cls: 0.1016, loss_map_pts: 0.4912, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.7343, d0.loss_plan_l1_fix_dist: 0.4011, d1.loss_plan_l1_fix_time: 0.9932, d1.loss_plan_l1_fix_dist: 0.2091, d2.loss_plan_l1_fix_time: 0.9689, d2.loss_plan_l1_fix_dist: 0.2522, d3.loss_plan_l1_fix_time: 0.9420, d3.loss_plan_l1_fix_dist: 0.2281, d4.loss_plan_l1_fix_time: 0.9451, d4.loss_plan_l1_fix_dist: 0.2300, d5.loss_plan_l1_fix_time: 0.9496, d5.loss_plan_l1_fix_dist: 0.2430, d6.loss_plan_l1_fix_time: 0.9551, d6.loss_plan_l1_fix_dist: 0.3009, d0.loss_cls_all: 0.1583, d0.loss_bbox_all: 0.3715, d0.loss_cls: 0.1583, d0.loss_bbox: 0.3715, d1.loss_cls: 0.1549, d1.loss_bbox: 0.3333, d2.loss_cls: 0.1408, d2.loss_bbox: 0.3090, d3.loss_cls: 0.1199, d3.loss_bbox: 0.3037, d4.loss_cls: 0.1167, d4.loss_bbox: 0.2977, d5.loss_cls: 0.1126, d5.loss_bbox: 0.2959, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8057, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6331, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5603, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5498, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5451, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5423, d0.loss_map_cls_all: 0.1819, d0.loss_map_pts_all: 1.0195, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1819, d0.loss_map_pts: 1.0195, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1516, d1.loss_map_pts: 0.7310, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1258, d2.loss_map_pts: 0.5863, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1146, d3.loss_map_pts: 0.5233, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1077, d4.loss_map_pts: 0.5009, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1040, d5.loss_map_pts: 0.4919, d5.loss_map_dir: 0.0056, loss: 24.6675, grad_norm: 140.0763 +2026-02-28 15:02:35,887 - DriveTransformer - INFO - Epoch [10][21400/39528] lr: 6.944e-05, eta: 4 days, 20:02:34, time: 0.709, data_time: 0.039, memory: 19865, loss_cls: 0.1039, loss_bbox: 0.2950, loss_traj: 0.5390, loss_traj_cls: 0.0019, loss_map_cls: 0.1145, loss_map_pts: 0.5273, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.5186, d0.loss_plan_l1_fix_dist: 0.3859, d1.loss_plan_l1_fix_time: 0.8610, d1.loss_plan_l1_fix_dist: 0.1915, d2.loss_plan_l1_fix_time: 0.8427, d2.loss_plan_l1_fix_dist: 0.2300, d3.loss_plan_l1_fix_time: 0.8445, d3.loss_plan_l1_fix_dist: 0.2193, d4.loss_plan_l1_fix_time: 0.8500, d4.loss_plan_l1_fix_dist: 0.2300, d5.loss_plan_l1_fix_time: 0.8554, d5.loss_plan_l1_fix_dist: 0.2515, d6.loss_plan_l1_fix_time: 0.8617, d6.loss_plan_l1_fix_dist: 0.2425, d0.loss_cls_all: 0.1475, d0.loss_bbox_all: 0.3562, d0.loss_cls: 0.1475, d0.loss_bbox: 0.3562, d1.loss_cls: 0.1413, d1.loss_bbox: 0.3208, d2.loss_cls: 0.1275, d2.loss_bbox: 0.3007, d3.loss_cls: 0.1100, d3.loss_bbox: 0.3003, d4.loss_cls: 0.1041, d4.loss_bbox: 0.2979, d5.loss_cls: 0.1027, d5.loss_bbox: 0.2962, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8219, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6405, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5869, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5553, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5452, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5380, d0.loss_map_cls_all: 0.2036, d0.loss_map_pts_all: 1.1017, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.2036, d0.loss_map_pts: 1.1017, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1725, d1.loss_map_pts: 0.8069, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1424, d2.loss_map_pts: 0.6375, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1303, d3.loss_map_pts: 0.5651, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.1229, d4.loss_map_pts: 0.5389, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.1172, d5.loss_map_pts: 0.5283, d5.loss_map_dir: 0.0052, loss: 24.1823, grad_norm: 139.6256 +2026-02-28 15:03:12,197 - DriveTransformer - INFO - Epoch [10][21450/39528] lr: 6.944e-05, eta: 4 days, 20:01:56, time: 0.725, data_time: 0.037, memory: 19865, loss_cls: 0.1100, loss_bbox: 0.3243, loss_traj: 0.4816, loss_traj_cls: 0.0019, loss_map_cls: 0.1214, loss_map_pts: 0.6346, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.4928, d0.loss_plan_l1_fix_dist: 0.4483, d1.loss_plan_l1_fix_time: 0.7825, d1.loss_plan_l1_fix_dist: 0.2273, d2.loss_plan_l1_fix_time: 0.7788, d2.loss_plan_l1_fix_dist: 0.2511, d3.loss_plan_l1_fix_time: 0.7783, d3.loss_plan_l1_fix_dist: 0.2682, d4.loss_plan_l1_fix_time: 0.7805, d4.loss_plan_l1_fix_dist: 0.2786, d5.loss_plan_l1_fix_time: 0.7839, d5.loss_plan_l1_fix_dist: 0.3068, d6.loss_plan_l1_fix_time: 0.7880, d6.loss_plan_l1_fix_dist: 0.2795, d0.loss_cls_all: 0.1659, d0.loss_bbox_all: 0.3976, d0.loss_cls: 0.1659, d0.loss_bbox: 0.3976, d1.loss_cls: 0.1556, d1.loss_bbox: 0.3611, d2.loss_cls: 0.1378, d2.loss_bbox: 0.3365, d3.loss_cls: 0.1174, d3.loss_bbox: 0.3317, d4.loss_cls: 0.1121, d4.loss_bbox: 0.3263, d5.loss_cls: 0.1089, d5.loss_bbox: 0.3256, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6775, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5433, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5042, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4894, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4815, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4783, d0.loss_map_cls_all: 0.1893, d0.loss_map_pts_all: 1.1301, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1893, d0.loss_map_pts: 1.1301, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1657, d1.loss_map_pts: 0.8468, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1450, d2.loss_map_pts: 0.7103, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1339, d3.loss_map_pts: 0.6569, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1285, d4.loss_map_pts: 0.6401, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1238, d5.loss_map_pts: 0.6345, d5.loss_map_dir: 0.0074, loss: 24.4195, grad_norm: 139.3884 +2026-02-28 15:03:48,985 - DriveTransformer - INFO - Epoch [10][21500/39528] lr: 6.944e-05, eta: 4 days, 20:01:20, time: 0.736, data_time: 0.036, memory: 19865, loss_cls: 0.0962, loss_bbox: 0.2801, loss_traj: 0.4113, loss_traj_cls: 0.0019, loss_map_cls: 0.1061, loss_map_pts: 0.5329, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.3821, d0.loss_plan_l1_fix_dist: 0.4503, d1.loss_plan_l1_fix_time: 0.7435, d1.loss_plan_l1_fix_dist: 0.2020, d2.loss_plan_l1_fix_time: 0.7379, d2.loss_plan_l1_fix_dist: 0.2345, d3.loss_plan_l1_fix_time: 0.7277, d3.loss_plan_l1_fix_dist: 0.2603, d4.loss_plan_l1_fix_time: 0.7291, d4.loss_plan_l1_fix_dist: 0.2620, d5.loss_plan_l1_fix_time: 0.7320, d5.loss_plan_l1_fix_dist: 0.2743, d6.loss_plan_l1_fix_time: 0.7350, d6.loss_plan_l1_fix_dist: 0.2423, d0.loss_cls_all: 0.1356, d0.loss_bbox_all: 0.3435, d0.loss_cls: 0.1356, d0.loss_bbox: 0.3435, d1.loss_cls: 0.1351, d1.loss_bbox: 0.3113, d2.loss_cls: 0.1216, d2.loss_bbox: 0.2912, d3.loss_cls: 0.1052, d3.loss_bbox: 0.2841, d4.loss_cls: 0.0985, d4.loss_bbox: 0.2828, d5.loss_cls: 0.0959, d5.loss_bbox: 0.2811, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6271, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.4736, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4286, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4131, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4121, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4100, d0.loss_map_cls_all: 0.1851, d0.loss_map_pts_all: 1.1283, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1851, d0.loss_map_pts: 1.1283, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1528, d1.loss_map_pts: 0.7937, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1318, d2.loss_map_pts: 0.6226, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1221, d3.loss_map_pts: 0.5577, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1128, d4.loss_map_pts: 0.5382, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1093, d5.loss_map_pts: 0.5325, d5.loss_map_dir: 0.0070, loss: 22.2317, grad_norm: 138.3417 +2026-02-28 15:04:27,051 - DriveTransformer - INFO - Epoch [10][21550/39528] lr: 6.944e-05, eta: 4 days, 20:00:50, time: 0.761, data_time: 0.037, memory: 19865, loss_cls: 0.0874, loss_bbox: 0.2756, loss_traj: 0.4123, loss_traj_cls: 0.0019, loss_map_cls: 0.0977, loss_map_pts: 0.5244, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.6168, d0.loss_plan_l1_fix_dist: 0.4982, d1.loss_plan_l1_fix_time: 0.7641, d1.loss_plan_l1_fix_dist: 0.2268, d2.loss_plan_l1_fix_time: 0.7511, d2.loss_plan_l1_fix_dist: 0.2529, d3.loss_plan_l1_fix_time: 0.7423, d3.loss_plan_l1_fix_dist: 0.2802, d4.loss_plan_l1_fix_time: 0.7462, d4.loss_plan_l1_fix_dist: 0.2585, d5.loss_plan_l1_fix_time: 0.7489, d5.loss_plan_l1_fix_dist: 0.2843, d6.loss_plan_l1_fix_time: 0.7521, d6.loss_plan_l1_fix_dist: 0.2865, d0.loss_cls_all: 0.1317, d0.loss_bbox_all: 0.3381, d0.loss_cls: 0.1317, d0.loss_bbox: 0.3381, d1.loss_cls: 0.1251, d1.loss_bbox: 0.3040, d2.loss_cls: 0.1109, d2.loss_bbox: 0.2851, d3.loss_cls: 0.0937, d3.loss_bbox: 0.2816, d4.loss_cls: 0.0906, d4.loss_bbox: 0.2759, d5.loss_cls: 0.0875, d5.loss_bbox: 0.2752, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6169, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.4755, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4280, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4166, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4145, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4132, d0.loss_map_cls_all: 0.1846, d0.loss_map_pts_all: 1.1399, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.1846, d0.loss_map_pts: 1.1399, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1495, d1.loss_map_pts: 0.7941, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1261, d2.loss_map_pts: 0.6105, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1140, d3.loss_map_pts: 0.5494, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1053, d4.loss_map_pts: 0.5277, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1003, d5.loss_map_pts: 0.5238, d5.loss_map_dir: 0.0074, loss: 22.5570, grad_norm: 136.9865 +2026-02-28 15:05:05,100 - DriveTransformer - INFO - Epoch [10][21600/39528] lr: 6.944e-05, eta: 4 days, 20:00:20, time: 0.761, data_time: 0.038, memory: 19865, loss_cls: 0.1018, loss_bbox: 0.2842, loss_traj: 0.4396, loss_traj_cls: 0.0019, loss_map_cls: 0.1036, loss_map_pts: 0.5579, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.8447, d0.loss_plan_l1_fix_dist: 0.4293, d1.loss_plan_l1_fix_time: 0.8740, d1.loss_plan_l1_fix_dist: 0.2279, d2.loss_plan_l1_fix_time: 0.8558, d2.loss_plan_l1_fix_dist: 0.2170, d3.loss_plan_l1_fix_time: 0.8498, d3.loss_plan_l1_fix_dist: 0.2412, d4.loss_plan_l1_fix_time: 0.8513, d4.loss_plan_l1_fix_dist: 0.1989, d5.loss_plan_l1_fix_time: 0.8527, d5.loss_plan_l1_fix_dist: 0.2336, d6.loss_plan_l1_fix_time: 0.8545, d6.loss_plan_l1_fix_dist: 0.2522, d0.loss_cls_all: 0.1443, d0.loss_bbox_all: 0.3542, d0.loss_cls: 0.1443, d0.loss_bbox: 0.3542, d1.loss_cls: 0.1367, d1.loss_bbox: 0.3197, d2.loss_cls: 0.1239, d2.loss_bbox: 0.3001, d3.loss_cls: 0.1077, d3.loss_bbox: 0.2916, d4.loss_cls: 0.1029, d4.loss_bbox: 0.2880, d5.loss_cls: 0.1021, d5.loss_bbox: 0.2847, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6403, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.4948, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4573, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4415, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4376, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4353, d0.loss_map_cls_all: 0.1834, d0.loss_map_pts_all: 1.1344, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.1834, d0.loss_map_pts: 1.1344, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1502, d1.loss_map_pts: 0.8088, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1280, d2.loss_map_pts: 0.6381, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1175, d3.loss_map_pts: 0.5807, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1110, d4.loss_map_pts: 0.5598, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1056, d5.loss_map_pts: 0.5565, d5.loss_map_dir: 0.0082, loss: 23.6949, grad_norm: 137.9300 +2026-02-28 15:05:42,988 - DriveTransformer - INFO - Epoch [10][21650/39528] lr: 6.944e-05, eta: 4 days, 19:59:48, time: 0.758, data_time: 0.038, memory: 19865, loss_cls: 0.0939, loss_bbox: 0.2945, loss_traj: 0.4510, loss_traj_cls: 0.0018, loss_map_cls: 0.1330, loss_map_pts: 0.5998, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.9913, d0.loss_plan_l1_fix_dist: 0.4094, d1.loss_plan_l1_fix_time: 0.8204, d1.loss_plan_l1_fix_dist: 0.2549, d2.loss_plan_l1_fix_time: 0.8019, d2.loss_plan_l1_fix_dist: 0.1990, d3.loss_plan_l1_fix_time: 0.7997, d3.loss_plan_l1_fix_dist: 0.2600, d4.loss_plan_l1_fix_time: 0.8020, d4.loss_plan_l1_fix_dist: 0.2181, d5.loss_plan_l1_fix_time: 0.8048, d5.loss_plan_l1_fix_dist: 0.2504, d6.loss_plan_l1_fix_time: 0.8081, d6.loss_plan_l1_fix_dist: 0.2760, d0.loss_cls_all: 0.1351, d0.loss_bbox_all: 0.3550, d0.loss_cls: 0.1351, d0.loss_bbox: 0.3550, d1.loss_cls: 0.1262, d1.loss_bbox: 0.3224, d2.loss_cls: 0.1173, d2.loss_bbox: 0.3013, d3.loss_cls: 0.1001, d3.loss_bbox: 0.2975, d4.loss_cls: 0.0962, d4.loss_bbox: 0.2954, d5.loss_cls: 0.0933, d5.loss_bbox: 0.2953, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6832, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5108, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4655, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4556, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4534, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4511, d0.loss_map_cls_all: 0.2158, d0.loss_map_pts_all: 1.2214, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2158, d0.loss_map_pts: 1.2214, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1812, d1.loss_map_pts: 0.8945, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1588, d2.loss_map_pts: 0.7073, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1475, d3.loss_map_pts: 0.6368, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1408, d4.loss_map_pts: 0.6097, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1352, d5.loss_map_pts: 0.6008, d5.loss_map_dir: 0.0069, loss: 24.4605, grad_norm: 137.3672 +2026-02-28 15:06:19,757 - DriveTransformer - INFO - Epoch [10][21700/39528] lr: 6.944e-05, eta: 4 days, 19:59:13, time: 0.735, data_time: 0.037, memory: 19865, loss_cls: 0.1072, loss_bbox: 0.2976, loss_traj: 0.4668, loss_traj_cls: 0.0018, loss_map_cls: 0.1111, loss_map_pts: 0.5435, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.3503, d0.loss_plan_l1_fix_dist: 0.4371, d1.loss_plan_l1_fix_time: 0.7172, d1.loss_plan_l1_fix_dist: 0.2692, d2.loss_plan_l1_fix_time: 0.7168, d2.loss_plan_l1_fix_dist: 0.2211, d3.loss_plan_l1_fix_time: 0.7251, d3.loss_plan_l1_fix_dist: 0.2715, d4.loss_plan_l1_fix_time: 0.7294, d4.loss_plan_l1_fix_dist: 0.2069, d5.loss_plan_l1_fix_time: 0.7345, d5.loss_plan_l1_fix_dist: 0.2375, d6.loss_plan_l1_fix_time: 0.7404, d6.loss_plan_l1_fix_dist: 0.2376, d0.loss_cls_all: 0.1482, d0.loss_bbox_all: 0.3538, d0.loss_cls: 0.1482, d0.loss_bbox: 0.3538, d1.loss_cls: 0.1443, d1.loss_bbox: 0.3234, d2.loss_cls: 0.1341, d2.loss_bbox: 0.3038, d3.loss_cls: 0.1133, d3.loss_bbox: 0.3008, d4.loss_cls: 0.1093, d4.loss_bbox: 0.2991, d5.loss_cls: 0.1077, d5.loss_bbox: 0.2977, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6702, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5392, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4939, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4795, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4752, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4672, d0.loss_map_cls_all: 0.1966, d0.loss_map_pts_all: 1.1747, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1966, d0.loss_map_pts: 1.1747, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1619, d1.loss_map_pts: 0.8318, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1396, d2.loss_map_pts: 0.6388, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1269, d3.loss_map_pts: 0.5728, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1189, d4.loss_map_pts: 0.5501, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1133, d5.loss_map_pts: 0.5442, d5.loss_map_dir: 0.0075, loss: 22.9907, grad_norm: 139.7513 +2026-02-28 15:06:57,419 - DriveTransformer - INFO - Epoch [10][21750/39528] lr: 6.944e-05, eta: 4 days, 19:58:41, time: 0.753, data_time: 0.038, memory: 19865, loss_cls: 0.1248, loss_bbox: 0.3357, loss_traj: 0.6199, loss_traj_cls: 0.0018, loss_map_cls: 0.1272, loss_map_pts: 0.6348, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.8698, d0.loss_plan_l1_fix_dist: 0.4454, d1.loss_plan_l1_fix_time: 0.9488, d1.loss_plan_l1_fix_dist: 0.2966, d2.loss_plan_l1_fix_time: 0.9331, d2.loss_plan_l1_fix_dist: 0.2704, d3.loss_plan_l1_fix_time: 0.9225, d3.loss_plan_l1_fix_dist: 0.2900, d4.loss_plan_l1_fix_time: 0.9235, d4.loss_plan_l1_fix_dist: 0.2330, d5.loss_plan_l1_fix_time: 0.9255, d5.loss_plan_l1_fix_dist: 0.2989, d6.loss_plan_l1_fix_time: 0.9287, d6.loss_plan_l1_fix_dist: 0.2852, d0.loss_cls_all: 0.1660, d0.loss_bbox_all: 0.4167, d0.loss_cls: 0.1660, d0.loss_bbox: 0.4167, d1.loss_cls: 0.1612, d1.loss_bbox: 0.3736, d2.loss_cls: 0.1493, d2.loss_bbox: 0.3461, d3.loss_cls: 0.1317, d3.loss_bbox: 0.3420, d4.loss_cls: 0.1271, d4.loss_bbox: 0.3371, d5.loss_cls: 0.1249, d5.loss_bbox: 0.3360, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9548, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7325, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6440, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6311, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6191, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6162, d0.loss_map_cls_all: 0.2112, d0.loss_map_pts_all: 1.2520, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2112, d0.loss_map_pts: 1.2520, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1765, d1.loss_map_pts: 0.9162, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1548, d2.loss_map_pts: 0.7385, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1424, d3.loss_map_pts: 0.6667, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1357, d4.loss_map_pts: 0.6407, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1294, d5.loss_map_pts: 0.6339, d5.loss_map_dir: 0.0076, loss: 27.5335, grad_norm: 140.9390 +2026-02-28 15:07:34,274 - DriveTransformer - INFO - Epoch [10][21800/39528] lr: 6.944e-05, eta: 4 days, 19:58:05, time: 0.737, data_time: 0.040, memory: 19865, loss_cls: 0.0867, loss_bbox: 0.2978, loss_traj: 0.6042, loss_traj_cls: 0.0018, loss_map_cls: 0.0945, loss_map_pts: 0.4558, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.5574, d0.loss_plan_l1_fix_dist: 0.3436, d1.loss_plan_l1_fix_time: 0.8825, d1.loss_plan_l1_fix_dist: 0.2898, d2.loss_plan_l1_fix_time: 0.8625, d2.loss_plan_l1_fix_dist: 0.2841, d3.loss_plan_l1_fix_time: 0.8515, d3.loss_plan_l1_fix_dist: 0.2606, d4.loss_plan_l1_fix_time: 0.8528, d4.loss_plan_l1_fix_dist: 0.2123, d5.loss_plan_l1_fix_time: 0.8550, d5.loss_plan_l1_fix_dist: 0.3395, d6.loss_plan_l1_fix_time: 0.8581, d6.loss_plan_l1_fix_dist: 0.2302, d0.loss_cls_all: 0.1252, d0.loss_bbox_all: 0.3523, d0.loss_cls: 0.1252, d0.loss_bbox: 0.3523, d1.loss_cls: 0.1188, d1.loss_bbox: 0.3235, d2.loss_cls: 0.1061, d2.loss_bbox: 0.3028, d3.loss_cls: 0.0933, d3.loss_bbox: 0.2985, d4.loss_cls: 0.0908, d4.loss_bbox: 0.2967, d5.loss_cls: 0.0865, d5.loss_bbox: 0.2984, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8637, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6784, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6330, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6094, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6037, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6029, d0.loss_map_cls_all: 0.1720, d0.loss_map_pts_all: 1.0334, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1720, d0.loss_map_pts: 1.0334, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1389, d1.loss_map_pts: 0.7332, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1173, d2.loss_map_pts: 0.5585, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1057, d3.loss_map_pts: 0.4849, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0992, d4.loss_map_pts: 0.4619, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0956, d5.loss_map_pts: 0.4549, d5.loss_map_dir: 0.0055, loss: 23.8908, grad_norm: 141.8955 +2026-02-28 15:08:10,701 - DriveTransformer - INFO - Epoch [10][21850/39528] lr: 6.944e-05, eta: 4 days, 19:57:28, time: 0.728, data_time: 0.039, memory: 19865, loss_cls: 0.0936, loss_bbox: 0.3003, loss_traj: 0.5060, loss_traj_cls: 0.0018, loss_map_cls: 0.0936, loss_map_pts: 0.4419, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.8306, d0.loss_plan_l1_fix_dist: 0.4620, d1.loss_plan_l1_fix_time: 0.8343, d1.loss_plan_l1_fix_dist: 0.2994, d2.loss_plan_l1_fix_time: 0.8274, d2.loss_plan_l1_fix_dist: 0.3334, d3.loss_plan_l1_fix_time: 0.8252, d3.loss_plan_l1_fix_dist: 0.3016, d4.loss_plan_l1_fix_time: 0.8268, d4.loss_plan_l1_fix_dist: 0.2350, d5.loss_plan_l1_fix_time: 0.8292, d5.loss_plan_l1_fix_dist: 0.4034, d6.loss_plan_l1_fix_time: 0.8327, d6.loss_plan_l1_fix_dist: 0.2511, d0.loss_cls_all: 0.1402, d0.loss_bbox_all: 0.3592, d0.loss_cls: 0.1402, d0.loss_bbox: 0.3592, d1.loss_cls: 0.1337, d1.loss_bbox: 0.3289, d2.loss_cls: 0.1160, d2.loss_bbox: 0.3123, d3.loss_cls: 0.1000, d3.loss_bbox: 0.3055, d4.loss_cls: 0.0947, d4.loss_bbox: 0.3011, d5.loss_cls: 0.0935, d5.loss_bbox: 0.3000, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7148, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5871, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5305, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5158, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5118, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5095, d0.loss_map_cls_all: 0.1759, d0.loss_map_pts_all: 0.9239, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1759, d0.loss_map_pts: 0.9239, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1418, d1.loss_map_pts: 0.6603, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1172, d2.loss_map_pts: 0.5154, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1049, d3.loss_map_pts: 0.4647, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0999, d4.loss_map_pts: 0.4468, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0955, d5.loss_map_pts: 0.4429, d5.loss_map_dir: 0.0054, loss: 23.3197, grad_norm: 145.3568 +2026-02-28 15:08:46,892 - DriveTransformer - INFO - Epoch [10][21900/39528] lr: 6.944e-05, eta: 4 days, 19:56:50, time: 0.724, data_time: 0.038, memory: 19865, loss_cls: 0.1106, loss_bbox: 0.3080, loss_traj: 0.6026, loss_traj_cls: 0.0018, loss_map_cls: 0.0978, loss_map_pts: 0.5362, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.9093, d0.loss_plan_l1_fix_dist: 0.3740, d1.loss_plan_l1_fix_time: 0.8708, d1.loss_plan_l1_fix_dist: 0.2762, d2.loss_plan_l1_fix_time: 0.8473, d2.loss_plan_l1_fix_dist: 0.3135, d3.loss_plan_l1_fix_time: 0.8395, d3.loss_plan_l1_fix_dist: 0.2788, d4.loss_plan_l1_fix_time: 0.8412, d4.loss_plan_l1_fix_dist: 0.2254, d5.loss_plan_l1_fix_time: 0.8437, d5.loss_plan_l1_fix_dist: 0.3898, d6.loss_plan_l1_fix_time: 0.8476, d6.loss_plan_l1_fix_dist: 0.2357, d0.loss_cls_all: 0.1581, d0.loss_bbox_all: 0.3779, d0.loss_cls: 0.1581, d0.loss_bbox: 0.3779, d1.loss_cls: 0.1534, d1.loss_bbox: 0.3403, d2.loss_cls: 0.1373, d2.loss_bbox: 0.3199, d3.loss_cls: 0.1184, d3.loss_bbox: 0.3131, d4.loss_cls: 0.1118, d4.loss_bbox: 0.3100, d5.loss_cls: 0.1102, d5.loss_bbox: 0.3083, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8698, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6842, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6227, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6025, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6023, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6010, d0.loss_map_cls_all: 0.1875, d0.loss_map_pts_all: 1.1197, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1875, d0.loss_map_pts: 1.1197, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1546, d1.loss_map_pts: 0.8075, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1254, d2.loss_map_pts: 0.6325, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1135, d3.loss_map_pts: 0.5651, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1059, d4.loss_map_pts: 0.5416, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.0997, d5.loss_map_pts: 0.5377, d5.loss_map_dir: 0.0071, loss: 25.3851, grad_norm: 145.8215 +2026-02-28 15:09:23,545 - DriveTransformer - INFO - Epoch [10][21950/39528] lr: 6.944e-05, eta: 4 days, 19:56:14, time: 0.733, data_time: 0.039, memory: 19865, loss_cls: 0.0991, loss_bbox: 0.2938, loss_traj: 0.5761, loss_traj_cls: 0.0018, loss_map_cls: 0.1051, loss_map_pts: 0.5204, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.8667, d0.loss_plan_l1_fix_dist: 0.4080, d1.loss_plan_l1_fix_time: 0.9594, d1.loss_plan_l1_fix_dist: 0.2739, d2.loss_plan_l1_fix_time: 0.9441, d2.loss_plan_l1_fix_dist: 0.3419, d3.loss_plan_l1_fix_time: 0.9320, d3.loss_plan_l1_fix_dist: 0.2947, d4.loss_plan_l1_fix_time: 0.9328, d4.loss_plan_l1_fix_dist: 0.2727, d5.loss_plan_l1_fix_time: 0.9351, d5.loss_plan_l1_fix_dist: 0.3710, d6.loss_plan_l1_fix_time: 0.9372, d6.loss_plan_l1_fix_dist: 0.2667, d0.loss_cls_all: 0.1404, d0.loss_bbox_all: 0.3536, d0.loss_cls: 0.1404, d0.loss_bbox: 0.3536, d1.loss_cls: 0.1305, d1.loss_bbox: 0.3244, d2.loss_cls: 0.1202, d2.loss_bbox: 0.3014, d3.loss_cls: 0.1056, d3.loss_bbox: 0.2957, d4.loss_cls: 0.1023, d4.loss_bbox: 0.2923, d5.loss_cls: 0.0993, d5.loss_bbox: 0.2937, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9043, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6806, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6064, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5713, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5832, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5853, d0.loss_map_cls_all: 0.1930, d0.loss_map_pts_all: 1.0969, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1930, d0.loss_map_pts: 1.0969, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1579, d1.loss_map_pts: 0.7885, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1326, d2.loss_map_pts: 0.6203, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1187, d3.loss_map_pts: 0.5524, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1125, d4.loss_map_pts: 0.5278, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1072, d5.loss_map_pts: 0.5222, d5.loss_map_dir: 0.0063, loss: 25.5906, grad_norm: 144.9250 +2026-02-28 15:10:01,849 - DriveTransformer - INFO - Epoch [10][22000/39528] lr: 6.944e-05, eta: 4 days, 19:55:45, time: 0.766, data_time: 0.037, memory: 19865, loss_cls: 0.1039, loss_bbox: 0.2878, loss_traj: 0.4646, loss_traj_cls: 0.0019, loss_map_cls: 0.1120, loss_map_pts: 0.5404, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.3040, d0.loss_plan_l1_fix_dist: 0.5185, d1.loss_plan_l1_fix_time: 0.7860, d1.loss_plan_l1_fix_dist: 0.2518, d2.loss_plan_l1_fix_time: 0.7695, d2.loss_plan_l1_fix_dist: 0.3427, d3.loss_plan_l1_fix_time: 0.7666, d3.loss_plan_l1_fix_dist: 0.2841, d4.loss_plan_l1_fix_time: 0.7685, d4.loss_plan_l1_fix_dist: 0.2819, d5.loss_plan_l1_fix_time: 0.7715, d5.loss_plan_l1_fix_dist: 0.3429, d6.loss_plan_l1_fix_time: 0.7736, d6.loss_plan_l1_fix_dist: 0.2879, d0.loss_cls_all: 0.1452, d0.loss_bbox_all: 0.3460, d0.loss_cls: 0.1452, d0.loss_bbox: 0.3460, d1.loss_cls: 0.1384, d1.loss_bbox: 0.3164, d2.loss_cls: 0.1272, d2.loss_bbox: 0.2959, d3.loss_cls: 0.1112, d3.loss_bbox: 0.2915, d4.loss_cls: 0.1050, d4.loss_bbox: 0.2893, d5.loss_cls: 0.1032, d5.loss_bbox: 0.2885, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6754, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5231, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4857, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4704, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4671, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4677, d0.loss_map_cls_all: 0.1869, d0.loss_map_pts_all: 1.1731, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1869, d0.loss_map_pts: 1.1731, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1567, d1.loss_map_pts: 0.8393, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1374, d2.loss_map_pts: 0.6476, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1244, d3.loss_map_pts: 0.5779, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1172, d4.loss_map_pts: 0.5491, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1130, d5.loss_map_pts: 0.5412, d5.loss_map_dir: 0.0077, loss: 23.4879, grad_norm: 146.9076 +2026-02-28 15:10:39,343 - DriveTransformer - INFO - Epoch [10][22050/39528] lr: 6.944e-05, eta: 4 days, 19:55:12, time: 0.750, data_time: 0.042, memory: 19865, loss_cls: 0.1037, loss_bbox: 0.2994, loss_traj: 0.5117, loss_traj_cls: 0.0018, loss_map_cls: 0.1137, loss_map_pts: 0.5875, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.6006, d0.loss_plan_l1_fix_dist: 0.4213, d1.loss_plan_l1_fix_time: 0.8063, d1.loss_plan_l1_fix_dist: 0.1973, d2.loss_plan_l1_fix_time: 0.7850, d2.loss_plan_l1_fix_dist: 0.3404, d3.loss_plan_l1_fix_time: 0.7875, d3.loss_plan_l1_fix_dist: 0.2521, d4.loss_plan_l1_fix_time: 0.7892, d4.loss_plan_l1_fix_dist: 0.2435, d5.loss_plan_l1_fix_time: 0.7918, d5.loss_plan_l1_fix_dist: 0.2872, d6.loss_plan_l1_fix_time: 0.7948, d6.loss_plan_l1_fix_dist: 0.2389, d0.loss_cls_all: 0.1505, d0.loss_bbox_all: 0.3665, d0.loss_cls: 0.1505, d0.loss_bbox: 0.3665, d1.loss_cls: 0.1393, d1.loss_bbox: 0.3333, d2.loss_cls: 0.1257, d2.loss_bbox: 0.3126, d3.loss_cls: 0.1132, d3.loss_bbox: 0.3044, d4.loss_cls: 0.1083, d4.loss_bbox: 0.3003, d5.loss_cls: 0.1051, d5.loss_bbox: 0.2996, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7747, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5815, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5332, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5188, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5144, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5113, d0.loss_map_cls_all: 0.2029, d0.loss_map_pts_all: 1.1257, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2029, d0.loss_map_pts: 1.1257, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1630, d1.loss_map_pts: 0.8187, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1413, d2.loss_map_pts: 0.6636, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1279, d3.loss_map_pts: 0.6140, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1214, d4.loss_map_pts: 0.5928, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1169, d5.loss_map_pts: 0.5872, d5.loss_map_dir: 0.0078, loss: 24.2346, grad_norm: 148.2148 +2026-02-28 15:11:15,260 - DriveTransformer - INFO - Epoch [10][22100/39528] lr: 6.944e-05, eta: 4 days, 19:54:33, time: 0.718, data_time: 0.036, memory: 19865, loss_cls: 0.1036, loss_bbox: 0.3072, loss_traj: 0.5559, loss_traj_cls: 0.0019, loss_map_cls: 0.1160, loss_map_pts: 0.5571, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.7395, d0.loss_plan_l1_fix_dist: 0.4453, d1.loss_plan_l1_fix_time: 0.8675, d1.loss_plan_l1_fix_dist: 0.1767, d2.loss_plan_l1_fix_time: 0.8478, d2.loss_plan_l1_fix_dist: 0.3267, d3.loss_plan_l1_fix_time: 0.8466, d3.loss_plan_l1_fix_dist: 0.2306, d4.loss_plan_l1_fix_time: 0.8476, d4.loss_plan_l1_fix_dist: 0.2079, d5.loss_plan_l1_fix_time: 0.8497, d5.loss_plan_l1_fix_dist: 0.2299, d6.loss_plan_l1_fix_time: 0.8523, d6.loss_plan_l1_fix_dist: 0.2360, d0.loss_cls_all: 0.1478, d0.loss_bbox_all: 0.3737, d0.loss_cls: 0.1478, d0.loss_bbox: 0.3737, d1.loss_cls: 0.1415, d1.loss_bbox: 0.3384, d2.loss_cls: 0.1308, d2.loss_bbox: 0.3151, d3.loss_cls: 0.1133, d3.loss_bbox: 0.3109, d4.loss_cls: 0.1060, d4.loss_bbox: 0.3083, d5.loss_cls: 0.1050, d5.loss_bbox: 0.3063, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8231, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6315, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5659, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5579, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5554, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5551, d0.loss_map_cls_all: 0.2005, d0.loss_map_pts_all: 1.1138, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2005, d0.loss_map_pts: 1.1138, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1700, d1.loss_map_pts: 0.8199, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1432, d2.loss_map_pts: 0.6537, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1324, d3.loss_map_pts: 0.5930, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1232, d4.loss_map_pts: 0.5651, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1180, d5.loss_map_pts: 0.5586, d5.loss_map_dir: 0.0064, loss: 24.8146, grad_norm: 148.3965 +2026-02-28 15:11:50,924 - DriveTransformer - INFO - Epoch [10][22150/39528] lr: 6.944e-05, eta: 4 days, 19:53:53, time: 0.713, data_time: 0.038, memory: 19865, loss_cls: 0.0926, loss_bbox: 0.2967, loss_traj: 0.5163, loss_traj_cls: 0.0018, loss_map_cls: 0.0938, loss_map_pts: 0.4503, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.5959, d0.loss_plan_l1_fix_dist: 0.4169, d1.loss_plan_l1_fix_time: 0.7801, d1.loss_plan_l1_fix_dist: 0.1947, d2.loss_plan_l1_fix_time: 0.7627, d2.loss_plan_l1_fix_dist: 0.2922, d3.loss_plan_l1_fix_time: 0.7586, d3.loss_plan_l1_fix_dist: 0.2126, d4.loss_plan_l1_fix_time: 0.7601, d4.loss_plan_l1_fix_dist: 0.1930, d5.loss_plan_l1_fix_time: 0.7624, d5.loss_plan_l1_fix_dist: 0.2130, d6.loss_plan_l1_fix_time: 0.7644, d6.loss_plan_l1_fix_dist: 0.2466, d0.loss_cls_all: 0.1354, d0.loss_bbox_all: 0.3520, d0.loss_cls: 0.1354, d0.loss_bbox: 0.3520, d1.loss_cls: 0.1274, d1.loss_bbox: 0.3244, d2.loss_cls: 0.1151, d2.loss_bbox: 0.3057, d3.loss_cls: 0.0987, d3.loss_bbox: 0.2990, d4.loss_cls: 0.0934, d4.loss_bbox: 0.2969, d5.loss_cls: 0.0924, d5.loss_bbox: 0.2964, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7140, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5721, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5230, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5165, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5113, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5147, d0.loss_map_cls_all: 0.1796, d0.loss_map_pts_all: 0.9369, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1796, d0.loss_map_pts: 0.9369, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1483, d1.loss_map_pts: 0.6616, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1230, d2.loss_map_pts: 0.5315, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1100, d3.loss_map_pts: 0.4767, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1017, d4.loss_map_pts: 0.4545, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0962, d5.loss_map_pts: 0.4497, d5.loss_map_dir: 0.0055, loss: 22.2157, grad_norm: 149.7045 +2026-02-28 15:12:27,035 - DriveTransformer - INFO - Epoch [10][22200/39528] lr: 6.944e-05, eta: 4 days, 19:53:15, time: 0.724, data_time: 0.038, memory: 19865, loss_cls: 0.0867, loss_bbox: 0.2643, loss_traj: 0.5584, loss_traj_cls: 0.0019, loss_map_cls: 0.0834, loss_map_pts: 0.4381, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.6338, d0.loss_plan_l1_fix_dist: 0.5939, d1.loss_plan_l1_fix_time: 0.7265, d1.loss_plan_l1_fix_dist: 0.2242, d2.loss_plan_l1_fix_time: 0.7148, d2.loss_plan_l1_fix_dist: 0.2823, d3.loss_plan_l1_fix_time: 0.7076, d3.loss_plan_l1_fix_dist: 0.2133, d4.loss_plan_l1_fix_time: 0.7099, d4.loss_plan_l1_fix_dist: 0.2136, d5.loss_plan_l1_fix_time: 0.7127, d5.loss_plan_l1_fix_dist: 0.2997, d6.loss_plan_l1_fix_time: 0.7150, d6.loss_plan_l1_fix_dist: 0.2849, d0.loss_cls_all: 0.1247, d0.loss_bbox_all: 0.3257, d0.loss_cls: 0.1247, d0.loss_bbox: 0.3257, d1.loss_cls: 0.1224, d1.loss_bbox: 0.2903, d2.loss_cls: 0.1100, d2.loss_bbox: 0.2720, d3.loss_cls: 0.0919, d3.loss_bbox: 0.2682, d4.loss_cls: 0.0883, d4.loss_bbox: 0.2659, d5.loss_cls: 0.0867, d5.loss_bbox: 0.2644, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7911, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6377, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5836, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5716, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5611, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5580, d0.loss_map_cls_all: 0.1512, d0.loss_map_pts_all: 0.8989, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1512, d0.loss_map_pts: 0.8989, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1248, d1.loss_map_pts: 0.6362, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1044, d2.loss_map_pts: 0.5091, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0964, d3.loss_map_pts: 0.4655, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0894, d4.loss_map_pts: 0.4489, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0846, d5.loss_map_pts: 0.4397, d5.loss_map_dir: 0.0053, loss: 22.0742, grad_norm: 144.8197 +2026-02-28 15:13:04,227 - DriveTransformer - INFO - Epoch [10][22250/39528] lr: 6.944e-05, eta: 4 days, 19:52:41, time: 0.742, data_time: 0.039, memory: 19865, loss_cls: 0.0848, loss_bbox: 0.2754, loss_traj: 0.5564, loss_traj_cls: 0.0018, loss_map_cls: 0.0933, loss_map_pts: 0.4961, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.2791, d0.loss_plan_l1_fix_dist: 0.5163, d1.loss_plan_l1_fix_time: 0.7684, d1.loss_plan_l1_fix_dist: 0.2505, d2.loss_plan_l1_fix_time: 0.7553, d2.loss_plan_l1_fix_dist: 0.2822, d3.loss_plan_l1_fix_time: 0.7528, d3.loss_plan_l1_fix_dist: 0.2221, d4.loss_plan_l1_fix_time: 0.7554, d4.loss_plan_l1_fix_dist: 0.2553, d5.loss_plan_l1_fix_time: 0.7590, d5.loss_plan_l1_fix_dist: 0.3316, d6.loss_plan_l1_fix_time: 0.7629, d6.loss_plan_l1_fix_dist: 0.3059, d0.loss_cls_all: 0.1325, d0.loss_bbox_all: 0.3482, d0.loss_cls: 0.1325, d0.loss_bbox: 0.3482, d1.loss_cls: 0.1234, d1.loss_bbox: 0.3169, d2.loss_cls: 0.1127, d2.loss_bbox: 0.2878, d3.loss_cls: 0.0905, d3.loss_bbox: 0.2808, d4.loss_cls: 0.0877, d4.loss_bbox: 0.2755, d5.loss_cls: 0.0863, d5.loss_bbox: 0.2739, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7591, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6210, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5731, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5590, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5575, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5550, d0.loss_map_cls_all: 0.1686, d0.loss_map_pts_all: 1.0218, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1686, d0.loss_map_pts: 1.0218, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1372, d1.loss_map_pts: 0.7317, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1139, d2.loss_map_pts: 0.5945, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1053, d3.loss_map_pts: 0.5338, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0994, d4.loss_map_pts: 0.5075, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0954, d5.loss_map_pts: 0.4979, d5.loss_map_dir: 0.0059, loss: 22.8763, grad_norm: 146.0315 +2026-02-28 15:13:42,306 - DriveTransformer - INFO - Epoch [10][22300/39528] lr: 6.944e-05, eta: 4 days, 19:52:10, time: 0.762, data_time: 0.036, memory: 19865, loss_cls: 0.1037, loss_bbox: 0.2966, loss_traj: 0.4693, loss_traj_cls: 0.0018, loss_map_cls: 0.1280, loss_map_pts: 0.6091, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.4701, d0.loss_plan_l1_fix_dist: 0.5051, d1.loss_plan_l1_fix_time: 0.8611, d1.loss_plan_l1_fix_dist: 0.2781, d2.loss_plan_l1_fix_time: 0.8480, d2.loss_plan_l1_fix_dist: 0.2749, d3.loss_plan_l1_fix_time: 0.8330, d3.loss_plan_l1_fix_dist: 0.2467, d4.loss_plan_l1_fix_time: 0.8342, d4.loss_plan_l1_fix_dist: 0.2770, d5.loss_plan_l1_fix_time: 0.8372, d5.loss_plan_l1_fix_dist: 0.3408, d6.loss_plan_l1_fix_time: 0.8409, d6.loss_plan_l1_fix_dist: 0.2950, d0.loss_cls_all: 0.1507, d0.loss_bbox_all: 0.3630, d0.loss_cls: 0.1507, d0.loss_bbox: 0.3630, d1.loss_cls: 0.1479, d1.loss_bbox: 0.3296, d2.loss_cls: 0.1306, d2.loss_bbox: 0.3083, d3.loss_cls: 0.1104, d3.loss_bbox: 0.3018, d4.loss_cls: 0.1041, d4.loss_bbox: 0.2980, d5.loss_cls: 0.1031, d5.loss_bbox: 0.2969, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6568, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5363, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4889, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4785, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4700, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4701, d0.loss_map_cls_all: 0.2132, d0.loss_map_pts_all: 1.2718, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2132, d0.loss_map_pts: 1.2718, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1798, d1.loss_map_pts: 0.9057, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1540, d2.loss_map_pts: 0.7098, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1417, d3.loss_map_pts: 0.6402, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1351, d4.loss_map_pts: 0.6158, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1300, d5.loss_map_pts: 0.6101, d5.loss_map_dir: 0.0079, loss: 24.8685, grad_norm: 144.7714 +2026-02-28 15:14:18,678 - DriveTransformer - INFO - Epoch [10][22350/39528] lr: 6.944e-05, eta: 4 days, 19:51:33, time: 0.727, data_time: 0.039, memory: 19865, loss_cls: 0.1094, loss_bbox: 0.3158, loss_traj: 0.5529, loss_traj_cls: 0.0019, loss_map_cls: 0.1146, loss_map_pts: 0.5622, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.5796, d0.loss_plan_l1_fix_dist: 0.4546, d1.loss_plan_l1_fix_time: 0.7448, d1.loss_plan_l1_fix_dist: 0.2883, d2.loss_plan_l1_fix_time: 0.7306, d2.loss_plan_l1_fix_dist: 0.2459, d3.loss_plan_l1_fix_time: 0.7288, d3.loss_plan_l1_fix_dist: 0.2460, d4.loss_plan_l1_fix_time: 0.7314, d4.loss_plan_l1_fix_dist: 0.2628, d5.loss_plan_l1_fix_time: 0.7341, d5.loss_plan_l1_fix_dist: 0.3883, d6.loss_plan_l1_fix_time: 0.7372, d6.loss_plan_l1_fix_dist: 0.2867, d0.loss_cls_all: 0.1593, d0.loss_bbox_all: 0.3810, d0.loss_cls: 0.1593, d0.loss_bbox: 0.3810, d1.loss_cls: 0.1512, d1.loss_bbox: 0.3462, d2.loss_cls: 0.1373, d2.loss_bbox: 0.3232, d3.loss_cls: 0.1189, d3.loss_bbox: 0.3181, d4.loss_cls: 0.1101, d4.loss_bbox: 0.3186, d5.loss_cls: 0.1097, d5.loss_bbox: 0.3155, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7700, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6253, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5809, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5697, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5637, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5573, d0.loss_map_cls_all: 0.1933, d0.loss_map_pts_all: 1.0888, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1933, d0.loss_map_pts: 1.0888, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1623, d1.loss_map_pts: 0.7946, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1396, d2.loss_map_pts: 0.6410, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1288, d3.loss_map_pts: 0.5880, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1220, d4.loss_map_pts: 0.5676, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1167, d5.loss_map_pts: 0.5634, d5.loss_map_dir: 0.0074, loss: 24.2638, grad_norm: 149.4680 +2026-02-28 15:14:55,763 - DriveTransformer - INFO - Epoch [10][22400/39528] lr: 6.944e-05, eta: 4 days, 19:50:59, time: 0.742, data_time: 0.039, memory: 19865, loss_cls: 0.1041, loss_bbox: 0.2813, loss_traj: 0.4908, loss_traj_cls: 0.0018, loss_map_cls: 0.1006, loss_map_pts: 0.5425, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.7909, d0.loss_plan_l1_fix_dist: 0.4063, d1.loss_plan_l1_fix_time: 0.6749, d1.loss_plan_l1_fix_dist: 0.2861, d2.loss_plan_l1_fix_time: 0.6571, d2.loss_plan_l1_fix_dist: 0.2344, d3.loss_plan_l1_fix_time: 0.6563, d3.loss_plan_l1_fix_dist: 0.2513, d4.loss_plan_l1_fix_time: 0.6611, d4.loss_plan_l1_fix_dist: 0.2570, d5.loss_plan_l1_fix_time: 0.6663, d5.loss_plan_l1_fix_dist: 0.3825, d6.loss_plan_l1_fix_time: 0.6721, d6.loss_plan_l1_fix_dist: 0.2767, d0.loss_cls_all: 0.1414, d0.loss_bbox_all: 0.3397, d0.loss_cls: 0.1414, d0.loss_bbox: 0.3397, d1.loss_cls: 0.1358, d1.loss_bbox: 0.3106, d2.loss_cls: 0.1269, d2.loss_bbox: 0.2909, d3.loss_cls: 0.1092, d3.loss_bbox: 0.2843, d4.loss_cls: 0.1037, d4.loss_bbox: 0.2817, d5.loss_cls: 0.1025, d5.loss_bbox: 0.2811, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6933, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5475, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4926, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4893, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4881, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4917, d0.loss_map_cls_all: 0.1822, d0.loss_map_pts_all: 1.1427, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1822, d0.loss_map_pts: 1.1427, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1502, d1.loss_map_pts: 0.8090, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1267, d2.loss_map_pts: 0.6412, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1143, d3.loss_map_pts: 0.5776, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1066, d4.loss_map_pts: 0.5523, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1026, d5.loss_map_pts: 0.5423, d5.loss_map_dir: 0.0070, loss: 23.0182, grad_norm: 151.5143 +2026-02-28 15:15:30,333 - DriveTransformer - INFO - Epoch [10][22450/39528] lr: 6.944e-05, eta: 4 days, 19:50:14, time: 0.691, data_time: 0.038, memory: 19865, loss_cls: 0.1092, loss_bbox: 0.3099, loss_traj: 0.5078, loss_traj_cls: 0.0018, loss_map_cls: 0.1189, loss_map_pts: 0.4983, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 3.0992, d0.loss_plan_l1_fix_dist: 0.4206, d1.loss_plan_l1_fix_time: 0.8505, d1.loss_plan_l1_fix_dist: 0.2734, d2.loss_plan_l1_fix_time: 0.8344, d2.loss_plan_l1_fix_dist: 0.2308, d3.loss_plan_l1_fix_time: 0.8229, d3.loss_plan_l1_fix_dist: 0.2433, d4.loss_plan_l1_fix_time: 0.8250, d4.loss_plan_l1_fix_dist: 0.2547, d5.loss_plan_l1_fix_time: 0.8278, d5.loss_plan_l1_fix_dist: 0.3259, d6.loss_plan_l1_fix_time: 0.8320, d6.loss_plan_l1_fix_dist: 0.2602, d0.loss_cls_all: 0.1557, d0.loss_bbox_all: 0.3766, d0.loss_cls: 0.1557, d0.loss_bbox: 0.3766, d1.loss_cls: 0.1452, d1.loss_bbox: 0.3417, d2.loss_cls: 0.1287, d2.loss_bbox: 0.3213, d3.loss_cls: 0.1094, d3.loss_bbox: 0.3156, d4.loss_cls: 0.1094, d4.loss_bbox: 0.3095, d5.loss_cls: 0.1096, d5.loss_bbox: 0.3085, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7242, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5684, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5304, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5180, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5107, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5088, d0.loss_map_cls_all: 0.1957, d0.loss_map_pts_all: 1.0171, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1957, d0.loss_map_pts: 1.0171, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1672, d1.loss_map_pts: 0.7429, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1445, d2.loss_map_pts: 0.5912, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1321, d3.loss_map_pts: 0.5248, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1240, d4.loss_map_pts: 0.5048, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1200, d5.loss_map_pts: 0.4973, d5.loss_map_dir: 0.0056, loss: 24.2943, grad_norm: 151.3829 +2026-02-28 15:16:07,724 - DriveTransformer - INFO - Epoch [10][22500/39528] lr: 6.944e-05, eta: 4 days, 19:49:41, time: 0.748, data_time: 0.039, memory: 19865, loss_cls: 0.1074, loss_bbox: 0.3247, loss_traj: 0.5125, loss_traj_cls: 0.0018, loss_map_cls: 0.1011, loss_map_pts: 0.5922, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.5319, d0.loss_plan_l1_fix_dist: 0.3972, d1.loss_plan_l1_fix_time: 0.8120, d1.loss_plan_l1_fix_dist: 0.2365, d2.loss_plan_l1_fix_time: 0.7960, d2.loss_plan_l1_fix_dist: 0.2453, d3.loss_plan_l1_fix_time: 0.7997, d3.loss_plan_l1_fix_dist: 0.2503, d4.loss_plan_l1_fix_time: 0.8041, d4.loss_plan_l1_fix_dist: 0.2650, d5.loss_plan_l1_fix_time: 0.8086, d5.loss_plan_l1_fix_dist: 0.3094, d6.loss_plan_l1_fix_time: 0.8133, d6.loss_plan_l1_fix_dist: 0.2699, d0.loss_cls_all: 0.1550, d0.loss_bbox_all: 0.3881, d0.loss_cls: 0.1550, d0.loss_bbox: 0.3881, d1.loss_cls: 0.1445, d1.loss_bbox: 0.3565, d2.loss_cls: 0.1340, d2.loss_bbox: 0.3329, d3.loss_cls: 0.1148, d3.loss_bbox: 0.3288, d4.loss_cls: 0.1080, d4.loss_bbox: 0.3268, d5.loss_cls: 0.1077, d5.loss_bbox: 0.3245, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7957, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6143, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5524, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5278, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5140, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5111, d0.loss_map_cls_all: 0.1821, d0.loss_map_pts_all: 1.1739, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1821, d0.loss_map_pts: 1.1739, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1517, d1.loss_map_pts: 0.8470, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1285, d2.loss_map_pts: 0.6853, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1150, d3.loss_map_pts: 0.6194, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1087, d4.loss_map_pts: 0.5935, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1030, d5.loss_map_pts: 0.5893, d5.loss_map_dir: 0.0071, loss: 24.5726, grad_norm: 153.4193 +2026-02-28 15:16:45,078 - DriveTransformer - INFO - Epoch [10][22550/39528] lr: 6.944e-05, eta: 4 days, 19:49:08, time: 0.747, data_time: 0.038, memory: 19865, loss_cls: 0.1029, loss_bbox: 0.2982, loss_traj: 0.4854, loss_traj_cls: 0.0019, loss_map_cls: 0.0974, loss_map_pts: 0.5209, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.6108, d0.loss_plan_l1_fix_dist: 0.4021, d1.loss_plan_l1_fix_time: 0.7492, d1.loss_plan_l1_fix_dist: 0.2111, d2.loss_plan_l1_fix_time: 0.7339, d2.loss_plan_l1_fix_dist: 0.2474, d3.loss_plan_l1_fix_time: 0.7349, d3.loss_plan_l1_fix_dist: 0.2371, d4.loss_plan_l1_fix_time: 0.7379, d4.loss_plan_l1_fix_dist: 0.2365, d5.loss_plan_l1_fix_time: 0.7415, d5.loss_plan_l1_fix_dist: 0.2622, d6.loss_plan_l1_fix_time: 0.7459, d6.loss_plan_l1_fix_dist: 0.2241, d0.loss_cls_all: 0.1491, d0.loss_bbox_all: 0.3504, d0.loss_cls: 0.1491, d0.loss_bbox: 0.3504, d1.loss_cls: 0.1402, d1.loss_bbox: 0.3217, d2.loss_cls: 0.1290, d2.loss_bbox: 0.3042, d3.loss_cls: 0.1094, d3.loss_bbox: 0.3019, d4.loss_cls: 0.1044, d4.loss_bbox: 0.2991, d5.loss_cls: 0.1030, d5.loss_bbox: 0.2985, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7180, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5589, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5156, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4989, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4897, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4834, d0.loss_map_cls_all: 0.1749, d0.loss_map_pts_all: 1.1160, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1749, d0.loss_map_pts: 1.1160, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1472, d1.loss_map_pts: 0.7944, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1229, d2.loss_map_pts: 0.6131, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1119, d3.loss_map_pts: 0.5489, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1051, d4.loss_map_pts: 0.5266, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.0995, d5.loss_map_pts: 0.5192, d5.loss_map_dir: 0.0071, loss: 22.9901, grad_norm: 154.4924 +2026-02-28 15:17:20,749 - DriveTransformer - INFO - Epoch [10][22600/39528] lr: 6.944e-05, eta: 4 days, 19:48:27, time: 0.713, data_time: 0.037, memory: 19865, loss_cls: 0.1111, loss_bbox: 0.3064, loss_traj: 0.5915, loss_traj_cls: 0.0019, loss_map_cls: 0.1012, loss_map_pts: 0.5276, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.8194, d0.loss_plan_l1_fix_dist: 0.4852, d1.loss_plan_l1_fix_time: 0.7913, d1.loss_plan_l1_fix_dist: 0.2026, d2.loss_plan_l1_fix_time: 0.7866, d2.loss_plan_l1_fix_dist: 0.2732, d3.loss_plan_l1_fix_time: 0.7864, d3.loss_plan_l1_fix_dist: 0.2823, d4.loss_plan_l1_fix_time: 0.7888, d4.loss_plan_l1_fix_dist: 0.2853, d5.loss_plan_l1_fix_time: 0.7913, d5.loss_plan_l1_fix_dist: 0.2632, d6.loss_plan_l1_fix_time: 0.7949, d6.loss_plan_l1_fix_dist: 0.2339, d0.loss_cls_all: 0.1560, d0.loss_bbox_all: 0.3627, d0.loss_cls: 0.1560, d0.loss_bbox: 0.3627, d1.loss_cls: 0.1501, d1.loss_bbox: 0.3311, d2.loss_cls: 0.1333, d2.loss_bbox: 0.3162, d3.loss_cls: 0.1160, d3.loss_bbox: 0.3117, d4.loss_cls: 0.1121, d4.loss_bbox: 0.3076, d5.loss_cls: 0.1122, d5.loss_bbox: 0.3065, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8406, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6727, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6172, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6000, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5945, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5908, d0.loss_map_cls_all: 0.1872, d0.loss_map_pts_all: 1.0860, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1872, d0.loss_map_pts: 1.0860, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1532, d1.loss_map_pts: 0.7724, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1248, d2.loss_map_pts: 0.6105, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1130, d3.loss_map_pts: 0.5559, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1060, d4.loss_map_pts: 0.5341, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1018, d5.loss_map_pts: 0.5292, d5.loss_map_dir: 0.0070, loss: 24.5844, grad_norm: 154.1264 +2026-02-28 15:17:56,070 - DriveTransformer - INFO - Epoch [10][22650/39528] lr: 6.944e-05, eta: 4 days, 19:47:46, time: 0.706, data_time: 0.037, memory: 19865, loss_cls: 0.0986, loss_bbox: 0.3014, loss_traj: 0.5329, loss_traj_cls: 0.0019, loss_map_cls: 0.1071, loss_map_pts: 0.5395, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.9969, d0.loss_plan_l1_fix_dist: 0.3910, d1.loss_plan_l1_fix_time: 0.8919, d1.loss_plan_l1_fix_dist: 0.1793, d2.loss_plan_l1_fix_time: 0.8901, d2.loss_plan_l1_fix_dist: 0.2781, d3.loss_plan_l1_fix_time: 0.8869, d3.loss_plan_l1_fix_dist: 0.3015, d4.loss_plan_l1_fix_time: 0.8887, d4.loss_plan_l1_fix_dist: 0.2914, d5.loss_plan_l1_fix_time: 0.8906, d5.loss_plan_l1_fix_dist: 0.2299, d6.loss_plan_l1_fix_time: 0.8931, d6.loss_plan_l1_fix_dist: 0.2274, d0.loss_cls_all: 0.1389, d0.loss_bbox_all: 0.3731, d0.loss_cls: 0.1389, d0.loss_bbox: 0.3731, d1.loss_cls: 0.1349, d1.loss_bbox: 0.3386, d2.loss_cls: 0.1211, d2.loss_bbox: 0.3160, d3.loss_cls: 0.1022, d3.loss_bbox: 0.3089, d4.loss_cls: 0.0987, d4.loss_bbox: 0.3038, d5.loss_cls: 0.0981, d5.loss_bbox: 0.3020, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8632, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6423, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5713, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5606, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5389, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5339, d0.loss_map_cls_all: 0.1809, d0.loss_map_pts_all: 1.0446, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1809, d0.loss_map_pts: 1.0446, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1509, d1.loss_map_pts: 0.7775, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1316, d2.loss_map_pts: 0.6244, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1165, d3.loss_map_pts: 0.5668, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1114, d4.loss_map_pts: 0.5462, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1085, d5.loss_map_pts: 0.5403, d5.loss_map_dir: 0.0058, loss: 24.8543, grad_norm: 156.8358 +2026-02-28 15:18:30,325 - DriveTransformer - INFO - Epoch [10][22700/39528] lr: 6.944e-05, eta: 4 days, 19:47:00, time: 0.685, data_time: 0.037, memory: 19865, loss_cls: 0.0907, loss_bbox: 0.3032, loss_traj: 0.5123, loss_traj_cls: 0.0019, loss_map_cls: 0.1309, loss_map_pts: 0.5623, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.7961, d0.loss_plan_l1_fix_dist: 0.4075, d1.loss_plan_l1_fix_time: 0.7796, d1.loss_plan_l1_fix_dist: 0.1737, d2.loss_plan_l1_fix_time: 0.7706, d2.loss_plan_l1_fix_dist: 0.2596, d3.loss_plan_l1_fix_time: 0.7772, d3.loss_plan_l1_fix_dist: 0.3257, d4.loss_plan_l1_fix_time: 0.7810, d4.loss_plan_l1_fix_dist: 0.2821, d5.loss_plan_l1_fix_time: 0.7856, d5.loss_plan_l1_fix_dist: 0.2524, d6.loss_plan_l1_fix_time: 0.7899, d6.loss_plan_l1_fix_dist: 0.2433, d0.loss_cls_all: 0.1253, d0.loss_bbox_all: 0.3603, d0.loss_cls: 0.1253, d0.loss_bbox: 0.3603, d1.loss_cls: 0.1212, d1.loss_bbox: 0.3315, d2.loss_cls: 0.1103, d2.loss_bbox: 0.3103, d3.loss_cls: 0.0964, d3.loss_bbox: 0.3033, d4.loss_cls: 0.0930, d4.loss_bbox: 0.3014, d5.loss_cls: 0.0906, d5.loss_bbox: 0.3022, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7656, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6025, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5424, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5172, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5143, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5106, d0.loss_map_cls_all: 0.2143, d0.loss_map_pts_all: 1.1388, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.2143, d0.loss_map_pts: 1.1388, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1842, d1.loss_map_pts: 0.8338, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1583, d2.loss_map_pts: 0.6613, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1447, d3.loss_map_pts: 0.5930, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1381, d4.loss_map_pts: 0.5717, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1321, d5.loss_map_pts: 0.5646, d5.loss_map_dir: 0.0061, loss: 24.2494, grad_norm: 153.2364 +2026-02-28 15:19:05,693 - DriveTransformer - INFO - Epoch [10][22750/39528] lr: 6.944e-05, eta: 4 days, 19:46:19, time: 0.707, data_time: 0.042, memory: 19865, loss_cls: 0.0992, loss_bbox: 0.2770, loss_traj: 0.5111, loss_traj_cls: 0.0019, loss_map_cls: 0.1039, loss_map_pts: 0.4635, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.4739, d0.loss_plan_l1_fix_dist: 0.4072, d1.loss_plan_l1_fix_time: 0.7448, d1.loss_plan_l1_fix_dist: 0.1915, d2.loss_plan_l1_fix_time: 0.7319, d2.loss_plan_l1_fix_dist: 0.2659, d3.loss_plan_l1_fix_time: 0.7296, d3.loss_plan_l1_fix_dist: 0.3523, d4.loss_plan_l1_fix_time: 0.7329, d4.loss_plan_l1_fix_dist: 0.2722, d5.loss_plan_l1_fix_time: 0.7368, d5.loss_plan_l1_fix_dist: 0.2664, d6.loss_plan_l1_fix_time: 0.7410, d6.loss_plan_l1_fix_dist: 0.2338, d0.loss_cls_all: 0.1394, d0.loss_bbox_all: 0.3320, d0.loss_cls: 0.1394, d0.loss_bbox: 0.3320, d1.loss_cls: 0.1306, d1.loss_bbox: 0.3041, d2.loss_cls: 0.1241, d2.loss_bbox: 0.2839, d3.loss_cls: 0.1075, d3.loss_bbox: 0.2803, d4.loss_cls: 0.1002, d4.loss_bbox: 0.2780, d5.loss_cls: 0.0994, d5.loss_bbox: 0.2756, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7433, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5834, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5406, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5239, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5160, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5144, d0.loss_map_cls_all: 0.1747, d0.loss_map_pts_all: 0.9711, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1747, d0.loss_map_pts: 0.9711, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1494, d1.loss_map_pts: 0.6876, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1276, d2.loss_map_pts: 0.5349, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1150, d3.loss_map_pts: 0.4840, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1080, d4.loss_map_pts: 0.4683, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1047, d5.loss_map_pts: 0.4627, d5.loss_map_dir: 0.0060, loss: 22.2707, grad_norm: 149.2799 +2026-02-28 15:19:40,197 - DriveTransformer - INFO - Epoch [10][22800/39528] lr: 6.944e-05, eta: 4 days, 19:45:34, time: 0.690, data_time: 0.038, memory: 19865, loss_cls: 0.0923, loss_bbox: 0.2790, loss_traj: 0.5072, loss_traj_cls: 0.0020, loss_map_cls: 0.1009, loss_map_pts: 0.4513, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.5360, d0.loss_plan_l1_fix_dist: 0.4686, d1.loss_plan_l1_fix_time: 0.6845, d1.loss_plan_l1_fix_dist: 0.1918, d2.loss_plan_l1_fix_time: 0.6715, d2.loss_plan_l1_fix_dist: 0.2692, d3.loss_plan_l1_fix_time: 0.6721, d3.loss_plan_l1_fix_dist: 0.3389, d4.loss_plan_l1_fix_time: 0.6745, d4.loss_plan_l1_fix_dist: 0.2891, d5.loss_plan_l1_fix_time: 0.6774, d5.loss_plan_l1_fix_dist: 0.2788, d6.loss_plan_l1_fix_time: 0.6821, d6.loss_plan_l1_fix_dist: 0.2473, d0.loss_cls_all: 0.1324, d0.loss_bbox_all: 0.3424, d0.loss_cls: 0.1324, d0.loss_bbox: 0.3424, d1.loss_cls: 0.1268, d1.loss_bbox: 0.3093, d2.loss_cls: 0.1129, d2.loss_bbox: 0.2934, d3.loss_cls: 0.1007, d3.loss_bbox: 0.2837, d4.loss_cls: 0.0928, d4.loss_bbox: 0.2811, d5.loss_cls: 0.0918, d5.loss_bbox: 0.2793, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7416, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5676, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5212, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5041, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4991, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5029, d0.loss_map_cls_all: 0.1783, d0.loss_map_pts_all: 0.9521, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1783, d0.loss_map_pts: 0.9521, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1504, d1.loss_map_pts: 0.6837, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1275, d2.loss_map_pts: 0.5231, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1136, d3.loss_map_pts: 0.4689, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1069, d4.loss_map_pts: 0.4539, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1040, d5.loss_map_pts: 0.4499, d5.loss_map_dir: 0.0059, loss: 21.8664, grad_norm: 153.1736 +2026-02-28 15:20:17,108 - DriveTransformer - INFO - Epoch [10][22850/39528] lr: 6.944e-05, eta: 4 days, 19:44:59, time: 0.738, data_time: 0.039, memory: 19865, loss_cls: 0.1109, loss_bbox: 0.3039, loss_traj: 0.4377, loss_traj_cls: 0.0019, loss_map_cls: 0.1329, loss_map_pts: 0.5684, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.9669, d0.loss_plan_l1_fix_dist: 0.4867, d1.loss_plan_l1_fix_time: 0.8754, d1.loss_plan_l1_fix_dist: 0.2297, d2.loss_plan_l1_fix_time: 0.8585, d2.loss_plan_l1_fix_dist: 0.2832, d3.loss_plan_l1_fix_time: 0.8513, d3.loss_plan_l1_fix_dist: 0.3594, d4.loss_plan_l1_fix_time: 0.8527, d4.loss_plan_l1_fix_dist: 0.3299, d5.loss_plan_l1_fix_time: 0.8551, d5.loss_plan_l1_fix_dist: 0.2932, d6.loss_plan_l1_fix_time: 0.8582, d6.loss_plan_l1_fix_dist: 0.2588, d0.loss_cls_all: 0.1555, d0.loss_bbox_all: 0.3760, d0.loss_cls: 0.1555, d0.loss_bbox: 0.3760, d1.loss_cls: 0.1478, d1.loss_bbox: 0.3404, d2.loss_cls: 0.1301, d2.loss_bbox: 0.3165, d3.loss_cls: 0.1140, d3.loss_bbox: 0.3091, d4.loss_cls: 0.1122, d4.loss_bbox: 0.3040, d5.loss_cls: 0.1113, d5.loss_bbox: 0.3028, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6532, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5070, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4593, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4460, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4397, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4386, d0.loss_map_cls_all: 0.2098, d0.loss_map_pts_all: 1.1408, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2098, d0.loss_map_pts: 1.1408, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1785, d1.loss_map_pts: 0.8263, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1559, d2.loss_map_pts: 0.6620, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1464, d3.loss_map_pts: 0.6005, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1388, d4.loss_map_pts: 0.5734, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1342, d5.loss_map_pts: 0.5688, d5.loss_map_dir: 0.0074, loss: 24.8620, grad_norm: 152.7668 +2026-02-28 15:20:54,985 - DriveTransformer - INFO - Epoch [10][22900/39528] lr: 6.944e-05, eta: 4 days, 19:44:28, time: 0.758, data_time: 0.038, memory: 19865, loss_cls: 0.1062, loss_bbox: 0.3016, loss_traj: 0.4574, loss_traj_cls: 0.0020, loss_map_cls: 0.1212, loss_map_pts: 0.6111, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 3.3240, d0.loss_plan_l1_fix_dist: 0.3942, d1.loss_plan_l1_fix_time: 0.8784, d1.loss_plan_l1_fix_dist: 0.2414, d2.loss_plan_l1_fix_time: 0.8614, d2.loss_plan_l1_fix_dist: 0.2573, d3.loss_plan_l1_fix_time: 0.8573, d3.loss_plan_l1_fix_dist: 0.3592, d4.loss_plan_l1_fix_time: 0.8602, d4.loss_plan_l1_fix_dist: 0.3262, d5.loss_plan_l1_fix_time: 0.8629, d5.loss_plan_l1_fix_dist: 0.2831, d6.loss_plan_l1_fix_time: 0.8654, d6.loss_plan_l1_fix_dist: 0.2336, d0.loss_cls_all: 0.1606, d0.loss_bbox_all: 0.3703, d0.loss_cls: 0.1606, d0.loss_bbox: 0.3703, d1.loss_cls: 0.1474, d1.loss_bbox: 0.3377, d2.loss_cls: 0.1326, d2.loss_bbox: 0.3153, d3.loss_cls: 0.1137, d3.loss_bbox: 0.3068, d4.loss_cls: 0.1086, d4.loss_bbox: 0.3035, d5.loss_cls: 0.1073, d5.loss_bbox: 0.3016, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6746, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5140, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4689, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4590, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4561, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4547, d0.loss_map_cls_all: 0.2096, d0.loss_map_pts_all: 1.2635, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2096, d0.loss_map_pts: 1.2635, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1723, d1.loss_map_pts: 0.8966, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1486, d2.loss_map_pts: 0.7094, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1375, d3.loss_map_pts: 0.6420, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1300, d4.loss_map_pts: 0.6158, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1233, d5.loss_map_pts: 0.6111, d5.loss_map_dir: 0.0078, loss: 25.6699, grad_norm: 154.9483 +2026-02-28 15:21:31,358 - DriveTransformer - INFO - Epoch [10][22950/39528] lr: 6.944e-05, eta: 4 days, 19:43:50, time: 0.727, data_time: 0.036, memory: 19865, loss_cls: 0.0993, loss_bbox: 0.2892, loss_traj: 0.4631, loss_traj_cls: 0.0020, loss_map_cls: 0.1199, loss_map_pts: 0.5199, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.9169, d0.loss_plan_l1_fix_dist: 0.4263, d1.loss_plan_l1_fix_time: 0.7799, d1.loss_plan_l1_fix_dist: 0.2463, d2.loss_plan_l1_fix_time: 0.7639, d2.loss_plan_l1_fix_dist: 0.2641, d3.loss_plan_l1_fix_time: 0.7579, d3.loss_plan_l1_fix_dist: 0.3490, d4.loss_plan_l1_fix_time: 0.7600, d4.loss_plan_l1_fix_dist: 0.3302, d5.loss_plan_l1_fix_time: 0.7632, d5.loss_plan_l1_fix_dist: 0.2908, d6.loss_plan_l1_fix_time: 0.7662, d6.loss_plan_l1_fix_dist: 0.2639, d0.loss_cls_all: 0.1397, d0.loss_bbox_all: 0.3572, d0.loss_cls: 0.1397, d0.loss_bbox: 0.3572, d1.loss_cls: 0.1335, d1.loss_bbox: 0.3246, d2.loss_cls: 0.1199, d2.loss_bbox: 0.3020, d3.loss_cls: 0.1052, d3.loss_bbox: 0.2945, d4.loss_cls: 0.0993, d4.loss_bbox: 0.2921, d5.loss_cls: 0.0994, d5.loss_bbox: 0.2900, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6894, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5495, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4875, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4620, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4615, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4628, d0.loss_map_cls_all: 0.1968, d0.loss_map_pts_all: 1.1004, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1968, d0.loss_map_pts: 1.1004, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1689, d1.loss_map_pts: 0.7867, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1477, d2.loss_map_pts: 0.6168, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1366, d3.loss_map_pts: 0.5535, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1280, d4.loss_map_pts: 0.5296, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1222, d5.loss_map_pts: 0.5192, d5.loss_map_dir: 0.0065, loss: 23.7009, grad_norm: 154.7792 +2026-02-28 15:22:08,123 - DriveTransformer - INFO - Epoch [10][23000/39528] lr: 6.944e-05, eta: 4 days, 19:43:15, time: 0.737, data_time: 0.037, memory: 19865, loss_cls: 0.1120, loss_bbox: 0.2992, loss_traj: 0.4745, loss_traj_cls: 0.0020, loss_map_cls: 0.0992, loss_map_pts: 0.4786, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.5017, d0.loss_plan_l1_fix_dist: 0.3525, d1.loss_plan_l1_fix_time: 0.7282, d1.loss_plan_l1_fix_dist: 0.2472, d2.loss_plan_l1_fix_time: 0.7141, d2.loss_plan_l1_fix_dist: 0.2471, d3.loss_plan_l1_fix_time: 0.7168, d3.loss_plan_l1_fix_dist: 0.2888, d4.loss_plan_l1_fix_time: 0.7192, d4.loss_plan_l1_fix_dist: 0.2789, d5.loss_plan_l1_fix_time: 0.7219, d5.loss_plan_l1_fix_dist: 0.2341, d6.loss_plan_l1_fix_time: 0.7252, d6.loss_plan_l1_fix_dist: 0.2402, d0.loss_cls_all: 0.1600, d0.loss_bbox_all: 0.3600, d0.loss_cls: 0.1600, d0.loss_bbox: 0.3600, d1.loss_cls: 0.1533, d1.loss_bbox: 0.3308, d2.loss_cls: 0.1381, d2.loss_bbox: 0.3119, d3.loss_cls: 0.1202, d3.loss_bbox: 0.3047, d4.loss_cls: 0.1128, d4.loss_bbox: 0.3028, d5.loss_cls: 0.1118, d5.loss_bbox: 0.2997, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7096, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5597, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5001, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4899, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4783, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4754, d0.loss_map_cls_all: 0.1861, d0.loss_map_pts_all: 1.0241, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1861, d0.loss_map_pts: 1.0241, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1496, d1.loss_map_pts: 0.7242, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1228, d2.loss_map_pts: 0.5657, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1106, d3.loss_map_pts: 0.5070, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1039, d4.loss_map_pts: 0.4866, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0998, d5.loss_map_pts: 0.4794, d5.loss_map_dir: 0.0062, loss: 22.4471, grad_norm: 156.5888 +2026-02-28 15:22:44,244 - DriveTransformer - INFO - Epoch [10][23050/39528] lr: 6.944e-05, eta: 4 days, 19:42:36, time: 0.721, data_time: 0.036, memory: 19865, loss_cls: 0.0935, loss_bbox: 0.2920, loss_traj: 0.4403, loss_traj_cls: 0.0020, loss_map_cls: 0.1236, loss_map_pts: 0.5781, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.7416, d0.loss_plan_l1_fix_dist: 0.4119, d1.loss_plan_l1_fix_time: 0.7795, d1.loss_plan_l1_fix_dist: 0.2631, d2.loss_plan_l1_fix_time: 0.7677, d2.loss_plan_l1_fix_dist: 0.2469, d3.loss_plan_l1_fix_time: 0.7614, d3.loss_plan_l1_fix_dist: 0.2647, d4.loss_plan_l1_fix_time: 0.7626, d4.loss_plan_l1_fix_dist: 0.2531, d5.loss_plan_l1_fix_time: 0.7656, d5.loss_plan_l1_fix_dist: 0.2201, d6.loss_plan_l1_fix_time: 0.7693, d6.loss_plan_l1_fix_dist: 0.2583, d0.loss_cls_all: 0.1403, d0.loss_bbox_all: 0.3580, d0.loss_cls: 0.1403, d0.loss_bbox: 0.3580, d1.loss_cls: 0.1344, d1.loss_bbox: 0.3225, d2.loss_cls: 0.1161, d2.loss_bbox: 0.3049, d3.loss_cls: 0.0976, d3.loss_bbox: 0.2974, d4.loss_cls: 0.0940, d4.loss_bbox: 0.2932, d5.loss_cls: 0.0932, d5.loss_bbox: 0.2919, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6649, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5048, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4553, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4444, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4402, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4398, d0.loss_map_cls_all: 0.2120, d0.loss_map_pts_all: 1.1644, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2120, d0.loss_map_pts: 1.1644, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1782, d1.loss_map_pts: 0.8457, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1510, d2.loss_map_pts: 0.6781, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1401, d3.loss_map_pts: 0.6138, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1320, d4.loss_map_pts: 0.5877, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1260, d5.loss_map_pts: 0.5791, d5.loss_map_dir: 0.0069, loss: 23.6314, grad_norm: 157.3183 +2026-02-28 15:23:20,716 - DriveTransformer - INFO - Epoch [10][23100/39528] lr: 6.944e-05, eta: 4 days, 19:42:00, time: 0.729, data_time: 0.038, memory: 19865, loss_cls: 0.1061, loss_bbox: 0.3033, loss_traj: 0.5028, loss_traj_cls: 0.0020, loss_map_cls: 0.1002, loss_map_pts: 0.5333, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.9768, d0.loss_plan_l1_fix_dist: 0.3647, d1.loss_plan_l1_fix_time: 0.8034, d1.loss_plan_l1_fix_dist: 0.2859, d2.loss_plan_l1_fix_time: 0.7838, d2.loss_plan_l1_fix_dist: 0.2550, d3.loss_plan_l1_fix_time: 0.7843, d3.loss_plan_l1_fix_dist: 0.2441, d4.loss_plan_l1_fix_time: 0.7865, d4.loss_plan_l1_fix_dist: 0.2365, d5.loss_plan_l1_fix_time: 0.7891, d5.loss_plan_l1_fix_dist: 0.2225, d6.loss_plan_l1_fix_time: 0.7922, d6.loss_plan_l1_fix_dist: 0.2684, d0.loss_cls_all: 0.1522, d0.loss_bbox_all: 0.3756, d0.loss_cls: 0.1522, d0.loss_bbox: 0.3756, d1.loss_cls: 0.1443, d1.loss_bbox: 0.3405, d2.loss_cls: 0.1319, d2.loss_bbox: 0.3170, d3.loss_cls: 0.1142, d3.loss_bbox: 0.3081, d4.loss_cls: 0.1084, d4.loss_bbox: 0.3046, d5.loss_cls: 0.1074, d5.loss_bbox: 0.3026, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7460, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5945, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5358, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5152, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5082, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5040, d0.loss_map_cls_all: 0.1871, d0.loss_map_pts_all: 1.0692, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1871, d0.loss_map_pts: 1.0692, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1531, d1.loss_map_pts: 0.7860, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1322, d2.loss_map_pts: 0.6218, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1180, d3.loss_map_pts: 0.5632, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1100, d4.loss_map_pts: 0.5387, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1041, d5.loss_map_pts: 0.5341, d5.loss_map_dir: 0.0071, loss: 24.0139, grad_norm: 160.6901 +2026-02-28 15:23:56,796 - DriveTransformer - INFO - Epoch [10][23150/39528] lr: 6.944e-05, eta: 4 days, 19:41:21, time: 0.722, data_time: 0.038, memory: 19865, loss_cls: 0.1052, loss_bbox: 0.2985, loss_traj: 0.5213, loss_traj_cls: 0.0020, loss_map_cls: 0.1024, loss_map_pts: 0.4923, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.7926, d0.loss_plan_l1_fix_dist: 0.4052, d1.loss_plan_l1_fix_time: 0.8359, d1.loss_plan_l1_fix_dist: 0.3102, d2.loss_plan_l1_fix_time: 0.8211, d2.loss_plan_l1_fix_dist: 0.2593, d3.loss_plan_l1_fix_time: 0.8298, d3.loss_plan_l1_fix_dist: 0.2216, d4.loss_plan_l1_fix_time: 0.8332, d4.loss_plan_l1_fix_dist: 0.2384, d5.loss_plan_l1_fix_time: 0.8361, d5.loss_plan_l1_fix_dist: 0.3000, d6.loss_plan_l1_fix_time: 0.8402, d6.loss_plan_l1_fix_dist: 0.2906, d0.loss_cls_all: 0.1434, d0.loss_bbox_all: 0.3610, d0.loss_cls: 0.1434, d0.loss_bbox: 0.3610, d1.loss_cls: 0.1400, d1.loss_bbox: 0.3291, d2.loss_cls: 0.1284, d2.loss_bbox: 0.3080, d3.loss_cls: 0.1129, d3.loss_bbox: 0.3002, d4.loss_cls: 0.1042, d4.loss_bbox: 0.3011, d5.loss_cls: 0.1058, d5.loss_bbox: 0.2981, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7680, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5989, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5536, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5309, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5248, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5205, d0.loss_map_cls_all: 0.1822, d0.loss_map_pts_all: 1.0684, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1822, d0.loss_map_pts: 1.0684, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1510, d1.loss_map_pts: 0.7660, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1296, d2.loss_map_pts: 0.5905, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1195, d3.loss_map_pts: 0.5284, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1117, d4.loss_map_pts: 0.5068, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1066, d5.loss_map_pts: 0.4916, d5.loss_map_dir: 0.0058, loss: 24.0203, grad_norm: 160.9315 +2026-02-28 15:24:33,165 - DriveTransformer - INFO - Epoch [10][23200/39528] lr: 6.944e-05, eta: 4 days, 19:40:44, time: 0.727, data_time: 0.038, memory: 19865, loss_cls: 0.0986, loss_bbox: 0.2956, loss_traj: 0.4387, loss_traj_cls: 0.0019, loss_map_cls: 0.1120, loss_map_pts: 0.5381, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.4667, d0.loss_plan_l1_fix_dist: 0.5126, d1.loss_plan_l1_fix_time: 0.7166, d1.loss_plan_l1_fix_dist: 0.3143, d2.loss_plan_l1_fix_time: 0.6981, d2.loss_plan_l1_fix_dist: 0.3164, d3.loss_plan_l1_fix_time: 0.6986, d3.loss_plan_l1_fix_dist: 0.2320, d4.loss_plan_l1_fix_time: 0.7011, d4.loss_plan_l1_fix_dist: 0.2480, d5.loss_plan_l1_fix_time: 0.7040, d5.loss_plan_l1_fix_dist: 0.4197, d6.loss_plan_l1_fix_time: 0.7075, d6.loss_plan_l1_fix_dist: 0.2811, d0.loss_cls_all: 0.1504, d0.loss_bbox_all: 0.3587, d0.loss_cls: 0.1504, d0.loss_bbox: 0.3587, d1.loss_cls: 0.1397, d1.loss_bbox: 0.3265, d2.loss_cls: 0.1254, d2.loss_bbox: 0.3049, d3.loss_cls: 0.1082, d3.loss_bbox: 0.2992, d4.loss_cls: 0.1016, d4.loss_bbox: 0.2968, d5.loss_cls: 0.0999, d5.loss_bbox: 0.2954, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6653, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.5211, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4704, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4526, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4442, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4396, d0.loss_map_cls_all: 0.1851, d0.loss_map_pts_all: 1.0911, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1851, d0.loss_map_pts: 1.0911, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1573, d1.loss_map_pts: 0.7841, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1343, d2.loss_map_pts: 0.6202, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1250, d3.loss_map_pts: 0.5606, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1178, d4.loss_map_pts: 0.5398, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1142, d5.loss_map_pts: 0.5372, d5.loss_map_dir: 0.0070, loss: 22.9141, grad_norm: 161.7938 +2026-02-28 15:25:09,365 - DriveTransformer - INFO - Epoch [10][23250/39528] lr: 6.944e-05, eta: 4 days, 19:40:06, time: 0.724, data_time: 0.038, memory: 19865, loss_cls: 0.0785, loss_bbox: 0.2647, loss_traj: 0.3634, loss_traj_cls: 0.0020, loss_map_cls: 0.0989, loss_map_pts: 0.4735, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.1196, d0.loss_plan_l1_fix_dist: 0.5214, d1.loss_plan_l1_fix_time: 0.6692, d1.loss_plan_l1_fix_dist: 0.3109, d2.loss_plan_l1_fix_time: 0.6526, d2.loss_plan_l1_fix_dist: 0.3368, d3.loss_plan_l1_fix_time: 0.6334, d3.loss_plan_l1_fix_dist: 0.2550, d4.loss_plan_l1_fix_time: 0.6373, d4.loss_plan_l1_fix_dist: 0.2604, d5.loss_plan_l1_fix_time: 0.6424, d5.loss_plan_l1_fix_dist: 0.4903, d6.loss_plan_l1_fix_time: 0.6477, d6.loss_plan_l1_fix_dist: 0.3075, d0.loss_cls_all: 0.1130, d0.loss_bbox_all: 0.3112, d0.loss_cls: 0.1130, d0.loss_bbox: 0.3112, d1.loss_cls: 0.1081, d1.loss_bbox: 0.2840, d2.loss_cls: 0.0980, d2.loss_bbox: 0.2690, d3.loss_cls: 0.0842, d3.loss_bbox: 0.2656, d4.loss_cls: 0.0786, d4.loss_bbox: 0.2651, d5.loss_cls: 0.0790, d5.loss_bbox: 0.2646, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5318, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.4129, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.3772, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.3661, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.3658, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3627, d0.loss_map_cls_all: 0.1687, d0.loss_map_pts_all: 1.0244, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1687, d0.loss_map_pts: 1.0244, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1408, d1.loss_map_pts: 0.7254, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1217, d2.loss_map_pts: 0.5556, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1114, d3.loss_map_pts: 0.4999, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1057, d4.loss_map_pts: 0.4786, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1010, d5.loss_map_pts: 0.4727, d5.loss_map_dir: 0.0058, loss: 20.5771, grad_norm: 164.0753 +2026-02-28 15:25:46,859 - DriveTransformer - INFO - Epoch [10][23300/39528] lr: 6.944e-05, eta: 4 days, 19:39:33, time: 0.750, data_time: 0.040, memory: 19865, loss_cls: 0.0960, loss_bbox: 0.2965, loss_traj: 0.4624, loss_traj_cls: 0.0019, loss_map_cls: 0.1165, loss_map_pts: 0.5376, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.3389, d0.loss_plan_l1_fix_dist: 0.3860, d1.loss_plan_l1_fix_time: 0.7176, d1.loss_plan_l1_fix_dist: 0.3170, d2.loss_plan_l1_fix_time: 0.6964, d2.loss_plan_l1_fix_dist: 0.3676, d3.loss_plan_l1_fix_time: 0.6888, d3.loss_plan_l1_fix_dist: 0.2812, d4.loss_plan_l1_fix_time: 0.6910, d4.loss_plan_l1_fix_dist: 0.2799, d5.loss_plan_l1_fix_time: 0.6947, d5.loss_plan_l1_fix_dist: 0.4963, d6.loss_plan_l1_fix_time: 0.6999, d6.loss_plan_l1_fix_dist: 0.3351, d0.loss_cls_all: 0.1493, d0.loss_bbox_all: 0.3508, d0.loss_cls: 0.1493, d0.loss_bbox: 0.3508, d1.loss_cls: 0.1403, d1.loss_bbox: 0.3249, d2.loss_cls: 0.1218, d2.loss_bbox: 0.3054, d3.loss_cls: 0.1038, d3.loss_bbox: 0.2990, d4.loss_cls: 0.0971, d4.loss_bbox: 0.2972, d5.loss_cls: 0.0963, d5.loss_bbox: 0.2963, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7042, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5532, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4923, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4711, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4649, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4600, d0.loss_map_cls_all: 0.1980, d0.loss_map_pts_all: 1.1077, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1980, d0.loss_map_pts: 1.1077, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1678, d1.loss_map_pts: 0.7879, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1430, d2.loss_map_pts: 0.6151, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1315, d3.loss_map_pts: 0.5613, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1240, d4.loss_map_pts: 0.5428, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1194, d5.loss_map_pts: 0.5366, d5.loss_map_dir: 0.0071, loss: 23.1305, grad_norm: 169.7486 +2026-02-28 15:26:23,212 - DriveTransformer - INFO - Epoch [10][23350/39528] lr: 6.944e-05, eta: 4 days, 19:38:56, time: 0.727, data_time: 0.039, memory: 19865, loss_cls: 0.0977, loss_bbox: 0.2992, loss_traj: 0.5536, loss_traj_cls: 0.0018, loss_map_cls: 0.1017, loss_map_pts: 0.5195, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.7097, d0.loss_plan_l1_fix_dist: 0.3745, d1.loss_plan_l1_fix_time: 0.8106, d1.loss_plan_l1_fix_dist: 0.3102, d2.loss_plan_l1_fix_time: 0.7880, d2.loss_plan_l1_fix_dist: 0.3640, d3.loss_plan_l1_fix_time: 0.7716, d3.loss_plan_l1_fix_dist: 0.2635, d4.loss_plan_l1_fix_time: 0.7714, d4.loss_plan_l1_fix_dist: 0.2879, d5.loss_plan_l1_fix_time: 0.7731, d5.loss_plan_l1_fix_dist: 0.3883, d6.loss_plan_l1_fix_time: 0.7757, d6.loss_plan_l1_fix_dist: 0.2917, d0.loss_cls_all: 0.1515, d0.loss_bbox_all: 0.3612, d0.loss_cls: 0.1515, d0.loss_bbox: 0.3612, d1.loss_cls: 0.1432, d1.loss_bbox: 0.3243, d2.loss_cls: 0.1290, d2.loss_bbox: 0.3050, d3.loss_cls: 0.1067, d3.loss_bbox: 0.2996, d4.loss_cls: 0.1022, d4.loss_bbox: 0.2974, d5.loss_cls: 0.0988, d5.loss_bbox: 0.2975, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8933, d1.loss_traj_cls: 0.0009, d1.loss_traj: 0.6757, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5908, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5705, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5579, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5557, d0.loss_map_cls_all: 0.1930, d0.loss_map_pts_all: 1.0518, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1930, d0.loss_map_pts: 1.0518, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1574, d1.loss_map_pts: 0.7591, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1330, d2.loss_map_pts: 0.6001, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1187, d3.loss_map_pts: 0.5427, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1092, d4.loss_map_pts: 0.5256, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1046, d5.loss_map_pts: 0.5194, d5.loss_map_dir: 0.0065, loss: 24.3417, grad_norm: 169.0799 +2026-02-28 15:27:00,987 - DriveTransformer - INFO - Epoch [10][23400/39528] lr: 6.944e-05, eta: 4 days, 19:38:24, time: 0.756, data_time: 0.038, memory: 19865, loss_cls: 0.0924, loss_bbox: 0.2745, loss_traj: 0.4074, loss_traj_cls: 0.0019, loss_map_cls: 0.1026, loss_map_pts: 0.5211, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.5768, d0.loss_plan_l1_fix_dist: 0.4306, d1.loss_plan_l1_fix_time: 0.8358, d1.loss_plan_l1_fix_dist: 0.2787, d2.loss_plan_l1_fix_time: 0.8213, d2.loss_plan_l1_fix_dist: 0.3427, d3.loss_plan_l1_fix_time: 0.8175, d3.loss_plan_l1_fix_dist: 0.2601, d4.loss_plan_l1_fix_time: 0.8209, d4.loss_plan_l1_fix_dist: 0.2751, d5.loss_plan_l1_fix_time: 0.8251, d5.loss_plan_l1_fix_dist: 0.3239, d6.loss_plan_l1_fix_time: 0.8283, d6.loss_plan_l1_fix_dist: 0.2731, d0.loss_cls_all: 0.1350, d0.loss_bbox_all: 0.3249, d0.loss_cls: 0.1350, d0.loss_bbox: 0.3249, d1.loss_cls: 0.1288, d1.loss_bbox: 0.3008, d2.loss_cls: 0.1159, d2.loss_bbox: 0.2823, d3.loss_cls: 0.0998, d3.loss_bbox: 0.2777, d4.loss_cls: 0.0951, d4.loss_bbox: 0.2755, d5.loss_cls: 0.0931, d5.loss_bbox: 0.2748, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5899, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.4666, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4242, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4168, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4130, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4120, d0.loss_map_cls_all: 0.1742, d0.loss_map_pts_all: 1.1029, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1742, d0.loss_map_pts: 1.1029, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1482, d1.loss_map_pts: 0.7696, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1293, d2.loss_map_pts: 0.6014, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1186, d3.loss_map_pts: 0.5461, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1107, d4.loss_map_pts: 0.5279, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1060, d5.loss_map_pts: 0.5201, d5.loss_map_dir: 0.0068, loss: 22.8859, grad_norm: 168.2367 +2026-02-28 15:27:38,452 - DriveTransformer - INFO - Epoch [10][23450/39528] lr: 6.944e-05, eta: 4 days, 19:37:51, time: 0.749, data_time: 0.039, memory: 19865, loss_cls: 0.0951, loss_bbox: 0.2941, loss_traj: 0.5754, loss_traj_cls: 0.0019, loss_map_cls: 0.0857, loss_map_pts: 0.4929, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.7197, d0.loss_plan_l1_fix_dist: 0.4995, d1.loss_plan_l1_fix_time: 0.7465, d1.loss_plan_l1_fix_dist: 0.2833, d2.loss_plan_l1_fix_time: 0.7277, d2.loss_plan_l1_fix_dist: 0.3422, d3.loss_plan_l1_fix_time: 0.7233, d3.loss_plan_l1_fix_dist: 0.2744, d4.loss_plan_l1_fix_time: 0.7294, d4.loss_plan_l1_fix_dist: 0.2684, d5.loss_plan_l1_fix_time: 0.7345, d5.loss_plan_l1_fix_dist: 0.2874, d6.loss_plan_l1_fix_time: 0.7395, d6.loss_plan_l1_fix_dist: 0.3190, d0.loss_cls_all: 0.1382, d0.loss_bbox_all: 0.3561, d0.loss_cls: 0.1382, d0.loss_bbox: 0.3561, d1.loss_cls: 0.1319, d1.loss_bbox: 0.3225, d2.loss_cls: 0.1176, d2.loss_bbox: 0.3030, d3.loss_cls: 0.1012, d3.loss_bbox: 0.2991, d4.loss_cls: 0.0956, d4.loss_bbox: 0.2967, d5.loss_cls: 0.0953, d5.loss_bbox: 0.2946, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8393, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6661, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6119, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5958, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5858, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5805, d0.loss_map_cls_all: 0.1662, d0.loss_map_pts_all: 1.0603, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1662, d0.loss_map_pts: 1.0603, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1297, d1.loss_map_pts: 0.7530, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1096, d2.loss_map_pts: 0.5845, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.0993, d3.loss_map_pts: 0.5210, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.0927, d4.loss_map_pts: 0.4978, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0874, d5.loss_map_pts: 0.4918, d5.loss_map_dir: 0.0068, loss: 23.7436, grad_norm: 166.1201 +2026-02-28 15:28:16,010 - DriveTransformer - INFO - Epoch [10][23500/39528] lr: 6.944e-05, eta: 4 days, 19:37:19, time: 0.751, data_time: 0.037, memory: 19865, loss_cls: 0.1074, loss_bbox: 0.2994, loss_traj: 0.5149, loss_traj_cls: 0.0018, loss_map_cls: 0.1131, loss_map_pts: 0.5898, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.7944, d0.loss_plan_l1_fix_dist: 0.4712, d1.loss_plan_l1_fix_time: 0.8642, d1.loss_plan_l1_fix_dist: 0.2780, d2.loss_plan_l1_fix_time: 0.8557, d2.loss_plan_l1_fix_dist: 0.3285, d3.loss_plan_l1_fix_time: 0.8390, d3.loss_plan_l1_fix_dist: 0.2800, d4.loss_plan_l1_fix_time: 0.8401, d4.loss_plan_l1_fix_dist: 0.2764, d5.loss_plan_l1_fix_time: 0.8435, d5.loss_plan_l1_fix_dist: 0.2645, d6.loss_plan_l1_fix_time: 0.8476, d6.loss_plan_l1_fix_dist: 0.3973, d0.loss_cls_all: 0.1464, d0.loss_bbox_all: 0.3695, d0.loss_cls: 0.1464, d0.loss_bbox: 0.3695, d1.loss_cls: 0.1430, d1.loss_bbox: 0.3344, d2.loss_cls: 0.1308, d2.loss_bbox: 0.3122, d3.loss_cls: 0.1149, d3.loss_bbox: 0.3024, d4.loss_cls: 0.1091, d4.loss_bbox: 0.3011, d5.loss_cls: 0.1068, d5.loss_bbox: 0.2996, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7493, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5854, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5411, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5206, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5205, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5166, d0.loss_map_cls_all: 0.1967, d0.loss_map_pts_all: 1.2442, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1967, d0.loss_map_pts: 1.2442, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1607, d1.loss_map_pts: 0.8727, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1389, d2.loss_map_pts: 0.6883, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1311, d3.loss_map_pts: 0.6195, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1218, d4.loss_map_pts: 0.5953, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1158, d5.loss_map_pts: 0.5900, d5.loss_map_dir: 0.0075, loss: 25.4049, grad_norm: 166.9223 +2026-02-28 15:28:52,197 - DriveTransformer - INFO - Epoch [10][23550/39528] lr: 6.944e-05, eta: 4 days, 19:36:41, time: 0.724, data_time: 0.039, memory: 19865, loss_cls: 0.1058, loss_bbox: 0.3243, loss_traj: 0.5436, loss_traj_cls: 0.0019, loss_map_cls: 0.1218, loss_map_pts: 0.5552, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.4730, d0.loss_plan_l1_fix_dist: 0.4134, d1.loss_plan_l1_fix_time: 0.8089, d1.loss_plan_l1_fix_dist: 0.2512, d2.loss_plan_l1_fix_time: 0.7963, d2.loss_plan_l1_fix_dist: 0.2874, d3.loss_plan_l1_fix_time: 0.7838, d3.loss_plan_l1_fix_dist: 0.2451, d4.loss_plan_l1_fix_time: 0.7868, d4.loss_plan_l1_fix_dist: 0.2392, d5.loss_plan_l1_fix_time: 0.7908, d5.loss_plan_l1_fix_dist: 0.2759, d6.loss_plan_l1_fix_time: 0.7958, d6.loss_plan_l1_fix_dist: 0.4335, d0.loss_cls_all: 0.1602, d0.loss_bbox_all: 0.3874, d0.loss_cls: 0.1602, d0.loss_bbox: 0.3874, d1.loss_cls: 0.1477, d1.loss_bbox: 0.3529, d2.loss_cls: 0.1315, d2.loss_bbox: 0.3308, d3.loss_cls: 0.1141, d3.loss_bbox: 0.3250, d4.loss_cls: 0.1092, d4.loss_bbox: 0.3232, d5.loss_cls: 0.1059, d5.loss_bbox: 0.3237, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8499, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6453, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5780, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5587, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5505, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5464, d0.loss_map_cls_all: 0.2099, d0.loss_map_pts_all: 1.1106, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.2099, d0.loss_map_pts: 1.1106, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1782, d1.loss_map_pts: 0.8109, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1494, d2.loss_map_pts: 0.6414, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1366, d3.loss_map_pts: 0.5791, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1288, d4.loss_map_pts: 0.5609, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1237, d5.loss_map_pts: 0.5551, d5.loss_map_dir: 0.0064, loss: 24.6801, grad_norm: 168.9299 +2026-02-28 15:29:28,677 - DriveTransformer - INFO - Epoch [10][23600/39528] lr: 6.944e-05, eta: 4 days, 19:36:04, time: 0.730, data_time: 0.037, memory: 19865, loss_cls: 0.1184, loss_bbox: 0.3164, loss_traj: 0.4935, loss_traj_cls: 0.0019, loss_map_cls: 0.1011, loss_map_pts: 0.5559, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 3.2457, d0.loss_plan_l1_fix_dist: 0.4260, d1.loss_plan_l1_fix_time: 0.8156, d1.loss_plan_l1_fix_dist: 0.2589, d2.loss_plan_l1_fix_time: 0.7930, d2.loss_plan_l1_fix_dist: 0.2832, d3.loss_plan_l1_fix_time: 0.7912, d3.loss_plan_l1_fix_dist: 0.2535, d4.loss_plan_l1_fix_time: 0.7925, d4.loss_plan_l1_fix_dist: 0.2374, d5.loss_plan_l1_fix_time: 0.7947, d5.loss_plan_l1_fix_dist: 0.3287, d6.loss_plan_l1_fix_time: 0.7978, d6.loss_plan_l1_fix_dist: 0.4261, d0.loss_cls_all: 0.1613, d0.loss_bbox_all: 0.3849, d0.loss_cls: 0.1613, d0.loss_bbox: 0.3849, d1.loss_cls: 0.1582, d1.loss_bbox: 0.3527, d2.loss_cls: 0.1455, d2.loss_bbox: 0.3312, d3.loss_cls: 0.1275, d3.loss_bbox: 0.3219, d4.loss_cls: 0.1191, d4.loss_bbox: 0.3186, d5.loss_cls: 0.1181, d5.loss_bbox: 0.3175, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6894, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5472, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5112, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4987, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4923, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4903, d0.loss_map_cls_all: 0.1861, d0.loss_map_pts_all: 1.1062, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1861, d0.loss_map_pts: 1.1062, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1510, d1.loss_map_pts: 0.7992, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1292, d2.loss_map_pts: 0.6476, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1163, d3.loss_map_pts: 0.5933, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1075, d4.loss_map_pts: 0.5711, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1026, d5.loss_map_pts: 0.5568, d5.loss_map_dir: 0.0073, loss: 24.8837, grad_norm: 167.6025 +2026-02-28 15:30:04,773 - DriveTransformer - INFO - Epoch [10][23650/39528] lr: 6.944e-05, eta: 4 days, 19:35:26, time: 0.722, data_time: 0.038, memory: 19865, loss_cls: 0.1041, loss_bbox: 0.2892, loss_traj: 0.5576, loss_traj_cls: 0.0019, loss_map_cls: 0.0880, loss_map_pts: 0.4769, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.5435, d0.loss_plan_l1_fix_dist: 0.3621, d1.loss_plan_l1_fix_time: 0.8098, d1.loss_plan_l1_fix_dist: 0.2338, d2.loss_plan_l1_fix_time: 0.7839, d2.loss_plan_l1_fix_dist: 0.2304, d3.loss_plan_l1_fix_time: 0.7820, d3.loss_plan_l1_fix_dist: 0.2187, d4.loss_plan_l1_fix_time: 0.7853, d4.loss_plan_l1_fix_dist: 0.2318, d5.loss_plan_l1_fix_time: 0.7883, d5.loss_plan_l1_fix_dist: 0.3525, d6.loss_plan_l1_fix_time: 0.7911, d6.loss_plan_l1_fix_dist: 0.3350, d0.loss_cls_all: 0.1477, d0.loss_bbox_all: 0.3454, d0.loss_cls: 0.1477, d0.loss_bbox: 0.3454, d1.loss_cls: 0.1370, d1.loss_bbox: 0.3180, d2.loss_cls: 0.1272, d2.loss_bbox: 0.2979, d3.loss_cls: 0.1109, d3.loss_bbox: 0.2907, d4.loss_cls: 0.1061, d4.loss_bbox: 0.2900, d5.loss_cls: 0.1038, d5.loss_bbox: 0.2893, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7896, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6423, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5938, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5774, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5696, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5654, d0.loss_map_cls_all: 0.1612, d0.loss_map_pts_all: 0.9580, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1612, d0.loss_map_pts: 0.9580, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1314, d1.loss_map_pts: 0.6849, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1101, d2.loss_map_pts: 0.5538, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1014, d3.loss_map_pts: 0.5047, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0940, d4.loss_map_pts: 0.4912, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0895, d5.loss_map_pts: 0.4788, d5.loss_map_dir: 0.0061, loss: 23.0931, grad_norm: 166.1352 +2026-02-28 15:30:40,717 - DriveTransformer - INFO - Epoch [10][23700/39528] lr: 6.944e-05, eta: 4 days, 19:34:47, time: 0.719, data_time: 0.039, memory: 19865, loss_cls: 0.0933, loss_bbox: 0.2855, loss_traj: 0.5689, loss_traj_cls: 0.0019, loss_map_cls: 0.0910, loss_map_pts: 0.4551, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.4452, d0.loss_plan_l1_fix_dist: 0.4921, d1.loss_plan_l1_fix_time: 0.8092, d1.loss_plan_l1_fix_dist: 0.2380, d2.loss_plan_l1_fix_time: 0.7845, d2.loss_plan_l1_fix_dist: 0.2502, d3.loss_plan_l1_fix_time: 0.7812, d3.loss_plan_l1_fix_dist: 0.2290, d4.loss_plan_l1_fix_time: 0.7836, d4.loss_plan_l1_fix_dist: 0.2669, d5.loss_plan_l1_fix_time: 0.7862, d5.loss_plan_l1_fix_dist: 0.3789, d6.loss_plan_l1_fix_time: 0.7892, d6.loss_plan_l1_fix_dist: 0.2723, d0.loss_cls_all: 0.1320, d0.loss_bbox_all: 0.3573, d0.loss_cls: 0.1320, d0.loss_bbox: 0.3573, d1.loss_cls: 0.1267, d1.loss_bbox: 0.3204, d2.loss_cls: 0.1157, d2.loss_bbox: 0.2960, d3.loss_cls: 0.1009, d3.loss_bbox: 0.2874, d4.loss_cls: 0.0952, d4.loss_bbox: 0.2858, d5.loss_cls: 0.0932, d5.loss_bbox: 0.2859, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8510, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6516, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5997, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5799, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5717, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5714, d0.loss_map_cls_all: 0.1692, d0.loss_map_pts_all: 0.9812, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1692, d0.loss_map_pts: 0.9812, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1359, d1.loss_map_pts: 0.6852, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1120, d2.loss_map_pts: 0.5304, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1019, d3.loss_map_pts: 0.4814, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0980, d4.loss_map_pts: 0.4656, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0934, d5.loss_map_pts: 0.4546, d5.loss_map_dir: 0.0056, loss: 23.1206, grad_norm: 165.7979 +2026-02-28 15:31:17,918 - DriveTransformer - INFO - Epoch [10][23750/39528] lr: 6.944e-05, eta: 4 days, 19:34:13, time: 0.744, data_time: 0.041, memory: 19865, loss_cls: 0.0866, loss_bbox: 0.2751, loss_traj: 0.4885, loss_traj_cls: 0.0019, loss_map_cls: 0.1024, loss_map_pts: 0.4919, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.0979, d0.loss_plan_l1_fix_dist: 0.4798, d1.loss_plan_l1_fix_time: 0.7191, d1.loss_plan_l1_fix_dist: 0.2236, d2.loss_plan_l1_fix_time: 0.7076, d2.loss_plan_l1_fix_dist: 0.2620, d3.loss_plan_l1_fix_time: 0.7057, d3.loss_plan_l1_fix_dist: 0.2221, d4.loss_plan_l1_fix_time: 0.7091, d4.loss_plan_l1_fix_dist: 0.2913, d5.loss_plan_l1_fix_time: 0.7130, d5.loss_plan_l1_fix_dist: 0.4021, d6.loss_plan_l1_fix_time: 0.7181, d6.loss_plan_l1_fix_dist: 0.2480, d0.loss_cls_all: 0.1285, d0.loss_bbox_all: 0.3422, d0.loss_cls: 0.1285, d0.loss_bbox: 0.3422, d1.loss_cls: 0.1208, d1.loss_bbox: 0.3091, d2.loss_cls: 0.1096, d2.loss_bbox: 0.2866, d3.loss_cls: 0.0931, d3.loss_bbox: 0.2797, d4.loss_cls: 0.0895, d4.loss_bbox: 0.2752, d5.loss_cls: 0.0858, d5.loss_bbox: 0.2764, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7030, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5683, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5136, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4994, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4912, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4873, d0.loss_map_cls_all: 0.1889, d0.loss_map_pts_all: 1.0568, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1889, d0.loss_map_pts: 1.0568, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1549, d1.loss_map_pts: 0.7566, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1274, d2.loss_map_pts: 0.5748, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1166, d3.loss_map_pts: 0.5192, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1109, d4.loss_map_pts: 0.4973, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1050, d5.loss_map_pts: 0.4916, d5.loss_map_dir: 0.0066, loss: 22.0793, grad_norm: 164.4441 +2026-02-28 15:31:53,389 - DriveTransformer - INFO - Epoch [10][23800/39528] lr: 6.944e-05, eta: 4 days, 19:33:32, time: 0.711, data_time: 0.036, memory: 19865, loss_cls: 0.1148, loss_bbox: 0.3091, loss_traj: 0.5478, loss_traj_cls: 0.0018, loss_map_cls: 0.1172, loss_map_pts: 0.5589, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.8014, d0.loss_plan_l1_fix_dist: 0.5144, d1.loss_plan_l1_fix_time: 0.9283, d1.loss_plan_l1_fix_dist: 0.2363, d2.loss_plan_l1_fix_time: 0.9048, d2.loss_plan_l1_fix_dist: 0.3101, d3.loss_plan_l1_fix_time: 0.9084, d3.loss_plan_l1_fix_dist: 0.2416, d4.loss_plan_l1_fix_time: 0.9109, d4.loss_plan_l1_fix_dist: 0.3140, d5.loss_plan_l1_fix_time: 0.9130, d5.loss_plan_l1_fix_dist: 0.4206, d6.loss_plan_l1_fix_time: 0.9157, d6.loss_plan_l1_fix_dist: 0.3288, d0.loss_cls_all: 0.1560, d0.loss_bbox_all: 0.3759, d0.loss_cls: 0.1560, d0.loss_bbox: 0.3759, d1.loss_cls: 0.1492, d1.loss_bbox: 0.3436, d2.loss_cls: 0.1408, d2.loss_bbox: 0.3186, d3.loss_cls: 0.1246, d3.loss_bbox: 0.3139, d4.loss_cls: 0.1186, d4.loss_bbox: 0.3109, d5.loss_cls: 0.1145, d5.loss_bbox: 0.3107, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8003, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6337, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5637, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5462, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5491, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5456, d0.loss_map_cls_all: 0.2064, d0.loss_map_pts_all: 1.1277, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.2064, d0.loss_map_pts: 1.1277, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1726, d1.loss_map_pts: 0.8434, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1461, d2.loss_map_pts: 0.6711, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1324, d3.loss_map_pts: 0.5935, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1256, d4.loss_map_pts: 0.5677, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1200, d5.loss_map_pts: 0.5598, d5.loss_map_dir: 0.0059, loss: 25.8973, grad_norm: 161.7531 +2026-02-28 15:32:29,807 - DriveTransformer - INFO - Epoch [10][23850/39528] lr: 6.944e-05, eta: 4 days, 19:32:55, time: 0.727, data_time: 0.038, memory: 19865, loss_cls: 0.1173, loss_bbox: 0.3162, loss_traj: 0.4801, loss_traj_cls: 0.0019, loss_map_cls: 0.1185, loss_map_pts: 0.5556, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.7441, d0.loss_plan_l1_fix_dist: 0.4878, d1.loss_plan_l1_fix_time: 0.8154, d1.loss_plan_l1_fix_dist: 0.2080, d2.loss_plan_l1_fix_time: 0.7987, d2.loss_plan_l1_fix_dist: 0.3125, d3.loss_plan_l1_fix_time: 0.8029, d3.loss_plan_l1_fix_dist: 0.2308, d4.loss_plan_l1_fix_time: 0.8069, d4.loss_plan_l1_fix_dist: 0.2928, d5.loss_plan_l1_fix_time: 0.8103, d5.loss_plan_l1_fix_dist: 0.3845, d6.loss_plan_l1_fix_time: 0.8143, d6.loss_plan_l1_fix_dist: 0.3232, d0.loss_cls_all: 0.1588, d0.loss_bbox_all: 0.3904, d0.loss_cls: 0.1588, d0.loss_bbox: 0.3904, d1.loss_cls: 0.1517, d1.loss_bbox: 0.3540, d2.loss_cls: 0.1387, d2.loss_bbox: 0.3313, d3.loss_cls: 0.1282, d3.loss_bbox: 0.3198, d4.loss_cls: 0.1184, d4.loss_bbox: 0.3204, d5.loss_cls: 0.1183, d5.loss_bbox: 0.3166, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7188, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5519, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5017, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4906, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4845, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4820, d0.loss_map_cls_all: 0.1976, d0.loss_map_pts_all: 1.0959, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1976, d0.loss_map_pts: 1.0959, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1667, d1.loss_map_pts: 0.7917, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1433, d2.loss_map_pts: 0.6347, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1320, d3.loss_map_pts: 0.5765, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1269, d4.loss_map_pts: 0.5601, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1214, d5.loss_map_pts: 0.5545, d5.loss_map_dir: 0.0072, loss: 24.5032, grad_norm: 159.5894 +2026-02-28 15:33:06,267 - DriveTransformer - INFO - Epoch [10][23900/39528] lr: 6.944e-05, eta: 4 days, 19:32:18, time: 0.729, data_time: 0.042, memory: 19865, loss_cls: 0.1072, loss_bbox: 0.2865, loss_traj: 0.4860, loss_traj_cls: 0.0020, loss_map_cls: 0.0979, loss_map_pts: 0.4839, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 3.0797, d0.loss_plan_l1_fix_dist: 0.4530, d1.loss_plan_l1_fix_time: 0.8204, d1.loss_plan_l1_fix_dist: 0.1741, d2.loss_plan_l1_fix_time: 0.8013, d2.loss_plan_l1_fix_dist: 0.3009, d3.loss_plan_l1_fix_time: 0.7970, d3.loss_plan_l1_fix_dist: 0.2358, d4.loss_plan_l1_fix_time: 0.7996, d4.loss_plan_l1_fix_dist: 0.2331, d5.loss_plan_l1_fix_time: 0.8023, d5.loss_plan_l1_fix_dist: 0.3089, d6.loss_plan_l1_fix_time: 0.8059, d6.loss_plan_l1_fix_dist: 0.2587, d0.loss_cls_all: 0.1417, d0.loss_bbox_all: 0.3528, d0.loss_cls: 0.1417, d0.loss_bbox: 0.3528, d1.loss_cls: 0.1430, d1.loss_bbox: 0.3162, d2.loss_cls: 0.1284, d2.loss_bbox: 0.2987, d3.loss_cls: 0.1130, d3.loss_bbox: 0.2921, d4.loss_cls: 0.1082, d4.loss_bbox: 0.2887, d5.loss_cls: 0.1074, d5.loss_bbox: 0.2875, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7168, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5647, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5053, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4907, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4878, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4875, d0.loss_map_cls_all: 0.1758, d0.loss_map_pts_all: 1.0292, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1758, d0.loss_map_pts: 1.0292, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1439, d1.loss_map_pts: 0.7331, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1213, d2.loss_map_pts: 0.5716, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1106, d3.loss_map_pts: 0.5107, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1042, d4.loss_map_pts: 0.4897, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0994, d5.loss_map_pts: 0.4840, d5.loss_map_dir: 0.0065, loss: 23.4945, grad_norm: 158.6860 +2026-02-28 15:33:41,760 - DriveTransformer - INFO - Epoch [10][23950/39528] lr: 6.944e-05, eta: 4 days, 19:31:37, time: 0.710, data_time: 0.038, memory: 19865, loss_cls: 0.0966, loss_bbox: 0.2794, loss_traj: 0.4877, loss_traj_cls: 0.0020, loss_map_cls: 0.0732, loss_map_pts: 0.4241, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.0694, d0.loss_plan_l1_fix_dist: 0.4452, d1.loss_plan_l1_fix_time: 0.7465, d1.loss_plan_l1_fix_dist: 0.1642, d2.loss_plan_l1_fix_time: 0.7359, d2.loss_plan_l1_fix_dist: 0.3159, d3.loss_plan_l1_fix_time: 0.7395, d3.loss_plan_l1_fix_dist: 0.2930, d4.loss_plan_l1_fix_time: 0.7418, d4.loss_plan_l1_fix_dist: 0.2156, d5.loss_plan_l1_fix_time: 0.7458, d5.loss_plan_l1_fix_dist: 0.2643, d6.loss_plan_l1_fix_time: 0.7508, d6.loss_plan_l1_fix_dist: 0.2550, d0.loss_cls_all: 0.1393, d0.loss_bbox_all: 0.3407, d0.loss_cls: 0.1393, d0.loss_bbox: 0.3407, d1.loss_cls: 0.1322, d1.loss_bbox: 0.3140, d2.loss_cls: 0.1198, d2.loss_bbox: 0.2933, d3.loss_cls: 0.1025, d3.loss_bbox: 0.2854, d4.loss_cls: 0.0983, d4.loss_bbox: 0.2814, d5.loss_cls: 0.0956, d5.loss_bbox: 0.2807, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7304, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5832, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5238, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5092, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4835, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4859, d0.loss_map_cls_all: 0.1518, d0.loss_map_pts_all: 0.8847, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1518, d0.loss_map_pts: 0.8847, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1205, d1.loss_map_pts: 0.6151, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.0997, d2.loss_map_pts: 0.4896, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.0884, d3.loss_map_pts: 0.4449, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0800, d4.loss_map_pts: 0.4265, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0749, d5.loss_map_pts: 0.4224, d5.loss_map_dir: 0.0058, loss: 21.1133, grad_norm: 159.8706 +2026-02-28 15:34:20,996 - DriveTransformer - INFO - Epoch [10][24000/39528] lr: 6.944e-05, eta: 4 days, 19:31:11, time: 0.785, data_time: 0.038, memory: 19865, loss_cls: 0.1083, loss_bbox: 0.3093, loss_traj: 0.4636, loss_traj_cls: 0.0019, loss_map_cls: 0.1213, loss_map_pts: 0.6284, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.7217, d0.loss_plan_l1_fix_dist: 0.3611, d1.loss_plan_l1_fix_time: 0.8796, d1.loss_plan_l1_fix_dist: 0.2048, d2.loss_plan_l1_fix_time: 0.8688, d2.loss_plan_l1_fix_dist: 0.3354, d3.loss_plan_l1_fix_time: 0.8571, d3.loss_plan_l1_fix_dist: 0.3460, d4.loss_plan_l1_fix_time: 0.8618, d4.loss_plan_l1_fix_dist: 0.2325, d5.loss_plan_l1_fix_time: 0.8688, d5.loss_plan_l1_fix_dist: 0.2497, d6.loss_plan_l1_fix_time: 0.8761, d6.loss_plan_l1_fix_dist: 0.2744, d0.loss_cls_all: 0.1594, d0.loss_bbox_all: 0.3722, d0.loss_cls: 0.1594, d0.loss_bbox: 0.3722, d1.loss_cls: 0.1476, d1.loss_bbox: 0.3384, d2.loss_cls: 0.1295, d2.loss_bbox: 0.3184, d3.loss_cls: 0.1128, d3.loss_bbox: 0.3128, d4.loss_cls: 0.1070, d4.loss_bbox: 0.3115, d5.loss_cls: 0.1070, d5.loss_bbox: 0.3097, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6713, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5287, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4869, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4670, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4633, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4631, d0.loss_map_cls_all: 0.2102, d0.loss_map_pts_all: 1.3282, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2102, d0.loss_map_pts: 1.3282, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.1737, d1.loss_map_pts: 0.9330, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1504, d2.loss_map_pts: 0.7250, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1384, d3.loss_map_pts: 0.6580, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1295, d4.loss_map_pts: 0.6336, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1239, d5.loss_map_pts: 0.6292, d5.loss_map_dir: 0.0100, loss: 25.3643, grad_norm: 162.6149 +2026-02-28 15:34:59,237 - DriveTransformer - INFO - Epoch [10][24050/39528] lr: 6.944e-05, eta: 4 days, 19:30:42, time: 0.765, data_time: 0.039, memory: 19865, loss_cls: 0.1023, loss_bbox: 0.2782, loss_traj: 0.5200, loss_traj_cls: 0.0020, loss_map_cls: 0.0895, loss_map_pts: 0.5031, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.4779, d0.loss_plan_l1_fix_dist: 0.4372, d1.loss_plan_l1_fix_time: 0.7752, d1.loss_plan_l1_fix_dist: 0.2191, d2.loss_plan_l1_fix_time: 0.7634, d2.loss_plan_l1_fix_dist: 0.3259, d3.loss_plan_l1_fix_time: 0.7703, d3.loss_plan_l1_fix_dist: 0.3763, d4.loss_plan_l1_fix_time: 0.7739, d4.loss_plan_l1_fix_dist: 0.2651, d5.loss_plan_l1_fix_time: 0.7805, d5.loss_plan_l1_fix_dist: 0.2405, d6.loss_plan_l1_fix_time: 0.7873, d6.loss_plan_l1_fix_dist: 0.2784, d0.loss_cls_all: 0.1383, d0.loss_bbox_all: 0.3315, d0.loss_cls: 0.1383, d0.loss_bbox: 0.3315, d1.loss_cls: 0.1334, d1.loss_bbox: 0.3033, d2.loss_cls: 0.1199, d2.loss_bbox: 0.2874, d3.loss_cls: 0.1071, d3.loss_bbox: 0.2819, d4.loss_cls: 0.1040, d4.loss_bbox: 0.2772, d5.loss_cls: 0.1027, d5.loss_bbox: 0.2766, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7077, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5528, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5299, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5261, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5223, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5207, d0.loss_map_cls_all: 0.1690, d0.loss_map_pts_all: 1.0824, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.1690, d0.loss_map_pts: 1.0824, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1384, d1.loss_map_pts: 0.7524, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1149, d2.loss_map_pts: 0.5900, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1043, d3.loss_map_pts: 0.5320, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.0971, d4.loss_map_pts: 0.5108, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.0914, d5.loss_map_pts: 0.5037, d5.loss_map_dir: 0.0080, loss: 23.0653, grad_norm: 163.7778 +2026-02-28 15:35:35,802 - DriveTransformer - INFO - Epoch [10][24100/39528] lr: 6.944e-05, eta: 4 days, 19:30:05, time: 0.731, data_time: 0.037, memory: 19865, loss_cls: 0.0977, loss_bbox: 0.3044, loss_traj: 0.5435, loss_traj_cls: 0.0020, loss_map_cls: 0.1165, loss_map_pts: 0.5782, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.4244, d0.loss_plan_l1_fix_dist: 0.3810, d1.loss_plan_l1_fix_time: 0.8605, d1.loss_plan_l1_fix_dist: 0.2283, d2.loss_plan_l1_fix_time: 0.8476, d2.loss_plan_l1_fix_dist: 0.3601, d3.loss_plan_l1_fix_time: 0.8469, d3.loss_plan_l1_fix_dist: 0.4241, d4.loss_plan_l1_fix_time: 0.8477, d4.loss_plan_l1_fix_dist: 0.3281, d5.loss_plan_l1_fix_time: 0.8508, d5.loss_plan_l1_fix_dist: 0.2804, d6.loss_plan_l1_fix_time: 0.8542, d6.loss_plan_l1_fix_dist: 0.2715, d0.loss_cls_all: 0.1418, d0.loss_bbox_all: 0.3582, d0.loss_cls: 0.1418, d0.loss_bbox: 0.3582, d1.loss_cls: 0.1359, d1.loss_bbox: 0.3295, d2.loss_cls: 0.1219, d2.loss_bbox: 0.3121, d3.loss_cls: 0.1028, d3.loss_bbox: 0.3101, d4.loss_cls: 0.0980, d4.loss_bbox: 0.3057, d5.loss_cls: 0.0968, d5.loss_bbox: 0.3045, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7747, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6147, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5639, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5484, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5481, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5475, d0.loss_map_cls_all: 0.2028, d0.loss_map_pts_all: 1.1567, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2028, d0.loss_map_pts: 1.1567, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1680, d1.loss_map_pts: 0.8506, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1418, d2.loss_map_pts: 0.6803, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1315, d3.loss_map_pts: 0.6098, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1234, d4.loss_map_pts: 0.5873, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1183, d5.loss_map_pts: 0.5787, d5.loss_map_dir: 0.0072, loss: 24.9316, grad_norm: 164.4974 +2026-02-28 15:36:12,723 - DriveTransformer - INFO - Epoch [10][24150/39528] lr: 6.944e-05, eta: 4 days, 19:29:30, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.1033, loss_bbox: 0.2967, loss_traj: 0.5183, loss_traj_cls: 0.0020, loss_map_cls: 0.1065, loss_map_pts: 0.5527, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.7907, d0.loss_plan_l1_fix_dist: 0.3553, d1.loss_plan_l1_fix_time: 0.8437, d1.loss_plan_l1_fix_dist: 0.2133, d2.loss_plan_l1_fix_time: 0.8297, d2.loss_plan_l1_fix_dist: 0.3667, d3.loss_plan_l1_fix_time: 0.8273, d3.loss_plan_l1_fix_dist: 0.4164, d4.loss_plan_l1_fix_time: 0.8298, d4.loss_plan_l1_fix_dist: 0.3322, d5.loss_plan_l1_fix_time: 0.8320, d5.loss_plan_l1_fix_dist: 0.2856, d6.loss_plan_l1_fix_time: 0.8350, d6.loss_plan_l1_fix_dist: 0.2488, d0.loss_cls_all: 0.1453, d0.loss_bbox_all: 0.3588, d0.loss_cls: 0.1453, d0.loss_bbox: 0.3588, d1.loss_cls: 0.1375, d1.loss_bbox: 0.3275, d2.loss_cls: 0.1244, d2.loss_bbox: 0.3078, d3.loss_cls: 0.1080, d3.loss_bbox: 0.3022, d4.loss_cls: 0.1044, d4.loss_bbox: 0.2983, d5.loss_cls: 0.1035, d5.loss_bbox: 0.2961, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7595, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5968, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5544, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5279, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5239, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5200, d0.loss_map_cls_all: 0.1872, d0.loss_map_pts_all: 1.1576, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1872, d0.loss_map_pts: 1.1576, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1571, d1.loss_map_pts: 0.8344, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1299, d2.loss_map_pts: 0.6560, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1184, d3.loss_map_pts: 0.5880, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1139, d4.loss_map_pts: 0.5615, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1092, d5.loss_map_pts: 0.5539, d5.loss_map_dir: 0.0068, loss: 24.7560, grad_norm: 163.8456 +2026-02-28 15:36:49,793 - DriveTransformer - INFO - Epoch [10][24200/39528] lr: 6.944e-05, eta: 4 days, 19:28:56, time: 0.741, data_time: 0.040, memory: 19865, loss_cls: 0.0792, loss_bbox: 0.2878, loss_traj: 0.5678, loss_traj_cls: 0.0020, loss_map_cls: 0.1103, loss_map_pts: 0.5055, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.5872, d0.loss_plan_l1_fix_dist: 0.4072, d1.loss_plan_l1_fix_time: 0.9083, d1.loss_plan_l1_fix_dist: 0.2239, d2.loss_plan_l1_fix_time: 0.9034, d2.loss_plan_l1_fix_dist: 0.3947, d3.loss_plan_l1_fix_time: 0.8990, d3.loss_plan_l1_fix_dist: 0.4313, d4.loss_plan_l1_fix_time: 0.9040, d4.loss_plan_l1_fix_dist: 0.3669, d5.loss_plan_l1_fix_time: 0.9080, d5.loss_plan_l1_fix_dist: 0.3247, d6.loss_plan_l1_fix_time: 0.9118, d6.loss_plan_l1_fix_dist: 0.2426, d0.loss_cls_all: 0.1268, d0.loss_bbox_all: 0.3415, d0.loss_cls: 0.1268, d0.loss_bbox: 0.3415, d1.loss_cls: 0.1191, d1.loss_bbox: 0.3093, d2.loss_cls: 0.1066, d2.loss_bbox: 0.2927, d3.loss_cls: 0.0883, d3.loss_bbox: 0.2892, d4.loss_cls: 0.0822, d4.loss_bbox: 0.2863, d5.loss_cls: 0.0802, d5.loss_bbox: 0.2871, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7310, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6011, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5685, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5562, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5611, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5654, d0.loss_map_cls_all: 0.1943, d0.loss_map_pts_all: 1.1001, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1943, d0.loss_map_pts: 1.1001, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1628, d1.loss_map_pts: 0.7570, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1353, d2.loss_map_pts: 0.5815, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1236, d3.loss_map_pts: 0.5227, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1163, d4.loss_map_pts: 0.5080, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1113, d5.loss_map_pts: 0.5054, d5.loss_map_dir: 0.0070, loss: 24.5994, grad_norm: 164.4318 +2026-02-28 15:37:26,304 - DriveTransformer - INFO - Epoch [10][24250/39528] lr: 6.944e-05, eta: 4 days, 19:28:19, time: 0.730, data_time: 0.037, memory: 19865, loss_cls: 0.0992, loss_bbox: 0.2965, loss_traj: 0.5162, loss_traj_cls: 0.0021, loss_map_cls: 0.0829, loss_map_pts: 0.4205, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.4386, d0.loss_plan_l1_fix_dist: 0.4503, d1.loss_plan_l1_fix_time: 0.7554, d1.loss_plan_l1_fix_dist: 0.2513, d2.loss_plan_l1_fix_time: 0.7511, d2.loss_plan_l1_fix_dist: 0.3968, d3.loss_plan_l1_fix_time: 0.7466, d3.loss_plan_l1_fix_dist: 0.4248, d4.loss_plan_l1_fix_time: 0.7499, d4.loss_plan_l1_fix_dist: 0.3713, d5.loss_plan_l1_fix_time: 0.7532, d5.loss_plan_l1_fix_dist: 0.3348, d6.loss_plan_l1_fix_time: 0.7565, d6.loss_plan_l1_fix_dist: 0.2678, d0.loss_cls_all: 0.1397, d0.loss_bbox_all: 0.3671, d0.loss_cls: 0.1397, d0.loss_bbox: 0.3671, d1.loss_cls: 0.1351, d1.loss_bbox: 0.3316, d2.loss_cls: 0.1200, d2.loss_bbox: 0.3110, d3.loss_cls: 0.1034, d3.loss_bbox: 0.3030, d4.loss_cls: 0.0978, d4.loss_bbox: 0.3007, d5.loss_cls: 0.0998, d5.loss_bbox: 0.2967, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7969, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5997, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5403, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5152, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5125, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5128, d0.loss_map_cls_all: 0.1549, d0.loss_map_pts_all: 0.9049, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1549, d0.loss_map_pts: 0.9049, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1250, d1.loss_map_pts: 0.6200, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1057, d2.loss_map_pts: 0.4876, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0955, d3.loss_map_pts: 0.4421, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0882, d4.loss_map_pts: 0.4260, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0856, d5.loss_map_pts: 0.4193, d5.loss_map_dir: 0.0056, loss: 22.5217, grad_norm: 160.8055 +2026-02-28 15:38:02,272 - DriveTransformer - INFO - Epoch [10][24300/39528] lr: 6.944e-05, eta: 4 days, 19:27:40, time: 0.719, data_time: 0.036, memory: 19865, loss_cls: 0.1015, loss_bbox: 0.2820, loss_traj: 0.4570, loss_traj_cls: 0.0020, loss_map_cls: 0.1120, loss_map_pts: 0.5327, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.7668, d0.loss_plan_l1_fix_dist: 0.4613, d1.loss_plan_l1_fix_time: 0.7569, d1.loss_plan_l1_fix_dist: 0.2946, d2.loss_plan_l1_fix_time: 0.7458, d2.loss_plan_l1_fix_dist: 0.3641, d3.loss_plan_l1_fix_time: 0.7476, d3.loss_plan_l1_fix_dist: 0.3771, d4.loss_plan_l1_fix_time: 0.7482, d4.loss_plan_l1_fix_dist: 0.3196, d5.loss_plan_l1_fix_time: 0.7505, d5.loss_plan_l1_fix_dist: 0.2866, d6.loss_plan_l1_fix_time: 0.7542, d6.loss_plan_l1_fix_dist: 0.2571, d0.loss_cls_all: 0.1474, d0.loss_bbox_all: 0.3508, d0.loss_cls: 0.1474, d0.loss_bbox: 0.3508, d1.loss_cls: 0.1415, d1.loss_bbox: 0.3177, d2.loss_cls: 0.1267, d2.loss_bbox: 0.2954, d3.loss_cls: 0.1081, d3.loss_bbox: 0.2898, d4.loss_cls: 0.1028, d4.loss_bbox: 0.2855, d5.loss_cls: 0.1018, d5.loss_bbox: 0.2818, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6224, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5139, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4712, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4575, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4512, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4541, d0.loss_map_cls_all: 0.1877, d0.loss_map_pts_all: 1.0780, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1877, d0.loss_map_pts: 1.0780, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1555, d1.loss_map_pts: 0.7721, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1312, d2.loss_map_pts: 0.6172, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1231, d3.loss_map_pts: 0.5610, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1176, d4.loss_map_pts: 0.5380, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1142, d5.loss_map_pts: 0.5328, d5.loss_map_dir: 0.0067, loss: 23.3893, grad_norm: 157.3646 +2026-02-28 15:38:38,340 - DriveTransformer - INFO - Epoch [10][24350/39528] lr: 6.944e-05, eta: 4 days, 19:27:01, time: 0.721, data_time: 0.043, memory: 19865, loss_cls: 0.0985, loss_bbox: 0.2874, loss_traj: 0.5193, loss_traj_cls: 0.0020, loss_map_cls: 0.1001, loss_map_pts: 0.5348, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.5918, d0.loss_plan_l1_fix_dist: 0.4326, d1.loss_plan_l1_fix_time: 0.9020, d1.loss_plan_l1_fix_dist: 0.2988, d2.loss_plan_l1_fix_time: 0.8844, d2.loss_plan_l1_fix_dist: 0.2523, d3.loss_plan_l1_fix_time: 0.8763, d3.loss_plan_l1_fix_dist: 0.2768, d4.loss_plan_l1_fix_time: 0.8768, d4.loss_plan_l1_fix_dist: 0.2481, d5.loss_plan_l1_fix_time: 0.8786, d5.loss_plan_l1_fix_dist: 0.2270, d6.loss_plan_l1_fix_time: 0.8808, d6.loss_plan_l1_fix_dist: 0.2638, d0.loss_cls_all: 0.1443, d0.loss_bbox_all: 0.3538, d0.loss_cls: 0.1443, d0.loss_bbox: 0.3538, d1.loss_cls: 0.1358, d1.loss_bbox: 0.3252, d2.loss_cls: 0.1202, d2.loss_bbox: 0.3026, d3.loss_cls: 0.1056, d3.loss_bbox: 0.2943, d4.loss_cls: 0.0995, d4.loss_bbox: 0.2894, d5.loss_cls: 0.0983, d5.loss_bbox: 0.2874, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7475, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6036, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5420, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5250, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5212, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5187, d0.loss_map_cls_all: 0.1749, d0.loss_map_pts_all: 1.0316, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1749, d0.loss_map_pts: 1.0316, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1497, d1.loss_map_pts: 0.7727, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1268, d2.loss_map_pts: 0.6226, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1158, d3.loss_map_pts: 0.5637, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1086, d4.loss_map_pts: 0.5439, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1030, d5.loss_map_pts: 0.5352, d5.loss_map_dir: 0.0059, loss: 24.0505, grad_norm: 162.8836 +2026-02-28 15:39:15,429 - DriveTransformer - INFO - Epoch [10][24400/39528] lr: 6.944e-05, eta: 4 days, 19:26:27, time: 0.742, data_time: 0.039, memory: 19865, loss_cls: 0.0937, loss_bbox: 0.2865, loss_traj: 0.5983, loss_traj_cls: 0.0021, loss_map_cls: 0.1020, loss_map_pts: 0.5028, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.8457, d0.loss_plan_l1_fix_dist: 0.5001, d1.loss_plan_l1_fix_time: 0.8640, d1.loss_plan_l1_fix_dist: 0.3471, d2.loss_plan_l1_fix_time: 0.8431, d2.loss_plan_l1_fix_dist: 0.2422, d3.loss_plan_l1_fix_time: 0.8323, d3.loss_plan_l1_fix_dist: 0.2603, d4.loss_plan_l1_fix_time: 0.8324, d4.loss_plan_l1_fix_dist: 0.2794, d5.loss_plan_l1_fix_time: 0.8340, d5.loss_plan_l1_fix_dist: 0.2452, d6.loss_plan_l1_fix_time: 0.8362, d6.loss_plan_l1_fix_dist: 0.3149, d0.loss_cls_all: 0.1345, d0.loss_bbox_all: 0.3491, d0.loss_cls: 0.1345, d0.loss_bbox: 0.3491, d1.loss_cls: 0.1313, d1.loss_bbox: 0.3157, d2.loss_cls: 0.1161, d2.loss_bbox: 0.2937, d3.loss_cls: 0.0992, d3.loss_bbox: 0.2921, d4.loss_cls: 0.0948, d4.loss_bbox: 0.2884, d5.loss_cls: 0.0937, d5.loss_bbox: 0.2878, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8258, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6758, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6226, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6029, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5994, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5967, d0.loss_map_cls_all: 0.1759, d0.loss_map_pts_all: 1.0315, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1759, d0.loss_map_pts: 1.0315, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1451, d1.loss_map_pts: 0.7066, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1231, d2.loss_map_pts: 0.5692, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1147, d3.loss_map_pts: 0.5255, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1070, d4.loss_map_pts: 0.5073, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1041, d5.loss_map_pts: 0.5032, d5.loss_map_dir: 0.0068, loss: 24.4461, grad_norm: 159.0175 +2026-02-28 15:39:52,430 - DriveTransformer - INFO - Epoch [10][24450/39528] lr: 6.944e-05, eta: 4 days, 19:25:52, time: 0.740, data_time: 0.036, memory: 19865, loss_cls: 0.1397, loss_bbox: 0.3653, loss_traj: 0.4707, loss_traj_cls: 0.0020, loss_map_cls: 0.1083, loss_map_pts: 0.6515, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.7428, d0.loss_plan_l1_fix_dist: 0.4459, d1.loss_plan_l1_fix_time: 0.9127, d1.loss_plan_l1_fix_dist: 0.3900, d2.loss_plan_l1_fix_time: 0.8889, d2.loss_plan_l1_fix_dist: 0.3407, d3.loss_plan_l1_fix_time: 0.8867, d3.loss_plan_l1_fix_dist: 0.3089, d4.loss_plan_l1_fix_time: 0.8877, d4.loss_plan_l1_fix_dist: 0.3900, d5.loss_plan_l1_fix_time: 0.8881, d5.loss_plan_l1_fix_dist: 0.2463, d6.loss_plan_l1_fix_time: 0.8900, d6.loss_plan_l1_fix_dist: 0.2758, d0.loss_cls_all: 0.1896, d0.loss_bbox_all: 0.4394, d0.loss_cls: 0.1896, d0.loss_bbox: 0.4394, d1.loss_cls: 0.1806, d1.loss_bbox: 0.3996, d2.loss_cls: 0.1681, d2.loss_bbox: 0.3768, d3.loss_cls: 0.1483, d3.loss_bbox: 0.3712, d4.loss_cls: 0.1413, d4.loss_bbox: 0.3685, d5.loss_cls: 0.1393, d5.loss_bbox: 0.3669, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7355, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5689, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5022, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4813, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4744, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4722, d0.loss_map_cls_all: 0.1970, d0.loss_map_pts_all: 1.2336, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1970, d0.loss_map_pts: 1.2336, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1552, d1.loss_map_pts: 0.9225, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1315, d2.loss_map_pts: 0.7449, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1210, d3.loss_map_pts: 0.6796, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1145, d4.loss_map_pts: 0.6565, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1094, d5.loss_map_pts: 0.6520, d5.loss_map_dir: 0.0078, loss: 26.5999, grad_norm: 159.3941 +2026-02-28 15:40:28,974 - DriveTransformer - INFO - Epoch [10][24500/39528] lr: 6.944e-05, eta: 4 days, 19:25:16, time: 0.731, data_time: 0.038, memory: 19865, loss_cls: 0.1311, loss_bbox: 0.3326, loss_traj: 0.4905, loss_traj_cls: 0.0019, loss_map_cls: 0.1305, loss_map_pts: 0.6121, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.9098, d0.loss_plan_l1_fix_dist: 0.4527, d1.loss_plan_l1_fix_time: 0.9647, d1.loss_plan_l1_fix_dist: 0.4024, d2.loss_plan_l1_fix_time: 0.9456, d2.loss_plan_l1_fix_dist: 0.4193, d3.loss_plan_l1_fix_time: 0.9407, d3.loss_plan_l1_fix_dist: 0.3760, d4.loss_plan_l1_fix_time: 0.9417, d4.loss_plan_l1_fix_dist: 0.4841, d5.loss_plan_l1_fix_time: 0.9424, d5.loss_plan_l1_fix_dist: 0.2756, d6.loss_plan_l1_fix_time: 0.9440, d6.loss_plan_l1_fix_dist: 0.2637, d0.loss_cls_all: 0.1788, d0.loss_bbox_all: 0.4049, d0.loss_cls: 0.1788, d0.loss_bbox: 0.4049, d1.loss_cls: 0.1669, d1.loss_bbox: 0.3746, d2.loss_cls: 0.1516, d2.loss_bbox: 0.3496, d3.loss_cls: 0.1345, d3.loss_bbox: 0.3412, d4.loss_cls: 0.1318, d4.loss_bbox: 0.3360, d5.loss_cls: 0.1311, d5.loss_bbox: 0.3342, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6944, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5645, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5176, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4991, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4945, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4914, d0.loss_map_cls_all: 0.2187, d0.loss_map_pts_all: 1.2206, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2187, d0.loss_map_pts: 1.2206, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1867, d1.loss_map_pts: 0.8985, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1582, d2.loss_map_pts: 0.7104, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1459, d3.loss_map_pts: 0.6457, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1388, d4.loss_map_pts: 0.6220, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1335, d5.loss_map_pts: 0.6120, d5.loss_map_dir: 0.0069, loss: 27.0302, grad_norm: 160.1424 +2026-02-28 15:41:05,295 - DriveTransformer - INFO - Epoch [10][24550/39528] lr: 6.944e-05, eta: 4 days, 19:24:38, time: 0.726, data_time: 0.036, memory: 19865, loss_cls: 0.1134, loss_bbox: 0.2975, loss_traj: 0.4691, loss_traj_cls: 0.0020, loss_map_cls: 0.1216, loss_map_pts: 0.5642, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.4580, d0.loss_plan_l1_fix_dist: 0.4253, d1.loss_plan_l1_fix_time: 0.8503, d1.loss_plan_l1_fix_dist: 0.3911, d2.loss_plan_l1_fix_time: 0.8287, d2.loss_plan_l1_fix_dist: 0.4649, d3.loss_plan_l1_fix_time: 0.8228, d3.loss_plan_l1_fix_dist: 0.4255, d4.loss_plan_l1_fix_time: 0.8251, d4.loss_plan_l1_fix_dist: 0.4462, d5.loss_plan_l1_fix_time: 0.8286, d5.loss_plan_l1_fix_dist: 0.2536, d6.loss_plan_l1_fix_time: 0.8324, d6.loss_plan_l1_fix_dist: 0.2319, d0.loss_cls_all: 0.1620, d0.loss_bbox_all: 0.3594, d0.loss_cls: 0.1620, d0.loss_bbox: 0.3594, d1.loss_cls: 0.1533, d1.loss_bbox: 0.3301, d2.loss_cls: 0.1375, d2.loss_bbox: 0.3096, d3.loss_cls: 0.1213, d3.loss_bbox: 0.3054, d4.loss_cls: 0.1163, d4.loss_bbox: 0.2994, d5.loss_cls: 0.1133, d5.loss_bbox: 0.2986, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6469, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5131, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4788, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4741, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4643, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4707, d0.loss_map_cls_all: 0.1923, d0.loss_map_pts_all: 1.1631, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1923, d0.loss_map_pts: 1.1631, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1632, d1.loss_map_pts: 0.8202, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1445, d2.loss_map_pts: 0.6597, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1324, d3.loss_map_pts: 0.5957, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1259, d4.loss_map_pts: 0.5704, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1219, d5.loss_map_pts: 0.5652, d5.loss_map_dir: 0.0067, loss: 24.5959, grad_norm: 158.6739 +2026-02-28 15:41:40,569 - DriveTransformer - INFO - Epoch [10][24600/39528] lr: 6.944e-05, eta: 4 days, 19:23:57, time: 0.707, data_time: 0.036, memory: 19865, loss_cls: 0.1223, loss_bbox: 0.3152, loss_traj: 0.5275, loss_traj_cls: 0.0020, loss_map_cls: 0.1162, loss_map_pts: 0.5598, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.6623, d0.loss_plan_l1_fix_dist: 0.4869, d1.loss_plan_l1_fix_time: 0.8355, d1.loss_plan_l1_fix_dist: 0.4014, d2.loss_plan_l1_fix_time: 0.8027, d2.loss_plan_l1_fix_dist: 0.4858, d3.loss_plan_l1_fix_time: 0.7954, d3.loss_plan_l1_fix_dist: 0.4551, d4.loss_plan_l1_fix_time: 0.7960, d4.loss_plan_l1_fix_dist: 0.4052, d5.loss_plan_l1_fix_time: 0.7981, d5.loss_plan_l1_fix_dist: 0.2644, d6.loss_plan_l1_fix_time: 0.8005, d6.loss_plan_l1_fix_dist: 0.2572, d0.loss_cls_all: 0.1680, d0.loss_bbox_all: 0.3836, d0.loss_cls: 0.1680, d0.loss_bbox: 0.3836, d1.loss_cls: 0.1612, d1.loss_bbox: 0.3467, d2.loss_cls: 0.1457, d2.loss_bbox: 0.3284, d3.loss_cls: 0.1306, d3.loss_bbox: 0.3209, d4.loss_cls: 0.1242, d4.loss_bbox: 0.3183, d5.loss_cls: 0.1216, d5.loss_bbox: 0.3164, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7452, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6174, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5637, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5442, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5345, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5302, d0.loss_map_cls_all: 0.1975, d0.loss_map_pts_all: 1.1480, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1975, d0.loss_map_pts: 1.1480, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1642, d1.loss_map_pts: 0.8318, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1425, d2.loss_map_pts: 0.6627, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1297, d3.loss_map_pts: 0.5934, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1224, d4.loss_map_pts: 0.5677, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1184, d5.loss_map_pts: 0.5616, d5.loss_map_dir: 0.0061, loss: 25.4796, grad_norm: 155.1693 +2026-02-28 15:42:18,174 - DriveTransformer - INFO - Epoch [10][24650/39528] lr: 6.944e-05, eta: 4 days, 19:23:24, time: 0.751, data_time: 0.037, memory: 19865, loss_cls: 0.0999, loss_bbox: 0.2783, loss_traj: 0.5219, loss_traj_cls: 0.0020, loss_map_cls: 0.0918, loss_map_pts: 0.4958, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.4262, d0.loss_plan_l1_fix_dist: 0.4974, d1.loss_plan_l1_fix_time: 0.7247, d1.loss_plan_l1_fix_dist: 0.4047, d2.loss_plan_l1_fix_time: 0.7032, d2.loss_plan_l1_fix_dist: 0.5024, d3.loss_plan_l1_fix_time: 0.6995, d3.loss_plan_l1_fix_dist: 0.4991, d4.loss_plan_l1_fix_time: 0.7016, d4.loss_plan_l1_fix_dist: 0.3224, d5.loss_plan_l1_fix_time: 0.7045, d5.loss_plan_l1_fix_dist: 0.2686, d6.loss_plan_l1_fix_time: 0.7082, d6.loss_plan_l1_fix_dist: 0.2266, d0.loss_cls_all: 0.1348, d0.loss_bbox_all: 0.3405, d0.loss_cls: 0.1348, d0.loss_bbox: 0.3405, d1.loss_cls: 0.1306, d1.loss_bbox: 0.3079, d2.loss_cls: 0.1207, d2.loss_bbox: 0.2882, d3.loss_cls: 0.1084, d3.loss_bbox: 0.2821, d4.loss_cls: 0.1032, d4.loss_bbox: 0.2787, d5.loss_cls: 0.1008, d5.loss_bbox: 0.2785, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7536, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5938, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5522, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5389, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5285, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5248, d0.loss_map_cls_all: 0.1724, d0.loss_map_pts_all: 1.0113, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1724, d0.loss_map_pts: 1.0113, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1398, d1.loss_map_pts: 0.7115, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1156, d2.loss_map_pts: 0.5686, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1060, d3.loss_map_pts: 0.5202, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0986, d4.loss_map_pts: 0.5050, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0938, d5.loss_map_pts: 0.4966, d5.loss_map_dir: 0.0062, loss: 23.0982, grad_norm: 154.7781 +2026-02-28 15:42:55,602 - DriveTransformer - INFO - Epoch [10][24700/39528] lr: 6.944e-05, eta: 4 days, 19:22:51, time: 0.749, data_time: 0.037, memory: 19865, loss_cls: 0.0981, loss_bbox: 0.2929, loss_traj: 0.4439, loss_traj_cls: 0.0019, loss_map_cls: 0.1063, loss_map_pts: 0.5216, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.9599, d0.loss_plan_l1_fix_dist: 0.4251, d1.loss_plan_l1_fix_time: 0.7933, d1.loss_plan_l1_fix_dist: 0.3873, d2.loss_plan_l1_fix_time: 0.7672, d2.loss_plan_l1_fix_dist: 0.5118, d3.loss_plan_l1_fix_time: 0.7512, d3.loss_plan_l1_fix_dist: 0.5095, d4.loss_plan_l1_fix_time: 0.7518, d4.loss_plan_l1_fix_dist: 0.2993, d5.loss_plan_l1_fix_time: 0.7531, d5.loss_plan_l1_fix_dist: 0.2770, d6.loss_plan_l1_fix_time: 0.7551, d6.loss_plan_l1_fix_dist: 0.2569, d0.loss_cls_all: 0.1451, d0.loss_bbox_all: 0.3625, d0.loss_cls: 0.1451, d0.loss_bbox: 0.3625, d1.loss_cls: 0.1344, d1.loss_bbox: 0.3266, d2.loss_cls: 0.1220, d2.loss_bbox: 0.3051, d3.loss_cls: 0.1059, d3.loss_bbox: 0.2979, d4.loss_cls: 0.1008, d4.loss_bbox: 0.2948, d5.loss_cls: 0.0989, d5.loss_bbox: 0.2919, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6622, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5187, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4677, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4400, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4393, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4403, d0.loss_map_cls_all: 0.1755, d0.loss_map_pts_all: 1.0271, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1755, d0.loss_map_pts: 1.0271, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1521, d1.loss_map_pts: 0.7295, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1273, d2.loss_map_pts: 0.5911, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1179, d3.loss_map_pts: 0.5436, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1103, d4.loss_map_pts: 0.5261, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1072, d5.loss_map_pts: 0.5213, d5.loss_map_dir: 0.0061, loss: 23.7113, grad_norm: 151.6763 +2026-02-28 15:43:31,500 - DriveTransformer - INFO - Epoch [10][24750/39528] lr: 6.944e-05, eta: 4 days, 19:22:12, time: 0.718, data_time: 0.038, memory: 19865, loss_cls: 0.1044, loss_bbox: 0.2961, loss_traj: 0.6115, loss_traj_cls: 0.0019, loss_map_cls: 0.1122, loss_map_pts: 0.5475, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.8827, d0.loss_plan_l1_fix_dist: 0.4216, d1.loss_plan_l1_fix_time: 0.7993, d1.loss_plan_l1_fix_dist: 0.3348, d2.loss_plan_l1_fix_time: 0.7681, d2.loss_plan_l1_fix_dist: 0.4891, d3.loss_plan_l1_fix_time: 0.7584, d3.loss_plan_l1_fix_dist: 0.4828, d4.loss_plan_l1_fix_time: 0.7593, d4.loss_plan_l1_fix_dist: 0.2611, d5.loss_plan_l1_fix_time: 0.7612, d5.loss_plan_l1_fix_dist: 0.2486, d6.loss_plan_l1_fix_time: 0.7636, d6.loss_plan_l1_fix_dist: 0.2467, d0.loss_cls_all: 0.1449, d0.loss_bbox_all: 0.3638, d0.loss_cls: 0.1449, d0.loss_bbox: 0.3638, d1.loss_cls: 0.1393, d1.loss_bbox: 0.3273, d2.loss_cls: 0.1252, d2.loss_bbox: 0.3051, d3.loss_cls: 0.1120, d3.loss_bbox: 0.2987, d4.loss_cls: 0.1052, d4.loss_bbox: 0.2973, d5.loss_cls: 0.1042, d5.loss_bbox: 0.2953, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8739, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6802, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6304, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.6056, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6064, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6116, d0.loss_map_cls_all: 0.1973, d0.loss_map_pts_all: 1.1287, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1973, d0.loss_map_pts: 1.1287, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1666, d1.loss_map_pts: 0.8172, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1371, d2.loss_map_pts: 0.6499, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1268, d3.loss_map_pts: 0.5798, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1176, d4.loss_map_pts: 0.5559, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1138, d5.loss_map_pts: 0.5479, d5.loss_map_dir: 0.0062, loss: 25.3041, grad_norm: 151.9044 +2026-02-28 15:44:07,099 - DriveTransformer - INFO - Epoch [10][24800/39528] lr: 6.944e-05, eta: 4 days, 19:21:32, time: 0.712, data_time: 0.036, memory: 19865, loss_cls: 0.1002, loss_bbox: 0.2829, loss_traj: 0.4298, loss_traj_cls: 0.0020, loss_map_cls: 0.0989, loss_map_pts: 0.4566, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.4905, d0.loss_plan_l1_fix_dist: 0.3865, d1.loss_plan_l1_fix_time: 0.8268, d1.loss_plan_l1_fix_dist: 0.2735, d2.loss_plan_l1_fix_time: 0.8065, d2.loss_plan_l1_fix_dist: 0.4407, d3.loss_plan_l1_fix_time: 0.8039, d3.loss_plan_l1_fix_dist: 0.4442, d4.loss_plan_l1_fix_time: 0.8063, d4.loss_plan_l1_fix_dist: 0.2699, d5.loss_plan_l1_fix_time: 0.8082, d5.loss_plan_l1_fix_dist: 0.2538, d6.loss_plan_l1_fix_time: 0.8104, d6.loss_plan_l1_fix_dist: 0.2621, d0.loss_cls_all: 0.1491, d0.loss_bbox_all: 0.3561, d0.loss_cls: 0.1491, d0.loss_bbox: 0.3561, d1.loss_cls: 0.1380, d1.loss_bbox: 0.3198, d2.loss_cls: 0.1289, d2.loss_bbox: 0.2958, d3.loss_cls: 0.1112, d3.loss_bbox: 0.2889, d4.loss_cls: 0.1025, d4.loss_bbox: 0.2857, d5.loss_cls: 0.1002, d5.loss_bbox: 0.2836, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6576, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5078, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4593, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4378, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4313, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4316, d0.loss_map_cls_all: 0.1735, d0.loss_map_pts_all: 0.9295, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1735, d0.loss_map_pts: 0.9295, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1470, d1.loss_map_pts: 0.6674, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1230, d2.loss_map_pts: 0.5358, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1114, d3.loss_map_pts: 0.4831, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1068, d4.loss_map_pts: 0.4629, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1013, d5.loss_map_pts: 0.4571, d5.loss_map_dir: 0.0057, loss: 22.4952, grad_norm: 149.0443 +2026-02-28 15:44:43,217 - DriveTransformer - INFO - Epoch [10][24850/39528] lr: 6.944e-05, eta: 4 days, 19:20:53, time: 0.722, data_time: 0.040, memory: 19865, loss_cls: 0.1095, loss_bbox: 0.3087, loss_traj: 0.5413, loss_traj_cls: 0.0019, loss_map_cls: 0.1059, loss_map_pts: 0.5428, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.7807, d0.loss_plan_l1_fix_dist: 0.4076, d1.loss_plan_l1_fix_time: 0.8926, d1.loss_plan_l1_fix_dist: 0.2340, d2.loss_plan_l1_fix_time: 0.8781, d2.loss_plan_l1_fix_dist: 0.4116, d3.loss_plan_l1_fix_time: 0.8740, d3.loss_plan_l1_fix_dist: 0.4155, d4.loss_plan_l1_fix_time: 0.8755, d4.loss_plan_l1_fix_dist: 0.2878, d5.loss_plan_l1_fix_time: 0.8778, d5.loss_plan_l1_fix_dist: 0.2922, d6.loss_plan_l1_fix_time: 0.8809, d6.loss_plan_l1_fix_dist: 0.3190, d0.loss_cls_all: 0.1602, d0.loss_bbox_all: 0.3793, d0.loss_cls: 0.1602, d0.loss_bbox: 0.3793, d1.loss_cls: 0.1510, d1.loss_bbox: 0.3428, d2.loss_cls: 0.1405, d2.loss_bbox: 0.3165, d3.loss_cls: 0.1155, d3.loss_bbox: 0.3137, d4.loss_cls: 0.1117, d4.loss_bbox: 0.3093, d5.loss_cls: 0.1091, d5.loss_bbox: 0.3083, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8185, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6330, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5688, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5520, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5476, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5442, d0.loss_map_cls_all: 0.2026, d0.loss_map_pts_all: 1.0908, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2026, d0.loss_map_pts: 1.0908, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1626, d1.loss_map_pts: 0.7788, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1360, d2.loss_map_pts: 0.6281, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1221, d3.loss_map_pts: 0.5705, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1147, d4.loss_map_pts: 0.5499, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1076, d5.loss_map_pts: 0.5437, d5.loss_map_dir: 0.0063, loss: 25.3565, grad_norm: 145.1195 +2026-02-28 15:45:21,543 - DriveTransformer - INFO - Epoch [10][24900/39528] lr: 6.944e-05, eta: 4 days, 19:20:24, time: 0.766, data_time: 0.038, memory: 19865, loss_cls: 0.0939, loss_bbox: 0.2714, loss_traj: 0.4655, loss_traj_cls: 0.0021, loss_map_cls: 0.0978, loss_map_pts: 0.5357, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.3366, d0.loss_plan_l1_fix_dist: 0.3718, d1.loss_plan_l1_fix_time: 0.7141, d1.loss_plan_l1_fix_dist: 0.1888, d2.loss_plan_l1_fix_time: 0.7033, d2.loss_plan_l1_fix_dist: 0.3816, d3.loss_plan_l1_fix_time: 0.6973, d3.loss_plan_l1_fix_dist: 0.3888, d4.loss_plan_l1_fix_time: 0.6996, d4.loss_plan_l1_fix_dist: 0.2424, d5.loss_plan_l1_fix_time: 0.7032, d5.loss_plan_l1_fix_dist: 0.2379, d6.loss_plan_l1_fix_time: 0.7077, d6.loss_plan_l1_fix_dist: 0.2492, d0.loss_cls_all: 0.1337, d0.loss_bbox_all: 0.3370, d0.loss_cls: 0.1337, d0.loss_bbox: 0.3370, d1.loss_cls: 0.1255, d1.loss_bbox: 0.3019, d2.loss_cls: 0.1119, d2.loss_bbox: 0.2824, d3.loss_cls: 0.0986, d3.loss_bbox: 0.2744, d4.loss_cls: 0.0955, d4.loss_bbox: 0.2721, d5.loss_cls: 0.0951, d5.loss_bbox: 0.2705, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6879, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5414, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4961, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4771, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4704, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4670, d0.loss_map_cls_all: 0.1861, d0.loss_map_pts_all: 1.2058, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.1861, d0.loss_map_pts: 1.2058, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1482, d1.loss_map_pts: 0.8135, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1216, d2.loss_map_pts: 0.6305, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1120, d3.loss_map_pts: 0.5659, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1063, d4.loss_map_pts: 0.5406, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1011, d5.loss_map_pts: 0.5365, d5.loss_map_dir: 0.0072, loss: 22.6218, grad_norm: 135.3975 +2026-02-28 15:45:56,369 - DriveTransformer - INFO - Epoch [10][24950/39528] lr: 6.944e-05, eta: 4 days, 19:19:41, time: 0.697, data_time: 0.036, memory: 19865, loss_cls: 0.0897, loss_bbox: 0.2828, loss_traj: 0.5356, loss_traj_cls: 0.0019, loss_map_cls: 0.1016, loss_map_pts: 0.4768, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.8067, d0.loss_plan_l1_fix_dist: 0.3969, d1.loss_plan_l1_fix_time: 0.7984, d1.loss_plan_l1_fix_dist: 0.1865, d2.loss_plan_l1_fix_time: 0.7866, d2.loss_plan_l1_fix_dist: 0.3710, d3.loss_plan_l1_fix_time: 0.7778, d3.loss_plan_l1_fix_dist: 0.3751, d4.loss_plan_l1_fix_time: 0.7795, d4.loss_plan_l1_fix_dist: 0.2805, d5.loss_plan_l1_fix_time: 0.7833, d5.loss_plan_l1_fix_dist: 0.2385, d6.loss_plan_l1_fix_time: 0.7878, d6.loss_plan_l1_fix_dist: 0.2380, d0.loss_cls_all: 0.1354, d0.loss_bbox_all: 0.3428, d0.loss_cls: 0.1354, d0.loss_bbox: 0.3428, d1.loss_cls: 0.1252, d1.loss_bbox: 0.3110, d2.loss_cls: 0.1142, d2.loss_bbox: 0.2904, d3.loss_cls: 0.0974, d3.loss_bbox: 0.2856, d4.loss_cls: 0.0917, d4.loss_bbox: 0.2834, d5.loss_cls: 0.0896, d5.loss_bbox: 0.2829, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8246, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6226, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5623, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5445, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5434, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5393, d0.loss_map_cls_all: 0.1841, d0.loss_map_pts_all: 0.9807, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1841, d0.loss_map_pts: 0.9807, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1475, d1.loss_map_pts: 0.7047, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1242, d2.loss_map_pts: 0.5500, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1147, d3.loss_map_pts: 0.4968, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1085, d4.loss_map_pts: 0.4803, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1039, d5.loss_map_pts: 0.4770, d5.loss_map_dir: 0.0061, loss: 23.3475, grad_norm: 134.8572 +2026-02-28 15:46:32,861 - DriveTransformer - INFO - Epoch [10][25000/39528] lr: 6.944e-05, eta: 4 days, 19:19:04, time: 0.730, data_time: 0.037, memory: 19865, loss_cls: 0.1086, loss_bbox: 0.2918, loss_traj: 0.4569, loss_traj_cls: 0.0019, loss_map_cls: 0.0942, loss_map_pts: 0.5073, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.7837, d0.loss_plan_l1_fix_dist: 0.4046, d1.loss_plan_l1_fix_time: 0.8942, d1.loss_plan_l1_fix_dist: 0.2514, d2.loss_plan_l1_fix_time: 0.8701, d2.loss_plan_l1_fix_dist: 0.3590, d3.loss_plan_l1_fix_time: 0.8687, d3.loss_plan_l1_fix_dist: 0.3586, d4.loss_plan_l1_fix_time: 0.8722, d4.loss_plan_l1_fix_dist: 0.3287, d5.loss_plan_l1_fix_time: 0.8769, d5.loss_plan_l1_fix_dist: 0.3059, d6.loss_plan_l1_fix_time: 0.8818, d6.loss_plan_l1_fix_dist: 0.2914, d0.loss_cls_all: 0.1420, d0.loss_bbox_all: 0.3510, d0.loss_cls: 0.1420, d0.loss_bbox: 0.3510, d1.loss_cls: 0.1375, d1.loss_bbox: 0.3219, d2.loss_cls: 0.1262, d2.loss_bbox: 0.3023, d3.loss_cls: 0.1148, d3.loss_bbox: 0.2955, d4.loss_cls: 0.1091, d4.loss_bbox: 0.2925, d5.loss_cls: 0.1077, d5.loss_bbox: 0.2911, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7126, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5358, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4829, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4675, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4603, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4589, d0.loss_map_cls_all: 0.1721, d0.loss_map_pts_all: 1.0741, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1721, d0.loss_map_pts: 1.0741, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1408, d1.loss_map_pts: 0.7663, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1191, d2.loss_map_pts: 0.5980, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1082, d3.loss_map_pts: 0.5404, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1024, d4.loss_map_pts: 0.5131, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.0973, d5.loss_map_pts: 0.5074, d5.loss_map_dir: 0.0071, loss: 24.0559, grad_norm: 136.2044 +2026-02-28 15:47:10,577 - DriveTransformer - INFO - Epoch [10][25050/39528] lr: 6.944e-05, eta: 4 days, 19:18:32, time: 0.754, data_time: 0.037, memory: 19865, loss_cls: 0.1061, loss_bbox: 0.3130, loss_traj: 0.4744, loss_traj_cls: 0.0019, loss_map_cls: 0.1234, loss_map_pts: 0.6212, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.7567, d0.loss_plan_l1_fix_dist: 0.4579, d1.loss_plan_l1_fix_time: 0.9562, d1.loss_plan_l1_fix_dist: 0.3016, d2.loss_plan_l1_fix_time: 0.9414, d2.loss_plan_l1_fix_dist: 0.3029, d3.loss_plan_l1_fix_time: 0.9378, d3.loss_plan_l1_fix_dist: 0.2867, d4.loss_plan_l1_fix_time: 0.9392, d4.loss_plan_l1_fix_dist: 0.3104, d5.loss_plan_l1_fix_time: 0.9411, d5.loss_plan_l1_fix_dist: 0.2742, d6.loss_plan_l1_fix_time: 0.9437, d6.loss_plan_l1_fix_dist: 0.2678, d0.loss_cls_all: 0.1527, d0.loss_bbox_all: 0.3738, d0.loss_cls: 0.1527, d0.loss_bbox: 0.3738, d1.loss_cls: 0.1448, d1.loss_bbox: 0.3423, d2.loss_cls: 0.1313, d2.loss_bbox: 0.3207, d3.loss_cls: 0.1157, d3.loss_bbox: 0.3134, d4.loss_cls: 0.1092, d4.loss_bbox: 0.3110, d5.loss_cls: 0.1059, d5.loss_bbox: 0.3122, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7047, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5394, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4980, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4846, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4771, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4784, d0.loss_map_cls_all: 0.2151, d0.loss_map_pts_all: 1.2440, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2151, d0.loss_map_pts: 1.2440, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1771, d1.loss_map_pts: 0.8906, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1517, d2.loss_map_pts: 0.7286, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1399, d3.loss_map_pts: 0.6591, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1316, d4.loss_map_pts: 0.6297, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1268, d5.loss_map_pts: 0.6227, d5.loss_map_dir: 0.0082, loss: 25.9436, grad_norm: 139.1199 +2026-02-28 15:47:46,298 - DriveTransformer - INFO - Epoch [10][25100/39528] lr: 6.944e-05, eta: 4 days, 19:17:52, time: 0.714, data_time: 0.036, memory: 19865, loss_cls: 0.1129, loss_bbox: 0.3254, loss_traj: 0.5090, loss_traj_cls: 0.0019, loss_map_cls: 0.1092, loss_map_pts: 0.5143, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.9272, d0.loss_plan_l1_fix_dist: 0.4970, d1.loss_plan_l1_fix_time: 0.8902, d1.loss_plan_l1_fix_dist: 0.4021, d2.loss_plan_l1_fix_time: 0.8680, d2.loss_plan_l1_fix_dist: 0.2807, d3.loss_plan_l1_fix_time: 0.8580, d3.loss_plan_l1_fix_dist: 0.2623, d4.loss_plan_l1_fix_time: 0.8592, d4.loss_plan_l1_fix_dist: 0.3507, d5.loss_plan_l1_fix_time: 0.8601, d5.loss_plan_l1_fix_dist: 0.2930, d6.loss_plan_l1_fix_time: 0.8631, d6.loss_plan_l1_fix_dist: 0.3238, d0.loss_cls_all: 0.1568, d0.loss_bbox_all: 0.3870, d0.loss_cls: 0.1568, d0.loss_bbox: 0.3870, d1.loss_cls: 0.1490, d1.loss_bbox: 0.3573, d2.loss_cls: 0.1382, d2.loss_bbox: 0.3353, d3.loss_cls: 0.1195, d3.loss_bbox: 0.3287, d4.loss_cls: 0.1139, d4.loss_bbox: 0.3264, d5.loss_cls: 0.1111, d5.loss_bbox: 0.3267, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7238, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5890, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5349, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5212, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5112, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5099, d0.loss_map_cls_all: 0.1904, d0.loss_map_pts_all: 1.0429, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1904, d0.loss_map_pts: 1.0429, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1583, d1.loss_map_pts: 0.7563, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1372, d2.loss_map_pts: 0.6096, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1262, d3.loss_map_pts: 0.5464, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1169, d4.loss_map_pts: 0.5225, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1105, d5.loss_map_pts: 0.5158, d5.loss_map_dir: 0.0059, loss: 25.0098, grad_norm: 137.5228 +2026-02-28 15:48:22,906 - DriveTransformer - INFO - Epoch [10][25150/39528] lr: 6.944e-05, eta: 4 days, 19:17:16, time: 0.732, data_time: 0.041, memory: 19865, loss_cls: 0.1031, loss_bbox: 0.3103, loss_traj: 0.4778, loss_traj_cls: 0.0019, loss_map_cls: 0.1243, loss_map_pts: 0.5360, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.8399, d0.loss_plan_l1_fix_dist: 0.5192, d1.loss_plan_l1_fix_time: 0.9346, d1.loss_plan_l1_fix_dist: 0.4395, d2.loss_plan_l1_fix_time: 0.9014, d2.loss_plan_l1_fix_dist: 0.2925, d3.loss_plan_l1_fix_time: 0.8925, d3.loss_plan_l1_fix_dist: 0.2645, d4.loss_plan_l1_fix_time: 0.8927, d4.loss_plan_l1_fix_dist: 0.3324, d5.loss_plan_l1_fix_time: 0.8935, d5.loss_plan_l1_fix_dist: 0.2631, d6.loss_plan_l1_fix_time: 0.8959, d6.loss_plan_l1_fix_dist: 0.3010, d0.loss_cls_all: 0.1448, d0.loss_bbox_all: 0.3776, d0.loss_cls: 0.1448, d0.loss_bbox: 0.3776, d1.loss_cls: 0.1396, d1.loss_bbox: 0.3441, d2.loss_cls: 0.1226, d2.loss_bbox: 0.3255, d3.loss_cls: 0.1076, d3.loss_bbox: 0.3180, d4.loss_cls: 0.1042, d4.loss_bbox: 0.3128, d5.loss_cls: 0.1026, d5.loss_bbox: 0.3115, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7221, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5387, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5004, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4845, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4816, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4780, d0.loss_map_cls_all: 0.2108, d0.loss_map_pts_all: 1.0991, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2108, d0.loss_map_pts: 1.0991, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1788, d1.loss_map_pts: 0.8023, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1525, d2.loss_map_pts: 0.6295, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1389, d3.loss_map_pts: 0.5704, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1326, d4.loss_map_pts: 0.5444, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1269, d5.loss_map_pts: 0.5370, d5.loss_map_dir: 0.0066, loss: 25.1432, grad_norm: 138.1838 +2026-02-28 15:49:00,374 - DriveTransformer - INFO - Epoch [10][25200/39528] lr: 6.944e-05, eta: 4 days, 19:16:43, time: 0.749, data_time: 0.038, memory: 19865, loss_cls: 0.0970, loss_bbox: 0.2838, loss_traj: 0.5686, loss_traj_cls: 0.0020, loss_map_cls: 0.0942, loss_map_pts: 0.4895, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.3778, d0.loss_plan_l1_fix_dist: 0.5413, d1.loss_plan_l1_fix_time: 0.8626, d1.loss_plan_l1_fix_dist: 0.5146, d2.loss_plan_l1_fix_time: 0.8337, d2.loss_plan_l1_fix_dist: 0.3760, d3.loss_plan_l1_fix_time: 0.8221, d3.loss_plan_l1_fix_dist: 0.3606, d4.loss_plan_l1_fix_time: 0.8250, d4.loss_plan_l1_fix_dist: 0.3552, d5.loss_plan_l1_fix_time: 0.8286, d5.loss_plan_l1_fix_dist: 0.3445, d6.loss_plan_l1_fix_time: 0.8332, d6.loss_plan_l1_fix_dist: 0.3645, d0.loss_cls_all: 0.1317, d0.loss_bbox_all: 0.3481, d0.loss_cls: 0.1317, d0.loss_bbox: 0.3481, d1.loss_cls: 0.1293, d1.loss_bbox: 0.3159, d2.loss_cls: 0.1155, d2.loss_bbox: 0.2992, d3.loss_cls: 0.1031, d3.loss_bbox: 0.2916, d4.loss_cls: 0.0978, d4.loss_bbox: 0.2877, d5.loss_cls: 0.0973, d5.loss_bbox: 0.2850, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8430, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6702, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6073, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5806, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5702, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5689, d0.loss_map_cls_all: 0.1793, d0.loss_map_pts_all: 1.0723, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1793, d0.loss_map_pts: 1.0723, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1425, d1.loss_map_pts: 0.7602, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1203, d2.loss_map_pts: 0.5963, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1114, d3.loss_map_pts: 0.5274, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1025, d4.loss_map_pts: 0.5030, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0973, d5.loss_map_pts: 0.4922, d5.loss_map_dir: 0.0056, loss: 24.6016, grad_norm: 139.8632 +2026-02-28 15:49:37,650 - DriveTransformer - INFO - Epoch [10][25250/39528] lr: 6.944e-05, eta: 4 days, 19:16:09, time: 0.746, data_time: 0.042, memory: 19865, loss_cls: 0.0872, loss_bbox: 0.2695, loss_traj: 0.4573, loss_traj_cls: 0.0020, loss_map_cls: 0.0911, loss_map_pts: 0.4673, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.1655, d0.loss_plan_l1_fix_dist: 0.5545, d1.loss_plan_l1_fix_time: 0.8128, d1.loss_plan_l1_fix_dist: 0.4947, d2.loss_plan_l1_fix_time: 0.7844, d2.loss_plan_l1_fix_dist: 0.3775, d3.loss_plan_l1_fix_time: 0.7715, d3.loss_plan_l1_fix_dist: 0.3423, d4.loss_plan_l1_fix_time: 0.7744, d4.loss_plan_l1_fix_dist: 0.2870, d5.loss_plan_l1_fix_time: 0.7775, d5.loss_plan_l1_fix_dist: 0.3048, d6.loss_plan_l1_fix_time: 0.7815, d6.loss_plan_l1_fix_dist: 0.3267, d0.loss_cls_all: 0.1247, d0.loss_bbox_all: 0.3233, d0.loss_cls: 0.1247, d0.loss_bbox: 0.3233, d1.loss_cls: 0.1198, d1.loss_bbox: 0.2978, d2.loss_cls: 0.1069, d2.loss_bbox: 0.2775, d3.loss_cls: 0.0956, d3.loss_bbox: 0.2734, d4.loss_cls: 0.0884, d4.loss_bbox: 0.2712, d5.loss_cls: 0.0871, d5.loss_bbox: 0.2701, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6366, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5155, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4727, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4591, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4527, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4564, d0.loss_map_cls_all: 0.1773, d0.loss_map_pts_all: 1.0200, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1773, d0.loss_map_pts: 1.0200, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1387, d1.loss_map_pts: 0.6986, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1147, d2.loss_map_pts: 0.5413, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1024, d3.loss_map_pts: 0.4926, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0980, d4.loss_map_pts: 0.4744, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0932, d5.loss_map_pts: 0.4678, d5.loss_map_dir: 0.0063, loss: 22.3766, grad_norm: 140.1820 +2026-02-28 15:50:13,425 - DriveTransformer - INFO - Epoch [10][25300/39528] lr: 6.944e-05, eta: 4 days, 19:15:30, time: 0.716, data_time: 0.039, memory: 19865, loss_cls: 0.0845, loss_bbox: 0.2744, loss_traj: 0.4802, loss_traj_cls: 0.0020, loss_map_cls: 0.1037, loss_map_pts: 0.4643, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.4997, d0.loss_plan_l1_fix_dist: 0.5373, d1.loss_plan_l1_fix_time: 0.8717, d1.loss_plan_l1_fix_dist: 0.5056, d2.loss_plan_l1_fix_time: 0.8650, d2.loss_plan_l1_fix_dist: 0.4054, d3.loss_plan_l1_fix_time: 0.8643, d3.loss_plan_l1_fix_dist: 0.3678, d4.loss_plan_l1_fix_time: 0.8684, d4.loss_plan_l1_fix_dist: 0.3206, d5.loss_plan_l1_fix_time: 0.8718, d5.loss_plan_l1_fix_dist: 0.3371, d6.loss_plan_l1_fix_time: 0.8757, d6.loss_plan_l1_fix_dist: 0.3653, d0.loss_cls_all: 0.1265, d0.loss_bbox_all: 0.3317, d0.loss_cls: 0.1265, d0.loss_bbox: 0.3317, d1.loss_cls: 0.1184, d1.loss_bbox: 0.3034, d2.loss_cls: 0.1070, d2.loss_bbox: 0.2850, d3.loss_cls: 0.0918, d3.loss_bbox: 0.2785, d4.loss_cls: 0.0874, d4.loss_bbox: 0.2756, d5.loss_cls: 0.0852, d5.loss_bbox: 0.2754, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6963, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5546, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5189, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5071, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4853, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4805, d0.loss_map_cls_all: 0.1874, d0.loss_map_pts_all: 0.9488, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1874, d0.loss_map_pts: 0.9488, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1552, d1.loss_map_pts: 0.6789, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1267, d2.loss_map_pts: 0.5411, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1173, d3.loss_map_pts: 0.4892, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1096, d4.loss_map_pts: 0.4695, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1058, d5.loss_map_pts: 0.4645, d5.loss_map_dir: 0.0056, loss: 23.6109, grad_norm: 141.1366 +2026-02-28 15:50:50,280 - DriveTransformer - INFO - Epoch [10][25350/39528] lr: 6.944e-05, eta: 4 days, 19:14:54, time: 0.737, data_time: 0.038, memory: 19865, loss_cls: 0.1020, loss_bbox: 0.2878, loss_traj: 0.5328, loss_traj_cls: 0.0020, loss_map_cls: 0.0958, loss_map_pts: 0.5095, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.4730, d0.loss_plan_l1_fix_dist: 0.6757, d1.loss_plan_l1_fix_time: 0.8694, d1.loss_plan_l1_fix_dist: 0.5273, d2.loss_plan_l1_fix_time: 0.8647, d2.loss_plan_l1_fix_dist: 0.4289, d3.loss_plan_l1_fix_time: 0.8615, d3.loss_plan_l1_fix_dist: 0.3573, d4.loss_plan_l1_fix_time: 0.8648, d4.loss_plan_l1_fix_dist: 0.3403, d5.loss_plan_l1_fix_time: 0.8672, d5.loss_plan_l1_fix_dist: 0.3267, d6.loss_plan_l1_fix_time: 0.8697, d6.loss_plan_l1_fix_dist: 0.3300, d0.loss_cls_all: 0.1410, d0.loss_bbox_all: 0.3462, d0.loss_cls: 0.1410, d0.loss_bbox: 0.3462, d1.loss_cls: 0.1391, d1.loss_bbox: 0.3139, d2.loss_cls: 0.1230, d2.loss_bbox: 0.2987, d3.loss_cls: 0.1061, d3.loss_bbox: 0.2924, d4.loss_cls: 0.1022, d4.loss_bbox: 0.2906, d5.loss_cls: 0.1017, d5.loss_bbox: 0.2883, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7580, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6036, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5578, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5404, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5338, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5365, d0.loss_map_cls_all: 0.1663, d0.loss_map_pts_all: 1.0476, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1663, d0.loss_map_pts: 1.0476, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1394, d1.loss_map_pts: 0.7489, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1168, d2.loss_map_pts: 0.6005, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1068, d3.loss_map_pts: 0.5374, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1007, d4.loss_map_pts: 0.5173, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0963, d5.loss_map_pts: 0.5105, d5.loss_map_dir: 0.0060, loss: 24.7012, grad_norm: 142.2267 +2026-02-28 15:51:27,388 - DriveTransformer - INFO - Epoch [10][25400/39528] lr: 6.944e-05, eta: 4 days, 19:14:20, time: 0.744, data_time: 0.038, memory: 19865, loss_cls: 0.0983, loss_bbox: 0.2897, loss_traj: 0.4766, loss_traj_cls: 0.0020, loss_map_cls: 0.1122, loss_map_pts: 0.5304, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.7760, d0.loss_plan_l1_fix_dist: 0.5680, d1.loss_plan_l1_fix_time: 0.8114, d1.loss_plan_l1_fix_dist: 0.5136, d2.loss_plan_l1_fix_time: 0.7904, d2.loss_plan_l1_fix_dist: 0.4258, d3.loss_plan_l1_fix_time: 0.7730, d3.loss_plan_l1_fix_dist: 0.3481, d4.loss_plan_l1_fix_time: 0.7760, d4.loss_plan_l1_fix_dist: 0.3740, d5.loss_plan_l1_fix_time: 0.7798, d5.loss_plan_l1_fix_dist: 0.3724, d6.loss_plan_l1_fix_time: 0.7842, d6.loss_plan_l1_fix_dist: 0.3348, d0.loss_cls_all: 0.1454, d0.loss_bbox_all: 0.3502, d0.loss_cls: 0.1454, d0.loss_bbox: 0.3502, d1.loss_cls: 0.1354, d1.loss_bbox: 0.3183, d2.loss_cls: 0.1248, d2.loss_bbox: 0.2998, d3.loss_cls: 0.1079, d3.loss_bbox: 0.2927, d4.loss_cls: 0.0996, d4.loss_bbox: 0.2920, d5.loss_cls: 0.0978, d5.loss_bbox: 0.2910, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6919, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5581, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5003, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4801, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4785, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4747, d0.loss_map_cls_all: 0.1966, d0.loss_map_pts_all: 1.0836, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1966, d0.loss_map_pts: 1.0836, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1621, d1.loss_map_pts: 0.7954, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1389, d2.loss_map_pts: 0.6274, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1266, d3.loss_map_pts: 0.5639, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1179, d4.loss_map_pts: 0.5403, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1149, d5.loss_map_pts: 0.5318, d5.loss_map_dir: 0.0070, loss: 24.5098, grad_norm: 148.6596 +2026-02-28 15:52:04,473 - DriveTransformer - INFO - Epoch [10][25450/39528] lr: 6.944e-05, eta: 4 days, 19:13:45, time: 0.740, data_time: 0.038, memory: 19865, loss_cls: 0.1066, loss_bbox: 0.2996, loss_traj: 0.4777, loss_traj_cls: 0.0020, loss_map_cls: 0.1091, loss_map_pts: 0.5419, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.6300, d0.loss_plan_l1_fix_dist: 0.5492, d1.loss_plan_l1_fix_time: 0.9134, d1.loss_plan_l1_fix_dist: 0.4766, d2.loss_plan_l1_fix_time: 0.8974, d2.loss_plan_l1_fix_dist: 0.4136, d3.loss_plan_l1_fix_time: 0.8984, d3.loss_plan_l1_fix_dist: 0.3155, d4.loss_plan_l1_fix_time: 0.9035, d4.loss_plan_l1_fix_dist: 0.3597, d5.loss_plan_l1_fix_time: 0.9094, d5.loss_plan_l1_fix_dist: 0.3797, d6.loss_plan_l1_fix_time: 0.9168, d6.loss_plan_l1_fix_dist: 0.3404, d0.loss_cls_all: 0.1503, d0.loss_bbox_all: 0.3640, d0.loss_cls: 0.1503, d0.loss_bbox: 0.3640, d1.loss_cls: 0.1409, d1.loss_bbox: 0.3342, d2.loss_cls: 0.1327, d2.loss_bbox: 0.3120, d3.loss_cls: 0.1161, d3.loss_bbox: 0.3042, d4.loss_cls: 0.1077, d4.loss_bbox: 0.3021, d5.loss_cls: 0.1068, d5.loss_bbox: 0.3001, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6692, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5463, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5014, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4842, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4818, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4756, d0.loss_map_cls_all: 0.1866, d0.loss_map_pts_all: 1.0929, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1866, d0.loss_map_pts: 1.0929, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1543, d1.loss_map_pts: 0.7912, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1312, d2.loss_map_pts: 0.6300, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1220, d3.loss_map_pts: 0.5702, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1153, d4.loss_map_pts: 0.5490, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1117, d5.loss_map_pts: 0.5431, d5.loss_map_dir: 0.0069, loss: 25.1207, grad_norm: 149.1363 +2026-02-28 15:52:39,418 - DriveTransformer - INFO - Epoch [10][25500/39528] lr: 6.944e-05, eta: 4 days, 19:13:02, time: 0.699, data_time: 0.040, memory: 19865, loss_cls: 0.0949, loss_bbox: 0.2763, loss_traj: 0.4985, loss_traj_cls: 0.0019, loss_map_cls: 0.1215, loss_map_pts: 0.5104, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.1878, d0.loss_plan_l1_fix_dist: 0.5022, d1.loss_plan_l1_fix_time: 0.7519, d1.loss_plan_l1_fix_dist: 0.4561, d2.loss_plan_l1_fix_time: 0.7267, d2.loss_plan_l1_fix_dist: 0.3659, d3.loss_plan_l1_fix_time: 0.7268, d3.loss_plan_l1_fix_dist: 0.2782, d4.loss_plan_l1_fix_time: 0.7303, d4.loss_plan_l1_fix_dist: 0.2846, d5.loss_plan_l1_fix_time: 0.7342, d5.loss_plan_l1_fix_dist: 0.2788, d6.loss_plan_l1_fix_time: 0.7400, d6.loss_plan_l1_fix_dist: 0.2897, d0.loss_cls_all: 0.1371, d0.loss_bbox_all: 0.3350, d0.loss_cls: 0.1371, d0.loss_bbox: 0.3350, d1.loss_cls: 0.1279, d1.loss_bbox: 0.3031, d2.loss_cls: 0.1171, d2.loss_bbox: 0.2867, d3.loss_cls: 0.1017, d3.loss_bbox: 0.2820, d4.loss_cls: 0.0962, d4.loss_bbox: 0.2787, d5.loss_cls: 0.0943, d5.loss_bbox: 0.2772, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7418, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5760, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5262, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5118, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5009, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4948, d0.loss_map_cls_all: 0.2133, d0.loss_map_pts_all: 1.0951, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.2133, d0.loss_map_pts: 1.0951, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1782, d1.loss_map_pts: 0.7741, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1485, d2.loss_map_pts: 0.6100, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1376, d3.loss_map_pts: 0.5414, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.1302, d4.loss_map_pts: 0.5160, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.1249, d5.loss_map_pts: 0.5100, d5.loss_map_dir: 0.0053, loss: 23.1508, grad_norm: 150.3673 +2026-02-28 15:53:14,964 - DriveTransformer - INFO - Epoch [10][25550/39528] lr: 6.944e-05, eta: 4 days, 19:12:22, time: 0.711, data_time: 0.038, memory: 19865, loss_cls: 0.1136, loss_bbox: 0.3006, loss_traj: 0.5281, loss_traj_cls: 0.0020, loss_map_cls: 0.1077, loss_map_pts: 0.5326, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.4266, d0.loss_plan_l1_fix_dist: 0.4881, d1.loss_plan_l1_fix_time: 0.7695, d1.loss_plan_l1_fix_dist: 0.4256, d2.loss_plan_l1_fix_time: 0.7514, d2.loss_plan_l1_fix_dist: 0.3401, d3.loss_plan_l1_fix_time: 0.7533, d3.loss_plan_l1_fix_dist: 0.2821, d4.loss_plan_l1_fix_time: 0.7571, d4.loss_plan_l1_fix_dist: 0.2262, d5.loss_plan_l1_fix_time: 0.7605, d5.loss_plan_l1_fix_dist: 0.2215, d6.loss_plan_l1_fix_time: 0.7641, d6.loss_plan_l1_fix_dist: 0.2569, d0.loss_cls_all: 0.1571, d0.loss_bbox_all: 0.3717, d0.loss_cls: 0.1571, d0.loss_bbox: 0.3717, d1.loss_cls: 0.1522, d1.loss_bbox: 0.3371, d2.loss_cls: 0.1392, d2.loss_bbox: 0.3162, d3.loss_cls: 0.1227, d3.loss_bbox: 0.3081, d4.loss_cls: 0.1151, d4.loss_bbox: 0.3045, d5.loss_cls: 0.1147, d5.loss_bbox: 0.3011, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7536, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5922, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5458, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5317, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5299, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5283, d0.loss_map_cls_all: 0.1900, d0.loss_map_pts_all: 1.1013, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1900, d0.loss_map_pts: 1.1013, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1587, d1.loss_map_pts: 0.7739, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1330, d2.loss_map_pts: 0.6221, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1202, d3.loss_map_pts: 0.5583, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1130, d4.loss_map_pts: 0.5406, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1096, d5.loss_map_pts: 0.5325, d5.loss_map_dir: 0.0057, loss: 23.8517, grad_norm: 145.7302 +2026-02-28 15:53:52,353 - DriveTransformer - INFO - Epoch [10][25600/39528] lr: 6.944e-05, eta: 4 days, 19:11:49, time: 0.748, data_time: 0.037, memory: 19865, loss_cls: 0.1044, loss_bbox: 0.2972, loss_traj: 0.4892, loss_traj_cls: 0.0020, loss_map_cls: 0.1262, loss_map_pts: 0.6033, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.8354, d0.loss_plan_l1_fix_dist: 0.4471, d1.loss_plan_l1_fix_time: 0.8695, d1.loss_plan_l1_fix_dist: 0.3972, d2.loss_plan_l1_fix_time: 0.8565, d2.loss_plan_l1_fix_dist: 0.3346, d3.loss_plan_l1_fix_time: 0.8544, d3.loss_plan_l1_fix_dist: 0.2808, d4.loss_plan_l1_fix_time: 0.8565, d4.loss_plan_l1_fix_dist: 0.2222, d5.loss_plan_l1_fix_time: 0.8600, d5.loss_plan_l1_fix_dist: 0.2475, d6.loss_plan_l1_fix_time: 0.8631, d6.loss_plan_l1_fix_dist: 0.2770, d0.loss_cls_all: 0.1528, d0.loss_bbox_all: 0.3684, d0.loss_cls: 0.1528, d0.loss_bbox: 0.3684, d1.loss_cls: 0.1480, d1.loss_bbox: 0.3343, d2.loss_cls: 0.1292, d2.loss_bbox: 0.3135, d3.loss_cls: 0.1124, d3.loss_bbox: 0.3068, d4.loss_cls: 0.1071, d4.loss_bbox: 0.3011, d5.loss_cls: 0.1050, d5.loss_bbox: 0.2985, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6996, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5473, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4984, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4898, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4859, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4887, d0.loss_map_cls_all: 0.2091, d0.loss_map_pts_all: 1.2046, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2091, d0.loss_map_pts: 1.2046, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1759, d1.loss_map_pts: 0.8740, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1498, d2.loss_map_pts: 0.7043, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1406, d3.loss_map_pts: 0.6384, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1345, d4.loss_map_pts: 0.6100, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1282, d5.loss_map_pts: 0.6043, d5.loss_map_dir: 0.0072, loss: 25.2814, grad_norm: 144.7743 +2026-02-28 15:54:28,586 - DriveTransformer - INFO - Epoch [10][25650/39528] lr: 6.944e-05, eta: 4 days, 19:11:11, time: 0.725, data_time: 0.036, memory: 19865, loss_cls: 0.0919, loss_bbox: 0.2857, loss_traj: 0.4446, loss_traj_cls: 0.0021, loss_map_cls: 0.1040, loss_map_pts: 0.5231, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.5062, d0.loss_plan_l1_fix_dist: 0.4284, d1.loss_plan_l1_fix_time: 0.8058, d1.loss_plan_l1_fix_dist: 0.3782, d2.loss_plan_l1_fix_time: 0.7864, d2.loss_plan_l1_fix_dist: 0.3231, d3.loss_plan_l1_fix_time: 0.7856, d3.loss_plan_l1_fix_dist: 0.3045, d4.loss_plan_l1_fix_time: 0.7883, d4.loss_plan_l1_fix_dist: 0.2525, d5.loss_plan_l1_fix_time: 0.7927, d5.loss_plan_l1_fix_dist: 0.2756, d6.loss_plan_l1_fix_time: 0.7971, d6.loss_plan_l1_fix_dist: 0.3032, d0.loss_cls_all: 0.1376, d0.loss_bbox_all: 0.3521, d0.loss_cls: 0.1376, d0.loss_bbox: 0.3521, d1.loss_cls: 0.1288, d1.loss_bbox: 0.3203, d2.loss_cls: 0.1159, d2.loss_bbox: 0.2986, d3.loss_cls: 0.0991, d3.loss_bbox: 0.2919, d4.loss_cls: 0.0938, d4.loss_bbox: 0.2885, d5.loss_cls: 0.0923, d5.loss_bbox: 0.2872, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5836, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.4832, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4531, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4467, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4415, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4410, d0.loss_map_cls_all: 0.1917, d0.loss_map_pts_all: 1.1211, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1917, d0.loss_map_pts: 1.1211, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1511, d1.loss_map_pts: 0.7884, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1279, d2.loss_map_pts: 0.6083, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1165, d3.loss_map_pts: 0.5491, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1099, d4.loss_map_pts: 0.5298, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1060, d5.loss_map_pts: 0.5235, d5.loss_map_dir: 0.0074, loss: 23.1231, grad_norm: 146.9443 +2026-02-28 15:55:05,869 - DriveTransformer - INFO - Epoch [10][25700/39528] lr: 6.944e-05, eta: 4 days, 19:10:37, time: 0.746, data_time: 0.038, memory: 19865, loss_cls: 0.1003, loss_bbox: 0.2871, loss_traj: 0.4656, loss_traj_cls: 0.0020, loss_map_cls: 0.1136, loss_map_pts: 0.5523, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.5307, d0.loss_plan_l1_fix_dist: 0.4430, d1.loss_plan_l1_fix_time: 0.7332, d1.loss_plan_l1_fix_dist: 0.3238, d2.loss_plan_l1_fix_time: 0.7103, d2.loss_plan_l1_fix_dist: 0.2824, d3.loss_plan_l1_fix_time: 0.7061, d3.loss_plan_l1_fix_dist: 0.2808, d4.loss_plan_l1_fix_time: 0.7054, d4.loss_plan_l1_fix_dist: 0.2115, d5.loss_plan_l1_fix_time: 0.7072, d5.loss_plan_l1_fix_dist: 0.2080, d6.loss_plan_l1_fix_time: 0.7095, d6.loss_plan_l1_fix_dist: 0.2281, d0.loss_cls_all: 0.1488, d0.loss_bbox_all: 0.3489, d0.loss_cls: 0.1488, d0.loss_bbox: 0.3489, d1.loss_cls: 0.1405, d1.loss_bbox: 0.3184, d2.loss_cls: 0.1257, d2.loss_bbox: 0.2983, d3.loss_cls: 0.1090, d3.loss_bbox: 0.2934, d4.loss_cls: 0.1007, d4.loss_bbox: 0.2916, d5.loss_cls: 0.1007, d5.loss_bbox: 0.2889, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6778, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5315, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4887, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4723, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4680, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4644, d0.loss_map_cls_all: 0.2056, d0.loss_map_pts_all: 1.1313, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2056, d0.loss_map_pts: 1.1313, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1743, d1.loss_map_pts: 0.8234, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1479, d2.loss_map_pts: 0.6522, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1304, d3.loss_map_pts: 0.5830, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1217, d4.loss_map_pts: 0.5605, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1154, d5.loss_map_pts: 0.5528, d5.loss_map_dir: 0.0074, loss: 23.0647, grad_norm: 144.0590 +2026-02-28 15:55:41,721 - DriveTransformer - INFO - Epoch [10][25750/39528] lr: 6.944e-05, eta: 4 days, 19:09:58, time: 0.717, data_time: 0.037, memory: 19865, loss_cls: 0.1063, loss_bbox: 0.2932, loss_traj: 0.4956, loss_traj_cls: 0.0019, loss_map_cls: 0.1048, loss_map_pts: 0.5384, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.5137, d0.loss_plan_l1_fix_dist: 0.3773, d1.loss_plan_l1_fix_time: 0.7744, d1.loss_plan_l1_fix_dist: 0.2790, d2.loss_plan_l1_fix_time: 0.7584, d2.loss_plan_l1_fix_dist: 0.2584, d3.loss_plan_l1_fix_time: 0.7551, d3.loss_plan_l1_fix_dist: 0.2646, d4.loss_plan_l1_fix_time: 0.7577, d4.loss_plan_l1_fix_dist: 0.2175, d5.loss_plan_l1_fix_time: 0.7607, d5.loss_plan_l1_fix_dist: 0.2311, d6.loss_plan_l1_fix_time: 0.7648, d6.loss_plan_l1_fix_dist: 0.2572, d0.loss_cls_all: 0.1538, d0.loss_bbox_all: 0.3543, d0.loss_cls: 0.1538, d0.loss_bbox: 0.3543, d1.loss_cls: 0.1458, d1.loss_bbox: 0.3249, d2.loss_cls: 0.1289, d2.loss_bbox: 0.3027, d3.loss_cls: 0.1146, d3.loss_bbox: 0.2958, d4.loss_cls: 0.1102, d4.loss_bbox: 0.2927, d5.loss_cls: 0.1055, d5.loss_bbox: 0.2946, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6957, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5637, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5076, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4934, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4913, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4960, d0.loss_map_cls_all: 0.1837, d0.loss_map_pts_all: 1.1382, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1837, d0.loss_map_pts: 1.1382, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1552, d1.loss_map_pts: 0.8251, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1326, d2.loss_map_pts: 0.6466, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1202, d3.loss_map_pts: 0.5722, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1124, d4.loss_map_pts: 0.5490, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1069, d5.loss_map_pts: 0.5391, d5.loss_map_dir: 0.0063, loss: 23.3476, grad_norm: 145.0602 +2026-02-28 15:56:17,872 - DriveTransformer - INFO - Epoch [10][25800/39528] lr: 6.944e-05, eta: 4 days, 19:09:20, time: 0.723, data_time: 0.039, memory: 19865, loss_cls: 0.1122, loss_bbox: 0.2906, loss_traj: 0.5306, loss_traj_cls: 0.0019, loss_map_cls: 0.1182, loss_map_pts: 0.5409, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.5735, d0.loss_plan_l1_fix_dist: 0.4162, d1.loss_plan_l1_fix_time: 0.7804, d1.loss_plan_l1_fix_dist: 0.2396, d2.loss_plan_l1_fix_time: 0.7579, d2.loss_plan_l1_fix_dist: 0.2312, d3.loss_plan_l1_fix_time: 0.7493, d3.loss_plan_l1_fix_dist: 0.2306, d4.loss_plan_l1_fix_time: 0.7515, d4.loss_plan_l1_fix_dist: 0.1969, d5.loss_plan_l1_fix_time: 0.7546, d5.loss_plan_l1_fix_dist: 0.2050, d6.loss_plan_l1_fix_time: 0.7583, d6.loss_plan_l1_fix_dist: 0.2295, d0.loss_cls_all: 0.1526, d0.loss_bbox_all: 0.3548, d0.loss_cls: 0.1526, d0.loss_bbox: 0.3548, d1.loss_cls: 0.1480, d1.loss_bbox: 0.3215, d2.loss_cls: 0.1359, d2.loss_bbox: 0.3012, d3.loss_cls: 0.1178, d3.loss_bbox: 0.2971, d4.loss_cls: 0.1117, d4.loss_bbox: 0.2938, d5.loss_cls: 0.1129, d5.loss_bbox: 0.2916, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7896, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6104, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5489, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5314, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5277, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5273, d0.loss_map_cls_all: 0.2060, d0.loss_map_pts_all: 1.1561, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2060, d0.loss_map_pts: 1.1561, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1736, d1.loss_map_pts: 0.8400, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1497, d2.loss_map_pts: 0.6490, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1359, d3.loss_map_pts: 0.5728, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1288, d4.loss_map_pts: 0.5465, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1212, d5.loss_map_pts: 0.5415, d5.loss_map_dir: 0.0068, loss: 23.7920, grad_norm: 143.3852 +2026-02-28 15:56:52,784 - DriveTransformer - INFO - Epoch [10][25850/39528] lr: 6.944e-05, eta: 4 days, 19:08:37, time: 0.698, data_time: 0.039, memory: 19865, loss_cls: 0.0853, loss_bbox: 0.2772, loss_traj: 0.4702, loss_traj_cls: 0.0019, loss_map_cls: 0.1239, loss_map_pts: 0.5318, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.8387, d0.loss_plan_l1_fix_dist: 0.3233, d1.loss_plan_l1_fix_time: 0.7139, d1.loss_plan_l1_fix_dist: 0.2002, d2.loss_plan_l1_fix_time: 0.6962, d2.loss_plan_l1_fix_dist: 0.2231, d3.loss_plan_l1_fix_time: 0.6943, d3.loss_plan_l1_fix_dist: 0.2156, d4.loss_plan_l1_fix_time: 0.6987, d4.loss_plan_l1_fix_dist: 0.2105, d5.loss_plan_l1_fix_time: 0.7030, d5.loss_plan_l1_fix_dist: 0.2093, d6.loss_plan_l1_fix_time: 0.7075, d6.loss_plan_l1_fix_dist: 0.2335, d0.loss_cls_all: 0.1365, d0.loss_bbox_all: 0.3349, d0.loss_cls: 0.1365, d0.loss_bbox: 0.3349, d1.loss_cls: 0.1262, d1.loss_bbox: 0.3035, d2.loss_cls: 0.1117, d2.loss_bbox: 0.2861, d3.loss_cls: 0.0931, d3.loss_bbox: 0.2806, d4.loss_cls: 0.0861, d4.loss_bbox: 0.2797, d5.loss_cls: 0.0844, d5.loss_bbox: 0.2790, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6623, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5303, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4830, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4750, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4749, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4699, d0.loss_map_cls_all: 0.2128, d0.loss_map_pts_all: 1.1161, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.2128, d0.loss_map_pts: 1.1161, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1811, d1.loss_map_pts: 0.8091, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1553, d2.loss_map_pts: 0.6333, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1424, d3.loss_map_pts: 0.5591, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1326, d4.loss_map_pts: 0.5389, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.1270, d5.loss_map_pts: 0.5316, d5.loss_map_dir: 0.0053, loss: 22.6421, grad_norm: 143.7015 +2026-02-28 15:57:29,538 - DriveTransformer - INFO - Epoch [10][25900/39528] lr: 6.944e-05, eta: 4 days, 19:08:01, time: 0.735, data_time: 0.037, memory: 19865, loss_cls: 0.1008, loss_bbox: 0.2968, loss_traj: 0.5266, loss_traj_cls: 0.0020, loss_map_cls: 0.0995, loss_map_pts: 0.5437, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.9051, d0.loss_plan_l1_fix_dist: 0.4084, d1.loss_plan_l1_fix_time: 0.8502, d1.loss_plan_l1_fix_dist: 0.1873, d2.loss_plan_l1_fix_time: 0.8334, d2.loss_plan_l1_fix_dist: 0.2004, d3.loss_plan_l1_fix_time: 0.8341, d3.loss_plan_l1_fix_dist: 0.1923, d4.loss_plan_l1_fix_time: 0.8375, d4.loss_plan_l1_fix_dist: 0.2020, d5.loss_plan_l1_fix_time: 0.8413, d5.loss_plan_l1_fix_dist: 0.2050, d6.loss_plan_l1_fix_time: 0.8461, d6.loss_plan_l1_fix_dist: 0.2036, d0.loss_cls_all: 0.1435, d0.loss_bbox_all: 0.3653, d0.loss_cls: 0.1435, d0.loss_bbox: 0.3653, d1.loss_cls: 0.1387, d1.loss_bbox: 0.3290, d2.loss_cls: 0.1223, d2.loss_bbox: 0.3077, d3.loss_cls: 0.1075, d3.loss_bbox: 0.2993, d4.loss_cls: 0.1018, d4.loss_bbox: 0.2973, d5.loss_cls: 0.1018, d5.loss_bbox: 0.2962, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7422, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6025, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5480, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5282, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5284, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5269, d0.loss_map_cls_all: 0.1819, d0.loss_map_pts_all: 1.0762, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1819, d0.loss_map_pts: 1.0762, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1512, d1.loss_map_pts: 0.7939, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1253, d2.loss_map_pts: 0.6308, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1147, d3.loss_map_pts: 0.5715, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1070, d4.loss_map_pts: 0.5519, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1014, d5.loss_map_pts: 0.5454, d5.loss_map_dir: 0.0071, loss: 23.9786, grad_norm: 145.4228 +2026-02-28 15:58:06,171 - DriveTransformer - INFO - Epoch [10][25950/39528] lr: 6.944e-05, eta: 4 days, 19:07:25, time: 0.733, data_time: 0.037, memory: 19865, loss_cls: 0.1122, loss_bbox: 0.3277, loss_traj: 0.5542, loss_traj_cls: 0.0019, loss_map_cls: 0.1295, loss_map_pts: 0.6273, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.9003, d0.loss_plan_l1_fix_dist: 0.3983, d1.loss_plan_l1_fix_time: 0.8772, d1.loss_plan_l1_fix_dist: 0.2181, d2.loss_plan_l1_fix_time: 0.8659, d2.loss_plan_l1_fix_dist: 0.2125, d3.loss_plan_l1_fix_time: 0.8609, d3.loss_plan_l1_fix_dist: 0.2156, d4.loss_plan_l1_fix_time: 0.8624, d4.loss_plan_l1_fix_dist: 0.2426, d5.loss_plan_l1_fix_time: 0.8651, d5.loss_plan_l1_fix_dist: 0.2566, d6.loss_plan_l1_fix_time: 0.8688, d6.loss_plan_l1_fix_dist: 0.2535, d0.loss_cls_all: 0.1637, d0.loss_bbox_all: 0.3987, d0.loss_cls: 0.1637, d0.loss_bbox: 0.3987, d1.loss_cls: 0.1578, d1.loss_bbox: 0.3621, d2.loss_cls: 0.1434, d2.loss_bbox: 0.3364, d3.loss_cls: 0.1210, d3.loss_bbox: 0.3311, d4.loss_cls: 0.1132, d4.loss_bbox: 0.3296, d5.loss_cls: 0.1123, d5.loss_bbox: 0.3282, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7703, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6038, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5693, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5620, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5593, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5594, d0.loss_map_cls_all: 0.2148, d0.loss_map_pts_all: 1.1829, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2148, d0.loss_map_pts: 1.1829, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1783, d1.loss_map_pts: 0.8841, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1560, d2.loss_map_pts: 0.7194, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1439, d3.loss_map_pts: 0.6559, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1357, d4.loss_map_pts: 0.6338, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1324, d5.loss_map_pts: 0.6282, d5.loss_map_dir: 0.0081, loss: 25.8661, grad_norm: 144.4908 +2026-02-28 15:58:43,192 - DriveTransformer - INFO - Epoch [10][26000/39528] lr: 6.944e-05, eta: 4 days, 19:06:50, time: 0.740, data_time: 0.039, memory: 19865, loss_cls: 0.0952, loss_bbox: 0.3100, loss_traj: 0.4726, loss_traj_cls: 0.0020, loss_map_cls: 0.0956, loss_map_pts: 0.5024, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.6439, d0.loss_plan_l1_fix_dist: 0.4548, d1.loss_plan_l1_fix_time: 0.7831, d1.loss_plan_l1_fix_dist: 0.2500, d2.loss_plan_l1_fix_time: 0.7807, d2.loss_plan_l1_fix_dist: 0.2093, d3.loss_plan_l1_fix_time: 0.7780, d3.loss_plan_l1_fix_dist: 0.2116, d4.loss_plan_l1_fix_time: 0.7799, d4.loss_plan_l1_fix_dist: 0.2258, d5.loss_plan_l1_fix_time: 0.7827, d5.loss_plan_l1_fix_dist: 0.2510, d6.loss_plan_l1_fix_time: 0.7858, d6.loss_plan_l1_fix_dist: 0.2629, d0.loss_cls_all: 0.1385, d0.loss_bbox_all: 0.3682, d0.loss_cls: 0.1385, d0.loss_bbox: 0.3682, d1.loss_cls: 0.1358, d1.loss_bbox: 0.3368, d2.loss_cls: 0.1196, d2.loss_bbox: 0.3183, d3.loss_cls: 0.1036, d3.loss_bbox: 0.3142, d4.loss_cls: 0.0981, d4.loss_bbox: 0.3120, d5.loss_cls: 0.0957, d5.loss_bbox: 0.3108, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6989, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5564, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5174, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5063, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4764, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4726, d0.loss_map_cls_all: 0.1777, d0.loss_map_pts_all: 1.0107, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1777, d0.loss_map_pts: 1.0107, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1445, d1.loss_map_pts: 0.7180, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1215, d2.loss_map_pts: 0.5748, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1070, d3.loss_map_pts: 0.5296, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1002, d4.loss_map_pts: 0.5090, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.0970, d5.loss_map_pts: 0.5031, d5.loss_map_dir: 0.0069, loss: 22.9068, grad_norm: 143.4949 +2026-02-28 15:59:19,430 - DriveTransformer - INFO - Epoch [10][26050/39528] lr: 6.944e-05, eta: 4 days, 19:06:12, time: 0.725, data_time: 0.037, memory: 19865, loss_cls: 0.0879, loss_bbox: 0.2779, loss_traj: 0.5351, loss_traj_cls: 0.0020, loss_map_cls: 0.0764, loss_map_pts: 0.4470, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.3054, d0.loss_plan_l1_fix_dist: 0.4551, d1.loss_plan_l1_fix_time: 0.7553, d1.loss_plan_l1_fix_dist: 0.2245, d2.loss_plan_l1_fix_time: 0.7455, d2.loss_plan_l1_fix_dist: 0.1633, d3.loss_plan_l1_fix_time: 0.7155, d3.loss_plan_l1_fix_dist: 0.1615, d4.loss_plan_l1_fix_time: 0.7158, d4.loss_plan_l1_fix_dist: 0.1663, d5.loss_plan_l1_fix_time: 0.7177, d5.loss_plan_l1_fix_dist: 0.1849, d6.loss_plan_l1_fix_time: 0.7208, d6.loss_plan_l1_fix_dist: 0.2373, d0.loss_cls_all: 0.1260, d0.loss_bbox_all: 0.3381, d0.loss_cls: 0.1260, d0.loss_bbox: 0.3381, d1.loss_cls: 0.1176, d1.loss_bbox: 0.3087, d2.loss_cls: 0.1054, d2.loss_bbox: 0.2867, d3.loss_cls: 0.0935, d3.loss_bbox: 0.2783, d4.loss_cls: 0.0886, d4.loss_bbox: 0.2773, d5.loss_cls: 0.0879, d5.loss_bbox: 0.2767, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7620, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6000, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5471, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5329, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5342, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5355, d0.loss_map_cls_all: 0.1650, d0.loss_map_pts_all: 1.0546, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1650, d0.loss_map_pts: 1.0546, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1274, d1.loss_map_pts: 0.7357, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1049, d2.loss_map_pts: 0.5515, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.0907, d3.loss_map_pts: 0.4829, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0845, d4.loss_map_pts: 0.4546, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0802, d5.loss_map_pts: 0.4481, d5.loss_map_dir: 0.0060, loss: 21.7098, grad_norm: 142.7489 +2026-02-28 15:59:55,394 - DriveTransformer - INFO - Epoch [10][26100/39528] lr: 6.944e-05, eta: 4 days, 19:05:34, time: 0.719, data_time: 0.036, memory: 19865, loss_cls: 0.0970, loss_bbox: 0.2963, loss_traj: 0.5950, loss_traj_cls: 0.0020, loss_map_cls: 0.0884, loss_map_pts: 0.4495, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.5258, d0.loss_plan_l1_fix_dist: 0.4847, d1.loss_plan_l1_fix_time: 0.8159, d1.loss_plan_l1_fix_dist: 0.2469, d2.loss_plan_l1_fix_time: 0.7991, d2.loss_plan_l1_fix_dist: 0.1896, d3.loss_plan_l1_fix_time: 0.7858, d3.loss_plan_l1_fix_dist: 0.1789, d4.loss_plan_l1_fix_time: 0.7873, d4.loss_plan_l1_fix_dist: 0.1907, d5.loss_plan_l1_fix_time: 0.7896, d5.loss_plan_l1_fix_dist: 0.2008, d6.loss_plan_l1_fix_time: 0.7930, d6.loss_plan_l1_fix_dist: 0.2308, d0.loss_cls_all: 0.1490, d0.loss_bbox_all: 0.3493, d0.loss_cls: 0.1490, d0.loss_bbox: 0.3493, d1.loss_cls: 0.1388, d1.loss_bbox: 0.3181, d2.loss_cls: 0.1244, d2.loss_bbox: 0.2991, d3.loss_cls: 0.1088, d3.loss_bbox: 0.2966, d4.loss_cls: 0.0992, d4.loss_bbox: 0.2955, d5.loss_cls: 0.0976, d5.loss_bbox: 0.2952, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8614, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6986, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6258, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6098, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6018, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5990, d0.loss_map_cls_all: 0.1802, d0.loss_map_pts_all: 0.9690, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1802, d0.loss_map_pts: 0.9690, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1403, d1.loss_map_pts: 0.7036, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1141, d2.loss_map_pts: 0.5423, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1017, d3.loss_map_pts: 0.4794, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0935, d4.loss_map_pts: 0.4550, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0900, d5.loss_map_pts: 0.4503, d5.loss_map_dir: 0.0054, loss: 23.1296, grad_norm: 139.2392 +2026-02-28 16:00:32,377 - DriveTransformer - INFO - Epoch [10][26150/39528] lr: 6.944e-05, eta: 4 days, 19:04:59, time: 0.740, data_time: 0.038, memory: 19865, loss_cls: 0.0963, loss_bbox: 0.2923, loss_traj: 0.6007, loss_traj_cls: 0.0019, loss_map_cls: 0.1001, loss_map_pts: 0.5629, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.7805, d0.loss_plan_l1_fix_dist: 0.4075, d1.loss_plan_l1_fix_time: 0.8913, d1.loss_plan_l1_fix_dist: 0.2532, d2.loss_plan_l1_fix_time: 0.8546, d2.loss_plan_l1_fix_dist: 0.2054, d3.loss_plan_l1_fix_time: 0.8435, d3.loss_plan_l1_fix_dist: 0.1795, d4.loss_plan_l1_fix_time: 0.8473, d4.loss_plan_l1_fix_dist: 0.2004, d5.loss_plan_l1_fix_time: 0.8515, d5.loss_plan_l1_fix_dist: 0.2227, d6.loss_plan_l1_fix_time: 0.8563, d6.loss_plan_l1_fix_dist: 0.2128, d0.loss_cls_all: 0.1471, d0.loss_bbox_all: 0.3635, d0.loss_cls: 0.1471, d0.loss_bbox: 0.3635, d1.loss_cls: 0.1356, d1.loss_bbox: 0.3320, d2.loss_cls: 0.1220, d2.loss_bbox: 0.3067, d3.loss_cls: 0.1023, d3.loss_bbox: 0.2995, d4.loss_cls: 0.0967, d4.loss_bbox: 0.2952, d5.loss_cls: 0.0965, d5.loss_bbox: 0.2919, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9349, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.7108, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6321, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6167, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6054, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6009, d0.loss_map_cls_all: 0.1888, d0.loss_map_pts_all: 1.1432, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.1888, d0.loss_map_pts: 1.1432, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1560, d1.loss_map_pts: 0.8314, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1260, d2.loss_map_pts: 0.6581, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1161, d3.loss_map_pts: 0.5936, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1090, d4.loss_map_pts: 0.5691, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1033, d5.loss_map_pts: 0.5634, d5.loss_map_dir: 0.0079, loss: 25.0184, grad_norm: 137.4335 +2026-02-28 16:01:09,025 - DriveTransformer - INFO - Epoch [10][26200/39528] lr: 6.944e-05, eta: 4 days, 19:04:23, time: 0.734, data_time: 0.036, memory: 19865, loss_cls: 0.1019, loss_bbox: 0.3059, loss_traj: 0.4559, loss_traj_cls: 0.0018, loss_map_cls: 0.1343, loss_map_pts: 0.5854, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.6711, d0.loss_plan_l1_fix_dist: 0.3911, d1.loss_plan_l1_fix_time: 0.8648, d1.loss_plan_l1_fix_dist: 0.2404, d2.loss_plan_l1_fix_time: 0.8495, d2.loss_plan_l1_fix_dist: 0.1961, d3.loss_plan_l1_fix_time: 0.8280, d3.loss_plan_l1_fix_dist: 0.1702, d4.loss_plan_l1_fix_time: 0.8307, d4.loss_plan_l1_fix_dist: 0.1936, d5.loss_plan_l1_fix_time: 0.8334, d5.loss_plan_l1_fix_dist: 0.2137, d6.loss_plan_l1_fix_time: 0.8364, d6.loss_plan_l1_fix_dist: 0.1903, d0.loss_cls_all: 0.1520, d0.loss_bbox_all: 0.3731, d0.loss_cls: 0.1520, d0.loss_bbox: 0.3731, d1.loss_cls: 0.1396, d1.loss_bbox: 0.3411, d2.loss_cls: 0.1234, d2.loss_bbox: 0.3192, d3.loss_cls: 0.1064, d3.loss_bbox: 0.3134, d4.loss_cls: 0.1015, d4.loss_bbox: 0.3097, d5.loss_cls: 0.1024, d5.loss_bbox: 0.3064, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6783, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5261, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4792, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4631, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4596, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4575, d0.loss_map_cls_all: 0.2072, d0.loss_map_pts_all: 1.1704, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2072, d0.loss_map_pts: 1.1704, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1800, d1.loss_map_pts: 0.8540, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1596, d2.loss_map_pts: 0.6814, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1478, d3.loss_map_pts: 0.6165, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1408, d4.loss_map_pts: 0.5946, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1358, d5.loss_map_pts: 0.5868, d5.loss_map_dir: 0.0074, loss: 24.0884, grad_norm: 138.3062 +2026-02-28 16:01:45,098 - DriveTransformer - INFO - Epoch [10][26250/39528] lr: 6.944e-05, eta: 4 days, 19:03:44, time: 0.720, data_time: 0.036, memory: 19865, loss_cls: 0.0865, loss_bbox: 0.2836, loss_traj: 0.4475, loss_traj_cls: 0.0019, loss_map_cls: 0.1133, loss_map_pts: 0.5122, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.5459, d0.loss_plan_l1_fix_dist: 0.3628, d1.loss_plan_l1_fix_time: 0.8330, d1.loss_plan_l1_fix_dist: 0.2120, d2.loss_plan_l1_fix_time: 0.8182, d2.loss_plan_l1_fix_dist: 0.1839, d3.loss_plan_l1_fix_time: 0.8122, d3.loss_plan_l1_fix_dist: 0.1779, d4.loss_plan_l1_fix_time: 0.8165, d4.loss_plan_l1_fix_dist: 0.1800, d5.loss_plan_l1_fix_time: 0.8206, d5.loss_plan_l1_fix_dist: 0.1813, d6.loss_plan_l1_fix_time: 0.8252, d6.loss_plan_l1_fix_dist: 0.1926, d0.loss_cls_all: 0.1312, d0.loss_bbox_all: 0.3426, d0.loss_cls: 0.1312, d0.loss_bbox: 0.3426, d1.loss_cls: 0.1202, d1.loss_bbox: 0.3109, d2.loss_cls: 0.1084, d2.loss_bbox: 0.2911, d3.loss_cls: 0.0942, d3.loss_bbox: 0.2849, d4.loss_cls: 0.0872, d4.loss_bbox: 0.2847, d5.loss_cls: 0.0868, d5.loss_bbox: 0.2840, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6220, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5113, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4634, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4518, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4460, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4483, d0.loss_map_cls_all: 0.1877, d0.loss_map_pts_all: 1.0463, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1877, d0.loss_map_pts: 1.0463, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1604, d1.loss_map_pts: 0.7551, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1368, d2.loss_map_pts: 0.6024, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1277, d3.loss_map_pts: 0.5383, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1203, d4.loss_map_pts: 0.5176, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1152, d5.loss_map_pts: 0.5127, d5.loss_map_dir: 0.0065, loss: 22.3595, grad_norm: 140.7074 +2026-02-28 16:02:21,844 - DriveTransformer - INFO - Epoch [10][26300/39528] lr: 6.944e-05, eta: 4 days, 19:03:08, time: 0.735, data_time: 0.038, memory: 19865, loss_cls: 0.0921, loss_bbox: 0.2802, loss_traj: 0.4789, loss_traj_cls: 0.0019, loss_map_cls: 0.0854, loss_map_pts: 0.4743, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.2377, d0.loss_plan_l1_fix_dist: 0.3902, d1.loss_plan_l1_fix_time: 0.7331, d1.loss_plan_l1_fix_dist: 0.2277, d2.loss_plan_l1_fix_time: 0.7158, d2.loss_plan_l1_fix_dist: 0.2049, d3.loss_plan_l1_fix_time: 0.7181, d3.loss_plan_l1_fix_dist: 0.2169, d4.loss_plan_l1_fix_time: 0.7222, d4.loss_plan_l1_fix_dist: 0.1912, d5.loss_plan_l1_fix_time: 0.7268, d5.loss_plan_l1_fix_dist: 0.1977, d6.loss_plan_l1_fix_time: 0.7323, d6.loss_plan_l1_fix_dist: 0.2287, d0.loss_cls_all: 0.1364, d0.loss_bbox_all: 0.3411, d0.loss_cls: 0.1364, d0.loss_bbox: 0.3411, d1.loss_cls: 0.1304, d1.loss_bbox: 0.3107, d2.loss_cls: 0.1163, d2.loss_bbox: 0.2921, d3.loss_cls: 0.0976, d3.loss_bbox: 0.2866, d4.loss_cls: 0.0929, d4.loss_bbox: 0.2833, d5.loss_cls: 0.0902, d5.loss_bbox: 0.2824, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6999, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5602, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5097, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4881, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4829, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4811, d0.loss_map_cls_all: 0.1610, d0.loss_map_pts_all: 0.9947, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1610, d0.loss_map_pts: 0.9947, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1283, d1.loss_map_pts: 0.6996, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1097, d2.loss_map_pts: 0.5567, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.0996, d3.loss_map_pts: 0.5002, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0923, d4.loss_map_pts: 0.4819, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0875, d5.loss_map_pts: 0.4748, d5.loss_map_dir: 0.0060, loss: 21.4101, grad_norm: 142.1143 +2026-02-28 16:02:58,133 - DriveTransformer - INFO - Epoch [10][26350/39528] lr: 6.944e-05, eta: 4 days, 19:02:31, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.0845, loss_bbox: 0.2904, loss_traj: 0.3942, loss_traj_cls: 0.0019, loss_map_cls: 0.1094, loss_map_pts: 0.5349, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.2368, d0.loss_plan_l1_fix_dist: 0.3937, d1.loss_plan_l1_fix_time: 0.7411, d1.loss_plan_l1_fix_dist: 0.2247, d2.loss_plan_l1_fix_time: 0.7271, d2.loss_plan_l1_fix_dist: 0.1960, d3.loss_plan_l1_fix_time: 0.7314, d3.loss_plan_l1_fix_dist: 0.2165, d4.loss_plan_l1_fix_time: 0.7362, d4.loss_plan_l1_fix_dist: 0.1748, d5.loss_plan_l1_fix_time: 0.7400, d5.loss_plan_l1_fix_dist: 0.1970, d6.loss_plan_l1_fix_time: 0.7447, d6.loss_plan_l1_fix_dist: 0.2236, d0.loss_cls_all: 0.1359, d0.loss_bbox_all: 0.3540, d0.loss_cls: 0.1359, d0.loss_bbox: 0.3540, d1.loss_cls: 0.1283, d1.loss_bbox: 0.3202, d2.loss_cls: 0.1107, d2.loss_bbox: 0.3006, d3.loss_cls: 0.0929, d3.loss_bbox: 0.2923, d4.loss_cls: 0.0857, d4.loss_bbox: 0.2919, d5.loss_cls: 0.0851, d5.loss_bbox: 0.2895, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6219, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.4759, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4207, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4003, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3966, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.3936, d0.loss_map_cls_all: 0.2057, d0.loss_map_pts_all: 1.1035, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2057, d0.loss_map_pts: 1.1035, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1618, d1.loss_map_pts: 0.7817, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1347, d2.loss_map_pts: 0.6268, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1248, d3.loss_map_pts: 0.5689, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1179, d4.loss_map_pts: 0.5438, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1123, d5.loss_map_pts: 0.5348, d5.loss_map_dir: 0.0070, loss: 21.7716, grad_norm: 143.6983 +2026-02-28 16:03:34,311 - DriveTransformer - INFO - Epoch [10][26400/39528] lr: 6.944e-05, eta: 4 days, 19:01:53, time: 0.724, data_time: 0.036, memory: 19865, loss_cls: 0.1083, loss_bbox: 0.3173, loss_traj: 0.4452, loss_traj_cls: 0.0019, loss_map_cls: 0.1071, loss_map_pts: 0.5052, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.6795, d0.loss_plan_l1_fix_dist: 0.3088, d1.loss_plan_l1_fix_time: 0.8540, d1.loss_plan_l1_fix_dist: 0.2096, d2.loss_plan_l1_fix_time: 0.8295, d2.loss_plan_l1_fix_dist: 0.2026, d3.loss_plan_l1_fix_time: 0.8427, d3.loss_plan_l1_fix_dist: 0.2219, d4.loss_plan_l1_fix_time: 0.8450, d4.loss_plan_l1_fix_dist: 0.1747, d5.loss_plan_l1_fix_time: 0.8473, d5.loss_plan_l1_fix_dist: 0.1915, d6.loss_plan_l1_fix_time: 0.8508, d6.loss_plan_l1_fix_dist: 0.1929, d0.loss_cls_all: 0.1488, d0.loss_bbox_all: 0.3783, d0.loss_cls: 0.1488, d0.loss_bbox: 0.3783, d1.loss_cls: 0.1438, d1.loss_bbox: 0.3457, d2.loss_cls: 0.1282, d2.loss_bbox: 0.3277, d3.loss_cls: 0.1158, d3.loss_bbox: 0.3198, d4.loss_cls: 0.1106, d4.loss_bbox: 0.3182, d5.loss_cls: 0.1096, d5.loss_bbox: 0.3164, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6277, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5042, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4600, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4513, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4430, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4446, d0.loss_map_cls_all: 0.1735, d0.loss_map_pts_all: 1.0383, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1735, d0.loss_map_pts: 1.0383, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1466, d1.loss_map_pts: 0.7362, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1250, d2.loss_map_pts: 0.5840, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1173, d3.loss_map_pts: 0.5316, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1130, d4.loss_map_pts: 0.5127, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1090, d5.loss_map_pts: 0.5058, d5.loss_map_dir: 0.0061, loss: 22.9146, grad_norm: 145.3447 +2026-02-28 16:04:11,761 - DriveTransformer - INFO - Epoch [10][26450/39528] lr: 6.944e-05, eta: 4 days, 19:01:20, time: 0.749, data_time: 0.037, memory: 19865, loss_cls: 0.1095, loss_bbox: 0.3178, loss_traj: 0.5614, loss_traj_cls: 0.0019, loss_map_cls: 0.1024, loss_map_pts: 0.5598, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.7831, d0.loss_plan_l1_fix_dist: 0.3989, d1.loss_plan_l1_fix_time: 0.9099, d1.loss_plan_l1_fix_dist: 0.2179, d2.loss_plan_l1_fix_time: 0.8978, d2.loss_plan_l1_fix_dist: 0.2233, d3.loss_plan_l1_fix_time: 0.8955, d3.loss_plan_l1_fix_dist: 0.2396, d4.loss_plan_l1_fix_time: 0.8991, d4.loss_plan_l1_fix_dist: 0.2026, d5.loss_plan_l1_fix_time: 0.9022, d5.loss_plan_l1_fix_dist: 0.2165, d6.loss_plan_l1_fix_time: 0.9059, d6.loss_plan_l1_fix_dist: 0.1971, d0.loss_cls_all: 0.1627, d0.loss_bbox_all: 0.3850, d0.loss_cls: 0.1627, d0.loss_bbox: 0.3850, d1.loss_cls: 0.1528, d1.loss_bbox: 0.3476, d2.loss_cls: 0.1399, d2.loss_bbox: 0.3271, d3.loss_cls: 0.1186, d3.loss_bbox: 0.3209, d4.loss_cls: 0.1119, d4.loss_bbox: 0.3181, d5.loss_cls: 0.1099, d5.loss_bbox: 0.3179, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7800, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6298, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5805, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5676, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5659, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5614, d0.loss_map_cls_all: 0.1816, d0.loss_map_pts_all: 1.1527, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1816, d0.loss_map_pts: 1.1527, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1490, d1.loss_map_pts: 0.8262, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1247, d2.loss_map_pts: 0.6621, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1148, d3.loss_map_pts: 0.5921, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1095, d4.loss_map_pts: 0.5679, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1038, d5.loss_map_pts: 0.5607, d5.loss_map_dir: 0.0068, loss: 25.1251, grad_norm: 145.0883 +2026-02-28 16:04:47,813 - DriveTransformer - INFO - Epoch [10][26500/39528] lr: 6.944e-05, eta: 4 days, 19:00:41, time: 0.721, data_time: 0.038, memory: 19865, loss_cls: 0.0910, loss_bbox: 0.2931, loss_traj: 0.4583, loss_traj_cls: 0.0019, loss_map_cls: 0.0977, loss_map_pts: 0.4695, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.5411, d0.loss_plan_l1_fix_dist: 0.4155, d1.loss_plan_l1_fix_time: 0.8010, d1.loss_plan_l1_fix_dist: 0.1687, d2.loss_plan_l1_fix_time: 0.7854, d2.loss_plan_l1_fix_dist: 0.1779, d3.loss_plan_l1_fix_time: 0.7833, d3.loss_plan_l1_fix_dist: 0.1882, d4.loss_plan_l1_fix_time: 0.7845, d4.loss_plan_l1_fix_dist: 0.1868, d5.loss_plan_l1_fix_time: 0.7869, d5.loss_plan_l1_fix_dist: 0.1905, d6.loss_plan_l1_fix_time: 0.7890, d6.loss_plan_l1_fix_dist: 0.1839, d0.loss_cls_all: 0.1322, d0.loss_bbox_all: 0.3527, d0.loss_cls: 0.1322, d0.loss_bbox: 0.3527, d1.loss_cls: 0.1251, d1.loss_bbox: 0.3204, d2.loss_cls: 0.1164, d2.loss_bbox: 0.2982, d3.loss_cls: 0.0973, d3.loss_bbox: 0.2941, d4.loss_cls: 0.0924, d4.loss_bbox: 0.2924, d5.loss_cls: 0.0913, d5.loss_bbox: 0.2920, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6731, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5257, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4754, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4609, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4569, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4552, d0.loss_map_cls_all: 0.1749, d0.loss_map_pts_all: 1.0153, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1749, d0.loss_map_pts: 1.0153, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1445, d1.loss_map_pts: 0.7286, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1237, d2.loss_map_pts: 0.5670, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1114, d3.loss_map_pts: 0.4962, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1037, d4.loss_map_pts: 0.4776, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0991, d5.loss_map_pts: 0.4703, d5.loss_map_dir: 0.0053, loss: 21.9810, grad_norm: 146.5923 +2026-02-28 16:05:24,813 - DriveTransformer - INFO - Epoch [10][26550/39528] lr: 6.944e-05, eta: 4 days, 19:00:06, time: 0.740, data_time: 0.038, memory: 19865, loss_cls: 0.1093, loss_bbox: 0.3012, loss_traj: 0.4832, loss_traj_cls: 0.0019, loss_map_cls: 0.1063, loss_map_pts: 0.5540, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.6971, d0.loss_plan_l1_fix_dist: 0.4013, d1.loss_plan_l1_fix_time: 0.8701, d1.loss_plan_l1_fix_dist: 0.1785, d2.loss_plan_l1_fix_time: 0.8547, d2.loss_plan_l1_fix_dist: 0.1847, d3.loss_plan_l1_fix_time: 0.8533, d3.loss_plan_l1_fix_dist: 0.1833, d4.loss_plan_l1_fix_time: 0.8561, d4.loss_plan_l1_fix_dist: 0.1891, d5.loss_plan_l1_fix_time: 0.8591, d5.loss_plan_l1_fix_dist: 0.1847, d6.loss_plan_l1_fix_time: 0.8627, d6.loss_plan_l1_fix_dist: 0.1947, d0.loss_cls_all: 0.1536, d0.loss_bbox_all: 0.3629, d0.loss_cls: 0.1536, d0.loss_bbox: 0.3629, d1.loss_cls: 0.1463, d1.loss_bbox: 0.3329, d2.loss_cls: 0.1314, d2.loss_bbox: 0.3118, d3.loss_cls: 0.1165, d3.loss_bbox: 0.3037, d4.loss_cls: 0.1108, d4.loss_bbox: 0.3019, d5.loss_cls: 0.1099, d5.loss_bbox: 0.3003, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7533, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5745, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5179, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4894, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4853, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4847, d0.loss_map_cls_all: 0.1988, d0.loss_map_pts_all: 1.1430, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1988, d0.loss_map_pts: 1.1430, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1565, d1.loss_map_pts: 0.8070, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1348, d2.loss_map_pts: 0.6471, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1213, d3.loss_map_pts: 0.5818, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1131, d4.loss_map_pts: 0.5610, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1079, d5.loss_map_pts: 0.5551, d5.loss_map_dir: 0.0069, loss: 23.9576, grad_norm: 148.8712 +2026-02-28 16:06:01,726 - DriveTransformer - INFO - Epoch [10][26600/39528] lr: 6.944e-05, eta: 4 days, 18:59:31, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.0974, loss_bbox: 0.2990, loss_traj: 0.5061, loss_traj_cls: 0.0019, loss_map_cls: 0.1075, loss_map_pts: 0.5781, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.6875, d0.loss_plan_l1_fix_dist: 0.3311, d1.loss_plan_l1_fix_time: 0.8598, d1.loss_plan_l1_fix_dist: 0.1965, d2.loss_plan_l1_fix_time: 0.8507, d2.loss_plan_l1_fix_dist: 0.1906, d3.loss_plan_l1_fix_time: 0.8530, d3.loss_plan_l1_fix_dist: 0.1958, d4.loss_plan_l1_fix_time: 0.8563, d4.loss_plan_l1_fix_dist: 0.1956, d5.loss_plan_l1_fix_time: 0.8596, d5.loss_plan_l1_fix_dist: 0.2010, d6.loss_plan_l1_fix_time: 0.8632, d6.loss_plan_l1_fix_dist: 0.2179, d0.loss_cls_all: 0.1441, d0.loss_bbox_all: 0.3604, d0.loss_cls: 0.1441, d0.loss_bbox: 0.3604, d1.loss_cls: 0.1335, d1.loss_bbox: 0.3303, d2.loss_cls: 0.1222, d2.loss_bbox: 0.3084, d3.loss_cls: 0.1036, d3.loss_bbox: 0.3040, d4.loss_cls: 0.0986, d4.loss_bbox: 0.3010, d5.loss_cls: 0.0965, d5.loss_bbox: 0.2997, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7737, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5922, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5333, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5156, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5130, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5093, d0.loss_map_cls_all: 0.1863, d0.loss_map_pts_all: 1.1858, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1863, d0.loss_map_pts: 1.1858, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1558, d1.loss_map_pts: 0.8357, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1286, d2.loss_map_pts: 0.6642, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1193, d3.loss_map_pts: 0.6039, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1117, d4.loss_map_pts: 0.5847, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1088, d5.loss_map_pts: 0.5784, d5.loss_map_dir: 0.0072, loss: 24.1891, grad_norm: 149.3955 +2026-02-28 16:06:37,267 - DriveTransformer - INFO - Epoch [10][26650/39528] lr: 6.944e-05, eta: 4 days, 18:58:51, time: 0.711, data_time: 0.036, memory: 19865, loss_cls: 0.0875, loss_bbox: 0.2842, loss_traj: 0.4868, loss_traj_cls: 0.0020, loss_map_cls: 0.0972, loss_map_pts: 0.5176, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.4847, d0.loss_plan_l1_fix_dist: 0.4511, d1.loss_plan_l1_fix_time: 0.6916, d1.loss_plan_l1_fix_dist: 0.1985, d2.loss_plan_l1_fix_time: 0.6737, d2.loss_plan_l1_fix_dist: 0.1824, d3.loss_plan_l1_fix_time: 0.6731, d3.loss_plan_l1_fix_dist: 0.2128, d4.loss_plan_l1_fix_time: 0.6761, d4.loss_plan_l1_fix_dist: 0.1913, d5.loss_plan_l1_fix_time: 0.6792, d5.loss_plan_l1_fix_dist: 0.2044, d6.loss_plan_l1_fix_time: 0.6826, d6.loss_plan_l1_fix_dist: 0.2073, d0.loss_cls_all: 0.1368, d0.loss_bbox_all: 0.3389, d0.loss_cls: 0.1368, d0.loss_bbox: 0.3389, d1.loss_cls: 0.1281, d1.loss_bbox: 0.3086, d2.loss_cls: 0.1118, d2.loss_bbox: 0.2915, d3.loss_cls: 0.0949, d3.loss_bbox: 0.2875, d4.loss_cls: 0.0894, d4.loss_bbox: 0.2848, d5.loss_cls: 0.0872, d5.loss_bbox: 0.2839, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7308, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5586, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5117, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4951, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4917, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4897, d0.loss_map_cls_all: 0.1764, d0.loss_map_pts_all: 1.0201, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1764, d0.loss_map_pts: 1.0201, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1448, d1.loss_map_pts: 0.7235, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1220, d2.loss_map_pts: 0.5841, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1122, d3.loss_map_pts: 0.5366, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1037, d4.loss_map_pts: 0.5187, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0984, d5.loss_map_pts: 0.5169, d5.loss_map_dir: 0.0064, loss: 21.7897, grad_norm: 156.0646 +2026-02-28 16:07:13,400 - DriveTransformer - INFO - Epoch [10][26700/39528] lr: 6.944e-05, eta: 4 days, 18:58:13, time: 0.723, data_time: 0.037, memory: 19865, loss_cls: 0.1231, loss_bbox: 0.3066, loss_traj: 0.5687, loss_traj_cls: 0.0019, loss_map_cls: 0.0861, loss_map_pts: 0.4964, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.4392, d0.loss_plan_l1_fix_dist: 0.4537, d1.loss_plan_l1_fix_time: 0.7572, d1.loss_plan_l1_fix_dist: 0.2576, d2.loss_plan_l1_fix_time: 0.7489, d2.loss_plan_l1_fix_dist: 0.2275, d3.loss_plan_l1_fix_time: 0.7495, d3.loss_plan_l1_fix_dist: 0.2827, d4.loss_plan_l1_fix_time: 0.7548, d4.loss_plan_l1_fix_dist: 0.2466, d5.loss_plan_l1_fix_time: 0.7605, d5.loss_plan_l1_fix_dist: 0.2786, d6.loss_plan_l1_fix_time: 0.7669, d6.loss_plan_l1_fix_dist: 0.2796, d0.loss_cls_all: 0.1606, d0.loss_bbox_all: 0.3802, d0.loss_cls: 0.1606, d0.loss_bbox: 0.3802, d1.loss_cls: 0.1580, d1.loss_bbox: 0.3432, d2.loss_cls: 0.1472, d2.loss_bbox: 0.3187, d3.loss_cls: 0.1289, d3.loss_bbox: 0.3134, d4.loss_cls: 0.1250, d4.loss_bbox: 0.3084, d5.loss_cls: 0.1236, d5.loss_bbox: 0.3069, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8126, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6632, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6000, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5793, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5708, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5691, d0.loss_map_cls_all: 0.1647, d0.loss_map_pts_all: 0.9676, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1647, d0.loss_map_pts: 0.9676, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1318, d1.loss_map_pts: 0.6920, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1084, d2.loss_map_pts: 0.5730, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.0976, d3.loss_map_pts: 0.5246, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.0915, d4.loss_map_pts: 0.5045, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0876, d5.loss_map_pts: 0.4959, d5.loss_map_dir: 0.0061, loss: 23.3629, grad_norm: 160.1328 +2026-02-28 16:07:48,364 - DriveTransformer - INFO - Epoch [10][26750/39528] lr: 6.944e-05, eta: 4 days, 18:57:30, time: 0.699, data_time: 0.039, memory: 19865, loss_cls: 0.1015, loss_bbox: 0.3007, loss_traj: 0.5370, loss_traj_cls: 0.0019, loss_map_cls: 0.1059, loss_map_pts: 0.4741, loss_map_dir: 0.0047, d0.loss_plan_l1_fix_time: 2.9131, d0.loss_plan_l1_fix_dist: 0.5243, d1.loss_plan_l1_fix_time: 0.8540, d1.loss_plan_l1_fix_dist: 0.2577, d2.loss_plan_l1_fix_time: 0.8407, d2.loss_plan_l1_fix_dist: 0.2228, d3.loss_plan_l1_fix_time: 0.8429, d3.loss_plan_l1_fix_dist: 0.2814, d4.loss_plan_l1_fix_time: 0.8464, d4.loss_plan_l1_fix_dist: 0.2418, d5.loss_plan_l1_fix_time: 0.8507, d5.loss_plan_l1_fix_dist: 0.2685, d6.loss_plan_l1_fix_time: 0.8554, d6.loss_plan_l1_fix_dist: 0.2520, d0.loss_cls_all: 0.1448, d0.loss_bbox_all: 0.3673, d0.loss_cls: 0.1448, d0.loss_bbox: 0.3673, d1.loss_cls: 0.1365, d1.loss_bbox: 0.3310, d2.loss_cls: 0.1240, d2.loss_bbox: 0.3108, d3.loss_cls: 0.1075, d3.loss_bbox: 0.3020, d4.loss_cls: 0.1013, d4.loss_bbox: 0.3017, d5.loss_cls: 0.1008, d5.loss_bbox: 0.3010, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7776, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6273, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5775, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5504, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5421, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5383, d0.loss_map_cls_all: 0.1813, d0.loss_map_pts_all: 0.9359, d0.loss_map_dir_all: 0.0047, d0.loss_map_cls: 0.1813, d0.loss_map_pts: 0.9359, d0.loss_map_dir: 0.0047, d1.loss_map_cls: 0.1543, d1.loss_map_pts: 0.6695, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.1302, d2.loss_map_pts: 0.5463, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.1184, d3.loss_map_pts: 0.4970, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.1110, d4.loss_map_pts: 0.4810, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.1077, d5.loss_map_pts: 0.4741, d5.loss_map_dir: 0.0047, loss: 23.8924, grad_norm: 158.5311 +2026-02-28 16:08:25,345 - DriveTransformer - INFO - Epoch [10][26800/39528] lr: 6.944e-05, eta: 4 days, 18:56:55, time: 0.740, data_time: 0.038, memory: 19865, loss_cls: 0.0960, loss_bbox: 0.2960, loss_traj: 0.5430, loss_traj_cls: 0.0019, loss_map_cls: 0.1303, loss_map_pts: 0.5987, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.5688, d0.loss_plan_l1_fix_dist: 0.4805, d1.loss_plan_l1_fix_time: 0.7636, d1.loss_plan_l1_fix_dist: 0.2536, d2.loss_plan_l1_fix_time: 0.7549, d2.loss_plan_l1_fix_dist: 0.2149, d3.loss_plan_l1_fix_time: 0.7552, d3.loss_plan_l1_fix_dist: 0.2623, d4.loss_plan_l1_fix_time: 0.7586, d4.loss_plan_l1_fix_dist: 0.2263, d5.loss_plan_l1_fix_time: 0.7622, d5.loss_plan_l1_fix_dist: 0.2369, d6.loss_plan_l1_fix_time: 0.7665, d6.loss_plan_l1_fix_dist: 0.2123, d0.loss_cls_all: 0.1464, d0.loss_bbox_all: 0.3529, d0.loss_cls: 0.1464, d0.loss_bbox: 0.3529, d1.loss_cls: 0.1384, d1.loss_bbox: 0.3223, d2.loss_cls: 0.1246, d2.loss_bbox: 0.3042, d3.loss_cls: 0.1043, d3.loss_bbox: 0.2995, d4.loss_cls: 0.0970, d4.loss_bbox: 0.2973, d5.loss_cls: 0.0960, d5.loss_bbox: 0.2970, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7916, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6398, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5803, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5553, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5461, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5448, d0.loss_map_cls_all: 0.2093, d0.loss_map_pts_all: 1.2115, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2093, d0.loss_map_pts: 1.2115, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1854, d1.loss_map_pts: 0.8765, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1591, d2.loss_map_pts: 0.6914, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1467, d3.loss_map_pts: 0.6257, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1388, d4.loss_map_pts: 0.6038, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1331, d5.loss_map_pts: 0.5990, d5.loss_map_dir: 0.0064, loss: 24.4758, grad_norm: 157.5005 +2026-02-28 16:09:01,242 - DriveTransformer - INFO - Epoch [10][26850/39528] lr: 6.944e-05, eta: 4 days, 18:56:16, time: 0.718, data_time: 0.038, memory: 19865, loss_cls: 0.0920, loss_bbox: 0.2885, loss_traj: 0.6367, loss_traj_cls: 0.0020, loss_map_cls: 0.1073, loss_map_pts: 0.4841, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.5589, d0.loss_plan_l1_fix_dist: 0.4270, d1.loss_plan_l1_fix_time: 0.7908, d1.loss_plan_l1_fix_dist: 0.2419, d2.loss_plan_l1_fix_time: 0.7783, d2.loss_plan_l1_fix_dist: 0.1913, d3.loss_plan_l1_fix_time: 0.7762, d3.loss_plan_l1_fix_dist: 0.2288, d4.loss_plan_l1_fix_time: 0.7791, d4.loss_plan_l1_fix_dist: 0.2001, d5.loss_plan_l1_fix_time: 0.7828, d5.loss_plan_l1_fix_dist: 0.2070, d6.loss_plan_l1_fix_time: 0.7871, d6.loss_plan_l1_fix_dist: 0.2090, d0.loss_cls_all: 0.1364, d0.loss_bbox_all: 0.3526, d0.loss_cls: 0.1364, d0.loss_bbox: 0.3526, d1.loss_cls: 0.1321, d1.loss_bbox: 0.3185, d2.loss_cls: 0.1151, d2.loss_bbox: 0.2994, d3.loss_cls: 0.0985, d3.loss_bbox: 0.2944, d4.loss_cls: 0.0913, d4.loss_bbox: 0.2911, d5.loss_cls: 0.0907, d5.loss_bbox: 0.2893, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9263, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7252, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6682, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6497, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6469, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6399, d0.loss_map_cls_all: 0.1886, d0.loss_map_pts_all: 1.0437, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1886, d0.loss_map_pts: 1.0437, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1577, d1.loss_map_pts: 0.7125, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1334, d2.loss_map_pts: 0.5667, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1215, d3.loss_map_pts: 0.5133, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1148, d4.loss_map_pts: 0.4917, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1094, d5.loss_map_pts: 0.4856, d5.loss_map_dir: 0.0056, loss: 23.7449, grad_norm: 159.0740 +2026-02-28 16:09:37,957 - DriveTransformer - INFO - Epoch [10][26900/39528] lr: 6.944e-05, eta: 4 days, 18:55:40, time: 0.734, data_time: 0.038, memory: 19865, loss_cls: 0.1043, loss_bbox: 0.2942, loss_traj: 0.4048, loss_traj_cls: 0.0019, loss_map_cls: 0.1042, loss_map_pts: 0.5388, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.4597, d0.loss_plan_l1_fix_dist: 0.4504, d1.loss_plan_l1_fix_time: 0.7699, d1.loss_plan_l1_fix_dist: 0.2318, d2.loss_plan_l1_fix_time: 0.7568, d2.loss_plan_l1_fix_dist: 0.1852, d3.loss_plan_l1_fix_time: 0.7572, d3.loss_plan_l1_fix_dist: 0.2060, d4.loss_plan_l1_fix_time: 0.7597, d4.loss_plan_l1_fix_dist: 0.1903, d5.loss_plan_l1_fix_time: 0.7626, d5.loss_plan_l1_fix_dist: 0.1921, d6.loss_plan_l1_fix_time: 0.7662, d6.loss_plan_l1_fix_dist: 0.2019, d0.loss_cls_all: 0.1505, d0.loss_bbox_all: 0.3609, d0.loss_cls: 0.1505, d0.loss_bbox: 0.3609, d1.loss_cls: 0.1453, d1.loss_bbox: 0.3285, d2.loss_cls: 0.1295, d2.loss_bbox: 0.3073, d3.loss_cls: 0.1107, d3.loss_bbox: 0.2989, d4.loss_cls: 0.1055, d4.loss_bbox: 0.2962, d5.loss_cls: 0.1044, d5.loss_bbox: 0.2946, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5891, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.4635, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4208, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4073, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4045, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4015, d0.loss_map_cls_all: 0.1987, d0.loss_map_pts_all: 1.1825, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1987, d0.loss_map_pts: 1.1825, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1541, d1.loss_map_pts: 0.8260, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1304, d2.loss_map_pts: 0.6456, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1186, d3.loss_map_pts: 0.5708, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1115, d4.loss_map_pts: 0.5458, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1063, d5.loss_map_pts: 0.5407, d5.loss_map_dir: 0.0072, loss: 22.5423, grad_norm: 159.0534 +2026-02-28 16:10:14,483 - DriveTransformer - INFO - Epoch [10][26950/39528] lr: 6.944e-05, eta: 4 days, 18:55:04, time: 0.731, data_time: 0.037, memory: 19865, loss_cls: 0.1146, loss_bbox: 0.3065, loss_traj: 0.4729, loss_traj_cls: 0.0019, loss_map_cls: 0.1028, loss_map_pts: 0.5867, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.9845, d0.loss_plan_l1_fix_dist: 0.5281, d1.loss_plan_l1_fix_time: 0.8394, d1.loss_plan_l1_fix_dist: 0.2575, d2.loss_plan_l1_fix_time: 0.8145, d2.loss_plan_l1_fix_dist: 0.2281, d3.loss_plan_l1_fix_time: 0.8156, d3.loss_plan_l1_fix_dist: 0.2321, d4.loss_plan_l1_fix_time: 0.8175, d4.loss_plan_l1_fix_dist: 0.2297, d5.loss_plan_l1_fix_time: 0.8199, d5.loss_plan_l1_fix_dist: 0.2397, d6.loss_plan_l1_fix_time: 0.8230, d6.loss_plan_l1_fix_dist: 0.2360, d0.loss_cls_all: 0.1603, d0.loss_bbox_all: 0.3805, d0.loss_cls: 0.1603, d0.loss_bbox: 0.3805, d1.loss_cls: 0.1495, d1.loss_bbox: 0.3471, d2.loss_cls: 0.1362, d2.loss_bbox: 0.3243, d3.loss_cls: 0.1212, d3.loss_bbox: 0.3145, d4.loss_cls: 0.1156, d4.loss_bbox: 0.3108, d5.loss_cls: 0.1144, d5.loss_bbox: 0.3077, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6652, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5307, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4892, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4782, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4736, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4707, d0.loss_map_cls_all: 0.1865, d0.loss_map_pts_all: 1.1828, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.1865, d0.loss_map_pts: 1.1828, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1519, d1.loss_map_pts: 0.8372, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1309, d2.loss_map_pts: 0.6757, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1197, d3.loss_map_pts: 0.6208, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1127, d4.loss_map_pts: 0.5913, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1062, d5.loss_map_pts: 0.5865, d5.loss_map_dir: 0.0076, loss: 24.6195, grad_norm: 158.3694 +2026-02-28 16:10:50,708 - DriveTransformer - INFO - Epoch [10][27000/39528] lr: 6.944e-05, eta: 4 days, 18:54:26, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.1006, loss_bbox: 0.2974, loss_traj: 0.5228, loss_traj_cls: 0.0019, loss_map_cls: 0.1145, loss_map_pts: 0.5343, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.5452, d0.loss_plan_l1_fix_dist: 0.3581, d1.loss_plan_l1_fix_time: 0.7319, d1.loss_plan_l1_fix_dist: 0.1871, d2.loss_plan_l1_fix_time: 0.7206, d2.loss_plan_l1_fix_dist: 0.1574, d3.loss_plan_l1_fix_time: 0.7247, d3.loss_plan_l1_fix_dist: 0.1540, d4.loss_plan_l1_fix_time: 0.7273, d4.loss_plan_l1_fix_dist: 0.1544, d5.loss_plan_l1_fix_time: 0.7298, d5.loss_plan_l1_fix_dist: 0.1785, d6.loss_plan_l1_fix_time: 0.7325, d6.loss_plan_l1_fix_dist: 0.1765, d0.loss_cls_all: 0.1490, d0.loss_bbox_all: 0.3565, d0.loss_cls: 0.1490, d0.loss_bbox: 0.3565, d1.loss_cls: 0.1445, d1.loss_bbox: 0.3227, d2.loss_cls: 0.1311, d2.loss_bbox: 0.3058, d3.loss_cls: 0.1107, d3.loss_bbox: 0.3022, d4.loss_cls: 0.1018, d4.loss_bbox: 0.2990, d5.loss_cls: 0.1007, d5.loss_bbox: 0.2965, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7233, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5894, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5363, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5250, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5191, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5220, d0.loss_map_cls_all: 0.1897, d0.loss_map_pts_all: 1.0688, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1897, d0.loss_map_pts: 1.0688, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1605, d1.loss_map_pts: 0.7584, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1394, d2.loss_map_pts: 0.6131, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1295, d3.loss_map_pts: 0.5615, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1221, d4.loss_map_pts: 0.5408, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1165, d5.loss_map_pts: 0.5357, d5.loss_map_dir: 0.0061, loss: 22.6382, grad_norm: 152.2237 +2026-02-28 16:11:28,081 - DriveTransformer - INFO - Epoch [10][27050/39528] lr: 6.944e-05, eta: 4 days, 18:53:52, time: 0.746, data_time: 0.036, memory: 19865, loss_cls: 0.0998, loss_bbox: 0.2995, loss_traj: 0.4654, loss_traj_cls: 0.0019, loss_map_cls: 0.1214, loss_map_pts: 0.5796, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.2840, d0.loss_plan_l1_fix_dist: 0.3703, d1.loss_plan_l1_fix_time: 0.8052, d1.loss_plan_l1_fix_dist: 0.1751, d2.loss_plan_l1_fix_time: 0.7923, d2.loss_plan_l1_fix_dist: 0.1571, d3.loss_plan_l1_fix_time: 0.7921, d3.loss_plan_l1_fix_dist: 0.1550, d4.loss_plan_l1_fix_time: 0.7935, d4.loss_plan_l1_fix_dist: 0.1685, d5.loss_plan_l1_fix_time: 0.7963, d5.loss_plan_l1_fix_dist: 0.1985, d6.loss_plan_l1_fix_time: 0.7983, d6.loss_plan_l1_fix_dist: 0.1853, d0.loss_cls_all: 0.1402, d0.loss_bbox_all: 0.3590, d0.loss_cls: 0.1402, d0.loss_bbox: 0.3590, d1.loss_cls: 0.1335, d1.loss_bbox: 0.3294, d2.loss_cls: 0.1236, d2.loss_bbox: 0.3101, d3.loss_cls: 0.1068, d3.loss_bbox: 0.3053, d4.loss_cls: 0.1030, d4.loss_bbox: 0.3023, d5.loss_cls: 0.0999, d5.loss_bbox: 0.3009, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6725, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5299, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4946, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4687, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4649, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4668, d0.loss_map_cls_all: 0.2014, d0.loss_map_pts_all: 1.1896, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2014, d0.loss_map_pts: 1.1896, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1703, d1.loss_map_pts: 0.8344, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1442, d2.loss_map_pts: 0.6690, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1359, d3.loss_map_pts: 0.6084, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1281, d4.loss_map_pts: 0.5881, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1239, d5.loss_map_pts: 0.5796, d5.loss_map_dir: 0.0075, loss: 23.0772, grad_norm: 152.2767 +2026-02-28 16:12:03,874 - DriveTransformer - INFO - Epoch [10][27100/39528] lr: 6.944e-05, eta: 4 days, 18:53:13, time: 0.716, data_time: 0.037, memory: 19865, loss_cls: 0.0996, loss_bbox: 0.3082, loss_traj: 0.4371, loss_traj_cls: 0.0019, loss_map_cls: 0.1252, loss_map_pts: 0.5757, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.6059, d0.loss_plan_l1_fix_dist: 0.4898, d1.loss_plan_l1_fix_time: 0.8591, d1.loss_plan_l1_fix_dist: 0.2034, d2.loss_plan_l1_fix_time: 0.8458, d2.loss_plan_l1_fix_dist: 0.2071, d3.loss_plan_l1_fix_time: 0.8445, d3.loss_plan_l1_fix_dist: 0.2067, d4.loss_plan_l1_fix_time: 0.8462, d4.loss_plan_l1_fix_dist: 0.2181, d5.loss_plan_l1_fix_time: 0.8497, d5.loss_plan_l1_fix_dist: 0.2342, d6.loss_plan_l1_fix_time: 0.8526, d6.loss_plan_l1_fix_dist: 0.2215, d0.loss_cls_all: 0.1473, d0.loss_bbox_all: 0.3763, d0.loss_cls: 0.1473, d0.loss_bbox: 0.3763, d1.loss_cls: 0.1402, d1.loss_bbox: 0.3395, d2.loss_cls: 0.1218, d2.loss_bbox: 0.3178, d3.loss_cls: 0.1046, d3.loss_bbox: 0.3122, d4.loss_cls: 0.1000, d4.loss_bbox: 0.3107, d5.loss_cls: 0.0990, d5.loss_bbox: 0.3085, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6569, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5185, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4695, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4500, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4358, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4381, d0.loss_map_cls_all: 0.2064, d0.loss_map_pts_all: 1.1687, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2064, d0.loss_map_pts: 1.1687, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1744, d1.loss_map_pts: 0.8483, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1495, d2.loss_map_pts: 0.6768, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1377, d3.loss_map_pts: 0.6157, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1318, d4.loss_map_pts: 0.5850, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1280, d5.loss_map_pts: 0.5768, d5.loss_map_dir: 0.0070, loss: 24.0363, grad_norm: 157.5020 +2026-02-28 16:12:39,708 - DriveTransformer - INFO - Epoch [10][27150/39528] lr: 6.944e-05, eta: 4 days, 18:52:34, time: 0.717, data_time: 0.037, memory: 19865, loss_cls: 0.1174, loss_bbox: 0.3150, loss_traj: 0.6493, loss_traj_cls: 0.0018, loss_map_cls: 0.1167, loss_map_pts: 0.5499, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.6813, d0.loss_plan_l1_fix_dist: 0.4079, d1.loss_plan_l1_fix_time: 0.9065, d1.loss_plan_l1_fix_dist: 0.1932, d2.loss_plan_l1_fix_time: 0.8899, d2.loss_plan_l1_fix_dist: 0.1932, d3.loss_plan_l1_fix_time: 0.8889, d3.loss_plan_l1_fix_dist: 0.1978, d4.loss_plan_l1_fix_time: 0.8908, d4.loss_plan_l1_fix_dist: 0.2137, d5.loss_plan_l1_fix_time: 0.8937, d5.loss_plan_l1_fix_dist: 0.2087, d6.loss_plan_l1_fix_time: 0.8968, d6.loss_plan_l1_fix_dist: 0.2051, d0.loss_cls_all: 0.1636, d0.loss_bbox_all: 0.3832, d0.loss_cls: 0.1636, d0.loss_bbox: 0.3832, d1.loss_cls: 0.1533, d1.loss_bbox: 0.3457, d2.loss_cls: 0.1421, d2.loss_bbox: 0.3244, d3.loss_cls: 0.1259, d3.loss_bbox: 0.3187, d4.loss_cls: 0.1189, d4.loss_bbox: 0.3182, d5.loss_cls: 0.1181, d5.loss_bbox: 0.3153, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9921, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7559, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6966, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6530, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6487, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6503, d0.loss_map_cls_all: 0.2165, d0.loss_map_pts_all: 1.0780, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.2165, d0.loss_map_pts: 1.0780, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1760, d1.loss_map_pts: 0.7909, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1466, d2.loss_map_pts: 0.6460, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1352, d3.loss_map_pts: 0.5803, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1253, d4.loss_map_pts: 0.5572, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1191, d5.loss_map_pts: 0.5508, d5.loss_map_dir: 0.0058, loss: 25.6555, grad_norm: 156.7907 +2026-02-28 16:13:15,447 - DriveTransformer - INFO - Epoch [10][27200/39528] lr: 6.944e-05, eta: 4 days, 18:51:54, time: 0.715, data_time: 0.038, memory: 19865, loss_cls: 0.1036, loss_bbox: 0.3051, loss_traj: 0.5442, loss_traj_cls: 0.0019, loss_map_cls: 0.1059, loss_map_pts: 0.5214, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.6909, d0.loss_plan_l1_fix_dist: 0.3843, d1.loss_plan_l1_fix_time: 0.9170, d1.loss_plan_l1_fix_dist: 0.1829, d2.loss_plan_l1_fix_time: 0.9057, d2.loss_plan_l1_fix_dist: 0.1759, d3.loss_plan_l1_fix_time: 0.9055, d3.loss_plan_l1_fix_dist: 0.1871, d4.loss_plan_l1_fix_time: 0.9078, d4.loss_plan_l1_fix_dist: 0.2093, d5.loss_plan_l1_fix_time: 0.9091, d5.loss_plan_l1_fix_dist: 0.1842, d6.loss_plan_l1_fix_time: 0.9114, d6.loss_plan_l1_fix_dist: 0.1935, d0.loss_cls_all: 0.1473, d0.loss_bbox_all: 0.3651, d0.loss_cls: 0.1473, d0.loss_bbox: 0.3651, d1.loss_cls: 0.1445, d1.loss_bbox: 0.3293, d2.loss_cls: 0.1300, d2.loss_bbox: 0.3124, d3.loss_cls: 0.1104, d3.loss_bbox: 0.3071, d4.loss_cls: 0.1039, d4.loss_bbox: 0.3055, d5.loss_cls: 0.1031, d5.loss_bbox: 0.3050, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7741, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6285, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5718, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5506, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5439, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5434, d0.loss_map_cls_all: 0.1841, d0.loss_map_pts_all: 1.0694, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1841, d0.loss_map_pts: 1.0694, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1526, d1.loss_map_pts: 0.7581, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1300, d2.loss_map_pts: 0.6019, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1188, d3.loss_map_pts: 0.5448, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1127, d4.loss_map_pts: 0.5261, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1068, d5.loss_map_pts: 0.5223, d5.loss_map_dir: 0.0061, loss: 24.1690, grad_norm: 153.5911 +2026-02-28 16:13:52,760 - DriveTransformer - INFO - Epoch [10][27250/39528] lr: 6.944e-05, eta: 4 days, 18:51:20, time: 0.746, data_time: 0.037, memory: 19865, loss_cls: 0.1263, loss_bbox: 0.3286, loss_traj: 0.5704, loss_traj_cls: 0.0019, loss_map_cls: 0.1214, loss_map_pts: 0.6414, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.6746, d0.loss_plan_l1_fix_dist: 0.3849, d1.loss_plan_l1_fix_time: 0.8395, d1.loss_plan_l1_fix_dist: 0.1948, d2.loss_plan_l1_fix_time: 0.8201, d2.loss_plan_l1_fix_dist: 0.1879, d3.loss_plan_l1_fix_time: 0.8213, d3.loss_plan_l1_fix_dist: 0.2062, d4.loss_plan_l1_fix_time: 0.8240, d4.loss_plan_l1_fix_dist: 0.2305, d5.loss_plan_l1_fix_time: 0.8263, d5.loss_plan_l1_fix_dist: 0.2123, d6.loss_plan_l1_fix_time: 0.8297, d6.loss_plan_l1_fix_dist: 0.2119, d0.loss_cls_all: 0.1725, d0.loss_bbox_all: 0.3855, d0.loss_cls: 0.1725, d0.loss_bbox: 0.3855, d1.loss_cls: 0.1637, d1.loss_bbox: 0.3563, d2.loss_cls: 0.1499, d2.loss_bbox: 0.3356, d3.loss_cls: 0.1325, d3.loss_bbox: 0.3308, d4.loss_cls: 0.1285, d4.loss_bbox: 0.3276, d5.loss_cls: 0.1262, d5.loss_bbox: 0.3275, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8305, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6616, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6059, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5805, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5744, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5707, d0.loss_map_cls_all: 0.1984, d0.loss_map_pts_all: 1.2318, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1984, d0.loss_map_pts: 1.2318, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1681, d1.loss_map_pts: 0.9213, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1465, d2.loss_map_pts: 0.7490, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1362, d3.loss_map_pts: 0.6797, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1293, d4.loss_map_pts: 0.6500, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1247, d5.loss_map_pts: 0.6424, d5.loss_map_dir: 0.0078, loss: 25.6452, grad_norm: 150.4754 +2026-02-28 16:14:30,358 - DriveTransformer - INFO - Epoch [10][27300/39528] lr: 6.944e-05, eta: 4 days, 18:50:48, time: 0.752, data_time: 0.035, memory: 19865, loss_cls: 0.0885, loss_bbox: 0.2738, loss_traj: 0.4177, loss_traj_cls: 0.0019, loss_map_cls: 0.0934, loss_map_pts: 0.5167, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.4349, d0.loss_plan_l1_fix_dist: 0.3526, d1.loss_plan_l1_fix_time: 0.7824, d1.loss_plan_l1_fix_dist: 0.1592, d2.loss_plan_l1_fix_time: 0.7678, d2.loss_plan_l1_fix_dist: 0.1644, d3.loss_plan_l1_fix_time: 0.7665, d3.loss_plan_l1_fix_dist: 0.1887, d4.loss_plan_l1_fix_time: 0.7688, d4.loss_plan_l1_fix_dist: 0.1943, d5.loss_plan_l1_fix_time: 0.7716, d5.loss_plan_l1_fix_dist: 0.1897, d6.loss_plan_l1_fix_time: 0.7758, d6.loss_plan_l1_fix_dist: 0.1803, d0.loss_cls_all: 0.1321, d0.loss_bbox_all: 0.3336, d0.loss_cls: 0.1321, d0.loss_bbox: 0.3336, d1.loss_cls: 0.1226, d1.loss_bbox: 0.3020, d2.loss_cls: 0.1104, d2.loss_bbox: 0.2825, d3.loss_cls: 0.0960, d3.loss_bbox: 0.2759, d4.loss_cls: 0.0895, d4.loss_bbox: 0.2748, d5.loss_cls: 0.0883, d5.loss_bbox: 0.2737, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6278, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.4863, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4348, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4240, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4193, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4174, d0.loss_map_cls_all: 0.1846, d0.loss_map_pts_all: 1.1466, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1846, d0.loss_map_pts: 1.1466, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1524, d1.loss_map_pts: 0.7707, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1268, d2.loss_map_pts: 0.6038, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1111, d3.loss_map_pts: 0.5425, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1019, d4.loss_map_pts: 0.5206, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.0963, d5.loss_map_pts: 0.5170, d5.loss_map_dir: 0.0069, loss: 21.8097, grad_norm: 155.4134 +2026-02-28 16:15:08,857 - DriveTransformer - INFO - Epoch [10][27350/39528] lr: 6.944e-05, eta: 4 days, 18:50:19, time: 0.770, data_time: 0.043, memory: 19865, loss_cls: 0.0892, loss_bbox: 0.3030, loss_traj: 0.4363, loss_traj_cls: 0.0019, loss_map_cls: 0.1026, loss_map_pts: 0.5755, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.5544, d0.loss_plan_l1_fix_dist: 0.3603, d1.loss_plan_l1_fix_time: 0.8260, d1.loss_plan_l1_fix_dist: 0.1704, d2.loss_plan_l1_fix_time: 0.8139, d2.loss_plan_l1_fix_dist: 0.1904, d3.loss_plan_l1_fix_time: 0.8139, d3.loss_plan_l1_fix_dist: 0.2319, d4.loss_plan_l1_fix_time: 0.8166, d4.loss_plan_l1_fix_dist: 0.2139, d5.loss_plan_l1_fix_time: 0.8198, d5.loss_plan_l1_fix_dist: 0.2105, d6.loss_plan_l1_fix_time: 0.8237, d6.loss_plan_l1_fix_dist: 0.2024, d0.loss_cls_all: 0.1364, d0.loss_bbox_all: 0.3599, d0.loss_cls: 0.1364, d0.loss_bbox: 0.3599, d1.loss_cls: 0.1296, d1.loss_bbox: 0.3281, d2.loss_cls: 0.1149, d2.loss_bbox: 0.3084, d3.loss_cls: 0.0984, d3.loss_bbox: 0.3037, d4.loss_cls: 0.0929, d4.loss_bbox: 0.3030, d5.loss_cls: 0.0895, d5.loss_bbox: 0.3023, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6743, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5062, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4492, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4407, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4378, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4373, d0.loss_map_cls_all: 0.1880, d0.loss_map_pts_all: 1.1696, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.1880, d0.loss_map_pts: 1.1696, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1442, d1.loss_map_pts: 0.8168, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1238, d2.loss_map_pts: 0.6575, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1143, d3.loss_map_pts: 0.5997, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1099, d4.loss_map_pts: 0.5802, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1039, d5.loss_map_pts: 0.5753, d5.loss_map_dir: 0.0080, loss: 23.1743, grad_norm: 156.0002 +2026-02-28 16:15:44,485 - DriveTransformer - INFO - Epoch [10][27400/39528] lr: 6.944e-05, eta: 4 days, 18:49:39, time: 0.713, data_time: 0.038, memory: 19865, loss_cls: 0.1080, loss_bbox: 0.3232, loss_traj: 0.4876, loss_traj_cls: 0.0019, loss_map_cls: 0.1020, loss_map_pts: 0.4797, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.5420, d0.loss_plan_l1_fix_dist: 0.4164, d1.loss_plan_l1_fix_time: 0.7770, d1.loss_plan_l1_fix_dist: 0.1758, d2.loss_plan_l1_fix_time: 0.7642, d2.loss_plan_l1_fix_dist: 0.1983, d3.loss_plan_l1_fix_time: 0.7631, d3.loss_plan_l1_fix_dist: 0.2528, d4.loss_plan_l1_fix_time: 0.7640, d4.loss_plan_l1_fix_dist: 0.2061, d5.loss_plan_l1_fix_time: 0.7663, d5.loss_plan_l1_fix_dist: 0.2086, d6.loss_plan_l1_fix_time: 0.7690, d6.loss_plan_l1_fix_dist: 0.2103, d0.loss_cls_all: 0.1532, d0.loss_bbox_all: 0.3928, d0.loss_cls: 0.1532, d0.loss_bbox: 0.3928, d1.loss_cls: 0.1494, d1.loss_bbox: 0.3564, d2.loss_cls: 0.1318, d2.loss_bbox: 0.3337, d3.loss_cls: 0.1183, d3.loss_bbox: 0.3247, d4.loss_cls: 0.1106, d4.loss_bbox: 0.3237, d5.loss_cls: 0.1088, d5.loss_bbox: 0.3222, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7767, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5884, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5236, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4989, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4927, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4884, d0.loss_map_cls_all: 0.1829, d0.loss_map_pts_all: 0.9615, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1829, d0.loss_map_pts: 0.9615, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1486, d1.loss_map_pts: 0.6820, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1263, d2.loss_map_pts: 0.5579, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1153, d3.loss_map_pts: 0.5012, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1086, d4.loss_map_pts: 0.4864, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1050, d5.loss_map_pts: 0.4799, d5.loss_map_dir: 0.0057, loss: 22.7069, grad_norm: 156.9315 +2026-02-28 16:16:17,815 - DriveTransformer - INFO - Epoch [10][27450/39528] lr: 6.944e-05, eta: 4 days, 18:48:50, time: 0.667, data_time: 0.036, memory: 19865, loss_cls: 0.0921, loss_bbox: 0.2792, loss_traj: 0.5811, loss_traj_cls: 0.0018, loss_map_cls: 0.0987, loss_map_pts: 0.4655, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.5060, d0.loss_plan_l1_fix_dist: 0.4502, d1.loss_plan_l1_fix_time: 0.8234, d1.loss_plan_l1_fix_dist: 0.1691, d2.loss_plan_l1_fix_time: 0.8128, d2.loss_plan_l1_fix_dist: 0.1832, d3.loss_plan_l1_fix_time: 0.8156, d3.loss_plan_l1_fix_dist: 0.2561, d4.loss_plan_l1_fix_time: 0.8178, d4.loss_plan_l1_fix_dist: 0.1885, d5.loss_plan_l1_fix_time: 0.8197, d5.loss_plan_l1_fix_dist: 0.1954, d6.loss_plan_l1_fix_time: 0.8222, d6.loss_plan_l1_fix_dist: 0.2085, d0.loss_cls_all: 0.1337, d0.loss_bbox_all: 0.3368, d0.loss_cls: 0.1337, d0.loss_bbox: 0.3368, d1.loss_cls: 0.1235, d1.loss_bbox: 0.3046, d2.loss_cls: 0.1106, d2.loss_bbox: 0.2884, d3.loss_cls: 0.0968, d3.loss_bbox: 0.2832, d4.loss_cls: 0.0926, d4.loss_bbox: 0.2812, d5.loss_cls: 0.0910, d5.loss_bbox: 0.2802, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8199, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6582, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6195, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5981, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5897, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5859, d0.loss_map_cls_all: 0.1779, d0.loss_map_pts_all: 0.9208, d0.loss_map_dir_all: 0.0046, d0.loss_map_cls: 0.1779, d0.loss_map_pts: 0.9208, d0.loss_map_dir: 0.0046, d1.loss_map_cls: 0.1483, d1.loss_map_pts: 0.6761, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.1245, d2.loss_map_pts: 0.5483, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.1118, d3.loss_map_pts: 0.4890, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.1056, d4.loss_map_pts: 0.4687, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.1015, d5.loss_map_pts: 0.4656, d5.loss_map_dir: 0.0048, loss: 22.8299, grad_norm: 155.8999 +2026-02-28 16:16:53,366 - DriveTransformer - INFO - Epoch [10][27500/39528] lr: 6.944e-05, eta: 4 days, 18:48:09, time: 0.711, data_time: 0.038, memory: 19865, loss_cls: 0.1024, loss_bbox: 0.3117, loss_traj: 0.5870, loss_traj_cls: 0.0019, loss_map_cls: 0.1301, loss_map_pts: 0.5890, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.9635, d0.loss_plan_l1_fix_dist: 0.3966, d1.loss_plan_l1_fix_time: 0.8444, d1.loss_plan_l1_fix_dist: 0.1899, d2.loss_plan_l1_fix_time: 0.8370, d2.loss_plan_l1_fix_dist: 0.1846, d3.loss_plan_l1_fix_time: 0.8384, d3.loss_plan_l1_fix_dist: 0.2638, d4.loss_plan_l1_fix_time: 0.8422, d4.loss_plan_l1_fix_dist: 0.1905, d5.loss_plan_l1_fix_time: 0.8444, d5.loss_plan_l1_fix_dist: 0.2010, d6.loss_plan_l1_fix_time: 0.8470, d6.loss_plan_l1_fix_dist: 0.1962, d0.loss_cls_all: 0.1465, d0.loss_bbox_all: 0.3660, d0.loss_cls: 0.1465, d0.loss_bbox: 0.3660, d1.loss_cls: 0.1406, d1.loss_bbox: 0.3340, d2.loss_cls: 0.1285, d2.loss_bbox: 0.3152, d3.loss_cls: 0.1094, d3.loss_bbox: 0.3128, d4.loss_cls: 0.1057, d4.loss_bbox: 0.3102, d5.loss_cls: 0.1039, d5.loss_bbox: 0.3106, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8070, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6500, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6007, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5841, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5826, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5834, d0.loss_map_cls_all: 0.2198, d0.loss_map_pts_all: 1.1519, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.2198, d0.loss_map_pts: 1.1519, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1872, d1.loss_map_pts: 0.8654, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1581, d2.loss_map_pts: 0.6978, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1461, d3.loss_map_pts: 0.6278, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1392, d4.loss_map_pts: 0.6000, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1336, d5.loss_map_pts: 0.5898, d5.loss_map_dir: 0.0057, loss: 25.3017, grad_norm: 154.3566 +2026-02-28 16:17:29,424 - DriveTransformer - INFO - Epoch [10][27550/39528] lr: 6.944e-05, eta: 4 days, 18:47:31, time: 0.721, data_time: 0.038, memory: 19865, loss_cls: 0.0939, loss_bbox: 0.2780, loss_traj: 0.4752, loss_traj_cls: 0.0019, loss_map_cls: 0.0818, loss_map_pts: 0.4900, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.4061, d0.loss_plan_l1_fix_dist: 0.3905, d1.loss_plan_l1_fix_time: 0.7768, d1.loss_plan_l1_fix_dist: 0.1905, d2.loss_plan_l1_fix_time: 0.7648, d2.loss_plan_l1_fix_dist: 0.1739, d3.loss_plan_l1_fix_time: 0.7678, d3.loss_plan_l1_fix_dist: 0.2584, d4.loss_plan_l1_fix_time: 0.7705, d4.loss_plan_l1_fix_dist: 0.2073, d5.loss_plan_l1_fix_time: 0.7738, d5.loss_plan_l1_fix_dist: 0.2028, d6.loss_plan_l1_fix_time: 0.7769, d6.loss_plan_l1_fix_dist: 0.1871, d0.loss_cls_all: 0.1331, d0.loss_bbox_all: 0.3356, d0.loss_cls: 0.1331, d0.loss_bbox: 0.3356, d1.loss_cls: 0.1286, d1.loss_bbox: 0.3037, d2.loss_cls: 0.1148, d2.loss_bbox: 0.2836, d3.loss_cls: 0.1006, d3.loss_bbox: 0.2780, d4.loss_cls: 0.0940, d4.loss_bbox: 0.2798, d5.loss_cls: 0.0936, d5.loss_bbox: 0.2778, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6896, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5386, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4838, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4783, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4772, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4775, d0.loss_map_cls_all: 0.1679, d0.loss_map_pts_all: 1.0812, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1679, d0.loss_map_pts: 1.0812, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1337, d1.loss_map_pts: 0.7674, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1101, d2.loss_map_pts: 0.5934, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0977, d3.loss_map_pts: 0.5242, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0912, d4.loss_map_pts: 0.5001, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0851, d5.loss_map_pts: 0.4899, d5.loss_map_dir: 0.0058, loss: 22.0457, grad_norm: 149.6976 +2026-02-28 16:18:06,771 - DriveTransformer - INFO - Epoch [10][27600/39528] lr: 6.944e-05, eta: 4 days, 18:46:57, time: 0.747, data_time: 0.037, memory: 19865, loss_cls: 0.0957, loss_bbox: 0.3002, loss_traj: 0.4740, loss_traj_cls: 0.0018, loss_map_cls: 0.1272, loss_map_pts: 0.6259, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.8426, d0.loss_plan_l1_fix_dist: 0.4582, d1.loss_plan_l1_fix_time: 0.8018, d1.loss_plan_l1_fix_dist: 0.2176, d2.loss_plan_l1_fix_time: 0.7890, d2.loss_plan_l1_fix_dist: 0.2012, d3.loss_plan_l1_fix_time: 0.7907, d3.loss_plan_l1_fix_dist: 0.2676, d4.loss_plan_l1_fix_time: 0.7923, d4.loss_plan_l1_fix_dist: 0.2421, d5.loss_plan_l1_fix_time: 0.7952, d5.loss_plan_l1_fix_dist: 0.2373, d6.loss_plan_l1_fix_time: 0.7988, d6.loss_plan_l1_fix_dist: 0.2132, d0.loss_cls_all: 0.1456, d0.loss_bbox_all: 0.3758, d0.loss_cls: 0.1456, d0.loss_bbox: 0.3758, d1.loss_cls: 0.1411, d1.loss_bbox: 0.3366, d2.loss_cls: 0.1189, d2.loss_bbox: 0.3161, d3.loss_cls: 0.0997, d3.loss_bbox: 0.3079, d4.loss_cls: 0.0968, d4.loss_bbox: 0.3024, d5.loss_cls: 0.0949, d5.loss_bbox: 0.3007, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6795, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5296, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5049, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4740, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4746, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4746, d0.loss_map_cls_all: 0.2230, d0.loss_map_pts_all: 1.2641, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2230, d0.loss_map_pts: 1.2641, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1829, d1.loss_map_pts: 0.8970, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1566, d2.loss_map_pts: 0.7197, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1431, d3.loss_map_pts: 0.6578, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1355, d4.loss_map_pts: 0.6317, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1286, d5.loss_map_pts: 0.6265, d5.loss_map_dir: 0.0077, loss: 24.6871, grad_norm: 150.4880 +2026-02-28 16:18:44,047 - DriveTransformer - INFO - Epoch [10][27650/39528] lr: 6.944e-05, eta: 4 days, 18:46:24, time: 0.746, data_time: 0.037, memory: 19865, loss_cls: 0.0908, loss_bbox: 0.2732, loss_traj: 0.4218, loss_traj_cls: 0.0020, loss_map_cls: 0.1004, loss_map_pts: 0.5356, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.8732, d0.loss_plan_l1_fix_dist: 0.4076, d1.loss_plan_l1_fix_time: 0.7853, d1.loss_plan_l1_fix_dist: 0.1940, d2.loss_plan_l1_fix_time: 0.7717, d2.loss_plan_l1_fix_dist: 0.1873, d3.loss_plan_l1_fix_time: 0.7683, d3.loss_plan_l1_fix_dist: 0.2419, d4.loss_plan_l1_fix_time: 0.7696, d4.loss_plan_l1_fix_dist: 0.2350, d5.loss_plan_l1_fix_time: 0.7725, d5.loss_plan_l1_fix_dist: 0.2201, d6.loss_plan_l1_fix_time: 0.7763, d6.loss_plan_l1_fix_dist: 0.1977, d0.loss_cls_all: 0.1334, d0.loss_bbox_all: 0.3240, d0.loss_cls: 0.1334, d0.loss_bbox: 0.3240, d1.loss_cls: 0.1271, d1.loss_bbox: 0.2928, d2.loss_cls: 0.1113, d2.loss_bbox: 0.2747, d3.loss_cls: 0.0995, d3.loss_bbox: 0.2696, d4.loss_cls: 0.0915, d4.loss_bbox: 0.2724, d5.loss_cls: 0.0907, d5.loss_bbox: 0.2721, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5655, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.4463, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4306, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4254, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4231, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4243, d0.loss_map_cls_all: 0.1834, d0.loss_map_pts_all: 1.0997, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1834, d0.loss_map_pts: 1.0997, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1497, d1.loss_map_pts: 0.7769, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1251, d2.loss_map_pts: 0.6080, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1131, d3.loss_map_pts: 0.5564, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1063, d4.loss_map_pts: 0.5367, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1017, d5.loss_map_pts: 0.5340, d5.loss_map_dir: 0.0070, loss: 22.3909, grad_norm: 154.6735 +2026-02-28 16:19:21,107 - DriveTransformer - INFO - Epoch [10][27700/39528] lr: 6.944e-05, eta: 4 days, 18:45:49, time: 0.741, data_time: 0.039, memory: 19865, loss_cls: 0.0926, loss_bbox: 0.3042, loss_traj: 0.4668, loss_traj_cls: 0.0019, loss_map_cls: 0.1137, loss_map_pts: 0.5881, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.4989, d0.loss_plan_l1_fix_dist: 0.4541, d1.loss_plan_l1_fix_time: 0.8591, d1.loss_plan_l1_fix_dist: 0.1784, d2.loss_plan_l1_fix_time: 0.8373, d2.loss_plan_l1_fix_dist: 0.1822, d3.loss_plan_l1_fix_time: 0.8353, d3.loss_plan_l1_fix_dist: 0.2116, d4.loss_plan_l1_fix_time: 0.8361, d4.loss_plan_l1_fix_dist: 0.2232, d5.loss_plan_l1_fix_time: 0.8375, d5.loss_plan_l1_fix_dist: 0.1939, d6.loss_plan_l1_fix_time: 0.8398, d6.loss_plan_l1_fix_dist: 0.1855, d0.loss_cls_all: 0.1372, d0.loss_bbox_all: 0.3688, d0.loss_cls: 0.1372, d0.loss_bbox: 0.3688, d1.loss_cls: 0.1328, d1.loss_bbox: 0.3356, d2.loss_cls: 0.1165, d2.loss_bbox: 0.3170, d3.loss_cls: 0.0992, d3.loss_bbox: 0.3090, d4.loss_cls: 0.0928, d4.loss_bbox: 0.3072, d5.loss_cls: 0.0927, d5.loss_bbox: 0.3050, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6947, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5312, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4851, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4779, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4684, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4688, d0.loss_map_cls_all: 0.1894, d0.loss_map_pts_all: 1.1634, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1894, d0.loss_map_pts: 1.1634, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1559, d1.loss_map_pts: 0.8517, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1378, d2.loss_map_pts: 0.6694, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1260, d3.loss_map_pts: 0.6124, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1205, d4.loss_map_pts: 0.5925, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1152, d5.loss_map_pts: 0.5878, d5.loss_map_dir: 0.0073, loss: 23.7235, grad_norm: 155.0629 +2026-02-28 16:19:57,405 - DriveTransformer - INFO - Epoch [10][27750/39528] lr: 6.944e-05, eta: 4 days, 18:45:12, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.0882, loss_bbox: 0.2816, loss_traj: 0.5001, loss_traj_cls: 0.0019, loss_map_cls: 0.0833, loss_map_pts: 0.4539, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.3310, d0.loss_plan_l1_fix_dist: 0.3721, d1.loss_plan_l1_fix_time: 0.7556, d1.loss_plan_l1_fix_dist: 0.1618, d2.loss_plan_l1_fix_time: 0.7448, d2.loss_plan_l1_fix_dist: 0.1760, d3.loss_plan_l1_fix_time: 0.7428, d3.loss_plan_l1_fix_dist: 0.1796, d4.loss_plan_l1_fix_time: 0.7437, d4.loss_plan_l1_fix_dist: 0.2209, d5.loss_plan_l1_fix_time: 0.7456, d5.loss_plan_l1_fix_dist: 0.1760, d6.loss_plan_l1_fix_time: 0.7476, d6.loss_plan_l1_fix_dist: 0.1924, d0.loss_cls_all: 0.1269, d0.loss_bbox_all: 0.3432, d0.loss_cls: 0.1269, d0.loss_bbox: 0.3432, d1.loss_cls: 0.1195, d1.loss_bbox: 0.3125, d2.loss_cls: 0.1101, d2.loss_bbox: 0.2932, d3.loss_cls: 0.0961, d3.loss_bbox: 0.2876, d4.loss_cls: 0.0895, d4.loss_bbox: 0.2850, d5.loss_cls: 0.0883, d5.loss_bbox: 0.2826, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7147, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5532, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5171, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5064, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5029, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5007, d0.loss_map_cls_all: 0.1625, d0.loss_map_pts_all: 0.9553, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1625, d0.loss_map_pts: 0.9553, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1316, d1.loss_map_pts: 0.6739, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1104, d2.loss_map_pts: 0.5316, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0987, d3.loss_map_pts: 0.4773, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0923, d4.loss_map_pts: 0.4565, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0858, d5.loss_map_pts: 0.4536, d5.loss_map_dir: 0.0053, loss: 21.2922, grad_norm: 157.3335 +2026-02-28 16:20:34,570 - DriveTransformer - INFO - Epoch [10][27800/39528] lr: 6.944e-05, eta: 4 days, 18:44:38, time: 0.745, data_time: 0.039, memory: 19865, loss_cls: 0.0935, loss_bbox: 0.2794, loss_traj: 0.5138, loss_traj_cls: 0.0019, loss_map_cls: 0.0899, loss_map_pts: 0.5100, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.9282, d0.loss_plan_l1_fix_dist: 0.4170, d1.loss_plan_l1_fix_time: 0.8687, d1.loss_plan_l1_fix_dist: 0.1682, d2.loss_plan_l1_fix_time: 0.8540, d2.loss_plan_l1_fix_dist: 0.1897, d3.loss_plan_l1_fix_time: 0.8510, d3.loss_plan_l1_fix_dist: 0.1959, d4.loss_plan_l1_fix_time: 0.8519, d4.loss_plan_l1_fix_dist: 0.2454, d5.loss_plan_l1_fix_time: 0.8536, d5.loss_plan_l1_fix_dist: 0.1816, d6.loss_plan_l1_fix_time: 0.8556, d6.loss_plan_l1_fix_dist: 0.2008, d0.loss_cls_all: 0.1361, d0.loss_bbox_all: 0.3347, d0.loss_cls: 0.1361, d0.loss_bbox: 0.3347, d1.loss_cls: 0.1336, d1.loss_bbox: 0.3012, d2.loss_cls: 0.1233, d2.loss_bbox: 0.2824, d3.loss_cls: 0.1028, d3.loss_bbox: 0.2784, d4.loss_cls: 0.0950, d4.loss_bbox: 0.2786, d5.loss_cls: 0.0928, d5.loss_bbox: 0.2789, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7213, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5631, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5292, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5219, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5208, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5137, d0.loss_map_cls_all: 0.1718, d0.loss_map_pts_all: 1.0640, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1718, d0.loss_map_pts: 1.0640, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1417, d1.loss_map_pts: 0.7658, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1159, d2.loss_map_pts: 0.6060, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1042, d3.loss_map_pts: 0.5399, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.0981, d4.loss_map_pts: 0.5196, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0920, d5.loss_map_pts: 0.5097, d5.loss_map_dir: 0.0064, loss: 23.4474, grad_norm: 157.8756 +2026-02-28 16:21:12,697 - DriveTransformer - INFO - Epoch [10][27850/39528] lr: 6.944e-05, eta: 4 days, 18:44:07, time: 0.761, data_time: 0.038, memory: 19865, loss_cls: 0.1097, loss_bbox: 0.3221, loss_traj: 0.4448, loss_traj_cls: 0.0019, loss_map_cls: 0.1419, loss_map_pts: 0.6995, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.7632, d0.loss_plan_l1_fix_dist: 0.3881, d1.loss_plan_l1_fix_time: 0.8147, d1.loss_plan_l1_fix_dist: 0.1599, d2.loss_plan_l1_fix_time: 0.8054, d2.loss_plan_l1_fix_dist: 0.1907, d3.loss_plan_l1_fix_time: 0.8036, d3.loss_plan_l1_fix_dist: 0.2103, d4.loss_plan_l1_fix_time: 0.8054, d4.loss_plan_l1_fix_dist: 0.2499, d5.loss_plan_l1_fix_time: 0.8065, d5.loss_plan_l1_fix_dist: 0.1864, d6.loss_plan_l1_fix_time: 0.8089, d6.loss_plan_l1_fix_dist: 0.1959, d0.loss_cls_all: 0.1565, d0.loss_bbox_all: 0.3892, d0.loss_cls: 0.1565, d0.loss_bbox: 0.3892, d1.loss_cls: 0.1540, d1.loss_bbox: 0.3501, d2.loss_cls: 0.1356, d2.loss_bbox: 0.3273, d3.loss_cls: 0.1173, d3.loss_bbox: 0.3221, d4.loss_cls: 0.1118, d4.loss_bbox: 0.3204, d5.loss_cls: 0.1096, d5.loss_bbox: 0.3215, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6976, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5312, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4730, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4585, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4507, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4444, d0.loss_map_cls_all: 0.2274, d0.loss_map_pts_all: 1.3721, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2274, d0.loss_map_pts: 1.3721, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1925, d1.loss_map_pts: 1.0048, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1717, d2.loss_map_pts: 0.8033, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1607, d3.loss_map_pts: 0.7327, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1527, d4.loss_map_pts: 0.7031, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1451, d5.loss_map_pts: 0.6984, d5.loss_map_dir: 0.0090, loss: 25.3633, grad_norm: 155.5706 +2026-02-28 16:21:49,770 - DriveTransformer - INFO - Epoch [10][27900/39528] lr: 6.944e-05, eta: 4 days, 18:43:32, time: 0.741, data_time: 0.039, memory: 19865, loss_cls: 0.1091, loss_bbox: 0.3167, loss_traj: 0.4033, loss_traj_cls: 0.0019, loss_map_cls: 0.1130, loss_map_pts: 0.5662, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.8708, d0.loss_plan_l1_fix_dist: 0.3945, d1.loss_plan_l1_fix_time: 0.7704, d1.loss_plan_l1_fix_dist: 0.1540, d2.loss_plan_l1_fix_time: 0.7524, d2.loss_plan_l1_fix_dist: 0.1905, d3.loss_plan_l1_fix_time: 0.7523, d3.loss_plan_l1_fix_dist: 0.2106, d4.loss_plan_l1_fix_time: 0.7536, d4.loss_plan_l1_fix_dist: 0.2558, d5.loss_plan_l1_fix_time: 0.7549, d5.loss_plan_l1_fix_dist: 0.1927, d6.loss_plan_l1_fix_time: 0.7574, d6.loss_plan_l1_fix_dist: 0.1837, d0.loss_cls_all: 0.1580, d0.loss_bbox_all: 0.3673, d0.loss_cls: 0.1580, d0.loss_bbox: 0.3673, d1.loss_cls: 0.1482, d1.loss_bbox: 0.3386, d2.loss_cls: 0.1335, d2.loss_bbox: 0.3214, d3.loss_cls: 0.1186, d3.loss_bbox: 0.3155, d4.loss_cls: 0.1135, d4.loss_bbox: 0.3146, d5.loss_cls: 0.1096, d5.loss_bbox: 0.3151, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6087, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.4626, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4279, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4196, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4112, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4074, d0.loss_map_cls_all: 0.2050, d0.loss_map_pts_all: 1.1471, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2050, d0.loss_map_pts: 1.1471, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1697, d1.loss_map_pts: 0.8299, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1439, d2.loss_map_pts: 0.6609, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1296, d3.loss_map_pts: 0.5956, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1205, d4.loss_map_pts: 0.5729, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1154, d5.loss_map_pts: 0.5668, d5.loss_map_dir: 0.0074, loss: 23.1922, grad_norm: 154.5412 +2026-02-28 16:22:26,093 - DriveTransformer - INFO - Epoch [10][27950/39528] lr: 6.944e-05, eta: 4 days, 18:42:55, time: 0.726, data_time: 0.037, memory: 19865, loss_cls: 0.1256, loss_bbox: 0.3117, loss_traj: 0.6096, loss_traj_cls: 0.0019, loss_map_cls: 0.0946, loss_map_pts: 0.5049, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.7123, d0.loss_plan_l1_fix_dist: 0.3540, d1.loss_plan_l1_fix_time: 0.9164, d1.loss_plan_l1_fix_dist: 0.1701, d2.loss_plan_l1_fix_time: 0.9032, d2.loss_plan_l1_fix_dist: 0.1996, d3.loss_plan_l1_fix_time: 0.9002, d3.loss_plan_l1_fix_dist: 0.2170, d4.loss_plan_l1_fix_time: 0.9004, d4.loss_plan_l1_fix_dist: 0.2540, d5.loss_plan_l1_fix_time: 0.9018, d5.loss_plan_l1_fix_dist: 0.1932, d6.loss_plan_l1_fix_time: 0.9034, d6.loss_plan_l1_fix_dist: 0.1939, d0.loss_cls_all: 0.1601, d0.loss_bbox_all: 0.3722, d0.loss_cls: 0.1601, d0.loss_bbox: 0.3722, d1.loss_cls: 0.1581, d1.loss_bbox: 0.3407, d2.loss_cls: 0.1452, d2.loss_bbox: 0.3230, d3.loss_cls: 0.1314, d3.loss_bbox: 0.3148, d4.loss_cls: 0.1270, d4.loss_bbox: 0.3122, d5.loss_cls: 0.1258, d5.loss_bbox: 0.3120, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8430, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6987, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6405, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6165, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6068, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6085, d0.loss_map_cls_all: 0.1674, d0.loss_map_pts_all: 0.9999, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1674, d0.loss_map_pts: 0.9999, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1404, d1.loss_map_pts: 0.7370, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1189, d2.loss_map_pts: 0.5893, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1071, d3.loss_map_pts: 0.5355, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1003, d4.loss_map_pts: 0.5156, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0954, d5.loss_map_pts: 0.5075, d5.loss_map_dir: 0.0058, loss: 24.5681, grad_norm: 152.9174 +2026-02-28 16:23:03,689 - DriveTransformer - INFO - Epoch [10][28000/39528] lr: 6.944e-05, eta: 4 days, 18:42:22, time: 0.752, data_time: 0.036, memory: 19865, loss_cls: 0.1105, loss_bbox: 0.3263, loss_traj: 0.4287, loss_traj_cls: 0.0019, loss_map_cls: 0.1344, loss_map_pts: 0.6387, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.7605, d0.loss_plan_l1_fix_dist: 0.3851, d1.loss_plan_l1_fix_time: 0.8049, d1.loss_plan_l1_fix_dist: 0.1583, d2.loss_plan_l1_fix_time: 0.7888, d2.loss_plan_l1_fix_dist: 0.1753, d3.loss_plan_l1_fix_time: 0.7870, d3.loss_plan_l1_fix_dist: 0.2195, d4.loss_plan_l1_fix_time: 0.7872, d4.loss_plan_l1_fix_dist: 0.2146, d5.loss_plan_l1_fix_time: 0.7884, d5.loss_plan_l1_fix_dist: 0.1746, d6.loss_plan_l1_fix_time: 0.7898, d6.loss_plan_l1_fix_dist: 0.1855, d0.loss_cls_all: 0.1621, d0.loss_bbox_all: 0.3919, d0.loss_cls: 0.1621, d0.loss_bbox: 0.3919, d1.loss_cls: 0.1596, d1.loss_bbox: 0.3509, d2.loss_cls: 0.1412, d2.loss_bbox: 0.3326, d3.loss_cls: 0.1206, d3.loss_bbox: 0.3263, d4.loss_cls: 0.1137, d4.loss_bbox: 0.3249, d5.loss_cls: 0.1113, d5.loss_bbox: 0.3249, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6606, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5055, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4590, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4438, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4374, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4290, d0.loss_map_cls_all: 0.2098, d0.loss_map_pts_all: 1.2762, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2098, d0.loss_map_pts: 1.2762, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1781, d1.loss_map_pts: 0.9446, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1577, d2.loss_map_pts: 0.7526, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1502, d3.loss_map_pts: 0.6790, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1415, d4.loss_map_pts: 0.6489, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1365, d5.loss_map_pts: 0.6403, d5.loss_map_dir: 0.0081, loss: 24.4769, grad_norm: 152.2971 +2026-02-28 16:23:40,047 - DriveTransformer - INFO - Epoch [10][28050/39528] lr: 6.944e-05, eta: 4 days, 18:41:45, time: 0.727, data_time: 0.037, memory: 19865, loss_cls: 0.1217, loss_bbox: 0.3292, loss_traj: 0.5598, loss_traj_cls: 0.0019, loss_map_cls: 0.1306, loss_map_pts: 0.6258, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.8211, d0.loss_plan_l1_fix_dist: 0.4571, d1.loss_plan_l1_fix_time: 0.9743, d1.loss_plan_l1_fix_dist: 0.1972, d2.loss_plan_l1_fix_time: 0.9742, d2.loss_plan_l1_fix_dist: 0.2196, d3.loss_plan_l1_fix_time: 0.9738, d3.loss_plan_l1_fix_dist: 0.2925, d4.loss_plan_l1_fix_time: 0.9739, d4.loss_plan_l1_fix_dist: 0.2202, d5.loss_plan_l1_fix_time: 0.9751, d5.loss_plan_l1_fix_dist: 0.2022, d6.loss_plan_l1_fix_time: 0.9764, d6.loss_plan_l1_fix_dist: 0.2040, d0.loss_cls_all: 0.1740, d0.loss_bbox_all: 0.3822, d0.loss_cls: 0.1740, d0.loss_bbox: 0.3822, d1.loss_cls: 0.1666, d1.loss_bbox: 0.3483, d2.loss_cls: 0.1515, d2.loss_bbox: 0.3286, d3.loss_cls: 0.1318, d3.loss_bbox: 0.3229, d4.loss_cls: 0.1229, d4.loss_bbox: 0.3235, d5.loss_cls: 0.1217, d5.loss_bbox: 0.3260, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8372, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6400, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5926, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5673, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5629, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5618, d0.loss_map_cls_all: 0.2161, d0.loss_map_pts_all: 1.1855, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2161, d0.loss_map_pts: 1.1855, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1836, d1.loss_map_pts: 0.8856, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1570, d2.loss_map_pts: 0.7366, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1444, d3.loss_map_pts: 0.6624, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1387, d4.loss_map_pts: 0.6332, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1341, d5.loss_map_pts: 0.6256, d5.loss_map_dir: 0.0069, loss: 26.6118, grad_norm: 154.5068 +2026-02-28 16:24:17,528 - DriveTransformer - INFO - Epoch [10][28100/39528] lr: 6.944e-05, eta: 4 days, 18:41:12, time: 0.750, data_time: 0.039, memory: 19865, loss_cls: 0.1067, loss_bbox: 0.2921, loss_traj: 0.4978, loss_traj_cls: 0.0020, loss_map_cls: 0.0982, loss_map_pts: 0.4814, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.3322, d0.loss_plan_l1_fix_dist: 0.5025, d1.loss_plan_l1_fix_time: 0.6733, d1.loss_plan_l1_fix_dist: 0.1893, d2.loss_plan_l1_fix_time: 0.6601, d2.loss_plan_l1_fix_dist: 0.2198, d3.loss_plan_l1_fix_time: 0.6599, d3.loss_plan_l1_fix_dist: 0.3109, d4.loss_plan_l1_fix_time: 0.6617, d4.loss_plan_l1_fix_dist: 0.2069, d5.loss_plan_l1_fix_time: 0.6648, d5.loss_plan_l1_fix_dist: 0.2046, d6.loss_plan_l1_fix_time: 0.6685, d6.loss_plan_l1_fix_dist: 0.2139, d0.loss_cls_all: 0.1409, d0.loss_bbox_all: 0.3506, d0.loss_cls: 0.1409, d0.loss_bbox: 0.3506, d1.loss_cls: 0.1382, d1.loss_bbox: 0.3140, d2.loss_cls: 0.1251, d2.loss_bbox: 0.2951, d3.loss_cls: 0.1105, d3.loss_bbox: 0.2889, d4.loss_cls: 0.1074, d4.loss_bbox: 0.2882, d5.loss_cls: 0.1070, d5.loss_bbox: 0.2895, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7373, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5695, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5291, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5096, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4991, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4994, d0.loss_map_cls_all: 0.1746, d0.loss_map_pts_all: 1.0970, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1746, d0.loss_map_pts: 1.0970, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1451, d1.loss_map_pts: 0.7542, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1241, d2.loss_map_pts: 0.5774, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1113, d3.loss_map_pts: 0.5122, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1033, d4.loss_map_pts: 0.4880, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0994, d5.loss_map_pts: 0.4824, d5.loss_map_dir: 0.0066, loss: 22.0341, grad_norm: 164.7417 +2026-02-28 16:24:55,687 - DriveTransformer - INFO - Epoch [10][28150/39528] lr: 6.944e-05, eta: 4 days, 18:40:42, time: 0.763, data_time: 0.037, memory: 19865, loss_cls: 0.0852, loss_bbox: 0.2809, loss_traj: 0.4398, loss_traj_cls: 0.0020, loss_map_cls: 0.0845, loss_map_pts: 0.4585, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.7719, d0.loss_plan_l1_fix_dist: 0.4285, d1.loss_plan_l1_fix_time: 0.7761, d1.loss_plan_l1_fix_dist: 0.1905, d2.loss_plan_l1_fix_time: 0.7632, d2.loss_plan_l1_fix_dist: 0.2219, d3.loss_plan_l1_fix_time: 0.7614, d3.loss_plan_l1_fix_dist: 0.3399, d4.loss_plan_l1_fix_time: 0.7655, d4.loss_plan_l1_fix_dist: 0.2083, d5.loss_plan_l1_fix_time: 0.7696, d5.loss_plan_l1_fix_dist: 0.2149, d6.loss_plan_l1_fix_time: 0.7744, d6.loss_plan_l1_fix_dist: 0.2196, d0.loss_cls_all: 0.1285, d0.loss_bbox_all: 0.3380, d0.loss_cls: 0.1285, d0.loss_bbox: 0.3380, d1.loss_cls: 0.1275, d1.loss_bbox: 0.3023, d2.loss_cls: 0.1099, d2.loss_bbox: 0.2860, d3.loss_cls: 0.0954, d3.loss_bbox: 0.2811, d4.loss_cls: 0.0897, d4.loss_bbox: 0.2785, d5.loss_cls: 0.0861, d5.loss_bbox: 0.2791, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6309, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5002, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4615, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4454, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4399, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4372, d0.loss_map_cls_all: 0.1548, d0.loss_map_pts_all: 1.0369, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1548, d0.loss_map_pts: 1.0369, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1245, d1.loss_map_pts: 0.7127, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1061, d2.loss_map_pts: 0.5463, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.0959, d3.loss_map_pts: 0.4899, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0900, d4.loss_map_pts: 0.4711, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0859, d5.loss_map_pts: 0.4603, d5.loss_map_dir: 0.0061, loss: 21.9583, grad_norm: 162.7499 +2026-02-28 16:25:32,447 - DriveTransformer - INFO - Epoch [10][28200/39528] lr: 6.944e-05, eta: 4 days, 18:40:06, time: 0.735, data_time: 0.040, memory: 19865, loss_cls: 0.0928, loss_bbox: 0.2782, loss_traj: 0.5338, loss_traj_cls: 0.0019, loss_map_cls: 0.0967, loss_map_pts: 0.4684, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.5546, d0.loss_plan_l1_fix_dist: 0.4565, d1.loss_plan_l1_fix_time: 0.8155, d1.loss_plan_l1_fix_dist: 0.1891, d2.loss_plan_l1_fix_time: 0.8011, d2.loss_plan_l1_fix_dist: 0.2239, d3.loss_plan_l1_fix_time: 0.7989, d3.loss_plan_l1_fix_dist: 0.3746, d4.loss_plan_l1_fix_time: 0.8020, d4.loss_plan_l1_fix_dist: 0.2509, d5.loss_plan_l1_fix_time: 0.8055, d5.loss_plan_l1_fix_dist: 0.2559, d6.loss_plan_l1_fix_time: 0.8096, d6.loss_plan_l1_fix_dist: 0.2521, d0.loss_cls_all: 0.1315, d0.loss_bbox_all: 0.3387, d0.loss_cls: 0.1315, d0.loss_bbox: 0.3387, d1.loss_cls: 0.1251, d1.loss_bbox: 0.3129, d2.loss_cls: 0.1137, d2.loss_bbox: 0.2912, d3.loss_cls: 0.0994, d3.loss_bbox: 0.2853, d4.loss_cls: 0.0944, d4.loss_bbox: 0.2820, d5.loss_cls: 0.0933, d5.loss_bbox: 0.2792, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7974, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.6077, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5576, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5437, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5344, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5343, d0.loss_map_cls_all: 0.1823, d0.loss_map_pts_all: 1.0049, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1823, d0.loss_map_pts: 1.0049, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1540, d1.loss_map_pts: 0.7061, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1251, d2.loss_map_pts: 0.5588, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.1095, d3.loss_map_pts: 0.5044, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.1021, d4.loss_map_pts: 0.4809, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0980, d5.loss_map_pts: 0.4706, d5.loss_map_dir: 0.0050, loss: 23.0813, grad_norm: 165.3198 +2026-02-28 16:26:10,596 - DriveTransformer - INFO - Epoch [10][28250/39528] lr: 6.944e-05, eta: 4 days, 18:39:36, time: 0.763, data_time: 0.037, memory: 19865, loss_cls: 0.0927, loss_bbox: 0.2945, loss_traj: 0.4458, loss_traj_cls: 0.0019, loss_map_cls: 0.0918, loss_map_pts: 0.5044, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.5860, d0.loss_plan_l1_fix_dist: 0.3715, d1.loss_plan_l1_fix_time: 0.8725, d1.loss_plan_l1_fix_dist: 0.1705, d2.loss_plan_l1_fix_time: 0.8716, d2.loss_plan_l1_fix_dist: 0.2055, d3.loss_plan_l1_fix_time: 0.8732, d3.loss_plan_l1_fix_dist: 0.3543, d4.loss_plan_l1_fix_time: 0.8755, d4.loss_plan_l1_fix_dist: 0.2464, d5.loss_plan_l1_fix_time: 0.8783, d5.loss_plan_l1_fix_dist: 0.2204, d6.loss_plan_l1_fix_time: 0.8822, d6.loss_plan_l1_fix_dist: 0.2127, d0.loss_cls_all: 0.1384, d0.loss_bbox_all: 0.3514, d0.loss_cls: 0.1384, d0.loss_bbox: 0.3514, d1.loss_cls: 0.1346, d1.loss_bbox: 0.3227, d2.loss_cls: 0.1178, d2.loss_bbox: 0.3048, d3.loss_cls: 0.1008, d3.loss_bbox: 0.2986, d4.loss_cls: 0.0945, d4.loss_bbox: 0.2964, d5.loss_cls: 0.0920, d5.loss_bbox: 0.2960, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6747, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5130, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4626, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4514, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4463, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4474, d0.loss_map_cls_all: 0.1717, d0.loss_map_pts_all: 1.1345, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1717, d0.loss_map_pts: 1.1345, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1418, d1.loss_map_pts: 0.7678, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1183, d2.loss_map_pts: 0.5837, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1057, d3.loss_map_pts: 0.5280, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.0984, d4.loss_map_pts: 0.5081, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.0947, d5.loss_map_pts: 0.5036, d5.loss_map_dir: 0.0071, loss: 23.2086, grad_norm: 154.7429 +2026-02-28 16:26:49,334 - DriveTransformer - INFO - Epoch [10][28300/39528] lr: 6.944e-05, eta: 4 days, 18:39:08, time: 0.775, data_time: 0.037, memory: 19865, loss_cls: 0.1049, loss_bbox: 0.3001, loss_traj: 0.4810, loss_traj_cls: 0.0019, loss_map_cls: 0.0959, loss_map_pts: 0.5505, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.4230, d0.loss_plan_l1_fix_dist: 0.3482, d1.loss_plan_l1_fix_time: 0.7630, d1.loss_plan_l1_fix_dist: 0.1712, d2.loss_plan_l1_fix_time: 0.7526, d2.loss_plan_l1_fix_dist: 0.2223, d3.loss_plan_l1_fix_time: 0.7495, d3.loss_plan_l1_fix_dist: 0.3484, d4.loss_plan_l1_fix_time: 0.7490, d4.loss_plan_l1_fix_dist: 0.2670, d5.loss_plan_l1_fix_time: 0.7505, d5.loss_plan_l1_fix_dist: 0.2183, d6.loss_plan_l1_fix_time: 0.7528, d6.loss_plan_l1_fix_dist: 0.2427, d0.loss_cls_all: 0.1491, d0.loss_bbox_all: 0.3598, d0.loss_cls: 0.1491, d0.loss_bbox: 0.3598, d1.loss_cls: 0.1414, d1.loss_bbox: 0.3302, d2.loss_cls: 0.1277, d2.loss_bbox: 0.3078, d3.loss_cls: 0.1103, d3.loss_bbox: 0.3040, d4.loss_cls: 0.1071, d4.loss_bbox: 0.2993, d5.loss_cls: 0.1052, d5.loss_bbox: 0.3002, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7332, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5726, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5133, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4958, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4838, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4829, d0.loss_map_cls_all: 0.1745, d0.loss_map_pts_all: 1.1494, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1745, d0.loss_map_pts: 1.1494, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1493, d1.loss_map_pts: 0.8234, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1236, d2.loss_map_pts: 0.6493, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1114, d3.loss_map_pts: 0.5821, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1044, d4.loss_map_pts: 0.5556, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.0981, d5.loss_map_pts: 0.5505, d5.loss_map_dir: 0.0069, loss: 23.1813, grad_norm: 151.1199 +2026-02-28 16:27:26,794 - DriveTransformer - INFO - Epoch [10][28350/39528] lr: 6.944e-05, eta: 4 days, 18:38:35, time: 0.749, data_time: 0.040, memory: 19865, loss_cls: 0.0982, loss_bbox: 0.2794, loss_traj: 0.4734, loss_traj_cls: 0.0020, loss_map_cls: 0.1079, loss_map_pts: 0.5209, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.6549, d0.loss_plan_l1_fix_dist: 0.3671, d1.loss_plan_l1_fix_time: 0.8829, d1.loss_plan_l1_fix_dist: 0.1648, d2.loss_plan_l1_fix_time: 0.8645, d2.loss_plan_l1_fix_dist: 0.2143, d3.loss_plan_l1_fix_time: 0.8483, d3.loss_plan_l1_fix_dist: 0.3231, d4.loss_plan_l1_fix_time: 0.8486, d4.loss_plan_l1_fix_dist: 0.2685, d5.loss_plan_l1_fix_time: 0.8504, d5.loss_plan_l1_fix_dist: 0.2293, d6.loss_plan_l1_fix_time: 0.8519, d6.loss_plan_l1_fix_dist: 0.2466, d0.loss_cls_all: 0.1418, d0.loss_bbox_all: 0.3420, d0.loss_cls: 0.1418, d0.loss_bbox: 0.3420, d1.loss_cls: 0.1361, d1.loss_bbox: 0.3089, d2.loss_cls: 0.1211, d2.loss_bbox: 0.2895, d3.loss_cls: 0.1081, d3.loss_bbox: 0.2824, d4.loss_cls: 0.0999, d4.loss_bbox: 0.2807, d5.loss_cls: 0.0986, d5.loss_bbox: 0.2790, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7305, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5488, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4942, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4792, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4743, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4735, d0.loss_map_cls_all: 0.1818, d0.loss_map_pts_all: 1.0795, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1818, d0.loss_map_pts: 1.0795, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1549, d1.loss_map_pts: 0.7749, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1311, d2.loss_map_pts: 0.6097, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1211, d3.loss_map_pts: 0.5497, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1151, d4.loss_map_pts: 0.5265, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1094, d5.loss_map_pts: 0.5206, d5.loss_map_dir: 0.0061, loss: 23.4588, grad_norm: 149.7647 +2026-02-28 16:28:02,946 - DriveTransformer - INFO - Epoch [10][28400/39528] lr: 6.944e-05, eta: 4 days, 18:37:56, time: 0.723, data_time: 0.041, memory: 19865, loss_cls: 0.0927, loss_bbox: 0.2751, loss_traj: 0.5838, loss_traj_cls: 0.0020, loss_map_cls: 0.0862, loss_map_pts: 0.4305, loss_map_dir: 0.0045, d0.loss_plan_l1_fix_time: 2.5660, d0.loss_plan_l1_fix_dist: 0.4755, d1.loss_plan_l1_fix_time: 0.7964, d1.loss_plan_l1_fix_dist: 0.1870, d2.loss_plan_l1_fix_time: 0.7849, d2.loss_plan_l1_fix_dist: 0.2247, d3.loss_plan_l1_fix_time: 0.7825, d3.loss_plan_l1_fix_dist: 0.2871, d4.loss_plan_l1_fix_time: 0.7828, d4.loss_plan_l1_fix_dist: 0.2828, d5.loss_plan_l1_fix_time: 0.7845, d5.loss_plan_l1_fix_dist: 0.2451, d6.loss_plan_l1_fix_time: 0.7862, d6.loss_plan_l1_fix_dist: 0.2253, d0.loss_cls_all: 0.1312, d0.loss_bbox_all: 0.3382, d0.loss_cls: 0.1312, d0.loss_bbox: 0.3382, d1.loss_cls: 0.1267, d1.loss_bbox: 0.3069, d2.loss_cls: 0.1129, d2.loss_bbox: 0.2842, d3.loss_cls: 0.0969, d3.loss_bbox: 0.2794, d4.loss_cls: 0.0916, d4.loss_bbox: 0.2767, d5.loss_cls: 0.0927, d5.loss_bbox: 0.2746, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8044, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6668, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6102, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5878, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5861, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5842, d0.loss_map_cls_all: 0.1688, d0.loss_map_pts_all: 0.8754, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1688, d0.loss_map_pts: 0.8754, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1356, d1.loss_map_pts: 0.6333, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1096, d2.loss_map_pts: 0.5088, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.0977, d3.loss_map_pts: 0.4591, d3.loss_map_dir: 0.0043, d4.loss_map_cls: 0.0920, d4.loss_map_pts: 0.4399, d4.loss_map_dir: 0.0044, d5.loss_map_cls: 0.0885, d5.loss_map_pts: 0.4308, d5.loss_map_dir: 0.0045, loss: 22.5275, grad_norm: 148.4975 +2026-02-28 16:28:38,590 - DriveTransformer - INFO - Epoch [10][28450/39528] lr: 6.944e-05, eta: 4 days, 18:37:16, time: 0.713, data_time: 0.038, memory: 19865, loss_cls: 0.1013, loss_bbox: 0.3004, loss_traj: 0.5124, loss_traj_cls: 0.0020, loss_map_cls: 0.0916, loss_map_pts: 0.5120, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.6633, d0.loss_plan_l1_fix_dist: 0.3624, d1.loss_plan_l1_fix_time: 0.6522, d1.loss_plan_l1_fix_dist: 0.1855, d2.loss_plan_l1_fix_time: 0.6406, d2.loss_plan_l1_fix_dist: 0.2223, d3.loss_plan_l1_fix_time: 0.6378, d3.loss_plan_l1_fix_dist: 0.2241, d4.loss_plan_l1_fix_time: 0.6390, d4.loss_plan_l1_fix_dist: 0.2386, d5.loss_plan_l1_fix_time: 0.6408, d5.loss_plan_l1_fix_dist: 0.2160, d6.loss_plan_l1_fix_time: 0.6434, d6.loss_plan_l1_fix_dist: 0.1962, d0.loss_cls_all: 0.1427, d0.loss_bbox_all: 0.3714, d0.loss_cls: 0.1427, d0.loss_bbox: 0.3714, d1.loss_cls: 0.1382, d1.loss_bbox: 0.3368, d2.loss_cls: 0.1243, d2.loss_bbox: 0.3115, d3.loss_cls: 0.1074, d3.loss_bbox: 0.3046, d4.loss_cls: 0.1018, d4.loss_bbox: 0.3016, d5.loss_cls: 0.1008, d5.loss_bbox: 0.3005, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7669, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6044, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5414, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5215, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5169, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5149, d0.loss_map_cls_all: 0.1760, d0.loss_map_pts_all: 1.0411, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1760, d0.loss_map_pts: 1.0411, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1413, d1.loss_map_pts: 0.7531, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1168, d2.loss_map_pts: 0.6074, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1050, d3.loss_map_pts: 0.5444, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0991, d4.loss_map_pts: 0.5194, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0949, d5.loss_map_pts: 0.5120, d5.loss_map_dir: 0.0058, loss: 22.2827, grad_norm: 145.4769 +2026-02-28 16:29:14,758 - DriveTransformer - INFO - Epoch [10][28500/39528] lr: 6.944e-05, eta: 4 days, 18:36:38, time: 0.724, data_time: 0.041, memory: 19865, loss_cls: 0.0851, loss_bbox: 0.2776, loss_traj: 0.4564, loss_traj_cls: 0.0020, loss_map_cls: 0.0927, loss_map_pts: 0.4551, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.2430, d0.loss_plan_l1_fix_dist: 0.3470, d1.loss_plan_l1_fix_time: 0.6966, d1.loss_plan_l1_fix_dist: 0.2116, d2.loss_plan_l1_fix_time: 0.6859, d2.loss_plan_l1_fix_dist: 0.2465, d3.loss_plan_l1_fix_time: 0.6851, d3.loss_plan_l1_fix_dist: 0.2093, d4.loss_plan_l1_fix_time: 0.6872, d4.loss_plan_l1_fix_dist: 0.2302, d5.loss_plan_l1_fix_time: 0.6899, d5.loss_plan_l1_fix_dist: 0.2088, d6.loss_plan_l1_fix_time: 0.6932, d6.loss_plan_l1_fix_dist: 0.2127, d0.loss_cls_all: 0.1294, d0.loss_bbox_all: 0.3329, d0.loss_cls: 0.1294, d0.loss_bbox: 0.3329, d1.loss_cls: 0.1217, d1.loss_bbox: 0.3047, d2.loss_cls: 0.1074, d2.loss_bbox: 0.2871, d3.loss_cls: 0.0919, d3.loss_bbox: 0.2811, d4.loss_cls: 0.0862, d4.loss_bbox: 0.2781, d5.loss_cls: 0.0849, d5.loss_bbox: 0.2771, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7207, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5431, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4865, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4650, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4610, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4582, d0.loss_map_cls_all: 0.1737, d0.loss_map_pts_all: 1.0123, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1737, d0.loss_map_pts: 1.0123, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1397, d1.loss_map_pts: 0.6862, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1181, d2.loss_map_pts: 0.5351, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1064, d3.loss_map_pts: 0.4749, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.0983, d4.loss_map_pts: 0.4580, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0935, d5.loss_map_pts: 0.4554, d5.loss_map_dir: 0.0065, loss: 20.9889, grad_norm: 147.7193 +2026-02-28 16:29:51,512 - DriveTransformer - INFO - Epoch [10][28550/39528] lr: 6.944e-05, eta: 4 days, 18:36:03, time: 0.735, data_time: 0.037, memory: 19865, loss_cls: 0.0995, loss_bbox: 0.2939, loss_traj: 0.5210, loss_traj_cls: 0.0020, loss_map_cls: 0.1104, loss_map_pts: 0.5583, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.5129, d0.loss_plan_l1_fix_dist: 0.4963, d1.loss_plan_l1_fix_time: 0.7895, d1.loss_plan_l1_fix_dist: 0.2536, d2.loss_plan_l1_fix_time: 0.7734, d2.loss_plan_l1_fix_dist: 0.2846, d3.loss_plan_l1_fix_time: 0.7743, d3.loss_plan_l1_fix_dist: 0.2510, d4.loss_plan_l1_fix_time: 0.7769, d4.loss_plan_l1_fix_dist: 0.2472, d5.loss_plan_l1_fix_time: 0.7797, d5.loss_plan_l1_fix_dist: 0.2380, d6.loss_plan_l1_fix_time: 0.7830, d6.loss_plan_l1_fix_dist: 0.2514, d0.loss_cls_all: 0.1464, d0.loss_bbox_all: 0.3588, d0.loss_cls: 0.1464, d0.loss_bbox: 0.3588, d1.loss_cls: 0.1366, d1.loss_bbox: 0.3214, d2.loss_cls: 0.1242, d2.loss_bbox: 0.3002, d3.loss_cls: 0.1090, d3.loss_bbox: 0.2935, d4.loss_cls: 0.1002, d4.loss_bbox: 0.2931, d5.loss_cls: 0.0992, d5.loss_bbox: 0.2928, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7360, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5809, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5470, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5267, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5239, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5271, d0.loss_map_cls_all: 0.1931, d0.loss_map_pts_all: 1.1020, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1931, d0.loss_map_pts: 1.1020, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1604, d1.loss_map_pts: 0.7993, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1366, d2.loss_map_pts: 0.6421, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1251, d3.loss_map_pts: 0.5842, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1192, d4.loss_map_pts: 0.5637, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1129, d5.loss_map_pts: 0.5586, d5.loss_map_dir: 0.0072, loss: 23.7730, grad_norm: 149.5555 +2026-02-28 16:30:28,187 - DriveTransformer - INFO - Epoch [10][28600/39528] lr: 6.944e-05, eta: 4 days, 18:35:27, time: 0.735, data_time: 0.039, memory: 19865, loss_cls: 0.1074, loss_bbox: 0.3005, loss_traj: 0.4547, loss_traj_cls: 0.0020, loss_map_cls: 0.0961, loss_map_pts: 0.4740, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.6421, d0.loss_plan_l1_fix_dist: 0.4120, d1.loss_plan_l1_fix_time: 0.8005, d1.loss_plan_l1_fix_dist: 0.2620, d2.loss_plan_l1_fix_time: 0.7826, d2.loss_plan_l1_fix_dist: 0.2991, d3.loss_plan_l1_fix_time: 0.7772, d3.loss_plan_l1_fix_dist: 0.2725, d4.loss_plan_l1_fix_time: 0.7793, d4.loss_plan_l1_fix_dist: 0.2281, d5.loss_plan_l1_fix_time: 0.7810, d5.loss_plan_l1_fix_dist: 0.2527, d6.loss_plan_l1_fix_time: 0.7828, d6.loss_plan_l1_fix_dist: 0.2558, d0.loss_cls_all: 0.1491, d0.loss_bbox_all: 0.3655, d0.loss_cls: 0.1491, d0.loss_bbox: 0.3655, d1.loss_cls: 0.1406, d1.loss_bbox: 0.3310, d2.loss_cls: 0.1267, d2.loss_bbox: 0.3127, d3.loss_cls: 0.1129, d3.loss_bbox: 0.3039, d4.loss_cls: 0.1081, d4.loss_bbox: 0.3001, d5.loss_cls: 0.1064, d5.loss_bbox: 0.2999, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6941, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5267, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4769, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4641, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4603, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4550, d0.loss_map_cls_all: 0.1813, d0.loss_map_pts_all: 0.9951, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1813, d0.loss_map_pts: 0.9951, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1473, d1.loss_map_pts: 0.7168, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1215, d2.loss_map_pts: 0.5614, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1102, d3.loss_map_pts: 0.5003, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1039, d4.loss_map_pts: 0.4820, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0986, d5.loss_map_pts: 0.4753, d5.loss_map_dir: 0.0060, loss: 22.7341, grad_norm: 150.1228 +2026-02-28 16:31:04,963 - DriveTransformer - INFO - Epoch [10][28650/39528] lr: 6.944e-05, eta: 4 days, 18:34:51, time: 0.734, data_time: 0.037, memory: 19865, loss_cls: 0.0937, loss_bbox: 0.2812, loss_traj: 0.5081, loss_traj_cls: 0.0020, loss_map_cls: 0.1025, loss_map_pts: 0.4989, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.2676, d0.loss_plan_l1_fix_dist: 0.3978, d1.loss_plan_l1_fix_time: 0.7699, d1.loss_plan_l1_fix_dist: 0.2403, d2.loss_plan_l1_fix_time: 0.7487, d2.loss_plan_l1_fix_dist: 0.3082, d3.loss_plan_l1_fix_time: 0.7472, d3.loss_plan_l1_fix_dist: 0.2940, d4.loss_plan_l1_fix_time: 0.7504, d4.loss_plan_l1_fix_dist: 0.1979, d5.loss_plan_l1_fix_time: 0.7532, d5.loss_plan_l1_fix_dist: 0.2356, d6.loss_plan_l1_fix_time: 0.7563, d6.loss_plan_l1_fix_dist: 0.2495, d0.loss_cls_all: 0.1265, d0.loss_bbox_all: 0.3449, d0.loss_cls: 0.1265, d0.loss_bbox: 0.3449, d1.loss_cls: 0.1250, d1.loss_bbox: 0.3102, d2.loss_cls: 0.1158, d2.loss_bbox: 0.2885, d3.loss_cls: 0.1001, d3.loss_bbox: 0.2853, d4.loss_cls: 0.0960, d4.loss_bbox: 0.2820, d5.loss_cls: 0.0942, d5.loss_bbox: 0.2810, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7573, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6016, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5392, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5199, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5124, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5099, d0.loss_map_cls_all: 0.1849, d0.loss_map_pts_all: 1.0811, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1849, d0.loss_map_pts: 1.0811, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1579, d1.loss_map_pts: 0.7355, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1272, d2.loss_map_pts: 0.5777, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1179, d3.loss_map_pts: 0.5215, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1093, d4.loss_map_pts: 0.5057, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1043, d5.loss_map_pts: 0.4992, d5.loss_map_dir: 0.0068, loss: 22.6104, grad_norm: 151.5048 +2026-02-28 16:31:43,297 - DriveTransformer - INFO - Epoch [10][28700/39528] lr: 6.944e-05, eta: 4 days, 18:34:21, time: 0.767, data_time: 0.036, memory: 19865, loss_cls: 0.0993, loss_bbox: 0.3021, loss_traj: 0.4237, loss_traj_cls: 0.0019, loss_map_cls: 0.1232, loss_map_pts: 0.6324, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.4623, d0.loss_plan_l1_fix_dist: 0.3755, d1.loss_plan_l1_fix_time: 0.7333, d1.loss_plan_l1_fix_dist: 0.2242, d2.loss_plan_l1_fix_time: 0.7202, d2.loss_plan_l1_fix_dist: 0.2935, d3.loss_plan_l1_fix_time: 0.7222, d3.loss_plan_l1_fix_dist: 0.2991, d4.loss_plan_l1_fix_time: 0.7240, d4.loss_plan_l1_fix_dist: 0.2185, d5.loss_plan_l1_fix_time: 0.7259, d5.loss_plan_l1_fix_dist: 0.2313, d6.loss_plan_l1_fix_time: 0.7289, d6.loss_plan_l1_fix_dist: 0.2343, d0.loss_cls_all: 0.1421, d0.loss_bbox_all: 0.3599, d0.loss_cls: 0.1421, d0.loss_bbox: 0.3599, d1.loss_cls: 0.1381, d1.loss_bbox: 0.3314, d2.loss_cls: 0.1259, d2.loss_bbox: 0.3115, d3.loss_cls: 0.1066, d3.loss_bbox: 0.3084, d4.loss_cls: 0.1003, d4.loss_bbox: 0.3043, d5.loss_cls: 0.0990, d5.loss_bbox: 0.3034, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6312, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5021, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4500, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4382, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4287, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4270, d0.loss_map_cls_all: 0.2115, d0.loss_map_pts_all: 1.2381, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2115, d0.loss_map_pts: 1.2381, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1807, d1.loss_map_pts: 0.8914, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1551, d2.loss_map_pts: 0.7236, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1382, d3.loss_map_pts: 0.6624, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1300, d4.loss_map_pts: 0.6396, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1248, d5.loss_map_pts: 0.6332, d5.loss_map_dir: 0.0086, loss: 23.5369, grad_norm: 147.0219 +2026-02-28 16:32:19,689 - DriveTransformer - INFO - Epoch [10][28750/39528] lr: 6.944e-05, eta: 4 days, 18:33:44, time: 0.728, data_time: 0.037, memory: 19865, loss_cls: 0.0784, loss_bbox: 0.2649, loss_traj: 0.4867, loss_traj_cls: 0.0021, loss_map_cls: 0.0861, loss_map_pts: 0.4212, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.4516, d0.loss_plan_l1_fix_dist: 0.4662, d1.loss_plan_l1_fix_time: 0.8294, d1.loss_plan_l1_fix_dist: 0.2114, d2.loss_plan_l1_fix_time: 0.8160, d2.loss_plan_l1_fix_dist: 0.2823, d3.loss_plan_l1_fix_time: 0.8181, d3.loss_plan_l1_fix_dist: 0.3073, d4.loss_plan_l1_fix_time: 0.8209, d4.loss_plan_l1_fix_dist: 0.2721, d5.loss_plan_l1_fix_time: 0.8246, d5.loss_plan_l1_fix_dist: 0.2885, d6.loss_plan_l1_fix_time: 0.8291, d6.loss_plan_l1_fix_dist: 0.2872, d0.loss_cls_all: 0.1169, d0.loss_bbox_all: 0.3240, d0.loss_cls: 0.1169, d0.loss_bbox: 0.3240, d1.loss_cls: 0.1087, d1.loss_bbox: 0.2896, d2.loss_cls: 0.0951, d2.loss_bbox: 0.2725, d3.loss_cls: 0.0823, d3.loss_bbox: 0.2676, d4.loss_cls: 0.0797, d4.loss_bbox: 0.2644, d5.loss_cls: 0.0785, d5.loss_bbox: 0.2653, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7086, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5541, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5033, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4953, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4884, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4901, d0.loss_map_cls_all: 0.1664, d0.loss_map_pts_all: 0.9495, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1664, d0.loss_map_pts: 0.9495, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1393, d1.loss_map_pts: 0.6480, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1119, d2.loss_map_pts: 0.5046, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1021, d3.loss_map_pts: 0.4449, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0940, d4.loss_map_pts: 0.4255, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0888, d5.loss_map_pts: 0.4208, d5.loss_map_dir: 0.0057, loss: 22.0325, grad_norm: 151.9098 +2026-02-28 16:32:56,786 - DriveTransformer - INFO - Epoch [10][28800/39528] lr: 6.944e-05, eta: 4 days, 18:33:10, time: 0.742, data_time: 0.039, memory: 19865, loss_cls: 0.0923, loss_bbox: 0.2970, loss_traj: 0.4063, loss_traj_cls: 0.0021, loss_map_cls: 0.0943, loss_map_pts: 0.5180, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.2513, d0.loss_plan_l1_fix_dist: 0.4014, d1.loss_plan_l1_fix_time: 0.7668, d1.loss_plan_l1_fix_dist: 0.1900, d2.loss_plan_l1_fix_time: 0.7522, d2.loss_plan_l1_fix_dist: 0.2671, d3.loss_plan_l1_fix_time: 0.7531, d3.loss_plan_l1_fix_dist: 0.2685, d4.loss_plan_l1_fix_time: 0.7555, d4.loss_plan_l1_fix_dist: 0.2541, d5.loss_plan_l1_fix_time: 0.7589, d5.loss_plan_l1_fix_dist: 0.2686, d6.loss_plan_l1_fix_time: 0.7631, d6.loss_plan_l1_fix_dist: 0.2339, d0.loss_cls_all: 0.1364, d0.loss_bbox_all: 0.3535, d0.loss_cls: 0.1364, d0.loss_bbox: 0.3535, d1.loss_cls: 0.1288, d1.loss_bbox: 0.3221, d2.loss_cls: 0.1147, d2.loss_bbox: 0.3037, d3.loss_cls: 0.1014, d3.loss_bbox: 0.2970, d4.loss_cls: 0.0932, d4.loss_bbox: 0.2975, d5.loss_cls: 0.0924, d5.loss_bbox: 0.2964, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6213, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.4776, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4234, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4116, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4069, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4084, d0.loss_map_cls_all: 0.1779, d0.loss_map_pts_all: 1.0564, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1779, d0.loss_map_pts: 1.0564, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1434, d1.loss_map_pts: 0.7520, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1208, d2.loss_map_pts: 0.6002, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1101, d3.loss_map_pts: 0.5429, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1019, d4.loss_map_pts: 0.5228, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.0958, d5.loss_map_pts: 0.5184, d5.loss_map_dir: 0.0069, loss: 21.9079, grad_norm: 152.6728 +2026-02-28 16:33:34,040 - DriveTransformer - INFO - Epoch [10][28850/39528] lr: 6.944e-05, eta: 4 days, 18:32:36, time: 0.745, data_time: 0.039, memory: 19865, loss_cls: 0.1008, loss_bbox: 0.2837, loss_traj: 0.4586, loss_traj_cls: 0.0020, loss_map_cls: 0.1258, loss_map_pts: 0.6555, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.5213, d0.loss_plan_l1_fix_dist: 0.3581, d1.loss_plan_l1_fix_time: 0.7893, d1.loss_plan_l1_fix_dist: 0.2158, d2.loss_plan_l1_fix_time: 0.7672, d2.loss_plan_l1_fix_dist: 0.2923, d3.loss_plan_l1_fix_time: 0.7612, d3.loss_plan_l1_fix_dist: 0.2560, d4.loss_plan_l1_fix_time: 0.7615, d4.loss_plan_l1_fix_dist: 0.2638, d5.loss_plan_l1_fix_time: 0.7632, d5.loss_plan_l1_fix_dist: 0.2788, d6.loss_plan_l1_fix_time: 0.7652, d6.loss_plan_l1_fix_dist: 0.2303, d0.loss_cls_all: 0.1490, d0.loss_bbox_all: 0.3414, d0.loss_cls: 0.1490, d0.loss_bbox: 0.3414, d1.loss_cls: 0.1426, d1.loss_bbox: 0.3115, d2.loss_cls: 0.1275, d2.loss_bbox: 0.2930, d3.loss_cls: 0.1088, d3.loss_bbox: 0.2861, d4.loss_cls: 0.1018, d4.loss_bbox: 0.2851, d5.loss_cls: 0.1014, d5.loss_bbox: 0.2837, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6724, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5389, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4852, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4671, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4636, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4576, d0.loss_map_cls_all: 0.2059, d0.loss_map_pts_all: 1.2975, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2059, d0.loss_map_pts: 1.2975, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1814, d1.loss_map_pts: 0.9568, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1531, d2.loss_map_pts: 0.7676, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1395, d3.loss_map_pts: 0.6897, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1322, d4.loss_map_pts: 0.6616, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1270, d5.loss_map_pts: 0.6564, d5.loss_map_dir: 0.0077, loss: 24.2939, grad_norm: 153.1960 +2026-02-28 16:34:09,924 - DriveTransformer - INFO - Epoch [10][28900/39528] lr: 6.944e-05, eta: 4 days, 18:31:57, time: 0.718, data_time: 0.038, memory: 19865, loss_cls: 0.1030, loss_bbox: 0.2949, loss_traj: 0.5542, loss_traj_cls: 0.0020, loss_map_cls: 0.1068, loss_map_pts: 0.5312, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.6179, d0.loss_plan_l1_fix_dist: 0.4371, d1.loss_plan_l1_fix_time: 0.7428, d1.loss_plan_l1_fix_dist: 0.2452, d2.loss_plan_l1_fix_time: 0.7352, d2.loss_plan_l1_fix_dist: 0.2913, d3.loss_plan_l1_fix_time: 0.7230, d3.loss_plan_l1_fix_dist: 0.2094, d4.loss_plan_l1_fix_time: 0.7256, d4.loss_plan_l1_fix_dist: 0.2487, d5.loss_plan_l1_fix_time: 0.7288, d5.loss_plan_l1_fix_dist: 0.2439, d6.loss_plan_l1_fix_time: 0.7325, d6.loss_plan_l1_fix_dist: 0.2202, d0.loss_cls_all: 0.1498, d0.loss_bbox_all: 0.3606, d0.loss_cls: 0.1498, d0.loss_bbox: 0.3606, d1.loss_cls: 0.1397, d1.loss_bbox: 0.3278, d2.loss_cls: 0.1259, d2.loss_bbox: 0.3060, d3.loss_cls: 0.1087, d3.loss_bbox: 0.3001, d4.loss_cls: 0.1040, d4.loss_bbox: 0.2975, d5.loss_cls: 0.1028, d5.loss_bbox: 0.2962, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7919, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6297, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5803, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5561, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5510, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5551, d0.loss_map_cls_all: 0.1834, d0.loss_map_pts_all: 1.0363, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1834, d0.loss_map_pts: 1.0363, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1524, d1.loss_map_pts: 0.7561, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1328, d2.loss_map_pts: 0.6192, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1196, d3.loss_map_pts: 0.5625, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1139, d4.loss_map_pts: 0.5366, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1086, d5.loss_map_pts: 0.5318, d5.loss_map_dir: 0.0058, loss: 23.4112, grad_norm: 149.5623 +2026-02-28 16:34:47,496 - DriveTransformer - INFO - Epoch [10][28950/39528] lr: 6.944e-05, eta: 4 days, 18:31:24, time: 0.751, data_time: 0.038, memory: 19865, loss_cls: 0.0998, loss_bbox: 0.2956, loss_traj: 0.4878, loss_traj_cls: 0.0020, loss_map_cls: 0.0918, loss_map_pts: 0.5653, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.7084, d0.loss_plan_l1_fix_dist: 0.4606, d1.loss_plan_l1_fix_time: 0.7604, d1.loss_plan_l1_fix_dist: 0.2665, d2.loss_plan_l1_fix_time: 0.7525, d2.loss_plan_l1_fix_dist: 0.2812, d3.loss_plan_l1_fix_time: 0.7477, d3.loss_plan_l1_fix_dist: 0.2080, d4.loss_plan_l1_fix_time: 0.7496, d4.loss_plan_l1_fix_dist: 0.2593, d5.loss_plan_l1_fix_time: 0.7521, d5.loss_plan_l1_fix_dist: 0.2518, d6.loss_plan_l1_fix_time: 0.7548, d6.loss_plan_l1_fix_dist: 0.2098, d0.loss_cls_all: 0.1422, d0.loss_bbox_all: 0.3647, d0.loss_cls: 0.1422, d0.loss_bbox: 0.3647, d1.loss_cls: 0.1371, d1.loss_bbox: 0.3292, d2.loss_cls: 0.1231, d2.loss_bbox: 0.3080, d3.loss_cls: 0.1039, d3.loss_bbox: 0.3045, d4.loss_cls: 0.0997, d4.loss_bbox: 0.2998, d5.loss_cls: 0.0981, d5.loss_bbox: 0.2978, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7606, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5492, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5084, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4995, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4879, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4861, d0.loss_map_cls_all: 0.1825, d0.loss_map_pts_all: 1.2022, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1825, d0.loss_map_pts: 1.2022, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1455, d1.loss_map_pts: 0.8552, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1183, d2.loss_map_pts: 0.6710, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1073, d3.loss_map_pts: 0.5978, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1008, d4.loss_map_pts: 0.5699, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0935, d5.loss_map_pts: 0.5663, d5.loss_map_dir: 0.0066, loss: 23.7633, grad_norm: 147.5400 +2026-02-28 16:35:26,285 - DriveTransformer - INFO - Epoch [10][29000/39528] lr: 6.944e-05, eta: 4 days, 18:30:56, time: 0.776, data_time: 0.038, memory: 19865, loss_cls: 0.1008, loss_bbox: 0.2824, loss_traj: 0.4900, loss_traj_cls: 0.0021, loss_map_cls: 0.0891, loss_map_pts: 0.5029, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.5790, d0.loss_plan_l1_fix_dist: 0.3579, d1.loss_plan_l1_fix_time: 0.8221, d1.loss_plan_l1_fix_dist: 0.2724, d2.loss_plan_l1_fix_time: 0.8016, d2.loss_plan_l1_fix_dist: 0.2741, d3.loss_plan_l1_fix_time: 0.7977, d3.loss_plan_l1_fix_dist: 0.2371, d4.loss_plan_l1_fix_time: 0.8016, d4.loss_plan_l1_fix_dist: 0.2541, d5.loss_plan_l1_fix_time: 0.8052, d5.loss_plan_l1_fix_dist: 0.2583, d6.loss_plan_l1_fix_time: 0.8089, d6.loss_plan_l1_fix_dist: 0.2013, d0.loss_cls_all: 0.1440, d0.loss_bbox_all: 0.3382, d0.loss_cls: 0.1440, d0.loss_bbox: 0.3382, d1.loss_cls: 0.1395, d1.loss_bbox: 0.3073, d2.loss_cls: 0.1272, d2.loss_bbox: 0.2910, d3.loss_cls: 0.1101, d3.loss_bbox: 0.2852, d4.loss_cls: 0.1051, d4.loss_bbox: 0.2821, d5.loss_cls: 0.1021, d5.loss_bbox: 0.2821, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6857, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5545, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5115, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4989, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4896, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4891, d0.loss_map_cls_all: 0.1616, d0.loss_map_pts_all: 1.0780, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1616, d0.loss_map_pts: 1.0780, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1287, d1.loss_map_pts: 0.7544, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1099, d2.loss_map_pts: 0.5896, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1005, d3.loss_map_pts: 0.5317, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.0957, d4.loss_map_pts: 0.5072, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.0910, d5.loss_map_pts: 0.5028, d5.loss_map_dir: 0.0073, loss: 22.9174, grad_norm: 147.3378 +2026-02-28 16:36:02,048 - DriveTransformer - INFO - Epoch [10][29050/39528] lr: 6.944e-05, eta: 4 days, 18:30:16, time: 0.715, data_time: 0.041, memory: 19865, loss_cls: 0.1077, loss_bbox: 0.2779, loss_traj: 0.4219, loss_traj_cls: 0.0021, loss_map_cls: 0.0929, loss_map_pts: 0.4734, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.2472, d0.loss_plan_l1_fix_dist: 0.4207, d1.loss_plan_l1_fix_time: 0.7969, d1.loss_plan_l1_fix_dist: 0.3014, d2.loss_plan_l1_fix_time: 0.7731, d2.loss_plan_l1_fix_dist: 0.3021, d3.loss_plan_l1_fix_time: 0.7742, d3.loss_plan_l1_fix_dist: 0.2831, d4.loss_plan_l1_fix_time: 0.7770, d4.loss_plan_l1_fix_dist: 0.2587, d5.loss_plan_l1_fix_time: 0.7803, d5.loss_plan_l1_fix_dist: 0.2674, d6.loss_plan_l1_fix_time: 0.7840, d6.loss_plan_l1_fix_dist: 0.2305, d0.loss_cls_all: 0.1498, d0.loss_bbox_all: 0.3391, d0.loss_cls: 0.1498, d0.loss_bbox: 0.3391, d1.loss_cls: 0.1414, d1.loss_bbox: 0.3059, d2.loss_cls: 0.1306, d2.loss_bbox: 0.2857, d3.loss_cls: 0.1130, d3.loss_bbox: 0.2829, d4.loss_cls: 0.1089, d4.loss_bbox: 0.2800, d5.loss_cls: 0.1075, d5.loss_bbox: 0.2779, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5848, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.4771, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4420, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4256, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4243, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4224, d0.loss_map_cls_all: 0.1665, d0.loss_map_pts_all: 0.9632, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1665, d0.loss_map_pts: 0.9632, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1397, d1.loss_map_pts: 0.6818, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1174, d2.loss_map_pts: 0.5449, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1070, d3.loss_map_pts: 0.4941, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1020, d4.loss_map_pts: 0.4778, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0950, d5.loss_map_pts: 0.4724, d5.loss_map_dir: 0.0061, loss: 21.7040, grad_norm: 148.2496 +2026-02-28 16:36:37,776 - DriveTransformer - INFO - Epoch [10][29100/39528] lr: 6.944e-05, eta: 4 days, 18:29:37, time: 0.715, data_time: 0.038, memory: 19865, loss_cls: 0.0951, loss_bbox: 0.2707, loss_traj: 0.4870, loss_traj_cls: 0.0020, loss_map_cls: 0.0977, loss_map_pts: 0.4569, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.5509, d0.loss_plan_l1_fix_dist: 0.4350, d1.loss_plan_l1_fix_time: 0.6915, d1.loss_plan_l1_fix_dist: 0.2816, d2.loss_plan_l1_fix_time: 0.6738, d2.loss_plan_l1_fix_dist: 0.3041, d3.loss_plan_l1_fix_time: 0.6724, d3.loss_plan_l1_fix_dist: 0.2839, d4.loss_plan_l1_fix_time: 0.6754, d4.loss_plan_l1_fix_dist: 0.2142, d5.loss_plan_l1_fix_time: 0.6790, d5.loss_plan_l1_fix_dist: 0.2417, d6.loss_plan_l1_fix_time: 0.6827, d6.loss_plan_l1_fix_dist: 0.2157, d0.loss_cls_all: 0.1454, d0.loss_bbox_all: 0.3306, d0.loss_cls: 0.1454, d0.loss_bbox: 0.3306, d1.loss_cls: 0.1358, d1.loss_bbox: 0.2966, d2.loss_cls: 0.1187, d2.loss_bbox: 0.2789, d3.loss_cls: 0.1024, d3.loss_bbox: 0.2729, d4.loss_cls: 0.0980, d4.loss_bbox: 0.2701, d5.loss_cls: 0.0960, d5.loss_bbox: 0.2699, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7096, d1.loss_traj_cls: 0.0010, d1.loss_traj: 0.5554, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5172, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4985, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4928, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4872, d0.loss_map_cls_all: 0.1755, d0.loss_map_pts_all: 0.9824, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1755, d0.loss_map_pts: 0.9824, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1428, d1.loss_map_pts: 0.6742, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1210, d2.loss_map_pts: 0.5257, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1098, d3.loss_map_pts: 0.4740, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1038, d4.loss_map_pts: 0.4586, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0991, d5.loss_map_pts: 0.4566, d5.loss_map_dir: 0.0060, loss: 21.6984, grad_norm: 149.5289 +2026-02-28 16:37:13,890 - DriveTransformer - INFO - Epoch [10][29150/39528] lr: 6.944e-05, eta: 4 days, 18:28:58, time: 0.722, data_time: 0.039, memory: 19865, loss_cls: 0.1072, loss_bbox: 0.3045, loss_traj: 0.5836, loss_traj_cls: 0.0019, loss_map_cls: 0.0975, loss_map_pts: 0.4805, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.7921, d0.loss_plan_l1_fix_dist: 0.4220, d1.loss_plan_l1_fix_time: 0.7976, d1.loss_plan_l1_fix_dist: 0.2766, d2.loss_plan_l1_fix_time: 0.7813, d2.loss_plan_l1_fix_dist: 0.3163, d3.loss_plan_l1_fix_time: 0.7823, d3.loss_plan_l1_fix_dist: 0.2991, d4.loss_plan_l1_fix_time: 0.7851, d4.loss_plan_l1_fix_dist: 0.2092, d5.loss_plan_l1_fix_time: 0.7883, d5.loss_plan_l1_fix_dist: 0.2511, d6.loss_plan_l1_fix_time: 0.7917, d6.loss_plan_l1_fix_dist: 0.2178, d0.loss_cls_all: 0.1549, d0.loss_bbox_all: 0.3592, d0.loss_cls: 0.1549, d0.loss_bbox: 0.3592, d1.loss_cls: 0.1459, d1.loss_bbox: 0.3296, d2.loss_cls: 0.1321, d2.loss_bbox: 0.3112, d3.loss_cls: 0.1140, d3.loss_bbox: 0.3070, d4.loss_cls: 0.1087, d4.loss_bbox: 0.3046, d5.loss_cls: 0.1068, d5.loss_bbox: 0.3045, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7958, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6470, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6089, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5935, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5840, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5792, d0.loss_map_cls_all: 0.1831, d0.loss_map_pts_all: 1.0668, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1831, d0.loss_map_pts: 1.0668, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1502, d1.loss_map_pts: 0.7366, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1242, d2.loss_map_pts: 0.5769, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1133, d3.loss_map_pts: 0.5082, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1036, d4.loss_map_pts: 0.4884, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0999, d5.loss_map_pts: 0.4810, d5.loss_map_dir: 0.0061, loss: 24.0212, grad_norm: 151.5718 +2026-02-28 16:37:51,240 - DriveTransformer - INFO - Epoch [10][29200/39528] lr: 6.944e-05, eta: 4 days, 18:28:25, time: 0.747, data_time: 0.037, memory: 19865, loss_cls: 0.0948, loss_bbox: 0.3021, loss_traj: 0.5076, loss_traj_cls: 0.0020, loss_map_cls: 0.1079, loss_map_pts: 0.5454, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.6836, d0.loss_plan_l1_fix_dist: 0.4082, d1.loss_plan_l1_fix_time: 0.8732, d1.loss_plan_l1_fix_dist: 0.2483, d2.loss_plan_l1_fix_time: 0.8633, d2.loss_plan_l1_fix_dist: 0.3012, d3.loss_plan_l1_fix_time: 0.8591, d3.loss_plan_l1_fix_dist: 0.2862, d4.loss_plan_l1_fix_time: 0.8618, d4.loss_plan_l1_fix_dist: 0.2146, d5.loss_plan_l1_fix_time: 0.8643, d5.loss_plan_l1_fix_dist: 0.2258, d6.loss_plan_l1_fix_time: 0.8674, d6.loss_plan_l1_fix_dist: 0.1998, d0.loss_cls_all: 0.1379, d0.loss_bbox_all: 0.3670, d0.loss_cls: 0.1379, d0.loss_bbox: 0.3670, d1.loss_cls: 0.1311, d1.loss_bbox: 0.3342, d2.loss_cls: 0.1211, d2.loss_bbox: 0.3121, d3.loss_cls: 0.1031, d3.loss_bbox: 0.3069, d4.loss_cls: 0.0980, d4.loss_bbox: 0.3030, d5.loss_cls: 0.0948, d5.loss_bbox: 0.3021, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7649, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5923, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5485, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5217, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5174, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5083, d0.loss_map_cls_all: 0.1886, d0.loss_map_pts_all: 1.1320, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1886, d0.loss_map_pts: 1.1320, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1553, d1.loss_map_pts: 0.7943, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1331, d2.loss_map_pts: 0.6251, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1220, d3.loss_map_pts: 0.5693, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1150, d4.loss_map_pts: 0.5492, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1100, d5.loss_map_pts: 0.5463, d5.loss_map_dir: 0.0067, loss: 24.3040, grad_norm: 151.0064 +2026-02-28 16:38:26,926 - DriveTransformer - INFO - Epoch [10][29250/39528] lr: 6.944e-05, eta: 4 days, 18:27:45, time: 0.714, data_time: 0.043, memory: 19865, loss_cls: 0.0886, loss_bbox: 0.2858, loss_traj: 0.5861, loss_traj_cls: 0.0020, loss_map_cls: 0.0833, loss_map_pts: 0.4533, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.6325, d0.loss_plan_l1_fix_dist: 0.5079, d1.loss_plan_l1_fix_time: 0.7503, d1.loss_plan_l1_fix_dist: 0.2279, d2.loss_plan_l1_fix_time: 0.7292, d2.loss_plan_l1_fix_dist: 0.3059, d3.loss_plan_l1_fix_time: 0.7312, d3.loss_plan_l1_fix_dist: 0.2952, d4.loss_plan_l1_fix_time: 0.7338, d4.loss_plan_l1_fix_dist: 0.2561, d5.loss_plan_l1_fix_time: 0.7364, d5.loss_plan_l1_fix_dist: 0.2190, d6.loss_plan_l1_fix_time: 0.7402, d6.loss_plan_l1_fix_dist: 0.2176, d0.loss_cls_all: 0.1297, d0.loss_bbox_all: 0.3470, d0.loss_cls: 0.1297, d0.loss_bbox: 0.3470, d1.loss_cls: 0.1213, d1.loss_bbox: 0.3187, d2.loss_cls: 0.1079, d2.loss_bbox: 0.2947, d3.loss_cls: 0.0937, d3.loss_bbox: 0.2917, d4.loss_cls: 0.0897, d4.loss_bbox: 0.2883, d5.loss_cls: 0.0891, d5.loss_bbox: 0.2861, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8549, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6773, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6183, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6018, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5921, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5901, d0.loss_map_cls_all: 0.1549, d0.loss_map_pts_all: 0.9467, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1549, d0.loss_map_pts: 0.9467, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1249, d1.loss_map_pts: 0.6696, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1040, d2.loss_map_pts: 0.5328, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0938, d3.loss_map_pts: 0.4818, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0881, d4.loss_map_pts: 0.4607, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0853, d5.loss_map_pts: 0.4541, d5.loss_map_dir: 0.0057, loss: 22.7987, grad_norm: 148.0875 +2026-02-28 16:39:03,678 - DriveTransformer - INFO - Epoch [10][29300/39528] lr: 6.944e-05, eta: 4 days, 18:27:09, time: 0.735, data_time: 0.038, memory: 19865, loss_cls: 0.0909, loss_bbox: 0.2851, loss_traj: 0.4930, loss_traj_cls: 0.0020, loss_map_cls: 0.0917, loss_map_pts: 0.4726, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.2371, d0.loss_plan_l1_fix_dist: 0.4696, d1.loss_plan_l1_fix_time: 0.7808, d1.loss_plan_l1_fix_dist: 0.2260, d2.loss_plan_l1_fix_time: 0.7632, d2.loss_plan_l1_fix_dist: 0.3028, d3.loss_plan_l1_fix_time: 0.7596, d3.loss_plan_l1_fix_dist: 0.2904, d4.loss_plan_l1_fix_time: 0.7606, d4.loss_plan_l1_fix_dist: 0.2552, d5.loss_plan_l1_fix_time: 0.7629, d5.loss_plan_l1_fix_dist: 0.2133, d6.loss_plan_l1_fix_time: 0.7657, d6.loss_plan_l1_fix_dist: 0.2052, d0.loss_cls_all: 0.1315, d0.loss_bbox_all: 0.3522, d0.loss_cls: 0.1315, d0.loss_bbox: 0.3522, d1.loss_cls: 0.1267, d1.loss_bbox: 0.3174, d2.loss_cls: 0.1139, d2.loss_bbox: 0.2961, d3.loss_cls: 0.0987, d3.loss_bbox: 0.2894, d4.loss_cls: 0.0916, d4.loss_bbox: 0.2873, d5.loss_cls: 0.0901, d5.loss_bbox: 0.2862, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7287, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5656, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5265, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5036, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4935, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4900, d0.loss_map_cls_all: 0.1743, d0.loss_map_pts_all: 1.0831, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1743, d0.loss_map_pts: 1.0831, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1432, d1.loss_map_pts: 0.7562, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1196, d2.loss_map_pts: 0.5832, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1045, d3.loss_map_pts: 0.5135, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0969, d4.loss_map_pts: 0.4809, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0934, d5.loss_map_pts: 0.4732, d5.loss_map_dir: 0.0057, loss: 22.4308, grad_norm: 147.1268 +2026-02-28 16:39:40,714 - DriveTransformer - INFO - Epoch [10][29350/39528] lr: 6.944e-05, eta: 4 days, 18:26:35, time: 0.741, data_time: 0.038, memory: 19865, loss_cls: 0.1073, loss_bbox: 0.3030, loss_traj: 0.5114, loss_traj_cls: 0.0019, loss_map_cls: 0.1060, loss_map_pts: 0.4856, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.6379, d0.loss_plan_l1_fix_dist: 0.3907, d1.loss_plan_l1_fix_time: 0.9126, d1.loss_plan_l1_fix_dist: 0.2498, d2.loss_plan_l1_fix_time: 0.8878, d2.loss_plan_l1_fix_dist: 0.2939, d3.loss_plan_l1_fix_time: 0.8925, d3.loss_plan_l1_fix_dist: 0.2748, d4.loss_plan_l1_fix_time: 0.8959, d4.loss_plan_l1_fix_dist: 0.2510, d5.loss_plan_l1_fix_time: 0.8994, d5.loss_plan_l1_fix_dist: 0.2187, d6.loss_plan_l1_fix_time: 0.9029, d6.loss_plan_l1_fix_dist: 0.2175, d0.loss_cls_all: 0.1549, d0.loss_bbox_all: 0.3632, d0.loss_cls: 0.1549, d0.loss_bbox: 0.3632, d1.loss_cls: 0.1440, d1.loss_bbox: 0.3288, d2.loss_cls: 0.1341, d2.loss_bbox: 0.3101, d3.loss_cls: 0.1143, d3.loss_bbox: 0.3062, d4.loss_cls: 0.1081, d4.loss_bbox: 0.3038, d5.loss_cls: 0.1079, d5.loss_bbox: 0.3027, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7417, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5818, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5333, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5164, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5110, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5102, d0.loss_map_cls_all: 0.1849, d0.loss_map_pts_all: 1.0528, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1849, d0.loss_map_pts: 1.0528, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1549, d1.loss_map_pts: 0.7210, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1298, d2.loss_map_pts: 0.5679, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1204, d3.loss_map_pts: 0.5097, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1133, d4.loss_map_pts: 0.4909, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1075, d5.loss_map_pts: 0.4868, d5.loss_map_dir: 0.0063, loss: 23.9627, grad_norm: 146.4898 +2026-02-28 16:40:15,780 - DriveTransformer - INFO - Epoch [10][29400/39528] lr: 6.944e-05, eta: 4 days, 18:25:53, time: 0.703, data_time: 0.037, memory: 19865, loss_cls: 0.1044, loss_bbox: 0.2858, loss_traj: 0.5742, loss_traj_cls: 0.0020, loss_map_cls: 0.1031, loss_map_pts: 0.4811, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.5074, d0.loss_plan_l1_fix_dist: 0.4788, d1.loss_plan_l1_fix_time: 0.7863, d1.loss_plan_l1_fix_dist: 0.3107, d2.loss_plan_l1_fix_time: 0.7612, d2.loss_plan_l1_fix_dist: 0.2776, d3.loss_plan_l1_fix_time: 0.7572, d3.loss_plan_l1_fix_dist: 0.2518, d4.loss_plan_l1_fix_time: 0.7597, d4.loss_plan_l1_fix_dist: 0.2624, d5.loss_plan_l1_fix_time: 0.7628, d5.loss_plan_l1_fix_dist: 0.2237, d6.loss_plan_l1_fix_time: 0.7665, d6.loss_plan_l1_fix_dist: 0.2214, d0.loss_cls_all: 0.1418, d0.loss_bbox_all: 0.3499, d0.loss_cls: 0.1418, d0.loss_bbox: 0.3499, d1.loss_cls: 0.1373, d1.loss_bbox: 0.3153, d2.loss_cls: 0.1276, d2.loss_bbox: 0.2945, d3.loss_cls: 0.1074, d3.loss_bbox: 0.2901, d4.loss_cls: 0.1034, d4.loss_bbox: 0.2878, d5.loss_cls: 0.1039, d5.loss_bbox: 0.2865, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8353, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6562, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6039, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5813, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5775, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5707, d0.loss_map_cls_all: 0.1938, d0.loss_map_pts_all: 1.0298, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1938, d0.loss_map_pts: 1.0298, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1574, d1.loss_map_pts: 0.7332, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1299, d2.loss_map_pts: 0.5755, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1168, d3.loss_map_pts: 0.5084, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1106, d4.loss_map_pts: 0.4867, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1064, d5.loss_map_pts: 0.4811, d5.loss_map_dir: 0.0058, loss: 23.4435, grad_norm: 145.9301 +2026-02-28 16:40:54,451 - DriveTransformer - INFO - Epoch [10][29450/39528] lr: 6.944e-05, eta: 4 days, 18:25:24, time: 0.772, data_time: 0.040, memory: 19865, loss_cls: 0.0846, loss_bbox: 0.2663, loss_traj: 0.4004, loss_traj_cls: 0.0021, loss_map_cls: 0.0963, loss_map_pts: 0.5083, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.2669, d0.loss_plan_l1_fix_dist: 0.4135, d1.loss_plan_l1_fix_time: 0.7309, d1.loss_plan_l1_fix_dist: 0.3578, d2.loss_plan_l1_fix_time: 0.7301, d2.loss_plan_l1_fix_dist: 0.2487, d3.loss_plan_l1_fix_time: 0.7247, d3.loss_plan_l1_fix_dist: 0.2182, d4.loss_plan_l1_fix_time: 0.7281, d4.loss_plan_l1_fix_dist: 0.2435, d5.loss_plan_l1_fix_time: 0.7324, d5.loss_plan_l1_fix_dist: 0.2276, d6.loss_plan_l1_fix_time: 0.7371, d6.loss_plan_l1_fix_dist: 0.2211, d0.loss_cls_all: 0.1179, d0.loss_bbox_all: 0.3176, d0.loss_cls: 0.1179, d0.loss_bbox: 0.3176, d1.loss_cls: 0.1146, d1.loss_bbox: 0.2870, d2.loss_cls: 0.1047, d2.loss_bbox: 0.2695, d3.loss_cls: 0.0895, d3.loss_bbox: 0.2665, d4.loss_cls: 0.0868, d4.loss_bbox: 0.2647, d5.loss_cls: 0.0843, d5.loss_bbox: 0.2650, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6020, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.4748, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4249, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4078, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4010, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3991, d0.loss_map_cls_all: 0.1918, d0.loss_map_pts_all: 1.1783, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1918, d0.loss_map_pts: 1.1783, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1554, d1.loss_map_pts: 0.8172, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1239, d2.loss_map_pts: 0.6120, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1111, d3.loss_map_pts: 0.5402, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1028, d4.loss_map_pts: 0.5162, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0983, d5.loss_map_pts: 0.5091, d5.loss_map_dir: 0.0068, loss: 21.7374, grad_norm: 146.4924 +2026-02-28 16:41:30,680 - DriveTransformer - INFO - Epoch [10][29500/39528] lr: 6.944e-05, eta: 4 days, 18:24:46, time: 0.725, data_time: 0.037, memory: 19865, loss_cls: 0.0797, loss_bbox: 0.2624, loss_traj: 0.5457, loss_traj_cls: 0.0020, loss_map_cls: 0.0814, loss_map_pts: 0.4467, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.4827, d0.loss_plan_l1_fix_dist: 0.4696, d1.loss_plan_l1_fix_time: 0.7307, d1.loss_plan_l1_fix_dist: 0.3800, d2.loss_plan_l1_fix_time: 0.7252, d2.loss_plan_l1_fix_dist: 0.2577, d3.loss_plan_l1_fix_time: 0.7238, d3.loss_plan_l1_fix_dist: 0.2279, d4.loss_plan_l1_fix_time: 0.7266, d4.loss_plan_l1_fix_dist: 0.2343, d5.loss_plan_l1_fix_time: 0.7298, d5.loss_plan_l1_fix_dist: 0.2294, d6.loss_plan_l1_fix_time: 0.7341, d6.loss_plan_l1_fix_dist: 0.2325, d0.loss_cls_all: 0.1160, d0.loss_bbox_all: 0.3177, d0.loss_cls: 0.1160, d0.loss_bbox: 0.3177, d1.loss_cls: 0.1114, d1.loss_bbox: 0.2899, d2.loss_cls: 0.1025, d2.loss_bbox: 0.2691, d3.loss_cls: 0.0857, d3.loss_bbox: 0.2643, d4.loss_cls: 0.0782, d4.loss_bbox: 0.2638, d5.loss_cls: 0.0783, d5.loss_bbox: 0.2623, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7678, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6053, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5643, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5491, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5501, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5441, d0.loss_map_cls_all: 0.1492, d0.loss_map_pts_all: 1.0017, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1492, d0.loss_map_pts: 1.0017, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1260, d1.loss_map_pts: 0.6769, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1049, d2.loss_map_pts: 0.5313, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.0938, d3.loss_map_pts: 0.4724, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.0867, d4.loss_map_pts: 0.4499, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0822, d5.loss_map_pts: 0.4462, d5.loss_map_dir: 0.0063, loss: 21.9823, grad_norm: 152.9159 +2026-02-28 16:42:08,114 - DriveTransformer - INFO - Epoch [10][29550/39528] lr: 6.944e-05, eta: 4 days, 18:24:13, time: 0.748, data_time: 0.039, memory: 19865, loss_cls: 0.0910, loss_bbox: 0.2701, loss_traj: 0.4667, loss_traj_cls: 0.0020, loss_map_cls: 0.0923, loss_map_pts: 0.4638, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.4480, d0.loss_plan_l1_fix_dist: 0.4314, d1.loss_plan_l1_fix_time: 0.6904, d1.loss_plan_l1_fix_dist: 0.4163, d2.loss_plan_l1_fix_time: 0.6659, d2.loss_plan_l1_fix_dist: 0.2598, d3.loss_plan_l1_fix_time: 0.6585, d3.loss_plan_l1_fix_dist: 0.2322, d4.loss_plan_l1_fix_time: 0.6599, d4.loss_plan_l1_fix_dist: 0.2090, d5.loss_plan_l1_fix_time: 0.6630, d5.loss_plan_l1_fix_dist: 0.2086, d6.loss_plan_l1_fix_time: 0.6670, d6.loss_plan_l1_fix_dist: 0.2165, d0.loss_cls_all: 0.1335, d0.loss_bbox_all: 0.3224, d0.loss_cls: 0.1335, d0.loss_bbox: 0.3224, d1.loss_cls: 0.1236, d1.loss_bbox: 0.2943, d2.loss_cls: 0.1125, d2.loss_bbox: 0.2754, d3.loss_cls: 0.0956, d3.loss_bbox: 0.2707, d4.loss_cls: 0.0905, d4.loss_bbox: 0.2693, d5.loss_cls: 0.0910, d5.loss_bbox: 0.2687, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6823, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5233, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4912, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4707, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4661, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4678, d0.loss_map_cls_all: 0.1787, d0.loss_map_pts_all: 1.0569, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1787, d0.loss_map_pts: 1.0569, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1411, d1.loss_map_pts: 0.7278, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1148, d2.loss_map_pts: 0.5551, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1025, d3.loss_map_pts: 0.4887, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0966, d4.loss_map_pts: 0.4681, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0938, d5.loss_map_pts: 0.4633, d5.loss_map_dir: 0.0063, loss: 21.4948, grad_norm: 153.4853 +2026-02-28 16:42:43,439 - DriveTransformer - INFO - Epoch [10][29600/39528] lr: 6.944e-05, eta: 4 days, 18:23:32, time: 0.707, data_time: 0.037, memory: 19865, loss_cls: 0.1085, loss_bbox: 0.3009, loss_traj: 0.5045, loss_traj_cls: 0.0020, loss_map_cls: 0.0968, loss_map_pts: 0.4759, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.6884, d0.loss_plan_l1_fix_dist: 0.4531, d1.loss_plan_l1_fix_time: 0.8507, d1.loss_plan_l1_fix_dist: 0.4300, d2.loss_plan_l1_fix_time: 0.8353, d2.loss_plan_l1_fix_dist: 0.3196, d3.loss_plan_l1_fix_time: 0.8312, d3.loss_plan_l1_fix_dist: 0.2620, d4.loss_plan_l1_fix_time: 0.8323, d4.loss_plan_l1_fix_dist: 0.2040, d5.loss_plan_l1_fix_time: 0.8344, d5.loss_plan_l1_fix_dist: 0.2268, d6.loss_plan_l1_fix_time: 0.8366, d6.loss_plan_l1_fix_dist: 0.2330, d0.loss_cls_all: 0.1505, d0.loss_bbox_all: 0.3741, d0.loss_cls: 0.1505, d0.loss_bbox: 0.3741, d1.loss_cls: 0.1446, d1.loss_bbox: 0.3380, d2.loss_cls: 0.1319, d2.loss_bbox: 0.3138, d3.loss_cls: 0.1171, d3.loss_bbox: 0.3068, d4.loss_cls: 0.1101, d4.loss_bbox: 0.3041, d5.loss_cls: 0.1085, d5.loss_bbox: 0.3018, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7550, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5933, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5264, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5067, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5044, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5031, d0.loss_map_cls_all: 0.1739, d0.loss_map_pts_all: 1.0215, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1739, d0.loss_map_pts: 1.0215, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1466, d1.loss_map_pts: 0.7377, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1215, d2.loss_map_pts: 0.5767, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1104, d3.loss_map_pts: 0.5121, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1026, d4.loss_map_pts: 0.4846, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0980, d5.loss_map_pts: 0.4774, d5.loss_map_dir: 0.0061, loss: 23.7509, grad_norm: 153.1978 +2026-02-28 16:43:18,398 - DriveTransformer - INFO - Epoch [10][29650/39528] lr: 6.944e-05, eta: 4 days, 18:22:49, time: 0.699, data_time: 0.039, memory: 19865, loss_cls: 0.0862, loss_bbox: 0.2812, loss_traj: 0.5453, loss_traj_cls: 0.0020, loss_map_cls: 0.0943, loss_map_pts: 0.4403, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.2187, d0.loss_plan_l1_fix_dist: 0.4730, d1.loss_plan_l1_fix_time: 0.8166, d1.loss_plan_l1_fix_dist: 0.4227, d2.loss_plan_l1_fix_time: 0.7988, d2.loss_plan_l1_fix_dist: 0.3486, d3.loss_plan_l1_fix_time: 0.8012, d3.loss_plan_l1_fix_dist: 0.2639, d4.loss_plan_l1_fix_time: 0.8053, d4.loss_plan_l1_fix_dist: 0.2207, d5.loss_plan_l1_fix_time: 0.8093, d5.loss_plan_l1_fix_dist: 0.2491, d6.loss_plan_l1_fix_time: 0.8133, d6.loss_plan_l1_fix_dist: 0.2660, d0.loss_cls_all: 0.1253, d0.loss_bbox_all: 0.3429, d0.loss_cls: 0.1253, d0.loss_bbox: 0.3429, d1.loss_cls: 0.1206, d1.loss_bbox: 0.3096, d2.loss_cls: 0.1099, d2.loss_bbox: 0.2909, d3.loss_cls: 0.0922, d3.loss_bbox: 0.2876, d4.loss_cls: 0.0871, d4.loss_bbox: 0.2838, d5.loss_cls: 0.0851, d5.loss_bbox: 0.2829, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7145, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5969, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5695, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5513, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5488, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5468, d0.loss_map_cls_all: 0.1562, d0.loss_map_pts_all: 0.9205, d0.loss_map_dir_all: 0.0048, d0.loss_map_cls: 0.1562, d0.loss_map_pts: 0.9205, d0.loss_map_dir: 0.0048, d1.loss_map_cls: 0.1349, d1.loss_map_pts: 0.6714, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1111, d2.loss_map_pts: 0.5243, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1049, d3.loss_map_pts: 0.4683, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0981, d4.loss_map_pts: 0.4472, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0952, d5.loss_map_pts: 0.4409, d5.loss_map_dir: 0.0052, loss: 22.4653, grad_norm: 160.5781 +2026-02-28 16:43:56,986 - DriveTransformer - INFO - Epoch [10][29700/39528] lr: 6.944e-05, eta: 4 days, 18:22:20, time: 0.772, data_time: 0.036, memory: 19865, loss_cls: 0.0883, loss_bbox: 0.2995, loss_traj: 0.5709, loss_traj_cls: 0.0020, loss_map_cls: 0.1038, loss_map_pts: 0.5254, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.7275, d0.loss_plan_l1_fix_dist: 0.4978, d1.loss_plan_l1_fix_time: 0.7844, d1.loss_plan_l1_fix_dist: 0.4257, d2.loss_plan_l1_fix_time: 0.7569, d2.loss_plan_l1_fix_dist: 0.3327, d3.loss_plan_l1_fix_time: 0.7557, d3.loss_plan_l1_fix_dist: 0.2387, d4.loss_plan_l1_fix_time: 0.7597, d4.loss_plan_l1_fix_dist: 0.1941, d5.loss_plan_l1_fix_time: 0.7644, d5.loss_plan_l1_fix_dist: 0.2090, d6.loss_plan_l1_fix_time: 0.7697, d6.loss_plan_l1_fix_dist: 0.2108, d0.loss_cls_all: 0.1379, d0.loss_bbox_all: 0.3703, d0.loss_cls: 0.1379, d0.loss_bbox: 0.3703, d1.loss_cls: 0.1294, d1.loss_bbox: 0.3333, d2.loss_cls: 0.1162, d2.loss_bbox: 0.3075, d3.loss_cls: 0.0984, d3.loss_bbox: 0.3018, d4.loss_cls: 0.0891, d4.loss_bbox: 0.3009, d5.loss_cls: 0.0877, d5.loss_bbox: 0.3003, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8353, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6548, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5933, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5728, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5750, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5710, d0.loss_map_cls_all: 0.1838, d0.loss_map_pts_all: 1.1541, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1838, d0.loss_map_pts: 1.1541, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1533, d1.loss_map_pts: 0.8087, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1286, d2.loss_map_pts: 0.6346, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1171, d3.loss_map_pts: 0.5645, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1100, d4.loss_map_pts: 0.5407, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1054, d5.loss_map_pts: 0.5271, d5.loss_map_dir: 0.0075, loss: 24.3285, grad_norm: 159.9891 +2026-02-28 16:44:34,022 - DriveTransformer - INFO - Epoch [10][29750/39528] lr: 6.944e-05, eta: 4 days, 18:21:45, time: 0.741, data_time: 0.038, memory: 19865, loss_cls: 0.0938, loss_bbox: 0.2903, loss_traj: 0.5502, loss_traj_cls: 0.0020, loss_map_cls: 0.0941, loss_map_pts: 0.4904, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.4917, d0.loss_plan_l1_fix_dist: 0.3911, d1.loss_plan_l1_fix_time: 0.8085, d1.loss_plan_l1_fix_dist: 0.4124, d2.loss_plan_l1_fix_time: 0.7832, d2.loss_plan_l1_fix_dist: 0.3409, d3.loss_plan_l1_fix_time: 0.7794, d3.loss_plan_l1_fix_dist: 0.2673, d4.loss_plan_l1_fix_time: 0.7843, d4.loss_plan_l1_fix_dist: 0.2519, d5.loss_plan_l1_fix_time: 0.7901, d5.loss_plan_l1_fix_dist: 0.2608, d6.loss_plan_l1_fix_time: 0.7970, d6.loss_plan_l1_fix_dist: 0.2607, d0.loss_cls_all: 0.1380, d0.loss_bbox_all: 0.3493, d0.loss_cls: 0.1380, d0.loss_bbox: 0.3493, d1.loss_cls: 0.1308, d1.loss_bbox: 0.3146, d2.loss_cls: 0.1159, d2.loss_bbox: 0.2974, d3.loss_cls: 0.1007, d3.loss_bbox: 0.2919, d4.loss_cls: 0.0960, d4.loss_bbox: 0.2899, d5.loss_cls: 0.0948, d5.loss_bbox: 0.2897, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7953, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6250, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5735, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5560, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5476, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5484, d0.loss_map_cls_all: 0.1750, d0.loss_map_pts_all: 1.0443, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1750, d0.loss_map_pts: 1.0443, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1435, d1.loss_map_pts: 0.7320, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1196, d2.loss_map_pts: 0.5816, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1081, d3.loss_map_pts: 0.5202, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1018, d4.loss_map_pts: 0.4967, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.0966, d5.loss_map_pts: 0.4913, d5.loss_map_dir: 0.0070, loss: 23.4716, grad_norm: 165.8747 +2026-02-28 16:45:12,700 - DriveTransformer - INFO - Epoch [10][29800/39528] lr: 6.944e-05, eta: 4 days, 18:21:17, time: 0.774, data_time: 0.036, memory: 19865, loss_cls: 0.0948, loss_bbox: 0.2820, loss_traj: 0.5162, loss_traj_cls: 0.0021, loss_map_cls: 0.0872, loss_map_pts: 0.5462, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.6509, d0.loss_plan_l1_fix_dist: 0.4909, d1.loss_plan_l1_fix_time: 0.8336, d1.loss_plan_l1_fix_dist: 0.4179, d2.loss_plan_l1_fix_time: 0.8270, d2.loss_plan_l1_fix_dist: 0.3777, d3.loss_plan_l1_fix_time: 0.8302, d3.loss_plan_l1_fix_dist: 0.3050, d4.loss_plan_l1_fix_time: 0.8376, d4.loss_plan_l1_fix_dist: 0.3145, d5.loss_plan_l1_fix_time: 0.8451, d5.loss_plan_l1_fix_dist: 0.3314, d6.loss_plan_l1_fix_time: 0.8540, d6.loss_plan_l1_fix_dist: 0.3206, d0.loss_cls_all: 0.1369, d0.loss_bbox_all: 0.3294, d0.loss_cls: 0.1369, d0.loss_bbox: 0.3294, d1.loss_cls: 0.1314, d1.loss_bbox: 0.3006, d2.loss_cls: 0.1177, d2.loss_bbox: 0.2852, d3.loss_cls: 0.1025, d3.loss_bbox: 0.2828, d4.loss_cls: 0.0975, d4.loss_bbox: 0.2812, d5.loss_cls: 0.0945, d5.loss_bbox: 0.2824, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7202, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5804, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5272, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5167, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5145, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5150, d0.loss_map_cls_all: 0.1635, d0.loss_map_pts_all: 1.1547, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1635, d0.loss_map_pts: 1.1547, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1301, d1.loss_map_pts: 0.8076, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1107, d2.loss_map_pts: 0.6447, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1017, d3.loss_map_pts: 0.5813, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.0944, d4.loss_map_pts: 0.5552, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.0891, d5.loss_map_pts: 0.5483, d5.loss_map_dir: 0.0077, loss: 24.4108, grad_norm: 177.2636 +2026-02-28 16:45:49,251 - DriveTransformer - INFO - Epoch [10][29850/39528] lr: 6.944e-05, eta: 4 days, 18:20:40, time: 0.731, data_time: 0.038, memory: 19865, loss_cls: 0.1179, loss_bbox: 0.3102, loss_traj: 0.5189, loss_traj_cls: 0.0020, loss_map_cls: 0.1109, loss_map_pts: 0.5931, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.8717, d0.loss_plan_l1_fix_dist: 0.4811, d1.loss_plan_l1_fix_time: 0.8759, d1.loss_plan_l1_fix_dist: 0.3918, d2.loss_plan_l1_fix_time: 0.8670, d2.loss_plan_l1_fix_dist: 0.3529, d3.loss_plan_l1_fix_time: 0.8710, d3.loss_plan_l1_fix_dist: 0.2615, d4.loss_plan_l1_fix_time: 0.8761, d4.loss_plan_l1_fix_dist: 0.2616, d5.loss_plan_l1_fix_time: 0.8809, d5.loss_plan_l1_fix_dist: 0.2737, d6.loss_plan_l1_fix_time: 0.8863, d6.loss_plan_l1_fix_dist: 0.2492, d0.loss_cls_all: 0.1548, d0.loss_bbox_all: 0.3762, d0.loss_cls: 0.1548, d0.loss_bbox: 0.3762, d1.loss_cls: 0.1467, d1.loss_bbox: 0.3429, d2.loss_cls: 0.1353, d2.loss_bbox: 0.3209, d3.loss_cls: 0.1215, d3.loss_bbox: 0.3144, d4.loss_cls: 0.1174, d4.loss_bbox: 0.3135, d5.loss_cls: 0.1165, d5.loss_bbox: 0.3119, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7159, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5873, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5512, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5317, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5236, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5196, d0.loss_map_cls_all: 0.2063, d0.loss_map_pts_all: 1.1990, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2063, d0.loss_map_pts: 1.1990, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1661, d1.loss_map_pts: 0.8629, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1401, d2.loss_map_pts: 0.6906, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1261, d3.loss_map_pts: 0.6238, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1192, d4.loss_map_pts: 0.6043, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1143, d5.loss_map_pts: 0.5941, d5.loss_map_dir: 0.0071, loss: 25.6988, grad_norm: 176.7297 +2026-02-28 16:46:26,085 - DriveTransformer - INFO - Epoch [10][29900/39528] lr: 6.944e-05, eta: 4 days, 18:20:05, time: 0.737, data_time: 0.040, memory: 19865, loss_cls: 0.1036, loss_bbox: 0.2905, loss_traj: 0.4779, loss_traj_cls: 0.0020, loss_map_cls: 0.0944, loss_map_pts: 0.4868, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.6601, d0.loss_plan_l1_fix_dist: 0.3846, d1.loss_plan_l1_fix_time: 0.8615, d1.loss_plan_l1_fix_dist: 0.3059, d2.loss_plan_l1_fix_time: 0.8463, d2.loss_plan_l1_fix_dist: 0.3285, d3.loss_plan_l1_fix_time: 0.8385, d3.loss_plan_l1_fix_dist: 0.2185, d4.loss_plan_l1_fix_time: 0.8407, d4.loss_plan_l1_fix_dist: 0.2645, d5.loss_plan_l1_fix_time: 0.8436, d5.loss_plan_l1_fix_dist: 0.3040, d6.loss_plan_l1_fix_time: 0.8469, d6.loss_plan_l1_fix_dist: 0.3057, d0.loss_cls_all: 0.1554, d0.loss_bbox_all: 0.3514, d0.loss_cls: 0.1554, d0.loss_bbox: 0.3514, d1.loss_cls: 0.1447, d1.loss_bbox: 0.3197, d2.loss_cls: 0.1338, d2.loss_bbox: 0.2974, d3.loss_cls: 0.1159, d3.loss_bbox: 0.2923, d4.loss_cls: 0.1067, d4.loss_bbox: 0.2918, d5.loss_cls: 0.1046, d5.loss_bbox: 0.2898, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6786, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5362, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4976, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4848, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4789, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4786, d0.loss_map_cls_all: 0.1693, d0.loss_map_pts_all: 1.0360, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1693, d0.loss_map_pts: 1.0360, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1382, d1.loss_map_pts: 0.7436, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1193, d2.loss_map_pts: 0.5747, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1079, d3.loss_map_pts: 0.5170, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1002, d4.loss_map_pts: 0.4998, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0962, d5.loss_map_pts: 0.4884, d5.loss_map_dir: 0.0061, loss: 23.4179, grad_norm: 177.0784 +2026-02-28 16:47:03,606 - DriveTransformer - INFO - Epoch [10][29950/39528] lr: 6.944e-05, eta: 4 days, 18:19:32, time: 0.750, data_time: 0.038, memory: 19865, loss_cls: 0.1068, loss_bbox: 0.2933, loss_traj: 0.4933, loss_traj_cls: 0.0021, loss_map_cls: 0.0939, loss_map_pts: 0.5551, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.4788, d0.loss_plan_l1_fix_dist: 0.4018, d1.loss_plan_l1_fix_time: 0.7772, d1.loss_plan_l1_fix_dist: 0.2648, d2.loss_plan_l1_fix_time: 0.7742, d2.loss_plan_l1_fix_dist: 0.3055, d3.loss_plan_l1_fix_time: 0.7758, d3.loss_plan_l1_fix_dist: 0.1984, d4.loss_plan_l1_fix_time: 0.7793, d4.loss_plan_l1_fix_dist: 0.2410, d5.loss_plan_l1_fix_time: 0.7827, d5.loss_plan_l1_fix_dist: 0.2513, d6.loss_plan_l1_fix_time: 0.7863, d6.loss_plan_l1_fix_dist: 0.2489, d0.loss_cls_all: 0.1479, d0.loss_bbox_all: 0.3595, d0.loss_cls: 0.1479, d0.loss_bbox: 0.3595, d1.loss_cls: 0.1383, d1.loss_bbox: 0.3240, d2.loss_cls: 0.1272, d2.loss_bbox: 0.3029, d3.loss_cls: 0.1123, d3.loss_bbox: 0.2980, d4.loss_cls: 0.1067, d4.loss_bbox: 0.2962, d5.loss_cls: 0.1053, d5.loss_bbox: 0.2943, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7195, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5623, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5180, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5034, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4966, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4937, d0.loss_map_cls_all: 0.1755, d0.loss_map_pts_all: 1.1902, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1755, d0.loss_map_pts: 1.1902, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1430, d1.loss_map_pts: 0.8450, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1205, d2.loss_map_pts: 0.6614, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1083, d3.loss_map_pts: 0.5904, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1002, d4.loss_map_pts: 0.5602, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.0954, d5.loss_map_pts: 0.5553, d5.loss_map_dir: 0.0072, loss: 23.5983, grad_norm: 176.7903 +2026-02-28 16:47:41,559 - DriveTransformer - INFO - Epoch [10][30000/39528] lr: 6.944e-05, eta: 4 days, 18:19:01, time: 0.759, data_time: 0.040, memory: 19865, loss_cls: 0.0958, loss_bbox: 0.2716, loss_traj: 0.4384, loss_traj_cls: 0.0020, loss_map_cls: 0.0994, loss_map_pts: 0.5163, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.3652, d0.loss_plan_l1_fix_dist: 0.4231, d1.loss_plan_l1_fix_time: 0.7638, d1.loss_plan_l1_fix_dist: 0.2415, d2.loss_plan_l1_fix_time: 0.7555, d2.loss_plan_l1_fix_dist: 0.3084, d3.loss_plan_l1_fix_time: 0.7560, d3.loss_plan_l1_fix_dist: 0.2221, d4.loss_plan_l1_fix_time: 0.7591, d4.loss_plan_l1_fix_dist: 0.2530, d5.loss_plan_l1_fix_time: 0.7622, d5.loss_plan_l1_fix_dist: 0.2278, d6.loss_plan_l1_fix_time: 0.7663, d6.loss_plan_l1_fix_dist: 0.2507, d0.loss_cls_all: 0.1333, d0.loss_bbox_all: 0.3289, d0.loss_cls: 0.1333, d0.loss_bbox: 0.3289, d1.loss_cls: 0.1258, d1.loss_bbox: 0.2995, d2.loss_cls: 0.1109, d2.loss_bbox: 0.2835, d3.loss_cls: 0.0968, d3.loss_bbox: 0.2786, d4.loss_cls: 0.0934, d4.loss_bbox: 0.2757, d5.loss_cls: 0.0939, d5.loss_bbox: 0.2741, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6271, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.4977, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4616, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4504, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4426, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4400, d0.loss_map_cls_all: 0.1868, d0.loss_map_pts_all: 1.1366, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1868, d0.loss_map_pts: 1.1366, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1527, d1.loss_map_pts: 0.7865, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1266, d2.loss_map_pts: 0.6097, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1136, d3.loss_map_pts: 0.5439, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1051, d4.loss_map_pts: 0.5228, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1017, d5.loss_map_pts: 0.5165, d5.loss_map_dir: 0.0066, loss: 22.3368, grad_norm: 176.9470 +2026-02-28 16:48:18,602 - DriveTransformer - INFO - Epoch [10][30050/39528] lr: 6.944e-05, eta: 4 days, 18:18:26, time: 0.741, data_time: 0.041, memory: 19865, loss_cls: 0.1101, loss_bbox: 0.3076, loss_traj: 0.5173, loss_traj_cls: 0.0020, loss_map_cls: 0.1098, loss_map_pts: 0.5519, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.6483, d0.loss_plan_l1_fix_dist: 0.4822, d1.loss_plan_l1_fix_time: 0.7974, d1.loss_plan_l1_fix_dist: 0.2010, d2.loss_plan_l1_fix_time: 0.7775, d2.loss_plan_l1_fix_dist: 0.2922, d3.loss_plan_l1_fix_time: 0.7813, d3.loss_plan_l1_fix_dist: 0.2072, d4.loss_plan_l1_fix_time: 0.7843, d4.loss_plan_l1_fix_dist: 0.2319, d5.loss_plan_l1_fix_time: 0.7875, d5.loss_plan_l1_fix_dist: 0.2099, d6.loss_plan_l1_fix_time: 0.7907, d6.loss_plan_l1_fix_dist: 0.2510, d0.loss_cls_all: 0.1499, d0.loss_bbox_all: 0.3723, d0.loss_cls: 0.1499, d0.loss_bbox: 0.3723, d1.loss_cls: 0.1424, d1.loss_bbox: 0.3390, d2.loss_cls: 0.1300, d2.loss_bbox: 0.3169, d3.loss_cls: 0.1138, d3.loss_bbox: 0.3116, d4.loss_cls: 0.1107, d4.loss_bbox: 0.3089, d5.loss_cls: 0.1100, d5.loss_bbox: 0.3070, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8087, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6249, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5544, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5358, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5267, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5188, d0.loss_map_cls_all: 0.1846, d0.loss_map_pts_all: 1.1254, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1846, d0.loss_map_pts: 1.1254, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1576, d1.loss_map_pts: 0.7973, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1344, d2.loss_map_pts: 0.6310, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1248, d3.loss_map_pts: 0.5744, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1188, d4.loss_map_pts: 0.5538, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1128, d5.loss_map_pts: 0.5493, d5.loss_map_dir: 0.0062, loss: 24.0720, grad_norm: 180.6692 +2026-02-28 16:48:55,377 - DriveTransformer - INFO - Epoch [10][30100/39528] lr: 6.944e-05, eta: 4 days, 18:17:50, time: 0.735, data_time: 0.038, memory: 19865, loss_cls: 0.1150, loss_bbox: 0.3149, loss_traj: 0.5549, loss_traj_cls: 0.0019, loss_map_cls: 0.1207, loss_map_pts: 0.5927, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.6384, d0.loss_plan_l1_fix_dist: 0.4201, d1.loss_plan_l1_fix_time: 0.8217, d1.loss_plan_l1_fix_dist: 0.1945, d2.loss_plan_l1_fix_time: 0.8022, d2.loss_plan_l1_fix_dist: 0.2994, d3.loss_plan_l1_fix_time: 0.8035, d3.loss_plan_l1_fix_dist: 0.2048, d4.loss_plan_l1_fix_time: 0.8057, d4.loss_plan_l1_fix_dist: 0.2427, d5.loss_plan_l1_fix_time: 0.8083, d5.loss_plan_l1_fix_dist: 0.2321, d6.loss_plan_l1_fix_time: 0.8109, d6.loss_plan_l1_fix_dist: 0.2387, d0.loss_cls_all: 0.1668, d0.loss_bbox_all: 0.3894, d0.loss_cls: 0.1668, d0.loss_bbox: 0.3894, d1.loss_cls: 0.1580, d1.loss_bbox: 0.3543, d2.loss_cls: 0.1439, d2.loss_bbox: 0.3276, d3.loss_cls: 0.1191, d3.loss_bbox: 0.3229, d4.loss_cls: 0.1150, d4.loss_bbox: 0.3170, d5.loss_cls: 0.1146, d5.loss_bbox: 0.3153, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8303, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6404, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5811, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5591, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5557, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5572, d0.loss_map_cls_all: 0.2015, d0.loss_map_pts_all: 1.1961, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2015, d0.loss_map_pts: 1.1961, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1724, d1.loss_map_pts: 0.8483, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1457, d2.loss_map_pts: 0.6823, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1349, d3.loss_map_pts: 0.6218, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1273, d4.loss_map_pts: 0.6011, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1222, d5.loss_map_pts: 0.5936, d5.loss_map_dir: 0.0073, loss: 25.0545, grad_norm: 177.1609 +2026-02-28 16:49:30,503 - DriveTransformer - INFO - Epoch [10][30150/39528] lr: 6.944e-05, eta: 4 days, 18:17:08, time: 0.703, data_time: 0.040, memory: 19865, loss_cls: 0.0878, loss_bbox: 0.2819, loss_traj: 0.5756, loss_traj_cls: 0.0020, loss_map_cls: 0.0848, loss_map_pts: 0.4434, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.5471, d0.loss_plan_l1_fix_dist: 0.4967, d1.loss_plan_l1_fix_time: 0.8591, d1.loss_plan_l1_fix_dist: 0.1897, d2.loss_plan_l1_fix_time: 0.8408, d2.loss_plan_l1_fix_dist: 0.2943, d3.loss_plan_l1_fix_time: 0.8383, d3.loss_plan_l1_fix_dist: 0.2215, d4.loss_plan_l1_fix_time: 0.8402, d4.loss_plan_l1_fix_dist: 0.2682, d5.loss_plan_l1_fix_time: 0.8426, d5.loss_plan_l1_fix_dist: 0.2943, d6.loss_plan_l1_fix_time: 0.8460, d6.loss_plan_l1_fix_dist: 0.2724, d0.loss_cls_all: 0.1246, d0.loss_bbox_all: 0.3424, d0.loss_cls: 0.1246, d0.loss_bbox: 0.3424, d1.loss_cls: 0.1177, d1.loss_bbox: 0.3075, d2.loss_cls: 0.1074, d2.loss_bbox: 0.2865, d3.loss_cls: 0.0925, d3.loss_bbox: 0.2809, d4.loss_cls: 0.0896, d4.loss_bbox: 0.2786, d5.loss_cls: 0.0882, d5.loss_bbox: 0.2784, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8396, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6578, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6035, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5876, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5800, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5761, d0.loss_map_cls_all: 0.1575, d0.loss_map_pts_all: 0.9868, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1575, d0.loss_map_pts: 0.9868, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1282, d1.loss_map_pts: 0.6727, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1076, d2.loss_map_pts: 0.5276, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0982, d3.loss_map_pts: 0.4671, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0909, d4.loss_map_pts: 0.4489, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0867, d5.loss_map_pts: 0.4438, d5.loss_map_dir: 0.0051, loss: 23.2389, grad_norm: 176.8367 +2026-02-28 16:50:06,712 - DriveTransformer - INFO - Epoch [10][30200/39528] lr: 6.944e-05, eta: 4 days, 18:16:31, time: 0.726, data_time: 0.037, memory: 19865, loss_cls: 0.0969, loss_bbox: 0.2703, loss_traj: 0.4678, loss_traj_cls: 0.0020, loss_map_cls: 0.0832, loss_map_pts: 0.4616, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.5729, d0.loss_plan_l1_fix_dist: 0.4695, d1.loss_plan_l1_fix_time: 0.7977, d1.loss_plan_l1_fix_dist: 0.1905, d2.loss_plan_l1_fix_time: 0.7928, d2.loss_plan_l1_fix_dist: 0.2611, d3.loss_plan_l1_fix_time: 0.7930, d3.loss_plan_l1_fix_dist: 0.1899, d4.loss_plan_l1_fix_time: 0.7958, d4.loss_plan_l1_fix_dist: 0.2122, d5.loss_plan_l1_fix_time: 0.7989, d5.loss_plan_l1_fix_dist: 0.2455, d6.loss_plan_l1_fix_time: 0.8027, d6.loss_plan_l1_fix_dist: 0.2222, d0.loss_cls_all: 0.1309, d0.loss_bbox_all: 0.3242, d0.loss_cls: 0.1309, d0.loss_bbox: 0.3242, d1.loss_cls: 0.1243, d1.loss_bbox: 0.2954, d2.loss_cls: 0.1123, d2.loss_bbox: 0.2756, d3.loss_cls: 0.1011, d3.loss_bbox: 0.2691, d4.loss_cls: 0.0949, d4.loss_bbox: 0.2690, d5.loss_cls: 0.0960, d5.loss_bbox: 0.2682, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6955, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5533, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5002, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4805, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4697, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4689, d0.loss_map_cls_all: 0.1708, d0.loss_map_pts_all: 0.9961, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1708, d0.loss_map_pts: 0.9961, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1398, d1.loss_map_pts: 0.6881, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1095, d2.loss_map_pts: 0.5435, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0985, d3.loss_map_pts: 0.4880, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0899, d4.loss_map_pts: 0.4699, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0857, d5.loss_map_pts: 0.4624, d5.loss_map_dir: 0.0058, loss: 22.0703, grad_norm: 180.1833 +2026-02-28 16:50:43,055 - DriveTransformer - INFO - Epoch [10][30250/39528] lr: 6.944e-05, eta: 4 days, 18:15:53, time: 0.725, data_time: 0.038, memory: 19865, loss_cls: 0.1078, loss_bbox: 0.2992, loss_traj: 0.5250, loss_traj_cls: 0.0020, loss_map_cls: 0.1227, loss_map_pts: 0.5797, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 3.0329, d0.loss_plan_l1_fix_dist: 0.4951, d1.loss_plan_l1_fix_time: 0.8286, d1.loss_plan_l1_fix_dist: 0.2217, d2.loss_plan_l1_fix_time: 0.8146, d2.loss_plan_l1_fix_dist: 0.2640, d3.loss_plan_l1_fix_time: 0.8119, d3.loss_plan_l1_fix_dist: 0.2127, d4.loss_plan_l1_fix_time: 0.8144, d4.loss_plan_l1_fix_dist: 0.2306, d5.loss_plan_l1_fix_time: 0.8171, d5.loss_plan_l1_fix_dist: 0.2662, d6.loss_plan_l1_fix_time: 0.8203, d6.loss_plan_l1_fix_dist: 0.2633, d0.loss_cls_all: 0.1468, d0.loss_bbox_all: 0.3577, d0.loss_cls: 0.1468, d0.loss_bbox: 0.3577, d1.loss_cls: 0.1413, d1.loss_bbox: 0.3277, d2.loss_cls: 0.1313, d2.loss_bbox: 0.3063, d3.loss_cls: 0.1163, d3.loss_bbox: 0.3041, d4.loss_cls: 0.1081, d4.loss_bbox: 0.3019, d5.loss_cls: 0.1080, d5.loss_bbox: 0.2993, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7648, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6156, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5623, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5440, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5330, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5275, d0.loss_map_cls_all: 0.2085, d0.loss_map_pts_all: 1.1729, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2085, d0.loss_map_pts: 1.1729, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1763, d1.loss_map_pts: 0.8445, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1503, d2.loss_map_pts: 0.6790, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1383, d3.loss_map_pts: 0.6068, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1301, d4.loss_map_pts: 0.5858, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1247, d5.loss_map_pts: 0.5797, d5.loss_map_dir: 0.0064, loss: 25.0642, grad_norm: 178.6506 +2026-02-28 16:51:19,157 - DriveTransformer - INFO - Epoch [10][30300/39528] lr: 6.944e-05, eta: 4 days, 18:15:15, time: 0.722, data_time: 0.039, memory: 19865, loss_cls: 0.0988, loss_bbox: 0.2935, loss_traj: 0.4158, loss_traj_cls: 0.0020, loss_map_cls: 0.1157, loss_map_pts: 0.5131, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.7033, d0.loss_plan_l1_fix_dist: 0.4727, d1.loss_plan_l1_fix_time: 0.8381, d1.loss_plan_l1_fix_dist: 0.2428, d2.loss_plan_l1_fix_time: 0.8055, d2.loss_plan_l1_fix_dist: 0.2482, d3.loss_plan_l1_fix_time: 0.8040, d3.loss_plan_l1_fix_dist: 0.2069, d4.loss_plan_l1_fix_time: 0.8053, d4.loss_plan_l1_fix_dist: 0.2132, d5.loss_plan_l1_fix_time: 0.8068, d5.loss_plan_l1_fix_dist: 0.2430, d6.loss_plan_l1_fix_time: 0.8089, d6.loss_plan_l1_fix_dist: 0.2217, d0.loss_cls_all: 0.1470, d0.loss_bbox_all: 0.3576, d0.loss_cls: 0.1470, d0.loss_bbox: 0.3576, d1.loss_cls: 0.1376, d1.loss_bbox: 0.3253, d2.loss_cls: 0.1229, d2.loss_bbox: 0.3021, d3.loss_cls: 0.1061, d3.loss_bbox: 0.2974, d4.loss_cls: 0.1004, d4.loss_bbox: 0.2932, d5.loss_cls: 0.0999, d5.loss_bbox: 0.2912, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6451, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5026, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4505, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4301, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4244, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4189, d0.loss_map_cls_all: 0.1893, d0.loss_map_pts_all: 1.1086, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1893, d0.loss_map_pts: 1.1086, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1610, d1.loss_map_pts: 0.7651, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1387, d2.loss_map_pts: 0.6062, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1298, d3.loss_map_pts: 0.5420, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1219, d4.loss_map_pts: 0.5192, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1173, d5.loss_map_pts: 0.5133, d5.loss_map_dir: 0.0062, loss: 23.0801, grad_norm: 178.5754 +2026-02-28 16:51:57,752 - DriveTransformer - INFO - Epoch [10][30350/39528] lr: 6.944e-05, eta: 4 days, 18:14:46, time: 0.772, data_time: 0.043, memory: 19865, loss_cls: 0.1096, loss_bbox: 0.3106, loss_traj: 0.4861, loss_traj_cls: 0.0020, loss_map_cls: 0.1053, loss_map_pts: 0.5874, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.6526, d0.loss_plan_l1_fix_dist: 0.4763, d1.loss_plan_l1_fix_time: 0.7761, d1.loss_plan_l1_fix_dist: 0.2709, d2.loss_plan_l1_fix_time: 0.7598, d2.loss_plan_l1_fix_dist: 0.2634, d3.loss_plan_l1_fix_time: 0.7614, d3.loss_plan_l1_fix_dist: 0.2653, d4.loss_plan_l1_fix_time: 0.7642, d4.loss_plan_l1_fix_dist: 0.3006, d5.loss_plan_l1_fix_time: 0.7667, d5.loss_plan_l1_fix_dist: 0.3286, d6.loss_plan_l1_fix_time: 0.7699, d6.loss_plan_l1_fix_dist: 0.3440, d0.loss_cls_all: 0.1566, d0.loss_bbox_all: 0.3825, d0.loss_cls: 0.1566, d0.loss_bbox: 0.3825, d1.loss_cls: 0.1491, d1.loss_bbox: 0.3439, d2.loss_cls: 0.1351, d2.loss_bbox: 0.3207, d3.loss_cls: 0.1171, d3.loss_bbox: 0.3137, d4.loss_cls: 0.1092, d4.loss_bbox: 0.3117, d5.loss_cls: 0.1091, d5.loss_bbox: 0.3106, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7197, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5653, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5061, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4881, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4819, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4845, d0.loss_map_cls_all: 0.1905, d0.loss_map_pts_all: 1.2372, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1905, d0.loss_map_pts: 1.2372, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1561, d1.loss_map_pts: 0.8696, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1318, d2.loss_map_pts: 0.6864, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1195, d3.loss_map_pts: 0.6214, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1121, d4.loss_map_pts: 0.5943, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1075, d5.loss_map_pts: 0.5881, d5.loss_map_dir: 0.0078, loss: 24.5527, grad_norm: 177.6309 +2026-02-28 16:52:35,459 - DriveTransformer - INFO - Epoch [10][30400/39528] lr: 6.944e-05, eta: 4 days, 18:14:14, time: 0.754, data_time: 0.038, memory: 19865, loss_cls: 0.1058, loss_bbox: 0.2826, loss_traj: 0.4510, loss_traj_cls: 0.0020, loss_map_cls: 0.1090, loss_map_pts: 0.5386, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.7716, d0.loss_plan_l1_fix_dist: 0.4748, d1.loss_plan_l1_fix_time: 0.7807, d1.loss_plan_l1_fix_dist: 0.2574, d2.loss_plan_l1_fix_time: 0.7429, d2.loss_plan_l1_fix_dist: 0.2263, d3.loss_plan_l1_fix_time: 0.7317, d3.loss_plan_l1_fix_dist: 0.2462, d4.loss_plan_l1_fix_time: 0.7331, d4.loss_plan_l1_fix_dist: 0.2985, d5.loss_plan_l1_fix_time: 0.7353, d5.loss_plan_l1_fix_dist: 0.2967, d6.loss_plan_l1_fix_time: 0.7382, d6.loss_plan_l1_fix_dist: 0.3239, d0.loss_cls_all: 0.1525, d0.loss_bbox_all: 0.3522, d0.loss_cls: 0.1525, d0.loss_bbox: 0.3522, d1.loss_cls: 0.1431, d1.loss_bbox: 0.3189, d2.loss_cls: 0.1258, d2.loss_bbox: 0.2957, d3.loss_cls: 0.1113, d3.loss_bbox: 0.2887, d4.loss_cls: 0.1050, d4.loss_bbox: 0.2850, d5.loss_cls: 0.1054, d5.loss_bbox: 0.2838, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6437, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5181, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4770, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4570, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4505, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4533, d0.loss_map_cls_all: 0.1870, d0.loss_map_pts_all: 1.1161, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1870, d0.loss_map_pts: 1.1161, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1541, d1.loss_map_pts: 0.7815, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1325, d2.loss_map_pts: 0.6201, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1214, d3.loss_map_pts: 0.5630, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1151, d4.loss_map_pts: 0.5433, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1106, d5.loss_map_pts: 0.5390, d5.loss_map_dir: 0.0060, loss: 23.2593, grad_norm: 178.4624 +2026-02-28 16:53:11,957 - DriveTransformer - INFO - Epoch [10][30450/39528] lr: 6.944e-05, eta: 4 days, 18:13:37, time: 0.730, data_time: 0.039, memory: 19865, loss_cls: 0.0998, loss_bbox: 0.2813, loss_traj: 0.5059, loss_traj_cls: 0.0021, loss_map_cls: 0.0990, loss_map_pts: 0.4875, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.4760, d0.loss_plan_l1_fix_dist: 0.5306, d1.loss_plan_l1_fix_time: 0.7897, d1.loss_plan_l1_fix_dist: 0.2499, d2.loss_plan_l1_fix_time: 0.7583, d2.loss_plan_l1_fix_dist: 0.2043, d3.loss_plan_l1_fix_time: 0.7564, d3.loss_plan_l1_fix_dist: 0.2123, d4.loss_plan_l1_fix_time: 0.7580, d4.loss_plan_l1_fix_dist: 0.2869, d5.loss_plan_l1_fix_time: 0.7602, d5.loss_plan_l1_fix_dist: 0.2413, d6.loss_plan_l1_fix_time: 0.7626, d6.loss_plan_l1_fix_dist: 0.2455, d0.loss_cls_all: 0.1410, d0.loss_bbox_all: 0.3420, d0.loss_cls: 0.1410, d0.loss_bbox: 0.3420, d1.loss_cls: 0.1324, d1.loss_bbox: 0.3131, d2.loss_cls: 0.1209, d2.loss_bbox: 0.2937, d3.loss_cls: 0.1057, d3.loss_bbox: 0.2853, d4.loss_cls: 0.1001, d4.loss_bbox: 0.2841, d5.loss_cls: 0.0980, d5.loss_bbox: 0.2831, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7405, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5680, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5333, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5222, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5104, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5060, d0.loss_map_cls_all: 0.1792, d0.loss_map_pts_all: 1.0191, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1792, d0.loss_map_pts: 1.0191, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1503, d1.loss_map_pts: 0.7340, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1233, d2.loss_map_pts: 0.5844, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1119, d3.loss_map_pts: 0.5196, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1064, d4.loss_map_pts: 0.4975, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.1017, d5.loss_map_pts: 0.4895, d5.loss_map_dir: 0.0054, loss: 22.7333, grad_norm: 177.3477 +2026-02-28 16:53:49,700 - DriveTransformer - INFO - Epoch [10][30500/39528] lr: 6.944e-05, eta: 4 days, 18:13:05, time: 0.755, data_time: 0.038, memory: 19865, loss_cls: 0.0931, loss_bbox: 0.2728, loss_traj: 0.4792, loss_traj_cls: 0.0021, loss_map_cls: 0.0869, loss_map_pts: 0.5025, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.4835, d0.loss_plan_l1_fix_dist: 0.5153, d1.loss_plan_l1_fix_time: 0.7462, d1.loss_plan_l1_fix_dist: 0.2545, d2.loss_plan_l1_fix_time: 0.7287, d2.loss_plan_l1_fix_dist: 0.2230, d3.loss_plan_l1_fix_time: 0.7241, d3.loss_plan_l1_fix_dist: 0.2341, d4.loss_plan_l1_fix_time: 0.7276, d4.loss_plan_l1_fix_dist: 0.3390, d5.loss_plan_l1_fix_time: 0.7317, d5.loss_plan_l1_fix_dist: 0.3221, d6.loss_plan_l1_fix_time: 0.7366, d6.loss_plan_l1_fix_dist: 0.3347, d0.loss_cls_all: 0.1356, d0.loss_bbox_all: 0.3390, d0.loss_cls: 0.1356, d0.loss_bbox: 0.3390, d1.loss_cls: 0.1274, d1.loss_bbox: 0.3044, d2.loss_cls: 0.1155, d2.loss_bbox: 0.2821, d3.loss_cls: 0.1015, d3.loss_bbox: 0.2750, d4.loss_cls: 0.0970, d4.loss_bbox: 0.2717, d5.loss_cls: 0.0940, d5.loss_bbox: 0.2722, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6590, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5429, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5003, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4844, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4813, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4777, d0.loss_map_cls_all: 0.1725, d0.loss_map_pts_all: 1.1159, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1725, d0.loss_map_pts: 1.1159, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1324, d1.loss_map_pts: 0.7493, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1107, d2.loss_map_pts: 0.5867, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.0999, d3.loss_map_pts: 0.5255, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.0936, d4.loss_map_pts: 0.5069, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0894, d5.loss_map_pts: 0.5034, d5.loss_map_dir: 0.0063, loss: 22.6038, grad_norm: 179.4471 +2026-02-28 16:54:26,768 - DriveTransformer - INFO - Epoch [10][30550/39528] lr: 6.944e-05, eta: 4 days, 18:12:30, time: 0.741, data_time: 0.039, memory: 19865, loss_cls: 0.0961, loss_bbox: 0.2965, loss_traj: 0.4419, loss_traj_cls: 0.0021, loss_map_cls: 0.1055, loss_map_pts: 0.5277, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.8730, d0.loss_plan_l1_fix_dist: 0.5042, d1.loss_plan_l1_fix_time: 0.8850, d1.loss_plan_l1_fix_dist: 0.2645, d2.loss_plan_l1_fix_time: 0.8652, d2.loss_plan_l1_fix_dist: 0.2350, d3.loss_plan_l1_fix_time: 0.8574, d3.loss_plan_l1_fix_dist: 0.2413, d4.loss_plan_l1_fix_time: 0.8588, d4.loss_plan_l1_fix_dist: 0.3116, d5.loss_plan_l1_fix_time: 0.8610, d5.loss_plan_l1_fix_dist: 0.3038, d6.loss_plan_l1_fix_time: 0.8639, d6.loss_plan_l1_fix_dist: 0.3032, d0.loss_cls_all: 0.1402, d0.loss_bbox_all: 0.3622, d0.loss_cls: 0.1402, d0.loss_bbox: 0.3622, d1.loss_cls: 0.1321, d1.loss_bbox: 0.3315, d2.loss_cls: 0.1195, d2.loss_bbox: 0.3089, d3.loss_cls: 0.1038, d3.loss_bbox: 0.3014, d4.loss_cls: 0.0976, d4.loss_bbox: 0.2986, d5.loss_cls: 0.0952, d5.loss_bbox: 0.2985, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6473, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5121, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4679, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4537, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4473, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4460, d0.loss_map_cls_all: 0.1791, d0.loss_map_pts_all: 1.1336, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1791, d0.loss_map_pts: 1.1336, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1494, d1.loss_map_pts: 0.7690, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1297, d2.loss_map_pts: 0.6071, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1157, d3.loss_map_pts: 0.5512, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1101, d4.loss_map_pts: 0.5321, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1059, d5.loss_map_pts: 0.5286, d5.loss_map_dir: 0.0063, loss: 24.0423, grad_norm: 180.0653 +2026-02-28 16:55:03,019 - DriveTransformer - INFO - Epoch [10][30600/39528] lr: 6.944e-05, eta: 4 days, 18:11:53, time: 0.725, data_time: 0.039, memory: 19865, loss_cls: 0.1031, loss_bbox: 0.2913, loss_traj: 0.5153, loss_traj_cls: 0.0020, loss_map_cls: 0.1110, loss_map_pts: 0.5249, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.3941, d0.loss_plan_l1_fix_dist: 0.3852, d1.loss_plan_l1_fix_time: 0.7697, d1.loss_plan_l1_fix_dist: 0.2534, d2.loss_plan_l1_fix_time: 0.7530, d2.loss_plan_l1_fix_dist: 0.1957, d3.loss_plan_l1_fix_time: 0.7515, d3.loss_plan_l1_fix_dist: 0.2315, d4.loss_plan_l1_fix_time: 0.7539, d4.loss_plan_l1_fix_dist: 0.2565, d5.loss_plan_l1_fix_time: 0.7574, d5.loss_plan_l1_fix_dist: 0.2487, d6.loss_plan_l1_fix_time: 0.7610, d6.loss_plan_l1_fix_dist: 0.2721, d0.loss_cls_all: 0.1447, d0.loss_bbox_all: 0.3469, d0.loss_cls: 0.1447, d0.loss_bbox: 0.3469, d1.loss_cls: 0.1377, d1.loss_bbox: 0.3134, d2.loss_cls: 0.1250, d2.loss_bbox: 0.2953, d3.loss_cls: 0.1102, d3.loss_bbox: 0.2918, d4.loss_cls: 0.1069, d4.loss_bbox: 0.2897, d5.loss_cls: 0.1041, d5.loss_bbox: 0.2900, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7940, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6003, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5384, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5219, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5155, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5157, d0.loss_map_cls_all: 0.2079, d0.loss_map_pts_all: 1.1275, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.2079, d0.loss_map_pts: 1.1275, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1756, d1.loss_map_pts: 0.7940, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1411, d2.loss_map_pts: 0.6200, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1261, d3.loss_map_pts: 0.5530, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1196, d4.loss_map_pts: 0.5317, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1138, d5.loss_map_pts: 0.5254, d5.loss_map_dir: 0.0061, loss: 23.2886, grad_norm: 180.4367 +2026-02-28 16:55:38,522 - DriveTransformer - INFO - Epoch [10][30650/39528] lr: 6.944e-05, eta: 4 days, 18:11:12, time: 0.710, data_time: 0.039, memory: 19865, loss_cls: 0.1154, loss_bbox: 0.3104, loss_traj: 0.5599, loss_traj_cls: 0.0020, loss_map_cls: 0.1072, loss_map_pts: 0.5176, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 3.0547, d0.loss_plan_l1_fix_dist: 0.3976, d1.loss_plan_l1_fix_time: 0.8834, d1.loss_plan_l1_fix_dist: 0.2510, d2.loss_plan_l1_fix_time: 0.8691, d2.loss_plan_l1_fix_dist: 0.1892, d3.loss_plan_l1_fix_time: 0.8694, d3.loss_plan_l1_fix_dist: 0.2313, d4.loss_plan_l1_fix_time: 0.8718, d4.loss_plan_l1_fix_dist: 0.2504, d5.loss_plan_l1_fix_time: 0.8751, d5.loss_plan_l1_fix_dist: 0.2502, d6.loss_plan_l1_fix_time: 0.8788, d6.loss_plan_l1_fix_dist: 0.2607, d0.loss_cls_all: 0.1535, d0.loss_bbox_all: 0.3733, d0.loss_cls: 0.1535, d0.loss_bbox: 0.3733, d1.loss_cls: 0.1501, d1.loss_bbox: 0.3409, d2.loss_cls: 0.1362, d2.loss_bbox: 0.3234, d3.loss_cls: 0.1188, d3.loss_bbox: 0.3137, d4.loss_cls: 0.1168, d4.loss_bbox: 0.3100, d5.loss_cls: 0.1145, d5.loss_bbox: 0.3103, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8632, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6683, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6043, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5935, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5917, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5658, d0.loss_map_cls_all: 0.2033, d0.loss_map_pts_all: 1.0208, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.2033, d0.loss_map_pts: 1.0208, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1602, d1.loss_map_pts: 0.7535, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1327, d2.loss_map_pts: 0.6048, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1216, d3.loss_map_pts: 0.5454, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1134, d4.loss_map_pts: 0.5242, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1093, d5.loss_map_pts: 0.5176, d5.loss_map_dir: 0.0056, loss: 25.0017, grad_norm: 180.8401 +2026-02-28 16:56:16,163 - DriveTransformer - INFO - Epoch [10][30700/39528] lr: 6.944e-05, eta: 4 days, 18:10:40, time: 0.753, data_time: 0.039, memory: 19865, loss_cls: 0.1016, loss_bbox: 0.3049, loss_traj: 0.5105, loss_traj_cls: 0.0020, loss_map_cls: 0.1102, loss_map_pts: 0.5274, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.3474, d0.loss_plan_l1_fix_dist: 0.3310, d1.loss_plan_l1_fix_time: 0.8088, d1.loss_plan_l1_fix_dist: 0.2263, d2.loss_plan_l1_fix_time: 0.8006, d2.loss_plan_l1_fix_dist: 0.1815, d3.loss_plan_l1_fix_time: 0.7979, d3.loss_plan_l1_fix_dist: 0.1977, d4.loss_plan_l1_fix_time: 0.7996, d4.loss_plan_l1_fix_dist: 0.2442, d5.loss_plan_l1_fix_time: 0.8021, d5.loss_plan_l1_fix_dist: 0.2499, d6.loss_plan_l1_fix_time: 0.8052, d6.loss_plan_l1_fix_dist: 0.2341, d0.loss_cls_all: 0.1397, d0.loss_bbox_all: 0.3523, d0.loss_cls: 0.1397, d0.loss_bbox: 0.3523, d1.loss_cls: 0.1326, d1.loss_bbox: 0.3176, d2.loss_cls: 0.1233, d2.loss_bbox: 0.2993, d3.loss_cls: 0.1076, d3.loss_bbox: 0.2973, d4.loss_cls: 0.1032, d4.loss_bbox: 0.2973, d5.loss_cls: 0.1027, d5.loss_bbox: 0.3006, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7494, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5873, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5273, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5182, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5073, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5102, d0.loss_map_cls_all: 0.2020, d0.loss_map_pts_all: 1.1023, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.2020, d0.loss_map_pts: 1.1023, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1670, d1.loss_map_pts: 0.7988, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1374, d2.loss_map_pts: 0.6274, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1246, d3.loss_map_pts: 0.5597, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1177, d4.loss_map_pts: 0.5350, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1130, d5.loss_map_pts: 0.5270, d5.loss_map_dir: 0.0056, loss: 23.2124, grad_norm: 180.1678 +2026-02-28 16:56:52,929 - DriveTransformer - INFO - Epoch [10][30750/39528] lr: 6.944e-05, eta: 4 days, 18:10:04, time: 0.735, data_time: 0.036, memory: 19865, loss_cls: 0.0883, loss_bbox: 0.2761, loss_traj: 0.4566, loss_traj_cls: 0.0021, loss_map_cls: 0.0978, loss_map_pts: 0.5076, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.5236, d0.loss_plan_l1_fix_dist: 0.4009, d1.loss_plan_l1_fix_time: 0.7749, d1.loss_plan_l1_fix_dist: 0.2007, d2.loss_plan_l1_fix_time: 0.7567, d2.loss_plan_l1_fix_dist: 0.1747, d3.loss_plan_l1_fix_time: 0.7473, d3.loss_plan_l1_fix_dist: 0.1843, d4.loss_plan_l1_fix_time: 0.7496, d4.loss_plan_l1_fix_dist: 0.2192, d5.loss_plan_l1_fix_time: 0.7521, d5.loss_plan_l1_fix_dist: 0.2511, d6.loss_plan_l1_fix_time: 0.7551, d6.loss_plan_l1_fix_dist: 0.2306, d0.loss_cls_all: 0.1300, d0.loss_bbox_all: 0.3352, d0.loss_cls: 0.1300, d0.loss_bbox: 0.3352, d1.loss_cls: 0.1237, d1.loss_bbox: 0.3027, d2.loss_cls: 0.1158, d2.loss_bbox: 0.2808, d3.loss_cls: 0.0984, d3.loss_bbox: 0.2740, d4.loss_cls: 0.0896, d4.loss_bbox: 0.2735, d5.loss_cls: 0.0885, d5.loss_bbox: 0.2746, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6739, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5201, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4825, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4669, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4594, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4592, d0.loss_map_cls_all: 0.1744, d0.loss_map_pts_all: 1.0451, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1744, d0.loss_map_pts: 1.0451, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1437, d1.loss_map_pts: 0.7281, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1244, d2.loss_map_pts: 0.5840, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1117, d3.loss_map_pts: 0.5328, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1034, d4.loss_map_pts: 0.5127, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0993, d5.loss_map_pts: 0.5084, d5.loss_map_dir: 0.0059, loss: 22.0032, grad_norm: 178.9056 +2026-02-28 16:57:31,043 - DriveTransformer - INFO - Epoch [10][30800/39528] lr: 6.944e-05, eta: 4 days, 18:09:33, time: 0.762, data_time: 0.039, memory: 19865, loss_cls: 0.0986, loss_bbox: 0.3025, loss_traj: 0.4988, loss_traj_cls: 0.0021, loss_map_cls: 0.1148, loss_map_pts: 0.5650, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.2809, d0.loss_plan_l1_fix_dist: 0.3957, d1.loss_plan_l1_fix_time: 0.7105, d1.loss_plan_l1_fix_dist: 0.1705, d2.loss_plan_l1_fix_time: 0.7000, d2.loss_plan_l1_fix_dist: 0.1558, d3.loss_plan_l1_fix_time: 0.6987, d3.loss_plan_l1_fix_dist: 0.1833, d4.loss_plan_l1_fix_time: 0.7022, d4.loss_plan_l1_fix_dist: 0.1812, d5.loss_plan_l1_fix_time: 0.7056, d5.loss_plan_l1_fix_dist: 0.2038, d6.loss_plan_l1_fix_time: 0.7091, d6.loss_plan_l1_fix_dist: 0.2075, d0.loss_cls_all: 0.1431, d0.loss_bbox_all: 0.3642, d0.loss_cls: 0.1431, d0.loss_bbox: 0.3642, d1.loss_cls: 0.1351, d1.loss_bbox: 0.3316, d2.loss_cls: 0.1216, d2.loss_bbox: 0.3106, d3.loss_cls: 0.1029, d3.loss_bbox: 0.3045, d4.loss_cls: 0.0994, d4.loss_bbox: 0.3023, d5.loss_cls: 0.0980, d5.loss_bbox: 0.3021, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6993, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5515, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5085, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5037, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4983, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4985, d0.loss_map_cls_all: 0.2038, d0.loss_map_pts_all: 1.1607, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2038, d0.loss_map_pts: 1.1607, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1672, d1.loss_map_pts: 0.8211, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1422, d2.loss_map_pts: 0.6529, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1281, d3.loss_map_pts: 0.5913, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1220, d4.loss_map_pts: 0.5709, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1170, d5.loss_map_pts: 0.5649, d5.loss_map_dir: 0.0066, loss: 22.6337, grad_norm: 178.7284 +2026-02-28 16:58:08,663 - DriveTransformer - INFO - Epoch [10][30850/39528] lr: 6.944e-05, eta: 4 days, 18:09:01, time: 0.752, data_time: 0.038, memory: 19865, loss_cls: 0.1088, loss_bbox: 0.3029, loss_traj: 0.4124, loss_traj_cls: 0.0021, loss_map_cls: 0.1205, loss_map_pts: 0.5789, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.6102, d0.loss_plan_l1_fix_dist: 0.4299, d1.loss_plan_l1_fix_time: 0.7579, d1.loss_plan_l1_fix_dist: 0.1773, d2.loss_plan_l1_fix_time: 0.7470, d2.loss_plan_l1_fix_dist: 0.1789, d3.loss_plan_l1_fix_time: 0.7417, d3.loss_plan_l1_fix_dist: 0.2199, d4.loss_plan_l1_fix_time: 0.7438, d4.loss_plan_l1_fix_dist: 0.2141, d5.loss_plan_l1_fix_time: 0.7472, d5.loss_plan_l1_fix_dist: 0.2119, d6.loss_plan_l1_fix_time: 0.7514, d6.loss_plan_l1_fix_dist: 0.2437, d0.loss_cls_all: 0.1593, d0.loss_bbox_all: 0.3639, d0.loss_cls: 0.1593, d0.loss_bbox: 0.3639, d1.loss_cls: 0.1461, d1.loss_bbox: 0.3285, d2.loss_cls: 0.1330, d2.loss_bbox: 0.3084, d3.loss_cls: 0.1164, d3.loss_bbox: 0.3035, d4.loss_cls: 0.1107, d4.loss_bbox: 0.3013, d5.loss_cls: 0.1091, d5.loss_bbox: 0.3008, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6484, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.4826, d2.loss_traj_cls: 0.0010, d2.loss_traj: 0.4281, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4160, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4123, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4123, d0.loss_map_cls_all: 0.2225, d0.loss_map_pts_all: 1.2070, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2225, d0.loss_map_pts: 1.2070, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1813, d1.loss_map_pts: 0.8698, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1521, d2.loss_map_pts: 0.6809, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1377, d3.loss_map_pts: 0.6070, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1294, d4.loss_map_pts: 0.5840, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1235, d5.loss_map_pts: 0.5790, d5.loss_map_dir: 0.0080, loss: 23.2756, grad_norm: 178.3391 +2026-02-28 16:58:47,165 - DriveTransformer - INFO - Epoch [10][30900/39528] lr: 6.944e-05, eta: 4 days, 18:08:31, time: 0.770, data_time: 0.039, memory: 19865, loss_cls: 0.0829, loss_bbox: 0.2947, loss_traj: 0.4492, loss_traj_cls: 0.0021, loss_map_cls: 0.0816, loss_map_pts: 0.5194, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.5066, d0.loss_plan_l1_fix_dist: 0.4161, d1.loss_plan_l1_fix_time: 0.7384, d1.loss_plan_l1_fix_dist: 0.1687, d2.loss_plan_l1_fix_time: 0.7252, d2.loss_plan_l1_fix_dist: 0.1838, d3.loss_plan_l1_fix_time: 0.7274, d3.loss_plan_l1_fix_dist: 0.2147, d4.loss_plan_l1_fix_time: 0.7316, d4.loss_plan_l1_fix_dist: 0.2145, d5.loss_plan_l1_fix_time: 0.7358, d5.loss_plan_l1_fix_dist: 0.2173, d6.loss_plan_l1_fix_time: 0.7405, d6.loss_plan_l1_fix_dist: 0.2365, d0.loss_cls_all: 0.1258, d0.loss_bbox_all: 0.3481, d0.loss_cls: 0.1258, d0.loss_bbox: 0.3481, d1.loss_cls: 0.1198, d1.loss_bbox: 0.3121, d2.loss_cls: 0.1067, d2.loss_bbox: 0.2949, d3.loss_cls: 0.0905, d3.loss_bbox: 0.2906, d4.loss_cls: 0.0839, d4.loss_bbox: 0.2918, d5.loss_cls: 0.0824, d5.loss_bbox: 0.2927, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6772, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5117, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4651, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4567, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4535, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4506, d0.loss_map_cls_all: 0.1672, d0.loss_map_pts_all: 1.1497, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1672, d0.loss_map_pts: 1.1497, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1308, d1.loss_map_pts: 0.7955, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1082, d2.loss_map_pts: 0.6219, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.0954, d3.loss_map_pts: 0.5547, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.0888, d4.loss_map_pts: 0.5300, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.0834, d5.loss_map_pts: 0.5221, d5.loss_map_dir: 0.0069, loss: 22.1395, grad_norm: 179.5975 +2026-02-28 16:59:23,362 - DriveTransformer - INFO - Epoch [10][30950/39528] lr: 6.944e-05, eta: 4 days, 18:07:54, time: 0.724, data_time: 0.037, memory: 19865, loss_cls: 0.1047, loss_bbox: 0.3168, loss_traj: 0.5389, loss_traj_cls: 0.0020, loss_map_cls: 0.1107, loss_map_pts: 0.5477, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.5445, d0.loss_plan_l1_fix_dist: 0.3470, d1.loss_plan_l1_fix_time: 0.7831, d1.loss_plan_l1_fix_dist: 0.1660, d2.loss_plan_l1_fix_time: 0.7708, d2.loss_plan_l1_fix_dist: 0.1732, d3.loss_plan_l1_fix_time: 0.7687, d3.loss_plan_l1_fix_dist: 0.2091, d4.loss_plan_l1_fix_time: 0.7715, d4.loss_plan_l1_fix_dist: 0.2234, d5.loss_plan_l1_fix_time: 0.7747, d5.loss_plan_l1_fix_dist: 0.2249, d6.loss_plan_l1_fix_time: 0.7785, d6.loss_plan_l1_fix_dist: 0.2253, d0.loss_cls_all: 0.1435, d0.loss_bbox_all: 0.3773, d0.loss_cls: 0.1435, d0.loss_bbox: 0.3773, d1.loss_cls: 0.1344, d1.loss_bbox: 0.3454, d2.loss_cls: 0.1238, d2.loss_bbox: 0.3261, d3.loss_cls: 0.1111, d3.loss_bbox: 0.3194, d4.loss_cls: 0.1054, d4.loss_bbox: 0.3163, d5.loss_cls: 0.1050, d5.loss_bbox: 0.3154, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7929, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6255, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5743, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5531, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5462, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5406, d0.loss_map_cls_all: 0.2037, d0.loss_map_pts_all: 1.1444, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2037, d0.loss_map_pts: 1.1444, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1683, d1.loss_map_pts: 0.8098, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1406, d2.loss_map_pts: 0.6459, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1284, d3.loss_map_pts: 0.5815, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1202, d4.loss_map_pts: 0.5567, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1133, d5.loss_map_pts: 0.5489, d5.loss_map_dir: 0.0064, loss: 23.8235, grad_norm: 180.2317 +2026-02-28 17:00:00,868 - DriveTransformer - INFO - Epoch [10][31000/39528] lr: 6.944e-05, eta: 4 days, 18:07:21, time: 0.752, data_time: 0.039, memory: 19865, loss_cls: 0.0989, loss_bbox: 0.2923, loss_traj: 0.4646, loss_traj_cls: 0.0021, loss_map_cls: 0.0891, loss_map_pts: 0.5271, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.4456, d0.loss_plan_l1_fix_dist: 0.4326, d1.loss_plan_l1_fix_time: 0.7987, d1.loss_plan_l1_fix_dist: 0.1469, d2.loss_plan_l1_fix_time: 0.7832, d2.loss_plan_l1_fix_dist: 0.1468, d3.loss_plan_l1_fix_time: 0.7788, d3.loss_plan_l1_fix_dist: 0.1875, d4.loss_plan_l1_fix_time: 0.7800, d4.loss_plan_l1_fix_dist: 0.2132, d5.loss_plan_l1_fix_time: 0.7823, d5.loss_plan_l1_fix_dist: 0.1929, d6.loss_plan_l1_fix_time: 0.7848, d6.loss_plan_l1_fix_dist: 0.2022, d0.loss_cls_all: 0.1415, d0.loss_bbox_all: 0.3596, d0.loss_cls: 0.1415, d0.loss_bbox: 0.3596, d1.loss_cls: 0.1344, d1.loss_bbox: 0.3275, d2.loss_cls: 0.1220, d2.loss_bbox: 0.3039, d3.loss_cls: 0.1032, d3.loss_bbox: 0.2980, d4.loss_cls: 0.0997, d4.loss_bbox: 0.2945, d5.loss_cls: 0.0995, d5.loss_bbox: 0.2916, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6860, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5233, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4788, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4685, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4660, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4659, d0.loss_map_cls_all: 0.1629, d0.loss_map_pts_all: 1.0694, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1629, d0.loss_map_pts: 1.0694, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1364, d1.loss_map_pts: 0.7648, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1130, d2.loss_map_pts: 0.6207, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1039, d3.loss_map_pts: 0.5609, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.0953, d4.loss_map_pts: 0.5377, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.0916, d5.loss_map_pts: 0.5278, d5.loss_map_dir: 0.0067, loss: 22.3894, grad_norm: 180.3129 +2026-02-28 17:00:37,821 - DriveTransformer - INFO - Epoch [10][31050/39528] lr: 6.944e-05, eta: 4 days, 18:06:45, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.0984, loss_bbox: 0.3409, loss_traj: 0.5331, loss_traj_cls: 0.0020, loss_map_cls: 0.1066, loss_map_pts: 0.5525, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.6445, d0.loss_plan_l1_fix_dist: 0.4258, d1.loss_plan_l1_fix_time: 0.9389, d1.loss_plan_l1_fix_dist: 0.1717, d2.loss_plan_l1_fix_time: 0.9217, d2.loss_plan_l1_fix_dist: 0.1841, d3.loss_plan_l1_fix_time: 0.9172, d3.loss_plan_l1_fix_dist: 0.2131, d4.loss_plan_l1_fix_time: 0.9179, d4.loss_plan_l1_fix_dist: 0.2509, d5.loss_plan_l1_fix_time: 0.9194, d5.loss_plan_l1_fix_dist: 0.2020, d6.loss_plan_l1_fix_time: 0.9214, d6.loss_plan_l1_fix_dist: 0.2081, d0.loss_cls_all: 0.1445, d0.loss_bbox_all: 0.4101, d0.loss_cls: 0.1445, d0.loss_bbox: 0.4101, d1.loss_cls: 0.1398, d1.loss_bbox: 0.3706, d2.loss_cls: 0.1232, d2.loss_bbox: 0.3445, d3.loss_cls: 0.1089, d3.loss_bbox: 0.3396, d4.loss_cls: 0.1019, d4.loss_bbox: 0.3389, d5.loss_cls: 0.0990, d5.loss_bbox: 0.3401, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8355, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6371, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5567, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5393, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5408, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5368, d0.loss_map_cls_all: 0.1906, d0.loss_map_pts_all: 1.1263, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1906, d0.loss_map_pts: 1.1263, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1549, d1.loss_map_pts: 0.8198, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1321, d2.loss_map_pts: 0.6605, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1218, d3.loss_map_pts: 0.5957, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1153, d4.loss_map_pts: 0.5610, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1091, d5.loss_map_pts: 0.5538, d5.loss_map_dir: 0.0060, loss: 25.0440, grad_norm: 180.7717 +2026-02-28 17:01:14,346 - DriveTransformer - INFO - Epoch [10][31100/39528] lr: 6.944e-05, eta: 4 days, 18:06:09, time: 0.731, data_time: 0.044, memory: 19865, loss_cls: 0.1095, loss_bbox: 0.3156, loss_traj: 0.5351, loss_traj_cls: 0.0020, loss_map_cls: 0.1172, loss_map_pts: 0.5818, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.5826, d0.loss_plan_l1_fix_dist: 0.3224, d1.loss_plan_l1_fix_time: 0.7455, d1.loss_plan_l1_fix_dist: 0.1568, d2.loss_plan_l1_fix_time: 0.7347, d2.loss_plan_l1_fix_dist: 0.1782, d3.loss_plan_l1_fix_time: 0.7385, d3.loss_plan_l1_fix_dist: 0.1871, d4.loss_plan_l1_fix_time: 0.7411, d4.loss_plan_l1_fix_dist: 0.2289, d5.loss_plan_l1_fix_time: 0.7430, d5.loss_plan_l1_fix_dist: 0.1837, d6.loss_plan_l1_fix_time: 0.7457, d6.loss_plan_l1_fix_dist: 0.1881, d0.loss_cls_all: 0.1454, d0.loss_bbox_all: 0.3674, d0.loss_cls: 0.1454, d0.loss_bbox: 0.3674, d1.loss_cls: 0.1442, d1.loss_bbox: 0.3359, d2.loss_cls: 0.1331, d2.loss_bbox: 0.3191, d3.loss_cls: 0.1151, d3.loss_bbox: 0.3129, d4.loss_cls: 0.1100, d4.loss_bbox: 0.3128, d5.loss_cls: 0.1098, d5.loss_bbox: 0.3141, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8366, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6112, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5615, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5432, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5357, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5354, d0.loss_map_cls_all: 0.2030, d0.loss_map_pts_all: 1.1112, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.2030, d0.loss_map_pts: 1.1112, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1683, d1.loss_map_pts: 0.8257, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1438, d2.loss_map_pts: 0.6687, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1338, d3.loss_map_pts: 0.6044, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1247, d4.loss_map_pts: 0.5825, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1193, d5.loss_map_pts: 0.5796, d5.loss_map_dir: 0.0057, loss: 23.6224, grad_norm: 173.4461 +2026-02-28 17:01:51,477 - DriveTransformer - INFO - Epoch [10][31150/39528] lr: 6.944e-05, eta: 4 days, 18:05:34, time: 0.743, data_time: 0.039, memory: 19865, loss_cls: 0.0934, loss_bbox: 0.2870, loss_traj: 0.4785, loss_traj_cls: 0.0020, loss_map_cls: 0.1003, loss_map_pts: 0.5259, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.6064, d0.loss_plan_l1_fix_dist: 0.3671, d1.loss_plan_l1_fix_time: 0.7889, d1.loss_plan_l1_fix_dist: 0.1606, d2.loss_plan_l1_fix_time: 0.7832, d2.loss_plan_l1_fix_dist: 0.1879, d3.loss_plan_l1_fix_time: 0.7834, d3.loss_plan_l1_fix_dist: 0.1793, d4.loss_plan_l1_fix_time: 0.7843, d4.loss_plan_l1_fix_dist: 0.2347, d5.loss_plan_l1_fix_time: 0.7859, d5.loss_plan_l1_fix_dist: 0.1965, d6.loss_plan_l1_fix_time: 0.7877, d6.loss_plan_l1_fix_dist: 0.2064, d0.loss_cls_all: 0.1296, d0.loss_bbox_all: 0.3422, d0.loss_cls: 0.1296, d0.loss_bbox: 0.3422, d1.loss_cls: 0.1270, d1.loss_bbox: 0.3092, d2.loss_cls: 0.1142, d2.loss_bbox: 0.2913, d3.loss_cls: 0.1004, d3.loss_bbox: 0.2857, d4.loss_cls: 0.0955, d4.loss_bbox: 0.2862, d5.loss_cls: 0.0937, d5.loss_bbox: 0.2862, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6989, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5383, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5007, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4831, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4802, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4777, d0.loss_map_cls_all: 0.1871, d0.loss_map_pts_all: 1.0931, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1871, d0.loss_map_pts: 1.0931, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1528, d1.loss_map_pts: 0.7813, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1240, d2.loss_map_pts: 0.6183, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1124, d3.loss_map_pts: 0.5545, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1064, d4.loss_map_pts: 0.5333, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1024, d5.loss_map_pts: 0.5270, d5.loss_map_dir: 0.0059, loss: 22.6758, grad_norm: 172.5530 +2026-02-28 17:02:29,218 - DriveTransformer - INFO - Epoch [10][31200/39528] lr: 6.944e-05, eta: 4 days, 18:05:02, time: 0.755, data_time: 0.041, memory: 19865, loss_cls: 0.0994, loss_bbox: 0.3232, loss_traj: 0.4529, loss_traj_cls: 0.0020, loss_map_cls: 0.1174, loss_map_pts: 0.5650, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.4773, d0.loss_plan_l1_fix_dist: 0.4309, d1.loss_plan_l1_fix_time: 0.7564, d1.loss_plan_l1_fix_dist: 0.1825, d2.loss_plan_l1_fix_time: 0.7442, d2.loss_plan_l1_fix_dist: 0.2032, d3.loss_plan_l1_fix_time: 0.7296, d3.loss_plan_l1_fix_dist: 0.1907, d4.loss_plan_l1_fix_time: 0.7308, d4.loss_plan_l1_fix_dist: 0.2272, d5.loss_plan_l1_fix_time: 0.7324, d5.loss_plan_l1_fix_dist: 0.2029, d6.loss_plan_l1_fix_time: 0.7349, d6.loss_plan_l1_fix_dist: 0.2065, d0.loss_cls_all: 0.1491, d0.loss_bbox_all: 0.3681, d0.loss_cls: 0.1491, d0.loss_bbox: 0.3681, d1.loss_cls: 0.1408, d1.loss_bbox: 0.3386, d2.loss_cls: 0.1268, d2.loss_bbox: 0.3187, d3.loss_cls: 0.1048, d3.loss_bbox: 0.3180, d4.loss_cls: 0.1008, d4.loss_bbox: 0.3169, d5.loss_cls: 0.0985, d5.loss_bbox: 0.3210, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6500, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5241, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4804, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4652, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4569, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4536, d0.loss_map_cls_all: 0.2196, d0.loss_map_pts_all: 1.2044, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2196, d0.loss_map_pts: 1.2044, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1744, d1.loss_map_pts: 0.8485, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1448, d2.loss_map_pts: 0.6643, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1327, d3.loss_map_pts: 0.5942, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1251, d4.loss_map_pts: 0.5713, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1202, d5.loss_map_pts: 0.5647, d5.loss_map_dir: 0.0061, loss: 23.2015, grad_norm: 173.2542 +2026-02-28 17:03:05,111 - DriveTransformer - INFO - Epoch [10][31250/39528] lr: 6.944e-05, eta: 4 days, 18:04:23, time: 0.718, data_time: 0.037, memory: 19865, loss_cls: 0.0922, loss_bbox: 0.3040, loss_traj: 0.4433, loss_traj_cls: 0.0020, loss_map_cls: 0.1184, loss_map_pts: 0.5436, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.6792, d0.loss_plan_l1_fix_dist: 0.4773, d1.loss_plan_l1_fix_time: 0.7190, d1.loss_plan_l1_fix_dist: 0.1920, d2.loss_plan_l1_fix_time: 0.7127, d2.loss_plan_l1_fix_dist: 0.2182, d3.loss_plan_l1_fix_time: 0.7148, d3.loss_plan_l1_fix_dist: 0.2068, d4.loss_plan_l1_fix_time: 0.7166, d4.loss_plan_l1_fix_dist: 0.2328, d5.loss_plan_l1_fix_time: 0.7191, d5.loss_plan_l1_fix_dist: 0.2125, d6.loss_plan_l1_fix_time: 0.7216, d6.loss_plan_l1_fix_dist: 0.2340, d0.loss_cls_all: 0.1331, d0.loss_bbox_all: 0.3472, d0.loss_cls: 0.1331, d0.loss_bbox: 0.3472, d1.loss_cls: 0.1276, d1.loss_bbox: 0.3154, d2.loss_cls: 0.1175, d2.loss_bbox: 0.2983, d3.loss_cls: 0.0992, d3.loss_bbox: 0.2965, d4.loss_cls: 0.0942, d4.loss_bbox: 0.2984, d5.loss_cls: 0.0925, d5.loss_bbox: 0.3012, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6705, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5083, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4624, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4481, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4435, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4444, d0.loss_map_cls_all: 0.2030, d0.loss_map_pts_all: 1.1118, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.2030, d0.loss_map_pts: 1.1118, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1700, d1.loss_map_pts: 0.7903, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1400, d2.loss_map_pts: 0.6314, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1306, d3.loss_map_pts: 0.5700, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1253, d4.loss_map_pts: 0.5511, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1197, d5.loss_map_pts: 0.5443, d5.loss_map_dir: 0.0056, loss: 22.6911, grad_norm: 164.2432 +2026-02-28 17:03:40,757 - DriveTransformer - INFO - Epoch [10][31300/39528] lr: 6.944e-05, eta: 4 days, 18:03:43, time: 0.713, data_time: 0.038, memory: 19865, loss_cls: 0.1043, loss_bbox: 0.3118, loss_traj: 0.5252, loss_traj_cls: 0.0020, loss_map_cls: 0.1235, loss_map_pts: 0.5622, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.0650, d0.loss_plan_l1_fix_dist: 0.3622, d1.loss_plan_l1_fix_time: 0.7047, d1.loss_plan_l1_fix_dist: 0.1864, d2.loss_plan_l1_fix_time: 0.6951, d2.loss_plan_l1_fix_dist: 0.2160, d3.loss_plan_l1_fix_time: 0.6940, d3.loss_plan_l1_fix_dist: 0.2055, d4.loss_plan_l1_fix_time: 0.6946, d4.loss_plan_l1_fix_dist: 0.2122, d5.loss_plan_l1_fix_time: 0.6961, d5.loss_plan_l1_fix_dist: 0.1841, d6.loss_plan_l1_fix_time: 0.6979, d6.loss_plan_l1_fix_dist: 0.1985, d0.loss_cls_all: 0.1546, d0.loss_bbox_all: 0.3763, d0.loss_cls: 0.1546, d0.loss_bbox: 0.3763, d1.loss_cls: 0.1448, d1.loss_bbox: 0.3435, d2.loss_cls: 0.1327, d2.loss_bbox: 0.3208, d3.loss_cls: 0.1132, d3.loss_bbox: 0.3136, d4.loss_cls: 0.1070, d4.loss_bbox: 0.3118, d5.loss_cls: 0.1039, d5.loss_bbox: 0.3119, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7764, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6088, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5478, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5367, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5287, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5273, d0.loss_map_cls_all: 0.2190, d0.loss_map_pts_all: 1.1224, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2190, d0.loss_map_pts: 1.1224, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1821, d1.loss_map_pts: 0.8132, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1566, d2.loss_map_pts: 0.6514, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1394, d3.loss_map_pts: 0.5912, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1294, d4.loss_map_pts: 0.5692, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1256, d5.loss_map_pts: 0.5633, d5.loss_map_dir: 0.0066, loss: 22.8931, grad_norm: 154.9558 +2026-02-28 17:04:17,990 - DriveTransformer - INFO - Epoch [10][31350/39528] lr: 6.944e-05, eta: 4 days, 18:03:09, time: 0.745, data_time: 0.038, memory: 19865, loss_cls: 0.0841, loss_bbox: 0.2758, loss_traj: 0.4244, loss_traj_cls: 0.0019, loss_map_cls: 0.1028, loss_map_pts: 0.4801, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.6482, d0.loss_plan_l1_fix_dist: 0.3220, d1.loss_plan_l1_fix_time: 0.7063, d1.loss_plan_l1_fix_dist: 0.1784, d2.loss_plan_l1_fix_time: 0.6881, d2.loss_plan_l1_fix_dist: 0.2053, d3.loss_plan_l1_fix_time: 0.6835, d3.loss_plan_l1_fix_dist: 0.1955, d4.loss_plan_l1_fix_time: 0.6837, d4.loss_plan_l1_fix_dist: 0.1863, d5.loss_plan_l1_fix_time: 0.6849, d5.loss_plan_l1_fix_dist: 0.1813, d6.loss_plan_l1_fix_time: 0.6867, d6.loss_plan_l1_fix_dist: 0.1659, d0.loss_cls_all: 0.1315, d0.loss_bbox_all: 0.3284, d0.loss_cls: 0.1315, d0.loss_bbox: 0.3284, d1.loss_cls: 0.1212, d1.loss_bbox: 0.2983, d2.loss_cls: 0.1073, d2.loss_bbox: 0.2808, d3.loss_cls: 0.0896, d3.loss_bbox: 0.2759, d4.loss_cls: 0.0858, d4.loss_bbox: 0.2748, d5.loss_cls: 0.0838, d5.loss_bbox: 0.2753, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6265, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5020, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4572, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4327, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4285, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4242, d0.loss_map_cls_all: 0.1825, d0.loss_map_pts_all: 1.0383, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1825, d0.loss_map_pts: 1.0383, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1482, d1.loss_map_pts: 0.7175, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1274, d2.loss_map_pts: 0.5564, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1171, d3.loss_map_pts: 0.5061, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1098, d4.loss_map_pts: 0.4840, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1047, d5.loss_map_pts: 0.4792, d5.loss_map_dir: 0.0065, loss: 21.1167, grad_norm: 149.2332 +2026-02-28 17:04:54,681 - DriveTransformer - INFO - Epoch [10][31400/39528] lr: 6.944e-05, eta: 4 days, 18:02:33, time: 0.734, data_time: 0.037, memory: 19865, loss_cls: 0.1008, loss_bbox: 0.3010, loss_traj: 0.4492, loss_traj_cls: 0.0019, loss_map_cls: 0.1029, loss_map_pts: 0.5506, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.4410, d0.loss_plan_l1_fix_dist: 0.3487, d1.loss_plan_l1_fix_time: 0.6881, d1.loss_plan_l1_fix_dist: 0.1912, d2.loss_plan_l1_fix_time: 0.6737, d2.loss_plan_l1_fix_dist: 0.2194, d3.loss_plan_l1_fix_time: 0.6752, d3.loss_plan_l1_fix_dist: 0.2281, d4.loss_plan_l1_fix_time: 0.6772, d4.loss_plan_l1_fix_dist: 0.1891, d5.loss_plan_l1_fix_time: 0.6787, d5.loss_plan_l1_fix_dist: 0.2017, d6.loss_plan_l1_fix_time: 0.6806, d6.loss_plan_l1_fix_dist: 0.1893, d0.loss_cls_all: 0.1499, d0.loss_bbox_all: 0.3645, d0.loss_cls: 0.1499, d0.loss_bbox: 0.3645, d1.loss_cls: 0.1409, d1.loss_bbox: 0.3298, d2.loss_cls: 0.1268, d2.loss_bbox: 0.3033, d3.loss_cls: 0.1110, d3.loss_bbox: 0.2972, d4.loss_cls: 0.1040, d4.loss_bbox: 0.2961, d5.loss_cls: 0.1024, d5.loss_bbox: 0.2974, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6285, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5192, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4740, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4611, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4520, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4494, d0.loss_map_cls_all: 0.1802, d0.loss_map_pts_all: 1.1538, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1802, d0.loss_map_pts: 1.1538, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1484, d1.loss_map_pts: 0.8188, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1278, d2.loss_map_pts: 0.6499, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1149, d3.loss_map_pts: 0.5824, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1081, d4.loss_map_pts: 0.5574, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1043, d5.loss_map_pts: 0.5511, d5.loss_map_dir: 0.0075, loss: 22.2068, grad_norm: 135.1011 +2026-02-28 17:05:29,245 - DriveTransformer - INFO - Epoch [10][31450/39528] lr: 6.944e-05, eta: 4 days, 18:01:49, time: 0.691, data_time: 0.040, memory: 19865, loss_cls: 0.0908, loss_bbox: 0.2867, loss_traj: 0.6237, loss_traj_cls: 0.0019, loss_map_cls: 0.1095, loss_map_pts: 0.5165, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.8404, d0.loss_plan_l1_fix_dist: 0.4294, d1.loss_plan_l1_fix_time: 0.8454, d1.loss_plan_l1_fix_dist: 0.2013, d2.loss_plan_l1_fix_time: 0.8386, d2.loss_plan_l1_fix_dist: 0.2299, d3.loss_plan_l1_fix_time: 0.8433, d3.loss_plan_l1_fix_dist: 0.2470, d4.loss_plan_l1_fix_time: 0.8472, d4.loss_plan_l1_fix_dist: 0.1881, d5.loss_plan_l1_fix_time: 0.8496, d5.loss_plan_l1_fix_dist: 0.2110, d6.loss_plan_l1_fix_time: 0.8520, d6.loss_plan_l1_fix_dist: 0.2027, d0.loss_cls_all: 0.1250, d0.loss_bbox_all: 0.3408, d0.loss_cls: 0.1250, d0.loss_bbox: 0.3408, d1.loss_cls: 0.1186, d1.loss_bbox: 0.3096, d2.loss_cls: 0.1129, d2.loss_bbox: 0.2904, d3.loss_cls: 0.0924, d3.loss_bbox: 0.2853, d4.loss_cls: 0.0904, d4.loss_bbox: 0.2853, d5.loss_cls: 0.0899, d5.loss_bbox: 0.2858, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8753, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7000, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6566, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6384, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6275, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6242, d0.loss_map_cls_all: 0.1787, d0.loss_map_pts_all: 0.9744, d0.loss_map_dir_all: 0.0046, d0.loss_map_cls: 0.1787, d0.loss_map_pts: 0.9744, d0.loss_map_dir: 0.0046, d1.loss_map_cls: 0.1565, d1.loss_map_pts: 0.7151, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.1357, d2.loss_map_pts: 0.5904, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.1241, d3.loss_map_pts: 0.5393, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.1153, d4.loss_map_pts: 0.5249, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.1106, d5.loss_map_pts: 0.5174, d5.loss_map_dir: 0.0048, loss: 24.1462, grad_norm: 134.7897 +2026-02-28 17:06:05,521 - DriveTransformer - INFO - Epoch [10][31500/39528] lr: 6.944e-05, eta: 4 days, 18:01:12, time: 0.726, data_time: 0.045, memory: 19865, loss_cls: 0.1041, loss_bbox: 0.2995, loss_traj: 0.5630, loss_traj_cls: 0.0019, loss_map_cls: 0.0905, loss_map_pts: 0.5008, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.5110, d0.loss_plan_l1_fix_dist: 0.4315, d1.loss_plan_l1_fix_time: 0.7922, d1.loss_plan_l1_fix_dist: 0.1875, d2.loss_plan_l1_fix_time: 0.7823, d2.loss_plan_l1_fix_dist: 0.2294, d3.loss_plan_l1_fix_time: 0.7810, d3.loss_plan_l1_fix_dist: 0.2460, d4.loss_plan_l1_fix_time: 0.7834, d4.loss_plan_l1_fix_dist: 0.1917, d5.loss_plan_l1_fix_time: 0.7859, d5.loss_plan_l1_fix_dist: 0.2194, d6.loss_plan_l1_fix_time: 0.7889, d6.loss_plan_l1_fix_dist: 0.2396, d0.loss_cls_all: 0.1493, d0.loss_bbox_all: 0.3583, d0.loss_cls: 0.1493, d0.loss_bbox: 0.3583, d1.loss_cls: 0.1418, d1.loss_bbox: 0.3307, d2.loss_cls: 0.1269, d2.loss_bbox: 0.3098, d3.loss_cls: 0.1129, d3.loss_bbox: 0.3017, d4.loss_cls: 0.1075, d4.loss_bbox: 0.2997, d5.loss_cls: 0.1045, d5.loss_bbox: 0.2985, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8029, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6381, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5925, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5707, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5635, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5594, d0.loss_map_cls_all: 0.1707, d0.loss_map_pts_all: 1.0013, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1707, d0.loss_map_pts: 1.0013, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1369, d1.loss_map_pts: 0.7299, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1140, d2.loss_map_pts: 0.5869, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1025, d3.loss_map_pts: 0.5277, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0970, d4.loss_map_pts: 0.5057, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0922, d5.loss_map_pts: 0.5010, d5.loss_map_dir: 0.0061, loss: 23.1962, grad_norm: 138.2309 +2026-02-28 17:06:42,826 - DriveTransformer - INFO - Epoch [10][31550/39528] lr: 6.944e-05, eta: 4 days, 18:00:38, time: 0.746, data_time: 0.039, memory: 19865, loss_cls: 0.0906, loss_bbox: 0.2907, loss_traj: 0.5351, loss_traj_cls: 0.0019, loss_map_cls: 0.0981, loss_map_pts: 0.5376, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.2080, d0.loss_plan_l1_fix_dist: 0.4645, d1.loss_plan_l1_fix_time: 0.6945, d1.loss_plan_l1_fix_dist: 0.1607, d2.loss_plan_l1_fix_time: 0.6806, d2.loss_plan_l1_fix_dist: 0.2006, d3.loss_plan_l1_fix_time: 0.6806, d3.loss_plan_l1_fix_dist: 0.2232, d4.loss_plan_l1_fix_time: 0.6827, d4.loss_plan_l1_fix_dist: 0.1944, d5.loss_plan_l1_fix_time: 0.6860, d5.loss_plan_l1_fix_dist: 0.1929, d6.loss_plan_l1_fix_time: 0.6904, d6.loss_plan_l1_fix_dist: 0.2328, d0.loss_cls_all: 0.1332, d0.loss_bbox_all: 0.3502, d0.loss_cls: 0.1332, d0.loss_bbox: 0.3502, d1.loss_cls: 0.1244, d1.loss_bbox: 0.3176, d2.loss_cls: 0.1135, d2.loss_bbox: 0.2984, d3.loss_cls: 0.0980, d3.loss_bbox: 0.2931, d4.loss_cls: 0.0925, d4.loss_bbox: 0.2908, d5.loss_cls: 0.0902, d5.loss_bbox: 0.2898, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7623, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5890, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5476, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5362, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5286, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5291, d0.loss_map_cls_all: 0.1777, d0.loss_map_pts_all: 1.1385, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1777, d0.loss_map_pts: 1.1385, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1432, d1.loss_map_pts: 0.7987, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1228, d2.loss_map_pts: 0.6296, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1128, d3.loss_map_pts: 0.5687, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1056, d4.loss_map_pts: 0.5445, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.0996, d5.loss_map_pts: 0.5381, d5.loss_map_dir: 0.0072, loss: 22.3721, grad_norm: 138.4075 +2026-02-28 17:07:19,216 - DriveTransformer - INFO - Epoch [10][31600/39528] lr: 6.944e-05, eta: 4 days, 18:00:01, time: 0.728, data_time: 0.038, memory: 19865, loss_cls: 0.0954, loss_bbox: 0.2702, loss_traj: 0.5038, loss_traj_cls: 0.0020, loss_map_cls: 0.0869, loss_map_pts: 0.4484, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.5475, d0.loss_plan_l1_fix_dist: 0.4044, d1.loss_plan_l1_fix_time: 0.7454, d1.loss_plan_l1_fix_dist: 0.1622, d2.loss_plan_l1_fix_time: 0.7330, d2.loss_plan_l1_fix_dist: 0.1896, d3.loss_plan_l1_fix_time: 0.7265, d3.loss_plan_l1_fix_dist: 0.2203, d4.loss_plan_l1_fix_time: 0.7277, d4.loss_plan_l1_fix_dist: 0.2209, d5.loss_plan_l1_fix_time: 0.7299, d5.loss_plan_l1_fix_dist: 0.1892, d6.loss_plan_l1_fix_time: 0.7330, d6.loss_plan_l1_fix_dist: 0.2071, d0.loss_cls_all: 0.1398, d0.loss_bbox_all: 0.3318, d0.loss_cls: 0.1398, d0.loss_bbox: 0.3318, d1.loss_cls: 0.1324, d1.loss_bbox: 0.3018, d2.loss_cls: 0.1194, d2.loss_bbox: 0.2820, d3.loss_cls: 0.1032, d3.loss_bbox: 0.2746, d4.loss_cls: 0.0981, d4.loss_bbox: 0.2704, d5.loss_cls: 0.0957, d5.loss_bbox: 0.2698, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7362, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5713, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5313, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5180, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5068, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5054, d0.loss_map_cls_all: 0.1588, d0.loss_map_pts_all: 0.9452, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1588, d0.loss_map_pts: 0.9452, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1340, d1.loss_map_pts: 0.6690, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1108, d2.loss_map_pts: 0.5276, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0995, d3.loss_map_pts: 0.4760, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0915, d4.loss_map_pts: 0.4580, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0875, d5.loss_map_pts: 0.4500, d5.loss_map_dir: 0.0056, loss: 21.5649, grad_norm: 138.6572 +2026-02-28 17:07:56,094 - DriveTransformer - INFO - Epoch [10][31650/39528] lr: 6.944e-05, eta: 4 days, 17:59:25, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.1001, loss_bbox: 0.3171, loss_traj: 0.4968, loss_traj_cls: 0.0018, loss_map_cls: 0.1315, loss_map_pts: 0.6170, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 3.0523, d0.loss_plan_l1_fix_dist: 0.3529, d1.loss_plan_l1_fix_time: 0.9674, d1.loss_plan_l1_fix_dist: 0.1718, d2.loss_plan_l1_fix_time: 0.9575, d2.loss_plan_l1_fix_dist: 0.1704, d3.loss_plan_l1_fix_time: 0.9511, d3.loss_plan_l1_fix_dist: 0.1973, d4.loss_plan_l1_fix_time: 0.9518, d4.loss_plan_l1_fix_dist: 0.2123, d5.loss_plan_l1_fix_time: 0.9534, d5.loss_plan_l1_fix_dist: 0.2083, d6.loss_plan_l1_fix_time: 0.9556, d6.loss_plan_l1_fix_dist: 0.2132, d0.loss_cls_all: 0.1554, d0.loss_bbox_all: 0.3861, d0.loss_cls: 0.1554, d0.loss_bbox: 0.3861, d1.loss_cls: 0.1455, d1.loss_bbox: 0.3489, d2.loss_cls: 0.1295, d2.loss_bbox: 0.3266, d3.loss_cls: 0.1067, d3.loss_bbox: 0.3218, d4.loss_cls: 0.1025, d4.loss_bbox: 0.3177, d5.loss_cls: 0.1001, d5.loss_bbox: 0.3166, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7345, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5875, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5377, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5109, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5040, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5003, d0.loss_map_cls_all: 0.2099, d0.loss_map_pts_all: 1.2336, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2099, d0.loss_map_pts: 1.2336, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1826, d1.loss_map_pts: 0.8847, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1580, d2.loss_map_pts: 0.7056, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1459, d3.loss_map_pts: 0.6399, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1378, d4.loss_map_pts: 0.6206, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1330, d5.loss_map_pts: 0.6166, d5.loss_map_dir: 0.0074, loss: 25.8294, grad_norm: 138.2565 +2026-02-28 17:08:35,591 - DriveTransformer - INFO - Epoch [10][31700/39528] lr: 6.944e-05, eta: 4 days, 17:59:00, time: 0.790, data_time: 0.036, memory: 19865, loss_cls: 0.1086, loss_bbox: 0.3056, loss_traj: 0.5085, loss_traj_cls: 0.0019, loss_map_cls: 0.1196, loss_map_pts: 0.6245, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.4932, d0.loss_plan_l1_fix_dist: 0.3447, d1.loss_plan_l1_fix_time: 0.8195, d1.loss_plan_l1_fix_dist: 0.2160, d2.loss_plan_l1_fix_time: 0.8177, d2.loss_plan_l1_fix_dist: 0.1764, d3.loss_plan_l1_fix_time: 0.8163, d3.loss_plan_l1_fix_dist: 0.2035, d4.loss_plan_l1_fix_time: 0.8182, d4.loss_plan_l1_fix_dist: 0.2266, d5.loss_plan_l1_fix_time: 0.8210, d5.loss_plan_l1_fix_dist: 0.2331, d6.loss_plan_l1_fix_time: 0.8242, d6.loss_plan_l1_fix_dist: 0.2260, d0.loss_cls_all: 0.1578, d0.loss_bbox_all: 0.3647, d0.loss_cls: 0.1578, d0.loss_bbox: 0.3647, d1.loss_cls: 0.1469, d1.loss_bbox: 0.3345, d2.loss_cls: 0.1340, d2.loss_bbox: 0.3127, d3.loss_cls: 0.1180, d3.loss_bbox: 0.3070, d4.loss_cls: 0.1110, d4.loss_bbox: 0.3069, d5.loss_cls: 0.1089, d5.loss_bbox: 0.3053, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7536, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5900, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5295, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5129, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5075, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5071, d0.loss_map_cls_all: 0.2015, d0.loss_map_pts_all: 1.3251, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2015, d0.loss_map_pts: 1.3251, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1702, d1.loss_map_pts: 0.9285, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1464, d2.loss_map_pts: 0.7281, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1344, d3.loss_map_pts: 0.6597, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1281, d4.loss_map_pts: 0.6331, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1217, d5.loss_map_pts: 0.6238, d5.loss_map_dir: 0.0073, loss: 24.7262, grad_norm: 139.0739 +2026-02-28 17:09:12,773 - DriveTransformer - INFO - Epoch [10][31750/39528] lr: 6.944e-05, eta: 4 days, 17:58:25, time: 0.744, data_time: 0.039, memory: 19865, loss_cls: 0.1057, loss_bbox: 0.3007, loss_traj: 0.5744, loss_traj_cls: 0.0019, loss_map_cls: 0.0970, loss_map_pts: 0.5600, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.6162, d0.loss_plan_l1_fix_dist: 0.3894, d1.loss_plan_l1_fix_time: 0.8327, d1.loss_plan_l1_fix_dist: 0.2462, d2.loss_plan_l1_fix_time: 0.8227, d2.loss_plan_l1_fix_dist: 0.1737, d3.loss_plan_l1_fix_time: 0.8194, d3.loss_plan_l1_fix_dist: 0.1952, d4.loss_plan_l1_fix_time: 0.8204, d4.loss_plan_l1_fix_dist: 0.2283, d5.loss_plan_l1_fix_time: 0.8226, d5.loss_plan_l1_fix_dist: 0.2240, d6.loss_plan_l1_fix_time: 0.8252, d6.loss_plan_l1_fix_dist: 0.1932, d0.loss_cls_all: 0.1544, d0.loss_bbox_all: 0.3805, d0.loss_cls: 0.1544, d0.loss_bbox: 0.3805, d1.loss_cls: 0.1486, d1.loss_bbox: 0.3389, d2.loss_cls: 0.1345, d2.loss_bbox: 0.3118, d3.loss_cls: 0.1148, d3.loss_bbox: 0.3064, d4.loss_cls: 0.1083, d4.loss_bbox: 0.3016, d5.loss_cls: 0.1058, d5.loss_bbox: 0.3011, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9286, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6691, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5996, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5840, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5762, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5752, d0.loss_map_cls_all: 0.1721, d0.loss_map_pts_all: 1.1221, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1721, d0.loss_map_pts: 1.1221, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1418, d1.loss_map_pts: 0.8149, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1212, d2.loss_map_pts: 0.6598, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1098, d3.loss_map_pts: 0.5929, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1036, d4.loss_map_pts: 0.5698, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.0981, d5.loss_map_pts: 0.5619, d5.loss_map_dir: 0.0074, loss: 24.4501, grad_norm: 139.6818 +2026-02-28 17:09:49,436 - DriveTransformer - INFO - Epoch [10][31800/39528] lr: 6.944e-05, eta: 4 days, 17:57:50, time: 0.735, data_time: 0.036, memory: 19865, loss_cls: 0.0936, loss_bbox: 0.2812, loss_traj: 0.4670, loss_traj_cls: 0.0020, loss_map_cls: 0.0904, loss_map_pts: 0.4991, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 3.1598, d0.loss_plan_l1_fix_dist: 0.5276, d1.loss_plan_l1_fix_time: 0.8793, d1.loss_plan_l1_fix_dist: 0.2625, d2.loss_plan_l1_fix_time: 0.8593, d2.loss_plan_l1_fix_dist: 0.1882, d3.loss_plan_l1_fix_time: 0.8560, d3.loss_plan_l1_fix_dist: 0.1830, d4.loss_plan_l1_fix_time: 0.8563, d4.loss_plan_l1_fix_dist: 0.2105, d5.loss_plan_l1_fix_time: 0.8573, d5.loss_plan_l1_fix_dist: 0.2176, d6.loss_plan_l1_fix_time: 0.8588, d6.loss_plan_l1_fix_dist: 0.2089, d0.loss_cls_all: 0.1384, d0.loss_bbox_all: 0.3488, d0.loss_cls: 0.1384, d0.loss_bbox: 0.3488, d1.loss_cls: 0.1299, d1.loss_bbox: 0.3179, d2.loss_cls: 0.1197, d2.loss_bbox: 0.2946, d3.loss_cls: 0.1022, d3.loss_bbox: 0.2879, d4.loss_cls: 0.0944, d4.loss_bbox: 0.2843, d5.loss_cls: 0.0940, d5.loss_bbox: 0.2818, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7320, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5498, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4997, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4804, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4734, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4687, d0.loss_map_cls_all: 0.1561, d0.loss_map_pts_all: 1.0089, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1561, d0.loss_map_pts: 1.0089, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1292, d1.loss_map_pts: 0.7093, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1120, d2.loss_map_pts: 0.5642, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1031, d3.loss_map_pts: 0.5164, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.0966, d4.loss_map_pts: 0.5021, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0916, d5.loss_map_pts: 0.4990, d5.loss_map_dir: 0.0068, loss: 23.4554, grad_norm: 136.2588 +2026-02-28 17:10:23,983 - DriveTransformer - INFO - Epoch [10][31850/39528] lr: 6.944e-05, eta: 4 days, 17:57:05, time: 0.690, data_time: 0.035, memory: 19865, loss_cls: 0.0882, loss_bbox: 0.2703, loss_traj: 0.5983, loss_traj_cls: 0.0020, loss_map_cls: 0.0874, loss_map_pts: 0.4279, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.5366, d0.loss_plan_l1_fix_dist: 0.5685, d1.loss_plan_l1_fix_time: 0.7449, d1.loss_plan_l1_fix_dist: 0.2589, d2.loss_plan_l1_fix_time: 0.7173, d2.loss_plan_l1_fix_dist: 0.2036, d3.loss_plan_l1_fix_time: 0.7156, d3.loss_plan_l1_fix_dist: 0.1984, d4.loss_plan_l1_fix_time: 0.7171, d4.loss_plan_l1_fix_dist: 0.1947, d5.loss_plan_l1_fix_time: 0.7195, d5.loss_plan_l1_fix_dist: 0.2022, d6.loss_plan_l1_fix_time: 0.7217, d6.loss_plan_l1_fix_dist: 0.2269, d0.loss_cls_all: 0.1281, d0.loss_bbox_all: 0.3288, d0.loss_cls: 0.1281, d0.loss_bbox: 0.3288, d1.loss_cls: 0.1232, d1.loss_bbox: 0.2981, d2.loss_cls: 0.1102, d2.loss_bbox: 0.2767, d3.loss_cls: 0.0944, d3.loss_bbox: 0.2711, d4.loss_cls: 0.0908, d4.loss_bbox: 0.2697, d5.loss_cls: 0.0897, d5.loss_bbox: 0.2685, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8587, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6776, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.6165, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6034, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6018, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5982, d0.loss_map_cls_all: 0.1709, d0.loss_map_pts_all: 0.8408, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1709, d0.loss_map_pts: 0.8408, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1415, d1.loss_map_pts: 0.6111, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1159, d2.loss_map_pts: 0.5008, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.1015, d3.loss_map_pts: 0.4530, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0966, d4.loss_map_pts: 0.4346, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0899, d5.loss_map_pts: 0.4282, d5.loss_map_dir: 0.0049, loss: 22.0032, grad_norm: 136.7847 +2026-02-28 17:11:00,197 - DriveTransformer - INFO - Epoch [10][31900/39528] lr: 6.944e-05, eta: 4 days, 17:56:27, time: 0.724, data_time: 0.037, memory: 19865, loss_cls: 0.0929, loss_bbox: 0.2738, loss_traj: 0.4936, loss_traj_cls: 0.0019, loss_map_cls: 0.0973, loss_map_pts: 0.5129, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.6604, d0.loss_plan_l1_fix_dist: 0.4484, d1.loss_plan_l1_fix_time: 0.7849, d1.loss_plan_l1_fix_dist: 0.2649, d2.loss_plan_l1_fix_time: 0.7648, d2.loss_plan_l1_fix_dist: 0.2196, d3.loss_plan_l1_fix_time: 0.7614, d3.loss_plan_l1_fix_dist: 0.2233, d4.loss_plan_l1_fix_time: 0.7643, d4.loss_plan_l1_fix_dist: 0.1926, d5.loss_plan_l1_fix_time: 0.7676, d5.loss_plan_l1_fix_dist: 0.1983, d6.loss_plan_l1_fix_time: 0.7709, d6.loss_plan_l1_fix_dist: 0.2024, d0.loss_cls_all: 0.1329, d0.loss_bbox_all: 0.3376, d0.loss_cls: 0.1329, d0.loss_bbox: 0.3376, d1.loss_cls: 0.1289, d1.loss_bbox: 0.3059, d2.loss_cls: 0.1166, d2.loss_bbox: 0.2845, d3.loss_cls: 0.0989, d3.loss_bbox: 0.2785, d4.loss_cls: 0.0932, d4.loss_bbox: 0.2754, d5.loss_cls: 0.0917, d5.loss_bbox: 0.2751, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6688, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5524, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5134, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4978, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4948, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4931, d0.loss_map_cls_all: 0.1801, d0.loss_map_pts_all: 1.0045, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1801, d0.loss_map_pts: 1.0045, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1514, d1.loss_map_pts: 0.7455, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1276, d2.loss_map_pts: 0.5969, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1131, d3.loss_map_pts: 0.5394, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1058, d4.loss_map_pts: 0.5210, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0999, d5.loss_map_pts: 0.5125, d5.loss_map_dir: 0.0058, loss: 22.5409, grad_norm: 135.7776 +2026-02-28 17:11:35,384 - DriveTransformer - INFO - Epoch [10][31950/39528] lr: 6.944e-05, eta: 4 days, 17:55:46, time: 0.704, data_time: 0.037, memory: 19865, loss_cls: 0.0933, loss_bbox: 0.2683, loss_traj: 0.4940, loss_traj_cls: 0.0019, loss_map_cls: 0.0958, loss_map_pts: 0.4403, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.6278, d0.loss_plan_l1_fix_dist: 0.4739, d1.loss_plan_l1_fix_time: 0.7256, d1.loss_plan_l1_fix_dist: 0.2673, d2.loss_plan_l1_fix_time: 0.7108, d2.loss_plan_l1_fix_dist: 0.2486, d3.loss_plan_l1_fix_time: 0.7010, d3.loss_plan_l1_fix_dist: 0.2523, d4.loss_plan_l1_fix_time: 0.7018, d4.loss_plan_l1_fix_dist: 0.2169, d5.loss_plan_l1_fix_time: 0.7040, d5.loss_plan_l1_fix_dist: 0.2438, d6.loss_plan_l1_fix_time: 0.7066, d6.loss_plan_l1_fix_dist: 0.2324, d0.loss_cls_all: 0.1349, d0.loss_bbox_all: 0.3289, d0.loss_cls: 0.1349, d0.loss_bbox: 0.3289, d1.loss_cls: 0.1284, d1.loss_bbox: 0.2996, d2.loss_cls: 0.1155, d2.loss_bbox: 0.2786, d3.loss_cls: 0.0998, d3.loss_bbox: 0.2709, d4.loss_cls: 0.0942, d4.loss_bbox: 0.2703, d5.loss_cls: 0.0939, d5.loss_bbox: 0.2676, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7549, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5829, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5239, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5126, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5012, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4945, d0.loss_map_cls_all: 0.1744, d0.loss_map_pts_all: 0.9417, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1744, d0.loss_map_pts: 0.9417, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1379, d1.loss_map_pts: 0.6711, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1152, d2.loss_map_pts: 0.5212, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1053, d3.loss_map_pts: 0.4651, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1001, d4.loss_map_pts: 0.4482, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0966, d5.loss_map_pts: 0.4408, d5.loss_map_dir: 0.0058, loss: 21.8095, grad_norm: 132.3973 +2026-02-28 17:12:13,609 - DriveTransformer - INFO - Epoch [10][32000/39528] lr: 6.944e-05, eta: 4 days, 17:55:15, time: 0.765, data_time: 0.038, memory: 19865, loss_cls: 0.1075, loss_bbox: 0.2943, loss_traj: 0.4508, loss_traj_cls: 0.0020, loss_map_cls: 0.0961, loss_map_pts: 0.5419, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.4293, d0.loss_plan_l1_fix_dist: 0.4202, d1.loss_plan_l1_fix_time: 0.7809, d1.loss_plan_l1_fix_dist: 0.2698, d2.loss_plan_l1_fix_time: 0.7631, d2.loss_plan_l1_fix_dist: 0.2540, d3.loss_plan_l1_fix_time: 0.7644, d3.loss_plan_l1_fix_dist: 0.2603, d4.loss_plan_l1_fix_time: 0.7662, d4.loss_plan_l1_fix_dist: 0.2195, d5.loss_plan_l1_fix_time: 0.7688, d5.loss_plan_l1_fix_dist: 0.2411, d6.loss_plan_l1_fix_time: 0.7715, d6.loss_plan_l1_fix_dist: 0.1957, d0.loss_cls_all: 0.1505, d0.loss_bbox_all: 0.3520, d0.loss_cls: 0.1505, d0.loss_bbox: 0.3520, d1.loss_cls: 0.1432, d1.loss_bbox: 0.3218, d2.loss_cls: 0.1291, d2.loss_bbox: 0.3016, d3.loss_cls: 0.1146, d3.loss_bbox: 0.2973, d4.loss_cls: 0.1076, d4.loss_bbox: 0.2955, d5.loss_cls: 0.1066, d5.loss_bbox: 0.2943, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6905, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5172, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4720, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4695, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4660, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4521, d0.loss_map_cls_all: 0.1772, d0.loss_map_pts_all: 1.1769, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1772, d0.loss_map_pts: 1.1769, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1459, d1.loss_map_pts: 0.8261, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1237, d2.loss_map_pts: 0.6324, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1105, d3.loss_map_pts: 0.5680, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1025, d4.loss_map_pts: 0.5485, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.0985, d5.loss_map_pts: 0.5413, d5.loss_map_dir: 0.0076, loss: 23.0520, grad_norm: 131.1515 +2026-02-28 17:12:49,676 - DriveTransformer - INFO - Epoch [10][32050/39528] lr: 6.944e-05, eta: 4 days, 17:54:37, time: 0.722, data_time: 0.037, memory: 19865, loss_cls: 0.1025, loss_bbox: 0.2904, loss_traj: 0.5582, loss_traj_cls: 0.0020, loss_map_cls: 0.0926, loss_map_pts: 0.4658, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.6436, d0.loss_plan_l1_fix_dist: 0.4185, d1.loss_plan_l1_fix_time: 0.7299, d1.loss_plan_l1_fix_dist: 0.2358, d2.loss_plan_l1_fix_time: 0.7139, d2.loss_plan_l1_fix_dist: 0.2333, d3.loss_plan_l1_fix_time: 0.7155, d3.loss_plan_l1_fix_dist: 0.2318, d4.loss_plan_l1_fix_time: 0.7178, d4.loss_plan_l1_fix_dist: 0.2307, d5.loss_plan_l1_fix_time: 0.7200, d5.loss_plan_l1_fix_dist: 0.2508, d6.loss_plan_l1_fix_time: 0.7228, d6.loss_plan_l1_fix_dist: 0.2028, d0.loss_cls_all: 0.1393, d0.loss_bbox_all: 0.3561, d0.loss_cls: 0.1393, d0.loss_bbox: 0.3561, d1.loss_cls: 0.1342, d1.loss_bbox: 0.3247, d2.loss_cls: 0.1243, d2.loss_bbox: 0.3019, d3.loss_cls: 0.1072, d3.loss_bbox: 0.2945, d4.loss_cls: 0.1033, d4.loss_bbox: 0.2908, d5.loss_cls: 0.1025, d5.loss_bbox: 0.2896, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8361, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6575, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5950, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5735, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5663, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5581, d0.loss_map_cls_all: 0.1708, d0.loss_map_pts_all: 1.0058, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1708, d0.loss_map_pts: 1.0058, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1406, d1.loss_map_pts: 0.6988, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1148, d2.loss_map_pts: 0.5504, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1040, d3.loss_map_pts: 0.4943, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0968, d4.loss_map_pts: 0.4750, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0934, d5.loss_map_pts: 0.4665, d5.loss_map_dir: 0.0056, loss: 22.7684, grad_norm: 130.9029 +2026-02-28 17:13:26,197 - DriveTransformer - INFO - Epoch [10][32100/39528] lr: 6.944e-05, eta: 4 days, 17:54:00, time: 0.730, data_time: 0.038, memory: 19865, loss_cls: 0.0928, loss_bbox: 0.2742, loss_traj: 0.4565, loss_traj_cls: 0.0020, loss_map_cls: 0.0949, loss_map_pts: 0.5127, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.2535, d0.loss_plan_l1_fix_dist: 0.4856, d1.loss_plan_l1_fix_time: 0.6334, d1.loss_plan_l1_fix_dist: 0.1930, d2.loss_plan_l1_fix_time: 0.6158, d2.loss_plan_l1_fix_dist: 0.2146, d3.loss_plan_l1_fix_time: 0.6134, d3.loss_plan_l1_fix_dist: 0.1879, d4.loss_plan_l1_fix_time: 0.6153, d4.loss_plan_l1_fix_dist: 0.2294, d5.loss_plan_l1_fix_time: 0.6171, d5.loss_plan_l1_fix_dist: 0.2214, d6.loss_plan_l1_fix_time: 0.6198, d6.loss_plan_l1_fix_dist: 0.2020, d0.loss_cls_all: 0.1264, d0.loss_bbox_all: 0.3300, d0.loss_cls: 0.1264, d0.loss_bbox: 0.3300, d1.loss_cls: 0.1231, d1.loss_bbox: 0.2975, d2.loss_cls: 0.1130, d2.loss_bbox: 0.2788, d3.loss_cls: 0.0961, d3.loss_bbox: 0.2776, d4.loss_cls: 0.0934, d4.loss_bbox: 0.2752, d5.loss_cls: 0.0927, d5.loss_bbox: 0.2736, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6870, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5312, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4807, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4662, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4606, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4594, d0.loss_map_cls_all: 0.1762, d0.loss_map_pts_all: 1.0702, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1762, d0.loss_map_pts: 1.0702, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1465, d1.loss_map_pts: 0.7616, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1180, d2.loss_map_pts: 0.6084, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1078, d3.loss_map_pts: 0.5427, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1006, d4.loss_map_pts: 0.5226, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0965, d5.loss_map_pts: 0.5138, d5.loss_map_dir: 0.0066, loss: 21.1221, grad_norm: 128.3240 +2026-02-28 17:14:01,320 - DriveTransformer - INFO - Epoch [10][32150/39528] lr: 6.944e-05, eta: 4 days, 17:53:18, time: 0.702, data_time: 0.037, memory: 19865, loss_cls: 0.1110, loss_bbox: 0.2998, loss_traj: 0.4904, loss_traj_cls: 0.0020, loss_map_cls: 0.1193, loss_map_pts: 0.5306, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.5420, d0.loss_plan_l1_fix_dist: 0.3474, d1.loss_plan_l1_fix_time: 0.8551, d1.loss_plan_l1_fix_dist: 0.2159, d2.loss_plan_l1_fix_time: 0.8323, d2.loss_plan_l1_fix_dist: 0.2364, d3.loss_plan_l1_fix_time: 0.8277, d3.loss_plan_l1_fix_dist: 0.1927, d4.loss_plan_l1_fix_time: 0.8286, d4.loss_plan_l1_fix_dist: 0.2571, d5.loss_plan_l1_fix_time: 0.8297, d5.loss_plan_l1_fix_dist: 0.2092, d6.loss_plan_l1_fix_time: 0.8317, d6.loss_plan_l1_fix_dist: 0.2031, d0.loss_cls_all: 0.1540, d0.loss_bbox_all: 0.3676, d0.loss_cls: 0.1540, d0.loss_bbox: 0.3676, d1.loss_cls: 0.1455, d1.loss_bbox: 0.3320, d2.loss_cls: 0.1323, d2.loss_bbox: 0.3077, d3.loss_cls: 0.1175, d3.loss_bbox: 0.3027, d4.loss_cls: 0.1121, d4.loss_bbox: 0.3019, d5.loss_cls: 0.1114, d5.loss_bbox: 0.2994, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7632, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5569, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5190, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4986, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4941, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4920, d0.loss_map_cls_all: 0.1914, d0.loss_map_pts_all: 1.0550, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1914, d0.loss_map_pts: 1.0550, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1677, d1.loss_map_pts: 0.7678, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1444, d2.loss_map_pts: 0.6223, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1329, d3.loss_map_pts: 0.5604, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1258, d4.loss_map_pts: 0.5397, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1208, d5.loss_map_pts: 0.5326, d5.loss_map_dir: 0.0055, loss: 23.5465, grad_norm: 128.4558 +2026-02-28 17:14:37,542 - DriveTransformer - INFO - Epoch [10][32200/39528] lr: 6.944e-05, eta: 4 days, 17:52:41, time: 0.724, data_time: 0.040, memory: 19865, loss_cls: 0.1073, loss_bbox: 0.2996, loss_traj: 0.5366, loss_traj_cls: 0.0018, loss_map_cls: 0.1287, loss_map_pts: 0.5921, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.7809, d0.loss_plan_l1_fix_dist: 0.3887, d1.loss_plan_l1_fix_time: 0.8552, d1.loss_plan_l1_fix_dist: 0.2217, d2.loss_plan_l1_fix_time: 0.8410, d2.loss_plan_l1_fix_dist: 0.2284, d3.loss_plan_l1_fix_time: 0.8354, d3.loss_plan_l1_fix_dist: 0.2278, d4.loss_plan_l1_fix_time: 0.8371, d4.loss_plan_l1_fix_dist: 0.2509, d5.loss_plan_l1_fix_time: 0.8387, d5.loss_plan_l1_fix_dist: 0.2007, d6.loss_plan_l1_fix_time: 0.8404, d6.loss_plan_l1_fix_dist: 0.2095, d0.loss_cls_all: 0.1537, d0.loss_bbox_all: 0.3657, d0.loss_cls: 0.1537, d0.loss_bbox: 0.3657, d1.loss_cls: 0.1429, d1.loss_bbox: 0.3304, d2.loss_cls: 0.1300, d2.loss_bbox: 0.3082, d3.loss_cls: 0.1144, d3.loss_bbox: 0.3025, d4.loss_cls: 0.1072, d4.loss_bbox: 0.2998, d5.loss_cls: 0.1066, d5.loss_bbox: 0.2990, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7856, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5895, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5548, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5494, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5365, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5367, d0.loss_map_cls_all: 0.2164, d0.loss_map_pts_all: 1.1627, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2164, d0.loss_map_pts: 1.1627, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1811, d1.loss_map_pts: 0.8529, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1583, d2.loss_map_pts: 0.6890, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1459, d3.loss_map_pts: 0.6244, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1371, d4.loss_map_pts: 0.6024, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1329, d5.loss_map_pts: 0.5923, d5.loss_map_dir: 0.0068, loss: 24.8854, grad_norm: 127.7060 +2026-02-28 17:15:13,206 - DriveTransformer - INFO - Epoch [10][32250/39528] lr: 6.944e-05, eta: 4 days, 17:52:01, time: 0.713, data_time: 0.040, memory: 19865, loss_cls: 0.0942, loss_bbox: 0.2744, loss_traj: 0.4172, loss_traj_cls: 0.0020, loss_map_cls: 0.0928, loss_map_pts: 0.4744, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.6047, d0.loss_plan_l1_fix_dist: 0.6156, d1.loss_plan_l1_fix_time: 0.7448, d1.loss_plan_l1_fix_dist: 0.2306, d2.loss_plan_l1_fix_time: 0.7155, d2.loss_plan_l1_fix_dist: 0.2416, d3.loss_plan_l1_fix_time: 0.7128, d3.loss_plan_l1_fix_dist: 0.2860, d4.loss_plan_l1_fix_time: 0.7143, d4.loss_plan_l1_fix_dist: 0.2524, d5.loss_plan_l1_fix_time: 0.7168, d5.loss_plan_l1_fix_dist: 0.2557, d6.loss_plan_l1_fix_time: 0.7190, d6.loss_plan_l1_fix_dist: 0.2379, d0.loss_cls_all: 0.1329, d0.loss_bbox_all: 0.3321, d0.loss_cls: 0.1329, d0.loss_bbox: 0.3321, d1.loss_cls: 0.1242, d1.loss_bbox: 0.3015, d2.loss_cls: 0.1151, d2.loss_bbox: 0.2812, d3.loss_cls: 0.0988, d3.loss_bbox: 0.2769, d4.loss_cls: 0.0938, d4.loss_bbox: 0.2764, d5.loss_cls: 0.0926, d5.loss_bbox: 0.2749, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6420, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5012, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4448, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4222, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4151, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4153, d0.loss_map_cls_all: 0.1691, d0.loss_map_pts_all: 0.9935, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1691, d0.loss_map_pts: 0.9935, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1393, d1.loss_map_pts: 0.7011, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1148, d2.loss_map_pts: 0.5491, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1033, d3.loss_map_pts: 0.4955, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0981, d4.loss_map_pts: 0.4802, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0936, d5.loss_map_pts: 0.4750, d5.loss_map_dir: 0.0059, loss: 21.7365, grad_norm: 127.6751 +2026-02-28 17:15:49,405 - DriveTransformer - INFO - Epoch [10][32300/39528] lr: 6.944e-05, eta: 4 days, 17:51:23, time: 0.724, data_time: 0.038, memory: 19865, loss_cls: 0.1049, loss_bbox: 0.2999, loss_traj: 0.4855, loss_traj_cls: 0.0019, loss_map_cls: 0.1113, loss_map_pts: 0.5110, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 1.9911, d0.loss_plan_l1_fix_dist: 0.4413, d1.loss_plan_l1_fix_time: 0.7638, d1.loss_plan_l1_fix_dist: 0.2512, d2.loss_plan_l1_fix_time: 0.7493, d2.loss_plan_l1_fix_dist: 0.2474, d3.loss_plan_l1_fix_time: 0.7446, d3.loss_plan_l1_fix_dist: 0.3102, d4.loss_plan_l1_fix_time: 0.7459, d4.loss_plan_l1_fix_dist: 0.2194, d5.loss_plan_l1_fix_time: 0.7477, d5.loss_plan_l1_fix_dist: 0.2802, d6.loss_plan_l1_fix_time: 0.7501, d6.loss_plan_l1_fix_dist: 0.2449, d0.loss_cls_all: 0.1403, d0.loss_bbox_all: 0.3606, d0.loss_cls: 0.1403, d0.loss_bbox: 0.3606, d1.loss_cls: 0.1340, d1.loss_bbox: 0.3292, d2.loss_cls: 0.1250, d2.loss_bbox: 0.3085, d3.loss_cls: 0.1082, d3.loss_bbox: 0.3038, d4.loss_cls: 0.1059, d4.loss_bbox: 0.3003, d5.loss_cls: 0.1054, d5.loss_bbox: 0.2990, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7367, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5734, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5166, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4927, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4873, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4852, d0.loss_map_cls_all: 0.1938, d0.loss_map_pts_all: 1.0833, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1938, d0.loss_map_pts: 1.0833, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1633, d1.loss_map_pts: 0.7663, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1370, d2.loss_map_pts: 0.6000, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1248, d3.loss_map_pts: 0.5382, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1166, d4.loss_map_pts: 0.5188, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1132, d5.loss_map_pts: 0.5116, d5.loss_map_dir: 0.0055, loss: 22.6064, grad_norm: 131.0465 +2026-02-28 17:16:25,106 - DriveTransformer - INFO - Epoch [10][32350/39528] lr: 6.944e-05, eta: 4 days, 17:50:43, time: 0.714, data_time: 0.037, memory: 19865, loss_cls: 0.0952, loss_bbox: 0.3004, loss_traj: 0.5103, loss_traj_cls: 0.0019, loss_map_cls: 0.1166, loss_map_pts: 0.5392, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.8614, d0.loss_plan_l1_fix_dist: 0.5294, d1.loss_plan_l1_fix_time: 0.8105, d1.loss_plan_l1_fix_dist: 0.2719, d2.loss_plan_l1_fix_time: 0.7951, d2.loss_plan_l1_fix_dist: 0.2728, d3.loss_plan_l1_fix_time: 0.7836, d3.loss_plan_l1_fix_dist: 0.3463, d4.loss_plan_l1_fix_time: 0.7849, d4.loss_plan_l1_fix_dist: 0.2594, d5.loss_plan_l1_fix_time: 0.7869, d5.loss_plan_l1_fix_dist: 0.3392, d6.loss_plan_l1_fix_time: 0.7895, d6.loss_plan_l1_fix_dist: 0.2801, d0.loss_cls_all: 0.1441, d0.loss_bbox_all: 0.3660, d0.loss_cls: 0.1441, d0.loss_bbox: 0.3660, d1.loss_cls: 0.1400, d1.loss_bbox: 0.3320, d2.loss_cls: 0.1244, d2.loss_bbox: 0.3082, d3.loss_cls: 0.1038, d3.loss_bbox: 0.3031, d4.loss_cls: 0.0959, d4.loss_bbox: 0.3011, d5.loss_cls: 0.0940, d5.loss_bbox: 0.3013, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7455, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5956, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5376, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5182, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5127, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5124, d0.loss_map_cls_all: 0.1958, d0.loss_map_pts_all: 1.0854, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1958, d0.loss_map_pts: 1.0854, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1622, d1.loss_map_pts: 0.7945, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1393, d2.loss_map_pts: 0.6269, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1302, d3.loss_map_pts: 0.5656, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1223, d4.loss_map_pts: 0.5452, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1205, d5.loss_map_pts: 0.5381, d5.loss_map_dir: 0.0063, loss: 24.3835, grad_norm: 130.5890 +2026-02-28 17:17:01,881 - DriveTransformer - INFO - Epoch [10][32400/39528] lr: 6.944e-05, eta: 4 days, 17:50:07, time: 0.736, data_time: 0.036, memory: 19865, loss_cls: 0.0989, loss_bbox: 0.2919, loss_traj: 0.4574, loss_traj_cls: 0.0019, loss_map_cls: 0.0857, loss_map_pts: 0.5031, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.2756, d0.loss_plan_l1_fix_dist: 0.4815, d1.loss_plan_l1_fix_time: 0.6919, d1.loss_plan_l1_fix_dist: 0.2676, d2.loss_plan_l1_fix_time: 0.6793, d2.loss_plan_l1_fix_dist: 0.2807, d3.loss_plan_l1_fix_time: 0.6763, d3.loss_plan_l1_fix_dist: 0.3529, d4.loss_plan_l1_fix_time: 0.6787, d4.loss_plan_l1_fix_dist: 0.2476, d5.loss_plan_l1_fix_time: 0.6816, d5.loss_plan_l1_fix_dist: 0.3272, d6.loss_plan_l1_fix_time: 0.6852, d6.loss_plan_l1_fix_dist: 0.2481, d0.loss_cls_all: 0.1505, d0.loss_bbox_all: 0.3631, d0.loss_cls: 0.1505, d0.loss_bbox: 0.3631, d1.loss_cls: 0.1397, d1.loss_bbox: 0.3267, d2.loss_cls: 0.1237, d2.loss_bbox: 0.3054, d3.loss_cls: 0.1068, d3.loss_bbox: 0.2978, d4.loss_cls: 0.0992, d4.loss_bbox: 0.2938, d5.loss_cls: 0.0988, d5.loss_bbox: 0.2919, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6764, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5273, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4782, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4679, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4599, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4605, d0.loss_map_cls_all: 0.1762, d0.loss_map_pts_all: 1.0725, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1762, d0.loss_map_pts: 1.0725, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1411, d1.loss_map_pts: 0.7448, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1118, d2.loss_map_pts: 0.5893, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.0999, d3.loss_map_pts: 0.5331, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.0914, d4.loss_map_pts: 0.5111, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0871, d5.loss_map_pts: 0.5026, d5.loss_map_dir: 0.0065, loss: 22.1615, grad_norm: 130.8976 +2026-02-28 17:17:38,927 - DriveTransformer - INFO - Epoch [10][32450/39528] lr: 6.944e-05, eta: 4 days, 17:49:33, time: 0.741, data_time: 0.038, memory: 19865, loss_cls: 0.0934, loss_bbox: 0.2719, loss_traj: 0.5833, loss_traj_cls: 0.0019, loss_map_cls: 0.0932, loss_map_pts: 0.5148, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.5650, d0.loss_plan_l1_fix_dist: 0.5167, d1.loss_plan_l1_fix_time: 0.7995, d1.loss_plan_l1_fix_dist: 0.2397, d2.loss_plan_l1_fix_time: 0.7839, d2.loss_plan_l1_fix_dist: 0.2600, d3.loss_plan_l1_fix_time: 0.7756, d3.loss_plan_l1_fix_dist: 0.3122, d4.loss_plan_l1_fix_time: 0.7763, d4.loss_plan_l1_fix_dist: 0.2304, d5.loss_plan_l1_fix_time: 0.7774, d5.loss_plan_l1_fix_dist: 0.2824, d6.loss_plan_l1_fix_time: 0.7791, d6.loss_plan_l1_fix_dist: 0.2403, d0.loss_cls_all: 0.1351, d0.loss_bbox_all: 0.3395, d0.loss_cls: 0.1351, d0.loss_bbox: 0.3395, d1.loss_cls: 0.1278, d1.loss_bbox: 0.3050, d2.loss_cls: 0.1162, d2.loss_bbox: 0.2840, d3.loss_cls: 0.0987, d3.loss_bbox: 0.2781, d4.loss_cls: 0.0943, d4.loss_bbox: 0.2740, d5.loss_cls: 0.0935, d5.loss_bbox: 0.2717, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8387, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6574, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6135, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5959, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5903, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5843, d0.loss_map_cls_all: 0.1792, d0.loss_map_pts_all: 1.0780, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1792, d0.loss_map_pts: 1.0780, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1418, d1.loss_map_pts: 0.7783, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1193, d2.loss_map_pts: 0.6147, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1082, d3.loss_map_pts: 0.5487, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1003, d4.loss_map_pts: 0.5221, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0963, d5.loss_map_pts: 0.5155, d5.loss_map_dir: 0.0058, loss: 23.7794, grad_norm: 128.9457 +2026-02-28 17:18:15,804 - DriveTransformer - INFO - Epoch [10][32500/39528] lr: 6.944e-05, eta: 4 days, 17:48:57, time: 0.738, data_time: 0.037, memory: 19865, loss_cls: 0.0955, loss_bbox: 0.2669, loss_traj: 0.5094, loss_traj_cls: 0.0019, loss_map_cls: 0.0996, loss_map_pts: 0.5195, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.8081, d0.loss_plan_l1_fix_dist: 0.3383, d1.loss_plan_l1_fix_time: 0.7955, d1.loss_plan_l1_fix_dist: 0.1900, d2.loss_plan_l1_fix_time: 0.7806, d2.loss_plan_l1_fix_dist: 0.2308, d3.loss_plan_l1_fix_time: 0.7719, d3.loss_plan_l1_fix_dist: 0.2539, d4.loss_plan_l1_fix_time: 0.7727, d4.loss_plan_l1_fix_dist: 0.1820, d5.loss_plan_l1_fix_time: 0.7743, d5.loss_plan_l1_fix_dist: 0.2133, d6.loss_plan_l1_fix_time: 0.7769, d6.loss_plan_l1_fix_dist: 0.2164, d0.loss_cls_all: 0.1351, d0.loss_bbox_all: 0.3380, d0.loss_cls: 0.1351, d0.loss_bbox: 0.3380, d1.loss_cls: 0.1276, d1.loss_bbox: 0.3027, d2.loss_cls: 0.1164, d2.loss_bbox: 0.2826, d3.loss_cls: 0.0996, d3.loss_bbox: 0.2760, d4.loss_cls: 0.0950, d4.loss_bbox: 0.2716, d5.loss_cls: 0.0922, d5.loss_bbox: 0.2695, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7318, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5615, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5195, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5099, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5050, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5038, d0.loss_map_cls_all: 0.1920, d0.loss_map_pts_all: 1.0623, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1920, d0.loss_map_pts: 1.0623, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1559, d1.loss_map_pts: 0.7673, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1305, d2.loss_map_pts: 0.6088, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1155, d3.loss_map_pts: 0.5482, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1076, d4.loss_map_pts: 0.5250, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1025, d5.loss_map_pts: 0.5196, d5.loss_map_dir: 0.0064, loss: 22.9549, grad_norm: 128.3930 +2026-02-28 17:18:51,636 - DriveTransformer - INFO - Epoch [10][32550/39528] lr: 6.944e-05, eta: 4 days, 17:48:18, time: 0.717, data_time: 0.037, memory: 19865, loss_cls: 0.1087, loss_bbox: 0.2908, loss_traj: 0.5726, loss_traj_cls: 0.0019, loss_map_cls: 0.1055, loss_map_pts: 0.4828, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.5589, d0.loss_plan_l1_fix_dist: 0.4143, d1.loss_plan_l1_fix_time: 0.7700, d1.loss_plan_l1_fix_dist: 0.2071, d2.loss_plan_l1_fix_time: 0.7566, d2.loss_plan_l1_fix_dist: 0.2375, d3.loss_plan_l1_fix_time: 0.7490, d3.loss_plan_l1_fix_dist: 0.2370, d4.loss_plan_l1_fix_time: 0.7514, d4.loss_plan_l1_fix_dist: 0.1888, d5.loss_plan_l1_fix_time: 0.7542, d5.loss_plan_l1_fix_dist: 0.2152, d6.loss_plan_l1_fix_time: 0.7578, d6.loss_plan_l1_fix_dist: 0.2472, d0.loss_cls_all: 0.1446, d0.loss_bbox_all: 0.3560, d0.loss_cls: 0.1446, d0.loss_bbox: 0.3560, d1.loss_cls: 0.1377, d1.loss_bbox: 0.3225, d2.loss_cls: 0.1238, d2.loss_bbox: 0.3040, d3.loss_cls: 0.1115, d3.loss_bbox: 0.2969, d4.loss_cls: 0.1075, d4.loss_bbox: 0.2945, d5.loss_cls: 0.1070, d5.loss_bbox: 0.2928, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7852, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6347, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5849, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5694, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5660, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5666, d0.loss_map_cls_all: 0.1850, d0.loss_map_pts_all: 0.9709, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1850, d0.loss_map_pts: 0.9709, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1548, d1.loss_map_pts: 0.6898, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1335, d2.loss_map_pts: 0.5562, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1207, d3.loss_map_pts: 0.5063, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1121, d4.loss_map_pts: 0.4904, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1079, d5.loss_map_pts: 0.4832, d5.loss_map_dir: 0.0062, loss: 22.9342, grad_norm: 127.9722 +2026-02-28 17:19:27,729 - DriveTransformer - INFO - Epoch [10][32600/39528] lr: 6.944e-05, eta: 4 days, 17:47:40, time: 0.723, data_time: 0.038, memory: 19865, loss_cls: 0.0983, loss_bbox: 0.2922, loss_traj: 0.5124, loss_traj_cls: 0.0019, loss_map_cls: 0.1226, loss_map_pts: 0.5904, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.4393, d0.loss_plan_l1_fix_dist: 0.4639, d1.loss_plan_l1_fix_time: 0.7639, d1.loss_plan_l1_fix_dist: 0.2594, d2.loss_plan_l1_fix_time: 0.7456, d2.loss_plan_l1_fix_dist: 0.2446, d3.loss_plan_l1_fix_time: 0.7412, d3.loss_plan_l1_fix_dist: 0.2514, d4.loss_plan_l1_fix_time: 0.7423, d4.loss_plan_l1_fix_dist: 0.2070, d5.loss_plan_l1_fix_time: 0.7444, d5.loss_plan_l1_fix_dist: 0.2645, d6.loss_plan_l1_fix_time: 0.7470, d6.loss_plan_l1_fix_dist: 0.2376, d0.loss_cls_all: 0.1375, d0.loss_bbox_all: 0.3562, d0.loss_cls: 0.1375, d0.loss_bbox: 0.3562, d1.loss_cls: 0.1319, d1.loss_bbox: 0.3238, d2.loss_cls: 0.1198, d2.loss_bbox: 0.3034, d3.loss_cls: 0.1045, d3.loss_bbox: 0.2958, d4.loss_cls: 0.1002, d4.loss_bbox: 0.2927, d5.loss_cls: 0.0987, d5.loss_bbox: 0.2921, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7427, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5875, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5342, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5167, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5155, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5113, d0.loss_map_cls_all: 0.1974, d0.loss_map_pts_all: 1.1282, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1974, d0.loss_map_pts: 1.1282, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1693, d1.loss_map_pts: 0.8272, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1474, d2.loss_map_pts: 0.6662, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1374, d3.loss_map_pts: 0.6140, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1279, d4.loss_map_pts: 0.5933, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1246, d5.loss_map_pts: 0.5885, d5.loss_map_dir: 0.0068, loss: 23.6346, grad_norm: 133.6508 +2026-02-28 17:20:02,581 - DriveTransformer - INFO - Epoch [10][32650/39528] lr: 6.944e-05, eta: 4 days, 17:46:57, time: 0.696, data_time: 0.038, memory: 19865, loss_cls: 0.1162, loss_bbox: 0.3125, loss_traj: 0.5831, loss_traj_cls: 0.0019, loss_map_cls: 0.1188, loss_map_pts: 0.5161, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.4318, d0.loss_plan_l1_fix_dist: 0.5137, d1.loss_plan_l1_fix_time: 0.7402, d1.loss_plan_l1_fix_dist: 0.3055, d2.loss_plan_l1_fix_time: 0.7279, d2.loss_plan_l1_fix_dist: 0.2601, d3.loss_plan_l1_fix_time: 0.7225, d3.loss_plan_l1_fix_dist: 0.2815, d4.loss_plan_l1_fix_time: 0.7250, d4.loss_plan_l1_fix_dist: 0.2545, d5.loss_plan_l1_fix_time: 0.7276, d5.loss_plan_l1_fix_dist: 0.3637, d6.loss_plan_l1_fix_time: 0.7304, d6.loss_plan_l1_fix_dist: 0.2904, d0.loss_cls_all: 0.1550, d0.loss_bbox_all: 0.3795, d0.loss_cls: 0.1550, d0.loss_bbox: 0.3795, d1.loss_cls: 0.1501, d1.loss_bbox: 0.3423, d2.loss_cls: 0.1401, d2.loss_bbox: 0.3213, d3.loss_cls: 0.1215, d3.loss_bbox: 0.3163, d4.loss_cls: 0.1182, d4.loss_bbox: 0.3123, d5.loss_cls: 0.1174, d5.loss_bbox: 0.3122, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8639, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6626, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6008, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5837, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5789, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5798, d0.loss_map_cls_all: 0.2016, d0.loss_map_pts_all: 1.0213, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.2016, d0.loss_map_pts: 1.0213, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1722, d1.loss_map_pts: 0.7548, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1433, d2.loss_map_pts: 0.6121, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1333, d3.loss_map_pts: 0.5447, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1254, d4.loss_map_pts: 0.5197, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1212, d5.loss_map_pts: 0.5141, d5.loss_map_dir: 0.0056, loss: 24.0488, grad_norm: 139.0709 +2026-02-28 17:20:38,928 - DriveTransformer - INFO - Epoch [10][32700/39528] lr: 6.944e-05, eta: 4 days, 17:46:20, time: 0.727, data_time: 0.040, memory: 19865, loss_cls: 0.0934, loss_bbox: 0.3024, loss_traj: 0.4513, loss_traj_cls: 0.0019, loss_map_cls: 0.1011, loss_map_pts: 0.4906, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.1945, d0.loss_plan_l1_fix_dist: 0.5629, d1.loss_plan_l1_fix_time: 0.6916, d1.loss_plan_l1_fix_dist: 0.3170, d2.loss_plan_l1_fix_time: 0.6683, d2.loss_plan_l1_fix_dist: 0.2423, d3.loss_plan_l1_fix_time: 0.6634, d3.loss_plan_l1_fix_dist: 0.2617, d4.loss_plan_l1_fix_time: 0.6649, d4.loss_plan_l1_fix_dist: 0.2508, d5.loss_plan_l1_fix_time: 0.6668, d5.loss_plan_l1_fix_dist: 0.3689, d6.loss_plan_l1_fix_time: 0.6692, d6.loss_plan_l1_fix_dist: 0.2647, d0.loss_cls_all: 0.1334, d0.loss_bbox_all: 0.3694, d0.loss_cls: 0.1334, d0.loss_bbox: 0.3694, d1.loss_cls: 0.1275, d1.loss_bbox: 0.3374, d2.loss_cls: 0.1174, d2.loss_bbox: 0.3135, d3.loss_cls: 0.1007, d3.loss_bbox: 0.3063, d4.loss_cls: 0.0962, d4.loss_bbox: 0.3030, d5.loss_cls: 0.0936, d5.loss_bbox: 0.3031, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6443, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5252, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4778, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4627, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4543, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4525, d0.loss_map_cls_all: 0.1762, d0.loss_map_pts_all: 0.9833, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1762, d0.loss_map_pts: 0.9833, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1448, d1.loss_map_pts: 0.7331, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1250, d2.loss_map_pts: 0.5808, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1142, d3.loss_map_pts: 0.5234, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1081, d4.loss_map_pts: 0.5008, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1031, d5.loss_map_pts: 0.4913, d5.loss_map_dir: 0.0056, loss: 21.8404, grad_norm: 141.3723 +2026-02-28 17:21:14,976 - DriveTransformer - INFO - Epoch [10][32750/39528] lr: 6.944e-05, eta: 4 days, 17:45:41, time: 0.721, data_time: 0.038, memory: 19865, loss_cls: 0.0914, loss_bbox: 0.2863, loss_traj: 0.5070, loss_traj_cls: 0.0019, loss_map_cls: 0.1216, loss_map_pts: 0.5635, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.6762, d0.loss_plan_l1_fix_dist: 0.4865, d1.loss_plan_l1_fix_time: 0.8394, d1.loss_plan_l1_fix_dist: 0.3197, d2.loss_plan_l1_fix_time: 0.8249, d2.loss_plan_l1_fix_dist: 0.2328, d3.loss_plan_l1_fix_time: 0.8245, d3.loss_plan_l1_fix_dist: 0.2610, d4.loss_plan_l1_fix_time: 0.8262, d4.loss_plan_l1_fix_dist: 0.2438, d5.loss_plan_l1_fix_time: 0.8280, d5.loss_plan_l1_fix_dist: 0.3547, d6.loss_plan_l1_fix_time: 0.8301, d6.loss_plan_l1_fix_dist: 0.2483, d0.loss_cls_all: 0.1369, d0.loss_bbox_all: 0.3534, d0.loss_cls: 0.1369, d0.loss_bbox: 0.3534, d1.loss_cls: 0.1309, d1.loss_bbox: 0.3203, d2.loss_cls: 0.1188, d2.loss_bbox: 0.2969, d3.loss_cls: 0.0983, d3.loss_bbox: 0.2903, d4.loss_cls: 0.0940, d4.loss_bbox: 0.2870, d5.loss_cls: 0.0897, d5.loss_bbox: 0.2879, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7488, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5816, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5207, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5108, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5108, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5065, d0.loss_map_cls_all: 0.1968, d0.loss_map_pts_all: 1.1205, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1968, d0.loss_map_pts: 1.1205, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1670, d1.loss_map_pts: 0.8218, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1444, d2.loss_map_pts: 0.6589, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1315, d3.loss_map_pts: 0.5947, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1269, d4.loss_map_pts: 0.5688, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1230, d5.loss_map_pts: 0.5652, d5.loss_map_dir: 0.0061, loss: 24.3316, grad_norm: 142.0980 +2026-02-28 17:21:53,071 - DriveTransformer - INFO - Epoch [10][32800/39528] lr: 6.944e-05, eta: 4 days, 17:45:10, time: 0.762, data_time: 0.039, memory: 19865, loss_cls: 0.1064, loss_bbox: 0.3045, loss_traj: 0.5303, loss_traj_cls: 0.0019, loss_map_cls: 0.1099, loss_map_pts: 0.5299, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.4506, d0.loss_plan_l1_fix_dist: 0.4694, d1.loss_plan_l1_fix_time: 0.7408, d1.loss_plan_l1_fix_dist: 0.3059, d2.loss_plan_l1_fix_time: 0.7296, d2.loss_plan_l1_fix_dist: 0.2128, d3.loss_plan_l1_fix_time: 0.7284, d3.loss_plan_l1_fix_dist: 0.2484, d4.loss_plan_l1_fix_time: 0.7302, d4.loss_plan_l1_fix_dist: 0.2333, d5.loss_plan_l1_fix_time: 0.7322, d5.loss_plan_l1_fix_dist: 0.3284, d6.loss_plan_l1_fix_time: 0.7355, d6.loss_plan_l1_fix_dist: 0.2467, d0.loss_cls_all: 0.1526, d0.loss_bbox_all: 0.3701, d0.loss_cls: 0.1526, d0.loss_bbox: 0.3701, d1.loss_cls: 0.1430, d1.loss_bbox: 0.3374, d2.loss_cls: 0.1316, d2.loss_bbox: 0.3134, d3.loss_cls: 0.1113, d3.loss_bbox: 0.3089, d4.loss_cls: 0.1082, d4.loss_bbox: 0.3044, d5.loss_cls: 0.1059, d5.loss_bbox: 0.3047, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7465, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5898, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5391, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5292, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5302, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5347, d0.loss_map_cls_all: 0.1915, d0.loss_map_pts_all: 1.1713, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1915, d0.loss_map_pts: 1.1713, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1599, d1.loss_map_pts: 0.8100, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1346, d2.loss_map_pts: 0.6252, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1231, d3.loss_map_pts: 0.5610, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1164, d4.loss_map_pts: 0.5362, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1117, d5.loss_map_pts: 0.5309, d5.loss_map_dir: 0.0067, loss: 23.6512, grad_norm: 141.9778 +2026-02-28 17:22:31,301 - DriveTransformer - INFO - Epoch [10][32850/39528] lr: 6.944e-05, eta: 4 days, 17:44:40, time: 0.765, data_time: 0.039, memory: 19865, loss_cls: 0.0906, loss_bbox: 0.3182, loss_traj: 0.5588, loss_traj_cls: 0.0019, loss_map_cls: 0.1098, loss_map_pts: 0.5996, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.6530, d0.loss_plan_l1_fix_dist: 0.4284, d1.loss_plan_l1_fix_time: 0.8628, d1.loss_plan_l1_fix_dist: 0.2621, d2.loss_plan_l1_fix_time: 0.8507, d2.loss_plan_l1_fix_dist: 0.1748, d3.loss_plan_l1_fix_time: 0.8402, d3.loss_plan_l1_fix_dist: 0.2184, d4.loss_plan_l1_fix_time: 0.8436, d4.loss_plan_l1_fix_dist: 0.2185, d5.loss_plan_l1_fix_time: 0.8462, d5.loss_plan_l1_fix_dist: 0.2862, d6.loss_plan_l1_fix_time: 0.8499, d6.loss_plan_l1_fix_dist: 0.2293, d0.loss_cls_all: 0.1326, d0.loss_bbox_all: 0.3667, d0.loss_cls: 0.1326, d0.loss_bbox: 0.3667, d1.loss_cls: 0.1270, d1.loss_bbox: 0.3364, d2.loss_cls: 0.1169, d2.loss_bbox: 0.3149, d3.loss_cls: 0.0997, d3.loss_bbox: 0.3137, d4.loss_cls: 0.0927, d4.loss_bbox: 0.3158, d5.loss_cls: 0.0895, d5.loss_bbox: 0.3180, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8447, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6283, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5708, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5588, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5529, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5575, d0.loss_map_cls_all: 0.1974, d0.loss_map_pts_all: 1.2695, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1974, d0.loss_map_pts: 1.2695, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1684, d1.loss_map_pts: 0.9227, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1406, d2.loss_map_pts: 0.7229, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1257, d3.loss_map_pts: 0.6407, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1180, d4.loss_map_pts: 0.6081, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1127, d5.loss_map_pts: 0.5987, d5.loss_map_dir: 0.0066, loss: 25.2277, grad_norm: 141.7927 +2026-02-28 17:23:07,367 - DriveTransformer - INFO - Epoch [10][32900/39528] lr: 6.944e-05, eta: 4 days, 17:44:02, time: 0.721, data_time: 0.038, memory: 19865, loss_cls: 0.0949, loss_bbox: 0.2716, loss_traj: 0.4274, loss_traj_cls: 0.0019, loss_map_cls: 0.0858, loss_map_pts: 0.4468, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.3410, d0.loss_plan_l1_fix_dist: 0.4577, d1.loss_plan_l1_fix_time: 0.7838, d1.loss_plan_l1_fix_dist: 0.2459, d2.loss_plan_l1_fix_time: 0.7628, d2.loss_plan_l1_fix_dist: 0.1777, d3.loss_plan_l1_fix_time: 0.7634, d3.loss_plan_l1_fix_dist: 0.1942, d4.loss_plan_l1_fix_time: 0.7667, d4.loss_plan_l1_fix_dist: 0.2247, d5.loss_plan_l1_fix_time: 0.7680, d5.loss_plan_l1_fix_dist: 0.2852, d6.loss_plan_l1_fix_time: 0.7700, d6.loss_plan_l1_fix_dist: 0.2378, d0.loss_cls_all: 0.1384, d0.loss_bbox_all: 0.3274, d0.loss_cls: 0.1384, d0.loss_bbox: 0.3274, d1.loss_cls: 0.1365, d1.loss_bbox: 0.2964, d2.loss_cls: 0.1206, d2.loss_bbox: 0.2736, d3.loss_cls: 0.1023, d3.loss_bbox: 0.2726, d4.loss_cls: 0.0996, d4.loss_bbox: 0.2694, d5.loss_cls: 0.0992, d5.loss_bbox: 0.2678, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6059, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.4819, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4505, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4364, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4281, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4282, d0.loss_map_cls_all: 0.1636, d0.loss_map_pts_all: 0.9824, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1636, d0.loss_map_pts: 0.9824, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1318, d1.loss_map_pts: 0.6758, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1096, d2.loss_map_pts: 0.5232, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0985, d3.loss_map_pts: 0.4709, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0923, d4.loss_map_pts: 0.4503, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0887, d5.loss_map_pts: 0.4463, d5.loss_map_dir: 0.0055, loss: 21.2369, grad_norm: 141.7690 +2026-02-28 17:23:45,933 - DriveTransformer - INFO - Epoch [10][32950/39528] lr: 6.944e-05, eta: 4 days, 17:43:32, time: 0.771, data_time: 0.036, memory: 19865, loss_cls: 0.0817, loss_bbox: 0.2773, loss_traj: 0.4473, loss_traj_cls: 0.0020, loss_map_cls: 0.0852, loss_map_pts: 0.5551, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.5484, d0.loss_plan_l1_fix_dist: 0.4951, d1.loss_plan_l1_fix_time: 0.8714, d1.loss_plan_l1_fix_dist: 0.2579, d2.loss_plan_l1_fix_time: 0.8510, d2.loss_plan_l1_fix_dist: 0.2082, d3.loss_plan_l1_fix_time: 0.8458, d3.loss_plan_l1_fix_dist: 0.2247, d4.loss_plan_l1_fix_time: 0.8485, d4.loss_plan_l1_fix_dist: 0.2306, d5.loss_plan_l1_fix_time: 0.8510, d5.loss_plan_l1_fix_dist: 0.2808, d6.loss_plan_l1_fix_time: 0.8533, d6.loss_plan_l1_fix_dist: 0.2754, d0.loss_cls_all: 0.1298, d0.loss_bbox_all: 0.3446, d0.loss_cls: 0.1298, d0.loss_bbox: 0.3446, d1.loss_cls: 0.1225, d1.loss_bbox: 0.3110, d2.loss_cls: 0.1086, d2.loss_bbox: 0.2873, d3.loss_cls: 0.0906, d3.loss_bbox: 0.2830, d4.loss_cls: 0.0843, d4.loss_bbox: 0.2796, d5.loss_cls: 0.0821, d5.loss_bbox: 0.2775, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6278, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5142, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4715, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4494, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4492, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4470, d0.loss_map_cls_all: 0.1611, d0.loss_map_pts_all: 1.1109, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.1611, d0.loss_map_pts: 1.1109, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1282, d1.loss_map_pts: 0.7861, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1085, d2.loss_map_pts: 0.6312, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.0985, d3.loss_map_pts: 0.5811, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.0913, d4.loss_map_pts: 0.5629, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.0862, d5.loss_map_pts: 0.5557, d5.loss_map_dir: 0.0081, loss: 23.1684, grad_norm: 141.7113 +2026-02-28 17:24:23,167 - DriveTransformer - INFO - Epoch [10][33000/39528] lr: 6.944e-05, eta: 4 days, 17:42:58, time: 0.745, data_time: 0.037, memory: 19865, loss_cls: 0.0841, loss_bbox: 0.2851, loss_traj: 0.4757, loss_traj_cls: 0.0019, loss_map_cls: 0.0858, loss_map_pts: 0.5137, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.2871, d0.loss_plan_l1_fix_dist: 0.4604, d1.loss_plan_l1_fix_time: 0.8314, d1.loss_plan_l1_fix_dist: 0.2358, d2.loss_plan_l1_fix_time: 0.8177, d2.loss_plan_l1_fix_dist: 0.2017, d3.loss_plan_l1_fix_time: 0.8041, d3.loss_plan_l1_fix_dist: 0.2158, d4.loss_plan_l1_fix_time: 0.8058, d4.loss_plan_l1_fix_dist: 0.2203, d5.loss_plan_l1_fix_time: 0.8083, d5.loss_plan_l1_fix_dist: 0.2442, d6.loss_plan_l1_fix_time: 0.8116, d6.loss_plan_l1_fix_dist: 0.2853, d0.loss_cls_all: 0.1296, d0.loss_bbox_all: 0.3429, d0.loss_cls: 0.1296, d0.loss_bbox: 0.3429, d1.loss_cls: 0.1230, d1.loss_bbox: 0.3104, d2.loss_cls: 0.1110, d2.loss_bbox: 0.2883, d3.loss_cls: 0.0928, d3.loss_bbox: 0.2856, d4.loss_cls: 0.0866, d4.loss_bbox: 0.2831, d5.loss_cls: 0.0847, d5.loss_bbox: 0.2832, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6624, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5505, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5189, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4794, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4753, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4733, d0.loss_map_cls_all: 0.1706, d0.loss_map_pts_all: 1.1396, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1706, d0.loss_map_pts: 1.1396, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1316, d1.loss_map_pts: 0.7927, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1091, d2.loss_map_pts: 0.6121, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.0988, d3.loss_map_pts: 0.5457, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.0917, d4.loss_map_pts: 0.5214, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0875, d5.loss_map_pts: 0.5134, d5.loss_map_dir: 0.0065, loss: 22.7101, grad_norm: 139.6412 +2026-02-28 17:25:00,917 - DriveTransformer - INFO - Epoch [10][33050/39528] lr: 6.944e-05, eta: 4 days, 17:42:26, time: 0.755, data_time: 0.036, memory: 19865, loss_cls: 0.0849, loss_bbox: 0.2804, loss_traj: 0.4586, loss_traj_cls: 0.0019, loss_map_cls: 0.0987, loss_map_pts: 0.5157, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.0320, d0.loss_plan_l1_fix_dist: 0.4435, d1.loss_plan_l1_fix_time: 0.6540, d1.loss_plan_l1_fix_dist: 0.2279, d2.loss_plan_l1_fix_time: 0.6437, d2.loss_plan_l1_fix_dist: 0.1879, d3.loss_plan_l1_fix_time: 0.6427, d3.loss_plan_l1_fix_dist: 0.2208, d4.loss_plan_l1_fix_time: 0.6460, d4.loss_plan_l1_fix_dist: 0.2336, d5.loss_plan_l1_fix_time: 0.6495, d5.loss_plan_l1_fix_dist: 0.2806, d6.loss_plan_l1_fix_time: 0.6534, d6.loss_plan_l1_fix_dist: 0.3124, d0.loss_cls_all: 0.1231, d0.loss_bbox_all: 0.3334, d0.loss_cls: 0.1231, d0.loss_bbox: 0.3334, d1.loss_cls: 0.1166, d1.loss_bbox: 0.3006, d2.loss_cls: 0.1064, d2.loss_bbox: 0.2842, d3.loss_cls: 0.0928, d3.loss_bbox: 0.2780, d4.loss_cls: 0.0874, d4.loss_bbox: 0.2767, d5.loss_cls: 0.0853, d5.loss_bbox: 0.2780, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6538, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5342, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4753, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4586, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4601, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4613, d0.loss_map_cls_all: 0.1790, d0.loss_map_pts_all: 1.1008, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1790, d0.loss_map_pts: 1.1008, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1426, d1.loss_map_pts: 0.7819, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1223, d2.loss_map_pts: 0.6093, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1130, d3.loss_map_pts: 0.5465, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1064, d4.loss_map_pts: 0.5256, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1003, d5.loss_map_pts: 0.5168, d5.loss_map_dir: 0.0069, loss: 21.3115, grad_norm: 142.5849 +2026-02-28 17:25:35,948 - DriveTransformer - INFO - Epoch [10][33100/39528] lr: 6.944e-05, eta: 4 days, 17:41:44, time: 0.701, data_time: 0.038, memory: 19865, loss_cls: 0.0894, loss_bbox: 0.2832, loss_traj: 0.4640, loss_traj_cls: 0.0019, loss_map_cls: 0.1012, loss_map_pts: 0.4697, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.7902, d0.loss_plan_l1_fix_dist: 0.5397, d1.loss_plan_l1_fix_time: 0.8600, d1.loss_plan_l1_fix_dist: 0.2206, d2.loss_plan_l1_fix_time: 0.8516, d2.loss_plan_l1_fix_dist: 0.1948, d3.loss_plan_l1_fix_time: 0.8495, d3.loss_plan_l1_fix_dist: 0.2415, d4.loss_plan_l1_fix_time: 0.8518, d4.loss_plan_l1_fix_dist: 0.2822, d5.loss_plan_l1_fix_time: 0.8544, d5.loss_plan_l1_fix_dist: 0.3120, d6.loss_plan_l1_fix_time: 0.8571, d6.loss_plan_l1_fix_dist: 0.3104, d0.loss_cls_all: 0.1300, d0.loss_bbox_all: 0.3530, d0.loss_cls: 0.1300, d0.loss_bbox: 0.3530, d1.loss_cls: 0.1232, d1.loss_bbox: 0.3185, d2.loss_cls: 0.1108, d2.loss_bbox: 0.2916, d3.loss_cls: 0.0963, d3.loss_bbox: 0.2839, d4.loss_cls: 0.0901, d4.loss_bbox: 0.2816, d5.loss_cls: 0.0893, d5.loss_bbox: 0.2828, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7981, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5711, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4962, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4714, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4642, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4626, d0.loss_map_cls_all: 0.1734, d0.loss_map_pts_all: 0.9954, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1734, d0.loss_map_pts: 0.9954, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1422, d1.loss_map_pts: 0.7173, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1228, d2.loss_map_pts: 0.5629, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.1119, d3.loss_map_pts: 0.5013, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.1069, d4.loss_map_pts: 0.4762, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.1033, d5.loss_map_pts: 0.4688, d5.loss_map_dir: 0.0050, loss: 23.3186, grad_norm: 138.8875 +2026-02-28 17:26:13,335 - DriveTransformer - INFO - Epoch [10][33150/39528] lr: 6.944e-05, eta: 4 days, 17:41:10, time: 0.748, data_time: 0.037, memory: 19865, loss_cls: 0.1107, loss_bbox: 0.3036, loss_traj: 0.5560, loss_traj_cls: 0.0019, loss_map_cls: 0.1058, loss_map_pts: 0.5672, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.4616, d0.loss_plan_l1_fix_dist: 0.3343, d1.loss_plan_l1_fix_time: 0.7676, d1.loss_plan_l1_fix_dist: 0.1749, d2.loss_plan_l1_fix_time: 0.7618, d2.loss_plan_l1_fix_dist: 0.1781, d3.loss_plan_l1_fix_time: 0.7446, d3.loss_plan_l1_fix_dist: 0.2252, d4.loss_plan_l1_fix_time: 0.7451, d4.loss_plan_l1_fix_dist: 0.2941, d5.loss_plan_l1_fix_time: 0.7475, d5.loss_plan_l1_fix_dist: 0.2741, d6.loss_plan_l1_fix_time: 0.7499, d6.loss_plan_l1_fix_dist: 0.2459, d0.loss_cls_all: 0.1568, d0.loss_bbox_all: 0.3711, d0.loss_cls: 0.1568, d0.loss_bbox: 0.3711, d1.loss_cls: 0.1515, d1.loss_bbox: 0.3369, d2.loss_cls: 0.1361, d2.loss_bbox: 0.3138, d3.loss_cls: 0.1141, d3.loss_bbox: 0.3097, d4.loss_cls: 0.1109, d4.loss_bbox: 0.3057, d5.loss_cls: 0.1105, d5.loss_bbox: 0.3042, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7861, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6343, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5773, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5674, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5580, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5569, d0.loss_map_cls_all: 0.1826, d0.loss_map_pts_all: 1.1918, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1826, d0.loss_map_pts: 1.1918, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1531, d1.loss_map_pts: 0.8754, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1311, d2.loss_map_pts: 0.6800, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1178, d3.loss_map_pts: 0.6053, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1118, d4.loss_map_pts: 0.5766, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1066, d5.loss_map_pts: 0.5677, d5.loss_map_dir: 0.0072, loss: 24.0142, grad_norm: 139.4342 +2026-02-28 17:26:50,682 - DriveTransformer - INFO - Epoch [10][33200/39528] lr: 6.944e-05, eta: 4 days, 17:40:37, time: 0.747, data_time: 0.039, memory: 19865, loss_cls: 0.1053, loss_bbox: 0.3346, loss_traj: 0.4228, loss_traj_cls: 0.0019, loss_map_cls: 0.1175, loss_map_pts: 0.6053, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.6473, d0.loss_plan_l1_fix_dist: 0.3834, d1.loss_plan_l1_fix_time: 0.8576, d1.loss_plan_l1_fix_dist: 0.1777, d2.loss_plan_l1_fix_time: 0.8567, d2.loss_plan_l1_fix_dist: 0.1866, d3.loss_plan_l1_fix_time: 0.8542, d3.loss_plan_l1_fix_dist: 0.2291, d4.loss_plan_l1_fix_time: 0.8567, d4.loss_plan_l1_fix_dist: 0.3050, d5.loss_plan_l1_fix_time: 0.8604, d5.loss_plan_l1_fix_dist: 0.2941, d6.loss_plan_l1_fix_time: 0.8651, d6.loss_plan_l1_fix_dist: 0.3064, d0.loss_cls_all: 0.1571, d0.loss_bbox_all: 0.3950, d0.loss_cls: 0.1571, d0.loss_bbox: 0.3950, d1.loss_cls: 0.1515, d1.loss_bbox: 0.3620, d2.loss_cls: 0.1338, d2.loss_bbox: 0.3378, d3.loss_cls: 0.1140, d3.loss_bbox: 0.3326, d4.loss_cls: 0.1090, d4.loss_bbox: 0.3318, d5.loss_cls: 0.1065, d5.loss_bbox: 0.3321, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6454, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.4836, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4411, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4229, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4206, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4199, d0.loss_map_cls_all: 0.1996, d0.loss_map_pts_all: 1.1807, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1996, d0.loss_map_pts: 1.1807, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1653, d1.loss_map_pts: 0.8599, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1424, d2.loss_map_pts: 0.6964, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1319, d3.loss_map_pts: 0.6359, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1237, d4.loss_map_pts: 0.6109, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1189, d5.loss_map_pts: 0.6051, d5.loss_map_dir: 0.0072, loss: 24.4294, grad_norm: 139.6389 +2026-02-28 17:27:28,149 - DriveTransformer - INFO - Epoch [10][33250/39528] lr: 6.944e-05, eta: 4 days, 17:40:04, time: 0.749, data_time: 0.039, memory: 19865, loss_cls: 0.1033, loss_bbox: 0.3133, loss_traj: 0.5161, loss_traj_cls: 0.0019, loss_map_cls: 0.1007, loss_map_pts: 0.5414, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.8721, d0.loss_plan_l1_fix_dist: 0.4244, d1.loss_plan_l1_fix_time: 0.8348, d1.loss_plan_l1_fix_dist: 0.1852, d2.loss_plan_l1_fix_time: 0.8235, d2.loss_plan_l1_fix_dist: 0.1850, d3.loss_plan_l1_fix_time: 0.8085, d3.loss_plan_l1_fix_dist: 0.2126, d4.loss_plan_l1_fix_time: 0.8101, d4.loss_plan_l1_fix_dist: 0.2737, d5.loss_plan_l1_fix_time: 0.8136, d5.loss_plan_l1_fix_dist: 0.2784, d6.loss_plan_l1_fix_time: 0.8193, d6.loss_plan_l1_fix_dist: 0.2754, d0.loss_cls_all: 0.1445, d0.loss_bbox_all: 0.3732, d0.loss_cls: 0.1445, d0.loss_bbox: 0.3732, d1.loss_cls: 0.1383, d1.loss_bbox: 0.3375, d2.loss_cls: 0.1257, d2.loss_bbox: 0.3149, d3.loss_cls: 0.1085, d3.loss_bbox: 0.3094, d4.loss_cls: 0.1026, d4.loss_bbox: 0.3102, d5.loss_cls: 0.1019, d5.loss_bbox: 0.3111, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7056, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5732, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5285, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5136, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5144, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5124, d0.loss_map_cls_all: 0.1749, d0.loss_map_pts_all: 1.0996, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1749, d0.loss_map_pts: 1.0996, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1430, d1.loss_map_pts: 0.8012, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1257, d2.loss_map_pts: 0.6307, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1146, d3.loss_map_pts: 0.5720, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1077, d4.loss_map_pts: 0.5506, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1038, d5.loss_map_pts: 0.5421, d5.loss_map_dir: 0.0071, loss: 24.0382, grad_norm: 140.7104 +2026-02-28 17:28:03,870 - DriveTransformer - INFO - Epoch [10][33300/39528] lr: 6.944e-05, eta: 4 days, 17:39:24, time: 0.714, data_time: 0.038, memory: 19865, loss_cls: 0.0889, loss_bbox: 0.2873, loss_traj: 0.5181, loss_traj_cls: 0.0019, loss_map_cls: 0.0964, loss_map_pts: 0.4643, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.3837, d0.loss_plan_l1_fix_dist: 0.3438, d1.loss_plan_l1_fix_time: 0.7198, d1.loss_plan_l1_fix_dist: 0.1887, d2.loss_plan_l1_fix_time: 0.7046, d2.loss_plan_l1_fix_dist: 0.1864, d3.loss_plan_l1_fix_time: 0.7025, d3.loss_plan_l1_fix_dist: 0.2003, d4.loss_plan_l1_fix_time: 0.7052, d4.loss_plan_l1_fix_dist: 0.2826, d5.loss_plan_l1_fix_time: 0.7084, d5.loss_plan_l1_fix_dist: 0.2919, d6.loss_plan_l1_fix_time: 0.7131, d6.loss_plan_l1_fix_dist: 0.2634, d0.loss_cls_all: 0.1265, d0.loss_bbox_all: 0.3376, d0.loss_cls: 0.1265, d0.loss_bbox: 0.3376, d1.loss_cls: 0.1229, d1.loss_bbox: 0.3064, d2.loss_cls: 0.1112, d2.loss_bbox: 0.2878, d3.loss_cls: 0.0960, d3.loss_bbox: 0.2843, d4.loss_cls: 0.0925, d4.loss_bbox: 0.2826, d5.loss_cls: 0.0888, d5.loss_bbox: 0.2854, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7375, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5976, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5431, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5285, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5206, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5169, d0.loss_map_cls_all: 0.1761, d0.loss_map_pts_all: 1.0493, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1761, d0.loss_map_pts: 1.0493, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1435, d1.loss_map_pts: 0.7345, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1201, d2.loss_map_pts: 0.5565, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1115, d3.loss_map_pts: 0.4898, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1042, d4.loss_map_pts: 0.4712, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0984, d5.loss_map_pts: 0.4653, d5.loss_map_dir: 0.0057, loss: 21.9766, grad_norm: 140.4892 +2026-02-28 17:28:41,128 - DriveTransformer - INFO - Epoch [10][33350/39528] lr: 6.944e-05, eta: 4 days, 17:38:50, time: 0.745, data_time: 0.037, memory: 19865, loss_cls: 0.1021, loss_bbox: 0.3135, loss_traj: 0.5222, loss_traj_cls: 0.0019, loss_map_cls: 0.1085, loss_map_pts: 0.5768, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.5239, d0.loss_plan_l1_fix_dist: 0.3602, d1.loss_plan_l1_fix_time: 0.6889, d1.loss_plan_l1_fix_dist: 0.2050, d2.loss_plan_l1_fix_time: 0.6778, d2.loss_plan_l1_fix_dist: 0.2022, d3.loss_plan_l1_fix_time: 0.6762, d3.loss_plan_l1_fix_dist: 0.1795, d4.loss_plan_l1_fix_time: 0.6784, d4.loss_plan_l1_fix_dist: 0.2929, d5.loss_plan_l1_fix_time: 0.6803, d5.loss_plan_l1_fix_dist: 0.2875, d6.loss_plan_l1_fix_time: 0.6823, d6.loss_plan_l1_fix_dist: 0.2635, d0.loss_cls_all: 0.1466, d0.loss_bbox_all: 0.3764, d0.loss_cls: 0.1466, d0.loss_bbox: 0.3764, d1.loss_cls: 0.1421, d1.loss_bbox: 0.3420, d2.loss_cls: 0.1290, d2.loss_bbox: 0.3189, d3.loss_cls: 0.1119, d3.loss_bbox: 0.3162, d4.loss_cls: 0.1053, d4.loss_bbox: 0.3144, d5.loss_cls: 0.1027, d5.loss_bbox: 0.3128, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7465, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6127, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5517, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5274, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5247, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5242, d0.loss_map_cls_all: 0.1922, d0.loss_map_pts_all: 1.1683, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1922, d0.loss_map_pts: 1.1683, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1649, d1.loss_map_pts: 0.8431, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1391, d2.loss_map_pts: 0.6793, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1277, d3.loss_map_pts: 0.6058, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1182, d4.loss_map_pts: 0.5829, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1117, d5.loss_map_pts: 0.5766, d5.loss_map_dir: 0.0068, loss: 23.4815, grad_norm: 137.1702 +2026-02-28 17:29:17,365 - DriveTransformer - INFO - Epoch [10][33400/39528] lr: 6.944e-05, eta: 4 days, 17:38:13, time: 0.726, data_time: 0.036, memory: 19865, loss_cls: 0.1039, loss_bbox: 0.2844, loss_traj: 0.4480, loss_traj_cls: 0.0019, loss_map_cls: 0.1067, loss_map_pts: 0.5402, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.5188, d0.loss_plan_l1_fix_dist: 0.3582, d1.loss_plan_l1_fix_time: 0.8185, d1.loss_plan_l1_fix_dist: 0.2035, d2.loss_plan_l1_fix_time: 0.7994, d2.loss_plan_l1_fix_dist: 0.1978, d3.loss_plan_l1_fix_time: 0.7978, d3.loss_plan_l1_fix_dist: 0.1839, d4.loss_plan_l1_fix_time: 0.7994, d4.loss_plan_l1_fix_dist: 0.2823, d5.loss_plan_l1_fix_time: 0.8015, d5.loss_plan_l1_fix_dist: 0.2690, d6.loss_plan_l1_fix_time: 0.8041, d6.loss_plan_l1_fix_dist: 0.2327, d0.loss_cls_all: 0.1505, d0.loss_bbox_all: 0.3508, d0.loss_cls: 0.1505, d0.loss_bbox: 0.3508, d1.loss_cls: 0.1424, d1.loss_bbox: 0.3180, d2.loss_cls: 0.1247, d2.loss_bbox: 0.2975, d3.loss_cls: 0.1104, d3.loss_bbox: 0.2923, d4.loss_cls: 0.1047, d4.loss_bbox: 0.2889, d5.loss_cls: 0.1034, d5.loss_bbox: 0.2865, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6619, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5281, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4785, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4606, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4544, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4488, d0.loss_map_cls_all: 0.1797, d0.loss_map_pts_all: 1.0922, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1797, d0.loss_map_pts: 1.0922, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1519, d1.loss_map_pts: 0.7741, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1331, d2.loss_map_pts: 0.6195, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1223, d3.loss_map_pts: 0.5625, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1142, d4.loss_map_pts: 0.5476, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1090, d5.loss_map_pts: 0.5413, d5.loss_map_dir: 0.0066, loss: 22.9323, grad_norm: 136.8393 +2026-02-28 17:29:52,393 - DriveTransformer - INFO - Epoch [10][33450/39528] lr: 6.944e-05, eta: 4 days, 17:37:30, time: 0.699, data_time: 0.037, memory: 19865, loss_cls: 0.0907, loss_bbox: 0.2885, loss_traj: 0.4455, loss_traj_cls: 0.0019, loss_map_cls: 0.1094, loss_map_pts: 0.4760, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.2509, d0.loss_plan_l1_fix_dist: 0.2968, d1.loss_plan_l1_fix_time: 0.8191, d1.loss_plan_l1_fix_dist: 0.2143, d2.loss_plan_l1_fix_time: 0.7898, d2.loss_plan_l1_fix_dist: 0.2000, d3.loss_plan_l1_fix_time: 0.7818, d3.loss_plan_l1_fix_dist: 0.1973, d4.loss_plan_l1_fix_time: 0.7827, d4.loss_plan_l1_fix_dist: 0.2879, d5.loss_plan_l1_fix_time: 0.7846, d5.loss_plan_l1_fix_dist: 0.2731, d6.loss_plan_l1_fix_time: 0.7865, d6.loss_plan_l1_fix_dist: 0.1889, d0.loss_cls_all: 0.1271, d0.loss_bbox_all: 0.3437, d0.loss_cls: 0.1271, d0.loss_bbox: 0.3437, d1.loss_cls: 0.1222, d1.loss_bbox: 0.3105, d2.loss_cls: 0.1100, d2.loss_bbox: 0.2932, d3.loss_cls: 0.0944, d3.loss_bbox: 0.2903, d4.loss_cls: 0.0910, d4.loss_bbox: 0.2893, d5.loss_cls: 0.0904, d5.loss_bbox: 0.2892, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6923, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5268, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4646, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4530, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4456, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4466, d0.loss_map_cls_all: 0.1830, d0.loss_map_pts_all: 0.9973, d0.loss_map_dir_all: 0.0046, d0.loss_map_cls: 0.1830, d0.loss_map_pts: 0.9973, d0.loss_map_dir: 0.0046, d1.loss_map_cls: 0.1556, d1.loss_map_pts: 0.7186, d1.loss_map_dir: 0.0043, d2.loss_map_cls: 0.1363, d2.loss_map_pts: 0.5658, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.1253, d3.loss_map_pts: 0.4982, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.1175, d4.loss_map_pts: 0.4789, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.1118, d5.loss_map_pts: 0.4750, d5.loss_map_dir: 0.0046, loss: 21.8004, grad_norm: 136.4845 +2026-02-28 17:30:29,202 - DriveTransformer - INFO - Epoch [10][33500/39528] lr: 6.944e-05, eta: 4 days, 17:36:54, time: 0.736, data_time: 0.038, memory: 19865, loss_cls: 0.1009, loss_bbox: 0.2980, loss_traj: 0.6071, loss_traj_cls: 0.0018, loss_map_cls: 0.1162, loss_map_pts: 0.5442, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.7215, d0.loss_plan_l1_fix_dist: 0.3382, d1.loss_plan_l1_fix_time: 0.7918, d1.loss_plan_l1_fix_dist: 0.2262, d2.loss_plan_l1_fix_time: 0.7686, d2.loss_plan_l1_fix_dist: 0.2377, d3.loss_plan_l1_fix_time: 0.7674, d3.loss_plan_l1_fix_dist: 0.2143, d4.loss_plan_l1_fix_time: 0.7706, d4.loss_plan_l1_fix_dist: 0.2777, d5.loss_plan_l1_fix_time: 0.7735, d5.loss_plan_l1_fix_dist: 0.2697, d6.loss_plan_l1_fix_time: 0.7764, d6.loss_plan_l1_fix_dist: 0.2103, d0.loss_cls_all: 0.1369, d0.loss_bbox_all: 0.3587, d0.loss_cls: 0.1369, d0.loss_bbox: 0.3587, d1.loss_cls: 0.1329, d1.loss_bbox: 0.3241, d2.loss_cls: 0.1239, d2.loss_bbox: 0.3015, d3.loss_cls: 0.1089, d3.loss_bbox: 0.2995, d4.loss_cls: 0.1019, d4.loss_bbox: 0.3008, d5.loss_cls: 0.1013, d5.loss_bbox: 0.2989, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9231, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6910, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6280, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.6143, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.6080, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6087, d0.loss_map_cls_all: 0.1942, d0.loss_map_pts_all: 1.1455, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1942, d0.loss_map_pts: 1.1455, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1631, d1.loss_map_pts: 0.8420, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1408, d2.loss_map_pts: 0.6655, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1302, d3.loss_map_pts: 0.5880, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1246, d4.loss_map_pts: 0.5598, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1192, d5.loss_map_pts: 0.5441, d5.loss_map_dir: 0.0056, loss: 24.5752, grad_norm: 136.8614 +2026-02-28 17:31:06,184 - DriveTransformer - INFO - Epoch [10][33550/39528] lr: 6.944e-05, eta: 4 days, 17:36:19, time: 0.740, data_time: 0.036, memory: 19865, loss_cls: 0.1074, loss_bbox: 0.3050, loss_traj: 0.4535, loss_traj_cls: 0.0019, loss_map_cls: 0.1072, loss_map_pts: 0.5515, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.6510, d0.loss_plan_l1_fix_dist: 0.4659, d1.loss_plan_l1_fix_time: 0.8117, d1.loss_plan_l1_fix_dist: 0.2194, d2.loss_plan_l1_fix_time: 0.7859, d2.loss_plan_l1_fix_dist: 0.2784, d3.loss_plan_l1_fix_time: 0.7778, d3.loss_plan_l1_fix_dist: 0.2548, d4.loss_plan_l1_fix_time: 0.7823, d4.loss_plan_l1_fix_dist: 0.2992, d5.loss_plan_l1_fix_time: 0.7861, d5.loss_plan_l1_fix_dist: 0.2695, d6.loss_plan_l1_fix_time: 0.7902, d6.loss_plan_l1_fix_dist: 0.2651, d0.loss_cls_all: 0.1518, d0.loss_bbox_all: 0.3662, d0.loss_cls: 0.1518, d0.loss_bbox: 0.3662, d1.loss_cls: 0.1434, d1.loss_bbox: 0.3349, d2.loss_cls: 0.1317, d2.loss_bbox: 0.3144, d3.loss_cls: 0.1140, d3.loss_bbox: 0.3080, d4.loss_cls: 0.1086, d4.loss_bbox: 0.3064, d5.loss_cls: 0.1072, d5.loss_bbox: 0.3049, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7014, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5388, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4881, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4699, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4603, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4523, d0.loss_map_cls_all: 0.1910, d0.loss_map_pts_all: 1.1283, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1910, d0.loss_map_pts: 1.1283, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1590, d1.loss_map_pts: 0.8096, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1328, d2.loss_map_pts: 0.6427, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1229, d3.loss_map_pts: 0.5836, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1157, d4.loss_map_pts: 0.5589, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1091, d5.loss_map_pts: 0.5501, d5.loss_map_dir: 0.0076, loss: 23.7724, grad_norm: 136.3543 +2026-02-28 17:31:42,222 - DriveTransformer - INFO - Epoch [10][33600/39528] lr: 6.944e-05, eta: 4 days, 17:35:41, time: 0.721, data_time: 0.041, memory: 19865, loss_cls: 0.0951, loss_bbox: 0.3270, loss_traj: 0.5408, loss_traj_cls: 0.0019, loss_map_cls: 0.1310, loss_map_pts: 0.6295, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.9136, d0.loss_plan_l1_fix_dist: 0.3897, d1.loss_plan_l1_fix_time: 0.9296, d1.loss_plan_l1_fix_dist: 0.2298, d2.loss_plan_l1_fix_time: 0.9111, d2.loss_plan_l1_fix_dist: 0.3029, d3.loss_plan_l1_fix_time: 0.9096, d3.loss_plan_l1_fix_dist: 0.2898, d4.loss_plan_l1_fix_time: 0.9111, d4.loss_plan_l1_fix_dist: 0.3248, d5.loss_plan_l1_fix_time: 0.9141, d5.loss_plan_l1_fix_dist: 0.2504, d6.loss_plan_l1_fix_time: 0.9178, d6.loss_plan_l1_fix_dist: 0.2717, d0.loss_cls_all: 0.1402, d0.loss_bbox_all: 0.3837, d0.loss_cls: 0.1402, d0.loss_bbox: 0.3837, d1.loss_cls: 0.1326, d1.loss_bbox: 0.3493, d2.loss_cls: 0.1232, d2.loss_bbox: 0.3284, d3.loss_cls: 0.1057, d3.loss_bbox: 0.3231, d4.loss_cls: 0.0973, d4.loss_bbox: 0.3236, d5.loss_cls: 0.0953, d5.loss_bbox: 0.3246, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7742, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6232, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5635, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5420, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5391, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5381, d0.loss_map_cls_all: 0.2247, d0.loss_map_pts_all: 1.2242, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2247, d0.loss_map_pts: 1.2242, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1852, d1.loss_map_pts: 0.9051, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1614, d2.loss_map_pts: 0.7298, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1491, d3.loss_map_pts: 0.6666, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1391, d4.loss_map_pts: 0.6391, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1325, d5.loss_map_pts: 0.6308, d5.loss_map_dir: 0.0065, loss: 26.3136, grad_norm: 136.9917 +2026-02-28 17:32:18,558 - DriveTransformer - INFO - Epoch [10][33650/39528] lr: 6.944e-05, eta: 4 days, 17:35:04, time: 0.727, data_time: 0.038, memory: 19865, loss_cls: 0.1150, loss_bbox: 0.3013, loss_traj: 0.5063, loss_traj_cls: 0.0019, loss_map_cls: 0.1171, loss_map_pts: 0.5419, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.6189, d0.loss_plan_l1_fix_dist: 0.4020, d1.loss_plan_l1_fix_time: 0.8504, d1.loss_plan_l1_fix_dist: 0.2335, d2.loss_plan_l1_fix_time: 0.8323, d2.loss_plan_l1_fix_dist: 0.3026, d3.loss_plan_l1_fix_time: 0.8189, d3.loss_plan_l1_fix_dist: 0.3304, d4.loss_plan_l1_fix_time: 0.8194, d4.loss_plan_l1_fix_dist: 0.3140, d5.loss_plan_l1_fix_time: 0.8215, d5.loss_plan_l1_fix_dist: 0.2402, d6.loss_plan_l1_fix_time: 0.8241, d6.loss_plan_l1_fix_dist: 0.2672, d0.loss_cls_all: 0.1651, d0.loss_bbox_all: 0.3698, d0.loss_cls: 0.1651, d0.loss_bbox: 0.3698, d1.loss_cls: 0.1549, d1.loss_bbox: 0.3364, d2.loss_cls: 0.1452, d2.loss_bbox: 0.3111, d3.loss_cls: 0.1242, d3.loss_bbox: 0.3011, d4.loss_cls: 0.1179, d4.loss_bbox: 0.2990, d5.loss_cls: 0.1157, d5.loss_bbox: 0.2991, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7693, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6175, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5460, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5160, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5084, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5088, d0.loss_map_cls_all: 0.1908, d0.loss_map_pts_all: 1.1291, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1908, d0.loss_map_pts: 1.1291, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1614, d1.loss_map_pts: 0.7989, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1395, d2.loss_map_pts: 0.6349, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1291, d3.loss_map_pts: 0.5701, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1247, d4.loss_map_pts: 0.5481, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1207, d5.loss_map_pts: 0.5407, d5.loss_map_dir: 0.0060, loss: 24.4585, grad_norm: 137.5154 +2026-02-28 17:32:55,444 - DriveTransformer - INFO - Epoch [10][33700/39528] lr: 6.944e-05, eta: 4 days, 17:34:28, time: 0.738, data_time: 0.039, memory: 19865, loss_cls: 0.0986, loss_bbox: 0.3086, loss_traj: 0.5307, loss_traj_cls: 0.0019, loss_map_cls: 0.1172, loss_map_pts: 0.5004, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.9829, d0.loss_plan_l1_fix_dist: 0.4340, d1.loss_plan_l1_fix_time: 0.8467, d1.loss_plan_l1_fix_dist: 0.2688, d2.loss_plan_l1_fix_time: 0.8178, d2.loss_plan_l1_fix_dist: 0.2896, d3.loss_plan_l1_fix_time: 0.8083, d3.loss_plan_l1_fix_dist: 0.3844, d4.loss_plan_l1_fix_time: 0.8081, d4.loss_plan_l1_fix_dist: 0.3351, d5.loss_plan_l1_fix_time: 0.8090, d5.loss_plan_l1_fix_dist: 0.3354, d6.loss_plan_l1_fix_time: 0.8105, d6.loss_plan_l1_fix_dist: 0.2926, d0.loss_cls_all: 0.1442, d0.loss_bbox_all: 0.3736, d0.loss_cls: 0.1442, d0.loss_bbox: 0.3736, d1.loss_cls: 0.1396, d1.loss_bbox: 0.3381, d2.loss_cls: 0.1233, d2.loss_bbox: 0.3168, d3.loss_cls: 0.1057, d3.loss_bbox: 0.3123, d4.loss_cls: 0.1015, d4.loss_bbox: 0.3090, d5.loss_cls: 0.0990, d5.loss_bbox: 0.3086, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8068, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6133, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5529, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5393, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5327, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5310, d0.loss_map_cls_all: 0.1934, d0.loss_map_pts_all: 1.0805, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1934, d0.loss_map_pts: 1.0805, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1627, d1.loss_map_pts: 0.7582, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1408, d2.loss_map_pts: 0.5943, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1287, d3.loss_map_pts: 0.5321, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1233, d4.loss_map_pts: 0.5089, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1192, d5.loss_map_pts: 0.5011, d5.loss_map_dir: 0.0055, loss: 24.7102, grad_norm: 136.0327 +2026-02-28 17:33:31,881 - DriveTransformer - INFO - Epoch [10][33750/39528] lr: 6.944e-05, eta: 4 days, 17:33:51, time: 0.729, data_time: 0.040, memory: 19865, loss_cls: 0.1010, loss_bbox: 0.3022, loss_traj: 0.4725, loss_traj_cls: 0.0019, loss_map_cls: 0.1279, loss_map_pts: 0.5434, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.6641, d0.loss_plan_l1_fix_dist: 0.3766, d1.loss_plan_l1_fix_time: 0.8633, d1.loss_plan_l1_fix_dist: 0.2687, d2.loss_plan_l1_fix_time: 0.8539, d2.loss_plan_l1_fix_dist: 0.2443, d3.loss_plan_l1_fix_time: 0.8537, d3.loss_plan_l1_fix_dist: 0.3771, d4.loss_plan_l1_fix_time: 0.8568, d4.loss_plan_l1_fix_dist: 0.3211, d5.loss_plan_l1_fix_time: 0.8596, d5.loss_plan_l1_fix_dist: 0.3822, d6.loss_plan_l1_fix_time: 0.8639, d6.loss_plan_l1_fix_dist: 0.2427, d0.loss_cls_all: 0.1469, d0.loss_bbox_all: 0.3584, d0.loss_cls: 0.1469, d0.loss_bbox: 0.3584, d1.loss_cls: 0.1400, d1.loss_bbox: 0.3303, d2.loss_cls: 0.1267, d2.loss_bbox: 0.3120, d3.loss_cls: 0.1088, d3.loss_bbox: 0.3063, d4.loss_cls: 0.1026, d4.loss_bbox: 0.3042, d5.loss_cls: 0.1015, d5.loss_bbox: 0.3012, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7135, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5611, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5015, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4799, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4715, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4696, d0.loss_map_cls_all: 0.1987, d0.loss_map_pts_all: 1.0980, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1987, d0.loss_map_pts: 1.0980, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1755, d1.loss_map_pts: 0.8078, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1524, d2.loss_map_pts: 0.6217, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1407, d3.loss_map_pts: 0.5626, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1343, d4.loss_map_pts: 0.5456, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1296, d5.loss_map_pts: 0.5424, d5.loss_map_dir: 0.0060, loss: 24.3736, grad_norm: 135.6963 +2026-02-28 17:34:09,360 - DriveTransformer - INFO - Epoch [10][33800/39528] lr: 6.944e-05, eta: 4 days, 17:33:18, time: 0.750, data_time: 0.037, memory: 19865, loss_cls: 0.0853, loss_bbox: 0.2883, loss_traj: 0.5089, loss_traj_cls: 0.0019, loss_map_cls: 0.1148, loss_map_pts: 0.5488, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.5367, d0.loss_plan_l1_fix_dist: 0.5106, d1.loss_plan_l1_fix_time: 0.7994, d1.loss_plan_l1_fix_dist: 0.3060, d2.loss_plan_l1_fix_time: 0.7953, d2.loss_plan_l1_fix_dist: 0.2565, d3.loss_plan_l1_fix_time: 0.7911, d3.loss_plan_l1_fix_dist: 0.4111, d4.loss_plan_l1_fix_time: 0.7957, d4.loss_plan_l1_fix_dist: 0.4064, d5.loss_plan_l1_fix_time: 0.8000, d5.loss_plan_l1_fix_dist: 0.5055, d6.loss_plan_l1_fix_time: 0.8054, d6.loss_plan_l1_fix_dist: 0.3509, d0.loss_cls_all: 0.1318, d0.loss_bbox_all: 0.3413, d0.loss_cls: 0.1318, d0.loss_bbox: 0.3413, d1.loss_cls: 0.1259, d1.loss_bbox: 0.3083, d2.loss_cls: 0.1104, d2.loss_bbox: 0.2907, d3.loss_cls: 0.0944, d3.loss_bbox: 0.2869, d4.loss_cls: 0.0870, d4.loss_bbox: 0.2864, d5.loss_cls: 0.0855, d5.loss_bbox: 0.2865, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6987, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5739, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5308, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5175, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5098, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5075, d0.loss_map_cls_all: 0.2013, d0.loss_map_pts_all: 1.1236, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2013, d0.loss_map_pts: 1.1236, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1681, d1.loss_map_pts: 0.7937, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1429, d2.loss_map_pts: 0.6224, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1318, d3.loss_map_pts: 0.5669, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1231, d4.loss_map_pts: 0.5491, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1171, d5.loss_map_pts: 0.5465, d5.loss_map_dir: 0.0062, loss: 24.3308, grad_norm: 141.3659 +2026-02-28 17:34:46,297 - DriveTransformer - INFO - Epoch [10][33850/39528] lr: 6.944e-05, eta: 4 days, 17:32:43, time: 0.739, data_time: 0.040, memory: 19865, loss_cls: 0.0983, loss_bbox: 0.3017, loss_traj: 0.5200, loss_traj_cls: 0.0018, loss_map_cls: 0.1048, loss_map_pts: 0.5383, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.7335, d0.loss_plan_l1_fix_dist: 0.4121, d1.loss_plan_l1_fix_time: 0.7450, d1.loss_plan_l1_fix_dist: 0.3068, d2.loss_plan_l1_fix_time: 0.7343, d2.loss_plan_l1_fix_dist: 0.2436, d3.loss_plan_l1_fix_time: 0.7270, d3.loss_plan_l1_fix_dist: 0.3834, d4.loss_plan_l1_fix_time: 0.7280, d4.loss_plan_l1_fix_dist: 0.4177, d5.loss_plan_l1_fix_time: 0.7298, d5.loss_plan_l1_fix_dist: 0.4772, d6.loss_plan_l1_fix_time: 0.7325, d6.loss_plan_l1_fix_dist: 0.3586, d0.loss_cls_all: 0.1473, d0.loss_bbox_all: 0.3581, d0.loss_cls: 0.1473, d0.loss_bbox: 0.3581, d1.loss_cls: 0.1379, d1.loss_bbox: 0.3282, d2.loss_cls: 0.1247, d2.loss_bbox: 0.3109, d3.loss_cls: 0.1034, d3.loss_bbox: 0.3060, d4.loss_cls: 0.0989, d4.loss_bbox: 0.3028, d5.loss_cls: 0.0985, d5.loss_bbox: 0.3017, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7702, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6019, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5440, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5303, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5248, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5213, d0.loss_map_cls_all: 0.1814, d0.loss_map_pts_all: 1.1043, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1814, d0.loss_map_pts: 1.1043, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1532, d1.loss_map_pts: 0.7860, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1315, d2.loss_map_pts: 0.6276, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1186, d3.loss_map_pts: 0.5661, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1110, d4.loss_map_pts: 0.5441, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1064, d5.loss_map_pts: 0.5386, d5.loss_map_dir: 0.0069, loss: 24.2248, grad_norm: 142.0425 +2026-02-28 17:35:24,220 - DriveTransformer - INFO - Epoch [10][33900/39528] lr: 6.944e-05, eta: 4 days, 17:32:11, time: 0.758, data_time: 0.037, memory: 19865, loss_cls: 0.0983, loss_bbox: 0.3014, loss_traj: 0.5197, loss_traj_cls: 0.0018, loss_map_cls: 0.1046, loss_map_pts: 0.5483, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.4784, d0.loss_plan_l1_fix_dist: 0.5055, d1.loss_plan_l1_fix_time: 0.6929, d1.loss_plan_l1_fix_dist: 0.2891, d2.loss_plan_l1_fix_time: 0.6729, d2.loss_plan_l1_fix_dist: 0.2419, d3.loss_plan_l1_fix_time: 0.7020, d3.loss_plan_l1_fix_dist: 0.3468, d4.loss_plan_l1_fix_time: 0.7063, d4.loss_plan_l1_fix_dist: 0.4385, d5.loss_plan_l1_fix_time: 0.7092, d5.loss_plan_l1_fix_dist: 0.4441, d6.loss_plan_l1_fix_time: 0.7130, d6.loss_plan_l1_fix_dist: 0.3680, d0.loss_cls_all: 0.1458, d0.loss_bbox_all: 0.3574, d0.loss_cls: 0.1458, d0.loss_bbox: 0.3574, d1.loss_cls: 0.1393, d1.loss_bbox: 0.3280, d2.loss_cls: 0.1251, d2.loss_bbox: 0.3125, d3.loss_cls: 0.1067, d3.loss_bbox: 0.3035, d4.loss_cls: 0.0990, d4.loss_bbox: 0.3024, d5.loss_cls: 0.0985, d5.loss_bbox: 0.3008, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7352, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6048, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5514, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5286, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5209, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5220, d0.loss_map_cls_all: 0.1859, d0.loss_map_pts_all: 1.1391, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1859, d0.loss_map_pts: 1.1391, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1555, d1.loss_map_pts: 0.8245, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1268, d2.loss_map_pts: 0.6449, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1163, d3.loss_map_pts: 0.5802, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1128, d4.loss_map_pts: 0.5552, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1059, d5.loss_map_pts: 0.5496, d5.loss_map_dir: 0.0072, loss: 23.9508, grad_norm: 138.4185 +2026-02-28 17:36:00,558 - DriveTransformer - INFO - Epoch [10][33950/39528] lr: 6.944e-05, eta: 4 days, 17:31:34, time: 0.727, data_time: 0.038, memory: 19865, loss_cls: 0.1013, loss_bbox: 0.2980, loss_traj: 0.4652, loss_traj_cls: 0.0018, loss_map_cls: 0.1124, loss_map_pts: 0.4998, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.5523, d0.loss_plan_l1_fix_dist: 0.4549, d1.loss_plan_l1_fix_time: 0.7296, d1.loss_plan_l1_fix_dist: 0.2747, d2.loss_plan_l1_fix_time: 0.7085, d2.loss_plan_l1_fix_dist: 0.2188, d3.loss_plan_l1_fix_time: 0.7067, d3.loss_plan_l1_fix_dist: 0.2570, d4.loss_plan_l1_fix_time: 0.7073, d4.loss_plan_l1_fix_dist: 0.4050, d5.loss_plan_l1_fix_time: 0.7089, d5.loss_plan_l1_fix_dist: 0.3773, d6.loss_plan_l1_fix_time: 0.7106, d6.loss_plan_l1_fix_dist: 0.3193, d0.loss_cls_all: 0.1523, d0.loss_bbox_all: 0.3606, d0.loss_cls: 0.1523, d0.loss_bbox: 0.3606, d1.loss_cls: 0.1448, d1.loss_bbox: 0.3268, d2.loss_cls: 0.1318, d2.loss_bbox: 0.3092, d3.loss_cls: 0.1100, d3.loss_bbox: 0.3010, d4.loss_cls: 0.1038, d4.loss_bbox: 0.2996, d5.loss_cls: 0.1010, d5.loss_bbox: 0.2981, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7135, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5505, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4947, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4658, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4716, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4687, d0.loss_map_cls_all: 0.1826, d0.loss_map_pts_all: 1.0174, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1826, d0.loss_map_pts: 1.0174, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1567, d1.loss_map_pts: 0.7235, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1369, d2.loss_map_pts: 0.5804, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1272, d3.loss_map_pts: 0.5256, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1209, d4.loss_map_pts: 0.5067, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1157, d5.loss_map_pts: 0.5002, d5.loss_map_dir: 0.0060, loss: 22.8715, grad_norm: 137.4927 +2026-02-28 17:36:36,491 - DriveTransformer - INFO - Epoch [10][34000/39528] lr: 6.944e-05, eta: 4 days, 17:30:55, time: 0.719, data_time: 0.037, memory: 19865, loss_cls: 0.1033, loss_bbox: 0.2930, loss_traj: 0.5661, loss_traj_cls: 0.0018, loss_map_cls: 0.0980, loss_map_pts: 0.4934, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.5430, d0.loss_plan_l1_fix_dist: 0.4760, d1.loss_plan_l1_fix_time: 0.7862, d1.loss_plan_l1_fix_dist: 0.2961, d2.loss_plan_l1_fix_time: 0.7865, d2.loss_plan_l1_fix_dist: 0.2439, d3.loss_plan_l1_fix_time: 0.7812, d3.loss_plan_l1_fix_dist: 0.2191, d4.loss_plan_l1_fix_time: 0.7830, d4.loss_plan_l1_fix_dist: 0.3973, d5.loss_plan_l1_fix_time: 0.7865, d5.loss_plan_l1_fix_dist: 0.2690, d6.loss_plan_l1_fix_time: 0.7892, d6.loss_plan_l1_fix_dist: 0.2581, d0.loss_cls_all: 0.1443, d0.loss_bbox_all: 0.3528, d0.loss_cls: 0.1443, d0.loss_bbox: 0.3528, d1.loss_cls: 0.1393, d1.loss_bbox: 0.3220, d2.loss_cls: 0.1275, d2.loss_bbox: 0.3025, d3.loss_cls: 0.1072, d3.loss_bbox: 0.2965, d4.loss_cls: 0.1034, d4.loss_bbox: 0.2928, d5.loss_cls: 0.1030, d5.loss_bbox: 0.2918, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8152, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6693, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6103, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5845, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5758, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5696, d0.loss_map_cls_all: 0.1845, d0.loss_map_pts_all: 1.0084, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1845, d0.loss_map_pts: 1.0084, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1496, d1.loss_map_pts: 0.7487, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1251, d2.loss_map_pts: 0.5839, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1119, d3.loss_map_pts: 0.5257, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1051, d4.loss_map_pts: 0.5002, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0998, d5.loss_map_pts: 0.4937, d5.loss_map_dir: 0.0064, loss: 23.7606, grad_norm: 137.9894 +2026-02-28 17:37:12,472 - DriveTransformer - INFO - Epoch [10][34050/39528] lr: 6.944e-05, eta: 4 days, 17:30:16, time: 0.720, data_time: 0.038, memory: 19865, loss_cls: 0.1086, loss_bbox: 0.3046, loss_traj: 0.4667, loss_traj_cls: 0.0019, loss_map_cls: 0.1047, loss_map_pts: 0.4938, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.6279, d0.loss_plan_l1_fix_dist: 0.4796, d1.loss_plan_l1_fix_time: 0.9079, d1.loss_plan_l1_fix_dist: 0.3480, d2.loss_plan_l1_fix_time: 0.8902, d2.loss_plan_l1_fix_dist: 0.2815, d3.loss_plan_l1_fix_time: 0.8969, d3.loss_plan_l1_fix_dist: 0.2694, d4.loss_plan_l1_fix_time: 0.9003, d4.loss_plan_l1_fix_dist: 0.4016, d5.loss_plan_l1_fix_time: 0.9038, d5.loss_plan_l1_fix_dist: 0.2661, d6.loss_plan_l1_fix_time: 0.9072, d6.loss_plan_l1_fix_dist: 0.2852, d0.loss_cls_all: 0.1498, d0.loss_bbox_all: 0.3699, d0.loss_cls: 0.1498, d0.loss_bbox: 0.3699, d1.loss_cls: 0.1447, d1.loss_bbox: 0.3367, d2.loss_cls: 0.1327, d2.loss_bbox: 0.3147, d3.loss_cls: 0.1121, d3.loss_bbox: 0.3113, d4.loss_cls: 0.1080, d4.loss_bbox: 0.3069, d5.loss_cls: 0.1069, d5.loss_bbox: 0.3073, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7423, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5483, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4990, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4830, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4734, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4690, d0.loss_map_cls_all: 0.1770, d0.loss_map_pts_all: 1.0381, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1770, d0.loss_map_pts: 1.0381, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1507, d1.loss_map_pts: 0.7552, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1307, d2.loss_map_pts: 0.5872, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1187, d3.loss_map_pts: 0.5212, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1118, d4.loss_map_pts: 0.5002, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1062, d5.loss_map_pts: 0.4948, d5.loss_map_dir: 0.0058, loss: 24.2390, grad_norm: 141.6255 +2026-02-28 17:37:50,878 - DriveTransformer - INFO - Epoch [10][34100/39528] lr: 6.944e-05, eta: 4 days, 17:29:47, time: 0.768, data_time: 0.038, memory: 19865, loss_cls: 0.1145, loss_bbox: 0.3233, loss_traj: 0.4723, loss_traj_cls: 0.0018, loss_map_cls: 0.1263, loss_map_pts: 0.6498, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.7972, d0.loss_plan_l1_fix_dist: 0.4270, d1.loss_plan_l1_fix_time: 0.9311, d1.loss_plan_l1_fix_dist: 0.3582, d2.loss_plan_l1_fix_time: 0.9193, d2.loss_plan_l1_fix_dist: 0.2450, d3.loss_plan_l1_fix_time: 0.9039, d3.loss_plan_l1_fix_dist: 0.3017, d4.loss_plan_l1_fix_time: 0.9055, d4.loss_plan_l1_fix_dist: 0.3864, d5.loss_plan_l1_fix_time: 0.9075, d5.loss_plan_l1_fix_dist: 0.3030, d6.loss_plan_l1_fix_time: 0.9102, d6.loss_plan_l1_fix_dist: 0.2654, d0.loss_cls_all: 0.1654, d0.loss_bbox_all: 0.3968, d0.loss_cls: 0.1654, d0.loss_bbox: 0.3968, d1.loss_cls: 0.1589, d1.loss_bbox: 0.3602, d2.loss_cls: 0.1439, d2.loss_bbox: 0.3332, d3.loss_cls: 0.1231, d3.loss_bbox: 0.3282, d4.loss_cls: 0.1145, d4.loss_bbox: 0.3268, d5.loss_cls: 0.1136, d5.loss_bbox: 0.3252, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7244, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5479, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4977, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4849, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4739, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4704, d0.loss_map_cls_all: 0.2177, d0.loss_map_pts_all: 1.3328, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2177, d0.loss_map_pts: 1.3328, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1818, d1.loss_map_pts: 0.9675, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1555, d2.loss_map_pts: 0.7642, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1420, d3.loss_map_pts: 0.6896, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1337, d4.loss_map_pts: 0.6611, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1281, d5.loss_map_pts: 0.6520, d5.loss_map_dir: 0.0082, loss: 26.5439, grad_norm: 141.8711 +2026-02-28 17:38:28,270 - DriveTransformer - INFO - Epoch [10][34150/39528] lr: 6.944e-05, eta: 4 days, 17:29:13, time: 0.748, data_time: 0.041, memory: 19865, loss_cls: 0.0906, loss_bbox: 0.2848, loss_traj: 0.4970, loss_traj_cls: 0.0019, loss_map_cls: 0.1152, loss_map_pts: 0.5583, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.5305, d0.loss_plan_l1_fix_dist: 0.6018, d1.loss_plan_l1_fix_time: 0.7631, d1.loss_plan_l1_fix_dist: 0.3901, d2.loss_plan_l1_fix_time: 0.7539, d2.loss_plan_l1_fix_dist: 0.2723, d3.loss_plan_l1_fix_time: 0.7589, d3.loss_plan_l1_fix_dist: 0.3899, d4.loss_plan_l1_fix_time: 0.7618, d4.loss_plan_l1_fix_dist: 0.3833, d5.loss_plan_l1_fix_time: 0.7640, d5.loss_plan_l1_fix_dist: 0.4275, d6.loss_plan_l1_fix_time: 0.7676, d6.loss_plan_l1_fix_dist: 0.3150, d0.loss_cls_all: 0.1404, d0.loss_bbox_all: 0.3482, d0.loss_cls: 0.1404, d0.loss_bbox: 0.3482, d1.loss_cls: 0.1368, d1.loss_bbox: 0.3133, d2.loss_cls: 0.1232, d2.loss_bbox: 0.2912, d3.loss_cls: 0.0984, d3.loss_bbox: 0.2895, d4.loss_cls: 0.0920, d4.loss_bbox: 0.2868, d5.loss_cls: 0.0909, d5.loss_bbox: 0.2850, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7718, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5720, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5198, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5017, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5008, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4969, d0.loss_map_cls_all: 0.1883, d0.loss_map_pts_all: 1.0836, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1883, d0.loss_map_pts: 1.0836, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1570, d1.loss_map_pts: 0.7963, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1374, d2.loss_map_pts: 0.6402, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1273, d3.loss_map_pts: 0.5850, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1214, d4.loss_map_pts: 0.5654, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1166, d5.loss_map_pts: 0.5587, d5.loss_map_dir: 0.0066, loss: 24.1805, grad_norm: 143.2630 +2026-02-28 17:39:05,413 - DriveTransformer - INFO - Epoch [10][34200/39528] lr: 6.944e-05, eta: 4 days, 17:28:39, time: 0.744, data_time: 0.037, memory: 19865, loss_cls: 0.1156, loss_bbox: 0.3140, loss_traj: 0.6043, loss_traj_cls: 0.0019, loss_map_cls: 0.1020, loss_map_pts: 0.5216, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.7500, d0.loss_plan_l1_fix_dist: 0.5083, d1.loss_plan_l1_fix_time: 0.8042, d1.loss_plan_l1_fix_dist: 0.3889, d2.loss_plan_l1_fix_time: 0.7856, d2.loss_plan_l1_fix_dist: 0.2445, d3.loss_plan_l1_fix_time: 0.7833, d3.loss_plan_l1_fix_dist: 0.4057, d4.loss_plan_l1_fix_time: 0.7850, d4.loss_plan_l1_fix_dist: 0.3027, d5.loss_plan_l1_fix_time: 0.7868, d5.loss_plan_l1_fix_dist: 0.4489, d6.loss_plan_l1_fix_time: 0.7891, d6.loss_plan_l1_fix_dist: 0.2717, d0.loss_cls_all: 0.1636, d0.loss_bbox_all: 0.3778, d0.loss_cls: 0.1636, d0.loss_bbox: 0.3778, d1.loss_cls: 0.1590, d1.loss_bbox: 0.3426, d2.loss_cls: 0.1472, d2.loss_bbox: 0.3197, d3.loss_cls: 0.1249, d3.loss_bbox: 0.3177, d4.loss_cls: 0.1175, d4.loss_bbox: 0.3171, d5.loss_cls: 0.1170, d5.loss_bbox: 0.3139, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8838, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6963, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6322, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.6201, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.6162, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6058, d0.loss_map_cls_all: 0.1725, d0.loss_map_pts_all: 1.0761, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1725, d0.loss_map_pts: 1.0761, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1422, d1.loss_map_pts: 0.7635, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1266, d2.loss_map_pts: 0.6020, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1136, d3.loss_map_pts: 0.5482, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1102, d4.loss_map_pts: 0.5261, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1040, d5.loss_map_pts: 0.5215, d5.loss_map_dir: 0.0069, loss: 25.2418, grad_norm: 139.5997 +2026-02-28 17:39:41,822 - DriveTransformer - INFO - Epoch [10][34250/39528] lr: 6.944e-05, eta: 4 days, 17:28:02, time: 0.727, data_time: 0.036, memory: 19865, loss_cls: 0.0936, loss_bbox: 0.2770, loss_traj: 0.4674, loss_traj_cls: 0.0019, loss_map_cls: 0.0994, loss_map_pts: 0.4784, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.4015, d0.loss_plan_l1_fix_dist: 0.5134, d1.loss_plan_l1_fix_time: 0.7951, d1.loss_plan_l1_fix_dist: 0.3876, d2.loss_plan_l1_fix_time: 0.7584, d2.loss_plan_l1_fix_dist: 0.2526, d3.loss_plan_l1_fix_time: 0.7540, d3.loss_plan_l1_fix_dist: 0.4182, d4.loss_plan_l1_fix_time: 0.7550, d4.loss_plan_l1_fix_dist: 0.2625, d5.loss_plan_l1_fix_time: 0.7574, d5.loss_plan_l1_fix_dist: 0.4555, d6.loss_plan_l1_fix_time: 0.7596, d6.loss_plan_l1_fix_dist: 0.2749, d0.loss_cls_all: 0.1365, d0.loss_bbox_all: 0.3364, d0.loss_cls: 0.1365, d0.loss_bbox: 0.3364, d1.loss_cls: 0.1303, d1.loss_bbox: 0.3071, d2.loss_cls: 0.1163, d2.loss_bbox: 0.2887, d3.loss_cls: 0.0987, d3.loss_bbox: 0.2806, d4.loss_cls: 0.0949, d4.loss_bbox: 0.2776, d5.loss_cls: 0.0935, d5.loss_bbox: 0.2766, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6810, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5277, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4769, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4680, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4647, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4652, d0.loss_map_cls_all: 0.1735, d0.loss_map_pts_all: 1.0262, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1735, d0.loss_map_pts: 1.0262, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1405, d1.loss_map_pts: 0.7180, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1216, d2.loss_map_pts: 0.5593, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1109, d3.loss_map_pts: 0.5056, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1040, d4.loss_map_pts: 0.4850, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1000, d5.loss_map_pts: 0.4791, d5.loss_map_dir: 0.0062, loss: 22.7344, grad_norm: 133.8401 +2026-02-28 17:40:18,570 - DriveTransformer - INFO - Epoch [10][34300/39528] lr: 6.944e-05, eta: 4 days, 17:27:26, time: 0.735, data_time: 0.038, memory: 19865, loss_cls: 0.0874, loss_bbox: 0.2806, loss_traj: 0.4341, loss_traj_cls: 0.0019, loss_map_cls: 0.0933, loss_map_pts: 0.4582, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.2250, d0.loss_plan_l1_fix_dist: 0.4719, d1.loss_plan_l1_fix_time: 0.8037, d1.loss_plan_l1_fix_dist: 0.3718, d2.loss_plan_l1_fix_time: 0.7752, d2.loss_plan_l1_fix_dist: 0.2655, d3.loss_plan_l1_fix_time: 0.7696, d3.loss_plan_l1_fix_dist: 0.4087, d4.loss_plan_l1_fix_time: 0.7702, d4.loss_plan_l1_fix_dist: 0.2613, d5.loss_plan_l1_fix_time: 0.7716, d5.loss_plan_l1_fix_dist: 0.4276, d6.loss_plan_l1_fix_time: 0.7739, d6.loss_plan_l1_fix_dist: 0.3006, d0.loss_cls_all: 0.1297, d0.loss_bbox_all: 0.3403, d0.loss_cls: 0.1297, d0.loss_bbox: 0.3403, d1.loss_cls: 0.1289, d1.loss_bbox: 0.3080, d2.loss_cls: 0.1134, d2.loss_bbox: 0.2902, d3.loss_cls: 0.0938, d3.loss_bbox: 0.2846, d4.loss_cls: 0.0887, d4.loss_bbox: 0.2812, d5.loss_cls: 0.0879, d5.loss_bbox: 0.2806, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5896, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.4776, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4543, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4410, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4379, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4329, d0.loss_map_cls_all: 0.1820, d0.loss_map_pts_all: 1.0232, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1820, d0.loss_map_pts: 1.0232, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1449, d1.loss_map_pts: 0.7093, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1202, d2.loss_map_pts: 0.5426, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1082, d3.loss_map_pts: 0.4833, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0991, d4.loss_map_pts: 0.4647, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0950, d5.loss_map_pts: 0.4585, d5.loss_map_dir: 0.0056, loss: 22.1687, grad_norm: 131.0453 +2026-02-28 17:40:54,167 - DriveTransformer - INFO - Epoch [10][34350/39528] lr: 6.944e-05, eta: 4 days, 17:26:46, time: 0.712, data_time: 0.042, memory: 19865, loss_cls: 0.0916, loss_bbox: 0.2821, loss_traj: 0.5465, loss_traj_cls: 0.0019, loss_map_cls: 0.0876, loss_map_pts: 0.4308, loss_map_dir: 0.0041, d0.loss_plan_l1_fix_time: 2.6170, d0.loss_plan_l1_fix_dist: 0.4295, d1.loss_plan_l1_fix_time: 0.8579, d1.loss_plan_l1_fix_dist: 0.3417, d2.loss_plan_l1_fix_time: 0.8361, d2.loss_plan_l1_fix_dist: 0.2560, d3.loss_plan_l1_fix_time: 0.8268, d3.loss_plan_l1_fix_dist: 0.3876, d4.loss_plan_l1_fix_time: 0.8268, d4.loss_plan_l1_fix_dist: 0.2550, d5.loss_plan_l1_fix_time: 0.8284, d5.loss_plan_l1_fix_dist: 0.3645, d6.loss_plan_l1_fix_time: 0.8307, d6.loss_plan_l1_fix_dist: 0.2726, d0.loss_cls_all: 0.1320, d0.loss_bbox_all: 0.3387, d0.loss_cls: 0.1320, d0.loss_bbox: 0.3387, d1.loss_cls: 0.1287, d1.loss_bbox: 0.3075, d2.loss_cls: 0.1173, d2.loss_bbox: 0.2909, d3.loss_cls: 0.0962, d3.loss_bbox: 0.2878, d4.loss_cls: 0.0923, d4.loss_bbox: 0.2833, d5.loss_cls: 0.0929, d5.loss_bbox: 0.2812, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8345, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6226, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5788, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5536, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5461, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5465, d0.loss_map_cls_all: 0.1767, d0.loss_map_pts_all: 0.9511, d0.loss_map_dir_all: 0.0041, d0.loss_map_cls: 0.1767, d0.loss_map_pts: 0.9511, d0.loss_map_dir: 0.0041, d1.loss_map_cls: 0.1435, d1.loss_map_pts: 0.6775, d1.loss_map_dir: 0.0039, d2.loss_map_cls: 0.1149, d2.loss_map_pts: 0.5210, d2.loss_map_dir: 0.0037, d3.loss_map_cls: 0.1032, d3.loss_map_pts: 0.4587, d3.loss_map_dir: 0.0039, d4.loss_map_cls: 0.0964, d4.loss_map_pts: 0.4381, d4.loss_map_dir: 0.0041, d5.loss_map_cls: 0.0895, d5.loss_map_pts: 0.4312, d5.loss_map_dir: 0.0041, loss: 23.3392, grad_norm: 130.4026 +2026-02-28 17:41:30,144 - DriveTransformer - INFO - Epoch [10][34400/39528] lr: 6.944e-05, eta: 4 days, 17:26:07, time: 0.720, data_time: 0.039, memory: 19865, loss_cls: 0.1022, loss_bbox: 0.3104, loss_traj: 0.5180, loss_traj_cls: 0.0019, loss_map_cls: 0.1019, loss_map_pts: 0.5007, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.7883, d0.loss_plan_l1_fix_dist: 0.5243, d1.loss_plan_l1_fix_time: 0.8079, d1.loss_plan_l1_fix_dist: 0.3409, d2.loss_plan_l1_fix_time: 0.7803, d2.loss_plan_l1_fix_dist: 0.2789, d3.loss_plan_l1_fix_time: 0.7795, d3.loss_plan_l1_fix_dist: 0.3866, d4.loss_plan_l1_fix_time: 0.7810, d4.loss_plan_l1_fix_dist: 0.2933, d5.loss_plan_l1_fix_time: 0.7824, d5.loss_plan_l1_fix_dist: 0.3685, d6.loss_plan_l1_fix_time: 0.7848, d6.loss_plan_l1_fix_dist: 0.3224, d0.loss_cls_all: 0.1538, d0.loss_bbox_all: 0.3816, d0.loss_cls: 0.1538, d0.loss_bbox: 0.3816, d1.loss_cls: 0.1537, d1.loss_bbox: 0.3387, d2.loss_cls: 0.1343, d2.loss_bbox: 0.3186, d3.loss_cls: 0.1107, d3.loss_bbox: 0.3121, d4.loss_cls: 0.1040, d4.loss_bbox: 0.3097, d5.loss_cls: 0.1024, d5.loss_bbox: 0.3093, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7419, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6019, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5464, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5231, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5220, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5185, d0.loss_map_cls_all: 0.1963, d0.loss_map_pts_all: 1.0236, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1963, d0.loss_map_pts: 1.0236, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1625, d1.loss_map_pts: 0.7401, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1324, d2.loss_map_pts: 0.5933, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1214, d3.loss_map_pts: 0.5324, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1131, d4.loss_map_pts: 0.5110, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1061, d5.loss_map_pts: 0.5006, d5.loss_map_dir: 0.0054, loss: 24.2737, grad_norm: 131.7907 +2026-02-28 17:42:06,062 - DriveTransformer - INFO - Epoch [10][34450/39528] lr: 6.944e-05, eta: 4 days, 17:25:28, time: 0.718, data_time: 0.040, memory: 19865, loss_cls: 0.0990, loss_bbox: 0.2977, loss_traj: 0.5007, loss_traj_cls: 0.0020, loss_map_cls: 0.1193, loss_map_pts: 0.5271, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 3.2511, d0.loss_plan_l1_fix_dist: 0.4753, d1.loss_plan_l1_fix_time: 0.9240, d1.loss_plan_l1_fix_dist: 0.2852, d2.loss_plan_l1_fix_time: 0.9003, d2.loss_plan_l1_fix_dist: 0.2452, d3.loss_plan_l1_fix_time: 0.8999, d3.loss_plan_l1_fix_dist: 0.3146, d4.loss_plan_l1_fix_time: 0.9024, d4.loss_plan_l1_fix_dist: 0.2803, d5.loss_plan_l1_fix_time: 0.9056, d5.loss_plan_l1_fix_dist: 0.2997, d6.loss_plan_l1_fix_time: 0.9086, d6.loss_plan_l1_fix_dist: 0.3042, d0.loss_cls_all: 0.1484, d0.loss_bbox_all: 0.3651, d0.loss_cls: 0.1484, d0.loss_bbox: 0.3651, d1.loss_cls: 0.1398, d1.loss_bbox: 0.3301, d2.loss_cls: 0.1247, d2.loss_bbox: 0.3080, d3.loss_cls: 0.1077, d3.loss_bbox: 0.3003, d4.loss_cls: 0.1002, d4.loss_bbox: 0.2985, d5.loss_cls: 0.0989, d5.loss_bbox: 0.2980, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7729, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5938, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5174, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4972, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4973, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4978, d0.loss_map_cls_all: 0.2058, d0.loss_map_pts_all: 1.0672, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.2058, d0.loss_map_pts: 1.0672, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1726, d1.loss_map_pts: 0.7784, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1482, d2.loss_map_pts: 0.6149, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1351, d3.loss_map_pts: 0.5509, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1264, d4.loss_map_pts: 0.5310, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1221, d5.loss_map_pts: 0.5271, d5.loss_map_dir: 0.0058, loss: 25.2547, grad_norm: 131.6731 +2026-02-28 17:42:44,890 - DriveTransformer - INFO - Epoch [10][34500/39528] lr: 6.944e-05, eta: 4 days, 17:25:00, time: 0.777, data_time: 0.038, memory: 19865, loss_cls: 0.0840, loss_bbox: 0.2714, loss_traj: 0.4436, loss_traj_cls: 0.0020, loss_map_cls: 0.0917, loss_map_pts: 0.5201, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.6851, d0.loss_plan_l1_fix_dist: 0.4078, d1.loss_plan_l1_fix_time: 0.8674, d1.loss_plan_l1_fix_dist: 0.2687, d2.loss_plan_l1_fix_time: 0.8439, d2.loss_plan_l1_fix_dist: 0.2471, d3.loss_plan_l1_fix_time: 0.8367, d3.loss_plan_l1_fix_dist: 0.2964, d4.loss_plan_l1_fix_time: 0.8398, d4.loss_plan_l1_fix_dist: 0.2596, d5.loss_plan_l1_fix_time: 0.8438, d5.loss_plan_l1_fix_dist: 0.2809, d6.loss_plan_l1_fix_time: 0.8478, d6.loss_plan_l1_fix_dist: 0.3147, d0.loss_cls_all: 0.1308, d0.loss_bbox_all: 0.3374, d0.loss_cls: 0.1308, d0.loss_bbox: 0.3374, d1.loss_cls: 0.1215, d1.loss_bbox: 0.3092, d2.loss_cls: 0.1081, d2.loss_bbox: 0.2866, d3.loss_cls: 0.0915, d3.loss_bbox: 0.2783, d4.loss_cls: 0.0858, d4.loss_bbox: 0.2744, d5.loss_cls: 0.0846, d5.loss_bbox: 0.2718, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6341, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5180, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4723, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4507, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4443, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4442, d0.loss_map_cls_all: 0.1681, d0.loss_map_pts_all: 1.1325, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1681, d0.loss_map_pts: 1.1325, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1386, d1.loss_map_pts: 0.7885, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1189, d2.loss_map_pts: 0.6122, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1057, d3.loss_map_pts: 0.5513, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.0975, d4.loss_map_pts: 0.5285, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0937, d5.loss_map_pts: 0.5214, d5.loss_map_dir: 0.0067, loss: 23.2792, grad_norm: 136.1757 +2026-02-28 17:43:21,922 - DriveTransformer - INFO - Epoch [10][34550/39528] lr: 6.944e-05, eta: 4 days, 17:24:25, time: 0.741, data_time: 0.039, memory: 19865, loss_cls: 0.1084, loss_bbox: 0.3008, loss_traj: 0.4880, loss_traj_cls: 0.0019, loss_map_cls: 0.1206, loss_map_pts: 0.5841, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.7333, d0.loss_plan_l1_fix_dist: 0.4267, d1.loss_plan_l1_fix_time: 0.8922, d1.loss_plan_l1_fix_dist: 0.2476, d2.loss_plan_l1_fix_time: 0.8748, d2.loss_plan_l1_fix_dist: 0.2439, d3.loss_plan_l1_fix_time: 0.8732, d3.loss_plan_l1_fix_dist: 0.2922, d4.loss_plan_l1_fix_time: 0.8764, d4.loss_plan_l1_fix_dist: 0.2381, d5.loss_plan_l1_fix_time: 0.8793, d5.loss_plan_l1_fix_dist: 0.2872, d6.loss_plan_l1_fix_time: 0.8835, d6.loss_plan_l1_fix_dist: 0.3822, d0.loss_cls_all: 0.1477, d0.loss_bbox_all: 0.3774, d0.loss_cls: 0.1477, d0.loss_bbox: 0.3774, d1.loss_cls: 0.1432, d1.loss_bbox: 0.3377, d2.loss_cls: 0.1334, d2.loss_bbox: 0.3105, d3.loss_cls: 0.1156, d3.loss_bbox: 0.3059, d4.loss_cls: 0.1094, d4.loss_bbox: 0.3036, d5.loss_cls: 0.1093, d5.loss_bbox: 0.3002, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7474, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5697, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5285, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5033, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4866, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4836, d0.loss_map_cls_all: 0.2002, d0.loss_map_pts_all: 1.1711, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2002, d0.loss_map_pts: 1.1711, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1692, d1.loss_map_pts: 0.8433, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1440, d2.loss_map_pts: 0.6782, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1345, d3.loss_map_pts: 0.6144, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1281, d4.loss_map_pts: 0.5916, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1222, d5.loss_map_pts: 0.5858, d5.loss_map_dir: 0.0071, loss: 25.0859, grad_norm: 136.6770 +2026-02-28 17:43:59,537 - DriveTransformer - INFO - Epoch [10][34600/39528] lr: 6.944e-05, eta: 4 days, 17:23:52, time: 0.752, data_time: 0.038, memory: 19865, loss_cls: 0.0905, loss_bbox: 0.2806, loss_traj: 0.4812, loss_traj_cls: 0.0020, loss_map_cls: 0.1101, loss_map_pts: 0.5235, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.4932, d0.loss_plan_l1_fix_dist: 0.3429, d1.loss_plan_l1_fix_time: 0.7586, d1.loss_plan_l1_fix_dist: 0.2376, d2.loss_plan_l1_fix_time: 0.7498, d2.loss_plan_l1_fix_dist: 0.2594, d3.loss_plan_l1_fix_time: 0.7494, d3.loss_plan_l1_fix_dist: 0.2766, d4.loss_plan_l1_fix_time: 0.7518, d4.loss_plan_l1_fix_dist: 0.2235, d5.loss_plan_l1_fix_time: 0.7548, d5.loss_plan_l1_fix_dist: 0.3325, d6.loss_plan_l1_fix_time: 0.7583, d6.loss_plan_l1_fix_dist: 0.4913, d0.loss_cls_all: 0.1303, d0.loss_bbox_all: 0.3514, d0.loss_cls: 0.1303, d0.loss_bbox: 0.3514, d1.loss_cls: 0.1249, d1.loss_bbox: 0.3127, d2.loss_cls: 0.1156, d2.loss_bbox: 0.2907, d3.loss_cls: 0.0980, d3.loss_bbox: 0.2840, d4.loss_cls: 0.0929, d4.loss_bbox: 0.2808, d5.loss_cls: 0.0905, d5.loss_bbox: 0.2810, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7157, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5376, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5023, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4857, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4815, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4807, d0.loss_map_cls_all: 0.1901, d0.loss_map_pts_all: 1.1191, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1901, d0.loss_map_pts: 1.1191, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1581, d1.loss_map_pts: 0.7987, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1345, d2.loss_map_pts: 0.6381, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1233, d3.loss_map_pts: 0.5659, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1162, d4.loss_map_pts: 0.5359, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1123, d5.loss_map_pts: 0.5248, d5.loss_map_dir: 0.0059, loss: 23.1832, grad_norm: 138.3424 +2026-02-28 17:44:35,607 - DriveTransformer - INFO - Epoch [10][34650/39528] lr: 6.944e-05, eta: 4 days, 17:23:14, time: 0.721, data_time: 0.037, memory: 19865, loss_cls: 0.0993, loss_bbox: 0.3097, loss_traj: 0.4374, loss_traj_cls: 0.0020, loss_map_cls: 0.1074, loss_map_pts: 0.4982, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.4479, d0.loss_plan_l1_fix_dist: 0.4957, d1.loss_plan_l1_fix_time: 0.7513, d1.loss_plan_l1_fix_dist: 0.2369, d2.loss_plan_l1_fix_time: 0.7522, d2.loss_plan_l1_fix_dist: 0.2838, d3.loss_plan_l1_fix_time: 0.7602, d3.loss_plan_l1_fix_dist: 0.2774, d4.loss_plan_l1_fix_time: 0.7637, d4.loss_plan_l1_fix_dist: 0.2402, d5.loss_plan_l1_fix_time: 0.7682, d5.loss_plan_l1_fix_dist: 0.4061, d6.loss_plan_l1_fix_time: 0.7714, d6.loss_plan_l1_fix_dist: 0.5152, d0.loss_cls_all: 0.1486, d0.loss_bbox_all: 0.3620, d0.loss_cls: 0.1486, d0.loss_bbox: 0.3620, d1.loss_cls: 0.1401, d1.loss_bbox: 0.3354, d2.loss_cls: 0.1259, d2.loss_bbox: 0.3155, d3.loss_cls: 0.1039, d3.loss_bbox: 0.3138, d4.loss_cls: 0.0994, d4.loss_bbox: 0.3103, d5.loss_cls: 0.0993, d5.loss_bbox: 0.3098, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6197, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.4864, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4447, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4370, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4344, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4363, d0.loss_map_cls_all: 0.1859, d0.loss_map_pts_all: 1.0498, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1859, d0.loss_map_pts: 1.0498, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1597, d1.loss_map_pts: 0.7404, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1308, d2.loss_map_pts: 0.5835, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1180, d3.loss_map_pts: 0.5280, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1127, d4.loss_map_pts: 0.5053, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1088, d5.loss_map_pts: 0.4993, d5.loss_map_dir: 0.0060, loss: 22.9684, grad_norm: 136.0157 +2026-02-28 17:45:11,729 - DriveTransformer - INFO - Epoch [10][34700/39528] lr: 6.944e-05, eta: 4 days, 17:22:36, time: 0.722, data_time: 0.039, memory: 19865, loss_cls: 0.0888, loss_bbox: 0.2697, loss_traj: 0.4347, loss_traj_cls: 0.0020, loss_map_cls: 0.0824, loss_map_pts: 0.4536, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.5190, d0.loss_plan_l1_fix_dist: 0.3689, d1.loss_plan_l1_fix_time: 0.7341, d1.loss_plan_l1_fix_dist: 0.2354, d2.loss_plan_l1_fix_time: 0.7241, d2.loss_plan_l1_fix_dist: 0.3057, d3.loss_plan_l1_fix_time: 0.7240, d3.loss_plan_l1_fix_dist: 0.2606, d4.loss_plan_l1_fix_time: 0.7269, d4.loss_plan_l1_fix_dist: 0.2635, d5.loss_plan_l1_fix_time: 0.7297, d5.loss_plan_l1_fix_dist: 0.4081, d6.loss_plan_l1_fix_time: 0.7335, d6.loss_plan_l1_fix_dist: 0.4283, d0.loss_cls_all: 0.1330, d0.loss_bbox_all: 0.3331, d0.loss_cls: 0.1330, d0.loss_bbox: 0.3331, d1.loss_cls: 0.1288, d1.loss_bbox: 0.3026, d2.loss_cls: 0.1134, d2.loss_bbox: 0.2815, d3.loss_cls: 0.0969, d3.loss_bbox: 0.2739, d4.loss_cls: 0.0904, d4.loss_bbox: 0.2705, d5.loss_cls: 0.0896, d5.loss_bbox: 0.2694, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6047, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.4999, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4523, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4406, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4376, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4371, d0.loss_map_cls_all: 0.1503, d0.loss_map_pts_all: 0.9920, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1503, d0.loss_map_pts: 0.9920, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1262, d1.loss_map_pts: 0.6902, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1046, d2.loss_map_pts: 0.5410, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.0947, d3.loss_map_pts: 0.4871, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0870, d4.loss_map_pts: 0.4677, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0836, d5.loss_map_pts: 0.4547, d5.loss_map_dir: 0.0061, loss: 21.6891, grad_norm: 135.4766 +2026-02-28 17:45:49,029 - DriveTransformer - INFO - Epoch [10][34750/39528] lr: 6.944e-05, eta: 4 days, 17:22:02, time: 0.746, data_time: 0.038, memory: 19865, loss_cls: 0.0956, loss_bbox: 0.2883, loss_traj: 0.5606, loss_traj_cls: 0.0020, loss_map_cls: 0.0833, loss_map_pts: 0.4468, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.3850, d0.loss_plan_l1_fix_dist: 0.4353, d1.loss_plan_l1_fix_time: 0.7170, d1.loss_plan_l1_fix_dist: 0.2182, d2.loss_plan_l1_fix_time: 0.6997, d2.loss_plan_l1_fix_dist: 0.3381, d3.loss_plan_l1_fix_time: 0.7055, d3.loss_plan_l1_fix_dist: 0.2527, d4.loss_plan_l1_fix_time: 0.7085, d4.loss_plan_l1_fix_dist: 0.3051, d5.loss_plan_l1_fix_time: 0.7116, d5.loss_plan_l1_fix_dist: 0.4110, d6.loss_plan_l1_fix_time: 0.7148, d6.loss_plan_l1_fix_dist: 0.3826, d0.loss_cls_all: 0.1343, d0.loss_bbox_all: 0.3537, d0.loss_cls: 0.1343, d0.loss_bbox: 0.3537, d1.loss_cls: 0.1266, d1.loss_bbox: 0.3185, d2.loss_cls: 0.1135, d2.loss_bbox: 0.3012, d3.loss_cls: 0.1008, d3.loss_bbox: 0.2936, d4.loss_cls: 0.0983, d4.loss_bbox: 0.2895, d5.loss_cls: 0.0970, d5.loss_bbox: 0.2874, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8115, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6326, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5813, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5618, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5604, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5611, d0.loss_map_cls_all: 0.1580, d0.loss_map_pts_all: 0.9990, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1580, d0.loss_map_pts: 0.9990, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1272, d1.loss_map_pts: 0.6882, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1055, d2.loss_map_pts: 0.5304, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.0944, d3.loss_map_pts: 0.4810, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0881, d4.loss_map_pts: 0.4581, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0839, d5.loss_map_pts: 0.4490, d5.loss_map_dir: 0.0060, loss: 22.6466, grad_norm: 136.0027 +2026-02-28 17:46:27,371 - DriveTransformer - INFO - Epoch [10][34800/39528] lr: 6.944e-05, eta: 4 days, 17:21:32, time: 0.767, data_time: 0.036, memory: 19865, loss_cls: 0.1064, loss_bbox: 0.3174, loss_traj: 0.4866, loss_traj_cls: 0.0020, loss_map_cls: 0.1056, loss_map_pts: 0.5494, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.7592, d0.loss_plan_l1_fix_dist: 0.4325, d1.loss_plan_l1_fix_time: 0.8013, d1.loss_plan_l1_fix_dist: 0.2263, d2.loss_plan_l1_fix_time: 0.7808, d2.loss_plan_l1_fix_dist: 0.3709, d3.loss_plan_l1_fix_time: 0.7787, d3.loss_plan_l1_fix_dist: 0.2643, d4.loss_plan_l1_fix_time: 0.7818, d4.loss_plan_l1_fix_dist: 0.3485, d5.loss_plan_l1_fix_time: 0.7857, d5.loss_plan_l1_fix_dist: 0.4310, d6.loss_plan_l1_fix_time: 0.7912, d6.loss_plan_l1_fix_dist: 0.4411, d0.loss_cls_all: 0.1596, d0.loss_bbox_all: 0.3808, d0.loss_cls: 0.1596, d0.loss_bbox: 0.3808, d1.loss_cls: 0.1519, d1.loss_bbox: 0.3455, d2.loss_cls: 0.1384, d2.loss_bbox: 0.3201, d3.loss_cls: 0.1135, d3.loss_bbox: 0.3187, d4.loss_cls: 0.1061, d4.loss_bbox: 0.3190, d5.loss_cls: 0.1058, d5.loss_bbox: 0.3180, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7285, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5587, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5009, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4913, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4860, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4866, d0.loss_map_cls_all: 0.1822, d0.loss_map_pts_all: 1.1554, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1822, d0.loss_map_pts: 1.1554, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1528, d1.loss_map_pts: 0.8325, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1299, d2.loss_map_pts: 0.6518, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1180, d3.loss_map_pts: 0.5850, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1114, d4.loss_map_pts: 0.5584, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1075, d5.loss_map_pts: 0.5503, d5.loss_map_dir: 0.0077, loss: 24.6675, grad_norm: 136.4084 +2026-02-28 17:47:03,607 - DriveTransformer - INFO - Epoch [10][34850/39528] lr: 6.944e-05, eta: 4 days, 17:20:54, time: 0.725, data_time: 0.037, memory: 19865, loss_cls: 0.0923, loss_bbox: 0.3001, loss_traj: 0.4381, loss_traj_cls: 0.0020, loss_map_cls: 0.0978, loss_map_pts: 0.5094, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.7204, d0.loss_plan_l1_fix_dist: 0.4453, d1.loss_plan_l1_fix_time: 0.7712, d1.loss_plan_l1_fix_dist: 0.2012, d2.loss_plan_l1_fix_time: 0.7513, d2.loss_plan_l1_fix_dist: 0.3331, d3.loss_plan_l1_fix_time: 0.7440, d3.loss_plan_l1_fix_dist: 0.2188, d4.loss_plan_l1_fix_time: 0.7465, d4.loss_plan_l1_fix_dist: 0.2962, d5.loss_plan_l1_fix_time: 0.7509, d5.loss_plan_l1_fix_dist: 0.3698, d6.loss_plan_l1_fix_time: 0.7563, d6.loss_plan_l1_fix_dist: 0.4036, d0.loss_cls_all: 0.1417, d0.loss_bbox_all: 0.3533, d0.loss_cls: 0.1417, d0.loss_bbox: 0.3533, d1.loss_cls: 0.1347, d1.loss_bbox: 0.3248, d2.loss_cls: 0.1212, d2.loss_bbox: 0.3046, d3.loss_cls: 0.1014, d3.loss_bbox: 0.3012, d4.loss_cls: 0.0932, d4.loss_bbox: 0.3011, d5.loss_cls: 0.0931, d5.loss_bbox: 0.2995, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6624, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5086, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4724, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4515, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4407, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4401, d0.loss_map_cls_all: 0.1828, d0.loss_map_pts_all: 1.0652, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1828, d0.loss_map_pts: 1.0652, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1509, d1.loss_map_pts: 0.7591, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1233, d2.loss_map_pts: 0.5931, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1125, d3.loss_map_pts: 0.5329, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1043, d4.loss_map_pts: 0.5138, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.0993, d5.loss_map_pts: 0.5106, d5.loss_map_dir: 0.0072, loss: 23.0469, grad_norm: 134.5730 +2026-02-28 17:47:39,758 - DriveTransformer - INFO - Epoch [10][34900/39528] lr: 6.944e-05, eta: 4 days, 17:20:16, time: 0.723, data_time: 0.036, memory: 19865, loss_cls: 0.0995, loss_bbox: 0.3010, loss_traj: 0.4736, loss_traj_cls: 0.0019, loss_map_cls: 0.1152, loss_map_pts: 0.5662, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.2699, d0.loss_plan_l1_fix_dist: 0.4351, d1.loss_plan_l1_fix_time: 0.7614, d1.loss_plan_l1_fix_dist: 0.2102, d2.loss_plan_l1_fix_time: 0.7346, d2.loss_plan_l1_fix_dist: 0.3475, d3.loss_plan_l1_fix_time: 0.7235, d3.loss_plan_l1_fix_dist: 0.2686, d4.loss_plan_l1_fix_time: 0.7239, d4.loss_plan_l1_fix_dist: 0.3055, d5.loss_plan_l1_fix_time: 0.7256, d5.loss_plan_l1_fix_dist: 0.3414, d6.loss_plan_l1_fix_time: 0.7279, d6.loss_plan_l1_fix_dist: 0.4392, d0.loss_cls_all: 0.1475, d0.loss_bbox_all: 0.3687, d0.loss_cls: 0.1475, d0.loss_bbox: 0.3687, d1.loss_cls: 0.1422, d1.loss_bbox: 0.3311, d2.loss_cls: 0.1283, d2.loss_bbox: 0.3105, d3.loss_cls: 0.1051, d3.loss_bbox: 0.3064, d4.loss_cls: 0.1000, d4.loss_bbox: 0.3040, d5.loss_cls: 0.0993, d5.loss_bbox: 0.3013, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6861, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5486, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5000, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4863, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4804, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4734, d0.loss_map_cls_all: 0.1872, d0.loss_map_pts_all: 1.2215, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1872, d0.loss_map_pts: 1.2215, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1600, d1.loss_map_pts: 0.8853, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1377, d2.loss_map_pts: 0.6985, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1276, d3.loss_map_pts: 0.6117, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1220, d4.loss_map_pts: 0.5733, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1166, d5.loss_map_pts: 0.5658, d5.loss_map_dir: 0.0066, loss: 23.7796, grad_norm: 134.9908 +2026-02-28 17:48:16,127 - DriveTransformer - INFO - Epoch [10][34950/39528] lr: 6.944e-05, eta: 4 days, 17:19:39, time: 0.727, data_time: 0.038, memory: 19865, loss_cls: 0.0968, loss_bbox: 0.2892, loss_traj: 0.4685, loss_traj_cls: 0.0020, loss_map_cls: 0.1243, loss_map_pts: 0.5646, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.7859, d0.loss_plan_l1_fix_dist: 0.4361, d1.loss_plan_l1_fix_time: 0.7396, d1.loss_plan_l1_fix_dist: 0.2225, d2.loss_plan_l1_fix_time: 0.7228, d2.loss_plan_l1_fix_dist: 0.3642, d3.loss_plan_l1_fix_time: 0.7209, d3.loss_plan_l1_fix_dist: 0.3399, d4.loss_plan_l1_fix_time: 0.7229, d4.loss_plan_l1_fix_dist: 0.3110, d5.loss_plan_l1_fix_time: 0.7250, d5.loss_plan_l1_fix_dist: 0.3196, d6.loss_plan_l1_fix_time: 0.7276, d6.loss_plan_l1_fix_dist: 0.4136, d0.loss_cls_all: 0.1457, d0.loss_bbox_all: 0.3587, d0.loss_cls: 0.1457, d0.loss_bbox: 0.3587, d1.loss_cls: 0.1383, d1.loss_bbox: 0.3223, d2.loss_cls: 0.1230, d2.loss_bbox: 0.3006, d3.loss_cls: 0.1070, d3.loss_bbox: 0.2937, d4.loss_cls: 0.0996, d4.loss_bbox: 0.2905, d5.loss_cls: 0.0978, d5.loss_bbox: 0.2899, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6750, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5401, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4896, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4740, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4697, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4714, d0.loss_map_cls_all: 0.1996, d0.loss_map_pts_all: 1.1572, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1996, d0.loss_map_pts: 1.1572, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1743, d1.loss_map_pts: 0.8328, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1491, d2.loss_map_pts: 0.6678, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1364, d3.loss_map_pts: 0.5983, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1300, d4.loss_map_pts: 0.5712, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1260, d5.loss_map_pts: 0.5639, d5.loss_map_dir: 0.0070, loss: 24.0104, grad_norm: 139.6460 +2026-02-28 17:48:52,846 - DriveTransformer - INFO - Epoch [10][35000/39528] lr: 6.944e-05, eta: 4 days, 17:19:03, time: 0.736, data_time: 0.038, memory: 19865, loss_cls: 0.0860, loss_bbox: 0.2886, loss_traj: 0.4847, loss_traj_cls: 0.0020, loss_map_cls: 0.1131, loss_map_pts: 0.5191, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.3502, d0.loss_plan_l1_fix_dist: 0.4455, d1.loss_plan_l1_fix_time: 0.7557, d1.loss_plan_l1_fix_dist: 0.2242, d2.loss_plan_l1_fix_time: 0.7338, d2.loss_plan_l1_fix_dist: 0.3534, d3.loss_plan_l1_fix_time: 0.7272, d3.loss_plan_l1_fix_dist: 0.3626, d4.loss_plan_l1_fix_time: 0.7283, d4.loss_plan_l1_fix_dist: 0.3050, d5.loss_plan_l1_fix_time: 0.7303, d5.loss_plan_l1_fix_dist: 0.3366, d6.loss_plan_l1_fix_time: 0.7331, d6.loss_plan_l1_fix_dist: 0.3994, d0.loss_cls_all: 0.1287, d0.loss_bbox_all: 0.3463, d0.loss_cls: 0.1287, d0.loss_bbox: 0.3463, d1.loss_cls: 0.1230, d1.loss_bbox: 0.3125, d2.loss_cls: 0.1070, d2.loss_bbox: 0.2960, d3.loss_cls: 0.0917, d3.loss_bbox: 0.2921, d4.loss_cls: 0.0870, d4.loss_bbox: 0.2892, d5.loss_cls: 0.0860, d5.loss_bbox: 0.2880, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6982, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5383, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5058, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4933, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4876, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4862, d0.loss_map_cls_all: 0.2069, d0.loss_map_pts_all: 1.1144, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2069, d0.loss_map_pts: 1.1144, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1733, d1.loss_map_pts: 0.7946, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1408, d2.loss_map_pts: 0.6093, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1285, d3.loss_map_pts: 0.5466, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1218, d4.loss_map_pts: 0.5247, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1149, d5.loss_map_pts: 0.5200, d5.loss_map_dir: 0.0061, loss: 23.1813, grad_norm: 141.6120 +2026-02-28 17:49:28,897 - DriveTransformer - INFO - Epoch [10][35050/39528] lr: 6.944e-05, eta: 4 days, 17:18:24, time: 0.720, data_time: 0.037, memory: 19865, loss_cls: 0.0938, loss_bbox: 0.2834, loss_traj: 0.5252, loss_traj_cls: 0.0021, loss_map_cls: 0.0941, loss_map_pts: 0.4696, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.2317, d0.loss_plan_l1_fix_dist: 0.4181, d1.loss_plan_l1_fix_time: 0.7691, d1.loss_plan_l1_fix_dist: 0.2159, d2.loss_plan_l1_fix_time: 0.7432, d2.loss_plan_l1_fix_dist: 0.3458, d3.loss_plan_l1_fix_time: 0.7332, d3.loss_plan_l1_fix_dist: 0.3560, d4.loss_plan_l1_fix_time: 0.7338, d4.loss_plan_l1_fix_dist: 0.2909, d5.loss_plan_l1_fix_time: 0.7353, d5.loss_plan_l1_fix_dist: 0.3370, d6.loss_plan_l1_fix_time: 0.7371, d6.loss_plan_l1_fix_dist: 0.3636, d0.loss_cls_all: 0.1328, d0.loss_bbox_all: 0.3478, d0.loss_cls: 0.1328, d0.loss_bbox: 0.3478, d1.loss_cls: 0.1268, d1.loss_bbox: 0.3172, d2.loss_cls: 0.1136, d2.loss_bbox: 0.2951, d3.loss_cls: 0.0981, d3.loss_bbox: 0.2897, d4.loss_cls: 0.0941, d4.loss_bbox: 0.2842, d5.loss_cls: 0.0932, d5.loss_bbox: 0.2838, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7964, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6235, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5636, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5444, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5349, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5328, d0.loss_map_cls_all: 0.1749, d0.loss_map_pts_all: 1.0512, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1749, d0.loss_map_pts: 1.0512, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1457, d1.loss_map_pts: 0.7480, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.1198, d2.loss_map_pts: 0.5775, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.1085, d3.loss_map_pts: 0.5058, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.1025, d4.loss_map_pts: 0.4841, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0974, d5.loss_map_pts: 0.4702, d5.loss_map_dir: 0.0049, loss: 22.8873, grad_norm: 140.6504 +2026-02-28 17:50:06,250 - DriveTransformer - INFO - Epoch [10][35100/39528] lr: 6.944e-05, eta: 4 days, 17:17:51, time: 0.747, data_time: 0.038, memory: 19865, loss_cls: 0.1006, loss_bbox: 0.2990, loss_traj: 0.4534, loss_traj_cls: 0.0020, loss_map_cls: 0.1060, loss_map_pts: 0.5391, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.5695, d0.loss_plan_l1_fix_dist: 0.4057, d1.loss_plan_l1_fix_time: 0.8367, d1.loss_plan_l1_fix_dist: 0.2137, d2.loss_plan_l1_fix_time: 0.8184, d2.loss_plan_l1_fix_dist: 0.3517, d3.loss_plan_l1_fix_time: 0.8014, d3.loss_plan_l1_fix_dist: 0.3744, d4.loss_plan_l1_fix_time: 0.8005, d4.loss_plan_l1_fix_dist: 0.3218, d5.loss_plan_l1_fix_time: 0.8020, d5.loss_plan_l1_fix_dist: 0.3357, d6.loss_plan_l1_fix_time: 0.8038, d6.loss_plan_l1_fix_dist: 0.3478, d0.loss_cls_all: 0.1522, d0.loss_bbox_all: 0.3533, d0.loss_cls: 0.1522, d0.loss_bbox: 0.3533, d1.loss_cls: 0.1470, d1.loss_bbox: 0.3210, d2.loss_cls: 0.1341, d2.loss_bbox: 0.3043, d3.loss_cls: 0.1101, d3.loss_bbox: 0.3035, d4.loss_cls: 0.1030, d4.loss_bbox: 0.3004, d5.loss_cls: 0.1009, d5.loss_bbox: 0.2993, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6864, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5172, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4792, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4603, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4550, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4547, d0.loss_map_cls_all: 0.1846, d0.loss_map_pts_all: 1.0431, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1846, d0.loss_map_pts: 1.0431, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1566, d1.loss_map_pts: 0.7532, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1334, d2.loss_map_pts: 0.6105, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1221, d3.loss_map_pts: 0.5582, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1143, d4.loss_map_pts: 0.5423, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1081, d5.loss_map_pts: 0.5384, d5.loss_map_dir: 0.0070, loss: 23.6240, grad_norm: 139.5013 +2026-02-28 17:50:43,743 - DriveTransformer - INFO - Epoch [10][35150/39528] lr: 6.944e-05, eta: 4 days, 17:17:18, time: 0.750, data_time: 0.041, memory: 19865, loss_cls: 0.0878, loss_bbox: 0.2879, loss_traj: 0.4571, loss_traj_cls: 0.0019, loss_map_cls: 0.1382, loss_map_pts: 0.6125, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.2948, d0.loss_plan_l1_fix_dist: 0.4067, d1.loss_plan_l1_fix_time: 0.7601, d1.loss_plan_l1_fix_dist: 0.2092, d2.loss_plan_l1_fix_time: 0.7541, d2.loss_plan_l1_fix_dist: 0.3379, d3.loss_plan_l1_fix_time: 0.7416, d3.loss_plan_l1_fix_dist: 0.3529, d4.loss_plan_l1_fix_time: 0.7422, d4.loss_plan_l1_fix_dist: 0.3278, d5.loss_plan_l1_fix_time: 0.7446, d5.loss_plan_l1_fix_dist: 0.3015, d6.loss_plan_l1_fix_time: 0.7475, d6.loss_plan_l1_fix_dist: 0.2751, d0.loss_cls_all: 0.1345, d0.loss_bbox_all: 0.3515, d0.loss_cls: 0.1345, d0.loss_bbox: 0.3515, d1.loss_cls: 0.1219, d1.loss_bbox: 0.3165, d2.loss_cls: 0.1085, d2.loss_bbox: 0.2961, d3.loss_cls: 0.0930, d3.loss_bbox: 0.2899, d4.loss_cls: 0.0894, d4.loss_bbox: 0.2878, d5.loss_cls: 0.0886, d5.loss_bbox: 0.2862, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6470, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5175, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4877, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4665, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4602, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4554, d0.loss_map_cls_all: 0.2179, d0.loss_map_pts_all: 1.2534, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2179, d0.loss_map_pts: 1.2534, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1934, d1.loss_map_pts: 0.9080, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1682, d2.loss_map_pts: 0.7233, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1538, d3.loss_map_pts: 0.6507, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1467, d4.loss_map_pts: 0.6220, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1412, d5.loss_map_pts: 0.6132, d5.loss_map_dir: 0.0065, loss: 23.8854, grad_norm: 138.5222 +2026-02-28 17:51:19,902 - DriveTransformer - INFO - Epoch [10][35200/39528] lr: 6.944e-05, eta: 4 days, 17:16:40, time: 0.723, data_time: 0.038, memory: 19865, loss_cls: 0.1131, loss_bbox: 0.2877, loss_traj: 0.5515, loss_traj_cls: 0.0020, loss_map_cls: 0.0977, loss_map_pts: 0.4650, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.6933, d0.loss_plan_l1_fix_dist: 0.4000, d1.loss_plan_l1_fix_time: 0.8482, d1.loss_plan_l1_fix_dist: 0.2334, d2.loss_plan_l1_fix_time: 0.8218, d2.loss_plan_l1_fix_dist: 0.3650, d3.loss_plan_l1_fix_time: 0.8178, d3.loss_plan_l1_fix_dist: 0.3521, d4.loss_plan_l1_fix_time: 0.8188, d4.loss_plan_l1_fix_dist: 0.3331, d5.loss_plan_l1_fix_time: 0.8198, d5.loss_plan_l1_fix_dist: 0.3259, d6.loss_plan_l1_fix_time: 0.8218, d6.loss_plan_l1_fix_dist: 0.2847, d0.loss_cls_all: 0.1487, d0.loss_bbox_all: 0.3435, d0.loss_cls: 0.1487, d0.loss_bbox: 0.3435, d1.loss_cls: 0.1448, d1.loss_bbox: 0.3118, d2.loss_cls: 0.1315, d2.loss_bbox: 0.2946, d3.loss_cls: 0.1172, d3.loss_bbox: 0.2900, d4.loss_cls: 0.1136, d4.loss_bbox: 0.2887, d5.loss_cls: 0.1120, d5.loss_bbox: 0.2876, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7559, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6148, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5650, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5520, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5505, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5528, d0.loss_map_cls_all: 0.1702, d0.loss_map_pts_all: 0.9969, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1702, d0.loss_map_pts: 0.9969, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1433, d1.loss_map_pts: 0.7079, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1226, d2.loss_map_pts: 0.5579, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1119, d3.loss_map_pts: 0.4922, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1035, d4.loss_map_pts: 0.4746, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0996, d5.loss_map_pts: 0.4658, d5.loss_map_dir: 0.0058, loss: 23.7866, grad_norm: 138.9276 +2026-02-28 17:51:57,975 - DriveTransformer - INFO - Epoch [10][35250/39528] lr: 6.944e-05, eta: 4 days, 17:16:09, time: 0.761, data_time: 0.037, memory: 19865, loss_cls: 0.0948, loss_bbox: 0.3022, loss_traj: 0.4994, loss_traj_cls: 0.0019, loss_map_cls: 0.1048, loss_map_pts: 0.5623, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.4196, d0.loss_plan_l1_fix_dist: 0.4604, d1.loss_plan_l1_fix_time: 0.8533, d1.loss_plan_l1_fix_dist: 0.2577, d2.loss_plan_l1_fix_time: 0.8288, d2.loss_plan_l1_fix_dist: 0.3430, d3.loss_plan_l1_fix_time: 0.8252, d3.loss_plan_l1_fix_dist: 0.3251, d4.loss_plan_l1_fix_time: 0.8278, d4.loss_plan_l1_fix_dist: 0.3287, d5.loss_plan_l1_fix_time: 0.8292, d5.loss_plan_l1_fix_dist: 0.3286, d6.loss_plan_l1_fix_time: 0.8324, d6.loss_plan_l1_fix_dist: 0.3094, d0.loss_cls_all: 0.1339, d0.loss_bbox_all: 0.3726, d0.loss_cls: 0.1339, d0.loss_bbox: 0.3726, d1.loss_cls: 0.1281, d1.loss_bbox: 0.3390, d2.loss_cls: 0.1194, d2.loss_bbox: 0.3127, d3.loss_cls: 0.1037, d3.loss_bbox: 0.3064, d4.loss_cls: 0.0981, d4.loss_bbox: 0.3030, d5.loss_cls: 0.0960, d5.loss_bbox: 0.3018, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7458, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5592, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5021, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4920, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4939, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4932, d0.loss_map_cls_all: 0.1806, d0.loss_map_pts_all: 1.1633, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1806, d0.loss_map_pts: 1.1633, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1487, d1.loss_map_pts: 0.8309, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1277, d2.loss_map_pts: 0.6598, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1180, d3.loss_map_pts: 0.5946, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1112, d4.loss_map_pts: 0.5690, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1066, d5.loss_map_pts: 0.5623, d5.loss_map_dir: 0.0074, loss: 24.3239, grad_norm: 139.8306 +2026-02-28 17:52:33,128 - DriveTransformer - INFO - Epoch [10][35300/39528] lr: 6.944e-05, eta: 4 days, 17:15:27, time: 0.703, data_time: 0.041, memory: 19865, loss_cls: 0.0903, loss_bbox: 0.2659, loss_traj: 0.4217, loss_traj_cls: 0.0020, loss_map_cls: 0.0844, loss_map_pts: 0.4548, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.4284, d0.loss_plan_l1_fix_dist: 0.5012, d1.loss_plan_l1_fix_time: 0.7646, d1.loss_plan_l1_fix_dist: 0.2754, d2.loss_plan_l1_fix_time: 0.7380, d2.loss_plan_l1_fix_dist: 0.3015, d3.loss_plan_l1_fix_time: 0.7292, d3.loss_plan_l1_fix_dist: 0.2914, d4.loss_plan_l1_fix_time: 0.7299, d4.loss_plan_l1_fix_dist: 0.2891, d5.loss_plan_l1_fix_time: 0.7317, d5.loss_plan_l1_fix_dist: 0.2805, d6.loss_plan_l1_fix_time: 0.7347, d6.loss_plan_l1_fix_dist: 0.2603, d0.loss_cls_all: 0.1372, d0.loss_bbox_all: 0.3219, d0.loss_cls: 0.1372, d0.loss_bbox: 0.3219, d1.loss_cls: 0.1267, d1.loss_bbox: 0.2934, d2.loss_cls: 0.1138, d2.loss_bbox: 0.2741, d3.loss_cls: 0.0964, d3.loss_bbox: 0.2703, d4.loss_cls: 0.0906, d4.loss_bbox: 0.2678, d5.loss_cls: 0.0903, d5.loss_bbox: 0.2654, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6043, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.4671, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4355, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4247, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4216, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4220, d0.loss_map_cls_all: 0.1573, d0.loss_map_pts_all: 0.9296, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1573, d0.loss_map_pts: 0.9296, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1276, d1.loss_map_pts: 0.6529, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1075, d2.loss_map_pts: 0.5163, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1000, d3.loss_map_pts: 0.4741, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0926, d4.loss_map_pts: 0.4599, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0858, d5.loss_map_pts: 0.4558, d5.loss_map_dir: 0.0059, loss: 21.2571, grad_norm: 140.7822 +2026-02-28 17:53:10,813 - DriveTransformer - INFO - Epoch [10][35350/39528] lr: 6.944e-05, eta: 4 days, 17:14:54, time: 0.754, data_time: 0.037, memory: 19865, loss_cls: 0.1046, loss_bbox: 0.3103, loss_traj: 0.4809, loss_traj_cls: 0.0018, loss_map_cls: 0.1191, loss_map_pts: 0.5965, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.9075, d0.loss_plan_l1_fix_dist: 0.4673, d1.loss_plan_l1_fix_time: 0.8808, d1.loss_plan_l1_fix_dist: 0.3427, d2.loss_plan_l1_fix_time: 0.8744, d2.loss_plan_l1_fix_dist: 0.2998, d3.loss_plan_l1_fix_time: 0.8687, d3.loss_plan_l1_fix_dist: 0.3341, d4.loss_plan_l1_fix_time: 0.8702, d4.loss_plan_l1_fix_dist: 0.3451, d5.loss_plan_l1_fix_time: 0.8728, d5.loss_plan_l1_fix_dist: 0.2860, d6.loss_plan_l1_fix_time: 0.8767, d6.loss_plan_l1_fix_dist: 0.2634, d0.loss_cls_all: 0.1528, d0.loss_bbox_all: 0.3759, d0.loss_cls: 0.1528, d0.loss_bbox: 0.3759, d1.loss_cls: 0.1441, d1.loss_bbox: 0.3431, d2.loss_cls: 0.1297, d2.loss_bbox: 0.3210, d3.loss_cls: 0.1134, d3.loss_bbox: 0.3151, d4.loss_cls: 0.1062, d4.loss_bbox: 0.3142, d5.loss_cls: 0.1038, d5.loss_bbox: 0.3120, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6355, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5327, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4961, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4844, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4769, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4799, d0.loss_map_cls_all: 0.2038, d0.loss_map_pts_all: 1.2283, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2038, d0.loss_map_pts: 1.2283, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1675, d1.loss_map_pts: 0.8759, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1440, d2.loss_map_pts: 0.7000, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1340, d3.loss_map_pts: 0.6315, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1271, d4.loss_map_pts: 0.6044, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1199, d5.loss_map_pts: 0.5974, d5.loss_map_dir: 0.0077, loss: 25.5022, grad_norm: 142.8943 +2026-02-28 17:53:46,299 - DriveTransformer - INFO - Epoch [10][35400/39528] lr: 6.944e-05, eta: 4 days, 17:14:14, time: 0.710, data_time: 0.038, memory: 19865, loss_cls: 0.0898, loss_bbox: 0.2894, loss_traj: 0.5611, loss_traj_cls: 0.0019, loss_map_cls: 0.0941, loss_map_pts: 0.4625, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.7822, d0.loss_plan_l1_fix_dist: 0.5302, d1.loss_plan_l1_fix_time: 0.8645, d1.loss_plan_l1_fix_dist: 0.4103, d2.loss_plan_l1_fix_time: 0.8325, d2.loss_plan_l1_fix_dist: 0.2961, d3.loss_plan_l1_fix_time: 0.8331, d3.loss_plan_l1_fix_dist: 0.3767, d4.loss_plan_l1_fix_time: 0.8354, d4.loss_plan_l1_fix_dist: 0.3871, d5.loss_plan_l1_fix_time: 0.8377, d5.loss_plan_l1_fix_dist: 0.3045, d6.loss_plan_l1_fix_time: 0.8404, d6.loss_plan_l1_fix_dist: 0.2789, d0.loss_cls_all: 0.1264, d0.loss_bbox_all: 0.3465, d0.loss_cls: 0.1264, d0.loss_bbox: 0.3465, d1.loss_cls: 0.1220, d1.loss_bbox: 0.3139, d2.loss_cls: 0.1124, d2.loss_bbox: 0.2963, d3.loss_cls: 0.0960, d3.loss_bbox: 0.2925, d4.loss_cls: 0.0897, d4.loss_bbox: 0.2900, d5.loss_cls: 0.0894, d5.loss_bbox: 0.2883, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7901, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6201, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5768, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5711, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5630, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5637, d0.loss_map_cls_all: 0.1595, d0.loss_map_pts_all: 0.9047, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1595, d0.loss_map_pts: 0.9047, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1289, d1.loss_map_pts: 0.6641, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1125, d2.loss_map_pts: 0.5382, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1045, d3.loss_map_pts: 0.4881, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0999, d4.loss_map_pts: 0.4705, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0965, d5.loss_map_pts: 0.4638, d5.loss_map_dir: 0.0053, loss: 23.8724, grad_norm: 137.4902 +2026-02-28 17:54:22,723 - DriveTransformer - INFO - Epoch [10][35450/39528] lr: 6.944e-05, eta: 4 days, 17:13:37, time: 0.728, data_time: 0.042, memory: 19865, loss_cls: 0.0853, loss_bbox: 0.2735, loss_traj: 0.4751, loss_traj_cls: 0.0018, loss_map_cls: 0.1079, loss_map_pts: 0.4603, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.5684, d0.loss_plan_l1_fix_dist: 0.5143, d1.loss_plan_l1_fix_time: 0.7830, d1.loss_plan_l1_fix_dist: 0.4379, d2.loss_plan_l1_fix_time: 0.7786, d2.loss_plan_l1_fix_dist: 0.2843, d3.loss_plan_l1_fix_time: 0.7814, d3.loss_plan_l1_fix_dist: 0.3861, d4.loss_plan_l1_fix_time: 0.7841, d4.loss_plan_l1_fix_dist: 0.4019, d5.loss_plan_l1_fix_time: 0.7864, d5.loss_plan_l1_fix_dist: 0.2965, d6.loss_plan_l1_fix_time: 0.7888, d6.loss_plan_l1_fix_dist: 0.2869, d0.loss_cls_all: 0.1196, d0.loss_bbox_all: 0.3349, d0.loss_cls: 0.1196, d0.loss_bbox: 0.3349, d1.loss_cls: 0.1176, d1.loss_bbox: 0.2992, d2.loss_cls: 0.1095, d2.loss_bbox: 0.2802, d3.loss_cls: 0.0934, d3.loss_bbox: 0.2777, d4.loss_cls: 0.0866, d4.loss_bbox: 0.2758, d5.loss_cls: 0.0852, d5.loss_bbox: 0.2733, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6933, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5528, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5023, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4882, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4800, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4745, d0.loss_map_cls_all: 0.1911, d0.loss_map_pts_all: 1.0004, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1911, d0.loss_map_pts: 1.0004, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1599, d1.loss_map_pts: 0.7179, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1343, d2.loss_map_pts: 0.5569, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1231, d3.loss_map_pts: 0.4897, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1159, d4.loss_map_pts: 0.4691, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.1113, d5.loss_map_pts: 0.4620, d5.loss_map_dir: 0.0051, loss: 23.0498, grad_norm: 136.9579 +2026-02-28 17:54:58,964 - DriveTransformer - INFO - Epoch [10][35500/39528] lr: 6.944e-05, eta: 4 days, 17:12:59, time: 0.725, data_time: 0.037, memory: 19865, loss_cls: 0.0907, loss_bbox: 0.2870, loss_traj: 0.4762, loss_traj_cls: 0.0018, loss_map_cls: 0.1172, loss_map_pts: 0.5635, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.4357, d0.loss_plan_l1_fix_dist: 0.4807, d1.loss_plan_l1_fix_time: 0.7076, d1.loss_plan_l1_fix_dist: 0.4378, d2.loss_plan_l1_fix_time: 0.7024, d2.loss_plan_l1_fix_dist: 0.3642, d3.loss_plan_l1_fix_time: 0.7042, d3.loss_plan_l1_fix_dist: 0.4562, d4.loss_plan_l1_fix_time: 0.7058, d4.loss_plan_l1_fix_dist: 0.3484, d5.loss_plan_l1_fix_time: 0.7068, d5.loss_plan_l1_fix_dist: 0.2676, d6.loss_plan_l1_fix_time: 0.7094, d6.loss_plan_l1_fix_dist: 0.2770, d0.loss_cls_all: 0.1419, d0.loss_bbox_all: 0.3507, d0.loss_cls: 0.1419, d0.loss_bbox: 0.3507, d1.loss_cls: 0.1322, d1.loss_bbox: 0.3167, d2.loss_cls: 0.1193, d2.loss_bbox: 0.2966, d3.loss_cls: 0.0990, d3.loss_bbox: 0.2902, d4.loss_cls: 0.0933, d4.loss_bbox: 0.2873, d5.loss_cls: 0.0905, d5.loss_bbox: 0.2864, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6794, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5468, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5042, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4854, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4764, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4764, d0.loss_map_cls_all: 0.2021, d0.loss_map_pts_all: 1.1521, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2021, d0.loss_map_pts: 1.1521, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1676, d1.loss_map_pts: 0.8264, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1432, d2.loss_map_pts: 0.6693, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1337, d3.loss_map_pts: 0.6020, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1234, d4.loss_map_pts: 0.5735, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1199, d5.loss_map_pts: 0.5644, d5.loss_map_dir: 0.0071, loss: 23.6987, grad_norm: 137.4011 +2026-02-28 17:55:34,655 - DriveTransformer - INFO - Epoch [10][35550/39528] lr: 6.944e-05, eta: 4 days, 17:12:20, time: 0.714, data_time: 0.036, memory: 19865, loss_cls: 0.1098, loss_bbox: 0.2944, loss_traj: 0.5647, loss_traj_cls: 0.0019, loss_map_cls: 0.1167, loss_map_pts: 0.5342, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.4778, d0.loss_plan_l1_fix_dist: 0.5237, d1.loss_plan_l1_fix_time: 0.8007, d1.loss_plan_l1_fix_dist: 0.4516, d2.loss_plan_l1_fix_time: 0.7822, d2.loss_plan_l1_fix_dist: 0.4147, d3.loss_plan_l1_fix_time: 0.7633, d3.loss_plan_l1_fix_dist: 0.5098, d4.loss_plan_l1_fix_time: 0.7640, d4.loss_plan_l1_fix_dist: 0.3407, d5.loss_plan_l1_fix_time: 0.7660, d5.loss_plan_l1_fix_dist: 0.2762, d6.loss_plan_l1_fix_time: 0.7679, d6.loss_plan_l1_fix_dist: 0.2664, d0.loss_cls_all: 0.1507, d0.loss_bbox_all: 0.3669, d0.loss_cls: 0.1507, d0.loss_bbox: 0.3669, d1.loss_cls: 0.1487, d1.loss_bbox: 0.3301, d2.loss_cls: 0.1335, d2.loss_bbox: 0.3068, d3.loss_cls: 0.1155, d3.loss_bbox: 0.3001, d4.loss_cls: 0.1074, d4.loss_bbox: 0.2979, d5.loss_cls: 0.1082, d5.loss_bbox: 0.2950, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8254, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6388, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5826, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5680, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5656, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5657, d0.loss_map_cls_all: 0.2001, d0.loss_map_pts_all: 1.0059, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2001, d0.loss_map_pts: 1.0059, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1691, d1.loss_map_pts: 0.7582, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1465, d2.loss_map_pts: 0.6207, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1332, d3.loss_map_pts: 0.5612, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1250, d4.loss_map_pts: 0.5426, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1191, d5.loss_map_pts: 0.5356, d5.loss_map_dir: 0.0060, loss: 24.6289, grad_norm: 145.0055 +2026-02-28 17:56:11,694 - DriveTransformer - INFO - Epoch [10][35600/39528] lr: 6.944e-05, eta: 4 days, 17:11:45, time: 0.741, data_time: 0.037, memory: 19865, loss_cls: 0.1043, loss_bbox: 0.3062, loss_traj: 0.5461, loss_traj_cls: 0.0018, loss_map_cls: 0.1275, loss_map_pts: 0.5984, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.6331, d0.loss_plan_l1_fix_dist: 0.4588, d1.loss_plan_l1_fix_time: 0.9747, d1.loss_plan_l1_fix_dist: 0.4502, d2.loss_plan_l1_fix_time: 0.9531, d2.loss_plan_l1_fix_dist: 0.4324, d3.loss_plan_l1_fix_time: 0.9554, d3.loss_plan_l1_fix_dist: 0.5229, d4.loss_plan_l1_fix_time: 0.9580, d4.loss_plan_l1_fix_dist: 0.3305, d5.loss_plan_l1_fix_time: 0.9616, d5.loss_plan_l1_fix_dist: 0.2758, d6.loss_plan_l1_fix_time: 0.9643, d6.loss_plan_l1_fix_dist: 0.2972, d0.loss_cls_all: 0.1550, d0.loss_bbox_all: 0.3766, d0.loss_cls: 0.1550, d0.loss_bbox: 0.3766, d1.loss_cls: 0.1467, d1.loss_bbox: 0.3389, d2.loss_cls: 0.1303, d2.loss_bbox: 0.3170, d3.loss_cls: 0.1123, d3.loss_bbox: 0.3095, d4.loss_cls: 0.1058, d4.loss_bbox: 0.3068, d5.loss_cls: 0.1041, d5.loss_bbox: 0.3063, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7478, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5940, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5472, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5395, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5414, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5457, d0.loss_map_cls_all: 0.2064, d0.loss_map_pts_all: 1.1883, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2064, d0.loss_map_pts: 1.1883, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1740, d1.loss_map_pts: 0.8742, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1549, d2.loss_map_pts: 0.6968, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1427, d3.loss_map_pts: 0.6321, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1341, d4.loss_map_pts: 0.6067, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1311, d5.loss_map_pts: 0.5990, d5.loss_map_dir: 0.0073, loss: 26.6079, grad_norm: 149.4170 +2026-02-28 17:56:46,293 - DriveTransformer - INFO - Epoch [10][35650/39528] lr: 6.944e-05, eta: 4 days, 17:11:01, time: 0.692, data_time: 0.040, memory: 19865, loss_cls: 0.1104, loss_bbox: 0.3083, loss_traj: 0.5292, loss_traj_cls: 0.0018, loss_map_cls: 0.1090, loss_map_pts: 0.5033, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 3.2273, d0.loss_plan_l1_fix_dist: 0.4302, d1.loss_plan_l1_fix_time: 0.9631, d1.loss_plan_l1_fix_dist: 0.4282, d2.loss_plan_l1_fix_time: 0.9410, d2.loss_plan_l1_fix_dist: 0.4221, d3.loss_plan_l1_fix_time: 0.9446, d3.loss_plan_l1_fix_dist: 0.5073, d4.loss_plan_l1_fix_time: 0.9466, d4.loss_plan_l1_fix_dist: 0.2930, d5.loss_plan_l1_fix_time: 0.9492, d5.loss_plan_l1_fix_dist: 0.2703, d6.loss_plan_l1_fix_time: 0.9516, d6.loss_plan_l1_fix_dist: 0.3098, d0.loss_cls_all: 0.1486, d0.loss_bbox_all: 0.3804, d0.loss_cls: 0.1486, d0.loss_bbox: 0.3804, d1.loss_cls: 0.1479, d1.loss_bbox: 0.3425, d2.loss_cls: 0.1325, d2.loss_bbox: 0.3220, d3.loss_cls: 0.1132, d3.loss_bbox: 0.3171, d4.loss_cls: 0.1121, d4.loss_bbox: 0.3118, d5.loss_cls: 0.1116, d5.loss_bbox: 0.3085, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7925, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6108, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5620, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5362, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5267, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5260, d0.loss_map_cls_all: 0.1926, d0.loss_map_pts_all: 0.9954, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1926, d0.loss_map_pts: 0.9954, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1610, d1.loss_map_pts: 0.7282, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1388, d2.loss_map_pts: 0.5850, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1245, d3.loss_map_pts: 0.5247, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1165, d4.loss_map_pts: 0.5048, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.1113, d5.loss_map_pts: 0.5033, d5.loss_map_dir: 0.0053, loss: 25.8996, grad_norm: 147.8719 +2026-02-28 17:57:22,329 - DriveTransformer - INFO - Epoch [10][35700/39528] lr: 6.944e-05, eta: 4 days, 17:10:23, time: 0.721, data_time: 0.038, memory: 19865, loss_cls: 0.0926, loss_bbox: 0.2904, loss_traj: 0.5662, loss_traj_cls: 0.0018, loss_map_cls: 0.1051, loss_map_pts: 0.5186, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.9183, d0.loss_plan_l1_fix_dist: 0.4637, d1.loss_plan_l1_fix_time: 0.8699, d1.loss_plan_l1_fix_dist: 0.3894, d2.loss_plan_l1_fix_time: 0.8588, d2.loss_plan_l1_fix_dist: 0.4202, d3.loss_plan_l1_fix_time: 0.8567, d3.loss_plan_l1_fix_dist: 0.5011, d4.loss_plan_l1_fix_time: 0.8603, d4.loss_plan_l1_fix_dist: 0.2861, d5.loss_plan_l1_fix_time: 0.8632, d5.loss_plan_l1_fix_dist: 0.2768, d6.loss_plan_l1_fix_time: 0.8669, d6.loss_plan_l1_fix_dist: 0.3074, d0.loss_cls_all: 0.1373, d0.loss_bbox_all: 0.3592, d0.loss_cls: 0.1373, d0.loss_bbox: 0.3592, d1.loss_cls: 0.1327, d1.loss_bbox: 0.3233, d2.loss_cls: 0.1210, d2.loss_bbox: 0.3021, d3.loss_cls: 0.1021, d3.loss_bbox: 0.2967, d4.loss_cls: 0.0943, d4.loss_bbox: 0.2952, d5.loss_cls: 0.0930, d5.loss_bbox: 0.2916, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8176, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6290, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5758, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5679, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5659, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5650, d0.loss_map_cls_all: 0.1854, d0.loss_map_pts_all: 1.0809, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1854, d0.loss_map_pts: 1.0809, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1525, d1.loss_map_pts: 0.7585, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1329, d2.loss_map_pts: 0.6044, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1196, d3.loss_map_pts: 0.5446, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1138, d4.loss_map_pts: 0.5271, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1075, d5.loss_map_pts: 0.5190, d5.loss_map_dir: 0.0064, loss: 25.2464, grad_norm: 151.4372 +2026-02-28 17:58:00,667 - DriveTransformer - INFO - Epoch [10][35750/39528] lr: 6.944e-05, eta: 4 days, 17:09:52, time: 0.767, data_time: 0.037, memory: 19865, loss_cls: 0.0982, loss_bbox: 0.2998, loss_traj: 0.4948, loss_traj_cls: 0.0018, loss_map_cls: 0.0984, loss_map_pts: 0.5230, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.6106, d0.loss_plan_l1_fix_dist: 0.4472, d1.loss_plan_l1_fix_time: 0.8153, d1.loss_plan_l1_fix_dist: 0.3707, d2.loss_plan_l1_fix_time: 0.8024, d2.loss_plan_l1_fix_dist: 0.3961, d3.loss_plan_l1_fix_time: 0.8003, d3.loss_plan_l1_fix_dist: 0.4561, d4.loss_plan_l1_fix_time: 0.8058, d4.loss_plan_l1_fix_dist: 0.2655, d5.loss_plan_l1_fix_time: 0.8105, d5.loss_plan_l1_fix_dist: 0.2533, d6.loss_plan_l1_fix_time: 0.8157, d6.loss_plan_l1_fix_dist: 0.2811, d0.loss_cls_all: 0.1461, d0.loss_bbox_all: 0.3616, d0.loss_cls: 0.1461, d0.loss_bbox: 0.3616, d1.loss_cls: 0.1363, d1.loss_bbox: 0.3327, d2.loss_cls: 0.1244, d2.loss_bbox: 0.3102, d3.loss_cls: 0.1060, d3.loss_bbox: 0.3062, d4.loss_cls: 0.0995, d4.loss_bbox: 0.3035, d5.loss_cls: 0.0970, d5.loss_bbox: 0.3030, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6809, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5572, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5071, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5015, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5007, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4962, d0.loss_map_cls_all: 0.1782, d0.loss_map_pts_all: 1.1226, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1782, d0.loss_map_pts: 1.1226, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1446, d1.loss_map_pts: 0.7861, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1284, d2.loss_map_pts: 0.6239, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1155, d3.loss_map_pts: 0.5532, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1081, d4.loss_map_pts: 0.5272, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1011, d5.loss_map_pts: 0.5227, d5.loss_map_dir: 0.0069, loss: 24.0979, grad_norm: 156.0492 +2026-02-28 17:58:38,125 - DriveTransformer - INFO - Epoch [10][35800/39528] lr: 6.944e-05, eta: 4 days, 17:09:19, time: 0.751, data_time: 0.037, memory: 19865, loss_cls: 0.0984, loss_bbox: 0.2901, loss_traj: 0.5297, loss_traj_cls: 0.0019, loss_map_cls: 0.0935, loss_map_pts: 0.5389, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.6187, d0.loss_plan_l1_fix_dist: 0.3704, d1.loss_plan_l1_fix_time: 0.8796, d1.loss_plan_l1_fix_dist: 0.3463, d2.loss_plan_l1_fix_time: 0.8709, d2.loss_plan_l1_fix_dist: 0.3688, d3.loss_plan_l1_fix_time: 0.8588, d3.loss_plan_l1_fix_dist: 0.4127, d4.loss_plan_l1_fix_time: 0.8608, d4.loss_plan_l1_fix_dist: 0.2501, d5.loss_plan_l1_fix_time: 0.8637, d5.loss_plan_l1_fix_dist: 0.2334, d6.loss_plan_l1_fix_time: 0.8673, d6.loss_plan_l1_fix_dist: 0.2745, d0.loss_cls_all: 0.1428, d0.loss_bbox_all: 0.3510, d0.loss_cls: 0.1428, d0.loss_bbox: 0.3510, d1.loss_cls: 0.1427, d1.loss_bbox: 0.3187, d2.loss_cls: 0.1274, d2.loss_bbox: 0.2983, d3.loss_cls: 0.1056, d3.loss_bbox: 0.2975, d4.loss_cls: 0.0997, d4.loss_bbox: 0.2952, d5.loss_cls: 0.0986, d5.loss_bbox: 0.2923, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7289, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5761, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5393, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5333, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5263, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5284, d0.loss_map_cls_all: 0.1683, d0.loss_map_pts_all: 1.0589, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1683, d0.loss_map_pts: 1.0589, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1430, d1.loss_map_pts: 0.7606, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1212, d2.loss_map_pts: 0.6130, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1094, d3.loss_map_pts: 0.5635, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.0999, d4.loss_map_pts: 0.5438, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.0945, d5.loss_map_pts: 0.5379, d5.loss_map_dir: 0.0069, loss: 24.2262, grad_norm: 154.9732 +2026-02-28 17:59:13,681 - DriveTransformer - INFO - Epoch [10][35850/39528] lr: 6.944e-05, eta: 4 days, 17:08:39, time: 0.710, data_time: 0.036, memory: 19865, loss_cls: 0.1083, loss_bbox: 0.2992, loss_traj: 0.5387, loss_traj_cls: 0.0018, loss_map_cls: 0.1200, loss_map_pts: 0.5546, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.7450, d0.loss_plan_l1_fix_dist: 0.4144, d1.loss_plan_l1_fix_time: 0.8332, d1.loss_plan_l1_fix_dist: 0.2936, d2.loss_plan_l1_fix_time: 0.8193, d2.loss_plan_l1_fix_dist: 0.3268, d3.loss_plan_l1_fix_time: 0.8175, d3.loss_plan_l1_fix_dist: 0.3770, d4.loss_plan_l1_fix_time: 0.8191, d4.loss_plan_l1_fix_dist: 0.2169, d5.loss_plan_l1_fix_time: 0.8214, d5.loss_plan_l1_fix_dist: 0.2239, d6.loss_plan_l1_fix_time: 0.8242, d6.loss_plan_l1_fix_dist: 0.2293, d0.loss_cls_all: 0.1424, d0.loss_bbox_all: 0.3681, d0.loss_cls: 0.1424, d0.loss_bbox: 0.3681, d1.loss_cls: 0.1397, d1.loss_bbox: 0.3347, d2.loss_cls: 0.1309, d2.loss_bbox: 0.3091, d3.loss_cls: 0.1174, d3.loss_bbox: 0.3041, d4.loss_cls: 0.1099, d4.loss_bbox: 0.3009, d5.loss_cls: 0.1077, d5.loss_bbox: 0.2999, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8148, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6202, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5666, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5529, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5444, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5422, d0.loss_map_cls_all: 0.2056, d0.loss_map_pts_all: 1.0935, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.2056, d0.loss_map_pts: 1.0935, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1741, d1.loss_map_pts: 0.8058, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1512, d2.loss_map_pts: 0.6548, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1372, d3.loss_map_pts: 0.5874, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1276, d4.loss_map_pts: 0.5652, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1225, d5.loss_map_pts: 0.5561, d5.loss_map_dir: 0.0061, loss: 24.7326, grad_norm: 153.9731 +2026-02-28 17:59:51,740 - DriveTransformer - INFO - Epoch [10][35900/39528] lr: 6.944e-05, eta: 4 days, 17:08:08, time: 0.761, data_time: 0.037, memory: 19865, loss_cls: 0.0998, loss_bbox: 0.2901, loss_traj: 0.4888, loss_traj_cls: 0.0018, loss_map_cls: 0.1079, loss_map_pts: 0.5752, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.7373, d0.loss_plan_l1_fix_dist: 0.3995, d1.loss_plan_l1_fix_time: 0.7752, d1.loss_plan_l1_fix_dist: 0.2678, d2.loss_plan_l1_fix_time: 0.7780, d2.loss_plan_l1_fix_dist: 0.3164, d3.loss_plan_l1_fix_time: 0.7810, d3.loss_plan_l1_fix_dist: 0.3664, d4.loss_plan_l1_fix_time: 0.7862, d4.loss_plan_l1_fix_dist: 0.2182, d5.loss_plan_l1_fix_time: 0.7906, d5.loss_plan_l1_fix_dist: 0.2395, d6.loss_plan_l1_fix_time: 0.7951, d6.loss_plan_l1_fix_dist: 0.2369, d0.loss_cls_all: 0.1424, d0.loss_bbox_all: 0.3561, d0.loss_cls: 0.1424, d0.loss_bbox: 0.3561, d1.loss_cls: 0.1395, d1.loss_bbox: 0.3224, d2.loss_cls: 0.1291, d2.loss_bbox: 0.3013, d3.loss_cls: 0.1110, d3.loss_bbox: 0.2952, d4.loss_cls: 0.1027, d4.loss_bbox: 0.2922, d5.loss_cls: 0.1002, d5.loss_bbox: 0.2901, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7168, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5535, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5172, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5000, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4912, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4872, d0.loss_map_cls_all: 0.1982, d0.loss_map_pts_all: 1.1451, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1982, d0.loss_map_pts: 1.1451, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1614, d1.loss_map_pts: 0.8319, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1348, d2.loss_map_pts: 0.6711, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1231, d3.loss_map_pts: 0.6027, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1143, d4.loss_map_pts: 0.5827, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1108, d5.loss_map_pts: 0.5750, d5.loss_map_dir: 0.0078, loss: 24.0584, grad_norm: 155.3707 +2026-02-28 18:00:29,175 - DriveTransformer - INFO - Epoch [10][35950/39528] lr: 6.944e-05, eta: 4 days, 17:07:34, time: 0.749, data_time: 0.037, memory: 19865, loss_cls: 0.1126, loss_bbox: 0.3195, loss_traj: 0.5173, loss_traj_cls: 0.0018, loss_map_cls: 0.1168, loss_map_pts: 0.5704, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.7941, d0.loss_plan_l1_fix_dist: 0.3558, d1.loss_plan_l1_fix_time: 0.9604, d1.loss_plan_l1_fix_dist: 0.2378, d2.loss_plan_l1_fix_time: 0.9638, d2.loss_plan_l1_fix_dist: 0.3031, d3.loss_plan_l1_fix_time: 0.9636, d3.loss_plan_l1_fix_dist: 0.3311, d4.loss_plan_l1_fix_time: 0.9675, d4.loss_plan_l1_fix_dist: 0.2028, d5.loss_plan_l1_fix_time: 0.9706, d5.loss_plan_l1_fix_dist: 0.1922, d6.loss_plan_l1_fix_time: 0.9743, d6.loss_plan_l1_fix_dist: 0.2139, d0.loss_cls_all: 0.1660, d0.loss_bbox_all: 0.3905, d0.loss_cls: 0.1660, d0.loss_bbox: 0.3905, d1.loss_cls: 0.1553, d1.loss_bbox: 0.3596, d2.loss_cls: 0.1424, d2.loss_bbox: 0.3352, d3.loss_cls: 0.1212, d3.loss_bbox: 0.3271, d4.loss_cls: 0.1143, d4.loss_bbox: 0.3225, d5.loss_cls: 0.1118, d5.loss_bbox: 0.3209, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7275, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5689, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5265, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5199, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5156, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5155, d0.loss_map_cls_all: 0.1935, d0.loss_map_pts_all: 1.1497, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.1935, d0.loss_map_pts: 1.1497, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1641, d1.loss_map_pts: 0.8119, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1397, d2.loss_map_pts: 0.6548, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1302, d3.loss_map_pts: 0.5981, d3.loss_map_dir: 0.0083, d4.loss_map_cls: 0.1245, d4.loss_map_pts: 0.5776, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1186, d5.loss_map_pts: 0.5701, d5.loss_map_dir: 0.0085, loss: 25.5153, grad_norm: 155.8313 +2026-02-28 18:01:05,823 - DriveTransformer - INFO - Epoch [10][36000/39528] lr: 6.944e-05, eta: 4 days, 17:06:58, time: 0.733, data_time: 0.038, memory: 19865, loss_cls: 0.0933, loss_bbox: 0.2838, loss_traj: 0.4918, loss_traj_cls: 0.0019, loss_map_cls: 0.0707, loss_map_pts: 0.4004, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.2372, d0.loss_plan_l1_fix_dist: 0.4919, d1.loss_plan_l1_fix_time: 0.6998, d1.loss_plan_l1_fix_dist: 0.2507, d2.loss_plan_l1_fix_time: 0.6826, d2.loss_plan_l1_fix_dist: 0.3440, d3.loss_plan_l1_fix_time: 0.6904, d3.loss_plan_l1_fix_dist: 0.3431, d4.loss_plan_l1_fix_time: 0.6948, d4.loss_plan_l1_fix_dist: 0.2558, d5.loss_plan_l1_fix_time: 0.6988, d5.loss_plan_l1_fix_dist: 0.2243, d6.loss_plan_l1_fix_time: 0.7033, d6.loss_plan_l1_fix_dist: 0.2506, d0.loss_cls_all: 0.1332, d0.loss_bbox_all: 0.3503, d0.loss_cls: 0.1332, d0.loss_bbox: 0.3503, d1.loss_cls: 0.1279, d1.loss_bbox: 0.3169, d2.loss_cls: 0.1167, d2.loss_bbox: 0.2946, d3.loss_cls: 0.0999, d3.loss_bbox: 0.2891, d4.loss_cls: 0.0943, d4.loss_bbox: 0.2860, d5.loss_cls: 0.0929, d5.loss_bbox: 0.2847, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7543, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5649, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5261, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5057, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4940, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4914, d0.loss_map_cls_all: 0.1343, d0.loss_map_pts_all: 0.8624, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1343, d0.loss_map_pts: 0.8624, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1043, d1.loss_map_pts: 0.5956, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.0889, d2.loss_map_pts: 0.4736, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0812, d3.loss_map_pts: 0.4274, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0780, d4.loss_map_pts: 0.4089, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0729, d5.loss_map_pts: 0.4009, d5.loss_map_dir: 0.0056, loss: 20.9907, grad_norm: 158.3930 +2026-02-28 18:01:40,920 - DriveTransformer - INFO - Epoch [10][36050/39528] lr: 6.944e-05, eta: 4 days, 17:06:16, time: 0.702, data_time: 0.039, memory: 19865, loss_cls: 0.0899, loss_bbox: 0.2714, loss_traj: 0.6905, loss_traj_cls: 0.0018, loss_map_cls: 0.0860, loss_map_pts: 0.4347, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.5079, d0.loss_plan_l1_fix_dist: 0.4969, d1.loss_plan_l1_fix_time: 0.7304, d1.loss_plan_l1_fix_dist: 0.2447, d2.loss_plan_l1_fix_time: 0.6968, d2.loss_plan_l1_fix_dist: 0.3530, d3.loss_plan_l1_fix_time: 0.6940, d3.loss_plan_l1_fix_dist: 0.3214, d4.loss_plan_l1_fix_time: 0.6990, d4.loss_plan_l1_fix_dist: 0.2410, d5.loss_plan_l1_fix_time: 0.7047, d5.loss_plan_l1_fix_dist: 0.2129, d6.loss_plan_l1_fix_time: 0.7108, d6.loss_plan_l1_fix_dist: 0.2300, d0.loss_cls_all: 0.1335, d0.loss_bbox_all: 0.3336, d0.loss_cls: 0.1335, d0.loss_bbox: 0.3336, d1.loss_cls: 0.1240, d1.loss_bbox: 0.3004, d2.loss_cls: 0.1124, d2.loss_bbox: 0.2829, d3.loss_cls: 0.0972, d3.loss_bbox: 0.2748, d4.loss_cls: 0.0915, d4.loss_bbox: 0.2722, d5.loss_cls: 0.0903, d5.loss_bbox: 0.2713, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9903, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7725, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.7155, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.6893, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.6948, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6898, d0.loss_map_cls_all: 0.1494, d0.loss_map_pts_all: 0.9017, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1494, d0.loss_map_pts: 0.9017, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1222, d1.loss_map_pts: 0.6574, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1043, d2.loss_map_pts: 0.5208, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0957, d3.loss_map_pts: 0.4593, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0918, d4.loss_map_pts: 0.4403, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0875, d5.loss_map_pts: 0.4361, d5.loss_map_dir: 0.0057, loss: 22.9877, grad_norm: 160.2341 +2026-02-28 18:02:19,045 - DriveTransformer - INFO - Epoch [10][36100/39528] lr: 6.944e-05, eta: 4 days, 17:05:45, time: 0.763, data_time: 0.039, memory: 19865, loss_cls: 0.0922, loss_bbox: 0.2829, loss_traj: 0.4893, loss_traj_cls: 0.0018, loss_map_cls: 0.1117, loss_map_pts: 0.5436, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.6253, d0.loss_plan_l1_fix_dist: 0.5268, d1.loss_plan_l1_fix_time: 0.8871, d1.loss_plan_l1_fix_dist: 0.2562, d2.loss_plan_l1_fix_time: 0.8672, d2.loss_plan_l1_fix_dist: 0.3901, d3.loss_plan_l1_fix_time: 0.8562, d3.loss_plan_l1_fix_dist: 0.3263, d4.loss_plan_l1_fix_time: 0.8582, d4.loss_plan_l1_fix_dist: 0.2390, d5.loss_plan_l1_fix_time: 0.8615, d5.loss_plan_l1_fix_dist: 0.2255, d6.loss_plan_l1_fix_time: 0.8649, d6.loss_plan_l1_fix_dist: 0.2273, d0.loss_cls_all: 0.1315, d0.loss_bbox_all: 0.3501, d0.loss_cls: 0.1315, d0.loss_bbox: 0.3501, d1.loss_cls: 0.1253, d1.loss_bbox: 0.3163, d2.loss_cls: 0.1144, d2.loss_bbox: 0.2936, d3.loss_cls: 0.1011, d3.loss_bbox: 0.2841, d4.loss_cls: 0.0944, d4.loss_bbox: 0.2829, d5.loss_cls: 0.0922, d5.loss_bbox: 0.2827, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7273, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5595, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5074, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4929, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4908, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4892, d0.loss_map_cls_all: 0.1974, d0.loss_map_pts_all: 1.1269, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1974, d0.loss_map_pts: 1.1269, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1597, d1.loss_map_pts: 0.7940, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1368, d2.loss_map_pts: 0.6287, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1254, d3.loss_map_pts: 0.5686, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1190, d4.loss_map_pts: 0.5487, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1138, d5.loss_map_pts: 0.5440, d5.loss_map_dir: 0.0070, loss: 24.1975, grad_norm: 156.7016 +2026-02-28 18:02:56,811 - DriveTransformer - INFO - Epoch [10][36150/39528] lr: 6.944e-05, eta: 4 days, 17:05:13, time: 0.755, data_time: 0.038, memory: 19865, loss_cls: 0.1051, loss_bbox: 0.2988, loss_traj: 0.5553, loss_traj_cls: 0.0018, loss_map_cls: 0.1082, loss_map_pts: 0.5297, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.7713, d0.loss_plan_l1_fix_dist: 0.4684, d1.loss_plan_l1_fix_time: 0.9117, d1.loss_plan_l1_fix_dist: 0.2472, d2.loss_plan_l1_fix_time: 0.9055, d2.loss_plan_l1_fix_dist: 0.3863, d3.loss_plan_l1_fix_time: 0.8935, d3.loss_plan_l1_fix_dist: 0.3023, d4.loss_plan_l1_fix_time: 0.8945, d4.loss_plan_l1_fix_dist: 0.2103, d5.loss_plan_l1_fix_time: 0.8967, d5.loss_plan_l1_fix_dist: 0.2005, d6.loss_plan_l1_fix_time: 0.8994, d6.loss_plan_l1_fix_dist: 0.2081, d0.loss_cls_all: 0.1462, d0.loss_bbox_all: 0.3619, d0.loss_cls: 0.1462, d0.loss_bbox: 0.3619, d1.loss_cls: 0.1414, d1.loss_bbox: 0.3271, d2.loss_cls: 0.1295, d2.loss_bbox: 0.3085, d3.loss_cls: 0.1103, d3.loss_bbox: 0.3040, d4.loss_cls: 0.1059, d4.loss_bbox: 0.3000, d5.loss_cls: 0.1051, d5.loss_bbox: 0.2982, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8026, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6260, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5649, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5556, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5528, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5530, d0.loss_map_cls_all: 0.1913, d0.loss_map_pts_all: 1.1000, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1913, d0.loss_map_pts: 1.1000, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1591, d1.loss_map_pts: 0.7992, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1359, d2.loss_map_pts: 0.6341, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1243, d3.loss_map_pts: 0.5639, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1170, d4.loss_map_pts: 0.5378, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1119, d5.loss_map_pts: 0.5303, d5.loss_map_dir: 0.0064, loss: 24.9482, grad_norm: 157.6701 +2026-02-28 18:03:32,703 - DriveTransformer - INFO - Epoch [10][36200/39528] lr: 6.944e-05, eta: 4 days, 17:04:34, time: 0.718, data_time: 0.039, memory: 19865, loss_cls: 0.1165, loss_bbox: 0.3001, loss_traj: 0.5811, loss_traj_cls: 0.0018, loss_map_cls: 0.1060, loss_map_pts: 0.5144, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.3345, d0.loss_plan_l1_fix_dist: 0.4543, d1.loss_plan_l1_fix_time: 0.8491, d1.loss_plan_l1_fix_dist: 0.2725, d2.loss_plan_l1_fix_time: 0.8433, d2.loss_plan_l1_fix_dist: 0.3842, d3.loss_plan_l1_fix_time: 0.8276, d3.loss_plan_l1_fix_dist: 0.2902, d4.loss_plan_l1_fix_time: 0.8290, d4.loss_plan_l1_fix_dist: 0.1920, d5.loss_plan_l1_fix_time: 0.8321, d5.loss_plan_l1_fix_dist: 0.1875, d6.loss_plan_l1_fix_time: 0.8363, d6.loss_plan_l1_fix_dist: 0.2116, d0.loss_cls_all: 0.1581, d0.loss_bbox_all: 0.3705, d0.loss_cls: 0.1581, d0.loss_bbox: 0.3705, d1.loss_cls: 0.1467, d1.loss_bbox: 0.3366, d2.loss_cls: 0.1381, d2.loss_bbox: 0.3101, d3.loss_cls: 0.1199, d3.loss_bbox: 0.3078, d4.loss_cls: 0.1162, d4.loss_bbox: 0.3034, d5.loss_cls: 0.1159, d5.loss_bbox: 0.3014, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7860, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6372, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5448, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5787, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5741, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5754, d0.loss_map_cls_all: 0.1923, d0.loss_map_pts_all: 1.1123, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1923, d0.loss_map_pts: 1.1123, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1604, d1.loss_map_pts: 0.7984, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1335, d2.loss_map_pts: 0.6156, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1230, d3.loss_map_pts: 0.5441, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1142, d4.loss_map_pts: 0.5204, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1075, d5.loss_map_pts: 0.5156, d5.loss_map_dir: 0.0063, loss: 24.2098, grad_norm: 157.7007 +2026-02-28 18:04:09,489 - DriveTransformer - INFO - Epoch [10][36250/39528] lr: 6.944e-05, eta: 4 days, 17:03:58, time: 0.736, data_time: 0.036, memory: 19865, loss_cls: 0.0812, loss_bbox: 0.2637, loss_traj: 0.4673, loss_traj_cls: 0.0019, loss_map_cls: 0.0806, loss_map_pts: 0.4592, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.3177, d0.loss_plan_l1_fix_dist: 0.5106, d1.loss_plan_l1_fix_time: 0.7739, d1.loss_plan_l1_fix_dist: 0.3101, d2.loss_plan_l1_fix_time: 0.7501, d2.loss_plan_l1_fix_dist: 0.3746, d3.loss_plan_l1_fix_time: 0.7419, d3.loss_plan_l1_fix_dist: 0.2778, d4.loss_plan_l1_fix_time: 0.7435, d4.loss_plan_l1_fix_dist: 0.2134, d5.loss_plan_l1_fix_time: 0.7460, d5.loss_plan_l1_fix_dist: 0.2057, d6.loss_plan_l1_fix_time: 0.7494, d6.loss_plan_l1_fix_dist: 0.2217, d0.loss_cls_all: 0.1124, d0.loss_bbox_all: 0.3258, d0.loss_cls: 0.1124, d0.loss_bbox: 0.3258, d1.loss_cls: 0.1054, d1.loss_bbox: 0.2974, d2.loss_cls: 0.0965, d2.loss_bbox: 0.2773, d3.loss_cls: 0.0831, d3.loss_bbox: 0.2725, d4.loss_cls: 0.0822, d4.loss_bbox: 0.2665, d5.loss_cls: 0.0818, d5.loss_bbox: 0.2636, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7060, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5375, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4853, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4708, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4706, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4670, d0.loss_map_cls_all: 0.1674, d0.loss_map_pts_all: 0.9999, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1674, d0.loss_map_pts: 0.9999, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1326, d1.loss_map_pts: 0.6974, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1073, d2.loss_map_pts: 0.5484, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0959, d3.loss_map_pts: 0.4924, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0893, d4.loss_map_pts: 0.4695, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0828, d5.loss_map_pts: 0.4604, d5.loss_map_dir: 0.0054, loss: 21.6897, grad_norm: 156.3451 +2026-02-28 18:04:46,139 - DriveTransformer - INFO - Epoch [10][36300/39528] lr: 6.944e-05, eta: 4 days, 17:03:22, time: 0.733, data_time: 0.035, memory: 19865, loss_cls: 0.1099, loss_bbox: 0.3160, loss_traj: 0.4828, loss_traj_cls: 0.0019, loss_map_cls: 0.1138, loss_map_pts: 0.6200, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.6572, d0.loss_plan_l1_fix_dist: 0.4546, d1.loss_plan_l1_fix_time: 0.7992, d1.loss_plan_l1_fix_dist: 0.3270, d2.loss_plan_l1_fix_time: 0.7839, d2.loss_plan_l1_fix_dist: 0.3262, d3.loss_plan_l1_fix_time: 0.7639, d3.loss_plan_l1_fix_dist: 0.2394, d4.loss_plan_l1_fix_time: 0.7635, d4.loss_plan_l1_fix_dist: 0.2384, d5.loss_plan_l1_fix_time: 0.7649, d5.loss_plan_l1_fix_dist: 0.2313, d6.loss_plan_l1_fix_time: 0.7672, d6.loss_plan_l1_fix_dist: 0.2253, d0.loss_cls_all: 0.1553, d0.loss_bbox_all: 0.3877, d0.loss_cls: 0.1553, d0.loss_bbox: 0.3877, d1.loss_cls: 0.1466, d1.loss_bbox: 0.3512, d2.loss_cls: 0.1350, d2.loss_bbox: 0.3282, d3.loss_cls: 0.1181, d3.loss_bbox: 0.3189, d4.loss_cls: 0.1111, d4.loss_bbox: 0.3180, d5.loss_cls: 0.1110, d5.loss_bbox: 0.3155, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7279, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5657, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5129, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4937, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4894, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4825, d0.loss_map_cls_all: 0.1979, d0.loss_map_pts_all: 1.1959, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1979, d0.loss_map_pts: 1.1959, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1692, d1.loss_map_pts: 0.8857, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1396, d2.loss_map_pts: 0.7219, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1276, d3.loss_map_pts: 0.6562, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1220, d4.loss_map_pts: 0.6269, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1162, d5.loss_map_pts: 0.6210, d5.loss_map_dir: 0.0073, loss: 24.6360, grad_norm: 155.7987 +2026-02-28 18:05:21,994 - DriveTransformer - INFO - Epoch [10][36350/39528] lr: 6.944e-05, eta: 4 days, 17:02:43, time: 0.717, data_time: 0.037, memory: 19865, loss_cls: 0.0999, loss_bbox: 0.2919, loss_traj: 0.4271, loss_traj_cls: 0.0019, loss_map_cls: 0.1253, loss_map_pts: 0.5681, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.8172, d0.loss_plan_l1_fix_dist: 0.5342, d1.loss_plan_l1_fix_time: 0.7599, d1.loss_plan_l1_fix_dist: 0.3384, d2.loss_plan_l1_fix_time: 0.7438, d2.loss_plan_l1_fix_dist: 0.2711, d3.loss_plan_l1_fix_time: 0.7428, d3.loss_plan_l1_fix_dist: 0.2438, d4.loss_plan_l1_fix_time: 0.7462, d4.loss_plan_l1_fix_dist: 0.2635, d5.loss_plan_l1_fix_time: 0.7497, d5.loss_plan_l1_fix_dist: 0.2351, d6.loss_plan_l1_fix_time: 0.7535, d6.loss_plan_l1_fix_dist: 0.2357, d0.loss_cls_all: 0.1468, d0.loss_bbox_all: 0.3549, d0.loss_cls: 0.1468, d0.loss_bbox: 0.3549, d1.loss_cls: 0.1407, d1.loss_bbox: 0.3193, d2.loss_cls: 0.1248, d2.loss_bbox: 0.2976, d3.loss_cls: 0.1069, d3.loss_bbox: 0.2933, d4.loss_cls: 0.1016, d4.loss_bbox: 0.2912, d5.loss_cls: 0.1002, d5.loss_bbox: 0.2910, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6649, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.4944, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4528, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4355, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4276, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4268, d0.loss_map_cls_all: 0.2070, d0.loss_map_pts_all: 1.1274, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2070, d0.loss_map_pts: 1.1274, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1769, d1.loss_map_pts: 0.8280, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1507, d2.loss_map_pts: 0.6620, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1394, d3.loss_map_pts: 0.5946, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1312, d4.loss_map_pts: 0.5752, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1279, d5.loss_map_pts: 0.5684, d5.loss_map_dir: 0.0071, loss: 23.6063, grad_norm: 155.0486 +2026-02-28 18:05:57,832 - DriveTransformer - INFO - Epoch [10][36400/39528] lr: 6.944e-05, eta: 4 days, 17:02:04, time: 0.717, data_time: 0.037, memory: 19865, loss_cls: 0.0977, loss_bbox: 0.3008, loss_traj: 0.4192, loss_traj_cls: 0.0019, loss_map_cls: 0.0964, loss_map_pts: 0.5248, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 3.0845, d0.loss_plan_l1_fix_dist: 0.4724, d1.loss_plan_l1_fix_time: 0.8364, d1.loss_plan_l1_fix_dist: 0.3530, d2.loss_plan_l1_fix_time: 0.8160, d2.loss_plan_l1_fix_dist: 0.2451, d3.loss_plan_l1_fix_time: 0.7939, d3.loss_plan_l1_fix_dist: 0.2772, d4.loss_plan_l1_fix_time: 0.7965, d4.loss_plan_l1_fix_dist: 0.3082, d5.loss_plan_l1_fix_time: 0.7995, d5.loss_plan_l1_fix_dist: 0.2695, d6.loss_plan_l1_fix_time: 0.8031, d6.loss_plan_l1_fix_dist: 0.2235, d0.loss_cls_all: 0.1448, d0.loss_bbox_all: 0.3608, d0.loss_cls: 0.1448, d0.loss_bbox: 0.3608, d1.loss_cls: 0.1421, d1.loss_bbox: 0.3262, d2.loss_cls: 0.1246, d2.loss_bbox: 0.3070, d3.loss_cls: 0.1066, d3.loss_bbox: 0.3009, d4.loss_cls: 0.0988, d4.loss_bbox: 0.3013, d5.loss_cls: 0.0980, d5.loss_bbox: 0.2999, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6267, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.4838, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4376, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4233, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4204, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4205, d0.loss_map_cls_all: 0.1717, d0.loss_map_pts_all: 1.0288, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1717, d0.loss_map_pts: 1.0288, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1419, d1.loss_map_pts: 0.7618, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1221, d2.loss_map_pts: 0.6146, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1121, d3.loss_map_pts: 0.5518, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1046, d4.loss_map_pts: 0.5321, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0988, d5.loss_map_pts: 0.5252, d5.loss_map_dir: 0.0065, loss: 23.4721, grad_norm: 154.4871 +2026-02-28 18:06:35,187 - DriveTransformer - INFO - Epoch [10][36450/39528] lr: 6.944e-05, eta: 4 days, 17:01:30, time: 0.747, data_time: 0.036, memory: 19865, loss_cls: 0.1098, loss_bbox: 0.3070, loss_traj: 0.5262, loss_traj_cls: 0.0018, loss_map_cls: 0.1371, loss_map_pts: 0.6436, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.5384, d0.loss_plan_l1_fix_dist: 0.4684, d1.loss_plan_l1_fix_time: 0.9023, d1.loss_plan_l1_fix_dist: 0.3516, d2.loss_plan_l1_fix_time: 0.8866, d2.loss_plan_l1_fix_dist: 0.2879, d3.loss_plan_l1_fix_time: 0.8690, d3.loss_plan_l1_fix_dist: 0.3091, d4.loss_plan_l1_fix_time: 0.8693, d4.loss_plan_l1_fix_dist: 0.2983, d5.loss_plan_l1_fix_time: 0.8703, d5.loss_plan_l1_fix_dist: 0.2614, d6.loss_plan_l1_fix_time: 0.8725, d6.loss_plan_l1_fix_dist: 0.1996, d0.loss_cls_all: 0.1580, d0.loss_bbox_all: 0.3780, d0.loss_cls: 0.1580, d0.loss_bbox: 0.3780, d1.loss_cls: 0.1487, d1.loss_bbox: 0.3399, d2.loss_cls: 0.1390, d2.loss_bbox: 0.3166, d3.loss_cls: 0.1182, d3.loss_bbox: 0.3122, d4.loss_cls: 0.1132, d4.loss_bbox: 0.3081, d5.loss_cls: 0.1106, d5.loss_bbox: 0.3071, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7418, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5918, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5427, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5260, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5238, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5235, d0.loss_map_cls_all: 0.2189, d0.loss_map_pts_all: 1.2955, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2189, d0.loss_map_pts: 1.2955, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1900, d1.loss_map_pts: 0.9537, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1632, d2.loss_map_pts: 0.7630, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1517, d3.loss_map_pts: 0.6837, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1440, d4.loss_map_pts: 0.6525, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1395, d5.loss_map_pts: 0.6445, d5.loss_map_dir: 0.0079, loss: 26.0274, grad_norm: 152.0553 +2026-02-28 18:07:11,274 - DriveTransformer - INFO - Epoch [10][36500/39528] lr: 6.944e-05, eta: 4 days, 17:00:52, time: 0.722, data_time: 0.037, memory: 19865, loss_cls: 0.1064, loss_bbox: 0.2956, loss_traj: 0.5027, loss_traj_cls: 0.0020, loss_map_cls: 0.0889, loss_map_pts: 0.4457, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 3.2385, d0.loss_plan_l1_fix_dist: 0.5390, d1.loss_plan_l1_fix_time: 0.8151, d1.loss_plan_l1_fix_dist: 0.3445, d2.loss_plan_l1_fix_time: 0.8010, d2.loss_plan_l1_fix_dist: 0.3854, d3.loss_plan_l1_fix_time: 0.8035, d3.loss_plan_l1_fix_dist: 0.3979, d4.loss_plan_l1_fix_time: 0.8052, d4.loss_plan_l1_fix_dist: 0.2898, d5.loss_plan_l1_fix_time: 0.8077, d5.loss_plan_l1_fix_dist: 0.2535, d6.loss_plan_l1_fix_time: 0.8104, d6.loss_plan_l1_fix_dist: 0.2332, d0.loss_cls_all: 0.1430, d0.loss_bbox_all: 0.3542, d0.loss_cls: 0.1430, d0.loss_bbox: 0.3542, d1.loss_cls: 0.1361, d1.loss_bbox: 0.3209, d2.loss_cls: 0.1296, d2.loss_bbox: 0.3006, d3.loss_cls: 0.1145, d3.loss_bbox: 0.2998, d4.loss_cls: 0.1092, d4.loss_bbox: 0.2967, d5.loss_cls: 0.1073, d5.loss_bbox: 0.2950, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7457, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5853, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5334, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5162, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5086, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5039, d0.loss_map_cls_all: 0.1540, d0.loss_map_pts_all: 0.8803, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1540, d0.loss_map_pts: 0.8803, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1296, d1.loss_map_pts: 0.6478, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1118, d2.loss_map_pts: 0.5308, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1003, d3.loss_map_pts: 0.4775, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0942, d4.loss_map_pts: 0.4558, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0905, d5.loss_map_pts: 0.4467, d5.loss_map_dir: 0.0051, loss: 23.6631, grad_norm: 151.2552 +2026-02-28 18:07:48,787 - DriveTransformer - INFO - Epoch [10][36550/39528] lr: 6.944e-05, eta: 4 days, 17:00:19, time: 0.750, data_time: 0.037, memory: 19865, loss_cls: 0.1010, loss_bbox: 0.3093, loss_traj: 0.4485, loss_traj_cls: 0.0020, loss_map_cls: 0.1341, loss_map_pts: 0.5813, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.4769, d0.loss_plan_l1_fix_dist: 0.5016, d1.loss_plan_l1_fix_time: 0.8065, d1.loss_plan_l1_fix_dist: 0.3721, d2.loss_plan_l1_fix_time: 0.8044, d2.loss_plan_l1_fix_dist: 0.4530, d3.loss_plan_l1_fix_time: 0.8060, d3.loss_plan_l1_fix_dist: 0.4752, d4.loss_plan_l1_fix_time: 0.8088, d4.loss_plan_l1_fix_dist: 0.2536, d5.loss_plan_l1_fix_time: 0.8106, d5.loss_plan_l1_fix_dist: 0.2462, d6.loss_plan_l1_fix_time: 0.8133, d6.loss_plan_l1_fix_dist: 0.2722, d0.loss_cls_all: 0.1531, d0.loss_bbox_all: 0.3731, d0.loss_cls: 0.1531, d0.loss_bbox: 0.3731, d1.loss_cls: 0.1454, d1.loss_bbox: 0.3371, d2.loss_cls: 0.1289, d2.loss_bbox: 0.3199, d3.loss_cls: 0.1086, d3.loss_bbox: 0.3147, d4.loss_cls: 0.1025, d4.loss_bbox: 0.3114, d5.loss_cls: 0.1019, d5.loss_bbox: 0.3094, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6657, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5063, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4725, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4528, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4491, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4468, d0.loss_map_cls_all: 0.2283, d0.loss_map_pts_all: 1.1518, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2283, d0.loss_map_pts: 1.1518, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1919, d1.loss_map_pts: 0.8520, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1594, d2.loss_map_pts: 0.6865, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1494, d3.loss_map_pts: 0.6207, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1409, d4.loss_map_pts: 0.5951, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1362, d5.loss_map_pts: 0.5833, d5.loss_map_dir: 0.0067, loss: 24.6353, grad_norm: 146.9051 +2026-02-28 18:08:24,970 - DriveTransformer - INFO - Epoch [10][36600/39528] lr: 6.944e-05, eta: 4 days, 16:59:41, time: 0.725, data_time: 0.040, memory: 19865, loss_cls: 0.0950, loss_bbox: 0.2962, loss_traj: 0.5314, loss_traj_cls: 0.0020, loss_map_cls: 0.0939, loss_map_pts: 0.5192, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.7542, d0.loss_plan_l1_fix_dist: 0.4631, d1.loss_plan_l1_fix_time: 0.9161, d1.loss_plan_l1_fix_dist: 0.3581, d2.loss_plan_l1_fix_time: 0.9156, d2.loss_plan_l1_fix_dist: 0.4621, d3.loss_plan_l1_fix_time: 0.9042, d3.loss_plan_l1_fix_dist: 0.5030, d4.loss_plan_l1_fix_time: 0.9054, d4.loss_plan_l1_fix_dist: 0.3002, d5.loss_plan_l1_fix_time: 0.9076, d5.loss_plan_l1_fix_dist: 0.3170, d6.loss_plan_l1_fix_time: 0.9099, d6.loss_plan_l1_fix_dist: 0.2536, d0.loss_cls_all: 0.1404, d0.loss_bbox_all: 0.3646, d0.loss_cls: 0.1404, d0.loss_bbox: 0.3646, d1.loss_cls: 0.1337, d1.loss_bbox: 0.3333, d2.loss_cls: 0.1213, d2.loss_bbox: 0.3089, d3.loss_cls: 0.1010, d3.loss_bbox: 0.3021, d4.loss_cls: 0.0948, d4.loss_bbox: 0.2997, d5.loss_cls: 0.0949, d5.loss_bbox: 0.2972, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7777, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6279, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5661, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5459, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5336, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5307, d0.loss_map_cls_all: 0.1741, d0.loss_map_pts_all: 1.0180, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1741, d0.loss_map_pts: 1.0180, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1394, d1.loss_map_pts: 0.7338, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1179, d2.loss_map_pts: 0.5891, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1084, d3.loss_map_pts: 0.5392, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1011, d4.loss_map_pts: 0.5236, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0967, d5.loss_map_pts: 0.5190, d5.loss_map_dir: 0.0065, loss: 24.9962, grad_norm: 146.1879 +2026-02-28 18:09:04,004 - DriveTransformer - INFO - Epoch [10][36650/39528] lr: 6.944e-05, eta: 4 days, 16:59:13, time: 0.779, data_time: 0.036, memory: 19865, loss_cls: 0.1113, loss_bbox: 0.3164, loss_traj: 0.5069, loss_traj_cls: 0.0020, loss_map_cls: 0.1196, loss_map_pts: 0.6116, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.7195, d0.loss_plan_l1_fix_dist: 0.4750, d1.loss_plan_l1_fix_time: 0.9480, d1.loss_plan_l1_fix_dist: 0.3714, d2.loss_plan_l1_fix_time: 0.9473, d2.loss_plan_l1_fix_dist: 0.4531, d3.loss_plan_l1_fix_time: 0.9309, d3.loss_plan_l1_fix_dist: 0.5070, d4.loss_plan_l1_fix_time: 0.9311, d4.loss_plan_l1_fix_dist: 0.3446, d5.loss_plan_l1_fix_time: 0.9328, d5.loss_plan_l1_fix_dist: 0.3765, d6.loss_plan_l1_fix_time: 0.9352, d6.loss_plan_l1_fix_dist: 0.2216, d0.loss_cls_all: 0.1507, d0.loss_bbox_all: 0.3821, d0.loss_cls: 0.1507, d0.loss_bbox: 0.3821, d1.loss_cls: 0.1483, d1.loss_bbox: 0.3454, d2.loss_cls: 0.1323, d2.loss_bbox: 0.3250, d3.loss_cls: 0.1172, d3.loss_bbox: 0.3188, d4.loss_cls: 0.1124, d4.loss_bbox: 0.3172, d5.loss_cls: 0.1128, d5.loss_bbox: 0.3154, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7350, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5839, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5266, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5127, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5131, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5093, d0.loss_map_cls_all: 0.1990, d0.loss_map_pts_all: 1.2089, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1990, d0.loss_map_pts: 1.2089, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1708, d1.loss_map_pts: 0.9099, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1451, d2.loss_map_pts: 0.7186, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1345, d3.loss_map_pts: 0.6472, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1282, d4.loss_map_pts: 0.6177, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1211, d5.loss_map_pts: 0.6128, d5.loss_map_dir: 0.0074, loss: 26.5384, grad_norm: 147.1646 +2026-02-28 18:09:40,231 - DriveTransformer - INFO - Epoch [10][36700/39528] lr: 6.944e-05, eta: 4 days, 16:58:35, time: 0.725, data_time: 0.040, memory: 19865, loss_cls: 0.1027, loss_bbox: 0.2877, loss_traj: 0.4919, loss_traj_cls: 0.0021, loss_map_cls: 0.0850, loss_map_pts: 0.4411, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.5013, d0.loss_plan_l1_fix_dist: 0.4728, d1.loss_plan_l1_fix_time: 0.7713, d1.loss_plan_l1_fix_dist: 0.3312, d2.loss_plan_l1_fix_time: 0.7602, d2.loss_plan_l1_fix_dist: 0.4214, d3.loss_plan_l1_fix_time: 0.7688, d3.loss_plan_l1_fix_dist: 0.4533, d4.loss_plan_l1_fix_time: 0.7714, d4.loss_plan_l1_fix_dist: 0.3173, d5.loss_plan_l1_fix_time: 0.7735, d5.loss_plan_l1_fix_dist: 0.3412, d6.loss_plan_l1_fix_time: 0.7768, d6.loss_plan_l1_fix_dist: 0.1991, d0.loss_cls_all: 0.1509, d0.loss_bbox_all: 0.3466, d0.loss_cls: 0.1509, d0.loss_bbox: 0.3466, d1.loss_cls: 0.1420, d1.loss_bbox: 0.3147, d2.loss_cls: 0.1288, d2.loss_bbox: 0.2949, d3.loss_cls: 0.1126, d3.loss_bbox: 0.2889, d4.loss_cls: 0.1042, d4.loss_bbox: 0.2874, d5.loss_cls: 0.1034, d5.loss_bbox: 0.2864, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7150, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5630, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5190, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5021, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4971, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4940, d0.loss_map_cls_all: 0.1610, d0.loss_map_pts_all: 0.9029, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1610, d0.loss_map_pts: 0.9029, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1324, d1.loss_map_pts: 0.6527, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1088, d2.loss_map_pts: 0.5156, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0981, d3.loss_map_pts: 0.4638, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0916, d4.loss_map_pts: 0.4478, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0874, d5.loss_map_pts: 0.4421, d5.loss_map_dir: 0.0053, loss: 22.6364, grad_norm: 147.2221 +2026-02-28 18:10:17,003 - DriveTransformer - INFO - Epoch [10][36750/39528] lr: 6.944e-05, eta: 4 days, 16:58:00, time: 0.735, data_time: 0.039, memory: 19865, loss_cls: 0.0867, loss_bbox: 0.2840, loss_traj: 0.5007, loss_traj_cls: 0.0019, loss_map_cls: 0.1004, loss_map_pts: 0.4977, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.4145, d0.loss_plan_l1_fix_dist: 0.4363, d1.loss_plan_l1_fix_time: 0.8696, d1.loss_plan_l1_fix_dist: 0.2793, d2.loss_plan_l1_fix_time: 0.8550, d2.loss_plan_l1_fix_dist: 0.3770, d3.loss_plan_l1_fix_time: 0.8457, d3.loss_plan_l1_fix_dist: 0.3650, d4.loss_plan_l1_fix_time: 0.8465, d4.loss_plan_l1_fix_dist: 0.2773, d5.loss_plan_l1_fix_time: 0.8480, d5.loss_plan_l1_fix_dist: 0.2714, d6.loss_plan_l1_fix_time: 0.8499, d6.loss_plan_l1_fix_dist: 0.2230, d0.loss_cls_all: 0.1260, d0.loss_bbox_all: 0.3362, d0.loss_cls: 0.1260, d0.loss_bbox: 0.3362, d1.loss_cls: 0.1212, d1.loss_bbox: 0.3086, d2.loss_cls: 0.1115, d2.loss_bbox: 0.2897, d3.loss_cls: 0.0952, d3.loss_bbox: 0.2856, d4.loss_cls: 0.0896, d4.loss_bbox: 0.2840, d5.loss_cls: 0.0867, d5.loss_bbox: 0.2838, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7394, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5579, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5058, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4962, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5014, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5011, d0.loss_map_cls_all: 0.1726, d0.loss_map_pts_all: 1.0627, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1726, d0.loss_map_pts: 1.0627, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1466, d1.loss_map_pts: 0.7535, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1233, d2.loss_map_pts: 0.5924, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1139, d3.loss_map_pts: 0.5295, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1069, d4.loss_map_pts: 0.5069, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1030, d5.loss_map_pts: 0.4977, d5.loss_map_dir: 0.0060, loss: 23.4083, grad_norm: 146.8358 +2026-02-28 18:10:54,698 - DriveTransformer - INFO - Epoch [10][36800/39528] lr: 6.944e-05, eta: 4 days, 16:57:27, time: 0.754, data_time: 0.037, memory: 19865, loss_cls: 0.0988, loss_bbox: 0.3064, loss_traj: 0.5103, loss_traj_cls: 0.0019, loss_map_cls: 0.1074, loss_map_pts: 0.5535, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.7002, d0.loss_plan_l1_fix_dist: 0.4594, d1.loss_plan_l1_fix_time: 0.8528, d1.loss_plan_l1_fix_dist: 0.2471, d2.loss_plan_l1_fix_time: 0.8244, d2.loss_plan_l1_fix_dist: 0.3442, d3.loss_plan_l1_fix_time: 0.7933, d3.loss_plan_l1_fix_dist: 0.2728, d4.loss_plan_l1_fix_time: 0.7929, d4.loss_plan_l1_fix_dist: 0.2216, d5.loss_plan_l1_fix_time: 0.7945, d5.loss_plan_l1_fix_dist: 0.2357, d6.loss_plan_l1_fix_time: 0.7969, d6.loss_plan_l1_fix_dist: 0.2226, d0.loss_cls_all: 0.1473, d0.loss_bbox_all: 0.3704, d0.loss_cls: 0.1473, d0.loss_bbox: 0.3704, d1.loss_cls: 0.1385, d1.loss_bbox: 0.3369, d2.loss_cls: 0.1279, d2.loss_bbox: 0.3140, d3.loss_cls: 0.1072, d3.loss_bbox: 0.3091, d4.loss_cls: 0.0995, d4.loss_bbox: 0.3068, d5.loss_cls: 0.0987, d5.loss_bbox: 0.3058, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7454, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5942, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5357, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5187, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5100, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5080, d0.loss_map_cls_all: 0.1918, d0.loss_map_pts_all: 1.1185, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1918, d0.loss_map_pts: 1.1185, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1592, d1.loss_map_pts: 0.8062, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1350, d2.loss_map_pts: 0.6459, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1241, d3.loss_map_pts: 0.5851, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1169, d4.loss_map_pts: 0.5611, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1102, d5.loss_map_pts: 0.5529, d5.loss_map_dir: 0.0068, loss: 24.2063, grad_norm: 145.7805 +2026-02-28 18:11:32,468 - DriveTransformer - INFO - Epoch [10][36850/39528] lr: 6.944e-05, eta: 4 days, 16:56:55, time: 0.755, data_time: 0.041, memory: 19865, loss_cls: 0.0926, loss_bbox: 0.2959, loss_traj: 0.4614, loss_traj_cls: 0.0020, loss_map_cls: 0.0726, loss_map_pts: 0.4361, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.5036, d0.loss_plan_l1_fix_dist: 0.4838, d1.loss_plan_l1_fix_time: 0.8453, d1.loss_plan_l1_fix_dist: 0.2778, d2.loss_plan_l1_fix_time: 0.8258, d2.loss_plan_l1_fix_dist: 0.3283, d3.loss_plan_l1_fix_time: 0.8220, d3.loss_plan_l1_fix_dist: 0.2362, d4.loss_plan_l1_fix_time: 0.8228, d4.loss_plan_l1_fix_dist: 0.2190, d5.loss_plan_l1_fix_time: 0.8251, d5.loss_plan_l1_fix_dist: 0.2270, d6.loss_plan_l1_fix_time: 0.8288, d6.loss_plan_l1_fix_dist: 0.2052, d0.loss_cls_all: 0.1352, d0.loss_bbox_all: 0.3400, d0.loss_cls: 0.1352, d0.loss_bbox: 0.3400, d1.loss_cls: 0.1286, d1.loss_bbox: 0.3125, d2.loss_cls: 0.1138, d2.loss_bbox: 0.2946, d3.loss_cls: 0.1005, d3.loss_bbox: 0.2922, d4.loss_cls: 0.0922, d4.loss_bbox: 0.2912, d5.loss_cls: 0.0916, d5.loss_bbox: 0.2942, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6673, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5295, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4848, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4664, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4616, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4592, d0.loss_map_cls_all: 0.1522, d0.loss_map_pts_all: 0.9169, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1522, d0.loss_map_pts: 0.9169, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1208, d1.loss_map_pts: 0.6392, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.0986, d2.loss_map_pts: 0.5051, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.0851, d3.loss_map_pts: 0.4601, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.0793, d4.loss_map_pts: 0.4405, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0735, d5.loss_map_pts: 0.4366, d5.loss_map_dir: 0.0063, loss: 21.9766, grad_norm: 144.7878 +2026-02-28 18:12:07,823 - DriveTransformer - INFO - Epoch [10][36900/39528] lr: 6.944e-05, eta: 4 days, 16:56:14, time: 0.707, data_time: 0.037, memory: 19865, loss_cls: 0.0925, loss_bbox: 0.2943, loss_traj: 0.4916, loss_traj_cls: 0.0019, loss_map_cls: 0.1081, loss_map_pts: 0.4830, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.2261, d0.loss_plan_l1_fix_dist: 0.5228, d1.loss_plan_l1_fix_time: 0.7372, d1.loss_plan_l1_fix_dist: 0.3014, d2.loss_plan_l1_fix_time: 0.7274, d2.loss_plan_l1_fix_dist: 0.2897, d3.loss_plan_l1_fix_time: 0.7283, d3.loss_plan_l1_fix_dist: 0.2205, d4.loss_plan_l1_fix_time: 0.7296, d4.loss_plan_l1_fix_dist: 0.2096, d5.loss_plan_l1_fix_time: 0.7319, d5.loss_plan_l1_fix_dist: 0.2381, d6.loss_plan_l1_fix_time: 0.7348, d6.loss_plan_l1_fix_dist: 0.2258, d0.loss_cls_all: 0.1363, d0.loss_bbox_all: 0.3557, d0.loss_cls: 0.1363, d0.loss_bbox: 0.3557, d1.loss_cls: 0.1309, d1.loss_bbox: 0.3247, d2.loss_cls: 0.1190, d2.loss_bbox: 0.3017, d3.loss_cls: 0.1028, d3.loss_bbox: 0.2963, d4.loss_cls: 0.0936, d4.loss_bbox: 0.2955, d5.loss_cls: 0.0938, d5.loss_bbox: 0.2931, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7126, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5682, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5126, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4963, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4949, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4899, d0.loss_map_cls_all: 0.1878, d0.loss_map_pts_all: 0.9711, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1878, d0.loss_map_pts: 0.9711, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1536, d1.loss_map_pts: 0.6994, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1298, d2.loss_map_pts: 0.5562, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1223, d3.loss_map_pts: 0.4996, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1158, d4.loss_map_pts: 0.4842, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1109, d5.loss_map_pts: 0.4816, d5.loss_map_dir: 0.0057, loss: 22.1269, grad_norm: 144.5128 +2026-02-28 18:12:46,708 - DriveTransformer - INFO - Epoch [10][36950/39528] lr: 6.944e-05, eta: 4 days, 16:55:46, time: 0.778, data_time: 0.038, memory: 19865, loss_cls: 0.1085, loss_bbox: 0.3171, loss_traj: 0.4732, loss_traj_cls: 0.0018, loss_map_cls: 0.1141, loss_map_pts: 0.6267, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.7774, d0.loss_plan_l1_fix_dist: 0.4551, d1.loss_plan_l1_fix_time: 0.9717, d1.loss_plan_l1_fix_dist: 0.3503, d2.loss_plan_l1_fix_time: 0.9535, d2.loss_plan_l1_fix_dist: 0.2861, d3.loss_plan_l1_fix_time: 0.9497, d3.loss_plan_l1_fix_dist: 0.2335, d4.loss_plan_l1_fix_time: 0.9533, d4.loss_plan_l1_fix_dist: 0.2281, d5.loss_plan_l1_fix_time: 0.9558, d5.loss_plan_l1_fix_dist: 0.2570, d6.loss_plan_l1_fix_time: 0.9584, d6.loss_plan_l1_fix_dist: 0.2271, d0.loss_cls_all: 0.1532, d0.loss_bbox_all: 0.3846, d0.loss_cls: 0.1532, d0.loss_bbox: 0.3846, d1.loss_cls: 0.1489, d1.loss_bbox: 0.3479, d2.loss_cls: 0.1360, d2.loss_bbox: 0.3294, d3.loss_cls: 0.1173, d3.loss_bbox: 0.3205, d4.loss_cls: 0.1103, d4.loss_bbox: 0.3200, d5.loss_cls: 0.1079, d5.loss_bbox: 0.3188, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7251, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5610, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4958, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4848, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4793, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4744, d0.loss_map_cls_all: 0.2068, d0.loss_map_pts_all: 1.2854, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2068, d0.loss_map_pts: 1.2854, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1694, d1.loss_map_pts: 0.9097, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1431, d2.loss_map_pts: 0.7317, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1303, d3.loss_map_pts: 0.6590, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1215, d4.loss_map_pts: 0.6340, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1164, d5.loss_map_pts: 0.6255, d5.loss_map_dir: 0.0081, loss: 26.0442, grad_norm: 143.8810 +2026-02-28 18:13:25,604 - DriveTransformer - INFO - Epoch [10][37000/39528] lr: 6.944e-05, eta: 4 days, 16:55:18, time: 0.778, data_time: 0.044, memory: 19865, loss_cls: 0.0919, loss_bbox: 0.2797, loss_traj: 0.4086, loss_traj_cls: 0.0019, loss_map_cls: 0.0943, loss_map_pts: 0.4847, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.3132, d0.loss_plan_l1_fix_dist: 0.5697, d1.loss_plan_l1_fix_time: 0.7709, d1.loss_plan_l1_fix_dist: 0.3603, d2.loss_plan_l1_fix_time: 0.7382, d2.loss_plan_l1_fix_dist: 0.2760, d3.loss_plan_l1_fix_time: 0.7463, d3.loss_plan_l1_fix_dist: 0.2566, d4.loss_plan_l1_fix_time: 0.7496, d4.loss_plan_l1_fix_dist: 0.2461, d5.loss_plan_l1_fix_time: 0.7531, d5.loss_plan_l1_fix_dist: 0.2688, d6.loss_plan_l1_fix_time: 0.7573, d6.loss_plan_l1_fix_dist: 0.2586, d0.loss_cls_all: 0.1296, d0.loss_bbox_all: 0.3285, d0.loss_cls: 0.1296, d0.loss_bbox: 0.3285, d1.loss_cls: 0.1228, d1.loss_bbox: 0.3004, d2.loss_cls: 0.1105, d2.loss_bbox: 0.2833, d3.loss_cls: 0.0968, d3.loss_bbox: 0.2786, d4.loss_cls: 0.0915, d4.loss_bbox: 0.2779, d5.loss_cls: 0.0902, d5.loss_bbox: 0.2797, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5941, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4667, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4369, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4285, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4166, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4123, d0.loss_map_cls_all: 0.1753, d0.loss_map_pts_all: 1.1066, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1753, d0.loss_map_pts: 1.1066, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1378, d1.loss_map_pts: 0.7545, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1173, d2.loss_map_pts: 0.5800, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1064, d3.loss_map_pts: 0.5219, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.0999, d4.loss_map_pts: 0.4923, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0952, d5.loss_map_pts: 0.4859, d5.loss_map_dir: 0.0067, loss: 22.0435, grad_norm: 143.4846 +2026-02-28 18:14:03,779 - DriveTransformer - INFO - Epoch [10][37050/39528] lr: 6.944e-05, eta: 4 days, 16:54:47, time: 0.764, data_time: 0.038, memory: 19865, loss_cls: 0.1108, loss_bbox: 0.3197, loss_traj: 0.4129, loss_traj_cls: 0.0018, loss_map_cls: 0.1401, loss_map_pts: 0.6838, loss_map_dir: 0.0088, d0.loss_plan_l1_fix_time: 2.9169, d0.loss_plan_l1_fix_dist: 0.4639, d1.loss_plan_l1_fix_time: 0.8649, d1.loss_plan_l1_fix_dist: 0.3450, d2.loss_plan_l1_fix_time: 0.8457, d2.loss_plan_l1_fix_dist: 0.2706, d3.loss_plan_l1_fix_time: 0.8450, d3.loss_plan_l1_fix_dist: 0.2303, d4.loss_plan_l1_fix_time: 0.8473, d4.loss_plan_l1_fix_dist: 0.2233, d5.loss_plan_l1_fix_time: 0.8499, d5.loss_plan_l1_fix_dist: 0.2317, d6.loss_plan_l1_fix_time: 0.8532, d6.loss_plan_l1_fix_dist: 0.2392, d0.loss_cls_all: 0.1643, d0.loss_bbox_all: 0.3807, d0.loss_cls: 0.1643, d0.loss_bbox: 0.3807, d1.loss_cls: 0.1571, d1.loss_bbox: 0.3461, d2.loss_cls: 0.1401, d2.loss_bbox: 0.3245, d3.loss_cls: 0.1222, d3.loss_bbox: 0.3187, d4.loss_cls: 0.1140, d4.loss_bbox: 0.3189, d5.loss_cls: 0.1117, d5.loss_bbox: 0.3189, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6193, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.4901, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4418, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4215, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4149, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4112, d0.loss_map_cls_all: 0.2268, d0.loss_map_pts_all: 1.3308, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2268, d0.loss_map_pts: 1.3308, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2004, d1.loss_map_pts: 0.9730, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1710, d2.loss_map_pts: 0.7884, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1579, d3.loss_map_pts: 0.7129, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1501, d4.loss_map_pts: 0.6876, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1434, d5.loss_map_pts: 0.6835, d5.loss_map_dir: 0.0087, loss: 25.7129, grad_norm: 144.5670 +2026-02-28 18:14:40,952 - DriveTransformer - INFO - Epoch [10][37100/39528] lr: 6.944e-05, eta: 4 days, 16:54:12, time: 0.743, data_time: 0.038, memory: 19865, loss_cls: 0.0928, loss_bbox: 0.2808, loss_traj: 0.4265, loss_traj_cls: 0.0019, loss_map_cls: 0.0999, loss_map_pts: 0.5093, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.5618, d0.loss_plan_l1_fix_dist: 0.4808, d1.loss_plan_l1_fix_time: 0.7849, d1.loss_plan_l1_fix_dist: 0.3174, d2.loss_plan_l1_fix_time: 0.7772, d2.loss_plan_l1_fix_dist: 0.2747, d3.loss_plan_l1_fix_time: 0.7634, d3.loss_plan_l1_fix_dist: 0.2206, d4.loss_plan_l1_fix_time: 0.7644, d4.loss_plan_l1_fix_dist: 0.2071, d5.loss_plan_l1_fix_time: 0.7663, d5.loss_plan_l1_fix_dist: 0.1987, d6.loss_plan_l1_fix_time: 0.7692, d6.loss_plan_l1_fix_dist: 0.2226, d0.loss_cls_all: 0.1326, d0.loss_bbox_all: 0.3359, d0.loss_cls: 0.1326, d0.loss_bbox: 0.3359, d1.loss_cls: 0.1314, d1.loss_bbox: 0.3057, d2.loss_cls: 0.1184, d2.loss_bbox: 0.2843, d3.loss_cls: 0.1007, d3.loss_bbox: 0.2804, d4.loss_cls: 0.0934, d4.loss_bbox: 0.2796, d5.loss_cls: 0.0917, d5.loss_bbox: 0.2807, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6563, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5140, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4550, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4404, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4335, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4265, d0.loss_map_cls_all: 0.1714, d0.loss_map_pts_all: 1.0571, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1714, d0.loss_map_pts: 1.0571, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1419, d1.loss_map_pts: 0.7457, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1202, d2.loss_map_pts: 0.5926, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1116, d3.loss_map_pts: 0.5348, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1051, d4.loss_map_pts: 0.5141, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1009, d5.loss_map_pts: 0.5104, d5.loss_map_dir: 0.0069, loss: 22.3431, grad_norm: 144.0648 +2026-02-28 18:15:15,970 - DriveTransformer - INFO - Epoch [10][37150/39528] lr: 6.944e-05, eta: 4 days, 16:53:30, time: 0.700, data_time: 0.044, memory: 19865, loss_cls: 0.1196, loss_bbox: 0.3111, loss_traj: 0.5893, loss_traj_cls: 0.0018, loss_map_cls: 0.1415, loss_map_pts: 0.5871, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.7158, d0.loss_plan_l1_fix_dist: 0.4343, d1.loss_plan_l1_fix_time: 0.9300, d1.loss_plan_l1_fix_dist: 0.3143, d2.loss_plan_l1_fix_time: 0.9105, d2.loss_plan_l1_fix_dist: 0.3211, d3.loss_plan_l1_fix_time: 0.9051, d3.loss_plan_l1_fix_dist: 0.2276, d4.loss_plan_l1_fix_time: 0.9055, d4.loss_plan_l1_fix_dist: 0.2016, d5.loss_plan_l1_fix_time: 0.9071, d5.loss_plan_l1_fix_dist: 0.1984, d6.loss_plan_l1_fix_time: 0.9092, d6.loss_plan_l1_fix_dist: 0.2132, d0.loss_cls_all: 0.1619, d0.loss_bbox_all: 0.3708, d0.loss_cls: 0.1619, d0.loss_bbox: 0.3708, d1.loss_cls: 0.1559, d1.loss_bbox: 0.3392, d2.loss_cls: 0.1436, d2.loss_bbox: 0.3197, d3.loss_cls: 0.1238, d3.loss_bbox: 0.3159, d4.loss_cls: 0.1188, d4.loss_bbox: 0.3122, d5.loss_cls: 0.1187, d5.loss_bbox: 0.3115, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8619, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6884, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6236, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5940, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5904, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5892, d0.loss_map_cls_all: 0.2395, d0.loss_map_pts_all: 1.1314, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.2395, d0.loss_map_pts: 1.1314, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.2039, d1.loss_map_pts: 0.8433, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1743, d2.loss_map_pts: 0.6846, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1595, d3.loss_map_pts: 0.6177, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1510, d4.loss_map_pts: 0.5933, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.1441, d5.loss_map_pts: 0.5870, d5.loss_map_dir: 0.0054, loss: 26.0639, grad_norm: 138.6908 +2026-02-28 18:15:52,953 - DriveTransformer - INFO - Epoch [10][37200/39528] lr: 6.944e-05, eta: 4 days, 16:52:55, time: 0.740, data_time: 0.039, memory: 19865, loss_cls: 0.1057, loss_bbox: 0.3101, loss_traj: 0.5296, loss_traj_cls: 0.0019, loss_map_cls: 0.1182, loss_map_pts: 0.5125, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.6448, d0.loss_plan_l1_fix_dist: 0.4877, d1.loss_plan_l1_fix_time: 0.7503, d1.loss_plan_l1_fix_dist: 0.3144, d2.loss_plan_l1_fix_time: 0.7436, d2.loss_plan_l1_fix_dist: 0.3447, d3.loss_plan_l1_fix_time: 0.7373, d3.loss_plan_l1_fix_dist: 0.2425, d4.loss_plan_l1_fix_time: 0.7402, d4.loss_plan_l1_fix_dist: 0.2113, d5.loss_plan_l1_fix_time: 0.7429, d5.loss_plan_l1_fix_dist: 0.2354, d6.loss_plan_l1_fix_time: 0.7457, d6.loss_plan_l1_fix_dist: 0.2150, d0.loss_cls_all: 0.1545, d0.loss_bbox_all: 0.3658, d0.loss_cls: 0.1545, d0.loss_bbox: 0.3658, d1.loss_cls: 0.1490, d1.loss_bbox: 0.3356, d2.loss_cls: 0.1339, d2.loss_bbox: 0.3181, d3.loss_cls: 0.1133, d3.loss_bbox: 0.3142, d4.loss_cls: 0.1069, d4.loss_bbox: 0.3114, d5.loss_cls: 0.1053, d5.loss_bbox: 0.3110, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7940, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6172, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5645, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5474, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5402, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5351, d0.loss_map_cls_all: 0.2007, d0.loss_map_pts_all: 1.1009, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2007, d0.loss_map_pts: 1.1009, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1722, d1.loss_map_pts: 0.7793, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1446, d2.loss_map_pts: 0.6056, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1325, d3.loss_map_pts: 0.5384, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1261, d4.loss_map_pts: 0.5174, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1199, d5.loss_map_pts: 0.5132, d5.loss_map_dir: 0.0061, loss: 23.8774, grad_norm: 133.6987 +2026-02-28 18:16:28,699 - DriveTransformer - INFO - Epoch [10][37250/39528] lr: 6.944e-05, eta: 4 days, 16:52:16, time: 0.715, data_time: 0.038, memory: 19865, loss_cls: 0.0951, loss_bbox: 0.2957, loss_traj: 0.4986, loss_traj_cls: 0.0019, loss_map_cls: 0.1048, loss_map_pts: 0.5205, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.3411, d0.loss_plan_l1_fix_dist: 0.4644, d1.loss_plan_l1_fix_time: 0.7514, d1.loss_plan_l1_fix_dist: 0.2874, d2.loss_plan_l1_fix_time: 0.7406, d2.loss_plan_l1_fix_dist: 0.3408, d3.loss_plan_l1_fix_time: 0.7339, d3.loss_plan_l1_fix_dist: 0.2231, d4.loss_plan_l1_fix_time: 0.7363, d4.loss_plan_l1_fix_dist: 0.1912, d5.loss_plan_l1_fix_time: 0.7389, d5.loss_plan_l1_fix_dist: 0.2459, d6.loss_plan_l1_fix_time: 0.7417, d6.loss_plan_l1_fix_dist: 0.2018, d0.loss_cls_all: 0.1428, d0.loss_bbox_all: 0.3428, d0.loss_cls: 0.1428, d0.loss_bbox: 0.3428, d1.loss_cls: 0.1380, d1.loss_bbox: 0.3115, d2.loss_cls: 0.1218, d2.loss_bbox: 0.2997, d3.loss_cls: 0.1033, d3.loss_bbox: 0.2968, d4.loss_cls: 0.0977, d4.loss_bbox: 0.2956, d5.loss_cls: 0.0964, d5.loss_bbox: 0.2938, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7125, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5795, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5301, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5087, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5045, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5012, d0.loss_map_cls_all: 0.1793, d0.loss_map_pts_all: 1.0605, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1793, d0.loss_map_pts: 1.0605, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1556, d1.loss_map_pts: 0.7555, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1330, d2.loss_map_pts: 0.6040, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1210, d3.loss_map_pts: 0.5472, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1140, d4.loss_map_pts: 0.5252, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1085, d5.loss_map_pts: 0.5199, d5.loss_map_dir: 0.0061, loss: 22.7339, grad_norm: 134.9572 +2026-02-28 18:17:04,367 - DriveTransformer - INFO - Epoch [10][37300/39528] lr: 6.944e-05, eta: 4 days, 16:51:36, time: 0.713, data_time: 0.039, memory: 19865, loss_cls: 0.1037, loss_bbox: 0.3025, loss_traj: 0.5654, loss_traj_cls: 0.0019, loss_map_cls: 0.1059, loss_map_pts: 0.4987, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.6205, d0.loss_plan_l1_fix_dist: 0.4966, d1.loss_plan_l1_fix_time: 0.8800, d1.loss_plan_l1_fix_dist: 0.3007, d2.loss_plan_l1_fix_time: 0.8636, d2.loss_plan_l1_fix_dist: 0.3387, d3.loss_plan_l1_fix_time: 0.8712, d3.loss_plan_l1_fix_dist: 0.2179, d4.loss_plan_l1_fix_time: 0.8737, d4.loss_plan_l1_fix_dist: 0.1948, d5.loss_plan_l1_fix_time: 0.8759, d5.loss_plan_l1_fix_dist: 0.2422, d6.loss_plan_l1_fix_time: 0.8785, d6.loss_plan_l1_fix_dist: 0.1956, d0.loss_cls_all: 0.1476, d0.loss_bbox_all: 0.3590, d0.loss_cls: 0.1476, d0.loss_bbox: 0.3590, d1.loss_cls: 0.1420, d1.loss_bbox: 0.3254, d2.loss_cls: 0.1290, d2.loss_bbox: 0.3081, d3.loss_cls: 0.1087, d3.loss_bbox: 0.3046, d4.loss_cls: 0.1040, d4.loss_bbox: 0.3025, d5.loss_cls: 0.1044, d5.loss_bbox: 0.3018, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7941, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6285, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5873, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5710, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5700, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5667, d0.loss_map_cls_all: 0.1956, d0.loss_map_pts_all: 1.0577, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1956, d0.loss_map_pts: 1.0577, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1600, d1.loss_map_pts: 0.7481, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1330, d2.loss_map_pts: 0.5879, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1213, d3.loss_map_pts: 0.5218, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1135, d4.loss_map_pts: 0.5064, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1079, d5.loss_map_pts: 0.4988, d5.loss_map_dir: 0.0056, loss: 24.3443, grad_norm: 130.4540 +2026-02-28 18:17:41,074 - DriveTransformer - INFO - Epoch [10][37350/39528] lr: 6.944e-05, eta: 4 days, 16:51:00, time: 0.734, data_time: 0.038, memory: 19865, loss_cls: 0.0915, loss_bbox: 0.3015, loss_traj: 0.4702, loss_traj_cls: 0.0019, loss_map_cls: 0.0918, loss_map_pts: 0.4488, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.4212, d0.loss_plan_l1_fix_dist: 0.5056, d1.loss_plan_l1_fix_time: 0.7721, d1.loss_plan_l1_fix_dist: 0.2970, d2.loss_plan_l1_fix_time: 0.7528, d2.loss_plan_l1_fix_dist: 0.3090, d3.loss_plan_l1_fix_time: 0.7512, d3.loss_plan_l1_fix_dist: 0.2072, d4.loss_plan_l1_fix_time: 0.7538, d4.loss_plan_l1_fix_dist: 0.2205, d5.loss_plan_l1_fix_time: 0.7573, d5.loss_plan_l1_fix_dist: 0.2583, d6.loss_plan_l1_fix_time: 0.7615, d6.loss_plan_l1_fix_dist: 0.2368, d0.loss_cls_all: 0.1297, d0.loss_bbox_all: 0.3461, d0.loss_cls: 0.1297, d0.loss_bbox: 0.3461, d1.loss_cls: 0.1223, d1.loss_bbox: 0.3180, d2.loss_cls: 0.1139, d2.loss_bbox: 0.3010, d3.loss_cls: 0.0984, d3.loss_bbox: 0.2971, d4.loss_cls: 0.0930, d4.loss_bbox: 0.2976, d5.loss_cls: 0.0916, d5.loss_bbox: 0.2984, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6823, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5125, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4882, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4758, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4707, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4731, d0.loss_map_cls_all: 0.1658, d0.loss_map_pts_all: 0.9556, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1658, d0.loss_map_pts: 0.9556, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1346, d1.loss_map_pts: 0.6689, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1145, d2.loss_map_pts: 0.5207, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1059, d3.loss_map_pts: 0.4675, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0986, d4.loss_map_pts: 0.4523, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0940, d5.loss_map_pts: 0.4493, d5.loss_map_dir: 0.0053, loss: 21.8923, grad_norm: 126.5983 +2026-02-28 18:18:17,560 - DriveTransformer - INFO - Epoch [10][37400/39528] lr: 6.944e-05, eta: 4 days, 16:50:23, time: 0.731, data_time: 0.038, memory: 19865, loss_cls: 0.1086, loss_bbox: 0.3240, loss_traj: 0.4477, loss_traj_cls: 0.0019, loss_map_cls: 0.1011, loss_map_pts: 0.5145, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.1877, d0.loss_plan_l1_fix_dist: 0.4542, d1.loss_plan_l1_fix_time: 0.7414, d1.loss_plan_l1_fix_dist: 0.3033, d2.loss_plan_l1_fix_time: 0.7283, d2.loss_plan_l1_fix_dist: 0.2564, d3.loss_plan_l1_fix_time: 0.7256, d3.loss_plan_l1_fix_dist: 0.1821, d4.loss_plan_l1_fix_time: 0.7266, d4.loss_plan_l1_fix_dist: 0.1885, d5.loss_plan_l1_fix_time: 0.7291, d5.loss_plan_l1_fix_dist: 0.2203, d6.loss_plan_l1_fix_time: 0.7321, d6.loss_plan_l1_fix_dist: 0.2427, d0.loss_cls_all: 0.1458, d0.loss_bbox_all: 0.3643, d0.loss_cls: 0.1458, d0.loss_bbox: 0.3643, d1.loss_cls: 0.1415, d1.loss_bbox: 0.3338, d2.loss_cls: 0.1340, d2.loss_bbox: 0.3137, d3.loss_cls: 0.1177, d3.loss_bbox: 0.3131, d4.loss_cls: 0.1110, d4.loss_bbox: 0.3172, d5.loss_cls: 0.1093, d5.loss_bbox: 0.3196, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6618, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5089, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4732, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4503, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4466, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4461, d0.loss_map_cls_all: 0.1798, d0.loss_map_pts_all: 1.0097, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1798, d0.loss_map_pts: 1.0097, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1481, d1.loss_map_pts: 0.7427, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1259, d2.loss_map_pts: 0.5975, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1152, d3.loss_map_pts: 0.5457, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1079, d4.loss_map_pts: 0.5255, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1043, d5.loss_map_pts: 0.5159, d5.loss_map_dir: 0.0059, loss: 22.0938, grad_norm: 125.9435 +2026-02-28 18:18:55,056 - DriveTransformer - INFO - Epoch [10][37450/39528] lr: 6.944e-05, eta: 4 days, 16:49:50, time: 0.749, data_time: 0.037, memory: 19865, loss_cls: 0.0942, loss_bbox: 0.3088, loss_traj: 0.5180, loss_traj_cls: 0.0019, loss_map_cls: 0.0961, loss_map_pts: 0.4877, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.9100, d0.loss_plan_l1_fix_dist: 0.4601, d1.loss_plan_l1_fix_time: 0.9880, d1.loss_plan_l1_fix_dist: 0.3249, d2.loss_plan_l1_fix_time: 0.9971, d2.loss_plan_l1_fix_dist: 0.2621, d3.loss_plan_l1_fix_time: 0.9850, d3.loss_plan_l1_fix_dist: 0.2343, d4.loss_plan_l1_fix_time: 0.9872, d4.loss_plan_l1_fix_dist: 0.2208, d5.loss_plan_l1_fix_time: 0.9903, d5.loss_plan_l1_fix_dist: 0.2243, d6.loss_plan_l1_fix_time: 0.9941, d6.loss_plan_l1_fix_dist: 0.2753, d0.loss_cls_all: 0.1417, d0.loss_bbox_all: 0.3546, d0.loss_cls: 0.1417, d0.loss_bbox: 0.3546, d1.loss_cls: 0.1346, d1.loss_bbox: 0.3257, d2.loss_cls: 0.1189, d2.loss_bbox: 0.3093, d3.loss_cls: 0.1003, d3.loss_bbox: 0.3065, d4.loss_cls: 0.0957, d4.loss_bbox: 0.3066, d5.loss_cls: 0.0939, d5.loss_bbox: 0.3077, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7571, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5945, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5475, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5330, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5219, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5188, d0.loss_map_cls_all: 0.1720, d0.loss_map_pts_all: 1.0461, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1720, d0.loss_map_pts: 1.0461, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1414, d1.loss_map_pts: 0.7303, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1196, d2.loss_map_pts: 0.5667, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1109, d3.loss_map_pts: 0.5131, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1034, d4.loss_map_pts: 0.4931, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0985, d5.loss_map_pts: 0.4887, d5.loss_map_dir: 0.0065, loss: 24.7826, grad_norm: 127.6659 +2026-02-28 18:19:31,675 - DriveTransformer - INFO - Epoch [10][37500/39528] lr: 6.944e-05, eta: 4 days, 16:49:14, time: 0.732, data_time: 0.040, memory: 19865, loss_cls: 0.0960, loss_bbox: 0.2891, loss_traj: 0.4901, loss_traj_cls: 0.0018, loss_map_cls: 0.1067, loss_map_pts: 0.5489, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.2479, d0.loss_plan_l1_fix_dist: 0.4632, d1.loss_plan_l1_fix_time: 0.8596, d1.loss_plan_l1_fix_dist: 0.3434, d2.loss_plan_l1_fix_time: 0.8632, d2.loss_plan_l1_fix_dist: 0.3107, d3.loss_plan_l1_fix_time: 0.8532, d3.loss_plan_l1_fix_dist: 0.2604, d4.loss_plan_l1_fix_time: 0.8555, d4.loss_plan_l1_fix_dist: 0.2365, d5.loss_plan_l1_fix_time: 0.8590, d5.loss_plan_l1_fix_dist: 0.2246, d6.loss_plan_l1_fix_time: 0.8636, d6.loss_plan_l1_fix_dist: 0.2383, d0.loss_cls_all: 0.1424, d0.loss_bbox_all: 0.3493, d0.loss_cls: 0.1424, d0.loss_bbox: 0.3493, d1.loss_cls: 0.1366, d1.loss_bbox: 0.3182, d2.loss_cls: 0.1288, d2.loss_bbox: 0.2967, d3.loss_cls: 0.1037, d3.loss_bbox: 0.2927, d4.loss_cls: 0.0981, d4.loss_bbox: 0.2897, d5.loss_cls: 0.0960, d5.loss_bbox: 0.2883, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7791, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5680, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5294, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5061, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4941, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4972, d0.loss_map_cls_all: 0.1932, d0.loss_map_pts_all: 1.0758, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1932, d0.loss_map_pts: 1.0758, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1609, d1.loss_map_pts: 0.7914, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1362, d2.loss_map_pts: 0.6329, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1221, d3.loss_map_pts: 0.5757, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1157, d4.loss_map_pts: 0.5550, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1092, d5.loss_map_pts: 0.5483, d5.loss_map_dir: 0.0059, loss: 23.7561, grad_norm: 127.3465 +2026-02-28 18:20:05,941 - DriveTransformer - INFO - Epoch [10][37550/39528] lr: 6.944e-05, eta: 4 days, 16:48:29, time: 0.685, data_time: 0.039, memory: 19865, loss_cls: 0.0934, loss_bbox: 0.2869, loss_traj: 0.5190, loss_traj_cls: 0.0019, loss_map_cls: 0.1007, loss_map_pts: 0.4103, loss_map_dir: 0.0045, d0.loss_plan_l1_fix_time: 2.7618, d0.loss_plan_l1_fix_dist: 0.3951, d1.loss_plan_l1_fix_time: 0.8359, d1.loss_plan_l1_fix_dist: 0.3442, d2.loss_plan_l1_fix_time: 0.8233, d2.loss_plan_l1_fix_dist: 0.3597, d3.loss_plan_l1_fix_time: 0.8264, d3.loss_plan_l1_fix_dist: 0.2961, d4.loss_plan_l1_fix_time: 0.8293, d4.loss_plan_l1_fix_dist: 0.2609, d5.loss_plan_l1_fix_time: 0.8322, d5.loss_plan_l1_fix_dist: 0.2603, d6.loss_plan_l1_fix_time: 0.8356, d6.loss_plan_l1_fix_dist: 0.2440, d0.loss_cls_all: 0.1390, d0.loss_bbox_all: 0.3408, d0.loss_cls: 0.1390, d0.loss_bbox: 0.3408, d1.loss_cls: 0.1350, d1.loss_bbox: 0.3095, d2.loss_cls: 0.1201, d2.loss_bbox: 0.2901, d3.loss_cls: 0.1017, d3.loss_bbox: 0.2886, d4.loss_cls: 0.0946, d4.loss_bbox: 0.2870, d5.loss_cls: 0.0933, d5.loss_bbox: 0.2861, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8311, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6411, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5619, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5358, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5234, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5227, d0.loss_map_cls_all: 0.1732, d0.loss_map_pts_all: 0.8481, d0.loss_map_dir_all: 0.0047, d0.loss_map_cls: 0.1732, d0.loss_map_pts: 0.8481, d0.loss_map_dir: 0.0047, d1.loss_map_cls: 0.1428, d1.loss_map_pts: 0.6113, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.1216, d2.loss_map_pts: 0.4880, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.1097, d3.loss_map_pts: 0.4354, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.1047, d4.loss_map_pts: 0.4164, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.1022, d5.loss_map_pts: 0.4105, d5.loss_map_dir: 0.0045, loss: 22.9249, grad_norm: 126.9038 +2026-02-28 18:20:42,256 - DriveTransformer - INFO - Epoch [10][37600/39528] lr: 6.944e-05, eta: 4 days, 16:47:51, time: 0.726, data_time: 0.039, memory: 19865, loss_cls: 0.1104, loss_bbox: 0.3297, loss_traj: 0.4780, loss_traj_cls: 0.0019, loss_map_cls: 0.1457, loss_map_pts: 0.6201, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.8982, d0.loss_plan_l1_fix_dist: 0.4313, d1.loss_plan_l1_fix_time: 0.8752, d1.loss_plan_l1_fix_dist: 0.3430, d2.loss_plan_l1_fix_time: 0.8589, d2.loss_plan_l1_fix_dist: 0.3841, d3.loss_plan_l1_fix_time: 0.8618, d3.loss_plan_l1_fix_dist: 0.3211, d4.loss_plan_l1_fix_time: 0.8644, d4.loss_plan_l1_fix_dist: 0.2742, d5.loss_plan_l1_fix_time: 0.8664, d5.loss_plan_l1_fix_dist: 0.2703, d6.loss_plan_l1_fix_time: 0.8686, d6.loss_plan_l1_fix_dist: 0.2306, d0.loss_cls_all: 0.1618, d0.loss_bbox_all: 0.3966, d0.loss_cls: 0.1618, d0.loss_bbox: 0.3966, d1.loss_cls: 0.1574, d1.loss_bbox: 0.3544, d2.loss_cls: 0.1428, d2.loss_bbox: 0.3306, d3.loss_cls: 0.1208, d3.loss_bbox: 0.3281, d4.loss_cls: 0.1112, d4.loss_bbox: 0.3276, d5.loss_cls: 0.1098, d5.loss_bbox: 0.3278, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7142, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5365, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5010, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4890, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4812, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4808, d0.loss_map_cls_all: 0.2186, d0.loss_map_pts_all: 1.2725, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2186, d0.loss_map_pts: 1.2725, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1906, d1.loss_map_pts: 0.8953, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1687, d2.loss_map_pts: 0.7175, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1600, d3.loss_map_pts: 0.6505, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1535, d4.loss_map_pts: 0.6266, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1485, d5.loss_map_pts: 0.6201, d5.loss_map_dir: 0.0073, loss: 26.0395, grad_norm: 123.7951 +2026-02-28 18:21:17,447 - DriveTransformer - INFO - Epoch [10][37650/39528] lr: 6.944e-05, eta: 4 days, 16:47:10, time: 0.704, data_time: 0.038, memory: 19865, loss_cls: 0.0996, loss_bbox: 0.3034, loss_traj: 0.5330, loss_traj_cls: 0.0019, loss_map_cls: 0.1012, loss_map_pts: 0.4991, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.7180, d0.loss_plan_l1_fix_dist: 0.5061, d1.loss_plan_l1_fix_time: 0.8206, d1.loss_plan_l1_fix_dist: 0.3171, d2.loss_plan_l1_fix_time: 0.8000, d2.loss_plan_l1_fix_dist: 0.3985, d3.loss_plan_l1_fix_time: 0.8041, d3.loss_plan_l1_fix_dist: 0.3241, d4.loss_plan_l1_fix_time: 0.8081, d4.loss_plan_l1_fix_dist: 0.2827, d5.loss_plan_l1_fix_time: 0.8124, d5.loss_plan_l1_fix_dist: 0.2848, d6.loss_plan_l1_fix_time: 0.8155, d6.loss_plan_l1_fix_dist: 0.2455, d0.loss_cls_all: 0.1443, d0.loss_bbox_all: 0.3518, d0.loss_cls: 0.1443, d0.loss_bbox: 0.3518, d1.loss_cls: 0.1348, d1.loss_bbox: 0.3223, d2.loss_cls: 0.1224, d2.loss_bbox: 0.3042, d3.loss_cls: 0.1062, d3.loss_bbox: 0.3008, d4.loss_cls: 0.1032, d4.loss_bbox: 0.2999, d5.loss_cls: 0.0995, d5.loss_bbox: 0.3015, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7456, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5951, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5536, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5365, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5354, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5326, d0.loss_map_cls_all: 0.1832, d0.loss_map_pts_all: 1.0090, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1832, d0.loss_map_pts: 1.0090, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1507, d1.loss_map_pts: 0.7344, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1265, d2.loss_map_pts: 0.5863, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1153, d3.loss_map_pts: 0.5285, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1081, d4.loss_map_pts: 0.5052, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1032, d5.loss_map_pts: 0.4990, d5.loss_map_dir: 0.0055, loss: 23.9514, grad_norm: 122.6759 +2026-02-28 18:21:52,396 - DriveTransformer - INFO - Epoch [10][37700/39528] lr: 6.944e-05, eta: 4 days, 16:46:28, time: 0.699, data_time: 0.037, memory: 19865, loss_cls: 0.0999, loss_bbox: 0.3071, loss_traj: 0.5277, loss_traj_cls: 0.0018, loss_map_cls: 0.1210, loss_map_pts: 0.5381, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.5465, d0.loss_plan_l1_fix_dist: 0.3519, d1.loss_plan_l1_fix_time: 0.7472, d1.loss_plan_l1_fix_dist: 0.2555, d2.loss_plan_l1_fix_time: 0.7330, d2.loss_plan_l1_fix_dist: 0.3398, d3.loss_plan_l1_fix_time: 0.7338, d3.loss_plan_l1_fix_dist: 0.2517, d4.loss_plan_l1_fix_time: 0.7371, d4.loss_plan_l1_fix_dist: 0.2238, d5.loss_plan_l1_fix_time: 0.7407, d5.loss_plan_l1_fix_dist: 0.2178, d6.loss_plan_l1_fix_time: 0.7445, d6.loss_plan_l1_fix_dist: 0.2033, d0.loss_cls_all: 0.1398, d0.loss_bbox_all: 0.3660, d0.loss_cls: 0.1398, d0.loss_bbox: 0.3660, d1.loss_cls: 0.1351, d1.loss_bbox: 0.3342, d2.loss_cls: 0.1225, d2.loss_bbox: 0.3133, d3.loss_cls: 0.1064, d3.loss_bbox: 0.3092, d4.loss_cls: 0.1012, d4.loss_bbox: 0.3072, d5.loss_cls: 0.1003, d5.loss_bbox: 0.3064, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7262, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5986, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5549, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5338, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5305, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5274, d0.loss_map_cls_all: 0.2057, d0.loss_map_pts_all: 1.0522, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.2057, d0.loss_map_pts: 1.0522, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1732, d1.loss_map_pts: 0.7722, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1479, d2.loss_map_pts: 0.6202, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1355, d3.loss_map_pts: 0.5658, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1284, d4.loss_map_pts: 0.5446, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1238, d5.loss_map_pts: 0.5375, d5.loss_map_dir: 0.0060, loss: 23.3577, grad_norm: 121.0159 +2026-02-28 18:22:29,018 - DriveTransformer - INFO - Epoch [10][37750/39528] lr: 6.944e-05, eta: 4 days, 16:45:51, time: 0.732, data_time: 0.038, memory: 19865, loss_cls: 0.0930, loss_bbox: 0.2899, loss_traj: 0.5711, loss_traj_cls: 0.0018, loss_map_cls: 0.1009, loss_map_pts: 0.4819, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.5401, d0.loss_plan_l1_fix_dist: 0.3816, d1.loss_plan_l1_fix_time: 0.8333, d1.loss_plan_l1_fix_dist: 0.2134, d2.loss_plan_l1_fix_time: 0.8183, d2.loss_plan_l1_fix_dist: 0.3082, d3.loss_plan_l1_fix_time: 0.8101, d3.loss_plan_l1_fix_dist: 0.2119, d4.loss_plan_l1_fix_time: 0.8120, d4.loss_plan_l1_fix_dist: 0.2276, d5.loss_plan_l1_fix_time: 0.8161, d5.loss_plan_l1_fix_dist: 0.2189, d6.loss_plan_l1_fix_time: 0.8211, d6.loss_plan_l1_fix_dist: 0.2344, d0.loss_cls_all: 0.1357, d0.loss_bbox_all: 0.3463, d0.loss_cls: 0.1357, d0.loss_bbox: 0.3463, d1.loss_cls: 0.1295, d1.loss_bbox: 0.3141, d2.loss_cls: 0.1173, d2.loss_bbox: 0.2977, d3.loss_cls: 0.1017, d3.loss_bbox: 0.2925, d4.loss_cls: 0.0948, d4.loss_bbox: 0.2907, d5.loss_cls: 0.0937, d5.loss_bbox: 0.2895, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8065, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6518, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5947, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5820, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5784, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5758, d0.loss_map_cls_all: 0.1865, d0.loss_map_pts_all: 0.9931, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1865, d0.loss_map_pts: 0.9931, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1516, d1.loss_map_pts: 0.7175, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1259, d2.loss_map_pts: 0.5690, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1138, d3.loss_map_pts: 0.5135, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1078, d4.loss_map_pts: 0.4918, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1025, d5.loss_map_pts: 0.4824, d5.loss_map_dir: 0.0062, loss: 23.3497, grad_norm: 119.6905 +2026-02-28 18:23:06,337 - DriveTransformer - INFO - Epoch [10][37800/39528] lr: 6.944e-05, eta: 4 days, 16:45:17, time: 0.746, data_time: 0.038, memory: 19865, loss_cls: 0.0920, loss_bbox: 0.2925, loss_traj: 0.5043, loss_traj_cls: 0.0018, loss_map_cls: 0.1005, loss_map_pts: 0.5436, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.7538, d0.loss_plan_l1_fix_dist: 0.3932, d1.loss_plan_l1_fix_time: 0.8237, d1.loss_plan_l1_fix_dist: 0.1832, d2.loss_plan_l1_fix_time: 0.8116, d2.loss_plan_l1_fix_dist: 0.2857, d3.loss_plan_l1_fix_time: 0.8072, d3.loss_plan_l1_fix_dist: 0.1765, d4.loss_plan_l1_fix_time: 0.8090, d4.loss_plan_l1_fix_dist: 0.2543, d5.loss_plan_l1_fix_time: 0.8122, d5.loss_plan_l1_fix_dist: 0.1829, d6.loss_plan_l1_fix_time: 0.8158, d6.loss_plan_l1_fix_dist: 0.2063, d0.loss_cls_all: 0.1348, d0.loss_bbox_all: 0.3471, d0.loss_cls: 0.1348, d0.loss_bbox: 0.3471, d1.loss_cls: 0.1283, d1.loss_bbox: 0.3192, d2.loss_cls: 0.1166, d2.loss_bbox: 0.2998, d3.loss_cls: 0.0985, d3.loss_bbox: 0.2963, d4.loss_cls: 0.0930, d4.loss_bbox: 0.2945, d5.loss_cls: 0.0917, d5.loss_bbox: 0.2923, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7379, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5769, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5249, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5107, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5094, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5057, d0.loss_map_cls_all: 0.1827, d0.loss_map_pts_all: 1.1445, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1827, d0.loss_map_pts: 1.1445, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1474, d1.loss_map_pts: 0.8128, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1257, d2.loss_map_pts: 0.6423, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1133, d3.loss_map_pts: 0.5772, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1059, d4.loss_map_pts: 0.5509, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1018, d5.loss_map_pts: 0.5453, d5.loss_map_dir: 0.0074, loss: 23.6503, grad_norm: 118.2886 +2026-02-28 18:23:43,223 - DriveTransformer - INFO - Epoch [10][37850/39528] lr: 6.944e-05, eta: 4 days, 16:44:42, time: 0.738, data_time: 0.039, memory: 19865, loss_cls: 0.0853, loss_bbox: 0.2717, loss_traj: 0.4005, loss_traj_cls: 0.0019, loss_map_cls: 0.0845, loss_map_pts: 0.4846, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.5711, d0.loss_plan_l1_fix_dist: 0.4773, d1.loss_plan_l1_fix_time: 0.8049, d1.loss_plan_l1_fix_dist: 0.2426, d2.loss_plan_l1_fix_time: 0.7920, d2.loss_plan_l1_fix_dist: 0.2711, d3.loss_plan_l1_fix_time: 0.7958, d3.loss_plan_l1_fix_dist: 0.2657, d4.loss_plan_l1_fix_time: 0.7987, d4.loss_plan_l1_fix_dist: 0.3036, d5.loss_plan_l1_fix_time: 0.8010, d5.loss_plan_l1_fix_dist: 0.2471, d6.loss_plan_l1_fix_time: 0.8042, d6.loss_plan_l1_fix_dist: 0.2451, d0.loss_cls_all: 0.1312, d0.loss_bbox_all: 0.3281, d0.loss_cls: 0.1312, d0.loss_bbox: 0.3281, d1.loss_cls: 0.1219, d1.loss_bbox: 0.2997, d2.loss_cls: 0.1075, d2.loss_bbox: 0.2822, d3.loss_cls: 0.0920, d3.loss_bbox: 0.2766, d4.loss_cls: 0.0872, d4.loss_bbox: 0.2729, d5.loss_cls: 0.0853, d5.loss_bbox: 0.2713, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6025, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.4667, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4200, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4041, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4029, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4007, d0.loss_map_cls_all: 0.1505, d0.loss_map_pts_all: 0.9829, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1505, d0.loss_map_pts: 0.9829, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1231, d1.loss_map_pts: 0.6845, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1082, d2.loss_map_pts: 0.5515, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.0986, d3.loss_map_pts: 0.5052, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.0922, d4.loss_map_pts: 0.4875, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.0867, d5.loss_map_pts: 0.4853, d5.loss_map_dir: 0.0071, loss: 21.8129, grad_norm: 119.9433 +2026-02-28 18:24:18,495 - DriveTransformer - INFO - Epoch [10][37900/39528] lr: 6.944e-05, eta: 4 days, 16:44:01, time: 0.705, data_time: 0.036, memory: 19865, loss_cls: 0.0966, loss_bbox: 0.3094, loss_traj: 0.4647, loss_traj_cls: 0.0019, loss_map_cls: 0.1282, loss_map_pts: 0.5903, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.6108, d0.loss_plan_l1_fix_dist: 0.5453, d1.loss_plan_l1_fix_time: 0.8182, d1.loss_plan_l1_fix_dist: 0.2807, d2.loss_plan_l1_fix_time: 0.8070, d2.loss_plan_l1_fix_dist: 0.2255, d3.loss_plan_l1_fix_time: 0.8131, d3.loss_plan_l1_fix_dist: 0.3072, d4.loss_plan_l1_fix_time: 0.8167, d4.loss_plan_l1_fix_dist: 0.2819, d5.loss_plan_l1_fix_time: 0.8189, d5.loss_plan_l1_fix_dist: 0.2817, d6.loss_plan_l1_fix_time: 0.8223, d6.loss_plan_l1_fix_dist: 0.2362, d0.loss_cls_all: 0.1432, d0.loss_bbox_all: 0.3665, d0.loss_cls: 0.1432, d0.loss_bbox: 0.3665, d1.loss_cls: 0.1370, d1.loss_bbox: 0.3339, d2.loss_cls: 0.1239, d2.loss_bbox: 0.3139, d3.loss_cls: 0.1033, d3.loss_bbox: 0.3123, d4.loss_cls: 0.0965, d4.loss_bbox: 0.3094, d5.loss_cls: 0.0956, d5.loss_bbox: 0.3090, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6808, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5344, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4785, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4649, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4592, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4628, d0.loss_map_cls_all: 0.2069, d0.loss_map_pts_all: 1.1567, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2069, d0.loss_map_pts: 1.1567, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1811, d1.loss_map_pts: 0.8315, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1567, d2.loss_map_pts: 0.6736, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1424, d3.loss_map_pts: 0.6143, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1346, d4.loss_map_pts: 0.5942, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1307, d5.loss_map_pts: 0.5900, d5.loss_map_dir: 0.0072, loss: 24.3309, grad_norm: 121.0748 +2026-02-28 18:24:54,845 - DriveTransformer - INFO - Epoch [10][37950/39528] lr: 6.944e-05, eta: 4 days, 16:43:24, time: 0.727, data_time: 0.037, memory: 19865, loss_cls: 0.1077, loss_bbox: 0.3251, loss_traj: 0.5138, loss_traj_cls: 0.0019, loss_map_cls: 0.1108, loss_map_pts: 0.5539, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.7329, d0.loss_plan_l1_fix_dist: 0.6195, d1.loss_plan_l1_fix_time: 0.8702, d1.loss_plan_l1_fix_dist: 0.3121, d2.loss_plan_l1_fix_time: 0.8546, d2.loss_plan_l1_fix_dist: 0.2188, d3.loss_plan_l1_fix_time: 0.8539, d3.loss_plan_l1_fix_dist: 0.3290, d4.loss_plan_l1_fix_time: 0.8572, d4.loss_plan_l1_fix_dist: 0.2665, d5.loss_plan_l1_fix_time: 0.8602, d5.loss_plan_l1_fix_dist: 0.3098, d6.loss_plan_l1_fix_time: 0.8639, d6.loss_plan_l1_fix_dist: 0.2501, d0.loss_cls_all: 0.1466, d0.loss_bbox_all: 0.3767, d0.loss_cls: 0.1466, d0.loss_bbox: 0.3767, d1.loss_cls: 0.1422, d1.loss_bbox: 0.3422, d2.loss_cls: 0.1312, d2.loss_bbox: 0.3263, d3.loss_cls: 0.1152, d3.loss_bbox: 0.3247, d4.loss_cls: 0.1088, d4.loss_bbox: 0.3242, d5.loss_cls: 0.1073, d5.loss_bbox: 0.3239, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7708, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5963, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5444, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5169, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5157, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5119, d0.loss_map_cls_all: 0.1941, d0.loss_map_pts_all: 1.0737, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1941, d0.loss_map_pts: 1.0737, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1578, d1.loss_map_pts: 0.8156, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1333, d2.loss_map_pts: 0.6560, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1250, d3.loss_map_pts: 0.5885, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1194, d4.loss_map_pts: 0.5629, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1136, d5.loss_map_pts: 0.5541, d5.loss_map_dir: 0.0064, loss: 24.9775, grad_norm: 120.6770 +2026-02-28 18:25:32,040 - DriveTransformer - INFO - Epoch [10][38000/39528] lr: 6.944e-05, eta: 4 days, 16:42:49, time: 0.744, data_time: 0.040, memory: 19865, loss_cls: 0.1233, loss_bbox: 0.3546, loss_traj: 0.5729, loss_traj_cls: 0.0018, loss_map_cls: 0.1402, loss_map_pts: 0.6956, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.8322, d0.loss_plan_l1_fix_dist: 0.4669, d1.loss_plan_l1_fix_time: 0.8771, d1.loss_plan_l1_fix_dist: 0.3170, d2.loss_plan_l1_fix_time: 0.8652, d2.loss_plan_l1_fix_dist: 0.2081, d3.loss_plan_l1_fix_time: 0.8610, d3.loss_plan_l1_fix_dist: 0.3098, d4.loss_plan_l1_fix_time: 0.8630, d4.loss_plan_l1_fix_dist: 0.2310, d5.loss_plan_l1_fix_time: 0.8657, d5.loss_plan_l1_fix_dist: 0.2889, d6.loss_plan_l1_fix_time: 0.8684, d6.loss_plan_l1_fix_dist: 0.2269, d0.loss_cls_all: 0.1688, d0.loss_bbox_all: 0.4249, d0.loss_cls: 0.1688, d0.loss_bbox: 0.4249, d1.loss_cls: 0.1641, d1.loss_bbox: 0.3830, d2.loss_cls: 0.1487, d2.loss_bbox: 0.3645, d3.loss_cls: 0.1296, d3.loss_bbox: 0.3582, d4.loss_cls: 0.1229, d4.loss_bbox: 0.3547, d5.loss_cls: 0.1216, d5.loss_bbox: 0.3551, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8104, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6350, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5882, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5739, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5765, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5754, d0.loss_map_cls_all: 0.2250, d0.loss_map_pts_all: 1.3390, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2250, d0.loss_map_pts: 1.3390, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1962, d1.loss_map_pts: 1.0121, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1686, d2.loss_map_pts: 0.8223, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1572, d3.loss_map_pts: 0.7378, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1492, d4.loss_map_pts: 0.7063, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1431, d5.loss_map_pts: 0.6971, d5.loss_map_dir: 0.0082, loss: 27.4059, grad_norm: 120.9166 +2026-02-28 18:26:08,527 - DriveTransformer - INFO - Epoch [10][38050/39528] lr: 6.944e-05, eta: 4 days, 16:42:12, time: 0.730, data_time: 0.036, memory: 19865, loss_cls: 0.0993, loss_bbox: 0.2851, loss_traj: 0.5661, loss_traj_cls: 0.0019, loss_map_cls: 0.1031, loss_map_pts: 0.5272, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.7478, d0.loss_plan_l1_fix_dist: 0.3832, d1.loss_plan_l1_fix_time: 0.8326, d1.loss_plan_l1_fix_dist: 0.2985, d2.loss_plan_l1_fix_time: 0.8182, d2.loss_plan_l1_fix_dist: 0.1852, d3.loss_plan_l1_fix_time: 0.8091, d3.loss_plan_l1_fix_dist: 0.2916, d4.loss_plan_l1_fix_time: 0.8108, d4.loss_plan_l1_fix_dist: 0.2033, d5.loss_plan_l1_fix_time: 0.8137, d5.loss_plan_l1_fix_dist: 0.2554, d6.loss_plan_l1_fix_time: 0.8167, d6.loss_plan_l1_fix_dist: 0.2107, d0.loss_cls_all: 0.1411, d0.loss_bbox_all: 0.3446, d0.loss_cls: 0.1411, d0.loss_bbox: 0.3446, d1.loss_cls: 0.1353, d1.loss_bbox: 0.3120, d2.loss_cls: 0.1291, d2.loss_bbox: 0.2906, d3.loss_cls: 0.1044, d3.loss_bbox: 0.2867, d4.loss_cls: 0.1004, d4.loss_bbox: 0.2857, d5.loss_cls: 0.0996, d5.loss_bbox: 0.2841, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8615, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6529, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5881, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5736, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5692, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5656, d0.loss_map_cls_all: 0.1954, d0.loss_map_pts_all: 1.0824, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1954, d0.loss_map_pts: 1.0824, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1628, d1.loss_map_pts: 0.7871, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1337, d2.loss_map_pts: 0.6244, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1194, d3.loss_map_pts: 0.5586, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1122, d4.loss_map_pts: 0.5360, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1055, d5.loss_map_pts: 0.5298, d5.loss_map_dir: 0.0058, loss: 24.1449, grad_norm: 120.8588 +2026-02-28 18:26:45,170 - DriveTransformer - INFO - Epoch [10][38100/39528] lr: 6.944e-05, eta: 4 days, 16:41:36, time: 0.733, data_time: 0.039, memory: 19865, loss_cls: 0.1014, loss_bbox: 0.2936, loss_traj: 0.4380, loss_traj_cls: 0.0020, loss_map_cls: 0.1096, loss_map_pts: 0.5333, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.3895, d0.loss_plan_l1_fix_dist: 0.5838, d1.loss_plan_l1_fix_time: 0.8358, d1.loss_plan_l1_fix_dist: 0.2776, d2.loss_plan_l1_fix_time: 0.8176, d2.loss_plan_l1_fix_dist: 0.2014, d3.loss_plan_l1_fix_time: 0.8128, d3.loss_plan_l1_fix_dist: 0.2981, d4.loss_plan_l1_fix_time: 0.8152, d4.loss_plan_l1_fix_dist: 0.2470, d5.loss_plan_l1_fix_time: 0.8187, d5.loss_plan_l1_fix_dist: 0.2646, d6.loss_plan_l1_fix_time: 0.8227, d6.loss_plan_l1_fix_dist: 0.2675, d0.loss_cls_all: 0.1440, d0.loss_bbox_all: 0.3475, d0.loss_cls: 0.1440, d0.loss_bbox: 0.3475, d1.loss_cls: 0.1379, d1.loss_bbox: 0.3201, d2.loss_cls: 0.1266, d2.loss_bbox: 0.2988, d3.loss_cls: 0.1115, d3.loss_bbox: 0.2942, d4.loss_cls: 0.1050, d4.loss_bbox: 0.2920, d5.loss_cls: 0.1030, d5.loss_bbox: 0.2913, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6251, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5176, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4605, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4501, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4461, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4416, d0.loss_map_cls_all: 0.1868, d0.loss_map_pts_all: 1.0679, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1868, d0.loss_map_pts: 1.0679, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1534, d1.loss_map_pts: 0.7722, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1315, d2.loss_map_pts: 0.6196, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1233, d3.loss_map_pts: 0.5616, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1170, d4.loss_map_pts: 0.5407, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1132, d5.loss_map_pts: 0.5336, d5.loss_map_dir: 0.0067, loss: 23.1679, grad_norm: 122.2280 +2026-02-28 18:27:22,243 - DriveTransformer - INFO - Epoch [10][38150/39528] lr: 6.944e-05, eta: 4 days, 16:41:01, time: 0.741, data_time: 0.037, memory: 19865, loss_cls: 0.0935, loss_bbox: 0.3013, loss_traj: 0.5359, loss_traj_cls: 0.0020, loss_map_cls: 0.1210, loss_map_pts: 0.5754, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.4964, d0.loss_plan_l1_fix_dist: 0.4495, d1.loss_plan_l1_fix_time: 0.7540, d1.loss_plan_l1_fix_dist: 0.2402, d2.loss_plan_l1_fix_time: 0.7436, d2.loss_plan_l1_fix_dist: 0.1992, d3.loss_plan_l1_fix_time: 0.7282, d3.loss_plan_l1_fix_dist: 0.2619, d4.loss_plan_l1_fix_time: 0.7310, d4.loss_plan_l1_fix_dist: 0.2304, d5.loss_plan_l1_fix_time: 0.7348, d5.loss_plan_l1_fix_dist: 0.2218, d6.loss_plan_l1_fix_time: 0.7395, d6.loss_plan_l1_fix_dist: 0.2478, d0.loss_cls_all: 0.1363, d0.loss_bbox_all: 0.3649, d0.loss_cls: 0.1363, d0.loss_bbox: 0.3649, d1.loss_cls: 0.1300, d1.loss_bbox: 0.3290, d2.loss_cls: 0.1168, d2.loss_bbox: 0.3083, d3.loss_cls: 0.0996, d3.loss_bbox: 0.3026, d4.loss_cls: 0.0955, d4.loss_bbox: 0.2999, d5.loss_cls: 0.0934, d5.loss_bbox: 0.3009, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7733, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6089, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5494, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5370, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5327, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5350, d0.loss_map_cls_all: 0.2072, d0.loss_map_pts_all: 1.1930, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2072, d0.loss_map_pts: 1.1930, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1719, d1.loss_map_pts: 0.8505, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1480, d2.loss_map_pts: 0.6793, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1371, d3.loss_map_pts: 0.6110, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1286, d4.loss_map_pts: 0.5847, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1238, d5.loss_map_pts: 0.5760, d5.loss_map_dir: 0.0069, loss: 23.8950, grad_norm: 126.5449 +2026-02-28 18:27:58,741 - DriveTransformer - INFO - Epoch [10][38200/39528] lr: 6.944e-05, eta: 4 days, 16:40:25, time: 0.731, data_time: 0.038, memory: 19865, loss_cls: 0.1146, loss_bbox: 0.3145, loss_traj: 0.5801, loss_traj_cls: 0.0020, loss_map_cls: 0.1054, loss_map_pts: 0.6004, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.6030, d0.loss_plan_l1_fix_dist: 0.5065, d1.loss_plan_l1_fix_time: 0.8313, d1.loss_plan_l1_fix_dist: 0.2222, d2.loss_plan_l1_fix_time: 0.8218, d2.loss_plan_l1_fix_dist: 0.2160, d3.loss_plan_l1_fix_time: 0.8243, d3.loss_plan_l1_fix_dist: 0.2445, d4.loss_plan_l1_fix_time: 0.8293, d4.loss_plan_l1_fix_dist: 0.2401, d5.loss_plan_l1_fix_time: 0.8350, d5.loss_plan_l1_fix_dist: 0.2196, d6.loss_plan_l1_fix_time: 0.8419, d6.loss_plan_l1_fix_dist: 0.2571, d0.loss_cls_all: 0.1604, d0.loss_bbox_all: 0.3817, d0.loss_cls: 0.1604, d0.loss_bbox: 0.3817, d1.loss_cls: 0.1531, d1.loss_bbox: 0.3485, d2.loss_cls: 0.1419, d2.loss_bbox: 0.3261, d3.loss_cls: 0.1195, d3.loss_bbox: 0.3203, d4.loss_cls: 0.1157, d4.loss_bbox: 0.3161, d5.loss_cls: 0.1139, d5.loss_bbox: 0.3149, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8168, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6368, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5947, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5808, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5797, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5783, d0.loss_map_cls_all: 0.1778, d0.loss_map_pts_all: 1.1280, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1778, d0.loss_map_pts: 1.1280, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1493, d1.loss_map_pts: 0.8553, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1283, d2.loss_map_pts: 0.6927, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1181, d3.loss_map_pts: 0.6316, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1126, d4.loss_map_pts: 0.6072, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1087, d5.loss_map_pts: 0.6001, d5.loss_map_dir: 0.0072, loss: 25.0284, grad_norm: 129.4951 +2026-02-28 18:28:35,573 - DriveTransformer - INFO - Epoch [10][38250/39528] lr: 6.944e-05, eta: 4 days, 16:39:49, time: 0.735, data_time: 0.036, memory: 19865, loss_cls: 0.0956, loss_bbox: 0.2767, loss_traj: 0.3918, loss_traj_cls: 0.0020, loss_map_cls: 0.1015, loss_map_pts: 0.4962, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.3725, d0.loss_plan_l1_fix_dist: 0.4349, d1.loss_plan_l1_fix_time: 0.6775, d1.loss_plan_l1_fix_dist: 0.1855, d2.loss_plan_l1_fix_time: 0.6618, d2.loss_plan_l1_fix_dist: 0.2150, d3.loss_plan_l1_fix_time: 0.6606, d3.loss_plan_l1_fix_dist: 0.2123, d4.loss_plan_l1_fix_time: 0.6636, d4.loss_plan_l1_fix_dist: 0.2152, d5.loss_plan_l1_fix_time: 0.6677, d5.loss_plan_l1_fix_dist: 0.2208, d6.loss_plan_l1_fix_time: 0.6726, d6.loss_plan_l1_fix_dist: 0.2350, d0.loss_cls_all: 0.1434, d0.loss_bbox_all: 0.3355, d0.loss_cls: 0.1434, d0.loss_bbox: 0.3355, d1.loss_cls: 0.1384, d1.loss_bbox: 0.3042, d2.loss_cls: 0.1152, d2.loss_bbox: 0.2884, d3.loss_cls: 0.0994, d3.loss_bbox: 0.2824, d4.loss_cls: 0.0928, d4.loss_bbox: 0.2813, d5.loss_cls: 0.0953, d5.loss_bbox: 0.2771, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6224, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.4824, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4289, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4103, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4033, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3959, d0.loss_map_cls_all: 0.1713, d0.loss_map_pts_all: 1.0281, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1713, d0.loss_map_pts: 1.0281, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1409, d1.loss_map_pts: 0.7202, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1237, d2.loss_map_pts: 0.5652, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1144, d3.loss_map_pts: 0.5153, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1086, d4.loss_map_pts: 0.4995, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1033, d5.loss_map_pts: 0.4974, d5.loss_map_dir: 0.0067, loss: 20.9795, grad_norm: 128.6741 +2026-02-28 18:29:11,925 - DriveTransformer - INFO - Epoch [10][38300/39528] lr: 6.944e-05, eta: 4 days, 16:39:12, time: 0.727, data_time: 0.038, memory: 19865, loss_cls: 0.1124, loss_bbox: 0.3070, loss_traj: 0.5528, loss_traj_cls: 0.0020, loss_map_cls: 0.1015, loss_map_pts: 0.4887, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.7027, d0.loss_plan_l1_fix_dist: 0.3489, d1.loss_plan_l1_fix_time: 0.8805, d1.loss_plan_l1_fix_dist: 0.1803, d2.loss_plan_l1_fix_time: 0.8601, d2.loss_plan_l1_fix_dist: 0.2127, d3.loss_plan_l1_fix_time: 0.8584, d3.loss_plan_l1_fix_dist: 0.2040, d4.loss_plan_l1_fix_time: 0.8599, d4.loss_plan_l1_fix_dist: 0.2149, d5.loss_plan_l1_fix_time: 0.8612, d5.loss_plan_l1_fix_dist: 0.2428, d6.loss_plan_l1_fix_time: 0.8631, d6.loss_plan_l1_fix_dist: 0.2376, d0.loss_cls_all: 0.1586, d0.loss_bbox_all: 0.3779, d0.loss_cls: 0.1586, d0.loss_bbox: 0.3779, d1.loss_cls: 0.1478, d1.loss_bbox: 0.3450, d2.loss_cls: 0.1385, d2.loss_bbox: 0.3181, d3.loss_cls: 0.1202, d3.loss_bbox: 0.3135, d4.loss_cls: 0.1142, d4.loss_bbox: 0.3096, d5.loss_cls: 0.1129, d5.loss_bbox: 0.3080, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8411, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6337, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5812, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5655, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5551, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5513, d0.loss_map_cls_all: 0.1785, d0.loss_map_pts_all: 0.9918, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1785, d0.loss_map_pts: 0.9918, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1470, d1.loss_map_pts: 0.7050, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1261, d2.loss_map_pts: 0.5598, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1148, d3.loss_map_pts: 0.5122, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1091, d4.loss_map_pts: 0.4936, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1036, d5.loss_map_pts: 0.4894, d5.loss_map_dir: 0.0064, loss: 23.8774, grad_norm: 130.9239 +2026-02-28 18:29:47,124 - DriveTransformer - INFO - Epoch [10][38350/39528] lr: 6.944e-05, eta: 4 days, 16:38:30, time: 0.704, data_time: 0.038, memory: 19865, loss_cls: 0.1054, loss_bbox: 0.3058, loss_traj: 0.5548, loss_traj_cls: 0.0019, loss_map_cls: 0.0953, loss_map_pts: 0.4838, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.5889, d0.loss_plan_l1_fix_dist: 0.3842, d1.loss_plan_l1_fix_time: 0.8041, d1.loss_plan_l1_fix_dist: 0.1615, d2.loss_plan_l1_fix_time: 0.7891, d2.loss_plan_l1_fix_dist: 0.2030, d3.loss_plan_l1_fix_time: 0.7818, d3.loss_plan_l1_fix_dist: 0.1766, d4.loss_plan_l1_fix_time: 0.7846, d4.loss_plan_l1_fix_dist: 0.2363, d5.loss_plan_l1_fix_time: 0.7868, d5.loss_plan_l1_fix_dist: 0.2434, d6.loss_plan_l1_fix_time: 0.7898, d6.loss_plan_l1_fix_dist: 0.2064, d0.loss_cls_all: 0.1481, d0.loss_bbox_all: 0.3668, d0.loss_cls: 0.1481, d0.loss_bbox: 0.3668, d1.loss_cls: 0.1438, d1.loss_bbox: 0.3312, d2.loss_cls: 0.1289, d2.loss_bbox: 0.3142, d3.loss_cls: 0.1120, d3.loss_bbox: 0.3085, d4.loss_cls: 0.1074, d4.loss_bbox: 0.3062, d5.loss_cls: 0.1058, d5.loss_bbox: 0.3060, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7958, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6222, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5707, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5598, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5614, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5554, d0.loss_map_cls_all: 0.1627, d0.loss_map_pts_all: 0.9570, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1627, d0.loss_map_pts: 0.9570, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1368, d1.loss_map_pts: 0.6893, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1203, d2.loss_map_pts: 0.5569, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1104, d3.loss_map_pts: 0.5059, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1035, d4.loss_map_pts: 0.4882, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0979, d5.loss_map_pts: 0.4846, d5.loss_map_dir: 0.0055, loss: 22.9237, grad_norm: 131.6699 +2026-02-28 18:30:23,428 - DriveTransformer - INFO - Epoch [10][38400/39528] lr: 6.944e-05, eta: 4 days, 16:37:53, time: 0.726, data_time: 0.037, memory: 19865, loss_cls: 0.1100, loss_bbox: 0.3017, loss_traj: 0.4736, loss_traj_cls: 0.0020, loss_map_cls: 0.0908, loss_map_pts: 0.5138, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.4315, d0.loss_plan_l1_fix_dist: 0.4361, d1.loss_plan_l1_fix_time: 0.8703, d1.loss_plan_l1_fix_dist: 0.1673, d2.loss_plan_l1_fix_time: 0.8648, d2.loss_plan_l1_fix_dist: 0.2104, d3.loss_plan_l1_fix_time: 0.8600, d3.loss_plan_l1_fix_dist: 0.2063, d4.loss_plan_l1_fix_time: 0.8620, d4.loss_plan_l1_fix_dist: 0.2753, d5.loss_plan_l1_fix_time: 0.8649, d5.loss_plan_l1_fix_dist: 0.2534, d6.loss_plan_l1_fix_time: 0.8682, d6.loss_plan_l1_fix_dist: 0.2330, d0.loss_cls_all: 0.1561, d0.loss_bbox_all: 0.3720, d0.loss_cls: 0.1561, d0.loss_bbox: 0.3720, d1.loss_cls: 0.1513, d1.loss_bbox: 0.3304, d2.loss_cls: 0.1356, d2.loss_bbox: 0.3121, d3.loss_cls: 0.1175, d3.loss_bbox: 0.3064, d4.loss_cls: 0.1115, d4.loss_bbox: 0.3037, d5.loss_cls: 0.1099, d5.loss_bbox: 0.3019, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6625, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5184, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4767, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4781, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4820, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4756, d0.loss_map_cls_all: 0.1658, d0.loss_map_pts_all: 1.0783, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1658, d0.loss_map_pts: 1.0783, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1382, d1.loss_map_pts: 0.7695, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1140, d2.loss_map_pts: 0.6065, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1052, d3.loss_map_pts: 0.5461, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.0985, d4.loss_map_pts: 0.5205, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0934, d5.loss_map_pts: 0.5146, d5.loss_map_dir: 0.0063, loss: 23.2749, grad_norm: 133.4123 +2026-02-28 18:30:58,667 - DriveTransformer - INFO - Epoch [10][38450/39528] lr: 6.944e-05, eta: 4 days, 16:37:12, time: 0.705, data_time: 0.037, memory: 19865, loss_cls: 0.0937, loss_bbox: 0.2670, loss_traj: 0.5549, loss_traj_cls: 0.0019, loss_map_cls: 0.0866, loss_map_pts: 0.4024, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.5401, d0.loss_plan_l1_fix_dist: 0.4094, d1.loss_plan_l1_fix_time: 0.6821, d1.loss_plan_l1_fix_dist: 0.1485, d2.loss_plan_l1_fix_time: 0.6760, d2.loss_plan_l1_fix_dist: 0.1927, d3.loss_plan_l1_fix_time: 0.6663, d3.loss_plan_l1_fix_dist: 0.2092, d4.loss_plan_l1_fix_time: 0.6692, d4.loss_plan_l1_fix_dist: 0.2834, d5.loss_plan_l1_fix_time: 0.6742, d5.loss_plan_l1_fix_dist: 0.2424, d6.loss_plan_l1_fix_time: 0.6786, d6.loss_plan_l1_fix_dist: 0.2636, d0.loss_cls_all: 0.1332, d0.loss_bbox_all: 0.3230, d0.loss_cls: 0.1332, d0.loss_bbox: 0.3230, d1.loss_cls: 0.1245, d1.loss_bbox: 0.2921, d2.loss_cls: 0.1124, d2.loss_bbox: 0.2745, d3.loss_cls: 0.0991, d3.loss_bbox: 0.2687, d4.loss_cls: 0.0946, d4.loss_bbox: 0.2666, d5.loss_cls: 0.0944, d5.loss_bbox: 0.2654, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8472, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6642, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5959, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5684, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5600, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5561, d0.loss_map_cls_all: 0.1479, d0.loss_map_pts_all: 0.8332, d0.loss_map_dir_all: 0.0050, d0.loss_map_cls: 0.1479, d0.loss_map_pts: 0.8332, d0.loss_map_dir: 0.0050, d1.loss_map_cls: 0.1223, d1.loss_map_pts: 0.5947, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.1020, d2.loss_map_pts: 0.4738, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0933, d3.loss_map_pts: 0.4293, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0904, d4.loss_map_pts: 0.4090, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0875, d5.loss_map_pts: 0.4027, d5.loss_map_dir: 0.0048, loss: 21.1486, grad_norm: 135.9459 +2026-02-28 18:31:34,630 - DriveTransformer - INFO - Epoch [10][38500/39528] lr: 6.944e-05, eta: 4 days, 16:36:33, time: 0.719, data_time: 0.037, memory: 19865, loss_cls: 0.1016, loss_bbox: 0.2886, loss_traj: 0.4773, loss_traj_cls: 0.0019, loss_map_cls: 0.1236, loss_map_pts: 0.5108, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.6868, d0.loss_plan_l1_fix_dist: 0.4983, d1.loss_plan_l1_fix_time: 0.7242, d1.loss_plan_l1_fix_dist: 0.1599, d2.loss_plan_l1_fix_time: 0.7147, d2.loss_plan_l1_fix_dist: 0.1953, d3.loss_plan_l1_fix_time: 0.7053, d3.loss_plan_l1_fix_dist: 0.2248, d4.loss_plan_l1_fix_time: 0.7075, d4.loss_plan_l1_fix_dist: 0.2998, d5.loss_plan_l1_fix_time: 0.7107, d5.loss_plan_l1_fix_dist: 0.2356, d6.loss_plan_l1_fix_time: 0.7143, d6.loss_plan_l1_fix_dist: 0.3270, d0.loss_cls_all: 0.1410, d0.loss_bbox_all: 0.3615, d0.loss_cls: 0.1410, d0.loss_bbox: 0.3615, d1.loss_cls: 0.1368, d1.loss_bbox: 0.3236, d2.loss_cls: 0.1294, d2.loss_bbox: 0.2998, d3.loss_cls: 0.1063, d3.loss_bbox: 0.2940, d4.loss_cls: 0.1015, d4.loss_bbox: 0.2907, d5.loss_cls: 0.1008, d5.loss_bbox: 0.2889, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6869, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5492, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5021, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4811, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4776, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4766, d0.loss_map_cls_all: 0.2037, d0.loss_map_pts_all: 1.0883, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.2037, d0.loss_map_pts: 1.0883, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1713, d1.loss_map_pts: 0.7765, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1473, d2.loss_map_pts: 0.6004, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1353, d3.loss_map_pts: 0.5372, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1291, d4.loss_map_pts: 0.5155, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1260, d5.loss_map_pts: 0.5108, d5.loss_map_dir: 0.0063, loss: 22.9447, grad_norm: 135.7253 +2026-02-28 18:32:10,954 - DriveTransformer - INFO - Epoch [10][38550/39528] lr: 6.944e-05, eta: 4 days, 16:35:56, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.1026, loss_bbox: 0.2981, loss_traj: 0.4989, loss_traj_cls: 0.0019, loss_map_cls: 0.1091, loss_map_pts: 0.5145, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.6124, d0.loss_plan_l1_fix_dist: 0.3415, d1.loss_plan_l1_fix_time: 0.7694, d1.loss_plan_l1_fix_dist: 0.1555, d2.loss_plan_l1_fix_time: 0.7557, d2.loss_plan_l1_fix_dist: 0.1835, d3.loss_plan_l1_fix_time: 0.7417, d3.loss_plan_l1_fix_dist: 0.2292, d4.loss_plan_l1_fix_time: 0.7433, d4.loss_plan_l1_fix_dist: 0.3023, d5.loss_plan_l1_fix_time: 0.7466, d5.loss_plan_l1_fix_dist: 0.2058, d6.loss_plan_l1_fix_time: 0.7500, d6.loss_plan_l1_fix_dist: 0.3193, d0.loss_cls_all: 0.1480, d0.loss_bbox_all: 0.3698, d0.loss_cls: 0.1480, d0.loss_bbox: 0.3698, d1.loss_cls: 0.1426, d1.loss_bbox: 0.3313, d2.loss_cls: 0.1309, d2.loss_bbox: 0.3085, d3.loss_cls: 0.1107, d3.loss_bbox: 0.3033, d4.loss_cls: 0.1045, d4.loss_bbox: 0.2994, d5.loss_cls: 0.1021, d5.loss_bbox: 0.2982, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7456, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5855, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5406, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5201, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5079, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5032, d0.loss_map_cls_all: 0.1870, d0.loss_map_pts_all: 1.0751, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1870, d0.loss_map_pts: 1.0751, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1561, d1.loss_map_pts: 0.7789, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1340, d2.loss_map_pts: 0.6097, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1222, d3.loss_map_pts: 0.5480, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1151, d4.loss_map_pts: 0.5253, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1115, d5.loss_map_pts: 0.5149, d5.loss_map_dir: 0.0068, loss: 23.1492, grad_norm: 134.2528 +2026-02-28 18:32:47,946 - DriveTransformer - INFO - Epoch [10][38600/39528] lr: 6.944e-05, eta: 4 days, 16:35:20, time: 0.740, data_time: 0.037, memory: 19865, loss_cls: 0.1035, loss_bbox: 0.2856, loss_traj: 0.4922, loss_traj_cls: 0.0019, loss_map_cls: 0.1215, loss_map_pts: 0.5890, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.9155, d0.loss_plan_l1_fix_dist: 0.5103, d1.loss_plan_l1_fix_time: 0.7565, d1.loss_plan_l1_fix_dist: 0.1743, d2.loss_plan_l1_fix_time: 0.7498, d2.loss_plan_l1_fix_dist: 0.1885, d3.loss_plan_l1_fix_time: 0.7485, d3.loss_plan_l1_fix_dist: 0.2072, d4.loss_plan_l1_fix_time: 0.7541, d4.loss_plan_l1_fix_dist: 0.2926, d5.loss_plan_l1_fix_time: 0.7599, d5.loss_plan_l1_fix_dist: 0.2394, d6.loss_plan_l1_fix_time: 0.7661, d6.loss_plan_l1_fix_dist: 0.3083, d0.loss_cls_all: 0.1472, d0.loss_bbox_all: 0.3618, d0.loss_cls: 0.1472, d0.loss_bbox: 0.3618, d1.loss_cls: 0.1373, d1.loss_bbox: 0.3203, d2.loss_cls: 0.1269, d2.loss_bbox: 0.2987, d3.loss_cls: 0.1075, d3.loss_bbox: 0.2915, d4.loss_cls: 0.1021, d4.loss_bbox: 0.2881, d5.loss_cls: 0.1017, d5.loss_bbox: 0.2863, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6973, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5431, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5105, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4979, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4929, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4928, d0.loss_map_cls_all: 0.1966, d0.loss_map_pts_all: 1.1844, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1966, d0.loss_map_pts: 1.1844, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1665, d1.loss_map_pts: 0.8617, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1438, d2.loss_map_pts: 0.6925, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1336, d3.loss_map_pts: 0.6193, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1279, d4.loss_map_pts: 0.5957, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1235, d5.loss_map_pts: 0.5889, d5.loss_map_dir: 0.0066, loss: 24.1506, grad_norm: 136.1630 +2026-02-28 18:33:25,563 - DriveTransformer - INFO - Epoch [10][38650/39528] lr: 6.944e-05, eta: 4 days, 16:34:48, time: 0.752, data_time: 0.039, memory: 19865, loss_cls: 0.0988, loss_bbox: 0.3049, loss_traj: 0.5351, loss_traj_cls: 0.0019, loss_map_cls: 0.1090, loss_map_pts: 0.5313, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.6177, d0.loss_plan_l1_fix_dist: 0.4067, d1.loss_plan_l1_fix_time: 0.8373, d1.loss_plan_l1_fix_dist: 0.1967, d2.loss_plan_l1_fix_time: 0.8220, d2.loss_plan_l1_fix_dist: 0.1867, d3.loss_plan_l1_fix_time: 0.8232, d3.loss_plan_l1_fix_dist: 0.1904, d4.loss_plan_l1_fix_time: 0.8262, d4.loss_plan_l1_fix_dist: 0.2873, d5.loss_plan_l1_fix_time: 0.8297, d5.loss_plan_l1_fix_dist: 0.2559, d6.loss_plan_l1_fix_time: 0.8339, d6.loss_plan_l1_fix_dist: 0.2994, d0.loss_cls_all: 0.1477, d0.loss_bbox_all: 0.3685, d0.loss_cls: 0.1477, d0.loss_bbox: 0.3685, d1.loss_cls: 0.1407, d1.loss_bbox: 0.3328, d2.loss_cls: 0.1264, d2.loss_bbox: 0.3118, d3.loss_cls: 0.1072, d3.loss_bbox: 0.3075, d4.loss_cls: 0.0995, d4.loss_bbox: 0.3059, d5.loss_cls: 0.0984, d5.loss_bbox: 0.3055, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7881, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6279, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5695, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5388, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5384, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5369, d0.loss_map_cls_all: 0.1881, d0.loss_map_pts_all: 1.1339, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1881, d0.loss_map_pts: 1.1339, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1549, d1.loss_map_pts: 0.7979, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1346, d2.loss_map_pts: 0.6318, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1247, d3.loss_map_pts: 0.5633, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1162, d4.loss_map_pts: 0.5386, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1117, d5.loss_map_pts: 0.5312, d5.loss_map_dir: 0.0071, loss: 24.1724, grad_norm: 135.2354 +2026-02-28 18:34:00,969 - DriveTransformer - INFO - Epoch [10][38700/39528] lr: 6.944e-05, eta: 4 days, 16:34:07, time: 0.708, data_time: 0.036, memory: 19865, loss_cls: 0.1099, loss_bbox: 0.3007, loss_traj: 0.4788, loss_traj_cls: 0.0018, loss_map_cls: 0.1071, loss_map_pts: 0.5010, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.6897, d0.loss_plan_l1_fix_dist: 0.4093, d1.loss_plan_l1_fix_time: 0.7948, d1.loss_plan_l1_fix_dist: 0.1968, d2.loss_plan_l1_fix_time: 0.7955, d2.loss_plan_l1_fix_dist: 0.1749, d3.loss_plan_l1_fix_time: 0.7960, d3.loss_plan_l1_fix_dist: 0.1881, d4.loss_plan_l1_fix_time: 0.7994, d4.loss_plan_l1_fix_dist: 0.2856, d5.loss_plan_l1_fix_time: 0.8024, d5.loss_plan_l1_fix_dist: 0.2616, d6.loss_plan_l1_fix_time: 0.8053, d6.loss_plan_l1_fix_dist: 0.2687, d0.loss_cls_all: 0.1526, d0.loss_bbox_all: 0.3646, d0.loss_cls: 0.1526, d0.loss_bbox: 0.3646, d1.loss_cls: 0.1451, d1.loss_bbox: 0.3306, d2.loss_cls: 0.1362, d2.loss_bbox: 0.3100, d3.loss_cls: 0.1186, d3.loss_bbox: 0.3050, d4.loss_cls: 0.1108, d4.loss_bbox: 0.3027, d5.loss_cls: 0.1101, d5.loss_bbox: 0.3009, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7306, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5463, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4973, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4873, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4844, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4792, d0.loss_map_cls_all: 0.1793, d0.loss_map_pts_all: 1.0052, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1793, d0.loss_map_pts: 1.0052, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1492, d1.loss_map_pts: 0.7254, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1307, d2.loss_map_pts: 0.5830, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1194, d3.loss_map_pts: 0.5269, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1141, d4.loss_map_pts: 0.5086, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1089, d5.loss_map_pts: 0.5025, d5.loss_map_dir: 0.0060, loss: 23.0873, grad_norm: 135.3773 +2026-02-28 18:34:36,367 - DriveTransformer - INFO - Epoch [10][38750/39528] lr: 6.944e-05, eta: 4 days, 16:33:26, time: 0.708, data_time: 0.037, memory: 19865, loss_cls: 0.1138, loss_bbox: 0.3101, loss_traj: 0.4767, loss_traj_cls: 0.0018, loss_map_cls: 0.1299, loss_map_pts: 0.5984, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.6809, d0.loss_plan_l1_fix_dist: 0.3406, d1.loss_plan_l1_fix_time: 0.8259, d1.loss_plan_l1_fix_dist: 0.1865, d2.loss_plan_l1_fix_time: 0.8197, d2.loss_plan_l1_fix_dist: 0.1607, d3.loss_plan_l1_fix_time: 0.8125, d3.loss_plan_l1_fix_dist: 0.1784, d4.loss_plan_l1_fix_time: 0.8134, d4.loss_plan_l1_fix_dist: 0.2676, d5.loss_plan_l1_fix_time: 0.8156, d5.loss_plan_l1_fix_dist: 0.2619, d6.loss_plan_l1_fix_time: 0.8180, d6.loss_plan_l1_fix_dist: 0.2234, d0.loss_cls_all: 0.1660, d0.loss_bbox_all: 0.3702, d0.loss_cls: 0.1660, d0.loss_bbox: 0.3702, d1.loss_cls: 0.1567, d1.loss_bbox: 0.3393, d2.loss_cls: 0.1432, d2.loss_bbox: 0.3179, d3.loss_cls: 0.1228, d3.loss_bbox: 0.3137, d4.loss_cls: 0.1163, d4.loss_bbox: 0.3118, d5.loss_cls: 0.1144, d5.loss_bbox: 0.3099, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7277, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5685, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5085, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4937, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4816, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4801, d0.loss_map_cls_all: 0.2067, d0.loss_map_pts_all: 1.1705, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2067, d0.loss_map_pts: 1.1705, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1797, d1.loss_map_pts: 0.8660, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1552, d2.loss_map_pts: 0.7030, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1434, d3.loss_map_pts: 0.6329, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1354, d4.loss_map_pts: 0.6044, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1314, d5.loss_map_pts: 0.5984, d5.loss_map_dir: 0.0069, loss: 24.3774, grad_norm: 134.3480 +2026-02-28 18:35:13,316 - DriveTransformer - INFO - Epoch [10][38800/39528] lr: 6.944e-05, eta: 4 days, 16:32:51, time: 0.739, data_time: 0.039, memory: 19865, loss_cls: 0.0978, loss_bbox: 0.2890, loss_traj: 0.4721, loss_traj_cls: 0.0019, loss_map_cls: 0.0985, loss_map_pts: 0.5027, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.4213, d0.loss_plan_l1_fix_dist: 0.3228, d1.loss_plan_l1_fix_time: 0.7656, d1.loss_plan_l1_fix_dist: 0.1761, d2.loss_plan_l1_fix_time: 0.7531, d2.loss_plan_l1_fix_dist: 0.1650, d3.loss_plan_l1_fix_time: 0.7482, d3.loss_plan_l1_fix_dist: 0.1695, d4.loss_plan_l1_fix_time: 0.7496, d4.loss_plan_l1_fix_dist: 0.2392, d5.loss_plan_l1_fix_time: 0.7519, d5.loss_plan_l1_fix_dist: 0.2428, d6.loss_plan_l1_fix_time: 0.7549, d6.loss_plan_l1_fix_dist: 0.1939, d0.loss_cls_all: 0.1466, d0.loss_bbox_all: 0.3568, d0.loss_cls: 0.1466, d0.loss_bbox: 0.3568, d1.loss_cls: 0.1404, d1.loss_bbox: 0.3234, d2.loss_cls: 0.1233, d2.loss_bbox: 0.3017, d3.loss_cls: 0.1053, d3.loss_bbox: 0.2935, d4.loss_cls: 0.0988, d4.loss_bbox: 0.2907, d5.loss_cls: 0.0976, d5.loss_bbox: 0.2894, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6966, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5414, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4935, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4797, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4752, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4759, d0.loss_map_cls_all: 0.1685, d0.loss_map_pts_all: 1.0255, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1685, d0.loss_map_pts: 1.0255, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1402, d1.loss_map_pts: 0.7333, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1198, d2.loss_map_pts: 0.5842, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1099, d3.loss_map_pts: 0.5305, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1046, d4.loss_map_pts: 0.5095, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1004, d5.loss_map_pts: 0.5027, d5.loss_map_dir: 0.0067, loss: 22.0306, grad_norm: 133.3623 +2026-02-28 18:35:49,777 - DriveTransformer - INFO - Epoch [10][38850/39528] lr: 6.944e-05, eta: 4 days, 16:32:14, time: 0.729, data_time: 0.037, memory: 19865, loss_cls: 0.0916, loss_bbox: 0.2635, loss_traj: 0.4756, loss_traj_cls: 0.0019, loss_map_cls: 0.0844, loss_map_pts: 0.4308, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.3765, d0.loss_plan_l1_fix_dist: 0.3360, d1.loss_plan_l1_fix_time: 0.7606, d1.loss_plan_l1_fix_dist: 0.1682, d2.loss_plan_l1_fix_time: 0.7430, d2.loss_plan_l1_fix_dist: 0.1734, d3.loss_plan_l1_fix_time: 0.7368, d3.loss_plan_l1_fix_dist: 0.1793, d4.loss_plan_l1_fix_time: 0.7391, d4.loss_plan_l1_fix_dist: 0.2302, d5.loss_plan_l1_fix_time: 0.7422, d5.loss_plan_l1_fix_dist: 0.2346, d6.loss_plan_l1_fix_time: 0.7463, d6.loss_plan_l1_fix_dist: 0.1962, d0.loss_cls_all: 0.1293, d0.loss_bbox_all: 0.3282, d0.loss_cls: 0.1293, d0.loss_bbox: 0.3282, d1.loss_cls: 0.1267, d1.loss_bbox: 0.2951, d2.loss_cls: 0.1135, d2.loss_bbox: 0.2773, d3.loss_cls: 0.0974, d3.loss_bbox: 0.2722, d4.loss_cls: 0.0927, d4.loss_bbox: 0.2677, d5.loss_cls: 0.0909, d5.loss_bbox: 0.2656, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6983, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5622, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5106, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4897, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4815, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4788, d0.loss_map_cls_all: 0.1656, d0.loss_map_pts_all: 0.9416, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1656, d0.loss_map_pts: 0.9416, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1318, d1.loss_map_pts: 0.6429, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1120, d2.loss_map_pts: 0.5085, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.0993, d3.loss_map_pts: 0.4557, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.0917, d4.loss_map_pts: 0.4356, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.0868, d5.loss_map_pts: 0.4312, d5.loss_map_dir: 0.0067, loss: 21.0141, grad_norm: 132.1126 +2026-02-28 18:36:26,189 - DriveTransformer - INFO - Epoch [10][38900/39528] lr: 6.944e-05, eta: 4 days, 16:31:37, time: 0.728, data_time: 0.038, memory: 19865, loss_cls: 0.0838, loss_bbox: 0.2733, loss_traj: 0.4824, loss_traj_cls: 0.0019, loss_map_cls: 0.0851, loss_map_pts: 0.4239, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.3003, d0.loss_plan_l1_fix_dist: 0.4289, d1.loss_plan_l1_fix_time: 0.7215, d1.loss_plan_l1_fix_dist: 0.1757, d2.loss_plan_l1_fix_time: 0.7047, d2.loss_plan_l1_fix_dist: 0.1980, d3.loss_plan_l1_fix_time: 0.7084, d3.loss_plan_l1_fix_dist: 0.2082, d4.loss_plan_l1_fix_time: 0.7113, d4.loss_plan_l1_fix_dist: 0.2209, d5.loss_plan_l1_fix_time: 0.7140, d5.loss_plan_l1_fix_dist: 0.2244, d6.loss_plan_l1_fix_time: 0.7176, d6.loss_plan_l1_fix_dist: 0.2083, d0.loss_cls_all: 0.1315, d0.loss_bbox_all: 0.3286, d0.loss_cls: 0.1315, d0.loss_bbox: 0.3286, d1.loss_cls: 0.1216, d1.loss_bbox: 0.2996, d2.loss_cls: 0.1058, d2.loss_bbox: 0.2806, d3.loss_cls: 0.0894, d3.loss_bbox: 0.2767, d4.loss_cls: 0.0840, d4.loss_bbox: 0.2749, d5.loss_cls: 0.0830, d5.loss_bbox: 0.2743, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7067, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5657, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5048, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4933, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4888, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4886, d0.loss_map_cls_all: 0.1591, d0.loss_map_pts_all: 0.9768, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1591, d0.loss_map_pts: 0.9768, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1301, d1.loss_map_pts: 0.6829, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1122, d2.loss_map_pts: 0.5214, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0992, d3.loss_map_pts: 0.4585, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0928, d4.loss_map_pts: 0.4338, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0872, d5.loss_map_pts: 0.4238, d5.loss_map_dir: 0.0057, loss: 21.0147, grad_norm: 135.6973 +2026-02-28 18:37:01,338 - DriveTransformer - INFO - Epoch [10][38950/39528] lr: 6.944e-05, eta: 4 days, 16:30:56, time: 0.703, data_time: 0.036, memory: 19865, loss_cls: 0.0943, loss_bbox: 0.2782, loss_traj: 0.4916, loss_traj_cls: 0.0019, loss_map_cls: 0.0983, loss_map_pts: 0.4501, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.7004, d0.loss_plan_l1_fix_dist: 0.3870, d1.loss_plan_l1_fix_time: 0.7506, d1.loss_plan_l1_fix_dist: 0.1800, d2.loss_plan_l1_fix_time: 0.7272, d2.loss_plan_l1_fix_dist: 0.2222, d3.loss_plan_l1_fix_time: 0.7260, d3.loss_plan_l1_fix_dist: 0.2564, d4.loss_plan_l1_fix_time: 0.7286, d4.loss_plan_l1_fix_dist: 0.2349, d5.loss_plan_l1_fix_time: 0.7319, d5.loss_plan_l1_fix_dist: 0.2256, d6.loss_plan_l1_fix_time: 0.7357, d6.loss_plan_l1_fix_dist: 0.2251, d0.loss_cls_all: 0.1391, d0.loss_bbox_all: 0.3354, d0.loss_cls: 0.1391, d0.loss_bbox: 0.3354, d1.loss_cls: 0.1302, d1.loss_bbox: 0.3023, d2.loss_cls: 0.1177, d2.loss_bbox: 0.2846, d3.loss_cls: 0.1019, d3.loss_bbox: 0.2799, d4.loss_cls: 0.0956, d4.loss_bbox: 0.2780, d5.loss_cls: 0.0953, d5.loss_bbox: 0.2770, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7369, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5739, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5210, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4999, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4923, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4908, d0.loss_map_cls_all: 0.1715, d0.loss_map_pts_all: 0.9689, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1715, d0.loss_map_pts: 0.9689, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1439, d1.loss_map_pts: 0.6784, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1209, d2.loss_map_pts: 0.5398, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1113, d3.loss_map_pts: 0.4783, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.1074, d4.loss_map_pts: 0.4532, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.1014, d5.loss_map_pts: 0.4480, d5.loss_map_dir: 0.0052, loss: 21.9832, grad_norm: 133.9215 +2026-02-28 18:37:40,267 - DriveTransformer - INFO - Epoch [10][39000/39528] lr: 6.944e-05, eta: 4 days, 16:30:28, time: 0.780, data_time: 0.038, memory: 19865, loss_cls: 0.0832, loss_bbox: 0.2856, loss_traj: 0.4200, loss_traj_cls: 0.0019, loss_map_cls: 0.0979, loss_map_pts: 0.5087, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.7967, d0.loss_plan_l1_fix_dist: 0.4706, d1.loss_plan_l1_fix_time: 0.8187, d1.loss_plan_l1_fix_dist: 0.1938, d2.loss_plan_l1_fix_time: 0.7971, d2.loss_plan_l1_fix_dist: 0.2061, d3.loss_plan_l1_fix_time: 0.7853, d3.loss_plan_l1_fix_dist: 0.2634, d4.loss_plan_l1_fix_time: 0.7855, d4.loss_plan_l1_fix_dist: 0.2378, d5.loss_plan_l1_fix_time: 0.7863, d5.loss_plan_l1_fix_dist: 0.2324, d6.loss_plan_l1_fix_time: 0.7884, d6.loss_plan_l1_fix_dist: 0.2384, d0.loss_cls_all: 0.1276, d0.loss_bbox_all: 0.3498, d0.loss_cls: 0.1276, d0.loss_bbox: 0.3498, d1.loss_cls: 0.1209, d1.loss_bbox: 0.3184, d2.loss_cls: 0.1076, d2.loss_bbox: 0.2952, d3.loss_cls: 0.0888, d3.loss_bbox: 0.2912, d4.loss_cls: 0.0843, d4.loss_bbox: 0.2877, d5.loss_cls: 0.0832, d5.loss_bbox: 0.2863, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6015, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.4676, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4292, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4216, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4217, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4191, d0.loss_map_cls_all: 0.1763, d0.loss_map_pts_all: 1.1377, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.1763, d0.loss_map_pts: 1.1377, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1486, d1.loss_map_pts: 0.7829, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1220, d2.loss_map_pts: 0.6057, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1120, d3.loss_map_pts: 0.5391, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1065, d4.loss_map_pts: 0.5156, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1009, d5.loss_map_pts: 0.5104, d5.loss_map_dir: 0.0079, loss: 22.7164, grad_norm: 136.2073 +2026-02-28 18:38:15,957 - DriveTransformer - INFO - Epoch [10][39050/39528] lr: 6.944e-05, eta: 4 days, 16:29:48, time: 0.712, data_time: 0.037, memory: 19865, loss_cls: 0.1079, loss_bbox: 0.3052, loss_traj: 0.4467, loss_traj_cls: 0.0019, loss_map_cls: 0.1059, loss_map_pts: 0.4916, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.7969, d0.loss_plan_l1_fix_dist: 0.4396, d1.loss_plan_l1_fix_time: 1.0305, d1.loss_plan_l1_fix_dist: 0.2163, d2.loss_plan_l1_fix_time: 1.0117, d2.loss_plan_l1_fix_dist: 0.2180, d3.loss_plan_l1_fix_time: 1.0124, d3.loss_plan_l1_fix_dist: 0.2886, d4.loss_plan_l1_fix_time: 1.0140, d4.loss_plan_l1_fix_dist: 0.2591, d5.loss_plan_l1_fix_time: 1.0156, d5.loss_plan_l1_fix_dist: 0.2741, d6.loss_plan_l1_fix_time: 1.0177, d6.loss_plan_l1_fix_dist: 0.2590, d0.loss_cls_all: 0.1521, d0.loss_bbox_all: 0.3606, d0.loss_cls: 0.1521, d0.loss_bbox: 0.3606, d1.loss_cls: 0.1447, d1.loss_bbox: 0.3296, d2.loss_cls: 0.1275, d2.loss_bbox: 0.3121, d3.loss_cls: 0.1143, d3.loss_bbox: 0.3065, d4.loss_cls: 0.1082, d4.loss_bbox: 0.3049, d5.loss_cls: 0.1065, d5.loss_bbox: 0.3045, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6422, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5004, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4668, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4544, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4453, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4479, d0.loss_map_cls_all: 0.1836, d0.loss_map_pts_all: 1.0169, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1836, d0.loss_map_pts: 1.0169, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1528, d1.loss_map_pts: 0.7238, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1317, d2.loss_map_pts: 0.5720, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1188, d3.loss_map_pts: 0.5164, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1141, d4.loss_map_pts: 0.4986, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1089, d5.loss_map_pts: 0.4914, d5.loss_map_dir: 0.0059, loss: 24.3350, grad_norm: 134.7949 +2026-02-28 18:38:52,988 - DriveTransformer - INFO - Epoch [10][39100/39528] lr: 6.944e-05, eta: 4 days, 16:29:13, time: 0.741, data_time: 0.038, memory: 19865, loss_cls: 0.0850, loss_bbox: 0.2698, loss_traj: 0.4330, loss_traj_cls: 0.0019, loss_map_cls: 0.0944, loss_map_pts: 0.4712, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.1932, d0.loss_plan_l1_fix_dist: 0.4419, d1.loss_plan_l1_fix_time: 0.7176, d1.loss_plan_l1_fix_dist: 0.2187, d2.loss_plan_l1_fix_time: 0.6922, d2.loss_plan_l1_fix_dist: 0.2117, d3.loss_plan_l1_fix_time: 0.6895, d3.loss_plan_l1_fix_dist: 0.2665, d4.loss_plan_l1_fix_time: 0.6908, d4.loss_plan_l1_fix_dist: 0.2646, d5.loss_plan_l1_fix_time: 0.6927, d5.loss_plan_l1_fix_dist: 0.2759, d6.loss_plan_l1_fix_time: 0.6951, d6.loss_plan_l1_fix_dist: 0.2495, d0.loss_cls_all: 0.1293, d0.loss_bbox_all: 0.3260, d0.loss_cls: 0.1293, d0.loss_bbox: 0.3260, d1.loss_cls: 0.1243, d1.loss_bbox: 0.2974, d2.loss_cls: 0.1099, d2.loss_bbox: 0.2770, d3.loss_cls: 0.0913, d3.loss_bbox: 0.2712, d4.loss_cls: 0.0870, d4.loss_bbox: 0.2699, d5.loss_cls: 0.0852, d5.loss_bbox: 0.2691, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6221, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.4930, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4497, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4413, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4325, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4353, d0.loss_map_cls_all: 0.1732, d0.loss_map_pts_all: 1.0484, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1732, d0.loss_map_pts: 1.0484, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1379, d1.loss_map_pts: 0.7289, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1178, d2.loss_map_pts: 0.5607, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1081, d3.loss_map_pts: 0.5028, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1022, d4.loss_map_pts: 0.4778, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0973, d5.loss_map_pts: 0.4724, d5.loss_map_dir: 0.0066, loss: 21.1295, grad_norm: 133.7206 +2026-02-28 18:39:30,259 - DriveTransformer - INFO - Epoch [10][39150/39528] lr: 6.944e-05, eta: 4 days, 16:28:39, time: 0.745, data_time: 0.038, memory: 19865, loss_cls: 0.0934, loss_bbox: 0.2964, loss_traj: 0.5267, loss_traj_cls: 0.0019, loss_map_cls: 0.1033, loss_map_pts: 0.4861, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.4488, d0.loss_plan_l1_fix_dist: 0.4853, d1.loss_plan_l1_fix_time: 0.8974, d1.loss_plan_l1_fix_dist: 0.2178, d2.loss_plan_l1_fix_time: 0.8822, d2.loss_plan_l1_fix_dist: 0.2210, d3.loss_plan_l1_fix_time: 0.8790, d3.loss_plan_l1_fix_dist: 0.2518, d4.loss_plan_l1_fix_time: 0.8808, d4.loss_plan_l1_fix_dist: 0.3044, d5.loss_plan_l1_fix_time: 0.8840, d5.loss_plan_l1_fix_dist: 0.3230, d6.loss_plan_l1_fix_time: 0.8879, d6.loss_plan_l1_fix_dist: 0.2682, d0.loss_cls_all: 0.1454, d0.loss_bbox_all: 0.3517, d0.loss_cls: 0.1454, d0.loss_bbox: 0.3517, d1.loss_cls: 0.1364, d1.loss_bbox: 0.3185, d2.loss_cls: 0.1200, d2.loss_bbox: 0.3012, d3.loss_cls: 0.1028, d3.loss_bbox: 0.2993, d4.loss_cls: 0.0949, d4.loss_bbox: 0.2956, d5.loss_cls: 0.0951, d5.loss_bbox: 0.2939, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8342, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6225, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5584, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5433, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5314, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5272, d0.loss_map_cls_all: 0.1791, d0.loss_map_pts_all: 1.0060, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1791, d0.loss_map_pts: 1.0060, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1483, d1.loss_map_pts: 0.7089, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1266, d2.loss_map_pts: 0.5656, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1135, d3.loss_map_pts: 0.5138, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1084, d4.loss_map_pts: 0.4920, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1048, d5.loss_map_pts: 0.4864, d5.loss_map_dir: 0.0061, loss: 23.8025, grad_norm: 136.0894 +2026-02-28 18:40:07,161 - DriveTransformer - INFO - Epoch [10][39200/39528] lr: 6.944e-05, eta: 4 days, 16:28:03, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.0850, loss_bbox: 0.3094, loss_traj: 0.4561, loss_traj_cls: 0.0019, loss_map_cls: 0.1067, loss_map_pts: 0.5395, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.7250, d0.loss_plan_l1_fix_dist: 0.3385, d1.loss_plan_l1_fix_time: 0.7752, d1.loss_plan_l1_fix_dist: 0.1914, d2.loss_plan_l1_fix_time: 0.7643, d2.loss_plan_l1_fix_dist: 0.2002, d3.loss_plan_l1_fix_time: 0.7640, d3.loss_plan_l1_fix_dist: 0.2239, d4.loss_plan_l1_fix_time: 0.7677, d4.loss_plan_l1_fix_dist: 0.2957, d5.loss_plan_l1_fix_time: 0.7732, d5.loss_plan_l1_fix_dist: 0.3126, d6.loss_plan_l1_fix_time: 0.7794, d6.loss_plan_l1_fix_dist: 0.2511, d0.loss_cls_all: 0.1373, d0.loss_bbox_all: 0.3710, d0.loss_cls: 0.1373, d0.loss_bbox: 0.3710, d1.loss_cls: 0.1266, d1.loss_bbox: 0.3355, d2.loss_cls: 0.1134, d2.loss_bbox: 0.3132, d3.loss_cls: 0.0967, d3.loss_bbox: 0.3094, d4.loss_cls: 0.0871, d4.loss_bbox: 0.3063, d5.loss_cls: 0.0845, d5.loss_bbox: 0.3065, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6714, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5220, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4707, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4595, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4553, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4540, d0.loss_map_cls_all: 0.1994, d0.loss_map_pts_all: 1.1726, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1994, d0.loss_map_pts: 1.1726, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1604, d1.loss_map_pts: 0.8220, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1354, d2.loss_map_pts: 0.6435, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1246, d3.loss_map_pts: 0.5735, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1161, d4.loss_map_pts: 0.5494, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1102, d5.loss_map_pts: 0.5405, d5.loss_map_dir: 0.0072, loss: 23.3718, grad_norm: 137.3610 +2026-02-28 18:40:43,529 - DriveTransformer - INFO - Epoch [10][39250/39528] lr: 6.944e-05, eta: 4 days, 16:27:26, time: 0.727, data_time: 0.036, memory: 19865, loss_cls: 0.0969, loss_bbox: 0.2944, loss_traj: 0.5388, loss_traj_cls: 0.0018, loss_map_cls: 0.0979, loss_map_pts: 0.5234, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.3546, d0.loss_plan_l1_fix_dist: 0.4274, d1.loss_plan_l1_fix_time: 0.7009, d1.loss_plan_l1_fix_dist: 0.2007, d2.loss_plan_l1_fix_time: 0.6890, d2.loss_plan_l1_fix_dist: 0.2115, d3.loss_plan_l1_fix_time: 0.6897, d3.loss_plan_l1_fix_dist: 0.2327, d4.loss_plan_l1_fix_time: 0.6915, d4.loss_plan_l1_fix_dist: 0.3082, d5.loss_plan_l1_fix_time: 0.6946, d5.loss_plan_l1_fix_dist: 0.2966, d6.loss_plan_l1_fix_time: 0.6978, d6.loss_plan_l1_fix_dist: 0.2233, d0.loss_cls_all: 0.1477, d0.loss_bbox_all: 0.3531, d0.loss_cls: 0.1477, d0.loss_bbox: 0.3531, d1.loss_cls: 0.1401, d1.loss_bbox: 0.3247, d2.loss_cls: 0.1222, d2.loss_bbox: 0.3054, d3.loss_cls: 0.1057, d3.loss_bbox: 0.2976, d4.loss_cls: 0.0995, d4.loss_bbox: 0.2948, d5.loss_cls: 0.0980, d5.loss_bbox: 0.2928, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7777, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6190, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5660, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5486, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5423, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5384, d0.loss_map_cls_all: 0.1960, d0.loss_map_pts_all: 1.1212, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1960, d0.loss_map_pts: 1.1212, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1587, d1.loss_map_pts: 0.8085, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1295, d2.loss_map_pts: 0.6297, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1169, d3.loss_map_pts: 0.5604, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1102, d4.loss_map_pts: 0.5300, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1033, d5.loss_map_pts: 0.5231, d5.loss_map_dir: 0.0068, loss: 23.0103, grad_norm: 137.0184 +2026-02-28 18:41:19,938 - DriveTransformer - INFO - Epoch [10][39300/39528] lr: 6.944e-05, eta: 4 days, 16:26:49, time: 0.728, data_time: 0.037, memory: 19865, loss_cls: 0.0976, loss_bbox: 0.2867, loss_traj: 0.5317, loss_traj_cls: 0.0018, loss_map_cls: 0.1015, loss_map_pts: 0.5079, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.5542, d0.loss_plan_l1_fix_dist: 0.4118, d1.loss_plan_l1_fix_time: 0.8900, d1.loss_plan_l1_fix_dist: 0.2062, d2.loss_plan_l1_fix_time: 0.8804, d2.loss_plan_l1_fix_dist: 0.2367, d3.loss_plan_l1_fix_time: 0.8675, d3.loss_plan_l1_fix_dist: 0.2422, d4.loss_plan_l1_fix_time: 0.8686, d4.loss_plan_l1_fix_dist: 0.3166, d5.loss_plan_l1_fix_time: 0.8702, d5.loss_plan_l1_fix_dist: 0.2974, d6.loss_plan_l1_fix_time: 0.8720, d6.loss_plan_l1_fix_dist: 0.2338, d0.loss_cls_all: 0.1417, d0.loss_bbox_all: 0.3458, d0.loss_cls: 0.1417, d0.loss_bbox: 0.3458, d1.loss_cls: 0.1353, d1.loss_bbox: 0.3148, d2.loss_cls: 0.1229, d2.loss_bbox: 0.2938, d3.loss_cls: 0.1037, d3.loss_bbox: 0.2890, d4.loss_cls: 0.0986, d4.loss_bbox: 0.2869, d5.loss_cls: 0.0980, d5.loss_bbox: 0.2860, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8001, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6026, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5483, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5397, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5313, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5310, d0.loss_map_cls_all: 0.1916, d0.loss_map_pts_all: 1.0701, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1916, d0.loss_map_pts: 1.0701, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1584, d1.loss_map_pts: 0.7852, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1316, d2.loss_map_pts: 0.6173, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1163, d3.loss_map_pts: 0.5472, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1085, d4.loss_map_pts: 0.5194, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1047, d5.loss_map_pts: 0.5091, d5.loss_map_dir: 0.0062, loss: 24.0050, grad_norm: 139.0706 +2026-02-28 18:41:55,796 - DriveTransformer - INFO - Epoch [10][39350/39528] lr: 6.944e-05, eta: 4 days, 16:26:10, time: 0.717, data_time: 0.037, memory: 19865, loss_cls: 0.0916, loss_bbox: 0.2874, loss_traj: 0.5006, loss_traj_cls: 0.0019, loss_map_cls: 0.0895, loss_map_pts: 0.4722, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.3307, d0.loss_plan_l1_fix_dist: 0.4142, d1.loss_plan_l1_fix_time: 0.7523, d1.loss_plan_l1_fix_dist: 0.1805, d2.loss_plan_l1_fix_time: 0.7456, d2.loss_plan_l1_fix_dist: 0.2283, d3.loss_plan_l1_fix_time: 0.7537, d3.loss_plan_l1_fix_dist: 0.2128, d4.loss_plan_l1_fix_time: 0.7586, d4.loss_plan_l1_fix_dist: 0.2894, d5.loss_plan_l1_fix_time: 0.7623, d5.loss_plan_l1_fix_dist: 0.2573, d6.loss_plan_l1_fix_time: 0.7666, d6.loss_plan_l1_fix_dist: 0.2055, d0.loss_cls_all: 0.1337, d0.loss_bbox_all: 0.3513, d0.loss_cls: 0.1337, d0.loss_bbox: 0.3513, d1.loss_cls: 0.1289, d1.loss_bbox: 0.3166, d2.loss_cls: 0.1140, d2.loss_bbox: 0.2940, d3.loss_cls: 0.0993, d3.loss_bbox: 0.2893, d4.loss_cls: 0.0939, d4.loss_bbox: 0.2870, d5.loss_cls: 0.0918, d5.loss_bbox: 0.2858, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7260, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5751, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5201, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5070, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5029, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4988, d0.loss_map_cls_all: 0.1674, d0.loss_map_pts_all: 0.9919, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1674, d0.loss_map_pts: 0.9919, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1370, d1.loss_map_pts: 0.7200, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1152, d2.loss_map_pts: 0.5736, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1031, d3.loss_map_pts: 0.5111, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0970, d4.loss_map_pts: 0.4855, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0918, d5.loss_map_pts: 0.4736, d5.loss_map_dir: 0.0059, loss: 22.0782, grad_norm: 139.5466 +2026-02-28 18:42:32,353 - DriveTransformer - INFO - Epoch [10][39400/39528] lr: 6.944e-05, eta: 4 days, 16:25:34, time: 0.731, data_time: 0.038, memory: 19865, loss_cls: 0.0936, loss_bbox: 0.2970, loss_traj: 0.4846, loss_traj_cls: 0.0018, loss_map_cls: 0.1184, loss_map_pts: 0.5517, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.5569, d0.loss_plan_l1_fix_dist: 0.3267, d1.loss_plan_l1_fix_time: 0.7548, d1.loss_plan_l1_fix_dist: 0.1744, d2.loss_plan_l1_fix_time: 0.7448, d2.loss_plan_l1_fix_dist: 0.2227, d3.loss_plan_l1_fix_time: 0.7491, d3.loss_plan_l1_fix_dist: 0.2441, d4.loss_plan_l1_fix_time: 0.7533, d4.loss_plan_l1_fix_dist: 0.2816, d5.loss_plan_l1_fix_time: 0.7558, d5.loss_plan_l1_fix_dist: 0.2345, d6.loss_plan_l1_fix_time: 0.7600, d6.loss_plan_l1_fix_dist: 0.2035, d0.loss_cls_all: 0.1411, d0.loss_bbox_all: 0.3516, d0.loss_cls: 0.1411, d0.loss_bbox: 0.3516, d1.loss_cls: 0.1325, d1.loss_bbox: 0.3209, d2.loss_cls: 0.1150, d2.loss_bbox: 0.3012, d3.loss_cls: 0.0991, d3.loss_bbox: 0.2971, d4.loss_cls: 0.0947, d4.loss_bbox: 0.2950, d5.loss_cls: 0.0942, d5.loss_bbox: 0.2948, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7465, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5678, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5005, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4872, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4843, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4846, d0.loss_map_cls_all: 0.2041, d0.loss_map_pts_all: 1.1422, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2041, d0.loss_map_pts: 1.1422, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1723, d1.loss_map_pts: 0.8174, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1474, d2.loss_map_pts: 0.6507, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1334, d3.loss_map_pts: 0.5816, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1250, d4.loss_map_pts: 0.5579, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1201, d5.loss_map_pts: 0.5523, d5.loss_map_dir: 0.0061, loss: 23.2144, grad_norm: 139.8937 +2026-02-28 18:43:08,006 - DriveTransformer - INFO - Epoch [10][39450/39528] lr: 6.944e-05, eta: 4 days, 16:24:54, time: 0.713, data_time: 0.037, memory: 19865, loss_cls: 0.0917, loss_bbox: 0.2972, loss_traj: 0.5349, loss_traj_cls: 0.0018, loss_map_cls: 0.1000, loss_map_pts: 0.4502, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 3.0912, d0.loss_plan_l1_fix_dist: 0.3814, d1.loss_plan_l1_fix_time: 0.8863, d1.loss_plan_l1_fix_dist: 0.1893, d2.loss_plan_l1_fix_time: 0.8762, d2.loss_plan_l1_fix_dist: 0.2254, d3.loss_plan_l1_fix_time: 0.8760, d3.loss_plan_l1_fix_dist: 0.2946, d4.loss_plan_l1_fix_time: 0.8790, d4.loss_plan_l1_fix_dist: 0.2983, d5.loss_plan_l1_fix_time: 0.8826, d5.loss_plan_l1_fix_dist: 0.2482, d6.loss_plan_l1_fix_time: 0.8868, d6.loss_plan_l1_fix_dist: 0.2263, d0.loss_cls_all: 0.1284, d0.loss_bbox_all: 0.3531, d0.loss_cls: 0.1284, d0.loss_bbox: 0.3531, d1.loss_cls: 0.1230, d1.loss_bbox: 0.3200, d2.loss_cls: 0.1119, d2.loss_bbox: 0.3019, d3.loss_cls: 0.0965, d3.loss_bbox: 0.2982, d4.loss_cls: 0.0909, d4.loss_bbox: 0.2962, d5.loss_cls: 0.0911, d5.loss_bbox: 0.2953, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7661, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5953, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5533, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5413, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5360, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5330, d0.loss_map_cls_all: 0.1896, d0.loss_map_pts_all: 0.9990, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1896, d0.loss_map_pts: 0.9990, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1567, d1.loss_map_pts: 0.7022, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1283, d2.loss_map_pts: 0.5523, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1156, d3.loss_map_pts: 0.4838, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1083, d4.loss_map_pts: 0.4588, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1011, d5.loss_map_pts: 0.4512, d5.loss_map_dir: 0.0058, loss: 23.9165, grad_norm: 144.4094 +2026-02-28 18:43:44,353 - DriveTransformer - INFO - Epoch [10][39500/39528] lr: 6.944e-05, eta: 4 days, 16:24:17, time: 0.727, data_time: 0.038, memory: 19865, loss_cls: 0.0948, loss_bbox: 0.2827, loss_traj: 0.4982, loss_traj_cls: 0.0018, loss_map_cls: 0.0875, loss_map_pts: 0.4677, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.4421, d0.loss_plan_l1_fix_dist: 0.4233, d1.loss_plan_l1_fix_time: 0.8216, d1.loss_plan_l1_fix_dist: 0.2019, d2.loss_plan_l1_fix_time: 0.8119, d2.loss_plan_l1_fix_dist: 0.2250, d3.loss_plan_l1_fix_time: 0.7952, d3.loss_plan_l1_fix_dist: 0.3313, d4.loss_plan_l1_fix_time: 0.7967, d4.loss_plan_l1_fix_dist: 0.2987, d5.loss_plan_l1_fix_time: 0.8009, d5.loss_plan_l1_fix_dist: 0.2519, d6.loss_plan_l1_fix_time: 0.8052, d6.loss_plan_l1_fix_dist: 0.2230, d0.loss_cls_all: 0.1329, d0.loss_bbox_all: 0.3450, d0.loss_cls: 0.1329, d0.loss_bbox: 0.3450, d1.loss_cls: 0.1273, d1.loss_bbox: 0.3140, d2.loss_cls: 0.1157, d2.loss_bbox: 0.2939, d3.loss_cls: 0.0972, d3.loss_bbox: 0.2905, d4.loss_cls: 0.0942, d4.loss_bbox: 0.2872, d5.loss_cls: 0.0945, d5.loss_bbox: 0.2838, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7699, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5827, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5341, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5080, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4989, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4973, d0.loss_map_cls_all: 0.1696, d0.loss_map_pts_all: 0.9954, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1696, d0.loss_map_pts: 0.9954, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1363, d1.loss_map_pts: 0.7054, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1146, d2.loss_map_pts: 0.5467, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1023, d3.loss_map_pts: 0.4951, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.0957, d4.loss_map_pts: 0.4724, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0906, d5.loss_map_pts: 0.4665, d5.loss_map_dir: 0.0064, loss: 22.6177, grad_norm: 144.5536 +2026-02-28 18:44:05,525 - DriveTransformer - INFO - Saving checkpoint at 10 epochs +2026-02-28 18:44:53,036 - DriveTransformer - INFO - Epoch [11][50/39528] lr: 6.331e-05, eta: 4 days, 16:22:38, time: 0.906, data_time: 0.186, memory: 19865, loss_cls: 0.0946, loss_bbox: 0.2927, loss_traj: 0.5512, loss_traj_cls: 0.0018, loss_map_cls: 0.1167, loss_map_pts: 0.5170, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.9330, d0.loss_plan_l1_fix_dist: 0.4581, d1.loss_plan_l1_fix_time: 0.8356, d1.loss_plan_l1_fix_dist: 0.2156, d2.loss_plan_l1_fix_time: 0.8199, d2.loss_plan_l1_fix_dist: 0.2277, d3.loss_plan_l1_fix_time: 0.8177, d3.loss_plan_l1_fix_dist: 0.3453, d4.loss_plan_l1_fix_time: 0.8192, d4.loss_plan_l1_fix_dist: 0.2940, d5.loss_plan_l1_fix_time: 0.8212, d5.loss_plan_l1_fix_dist: 0.2505, d6.loss_plan_l1_fix_time: 0.8235, d6.loss_plan_l1_fix_dist: 0.2423, d0.loss_cls_all: 0.1295, d0.loss_bbox_all: 0.3465, d0.loss_cls: 0.1295, d0.loss_bbox: 0.3465, d1.loss_cls: 0.1293, d1.loss_bbox: 0.3136, d2.loss_cls: 0.1177, d2.loss_bbox: 0.2968, d3.loss_cls: 0.1013, d3.loss_bbox: 0.2912, d4.loss_cls: 0.0973, d4.loss_bbox: 0.2901, d5.loss_cls: 0.0960, d5.loss_bbox: 0.2902, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8365, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6406, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5788, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5610, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5538, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5504, d0.loss_map_cls_all: 0.1953, d0.loss_map_pts_all: 1.0967, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1953, d0.loss_map_pts: 1.0967, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1670, d1.loss_map_pts: 0.7785, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1423, d2.loss_map_pts: 0.6156, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1301, d3.loss_map_pts: 0.5442, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1243, d4.loss_map_pts: 0.5221, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.1202, d5.loss_map_pts: 0.5169, d5.loss_map_dir: 0.0054, loss: 24.4658, grad_norm: 172.0393 +2026-02-28 18:45:30,747 - DriveTransformer - INFO - Epoch [11][100/39528] lr: 6.331e-05, eta: 4 days, 16:22:06, time: 0.754, data_time: 0.030, memory: 19865, loss_cls: 0.0900, loss_bbox: 0.2737, loss_traj: 0.4160, loss_traj_cls: 0.0019, loss_map_cls: 0.1053, loss_map_pts: 0.5038, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.4281, d0.loss_plan_l1_fix_dist: 0.3334, d1.loss_plan_l1_fix_time: 0.7828, d1.loss_plan_l1_fix_dist: 0.2004, d2.loss_plan_l1_fix_time: 0.7722, d2.loss_plan_l1_fix_dist: 0.1985, d3.loss_plan_l1_fix_time: 0.7569, d3.loss_plan_l1_fix_dist: 0.3019, d4.loss_plan_l1_fix_time: 0.7579, d4.loss_plan_l1_fix_dist: 0.2465, d5.loss_plan_l1_fix_time: 0.7605, d5.loss_plan_l1_fix_dist: 0.2265, d6.loss_plan_l1_fix_time: 0.7646, d6.loss_plan_l1_fix_dist: 0.2065, d0.loss_cls_all: 0.1306, d0.loss_bbox_all: 0.3275, d0.loss_cls: 0.1306, d0.loss_bbox: 0.3275, d1.loss_cls: 0.1229, d1.loss_bbox: 0.2973, d2.loss_cls: 0.1145, d2.loss_bbox: 0.2767, d3.loss_cls: 0.0967, d3.loss_bbox: 0.2735, d4.loss_cls: 0.0917, d4.loss_bbox: 0.2719, d5.loss_cls: 0.0911, d5.loss_bbox: 0.2717, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6159, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.4721, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4222, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4166, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4165, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4108, d0.loss_map_cls_all: 0.1896, d0.loss_map_pts_all: 1.0710, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1896, d0.loss_map_pts: 1.0710, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1547, d1.loss_map_pts: 0.7562, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1264, d2.loss_map_pts: 0.5913, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1177, d3.loss_map_pts: 0.5290, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1109, d4.loss_map_pts: 0.5090, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1072, d5.loss_map_pts: 0.5033, d5.loss_map_dir: 0.0062, loss: 21.7882, grad_norm: 158.4424 +2026-02-28 18:46:08,182 - DriveTransformer - INFO - Epoch [11][150/39528] lr: 6.331e-05, eta: 4 days, 16:21:32, time: 0.749, data_time: 0.032, memory: 19865, loss_cls: 0.0954, loss_bbox: 0.2840, loss_traj: 0.4492, loss_traj_cls: 0.0018, loss_map_cls: 0.1138, loss_map_pts: 0.5237, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.5854, d0.loss_plan_l1_fix_dist: 0.4202, d1.loss_plan_l1_fix_time: 0.7784, d1.loss_plan_l1_fix_dist: 0.2091, d2.loss_plan_l1_fix_time: 0.7692, d2.loss_plan_l1_fix_dist: 0.2068, d3.loss_plan_l1_fix_time: 0.7734, d3.loss_plan_l1_fix_dist: 0.3023, d4.loss_plan_l1_fix_time: 0.7763, d4.loss_plan_l1_fix_dist: 0.2415, d5.loss_plan_l1_fix_time: 0.7786, d5.loss_plan_l1_fix_dist: 0.2410, d6.loss_plan_l1_fix_time: 0.7814, d6.loss_plan_l1_fix_dist: 0.2130, d0.loss_cls_all: 0.1413, d0.loss_bbox_all: 0.3492, d0.loss_cls: 0.1413, d0.loss_bbox: 0.3492, d1.loss_cls: 0.1334, d1.loss_bbox: 0.3141, d2.loss_cls: 0.1200, d2.loss_bbox: 0.2926, d3.loss_cls: 0.1050, d3.loss_bbox: 0.2874, d4.loss_cls: 0.0976, d4.loss_bbox: 0.2841, d5.loss_cls: 0.0960, d5.loss_bbox: 0.2826, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7076, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5264, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4695, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4518, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4462, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4483, d0.loss_map_cls_all: 0.1979, d0.loss_map_pts_all: 1.1062, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1979, d0.loss_map_pts: 1.1062, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1670, d1.loss_map_pts: 0.7944, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1397, d2.loss_map_pts: 0.6267, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1299, d3.loss_map_pts: 0.5580, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1219, d4.loss_map_pts: 0.5328, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1165, d5.loss_map_pts: 0.5237, d5.loss_map_dir: 0.0064, loss: 22.9632, grad_norm: 142.0015 +2026-02-28 18:46:43,978 - DriveTransformer - INFO - Epoch [11][200/39528] lr: 6.331e-05, eta: 4 days, 16:20:53, time: 0.716, data_time: 0.030, memory: 19865, loss_cls: 0.1033, loss_bbox: 0.3105, loss_traj: 0.5214, loss_traj_cls: 0.0018, loss_map_cls: 0.1138, loss_map_pts: 0.5063, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.6707, d0.loss_plan_l1_fix_dist: 0.4152, d1.loss_plan_l1_fix_time: 0.7704, d1.loss_plan_l1_fix_dist: 0.2224, d2.loss_plan_l1_fix_time: 0.7487, d2.loss_plan_l1_fix_dist: 0.2424, d3.loss_plan_l1_fix_time: 0.7447, d3.loss_plan_l1_fix_dist: 0.3110, d4.loss_plan_l1_fix_time: 0.7474, d4.loss_plan_l1_fix_dist: 0.2228, d5.loss_plan_l1_fix_time: 0.7505, d5.loss_plan_l1_fix_dist: 0.2570, d6.loss_plan_l1_fix_time: 0.7532, d6.loss_plan_l1_fix_dist: 0.2271, d0.loss_cls_all: 0.1501, d0.loss_bbox_all: 0.3807, d0.loss_cls: 0.1501, d0.loss_bbox: 0.3807, d1.loss_cls: 0.1427, d1.loss_bbox: 0.3426, d2.loss_cls: 0.1284, d2.loss_bbox: 0.3202, d3.loss_cls: 0.1156, d3.loss_bbox: 0.3125, d4.loss_cls: 0.1070, d4.loss_bbox: 0.3115, d5.loss_cls: 0.1047, d5.loss_bbox: 0.3095, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8029, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5793, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5393, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5316, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5264, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5246, d0.loss_map_cls_all: 0.2152, d0.loss_map_pts_all: 1.0859, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2152, d0.loss_map_pts: 1.0859, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1708, d1.loss_map_pts: 0.7658, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1429, d2.loss_map_pts: 0.6056, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1283, d3.loss_map_pts: 0.5384, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1217, d4.loss_map_pts: 0.5126, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1174, d5.loss_map_pts: 0.5065, d5.loss_map_dir: 0.0058, loss: 23.6650, grad_norm: 149.2918 +2026-02-28 18:47:21,073 - DriveTransformer - INFO - Epoch [11][250/39528] lr: 6.331e-05, eta: 4 days, 16:20:19, time: 0.742, data_time: 0.030, memory: 19865, loss_cls: 0.1309, loss_bbox: 0.3121, loss_traj: 0.4757, loss_traj_cls: 0.0018, loss_map_cls: 0.1104, loss_map_pts: 0.6122, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.9890, d0.loss_plan_l1_fix_dist: 0.3746, d1.loss_plan_l1_fix_time: 0.8649, d1.loss_plan_l1_fix_dist: 0.2341, d2.loss_plan_l1_fix_time: 0.8485, d2.loss_plan_l1_fix_dist: 0.2563, d3.loss_plan_l1_fix_time: 0.8372, d3.loss_plan_l1_fix_dist: 0.3115, d4.loss_plan_l1_fix_time: 0.8391, d4.loss_plan_l1_fix_dist: 0.2348, d5.loss_plan_l1_fix_time: 0.8415, d5.loss_plan_l1_fix_dist: 0.2747, d6.loss_plan_l1_fix_time: 0.8440, d6.loss_plan_l1_fix_dist: 0.2363, d0.loss_cls_all: 0.1745, d0.loss_bbox_all: 0.3897, d0.loss_cls: 0.1745, d0.loss_bbox: 0.3897, d1.loss_cls: 0.1670, d1.loss_bbox: 0.3499, d2.loss_cls: 0.1564, d2.loss_bbox: 0.3252, d3.loss_cls: 0.1365, d3.loss_bbox: 0.3182, d4.loss_cls: 0.1312, d4.loss_bbox: 0.3135, d5.loss_cls: 0.1303, d5.loss_bbox: 0.3131, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7050, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5458, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5029, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4842, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4787, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4752, d0.loss_map_cls_all: 0.1941, d0.loss_map_pts_all: 1.2416, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1941, d0.loss_map_pts: 1.2416, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1666, d1.loss_map_pts: 0.9058, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1370, d2.loss_map_pts: 0.7198, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1261, d3.loss_map_pts: 0.6468, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1184, d4.loss_map_pts: 0.6210, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1121, d5.loss_map_pts: 0.6131, d5.loss_map_dir: 0.0071, loss: 25.3896, grad_norm: 163.1917 +2026-02-28 18:47:56,035 - DriveTransformer - INFO - Epoch [11][300/39528] lr: 6.331e-05, eta: 4 days, 16:19:36, time: 0.699, data_time: 0.030, memory: 19865, loss_cls: 0.1162, loss_bbox: 0.3031, loss_traj: 0.4428, loss_traj_cls: 0.0018, loss_map_cls: 0.1005, loss_map_pts: 0.5078, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.4763, d0.loss_plan_l1_fix_dist: 0.3961, d1.loss_plan_l1_fix_time: 0.8244, d1.loss_plan_l1_fix_dist: 0.2056, d2.loss_plan_l1_fix_time: 0.8109, d2.loss_plan_l1_fix_dist: 0.2373, d3.loss_plan_l1_fix_time: 0.7966, d3.loss_plan_l1_fix_dist: 0.2638, d4.loss_plan_l1_fix_time: 0.7977, d4.loss_plan_l1_fix_dist: 0.2018, d5.loss_plan_l1_fix_time: 0.7990, d5.loss_plan_l1_fix_dist: 0.2335, d6.loss_plan_l1_fix_time: 0.8014, d6.loss_plan_l1_fix_dist: 0.1913, d0.loss_cls_all: 0.1585, d0.loss_bbox_all: 0.3694, d0.loss_cls: 0.1585, d0.loss_bbox: 0.3694, d1.loss_cls: 0.1528, d1.loss_bbox: 0.3347, d2.loss_cls: 0.1408, d2.loss_bbox: 0.3130, d3.loss_cls: 0.1247, d3.loss_bbox: 0.3085, d4.loss_cls: 0.1185, d4.loss_bbox: 0.3050, d5.loss_cls: 0.1167, d5.loss_bbox: 0.3032, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7045, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5320, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4733, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4548, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4515, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4453, d0.loss_map_cls_all: 0.1900, d0.loss_map_pts_all: 1.0388, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1900, d0.loss_map_pts: 1.0388, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1573, d1.loss_map_pts: 0.7557, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1279, d2.loss_map_pts: 0.6046, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1165, d3.loss_map_pts: 0.5410, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1076, d4.loss_map_pts: 0.5162, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1038, d5.loss_map_pts: 0.5083, d5.loss_map_dir: 0.0059, loss: 22.8912, grad_norm: 152.4186 +2026-02-28 18:48:30,888 - DriveTransformer - INFO - Epoch [11][350/39528] lr: 6.331e-05, eta: 4 days, 16:18:54, time: 0.697, data_time: 0.032, memory: 19865, loss_cls: 0.0975, loss_bbox: 0.2701, loss_traj: 0.4580, loss_traj_cls: 0.0018, loss_map_cls: 0.0872, loss_map_pts: 0.4461, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.8960, d0.loss_plan_l1_fix_dist: 0.4730, d1.loss_plan_l1_fix_time: 0.7868, d1.loss_plan_l1_fix_dist: 0.2189, d2.loss_plan_l1_fix_time: 0.7670, d2.loss_plan_l1_fix_dist: 0.2414, d3.loss_plan_l1_fix_time: 0.7744, d3.loss_plan_l1_fix_dist: 0.2480, d4.loss_plan_l1_fix_time: 0.7765, d4.loss_plan_l1_fix_dist: 0.1942, d5.loss_plan_l1_fix_time: 0.7786, d5.loss_plan_l1_fix_dist: 0.2243, d6.loss_plan_l1_fix_time: 0.7813, d6.loss_plan_l1_fix_dist: 0.1906, d0.loss_cls_all: 0.1412, d0.loss_bbox_all: 0.3341, d0.loss_cls: 0.1412, d0.loss_bbox: 0.3341, d1.loss_cls: 0.1348, d1.loss_bbox: 0.3032, d2.loss_cls: 0.1202, d2.loss_bbox: 0.2827, d3.loss_cls: 0.1050, d3.loss_bbox: 0.2754, d4.loss_cls: 0.0999, d4.loss_bbox: 0.2727, d5.loss_cls: 0.0976, d5.loss_bbox: 0.2707, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6960, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5323, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4866, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4665, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4594, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4589, d0.loss_map_cls_all: 0.1623, d0.loss_map_pts_all: 0.9162, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1623, d0.loss_map_pts: 0.9162, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1356, d1.loss_map_pts: 0.6426, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1117, d2.loss_map_pts: 0.5221, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1013, d3.loss_map_pts: 0.4718, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0935, d4.loss_map_pts: 0.4531, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0897, d5.loss_map_pts: 0.4465, d5.loss_map_dir: 0.0049, loss: 21.9948, grad_norm: 142.3169 +2026-02-28 18:49:09,087 - DriveTransformer - INFO - Epoch [11][400/39528] lr: 6.331e-05, eta: 4 days, 16:18:23, time: 0.765, data_time: 0.032, memory: 19865, loss_cls: 0.0901, loss_bbox: 0.2906, loss_traj: 0.4663, loss_traj_cls: 0.0019, loss_map_cls: 0.1087, loss_map_pts: 0.6076, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.6008, d0.loss_plan_l1_fix_dist: 0.4221, d1.loss_plan_l1_fix_time: 0.7203, d1.loss_plan_l1_fix_dist: 0.2348, d2.loss_plan_l1_fix_time: 0.7043, d2.loss_plan_l1_fix_dist: 0.2120, d3.loss_plan_l1_fix_time: 0.7038, d3.loss_plan_l1_fix_dist: 0.2285, d4.loss_plan_l1_fix_time: 0.7056, d4.loss_plan_l1_fix_dist: 0.1729, d5.loss_plan_l1_fix_time: 0.7073, d5.loss_plan_l1_fix_dist: 0.1971, d6.loss_plan_l1_fix_time: 0.7096, d6.loss_plan_l1_fix_dist: 0.1940, d0.loss_cls_all: 0.1386, d0.loss_bbox_all: 0.3518, d0.loss_cls: 0.1386, d0.loss_bbox: 0.3518, d1.loss_cls: 0.1285, d1.loss_bbox: 0.3193, d2.loss_cls: 0.1170, d2.loss_bbox: 0.2983, d3.loss_cls: 0.0984, d3.loss_bbox: 0.2947, d4.loss_cls: 0.0947, d4.loss_bbox: 0.2912, d5.loss_cls: 0.0902, d5.loss_bbox: 0.2912, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7314, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5580, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4980, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4760, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4681, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4654, d0.loss_map_cls_all: 0.1859, d0.loss_map_pts_all: 1.2501, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1859, d0.loss_map_pts: 1.2501, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1603, d1.loss_map_pts: 0.8860, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1339, d2.loss_map_pts: 0.7127, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1239, d3.loss_map_pts: 0.6455, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1160, d4.loss_map_pts: 0.6154, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1106, d5.loss_map_pts: 0.6095, d5.loss_map_dir: 0.0072, loss: 23.3285, grad_norm: 141.6987 +2026-02-28 18:49:46,478 - DriveTransformer - INFO - Epoch [11][450/39528] lr: 6.331e-05, eta: 4 days, 16:17:50, time: 0.747, data_time: 0.030, memory: 19865, loss_cls: 0.0887, loss_bbox: 0.2853, loss_traj: 0.4691, loss_traj_cls: 0.0019, loss_map_cls: 0.0826, loss_map_pts: 0.4991, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.6663, d0.loss_plan_l1_fix_dist: 0.5103, d1.loss_plan_l1_fix_time: 0.7099, d1.loss_plan_l1_fix_dist: 0.2889, d2.loss_plan_l1_fix_time: 0.6931, d2.loss_plan_l1_fix_dist: 0.2271, d3.loss_plan_l1_fix_time: 0.6905, d3.loss_plan_l1_fix_dist: 0.2530, d4.loss_plan_l1_fix_time: 0.6931, d4.loss_plan_l1_fix_dist: 0.2058, d5.loss_plan_l1_fix_time: 0.6955, d5.loss_plan_l1_fix_dist: 0.2070, d6.loss_plan_l1_fix_time: 0.6986, d6.loss_plan_l1_fix_dist: 0.2396, d0.loss_cls_all: 0.1351, d0.loss_bbox_all: 0.3504, d0.loss_cls: 0.1351, d0.loss_bbox: 0.3504, d1.loss_cls: 0.1277, d1.loss_bbox: 0.3145, d2.loss_cls: 0.1153, d2.loss_bbox: 0.2919, d3.loss_cls: 0.0959, d3.loss_bbox: 0.2877, d4.loss_cls: 0.0910, d4.loss_bbox: 0.2856, d5.loss_cls: 0.0891, d5.loss_bbox: 0.2849, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7320, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5564, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4989, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4749, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4710, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4703, d0.loss_map_cls_all: 0.1631, d0.loss_map_pts_all: 1.0764, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1631, d0.loss_map_pts: 1.0764, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1328, d1.loss_map_pts: 0.7662, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1109, d2.loss_map_pts: 0.6002, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.0984, d3.loss_map_pts: 0.5304, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0902, d4.loss_map_pts: 0.5066, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0852, d5.loss_map_pts: 0.4996, d5.loss_map_dir: 0.0059, loss: 22.3152, grad_norm: 143.6295 +2026-02-28 18:50:23,608 - DriveTransformer - INFO - Epoch [11][500/39528] lr: 6.331e-05, eta: 4 days, 16:17:15, time: 0.742, data_time: 0.032, memory: 19865, loss_cls: 0.0900, loss_bbox: 0.2834, loss_traj: 0.4553, loss_traj_cls: 0.0018, loss_map_cls: 0.0899, loss_map_pts: 0.5051, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.4609, d0.loss_plan_l1_fix_dist: 0.4078, d1.loss_plan_l1_fix_time: 0.7327, d1.loss_plan_l1_fix_dist: 0.2929, d2.loss_plan_l1_fix_time: 0.7209, d2.loss_plan_l1_fix_dist: 0.1939, d3.loss_plan_l1_fix_time: 0.7181, d3.loss_plan_l1_fix_dist: 0.2200, d4.loss_plan_l1_fix_time: 0.7208, d4.loss_plan_l1_fix_dist: 0.1923, d5.loss_plan_l1_fix_time: 0.7239, d5.loss_plan_l1_fix_dist: 0.1908, d6.loss_plan_l1_fix_time: 0.7275, d6.loss_plan_l1_fix_dist: 0.2213, d0.loss_cls_all: 0.1358, d0.loss_bbox_all: 0.3439, d0.loss_cls: 0.1358, d0.loss_bbox: 0.3439, d1.loss_cls: 0.1332, d1.loss_bbox: 0.3087, d2.loss_cls: 0.1177, d2.loss_bbox: 0.2897, d3.loss_cls: 0.1016, d3.loss_bbox: 0.2838, d4.loss_cls: 0.0923, d4.loss_bbox: 0.2831, d5.loss_cls: 0.0913, d5.loss_bbox: 0.2822, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6732, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5273, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4754, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4604, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4578, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4554, d0.loss_map_cls_all: 0.1762, d0.loss_map_pts_all: 1.0853, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1762, d0.loss_map_pts: 1.0853, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1432, d1.loss_map_pts: 0.7846, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1176, d2.loss_map_pts: 0.6099, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1044, d3.loss_map_pts: 0.5384, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.0978, d4.loss_map_pts: 0.5116, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0922, d5.loss_map_pts: 0.5053, d5.loss_map_dir: 0.0066, loss: 22.0269, grad_norm: 153.0476 +2026-02-28 18:50:59,545 - DriveTransformer - INFO - Epoch [11][550/39528] lr: 6.331e-05, eta: 4 days, 16:16:36, time: 0.719, data_time: 0.029, memory: 19865, loss_cls: 0.1025, loss_bbox: 0.3149, loss_traj: 0.5400, loss_traj_cls: 0.0018, loss_map_cls: 0.1107, loss_map_pts: 0.5596, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.9518, d0.loss_plan_l1_fix_dist: 0.3982, d1.loss_plan_l1_fix_time: 0.8415, d1.loss_plan_l1_fix_dist: 0.3063, d2.loss_plan_l1_fix_time: 0.8281, d2.loss_plan_l1_fix_dist: 0.2022, d3.loss_plan_l1_fix_time: 0.8255, d3.loss_plan_l1_fix_dist: 0.2259, d4.loss_plan_l1_fix_time: 0.8268, d4.loss_plan_l1_fix_dist: 0.2062, d5.loss_plan_l1_fix_time: 0.8292, d5.loss_plan_l1_fix_dist: 0.2205, d6.loss_plan_l1_fix_time: 0.8317, d6.loss_plan_l1_fix_dist: 0.2265, d0.loss_cls_all: 0.1544, d0.loss_bbox_all: 0.3847, d0.loss_cls: 0.1544, d0.loss_bbox: 0.3847, d1.loss_cls: 0.1465, d1.loss_bbox: 0.3504, d2.loss_cls: 0.1332, d2.loss_bbox: 0.3247, d3.loss_cls: 0.1117, d3.loss_bbox: 0.3169, d4.loss_cls: 0.1040, d4.loss_bbox: 0.3154, d5.loss_cls: 0.1030, d5.loss_bbox: 0.3134, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8229, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6456, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5709, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5505, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5427, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5382, d0.loss_map_cls_all: 0.1976, d0.loss_map_pts_all: 1.1593, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1976, d0.loss_map_pts: 1.1593, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1649, d1.loss_map_pts: 0.8569, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1374, d2.loss_map_pts: 0.6722, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1260, d3.loss_map_pts: 0.5997, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1206, d4.loss_map_pts: 0.5708, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1144, d5.loss_map_pts: 0.5599, d5.loss_map_dir: 0.0067, loss: 25.0134, grad_norm: 149.8972 +2026-02-28 18:51:37,217 - DriveTransformer - INFO - Epoch [11][600/39528] lr: 6.331e-05, eta: 4 days, 16:16:04, time: 0.753, data_time: 0.035, memory: 19865, loss_cls: 0.0945, loss_bbox: 0.2875, loss_traj: 0.4605, loss_traj_cls: 0.0018, loss_map_cls: 0.1052, loss_map_pts: 0.5329, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.6397, d0.loss_plan_l1_fix_dist: 0.3881, d1.loss_plan_l1_fix_time: 0.8348, d1.loss_plan_l1_fix_dist: 0.3001, d2.loss_plan_l1_fix_time: 0.8252, d2.loss_plan_l1_fix_dist: 0.2048, d3.loss_plan_l1_fix_time: 0.8144, d3.loss_plan_l1_fix_dist: 0.2156, d4.loss_plan_l1_fix_time: 0.8164, d4.loss_plan_l1_fix_dist: 0.1928, d5.loss_plan_l1_fix_time: 0.8186, d5.loss_plan_l1_fix_dist: 0.2033, d6.loss_plan_l1_fix_time: 0.8202, d6.loss_plan_l1_fix_dist: 0.2038, d0.loss_cls_all: 0.1464, d0.loss_bbox_all: 0.3529, d0.loss_cls: 0.1464, d0.loss_bbox: 0.3529, d1.loss_cls: 0.1399, d1.loss_bbox: 0.3189, d2.loss_cls: 0.1242, d2.loss_bbox: 0.2970, d3.loss_cls: 0.1032, d3.loss_bbox: 0.2906, d4.loss_cls: 0.0972, d4.loss_bbox: 0.2870, d5.loss_cls: 0.0952, d5.loss_bbox: 0.2862, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6740, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5346, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4777, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4687, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4636, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4606, d0.loss_map_cls_all: 0.1952, d0.loss_map_pts_all: 1.0868, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1952, d0.loss_map_pts: 1.0868, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1608, d1.loss_map_pts: 0.7706, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1344, d2.loss_map_pts: 0.6168, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1231, d3.loss_map_pts: 0.5615, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1137, d4.loss_map_pts: 0.5379, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1078, d5.loss_map_pts: 0.5319, d5.loss_map_dir: 0.0069, loss: 23.1623, grad_norm: 146.2633 +2026-02-28 18:52:13,748 - DriveTransformer - INFO - Epoch [11][650/39528] lr: 6.331e-05, eta: 4 days, 16:15:27, time: 0.731, data_time: 0.032, memory: 19865, loss_cls: 0.0972, loss_bbox: 0.2952, loss_traj: 0.4032, loss_traj_cls: 0.0018, loss_map_cls: 0.1048, loss_map_pts: 0.5530, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.4004, d0.loss_plan_l1_fix_dist: 0.3829, d1.loss_plan_l1_fix_time: 0.7713, d1.loss_plan_l1_fix_dist: 0.2801, d2.loss_plan_l1_fix_time: 0.7642, d2.loss_plan_l1_fix_dist: 0.2190, d3.loss_plan_l1_fix_time: 0.7647, d3.loss_plan_l1_fix_dist: 0.2206, d4.loss_plan_l1_fix_time: 0.7676, d4.loss_plan_l1_fix_dist: 0.2020, d5.loss_plan_l1_fix_time: 0.7696, d5.loss_plan_l1_fix_dist: 0.2035, d6.loss_plan_l1_fix_time: 0.7719, d6.loss_plan_l1_fix_dist: 0.2074, d0.loss_cls_all: 0.1441, d0.loss_bbox_all: 0.3527, d0.loss_cls: 0.1441, d0.loss_bbox: 0.3527, d1.loss_cls: 0.1363, d1.loss_bbox: 0.3208, d2.loss_cls: 0.1281, d2.loss_bbox: 0.2980, d3.loss_cls: 0.1082, d3.loss_bbox: 0.2967, d4.loss_cls: 0.0996, d4.loss_bbox: 0.2961, d5.loss_cls: 0.0970, d5.loss_bbox: 0.2946, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6357, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4800, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4367, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4183, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4078, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4024, d0.loss_map_cls_all: 0.1772, d0.loss_map_pts_all: 1.1596, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1772, d0.loss_map_pts: 1.1596, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1513, d1.loss_map_pts: 0.8391, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1307, d2.loss_map_pts: 0.6614, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1199, d3.loss_map_pts: 0.5902, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1116, d4.loss_map_pts: 0.5600, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1068, d5.loss_map_pts: 0.5533, d5.loss_map_dir: 0.0074, loss: 22.5899, grad_norm: 146.6288 +2026-02-28 18:52:49,810 - DriveTransformer - INFO - Epoch [11][700/39528] lr: 6.331e-05, eta: 4 days, 16:14:49, time: 0.721, data_time: 0.035, memory: 19865, loss_cls: 0.0899, loss_bbox: 0.2725, loss_traj: 0.5060, loss_traj_cls: 0.0018, loss_map_cls: 0.0893, loss_map_pts: 0.4854, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.7548, d0.loss_plan_l1_fix_dist: 0.4241, d1.loss_plan_l1_fix_time: 0.8325, d1.loss_plan_l1_fix_dist: 0.2696, d2.loss_plan_l1_fix_time: 0.8151, d2.loss_plan_l1_fix_dist: 0.2247, d3.loss_plan_l1_fix_time: 0.8163, d3.loss_plan_l1_fix_dist: 0.2187, d4.loss_plan_l1_fix_time: 0.8178, d4.loss_plan_l1_fix_dist: 0.2070, d5.loss_plan_l1_fix_time: 0.8203, d5.loss_plan_l1_fix_dist: 0.2057, d6.loss_plan_l1_fix_time: 0.8238, d6.loss_plan_l1_fix_dist: 0.2258, d0.loss_cls_all: 0.1366, d0.loss_bbox_all: 0.3336, d0.loss_cls: 0.1366, d0.loss_bbox: 0.3336, d1.loss_cls: 0.1262, d1.loss_bbox: 0.3007, d2.loss_cls: 0.1146, d2.loss_bbox: 0.2799, d3.loss_cls: 0.0987, d3.loss_bbox: 0.2756, d4.loss_cls: 0.0922, d4.loss_bbox: 0.2715, d5.loss_cls: 0.0903, d5.loss_bbox: 0.2710, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7431, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5862, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5315, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5083, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5063, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5082, d0.loss_map_cls_all: 0.1821, d0.loss_map_pts_all: 1.0289, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1821, d0.loss_map_pts: 1.0289, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1482, d1.loss_map_pts: 0.7280, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1217, d2.loss_map_pts: 0.5799, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1065, d3.loss_map_pts: 0.5157, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0974, d4.loss_map_pts: 0.4919, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0917, d5.loss_map_pts: 0.4858, d5.loss_map_dir: 0.0062, loss: 22.9880, grad_norm: 150.9349 +2026-02-28 18:53:28,033 - DriveTransformer - INFO - Epoch [11][750/39528] lr: 6.331e-05, eta: 4 days, 16:14:18, time: 0.765, data_time: 0.032, memory: 19865, loss_cls: 0.0918, loss_bbox: 0.2818, loss_traj: 0.4451, loss_traj_cls: 0.0018, loss_map_cls: 0.1158, loss_map_pts: 0.5889, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.7155, d0.loss_plan_l1_fix_dist: 0.4258, d1.loss_plan_l1_fix_time: 0.7500, d1.loss_plan_l1_fix_dist: 0.2477, d2.loss_plan_l1_fix_time: 0.7325, d2.loss_plan_l1_fix_dist: 0.2073, d3.loss_plan_l1_fix_time: 0.7238, d3.loss_plan_l1_fix_dist: 0.1982, d4.loss_plan_l1_fix_time: 0.7247, d4.loss_plan_l1_fix_dist: 0.1946, d5.loss_plan_l1_fix_time: 0.7271, d5.loss_plan_l1_fix_dist: 0.2099, d6.loss_plan_l1_fix_time: 0.7304, d6.loss_plan_l1_fix_dist: 0.2314, d0.loss_cls_all: 0.1331, d0.loss_bbox_all: 0.3402, d0.loss_cls: 0.1331, d0.loss_bbox: 0.3402, d1.loss_cls: 0.1305, d1.loss_bbox: 0.3099, d2.loss_cls: 0.1144, d2.loss_bbox: 0.2914, d3.loss_cls: 0.0967, d3.loss_bbox: 0.2853, d4.loss_cls: 0.0912, d4.loss_bbox: 0.2847, d5.loss_cls: 0.0902, d5.loss_bbox: 0.2827, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6509, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5185, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4640, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4492, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4452, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4626, d0.loss_map_cls_all: 0.2046, d0.loss_map_pts_all: 1.2296, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2046, d0.loss_map_pts: 1.2296, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1697, d1.loss_map_pts: 0.8776, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1455, d2.loss_map_pts: 0.6862, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1330, d3.loss_map_pts: 0.6171, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1239, d4.loss_map_pts: 0.5949, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1191, d5.loss_map_pts: 0.5881, d5.loss_map_dir: 0.0081, loss: 23.2510, grad_norm: 153.4055 +2026-02-28 18:54:03,886 - DriveTransformer - INFO - Epoch [11][800/39528] lr: 6.331e-05, eta: 4 days, 16:13:39, time: 0.717, data_time: 0.034, memory: 19865, loss_cls: 0.1092, loss_bbox: 0.2851, loss_traj: 0.4706, loss_traj_cls: 0.0018, loss_map_cls: 0.1133, loss_map_pts: 0.5794, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.6803, d0.loss_plan_l1_fix_dist: 0.4560, d1.loss_plan_l1_fix_time: 0.8258, d1.loss_plan_l1_fix_dist: 0.2315, d2.loss_plan_l1_fix_time: 0.8164, d2.loss_plan_l1_fix_dist: 0.2141, d3.loss_plan_l1_fix_time: 0.8023, d3.loss_plan_l1_fix_dist: 0.1894, d4.loss_plan_l1_fix_time: 0.8024, d4.loss_plan_l1_fix_dist: 0.1946, d5.loss_plan_l1_fix_time: 0.8041, d5.loss_plan_l1_fix_dist: 0.2099, d6.loss_plan_l1_fix_time: 0.8063, d6.loss_plan_l1_fix_dist: 0.1926, d0.loss_cls_all: 0.1577, d0.loss_bbox_all: 0.3579, d0.loss_cls: 0.1577, d0.loss_bbox: 0.3579, d1.loss_cls: 0.1507, d1.loss_bbox: 0.3202, d2.loss_cls: 0.1350, d2.loss_bbox: 0.2999, d3.loss_cls: 0.1191, d3.loss_bbox: 0.2929, d4.loss_cls: 0.1094, d4.loss_bbox: 0.2903, d5.loss_cls: 0.1085, d5.loss_bbox: 0.2865, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7342, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5673, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5018, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4787, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4721, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4700, d0.loss_map_cls_all: 0.2025, d0.loss_map_pts_all: 1.1589, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2025, d0.loss_map_pts: 1.1589, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1708, d1.loss_map_pts: 0.8688, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1426, d2.loss_map_pts: 0.6892, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1294, d3.loss_map_pts: 0.6147, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1220, d4.loss_map_pts: 0.5863, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1164, d5.loss_map_pts: 0.5803, d5.loss_map_dir: 0.0064, loss: 23.9510, grad_norm: 148.8734 +2026-02-28 18:54:40,995 - DriveTransformer - INFO - Epoch [11][850/39528] lr: 6.331e-05, eta: 4 days, 16:13:04, time: 0.742, data_time: 0.033, memory: 19865, loss_cls: 0.0895, loss_bbox: 0.2957, loss_traj: 0.5146, loss_traj_cls: 0.0018, loss_map_cls: 0.1172, loss_map_pts: 0.6083, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.6441, d0.loss_plan_l1_fix_dist: 0.3952, d1.loss_plan_l1_fix_time: 0.8155, d1.loss_plan_l1_fix_dist: 0.2232, d2.loss_plan_l1_fix_time: 0.8043, d2.loss_plan_l1_fix_dist: 0.2151, d3.loss_plan_l1_fix_time: 0.7866, d3.loss_plan_l1_fix_dist: 0.1915, d4.loss_plan_l1_fix_time: 0.7885, d4.loss_plan_l1_fix_dist: 0.2036, d5.loss_plan_l1_fix_time: 0.7905, d5.loss_plan_l1_fix_dist: 0.2213, d6.loss_plan_l1_fix_time: 0.7927, d6.loss_plan_l1_fix_dist: 0.1899, d0.loss_cls_all: 0.1383, d0.loss_bbox_all: 0.3571, d0.loss_cls: 0.1383, d0.loss_bbox: 0.3571, d1.loss_cls: 0.1318, d1.loss_bbox: 0.3260, d2.loss_cls: 0.1175, d2.loss_bbox: 0.3056, d3.loss_cls: 0.0984, d3.loss_bbox: 0.3015, d4.loss_cls: 0.0925, d4.loss_bbox: 0.2987, d5.loss_cls: 0.0905, d5.loss_bbox: 0.2958, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8254, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6072, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5505, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5210, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5199, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5149, d0.loss_map_cls_all: 0.2202, d0.loss_map_pts_all: 1.2571, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2202, d0.loss_map_pts: 1.2571, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1790, d1.loss_map_pts: 0.9100, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1502, d2.loss_map_pts: 0.7194, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1345, d3.loss_map_pts: 0.6489, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1255, d4.loss_map_pts: 0.6197, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1206, d5.loss_map_pts: 0.6102, d5.loss_map_dir: 0.0073, loss: 24.5121, grad_norm: 146.3738 +2026-02-28 18:55:17,035 - DriveTransformer - INFO - Epoch [11][900/39528] lr: 6.331e-05, eta: 4 days, 16:12:26, time: 0.721, data_time: 0.038, memory: 19865, loss_cls: 0.1004, loss_bbox: 0.2929, loss_traj: 0.5405, loss_traj_cls: 0.0018, loss_map_cls: 0.1103, loss_map_pts: 0.5617, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.6885, d0.loss_plan_l1_fix_dist: 0.4156, d1.loss_plan_l1_fix_time: 0.8356, d1.loss_plan_l1_fix_dist: 0.2157, d2.loss_plan_l1_fix_time: 0.8174, d2.loss_plan_l1_fix_dist: 0.2156, d3.loss_plan_l1_fix_time: 0.7975, d3.loss_plan_l1_fix_dist: 0.1844, d4.loss_plan_l1_fix_time: 0.7995, d4.loss_plan_l1_fix_dist: 0.2115, d5.loss_plan_l1_fix_time: 0.8026, d5.loss_plan_l1_fix_dist: 0.2222, d6.loss_plan_l1_fix_time: 0.8063, d6.loss_plan_l1_fix_dist: 0.1903, d0.loss_cls_all: 0.1426, d0.loss_bbox_all: 0.3666, d0.loss_cls: 0.1426, d0.loss_bbox: 0.3666, d1.loss_cls: 0.1385, d1.loss_bbox: 0.3303, d2.loss_cls: 0.1241, d2.loss_bbox: 0.3056, d3.loss_cls: 0.1077, d3.loss_bbox: 0.2973, d4.loss_cls: 0.1028, d4.loss_bbox: 0.2934, d5.loss_cls: 0.1005, d5.loss_bbox: 0.2938, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7891, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6128, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5610, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5531, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5432, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5416, d0.loss_map_cls_all: 0.1981, d0.loss_map_pts_all: 1.1737, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1981, d0.loss_map_pts: 1.1737, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1648, d1.loss_map_pts: 0.8714, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1370, d2.loss_map_pts: 0.6910, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1243, d3.loss_map_pts: 0.6006, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1179, d4.loss_map_pts: 0.5708, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1126, d5.loss_map_pts: 0.5634, d5.loss_map_dir: 0.0062, loss: 24.2738, grad_norm: 144.3351 +2026-02-28 18:55:53,621 - DriveTransformer - INFO - Epoch [11][950/39528] lr: 6.331e-05, eta: 4 days, 16:11:49, time: 0.732, data_time: 0.040, memory: 19865, loss_cls: 0.0777, loss_bbox: 0.2619, loss_traj: 0.4188, loss_traj_cls: 0.0019, loss_map_cls: 0.0917, loss_map_pts: 0.4763, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.7810, d0.loss_plan_l1_fix_dist: 0.5582, d1.loss_plan_l1_fix_time: 0.7271, d1.loss_plan_l1_fix_dist: 0.2102, d2.loss_plan_l1_fix_time: 0.7132, d2.loss_plan_l1_fix_dist: 0.2362, d3.loss_plan_l1_fix_time: 0.7111, d3.loss_plan_l1_fix_dist: 0.2060, d4.loss_plan_l1_fix_time: 0.7123, d4.loss_plan_l1_fix_dist: 0.2274, d5.loss_plan_l1_fix_time: 0.7138, d5.loss_plan_l1_fix_dist: 0.2208, d6.loss_plan_l1_fix_time: 0.7161, d6.loss_plan_l1_fix_dist: 0.1967, d0.loss_cls_all: 0.1201, d0.loss_bbox_all: 0.3217, d0.loss_cls: 0.1201, d0.loss_bbox: 0.3217, d1.loss_cls: 0.1120, d1.loss_bbox: 0.2942, d2.loss_cls: 0.0999, d2.loss_bbox: 0.2742, d3.loss_cls: 0.0834, d3.loss_bbox: 0.2683, d4.loss_cls: 0.0795, d4.loss_bbox: 0.2649, d5.loss_cls: 0.0777, d5.loss_bbox: 0.2631, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6359, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.4898, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4464, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4323, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4232, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4199, d0.loss_map_cls_all: 0.1620, d0.loss_map_pts_all: 0.9950, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1620, d0.loss_map_pts: 0.9950, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1355, d1.loss_map_pts: 0.7188, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1155, d2.loss_map_pts: 0.5674, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1048, d3.loss_map_pts: 0.5048, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0998, d4.loss_map_pts: 0.4807, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0945, d5.loss_map_pts: 0.4768, d5.loss_map_dir: 0.0052, loss: 21.4651, grad_norm: 140.4253 +2026-02-28 18:56:29,556 - DriveTransformer - INFO - Epoch [11][1000/39528] lr: 6.331e-05, eta: 4 days, 16:11:11, time: 0.719, data_time: 0.034, memory: 19865, loss_cls: 0.1065, loss_bbox: 0.2966, loss_traj: 0.5557, loss_traj_cls: 0.0018, loss_map_cls: 0.0995, loss_map_pts: 0.4957, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.4529, d0.loss_plan_l1_fix_dist: 0.3831, d1.loss_plan_l1_fix_time: 0.7627, d1.loss_plan_l1_fix_dist: 0.2130, d2.loss_plan_l1_fix_time: 0.7459, d2.loss_plan_l1_fix_dist: 0.2402, d3.loss_plan_l1_fix_time: 0.7426, d3.loss_plan_l1_fix_dist: 0.2060, d4.loss_plan_l1_fix_time: 0.7446, d4.loss_plan_l1_fix_dist: 0.2474, d5.loss_plan_l1_fix_time: 0.7465, d5.loss_plan_l1_fix_dist: 0.2223, d6.loss_plan_l1_fix_time: 0.7486, d6.loss_plan_l1_fix_dist: 0.2124, d0.loss_cls_all: 0.1502, d0.loss_bbox_all: 0.3675, d0.loss_cls: 0.1502, d0.loss_bbox: 0.3675, d1.loss_cls: 0.1428, d1.loss_bbox: 0.3308, d2.loss_cls: 0.1326, d2.loss_bbox: 0.3068, d3.loss_cls: 0.1135, d3.loss_bbox: 0.3015, d4.loss_cls: 0.1082, d4.loss_bbox: 0.2983, d5.loss_cls: 0.1061, d5.loss_bbox: 0.2972, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8423, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6557, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5986, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5745, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5629, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5564, d0.loss_map_cls_all: 0.1854, d0.loss_map_pts_all: 1.0633, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1854, d0.loss_map_pts: 1.0633, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1553, d1.loss_map_pts: 0.7598, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1321, d2.loss_map_pts: 0.5951, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1176, d3.loss_map_pts: 0.5294, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1071, d4.loss_map_pts: 0.5042, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1015, d5.loss_map_pts: 0.4970, d5.loss_map_dir: 0.0062, loss: 23.2377, grad_norm: 139.4301 +2026-02-28 18:57:06,071 - DriveTransformer - INFO - Epoch [11][1050/39528] lr: 6.331e-05, eta: 4 days, 16:10:34, time: 0.730, data_time: 0.035, memory: 19865, loss_cls: 0.0992, loss_bbox: 0.2786, loss_traj: 0.4894, loss_traj_cls: 0.0018, loss_map_cls: 0.1014, loss_map_pts: 0.4757, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.5803, d0.loss_plan_l1_fix_dist: 0.4602, d1.loss_plan_l1_fix_time: 0.7978, d1.loss_plan_l1_fix_dist: 0.2045, d2.loss_plan_l1_fix_time: 0.7791, d2.loss_plan_l1_fix_dist: 0.2576, d3.loss_plan_l1_fix_time: 0.7804, d3.loss_plan_l1_fix_dist: 0.2419, d4.loss_plan_l1_fix_time: 0.7827, d4.loss_plan_l1_fix_dist: 0.2576, d5.loss_plan_l1_fix_time: 0.7853, d5.loss_plan_l1_fix_dist: 0.1994, d6.loss_plan_l1_fix_time: 0.7885, d6.loss_plan_l1_fix_dist: 0.1973, d0.loss_cls_all: 0.1378, d0.loss_bbox_all: 0.3405, d0.loss_cls: 0.1378, d0.loss_bbox: 0.3405, d1.loss_cls: 0.1339, d1.loss_bbox: 0.3061, d2.loss_cls: 0.1213, d2.loss_bbox: 0.2871, d3.loss_cls: 0.1071, d3.loss_bbox: 0.2817, d4.loss_cls: 0.1004, d4.loss_bbox: 0.2797, d5.loss_cls: 0.0988, d5.loss_bbox: 0.2789, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7442, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5584, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5118, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4907, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4867, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4889, d0.loss_map_cls_all: 0.1862, d0.loss_map_pts_all: 1.0577, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1862, d0.loss_map_pts: 1.0577, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1538, d1.loss_map_pts: 0.7577, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1258, d2.loss_map_pts: 0.5844, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1147, d3.loss_map_pts: 0.5107, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1091, d4.loss_map_pts: 0.4845, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1032, d5.loss_map_pts: 0.4767, d5.loss_map_dir: 0.0055, loss: 22.7468, grad_norm: 136.6981 +2026-02-28 18:57:42,747 - DriveTransformer - INFO - Epoch [11][1100/39528] lr: 6.331e-05, eta: 4 days, 16:09:58, time: 0.734, data_time: 0.031, memory: 19865, loss_cls: 0.0945, loss_bbox: 0.2767, loss_traj: 0.4794, loss_traj_cls: 0.0019, loss_map_cls: 0.1251, loss_map_pts: 0.5654, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.6867, d0.loss_plan_l1_fix_dist: 0.3857, d1.loss_plan_l1_fix_time: 0.7910, d1.loss_plan_l1_fix_dist: 0.2203, d2.loss_plan_l1_fix_time: 0.7822, d2.loss_plan_l1_fix_dist: 0.2896, d3.loss_plan_l1_fix_time: 0.7580, d3.loss_plan_l1_fix_dist: 0.2816, d4.loss_plan_l1_fix_time: 0.7599, d4.loss_plan_l1_fix_dist: 0.2486, d5.loss_plan_l1_fix_time: 0.7629, d5.loss_plan_l1_fix_dist: 0.1874, d6.loss_plan_l1_fix_time: 0.7659, d6.loss_plan_l1_fix_dist: 0.2260, d0.loss_cls_all: 0.1390, d0.loss_bbox_all: 0.3483, d0.loss_cls: 0.1390, d0.loss_bbox: 0.3483, d1.loss_cls: 0.1279, d1.loss_bbox: 0.3149, d2.loss_cls: 0.1159, d2.loss_bbox: 0.2937, d3.loss_cls: 0.0994, d3.loss_bbox: 0.2830, d4.loss_cls: 0.0965, d4.loss_bbox: 0.2791, d5.loss_cls: 0.0957, d5.loss_bbox: 0.2767, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7314, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5560, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5041, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4795, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4782, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4761, d0.loss_map_cls_all: 0.2162, d0.loss_map_pts_all: 1.1901, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2162, d0.loss_map_pts: 1.1901, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1838, d1.loss_map_pts: 0.8603, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1539, d2.loss_map_pts: 0.6724, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1423, d3.loss_map_pts: 0.6003, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1340, d4.loss_map_pts: 0.5727, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1279, d5.loss_map_pts: 0.5661, d5.loss_map_dir: 0.0068, loss: 23.7570, grad_norm: 136.8177 +2026-02-28 18:58:20,749 - DriveTransformer - INFO - Epoch [11][1150/39528] lr: 6.331e-05, eta: 4 days, 16:09:26, time: 0.760, data_time: 0.039, memory: 19865, loss_cls: 0.1160, loss_bbox: 0.3223, loss_traj: 0.4344, loss_traj_cls: 0.0018, loss_map_cls: 0.1199, loss_map_pts: 0.6291, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.7082, d0.loss_plan_l1_fix_dist: 0.3649, d1.loss_plan_l1_fix_time: 0.7914, d1.loss_plan_l1_fix_dist: 0.2440, d2.loss_plan_l1_fix_time: 0.7792, d2.loss_plan_l1_fix_dist: 0.3551, d3.loss_plan_l1_fix_time: 0.7841, d3.loss_plan_l1_fix_dist: 0.3340, d4.loss_plan_l1_fix_time: 0.7865, d4.loss_plan_l1_fix_dist: 0.2792, d5.loss_plan_l1_fix_time: 0.7893, d5.loss_plan_l1_fix_dist: 0.2550, d6.loss_plan_l1_fix_time: 0.7916, d6.loss_plan_l1_fix_dist: 0.2577, d0.loss_cls_all: 0.1714, d0.loss_bbox_all: 0.4002, d0.loss_cls: 0.1714, d0.loss_bbox: 0.4002, d1.loss_cls: 0.1639, d1.loss_bbox: 0.3632, d2.loss_cls: 0.1512, d2.loss_bbox: 0.3386, d3.loss_cls: 0.1265, d3.loss_bbox: 0.3300, d4.loss_cls: 0.1173, d4.loss_bbox: 0.3265, d5.loss_cls: 0.1157, d5.loss_bbox: 0.3236, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6372, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5052, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4597, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4388, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4379, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4326, d0.loss_map_cls_all: 0.2029, d0.loss_map_pts_all: 1.2375, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2029, d0.loss_map_pts: 1.2375, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1739, d1.loss_map_pts: 0.9137, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1475, d2.loss_map_pts: 0.7359, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1341, d3.loss_map_pts: 0.6686, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1284, d4.loss_map_pts: 0.6394, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1229, d5.loss_map_pts: 0.6290, d5.loss_map_dir: 0.0078, loss: 24.7962, grad_norm: 141.8087 +2026-02-28 18:58:59,135 - DriveTransformer - INFO - Epoch [11][1200/39528] lr: 6.331e-05, eta: 4 days, 16:08:56, time: 0.769, data_time: 0.032, memory: 19865, loss_cls: 0.1041, loss_bbox: 0.3026, loss_traj: 0.4741, loss_traj_cls: 0.0018, loss_map_cls: 0.1112, loss_map_pts: 0.5934, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.4233, d0.loss_plan_l1_fix_dist: 0.3969, d1.loss_plan_l1_fix_time: 0.7904, d1.loss_plan_l1_fix_dist: 0.2445, d2.loss_plan_l1_fix_time: 0.7800, d2.loss_plan_l1_fix_dist: 0.3778, d3.loss_plan_l1_fix_time: 0.7733, d3.loss_plan_l1_fix_dist: 0.3504, d4.loss_plan_l1_fix_time: 0.7748, d4.loss_plan_l1_fix_dist: 0.2987, d5.loss_plan_l1_fix_time: 0.7770, d5.loss_plan_l1_fix_dist: 0.3013, d6.loss_plan_l1_fix_time: 0.7788, d6.loss_plan_l1_fix_dist: 0.2654, d0.loss_cls_all: 0.1508, d0.loss_bbox_all: 0.3702, d0.loss_cls: 0.1508, d0.loss_bbox: 0.3702, d1.loss_cls: 0.1459, d1.loss_bbox: 0.3331, d2.loss_cls: 0.1285, d2.loss_bbox: 0.3129, d3.loss_cls: 0.1135, d3.loss_bbox: 0.3036, d4.loss_cls: 0.1063, d4.loss_bbox: 0.3013, d5.loss_cls: 0.1053, d5.loss_bbox: 0.3010, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7025, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5433, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4939, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4826, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4784, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4736, d0.loss_map_cls_all: 0.1925, d0.loss_map_pts_all: 1.2358, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.1925, d0.loss_map_pts: 1.2358, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1611, d1.loss_map_pts: 0.8825, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1374, d2.loss_map_pts: 0.7105, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1261, d3.loss_map_pts: 0.6387, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1166, d4.loss_map_pts: 0.6050, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1126, d5.loss_map_pts: 0.5954, d5.loss_map_dir: 0.0084, loss: 24.3008, grad_norm: 144.1941 +2026-02-28 18:59:35,970 - DriveTransformer - INFO - Epoch [11][1250/39528] lr: 6.331e-05, eta: 4 days, 16:08:20, time: 0.735, data_time: 0.031, memory: 19865, loss_cls: 0.0968, loss_bbox: 0.2883, loss_traj: 0.4924, loss_traj_cls: 0.0019, loss_map_cls: 0.1133, loss_map_pts: 0.5335, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.7286, d0.loss_plan_l1_fix_dist: 0.4514, d1.loss_plan_l1_fix_time: 0.8156, d1.loss_plan_l1_fix_dist: 0.2279, d2.loss_plan_l1_fix_time: 0.7938, d2.loss_plan_l1_fix_dist: 0.3960, d3.loss_plan_l1_fix_time: 0.7793, d3.loss_plan_l1_fix_dist: 0.3739, d4.loss_plan_l1_fix_time: 0.7795, d4.loss_plan_l1_fix_dist: 0.3055, d5.loss_plan_l1_fix_time: 0.7809, d5.loss_plan_l1_fix_dist: 0.3273, d6.loss_plan_l1_fix_time: 0.7836, d6.loss_plan_l1_fix_dist: 0.2573, d0.loss_cls_all: 0.1434, d0.loss_bbox_all: 0.3499, d0.loss_cls: 0.1434, d0.loss_bbox: 0.3499, d1.loss_cls: 0.1413, d1.loss_bbox: 0.3168, d2.loss_cls: 0.1227, d2.loss_bbox: 0.2966, d3.loss_cls: 0.1053, d3.loss_bbox: 0.2904, d4.loss_cls: 0.0975, d4.loss_bbox: 0.2897, d5.loss_cls: 0.0969, d5.loss_bbox: 0.2881, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7265, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5781, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5202, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5051, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4973, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4942, d0.loss_map_cls_all: 0.1943, d0.loss_map_pts_all: 1.0797, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1943, d0.loss_map_pts: 1.0797, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1611, d1.loss_map_pts: 0.7916, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1391, d2.loss_map_pts: 0.6262, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1284, d3.loss_map_pts: 0.5644, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1206, d4.loss_map_pts: 0.5404, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1160, d5.loss_map_pts: 0.5344, d5.loss_map_dir: 0.0065, loss: 24.0082, grad_norm: 142.9345 +2026-02-28 19:00:13,430 - DriveTransformer - INFO - Epoch [11][1300/39528] lr: 6.331e-05, eta: 4 days, 16:07:47, time: 0.749, data_time: 0.037, memory: 19865, loss_cls: 0.0925, loss_bbox: 0.2757, loss_traj: 0.3994, loss_traj_cls: 0.0018, loss_map_cls: 0.1009, loss_map_pts: 0.5718, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.2880, d0.loss_plan_l1_fix_dist: 0.3858, d1.loss_plan_l1_fix_time: 0.7470, d1.loss_plan_l1_fix_dist: 0.2005, d2.loss_plan_l1_fix_time: 0.7320, d2.loss_plan_l1_fix_dist: 0.4011, d3.loss_plan_l1_fix_time: 0.7346, d3.loss_plan_l1_fix_dist: 0.3643, d4.loss_plan_l1_fix_time: 0.7361, d4.loss_plan_l1_fix_dist: 0.2622, d5.loss_plan_l1_fix_time: 0.7382, d5.loss_plan_l1_fix_dist: 0.2858, d6.loss_plan_l1_fix_time: 0.7420, d6.loss_plan_l1_fix_dist: 0.2029, d0.loss_cls_all: 0.1282, d0.loss_bbox_all: 0.3417, d0.loss_cls: 0.1282, d0.loss_bbox: 0.3417, d1.loss_cls: 0.1251, d1.loss_bbox: 0.3111, d2.loss_cls: 0.1113, d2.loss_bbox: 0.2902, d3.loss_cls: 0.0976, d3.loss_bbox: 0.2844, d4.loss_cls: 0.0939, d4.loss_bbox: 0.2789, d5.loss_cls: 0.0929, d5.loss_bbox: 0.2761, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6167, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.4577, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4051, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4027, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3978, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.3949, d0.loss_map_cls_all: 0.1844, d0.loss_map_pts_all: 1.1835, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.1844, d0.loss_map_pts: 1.1835, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1501, d1.loss_map_pts: 0.8442, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1276, d2.loss_map_pts: 0.6738, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1146, d3.loss_map_pts: 0.6099, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1078, d4.loss_map_pts: 0.5790, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1029, d5.loss_map_pts: 0.5735, d5.loss_map_dir: 0.0077, loss: 22.5248, grad_norm: 141.5171 +2026-02-28 19:00:51,060 - DriveTransformer - INFO - Epoch [11][1350/39528] lr: 6.331e-05, eta: 4 days, 16:07:14, time: 0.753, data_time: 0.034, memory: 19865, loss_cls: 0.1028, loss_bbox: 0.2953, loss_traj: 0.4196, loss_traj_cls: 0.0018, loss_map_cls: 0.1150, loss_map_pts: 0.6319, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.8198, d0.loss_plan_l1_fix_dist: 0.4563, d1.loss_plan_l1_fix_time: 0.7948, d1.loss_plan_l1_fix_dist: 0.1797, d2.loss_plan_l1_fix_time: 0.7798, d2.loss_plan_l1_fix_dist: 0.3959, d3.loss_plan_l1_fix_time: 0.7763, d3.loss_plan_l1_fix_dist: 0.3453, d4.loss_plan_l1_fix_time: 0.7775, d4.loss_plan_l1_fix_dist: 0.2275, d5.loss_plan_l1_fix_time: 0.7794, d5.loss_plan_l1_fix_dist: 0.2681, d6.loss_plan_l1_fix_time: 0.7821, d6.loss_plan_l1_fix_dist: 0.2348, d0.loss_cls_all: 0.1480, d0.loss_bbox_all: 0.3738, d0.loss_cls: 0.1480, d0.loss_bbox: 0.3738, d1.loss_cls: 0.1419, d1.loss_bbox: 0.3356, d2.loss_cls: 0.1285, d2.loss_bbox: 0.3091, d3.loss_cls: 0.1141, d3.loss_bbox: 0.3002, d4.loss_cls: 0.1053, d4.loss_bbox: 0.2977, d5.loss_cls: 0.1033, d5.loss_bbox: 0.2961, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6322, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4908, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4508, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4271, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4237, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4196, d0.loss_map_cls_all: 0.2011, d0.loss_map_pts_all: 1.2844, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2011, d0.loss_map_pts: 1.2844, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1638, d1.loss_map_pts: 0.9266, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1389, d2.loss_map_pts: 0.7398, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1276, d3.loss_map_pts: 0.6726, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1214, d4.loss_map_pts: 0.6389, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1165, d5.loss_map_pts: 0.6338, d5.loss_map_dir: 0.0083, loss: 24.5258, grad_norm: 142.2735 +2026-02-28 19:01:28,511 - DriveTransformer - INFO - Epoch [11][1400/39528] lr: 6.331e-05, eta: 4 days, 16:06:41, time: 0.749, data_time: 0.038, memory: 19865, loss_cls: 0.1007, loss_bbox: 0.2882, loss_traj: 0.4706, loss_traj_cls: 0.0018, loss_map_cls: 0.1140, loss_map_pts: 0.5500, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.5816, d0.loss_plan_l1_fix_dist: 0.3802, d1.loss_plan_l1_fix_time: 0.7400, d1.loss_plan_l1_fix_dist: 0.1787, d2.loss_plan_l1_fix_time: 0.7226, d2.loss_plan_l1_fix_dist: 0.3931, d3.loss_plan_l1_fix_time: 0.7152, d3.loss_plan_l1_fix_dist: 0.3280, d4.loss_plan_l1_fix_time: 0.7159, d4.loss_plan_l1_fix_dist: 0.1880, d5.loss_plan_l1_fix_time: 0.7176, d5.loss_plan_l1_fix_dist: 0.2314, d6.loss_plan_l1_fix_time: 0.7198, d6.loss_plan_l1_fix_dist: 0.1989, d0.loss_cls_all: 0.1491, d0.loss_bbox_all: 0.3554, d0.loss_cls: 0.1491, d0.loss_bbox: 0.3554, d1.loss_cls: 0.1422, d1.loss_bbox: 0.3202, d2.loss_cls: 0.1253, d2.loss_bbox: 0.2992, d3.loss_cls: 0.1089, d3.loss_bbox: 0.2931, d4.loss_cls: 0.1046, d4.loss_bbox: 0.2901, d5.loss_cls: 0.1019, d5.loss_bbox: 0.2888, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6814, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5434, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4906, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4775, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4720, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4719, d0.loss_map_cls_all: 0.1928, d0.loss_map_pts_all: 1.1616, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1928, d0.loss_map_pts: 1.1616, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1656, d1.loss_map_pts: 0.8389, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1429, d2.loss_map_pts: 0.6600, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1318, d3.loss_map_pts: 0.5890, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1229, d4.loss_map_pts: 0.5602, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1174, d5.loss_map_pts: 0.5508, d5.loss_map_dir: 0.0071, loss: 23.2058, grad_norm: 140.3816 +2026-02-28 19:02:06,226 - DriveTransformer - INFO - Epoch [11][1450/39528] lr: 6.331e-05, eta: 4 days, 16:06:08, time: 0.755, data_time: 0.034, memory: 19865, loss_cls: 0.0962, loss_bbox: 0.2844, loss_traj: 0.4671, loss_traj_cls: 0.0018, loss_map_cls: 0.1049, loss_map_pts: 0.5181, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.3777, d0.loss_plan_l1_fix_dist: 0.4435, d1.loss_plan_l1_fix_time: 0.6885, d1.loss_plan_l1_fix_dist: 0.2119, d2.loss_plan_l1_fix_time: 0.6694, d2.loss_plan_l1_fix_dist: 0.3796, d3.loss_plan_l1_fix_time: 0.6605, d3.loss_plan_l1_fix_dist: 0.3070, d4.loss_plan_l1_fix_time: 0.6616, d4.loss_plan_l1_fix_dist: 0.2145, d5.loss_plan_l1_fix_time: 0.6632, d5.loss_plan_l1_fix_dist: 0.2582, d6.loss_plan_l1_fix_time: 0.6654, d6.loss_plan_l1_fix_dist: 0.2087, d0.loss_cls_all: 0.1427, d0.loss_bbox_all: 0.3515, d0.loss_cls: 0.1427, d0.loss_bbox: 0.3515, d1.loss_cls: 0.1371, d1.loss_bbox: 0.3168, d2.loss_cls: 0.1240, d2.loss_bbox: 0.2942, d3.loss_cls: 0.1036, d3.loss_bbox: 0.2901, d4.loss_cls: 0.0966, d4.loss_bbox: 0.2872, d5.loss_cls: 0.0948, d5.loss_bbox: 0.2859, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6929, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5332, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4877, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4749, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4683, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4663, d0.loss_map_cls_all: 0.1869, d0.loss_map_pts_all: 1.0957, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1869, d0.loss_map_pts: 1.0957, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1599, d1.loss_map_pts: 0.7808, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1354, d2.loss_map_pts: 0.6105, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1207, d3.loss_map_pts: 0.5480, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1136, d4.loss_map_pts: 0.5230, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1069, d5.loss_map_pts: 0.5194, d5.loss_map_dir: 0.0070, loss: 22.2684, grad_norm: 140.7955 +2026-02-28 19:02:43,414 - DriveTransformer - INFO - Epoch [11][1500/39528] lr: 6.331e-05, eta: 4 days, 16:05:34, time: 0.744, data_time: 0.035, memory: 19865, loss_cls: 0.0870, loss_bbox: 0.2719, loss_traj: 0.4096, loss_traj_cls: 0.0018, loss_map_cls: 0.0935, loss_map_pts: 0.5208, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.5385, d0.loss_plan_l1_fix_dist: 0.5104, d1.loss_plan_l1_fix_time: 0.6367, d1.loss_plan_l1_fix_dist: 0.2463, d2.loss_plan_l1_fix_time: 0.6218, d2.loss_plan_l1_fix_dist: 0.3347, d3.loss_plan_l1_fix_time: 0.6224, d3.loss_plan_l1_fix_dist: 0.2514, d4.loss_plan_l1_fix_time: 0.6245, d4.loss_plan_l1_fix_dist: 0.2184, d5.loss_plan_l1_fix_time: 0.6263, d5.loss_plan_l1_fix_dist: 0.2276, d6.loss_plan_l1_fix_time: 0.6287, d6.loss_plan_l1_fix_dist: 0.2012, d0.loss_cls_all: 0.1262, d0.loss_bbox_all: 0.3406, d0.loss_cls: 0.1262, d0.loss_bbox: 0.3406, d1.loss_cls: 0.1249, d1.loss_bbox: 0.3037, d2.loss_cls: 0.1131, d2.loss_bbox: 0.2849, d3.loss_cls: 0.0947, d3.loss_bbox: 0.2764, d4.loss_cls: 0.0881, d4.loss_bbox: 0.2741, d5.loss_cls: 0.0866, d5.loss_bbox: 0.2726, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5972, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4513, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4219, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4119, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4099, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4098, d0.loss_map_cls_all: 0.1738, d0.loss_map_pts_all: 1.0888, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1738, d0.loss_map_pts: 1.0888, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1459, d1.loss_map_pts: 0.7822, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1247, d2.loss_map_pts: 0.6190, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1115, d3.loss_map_pts: 0.5569, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1025, d4.loss_map_pts: 0.5282, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.0965, d5.loss_map_pts: 0.5207, d5.loss_map_dir: 0.0071, loss: 21.4037, grad_norm: 139.8113 +2026-02-28 19:03:21,688 - DriveTransformer - INFO - Epoch [11][1550/39528] lr: 6.331e-05, eta: 4 days, 16:05:03, time: 0.765, data_time: 0.034, memory: 19865, loss_cls: 0.0967, loss_bbox: 0.2937, loss_traj: 0.4115, loss_traj_cls: 0.0018, loss_map_cls: 0.1193, loss_map_pts: 0.5846, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.5778, d0.loss_plan_l1_fix_dist: 0.4682, d1.loss_plan_l1_fix_time: 0.7734, d1.loss_plan_l1_fix_dist: 0.2679, d2.loss_plan_l1_fix_time: 0.7676, d2.loss_plan_l1_fix_dist: 0.2701, d3.loss_plan_l1_fix_time: 0.7650, d3.loss_plan_l1_fix_dist: 0.2273, d4.loss_plan_l1_fix_time: 0.7661, d4.loss_plan_l1_fix_dist: 0.2416, d5.loss_plan_l1_fix_time: 0.7676, d5.loss_plan_l1_fix_dist: 0.2159, d6.loss_plan_l1_fix_time: 0.7696, d6.loss_plan_l1_fix_dist: 0.2034, d0.loss_cls_all: 0.1419, d0.loss_bbox_all: 0.3645, d0.loss_cls: 0.1419, d0.loss_bbox: 0.3645, d1.loss_cls: 0.1394, d1.loss_bbox: 0.3267, d2.loss_cls: 0.1243, d2.loss_bbox: 0.3056, d3.loss_cls: 0.1074, d3.loss_bbox: 0.2965, d4.loss_cls: 0.0983, d4.loss_bbox: 0.2960, d5.loss_cls: 0.0976, d5.loss_bbox: 0.2931, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6614, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4863, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4376, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4181, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4134, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4105, d0.loss_map_cls_all: 0.2132, d0.loss_map_pts_all: 1.2313, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2132, d0.loss_map_pts: 1.2313, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1777, d1.loss_map_pts: 0.8815, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1488, d2.loss_map_pts: 0.6950, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1350, d3.loss_map_pts: 0.6216, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1274, d4.loss_map_pts: 0.5930, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1228, d5.loss_map_pts: 0.5850, d5.loss_map_dir: 0.0073, loss: 23.5551, grad_norm: 139.1609 +2026-02-28 19:03:59,418 - DriveTransformer - INFO - Epoch [11][1600/39528] lr: 6.331e-05, eta: 4 days, 16:04:31, time: 0.755, data_time: 0.035, memory: 19865, loss_cls: 0.0867, loss_bbox: 0.2725, loss_traj: 0.3960, loss_traj_cls: 0.0019, loss_map_cls: 0.0843, loss_map_pts: 0.4977, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.3621, d0.loss_plan_l1_fix_dist: 0.5627, d1.loss_plan_l1_fix_time: 0.6845, d1.loss_plan_l1_fix_dist: 0.3110, d2.loss_plan_l1_fix_time: 0.6729, d2.loss_plan_l1_fix_dist: 0.2345, d3.loss_plan_l1_fix_time: 0.6710, d3.loss_plan_l1_fix_dist: 0.2193, d4.loss_plan_l1_fix_time: 0.6728, d4.loss_plan_l1_fix_dist: 0.2699, d5.loss_plan_l1_fix_time: 0.6749, d5.loss_plan_l1_fix_dist: 0.2232, d6.loss_plan_l1_fix_time: 0.6777, d6.loss_plan_l1_fix_dist: 0.2223, d0.loss_cls_all: 0.1306, d0.loss_bbox_all: 0.3317, d0.loss_cls: 0.1306, d0.loss_bbox: 0.3317, d1.loss_cls: 0.1242, d1.loss_bbox: 0.3028, d2.loss_cls: 0.1119, d2.loss_bbox: 0.2826, d3.loss_cls: 0.0955, d3.loss_bbox: 0.2754, d4.loss_cls: 0.0893, d4.loss_bbox: 0.2735, d5.loss_cls: 0.0868, d5.loss_bbox: 0.2725, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5684, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4532, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4157, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4014, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3999, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.3960, d0.loss_map_cls_all: 0.1541, d0.loss_map_pts_all: 1.0466, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.1541, d0.loss_map_pts: 1.0466, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1282, d1.loss_map_pts: 0.7226, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1085, d2.loss_map_pts: 0.5696, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.0994, d3.loss_map_pts: 0.5215, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.0933, d4.loss_map_pts: 0.5019, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.0865, d5.loss_map_pts: 0.4984, d5.loss_map_dir: 0.0075, loss: 21.0694, grad_norm: 147.7540 +2026-02-28 19:04:35,169 - DriveTransformer - INFO - Epoch [11][1650/39528] lr: 6.331e-05, eta: 4 days, 16:03:51, time: 0.715, data_time: 0.033, memory: 19865, loss_cls: 0.1014, loss_bbox: 0.2971, loss_traj: 0.5768, loss_traj_cls: 0.0018, loss_map_cls: 0.0842, loss_map_pts: 0.4707, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.6321, d0.loss_plan_l1_fix_dist: 0.4316, d1.loss_plan_l1_fix_time: 0.8411, d1.loss_plan_l1_fix_dist: 0.3207, d2.loss_plan_l1_fix_time: 0.8259, d2.loss_plan_l1_fix_dist: 0.2273, d3.loss_plan_l1_fix_time: 0.8264, d3.loss_plan_l1_fix_dist: 0.2139, d4.loss_plan_l1_fix_time: 0.8275, d4.loss_plan_l1_fix_dist: 0.2649, d5.loss_plan_l1_fix_time: 0.8287, d5.loss_plan_l1_fix_dist: 0.2041, d6.loss_plan_l1_fix_time: 0.8303, d6.loss_plan_l1_fix_dist: 0.1948, d0.loss_cls_all: 0.1447, d0.loss_bbox_all: 0.3713, d0.loss_cls: 0.1447, d0.loss_bbox: 0.3713, d1.loss_cls: 0.1369, d1.loss_bbox: 0.3366, d2.loss_cls: 0.1265, d2.loss_bbox: 0.3106, d3.loss_cls: 0.1089, d3.loss_bbox: 0.3042, d4.loss_cls: 0.1031, d4.loss_bbox: 0.2995, d5.loss_cls: 0.1004, d5.loss_bbox: 0.2985, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8398, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6784, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6121, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5905, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5818, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5777, d0.loss_map_cls_all: 0.1640, d0.loss_map_pts_all: 0.9820, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1640, d0.loss_map_pts: 0.9820, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1270, d1.loss_map_pts: 0.6992, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1067, d2.loss_map_pts: 0.5512, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.0965, d3.loss_map_pts: 0.5008, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0900, d4.loss_map_pts: 0.4791, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0850, d5.loss_map_pts: 0.4731, d5.loss_map_dir: 0.0059, loss: 23.5932, grad_norm: 148.0164 +2026-02-28 19:05:10,304 - DriveTransformer - INFO - Epoch [11][1700/39528] lr: 6.331e-05, eta: 4 days, 16:03:10, time: 0.703, data_time: 0.039, memory: 19865, loss_cls: 0.1107, loss_bbox: 0.3141, loss_traj: 0.5681, loss_traj_cls: 0.0018, loss_map_cls: 0.1233, loss_map_pts: 0.5691, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.5584, d0.loss_plan_l1_fix_dist: 0.5334, d1.loss_plan_l1_fix_time: 0.8487, d1.loss_plan_l1_fix_dist: 0.3579, d2.loss_plan_l1_fix_time: 0.8410, d2.loss_plan_l1_fix_dist: 0.2572, d3.loss_plan_l1_fix_time: 0.8383, d3.loss_plan_l1_fix_dist: 0.2734, d4.loss_plan_l1_fix_time: 0.8395, d4.loss_plan_l1_fix_dist: 0.2952, d5.loss_plan_l1_fix_time: 0.8407, d5.loss_plan_l1_fix_dist: 0.2370, d6.loss_plan_l1_fix_time: 0.8423, d6.loss_plan_l1_fix_dist: 0.2307, d0.loss_cls_all: 0.1500, d0.loss_bbox_all: 0.3844, d0.loss_cls: 0.1500, d0.loss_bbox: 0.3844, d1.loss_cls: 0.1433, d1.loss_bbox: 0.3510, d2.loss_cls: 0.1325, d2.loss_bbox: 0.3236, d3.loss_cls: 0.1169, d3.loss_bbox: 0.3159, d4.loss_cls: 0.1124, d4.loss_bbox: 0.3134, d5.loss_cls: 0.1112, d5.loss_bbox: 0.3125, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8483, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6822, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6079, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5850, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5685, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5647, d0.loss_map_cls_all: 0.2146, d0.loss_map_pts_all: 1.1992, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2146, d0.loss_map_pts: 1.1992, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1768, d1.loss_map_pts: 0.8740, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1496, d2.loss_map_pts: 0.6757, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1371, d3.loss_map_pts: 0.6005, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1296, d4.loss_map_pts: 0.5763, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1258, d5.loss_map_pts: 0.5699, d5.loss_map_dir: 0.0067, loss: 25.5386, grad_norm: 147.7620 +2026-02-28 19:05:48,882 - DriveTransformer - INFO - Epoch [11][1750/39528] lr: 6.331e-05, eta: 4 days, 16:02:40, time: 0.772, data_time: 0.036, memory: 19865, loss_cls: 0.0908, loss_bbox: 0.2693, loss_traj: 0.5087, loss_traj_cls: 0.0018, loss_map_cls: 0.0934, loss_map_pts: 0.5231, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.2777, d0.loss_plan_l1_fix_dist: 0.4896, d1.loss_plan_l1_fix_time: 0.7396, d1.loss_plan_l1_fix_dist: 0.3681, d2.loss_plan_l1_fix_time: 0.7184, d2.loss_plan_l1_fix_dist: 0.2749, d3.loss_plan_l1_fix_time: 0.7146, d3.loss_plan_l1_fix_dist: 0.2783, d4.loss_plan_l1_fix_time: 0.7170, d4.loss_plan_l1_fix_dist: 0.2780, d5.loss_plan_l1_fix_time: 0.7197, d5.loss_plan_l1_fix_dist: 0.2091, d6.loss_plan_l1_fix_time: 0.7227, d6.loss_plan_l1_fix_dist: 0.2194, d0.loss_cls_all: 0.1326, d0.loss_bbox_all: 0.3323, d0.loss_cls: 0.1326, d0.loss_bbox: 0.3323, d1.loss_cls: 0.1264, d1.loss_bbox: 0.2989, d2.loss_cls: 0.1143, d2.loss_bbox: 0.2790, d3.loss_cls: 0.0974, d3.loss_bbox: 0.2715, d4.loss_cls: 0.0924, d4.loss_bbox: 0.2704, d5.loss_cls: 0.0905, d5.loss_bbox: 0.2699, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7357, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5917, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5347, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5111, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5076, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5056, d0.loss_map_cls_all: 0.1789, d0.loss_map_pts_all: 1.1332, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1789, d0.loss_map_pts: 1.1332, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1424, d1.loss_map_pts: 0.8003, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1196, d2.loss_map_pts: 0.6225, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1089, d3.loss_map_pts: 0.5568, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1013, d4.loss_map_pts: 0.5304, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.0952, d5.loss_map_pts: 0.5240, d5.loss_map_dir: 0.0070, loss: 22.7254, grad_norm: 158.5169 +2026-02-28 19:06:25,104 - DriveTransformer - INFO - Epoch [11][1800/39528] lr: 6.331e-05, eta: 4 days, 16:02:02, time: 0.724, data_time: 0.038, memory: 19865, loss_cls: 0.1007, loss_bbox: 0.2919, loss_traj: 0.5338, loss_traj_cls: 0.0018, loss_map_cls: 0.1037, loss_map_pts: 0.5544, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.8235, d0.loss_plan_l1_fix_dist: 0.5763, d1.loss_plan_l1_fix_time: 0.8312, d1.loss_plan_l1_fix_dist: 0.3965, d2.loss_plan_l1_fix_time: 0.8054, d2.loss_plan_l1_fix_dist: 0.3187, d3.loss_plan_l1_fix_time: 0.8010, d3.loss_plan_l1_fix_dist: 0.3211, d4.loss_plan_l1_fix_time: 0.8032, d4.loss_plan_l1_fix_dist: 0.2773, d5.loss_plan_l1_fix_time: 0.8056, d5.loss_plan_l1_fix_dist: 0.2323, d6.loss_plan_l1_fix_time: 0.8086, d6.loss_plan_l1_fix_dist: 0.2306, d0.loss_cls_all: 0.1463, d0.loss_bbox_all: 0.3572, d0.loss_cls: 0.1463, d0.loss_bbox: 0.3572, d1.loss_cls: 0.1390, d1.loss_bbox: 0.3257, d2.loss_cls: 0.1278, d2.loss_bbox: 0.3033, d3.loss_cls: 0.1077, d3.loss_bbox: 0.2960, d4.loss_cls: 0.1024, d4.loss_bbox: 0.2939, d5.loss_cls: 0.1008, d5.loss_bbox: 0.2920, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7882, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6208, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5453, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5287, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5255, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5219, d0.loss_map_cls_all: 0.1929, d0.loss_map_pts_all: 1.1151, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1929, d0.loss_map_pts: 1.1151, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1618, d1.loss_map_pts: 0.8137, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1308, d2.loss_map_pts: 0.6520, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1197, d3.loss_map_pts: 0.5838, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1111, d4.loss_map_pts: 0.5598, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1059, d5.loss_map_pts: 0.5549, d5.loss_map_dir: 0.0065, loss: 24.7094, grad_norm: 156.9874 +2026-02-28 19:07:00,978 - DriveTransformer - INFO - Epoch [11][1850/39528] lr: 6.331e-05, eta: 4 days, 16:01:23, time: 0.717, data_time: 0.036, memory: 19865, loss_cls: 0.1035, loss_bbox: 0.3015, loss_traj: 0.4190, loss_traj_cls: 0.0019, loss_map_cls: 0.1069, loss_map_pts: 0.5301, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.6777, d0.loss_plan_l1_fix_dist: 0.5486, d1.loss_plan_l1_fix_time: 0.8241, d1.loss_plan_l1_fix_dist: 0.3727, d2.loss_plan_l1_fix_time: 0.8155, d2.loss_plan_l1_fix_dist: 0.2894, d3.loss_plan_l1_fix_time: 0.8079, d3.loss_plan_l1_fix_dist: 0.3211, d4.loss_plan_l1_fix_time: 0.8110, d4.loss_plan_l1_fix_dist: 0.2501, d5.loss_plan_l1_fix_time: 0.8134, d5.loss_plan_l1_fix_dist: 0.2408, d6.loss_plan_l1_fix_time: 0.8176, d6.loss_plan_l1_fix_dist: 0.2248, d0.loss_cls_all: 0.1506, d0.loss_bbox_all: 0.3725, d0.loss_cls: 0.1506, d0.loss_bbox: 0.3725, d1.loss_cls: 0.1480, d1.loss_bbox: 0.3340, d2.loss_cls: 0.1320, d2.loss_bbox: 0.3097, d3.loss_cls: 0.1122, d3.loss_bbox: 0.3044, d4.loss_cls: 0.1068, d4.loss_bbox: 0.3014, d5.loss_cls: 0.1045, d5.loss_bbox: 0.3003, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6211, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4992, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4445, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4237, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4206, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4216, d0.loss_map_cls_all: 0.1963, d0.loss_map_pts_all: 1.0859, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1963, d0.loss_map_pts: 1.0859, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1637, d1.loss_map_pts: 0.7842, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1355, d2.loss_map_pts: 0.6140, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1201, d3.loss_map_pts: 0.5542, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1133, d4.loss_map_pts: 0.5338, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1092, d5.loss_map_pts: 0.5290, d5.loss_map_dir: 0.0057, loss: 23.5796, grad_norm: 154.5604 +2026-02-28 19:07:38,204 - DriveTransformer - INFO - Epoch [11][1900/39528] lr: 6.331e-05, eta: 4 days, 16:00:49, time: 0.744, data_time: 0.036, memory: 19865, loss_cls: 0.0884, loss_bbox: 0.2840, loss_traj: 0.4602, loss_traj_cls: 0.0018, loss_map_cls: 0.1213, loss_map_pts: 0.5979, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.5023, d0.loss_plan_l1_fix_dist: 0.4158, d1.loss_plan_l1_fix_time: 0.7507, d1.loss_plan_l1_fix_dist: 0.3291, d2.loss_plan_l1_fix_time: 0.7476, d2.loss_plan_l1_fix_dist: 0.2423, d3.loss_plan_l1_fix_time: 0.7371, d3.loss_plan_l1_fix_dist: 0.2608, d4.loss_plan_l1_fix_time: 0.7390, d4.loss_plan_l1_fix_dist: 0.2010, d5.loss_plan_l1_fix_time: 0.7429, d5.loss_plan_l1_fix_dist: 0.1938, d6.loss_plan_l1_fix_time: 0.7475, d6.loss_plan_l1_fix_dist: 0.1767, d0.loss_cls_all: 0.1299, d0.loss_bbox_all: 0.3497, d0.loss_cls: 0.1299, d0.loss_bbox: 0.3497, d1.loss_cls: 0.1229, d1.loss_bbox: 0.3155, d2.loss_cls: 0.1130, d2.loss_bbox: 0.2912, d3.loss_cls: 0.0983, d3.loss_bbox: 0.2840, d4.loss_cls: 0.0910, d4.loss_bbox: 0.2836, d5.loss_cls: 0.0886, d5.loss_bbox: 0.2834, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6880, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5352, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4792, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4657, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4653, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4638, d0.loss_map_cls_all: 0.2092, d0.loss_map_pts_all: 1.2771, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2092, d0.loss_map_pts: 1.2771, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1768, d1.loss_map_pts: 0.9097, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1500, d2.loss_map_pts: 0.7153, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1364, d3.loss_map_pts: 0.6429, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1295, d4.loss_map_pts: 0.6071, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1240, d5.loss_map_pts: 0.5988, d5.loss_map_dir: 0.0074, loss: 23.5955, grad_norm: 155.5129 +2026-02-28 19:08:15,592 - DriveTransformer - INFO - Epoch [11][1950/39528] lr: 6.331e-05, eta: 4 days, 16:00:15, time: 0.748, data_time: 0.035, memory: 19865, loss_cls: 0.0792, loss_bbox: 0.2681, loss_traj: 0.3901, loss_traj_cls: 0.0019, loss_map_cls: 0.0992, loss_map_pts: 0.5106, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.8782, d0.loss_plan_l1_fix_dist: 0.6066, d1.loss_plan_l1_fix_time: 0.6956, d1.loss_plan_l1_fix_dist: 0.3175, d2.loss_plan_l1_fix_time: 0.6806, d2.loss_plan_l1_fix_dist: 0.2442, d3.loss_plan_l1_fix_time: 0.6723, d3.loss_plan_l1_fix_dist: 0.2756, d4.loss_plan_l1_fix_time: 0.6737, d4.loss_plan_l1_fix_dist: 0.2389, d5.loss_plan_l1_fix_time: 0.6775, d5.loss_plan_l1_fix_dist: 0.2234, d6.loss_plan_l1_fix_time: 0.6818, d6.loss_plan_l1_fix_dist: 0.2390, d0.loss_cls_all: 0.1212, d0.loss_bbox_all: 0.3285, d0.loss_cls: 0.1212, d0.loss_bbox: 0.3285, d1.loss_cls: 0.1173, d1.loss_bbox: 0.2979, d2.loss_cls: 0.1031, d2.loss_bbox: 0.2784, d3.loss_cls: 0.0839, d3.loss_bbox: 0.2729, d4.loss_cls: 0.0792, d4.loss_bbox: 0.2712, d5.loss_cls: 0.0787, d5.loss_bbox: 0.2686, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5664, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4378, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4114, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4050, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3987, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.3955, d0.loss_map_cls_all: 0.1691, d0.loss_map_pts_all: 1.1192, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1691, d0.loss_map_pts: 1.1192, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1414, d1.loss_map_pts: 0.7892, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1215, d2.loss_map_pts: 0.6029, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1109, d3.loss_map_pts: 0.5423, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1044, d4.loss_map_pts: 0.5173, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1011, d5.loss_map_pts: 0.5100, d5.loss_map_dir: 0.0058, loss: 21.9872, grad_norm: 157.3041 +2026-02-28 19:08:51,489 - DriveTransformer - INFO - Epoch [11][2000/39528] lr: 6.331e-05, eta: 4 days, 15:59:37, time: 0.719, data_time: 0.036, memory: 19865, loss_cls: 0.0832, loss_bbox: 0.2858, loss_traj: 0.4746, loss_traj_cls: 0.0019, loss_map_cls: 0.0741, loss_map_pts: 0.4387, loss_map_dir: 0.0047, d0.loss_plan_l1_fix_time: 2.3967, d0.loss_plan_l1_fix_dist: 0.5132, d1.loss_plan_l1_fix_time: 0.7560, d1.loss_plan_l1_fix_dist: 0.2868, d2.loss_plan_l1_fix_time: 0.7439, d2.loss_plan_l1_fix_dist: 0.2212, d3.loss_plan_l1_fix_time: 0.7308, d3.loss_plan_l1_fix_dist: 0.2724, d4.loss_plan_l1_fix_time: 0.7317, d4.loss_plan_l1_fix_dist: 0.2460, d5.loss_plan_l1_fix_time: 0.7339, d5.loss_plan_l1_fix_dist: 0.2299, d6.loss_plan_l1_fix_time: 0.7369, d6.loss_plan_l1_fix_dist: 0.2369, d0.loss_cls_all: 0.1272, d0.loss_bbox_all: 0.3421, d0.loss_cls: 0.1272, d0.loss_bbox: 0.3421, d1.loss_cls: 0.1213, d1.loss_bbox: 0.3130, d2.loss_cls: 0.1101, d2.loss_bbox: 0.2910, d3.loss_cls: 0.0900, d3.loss_bbox: 0.2896, d4.loss_cls: 0.0852, d4.loss_bbox: 0.2858, d5.loss_cls: 0.0821, d5.loss_bbox: 0.2858, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7119, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5597, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5076, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4886, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4786, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4751, d0.loss_map_cls_all: 0.1392, d0.loss_map_pts_all: 0.8682, d0.loss_map_dir_all: 0.0048, d0.loss_map_cls: 0.1392, d0.loss_map_pts: 0.8682, d0.loss_map_dir: 0.0048, d1.loss_map_cls: 0.1138, d1.loss_map_pts: 0.6395, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.0953, d2.loss_map_pts: 0.5143, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.0857, d3.loss_map_pts: 0.4673, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.0797, d4.loss_map_pts: 0.4486, d4.loss_map_dir: 0.0046, d5.loss_map_cls: 0.0759, d5.loss_map_pts: 0.4383, d5.loss_map_dir: 0.0046, loss: 21.3238, grad_norm: 160.9854 +2026-02-28 19:09:29,032 - DriveTransformer - INFO - Epoch [11][2050/39528] lr: 6.331e-05, eta: 4 days, 15:59:03, time: 0.749, data_time: 0.037, memory: 19865, loss_cls: 0.1068, loss_bbox: 0.3199, loss_traj: 0.3858, loss_traj_cls: 0.0019, loss_map_cls: 0.1242, loss_map_pts: 0.5656, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.5409, d0.loss_plan_l1_fix_dist: 0.4407, d1.loss_plan_l1_fix_time: 0.8403, d1.loss_plan_l1_fix_dist: 0.2509, d2.loss_plan_l1_fix_time: 0.8234, d2.loss_plan_l1_fix_dist: 0.1970, d3.loss_plan_l1_fix_time: 0.8073, d3.loss_plan_l1_fix_dist: 0.2638, d4.loss_plan_l1_fix_time: 0.8075, d4.loss_plan_l1_fix_dist: 0.2434, d5.loss_plan_l1_fix_time: 0.8094, d5.loss_plan_l1_fix_dist: 0.2517, d6.loss_plan_l1_fix_time: 0.8126, d6.loss_plan_l1_fix_dist: 0.2279, d0.loss_cls_all: 0.1647, d0.loss_bbox_all: 0.3868, d0.loss_cls: 0.1647, d0.loss_bbox: 0.3868, d1.loss_cls: 0.1571, d1.loss_bbox: 0.3513, d2.loss_cls: 0.1432, d2.loss_bbox: 0.3276, d3.loss_cls: 0.1189, d3.loss_bbox: 0.3234, d4.loss_cls: 0.1083, d4.loss_bbox: 0.3224, d5.loss_cls: 0.1063, d5.loss_bbox: 0.3210, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6119, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4561, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4127, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3927, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3882, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.3854, d0.loss_map_cls_all: 0.2102, d0.loss_map_pts_all: 1.1639, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2102, d0.loss_map_pts: 1.1639, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1777, d1.loss_map_pts: 0.8325, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1529, d2.loss_map_pts: 0.6534, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1416, d3.loss_map_pts: 0.5928, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1332, d4.loss_map_pts: 0.5690, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1277, d5.loss_map_pts: 0.5660, d5.loss_map_dir: 0.0078, loss: 23.6111, grad_norm: 161.6736 +2026-02-28 19:10:04,012 - DriveTransformer - INFO - Epoch [11][2100/39528] lr: 6.331e-05, eta: 4 days, 15:58:21, time: 0.700, data_time: 0.036, memory: 19865, loss_cls: 0.0977, loss_bbox: 0.2911, loss_traj: 0.5318, loss_traj_cls: 0.0019, loss_map_cls: 0.1085, loss_map_pts: 0.4849, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 3.0324, d0.loss_plan_l1_fix_dist: 0.4260, d1.loss_plan_l1_fix_time: 0.8851, d1.loss_plan_l1_fix_dist: 0.2281, d2.loss_plan_l1_fix_time: 0.8633, d2.loss_plan_l1_fix_dist: 0.1879, d3.loss_plan_l1_fix_time: 0.8592, d3.loss_plan_l1_fix_dist: 0.2538, d4.loss_plan_l1_fix_time: 0.8606, d4.loss_plan_l1_fix_dist: 0.2283, d5.loss_plan_l1_fix_time: 0.8631, d5.loss_plan_l1_fix_dist: 0.2428, d6.loss_plan_l1_fix_time: 0.8664, d6.loss_plan_l1_fix_dist: 0.2217, d0.loss_cls_all: 0.1511, d0.loss_bbox_all: 0.3569, d0.loss_cls: 0.1511, d0.loss_bbox: 0.3569, d1.loss_cls: 0.1426, d1.loss_bbox: 0.3254, d2.loss_cls: 0.1288, d2.loss_bbox: 0.3056, d3.loss_cls: 0.1080, d3.loss_bbox: 0.2965, d4.loss_cls: 0.1001, d4.loss_bbox: 0.2934, d5.loss_cls: 0.0979, d5.loss_bbox: 0.2919, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8822, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6495, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5634, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5351, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5362, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5322, d0.loss_map_cls_all: 0.2038, d0.loss_map_pts_all: 0.9760, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.2038, d0.loss_map_pts: 0.9760, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1629, d1.loss_map_pts: 0.7166, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1348, d2.loss_map_pts: 0.5667, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1247, d3.loss_map_pts: 0.5075, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1169, d4.loss_map_pts: 0.4910, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1117, d5.loss_map_pts: 0.4860, d5.loss_map_dir: 0.0055, loss: 24.1652, grad_norm: 160.4031 +2026-02-28 19:10:39,616 - DriveTransformer - INFO - Epoch [11][2150/39528] lr: 6.331e-05, eta: 4 days, 15:57:42, time: 0.712, data_time: 0.037, memory: 19865, loss_cls: 0.0955, loss_bbox: 0.2779, loss_traj: 0.4769, loss_traj_cls: 0.0019, loss_map_cls: 0.0910, loss_map_pts: 0.5011, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.1824, d0.loss_plan_l1_fix_dist: 0.3937, d1.loss_plan_l1_fix_time: 0.6660, d1.loss_plan_l1_fix_dist: 0.1890, d2.loss_plan_l1_fix_time: 0.6549, d2.loss_plan_l1_fix_dist: 0.1641, d3.loss_plan_l1_fix_time: 0.6273, d3.loss_plan_l1_fix_dist: 0.2175, d4.loss_plan_l1_fix_time: 0.6275, d4.loss_plan_l1_fix_dist: 0.2093, d5.loss_plan_l1_fix_time: 0.6291, d5.loss_plan_l1_fix_dist: 0.2038, d6.loss_plan_l1_fix_time: 0.6319, d6.loss_plan_l1_fix_dist: 0.2041, d0.loss_cls_all: 0.1357, d0.loss_bbox_all: 0.3296, d0.loss_cls: 0.1357, d0.loss_bbox: 0.3296, d1.loss_cls: 0.1277, d1.loss_bbox: 0.3015, d2.loss_cls: 0.1176, d2.loss_bbox: 0.2850, d3.loss_cls: 0.1064, d3.loss_bbox: 0.2788, d4.loss_cls: 0.0990, d4.loss_bbox: 0.2771, d5.loss_cls: 0.0952, d5.loss_bbox: 0.2783, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6881, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5427, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4914, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4778, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4761, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4756, d0.loss_map_cls_all: 0.1732, d0.loss_map_pts_all: 1.0501, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1732, d0.loss_map_pts: 1.0501, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1364, d1.loss_map_pts: 0.7480, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1168, d2.loss_map_pts: 0.5935, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1068, d3.loss_map_pts: 0.5339, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0991, d4.loss_map_pts: 0.5095, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0940, d5.loss_map_pts: 0.5016, d5.loss_map_dir: 0.0062, loss: 21.0354, grad_norm: 160.6308 +2026-02-28 19:11:17,312 - DriveTransformer - INFO - Epoch [11][2200/39528] lr: 6.331e-05, eta: 4 days, 15:57:09, time: 0.754, data_time: 0.035, memory: 19865, loss_cls: 0.0932, loss_bbox: 0.3001, loss_traj: 0.4878, loss_traj_cls: 0.0019, loss_map_cls: 0.1137, loss_map_pts: 0.5644, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.7808, d0.loss_plan_l1_fix_dist: 0.3915, d1.loss_plan_l1_fix_time: 0.7429, d1.loss_plan_l1_fix_dist: 0.1958, d2.loss_plan_l1_fix_time: 0.7449, d2.loss_plan_l1_fix_dist: 0.1774, d3.loss_plan_l1_fix_time: 0.7380, d3.loss_plan_l1_fix_dist: 0.2193, d4.loss_plan_l1_fix_time: 0.7393, d4.loss_plan_l1_fix_dist: 0.2182, d5.loss_plan_l1_fix_time: 0.7417, d5.loss_plan_l1_fix_dist: 0.2009, d6.loss_plan_l1_fix_time: 0.7441, d6.loss_plan_l1_fix_dist: 0.2073, d0.loss_cls_all: 0.1437, d0.loss_bbox_all: 0.3714, d0.loss_cls: 0.1437, d0.loss_bbox: 0.3714, d1.loss_cls: 0.1361, d1.loss_bbox: 0.3335, d2.loss_cls: 0.1198, d2.loss_bbox: 0.3088, d3.loss_cls: 0.1041, d3.loss_bbox: 0.3010, d4.loss_cls: 0.0977, d4.loss_bbox: 0.2994, d5.loss_cls: 0.0941, d5.loss_bbox: 0.2994, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7715, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5875, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5177, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4989, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4943, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4867, d0.loss_map_cls_all: 0.2000, d0.loss_map_pts_all: 1.1796, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2000, d0.loss_map_pts: 1.1796, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1604, d1.loss_map_pts: 0.8504, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1408, d2.loss_map_pts: 0.6629, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1293, d3.loss_map_pts: 0.5948, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1216, d4.loss_map_pts: 0.5707, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1159, d5.loss_map_pts: 0.5648, d5.loss_map_dir: 0.0069, loss: 23.6155, grad_norm: 161.3585 +2026-02-28 19:11:51,698 - DriveTransformer - INFO - Epoch [11][2250/39528] lr: 6.331e-05, eta: 4 days, 15:56:25, time: 0.688, data_time: 0.036, memory: 19865, loss_cls: 0.0878, loss_bbox: 0.2710, loss_traj: 0.4118, loss_traj_cls: 0.0019, loss_map_cls: 0.0925, loss_map_pts: 0.4561, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.6403, d0.loss_plan_l1_fix_dist: 0.5354, d1.loss_plan_l1_fix_time: 0.7374, d1.loss_plan_l1_fix_dist: 0.2060, d2.loss_plan_l1_fix_time: 0.7199, d2.loss_plan_l1_fix_dist: 0.1995, d3.loss_plan_l1_fix_time: 0.7043, d3.loss_plan_l1_fix_dist: 0.2358, d4.loss_plan_l1_fix_time: 0.7039, d4.loss_plan_l1_fix_dist: 0.2305, d5.loss_plan_l1_fix_time: 0.7049, d5.loss_plan_l1_fix_dist: 0.2124, d6.loss_plan_l1_fix_time: 0.7060, d6.loss_plan_l1_fix_dist: 0.2283, d0.loss_cls_all: 0.1355, d0.loss_bbox_all: 0.3303, d0.loss_cls: 0.1355, d0.loss_bbox: 0.3303, d1.loss_cls: 0.1298, d1.loss_bbox: 0.2991, d2.loss_cls: 0.1164, d2.loss_bbox: 0.2785, d3.loss_cls: 0.0957, d3.loss_bbox: 0.2749, d4.loss_cls: 0.0892, d4.loss_bbox: 0.2725, d5.loss_cls: 0.0876, d5.loss_bbox: 0.2708, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6288, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.4967, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4451, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4272, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4199, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4132, d0.loss_map_cls_all: 0.1811, d0.loss_map_pts_all: 0.9385, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1811, d0.loss_map_pts: 0.9385, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1433, d1.loss_map_pts: 0.6809, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1167, d2.loss_map_pts: 0.5375, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1073, d3.loss_map_pts: 0.4818, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0998, d4.loss_map_pts: 0.4633, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0949, d5.loss_map_pts: 0.4565, d5.loss_map_dir: 0.0051, loss: 21.2313, grad_norm: 159.6768 +2026-02-28 19:12:27,595 - DriveTransformer - INFO - Epoch [11][2300/39528] lr: 6.331e-05, eta: 4 days, 15:55:46, time: 0.718, data_time: 0.037, memory: 19865, loss_cls: 0.0884, loss_bbox: 0.2689, loss_traj: 0.5044, loss_traj_cls: 0.0020, loss_map_cls: 0.0814, loss_map_pts: 0.4130, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.6103, d0.loss_plan_l1_fix_dist: 0.4107, d1.loss_plan_l1_fix_time: 0.7290, d1.loss_plan_l1_fix_dist: 0.1923, d2.loss_plan_l1_fix_time: 0.7091, d2.loss_plan_l1_fix_dist: 0.2009, d3.loss_plan_l1_fix_time: 0.7171, d3.loss_plan_l1_fix_dist: 0.2248, d4.loss_plan_l1_fix_time: 0.7192, d4.loss_plan_l1_fix_dist: 0.2153, d5.loss_plan_l1_fix_time: 0.7212, d5.loss_plan_l1_fix_dist: 0.2227, d6.loss_plan_l1_fix_time: 0.7233, d6.loss_plan_l1_fix_dist: 0.2309, d0.loss_cls_all: 0.1289, d0.loss_bbox_all: 0.3253, d0.loss_cls: 0.1289, d0.loss_bbox: 0.3253, d1.loss_cls: 0.1222, d1.loss_bbox: 0.2957, d2.loss_cls: 0.1110, d2.loss_bbox: 0.2782, d3.loss_cls: 0.0969, d3.loss_bbox: 0.2726, d4.loss_cls: 0.0901, d4.loss_bbox: 0.2706, d5.loss_cls: 0.0882, d5.loss_bbox: 0.2692, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7534, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5907, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5416, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5247, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5147, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5078, d0.loss_map_cls_all: 0.1470, d0.loss_map_pts_all: 0.8621, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1470, d0.loss_map_pts: 0.8621, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1164, d1.loss_map_pts: 0.6011, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1002, d2.loss_map_pts: 0.4772, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0921, d3.loss_map_pts: 0.4325, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0872, d4.loss_map_pts: 0.4208, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0834, d5.loss_map_pts: 0.4133, d5.loss_map_dir: 0.0050, loss: 21.1075, grad_norm: 157.6883 +2026-02-28 19:13:04,554 - DriveTransformer - INFO - Epoch [11][2350/39528] lr: 6.331e-05, eta: 4 days, 15:55:11, time: 0.739, data_time: 0.036, memory: 19865, loss_cls: 0.0906, loss_bbox: 0.2886, loss_traj: 0.4938, loss_traj_cls: 0.0019, loss_map_cls: 0.0994, loss_map_pts: 0.5071, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 3.0095, d0.loss_plan_l1_fix_dist: 0.3699, d1.loss_plan_l1_fix_time: 0.9006, d1.loss_plan_l1_fix_dist: 0.2027, d2.loss_plan_l1_fix_time: 0.8706, d2.loss_plan_l1_fix_dist: 0.2124, d3.loss_plan_l1_fix_time: 0.8456, d3.loss_plan_l1_fix_dist: 0.2106, d4.loss_plan_l1_fix_time: 0.8463, d4.loss_plan_l1_fix_dist: 0.2014, d5.loss_plan_l1_fix_time: 0.8491, d5.loss_plan_l1_fix_dist: 0.2197, d6.loss_plan_l1_fix_time: 0.8535, d6.loss_plan_l1_fix_dist: 0.2196, d0.loss_cls_all: 0.1303, d0.loss_bbox_all: 0.3602, d0.loss_cls: 0.1303, d0.loss_bbox: 0.3602, d1.loss_cls: 0.1281, d1.loss_bbox: 0.3231, d2.loss_cls: 0.1176, d2.loss_bbox: 0.3019, d3.loss_cls: 0.0970, d3.loss_bbox: 0.2946, d4.loss_cls: 0.0928, d4.loss_bbox: 0.2906, d5.loss_cls: 0.0917, d5.loss_bbox: 0.2876, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7734, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5867, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5225, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5068, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4982, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4979, d0.loss_map_cls_all: 0.1910, d0.loss_map_pts_all: 1.0612, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1910, d0.loss_map_pts: 1.0612, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1520, d1.loss_map_pts: 0.7765, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1274, d2.loss_map_pts: 0.6109, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1160, d3.loss_map_pts: 0.5411, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1080, d4.loss_map_pts: 0.5174, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1015, d5.loss_map_pts: 0.5081, d5.loss_map_dir: 0.0064, loss: 23.8031, grad_norm: 155.5183 +2026-02-28 19:13:42,262 - DriveTransformer - INFO - Epoch [11][2400/39528] lr: 6.331e-05, eta: 4 days, 15:54:38, time: 0.754, data_time: 0.038, memory: 19865, loss_cls: 0.0989, loss_bbox: 0.2890, loss_traj: 0.5594, loss_traj_cls: 0.0019, loss_map_cls: 0.0974, loss_map_pts: 0.4862, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.4673, d0.loss_plan_l1_fix_dist: 0.4587, d1.loss_plan_l1_fix_time: 0.6823, d1.loss_plan_l1_fix_dist: 0.2076, d2.loss_plan_l1_fix_time: 0.6671, d2.loss_plan_l1_fix_dist: 0.2280, d3.loss_plan_l1_fix_time: 0.6805, d3.loss_plan_l1_fix_dist: 0.2075, d4.loss_plan_l1_fix_time: 0.6882, d4.loss_plan_l1_fix_dist: 0.2307, d5.loss_plan_l1_fix_time: 0.6937, d5.loss_plan_l1_fix_dist: 0.2397, d6.loss_plan_l1_fix_time: 0.6994, d6.loss_plan_l1_fix_dist: 0.2228, d0.loss_cls_all: 0.1392, d0.loss_bbox_all: 0.3495, d0.loss_cls: 0.1392, d0.loss_bbox: 0.3495, d1.loss_cls: 0.1347, d1.loss_bbox: 0.3171, d2.loss_cls: 0.1217, d2.loss_bbox: 0.2978, d3.loss_cls: 0.1062, d3.loss_bbox: 0.2916, d4.loss_cls: 0.1000, d4.loss_bbox: 0.2909, d5.loss_cls: 0.0984, d5.loss_bbox: 0.2898, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8120, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6549, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5833, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5660, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5660, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5594, d0.loss_map_cls_all: 0.1881, d0.loss_map_pts_all: 1.0502, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1881, d0.loss_map_pts: 1.0502, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1516, d1.loss_map_pts: 0.7374, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1252, d2.loss_map_pts: 0.5801, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1124, d3.loss_map_pts: 0.5170, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1048, d4.loss_map_pts: 0.4958, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1002, d5.loss_map_pts: 0.4870, d5.loss_map_dir: 0.0058, loss: 22.6141, grad_norm: 155.5415 +2026-02-28 19:14:21,040 - DriveTransformer - INFO - Epoch [11][2450/39528] lr: 6.331e-05, eta: 4 days, 15:54:09, time: 0.776, data_time: 0.040, memory: 19865, loss_cls: 0.0846, loss_bbox: 0.2813, loss_traj: 0.4484, loss_traj_cls: 0.0020, loss_map_cls: 0.1013, loss_map_pts: 0.5368, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.3248, d0.loss_plan_l1_fix_dist: 0.4337, d1.loss_plan_l1_fix_time: 0.7265, d1.loss_plan_l1_fix_dist: 0.1859, d2.loss_plan_l1_fix_time: 0.7112, d2.loss_plan_l1_fix_dist: 0.2131, d3.loss_plan_l1_fix_time: 0.7149, d3.loss_plan_l1_fix_dist: 0.1770, d4.loss_plan_l1_fix_time: 0.7196, d4.loss_plan_l1_fix_dist: 0.2406, d5.loss_plan_l1_fix_time: 0.7238, d5.loss_plan_l1_fix_dist: 0.2341, d6.loss_plan_l1_fix_time: 0.7279, d6.loss_plan_l1_fix_dist: 0.1936, d0.loss_cls_all: 0.1231, d0.loss_bbox_all: 0.3409, d0.loss_cls: 0.1231, d0.loss_bbox: 0.3409, d1.loss_cls: 0.1200, d1.loss_bbox: 0.3115, d2.loss_cls: 0.1056, d2.loss_bbox: 0.2947, d3.loss_cls: 0.0913, d3.loss_bbox: 0.2870, d4.loss_cls: 0.0861, d4.loss_bbox: 0.2834, d5.loss_cls: 0.0847, d5.loss_bbox: 0.2823, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6813, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5261, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4712, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4531, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4504, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4491, d0.loss_map_cls_all: 0.1845, d0.loss_map_pts_all: 1.1759, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1845, d0.loss_map_pts: 1.1759, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1474, d1.loss_map_pts: 0.8250, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1258, d2.loss_map_pts: 0.6442, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1153, d3.loss_map_pts: 0.5759, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1098, d4.loss_map_pts: 0.5443, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1043, d5.loss_map_pts: 0.5373, d5.loss_map_dir: 0.0065, loss: 22.1934, grad_norm: 156.5310 +2026-02-28 19:14:58,366 - DriveTransformer - INFO - Epoch [11][2500/39528] lr: 6.331e-05, eta: 4 days, 15:53:35, time: 0.746, data_time: 0.038, memory: 19865, loss_cls: 0.0946, loss_bbox: 0.2731, loss_traj: 0.5175, loss_traj_cls: 0.0019, loss_map_cls: 0.0817, loss_map_pts: 0.4882, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.4479, d0.loss_plan_l1_fix_dist: 0.4694, d1.loss_plan_l1_fix_time: 0.6948, d1.loss_plan_l1_fix_dist: 0.2002, d2.loss_plan_l1_fix_time: 0.6846, d2.loss_plan_l1_fix_dist: 0.2094, d3.loss_plan_l1_fix_time: 0.6780, d3.loss_plan_l1_fix_dist: 0.1815, d4.loss_plan_l1_fix_time: 0.6816, d4.loss_plan_l1_fix_dist: 0.2611, d5.loss_plan_l1_fix_time: 0.6854, d5.loss_plan_l1_fix_dist: 0.2399, d6.loss_plan_l1_fix_time: 0.6891, d6.loss_plan_l1_fix_dist: 0.2073, d0.loss_cls_all: 0.1353, d0.loss_bbox_all: 0.3334, d0.loss_cls: 0.1353, d0.loss_bbox: 0.3334, d1.loss_cls: 0.1262, d1.loss_bbox: 0.3050, d2.loss_cls: 0.1185, d2.loss_bbox: 0.2855, d3.loss_cls: 0.1023, d3.loss_bbox: 0.2756, d4.loss_cls: 0.0968, d4.loss_bbox: 0.2724, d5.loss_cls: 0.0952, d5.loss_bbox: 0.2719, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7796, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6110, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5384, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5241, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5174, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5172, d0.loss_map_cls_all: 0.1652, d0.loss_map_pts_all: 1.0561, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1652, d0.loss_map_pts: 1.0561, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1328, d1.loss_map_pts: 0.7561, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1071, d2.loss_map_pts: 0.5892, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.0961, d3.loss_map_pts: 0.5239, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.0892, d4.loss_map_pts: 0.5026, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0845, d5.loss_map_pts: 0.4902, d5.loss_map_dir: 0.0068, loss: 22.0337, grad_norm: 156.7762 +2026-02-28 19:15:35,480 - DriveTransformer - INFO - Epoch [11][2550/39528] lr: 6.331e-05, eta: 4 days, 15:53:01, time: 0.742, data_time: 0.037, memory: 19865, loss_cls: 0.0911, loss_bbox: 0.2908, loss_traj: 0.4906, loss_traj_cls: 0.0019, loss_map_cls: 0.1024, loss_map_pts: 0.4759, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.4588, d0.loss_plan_l1_fix_dist: 0.4109, d1.loss_plan_l1_fix_time: 0.6601, d1.loss_plan_l1_fix_dist: 0.2115, d2.loss_plan_l1_fix_time: 0.6467, d2.loss_plan_l1_fix_dist: 0.1819, d3.loss_plan_l1_fix_time: 0.6416, d3.loss_plan_l1_fix_dist: 0.1655, d4.loss_plan_l1_fix_time: 0.6430, d4.loss_plan_l1_fix_dist: 0.2331, d5.loss_plan_l1_fix_time: 0.6461, d5.loss_plan_l1_fix_dist: 0.2027, d6.loss_plan_l1_fix_time: 0.6505, d6.loss_plan_l1_fix_dist: 0.1983, d0.loss_cls_all: 0.1317, d0.loss_bbox_all: 0.3481, d0.loss_cls: 0.1317, d0.loss_bbox: 0.3481, d1.loss_cls: 0.1290, d1.loss_bbox: 0.3124, d2.loss_cls: 0.1193, d2.loss_bbox: 0.2949, d3.loss_cls: 0.0996, d3.loss_bbox: 0.2922, d4.loss_cls: 0.0943, d4.loss_bbox: 0.2903, d5.loss_cls: 0.0911, d5.loss_bbox: 0.2899, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7072, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5407, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5124, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4965, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4908, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4889, d0.loss_map_cls_all: 0.1845, d0.loss_map_pts_all: 1.0023, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1845, d0.loss_map_pts: 1.0023, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1513, d1.loss_map_pts: 0.7071, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1299, d2.loss_map_pts: 0.5632, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1176, d3.loss_map_pts: 0.5063, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1095, d4.loss_map_pts: 0.4846, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1054, d5.loss_map_pts: 0.4764, d5.loss_map_dir: 0.0054, loss: 21.3857, grad_norm: 156.6990 +2026-02-28 19:16:12,568 - DriveTransformer - INFO - Epoch [11][2600/39528] lr: 6.331e-05, eta: 4 days, 15:52:26, time: 0.742, data_time: 0.035, memory: 19865, loss_cls: 0.0951, loss_bbox: 0.2962, loss_traj: 0.4567, loss_traj_cls: 0.0019, loss_map_cls: 0.1124, loss_map_pts: 0.5320, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.5665, d0.loss_plan_l1_fix_dist: 0.4806, d1.loss_plan_l1_fix_time: 0.8231, d1.loss_plan_l1_fix_dist: 0.2510, d2.loss_plan_l1_fix_time: 0.8180, d2.loss_plan_l1_fix_dist: 0.1741, d3.loss_plan_l1_fix_time: 0.8124, d3.loss_plan_l1_fix_dist: 0.1852, d4.loss_plan_l1_fix_time: 0.8144, d4.loss_plan_l1_fix_dist: 0.2236, d5.loss_plan_l1_fix_time: 0.8180, d5.loss_plan_l1_fix_dist: 0.2025, d6.loss_plan_l1_fix_time: 0.8228, d6.loss_plan_l1_fix_dist: 0.2319, d0.loss_cls_all: 0.1423, d0.loss_bbox_all: 0.3663, d0.loss_cls: 0.1423, d0.loss_bbox: 0.3663, d1.loss_cls: 0.1335, d1.loss_bbox: 0.3319, d2.loss_cls: 0.1224, d2.loss_bbox: 0.3083, d3.loss_cls: 0.1062, d3.loss_bbox: 0.2995, d4.loss_cls: 0.0982, d4.loss_bbox: 0.2962, d5.loss_cls: 0.0949, d5.loss_bbox: 0.2964, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7020, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5412, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4936, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4700, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4625, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4584, d0.loss_map_cls_all: 0.1975, d0.loss_map_pts_all: 1.0838, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1975, d0.loss_map_pts: 1.0838, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1629, d1.loss_map_pts: 0.7815, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1378, d2.loss_map_pts: 0.6238, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1255, d3.loss_map_pts: 0.5616, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1194, d4.loss_map_pts: 0.5384, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1147, d5.loss_map_pts: 0.5332, d5.loss_map_dir: 0.0068, loss: 23.2724, grad_norm: 156.4571 +2026-02-28 19:16:49,509 - DriveTransformer - INFO - Epoch [11][2650/39528] lr: 6.331e-05, eta: 4 days, 15:51:51, time: 0.739, data_time: 0.037, memory: 19865, loss_cls: 0.0849, loss_bbox: 0.2630, loss_traj: 0.4613, loss_traj_cls: 0.0019, loss_map_cls: 0.1074, loss_map_pts: 0.5072, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.3543, d0.loss_plan_l1_fix_dist: 0.4835, d1.loss_plan_l1_fix_time: 0.7043, d1.loss_plan_l1_fix_dist: 0.2886, d2.loss_plan_l1_fix_time: 0.6943, d2.loss_plan_l1_fix_dist: 0.2173, d3.loss_plan_l1_fix_time: 0.6899, d3.loss_plan_l1_fix_dist: 0.2324, d4.loss_plan_l1_fix_time: 0.6931, d4.loss_plan_l1_fix_dist: 0.2110, d5.loss_plan_l1_fix_time: 0.6961, d5.loss_plan_l1_fix_dist: 0.2170, d6.loss_plan_l1_fix_time: 0.6990, d6.loss_plan_l1_fix_dist: 0.2743, d0.loss_cls_all: 0.1218, d0.loss_bbox_all: 0.3262, d0.loss_cls: 0.1218, d0.loss_bbox: 0.3262, d1.loss_cls: 0.1167, d1.loss_bbox: 0.2942, d2.loss_cls: 0.1067, d2.loss_bbox: 0.2722, d3.loss_cls: 0.0897, d3.loss_bbox: 0.2662, d4.loss_cls: 0.0859, d4.loss_bbox: 0.2635, d5.loss_cls: 0.0851, d5.loss_bbox: 0.2627, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7313, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5378, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4791, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4628, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4644, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4626, d0.loss_map_cls_all: 0.2110, d0.loss_map_pts_all: 1.0848, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2110, d0.loss_map_pts: 1.0848, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1669, d1.loss_map_pts: 0.7786, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1420, d2.loss_map_pts: 0.6092, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1269, d3.loss_map_pts: 0.5424, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1178, d4.loss_map_pts: 0.5171, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1095, d5.loss_map_pts: 0.5081, d5.loss_map_dir: 0.0060, loss: 22.0217, grad_norm: 161.8562 +2026-02-28 19:17:25,678 - DriveTransformer - INFO - Epoch [11][2700/39528] lr: 6.331e-05, eta: 4 days, 15:51:13, time: 0.723, data_time: 0.040, memory: 19865, loss_cls: 0.0793, loss_bbox: 0.2623, loss_traj: 0.4851, loss_traj_cls: 0.0020, loss_map_cls: 0.0749, loss_map_pts: 0.4392, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.1356, d0.loss_plan_l1_fix_dist: 0.4269, d1.loss_plan_l1_fix_time: 0.6774, d1.loss_plan_l1_fix_dist: 0.3134, d2.loss_plan_l1_fix_time: 0.6632, d2.loss_plan_l1_fix_dist: 0.2658, d3.loss_plan_l1_fix_time: 0.6527, d3.loss_plan_l1_fix_dist: 0.2774, d4.loss_plan_l1_fix_time: 0.6555, d4.loss_plan_l1_fix_dist: 0.2048, d5.loss_plan_l1_fix_time: 0.6580, d5.loss_plan_l1_fix_dist: 0.2555, d6.loss_plan_l1_fix_time: 0.6598, d6.loss_plan_l1_fix_dist: 0.2817, d0.loss_cls_all: 0.1206, d0.loss_bbox_all: 0.3249, d0.loss_cls: 0.1206, d0.loss_bbox: 0.3249, d1.loss_cls: 0.1138, d1.loss_bbox: 0.2940, d2.loss_cls: 0.1015, d2.loss_bbox: 0.2728, d3.loss_cls: 0.0868, d3.loss_bbox: 0.2653, d4.loss_cls: 0.0800, d4.loss_bbox: 0.2640, d5.loss_cls: 0.0792, d5.loss_bbox: 0.2626, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7354, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5692, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5117, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4932, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4878, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4848, d0.loss_map_cls_all: 0.1480, d0.loss_map_pts_all: 0.9421, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1480, d0.loss_map_pts: 0.9421, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1184, d1.loss_map_pts: 0.6598, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.0991, d2.loss_map_pts: 0.5217, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0879, d3.loss_map_pts: 0.4625, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0811, d4.loss_map_pts: 0.4449, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0771, d5.loss_map_pts: 0.4395, d5.loss_map_dir: 0.0054, loss: 20.6848, grad_norm: 160.5971 +2026-02-28 19:18:01,802 - DriveTransformer - INFO - Epoch [11][2750/39528] lr: 6.331e-05, eta: 4 days, 15:50:35, time: 0.722, data_time: 0.037, memory: 19865, loss_cls: 0.0830, loss_bbox: 0.2707, loss_traj: 0.4048, loss_traj_cls: 0.0019, loss_map_cls: 0.0790, loss_map_pts: 0.4624, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.2358, d0.loss_plan_l1_fix_dist: 0.4619, d1.loss_plan_l1_fix_time: 0.7308, d1.loss_plan_l1_fix_dist: 0.3101, d2.loss_plan_l1_fix_time: 0.7192, d2.loss_plan_l1_fix_dist: 0.2920, d3.loss_plan_l1_fix_time: 0.7074, d3.loss_plan_l1_fix_dist: 0.3007, d4.loss_plan_l1_fix_time: 0.7079, d4.loss_plan_l1_fix_dist: 0.2409, d5.loss_plan_l1_fix_time: 0.7097, d5.loss_plan_l1_fix_dist: 0.3255, d6.loss_plan_l1_fix_time: 0.7127, d6.loss_plan_l1_fix_dist: 0.2682, d0.loss_cls_all: 0.1248, d0.loss_bbox_all: 0.3391, d0.loss_cls: 0.1248, d0.loss_bbox: 0.3391, d1.loss_cls: 0.1185, d1.loss_bbox: 0.3038, d2.loss_cls: 0.1061, d2.loss_bbox: 0.2835, d3.loss_cls: 0.0924, d3.loss_bbox: 0.2733, d4.loss_cls: 0.0861, d4.loss_bbox: 0.2714, d5.loss_cls: 0.0834, d5.loss_bbox: 0.2704, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5886, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4602, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4193, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4117, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4100, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4080, d0.loss_map_cls_all: 0.1591, d0.loss_map_pts_all: 0.9622, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1591, d0.loss_map_pts: 0.9622, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1248, d1.loss_map_pts: 0.6768, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1018, d2.loss_map_pts: 0.5404, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.0911, d3.loss_map_pts: 0.4876, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0855, d4.loss_map_pts: 0.4684, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0811, d5.loss_map_pts: 0.4628, d5.loss_map_dir: 0.0059, loss: 20.9553, grad_norm: 158.0863 +2026-02-28 19:18:38,403 - DriveTransformer - INFO - Epoch [11][2800/39528] lr: 6.331e-05, eta: 4 days, 15:49:59, time: 0.733, data_time: 0.037, memory: 19865, loss_cls: 0.0896, loss_bbox: 0.2736, loss_traj: 0.4392, loss_traj_cls: 0.0019, loss_map_cls: 0.1029, loss_map_pts: 0.4757, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.1994, d0.loss_plan_l1_fix_dist: 0.4309, d1.loss_plan_l1_fix_time: 0.6730, d1.loss_plan_l1_fix_dist: 0.3040, d2.loss_plan_l1_fix_time: 0.6566, d2.loss_plan_l1_fix_dist: 0.2951, d3.loss_plan_l1_fix_time: 0.6463, d3.loss_plan_l1_fix_dist: 0.3078, d4.loss_plan_l1_fix_time: 0.6472, d4.loss_plan_l1_fix_dist: 0.2551, d5.loss_plan_l1_fix_time: 0.6495, d5.loss_plan_l1_fix_dist: 0.3387, d6.loss_plan_l1_fix_time: 0.6534, d6.loss_plan_l1_fix_dist: 0.2531, d0.loss_cls_all: 0.1335, d0.loss_bbox_all: 0.3395, d0.loss_cls: 0.1335, d0.loss_bbox: 0.3395, d1.loss_cls: 0.1280, d1.loss_bbox: 0.3068, d2.loss_cls: 0.1119, d2.loss_bbox: 0.2878, d3.loss_cls: 0.0928, d3.loss_bbox: 0.2812, d4.loss_cls: 0.0891, d4.loss_bbox: 0.2778, d5.loss_cls: 0.0884, d5.loss_bbox: 0.2745, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6435, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5023, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4609, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4465, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4415, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4378, d0.loss_map_cls_all: 0.1848, d0.loss_map_pts_all: 1.0011, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1848, d0.loss_map_pts: 1.0011, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1542, d1.loss_map_pts: 0.7403, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1300, d2.loss_map_pts: 0.5786, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1182, d3.loss_map_pts: 0.5126, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1101, d4.loss_map_pts: 0.4856, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1043, d5.loss_map_pts: 0.4760, d5.loss_map_dir: 0.0056, loss: 21.3413, grad_norm: 154.9359 +2026-02-28 19:19:14,338 - DriveTransformer - INFO - Epoch [11][2850/39528] lr: 6.331e-05, eta: 4 days, 15:49:20, time: 0.717, data_time: 0.034, memory: 19865, loss_cls: 0.1109, loss_bbox: 0.2902, loss_traj: 0.5453, loss_traj_cls: 0.0018, loss_map_cls: 0.1000, loss_map_pts: 0.5072, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.6918, d0.loss_plan_l1_fix_dist: 0.4088, d1.loss_plan_l1_fix_time: 0.8095, d1.loss_plan_l1_fix_dist: 0.2948, d2.loss_plan_l1_fix_time: 0.8027, d2.loss_plan_l1_fix_dist: 0.3021, d3.loss_plan_l1_fix_time: 0.8005, d3.loss_plan_l1_fix_dist: 0.3297, d4.loss_plan_l1_fix_time: 0.8024, d4.loss_plan_l1_fix_dist: 0.3161, d5.loss_plan_l1_fix_time: 0.8047, d5.loss_plan_l1_fix_dist: 0.3574, d6.loss_plan_l1_fix_time: 0.8076, d6.loss_plan_l1_fix_dist: 0.2964, d0.loss_cls_all: 0.1593, d0.loss_bbox_all: 0.3698, d0.loss_cls: 0.1593, d0.loss_bbox: 0.3698, d1.loss_cls: 0.1514, d1.loss_bbox: 0.3296, d2.loss_cls: 0.1373, d2.loss_bbox: 0.3023, d3.loss_cls: 0.1171, d3.loss_bbox: 0.2986, d4.loss_cls: 0.1127, d4.loss_bbox: 0.2938, d5.loss_cls: 0.1113, d5.loss_bbox: 0.2901, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8009, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6267, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5633, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5504, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5460, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5417, d0.loss_map_cls_all: 0.1798, d0.loss_map_pts_all: 0.9916, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1798, d0.loss_map_pts: 0.9916, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1502, d1.loss_map_pts: 0.7319, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1250, d2.loss_map_pts: 0.5933, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1141, d3.loss_map_pts: 0.5364, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1089, d4.loss_map_pts: 0.5144, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1027, d5.loss_map_pts: 0.5067, d5.loss_map_dir: 0.0060, loss: 24.0915, grad_norm: 155.4943 +2026-02-28 19:19:51,086 - DriveTransformer - INFO - Epoch [11][2900/39528] lr: 6.331e-05, eta: 4 days, 15:48:44, time: 0.735, data_time: 0.036, memory: 19865, loss_cls: 0.0927, loss_bbox: 0.2766, loss_traj: 0.5053, loss_traj_cls: 0.0019, loss_map_cls: 0.1076, loss_map_pts: 0.5423, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.6420, d0.loss_plan_l1_fix_dist: 0.4134, d1.loss_plan_l1_fix_time: 0.7439, d1.loss_plan_l1_fix_dist: 0.2611, d2.loss_plan_l1_fix_time: 0.7364, d2.loss_plan_l1_fix_dist: 0.2693, d3.loss_plan_l1_fix_time: 0.7317, d3.loss_plan_l1_fix_dist: 0.2945, d4.loss_plan_l1_fix_time: 0.7347, d4.loss_plan_l1_fix_dist: 0.3126, d5.loss_plan_l1_fix_time: 0.7393, d5.loss_plan_l1_fix_dist: 0.3455, d6.loss_plan_l1_fix_time: 0.7449, d6.loss_plan_l1_fix_dist: 0.3131, d0.loss_cls_all: 0.1350, d0.loss_bbox_all: 0.3401, d0.loss_cls: 0.1350, d0.loss_bbox: 0.3401, d1.loss_cls: 0.1278, d1.loss_bbox: 0.3078, d2.loss_cls: 0.1147, d2.loss_bbox: 0.2870, d3.loss_cls: 0.0999, d3.loss_bbox: 0.2817, d4.loss_cls: 0.0937, d4.loss_bbox: 0.2787, d5.loss_cls: 0.0919, d5.loss_bbox: 0.2767, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7801, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5889, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5363, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5084, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5060, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5005, d0.loss_map_cls_all: 0.2013, d0.loss_map_pts_all: 1.1148, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2013, d0.loss_map_pts: 1.1148, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1621, d1.loss_map_pts: 0.7996, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1363, d2.loss_map_pts: 0.6376, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1237, d3.loss_map_pts: 0.5773, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1135, d4.loss_map_pts: 0.5502, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1100, d5.loss_map_pts: 0.5431, d5.loss_map_dir: 0.0073, loss: 23.5901, grad_norm: 157.8807 +2026-02-28 19:20:26,335 - DriveTransformer - INFO - Epoch [11][2950/39528] lr: 6.331e-05, eta: 4 days, 15:48:03, time: 0.705, data_time: 0.035, memory: 19865, loss_cls: 0.0989, loss_bbox: 0.2956, loss_traj: 0.5181, loss_traj_cls: 0.0019, loss_map_cls: 0.0960, loss_map_pts: 0.5005, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.5786, d0.loss_plan_l1_fix_dist: 0.5428, d1.loss_plan_l1_fix_time: 0.7986, d1.loss_plan_l1_fix_dist: 0.2707, d2.loss_plan_l1_fix_time: 0.7815, d2.loss_plan_l1_fix_dist: 0.2879, d3.loss_plan_l1_fix_time: 0.7711, d3.loss_plan_l1_fix_dist: 0.2968, d4.loss_plan_l1_fix_time: 0.7727, d4.loss_plan_l1_fix_dist: 0.3195, d5.loss_plan_l1_fix_time: 0.7763, d5.loss_plan_l1_fix_dist: 0.3435, d6.loss_plan_l1_fix_time: 0.7808, d6.loss_plan_l1_fix_dist: 0.3182, d0.loss_cls_all: 0.1417, d0.loss_bbox_all: 0.3592, d0.loss_cls: 0.1417, d0.loss_bbox: 0.3592, d1.loss_cls: 0.1360, d1.loss_bbox: 0.3250, d2.loss_cls: 0.1234, d2.loss_bbox: 0.3055, d3.loss_cls: 0.1067, d3.loss_bbox: 0.2988, d4.loss_cls: 0.1008, d4.loss_bbox: 0.2966, d5.loss_cls: 0.1003, d5.loss_bbox: 0.2946, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8288, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6249, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5518, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5199, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5192, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5176, d0.loss_map_cls_all: 0.1906, d0.loss_map_pts_all: 1.0372, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1906, d0.loss_map_pts: 1.0372, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1507, d1.loss_map_pts: 0.7597, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1249, d2.loss_map_pts: 0.5935, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1126, d3.loss_map_pts: 0.5241, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1059, d4.loss_map_pts: 0.5038, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1006, d5.loss_map_pts: 0.4998, d5.loss_map_dir: 0.0057, loss: 23.7824, grad_norm: 158.5196 +2026-02-28 19:21:02,796 - DriveTransformer - INFO - Epoch [11][3000/39528] lr: 6.331e-05, eta: 4 days, 15:47:26, time: 0.729, data_time: 0.037, memory: 19865, loss_cls: 0.0963, loss_bbox: 0.3094, loss_traj: 0.5303, loss_traj_cls: 0.0019, loss_map_cls: 0.1187, loss_map_pts: 0.5511, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.7712, d0.loss_plan_l1_fix_dist: 0.4102, d1.loss_plan_l1_fix_time: 0.8385, d1.loss_plan_l1_fix_dist: 0.2303, d2.loss_plan_l1_fix_time: 0.8319, d2.loss_plan_l1_fix_dist: 0.2513, d3.loss_plan_l1_fix_time: 0.8288, d3.loss_plan_l1_fix_dist: 0.2370, d4.loss_plan_l1_fix_time: 0.8311, d4.loss_plan_l1_fix_dist: 0.2701, d5.loss_plan_l1_fix_time: 0.8333, d5.loss_plan_l1_fix_dist: 0.2637, d6.loss_plan_l1_fix_time: 0.8354, d6.loss_plan_l1_fix_dist: 0.2348, d0.loss_cls_all: 0.1462, d0.loss_bbox_all: 0.3811, d0.loss_cls: 0.1462, d0.loss_bbox: 0.3811, d1.loss_cls: 0.1407, d1.loss_bbox: 0.3448, d2.loss_cls: 0.1218, d2.loss_bbox: 0.3224, d3.loss_cls: 0.1033, d3.loss_bbox: 0.3140, d4.loss_cls: 0.0958, d4.loss_bbox: 0.3127, d5.loss_cls: 0.0963, d5.loss_bbox: 0.3099, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8263, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6531, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5841, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5350, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5343, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5312, d0.loss_map_cls_all: 0.2024, d0.loss_map_pts_all: 1.1407, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2024, d0.loss_map_pts: 1.1407, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1674, d1.loss_map_pts: 0.8152, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1479, d2.loss_map_pts: 0.6557, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1345, d3.loss_map_pts: 0.5863, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1277, d4.loss_map_pts: 0.5569, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1201, d5.loss_map_pts: 0.5522, d5.loss_map_dir: 0.0068, loss: 24.7639, grad_norm: 159.4114 +2026-02-28 19:21:41,500 - DriveTransformer - INFO - Epoch [11][3050/39528] lr: 6.331e-05, eta: 4 days, 15:46:57, time: 0.774, data_time: 0.036, memory: 19865, loss_cls: 0.1085, loss_bbox: 0.2962, loss_traj: 0.4489, loss_traj_cls: 0.0019, loss_map_cls: 0.1115, loss_map_pts: 0.6081, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.7303, d0.loss_plan_l1_fix_dist: 0.4231, d1.loss_plan_l1_fix_time: 0.7887, d1.loss_plan_l1_fix_dist: 0.1952, d2.loss_plan_l1_fix_time: 0.7781, d2.loss_plan_l1_fix_dist: 0.2148, d3.loss_plan_l1_fix_time: 0.7716, d3.loss_plan_l1_fix_dist: 0.1947, d4.loss_plan_l1_fix_time: 0.7730, d4.loss_plan_l1_fix_dist: 0.2831, d5.loss_plan_l1_fix_time: 0.7749, d5.loss_plan_l1_fix_dist: 0.2647, d6.loss_plan_l1_fix_time: 0.7770, d6.loss_plan_l1_fix_dist: 0.2458, d0.loss_cls_all: 0.1594, d0.loss_bbox_all: 0.3608, d0.loss_cls: 0.1594, d0.loss_bbox: 0.3608, d1.loss_cls: 0.1576, d1.loss_bbox: 0.3236, d2.loss_cls: 0.1388, d2.loss_bbox: 0.3059, d3.loss_cls: 0.1184, d3.loss_bbox: 0.2987, d4.loss_cls: 0.1098, d4.loss_bbox: 0.2978, d5.loss_cls: 0.1078, d5.loss_bbox: 0.2973, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7343, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5562, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4836, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4684, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4591, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4540, d0.loss_map_cls_all: 0.1849, d0.loss_map_pts_all: 1.2372, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.1849, d0.loss_map_pts: 1.2372, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.1569, d1.loss_map_pts: 0.9078, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1335, d2.loss_map_pts: 0.7095, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1259, d3.loss_map_pts: 0.6388, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1184, d4.loss_map_pts: 0.6140, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1135, d5.loss_map_pts: 0.6091, d5.loss_map_dir: 0.0082, loss: 24.1838, grad_norm: 157.8176 +2026-02-28 19:22:17,333 - DriveTransformer - INFO - Epoch [11][3100/39528] lr: 6.331e-05, eta: 4 days, 15:46:18, time: 0.717, data_time: 0.035, memory: 19865, loss_cls: 0.1003, loss_bbox: 0.2898, loss_traj: 0.4875, loss_traj_cls: 0.0019, loss_map_cls: 0.0997, loss_map_pts: 0.4903, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.8235, d0.loss_plan_l1_fix_dist: 0.4969, d1.loss_plan_l1_fix_time: 0.7430, d1.loss_plan_l1_fix_dist: 0.2097, d2.loss_plan_l1_fix_time: 0.7293, d2.loss_plan_l1_fix_dist: 0.2259, d3.loss_plan_l1_fix_time: 0.7351, d3.loss_plan_l1_fix_dist: 0.2312, d4.loss_plan_l1_fix_time: 0.7379, d4.loss_plan_l1_fix_dist: 0.3287, d5.loss_plan_l1_fix_time: 0.7396, d5.loss_plan_l1_fix_dist: 0.2660, d6.loss_plan_l1_fix_time: 0.7427, d6.loss_plan_l1_fix_dist: 0.2613, d0.loss_cls_all: 0.1465, d0.loss_bbox_all: 0.3564, d0.loss_cls: 0.1465, d0.loss_bbox: 0.3564, d1.loss_cls: 0.1412, d1.loss_bbox: 0.3230, d2.loss_cls: 0.1289, d2.loss_bbox: 0.3009, d3.loss_cls: 0.1104, d3.loss_bbox: 0.2960, d4.loss_cls: 0.1037, d4.loss_bbox: 0.2933, d5.loss_cls: 0.1012, d5.loss_bbox: 0.2903, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7479, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5764, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5180, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5026, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4949, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4916, d0.loss_map_cls_all: 0.1921, d0.loss_map_pts_all: 1.0036, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1921, d0.loss_map_pts: 1.0036, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1549, d1.loss_map_pts: 0.7333, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1320, d2.loss_map_pts: 0.5736, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1170, d3.loss_map_pts: 0.5144, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1084, d4.loss_map_pts: 0.4950, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1019, d5.loss_map_pts: 0.4909, d5.loss_map_dir: 0.0057, loss: 23.0304, grad_norm: 157.7942 +2026-02-28 19:22:53,942 - DriveTransformer - INFO - Epoch [11][3150/39528] lr: 6.331e-05, eta: 4 days, 15:45:41, time: 0.732, data_time: 0.038, memory: 19865, loss_cls: 0.0779, loss_bbox: 0.2545, loss_traj: 0.4168, loss_traj_cls: 0.0019, loss_map_cls: 0.0968, loss_map_pts: 0.4720, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.5102, d0.loss_plan_l1_fix_dist: 0.4870, d1.loss_plan_l1_fix_time: 0.7673, d1.loss_plan_l1_fix_dist: 0.2135, d2.loss_plan_l1_fix_time: 0.7662, d2.loss_plan_l1_fix_dist: 0.1997, d3.loss_plan_l1_fix_time: 0.7424, d3.loss_plan_l1_fix_dist: 0.2482, d4.loss_plan_l1_fix_time: 0.7437, d4.loss_plan_l1_fix_dist: 0.3200, d5.loss_plan_l1_fix_time: 0.7456, d5.loss_plan_l1_fix_dist: 0.2061, d6.loss_plan_l1_fix_time: 0.7483, d6.loss_plan_l1_fix_dist: 0.2364, d0.loss_cls_all: 0.1177, d0.loss_bbox_all: 0.3145, d0.loss_cls: 0.1177, d0.loss_bbox: 0.3145, d1.loss_cls: 0.1148, d1.loss_bbox: 0.2825, d2.loss_cls: 0.1002, d2.loss_bbox: 0.2611, d3.loss_cls: 0.0842, d3.loss_bbox: 0.2572, d4.loss_cls: 0.0785, d4.loss_bbox: 0.2554, d5.loss_cls: 0.0778, d5.loss_bbox: 0.2543, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6068, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4799, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4373, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4233, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4191, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4185, d0.loss_map_cls_all: 0.1751, d0.loss_map_pts_all: 1.0041, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1751, d0.loss_map_pts: 1.0041, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1423, d1.loss_map_pts: 0.7018, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1207, d2.loss_map_pts: 0.5519, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1113, d3.loss_map_pts: 0.4980, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1052, d4.loss_map_pts: 0.4765, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0990, d5.loss_map_pts: 0.4723, d5.loss_map_dir: 0.0062, loss: 21.3643, grad_norm: 157.1336 +2026-02-28 19:23:30,023 - DriveTransformer - INFO - Epoch [11][3200/39528] lr: 6.331e-05, eta: 4 days, 15:45:03, time: 0.722, data_time: 0.036, memory: 19865, loss_cls: 0.0988, loss_bbox: 0.2924, loss_traj: 0.4914, loss_traj_cls: 0.0019, loss_map_cls: 0.1062, loss_map_pts: 0.5271, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.6659, d0.loss_plan_l1_fix_dist: 0.4554, d1.loss_plan_l1_fix_time: 0.8015, d1.loss_plan_l1_fix_dist: 0.2705, d2.loss_plan_l1_fix_time: 0.7845, d2.loss_plan_l1_fix_dist: 0.2179, d3.loss_plan_l1_fix_time: 0.8029, d3.loss_plan_l1_fix_dist: 0.3081, d4.loss_plan_l1_fix_time: 0.8076, d4.loss_plan_l1_fix_dist: 0.3043, d5.loss_plan_l1_fix_time: 0.8114, d5.loss_plan_l1_fix_dist: 0.2683, d6.loss_plan_l1_fix_time: 0.8153, d6.loss_plan_l1_fix_dist: 0.2929, d0.loss_cls_all: 0.1406, d0.loss_bbox_all: 0.3667, d0.loss_cls: 0.1406, d0.loss_bbox: 0.3667, d1.loss_cls: 0.1351, d1.loss_bbox: 0.3296, d2.loss_cls: 0.1245, d2.loss_bbox: 0.3068, d3.loss_cls: 0.1052, d3.loss_bbox: 0.3005, d4.loss_cls: 0.1003, d4.loss_bbox: 0.2960, d5.loss_cls: 0.0993, d5.loss_bbox: 0.2921, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7217, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5487, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5056, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4925, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4871, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4888, d0.loss_map_cls_all: 0.1875, d0.loss_map_pts_all: 1.0594, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1875, d0.loss_map_pts: 1.0594, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1525, d1.loss_map_pts: 0.7661, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1285, d2.loss_map_pts: 0.6099, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1165, d3.loss_map_pts: 0.5502, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1114, d4.loss_map_pts: 0.5319, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1070, d5.loss_map_pts: 0.5274, d5.loss_map_dir: 0.0072, loss: 23.6308, grad_norm: 148.7938 +2026-02-28 19:24:09,445 - DriveTransformer - INFO - Epoch [11][3250/39528] lr: 6.331e-05, eta: 4 days, 15:44:36, time: 0.788, data_time: 0.036, memory: 19865, loss_cls: 0.0948, loss_bbox: 0.2988, loss_traj: 0.4486, loss_traj_cls: 0.0019, loss_map_cls: 0.1019, loss_map_pts: 0.6288, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.5434, d0.loss_plan_l1_fix_dist: 0.4119, d1.loss_plan_l1_fix_time: 0.8158, d1.loss_plan_l1_fix_dist: 0.2933, d2.loss_plan_l1_fix_time: 0.8006, d2.loss_plan_l1_fix_dist: 0.2177, d3.loss_plan_l1_fix_time: 0.8159, d3.loss_plan_l1_fix_dist: 0.3450, d4.loss_plan_l1_fix_time: 0.8220, d4.loss_plan_l1_fix_dist: 0.2774, d5.loss_plan_l1_fix_time: 0.8278, d5.loss_plan_l1_fix_dist: 0.3287, d6.loss_plan_l1_fix_time: 0.8328, d6.loss_plan_l1_fix_dist: 0.3055, d0.loss_cls_all: 0.1447, d0.loss_bbox_all: 0.3647, d0.loss_cls: 0.1447, d0.loss_bbox: 0.3647, d1.loss_cls: 0.1377, d1.loss_bbox: 0.3356, d2.loss_cls: 0.1254, d2.loss_bbox: 0.3096, d3.loss_cls: 0.1048, d3.loss_bbox: 0.3039, d4.loss_cls: 0.0977, d4.loss_bbox: 0.3007, d5.loss_cls: 0.0954, d5.loss_bbox: 0.2986, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6964, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5288, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4687, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4547, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4501, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4471, d0.loss_map_cls_all: 0.2015, d0.loss_map_pts_all: 1.2695, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2015, d0.loss_map_pts: 1.2695, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1588, d1.loss_map_pts: 0.9371, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1339, d2.loss_map_pts: 0.7422, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1195, d3.loss_map_pts: 0.6688, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1108, d4.loss_map_pts: 0.6403, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1045, d5.loss_map_pts: 0.6296, d5.loss_map_dir: 0.0095, loss: 24.6530, grad_norm: 151.0963 +2026-02-28 19:24:46,879 - DriveTransformer - INFO - Epoch [11][3300/39528] lr: 6.331e-05, eta: 4 days, 15:44:03, time: 0.749, data_time: 0.039, memory: 19865, loss_cls: 0.0883, loss_bbox: 0.2869, loss_traj: 0.4705, loss_traj_cls: 0.0018, loss_map_cls: 0.1165, loss_map_pts: 0.5781, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.7285, d0.loss_plan_l1_fix_dist: 0.4465, d1.loss_plan_l1_fix_time: 0.8153, d1.loss_plan_l1_fix_dist: 0.3103, d2.loss_plan_l1_fix_time: 0.7997, d2.loss_plan_l1_fix_dist: 0.2278, d3.loss_plan_l1_fix_time: 0.8126, d3.loss_plan_l1_fix_dist: 0.3567, d4.loss_plan_l1_fix_time: 0.8157, d4.loss_plan_l1_fix_dist: 0.2468, d5.loss_plan_l1_fix_time: 0.8189, d5.loss_plan_l1_fix_dist: 0.3467, d6.loss_plan_l1_fix_time: 0.8228, d6.loss_plan_l1_fix_dist: 0.2897, d0.loss_cls_all: 0.1310, d0.loss_bbox_all: 0.3472, d0.loss_cls: 0.1310, d0.loss_bbox: 0.3472, d1.loss_cls: 0.1260, d1.loss_bbox: 0.3125, d2.loss_cls: 0.1127, d2.loss_bbox: 0.2917, d3.loss_cls: 0.0944, d3.loss_bbox: 0.2891, d4.loss_cls: 0.0894, d4.loss_bbox: 0.2878, d5.loss_cls: 0.0871, d5.loss_bbox: 0.2883, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7310, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5670, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4995, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4798, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4741, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4706, d0.loss_map_cls_all: 0.2051, d0.loss_map_pts_all: 1.1917, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2051, d0.loss_map_pts: 1.1917, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1717, d1.loss_map_pts: 0.8638, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1479, d2.loss_map_pts: 0.6805, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1355, d3.loss_map_pts: 0.6097, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1252, d4.loss_map_pts: 0.5847, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1199, d5.loss_map_pts: 0.5782, d5.loss_map_dir: 0.0077, loss: 24.4150, grad_norm: 151.2675 +2026-02-28 19:25:23,571 - DriveTransformer - INFO - Epoch [11][3350/39528] lr: 6.331e-05, eta: 4 days, 15:43:26, time: 0.734, data_time: 0.036, memory: 19865, loss_cls: 0.0834, loss_bbox: 0.2829, loss_traj: 0.4757, loss_traj_cls: 0.0019, loss_map_cls: 0.0904, loss_map_pts: 0.5006, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.5035, d0.loss_plan_l1_fix_dist: 0.4499, d1.loss_plan_l1_fix_time: 0.7185, d1.loss_plan_l1_fix_dist: 0.3150, d2.loss_plan_l1_fix_time: 0.7017, d2.loss_plan_l1_fix_dist: 0.2328, d3.loss_plan_l1_fix_time: 0.7047, d3.loss_plan_l1_fix_dist: 0.3613, d4.loss_plan_l1_fix_time: 0.7077, d4.loss_plan_l1_fix_dist: 0.2626, d5.loss_plan_l1_fix_time: 0.7113, d5.loss_plan_l1_fix_dist: 0.3586, d6.loss_plan_l1_fix_time: 0.7153, d6.loss_plan_l1_fix_dist: 0.2802, d0.loss_cls_all: 0.1263, d0.loss_bbox_all: 0.3375, d0.loss_cls: 0.1263, d0.loss_bbox: 0.3375, d1.loss_cls: 0.1215, d1.loss_bbox: 0.3072, d2.loss_cls: 0.1091, d2.loss_bbox: 0.2880, d3.loss_cls: 0.0928, d3.loss_bbox: 0.2853, d4.loss_cls: 0.0858, d4.loss_bbox: 0.2834, d5.loss_cls: 0.0835, d5.loss_bbox: 0.2835, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6633, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5479, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4974, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4797, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4764, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4761, d0.loss_map_cls_all: 0.1788, d0.loss_map_pts_all: 1.0461, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1788, d0.loss_map_pts: 1.0461, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1445, d1.loss_map_pts: 0.7590, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1180, d2.loss_map_pts: 0.6002, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1062, d3.loss_map_pts: 0.5294, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0985, d4.loss_map_pts: 0.5064, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0933, d5.loss_map_pts: 0.5010, d5.loss_map_dir: 0.0060, loss: 22.4262, grad_norm: 142.4889 +2026-02-28 19:25:59,291 - DriveTransformer - INFO - Epoch [11][3400/39528] lr: 6.331e-05, eta: 4 days, 15:42:47, time: 0.714, data_time: 0.038, memory: 19865, loss_cls: 0.0943, loss_bbox: 0.2954, loss_traj: 0.5542, loss_traj_cls: 0.0019, loss_map_cls: 0.1106, loss_map_pts: 0.5402, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.4499, d0.loss_plan_l1_fix_dist: 0.4361, d1.loss_plan_l1_fix_time: 0.7576, d1.loss_plan_l1_fix_dist: 0.3087, d2.loss_plan_l1_fix_time: 0.7530, d2.loss_plan_l1_fix_dist: 0.2396, d3.loss_plan_l1_fix_time: 0.7406, d3.loss_plan_l1_fix_dist: 0.3503, d4.loss_plan_l1_fix_time: 0.7429, d4.loss_plan_l1_fix_dist: 0.2870, d5.loss_plan_l1_fix_time: 0.7462, d5.loss_plan_l1_fix_dist: 0.3458, d6.loss_plan_l1_fix_time: 0.7500, d6.loss_plan_l1_fix_dist: 0.2631, d0.loss_cls_all: 0.1462, d0.loss_bbox_all: 0.3638, d0.loss_cls: 0.1462, d0.loss_bbox: 0.3638, d1.loss_cls: 0.1339, d1.loss_bbox: 0.3288, d2.loss_cls: 0.1202, d2.loss_bbox: 0.3087, d3.loss_cls: 0.1038, d3.loss_bbox: 0.3017, d4.loss_cls: 0.0972, d4.loss_bbox: 0.2985, d5.loss_cls: 0.0958, d5.loss_bbox: 0.2950, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8258, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6582, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5886, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5696, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5591, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5541, d0.loss_map_cls_all: 0.1921, d0.loss_map_pts_all: 1.1092, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1921, d0.loss_map_pts: 1.1092, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1600, d1.loss_map_pts: 0.8071, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1361, d2.loss_map_pts: 0.6323, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1256, d3.loss_map_pts: 0.5671, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1188, d4.loss_map_pts: 0.5456, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1136, d5.loss_map_pts: 0.5407, d5.loss_map_dir: 0.0067, loss: 24.0333, grad_norm: 143.0173 +2026-02-28 19:26:34,675 - DriveTransformer - INFO - Epoch [11][3450/39528] lr: 6.331e-05, eta: 4 days, 15:42:06, time: 0.708, data_time: 0.036, memory: 19865, loss_cls: 0.0921, loss_bbox: 0.2842, loss_traj: 0.6067, loss_traj_cls: 0.0018, loss_map_cls: 0.1106, loss_map_pts: 0.5048, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.8232, d0.loss_plan_l1_fix_dist: 0.3730, d1.loss_plan_l1_fix_time: 0.8180, d1.loss_plan_l1_fix_dist: 0.2818, d2.loss_plan_l1_fix_time: 0.8105, d2.loss_plan_l1_fix_dist: 0.2422, d3.loss_plan_l1_fix_time: 0.8072, d3.loss_plan_l1_fix_dist: 0.3346, d4.loss_plan_l1_fix_time: 0.8106, d4.loss_plan_l1_fix_dist: 0.2983, d5.loss_plan_l1_fix_time: 0.8146, d5.loss_plan_l1_fix_dist: 0.3252, d6.loss_plan_l1_fix_time: 0.8184, d6.loss_plan_l1_fix_dist: 0.2903, d0.loss_cls_all: 0.1387, d0.loss_bbox_all: 0.3492, d0.loss_cls: 0.1387, d0.loss_bbox: 0.3492, d1.loss_cls: 0.1311, d1.loss_bbox: 0.3151, d2.loss_cls: 0.1207, d2.loss_bbox: 0.2924, d3.loss_cls: 0.0981, d3.loss_bbox: 0.2875, d4.loss_cls: 0.0931, d4.loss_bbox: 0.2840, d5.loss_cls: 0.0918, d5.loss_bbox: 0.2839, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8889, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6987, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6231, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.6009, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.6034, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.6029, d0.loss_map_cls_all: 0.1939, d0.loss_map_pts_all: 1.0391, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1939, d0.loss_map_pts: 1.0391, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1582, d1.loss_map_pts: 0.7607, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1373, d2.loss_map_pts: 0.6029, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1224, d3.loss_map_pts: 0.5362, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1149, d4.loss_map_pts: 0.5129, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1128, d5.loss_map_pts: 0.5053, d5.loss_map_dir: 0.0060, loss: 24.5188, grad_norm: 143.4035 +2026-02-28 19:27:12,789 - DriveTransformer - INFO - Epoch [11][3500/39528] lr: 6.331e-05, eta: 4 days, 15:41:35, time: 0.762, data_time: 0.037, memory: 19865, loss_cls: 0.0919, loss_bbox: 0.2872, loss_traj: 0.3829, loss_traj_cls: 0.0018, loss_map_cls: 0.1044, loss_map_pts: 0.5455, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.4629, d0.loss_plan_l1_fix_dist: 0.4679, d1.loss_plan_l1_fix_time: 0.6725, d1.loss_plan_l1_fix_dist: 0.2594, d2.loss_plan_l1_fix_time: 0.6559, d2.loss_plan_l1_fix_dist: 0.2377, d3.loss_plan_l1_fix_time: 0.6344, d3.loss_plan_l1_fix_dist: 0.3358, d4.loss_plan_l1_fix_time: 0.6348, d4.loss_plan_l1_fix_dist: 0.3156, d5.loss_plan_l1_fix_time: 0.6363, d5.loss_plan_l1_fix_dist: 0.3381, d6.loss_plan_l1_fix_time: 0.6390, d6.loss_plan_l1_fix_dist: 0.3433, d0.loss_cls_all: 0.1376, d0.loss_bbox_all: 0.3516, d0.loss_cls: 0.1376, d0.loss_bbox: 0.3516, d1.loss_cls: 0.1317, d1.loss_bbox: 0.3194, d2.loss_cls: 0.1194, d2.loss_bbox: 0.2975, d3.loss_cls: 0.1004, d3.loss_bbox: 0.2899, d4.loss_cls: 0.0934, d4.loss_bbox: 0.2898, d5.loss_cls: 0.0928, d5.loss_bbox: 0.2864, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6057, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4646, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4096, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3879, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3897, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.3840, d0.loss_map_cls_all: 0.1911, d0.loss_map_pts_all: 1.1098, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.1911, d0.loss_map_pts: 1.1098, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1523, d1.loss_map_pts: 0.7930, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1304, d2.loss_map_pts: 0.6263, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1190, d3.loss_map_pts: 0.5720, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1118, d4.loss_map_pts: 0.5501, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1077, d5.loss_map_pts: 0.5456, d5.loss_map_dir: 0.0086, loss: 22.0736, grad_norm: 142.5924 +2026-02-28 19:27:48,572 - DriveTransformer - INFO - Epoch [11][3550/39528] lr: 6.331e-05, eta: 4 days, 15:40:56, time: 0.716, data_time: 0.034, memory: 19865, loss_cls: 0.1008, loss_bbox: 0.2981, loss_traj: 0.4693, loss_traj_cls: 0.0018, loss_map_cls: 0.1187, loss_map_pts: 0.5629, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.5408, d0.loss_plan_l1_fix_dist: 0.3999, d1.loss_plan_l1_fix_time: 0.7332, d1.loss_plan_l1_fix_dist: 0.2223, d2.loss_plan_l1_fix_time: 0.7194, d2.loss_plan_l1_fix_dist: 0.2037, d3.loss_plan_l1_fix_time: 0.7164, d3.loss_plan_l1_fix_dist: 0.3273, d4.loss_plan_l1_fix_time: 0.7188, d4.loss_plan_l1_fix_dist: 0.2994, d5.loss_plan_l1_fix_time: 0.7216, d5.loss_plan_l1_fix_dist: 0.3394, d6.loss_plan_l1_fix_time: 0.7260, d6.loss_plan_l1_fix_dist: 0.3282, d0.loss_cls_all: 0.1556, d0.loss_bbox_all: 0.3619, d0.loss_cls: 0.1556, d0.loss_bbox: 0.3619, d1.loss_cls: 0.1442, d1.loss_bbox: 0.3310, d2.loss_cls: 0.1277, d2.loss_bbox: 0.3110, d3.loss_cls: 0.1100, d3.loss_bbox: 0.3057, d4.loss_cls: 0.1046, d4.loss_bbox: 0.3011, d5.loss_cls: 0.1016, d5.loss_bbox: 0.2995, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7003, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5457, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4937, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4784, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4728, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4694, d0.loss_map_cls_all: 0.1969, d0.loss_map_pts_all: 1.0972, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.1969, d0.loss_map_pts: 1.0972, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1701, d1.loss_map_pts: 0.8042, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1445, d2.loss_map_pts: 0.6447, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1321, d3.loss_map_pts: 0.5902, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1263, d4.loss_map_pts: 0.5704, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1209, d5.loss_map_pts: 0.5633, d5.loss_map_dir: 0.0079, loss: 23.4024, grad_norm: 144.3348 +2026-02-28 19:28:24,324 - DriveTransformer - INFO - Epoch [11][3600/39528] lr: 6.331e-05, eta: 4 days, 15:40:17, time: 0.716, data_time: 0.037, memory: 19865, loss_cls: 0.0943, loss_bbox: 0.2609, loss_traj: 0.5134, loss_traj_cls: 0.0018, loss_map_cls: 0.0742, loss_map_pts: 0.4126, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.3696, d0.loss_plan_l1_fix_dist: 0.5020, d1.loss_plan_l1_fix_time: 0.7347, d1.loss_plan_l1_fix_dist: 0.2068, d2.loss_plan_l1_fix_time: 0.7168, d2.loss_plan_l1_fix_dist: 0.1978, d3.loss_plan_l1_fix_time: 0.7037, d3.loss_plan_l1_fix_dist: 0.3021, d4.loss_plan_l1_fix_time: 0.7055, d4.loss_plan_l1_fix_dist: 0.3086, d5.loss_plan_l1_fix_time: 0.7084, d5.loss_plan_l1_fix_dist: 0.3312, d6.loss_plan_l1_fix_time: 0.7124, d6.loss_plan_l1_fix_dist: 0.3311, d0.loss_cls_all: 0.1326, d0.loss_bbox_all: 0.3263, d0.loss_cls: 0.1326, d0.loss_bbox: 0.3263, d1.loss_cls: 0.1239, d1.loss_bbox: 0.2948, d2.loss_cls: 0.1145, d2.loss_bbox: 0.2747, d3.loss_cls: 0.0999, d3.loss_bbox: 0.2692, d4.loss_cls: 0.0957, d4.loss_bbox: 0.2636, d5.loss_cls: 0.0936, d5.loss_bbox: 0.2624, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7704, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6015, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5454, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5202, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5143, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5124, d0.loss_map_cls_all: 0.1496, d0.loss_map_pts_all: 0.9679, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1496, d0.loss_map_pts: 0.9679, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1207, d1.loss_map_pts: 0.6594, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.0982, d2.loss_map_pts: 0.4972, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.0871, d3.loss_map_pts: 0.4378, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0807, d4.loss_map_pts: 0.4169, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0760, d5.loss_map_pts: 0.4121, d5.loss_map_dir: 0.0060, loss: 21.6358, grad_norm: 141.5202 +2026-02-28 19:29:00,037 - DriveTransformer - INFO - Epoch [11][3650/39528] lr: 6.331e-05, eta: 4 days, 15:39:37, time: 0.713, data_time: 0.037, memory: 19865, loss_cls: 0.1010, loss_bbox: 0.2815, loss_traj: 0.4760, loss_traj_cls: 0.0018, loss_map_cls: 0.0938, loss_map_pts: 0.4911, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.4767, d0.loss_plan_l1_fix_dist: 0.5019, d1.loss_plan_l1_fix_time: 0.7310, d1.loss_plan_l1_fix_dist: 0.1687, d2.loss_plan_l1_fix_time: 0.7071, d2.loss_plan_l1_fix_dist: 0.1849, d3.loss_plan_l1_fix_time: 0.6947, d3.loss_plan_l1_fix_dist: 0.2242, d4.loss_plan_l1_fix_time: 0.6947, d4.loss_plan_l1_fix_dist: 0.2971, d5.loss_plan_l1_fix_time: 0.6966, d5.loss_plan_l1_fix_dist: 0.2471, d6.loss_plan_l1_fix_time: 0.6987, d6.loss_plan_l1_fix_dist: 0.2890, d0.loss_cls_all: 0.1491, d0.loss_bbox_all: 0.3535, d0.loss_cls: 0.1491, d0.loss_bbox: 0.3535, d1.loss_cls: 0.1409, d1.loss_bbox: 0.3229, d2.loss_cls: 0.1256, d2.loss_bbox: 0.2982, d3.loss_cls: 0.1105, d3.loss_bbox: 0.2876, d4.loss_cls: 0.1026, d4.loss_bbox: 0.2837, d5.loss_cls: 0.1009, d5.loss_bbox: 0.2819, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7891, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6023, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5241, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4990, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4855, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4793, d0.loss_map_cls_all: 0.1716, d0.loss_map_pts_all: 1.0170, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1716, d0.loss_map_pts: 1.0170, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1420, d1.loss_map_pts: 0.7343, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1176, d2.loss_map_pts: 0.5884, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1057, d3.loss_map_pts: 0.5214, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1001, d4.loss_map_pts: 0.5002, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0959, d5.loss_map_pts: 0.4923, d5.loss_map_dir: 0.0062, loss: 22.3272, grad_norm: 139.3473 +2026-02-28 19:29:35,593 - DriveTransformer - INFO - Epoch [11][3700/39528] lr: 6.331e-05, eta: 4 days, 15:38:57, time: 0.711, data_time: 0.039, memory: 19865, loss_cls: 0.0845, loss_bbox: 0.2502, loss_traj: 0.4590, loss_traj_cls: 0.0018, loss_map_cls: 0.0997, loss_map_pts: 0.4972, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.5061, d0.loss_plan_l1_fix_dist: 0.3910, d1.loss_plan_l1_fix_time: 0.8255, d1.loss_plan_l1_fix_dist: 0.1523, d2.loss_plan_l1_fix_time: 0.8072, d2.loss_plan_l1_fix_dist: 0.2042, d3.loss_plan_l1_fix_time: 0.7972, d3.loss_plan_l1_fix_dist: 0.2266, d4.loss_plan_l1_fix_time: 0.7989, d4.loss_plan_l1_fix_dist: 0.3462, d5.loss_plan_l1_fix_time: 0.8015, d5.loss_plan_l1_fix_dist: 0.2535, d6.loss_plan_l1_fix_time: 0.8045, d6.loss_plan_l1_fix_dist: 0.3130, d0.loss_cls_all: 0.1281, d0.loss_bbox_all: 0.3183, d0.loss_cls: 0.1281, d0.loss_bbox: 0.3183, d1.loss_cls: 0.1195, d1.loss_bbox: 0.2833, d2.loss_cls: 0.1084, d2.loss_bbox: 0.2625, d3.loss_cls: 0.0909, d3.loss_bbox: 0.2574, d4.loss_cls: 0.0868, d4.loss_bbox: 0.2532, d5.loss_cls: 0.0842, d5.loss_bbox: 0.2512, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6946, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5386, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4835, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4678, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4689, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4617, d0.loss_map_cls_all: 0.1740, d0.loss_map_pts_all: 0.9834, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1740, d0.loss_map_pts: 0.9834, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1468, d1.loss_map_pts: 0.7374, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1232, d2.loss_map_pts: 0.5874, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1127, d3.loss_map_pts: 0.5252, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1066, d4.loss_map_pts: 0.5034, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1014, d5.loss_map_pts: 0.4970, d5.loss_map_dir: 0.0058, loss: 22.2319, grad_norm: 135.0845 +2026-02-28 19:30:13,418 - DriveTransformer - INFO - Epoch [11][3750/39528] lr: 6.331e-05, eta: 4 days, 15:38:25, time: 0.756, data_time: 0.037, memory: 19865, loss_cls: 0.0808, loss_bbox: 0.2668, loss_traj: 0.4468, loss_traj_cls: 0.0019, loss_map_cls: 0.0951, loss_map_pts: 0.5465, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.2858, d0.loss_plan_l1_fix_dist: 0.3666, d1.loss_plan_l1_fix_time: 0.6636, d1.loss_plan_l1_fix_dist: 0.1742, d2.loss_plan_l1_fix_time: 0.6519, d2.loss_plan_l1_fix_dist: 0.2261, d3.loss_plan_l1_fix_time: 0.6527, d3.loss_plan_l1_fix_dist: 0.2861, d4.loss_plan_l1_fix_time: 0.6567, d4.loss_plan_l1_fix_dist: 0.3417, d5.loss_plan_l1_fix_time: 0.6603, d5.loss_plan_l1_fix_dist: 0.2663, d6.loss_plan_l1_fix_time: 0.6642, d6.loss_plan_l1_fix_dist: 0.3305, d0.loss_cls_all: 0.1280, d0.loss_bbox_all: 0.3311, d0.loss_cls: 0.1280, d0.loss_bbox: 0.3311, d1.loss_cls: 0.1224, d1.loss_bbox: 0.2995, d2.loss_cls: 0.1073, d2.loss_bbox: 0.2768, d3.loss_cls: 0.0907, d3.loss_bbox: 0.2703, d4.loss_cls: 0.0834, d4.loss_bbox: 0.2680, d5.loss_cls: 0.0797, d5.loss_bbox: 0.2683, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6834, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5246, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4674, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4533, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4479, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4462, d0.loss_map_cls_all: 0.1858, d0.loss_map_pts_all: 1.1446, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.1858, d0.loss_map_pts: 1.1446, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.1504, d1.loss_map_pts: 0.8051, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1235, d2.loss_map_pts: 0.6403, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1090, d3.loss_map_pts: 0.5854, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1024, d4.loss_map_pts: 0.5582, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.0991, d5.loss_map_pts: 0.5472, d5.loss_map_dir: 0.0086, loss: 21.9268, grad_norm: 137.6666 +2026-02-28 19:30:51,207 - DriveTransformer - INFO - Epoch [11][3800/39528] lr: 6.331e-05, eta: 4 days, 15:37:53, time: 0.756, data_time: 0.038, memory: 19865, loss_cls: 0.0843, loss_bbox: 0.2624, loss_traj: 0.4730, loss_traj_cls: 0.0018, loss_map_cls: 0.0976, loss_map_pts: 0.5055, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.2172, d0.loss_plan_l1_fix_dist: 0.4221, d1.loss_plan_l1_fix_time: 0.6916, d1.loss_plan_l1_fix_dist: 0.2121, d2.loss_plan_l1_fix_time: 0.6809, d2.loss_plan_l1_fix_dist: 0.2354, d3.loss_plan_l1_fix_time: 0.6861, d3.loss_plan_l1_fix_dist: 0.3667, d4.loss_plan_l1_fix_time: 0.6890, d4.loss_plan_l1_fix_dist: 0.2956, d5.loss_plan_l1_fix_time: 0.6916, d5.loss_plan_l1_fix_dist: 0.2990, d6.loss_plan_l1_fix_time: 0.6948, d6.loss_plan_l1_fix_dist: 0.3453, d0.loss_cls_all: 0.1260, d0.loss_bbox_all: 0.3260, d0.loss_cls: 0.1260, d0.loss_bbox: 0.3260, d1.loss_cls: 0.1152, d1.loss_bbox: 0.2933, d2.loss_cls: 0.1063, d2.loss_bbox: 0.2741, d3.loss_cls: 0.0893, d3.loss_bbox: 0.2684, d4.loss_cls: 0.0839, d4.loss_bbox: 0.2661, d5.loss_cls: 0.0831, d5.loss_bbox: 0.2639, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6869, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5343, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4871, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4791, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4715, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4722, d0.loss_map_cls_all: 0.1744, d0.loss_map_pts_all: 1.1000, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1744, d0.loss_map_pts: 1.1000, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1463, d1.loss_map_pts: 0.7634, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1246, d2.loss_map_pts: 0.6034, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1115, d3.loss_map_pts: 0.5398, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1046, d4.loss_map_pts: 0.5137, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.0994, d5.loss_map_pts: 0.5067, d5.loss_map_dir: 0.0078, loss: 21.9588, grad_norm: 137.6852 +2026-02-28 19:31:26,730 - DriveTransformer - INFO - Epoch [11][3850/39528] lr: 6.331e-05, eta: 4 days, 15:37:12, time: 0.710, data_time: 0.039, memory: 19865, loss_cls: 0.1056, loss_bbox: 0.2917, loss_traj: 0.5434, loss_traj_cls: 0.0019, loss_map_cls: 0.1093, loss_map_pts: 0.4813, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.8989, d0.loss_plan_l1_fix_dist: 0.4383, d1.loss_plan_l1_fix_time: 0.8155, d1.loss_plan_l1_fix_dist: 0.2452, d2.loss_plan_l1_fix_time: 0.7918, d2.loss_plan_l1_fix_dist: 0.2452, d3.loss_plan_l1_fix_time: 0.7895, d3.loss_plan_l1_fix_dist: 0.4230, d4.loss_plan_l1_fix_time: 0.7906, d4.loss_plan_l1_fix_dist: 0.2641, d5.loss_plan_l1_fix_time: 0.7926, d5.loss_plan_l1_fix_dist: 0.2811, d6.loss_plan_l1_fix_time: 0.7957, d6.loss_plan_l1_fix_dist: 0.2689, d0.loss_cls_all: 0.1524, d0.loss_bbox_all: 0.3555, d0.loss_cls: 0.1524, d0.loss_bbox: 0.3555, d1.loss_cls: 0.1436, d1.loss_bbox: 0.3230, d2.loss_cls: 0.1295, d2.loss_bbox: 0.3012, d3.loss_cls: 0.1129, d3.loss_bbox: 0.2963, d4.loss_cls: 0.1071, d4.loss_bbox: 0.2949, d5.loss_cls: 0.1056, d5.loss_bbox: 0.2924, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7777, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6141, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5659, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5512, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5453, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5434, d0.loss_map_cls_all: 0.1902, d0.loss_map_pts_all: 1.0066, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1902, d0.loss_map_pts: 1.0066, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1560, d1.loss_map_pts: 0.7089, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1318, d2.loss_map_pts: 0.5535, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1224, d3.loss_map_pts: 0.4969, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1180, d4.loss_map_pts: 0.4833, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1122, d5.loss_map_pts: 0.4812, d5.loss_map_dir: 0.0063, loss: 23.9051, grad_norm: 138.7156 +2026-02-28 19:32:02,783 - DriveTransformer - INFO - Epoch [11][3900/39528] lr: 6.331e-05, eta: 4 days, 15:36:34, time: 0.721, data_time: 0.038, memory: 19865, loss_cls: 0.0887, loss_bbox: 0.2795, loss_traj: 0.4810, loss_traj_cls: 0.0019, loss_map_cls: 0.0917, loss_map_pts: 0.4359, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.2900, d0.loss_plan_l1_fix_dist: 0.5220, d1.loss_plan_l1_fix_time: 0.6434, d1.loss_plan_l1_fix_dist: 0.2704, d2.loss_plan_l1_fix_time: 0.6373, d2.loss_plan_l1_fix_dist: 0.2325, d3.loss_plan_l1_fix_time: 0.6476, d3.loss_plan_l1_fix_dist: 0.4402, d4.loss_plan_l1_fix_time: 0.6516, d4.loss_plan_l1_fix_dist: 0.2432, d5.loss_plan_l1_fix_time: 0.6542, d5.loss_plan_l1_fix_dist: 0.3163, d6.loss_plan_l1_fix_time: 0.6582, d6.loss_plan_l1_fix_dist: 0.2719, d0.loss_cls_all: 0.1319, d0.loss_bbox_all: 0.3403, d0.loss_cls: 0.1319, d0.loss_bbox: 0.3403, d1.loss_cls: 0.1231, d1.loss_bbox: 0.3037, d2.loss_cls: 0.1122, d2.loss_bbox: 0.2845, d3.loss_cls: 0.0962, d3.loss_bbox: 0.2801, d4.loss_cls: 0.0891, d4.loss_bbox: 0.2796, d5.loss_cls: 0.0892, d5.loss_bbox: 0.2790, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6664, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5358, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4976, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4808, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4803, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4828, d0.loss_map_cls_all: 0.1627, d0.loss_map_pts_all: 0.9425, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1627, d0.loss_map_pts: 0.9425, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1363, d1.loss_map_pts: 0.6453, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1144, d2.loss_map_pts: 0.5089, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1035, d3.loss_map_pts: 0.4575, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0984, d4.loss_map_pts: 0.4409, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0932, d5.loss_map_pts: 0.4370, d5.loss_map_dir: 0.0061, loss: 21.1814, grad_norm: 137.5212 +2026-02-28 19:32:38,628 - DriveTransformer - INFO - Epoch [11][3950/39528] lr: 6.331e-05, eta: 4 days, 15:35:55, time: 0.717, data_time: 0.036, memory: 19865, loss_cls: 0.0941, loss_bbox: 0.2924, loss_traj: 0.4772, loss_traj_cls: 0.0019, loss_map_cls: 0.1113, loss_map_pts: 0.5361, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 3.0452, d0.loss_plan_l1_fix_dist: 0.3839, d1.loss_plan_l1_fix_time: 0.8019, d1.loss_plan_l1_fix_dist: 0.2853, d2.loss_plan_l1_fix_time: 0.7845, d2.loss_plan_l1_fix_dist: 0.1931, d3.loss_plan_l1_fix_time: 0.7716, d3.loss_plan_l1_fix_dist: 0.4054, d4.loss_plan_l1_fix_time: 0.7726, d4.loss_plan_l1_fix_dist: 0.2227, d5.loss_plan_l1_fix_time: 0.7748, d5.loss_plan_l1_fix_dist: 0.3254, d6.loss_plan_l1_fix_time: 0.7776, d6.loss_plan_l1_fix_dist: 0.2638, d0.loss_cls_all: 0.1389, d0.loss_bbox_all: 0.3619, d0.loss_cls: 0.1389, d0.loss_bbox: 0.3619, d1.loss_cls: 0.1336, d1.loss_bbox: 0.3222, d2.loss_cls: 0.1165, d2.loss_bbox: 0.3012, d3.loss_cls: 0.1000, d3.loss_bbox: 0.2946, d4.loss_cls: 0.0928, d4.loss_bbox: 0.2946, d5.loss_cls: 0.0927, d5.loss_bbox: 0.2935, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7024, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5567, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5021, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4878, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4815, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4801, d0.loss_map_cls_all: 0.2019, d0.loss_map_pts_all: 1.1370, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.2019, d0.loss_map_pts: 1.1370, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1664, d1.loss_map_pts: 0.8242, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1412, d2.loss_map_pts: 0.6452, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1281, d3.loss_map_pts: 0.5723, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1205, d4.loss_map_pts: 0.5489, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1143, d5.loss_map_pts: 0.5362, d5.loss_map_dir: 0.0065, loss: 24.1043, grad_norm: 137.5516 +2026-02-28 19:33:17,181 - DriveTransformer - INFO - Epoch [11][4000/39528] lr: 6.331e-05, eta: 4 days, 15:35:25, time: 0.771, data_time: 0.038, memory: 19865, loss_cls: 0.1067, loss_bbox: 0.3057, loss_traj: 0.4558, loss_traj_cls: 0.0020, loss_map_cls: 0.1097, loss_map_pts: 0.6141, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.4470, d0.loss_plan_l1_fix_dist: 0.4159, d1.loss_plan_l1_fix_time: 0.7355, d1.loss_plan_l1_fix_dist: 0.2930, d2.loss_plan_l1_fix_time: 0.7296, d2.loss_plan_l1_fix_dist: 0.2068, d3.loss_plan_l1_fix_time: 0.7179, d3.loss_plan_l1_fix_dist: 0.3835, d4.loss_plan_l1_fix_time: 0.7212, d4.loss_plan_l1_fix_dist: 0.2087, d5.loss_plan_l1_fix_time: 0.7243, d5.loss_plan_l1_fix_dist: 0.3078, d6.loss_plan_l1_fix_time: 0.7270, d6.loss_plan_l1_fix_dist: 0.2873, d0.loss_cls_all: 0.1507, d0.loss_bbox_all: 0.3843, d0.loss_cls: 0.1507, d0.loss_bbox: 0.3843, d1.loss_cls: 0.1464, d1.loss_bbox: 0.3435, d2.loss_cls: 0.1316, d2.loss_bbox: 0.3206, d3.loss_cls: 0.1133, d3.loss_bbox: 0.3117, d4.loss_cls: 0.1066, d4.loss_bbox: 0.3081, d5.loss_cls: 0.1048, d5.loss_bbox: 0.3068, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7001, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5412, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4909, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4638, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4609, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4559, d0.loss_map_cls_all: 0.1886, d0.loss_map_pts_all: 1.1928, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.1886, d0.loss_map_pts: 1.1928, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1555, d1.loss_map_pts: 0.8758, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1352, d2.loss_map_pts: 0.7136, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1246, d3.loss_map_pts: 0.6487, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1171, d4.loss_map_pts: 0.6222, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1128, d5.loss_map_pts: 0.6144, d5.loss_map_dir: 0.0081, loss: 23.8284, grad_norm: 138.1741 +2026-02-28 19:33:53,253 - DriveTransformer - INFO - Epoch [11][4050/39528] lr: 6.331e-05, eta: 4 days, 15:34:47, time: 0.721, data_time: 0.036, memory: 19865, loss_cls: 0.0860, loss_bbox: 0.2757, loss_traj: 0.4020, loss_traj_cls: 0.0020, loss_map_cls: 0.0845, loss_map_pts: 0.4317, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.6767, d0.loss_plan_l1_fix_dist: 0.4162, d1.loss_plan_l1_fix_time: 0.7371, d1.loss_plan_l1_fix_dist: 0.2814, d2.loss_plan_l1_fix_time: 0.7212, d2.loss_plan_l1_fix_dist: 0.2381, d3.loss_plan_l1_fix_time: 0.7164, d3.loss_plan_l1_fix_dist: 0.3509, d4.loss_plan_l1_fix_time: 0.7198, d4.loss_plan_l1_fix_dist: 0.2377, d5.loss_plan_l1_fix_time: 0.7232, d5.loss_plan_l1_fix_dist: 0.3071, d6.loss_plan_l1_fix_time: 0.7258, d6.loss_plan_l1_fix_dist: 0.2994, d0.loss_cls_all: 0.1360, d0.loss_bbox_all: 0.3435, d0.loss_cls: 0.1360, d0.loss_bbox: 0.3435, d1.loss_cls: 0.1281, d1.loss_bbox: 0.3124, d2.loss_cls: 0.1145, d2.loss_bbox: 0.2895, d3.loss_cls: 0.0950, d3.loss_bbox: 0.2814, d4.loss_cls: 0.0869, d4.loss_bbox: 0.2777, d5.loss_cls: 0.0857, d5.loss_bbox: 0.2751, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6205, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.4799, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4227, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4152, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4037, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4011, d0.loss_map_cls_all: 0.1560, d0.loss_map_pts_all: 0.9446, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1560, d0.loss_map_pts: 0.9446, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1277, d1.loss_map_pts: 0.6658, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1070, d2.loss_map_pts: 0.5180, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0977, d3.loss_map_pts: 0.4564, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0915, d4.loss_map_pts: 0.4376, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0866, d5.loss_map_pts: 0.4315, d5.loss_map_dir: 0.0055, loss: 21.3508, grad_norm: 138.8961 +2026-02-28 19:34:29,977 - DriveTransformer - INFO - Epoch [11][4100/39528] lr: 6.331e-05, eta: 4 days, 15:34:11, time: 0.734, data_time: 0.038, memory: 19865, loss_cls: 0.0883, loss_bbox: 0.2750, loss_traj: 0.4617, loss_traj_cls: 0.0020, loss_map_cls: 0.0954, loss_map_pts: 0.4859, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.7378, d0.loss_plan_l1_fix_dist: 0.3729, d1.loss_plan_l1_fix_time: 0.6844, d1.loss_plan_l1_fix_dist: 0.2447, d2.loss_plan_l1_fix_time: 0.6822, d2.loss_plan_l1_fix_dist: 0.2663, d3.loss_plan_l1_fix_time: 0.6969, d3.loss_plan_l1_fix_dist: 0.3217, d4.loss_plan_l1_fix_time: 0.7016, d4.loss_plan_l1_fix_dist: 0.2991, d5.loss_plan_l1_fix_time: 0.7052, d5.loss_plan_l1_fix_dist: 0.3534, d6.loss_plan_l1_fix_time: 0.7096, d6.loss_plan_l1_fix_dist: 0.3207, d0.loss_cls_all: 0.1334, d0.loss_bbox_all: 0.3339, d0.loss_cls: 0.1334, d0.loss_bbox: 0.3339, d1.loss_cls: 0.1263, d1.loss_bbox: 0.3009, d2.loss_cls: 0.1137, d2.loss_bbox: 0.2817, d3.loss_cls: 0.0947, d3.loss_bbox: 0.2778, d4.loss_cls: 0.0896, d4.loss_bbox: 0.2743, d5.loss_cls: 0.0886, d5.loss_bbox: 0.2739, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6897, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5400, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4983, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4712, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4668, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4630, d0.loss_map_cls_all: 0.1838, d0.loss_map_pts_all: 1.0496, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1838, d0.loss_map_pts: 1.0496, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1477, d1.loss_map_pts: 0.7278, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1240, d2.loss_map_pts: 0.5688, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1118, d3.loss_map_pts: 0.5138, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1038, d4.loss_map_pts: 0.4955, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0992, d5.loss_map_pts: 0.4864, d5.loss_map_dir: 0.0068, loss: 22.3941, grad_norm: 139.1162 +2026-02-28 19:35:06,874 - DriveTransformer - INFO - Epoch [11][4150/39528] lr: 6.331e-05, eta: 4 days, 15:33:36, time: 0.738, data_time: 0.036, memory: 19865, loss_cls: 0.0929, loss_bbox: 0.2755, loss_traj: 0.4375, loss_traj_cls: 0.0020, loss_map_cls: 0.1111, loss_map_pts: 0.5564, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.4694, d0.loss_plan_l1_fix_dist: 0.4225, d1.loss_plan_l1_fix_time: 0.6971, d1.loss_plan_l1_fix_dist: 0.2185, d2.loss_plan_l1_fix_time: 0.6869, d2.loss_plan_l1_fix_dist: 0.3010, d3.loss_plan_l1_fix_time: 0.6688, d3.loss_plan_l1_fix_dist: 0.3019, d4.loss_plan_l1_fix_time: 0.6712, d4.loss_plan_l1_fix_dist: 0.3585, d5.loss_plan_l1_fix_time: 0.6740, d5.loss_plan_l1_fix_dist: 0.3588, d6.loss_plan_l1_fix_time: 0.6783, d6.loss_plan_l1_fix_dist: 0.3396, d0.loss_cls_all: 0.1382, d0.loss_bbox_all: 0.3489, d0.loss_cls: 0.1382, d0.loss_bbox: 0.3489, d1.loss_cls: 0.1308, d1.loss_bbox: 0.3116, d2.loss_cls: 0.1161, d2.loss_bbox: 0.2868, d3.loss_cls: 0.0983, d3.loss_bbox: 0.2809, d4.loss_cls: 0.0945, d4.loss_bbox: 0.2770, d5.loss_cls: 0.0935, d5.loss_bbox: 0.2752, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7334, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5471, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4803, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4538, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4478, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4409, d0.loss_map_cls_all: 0.1977, d0.loss_map_pts_all: 1.1672, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1977, d0.loss_map_pts: 1.1672, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1628, d1.loss_map_pts: 0.8191, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1392, d2.loss_map_pts: 0.6543, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1258, d3.loss_map_pts: 0.5910, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1183, d4.loss_map_pts: 0.5641, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1140, d5.loss_map_pts: 0.5568, d5.loss_map_dir: 0.0069, loss: 23.0009, grad_norm: 140.2640 +2026-02-28 19:35:41,687 - DriveTransformer - INFO - Epoch [11][4200/39528] lr: 6.331e-05, eta: 4 days, 15:32:53, time: 0.696, data_time: 0.037, memory: 19865, loss_cls: 0.0974, loss_bbox: 0.2774, loss_traj: 0.4411, loss_traj_cls: 0.0020, loss_map_cls: 0.0921, loss_map_pts: 0.4616, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.5027, d0.loss_plan_l1_fix_dist: 0.4875, d1.loss_plan_l1_fix_time: 0.7067, d1.loss_plan_l1_fix_dist: 0.2013, d2.loss_plan_l1_fix_time: 0.6967, d2.loss_plan_l1_fix_dist: 0.3395, d3.loss_plan_l1_fix_time: 0.6957, d3.loss_plan_l1_fix_dist: 0.3421, d4.loss_plan_l1_fix_time: 0.6998, d4.loss_plan_l1_fix_dist: 0.4055, d5.loss_plan_l1_fix_time: 0.7031, d5.loss_plan_l1_fix_dist: 0.3310, d6.loss_plan_l1_fix_time: 0.7069, d6.loss_plan_l1_fix_dist: 0.3160, d0.loss_cls_all: 0.1503, d0.loss_bbox_all: 0.3391, d0.loss_cls: 0.1503, d0.loss_bbox: 0.3391, d1.loss_cls: 0.1398, d1.loss_bbox: 0.3089, d2.loss_cls: 0.1241, d2.loss_bbox: 0.2884, d3.loss_cls: 0.1062, d3.loss_bbox: 0.2818, d4.loss_cls: 0.0991, d4.loss_bbox: 0.2797, d5.loss_cls: 0.0963, d5.loss_bbox: 0.2795, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6472, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5068, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4635, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4434, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4423, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4416, d0.loss_map_cls_all: 0.1754, d0.loss_map_pts_all: 0.9896, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1754, d0.loss_map_pts: 0.9896, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1459, d1.loss_map_pts: 0.6869, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1196, d2.loss_map_pts: 0.5454, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1074, d3.loss_map_pts: 0.4869, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1000, d4.loss_map_pts: 0.4656, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0948, d5.loss_map_pts: 0.4607, d5.loss_map_dir: 0.0058, loss: 22.0265, grad_norm: 140.6963 +2026-02-28 19:36:17,803 - DriveTransformer - INFO - Epoch [11][4250/39528] lr: 6.331e-05, eta: 4 days, 15:32:15, time: 0.722, data_time: 0.040, memory: 19865, loss_cls: 0.0911, loss_bbox: 0.2695, loss_traj: 0.5046, loss_traj_cls: 0.0021, loss_map_cls: 0.0788, loss_map_pts: 0.4262, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.8167, d0.loss_plan_l1_fix_dist: 0.5108, d1.loss_plan_l1_fix_time: 0.7552, d1.loss_plan_l1_fix_dist: 0.2308, d2.loss_plan_l1_fix_time: 0.7464, d2.loss_plan_l1_fix_dist: 0.3599, d3.loss_plan_l1_fix_time: 0.7511, d3.loss_plan_l1_fix_dist: 0.3763, d4.loss_plan_l1_fix_time: 0.7551, d4.loss_plan_l1_fix_dist: 0.3807, d5.loss_plan_l1_fix_time: 0.7590, d5.loss_plan_l1_fix_dist: 0.2712, d6.loss_plan_l1_fix_time: 0.7616, d6.loss_plan_l1_fix_dist: 0.3352, d0.loss_cls_all: 0.1322, d0.loss_bbox_all: 0.3437, d0.loss_cls: 0.1322, d0.loss_bbox: 0.3437, d1.loss_cls: 0.1250, d1.loss_bbox: 0.3061, d2.loss_cls: 0.1134, d2.loss_bbox: 0.2845, d3.loss_cls: 0.0969, d3.loss_bbox: 0.2765, d4.loss_cls: 0.0933, d4.loss_bbox: 0.2723, d5.loss_cls: 0.0911, d5.loss_bbox: 0.2702, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7636, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5749, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5259, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5124, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5053, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5019, d0.loss_map_cls_all: 0.1554, d0.loss_map_pts_all: 0.8995, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1554, d0.loss_map_pts: 0.8995, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1279, d1.loss_map_pts: 0.6400, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1059, d2.loss_map_pts: 0.5048, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0939, d3.loss_map_pts: 0.4485, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0859, d4.loss_map_pts: 0.4296, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0822, d5.loss_map_pts: 0.4255, d5.loss_map_dir: 0.0050, loss: 22.5486, grad_norm: 135.7426 +2026-02-28 19:36:52,614 - DriveTransformer - INFO - Epoch [11][4300/39528] lr: 6.331e-05, eta: 4 days, 15:31:33, time: 0.696, data_time: 0.038, memory: 19865, loss_cls: 0.0926, loss_bbox: 0.2676, loss_traj: 0.4532, loss_traj_cls: 0.0020, loss_map_cls: 0.0749, loss_map_pts: 0.3722, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.5535, d0.loss_plan_l1_fix_dist: 0.4971, d1.loss_plan_l1_fix_time: 0.7445, d1.loss_plan_l1_fix_dist: 0.2327, d2.loss_plan_l1_fix_time: 0.7293, d2.loss_plan_l1_fix_dist: 0.3265, d3.loss_plan_l1_fix_time: 0.7295, d3.loss_plan_l1_fix_dist: 0.3788, d4.loss_plan_l1_fix_time: 0.7320, d4.loss_plan_l1_fix_dist: 0.3301, d5.loss_plan_l1_fix_time: 0.7350, d5.loss_plan_l1_fix_dist: 0.2783, d6.loss_plan_l1_fix_time: 0.7373, d6.loss_plan_l1_fix_dist: 0.3105, d0.loss_cls_all: 0.1327, d0.loss_bbox_all: 0.3182, d0.loss_cls: 0.1327, d0.loss_bbox: 0.3182, d1.loss_cls: 0.1322, d1.loss_bbox: 0.2892, d2.loss_cls: 0.1175, d2.loss_bbox: 0.2734, d3.loss_cls: 0.1031, d3.loss_bbox: 0.2680, d4.loss_cls: 0.0959, d4.loss_bbox: 0.2673, d5.loss_cls: 0.0932, d5.loss_bbox: 0.2669, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6588, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5275, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4746, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4576, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4535, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4529, d0.loss_map_cls_all: 0.1443, d0.loss_map_pts_all: 0.7941, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1443, d0.loss_map_pts: 0.7941, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1204, d1.loss_map_pts: 0.5571, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.0972, d2.loss_map_pts: 0.4427, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.0889, d3.loss_map_pts: 0.3944, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0819, d4.loss_map_pts: 0.3792, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0772, d5.loss_map_pts: 0.3729, d5.loss_map_dir: 0.0047, loss: 20.9437, grad_norm: 135.5890 +2026-02-28 19:37:28,045 - DriveTransformer - INFO - Epoch [11][4350/39528] lr: 6.331e-05, eta: 4 days, 15:30:52, time: 0.709, data_time: 0.036, memory: 19865, loss_cls: 0.0970, loss_bbox: 0.2907, loss_traj: 0.4485, loss_traj_cls: 0.0020, loss_map_cls: 0.0939, loss_map_pts: 0.4718, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.6889, d0.loss_plan_l1_fix_dist: 0.5563, d1.loss_plan_l1_fix_time: 0.8460, d1.loss_plan_l1_fix_dist: 0.2467, d2.loss_plan_l1_fix_time: 0.8248, d2.loss_plan_l1_fix_dist: 0.3017, d3.loss_plan_l1_fix_time: 0.8244, d3.loss_plan_l1_fix_dist: 0.3635, d4.loss_plan_l1_fix_time: 0.8258, d4.loss_plan_l1_fix_dist: 0.2774, d5.loss_plan_l1_fix_time: 0.8279, d5.loss_plan_l1_fix_dist: 0.3111, d6.loss_plan_l1_fix_time: 0.8318, d6.loss_plan_l1_fix_dist: 0.2593, d0.loss_cls_all: 0.1369, d0.loss_bbox_all: 0.3569, d0.loss_cls: 0.1369, d0.loss_bbox: 0.3569, d1.loss_cls: 0.1347, d1.loss_bbox: 0.3203, d2.loss_cls: 0.1197, d2.loss_bbox: 0.3007, d3.loss_cls: 0.1019, d3.loss_bbox: 0.2940, d4.loss_cls: 0.0985, d4.loss_bbox: 0.2917, d5.loss_cls: 0.0974, d5.loss_bbox: 0.2904, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6471, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5325, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4805, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4597, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4503, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4485, d0.loss_map_cls_all: 0.1803, d0.loss_map_pts_all: 1.0073, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1803, d0.loss_map_pts: 1.0073, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1436, d1.loss_map_pts: 0.7136, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1213, d2.loss_map_pts: 0.5604, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1111, d3.loss_map_pts: 0.4995, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1027, d4.loss_map_pts: 0.4780, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0967, d5.loss_map_pts: 0.4729, d5.loss_map_dir: 0.0064, loss: 23.1763, grad_norm: 133.3592 +2026-02-28 19:38:05,104 - DriveTransformer - INFO - Epoch [11][4400/39528] lr: 6.331e-05, eta: 4 days, 15:30:18, time: 0.743, data_time: 0.038, memory: 19865, loss_cls: 0.1053, loss_bbox: 0.3027, loss_traj: 0.4975, loss_traj_cls: 0.0021, loss_map_cls: 0.0915, loss_map_pts: 0.4902, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.7205, d0.loss_plan_l1_fix_dist: 0.4235, d1.loss_plan_l1_fix_time: 0.7514, d1.loss_plan_l1_fix_dist: 0.2511, d2.loss_plan_l1_fix_time: 0.7357, d2.loss_plan_l1_fix_dist: 0.2673, d3.loss_plan_l1_fix_time: 0.7328, d3.loss_plan_l1_fix_dist: 0.3430, d4.loss_plan_l1_fix_time: 0.7349, d4.loss_plan_l1_fix_dist: 0.2125, d5.loss_plan_l1_fix_time: 0.7379, d5.loss_plan_l1_fix_dist: 0.2985, d6.loss_plan_l1_fix_time: 0.7428, d6.loss_plan_l1_fix_dist: 0.2348, d0.loss_cls_all: 0.1495, d0.loss_bbox_all: 0.3595, d0.loss_cls: 0.1495, d0.loss_bbox: 0.3595, d1.loss_cls: 0.1444, d1.loss_bbox: 0.3275, d2.loss_cls: 0.1322, d2.loss_bbox: 0.3081, d3.loss_cls: 0.1175, d3.loss_bbox: 0.3019, d4.loss_cls: 0.1081, d4.loss_bbox: 0.3027, d5.loss_cls: 0.1072, d5.loss_bbox: 0.3012, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6764, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5698, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5173, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5005, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4949, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4964, d0.loss_map_cls_all: 0.1719, d0.loss_map_pts_all: 1.0268, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1719, d0.loss_map_pts: 1.0268, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1358, d1.loss_map_pts: 0.7277, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1138, d2.loss_map_pts: 0.5814, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1036, d3.loss_map_pts: 0.5196, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.0977, d4.loss_map_pts: 0.4977, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0934, d5.loss_map_pts: 0.4915, d5.loss_map_dir: 0.0061, loss: 22.9147, grad_norm: 133.3649 +2026-02-28 19:38:41,838 - DriveTransformer - INFO - Epoch [11][4450/39528] lr: 6.331e-05, eta: 4 days, 15:29:41, time: 0.733, data_time: 0.042, memory: 19865, loss_cls: 0.0979, loss_bbox: 0.3056, loss_traj: 0.5007, loss_traj_cls: 0.0020, loss_map_cls: 0.1168, loss_map_pts: 0.5281, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.7949, d0.loss_plan_l1_fix_dist: 0.5204, d1.loss_plan_l1_fix_time: 0.8277, d1.loss_plan_l1_fix_dist: 0.2655, d2.loss_plan_l1_fix_time: 0.8210, d2.loss_plan_l1_fix_dist: 0.2121, d3.loss_plan_l1_fix_time: 0.8195, d3.loss_plan_l1_fix_dist: 0.3386, d4.loss_plan_l1_fix_time: 0.8214, d4.loss_plan_l1_fix_dist: 0.2273, d5.loss_plan_l1_fix_time: 0.8238, d5.loss_plan_l1_fix_dist: 0.3150, d6.loss_plan_l1_fix_time: 0.8264, d6.loss_plan_l1_fix_dist: 0.2612, d0.loss_cls_all: 0.1490, d0.loss_bbox_all: 0.3654, d0.loss_cls: 0.1490, d0.loss_bbox: 0.3654, d1.loss_cls: 0.1376, d1.loss_bbox: 0.3330, d2.loss_cls: 0.1219, d2.loss_bbox: 0.3117, d3.loss_cls: 0.1041, d3.loss_bbox: 0.3084, d4.loss_cls: 0.1002, d4.loss_bbox: 0.3042, d5.loss_cls: 0.0979, d5.loss_bbox: 0.3041, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7236, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5774, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5088, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5020, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4966, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4997, d0.loss_map_cls_all: 0.2096, d0.loss_map_pts_all: 1.0708, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.2096, d0.loss_map_pts: 1.0708, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1759, d1.loss_map_pts: 0.7946, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1487, d2.loss_map_pts: 0.6252, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1349, d3.loss_map_pts: 0.5578, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1270, d4.loss_map_pts: 0.5345, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1198, d5.loss_map_pts: 0.5280, d5.loss_map_dir: 0.0056, loss: 24.2420, grad_norm: 132.9407 +2026-02-28 19:39:18,544 - DriveTransformer - INFO - Epoch [11][4500/39528] lr: 6.331e-05, eta: 4 days, 15:29:05, time: 0.734, data_time: 0.038, memory: 19865, loss_cls: 0.0881, loss_bbox: 0.2848, loss_traj: 0.4439, loss_traj_cls: 0.0020, loss_map_cls: 0.1003, loss_map_pts: 0.4844, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.5670, d0.loss_plan_l1_fix_dist: 0.4588, d1.loss_plan_l1_fix_time: 0.7411, d1.loss_plan_l1_fix_dist: 0.2654, d2.loss_plan_l1_fix_time: 0.7211, d2.loss_plan_l1_fix_dist: 0.1981, d3.loss_plan_l1_fix_time: 0.7305, d3.loss_plan_l1_fix_dist: 0.3128, d4.loss_plan_l1_fix_time: 0.7333, d4.loss_plan_l1_fix_dist: 0.2330, d5.loss_plan_l1_fix_time: 0.7370, d5.loss_plan_l1_fix_dist: 0.3025, d6.loss_plan_l1_fix_time: 0.7391, d6.loss_plan_l1_fix_dist: 0.2851, d0.loss_cls_all: 0.1304, d0.loss_bbox_all: 0.3530, d0.loss_cls: 0.1304, d0.loss_bbox: 0.3530, d1.loss_cls: 0.1262, d1.loss_bbox: 0.3156, d2.loss_cls: 0.1102, d2.loss_bbox: 0.2945, d3.loss_cls: 0.0938, d3.loss_bbox: 0.2866, d4.loss_cls: 0.0884, d4.loss_bbox: 0.2847, d5.loss_cls: 0.0870, d5.loss_bbox: 0.2843, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6427, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4932, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4588, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4454, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4426, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4425, d0.loss_map_cls_all: 0.1811, d0.loss_map_pts_all: 1.0755, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1811, d0.loss_map_pts: 1.0755, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1524, d1.loss_map_pts: 0.7653, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1260, d2.loss_map_pts: 0.5920, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1138, d3.loss_map_pts: 0.5204, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1072, d4.loss_map_pts: 0.4926, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1031, d5.loss_map_pts: 0.4856, d5.loss_map_dir: 0.0060, loss: 22.3151, grad_norm: 132.7931 +2026-02-28 19:39:56,290 - DriveTransformer - INFO - Epoch [11][4550/39528] lr: 6.331e-05, eta: 4 days, 15:28:33, time: 0.755, data_time: 0.038, memory: 19865, loss_cls: 0.1052, loss_bbox: 0.2930, loss_traj: 0.4074, loss_traj_cls: 0.0020, loss_map_cls: 0.1003, loss_map_pts: 0.5430, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.7282, d0.loss_plan_l1_fix_dist: 0.4274, d1.loss_plan_l1_fix_time: 0.7654, d1.loss_plan_l1_fix_dist: 0.2675, d2.loss_plan_l1_fix_time: 0.7507, d2.loss_plan_l1_fix_dist: 0.2094, d3.loss_plan_l1_fix_time: 0.7514, d3.loss_plan_l1_fix_dist: 0.2560, d4.loss_plan_l1_fix_time: 0.7540, d4.loss_plan_l1_fix_dist: 0.2551, d5.loss_plan_l1_fix_time: 0.7572, d5.loss_plan_l1_fix_dist: 0.2814, d6.loss_plan_l1_fix_time: 0.7588, d6.loss_plan_l1_fix_dist: 0.2773, d0.loss_cls_all: 0.1608, d0.loss_bbox_all: 0.3512, d0.loss_cls: 0.1608, d0.loss_bbox: 0.3512, d1.loss_cls: 0.1538, d1.loss_bbox: 0.3167, d2.loss_cls: 0.1369, d2.loss_bbox: 0.2978, d3.loss_cls: 0.1166, d3.loss_bbox: 0.2938, d4.loss_cls: 0.1074, d4.loss_bbox: 0.2921, d5.loss_cls: 0.1046, d5.loss_bbox: 0.2933, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6560, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4930, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4372, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4203, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4125, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4076, d0.loss_map_cls_all: 0.1788, d0.loss_map_pts_all: 1.0850, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1788, d0.loss_map_pts: 1.0850, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1488, d1.loss_map_pts: 0.7762, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1252, d2.loss_map_pts: 0.6315, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1152, d3.loss_map_pts: 0.5774, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1084, d4.loss_map_pts: 0.5520, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1024, d5.loss_map_pts: 0.5433, d5.loss_map_dir: 0.0067, loss: 22.9221, grad_norm: 131.3322 +2026-02-28 19:40:32,367 - DriveTransformer - INFO - Epoch [11][4600/39528] lr: 6.331e-05, eta: 4 days, 15:27:55, time: 0.722, data_time: 0.037, memory: 19865, loss_cls: 0.1009, loss_bbox: 0.2857, loss_traj: 0.5094, loss_traj_cls: 0.0020, loss_map_cls: 0.0938, loss_map_pts: 0.4769, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.6921, d0.loss_plan_l1_fix_dist: 0.4582, d1.loss_plan_l1_fix_time: 0.7189, d1.loss_plan_l1_fix_dist: 0.2402, d2.loss_plan_l1_fix_time: 0.7048, d2.loss_plan_l1_fix_dist: 0.2043, d3.loss_plan_l1_fix_time: 0.6985, d3.loss_plan_l1_fix_dist: 0.1902, d4.loss_plan_l1_fix_time: 0.7008, d4.loss_plan_l1_fix_dist: 0.2503, d5.loss_plan_l1_fix_time: 0.7032, d5.loss_plan_l1_fix_dist: 0.2466, d6.loss_plan_l1_fix_time: 0.7056, d6.loss_plan_l1_fix_dist: 0.2552, d0.loss_cls_all: 0.1432, d0.loss_bbox_all: 0.3495, d0.loss_cls: 0.1432, d0.loss_bbox: 0.3495, d1.loss_cls: 0.1347, d1.loss_bbox: 0.3164, d2.loss_cls: 0.1253, d2.loss_bbox: 0.2931, d3.loss_cls: 0.1074, d3.loss_bbox: 0.2864, d4.loss_cls: 0.1025, d4.loss_bbox: 0.2859, d5.loss_cls: 0.1014, d5.loss_bbox: 0.2851, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7465, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5927, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5379, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5180, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5109, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5092, d0.loss_map_cls_all: 0.1822, d0.loss_map_pts_all: 1.0346, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1822, d0.loss_map_pts: 1.0346, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1466, d1.loss_map_pts: 0.7276, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1241, d2.loss_map_pts: 0.5724, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1099, d3.loss_map_pts: 0.5070, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1020, d4.loss_map_pts: 0.4840, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0965, d5.loss_map_pts: 0.4760, d5.loss_map_dir: 0.0053, loss: 22.5041, grad_norm: 132.0533 +2026-02-28 19:41:08,380 - DriveTransformer - INFO - Epoch [11][4650/39528] lr: 6.331e-05, eta: 4 days, 15:27:16, time: 0.720, data_time: 0.037, memory: 19865, loss_cls: 0.0980, loss_bbox: 0.2890, loss_traj: 0.4550, loss_traj_cls: 0.0021, loss_map_cls: 0.0910, loss_map_pts: 0.4312, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.7697, d0.loss_plan_l1_fix_dist: 0.5569, d1.loss_plan_l1_fix_time: 0.7535, d1.loss_plan_l1_fix_dist: 0.2741, d2.loss_plan_l1_fix_time: 0.7416, d2.loss_plan_l1_fix_dist: 0.2628, d3.loss_plan_l1_fix_time: 0.7414, d3.loss_plan_l1_fix_dist: 0.2157, d4.loss_plan_l1_fix_time: 0.7428, d4.loss_plan_l1_fix_dist: 0.2833, d5.loss_plan_l1_fix_time: 0.7451, d5.loss_plan_l1_fix_dist: 0.2632, d6.loss_plan_l1_fix_time: 0.7475, d6.loss_plan_l1_fix_dist: 0.2863, d0.loss_cls_all: 0.1388, d0.loss_bbox_all: 0.3419, d0.loss_cls: 0.1388, d0.loss_bbox: 0.3419, d1.loss_cls: 0.1375, d1.loss_bbox: 0.3093, d2.loss_cls: 0.1248, d2.loss_bbox: 0.2926, d3.loss_cls: 0.1064, d3.loss_bbox: 0.2909, d4.loss_cls: 0.1010, d4.loss_bbox: 0.2903, d5.loss_cls: 0.0993, d5.loss_bbox: 0.2888, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6818, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5351, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4787, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4634, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4617, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4569, d0.loss_map_cls_all: 0.1753, d0.loss_map_pts_all: 0.9687, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1753, d0.loss_map_pts: 0.9687, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1382, d1.loss_map_pts: 0.6667, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1135, d2.loss_map_pts: 0.5166, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1023, d3.loss_map_pts: 0.4531, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0972, d4.loss_map_pts: 0.4332, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0925, d5.loss_map_pts: 0.4298, d5.loss_map_dir: 0.0058, loss: 22.2131, grad_norm: 133.6483 +2026-02-28 19:41:45,498 - DriveTransformer - INFO - Epoch [11][4700/39528] lr: 6.331e-05, eta: 4 days, 15:26:42, time: 0.742, data_time: 0.036, memory: 19865, loss_cls: 0.0848, loss_bbox: 0.2756, loss_traj: 0.4677, loss_traj_cls: 0.0020, loss_map_cls: 0.0931, loss_map_pts: 0.5594, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.6901, d0.loss_plan_l1_fix_dist: 0.4982, d1.loss_plan_l1_fix_time: 0.7821, d1.loss_plan_l1_fix_dist: 0.2497, d2.loss_plan_l1_fix_time: 0.7649, d2.loss_plan_l1_fix_dist: 0.2689, d3.loss_plan_l1_fix_time: 0.7638, d3.loss_plan_l1_fix_dist: 0.2355, d4.loss_plan_l1_fix_time: 0.7659, d4.loss_plan_l1_fix_dist: 0.2688, d5.loss_plan_l1_fix_time: 0.7691, d5.loss_plan_l1_fix_dist: 0.2371, d6.loss_plan_l1_fix_time: 0.7723, d6.loss_plan_l1_fix_dist: 0.2858, d0.loss_cls_all: 0.1336, d0.loss_bbox_all: 0.3370, d0.loss_cls: 0.1336, d0.loss_bbox: 0.3370, d1.loss_cls: 0.1244, d1.loss_bbox: 0.3087, d2.loss_cls: 0.1126, d2.loss_bbox: 0.2850, d3.loss_cls: 0.0929, d3.loss_bbox: 0.2808, d4.loss_cls: 0.0863, d4.loss_bbox: 0.2772, d5.loss_cls: 0.0839, d5.loss_bbox: 0.2757, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6888, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5489, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4971, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4753, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4702, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4682, d0.loss_map_cls_all: 0.1708, d0.loss_map_pts_all: 1.0969, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.1708, d0.loss_map_pts: 1.0969, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1361, d1.loss_map_pts: 0.8006, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1168, d2.loss_map_pts: 0.6463, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1049, d3.loss_map_pts: 0.5901, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.0985, d4.loss_map_pts: 0.5685, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.0950, d5.loss_map_pts: 0.5610, d5.loss_map_dir: 0.0077, loss: 23.1729, grad_norm: 135.6664 +2026-02-28 19:42:22,307 - DriveTransformer - INFO - Epoch [11][4750/39528] lr: 6.331e-05, eta: 4 days, 15:26:06, time: 0.736, data_time: 0.039, memory: 19865, loss_cls: 0.0873, loss_bbox: 0.2789, loss_traj: 0.4130, loss_traj_cls: 0.0021, loss_map_cls: 0.1051, loss_map_pts: 0.5155, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.5205, d0.loss_plan_l1_fix_dist: 0.4918, d1.loss_plan_l1_fix_time: 0.6978, d1.loss_plan_l1_fix_dist: 0.2696, d2.loss_plan_l1_fix_time: 0.6803, d2.loss_plan_l1_fix_dist: 0.2363, d3.loss_plan_l1_fix_time: 0.6773, d3.loss_plan_l1_fix_dist: 0.2538, d4.loss_plan_l1_fix_time: 0.6774, d4.loss_plan_l1_fix_dist: 0.2416, d5.loss_plan_l1_fix_time: 0.6795, d5.loss_plan_l1_fix_dist: 0.2233, d6.loss_plan_l1_fix_time: 0.6826, d6.loss_plan_l1_fix_dist: 0.2522, d0.loss_cls_all: 0.1301, d0.loss_bbox_all: 0.3398, d0.loss_cls: 0.1301, d0.loss_bbox: 0.3398, d1.loss_cls: 0.1228, d1.loss_bbox: 0.3099, d2.loss_cls: 0.1117, d2.loss_bbox: 0.2853, d3.loss_cls: 0.0938, d3.loss_bbox: 0.2790, d4.loss_cls: 0.0872, d4.loss_bbox: 0.2800, d5.loss_cls: 0.0870, d5.loss_bbox: 0.2784, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6244, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4783, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4319, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4187, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4123, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4125, d0.loss_map_cls_all: 0.1785, d0.loss_map_pts_all: 1.0370, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1785, d0.loss_map_pts: 1.0370, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1497, d1.loss_map_pts: 0.7396, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1282, d2.loss_map_pts: 0.5916, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1176, d3.loss_map_pts: 0.5386, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1114, d4.loss_map_pts: 0.5206, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1063, d5.loss_map_pts: 0.5165, d5.loss_map_dir: 0.0064, loss: 21.6461, grad_norm: 135.9637 +2026-02-28 19:42:59,730 - DriveTransformer - INFO - Epoch [11][4800/39528] lr: 6.331e-05, eta: 4 days, 15:25:32, time: 0.748, data_time: 0.037, memory: 19865, loss_cls: 0.0761, loss_bbox: 0.2710, loss_traj: 0.3894, loss_traj_cls: 0.0021, loss_map_cls: 0.0771, loss_map_pts: 0.4320, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.2917, d0.loss_plan_l1_fix_dist: 0.5208, d1.loss_plan_l1_fix_time: 0.7256, d1.loss_plan_l1_fix_dist: 0.3109, d2.loss_plan_l1_fix_time: 0.7073, d2.loss_plan_l1_fix_dist: 0.2717, d3.loss_plan_l1_fix_time: 0.6847, d3.loss_plan_l1_fix_dist: 0.3118, d4.loss_plan_l1_fix_time: 0.6860, d4.loss_plan_l1_fix_dist: 0.2572, d5.loss_plan_l1_fix_time: 0.6888, d5.loss_plan_l1_fix_dist: 0.2744, d6.loss_plan_l1_fix_time: 0.6926, d6.loss_plan_l1_fix_dist: 0.2743, d0.loss_cls_all: 0.1109, d0.loss_bbox_all: 0.3257, d0.loss_cls: 0.1109, d0.loss_bbox: 0.3257, d1.loss_cls: 0.1064, d1.loss_bbox: 0.2972, d2.loss_cls: 0.0977, d2.loss_bbox: 0.2786, d3.loss_cls: 0.0839, d3.loss_bbox: 0.2713, d4.loss_cls: 0.0779, d4.loss_bbox: 0.2696, d5.loss_cls: 0.0755, d5.loss_bbox: 0.2703, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5901, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4581, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4153, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4029, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3925, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.3899, d0.loss_map_cls_all: 0.1571, d0.loss_map_pts_all: 0.9755, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1571, d0.loss_map_pts: 0.9755, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1228, d1.loss_map_pts: 0.6873, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.0973, d2.loss_map_pts: 0.5247, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0892, d3.loss_map_pts: 0.4621, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0834, d4.loss_map_pts: 0.4378, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0791, d5.loss_map_pts: 0.4329, d5.loss_map_dir: 0.0056, loss: 20.6278, grad_norm: 134.9852 +2026-02-28 19:43:36,134 - DriveTransformer - INFO - Epoch [11][4850/39528] lr: 6.331e-05, eta: 4 days, 15:24:55, time: 0.728, data_time: 0.038, memory: 19865, loss_cls: 0.0931, loss_bbox: 0.2774, loss_traj: 0.4453, loss_traj_cls: 0.0021, loss_map_cls: 0.0902, loss_map_pts: 0.4516, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.2516, d0.loss_plan_l1_fix_dist: 0.4909, d1.loss_plan_l1_fix_time: 0.6960, d1.loss_plan_l1_fix_dist: 0.2861, d2.loss_plan_l1_fix_time: 0.6834, d2.loss_plan_l1_fix_dist: 0.2586, d3.loss_plan_l1_fix_time: 0.6789, d3.loss_plan_l1_fix_dist: 0.3037, d4.loss_plan_l1_fix_time: 0.6812, d4.loss_plan_l1_fix_dist: 0.2189, d5.loss_plan_l1_fix_time: 0.6839, d5.loss_plan_l1_fix_dist: 0.2571, d6.loss_plan_l1_fix_time: 0.6872, d6.loss_plan_l1_fix_dist: 0.2204, d0.loss_cls_all: 0.1325, d0.loss_bbox_all: 0.3320, d0.loss_cls: 0.1325, d0.loss_bbox: 0.3320, d1.loss_cls: 0.1288, d1.loss_bbox: 0.3034, d2.loss_cls: 0.1136, d2.loss_bbox: 0.2879, d3.loss_cls: 0.0969, d3.loss_bbox: 0.2832, d4.loss_cls: 0.0934, d4.loss_bbox: 0.2783, d5.loss_cls: 0.0926, d5.loss_bbox: 0.2770, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6580, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5098, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4666, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4508, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4506, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4454, d0.loss_map_cls_all: 0.1652, d0.loss_map_pts_all: 0.9309, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1652, d0.loss_map_pts: 0.9309, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1361, d1.loss_map_pts: 0.6542, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1138, d2.loss_map_pts: 0.5183, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1070, d3.loss_map_pts: 0.4693, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0995, d4.loss_map_pts: 0.4569, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0930, d5.loss_map_pts: 0.4519, d5.loss_map_dir: 0.0057, loss: 20.9662, grad_norm: 134.0618 +2026-02-28 19:44:11,797 - DriveTransformer - INFO - Epoch [11][4900/39528] lr: 6.331e-05, eta: 4 days, 15:24:16, time: 0.713, data_time: 0.038, memory: 19865, loss_cls: 0.0917, loss_bbox: 0.2830, loss_traj: 0.4567, loss_traj_cls: 0.0020, loss_map_cls: 0.0999, loss_map_pts: 0.5156, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.6137, d0.loss_plan_l1_fix_dist: 0.6201, d1.loss_plan_l1_fix_time: 0.7893, d1.loss_plan_l1_fix_dist: 0.3010, d2.loss_plan_l1_fix_time: 0.7766, d2.loss_plan_l1_fix_dist: 0.2848, d3.loss_plan_l1_fix_time: 0.7740, d3.loss_plan_l1_fix_dist: 0.3400, d4.loss_plan_l1_fix_time: 0.7767, d4.loss_plan_l1_fix_dist: 0.2573, d5.loss_plan_l1_fix_time: 0.7793, d5.loss_plan_l1_fix_dist: 0.3059, d6.loss_plan_l1_fix_time: 0.7831, d6.loss_plan_l1_fix_dist: 0.2797, d0.loss_cls_all: 0.1408, d0.loss_bbox_all: 0.3386, d0.loss_cls: 0.1408, d0.loss_bbox: 0.3386, d1.loss_cls: 0.1329, d1.loss_bbox: 0.3072, d2.loss_cls: 0.1162, d2.loss_bbox: 0.2889, d3.loss_cls: 0.0996, d3.loss_bbox: 0.2831, d4.loss_cls: 0.0930, d4.loss_bbox: 0.2830, d5.loss_cls: 0.0926, d5.loss_bbox: 0.2823, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7024, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5521, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4985, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4691, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4598, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4582, d0.loss_map_cls_all: 0.1738, d0.loss_map_pts_all: 1.0487, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1738, d0.loss_map_pts: 1.0487, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1428, d1.loss_map_pts: 0.7672, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1239, d2.loss_map_pts: 0.5972, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1129, d3.loss_map_pts: 0.5377, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1069, d4.loss_map_pts: 0.5163, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1014, d5.loss_map_pts: 0.5145, d5.loss_map_dir: 0.0061, loss: 23.2278, grad_norm: 133.5983 +2026-02-28 19:44:49,394 - DriveTransformer - INFO - Epoch [11][4950/39528] lr: 6.331e-05, eta: 4 days, 15:23:42, time: 0.752, data_time: 0.038, memory: 19865, loss_cls: 0.0931, loss_bbox: 0.2909, loss_traj: 0.4350, loss_traj_cls: 0.0021, loss_map_cls: 0.1050, loss_map_pts: 0.5594, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.7592, d0.loss_plan_l1_fix_dist: 0.4727, d1.loss_plan_l1_fix_time: 0.7495, d1.loss_plan_l1_fix_dist: 0.2526, d2.loss_plan_l1_fix_time: 0.7246, d2.loss_plan_l1_fix_dist: 0.2532, d3.loss_plan_l1_fix_time: 0.7169, d3.loss_plan_l1_fix_dist: 0.3048, d4.loss_plan_l1_fix_time: 0.7187, d4.loss_plan_l1_fix_dist: 0.2174, d5.loss_plan_l1_fix_time: 0.7209, d5.loss_plan_l1_fix_dist: 0.2730, d6.loss_plan_l1_fix_time: 0.7239, d6.loss_plan_l1_fix_dist: 0.2563, d0.loss_cls_all: 0.1461, d0.loss_bbox_all: 0.3587, d0.loss_cls: 0.1461, d0.loss_bbox: 0.3587, d1.loss_cls: 0.1368, d1.loss_bbox: 0.3237, d2.loss_cls: 0.1231, d2.loss_bbox: 0.3037, d3.loss_cls: 0.1013, d3.loss_bbox: 0.2965, d4.loss_cls: 0.0940, d4.loss_bbox: 0.2934, d5.loss_cls: 0.0936, d5.loss_bbox: 0.2909, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6458, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5200, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4716, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4562, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4477, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4385, d0.loss_map_cls_all: 0.1949, d0.loss_map_pts_all: 1.2055, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.1949, d0.loss_map_pts: 1.2055, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1554, d1.loss_map_pts: 0.8427, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1316, d2.loss_map_pts: 0.6508, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1197, d3.loss_map_pts: 0.5875, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1134, d4.loss_map_pts: 0.5614, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1075, d5.loss_map_pts: 0.5591, d5.loss_map_dir: 0.0080, loss: 23.3735, grad_norm: 130.8054 +2026-02-28 19:45:25,900 - DriveTransformer - INFO - Epoch [11][5000/39528] lr: 6.331e-05, eta: 4 days, 15:23:06, time: 0.730, data_time: 0.035, memory: 19865, loss_cls: 0.0998, loss_bbox: 0.2657, loss_traj: 0.4857, loss_traj_cls: 0.0020, loss_map_cls: 0.0955, loss_map_pts: 0.4917, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.3907, d0.loss_plan_l1_fix_dist: 0.3814, d1.loss_plan_l1_fix_time: 0.7821, d1.loss_plan_l1_fix_dist: 0.2107, d2.loss_plan_l1_fix_time: 0.7708, d2.loss_plan_l1_fix_dist: 0.2262, d3.loss_plan_l1_fix_time: 0.7657, d3.loss_plan_l1_fix_dist: 0.2983, d4.loss_plan_l1_fix_time: 0.7689, d4.loss_plan_l1_fix_dist: 0.1998, d5.loss_plan_l1_fix_time: 0.7724, d5.loss_plan_l1_fix_dist: 0.2655, d6.loss_plan_l1_fix_time: 0.7764, d6.loss_plan_l1_fix_dist: 0.2569, d0.loss_cls_all: 0.1403, d0.loss_bbox_all: 0.3213, d0.loss_cls: 0.1403, d0.loss_bbox: 0.3213, d1.loss_cls: 0.1353, d1.loss_bbox: 0.2952, d2.loss_cls: 0.1229, d2.loss_bbox: 0.2753, d3.loss_cls: 0.1035, d3.loss_bbox: 0.2712, d4.loss_cls: 0.1022, d4.loss_bbox: 0.2664, d5.loss_cls: 0.1000, d5.loss_bbox: 0.2651, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6761, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5492, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5102, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4934, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4918, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4902, d0.loss_map_cls_all: 0.1860, d0.loss_map_pts_all: 1.0806, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1860, d0.loss_map_pts: 1.0806, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1485, d1.loss_map_pts: 0.7814, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1244, d2.loss_map_pts: 0.5976, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1124, d3.loss_map_pts: 0.5202, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1032, d4.loss_map_pts: 0.4942, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0973, d5.loss_map_pts: 0.4919, d5.loss_map_dir: 0.0064, loss: 22.4368, grad_norm: 133.6408 +2026-02-28 19:46:02,988 - DriveTransformer - INFO - Epoch [11][5050/39528] lr: 6.331e-05, eta: 4 days, 15:22:31, time: 0.742, data_time: 0.036, memory: 19865, loss_cls: 0.0847, loss_bbox: 0.2818, loss_traj: 0.4918, loss_traj_cls: 0.0021, loss_map_cls: 0.0984, loss_map_pts: 0.5351, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.5256, d0.loss_plan_l1_fix_dist: 0.4026, d1.loss_plan_l1_fix_time: 0.7948, d1.loss_plan_l1_fix_dist: 0.1860, d2.loss_plan_l1_fix_time: 0.7775, d2.loss_plan_l1_fix_dist: 0.2048, d3.loss_plan_l1_fix_time: 0.7708, d3.loss_plan_l1_fix_dist: 0.2755, d4.loss_plan_l1_fix_time: 0.7730, d4.loss_plan_l1_fix_dist: 0.2019, d5.loss_plan_l1_fix_time: 0.7761, d5.loss_plan_l1_fix_dist: 0.2498, d6.loss_plan_l1_fix_time: 0.7795, d6.loss_plan_l1_fix_dist: 0.2233, d0.loss_cls_all: 0.1311, d0.loss_bbox_all: 0.3408, d0.loss_cls: 0.1311, d0.loss_bbox: 0.3408, d1.loss_cls: 0.1214, d1.loss_bbox: 0.3113, d2.loss_cls: 0.1092, d2.loss_bbox: 0.2913, d3.loss_cls: 0.0913, d3.loss_bbox: 0.2854, d4.loss_cls: 0.0865, d4.loss_bbox: 0.2830, d5.loss_cls: 0.0852, d5.loss_bbox: 0.2818, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6848, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5537, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5092, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4982, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4976, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4972, d0.loss_map_cls_all: 0.1879, d0.loss_map_pts_all: 1.0868, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1879, d0.loss_map_pts: 1.0868, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1513, d1.loss_map_pts: 0.7868, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1263, d2.loss_map_pts: 0.6277, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1146, d3.loss_map_pts: 0.5641, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1076, d4.loss_map_pts: 0.5408, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1022, d5.loss_map_pts: 0.5348, d5.loss_map_dir: 0.0069, loss: 22.8325, grad_norm: 131.6215 +2026-02-28 19:46:39,118 - DriveTransformer - INFO - Epoch [11][5100/39528] lr: 6.331e-05, eta: 4 days, 15:21:53, time: 0.723, data_time: 0.040, memory: 19865, loss_cls: 0.1012, loss_bbox: 0.2954, loss_traj: 0.4729, loss_traj_cls: 0.0021, loss_map_cls: 0.0920, loss_map_pts: 0.4806, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.5957, d0.loss_plan_l1_fix_dist: 0.3886, d1.loss_plan_l1_fix_time: 0.7372, d1.loss_plan_l1_fix_dist: 0.1755, d2.loss_plan_l1_fix_time: 0.7158, d2.loss_plan_l1_fix_dist: 0.1867, d3.loss_plan_l1_fix_time: 0.7089, d3.loss_plan_l1_fix_dist: 0.2362, d4.loss_plan_l1_fix_time: 0.7110, d4.loss_plan_l1_fix_dist: 0.2108, d5.loss_plan_l1_fix_time: 0.7134, d5.loss_plan_l1_fix_dist: 0.2487, d6.loss_plan_l1_fix_time: 0.7171, d6.loss_plan_l1_fix_dist: 0.2286, d0.loss_cls_all: 0.1483, d0.loss_bbox_all: 0.3551, d0.loss_cls: 0.1483, d0.loss_bbox: 0.3551, d1.loss_cls: 0.1413, d1.loss_bbox: 0.3234, d2.loss_cls: 0.1281, d2.loss_bbox: 0.3030, d3.loss_cls: 0.1110, d3.loss_bbox: 0.2961, d4.loss_cls: 0.1038, d4.loss_bbox: 0.2954, d5.loss_cls: 0.1021, d5.loss_bbox: 0.2946, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7190, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5531, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4956, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4843, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4738, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4735, d0.loss_map_cls_all: 0.1703, d0.loss_map_pts_all: 1.0110, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1703, d0.loss_map_pts: 1.0110, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1383, d1.loss_map_pts: 0.7306, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1148, d2.loss_map_pts: 0.5652, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1046, d3.loss_map_pts: 0.5064, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1017, d4.loss_map_pts: 0.4880, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0958, d5.loss_map_pts: 0.4807, d5.loss_map_dir: 0.0062, loss: 22.0656, grad_norm: 131.9721 +2026-02-28 19:47:15,385 - DriveTransformer - INFO - Epoch [11][5150/39528] lr: 6.331e-05, eta: 4 days, 15:21:15, time: 0.725, data_time: 0.039, memory: 19865, loss_cls: 0.0910, loss_bbox: 0.2848, loss_traj: 0.4793, loss_traj_cls: 0.0021, loss_map_cls: 0.0889, loss_map_pts: 0.4780, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.9914, d0.loss_plan_l1_fix_dist: 0.4642, d1.loss_plan_l1_fix_time: 0.8052, d1.loss_plan_l1_fix_dist: 0.1928, d2.loss_plan_l1_fix_time: 0.7780, d2.loss_plan_l1_fix_dist: 0.2270, d3.loss_plan_l1_fix_time: 0.7752, d3.loss_plan_l1_fix_dist: 0.2091, d4.loss_plan_l1_fix_time: 0.7793, d4.loss_plan_l1_fix_dist: 0.1968, d5.loss_plan_l1_fix_time: 0.7827, d5.loss_plan_l1_fix_dist: 0.2119, d6.loss_plan_l1_fix_time: 0.7865, d6.loss_plan_l1_fix_dist: 0.2534, d0.loss_cls_all: 0.1344, d0.loss_bbox_all: 0.3384, d0.loss_cls: 0.1344, d0.loss_bbox: 0.3384, d1.loss_cls: 0.1269, d1.loss_bbox: 0.3104, d2.loss_cls: 0.1161, d2.loss_bbox: 0.2896, d3.loss_cls: 0.0981, d3.loss_bbox: 0.2870, d4.loss_cls: 0.0910, d4.loss_bbox: 0.2853, d5.loss_cls: 0.0902, d5.loss_bbox: 0.2846, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7047, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5328, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4923, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4856, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4809, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4792, d0.loss_map_cls_all: 0.1692, d0.loss_map_pts_all: 0.9924, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1692, d0.loss_map_pts: 0.9924, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1344, d1.loss_map_pts: 0.7080, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1133, d2.loss_map_pts: 0.5549, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1024, d3.loss_map_pts: 0.5030, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0966, d4.loss_map_pts: 0.4853, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0915, d5.loss_map_pts: 0.4786, d5.loss_map_dir: 0.0060, loss: 22.6230, grad_norm: 129.0173 +2026-02-28 19:47:52,161 - DriveTransformer - INFO - Epoch [11][5200/39528] lr: 6.331e-05, eta: 4 days, 15:20:40, time: 0.737, data_time: 0.038, memory: 19865, loss_cls: 0.1033, loss_bbox: 0.2817, loss_traj: 0.4799, loss_traj_cls: 0.0021, loss_map_cls: 0.1042, loss_map_pts: 0.5231, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.7169, d0.loss_plan_l1_fix_dist: 0.4632, d1.loss_plan_l1_fix_time: 0.8844, d1.loss_plan_l1_fix_dist: 0.2292, d2.loss_plan_l1_fix_time: 0.8632, d2.loss_plan_l1_fix_dist: 0.2967, d3.loss_plan_l1_fix_time: 0.8582, d3.loss_plan_l1_fix_dist: 0.2173, d4.loss_plan_l1_fix_time: 0.8599, d4.loss_plan_l1_fix_dist: 0.2197, d5.loss_plan_l1_fix_time: 0.8616, d5.loss_plan_l1_fix_dist: 0.2078, d6.loss_plan_l1_fix_time: 0.8625, d6.loss_plan_l1_fix_dist: 0.2828, d0.loss_cls_all: 0.1420, d0.loss_bbox_all: 0.3447, d0.loss_cls: 0.1420, d0.loss_bbox: 0.3447, d1.loss_cls: 0.1384, d1.loss_bbox: 0.3092, d2.loss_cls: 0.1256, d2.loss_bbox: 0.2902, d3.loss_cls: 0.1101, d3.loss_bbox: 0.2846, d4.loss_cls: 0.1053, d4.loss_bbox: 0.2837, d5.loss_cls: 0.1031, d5.loss_bbox: 0.2818, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7228, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5597, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5027, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4881, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4822, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4800, d0.loss_map_cls_all: 0.1938, d0.loss_map_pts_all: 1.1073, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1938, d0.loss_map_pts: 1.1073, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1587, d1.loss_map_pts: 0.7876, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1310, d2.loss_map_pts: 0.6214, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1208, d3.loss_map_pts: 0.5588, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1136, d4.loss_map_pts: 0.5346, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1083, d5.loss_map_pts: 0.5244, d5.loss_map_dir: 0.0069, loss: 23.8802, grad_norm: 128.3195 +2026-02-28 19:48:28,058 - DriveTransformer - INFO - Epoch [11][5250/39528] lr: 6.331e-05, eta: 4 days, 15:20:01, time: 0.717, data_time: 0.037, memory: 19865, loss_cls: 0.0960, loss_bbox: 0.2790, loss_traj: 0.5228, loss_traj_cls: 0.0021, loss_map_cls: 0.0927, loss_map_pts: 0.4900, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.6323, d0.loss_plan_l1_fix_dist: 0.4336, d1.loss_plan_l1_fix_time: 0.8076, d1.loss_plan_l1_fix_dist: 0.2559, d2.loss_plan_l1_fix_time: 0.7939, d2.loss_plan_l1_fix_dist: 0.3189, d3.loss_plan_l1_fix_time: 0.8059, d3.loss_plan_l1_fix_dist: 0.2490, d4.loss_plan_l1_fix_time: 0.8078, d4.loss_plan_l1_fix_dist: 0.2600, d5.loss_plan_l1_fix_time: 0.8107, d5.loss_plan_l1_fix_dist: 0.2339, d6.loss_plan_l1_fix_time: 0.8131, d6.loss_plan_l1_fix_dist: 0.2645, d0.loss_cls_all: 0.1296, d0.loss_bbox_all: 0.3357, d0.loss_cls: 0.1296, d0.loss_bbox: 0.3357, d1.loss_cls: 0.1252, d1.loss_bbox: 0.3051, d2.loss_cls: 0.1169, d2.loss_bbox: 0.2839, d3.loss_cls: 0.1011, d3.loss_bbox: 0.2820, d4.loss_cls: 0.0975, d4.loss_bbox: 0.2797, d5.loss_cls: 0.0954, d5.loss_bbox: 0.2789, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7648, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6013, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5472, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5334, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5274, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5265, d0.loss_map_cls_all: 0.1791, d0.loss_map_pts_all: 1.0412, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1791, d0.loss_map_pts: 1.0412, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1464, d1.loss_map_pts: 0.7508, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1188, d2.loss_map_pts: 0.5851, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1055, d3.loss_map_pts: 0.5196, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0985, d4.loss_map_pts: 0.4978, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0945, d5.loss_map_pts: 0.4908, d5.loss_map_dir: 0.0057, loss: 23.2648, grad_norm: 129.5011 +2026-02-28 19:49:03,143 - DriveTransformer - INFO - Epoch [11][5300/39528] lr: 6.331e-05, eta: 4 days, 15:19:19, time: 0.702, data_time: 0.037, memory: 19865, loss_cls: 0.1101, loss_bbox: 0.3029, loss_traj: 0.5018, loss_traj_cls: 0.0020, loss_map_cls: 0.1068, loss_map_pts: 0.5048, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.7064, d0.loss_plan_l1_fix_dist: 0.4561, d1.loss_plan_l1_fix_time: 0.8344, d1.loss_plan_l1_fix_dist: 0.2833, d2.loss_plan_l1_fix_time: 0.8084, d2.loss_plan_l1_fix_dist: 0.3298, d3.loss_plan_l1_fix_time: 0.8125, d3.loss_plan_l1_fix_dist: 0.2794, d4.loss_plan_l1_fix_time: 0.8144, d4.loss_plan_l1_fix_dist: 0.2919, d5.loss_plan_l1_fix_time: 0.8169, d5.loss_plan_l1_fix_dist: 0.2863, d6.loss_plan_l1_fix_time: 0.8199, d6.loss_plan_l1_fix_dist: 0.2610, d0.loss_cls_all: 0.1567, d0.loss_bbox_all: 0.3703, d0.loss_cls: 0.1567, d0.loss_bbox: 0.3703, d1.loss_cls: 0.1473, d1.loss_bbox: 0.3360, d2.loss_cls: 0.1349, d2.loss_bbox: 0.3130, d3.loss_cls: 0.1163, d3.loss_bbox: 0.3080, d4.loss_cls: 0.1109, d4.loss_bbox: 0.3050, d5.loss_cls: 0.1091, d5.loss_bbox: 0.3034, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7596, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5875, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5330, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5143, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5042, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5026, d0.loss_map_cls_all: 0.1827, d0.loss_map_pts_all: 1.0022, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1827, d0.loss_map_pts: 1.0022, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1542, d1.loss_map_pts: 0.7379, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1323, d2.loss_map_pts: 0.5946, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1207, d3.loss_map_pts: 0.5379, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1154, d4.loss_map_pts: 0.5129, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.1100, d5.loss_map_pts: 0.5046, d5.loss_map_dir: 0.0051, loss: 23.9064, grad_norm: 133.2416 +2026-02-28 19:49:42,032 - DriveTransformer - INFO - Epoch [11][5350/39528] lr: 6.331e-05, eta: 4 days, 15:18:50, time: 0.778, data_time: 0.038, memory: 19865, loss_cls: 0.0919, loss_bbox: 0.2785, loss_traj: 0.4732, loss_traj_cls: 0.0020, loss_map_cls: 0.1066, loss_map_pts: 0.5321, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.5627, d0.loss_plan_l1_fix_dist: 0.4672, d1.loss_plan_l1_fix_time: 0.8221, d1.loss_plan_l1_fix_dist: 0.2891, d2.loss_plan_l1_fix_time: 0.7955, d2.loss_plan_l1_fix_dist: 0.2907, d3.loss_plan_l1_fix_time: 0.7884, d3.loss_plan_l1_fix_dist: 0.2825, d4.loss_plan_l1_fix_time: 0.7889, d4.loss_plan_l1_fix_dist: 0.2872, d5.loss_plan_l1_fix_time: 0.7909, d5.loss_plan_l1_fix_dist: 0.2953, d6.loss_plan_l1_fix_time: 0.7936, d6.loss_plan_l1_fix_dist: 0.2357, d0.loss_cls_all: 0.1330, d0.loss_bbox_all: 0.3497, d0.loss_cls: 0.1330, d0.loss_bbox: 0.3497, d1.loss_cls: 0.1265, d1.loss_bbox: 0.3139, d2.loss_cls: 0.1155, d2.loss_bbox: 0.2924, d3.loss_cls: 0.0972, d3.loss_bbox: 0.2860, d4.loss_cls: 0.0935, d4.loss_bbox: 0.2815, d5.loss_cls: 0.0921, d5.loss_bbox: 0.2793, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6770, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5396, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4975, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4815, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4733, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4740, d0.loss_map_cls_all: 0.1736, d0.loss_map_pts_all: 1.0873, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1736, d0.loss_map_pts: 1.0873, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1493, d1.loss_map_pts: 0.7768, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1287, d2.loss_map_pts: 0.6255, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1196, d3.loss_map_pts: 0.5696, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1128, d4.loss_map_pts: 0.5417, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1095, d5.loss_map_pts: 0.5318, d5.loss_map_dir: 0.0071, loss: 23.3093, grad_norm: 132.1386 +2026-02-28 19:50:19,213 - DriveTransformer - INFO - Epoch [11][5400/39528] lr: 6.331e-05, eta: 4 days, 15:18:16, time: 0.744, data_time: 0.037, memory: 19865, loss_cls: 0.0853, loss_bbox: 0.2724, loss_traj: 0.4163, loss_traj_cls: 0.0020, loss_map_cls: 0.0828, loss_map_pts: 0.4696, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.6493, d0.loss_plan_l1_fix_dist: 0.5033, d1.loss_plan_l1_fix_time: 0.7556, d1.loss_plan_l1_fix_dist: 0.2875, d2.loss_plan_l1_fix_time: 0.7308, d2.loss_plan_l1_fix_dist: 0.2400, d3.loss_plan_l1_fix_time: 0.7339, d3.loss_plan_l1_fix_dist: 0.2533, d4.loss_plan_l1_fix_time: 0.7368, d4.loss_plan_l1_fix_dist: 0.2453, d5.loss_plan_l1_fix_time: 0.7404, d5.loss_plan_l1_fix_dist: 0.2833, d6.loss_plan_l1_fix_time: 0.7443, d6.loss_plan_l1_fix_dist: 0.2227, d0.loss_cls_all: 0.1247, d0.loss_bbox_all: 0.3348, d0.loss_cls: 0.1247, d0.loss_bbox: 0.3348, d1.loss_cls: 0.1221, d1.loss_bbox: 0.2998, d2.loss_cls: 0.1076, d2.loss_bbox: 0.2810, d3.loss_cls: 0.0901, d3.loss_bbox: 0.2768, d4.loss_cls: 0.0850, d4.loss_bbox: 0.2746, d5.loss_cls: 0.0846, d5.loss_bbox: 0.2727, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6398, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4908, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4410, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4264, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4224, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4173, d0.loss_map_cls_all: 0.1611, d0.loss_map_pts_all: 1.0601, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1611, d0.loss_map_pts: 1.0601, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1273, d1.loss_map_pts: 0.7227, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1069, d2.loss_map_pts: 0.5633, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.0963, d3.loss_map_pts: 0.4989, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.0894, d4.loss_map_pts: 0.4734, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.0847, d5.loss_map_pts: 0.4697, d5.loss_map_dir: 0.0068, loss: 21.8403, grad_norm: 130.5330 +2026-02-28 19:50:55,172 - DriveTransformer - INFO - Epoch [11][5450/39528] lr: 6.331e-05, eta: 4 days, 15:17:37, time: 0.719, data_time: 0.037, memory: 19865, loss_cls: 0.1004, loss_bbox: 0.2782, loss_traj: 0.4724, loss_traj_cls: 0.0020, loss_map_cls: 0.0843, loss_map_pts: 0.4694, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.8292, d0.loss_plan_l1_fix_dist: 0.4671, d1.loss_plan_l1_fix_time: 0.7553, d1.loss_plan_l1_fix_dist: 0.2838, d2.loss_plan_l1_fix_time: 0.7499, d2.loss_plan_l1_fix_dist: 0.2146, d3.loss_plan_l1_fix_time: 0.7491, d3.loss_plan_l1_fix_dist: 0.2378, d4.loss_plan_l1_fix_time: 0.7511, d4.loss_plan_l1_fix_dist: 0.2269, d5.loss_plan_l1_fix_time: 0.7533, d5.loss_plan_l1_fix_dist: 0.2908, d6.loss_plan_l1_fix_time: 0.7554, d6.loss_plan_l1_fix_dist: 0.2439, d0.loss_cls_all: 0.1423, d0.loss_bbox_all: 0.3444, d0.loss_cls: 0.1423, d0.loss_bbox: 0.3444, d1.loss_cls: 0.1355, d1.loss_bbox: 0.3117, d2.loss_cls: 0.1247, d2.loss_bbox: 0.2900, d3.loss_cls: 0.1056, d3.loss_bbox: 0.2845, d4.loss_cls: 0.1003, d4.loss_bbox: 0.2817, d5.loss_cls: 0.0997, d5.loss_bbox: 0.2802, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6861, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5445, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4938, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4813, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4796, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4762, d0.loss_map_cls_all: 0.1610, d0.loss_map_pts_all: 0.9916, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1610, d0.loss_map_pts: 0.9916, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1307, d1.loss_map_pts: 0.7057, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1073, d2.loss_map_pts: 0.5621, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0980, d3.loss_map_pts: 0.4980, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0896, d4.loss_map_pts: 0.4751, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0863, d5.loss_map_pts: 0.4690, d5.loss_map_dir: 0.0059, loss: 22.4427, grad_norm: 130.0056 +2026-02-28 19:51:31,666 - DriveTransformer - INFO - Epoch [11][5500/39528] lr: 6.331e-05, eta: 4 days, 15:17:01, time: 0.730, data_time: 0.039, memory: 19865, loss_cls: 0.1120, loss_bbox: 0.3045, loss_traj: 0.4531, loss_traj_cls: 0.0020, loss_map_cls: 0.1239, loss_map_pts: 0.5514, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.7851, d0.loss_plan_l1_fix_dist: 0.4534, d1.loss_plan_l1_fix_time: 0.8300, d1.loss_plan_l1_fix_dist: 0.2740, d2.loss_plan_l1_fix_time: 0.8070, d2.loss_plan_l1_fix_dist: 0.2001, d3.loss_plan_l1_fix_time: 0.7989, d3.loss_plan_l1_fix_dist: 0.2210, d4.loss_plan_l1_fix_time: 0.8001, d4.loss_plan_l1_fix_dist: 0.2406, d5.loss_plan_l1_fix_time: 0.8018, d5.loss_plan_l1_fix_dist: 0.2873, d6.loss_plan_l1_fix_time: 0.8040, d6.loss_plan_l1_fix_dist: 0.2645, d0.loss_cls_all: 0.1654, d0.loss_bbox_all: 0.3775, d0.loss_cls: 0.1654, d0.loss_bbox: 0.3775, d1.loss_cls: 0.1546, d1.loss_bbox: 0.3392, d2.loss_cls: 0.1382, d2.loss_bbox: 0.3163, d3.loss_cls: 0.1184, d3.loss_bbox: 0.3093, d4.loss_cls: 0.1143, d4.loss_bbox: 0.3057, d5.loss_cls: 0.1120, d5.loss_bbox: 0.3046, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6943, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5278, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4792, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4578, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4568, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4543, d0.loss_map_cls_all: 0.2091, d0.loss_map_pts_all: 1.0885, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2091, d0.loss_map_pts: 1.0885, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1743, d1.loss_map_pts: 0.8060, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1493, d2.loss_map_pts: 0.6448, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1374, d3.loss_map_pts: 0.5819, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1315, d4.loss_map_pts: 0.5564, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1274, d5.loss_map_pts: 0.5512, d5.loss_map_dir: 0.0065, loss: 23.9972, grad_norm: 128.8483 +2026-02-28 19:52:06,873 - DriveTransformer - INFO - Epoch [11][5550/39528] lr: 6.331e-05, eta: 4 days, 15:16:20, time: 0.704, data_time: 0.037, memory: 19865, loss_cls: 0.0895, loss_bbox: 0.2894, loss_traj: 0.5703, loss_traj_cls: 0.0020, loss_map_cls: 0.0882, loss_map_pts: 0.4112, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.7669, d0.loss_plan_l1_fix_dist: 0.4245, d1.loss_plan_l1_fix_time: 0.8723, d1.loss_plan_l1_fix_dist: 0.2375, d2.loss_plan_l1_fix_time: 0.8587, d2.loss_plan_l1_fix_dist: 0.1817, d3.loss_plan_l1_fix_time: 0.8437, d3.loss_plan_l1_fix_dist: 0.1899, d4.loss_plan_l1_fix_time: 0.8442, d4.loss_plan_l1_fix_dist: 0.2389, d5.loss_plan_l1_fix_time: 0.8467, d5.loss_plan_l1_fix_dist: 0.2567, d6.loss_plan_l1_fix_time: 0.8498, d6.loss_plan_l1_fix_dist: 0.2326, d0.loss_cls_all: 0.1260, d0.loss_bbox_all: 0.3531, d0.loss_cls: 0.1260, d0.loss_bbox: 0.3531, d1.loss_cls: 0.1235, d1.loss_bbox: 0.3225, d2.loss_cls: 0.1116, d2.loss_bbox: 0.3026, d3.loss_cls: 0.0951, d3.loss_bbox: 0.2934, d4.loss_cls: 0.0898, d4.loss_bbox: 0.2924, d5.loss_cls: 0.0903, d5.loss_bbox: 0.2901, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8016, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6499, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5898, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5713, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5684, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5683, d0.loss_map_cls_all: 0.1599, d0.loss_map_pts_all: 0.8505, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1599, d0.loss_map_pts: 0.8505, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1333, d1.loss_map_pts: 0.6083, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1088, d2.loss_map_pts: 0.4832, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0998, d3.loss_map_pts: 0.4318, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0926, d4.loss_map_pts: 0.4157, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0898, d5.loss_map_pts: 0.4116, d5.loss_map_dir: 0.0050, loss: 22.7552, grad_norm: 128.8419 +2026-02-28 19:52:42,964 - DriveTransformer - INFO - Epoch [11][5600/39528] lr: 6.331e-05, eta: 4 days, 15:15:41, time: 0.722, data_time: 0.036, memory: 19865, loss_cls: 0.0957, loss_bbox: 0.2869, loss_traj: 0.4829, loss_traj_cls: 0.0020, loss_map_cls: 0.0995, loss_map_pts: 0.4751, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.4804, d0.loss_plan_l1_fix_dist: 0.4082, d1.loss_plan_l1_fix_time: 0.6462, d1.loss_plan_l1_fix_dist: 0.2150, d2.loss_plan_l1_fix_time: 0.6333, d2.loss_plan_l1_fix_dist: 0.1936, d3.loss_plan_l1_fix_time: 0.6354, d3.loss_plan_l1_fix_dist: 0.1785, d4.loss_plan_l1_fix_time: 0.6379, d4.loss_plan_l1_fix_dist: 0.2396, d5.loss_plan_l1_fix_time: 0.6415, d5.loss_plan_l1_fix_dist: 0.2487, d6.loss_plan_l1_fix_time: 0.6463, d6.loss_plan_l1_fix_dist: 0.2488, d0.loss_cls_all: 0.1334, d0.loss_bbox_all: 0.3526, d0.loss_cls: 0.1334, d0.loss_bbox: 0.3526, d1.loss_cls: 0.1284, d1.loss_bbox: 0.3192, d2.loss_cls: 0.1201, d2.loss_bbox: 0.2960, d3.loss_cls: 0.1029, d3.loss_bbox: 0.2909, d4.loss_cls: 0.0971, d4.loss_bbox: 0.2888, d5.loss_cls: 0.0960, d5.loss_bbox: 0.2873, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7553, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5623, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5121, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4942, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4856, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4822, d0.loss_map_cls_all: 0.1707, d0.loss_map_pts_all: 1.0188, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1707, d0.loss_map_pts: 1.0188, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1489, d1.loss_map_pts: 0.7381, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1282, d2.loss_map_pts: 0.5747, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.1156, d3.loss_map_pts: 0.5102, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.1087, d4.loss_map_pts: 0.4829, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.1015, d5.loss_map_pts: 0.4761, d5.loss_map_dir: 0.0049, loss: 21.5941, grad_norm: 132.3097 +2026-02-28 19:53:19,332 - DriveTransformer - INFO - Epoch [11][5650/39528] lr: 6.331e-05, eta: 4 days, 15:15:04, time: 0.727, data_time: 0.037, memory: 19865, loss_cls: 0.0983, loss_bbox: 0.2944, loss_traj: 0.4904, loss_traj_cls: 0.0020, loss_map_cls: 0.1210, loss_map_pts: 0.5547, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.5092, d0.loss_plan_l1_fix_dist: 0.3354, d1.loss_plan_l1_fix_time: 0.8598, d1.loss_plan_l1_fix_dist: 0.1807, d2.loss_plan_l1_fix_time: 0.8505, d2.loss_plan_l1_fix_dist: 0.2084, d3.loss_plan_l1_fix_time: 0.8515, d3.loss_plan_l1_fix_dist: 0.1943, d4.loss_plan_l1_fix_time: 0.8530, d4.loss_plan_l1_fix_dist: 0.2407, d5.loss_plan_l1_fix_time: 0.8548, d5.loss_plan_l1_fix_dist: 0.2284, d6.loss_plan_l1_fix_time: 0.8574, d6.loss_plan_l1_fix_dist: 0.2360, d0.loss_cls_all: 0.1454, d0.loss_bbox_all: 0.3691, d0.loss_cls: 0.1454, d0.loss_bbox: 0.3691, d1.loss_cls: 0.1376, d1.loss_bbox: 0.3303, d2.loss_cls: 0.1262, d2.loss_bbox: 0.3056, d3.loss_cls: 0.1053, d3.loss_bbox: 0.2998, d4.loss_cls: 0.0992, d4.loss_bbox: 0.2965, d5.loss_cls: 0.0993, d5.loss_bbox: 0.2940, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8164, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6004, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5264, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5013, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4958, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4914, d0.loss_map_cls_all: 0.2010, d0.loss_map_pts_all: 1.1367, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.2010, d0.loss_map_pts: 1.1367, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1734, d1.loss_map_pts: 0.8217, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1503, d2.loss_map_pts: 0.6558, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1390, d3.loss_map_pts: 0.5932, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1311, d4.loss_map_pts: 0.5632, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1247, d5.loss_map_pts: 0.5542, d5.loss_map_dir: 0.0060, loss: 24.0088, grad_norm: 130.6970 +2026-02-28 19:53:57,231 - DriveTransformer - INFO - Epoch [11][5700/39528] lr: 6.331e-05, eta: 4 days, 15:14:32, time: 0.758, data_time: 0.036, memory: 19865, loss_cls: 0.0972, loss_bbox: 0.2887, loss_traj: 0.4203, loss_traj_cls: 0.0020, loss_map_cls: 0.0976, loss_map_pts: 0.5051, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.2677, d0.loss_plan_l1_fix_dist: 0.3802, d1.loss_plan_l1_fix_time: 0.7928, d1.loss_plan_l1_fix_dist: 0.1685, d2.loss_plan_l1_fix_time: 0.7820, d2.loss_plan_l1_fix_dist: 0.2311, d3.loss_plan_l1_fix_time: 0.7818, d3.loss_plan_l1_fix_dist: 0.2243, d4.loss_plan_l1_fix_time: 0.7833, d4.loss_plan_l1_fix_dist: 0.2258, d5.loss_plan_l1_fix_time: 0.7848, d5.loss_plan_l1_fix_dist: 0.2226, d6.loss_plan_l1_fix_time: 0.7875, d6.loss_plan_l1_fix_dist: 0.2618, d0.loss_cls_all: 0.1472, d0.loss_bbox_all: 0.3552, d0.loss_cls: 0.1472, d0.loss_bbox: 0.3552, d1.loss_cls: 0.1407, d1.loss_bbox: 0.3190, d2.loss_cls: 0.1288, d2.loss_bbox: 0.2970, d3.loss_cls: 0.1062, d3.loss_bbox: 0.2929, d4.loss_cls: 0.0964, d4.loss_bbox: 0.2903, d5.loss_cls: 0.0958, d5.loss_bbox: 0.2886, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6329, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4866, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4399, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4220, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4203, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4186, d0.loss_map_cls_all: 0.1793, d0.loss_map_pts_all: 1.0552, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.1793, d0.loss_map_pts: 1.0552, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1461, d1.loss_map_pts: 0.7487, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1228, d2.loss_map_pts: 0.5855, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1109, d3.loss_map_pts: 0.5304, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1063, d4.loss_map_pts: 0.5097, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1004, d5.loss_map_pts: 0.5052, d5.loss_map_dir: 0.0073, loss: 21.9865, grad_norm: 131.3736 +2026-02-28 19:54:32,118 - DriveTransformer - INFO - Epoch [11][5750/39528] lr: 6.331e-05, eta: 4 days, 15:13:50, time: 0.698, data_time: 0.038, memory: 19865, loss_cls: 0.0874, loss_bbox: 0.2861, loss_traj: 0.5821, loss_traj_cls: 0.0020, loss_map_cls: 0.0794, loss_map_pts: 0.3929, loss_map_dir: 0.0045, d0.loss_plan_l1_fix_time: 2.9246, d0.loss_plan_l1_fix_dist: 0.4057, d1.loss_plan_l1_fix_time: 0.8124, d1.loss_plan_l1_fix_dist: 0.1846, d2.loss_plan_l1_fix_time: 0.7944, d2.loss_plan_l1_fix_dist: 0.2632, d3.loss_plan_l1_fix_time: 0.7882, d3.loss_plan_l1_fix_dist: 0.2700, d4.loss_plan_l1_fix_time: 0.7896, d4.loss_plan_l1_fix_dist: 0.2134, d5.loss_plan_l1_fix_time: 0.7912, d5.loss_plan_l1_fix_dist: 0.2601, d6.loss_plan_l1_fix_time: 0.7929, d6.loss_plan_l1_fix_dist: 0.2811, d0.loss_cls_all: 0.1323, d0.loss_bbox_all: 0.3448, d0.loss_cls: 0.1323, d0.loss_bbox: 0.3448, d1.loss_cls: 0.1262, d1.loss_bbox: 0.3107, d2.loss_cls: 0.1122, d2.loss_bbox: 0.2941, d3.loss_cls: 0.0949, d3.loss_bbox: 0.2908, d4.loss_cls: 0.0878, d4.loss_bbox: 0.2901, d5.loss_cls: 0.0871, d5.loss_bbox: 0.2862, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8658, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6591, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5961, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5835, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5827, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5770, d0.loss_map_cls_all: 0.1507, d0.loss_map_pts_all: 0.7991, d0.loss_map_dir_all: 0.0049, d0.loss_map_cls: 0.1507, d0.loss_map_pts: 0.7991, d0.loss_map_dir: 0.0049, d1.loss_map_cls: 0.1204, d1.loss_map_pts: 0.5752, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.1008, d2.loss_map_pts: 0.4610, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.0927, d3.loss_map_pts: 0.4126, d3.loss_map_dir: 0.0042, d4.loss_map_cls: 0.0861, d4.loss_map_pts: 0.3962, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0820, d5.loss_map_pts: 0.3927, d5.loss_map_dir: 0.0045, loss: 22.4601, grad_norm: 132.4711 +2026-02-28 19:55:08,665 - DriveTransformer - INFO - Epoch [11][5800/39528] lr: 6.331e-05, eta: 4 days, 15:13:13, time: 0.731, data_time: 0.039, memory: 19865, loss_cls: 0.1068, loss_bbox: 0.3040, loss_traj: 0.5102, loss_traj_cls: 0.0019, loss_map_cls: 0.1398, loss_map_pts: 0.6015, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 3.1499, d0.loss_plan_l1_fix_dist: 0.4045, d1.loss_plan_l1_fix_time: 0.9162, d1.loss_plan_l1_fix_dist: 0.2073, d2.loss_plan_l1_fix_time: 0.8923, d2.loss_plan_l1_fix_dist: 0.2679, d3.loss_plan_l1_fix_time: 0.8873, d3.loss_plan_l1_fix_dist: 0.2831, d4.loss_plan_l1_fix_time: 0.8885, d4.loss_plan_l1_fix_dist: 0.2089, d5.loss_plan_l1_fix_time: 0.8912, d5.loss_plan_l1_fix_dist: 0.2626, d6.loss_plan_l1_fix_time: 0.8941, d6.loss_plan_l1_fix_dist: 0.2643, d0.loss_cls_all: 0.1560, d0.loss_bbox_all: 0.3751, d0.loss_cls: 0.1560, d0.loss_bbox: 0.3751, d1.loss_cls: 0.1467, d1.loss_bbox: 0.3375, d2.loss_cls: 0.1364, d2.loss_bbox: 0.3126, d3.loss_cls: 0.1126, d3.loss_bbox: 0.3092, d4.loss_cls: 0.1086, d4.loss_bbox: 0.3043, d5.loss_cls: 0.1060, d5.loss_bbox: 0.3051, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7576, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5918, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5319, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5204, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5125, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5124, d0.loss_map_cls_all: 0.2282, d0.loss_map_pts_all: 1.1947, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2282, d0.loss_map_pts: 1.1947, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1935, d1.loss_map_pts: 0.8911, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1651, d2.loss_map_pts: 0.7080, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1538, d3.loss_map_pts: 0.6350, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1474, d4.loss_map_pts: 0.6077, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1426, d5.loss_map_pts: 0.6017, d5.loss_map_dir: 0.0067, loss: 25.8995, grad_norm: 132.7025 +2026-02-28 19:55:43,851 - DriveTransformer - INFO - Epoch [11][5850/39528] lr: 6.331e-05, eta: 4 days, 15:12:32, time: 0.704, data_time: 0.037, memory: 19865, loss_cls: 0.0948, loss_bbox: 0.2939, loss_traj: 0.4878, loss_traj_cls: 0.0020, loss_map_cls: 0.1089, loss_map_pts: 0.5121, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.6556, d0.loss_plan_l1_fix_dist: 0.4404, d1.loss_plan_l1_fix_time: 0.7734, d1.loss_plan_l1_fix_dist: 0.2126, d2.loss_plan_l1_fix_time: 0.7622, d2.loss_plan_l1_fix_dist: 0.2436, d3.loss_plan_l1_fix_time: 0.7530, d3.loss_plan_l1_fix_dist: 0.3014, d4.loss_plan_l1_fix_time: 0.7540, d4.loss_plan_l1_fix_dist: 0.2591, d5.loss_plan_l1_fix_time: 0.7562, d5.loss_plan_l1_fix_dist: 0.3046, d6.loss_plan_l1_fix_time: 0.7592, d6.loss_plan_l1_fix_dist: 0.2812, d0.loss_cls_all: 0.1383, d0.loss_bbox_all: 0.3564, d0.loss_cls: 0.1383, d0.loss_bbox: 0.3564, d1.loss_cls: 0.1300, d1.loss_bbox: 0.3244, d2.loss_cls: 0.1152, d2.loss_bbox: 0.3045, d3.loss_cls: 0.1024, d3.loss_bbox: 0.2970, d4.loss_cls: 0.0975, d4.loss_bbox: 0.2931, d5.loss_cls: 0.0962, d5.loss_bbox: 0.2922, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6944, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5415, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5032, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4854, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4809, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4824, d0.loss_map_cls_all: 0.1939, d0.loss_map_pts_all: 1.0094, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1939, d0.loss_map_pts: 1.0094, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1636, d1.loss_map_pts: 0.7480, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1357, d2.loss_map_pts: 0.5981, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1219, d3.loss_map_pts: 0.5410, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1152, d4.loss_map_pts: 0.5221, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1110, d5.loss_map_pts: 0.5129, d5.loss_map_dir: 0.0057, loss: 23.0121, grad_norm: 132.2810 +2026-02-28 19:56:20,101 - DriveTransformer - INFO - Epoch [11][5900/39528] lr: 6.331e-05, eta: 4 days, 15:11:55, time: 0.725, data_time: 0.039, memory: 19865, loss_cls: 0.0779, loss_bbox: 0.2769, loss_traj: 0.4609, loss_traj_cls: 0.0020, loss_map_cls: 0.1116, loss_map_pts: 0.5136, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.6962, d0.loss_plan_l1_fix_dist: 0.4385, d1.loss_plan_l1_fix_time: 0.7112, d1.loss_plan_l1_fix_dist: 0.2311, d2.loss_plan_l1_fix_time: 0.7000, d2.loss_plan_l1_fix_dist: 0.2229, d3.loss_plan_l1_fix_time: 0.6961, d3.loss_plan_l1_fix_dist: 0.3019, d4.loss_plan_l1_fix_time: 0.6991, d4.loss_plan_l1_fix_dist: 0.2490, d5.loss_plan_l1_fix_time: 0.7024, d5.loss_plan_l1_fix_dist: 0.3064, d6.loss_plan_l1_fix_time: 0.7062, d6.loss_plan_l1_fix_dist: 0.2453, d0.loss_cls_all: 0.1230, d0.loss_bbox_all: 0.3289, d0.loss_cls: 0.1230, d0.loss_bbox: 0.3289, d1.loss_cls: 0.1156, d1.loss_bbox: 0.3022, d2.loss_cls: 0.1026, d2.loss_bbox: 0.2848, d3.loss_cls: 0.0842, d3.loss_bbox: 0.2804, d4.loss_cls: 0.0782, d4.loss_bbox: 0.2796, d5.loss_cls: 0.0778, d5.loss_bbox: 0.2773, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7546, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5702, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4987, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4692, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4661, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4612, d0.loss_map_cls_all: 0.1865, d0.loss_map_pts_all: 1.0881, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1865, d0.loss_map_pts: 1.0881, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1580, d1.loss_map_pts: 0.7760, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1333, d2.loss_map_pts: 0.6102, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1249, d3.loss_map_pts: 0.5460, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1183, d4.loss_map_pts: 0.5201, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1137, d5.loss_map_pts: 0.5143, d5.loss_map_dir: 0.0058, loss: 22.5712, grad_norm: 133.7392 +2026-02-28 19:56:57,288 - DriveTransformer - INFO - Epoch [11][5950/39528] lr: 6.331e-05, eta: 4 days, 15:11:20, time: 0.744, data_time: 0.037, memory: 19865, loss_cls: 0.0999, loss_bbox: 0.2877, loss_traj: 0.4506, loss_traj_cls: 0.0019, loss_map_cls: 0.1122, loss_map_pts: 0.5413, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.5623, d0.loss_plan_l1_fix_dist: 0.4052, d1.loss_plan_l1_fix_time: 0.8751, d1.loss_plan_l1_fix_dist: 0.2285, d2.loss_plan_l1_fix_time: 0.8598, d2.loss_plan_l1_fix_dist: 0.2013, d3.loss_plan_l1_fix_time: 0.8540, d3.loss_plan_l1_fix_dist: 0.2969, d4.loss_plan_l1_fix_time: 0.8553, d4.loss_plan_l1_fix_dist: 0.2664, d5.loss_plan_l1_fix_time: 0.8567, d5.loss_plan_l1_fix_dist: 0.3157, d6.loss_plan_l1_fix_time: 0.8592, d6.loss_plan_l1_fix_dist: 0.2527, d0.loss_cls_all: 0.1466, d0.loss_bbox_all: 0.3515, d0.loss_cls: 0.1466, d0.loss_bbox: 0.3515, d1.loss_cls: 0.1407, d1.loss_bbox: 0.3156, d2.loss_cls: 0.1284, d2.loss_bbox: 0.2946, d3.loss_cls: 0.1050, d3.loss_bbox: 0.2924, d4.loss_cls: 0.1014, d4.loss_bbox: 0.2884, d5.loss_cls: 0.1001, d5.loss_bbox: 0.2873, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6336, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5066, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4627, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4551, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4530, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4509, d0.loss_map_cls_all: 0.1910, d0.loss_map_pts_all: 1.0460, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1910, d0.loss_map_pts: 1.0460, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1584, d1.loss_map_pts: 0.7723, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1351, d2.loss_map_pts: 0.6293, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1241, d3.loss_map_pts: 0.5708, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1182, d4.loss_map_pts: 0.5476, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1147, d5.loss_map_pts: 0.5410, d5.loss_map_dir: 0.0059, loss: 23.4336, grad_norm: 132.7854 +2026-02-28 19:57:32,995 - DriveTransformer - INFO - Epoch [11][6000/39528] lr: 6.331e-05, eta: 4 days, 15:10:41, time: 0.716, data_time: 0.037, memory: 19865, loss_cls: 0.0996, loss_bbox: 0.2987, loss_traj: 0.5954, loss_traj_cls: 0.0019, loss_map_cls: 0.0885, loss_map_pts: 0.4647, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.8895, d0.loss_plan_l1_fix_dist: 0.3874, d1.loss_plan_l1_fix_time: 0.7302, d1.loss_plan_l1_fix_dist: 0.2076, d2.loss_plan_l1_fix_time: 0.7108, d2.loss_plan_l1_fix_dist: 0.1858, d3.loss_plan_l1_fix_time: 0.7096, d3.loss_plan_l1_fix_dist: 0.2747, d4.loss_plan_l1_fix_time: 0.7109, d4.loss_plan_l1_fix_dist: 0.2751, d5.loss_plan_l1_fix_time: 0.7124, d5.loss_plan_l1_fix_dist: 0.3121, d6.loss_plan_l1_fix_time: 0.7143, d6.loss_plan_l1_fix_dist: 0.2698, d0.loss_cls_all: 0.1497, d0.loss_bbox_all: 0.3527, d0.loss_cls: 0.1497, d0.loss_bbox: 0.3527, d1.loss_cls: 0.1428, d1.loss_bbox: 0.3242, d2.loss_cls: 0.1251, d2.loss_bbox: 0.3042, d3.loss_cls: 0.1057, d3.loss_bbox: 0.3008, d4.loss_cls: 0.0990, d4.loss_bbox: 0.2997, d5.loss_cls: 0.0990, d5.loss_bbox: 0.2983, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8987, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.7068, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6393, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6047, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5994, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5936, d0.loss_map_cls_all: 0.1706, d0.loss_map_pts_all: 1.0061, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1706, d0.loss_map_pts: 1.0061, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1406, d1.loss_map_pts: 0.7018, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1157, d2.loss_map_pts: 0.5553, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1041, d3.loss_map_pts: 0.4956, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0958, d4.loss_map_pts: 0.4738, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0914, d5.loss_map_pts: 0.4654, d5.loss_map_dir: 0.0061, loss: 23.4309, grad_norm: 133.2191 +2026-02-28 19:58:09,391 - DriveTransformer - INFO - Epoch [11][6050/39528] lr: 6.331e-05, eta: 4 days, 15:10:04, time: 0.727, data_time: 0.039, memory: 19865, loss_cls: 0.0872, loss_bbox: 0.2778, loss_traj: 0.4537, loss_traj_cls: 0.0019, loss_map_cls: 0.0937, loss_map_pts: 0.4986, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.5765, d0.loss_plan_l1_fix_dist: 0.3516, d1.loss_plan_l1_fix_time: 0.6889, d1.loss_plan_l1_fix_dist: 0.2053, d2.loss_plan_l1_fix_time: 0.6761, d2.loss_plan_l1_fix_dist: 0.1940, d3.loss_plan_l1_fix_time: 0.6762, d3.loss_plan_l1_fix_dist: 0.2593, d4.loss_plan_l1_fix_time: 0.6769, d4.loss_plan_l1_fix_dist: 0.2429, d5.loss_plan_l1_fix_time: 0.6783, d5.loss_plan_l1_fix_dist: 0.3049, d6.loss_plan_l1_fix_time: 0.6805, d6.loss_plan_l1_fix_dist: 0.2791, d0.loss_cls_all: 0.1307, d0.loss_bbox_all: 0.3408, d0.loss_cls: 0.1307, d0.loss_bbox: 0.3408, d1.loss_cls: 0.1276, d1.loss_bbox: 0.3067, d2.loss_cls: 0.1118, d2.loss_bbox: 0.2896, d3.loss_cls: 0.0948, d3.loss_bbox: 0.2819, d4.loss_cls: 0.0898, d4.loss_bbox: 0.2789, d5.loss_cls: 0.0874, d5.loss_bbox: 0.2781, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6822, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5304, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4849, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4600, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4561, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4563, d0.loss_map_cls_all: 0.1718, d0.loss_map_pts_all: 1.0020, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1718, d0.loss_map_pts: 1.0020, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1432, d1.loss_map_pts: 0.7098, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1223, d2.loss_map_pts: 0.5747, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1096, d3.loss_map_pts: 0.5258, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1019, d4.loss_map_pts: 0.5035, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0963, d5.loss_map_pts: 0.4978, d5.loss_map_dir: 0.0061, loss: 21.6490, grad_norm: 133.1970 +2026-02-28 19:58:46,901 - DriveTransformer - INFO - Epoch [11][6100/39528] lr: 6.331e-05, eta: 4 days, 15:09:30, time: 0.750, data_time: 0.037, memory: 19865, loss_cls: 0.0982, loss_bbox: 0.3042, loss_traj: 0.4903, loss_traj_cls: 0.0020, loss_map_cls: 0.1073, loss_map_pts: 0.5248, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.3830, d0.loss_plan_l1_fix_dist: 0.3633, d1.loss_plan_l1_fix_time: 0.7713, d1.loss_plan_l1_fix_dist: 0.1937, d2.loss_plan_l1_fix_time: 0.7584, d2.loss_plan_l1_fix_dist: 0.2075, d3.loss_plan_l1_fix_time: 0.7345, d3.loss_plan_l1_fix_dist: 0.2279, d4.loss_plan_l1_fix_time: 0.7344, d4.loss_plan_l1_fix_dist: 0.2172, d5.loss_plan_l1_fix_time: 0.7365, d5.loss_plan_l1_fix_dist: 0.2771, d6.loss_plan_l1_fix_time: 0.7396, d6.loss_plan_l1_fix_dist: 0.2618, d0.loss_cls_all: 0.1440, d0.loss_bbox_all: 0.3698, d0.loss_cls: 0.1440, d0.loss_bbox: 0.3698, d1.loss_cls: 0.1351, d1.loss_bbox: 0.3363, d2.loss_cls: 0.1210, d2.loss_bbox: 0.3119, d3.loss_cls: 0.1040, d3.loss_bbox: 0.3080, d4.loss_cls: 0.0989, d4.loss_bbox: 0.3072, d5.loss_cls: 0.0987, d5.loss_bbox: 0.3055, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7457, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5740, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5199, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5010, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4947, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4942, d0.loss_map_cls_all: 0.1892, d0.loss_map_pts_all: 1.0975, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1892, d0.loss_map_pts: 1.0975, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1574, d1.loss_map_pts: 0.7760, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1334, d2.loss_map_pts: 0.6081, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1209, d3.loss_map_pts: 0.5506, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1151, d4.loss_map_pts: 0.5296, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1091, d5.loss_map_pts: 0.5258, d5.loss_map_dir: 0.0067, loss: 22.8727, grad_norm: 130.3595 +2026-02-28 19:59:24,423 - DriveTransformer - INFO - Epoch [11][6150/39528] lr: 6.331e-05, eta: 4 days, 15:08:57, time: 0.750, data_time: 0.039, memory: 19865, loss_cls: 0.0982, loss_bbox: 0.2806, loss_traj: 0.4197, loss_traj_cls: 0.0020, loss_map_cls: 0.0915, loss_map_pts: 0.4817, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.4878, d0.loss_plan_l1_fix_dist: 0.4775, d1.loss_plan_l1_fix_time: 0.7419, d1.loss_plan_l1_fix_dist: 0.1942, d2.loss_plan_l1_fix_time: 0.7207, d2.loss_plan_l1_fix_dist: 0.2615, d3.loss_plan_l1_fix_time: 0.7168, d3.loss_plan_l1_fix_dist: 0.2024, d4.loss_plan_l1_fix_time: 0.7206, d4.loss_plan_l1_fix_dist: 0.2117, d5.loss_plan_l1_fix_time: 0.7244, d5.loss_plan_l1_fix_dist: 0.2586, d6.loss_plan_l1_fix_time: 0.7289, d6.loss_plan_l1_fix_dist: 0.2278, d0.loss_cls_all: 0.1378, d0.loss_bbox_all: 0.3372, d0.loss_cls: 0.1378, d0.loss_bbox: 0.3372, d1.loss_cls: 0.1349, d1.loss_bbox: 0.3062, d2.loss_cls: 0.1218, d2.loss_bbox: 0.2869, d3.loss_cls: 0.1057, d3.loss_bbox: 0.2830, d4.loss_cls: 0.1002, d4.loss_bbox: 0.2817, d5.loss_cls: 0.0985, d5.loss_bbox: 0.2808, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5831, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4716, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4326, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4277, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4210, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4180, d0.loss_map_cls_all: 0.1716, d0.loss_map_pts_all: 1.0379, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1716, d0.loss_map_pts: 1.0379, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1392, d1.loss_map_pts: 0.7201, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1168, d2.loss_map_pts: 0.5578, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1042, d3.loss_map_pts: 0.5059, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.0991, d4.loss_map_pts: 0.4856, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0938, d5.loss_map_pts: 0.4819, d5.loss_map_dir: 0.0064, loss: 21.5326, grad_norm: 132.2158 +2026-02-28 19:59:59,713 - DriveTransformer - INFO - Epoch [11][6200/39528] lr: 6.331e-05, eta: 4 days, 15:08:16, time: 0.706, data_time: 0.038, memory: 19865, loss_cls: 0.0977, loss_bbox: 0.2954, loss_traj: 0.5184, loss_traj_cls: 0.0019, loss_map_cls: 0.1047, loss_map_pts: 0.4855, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.8669, d0.loss_plan_l1_fix_dist: 0.3986, d1.loss_plan_l1_fix_time: 0.8186, d1.loss_plan_l1_fix_dist: 0.1968, d2.loss_plan_l1_fix_time: 0.8091, d2.loss_plan_l1_fix_dist: 0.2798, d3.loss_plan_l1_fix_time: 0.7999, d3.loss_plan_l1_fix_dist: 0.1743, d4.loss_plan_l1_fix_time: 0.8018, d4.loss_plan_l1_fix_dist: 0.2037, d5.loss_plan_l1_fix_time: 0.8039, d5.loss_plan_l1_fix_dist: 0.1999, d6.loss_plan_l1_fix_time: 0.8065, d6.loss_plan_l1_fix_dist: 0.2005, d0.loss_cls_all: 0.1427, d0.loss_bbox_all: 0.3465, d0.loss_cls: 0.1427, d0.loss_bbox: 0.3465, d1.loss_cls: 0.1385, d1.loss_bbox: 0.3190, d2.loss_cls: 0.1244, d2.loss_bbox: 0.2995, d3.loss_cls: 0.1019, d3.loss_bbox: 0.2975, d4.loss_cls: 0.0972, d4.loss_bbox: 0.2963, d5.loss_cls: 0.0974, d5.loss_bbox: 0.2949, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7126, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5840, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5314, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5215, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5179, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5165, d0.loss_map_cls_all: 0.1734, d0.loss_map_pts_all: 0.9639, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1734, d0.loss_map_pts: 0.9639, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1504, d1.loss_map_pts: 0.6994, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1294, d2.loss_map_pts: 0.5624, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1181, d3.loss_map_pts: 0.5089, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1120, d4.loss_map_pts: 0.4926, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.1063, d5.loss_map_pts: 0.4854, d5.loss_map_dir: 0.0054, loss: 22.9798, grad_norm: 130.3806 +2026-02-28 20:00:35,197 - DriveTransformer - INFO - Epoch [11][6250/39528] lr: 6.331e-05, eta: 4 days, 15:07:36, time: 0.710, data_time: 0.038, memory: 19865, loss_cls: 0.0929, loss_bbox: 0.2811, loss_traj: 0.5127, loss_traj_cls: 0.0019, loss_map_cls: 0.0961, loss_map_pts: 0.4827, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.2590, d0.loss_plan_l1_fix_dist: 0.3831, d1.loss_plan_l1_fix_time: 0.7156, d1.loss_plan_l1_fix_dist: 0.2364, d2.loss_plan_l1_fix_time: 0.6998, d2.loss_plan_l1_fix_dist: 0.3138, d3.loss_plan_l1_fix_time: 0.6958, d3.loss_plan_l1_fix_dist: 0.2006, d4.loss_plan_l1_fix_time: 0.6962, d4.loss_plan_l1_fix_dist: 0.2323, d5.loss_plan_l1_fix_time: 0.6976, d5.loss_plan_l1_fix_dist: 0.2083, d6.loss_plan_l1_fix_time: 0.6999, d6.loss_plan_l1_fix_dist: 0.2402, d0.loss_cls_all: 0.1360, d0.loss_bbox_all: 0.3400, d0.loss_cls: 0.1360, d0.loss_bbox: 0.3400, d1.loss_cls: 0.1325, d1.loss_bbox: 0.3085, d2.loss_cls: 0.1218, d2.loss_bbox: 0.2858, d3.loss_cls: 0.0998, d3.loss_bbox: 0.2850, d4.loss_cls: 0.0961, d4.loss_bbox: 0.2816, d5.loss_cls: 0.0935, d5.loss_bbox: 0.2814, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7267, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6042, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5479, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5307, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5194, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5180, d0.loss_map_cls_all: 0.1733, d0.loss_map_pts_all: 0.9770, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1733, d0.loss_map_pts: 0.9770, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1410, d1.loss_map_pts: 0.6942, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1230, d2.loss_map_pts: 0.5541, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1097, d3.loss_map_pts: 0.5058, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1034, d4.loss_map_pts: 0.4874, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0987, d5.loss_map_pts: 0.4834, d5.loss_map_dir: 0.0066, loss: 21.7886, grad_norm: 130.1712 +2026-02-28 20:01:12,559 - DriveTransformer - INFO - Epoch [11][6300/39528] lr: 6.331e-05, eta: 4 days, 15:07:02, time: 0.747, data_time: 0.037, memory: 19865, loss_cls: 0.0931, loss_bbox: 0.2967, loss_traj: 0.4672, loss_traj_cls: 0.0018, loss_map_cls: 0.0980, loss_map_pts: 0.5075, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.5524, d0.loss_plan_l1_fix_dist: 0.5475, d1.loss_plan_l1_fix_time: 0.8330, d1.loss_plan_l1_fix_dist: 0.2880, d2.loss_plan_l1_fix_time: 0.8098, d2.loss_plan_l1_fix_dist: 0.3163, d3.loss_plan_l1_fix_time: 0.8079, d3.loss_plan_l1_fix_dist: 0.2500, d4.loss_plan_l1_fix_time: 0.8091, d4.loss_plan_l1_fix_dist: 0.2666, d5.loss_plan_l1_fix_time: 0.8107, d5.loss_plan_l1_fix_dist: 0.2666, d6.loss_plan_l1_fix_time: 0.8137, d6.loss_plan_l1_fix_dist: 0.2819, d0.loss_cls_all: 0.1340, d0.loss_bbox_all: 0.3587, d0.loss_cls: 0.1340, d0.loss_bbox: 0.3587, d1.loss_cls: 0.1291, d1.loss_bbox: 0.3283, d2.loss_cls: 0.1159, d2.loss_bbox: 0.3056, d3.loss_cls: 0.1011, d3.loss_bbox: 0.2998, d4.loss_cls: 0.0952, d4.loss_bbox: 0.2969, d5.loss_cls: 0.0919, d5.loss_bbox: 0.2969, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7115, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5403, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4756, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4667, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4649, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4662, d0.loss_map_cls_all: 0.1692, d0.loss_map_pts_all: 1.0680, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1692, d0.loss_map_pts: 1.0680, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1415, d1.loss_map_pts: 0.7500, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1215, d2.loss_map_pts: 0.5973, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1117, d3.loss_map_pts: 0.5407, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1051, d4.loss_map_pts: 0.5149, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1004, d5.loss_map_pts: 0.5085, d5.loss_map_dir: 0.0066, loss: 23.3126, grad_norm: 140.6646 +2026-02-28 20:01:49,312 - DriveTransformer - INFO - Epoch [11][6350/39528] lr: 6.331e-05, eta: 4 days, 15:06:26, time: 0.735, data_time: 0.038, memory: 19865, loss_cls: 0.1104, loss_bbox: 0.3162, loss_traj: 0.4783, loss_traj_cls: 0.0018, loss_map_cls: 0.0872, loss_map_pts: 0.5006, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.7262, d0.loss_plan_l1_fix_dist: 0.4748, d1.loss_plan_l1_fix_time: 0.8722, d1.loss_plan_l1_fix_dist: 0.3383, d2.loss_plan_l1_fix_time: 0.8543, d2.loss_plan_l1_fix_dist: 0.3030, d3.loss_plan_l1_fix_time: 0.8514, d3.loss_plan_l1_fix_dist: 0.3178, d4.loss_plan_l1_fix_time: 0.8542, d4.loss_plan_l1_fix_dist: 0.2894, d5.loss_plan_l1_fix_time: 0.8570, d5.loss_plan_l1_fix_dist: 0.2983, d6.loss_plan_l1_fix_time: 0.8610, d6.loss_plan_l1_fix_dist: 0.2877, d0.loss_cls_all: 0.1571, d0.loss_bbox_all: 0.3811, d0.loss_cls: 0.1571, d0.loss_bbox: 0.3811, d1.loss_cls: 0.1517, d1.loss_bbox: 0.3447, d2.loss_cls: 0.1395, d2.loss_bbox: 0.3194, d3.loss_cls: 0.1217, d3.loss_bbox: 0.3161, d4.loss_cls: 0.1144, d4.loss_bbox: 0.3140, d5.loss_cls: 0.1112, d5.loss_bbox: 0.3142, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7009, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5568, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4983, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4847, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4768, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4763, d0.loss_map_cls_all: 0.1684, d0.loss_map_pts_all: 0.9839, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1684, d0.loss_map_pts: 0.9839, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1346, d1.loss_map_pts: 0.7127, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1165, d2.loss_map_pts: 0.5737, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1031, d3.loss_map_pts: 0.5240, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.0954, d4.loss_map_pts: 0.5063, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0891, d5.loss_map_pts: 0.5012, d5.loss_map_dir: 0.0065, loss: 23.9143, grad_norm: 144.0650 +2026-02-28 20:02:28,423 - DriveTransformer - INFO - Epoch [11][6400/39528] lr: 6.331e-05, eta: 4 days, 15:05:58, time: 0.782, data_time: 0.039, memory: 19865, loss_cls: 0.1248, loss_bbox: 0.3350, loss_traj: 0.4907, loss_traj_cls: 0.0018, loss_map_cls: 0.1114, loss_map_pts: 0.6019, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 3.2783, d0.loss_plan_l1_fix_dist: 0.5577, d1.loss_plan_l1_fix_time: 1.0205, d1.loss_plan_l1_fix_dist: 0.3855, d2.loss_plan_l1_fix_time: 1.0090, d2.loss_plan_l1_fix_dist: 0.3126, d3.loss_plan_l1_fix_time: 1.0115, d3.loss_plan_l1_fix_dist: 0.3912, d4.loss_plan_l1_fix_time: 1.0135, d4.loss_plan_l1_fix_dist: 0.3090, d5.loss_plan_l1_fix_time: 1.0163, d5.loss_plan_l1_fix_dist: 0.3262, d6.loss_plan_l1_fix_time: 1.0205, d6.loss_plan_l1_fix_dist: 0.2980, d0.loss_cls_all: 0.1786, d0.loss_bbox_all: 0.4129, d0.loss_cls: 0.1786, d0.loss_bbox: 0.4129, d1.loss_cls: 0.1697, d1.loss_bbox: 0.3742, d2.loss_cls: 0.1528, d2.loss_bbox: 0.3455, d3.loss_cls: 0.1319, d3.loss_bbox: 0.3389, d4.loss_cls: 0.1265, d4.loss_bbox: 0.3353, d5.loss_cls: 0.1255, d5.loss_bbox: 0.3339, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7323, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5809, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5234, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5034, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4918, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4911, d0.loss_map_cls_all: 0.1979, d0.loss_map_pts_all: 1.2169, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.1979, d0.loss_map_pts: 1.2169, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1610, d1.loss_map_pts: 0.8709, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.1393, d2.loss_map_pts: 0.6979, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1282, d3.loss_map_pts: 0.6292, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1205, d4.loss_map_pts: 0.6056, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1142, d5.loss_map_pts: 0.6014, d5.loss_map_dir: 0.0082, loss: 27.5235, grad_norm: 146.1881 +2026-02-28 20:03:05,247 - DriveTransformer - INFO - Epoch [11][6450/39528] lr: 6.331e-05, eta: 4 days, 15:05:22, time: 0.736, data_time: 0.037, memory: 19865, loss_cls: 0.0847, loss_bbox: 0.2744, loss_traj: 0.4689, loss_traj_cls: 0.0018, loss_map_cls: 0.0911, loss_map_pts: 0.5071, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.5003, d0.loss_plan_l1_fix_dist: 0.4333, d1.loss_plan_l1_fix_time: 0.8304, d1.loss_plan_l1_fix_dist: 0.3665, d2.loss_plan_l1_fix_time: 0.8179, d2.loss_plan_l1_fix_dist: 0.2723, d3.loss_plan_l1_fix_time: 0.8190, d3.loss_plan_l1_fix_dist: 0.3859, d4.loss_plan_l1_fix_time: 0.8226, d4.loss_plan_l1_fix_dist: 0.2816, d5.loss_plan_l1_fix_time: 0.8266, d5.loss_plan_l1_fix_dist: 0.3038, d6.loss_plan_l1_fix_time: 0.8307, d6.loss_plan_l1_fix_dist: 0.2657, d0.loss_cls_all: 0.1289, d0.loss_bbox_all: 0.3339, d0.loss_cls: 0.1289, d0.loss_bbox: 0.3339, d1.loss_cls: 0.1236, d1.loss_bbox: 0.3018, d2.loss_cls: 0.1113, d2.loss_bbox: 0.2792, d3.loss_cls: 0.0932, d3.loss_bbox: 0.2760, d4.loss_cls: 0.0878, d4.loss_bbox: 0.2749, d5.loss_cls: 0.0849, d5.loss_bbox: 0.2745, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6884, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5308, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4803, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4755, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4679, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4691, d0.loss_map_cls_all: 0.1783, d0.loss_map_pts_all: 1.0547, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1783, d0.loss_map_pts: 1.0547, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1427, d1.loss_map_pts: 0.7558, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1185, d2.loss_map_pts: 0.6005, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1060, d3.loss_map_pts: 0.5389, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0984, d4.loss_map_pts: 0.5172, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0933, d5.loss_map_pts: 0.5076, d5.loss_map_dir: 0.0062, loss: 23.1279, grad_norm: 141.2837 +2026-02-28 20:03:41,239 - DriveTransformer - INFO - Epoch [11][6500/39528] lr: 6.331e-05, eta: 4 days, 15:04:44, time: 0.720, data_time: 0.038, memory: 19865, loss_cls: 0.0978, loss_bbox: 0.2949, loss_traj: 0.4105, loss_traj_cls: 0.0018, loss_map_cls: 0.1134, loss_map_pts: 0.5273, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.3618, d0.loss_plan_l1_fix_dist: 0.4169, d1.loss_plan_l1_fix_time: 0.7086, d1.loss_plan_l1_fix_dist: 0.3424, d2.loss_plan_l1_fix_time: 0.7025, d2.loss_plan_l1_fix_dist: 0.2369, d3.loss_plan_l1_fix_time: 0.6905, d3.loss_plan_l1_fix_dist: 0.3691, d4.loss_plan_l1_fix_time: 0.6944, d4.loss_plan_l1_fix_dist: 0.2385, d5.loss_plan_l1_fix_time: 0.6993, d5.loss_plan_l1_fix_dist: 0.2986, d6.loss_plan_l1_fix_time: 0.7031, d6.loss_plan_l1_fix_dist: 0.2252, d0.loss_cls_all: 0.1456, d0.loss_bbox_all: 0.3570, d0.loss_cls: 0.1456, d0.loss_bbox: 0.3570, d1.loss_cls: 0.1382, d1.loss_bbox: 0.3270, d2.loss_cls: 0.1253, d2.loss_bbox: 0.3078, d3.loss_cls: 0.1043, d3.loss_bbox: 0.3027, d4.loss_cls: 0.1000, d4.loss_bbox: 0.2986, d5.loss_cls: 0.0990, d5.loss_bbox: 0.2949, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6165, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4712, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4334, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4130, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4070, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4070, d0.loss_map_cls_all: 0.1865, d0.loss_map_pts_all: 1.0897, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1865, d0.loss_map_pts: 1.0897, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1626, d1.loss_map_pts: 0.7787, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1381, d2.loss_map_pts: 0.6176, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1274, d3.loss_map_pts: 0.5545, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1220, d4.loss_map_pts: 0.5331, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1170, d5.loss_map_pts: 0.5281, d5.loss_map_dir: 0.0063, loss: 22.2700, grad_norm: 141.2201 +2026-02-28 20:04:20,117 - DriveTransformer - INFO - Epoch [11][6550/39528] lr: 6.331e-05, eta: 4 days, 15:04:15, time: 0.778, data_time: 0.038, memory: 19865, loss_cls: 0.0937, loss_bbox: 0.2978, loss_traj: 0.4258, loss_traj_cls: 0.0018, loss_map_cls: 0.1156, loss_map_pts: 0.6002, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.4315, d0.loss_plan_l1_fix_dist: 0.4113, d1.loss_plan_l1_fix_time: 0.7715, d1.loss_plan_l1_fix_dist: 0.3281, d2.loss_plan_l1_fix_time: 0.7660, d2.loss_plan_l1_fix_dist: 0.2572, d3.loss_plan_l1_fix_time: 0.7630, d3.loss_plan_l1_fix_dist: 0.3713, d4.loss_plan_l1_fix_time: 0.7668, d4.loss_plan_l1_fix_dist: 0.2348, d5.loss_plan_l1_fix_time: 0.7712, d5.loss_plan_l1_fix_dist: 0.3113, d6.loss_plan_l1_fix_time: 0.7761, d6.loss_plan_l1_fix_dist: 0.2532, d0.loss_cls_all: 0.1465, d0.loss_bbox_all: 0.3684, d0.loss_cls: 0.1465, d0.loss_bbox: 0.3684, d1.loss_cls: 0.1394, d1.loss_bbox: 0.3329, d2.loss_cls: 0.1230, d2.loss_bbox: 0.3099, d3.loss_cls: 0.1019, d3.loss_bbox: 0.3031, d4.loss_cls: 0.0968, d4.loss_bbox: 0.3000, d5.loss_cls: 0.0930, d5.loss_bbox: 0.2991, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6265, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5046, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4560, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4358, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4307, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4256, d0.loss_map_cls_all: 0.1997, d0.loss_map_pts_all: 1.2466, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1997, d0.loss_map_pts: 1.2466, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1725, d1.loss_map_pts: 0.8856, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1444, d2.loss_map_pts: 0.6972, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1318, d3.loss_map_pts: 0.6294, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1247, d4.loss_map_pts: 0.6037, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1195, d5.loss_map_pts: 0.6003, d5.loss_map_dir: 0.0079, loss: 23.8244, grad_norm: 141.7105 +2026-02-28 20:04:55,322 - DriveTransformer - INFO - Epoch [11][6600/39528] lr: 6.331e-05, eta: 4 days, 15:03:34, time: 0.704, data_time: 0.038, memory: 19865, loss_cls: 0.1006, loss_bbox: 0.2916, loss_traj: 0.5164, loss_traj_cls: 0.0018, loss_map_cls: 0.0888, loss_map_pts: 0.4674, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.4423, d0.loss_plan_l1_fix_dist: 0.4660, d1.loss_plan_l1_fix_time: 0.8217, d1.loss_plan_l1_fix_dist: 0.3138, d2.loss_plan_l1_fix_time: 0.8075, d2.loss_plan_l1_fix_dist: 0.2587, d3.loss_plan_l1_fix_time: 0.8162, d3.loss_plan_l1_fix_dist: 0.3747, d4.loss_plan_l1_fix_time: 0.8193, d4.loss_plan_l1_fix_dist: 0.2331, d5.loss_plan_l1_fix_time: 0.8228, d5.loss_plan_l1_fix_dist: 0.3132, d6.loss_plan_l1_fix_time: 0.8281, d6.loss_plan_l1_fix_dist: 0.2780, d0.loss_cls_all: 0.1483, d0.loss_bbox_all: 0.3514, d0.loss_cls: 0.1483, d0.loss_bbox: 0.3514, d1.loss_cls: 0.1372, d1.loss_bbox: 0.3224, d2.loss_cls: 0.1214, d2.loss_bbox: 0.3022, d3.loss_cls: 0.1054, d3.loss_bbox: 0.2955, d4.loss_cls: 0.1027, d4.loss_bbox: 0.2923, d5.loss_cls: 0.1017, d5.loss_bbox: 0.2909, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8006, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6001, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5390, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5177, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5123, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5076, d0.loss_map_cls_all: 0.1739, d0.loss_map_pts_all: 0.9990, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1739, d0.loss_map_pts: 0.9990, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1440, d1.loss_map_pts: 0.7255, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1177, d2.loss_map_pts: 0.5696, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1038, d3.loss_map_pts: 0.4939, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0958, d4.loss_map_pts: 0.4720, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0912, d5.loss_map_pts: 0.4665, d5.loss_map_dir: 0.0055, loss: 23.2840, grad_norm: 138.6860 +2026-02-28 20:05:32,637 - DriveTransformer - INFO - Epoch [11][6650/39528] lr: 6.331e-05, eta: 4 days, 15:03:00, time: 0.746, data_time: 0.037, memory: 19865, loss_cls: 0.0894, loss_bbox: 0.2856, loss_traj: 0.4978, loss_traj_cls: 0.0019, loss_map_cls: 0.0894, loss_map_pts: 0.4600, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.9518, d0.loss_plan_l1_fix_dist: 0.4218, d1.loss_plan_l1_fix_time: 0.8174, d1.loss_plan_l1_fix_dist: 0.2854, d2.loss_plan_l1_fix_time: 0.8023, d2.loss_plan_l1_fix_dist: 0.2484, d3.loss_plan_l1_fix_time: 0.8034, d3.loss_plan_l1_fix_dist: 0.3646, d4.loss_plan_l1_fix_time: 0.8059, d4.loss_plan_l1_fix_dist: 0.2381, d5.loss_plan_l1_fix_time: 0.8094, d5.loss_plan_l1_fix_dist: 0.3297, d6.loss_plan_l1_fix_time: 0.8147, d6.loss_plan_l1_fix_dist: 0.2888, d0.loss_cls_all: 0.1330, d0.loss_bbox_all: 0.3511, d0.loss_cls: 0.1330, d0.loss_bbox: 0.3511, d1.loss_cls: 0.1267, d1.loss_bbox: 0.3167, d2.loss_cls: 0.1149, d2.loss_bbox: 0.2956, d3.loss_cls: 0.0966, d3.loss_bbox: 0.2904, d4.loss_cls: 0.0902, d4.loss_bbox: 0.2880, d5.loss_cls: 0.0886, d5.loss_bbox: 0.2860, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7104, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5672, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5234, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5052, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5008, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4982, d0.loss_map_cls_all: 0.1716, d0.loss_map_pts_all: 0.9626, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1716, d0.loss_map_pts: 0.9626, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1389, d1.loss_map_pts: 0.6931, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1156, d2.loss_map_pts: 0.5463, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1034, d3.loss_map_pts: 0.4898, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0950, d4.loss_map_pts: 0.4717, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0905, d5.loss_map_pts: 0.4614, d5.loss_map_dir: 0.0061, loss: 23.2008, grad_norm: 143.6448 +2026-02-28 20:06:08,196 - DriveTransformer - INFO - Epoch [11][6700/39528] lr: 6.331e-05, eta: 4 days, 15:02:20, time: 0.711, data_time: 0.039, memory: 19865, loss_cls: 0.0690, loss_bbox: 0.2598, loss_traj: 0.4405, loss_traj_cls: 0.0019, loss_map_cls: 0.0885, loss_map_pts: 0.4223, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.2724, d0.loss_plan_l1_fix_dist: 0.3965, d1.loss_plan_l1_fix_time: 0.6934, d1.loss_plan_l1_fix_dist: 0.2463, d2.loss_plan_l1_fix_time: 0.6833, d2.loss_plan_l1_fix_dist: 0.2245, d3.loss_plan_l1_fix_time: 0.6748, d3.loss_plan_l1_fix_dist: 0.3315, d4.loss_plan_l1_fix_time: 0.6766, d4.loss_plan_l1_fix_dist: 0.2143, d5.loss_plan_l1_fix_time: 0.6805, d5.loss_plan_l1_fix_dist: 0.3025, d6.loss_plan_l1_fix_time: 0.6857, d6.loss_plan_l1_fix_dist: 0.2450, d0.loss_cls_all: 0.1113, d0.loss_bbox_all: 0.3002, d0.loss_cls: 0.1113, d0.loss_bbox: 0.3002, d1.loss_cls: 0.1018, d1.loss_bbox: 0.2728, d2.loss_cls: 0.0901, d2.loss_bbox: 0.2599, d3.loss_cls: 0.0754, d3.loss_bbox: 0.2573, d4.loss_cls: 0.0692, d4.loss_bbox: 0.2588, d5.loss_cls: 0.0682, d5.loss_bbox: 0.2594, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6444, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5123, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4554, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4471, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4453, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4415, d0.loss_map_cls_all: 0.1746, d0.loss_map_pts_all: 0.9770, d0.loss_map_dir_all: 0.0050, d0.loss_map_cls: 0.1746, d0.loss_map_pts: 0.9770, d0.loss_map_dir: 0.0050, d1.loss_map_cls: 0.1417, d1.loss_map_pts: 0.6706, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1129, d2.loss_map_pts: 0.5167, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.1037, d3.loss_map_pts: 0.4535, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0979, d4.loss_map_pts: 0.4288, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0906, d5.loss_map_pts: 0.4230, d5.loss_map_dir: 0.0049, loss: 20.4768, grad_norm: 146.3777 +2026-02-28 20:06:44,329 - DriveTransformer - INFO - Epoch [11][6750/39528] lr: 6.331e-05, eta: 4 days, 15:01:42, time: 0.723, data_time: 0.040, memory: 19865, loss_cls: 0.0858, loss_bbox: 0.2764, loss_traj: 0.4665, loss_traj_cls: 0.0019, loss_map_cls: 0.0996, loss_map_pts: 0.4929, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.5525, d0.loss_plan_l1_fix_dist: 0.4583, d1.loss_plan_l1_fix_time: 0.7707, d1.loss_plan_l1_fix_dist: 0.2363, d2.loss_plan_l1_fix_time: 0.7549, d2.loss_plan_l1_fix_dist: 0.2440, d3.loss_plan_l1_fix_time: 0.7549, d3.loss_plan_l1_fix_dist: 0.3065, d4.loss_plan_l1_fix_time: 0.7573, d4.loss_plan_l1_fix_dist: 0.2335, d5.loss_plan_l1_fix_time: 0.7591, d5.loss_plan_l1_fix_dist: 0.2872, d6.loss_plan_l1_fix_time: 0.7607, d6.loss_plan_l1_fix_dist: 0.2650, d0.loss_cls_all: 0.1305, d0.loss_bbox_all: 0.3372, d0.loss_cls: 0.1305, d0.loss_bbox: 0.3372, d1.loss_cls: 0.1243, d1.loss_bbox: 0.3029, d2.loss_cls: 0.1104, d2.loss_bbox: 0.2845, d3.loss_cls: 0.0908, d3.loss_bbox: 0.2809, d4.loss_cls: 0.0862, d4.loss_bbox: 0.2772, d5.loss_cls: 0.0855, d5.loss_bbox: 0.2764, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6695, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5465, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5015, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4823, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4741, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4697, d0.loss_map_cls_all: 0.1778, d0.loss_map_pts_all: 1.0337, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1778, d0.loss_map_pts: 1.0337, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1477, d1.loss_map_pts: 0.7503, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1250, d2.loss_map_pts: 0.5883, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1137, d3.loss_map_pts: 0.5259, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1078, d4.loss_map_pts: 0.5019, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1023, d5.loss_map_pts: 0.4935, d5.loss_map_dir: 0.0066, loss: 22.4979, grad_norm: 146.5696 +2026-02-28 20:07:21,640 - DriveTransformer - INFO - Epoch [11][6800/39528] lr: 6.331e-05, eta: 4 days, 15:01:08, time: 0.748, data_time: 0.039, memory: 19865, loss_cls: 0.0788, loss_bbox: 0.2571, loss_traj: 0.4573, loss_traj_cls: 0.0019, loss_map_cls: 0.0928, loss_map_pts: 0.4648, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.3381, d0.loss_plan_l1_fix_dist: 0.4541, d1.loss_plan_l1_fix_time: 0.7467, d1.loss_plan_l1_fix_dist: 0.1907, d2.loss_plan_l1_fix_time: 0.7286, d2.loss_plan_l1_fix_dist: 0.2506, d3.loss_plan_l1_fix_time: 0.7306, d3.loss_plan_l1_fix_dist: 0.2620, d4.loss_plan_l1_fix_time: 0.7343, d4.loss_plan_l1_fix_dist: 0.2541, d5.loss_plan_l1_fix_time: 0.7369, d5.loss_plan_l1_fix_dist: 0.2485, d6.loss_plan_l1_fix_time: 0.7381, d6.loss_plan_l1_fix_dist: 0.2404, d0.loss_cls_all: 0.1220, d0.loss_bbox_all: 0.3155, d0.loss_cls: 0.1220, d0.loss_bbox: 0.3155, d1.loss_cls: 0.1144, d1.loss_bbox: 0.2828, d2.loss_cls: 0.0998, d2.loss_bbox: 0.2635, d3.loss_cls: 0.0850, d3.loss_bbox: 0.2598, d4.loss_cls: 0.0815, d4.loss_bbox: 0.2577, d5.loss_cls: 0.0795, d5.loss_bbox: 0.2563, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6513, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5124, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4766, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4664, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4651, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4591, d0.loss_map_cls_all: 0.1734, d0.loss_map_pts_all: 1.0141, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1734, d0.loss_map_pts: 1.0141, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1417, d1.loss_map_pts: 0.7175, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1186, d2.loss_map_pts: 0.5534, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1073, d3.loss_map_pts: 0.4907, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1015, d4.loss_map_pts: 0.4712, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0960, d5.loss_map_pts: 0.4647, d5.loss_map_dir: 0.0056, loss: 21.3774, grad_norm: 145.8446 +2026-02-28 20:07:55,231 - DriveTransformer - INFO - Epoch [11][6850/39528] lr: 6.331e-05, eta: 4 days, 15:00:22, time: 0.670, data_time: 0.038, memory: 19865, loss_cls: 0.0786, loss_bbox: 0.2600, loss_traj: 0.5752, loss_traj_cls: 0.0019, loss_map_cls: 0.0693, loss_map_pts: 0.3393, loss_map_dir: 0.0030, d0.loss_plan_l1_fix_time: 2.0319, d0.loss_plan_l1_fix_dist: 0.4823, d1.loss_plan_l1_fix_time: 0.6830, d1.loss_plan_l1_fix_dist: 0.1745, d2.loss_plan_l1_fix_time: 0.6660, d2.loss_plan_l1_fix_dist: 0.3378, d3.loss_plan_l1_fix_time: 0.6745, d3.loss_plan_l1_fix_dist: 0.2974, d4.loss_plan_l1_fix_time: 0.6792, d4.loss_plan_l1_fix_dist: 0.3624, d5.loss_plan_l1_fix_time: 0.6827, d5.loss_plan_l1_fix_dist: 0.2560, d6.loss_plan_l1_fix_time: 0.6853, d6.loss_plan_l1_fix_dist: 0.3820, d0.loss_cls_all: 0.1155, d0.loss_bbox_all: 0.3140, d0.loss_cls: 0.1155, d0.loss_bbox: 0.3140, d1.loss_cls: 0.1135, d1.loss_bbox: 0.2846, d2.loss_cls: 0.1010, d2.loss_bbox: 0.2677, d3.loss_cls: 0.0860, d3.loss_bbox: 0.2612, d4.loss_cls: 0.0815, d4.loss_bbox: 0.2587, d5.loss_cls: 0.0786, d5.loss_bbox: 0.2595, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8614, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6864, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6154, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5871, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5835, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5780, d0.loss_map_cls_all: 0.1389, d0.loss_map_pts_all: 0.7340, d0.loss_map_dir_all: 0.0030, d0.loss_map_cls: 0.1389, d0.loss_map_pts: 0.7340, d0.loss_map_dir: 0.0030, d1.loss_map_cls: 0.1120, d1.loss_map_pts: 0.5270, d1.loss_map_dir: 0.0029, d2.loss_map_cls: 0.0922, d2.loss_map_pts: 0.4136, d2.loss_map_dir: 0.0028, d3.loss_map_cls: 0.0825, d3.loss_map_pts: 0.3609, d3.loss_map_dir: 0.0030, d4.loss_map_cls: 0.0776, d4.loss_map_pts: 0.3464, d4.loss_map_dir: 0.0030, d5.loss_map_cls: 0.0719, d5.loss_map_pts: 0.3399, d5.loss_map_dir: 0.0030, loss: 20.4804, grad_norm: 145.9530 +2026-02-28 20:08:30,882 - DriveTransformer - INFO - Epoch [11][6900/39528] lr: 6.331e-05, eta: 4 days, 14:59:42, time: 0.713, data_time: 0.036, memory: 19865, loss_cls: 0.0804, loss_bbox: 0.2685, loss_traj: 0.4399, loss_traj_cls: 0.0019, loss_map_cls: 0.0798, loss_map_pts: 0.4278, loss_map_dir: 0.0047, d0.loss_plan_l1_fix_time: 2.4133, d0.loss_plan_l1_fix_dist: 0.4820, d1.loss_plan_l1_fix_time: 0.6890, d1.loss_plan_l1_fix_dist: 0.1719, d2.loss_plan_l1_fix_time: 0.6757, d2.loss_plan_l1_fix_dist: 0.3774, d3.loss_plan_l1_fix_time: 0.6687, d3.loss_plan_l1_fix_dist: 0.3099, d4.loss_plan_l1_fix_time: 0.6701, d4.loss_plan_l1_fix_dist: 0.4151, d5.loss_plan_l1_fix_time: 0.6726, d5.loss_plan_l1_fix_dist: 0.2901, d6.loss_plan_l1_fix_time: 0.6754, d6.loss_plan_l1_fix_dist: 0.4416, d0.loss_cls_all: 0.1163, d0.loss_bbox_all: 0.3231, d0.loss_cls: 0.1163, d0.loss_bbox: 0.3231, d1.loss_cls: 0.1098, d1.loss_bbox: 0.2984, d2.loss_cls: 0.0989, d2.loss_bbox: 0.2790, d3.loss_cls: 0.0853, d3.loss_bbox: 0.2732, d4.loss_cls: 0.0806, d4.loss_bbox: 0.2715, d5.loss_cls: 0.0800, d5.loss_bbox: 0.2694, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6643, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5247, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4764, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4492, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4514, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4399, d0.loss_map_cls_all: 0.1527, d0.loss_map_pts_all: 0.8895, d0.loss_map_dir_all: 0.0049, d0.loss_map_cls: 0.1527, d0.loss_map_pts: 0.8895, d0.loss_map_dir: 0.0049, d1.loss_map_cls: 0.1244, d1.loss_map_pts: 0.6451, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.1006, d2.loss_map_pts: 0.5086, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.0917, d3.loss_map_pts: 0.4568, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.0854, d4.loss_map_pts: 0.4383, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0822, d5.loss_map_pts: 0.4284, d5.loss_map_dir: 0.0047, loss: 21.0699, grad_norm: 142.5087 +2026-02-28 20:09:08,590 - DriveTransformer - INFO - Epoch [11][6950/39528] lr: 6.331e-05, eta: 4 days, 14:59:09, time: 0.754, data_time: 0.035, memory: 19865, loss_cls: 0.0878, loss_bbox: 0.2721, loss_traj: 0.3840, loss_traj_cls: 0.0019, loss_map_cls: 0.0958, loss_map_pts: 0.5515, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.9845, d0.loss_plan_l1_fix_dist: 0.5086, d1.loss_plan_l1_fix_time: 0.8176, d1.loss_plan_l1_fix_dist: 0.2044, d2.loss_plan_l1_fix_time: 0.8030, d2.loss_plan_l1_fix_dist: 0.4045, d3.loss_plan_l1_fix_time: 0.8027, d3.loss_plan_l1_fix_dist: 0.3267, d4.loss_plan_l1_fix_time: 0.8048, d4.loss_plan_l1_fix_dist: 0.4529, d5.loss_plan_l1_fix_time: 0.8083, d5.loss_plan_l1_fix_dist: 0.3566, d6.loss_plan_l1_fix_time: 0.8127, d6.loss_plan_l1_fix_dist: 0.3527, d0.loss_cls_all: 0.1296, d0.loss_bbox_all: 0.3444, d0.loss_cls: 0.1296, d0.loss_bbox: 0.3444, d1.loss_cls: 0.1252, d1.loss_bbox: 0.3113, d2.loss_cls: 0.1096, d2.loss_bbox: 0.2864, d3.loss_cls: 0.0955, d3.loss_bbox: 0.2782, d4.loss_cls: 0.0892, d4.loss_bbox: 0.2745, d5.loss_cls: 0.0878, d5.loss_bbox: 0.2718, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5892, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4570, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4072, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3911, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3876, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.3835, d0.loss_map_cls_all: 0.1821, d0.loss_map_pts_all: 1.2076, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1821, d0.loss_map_pts: 1.2076, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1450, d1.loss_map_pts: 0.8270, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1217, d2.loss_map_pts: 0.6477, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1117, d3.loss_map_pts: 0.5794, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1050, d4.loss_map_pts: 0.5549, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.0989, d5.loss_map_pts: 0.5513, d5.loss_map_dir: 0.0071, loss: 23.9091, grad_norm: 141.0452 +2026-02-28 20:09:46,163 - DriveTransformer - INFO - Epoch [11][7000/39528] lr: 6.331e-05, eta: 4 days, 14:58:36, time: 0.751, data_time: 0.039, memory: 19865, loss_cls: 0.0955, loss_bbox: 0.2835, loss_traj: 0.4233, loss_traj_cls: 0.0020, loss_map_cls: 0.0965, loss_map_pts: 0.5131, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.7030, d0.loss_plan_l1_fix_dist: 0.4914, d1.loss_plan_l1_fix_time: 0.8184, d1.loss_plan_l1_fix_dist: 0.2117, d2.loss_plan_l1_fix_time: 0.8032, d2.loss_plan_l1_fix_dist: 0.4181, d3.loss_plan_l1_fix_time: 0.7903, d3.loss_plan_l1_fix_dist: 0.3075, d4.loss_plan_l1_fix_time: 0.7935, d4.loss_plan_l1_fix_dist: 0.4696, d5.loss_plan_l1_fix_time: 0.7984, d5.loss_plan_l1_fix_dist: 0.4095, d6.loss_plan_l1_fix_time: 0.8047, d6.loss_plan_l1_fix_dist: 0.2775, d0.loss_cls_all: 0.1375, d0.loss_bbox_all: 0.3591, d0.loss_cls: 0.1375, d0.loss_bbox: 0.3591, d1.loss_cls: 0.1303, d1.loss_bbox: 0.3212, d2.loss_cls: 0.1167, d2.loss_bbox: 0.2957, d3.loss_cls: 0.1019, d3.loss_bbox: 0.2894, d4.loss_cls: 0.0972, d4.loss_bbox: 0.2850, d5.loss_cls: 0.0964, d5.loss_bbox: 0.2830, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6022, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4942, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4457, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4333, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4270, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4221, d0.loss_map_cls_all: 0.1788, d0.loss_map_pts_all: 1.0995, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1788, d0.loss_map_pts: 1.0995, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1438, d1.loss_map_pts: 0.7783, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1230, d2.loss_map_pts: 0.5982, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1100, d3.loss_map_pts: 0.5383, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1043, d4.loss_map_pts: 0.5161, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.0995, d5.loss_map_pts: 0.5127, d5.loss_map_dir: 0.0068, loss: 23.4855, grad_norm: 143.1820 +2026-02-28 20:10:21,037 - DriveTransformer - INFO - Epoch [11][7050/39528] lr: 6.331e-05, eta: 4 days, 14:57:54, time: 0.697, data_time: 0.037, memory: 19865, loss_cls: 0.0910, loss_bbox: 0.2750, loss_traj: 0.5286, loss_traj_cls: 0.0019, loss_map_cls: 0.0898, loss_map_pts: 0.4459, loss_map_dir: 0.0047, d0.loss_plan_l1_fix_time: 2.4790, d0.loss_plan_l1_fix_dist: 0.4932, d1.loss_plan_l1_fix_time: 0.8168, d1.loss_plan_l1_fix_dist: 0.2450, d2.loss_plan_l1_fix_time: 0.7963, d2.loss_plan_l1_fix_dist: 0.4283, d3.loss_plan_l1_fix_time: 0.7844, d3.loss_plan_l1_fix_dist: 0.3265, d4.loss_plan_l1_fix_time: 0.7852, d4.loss_plan_l1_fix_dist: 0.4707, d5.loss_plan_l1_fix_time: 0.7879, d5.loss_plan_l1_fix_dist: 0.4472, d6.loss_plan_l1_fix_time: 0.7917, d6.loss_plan_l1_fix_dist: 0.2634, d0.loss_cls_all: 0.1252, d0.loss_bbox_all: 0.3421, d0.loss_cls: 0.1252, d0.loss_bbox: 0.3421, d1.loss_cls: 0.1221, d1.loss_bbox: 0.3065, d2.loss_cls: 0.1105, d2.loss_bbox: 0.2866, d3.loss_cls: 0.0949, d3.loss_bbox: 0.2790, d4.loss_cls: 0.0923, d4.loss_bbox: 0.2752, d5.loss_cls: 0.0916, d5.loss_bbox: 0.2737, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8603, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6383, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5628, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5410, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5308, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5248, d0.loss_map_cls_all: 0.1783, d0.loss_map_pts_all: 0.9597, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1783, d0.loss_map_pts: 0.9597, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1429, d1.loss_map_pts: 0.6957, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.1193, d2.loss_map_pts: 0.5417, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.1061, d3.loss_map_pts: 0.4751, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0981, d4.loss_map_pts: 0.4562, d4.loss_map_dir: 0.0046, d5.loss_map_cls: 0.0930, d5.loss_map_pts: 0.4456, d5.loss_map_dir: 0.0047, loss: 23.3649, grad_norm: 144.3611 +2026-02-28 20:10:57,026 - DriveTransformer - INFO - Epoch [11][7100/39528] lr: 6.331e-05, eta: 4 days, 14:57:16, time: 0.720, data_time: 0.041, memory: 19865, loss_cls: 0.0856, loss_bbox: 0.2793, loss_traj: 0.5264, loss_traj_cls: 0.0019, loss_map_cls: 0.0786, loss_map_pts: 0.4079, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.6970, d0.loss_plan_l1_fix_dist: 0.4314, d1.loss_plan_l1_fix_time: 0.7610, d1.loss_plan_l1_fix_dist: 0.2491, d2.loss_plan_l1_fix_time: 0.7385, d2.loss_plan_l1_fix_dist: 0.3935, d3.loss_plan_l1_fix_time: 0.7366, d3.loss_plan_l1_fix_dist: 0.3075, d4.loss_plan_l1_fix_time: 0.7380, d4.loss_plan_l1_fix_dist: 0.4432, d5.loss_plan_l1_fix_time: 0.7400, d5.loss_plan_l1_fix_dist: 0.4407, d6.loss_plan_l1_fix_time: 0.7431, d6.loss_plan_l1_fix_dist: 0.3214, d0.loss_cls_all: 0.1276, d0.loss_bbox_all: 0.3414, d0.loss_cls: 0.1276, d0.loss_bbox: 0.3414, d1.loss_cls: 0.1245, d1.loss_bbox: 0.3087, d2.loss_cls: 0.1095, d2.loss_bbox: 0.2891, d3.loss_cls: 0.0916, d3.loss_bbox: 0.2838, d4.loss_cls: 0.0863, d4.loss_bbox: 0.2814, d5.loss_cls: 0.0843, d5.loss_bbox: 0.2805, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7568, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6211, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5585, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5383, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5309, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5269, d0.loss_map_cls_all: 0.1534, d0.loss_map_pts_all: 0.8800, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1534, d0.loss_map_pts: 0.8800, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1259, d1.loss_map_pts: 0.6263, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.1016, d2.loss_map_pts: 0.4926, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.0917, d3.loss_map_pts: 0.4343, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0849, d4.loss_map_pts: 0.4159, d4.loss_map_dir: 0.0046, d5.loss_map_cls: 0.0807, d5.loss_map_pts: 0.4078, d5.loss_map_dir: 0.0047, loss: 22.5020, grad_norm: 145.6077 +2026-02-28 20:11:31,787 - DriveTransformer - INFO - Epoch [11][7150/39528] lr: 6.331e-05, eta: 4 days, 14:56:33, time: 0.695, data_time: 0.039, memory: 19865, loss_cls: 0.0844, loss_bbox: 0.2676, loss_traj: 0.4939, loss_traj_cls: 0.0019, loss_map_cls: 0.0824, loss_map_pts: 0.4171, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.9936, d0.loss_plan_l1_fix_dist: 0.4551, d1.loss_plan_l1_fix_time: 0.7740, d1.loss_plan_l1_fix_dist: 0.2632, d2.loss_plan_l1_fix_time: 0.7652, d2.loss_plan_l1_fix_dist: 0.3710, d3.loss_plan_l1_fix_time: 0.7651, d3.loss_plan_l1_fix_dist: 0.3077, d4.loss_plan_l1_fix_time: 0.7676, d4.loss_plan_l1_fix_dist: 0.4012, d5.loss_plan_l1_fix_time: 0.7704, d5.loss_plan_l1_fix_dist: 0.4031, d6.loss_plan_l1_fix_time: 0.7745, d6.loss_plan_l1_fix_dist: 0.3345, d0.loss_cls_all: 0.1303, d0.loss_bbox_all: 0.3295, d0.loss_cls: 0.1303, d0.loss_bbox: 0.3295, d1.loss_cls: 0.1246, d1.loss_bbox: 0.2960, d2.loss_cls: 0.1098, d2.loss_bbox: 0.2790, d3.loss_cls: 0.0913, d3.loss_bbox: 0.2726, d4.loss_cls: 0.0859, d4.loss_bbox: 0.2696, d5.loss_cls: 0.0847, d5.loss_bbox: 0.2680, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7602, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5560, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5234, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5023, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4954, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4960, d0.loss_map_cls_all: 0.1608, d0.loss_map_pts_all: 0.9168, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1608, d0.loss_map_pts: 0.9168, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1290, d1.loss_map_pts: 0.6428, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1057, d2.loss_map_pts: 0.4971, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0955, d3.loss_map_pts: 0.4410, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0903, d4.loss_map_pts: 0.4213, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0849, d5.loss_map_pts: 0.4162, d5.loss_map_dir: 0.0049, loss: 22.7520, grad_norm: 145.2802 +2026-02-28 20:12:08,959 - DriveTransformer - INFO - Epoch [11][7200/39528] lr: 6.331e-05, eta: 4 days, 14:55:59, time: 0.743, data_time: 0.039, memory: 19865, loss_cls: 0.0918, loss_bbox: 0.2875, loss_traj: 0.4316, loss_traj_cls: 0.0020, loss_map_cls: 0.1050, loss_map_pts: 0.5070, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.5422, d0.loss_plan_l1_fix_dist: 0.4152, d1.loss_plan_l1_fix_time: 0.7712, d1.loss_plan_l1_fix_dist: 0.2967, d2.loss_plan_l1_fix_time: 0.7535, d2.loss_plan_l1_fix_dist: 0.3654, d3.loss_plan_l1_fix_time: 0.7440, d3.loss_plan_l1_fix_dist: 0.3157, d4.loss_plan_l1_fix_time: 0.7474, d4.loss_plan_l1_fix_dist: 0.3678, d5.loss_plan_l1_fix_time: 0.7516, d5.loss_plan_l1_fix_dist: 0.3482, d6.loss_plan_l1_fix_time: 0.7555, d6.loss_plan_l1_fix_dist: 0.2543, d0.loss_cls_all: 0.1409, d0.loss_bbox_all: 0.3529, d0.loss_cls: 0.1409, d0.loss_bbox: 0.3529, d1.loss_cls: 0.1365, d1.loss_bbox: 0.3181, d2.loss_cls: 0.1231, d2.loss_bbox: 0.2983, d3.loss_cls: 0.1015, d3.loss_bbox: 0.2938, d4.loss_cls: 0.0946, d4.loss_bbox: 0.2901, d5.loss_cls: 0.0917, d5.loss_bbox: 0.2888, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7026, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5198, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4581, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4408, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4345, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4343, d0.loss_map_cls_all: 0.1877, d0.loss_map_pts_all: 1.0903, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1877, d0.loss_map_pts: 1.0903, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1566, d1.loss_map_pts: 0.7655, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1342, d2.loss_map_pts: 0.6015, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1211, d3.loss_map_pts: 0.5392, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1134, d4.loss_map_pts: 0.5160, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1078, d5.loss_map_pts: 0.5076, d5.loss_map_dir: 0.0066, loss: 23.0436, grad_norm: 141.9442 +2026-02-28 20:12:44,379 - DriveTransformer - INFO - Epoch [11][7250/39528] lr: 6.331e-05, eta: 4 days, 14:55:18, time: 0.708, data_time: 0.039, memory: 19865, loss_cls: 0.1026, loss_bbox: 0.2824, loss_traj: 0.4812, loss_traj_cls: 0.0020, loss_map_cls: 0.0867, loss_map_pts: 0.4223, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.6282, d0.loss_plan_l1_fix_dist: 0.4554, d1.loss_plan_l1_fix_time: 0.6780, d1.loss_plan_l1_fix_dist: 0.2914, d2.loss_plan_l1_fix_time: 0.6569, d2.loss_plan_l1_fix_dist: 0.3431, d3.loss_plan_l1_fix_time: 0.6608, d3.loss_plan_l1_fix_dist: 0.2749, d4.loss_plan_l1_fix_time: 0.6641, d4.loss_plan_l1_fix_dist: 0.2804, d5.loss_plan_l1_fix_time: 0.6688, d5.loss_plan_l1_fix_dist: 0.2640, d6.loss_plan_l1_fix_time: 0.6731, d6.loss_plan_l1_fix_dist: 0.2272, d0.loss_cls_all: 0.1372, d0.loss_bbox_all: 0.3395, d0.loss_cls: 0.1372, d0.loss_bbox: 0.3395, d1.loss_cls: 0.1340, d1.loss_bbox: 0.3106, d2.loss_cls: 0.1244, d2.loss_bbox: 0.2909, d3.loss_cls: 0.1083, d3.loss_bbox: 0.2873, d4.loss_cls: 0.1028, d4.loss_bbox: 0.2848, d5.loss_cls: 0.1019, d5.loss_bbox: 0.2830, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7117, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5634, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5135, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4958, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4875, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4834, d0.loss_map_cls_all: 0.1671, d0.loss_map_pts_all: 0.9213, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1671, d0.loss_map_pts: 0.9213, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1349, d1.loss_map_pts: 0.6530, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1117, d2.loss_map_pts: 0.5166, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1010, d3.loss_map_pts: 0.4566, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0938, d4.loss_map_pts: 0.4349, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0887, d5.loss_map_pts: 0.4235, d5.loss_map_dir: 0.0052, loss: 21.6179, grad_norm: 140.7928 +2026-02-28 20:13:21,015 - DriveTransformer - INFO - Epoch [11][7300/39528] lr: 6.331e-05, eta: 4 days, 14:54:42, time: 0.733, data_time: 0.040, memory: 19865, loss_cls: 0.0893, loss_bbox: 0.2892, loss_traj: 0.5146, loss_traj_cls: 0.0019, loss_map_cls: 0.1173, loss_map_pts: 0.5461, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.5650, d0.loss_plan_l1_fix_dist: 0.3964, d1.loss_plan_l1_fix_time: 0.8227, d1.loss_plan_l1_fix_dist: 0.3024, d2.loss_plan_l1_fix_time: 0.8114, d2.loss_plan_l1_fix_dist: 0.3681, d3.loss_plan_l1_fix_time: 0.8143, d3.loss_plan_l1_fix_dist: 0.3081, d4.loss_plan_l1_fix_time: 0.8181, d4.loss_plan_l1_fix_dist: 0.2647, d5.loss_plan_l1_fix_time: 0.8224, d5.loss_plan_l1_fix_dist: 0.2524, d6.loss_plan_l1_fix_time: 0.8267, d6.loss_plan_l1_fix_dist: 0.2827, d0.loss_cls_all: 0.1295, d0.loss_bbox_all: 0.3529, d0.loss_cls: 0.1295, d0.loss_bbox: 0.3529, d1.loss_cls: 0.1217, d1.loss_bbox: 0.3212, d2.loss_cls: 0.1081, d2.loss_bbox: 0.3025, d3.loss_cls: 0.0946, d3.loss_bbox: 0.2971, d4.loss_cls: 0.0908, d4.loss_bbox: 0.2936, d5.loss_cls: 0.0893, d5.loss_bbox: 0.2908, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7654, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5948, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5497, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5306, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5226, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5157, d0.loss_map_cls_all: 0.2076, d0.loss_map_pts_all: 1.1259, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2076, d0.loss_map_pts: 1.1259, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1733, d1.loss_map_pts: 0.8180, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1483, d2.loss_map_pts: 0.6475, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1357, d3.loss_map_pts: 0.5790, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1276, d4.loss_map_pts: 0.5507, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1214, d5.loss_map_pts: 0.5447, d5.loss_map_dir: 0.0062, loss: 24.2358, grad_norm: 141.3445 +2026-02-28 20:13:57,120 - DriveTransformer - INFO - Epoch [11][7350/39528] lr: 6.331e-05, eta: 4 days, 14:54:04, time: 0.722, data_time: 0.036, memory: 19865, loss_cls: 0.0910, loss_bbox: 0.2884, loss_traj: 0.4074, loss_traj_cls: 0.0019, loss_map_cls: 0.1192, loss_map_pts: 0.5378, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.3645, d0.loss_plan_l1_fix_dist: 0.4425, d1.loss_plan_l1_fix_time: 0.7560, d1.loss_plan_l1_fix_dist: 0.2908, d2.loss_plan_l1_fix_time: 0.7476, d2.loss_plan_l1_fix_dist: 0.3877, d3.loss_plan_l1_fix_time: 0.7475, d3.loss_plan_l1_fix_dist: 0.3442, d4.loss_plan_l1_fix_time: 0.7515, d4.loss_plan_l1_fix_dist: 0.2981, d5.loss_plan_l1_fix_time: 0.7557, d5.loss_plan_l1_fix_dist: 0.2391, d6.loss_plan_l1_fix_time: 0.7596, d6.loss_plan_l1_fix_dist: 0.3064, d0.loss_cls_all: 0.1459, d0.loss_bbox_all: 0.3481, d0.loss_cls: 0.1459, d0.loss_bbox: 0.3481, d1.loss_cls: 0.1362, d1.loss_bbox: 0.3191, d2.loss_cls: 0.1196, d2.loss_bbox: 0.2993, d3.loss_cls: 0.1018, d3.loss_bbox: 0.2920, d4.loss_cls: 0.0931, d4.loss_bbox: 0.2904, d5.loss_cls: 0.0909, d5.loss_bbox: 0.2896, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6032, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4795, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4273, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4083, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4066, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4069, d0.loss_map_cls_all: 0.2078, d0.loss_map_pts_all: 1.0762, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2078, d0.loss_map_pts: 1.0762, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1699, d1.loss_map_pts: 0.7638, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1445, d2.loss_map_pts: 0.6164, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1332, d3.loss_map_pts: 0.5601, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1279, d4.loss_map_pts: 0.5417, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1226, d5.loss_map_pts: 0.5372, d5.loss_map_dir: 0.0063, loss: 22.7288, grad_norm: 141.1216 +2026-02-28 20:14:33,699 - DriveTransformer - INFO - Epoch [11][7400/39528] lr: 6.331e-05, eta: 4 days, 14:53:27, time: 0.732, data_time: 0.037, memory: 19865, loss_cls: 0.0962, loss_bbox: 0.2995, loss_traj: 0.5772, loss_traj_cls: 0.0019, loss_map_cls: 0.1164, loss_map_pts: 0.6096, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.7003, d0.loss_plan_l1_fix_dist: 0.4461, d1.loss_plan_l1_fix_time: 0.7320, d1.loss_plan_l1_fix_dist: 0.3022, d2.loss_plan_l1_fix_time: 0.7243, d2.loss_plan_l1_fix_dist: 0.3949, d3.loss_plan_l1_fix_time: 0.7305, d3.loss_plan_l1_fix_dist: 0.3644, d4.loss_plan_l1_fix_time: 0.7369, d4.loss_plan_l1_fix_dist: 0.3465, d5.loss_plan_l1_fix_time: 0.7403, d5.loss_plan_l1_fix_dist: 0.2918, d6.loss_plan_l1_fix_time: 0.7439, d6.loss_plan_l1_fix_dist: 0.3356, d0.loss_cls_all: 0.1448, d0.loss_bbox_all: 0.3655, d0.loss_cls: 0.1448, d0.loss_bbox: 0.3655, d1.loss_cls: 0.1376, d1.loss_bbox: 0.3305, d2.loss_cls: 0.1249, d2.loss_bbox: 0.3115, d3.loss_cls: 0.1038, d3.loss_bbox: 0.3066, d4.loss_cls: 0.0975, d4.loss_bbox: 0.3027, d5.loss_cls: 0.0959, d5.loss_bbox: 0.3008, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8434, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6484, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5973, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5829, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5779, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5780, d0.loss_map_cls_all: 0.2078, d0.loss_map_pts_all: 1.1875, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2078, d0.loss_map_pts: 1.1875, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1715, d1.loss_map_pts: 0.8716, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1483, d2.loss_map_pts: 0.7026, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1345, d3.loss_map_pts: 0.6380, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1272, d4.loss_map_pts: 0.6150, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1207, d5.loss_map_pts: 0.6090, d5.loss_map_dir: 0.0071, loss: 25.2407, grad_norm: 140.9144 +2026-02-28 20:15:11,717 - DriveTransformer - INFO - Epoch [11][7450/39528] lr: 6.331e-05, eta: 4 days, 14:52:56, time: 0.760, data_time: 0.037, memory: 19865, loss_cls: 0.0823, loss_bbox: 0.2872, loss_traj: 0.3748, loss_traj_cls: 0.0019, loss_map_cls: 0.1201, loss_map_pts: 0.6096, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.7529, d0.loss_plan_l1_fix_dist: 0.3720, d1.loss_plan_l1_fix_time: 0.7399, d1.loss_plan_l1_fix_dist: 0.2959, d2.loss_plan_l1_fix_time: 0.7305, d2.loss_plan_l1_fix_dist: 0.3438, d3.loss_plan_l1_fix_time: 0.7302, d3.loss_plan_l1_fix_dist: 0.3249, d4.loss_plan_l1_fix_time: 0.7351, d4.loss_plan_l1_fix_dist: 0.3319, d5.loss_plan_l1_fix_time: 0.7377, d5.loss_plan_l1_fix_dist: 0.2944, d6.loss_plan_l1_fix_time: 0.7410, d6.loss_plan_l1_fix_dist: 0.3187, d0.loss_cls_all: 0.1348, d0.loss_bbox_all: 0.3443, d0.loss_cls: 0.1348, d0.loss_bbox: 0.3443, d1.loss_cls: 0.1282, d1.loss_bbox: 0.3124, d2.loss_cls: 0.1118, d2.loss_bbox: 0.2910, d3.loss_cls: 0.0966, d3.loss_bbox: 0.2859, d4.loss_cls: 0.0849, d4.loss_bbox: 0.2886, d5.loss_cls: 0.0829, d5.loss_bbox: 0.2873, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5369, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4335, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3913, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.3792, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3762, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.3721, d0.loss_map_cls_all: 0.2080, d0.loss_map_pts_all: 1.2644, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2080, d0.loss_map_pts: 1.2644, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1721, d1.loss_map_pts: 0.9067, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1479, d2.loss_map_pts: 0.7191, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1384, d3.loss_map_pts: 0.6496, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1304, d4.loss_map_pts: 0.6149, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1244, d5.loss_map_pts: 0.6092, d5.loss_map_dir: 0.0080, loss: 23.5689, grad_norm: 142.5626 +2026-02-28 20:15:47,232 - DriveTransformer - INFO - Epoch [11][7500/39528] lr: 6.331e-05, eta: 4 days, 14:52:16, time: 0.710, data_time: 0.037, memory: 19865, loss_cls: 0.0984, loss_bbox: 0.2958, loss_traj: 0.5350, loss_traj_cls: 0.0019, loss_map_cls: 0.0929, loss_map_pts: 0.5140, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.4842, d0.loss_plan_l1_fix_dist: 0.5145, d1.loss_plan_l1_fix_time: 0.7927, d1.loss_plan_l1_fix_dist: 0.3259, d2.loss_plan_l1_fix_time: 0.7772, d2.loss_plan_l1_fix_dist: 0.3376, d3.loss_plan_l1_fix_time: 0.7768, d3.loss_plan_l1_fix_dist: 0.3218, d4.loss_plan_l1_fix_time: 0.7804, d4.loss_plan_l1_fix_dist: 0.3752, d5.loss_plan_l1_fix_time: 0.7845, d5.loss_plan_l1_fix_dist: 0.3271, d6.loss_plan_l1_fix_time: 0.7899, d6.loss_plan_l1_fix_dist: 0.2980, d0.loss_cls_all: 0.1434, d0.loss_bbox_all: 0.3620, d0.loss_cls: 0.1434, d0.loss_bbox: 0.3620, d1.loss_cls: 0.1348, d1.loss_bbox: 0.3283, d2.loss_cls: 0.1246, d2.loss_bbox: 0.3071, d3.loss_cls: 0.1067, d3.loss_bbox: 0.3001, d4.loss_cls: 0.0997, d4.loss_bbox: 0.2983, d5.loss_cls: 0.0993, d5.loss_bbox: 0.2960, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7575, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6175, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5655, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5447, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5441, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5376, d0.loss_map_cls_all: 0.1756, d0.loss_map_pts_all: 1.0190, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1756, d0.loss_map_pts: 1.0190, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1440, d1.loss_map_pts: 0.7447, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1192, d2.loss_map_pts: 0.5984, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1081, d3.loss_map_pts: 0.5438, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1002, d4.loss_map_pts: 0.5195, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0948, d5.loss_map_pts: 0.5138, d5.loss_map_dir: 0.0056, loss: 23.8232, grad_norm: 141.6473 +2026-02-28 20:16:23,673 - DriveTransformer - INFO - Epoch [11][7550/39528] lr: 6.331e-05, eta: 4 days, 14:51:39, time: 0.729, data_time: 0.036, memory: 19865, loss_cls: 0.0943, loss_bbox: 0.2932, loss_traj: 0.3828, loss_traj_cls: 0.0019, loss_map_cls: 0.1079, loss_map_pts: 0.5516, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.4834, d0.loss_plan_l1_fix_dist: 0.4112, d1.loss_plan_l1_fix_time: 0.7252, d1.loss_plan_l1_fix_dist: 0.2944, d2.loss_plan_l1_fix_time: 0.7111, d2.loss_plan_l1_fix_dist: 0.2796, d3.loss_plan_l1_fix_time: 0.7090, d3.loss_plan_l1_fix_dist: 0.2655, d4.loss_plan_l1_fix_time: 0.7120, d4.loss_plan_l1_fix_dist: 0.3679, d5.loss_plan_l1_fix_time: 0.7164, d5.loss_plan_l1_fix_dist: 0.3307, d6.loss_plan_l1_fix_time: 0.7213, d6.loss_plan_l1_fix_dist: 0.2455, d0.loss_cls_all: 0.1335, d0.loss_bbox_all: 0.3525, d0.loss_cls: 0.1335, d0.loss_bbox: 0.3525, d1.loss_cls: 0.1294, d1.loss_bbox: 0.3193, d2.loss_cls: 0.1145, d2.loss_bbox: 0.2993, d3.loss_cls: 0.1012, d3.loss_bbox: 0.2946, d4.loss_cls: 0.0953, d4.loss_bbox: 0.2945, d5.loss_cls: 0.0940, d5.loss_bbox: 0.2930, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5992, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4607, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4051, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.3890, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3855, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.3822, d0.loss_map_cls_all: 0.2011, d0.loss_map_pts_all: 1.1195, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2011, d0.loss_map_pts: 1.1195, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1643, d1.loss_map_pts: 0.8239, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1372, d2.loss_map_pts: 0.6529, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1269, d3.loss_map_pts: 0.5830, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1188, d4.loss_map_pts: 0.5574, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1112, d5.loss_map_pts: 0.5507, d5.loss_map_dir: 0.0072, loss: 22.5632, grad_norm: 143.1539 +2026-02-28 20:16:59,844 - DriveTransformer - INFO - Epoch [11][7600/39528] lr: 6.331e-05, eta: 4 days, 14:51:01, time: 0.725, data_time: 0.037, memory: 19865, loss_cls: 0.0867, loss_bbox: 0.2846, loss_traj: 0.6014, loss_traj_cls: 0.0021, loss_map_cls: 0.0812, loss_map_pts: 0.4575, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.3412, d0.loss_plan_l1_fix_dist: 0.3898, d1.loss_plan_l1_fix_time: 0.7618, d1.loss_plan_l1_fix_dist: 0.2984, d2.loss_plan_l1_fix_time: 0.7464, d2.loss_plan_l1_fix_dist: 0.2815, d3.loss_plan_l1_fix_time: 0.7324, d3.loss_plan_l1_fix_dist: 0.2702, d4.loss_plan_l1_fix_time: 0.7354, d4.loss_plan_l1_fix_dist: 0.3671, d5.loss_plan_l1_fix_time: 0.7403, d5.loss_plan_l1_fix_dist: 0.3453, d6.loss_plan_l1_fix_time: 0.7456, d6.loss_plan_l1_fix_dist: 0.2792, d0.loss_cls_all: 0.1350, d0.loss_bbox_all: 0.3491, d0.loss_cls: 0.1350, d0.loss_bbox: 0.3491, d1.loss_cls: 0.1286, d1.loss_bbox: 0.3169, d2.loss_cls: 0.1096, d2.loss_bbox: 0.2951, d3.loss_cls: 0.0926, d3.loss_bbox: 0.2898, d4.loss_cls: 0.0872, d4.loss_bbox: 0.2870, d5.loss_cls: 0.0858, d5.loss_bbox: 0.2855, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8879, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6969, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6354, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6107, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6106, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6053, d0.loss_map_cls_all: 0.1572, d0.loss_map_pts_all: 0.9502, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1572, d0.loss_map_pts: 0.9502, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1243, d1.loss_map_pts: 0.6834, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1015, d2.loss_map_pts: 0.5354, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.0922, d3.loss_map_pts: 0.4838, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0869, d4.loss_map_pts: 0.4620, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0836, d5.loss_map_pts: 0.4583, d5.loss_map_dir: 0.0063, loss: 22.9219, grad_norm: 143.5754 +2026-02-28 20:17:35,983 - DriveTransformer - INFO - Epoch [11][7650/39528] lr: 6.331e-05, eta: 4 days, 14:50:23, time: 0.721, data_time: 0.037, memory: 19865, loss_cls: 0.0831, loss_bbox: 0.2677, loss_traj: 0.4381, loss_traj_cls: 0.0020, loss_map_cls: 0.0878, loss_map_pts: 0.4485, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.2816, d0.loss_plan_l1_fix_dist: 0.4585, d1.loss_plan_l1_fix_time: 0.7038, d1.loss_plan_l1_fix_dist: 0.2636, d2.loss_plan_l1_fix_time: 0.6821, d2.loss_plan_l1_fix_dist: 0.2393, d3.loss_plan_l1_fix_time: 0.6777, d3.loss_plan_l1_fix_dist: 0.2424, d4.loss_plan_l1_fix_time: 0.6816, d4.loss_plan_l1_fix_dist: 0.3435, d5.loss_plan_l1_fix_time: 0.6872, d5.loss_plan_l1_fix_dist: 0.3298, d6.loss_plan_l1_fix_time: 0.6929, d6.loss_plan_l1_fix_dist: 0.2767, d0.loss_cls_all: 0.1262, d0.loss_bbox_all: 0.3277, d0.loss_cls: 0.1262, d0.loss_bbox: 0.3277, d1.loss_cls: 0.1201, d1.loss_bbox: 0.2971, d2.loss_cls: 0.1046, d2.loss_bbox: 0.2770, d3.loss_cls: 0.0888, d3.loss_bbox: 0.2716, d4.loss_cls: 0.0850, d4.loss_bbox: 0.2684, d5.loss_cls: 0.0839, d5.loss_bbox: 0.2675, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6201, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4919, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4571, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4458, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4425, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4404, d0.loss_map_cls_all: 0.1765, d0.loss_map_pts_all: 0.9841, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1765, d0.loss_map_pts: 0.9841, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1381, d1.loss_map_pts: 0.6915, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1129, d2.loss_map_pts: 0.5309, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1018, d3.loss_map_pts: 0.4756, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0950, d4.loss_map_pts: 0.4547, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0898, d5.loss_map_pts: 0.4489, d5.loss_map_dir: 0.0058, loss: 21.0702, grad_norm: 144.4859 +2026-02-28 20:18:10,679 - DriveTransformer - INFO - Epoch [11][7700/39528] lr: 6.331e-05, eta: 4 days, 14:49:40, time: 0.694, data_time: 0.036, memory: 19865, loss_cls: 0.0953, loss_bbox: 0.2928, loss_traj: 0.4909, loss_traj_cls: 0.0019, loss_map_cls: 0.1170, loss_map_pts: 0.5213, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 3.2342, d0.loss_plan_l1_fix_dist: 0.4333, d1.loss_plan_l1_fix_time: 0.9592, d1.loss_plan_l1_fix_dist: 0.2703, d2.loss_plan_l1_fix_time: 0.9404, d2.loss_plan_l1_fix_dist: 0.2550, d3.loss_plan_l1_fix_time: 0.9331, d3.loss_plan_l1_fix_dist: 0.2754, d4.loss_plan_l1_fix_time: 0.9368, d4.loss_plan_l1_fix_dist: 0.3668, d5.loss_plan_l1_fix_time: 0.9412, d5.loss_plan_l1_fix_dist: 0.3542, d6.loss_plan_l1_fix_time: 0.9456, d6.loss_plan_l1_fix_dist: 0.2929, d0.loss_cls_all: 0.1512, d0.loss_bbox_all: 0.3707, d0.loss_cls: 0.1512, d0.loss_bbox: 0.3707, d1.loss_cls: 0.1466, d1.loss_bbox: 0.3298, d2.loss_cls: 0.1293, d2.loss_bbox: 0.3074, d3.loss_cls: 0.1038, d3.loss_bbox: 0.2997, d4.loss_cls: 0.0968, d4.loss_bbox: 0.2958, d5.loss_cls: 0.0949, d5.loss_bbox: 0.2938, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7035, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5610, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5219, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5055, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4933, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4899, d0.loss_map_cls_all: 0.1977, d0.loss_map_pts_all: 1.0016, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1977, d0.loss_map_pts: 1.0016, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1681, d1.loss_map_pts: 0.7436, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1428, d2.loss_map_pts: 0.6030, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1316, d3.loss_map_pts: 0.5452, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1258, d4.loss_map_pts: 0.5247, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1202, d5.loss_map_pts: 0.5212, d5.loss_map_dir: 0.0061, loss: 25.1521, grad_norm: 149.0560 +2026-02-28 20:18:46,769 - DriveTransformer - INFO - Epoch [11][7750/39528] lr: 6.331e-05, eta: 4 days, 14:49:02, time: 0.722, data_time: 0.040, memory: 19865, loss_cls: 0.0877, loss_bbox: 0.2726, loss_traj: 0.5391, loss_traj_cls: 0.0020, loss_map_cls: 0.0972, loss_map_pts: 0.4387, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.7130, d0.loss_plan_l1_fix_dist: 0.4208, d1.loss_plan_l1_fix_time: 0.8589, d1.loss_plan_l1_fix_dist: 0.2397, d2.loss_plan_l1_fix_time: 0.8466, d2.loss_plan_l1_fix_dist: 0.2400, d3.loss_plan_l1_fix_time: 0.8452, d3.loss_plan_l1_fix_dist: 0.2633, d4.loss_plan_l1_fix_time: 0.8493, d4.loss_plan_l1_fix_dist: 0.3154, d5.loss_plan_l1_fix_time: 0.8534, d5.loss_plan_l1_fix_dist: 0.2935, d6.loss_plan_l1_fix_time: 0.8577, d6.loss_plan_l1_fix_dist: 0.2445, d0.loss_cls_all: 0.1268, d0.loss_bbox_all: 0.3326, d0.loss_cls: 0.1268, d0.loss_bbox: 0.3326, d1.loss_cls: 0.1174, d1.loss_bbox: 0.3053, d2.loss_cls: 0.1058, d2.loss_bbox: 0.2846, d3.loss_cls: 0.0924, d3.loss_bbox: 0.2777, d4.loss_cls: 0.0915, d4.loss_bbox: 0.2733, d5.loss_cls: 0.0882, d5.loss_bbox: 0.2728, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7578, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6186, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5809, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5597, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5483, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5426, d0.loss_map_cls_all: 0.1778, d0.loss_map_pts_all: 0.9800, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1778, d0.loss_map_pts: 0.9800, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1426, d1.loss_map_pts: 0.6918, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1214, d2.loss_map_pts: 0.5307, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.1103, d3.loss_map_pts: 0.4698, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.1030, d4.loss_map_pts: 0.4483, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0989, d5.loss_map_pts: 0.4403, d5.loss_map_dir: 0.0052, loss: 23.2320, grad_norm: 147.1324 +2026-02-28 20:19:24,420 - DriveTransformer - INFO - Epoch [11][7800/39528] lr: 6.331e-05, eta: 4 days, 14:48:29, time: 0.753, data_time: 0.037, memory: 19865, loss_cls: 0.0944, loss_bbox: 0.2852, loss_traj: 0.4240, loss_traj_cls: 0.0020, loss_map_cls: 0.1079, loss_map_pts: 0.5695, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.2051, d0.loss_plan_l1_fix_dist: 0.4482, d1.loss_plan_l1_fix_time: 0.7180, d1.loss_plan_l1_fix_dist: 0.2394, d2.loss_plan_l1_fix_time: 0.7037, d2.loss_plan_l1_fix_dist: 0.2609, d3.loss_plan_l1_fix_time: 0.6928, d3.loss_plan_l1_fix_dist: 0.2791, d4.loss_plan_l1_fix_time: 0.6949, d4.loss_plan_l1_fix_dist: 0.2982, d5.loss_plan_l1_fix_time: 0.6981, d5.loss_plan_l1_fix_dist: 0.2461, d6.loss_plan_l1_fix_time: 0.7020, d6.loss_plan_l1_fix_dist: 0.2168, d0.loss_cls_all: 0.1336, d0.loss_bbox_all: 0.3558, d0.loss_cls: 0.1336, d0.loss_bbox: 0.3558, d1.loss_cls: 0.1300, d1.loss_bbox: 0.3191, d2.loss_cls: 0.1149, d2.loss_bbox: 0.2990, d3.loss_cls: 0.0996, d3.loss_bbox: 0.2907, d4.loss_cls: 0.0959, d4.loss_bbox: 0.2868, d5.loss_cls: 0.0943, d5.loss_bbox: 0.2865, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6308, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5001, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4513, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4344, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4262, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4229, d0.loss_map_cls_all: 0.1905, d0.loss_map_pts_all: 1.1657, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1905, d0.loss_map_pts: 1.1657, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1582, d1.loss_map_pts: 0.8491, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1349, d2.loss_map_pts: 0.6717, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1217, d3.loss_map_pts: 0.6029, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1141, d4.loss_map_pts: 0.5787, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1103, d5.loss_map_pts: 0.5699, d5.loss_map_dir: 0.0069, loss: 22.4322, grad_norm: 148.0966 +2026-02-28 20:20:00,477 - DriveTransformer - INFO - Epoch [11][7850/39528] lr: 6.331e-05, eta: 4 days, 14:47:51, time: 0.721, data_time: 0.039, memory: 19865, loss_cls: 0.0933, loss_bbox: 0.3010, loss_traj: 0.4958, loss_traj_cls: 0.0019, loss_map_cls: 0.0947, loss_map_pts: 0.5113, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.6654, d0.loss_plan_l1_fix_dist: 0.4103, d1.loss_plan_l1_fix_time: 0.8427, d1.loss_plan_l1_fix_dist: 0.2613, d2.loss_plan_l1_fix_time: 0.8337, d2.loss_plan_l1_fix_dist: 0.3074, d3.loss_plan_l1_fix_time: 0.8350, d3.loss_plan_l1_fix_dist: 0.3227, d4.loss_plan_l1_fix_time: 0.8376, d4.loss_plan_l1_fix_dist: 0.2916, d5.loss_plan_l1_fix_time: 0.8400, d5.loss_plan_l1_fix_dist: 0.2309, d6.loss_plan_l1_fix_time: 0.8427, d6.loss_plan_l1_fix_dist: 0.2362, d0.loss_cls_all: 0.1415, d0.loss_bbox_all: 0.3653, d0.loss_cls: 0.1415, d0.loss_bbox: 0.3653, d1.loss_cls: 0.1307, d1.loss_bbox: 0.3330, d2.loss_cls: 0.1182, d2.loss_bbox: 0.3125, d3.loss_cls: 0.1015, d3.loss_bbox: 0.3084, d4.loss_cls: 0.0956, d4.loss_bbox: 0.3026, d5.loss_cls: 0.0939, d5.loss_bbox: 0.3009, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7223, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5818, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5265, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5037, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4989, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4950, d0.loss_map_cls_all: 0.1867, d0.loss_map_pts_all: 0.9950, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1867, d0.loss_map_pts: 0.9950, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1462, d1.loss_map_pts: 0.7395, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1216, d2.loss_map_pts: 0.5934, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1091, d3.loss_map_pts: 0.5315, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1004, d4.loss_map_pts: 0.5164, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0968, d5.loss_map_pts: 0.5107, d5.loss_map_dir: 0.0066, loss: 23.5817, grad_norm: 147.6570 +2026-02-28 20:20:37,214 - DriveTransformer - INFO - Epoch [11][7900/39528] lr: 6.331e-05, eta: 4 days, 14:47:15, time: 0.735, data_time: 0.040, memory: 19865, loss_cls: 0.1048, loss_bbox: 0.2961, loss_traj: 0.5029, loss_traj_cls: 0.0019, loss_map_cls: 0.1126, loss_map_pts: 0.5719, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.6447, d0.loss_plan_l1_fix_dist: 0.4905, d1.loss_plan_l1_fix_time: 0.7851, d1.loss_plan_l1_fix_dist: 0.2626, d2.loss_plan_l1_fix_time: 0.7592, d2.loss_plan_l1_fix_dist: 0.3205, d3.loss_plan_l1_fix_time: 0.7579, d3.loss_plan_l1_fix_dist: 0.3525, d4.loss_plan_l1_fix_time: 0.7600, d4.loss_plan_l1_fix_dist: 0.2556, d5.loss_plan_l1_fix_time: 0.7619, d5.loss_plan_l1_fix_dist: 0.2344, d6.loss_plan_l1_fix_time: 0.7636, d6.loss_plan_l1_fix_dist: 0.2493, d0.loss_cls_all: 0.1503, d0.loss_bbox_all: 0.3694, d0.loss_cls: 0.1503, d0.loss_bbox: 0.3694, d1.loss_cls: 0.1408, d1.loss_bbox: 0.3336, d2.loss_cls: 0.1291, d2.loss_bbox: 0.3094, d3.loss_cls: 0.1143, d3.loss_bbox: 0.3028, d4.loss_cls: 0.1074, d4.loss_bbox: 0.2988, d5.loss_cls: 0.1048, d5.loss_bbox: 0.2969, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6964, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5725, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5354, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5208, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5109, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5083, d0.loss_map_cls_all: 0.1939, d0.loss_map_pts_all: 1.2084, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1939, d0.loss_map_pts: 1.2084, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1636, d1.loss_map_pts: 0.8536, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1400, d2.loss_map_pts: 0.6734, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1285, d3.loss_map_pts: 0.5993, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1204, d4.loss_map_pts: 0.5783, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1157, d5.loss_map_pts: 0.5718, d5.loss_map_dir: 0.0075, loss: 24.3212, grad_norm: 134.7291 +2026-02-28 20:21:11,601 - DriveTransformer - INFO - Epoch [11][7950/39528] lr: 6.331e-05, eta: 4 days, 14:46:31, time: 0.688, data_time: 0.036, memory: 19865, loss_cls: 0.0951, loss_bbox: 0.2955, loss_traj: 0.5720, loss_traj_cls: 0.0019, loss_map_cls: 0.1007, loss_map_pts: 0.4913, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.8181, d0.loss_plan_l1_fix_dist: 0.4290, d1.loss_plan_l1_fix_time: 0.8196, d1.loss_plan_l1_fix_dist: 0.2625, d2.loss_plan_l1_fix_time: 0.8013, d2.loss_plan_l1_fix_dist: 0.3217, d3.loss_plan_l1_fix_time: 0.8038, d3.loss_plan_l1_fix_dist: 0.3565, d4.loss_plan_l1_fix_time: 0.8071, d4.loss_plan_l1_fix_dist: 0.2300, d5.loss_plan_l1_fix_time: 0.8098, d5.loss_plan_l1_fix_dist: 0.2187, d6.loss_plan_l1_fix_time: 0.8131, d6.loss_plan_l1_fix_dist: 0.2349, d0.loss_cls_all: 0.1458, d0.loss_bbox_all: 0.3526, d0.loss_cls: 0.1458, d0.loss_bbox: 0.3526, d1.loss_cls: 0.1419, d1.loss_bbox: 0.3204, d2.loss_cls: 0.1255, d2.loss_bbox: 0.3021, d3.loss_cls: 0.1044, d3.loss_bbox: 0.2988, d4.loss_cls: 0.0986, d4.loss_bbox: 0.2961, d5.loss_cls: 0.0951, d5.loss_bbox: 0.2964, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8719, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6855, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6355, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6257, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5748, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5746, d0.loss_map_cls_all: 0.1979, d0.loss_map_pts_all: 1.0364, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1979, d0.loss_map_pts: 1.0364, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1638, d1.loss_map_pts: 0.7462, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1361, d2.loss_map_pts: 0.5900, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1206, d3.loss_map_pts: 0.5230, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1099, d4.loss_map_pts: 0.4976, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1038, d5.loss_map_pts: 0.4923, d5.loss_map_dir: 0.0056, loss: 24.3271, grad_norm: 133.9931 +2026-02-28 20:21:48,725 - DriveTransformer - INFO - Epoch [11][8000/39528] lr: 6.331e-05, eta: 4 days, 14:45:57, time: 0.742, data_time: 0.036, memory: 19865, loss_cls: 0.1011, loss_bbox: 0.2968, loss_traj: 0.5063, loss_traj_cls: 0.0020, loss_map_cls: 0.1189, loss_map_pts: 0.5854, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.7202, d0.loss_plan_l1_fix_dist: 0.4376, d1.loss_plan_l1_fix_time: 0.7456, d1.loss_plan_l1_fix_dist: 0.2676, d2.loss_plan_l1_fix_time: 0.7366, d2.loss_plan_l1_fix_dist: 0.3311, d3.loss_plan_l1_fix_time: 0.7420, d3.loss_plan_l1_fix_dist: 0.3740, d4.loss_plan_l1_fix_time: 0.7470, d4.loss_plan_l1_fix_dist: 0.2364, d5.loss_plan_l1_fix_time: 0.7504, d5.loss_plan_l1_fix_dist: 0.2531, d6.loss_plan_l1_fix_time: 0.7554, d6.loss_plan_l1_fix_dist: 0.2441, d0.loss_cls_all: 0.1432, d0.loss_bbox_all: 0.3645, d0.loss_cls: 0.1432, d0.loss_bbox: 0.3645, d1.loss_cls: 0.1360, d1.loss_bbox: 0.3282, d2.loss_cls: 0.1254, d2.loss_bbox: 0.3098, d3.loss_cls: 0.1083, d3.loss_bbox: 0.3040, d4.loss_cls: 0.1025, d4.loss_bbox: 0.2999, d5.loss_cls: 0.1012, d5.loss_bbox: 0.2976, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7323, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5845, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5376, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5143, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5125, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5096, d0.loss_map_cls_all: 0.2123, d0.loss_map_pts_all: 1.2047, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2123, d0.loss_map_pts: 1.2047, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1803, d1.loss_map_pts: 0.8797, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1539, d2.loss_map_pts: 0.6939, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1378, d3.loss_map_pts: 0.6211, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1292, d4.loss_map_pts: 0.5930, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1223, d5.loss_map_pts: 0.5855, d5.loss_map_dir: 0.0073, loss: 24.4617, grad_norm: 132.1155 +2026-02-28 20:22:25,411 - DriveTransformer - INFO - Epoch [11][8050/39528] lr: 6.331e-05, eta: 4 days, 14:45:20, time: 0.734, data_time: 0.036, memory: 19865, loss_cls: 0.1176, loss_bbox: 0.2968, loss_traj: 0.4730, loss_traj_cls: 0.0019, loss_map_cls: 0.0990, loss_map_pts: 0.5192, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.6725, d0.loss_plan_l1_fix_dist: 0.3989, d1.loss_plan_l1_fix_time: 0.7851, d1.loss_plan_l1_fix_dist: 0.2771, d2.loss_plan_l1_fix_time: 0.7788, d2.loss_plan_l1_fix_dist: 0.3360, d3.loss_plan_l1_fix_time: 0.7716, d3.loss_plan_l1_fix_dist: 0.3800, d4.loss_plan_l1_fix_time: 0.7749, d4.loss_plan_l1_fix_dist: 0.2463, d5.loss_plan_l1_fix_time: 0.7779, d5.loss_plan_l1_fix_dist: 0.2625, d6.loss_plan_l1_fix_time: 0.7829, d6.loss_plan_l1_fix_dist: 0.2481, d0.loss_cls_all: 0.1634, d0.loss_bbox_all: 0.3610, d0.loss_cls: 0.1634, d0.loss_bbox: 0.3610, d1.loss_cls: 0.1526, d1.loss_bbox: 0.3317, d2.loss_cls: 0.1375, d2.loss_bbox: 0.3113, d3.loss_cls: 0.1203, d3.loss_bbox: 0.3056, d4.loss_cls: 0.1176, d4.loss_bbox: 0.3005, d5.loss_cls: 0.1164, d5.loss_bbox: 0.2979, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6633, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5349, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4932, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4795, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4753, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4732, d0.loss_map_cls_all: 0.1811, d0.loss_map_pts_all: 1.0643, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1811, d0.loss_map_pts: 1.0643, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1482, d1.loss_map_pts: 0.7732, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1220, d2.loss_map_pts: 0.6165, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1137, d3.loss_map_pts: 0.5556, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1059, d4.loss_map_pts: 0.5298, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1011, d5.loss_map_pts: 0.5197, d5.loss_map_dir: 0.0069, loss: 23.4961, grad_norm: 133.8107 +2026-02-28 20:23:04,251 - DriveTransformer - INFO - Epoch [11][8100/39528] lr: 6.331e-05, eta: 4 days, 14:44:51, time: 0.777, data_time: 0.037, memory: 19865, loss_cls: 0.0898, loss_bbox: 0.2713, loss_traj: 0.3760, loss_traj_cls: 0.0019, loss_map_cls: 0.0939, loss_map_pts: 0.5642, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.5194, d0.loss_plan_l1_fix_dist: 0.4244, d1.loss_plan_l1_fix_time: 0.7047, d1.loss_plan_l1_fix_dist: 0.2554, d2.loss_plan_l1_fix_time: 0.6850, d2.loss_plan_l1_fix_dist: 0.3243, d3.loss_plan_l1_fix_time: 0.6786, d3.loss_plan_l1_fix_dist: 0.3636, d4.loss_plan_l1_fix_time: 0.6804, d4.loss_plan_l1_fix_dist: 0.2415, d5.loss_plan_l1_fix_time: 0.6836, d5.loss_plan_l1_fix_dist: 0.2556, d6.loss_plan_l1_fix_time: 0.6880, d6.loss_plan_l1_fix_dist: 0.2056, d0.loss_cls_all: 0.1386, d0.loss_bbox_all: 0.3378, d0.loss_cls: 0.1386, d0.loss_bbox: 0.3378, d1.loss_cls: 0.1324, d1.loss_bbox: 0.3048, d2.loss_cls: 0.1176, d2.loss_bbox: 0.2803, d3.loss_cls: 0.0984, d3.loss_bbox: 0.2753, d4.loss_cls: 0.0911, d4.loss_bbox: 0.2727, d5.loss_cls: 0.0899, d5.loss_bbox: 0.2710, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5894, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4397, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3937, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3751, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3766, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.3762, d0.loss_map_cls_all: 0.1786, d0.loss_map_pts_all: 1.1539, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.1786, d0.loss_map_pts: 1.1539, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.1426, d1.loss_map_pts: 0.8303, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1205, d2.loss_map_pts: 0.6591, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1088, d3.loss_map_pts: 0.5999, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1010, d4.loss_map_pts: 0.5727, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.0965, d5.loss_map_pts: 0.5643, d5.loss_map_dir: 0.0079, loss: 22.0733, grad_norm: 134.5796 +2026-02-28 20:23:38,980 - DriveTransformer - INFO - Epoch [11][8150/39528] lr: 6.331e-05, eta: 4 days, 14:44:09, time: 0.695, data_time: 0.038, memory: 19865, loss_cls: 0.1019, loss_bbox: 0.2796, loss_traj: 0.4996, loss_traj_cls: 0.0019, loss_map_cls: 0.1017, loss_map_pts: 0.4458, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.6393, d0.loss_plan_l1_fix_dist: 0.5100, d1.loss_plan_l1_fix_time: 0.8120, d1.loss_plan_l1_fix_dist: 0.2338, d2.loss_plan_l1_fix_time: 0.7829, d2.loss_plan_l1_fix_dist: 0.3247, d3.loss_plan_l1_fix_time: 0.7836, d3.loss_plan_l1_fix_dist: 0.3390, d4.loss_plan_l1_fix_time: 0.7867, d4.loss_plan_l1_fix_dist: 0.2203, d5.loss_plan_l1_fix_time: 0.7912, d5.loss_plan_l1_fix_dist: 0.2463, d6.loss_plan_l1_fix_time: 0.7957, d6.loss_plan_l1_fix_dist: 0.2062, d0.loss_cls_all: 0.1492, d0.loss_bbox_all: 0.3448, d0.loss_cls: 0.1492, d0.loss_bbox: 0.3448, d1.loss_cls: 0.1405, d1.loss_bbox: 0.3123, d2.loss_cls: 0.1280, d2.loss_bbox: 0.2901, d3.loss_cls: 0.1076, d3.loss_bbox: 0.2838, d4.loss_cls: 0.1029, d4.loss_bbox: 0.2804, d5.loss_cls: 0.1012, d5.loss_bbox: 0.2797, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7143, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5733, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5253, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5051, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5017, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5006, d0.loss_map_cls_all: 0.1876, d0.loss_map_pts_all: 0.9299, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1876, d0.loss_map_pts: 0.9299, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1566, d1.loss_map_pts: 0.6755, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1308, d2.loss_map_pts: 0.5248, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1155, d3.loss_map_pts: 0.4713, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1082, d4.loss_map_pts: 0.4549, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1046, d5.loss_map_pts: 0.4448, d5.loss_map_dir: 0.0056, loss: 22.7076, grad_norm: 135.6312 +2026-02-28 20:24:15,103 - DriveTransformer - INFO - Epoch [11][8200/39528] lr: 6.331e-05, eta: 4 days, 14:43:31, time: 0.722, data_time: 0.038, memory: 19865, loss_cls: 0.1044, loss_bbox: 0.3085, loss_traj: 0.4354, loss_traj_cls: 0.0019, loss_map_cls: 0.1044, loss_map_pts: 0.5266, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.9243, d0.loss_plan_l1_fix_dist: 0.4067, d1.loss_plan_l1_fix_time: 0.8582, d1.loss_plan_l1_fix_dist: 0.2457, d2.loss_plan_l1_fix_time: 0.8440, d2.loss_plan_l1_fix_dist: 0.3759, d3.loss_plan_l1_fix_time: 0.8351, d3.loss_plan_l1_fix_dist: 0.3681, d4.loss_plan_l1_fix_time: 0.8383, d4.loss_plan_l1_fix_dist: 0.2261, d5.loss_plan_l1_fix_time: 0.8427, d5.loss_plan_l1_fix_dist: 0.2540, d6.loss_plan_l1_fix_time: 0.8478, d6.loss_plan_l1_fix_dist: 0.2520, d0.loss_cls_all: 0.1508, d0.loss_bbox_all: 0.3846, d0.loss_cls: 0.1508, d0.loss_bbox: 0.3846, d1.loss_cls: 0.1476, d1.loss_bbox: 0.3454, d2.loss_cls: 0.1290, d2.loss_bbox: 0.3244, d3.loss_cls: 0.1098, d3.loss_bbox: 0.3154, d4.loss_cls: 0.1046, d4.loss_bbox: 0.3117, d5.loss_cls: 0.1037, d5.loss_bbox: 0.3090, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6784, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5199, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4603, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4450, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4444, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4400, d0.loss_map_cls_all: 0.1834, d0.loss_map_pts_all: 1.0825, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1834, d0.loss_map_pts: 1.0825, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1531, d1.loss_map_pts: 0.7801, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1315, d2.loss_map_pts: 0.6172, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1176, d3.loss_map_pts: 0.5582, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1120, d4.loss_map_pts: 0.5334, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1073, d5.loss_map_pts: 0.5266, d5.loss_map_dir: 0.0065, loss: 24.0859, grad_norm: 136.5056 +2026-02-28 20:24:52,707 - DriveTransformer - INFO - Epoch [11][8250/39528] lr: 6.331e-05, eta: 4 days, 14:42:58, time: 0.752, data_time: 0.037, memory: 19865, loss_cls: 0.0946, loss_bbox: 0.3077, loss_traj: 0.4114, loss_traj_cls: 0.0020, loss_map_cls: 0.1071, loss_map_pts: 0.5537, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.5830, d0.loss_plan_l1_fix_dist: 0.4906, d1.loss_plan_l1_fix_time: 0.6315, d1.loss_plan_l1_fix_dist: 0.2315, d2.loss_plan_l1_fix_time: 0.6186, d2.loss_plan_l1_fix_dist: 0.3575, d3.loss_plan_l1_fix_time: 0.6200, d3.loss_plan_l1_fix_dist: 0.3419, d4.loss_plan_l1_fix_time: 0.6233, d4.loss_plan_l1_fix_dist: 0.2147, d5.loss_plan_l1_fix_time: 0.6271, d5.loss_plan_l1_fix_dist: 0.2225, d6.loss_plan_l1_fix_time: 0.6317, d6.loss_plan_l1_fix_dist: 0.2195, d0.loss_cls_all: 0.1382, d0.loss_bbox_all: 0.3617, d0.loss_cls: 0.1382, d0.loss_bbox: 0.3617, d1.loss_cls: 0.1312, d1.loss_bbox: 0.3294, d2.loss_cls: 0.1198, d2.loss_bbox: 0.3107, d3.loss_cls: 0.1034, d3.loss_bbox: 0.3069, d4.loss_cls: 0.0955, d4.loss_bbox: 0.3065, d5.loss_cls: 0.0948, d5.loss_bbox: 0.3063, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6028, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4685, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4214, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4114, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4131, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4114, d0.loss_map_cls_all: 0.1944, d0.loss_map_pts_all: 1.1474, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1944, d0.loss_map_pts: 1.1474, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1639, d1.loss_map_pts: 0.8134, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1359, d2.loss_map_pts: 0.6395, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1236, d3.loss_map_pts: 0.5799, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1158, d4.loss_map_pts: 0.5609, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1099, d5.loss_map_pts: 0.5544, d5.loss_map_dir: 0.0073, loss: 22.2677, grad_norm: 132.4405 +2026-02-28 20:25:28,372 - DriveTransformer - INFO - Epoch [11][8300/39528] lr: 6.331e-05, eta: 4 days, 14:42:18, time: 0.713, data_time: 0.036, memory: 19865, loss_cls: 0.0931, loss_bbox: 0.2973, loss_traj: 0.4761, loss_traj_cls: 0.0019, loss_map_cls: 0.1044, loss_map_pts: 0.5642, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.8199, d0.loss_plan_l1_fix_dist: 0.4601, d1.loss_plan_l1_fix_time: 0.8166, d1.loss_plan_l1_fix_dist: 0.2527, d2.loss_plan_l1_fix_time: 0.7874, d2.loss_plan_l1_fix_dist: 0.3578, d3.loss_plan_l1_fix_time: 0.7744, d3.loss_plan_l1_fix_dist: 0.3274, d4.loss_plan_l1_fix_time: 0.7763, d4.loss_plan_l1_fix_dist: 0.2480, d5.loss_plan_l1_fix_time: 0.7793, d5.loss_plan_l1_fix_dist: 0.2288, d6.loss_plan_l1_fix_time: 0.7824, d6.loss_plan_l1_fix_dist: 0.2164, d0.loss_cls_all: 0.1377, d0.loss_bbox_all: 0.3611, d0.loss_cls: 0.1377, d0.loss_bbox: 0.3611, d1.loss_cls: 0.1278, d1.loss_bbox: 0.3278, d2.loss_cls: 0.1197, d2.loss_bbox: 0.3047, d3.loss_cls: 0.0994, d3.loss_bbox: 0.3023, d4.loss_cls: 0.0944, d4.loss_bbox: 0.2992, d5.loss_cls: 0.0939, d5.loss_bbox: 0.2960, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6969, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5470, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4900, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4821, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4747, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4688, d0.loss_map_cls_all: 0.1934, d0.loss_map_pts_all: 1.1504, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1934, d0.loss_map_pts: 1.1504, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1579, d1.loss_map_pts: 0.8434, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1314, d2.loss_map_pts: 0.6678, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1205, d3.loss_map_pts: 0.5999, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1137, d4.loss_map_pts: 0.5727, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1075, d5.loss_map_pts: 0.5643, d5.loss_map_dir: 0.0059, loss: 24.0056, grad_norm: 132.1472 +2026-02-28 20:26:04,609 - DriveTransformer - INFO - Epoch [11][8350/39528] lr: 6.331e-05, eta: 4 days, 14:41:41, time: 0.725, data_time: 0.037, memory: 19865, loss_cls: 0.0930, loss_bbox: 0.2952, loss_traj: 0.5391, loss_traj_cls: 0.0019, loss_map_cls: 0.0987, loss_map_pts: 0.4691, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.7090, d0.loss_plan_l1_fix_dist: 0.4168, d1.loss_plan_l1_fix_time: 0.8460, d1.loss_plan_l1_fix_dist: 0.2860, d2.loss_plan_l1_fix_time: 0.8326, d2.loss_plan_l1_fix_dist: 0.3689, d3.loss_plan_l1_fix_time: 0.8267, d3.loss_plan_l1_fix_dist: 0.3072, d4.loss_plan_l1_fix_time: 0.8313, d4.loss_plan_l1_fix_dist: 0.3048, d5.loss_plan_l1_fix_time: 0.8359, d5.loss_plan_l1_fix_dist: 0.2381, d6.loss_plan_l1_fix_time: 0.8396, d6.loss_plan_l1_fix_dist: 0.2212, d0.loss_cls_all: 0.1420, d0.loss_bbox_all: 0.3537, d0.loss_cls: 0.1420, d0.loss_bbox: 0.3537, d1.loss_cls: 0.1323, d1.loss_bbox: 0.3231, d2.loss_cls: 0.1236, d2.loss_bbox: 0.3016, d3.loss_cls: 0.1007, d3.loss_bbox: 0.2981, d4.loss_cls: 0.0949, d4.loss_bbox: 0.2950, d5.loss_cls: 0.0923, d5.loss_bbox: 0.2961, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7821, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6264, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5639, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5444, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5437, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5390, d0.loss_map_cls_all: 0.1713, d0.loss_map_pts_all: 1.0092, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1713, d0.loss_map_pts: 1.0092, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1409, d1.loss_map_pts: 0.7004, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1205, d2.loss_map_pts: 0.5530, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1118, d3.loss_map_pts: 0.4994, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1065, d4.loss_map_pts: 0.4800, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1016, d5.loss_map_pts: 0.4712, d5.loss_map_dir: 0.0061, loss: 23.7099, grad_norm: 139.6543 +2026-02-28 20:26:41,669 - DriveTransformer - INFO - Epoch [11][8400/39528] lr: 6.331e-05, eta: 4 days, 14:41:06, time: 0.743, data_time: 0.036, memory: 19865, loss_cls: 0.0961, loss_bbox: 0.2725, loss_traj: 0.3889, loss_traj_cls: 0.0019, loss_map_cls: 0.1044, loss_map_pts: 0.5578, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.4961, d0.loss_plan_l1_fix_dist: 0.3913, d1.loss_plan_l1_fix_time: 0.7810, d1.loss_plan_l1_fix_dist: 0.2745, d2.loss_plan_l1_fix_time: 0.7696, d2.loss_plan_l1_fix_dist: 0.3364, d3.loss_plan_l1_fix_time: 0.7305, d3.loss_plan_l1_fix_dist: 0.2476, d4.loss_plan_l1_fix_time: 0.7330, d4.loss_plan_l1_fix_dist: 0.2950, d5.loss_plan_l1_fix_time: 0.7369, d5.loss_plan_l1_fix_dist: 0.2206, d6.loss_plan_l1_fix_time: 0.7408, d6.loss_plan_l1_fix_dist: 0.1868, d0.loss_cls_all: 0.1382, d0.loss_bbox_all: 0.3359, d0.loss_cls: 0.1382, d0.loss_bbox: 0.3359, d1.loss_cls: 0.1312, d1.loss_bbox: 0.3052, d2.loss_cls: 0.1173, d2.loss_bbox: 0.2857, d3.loss_cls: 0.1013, d3.loss_bbox: 0.2791, d4.loss_cls: 0.0963, d4.loss_bbox: 0.2762, d5.loss_cls: 0.0957, d5.loss_bbox: 0.2730, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5979, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4566, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4071, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3926, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3900, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.3898, d0.loss_map_cls_all: 0.1893, d0.loss_map_pts_all: 1.1456, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1893, d0.loss_map_pts: 1.1456, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1525, d1.loss_map_pts: 0.8286, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1290, d2.loss_map_pts: 0.6591, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1165, d3.loss_map_pts: 0.5962, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1113, d4.loss_map_pts: 0.5704, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1078, d5.loss_map_pts: 0.5585, d5.loss_map_dir: 0.0073, loss: 22.4686, grad_norm: 147.7431 +2026-02-28 20:27:17,196 - DriveTransformer - INFO - Epoch [11][8450/39528] lr: 6.331e-05, eta: 4 days, 14:40:26, time: 0.709, data_time: 0.034, memory: 19865, loss_cls: 0.0936, loss_bbox: 0.2819, loss_traj: 0.4932, loss_traj_cls: 0.0020, loss_map_cls: 0.0932, loss_map_pts: 0.4801, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.3694, d0.loss_plan_l1_fix_dist: 0.4727, d1.loss_plan_l1_fix_time: 0.8332, d1.loss_plan_l1_fix_dist: 0.3177, d2.loss_plan_l1_fix_time: 0.8202, d2.loss_plan_l1_fix_dist: 0.3374, d3.loss_plan_l1_fix_time: 0.8056, d3.loss_plan_l1_fix_dist: 0.2429, d4.loss_plan_l1_fix_time: 0.8074, d4.loss_plan_l1_fix_dist: 0.3276, d5.loss_plan_l1_fix_time: 0.8104, d5.loss_plan_l1_fix_dist: 0.2522, d6.loss_plan_l1_fix_time: 0.8134, d6.loss_plan_l1_fix_dist: 0.2226, d0.loss_cls_all: 0.1323, d0.loss_bbox_all: 0.3436, d0.loss_cls: 0.1323, d0.loss_bbox: 0.3436, d1.loss_cls: 0.1268, d1.loss_bbox: 0.3086, d2.loss_cls: 0.1161, d2.loss_bbox: 0.2869, d3.loss_cls: 0.1019, d3.loss_bbox: 0.2827, d4.loss_cls: 0.0949, d4.loss_bbox: 0.2829, d5.loss_cls: 0.0940, d5.loss_bbox: 0.2819, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7197, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5462, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5040, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4920, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4909, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4918, d0.loss_map_cls_all: 0.1757, d0.loss_map_pts_all: 1.0151, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1757, d0.loss_map_pts: 1.0151, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1484, d1.loss_map_pts: 0.7415, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1198, d2.loss_map_pts: 0.5638, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1086, d3.loss_map_pts: 0.5076, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1018, d4.loss_map_pts: 0.4847, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0966, d5.loss_map_pts: 0.4791, d5.loss_map_dir: 0.0057, loss: 22.8332, grad_norm: 146.8410 +2026-02-28 20:27:53,151 - DriveTransformer - INFO - Epoch [11][8500/39528] lr: 6.331e-05, eta: 4 days, 14:39:47, time: 0.719, data_time: 0.037, memory: 19865, loss_cls: 0.1171, loss_bbox: 0.3101, loss_traj: 0.5761, loss_traj_cls: 0.0018, loss_map_cls: 0.1284, loss_map_pts: 0.6074, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 3.0057, d0.loss_plan_l1_fix_dist: 0.4675, d1.loss_plan_l1_fix_time: 1.0074, d1.loss_plan_l1_fix_dist: 0.3449, d2.loss_plan_l1_fix_time: 0.9924, d2.loss_plan_l1_fix_dist: 0.3130, d3.loss_plan_l1_fix_time: 0.9900, d3.loss_plan_l1_fix_dist: 0.2378, d4.loss_plan_l1_fix_time: 0.9912, d4.loss_plan_l1_fix_dist: 0.3394, d5.loss_plan_l1_fix_time: 0.9932, d5.loss_plan_l1_fix_dist: 0.2585, d6.loss_plan_l1_fix_time: 0.9954, d6.loss_plan_l1_fix_dist: 0.2330, d0.loss_cls_all: 0.1622, d0.loss_bbox_all: 0.3904, d0.loss_cls: 0.1622, d0.loss_bbox: 0.3904, d1.loss_cls: 0.1604, d1.loss_bbox: 0.3476, d2.loss_cls: 0.1443, d2.loss_bbox: 0.3251, d3.loss_cls: 0.1223, d3.loss_bbox: 0.3183, d4.loss_cls: 0.1187, d4.loss_bbox: 0.3138, d5.loss_cls: 0.1173, d5.loss_bbox: 0.3107, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8935, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6895, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6020, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5818, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5795, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5761, d0.loss_map_cls_all: 0.2321, d0.loss_map_pts_all: 1.3174, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.2321, d0.loss_map_pts: 1.3174, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1949, d1.loss_map_pts: 0.9479, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1593, d2.loss_map_pts: 0.7371, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1458, d3.loss_map_pts: 0.6448, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1366, d4.loss_map_pts: 0.6179, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1304, d5.loss_map_pts: 0.6100, d5.loss_map_dir: 0.0073, loss: 27.7022, grad_norm: 155.9131 +2026-02-28 20:28:29,970 - DriveTransformer - INFO - Epoch [11][8550/39528] lr: 6.331e-05, eta: 4 days, 14:39:12, time: 0.736, data_time: 0.040, memory: 19865, loss_cls: 0.0867, loss_bbox: 0.2800, loss_traj: 0.5134, loss_traj_cls: 0.0020, loss_map_cls: 0.0851, loss_map_pts: 0.4452, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.1505, d0.loss_plan_l1_fix_dist: 0.4689, d1.loss_plan_l1_fix_time: 0.7509, d1.loss_plan_l1_fix_dist: 0.3435, d2.loss_plan_l1_fix_time: 0.7324, d2.loss_plan_l1_fix_dist: 0.2781, d3.loss_plan_l1_fix_time: 0.7236, d3.loss_plan_l1_fix_dist: 0.2085, d4.loss_plan_l1_fix_time: 0.7254, d4.loss_plan_l1_fix_dist: 0.3165, d5.loss_plan_l1_fix_time: 0.7285, d5.loss_plan_l1_fix_dist: 0.2538, d6.loss_plan_l1_fix_time: 0.7322, d6.loss_plan_l1_fix_dist: 0.2068, d0.loss_cls_all: 0.1318, d0.loss_bbox_all: 0.3362, d0.loss_cls: 0.1318, d0.loss_bbox: 0.3362, d1.loss_cls: 0.1236, d1.loss_bbox: 0.3081, d2.loss_cls: 0.1102, d2.loss_bbox: 0.2873, d3.loss_cls: 0.0960, d3.loss_bbox: 0.2809, d4.loss_cls: 0.0896, d4.loss_bbox: 0.2787, d5.loss_cls: 0.0862, d5.loss_bbox: 0.2805, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7618, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6072, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5443, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5214, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5205, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5189, d0.loss_map_cls_all: 0.1718, d0.loss_map_pts_all: 0.9958, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1718, d0.loss_map_pts: 0.9958, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1347, d1.loss_map_pts: 0.6836, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1108, d2.loss_map_pts: 0.5283, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.0988, d3.loss_map_pts: 0.4748, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.0920, d4.loss_map_pts: 0.4548, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0875, d5.loss_map_pts: 0.4470, d5.loss_map_dir: 0.0066, loss: 21.8893, grad_norm: 156.3078 +2026-02-28 20:29:06,181 - DriveTransformer - INFO - Epoch [11][8600/39528] lr: 6.331e-05, eta: 4 days, 14:38:34, time: 0.724, data_time: 0.036, memory: 19865, loss_cls: 0.0857, loss_bbox: 0.2687, loss_traj: 0.4050, loss_traj_cls: 0.0020, loss_map_cls: 0.0951, loss_map_pts: 0.4541, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.3980, d0.loss_plan_l1_fix_dist: 0.4585, d1.loss_plan_l1_fix_time: 0.6703, d1.loss_plan_l1_fix_dist: 0.3420, d2.loss_plan_l1_fix_time: 0.6658, d2.loss_plan_l1_fix_dist: 0.2686, d3.loss_plan_l1_fix_time: 0.6625, d3.loss_plan_l1_fix_dist: 0.1950, d4.loss_plan_l1_fix_time: 0.6649, d4.loss_plan_l1_fix_dist: 0.2850, d5.loss_plan_l1_fix_time: 0.6679, d5.loss_plan_l1_fix_dist: 0.2575, d6.loss_plan_l1_fix_time: 0.6715, d6.loss_plan_l1_fix_dist: 0.1991, d0.loss_cls_all: 0.1320, d0.loss_bbox_all: 0.3346, d0.loss_cls: 0.1320, d0.loss_bbox: 0.3346, d1.loss_cls: 0.1261, d1.loss_bbox: 0.3025, d2.loss_cls: 0.1152, d2.loss_bbox: 0.2811, d3.loss_cls: 0.0941, d3.loss_bbox: 0.2739, d4.loss_cls: 0.0878, d4.loss_bbox: 0.2705, d5.loss_cls: 0.0871, d5.loss_bbox: 0.2683, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6501, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4812, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4393, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4126, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4077, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4068, d0.loss_map_cls_all: 0.1691, d0.loss_map_pts_all: 0.9792, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1691, d0.loss_map_pts: 0.9792, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1407, d1.loss_map_pts: 0.6843, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1174, d2.loss_map_pts: 0.5348, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1091, d3.loss_map_pts: 0.4804, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1035, d4.loss_map_pts: 0.4618, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0989, d5.loss_map_pts: 0.4547, d5.loss_map_dir: 0.0055, loss: 20.8871, grad_norm: 157.5070 +2026-02-28 20:29:43,499 - DriveTransformer - INFO - Epoch [11][8650/39528] lr: 6.331e-05, eta: 4 days, 14:38:00, time: 0.746, data_time: 0.039, memory: 19865, loss_cls: 0.0891, loss_bbox: 0.2741, loss_traj: 0.4290, loss_traj_cls: 0.0020, loss_map_cls: 0.1131, loss_map_pts: 0.5329, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.4155, d0.loss_plan_l1_fix_dist: 0.5366, d1.loss_plan_l1_fix_time: 0.7098, d1.loss_plan_l1_fix_dist: 0.3570, d2.loss_plan_l1_fix_time: 0.7017, d2.loss_plan_l1_fix_dist: 0.2970, d3.loss_plan_l1_fix_time: 0.7042, d3.loss_plan_l1_fix_dist: 0.2279, d4.loss_plan_l1_fix_time: 0.7079, d4.loss_plan_l1_fix_dist: 0.3038, d5.loss_plan_l1_fix_time: 0.7114, d5.loss_plan_l1_fix_dist: 0.2802, d6.loss_plan_l1_fix_time: 0.7151, d6.loss_plan_l1_fix_dist: 0.2364, d0.loss_cls_all: 0.1382, d0.loss_bbox_all: 0.3451, d0.loss_cls: 0.1382, d0.loss_bbox: 0.3451, d1.loss_cls: 0.1294, d1.loss_bbox: 0.3111, d2.loss_cls: 0.1131, d2.loss_bbox: 0.2885, d3.loss_cls: 0.0978, d3.loss_bbox: 0.2805, d4.loss_cls: 0.0920, d4.loss_bbox: 0.2766, d5.loss_cls: 0.0899, d5.loss_bbox: 0.2743, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6684, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5078, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4575, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4356, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4310, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4315, d0.loss_map_cls_all: 0.2017, d0.loss_map_pts_all: 1.1957, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2017, d0.loss_map_pts: 1.1957, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1680, d1.loss_map_pts: 0.8395, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1414, d2.loss_map_pts: 0.6463, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1294, d3.loss_map_pts: 0.5712, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1223, d4.loss_map_pts: 0.5419, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1159, d5.loss_map_pts: 0.5331, d5.loss_map_dir: 0.0069, loss: 22.8592, grad_norm: 156.6532 +2026-02-28 20:30:22,260 - DriveTransformer - INFO - Epoch [11][8700/39528] lr: 6.331e-05, eta: 4 days, 14:37:30, time: 0.775, data_time: 0.036, memory: 19865, loss_cls: 0.0949, loss_bbox: 0.2810, loss_traj: 0.4468, loss_traj_cls: 0.0020, loss_map_cls: 0.1196, loss_map_pts: 0.6126, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.3605, d0.loss_plan_l1_fix_dist: 0.4805, d1.loss_plan_l1_fix_time: 0.8699, d1.loss_plan_l1_fix_dist: 0.3445, d2.loss_plan_l1_fix_time: 0.8642, d2.loss_plan_l1_fix_dist: 0.2942, d3.loss_plan_l1_fix_time: 0.8336, d3.loss_plan_l1_fix_dist: 0.2030, d4.loss_plan_l1_fix_time: 0.8357, d4.loss_plan_l1_fix_dist: 0.2940, d5.loss_plan_l1_fix_time: 0.8384, d5.loss_plan_l1_fix_dist: 0.2564, d6.loss_plan_l1_fix_time: 0.8416, d6.loss_plan_l1_fix_dist: 0.2366, d0.loss_cls_all: 0.1313, d0.loss_bbox_all: 0.3426, d0.loss_cls: 0.1313, d0.loss_bbox: 0.3426, d1.loss_cls: 0.1238, d1.loss_bbox: 0.3117, d2.loss_cls: 0.1189, d2.loss_bbox: 0.2869, d3.loss_cls: 0.1011, d3.loss_bbox: 0.2848, d4.loss_cls: 0.0950, d4.loss_bbox: 0.2821, d5.loss_cls: 0.0942, d5.loss_bbox: 0.2809, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6759, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5159, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4753, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4567, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4509, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4463, d0.loss_map_cls_all: 0.2119, d0.loss_map_pts_all: 1.3075, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2119, d0.loss_map_pts: 1.3075, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1786, d1.loss_map_pts: 0.9429, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1500, d2.loss_map_pts: 0.7228, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1359, d3.loss_map_pts: 0.6484, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1277, d4.loss_map_pts: 0.6199, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1223, d5.loss_map_pts: 0.6129, d5.loss_map_dir: 0.0079, loss: 24.4258, grad_norm: 162.5829 +2026-02-28 20:30:57,503 - DriveTransformer - INFO - Epoch [11][8750/39528] lr: 6.331e-05, eta: 4 days, 14:36:50, time: 0.705, data_time: 0.038, memory: 19865, loss_cls: 0.1010, loss_bbox: 0.2894, loss_traj: 0.5208, loss_traj_cls: 0.0020, loss_map_cls: 0.0960, loss_map_pts: 0.4790, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.8091, d0.loss_plan_l1_fix_dist: 0.5946, d1.loss_plan_l1_fix_time: 0.7817, d1.loss_plan_l1_fix_dist: 0.3291, d2.loss_plan_l1_fix_time: 0.7647, d2.loss_plan_l1_fix_dist: 0.3165, d3.loss_plan_l1_fix_time: 0.7681, d3.loss_plan_l1_fix_dist: 0.2372, d4.loss_plan_l1_fix_time: 0.7708, d4.loss_plan_l1_fix_dist: 0.3092, d5.loss_plan_l1_fix_time: 0.7736, d5.loss_plan_l1_fix_dist: 0.2625, d6.loss_plan_l1_fix_time: 0.7770, d6.loss_plan_l1_fix_dist: 0.2648, d0.loss_cls_all: 0.1450, d0.loss_bbox_all: 0.3526, d0.loss_cls: 0.1450, d0.loss_bbox: 0.3526, d1.loss_cls: 0.1390, d1.loss_bbox: 0.3186, d2.loss_cls: 0.1246, d2.loss_bbox: 0.2973, d3.loss_cls: 0.1074, d3.loss_bbox: 0.2903, d4.loss_cls: 0.1020, d4.loss_bbox: 0.2891, d5.loss_cls: 0.1007, d5.loss_bbox: 0.2889, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7590, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5946, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5404, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5267, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5220, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5201, d0.loss_map_cls_all: 0.1764, d0.loss_map_pts_all: 0.9840, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1764, d0.loss_map_pts: 0.9840, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1422, d1.loss_map_pts: 0.7172, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1198, d2.loss_map_pts: 0.5652, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1095, d3.loss_map_pts: 0.5080, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1017, d4.loss_map_pts: 0.4846, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0980, d5.loss_map_pts: 0.4779, d5.loss_map_dir: 0.0060, loss: 23.4598, grad_norm: 163.7606 +2026-02-28 20:31:33,648 - DriveTransformer - INFO - Epoch [11][8800/39528] lr: 6.331e-05, eta: 4 days, 14:36:12, time: 0.723, data_time: 0.042, memory: 19865, loss_cls: 0.0961, loss_bbox: 0.2741, loss_traj: 0.4312, loss_traj_cls: 0.0020, loss_map_cls: 0.0961, loss_map_pts: 0.4675, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.7851, d0.loss_plan_l1_fix_dist: 0.4441, d1.loss_plan_l1_fix_time: 0.8675, d1.loss_plan_l1_fix_dist: 0.3152, d2.loss_plan_l1_fix_time: 0.8605, d2.loss_plan_l1_fix_dist: 0.3381, d3.loss_plan_l1_fix_time: 0.8308, d3.loss_plan_l1_fix_dist: 0.2435, d4.loss_plan_l1_fix_time: 0.8317, d4.loss_plan_l1_fix_dist: 0.2784, d5.loss_plan_l1_fix_time: 0.8339, d5.loss_plan_l1_fix_dist: 0.2319, d6.loss_plan_l1_fix_time: 0.8366, d6.loss_plan_l1_fix_dist: 0.2553, d0.loss_cls_all: 0.1417, d0.loss_bbox_all: 0.3376, d0.loss_cls: 0.1417, d0.loss_bbox: 0.3376, d1.loss_cls: 0.1349, d1.loss_bbox: 0.3033, d2.loss_cls: 0.1212, d2.loss_bbox: 0.2792, d3.loss_cls: 0.1033, d3.loss_bbox: 0.2751, d4.loss_cls: 0.0982, d4.loss_bbox: 0.2734, d5.loss_cls: 0.0959, d5.loss_bbox: 0.2731, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6339, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5177, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4591, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4427, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4398, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4333, d0.loss_map_cls_all: 0.1750, d0.loss_map_pts_all: 0.9783, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1750, d0.loss_map_pts: 0.9783, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1417, d1.loss_map_pts: 0.7168, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1201, d2.loss_map_pts: 0.5524, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1099, d3.loss_map_pts: 0.4960, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1030, d4.loss_map_pts: 0.4758, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0993, d5.loss_map_pts: 0.4686, d5.loss_map_dir: 0.0060, loss: 22.8049, grad_norm: 165.5348 +2026-02-28 20:32:09,670 - DriveTransformer - INFO - Epoch [11][8850/39528] lr: 6.331e-05, eta: 4 days, 14:35:33, time: 0.720, data_time: 0.037, memory: 19865, loss_cls: 0.0919, loss_bbox: 0.2860, loss_traj: 0.4889, loss_traj_cls: 0.0020, loss_map_cls: 0.1077, loss_map_pts: 0.5249, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.8933, d0.loss_plan_l1_fix_dist: 0.5015, d1.loss_plan_l1_fix_time: 0.7896, d1.loss_plan_l1_fix_dist: 0.2793, d2.loss_plan_l1_fix_time: 0.7795, d2.loss_plan_l1_fix_dist: 0.3312, d3.loss_plan_l1_fix_time: 0.7767, d3.loss_plan_l1_fix_dist: 0.2588, d4.loss_plan_l1_fix_time: 0.7775, d4.loss_plan_l1_fix_dist: 0.2623, d5.loss_plan_l1_fix_time: 0.7791, d5.loss_plan_l1_fix_dist: 0.2267, d6.loss_plan_l1_fix_time: 0.7815, d6.loss_plan_l1_fix_dist: 0.2491, d0.loss_cls_all: 0.1453, d0.loss_bbox_all: 0.3462, d0.loss_cls: 0.1453, d0.loss_bbox: 0.3462, d1.loss_cls: 0.1393, d1.loss_bbox: 0.3157, d2.loss_cls: 0.1220, d2.loss_bbox: 0.2938, d3.loss_cls: 0.1024, d3.loss_bbox: 0.2892, d4.loss_cls: 0.0924, d4.loss_bbox: 0.2888, d5.loss_cls: 0.0912, d5.loss_bbox: 0.2864, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7303, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5848, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5170, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5062, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4959, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4910, d0.loss_map_cls_all: 0.1909, d0.loss_map_pts_all: 1.0880, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1909, d0.loss_map_pts: 1.0880, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1607, d1.loss_map_pts: 0.7968, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1341, d2.loss_map_pts: 0.6185, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1222, d3.loss_map_pts: 0.5525, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1150, d4.loss_map_pts: 0.5305, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1091, d5.loss_map_pts: 0.5260, d5.loss_map_dir: 0.0066, loss: 23.7977, grad_norm: 168.7710 +2026-02-28 20:32:45,589 - DriveTransformer - INFO - Epoch [11][8900/39528] lr: 6.331e-05, eta: 4 days, 14:34:55, time: 0.718, data_time: 0.036, memory: 19865, loss_cls: 0.0967, loss_bbox: 0.2945, loss_traj: 0.4987, loss_traj_cls: 0.0019, loss_map_cls: 0.0896, loss_map_pts: 0.4968, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.6920, d0.loss_plan_l1_fix_dist: 0.5094, d1.loss_plan_l1_fix_time: 0.7642, d1.loss_plan_l1_fix_dist: 0.2599, d2.loss_plan_l1_fix_time: 0.7575, d2.loss_plan_l1_fix_dist: 0.3280, d3.loss_plan_l1_fix_time: 0.7585, d3.loss_plan_l1_fix_dist: 0.2914, d4.loss_plan_l1_fix_time: 0.7606, d4.loss_plan_l1_fix_dist: 0.2416, d5.loss_plan_l1_fix_time: 0.7625, d5.loss_plan_l1_fix_dist: 0.2197, d6.loss_plan_l1_fix_time: 0.7645, d6.loss_plan_l1_fix_dist: 0.2285, d0.loss_cls_all: 0.1476, d0.loss_bbox_all: 0.3662, d0.loss_cls: 0.1476, d0.loss_bbox: 0.3662, d1.loss_cls: 0.1391, d1.loss_bbox: 0.3302, d2.loss_cls: 0.1237, d2.loss_bbox: 0.3078, d3.loss_cls: 0.1040, d3.loss_bbox: 0.3014, d4.loss_cls: 0.0995, d4.loss_bbox: 0.2970, d5.loss_cls: 0.0980, d5.loss_bbox: 0.2946, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7811, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5820, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5197, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5063, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5016, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5007, d0.loss_map_cls_all: 0.1734, d0.loss_map_pts_all: 1.0689, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1734, d0.loss_map_pts: 1.0689, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1431, d1.loss_map_pts: 0.7616, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1168, d2.loss_map_pts: 0.5952, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1033, d3.loss_map_pts: 0.5267, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0970, d4.loss_map_pts: 0.5002, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0924, d5.loss_map_pts: 0.4963, d5.loss_map_dir: 0.0055, loss: 23.2983, grad_norm: 167.1324 +2026-02-28 20:33:22,287 - DriveTransformer - INFO - Epoch [11][8950/39528] lr: 6.331e-05, eta: 4 days, 14:34:19, time: 0.734, data_time: 0.037, memory: 19865, loss_cls: 0.1030, loss_bbox: 0.2915, loss_traj: 0.4779, loss_traj_cls: 0.0019, loss_map_cls: 0.1030, loss_map_pts: 0.5703, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 3.1078, d0.loss_plan_l1_fix_dist: 0.4331, d1.loss_plan_l1_fix_time: 0.8267, d1.loss_plan_l1_fix_dist: 0.2224, d2.loss_plan_l1_fix_time: 0.8056, d2.loss_plan_l1_fix_dist: 0.3007, d3.loss_plan_l1_fix_time: 0.8071, d3.loss_plan_l1_fix_dist: 0.2837, d4.loss_plan_l1_fix_time: 0.8094, d4.loss_plan_l1_fix_dist: 0.2078, d5.loss_plan_l1_fix_time: 0.8112, d5.loss_plan_l1_fix_dist: 0.2046, d6.loss_plan_l1_fix_time: 0.8136, d6.loss_plan_l1_fix_dist: 0.2232, d0.loss_cls_all: 0.1512, d0.loss_bbox_all: 0.3608, d0.loss_cls: 0.1512, d0.loss_bbox: 0.3608, d1.loss_cls: 0.1438, d1.loss_bbox: 0.3260, d2.loss_cls: 0.1285, d2.loss_bbox: 0.3004, d3.loss_cls: 0.1074, d3.loss_bbox: 0.2960, d4.loss_cls: 0.1025, d4.loss_bbox: 0.2933, d5.loss_cls: 0.1021, d5.loss_bbox: 0.2918, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7475, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5729, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5130, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4914, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4845, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4821, d0.loss_map_cls_all: 0.1889, d0.loss_map_pts_all: 1.1201, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1889, d0.loss_map_pts: 1.1201, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1613, d1.loss_map_pts: 0.8329, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1332, d2.loss_map_pts: 0.6641, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1198, d3.loss_map_pts: 0.5964, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1121, d4.loss_map_pts: 0.5762, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1057, d5.loss_map_pts: 0.5703, d5.loss_map_dir: 0.0066, loss: 24.3592, grad_norm: 171.0689 +2026-02-28 20:33:59,283 - DriveTransformer - INFO - Epoch [11][9000/39528] lr: 6.331e-05, eta: 4 days, 14:33:44, time: 0.740, data_time: 0.037, memory: 19865, loss_cls: 0.1034, loss_bbox: 0.2915, loss_traj: 0.3626, loss_traj_cls: 0.0020, loss_map_cls: 0.1123, loss_map_pts: 0.5518, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.5168, d0.loss_plan_l1_fix_dist: 0.4154, d1.loss_plan_l1_fix_time: 0.7281, d1.loss_plan_l1_fix_dist: 0.2252, d2.loss_plan_l1_fix_time: 0.7051, d2.loss_plan_l1_fix_dist: 0.2856, d3.loss_plan_l1_fix_time: 0.7042, d3.loss_plan_l1_fix_dist: 0.2927, d4.loss_plan_l1_fix_time: 0.7065, d4.loss_plan_l1_fix_dist: 0.1935, d5.loss_plan_l1_fix_time: 0.7086, d5.loss_plan_l1_fix_dist: 0.2139, d6.loss_plan_l1_fix_time: 0.7111, d6.loss_plan_l1_fix_dist: 0.2191, d0.loss_cls_all: 0.1512, d0.loss_bbox_all: 0.3660, d0.loss_cls: 0.1512, d0.loss_bbox: 0.3660, d1.loss_cls: 0.1452, d1.loss_bbox: 0.3313, d2.loss_cls: 0.1300, d2.loss_bbox: 0.3061, d3.loss_cls: 0.1109, d3.loss_bbox: 0.2966, d4.loss_cls: 0.1055, d4.loss_bbox: 0.2920, d5.loss_cls: 0.1030, d5.loss_bbox: 0.2925, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5575, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4443, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3973, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3731, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3663, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.3668, d0.loss_map_cls_all: 0.1957, d0.loss_map_pts_all: 1.1303, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.1957, d0.loss_map_pts: 1.1303, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1626, d1.loss_map_pts: 0.8111, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1395, d2.loss_map_pts: 0.6423, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1248, d3.loss_map_pts: 0.5817, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1194, d4.loss_map_pts: 0.5610, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1151, d5.loss_map_pts: 0.5523, d5.loss_map_dir: 0.0076, loss: 22.2323, grad_norm: 170.3592 +2026-02-28 20:34:37,525 - DriveTransformer - INFO - Epoch [11][9050/39528] lr: 6.331e-05, eta: 4 days, 14:33:12, time: 0.765, data_time: 0.038, memory: 19865, loss_cls: 0.1207, loss_bbox: 0.3183, loss_traj: 0.4154, loss_traj_cls: 0.0019, loss_map_cls: 0.1154, loss_map_pts: 0.6064, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.5122, d0.loss_plan_l1_fix_dist: 0.4474, d1.loss_plan_l1_fix_time: 0.6914, d1.loss_plan_l1_fix_dist: 0.2213, d2.loss_plan_l1_fix_time: 0.6726, d2.loss_plan_l1_fix_dist: 0.2459, d3.loss_plan_l1_fix_time: 0.6670, d3.loss_plan_l1_fix_dist: 0.2880, d4.loss_plan_l1_fix_time: 0.6680, d4.loss_plan_l1_fix_dist: 0.1926, d5.loss_plan_l1_fix_time: 0.6702, d5.loss_plan_l1_fix_dist: 0.2348, d6.loss_plan_l1_fix_time: 0.6724, d6.loss_plan_l1_fix_dist: 0.2167, d0.loss_cls_all: 0.1736, d0.loss_bbox_all: 0.3968, d0.loss_cls: 0.1736, d0.loss_bbox: 0.3968, d1.loss_cls: 0.1668, d1.loss_bbox: 0.3571, d2.loss_cls: 0.1511, d2.loss_bbox: 0.3304, d3.loss_cls: 0.1326, d3.loss_bbox: 0.3241, d4.loss_cls: 0.1232, d4.loss_bbox: 0.3209, d5.loss_cls: 0.1219, d5.loss_bbox: 0.3183, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6813, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5011, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4401, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4226, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4251, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4149, d0.loss_map_cls_all: 0.2039, d0.loss_map_pts_all: 1.2480, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2039, d0.loss_map_pts: 1.2480, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1677, d1.loss_map_pts: 0.8942, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1445, d2.loss_map_pts: 0.7027, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1304, d3.loss_map_pts: 0.6423, d3.loss_map_dir: 0.0080, d4.loss_map_cls: 0.1238, d4.loss_map_pts: 0.6159, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1188, d5.loss_map_pts: 0.6073, d5.loss_map_dir: 0.0082, loss: 23.4737, grad_norm: 172.3550 +2026-02-28 20:35:15,491 - DriveTransformer - INFO - Epoch [11][9100/39528] lr: 6.331e-05, eta: 4 days, 14:32:40, time: 0.759, data_time: 0.039, memory: 19865, loss_cls: 0.1015, loss_bbox: 0.3070, loss_traj: 0.4991, loss_traj_cls: 0.0019, loss_map_cls: 0.1128, loss_map_pts: 0.5902, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.4890, d0.loss_plan_l1_fix_dist: 0.3576, d1.loss_plan_l1_fix_time: 0.6641, d1.loss_plan_l1_fix_dist: 0.2413, d2.loss_plan_l1_fix_time: 0.6536, d2.loss_plan_l1_fix_dist: 0.2441, d3.loss_plan_l1_fix_time: 0.6463, d3.loss_plan_l1_fix_dist: 0.2935, d4.loss_plan_l1_fix_time: 0.6491, d4.loss_plan_l1_fix_dist: 0.2052, d5.loss_plan_l1_fix_time: 0.6527, d5.loss_plan_l1_fix_dist: 0.2520, d6.loss_plan_l1_fix_time: 0.6558, d6.loss_plan_l1_fix_dist: 0.2351, d0.loss_cls_all: 0.1484, d0.loss_bbox_all: 0.3687, d0.loss_cls: 0.1484, d0.loss_bbox: 0.3687, d1.loss_cls: 0.1430, d1.loss_bbox: 0.3362, d2.loss_cls: 0.1302, d2.loss_bbox: 0.3136, d3.loss_cls: 0.1076, d3.loss_bbox: 0.3114, d4.loss_cls: 0.1020, d4.loss_bbox: 0.3084, d5.loss_cls: 0.1008, d5.loss_bbox: 0.3077, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7151, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5673, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5232, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5101, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5002, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5011, d0.loss_map_cls_all: 0.2205, d0.loss_map_pts_all: 1.2147, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2205, d0.loss_map_pts: 1.2147, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1818, d1.loss_map_pts: 0.8672, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1488, d2.loss_map_pts: 0.6821, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1324, d3.loss_map_pts: 0.6220, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1243, d4.loss_map_pts: 0.5987, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1165, d5.loss_map_pts: 0.5912, d5.loss_map_dir: 0.0071, loss: 23.3614, grad_norm: 174.7028 +2026-02-28 20:35:51,780 - DriveTransformer - INFO - Epoch [11][9150/39528] lr: 6.331e-05, eta: 4 days, 14:32:03, time: 0.726, data_time: 0.039, memory: 19865, loss_cls: 0.0787, loss_bbox: 0.2596, loss_traj: 0.4212, loss_traj_cls: 0.0020, loss_map_cls: 0.0925, loss_map_pts: 0.4483, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.7178, d0.loss_plan_l1_fix_dist: 0.4273, d1.loss_plan_l1_fix_time: 0.8207, d1.loss_plan_l1_fix_dist: 0.2386, d2.loss_plan_l1_fix_time: 0.8080, d2.loss_plan_l1_fix_dist: 0.2318, d3.loss_plan_l1_fix_time: 0.7841, d3.loss_plan_l1_fix_dist: 0.2113, d4.loss_plan_l1_fix_time: 0.7846, d4.loss_plan_l1_fix_dist: 0.1698, d5.loss_plan_l1_fix_time: 0.7867, d5.loss_plan_l1_fix_dist: 0.1877, d6.loss_plan_l1_fix_time: 0.7893, d6.loss_plan_l1_fix_dist: 0.1819, d0.loss_cls_all: 0.1135, d0.loss_bbox_all: 0.3164, d0.loss_cls: 0.1135, d0.loss_bbox: 0.3164, d1.loss_cls: 0.1090, d1.loss_bbox: 0.2869, d2.loss_cls: 0.0962, d2.loss_bbox: 0.2685, d3.loss_cls: 0.0832, d3.loss_bbox: 0.2639, d4.loss_cls: 0.0795, d4.loss_bbox: 0.2617, d5.loss_cls: 0.0785, d5.loss_bbox: 0.2608, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6306, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4992, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4483, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4277, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4226, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4219, d0.loss_map_cls_all: 0.1752, d0.loss_map_pts_all: 0.9766, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1752, d0.loss_map_pts: 0.9766, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1480, d1.loss_map_pts: 0.6940, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1193, d2.loss_map_pts: 0.5286, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1055, d3.loss_map_pts: 0.4744, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0995, d4.loss_map_pts: 0.4527, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0947, d5.loss_map_pts: 0.4477, d5.loss_map_dir: 0.0053, loss: 21.4563, grad_norm: 173.3009 +2026-02-28 20:36:29,728 - DriveTransformer - INFO - Epoch [11][9200/39528] lr: 6.331e-05, eta: 4 days, 14:31:31, time: 0.760, data_time: 0.036, memory: 19865, loss_cls: 0.0983, loss_bbox: 0.2808, loss_traj: 0.5241, loss_traj_cls: 0.0019, loss_map_cls: 0.1057, loss_map_pts: 0.5794, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.7177, d0.loss_plan_l1_fix_dist: 0.4611, d1.loss_plan_l1_fix_time: 0.8272, d1.loss_plan_l1_fix_dist: 0.2769, d2.loss_plan_l1_fix_time: 0.8012, d2.loss_plan_l1_fix_dist: 0.2695, d3.loss_plan_l1_fix_time: 0.7887, d3.loss_plan_l1_fix_dist: 0.2189, d4.loss_plan_l1_fix_time: 0.7911, d4.loss_plan_l1_fix_dist: 0.2048, d5.loss_plan_l1_fix_time: 0.7936, d5.loss_plan_l1_fix_dist: 0.2189, d6.loss_plan_l1_fix_time: 0.7970, d6.loss_plan_l1_fix_dist: 0.2246, d0.loss_cls_all: 0.1388, d0.loss_bbox_all: 0.3469, d0.loss_cls: 0.1388, d0.loss_bbox: 0.3469, d1.loss_cls: 0.1348, d1.loss_bbox: 0.3129, d2.loss_cls: 0.1213, d2.loss_bbox: 0.2950, d3.loss_cls: 0.1040, d3.loss_bbox: 0.2868, d4.loss_cls: 0.0990, d4.loss_bbox: 0.2833, d5.loss_cls: 0.0977, d5.loss_bbox: 0.2818, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7751, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5952, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5447, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5253, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5209, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5236, d0.loss_map_cls_all: 0.1918, d0.loss_map_pts_all: 1.1980, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.1918, d0.loss_map_pts: 1.1980, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1574, d1.loss_map_pts: 0.8487, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1300, d2.loss_map_pts: 0.6692, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1205, d3.loss_map_pts: 0.6081, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1138, d4.loss_map_pts: 0.5857, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1077, d5.loss_map_pts: 0.5801, d5.loss_map_dir: 0.0080, loss: 24.2234, grad_norm: 175.0385 +2026-02-28 20:37:05,552 - DriveTransformer - INFO - Epoch [11][9250/39528] lr: 6.331e-05, eta: 4 days, 14:30:52, time: 0.715, data_time: 0.035, memory: 19865, loss_cls: 0.0866, loss_bbox: 0.2778, loss_traj: 0.5888, loss_traj_cls: 0.0020, loss_map_cls: 0.0707, loss_map_pts: 0.4041, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.6044, d0.loss_plan_l1_fix_dist: 0.4011, d1.loss_plan_l1_fix_time: 0.8438, d1.loss_plan_l1_fix_dist: 0.2809, d2.loss_plan_l1_fix_time: 0.8258, d2.loss_plan_l1_fix_dist: 0.2569, d3.loss_plan_l1_fix_time: 0.8061, d3.loss_plan_l1_fix_dist: 0.2103, d4.loss_plan_l1_fix_time: 0.8089, d4.loss_plan_l1_fix_dist: 0.1896, d5.loss_plan_l1_fix_time: 0.8126, d5.loss_plan_l1_fix_dist: 0.1871, d6.loss_plan_l1_fix_time: 0.8170, d6.loss_plan_l1_fix_dist: 0.2155, d0.loss_cls_all: 0.1254, d0.loss_bbox_all: 0.3351, d0.loss_cls: 0.1254, d0.loss_bbox: 0.3351, d1.loss_cls: 0.1242, d1.loss_bbox: 0.3011, d2.loss_cls: 0.1129, d2.loss_bbox: 0.2821, d3.loss_cls: 0.0942, d3.loss_bbox: 0.2801, d4.loss_cls: 0.0878, d4.loss_bbox: 0.2774, d5.loss_cls: 0.0874, d5.loss_bbox: 0.2762, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8500, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6627, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6037, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5945, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5880, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5880, d0.loss_map_cls_all: 0.1538, d0.loss_map_pts_all: 0.8967, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1538, d0.loss_map_pts: 0.8967, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1170, d1.loss_map_pts: 0.6186, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.0953, d2.loss_map_pts: 0.4831, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0824, d3.loss_map_pts: 0.4377, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0766, d4.loss_map_pts: 0.4134, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0729, d5.loss_map_pts: 0.4043, d5.loss_map_dir: 0.0054, loss: 22.3728, grad_norm: 174.0573 +2026-02-28 20:37:41,383 - DriveTransformer - INFO - Epoch [11][9300/39528] lr: 6.331e-05, eta: 4 days, 14:30:13, time: 0.717, data_time: 0.035, memory: 19865, loss_cls: 0.1100, loss_bbox: 0.3080, loss_traj: 0.5046, loss_traj_cls: 0.0018, loss_map_cls: 0.1166, loss_map_pts: 0.5982, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.7704, d0.loss_plan_l1_fix_dist: 0.3579, d1.loss_plan_l1_fix_time: 0.7997, d1.loss_plan_l1_fix_dist: 0.2925, d2.loss_plan_l1_fix_time: 0.7815, d2.loss_plan_l1_fix_dist: 0.2555, d3.loss_plan_l1_fix_time: 0.7796, d3.loss_plan_l1_fix_dist: 0.2271, d4.loss_plan_l1_fix_time: 0.7818, d4.loss_plan_l1_fix_dist: 0.2184, d5.loss_plan_l1_fix_time: 0.7843, d5.loss_plan_l1_fix_dist: 0.2003, d6.loss_plan_l1_fix_time: 0.7872, d6.loss_plan_l1_fix_dist: 0.2169, d0.loss_cls_all: 0.1521, d0.loss_bbox_all: 0.3877, d0.loss_cls: 0.1521, d0.loss_bbox: 0.3877, d1.loss_cls: 0.1477, d1.loss_bbox: 0.3467, d2.loss_cls: 0.1338, d2.loss_bbox: 0.3221, d3.loss_cls: 0.1175, d3.loss_bbox: 0.3132, d4.loss_cls: 0.1119, d4.loss_bbox: 0.3095, d5.loss_cls: 0.1092, d5.loss_bbox: 0.3087, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7613, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5897, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5289, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5093, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5021, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5032, d0.loss_map_cls_all: 0.2115, d0.loss_map_pts_all: 1.2127, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2115, d0.loss_map_pts: 1.2127, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1702, d1.loss_map_pts: 0.8907, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1445, d2.loss_map_pts: 0.7082, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1312, d3.loss_map_pts: 0.6299, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1249, d4.loss_map_pts: 0.6041, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1199, d5.loss_map_pts: 0.5985, d5.loss_map_dir: 0.0079, loss: 24.6233, grad_norm: 172.8124 +2026-02-28 20:38:18,295 - DriveTransformer - INFO - Epoch [11][9350/39528] lr: 6.331e-05, eta: 4 days, 14:29:38, time: 0.738, data_time: 0.039, memory: 19865, loss_cls: 0.0954, loss_bbox: 0.2846, loss_traj: 0.5143, loss_traj_cls: 0.0020, loss_map_cls: 0.0967, loss_map_pts: 0.5290, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.5629, d0.loss_plan_l1_fix_dist: 0.3974, d1.loss_plan_l1_fix_time: 0.7380, d1.loss_plan_l1_fix_dist: 0.3009, d2.loss_plan_l1_fix_time: 0.7280, d2.loss_plan_l1_fix_dist: 0.2953, d3.loss_plan_l1_fix_time: 0.7294, d3.loss_plan_l1_fix_dist: 0.2822, d4.loss_plan_l1_fix_time: 0.7326, d4.loss_plan_l1_fix_dist: 0.2783, d5.loss_plan_l1_fix_time: 0.7370, d5.loss_plan_l1_fix_dist: 0.2787, d6.loss_plan_l1_fix_time: 0.7417, d6.loss_plan_l1_fix_dist: 0.2704, d0.loss_cls_all: 0.1404, d0.loss_bbox_all: 0.3529, d0.loss_cls: 0.1404, d0.loss_bbox: 0.3529, d1.loss_cls: 0.1368, d1.loss_bbox: 0.3186, d2.loss_cls: 0.1208, d2.loss_bbox: 0.2969, d3.loss_cls: 0.1041, d3.loss_bbox: 0.2901, d4.loss_cls: 0.0966, d4.loss_bbox: 0.2871, d5.loss_cls: 0.0958, d5.loss_bbox: 0.2852, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7766, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5865, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5379, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5225, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5145, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5168, d0.loss_map_cls_all: 0.1787, d0.loss_map_pts_all: 1.0368, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1787, d0.loss_map_pts: 1.0368, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1468, d1.loss_map_pts: 0.7744, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1238, d2.loss_map_pts: 0.6235, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1112, d3.loss_map_pts: 0.5684, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1037, d4.loss_map_pts: 0.5417, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.0997, d5.loss_map_pts: 0.5304, d5.loss_map_dir: 0.0067, loss: 23.1804, grad_norm: 175.9057 +2026-02-28 20:38:55,279 - DriveTransformer - INFO - Epoch [11][9400/39528] lr: 6.331e-05, eta: 4 days, 14:29:03, time: 0.740, data_time: 0.037, memory: 19865, loss_cls: 0.0925, loss_bbox: 0.2758, loss_traj: 0.4185, loss_traj_cls: 0.0020, loss_map_cls: 0.0918, loss_map_pts: 0.4846, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.7057, d0.loss_plan_l1_fix_dist: 0.4697, d1.loss_plan_l1_fix_time: 0.7402, d1.loss_plan_l1_fix_dist: 0.2788, d2.loss_plan_l1_fix_time: 0.7269, d2.loss_plan_l1_fix_dist: 0.2819, d3.loss_plan_l1_fix_time: 0.7268, d3.loss_plan_l1_fix_dist: 0.2625, d4.loss_plan_l1_fix_time: 0.7297, d4.loss_plan_l1_fix_dist: 0.2500, d5.loss_plan_l1_fix_time: 0.7339, d5.loss_plan_l1_fix_dist: 0.2656, d6.loss_plan_l1_fix_time: 0.7387, d6.loss_plan_l1_fix_dist: 0.2325, d0.loss_cls_all: 0.1381, d0.loss_bbox_all: 0.3383, d0.loss_cls: 0.1381, d0.loss_bbox: 0.3383, d1.loss_cls: 0.1299, d1.loss_bbox: 0.3116, d2.loss_cls: 0.1174, d2.loss_bbox: 0.2880, d3.loss_cls: 0.1002, d3.loss_bbox: 0.2821, d4.loss_cls: 0.0918, d4.loss_bbox: 0.2785, d5.loss_cls: 0.0926, d5.loss_bbox: 0.2757, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6259, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4927, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4672, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4366, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4245, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4244, d0.loss_map_cls_all: 0.1674, d0.loss_map_pts_all: 1.0267, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1674, d0.loss_map_pts: 1.0267, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1358, d1.loss_map_pts: 0.7305, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1168, d2.loss_map_pts: 0.5759, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1066, d3.loss_map_pts: 0.5179, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1007, d4.loss_map_pts: 0.4944, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0946, d5.loss_map_pts: 0.4852, d5.loss_map_dir: 0.0062, loss: 22.1021, grad_norm: 175.7621 +2026-02-28 20:39:31,922 - DriveTransformer - INFO - Epoch [11][9450/39528] lr: 6.331e-05, eta: 4 days, 14:28:26, time: 0.733, data_time: 0.038, memory: 19865, loss_cls: 0.0897, loss_bbox: 0.2866, loss_traj: 0.5482, loss_traj_cls: 0.0019, loss_map_cls: 0.0829, loss_map_pts: 0.5134, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.6181, d0.loss_plan_l1_fix_dist: 0.3841, d1.loss_plan_l1_fix_time: 0.7313, d1.loss_plan_l1_fix_dist: 0.2427, d2.loss_plan_l1_fix_time: 0.7161, d2.loss_plan_l1_fix_dist: 0.2610, d3.loss_plan_l1_fix_time: 0.7132, d3.loss_plan_l1_fix_dist: 0.2401, d4.loss_plan_l1_fix_time: 0.7153, d4.loss_plan_l1_fix_dist: 0.2219, d5.loss_plan_l1_fix_time: 0.7178, d5.loss_plan_l1_fix_dist: 0.2522, d6.loss_plan_l1_fix_time: 0.7211, d6.loss_plan_l1_fix_dist: 0.2237, d0.loss_cls_all: 0.1363, d0.loss_bbox_all: 0.3468, d0.loss_cls: 0.1363, d0.loss_bbox: 0.3468, d1.loss_cls: 0.1297, d1.loss_bbox: 0.3173, d2.loss_cls: 0.1164, d2.loss_bbox: 0.2985, d3.loss_cls: 0.0986, d3.loss_bbox: 0.2901, d4.loss_cls: 0.0920, d4.loss_bbox: 0.2881, d5.loss_cls: 0.0907, d5.loss_bbox: 0.2869, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7581, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6242, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5798, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5626, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5534, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5508, d0.loss_map_cls_all: 0.1735, d0.loss_map_pts_all: 1.0894, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1735, d0.loss_map_pts: 1.0894, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1394, d1.loss_map_pts: 0.7750, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1123, d2.loss_map_pts: 0.6126, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.0988, d3.loss_map_pts: 0.5546, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0912, d4.loss_map_pts: 0.5264, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0860, d5.loss_map_pts: 0.5134, d5.loss_map_dir: 0.0061, loss: 22.9746, grad_norm: 179.3437 +2026-02-28 20:40:08,710 - DriveTransformer - INFO - Epoch [11][9500/39528] lr: 6.331e-05, eta: 4 days, 14:27:50, time: 0.736, data_time: 0.037, memory: 19865, loss_cls: 0.0906, loss_bbox: 0.2729, loss_traj: 0.4773, loss_traj_cls: 0.0020, loss_map_cls: 0.0995, loss_map_pts: 0.4621, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.2569, d0.loss_plan_l1_fix_dist: 0.3992, d1.loss_plan_l1_fix_time: 0.8330, d1.loss_plan_l1_fix_dist: 0.2042, d2.loss_plan_l1_fix_time: 0.8216, d2.loss_plan_l1_fix_dist: 0.2529, d3.loss_plan_l1_fix_time: 0.8196, d3.loss_plan_l1_fix_dist: 0.2057, d4.loss_plan_l1_fix_time: 0.8212, d4.loss_plan_l1_fix_dist: 0.1847, d5.loss_plan_l1_fix_time: 0.8231, d5.loss_plan_l1_fix_dist: 0.2190, d6.loss_plan_l1_fix_time: 0.8260, d6.loss_plan_l1_fix_dist: 0.2113, d0.loss_cls_all: 0.1267, d0.loss_bbox_all: 0.3396, d0.loss_cls: 0.1267, d0.loss_bbox: 0.3396, d1.loss_cls: 0.1219, d1.loss_bbox: 0.3082, d2.loss_cls: 0.1152, d2.loss_bbox: 0.2841, d3.loss_cls: 0.0994, d3.loss_bbox: 0.2766, d4.loss_cls: 0.0921, d4.loss_bbox: 0.2743, d5.loss_cls: 0.0913, d5.loss_bbox: 0.2724, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7453, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5605, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4997, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4792, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4757, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4766, d0.loss_map_cls_all: 0.1769, d0.loss_map_pts_all: 0.9735, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1769, d0.loss_map_pts: 0.9735, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1445, d1.loss_map_pts: 0.6920, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1241, d2.loss_map_pts: 0.5402, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1126, d3.loss_map_pts: 0.4917, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1061, d4.loss_map_pts: 0.4698, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1016, d5.loss_map_pts: 0.4632, d5.loss_map_dir: 0.0058, loss: 21.9865, grad_norm: 179.7483 +2026-02-28 20:40:44,886 - DriveTransformer - INFO - Epoch [11][9550/39528] lr: 6.331e-05, eta: 4 days, 14:27:13, time: 0.724, data_time: 0.036, memory: 19865, loss_cls: 0.0914, loss_bbox: 0.2736, loss_traj: 0.4343, loss_traj_cls: 0.0018, loss_map_cls: 0.1075, loss_map_pts: 0.5608, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.9541, d0.loss_plan_l1_fix_dist: 0.3731, d1.loss_plan_l1_fix_time: 0.8005, d1.loss_plan_l1_fix_dist: 0.1732, d2.loss_plan_l1_fix_time: 0.7803, d2.loss_plan_l1_fix_dist: 0.2569, d3.loss_plan_l1_fix_time: 0.7788, d3.loss_plan_l1_fix_dist: 0.1865, d4.loss_plan_l1_fix_time: 0.7792, d4.loss_plan_l1_fix_dist: 0.1747, d5.loss_plan_l1_fix_time: 0.7801, d5.loss_plan_l1_fix_dist: 0.1971, d6.loss_plan_l1_fix_time: 0.7815, d6.loss_plan_l1_fix_dist: 0.2077, d0.loss_cls_all: 0.1376, d0.loss_bbox_all: 0.3401, d0.loss_cls: 0.1376, d0.loss_bbox: 0.3401, d1.loss_cls: 0.1330, d1.loss_bbox: 0.3034, d2.loss_cls: 0.1160, d2.loss_bbox: 0.2828, d3.loss_cls: 0.0989, d3.loss_bbox: 0.2759, d4.loss_cls: 0.0932, d4.loss_bbox: 0.2750, d5.loss_cls: 0.0915, d5.loss_bbox: 0.2735, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6218, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4881, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4450, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4341, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4354, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4347, d0.loss_map_cls_all: 0.2024, d0.loss_map_pts_all: 1.1633, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2024, d0.loss_map_pts: 1.1633, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1671, d1.loss_map_pts: 0.8453, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1369, d2.loss_map_pts: 0.6647, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1244, d3.loss_map_pts: 0.5991, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1164, d4.loss_map_pts: 0.5711, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1105, d5.loss_map_pts: 0.5614, d5.loss_map_dir: 0.0071, loss: 23.1404, grad_norm: 177.3904 +2026-02-28 20:41:20,324 - DriveTransformer - INFO - Epoch [11][9600/39528] lr: 6.331e-05, eta: 4 days, 14:26:32, time: 0.709, data_time: 0.039, memory: 19865, loss_cls: 0.0862, loss_bbox: 0.2669, loss_traj: 0.4429, loss_traj_cls: 0.0020, loss_map_cls: 0.1070, loss_map_pts: 0.4773, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.8020, d0.loss_plan_l1_fix_dist: 0.4861, d1.loss_plan_l1_fix_time: 0.8206, d1.loss_plan_l1_fix_dist: 0.1626, d2.loss_plan_l1_fix_time: 0.8059, d2.loss_plan_l1_fix_dist: 0.2480, d3.loss_plan_l1_fix_time: 0.7968, d3.loss_plan_l1_fix_dist: 0.1871, d4.loss_plan_l1_fix_time: 0.7985, d4.loss_plan_l1_fix_dist: 0.2164, d5.loss_plan_l1_fix_time: 0.8015, d5.loss_plan_l1_fix_dist: 0.2042, d6.loss_plan_l1_fix_time: 0.8044, d6.loss_plan_l1_fix_dist: 0.2193, d0.loss_cls_all: 0.1242, d0.loss_bbox_all: 0.3300, d0.loss_cls: 0.1242, d0.loss_bbox: 0.3300, d1.loss_cls: 0.1202, d1.loss_bbox: 0.2954, d2.loss_cls: 0.1073, d2.loss_bbox: 0.2799, d3.loss_cls: 0.0920, d3.loss_bbox: 0.2725, d4.loss_cls: 0.0882, d4.loss_bbox: 0.2685, d5.loss_cls: 0.0865, d5.loss_bbox: 0.2670, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6846, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5259, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4753, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4533, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4461, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4433, d0.loss_map_cls_all: 0.1859, d0.loss_map_pts_all: 0.9929, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1859, d0.loss_map_pts: 0.9929, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1517, d1.loss_map_pts: 0.7192, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1288, d2.loss_map_pts: 0.5667, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1186, d3.loss_map_pts: 0.5061, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1130, d4.loss_map_pts: 0.4862, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1092, d5.loss_map_pts: 0.4779, d5.loss_map_dir: 0.0054, loss: 22.3339, grad_norm: 176.3010 +2026-02-28 20:41:57,321 - DriveTransformer - INFO - Epoch [11][9650/39528] lr: 6.331e-05, eta: 4 days, 14:25:57, time: 0.740, data_time: 0.038, memory: 19865, loss_cls: 0.0956, loss_bbox: 0.2829, loss_traj: 0.5304, loss_traj_cls: 0.0019, loss_map_cls: 0.0923, loss_map_pts: 0.5006, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.3449, d0.loss_plan_l1_fix_dist: 0.3874, d1.loss_plan_l1_fix_time: 0.6757, d1.loss_plan_l1_fix_dist: 0.1821, d2.loss_plan_l1_fix_time: 0.6542, d2.loss_plan_l1_fix_dist: 0.2525, d3.loss_plan_l1_fix_time: 0.6440, d3.loss_plan_l1_fix_dist: 0.1898, d4.loss_plan_l1_fix_time: 0.6475, d4.loss_plan_l1_fix_dist: 0.2294, d5.loss_plan_l1_fix_time: 0.6514, d5.loss_plan_l1_fix_dist: 0.2129, d6.loss_plan_l1_fix_time: 0.6555, d6.loss_plan_l1_fix_dist: 0.2175, d0.loss_cls_all: 0.1366, d0.loss_bbox_all: 0.3355, d0.loss_cls: 0.1366, d0.loss_bbox: 0.3355, d1.loss_cls: 0.1312, d1.loss_bbox: 0.3050, d2.loss_cls: 0.1144, d2.loss_bbox: 0.2905, d3.loss_cls: 0.1020, d3.loss_bbox: 0.2858, d4.loss_cls: 0.0967, d4.loss_bbox: 0.2838, d5.loss_cls: 0.0954, d5.loss_bbox: 0.2828, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7367, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5880, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5545, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5385, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5316, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5308, d0.loss_map_cls_all: 0.1699, d0.loss_map_pts_all: 1.0998, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1699, d0.loss_map_pts: 1.0998, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1365, d1.loss_map_pts: 0.7739, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1144, d2.loss_map_pts: 0.5982, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1049, d3.loss_map_pts: 0.5339, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.0979, d4.loss_map_pts: 0.5076, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0946, d5.loss_map_pts: 0.5011, d5.loss_map_dir: 0.0068, loss: 21.9231, grad_norm: 178.4176 +2026-02-28 20:42:34,412 - DriveTransformer - INFO - Epoch [11][9700/39528] lr: 6.331e-05, eta: 4 days, 14:25:23, time: 0.742, data_time: 0.036, memory: 19865, loss_cls: 0.1063, loss_bbox: 0.2969, loss_traj: 0.4653, loss_traj_cls: 0.0019, loss_map_cls: 0.1111, loss_map_pts: 0.5790, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.6075, d0.loss_plan_l1_fix_dist: 0.4232, d1.loss_plan_l1_fix_time: 0.7365, d1.loss_plan_l1_fix_dist: 0.2175, d2.loss_plan_l1_fix_time: 0.7088, d2.loss_plan_l1_fix_dist: 0.2641, d3.loss_plan_l1_fix_time: 0.6983, d3.loss_plan_l1_fix_dist: 0.1933, d4.loss_plan_l1_fix_time: 0.7002, d4.loss_plan_l1_fix_dist: 0.2185, d5.loss_plan_l1_fix_time: 0.7029, d5.loss_plan_l1_fix_dist: 0.2132, d6.loss_plan_l1_fix_time: 0.7061, d6.loss_plan_l1_fix_dist: 0.2210, d0.loss_cls_all: 0.1569, d0.loss_bbox_all: 0.3625, d0.loss_cls: 0.1569, d0.loss_bbox: 0.3625, d1.loss_cls: 0.1499, d1.loss_bbox: 0.3277, d2.loss_cls: 0.1379, d2.loss_bbox: 0.3085, d3.loss_cls: 0.1155, d3.loss_bbox: 0.3047, d4.loss_cls: 0.1080, d4.loss_bbox: 0.3014, d5.loss_cls: 0.1060, d5.loss_bbox: 0.2978, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6479, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5273, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4842, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4732, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4644, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4649, d0.loss_map_cls_all: 0.1943, d0.loss_map_pts_all: 1.2309, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.1943, d0.loss_map_pts: 1.2309, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1604, d1.loss_map_pts: 0.8928, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1346, d2.loss_map_pts: 0.6912, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1237, d3.loss_map_pts: 0.6168, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1176, d4.loss_map_pts: 0.5862, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1127, d5.loss_map_pts: 0.5787, d5.loss_map_dir: 0.0074, loss: 23.3607, grad_norm: 177.3458 +2026-02-28 20:43:10,814 - DriveTransformer - INFO - Epoch [11][9750/39528] lr: 6.331e-05, eta: 4 days, 14:24:45, time: 0.728, data_time: 0.038, memory: 19865, loss_cls: 0.0934, loss_bbox: 0.2934, loss_traj: 0.5633, loss_traj_cls: 0.0019, loss_map_cls: 0.0963, loss_map_pts: 0.4968, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.5188, d0.loss_plan_l1_fix_dist: 0.3755, d1.loss_plan_l1_fix_time: 0.7436, d1.loss_plan_l1_fix_dist: 0.2021, d2.loss_plan_l1_fix_time: 0.7252, d2.loss_plan_l1_fix_dist: 0.2388, d3.loss_plan_l1_fix_time: 0.7161, d3.loss_plan_l1_fix_dist: 0.1688, d4.loss_plan_l1_fix_time: 0.7180, d4.loss_plan_l1_fix_dist: 0.1820, d5.loss_plan_l1_fix_time: 0.7204, d5.loss_plan_l1_fix_dist: 0.1801, d6.loss_plan_l1_fix_time: 0.7234, d6.loss_plan_l1_fix_dist: 0.1937, d0.loss_cls_all: 0.1387, d0.loss_bbox_all: 0.3507, d0.loss_cls: 0.1387, d0.loss_bbox: 0.3507, d1.loss_cls: 0.1344, d1.loss_bbox: 0.3179, d2.loss_cls: 0.1181, d2.loss_bbox: 0.3033, d3.loss_cls: 0.0988, d3.loss_bbox: 0.3012, d4.loss_cls: 0.0936, d4.loss_bbox: 0.2959, d5.loss_cls: 0.0941, d5.loss_bbox: 0.2929, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8730, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6803, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6096, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5809, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5686, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5648, d0.loss_map_cls_all: 0.1779, d0.loss_map_pts_all: 1.0809, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1779, d0.loss_map_pts: 1.0809, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1457, d1.loss_map_pts: 0.7662, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1206, d2.loss_map_pts: 0.5858, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1107, d3.loss_map_pts: 0.5228, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1046, d4.loss_map_pts: 0.5033, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0989, d5.loss_map_pts: 0.4976, d5.loss_map_dir: 0.0063, loss: 22.8865, grad_norm: 175.8373 +2026-02-28 20:43:47,391 - DriveTransformer - INFO - Epoch [11][9800/39528] lr: 6.331e-05, eta: 4 days, 14:24:09, time: 0.732, data_time: 0.038, memory: 19865, loss_cls: 0.1010, loss_bbox: 0.2882, loss_traj: 0.4578, loss_traj_cls: 0.0019, loss_map_cls: 0.0872, loss_map_pts: 0.4772, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.5040, d0.loss_plan_l1_fix_dist: 0.4017, d1.loss_plan_l1_fix_time: 0.8791, d1.loss_plan_l1_fix_dist: 0.2348, d2.loss_plan_l1_fix_time: 0.8688, d2.loss_plan_l1_fix_dist: 0.2685, d3.loss_plan_l1_fix_time: 0.8570, d3.loss_plan_l1_fix_dist: 0.2074, d4.loss_plan_l1_fix_time: 0.8594, d4.loss_plan_l1_fix_dist: 0.2221, d5.loss_plan_l1_fix_time: 0.8624, d5.loss_plan_l1_fix_dist: 0.2230, d6.loss_plan_l1_fix_time: 0.8659, d6.loss_plan_l1_fix_dist: 0.2424, d0.loss_cls_all: 0.1474, d0.loss_bbox_all: 0.3540, d0.loss_cls: 0.1474, d0.loss_bbox: 0.3540, d1.loss_cls: 0.1402, d1.loss_bbox: 0.3200, d2.loss_cls: 0.1231, d2.loss_bbox: 0.2997, d3.loss_cls: 0.1025, d3.loss_bbox: 0.2958, d4.loss_cls: 0.1011, d4.loss_bbox: 0.2906, d5.loss_cls: 0.1011, d5.loss_bbox: 0.2875, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6789, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5365, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4865, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4790, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4596, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4599, d0.loss_map_cls_all: 0.1757, d0.loss_map_pts_all: 1.0201, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1757, d0.loss_map_pts: 1.0201, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1414, d1.loss_map_pts: 0.7190, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1173, d2.loss_map_pts: 0.5596, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1030, d3.loss_map_pts: 0.5029, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0956, d4.loss_map_pts: 0.4818, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0900, d5.loss_map_pts: 0.4765, d5.loss_map_dir: 0.0059, loss: 22.8063, grad_norm: 174.3519 +2026-02-28 20:44:22,908 - DriveTransformer - INFO - Epoch [11][9850/39528] lr: 6.331e-05, eta: 4 days, 14:23:29, time: 0.710, data_time: 0.038, memory: 19865, loss_cls: 0.0992, loss_bbox: 0.2940, loss_traj: 0.4950, loss_traj_cls: 0.0019, loss_map_cls: 0.0899, loss_map_pts: 0.4601, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.4373, d0.loss_plan_l1_fix_dist: 0.5051, d1.loss_plan_l1_fix_time: 0.7501, d1.loss_plan_l1_fix_dist: 0.2070, d2.loss_plan_l1_fix_time: 0.7344, d2.loss_plan_l1_fix_dist: 0.2350, d3.loss_plan_l1_fix_time: 0.7357, d3.loss_plan_l1_fix_dist: 0.1686, d4.loss_plan_l1_fix_time: 0.7382, d4.loss_plan_l1_fix_dist: 0.1928, d5.loss_plan_l1_fix_time: 0.7409, d5.loss_plan_l1_fix_dist: 0.2077, d6.loss_plan_l1_fix_time: 0.7449, d6.loss_plan_l1_fix_dist: 0.2315, d0.loss_cls_all: 0.1402, d0.loss_bbox_all: 0.3538, d0.loss_cls: 0.1402, d0.loss_bbox: 0.3538, d1.loss_cls: 0.1334, d1.loss_bbox: 0.3195, d2.loss_cls: 0.1196, d2.loss_bbox: 0.3046, d3.loss_cls: 0.1043, d3.loss_bbox: 0.2980, d4.loss_cls: 0.1001, d4.loss_bbox: 0.2951, d5.loss_cls: 0.0991, d5.loss_bbox: 0.2936, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7331, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5625, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5135, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4978, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4948, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4945, d0.loss_map_cls_all: 0.1562, d0.loss_map_pts_all: 0.8806, d0.loss_map_dir_all: 0.0050, d0.loss_map_cls: 0.1562, d0.loss_map_pts: 0.8806, d0.loss_map_dir: 0.0050, d1.loss_map_cls: 0.1342, d1.loss_map_pts: 0.6606, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1106, d2.loss_map_pts: 0.5344, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.1009, d3.loss_map_pts: 0.4847, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0960, d4.loss_map_pts: 0.4671, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0912, d5.loss_map_pts: 0.4587, d5.loss_map_dir: 0.0050, loss: 21.6765, grad_norm: 174.8750 +2026-02-28 20:44:57,578 - DriveTransformer - INFO - Epoch [11][9900/39528] lr: 6.331e-05, eta: 4 days, 14:22:46, time: 0.693, data_time: 0.039, memory: 19865, loss_cls: 0.0856, loss_bbox: 0.2803, loss_traj: 0.5244, loss_traj_cls: 0.0019, loss_map_cls: 0.0967, loss_map_pts: 0.4599, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.5714, d0.loss_plan_l1_fix_dist: 0.3759, d1.loss_plan_l1_fix_time: 0.7903, d1.loss_plan_l1_fix_dist: 0.1937, d2.loss_plan_l1_fix_time: 0.7880, d2.loss_plan_l1_fix_dist: 0.2184, d3.loss_plan_l1_fix_time: 0.7935, d3.loss_plan_l1_fix_dist: 0.1696, d4.loss_plan_l1_fix_time: 0.7967, d4.loss_plan_l1_fix_dist: 0.1679, d5.loss_plan_l1_fix_time: 0.7994, d5.loss_plan_l1_fix_dist: 0.1783, d6.loss_plan_l1_fix_time: 0.8020, d6.loss_plan_l1_fix_dist: 0.1943, d0.loss_cls_all: 0.1342, d0.loss_bbox_all: 0.3540, d0.loss_cls: 0.1342, d0.loss_bbox: 0.3540, d1.loss_cls: 0.1303, d1.loss_bbox: 0.3197, d2.loss_cls: 0.1118, d2.loss_bbox: 0.2935, d3.loss_cls: 0.0929, d3.loss_bbox: 0.2862, d4.loss_cls: 0.0879, d4.loss_bbox: 0.2827, d5.loss_cls: 0.0851, d5.loss_bbox: 0.2810, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7774, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6084, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5518, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5309, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5237, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5243, d0.loss_map_cls_all: 0.1727, d0.loss_map_pts_all: 0.9343, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1727, d0.loss_map_pts: 0.9343, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1424, d1.loss_map_pts: 0.6548, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1199, d2.loss_map_pts: 0.5256, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1079, d3.loss_map_pts: 0.4821, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1025, d4.loss_map_pts: 0.4656, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0988, d5.loss_map_pts: 0.4604, d5.loss_map_dir: 0.0057, loss: 22.1774, grad_norm: 172.0736 +2026-02-28 20:45:34,352 - DriveTransformer - INFO - Epoch [11][9950/39528] lr: 6.331e-05, eta: 4 days, 14:22:11, time: 0.736, data_time: 0.039, memory: 19865, loss_cls: 0.1071, loss_bbox: 0.3010, loss_traj: 0.4937, loss_traj_cls: 0.0019, loss_map_cls: 0.0989, loss_map_pts: 0.4974, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.7616, d0.loss_plan_l1_fix_dist: 0.5121, d1.loss_plan_l1_fix_time: 0.8413, d1.loss_plan_l1_fix_dist: 0.2208, d2.loss_plan_l1_fix_time: 0.8386, d2.loss_plan_l1_fix_dist: 0.2499, d3.loss_plan_l1_fix_time: 0.8400, d3.loss_plan_l1_fix_dist: 0.2280, d4.loss_plan_l1_fix_time: 0.8424, d4.loss_plan_l1_fix_dist: 0.2232, d5.loss_plan_l1_fix_time: 0.8446, d5.loss_plan_l1_fix_dist: 0.2319, d6.loss_plan_l1_fix_time: 0.8463, d6.loss_plan_l1_fix_dist: 0.2426, d0.loss_cls_all: 0.1565, d0.loss_bbox_all: 0.3607, d0.loss_cls: 0.1565, d0.loss_bbox: 0.3607, d1.loss_cls: 0.1463, d1.loss_bbox: 0.3249, d2.loss_cls: 0.1326, d2.loss_bbox: 0.3056, d3.loss_cls: 0.1153, d3.loss_bbox: 0.3007, d4.loss_cls: 0.1095, d4.loss_bbox: 0.2999, d5.loss_cls: 0.1078, d5.loss_bbox: 0.2992, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7057, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5537, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5111, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4962, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4898, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4906, d0.loss_map_cls_all: 0.1740, d0.loss_map_pts_all: 1.0037, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1740, d0.loss_map_pts: 1.0037, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1438, d1.loss_map_pts: 0.7215, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1230, d2.loss_map_pts: 0.5789, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1118, d3.loss_map_pts: 0.5262, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1058, d4.loss_map_pts: 0.5048, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1009, d5.loss_map_pts: 0.4982, d5.loss_map_dir: 0.0064, loss: 23.4725, grad_norm: 166.7479 +2026-02-28 20:46:11,034 - DriveTransformer - INFO - Epoch [11][10000/39528] lr: 6.331e-05, eta: 4 days, 14:21:35, time: 0.735, data_time: 0.036, memory: 19865, loss_cls: 0.0991, loss_bbox: 0.2832, loss_traj: 0.4327, loss_traj_cls: 0.0018, loss_map_cls: 0.1085, loss_map_pts: 0.5767, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.3512, d0.loss_plan_l1_fix_dist: 0.3792, d1.loss_plan_l1_fix_time: 0.6546, d1.loss_plan_l1_fix_dist: 0.1839, d2.loss_plan_l1_fix_time: 0.6443, d2.loss_plan_l1_fix_dist: 0.2068, d3.loss_plan_l1_fix_time: 0.6375, d3.loss_plan_l1_fix_dist: 0.1776, d4.loss_plan_l1_fix_time: 0.6385, d4.loss_plan_l1_fix_dist: 0.1733, d5.loss_plan_l1_fix_time: 0.6412, d5.loss_plan_l1_fix_dist: 0.1831, d6.loss_plan_l1_fix_time: 0.6443, d6.loss_plan_l1_fix_dist: 0.1929, d0.loss_cls_all: 0.1427, d0.loss_bbox_all: 0.3456, d0.loss_cls: 0.1427, d0.loss_bbox: 0.3456, d1.loss_cls: 0.1365, d1.loss_bbox: 0.3139, d2.loss_cls: 0.1237, d2.loss_bbox: 0.2932, d3.loss_cls: 0.1061, d3.loss_bbox: 0.2868, d4.loss_cls: 0.1019, d4.loss_bbox: 0.2817, d5.loss_cls: 0.1001, d5.loss_bbox: 0.2813, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6484, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5053, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4523, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4422, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4321, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.4301, d0.loss_map_cls_all: 0.1958, d0.loss_map_pts_all: 1.1988, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.1958, d0.loss_map_pts: 1.1988, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1629, d1.loss_map_pts: 0.8654, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1356, d2.loss_map_pts: 0.6863, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1227, d3.loss_map_pts: 0.6147, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1168, d4.loss_map_pts: 0.5864, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1114, d5.loss_map_pts: 0.5778, d5.loss_map_dir: 0.0078, loss: 21.9591, grad_norm: 160.1167 +2026-02-28 20:46:48,108 - DriveTransformer - INFO - Epoch [11][10050/39528] lr: 6.331e-05, eta: 4 days, 14:20:59, time: 0.740, data_time: 0.036, memory: 19865, loss_cls: 0.1053, loss_bbox: 0.3000, loss_traj: 0.5314, loss_traj_cls: 0.0018, loss_map_cls: 0.1179, loss_map_pts: 0.5544, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 3.3123, d0.loss_plan_l1_fix_dist: 0.4180, d1.loss_plan_l1_fix_time: 0.9389, d1.loss_plan_l1_fix_dist: 0.2366, d2.loss_plan_l1_fix_time: 0.9248, d2.loss_plan_l1_fix_dist: 0.2547, d3.loss_plan_l1_fix_time: 0.9304, d3.loss_plan_l1_fix_dist: 0.2310, d4.loss_plan_l1_fix_time: 0.9333, d4.loss_plan_l1_fix_dist: 0.2480, d5.loss_plan_l1_fix_time: 0.9371, d5.loss_plan_l1_fix_dist: 0.2567, d6.loss_plan_l1_fix_time: 0.9416, d6.loss_plan_l1_fix_dist: 0.2657, d0.loss_cls_all: 0.1564, d0.loss_bbox_all: 0.3623, d0.loss_cls: 0.1564, d0.loss_bbox: 0.3623, d1.loss_cls: 0.1502, d1.loss_bbox: 0.3279, d2.loss_cls: 0.1347, d2.loss_bbox: 0.3039, d3.loss_cls: 0.1164, d3.loss_bbox: 0.2996, d4.loss_cls: 0.1077, d4.loss_bbox: 0.2993, d5.loss_cls: 0.1055, d5.loss_bbox: 0.2990, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8805, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6517, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5765, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5465, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5367, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5345, d0.loss_map_cls_all: 0.2094, d0.loss_map_pts_all: 1.1187, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.2094, d0.loss_map_pts: 1.1187, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1717, d1.loss_map_pts: 0.8218, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1461, d2.loss_map_pts: 0.6583, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1325, d3.loss_map_pts: 0.5965, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1250, d4.loss_map_pts: 0.5682, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1201, d5.loss_map_pts: 0.5565, d5.loss_map_dir: 0.0070, loss: 25.9616, grad_norm: 162.3931 +2026-02-28 20:47:25,293 - DriveTransformer - INFO - Epoch [11][10100/39528] lr: 6.331e-05, eta: 4 days, 14:20:25, time: 0.744, data_time: 0.037, memory: 19865, loss_cls: 0.0875, loss_bbox: 0.2712, loss_traj: 0.5481, loss_traj_cls: 0.0019, loss_map_cls: 0.0883, loss_map_pts: 0.4901, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.4387, d0.loss_plan_l1_fix_dist: 0.4979, d1.loss_plan_l1_fix_time: 0.7482, d1.loss_plan_l1_fix_dist: 0.2123, d2.loss_plan_l1_fix_time: 0.7248, d2.loss_plan_l1_fix_dist: 0.2312, d3.loss_plan_l1_fix_time: 0.7249, d3.loss_plan_l1_fix_dist: 0.2137, d4.loss_plan_l1_fix_time: 0.7283, d4.loss_plan_l1_fix_dist: 0.2379, d5.loss_plan_l1_fix_time: 0.7323, d5.loss_plan_l1_fix_dist: 0.2407, d6.loss_plan_l1_fix_time: 0.7372, d6.loss_plan_l1_fix_dist: 0.2390, d0.loss_cls_all: 0.1291, d0.loss_bbox_all: 0.3341, d0.loss_cls: 0.1291, d0.loss_bbox: 0.3341, d1.loss_cls: 0.1219, d1.loss_bbox: 0.3046, d2.loss_cls: 0.1109, d2.loss_bbox: 0.2826, d3.loss_cls: 0.0955, d3.loss_bbox: 0.2777, d4.loss_cls: 0.0890, d4.loss_bbox: 0.2738, d5.loss_cls: 0.0859, d5.loss_bbox: 0.2732, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8226, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6410, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5805, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5598, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5514, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.5484, d0.loss_map_cls_all: 0.1674, d0.loss_map_pts_all: 1.0124, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1674, d0.loss_map_pts: 1.0124, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1371, d1.loss_map_pts: 0.7364, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1128, d2.loss_map_pts: 0.5839, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1012, d3.loss_map_pts: 0.5245, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0951, d4.loss_map_pts: 0.5001, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0910, d5.loss_map_pts: 0.4897, d5.loss_map_dir: 0.0061, loss: 22.5250, grad_norm: 153.9922 +2026-02-28 20:48:01,984 - DriveTransformer - INFO - Epoch [11][10150/39528] lr: 6.331e-05, eta: 4 days, 14:19:49, time: 0.734, data_time: 0.038, memory: 19865, loss_cls: 0.0974, loss_bbox: 0.2823, loss_traj: 0.4445, loss_traj_cls: 0.0019, loss_map_cls: 0.0966, loss_map_pts: 0.4730, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.5117, d0.loss_plan_l1_fix_dist: 0.4868, d1.loss_plan_l1_fix_time: 0.7209, d1.loss_plan_l1_fix_dist: 0.2152, d2.loss_plan_l1_fix_time: 0.7048, d2.loss_plan_l1_fix_dist: 0.2143, d3.loss_plan_l1_fix_time: 0.7098, d3.loss_plan_l1_fix_dist: 0.1947, d4.loss_plan_l1_fix_time: 0.7116, d4.loss_plan_l1_fix_dist: 0.2058, d5.loss_plan_l1_fix_time: 0.7138, d5.loss_plan_l1_fix_dist: 0.2021, d6.loss_plan_l1_fix_time: 0.7162, d6.loss_plan_l1_fix_dist: 0.2222, d0.loss_cls_all: 0.1433, d0.loss_bbox_all: 0.3399, d0.loss_cls: 0.1433, d0.loss_bbox: 0.3399, d1.loss_cls: 0.1381, d1.loss_bbox: 0.3087, d2.loss_cls: 0.1246, d2.loss_bbox: 0.2888, d3.loss_cls: 0.1069, d3.loss_bbox: 0.2854, d4.loss_cls: 0.0996, d4.loss_bbox: 0.2819, d5.loss_cls: 0.0979, d5.loss_bbox: 0.2817, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7162, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5510, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4804, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4567, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4469, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4438, d0.loss_map_cls_all: 0.1835, d0.loss_map_pts_all: 0.9713, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1835, d0.loss_map_pts: 0.9713, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1496, d1.loss_map_pts: 0.6922, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1214, d2.loss_map_pts: 0.5464, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1108, d3.loss_map_pts: 0.4947, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1037, d4.loss_map_pts: 0.4779, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0975, d5.loss_map_pts: 0.4740, d5.loss_map_dir: 0.0064, loss: 21.6348, grad_norm: 153.3145 +2026-02-28 20:48:38,125 - DriveTransformer - INFO - Epoch [11][10200/39528] lr: 6.331e-05, eta: 4 days, 14:19:11, time: 0.723, data_time: 0.037, memory: 19865, loss_cls: 0.0951, loss_bbox: 0.2878, loss_traj: 0.4744, loss_traj_cls: 0.0019, loss_map_cls: 0.1157, loss_map_pts: 0.5356, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.5440, d0.loss_plan_l1_fix_dist: 0.3781, d1.loss_plan_l1_fix_time: 0.7472, d1.loss_plan_l1_fix_dist: 0.1958, d2.loss_plan_l1_fix_time: 0.7275, d2.loss_plan_l1_fix_dist: 0.1873, d3.loss_plan_l1_fix_time: 0.7128, d3.loss_plan_l1_fix_dist: 0.1912, d4.loss_plan_l1_fix_time: 0.7159, d4.loss_plan_l1_fix_dist: 0.1976, d5.loss_plan_l1_fix_time: 0.7192, d5.loss_plan_l1_fix_dist: 0.2059, d6.loss_plan_l1_fix_time: 0.7225, d6.loss_plan_l1_fix_dist: 0.2419, d0.loss_cls_all: 0.1402, d0.loss_bbox_all: 0.3472, d0.loss_cls: 0.1402, d0.loss_bbox: 0.3472, d1.loss_cls: 0.1370, d1.loss_bbox: 0.3139, d2.loss_cls: 0.1239, d2.loss_bbox: 0.2942, d3.loss_cls: 0.1034, d3.loss_bbox: 0.2899, d4.loss_cls: 0.0964, d4.loss_bbox: 0.2883, d5.loss_cls: 0.0946, d5.loss_bbox: 0.2874, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7187, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5474, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5004, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4874, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4793, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4731, d0.loss_map_cls_all: 0.1994, d0.loss_map_pts_all: 1.0842, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1994, d0.loss_map_pts: 1.0842, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1658, d1.loss_map_pts: 0.8028, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1413, d2.loss_map_pts: 0.6438, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1298, d3.loss_map_pts: 0.5743, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1218, d4.loss_map_pts: 0.5467, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1177, d5.loss_map_pts: 0.5363, d5.loss_map_dir: 0.0062, loss: 22.6090, grad_norm: 149.9240 +2026-02-28 20:49:15,935 - DriveTransformer - INFO - Epoch [11][10250/39528] lr: 6.331e-05, eta: 4 days, 14:18:38, time: 0.756, data_time: 0.038, memory: 19865, loss_cls: 0.0959, loss_bbox: 0.2899, loss_traj: 0.5050, loss_traj_cls: 0.0019, loss_map_cls: 0.0982, loss_map_pts: 0.5213, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.3570, d0.loss_plan_l1_fix_dist: 0.4102, d1.loss_plan_l1_fix_time: 0.7499, d1.loss_plan_l1_fix_dist: 0.2103, d2.loss_plan_l1_fix_time: 0.7316, d2.loss_plan_l1_fix_dist: 0.1897, d3.loss_plan_l1_fix_time: 0.7329, d3.loss_plan_l1_fix_dist: 0.2088, d4.loss_plan_l1_fix_time: 0.7364, d4.loss_plan_l1_fix_dist: 0.1889, d5.loss_plan_l1_fix_time: 0.7400, d5.loss_plan_l1_fix_dist: 0.1922, d6.loss_plan_l1_fix_time: 0.7437, d6.loss_plan_l1_fix_dist: 0.2174, d0.loss_cls_all: 0.1370, d0.loss_bbox_all: 0.3507, d0.loss_cls: 0.1370, d0.loss_bbox: 0.3507, d1.loss_cls: 0.1310, d1.loss_bbox: 0.3187, d2.loss_cls: 0.1177, d2.loss_bbox: 0.2976, d3.loss_cls: 0.1007, d3.loss_bbox: 0.2926, d4.loss_cls: 0.0975, d4.loss_bbox: 0.2885, d5.loss_cls: 0.0961, d5.loss_bbox: 0.2887, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7511, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5675, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5243, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5092, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5060, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5040, d0.loss_map_cls_all: 0.1812, d0.loss_map_pts_all: 1.0688, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1812, d0.loss_map_pts: 1.0688, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1443, d1.loss_map_pts: 0.7578, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1245, d2.loss_map_pts: 0.5987, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1121, d3.loss_map_pts: 0.5522, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1046, d4.loss_map_pts: 0.5317, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1008, d5.loss_map_pts: 0.5228, d5.loss_map_dir: 0.0069, loss: 22.3978, grad_norm: 149.5248 +2026-02-28 20:49:51,265 - DriveTransformer - INFO - Epoch [11][10300/39528] lr: 6.331e-05, eta: 4 days, 14:17:58, time: 0.707, data_time: 0.037, memory: 19865, loss_cls: 0.0845, loss_bbox: 0.2655, loss_traj: 0.5397, loss_traj_cls: 0.0020, loss_map_cls: 0.0880, loss_map_pts: 0.4515, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.2537, d0.loss_plan_l1_fix_dist: 0.3440, d1.loss_plan_l1_fix_time: 0.7218, d1.loss_plan_l1_fix_dist: 0.1759, d2.loss_plan_l1_fix_time: 0.6970, d2.loss_plan_l1_fix_dist: 0.1621, d3.loss_plan_l1_fix_time: 0.6947, d3.loss_plan_l1_fix_dist: 0.1954, d4.loss_plan_l1_fix_time: 0.6972, d4.loss_plan_l1_fix_dist: 0.1776, d5.loss_plan_l1_fix_time: 0.6997, d5.loss_plan_l1_fix_dist: 0.1897, d6.loss_plan_l1_fix_time: 0.7028, d6.loss_plan_l1_fix_dist: 0.2055, d0.loss_cls_all: 0.1323, d0.loss_bbox_all: 0.3198, d0.loss_cls: 0.1323, d0.loss_bbox: 0.3198, d1.loss_cls: 0.1247, d1.loss_bbox: 0.2916, d2.loss_cls: 0.1109, d2.loss_bbox: 0.2707, d3.loss_cls: 0.0931, d3.loss_bbox: 0.2677, d4.loss_cls: 0.0870, d4.loss_bbox: 0.2655, d5.loss_cls: 0.0847, d5.loss_bbox: 0.2655, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8133, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6289, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5705, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5510, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5436, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5409, d0.loss_map_cls_all: 0.1690, d0.loss_map_pts_all: 0.9293, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1690, d0.loss_map_pts: 0.9293, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1399, d1.loss_map_pts: 0.6742, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1125, d2.loss_map_pts: 0.5321, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.1012, d3.loss_map_pts: 0.4791, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0959, d4.loss_map_pts: 0.4609, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0898, d5.loss_map_pts: 0.4528, d5.loss_map_dir: 0.0050, loss: 21.1416, grad_norm: 145.0329 +2026-02-28 20:50:27,034 - DriveTransformer - INFO - Epoch [11][10350/39528] lr: 6.331e-05, eta: 4 days, 14:17:19, time: 0.715, data_time: 0.039, memory: 19865, loss_cls: 0.1137, loss_bbox: 0.2946, loss_traj: 0.5389, loss_traj_cls: 0.0019, loss_map_cls: 0.1206, loss_map_pts: 0.5948, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.5286, d0.loss_plan_l1_fix_dist: 0.3835, d1.loss_plan_l1_fix_time: 0.8296, d1.loss_plan_l1_fix_dist: 0.1795, d2.loss_plan_l1_fix_time: 0.8132, d2.loss_plan_l1_fix_dist: 0.1707, d3.loss_plan_l1_fix_time: 0.8097, d3.loss_plan_l1_fix_dist: 0.1969, d4.loss_plan_l1_fix_time: 0.8109, d4.loss_plan_l1_fix_dist: 0.1868, d5.loss_plan_l1_fix_time: 0.8126, d5.loss_plan_l1_fix_dist: 0.1996, d6.loss_plan_l1_fix_time: 0.8148, d6.loss_plan_l1_fix_dist: 0.2091, d0.loss_cls_all: 0.1632, d0.loss_bbox_all: 0.3547, d0.loss_cls: 0.1632, d0.loss_bbox: 0.3547, d1.loss_cls: 0.1596, d1.loss_bbox: 0.3242, d2.loss_cls: 0.1433, d2.loss_bbox: 0.3005, d3.loss_cls: 0.1239, d3.loss_bbox: 0.2951, d4.loss_cls: 0.1152, d4.loss_bbox: 0.2935, d5.loss_cls: 0.1136, d5.loss_bbox: 0.2939, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8276, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6345, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5699, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5541, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5421, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5417, d0.loss_map_cls_all: 0.2067, d0.loss_map_pts_all: 1.1628, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2067, d0.loss_map_pts: 1.1628, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1757, d1.loss_map_pts: 0.8576, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1500, d2.loss_map_pts: 0.6883, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1366, d3.loss_map_pts: 0.6263, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1286, d4.loss_map_pts: 0.5981, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1219, d5.loss_map_pts: 0.5945, d5.loss_map_dir: 0.0066, loss: 24.3525, grad_norm: 144.1501 +2026-02-28 20:51:02,833 - DriveTransformer - INFO - Epoch [11][10400/39528] lr: 6.331e-05, eta: 4 days, 14:16:40, time: 0.716, data_time: 0.036, memory: 19865, loss_cls: 0.0869, loss_bbox: 0.2811, loss_traj: 0.4831, loss_traj_cls: 0.0019, loss_map_cls: 0.0878, loss_map_pts: 0.4724, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.1869, d0.loss_plan_l1_fix_dist: 0.3983, d1.loss_plan_l1_fix_time: 0.6746, d1.loss_plan_l1_fix_dist: 0.1611, d2.loss_plan_l1_fix_time: 0.6569, d2.loss_plan_l1_fix_dist: 0.1712, d3.loss_plan_l1_fix_time: 0.6567, d3.loss_plan_l1_fix_dist: 0.1992, d4.loss_plan_l1_fix_time: 0.6588, d4.loss_plan_l1_fix_dist: 0.1907, d5.loss_plan_l1_fix_time: 0.6621, d5.loss_plan_l1_fix_dist: 0.2074, d6.loss_plan_l1_fix_time: 0.6669, d6.loss_plan_l1_fix_dist: 0.2117, d0.loss_cls_all: 0.1235, d0.loss_bbox_all: 0.3495, d0.loss_cls: 0.1235, d0.loss_bbox: 0.3495, d1.loss_cls: 0.1204, d1.loss_bbox: 0.3105, d2.loss_cls: 0.1096, d2.loss_bbox: 0.2894, d3.loss_cls: 0.0941, d3.loss_bbox: 0.2831, d4.loss_cls: 0.0880, d4.loss_bbox: 0.2806, d5.loss_cls: 0.0868, d5.loss_bbox: 0.2799, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7475, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5687, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5107, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4959, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4920, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4855, d0.loss_map_cls_all: 0.1671, d0.loss_map_pts_all: 0.9704, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1671, d0.loss_map_pts: 0.9704, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1341, d1.loss_map_pts: 0.7018, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1124, d2.loss_map_pts: 0.5496, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1014, d3.loss_map_pts: 0.4977, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0932, d4.loss_map_pts: 0.4791, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0895, d5.loss_map_pts: 0.4732, d5.loss_map_dir: 0.0058, loss: 20.8640, grad_norm: 143.3656 +2026-02-28 20:51:38,155 - DriveTransformer - INFO - Epoch [11][10450/39528] lr: 6.331e-05, eta: 4 days, 14:15:59, time: 0.706, data_time: 0.038, memory: 19865, loss_cls: 0.0818, loss_bbox: 0.2711, loss_traj: 0.4387, loss_traj_cls: 0.0021, loss_map_cls: 0.1017, loss_map_pts: 0.5004, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.3789, d0.loss_plan_l1_fix_dist: 0.4645, d1.loss_plan_l1_fix_time: 0.8376, d1.loss_plan_l1_fix_dist: 0.1742, d2.loss_plan_l1_fix_time: 0.8245, d2.loss_plan_l1_fix_dist: 0.1955, d3.loss_plan_l1_fix_time: 0.8232, d3.loss_plan_l1_fix_dist: 0.2135, d4.loss_plan_l1_fix_time: 0.8253, d4.loss_plan_l1_fix_dist: 0.2109, d5.loss_plan_l1_fix_time: 0.8292, d5.loss_plan_l1_fix_dist: 0.2234, d6.loss_plan_l1_fix_time: 0.8344, d6.loss_plan_l1_fix_dist: 0.2356, d0.loss_cls_all: 0.1257, d0.loss_bbox_all: 0.3350, d0.loss_cls: 0.1257, d0.loss_bbox: 0.3350, d1.loss_cls: 0.1183, d1.loss_bbox: 0.3017, d2.loss_cls: 0.1029, d2.loss_bbox: 0.2808, d3.loss_cls: 0.0886, d3.loss_bbox: 0.2741, d4.loss_cls: 0.0848, d4.loss_bbox: 0.2703, d5.loss_cls: 0.0819, d5.loss_bbox: 0.2700, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6655, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5164, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4622, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4507, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4453, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4428, d0.loss_map_cls_all: 0.1823, d0.loss_map_pts_all: 1.0347, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1823, d0.loss_map_pts: 1.0347, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1498, d1.loss_map_pts: 0.7360, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1259, d2.loss_map_pts: 0.5889, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1190, d3.loss_map_pts: 0.5297, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1099, d4.loss_map_pts: 0.5091, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1046, d5.loss_map_pts: 0.5012, d5.loss_map_dir: 0.0057, loss: 22.2032, grad_norm: 141.8441 +2026-02-28 20:52:14,320 - DriveTransformer - INFO - Epoch [11][10500/39528] lr: 6.331e-05, eta: 4 days, 14:15:21, time: 0.723, data_time: 0.038, memory: 19865, loss_cls: 0.0926, loss_bbox: 0.2938, loss_traj: 0.5364, loss_traj_cls: 0.0020, loss_map_cls: 0.0956, loss_map_pts: 0.5064, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.7642, d0.loss_plan_l1_fix_dist: 0.4009, d1.loss_plan_l1_fix_time: 0.6676, d1.loss_plan_l1_fix_dist: 0.1666, d2.loss_plan_l1_fix_time: 0.6538, d2.loss_plan_l1_fix_dist: 0.1738, d3.loss_plan_l1_fix_time: 0.6496, d3.loss_plan_l1_fix_dist: 0.1623, d4.loss_plan_l1_fix_time: 0.6525, d4.loss_plan_l1_fix_dist: 0.1694, d5.loss_plan_l1_fix_time: 0.6569, d5.loss_plan_l1_fix_dist: 0.1791, d6.loss_plan_l1_fix_time: 0.6623, d6.loss_plan_l1_fix_dist: 0.2051, d0.loss_cls_all: 0.1408, d0.loss_bbox_all: 0.3497, d0.loss_cls: 0.1408, d0.loss_bbox: 0.3497, d1.loss_cls: 0.1375, d1.loss_bbox: 0.3193, d2.loss_cls: 0.1212, d2.loss_bbox: 0.3028, d3.loss_cls: 0.1012, d3.loss_bbox: 0.2977, d4.loss_cls: 0.0962, d4.loss_bbox: 0.2941, d5.loss_cls: 0.0938, d5.loss_bbox: 0.2937, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7856, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6144, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5735, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5564, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5475, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5399, d0.loss_map_cls_all: 0.1740, d0.loss_map_pts_all: 1.0272, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1740, d0.loss_map_pts: 1.0272, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1412, d1.loss_map_pts: 0.7565, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1168, d2.loss_map_pts: 0.6031, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1076, d3.loss_map_pts: 0.5411, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1017, d4.loss_map_pts: 0.5151, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0968, d5.loss_map_pts: 0.5082, d5.loss_map_dir: 0.0061, loss: 22.2908, grad_norm: 141.6205 +2026-02-28 20:52:49,292 - DriveTransformer - INFO - Epoch [11][10550/39528] lr: 6.331e-05, eta: 4 days, 14:14:40, time: 0.699, data_time: 0.036, memory: 19865, loss_cls: 0.0874, loss_bbox: 0.2640, loss_traj: 0.3792, loss_traj_cls: 0.0021, loss_map_cls: 0.0923, loss_map_pts: 0.4560, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.4033, d0.loss_plan_l1_fix_dist: 0.3740, d1.loss_plan_l1_fix_time: 0.6789, d1.loss_plan_l1_fix_dist: 0.1771, d2.loss_plan_l1_fix_time: 0.6683, d2.loss_plan_l1_fix_dist: 0.1708, d3.loss_plan_l1_fix_time: 0.6659, d3.loss_plan_l1_fix_dist: 0.1587, d4.loss_plan_l1_fix_time: 0.6684, d4.loss_plan_l1_fix_dist: 0.1711, d5.loss_plan_l1_fix_time: 0.6714, d5.loss_plan_l1_fix_dist: 0.1847, d6.loss_plan_l1_fix_time: 0.6748, d6.loss_plan_l1_fix_dist: 0.2115, d0.loss_cls_all: 0.1283, d0.loss_bbox_all: 0.3237, d0.loss_cls: 0.1283, d0.loss_bbox: 0.3237, d1.loss_cls: 0.1238, d1.loss_bbox: 0.2922, d2.loss_cls: 0.1079, d2.loss_bbox: 0.2727, d3.loss_cls: 0.0957, d3.loss_bbox: 0.2659, d4.loss_cls: 0.0898, d4.loss_bbox: 0.2649, d5.loss_cls: 0.0871, d5.loss_bbox: 0.2645, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5620, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4476, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4013, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.3854, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.3858, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3792, d0.loss_map_cls_all: 0.1718, d0.loss_map_pts_all: 0.9471, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1718, d0.loss_map_pts: 0.9471, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1400, d1.loss_map_pts: 0.6848, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1154, d2.loss_map_pts: 0.5362, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1044, d3.loss_map_pts: 0.4791, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0987, d4.loss_map_pts: 0.4605, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0953, d5.loss_map_pts: 0.4551, d5.loss_map_dir: 0.0055, loss: 19.9465, grad_norm: 136.1672 +2026-02-28 20:53:24,926 - DriveTransformer - INFO - Epoch [11][10600/39528] lr: 6.331e-05, eta: 4 days, 14:14:00, time: 0.713, data_time: 0.037, memory: 19865, loss_cls: 0.0966, loss_bbox: 0.2848, loss_traj: 0.5086, loss_traj_cls: 0.0020, loss_map_cls: 0.0950, loss_map_pts: 0.4884, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.5187, d0.loss_plan_l1_fix_dist: 0.4320, d1.loss_plan_l1_fix_time: 0.8319, d1.loss_plan_l1_fix_dist: 0.2147, d2.loss_plan_l1_fix_time: 0.8121, d2.loss_plan_l1_fix_dist: 0.1839, d3.loss_plan_l1_fix_time: 0.8019, d3.loss_plan_l1_fix_dist: 0.1888, d4.loss_plan_l1_fix_time: 0.8027, d4.loss_plan_l1_fix_dist: 0.1795, d5.loss_plan_l1_fix_time: 0.8047, d5.loss_plan_l1_fix_dist: 0.2059, d6.loss_plan_l1_fix_time: 0.8071, d6.loss_plan_l1_fix_dist: 0.2106, d0.loss_cls_all: 0.1427, d0.loss_bbox_all: 0.3502, d0.loss_cls: 0.1427, d0.loss_bbox: 0.3502, d1.loss_cls: 0.1335, d1.loss_bbox: 0.3175, d2.loss_cls: 0.1208, d2.loss_bbox: 0.2949, d3.loss_cls: 0.1036, d3.loss_bbox: 0.2861, d4.loss_cls: 0.0964, d4.loss_bbox: 0.2861, d5.loss_cls: 0.0957, d5.loss_bbox: 0.2845, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7721, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5936, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5411, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5118, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5099, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5084, d0.loss_map_cls_all: 0.1794, d0.loss_map_pts_all: 1.0209, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1794, d0.loss_map_pts: 1.0209, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1485, d1.loss_map_pts: 0.7361, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1202, d2.loss_map_pts: 0.5804, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1090, d3.loss_map_pts: 0.5174, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1018, d4.loss_map_pts: 0.4937, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0976, d5.loss_map_pts: 0.4885, d5.loss_map_dir: 0.0060, loss: 22.7585, grad_norm: 135.9788 +2026-02-28 20:54:03,005 - DriveTransformer - INFO - Epoch [11][10650/39528] lr: 6.331e-05, eta: 4 days, 14:13:29, time: 0.762, data_time: 0.036, memory: 19865, loss_cls: 0.0759, loss_bbox: 0.2573, loss_traj: 0.4348, loss_traj_cls: 0.0021, loss_map_cls: 0.1102, loss_map_pts: 0.5432, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.0609, d0.loss_plan_l1_fix_dist: 0.4173, d1.loss_plan_l1_fix_time: 0.6507, d1.loss_plan_l1_fix_dist: 0.2008, d2.loss_plan_l1_fix_time: 0.6359, d2.loss_plan_l1_fix_dist: 0.1580, d3.loss_plan_l1_fix_time: 0.6320, d3.loss_plan_l1_fix_dist: 0.1838, d4.loss_plan_l1_fix_time: 0.6340, d4.loss_plan_l1_fix_dist: 0.1657, d5.loss_plan_l1_fix_time: 0.6370, d5.loss_plan_l1_fix_dist: 0.1952, d6.loss_plan_l1_fix_time: 0.6411, d6.loss_plan_l1_fix_dist: 0.1882, d0.loss_cls_all: 0.1227, d0.loss_bbox_all: 0.3274, d0.loss_cls: 0.1227, d0.loss_bbox: 0.3274, d1.loss_cls: 0.1170, d1.loss_bbox: 0.2936, d2.loss_cls: 0.1004, d2.loss_bbox: 0.2734, d3.loss_cls: 0.0829, d3.loss_bbox: 0.2655, d4.loss_cls: 0.0774, d4.loss_bbox: 0.2618, d5.loss_cls: 0.0759, d5.loss_bbox: 0.2589, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6753, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5168, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4606, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4446, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4399, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4345, d0.loss_map_cls_all: 0.2111, d0.loss_map_pts_all: 1.2041, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2111, d0.loss_map_pts: 1.2041, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1776, d1.loss_map_pts: 0.8555, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1448, d2.loss_map_pts: 0.6510, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1308, d3.loss_map_pts: 0.5781, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1212, d4.loss_map_pts: 0.5489, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1136, d5.loss_map_pts: 0.5431, d5.loss_map_dir: 0.0071, loss: 21.2593, grad_norm: 132.3626 +2026-02-28 20:54:40,485 - DriveTransformer - INFO - Epoch [11][10700/39528] lr: 6.331e-05, eta: 4 days, 14:12:55, time: 0.750, data_time: 0.039, memory: 19865, loss_cls: 0.0790, loss_bbox: 0.2639, loss_traj: 0.4399, loss_traj_cls: 0.0021, loss_map_cls: 0.0904, loss_map_pts: 0.4859, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.6702, d0.loss_plan_l1_fix_dist: 0.4099, d1.loss_plan_l1_fix_time: 0.7119, d1.loss_plan_l1_fix_dist: 0.2176, d2.loss_plan_l1_fix_time: 0.7000, d2.loss_plan_l1_fix_dist: 0.1650, d3.loss_plan_l1_fix_time: 0.7011, d3.loss_plan_l1_fix_dist: 0.2012, d4.loss_plan_l1_fix_time: 0.7049, d4.loss_plan_l1_fix_dist: 0.1794, d5.loss_plan_l1_fix_time: 0.7090, d5.loss_plan_l1_fix_dist: 0.2045, d6.loss_plan_l1_fix_time: 0.7135, d6.loss_plan_l1_fix_dist: 0.1851, d0.loss_cls_all: 0.1220, d0.loss_bbox_all: 0.3343, d0.loss_cls: 0.1220, d0.loss_bbox: 0.3343, d1.loss_cls: 0.1135, d1.loss_bbox: 0.2977, d2.loss_cls: 0.1015, d2.loss_bbox: 0.2725, d3.loss_cls: 0.0864, d3.loss_bbox: 0.2657, d4.loss_cls: 0.0802, d4.loss_bbox: 0.2641, d5.loss_cls: 0.0795, d5.loss_bbox: 0.2623, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6564, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5183, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4626, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4493, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4436, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4419, d0.loss_map_cls_all: 0.1760, d0.loss_map_pts_all: 1.0317, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1760, d0.loss_map_pts: 1.0317, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1393, d1.loss_map_pts: 0.7225, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1167, d2.loss_map_pts: 0.5660, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1058, d3.loss_map_pts: 0.5103, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.0985, d4.loss_map_pts: 0.4905, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0937, d5.loss_map_pts: 0.4854, d5.loss_map_dir: 0.0065, loss: 21.3456, grad_norm: 130.8489 +2026-02-28 20:55:17,652 - DriveTransformer - INFO - Epoch [11][10750/39528] lr: 6.331e-05, eta: 4 days, 14:12:20, time: 0.743, data_time: 0.039, memory: 19865, loss_cls: 0.0826, loss_bbox: 0.2688, loss_traj: 0.4015, loss_traj_cls: 0.0021, loss_map_cls: 0.0841, loss_map_pts: 0.4853, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 1.9742, d0.loss_plan_l1_fix_dist: 0.4146, d1.loss_plan_l1_fix_time: 0.7016, d1.loss_plan_l1_fix_dist: 0.2178, d2.loss_plan_l1_fix_time: 0.6958, d2.loss_plan_l1_fix_dist: 0.1658, d3.loss_plan_l1_fix_time: 0.6960, d3.loss_plan_l1_fix_dist: 0.2083, d4.loss_plan_l1_fix_time: 0.6979, d4.loss_plan_l1_fix_dist: 0.1902, d5.loss_plan_l1_fix_time: 0.6998, d5.loss_plan_l1_fix_dist: 0.2060, d6.loss_plan_l1_fix_time: 0.7020, d6.loss_plan_l1_fix_dist: 0.1869, d0.loss_cls_all: 0.1254, d0.loss_bbox_all: 0.3264, d0.loss_cls: 0.1254, d0.loss_bbox: 0.3264, d1.loss_cls: 0.1196, d1.loss_bbox: 0.2983, d2.loss_cls: 0.1077, d2.loss_bbox: 0.2806, d3.loss_cls: 0.0885, d3.loss_bbox: 0.2741, d4.loss_cls: 0.0840, d4.loss_bbox: 0.2707, d5.loss_cls: 0.0828, d5.loss_bbox: 0.2688, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6223, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4798, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4377, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4172, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4089, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4029, d0.loss_map_cls_all: 0.1671, d0.loss_map_pts_all: 1.0370, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1671, d0.loss_map_pts: 1.0370, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1340, d1.loss_map_pts: 0.7539, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1098, d2.loss_map_pts: 0.5744, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.0983, d3.loss_map_pts: 0.5131, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0919, d4.loss_map_pts: 0.4929, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0864, d5.loss_map_pts: 0.4849, d5.loss_map_dir: 0.0063, loss: 20.4315, grad_norm: 130.7401 +2026-02-28 20:55:53,085 - DriveTransformer - INFO - Epoch [11][10800/39528] lr: 6.331e-05, eta: 4 days, 14:11:40, time: 0.710, data_time: 0.037, memory: 19865, loss_cls: 0.1014, loss_bbox: 0.2937, loss_traj: 0.4143, loss_traj_cls: 0.0020, loss_map_cls: 0.1211, loss_map_pts: 0.5539, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.4845, d0.loss_plan_l1_fix_dist: 0.3814, d1.loss_plan_l1_fix_time: 0.7517, d1.loss_plan_l1_fix_dist: 0.2002, d2.loss_plan_l1_fix_time: 0.7379, d2.loss_plan_l1_fix_dist: 0.1618, d3.loss_plan_l1_fix_time: 0.7369, d3.loss_plan_l1_fix_dist: 0.1938, d4.loss_plan_l1_fix_time: 0.7397, d4.loss_plan_l1_fix_dist: 0.1877, d5.loss_plan_l1_fix_time: 0.7423, d5.loss_plan_l1_fix_dist: 0.1998, d6.loss_plan_l1_fix_time: 0.7452, d6.loss_plan_l1_fix_dist: 0.2175, d0.loss_cls_all: 0.1478, d0.loss_bbox_all: 0.3735, d0.loss_cls: 0.1478, d0.loss_bbox: 0.3735, d1.loss_cls: 0.1429, d1.loss_bbox: 0.3311, d2.loss_cls: 0.1293, d2.loss_bbox: 0.3071, d3.loss_cls: 0.1117, d3.loss_bbox: 0.2990, d4.loss_cls: 0.1017, d4.loss_bbox: 0.2973, d5.loss_cls: 0.1003, d5.loss_bbox: 0.2953, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6200, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4687, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.4224, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4153, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4167, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4145, d0.loss_map_cls_all: 0.1911, d0.loss_map_pts_all: 1.1402, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1911, d0.loss_map_pts: 1.1402, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1651, d1.loss_map_pts: 0.8329, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1435, d2.loss_map_pts: 0.6627, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1331, d3.loss_map_pts: 0.5939, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1274, d4.loss_map_pts: 0.5669, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1227, d5.loss_map_pts: 0.5559, d5.loss_map_dir: 0.0062, loss: 22.5041, grad_norm: 127.6016 +2026-02-28 20:56:28,485 - DriveTransformer - INFO - Epoch [11][10850/39528] lr: 6.331e-05, eta: 4 days, 14:11:00, time: 0.707, data_time: 0.035, memory: 19865, loss_cls: 0.0821, loss_bbox: 0.2601, loss_traj: 0.4374, loss_traj_cls: 0.0021, loss_map_cls: 0.0687, loss_map_pts: 0.4587, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.5415, d0.loss_plan_l1_fix_dist: 0.5188, d1.loss_plan_l1_fix_time: 0.6612, d1.loss_plan_l1_fix_dist: 0.1815, d2.loss_plan_l1_fix_time: 0.6486, d2.loss_plan_l1_fix_dist: 0.1652, d3.loss_plan_l1_fix_time: 0.6528, d3.loss_plan_l1_fix_dist: 0.1672, d4.loss_plan_l1_fix_time: 0.6561, d4.loss_plan_l1_fix_dist: 0.1753, d5.loss_plan_l1_fix_time: 0.6591, d5.loss_plan_l1_fix_dist: 0.1894, d6.loss_plan_l1_fix_time: 0.6623, d6.loss_plan_l1_fix_dist: 0.2401, d0.loss_cls_all: 0.1194, d0.loss_bbox_all: 0.3196, d0.loss_cls: 0.1194, d0.loss_bbox: 0.3196, d1.loss_cls: 0.1207, d1.loss_bbox: 0.2913, d2.loss_cls: 0.1058, d2.loss_bbox: 0.2706, d3.loss_cls: 0.0880, d3.loss_bbox: 0.2622, d4.loss_cls: 0.0842, d4.loss_bbox: 0.2598, d5.loss_cls: 0.0823, d5.loss_bbox: 0.2595, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6644, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5184, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4752, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4554, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4439, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4392, d0.loss_map_cls_all: 0.1389, d0.loss_map_pts_all: 0.8975, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1389, d0.loss_map_pts: 0.8975, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1082, d1.loss_map_pts: 0.6528, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.0890, d2.loss_map_pts: 0.5278, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0798, d3.loss_map_pts: 0.4801, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0752, d4.loss_map_pts: 0.4628, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0706, d5.loss_map_pts: 0.4576, d5.loss_map_dir: 0.0055, loss: 20.2532, grad_norm: 127.4230 +2026-02-28 20:57:04,686 - DriveTransformer - INFO - Epoch [11][10900/39528] lr: 6.331e-05, eta: 4 days, 14:10:22, time: 0.724, data_time: 0.036, memory: 19865, loss_cls: 0.0962, loss_bbox: 0.2796, loss_traj: 0.5123, loss_traj_cls: 0.0020, loss_map_cls: 0.1134, loss_map_pts: 0.5239, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.9667, d0.loss_plan_l1_fix_dist: 0.3854, d1.loss_plan_l1_fix_time: 0.7244, d1.loss_plan_l1_fix_dist: 0.1519, d2.loss_plan_l1_fix_time: 0.7209, d2.loss_plan_l1_fix_dist: 0.1472, d3.loss_plan_l1_fix_time: 0.7135, d3.loss_plan_l1_fix_dist: 0.1644, d4.loss_plan_l1_fix_time: 0.7157, d4.loss_plan_l1_fix_dist: 0.1819, d5.loss_plan_l1_fix_time: 0.7179, d5.loss_plan_l1_fix_dist: 0.2145, d6.loss_plan_l1_fix_time: 0.7200, d6.loss_plan_l1_fix_dist: 0.2498, d0.loss_cls_all: 0.1344, d0.loss_bbox_all: 0.3401, d0.loss_cls: 0.1344, d0.loss_bbox: 0.3401, d1.loss_cls: 0.1276, d1.loss_bbox: 0.3079, d2.loss_cls: 0.1162, d2.loss_bbox: 0.2891, d3.loss_cls: 0.1007, d3.loss_bbox: 0.2834, d4.loss_cls: 0.0968, d4.loss_bbox: 0.2805, d5.loss_cls: 0.0957, d5.loss_bbox: 0.2797, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7937, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6081, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5479, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5105, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5082, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5123, d0.loss_map_cls_all: 0.2068, d0.loss_map_pts_all: 1.1190, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.2068, d0.loss_map_pts: 1.1190, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1695, d1.loss_map_pts: 0.8033, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1418, d2.loss_map_pts: 0.6259, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1304, d3.loss_map_pts: 0.5582, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1219, d4.loss_map_pts: 0.5345, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1165, d5.loss_map_pts: 0.5244, d5.loss_map_dir: 0.0058, loss: 23.1368, grad_norm: 125.4002 +2026-02-28 20:57:40,099 - DriveTransformer - INFO - Epoch [11][10950/39528] lr: 6.331e-05, eta: 4 days, 14:09:42, time: 0.708, data_time: 0.035, memory: 19865, loss_cls: 0.0943, loss_bbox: 0.3010, loss_traj: 0.4821, loss_traj_cls: 0.0020, loss_map_cls: 0.1101, loss_map_pts: 0.5560, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.9296, d0.loss_plan_l1_fix_dist: 0.4004, d1.loss_plan_l1_fix_time: 0.8448, d1.loss_plan_l1_fix_dist: 0.1875, d2.loss_plan_l1_fix_time: 0.8218, d2.loss_plan_l1_fix_dist: 0.1862, d3.loss_plan_l1_fix_time: 0.8183, d3.loss_plan_l1_fix_dist: 0.2194, d4.loss_plan_l1_fix_time: 0.8192, d4.loss_plan_l1_fix_dist: 0.2107, d5.loss_plan_l1_fix_time: 0.8213, d5.loss_plan_l1_fix_dist: 0.2541, d6.loss_plan_l1_fix_time: 0.8237, d6.loss_plan_l1_fix_dist: 0.2679, d0.loss_cls_all: 0.1419, d0.loss_bbox_all: 0.3717, d0.loss_cls: 0.1419, d0.loss_bbox: 0.3717, d1.loss_cls: 0.1371, d1.loss_bbox: 0.3296, d2.loss_cls: 0.1178, d2.loss_bbox: 0.3080, d3.loss_cls: 0.0994, d3.loss_bbox: 0.3066, d4.loss_cls: 0.0936, d4.loss_bbox: 0.3032, d5.loss_cls: 0.0936, d5.loss_bbox: 0.3013, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7464, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5342, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4847, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4797, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4772, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4780, d0.loss_map_cls_all: 0.1947, d0.loss_map_pts_all: 1.0906, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1947, d0.loss_map_pts: 1.0906, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1605, d1.loss_map_pts: 0.8036, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1357, d2.loss_map_pts: 0.6499, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1262, d3.loss_map_pts: 0.5877, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1185, d4.loss_map_pts: 0.5618, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1127, d5.loss_map_pts: 0.5566, d5.loss_map_dir: 0.0060, loss: 23.9042, grad_norm: 121.4850 +2026-02-28 20:58:16,342 - DriveTransformer - INFO - Epoch [11][11000/39528] lr: 6.331e-05, eta: 4 days, 14:09:04, time: 0.725, data_time: 0.038, memory: 19865, loss_cls: 0.0929, loss_bbox: 0.2947, loss_traj: 0.4881, loss_traj_cls: 0.0020, loss_map_cls: 0.0904, loss_map_pts: 0.4860, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.8510, d0.loss_plan_l1_fix_dist: 0.3685, d1.loss_plan_l1_fix_time: 0.8215, d1.loss_plan_l1_fix_dist: 0.1699, d2.loss_plan_l1_fix_time: 0.8023, d2.loss_plan_l1_fix_dist: 0.1716, d3.loss_plan_l1_fix_time: 0.7971, d3.loss_plan_l1_fix_dist: 0.2064, d4.loss_plan_l1_fix_time: 0.7975, d4.loss_plan_l1_fix_dist: 0.1772, d5.loss_plan_l1_fix_time: 0.7988, d5.loss_plan_l1_fix_dist: 0.2263, d6.loss_plan_l1_fix_time: 0.8008, d6.loss_plan_l1_fix_dist: 0.2318, d0.loss_cls_all: 0.1411, d0.loss_bbox_all: 0.3549, d0.loss_cls: 0.1411, d0.loss_bbox: 0.3549, d1.loss_cls: 0.1309, d1.loss_bbox: 0.3201, d2.loss_cls: 0.1179, d2.loss_bbox: 0.2994, d3.loss_cls: 0.1002, d3.loss_bbox: 0.2970, d4.loss_cls: 0.0949, d4.loss_bbox: 0.2953, d5.loss_cls: 0.0943, d5.loss_bbox: 0.2939, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7441, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5730, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5191, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4985, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4911, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4886, d0.loss_map_cls_all: 0.1727, d0.loss_map_pts_all: 0.9618, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1727, d0.loss_map_pts: 0.9618, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1401, d1.loss_map_pts: 0.6953, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1159, d2.loss_map_pts: 0.5643, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1040, d3.loss_map_pts: 0.5109, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0978, d4.loss_map_pts: 0.4938, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0923, d5.loss_map_pts: 0.4875, d5.loss_map_dir: 0.0060, loss: 22.6501, grad_norm: 121.4155 +2026-02-28 20:58:54,056 - DriveTransformer - INFO - Epoch [11][11050/39528] lr: 6.331e-05, eta: 4 days, 14:08:32, time: 0.754, data_time: 0.036, memory: 19865, loss_cls: 0.0959, loss_bbox: 0.3082, loss_traj: 0.4824, loss_traj_cls: 0.0019, loss_map_cls: 0.1191, loss_map_pts: 0.6150, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 3.0613, d0.loss_plan_l1_fix_dist: 0.4265, d1.loss_plan_l1_fix_time: 0.8980, d1.loss_plan_l1_fix_dist: 0.2054, d2.loss_plan_l1_fix_time: 0.8759, d2.loss_plan_l1_fix_dist: 0.1831, d3.loss_plan_l1_fix_time: 0.8726, d3.loss_plan_l1_fix_dist: 0.2362, d4.loss_plan_l1_fix_time: 0.8741, d4.loss_plan_l1_fix_dist: 0.1987, d5.loss_plan_l1_fix_time: 0.8765, d5.loss_plan_l1_fix_dist: 0.2507, d6.loss_plan_l1_fix_time: 0.8798, d6.loss_plan_l1_fix_dist: 0.2312, d0.loss_cls_all: 0.1470, d0.loss_bbox_all: 0.3783, d0.loss_cls: 0.1470, d0.loss_bbox: 0.3783, d1.loss_cls: 0.1400, d1.loss_bbox: 0.3413, d2.loss_cls: 0.1245, d2.loss_bbox: 0.3215, d3.loss_cls: 0.1071, d3.loss_bbox: 0.3133, d4.loss_cls: 0.0992, d4.loss_bbox: 0.3096, d5.loss_cls: 0.0961, d5.loss_bbox: 0.3083, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7164, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5539, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4999, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4869, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4787, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4825, d0.loss_map_cls_all: 0.2117, d0.loss_map_pts_all: 1.2129, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2117, d0.loss_map_pts: 1.2129, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1739, d1.loss_map_pts: 0.8897, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1492, d2.loss_map_pts: 0.7165, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1345, d3.loss_map_pts: 0.6532, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1276, d4.loss_map_pts: 0.6256, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1222, d5.loss_map_pts: 0.6151, d5.loss_map_dir: 0.0083, loss: 25.2519, grad_norm: 116.7641 +2026-02-28 20:59:31,783 - DriveTransformer - INFO - Epoch [11][11100/39528] lr: 6.331e-05, eta: 4 days, 14:07:59, time: 0.755, data_time: 0.041, memory: 19865, loss_cls: 0.0882, loss_bbox: 0.2860, loss_traj: 0.4373, loss_traj_cls: 0.0020, loss_map_cls: 0.0901, loss_map_pts: 0.5185, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.7213, d0.loss_plan_l1_fix_dist: 0.4261, d1.loss_plan_l1_fix_time: 0.6871, d1.loss_plan_l1_fix_dist: 0.2130, d2.loss_plan_l1_fix_time: 0.6684, d2.loss_plan_l1_fix_dist: 0.1749, d3.loss_plan_l1_fix_time: 0.6725, d3.loss_plan_l1_fix_dist: 0.2504, d4.loss_plan_l1_fix_time: 0.6759, d4.loss_plan_l1_fix_dist: 0.2241, d5.loss_plan_l1_fix_time: 0.6791, d5.loss_plan_l1_fix_dist: 0.2819, d6.loss_plan_l1_fix_time: 0.6830, d6.loss_plan_l1_fix_dist: 0.2657, d0.loss_cls_all: 0.1330, d0.loss_bbox_all: 0.3500, d0.loss_cls: 0.1330, d0.loss_bbox: 0.3500, d1.loss_cls: 0.1294, d1.loss_bbox: 0.3174, d2.loss_cls: 0.1167, d2.loss_bbox: 0.2975, d3.loss_cls: 0.0969, d3.loss_bbox: 0.2894, d4.loss_cls: 0.0907, d4.loss_bbox: 0.2867, d5.loss_cls: 0.0889, d5.loss_bbox: 0.2851, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6844, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5037, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4506, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4409, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4356, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4370, d0.loss_map_cls_all: 0.1690, d0.loss_map_pts_all: 0.9921, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1690, d0.loss_map_pts: 0.9921, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1359, d1.loss_map_pts: 0.7261, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1161, d2.loss_map_pts: 0.5918, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1060, d3.loss_map_pts: 0.5397, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0978, d4.loss_map_pts: 0.5257, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0930, d5.loss_map_pts: 0.5185, d5.loss_map_dir: 0.0055, loss: 21.7854, grad_norm: 121.2917 +2026-02-28 21:00:07,890 - DriveTransformer - INFO - Epoch [11][11150/39528] lr: 6.331e-05, eta: 4 days, 14:07:21, time: 0.722, data_time: 0.036, memory: 19865, loss_cls: 0.0908, loss_bbox: 0.2973, loss_traj: 0.3918, loss_traj_cls: 0.0020, loss_map_cls: 0.1206, loss_map_pts: 0.5896, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.3825, d0.loss_plan_l1_fix_dist: 0.3829, d1.loss_plan_l1_fix_time: 0.7227, d1.loss_plan_l1_fix_dist: 0.2086, d2.loss_plan_l1_fix_time: 0.7056, d2.loss_plan_l1_fix_dist: 0.1766, d3.loss_plan_l1_fix_time: 0.7035, d3.loss_plan_l1_fix_dist: 0.2372, d4.loss_plan_l1_fix_time: 0.7074, d4.loss_plan_l1_fix_dist: 0.2173, d5.loss_plan_l1_fix_time: 0.7111, d5.loss_plan_l1_fix_dist: 0.2703, d6.loss_plan_l1_fix_time: 0.7150, d6.loss_plan_l1_fix_dist: 0.2492, d0.loss_cls_all: 0.1373, d0.loss_bbox_all: 0.3558, d0.loss_cls: 0.1373, d0.loss_bbox: 0.3558, d1.loss_cls: 0.1320, d1.loss_bbox: 0.3242, d2.loss_cls: 0.1183, d2.loss_bbox: 0.3047, d3.loss_cls: 0.1002, d3.loss_bbox: 0.2998, d4.loss_cls: 0.0925, d4.loss_bbox: 0.2987, d5.loss_cls: 0.0910, d5.loss_bbox: 0.2965, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6064, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4661, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4204, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.3948, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3981, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.3939, d0.loss_map_cls_all: 0.2010, d0.loss_map_pts_all: 1.1107, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2010, d0.loss_map_pts: 1.1107, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1708, d1.loss_map_pts: 0.8413, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1451, d2.loss_map_pts: 0.6737, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1333, d3.loss_map_pts: 0.6169, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1277, d4.loss_map_pts: 0.5955, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1234, d5.loss_map_pts: 0.5893, d5.loss_map_dir: 0.0068, loss: 22.3054, grad_norm: 121.3753 +2026-02-28 21:00:42,868 - DriveTransformer - INFO - Epoch [11][11200/39528] lr: 6.331e-05, eta: 4 days, 14:06:39, time: 0.700, data_time: 0.036, memory: 19865, loss_cls: 0.0897, loss_bbox: 0.2864, loss_traj: 0.5901, loss_traj_cls: 0.0020, loss_map_cls: 0.0900, loss_map_pts: 0.4688, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.9112, d0.loss_plan_l1_fix_dist: 0.4025, d1.loss_plan_l1_fix_time: 0.7085, d1.loss_plan_l1_fix_dist: 0.2047, d2.loss_plan_l1_fix_time: 0.6967, d2.loss_plan_l1_fix_dist: 0.1864, d3.loss_plan_l1_fix_time: 0.6958, d3.loss_plan_l1_fix_dist: 0.2258, d4.loss_plan_l1_fix_time: 0.6990, d4.loss_plan_l1_fix_dist: 0.2229, d5.loss_plan_l1_fix_time: 0.7018, d5.loss_plan_l1_fix_dist: 0.2791, d6.loss_plan_l1_fix_time: 0.7051, d6.loss_plan_l1_fix_dist: 0.2575, d0.loss_cls_all: 0.1350, d0.loss_bbox_all: 0.3505, d0.loss_cls: 0.1350, d0.loss_bbox: 0.3505, d1.loss_cls: 0.1289, d1.loss_bbox: 0.3165, d2.loss_cls: 0.1130, d2.loss_bbox: 0.2961, d3.loss_cls: 0.0970, d3.loss_bbox: 0.2879, d4.loss_cls: 0.0919, d4.loss_bbox: 0.2862, d5.loss_cls: 0.0903, d5.loss_bbox: 0.2867, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8404, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.6499, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5911, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5872, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5895, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5892, d0.loss_map_cls_all: 0.1694, d0.loss_map_pts_all: 0.9141, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1694, d0.loss_map_pts: 0.9141, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1356, d1.loss_map_pts: 0.6902, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1157, d2.loss_map_pts: 0.5460, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1045, d3.loss_map_pts: 0.4959, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0982, d4.loss_map_pts: 0.4766, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0925, d5.loss_map_pts: 0.4694, d5.loss_map_dir: 0.0049, loss: 22.6743, grad_norm: 121.7597 +2026-02-28 21:01:19,041 - DriveTransformer - INFO - Epoch [11][11250/39528] lr: 6.331e-05, eta: 4 days, 14:06:01, time: 0.723, data_time: 0.037, memory: 19865, loss_cls: 0.0893, loss_bbox: 0.2655, loss_traj: 0.4760, loss_traj_cls: 0.0020, loss_map_cls: 0.1039, loss_map_pts: 0.5220, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.8089, d0.loss_plan_l1_fix_dist: 0.4758, d1.loss_plan_l1_fix_time: 0.7161, d1.loss_plan_l1_fix_dist: 0.1886, d2.loss_plan_l1_fix_time: 0.7019, d2.loss_plan_l1_fix_dist: 0.1893, d3.loss_plan_l1_fix_time: 0.7034, d3.loss_plan_l1_fix_dist: 0.2113, d4.loss_plan_l1_fix_time: 0.7067, d4.loss_plan_l1_fix_dist: 0.2148, d5.loss_plan_l1_fix_time: 0.7107, d5.loss_plan_l1_fix_dist: 0.2753, d6.loss_plan_l1_fix_time: 0.7149, d6.loss_plan_l1_fix_dist: 0.2675, d0.loss_cls_all: 0.1305, d0.loss_bbox_all: 0.3281, d0.loss_cls: 0.1305, d0.loss_bbox: 0.3281, d1.loss_cls: 0.1266, d1.loss_bbox: 0.2939, d2.loss_cls: 0.1142, d2.loss_bbox: 0.2740, d3.loss_cls: 0.0955, d3.loss_bbox: 0.2699, d4.loss_cls: 0.0897, d4.loss_bbox: 0.2677, d5.loss_cls: 0.0886, d5.loss_bbox: 0.2660, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7258, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5529, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4961, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4766, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4751, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4762, d0.loss_map_cls_all: 0.1918, d0.loss_map_pts_all: 1.0710, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1918, d0.loss_map_pts: 1.0710, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1568, d1.loss_map_pts: 0.7700, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1311, d2.loss_map_pts: 0.6066, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1192, d3.loss_map_pts: 0.5506, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1126, d4.loss_map_pts: 0.5254, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1071, d5.loss_map_pts: 0.5215, d5.loss_map_dir: 0.0060, loss: 22.5300, grad_norm: 121.2769 +2026-02-28 21:01:55,034 - DriveTransformer - INFO - Epoch [11][11300/39528] lr: 6.331e-05, eta: 4 days, 14:05:23, time: 0.720, data_time: 0.036, memory: 19865, loss_cls: 0.0979, loss_bbox: 0.2912, loss_traj: 0.4106, loss_traj_cls: 0.0020, loss_map_cls: 0.1048, loss_map_pts: 0.5400, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.5056, d0.loss_plan_l1_fix_dist: 0.3489, d1.loss_plan_l1_fix_time: 0.8200, d1.loss_plan_l1_fix_dist: 0.1516, d2.loss_plan_l1_fix_time: 0.8062, d2.loss_plan_l1_fix_dist: 0.1754, d3.loss_plan_l1_fix_time: 0.8026, d3.loss_plan_l1_fix_dist: 0.1777, d4.loss_plan_l1_fix_time: 0.8041, d4.loss_plan_l1_fix_dist: 0.1822, d5.loss_plan_l1_fix_time: 0.8069, d5.loss_plan_l1_fix_dist: 0.2222, d6.loss_plan_l1_fix_time: 0.8097, d6.loss_plan_l1_fix_dist: 0.2433, d0.loss_cls_all: 0.1450, d0.loss_bbox_all: 0.3441, d0.loss_cls: 0.1450, d0.loss_bbox: 0.3441, d1.loss_cls: 0.1367, d1.loss_bbox: 0.3164, d2.loss_cls: 0.1207, d2.loss_bbox: 0.2973, d3.loss_cls: 0.1042, d3.loss_bbox: 0.2925, d4.loss_cls: 0.0974, d4.loss_bbox: 0.2918, d5.loss_cls: 0.0972, d5.loss_bbox: 0.2905, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6259, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4772, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4390, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4183, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4081, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4109, d0.loss_map_cls_all: 0.1901, d0.loss_map_pts_all: 1.1029, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1901, d0.loss_map_pts: 1.1029, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1609, d1.loss_map_pts: 0.7913, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1322, d2.loss_map_pts: 0.6260, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1211, d3.loss_map_pts: 0.5650, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1127, d4.loss_map_pts: 0.5445, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1070, d5.loss_map_pts: 0.5389, d5.loss_map_dir: 0.0065, loss: 22.4481, grad_norm: 121.9044 +2026-02-28 21:02:32,701 - DriveTransformer - INFO - Epoch [11][11350/39528] lr: 6.331e-05, eta: 4 days, 14:04:50, time: 0.753, data_time: 0.037, memory: 19865, loss_cls: 0.0945, loss_bbox: 0.2718, loss_traj: 0.4243, loss_traj_cls: 0.0020, loss_map_cls: 0.0949, loss_map_pts: 0.5312, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.7234, d0.loss_plan_l1_fix_dist: 0.4840, d1.loss_plan_l1_fix_time: 0.7347, d1.loss_plan_l1_fix_dist: 0.1841, d2.loss_plan_l1_fix_time: 0.7247, d2.loss_plan_l1_fix_dist: 0.2087, d3.loss_plan_l1_fix_time: 0.7149, d3.loss_plan_l1_fix_dist: 0.1931, d4.loss_plan_l1_fix_time: 0.7162, d4.loss_plan_l1_fix_dist: 0.2040, d5.loss_plan_l1_fix_time: 0.7181, d5.loss_plan_l1_fix_dist: 0.2186, d6.loss_plan_l1_fix_time: 0.7212, d6.loss_plan_l1_fix_dist: 0.2803, d0.loss_cls_all: 0.1360, d0.loss_bbox_all: 0.3421, d0.loss_cls: 0.1360, d0.loss_bbox: 0.3421, d1.loss_cls: 0.1317, d1.loss_bbox: 0.3073, d2.loss_cls: 0.1187, d2.loss_bbox: 0.2833, d3.loss_cls: 0.1055, d3.loss_bbox: 0.2744, d4.loss_cls: 0.0986, d4.loss_bbox: 0.2729, d5.loss_cls: 0.0952, d5.loss_bbox: 0.2722, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6611, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5222, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4660, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4429, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4324, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4245, d0.loss_map_cls_all: 0.1846, d0.loss_map_pts_all: 1.1276, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1846, d0.loss_map_pts: 1.1276, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1491, d1.loss_map_pts: 0.8163, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1245, d2.loss_map_pts: 0.6294, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1093, d3.loss_map_pts: 0.5634, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1047, d4.loss_map_pts: 0.5385, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0978, d5.loss_map_pts: 0.5323, d5.loss_map_dir: 0.0064, loss: 22.4560, grad_norm: 122.7659 +2026-02-28 21:03:08,997 - DriveTransformer - INFO - Epoch [11][11400/39528] lr: 6.331e-05, eta: 4 days, 14:04:13, time: 0.726, data_time: 0.039, memory: 19865, loss_cls: 0.0928, loss_bbox: 0.2785, loss_traj: 0.5335, loss_traj_cls: 0.0019, loss_map_cls: 0.0869, loss_map_pts: 0.4829, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.4072, d0.loss_plan_l1_fix_dist: 0.4594, d1.loss_plan_l1_fix_time: 0.6962, d1.loss_plan_l1_fix_dist: 0.1947, d2.loss_plan_l1_fix_time: 0.6696, d2.loss_plan_l1_fix_dist: 0.2144, d3.loss_plan_l1_fix_time: 0.6631, d3.loss_plan_l1_fix_dist: 0.2106, d4.loss_plan_l1_fix_time: 0.6659, d4.loss_plan_l1_fix_dist: 0.2132, d5.loss_plan_l1_fix_time: 0.6694, d5.loss_plan_l1_fix_dist: 0.2408, d6.loss_plan_l1_fix_time: 0.6750, d6.loss_plan_l1_fix_dist: 0.2864, d0.loss_cls_all: 0.1328, d0.loss_bbox_all: 0.3453, d0.loss_cls: 0.1328, d0.loss_bbox: 0.3453, d1.loss_cls: 0.1246, d1.loss_bbox: 0.3095, d2.loss_cls: 0.1112, d2.loss_bbox: 0.2886, d3.loss_cls: 0.0954, d3.loss_bbox: 0.2834, d4.loss_cls: 0.0915, d4.loss_bbox: 0.2803, d5.loss_cls: 0.0921, d5.loss_bbox: 0.2783, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7803, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6185, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5633, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5487, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5429, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5350, d0.loss_map_cls_all: 0.1615, d0.loss_map_pts_all: 0.9905, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1615, d0.loss_map_pts: 0.9905, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1303, d1.loss_map_pts: 0.7285, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1124, d2.loss_map_pts: 0.5721, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1004, d3.loss_map_pts: 0.5151, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0954, d4.loss_map_pts: 0.4921, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0889, d5.loss_map_pts: 0.4824, d5.loss_map_dir: 0.0058, loss: 21.9143, grad_norm: 123.7334 +2026-02-28 21:03:45,434 - DriveTransformer - INFO - Epoch [11][11450/39528] lr: 6.331e-05, eta: 4 days, 14:03:36, time: 0.729, data_time: 0.038, memory: 19865, loss_cls: 0.0763, loss_bbox: 0.2580, loss_traj: 0.4923, loss_traj_cls: 0.0019, loss_map_cls: 0.0743, loss_map_pts: 0.4223, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.6270, d0.loss_plan_l1_fix_dist: 0.4300, d1.loss_plan_l1_fix_time: 0.7298, d1.loss_plan_l1_fix_dist: 0.2238, d2.loss_plan_l1_fix_time: 0.7161, d2.loss_plan_l1_fix_dist: 0.2410, d3.loss_plan_l1_fix_time: 0.7189, d3.loss_plan_l1_fix_dist: 0.2381, d4.loss_plan_l1_fix_time: 0.7204, d4.loss_plan_l1_fix_dist: 0.2174, d5.loss_plan_l1_fix_time: 0.7230, d5.loss_plan_l1_fix_dist: 0.2792, d6.loss_plan_l1_fix_time: 0.7271, d6.loss_plan_l1_fix_dist: 0.3011, d0.loss_cls_all: 0.1084, d0.loss_bbox_all: 0.3195, d0.loss_cls: 0.1084, d0.loss_bbox: 0.3195, d1.loss_cls: 0.1052, d1.loss_bbox: 0.2854, d2.loss_cls: 0.0923, d2.loss_bbox: 0.2684, d3.loss_cls: 0.0796, d3.loss_bbox: 0.2623, d4.loss_cls: 0.0755, d4.loss_bbox: 0.2588, d5.loss_cls: 0.0759, d5.loss_bbox: 0.2568, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6793, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5510, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5139, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4974, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4895, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4858, d0.loss_map_cls_all: 0.1559, d0.loss_map_pts_all: 0.9204, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1559, d0.loss_map_pts: 0.9204, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1214, d1.loss_map_pts: 0.6428, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.0998, d2.loss_map_pts: 0.4956, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0879, d3.loss_map_pts: 0.4450, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0804, d4.loss_map_pts: 0.4263, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0759, d5.loss_map_pts: 0.4218, d5.loss_map_dir: 0.0049, loss: 21.1444, grad_norm: 125.8720 +2026-02-28 21:04:21,523 - DriveTransformer - INFO - Epoch [11][11500/39528] lr: 6.331e-05, eta: 4 days, 14:02:58, time: 0.722, data_time: 0.037, memory: 19865, loss_cls: 0.0894, loss_bbox: 0.2825, loss_traj: 0.4625, loss_traj_cls: 0.0019, loss_map_cls: 0.0805, loss_map_pts: 0.4412, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.4108, d0.loss_plan_l1_fix_dist: 0.5240, d1.loss_plan_l1_fix_time: 0.7176, d1.loss_plan_l1_fix_dist: 0.2358, d2.loss_plan_l1_fix_time: 0.6967, d2.loss_plan_l1_fix_dist: 0.2306, d3.loss_plan_l1_fix_time: 0.6913, d3.loss_plan_l1_fix_dist: 0.2490, d4.loss_plan_l1_fix_time: 0.6921, d4.loss_plan_l1_fix_dist: 0.2072, d5.loss_plan_l1_fix_time: 0.6942, d5.loss_plan_l1_fix_dist: 0.2905, d6.loss_plan_l1_fix_time: 0.6971, d6.loss_plan_l1_fix_dist: 0.2850, d0.loss_cls_all: 0.1278, d0.loss_bbox_all: 0.3376, d0.loss_cls: 0.1278, d0.loss_bbox: 0.3376, d1.loss_cls: 0.1259, d1.loss_bbox: 0.3098, d2.loss_cls: 0.1091, d2.loss_bbox: 0.2886, d3.loss_cls: 0.0951, d3.loss_bbox: 0.2856, d4.loss_cls: 0.0909, d4.loss_bbox: 0.2830, d5.loss_cls: 0.0884, d5.loss_bbox: 0.2826, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6740, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5237, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4851, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4673, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4627, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4649, d0.loss_map_cls_all: 0.1582, d0.loss_map_pts_all: 0.9101, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1582, d0.loss_map_pts: 0.9101, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1255, d1.loss_map_pts: 0.6571, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1026, d2.loss_map_pts: 0.5212, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.0931, d3.loss_map_pts: 0.4673, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.0870, d4.loss_map_pts: 0.4463, d4.loss_map_dir: 0.0046, d5.loss_map_cls: 0.0826, d5.loss_map_pts: 0.4411, d5.loss_map_dir: 0.0048, loss: 21.1513, grad_norm: 126.6055 +2026-02-28 21:04:57,492 - DriveTransformer - INFO - Epoch [11][11550/39528] lr: 6.331e-05, eta: 4 days, 14:02:19, time: 0.719, data_time: 0.037, memory: 19865, loss_cls: 0.0951, loss_bbox: 0.2848, loss_traj: 0.4643, loss_traj_cls: 0.0019, loss_map_cls: 0.0859, loss_map_pts: 0.4777, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.7872, d0.loss_plan_l1_fix_dist: 0.4223, d1.loss_plan_l1_fix_time: 0.7828, d1.loss_plan_l1_fix_dist: 0.2602, d2.loss_plan_l1_fix_time: 0.7675, d2.loss_plan_l1_fix_dist: 0.2220, d3.loss_plan_l1_fix_time: 0.7660, d3.loss_plan_l1_fix_dist: 0.2772, d4.loss_plan_l1_fix_time: 0.7674, d4.loss_plan_l1_fix_dist: 0.2250, d5.loss_plan_l1_fix_time: 0.7686, d5.loss_plan_l1_fix_dist: 0.2724, d6.loss_plan_l1_fix_time: 0.7697, d6.loss_plan_l1_fix_dist: 0.2392, d0.loss_cls_all: 0.1377, d0.loss_bbox_all: 0.3480, d0.loss_cls: 0.1377, d0.loss_bbox: 0.3480, d1.loss_cls: 0.1322, d1.loss_bbox: 0.3160, d2.loss_cls: 0.1164, d2.loss_bbox: 0.2954, d3.loss_cls: 0.0985, d3.loss_bbox: 0.2904, d4.loss_cls: 0.0959, d4.loss_bbox: 0.2850, d5.loss_cls: 0.0945, d5.loss_bbox: 0.2847, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6561, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5253, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4763, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4705, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4649, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4647, d0.loss_map_cls_all: 0.1663, d0.loss_map_pts_all: 0.9600, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1663, d0.loss_map_pts: 0.9600, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1337, d1.loss_map_pts: 0.6948, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1089, d2.loss_map_pts: 0.5546, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1011, d3.loss_map_pts: 0.4969, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0941, d4.loss_map_pts: 0.4813, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0880, d5.loss_map_pts: 0.4759, d5.loss_map_dir: 0.0055, loss: 22.3064, grad_norm: 125.1357 +2026-02-28 21:05:34,076 - DriveTransformer - INFO - Epoch [11][11600/39528] lr: 6.331e-05, eta: 4 days, 14:01:43, time: 0.733, data_time: 0.038, memory: 19865, loss_cls: 0.0920, loss_bbox: 0.2899, loss_traj: 0.5646, loss_traj_cls: 0.0020, loss_map_cls: 0.1026, loss_map_pts: 0.4886, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 3.0439, d0.loss_plan_l1_fix_dist: 0.4753, d1.loss_plan_l1_fix_time: 0.8598, d1.loss_plan_l1_fix_dist: 0.2643, d2.loss_plan_l1_fix_time: 0.8421, d2.loss_plan_l1_fix_dist: 0.2188, d3.loss_plan_l1_fix_time: 0.8401, d3.loss_plan_l1_fix_dist: 0.2849, d4.loss_plan_l1_fix_time: 0.8420, d4.loss_plan_l1_fix_dist: 0.2518, d5.loss_plan_l1_fix_time: 0.8432, d5.loss_plan_l1_fix_dist: 0.2834, d6.loss_plan_l1_fix_time: 0.8445, d6.loss_plan_l1_fix_dist: 0.2347, d0.loss_cls_all: 0.1331, d0.loss_bbox_all: 0.3530, d0.loss_cls: 0.1331, d0.loss_bbox: 0.3530, d1.loss_cls: 0.1319, d1.loss_bbox: 0.3183, d2.loss_cls: 0.1159, d2.loss_bbox: 0.2992, d3.loss_cls: 0.0972, d3.loss_bbox: 0.2944, d4.loss_cls: 0.0926, d4.loss_bbox: 0.2923, d5.loss_cls: 0.0916, d5.loss_bbox: 0.2905, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8276, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6570, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5905, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5721, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5646, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5634, d0.loss_map_cls_all: 0.1857, d0.loss_map_pts_all: 1.0077, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1857, d0.loss_map_pts: 1.0077, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1531, d1.loss_map_pts: 0.7270, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1293, d2.loss_map_pts: 0.5771, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1197, d3.loss_map_pts: 0.5183, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.1122, d4.loss_map_pts: 0.4966, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.1060, d5.loss_map_pts: 0.4867, d5.loss_map_dir: 0.0052, loss: 24.2997, grad_norm: 124.4593 +2026-02-28 21:06:10,014 - DriveTransformer - INFO - Epoch [11][11650/39528] lr: 6.331e-05, eta: 4 days, 14:01:04, time: 0.717, data_time: 0.035, memory: 19865, loss_cls: 0.1008, loss_bbox: 0.2806, loss_traj: 0.5222, loss_traj_cls: 0.0020, loss_map_cls: 0.0878, loss_map_pts: 0.4576, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.6975, d0.loss_plan_l1_fix_dist: 0.4428, d1.loss_plan_l1_fix_time: 0.7661, d1.loss_plan_l1_fix_dist: 0.2356, d2.loss_plan_l1_fix_time: 0.7553, d2.loss_plan_l1_fix_dist: 0.2001, d3.loss_plan_l1_fix_time: 0.7506, d3.loss_plan_l1_fix_dist: 0.2591, d4.loss_plan_l1_fix_time: 0.7518, d4.loss_plan_l1_fix_dist: 0.2322, d5.loss_plan_l1_fix_time: 0.7538, d5.loss_plan_l1_fix_dist: 0.2741, d6.loss_plan_l1_fix_time: 0.7565, d6.loss_plan_l1_fix_dist: 0.2207, d0.loss_cls_all: 0.1498, d0.loss_bbox_all: 0.3391, d0.loss_cls: 0.1498, d0.loss_bbox: 0.3391, d1.loss_cls: 0.1401, d1.loss_bbox: 0.3063, d2.loss_cls: 0.1240, d2.loss_bbox: 0.2877, d3.loss_cls: 0.1091, d3.loss_bbox: 0.2833, d4.loss_cls: 0.1021, d4.loss_bbox: 0.2813, d5.loss_cls: 0.1011, d5.loss_bbox: 0.2799, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7504, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5962, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5434, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5291, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5253, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5211, d0.loss_map_cls_all: 0.1566, d0.loss_map_pts_all: 0.9372, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1566, d0.loss_map_pts: 0.9372, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1302, d1.loss_map_pts: 0.6792, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1102, d2.loss_map_pts: 0.5430, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.1006, d3.loss_map_pts: 0.4879, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0953, d4.loss_map_pts: 0.4670, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0900, d5.loss_map_pts: 0.4587, d5.loss_map_dir: 0.0049, loss: 22.4007, grad_norm: 122.2796 +2026-02-28 21:06:45,539 - DriveTransformer - INFO - Epoch [11][11700/39528] lr: 6.331e-05, eta: 4 days, 14:00:24, time: 0.711, data_time: 0.037, memory: 19865, loss_cls: 0.0973, loss_bbox: 0.2880, loss_traj: 0.3775, loss_traj_cls: 0.0019, loss_map_cls: 0.0922, loss_map_pts: 0.4570, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.6991, d0.loss_plan_l1_fix_dist: 0.4226, d1.loss_plan_l1_fix_time: 0.7234, d1.loss_plan_l1_fix_dist: 0.2472, d2.loss_plan_l1_fix_time: 0.7110, d2.loss_plan_l1_fix_dist: 0.2099, d3.loss_plan_l1_fix_time: 0.7016, d3.loss_plan_l1_fix_dist: 0.2697, d4.loss_plan_l1_fix_time: 0.7025, d4.loss_plan_l1_fix_dist: 0.2356, d5.loss_plan_l1_fix_time: 0.7039, d5.loss_plan_l1_fix_dist: 0.2775, d6.loss_plan_l1_fix_time: 0.7057, d6.loss_plan_l1_fix_dist: 0.2710, d0.loss_cls_all: 0.1452, d0.loss_bbox_all: 0.3527, d0.loss_cls: 0.1452, d0.loss_bbox: 0.3527, d1.loss_cls: 0.1373, d1.loss_bbox: 0.3179, d2.loss_cls: 0.1226, d2.loss_bbox: 0.2964, d3.loss_cls: 0.1054, d3.loss_bbox: 0.2911, d4.loss_cls: 0.0983, d4.loss_bbox: 0.2896, d5.loss_cls: 0.0976, d5.loss_bbox: 0.2874, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6175, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4587, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4045, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3899, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3797, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.3792, d0.loss_map_cls_all: 0.1810, d0.loss_map_pts_all: 0.9562, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1810, d0.loss_map_pts: 0.9562, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1429, d1.loss_map_pts: 0.6662, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1189, d2.loss_map_pts: 0.5243, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1066, d3.loss_map_pts: 0.4774, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0988, d4.loss_map_pts: 0.4613, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0939, d5.loss_map_pts: 0.4566, d5.loss_map_dir: 0.0055, loss: 21.3351, grad_norm: 122.7936 +2026-02-28 21:07:21,351 - DriveTransformer - INFO - Epoch [11][11750/39528] lr: 6.331e-05, eta: 4 days, 13:59:46, time: 0.716, data_time: 0.037, memory: 19865, loss_cls: 0.0993, loss_bbox: 0.2775, loss_traj: 0.4512, loss_traj_cls: 0.0020, loss_map_cls: 0.0875, loss_map_pts: 0.4604, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.5837, d0.loss_plan_l1_fix_dist: 0.3460, d1.loss_plan_l1_fix_time: 0.7264, d1.loss_plan_l1_fix_dist: 0.2240, d2.loss_plan_l1_fix_time: 0.7148, d2.loss_plan_l1_fix_dist: 0.1891, d3.loss_plan_l1_fix_time: 0.7074, d3.loss_plan_l1_fix_dist: 0.2392, d4.loss_plan_l1_fix_time: 0.7084, d4.loss_plan_l1_fix_dist: 0.2096, d5.loss_plan_l1_fix_time: 0.7107, d5.loss_plan_l1_fix_dist: 0.2373, d6.loss_plan_l1_fix_time: 0.7132, d6.loss_plan_l1_fix_dist: 0.2663, d0.loss_cls_all: 0.1345, d0.loss_bbox_all: 0.3429, d0.loss_cls: 0.1345, d0.loss_bbox: 0.3429, d1.loss_cls: 0.1384, d1.loss_bbox: 0.3087, d2.loss_cls: 0.1236, d2.loss_bbox: 0.2867, d3.loss_cls: 0.1083, d3.loss_bbox: 0.2824, d4.loss_cls: 0.1003, d4.loss_bbox: 0.2797, d5.loss_cls: 0.0986, d5.loss_bbox: 0.2778, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7196, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5222, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4762, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4595, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4527, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4524, d0.loss_map_cls_all: 0.1643, d0.loss_map_pts_all: 0.9526, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1643, d0.loss_map_pts: 0.9526, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1316, d1.loss_map_pts: 0.6955, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1123, d2.loss_map_pts: 0.5413, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1025, d3.loss_map_pts: 0.4833, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0953, d4.loss_map_pts: 0.4650, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0908, d5.loss_map_pts: 0.4598, d5.loss_map_dir: 0.0054, loss: 21.4550, grad_norm: 124.1698 +2026-02-28 21:07:58,665 - DriveTransformer - INFO - Epoch [11][11800/39528] lr: 6.331e-05, eta: 4 days, 13:59:11, time: 0.746, data_time: 0.036, memory: 19865, loss_cls: 0.1006, loss_bbox: 0.2928, loss_traj: 0.5196, loss_traj_cls: 0.0020, loss_map_cls: 0.1075, loss_map_pts: 0.5670, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.5260, d0.loss_plan_l1_fix_dist: 0.4362, d1.loss_plan_l1_fix_time: 0.7501, d1.loss_plan_l1_fix_dist: 0.2038, d2.loss_plan_l1_fix_time: 0.7429, d2.loss_plan_l1_fix_dist: 0.1873, d3.loss_plan_l1_fix_time: 0.7268, d3.loss_plan_l1_fix_dist: 0.2239, d4.loss_plan_l1_fix_time: 0.7273, d4.loss_plan_l1_fix_dist: 0.2175, d5.loss_plan_l1_fix_time: 0.7292, d5.loss_plan_l1_fix_dist: 0.2423, d6.loss_plan_l1_fix_time: 0.7315, d6.loss_plan_l1_fix_dist: 0.2769, d0.loss_cls_all: 0.1467, d0.loss_bbox_all: 0.3562, d0.loss_cls: 0.1467, d0.loss_bbox: 0.3562, d1.loss_cls: 0.1428, d1.loss_bbox: 0.3244, d2.loss_cls: 0.1250, d2.loss_bbox: 0.3041, d3.loss_cls: 0.1073, d3.loss_bbox: 0.2991, d4.loss_cls: 0.1015, d4.loss_bbox: 0.2942, d5.loss_cls: 0.0996, d5.loss_bbox: 0.2931, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7105, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5918, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5365, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5251, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5254, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5192, d0.loss_map_cls_all: 0.1897, d0.loss_map_pts_all: 1.0854, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1897, d0.loss_map_pts: 1.0854, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1628, d1.loss_map_pts: 0.8173, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1367, d2.loss_map_pts: 0.6486, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1261, d3.loss_map_pts: 0.5867, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1164, d4.loss_map_pts: 0.5681, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1119, d5.loss_map_pts: 0.5637, d5.loss_map_dir: 0.0062, loss: 23.2584, grad_norm: 125.6643 +2026-02-28 21:08:35,341 - DriveTransformer - INFO - Epoch [11][11850/39528] lr: 6.331e-05, eta: 4 days, 13:58:35, time: 0.734, data_time: 0.038, memory: 19865, loss_cls: 0.0857, loss_bbox: 0.2646, loss_traj: 0.4507, loss_traj_cls: 0.0020, loss_map_cls: 0.0920, loss_map_pts: 0.4758, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.1978, d0.loss_plan_l1_fix_dist: 0.3967, d1.loss_plan_l1_fix_time: 0.6719, d1.loss_plan_l1_fix_dist: 0.1586, d2.loss_plan_l1_fix_time: 0.6568, d2.loss_plan_l1_fix_dist: 0.1768, d3.loss_plan_l1_fix_time: 0.6524, d3.loss_plan_l1_fix_dist: 0.1805, d4.loss_plan_l1_fix_time: 0.6533, d4.loss_plan_l1_fix_dist: 0.1963, d5.loss_plan_l1_fix_time: 0.6545, d5.loss_plan_l1_fix_dist: 0.2249, d6.loss_plan_l1_fix_time: 0.6567, d6.loss_plan_l1_fix_dist: 0.2628, d0.loss_cls_all: 0.1253, d0.loss_bbox_all: 0.3213, d0.loss_cls: 0.1253, d0.loss_bbox: 0.3213, d1.loss_cls: 0.1167, d1.loss_bbox: 0.2923, d2.loss_cls: 0.1048, d2.loss_bbox: 0.2735, d3.loss_cls: 0.0910, d3.loss_bbox: 0.2686, d4.loss_cls: 0.0883, d4.loss_bbox: 0.2652, d5.loss_cls: 0.0864, d5.loss_bbox: 0.2640, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6471, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5182, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4747, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4569, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4516, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4504, d0.loss_map_cls_all: 0.1730, d0.loss_map_pts_all: 1.0576, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1730, d0.loss_map_pts: 1.0576, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1446, d1.loss_map_pts: 0.7340, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1192, d2.loss_map_pts: 0.5613, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1073, d3.loss_map_pts: 0.5023, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0992, d4.loss_map_pts: 0.4821, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0942, d5.loss_map_pts: 0.4761, d5.loss_map_dir: 0.0061, loss: 20.6895, grad_norm: 126.9021 +2026-02-28 21:09:11,484 - DriveTransformer - INFO - Epoch [11][11900/39528] lr: 6.331e-05, eta: 4 days, 13:57:57, time: 0.723, data_time: 0.037, memory: 19865, loss_cls: 0.0881, loss_bbox: 0.2580, loss_traj: 0.4041, loss_traj_cls: 0.0020, loss_map_cls: 0.0779, loss_map_pts: 0.4327, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.5343, d0.loss_plan_l1_fix_dist: 0.4063, d1.loss_plan_l1_fix_time: 0.6960, d1.loss_plan_l1_fix_dist: 0.1581, d2.loss_plan_l1_fix_time: 0.6755, d2.loss_plan_l1_fix_dist: 0.2212, d3.loss_plan_l1_fix_time: 0.6737, d3.loss_plan_l1_fix_dist: 0.1745, d4.loss_plan_l1_fix_time: 0.6745, d4.loss_plan_l1_fix_dist: 0.2091, d5.loss_plan_l1_fix_time: 0.6763, d5.loss_plan_l1_fix_dist: 0.2546, d6.loss_plan_l1_fix_time: 0.6782, d6.loss_plan_l1_fix_dist: 0.2796, d0.loss_cls_all: 0.1251, d0.loss_bbox_all: 0.3248, d0.loss_cls: 0.1251, d0.loss_bbox: 0.3248, d1.loss_cls: 0.1216, d1.loss_bbox: 0.2901, d2.loss_cls: 0.1118, d2.loss_bbox: 0.2678, d3.loss_cls: 0.0957, d3.loss_bbox: 0.2616, d4.loss_cls: 0.0891, d4.loss_bbox: 0.2606, d5.loss_cls: 0.0886, d5.loss_bbox: 0.2587, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6942, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5040, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4422, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4190, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4092, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4020, d0.loss_map_cls_all: 0.1566, d0.loss_map_pts_all: 0.9431, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1566, d0.loss_map_pts: 0.9431, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1250, d1.loss_map_pts: 0.6584, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1017, d2.loss_map_pts: 0.5065, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0902, d3.loss_map_pts: 0.4571, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0846, d4.loss_map_pts: 0.4360, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0802, d5.loss_map_pts: 0.4319, d5.loss_map_dir: 0.0054, loss: 20.4099, grad_norm: 132.4712 +2026-02-28 21:09:50,106 - DriveTransformer - INFO - Epoch [11][11950/39528] lr: 6.331e-05, eta: 4 days, 13:57:27, time: 0.772, data_time: 0.037, memory: 19865, loss_cls: 0.0868, loss_bbox: 0.2832, loss_traj: 0.4272, loss_traj_cls: 0.0019, loss_map_cls: 0.0841, loss_map_pts: 0.5230, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.1051, d0.loss_plan_l1_fix_dist: 0.4528, d1.loss_plan_l1_fix_time: 0.6852, d1.loss_plan_l1_fix_dist: 0.1739, d2.loss_plan_l1_fix_time: 0.6767, d2.loss_plan_l1_fix_dist: 0.2466, d3.loss_plan_l1_fix_time: 0.6716, d3.loss_plan_l1_fix_dist: 0.1805, d4.loss_plan_l1_fix_time: 0.6738, d4.loss_plan_l1_fix_dist: 0.2131, d5.loss_plan_l1_fix_time: 0.6771, d5.loss_plan_l1_fix_dist: 0.2596, d6.loss_plan_l1_fix_time: 0.6799, d6.loss_plan_l1_fix_dist: 0.2717, d0.loss_cls_all: 0.1236, d0.loss_bbox_all: 0.3450, d0.loss_cls: 0.1236, d0.loss_bbox: 0.3450, d1.loss_cls: 0.1157, d1.loss_bbox: 0.3145, d2.loss_cls: 0.1074, d2.loss_bbox: 0.2934, d3.loss_cls: 0.0932, d3.loss_bbox: 0.2859, d4.loss_cls: 0.0872, d4.loss_bbox: 0.2838, d5.loss_cls: 0.0875, d5.loss_bbox: 0.2813, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6269, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4909, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4526, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4400, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4342, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4293, d0.loss_map_cls_all: 0.1789, d0.loss_map_pts_all: 1.1059, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1789, d0.loss_map_pts: 1.1059, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1363, d1.loss_map_pts: 0.7859, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1122, d2.loss_map_pts: 0.6182, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.0988, d3.loss_map_pts: 0.5617, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.0918, d4.loss_map_pts: 0.5323, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.0867, d5.loss_map_pts: 0.5241, d5.loss_map_dir: 0.0069, loss: 21.3128, grad_norm: 135.2748 +2026-02-28 21:10:26,290 - DriveTransformer - INFO - Epoch [11][12000/39528] lr: 6.331e-05, eta: 4 days, 13:56:50, time: 0.724, data_time: 0.038, memory: 19865, loss_cls: 0.0910, loss_bbox: 0.2842, loss_traj: 0.5995, loss_traj_cls: 0.0019, loss_map_cls: 0.1029, loss_map_pts: 0.4857, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.8660, d0.loss_plan_l1_fix_dist: 0.3998, d1.loss_plan_l1_fix_time: 0.8273, d1.loss_plan_l1_fix_dist: 0.1992, d2.loss_plan_l1_fix_time: 0.8194, d2.loss_plan_l1_fix_dist: 0.2561, d3.loss_plan_l1_fix_time: 0.8191, d3.loss_plan_l1_fix_dist: 0.1915, d4.loss_plan_l1_fix_time: 0.8206, d4.loss_plan_l1_fix_dist: 0.2156, d5.loss_plan_l1_fix_time: 0.8224, d5.loss_plan_l1_fix_dist: 0.2663, d6.loss_plan_l1_fix_time: 0.8246, d6.loss_plan_l1_fix_dist: 0.2568, d0.loss_cls_all: 0.1316, d0.loss_bbox_all: 0.3448, d0.loss_cls: 0.1316, d0.loss_bbox: 0.3448, d1.loss_cls: 0.1305, d1.loss_bbox: 0.3110, d2.loss_cls: 0.1157, d2.loss_bbox: 0.2941, d3.loss_cls: 0.0991, d3.loss_bbox: 0.2860, d4.loss_cls: 0.0929, d4.loss_bbox: 0.2837, d5.loss_cls: 0.0912, d5.loss_bbox: 0.2835, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8994, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6837, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6320, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.6100, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.6042, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6015, d0.loss_map_cls_all: 0.1907, d0.loss_map_pts_all: 1.0034, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1907, d0.loss_map_pts: 1.0034, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1578, d1.loss_map_pts: 0.7231, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1314, d2.loss_map_pts: 0.5762, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1171, d3.loss_map_pts: 0.5188, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1101, d4.loss_map_pts: 0.4946, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1051, d5.loss_map_pts: 0.4870, d5.loss_map_dir: 0.0058, loss: 23.9818, grad_norm: 133.9052 +2026-02-28 21:11:03,101 - DriveTransformer - INFO - Epoch [11][12050/39528] lr: 6.331e-05, eta: 4 days, 13:56:14, time: 0.736, data_time: 0.038, memory: 19865, loss_cls: 0.0925, loss_bbox: 0.2762, loss_traj: 0.4275, loss_traj_cls: 0.0019, loss_map_cls: 0.1019, loss_map_pts: 0.4977, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.7820, d0.loss_plan_l1_fix_dist: 0.3674, d1.loss_plan_l1_fix_time: 0.8204, d1.loss_plan_l1_fix_dist: 0.2008, d2.loss_plan_l1_fix_time: 0.8064, d2.loss_plan_l1_fix_dist: 0.2398, d3.loss_plan_l1_fix_time: 0.8018, d3.loss_plan_l1_fix_dist: 0.2062, d4.loss_plan_l1_fix_time: 0.8032, d4.loss_plan_l1_fix_dist: 0.2185, d5.loss_plan_l1_fix_time: 0.8053, d5.loss_plan_l1_fix_dist: 0.2725, d6.loss_plan_l1_fix_time: 0.8079, d6.loss_plan_l1_fix_dist: 0.2221, d0.loss_cls_all: 0.1478, d0.loss_bbox_all: 0.3335, d0.loss_cls: 0.1478, d0.loss_bbox: 0.3335, d1.loss_cls: 0.1429, d1.loss_bbox: 0.2971, d2.loss_cls: 0.1241, d2.loss_bbox: 0.2777, d3.loss_cls: 0.1010, d3.loss_bbox: 0.2789, d4.loss_cls: 0.0971, d4.loss_bbox: 0.2747, d5.loss_cls: 0.0936, d5.loss_bbox: 0.2750, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6168, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.4903, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4396, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4294, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4220, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4267, d0.loss_map_cls_all: 0.1819, d0.loss_map_pts_all: 1.0338, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1819, d0.loss_map_pts: 1.0338, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1499, d1.loss_map_pts: 0.7376, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1259, d2.loss_map_pts: 0.5838, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1150, d3.loss_map_pts: 0.5302, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1090, d4.loss_map_pts: 0.5072, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1031, d5.loss_map_pts: 0.4988, d5.loss_map_dir: 0.0059, loss: 22.4464, grad_norm: 133.1086 +2026-02-28 21:11:38,147 - DriveTransformer - INFO - Epoch [11][12100/39528] lr: 6.331e-05, eta: 4 days, 13:55:33, time: 0.701, data_time: 0.039, memory: 19865, loss_cls: 0.0950, loss_bbox: 0.2707, loss_traj: 0.4429, loss_traj_cls: 0.0020, loss_map_cls: 0.0842, loss_map_pts: 0.4508, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.4968, d0.loss_plan_l1_fix_dist: 0.4416, d1.loss_plan_l1_fix_time: 0.7021, d1.loss_plan_l1_fix_dist: 0.1981, d2.loss_plan_l1_fix_time: 0.6851, d2.loss_plan_l1_fix_dist: 0.2161, d3.loss_plan_l1_fix_time: 0.6803, d3.loss_plan_l1_fix_dist: 0.2062, d4.loss_plan_l1_fix_time: 0.6824, d4.loss_plan_l1_fix_dist: 0.2153, d5.loss_plan_l1_fix_time: 0.6846, d5.loss_plan_l1_fix_dist: 0.2693, d6.loss_plan_l1_fix_time: 0.6870, d6.loss_plan_l1_fix_dist: 0.2206, d0.loss_cls_all: 0.1396, d0.loss_bbox_all: 0.3338, d0.loss_cls: 0.1396, d0.loss_bbox: 0.3338, d1.loss_cls: 0.1350, d1.loss_bbox: 0.3005, d2.loss_cls: 0.1183, d2.loss_bbox: 0.2824, d3.loss_cls: 0.1018, d3.loss_bbox: 0.2756, d4.loss_cls: 0.0977, d4.loss_bbox: 0.2717, d5.loss_cls: 0.0954, d5.loss_bbox: 0.2698, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6604, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4919, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4526, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4485, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4428, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4450, d0.loss_map_cls_all: 0.1752, d0.loss_map_pts_all: 0.9674, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1752, d0.loss_map_pts: 0.9674, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1403, d1.loss_map_pts: 0.6989, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.1116, d2.loss_map_pts: 0.5398, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.0985, d3.loss_map_pts: 0.4770, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0905, d4.loss_map_pts: 0.4547, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0862, d5.loss_map_pts: 0.4501, d5.loss_map_dir: 0.0048, loss: 21.0434, grad_norm: 134.0795 +2026-02-28 21:12:16,008 - DriveTransformer - INFO - Epoch [11][12150/39528] lr: 6.331e-05, eta: 4 days, 13:55:00, time: 0.757, data_time: 0.037, memory: 19865, loss_cls: 0.1124, loss_bbox: 0.3142, loss_traj: 0.4397, loss_traj_cls: 0.0019, loss_map_cls: 0.1058, loss_map_pts: 0.5894, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.4786, d0.loss_plan_l1_fix_dist: 0.4738, d1.loss_plan_l1_fix_time: 0.7816, d1.loss_plan_l1_fix_dist: 0.2336, d2.loss_plan_l1_fix_time: 0.7729, d2.loss_plan_l1_fix_dist: 0.2462, d3.loss_plan_l1_fix_time: 0.7769, d3.loss_plan_l1_fix_dist: 0.2417, d4.loss_plan_l1_fix_time: 0.7791, d4.loss_plan_l1_fix_dist: 0.2435, d5.loss_plan_l1_fix_time: 0.7813, d5.loss_plan_l1_fix_dist: 0.2965, d6.loss_plan_l1_fix_time: 0.7840, d6.loss_plan_l1_fix_dist: 0.2599, d0.loss_cls_all: 0.1632, d0.loss_bbox_all: 0.3907, d0.loss_cls: 0.1632, d0.loss_bbox: 0.3907, d1.loss_cls: 0.1575, d1.loss_bbox: 0.3492, d2.loss_cls: 0.1406, d2.loss_bbox: 0.3238, d3.loss_cls: 0.1220, d3.loss_bbox: 0.3182, d4.loss_cls: 0.1164, d4.loss_bbox: 0.3145, d5.loss_cls: 0.1129, d5.loss_bbox: 0.3139, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6352, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4946, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4545, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4449, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4426, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4404, d0.loss_map_cls_all: 0.1921, d0.loss_map_pts_all: 1.2193, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1921, d0.loss_map_pts: 1.2193, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1570, d1.loss_map_pts: 0.8910, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1320, d2.loss_map_pts: 0.6947, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1204, d3.loss_map_pts: 0.6227, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1150, d4.loss_map_pts: 0.5929, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1087, d5.loss_map_pts: 0.5883, d5.loss_map_dir: 0.0079, loss: 23.9138, grad_norm: 137.1576 +2026-02-28 21:12:52,839 - DriveTransformer - INFO - Epoch [11][12200/39528] lr: 6.331e-05, eta: 4 days, 13:54:25, time: 0.737, data_time: 0.035, memory: 19865, loss_cls: 0.0938, loss_bbox: 0.3015, loss_traj: 0.4405, loss_traj_cls: 0.0020, loss_map_cls: 0.0990, loss_map_pts: 0.4884, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.6072, d0.loss_plan_l1_fix_dist: 0.4277, d1.loss_plan_l1_fix_time: 0.7267, d1.loss_plan_l1_fix_dist: 0.2180, d2.loss_plan_l1_fix_time: 0.7078, d2.loss_plan_l1_fix_dist: 0.2265, d3.loss_plan_l1_fix_time: 0.7036, d3.loss_plan_l1_fix_dist: 0.2280, d4.loss_plan_l1_fix_time: 0.7050, d4.loss_plan_l1_fix_dist: 0.2322, d5.loss_plan_l1_fix_time: 0.7075, d5.loss_plan_l1_fix_dist: 0.2925, d6.loss_plan_l1_fix_time: 0.7107, d6.loss_plan_l1_fix_dist: 0.2618, d0.loss_cls_all: 0.1374, d0.loss_bbox_all: 0.3599, d0.loss_cls: 0.1374, d0.loss_bbox: 0.3599, d1.loss_cls: 0.1304, d1.loss_bbox: 0.3262, d2.loss_cls: 0.1183, d2.loss_bbox: 0.3036, d3.loss_cls: 0.1019, d3.loss_bbox: 0.3023, d4.loss_cls: 0.0972, d4.loss_bbox: 0.2996, d5.loss_cls: 0.0930, d5.loss_bbox: 0.3001, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6606, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4995, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4613, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4486, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4417, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4433, d0.loss_map_cls_all: 0.1724, d0.loss_map_pts_all: 1.0608, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1724, d0.loss_map_pts: 1.0608, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1446, d1.loss_map_pts: 0.7413, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1225, d2.loss_map_pts: 0.5752, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1125, d3.loss_map_pts: 0.5142, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1042, d4.loss_map_pts: 0.4916, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1009, d5.loss_map_pts: 0.4873, d5.loss_map_dir: 0.0067, loss: 22.1225, grad_norm: 140.8126 +2026-02-28 21:13:29,853 - DriveTransformer - INFO - Epoch [11][12250/39528] lr: 6.331e-05, eta: 4 days, 13:53:49, time: 0.740, data_time: 0.040, memory: 19865, loss_cls: 0.0896, loss_bbox: 0.2787, loss_traj: 0.4486, loss_traj_cls: 0.0019, loss_map_cls: 0.1125, loss_map_pts: 0.5519, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.4742, d0.loss_plan_l1_fix_dist: 0.3348, d1.loss_plan_l1_fix_time: 0.8122, d1.loss_plan_l1_fix_dist: 0.1967, d2.loss_plan_l1_fix_time: 0.7982, d2.loss_plan_l1_fix_dist: 0.1951, d3.loss_plan_l1_fix_time: 0.7893, d3.loss_plan_l1_fix_dist: 0.1989, d4.loss_plan_l1_fix_time: 0.7913, d4.loss_plan_l1_fix_dist: 0.1906, d5.loss_plan_l1_fix_time: 0.7937, d5.loss_plan_l1_fix_dist: 0.2336, d6.loss_plan_l1_fix_time: 0.7964, d6.loss_plan_l1_fix_dist: 0.2256, d0.loss_cls_all: 0.1384, d0.loss_bbox_all: 0.3388, d0.loss_cls: 0.1384, d0.loss_bbox: 0.3388, d1.loss_cls: 0.1338, d1.loss_bbox: 0.3013, d2.loss_cls: 0.1179, d2.loss_bbox: 0.2834, d3.loss_cls: 0.0970, d3.loss_bbox: 0.2824, d4.loss_cls: 0.0922, d4.loss_bbox: 0.2778, d5.loss_cls: 0.0892, d5.loss_bbox: 0.2777, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6191, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5003, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4505, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4485, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4475, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4473, d0.loss_map_cls_all: 0.2060, d0.loss_map_pts_all: 1.1559, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2060, d0.loss_map_pts: 1.1559, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1721, d1.loss_map_pts: 0.8331, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1419, d2.loss_map_pts: 0.6503, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1301, d3.loss_map_pts: 0.5834, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1215, d4.loss_map_pts: 0.5589, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1153, d5.loss_map_pts: 0.5520, d5.loss_map_dir: 0.0073, loss: 22.7768, grad_norm: 141.1263 +2026-02-28 21:14:08,533 - DriveTransformer - INFO - Epoch [11][12300/39528] lr: 6.331e-05, eta: 4 days, 13:53:20, time: 0.774, data_time: 0.038, memory: 19865, loss_cls: 0.0849, loss_bbox: 0.2641, loss_traj: 0.3965, loss_traj_cls: 0.0019, loss_map_cls: 0.0889, loss_map_pts: 0.5037, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.7767, d0.loss_plan_l1_fix_dist: 0.3514, d1.loss_plan_l1_fix_time: 0.6848, d1.loss_plan_l1_fix_dist: 0.1921, d2.loss_plan_l1_fix_time: 0.6793, d2.loss_plan_l1_fix_dist: 0.1966, d3.loss_plan_l1_fix_time: 0.6761, d3.loss_plan_l1_fix_dist: 0.2008, d4.loss_plan_l1_fix_time: 0.6789, d4.loss_plan_l1_fix_dist: 0.1923, d5.loss_plan_l1_fix_time: 0.6817, d5.loss_plan_l1_fix_dist: 0.2224, d6.loss_plan_l1_fix_time: 0.6849, d6.loss_plan_l1_fix_dist: 0.2451, d0.loss_cls_all: 0.1298, d0.loss_bbox_all: 0.3259, d0.loss_cls: 0.1298, d0.loss_bbox: 0.3259, d1.loss_cls: 0.1239, d1.loss_bbox: 0.2949, d2.loss_cls: 0.1111, d2.loss_bbox: 0.2747, d3.loss_cls: 0.0920, d3.loss_bbox: 0.2682, d4.loss_cls: 0.0867, d4.loss_bbox: 0.2658, d5.loss_cls: 0.0856, d5.loss_bbox: 0.2634, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5688, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4646, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4180, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4016, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3983, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.3960, d0.loss_map_cls_all: 0.1664, d0.loss_map_pts_all: 1.0911, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1664, d0.loss_map_pts: 1.0911, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1379, d1.loss_map_pts: 0.7449, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1140, d2.loss_map_pts: 0.5867, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1034, d3.loss_map_pts: 0.5327, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.0964, d4.loss_map_pts: 0.5108, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.0908, d5.loss_map_pts: 0.5042, d5.loss_map_dir: 0.0074, loss: 21.2286, grad_norm: 141.4342 +2026-02-28 21:14:43,535 - DriveTransformer - INFO - Epoch [11][12350/39528] lr: 6.331e-05, eta: 4 days, 13:52:38, time: 0.700, data_time: 0.039, memory: 19865, loss_cls: 0.0764, loss_bbox: 0.2716, loss_traj: 0.5592, loss_traj_cls: 0.0020, loss_map_cls: 0.0901, loss_map_pts: 0.4107, loss_map_dir: 0.0041, d0.loss_plan_l1_fix_time: 2.7275, d0.loss_plan_l1_fix_dist: 0.4617, d1.loss_plan_l1_fix_time: 0.7072, d1.loss_plan_l1_fix_dist: 0.1893, d2.loss_plan_l1_fix_time: 0.6905, d2.loss_plan_l1_fix_dist: 0.1902, d3.loss_plan_l1_fix_time: 0.6821, d3.loss_plan_l1_fix_dist: 0.1899, d4.loss_plan_l1_fix_time: 0.6843, d4.loss_plan_l1_fix_dist: 0.1903, d5.loss_plan_l1_fix_time: 0.6872, d5.loss_plan_l1_fix_dist: 0.2112, d6.loss_plan_l1_fix_time: 0.6906, d6.loss_plan_l1_fix_dist: 0.2644, d0.loss_cls_all: 0.1198, d0.loss_bbox_all: 0.3219, d0.loss_cls: 0.1198, d0.loss_bbox: 0.3219, d1.loss_cls: 0.1138, d1.loss_bbox: 0.2923, d2.loss_cls: 0.0983, d2.loss_bbox: 0.2736, d3.loss_cls: 0.0838, d3.loss_bbox: 0.2696, d4.loss_cls: 0.0797, d4.loss_bbox: 0.2676, d5.loss_cls: 0.0769, d5.loss_bbox: 0.2689, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8824, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6731, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6160, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5762, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5700, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5623, d0.loss_map_cls_all: 0.1623, d0.loss_map_pts_all: 0.9070, d0.loss_map_dir_all: 0.0046, d0.loss_map_cls: 0.1623, d0.loss_map_pts: 0.9070, d0.loss_map_dir: 0.0046, d1.loss_map_cls: 0.1323, d1.loss_map_pts: 0.6294, d1.loss_map_dir: 0.0041, d2.loss_map_cls: 0.1113, d2.loss_map_pts: 0.4895, d2.loss_map_dir: 0.0038, d3.loss_map_cls: 0.1034, d3.loss_map_pts: 0.4369, d3.loss_map_dir: 0.0039, d4.loss_map_cls: 0.0957, d4.loss_map_pts: 0.4182, d4.loss_map_dir: 0.0040, d5.loss_map_cls: 0.0919, d5.loss_map_pts: 0.4115, d5.loss_map_dir: 0.0041, loss: 21.6612, grad_norm: 143.3568 +2026-02-28 21:15:18,774 - DriveTransformer - INFO - Epoch [11][12400/39528] lr: 6.331e-05, eta: 4 days, 13:51:58, time: 0.706, data_time: 0.036, memory: 19865, loss_cls: 0.0911, loss_bbox: 0.2788, loss_traj: 0.4584, loss_traj_cls: 0.0019, loss_map_cls: 0.1044, loss_map_pts: 0.5104, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.6282, d0.loss_plan_l1_fix_dist: 0.3545, d1.loss_plan_l1_fix_time: 0.7885, d1.loss_plan_l1_fix_dist: 0.1600, d2.loss_plan_l1_fix_time: 0.7716, d2.loss_plan_l1_fix_dist: 0.1628, d3.loss_plan_l1_fix_time: 0.7693, d3.loss_plan_l1_fix_dist: 0.1590, d4.loss_plan_l1_fix_time: 0.7711, d4.loss_plan_l1_fix_dist: 0.1604, d5.loss_plan_l1_fix_time: 0.7735, d5.loss_plan_l1_fix_dist: 0.1801, d6.loss_plan_l1_fix_time: 0.7759, d6.loss_plan_l1_fix_dist: 0.2269, d0.loss_cls_all: 0.1378, d0.loss_bbox_all: 0.3427, d0.loss_cls: 0.1378, d0.loss_bbox: 0.3427, d1.loss_cls: 0.1398, d1.loss_bbox: 0.3077, d2.loss_cls: 0.1202, d2.loss_bbox: 0.2893, d3.loss_cls: 0.0986, d3.loss_bbox: 0.2832, d4.loss_cls: 0.0923, d4.loss_bbox: 0.2802, d5.loss_cls: 0.0915, d5.loss_bbox: 0.2790, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6937, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5248, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4848, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4688, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4636, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4596, d0.loss_map_cls_all: 0.1892, d0.loss_map_pts_all: 1.0501, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1892, d0.loss_map_pts: 1.0501, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1562, d1.loss_map_pts: 0.7684, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1313, d2.loss_map_pts: 0.6026, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1184, d3.loss_map_pts: 0.5433, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1123, d4.loss_map_pts: 0.5172, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1074, d5.loss_map_pts: 0.5106, d5.loss_map_dir: 0.0064, loss: 22.2681, grad_norm: 147.3954 +2026-02-28 21:15:56,400 - DriveTransformer - INFO - Epoch [11][12450/39528] lr: 6.331e-05, eta: 4 days, 13:51:24, time: 0.751, data_time: 0.036, memory: 19865, loss_cls: 0.0890, loss_bbox: 0.2894, loss_traj: 0.4553, loss_traj_cls: 0.0020, loss_map_cls: 0.0901, loss_map_pts: 0.4707, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.3272, d0.loss_plan_l1_fix_dist: 0.3763, d1.loss_plan_l1_fix_time: 0.6766, d1.loss_plan_l1_fix_dist: 0.1610, d2.loss_plan_l1_fix_time: 0.6595, d2.loss_plan_l1_fix_dist: 0.1728, d3.loss_plan_l1_fix_time: 0.6551, d3.loss_plan_l1_fix_dist: 0.1544, d4.loss_plan_l1_fix_time: 0.6582, d4.loss_plan_l1_fix_dist: 0.1712, d5.loss_plan_l1_fix_time: 0.6614, d5.loss_plan_l1_fix_dist: 0.1888, d6.loss_plan_l1_fix_time: 0.6645, d6.loss_plan_l1_fix_dist: 0.2232, d0.loss_cls_all: 0.1284, d0.loss_bbox_all: 0.3501, d0.loss_cls: 0.1284, d0.loss_bbox: 0.3501, d1.loss_cls: 0.1242, d1.loss_bbox: 0.3124, d2.loss_cls: 0.1159, d2.loss_bbox: 0.2948, d3.loss_cls: 0.0991, d3.loss_bbox: 0.2919, d4.loss_cls: 0.0922, d4.loss_bbox: 0.2883, d5.loss_cls: 0.0894, d5.loss_bbox: 0.2888, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6571, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5204, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4720, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4574, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4562, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4576, d0.loss_map_cls_all: 0.1670, d0.loss_map_pts_all: 0.9741, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1670, d0.loss_map_pts: 0.9741, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1353, d1.loss_map_pts: 0.7038, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1133, d2.loss_map_pts: 0.5539, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1022, d3.loss_map_pts: 0.5014, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0957, d4.loss_map_pts: 0.4787, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0921, d5.loss_map_pts: 0.4709, d5.loss_map_dir: 0.0059, loss: 20.7030, grad_norm: 147.5454 +2026-02-28 21:16:34,551 - DriveTransformer - INFO - Epoch [11][12500/39528] lr: 6.331e-05, eta: 4 days, 13:50:53, time: 0.763, data_time: 0.038, memory: 19865, loss_cls: 0.0849, loss_bbox: 0.2718, loss_traj: 0.3973, loss_traj_cls: 0.0020, loss_map_cls: 0.0993, loss_map_pts: 0.5327, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.5789, d0.loss_plan_l1_fix_dist: 0.4052, d1.loss_plan_l1_fix_time: 0.7210, d1.loss_plan_l1_fix_dist: 0.1614, d2.loss_plan_l1_fix_time: 0.7035, d2.loss_plan_l1_fix_dist: 0.1855, d3.loss_plan_l1_fix_time: 0.7071, d3.loss_plan_l1_fix_dist: 0.1640, d4.loss_plan_l1_fix_time: 0.7098, d4.loss_plan_l1_fix_dist: 0.1801, d5.loss_plan_l1_fix_time: 0.7126, d5.loss_plan_l1_fix_dist: 0.2007, d6.loss_plan_l1_fix_time: 0.7156, d6.loss_plan_l1_fix_dist: 0.2134, d0.loss_cls_all: 0.1292, d0.loss_bbox_all: 0.3295, d0.loss_cls: 0.1292, d0.loss_bbox: 0.3295, d1.loss_cls: 0.1217, d1.loss_bbox: 0.2974, d2.loss_cls: 0.1069, d2.loss_bbox: 0.2790, d3.loss_cls: 0.0923, d3.loss_bbox: 0.2748, d4.loss_cls: 0.0874, d4.loss_bbox: 0.2735, d5.loss_cls: 0.0856, d5.loss_bbox: 0.2719, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6465, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4848, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4327, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4108, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4019, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4007, d0.loss_map_cls_all: 0.1692, d0.loss_map_pts_all: 1.1177, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1692, d0.loss_map_pts: 1.1177, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1454, d1.loss_map_pts: 0.8121, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1218, d2.loss_map_pts: 0.6267, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1109, d3.loss_map_pts: 0.5683, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1062, d4.loss_map_pts: 0.5418, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1019, d5.loss_map_pts: 0.5337, d5.loss_map_dir: 0.0067, loss: 21.6348, grad_norm: 150.7229 +2026-02-28 21:17:13,414 - DriveTransformer - INFO - Epoch [11][12550/39528] lr: 6.331e-05, eta: 4 days, 13:50:23, time: 0.777, data_time: 0.038, memory: 19865, loss_cls: 0.0899, loss_bbox: 0.2872, loss_traj: 0.4163, loss_traj_cls: 0.0019, loss_map_cls: 0.1078, loss_map_pts: 0.5925, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.8690, d0.loss_plan_l1_fix_dist: 0.3633, d1.loss_plan_l1_fix_time: 0.7001, d1.loss_plan_l1_fix_dist: 0.1652, d2.loss_plan_l1_fix_time: 0.6811, d2.loss_plan_l1_fix_dist: 0.2060, d3.loss_plan_l1_fix_time: 0.6699, d3.loss_plan_l1_fix_dist: 0.1714, d4.loss_plan_l1_fix_time: 0.6721, d4.loss_plan_l1_fix_dist: 0.1791, d5.loss_plan_l1_fix_time: 0.6750, d5.loss_plan_l1_fix_dist: 0.2072, d6.loss_plan_l1_fix_time: 0.6793, d6.loss_plan_l1_fix_dist: 0.1918, d0.loss_cls_all: 0.1460, d0.loss_bbox_all: 0.3524, d0.loss_cls: 0.1460, d0.loss_bbox: 0.3524, d1.loss_cls: 0.1328, d1.loss_bbox: 0.3187, d2.loss_cls: 0.1179, d2.loss_bbox: 0.2972, d3.loss_cls: 0.0987, d3.loss_bbox: 0.2911, d4.loss_cls: 0.0917, d4.loss_bbox: 0.2887, d5.loss_cls: 0.0898, d5.loss_bbox: 0.2866, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6442, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4803, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4407, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4266, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4199, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4174, d0.loss_map_cls_all: 0.1954, d0.loss_map_pts_all: 1.2604, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.1954, d0.loss_map_pts: 1.2604, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1614, d1.loss_map_pts: 0.8958, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1353, d2.loss_map_pts: 0.6961, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1227, d3.loss_map_pts: 0.6292, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1139, d4.loss_map_pts: 0.6036, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1095, d5.loss_map_pts: 0.5945, d5.loss_map_dir: 0.0079, loss: 22.8076, grad_norm: 151.7035 +2026-02-28 21:17:50,227 - DriveTransformer - INFO - Epoch [11][12600/39528] lr: 6.331e-05, eta: 4 days, 13:49:48, time: 0.736, data_time: 0.038, memory: 19865, loss_cls: 0.0871, loss_bbox: 0.3019, loss_traj: 0.4418, loss_traj_cls: 0.0020, loss_map_cls: 0.1117, loss_map_pts: 0.4994, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.7285, d0.loss_plan_l1_fix_dist: 0.3546, d1.loss_plan_l1_fix_time: 0.7394, d1.loss_plan_l1_fix_dist: 0.1763, d2.loss_plan_l1_fix_time: 0.7183, d2.loss_plan_l1_fix_dist: 0.2294, d3.loss_plan_l1_fix_time: 0.7133, d3.loss_plan_l1_fix_dist: 0.1712, d4.loss_plan_l1_fix_time: 0.7148, d4.loss_plan_l1_fix_dist: 0.1858, d5.loss_plan_l1_fix_time: 0.7171, d5.loss_plan_l1_fix_dist: 0.2101, d6.loss_plan_l1_fix_time: 0.7200, d6.loss_plan_l1_fix_dist: 0.1896, d0.loss_cls_all: 0.1408, d0.loss_bbox_all: 0.3552, d0.loss_cls: 0.1408, d0.loss_bbox: 0.3552, d1.loss_cls: 0.1317, d1.loss_bbox: 0.3216, d2.loss_cls: 0.1167, d2.loss_bbox: 0.3048, d3.loss_cls: 0.0962, d3.loss_bbox: 0.3028, d4.loss_cls: 0.0897, d4.loss_bbox: 0.3022, d5.loss_cls: 0.0880, d5.loss_bbox: 0.3014, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6379, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5077, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4594, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4399, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4389, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4409, d0.loss_map_cls_all: 0.1986, d0.loss_map_pts_all: 1.0769, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1986, d0.loss_map_pts: 1.0769, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1669, d1.loss_map_pts: 0.7892, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1397, d2.loss_map_pts: 0.6057, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1278, d3.loss_map_pts: 0.5304, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1213, d4.loss_map_pts: 0.5048, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1142, d5.loss_map_pts: 0.4992, d5.loss_map_dir: 0.0058, loss: 22.1854, grad_norm: 151.9876 +2026-02-28 21:18:26,726 - DriveTransformer - INFO - Epoch [11][12650/39528] lr: 6.331e-05, eta: 4 days, 13:49:11, time: 0.730, data_time: 0.036, memory: 19865, loss_cls: 0.0759, loss_bbox: 0.2601, loss_traj: 0.4342, loss_traj_cls: 0.0020, loss_map_cls: 0.0891, loss_map_pts: 0.4718, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.5258, d0.loss_plan_l1_fix_dist: 0.4759, d1.loss_plan_l1_fix_time: 0.7080, d1.loss_plan_l1_fix_dist: 0.1722, d2.loss_plan_l1_fix_time: 0.6900, d2.loss_plan_l1_fix_dist: 0.2302, d3.loss_plan_l1_fix_time: 0.6853, d3.loss_plan_l1_fix_dist: 0.1748, d4.loss_plan_l1_fix_time: 0.6866, d4.loss_plan_l1_fix_dist: 0.1989, d5.loss_plan_l1_fix_time: 0.6883, d5.loss_plan_l1_fix_dist: 0.2202, d6.loss_plan_l1_fix_time: 0.6900, d6.loss_plan_l1_fix_dist: 0.1843, d0.loss_cls_all: 0.1175, d0.loss_bbox_all: 0.3181, d0.loss_cls: 0.1175, d0.loss_bbox: 0.3181, d1.loss_cls: 0.1111, d1.loss_bbox: 0.2878, d2.loss_cls: 0.0972, d2.loss_bbox: 0.2698, d3.loss_cls: 0.0839, d3.loss_bbox: 0.2640, d4.loss_cls: 0.0771, d4.loss_bbox: 0.2612, d5.loss_cls: 0.0761, d5.loss_bbox: 0.2594, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6543, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5235, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4649, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4424, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4374, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4367, d0.loss_map_cls_all: 0.1617, d0.loss_map_pts_all: 0.9922, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1617, d0.loss_map_pts: 0.9922, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1302, d1.loss_map_pts: 0.6987, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1099, d2.loss_map_pts: 0.5554, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1027, d3.loss_map_pts: 0.4989, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0957, d4.loss_map_pts: 0.4765, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0920, d5.loss_map_pts: 0.4705, d5.loss_map_dir: 0.0056, loss: 20.8709, grad_norm: 152.7124 +2026-02-28 21:19:04,830 - DriveTransformer - INFO - Epoch [11][12700/39528] lr: 6.331e-05, eta: 4 days, 13:48:39, time: 0.762, data_time: 0.036, memory: 19865, loss_cls: 0.0913, loss_bbox: 0.2826, loss_traj: 0.4334, loss_traj_cls: 0.0020, loss_map_cls: 0.1044, loss_map_pts: 0.5244, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.6586, d0.loss_plan_l1_fix_dist: 0.4511, d1.loss_plan_l1_fix_time: 0.7514, d1.loss_plan_l1_fix_dist: 0.1840, d2.loss_plan_l1_fix_time: 0.7377, d2.loss_plan_l1_fix_dist: 0.2407, d3.loss_plan_l1_fix_time: 0.7361, d3.loss_plan_l1_fix_dist: 0.1937, d4.loss_plan_l1_fix_time: 0.7380, d4.loss_plan_l1_fix_dist: 0.2260, d5.loss_plan_l1_fix_time: 0.7400, d5.loss_plan_l1_fix_dist: 0.2356, d6.loss_plan_l1_fix_time: 0.7422, d6.loss_plan_l1_fix_dist: 0.2186, d0.loss_cls_all: 0.1456, d0.loss_bbox_all: 0.3522, d0.loss_cls: 0.1456, d0.loss_bbox: 0.3522, d1.loss_cls: 0.1342, d1.loss_bbox: 0.3177, d2.loss_cls: 0.1204, d2.loss_bbox: 0.2941, d3.loss_cls: 0.1018, d3.loss_bbox: 0.2863, d4.loss_cls: 0.0952, d4.loss_bbox: 0.2837, d5.loss_cls: 0.0917, d5.loss_bbox: 0.2826, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6527, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5030, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4541, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4404, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4320, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4341, d0.loss_map_cls_all: 0.1827, d0.loss_map_pts_all: 1.1190, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.1827, d0.loss_map_pts: 1.1190, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1478, d1.loss_map_pts: 0.8081, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1278, d2.loss_map_pts: 0.6212, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1178, d3.loss_map_pts: 0.5557, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1107, d4.loss_map_pts: 0.5300, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1057, d5.loss_map_pts: 0.5246, d5.loss_map_dir: 0.0077, loss: 22.5309, grad_norm: 147.4322 +2026-02-28 21:19:40,428 - DriveTransformer - INFO - Epoch [11][12750/39528] lr: 6.331e-05, eta: 4 days, 13:48:00, time: 0.712, data_time: 0.036, memory: 19865, loss_cls: 0.0845, loss_bbox: 0.2686, loss_traj: 0.5531, loss_traj_cls: 0.0020, loss_map_cls: 0.0807, loss_map_pts: 0.4155, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.4201, d0.loss_plan_l1_fix_dist: 0.3726, d1.loss_plan_l1_fix_time: 0.6877, d1.loss_plan_l1_fix_dist: 0.1494, d2.loss_plan_l1_fix_time: 0.6692, d2.loss_plan_l1_fix_dist: 0.2030, d3.loss_plan_l1_fix_time: 0.6571, d3.loss_plan_l1_fix_dist: 0.1557, d4.loss_plan_l1_fix_time: 0.6582, d4.loss_plan_l1_fix_dist: 0.1962, d5.loss_plan_l1_fix_time: 0.6604, d5.loss_plan_l1_fix_dist: 0.1982, d6.loss_plan_l1_fix_time: 0.6634, d6.loss_plan_l1_fix_dist: 0.1989, d0.loss_cls_all: 0.1270, d0.loss_bbox_all: 0.3323, d0.loss_cls: 0.1270, d0.loss_bbox: 0.3323, d1.loss_cls: 0.1183, d1.loss_bbox: 0.2995, d2.loss_cls: 0.1068, d2.loss_bbox: 0.2754, d3.loss_cls: 0.0921, d3.loss_bbox: 0.2706, d4.loss_cls: 0.0857, d4.loss_bbox: 0.2703, d5.loss_cls: 0.0841, d5.loss_bbox: 0.2692, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7975, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6349, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5721, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5595, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5541, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5525, d0.loss_map_cls_all: 0.1594, d0.loss_map_pts_all: 0.9161, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1594, d0.loss_map_pts: 0.9161, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1269, d1.loss_map_pts: 0.6470, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1057, d2.loss_map_pts: 0.4994, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.0960, d3.loss_map_pts: 0.4428, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0884, d4.loss_map_pts: 0.4216, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0821, d5.loss_map_pts: 0.4158, d5.loss_map_dir: 0.0058, loss: 20.8847, grad_norm: 147.0310 +2026-02-28 21:20:17,075 - DriveTransformer - INFO - Epoch [11][12800/39528] lr: 6.331e-05, eta: 4 days, 13:47:23, time: 0.733, data_time: 0.037, memory: 19865, loss_cls: 0.0780, loss_bbox: 0.2530, loss_traj: 0.4651, loss_traj_cls: 0.0020, loss_map_cls: 0.0897, loss_map_pts: 0.5266, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.1089, d0.loss_plan_l1_fix_dist: 0.3972, d1.loss_plan_l1_fix_time: 0.5783, d1.loss_plan_l1_fix_dist: 0.1302, d2.loss_plan_l1_fix_time: 0.5653, d2.loss_plan_l1_fix_dist: 0.1696, d3.loss_plan_l1_fix_time: 0.5830, d3.loss_plan_l1_fix_dist: 0.1404, d4.loss_plan_l1_fix_time: 0.5873, d4.loss_plan_l1_fix_dist: 0.1702, d5.loss_plan_l1_fix_time: 0.5914, d5.loss_plan_l1_fix_dist: 0.1711, d6.loss_plan_l1_fix_time: 0.5956, d6.loss_plan_l1_fix_dist: 0.1837, d0.loss_cls_all: 0.1211, d0.loss_bbox_all: 0.3198, d0.loss_cls: 0.1211, d0.loss_bbox: 0.3198, d1.loss_cls: 0.1117, d1.loss_bbox: 0.2858, d2.loss_cls: 0.0995, d2.loss_bbox: 0.2637, d3.loss_cls: 0.0832, d3.loss_bbox: 0.2578, d4.loss_cls: 0.0781, d4.loss_bbox: 0.2563, d5.loss_cls: 0.0771, d5.loss_bbox: 0.2540, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7414, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5672, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5088, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4772, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4751, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4675, d0.loss_map_cls_all: 0.1847, d0.loss_map_pts_all: 1.1151, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1847, d0.loss_map_pts: 1.1151, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1525, d1.loss_map_pts: 0.8036, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1265, d2.loss_map_pts: 0.6353, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1103, d3.loss_map_pts: 0.5619, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0990, d4.loss_map_pts: 0.5357, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0923, d5.loss_map_pts: 0.5266, d5.loss_map_dir: 0.0059, loss: 20.5681, grad_norm: 146.0053 +2026-02-28 21:20:52,785 - DriveTransformer - INFO - Epoch [11][12850/39528] lr: 6.331e-05, eta: 4 days, 13:46:44, time: 0.714, data_time: 0.037, memory: 19865, loss_cls: 0.0877, loss_bbox: 0.2782, loss_traj: 0.4122, loss_traj_cls: 0.0020, loss_map_cls: 0.0766, loss_map_pts: 0.4309, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.3924, d0.loss_plan_l1_fix_dist: 0.4833, d1.loss_plan_l1_fix_time: 0.7689, d1.loss_plan_l1_fix_dist: 0.1361, d2.loss_plan_l1_fix_time: 0.7584, d2.loss_plan_l1_fix_dist: 0.1670, d3.loss_plan_l1_fix_time: 0.7446, d3.loss_plan_l1_fix_dist: 0.1608, d4.loss_plan_l1_fix_time: 0.7451, d4.loss_plan_l1_fix_dist: 0.1720, d5.loss_plan_l1_fix_time: 0.7469, d5.loss_plan_l1_fix_dist: 0.1669, d6.loss_plan_l1_fix_time: 0.7495, d6.loss_plan_l1_fix_dist: 0.1884, d0.loss_cls_all: 0.1364, d0.loss_bbox_all: 0.3434, d0.loss_cls: 0.1364, d0.loss_bbox: 0.3434, d1.loss_cls: 0.1291, d1.loss_bbox: 0.3066, d2.loss_cls: 0.1142, d2.loss_bbox: 0.2850, d3.loss_cls: 0.0951, d3.loss_bbox: 0.2811, d4.loss_cls: 0.0907, d4.loss_bbox: 0.2774, d5.loss_cls: 0.0879, d5.loss_bbox: 0.2776, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6138, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4773, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4403, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4223, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4160, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4133, d0.loss_map_cls_all: 0.1593, d0.loss_map_pts_all: 0.8513, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1593, d0.loss_map_pts: 0.8513, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1253, d1.loss_map_pts: 0.6354, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1034, d2.loss_map_pts: 0.4999, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0897, d3.loss_map_pts: 0.4518, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0825, d4.loss_map_pts: 0.4355, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0786, d5.loss_map_pts: 0.4301, d5.loss_map_dir: 0.0050, loss: 20.3549, grad_norm: 147.8200 +2026-02-28 21:21:28,552 - DriveTransformer - INFO - Epoch [11][12900/39528] lr: 6.331e-05, eta: 4 days, 13:46:05, time: 0.715, data_time: 0.038, memory: 19865, loss_cls: 0.1106, loss_bbox: 0.3140, loss_traj: 0.5077, loss_traj_cls: 0.0020, loss_map_cls: 0.0981, loss_map_pts: 0.5258, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.7643, d0.loss_plan_l1_fix_dist: 0.4699, d1.loss_plan_l1_fix_time: 0.8110, d1.loss_plan_l1_fix_dist: 0.1721, d2.loss_plan_l1_fix_time: 0.8071, d2.loss_plan_l1_fix_dist: 0.1857, d3.loss_plan_l1_fix_time: 0.8087, d3.loss_plan_l1_fix_dist: 0.1918, d4.loss_plan_l1_fix_time: 0.8115, d4.loss_plan_l1_fix_dist: 0.1853, d5.loss_plan_l1_fix_time: 0.8142, d5.loss_plan_l1_fix_dist: 0.1894, d6.loss_plan_l1_fix_time: 0.8174, d6.loss_plan_l1_fix_dist: 0.1962, d0.loss_cls_all: 0.1600, d0.loss_bbox_all: 0.3880, d0.loss_cls: 0.1600, d0.loss_bbox: 0.3880, d1.loss_cls: 0.1491, d1.loss_bbox: 0.3542, d2.loss_cls: 0.1344, d2.loss_bbox: 0.3274, d3.loss_cls: 0.1172, d3.loss_bbox: 0.3197, d4.loss_cls: 0.1120, d4.loss_bbox: 0.3154, d5.loss_cls: 0.1114, d5.loss_bbox: 0.3139, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7587, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5848, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5408, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5187, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5146, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5078, d0.loss_map_cls_all: 0.1790, d0.loss_map_pts_all: 1.0147, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1790, d0.loss_map_pts: 1.0147, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1432, d1.loss_map_pts: 0.7374, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1202, d2.loss_map_pts: 0.5961, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1095, d3.loss_map_pts: 0.5462, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1053, d4.loss_map_pts: 0.5254, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1002, d5.loss_map_pts: 0.5226, d5.loss_map_dir: 0.0061, loss: 23.5075, grad_norm: 147.6253 +2026-02-28 21:22:06,058 - DriveTransformer - INFO - Epoch [11][12950/39528] lr: 6.331e-05, eta: 4 days, 13:45:32, time: 0.750, data_time: 0.038, memory: 19865, loss_cls: 0.0797, loss_bbox: 0.2635, loss_traj: 0.4817, loss_traj_cls: 0.0020, loss_map_cls: 0.0766, loss_map_pts: 0.4768, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.6159, d0.loss_plan_l1_fix_dist: 0.3653, d1.loss_plan_l1_fix_time: 0.7501, d1.loss_plan_l1_fix_dist: 0.1748, d2.loss_plan_l1_fix_time: 0.7397, d2.loss_plan_l1_fix_dist: 0.1760, d3.loss_plan_l1_fix_time: 0.7314, d3.loss_plan_l1_fix_dist: 0.1870, d4.loss_plan_l1_fix_time: 0.7338, d4.loss_plan_l1_fix_dist: 0.1760, d5.loss_plan_l1_fix_time: 0.7368, d5.loss_plan_l1_fix_dist: 0.1856, d6.loss_plan_l1_fix_time: 0.7405, d6.loss_plan_l1_fix_dist: 0.1903, d0.loss_cls_all: 0.1288, d0.loss_bbox_all: 0.3257, d0.loss_cls: 0.1288, d0.loss_bbox: 0.3257, d1.loss_cls: 0.1169, d1.loss_bbox: 0.2956, d2.loss_cls: 0.1009, d2.loss_bbox: 0.2753, d3.loss_cls: 0.0853, d3.loss_bbox: 0.2693, d4.loss_cls: 0.0801, d4.loss_bbox: 0.2656, d5.loss_cls: 0.0782, d5.loss_bbox: 0.2650, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6896, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5588, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5080, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4871, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4824, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4822, d0.loss_map_cls_all: 0.1633, d0.loss_map_pts_all: 1.0231, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1633, d0.loss_map_pts: 1.0231, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1251, d1.loss_map_pts: 0.7321, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1020, d2.loss_map_pts: 0.5731, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.0922, d3.loss_map_pts: 0.5095, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.0856, d4.loss_map_pts: 0.4863, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0794, d5.loss_map_pts: 0.4766, d5.loss_map_dir: 0.0063, loss: 21.5238, grad_norm: 148.7838 +2026-02-28 21:22:42,587 - DriveTransformer - INFO - Epoch [11][13000/39528] lr: 6.331e-05, eta: 4 days, 13:44:55, time: 0.731, data_time: 0.039, memory: 19865, loss_cls: 0.0967, loss_bbox: 0.2986, loss_traj: 0.5262, loss_traj_cls: 0.0019, loss_map_cls: 0.0806, loss_map_pts: 0.4366, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.6350, d0.loss_plan_l1_fix_dist: 0.4227, d1.loss_plan_l1_fix_time: 0.8035, d1.loss_plan_l1_fix_dist: 0.2118, d2.loss_plan_l1_fix_time: 0.7803, d2.loss_plan_l1_fix_dist: 0.2141, d3.loss_plan_l1_fix_time: 0.7791, d3.loss_plan_l1_fix_dist: 0.2408, d4.loss_plan_l1_fix_time: 0.7807, d4.loss_plan_l1_fix_dist: 0.2194, d5.loss_plan_l1_fix_time: 0.7827, d5.loss_plan_l1_fix_dist: 0.2318, d6.loss_plan_l1_fix_time: 0.7848, d6.loss_plan_l1_fix_dist: 0.2186, d0.loss_cls_all: 0.1440, d0.loss_bbox_all: 0.3577, d0.loss_cls: 0.1440, d0.loss_bbox: 0.3577, d1.loss_cls: 0.1377, d1.loss_bbox: 0.3233, d2.loss_cls: 0.1229, d2.loss_bbox: 0.3041, d3.loss_cls: 0.1049, d3.loss_bbox: 0.2999, d4.loss_cls: 0.0993, d4.loss_bbox: 0.2981, d5.loss_cls: 0.0962, d5.loss_bbox: 0.2989, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7828, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6235, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5723, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5455, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5322, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5288, d0.loss_map_cls_all: 0.1473, d0.loss_map_pts_all: 0.9126, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1473, d0.loss_map_pts: 0.9126, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1226, d1.loss_map_pts: 0.6615, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.1033, d2.loss_map_pts: 0.5316, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0931, d3.loss_map_pts: 0.4660, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0880, d4.loss_map_pts: 0.4455, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0819, d5.loss_map_pts: 0.4376, d5.loss_map_dir: 0.0051, loss: 22.4154, grad_norm: 147.9483 +2026-02-28 21:23:17,729 - DriveTransformer - INFO - Epoch [11][13050/39528] lr: 6.331e-05, eta: 4 days, 13:44:14, time: 0.703, data_time: 0.036, memory: 19865, loss_cls: 0.1101, loss_bbox: 0.3089, loss_traj: 0.6200, loss_traj_cls: 0.0019, loss_map_cls: 0.1207, loss_map_pts: 0.5592, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 3.0357, d0.loss_plan_l1_fix_dist: 0.3962, d1.loss_plan_l1_fix_time: 0.7823, d1.loss_plan_l1_fix_dist: 0.1938, d2.loss_plan_l1_fix_time: 0.7635, d2.loss_plan_l1_fix_dist: 0.1994, d3.loss_plan_l1_fix_time: 0.7634, d3.loss_plan_l1_fix_dist: 0.2240, d4.loss_plan_l1_fix_time: 0.7658, d4.loss_plan_l1_fix_dist: 0.2062, d5.loss_plan_l1_fix_time: 0.7682, d5.loss_plan_l1_fix_dist: 0.2208, d6.loss_plan_l1_fix_time: 0.7701, d6.loss_plan_l1_fix_dist: 0.2047, d0.loss_cls_all: 0.1632, d0.loss_bbox_all: 0.3829, d0.loss_cls: 0.1632, d0.loss_bbox: 0.3829, d1.loss_cls: 0.1547, d1.loss_bbox: 0.3424, d2.loss_cls: 0.1388, d2.loss_bbox: 0.3181, d3.loss_cls: 0.1190, d3.loss_bbox: 0.3142, d4.loss_cls: 0.1118, d4.loss_bbox: 0.3095, d5.loss_cls: 0.1095, d5.loss_bbox: 0.3104, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8944, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6976, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6414, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6226, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6179, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6151, d0.loss_map_cls_all: 0.1995, d0.loss_map_pts_all: 1.0965, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1995, d0.loss_map_pts: 1.0965, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1696, d1.loss_map_pts: 0.8235, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1419, d2.loss_map_pts: 0.6555, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1341, d3.loss_map_pts: 0.5858, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1283, d4.loss_map_pts: 0.5648, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1219, d5.loss_map_pts: 0.5597, d5.loss_map_dir: 0.0057, loss: 24.9516, grad_norm: 144.7907 +2026-02-28 21:23:54,608 - DriveTransformer - INFO - Epoch [11][13100/39528] lr: 6.331e-05, eta: 4 days, 13:43:38, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.1049, loss_bbox: 0.2862, loss_traj: 0.4450, loss_traj_cls: 0.0020, loss_map_cls: 0.0948, loss_map_pts: 0.4688, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.8456, d0.loss_plan_l1_fix_dist: 0.4477, d1.loss_plan_l1_fix_time: 0.9529, d1.loss_plan_l1_fix_dist: 0.1843, d2.loss_plan_l1_fix_time: 0.9434, d2.loss_plan_l1_fix_dist: 0.2084, d3.loss_plan_l1_fix_time: 0.9037, d3.loss_plan_l1_fix_dist: 0.2302, d4.loss_plan_l1_fix_time: 0.9029, d4.loss_plan_l1_fix_dist: 0.1948, d5.loss_plan_l1_fix_time: 0.9044, d5.loss_plan_l1_fix_dist: 0.2195, d6.loss_plan_l1_fix_time: 0.9064, d6.loss_plan_l1_fix_dist: 0.1956, d0.loss_cls_all: 0.1495, d0.loss_bbox_all: 0.3607, d0.loss_cls: 0.1495, d0.loss_bbox: 0.3607, d1.loss_cls: 0.1410, d1.loss_bbox: 0.3261, d2.loss_cls: 0.1308, d2.loss_bbox: 0.2999, d3.loss_cls: 0.1128, d3.loss_bbox: 0.2924, d4.loss_cls: 0.1054, d4.loss_bbox: 0.2882, d5.loss_cls: 0.1040, d5.loss_bbox: 0.2866, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6816, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5110, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4605, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4551, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4525, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4468, d0.loss_map_cls_all: 0.1734, d0.loss_map_pts_all: 0.9963, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1734, d0.loss_map_pts: 0.9963, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1417, d1.loss_map_pts: 0.7153, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1210, d2.loss_map_pts: 0.5531, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1080, d3.loss_map_pts: 0.4974, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1010, d4.loss_map_pts: 0.4758, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0959, d5.loss_map_pts: 0.4698, d5.loss_map_dir: 0.0055, loss: 23.2261, grad_norm: 144.3565 +2026-02-28 21:24:31,101 - DriveTransformer - INFO - Epoch [11][13150/39528] lr: 6.331e-05, eta: 4 days, 13:43:02, time: 0.730, data_time: 0.037, memory: 19865, loss_cls: 0.0951, loss_bbox: 0.2866, loss_traj: 0.3997, loss_traj_cls: 0.0020, loss_map_cls: 0.1274, loss_map_pts: 0.6076, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.7045, d0.loss_plan_l1_fix_dist: 0.4147, d1.loss_plan_l1_fix_time: 0.7082, d1.loss_plan_l1_fix_dist: 0.1767, d2.loss_plan_l1_fix_time: 0.6891, d2.loss_plan_l1_fix_dist: 0.2124, d3.loss_plan_l1_fix_time: 0.6915, d3.loss_plan_l1_fix_dist: 0.2232, d4.loss_plan_l1_fix_time: 0.6935, d4.loss_plan_l1_fix_dist: 0.1753, d5.loss_plan_l1_fix_time: 0.6958, d5.loss_plan_l1_fix_dist: 0.1981, d6.loss_plan_l1_fix_time: 0.6985, d6.loss_plan_l1_fix_dist: 0.1799, d0.loss_cls_all: 0.1517, d0.loss_bbox_all: 0.3593, d0.loss_cls: 0.1517, d0.loss_bbox: 0.3593, d1.loss_cls: 0.1435, d1.loss_bbox: 0.3183, d2.loss_cls: 0.1283, d2.loss_bbox: 0.2956, d3.loss_cls: 0.1062, d3.loss_bbox: 0.2894, d4.loss_cls: 0.0983, d4.loss_bbox: 0.2865, d5.loss_cls: 0.0951, d5.loss_bbox: 0.2864, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6126, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4625, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4224, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4081, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4043, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4040, d0.loss_map_cls_all: 0.2126, d0.loss_map_pts_all: 1.2111, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2126, d0.loss_map_pts: 1.2111, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1816, d1.loss_map_pts: 0.8814, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1536, d2.loss_map_pts: 0.6997, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1421, d3.loss_map_pts: 0.6351, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1353, d4.loss_map_pts: 0.6125, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1299, d5.loss_map_pts: 0.6069, d5.loss_map_dir: 0.0071, loss: 22.8514, grad_norm: 145.7410 +2026-02-28 21:25:08,761 - DriveTransformer - INFO - Epoch [11][13200/39528] lr: 6.331e-05, eta: 4 days, 13:42:29, time: 0.755, data_time: 0.035, memory: 19865, loss_cls: 0.0949, loss_bbox: 0.3033, loss_traj: 0.4610, loss_traj_cls: 0.0019, loss_map_cls: 0.1249, loss_map_pts: 0.6481, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.4603, d0.loss_plan_l1_fix_dist: 0.3185, d1.loss_plan_l1_fix_time: 0.8031, d1.loss_plan_l1_fix_dist: 0.1823, d2.loss_plan_l1_fix_time: 0.7854, d2.loss_plan_l1_fix_dist: 0.2356, d3.loss_plan_l1_fix_time: 0.7751, d3.loss_plan_l1_fix_dist: 0.2238, d4.loss_plan_l1_fix_time: 0.7765, d4.loss_plan_l1_fix_dist: 0.1687, d5.loss_plan_l1_fix_time: 0.7791, d5.loss_plan_l1_fix_dist: 0.1913, d6.loss_plan_l1_fix_time: 0.7827, d6.loss_plan_l1_fix_dist: 0.1753, d0.loss_cls_all: 0.1495, d0.loss_bbox_all: 0.3777, d0.loss_cls: 0.1495, d0.loss_bbox: 0.3777, d1.loss_cls: 0.1398, d1.loss_bbox: 0.3379, d2.loss_cls: 0.1209, d2.loss_bbox: 0.3139, d3.loss_cls: 0.1023, d3.loss_bbox: 0.3060, d4.loss_cls: 0.0980, d4.loss_bbox: 0.3028, d5.loss_cls: 0.0952, d5.loss_bbox: 0.3024, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6629, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5205, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4748, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4619, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4644, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4629, d0.loss_map_cls_all: 0.2222, d0.loss_map_pts_all: 1.3547, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2222, d0.loss_map_pts: 1.3547, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1815, d1.loss_map_pts: 0.9788, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1522, d2.loss_map_pts: 0.7703, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1425, d3.loss_map_pts: 0.6858, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1344, d4.loss_map_pts: 0.6544, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1281, d5.loss_map_pts: 0.6487, d5.loss_map_dir: 0.0079, loss: 24.2114, grad_norm: 144.3514 +2026-02-28 21:25:43,412 - DriveTransformer - INFO - Epoch [11][13250/39528] lr: 6.331e-05, eta: 4 days, 13:41:46, time: 0.692, data_time: 0.034, memory: 19865, loss_cls: 0.0842, loss_bbox: 0.2670, loss_traj: 0.4588, loss_traj_cls: 0.0020, loss_map_cls: 0.0815, loss_map_pts: 0.4242, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.3638, d0.loss_plan_l1_fix_dist: 0.4171, d1.loss_plan_l1_fix_time: 0.7328, d1.loss_plan_l1_fix_dist: 0.1912, d2.loss_plan_l1_fix_time: 0.7148, d2.loss_plan_l1_fix_dist: 0.2630, d3.loss_plan_l1_fix_time: 0.7150, d3.loss_plan_l1_fix_dist: 0.2290, d4.loss_plan_l1_fix_time: 0.7167, d4.loss_plan_l1_fix_dist: 0.1813, d5.loss_plan_l1_fix_time: 0.7183, d5.loss_plan_l1_fix_dist: 0.1915, d6.loss_plan_l1_fix_time: 0.7206, d6.loss_plan_l1_fix_dist: 0.1710, d0.loss_cls_all: 0.1220, d0.loss_bbox_all: 0.3303, d0.loss_cls: 0.1220, d0.loss_bbox: 0.3303, d1.loss_cls: 0.1181, d1.loss_bbox: 0.3019, d2.loss_cls: 0.1061, d2.loss_bbox: 0.2803, d3.loss_cls: 0.0901, d3.loss_bbox: 0.2719, d4.loss_cls: 0.0846, d4.loss_bbox: 0.2696, d5.loss_cls: 0.0834, d5.loss_bbox: 0.2677, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6504, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5005, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4640, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4582, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4622, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4620, d0.loss_map_cls_all: 0.1644, d0.loss_map_pts_all: 0.9266, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1644, d0.loss_map_pts: 0.9266, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1280, d1.loss_map_pts: 0.6574, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1043, d2.loss_map_pts: 0.5075, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0951, d3.loss_map_pts: 0.4477, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0881, d4.loss_map_pts: 0.4286, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0837, d5.loss_map_pts: 0.4241, d5.loss_map_dir: 0.0050, loss: 20.6121, grad_norm: 143.3816 +2026-02-28 21:26:19,411 - DriveTransformer - INFO - Epoch [11][13300/39528] lr: 6.331e-05, eta: 4 days, 13:41:08, time: 0.720, data_time: 0.037, memory: 19865, loss_cls: 0.0821, loss_bbox: 0.2611, loss_traj: 0.4618, loss_traj_cls: 0.0020, loss_map_cls: 0.0928, loss_map_pts: 0.4793, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.5597, d0.loss_plan_l1_fix_dist: 0.3852, d1.loss_plan_l1_fix_time: 0.7318, d1.loss_plan_l1_fix_dist: 0.1998, d2.loss_plan_l1_fix_time: 0.7174, d2.loss_plan_l1_fix_dist: 0.2755, d3.loss_plan_l1_fix_time: 0.7095, d3.loss_plan_l1_fix_dist: 0.2291, d4.loss_plan_l1_fix_time: 0.7110, d4.loss_plan_l1_fix_dist: 0.1873, d5.loss_plan_l1_fix_time: 0.7130, d5.loss_plan_l1_fix_dist: 0.1799, d6.loss_plan_l1_fix_time: 0.7153, d6.loss_plan_l1_fix_dist: 0.1703, d0.loss_cls_all: 0.1269, d0.loss_bbox_all: 0.3260, d0.loss_cls: 0.1269, d0.loss_bbox: 0.3260, d1.loss_cls: 0.1208, d1.loss_bbox: 0.2907, d2.loss_cls: 0.1108, d2.loss_bbox: 0.2731, d3.loss_cls: 0.0916, d3.loss_bbox: 0.2660, d4.loss_cls: 0.0842, d4.loss_bbox: 0.2639, d5.loss_cls: 0.0821, d5.loss_bbox: 0.2621, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6806, d1.loss_traj_cls: 0.0013, d1.loss_traj: 0.5288, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4842, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4688, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4636, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4581, d0.loss_map_cls_all: 0.1728, d0.loss_map_pts_all: 1.0514, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1728, d0.loss_map_pts: 1.0514, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1443, d1.loss_map_pts: 0.7520, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1194, d2.loss_map_pts: 0.5712, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1075, d3.loss_map_pts: 0.5080, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1009, d4.loss_map_pts: 0.4832, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0952, d5.loss_map_pts: 0.4801, d5.loss_map_dir: 0.0057, loss: 21.5602, grad_norm: 145.1221 +2026-02-28 21:26:55,118 - DriveTransformer - INFO - Epoch [11][13350/39528] lr: 6.331e-05, eta: 4 days, 13:40:29, time: 0.714, data_time: 0.038, memory: 19865, loss_cls: 0.0924, loss_bbox: 0.2790, loss_traj: 0.5421, loss_traj_cls: 0.0020, loss_map_cls: 0.1027, loss_map_pts: 0.4878, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 3.1055, d0.loss_plan_l1_fix_dist: 0.4373, d1.loss_plan_l1_fix_time: 0.7077, d1.loss_plan_l1_fix_dist: 0.2130, d2.loss_plan_l1_fix_time: 0.6860, d2.loss_plan_l1_fix_dist: 0.2863, d3.loss_plan_l1_fix_time: 0.6835, d3.loss_plan_l1_fix_dist: 0.2287, d4.loss_plan_l1_fix_time: 0.6850, d4.loss_plan_l1_fix_dist: 0.2033, d5.loss_plan_l1_fix_time: 0.6872, d5.loss_plan_l1_fix_dist: 0.1941, d6.loss_plan_l1_fix_time: 0.6896, d6.loss_plan_l1_fix_dist: 0.1953, d0.loss_cls_all: 0.1351, d0.loss_bbox_all: 0.3403, d0.loss_cls: 0.1351, d0.loss_bbox: 0.3403, d1.loss_cls: 0.1361, d1.loss_bbox: 0.3064, d2.loss_cls: 0.1188, d2.loss_bbox: 0.2884, d3.loss_cls: 0.1004, d3.loss_bbox: 0.2829, d4.loss_cls: 0.0944, d4.loss_bbox: 0.2791, d5.loss_cls: 0.0920, d5.loss_bbox: 0.2795, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7651, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6010, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5591, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5470, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5412, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5395, d0.loss_map_cls_all: 0.1742, d0.loss_map_pts_all: 0.9849, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1742, d0.loss_map_pts: 0.9849, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1453, d1.loss_map_pts: 0.7237, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1255, d2.loss_map_pts: 0.5830, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.1164, d3.loss_map_pts: 0.5151, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.1100, d4.loss_map_pts: 0.4928, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.1049, d5.loss_map_pts: 0.4877, d5.loss_map_dir: 0.0048, loss: 22.7575, grad_norm: 143.7760 +2026-02-28 21:27:32,400 - DriveTransformer - INFO - Epoch [11][13400/39528] lr: 6.331e-05, eta: 4 days, 13:39:54, time: 0.746, data_time: 0.037, memory: 19865, loss_cls: 0.0852, loss_bbox: 0.2481, loss_traj: 0.5123, loss_traj_cls: 0.0020, loss_map_cls: 0.0702, loss_map_pts: 0.4251, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.3732, d0.loss_plan_l1_fix_dist: 0.4975, d1.loss_plan_l1_fix_time: 0.7995, d1.loss_plan_l1_fix_dist: 0.2225, d2.loss_plan_l1_fix_time: 0.7854, d2.loss_plan_l1_fix_dist: 0.2885, d3.loss_plan_l1_fix_time: 0.7787, d3.loss_plan_l1_fix_dist: 0.2413, d4.loss_plan_l1_fix_time: 0.7808, d4.loss_plan_l1_fix_dist: 0.2214, d5.loss_plan_l1_fix_time: 0.7830, d5.loss_plan_l1_fix_dist: 0.2186, d6.loss_plan_l1_fix_time: 0.7853, d6.loss_plan_l1_fix_dist: 0.2209, d0.loss_cls_all: 0.1215, d0.loss_bbox_all: 0.3001, d0.loss_cls: 0.1215, d0.loss_bbox: 0.3001, d1.loss_cls: 0.1178, d1.loss_bbox: 0.2724, d2.loss_cls: 0.1065, d2.loss_bbox: 0.2553, d3.loss_cls: 0.0922, d3.loss_bbox: 0.2501, d4.loss_cls: 0.0863, d4.loss_bbox: 0.2494, d5.loss_cls: 0.0859, d5.loss_bbox: 0.2479, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7010, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5607, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5255, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5131, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5101, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5112, d0.loss_map_cls_all: 0.1398, d0.loss_map_pts_all: 0.9346, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1398, d0.loss_map_pts: 0.9346, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1130, d1.loss_map_pts: 0.6684, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.0901, d2.loss_map_pts: 0.5094, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0815, d3.loss_map_pts: 0.4529, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0772, d4.loss_map_pts: 0.4287, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0722, d5.loss_map_pts: 0.4252, d5.loss_map_dir: 0.0050, loss: 21.3802, grad_norm: 143.0187 +2026-02-28 21:28:09,763 - DriveTransformer - INFO - Epoch [11][13450/39528] lr: 6.331e-05, eta: 4 days, 13:39:20, time: 0.747, data_time: 0.042, memory: 19865, loss_cls: 0.0987, loss_bbox: 0.2805, loss_traj: 0.4767, loss_traj_cls: 0.0020, loss_map_cls: 0.0996, loss_map_pts: 0.5060, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.6218, d0.loss_plan_l1_fix_dist: 0.3417, d1.loss_plan_l1_fix_time: 0.6999, d1.loss_plan_l1_fix_dist: 0.2222, d2.loss_plan_l1_fix_time: 0.6904, d2.loss_plan_l1_fix_dist: 0.2628, d3.loss_plan_l1_fix_time: 0.6890, d3.loss_plan_l1_fix_dist: 0.2158, d4.loss_plan_l1_fix_time: 0.6919, d4.loss_plan_l1_fix_dist: 0.2224, d5.loss_plan_l1_fix_time: 0.6953, d5.loss_plan_l1_fix_dist: 0.2564, d6.loss_plan_l1_fix_time: 0.6995, d6.loss_plan_l1_fix_dist: 0.2338, d0.loss_cls_all: 0.1451, d0.loss_bbox_all: 0.3545, d0.loss_cls: 0.1451, d0.loss_bbox: 0.3545, d1.loss_cls: 0.1385, d1.loss_bbox: 0.3182, d2.loss_cls: 0.1235, d2.loss_bbox: 0.2958, d3.loss_cls: 0.1051, d3.loss_bbox: 0.2864, d4.loss_cls: 0.0986, d4.loss_bbox: 0.2835, d5.loss_cls: 0.0984, d5.loss_bbox: 0.2810, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7260, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5558, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5154, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4904, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4801, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4780, d0.loss_map_cls_all: 0.1854, d0.loss_map_pts_all: 1.0482, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1854, d0.loss_map_pts: 1.0482, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1550, d1.loss_map_pts: 0.7587, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1281, d2.loss_map_pts: 0.5976, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1134, d3.loss_map_pts: 0.5373, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1050, d4.loss_map_pts: 0.5152, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.1013, d5.loss_map_pts: 0.5072, d5.loss_map_dir: 0.0055, loss: 22.3145, grad_norm: 142.7227 +2026-02-28 21:28:45,813 - DriveTransformer - INFO - Epoch [11][13500/39528] lr: 6.331e-05, eta: 4 days, 13:38:42, time: 0.721, data_time: 0.037, memory: 19865, loss_cls: 0.0860, loss_bbox: 0.2704, loss_traj: 0.4306, loss_traj_cls: 0.0021, loss_map_cls: 0.0961, loss_map_pts: 0.4906, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.5199, d0.loss_plan_l1_fix_dist: 0.4930, d1.loss_plan_l1_fix_time: 0.7504, d1.loss_plan_l1_fix_dist: 0.2288, d2.loss_plan_l1_fix_time: 0.7340, d2.loss_plan_l1_fix_dist: 0.2429, d3.loss_plan_l1_fix_time: 0.7316, d3.loss_plan_l1_fix_dist: 0.2034, d4.loss_plan_l1_fix_time: 0.7349, d4.loss_plan_l1_fix_dist: 0.2134, d5.loss_plan_l1_fix_time: 0.7386, d5.loss_plan_l1_fix_dist: 0.2616, d6.loss_plan_l1_fix_time: 0.7430, d6.loss_plan_l1_fix_dist: 0.2136, d0.loss_cls_all: 0.1314, d0.loss_bbox_all: 0.3408, d0.loss_cls: 0.1314, d0.loss_bbox: 0.3408, d1.loss_cls: 0.1212, d1.loss_bbox: 0.3072, d2.loss_cls: 0.1101, d2.loss_bbox: 0.2829, d3.loss_cls: 0.0916, d3.loss_bbox: 0.2749, d4.loss_cls: 0.0870, d4.loss_bbox: 0.2712, d5.loss_cls: 0.0857, d5.loss_bbox: 0.2704, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6118, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4849, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4449, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4295, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4283, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4268, d0.loss_map_cls_all: 0.1762, d0.loss_map_pts_all: 1.0235, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1762, d0.loss_map_pts: 1.0235, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1444, d1.loss_map_pts: 0.7456, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1213, d2.loss_map_pts: 0.5854, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1105, d3.loss_map_pts: 0.5230, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1048, d4.loss_map_pts: 0.5014, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0977, d5.loss_map_pts: 0.4929, d5.loss_map_dir: 0.0059, loss: 21.7367, grad_norm: 140.1322 +2026-02-28 21:29:21,618 - DriveTransformer - INFO - Epoch [11][13550/39528] lr: 6.331e-05, eta: 4 days, 13:38:03, time: 0.716, data_time: 0.040, memory: 19865, loss_cls: 0.0992, loss_bbox: 0.2998, loss_traj: 0.6236, loss_traj_cls: 0.0021, loss_map_cls: 0.1198, loss_map_pts: 0.5524, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.6733, d0.loss_plan_l1_fix_dist: 0.3935, d1.loss_plan_l1_fix_time: 0.7324, d1.loss_plan_l1_fix_dist: 0.2485, d2.loss_plan_l1_fix_time: 0.7153, d2.loss_plan_l1_fix_dist: 0.2328, d3.loss_plan_l1_fix_time: 0.7214, d3.loss_plan_l1_fix_dist: 0.2052, d4.loss_plan_l1_fix_time: 0.7244, d4.loss_plan_l1_fix_dist: 0.2147, d5.loss_plan_l1_fix_time: 0.7280, d5.loss_plan_l1_fix_dist: 0.2733, d6.loss_plan_l1_fix_time: 0.7318, d6.loss_plan_l1_fix_dist: 0.2235, d0.loss_cls_all: 0.1525, d0.loss_bbox_all: 0.3730, d0.loss_cls: 0.1525, d0.loss_bbox: 0.3730, d1.loss_cls: 0.1444, d1.loss_bbox: 0.3345, d2.loss_cls: 0.1275, d2.loss_bbox: 0.3093, d3.loss_cls: 0.1120, d3.loss_bbox: 0.2995, d4.loss_cls: 0.1026, d4.loss_bbox: 0.2986, d5.loss_cls: 0.0999, d5.loss_bbox: 0.2977, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8138, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6566, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6155, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.6141, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6160, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6197, d0.loss_map_cls_all: 0.2021, d0.loss_map_pts_all: 1.0722, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2021, d0.loss_map_pts: 1.0722, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1699, d1.loss_map_pts: 0.7946, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1458, d2.loss_map_pts: 0.6478, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1339, d3.loss_map_pts: 0.5811, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1279, d4.loss_map_pts: 0.5589, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1227, d5.loss_map_pts: 0.5530, d5.loss_map_dir: 0.0061, loss: 24.0658, grad_norm: 138.9816 +2026-02-28 21:29:58,351 - DriveTransformer - INFO - Epoch [11][13600/39528] lr: 6.331e-05, eta: 4 days, 13:37:27, time: 0.735, data_time: 0.037, memory: 19865, loss_cls: 0.0930, loss_bbox: 0.2733, loss_traj: 0.4305, loss_traj_cls: 0.0020, loss_map_cls: 0.0928, loss_map_pts: 0.5266, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.4972, d0.loss_plan_l1_fix_dist: 0.4413, d1.loss_plan_l1_fix_time: 0.7436, d1.loss_plan_l1_fix_dist: 0.2406, d2.loss_plan_l1_fix_time: 0.7339, d2.loss_plan_l1_fix_dist: 0.1932, d3.loss_plan_l1_fix_time: 0.7275, d3.loss_plan_l1_fix_dist: 0.1866, d4.loss_plan_l1_fix_time: 0.7293, d4.loss_plan_l1_fix_dist: 0.1847, d5.loss_plan_l1_fix_time: 0.7323, d5.loss_plan_l1_fix_dist: 0.2281, d6.loss_plan_l1_fix_time: 0.7356, d6.loss_plan_l1_fix_dist: 0.1834, d0.loss_cls_all: 0.1405, d0.loss_bbox_all: 0.3400, d0.loss_cls: 0.1405, d0.loss_bbox: 0.3400, d1.loss_cls: 0.1313, d1.loss_bbox: 0.3061, d2.loss_cls: 0.1174, d2.loss_bbox: 0.2832, d3.loss_cls: 0.1010, d3.loss_bbox: 0.2771, d4.loss_cls: 0.0949, d4.loss_bbox: 0.2739, d5.loss_cls: 0.0944, d5.loss_bbox: 0.2734, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6022, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4744, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4373, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4282, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4240, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4239, d0.loss_map_cls_all: 0.1756, d0.loss_map_pts_all: 1.0833, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1756, d0.loss_map_pts: 1.0833, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1421, d1.loss_map_pts: 0.7844, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1200, d2.loss_map_pts: 0.6211, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1089, d3.loss_map_pts: 0.5577, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1016, d4.loss_map_pts: 0.5322, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0953, d5.loss_map_pts: 0.5271, d5.loss_map_dir: 0.0064, loss: 21.8443, grad_norm: 139.6478 +2026-02-28 21:30:34,489 - DriveTransformer - INFO - Epoch [11][13650/39528] lr: 6.331e-05, eta: 4 days, 13:36:49, time: 0.723, data_time: 0.036, memory: 19865, loss_cls: 0.0777, loss_bbox: 0.2672, loss_traj: 0.4332, loss_traj_cls: 0.0020, loss_map_cls: 0.0780, loss_map_pts: 0.4391, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.7045, d0.loss_plan_l1_fix_dist: 0.4762, d1.loss_plan_l1_fix_time: 0.7571, d1.loss_plan_l1_fix_dist: 0.2437, d2.loss_plan_l1_fix_time: 0.7342, d2.loss_plan_l1_fix_dist: 0.1928, d3.loss_plan_l1_fix_time: 0.7305, d3.loss_plan_l1_fix_dist: 0.2087, d4.loss_plan_l1_fix_time: 0.7323, d4.loss_plan_l1_fix_dist: 0.2071, d5.loss_plan_l1_fix_time: 0.7345, d5.loss_plan_l1_fix_dist: 0.2464, d6.loss_plan_l1_fix_time: 0.7369, d6.loss_plan_l1_fix_dist: 0.2027, d0.loss_cls_all: 0.1234, d0.loss_bbox_all: 0.3254, d0.loss_cls: 0.1234, d0.loss_bbox: 0.3254, d1.loss_cls: 0.1160, d1.loss_bbox: 0.2942, d2.loss_cls: 0.1031, d2.loss_bbox: 0.2769, d3.loss_cls: 0.0855, d3.loss_bbox: 0.2718, d4.loss_cls: 0.0795, d4.loss_bbox: 0.2701, d5.loss_cls: 0.0787, d5.loss_bbox: 0.2672, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6108, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4811, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4535, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4424, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4387, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4363, d0.loss_map_cls_all: 0.1538, d0.loss_map_pts_all: 1.0117, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1538, d0.loss_map_pts: 1.0117, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1248, d1.loss_map_pts: 0.6927, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1039, d2.loss_map_pts: 0.5212, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0921, d3.loss_map_pts: 0.4640, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0849, d4.loss_map_pts: 0.4432, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0795, d5.loss_map_pts: 0.4398, d5.loss_map_dir: 0.0057, loss: 21.2359, grad_norm: 139.1138 +2026-02-28 21:31:11,433 - DriveTransformer - INFO - Epoch [11][13700/39528] lr: 6.331e-05, eta: 4 days, 13:36:14, time: 0.739, data_time: 0.037, memory: 19865, loss_cls: 0.0821, loss_bbox: 0.2690, loss_traj: 0.5475, loss_traj_cls: 0.0020, loss_map_cls: 0.0959, loss_map_pts: 0.4804, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 3.1062, d0.loss_plan_l1_fix_dist: 0.4255, d1.loss_plan_l1_fix_time: 0.7658, d1.loss_plan_l1_fix_dist: 0.2448, d2.loss_plan_l1_fix_time: 0.7519, d2.loss_plan_l1_fix_dist: 0.1874, d3.loss_plan_l1_fix_time: 0.7557, d3.loss_plan_l1_fix_dist: 0.2103, d4.loss_plan_l1_fix_time: 0.7585, d4.loss_plan_l1_fix_dist: 0.2373, d5.loss_plan_l1_fix_time: 0.7609, d5.loss_plan_l1_fix_dist: 0.2327, d6.loss_plan_l1_fix_time: 0.7638, d6.loss_plan_l1_fix_dist: 0.2047, d0.loss_cls_all: 0.1228, d0.loss_bbox_all: 0.3307, d0.loss_cls: 0.1228, d0.loss_bbox: 0.3307, d1.loss_cls: 0.1163, d1.loss_bbox: 0.2981, d2.loss_cls: 0.1053, d2.loss_bbox: 0.2787, d3.loss_cls: 0.0880, d3.loss_bbox: 0.2733, d4.loss_cls: 0.0833, d4.loss_bbox: 0.2704, d5.loss_cls: 0.0821, d5.loss_bbox: 0.2688, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8069, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6213, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5739, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5520, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5519, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5493, d0.loss_map_cls_all: 0.1866, d0.loss_map_pts_all: 1.0333, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1866, d0.loss_map_pts: 1.0333, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1450, d1.loss_map_pts: 0.7357, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1215, d2.loss_map_pts: 0.5736, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1099, d3.loss_map_pts: 0.5101, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1044, d4.loss_map_pts: 0.4854, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0988, d5.loss_map_pts: 0.4791, d5.loss_map_dir: 0.0058, loss: 23.1624, grad_norm: 139.1399 +2026-02-28 21:31:47,948 - DriveTransformer - INFO - Epoch [11][13750/39528] lr: 6.331e-05, eta: 4 days, 13:35:37, time: 0.730, data_time: 0.039, memory: 19865, loss_cls: 0.0955, loss_bbox: 0.2872, loss_traj: 0.4947, loss_traj_cls: 0.0020, loss_map_cls: 0.0871, loss_map_pts: 0.4601, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.8775, d0.loss_plan_l1_fix_dist: 0.5007, d1.loss_plan_l1_fix_time: 0.7495, d1.loss_plan_l1_fix_dist: 0.2468, d2.loss_plan_l1_fix_time: 0.7275, d2.loss_plan_l1_fix_dist: 0.2109, d3.loss_plan_l1_fix_time: 0.7254, d3.loss_plan_l1_fix_dist: 0.2372, d4.loss_plan_l1_fix_time: 0.7275, d4.loss_plan_l1_fix_dist: 0.2665, d5.loss_plan_l1_fix_time: 0.7296, d5.loss_plan_l1_fix_dist: 0.2418, d6.loss_plan_l1_fix_time: 0.7321, d6.loss_plan_l1_fix_dist: 0.2418, d0.loss_cls_all: 0.1446, d0.loss_bbox_all: 0.3510, d0.loss_cls: 0.1446, d0.loss_bbox: 0.3510, d1.loss_cls: 0.1395, d1.loss_bbox: 0.3163, d2.loss_cls: 0.1228, d2.loss_bbox: 0.2977, d3.loss_cls: 0.1021, d3.loss_bbox: 0.2910, d4.loss_cls: 0.0980, d4.loss_bbox: 0.2888, d5.loss_cls: 0.0955, d5.loss_bbox: 0.2883, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7094, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5749, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5112, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4992, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4942, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4954, d0.loss_map_cls_all: 0.1598, d0.loss_map_pts_all: 0.9570, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1598, d0.loss_map_pts: 0.9570, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1300, d1.loss_map_pts: 0.6808, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1147, d2.loss_map_pts: 0.5374, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1028, d3.loss_map_pts: 0.4869, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0957, d4.loss_map_pts: 0.4668, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0902, d5.loss_map_pts: 0.4606, d5.loss_map_dir: 0.0053, loss: 22.4045, grad_norm: 141.8574 +2026-02-28 21:32:24,126 - DriveTransformer - INFO - Epoch [11][13800/39528] lr: 6.331e-05, eta: 4 days, 13:35:00, time: 0.724, data_time: 0.039, memory: 19865, loss_cls: 0.0780, loss_bbox: 0.2628, loss_traj: 0.4805, loss_traj_cls: 0.0020, loss_map_cls: 0.0676, loss_map_pts: 0.4492, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.4073, d0.loss_plan_l1_fix_dist: 0.3799, d1.loss_plan_l1_fix_time: 0.6455, d1.loss_plan_l1_fix_dist: 0.2089, d2.loss_plan_l1_fix_time: 0.6342, d2.loss_plan_l1_fix_dist: 0.1945, d3.loss_plan_l1_fix_time: 0.6322, d3.loss_plan_l1_fix_dist: 0.2187, d4.loss_plan_l1_fix_time: 0.6351, d4.loss_plan_l1_fix_dist: 0.2398, d5.loss_plan_l1_fix_time: 0.6379, d5.loss_plan_l1_fix_dist: 0.1909, d6.loss_plan_l1_fix_time: 0.6407, d6.loss_plan_l1_fix_dist: 0.1850, d0.loss_cls_all: 0.1189, d0.loss_bbox_all: 0.3177, d0.loss_cls: 0.1189, d0.loss_bbox: 0.3177, d1.loss_cls: 0.1120, d1.loss_bbox: 0.2895, d2.loss_cls: 0.1045, d2.loss_bbox: 0.2714, d3.loss_cls: 0.0861, d3.loss_bbox: 0.2668, d4.loss_cls: 0.0807, d4.loss_bbox: 0.2633, d5.loss_cls: 0.0777, d5.loss_bbox: 0.2627, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7174, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5411, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5029, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4813, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4816, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4821, d0.loss_map_cls_all: 0.1540, d0.loss_map_pts_all: 0.9687, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1540, d0.loss_map_pts: 0.9687, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1163, d1.loss_map_pts: 0.6862, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.0939, d2.loss_map_pts: 0.5346, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0806, d3.loss_map_pts: 0.4800, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0746, d4.loss_map_pts: 0.4581, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0706, d5.loss_map_pts: 0.4501, d5.loss_map_dir: 0.0053, loss: 20.4249, grad_norm: 138.2347 +2026-02-28 21:33:00,333 - DriveTransformer - INFO - Epoch [11][13850/39528] lr: 6.331e-05, eta: 4 days, 13:34:22, time: 0.724, data_time: 0.038, memory: 19865, loss_cls: 0.1029, loss_bbox: 0.2961, loss_traj: 0.5582, loss_traj_cls: 0.0020, loss_map_cls: 0.0852, loss_map_pts: 0.5003, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.8136, d0.loss_plan_l1_fix_dist: 0.4349, d1.loss_plan_l1_fix_time: 0.7907, d1.loss_plan_l1_fix_dist: 0.2199, d2.loss_plan_l1_fix_time: 0.7771, d2.loss_plan_l1_fix_dist: 0.2584, d3.loss_plan_l1_fix_time: 0.7760, d3.loss_plan_l1_fix_dist: 0.2948, d4.loss_plan_l1_fix_time: 0.7780, d4.loss_plan_l1_fix_dist: 0.3163, d5.loss_plan_l1_fix_time: 0.7807, d5.loss_plan_l1_fix_dist: 0.2801, d6.loss_plan_l1_fix_time: 0.7840, d6.loss_plan_l1_fix_dist: 0.3036, d0.loss_cls_all: 0.1491, d0.loss_bbox_all: 0.3563, d0.loss_cls: 0.1491, d0.loss_bbox: 0.3563, d1.loss_cls: 0.1424, d1.loss_bbox: 0.3265, d2.loss_cls: 0.1292, d2.loss_bbox: 0.3081, d3.loss_cls: 0.1116, d3.loss_bbox: 0.3024, d4.loss_cls: 0.1040, d4.loss_bbox: 0.2985, d5.loss_cls: 0.1028, d5.loss_bbox: 0.2969, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8049, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6330, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5816, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5694, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5684, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5601, d0.loss_map_cls_all: 0.1698, d0.loss_map_pts_all: 1.0133, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1698, d0.loss_map_pts: 1.0133, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1329, d1.loss_map_pts: 0.7485, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1095, d2.loss_map_pts: 0.5921, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0972, d3.loss_map_pts: 0.5324, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0917, d4.loss_map_pts: 0.5063, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0864, d5.loss_map_pts: 0.5015, d5.loss_map_dir: 0.0060, loss: 23.8204, grad_norm: 141.8683 +2026-02-28 21:33:36,400 - DriveTransformer - INFO - Epoch [11][13900/39528] lr: 6.331e-05, eta: 4 days, 13:33:44, time: 0.721, data_time: 0.036, memory: 19865, loss_cls: 0.0911, loss_bbox: 0.2848, loss_traj: 0.4225, loss_traj_cls: 0.0020, loss_map_cls: 0.1062, loss_map_pts: 0.4907, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.5498, d0.loss_plan_l1_fix_dist: 0.3939, d1.loss_plan_l1_fix_time: 0.7564, d1.loss_plan_l1_fix_dist: 0.1767, d2.loss_plan_l1_fix_time: 0.7413, d2.loss_plan_l1_fix_dist: 0.2269, d3.loss_plan_l1_fix_time: 0.7347, d3.loss_plan_l1_fix_dist: 0.2471, d4.loss_plan_l1_fix_time: 0.7361, d4.loss_plan_l1_fix_dist: 0.2539, d5.loss_plan_l1_fix_time: 0.7377, d5.loss_plan_l1_fix_dist: 0.1920, d6.loss_plan_l1_fix_time: 0.7400, d6.loss_plan_l1_fix_dist: 0.1987, d0.loss_cls_all: 0.1259, d0.loss_bbox_all: 0.3496, d0.loss_cls: 0.1259, d0.loss_bbox: 0.3496, d1.loss_cls: 0.1229, d1.loss_bbox: 0.3163, d2.loss_cls: 0.1086, d2.loss_bbox: 0.2961, d3.loss_cls: 0.0979, d3.loss_bbox: 0.2914, d4.loss_cls: 0.0932, d4.loss_bbox: 0.2873, d5.loss_cls: 0.0919, d5.loss_bbox: 0.2850, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6473, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4958, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4481, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4274, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4223, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4230, d0.loss_map_cls_all: 0.1826, d0.loss_map_pts_all: 1.0157, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1826, d0.loss_map_pts: 1.0157, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1520, d1.loss_map_pts: 0.7572, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1314, d2.loss_map_pts: 0.6013, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1214, d3.loss_map_pts: 0.5305, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1129, d4.loss_map_pts: 0.5001, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1092, d5.loss_map_pts: 0.4921, d5.loss_map_dir: 0.0054, loss: 21.8408, grad_norm: 140.8747 +2026-02-28 21:34:12,050 - DriveTransformer - INFO - Epoch [11][13950/39528] lr: 6.331e-05, eta: 4 days, 13:33:04, time: 0.713, data_time: 0.041, memory: 19865, loss_cls: 0.0909, loss_bbox: 0.2865, loss_traj: 0.4772, loss_traj_cls: 0.0020, loss_map_cls: 0.0943, loss_map_pts: 0.4505, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.6423, d0.loss_plan_l1_fix_dist: 0.4211, d1.loss_plan_l1_fix_time: 0.7111, d1.loss_plan_l1_fix_dist: 0.1985, d2.loss_plan_l1_fix_time: 0.6966, d2.loss_plan_l1_fix_dist: 0.2814, d3.loss_plan_l1_fix_time: 0.6884, d3.loss_plan_l1_fix_dist: 0.2952, d4.loss_plan_l1_fix_time: 0.6894, d4.loss_plan_l1_fix_dist: 0.3198, d5.loss_plan_l1_fix_time: 0.6908, d5.loss_plan_l1_fix_dist: 0.2717, d6.loss_plan_l1_fix_time: 0.6925, d6.loss_plan_l1_fix_dist: 0.2607, d0.loss_cls_all: 0.1373, d0.loss_bbox_all: 0.3459, d0.loss_cls: 0.1373, d0.loss_bbox: 0.3459, d1.loss_cls: 0.1300, d1.loss_bbox: 0.3151, d2.loss_cls: 0.1160, d2.loss_bbox: 0.2966, d3.loss_cls: 0.0977, d3.loss_bbox: 0.2905, d4.loss_cls: 0.0903, d4.loss_bbox: 0.2896, d5.loss_cls: 0.0899, d5.loss_bbox: 0.2874, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7546, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5766, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5133, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4865, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4820, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4788, d0.loss_map_cls_all: 0.1818, d0.loss_map_pts_all: 0.9220, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1818, d0.loss_map_pts: 0.9220, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1482, d1.loss_map_pts: 0.6771, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1225, d2.loss_map_pts: 0.5418, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1079, d3.loss_map_pts: 0.4803, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1010, d4.loss_map_pts: 0.4590, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0961, d5.loss_map_pts: 0.4520, d5.loss_map_dir: 0.0052, loss: 21.9628, grad_norm: 141.1971 +2026-02-28 21:34:47,287 - DriveTransformer - INFO - Epoch [11][14000/39528] lr: 6.331e-05, eta: 4 days, 13:32:24, time: 0.706, data_time: 0.038, memory: 19865, loss_cls: 0.0896, loss_bbox: 0.2923, loss_traj: 0.4636, loss_traj_cls: 0.0020, loss_map_cls: 0.0952, loss_map_pts: 0.4192, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.9066, d0.loss_plan_l1_fix_dist: 0.3829, d1.loss_plan_l1_fix_time: 0.7866, d1.loss_plan_l1_fix_dist: 0.1780, d2.loss_plan_l1_fix_time: 0.7731, d2.loss_plan_l1_fix_dist: 0.2839, d3.loss_plan_l1_fix_time: 0.7714, d3.loss_plan_l1_fix_dist: 0.2853, d4.loss_plan_l1_fix_time: 0.7735, d4.loss_plan_l1_fix_dist: 0.2765, d5.loss_plan_l1_fix_time: 0.7755, d5.loss_plan_l1_fix_dist: 0.2147, d6.loss_plan_l1_fix_time: 0.7777, d6.loss_plan_l1_fix_dist: 0.2058, d0.loss_cls_all: 0.1394, d0.loss_bbox_all: 0.3522, d0.loss_cls: 0.1394, d0.loss_bbox: 0.3522, d1.loss_cls: 0.1336, d1.loss_bbox: 0.3213, d2.loss_cls: 0.1195, d2.loss_bbox: 0.3009, d3.loss_cls: 0.0996, d3.loss_bbox: 0.2938, d4.loss_cls: 0.0920, d4.loss_bbox: 0.2923, d5.loss_cls: 0.0910, d5.loss_bbox: 0.2911, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7196, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5474, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4966, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4721, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4682, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4664, d0.loss_map_cls_all: 0.1763, d0.loss_map_pts_all: 0.8858, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1763, d0.loss_map_pts: 0.8858, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1419, d1.loss_map_pts: 0.6441, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.1167, d2.loss_map_pts: 0.5049, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.1096, d3.loss_map_pts: 0.4441, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.1009, d4.loss_map_pts: 0.4272, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0963, d5.loss_map_pts: 0.4199, d5.loss_map_dir: 0.0049, loss: 22.1149, grad_norm: 138.5889 +2026-02-28 21:35:24,168 - DriveTransformer - INFO - Epoch [11][14050/39528] lr: 6.331e-05, eta: 4 days, 13:31:48, time: 0.736, data_time: 0.038, memory: 19865, loss_cls: 0.0989, loss_bbox: 0.2980, loss_traj: 0.4820, loss_traj_cls: 0.0020, loss_map_cls: 0.1273, loss_map_pts: 0.5952, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.7099, d0.loss_plan_l1_fix_dist: 0.4048, d1.loss_plan_l1_fix_time: 0.8041, d1.loss_plan_l1_fix_dist: 0.1622, d2.loss_plan_l1_fix_time: 0.7831, d2.loss_plan_l1_fix_dist: 0.3014, d3.loss_plan_l1_fix_time: 0.7713, d3.loss_plan_l1_fix_dist: 0.3043, d4.loss_plan_l1_fix_time: 0.7711, d4.loss_plan_l1_fix_dist: 0.2420, d5.loss_plan_l1_fix_time: 0.7723, d5.loss_plan_l1_fix_dist: 0.2085, d6.loss_plan_l1_fix_time: 0.7743, d6.loss_plan_l1_fix_dist: 0.2357, d0.loss_cls_all: 0.1458, d0.loss_bbox_all: 0.3673, d0.loss_cls: 0.1458, d0.loss_bbox: 0.3673, d1.loss_cls: 0.1362, d1.loss_bbox: 0.3278, d2.loss_cls: 0.1249, d2.loss_bbox: 0.3061, d3.loss_cls: 0.1095, d3.loss_bbox: 0.3003, d4.loss_cls: 0.1013, d4.loss_bbox: 0.2988, d5.loss_cls: 0.1002, d5.loss_bbox: 0.2977, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7490, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5649, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5108, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4924, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4829, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4796, d0.loss_map_cls_all: 0.2160, d0.loss_map_pts_all: 1.2286, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2160, d0.loss_map_pts: 1.2286, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1751, d1.loss_map_pts: 0.8805, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1547, d2.loss_map_pts: 0.6946, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1434, d3.loss_map_pts: 0.6251, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1359, d4.loss_map_pts: 0.6013, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1297, d5.loss_map_pts: 0.5955, d5.loss_map_dir: 0.0073, loss: 24.3455, grad_norm: 138.0822 +2026-02-28 21:35:58,794 - DriveTransformer - INFO - Epoch [11][14100/39528] lr: 6.331e-05, eta: 4 days, 13:31:06, time: 0.693, data_time: 0.038, memory: 19865, loss_cls: 0.0907, loss_bbox: 0.2836, loss_traj: 0.5329, loss_traj_cls: 0.0020, loss_map_cls: 0.1001, loss_map_pts: 0.4546, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.7098, d0.loss_plan_l1_fix_dist: 0.3999, d1.loss_plan_l1_fix_time: 0.7936, d1.loss_plan_l1_fix_dist: 0.1584, d2.loss_plan_l1_fix_time: 0.7785, d2.loss_plan_l1_fix_dist: 0.3046, d3.loss_plan_l1_fix_time: 0.7750, d3.loss_plan_l1_fix_dist: 0.3136, d4.loss_plan_l1_fix_time: 0.7766, d4.loss_plan_l1_fix_dist: 0.2265, d5.loss_plan_l1_fix_time: 0.7784, d5.loss_plan_l1_fix_dist: 0.2072, d6.loss_plan_l1_fix_time: 0.7812, d6.loss_plan_l1_fix_dist: 0.2211, d0.loss_cls_all: 0.1326, d0.loss_bbox_all: 0.3427, d0.loss_cls: 0.1326, d0.loss_bbox: 0.3427, d1.loss_cls: 0.1380, d1.loss_bbox: 0.3048, d2.loss_cls: 0.1212, d2.loss_bbox: 0.2867, d3.loss_cls: 0.0979, d3.loss_bbox: 0.2844, d4.loss_cls: 0.0928, d4.loss_bbox: 0.2829, d5.loss_cls: 0.0916, d5.loss_bbox: 0.2820, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7559, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5934, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5406, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5391, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5331, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5304, d0.loss_map_cls_all: 0.1770, d0.loss_map_pts_all: 0.9848, d0.loss_map_dir_all: 0.0045, d0.loss_map_cls: 0.1770, d0.loss_map_pts: 0.9848, d0.loss_map_dir: 0.0045, d1.loss_map_cls: 0.1490, d1.loss_map_pts: 0.7069, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.1260, d2.loss_map_pts: 0.5386, d2.loss_map_dir: 0.0041, d3.loss_map_cls: 0.1145, d3.loss_map_pts: 0.4762, d3.loss_map_dir: 0.0042, d4.loss_map_cls: 0.1073, d4.loss_map_pts: 0.4602, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.1024, d5.loss_map_pts: 0.4556, d5.loss_map_dir: 0.0045, loss: 22.7137, grad_norm: 136.1080 +2026-02-28 21:36:33,975 - DriveTransformer - INFO - Epoch [11][14150/39528] lr: 6.331e-05, eta: 4 days, 13:30:25, time: 0.704, data_time: 0.037, memory: 19865, loss_cls: 0.0980, loss_bbox: 0.2806, loss_traj: 0.5070, loss_traj_cls: 0.0021, loss_map_cls: 0.1054, loss_map_pts: 0.5218, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.6096, d0.loss_plan_l1_fix_dist: 0.4528, d1.loss_plan_l1_fix_time: 0.7880, d1.loss_plan_l1_fix_dist: 0.1517, d2.loss_plan_l1_fix_time: 0.7771, d2.loss_plan_l1_fix_dist: 0.3051, d3.loss_plan_l1_fix_time: 0.7759, d3.loss_plan_l1_fix_dist: 0.3078, d4.loss_plan_l1_fix_time: 0.7787, d4.loss_plan_l1_fix_dist: 0.2125, d5.loss_plan_l1_fix_time: 0.7812, d5.loss_plan_l1_fix_dist: 0.2069, d6.loss_plan_l1_fix_time: 0.7847, d6.loss_plan_l1_fix_dist: 0.2233, d0.loss_cls_all: 0.1477, d0.loss_bbox_all: 0.3311, d0.loss_cls: 0.1477, d0.loss_bbox: 0.3311, d1.loss_cls: 0.1394, d1.loss_bbox: 0.3012, d2.loss_cls: 0.1231, d2.loss_bbox: 0.2823, d3.loss_cls: 0.1041, d3.loss_bbox: 0.2808, d4.loss_cls: 0.1004, d4.loss_bbox: 0.2787, d5.loss_cls: 0.0989, d5.loss_bbox: 0.2786, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7291, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5600, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5225, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5114, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5064, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5056, d0.loss_map_cls_all: 0.1945, d0.loss_map_pts_all: 1.0593, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1945, d0.loss_map_pts: 1.0593, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1553, d1.loss_map_pts: 0.7608, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1331, d2.loss_map_pts: 0.6074, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1197, d3.loss_map_pts: 0.5539, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1153, d4.loss_map_pts: 0.5264, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1091, d5.loss_map_pts: 0.5215, d5.loss_map_dir: 0.0061, loss: 23.1137, grad_norm: 137.0310 +2026-02-28 21:37:12,045 - DriveTransformer - INFO - Epoch [11][14200/39528] lr: 6.331e-05, eta: 4 days, 13:29:53, time: 0.761, data_time: 0.039, memory: 19865, loss_cls: 0.0855, loss_bbox: 0.2673, loss_traj: 0.3603, loss_traj_cls: 0.0021, loss_map_cls: 0.0889, loss_map_pts: 0.5173, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.5975, d0.loss_plan_l1_fix_dist: 0.4790, d1.loss_plan_l1_fix_time: 0.6826, d1.loss_plan_l1_fix_dist: 0.1722, d2.loss_plan_l1_fix_time: 0.6646, d2.loss_plan_l1_fix_dist: 0.3289, d3.loss_plan_l1_fix_time: 0.6643, d3.loss_plan_l1_fix_dist: 0.3276, d4.loss_plan_l1_fix_time: 0.6668, d4.loss_plan_l1_fix_dist: 0.2089, d5.loss_plan_l1_fix_time: 0.6692, d5.loss_plan_l1_fix_dist: 0.2031, d6.loss_plan_l1_fix_time: 0.6726, d6.loss_plan_l1_fix_dist: 0.2160, d0.loss_cls_all: 0.1284, d0.loss_bbox_all: 0.3334, d0.loss_cls: 0.1284, d0.loss_bbox: 0.3334, d1.loss_cls: 0.1236, d1.loss_bbox: 0.2994, d2.loss_cls: 0.1114, d2.loss_bbox: 0.2782, d3.loss_cls: 0.0901, d3.loss_bbox: 0.2737, d4.loss_cls: 0.0852, d4.loss_bbox: 0.2697, d5.loss_cls: 0.0846, d5.loss_bbox: 0.2680, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5597, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4341, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3893, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.3769, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3689, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3608, d0.loss_map_cls_all: 0.1696, d0.loss_map_pts_all: 1.0726, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1696, d0.loss_map_pts: 1.0726, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1346, d1.loss_map_pts: 0.7699, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1137, d2.loss_map_pts: 0.6048, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1028, d3.loss_map_pts: 0.5449, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.0956, d4.loss_map_pts: 0.5221, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0911, d5.loss_map_pts: 0.5168, d5.loss_map_dir: 0.0066, loss: 21.2118, grad_norm: 137.4447 +2026-02-28 21:37:48,764 - DriveTransformer - INFO - Epoch [11][14250/39528] lr: 6.331e-05, eta: 4 days, 13:29:17, time: 0.734, data_time: 0.038, memory: 19865, loss_cls: 0.0886, loss_bbox: 0.2822, loss_traj: 0.4966, loss_traj_cls: 0.0021, loss_map_cls: 0.1119, loss_map_pts: 0.5430, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.4728, d0.loss_plan_l1_fix_dist: 0.3495, d1.loss_plan_l1_fix_time: 0.7467, d1.loss_plan_l1_fix_dist: 0.1747, d2.loss_plan_l1_fix_time: 0.7378, d2.loss_plan_l1_fix_dist: 0.3344, d3.loss_plan_l1_fix_time: 0.7317, d3.loss_plan_l1_fix_dist: 0.3466, d4.loss_plan_l1_fix_time: 0.7334, d4.loss_plan_l1_fix_dist: 0.2202, d5.loss_plan_l1_fix_time: 0.7355, d5.loss_plan_l1_fix_dist: 0.2079, d6.loss_plan_l1_fix_time: 0.7380, d6.loss_plan_l1_fix_dist: 0.2183, d0.loss_cls_all: 0.1334, d0.loss_bbox_all: 0.3439, d0.loss_cls: 0.1334, d0.loss_bbox: 0.3439, d1.loss_cls: 0.1240, d1.loss_bbox: 0.3149, d2.loss_cls: 0.1121, d2.loss_bbox: 0.2908, d3.loss_cls: 0.0960, d3.loss_bbox: 0.2878, d4.loss_cls: 0.0902, d4.loss_bbox: 0.2846, d5.loss_cls: 0.0883, d5.loss_bbox: 0.2836, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7887, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5825, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5277, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5032, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4995, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4965, d0.loss_map_cls_all: 0.1978, d0.loss_map_pts_all: 1.0860, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1978, d0.loss_map_pts: 1.0860, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1640, d1.loss_map_pts: 0.7910, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1377, d2.loss_map_pts: 0.6337, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1261, d3.loss_map_pts: 0.5691, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1187, d4.loss_map_pts: 0.5465, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1134, d5.loss_map_pts: 0.5414, d5.loss_map_dir: 0.0063, loss: 22.9621, grad_norm: 139.3508 +2026-02-28 21:38:24,045 - DriveTransformer - INFO - Epoch [11][14300/39528] lr: 6.331e-05, eta: 4 days, 13:28:36, time: 0.706, data_time: 0.038, memory: 19865, loss_cls: 0.0816, loss_bbox: 0.2694, loss_traj: 0.4904, loss_traj_cls: 0.0021, loss_map_cls: 0.0864, loss_map_pts: 0.4374, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.9650, d0.loss_plan_l1_fix_dist: 0.4022, d1.loss_plan_l1_fix_time: 0.7516, d1.loss_plan_l1_fix_dist: 0.1797, d2.loss_plan_l1_fix_time: 0.7398, d2.loss_plan_l1_fix_dist: 0.3144, d3.loss_plan_l1_fix_time: 0.7238, d3.loss_plan_l1_fix_dist: 0.3227, d4.loss_plan_l1_fix_time: 0.7243, d4.loss_plan_l1_fix_dist: 0.1934, d5.loss_plan_l1_fix_time: 0.7263, d5.loss_plan_l1_fix_dist: 0.1877, d6.loss_plan_l1_fix_time: 0.7281, d6.loss_plan_l1_fix_dist: 0.2021, d0.loss_cls_all: 0.1234, d0.loss_bbox_all: 0.3277, d0.loss_cls: 0.1234, d0.loss_bbox: 0.3277, d1.loss_cls: 0.1167, d1.loss_bbox: 0.2942, d2.loss_cls: 0.1038, d2.loss_bbox: 0.2784, d3.loss_cls: 0.0882, d3.loss_bbox: 0.2738, d4.loss_cls: 0.0844, d4.loss_bbox: 0.2703, d5.loss_cls: 0.0822, d5.loss_bbox: 0.2697, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7373, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5762, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5241, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4960, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4938, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4926, d0.loss_map_cls_all: 0.1742, d0.loss_map_pts_all: 0.9157, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1742, d0.loss_map_pts: 0.9157, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1396, d1.loss_map_pts: 0.6632, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.1133, d2.loss_map_pts: 0.5179, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.1040, d3.loss_map_pts: 0.4599, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0957, d4.loss_map_pts: 0.4435, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0887, d5.loss_map_pts: 0.4386, d5.loss_map_dir: 0.0046, loss: 21.8991, grad_norm: 139.6855 +2026-02-28 21:39:01,986 - DriveTransformer - INFO - Epoch [11][14350/39528] lr: 6.331e-05, eta: 4 days, 13:28:04, time: 0.759, data_time: 0.037, memory: 19865, loss_cls: 0.0890, loss_bbox: 0.2920, loss_traj: 0.4116, loss_traj_cls: 0.0021, loss_map_cls: 0.0898, loss_map_pts: 0.5206, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.2031, d0.loss_plan_l1_fix_dist: 0.4384, d1.loss_plan_l1_fix_time: 0.7494, d1.loss_plan_l1_fix_dist: 0.1967, d2.loss_plan_l1_fix_time: 0.7352, d2.loss_plan_l1_fix_dist: 0.3099, d3.loss_plan_l1_fix_time: 0.7333, d3.loss_plan_l1_fix_dist: 0.3201, d4.loss_plan_l1_fix_time: 0.7350, d4.loss_plan_l1_fix_dist: 0.2052, d5.loss_plan_l1_fix_time: 0.7373, d5.loss_plan_l1_fix_dist: 0.2150, d6.loss_plan_l1_fix_time: 0.7397, d6.loss_plan_l1_fix_dist: 0.2270, d0.loss_cls_all: 0.1409, d0.loss_bbox_all: 0.3460, d0.loss_cls: 0.1409, d0.loss_bbox: 0.3460, d1.loss_cls: 0.1296, d1.loss_bbox: 0.3193, d2.loss_cls: 0.1170, d2.loss_bbox: 0.2988, d3.loss_cls: 0.0974, d3.loss_bbox: 0.2948, d4.loss_cls: 0.0905, d4.loss_bbox: 0.2934, d5.loss_cls: 0.0884, d5.loss_bbox: 0.2921, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6354, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4927, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4372, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4213, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4136, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4123, d0.loss_map_cls_all: 0.1625, d0.loss_map_pts_all: 1.0895, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1625, d0.loss_map_pts: 1.0895, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1321, d1.loss_map_pts: 0.7798, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1114, d2.loss_map_pts: 0.6115, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1005, d3.loss_map_pts: 0.5493, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.0946, d4.loss_map_pts: 0.5271, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0915, d5.loss_map_pts: 0.5216, d5.loss_map_dir: 0.0063, loss: 21.8383, grad_norm: 139.7423 +2026-02-28 21:39:39,039 - DriveTransformer - INFO - Epoch [11][14400/39528] lr: 6.331e-05, eta: 4 days, 13:27:29, time: 0.741, data_time: 0.039, memory: 19865, loss_cls: 0.0726, loss_bbox: 0.2585, loss_traj: 0.4784, loss_traj_cls: 0.0021, loss_map_cls: 0.0881, loss_map_pts: 0.4637, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.5899, d0.loss_plan_l1_fix_dist: 0.4424, d1.loss_plan_l1_fix_time: 0.7357, d1.loss_plan_l1_fix_dist: 0.2070, d2.loss_plan_l1_fix_time: 0.7194, d2.loss_plan_l1_fix_dist: 0.2946, d3.loss_plan_l1_fix_time: 0.7032, d3.loss_plan_l1_fix_dist: 0.2895, d4.loss_plan_l1_fix_time: 0.7046, d4.loss_plan_l1_fix_dist: 0.1858, d5.loss_plan_l1_fix_time: 0.7064, d5.loss_plan_l1_fix_dist: 0.1839, d6.loss_plan_l1_fix_time: 0.7088, d6.loss_plan_l1_fix_dist: 0.1973, d0.loss_cls_all: 0.1151, d0.loss_bbox_all: 0.3234, d0.loss_cls: 0.1151, d0.loss_bbox: 0.3234, d1.loss_cls: 0.1081, d1.loss_bbox: 0.2902, d2.loss_cls: 0.0952, d2.loss_bbox: 0.2692, d3.loss_cls: 0.0795, d3.loss_bbox: 0.2626, d4.loss_cls: 0.0741, d4.loss_bbox: 0.2609, d5.loss_cls: 0.0728, d5.loss_bbox: 0.2586, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7038, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5543, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5112, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4931, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4852, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4811, d0.loss_map_cls_all: 0.1646, d0.loss_map_pts_all: 0.9846, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1646, d0.loss_map_pts: 0.9846, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1354, d1.loss_map_pts: 0.7035, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1127, d2.loss_map_pts: 0.5542, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1011, d3.loss_map_pts: 0.4970, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0943, d4.loss_map_pts: 0.4746, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0899, d5.loss_map_pts: 0.4647, d5.loss_map_dir: 0.0056, loss: 21.4848, grad_norm: 140.4087 +2026-02-28 21:40:15,431 - DriveTransformer - INFO - Epoch [11][14450/39528] lr: 6.331e-05, eta: 4 days, 13:26:52, time: 0.728, data_time: 0.038, memory: 19865, loss_cls: 0.0907, loss_bbox: 0.2820, loss_traj: 0.4731, loss_traj_cls: 0.0021, loss_map_cls: 0.1155, loss_map_pts: 0.4972, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.4833, d0.loss_plan_l1_fix_dist: 0.3555, d1.loss_plan_l1_fix_time: 0.7701, d1.loss_plan_l1_fix_dist: 0.1968, d2.loss_plan_l1_fix_time: 0.7593, d2.loss_plan_l1_fix_dist: 0.2845, d3.loss_plan_l1_fix_time: 0.7509, d3.loss_plan_l1_fix_dist: 0.2707, d4.loss_plan_l1_fix_time: 0.7543, d4.loss_plan_l1_fix_dist: 0.1691, d5.loss_plan_l1_fix_time: 0.7570, d5.loss_plan_l1_fix_dist: 0.1782, d6.loss_plan_l1_fix_time: 0.7600, d6.loss_plan_l1_fix_dist: 0.2008, d0.loss_cls_all: 0.1285, d0.loss_bbox_all: 0.3436, d0.loss_cls: 0.1285, d0.loss_bbox: 0.3436, d1.loss_cls: 0.1248, d1.loss_bbox: 0.3052, d2.loss_cls: 0.1145, d2.loss_bbox: 0.2869, d3.loss_cls: 0.0969, d3.loss_bbox: 0.2833, d4.loss_cls: 0.0928, d4.loss_bbox: 0.2813, d5.loss_cls: 0.0913, d5.loss_bbox: 0.2806, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7221, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5563, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5079, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4827, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4767, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4765, d0.loss_map_cls_all: 0.1947, d0.loss_map_pts_all: 1.0919, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1947, d0.loss_map_pts: 1.0919, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1667, d1.loss_map_pts: 0.7982, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1410, d2.loss_map_pts: 0.6178, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1302, d3.loss_map_pts: 0.5399, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1237, d4.loss_map_pts: 0.5082, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1182, d5.loss_map_pts: 0.4983, d5.loss_map_dir: 0.0056, loss: 22.5381, grad_norm: 136.5557 +2026-02-28 21:40:49,796 - DriveTransformer - INFO - Epoch [11][14500/39528] lr: 6.331e-05, eta: 4 days, 13:26:09, time: 0.687, data_time: 0.037, memory: 19865, loss_cls: 0.0989, loss_bbox: 0.2930, loss_traj: 0.5355, loss_traj_cls: 0.0021, loss_map_cls: 0.0924, loss_map_pts: 0.4584, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.6665, d0.loss_plan_l1_fix_dist: 0.3971, d1.loss_plan_l1_fix_time: 0.7979, d1.loss_plan_l1_fix_dist: 0.2204, d2.loss_plan_l1_fix_time: 0.7902, d2.loss_plan_l1_fix_dist: 0.2686, d3.loss_plan_l1_fix_time: 0.7912, d3.loss_plan_l1_fix_dist: 0.2498, d4.loss_plan_l1_fix_time: 0.7931, d4.loss_plan_l1_fix_dist: 0.1639, d5.loss_plan_l1_fix_time: 0.7958, d5.loss_plan_l1_fix_dist: 0.1720, d6.loss_plan_l1_fix_time: 0.7993, d6.loss_plan_l1_fix_dist: 0.1828, d0.loss_cls_all: 0.1420, d0.loss_bbox_all: 0.3609, d0.loss_cls: 0.1420, d0.loss_bbox: 0.3609, d1.loss_cls: 0.1413, d1.loss_bbox: 0.3224, d2.loss_cls: 0.1259, d2.loss_bbox: 0.3003, d3.loss_cls: 0.1083, d3.loss_bbox: 0.2935, d4.loss_cls: 0.1002, d4.loss_bbox: 0.2940, d5.loss_cls: 0.0989, d5.loss_bbox: 0.2923, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8130, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6276, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5771, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5513, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5438, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5355, d0.loss_map_cls_all: 0.1824, d0.loss_map_pts_all: 0.9015, d0.loss_map_dir_all: 0.0048, d0.loss_map_cls: 0.1824, d0.loss_map_pts: 0.9015, d0.loss_map_dir: 0.0048, d1.loss_map_cls: 0.1485, d1.loss_map_pts: 0.6780, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.1214, d2.loss_map_pts: 0.5440, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.1071, d3.loss_map_pts: 0.4910, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0999, d4.loss_map_pts: 0.4675, d4.loss_map_dir: 0.0046, d5.loss_map_cls: 0.0943, d5.loss_map_pts: 0.4592, d5.loss_map_dir: 0.0046, loss: 22.7202, grad_norm: 137.3260 +2026-02-28 21:41:27,613 - DriveTransformer - INFO - Epoch [11][14550/39528] lr: 6.331e-05, eta: 4 days, 13:25:36, time: 0.756, data_time: 0.042, memory: 19865, loss_cls: 0.0984, loss_bbox: 0.2821, loss_traj: 0.4615, loss_traj_cls: 0.0021, loss_map_cls: 0.0993, loss_map_pts: 0.5165, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.3593, d0.loss_plan_l1_fix_dist: 0.4096, d1.loss_plan_l1_fix_time: 0.7882, d1.loss_plan_l1_fix_dist: 0.2164, d2.loss_plan_l1_fix_time: 0.7714, d2.loss_plan_l1_fix_dist: 0.2433, d3.loss_plan_l1_fix_time: 0.7639, d3.loss_plan_l1_fix_dist: 0.2179, d4.loss_plan_l1_fix_time: 0.7657, d4.loss_plan_l1_fix_dist: 0.1555, d5.loss_plan_l1_fix_time: 0.7684, d5.loss_plan_l1_fix_dist: 0.1534, d6.loss_plan_l1_fix_time: 0.7719, d6.loss_plan_l1_fix_dist: 0.1626, d0.loss_cls_all: 0.1458, d0.loss_bbox_all: 0.3586, d0.loss_cls: 0.1458, d0.loss_bbox: 0.3586, d1.loss_cls: 0.1378, d1.loss_bbox: 0.3214, d2.loss_cls: 0.1248, d2.loss_bbox: 0.2948, d3.loss_cls: 0.1069, d3.loss_bbox: 0.2891, d4.loss_cls: 0.1015, d4.loss_bbox: 0.2849, d5.loss_cls: 0.0997, d5.loss_bbox: 0.2821, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7158, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5488, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4917, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4674, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4695, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4644, d0.loss_map_cls_all: 0.1887, d0.loss_map_pts_all: 1.0665, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1887, d0.loss_map_pts: 1.0665, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1516, d1.loss_map_pts: 0.7795, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1256, d2.loss_map_pts: 0.6086, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1117, d3.loss_map_pts: 0.5517, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1067, d4.loss_map_pts: 0.5277, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1004, d5.loss_map_pts: 0.5189, d5.loss_map_dir: 0.0070, loss: 22.3720, grad_norm: 134.6536 +2026-02-28 21:42:05,837 - DriveTransformer - INFO - Epoch [11][14600/39528] lr: 6.331e-05, eta: 4 days, 13:25:05, time: 0.765, data_time: 0.035, memory: 19865, loss_cls: 0.1089, loss_bbox: 0.3072, loss_traj: 0.4860, loss_traj_cls: 0.0020, loss_map_cls: 0.1253, loss_map_pts: 0.6081, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.6115, d0.loss_plan_l1_fix_dist: 0.4273, d1.loss_plan_l1_fix_time: 0.7780, d1.loss_plan_l1_fix_dist: 0.2349, d2.loss_plan_l1_fix_time: 0.7667, d2.loss_plan_l1_fix_dist: 0.2375, d3.loss_plan_l1_fix_time: 0.7555, d3.loss_plan_l1_fix_dist: 0.2059, d4.loss_plan_l1_fix_time: 0.7563, d4.loss_plan_l1_fix_dist: 0.1705, d5.loss_plan_l1_fix_time: 0.7578, d5.loss_plan_l1_fix_dist: 0.1769, d6.loss_plan_l1_fix_time: 0.7597, d6.loss_plan_l1_fix_dist: 0.1882, d0.loss_cls_all: 0.1587, d0.loss_bbox_all: 0.3832, d0.loss_cls: 0.1587, d0.loss_bbox: 0.3832, d1.loss_cls: 0.1545, d1.loss_bbox: 0.3466, d2.loss_cls: 0.1359, d2.loss_bbox: 0.3196, d3.loss_cls: 0.1158, d3.loss_bbox: 0.3129, d4.loss_cls: 0.1111, d4.loss_bbox: 0.3087, d5.loss_cls: 0.1101, d5.loss_bbox: 0.3065, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7284, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5775, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5109, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4985, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4911, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4882, d0.loss_map_cls_all: 0.2219, d0.loss_map_pts_all: 1.3104, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2219, d0.loss_map_pts: 1.3104, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1837, d1.loss_map_pts: 0.9356, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1564, d2.loss_map_pts: 0.7228, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1432, d3.loss_map_pts: 0.6452, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1336, d4.loss_map_pts: 0.6175, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1289, d5.loss_map_pts: 0.6089, d5.loss_map_dir: 0.0077, loss: 24.4714, grad_norm: 134.2495 +2026-02-28 21:42:43,711 - DriveTransformer - INFO - Epoch [11][14650/39528] lr: 6.331e-05, eta: 4 days, 13:24:32, time: 0.757, data_time: 0.038, memory: 19865, loss_cls: 0.0877, loss_bbox: 0.2887, loss_traj: 0.4589, loss_traj_cls: 0.0020, loss_map_cls: 0.0958, loss_map_pts: 0.5390, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.3446, d0.loss_plan_l1_fix_dist: 0.4772, d1.loss_plan_l1_fix_time: 0.7138, d1.loss_plan_l1_fix_dist: 0.2455, d2.loss_plan_l1_fix_time: 0.7068, d2.loss_plan_l1_fix_dist: 0.2120, d3.loss_plan_l1_fix_time: 0.7056, d3.loss_plan_l1_fix_dist: 0.1839, d4.loss_plan_l1_fix_time: 0.7085, d4.loss_plan_l1_fix_dist: 0.1691, d5.loss_plan_l1_fix_time: 0.7109, d5.loss_plan_l1_fix_dist: 0.1744, d6.loss_plan_l1_fix_time: 0.7137, d6.loss_plan_l1_fix_dist: 0.1862, d0.loss_cls_all: 0.1363, d0.loss_bbox_all: 0.3445, d0.loss_cls: 0.1363, d0.loss_bbox: 0.3445, d1.loss_cls: 0.1293, d1.loss_bbox: 0.3140, d2.loss_cls: 0.1153, d2.loss_bbox: 0.2942, d3.loss_cls: 0.0983, d3.loss_bbox: 0.2883, d4.loss_cls: 0.0904, d4.loss_bbox: 0.2874, d5.loss_cls: 0.0892, d5.loss_bbox: 0.2869, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7118, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5513, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4839, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4631, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4573, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4591, d0.loss_map_cls_all: 0.1867, d0.loss_map_pts_all: 1.1286, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1867, d0.loss_map_pts: 1.1286, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1467, d1.loss_map_pts: 0.8191, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1227, d2.loss_map_pts: 0.6405, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1121, d3.loss_map_pts: 0.5712, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1051, d4.loss_map_pts: 0.5444, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.0990, d5.loss_map_pts: 0.5391, d5.loss_map_dir: 0.0070, loss: 22.1975, grad_norm: 134.6275 +2026-02-28 21:43:18,892 - DriveTransformer - INFO - Epoch [11][14700/39528] lr: 6.331e-05, eta: 4 days, 13:23:51, time: 0.704, data_time: 0.039, memory: 19865, loss_cls: 0.0813, loss_bbox: 0.2647, loss_traj: 0.4016, loss_traj_cls: 0.0020, loss_map_cls: 0.0969, loss_map_pts: 0.4351, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.3474, d0.loss_plan_l1_fix_dist: 0.3919, d1.loss_plan_l1_fix_time: 0.7515, d1.loss_plan_l1_fix_dist: 0.2388, d2.loss_plan_l1_fix_time: 0.7354, d2.loss_plan_l1_fix_dist: 0.1874, d3.loss_plan_l1_fix_time: 0.7304, d3.loss_plan_l1_fix_dist: 0.1624, d4.loss_plan_l1_fix_time: 0.7344, d4.loss_plan_l1_fix_dist: 0.1653, d5.loss_plan_l1_fix_time: 0.7375, d5.loss_plan_l1_fix_dist: 0.1756, d6.loss_plan_l1_fix_time: 0.7402, d6.loss_plan_l1_fix_dist: 0.1884, d0.loss_cls_all: 0.1226, d0.loss_bbox_all: 0.3275, d0.loss_cls: 0.1226, d0.loss_bbox: 0.3275, d1.loss_cls: 0.1126, d1.loss_bbox: 0.2960, d2.loss_cls: 0.1030, d2.loss_bbox: 0.2718, d3.loss_cls: 0.0875, d3.loss_bbox: 0.2669, d4.loss_cls: 0.0831, d4.loss_bbox: 0.2654, d5.loss_cls: 0.0804, d5.loss_bbox: 0.2650, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6040, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4805, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4305, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4166, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4133, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4057, d0.loss_map_cls_all: 0.1697, d0.loss_map_pts_all: 0.8883, d0.loss_map_dir_all: 0.0049, d0.loss_map_cls: 0.1697, d0.loss_map_pts: 0.8883, d0.loss_map_dir: 0.0049, d1.loss_map_cls: 0.1453, d1.loss_map_pts: 0.6436, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.1210, d2.loss_map_pts: 0.5112, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.1089, d3.loss_map_pts: 0.4633, d3.loss_map_dir: 0.0043, d4.loss_map_cls: 0.1036, d4.loss_map_pts: 0.4416, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0990, d5.loss_map_pts: 0.4357, d5.loss_map_dir: 0.0046, loss: 20.2817, grad_norm: 135.0820 +2026-02-28 21:43:56,658 - DriveTransformer - INFO - Epoch [11][14750/39528] lr: 6.331e-05, eta: 4 days, 13:23:19, time: 0.755, data_time: 0.040, memory: 19865, loss_cls: 0.0853, loss_bbox: 0.2977, loss_traj: 0.4594, loss_traj_cls: 0.0019, loss_map_cls: 0.1028, loss_map_pts: 0.5214, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.7288, d0.loss_plan_l1_fix_dist: 0.4422, d1.loss_plan_l1_fix_time: 0.7483, d1.loss_plan_l1_fix_dist: 0.2538, d2.loss_plan_l1_fix_time: 0.7431, d2.loss_plan_l1_fix_dist: 0.1733, d3.loss_plan_l1_fix_time: 0.7330, d3.loss_plan_l1_fix_dist: 0.1825, d4.loss_plan_l1_fix_time: 0.7357, d4.loss_plan_l1_fix_dist: 0.1832, d5.loss_plan_l1_fix_time: 0.7384, d5.loss_plan_l1_fix_dist: 0.1854, d6.loss_plan_l1_fix_time: 0.7410, d6.loss_plan_l1_fix_dist: 0.1940, d0.loss_cls_all: 0.1244, d0.loss_bbox_all: 0.3544, d0.loss_cls: 0.1244, d0.loss_bbox: 0.3544, d1.loss_cls: 0.1207, d1.loss_bbox: 0.3213, d2.loss_cls: 0.1096, d2.loss_bbox: 0.3022, d3.loss_cls: 0.0917, d3.loss_bbox: 0.2981, d4.loss_cls: 0.0868, d4.loss_bbox: 0.2971, d5.loss_cls: 0.0853, d5.loss_bbox: 0.2974, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6675, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5430, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4986, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4788, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4700, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4644, d0.loss_map_cls_all: 0.1954, d0.loss_map_pts_all: 1.0843, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1954, d0.loss_map_pts: 1.0843, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1640, d1.loss_map_pts: 0.7832, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1339, d2.loss_map_pts: 0.6164, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1205, d3.loss_map_pts: 0.5544, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1125, d4.loss_map_pts: 0.5276, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1062, d5.loss_map_pts: 0.5211, d5.loss_map_dir: 0.0066, loss: 22.5984, grad_norm: 132.2899 +2026-02-28 21:44:34,500 - DriveTransformer - INFO - Epoch [11][14800/39528] lr: 6.331e-05, eta: 4 days, 13:22:46, time: 0.758, data_time: 0.037, memory: 19865, loss_cls: 0.0988, loss_bbox: 0.3182, loss_traj: 0.4519, loss_traj_cls: 0.0019, loss_map_cls: 0.1275, loss_map_pts: 0.6237, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.5351, d0.loss_plan_l1_fix_dist: 0.3848, d1.loss_plan_l1_fix_time: 0.7399, d1.loss_plan_l1_fix_dist: 0.2578, d2.loss_plan_l1_fix_time: 0.7258, d2.loss_plan_l1_fix_dist: 0.1743, d3.loss_plan_l1_fix_time: 0.7235, d3.loss_plan_l1_fix_dist: 0.2070, d4.loss_plan_l1_fix_time: 0.7247, d4.loss_plan_l1_fix_dist: 0.1927, d5.loss_plan_l1_fix_time: 0.7272, d5.loss_plan_l1_fix_dist: 0.1983, d6.loss_plan_l1_fix_time: 0.7300, d6.loss_plan_l1_fix_dist: 0.2137, d0.loss_cls_all: 0.1511, d0.loss_bbox_all: 0.3942, d0.loss_cls: 0.1511, d0.loss_bbox: 0.3942, d1.loss_cls: 0.1472, d1.loss_bbox: 0.3516, d2.loss_cls: 0.1292, d2.loss_bbox: 0.3275, d3.loss_cls: 0.1073, d3.loss_bbox: 0.3216, d4.loss_cls: 0.1019, d4.loss_bbox: 0.3178, d5.loss_cls: 0.0999, d5.loss_bbox: 0.3172, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7000, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5345, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4714, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4549, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4556, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4538, d0.loss_map_cls_all: 0.2192, d0.loss_map_pts_all: 1.2683, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2192, d0.loss_map_pts: 1.2683, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1877, d1.loss_map_pts: 0.9330, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.1586, d2.loss_map_pts: 0.7379, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1442, d3.loss_map_pts: 0.6664, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1368, d4.loss_map_pts: 0.6339, d4.loss_map_dir: 0.0080, d5.loss_map_cls: 0.1310, d5.loss_map_pts: 0.6243, d5.loss_map_dir: 0.0081, loss: 23.9369, grad_norm: 135.4126 +2026-02-28 21:45:11,109 - DriveTransformer - INFO - Epoch [11][14850/39528] lr: 6.331e-05, eta: 4 days, 13:22:10, time: 0.731, data_time: 0.038, memory: 19865, loss_cls: 0.0931, loss_bbox: 0.2950, loss_traj: 0.5181, loss_traj_cls: 0.0019, loss_map_cls: 0.0989, loss_map_pts: 0.5103, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.5324, d0.loss_plan_l1_fix_dist: 0.3744, d1.loss_plan_l1_fix_time: 0.7547, d1.loss_plan_l1_fix_dist: 0.2539, d2.loss_plan_l1_fix_time: 0.7451, d2.loss_plan_l1_fix_dist: 0.1806, d3.loss_plan_l1_fix_time: 0.7523, d3.loss_plan_l1_fix_dist: 0.2227, d4.loss_plan_l1_fix_time: 0.7564, d4.loss_plan_l1_fix_dist: 0.1890, d5.loss_plan_l1_fix_time: 0.7600, d5.loss_plan_l1_fix_dist: 0.1855, d6.loss_plan_l1_fix_time: 0.7643, d6.loss_plan_l1_fix_dist: 0.1993, d0.loss_cls_all: 0.1385, d0.loss_bbox_all: 0.3449, d0.loss_cls: 0.1385, d0.loss_bbox: 0.3449, d1.loss_cls: 0.1290, d1.loss_bbox: 0.3158, d2.loss_cls: 0.1157, d2.loss_bbox: 0.2993, d3.loss_cls: 0.1006, d3.loss_bbox: 0.2946, d4.loss_cls: 0.0947, d4.loss_bbox: 0.2951, d5.loss_cls: 0.0934, d5.loss_bbox: 0.2937, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7475, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5965, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5454, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5323, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5268, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5233, d0.loss_map_cls_all: 0.1824, d0.loss_map_pts_all: 1.0182, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1824, d0.loss_map_pts: 1.0182, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1513, d1.loss_map_pts: 0.7545, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1248, d2.loss_map_pts: 0.6101, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1157, d3.loss_map_pts: 0.5489, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1062, d4.loss_map_pts: 0.5222, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1014, d5.loss_map_pts: 0.5113, d5.loss_map_dir: 0.0061, loss: 22.6618, grad_norm: 135.8441 +2026-02-28 21:45:46,896 - DriveTransformer - INFO - Epoch [11][14900/39528] lr: 6.331e-05, eta: 4 days, 13:21:31, time: 0.716, data_time: 0.037, memory: 19865, loss_cls: 0.1064, loss_bbox: 0.3004, loss_traj: 0.5506, loss_traj_cls: 0.0019, loss_map_cls: 0.1017, loss_map_pts: 0.5831, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.7710, d0.loss_plan_l1_fix_dist: 0.5147, d1.loss_plan_l1_fix_time: 0.7641, d1.loss_plan_l1_fix_dist: 0.2766, d2.loss_plan_l1_fix_time: 0.7459, d2.loss_plan_l1_fix_dist: 0.2194, d3.loss_plan_l1_fix_time: 0.7336, d3.loss_plan_l1_fix_dist: 0.2652, d4.loss_plan_l1_fix_time: 0.7361, d4.loss_plan_l1_fix_dist: 0.2271, d5.loss_plan_l1_fix_time: 0.7384, d5.loss_plan_l1_fix_dist: 0.2310, d6.loss_plan_l1_fix_time: 0.7414, d6.loss_plan_l1_fix_dist: 0.2474, d0.loss_cls_all: 0.1543, d0.loss_bbox_all: 0.3681, d0.loss_cls: 0.1543, d0.loss_bbox: 0.3681, d1.loss_cls: 0.1463, d1.loss_bbox: 0.3355, d2.loss_cls: 0.1368, d2.loss_bbox: 0.3090, d3.loss_cls: 0.1157, d3.loss_bbox: 0.3030, d4.loss_cls: 0.1072, d4.loss_bbox: 0.3005, d5.loss_cls: 0.1066, d5.loss_bbox: 0.2998, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7613, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6276, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5741, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5523, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5513, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5528, d0.loss_map_cls_all: 0.1927, d0.loss_map_pts_all: 1.1580, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1927, d0.loss_map_pts: 1.1580, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1515, d1.loss_map_pts: 0.8765, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1294, d2.loss_map_pts: 0.6917, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1178, d3.loss_map_pts: 0.6184, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1107, d4.loss_map_pts: 0.5918, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1054, d5.loss_map_pts: 0.5827, d5.loss_map_dir: 0.0066, loss: 24.4157, grad_norm: 135.0536 +2026-02-28 21:46:23,570 - DriveTransformer - INFO - Epoch [11][14950/39528] lr: 6.331e-05, eta: 4 days, 13:20:55, time: 0.733, data_time: 0.037, memory: 19865, loss_cls: 0.1012, loss_bbox: 0.2900, loss_traj: 0.4144, loss_traj_cls: 0.0019, loss_map_cls: 0.0880, loss_map_pts: 0.5085, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.9856, d0.loss_plan_l1_fix_dist: 0.4410, d1.loss_plan_l1_fix_time: 0.8157, d1.loss_plan_l1_fix_dist: 0.2580, d2.loss_plan_l1_fix_time: 0.7981, d2.loss_plan_l1_fix_dist: 0.2108, d3.loss_plan_l1_fix_time: 0.7684, d3.loss_plan_l1_fix_dist: 0.2397, d4.loss_plan_l1_fix_time: 0.7682, d4.loss_plan_l1_fix_dist: 0.1868, d5.loss_plan_l1_fix_time: 0.7693, d5.loss_plan_l1_fix_dist: 0.1966, d6.loss_plan_l1_fix_time: 0.7708, d6.loss_plan_l1_fix_dist: 0.2089, d0.loss_cls_all: 0.1499, d0.loss_bbox_all: 0.3503, d0.loss_cls: 0.1499, d0.loss_bbox: 0.3503, d1.loss_cls: 0.1443, d1.loss_bbox: 0.3182, d2.loss_cls: 0.1300, d2.loss_bbox: 0.2995, d3.loss_cls: 0.1100, d3.loss_bbox: 0.2923, d4.loss_cls: 0.1035, d4.loss_bbox: 0.2909, d5.loss_cls: 0.1006, d5.loss_bbox: 0.2901, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6185, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4837, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4319, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4174, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4118, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4123, d0.loss_map_cls_all: 0.1582, d0.loss_map_pts_all: 0.9678, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1582, d0.loss_map_pts: 0.9678, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1298, d1.loss_map_pts: 0.7129, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1116, d2.loss_map_pts: 0.5786, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1021, d3.loss_map_pts: 0.5336, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.0953, d4.loss_map_pts: 0.5160, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0912, d5.loss_map_pts: 0.5080, d5.loss_map_dir: 0.0068, loss: 22.3693, grad_norm: 134.9014 +2026-02-28 21:46:59,469 - DriveTransformer - INFO - Epoch [11][15000/39528] lr: 6.331e-05, eta: 4 days, 13:20:16, time: 0.718, data_time: 0.038, memory: 19865, loss_cls: 0.0827, loss_bbox: 0.2582, loss_traj: 0.5293, loss_traj_cls: 0.0020, loss_map_cls: 0.0835, loss_map_pts: 0.4248, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.4192, d0.loss_plan_l1_fix_dist: 0.4727, d1.loss_plan_l1_fix_time: 0.7444, d1.loss_plan_l1_fix_dist: 0.2398, d2.loss_plan_l1_fix_time: 0.7293, d2.loss_plan_l1_fix_dist: 0.2135, d3.loss_plan_l1_fix_time: 0.7290, d3.loss_plan_l1_fix_dist: 0.2430, d4.loss_plan_l1_fix_time: 0.7306, d4.loss_plan_l1_fix_dist: 0.1895, d5.loss_plan_l1_fix_time: 0.7329, d5.loss_plan_l1_fix_dist: 0.2012, d6.loss_plan_l1_fix_time: 0.7358, d6.loss_plan_l1_fix_dist: 0.2141, d0.loss_cls_all: 0.1273, d0.loss_bbox_all: 0.3131, d0.loss_cls: 0.1273, d0.loss_bbox: 0.3131, d1.loss_cls: 0.1182, d1.loss_bbox: 0.2830, d2.loss_cls: 0.1091, d2.loss_bbox: 0.2630, d3.loss_cls: 0.0898, d3.loss_bbox: 0.2593, d4.loss_cls: 0.0844, d4.loss_bbox: 0.2588, d5.loss_cls: 0.0825, d5.loss_bbox: 0.2575, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7800, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6010, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5471, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5290, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5305, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5282, d0.loss_map_cls_all: 0.1655, d0.loss_map_pts_all: 0.8895, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1655, d0.loss_map_pts: 0.8895, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1367, d1.loss_map_pts: 0.6411, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1081, d2.loss_map_pts: 0.5014, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0972, d3.loss_map_pts: 0.4534, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0911, d4.loss_map_pts: 0.4300, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0864, d5.loss_map_pts: 0.4245, d5.loss_map_dir: 0.0053, loss: 21.3051, grad_norm: 133.8255 +2026-02-28 21:47:35,734 - DriveTransformer - INFO - Epoch [11][15050/39528] lr: 6.331e-05, eta: 4 days, 13:19:39, time: 0.725, data_time: 0.038, memory: 19865, loss_cls: 0.0686, loss_bbox: 0.2612, loss_traj: 0.4370, loss_traj_cls: 0.0019, loss_map_cls: 0.0928, loss_map_pts: 0.4691, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.4258, d0.loss_plan_l1_fix_dist: 0.3648, d1.loss_plan_l1_fix_time: 0.6778, d1.loss_plan_l1_fix_dist: 0.2177, d2.loss_plan_l1_fix_time: 0.6608, d2.loss_plan_l1_fix_dist: 0.2000, d3.loss_plan_l1_fix_time: 0.6604, d3.loss_plan_l1_fix_dist: 0.2336, d4.loss_plan_l1_fix_time: 0.6620, d4.loss_plan_l1_fix_dist: 0.1903, d5.loss_plan_l1_fix_time: 0.6640, d5.loss_plan_l1_fix_dist: 0.2003, d6.loss_plan_l1_fix_time: 0.6667, d6.loss_plan_l1_fix_dist: 0.2169, d0.loss_cls_all: 0.1134, d0.loss_bbox_all: 0.3072, d0.loss_cls: 0.1134, d0.loss_bbox: 0.3072, d1.loss_cls: 0.1080, d1.loss_bbox: 0.2802, d2.loss_cls: 0.0926, d2.loss_bbox: 0.2674, d3.loss_cls: 0.0744, d3.loss_bbox: 0.2621, d4.loss_cls: 0.0710, d4.loss_bbox: 0.2597, d5.loss_cls: 0.0678, d5.loss_bbox: 0.2600, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6574, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4973, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4568, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4362, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4386, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4397, d0.loss_map_cls_all: 0.1787, d0.loss_map_pts_all: 0.9818, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1787, d0.loss_map_pts: 0.9818, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1438, d1.loss_map_pts: 0.7128, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1207, d2.loss_map_pts: 0.5546, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1070, d3.loss_map_pts: 0.4983, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1002, d4.loss_map_pts: 0.4729, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0943, d5.loss_map_pts: 0.4687, d5.loss_map_dir: 0.0061, loss: 20.5309, grad_norm: 133.0589 +2026-02-28 21:48:11,048 - DriveTransformer - INFO - Epoch [11][15100/39528] lr: 6.331e-05, eta: 4 days, 13:18:58, time: 0.706, data_time: 0.039, memory: 19865, loss_cls: 0.1012, loss_bbox: 0.3047, loss_traj: 0.4942, loss_traj_cls: 0.0019, loss_map_cls: 0.1054, loss_map_pts: 0.5393, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.6942, d0.loss_plan_l1_fix_dist: 0.4991, d1.loss_plan_l1_fix_time: 0.7573, d1.loss_plan_l1_fix_dist: 0.1956, d2.loss_plan_l1_fix_time: 0.7457, d2.loss_plan_l1_fix_dist: 0.1973, d3.loss_plan_l1_fix_time: 0.7402, d3.loss_plan_l1_fix_dist: 0.2221, d4.loss_plan_l1_fix_time: 0.7408, d4.loss_plan_l1_fix_dist: 0.1885, d5.loss_plan_l1_fix_time: 0.7423, d5.loss_plan_l1_fix_dist: 0.1986, d6.loss_plan_l1_fix_time: 0.7444, d6.loss_plan_l1_fix_dist: 0.2102, d0.loss_cls_all: 0.1509, d0.loss_bbox_all: 0.3768, d0.loss_cls: 0.1509, d0.loss_bbox: 0.3768, d1.loss_cls: 0.1418, d1.loss_bbox: 0.3389, d2.loss_cls: 0.1266, d2.loss_bbox: 0.3195, d3.loss_cls: 0.1086, d3.loss_bbox: 0.3102, d4.loss_cls: 0.1031, d4.loss_bbox: 0.3052, d5.loss_cls: 0.1017, d5.loss_bbox: 0.3037, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7326, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5761, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5243, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5008, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4944, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4929, d0.loss_map_cls_all: 0.1974, d0.loss_map_pts_all: 1.0382, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1974, d0.loss_map_pts: 1.0382, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1648, d1.loss_map_pts: 0.7821, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1368, d2.loss_map_pts: 0.6279, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1223, d3.loss_map_pts: 0.5677, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1136, d4.loss_map_pts: 0.5452, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1095, d5.loss_map_pts: 0.5387, d5.loss_map_dir: 0.0062, loss: 23.1928, grad_norm: 128.7338 +2026-02-28 21:48:48,908 - DriveTransformer - INFO - Epoch [11][15150/39528] lr: 6.331e-05, eta: 4 days, 13:18:26, time: 0.757, data_time: 0.042, memory: 19865, loss_cls: 0.0874, loss_bbox: 0.2774, loss_traj: 0.4286, loss_traj_cls: 0.0020, loss_map_cls: 0.0897, loss_map_pts: 0.5090, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.8501, d0.loss_plan_l1_fix_dist: 0.3948, d1.loss_plan_l1_fix_time: 0.7318, d1.loss_plan_l1_fix_dist: 0.1731, d2.loss_plan_l1_fix_time: 0.7128, d2.loss_plan_l1_fix_dist: 0.1817, d3.loss_plan_l1_fix_time: 0.6892, d3.loss_plan_l1_fix_dist: 0.2092, d4.loss_plan_l1_fix_time: 0.6895, d4.loss_plan_l1_fix_dist: 0.1696, d5.loss_plan_l1_fix_time: 0.6911, d5.loss_plan_l1_fix_dist: 0.1763, d6.loss_plan_l1_fix_time: 0.6938, d6.loss_plan_l1_fix_dist: 0.1844, d0.loss_cls_all: 0.1307, d0.loss_bbox_all: 0.3363, d0.loss_cls: 0.1307, d0.loss_bbox: 0.3363, d1.loss_cls: 0.1252, d1.loss_bbox: 0.3041, d2.loss_cls: 0.1115, d2.loss_bbox: 0.2858, d3.loss_cls: 0.0965, d3.loss_bbox: 0.2799, d4.loss_cls: 0.0927, d4.loss_bbox: 0.2769, d5.loss_cls: 0.0883, d5.loss_bbox: 0.2764, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6620, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5016, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4520, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4391, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4320, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4289, d0.loss_map_cls_all: 0.1728, d0.loss_map_pts_all: 1.0006, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1728, d0.loss_map_pts: 1.0006, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1385, d1.loss_map_pts: 0.7222, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1160, d2.loss_map_pts: 0.5776, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1053, d3.loss_map_pts: 0.5321, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.0987, d4.loss_map_pts: 0.5159, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.0927, d5.loss_map_pts: 0.5091, d5.loss_map_dir: 0.0069, loss: 21.5452, grad_norm: 127.6090 +2026-02-28 21:49:26,916 - DriveTransformer - INFO - Epoch [11][15200/39528] lr: 6.331e-05, eta: 4 days, 13:17:54, time: 0.760, data_time: 0.039, memory: 19865, loss_cls: 0.1000, loss_bbox: 0.2973, loss_traj: 0.4687, loss_traj_cls: 0.0019, loss_map_cls: 0.1110, loss_map_pts: 0.5472, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.4485, d0.loss_plan_l1_fix_dist: 0.4442, d1.loss_plan_l1_fix_time: 0.7085, d1.loss_plan_l1_fix_dist: 0.1711, d2.loss_plan_l1_fix_time: 0.6847, d2.loss_plan_l1_fix_dist: 0.1881, d3.loss_plan_l1_fix_time: 0.6793, d3.loss_plan_l1_fix_dist: 0.2107, d4.loss_plan_l1_fix_time: 0.6815, d4.loss_plan_l1_fix_dist: 0.1735, d5.loss_plan_l1_fix_time: 0.6837, d5.loss_plan_l1_fix_dist: 0.1827, d6.loss_plan_l1_fix_time: 0.6861, d6.loss_plan_l1_fix_dist: 0.1943, d0.loss_cls_all: 0.1523, d0.loss_bbox_all: 0.3609, d0.loss_cls: 0.1523, d0.loss_bbox: 0.3609, d1.loss_cls: 0.1414, d1.loss_bbox: 0.3267, d2.loss_cls: 0.1267, d2.loss_bbox: 0.3084, d3.loss_cls: 0.1075, d3.loss_bbox: 0.3027, d4.loss_cls: 0.1012, d4.loss_bbox: 0.2991, d5.loss_cls: 0.1002, d5.loss_bbox: 0.2968, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7079, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5409, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4938, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4814, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4731, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4713, d0.loss_map_cls_all: 0.1909, d0.loss_map_pts_all: 1.0827, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1909, d0.loss_map_pts: 1.0827, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1578, d1.loss_map_pts: 0.7954, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1334, d2.loss_map_pts: 0.6359, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1229, d3.loss_map_pts: 0.5737, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1187, d4.loss_map_pts: 0.5516, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1135, d5.loss_map_pts: 0.5477, d5.loss_map_dir: 0.0068, loss: 22.3244, grad_norm: 128.6357 +2026-02-28 21:50:03,200 - DriveTransformer - INFO - Epoch [11][15250/39528] lr: 6.331e-05, eta: 4 days, 13:17:16, time: 0.726, data_time: 0.037, memory: 19865, loss_cls: 0.0981, loss_bbox: 0.2789, loss_traj: 0.5541, loss_traj_cls: 0.0020, loss_map_cls: 0.1056, loss_map_pts: 0.4978, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.9738, d0.loss_plan_l1_fix_dist: 0.4159, d1.loss_plan_l1_fix_time: 0.8574, d1.loss_plan_l1_fix_dist: 0.1708, d2.loss_plan_l1_fix_time: 0.8463, d2.loss_plan_l1_fix_dist: 0.1854, d3.loss_plan_l1_fix_time: 0.8395, d3.loss_plan_l1_fix_dist: 0.1871, d4.loss_plan_l1_fix_time: 0.8411, d4.loss_plan_l1_fix_dist: 0.1684, d5.loss_plan_l1_fix_time: 0.8430, d5.loss_plan_l1_fix_dist: 0.1779, d6.loss_plan_l1_fix_time: 0.8454, d6.loss_plan_l1_fix_dist: 0.1922, d0.loss_cls_all: 0.1437, d0.loss_bbox_all: 0.3422, d0.loss_cls: 0.1437, d0.loss_bbox: 0.3422, d1.loss_cls: 0.1411, d1.loss_bbox: 0.3096, d2.loss_cls: 0.1273, d2.loss_bbox: 0.2879, d3.loss_cls: 0.1048, d3.loss_bbox: 0.2844, d4.loss_cls: 0.0986, d4.loss_bbox: 0.2808, d5.loss_cls: 0.0974, d5.loss_bbox: 0.2793, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7973, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6290, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5898, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5671, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5545, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5575, d0.loss_map_cls_all: 0.1886, d0.loss_map_pts_all: 1.0061, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1886, d0.loss_map_pts: 1.0061, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1614, d1.loss_map_pts: 0.7450, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1331, d2.loss_map_pts: 0.5904, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1206, d3.loss_map_pts: 0.5296, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1139, d4.loss_map_pts: 0.5059, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.1076, d5.loss_map_pts: 0.4995, d5.loss_map_dir: 0.0054, loss: 23.7036, grad_norm: 128.9643 +2026-02-28 21:50:38,186 - DriveTransformer - INFO - Epoch [11][15300/39528] lr: 6.331e-05, eta: 4 days, 13:16:35, time: 0.700, data_time: 0.039, memory: 19865, loss_cls: 0.0892, loss_bbox: 0.2808, loss_traj: 0.4421, loss_traj_cls: 0.0020, loss_map_cls: 0.1127, loss_map_pts: 0.4863, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.7804, d0.loss_plan_l1_fix_dist: 0.4385, d1.loss_plan_l1_fix_time: 0.6931, d1.loss_plan_l1_fix_dist: 0.1958, d2.loss_plan_l1_fix_time: 0.6663, d2.loss_plan_l1_fix_dist: 0.1844, d3.loss_plan_l1_fix_time: 0.6686, d3.loss_plan_l1_fix_dist: 0.1726, d4.loss_plan_l1_fix_time: 0.6705, d4.loss_plan_l1_fix_dist: 0.1671, d5.loss_plan_l1_fix_time: 0.6731, d5.loss_plan_l1_fix_dist: 0.1743, d6.loss_plan_l1_fix_time: 0.6759, d6.loss_plan_l1_fix_dist: 0.1901, d0.loss_cls_all: 0.1392, d0.loss_bbox_all: 0.3458, d0.loss_cls: 0.1392, d0.loss_bbox: 0.3458, d1.loss_cls: 0.1304, d1.loss_bbox: 0.3150, d2.loss_cls: 0.1171, d2.loss_bbox: 0.2920, d3.loss_cls: 0.0982, d3.loss_bbox: 0.2841, d4.loss_cls: 0.0922, d4.loss_bbox: 0.2819, d5.loss_cls: 0.0892, d5.loss_bbox: 0.2810, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6857, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5116, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4648, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4505, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4425, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4430, d0.loss_map_cls_all: 0.1904, d0.loss_map_pts_all: 0.9986, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1904, d0.loss_map_pts: 0.9986, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1591, d1.loss_map_pts: 0.7105, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1379, d2.loss_map_pts: 0.5668, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1265, d3.loss_map_pts: 0.5083, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1212, d4.loss_map_pts: 0.4931, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.1153, d5.loss_map_pts: 0.4871, d5.loss_map_dir: 0.0053, loss: 21.5644, grad_norm: 131.5149 +2026-02-28 21:51:14,036 - DriveTransformer - INFO - Epoch [11][15350/39528] lr: 6.331e-05, eta: 4 days, 13:15:56, time: 0.717, data_time: 0.037, memory: 19865, loss_cls: 0.0828, loss_bbox: 0.2812, loss_traj: 0.4003, loss_traj_cls: 0.0019, loss_map_cls: 0.0937, loss_map_pts: 0.5109, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.3249, d0.loss_plan_l1_fix_dist: 0.4303, d1.loss_plan_l1_fix_time: 0.6479, d1.loss_plan_l1_fix_dist: 0.2046, d2.loss_plan_l1_fix_time: 0.6380, d2.loss_plan_l1_fix_dist: 0.1804, d3.loss_plan_l1_fix_time: 0.6376, d3.loss_plan_l1_fix_dist: 0.1585, d4.loss_plan_l1_fix_time: 0.6395, d4.loss_plan_l1_fix_dist: 0.1607, d5.loss_plan_l1_fix_time: 0.6419, d5.loss_plan_l1_fix_dist: 0.1702, d6.loss_plan_l1_fix_time: 0.6445, d6.loss_plan_l1_fix_dist: 0.1796, d0.loss_cls_all: 0.1338, d0.loss_bbox_all: 0.3482, d0.loss_cls: 0.1338, d0.loss_bbox: 0.3482, d1.loss_cls: 0.1268, d1.loss_bbox: 0.3127, d2.loss_cls: 0.1136, d2.loss_bbox: 0.2893, d3.loss_cls: 0.0920, d3.loss_bbox: 0.2847, d4.loss_cls: 0.0854, d4.loss_bbox: 0.2820, d5.loss_cls: 0.0834, d5.loss_bbox: 0.2803, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5893, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4647, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4171, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4011, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4011, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4003, d0.loss_map_cls_all: 0.1700, d0.loss_map_pts_all: 1.0951, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1700, d0.loss_map_pts: 1.0951, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1385, d1.loss_map_pts: 0.7757, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1179, d2.loss_map_pts: 0.5998, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1085, d3.loss_map_pts: 0.5371, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1014, d4.loss_map_pts: 0.5170, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0969, d5.loss_map_pts: 0.5103, d5.loss_map_dir: 0.0065, loss: 20.7070, grad_norm: 128.2022 +2026-02-28 21:51:50,415 - DriveTransformer - INFO - Epoch [11][15400/39528] lr: 6.331e-05, eta: 4 days, 13:15:19, time: 0.728, data_time: 0.038, memory: 19865, loss_cls: 0.0990, loss_bbox: 0.2952, loss_traj: 0.4321, loss_traj_cls: 0.0019, loss_map_cls: 0.1052, loss_map_pts: 0.5072, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.6924, d0.loss_plan_l1_fix_dist: 0.4859, d1.loss_plan_l1_fix_time: 0.7851, d1.loss_plan_l1_fix_dist: 0.2299, d2.loss_plan_l1_fix_time: 0.7649, d2.loss_plan_l1_fix_dist: 0.1951, d3.loss_plan_l1_fix_time: 0.7580, d3.loss_plan_l1_fix_dist: 0.1738, d4.loss_plan_l1_fix_time: 0.7585, d4.loss_plan_l1_fix_dist: 0.1700, d5.loss_plan_l1_fix_time: 0.7597, d5.loss_plan_l1_fix_dist: 0.1770, d6.loss_plan_l1_fix_time: 0.7611, d6.loss_plan_l1_fix_dist: 0.1825, d0.loss_cls_all: 0.1544, d0.loss_bbox_all: 0.3720, d0.loss_cls: 0.1544, d0.loss_bbox: 0.3720, d1.loss_cls: 0.1458, d1.loss_bbox: 0.3344, d2.loss_cls: 0.1286, d2.loss_bbox: 0.3110, d3.loss_cls: 0.1063, d3.loss_bbox: 0.3027, d4.loss_cls: 0.0982, d4.loss_bbox: 0.2994, d5.loss_cls: 0.0978, d5.loss_bbox: 0.2964, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6934, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5297, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4748, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4469, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4374, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4376, d0.loss_map_cls_all: 0.1805, d0.loss_map_pts_all: 1.0346, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1805, d0.loss_map_pts: 1.0346, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1508, d1.loss_map_pts: 0.7288, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1297, d2.loss_map_pts: 0.5878, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1174, d3.loss_map_pts: 0.5318, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1147, d4.loss_map_pts: 0.5139, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1073, d5.loss_map_pts: 0.5068, d5.loss_map_dir: 0.0059, loss: 22.4998, grad_norm: 128.5935 +2026-02-28 21:52:26,726 - DriveTransformer - INFO - Epoch [11][15450/39528] lr: 6.331e-05, eta: 4 days, 13:14:42, time: 0.726, data_time: 0.037, memory: 19865, loss_cls: 0.0899, loss_bbox: 0.2890, loss_traj: 0.5250, loss_traj_cls: 0.0020, loss_map_cls: 0.0842, loss_map_pts: 0.4476, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.4275, d0.loss_plan_l1_fix_dist: 0.4370, d1.loss_plan_l1_fix_time: 0.7211, d1.loss_plan_l1_fix_dist: 0.2163, d2.loss_plan_l1_fix_time: 0.7136, d2.loss_plan_l1_fix_dist: 0.1808, d3.loss_plan_l1_fix_time: 0.7117, d3.loss_plan_l1_fix_dist: 0.1750, d4.loss_plan_l1_fix_time: 0.7151, d4.loss_plan_l1_fix_dist: 0.1697, d5.loss_plan_l1_fix_time: 0.7177, d5.loss_plan_l1_fix_dist: 0.1772, d6.loss_plan_l1_fix_time: 0.7208, d6.loss_plan_l1_fix_dist: 0.1850, d0.loss_cls_all: 0.1401, d0.loss_bbox_all: 0.3528, d0.loss_cls: 0.1401, d0.loss_bbox: 0.3528, d1.loss_cls: 0.1309, d1.loss_bbox: 0.3209, d2.loss_cls: 0.1164, d2.loss_bbox: 0.2988, d3.loss_cls: 0.0987, d3.loss_bbox: 0.2928, d4.loss_cls: 0.0905, d4.loss_bbox: 0.2909, d5.loss_cls: 0.0894, d5.loss_bbox: 0.2900, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7918, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6241, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5556, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5324, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5272, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5270, d0.loss_map_cls_all: 0.1653, d0.loss_map_pts_all: 0.9938, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1653, d0.loss_map_pts: 0.9938, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1337, d1.loss_map_pts: 0.6916, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1089, d2.loss_map_pts: 0.5301, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0976, d3.loss_map_pts: 0.4744, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0915, d4.loss_map_pts: 0.4559, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0868, d5.loss_map_pts: 0.4477, d5.loss_map_dir: 0.0056, loss: 21.7558, grad_norm: 124.4482 +2026-02-28 21:53:03,853 - DriveTransformer - INFO - Epoch [11][15500/39528] lr: 6.331e-05, eta: 4 days, 13:14:07, time: 0.743, data_time: 0.043, memory: 19865, loss_cls: 0.0976, loss_bbox: 0.2919, loss_traj: 0.4989, loss_traj_cls: 0.0020, loss_map_cls: 0.1068, loss_map_pts: 0.5140, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.3197, d0.loss_plan_l1_fix_dist: 0.4402, d1.loss_plan_l1_fix_time: 0.8009, d1.loss_plan_l1_fix_dist: 0.2178, d2.loss_plan_l1_fix_time: 0.8012, d2.loss_plan_l1_fix_dist: 0.1805, d3.loss_plan_l1_fix_time: 0.7888, d3.loss_plan_l1_fix_dist: 0.1807, d4.loss_plan_l1_fix_time: 0.7922, d4.loss_plan_l1_fix_dist: 0.1790, d5.loss_plan_l1_fix_time: 0.7958, d5.loss_plan_l1_fix_dist: 0.1883, d6.loss_plan_l1_fix_time: 0.8001, d6.loss_plan_l1_fix_dist: 0.1948, d0.loss_cls_all: 0.1538, d0.loss_bbox_all: 0.3536, d0.loss_cls: 0.1538, d0.loss_bbox: 0.3536, d1.loss_cls: 0.1434, d1.loss_bbox: 0.3212, d2.loss_cls: 0.1312, d2.loss_bbox: 0.2980, d3.loss_cls: 0.1075, d3.loss_bbox: 0.2941, d4.loss_cls: 0.0992, d4.loss_bbox: 0.2922, d5.loss_cls: 0.0980, d5.loss_bbox: 0.2913, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7435, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5684, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5117, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4998, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4975, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4987, d0.loss_map_cls_all: 0.1874, d0.loss_map_pts_all: 1.0177, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1874, d0.loss_map_pts: 1.0177, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1569, d1.loss_map_pts: 0.7378, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1341, d2.loss_map_pts: 0.5910, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1203, d3.loss_map_pts: 0.5379, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1137, d4.loss_map_pts: 0.5202, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1098, d5.loss_map_pts: 0.5133, d5.loss_map_dir: 0.0061, loss: 22.6002, grad_norm: 125.5550 +2026-02-28 21:53:40,620 - DriveTransformer - INFO - Epoch [11][15550/39528] lr: 6.331e-05, eta: 4 days, 13:13:31, time: 0.735, data_time: 0.038, memory: 19865, loss_cls: 0.0862, loss_bbox: 0.2684, loss_traj: 0.5820, loss_traj_cls: 0.0021, loss_map_cls: 0.0982, loss_map_pts: 0.4487, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.6918, d0.loss_plan_l1_fix_dist: 0.5317, d1.loss_plan_l1_fix_time: 0.7650, d1.loss_plan_l1_fix_dist: 0.2147, d2.loss_plan_l1_fix_time: 0.7427, d2.loss_plan_l1_fix_dist: 0.1813, d3.loss_plan_l1_fix_time: 0.7387, d3.loss_plan_l1_fix_dist: 0.1884, d4.loss_plan_l1_fix_time: 0.7395, d4.loss_plan_l1_fix_dist: 0.1739, d5.loss_plan_l1_fix_time: 0.7417, d5.loss_plan_l1_fix_dist: 0.1776, d6.loss_plan_l1_fix_time: 0.7447, d6.loss_plan_l1_fix_dist: 0.1873, d0.loss_cls_all: 0.1237, d0.loss_bbox_all: 0.3319, d0.loss_cls: 0.1237, d0.loss_bbox: 0.3319, d1.loss_cls: 0.1185, d1.loss_bbox: 0.2968, d2.loss_cls: 0.1082, d2.loss_bbox: 0.2758, d3.loss_cls: 0.0925, d3.loss_bbox: 0.2708, d4.loss_cls: 0.0877, d4.loss_bbox: 0.2686, d5.loss_cls: 0.0869, d5.loss_bbox: 0.2676, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8224, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6497, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5944, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5843, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5799, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5813, d0.loss_map_cls_all: 0.1786, d0.loss_map_pts_all: 0.9360, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1786, d0.loss_map_pts: 0.9360, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1450, d1.loss_map_pts: 0.6784, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1211, d2.loss_map_pts: 0.5334, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.1098, d3.loss_map_pts: 0.4764, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.1029, d4.loss_map_pts: 0.4541, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0994, d5.loss_map_pts: 0.4483, d5.loss_map_dir: 0.0050, loss: 22.3448, grad_norm: 125.2298 +2026-02-28 21:54:18,614 - DriveTransformer - INFO - Epoch [11][15600/39528] lr: 6.331e-05, eta: 4 days, 13:12:59, time: 0.761, data_time: 0.037, memory: 19865, loss_cls: 0.0989, loss_bbox: 0.3090, loss_traj: 0.4633, loss_traj_cls: 0.0019, loss_map_cls: 0.1062, loss_map_pts: 0.5728, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.6130, d0.loss_plan_l1_fix_dist: 0.4594, d1.loss_plan_l1_fix_time: 0.7308, d1.loss_plan_l1_fix_dist: 0.2382, d2.loss_plan_l1_fix_time: 0.7248, d2.loss_plan_l1_fix_dist: 0.1959, d3.loss_plan_l1_fix_time: 0.7159, d3.loss_plan_l1_fix_dist: 0.2079, d4.loss_plan_l1_fix_time: 0.7164, d4.loss_plan_l1_fix_dist: 0.1888, d5.loss_plan_l1_fix_time: 0.7180, d5.loss_plan_l1_fix_dist: 0.1925, d6.loss_plan_l1_fix_time: 0.7203, d6.loss_plan_l1_fix_dist: 0.2022, d0.loss_cls_all: 0.1524, d0.loss_bbox_all: 0.3786, d0.loss_cls: 0.1524, d0.loss_bbox: 0.3786, d1.loss_cls: 0.1480, d1.loss_bbox: 0.3454, d2.loss_cls: 0.1308, d2.loss_bbox: 0.3234, d3.loss_cls: 0.1097, d3.loss_bbox: 0.3154, d4.loss_cls: 0.1025, d4.loss_bbox: 0.3109, d5.loss_cls: 0.0997, d5.loss_bbox: 0.3091, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6648, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5283, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4807, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4706, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4647, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4640, d0.loss_map_cls_all: 0.1900, d0.loss_map_pts_all: 1.1652, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1900, d0.loss_map_pts: 1.1652, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1520, d1.loss_map_pts: 0.8414, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1302, d2.loss_map_pts: 0.6660, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1182, d3.loss_map_pts: 0.6085, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1129, d4.loss_map_pts: 0.5783, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1081, d5.loss_map_pts: 0.5734, d5.loss_map_dir: 0.0074, loss: 23.1697, grad_norm: 128.0668 +2026-02-28 21:54:54,529 - DriveTransformer - INFO - Epoch [11][15650/39528] lr: 6.331e-05, eta: 4 days, 13:12:20, time: 0.717, data_time: 0.037, memory: 19865, loss_cls: 0.0680, loss_bbox: 0.2419, loss_traj: 0.5695, loss_traj_cls: 0.0021, loss_map_cls: 0.0812, loss_map_pts: 0.4554, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.2913, d0.loss_plan_l1_fix_dist: 0.5188, d1.loss_plan_l1_fix_time: 0.7755, d1.loss_plan_l1_fix_dist: 0.1976, d2.loss_plan_l1_fix_time: 0.7677, d2.loss_plan_l1_fix_dist: 0.1556, d3.loss_plan_l1_fix_time: 0.7489, d3.loss_plan_l1_fix_dist: 0.1673, d4.loss_plan_l1_fix_time: 0.7517, d4.loss_plan_l1_fix_dist: 0.1469, d5.loss_plan_l1_fix_time: 0.7551, d5.loss_plan_l1_fix_dist: 0.1499, d6.loss_plan_l1_fix_time: 0.7590, d6.loss_plan_l1_fix_dist: 0.1551, d0.loss_cls_all: 0.1024, d0.loss_bbox_all: 0.2985, d0.loss_cls: 0.1024, d0.loss_bbox: 0.2985, d1.loss_cls: 0.0986, d1.loss_bbox: 0.2686, d2.loss_cls: 0.0872, d2.loss_bbox: 0.2501, d3.loss_cls: 0.0742, d3.loss_bbox: 0.2448, d4.loss_cls: 0.0697, d4.loss_bbox: 0.2414, d5.loss_cls: 0.0677, d5.loss_bbox: 0.2419, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.7632, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6256, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5888, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5779, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5728, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5704, d0.loss_map_cls_all: 0.1550, d0.loss_map_pts_all: 0.9938, d0.loss_map_dir_all: 0.0047, d0.loss_map_cls: 0.1550, d0.loss_map_pts: 0.9938, d0.loss_map_dir: 0.0047, d1.loss_map_cls: 0.1298, d1.loss_map_pts: 0.7022, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.1060, d2.loss_map_pts: 0.5514, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.0946, d3.loss_map_pts: 0.4875, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0878, d4.loss_map_pts: 0.4612, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0829, d5.loss_map_pts: 0.4553, d5.loss_map_dir: 0.0047, loss: 21.4016, grad_norm: 129.5951 +2026-02-28 21:55:31,192 - DriveTransformer - INFO - Epoch [11][15700/39528] lr: 6.331e-05, eta: 4 days, 13:11:44, time: 0.733, data_time: 0.039, memory: 19865, loss_cls: 0.0911, loss_bbox: 0.2926, loss_traj: 0.4555, loss_traj_cls: 0.0020, loss_map_cls: 0.1088, loss_map_pts: 0.5052, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.4595, d0.loss_plan_l1_fix_dist: 0.4597, d1.loss_plan_l1_fix_time: 0.8308, d1.loss_plan_l1_fix_dist: 0.2105, d2.loss_plan_l1_fix_time: 0.8229, d2.loss_plan_l1_fix_dist: 0.1711, d3.loss_plan_l1_fix_time: 0.7982, d3.loss_plan_l1_fix_dist: 0.1831, d4.loss_plan_l1_fix_time: 0.7978, d4.loss_plan_l1_fix_dist: 0.1664, d5.loss_plan_l1_fix_time: 0.7986, d5.loss_plan_l1_fix_dist: 0.1705, d6.loss_plan_l1_fix_time: 0.8000, d6.loss_plan_l1_fix_dist: 0.1775, d0.loss_cls_all: 0.1397, d0.loss_bbox_all: 0.3571, d0.loss_cls: 0.1397, d0.loss_bbox: 0.3571, d1.loss_cls: 0.1303, d1.loss_bbox: 0.3289, d2.loss_cls: 0.1191, d2.loss_bbox: 0.3042, d3.loss_cls: 0.0966, d3.loss_bbox: 0.2989, d4.loss_cls: 0.0915, d4.loss_bbox: 0.2942, d5.loss_cls: 0.0914, d5.loss_bbox: 0.2925, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7019, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5381, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4785, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4653, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4545, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4551, d0.loss_map_cls_all: 0.1910, d0.loss_map_pts_all: 1.0900, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1910, d0.loss_map_pts: 1.0900, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1608, d1.loss_map_pts: 0.7688, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1357, d2.loss_map_pts: 0.5911, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1248, d3.loss_map_pts: 0.5326, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1190, d4.loss_map_pts: 0.5109, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1125, d5.loss_map_pts: 0.5055, d5.loss_map_dir: 0.0064, loss: 22.6152, grad_norm: 128.5040 +2026-02-28 21:56:07,707 - DriveTransformer - INFO - Epoch [11][15750/39528] lr: 6.331e-05, eta: 4 days, 13:11:07, time: 0.730, data_time: 0.040, memory: 19865, loss_cls: 0.0869, loss_bbox: 0.2840, loss_traj: 0.4482, loss_traj_cls: 0.0020, loss_map_cls: 0.1176, loss_map_pts: 0.5542, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.5512, d0.loss_plan_l1_fix_dist: 0.4200, d1.loss_plan_l1_fix_time: 0.7044, d1.loss_plan_l1_fix_dist: 0.2006, d2.loss_plan_l1_fix_time: 0.6890, d2.loss_plan_l1_fix_dist: 0.1605, d3.loss_plan_l1_fix_time: 0.6767, d3.loss_plan_l1_fix_dist: 0.1728, d4.loss_plan_l1_fix_time: 0.6780, d4.loss_plan_l1_fix_dist: 0.1544, d5.loss_plan_l1_fix_time: 0.6795, d5.loss_plan_l1_fix_dist: 0.1584, d6.loss_plan_l1_fix_time: 0.6812, d6.loss_plan_l1_fix_dist: 0.1658, d0.loss_cls_all: 0.1277, d0.loss_bbox_all: 0.3469, d0.loss_cls: 0.1277, d0.loss_bbox: 0.3469, d1.loss_cls: 0.1188, d1.loss_bbox: 0.3168, d2.loss_cls: 0.1065, d2.loss_bbox: 0.2947, d3.loss_cls: 0.0923, d3.loss_bbox: 0.2897, d4.loss_cls: 0.0865, d4.loss_bbox: 0.2858, d5.loss_cls: 0.0874, d5.loss_bbox: 0.2838, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6286, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5107, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4607, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4546, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4479, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4481, d0.loss_map_cls_all: 0.2182, d0.loss_map_pts_all: 1.1911, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2182, d0.loss_map_pts: 1.1911, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1796, d1.loss_map_pts: 0.8453, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1451, d2.loss_map_pts: 0.6477, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1323, d3.loss_map_pts: 0.5788, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1249, d4.loss_map_pts: 0.5586, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1198, d5.loss_map_pts: 0.5546, d5.loss_map_dir: 0.0064, loss: 22.2080, grad_norm: 126.6275 +2026-02-28 21:56:43,497 - DriveTransformer - INFO - Epoch [11][15800/39528] lr: 6.331e-05, eta: 4 days, 13:10:28, time: 0.716, data_time: 0.039, memory: 19865, loss_cls: 0.0876, loss_bbox: 0.2753, loss_traj: 0.4827, loss_traj_cls: 0.0020, loss_map_cls: 0.1153, loss_map_pts: 0.4600, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.9797, d0.loss_plan_l1_fix_dist: 0.3695, d1.loss_plan_l1_fix_time: 0.8393, d1.loss_plan_l1_fix_dist: 0.1894, d2.loss_plan_l1_fix_time: 0.8222, d2.loss_plan_l1_fix_dist: 0.1648, d3.loss_plan_l1_fix_time: 0.8170, d3.loss_plan_l1_fix_dist: 0.1698, d4.loss_plan_l1_fix_time: 0.8193, d4.loss_plan_l1_fix_dist: 0.1575, d5.loss_plan_l1_fix_time: 0.8213, d5.loss_plan_l1_fix_dist: 0.1639, d6.loss_plan_l1_fix_time: 0.8234, d6.loss_plan_l1_fix_dist: 0.1708, d0.loss_cls_all: 0.1340, d0.loss_bbox_all: 0.3485, d0.loss_cls: 0.1340, d0.loss_bbox: 0.3485, d1.loss_cls: 0.1252, d1.loss_bbox: 0.3122, d2.loss_cls: 0.1128, d2.loss_bbox: 0.2883, d3.loss_cls: 0.0944, d3.loss_bbox: 0.2812, d4.loss_cls: 0.0898, d4.loss_bbox: 0.2767, d5.loss_cls: 0.0870, d5.loss_bbox: 0.2760, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7249, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5590, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5180, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4871, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4847, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4820, d0.loss_map_cls_all: 0.1943, d0.loss_map_pts_all: 0.9696, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1943, d0.loss_map_pts: 0.9696, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1630, d1.loss_map_pts: 0.7016, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1403, d2.loss_map_pts: 0.5492, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1294, d3.loss_map_pts: 0.4906, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1238, d4.loss_map_pts: 0.4702, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1175, d5.loss_map_pts: 0.4620, d5.loss_map_dir: 0.0055, loss: 22.6169, grad_norm: 126.3322 +2026-02-28 21:57:22,478 - DriveTransformer - INFO - Epoch [11][15850/39528] lr: 6.331e-05, eta: 4 days, 13:09:59, time: 0.780, data_time: 0.039, memory: 19865, loss_cls: 0.0959, loss_bbox: 0.2904, loss_traj: 0.4351, loss_traj_cls: 0.0021, loss_map_cls: 0.0992, loss_map_pts: 0.5394, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.5309, d0.loss_plan_l1_fix_dist: 0.3851, d1.loss_plan_l1_fix_time: 0.7070, d1.loss_plan_l1_fix_dist: 0.1814, d2.loss_plan_l1_fix_time: 0.6971, d2.loss_plan_l1_fix_dist: 0.1756, d3.loss_plan_l1_fix_time: 0.7169, d3.loss_plan_l1_fix_dist: 0.1641, d4.loss_plan_l1_fix_time: 0.7210, d4.loss_plan_l1_fix_dist: 0.1510, d5.loss_plan_l1_fix_time: 0.7245, d5.loss_plan_l1_fix_dist: 0.1569, d6.loss_plan_l1_fix_time: 0.7283, d6.loss_plan_l1_fix_dist: 0.1629, d0.loss_cls_all: 0.1396, d0.loss_bbox_all: 0.3610, d0.loss_cls: 0.1396, d0.loss_bbox: 0.3610, d1.loss_cls: 0.1349, d1.loss_bbox: 0.3254, d2.loss_cls: 0.1211, d2.loss_bbox: 0.3032, d3.loss_cls: 0.1000, d3.loss_bbox: 0.2973, d4.loss_cls: 0.0962, d4.loss_bbox: 0.2938, d5.loss_cls: 0.0960, d5.loss_bbox: 0.2912, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6343, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4937, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4514, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4350, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4333, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4323, d0.loss_map_cls_all: 0.1856, d0.loss_map_pts_all: 1.1812, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1856, d0.loss_map_pts: 1.1812, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1489, d1.loss_map_pts: 0.8385, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1293, d2.loss_map_pts: 0.6465, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1155, d3.loss_map_pts: 0.5768, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1066, d4.loss_map_pts: 0.5484, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1016, d5.loss_map_pts: 0.5402, d5.loss_map_dir: 0.0072, loss: 22.1525, grad_norm: 125.0072 +2026-02-28 21:57:58,382 - DriveTransformer - INFO - Epoch [11][15900/39528] lr: 6.331e-05, eta: 4 days, 13:09:21, time: 0.718, data_time: 0.036, memory: 19865, loss_cls: 0.0961, loss_bbox: 0.2926, loss_traj: 0.5384, loss_traj_cls: 0.0020, loss_map_cls: 0.1183, loss_map_pts: 0.5511, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.9258, d0.loss_plan_l1_fix_dist: 0.3483, d1.loss_plan_l1_fix_time: 0.7608, d1.loss_plan_l1_fix_dist: 0.1730, d2.loss_plan_l1_fix_time: 0.7575, d2.loss_plan_l1_fix_dist: 0.1874, d3.loss_plan_l1_fix_time: 0.7777, d3.loss_plan_l1_fix_dist: 0.1712, d4.loss_plan_l1_fix_time: 0.7837, d4.loss_plan_l1_fix_dist: 0.1642, d5.loss_plan_l1_fix_time: 0.7892, d5.loss_plan_l1_fix_dist: 0.1726, d6.loss_plan_l1_fix_time: 0.7946, d6.loss_plan_l1_fix_dist: 0.1811, d0.loss_cls_all: 0.1419, d0.loss_bbox_all: 0.3632, d0.loss_cls: 0.1419, d0.loss_bbox: 0.3632, d1.loss_cls: 0.1355, d1.loss_bbox: 0.3267, d2.loss_cls: 0.1214, d2.loss_bbox: 0.3043, d3.loss_cls: 0.1019, d3.loss_bbox: 0.2959, d4.loss_cls: 0.0987, d4.loss_bbox: 0.2921, d5.loss_cls: 0.0962, d5.loss_bbox: 0.2917, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7968, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6207, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5750, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5522, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5435, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5389, d0.loss_map_cls_all: 0.2015, d0.loss_map_pts_all: 1.1306, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.2015, d0.loss_map_pts: 1.1306, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1697, d1.loss_map_pts: 0.8073, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1417, d2.loss_map_pts: 0.6489, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1306, d3.loss_map_pts: 0.5837, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1246, d4.loss_map_pts: 0.5599, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1202, d5.loss_map_pts: 0.5523, d5.loss_map_dir: 0.0061, loss: 23.8432, grad_norm: 126.7396 +2026-02-28 21:58:33,881 - DriveTransformer - INFO - Epoch [11][15950/39528] lr: 6.331e-05, eta: 4 days, 13:08:41, time: 0.710, data_time: 0.037, memory: 19865, loss_cls: 0.0862, loss_bbox: 0.2750, loss_traj: 0.4686, loss_traj_cls: 0.0021, loss_map_cls: 0.0864, loss_map_pts: 0.4682, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.6398, d0.loss_plan_l1_fix_dist: 0.4435, d1.loss_plan_l1_fix_time: 0.7597, d1.loss_plan_l1_fix_dist: 0.1521, d2.loss_plan_l1_fix_time: 0.7427, d2.loss_plan_l1_fix_dist: 0.1776, d3.loss_plan_l1_fix_time: 0.7422, d3.loss_plan_l1_fix_dist: 0.1574, d4.loss_plan_l1_fix_time: 0.7436, d4.loss_plan_l1_fix_dist: 0.1619, d5.loss_plan_l1_fix_time: 0.7456, d5.loss_plan_l1_fix_dist: 0.1716, d6.loss_plan_l1_fix_time: 0.7483, d6.loss_plan_l1_fix_dist: 0.1833, d0.loss_cls_all: 0.1344, d0.loss_bbox_all: 0.3332, d0.loss_cls: 0.1344, d0.loss_bbox: 0.3332, d1.loss_cls: 0.1253, d1.loss_bbox: 0.3027, d2.loss_cls: 0.1141, d2.loss_bbox: 0.2837, d3.loss_cls: 0.0933, d3.loss_bbox: 0.2786, d4.loss_cls: 0.0873, d4.loss_bbox: 0.2777, d5.loss_cls: 0.0877, d5.loss_bbox: 0.2749, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6970, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5587, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4968, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4777, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4715, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4705, d0.loss_map_cls_all: 0.1705, d0.loss_map_pts_all: 0.9613, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1705, d0.loss_map_pts: 0.9613, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1338, d1.loss_map_pts: 0.6873, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1096, d2.loss_map_pts: 0.5460, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0975, d3.loss_map_pts: 0.4935, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0921, d4.loss_map_pts: 0.4748, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0880, d5.loss_map_pts: 0.4682, d5.loss_map_dir: 0.0052, loss: 21.4919, grad_norm: 126.5401 +2026-02-28 21:59:09,391 - DriveTransformer - INFO - Epoch [11][16000/39528] lr: 6.331e-05, eta: 4 days, 13:08:01, time: 0.710, data_time: 0.037, memory: 19865, loss_cls: 0.0896, loss_bbox: 0.2917, loss_traj: 0.4755, loss_traj_cls: 0.0020, loss_map_cls: 0.1369, loss_map_pts: 0.5495, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.9324, d0.loss_plan_l1_fix_dist: 0.3194, d1.loss_plan_l1_fix_time: 0.8223, d1.loss_plan_l1_fix_dist: 0.1405, d2.loss_plan_l1_fix_time: 0.8180, d2.loss_plan_l1_fix_dist: 0.1666, d3.loss_plan_l1_fix_time: 0.8185, d3.loss_plan_l1_fix_dist: 0.1389, d4.loss_plan_l1_fix_time: 0.8210, d4.loss_plan_l1_fix_dist: 0.1523, d5.loss_plan_l1_fix_time: 0.8228, d5.loss_plan_l1_fix_dist: 0.1585, d6.loss_plan_l1_fix_time: 0.8251, d6.loss_plan_l1_fix_dist: 0.1680, d0.loss_cls_all: 0.1453, d0.loss_bbox_all: 0.3590, d0.loss_cls: 0.1453, d0.loss_bbox: 0.3590, d1.loss_cls: 0.1359, d1.loss_bbox: 0.3236, d2.loss_cls: 0.1177, d2.loss_bbox: 0.3028, d3.loss_cls: 0.0957, d3.loss_bbox: 0.2997, d4.loss_cls: 0.0906, d4.loss_bbox: 0.2953, d5.loss_cls: 0.0895, d5.loss_bbox: 0.2923, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7299, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5706, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5029, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4875, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4805, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4758, d0.loss_map_cls_all: 0.2278, d0.loss_map_pts_all: 1.1426, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2278, d0.loss_map_pts: 1.1426, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1966, d1.loss_map_pts: 0.8236, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1681, d2.loss_map_pts: 0.6487, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1540, d3.loss_map_pts: 0.5820, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1470, d4.loss_map_pts: 0.5564, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1405, d5.loss_map_pts: 0.5495, d5.loss_map_dir: 0.0066, loss: 23.7117, grad_norm: 127.1675 +2026-02-28 21:59:46,783 - DriveTransformer - INFO - Epoch [11][16050/39528] lr: 6.331e-05, eta: 4 days, 13:07:27, time: 0.748, data_time: 0.037, memory: 19865, loss_cls: 0.1057, loss_bbox: 0.2991, loss_traj: 0.5491, loss_traj_cls: 0.0020, loss_map_cls: 0.0935, loss_map_pts: 0.5251, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.9556, d0.loss_plan_l1_fix_dist: 0.3770, d1.loss_plan_l1_fix_time: 0.7931, d1.loss_plan_l1_fix_dist: 0.1597, d2.loss_plan_l1_fix_time: 0.7767, d2.loss_plan_l1_fix_dist: 0.1765, d3.loss_plan_l1_fix_time: 0.7759, d3.loss_plan_l1_fix_dist: 0.1522, d4.loss_plan_l1_fix_time: 0.7784, d4.loss_plan_l1_fix_dist: 0.1661, d5.loss_plan_l1_fix_time: 0.7810, d5.loss_plan_l1_fix_dist: 0.1768, d6.loss_plan_l1_fix_time: 0.7843, d6.loss_plan_l1_fix_dist: 0.1891, d0.loss_cls_all: 0.1505, d0.loss_bbox_all: 0.3684, d0.loss_cls: 0.1505, d0.loss_bbox: 0.3684, d1.loss_cls: 0.1424, d1.loss_bbox: 0.3330, d2.loss_cls: 0.1332, d2.loss_bbox: 0.3093, d3.loss_cls: 0.1122, d3.loss_bbox: 0.3045, d4.loss_cls: 0.1067, d4.loss_bbox: 0.3021, d5.loss_cls: 0.1060, d5.loss_bbox: 0.2991, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8684, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.6547, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5840, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5653, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5609, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5529, d0.loss_map_cls_all: 0.1736, d0.loss_map_pts_all: 1.0566, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1736, d0.loss_map_pts: 1.0566, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1430, d1.loss_map_pts: 0.7603, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1180, d2.loss_map_pts: 0.6103, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1066, d3.loss_map_pts: 0.5529, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.0989, d4.loss_map_pts: 0.5299, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0951, d5.loss_map_pts: 0.5221, d5.loss_map_dir: 0.0065, loss: 23.6430, grad_norm: 130.3130 +2026-02-28 22:00:23,685 - DriveTransformer - INFO - Epoch [11][16100/39528] lr: 6.331e-05, eta: 4 days, 13:06:52, time: 0.738, data_time: 0.039, memory: 19865, loss_cls: 0.0837, loss_bbox: 0.2621, loss_traj: 0.4248, loss_traj_cls: 0.0021, loss_map_cls: 0.1022, loss_map_pts: 0.4962, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.5912, d0.loss_plan_l1_fix_dist: 0.3884, d1.loss_plan_l1_fix_time: 0.6845, d1.loss_plan_l1_fix_dist: 0.1643, d2.loss_plan_l1_fix_time: 0.6678, d2.loss_plan_l1_fix_dist: 0.1605, d3.loss_plan_l1_fix_time: 0.6633, d3.loss_plan_l1_fix_dist: 0.1445, d4.loss_plan_l1_fix_time: 0.6645, d4.loss_plan_l1_fix_dist: 0.1471, d5.loss_plan_l1_fix_time: 0.6666, d5.loss_plan_l1_fix_dist: 0.1545, d6.loss_plan_l1_fix_time: 0.6696, d6.loss_plan_l1_fix_dist: 0.1654, d0.loss_cls_all: 0.1260, d0.loss_bbox_all: 0.3225, d0.loss_cls: 0.1260, d0.loss_bbox: 0.3225, d1.loss_cls: 0.1197, d1.loss_bbox: 0.2900, d2.loss_cls: 0.1038, d2.loss_bbox: 0.2702, d3.loss_cls: 0.0886, d3.loss_bbox: 0.2664, d4.loss_cls: 0.0829, d4.loss_bbox: 0.2645, d5.loss_cls: 0.0825, d5.loss_bbox: 0.2632, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6285, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4956, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4445, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4343, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4292, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4271, d0.loss_map_cls_all: 0.1888, d0.loss_map_pts_all: 1.0699, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1888, d0.loss_map_pts: 1.0699, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1561, d1.loss_map_pts: 0.7571, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1299, d2.loss_map_pts: 0.5889, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1187, d3.loss_map_pts: 0.5191, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1091, d4.loss_map_pts: 0.4988, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1043, d5.loss_map_pts: 0.4953, d5.loss_map_dir: 0.0057, loss: 20.9361, grad_norm: 129.7932 +2026-02-28 22:01:02,146 - DriveTransformer - INFO - Epoch [11][16150/39528] lr: 6.331e-05, eta: 4 days, 13:06:21, time: 0.769, data_time: 0.035, memory: 19865, loss_cls: 0.0958, loss_bbox: 0.2824, loss_traj: 0.4688, loss_traj_cls: 0.0020, loss_map_cls: 0.1220, loss_map_pts: 0.6448, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.5040, d0.loss_plan_l1_fix_dist: 0.4818, d1.loss_plan_l1_fix_time: 0.7520, d1.loss_plan_l1_fix_dist: 0.1995, d2.loss_plan_l1_fix_time: 0.7404, d2.loss_plan_l1_fix_dist: 0.1829, d3.loss_plan_l1_fix_time: 0.7383, d3.loss_plan_l1_fix_dist: 0.1732, d4.loss_plan_l1_fix_time: 0.7390, d4.loss_plan_l1_fix_dist: 0.1772, d5.loss_plan_l1_fix_time: 0.7408, d5.loss_plan_l1_fix_dist: 0.1839, d6.loss_plan_l1_fix_time: 0.7432, d6.loss_plan_l1_fix_dist: 0.1939, d0.loss_cls_all: 0.1393, d0.loss_bbox_all: 0.3607, d0.loss_cls: 0.1393, d0.loss_bbox: 0.3607, d1.loss_cls: 0.1309, d1.loss_bbox: 0.3202, d2.loss_cls: 0.1180, d2.loss_bbox: 0.2971, d3.loss_cls: 0.1010, d3.loss_bbox: 0.2903, d4.loss_cls: 0.0983, d4.loss_bbox: 0.2852, d5.loss_cls: 0.0965, d5.loss_bbox: 0.2834, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7495, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5727, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5134, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4944, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4779, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4687, d0.loss_map_cls_all: 0.2148, d0.loss_map_pts_all: 1.3228, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2148, d0.loss_map_pts: 1.3228, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1819, d1.loss_map_pts: 0.9482, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1539, d2.loss_map_pts: 0.7511, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1404, d3.loss_map_pts: 0.6769, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1311, d4.loss_map_pts: 0.6506, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1254, d5.loss_map_pts: 0.6450, d5.loss_map_dir: 0.0074, loss: 24.0069, grad_norm: 130.0996 +2026-02-28 22:01:38,639 - DriveTransformer - INFO - Epoch [11][16200/39528] lr: 6.331e-05, eta: 4 days, 13:05:44, time: 0.730, data_time: 0.038, memory: 19865, loss_cls: 0.0995, loss_bbox: 0.2926, loss_traj: 0.4340, loss_traj_cls: 0.0021, loss_map_cls: 0.1030, loss_map_pts: 0.5163, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.8683, d0.loss_plan_l1_fix_dist: 0.4403, d1.loss_plan_l1_fix_time: 0.7698, d1.loss_plan_l1_fix_dist: 0.1971, d2.loss_plan_l1_fix_time: 0.7521, d2.loss_plan_l1_fix_dist: 0.1819, d3.loss_plan_l1_fix_time: 0.7462, d3.loss_plan_l1_fix_dist: 0.1792, d4.loss_plan_l1_fix_time: 0.7473, d4.loss_plan_l1_fix_dist: 0.1935, d5.loss_plan_l1_fix_time: 0.7488, d5.loss_plan_l1_fix_dist: 0.2114, d6.loss_plan_l1_fix_time: 0.7507, d6.loss_plan_l1_fix_dist: 0.2304, d0.loss_cls_all: 0.1463, d0.loss_bbox_all: 0.3591, d0.loss_cls: 0.1463, d0.loss_bbox: 0.3591, d1.loss_cls: 0.1404, d1.loss_bbox: 0.3260, d2.loss_cls: 0.1258, d2.loss_bbox: 0.3009, d3.loss_cls: 0.1093, d3.loss_bbox: 0.2959, d4.loss_cls: 0.1016, d4.loss_bbox: 0.2955, d5.loss_cls: 0.0991, d5.loss_bbox: 0.2943, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6457, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5014, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4589, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4453, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4371, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4328, d0.loss_map_cls_all: 0.1853, d0.loss_map_pts_all: 1.0635, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1853, d0.loss_map_pts: 1.0635, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1534, d1.loss_map_pts: 0.7692, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1311, d2.loss_map_pts: 0.6125, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1157, d3.loss_map_pts: 0.5496, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1088, d4.loss_map_pts: 0.5277, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1046, d5.loss_map_pts: 0.5185, d5.loss_map_dir: 0.0062, loss: 22.6290, grad_norm: 131.8594 +2026-02-28 22:02:14,985 - DriveTransformer - INFO - Epoch [11][16250/39528] lr: 6.331e-05, eta: 4 days, 13:05:07, time: 0.727, data_time: 0.036, memory: 19865, loss_cls: 0.1057, loss_bbox: 0.2907, loss_traj: 0.4327, loss_traj_cls: 0.0020, loss_map_cls: 0.0997, loss_map_pts: 0.5099, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.8027, d0.loss_plan_l1_fix_dist: 0.4451, d1.loss_plan_l1_fix_time: 0.7688, d1.loss_plan_l1_fix_dist: 0.2168, d2.loss_plan_l1_fix_time: 0.7543, d2.loss_plan_l1_fix_dist: 0.1897, d3.loss_plan_l1_fix_time: 0.7544, d3.loss_plan_l1_fix_dist: 0.1856, d4.loss_plan_l1_fix_time: 0.7562, d4.loss_plan_l1_fix_dist: 0.1918, d5.loss_plan_l1_fix_time: 0.7581, d5.loss_plan_l1_fix_dist: 0.2050, d6.loss_plan_l1_fix_time: 0.7605, d6.loss_plan_l1_fix_dist: 0.2211, d0.loss_cls_all: 0.1513, d0.loss_bbox_all: 0.3671, d0.loss_cls: 0.1513, d0.loss_bbox: 0.3671, d1.loss_cls: 0.1444, d1.loss_bbox: 0.3284, d2.loss_cls: 0.1299, d2.loss_bbox: 0.3069, d3.loss_cls: 0.1132, d3.loss_bbox: 0.2973, d4.loss_cls: 0.1063, d4.loss_bbox: 0.2948, d5.loss_cls: 0.1064, d5.loss_bbox: 0.2923, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6629, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5199, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4687, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4490, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4423, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4356, d0.loss_map_cls_all: 0.1846, d0.loss_map_pts_all: 1.0028, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1846, d0.loss_map_pts: 1.0028, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1511, d1.loss_map_pts: 0.7401, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1252, d2.loss_map_pts: 0.5854, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1157, d3.loss_map_pts: 0.5334, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1079, d4.loss_map_pts: 0.5144, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1028, d5.loss_map_pts: 0.5102, d5.loss_map_dir: 0.0063, loss: 22.5014, grad_norm: 133.7050 +2026-02-28 22:02:50,262 - DriveTransformer - INFO - Epoch [11][16300/39528] lr: 6.331e-05, eta: 4 days, 13:04:27, time: 0.706, data_time: 0.039, memory: 19865, loss_cls: 0.0966, loss_bbox: 0.2858, loss_traj: 0.4947, loss_traj_cls: 0.0020, loss_map_cls: 0.0919, loss_map_pts: 0.4363, loss_map_dir: 0.0045, d0.loss_plan_l1_fix_time: 2.7137, d0.loss_plan_l1_fix_dist: 0.4253, d1.loss_plan_l1_fix_time: 0.7481, d1.loss_plan_l1_fix_dist: 0.1967, d2.loss_plan_l1_fix_time: 0.7266, d2.loss_plan_l1_fix_dist: 0.1586, d3.loss_plan_l1_fix_time: 0.7253, d3.loss_plan_l1_fix_dist: 0.1598, d4.loss_plan_l1_fix_time: 0.7265, d4.loss_plan_l1_fix_dist: 0.1601, d5.loss_plan_l1_fix_time: 0.7285, d5.loss_plan_l1_fix_dist: 0.1727, d6.loss_plan_l1_fix_time: 0.7306, d6.loss_plan_l1_fix_dist: 0.1838, d0.loss_cls_all: 0.1335, d0.loss_bbox_all: 0.3512, d0.loss_cls: 0.1335, d0.loss_bbox: 0.3512, d1.loss_cls: 0.1276, d1.loss_bbox: 0.3158, d2.loss_cls: 0.1162, d2.loss_bbox: 0.2971, d3.loss_cls: 0.1027, d3.loss_bbox: 0.2903, d4.loss_cls: 0.0974, d4.loss_bbox: 0.2894, d5.loss_cls: 0.0968, d5.loss_bbox: 0.2869, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7362, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5712, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5225, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4967, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4949, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4950, d0.loss_map_cls_all: 0.1850, d0.loss_map_pts_all: 0.9148, d0.loss_map_dir_all: 0.0049, d0.loss_map_cls: 0.1850, d0.loss_map_pts: 0.9148, d0.loss_map_dir: 0.0049, d1.loss_map_cls: 0.1506, d1.loss_map_pts: 0.6585, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.1202, d2.loss_map_pts: 0.5149, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.1075, d3.loss_map_pts: 0.4629, d3.loss_map_dir: 0.0043, d4.loss_map_cls: 0.0997, d4.loss_map_pts: 0.4455, d4.loss_map_dir: 0.0044, d5.loss_map_cls: 0.0947, d5.loss_map_pts: 0.4378, d5.loss_map_dir: 0.0045, loss: 21.6027, grad_norm: 135.2166 +2026-02-28 22:03:28,980 - DriveTransformer - INFO - Epoch [11][16350/39528] lr: 6.331e-05, eta: 4 days, 13:03:57, time: 0.774, data_time: 0.038, memory: 19865, loss_cls: 0.0975, loss_bbox: 0.2893, loss_traj: 0.4433, loss_traj_cls: 0.0019, loss_map_cls: 0.0969, loss_map_pts: 0.5191, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.5068, d0.loss_plan_l1_fix_dist: 0.4086, d1.loss_plan_l1_fix_time: 0.7429, d1.loss_plan_l1_fix_dist: 0.1919, d2.loss_plan_l1_fix_time: 0.7342, d2.loss_plan_l1_fix_dist: 0.1523, d3.loss_plan_l1_fix_time: 0.7344, d3.loss_plan_l1_fix_dist: 0.1596, d4.loss_plan_l1_fix_time: 0.7357, d4.loss_plan_l1_fix_dist: 0.1644, d5.loss_plan_l1_fix_time: 0.7374, d5.loss_plan_l1_fix_dist: 0.1736, d6.loss_plan_l1_fix_time: 0.7388, d6.loss_plan_l1_fix_dist: 0.1804, d0.loss_cls_all: 0.1394, d0.loss_bbox_all: 0.3531, d0.loss_cls: 0.1394, d0.loss_bbox: 0.3531, d1.loss_cls: 0.1319, d1.loss_bbox: 0.3181, d2.loss_cls: 0.1205, d2.loss_bbox: 0.2980, d3.loss_cls: 0.1057, d3.loss_bbox: 0.2947, d4.loss_cls: 0.1003, d4.loss_bbox: 0.2902, d5.loss_cls: 0.0980, d5.loss_bbox: 0.2897, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6738, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5200, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4699, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4522, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4453, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4433, d0.loss_map_cls_all: 0.1778, d0.loss_map_pts_all: 1.1028, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1778, d0.loss_map_pts: 1.1028, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1466, d1.loss_map_pts: 0.7855, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1215, d2.loss_map_pts: 0.6110, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1119, d3.loss_map_pts: 0.5467, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1046, d4.loss_map_pts: 0.5274, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0998, d5.loss_map_pts: 0.5199, d5.loss_map_dir: 0.0069, loss: 22.0405, grad_norm: 137.8572 +2026-02-28 22:04:06,305 - DriveTransformer - INFO - Epoch [11][16400/39528] lr: 6.331e-05, eta: 4 days, 13:03:23, time: 0.748, data_time: 0.037, memory: 19865, loss_cls: 0.0883, loss_bbox: 0.2716, loss_traj: 0.3942, loss_traj_cls: 0.0020, loss_map_cls: 0.0932, loss_map_pts: 0.5070, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.5304, d0.loss_plan_l1_fix_dist: 0.4607, d1.loss_plan_l1_fix_time: 0.6580, d1.loss_plan_l1_fix_dist: 0.1847, d2.loss_plan_l1_fix_time: 0.6431, d2.loss_plan_l1_fix_dist: 0.1548, d3.loss_plan_l1_fix_time: 0.6439, d3.loss_plan_l1_fix_dist: 0.1616, d4.loss_plan_l1_fix_time: 0.6453, d4.loss_plan_l1_fix_dist: 0.1767, d5.loss_plan_l1_fix_time: 0.6472, d5.loss_plan_l1_fix_dist: 0.1814, d6.loss_plan_l1_fix_time: 0.6498, d6.loss_plan_l1_fix_dist: 0.1938, d0.loss_cls_all: 0.1363, d0.loss_bbox_all: 0.3355, d0.loss_cls: 0.1363, d0.loss_bbox: 0.3355, d1.loss_cls: 0.1295, d1.loss_bbox: 0.3054, d2.loss_cls: 0.1138, d2.loss_bbox: 0.2818, d3.loss_cls: 0.0945, d3.loss_bbox: 0.2752, d4.loss_cls: 0.0900, d4.loss_bbox: 0.2732, d5.loss_cls: 0.0885, d5.loss_bbox: 0.2721, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6147, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4619, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4217, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4009, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3978, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.3936, d0.loss_map_cls_all: 0.1813, d0.loss_map_pts_all: 1.1051, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1813, d0.loss_map_pts: 1.1051, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1417, d1.loss_map_pts: 0.7642, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1170, d2.loss_map_pts: 0.5963, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1073, d3.loss_map_pts: 0.5364, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.0999, d4.loss_map_pts: 0.5130, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0959, d5.loss_map_pts: 0.5053, d5.loss_map_dir: 0.0066, loss: 20.9539, grad_norm: 140.3978 +2026-02-28 22:04:42,704 - DriveTransformer - INFO - Epoch [11][16450/39528] lr: 6.331e-05, eta: 4 days, 13:02:46, time: 0.727, data_time: 0.033, memory: 19865, loss_cls: 0.0915, loss_bbox: 0.2920, loss_traj: 0.5017, loss_traj_cls: 0.0019, loss_map_cls: 0.0927, loss_map_pts: 0.5389, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.5679, d0.loss_plan_l1_fix_dist: 0.4357, d1.loss_plan_l1_fix_time: 0.7476, d1.loss_plan_l1_fix_dist: 0.2031, d2.loss_plan_l1_fix_time: 0.7255, d2.loss_plan_l1_fix_dist: 0.1661, d3.loss_plan_l1_fix_time: 0.7215, d3.loss_plan_l1_fix_dist: 0.1698, d4.loss_plan_l1_fix_time: 0.7232, d4.loss_plan_l1_fix_dist: 0.1865, d5.loss_plan_l1_fix_time: 0.7255, d5.loss_plan_l1_fix_dist: 0.1991, d6.loss_plan_l1_fix_time: 0.7280, d6.loss_plan_l1_fix_dist: 0.2168, d0.loss_cls_all: 0.1324, d0.loss_bbox_all: 0.3598, d0.loss_cls: 0.1324, d0.loss_bbox: 0.3598, d1.loss_cls: 0.1274, d1.loss_bbox: 0.3242, d2.loss_cls: 0.1135, d2.loss_bbox: 0.3047, d3.loss_cls: 0.0957, d3.loss_bbox: 0.2969, d4.loss_cls: 0.0924, d4.loss_bbox: 0.2922, d5.loss_cls: 0.0914, d5.loss_bbox: 0.2915, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7358, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5817, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5360, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5123, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5074, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5059, d0.loss_map_cls_all: 0.1739, d0.loss_map_pts_all: 1.0727, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1739, d0.loss_map_pts: 1.0727, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1423, d1.loss_map_pts: 0.7756, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1198, d2.loss_map_pts: 0.6281, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1068, d3.loss_map_pts: 0.5685, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1005, d4.loss_map_pts: 0.5404, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0948, d5.loss_map_pts: 0.5374, d5.loss_map_dir: 0.0059, loss: 22.5878, grad_norm: 140.6128 +2026-02-28 22:05:19,625 - DriveTransformer - INFO - Epoch [11][16500/39528] lr: 6.331e-05, eta: 4 days, 13:02:10, time: 0.738, data_time: 0.037, memory: 19865, loss_cls: 0.1075, loss_bbox: 0.2892, loss_traj: 0.3950, loss_traj_cls: 0.0018, loss_map_cls: 0.1283, loss_map_pts: 0.6362, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.0389, d0.loss_plan_l1_fix_dist: 0.3870, d1.loss_plan_l1_fix_time: 0.7081, d1.loss_plan_l1_fix_dist: 0.1901, d2.loss_plan_l1_fix_time: 0.6963, d2.loss_plan_l1_fix_dist: 0.1550, d3.loss_plan_l1_fix_time: 0.6811, d3.loss_plan_l1_fix_dist: 0.1621, d4.loss_plan_l1_fix_time: 0.6819, d4.loss_plan_l1_fix_dist: 0.1695, d5.loss_plan_l1_fix_time: 0.6835, d5.loss_plan_l1_fix_dist: 0.1877, d6.loss_plan_l1_fix_time: 0.6858, d6.loss_plan_l1_fix_dist: 0.2040, d0.loss_cls_all: 0.1538, d0.loss_bbox_all: 0.3684, d0.loss_cls: 0.1538, d0.loss_bbox: 0.3684, d1.loss_cls: 0.1461, d1.loss_bbox: 0.3324, d2.loss_cls: 0.1328, d2.loss_bbox: 0.3038, d3.loss_cls: 0.1148, d3.loss_bbox: 0.2985, d4.loss_cls: 0.1100, d4.loss_bbox: 0.2924, d5.loss_cls: 0.1068, d5.loss_bbox: 0.2914, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5895, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4496, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4163, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4005, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.3972, d5.loss_traj_cls: 0.0010, d5.loss_traj: 0.3939, d0.loss_map_cls_all: 0.2217, d0.loss_map_pts_all: 1.3138, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2217, d0.loss_map_pts: 1.3138, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1879, d1.loss_map_pts: 0.9601, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1590, d2.loss_map_pts: 0.7508, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1442, d3.loss_map_pts: 0.6704, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1364, d4.loss_map_pts: 0.6421, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1296, d5.loss_map_pts: 0.6371, d5.loss_map_dir: 0.0078, loss: 22.5611, grad_norm: 139.3397 +2026-02-28 22:05:55,573 - DriveTransformer - INFO - Epoch [11][16550/39528] lr: 6.331e-05, eta: 4 days, 13:01:32, time: 0.719, data_time: 0.040, memory: 19865, loss_cls: 0.0812, loss_bbox: 0.2588, loss_traj: 0.4578, loss_traj_cls: 0.0020, loss_map_cls: 0.0911, loss_map_pts: 0.4789, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.2960, d0.loss_plan_l1_fix_dist: 0.4102, d1.loss_plan_l1_fix_time: 0.6770, d1.loss_plan_l1_fix_dist: 0.1800, d2.loss_plan_l1_fix_time: 0.6636, d2.loss_plan_l1_fix_dist: 0.1544, d3.loss_plan_l1_fix_time: 0.6623, d3.loss_plan_l1_fix_dist: 0.1556, d4.loss_plan_l1_fix_time: 0.6638, d4.loss_plan_l1_fix_dist: 0.1635, d5.loss_plan_l1_fix_time: 0.6656, d5.loss_plan_l1_fix_dist: 0.1786, d6.loss_plan_l1_fix_time: 0.6683, d6.loss_plan_l1_fix_dist: 0.1965, d0.loss_cls_all: 0.1235, d0.loss_bbox_all: 0.3189, d0.loss_cls: 0.1235, d0.loss_bbox: 0.3189, d1.loss_cls: 0.1155, d1.loss_bbox: 0.2888, d2.loss_cls: 0.1034, d2.loss_bbox: 0.2704, d3.loss_cls: 0.0896, d3.loss_bbox: 0.2645, d4.loss_cls: 0.0843, d4.loss_bbox: 0.2601, d5.loss_cls: 0.0815, d5.loss_bbox: 0.2602, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6333, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5066, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4617, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4566, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4535, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4544, d0.loss_map_cls_all: 0.1858, d0.loss_map_pts_all: 1.0242, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1858, d0.loss_map_pts: 1.0242, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1441, d1.loss_map_pts: 0.7279, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1174, d2.loss_map_pts: 0.5681, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1052, d3.loss_map_pts: 0.5059, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0974, d4.loss_map_pts: 0.4841, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0931, d5.loss_map_pts: 0.4799, d5.loss_map_dir: 0.0053, loss: 20.5647, grad_norm: 139.6744 +2026-02-28 22:06:32,820 - DriveTransformer - INFO - Epoch [11][16600/39528] lr: 6.331e-05, eta: 4 days, 13:00:57, time: 0.745, data_time: 0.039, memory: 19865, loss_cls: 0.0780, loss_bbox: 0.2516, loss_traj: 0.4772, loss_traj_cls: 0.0019, loss_map_cls: 0.0886, loss_map_pts: 0.4837, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.5414, d0.loss_plan_l1_fix_dist: 0.3502, d1.loss_plan_l1_fix_time: 0.6481, d1.loss_plan_l1_fix_dist: 0.1740, d2.loss_plan_l1_fix_time: 0.6370, d2.loss_plan_l1_fix_dist: 0.1606, d3.loss_plan_l1_fix_time: 0.6342, d3.loss_plan_l1_fix_dist: 0.1621, d4.loss_plan_l1_fix_time: 0.6345, d4.loss_plan_l1_fix_dist: 0.1814, d5.loss_plan_l1_fix_time: 0.6354, d5.loss_plan_l1_fix_dist: 0.1943, d6.loss_plan_l1_fix_time: 0.6373, d6.loss_plan_l1_fix_dist: 0.2070, d0.loss_cls_all: 0.1214, d0.loss_bbox_all: 0.3175, d0.loss_cls: 0.1214, d0.loss_bbox: 0.3175, d1.loss_cls: 0.1184, d1.loss_bbox: 0.2845, d2.loss_cls: 0.1027, d2.loss_bbox: 0.2639, d3.loss_cls: 0.0844, d3.loss_bbox: 0.2567, d4.loss_cls: 0.0783, d4.loss_bbox: 0.2555, d5.loss_cls: 0.0768, d5.loss_bbox: 0.2544, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7285, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5698, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5060, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4918, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4821, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4779, d0.loss_map_cls_all: 0.1719, d0.loss_map_pts_all: 1.0177, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1719, d0.loss_map_pts: 1.0177, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1414, d1.loss_map_pts: 0.7424, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1173, d2.loss_map_pts: 0.5810, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1051, d3.loss_map_pts: 0.5209, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0979, d4.loss_map_pts: 0.4952, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0921, d5.loss_map_pts: 0.4842, d5.loss_map_dir: 0.0059, loss: 20.8963, grad_norm: 143.3398 +2026-02-28 22:07:10,260 - DriveTransformer - INFO - Epoch [11][16650/39528] lr: 6.331e-05, eta: 4 days, 13:00:23, time: 0.749, data_time: 0.040, memory: 19865, loss_cls: 0.0893, loss_bbox: 0.2861, loss_traj: 0.4267, loss_traj_cls: 0.0020, loss_map_cls: 0.0977, loss_map_pts: 0.5004, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.4284, d0.loss_plan_l1_fix_dist: 0.4204, d1.loss_plan_l1_fix_time: 0.7653, d1.loss_plan_l1_fix_dist: 0.1786, d2.loss_plan_l1_fix_time: 0.7495, d2.loss_plan_l1_fix_dist: 0.1768, d3.loss_plan_l1_fix_time: 0.7410, d3.loss_plan_l1_fix_dist: 0.1862, d4.loss_plan_l1_fix_time: 0.7416, d4.loss_plan_l1_fix_dist: 0.2086, d5.loss_plan_l1_fix_time: 0.7429, d5.loss_plan_l1_fix_dist: 0.2285, d6.loss_plan_l1_fix_time: 0.7450, d6.loss_plan_l1_fix_dist: 0.2452, d0.loss_cls_all: 0.1349, d0.loss_bbox_all: 0.3497, d0.loss_cls: 0.1349, d0.loss_bbox: 0.3497, d1.loss_cls: 0.1278, d1.loss_bbox: 0.3165, d2.loss_cls: 0.1133, d2.loss_bbox: 0.2939, d3.loss_cls: 0.0974, d3.loss_bbox: 0.2890, d4.loss_cls: 0.0915, d4.loss_bbox: 0.2862, d5.loss_cls: 0.0895, d5.loss_bbox: 0.2862, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6312, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5013, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4506, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4369, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4297, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4279, d0.loss_map_cls_all: 0.1831, d0.loss_map_pts_all: 1.0744, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1831, d0.loss_map_pts: 1.0744, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1469, d1.loss_map_pts: 0.7508, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1224, d2.loss_map_pts: 0.5885, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1106, d3.loss_map_pts: 0.5282, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1052, d4.loss_map_pts: 0.5050, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1010, d5.loss_map_pts: 0.4999, d5.loss_map_dir: 0.0063, loss: 21.8273, grad_norm: 143.9018 +2026-02-28 22:07:45,582 - DriveTransformer - INFO - Epoch [11][16700/39528] lr: 6.331e-05, eta: 4 days, 12:59:43, time: 0.706, data_time: 0.036, memory: 19865, loss_cls: 0.1036, loss_bbox: 0.3007, loss_traj: 0.5928, loss_traj_cls: 0.0019, loss_map_cls: 0.0972, loss_map_pts: 0.4683, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.5052, d0.loss_plan_l1_fix_dist: 0.3978, d1.loss_plan_l1_fix_time: 0.8441, d1.loss_plan_l1_fix_dist: 0.1718, d2.loss_plan_l1_fix_time: 0.8309, d2.loss_plan_l1_fix_dist: 0.1751, d3.loss_plan_l1_fix_time: 0.8254, d3.loss_plan_l1_fix_dist: 0.1763, d4.loss_plan_l1_fix_time: 0.8259, d4.loss_plan_l1_fix_dist: 0.1873, d5.loss_plan_l1_fix_time: 0.8269, d5.loss_plan_l1_fix_dist: 0.2044, d6.loss_plan_l1_fix_time: 0.8284, d6.loss_plan_l1_fix_dist: 0.2232, d0.loss_cls_all: 0.1427, d0.loss_bbox_all: 0.3604, d0.loss_cls: 0.1427, d0.loss_bbox: 0.3604, d1.loss_cls: 0.1380, d1.loss_bbox: 0.3236, d2.loss_cls: 0.1281, d2.loss_bbox: 0.3071, d3.loss_cls: 0.1099, d3.loss_bbox: 0.3035, d4.loss_cls: 0.1046, d4.loss_bbox: 0.3019, d5.loss_cls: 0.1038, d5.loss_bbox: 0.3007, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9186, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6827, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6154, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5987, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5931, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5906, d0.loss_map_cls_all: 0.1832, d0.loss_map_pts_all: 0.9708, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1832, d0.loss_map_pts: 0.9708, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1519, d1.loss_map_pts: 0.6963, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1267, d2.loss_map_pts: 0.5479, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1132, d3.loss_map_pts: 0.4912, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1050, d4.loss_map_pts: 0.4718, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0997, d5.loss_map_pts: 0.4677, d5.loss_map_dir: 0.0051, loss: 23.3384, grad_norm: 146.4057 +2026-02-28 22:08:22,890 - DriveTransformer - INFO - Epoch [11][16750/39528] lr: 6.331e-05, eta: 4 days, 12:59:09, time: 0.746, data_time: 0.036, memory: 19865, loss_cls: 0.1035, loss_bbox: 0.3036, loss_traj: 0.5016, loss_traj_cls: 0.0019, loss_map_cls: 0.0860, loss_map_pts: 0.4989, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.4619, d0.loss_plan_l1_fix_dist: 0.4452, d1.loss_plan_l1_fix_time: 0.8812, d1.loss_plan_l1_fix_dist: 0.1602, d2.loss_plan_l1_fix_time: 0.8644, d2.loss_plan_l1_fix_dist: 0.1852, d3.loss_plan_l1_fix_time: 0.8492, d3.loss_plan_l1_fix_dist: 0.1774, d4.loss_plan_l1_fix_time: 0.8496, d4.loss_plan_l1_fix_dist: 0.1838, d5.loss_plan_l1_fix_time: 0.8508, d5.loss_plan_l1_fix_dist: 0.1977, d6.loss_plan_l1_fix_time: 0.8526, d6.loss_plan_l1_fix_dist: 0.2134, d0.loss_cls_all: 0.1467, d0.loss_bbox_all: 0.3730, d0.loss_cls: 0.1467, d0.loss_bbox: 0.3730, d1.loss_cls: 0.1410, d1.loss_bbox: 0.3382, d2.loss_cls: 0.1303, d2.loss_bbox: 0.3154, d3.loss_cls: 0.1089, d3.loss_bbox: 0.3114, d4.loss_cls: 0.1032, d4.loss_bbox: 0.3073, d5.loss_cls: 0.1013, d5.loss_bbox: 0.3059, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7674, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5975, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5394, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5219, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5098, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5047, d0.loss_map_cls_all: 0.1630, d0.loss_map_pts_all: 1.0434, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1630, d0.loss_map_pts: 1.0434, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1260, d1.loss_map_pts: 0.7428, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1057, d2.loss_map_pts: 0.5828, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.0950, d3.loss_map_pts: 0.5268, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.0917, d4.loss_map_pts: 0.5045, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0886, d5.loss_map_pts: 0.4988, d5.loss_map_dir: 0.0065, loss: 23.1445, grad_norm: 148.6327 +2026-02-28 22:08:59,412 - DriveTransformer - INFO - Epoch [11][16800/39528] lr: 6.331e-05, eta: 4 days, 12:58:32, time: 0.730, data_time: 0.040, memory: 19865, loss_cls: 0.0850, loss_bbox: 0.2875, loss_traj: 0.5743, loss_traj_cls: 0.0020, loss_map_cls: 0.0859, loss_map_pts: 0.4580, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.9338, d0.loss_plan_l1_fix_dist: 0.3675, d1.loss_plan_l1_fix_time: 0.8630, d1.loss_plan_l1_fix_dist: 0.1646, d2.loss_plan_l1_fix_time: 0.8460, d2.loss_plan_l1_fix_dist: 0.2041, d3.loss_plan_l1_fix_time: 0.8336, d3.loss_plan_l1_fix_dist: 0.1843, d4.loss_plan_l1_fix_time: 0.8342, d4.loss_plan_l1_fix_dist: 0.1935, d5.loss_plan_l1_fix_time: 0.8358, d5.loss_plan_l1_fix_dist: 0.2045, d6.loss_plan_l1_fix_time: 0.8380, d6.loss_plan_l1_fix_dist: 0.2167, d0.loss_cls_all: 0.1267, d0.loss_bbox_all: 0.3438, d0.loss_cls: 0.1267, d0.loss_bbox: 0.3438, d1.loss_cls: 0.1204, d1.loss_bbox: 0.3139, d2.loss_cls: 0.1105, d2.loss_bbox: 0.2927, d3.loss_cls: 0.0915, d3.loss_bbox: 0.2882, d4.loss_cls: 0.0875, d4.loss_bbox: 0.2855, d5.loss_cls: 0.0859, d5.loss_bbox: 0.2854, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9182, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6912, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6055, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5856, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5822, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5746, d0.loss_map_cls_all: 0.1679, d0.loss_map_pts_all: 0.9600, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1679, d0.loss_map_pts: 0.9600, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1325, d1.loss_map_pts: 0.6849, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1082, d2.loss_map_pts: 0.5404, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0965, d3.loss_map_pts: 0.4896, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0904, d4.loss_map_pts: 0.4677, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0870, d5.loss_map_pts: 0.4591, d5.loss_map_dir: 0.0052, loss: 23.3311, grad_norm: 155.0371 +2026-02-28 22:09:36,027 - DriveTransformer - INFO - Epoch [11][16850/39528] lr: 6.331e-05, eta: 4 days, 12:57:56, time: 0.732, data_time: 0.037, memory: 19865, loss_cls: 0.1008, loss_bbox: 0.2993, loss_traj: 0.4889, loss_traj_cls: 0.0020, loss_map_cls: 0.0995, loss_map_pts: 0.5187, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.5363, d0.loss_plan_l1_fix_dist: 0.3638, d1.loss_plan_l1_fix_time: 0.6949, d1.loss_plan_l1_fix_dist: 0.1540, d2.loss_plan_l1_fix_time: 0.6876, d2.loss_plan_l1_fix_dist: 0.1960, d3.loss_plan_l1_fix_time: 0.6813, d3.loss_plan_l1_fix_dist: 0.1870, d4.loss_plan_l1_fix_time: 0.6849, d4.loss_plan_l1_fix_dist: 0.2141, d5.loss_plan_l1_fix_time: 0.6886, d5.loss_plan_l1_fix_dist: 0.2420, d6.loss_plan_l1_fix_time: 0.6929, d6.loss_plan_l1_fix_dist: 0.2706, d0.loss_cls_all: 0.1496, d0.loss_bbox_all: 0.3672, d0.loss_cls: 0.1496, d0.loss_bbox: 0.3672, d1.loss_cls: 0.1430, d1.loss_bbox: 0.3319, d2.loss_cls: 0.1259, d2.loss_bbox: 0.3114, d3.loss_cls: 0.1071, d3.loss_bbox: 0.3049, d4.loss_cls: 0.1026, d4.loss_bbox: 0.3018, d5.loss_cls: 0.1008, d5.loss_bbox: 0.3007, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6966, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5549, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5119, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4970, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4918, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4898, d0.loss_map_cls_all: 0.1901, d0.loss_map_pts_all: 1.0592, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1901, d0.loss_map_pts: 1.0592, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1512, d1.loss_map_pts: 0.7505, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1239, d2.loss_map_pts: 0.5975, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1133, d3.loss_map_pts: 0.5457, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1073, d4.loss_map_pts: 0.5245, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1005, d5.loss_map_pts: 0.5199, d5.loss_map_dir: 0.0059, loss: 22.2936, grad_norm: 158.1052 +2026-02-28 22:10:11,795 - DriveTransformer - INFO - Epoch [11][16900/39528] lr: 6.331e-05, eta: 4 days, 12:57:17, time: 0.715, data_time: 0.039, memory: 19865, loss_cls: 0.0940, loss_bbox: 0.2814, loss_traj: 0.4939, loss_traj_cls: 0.0020, loss_map_cls: 0.0958, loss_map_pts: 0.4570, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.4912, d0.loss_plan_l1_fix_dist: 0.3896, d1.loss_plan_l1_fix_time: 0.7401, d1.loss_plan_l1_fix_dist: 0.1607, d2.loss_plan_l1_fix_time: 0.7267, d2.loss_plan_l1_fix_dist: 0.1836, d3.loss_plan_l1_fix_time: 0.7266, d3.loss_plan_l1_fix_dist: 0.1708, d4.loss_plan_l1_fix_time: 0.7296, d4.loss_plan_l1_fix_dist: 0.1713, d5.loss_plan_l1_fix_time: 0.7329, d5.loss_plan_l1_fix_dist: 0.1818, d6.loss_plan_l1_fix_time: 0.7363, d6.loss_plan_l1_fix_dist: 0.1918, d0.loss_cls_all: 0.1283, d0.loss_bbox_all: 0.3464, d0.loss_cls: 0.1283, d0.loss_bbox: 0.3464, d1.loss_cls: 0.1280, d1.loss_bbox: 0.3108, d2.loss_cls: 0.1185, d2.loss_bbox: 0.2907, d3.loss_cls: 0.1008, d3.loss_bbox: 0.2854, d4.loss_cls: 0.0958, d4.loss_bbox: 0.2835, d5.loss_cls: 0.0938, d5.loss_bbox: 0.2836, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7138, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5846, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5219, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5072, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5043, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4980, d0.loss_map_cls_all: 0.1798, d0.loss_map_pts_all: 1.0173, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1798, d0.loss_map_pts: 1.0173, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1445, d1.loss_map_pts: 0.7065, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1213, d2.loss_map_pts: 0.5535, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1090, d3.loss_map_pts: 0.4909, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.1023, d4.loss_map_pts: 0.4670, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0979, d5.loss_map_pts: 0.4584, d5.loss_map_dir: 0.0052, loss: 21.7204, grad_norm: 162.8273 +2026-02-28 22:10:48,628 - DriveTransformer - INFO - Epoch [11][16950/39528] lr: 6.331e-05, eta: 4 days, 12:56:41, time: 0.737, data_time: 0.037, memory: 19865, loss_cls: 0.0818, loss_bbox: 0.2715, loss_traj: 0.5298, loss_traj_cls: 0.0020, loss_map_cls: 0.1054, loss_map_pts: 0.5213, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.4846, d0.loss_plan_l1_fix_dist: 0.4174, d1.loss_plan_l1_fix_time: 0.7218, d1.loss_plan_l1_fix_dist: 0.1488, d2.loss_plan_l1_fix_time: 0.7139, d2.loss_plan_l1_fix_dist: 0.1674, d3.loss_plan_l1_fix_time: 0.7141, d3.loss_plan_l1_fix_dist: 0.1554, d4.loss_plan_l1_fix_time: 0.7162, d4.loss_plan_l1_fix_dist: 0.1479, d5.loss_plan_l1_fix_time: 0.7186, d5.loss_plan_l1_fix_dist: 0.1546, d6.loss_plan_l1_fix_time: 0.7209, d6.loss_plan_l1_fix_dist: 0.1621, d0.loss_cls_all: 0.1291, d0.loss_bbox_all: 0.3383, d0.loss_cls: 0.1291, d0.loss_bbox: 0.3383, d1.loss_cls: 0.1250, d1.loss_bbox: 0.3037, d2.loss_cls: 0.1096, d2.loss_bbox: 0.2825, d3.loss_cls: 0.0906, d3.loss_bbox: 0.2760, d4.loss_cls: 0.0842, d4.loss_bbox: 0.2741, d5.loss_cls: 0.0814, d5.loss_bbox: 0.2728, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8192, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6188, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5551, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5413, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5350, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5296, d0.loss_map_cls_all: 0.1843, d0.loss_map_pts_all: 1.0947, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1843, d0.loss_map_pts: 1.0947, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1550, d1.loss_map_pts: 0.7748, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1321, d2.loss_map_pts: 0.6170, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1209, d3.loss_map_pts: 0.5520, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1134, d4.loss_map_pts: 0.5287, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1079, d5.loss_map_pts: 0.5221, d5.loss_map_dir: 0.0056, loss: 22.3220, grad_norm: 160.7214 +2026-02-28 22:11:24,117 - DriveTransformer - INFO - Epoch [11][17000/39528] lr: 6.331e-05, eta: 4 days, 12:56:01, time: 0.710, data_time: 0.041, memory: 19865, loss_cls: 0.0838, loss_bbox: 0.2463, loss_traj: 0.5167, loss_traj_cls: 0.0020, loss_map_cls: 0.0909, loss_map_pts: 0.4450, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.3637, d0.loss_plan_l1_fix_dist: 0.3735, d1.loss_plan_l1_fix_time: 0.6920, d1.loss_plan_l1_fix_dist: 0.1530, d2.loss_plan_l1_fix_time: 0.6811, d2.loss_plan_l1_fix_dist: 0.1619, d3.loss_plan_l1_fix_time: 0.6555, d3.loss_plan_l1_fix_dist: 0.1480, d4.loss_plan_l1_fix_time: 0.6543, d4.loss_plan_l1_fix_dist: 0.1434, d5.loss_plan_l1_fix_time: 0.6552, d5.loss_plan_l1_fix_dist: 0.1563, d6.loss_plan_l1_fix_time: 0.6572, d6.loss_plan_l1_fix_dist: 0.1717, d0.loss_cls_all: 0.1207, d0.loss_bbox_all: 0.3105, d0.loss_cls: 0.1207, d0.loss_bbox: 0.3105, d1.loss_cls: 0.1152, d1.loss_bbox: 0.2784, d2.loss_cls: 0.1052, d2.loss_bbox: 0.2598, d3.loss_cls: 0.0915, d3.loss_bbox: 0.2526, d4.loss_cls: 0.0857, d4.loss_bbox: 0.2493, d5.loss_cls: 0.0852, d5.loss_bbox: 0.2461, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8013, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6141, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5576, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5330, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5260, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5188, d0.loss_map_cls_all: 0.1763, d0.loss_map_pts_all: 0.9553, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1763, d0.loss_map_pts: 0.9553, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1424, d1.loss_map_pts: 0.6955, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1192, d2.loss_map_pts: 0.5370, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.1054, d3.loss_map_pts: 0.4746, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0980, d4.loss_map_pts: 0.4526, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0935, d5.loss_map_pts: 0.4453, d5.loss_map_dir: 0.0047, loss: 20.7040, grad_norm: 160.3291 +2026-02-28 22:12:01,028 - DriveTransformer - INFO - Epoch [11][17050/39528] lr: 6.331e-05, eta: 4 days, 12:55:26, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.0892, loss_bbox: 0.2789, loss_traj: 0.4612, loss_traj_cls: 0.0020, loss_map_cls: 0.0855, loss_map_pts: 0.4882, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.4688, d0.loss_plan_l1_fix_dist: 0.4282, d1.loss_plan_l1_fix_time: 0.7314, d1.loss_plan_l1_fix_dist: 0.1753, d2.loss_plan_l1_fix_time: 0.7134, d2.loss_plan_l1_fix_dist: 0.1857, d3.loss_plan_l1_fix_time: 0.7142, d3.loss_plan_l1_fix_dist: 0.1651, d4.loss_plan_l1_fix_time: 0.7157, d4.loss_plan_l1_fix_dist: 0.1620, d5.loss_plan_l1_fix_time: 0.7176, d5.loss_plan_l1_fix_dist: 0.1711, d6.loss_plan_l1_fix_time: 0.7204, d6.loss_plan_l1_fix_dist: 0.1843, d0.loss_cls_all: 0.1359, d0.loss_bbox_all: 0.3483, d0.loss_cls: 0.1359, d0.loss_bbox: 0.3483, d1.loss_cls: 0.1292, d1.loss_bbox: 0.3122, d2.loss_cls: 0.1143, d2.loss_bbox: 0.2933, d3.loss_cls: 0.0972, d3.loss_bbox: 0.2859, d4.loss_cls: 0.0906, d4.loss_bbox: 0.2825, d5.loss_cls: 0.0905, d5.loss_bbox: 0.2795, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7192, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5526, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4980, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4763, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4648, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4624, d0.loss_map_cls_all: 0.1604, d0.loss_map_pts_all: 1.0448, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1604, d0.loss_map_pts: 1.0448, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1317, d1.loss_map_pts: 0.7480, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1096, d2.loss_map_pts: 0.5892, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.0973, d3.loss_map_pts: 0.5198, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0911, d4.loss_map_pts: 0.4961, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0877, d5.loss_map_pts: 0.4886, d5.loss_map_dir: 0.0058, loss: 21.5968, grad_norm: 159.9455 +2026-02-28 22:12:36,978 - DriveTransformer - INFO - Epoch [11][17100/39528] lr: 6.331e-05, eta: 4 days, 12:54:47, time: 0.719, data_time: 0.037, memory: 19865, loss_cls: 0.0819, loss_bbox: 0.2693, loss_traj: 0.4699, loss_traj_cls: 0.0020, loss_map_cls: 0.1008, loss_map_pts: 0.5069, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.6308, d0.loss_plan_l1_fix_dist: 0.3992, d1.loss_plan_l1_fix_time: 0.8202, d1.loss_plan_l1_fix_dist: 0.1646, d2.loss_plan_l1_fix_time: 0.8049, d2.loss_plan_l1_fix_dist: 0.1727, d3.loss_plan_l1_fix_time: 0.8147, d3.loss_plan_l1_fix_dist: 0.1542, d4.loss_plan_l1_fix_time: 0.8187, d4.loss_plan_l1_fix_dist: 0.1637, d5.loss_plan_l1_fix_time: 0.8215, d5.loss_plan_l1_fix_dist: 0.1704, d6.loss_plan_l1_fix_time: 0.8252, d6.loss_plan_l1_fix_dist: 0.1862, d0.loss_cls_all: 0.1296, d0.loss_bbox_all: 0.3287, d0.loss_cls: 0.1296, d0.loss_bbox: 0.3287, d1.loss_cls: 0.1202, d1.loss_bbox: 0.2993, d2.loss_cls: 0.1098, d2.loss_bbox: 0.2777, d3.loss_cls: 0.0916, d3.loss_bbox: 0.2722, d4.loss_cls: 0.0856, d4.loss_bbox: 0.2700, d5.loss_cls: 0.0830, d5.loss_bbox: 0.2687, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6985, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5458, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4973, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4824, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4775, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4722, d0.loss_map_cls_all: 0.1831, d0.loss_map_pts_all: 1.0448, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1831, d0.loss_map_pts: 1.0448, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1468, d1.loss_map_pts: 0.7606, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1264, d2.loss_map_pts: 0.6043, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1142, d3.loss_map_pts: 0.5390, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1075, d4.loss_map_pts: 0.5118, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.1035, d5.loss_map_pts: 0.5069, d5.loss_map_dir: 0.0052, loss: 22.3689, grad_norm: 160.3666 +2026-02-28 22:13:14,401 - DriveTransformer - INFO - Epoch [11][17150/39528] lr: 6.331e-05, eta: 4 days, 12:54:13, time: 0.748, data_time: 0.040, memory: 19865, loss_cls: 0.0742, loss_bbox: 0.2686, loss_traj: 0.4726, loss_traj_cls: 0.0020, loss_map_cls: 0.0777, loss_map_pts: 0.4224, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.5373, d0.loss_plan_l1_fix_dist: 0.4784, d1.loss_plan_l1_fix_time: 0.6984, d1.loss_plan_l1_fix_dist: 0.1733, d2.loss_plan_l1_fix_time: 0.6824, d2.loss_plan_l1_fix_dist: 0.1583, d3.loss_plan_l1_fix_time: 0.6652, d3.loss_plan_l1_fix_dist: 0.1553, d4.loss_plan_l1_fix_time: 0.6675, d4.loss_plan_l1_fix_dist: 0.1625, d5.loss_plan_l1_fix_time: 0.6697, d5.loss_plan_l1_fix_dist: 0.1669, d6.loss_plan_l1_fix_time: 0.6735, d6.loss_plan_l1_fix_dist: 0.1742, d0.loss_cls_all: 0.1180, d0.loss_bbox_all: 0.3216, d0.loss_cls: 0.1180, d0.loss_bbox: 0.3216, d1.loss_cls: 0.1132, d1.loss_bbox: 0.2935, d2.loss_cls: 0.1006, d2.loss_bbox: 0.2763, d3.loss_cls: 0.0785, d3.loss_bbox: 0.2723, d4.loss_cls: 0.0754, d4.loss_bbox: 0.2682, d5.loss_cls: 0.0743, d5.loss_bbox: 0.2680, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7064, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5509, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4829, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4730, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4709, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4698, d0.loss_map_cls_all: 0.1502, d0.loss_map_pts_all: 0.9444, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1502, d0.loss_map_pts: 0.9444, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1209, d1.loss_map_pts: 0.6563, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.0997, d2.loss_map_pts: 0.5087, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0881, d3.loss_map_pts: 0.4538, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0830, d4.loss_map_pts: 0.4312, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0784, d5.loss_map_pts: 0.4236, d5.loss_map_dir: 0.0055, loss: 20.4169, grad_norm: 162.4035 +2026-02-28 22:13:50,571 - DriveTransformer - INFO - Epoch [11][17200/39528] lr: 6.331e-05, eta: 4 days, 12:53:36, time: 0.725, data_time: 0.037, memory: 19865, loss_cls: 0.0994, loss_bbox: 0.2901, loss_traj: 0.4822, loss_traj_cls: 0.0020, loss_map_cls: 0.0927, loss_map_pts: 0.5046, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.5775, d0.loss_plan_l1_fix_dist: 0.3399, d1.loss_plan_l1_fix_time: 0.8164, d1.loss_plan_l1_fix_dist: 0.1846, d2.loss_plan_l1_fix_time: 0.8006, d2.loss_plan_l1_fix_dist: 0.1589, d3.loss_plan_l1_fix_time: 0.7952, d3.loss_plan_l1_fix_dist: 0.1711, d4.loss_plan_l1_fix_time: 0.7958, d4.loss_plan_l1_fix_dist: 0.1770, d5.loss_plan_l1_fix_time: 0.7967, d5.loss_plan_l1_fix_dist: 0.1822, d6.loss_plan_l1_fix_time: 0.7981, d6.loss_plan_l1_fix_dist: 0.1938, d0.loss_cls_all: 0.1406, d0.loss_bbox_all: 0.3546, d0.loss_cls: 0.1406, d0.loss_bbox: 0.3546, d1.loss_cls: 0.1333, d1.loss_bbox: 0.3247, d2.loss_cls: 0.1212, d2.loss_bbox: 0.3008, d3.loss_cls: 0.1042, d3.loss_bbox: 0.2940, d4.loss_cls: 0.1011, d4.loss_bbox: 0.2913, d5.loss_cls: 0.0997, d5.loss_bbox: 0.2891, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7201, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5656, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5001, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4886, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4812, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4846, d0.loss_map_cls_all: 0.1692, d0.loss_map_pts_all: 1.0432, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1692, d0.loss_map_pts: 1.0432, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1386, d1.loss_map_pts: 0.7645, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1172, d2.loss_map_pts: 0.6001, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1070, d3.loss_map_pts: 0.5321, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1008, d4.loss_map_pts: 0.5092, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0947, d5.loss_map_pts: 0.5050, d5.loss_map_dir: 0.0064, loss: 22.4964, grad_norm: 158.4806 +2026-02-28 22:14:28,077 - DriveTransformer - INFO - Epoch [11][17250/39528] lr: 6.331e-05, eta: 4 days, 12:53:02, time: 0.749, data_time: 0.035, memory: 19865, loss_cls: 0.0879, loss_bbox: 0.2996, loss_traj: 0.4497, loss_traj_cls: 0.0020, loss_map_cls: 0.1283, loss_map_pts: 0.5597, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.8042, d0.loss_plan_l1_fix_dist: 0.3749, d1.loss_plan_l1_fix_time: 0.8123, d1.loss_plan_l1_fix_dist: 0.1853, d2.loss_plan_l1_fix_time: 0.8019, d2.loss_plan_l1_fix_dist: 0.1655, d3.loss_plan_l1_fix_time: 0.8074, d3.loss_plan_l1_fix_dist: 0.1796, d4.loss_plan_l1_fix_time: 0.8106, d4.loss_plan_l1_fix_dist: 0.1835, d5.loss_plan_l1_fix_time: 0.8134, d5.loss_plan_l1_fix_dist: 0.1803, d6.loss_plan_l1_fix_time: 0.8160, d6.loss_plan_l1_fix_dist: 0.1961, d0.loss_cls_all: 0.1332, d0.loss_bbox_all: 0.3710, d0.loss_cls: 0.1332, d0.loss_bbox: 0.3710, d1.loss_cls: 0.1303, d1.loss_bbox: 0.3355, d2.loss_cls: 0.1166, d2.loss_bbox: 0.3109, d3.loss_cls: 0.0987, d3.loss_bbox: 0.3053, d4.loss_cls: 0.0906, d4.loss_bbox: 0.3017, d5.loss_cls: 0.0885, d5.loss_bbox: 0.2995, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6483, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5145, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4614, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4494, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4523, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4517, d0.loss_map_cls_all: 0.2182, d0.loss_map_pts_all: 1.1467, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2182, d0.loss_map_pts: 1.1467, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1845, d1.loss_map_pts: 0.8459, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1559, d2.loss_map_pts: 0.6602, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1441, d3.loss_map_pts: 0.5878, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1380, d4.loss_map_pts: 0.5627, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1317, d5.loss_map_pts: 0.5584, d5.loss_map_dir: 0.0072, loss: 23.4829, grad_norm: 157.7728 +2026-02-28 22:15:06,109 - DriveTransformer - INFO - Epoch [11][17300/39528] lr: 6.331e-05, eta: 4 days, 12:52:30, time: 0.761, data_time: 0.038, memory: 19865, loss_cls: 0.0784, loss_bbox: 0.2795, loss_traj: 0.4268, loss_traj_cls: 0.0021, loss_map_cls: 0.1031, loss_map_pts: 0.5461, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.6093, d0.loss_plan_l1_fix_dist: 0.4304, d1.loss_plan_l1_fix_time: 0.7578, d1.loss_plan_l1_fix_dist: 0.1728, d2.loss_plan_l1_fix_time: 0.7450, d2.loss_plan_l1_fix_dist: 0.1560, d3.loss_plan_l1_fix_time: 0.7435, d3.loss_plan_l1_fix_dist: 0.1813, d4.loss_plan_l1_fix_time: 0.7471, d4.loss_plan_l1_fix_dist: 0.1646, d5.loss_plan_l1_fix_time: 0.7505, d5.loss_plan_l1_fix_dist: 0.1654, d6.loss_plan_l1_fix_time: 0.7538, d6.loss_plan_l1_fix_dist: 0.1764, d0.loss_cls_all: 0.1215, d0.loss_bbox_all: 0.3394, d0.loss_cls: 0.1215, d0.loss_bbox: 0.3394, d1.loss_cls: 0.1168, d1.loss_bbox: 0.3101, d2.loss_cls: 0.1040, d2.loss_bbox: 0.2903, d3.loss_cls: 0.0855, d3.loss_bbox: 0.2840, d4.loss_cls: 0.0800, d4.loss_bbox: 0.2803, d5.loss_cls: 0.0788, d5.loss_bbox: 0.2788, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6366, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5004, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4497, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4309, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4273, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4290, d0.loss_map_cls_all: 0.1977, d0.loss_map_pts_all: 1.1884, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1977, d0.loss_map_pts: 1.1884, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1597, d1.loss_map_pts: 0.8506, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1314, d2.loss_map_pts: 0.6553, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1215, d3.loss_map_pts: 0.5867, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1136, d4.loss_map_pts: 0.5549, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1063, d5.loss_map_pts: 0.5478, d5.loss_map_dir: 0.0065, loss: 22.3499, grad_norm: 158.5108 +2026-02-28 22:15:43,020 - DriveTransformer - INFO - Epoch [11][17350/39528] lr: 6.331e-05, eta: 4 days, 12:51:55, time: 0.738, data_time: 0.041, memory: 19865, loss_cls: 0.0892, loss_bbox: 0.2780, loss_traj: 0.4160, loss_traj_cls: 0.0020, loss_map_cls: 0.1061, loss_map_pts: 0.4822, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.3306, d0.loss_plan_l1_fix_dist: 0.4579, d1.loss_plan_l1_fix_time: 0.6829, d1.loss_plan_l1_fix_dist: 0.1641, d2.loss_plan_l1_fix_time: 0.6803, d2.loss_plan_l1_fix_dist: 0.1556, d3.loss_plan_l1_fix_time: 0.6833, d3.loss_plan_l1_fix_dist: 0.1787, d4.loss_plan_l1_fix_time: 0.6876, d4.loss_plan_l1_fix_dist: 0.1540, d5.loss_plan_l1_fix_time: 0.6917, d5.loss_plan_l1_fix_dist: 0.1643, d6.loss_plan_l1_fix_time: 0.6957, d6.loss_plan_l1_fix_dist: 0.1801, d0.loss_cls_all: 0.1312, d0.loss_bbox_all: 0.3425, d0.loss_cls: 0.1312, d0.loss_bbox: 0.3425, d1.loss_cls: 0.1274, d1.loss_bbox: 0.3105, d2.loss_cls: 0.1121, d2.loss_bbox: 0.2879, d3.loss_cls: 0.0960, d3.loss_bbox: 0.2828, d4.loss_cls: 0.0901, d4.loss_bbox: 0.2805, d5.loss_cls: 0.0882, d5.loss_bbox: 0.2789, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6384, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4920, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4380, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4227, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4199, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4157, d0.loss_map_cls_all: 0.1894, d0.loss_map_pts_all: 1.0611, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1894, d0.loss_map_pts: 1.0611, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1531, d1.loss_map_pts: 0.7628, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1320, d2.loss_map_pts: 0.5826, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1225, d3.loss_map_pts: 0.5178, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1144, d4.loss_map_pts: 0.4928, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1086, d5.loss_map_pts: 0.4829, d5.loss_map_dir: 0.0057, loss: 21.0306, grad_norm: 158.2074 +2026-02-28 22:16:19,448 - DriveTransformer - INFO - Epoch [11][17400/39528] lr: 6.331e-05, eta: 4 days, 12:51:18, time: 0.729, data_time: 0.039, memory: 19865, loss_cls: 0.0878, loss_bbox: 0.2845, loss_traj: 0.4666, loss_traj_cls: 0.0020, loss_map_cls: 0.0907, loss_map_pts: 0.5329, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.9328, d0.loss_plan_l1_fix_dist: 0.4633, d1.loss_plan_l1_fix_time: 0.8237, d1.loss_plan_l1_fix_dist: 0.1790, d2.loss_plan_l1_fix_time: 0.8253, d2.loss_plan_l1_fix_dist: 0.1892, d3.loss_plan_l1_fix_time: 0.8277, d3.loss_plan_l1_fix_dist: 0.2111, d4.loss_plan_l1_fix_time: 0.8317, d4.loss_plan_l1_fix_dist: 0.1913, d5.loss_plan_l1_fix_time: 0.8361, d5.loss_plan_l1_fix_dist: 0.2006, d6.loss_plan_l1_fix_time: 0.8406, d6.loss_plan_l1_fix_dist: 0.2118, d0.loss_cls_all: 0.1340, d0.loss_bbox_all: 0.3498, d0.loss_cls: 0.1340, d0.loss_bbox: 0.3498, d1.loss_cls: 0.1256, d1.loss_bbox: 0.3179, d2.loss_cls: 0.1128, d2.loss_bbox: 0.2988, d3.loss_cls: 0.0953, d3.loss_bbox: 0.2905, d4.loss_cls: 0.0901, d4.loss_bbox: 0.2861, d5.loss_cls: 0.0870, d5.loss_bbox: 0.2855, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6655, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5249, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4809, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4704, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4683, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4667, d0.loss_map_cls_all: 0.1684, d0.loss_map_pts_all: 1.0512, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1684, d0.loss_map_pts: 1.0512, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1420, d1.loss_map_pts: 0.7735, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1141, d2.loss_map_pts: 0.6132, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1052, d3.loss_map_pts: 0.5563, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0991, d4.loss_map_pts: 0.5370, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0942, d5.loss_map_pts: 0.5318, d5.loss_map_dir: 0.0060, loss: 23.1223, grad_norm: 160.5172 +2026-02-28 22:16:55,714 - DriveTransformer - INFO - Epoch [11][17450/39528] lr: 6.331e-05, eta: 4 days, 12:50:40, time: 0.725, data_time: 0.037, memory: 19865, loss_cls: 0.0796, loss_bbox: 0.2678, loss_traj: 0.4981, loss_traj_cls: 0.0020, loss_map_cls: 0.0852, loss_map_pts: 0.4806, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.5379, d0.loss_plan_l1_fix_dist: 0.4810, d1.loss_plan_l1_fix_time: 0.7564, d1.loss_plan_l1_fix_dist: 0.1888, d2.loss_plan_l1_fix_time: 0.7519, d2.loss_plan_l1_fix_dist: 0.2050, d3.loss_plan_l1_fix_time: 0.7471, d3.loss_plan_l1_fix_dist: 0.2217, d4.loss_plan_l1_fix_time: 0.7501, d4.loss_plan_l1_fix_dist: 0.1882, d5.loss_plan_l1_fix_time: 0.7537, d5.loss_plan_l1_fix_dist: 0.1942, d6.loss_plan_l1_fix_time: 0.7575, d6.loss_plan_l1_fix_dist: 0.2040, d0.loss_cls_all: 0.1203, d0.loss_bbox_all: 0.3204, d0.loss_cls: 0.1203, d0.loss_bbox: 0.3204, d1.loss_cls: 0.1132, d1.loss_bbox: 0.2943, d2.loss_cls: 0.0999, d2.loss_bbox: 0.2772, d3.loss_cls: 0.0855, d3.loss_bbox: 0.2689, d4.loss_cls: 0.0810, d4.loss_bbox: 0.2672, d5.loss_cls: 0.0796, d5.loss_bbox: 0.2670, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7259, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5692, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5138, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5030, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4991, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4979, d0.loss_map_cls_all: 0.1618, d0.loss_map_pts_all: 0.9794, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1618, d0.loss_map_pts: 0.9794, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1343, d1.loss_map_pts: 0.7148, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1118, d2.loss_map_pts: 0.5600, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1001, d3.loss_map_pts: 0.5088, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0934, d4.loss_map_pts: 0.4852, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0879, d5.loss_map_pts: 0.4797, d5.loss_map_dir: 0.0058, loss: 21.7866, grad_norm: 159.5246 +2026-02-28 22:17:32,023 - DriveTransformer - INFO - Epoch [11][17500/39528] lr: 6.331e-05, eta: 4 days, 12:50:03, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.0766, loss_bbox: 0.2645, loss_traj: 0.5055, loss_traj_cls: 0.0020, loss_map_cls: 0.0791, loss_map_pts: 0.4407, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.7804, d0.loss_plan_l1_fix_dist: 0.3884, d1.loss_plan_l1_fix_time: 0.6904, d1.loss_plan_l1_fix_dist: 0.1547, d2.loss_plan_l1_fix_time: 0.6794, d2.loss_plan_l1_fix_dist: 0.1834, d3.loss_plan_l1_fix_time: 0.6718, d3.loss_plan_l1_fix_dist: 0.2032, d4.loss_plan_l1_fix_time: 0.6736, d4.loss_plan_l1_fix_dist: 0.1684, d5.loss_plan_l1_fix_time: 0.6761, d5.loss_plan_l1_fix_dist: 0.1710, d6.loss_plan_l1_fix_time: 0.6795, d6.loss_plan_l1_fix_dist: 0.1817, d0.loss_cls_all: 0.1253, d0.loss_bbox_all: 0.3226, d0.loss_cls: 0.1253, d0.loss_bbox: 0.3226, d1.loss_cls: 0.1116, d1.loss_bbox: 0.2938, d2.loss_cls: 0.0990, d2.loss_bbox: 0.2739, d3.loss_cls: 0.0820, d3.loss_bbox: 0.2679, d4.loss_cls: 0.0760, d4.loss_bbox: 0.2660, d5.loss_cls: 0.0767, d5.loss_bbox: 0.2641, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7203, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5753, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5262, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5151, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5080, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5076, d0.loss_map_cls_all: 0.1546, d0.loss_map_pts_all: 0.8932, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1546, d0.loss_map_pts: 0.8932, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1256, d1.loss_map_pts: 0.6460, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1023, d2.loss_map_pts: 0.5078, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0906, d3.loss_map_pts: 0.4657, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0866, d4.loss_map_pts: 0.4468, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0817, d5.loss_map_pts: 0.4403, d5.loss_map_dir: 0.0051, loss: 20.8646, grad_norm: 157.3827 +2026-02-28 22:18:09,223 - DriveTransformer - INFO - Epoch [11][17550/39528] lr: 6.331e-05, eta: 4 days, 12:49:28, time: 0.744, data_time: 0.040, memory: 19865, loss_cls: 0.0722, loss_bbox: 0.2797, loss_traj: 0.4697, loss_traj_cls: 0.0020, loss_map_cls: 0.0783, loss_map_pts: 0.4284, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.6179, d0.loss_plan_l1_fix_dist: 0.3318, d1.loss_plan_l1_fix_time: 0.7399, d1.loss_plan_l1_fix_dist: 0.1518, d2.loss_plan_l1_fix_time: 0.7290, d2.loss_plan_l1_fix_dist: 0.1852, d3.loss_plan_l1_fix_time: 0.7299, d3.loss_plan_l1_fix_dist: 0.1942, d4.loss_plan_l1_fix_time: 0.7318, d4.loss_plan_l1_fix_dist: 0.1622, d5.loss_plan_l1_fix_time: 0.7340, d5.loss_plan_l1_fix_dist: 0.1696, d6.loss_plan_l1_fix_time: 0.7371, d6.loss_plan_l1_fix_dist: 0.1777, d0.loss_cls_all: 0.1203, d0.loss_bbox_all: 0.3445, d0.loss_cls: 0.1203, d0.loss_bbox: 0.3445, d1.loss_cls: 0.1096, d1.loss_bbox: 0.3124, d2.loss_cls: 0.1012, d2.loss_bbox: 0.2901, d3.loss_cls: 0.0807, d3.loss_bbox: 0.2846, d4.loss_cls: 0.0746, d4.loss_bbox: 0.2821, d5.loss_cls: 0.0729, d5.loss_bbox: 0.2803, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7048, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5396, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4966, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4736, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4715, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4711, d0.loss_map_cls_all: 0.1505, d0.loss_map_pts_all: 0.9291, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1505, d0.loss_map_pts: 0.9291, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1211, d1.loss_map_pts: 0.6603, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1015, d2.loss_map_pts: 0.5131, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0910, d3.loss_map_pts: 0.4593, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0855, d4.loss_map_pts: 0.4368, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0815, d5.loss_map_pts: 0.4288, d5.loss_map_dir: 0.0051, loss: 20.8810, grad_norm: 157.5329 +2026-02-28 22:18:46,203 - DriveTransformer - INFO - Epoch [11][17600/39528] lr: 6.331e-05, eta: 4 days, 12:48:53, time: 0.740, data_time: 0.036, memory: 19865, loss_cls: 0.0922, loss_bbox: 0.2706, loss_traj: 0.4145, loss_traj_cls: 0.0020, loss_map_cls: 0.0987, loss_map_pts: 0.4847, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.3254, d0.loss_plan_l1_fix_dist: 0.3165, d1.loss_plan_l1_fix_time: 0.6739, d1.loss_plan_l1_fix_dist: 0.1479, d2.loss_plan_l1_fix_time: 0.6661, d2.loss_plan_l1_fix_dist: 0.1768, d3.loss_plan_l1_fix_time: 0.6653, d3.loss_plan_l1_fix_dist: 0.1897, d4.loss_plan_l1_fix_time: 0.6683, d4.loss_plan_l1_fix_dist: 0.1715, d5.loss_plan_l1_fix_time: 0.6709, d5.loss_plan_l1_fix_dist: 0.1876, d6.loss_plan_l1_fix_time: 0.6739, d6.loss_plan_l1_fix_dist: 0.2045, d0.loss_cls_all: 0.1367, d0.loss_bbox_all: 0.3290, d0.loss_cls: 0.1367, d0.loss_bbox: 0.3290, d1.loss_cls: 0.1306, d1.loss_bbox: 0.2949, d2.loss_cls: 0.1171, d2.loss_bbox: 0.2785, d3.loss_cls: 0.1018, d3.loss_bbox: 0.2745, d4.loss_cls: 0.0953, d4.loss_bbox: 0.2701, d5.loss_cls: 0.0931, d5.loss_bbox: 0.2701, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6398, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4941, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4409, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4242, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4189, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4161, d0.loss_map_cls_all: 0.1744, d0.loss_map_pts_all: 1.0139, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1744, d0.loss_map_pts: 1.0139, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1412, d1.loss_map_pts: 0.7252, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1215, d2.loss_map_pts: 0.5692, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1131, d3.loss_map_pts: 0.5118, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1061, d4.loss_map_pts: 0.4919, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1013, d5.loss_map_pts: 0.4851, d5.loss_map_dir: 0.0065, loss: 20.5910, grad_norm: 159.2906 +2026-02-28 22:19:21,367 - DriveTransformer - INFO - Epoch [11][17650/39528] lr: 6.331e-05, eta: 4 days, 12:48:12, time: 0.703, data_time: 0.039, memory: 19865, loss_cls: 0.0933, loss_bbox: 0.2781, loss_traj: 0.5159, loss_traj_cls: 0.0019, loss_map_cls: 0.0858, loss_map_pts: 0.4349, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.3825, d0.loss_plan_l1_fix_dist: 0.4335, d1.loss_plan_l1_fix_time: 0.7389, d1.loss_plan_l1_fix_dist: 0.1750, d2.loss_plan_l1_fix_time: 0.7150, d2.loss_plan_l1_fix_dist: 0.1888, d3.loss_plan_l1_fix_time: 0.7225, d3.loss_plan_l1_fix_dist: 0.1980, d4.loss_plan_l1_fix_time: 0.7246, d4.loss_plan_l1_fix_dist: 0.1863, d5.loss_plan_l1_fix_time: 0.7264, d5.loss_plan_l1_fix_dist: 0.1788, d6.loss_plan_l1_fix_time: 0.7283, d6.loss_plan_l1_fix_dist: 0.1924, d0.loss_cls_all: 0.1383, d0.loss_bbox_all: 0.3334, d0.loss_cls: 0.1383, d0.loss_bbox: 0.3334, d1.loss_cls: 0.1303, d1.loss_bbox: 0.3027, d2.loss_cls: 0.1205, d2.loss_bbox: 0.2862, d3.loss_cls: 0.1020, d3.loss_bbox: 0.2809, d4.loss_cls: 0.0946, d4.loss_bbox: 0.2813, d5.loss_cls: 0.0934, d5.loss_bbox: 0.2784, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7264, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5700, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5309, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5185, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5135, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5149, d0.loss_map_cls_all: 0.1725, d0.loss_map_pts_all: 0.9053, d0.loss_map_dir_all: 0.0048, d0.loss_map_cls: 0.1725, d0.loss_map_pts: 0.9053, d0.loss_map_dir: 0.0048, d1.loss_map_cls: 0.1372, d1.loss_map_pts: 0.6494, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.1130, d2.loss_map_pts: 0.5039, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.1015, d3.loss_map_pts: 0.4550, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0949, d4.loss_map_pts: 0.4397, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0890, d5.loss_map_pts: 0.4351, d5.loss_map_dir: 0.0048, loss: 21.2049, grad_norm: 158.5248 +2026-02-28 22:19:57,898 - DriveTransformer - INFO - Epoch [11][17700/39528] lr: 6.331e-05, eta: 4 days, 12:47:36, time: 0.731, data_time: 0.037, memory: 19865, loss_cls: 0.0906, loss_bbox: 0.2784, loss_traj: 0.4608, loss_traj_cls: 0.0020, loss_map_cls: 0.1020, loss_map_pts: 0.4800, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.5233, d0.loss_plan_l1_fix_dist: 0.3986, d1.loss_plan_l1_fix_time: 0.7586, d1.loss_plan_l1_fix_dist: 0.1833, d2.loss_plan_l1_fix_time: 0.7365, d2.loss_plan_l1_fix_dist: 0.1759, d3.loss_plan_l1_fix_time: 0.7354, d3.loss_plan_l1_fix_dist: 0.1826, d4.loss_plan_l1_fix_time: 0.7370, d4.loss_plan_l1_fix_dist: 0.1878, d5.loss_plan_l1_fix_time: 0.7385, d5.loss_plan_l1_fix_dist: 0.1771, d6.loss_plan_l1_fix_time: 0.7403, d6.loss_plan_l1_fix_dist: 0.1926, d0.loss_cls_all: 0.1266, d0.loss_bbox_all: 0.3375, d0.loss_cls: 0.1266, d0.loss_bbox: 0.3375, d1.loss_cls: 0.1225, d1.loss_bbox: 0.3088, d2.loss_cls: 0.1122, d2.loss_bbox: 0.2867, d3.loss_cls: 0.0969, d3.loss_bbox: 0.2816, d4.loss_cls: 0.0920, d4.loss_bbox: 0.2794, d5.loss_cls: 0.0902, d5.loss_bbox: 0.2789, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6718, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5175, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4756, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4648, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4615, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4620, d0.loss_map_cls_all: 0.1790, d0.loss_map_pts_all: 0.9811, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1790, d0.loss_map_pts: 0.9811, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1511, d1.loss_map_pts: 0.7060, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1274, d2.loss_map_pts: 0.5560, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1157, d3.loss_map_pts: 0.5074, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1097, d4.loss_map_pts: 0.4869, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1047, d5.loss_map_pts: 0.4799, d5.loss_map_dir: 0.0056, loss: 21.5247, grad_norm: 158.0780 +2026-02-28 22:20:34,049 - DriveTransformer - INFO - Epoch [11][17750/39528] lr: 6.331e-05, eta: 4 days, 12:46:58, time: 0.723, data_time: 0.042, memory: 19865, loss_cls: 0.1137, loss_bbox: 0.2989, loss_traj: 0.5392, loss_traj_cls: 0.0020, loss_map_cls: 0.0892, loss_map_pts: 0.4838, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.4540, d0.loss_plan_l1_fix_dist: 0.4460, d1.loss_plan_l1_fix_time: 0.7041, d1.loss_plan_l1_fix_dist: 0.2104, d2.loss_plan_l1_fix_time: 0.6878, d2.loss_plan_l1_fix_dist: 0.1759, d3.loss_plan_l1_fix_time: 0.6850, d3.loss_plan_l1_fix_dist: 0.1828, d4.loss_plan_l1_fix_time: 0.6860, d4.loss_plan_l1_fix_dist: 0.1937, d5.loss_plan_l1_fix_time: 0.6872, d5.loss_plan_l1_fix_dist: 0.1928, d6.loss_plan_l1_fix_time: 0.6886, d6.loss_plan_l1_fix_dist: 0.2036, d0.loss_cls_all: 0.1608, d0.loss_bbox_all: 0.3686, d0.loss_cls: 0.1608, d0.loss_bbox: 0.3686, d1.loss_cls: 0.1499, d1.loss_bbox: 0.3348, d2.loss_cls: 0.1370, d2.loss_bbox: 0.3125, d3.loss_cls: 0.1199, d3.loss_bbox: 0.3023, d4.loss_cls: 0.1158, d4.loss_bbox: 0.2993, d5.loss_cls: 0.1139, d5.loss_bbox: 0.2988, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7775, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.6293, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5687, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5475, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5425, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5409, d0.loss_map_cls_all: 0.1819, d0.loss_map_pts_all: 1.0031, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1819, d0.loss_map_pts: 1.0031, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1439, d1.loss_map_pts: 0.7277, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1182, d2.loss_map_pts: 0.5758, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1086, d3.loss_map_pts: 0.5112, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.0979, d4.loss_map_pts: 0.4875, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0920, d5.loss_map_pts: 0.4835, d5.loss_map_dir: 0.0063, loss: 22.3452, grad_norm: 157.6078 +2026-02-28 22:21:10,542 - DriveTransformer - INFO - Epoch [11][17800/39528] lr: 6.331e-05, eta: 4 days, 12:46:21, time: 0.730, data_time: 0.037, memory: 19865, loss_cls: 0.0997, loss_bbox: 0.3080, loss_traj: 0.5646, loss_traj_cls: 0.0019, loss_map_cls: 0.1046, loss_map_pts: 0.5464, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.8320, d0.loss_plan_l1_fix_dist: 0.4352, d1.loss_plan_l1_fix_time: 0.7525, d1.loss_plan_l1_fix_dist: 0.2126, d2.loss_plan_l1_fix_time: 0.7325, d2.loss_plan_l1_fix_dist: 0.1619, d3.loss_plan_l1_fix_time: 0.7298, d3.loss_plan_l1_fix_dist: 0.1719, d4.loss_plan_l1_fix_time: 0.7308, d4.loss_plan_l1_fix_dist: 0.1776, d5.loss_plan_l1_fix_time: 0.7323, d5.loss_plan_l1_fix_dist: 0.1824, d6.loss_plan_l1_fix_time: 0.7339, d6.loss_plan_l1_fix_dist: 0.1968, d0.loss_cls_all: 0.1459, d0.loss_bbox_all: 0.3787, d0.loss_cls: 0.1459, d0.loss_bbox: 0.3787, d1.loss_cls: 0.1384, d1.loss_bbox: 0.3453, d2.loss_cls: 0.1259, d2.loss_bbox: 0.3242, d3.loss_cls: 0.1085, d3.loss_bbox: 0.3151, d4.loss_cls: 0.1026, d4.loss_bbox: 0.3107, d5.loss_cls: 0.1003, d5.loss_bbox: 0.3090, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8633, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6505, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6063, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5827, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5750, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5699, d0.loss_map_cls_all: 0.1936, d0.loss_map_pts_all: 1.0858, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1936, d0.loss_map_pts: 1.0858, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1614, d1.loss_map_pts: 0.7916, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1301, d2.loss_map_pts: 0.6351, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1171, d3.loss_map_pts: 0.5772, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1105, d4.loss_map_pts: 0.5570, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1078, d5.loss_map_pts: 0.5464, d5.loss_map_dir: 0.0057, loss: 23.8265, grad_norm: 157.7534 +2026-02-28 22:21:46,841 - DriveTransformer - INFO - Epoch [11][17850/39528] lr: 6.331e-05, eta: 4 days, 12:45:44, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.0905, loss_bbox: 0.2925, loss_traj: 0.4285, loss_traj_cls: 0.0020, loss_map_cls: 0.0830, loss_map_pts: 0.4860, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.5420, d0.loss_plan_l1_fix_dist: 0.3928, d1.loss_plan_l1_fix_time: 0.7489, d1.loss_plan_l1_fix_dist: 0.2247, d2.loss_plan_l1_fix_time: 0.7396, d2.loss_plan_l1_fix_dist: 0.1875, d3.loss_plan_l1_fix_time: 0.7290, d3.loss_plan_l1_fix_dist: 0.1952, d4.loss_plan_l1_fix_time: 0.7306, d4.loss_plan_l1_fix_dist: 0.1949, d5.loss_plan_l1_fix_time: 0.7334, d5.loss_plan_l1_fix_dist: 0.2045, d6.loss_plan_l1_fix_time: 0.7370, d6.loss_plan_l1_fix_dist: 0.2234, d0.loss_cls_all: 0.1409, d0.loss_bbox_all: 0.3586, d0.loss_cls: 0.1409, d0.loss_bbox: 0.3586, d1.loss_cls: 0.1332, d1.loss_bbox: 0.3251, d2.loss_cls: 0.1168, d2.loss_bbox: 0.3058, d3.loss_cls: 0.1005, d3.loss_bbox: 0.2982, d4.loss_cls: 0.0926, d4.loss_bbox: 0.2954, d5.loss_cls: 0.0882, d5.loss_bbox: 0.2955, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6663, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5026, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4490, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4338, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4314, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4289, d0.loss_map_cls_all: 0.1646, d0.loss_map_pts_all: 1.0393, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1646, d0.loss_map_pts: 1.0393, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1296, d1.loss_map_pts: 0.7346, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1071, d2.loss_map_pts: 0.5777, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.0971, d3.loss_map_pts: 0.5120, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0909, d4.loss_map_pts: 0.4890, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0855, d5.loss_map_pts: 0.4858, d5.loss_map_dir: 0.0060, loss: 21.6980, grad_norm: 157.6738 +2026-02-28 22:22:22,373 - DriveTransformer - INFO - Epoch [11][17900/39528] lr: 6.331e-05, eta: 4 days, 12:45:04, time: 0.711, data_time: 0.038, memory: 19865, loss_cls: 0.0867, loss_bbox: 0.2675, loss_traj: 0.4666, loss_traj_cls: 0.0020, loss_map_cls: 0.0906, loss_map_pts: 0.4586, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.3299, d0.loss_plan_l1_fix_dist: 0.4263, d1.loss_plan_l1_fix_time: 0.7685, d1.loss_plan_l1_fix_dist: 0.2237, d2.loss_plan_l1_fix_time: 0.7547, d2.loss_plan_l1_fix_dist: 0.1905, d3.loss_plan_l1_fix_time: 0.7452, d3.loss_plan_l1_fix_dist: 0.1960, d4.loss_plan_l1_fix_time: 0.7473, d4.loss_plan_l1_fix_dist: 0.1740, d5.loss_plan_l1_fix_time: 0.7511, d5.loss_plan_l1_fix_dist: 0.1727, d6.loss_plan_l1_fix_time: 0.7558, d6.loss_plan_l1_fix_dist: 0.1825, d0.loss_cls_all: 0.1293, d0.loss_bbox_all: 0.3243, d0.loss_cls: 0.1293, d0.loss_bbox: 0.3243, d1.loss_cls: 0.1220, d1.loss_bbox: 0.2955, d2.loss_cls: 0.1098, d2.loss_bbox: 0.2756, d3.loss_cls: 0.0950, d3.loss_bbox: 0.2697, d4.loss_cls: 0.0878, d4.loss_bbox: 0.2685, d5.loss_cls: 0.0878, d5.loss_bbox: 0.2664, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7305, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5483, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4988, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4752, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4726, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4707, d0.loss_map_cls_all: 0.1678, d0.loss_map_pts_all: 0.9176, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1678, d0.loss_map_pts: 0.9176, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1374, d1.loss_map_pts: 0.6708, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1148, d2.loss_map_pts: 0.5346, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1040, d3.loss_map_pts: 0.4864, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0983, d4.loss_map_pts: 0.4654, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0937, d5.loss_map_pts: 0.4585, d5.loss_map_dir: 0.0052, loss: 21.1517, grad_norm: 156.4191 +2026-02-28 22:22:59,436 - DriveTransformer - INFO - Epoch [11][17950/39528] lr: 6.331e-05, eta: 4 days, 12:44:29, time: 0.741, data_time: 0.038, memory: 19865, loss_cls: 0.0905, loss_bbox: 0.2781, loss_traj: 0.4774, loss_traj_cls: 0.0020, loss_map_cls: 0.0923, loss_map_pts: 0.5422, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.6145, d0.loss_plan_l1_fix_dist: 0.4156, d1.loss_plan_l1_fix_time: 0.6900, d1.loss_plan_l1_fix_dist: 0.2122, d2.loss_plan_l1_fix_time: 0.6796, d2.loss_plan_l1_fix_dist: 0.1819, d3.loss_plan_l1_fix_time: 0.6876, d3.loss_plan_l1_fix_dist: 0.1993, d4.loss_plan_l1_fix_time: 0.6915, d4.loss_plan_l1_fix_dist: 0.1758, d5.loss_plan_l1_fix_time: 0.6948, d5.loss_plan_l1_fix_dist: 0.1801, d6.loss_plan_l1_fix_time: 0.6989, d6.loss_plan_l1_fix_dist: 0.1924, d0.loss_cls_all: 0.1355, d0.loss_bbox_all: 0.3492, d0.loss_cls: 0.1355, d0.loss_bbox: 0.3492, d1.loss_cls: 0.1283, d1.loss_bbox: 0.3142, d2.loss_cls: 0.1170, d2.loss_bbox: 0.2897, d3.loss_cls: 0.0997, d3.loss_bbox: 0.2820, d4.loss_cls: 0.0922, d4.loss_bbox: 0.2803, d5.loss_cls: 0.0903, d5.loss_bbox: 0.2785, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7418, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5788, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5176, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4878, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4785, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4778, d0.loss_map_cls_all: 0.1740, d0.loss_map_pts_all: 1.1384, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1740, d0.loss_map_pts: 1.1384, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1420, d1.loss_map_pts: 0.8215, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1189, d2.loss_map_pts: 0.6453, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1084, d3.loss_map_pts: 0.5755, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1007, d4.loss_map_pts: 0.5492, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0947, d5.loss_map_pts: 0.5435, d5.loss_map_dir: 0.0064, loss: 22.4008, grad_norm: 165.3777 +2026-02-28 22:23:34,613 - DriveTransformer - INFO - Epoch [11][18000/39528] lr: 6.331e-05, eta: 4 days, 12:43:48, time: 0.705, data_time: 0.037, memory: 19865, loss_cls: 0.0888, loss_bbox: 0.2607, loss_traj: 0.5739, loss_traj_cls: 0.0020, loss_map_cls: 0.0930, loss_map_pts: 0.4426, loss_map_dir: 0.0043, d0.loss_plan_l1_fix_time: 2.4356, d0.loss_plan_l1_fix_dist: 0.4261, d1.loss_plan_l1_fix_time: 0.7051, d1.loss_plan_l1_fix_dist: 0.2166, d2.loss_plan_l1_fix_time: 0.6951, d2.loss_plan_l1_fix_dist: 0.1836, d3.loss_plan_l1_fix_time: 0.6882, d3.loss_plan_l1_fix_dist: 0.2059, d4.loss_plan_l1_fix_time: 0.6898, d4.loss_plan_l1_fix_dist: 0.1735, d5.loss_plan_l1_fix_time: 0.6921, d5.loss_plan_l1_fix_dist: 0.1840, d6.loss_plan_l1_fix_time: 0.6952, d6.loss_plan_l1_fix_dist: 0.1896, d0.loss_cls_all: 0.1287, d0.loss_bbox_all: 0.3317, d0.loss_cls: 0.1287, d0.loss_bbox: 0.3317, d1.loss_cls: 0.1193, d1.loss_bbox: 0.2969, d2.loss_cls: 0.1099, d2.loss_bbox: 0.2757, d3.loss_cls: 0.0941, d3.loss_bbox: 0.2688, d4.loss_cls: 0.0896, d4.loss_bbox: 0.2648, d5.loss_cls: 0.0881, d5.loss_bbox: 0.2622, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8371, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6577, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6009, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5856, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5700, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5740, d0.loss_map_cls_all: 0.1778, d0.loss_map_pts_all: 0.9631, d0.loss_map_dir_all: 0.0041, d0.loss_map_cls: 0.1778, d0.loss_map_pts: 0.9631, d0.loss_map_dir: 0.0041, d1.loss_map_cls: 0.1463, d1.loss_map_pts: 0.7059, d1.loss_map_dir: 0.0039, d2.loss_map_cls: 0.1200, d2.loss_map_pts: 0.5468, d2.loss_map_dir: 0.0039, d3.loss_map_cls: 0.1083, d3.loss_map_pts: 0.4773, d3.loss_map_dir: 0.0041, d4.loss_map_cls: 0.1004, d4.loss_map_pts: 0.4557, d4.loss_map_dir: 0.0042, d5.loss_map_cls: 0.0966, d5.loss_map_pts: 0.4430, d5.loss_map_dir: 0.0044, loss: 21.7770, grad_norm: 159.1374 +2026-02-28 22:24:11,373 - DriveTransformer - INFO - Epoch [11][18050/39528] lr: 6.331e-05, eta: 4 days, 12:43:12, time: 0.734, data_time: 0.037, memory: 19865, loss_cls: 0.0828, loss_bbox: 0.2647, loss_traj: 0.5147, loss_traj_cls: 0.0021, loss_map_cls: 0.0801, loss_map_pts: 0.4618, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.7515, d0.loss_plan_l1_fix_dist: 0.3943, d1.loss_plan_l1_fix_time: 0.7418, d1.loss_plan_l1_fix_dist: 0.2089, d2.loss_plan_l1_fix_time: 0.7201, d2.loss_plan_l1_fix_dist: 0.1765, d3.loss_plan_l1_fix_time: 0.7084, d3.loss_plan_l1_fix_dist: 0.2040, d4.loss_plan_l1_fix_time: 0.7083, d4.loss_plan_l1_fix_dist: 0.1675, d5.loss_plan_l1_fix_time: 0.7095, d5.loss_plan_l1_fix_dist: 0.1963, d6.loss_plan_l1_fix_time: 0.7111, d6.loss_plan_l1_fix_dist: 0.2018, d0.loss_cls_all: 0.1230, d0.loss_bbox_all: 0.3316, d0.loss_cls: 0.1230, d0.loss_bbox: 0.3316, d1.loss_cls: 0.1196, d1.loss_bbox: 0.2992, d2.loss_cls: 0.1074, d2.loss_bbox: 0.2771, d3.loss_cls: 0.0936, d3.loss_bbox: 0.2689, d4.loss_cls: 0.0852, d4.loss_bbox: 0.2670, d5.loss_cls: 0.0824, d5.loss_bbox: 0.2647, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7314, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5981, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5442, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5341, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5197, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5200, d0.loss_map_cls_all: 0.1621, d0.loss_map_pts_all: 0.9565, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1621, d0.loss_map_pts: 0.9565, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1290, d1.loss_map_pts: 0.7036, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1016, d2.loss_map_pts: 0.5492, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0912, d3.loss_map_pts: 0.4926, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0872, d4.loss_map_pts: 0.4701, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0834, d5.loss_map_pts: 0.4634, d5.loss_map_dir: 0.0050, loss: 21.6825, grad_norm: 159.5874 +2026-02-28 22:24:47,829 - DriveTransformer - INFO - Epoch [11][18100/39528] lr: 6.331e-05, eta: 4 days, 12:42:35, time: 0.729, data_time: 0.038, memory: 19865, loss_cls: 0.0959, loss_bbox: 0.2896, loss_traj: 0.4544, loss_traj_cls: 0.0020, loss_map_cls: 0.1082, loss_map_pts: 0.5113, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.8841, d0.loss_plan_l1_fix_dist: 0.3889, d1.loss_plan_l1_fix_time: 0.7352, d1.loss_plan_l1_fix_dist: 0.2114, d2.loss_plan_l1_fix_time: 0.7219, d2.loss_plan_l1_fix_dist: 0.1879, d3.loss_plan_l1_fix_time: 0.7237, d3.loss_plan_l1_fix_dist: 0.2136, d4.loss_plan_l1_fix_time: 0.7254, d4.loss_plan_l1_fix_dist: 0.1935, d5.loss_plan_l1_fix_time: 0.7275, d5.loss_plan_l1_fix_dist: 0.1987, d6.loss_plan_l1_fix_time: 0.7302, d6.loss_plan_l1_fix_dist: 0.2025, d0.loss_cls_all: 0.1472, d0.loss_bbox_all: 0.3602, d0.loss_cls: 0.1472, d0.loss_bbox: 0.3602, d1.loss_cls: 0.1388, d1.loss_bbox: 0.3243, d2.loss_cls: 0.1215, d2.loss_bbox: 0.3014, d3.loss_cls: 0.1041, d3.loss_bbox: 0.2948, d4.loss_cls: 0.0981, d4.loss_bbox: 0.2924, d5.loss_cls: 0.0959, d5.loss_bbox: 0.2890, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6705, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5292, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4837, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4677, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4576, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4559, d0.loss_map_cls_all: 0.1896, d0.loss_map_pts_all: 1.0739, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1896, d0.loss_map_pts: 1.0739, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1570, d1.loss_map_pts: 0.7780, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1327, d2.loss_map_pts: 0.6016, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1225, d3.loss_map_pts: 0.5414, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1159, d4.loss_map_pts: 0.5155, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1114, d5.loss_map_pts: 0.5108, d5.loss_map_dir: 0.0066, loss: 22.6161, grad_norm: 161.6508 +2026-02-28 22:25:22,991 - DriveTransformer - INFO - Epoch [11][18150/39528] lr: 6.331e-05, eta: 4 days, 12:41:55, time: 0.703, data_time: 0.038, memory: 19865, loss_cls: 0.0876, loss_bbox: 0.2810, loss_traj: 0.5922, loss_traj_cls: 0.0021, loss_map_cls: 0.0893, loss_map_pts: 0.4491, loss_map_dir: 0.0041, d0.loss_plan_l1_fix_time: 2.4855, d0.loss_plan_l1_fix_dist: 0.4815, d1.loss_plan_l1_fix_time: 0.7334, d1.loss_plan_l1_fix_dist: 0.1977, d2.loss_plan_l1_fix_time: 0.7309, d2.loss_plan_l1_fix_dist: 0.1823, d3.loss_plan_l1_fix_time: 0.7379, d3.loss_plan_l1_fix_dist: 0.2032, d4.loss_plan_l1_fix_time: 0.7409, d4.loss_plan_l1_fix_dist: 0.1925, d5.loss_plan_l1_fix_time: 0.7438, d5.loss_plan_l1_fix_dist: 0.1798, d6.loss_plan_l1_fix_time: 0.7471, d6.loss_plan_l1_fix_dist: 0.1897, d0.loss_cls_all: 0.1303, d0.loss_bbox_all: 0.3403, d0.loss_cls: 0.1303, d0.loss_bbox: 0.3403, d1.loss_cls: 0.1232, d1.loss_bbox: 0.3122, d2.loss_cls: 0.1108, d2.loss_bbox: 0.2907, d3.loss_cls: 0.0923, d3.loss_bbox: 0.2834, d4.loss_cls: 0.0889, d4.loss_bbox: 0.2820, d5.loss_cls: 0.0877, d5.loss_bbox: 0.2803, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8665, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6907, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6249, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.6001, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5925, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5928, d0.loss_map_cls_all: 0.1551, d0.loss_map_pts_all: 0.9012, d0.loss_map_dir_all: 0.0043, d0.loss_map_cls: 0.1551, d0.loss_map_pts: 0.9012, d0.loss_map_dir: 0.0043, d1.loss_map_cls: 0.1297, d1.loss_map_pts: 0.6631, d1.loss_map_dir: 0.0042, d2.loss_map_cls: 0.1100, d2.loss_map_pts: 0.5298, d2.loss_map_dir: 0.0039, d3.loss_map_cls: 0.1002, d3.loss_map_pts: 0.4735, d3.loss_map_dir: 0.0039, d4.loss_map_cls: 0.0938, d4.loss_map_pts: 0.4545, d4.loss_map_dir: 0.0041, d5.loss_map_cls: 0.0904, d5.loss_map_pts: 0.4486, d5.loss_map_dir: 0.0041, loss: 22.1519, grad_norm: 161.4694 +2026-02-28 22:25:58,839 - DriveTransformer - INFO - Epoch [11][18200/39528] lr: 6.331e-05, eta: 4 days, 12:41:16, time: 0.717, data_time: 0.039, memory: 19865, loss_cls: 0.0980, loss_bbox: 0.2765, loss_traj: 0.4827, loss_traj_cls: 0.0021, loss_map_cls: 0.0758, loss_map_pts: 0.4345, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.3369, d0.loss_plan_l1_fix_dist: 0.3927, d1.loss_plan_l1_fix_time: 0.7108, d1.loss_plan_l1_fix_dist: 0.1681, d2.loss_plan_l1_fix_time: 0.6983, d2.loss_plan_l1_fix_dist: 0.1579, d3.loss_plan_l1_fix_time: 0.6950, d3.loss_plan_l1_fix_dist: 0.1813, d4.loss_plan_l1_fix_time: 0.6963, d4.loss_plan_l1_fix_dist: 0.1733, d5.loss_plan_l1_fix_time: 0.6977, d5.loss_plan_l1_fix_dist: 0.1623, d6.loss_plan_l1_fix_time: 0.6995, d6.loss_plan_l1_fix_dist: 0.1720, d0.loss_cls_all: 0.1404, d0.loss_bbox_all: 0.3460, d0.loss_cls: 0.1404, d0.loss_bbox: 0.3460, d1.loss_cls: 0.1337, d1.loss_bbox: 0.3131, d2.loss_cls: 0.1213, d2.loss_bbox: 0.2920, d3.loss_cls: 0.1035, d3.loss_bbox: 0.2861, d4.loss_cls: 0.0987, d4.loss_bbox: 0.2801, d5.loss_cls: 0.0976, d5.loss_bbox: 0.2769, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7215, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5619, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5152, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4982, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4921, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4876, d0.loss_map_cls_all: 0.1563, d0.loss_map_pts_all: 0.8741, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1563, d0.loss_map_pts: 0.8741, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1212, d1.loss_map_pts: 0.6325, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.0986, d2.loss_map_pts: 0.5123, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0872, d3.loss_map_pts: 0.4622, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0820, d4.loss_map_pts: 0.4433, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0773, d5.loss_map_pts: 0.4354, d5.loss_map_dir: 0.0054, loss: 20.6242, grad_norm: 157.3293 +2026-02-28 22:26:35,912 - DriveTransformer - INFO - Epoch [11][18250/39528] lr: 6.331e-05, eta: 4 days, 12:40:41, time: 0.741, data_time: 0.038, memory: 19865, loss_cls: 0.1002, loss_bbox: 0.2840, loss_traj: 0.3934, loss_traj_cls: 0.0021, loss_map_cls: 0.1018, loss_map_pts: 0.5215, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.6614, d0.loss_plan_l1_fix_dist: 0.3611, d1.loss_plan_l1_fix_time: 0.7516, d1.loss_plan_l1_fix_dist: 0.1540, d2.loss_plan_l1_fix_time: 0.7503, d2.loss_plan_l1_fix_dist: 0.1543, d3.loss_plan_l1_fix_time: 0.7459, d3.loss_plan_l1_fix_dist: 0.1769, d4.loss_plan_l1_fix_time: 0.7482, d4.loss_plan_l1_fix_dist: 0.1792, d5.loss_plan_l1_fix_time: 0.7511, d5.loss_plan_l1_fix_dist: 0.1673, d6.loss_plan_l1_fix_time: 0.7540, d6.loss_plan_l1_fix_dist: 0.1796, d0.loss_cls_all: 0.1475, d0.loss_bbox_all: 0.3532, d0.loss_cls: 0.1475, d0.loss_bbox: 0.3532, d1.loss_cls: 0.1430, d1.loss_bbox: 0.3142, d2.loss_cls: 0.1293, d2.loss_bbox: 0.2922, d3.loss_cls: 0.1088, d3.loss_bbox: 0.2889, d4.loss_cls: 0.1043, d4.loss_bbox: 0.2846, d5.loss_cls: 0.1005, d5.loss_bbox: 0.2845, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5864, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4430, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4098, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3953, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3942, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3901, d0.loss_map_cls_all: 0.1793, d0.loss_map_pts_all: 1.0931, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1793, d0.loss_map_pts: 1.0931, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1470, d1.loss_map_pts: 0.7770, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1238, d2.loss_map_pts: 0.6063, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1128, d3.loss_map_pts: 0.5508, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1072, d4.loss_map_pts: 0.5270, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1030, d5.loss_map_pts: 0.5225, d5.loss_map_dir: 0.0069, loss: 21.7917, grad_norm: 160.2932 +2026-02-28 22:27:13,897 - DriveTransformer - INFO - Epoch [11][18300/39528] lr: 6.331e-05, eta: 4 days, 12:40:09, time: 0.760, data_time: 0.039, memory: 19865, loss_cls: 0.0750, loss_bbox: 0.2442, loss_traj: 0.4253, loss_traj_cls: 0.0021, loss_map_cls: 0.0743, loss_map_pts: 0.4344, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.0836, d0.loss_plan_l1_fix_dist: 0.4356, d1.loss_plan_l1_fix_time: 0.6910, d1.loss_plan_l1_fix_dist: 0.1368, d2.loss_plan_l1_fix_time: 0.6811, d2.loss_plan_l1_fix_dist: 0.1411, d3.loss_plan_l1_fix_time: 0.6851, d3.loss_plan_l1_fix_dist: 0.1618, d4.loss_plan_l1_fix_time: 0.6899, d4.loss_plan_l1_fix_dist: 0.1705, d5.loss_plan_l1_fix_time: 0.6948, d5.loss_plan_l1_fix_dist: 0.1585, d6.loss_plan_l1_fix_time: 0.6993, d6.loss_plan_l1_fix_dist: 0.1655, d0.loss_cls_all: 0.1152, d0.loss_bbox_all: 0.3029, d0.loss_cls: 0.1152, d0.loss_bbox: 0.3029, d1.loss_cls: 0.1090, d1.loss_bbox: 0.2748, d2.loss_cls: 0.0965, d2.loss_bbox: 0.2552, d3.loss_cls: 0.0814, d3.loss_bbox: 0.2484, d4.loss_cls: 0.0763, d4.loss_bbox: 0.2445, d5.loss_cls: 0.0756, d5.loss_bbox: 0.2440, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6245, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4977, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4576, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4350, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4270, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4267, d0.loss_map_cls_all: 0.1428, d0.loss_map_pts_all: 0.9797, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1428, d0.loss_map_pts: 0.9797, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1156, d1.loss_map_pts: 0.6792, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.0958, d2.loss_map_pts: 0.5180, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0846, d3.loss_map_pts: 0.4603, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0793, d4.loss_map_pts: 0.4408, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0757, d5.loss_map_pts: 0.4349, d5.loss_map_dir: 0.0057, loss: 19.5410, grad_norm: 158.7952 +2026-02-28 22:27:51,062 - DriveTransformer - INFO - Epoch [11][18350/39528] lr: 6.331e-05, eta: 4 days, 12:39:34, time: 0.743, data_time: 0.041, memory: 19865, loss_cls: 0.0900, loss_bbox: 0.3074, loss_traj: 0.5977, loss_traj_cls: 0.0020, loss_map_cls: 0.1057, loss_map_pts: 0.5827, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.9156, d0.loss_plan_l1_fix_dist: 0.4491, d1.loss_plan_l1_fix_time: 0.7987, d1.loss_plan_l1_fix_dist: 0.1693, d2.loss_plan_l1_fix_time: 0.7769, d2.loss_plan_l1_fix_dist: 0.1599, d3.loss_plan_l1_fix_time: 0.7713, d3.loss_plan_l1_fix_dist: 0.1729, d4.loss_plan_l1_fix_time: 0.7721, d4.loss_plan_l1_fix_dist: 0.1767, d5.loss_plan_l1_fix_time: 0.7739, d5.loss_plan_l1_fix_dist: 0.1687, d6.loss_plan_l1_fix_time: 0.7763, d6.loss_plan_l1_fix_dist: 0.1725, d0.loss_cls_all: 0.1350, d0.loss_bbox_all: 0.3710, d0.loss_cls: 0.1350, d0.loss_bbox: 0.3710, d1.loss_cls: 0.1289, d1.loss_bbox: 0.3385, d2.loss_cls: 0.1192, d2.loss_bbox: 0.3167, d3.loss_cls: 0.0979, d3.loss_bbox: 0.3119, d4.loss_cls: 0.0920, d4.loss_bbox: 0.3093, d5.loss_cls: 0.0912, d5.loss_bbox: 0.3071, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8825, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.7077, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6407, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.6078, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.6033, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6037, d0.loss_map_cls_all: 0.1942, d0.loss_map_pts_all: 1.1764, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1942, d0.loss_map_pts: 1.1764, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1563, d1.loss_map_pts: 0.8652, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1311, d2.loss_map_pts: 0.6813, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1194, d3.loss_map_pts: 0.6130, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1124, d4.loss_map_pts: 0.5900, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1063, d5.loss_map_pts: 0.5842, d5.loss_map_dir: 0.0064, loss: 24.6653, grad_norm: 155.6213 +2026-02-28 22:28:26,244 - DriveTransformer - INFO - Epoch [11][18400/39528] lr: 6.331e-05, eta: 4 days, 12:38:53, time: 0.704, data_time: 0.035, memory: 19865, loss_cls: 0.0792, loss_bbox: 0.2667, loss_traj: 0.4616, loss_traj_cls: 0.0021, loss_map_cls: 0.1005, loss_map_pts: 0.4518, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.1854, d0.loss_plan_l1_fix_dist: 0.4338, d1.loss_plan_l1_fix_time: 0.7202, d1.loss_plan_l1_fix_dist: 0.1810, d2.loss_plan_l1_fix_time: 0.7025, d2.loss_plan_l1_fix_dist: 0.1656, d3.loss_plan_l1_fix_time: 0.6986, d3.loss_plan_l1_fix_dist: 0.1745, d4.loss_plan_l1_fix_time: 0.7000, d4.loss_plan_l1_fix_dist: 0.1766, d5.loss_plan_l1_fix_time: 0.7021, d5.loss_plan_l1_fix_dist: 0.1757, d6.loss_plan_l1_fix_time: 0.7046, d6.loss_plan_l1_fix_dist: 0.1853, d0.loss_cls_all: 0.1219, d0.loss_bbox_all: 0.3347, d0.loss_cls: 0.1219, d0.loss_bbox: 0.3347, d1.loss_cls: 0.1142, d1.loss_bbox: 0.2984, d2.loss_cls: 0.1051, d2.loss_bbox: 0.2783, d3.loss_cls: 0.0866, d3.loss_bbox: 0.2722, d4.loss_cls: 0.0811, d4.loss_bbox: 0.2689, d5.loss_cls: 0.0796, d5.loss_bbox: 0.2675, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7266, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5579, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5002, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4792, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4657, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4622, d0.loss_map_cls_all: 0.1815, d0.loss_map_pts_all: 0.9706, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1815, d0.loss_map_pts: 0.9706, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1490, d1.loss_map_pts: 0.6975, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1261, d2.loss_map_pts: 0.5424, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1154, d3.loss_map_pts: 0.4797, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1084, d4.loss_map_pts: 0.4592, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.1020, d5.loss_map_pts: 0.4525, d5.loss_map_dir: 0.0053, loss: 20.8083, grad_norm: 147.3789 +2026-02-28 22:29:01,639 - DriveTransformer - INFO - Epoch [11][18450/39528] lr: 6.331e-05, eta: 4 days, 12:38:13, time: 0.708, data_time: 0.037, memory: 19865, loss_cls: 0.0988, loss_bbox: 0.2859, loss_traj: 0.4365, loss_traj_cls: 0.0020, loss_map_cls: 0.0923, loss_map_pts: 0.4574, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.6152, d0.loss_plan_l1_fix_dist: 0.3304, d1.loss_plan_l1_fix_time: 0.7604, d1.loss_plan_l1_fix_dist: 0.1774, d2.loss_plan_l1_fix_time: 0.7518, d2.loss_plan_l1_fix_dist: 0.1460, d3.loss_plan_l1_fix_time: 0.7630, d3.loss_plan_l1_fix_dist: 0.1625, d4.loss_plan_l1_fix_time: 0.7671, d4.loss_plan_l1_fix_dist: 0.1473, d5.loss_plan_l1_fix_time: 0.7705, d5.loss_plan_l1_fix_dist: 0.1486, d6.loss_plan_l1_fix_time: 0.7739, d6.loss_plan_l1_fix_dist: 0.1581, d0.loss_cls_all: 0.1434, d0.loss_bbox_all: 0.3541, d0.loss_cls: 0.1434, d0.loss_bbox: 0.3541, d1.loss_cls: 0.1389, d1.loss_bbox: 0.3172, d2.loss_cls: 0.1244, d2.loss_bbox: 0.2943, d3.loss_cls: 0.1069, d3.loss_bbox: 0.2912, d4.loss_cls: 0.1005, d4.loss_bbox: 0.2887, d5.loss_cls: 0.0992, d5.loss_bbox: 0.2867, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6555, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5151, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4595, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4432, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4384, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4364, d0.loss_map_cls_all: 0.1689, d0.loss_map_pts_all: 0.9665, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1689, d0.loss_map_pts: 0.9665, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1393, d1.loss_map_pts: 0.6854, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1153, d2.loss_map_pts: 0.5413, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1029, d3.loss_map_pts: 0.4834, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0977, d4.loss_map_pts: 0.4643, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0940, d5.loss_map_pts: 0.4582, d5.loss_map_dir: 0.0051, loss: 21.3361, grad_norm: 143.7692 +2026-02-28 22:29:39,209 - DriveTransformer - INFO - Epoch [11][18500/39528] lr: 6.331e-05, eta: 4 days, 12:37:40, time: 0.751, data_time: 0.039, memory: 19865, loss_cls: 0.0848, loss_bbox: 0.2773, loss_traj: 0.4841, loss_traj_cls: 0.0020, loss_map_cls: 0.0896, loss_map_pts: 0.5170, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.8191, d0.loss_plan_l1_fix_dist: 0.5438, d1.loss_plan_l1_fix_time: 0.8193, d1.loss_plan_l1_fix_dist: 0.2151, d2.loss_plan_l1_fix_time: 0.8081, d2.loss_plan_l1_fix_dist: 0.1761, d3.loss_plan_l1_fix_time: 0.8064, d3.loss_plan_l1_fix_dist: 0.2039, d4.loss_plan_l1_fix_time: 0.8101, d4.loss_plan_l1_fix_dist: 0.1797, d5.loss_plan_l1_fix_time: 0.8138, d5.loss_plan_l1_fix_dist: 0.1853, d6.loss_plan_l1_fix_time: 0.8179, d6.loss_plan_l1_fix_dist: 0.1913, d0.loss_cls_all: 0.1294, d0.loss_bbox_all: 0.3498, d0.loss_cls: 0.1294, d0.loss_bbox: 0.3498, d1.loss_cls: 0.1237, d1.loss_bbox: 0.3094, d2.loss_cls: 0.1098, d2.loss_bbox: 0.2873, d3.loss_cls: 0.0929, d3.loss_bbox: 0.2811, d4.loss_cls: 0.0852, d4.loss_bbox: 0.2798, d5.loss_cls: 0.0835, d5.loss_bbox: 0.2782, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6922, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5523, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5075, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4902, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4900, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4893, d0.loss_map_cls_all: 0.1712, d0.loss_map_pts_all: 1.0745, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1712, d0.loss_map_pts: 1.0745, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1397, d1.loss_map_pts: 0.7821, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1145, d2.loss_map_pts: 0.6128, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1024, d3.loss_map_pts: 0.5515, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.0971, d4.loss_map_pts: 0.5263, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0926, d5.loss_map_pts: 0.5182, d5.loss_map_dir: 0.0067, loss: 23.0440, grad_norm: 135.6600 +2026-02-28 22:30:15,586 - DriveTransformer - INFO - Epoch [11][18550/39528] lr: 6.331e-05, eta: 4 days, 12:37:03, time: 0.728, data_time: 0.037, memory: 19865, loss_cls: 0.0947, loss_bbox: 0.2812, loss_traj: 0.5042, loss_traj_cls: 0.0020, loss_map_cls: 0.1044, loss_map_pts: 0.5111, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.6975, d0.loss_plan_l1_fix_dist: 0.4500, d1.loss_plan_l1_fix_time: 0.7110, d1.loss_plan_l1_fix_dist: 0.1995, d2.loss_plan_l1_fix_time: 0.7066, d2.loss_plan_l1_fix_dist: 0.1673, d3.loss_plan_l1_fix_time: 0.7036, d3.loss_plan_l1_fix_dist: 0.1977, d4.loss_plan_l1_fix_time: 0.7057, d4.loss_plan_l1_fix_dist: 0.1704, d5.loss_plan_l1_fix_time: 0.7079, d5.loss_plan_l1_fix_dist: 0.1688, d6.loss_plan_l1_fix_time: 0.7110, d6.loss_plan_l1_fix_dist: 0.1753, d0.loss_cls_all: 0.1330, d0.loss_bbox_all: 0.3557, d0.loss_cls: 0.1330, d0.loss_bbox: 0.3557, d1.loss_cls: 0.1243, d1.loss_bbox: 0.3163, d2.loss_cls: 0.1111, d2.loss_bbox: 0.2938, d3.loss_cls: 0.0990, d3.loss_bbox: 0.2862, d4.loss_cls: 0.0954, d4.loss_bbox: 0.2839, d5.loss_cls: 0.0949, d5.loss_bbox: 0.2818, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7858, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5795, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5297, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5129, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5053, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5039, d0.loss_map_cls_all: 0.1879, d0.loss_map_pts_all: 1.0414, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1879, d0.loss_map_pts: 1.0414, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1555, d1.loss_map_pts: 0.7651, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1307, d2.loss_map_pts: 0.6016, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1198, d3.loss_map_pts: 0.5408, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1118, d4.loss_map_pts: 0.5182, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1063, d5.loss_map_pts: 0.5111, d5.loss_map_dir: 0.0063, loss: 22.4244, grad_norm: 134.5854 +2026-02-28 22:30:51,768 - DriveTransformer - INFO - Epoch [11][18600/39528] lr: 6.331e-05, eta: 4 days, 12:36:25, time: 0.724, data_time: 0.036, memory: 19865, loss_cls: 0.0912, loss_bbox: 0.2776, loss_traj: 0.4765, loss_traj_cls: 0.0020, loss_map_cls: 0.1055, loss_map_pts: 0.5186, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.6644, d0.loss_plan_l1_fix_dist: 0.4688, d1.loss_plan_l1_fix_time: 0.8390, d1.loss_plan_l1_fix_dist: 0.2078, d2.loss_plan_l1_fix_time: 0.8264, d2.loss_plan_l1_fix_dist: 0.1940, d3.loss_plan_l1_fix_time: 0.8245, d3.loss_plan_l1_fix_dist: 0.2163, d4.loss_plan_l1_fix_time: 0.8267, d4.loss_plan_l1_fix_dist: 0.1990, d5.loss_plan_l1_fix_time: 0.8298, d5.loss_plan_l1_fix_dist: 0.1914, d6.loss_plan_l1_fix_time: 0.8341, d6.loss_plan_l1_fix_dist: 0.1975, d0.loss_cls_all: 0.1339, d0.loss_bbox_all: 0.3446, d0.loss_cls: 0.1339, d0.loss_bbox: 0.3446, d1.loss_cls: 0.1293, d1.loss_bbox: 0.3107, d2.loss_cls: 0.1163, d2.loss_bbox: 0.2879, d3.loss_cls: 0.0973, d3.loss_bbox: 0.2829, d4.loss_cls: 0.0927, d4.loss_bbox: 0.2813, d5.loss_cls: 0.0916, d5.loss_bbox: 0.2784, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7153, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5504, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4985, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4846, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4815, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4750, d0.loss_map_cls_all: 0.1889, d0.loss_map_pts_all: 1.1117, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1889, d0.loss_map_pts: 1.1117, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1580, d1.loss_map_pts: 0.8013, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1304, d2.loss_map_pts: 0.6202, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1206, d3.loss_map_pts: 0.5511, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1134, d4.loss_map_pts: 0.5233, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1068, d5.loss_map_pts: 0.5176, d5.loss_map_dir: 0.0065, loss: 23.2231, grad_norm: 135.9068 +2026-02-28 22:31:26,379 - DriveTransformer - INFO - Epoch [11][18650/39528] lr: 6.331e-05, eta: 4 days, 12:35:43, time: 0.692, data_time: 0.041, memory: 19865, loss_cls: 0.0917, loss_bbox: 0.2796, loss_traj: 0.5895, loss_traj_cls: 0.0020, loss_map_cls: 0.0832, loss_map_pts: 0.3844, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.6588, d0.loss_plan_l1_fix_dist: 0.4597, d1.loss_plan_l1_fix_time: 0.7827, d1.loss_plan_l1_fix_dist: 0.1762, d2.loss_plan_l1_fix_time: 0.7708, d2.loss_plan_l1_fix_dist: 0.1692, d3.loss_plan_l1_fix_time: 0.7728, d3.loss_plan_l1_fix_dist: 0.1891, d4.loss_plan_l1_fix_time: 0.7744, d4.loss_plan_l1_fix_dist: 0.1763, d5.loss_plan_l1_fix_time: 0.7764, d5.loss_plan_l1_fix_dist: 0.1647, d6.loss_plan_l1_fix_time: 0.7792, d6.loss_plan_l1_fix_dist: 0.1753, d0.loss_cls_all: 0.1362, d0.loss_bbox_all: 0.3404, d0.loss_cls: 0.1362, d0.loss_bbox: 0.3404, d1.loss_cls: 0.1331, d1.loss_bbox: 0.3071, d2.loss_cls: 0.1165, d2.loss_bbox: 0.2894, d3.loss_cls: 0.1006, d3.loss_bbox: 0.2831, d4.loss_cls: 0.0929, d4.loss_bbox: 0.2820, d5.loss_cls: 0.0918, d5.loss_bbox: 0.2800, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9008, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6609, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6082, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5997, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5942, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5888, d0.loss_map_cls_all: 0.1498, d0.loss_map_pts_all: 0.7652, d0.loss_map_dir_all: 0.0047, d0.loss_map_cls: 0.1498, d0.loss_map_pts: 0.7652, d0.loss_map_dir: 0.0047, d1.loss_map_cls: 0.1233, d1.loss_map_pts: 0.5650, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.1047, d2.loss_map_pts: 0.4472, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.0925, d3.loss_map_pts: 0.4083, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.0885, d4.loss_map_pts: 0.3945, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0849, d5.loss_map_pts: 0.3855, d5.loss_map_dir: 0.0045, loss: 21.7037, grad_norm: 140.2388 +2026-02-28 22:32:03,727 - DriveTransformer - INFO - Epoch [11][18700/39528] lr: 6.331e-05, eta: 4 days, 12:35:08, time: 0.747, data_time: 0.040, memory: 19865, loss_cls: 0.1047, loss_bbox: 0.3158, loss_traj: 0.5004, loss_traj_cls: 0.0020, loss_map_cls: 0.1068, loss_map_pts: 0.5838, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.4508, d0.loss_plan_l1_fix_dist: 0.4227, d1.loss_plan_l1_fix_time: 0.7733, d1.loss_plan_l1_fix_dist: 0.1719, d2.loss_plan_l1_fix_time: 0.7603, d2.loss_plan_l1_fix_dist: 0.1779, d3.loss_plan_l1_fix_time: 0.7555, d3.loss_plan_l1_fix_dist: 0.1920, d4.loss_plan_l1_fix_time: 0.7564, d4.loss_plan_l1_fix_dist: 0.1802, d5.loss_plan_l1_fix_time: 0.7586, d5.loss_plan_l1_fix_dist: 0.1666, d6.loss_plan_l1_fix_time: 0.7619, d6.loss_plan_l1_fix_dist: 0.1805, d0.loss_cls_all: 0.1561, d0.loss_bbox_all: 0.3787, d0.loss_cls: 0.1561, d0.loss_bbox: 0.3787, d1.loss_cls: 0.1435, d1.loss_bbox: 0.3464, d2.loss_cls: 0.1284, d2.loss_bbox: 0.3272, d3.loss_cls: 0.1136, d3.loss_bbox: 0.3198, d4.loss_cls: 0.1069, d4.loss_bbox: 0.3174, d5.loss_cls: 0.1055, d5.loss_bbox: 0.3153, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7789, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5934, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5333, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5165, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5019, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5019, d0.loss_map_cls_all: 0.1977, d0.loss_map_pts_all: 1.1820, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1977, d0.loss_map_pts: 1.1820, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1617, d1.loss_map_pts: 0.8695, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1351, d2.loss_map_pts: 0.6854, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1216, d3.loss_map_pts: 0.6213, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1144, d4.loss_map_pts: 0.5940, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1085, d5.loss_map_pts: 0.5850, d5.loss_map_dir: 0.0076, loss: 23.6624, grad_norm: 140.5411 +2026-02-28 22:32:39,707 - DriveTransformer - INFO - Epoch [11][18750/39528] lr: 6.331e-05, eta: 4 days, 12:34:30, time: 0.720, data_time: 0.037, memory: 19865, loss_cls: 0.0820, loss_bbox: 0.2674, loss_traj: 0.4812, loss_traj_cls: 0.0020, loss_map_cls: 0.0997, loss_map_pts: 0.5483, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.7481, d0.loss_plan_l1_fix_dist: 0.3970, d1.loss_plan_l1_fix_time: 0.8318, d1.loss_plan_l1_fix_dist: 0.1774, d2.loss_plan_l1_fix_time: 0.8232, d2.loss_plan_l1_fix_dist: 0.1898, d3.loss_plan_l1_fix_time: 0.8226, d3.loss_plan_l1_fix_dist: 0.2011, d4.loss_plan_l1_fix_time: 0.8242, d4.loss_plan_l1_fix_dist: 0.2017, d5.loss_plan_l1_fix_time: 0.8260, d5.loss_plan_l1_fix_dist: 0.1850, d6.loss_plan_l1_fix_time: 0.8279, d6.loss_plan_l1_fix_dist: 0.1886, d0.loss_cls_all: 0.1283, d0.loss_bbox_all: 0.3461, d0.loss_cls: 0.1283, d0.loss_bbox: 0.3461, d1.loss_cls: 0.1193, d1.loss_bbox: 0.3090, d2.loss_cls: 0.1047, d2.loss_bbox: 0.2823, d3.loss_cls: 0.0889, d3.loss_bbox: 0.2736, d4.loss_cls: 0.0830, d4.loss_bbox: 0.2695, d5.loss_cls: 0.0820, d5.loss_bbox: 0.2681, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7019, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5522, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4942, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4808, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4844, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4860, d0.loss_map_cls_all: 0.1793, d0.loss_map_pts_all: 1.0340, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1793, d0.loss_map_pts: 1.0340, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1492, d1.loss_map_pts: 0.7670, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1239, d2.loss_map_pts: 0.6125, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1147, d3.loss_map_pts: 0.5632, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1050, d4.loss_map_pts: 0.5496, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1008, d5.loss_map_pts: 0.5480, d5.loss_map_dir: 0.0066, loss: 22.8710, grad_norm: 136.5266 +2026-02-28 22:33:16,599 - DriveTransformer - INFO - Epoch [11][18800/39528] lr: 6.331e-05, eta: 4 days, 12:33:55, time: 0.739, data_time: 0.037, memory: 19865, loss_cls: 0.0986, loss_bbox: 0.2955, loss_traj: 0.4890, loss_traj_cls: 0.0020, loss_map_cls: 0.0967, loss_map_pts: 0.5381, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.3158, d0.loss_plan_l1_fix_dist: 0.3971, d1.loss_plan_l1_fix_time: 0.7170, d1.loss_plan_l1_fix_dist: 0.1533, d2.loss_plan_l1_fix_time: 0.7010, d2.loss_plan_l1_fix_dist: 0.1697, d3.loss_plan_l1_fix_time: 0.6860, d3.loss_plan_l1_fix_dist: 0.1932, d4.loss_plan_l1_fix_time: 0.6890, d4.loss_plan_l1_fix_dist: 0.1897, d5.loss_plan_l1_fix_time: 0.6922, d5.loss_plan_l1_fix_dist: 0.1812, d6.loss_plan_l1_fix_time: 0.6955, d6.loss_plan_l1_fix_dist: 0.1913, d0.loss_cls_all: 0.1464, d0.loss_bbox_all: 0.3583, d0.loss_cls: 0.1464, d0.loss_bbox: 0.3583, d1.loss_cls: 0.1386, d1.loss_bbox: 0.3311, d2.loss_cls: 0.1298, d2.loss_bbox: 0.3086, d3.loss_cls: 0.1069, d3.loss_bbox: 0.3019, d4.loss_cls: 0.1011, d4.loss_bbox: 0.2966, d5.loss_cls: 0.0990, d5.loss_bbox: 0.2961, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7379, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5627, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5109, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4938, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4906, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4860, d0.loss_map_cls_all: 0.1867, d0.loss_map_pts_all: 1.1126, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1867, d0.loss_map_pts: 1.1126, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1489, d1.loss_map_pts: 0.7897, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1227, d2.loss_map_pts: 0.6266, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1107, d3.loss_map_pts: 0.5646, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1043, d4.loss_map_pts: 0.5418, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.0991, d5.loss_map_pts: 0.5381, d5.loss_map_dir: 0.0073, loss: 22.1998, grad_norm: 140.9420 +2026-02-28 22:33:52,932 - DriveTransformer - INFO - Epoch [11][18850/39528] lr: 6.331e-05, eta: 4 days, 12:33:17, time: 0.725, data_time: 0.037, memory: 19865, loss_cls: 0.0978, loss_bbox: 0.3082, loss_traj: 0.4944, loss_traj_cls: 0.0020, loss_map_cls: 0.1175, loss_map_pts: 0.5321, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.5338, d0.loss_plan_l1_fix_dist: 0.3675, d1.loss_plan_l1_fix_time: 0.7401, d1.loss_plan_l1_fix_dist: 0.1509, d2.loss_plan_l1_fix_time: 0.7195, d2.loss_plan_l1_fix_dist: 0.1576, d3.loss_plan_l1_fix_time: 0.7086, d3.loss_plan_l1_fix_dist: 0.1708, d4.loss_plan_l1_fix_time: 0.7100, d4.loss_plan_l1_fix_dist: 0.1660, d5.loss_plan_l1_fix_time: 0.7125, d5.loss_plan_l1_fix_dist: 0.1596, d6.loss_plan_l1_fix_time: 0.7156, d6.loss_plan_l1_fix_dist: 0.1727, d0.loss_cls_all: 0.1484, d0.loss_bbox_all: 0.3718, d0.loss_cls: 0.1484, d0.loss_bbox: 0.3718, d1.loss_cls: 0.1415, d1.loss_bbox: 0.3409, d2.loss_cls: 0.1295, d2.loss_bbox: 0.3181, d3.loss_cls: 0.1036, d3.loss_bbox: 0.3142, d4.loss_cls: 0.0992, d4.loss_bbox: 0.3089, d5.loss_cls: 0.0980, d5.loss_bbox: 0.3072, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6894, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5695, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5188, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5075, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4992, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4960, d0.loss_map_cls_all: 0.2088, d0.loss_map_pts_all: 1.0755, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.2088, d0.loss_map_pts: 1.0755, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1766, d1.loss_map_pts: 0.7926, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1472, d2.loss_map_pts: 0.6213, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1338, d3.loss_map_pts: 0.5588, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1252, d4.loss_map_pts: 0.5393, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1202, d5.loss_map_pts: 0.5330, d5.loss_map_dir: 0.0062, loss: 22.5887, grad_norm: 140.4699 +2026-02-28 22:34:29,143 - DriveTransformer - INFO - Epoch [11][18900/39528] lr: 6.331e-05, eta: 4 days, 12:32:40, time: 0.724, data_time: 0.041, memory: 19865, loss_cls: 0.0885, loss_bbox: 0.2924, loss_traj: 0.5208, loss_traj_cls: 0.0020, loss_map_cls: 0.0892, loss_map_pts: 0.4679, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.3956, d0.loss_plan_l1_fix_dist: 0.3930, d1.loss_plan_l1_fix_time: 0.6710, d1.loss_plan_l1_fix_dist: 0.1659, d2.loss_plan_l1_fix_time: 0.6640, d2.loss_plan_l1_fix_dist: 0.1597, d3.loss_plan_l1_fix_time: 0.6610, d3.loss_plan_l1_fix_dist: 0.1627, d4.loss_plan_l1_fix_time: 0.6626, d4.loss_plan_l1_fix_dist: 0.1697, d5.loss_plan_l1_fix_time: 0.6650, d5.loss_plan_l1_fix_dist: 0.1674, d6.loss_plan_l1_fix_time: 0.6678, d6.loss_plan_l1_fix_dist: 0.1811, d0.loss_cls_all: 0.1384, d0.loss_bbox_all: 0.3613, d0.loss_cls: 0.1384, d0.loss_bbox: 0.3613, d1.loss_cls: 0.1340, d1.loss_bbox: 0.3247, d2.loss_cls: 0.1135, d2.loss_bbox: 0.3034, d3.loss_cls: 0.0967, d3.loss_bbox: 0.2971, d4.loss_cls: 0.0896, d4.loss_bbox: 0.2944, d5.loss_cls: 0.0886, d5.loss_bbox: 0.2930, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7935, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.6042, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5435, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5277, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5202, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5159, d0.loss_map_cls_all: 0.1652, d0.loss_map_pts_all: 0.9111, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1652, d0.loss_map_pts: 0.9111, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1347, d1.loss_map_pts: 0.6578, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1122, d2.loss_map_pts: 0.5303, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1025, d3.loss_map_pts: 0.4893, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0949, d4.loss_map_pts: 0.4723, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0907, d5.loss_map_pts: 0.4672, d5.loss_map_dir: 0.0061, loss: 21.1453, grad_norm: 138.4812 +2026-02-28 22:35:04,511 - DriveTransformer - INFO - Epoch [11][18950/39528] lr: 6.331e-05, eta: 4 days, 12:32:00, time: 0.707, data_time: 0.037, memory: 19865, loss_cls: 0.0781, loss_bbox: 0.2550, loss_traj: 0.3732, loss_traj_cls: 0.0021, loss_map_cls: 0.0860, loss_map_pts: 0.4172, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.3284, d0.loss_plan_l1_fix_dist: 0.4768, d1.loss_plan_l1_fix_time: 0.6408, d1.loss_plan_l1_fix_dist: 0.1779, d2.loss_plan_l1_fix_time: 0.6259, d2.loss_plan_l1_fix_dist: 0.1506, d3.loss_plan_l1_fix_time: 0.6173, d3.loss_plan_l1_fix_dist: 0.1766, d4.loss_plan_l1_fix_time: 0.6187, d4.loss_plan_l1_fix_dist: 0.1660, d5.loss_plan_l1_fix_time: 0.6206, d5.loss_plan_l1_fix_dist: 0.1644, d6.loss_plan_l1_fix_time: 0.6227, d6.loss_plan_l1_fix_dist: 0.1701, d0.loss_cls_all: 0.1184, d0.loss_bbox_all: 0.3141, d0.loss_cls: 0.1184, d0.loss_bbox: 0.3141, d1.loss_cls: 0.1113, d1.loss_bbox: 0.2843, d2.loss_cls: 0.0975, d2.loss_bbox: 0.2625, d3.loss_cls: 0.0818, d3.loss_bbox: 0.2587, d4.loss_cls: 0.0787, d4.loss_bbox: 0.2556, d5.loss_cls: 0.0784, d5.loss_bbox: 0.2549, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5489, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4377, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3905, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3788, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3771, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3734, d0.loss_map_cls_all: 0.1708, d0.loss_map_pts_all: 0.8606, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1708, d0.loss_map_pts: 0.8606, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1384, d1.loss_map_pts: 0.6126, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.1125, d2.loss_map_pts: 0.4826, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.0992, d3.loss_map_pts: 0.4350, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0929, d4.loss_map_pts: 0.4214, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0876, d5.loss_map_pts: 0.4175, d5.loss_map_dir: 0.0046, loss: 18.9086, grad_norm: 138.6684 +2026-02-28 22:35:41,840 - DriveTransformer - INFO - Epoch [11][19000/39528] lr: 6.331e-05, eta: 4 days, 12:31:25, time: 0.747, data_time: 0.041, memory: 19865, loss_cls: 0.1049, loss_bbox: 0.2974, loss_traj: 0.5021, loss_traj_cls: 0.0020, loss_map_cls: 0.0978, loss_map_pts: 0.5312, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 3.2395, d0.loss_plan_l1_fix_dist: 0.3715, d1.loss_plan_l1_fix_time: 0.8032, d1.loss_plan_l1_fix_dist: 0.2152, d2.loss_plan_l1_fix_time: 0.7868, d2.loss_plan_l1_fix_dist: 0.1732, d3.loss_plan_l1_fix_time: 0.7802, d3.loss_plan_l1_fix_dist: 0.2078, d4.loss_plan_l1_fix_time: 0.7814, d4.loss_plan_l1_fix_dist: 0.1838, d5.loss_plan_l1_fix_time: 0.7835, d5.loss_plan_l1_fix_dist: 0.1964, d6.loss_plan_l1_fix_time: 0.7855, d6.loss_plan_l1_fix_dist: 0.1991, d0.loss_cls_all: 0.1508, d0.loss_bbox_all: 0.3581, d0.loss_cls: 0.1508, d0.loss_bbox: 0.3581, d1.loss_cls: 0.1412, d1.loss_bbox: 0.3270, d2.loss_cls: 0.1309, d2.loss_bbox: 0.3049, d3.loss_cls: 0.1112, d3.loss_bbox: 0.3029, d4.loss_cls: 0.1070, d4.loss_bbox: 0.2990, d5.loss_cls: 0.1062, d5.loss_bbox: 0.2967, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7698, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5795, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5298, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5069, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5033, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5009, d0.loss_map_cls_all: 0.1786, d0.loss_map_pts_all: 1.0727, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1786, d0.loss_map_pts: 1.0727, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1479, d1.loss_map_pts: 0.7819, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1212, d2.loss_map_pts: 0.6262, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1128, d3.loss_map_pts: 0.5613, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1046, d4.loss_map_pts: 0.5402, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0998, d5.loss_map_pts: 0.5311, d5.loss_map_dir: 0.0063, loss: 23.7603, grad_norm: 136.3977 +2026-02-28 22:36:20,731 - DriveTransformer - INFO - Epoch [11][19050/39528] lr: 6.331e-05, eta: 4 days, 12:30:56, time: 0.778, data_time: 0.040, memory: 19865, loss_cls: 0.0876, loss_bbox: 0.2974, loss_traj: 0.4916, loss_traj_cls: 0.0020, loss_map_cls: 0.0924, loss_map_pts: 0.5468, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.3343, d0.loss_plan_l1_fix_dist: 0.4271, d1.loss_plan_l1_fix_time: 0.8171, d1.loss_plan_l1_fix_dist: 0.2200, d2.loss_plan_l1_fix_time: 0.8058, d2.loss_plan_l1_fix_dist: 0.1827, d3.loss_plan_l1_fix_time: 0.7886, d3.loss_plan_l1_fix_dist: 0.2113, d4.loss_plan_l1_fix_time: 0.7909, d4.loss_plan_l1_fix_dist: 0.1760, d5.loss_plan_l1_fix_time: 0.7947, d5.loss_plan_l1_fix_dist: 0.1889, d6.loss_plan_l1_fix_time: 0.7994, d6.loss_plan_l1_fix_dist: 0.1930, d0.loss_cls_all: 0.1295, d0.loss_bbox_all: 0.3512, d0.loss_cls: 0.1295, d0.loss_bbox: 0.3512, d1.loss_cls: 0.1222, d1.loss_bbox: 0.3208, d2.loss_cls: 0.1093, d2.loss_bbox: 0.3040, d3.loss_cls: 0.0954, d3.loss_bbox: 0.2989, d4.loss_cls: 0.0901, d4.loss_bbox: 0.2957, d5.loss_cls: 0.0880, d5.loss_bbox: 0.2958, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7288, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5805, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5172, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4964, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4928, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4890, d0.loss_map_cls_all: 0.1799, d0.loss_map_pts_all: 1.1879, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1799, d0.loss_map_pts: 1.1879, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1426, d1.loss_map_pts: 0.8300, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1173, d2.loss_map_pts: 0.6372, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1078, d3.loss_map_pts: 0.5748, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.0995, d4.loss_map_pts: 0.5527, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.0949, d5.loss_map_pts: 0.5463, d5.loss_map_dir: 0.0069, loss: 23.0327, grad_norm: 138.9011 +2026-02-28 22:36:57,242 - DriveTransformer - INFO - Epoch [11][19100/39528] lr: 6.331e-05, eta: 4 days, 12:30:19, time: 0.730, data_time: 0.039, memory: 19865, loss_cls: 0.0880, loss_bbox: 0.2872, loss_traj: 0.4770, loss_traj_cls: 0.0020, loss_map_cls: 0.0967, loss_map_pts: 0.4871, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.3837, d0.loss_plan_l1_fix_dist: 0.4302, d1.loss_plan_l1_fix_time: 0.7847, d1.loss_plan_l1_fix_dist: 0.2209, d2.loss_plan_l1_fix_time: 0.7753, d2.loss_plan_l1_fix_dist: 0.1992, d3.loss_plan_l1_fix_time: 0.7728, d3.loss_plan_l1_fix_dist: 0.2204, d4.loss_plan_l1_fix_time: 0.7777, d4.loss_plan_l1_fix_dist: 0.1872, d5.loss_plan_l1_fix_time: 0.7834, d5.loss_plan_l1_fix_dist: 0.1907, d6.loss_plan_l1_fix_time: 0.7894, d6.loss_plan_l1_fix_dist: 0.2016, d0.loss_cls_all: 0.1293, d0.loss_bbox_all: 0.3414, d0.loss_cls: 0.1293, d0.loss_bbox: 0.3414, d1.loss_cls: 0.1232, d1.loss_bbox: 0.3066, d2.loss_cls: 0.1126, d2.loss_bbox: 0.2887, d3.loss_cls: 0.0979, d3.loss_bbox: 0.2861, d4.loss_cls: 0.0902, d4.loss_bbox: 0.2858, d5.loss_cls: 0.0883, d5.loss_bbox: 0.2859, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6929, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5406, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5007, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4695, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4744, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4738, d0.loss_map_cls_all: 0.1808, d0.loss_map_pts_all: 1.0615, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1808, d0.loss_map_pts: 1.0615, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1481, d1.loss_map_pts: 0.7542, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1207, d2.loss_map_pts: 0.5845, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1081, d3.loss_map_pts: 0.5176, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.1023, d4.loss_map_pts: 0.4961, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0989, d5.loss_map_pts: 0.4864, d5.loss_map_dir: 0.0053, loss: 22.1634, grad_norm: 146.9699 +2026-02-28 22:37:32,439 - DriveTransformer - INFO - Epoch [11][19150/39528] lr: 6.331e-05, eta: 4 days, 12:29:39, time: 0.704, data_time: 0.035, memory: 19865, loss_cls: 0.0828, loss_bbox: 0.2711, loss_traj: 0.4729, loss_traj_cls: 0.0020, loss_map_cls: 0.0868, loss_map_pts: 0.4093, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.6385, d0.loss_plan_l1_fix_dist: 0.4375, d1.loss_plan_l1_fix_time: 0.8240, d1.loss_plan_l1_fix_dist: 0.2110, d2.loss_plan_l1_fix_time: 0.8098, d2.loss_plan_l1_fix_dist: 0.1944, d3.loss_plan_l1_fix_time: 0.7908, d3.loss_plan_l1_fix_dist: 0.2071, d4.loss_plan_l1_fix_time: 0.7919, d4.loss_plan_l1_fix_dist: 0.1750, d5.loss_plan_l1_fix_time: 0.7946, d5.loss_plan_l1_fix_dist: 0.1629, d6.loss_plan_l1_fix_time: 0.7986, d6.loss_plan_l1_fix_dist: 0.1722, d0.loss_cls_all: 0.1252, d0.loss_bbox_all: 0.3331, d0.loss_cls: 0.1252, d0.loss_bbox: 0.3331, d1.loss_cls: 0.1182, d1.loss_bbox: 0.2974, d2.loss_cls: 0.1065, d2.loss_bbox: 0.2769, d3.loss_cls: 0.0902, d3.loss_bbox: 0.2723, d4.loss_cls: 0.0832, d4.loss_bbox: 0.2716, d5.loss_cls: 0.0830, d5.loss_bbox: 0.2710, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6821, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5317, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4928, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4756, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4727, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4704, d0.loss_map_cls_all: 0.1659, d0.loss_map_pts_all: 0.9945, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1659, d0.loss_map_pts: 0.9945, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1297, d1.loss_map_pts: 0.6783, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1099, d2.loss_map_pts: 0.5029, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0980, d3.loss_map_pts: 0.4368, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0925, d4.loss_map_pts: 0.4135, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0891, d5.loss_map_pts: 0.4092, d5.loss_map_dir: 0.0049, loss: 21.5708, grad_norm: 147.8439 +2026-02-28 22:38:10,378 - DriveTransformer - INFO - Epoch [11][19200/39528] lr: 6.331e-05, eta: 4 days, 12:29:06, time: 0.759, data_time: 0.038, memory: 19865, loss_cls: 0.0844, loss_bbox: 0.2851, loss_traj: 0.5518, loss_traj_cls: 0.0020, loss_map_cls: 0.0808, loss_map_pts: 0.4540, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.4490, d0.loss_plan_l1_fix_dist: 0.4666, d1.loss_plan_l1_fix_time: 0.7209, d1.loss_plan_l1_fix_dist: 0.2095, d2.loss_plan_l1_fix_time: 0.7219, d2.loss_plan_l1_fix_dist: 0.2055, d3.loss_plan_l1_fix_time: 0.7121, d3.loss_plan_l1_fix_dist: 0.2234, d4.loss_plan_l1_fix_time: 0.7152, d4.loss_plan_l1_fix_dist: 0.1920, d5.loss_plan_l1_fix_time: 0.7176, d5.loss_plan_l1_fix_dist: 0.1805, d6.loss_plan_l1_fix_time: 0.7205, d6.loss_plan_l1_fix_dist: 0.1909, d0.loss_cls_all: 0.1254, d0.loss_bbox_all: 0.3432, d0.loss_cls: 0.1254, d0.loss_bbox: 0.3432, d1.loss_cls: 0.1194, d1.loss_bbox: 0.3110, d2.loss_cls: 0.1081, d2.loss_bbox: 0.2896, d3.loss_cls: 0.0928, d3.loss_bbox: 0.2851, d4.loss_cls: 0.0873, d4.loss_bbox: 0.2841, d5.loss_cls: 0.0859, d5.loss_bbox: 0.2836, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7830, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.6229, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5734, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5571, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5511, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5490, d0.loss_map_cls_all: 0.1682, d0.loss_map_pts_all: 0.9923, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1682, d0.loss_map_pts: 0.9923, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1293, d1.loss_map_pts: 0.6975, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1061, d2.loss_map_pts: 0.5417, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0963, d3.loss_map_pts: 0.4853, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0880, d4.loss_map_pts: 0.4643, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0832, d5.loss_map_pts: 0.4548, d5.loss_map_dir: 0.0055, loss: 21.9232, grad_norm: 145.6741 +2026-02-28 22:38:46,193 - DriveTransformer - INFO - Epoch [11][19250/39528] lr: 6.331e-05, eta: 4 days, 12:28:27, time: 0.716, data_time: 0.037, memory: 19865, loss_cls: 0.0804, loss_bbox: 0.2901, loss_traj: 0.4274, loss_traj_cls: 0.0020, loss_map_cls: 0.0833, loss_map_pts: 0.4236, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.7048, d0.loss_plan_l1_fix_dist: 0.4283, d1.loss_plan_l1_fix_time: 0.8080, d1.loss_plan_l1_fix_dist: 0.1993, d2.loss_plan_l1_fix_time: 0.7976, d2.loss_plan_l1_fix_dist: 0.2016, d3.loss_plan_l1_fix_time: 0.7881, d3.loss_plan_l1_fix_dist: 0.2223, d4.loss_plan_l1_fix_time: 0.7916, d4.loss_plan_l1_fix_dist: 0.1985, d5.loss_plan_l1_fix_time: 0.7950, d5.loss_plan_l1_fix_dist: 0.1838, d6.loss_plan_l1_fix_time: 0.7984, d6.loss_plan_l1_fix_dist: 0.1985, d0.loss_cls_all: 0.1224, d0.loss_bbox_all: 0.3387, d0.loss_cls: 0.1224, d0.loss_bbox: 0.3387, d1.loss_cls: 0.1153, d1.loss_bbox: 0.3110, d2.loss_cls: 0.1047, d2.loss_bbox: 0.2912, d3.loss_cls: 0.0835, d3.loss_bbox: 0.2903, d4.loss_cls: 0.0800, d4.loss_bbox: 0.2884, d5.loss_cls: 0.0797, d5.loss_bbox: 0.2893, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6367, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4901, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4398, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4266, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4175, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4219, d0.loss_map_cls_all: 0.1626, d0.loss_map_pts_all: 0.9277, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1626, d0.loss_map_pts: 0.9277, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1318, d1.loss_map_pts: 0.6392, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1074, d2.loss_map_pts: 0.4906, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0976, d3.loss_map_pts: 0.4452, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0920, d4.loss_map_pts: 0.4297, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0864, d5.loss_map_pts: 0.4238, d5.loss_map_dir: 0.0056, loss: 21.2864, grad_norm: 144.8911 +2026-02-28 22:39:20,745 - DriveTransformer - INFO - Epoch [11][19300/39528] lr: 6.331e-05, eta: 4 days, 12:27:45, time: 0.691, data_time: 0.039, memory: 19865, loss_cls: 0.0837, loss_bbox: 0.2812, loss_traj: 0.5577, loss_traj_cls: 0.0021, loss_map_cls: 0.0631, loss_map_pts: 0.3735, loss_map_dir: 0.0045, d0.loss_plan_l1_fix_time: 2.6015, d0.loss_plan_l1_fix_dist: 0.4294, d1.loss_plan_l1_fix_time: 0.6834, d1.loss_plan_l1_fix_dist: 0.1750, d2.loss_plan_l1_fix_time: 0.6731, d2.loss_plan_l1_fix_dist: 0.1866, d3.loss_plan_l1_fix_time: 0.6615, d3.loss_plan_l1_fix_dist: 0.2068, d4.loss_plan_l1_fix_time: 0.6629, d4.loss_plan_l1_fix_dist: 0.1923, d5.loss_plan_l1_fix_time: 0.6652, d5.loss_plan_l1_fix_dist: 0.1759, d6.loss_plan_l1_fix_time: 0.6686, d6.loss_plan_l1_fix_dist: 0.1818, d0.loss_cls_all: 0.1304, d0.loss_bbox_all: 0.3394, d0.loss_cls: 0.1304, d0.loss_bbox: 0.3394, d1.loss_cls: 0.1240, d1.loss_bbox: 0.3057, d2.loss_cls: 0.1134, d2.loss_bbox: 0.2835, d3.loss_cls: 0.0956, d3.loss_bbox: 0.2800, d4.loss_cls: 0.0875, d4.loss_bbox: 0.2793, d5.loss_cls: 0.0843, d5.loss_bbox: 0.2803, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8460, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6514, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5863, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5658, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5613, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5572, d0.loss_map_cls_all: 0.1393, d0.loss_map_pts_all: 0.8183, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1393, d0.loss_map_pts: 0.8183, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1081, d1.loss_map_pts: 0.5862, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.0859, d2.loss_map_pts: 0.4553, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.0755, d3.loss_map_pts: 0.3975, d3.loss_map_dir: 0.0043, d4.loss_map_cls: 0.0689, d4.loss_map_pts: 0.3809, d4.loss_map_dir: 0.0044, d5.loss_map_cls: 0.0648, d5.loss_map_pts: 0.3739, d5.loss_map_dir: 0.0045, loss: 20.7209, grad_norm: 144.7699 +2026-02-28 22:39:57,590 - DriveTransformer - INFO - Epoch [11][19350/39528] lr: 6.331e-05, eta: 4 days, 12:27:09, time: 0.737, data_time: 0.037, memory: 19865, loss_cls: 0.0796, loss_bbox: 0.2738, loss_traj: 0.4677, loss_traj_cls: 0.0020, loss_map_cls: 0.0840, loss_map_pts: 0.4260, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.5252, d0.loss_plan_l1_fix_dist: 0.3990, d1.loss_plan_l1_fix_time: 0.6382, d1.loss_plan_l1_fix_dist: 0.1532, d2.loss_plan_l1_fix_time: 0.6249, d2.loss_plan_l1_fix_dist: 0.1710, d3.loss_plan_l1_fix_time: 0.6158, d3.loss_plan_l1_fix_dist: 0.1873, d4.loss_plan_l1_fix_time: 0.6186, d4.loss_plan_l1_fix_dist: 0.1729, d5.loss_plan_l1_fix_time: 0.6219, d5.loss_plan_l1_fix_dist: 0.1609, d6.loss_plan_l1_fix_time: 0.6254, d6.loss_plan_l1_fix_dist: 0.1601, d0.loss_cls_all: 0.1220, d0.loss_bbox_all: 0.3314, d0.loss_cls: 0.1220, d0.loss_bbox: 0.3314, d1.loss_cls: 0.1155, d1.loss_bbox: 0.2993, d2.loss_cls: 0.1027, d2.loss_bbox: 0.2790, d3.loss_cls: 0.0854, d3.loss_bbox: 0.2745, d4.loss_cls: 0.0816, d4.loss_bbox: 0.2723, d5.loss_cls: 0.0793, d5.loss_bbox: 0.2734, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7119, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5437, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4978, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4776, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4707, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4676, d0.loss_map_cls_all: 0.1668, d0.loss_map_pts_all: 0.9466, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1668, d0.loss_map_pts: 0.9466, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1347, d1.loss_map_pts: 0.6470, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1097, d2.loss_map_pts: 0.5030, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0970, d3.loss_map_pts: 0.4494, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0895, d4.loss_map_pts: 0.4304, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0854, d5.loss_map_pts: 0.4259, d5.loss_map_dir: 0.0049, loss: 20.1916, grad_norm: 148.8809 +2026-02-28 22:40:35,140 - DriveTransformer - INFO - Epoch [11][19400/39528] lr: 6.331e-05, eta: 4 days, 12:26:36, time: 0.751, data_time: 0.038, memory: 19865, loss_cls: 0.0958, loss_bbox: 0.3044, loss_traj: 0.4863, loss_traj_cls: 0.0021, loss_map_cls: 0.0941, loss_map_pts: 0.5249, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.4967, d0.loss_plan_l1_fix_dist: 0.3471, d1.loss_plan_l1_fix_time: 0.7886, d1.loss_plan_l1_fix_dist: 0.1416, d2.loss_plan_l1_fix_time: 0.7784, d2.loss_plan_l1_fix_dist: 0.1677, d3.loss_plan_l1_fix_time: 0.7858, d3.loss_plan_l1_fix_dist: 0.1733, d4.loss_plan_l1_fix_time: 0.7905, d4.loss_plan_l1_fix_dist: 0.1526, d5.loss_plan_l1_fix_time: 0.7944, d5.loss_plan_l1_fix_dist: 0.1439, d6.loss_plan_l1_fix_time: 0.7982, d6.loss_plan_l1_fix_dist: 0.1493, d0.loss_cls_all: 0.1393, d0.loss_bbox_all: 0.3695, d0.loss_cls: 0.1393, d0.loss_bbox: 0.3695, d1.loss_cls: 0.1341, d1.loss_bbox: 0.3311, d2.loss_cls: 0.1208, d2.loss_bbox: 0.3098, d3.loss_cls: 0.1016, d3.loss_bbox: 0.3064, d4.loss_cls: 0.0974, d4.loss_bbox: 0.3028, d5.loss_cls: 0.0949, d5.loss_bbox: 0.3036, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6974, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5523, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5023, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4962, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4881, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4858, d0.loss_map_cls_all: 0.1692, d0.loss_map_pts_all: 1.0766, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.1692, d0.loss_map_pts: 1.0766, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1362, d1.loss_map_pts: 0.7526, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1139, d2.loss_map_pts: 0.5999, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1060, d3.loss_map_pts: 0.5453, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.0993, d4.loss_map_pts: 0.5285, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.0958, d5.loss_map_pts: 0.5248, d5.loss_map_dir: 0.0070, loss: 22.4149, grad_norm: 148.8184 +2026-02-28 22:41:10,337 - DriveTransformer - INFO - Epoch [11][19450/39528] lr: 6.331e-05, eta: 4 days, 12:25:55, time: 0.704, data_time: 0.038, memory: 19865, loss_cls: 0.0868, loss_bbox: 0.2765, loss_traj: 0.4758, loss_traj_cls: 0.0021, loss_map_cls: 0.0838, loss_map_pts: 0.3954, loss_map_dir: 0.0044, d0.loss_plan_l1_fix_time: 2.2787, d0.loss_plan_l1_fix_dist: 0.3926, d1.loss_plan_l1_fix_time: 0.6703, d1.loss_plan_l1_fix_dist: 0.1506, d2.loss_plan_l1_fix_time: 0.6585, d2.loss_plan_l1_fix_dist: 0.1636, d3.loss_plan_l1_fix_time: 0.6551, d3.loss_plan_l1_fix_dist: 0.1623, d4.loss_plan_l1_fix_time: 0.6574, d4.loss_plan_l1_fix_dist: 0.1448, d5.loss_plan_l1_fix_time: 0.6605, d5.loss_plan_l1_fix_dist: 0.1381, d6.loss_plan_l1_fix_time: 0.6640, d6.loss_plan_l1_fix_dist: 0.1496, d0.loss_cls_all: 0.1266, d0.loss_bbox_all: 0.3320, d0.loss_cls: 0.1266, d0.loss_bbox: 0.3320, d1.loss_cls: 0.1250, d1.loss_bbox: 0.3025, d2.loss_cls: 0.1155, d2.loss_bbox: 0.2826, d3.loss_cls: 0.0928, d3.loss_bbox: 0.2785, d4.loss_cls: 0.0873, d4.loss_bbox: 0.2761, d5.loss_cls: 0.0865, d5.loss_bbox: 0.2757, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7411, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5748, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5093, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4895, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4850, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4788, d0.loss_map_cls_all: 0.1576, d0.loss_map_pts_all: 0.8416, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1576, d0.loss_map_pts: 0.8416, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1311, d1.loss_map_pts: 0.5951, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.1062, d2.loss_map_pts: 0.4678, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.0953, d3.loss_map_pts: 0.4154, d3.loss_map_dir: 0.0043, d4.loss_map_cls: 0.0889, d4.loss_map_pts: 0.3975, d4.loss_map_dir: 0.0043, d5.loss_map_cls: 0.0850, d5.loss_map_pts: 0.3954, d5.loss_map_dir: 0.0044, loss: 19.8025, grad_norm: 147.0117 +2026-02-28 22:41:46,642 - DriveTransformer - INFO - Epoch [11][19500/39528] lr: 6.331e-05, eta: 4 days, 12:25:18, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.0831, loss_bbox: 0.2731, loss_traj: 0.4946, loss_traj_cls: 0.0021, loss_map_cls: 0.1001, loss_map_pts: 0.4854, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.6196, d0.loss_plan_l1_fix_dist: 0.3615, d1.loss_plan_l1_fix_time: 0.7415, d1.loss_plan_l1_fix_dist: 0.1524, d2.loss_plan_l1_fix_time: 0.7325, d2.loss_plan_l1_fix_dist: 0.1454, d3.loss_plan_l1_fix_time: 0.7338, d3.loss_plan_l1_fix_dist: 0.1389, d4.loss_plan_l1_fix_time: 0.7351, d4.loss_plan_l1_fix_dist: 0.1341, d5.loss_plan_l1_fix_time: 0.7371, d5.loss_plan_l1_fix_dist: 0.1368, d6.loss_plan_l1_fix_time: 0.7402, d6.loss_plan_l1_fix_dist: 0.1388, d0.loss_cls_all: 0.1271, d0.loss_bbox_all: 0.3290, d0.loss_cls: 0.1271, d0.loss_bbox: 0.3290, d1.loss_cls: 0.1215, d1.loss_bbox: 0.2964, d2.loss_cls: 0.1068, d2.loss_bbox: 0.2778, d3.loss_cls: 0.0907, d3.loss_bbox: 0.2736, d4.loss_cls: 0.0847, d4.loss_bbox: 0.2732, d5.loss_cls: 0.0838, d5.loss_bbox: 0.2729, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7168, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5786, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5242, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5037, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4947, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4958, d0.loss_map_cls_all: 0.1823, d0.loss_map_pts_all: 1.0498, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1823, d0.loss_map_pts: 1.0498, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1492, d1.loss_map_pts: 0.7290, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1263, d2.loss_map_pts: 0.5661, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1140, d3.loss_map_pts: 0.5066, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1061, d4.loss_map_pts: 0.4885, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1020, d5.loss_map_pts: 0.4849, d5.loss_map_dir: 0.0062, loss: 21.6874, grad_norm: 146.8641 +2026-02-28 22:42:22,336 - DriveTransformer - INFO - Epoch [11][19550/39528] lr: 6.331e-05, eta: 4 days, 12:24:38, time: 0.714, data_time: 0.035, memory: 19865, loss_cls: 0.0976, loss_bbox: 0.2956, loss_traj: 0.4824, loss_traj_cls: 0.0020, loss_map_cls: 0.0858, loss_map_pts: 0.4369, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.9985, d0.loss_plan_l1_fix_dist: 0.4123, d1.loss_plan_l1_fix_time: 0.8200, d1.loss_plan_l1_fix_dist: 0.2042, d2.loss_plan_l1_fix_time: 0.8032, d2.loss_plan_l1_fix_dist: 0.1770, d3.loss_plan_l1_fix_time: 0.7832, d3.loss_plan_l1_fix_dist: 0.1692, d4.loss_plan_l1_fix_time: 0.7847, d4.loss_plan_l1_fix_dist: 0.1587, d5.loss_plan_l1_fix_time: 0.7874, d5.loss_plan_l1_fix_dist: 0.1631, d6.loss_plan_l1_fix_time: 0.7913, d6.loss_plan_l1_fix_dist: 0.1649, d0.loss_cls_all: 0.1438, d0.loss_bbox_all: 0.3449, d0.loss_cls: 0.1438, d0.loss_bbox: 0.3449, d1.loss_cls: 0.1353, d1.loss_bbox: 0.3149, d2.loss_cls: 0.1233, d2.loss_bbox: 0.2930, d3.loss_cls: 0.1064, d3.loss_bbox: 0.2902, d4.loss_cls: 0.1008, d4.loss_bbox: 0.2909, d5.loss_cls: 0.0978, d5.loss_bbox: 0.2938, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6989, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5498, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5102, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4933, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4876, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4843, d0.loss_map_cls_all: 0.1708, d0.loss_map_pts_all: 0.9600, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1708, d0.loss_map_pts: 0.9600, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1388, d1.loss_map_pts: 0.6740, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1137, d2.loss_map_pts: 0.5235, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1029, d3.loss_map_pts: 0.4646, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0944, d4.loss_map_pts: 0.4438, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0868, d5.loss_map_pts: 0.4384, d5.loss_map_dir: 0.0058, loss: 22.2610, grad_norm: 139.2436 +2026-02-28 22:43:01,208 - DriveTransformer - INFO - Epoch [11][19600/39528] lr: 6.331e-05, eta: 4 days, 12:24:09, time: 0.779, data_time: 0.039, memory: 19865, loss_cls: 0.0843, loss_bbox: 0.2800, loss_traj: 0.4315, loss_traj_cls: 0.0021, loss_map_cls: 0.1002, loss_map_pts: 0.5371, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.8520, d0.loss_plan_l1_fix_dist: 0.3977, d1.loss_plan_l1_fix_time: 0.7122, d1.loss_plan_l1_fix_dist: 0.1980, d2.loss_plan_l1_fix_time: 0.6950, d2.loss_plan_l1_fix_dist: 0.1642, d3.loss_plan_l1_fix_time: 0.6833, d3.loss_plan_l1_fix_dist: 0.1557, d4.loss_plan_l1_fix_time: 0.6861, d4.loss_plan_l1_fix_dist: 0.1371, d5.loss_plan_l1_fix_time: 0.6892, d5.loss_plan_l1_fix_dist: 0.1443, d6.loss_plan_l1_fix_time: 0.6927, d6.loss_plan_l1_fix_dist: 0.1493, d0.loss_cls_all: 0.1313, d0.loss_bbox_all: 0.3358, d0.loss_cls: 0.1313, d0.loss_bbox: 0.3358, d1.loss_cls: 0.1327, d1.loss_bbox: 0.3047, d2.loss_cls: 0.1158, d2.loss_bbox: 0.2866, d3.loss_cls: 0.0939, d3.loss_bbox: 0.2832, d4.loss_cls: 0.0876, d4.loss_bbox: 0.2801, d5.loss_cls: 0.0854, d5.loss_bbox: 0.2789, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6401, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5110, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4656, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4489, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4397, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4343, d0.loss_map_cls_all: 0.1852, d0.loss_map_pts_all: 1.1235, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.1852, d0.loss_map_pts: 1.1235, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1477, d1.loss_map_pts: 0.7882, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1237, d2.loss_map_pts: 0.6175, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1123, d3.loss_map_pts: 0.5631, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1059, d4.loss_map_pts: 0.5403, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1017, d5.loss_map_pts: 0.5367, d5.loss_map_dir: 0.0077, loss: 21.9369, grad_norm: 144.7013 +2026-02-28 22:43:37,342 - DriveTransformer - INFO - Epoch [11][19650/39528] lr: 6.331e-05, eta: 4 days, 12:23:31, time: 0.721, data_time: 0.039, memory: 19865, loss_cls: 0.0953, loss_bbox: 0.2806, loss_traj: 0.4543, loss_traj_cls: 0.0020, loss_map_cls: 0.0787, loss_map_pts: 0.4274, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.8415, d0.loss_plan_l1_fix_dist: 0.4569, d1.loss_plan_l1_fix_time: 0.8183, d1.loss_plan_l1_fix_dist: 0.2185, d2.loss_plan_l1_fix_time: 0.8021, d2.loss_plan_l1_fix_dist: 0.1835, d3.loss_plan_l1_fix_time: 0.7946, d3.loss_plan_l1_fix_dist: 0.1927, d4.loss_plan_l1_fix_time: 0.7959, d4.loss_plan_l1_fix_dist: 0.1658, d5.loss_plan_l1_fix_time: 0.7976, d5.loss_plan_l1_fix_dist: 0.1686, d6.loss_plan_l1_fix_time: 0.7990, d6.loss_plan_l1_fix_dist: 0.1748, d0.loss_cls_all: 0.1446, d0.loss_bbox_all: 0.3379, d0.loss_cls: 0.1446, d0.loss_bbox: 0.3379, d1.loss_cls: 0.1381, d1.loss_bbox: 0.3073, d2.loss_cls: 0.1290, d2.loss_bbox: 0.2857, d3.loss_cls: 0.1091, d3.loss_bbox: 0.2818, d4.loss_cls: 0.0998, d4.loss_bbox: 0.2817, d5.loss_cls: 0.0962, d5.loss_bbox: 0.2808, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6932, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5253, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4778, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4633, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4619, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4563, d0.loss_map_cls_all: 0.1467, d0.loss_map_pts_all: 0.8863, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1467, d0.loss_map_pts: 0.8863, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1242, d1.loss_map_pts: 0.6411, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.1031, d2.loss_map_pts: 0.5036, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0914, d3.loss_map_pts: 0.4478, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0854, d4.loss_map_pts: 0.4324, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0809, d5.loss_map_pts: 0.4275, d5.loss_map_dir: 0.0049, loss: 21.6482, grad_norm: 144.3220 +2026-02-28 22:44:13,137 - DriveTransformer - INFO - Epoch [11][19700/39528] lr: 6.331e-05, eta: 4 days, 12:22:52, time: 0.716, data_time: 0.038, memory: 19865, loss_cls: 0.0895, loss_bbox: 0.2885, loss_traj: 0.4854, loss_traj_cls: 0.0020, loss_map_cls: 0.0998, loss_map_pts: 0.4735, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.9279, d0.loss_plan_l1_fix_dist: 0.4895, d1.loss_plan_l1_fix_time: 0.8006, d1.loss_plan_l1_fix_dist: 0.2262, d2.loss_plan_l1_fix_time: 0.7913, d2.loss_plan_l1_fix_dist: 0.1919, d3.loss_plan_l1_fix_time: 0.7956, d3.loss_plan_l1_fix_dist: 0.2025, d4.loss_plan_l1_fix_time: 0.7978, d4.loss_plan_l1_fix_dist: 0.1676, d5.loss_plan_l1_fix_time: 0.8002, d5.loss_plan_l1_fix_dist: 0.1716, d6.loss_plan_l1_fix_time: 0.8018, d6.loss_plan_l1_fix_dist: 0.1699, d0.loss_cls_all: 0.1288, d0.loss_bbox_all: 0.3401, d0.loss_cls: 0.1288, d0.loss_bbox: 0.3401, d1.loss_cls: 0.1229, d1.loss_bbox: 0.3091, d2.loss_cls: 0.1142, d2.loss_bbox: 0.2897, d3.loss_cls: 0.0983, d3.loss_bbox: 0.2875, d4.loss_cls: 0.0900, d4.loss_bbox: 0.2858, d5.loss_cls: 0.0882, d5.loss_bbox: 0.2869, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6996, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5389, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5054, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4947, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4897, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4853, d0.loss_map_cls_all: 0.1719, d0.loss_map_pts_all: 0.9982, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1719, d0.loss_map_pts: 0.9982, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1458, d1.loss_map_pts: 0.7358, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1241, d2.loss_map_pts: 0.5668, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1132, d3.loss_map_pts: 0.5057, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1060, d4.loss_map_pts: 0.4806, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1016, d5.loss_map_pts: 0.4736, d5.loss_map_dir: 0.0058, loss: 22.6407, grad_norm: 143.1706 +2026-02-28 22:44:49,050 - DriveTransformer - INFO - Epoch [11][19750/39528] lr: 6.331e-05, eta: 4 days, 12:22:14, time: 0.718, data_time: 0.036, memory: 19865, loss_cls: 0.1046, loss_bbox: 0.2956, loss_traj: 0.4926, loss_traj_cls: 0.0020, loss_map_cls: 0.1046, loss_map_pts: 0.5410, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.3318, d0.loss_plan_l1_fix_dist: 0.3213, d1.loss_plan_l1_fix_time: 0.7028, d1.loss_plan_l1_fix_dist: 0.2035, d2.loss_plan_l1_fix_time: 0.6932, d2.loss_plan_l1_fix_dist: 0.1680, d3.loss_plan_l1_fix_time: 0.6969, d3.loss_plan_l1_fix_dist: 0.1711, d4.loss_plan_l1_fix_time: 0.6982, d4.loss_plan_l1_fix_dist: 0.1472, d5.loss_plan_l1_fix_time: 0.6997, d5.loss_plan_l1_fix_dist: 0.1443, d6.loss_plan_l1_fix_time: 0.7012, d6.loss_plan_l1_fix_dist: 0.1524, d0.loss_cls_all: 0.1558, d0.loss_bbox_all: 0.3677, d0.loss_cls: 0.1558, d0.loss_bbox: 0.3677, d1.loss_cls: 0.1461, d1.loss_bbox: 0.3351, d2.loss_cls: 0.1344, d2.loss_bbox: 0.3076, d3.loss_cls: 0.1157, d3.loss_bbox: 0.3005, d4.loss_cls: 0.1089, d4.loss_bbox: 0.2962, d5.loss_cls: 0.1047, d5.loss_bbox: 0.2955, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7362, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5613, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5064, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4956, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4909, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4905, d0.loss_map_cls_all: 0.1885, d0.loss_map_pts_all: 1.1191, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1885, d0.loss_map_pts: 1.1191, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1563, d1.loss_map_pts: 0.8069, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1304, d2.loss_map_pts: 0.6358, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1168, d3.loss_map_pts: 0.5682, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1112, d4.loss_map_pts: 0.5458, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1067, d5.loss_map_pts: 0.5410, d5.loss_map_dir: 0.0067, loss: 22.2378, grad_norm: 143.2277 +2026-02-28 22:45:24,751 - DriveTransformer - INFO - Epoch [11][19800/39528] lr: 6.331e-05, eta: 4 days, 12:21:35, time: 0.714, data_time: 0.037, memory: 19865, loss_cls: 0.1056, loss_bbox: 0.2959, loss_traj: 0.5263, loss_traj_cls: 0.0020, loss_map_cls: 0.0975, loss_map_pts: 0.5114, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.3920, d0.loss_plan_l1_fix_dist: 0.4631, d1.loss_plan_l1_fix_time: 0.7420, d1.loss_plan_l1_fix_dist: 0.1913, d2.loss_plan_l1_fix_time: 0.7315, d2.loss_plan_l1_fix_dist: 0.1682, d3.loss_plan_l1_fix_time: 0.7291, d3.loss_plan_l1_fix_dist: 0.1675, d4.loss_plan_l1_fix_time: 0.7309, d4.loss_plan_l1_fix_dist: 0.1485, d5.loss_plan_l1_fix_time: 0.7334, d5.loss_plan_l1_fix_dist: 0.1446, d6.loss_plan_l1_fix_time: 0.7367, d6.loss_plan_l1_fix_dist: 0.1543, d0.loss_cls_all: 0.1458, d0.loss_bbox_all: 0.3682, d0.loss_cls: 0.1458, d0.loss_bbox: 0.3682, d1.loss_cls: 0.1421, d1.loss_bbox: 0.3347, d2.loss_cls: 0.1305, d2.loss_bbox: 0.3097, d3.loss_cls: 0.1127, d3.loss_bbox: 0.3024, d4.loss_cls: 0.1074, d4.loss_bbox: 0.2981, d5.loss_cls: 0.1062, d5.loss_bbox: 0.2964, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8351, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.6399, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5661, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5431, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5299, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5260, d0.loss_map_cls_all: 0.1751, d0.loss_map_pts_all: 1.0499, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1751, d0.loss_map_pts: 1.0499, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1470, d1.loss_map_pts: 0.7892, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1211, d2.loss_map_pts: 0.6263, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.1082, d3.loss_map_pts: 0.5502, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.1036, d4.loss_map_pts: 0.5187, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0989, d5.loss_map_pts: 0.5104, d5.loss_map_dir: 0.0049, loss: 22.6483, grad_norm: 146.4198 +2026-02-28 22:46:00,701 - DriveTransformer - INFO - Epoch [11][19850/39528] lr: 6.331e-05, eta: 4 days, 12:20:56, time: 0.719, data_time: 0.036, memory: 19865, loss_cls: 0.0805, loss_bbox: 0.2697, loss_traj: 0.4993, loss_traj_cls: 0.0021, loss_map_cls: 0.1008, loss_map_pts: 0.5058, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.5216, d0.loss_plan_l1_fix_dist: 0.3796, d1.loss_plan_l1_fix_time: 0.7356, d1.loss_plan_l1_fix_dist: 0.1804, d2.loss_plan_l1_fix_time: 0.7173, d2.loss_plan_l1_fix_dist: 0.1704, d3.loss_plan_l1_fix_time: 0.7151, d3.loss_plan_l1_fix_dist: 0.1731, d4.loss_plan_l1_fix_time: 0.7170, d4.loss_plan_l1_fix_dist: 0.1588, d5.loss_plan_l1_fix_time: 0.7199, d5.loss_plan_l1_fix_dist: 0.1557, d6.loss_plan_l1_fix_time: 0.7238, d6.loss_plan_l1_fix_dist: 0.1635, d0.loss_cls_all: 0.1245, d0.loss_bbox_all: 0.3252, d0.loss_cls: 0.1245, d0.loss_bbox: 0.3252, d1.loss_cls: 0.1179, d1.loss_bbox: 0.2956, d2.loss_cls: 0.1043, d2.loss_bbox: 0.2779, d3.loss_cls: 0.0863, d3.loss_bbox: 0.2757, d4.loss_cls: 0.0802, d4.loss_bbox: 0.2723, d5.loss_cls: 0.0798, d5.loss_bbox: 0.2700, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8003, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5936, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5293, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5085, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.5021, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4993, d0.loss_map_cls_all: 0.1722, d0.loss_map_pts_all: 1.0170, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1722, d0.loss_map_pts: 1.0170, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1461, d1.loss_map_pts: 0.7450, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1255, d2.loss_map_pts: 0.6016, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1136, d3.loss_map_pts: 0.5404, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1079, d4.loss_map_pts: 0.5129, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1027, d5.loss_map_pts: 0.5058, d5.loss_map_dir: 0.0057, loss: 21.8127, grad_norm: 142.2014 +2026-02-28 22:46:38,123 - DriveTransformer - INFO - Epoch [11][19900/39528] lr: 6.331e-05, eta: 4 days, 12:20:22, time: 0.748, data_time: 0.037, memory: 19865, loss_cls: 0.0889, loss_bbox: 0.2787, loss_traj: 0.3907, loss_traj_cls: 0.0020, loss_map_cls: 0.0863, loss_map_pts: 0.4732, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.5316, d0.loss_plan_l1_fix_dist: 0.3854, d1.loss_plan_l1_fix_time: 0.7161, d1.loss_plan_l1_fix_dist: 0.1614, d2.loss_plan_l1_fix_time: 0.7050, d2.loss_plan_l1_fix_dist: 0.1581, d3.loss_plan_l1_fix_time: 0.6948, d3.loss_plan_l1_fix_dist: 0.1695, d4.loss_plan_l1_fix_time: 0.6970, d4.loss_plan_l1_fix_dist: 0.1530, d5.loss_plan_l1_fix_time: 0.6998, d5.loss_plan_l1_fix_dist: 0.1518, d6.loss_plan_l1_fix_time: 0.7033, d6.loss_plan_l1_fix_dist: 0.1598, d0.loss_cls_all: 0.1333, d0.loss_bbox_all: 0.3359, d0.loss_cls: 0.1333, d0.loss_bbox: 0.3359, d1.loss_cls: 0.1234, d1.loss_bbox: 0.3062, d2.loss_cls: 0.1113, d2.loss_bbox: 0.2867, d3.loss_cls: 0.0957, d3.loss_bbox: 0.2819, d4.loss_cls: 0.0888, d4.loss_bbox: 0.2813, d5.loss_cls: 0.0883, d5.loss_bbox: 0.2792, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5632, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.4546, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4131, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4037, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3946, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3915, d0.loss_map_cls_all: 0.1602, d0.loss_map_pts_all: 1.0512, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.1602, d0.loss_map_pts: 1.0512, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1330, d1.loss_map_pts: 0.7141, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1112, d2.loss_map_pts: 0.5525, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.0999, d3.loss_map_pts: 0.4952, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.0931, d4.loss_map_pts: 0.4768, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.0872, d5.loss_map_pts: 0.4732, d5.loss_map_dir: 0.0071, loss: 20.6308, grad_norm: 139.7210 +2026-02-28 22:47:13,900 - DriveTransformer - INFO - Epoch [11][19950/39528] lr: 6.331e-05, eta: 4 days, 12:19:43, time: 0.715, data_time: 0.038, memory: 19865, loss_cls: 0.0882, loss_bbox: 0.2634, loss_traj: 0.4493, loss_traj_cls: 0.0020, loss_map_cls: 0.0681, loss_map_pts: 0.3963, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.5666, d0.loss_plan_l1_fix_dist: 0.3701, d1.loss_plan_l1_fix_time: 0.7505, d1.loss_plan_l1_fix_dist: 0.1635, d2.loss_plan_l1_fix_time: 0.7272, d2.loss_plan_l1_fix_dist: 0.1531, d3.loss_plan_l1_fix_time: 0.6997, d3.loss_plan_l1_fix_dist: 0.1654, d4.loss_plan_l1_fix_time: 0.7006, d4.loss_plan_l1_fix_dist: 0.1555, d5.loss_plan_l1_fix_time: 0.7030, d5.loss_plan_l1_fix_dist: 0.1527, d6.loss_plan_l1_fix_time: 0.7060, d6.loss_plan_l1_fix_dist: 0.1577, d0.loss_cls_all: 0.1276, d0.loss_bbox_all: 0.3246, d0.loss_cls: 0.1276, d0.loss_bbox: 0.3246, d1.loss_cls: 0.1203, d1.loss_bbox: 0.2936, d2.loss_cls: 0.1120, d2.loss_bbox: 0.2733, d3.loss_cls: 0.0950, d3.loss_bbox: 0.2671, d4.loss_cls: 0.0896, d4.loss_bbox: 0.2651, d5.loss_cls: 0.0886, d5.loss_bbox: 0.2633, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7005, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5394, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4780, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4574, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4501, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4524, d0.loss_map_cls_all: 0.1379, d0.loss_map_pts_all: 0.8898, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1379, d0.loss_map_pts: 0.8898, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1130, d1.loss_map_pts: 0.6236, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.0921, d2.loss_map_pts: 0.4828, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0808, d3.loss_map_pts: 0.4281, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0745, d4.loss_map_pts: 0.4079, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0696, d5.loss_map_pts: 0.3967, d5.loss_map_dir: 0.0047, loss: 20.1588, grad_norm: 140.3908 +2026-02-28 22:47:50,759 - DriveTransformer - INFO - Epoch [11][20000/39528] lr: 6.331e-05, eta: 4 days, 12:19:08, time: 0.737, data_time: 0.038, memory: 19865, loss_cls: 0.0950, loss_bbox: 0.2987, loss_traj: 0.5363, loss_traj_cls: 0.0019, loss_map_cls: 0.1169, loss_map_pts: 0.5931, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.3977, d0.loss_plan_l1_fix_dist: 0.3968, d1.loss_plan_l1_fix_time: 0.7965, d1.loss_plan_l1_fix_dist: 0.1689, d2.loss_plan_l1_fix_time: 0.7905, d2.loss_plan_l1_fix_dist: 0.1687, d3.loss_plan_l1_fix_time: 0.7879, d3.loss_plan_l1_fix_dist: 0.1680, d4.loss_plan_l1_fix_time: 0.7879, d4.loss_plan_l1_fix_dist: 0.1766, d5.loss_plan_l1_fix_time: 0.7887, d5.loss_plan_l1_fix_dist: 0.1829, d6.loss_plan_l1_fix_time: 0.7900, d6.loss_plan_l1_fix_dist: 0.1931, d0.loss_cls_all: 0.1369, d0.loss_bbox_all: 0.3728, d0.loss_cls: 0.1369, d0.loss_bbox: 0.3728, d1.loss_cls: 0.1320, d1.loss_bbox: 0.3343, d2.loss_cls: 0.1190, d2.loss_bbox: 0.3113, d3.loss_cls: 0.1028, d3.loss_bbox: 0.3050, d4.loss_cls: 0.0956, d4.loss_bbox: 0.3012, d5.loss_cls: 0.0946, d5.loss_bbox: 0.2991, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7939, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.6249, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5609, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5375, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5364, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5361, d0.loss_map_cls_all: 0.2060, d0.loss_map_pts_all: 1.1925, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2060, d0.loss_map_pts: 1.1925, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1737, d1.loss_map_pts: 0.8695, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1458, d2.loss_map_pts: 0.6850, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1333, d3.loss_map_pts: 0.6168, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1256, d4.loss_map_pts: 0.5963, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1188, d5.loss_map_pts: 0.5930, d5.loss_map_dir: 0.0072, loss: 23.8554, grad_norm: 140.5490 +2026-02-28 22:48:26,499 - DriveTransformer - INFO - Epoch [11][20050/39528] lr: 6.331e-05, eta: 4 days, 12:18:29, time: 0.715, data_time: 0.037, memory: 19865, loss_cls: 0.0907, loss_bbox: 0.2862, loss_traj: 0.4925, loss_traj_cls: 0.0020, loss_map_cls: 0.0926, loss_map_pts: 0.4858, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.6208, d0.loss_plan_l1_fix_dist: 0.3781, d1.loss_plan_l1_fix_time: 0.7459, d1.loss_plan_l1_fix_dist: 0.1733, d2.loss_plan_l1_fix_time: 0.7323, d2.loss_plan_l1_fix_dist: 0.1721, d3.loss_plan_l1_fix_time: 0.7246, d3.loss_plan_l1_fix_dist: 0.1531, d4.loss_plan_l1_fix_time: 0.7263, d4.loss_plan_l1_fix_dist: 0.1663, d5.loss_plan_l1_fix_time: 0.7283, d5.loss_plan_l1_fix_dist: 0.1706, d6.loss_plan_l1_fix_time: 0.7307, d6.loss_plan_l1_fix_dist: 0.1740, d0.loss_cls_all: 0.1377, d0.loss_bbox_all: 0.3359, d0.loss_cls: 0.1377, d0.loss_bbox: 0.3359, d1.loss_cls: 0.1294, d1.loss_bbox: 0.3077, d2.loss_cls: 0.1155, d2.loss_bbox: 0.2909, d3.loss_cls: 0.0970, d3.loss_bbox: 0.2861, d4.loss_cls: 0.0907, d4.loss_bbox: 0.2855, d5.loss_cls: 0.0904, d5.loss_bbox: 0.2858, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7400, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5528, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5117, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4984, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4903, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4911, d0.loss_map_cls_all: 0.1804, d0.loss_map_pts_all: 0.9977, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1804, d0.loss_map_pts: 0.9977, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1469, d1.loss_map_pts: 0.7193, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1236, d2.loss_map_pts: 0.5668, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1097, d3.loss_map_pts: 0.5094, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1026, d4.loss_map_pts: 0.4904, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0955, d5.loss_map_pts: 0.4868, d5.loss_map_dir: 0.0058, loss: 21.8153, grad_norm: 142.5364 +2026-02-28 22:49:03,587 - DriveTransformer - INFO - Epoch [11][20100/39528] lr: 6.331e-05, eta: 4 days, 12:17:54, time: 0.742, data_time: 0.038, memory: 19865, loss_cls: 0.0935, loss_bbox: 0.3008, loss_traj: 0.4571, loss_traj_cls: 0.0020, loss_map_cls: 0.1092, loss_map_pts: 0.5543, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.7545, d0.loss_plan_l1_fix_dist: 0.3374, d1.loss_plan_l1_fix_time: 0.9162, d1.loss_plan_l1_fix_dist: 0.1942, d2.loss_plan_l1_fix_time: 0.8976, d2.loss_plan_l1_fix_dist: 0.1809, d3.loss_plan_l1_fix_time: 0.8848, d3.loss_plan_l1_fix_dist: 0.1625, d4.loss_plan_l1_fix_time: 0.8862, d4.loss_plan_l1_fix_dist: 0.1699, d5.loss_plan_l1_fix_time: 0.8889, d5.loss_plan_l1_fix_dist: 0.1836, d6.loss_plan_l1_fix_time: 0.8919, d6.loss_plan_l1_fix_dist: 0.1896, d0.loss_cls_all: 0.1448, d0.loss_bbox_all: 0.3650, d0.loss_cls: 0.1448, d0.loss_bbox: 0.3650, d1.loss_cls: 0.1347, d1.loss_bbox: 0.3303, d2.loss_cls: 0.1190, d2.loss_bbox: 0.3066, d3.loss_cls: 0.1013, d3.loss_bbox: 0.3030, d4.loss_cls: 0.0963, d4.loss_bbox: 0.3014, d5.loss_cls: 0.0948, d5.loss_bbox: 0.3000, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6806, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5455, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4794, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4651, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4590, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4556, d0.loss_map_cls_all: 0.2019, d0.loss_map_pts_all: 1.1732, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2019, d0.loss_map_pts: 1.1732, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1677, d1.loss_map_pts: 0.8317, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1394, d2.loss_map_pts: 0.6572, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1257, d3.loss_map_pts: 0.5897, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1189, d4.loss_map_pts: 0.5621, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1124, d5.loss_map_pts: 0.5545, d5.loss_map_dir: 0.0067, loss: 23.9152, grad_norm: 143.3271 +2026-02-28 22:49:40,242 - DriveTransformer - INFO - Epoch [11][20150/39528] lr: 6.331e-05, eta: 4 days, 12:17:18, time: 0.733, data_time: 0.036, memory: 19865, loss_cls: 0.0927, loss_bbox: 0.2921, loss_traj: 0.4936, loss_traj_cls: 0.0019, loss_map_cls: 0.0936, loss_map_pts: 0.4754, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.8094, d0.loss_plan_l1_fix_dist: 0.4759, d1.loss_plan_l1_fix_time: 0.8246, d1.loss_plan_l1_fix_dist: 0.2210, d2.loss_plan_l1_fix_time: 0.7970, d2.loss_plan_l1_fix_dist: 0.2022, d3.loss_plan_l1_fix_time: 0.7945, d3.loss_plan_l1_fix_dist: 0.1919, d4.loss_plan_l1_fix_time: 0.7966, d4.loss_plan_l1_fix_dist: 0.1828, d5.loss_plan_l1_fix_time: 0.7988, d5.loss_plan_l1_fix_dist: 0.1920, d6.loss_plan_l1_fix_time: 0.8012, d6.loss_plan_l1_fix_dist: 0.2018, d0.loss_cls_all: 0.1433, d0.loss_bbox_all: 0.3566, d0.loss_cls: 0.1433, d0.loss_bbox: 0.3566, d1.loss_cls: 0.1357, d1.loss_bbox: 0.3222, d2.loss_cls: 0.1177, d2.loss_bbox: 0.3006, d3.loss_cls: 0.0984, d3.loss_bbox: 0.2963, d4.loss_cls: 0.0928, d4.loss_bbox: 0.2934, d5.loss_cls: 0.0915, d5.loss_bbox: 0.2927, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7912, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5953, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5320, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5094, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5030, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4970, d0.loss_map_cls_all: 0.1792, d0.loss_map_pts_all: 1.0338, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1792, d0.loss_map_pts: 1.0338, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1424, d1.loss_map_pts: 0.7171, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1200, d2.loss_map_pts: 0.5589, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1057, d3.loss_map_pts: 0.4995, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1012, d4.loss_map_pts: 0.4777, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0962, d5.loss_map_pts: 0.4736, d5.loss_map_dir: 0.0062, loss: 22.9813, grad_norm: 144.7946 +2026-02-28 22:50:17,177 - DriveTransformer - INFO - Epoch [11][20200/39528] lr: 6.331e-05, eta: 4 days, 12:16:42, time: 0.739, data_time: 0.037, memory: 19865, loss_cls: 0.0852, loss_bbox: 0.2751, loss_traj: 0.4873, loss_traj_cls: 0.0020, loss_map_cls: 0.0948, loss_map_pts: 0.4854, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.4794, d0.loss_plan_l1_fix_dist: 0.4397, d1.loss_plan_l1_fix_time: 0.7402, d1.loss_plan_l1_fix_dist: 0.2210, d2.loss_plan_l1_fix_time: 0.7184, d2.loss_plan_l1_fix_dist: 0.1840, d3.loss_plan_l1_fix_time: 0.7149, d3.loss_plan_l1_fix_dist: 0.1919, d4.loss_plan_l1_fix_time: 0.7165, d4.loss_plan_l1_fix_dist: 0.1770, d5.loss_plan_l1_fix_time: 0.7193, d5.loss_plan_l1_fix_dist: 0.1821, d6.loss_plan_l1_fix_time: 0.7228, d6.loss_plan_l1_fix_dist: 0.1874, d0.loss_cls_all: 0.1188, d0.loss_bbox_all: 0.3428, d0.loss_cls: 0.1188, d0.loss_bbox: 0.3428, d1.loss_cls: 0.1103, d1.loss_bbox: 0.3095, d2.loss_cls: 0.1017, d2.loss_bbox: 0.2881, d3.loss_cls: 0.0916, d3.loss_bbox: 0.2790, d4.loss_cls: 0.0871, d4.loss_bbox: 0.2758, d5.loss_cls: 0.0842, d5.loss_bbox: 0.2765, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7284, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5836, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5330, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5050, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4981, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4946, d0.loss_map_cls_all: 0.1720, d0.loss_map_pts_all: 1.0439, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1720, d0.loss_map_pts: 1.0439, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1445, d1.loss_map_pts: 0.7426, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1187, d2.loss_map_pts: 0.5840, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1069, d3.loss_map_pts: 0.5188, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1001, d4.loss_map_pts: 0.4920, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0970, d5.loss_map_pts: 0.4859, d5.loss_map_dir: 0.0058, loss: 21.8681, grad_norm: 144.1020 +2026-02-28 22:50:54,830 - DriveTransformer - INFO - Epoch [11][20250/39528] lr: 6.331e-05, eta: 4 days, 12:16:09, time: 0.753, data_time: 0.038, memory: 19865, loss_cls: 0.0727, loss_bbox: 0.2555, loss_traj: 0.4088, loss_traj_cls: 0.0020, loss_map_cls: 0.0885, loss_map_pts: 0.4434, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.6919, d0.loss_plan_l1_fix_dist: 0.4394, d1.loss_plan_l1_fix_time: 0.6711, d1.loss_plan_l1_fix_dist: 0.2103, d2.loss_plan_l1_fix_time: 0.6652, d2.loss_plan_l1_fix_dist: 0.1621, d3.loss_plan_l1_fix_time: 0.6586, d3.loss_plan_l1_fix_dist: 0.1840, d4.loss_plan_l1_fix_time: 0.6599, d4.loss_plan_l1_fix_dist: 0.1616, d5.loss_plan_l1_fix_time: 0.6621, d5.loss_plan_l1_fix_dist: 0.1632, d6.loss_plan_l1_fix_time: 0.6650, d6.loss_plan_l1_fix_dist: 0.1726, d0.loss_cls_all: 0.1098, d0.loss_bbox_all: 0.3140, d0.loss_cls: 0.1098, d0.loss_bbox: 0.3140, d1.loss_cls: 0.1075, d1.loss_bbox: 0.2837, d2.loss_cls: 0.0948, d2.loss_bbox: 0.2660, d3.loss_cls: 0.0775, d3.loss_bbox: 0.2608, d4.loss_cls: 0.0734, d4.loss_bbox: 0.2580, d5.loss_cls: 0.0731, d5.loss_bbox: 0.2556, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6333, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.4687, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4341, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4177, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4109, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4092, d0.loss_map_cls_all: 0.1640, d0.loss_map_pts_all: 0.9785, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1640, d0.loss_map_pts: 0.9785, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1330, d1.loss_map_pts: 0.6854, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1097, d2.loss_map_pts: 0.5302, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1002, d3.loss_map_pts: 0.4701, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0957, d4.loss_map_pts: 0.4493, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0901, d5.loss_map_pts: 0.4438, d5.loss_map_dir: 0.0054, loss: 20.2506, grad_norm: 140.3994 +2026-02-28 22:51:30,797 - DriveTransformer - INFO - Epoch [11][20300/39528] lr: 6.331e-05, eta: 4 days, 12:15:31, time: 0.719, data_time: 0.038, memory: 19865, loss_cls: 0.0926, loss_bbox: 0.2803, loss_traj: 0.4876, loss_traj_cls: 0.0020, loss_map_cls: 0.0948, loss_map_pts: 0.4753, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.6627, d0.loss_plan_l1_fix_dist: 0.4089, d1.loss_plan_l1_fix_time: 0.7680, d1.loss_plan_l1_fix_dist: 0.2343, d2.loss_plan_l1_fix_time: 0.7532, d2.loss_plan_l1_fix_dist: 0.1870, d3.loss_plan_l1_fix_time: 0.7533, d3.loss_plan_l1_fix_dist: 0.2169, d4.loss_plan_l1_fix_time: 0.7548, d4.loss_plan_l1_fix_dist: 0.1951, d5.loss_plan_l1_fix_time: 0.7570, d5.loss_plan_l1_fix_dist: 0.1904, d6.loss_plan_l1_fix_time: 0.7599, d6.loss_plan_l1_fix_dist: 0.1961, d0.loss_cls_all: 0.1279, d0.loss_bbox_all: 0.3534, d0.loss_cls: 0.1279, d0.loss_bbox: 0.3534, d1.loss_cls: 0.1262, d1.loss_bbox: 0.3169, d2.loss_cls: 0.1130, d2.loss_bbox: 0.2956, d3.loss_cls: 0.0953, d3.loss_bbox: 0.2879, d4.loss_cls: 0.0927, d4.loss_bbox: 0.2837, d5.loss_cls: 0.0926, d5.loss_bbox: 0.2821, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7060, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5591, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5112, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4962, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4927, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4912, d0.loss_map_cls_all: 0.1682, d0.loss_map_pts_all: 1.0086, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1682, d0.loss_map_pts: 1.0086, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1421, d1.loss_map_pts: 0.7244, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1169, d2.loss_map_pts: 0.5607, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1069, d3.loss_map_pts: 0.5036, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1016, d4.loss_map_pts: 0.4833, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0960, d5.loss_map_pts: 0.4761, d5.loss_map_dir: 0.0058, loss: 22.1904, grad_norm: 138.7657 +2026-02-28 22:52:07,918 - DriveTransformer - INFO - Epoch [11][20350/39528] lr: 6.331e-05, eta: 4 days, 12:14:56, time: 0.742, data_time: 0.037, memory: 19865, loss_cls: 0.0959, loss_bbox: 0.2781, loss_traj: 0.4273, loss_traj_cls: 0.0020, loss_map_cls: 0.1140, loss_map_pts: 0.5322, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.6751, d0.loss_plan_l1_fix_dist: 0.3581, d1.loss_plan_l1_fix_time: 0.7317, d1.loss_plan_l1_fix_dist: 0.1875, d2.loss_plan_l1_fix_time: 0.7182, d2.loss_plan_l1_fix_dist: 0.1483, d3.loss_plan_l1_fix_time: 0.7205, d3.loss_plan_l1_fix_dist: 0.1786, d4.loss_plan_l1_fix_time: 0.7225, d4.loss_plan_l1_fix_dist: 0.1629, d5.loss_plan_l1_fix_time: 0.7246, d5.loss_plan_l1_fix_dist: 0.1587, d6.loss_plan_l1_fix_time: 0.7271, d6.loss_plan_l1_fix_dist: 0.1582, d0.loss_cls_all: 0.1416, d0.loss_bbox_all: 0.3492, d0.loss_cls: 0.1416, d0.loss_bbox: 0.3492, d1.loss_cls: 0.1353, d1.loss_bbox: 0.3100, d2.loss_cls: 0.1173, d2.loss_bbox: 0.2901, d3.loss_cls: 0.1024, d3.loss_bbox: 0.2846, d4.loss_cls: 0.0975, d4.loss_bbox: 0.2807, d5.loss_cls: 0.0966, d5.loss_bbox: 0.2778, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6557, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5112, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4529, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4398, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4289, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4253, d0.loss_map_cls_all: 0.2043, d0.loss_map_pts_all: 1.1551, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2043, d0.loss_map_pts: 1.1551, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1720, d1.loss_map_pts: 0.8135, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1430, d2.loss_map_pts: 0.6320, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1318, d3.loss_map_pts: 0.5644, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1221, d4.loss_map_pts: 0.5379, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1164, d5.loss_map_pts: 0.5326, d5.loss_map_dir: 0.0066, loss: 22.2528, grad_norm: 144.6068 +2026-02-28 22:52:45,598 - DriveTransformer - INFO - Epoch [11][20400/39528] lr: 6.331e-05, eta: 4 days, 12:14:23, time: 0.755, data_time: 0.035, memory: 19865, loss_cls: 0.0986, loss_bbox: 0.2739, loss_traj: 0.4340, loss_traj_cls: 0.0021, loss_map_cls: 0.0948, loss_map_pts: 0.5140, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.4775, d0.loss_plan_l1_fix_dist: 0.4581, d1.loss_plan_l1_fix_time: 0.6741, d1.loss_plan_l1_fix_dist: 0.1924, d2.loss_plan_l1_fix_time: 0.6631, d2.loss_plan_l1_fix_dist: 0.1665, d3.loss_plan_l1_fix_time: 0.6699, d3.loss_plan_l1_fix_dist: 0.1897, d4.loss_plan_l1_fix_time: 0.6729, d4.loss_plan_l1_fix_dist: 0.1782, d5.loss_plan_l1_fix_time: 0.6754, d5.loss_plan_l1_fix_dist: 0.1777, d6.loss_plan_l1_fix_time: 0.6783, d6.loss_plan_l1_fix_dist: 0.1798, d0.loss_cls_all: 0.1395, d0.loss_bbox_all: 0.3440, d0.loss_cls: 0.1395, d0.loss_bbox: 0.3440, d1.loss_cls: 0.1342, d1.loss_bbox: 0.3081, d2.loss_cls: 0.1221, d2.loss_bbox: 0.2855, d3.loss_cls: 0.1016, d3.loss_bbox: 0.2786, d4.loss_cls: 0.0990, d4.loss_bbox: 0.2753, d5.loss_cls: 0.0978, d5.loss_bbox: 0.2744, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5987, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.4799, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4388, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4273, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4261, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4321, d0.loss_map_cls_all: 0.1875, d0.loss_map_pts_all: 1.0956, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1875, d0.loss_map_pts: 1.0956, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1485, d1.loss_map_pts: 0.7772, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1228, d2.loss_map_pts: 0.6119, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1098, d3.loss_map_pts: 0.5518, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1031, d4.loss_map_pts: 0.5236, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0965, d5.loss_map_pts: 0.5158, d5.loss_map_dir: 0.0059, loss: 21.3987, grad_norm: 139.9832 +2026-02-28 22:53:22,139 - DriveTransformer - INFO - Epoch [11][20450/39528] lr: 6.331e-05, eta: 4 days, 12:13:46, time: 0.729, data_time: 0.036, memory: 19865, loss_cls: 0.0913, loss_bbox: 0.2893, loss_traj: 0.5856, loss_traj_cls: 0.0020, loss_map_cls: 0.0951, loss_map_pts: 0.4929, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.7060, d0.loss_plan_l1_fix_dist: 0.4461, d1.loss_plan_l1_fix_time: 0.7342, d1.loss_plan_l1_fix_dist: 0.1816, d2.loss_plan_l1_fix_time: 0.7162, d2.loss_plan_l1_fix_dist: 0.1694, d3.loss_plan_l1_fix_time: 0.7147, d3.loss_plan_l1_fix_dist: 0.1914, d4.loss_plan_l1_fix_time: 0.7174, d4.loss_plan_l1_fix_dist: 0.1791, d5.loss_plan_l1_fix_time: 0.7207, d5.loss_plan_l1_fix_dist: 0.1757, d6.loss_plan_l1_fix_time: 0.7246, d6.loss_plan_l1_fix_dist: 0.1889, d0.loss_cls_all: 0.1382, d0.loss_bbox_all: 0.3639, d0.loss_cls: 0.1382, d0.loss_bbox: 0.3639, d1.loss_cls: 0.1338, d1.loss_bbox: 0.3250, d2.loss_cls: 0.1180, d2.loss_bbox: 0.2975, d3.loss_cls: 0.0996, d3.loss_bbox: 0.2910, d4.loss_cls: 0.0935, d4.loss_bbox: 0.2876, d5.loss_cls: 0.0909, d5.loss_bbox: 0.2884, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8463, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.6884, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6233, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5932, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.5815, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5839, d0.loss_map_cls_all: 0.1846, d0.loss_map_pts_all: 1.0687, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1846, d0.loss_map_pts: 1.0687, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1461, d1.loss_map_pts: 0.7600, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1246, d2.loss_map_pts: 0.5945, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1104, d3.loss_map_pts: 0.5288, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1021, d4.loss_map_pts: 0.5046, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0976, d5.loss_map_pts: 0.4941, d5.loss_map_dir: 0.0061, loss: 23.0915, grad_norm: 148.6384 +2026-02-28 22:53:59,184 - DriveTransformer - INFO - Epoch [11][20500/39528] lr: 6.331e-05, eta: 4 days, 12:13:11, time: 0.741, data_time: 0.037, memory: 19865, loss_cls: 0.0856, loss_bbox: 0.2726, loss_traj: 0.4623, loss_traj_cls: 0.0021, loss_map_cls: 0.0922, loss_map_pts: 0.5111, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.4746, d0.loss_plan_l1_fix_dist: 0.4122, d1.loss_plan_l1_fix_time: 0.7517, d1.loss_plan_l1_fix_dist: 0.1628, d2.loss_plan_l1_fix_time: 0.7357, d2.loss_plan_l1_fix_dist: 0.1682, d3.loss_plan_l1_fix_time: 0.7163, d3.loss_plan_l1_fix_dist: 0.1864, d4.loss_plan_l1_fix_time: 0.7186, d4.loss_plan_l1_fix_dist: 0.1777, d5.loss_plan_l1_fix_time: 0.7220, d5.loss_plan_l1_fix_dist: 0.1731, d6.loss_plan_l1_fix_time: 0.7257, d6.loss_plan_l1_fix_dist: 0.1862, d0.loss_cls_all: 0.1281, d0.loss_bbox_all: 0.3360, d0.loss_cls: 0.1281, d0.loss_bbox: 0.3360, d1.loss_cls: 0.1247, d1.loss_bbox: 0.2990, d2.loss_cls: 0.1105, d2.loss_bbox: 0.2790, d3.loss_cls: 0.0937, d3.loss_bbox: 0.2744, d4.loss_cls: 0.0873, d4.loss_bbox: 0.2733, d5.loss_cls: 0.0847, d5.loss_bbox: 0.2730, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7195, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5470, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4933, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4737, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4654, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4636, d0.loss_map_cls_all: 0.1730, d0.loss_map_pts_all: 1.0811, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1730, d0.loss_map_pts: 1.0811, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1444, d1.loss_map_pts: 0.7758, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1171, d2.loss_map_pts: 0.6040, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1047, d3.loss_map_pts: 0.5396, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0980, d4.loss_map_pts: 0.5168, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0937, d5.loss_map_pts: 0.5129, d5.loss_map_dir: 0.0061, loss: 21.7982, grad_norm: 148.8222 +2026-02-28 22:54:36,017 - DriveTransformer - INFO - Epoch [11][20550/39528] lr: 6.331e-05, eta: 4 days, 12:12:35, time: 0.737, data_time: 0.037, memory: 19865, loss_cls: 0.0888, loss_bbox: 0.2741, loss_traj: 0.4389, loss_traj_cls: 0.0021, loss_map_cls: 0.0952, loss_map_pts: 0.4786, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.7034, d0.loss_plan_l1_fix_dist: 0.4020, d1.loss_plan_l1_fix_time: 0.7516, d1.loss_plan_l1_fix_dist: 0.1421, d2.loss_plan_l1_fix_time: 0.7327, d2.loss_plan_l1_fix_dist: 0.1692, d3.loss_plan_l1_fix_time: 0.7216, d3.loss_plan_l1_fix_dist: 0.1586, d4.loss_plan_l1_fix_time: 0.7232, d4.loss_plan_l1_fix_dist: 0.1520, d5.loss_plan_l1_fix_time: 0.7253, d5.loss_plan_l1_fix_dist: 0.1526, d6.loss_plan_l1_fix_time: 0.7275, d6.loss_plan_l1_fix_dist: 0.1606, d0.loss_cls_all: 0.1236, d0.loss_bbox_all: 0.3325, d0.loss_cls: 0.1236, d0.loss_bbox: 0.3325, d1.loss_cls: 0.1178, d1.loss_bbox: 0.3029, d2.loss_cls: 0.1077, d2.loss_bbox: 0.2831, d3.loss_cls: 0.0933, d3.loss_bbox: 0.2780, d4.loss_cls: 0.0877, d4.loss_bbox: 0.2763, d5.loss_cls: 0.0886, d5.loss_bbox: 0.2746, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7142, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5345, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4677, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4500, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4419, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4380, d0.loss_map_cls_all: 0.1758, d0.loss_map_pts_all: 1.0277, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1758, d0.loss_map_pts: 1.0277, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1508, d1.loss_map_pts: 0.7303, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1230, d2.loss_map_pts: 0.5675, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1100, d3.loss_map_pts: 0.5128, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1029, d4.loss_map_pts: 0.4891, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0969, d5.loss_map_pts: 0.4800, d5.loss_map_dir: 0.0055, loss: 21.4886, grad_norm: 148.9974 +2026-02-28 22:55:13,180 - DriveTransformer - INFO - Epoch [11][20600/39528] lr: 6.331e-05, eta: 4 days, 12:12:00, time: 0.743, data_time: 0.036, memory: 19865, loss_cls: 0.0936, loss_bbox: 0.2850, loss_traj: 0.4805, loss_traj_cls: 0.0021, loss_map_cls: 0.0835, loss_map_pts: 0.4536, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.4641, d0.loss_plan_l1_fix_dist: 0.3610, d1.loss_plan_l1_fix_time: 0.7421, d1.loss_plan_l1_fix_dist: 0.1482, d2.loss_plan_l1_fix_time: 0.7313, d2.loss_plan_l1_fix_dist: 0.1762, d3.loss_plan_l1_fix_time: 0.7296, d3.loss_plan_l1_fix_dist: 0.1460, d4.loss_plan_l1_fix_time: 0.7308, d4.loss_plan_l1_fix_dist: 0.1492, d5.loss_plan_l1_fix_time: 0.7328, d5.loss_plan_l1_fix_dist: 0.1543, d6.loss_plan_l1_fix_time: 0.7354, d6.loss_plan_l1_fix_dist: 0.1605, d0.loss_cls_all: 0.1334, d0.loss_bbox_all: 0.3583, d0.loss_cls: 0.1334, d0.loss_bbox: 0.3583, d1.loss_cls: 0.1264, d1.loss_bbox: 0.3214, d2.loss_cls: 0.1165, d2.loss_bbox: 0.2983, d3.loss_cls: 0.1015, d3.loss_bbox: 0.2909, d4.loss_cls: 0.0956, d4.loss_bbox: 0.2876, d5.loss_cls: 0.0939, d5.loss_bbox: 0.2853, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7225, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5701, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5181, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5041, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4905, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4816, d0.loss_map_cls_all: 0.1541, d0.loss_map_pts_all: 0.9887, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1541, d0.loss_map_pts: 0.9887, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1262, d1.loss_map_pts: 0.6894, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1050, d2.loss_map_pts: 0.5435, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0956, d3.loss_map_pts: 0.4866, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0887, d4.loss_map_pts: 0.4623, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0854, d5.loss_map_pts: 0.4545, d5.loss_map_dir: 0.0057, loss: 21.3220, grad_norm: 148.9171 +2026-02-28 22:55:49,292 - DriveTransformer - INFO - Epoch [11][20650/39528] lr: 6.331e-05, eta: 4 days, 12:11:23, time: 0.722, data_time: 0.037, memory: 19865, loss_cls: 0.0817, loss_bbox: 0.2549, loss_traj: 0.4852, loss_traj_cls: 0.0022, loss_map_cls: 0.0896, loss_map_pts: 0.4645, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.2690, d0.loss_plan_l1_fix_dist: 0.3688, d1.loss_plan_l1_fix_time: 0.7226, d1.loss_plan_l1_fix_dist: 0.1589, d2.loss_plan_l1_fix_time: 0.7097, d2.loss_plan_l1_fix_dist: 0.1798, d3.loss_plan_l1_fix_time: 0.7060, d3.loss_plan_l1_fix_dist: 0.1414, d4.loss_plan_l1_fix_time: 0.7075, d4.loss_plan_l1_fix_dist: 0.1422, d5.loss_plan_l1_fix_time: 0.7101, d5.loss_plan_l1_fix_dist: 0.1496, d6.loss_plan_l1_fix_time: 0.7135, d6.loss_plan_l1_fix_dist: 0.1571, d0.loss_cls_all: 0.1126, d0.loss_bbox_all: 0.3169, d0.loss_cls: 0.1126, d0.loss_bbox: 0.3169, d1.loss_cls: 0.1133, d1.loss_bbox: 0.2859, d2.loss_cls: 0.1044, d2.loss_bbox: 0.2658, d3.loss_cls: 0.0891, d3.loss_bbox: 0.2598, d4.loss_cls: 0.0817, d4.loss_bbox: 0.2571, d5.loss_cls: 0.0811, d5.loss_bbox: 0.2553, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7131, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5495, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5026, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4911, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4912, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4892, d0.loss_map_cls_all: 0.1837, d0.loss_map_pts_all: 1.0133, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1837, d0.loss_map_pts: 1.0133, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1474, d1.loss_map_pts: 0.7196, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1189, d2.loss_map_pts: 0.5598, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1066, d3.loss_map_pts: 0.4997, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0986, d4.loss_map_pts: 0.4750, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0921, d5.loss_map_pts: 0.4650, d5.loss_map_dir: 0.0054, loss: 20.8286, grad_norm: 146.2380 +2026-02-28 22:56:25,480 - DriveTransformer - INFO - Epoch [11][20700/39528] lr: 6.331e-05, eta: 4 days, 12:10:45, time: 0.724, data_time: 0.037, memory: 19865, loss_cls: 0.0983, loss_bbox: 0.2816, loss_traj: 0.4468, loss_traj_cls: 0.0022, loss_map_cls: 0.0999, loss_map_pts: 0.5133, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.2580, d0.loss_plan_l1_fix_dist: 0.3791, d1.loss_plan_l1_fix_time: 0.7287, d1.loss_plan_l1_fix_dist: 0.1978, d2.loss_plan_l1_fix_time: 0.7232, d2.loss_plan_l1_fix_dist: 0.1852, d3.loss_plan_l1_fix_time: 0.7230, d3.loss_plan_l1_fix_dist: 0.1810, d4.loss_plan_l1_fix_time: 0.7261, d4.loss_plan_l1_fix_dist: 0.1741, d5.loss_plan_l1_fix_time: 0.7294, d5.loss_plan_l1_fix_dist: 0.1804, d6.loss_plan_l1_fix_time: 0.7328, d6.loss_plan_l1_fix_dist: 0.1851, d0.loss_cls_all: 0.1375, d0.loss_bbox_all: 0.3435, d0.loss_cls: 0.1375, d0.loss_bbox: 0.3435, d1.loss_cls: 0.1293, d1.loss_bbox: 0.3113, d2.loss_cls: 0.1175, d2.loss_bbox: 0.2923, d3.loss_cls: 0.1035, d3.loss_bbox: 0.2861, d4.loss_cls: 0.0989, d4.loss_bbox: 0.2828, d5.loss_cls: 0.0984, d5.loss_bbox: 0.2812, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6573, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5161, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4674, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4519, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4494, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4472, d0.loss_map_cls_all: 0.1823, d0.loss_map_pts_all: 1.0446, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1823, d0.loss_map_pts: 1.0446, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1551, d1.loss_map_pts: 0.7809, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1266, d2.loss_map_pts: 0.6116, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1151, d3.loss_map_pts: 0.5500, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1076, d4.loss_map_pts: 0.5240, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1019, d5.loss_map_pts: 0.5132, d5.loss_map_dir: 0.0059, loss: 21.5901, grad_norm: 141.7610 +2026-02-28 22:57:02,086 - DriveTransformer - INFO - Epoch [11][20750/39528] lr: 6.331e-05, eta: 4 days, 12:10:08, time: 0.732, data_time: 0.036, memory: 19865, loss_cls: 0.0932, loss_bbox: 0.2783, loss_traj: 0.4117, loss_traj_cls: 0.0022, loss_map_cls: 0.1167, loss_map_pts: 0.5566, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.2280, d0.loss_plan_l1_fix_dist: 0.4484, d1.loss_plan_l1_fix_time: 0.6695, d1.loss_plan_l1_fix_dist: 0.1878, d2.loss_plan_l1_fix_time: 0.6546, d2.loss_plan_l1_fix_dist: 0.1554, d3.loss_plan_l1_fix_time: 0.6557, d3.loss_plan_l1_fix_dist: 0.1715, d4.loss_plan_l1_fix_time: 0.6595, d4.loss_plan_l1_fix_dist: 0.1555, d5.loss_plan_l1_fix_time: 0.6635, d5.loss_plan_l1_fix_dist: 0.1667, d6.loss_plan_l1_fix_time: 0.6673, d6.loss_plan_l1_fix_dist: 0.1758, d0.loss_cls_all: 0.1293, d0.loss_bbox_all: 0.3464, d0.loss_cls: 0.1293, d0.loss_bbox: 0.3464, d1.loss_cls: 0.1226, d1.loss_bbox: 0.3120, d2.loss_cls: 0.1126, d2.loss_bbox: 0.2917, d3.loss_cls: 0.1001, d3.loss_bbox: 0.2831, d4.loss_cls: 0.0931, d4.loss_bbox: 0.2803, d5.loss_cls: 0.0929, d5.loss_bbox: 0.2790, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5952, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.4724, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4285, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4198, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4131, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4117, d0.loss_map_cls_all: 0.1987, d0.loss_map_pts_all: 1.1254, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1987, d0.loss_map_pts: 1.1254, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1683, d1.loss_map_pts: 0.8333, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1417, d2.loss_map_pts: 0.6545, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1298, d3.loss_map_pts: 0.5870, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1244, d4.loss_map_pts: 0.5620, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1191, d5.loss_map_pts: 0.5565, d5.loss_map_dir: 0.0069, loss: 21.3639, grad_norm: 141.6572 +2026-02-28 22:57:38,132 - DriveTransformer - INFO - Epoch [11][20800/39528] lr: 6.331e-05, eta: 4 days, 12:09:30, time: 0.721, data_time: 0.041, memory: 19865, loss_cls: 0.0831, loss_bbox: 0.2776, loss_traj: 0.4686, loss_traj_cls: 0.0022, loss_map_cls: 0.0930, loss_map_pts: 0.4547, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.6715, d0.loss_plan_l1_fix_dist: 0.5194, d1.loss_plan_l1_fix_time: 0.7931, d1.loss_plan_l1_fix_dist: 0.2066, d2.loss_plan_l1_fix_time: 0.7768, d2.loss_plan_l1_fix_dist: 0.1723, d3.loss_plan_l1_fix_time: 0.7757, d3.loss_plan_l1_fix_dist: 0.1902, d4.loss_plan_l1_fix_time: 0.7768, d4.loss_plan_l1_fix_dist: 0.1603, d5.loss_plan_l1_fix_time: 0.7783, d5.loss_plan_l1_fix_dist: 0.1659, d6.loss_plan_l1_fix_time: 0.7806, d6.loss_plan_l1_fix_dist: 0.1710, d0.loss_cls_all: 0.1294, d0.loss_bbox_all: 0.3365, d0.loss_cls: 0.1294, d0.loss_bbox: 0.3365, d1.loss_cls: 0.1226, d1.loss_bbox: 0.3038, d2.loss_cls: 0.1058, d2.loss_bbox: 0.2853, d3.loss_cls: 0.0918, d3.loss_bbox: 0.2773, d4.loss_cls: 0.0838, d4.loss_bbox: 0.2767, d5.loss_cls: 0.0836, d5.loss_bbox: 0.2763, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7039, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5525, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4990, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4817, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4705, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4701, d0.loss_map_cls_all: 0.1717, d0.loss_map_pts_all: 0.9535, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1717, d0.loss_map_pts: 0.9535, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1398, d1.loss_map_pts: 0.6865, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1180, d2.loss_map_pts: 0.5420, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1080, d3.loss_map_pts: 0.4826, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1001, d4.loss_map_pts: 0.4631, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0961, d5.loss_map_pts: 0.4537, d5.loss_map_dir: 0.0055, loss: 21.8243, grad_norm: 141.4945 +2026-02-28 22:58:14,203 - DriveTransformer - INFO - Epoch [11][20850/39528] lr: 6.331e-05, eta: 4 days, 12:08:52, time: 0.721, data_time: 0.038, memory: 19865, loss_cls: 0.1009, loss_bbox: 0.2963, loss_traj: 0.5003, loss_traj_cls: 0.0022, loss_map_cls: 0.1018, loss_map_pts: 0.5067, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.5347, d0.loss_plan_l1_fix_dist: 0.4688, d1.loss_plan_l1_fix_time: 0.8020, d1.loss_plan_l1_fix_dist: 0.2016, d2.loss_plan_l1_fix_time: 0.7875, d2.loss_plan_l1_fix_dist: 0.1736, d3.loss_plan_l1_fix_time: 0.7853, d3.loss_plan_l1_fix_dist: 0.2054, d4.loss_plan_l1_fix_time: 0.7873, d4.loss_plan_l1_fix_dist: 0.1733, d5.loss_plan_l1_fix_time: 0.7898, d5.loss_plan_l1_fix_dist: 0.1684, d6.loss_plan_l1_fix_time: 0.7933, d6.loss_plan_l1_fix_dist: 0.1712, d0.loss_cls_all: 0.1435, d0.loss_bbox_all: 0.3470, d0.loss_cls: 0.1435, d0.loss_bbox: 0.3470, d1.loss_cls: 0.1357, d1.loss_bbox: 0.3211, d2.loss_cls: 0.1242, d2.loss_bbox: 0.3042, d3.loss_cls: 0.1085, d3.loss_bbox: 0.2980, d4.loss_cls: 0.1007, d4.loss_bbox: 0.2984, d5.loss_cls: 0.0999, d5.loss_bbox: 0.2980, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7319, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5781, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5273, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5036, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5005, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4996, d0.loss_map_cls_all: 0.1752, d0.loss_map_pts_all: 1.0236, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1752, d0.loss_map_pts: 1.0236, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1458, d1.loss_map_pts: 0.7500, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1242, d2.loss_map_pts: 0.6013, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1130, d3.loss_map_pts: 0.5390, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1058, d4.loss_map_pts: 0.5162, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1026, d5.loss_map_pts: 0.5071, d5.loss_map_dir: 0.0060, loss: 22.7159, grad_norm: 140.2119 +2026-02-28 22:58:49,434 - DriveTransformer - INFO - Epoch [11][20900/39528] lr: 6.331e-05, eta: 4 days, 12:08:12, time: 0.705, data_time: 0.036, memory: 19865, loss_cls: 0.1055, loss_bbox: 0.3046, loss_traj: 0.4724, loss_traj_cls: 0.0022, loss_map_cls: 0.1240, loss_map_pts: 0.5224, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.8352, d0.loss_plan_l1_fix_dist: 0.3212, d1.loss_plan_l1_fix_time: 0.8864, d1.loss_plan_l1_fix_dist: 0.1935, d2.loss_plan_l1_fix_time: 0.8762, d2.loss_plan_l1_fix_dist: 0.1735, d3.loss_plan_l1_fix_time: 0.8743, d3.loss_plan_l1_fix_dist: 0.2026, d4.loss_plan_l1_fix_time: 0.8758, d4.loss_plan_l1_fix_dist: 0.1712, d5.loss_plan_l1_fix_time: 0.8780, d5.loss_plan_l1_fix_dist: 0.1673, d6.loss_plan_l1_fix_time: 0.8808, d6.loss_plan_l1_fix_dist: 0.1756, d0.loss_cls_all: 0.1637, d0.loss_bbox_all: 0.3655, d0.loss_cls: 0.1637, d0.loss_bbox: 0.3655, d1.loss_cls: 0.1516, d1.loss_bbox: 0.3334, d2.loss_cls: 0.1329, d2.loss_bbox: 0.3121, d3.loss_cls: 0.1131, d3.loss_bbox: 0.3094, d4.loss_cls: 0.1067, d4.loss_bbox: 0.3054, d5.loss_cls: 0.1051, d5.loss_bbox: 0.3057, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6817, d1.loss_traj_cls: 0.0014, d1.loss_traj: 0.5577, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5049, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4863, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4793, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4749, d0.loss_map_cls_all: 0.2101, d0.loss_map_pts_all: 1.0077, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2101, d0.loss_map_pts: 1.0077, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1759, d1.loss_map_pts: 0.7470, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1517, d2.loss_map_pts: 0.6053, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1388, d3.loss_map_pts: 0.5465, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1304, d4.loss_map_pts: 0.5259, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1260, d5.loss_map_pts: 0.5225, d5.loss_map_dir: 0.0057, loss: 23.6195, grad_norm: 140.4089 +2026-02-28 22:59:27,926 - DriveTransformer - INFO - Epoch [11][20950/39528] lr: 6.331e-05, eta: 4 days, 12:07:41, time: 0.770, data_time: 0.039, memory: 19865, loss_cls: 0.0868, loss_bbox: 0.2753, loss_traj: 0.5588, loss_traj_cls: 0.0022, loss_map_cls: 0.0747, loss_map_pts: 0.4613, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.6397, d0.loss_plan_l1_fix_dist: 0.4102, d1.loss_plan_l1_fix_time: 0.8131, d1.loss_plan_l1_fix_dist: 0.2019, d2.loss_plan_l1_fix_time: 0.7905, d2.loss_plan_l1_fix_dist: 0.1969, d3.loss_plan_l1_fix_time: 0.7811, d3.loss_plan_l1_fix_dist: 0.2003, d4.loss_plan_l1_fix_time: 0.7823, d4.loss_plan_l1_fix_dist: 0.1725, d5.loss_plan_l1_fix_time: 0.7841, d5.loss_plan_l1_fix_dist: 0.1804, d6.loss_plan_l1_fix_time: 0.7865, d6.loss_plan_l1_fix_dist: 0.1907, d0.loss_cls_all: 0.1184, d0.loss_bbox_all: 0.3406, d0.loss_cls: 0.1184, d0.loss_bbox: 0.3406, d1.loss_cls: 0.1155, d1.loss_bbox: 0.3072, d2.loss_cls: 0.1064, d2.loss_bbox: 0.2866, d3.loss_cls: 0.0907, d3.loss_bbox: 0.2798, d4.loss_cls: 0.0858, d4.loss_bbox: 0.2778, d5.loss_cls: 0.0856, d5.loss_bbox: 0.2757, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8237, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.6550, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5880, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5651, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5622, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5467, d0.loss_map_cls_all: 0.1576, d0.loss_map_pts_all: 0.9678, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1576, d0.loss_map_pts: 0.9678, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1228, d1.loss_map_pts: 0.6866, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1018, d2.loss_map_pts: 0.5461, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0903, d3.loss_map_pts: 0.4893, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0835, d4.loss_map_pts: 0.4686, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0771, d5.loss_map_pts: 0.4613, d5.loss_map_dir: 0.0060, loss: 22.3904, grad_norm: 138.8420 +2026-02-28 23:00:05,229 - DriveTransformer - INFO - Epoch [11][21000/39528] lr: 6.331e-05, eta: 4 days, 12:07:07, time: 0.746, data_time: 0.038, memory: 19865, loss_cls: 0.0922, loss_bbox: 0.2713, loss_traj: 0.4705, loss_traj_cls: 0.0021, loss_map_cls: 0.1019, loss_map_pts: 0.5438, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.5852, d0.loss_plan_l1_fix_dist: 0.4277, d1.loss_plan_l1_fix_time: 0.7689, d1.loss_plan_l1_fix_dist: 0.1876, d2.loss_plan_l1_fix_time: 0.7569, d2.loss_plan_l1_fix_dist: 0.2055, d3.loss_plan_l1_fix_time: 0.7587, d3.loss_plan_l1_fix_dist: 0.1927, d4.loss_plan_l1_fix_time: 0.7610, d4.loss_plan_l1_fix_dist: 0.1626, d5.loss_plan_l1_fix_time: 0.7633, d5.loss_plan_l1_fix_dist: 0.1604, d6.loss_plan_l1_fix_time: 0.7658, d6.loss_plan_l1_fix_dist: 0.1629, d0.loss_cls_all: 0.1308, d0.loss_bbox_all: 0.3347, d0.loss_cls: 0.1308, d0.loss_bbox: 0.3347, d1.loss_cls: 0.1252, d1.loss_bbox: 0.2998, d2.loss_cls: 0.1174, d2.loss_bbox: 0.2803, d3.loss_cls: 0.0995, d3.loss_bbox: 0.2754, d4.loss_cls: 0.0960, d4.loss_bbox: 0.2710, d5.loss_cls: 0.0935, d5.loss_bbox: 0.2700, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6745, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5530, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5007, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4823, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4741, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4697, d0.loss_map_cls_all: 0.1847, d0.loss_map_pts_all: 1.1227, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1847, d0.loss_map_pts: 1.1227, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1566, d1.loss_map_pts: 0.8373, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1293, d2.loss_map_pts: 0.6557, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1171, d3.loss_map_pts: 0.5783, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1100, d4.loss_map_pts: 0.5516, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1039, d5.loss_map_pts: 0.5442, d5.loss_map_dir: 0.0060, loss: 22.6046, grad_norm: 137.1630 +2026-02-28 23:00:42,212 - DriveTransformer - INFO - Epoch [11][21050/39528] lr: 6.331e-05, eta: 4 days, 12:06:32, time: 0.740, data_time: 0.038, memory: 19865, loss_cls: 0.1178, loss_bbox: 0.3376, loss_traj: 0.5234, loss_traj_cls: 0.0021, loss_map_cls: 0.1467, loss_map_pts: 0.6788, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.7569, d0.loss_plan_l1_fix_dist: 0.4467, d1.loss_plan_l1_fix_time: 0.8921, d1.loss_plan_l1_fix_dist: 0.1939, d2.loss_plan_l1_fix_time: 0.8788, d2.loss_plan_l1_fix_dist: 0.2275, d3.loss_plan_l1_fix_time: 0.8789, d3.loss_plan_l1_fix_dist: 0.2104, d4.loss_plan_l1_fix_time: 0.8807, d4.loss_plan_l1_fix_dist: 0.1841, d5.loss_plan_l1_fix_time: 0.8824, d5.loss_plan_l1_fix_dist: 0.1755, d6.loss_plan_l1_fix_time: 0.8845, d6.loss_plan_l1_fix_dist: 0.1850, d0.loss_cls_all: 0.1729, d0.loss_bbox_all: 0.4129, d0.loss_cls: 0.1729, d0.loss_bbox: 0.4129, d1.loss_cls: 0.1659, d1.loss_bbox: 0.3754, d2.loss_cls: 0.1531, d2.loss_bbox: 0.3456, d3.loss_cls: 0.1286, d3.loss_bbox: 0.3379, d4.loss_cls: 0.1207, d4.loss_bbox: 0.3366, d5.loss_cls: 0.1181, d5.loss_bbox: 0.3362, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8392, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.6239, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5593, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5323, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5256, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5241, d0.loss_map_cls_all: 0.2367, d0.loss_map_pts_all: 1.3266, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2367, d0.loss_map_pts: 1.3266, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.2049, d1.loss_map_pts: 0.9955, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1802, d2.loss_map_pts: 0.8028, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1648, d3.loss_map_pts: 0.7184, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1555, d4.loss_map_pts: 0.6879, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1489, d5.loss_map_pts: 0.6790, d5.loss_map_dir: 0.0073, loss: 26.6040, grad_norm: 137.6206 +2026-02-28 23:01:20,362 - DriveTransformer - INFO - Epoch [11][21100/39528] lr: 6.331e-05, eta: 4 days, 12:06:00, time: 0.763, data_time: 0.042, memory: 19865, loss_cls: 0.0796, loss_bbox: 0.2676, loss_traj: 0.4391, loss_traj_cls: 0.0022, loss_map_cls: 0.1068, loss_map_pts: 0.5340, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.2861, d0.loss_plan_l1_fix_dist: 0.3902, d1.loss_plan_l1_fix_time: 0.7051, d1.loss_plan_l1_fix_dist: 0.1444, d2.loss_plan_l1_fix_time: 0.6912, d2.loss_plan_l1_fix_dist: 0.1880, d3.loss_plan_l1_fix_time: 0.6911, d3.loss_plan_l1_fix_dist: 0.1622, d4.loss_plan_l1_fix_time: 0.6928, d4.loss_plan_l1_fix_dist: 0.1375, d5.loss_plan_l1_fix_time: 0.6951, d5.loss_plan_l1_fix_dist: 0.1366, d6.loss_plan_l1_fix_time: 0.6976, d6.loss_plan_l1_fix_dist: 0.1453, d0.loss_cls_all: 0.1191, d0.loss_bbox_all: 0.3254, d0.loss_cls: 0.1191, d0.loss_bbox: 0.3254, d1.loss_cls: 0.1123, d1.loss_bbox: 0.2930, d2.loss_cls: 0.1004, d2.loss_bbox: 0.2746, d3.loss_cls: 0.0854, d3.loss_bbox: 0.2689, d4.loss_cls: 0.0817, d4.loss_bbox: 0.2661, d5.loss_cls: 0.0797, d5.loss_bbox: 0.2667, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6680, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5182, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4660, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4399, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4369, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4377, d0.loss_map_cls_all: 0.1829, d0.loss_map_pts_all: 1.1105, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1829, d0.loss_map_pts: 1.1105, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1531, d1.loss_map_pts: 0.7977, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1321, d2.loss_map_pts: 0.6286, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1205, d3.loss_map_pts: 0.5664, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1136, d4.loss_map_pts: 0.5407, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1089, d5.loss_map_pts: 0.5342, d5.loss_map_dir: 0.0063, loss: 21.2128, grad_norm: 137.5881 +2026-02-28 23:01:58,358 - DriveTransformer - INFO - Epoch [11][21150/39528] lr: 6.331e-05, eta: 4 days, 12:05:27, time: 0.760, data_time: 0.037, memory: 19865, loss_cls: 0.0762, loss_bbox: 0.2688, loss_traj: 0.3535, loss_traj_cls: 0.0022, loss_map_cls: 0.0990, loss_map_pts: 0.5457, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.5830, d0.loss_plan_l1_fix_dist: 0.4803, d1.loss_plan_l1_fix_time: 0.6771, d1.loss_plan_l1_fix_dist: 0.1580, d2.loss_plan_l1_fix_time: 0.6615, d2.loss_plan_l1_fix_dist: 0.1895, d3.loss_plan_l1_fix_time: 0.6602, d3.loss_plan_l1_fix_dist: 0.1733, d4.loss_plan_l1_fix_time: 0.6613, d4.loss_plan_l1_fix_dist: 0.1545, d5.loss_plan_l1_fix_time: 0.6629, d5.loss_plan_l1_fix_dist: 0.1492, d6.loss_plan_l1_fix_time: 0.6652, d6.loss_plan_l1_fix_dist: 0.1562, d0.loss_cls_all: 0.1229, d0.loss_bbox_all: 0.3339, d0.loss_cls: 0.1229, d0.loss_bbox: 0.3339, d1.loss_cls: 0.1147, d1.loss_bbox: 0.3004, d2.loss_cls: 0.0997, d2.loss_bbox: 0.2809, d3.loss_cls: 0.0814, d3.loss_bbox: 0.2752, d4.loss_cls: 0.0758, d4.loss_bbox: 0.2731, d5.loss_cls: 0.0751, d5.loss_bbox: 0.2705, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5608, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.4220, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3804, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3638, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3579, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3533, d0.loss_map_cls_all: 0.1812, d0.loss_map_pts_all: 1.1883, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1812, d0.loss_map_pts: 1.1883, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1496, d1.loss_map_pts: 0.8352, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1245, d2.loss_map_pts: 0.6527, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1141, d3.loss_map_pts: 0.5827, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1062, d4.loss_map_pts: 0.5534, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1008, d5.loss_map_pts: 0.5466, d5.loss_map_dir: 0.0069, loss: 21.1414, grad_norm: 134.1465 +2026-02-28 23:02:35,837 - DriveTransformer - INFO - Epoch [11][21200/39528] lr: 6.331e-05, eta: 4 days, 12:04:54, time: 0.751, data_time: 0.035, memory: 19865, loss_cls: 0.1033, loss_bbox: 0.2906, loss_traj: 0.4336, loss_traj_cls: 0.0021, loss_map_cls: 0.1180, loss_map_pts: 0.5996, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.4687, d0.loss_plan_l1_fix_dist: 0.4250, d1.loss_plan_l1_fix_time: 0.7042, d1.loss_plan_l1_fix_dist: 0.1752, d2.loss_plan_l1_fix_time: 0.6920, d2.loss_plan_l1_fix_dist: 0.1945, d3.loss_plan_l1_fix_time: 0.6882, d3.loss_plan_l1_fix_dist: 0.1818, d4.loss_plan_l1_fix_time: 0.6903, d4.loss_plan_l1_fix_dist: 0.1656, d5.loss_plan_l1_fix_time: 0.6929, d5.loss_plan_l1_fix_dist: 0.1629, d6.loss_plan_l1_fix_time: 0.6963, d6.loss_plan_l1_fix_dist: 0.1718, d0.loss_cls_all: 0.1457, d0.loss_bbox_all: 0.3593, d0.loss_cls: 0.1457, d0.loss_bbox: 0.3593, d1.loss_cls: 0.1439, d1.loss_bbox: 0.3223, d2.loss_cls: 0.1262, d2.loss_bbox: 0.3008, d3.loss_cls: 0.1095, d3.loss_bbox: 0.2938, d4.loss_cls: 0.1046, d4.loss_bbox: 0.2916, d5.loss_cls: 0.1028, d5.loss_bbox: 0.2910, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6599, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5011, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4563, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4413, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4339, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4302, d0.loss_map_cls_all: 0.2078, d0.loss_map_pts_all: 1.2222, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2078, d0.loss_map_pts: 1.2222, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1698, d1.loss_map_pts: 0.8984, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1453, d2.loss_map_pts: 0.7109, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1311, d3.loss_map_pts: 0.6360, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1245, d4.loss_map_pts: 0.6073, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1201, d5.loss_map_pts: 0.5996, d5.loss_map_dir: 0.0076, loss: 22.7435, grad_norm: 131.7762 +2026-02-28 23:03:11,216 - DriveTransformer - INFO - Epoch [11][21250/39528] lr: 6.331e-05, eta: 4 days, 12:04:14, time: 0.706, data_time: 0.034, memory: 19865, loss_cls: 0.1038, loss_bbox: 0.3060, loss_traj: 0.4827, loss_traj_cls: 0.0021, loss_map_cls: 0.1214, loss_map_pts: 0.5902, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.9072, d0.loss_plan_l1_fix_dist: 0.3585, d1.loss_plan_l1_fix_time: 0.8532, d1.loss_plan_l1_fix_dist: 0.2017, d2.loss_plan_l1_fix_time: 0.8376, d2.loss_plan_l1_fix_dist: 0.1827, d3.loss_plan_l1_fix_time: 0.8366, d3.loss_plan_l1_fix_dist: 0.1565, d4.loss_plan_l1_fix_time: 0.8382, d4.loss_plan_l1_fix_dist: 0.1543, d5.loss_plan_l1_fix_time: 0.8403, d5.loss_plan_l1_fix_dist: 0.1531, d6.loss_plan_l1_fix_time: 0.8428, d6.loss_plan_l1_fix_dist: 0.1572, d0.loss_cls_all: 0.1620, d0.loss_bbox_all: 0.3736, d0.loss_cls: 0.1620, d0.loss_bbox: 0.3736, d1.loss_cls: 0.1521, d1.loss_bbox: 0.3360, d2.loss_cls: 0.1342, d2.loss_bbox: 0.3135, d3.loss_cls: 0.1108, d3.loss_bbox: 0.3088, d4.loss_cls: 0.1032, d4.loss_bbox: 0.3067, d5.loss_cls: 0.1035, d5.loss_bbox: 0.3055, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7201, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5577, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5057, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4897, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4810, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4846, d0.loss_map_cls_all: 0.2069, d0.loss_map_pts_all: 1.1761, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2069, d0.loss_map_pts: 1.1761, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1747, d1.loss_map_pts: 0.8488, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1466, d2.loss_map_pts: 0.6836, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1348, d3.loss_map_pts: 0.6221, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1292, d4.loss_map_pts: 0.5941, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1231, d5.loss_map_pts: 0.5907, d5.loss_map_dir: 0.0071, loss: 24.2854, grad_norm: 131.2496 +2026-02-28 23:03:48,231 - DriveTransformer - INFO - Epoch [11][21300/39528] lr: 6.331e-05, eta: 4 days, 12:03:38, time: 0.740, data_time: 0.037, memory: 19865, loss_cls: 0.0993, loss_bbox: 0.3155, loss_traj: 0.4699, loss_traj_cls: 0.0021, loss_map_cls: 0.1001, loss_map_pts: 0.5365, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 3.1491, d0.loss_plan_l1_fix_dist: 0.5432, d1.loss_plan_l1_fix_time: 0.8219, d1.loss_plan_l1_fix_dist: 0.2546, d2.loss_plan_l1_fix_time: 0.7988, d2.loss_plan_l1_fix_dist: 0.2081, d3.loss_plan_l1_fix_time: 0.8000, d3.loss_plan_l1_fix_dist: 0.1881, d4.loss_plan_l1_fix_time: 0.8033, d4.loss_plan_l1_fix_dist: 0.1954, d5.loss_plan_l1_fix_time: 0.8074, d5.loss_plan_l1_fix_dist: 0.1940, d6.loss_plan_l1_fix_time: 0.8116, d6.loss_plan_l1_fix_dist: 0.2093, d0.loss_cls_all: 0.1556, d0.loss_bbox_all: 0.3760, d0.loss_cls: 0.1556, d0.loss_bbox: 0.3760, d1.loss_cls: 0.1486, d1.loss_bbox: 0.3423, d2.loss_cls: 0.1306, d2.loss_bbox: 0.3212, d3.loss_cls: 0.1077, d3.loss_bbox: 0.3165, d4.loss_cls: 0.1029, d4.loss_bbox: 0.3143, d5.loss_cls: 0.0985, d5.loss_bbox: 0.3159, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6951, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5438, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4866, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4748, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4707, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4708, d0.loss_map_cls_all: 0.1847, d0.loss_map_pts_all: 1.0881, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1847, d0.loss_map_pts: 1.0881, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1528, d1.loss_map_pts: 0.7685, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1291, d2.loss_map_pts: 0.6205, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1160, d3.loss_map_pts: 0.5609, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1093, d4.loss_map_pts: 0.5407, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1035, d5.loss_map_pts: 0.5361, d5.loss_map_dir: 0.0063, loss: 23.9511, grad_norm: 134.6044 +2026-02-28 23:04:25,844 - DriveTransformer - INFO - Epoch [11][21350/39528] lr: 6.331e-05, eta: 4 days, 12:03:05, time: 0.752, data_time: 0.040, memory: 19865, loss_cls: 0.0888, loss_bbox: 0.3017, loss_traj: 0.4731, loss_traj_cls: 0.0021, loss_map_cls: 0.0969, loss_map_pts: 0.5487, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.8519, d0.loss_plan_l1_fix_dist: 0.4356, d1.loss_plan_l1_fix_time: 0.7272, d1.loss_plan_l1_fix_dist: 0.2408, d2.loss_plan_l1_fix_time: 0.7151, d2.loss_plan_l1_fix_dist: 0.1858, d3.loss_plan_l1_fix_time: 0.7128, d3.loss_plan_l1_fix_dist: 0.1695, d4.loss_plan_l1_fix_time: 0.7171, d4.loss_plan_l1_fix_dist: 0.1721, d5.loss_plan_l1_fix_time: 0.7212, d5.loss_plan_l1_fix_dist: 0.1672, d6.loss_plan_l1_fix_time: 0.7252, d6.loss_plan_l1_fix_dist: 0.1777, d0.loss_cls_all: 0.1388, d0.loss_bbox_all: 0.3579, d0.loss_cls: 0.1388, d0.loss_bbox: 0.3579, d1.loss_cls: 0.1334, d1.loss_bbox: 0.3255, d2.loss_cls: 0.1190, d2.loss_bbox: 0.3058, d3.loss_cls: 0.0962, d3.loss_bbox: 0.3031, d4.loss_cls: 0.0902, d4.loss_bbox: 0.3015, d5.loss_cls: 0.0880, d5.loss_bbox: 0.3020, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6937, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5359, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4947, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4826, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4789, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4776, d0.loss_map_cls_all: 0.1653, d0.loss_map_pts_all: 1.1146, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1653, d0.loss_map_pts: 1.1146, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1375, d1.loss_map_pts: 0.8230, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1151, d2.loss_map_pts: 0.6557, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1074, d3.loss_map_pts: 0.5846, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1034, d4.loss_map_pts: 0.5561, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0997, d5.loss_map_pts: 0.5491, d5.loss_map_dir: 0.0063, loss: 22.7990, grad_norm: 134.7489 +2026-02-28 23:05:04,053 - DriveTransformer - INFO - Epoch [11][21400/39528] lr: 6.331e-05, eta: 4 days, 12:02:33, time: 0.764, data_time: 0.037, memory: 19865, loss_cls: 0.1110, loss_bbox: 0.3217, loss_traj: 0.3973, loss_traj_cls: 0.0020, loss_map_cls: 0.1290, loss_map_pts: 0.6495, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.6875, d0.loss_plan_l1_fix_dist: 0.4601, d1.loss_plan_l1_fix_time: 0.7284, d1.loss_plan_l1_fix_dist: 0.2350, d2.loss_plan_l1_fix_time: 0.7110, d2.loss_plan_l1_fix_dist: 0.1718, d3.loss_plan_l1_fix_time: 0.7099, d3.loss_plan_l1_fix_dist: 0.1725, d4.loss_plan_l1_fix_time: 0.7125, d4.loss_plan_l1_fix_dist: 0.1661, d5.loss_plan_l1_fix_time: 0.7156, d5.loss_plan_l1_fix_dist: 0.1624, d6.loss_plan_l1_fix_time: 0.7194, d6.loss_plan_l1_fix_dist: 0.1699, d0.loss_cls_all: 0.1660, d0.loss_bbox_all: 0.3973, d0.loss_cls: 0.1660, d0.loss_bbox: 0.3973, d1.loss_cls: 0.1555, d1.loss_bbox: 0.3605, d2.loss_cls: 0.1395, d2.loss_bbox: 0.3362, d3.loss_cls: 0.1168, d3.loss_bbox: 0.3302, d4.loss_cls: 0.1129, d4.loss_bbox: 0.3248, d5.loss_cls: 0.1114, d5.loss_bbox: 0.3220, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5997, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.4671, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4181, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4015, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3955, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.3903, d0.loss_map_cls_all: 0.2063, d0.loss_map_pts_all: 1.2695, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2063, d0.loss_map_pts: 1.2695, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1764, d1.loss_map_pts: 0.9419, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1516, d2.loss_map_pts: 0.7509, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1414, d3.loss_map_pts: 0.6808, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1354, d4.loss_map_pts: 0.6552, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1310, d5.loss_map_pts: 0.6506, d5.loss_map_dir: 0.0077, loss: 23.6718, grad_norm: 133.8127 +2026-02-28 23:05:40,969 - DriveTransformer - INFO - Epoch [11][21450/39528] lr: 6.331e-05, eta: 4 days, 12:01:58, time: 0.738, data_time: 0.039, memory: 19865, loss_cls: 0.0937, loss_bbox: 0.2755, loss_traj: 0.4738, loss_traj_cls: 0.0019, loss_map_cls: 0.0826, loss_map_pts: 0.4822, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.4247, d0.loss_plan_l1_fix_dist: 0.3825, d1.loss_plan_l1_fix_time: 0.6394, d1.loss_plan_l1_fix_dist: 0.2277, d2.loss_plan_l1_fix_time: 0.6228, d2.loss_plan_l1_fix_dist: 0.1611, d3.loss_plan_l1_fix_time: 0.6226, d3.loss_plan_l1_fix_dist: 0.1845, d4.loss_plan_l1_fix_time: 0.6259, d4.loss_plan_l1_fix_dist: 0.1603, d5.loss_plan_l1_fix_time: 0.6300, d5.loss_plan_l1_fix_dist: 0.1612, d6.loss_plan_l1_fix_time: 0.6353, d6.loss_plan_l1_fix_dist: 0.1681, d0.loss_cls_all: 0.1350, d0.loss_bbox_all: 0.3322, d0.loss_cls: 0.1350, d0.loss_bbox: 0.3322, d1.loss_cls: 0.1288, d1.loss_bbox: 0.3034, d2.loss_cls: 0.1153, d2.loss_bbox: 0.2849, d3.loss_cls: 0.0995, d3.loss_bbox: 0.2792, d4.loss_cls: 0.0950, d4.loss_bbox: 0.2770, d5.loss_cls: 0.0933, d5.loss_bbox: 0.2765, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7085, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5466, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4979, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4836, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4787, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4768, d0.loss_map_cls_all: 0.1551, d0.loss_map_pts_all: 0.9633, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1551, d0.loss_map_pts: 0.9633, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1227, d1.loss_map_pts: 0.6876, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1014, d2.loss_map_pts: 0.5616, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.0931, d3.loss_map_pts: 0.5133, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0880, d4.loss_map_pts: 0.4915, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0843, d5.loss_map_pts: 0.4826, d5.loss_map_dir: 0.0060, loss: 20.6526, grad_norm: 134.3442 +2026-02-28 23:06:17,755 - DriveTransformer - INFO - Epoch [11][21500/39528] lr: 6.331e-05, eta: 4 days, 12:01:22, time: 0.736, data_time: 0.036, memory: 19865, loss_cls: 0.0841, loss_bbox: 0.2657, loss_traj: 0.3971, loss_traj_cls: 0.0020, loss_map_cls: 0.0995, loss_map_pts: 0.5233, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.3819, d0.loss_plan_l1_fix_dist: 0.4384, d1.loss_plan_l1_fix_time: 0.7107, d1.loss_plan_l1_fix_dist: 0.2212, d2.loss_plan_l1_fix_time: 0.7014, d2.loss_plan_l1_fix_dist: 0.1632, d3.loss_plan_l1_fix_time: 0.6944, d3.loss_plan_l1_fix_dist: 0.1889, d4.loss_plan_l1_fix_time: 0.6957, d4.loss_plan_l1_fix_dist: 0.1473, d5.loss_plan_l1_fix_time: 0.6984, d5.loss_plan_l1_fix_dist: 0.1501, d6.loss_plan_l1_fix_time: 0.7022, d6.loss_plan_l1_fix_dist: 0.1546, d0.loss_cls_all: 0.1346, d0.loss_bbox_all: 0.3193, d0.loss_cls: 0.1346, d0.loss_bbox: 0.3193, d1.loss_cls: 0.1243, d1.loss_bbox: 0.2912, d2.loss_cls: 0.1082, d2.loss_bbox: 0.2724, d3.loss_cls: 0.0904, d3.loss_bbox: 0.2688, d4.loss_cls: 0.0848, d4.loss_bbox: 0.2655, d5.loss_cls: 0.0840, d5.loss_bbox: 0.2653, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5685, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.4472, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4115, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4021, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3992, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.3974, d0.loss_map_cls_all: 0.1715, d0.loss_map_pts_all: 1.0500, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1715, d0.loss_map_pts: 1.0500, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1456, d1.loss_map_pts: 0.7620, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1199, d2.loss_map_pts: 0.6024, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1118, d3.loss_map_pts: 0.5475, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1056, d4.loss_map_pts: 0.5296, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1022, d5.loss_map_pts: 0.5230, d5.loss_map_dir: 0.0061, loss: 20.8538, grad_norm: 135.1960 +2026-02-28 23:06:54,368 - DriveTransformer - INFO - Epoch [11][21550/39528] lr: 6.331e-05, eta: 4 days, 12:00:46, time: 0.732, data_time: 0.036, memory: 19865, loss_cls: 0.0995, loss_bbox: 0.2976, loss_traj: 0.4591, loss_traj_cls: 0.0020, loss_map_cls: 0.0982, loss_map_pts: 0.5444, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.5929, d0.loss_plan_l1_fix_dist: 0.3683, d1.loss_plan_l1_fix_time: 0.8082, d1.loss_plan_l1_fix_dist: 0.2210, d2.loss_plan_l1_fix_time: 0.7919, d2.loss_plan_l1_fix_dist: 0.1852, d3.loss_plan_l1_fix_time: 0.7906, d3.loss_plan_l1_fix_dist: 0.2118, d4.loss_plan_l1_fix_time: 0.7926, d4.loss_plan_l1_fix_dist: 0.1761, d5.loss_plan_l1_fix_time: 0.7949, d5.loss_plan_l1_fix_dist: 0.1724, d6.loss_plan_l1_fix_time: 0.7978, d6.loss_plan_l1_fix_dist: 0.1801, d0.loss_cls_all: 0.1482, d0.loss_bbox_all: 0.3592, d0.loss_cls: 0.1482, d0.loss_bbox: 0.3592, d1.loss_cls: 0.1387, d1.loss_bbox: 0.3255, d2.loss_cls: 0.1265, d2.loss_bbox: 0.3066, d3.loss_cls: 0.1092, d3.loss_bbox: 0.3007, d4.loss_cls: 0.1012, d4.loss_bbox: 0.2990, d5.loss_cls: 0.1004, d5.loss_bbox: 0.2972, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7325, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5673, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5002, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4738, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4684, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4610, d0.loss_map_cls_all: 0.1893, d0.loss_map_pts_all: 1.1226, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1893, d0.loss_map_pts: 1.1226, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1526, d1.loss_map_pts: 0.8312, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1261, d2.loss_map_pts: 0.6520, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1150, d3.loss_map_pts: 0.5779, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1069, d4.loss_map_pts: 0.5529, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1010, d5.loss_map_pts: 0.5447, d5.loss_map_dir: 0.0066, loss: 23.1475, grad_norm: 135.7949 +2026-02-28 23:07:32,304 - DriveTransformer - INFO - Epoch [11][21600/39528] lr: 6.331e-05, eta: 4 days, 12:00:13, time: 0.759, data_time: 0.037, memory: 19865, loss_cls: 0.0869, loss_bbox: 0.2943, loss_traj: 0.4686, loss_traj_cls: 0.0020, loss_map_cls: 0.1036, loss_map_pts: 0.5391, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.7267, d0.loss_plan_l1_fix_dist: 0.3675, d1.loss_plan_l1_fix_time: 0.8481, d1.loss_plan_l1_fix_dist: 0.2145, d2.loss_plan_l1_fix_time: 0.8404, d2.loss_plan_l1_fix_dist: 0.1900, d3.loss_plan_l1_fix_time: 0.8327, d3.loss_plan_l1_fix_dist: 0.2125, d4.loss_plan_l1_fix_time: 0.8359, d4.loss_plan_l1_fix_dist: 0.1753, d5.loss_plan_l1_fix_time: 0.8397, d5.loss_plan_l1_fix_dist: 0.1701, d6.loss_plan_l1_fix_time: 0.8444, d6.loss_plan_l1_fix_dist: 0.1758, d0.loss_cls_all: 0.1317, d0.loss_bbox_all: 0.3533, d0.loss_cls: 0.1317, d0.loss_bbox: 0.3533, d1.loss_cls: 0.1277, d1.loss_bbox: 0.3209, d2.loss_cls: 0.1137, d2.loss_bbox: 0.2959, d3.loss_cls: 0.0982, d3.loss_bbox: 0.2901, d4.loss_cls: 0.0882, d4.loss_bbox: 0.2926, d5.loss_cls: 0.0859, d5.loss_bbox: 0.2938, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6949, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5478, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4907, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4738, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4734, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4705, d0.loss_map_cls_all: 0.1763, d0.loss_map_pts_all: 1.0860, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1763, d0.loss_map_pts: 1.0860, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1474, d1.loss_map_pts: 0.7966, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1255, d2.loss_map_pts: 0.6428, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1145, d3.loss_map_pts: 0.5760, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1094, d4.loss_map_pts: 0.5489, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1064, d5.loss_map_pts: 0.5398, d5.loss_map_dir: 0.0068, loss: 23.1870, grad_norm: 139.0868 +2026-02-28 23:08:07,359 - DriveTransformer - INFO - Epoch [11][21650/39528] lr: 6.331e-05, eta: 4 days, 11:59:32, time: 0.701, data_time: 0.037, memory: 19865, loss_cls: 0.0909, loss_bbox: 0.2826, loss_traj: 0.4894, loss_traj_cls: 0.0020, loss_map_cls: 0.0981, loss_map_pts: 0.4553, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.6759, d0.loss_plan_l1_fix_dist: 0.3726, d1.loss_plan_l1_fix_time: 0.8051, d1.loss_plan_l1_fix_dist: 0.1896, d2.loss_plan_l1_fix_time: 0.7839, d2.loss_plan_l1_fix_dist: 0.1725, d3.loss_plan_l1_fix_time: 0.7716, d3.loss_plan_l1_fix_dist: 0.1914, d4.loss_plan_l1_fix_time: 0.7742, d4.loss_plan_l1_fix_dist: 0.1665, d5.loss_plan_l1_fix_time: 0.7771, d5.loss_plan_l1_fix_dist: 0.1611, d6.loss_plan_l1_fix_time: 0.7808, d6.loss_plan_l1_fix_dist: 0.1712, d0.loss_cls_all: 0.1367, d0.loss_bbox_all: 0.3432, d0.loss_cls: 0.1367, d0.loss_bbox: 0.3432, d1.loss_cls: 0.1312, d1.loss_bbox: 0.3058, d2.loss_cls: 0.1203, d2.loss_bbox: 0.2837, d3.loss_cls: 0.0996, d3.loss_bbox: 0.2797, d4.loss_cls: 0.0933, d4.loss_bbox: 0.2791, d5.loss_cls: 0.0910, d5.loss_bbox: 0.2810, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7347, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5766, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5266, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4987, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4921, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4880, d0.loss_map_cls_all: 0.1780, d0.loss_map_pts_all: 0.9946, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1780, d0.loss_map_pts: 0.9946, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1461, d1.loss_map_pts: 0.6986, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1220, d2.loss_map_pts: 0.5425, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.1127, d3.loss_map_pts: 0.4816, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1055, d4.loss_map_pts: 0.4632, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.1011, d5.loss_map_pts: 0.4548, d5.loss_map_dir: 0.0052, loss: 22.0724, grad_norm: 137.1491 +2026-02-28 23:08:42,911 - DriveTransformer - INFO - Epoch [11][21700/39528] lr: 6.331e-05, eta: 4 days, 11:58:53, time: 0.711, data_time: 0.036, memory: 19865, loss_cls: 0.0808, loss_bbox: 0.2719, loss_traj: 0.4354, loss_traj_cls: 0.0020, loss_map_cls: 0.1050, loss_map_pts: 0.5002, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.5480, d0.loss_plan_l1_fix_dist: 0.3987, d1.loss_plan_l1_fix_time: 0.8260, d1.loss_plan_l1_fix_dist: 0.1751, d2.loss_plan_l1_fix_time: 0.8129, d2.loss_plan_l1_fix_dist: 0.1680, d3.loss_plan_l1_fix_time: 0.8261, d3.loss_plan_l1_fix_dist: 0.1904, d4.loss_plan_l1_fix_time: 0.8303, d4.loss_plan_l1_fix_dist: 0.1775, d5.loss_plan_l1_fix_time: 0.8342, d5.loss_plan_l1_fix_dist: 0.1637, d6.loss_plan_l1_fix_time: 0.8380, d6.loss_plan_l1_fix_dist: 0.1720, d0.loss_cls_all: 0.1298, d0.loss_bbox_all: 0.3387, d0.loss_cls: 0.1298, d0.loss_bbox: 0.3387, d1.loss_cls: 0.1238, d1.loss_bbox: 0.3034, d2.loss_cls: 0.1122, d2.loss_bbox: 0.2812, d3.loss_cls: 0.0920, d3.loss_bbox: 0.2740, d4.loss_cls: 0.0842, d4.loss_bbox: 0.2738, d5.loss_cls: 0.0815, d5.loss_bbox: 0.2718, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6575, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5218, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4636, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4435, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4419, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4365, d0.loss_map_cls_all: 0.1919, d0.loss_map_pts_all: 1.0949, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1919, d0.loss_map_pts: 1.0949, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1534, d1.loss_map_pts: 0.7844, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1276, d2.loss_map_pts: 0.6096, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1184, d3.loss_map_pts: 0.5387, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1105, d4.loss_map_pts: 0.5102, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1060, d5.loss_map_pts: 0.5017, d5.loss_map_dir: 0.0063, loss: 22.3463, grad_norm: 137.0731 +2026-02-28 23:09:19,843 - DriveTransformer - INFO - Epoch [11][21750/39528] lr: 6.331e-05, eta: 4 days, 11:58:17, time: 0.739, data_time: 0.038, memory: 19865, loss_cls: 0.0981, loss_bbox: 0.2966, loss_traj: 0.4507, loss_traj_cls: 0.0020, loss_map_cls: 0.1134, loss_map_pts: 0.5565, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.8910, d0.loss_plan_l1_fix_dist: 0.4312, d1.loss_plan_l1_fix_time: 0.7548, d1.loss_plan_l1_fix_dist: 0.1599, d2.loss_plan_l1_fix_time: 0.7418, d2.loss_plan_l1_fix_dist: 0.1814, d3.loss_plan_l1_fix_time: 0.7444, d3.loss_plan_l1_fix_dist: 0.1818, d4.loss_plan_l1_fix_time: 0.7481, d4.loss_plan_l1_fix_dist: 0.1745, d5.loss_plan_l1_fix_time: 0.7524, d5.loss_plan_l1_fix_dist: 0.1673, d6.loss_plan_l1_fix_time: 0.7569, d6.loss_plan_l1_fix_dist: 0.1786, d0.loss_cls_all: 0.1530, d0.loss_bbox_all: 0.3565, d0.loss_cls: 0.1530, d0.loss_bbox: 0.3565, d1.loss_cls: 0.1475, d1.loss_bbox: 0.3217, d2.loss_cls: 0.1339, d2.loss_bbox: 0.3021, d3.loss_cls: 0.1067, d3.loss_bbox: 0.3000, d4.loss_cls: 0.1004, d4.loss_bbox: 0.2972, d5.loss_cls: 0.0975, d5.loss_bbox: 0.2980, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6361, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5207, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4651, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4563, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4518, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4496, d0.loss_map_cls_all: 0.2009, d0.loss_map_pts_all: 1.0797, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2009, d0.loss_map_pts: 1.0797, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1650, d1.loss_map_pts: 0.7882, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1365, d2.loss_map_pts: 0.6348, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1268, d3.loss_map_pts: 0.5767, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1204, d4.loss_map_pts: 0.5590, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1169, d5.loss_map_pts: 0.5540, d5.loss_map_dir: 0.0068, loss: 22.8838, grad_norm: 140.7949 +2026-02-28 23:09:56,154 - DriveTransformer - INFO - Epoch [11][21800/39528] lr: 6.331e-05, eta: 4 days, 11:57:40, time: 0.726, data_time: 0.037, memory: 19865, loss_cls: 0.0986, loss_bbox: 0.2894, loss_traj: 0.4791, loss_traj_cls: 0.0021, loss_map_cls: 0.0978, loss_map_pts: 0.4742, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.3031, d0.loss_plan_l1_fix_dist: 0.3441, d1.loss_plan_l1_fix_time: 0.7884, d1.loss_plan_l1_fix_dist: 0.1331, d2.loss_plan_l1_fix_time: 0.7805, d2.loss_plan_l1_fix_dist: 0.1714, d3.loss_plan_l1_fix_time: 0.7762, d3.loss_plan_l1_fix_dist: 0.1585, d4.loss_plan_l1_fix_time: 0.7783, d4.loss_plan_l1_fix_dist: 0.1567, d5.loss_plan_l1_fix_time: 0.7817, d5.loss_plan_l1_fix_dist: 0.1460, d6.loss_plan_l1_fix_time: 0.7861, d6.loss_plan_l1_fix_dist: 0.1563, d0.loss_cls_all: 0.1460, d0.loss_bbox_all: 0.3428, d0.loss_cls: 0.1460, d0.loss_bbox: 0.3428, d1.loss_cls: 0.1340, d1.loss_bbox: 0.3112, d2.loss_cls: 0.1208, d2.loss_bbox: 0.2944, d3.loss_cls: 0.1030, d3.loss_bbox: 0.2909, d4.loss_cls: 0.0993, d4.loss_bbox: 0.2895, d5.loss_cls: 0.0993, d5.loss_bbox: 0.2887, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7397, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5466, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5008, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4859, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4786, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4802, d0.loss_map_cls_all: 0.1806, d0.loss_map_pts_all: 1.0085, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1806, d0.loss_map_pts: 1.0085, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1503, d1.loss_map_pts: 0.7181, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1244, d2.loss_map_pts: 0.5607, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1125, d3.loss_map_pts: 0.4997, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1047, d4.loss_map_pts: 0.4770, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1007, d5.loss_map_pts: 0.4721, d5.loss_map_dir: 0.0059, loss: 21.6926, grad_norm: 141.0395 +2026-02-28 23:10:32,274 - DriveTransformer - INFO - Epoch [11][21850/39528] lr: 6.331e-05, eta: 4 days, 11:57:02, time: 0.722, data_time: 0.037, memory: 19865, loss_cls: 0.0969, loss_bbox: 0.2775, loss_traj: 0.5216, loss_traj_cls: 0.0021, loss_map_cls: 0.0914, loss_map_pts: 0.4402, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.3631, d0.loss_plan_l1_fix_dist: 0.4239, d1.loss_plan_l1_fix_time: 0.7048, d1.loss_plan_l1_fix_dist: 0.1476, d2.loss_plan_l1_fix_time: 0.6987, d2.loss_plan_l1_fix_dist: 0.1850, d3.loss_plan_l1_fix_time: 0.6997, d3.loss_plan_l1_fix_dist: 0.1698, d4.loss_plan_l1_fix_time: 0.7022, d4.loss_plan_l1_fix_dist: 0.1596, d5.loss_plan_l1_fix_time: 0.7043, d5.loss_plan_l1_fix_dist: 0.1481, d6.loss_plan_l1_fix_time: 0.7064, d6.loss_plan_l1_fix_dist: 0.1595, d0.loss_cls_all: 0.1359, d0.loss_bbox_all: 0.3345, d0.loss_cls: 0.1359, d0.loss_bbox: 0.3345, d1.loss_cls: 0.1285, d1.loss_bbox: 0.3013, d2.loss_cls: 0.1169, d2.loss_bbox: 0.2841, d3.loss_cls: 0.1012, d3.loss_bbox: 0.2825, d4.loss_cls: 0.0960, d4.loss_bbox: 0.2805, d5.loss_cls: 0.0955, d5.loss_bbox: 0.2787, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7979, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.6283, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5578, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5434, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5385, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5343, d0.loss_map_cls_all: 0.1564, d0.loss_map_pts_all: 0.9446, d0.loss_map_dir_all: 0.0050, d0.loss_map_cls: 0.1564, d0.loss_map_pts: 0.9446, d0.loss_map_dir: 0.0050, d1.loss_map_cls: 0.1311, d1.loss_map_pts: 0.6745, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1112, d2.loss_map_pts: 0.5282, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1018, d3.loss_map_pts: 0.4685, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0955, d4.loss_map_pts: 0.4460, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0928, d5.loss_map_pts: 0.4402, d5.loss_map_dir: 0.0052, loss: 21.2453, grad_norm: 142.0910 +2026-02-28 23:11:08,718 - DriveTransformer - INFO - Epoch [11][21900/39528] lr: 6.331e-05, eta: 4 days, 11:56:25, time: 0.729, data_time: 0.038, memory: 19865, loss_cls: 0.0995, loss_bbox: 0.2873, loss_traj: 0.4495, loss_traj_cls: 0.0021, loss_map_cls: 0.0882, loss_map_pts: 0.4427, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.6314, d0.loss_plan_l1_fix_dist: 0.3686, d1.loss_plan_l1_fix_time: 0.7069, d1.loss_plan_l1_fix_dist: 0.1593, d2.loss_plan_l1_fix_time: 0.6988, d2.loss_plan_l1_fix_dist: 0.1911, d3.loss_plan_l1_fix_time: 0.6957, d3.loss_plan_l1_fix_dist: 0.1681, d4.loss_plan_l1_fix_time: 0.6966, d4.loss_plan_l1_fix_dist: 0.1619, d5.loss_plan_l1_fix_time: 0.6984, d5.loss_plan_l1_fix_dist: 0.1525, d6.loss_plan_l1_fix_time: 0.6998, d6.loss_plan_l1_fix_dist: 0.1586, d0.loss_cls_all: 0.1424, d0.loss_bbox_all: 0.3425, d0.loss_cls: 0.1424, d0.loss_bbox: 0.3425, d1.loss_cls: 0.1327, d1.loss_bbox: 0.3144, d2.loss_cls: 0.1246, d2.loss_bbox: 0.2928, d3.loss_cls: 0.1081, d3.loss_bbox: 0.2869, d4.loss_cls: 0.1005, d4.loss_bbox: 0.2859, d5.loss_cls: 0.0997, d5.loss_bbox: 0.2862, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6689, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5311, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4759, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4591, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4528, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4512, d0.loss_map_cls_all: 0.1687, d0.loss_map_pts_all: 0.9745, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1687, d0.loss_map_pts: 0.9745, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1373, d1.loss_map_pts: 0.6828, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1112, d2.loss_map_pts: 0.5320, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1005, d3.loss_map_pts: 0.4714, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0943, d4.loss_map_pts: 0.4471, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0898, d5.loss_map_pts: 0.4427, d5.loss_map_dir: 0.0054, loss: 21.0416, grad_norm: 143.0500 +2026-02-28 23:11:44,312 - DriveTransformer - INFO - Epoch [11][21950/39528] lr: 6.331e-05, eta: 4 days, 11:55:46, time: 0.712, data_time: 0.038, memory: 19865, loss_cls: 0.0898, loss_bbox: 0.2767, loss_traj: 0.5067, loss_traj_cls: 0.0021, loss_map_cls: 0.0911, loss_map_pts: 0.4928, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.3422, d0.loss_plan_l1_fix_dist: 0.4504, d1.loss_plan_l1_fix_time: 0.6732, d1.loss_plan_l1_fix_dist: 0.1732, d2.loss_plan_l1_fix_time: 0.6534, d2.loss_plan_l1_fix_dist: 0.1906, d3.loss_plan_l1_fix_time: 0.6455, d3.loss_plan_l1_fix_dist: 0.1539, d4.loss_plan_l1_fix_time: 0.6482, d4.loss_plan_l1_fix_dist: 0.1652, d5.loss_plan_l1_fix_time: 0.6503, d5.loss_plan_l1_fix_dist: 0.1544, d6.loss_plan_l1_fix_time: 0.6523, d6.loss_plan_l1_fix_dist: 0.1666, d0.loss_cls_all: 0.1342, d0.loss_bbox_all: 0.3341, d0.loss_cls: 0.1342, d0.loss_bbox: 0.3341, d1.loss_cls: 0.1249, d1.loss_bbox: 0.3039, d2.loss_cls: 0.1116, d2.loss_bbox: 0.2834, d3.loss_cls: 0.0967, d3.loss_bbox: 0.2790, d4.loss_cls: 0.0932, d4.loss_bbox: 0.2755, d5.loss_cls: 0.0906, d5.loss_bbox: 0.2765, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7368, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5782, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5273, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5163, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5109, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5102, d0.loss_map_cls_all: 0.1813, d0.loss_map_pts_all: 1.0529, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1813, d0.loss_map_pts: 1.0529, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1455, d1.loss_map_pts: 0.7581, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1177, d2.loss_map_pts: 0.5927, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1064, d3.loss_map_pts: 0.5229, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1001, d4.loss_map_pts: 0.4971, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0937, d5.loss_map_pts: 0.4915, d5.loss_map_dir: 0.0058, loss: 21.3760, grad_norm: 139.8023 +2026-02-28 23:12:21,333 - DriveTransformer - INFO - Epoch [11][22000/39528] lr: 6.331e-05, eta: 4 days, 11:55:11, time: 0.742, data_time: 0.038, memory: 19865, loss_cls: 0.1004, loss_bbox: 0.2940, loss_traj: 0.4551, loss_traj_cls: 0.0021, loss_map_cls: 0.0862, loss_map_pts: 0.4891, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.3388, d0.loss_plan_l1_fix_dist: 0.3834, d1.loss_plan_l1_fix_time: 0.6718, d1.loss_plan_l1_fix_dist: 0.1868, d2.loss_plan_l1_fix_time: 0.6581, d2.loss_plan_l1_fix_dist: 0.1868, d3.loss_plan_l1_fix_time: 0.6524, d3.loss_plan_l1_fix_dist: 0.1447, d4.loss_plan_l1_fix_time: 0.6554, d4.loss_plan_l1_fix_dist: 0.1659, d5.loss_plan_l1_fix_time: 0.6587, d5.loss_plan_l1_fix_dist: 0.1630, d6.loss_plan_l1_fix_time: 0.6624, d6.loss_plan_l1_fix_dist: 0.1777, d0.loss_cls_all: 0.1398, d0.loss_bbox_all: 0.3514, d0.loss_cls: 0.1398, d0.loss_bbox: 0.3514, d1.loss_cls: 0.1340, d1.loss_bbox: 0.3225, d2.loss_cls: 0.1228, d2.loss_bbox: 0.3018, d3.loss_cls: 0.1066, d3.loss_bbox: 0.2977, d4.loss_cls: 0.1020, d4.loss_bbox: 0.2942, d5.loss_cls: 0.0997, d5.loss_bbox: 0.2945, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6863, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5338, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4824, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4701, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4590, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4560, d0.loss_map_cls_all: 0.1516, d0.loss_map_pts_all: 1.0154, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1516, d0.loss_map_pts: 1.0154, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1250, d1.loss_map_pts: 0.7238, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1067, d2.loss_map_pts: 0.5771, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.0989, d3.loss_map_pts: 0.5229, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.0927, d4.loss_map_pts: 0.4983, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0886, d5.loss_map_pts: 0.4898, d5.loss_map_dir: 0.0064, loss: 20.9939, grad_norm: 141.4300 +2026-02-28 23:12:57,638 - DriveTransformer - INFO - Epoch [11][22050/39528] lr: 6.331e-05, eta: 4 days, 11:54:33, time: 0.725, data_time: 0.036, memory: 19865, loss_cls: 0.0859, loss_bbox: 0.2996, loss_traj: 0.5370, loss_traj_cls: 0.0022, loss_map_cls: 0.1031, loss_map_pts: 0.5140, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.6059, d0.loss_plan_l1_fix_dist: 0.4378, d1.loss_plan_l1_fix_time: 0.7339, d1.loss_plan_l1_fix_dist: 0.1988, d2.loss_plan_l1_fix_time: 0.7229, d2.loss_plan_l1_fix_dist: 0.1759, d3.loss_plan_l1_fix_time: 0.7174, d3.loss_plan_l1_fix_dist: 0.1651, d4.loss_plan_l1_fix_time: 0.7198, d4.loss_plan_l1_fix_dist: 0.1609, d5.loss_plan_l1_fix_time: 0.7229, d5.loss_plan_l1_fix_dist: 0.1568, d6.loss_plan_l1_fix_time: 0.7265, d6.loss_plan_l1_fix_dist: 0.1539, d0.loss_cls_all: 0.1357, d0.loss_bbox_all: 0.3616, d0.loss_cls: 0.1357, d0.loss_bbox: 0.3616, d1.loss_cls: 0.1264, d1.loss_bbox: 0.3297, d2.loss_cls: 0.1115, d2.loss_bbox: 0.3074, d3.loss_cls: 0.0952, d3.loss_bbox: 0.3033, d4.loss_cls: 0.0891, d4.loss_bbox: 0.3005, d5.loss_cls: 0.0872, d5.loss_bbox: 0.2988, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8005, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.6186, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5578, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5385, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5383, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5334, d0.loss_map_cls_all: 0.1852, d0.loss_map_pts_all: 1.0365, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1852, d0.loss_map_pts: 1.0365, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1563, d1.loss_map_pts: 0.7508, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1292, d2.loss_map_pts: 0.5923, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1187, d3.loss_map_pts: 0.5379, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1104, d4.loss_map_pts: 0.5166, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1052, d5.loss_map_pts: 0.5133, d5.loss_map_dir: 0.0059, loss: 22.5984, grad_norm: 132.8838 +2026-02-28 23:13:33,838 - DriveTransformer - INFO - Epoch [11][22100/39528] lr: 6.331e-05, eta: 4 days, 11:53:56, time: 0.724, data_time: 0.038, memory: 19865, loss_cls: 0.0980, loss_bbox: 0.2940, loss_traj: 0.4766, loss_traj_cls: 0.0022, loss_map_cls: 0.0970, loss_map_pts: 0.5132, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.4592, d0.loss_plan_l1_fix_dist: 0.4018, d1.loss_plan_l1_fix_time: 0.7357, d1.loss_plan_l1_fix_dist: 0.1951, d2.loss_plan_l1_fix_time: 0.7160, d2.loss_plan_l1_fix_dist: 0.1593, d3.loss_plan_l1_fix_time: 0.7134, d3.loss_plan_l1_fix_dist: 0.1830, d4.loss_plan_l1_fix_time: 0.7155, d4.loss_plan_l1_fix_dist: 0.1593, d5.loss_plan_l1_fix_time: 0.7192, d5.loss_plan_l1_fix_dist: 0.1573, d6.loss_plan_l1_fix_time: 0.7238, d6.loss_plan_l1_fix_dist: 0.1626, d0.loss_cls_all: 0.1478, d0.loss_bbox_all: 0.3646, d0.loss_cls: 0.1478, d0.loss_bbox: 0.3646, d1.loss_cls: 0.1372, d1.loss_bbox: 0.3301, d2.loss_cls: 0.1225, d2.loss_bbox: 0.3059, d3.loss_cls: 0.1048, d3.loss_bbox: 0.3004, d4.loss_cls: 0.0993, d4.loss_bbox: 0.2967, d5.loss_cls: 0.0975, d5.loss_bbox: 0.2954, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7390, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5760, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5083, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4887, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4825, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4798, d0.loss_map_cls_all: 0.1801, d0.loss_map_pts_all: 1.0363, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1801, d0.loss_map_pts: 1.0363, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1489, d1.loss_map_pts: 0.7505, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1257, d2.loss_map_pts: 0.5986, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1136, d3.loss_map_pts: 0.5403, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1052, d4.loss_map_pts: 0.5200, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0997, d5.loss_map_pts: 0.5135, d5.loss_map_dir: 0.0059, loss: 22.0729, grad_norm: 133.7193 +2026-02-28 23:14:13,111 - DriveTransformer - INFO - Epoch [11][22150/39528] lr: 6.331e-05, eta: 4 days, 11:53:27, time: 0.785, data_time: 0.039, memory: 19865, loss_cls: 0.0942, loss_bbox: 0.2759, loss_traj: 0.4365, loss_traj_cls: 0.0023, loss_map_cls: 0.0999, loss_map_pts: 0.5601, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.5135, d0.loss_plan_l1_fix_dist: 0.3626, d1.loss_plan_l1_fix_time: 0.7596, d1.loss_plan_l1_fix_dist: 0.2140, d2.loss_plan_l1_fix_time: 0.7500, d2.loss_plan_l1_fix_dist: 0.1600, d3.loss_plan_l1_fix_time: 0.7368, d3.loss_plan_l1_fix_dist: 0.1963, d4.loss_plan_l1_fix_time: 0.7403, d4.loss_plan_l1_fix_dist: 0.1540, d5.loss_plan_l1_fix_time: 0.7454, d5.loss_plan_l1_fix_dist: 0.1538, d6.loss_plan_l1_fix_time: 0.7515, d6.loss_plan_l1_fix_dist: 0.1579, d0.loss_cls_all: 0.1383, d0.loss_bbox_all: 0.3348, d0.loss_cls: 0.1383, d0.loss_bbox: 0.3348, d1.loss_cls: 0.1311, d1.loss_bbox: 0.3053, d2.loss_cls: 0.1181, d2.loss_bbox: 0.2857, d3.loss_cls: 0.1040, d3.loss_bbox: 0.2786, d4.loss_cls: 0.0946, d4.loss_bbox: 0.2777, d5.loss_cls: 0.0937, d5.loss_bbox: 0.2760, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6786, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5277, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4610, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4470, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4401, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4368, d0.loss_map_cls_all: 0.1732, d0.loss_map_pts_all: 1.1134, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1732, d0.loss_map_pts: 1.1134, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1435, d1.loss_map_pts: 0.8100, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1237, d2.loss_map_pts: 0.6432, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1137, d3.loss_map_pts: 0.5848, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1085, d4.loss_map_pts: 0.5630, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1022, d5.loss_map_pts: 0.5599, d5.loss_map_dir: 0.0072, loss: 22.1563, grad_norm: 134.9255 +2026-02-28 23:14:49,569 - DriveTransformer - INFO - Epoch [11][22200/39528] lr: 6.331e-05, eta: 4 days, 11:52:50, time: 0.729, data_time: 0.038, memory: 19865, loss_cls: 0.0879, loss_bbox: 0.2725, loss_traj: 0.4409, loss_traj_cls: 0.0022, loss_map_cls: 0.0773, loss_map_pts: 0.4789, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.4402, d0.loss_plan_l1_fix_dist: 0.3450, d1.loss_plan_l1_fix_time: 0.7577, d1.loss_plan_l1_fix_dist: 0.1967, d2.loss_plan_l1_fix_time: 0.7533, d2.loss_plan_l1_fix_dist: 0.1464, d3.loss_plan_l1_fix_time: 0.7548, d3.loss_plan_l1_fix_dist: 0.1878, d4.loss_plan_l1_fix_time: 0.7599, d4.loss_plan_l1_fix_dist: 0.1475, d5.loss_plan_l1_fix_time: 0.7651, d5.loss_plan_l1_fix_dist: 0.1442, d6.loss_plan_l1_fix_time: 0.7712, d6.loss_plan_l1_fix_dist: 0.1437, d0.loss_cls_all: 0.1274, d0.loss_bbox_all: 0.3319, d0.loss_cls: 0.1274, d0.loss_bbox: 0.3319, d1.loss_cls: 0.1264, d1.loss_bbox: 0.2989, d2.loss_cls: 0.1124, d2.loss_bbox: 0.2805, d3.loss_cls: 0.0955, d3.loss_bbox: 0.2755, d4.loss_cls: 0.0920, d4.loss_bbox: 0.2728, d5.loss_cls: 0.0892, d5.loss_bbox: 0.2715, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6322, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.4975, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4542, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4370, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4370, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4362, d0.loss_map_cls_all: 0.1468, d0.loss_map_pts_all: 1.0122, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1468, d0.loss_map_pts: 1.0122, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1154, d1.loss_map_pts: 0.7194, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.0957, d2.loss_map_pts: 0.5595, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.0878, d3.loss_map_pts: 0.5030, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0835, d4.loss_map_pts: 0.4835, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0801, d5.loss_map_pts: 0.4785, d5.loss_map_dir: 0.0062, loss: 20.9820, grad_norm: 135.0242 +2026-02-28 23:15:26,408 - DriveTransformer - INFO - Epoch [11][22250/39528] lr: 6.331e-05, eta: 4 days, 11:52:14, time: 0.737, data_time: 0.037, memory: 19865, loss_cls: 0.0949, loss_bbox: 0.2801, loss_traj: 0.4166, loss_traj_cls: 0.0022, loss_map_cls: 0.0897, loss_map_pts: 0.5281, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.6558, d0.loss_plan_l1_fix_dist: 0.4177, d1.loss_plan_l1_fix_time: 0.7345, d1.loss_plan_l1_fix_dist: 0.2338, d2.loss_plan_l1_fix_time: 0.7286, d2.loss_plan_l1_fix_dist: 0.2001, d3.loss_plan_l1_fix_time: 0.7323, d3.loss_plan_l1_fix_dist: 0.2391, d4.loss_plan_l1_fix_time: 0.7368, d4.loss_plan_l1_fix_dist: 0.1882, d5.loss_plan_l1_fix_time: 0.7407, d5.loss_plan_l1_fix_dist: 0.1777, d6.loss_plan_l1_fix_time: 0.7450, d6.loss_plan_l1_fix_dist: 0.1837, d0.loss_cls_all: 0.1384, d0.loss_bbox_all: 0.3444, d0.loss_cls: 0.1384, d0.loss_bbox: 0.3444, d1.loss_cls: 0.1323, d1.loss_bbox: 0.3138, d2.loss_cls: 0.1204, d2.loss_bbox: 0.2887, d3.loss_cls: 0.1031, d3.loss_bbox: 0.2837, d4.loss_cls: 0.0980, d4.loss_bbox: 0.2816, d5.loss_cls: 0.0948, d5.loss_bbox: 0.2813, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6384, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5005, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4454, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4259, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4183, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4198, d0.loss_map_cls_all: 0.1727, d0.loss_map_pts_all: 1.0432, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1727, d0.loss_map_pts: 1.0432, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1359, d1.loss_map_pts: 0.7653, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1134, d2.loss_map_pts: 0.6146, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1034, d3.loss_map_pts: 0.5569, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.0962, d4.loss_map_pts: 0.5345, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0913, d5.loss_map_pts: 0.5251, d5.loss_map_dir: 0.0065, loss: 21.9637, grad_norm: 139.1168 +2026-02-28 23:16:04,378 - DriveTransformer - INFO - Epoch [11][22300/39528] lr: 6.331e-05, eta: 4 days, 11:51:42, time: 0.759, data_time: 0.039, memory: 19865, loss_cls: 0.0951, loss_bbox: 0.2801, loss_traj: 0.5689, loss_traj_cls: 0.0022, loss_map_cls: 0.0930, loss_map_pts: 0.5547, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.7740, d0.loss_plan_l1_fix_dist: 0.4178, d1.loss_plan_l1_fix_time: 0.7744, d1.loss_plan_l1_fix_dist: 0.2303, d2.loss_plan_l1_fix_time: 0.7728, d2.loss_plan_l1_fix_dist: 0.2046, d3.loss_plan_l1_fix_time: 0.7766, d3.loss_plan_l1_fix_dist: 0.2395, d4.loss_plan_l1_fix_time: 0.7809, d4.loss_plan_l1_fix_dist: 0.1952, d5.loss_plan_l1_fix_time: 0.7846, d5.loss_plan_l1_fix_dist: 0.1782, d6.loss_plan_l1_fix_time: 0.7883, d6.loss_plan_l1_fix_dist: 0.1838, d0.loss_cls_all: 0.1333, d0.loss_bbox_all: 0.3461, d0.loss_cls: 0.1333, d0.loss_bbox: 0.3461, d1.loss_cls: 0.1313, d1.loss_bbox: 0.3113, d2.loss_cls: 0.1201, d2.loss_bbox: 0.2883, d3.loss_cls: 0.1035, d3.loss_bbox: 0.2841, d4.loss_cls: 0.0976, d4.loss_bbox: 0.2804, d5.loss_cls: 0.0963, d5.loss_bbox: 0.2792, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8828, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.6789, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6045, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5783, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5684, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5700, d0.loss_map_cls_all: 0.1775, d0.loss_map_pts_all: 1.1343, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1775, d0.loss_map_pts: 1.1343, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1401, d1.loss_map_pts: 0.8438, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1180, d2.loss_map_pts: 0.6647, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1070, d3.loss_map_pts: 0.5910, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1007, d4.loss_map_pts: 0.5624, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0948, d5.loss_map_pts: 0.5542, d5.loss_map_dir: 0.0066, loss: 23.9857, grad_norm: 138.4500 +2026-02-28 23:16:38,845 - DriveTransformer - INFO - Epoch [11][22350/39528] lr: 6.331e-05, eta: 4 days, 11:50:59, time: 0.689, data_time: 0.037, memory: 19865, loss_cls: 0.0960, loss_bbox: 0.2747, loss_traj: 0.5717, loss_traj_cls: 0.0022, loss_map_cls: 0.1011, loss_map_pts: 0.4786, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.8297, d0.loss_plan_l1_fix_dist: 0.3802, d1.loss_plan_l1_fix_time: 0.7756, d1.loss_plan_l1_fix_dist: 0.1991, d2.loss_plan_l1_fix_time: 0.7651, d2.loss_plan_l1_fix_dist: 0.1741, d3.loss_plan_l1_fix_time: 0.7601, d3.loss_plan_l1_fix_dist: 0.2130, d4.loss_plan_l1_fix_time: 0.7617, d4.loss_plan_l1_fix_dist: 0.1925, d5.loss_plan_l1_fix_time: 0.7640, d5.loss_plan_l1_fix_dist: 0.1762, d6.loss_plan_l1_fix_time: 0.7660, d6.loss_plan_l1_fix_dist: 0.1811, d0.loss_cls_all: 0.1352, d0.loss_bbox_all: 0.3368, d0.loss_cls: 0.1352, d0.loss_bbox: 0.3368, d1.loss_cls: 0.1300, d1.loss_bbox: 0.3026, d2.loss_cls: 0.1195, d2.loss_bbox: 0.2848, d3.loss_cls: 0.1051, d3.loss_bbox: 0.2788, d4.loss_cls: 0.0975, d4.loss_bbox: 0.2763, d5.loss_cls: 0.0958, d5.loss_bbox: 0.2753, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8853, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.6556, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5893, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5737, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5688, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5720, d0.loss_map_cls_all: 0.1836, d0.loss_map_pts_all: 0.9896, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1836, d0.loss_map_pts: 0.9896, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1535, d1.loss_map_pts: 0.7272, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1277, d2.loss_map_pts: 0.5676, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.1167, d3.loss_map_pts: 0.5040, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.1099, d4.loss_map_pts: 0.4822, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.1043, d5.loss_map_pts: 0.4777, d5.loss_map_dir: 0.0051, loss: 22.9793, grad_norm: 144.6901 +2026-02-28 23:17:15,581 - DriveTransformer - INFO - Epoch [11][22400/39528] lr: 6.331e-05, eta: 4 days, 11:50:23, time: 0.735, data_time: 0.039, memory: 19865, loss_cls: 0.0916, loss_bbox: 0.2786, loss_traj: 0.4116, loss_traj_cls: 0.0022, loss_map_cls: 0.1026, loss_map_pts: 0.5127, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 3.1731, d0.loss_plan_l1_fix_dist: 0.4348, d1.loss_plan_l1_fix_time: 0.8224, d1.loss_plan_l1_fix_dist: 0.1990, d2.loss_plan_l1_fix_time: 0.8139, d2.loss_plan_l1_fix_dist: 0.1854, d3.loss_plan_l1_fix_time: 0.8031, d3.loss_plan_l1_fix_dist: 0.2083, d4.loss_plan_l1_fix_time: 0.8053, d4.loss_plan_l1_fix_dist: 0.1838, d5.loss_plan_l1_fix_time: 0.8081, d5.loss_plan_l1_fix_dist: 0.1666, d6.loss_plan_l1_fix_time: 0.8112, d6.loss_plan_l1_fix_dist: 0.1705, d0.loss_cls_all: 0.1348, d0.loss_bbox_all: 0.3414, d0.loss_cls: 0.1348, d0.loss_bbox: 0.3414, d1.loss_cls: 0.1321, d1.loss_bbox: 0.3121, d2.loss_cls: 0.1180, d2.loss_bbox: 0.2910, d3.loss_cls: 0.0984, d3.loss_bbox: 0.2848, d4.loss_cls: 0.0922, d4.loss_bbox: 0.2816, d5.loss_cls: 0.0908, d5.loss_bbox: 0.2802, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5774, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.4755, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4311, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4217, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4138, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4132, d0.loss_map_cls_all: 0.1916, d0.loss_map_pts_all: 1.0887, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1916, d0.loss_map_pts: 1.0887, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1536, d1.loss_map_pts: 0.7914, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1283, d2.loss_map_pts: 0.6125, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1144, d3.loss_map_pts: 0.5432, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1094, d4.loss_map_pts: 0.5157, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1048, d5.loss_map_pts: 0.5113, d5.loss_map_dir: 0.0062, loss: 22.8519, grad_norm: 145.4137 +2026-02-28 23:17:52,339 - DriveTransformer - INFO - Epoch [11][22450/39528] lr: 6.331e-05, eta: 4 days, 11:49:47, time: 0.735, data_time: 0.037, memory: 19865, loss_cls: 0.0885, loss_bbox: 0.2527, loss_traj: 0.4292, loss_traj_cls: 0.0023, loss_map_cls: 0.0762, loss_map_pts: 0.4336, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.2208, d0.loss_plan_l1_fix_dist: 0.3837, d1.loss_plan_l1_fix_time: 0.7044, d1.loss_plan_l1_fix_dist: 0.1761, d2.loss_plan_l1_fix_time: 0.6980, d2.loss_plan_l1_fix_dist: 0.1867, d3.loss_plan_l1_fix_time: 0.6739, d3.loss_plan_l1_fix_dist: 0.1935, d4.loss_plan_l1_fix_time: 0.6755, d4.loss_plan_l1_fix_dist: 0.1679, d5.loss_plan_l1_fix_time: 0.6781, d5.loss_plan_l1_fix_dist: 0.1686, d6.loss_plan_l1_fix_time: 0.6822, d6.loss_plan_l1_fix_dist: 0.1809, d0.loss_cls_all: 0.1257, d0.loss_bbox_all: 0.3205, d0.loss_cls: 0.1257, d0.loss_bbox: 0.3205, d1.loss_cls: 0.1203, d1.loss_bbox: 0.2875, d2.loss_cls: 0.1119, d2.loss_bbox: 0.2628, d3.loss_cls: 0.0958, d3.loss_bbox: 0.2569, d4.loss_cls: 0.0911, d4.loss_bbox: 0.2554, d5.loss_cls: 0.0892, d5.loss_bbox: 0.2531, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6570, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5101, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4583, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4414, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4340, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4309, d0.loss_map_cls_all: 0.1528, d0.loss_map_pts_all: 0.9526, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1528, d0.loss_map_pts: 0.9526, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1192, d1.loss_map_pts: 0.6674, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.0971, d2.loss_map_pts: 0.5132, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0860, d3.loss_map_pts: 0.4583, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0819, d4.loss_map_pts: 0.4363, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0783, d5.loss_map_pts: 0.4326, d5.loss_map_dir: 0.0050, loss: 19.9492, grad_norm: 144.0945 +2026-02-28 23:18:29,614 - DriveTransformer - INFO - Epoch [11][22500/39528] lr: 6.331e-05, eta: 4 days, 11:49:13, time: 0.745, data_time: 0.039, memory: 19865, loss_cls: 0.0843, loss_bbox: 0.2600, loss_traj: 0.4077, loss_traj_cls: 0.0022, loss_map_cls: 0.0959, loss_map_pts: 0.5045, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.6412, d0.loss_plan_l1_fix_dist: 0.3328, d1.loss_plan_l1_fix_time: 0.7754, d1.loss_plan_l1_fix_dist: 0.1763, d2.loss_plan_l1_fix_time: 0.7635, d2.loss_plan_l1_fix_dist: 0.1896, d3.loss_plan_l1_fix_time: 0.7612, d3.loss_plan_l1_fix_dist: 0.2018, d4.loss_plan_l1_fix_time: 0.7630, d4.loss_plan_l1_fix_dist: 0.1778, d5.loss_plan_l1_fix_time: 0.7646, d5.loss_plan_l1_fix_dist: 0.1625, d6.loss_plan_l1_fix_time: 0.7668, d6.loss_plan_l1_fix_dist: 0.1687, d0.loss_cls_all: 0.1274, d0.loss_bbox_all: 0.3191, d0.loss_cls: 0.1274, d0.loss_bbox: 0.3191, d1.loss_cls: 0.1220, d1.loss_bbox: 0.2869, d2.loss_cls: 0.1065, d2.loss_bbox: 0.2683, d3.loss_cls: 0.0917, d3.loss_bbox: 0.2624, d4.loss_cls: 0.0857, d4.loss_bbox: 0.2611, d5.loss_cls: 0.0850, d5.loss_bbox: 0.2588, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6144, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.4838, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4437, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4199, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4119, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4074, d0.loss_map_cls_all: 0.1762, d0.loss_map_pts_all: 0.9974, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1762, d0.loss_map_pts: 0.9974, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1447, d1.loss_map_pts: 0.7161, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1222, d2.loss_map_pts: 0.5780, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1109, d3.loss_map_pts: 0.5277, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1045, d4.loss_map_pts: 0.5103, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0983, d5.loss_map_pts: 0.5057, d5.loss_map_dir: 0.0058, loss: 21.3203, grad_norm: 143.8851 +2026-02-28 23:19:06,215 - DriveTransformer - INFO - Epoch [11][22550/39528] lr: 6.331e-05, eta: 4 days, 11:48:36, time: 0.732, data_time: 0.039, memory: 19865, loss_cls: 0.0918, loss_bbox: 0.2879, loss_traj: 0.5317, loss_traj_cls: 0.0022, loss_map_cls: 0.0818, loss_map_pts: 0.4489, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.4778, d0.loss_plan_l1_fix_dist: 0.3762, d1.loss_plan_l1_fix_time: 0.7713, d1.loss_plan_l1_fix_dist: 0.1564, d2.loss_plan_l1_fix_time: 0.7569, d2.loss_plan_l1_fix_dist: 0.1833, d3.loss_plan_l1_fix_time: 0.7556, d3.loss_plan_l1_fix_dist: 0.1910, d4.loss_plan_l1_fix_time: 0.7580, d4.loss_plan_l1_fix_dist: 0.1629, d5.loss_plan_l1_fix_time: 0.7607, d5.loss_plan_l1_fix_dist: 0.1516, d6.loss_plan_l1_fix_time: 0.7636, d6.loss_plan_l1_fix_dist: 0.1593, d0.loss_cls_all: 0.1383, d0.loss_bbox_all: 0.3540, d0.loss_cls: 0.1383, d0.loss_bbox: 0.3540, d1.loss_cls: 0.1304, d1.loss_bbox: 0.3192, d2.loss_cls: 0.1201, d2.loss_bbox: 0.2971, d3.loss_cls: 0.1018, d3.loss_bbox: 0.2902, d4.loss_cls: 0.0950, d4.loss_bbox: 0.2887, d5.loss_cls: 0.0921, d5.loss_bbox: 0.2883, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7865, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.6331, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5657, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5408, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5403, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5324, d0.loss_map_cls_all: 0.1651, d0.loss_map_pts_all: 0.9429, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1651, d0.loss_map_pts: 0.9429, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1289, d1.loss_map_pts: 0.6778, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1066, d2.loss_map_pts: 0.5332, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0949, d3.loss_map_pts: 0.4763, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0882, d4.loss_map_pts: 0.4552, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0830, d5.loss_map_pts: 0.4486, d5.loss_map_dir: 0.0055, loss: 21.8337, grad_norm: 144.6096 +2026-02-28 23:19:42,897 - DriveTransformer - INFO - Epoch [11][22600/39528] lr: 6.331e-05, eta: 4 days, 11:48:00, time: 0.734, data_time: 0.040, memory: 19865, loss_cls: 0.0825, loss_bbox: 0.2940, loss_traj: 0.4516, loss_traj_cls: 0.0022, loss_map_cls: 0.1009, loss_map_pts: 0.5135, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.5453, d0.loss_plan_l1_fix_dist: 0.3457, d1.loss_plan_l1_fix_time: 0.7194, d1.loss_plan_l1_fix_dist: 0.1483, d2.loss_plan_l1_fix_time: 0.7120, d2.loss_plan_l1_fix_dist: 0.1866, d3.loss_plan_l1_fix_time: 0.7228, d3.loss_plan_l1_fix_dist: 0.1808, d4.loss_plan_l1_fix_time: 0.7274, d4.loss_plan_l1_fix_dist: 0.1480, d5.loss_plan_l1_fix_time: 0.7324, d5.loss_plan_l1_fix_dist: 0.1469, d6.loss_plan_l1_fix_time: 0.7380, d6.loss_plan_l1_fix_dist: 0.1531, d0.loss_cls_all: 0.1225, d0.loss_bbox_all: 0.3545, d0.loss_cls: 0.1225, d0.loss_bbox: 0.3545, d1.loss_cls: 0.1196, d1.loss_bbox: 0.3209, d2.loss_cls: 0.1062, d2.loss_bbox: 0.3006, d3.loss_cls: 0.0906, d3.loss_bbox: 0.2971, d4.loss_cls: 0.0845, d4.loss_bbox: 0.2951, d5.loss_cls: 0.0829, d5.loss_bbox: 0.2932, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6961, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5227, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4672, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4512, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4518, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4483, d0.loss_map_cls_all: 0.1905, d0.loss_map_pts_all: 1.0379, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1905, d0.loss_map_pts: 1.0379, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1556, d1.loss_map_pts: 0.7678, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1304, d2.loss_map_pts: 0.6007, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1167, d3.loss_map_pts: 0.5419, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1091, d4.loss_map_pts: 0.5210, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1036, d5.loss_map_pts: 0.5127, d5.loss_map_dir: 0.0064, loss: 21.7061, grad_norm: 146.2459 +2026-02-28 23:20:19,447 - DriveTransformer - INFO - Epoch [11][22650/39528] lr: 6.331e-05, eta: 4 days, 11:47:24, time: 0.731, data_time: 0.038, memory: 19865, loss_cls: 0.0832, loss_bbox: 0.2862, loss_traj: 0.5635, loss_traj_cls: 0.0021, loss_map_cls: 0.0947, loss_map_pts: 0.4732, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.8822, d0.loss_plan_l1_fix_dist: 0.3557, d1.loss_plan_l1_fix_time: 0.7496, d1.loss_plan_l1_fix_dist: 0.1583, d2.loss_plan_l1_fix_time: 0.7290, d2.loss_plan_l1_fix_dist: 0.1892, d3.loss_plan_l1_fix_time: 0.7384, d3.loss_plan_l1_fix_dist: 0.1738, d4.loss_plan_l1_fix_time: 0.7424, d4.loss_plan_l1_fix_dist: 0.1494, d5.loss_plan_l1_fix_time: 0.7461, d5.loss_plan_l1_fix_dist: 0.1501, d6.loss_plan_l1_fix_time: 0.7505, d6.loss_plan_l1_fix_dist: 0.1592, d0.loss_cls_all: 0.1257, d0.loss_bbox_all: 0.3480, d0.loss_cls: 0.1257, d0.loss_bbox: 0.3480, d1.loss_cls: 0.1216, d1.loss_bbox: 0.3140, d2.loss_cls: 0.1062, d2.loss_bbox: 0.2971, d3.loss_cls: 0.0917, d3.loss_bbox: 0.2896, d4.loss_cls: 0.0853, d4.loss_bbox: 0.2863, d5.loss_cls: 0.0831, d5.loss_bbox: 0.2861, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8141, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.6229, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5800, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5632, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5641, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5635, d0.loss_map_cls_all: 0.1708, d0.loss_map_pts_all: 1.0255, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1708, d0.loss_map_pts: 1.0255, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1441, d1.loss_map_pts: 0.7300, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1183, d2.loss_map_pts: 0.5607, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1077, d3.loss_map_pts: 0.5004, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0999, d4.loss_map_pts: 0.4797, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0951, d5.loss_map_pts: 0.4737, d5.loss_map_dir: 0.0060, loss: 22.5486, grad_norm: 147.0287 +2026-02-28 23:20:56,187 - DriveTransformer - INFO - Epoch [11][22700/39528] lr: 6.331e-05, eta: 4 days, 11:46:48, time: 0.735, data_time: 0.040, memory: 19865, loss_cls: 0.0932, loss_bbox: 0.3049, loss_traj: 0.4826, loss_traj_cls: 0.0021, loss_map_cls: 0.0982, loss_map_pts: 0.5157, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.9993, d0.loss_plan_l1_fix_dist: 0.4118, d1.loss_plan_l1_fix_time: 0.7935, d1.loss_plan_l1_fix_dist: 0.1736, d2.loss_plan_l1_fix_time: 0.7643, d2.loss_plan_l1_fix_dist: 0.1746, d3.loss_plan_l1_fix_time: 0.7566, d3.loss_plan_l1_fix_dist: 0.1650, d4.loss_plan_l1_fix_time: 0.7574, d4.loss_plan_l1_fix_dist: 0.1491, d5.loss_plan_l1_fix_time: 0.7592, d5.loss_plan_l1_fix_dist: 0.1468, d6.loss_plan_l1_fix_time: 0.7612, d6.loss_plan_l1_fix_dist: 0.1498, d0.loss_cls_all: 0.1383, d0.loss_bbox_all: 0.3746, d0.loss_cls: 0.1383, d0.loss_bbox: 0.3746, d1.loss_cls: 0.1343, d1.loss_bbox: 0.3403, d2.loss_cls: 0.1219, d2.loss_bbox: 0.3181, d3.loss_cls: 0.1009, d3.loss_bbox: 0.3117, d4.loss_cls: 0.0960, d4.loss_bbox: 0.3069, d5.loss_cls: 0.0940, d5.loss_bbox: 0.3054, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6966, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5555, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5049, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4894, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4790, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4797, d0.loss_map_cls_all: 0.1874, d0.loss_map_pts_all: 1.0957, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1874, d0.loss_map_pts: 1.0957, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1511, d1.loss_map_pts: 0.7770, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1247, d2.loss_map_pts: 0.6071, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1123, d3.loss_map_pts: 0.5419, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1051, d4.loss_map_pts: 0.5193, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1009, d5.loss_map_pts: 0.5150, d5.loss_map_dir: 0.0065, loss: 22.9973, grad_norm: 147.9620 +2026-02-28 23:21:33,487 - DriveTransformer - INFO - Epoch [11][22750/39528] lr: 6.331e-05, eta: 4 days, 11:46:13, time: 0.746, data_time: 0.037, memory: 19865, loss_cls: 0.0720, loss_bbox: 0.2513, loss_traj: 0.4312, loss_traj_cls: 0.0022, loss_map_cls: 0.0789, loss_map_pts: 0.5066, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.3546, d0.loss_plan_l1_fix_dist: 0.4628, d1.loss_plan_l1_fix_time: 0.6276, d1.loss_plan_l1_fix_dist: 0.1880, d2.loss_plan_l1_fix_time: 0.6149, d2.loss_plan_l1_fix_dist: 0.1685, d3.loss_plan_l1_fix_time: 0.6106, d3.loss_plan_l1_fix_dist: 0.1678, d4.loss_plan_l1_fix_time: 0.6126, d4.loss_plan_l1_fix_dist: 0.1489, d5.loss_plan_l1_fix_time: 0.6149, d5.loss_plan_l1_fix_dist: 0.1488, d6.loss_plan_l1_fix_time: 0.6174, d6.loss_plan_l1_fix_dist: 0.1530, d0.loss_cls_all: 0.1176, d0.loss_bbox_all: 0.2971, d0.loss_cls: 0.1176, d0.loss_bbox: 0.2971, d1.loss_cls: 0.1095, d1.loss_bbox: 0.2710, d2.loss_cls: 0.0961, d2.loss_bbox: 0.2554, d3.loss_cls: 0.0791, d3.loss_bbox: 0.2504, d4.loss_cls: 0.0740, d4.loss_bbox: 0.2500, d5.loss_cls: 0.0715, d5.loss_bbox: 0.2512, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6148, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.4879, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4461, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4342, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4277, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4305, d0.loss_map_cls_all: 0.1539, d0.loss_map_pts_all: 1.0441, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1539, d0.loss_map_pts: 1.0441, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1255, d1.loss_map_pts: 0.7502, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1022, d2.loss_map_pts: 0.5903, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.0913, d3.loss_map_pts: 0.5319, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.0851, d4.loss_map_pts: 0.5106, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0810, d5.loss_map_pts: 0.5053, d5.loss_map_dir: 0.0065, loss: 20.0370, grad_norm: 147.7131 +2026-02-28 23:22:11,873 - DriveTransformer - INFO - Epoch [11][22800/39528] lr: 6.331e-05, eta: 4 days, 11:45:42, time: 0.769, data_time: 0.039, memory: 19865, loss_cls: 0.0877, loss_bbox: 0.2871, loss_traj: 0.3936, loss_traj_cls: 0.0020, loss_map_cls: 0.1062, loss_map_pts: 0.5337, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.6039, d0.loss_plan_l1_fix_dist: 0.3939, d1.loss_plan_l1_fix_time: 0.6854, d1.loss_plan_l1_fix_dist: 0.1922, d2.loss_plan_l1_fix_time: 0.6674, d2.loss_plan_l1_fix_dist: 0.1475, d3.loss_plan_l1_fix_time: 0.6608, d3.loss_plan_l1_fix_dist: 0.1680, d4.loss_plan_l1_fix_time: 0.6620, d4.loss_plan_l1_fix_dist: 0.1388, d5.loss_plan_l1_fix_time: 0.6642, d5.loss_plan_l1_fix_dist: 0.1443, d6.loss_plan_l1_fix_time: 0.6674, d6.loss_plan_l1_fix_dist: 0.1508, d0.loss_cls_all: 0.1288, d0.loss_bbox_all: 0.3481, d0.loss_cls: 0.1288, d0.loss_bbox: 0.3481, d1.loss_cls: 0.1227, d1.loss_bbox: 0.3152, d2.loss_cls: 0.1103, d2.loss_bbox: 0.2956, d3.loss_cls: 0.0923, d3.loss_bbox: 0.2919, d4.loss_cls: 0.0888, d4.loss_bbox: 0.2877, d5.loss_cls: 0.0863, d5.loss_bbox: 0.2881, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6051, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.4495, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4103, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3971, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3941, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3931, d0.loss_map_cls_all: 0.1903, d0.loss_map_pts_all: 1.1455, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1903, d0.loss_map_pts: 1.1455, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1562, d1.loss_map_pts: 0.8070, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1341, d2.loss_map_pts: 0.6254, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1236, d3.loss_map_pts: 0.5616, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1155, d4.loss_map_pts: 0.5395, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1091, d5.loss_map_pts: 0.5341, d5.loss_map_dir: 0.0069, loss: 21.3777, grad_norm: 149.3560 +2026-02-28 23:22:48,688 - DriveTransformer - INFO - Epoch [11][22850/39528] lr: 6.331e-05, eta: 4 days, 11:45:06, time: 0.735, data_time: 0.040, memory: 19865, loss_cls: 0.0881, loss_bbox: 0.2905, loss_traj: 0.5021, loss_traj_cls: 0.0021, loss_map_cls: 0.1043, loss_map_pts: 0.4962, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 3.3148, d0.loss_plan_l1_fix_dist: 0.4006, d1.loss_plan_l1_fix_time: 0.8081, d1.loss_plan_l1_fix_dist: 0.2083, d2.loss_plan_l1_fix_time: 0.7927, d2.loss_plan_l1_fix_dist: 0.1466, d3.loss_plan_l1_fix_time: 0.7796, d3.loss_plan_l1_fix_dist: 0.1815, d4.loss_plan_l1_fix_time: 0.7814, d4.loss_plan_l1_fix_dist: 0.1490, d5.loss_plan_l1_fix_time: 0.7843, d5.loss_plan_l1_fix_dist: 0.1510, d6.loss_plan_l1_fix_time: 0.7879, d6.loss_plan_l1_fix_dist: 0.1592, d0.loss_cls_all: 0.1381, d0.loss_bbox_all: 0.3471, d0.loss_cls: 0.1381, d0.loss_bbox: 0.3471, d1.loss_cls: 0.1274, d1.loss_bbox: 0.3169, d2.loss_cls: 0.1140, d2.loss_bbox: 0.2978, d3.loss_cls: 0.0956, d3.loss_bbox: 0.2940, d4.loss_cls: 0.0898, d4.loss_bbox: 0.2914, d5.loss_cls: 0.0880, d5.loss_bbox: 0.2910, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7286, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5782, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5212, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5007, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4959, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5005, d0.loss_map_cls_all: 0.1900, d0.loss_map_pts_all: 1.0540, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1900, d0.loss_map_pts: 1.0540, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1541, d1.loss_map_pts: 0.7535, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1292, d2.loss_map_pts: 0.5908, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1192, d3.loss_map_pts: 0.5303, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1120, d4.loss_map_pts: 0.5038, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1065, d5.loss_map_pts: 0.4964, d5.loss_map_dir: 0.0060, loss: 23.2670, grad_norm: 150.7938 +2026-02-28 23:23:24,540 - DriveTransformer - INFO - Epoch [11][22900/39528] lr: 6.331e-05, eta: 4 days, 11:44:28, time: 0.717, data_time: 0.036, memory: 19865, loss_cls: 0.0799, loss_bbox: 0.2519, loss_traj: 0.3938, loss_traj_cls: 0.0021, loss_map_cls: 0.0884, loss_map_pts: 0.4801, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.3234, d0.loss_plan_l1_fix_dist: 0.4415, d1.loss_plan_l1_fix_time: 0.5792, d1.loss_plan_l1_fix_dist: 0.2213, d2.loss_plan_l1_fix_time: 0.5668, d2.loss_plan_l1_fix_dist: 0.1568, d3.loss_plan_l1_fix_time: 0.5694, d3.loss_plan_l1_fix_dist: 0.1957, d4.loss_plan_l1_fix_time: 0.5723, d4.loss_plan_l1_fix_dist: 0.1585, d5.loss_plan_l1_fix_time: 0.5751, d5.loss_plan_l1_fix_dist: 0.1594, d6.loss_plan_l1_fix_time: 0.5782, d6.loss_plan_l1_fix_dist: 0.1708, d0.loss_cls_all: 0.1219, d0.loss_bbox_all: 0.3127, d0.loss_cls: 0.1219, d0.loss_bbox: 0.3127, d1.loss_cls: 0.1149, d1.loss_bbox: 0.2796, d2.loss_cls: 0.1010, d2.loss_bbox: 0.2610, d3.loss_cls: 0.0847, d3.loss_bbox: 0.2556, d4.loss_cls: 0.0810, d4.loss_bbox: 0.2533, d5.loss_cls: 0.0796, d5.loss_bbox: 0.2520, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.5710, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.4402, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4051, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4008, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3976, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3956, d0.loss_map_cls_all: 0.1679, d0.loss_map_pts_all: 1.0080, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1679, d0.loss_map_pts: 1.0080, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1374, d1.loss_map_pts: 0.7264, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1129, d2.loss_map_pts: 0.5670, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1020, d3.loss_map_pts: 0.5071, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0955, d4.loss_map_pts: 0.4850, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0907, d5.loss_map_pts: 0.4806, d5.loss_map_dir: 0.0057, loss: 19.5143, grad_norm: 145.7351 +2026-02-28 23:24:00,708 - DriveTransformer - INFO - Epoch [11][22950/39528] lr: 6.331e-05, eta: 4 days, 11:43:50, time: 0.723, data_time: 0.037, memory: 19865, loss_cls: 0.0869, loss_bbox: 0.2759, loss_traj: 0.5283, loss_traj_cls: 0.0020, loss_map_cls: 0.0750, loss_map_pts: 0.4510, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.7320, d0.loss_plan_l1_fix_dist: 0.4491, d1.loss_plan_l1_fix_time: 0.6455, d1.loss_plan_l1_fix_dist: 0.2237, d2.loss_plan_l1_fix_time: 0.6376, d2.loss_plan_l1_fix_dist: 0.1694, d3.loss_plan_l1_fix_time: 0.6329, d3.loss_plan_l1_fix_dist: 0.2023, d4.loss_plan_l1_fix_time: 0.6347, d4.loss_plan_l1_fix_dist: 0.1713, d5.loss_plan_l1_fix_time: 0.6371, d5.loss_plan_l1_fix_dist: 0.1670, d6.loss_plan_l1_fix_time: 0.6399, d6.loss_plan_l1_fix_dist: 0.1733, d0.loss_cls_all: 0.1330, d0.loss_bbox_all: 0.3340, d0.loss_cls: 0.1330, d0.loss_bbox: 0.3340, d1.loss_cls: 0.1236, d1.loss_bbox: 0.3020, d2.loss_cls: 0.1110, d2.loss_bbox: 0.2816, d3.loss_cls: 0.0952, d3.loss_bbox: 0.2764, d4.loss_cls: 0.0876, d4.loss_bbox: 0.2759, d5.loss_cls: 0.0865, d5.loss_bbox: 0.2754, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7989, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5987, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5438, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5268, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5287, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5269, d0.loss_map_cls_all: 0.1635, d0.loss_map_pts_all: 0.9526, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1635, d0.loss_map_pts: 0.9526, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1249, d1.loss_map_pts: 0.6782, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1000, d2.loss_map_pts: 0.5384, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0884, d3.loss_map_pts: 0.4813, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0830, d4.loss_map_pts: 0.4565, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0777, d5.loss_map_pts: 0.4513, d5.loss_map_dir: 0.0055, loss: 21.2699, grad_norm: 145.5409 +2026-02-28 23:24:38,069 - DriveTransformer - INFO - Epoch [11][23000/39528] lr: 6.331e-05, eta: 4 days, 11:43:16, time: 0.747, data_time: 0.038, memory: 19865, loss_cls: 0.0929, loss_bbox: 0.2790, loss_traj: 0.5032, loss_traj_cls: 0.0020, loss_map_cls: 0.0923, loss_map_pts: 0.5167, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.4160, d0.loss_plan_l1_fix_dist: 0.4556, d1.loss_plan_l1_fix_time: 0.7075, d1.loss_plan_l1_fix_dist: 0.2043, d2.loss_plan_l1_fix_time: 0.6995, d2.loss_plan_l1_fix_dist: 0.1599, d3.loss_plan_l1_fix_time: 0.6811, d3.loss_plan_l1_fix_dist: 0.1863, d4.loss_plan_l1_fix_time: 0.6826, d4.loss_plan_l1_fix_dist: 0.1771, d5.loss_plan_l1_fix_time: 0.6860, d5.loss_plan_l1_fix_dist: 0.1725, d6.loss_plan_l1_fix_time: 0.6899, d6.loss_plan_l1_fix_dist: 0.1819, d0.loss_cls_all: 0.1387, d0.loss_bbox_all: 0.3417, d0.loss_cls: 0.1387, d0.loss_bbox: 0.3417, d1.loss_cls: 0.1297, d1.loss_bbox: 0.3071, d2.loss_cls: 0.1174, d2.loss_bbox: 0.2871, d3.loss_cls: 0.1023, d3.loss_bbox: 0.2818, d4.loss_cls: 0.0956, d4.loss_bbox: 0.2797, d5.loss_cls: 0.0935, d5.loss_bbox: 0.2787, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7207, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5597, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5144, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5022, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5031, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5012, d0.loss_map_cls_all: 0.1707, d0.loss_map_pts_all: 1.0954, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1707, d0.loss_map_pts: 1.0954, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1393, d1.loss_map_pts: 0.7812, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1160, d2.loss_map_pts: 0.6082, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1058, d3.loss_map_pts: 0.5447, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.0989, d4.loss_map_pts: 0.5207, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.0946, d5.loss_map_pts: 0.5153, d5.loss_map_dir: 0.0073, loss: 21.9422, grad_norm: 148.9108 +2026-02-28 23:25:14,455 - DriveTransformer - INFO - Epoch [11][23050/39528] lr: 6.331e-05, eta: 4 days, 11:42:39, time: 0.728, data_time: 0.041, memory: 19865, loss_cls: 0.1060, loss_bbox: 0.3035, loss_traj: 0.3965, loss_traj_cls: 0.0020, loss_map_cls: 0.0945, loss_map_pts: 0.4976, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.6331, d0.loss_plan_l1_fix_dist: 0.3981, d1.loss_plan_l1_fix_time: 0.7035, d1.loss_plan_l1_fix_dist: 0.1975, d2.loss_plan_l1_fix_time: 0.6880, d2.loss_plan_l1_fix_dist: 0.1646, d3.loss_plan_l1_fix_time: 0.6886, d3.loss_plan_l1_fix_dist: 0.1783, d4.loss_plan_l1_fix_time: 0.6922, d4.loss_plan_l1_fix_dist: 0.1705, d5.loss_plan_l1_fix_time: 0.6967, d5.loss_plan_l1_fix_dist: 0.1716, d6.loss_plan_l1_fix_time: 0.7012, d6.loss_plan_l1_fix_dist: 0.1834, d0.loss_cls_all: 0.1570, d0.loss_bbox_all: 0.3653, d0.loss_cls: 0.1570, d0.loss_bbox: 0.3653, d1.loss_cls: 0.1443, d1.loss_bbox: 0.3372, d2.loss_cls: 0.1326, d2.loss_bbox: 0.3150, d3.loss_cls: 0.1163, d3.loss_bbox: 0.3069, d4.loss_cls: 0.1091, d4.loss_bbox: 0.3047, d5.loss_cls: 0.1071, d5.loss_bbox: 0.3022, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5989, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.4637, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4126, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4027, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3983, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3961, d0.loss_map_cls_all: 0.1709, d0.loss_map_pts_all: 0.9911, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1709, d0.loss_map_pts: 0.9911, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1416, d1.loss_map_pts: 0.7275, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1187, d2.loss_map_pts: 0.5792, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1092, d3.loss_map_pts: 0.5241, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1021, d4.loss_map_pts: 0.5052, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0966, d5.loss_map_pts: 0.4968, d5.loss_map_dir: 0.0057, loss: 21.3354, grad_norm: 150.8662 +2026-02-28 23:25:50,850 - DriveTransformer - INFO - Epoch [11][23100/39528] lr: 6.331e-05, eta: 4 days, 11:42:02, time: 0.728, data_time: 0.037, memory: 19865, loss_cls: 0.0756, loss_bbox: 0.2689, loss_traj: 0.4568, loss_traj_cls: 0.0020, loss_map_cls: 0.1090, loss_map_pts: 0.5407, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.4004, d0.loss_plan_l1_fix_dist: 0.3727, d1.loss_plan_l1_fix_time: 0.7153, d1.loss_plan_l1_fix_dist: 0.1789, d2.loss_plan_l1_fix_time: 0.6949, d2.loss_plan_l1_fix_dist: 0.1566, d3.loss_plan_l1_fix_time: 0.6976, d3.loss_plan_l1_fix_dist: 0.1618, d4.loss_plan_l1_fix_time: 0.7016, d4.loss_plan_l1_fix_dist: 0.1513, d5.loss_plan_l1_fix_time: 0.7057, d5.loss_plan_l1_fix_dist: 0.1552, d6.loss_plan_l1_fix_time: 0.7100, d6.loss_plan_l1_fix_dist: 0.1621, d0.loss_cls_all: 0.1264, d0.loss_bbox_all: 0.3319, d0.loss_cls: 0.1264, d0.loss_bbox: 0.3319, d1.loss_cls: 0.1144, d1.loss_bbox: 0.3023, d2.loss_cls: 0.1028, d2.loss_bbox: 0.2808, d3.loss_cls: 0.0840, d3.loss_bbox: 0.2756, d4.loss_cls: 0.0779, d4.loss_bbox: 0.2712, d5.loss_cls: 0.0756, d5.loss_bbox: 0.2697, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6735, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5375, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4839, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4669, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4570, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4574, d0.loss_map_cls_all: 0.2018, d0.loss_map_pts_all: 1.1311, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.2018, d0.loss_map_pts: 1.1311, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1636, d1.loss_map_pts: 0.8164, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1386, d2.loss_map_pts: 0.6277, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1260, d3.loss_map_pts: 0.5626, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1182, d4.loss_map_pts: 0.5437, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1127, d5.loss_map_pts: 0.5403, d5.loss_map_dir: 0.0057, loss: 21.7309, grad_norm: 156.7110 +2026-02-28 23:26:28,214 - DriveTransformer - INFO - Epoch [11][23150/39528] lr: 6.331e-05, eta: 4 days, 11:41:27, time: 0.747, data_time: 0.036, memory: 19865, loss_cls: 0.0891, loss_bbox: 0.2834, loss_traj: 0.5618, loss_traj_cls: 0.0020, loss_map_cls: 0.0976, loss_map_pts: 0.5831, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.9028, d0.loss_plan_l1_fix_dist: 0.3406, d1.loss_plan_l1_fix_time: 0.8471, d1.loss_plan_l1_fix_dist: 0.1833, d2.loss_plan_l1_fix_time: 0.8291, d2.loss_plan_l1_fix_dist: 0.1784, d3.loss_plan_l1_fix_time: 0.8273, d3.loss_plan_l1_fix_dist: 0.1814, d4.loss_plan_l1_fix_time: 0.8291, d4.loss_plan_l1_fix_dist: 0.1687, d5.loss_plan_l1_fix_time: 0.8317, d5.loss_plan_l1_fix_dist: 0.1722, d6.loss_plan_l1_fix_time: 0.8346, d6.loss_plan_l1_fix_dist: 0.1741, d0.loss_cls_all: 0.1272, d0.loss_bbox_all: 0.3552, d0.loss_cls: 0.1272, d0.loss_bbox: 0.3552, d1.loss_cls: 0.1205, d1.loss_bbox: 0.3208, d2.loss_cls: 0.1103, d2.loss_bbox: 0.2981, d3.loss_cls: 0.0958, d3.loss_bbox: 0.2888, d4.loss_cls: 0.0905, d4.loss_bbox: 0.2854, d5.loss_cls: 0.0891, d5.loss_bbox: 0.2838, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8675, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.6680, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6004, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5765, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5692, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5625, d0.loss_map_cls_all: 0.1811, d0.loss_map_pts_all: 1.1226, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1811, d0.loss_map_pts: 1.1226, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1471, d1.loss_map_pts: 0.8466, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1279, d2.loss_map_pts: 0.6884, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1139, d3.loss_map_pts: 0.6195, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1055, d4.loss_map_pts: 0.5921, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.0989, d5.loss_map_pts: 0.5854, d5.loss_map_dir: 0.0071, loss: 24.3044, grad_norm: 156.2577 +2026-02-28 23:27:04,675 - DriveTransformer - INFO - Epoch [11][23200/39528] lr: 6.331e-05, eta: 4 days, 11:40:51, time: 0.729, data_time: 0.037, memory: 19865, loss_cls: 0.0977, loss_bbox: 0.2858, loss_traj: 0.4546, loss_traj_cls: 0.0021, loss_map_cls: 0.0943, loss_map_pts: 0.4845, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.7828, d0.loss_plan_l1_fix_dist: 0.3544, d1.loss_plan_l1_fix_time: 0.6801, d1.loss_plan_l1_fix_dist: 0.1547, d2.loss_plan_l1_fix_time: 0.6582, d2.loss_plan_l1_fix_dist: 0.1746, d3.loss_plan_l1_fix_time: 0.6576, d3.loss_plan_l1_fix_dist: 0.1657, d4.loss_plan_l1_fix_time: 0.6588, d4.loss_plan_l1_fix_dist: 0.1576, d5.loss_plan_l1_fix_time: 0.6608, d5.loss_plan_l1_fix_dist: 0.1511, d6.loss_plan_l1_fix_time: 0.6631, d6.loss_plan_l1_fix_dist: 0.1573, d0.loss_cls_all: 0.1389, d0.loss_bbox_all: 0.3484, d0.loss_cls: 0.1389, d0.loss_bbox: 0.3484, d1.loss_cls: 0.1329, d1.loss_bbox: 0.3164, d2.loss_cls: 0.1236, d2.loss_bbox: 0.2959, d3.loss_cls: 0.1043, d3.loss_bbox: 0.2890, d4.loss_cls: 0.0987, d4.loss_bbox: 0.2858, d5.loss_cls: 0.0988, d5.loss_bbox: 0.2847, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6953, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5279, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4836, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4638, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4592, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4543, d0.loss_map_cls_all: 0.1880, d0.loss_map_pts_all: 1.0160, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1880, d0.loss_map_pts: 1.0160, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1527, d1.loss_map_pts: 0.7170, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1244, d2.loss_map_pts: 0.5694, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1113, d3.loss_map_pts: 0.5098, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1029, d4.loss_map_pts: 0.4905, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0961, d5.loss_map_pts: 0.4846, d5.loss_map_dir: 0.0062, loss: 21.4073, grad_norm: 156.9242 +2026-02-28 23:27:41,047 - DriveTransformer - INFO - Epoch [11][23250/39528] lr: 6.331e-05, eta: 4 days, 11:40:14, time: 0.727, data_time: 0.039, memory: 19865, loss_cls: 0.0846, loss_bbox: 0.2625, loss_traj: 0.4887, loss_traj_cls: 0.0021, loss_map_cls: 0.0990, loss_map_pts: 0.4699, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.7269, d0.loss_plan_l1_fix_dist: 0.4134, d1.loss_plan_l1_fix_time: 0.7535, d1.loss_plan_l1_fix_dist: 0.1561, d2.loss_plan_l1_fix_time: 0.7406, d2.loss_plan_l1_fix_dist: 0.1807, d3.loss_plan_l1_fix_time: 0.7445, d3.loss_plan_l1_fix_dist: 0.1668, d4.loss_plan_l1_fix_time: 0.7462, d4.loss_plan_l1_fix_dist: 0.1659, d5.loss_plan_l1_fix_time: 0.7480, d5.loss_plan_l1_fix_dist: 0.1577, d6.loss_plan_l1_fix_time: 0.7504, d6.loss_plan_l1_fix_dist: 0.1697, d0.loss_cls_all: 0.1244, d0.loss_bbox_all: 0.3353, d0.loss_cls: 0.1244, d0.loss_bbox: 0.3353, d1.loss_cls: 0.1191, d1.loss_bbox: 0.2992, d2.loss_cls: 0.1084, d2.loss_bbox: 0.2740, d3.loss_cls: 0.0895, d3.loss_bbox: 0.2676, d4.loss_cls: 0.0852, d4.loss_bbox: 0.2643, d5.loss_cls: 0.0840, d5.loss_bbox: 0.2631, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7363, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5612, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5095, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4957, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4915, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4895, d0.loss_map_cls_all: 0.1814, d0.loss_map_pts_all: 1.0006, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1814, d0.loss_map_pts: 1.0006, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1473, d1.loss_map_pts: 0.7023, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1253, d2.loss_map_pts: 0.5570, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.1119, d3.loss_map_pts: 0.5006, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1064, d4.loss_map_pts: 0.4756, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.1014, d5.loss_map_pts: 0.4699, d5.loss_map_dir: 0.0052, loss: 21.7921, grad_norm: 156.7584 +2026-02-28 23:28:18,126 - DriveTransformer - INFO - Epoch [11][23300/39528] lr: 6.331e-05, eta: 4 days, 11:39:39, time: 0.742, data_time: 0.037, memory: 19865, loss_cls: 0.0603, loss_bbox: 0.2309, loss_traj: 0.4877, loss_traj_cls: 0.0021, loss_map_cls: 0.0593, loss_map_pts: 0.3898, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.2068, d0.loss_plan_l1_fix_dist: 0.3151, d1.loss_plan_l1_fix_time: 0.6397, d1.loss_plan_l1_fix_dist: 0.1221, d2.loss_plan_l1_fix_time: 0.6251, d2.loss_plan_l1_fix_dist: 0.1661, d3.loss_plan_l1_fix_time: 0.5857, d3.loss_plan_l1_fix_dist: 0.1324, d4.loss_plan_l1_fix_time: 0.5865, d4.loss_plan_l1_fix_dist: 0.1370, d5.loss_plan_l1_fix_time: 0.5884, d5.loss_plan_l1_fix_dist: 0.1322, d6.loss_plan_l1_fix_time: 0.5906, d6.loss_plan_l1_fix_dist: 0.1449, d0.loss_cls_all: 0.0929, d0.loss_bbox_all: 0.2753, d0.loss_cls: 0.0929, d0.loss_bbox: 0.2753, d1.loss_cls: 0.0868, d1.loss_bbox: 0.2505, d2.loss_cls: 0.0770, d2.loss_bbox: 0.2353, d3.loss_cls: 0.0634, d3.loss_bbox: 0.2316, d4.loss_cls: 0.0608, d4.loss_bbox: 0.2297, d5.loss_cls: 0.0597, d5.loss_bbox: 0.2300, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6860, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5367, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4912, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4879, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4843, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4865, d0.loss_map_cls_all: 0.1348, d0.loss_map_pts_all: 0.8806, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1348, d0.loss_map_pts: 0.8806, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1055, d1.loss_map_pts: 0.6066, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.0812, d2.loss_map_pts: 0.4665, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0718, d3.loss_map_pts: 0.4187, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0652, d4.loss_map_pts: 0.3967, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0607, d5.loss_map_pts: 0.3903, d5.loss_map_dir: 0.0051, loss: 18.3776, grad_norm: 157.1819 +2026-02-28 23:28:53,643 - DriveTransformer - INFO - Epoch [11][23350/39528] lr: 6.331e-05, eta: 4 days, 11:38:59, time: 0.710, data_time: 0.038, memory: 19865, loss_cls: 0.0818, loss_bbox: 0.2542, loss_traj: 0.4293, loss_traj_cls: 0.0021, loss_map_cls: 0.0971, loss_map_pts: 0.4342, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.5461, d0.loss_plan_l1_fix_dist: 0.3996, d1.loss_plan_l1_fix_time: 0.7214, d1.loss_plan_l1_fix_dist: 0.1632, d2.loss_plan_l1_fix_time: 0.7085, d2.loss_plan_l1_fix_dist: 0.1954, d3.loss_plan_l1_fix_time: 0.6968, d3.loss_plan_l1_fix_dist: 0.1649, d4.loss_plan_l1_fix_time: 0.6972, d4.loss_plan_l1_fix_dist: 0.1698, d5.loss_plan_l1_fix_time: 0.6983, d5.loss_plan_l1_fix_dist: 0.1646, d6.loss_plan_l1_fix_time: 0.6998, d6.loss_plan_l1_fix_dist: 0.1766, d0.loss_cls_all: 0.1169, d0.loss_bbox_all: 0.3204, d0.loss_cls: 0.1169, d0.loss_bbox: 0.3204, d1.loss_cls: 0.1118, d1.loss_bbox: 0.2839, d2.loss_cls: 0.1014, d2.loss_bbox: 0.2653, d3.loss_cls: 0.0854, d3.loss_bbox: 0.2598, d4.loss_cls: 0.0817, d4.loss_bbox: 0.2548, d5.loss_cls: 0.0805, d5.loss_bbox: 0.2546, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6321, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5073, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4595, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4422, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4353, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4317, d0.loss_map_cls_all: 0.1737, d0.loss_map_pts_all: 0.9505, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1737, d0.loss_map_pts: 0.9505, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1455, d1.loss_map_pts: 0.6660, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1245, d2.loss_map_pts: 0.5117, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.1132, d3.loss_map_pts: 0.4590, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1065, d4.loss_map_pts: 0.4382, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0994, d5.loss_map_pts: 0.4342, d5.loss_map_dir: 0.0051, loss: 20.4550, grad_norm: 153.6217 +2026-02-28 23:29:29,767 - DriveTransformer - INFO - Epoch [11][23400/39528] lr: 6.331e-05, eta: 4 days, 11:38:21, time: 0.722, data_time: 0.040, memory: 19865, loss_cls: 0.0890, loss_bbox: 0.2759, loss_traj: 0.4756, loss_traj_cls: 0.0021, loss_map_cls: 0.0991, loss_map_pts: 0.4651, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.8472, d0.loss_plan_l1_fix_dist: 0.3935, d1.loss_plan_l1_fix_time: 0.7235, d1.loss_plan_l1_fix_dist: 0.1721, d2.loss_plan_l1_fix_time: 0.7053, d2.loss_plan_l1_fix_dist: 0.1918, d3.loss_plan_l1_fix_time: 0.7017, d3.loss_plan_l1_fix_dist: 0.1597, d4.loss_plan_l1_fix_time: 0.7024, d4.loss_plan_l1_fix_dist: 0.1732, d5.loss_plan_l1_fix_time: 0.7037, d5.loss_plan_l1_fix_dist: 0.1734, d6.loss_plan_l1_fix_time: 0.7055, d6.loss_plan_l1_fix_dist: 0.1745, d0.loss_cls_all: 0.1316, d0.loss_bbox_all: 0.3365, d0.loss_cls: 0.1316, d0.loss_bbox: 0.3365, d1.loss_cls: 0.1269, d1.loss_bbox: 0.3063, d2.loss_cls: 0.1137, d2.loss_bbox: 0.2868, d3.loss_cls: 0.0953, d3.loss_bbox: 0.2817, d4.loss_cls: 0.0893, d4.loss_bbox: 0.2795, d5.loss_cls: 0.0876, d5.loss_bbox: 0.2774, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7624, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5608, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5102, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4908, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4814, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4784, d0.loss_map_cls_all: 0.1832, d0.loss_map_pts_all: 1.0003, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1832, d0.loss_map_pts: 1.0003, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1518, d1.loss_map_pts: 0.7136, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1257, d2.loss_map_pts: 0.5385, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.1116, d3.loss_map_pts: 0.4818, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1048, d4.loss_map_pts: 0.4671, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.1004, d5.loss_map_pts: 0.4649, d5.loss_map_dir: 0.0051, loss: 21.7719, grad_norm: 152.9762 +2026-02-28 23:30:05,358 - DriveTransformer - INFO - Epoch [11][23450/39528] lr: 6.331e-05, eta: 4 days, 11:37:42, time: 0.712, data_time: 0.036, memory: 19865, loss_cls: 0.0839, loss_bbox: 0.2687, loss_traj: 0.4172, loss_traj_cls: 0.0021, loss_map_cls: 0.0999, loss_map_pts: 0.5075, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.0543, d0.loss_plan_l1_fix_dist: 0.4312, d1.loss_plan_l1_fix_time: 0.6700, d1.loss_plan_l1_fix_dist: 0.1703, d2.loss_plan_l1_fix_time: 0.6494, d2.loss_plan_l1_fix_dist: 0.1730, d3.loss_plan_l1_fix_time: 0.6347, d3.loss_plan_l1_fix_dist: 0.1473, d4.loss_plan_l1_fix_time: 0.6361, d4.loss_plan_l1_fix_dist: 0.1535, d5.loss_plan_l1_fix_time: 0.6379, d5.loss_plan_l1_fix_dist: 0.1584, d6.loss_plan_l1_fix_time: 0.6401, d6.loss_plan_l1_fix_dist: 0.1521, d0.loss_cls_all: 0.1260, d0.loss_bbox_all: 0.3402, d0.loss_cls: 0.1260, d0.loss_bbox: 0.3402, d1.loss_cls: 0.1196, d1.loss_bbox: 0.3053, d2.loss_cls: 0.1061, d2.loss_bbox: 0.2839, d3.loss_cls: 0.0896, d3.loss_bbox: 0.2759, d4.loss_cls: 0.0833, d4.loss_bbox: 0.2736, d5.loss_cls: 0.0838, d5.loss_bbox: 0.2705, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6516, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5007, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4499, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4288, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4211, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4183, d0.loss_map_cls_all: 0.1800, d0.loss_map_pts_all: 0.9913, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1800, d0.loss_map_pts: 0.9913, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1494, d1.loss_map_pts: 0.7375, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1273, d2.loss_map_pts: 0.5891, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1139, d3.loss_map_pts: 0.5360, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1070, d4.loss_map_pts: 0.5150, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1020, d5.loss_map_pts: 0.5069, d5.loss_map_dir: 0.0058, loss: 20.2618, grad_norm: 152.7634 +2026-02-28 23:30:39,978 - DriveTransformer - INFO - Epoch [11][23500/39528] lr: 6.331e-05, eta: 4 days, 11:37:00, time: 0.692, data_time: 0.037, memory: 19865, loss_cls: 0.1027, loss_bbox: 0.2950, loss_traj: 0.5694, loss_traj_cls: 0.0020, loss_map_cls: 0.1127, loss_map_pts: 0.5086, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.8909, d0.loss_plan_l1_fix_dist: 0.4882, d1.loss_plan_l1_fix_time: 0.7522, d1.loss_plan_l1_fix_dist: 0.2055, d2.loss_plan_l1_fix_time: 0.7390, d2.loss_plan_l1_fix_dist: 0.1779, d3.loss_plan_l1_fix_time: 0.7260, d3.loss_plan_l1_fix_dist: 0.1781, d4.loss_plan_l1_fix_time: 0.7270, d4.loss_plan_l1_fix_dist: 0.1616, d5.loss_plan_l1_fix_time: 0.7287, d5.loss_plan_l1_fix_dist: 0.1689, d6.loss_plan_l1_fix_time: 0.7310, d6.loss_plan_l1_fix_dist: 0.1686, d0.loss_cls_all: 0.1487, d0.loss_bbox_all: 0.3619, d0.loss_cls: 0.1487, d0.loss_bbox: 0.3619, d1.loss_cls: 0.1418, d1.loss_bbox: 0.3249, d2.loss_cls: 0.1261, d2.loss_bbox: 0.3044, d3.loss_cls: 0.1118, d3.loss_bbox: 0.2989, d4.loss_cls: 0.1049, d4.loss_bbox: 0.2978, d5.loss_cls: 0.1033, d5.loss_bbox: 0.2956, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8539, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.6621, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6077, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.5782, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5770, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5709, d0.loss_map_cls_all: 0.1998, d0.loss_map_pts_all: 1.0649, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1998, d0.loss_map_pts: 1.0649, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1648, d1.loss_map_pts: 0.7726, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1402, d2.loss_map_pts: 0.6095, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1277, d3.loss_map_pts: 0.5452, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1209, d4.loss_map_pts: 0.5170, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.1154, d5.loss_map_pts: 0.5083, d5.loss_map_dir: 0.0052, loss: 23.6107, grad_norm: 151.4545 +2026-02-28 23:31:15,347 - DriveTransformer - INFO - Epoch [11][23550/39528] lr: 6.331e-05, eta: 4 days, 11:36:19, time: 0.707, data_time: 0.036, memory: 19865, loss_cls: 0.0987, loss_bbox: 0.2868, loss_traj: 0.4550, loss_traj_cls: 0.0021, loss_map_cls: 0.1011, loss_map_pts: 0.5130, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.6617, d0.loss_plan_l1_fix_dist: 0.5544, d1.loss_plan_l1_fix_time: 0.7415, d1.loss_plan_l1_fix_dist: 0.2063, d2.loss_plan_l1_fix_time: 0.7171, d2.loss_plan_l1_fix_dist: 0.1645, d3.loss_plan_l1_fix_time: 0.7125, d3.loss_plan_l1_fix_dist: 0.1837, d4.loss_plan_l1_fix_time: 0.7134, d4.loss_plan_l1_fix_dist: 0.1569, d5.loss_plan_l1_fix_time: 0.7145, d5.loss_plan_l1_fix_dist: 0.1620, d6.loss_plan_l1_fix_time: 0.7161, d6.loss_plan_l1_fix_dist: 0.1695, d0.loss_cls_all: 0.1443, d0.loss_bbox_all: 0.3547, d0.loss_cls: 0.1443, d0.loss_bbox: 0.3547, d1.loss_cls: 0.1369, d1.loss_bbox: 0.3221, d2.loss_cls: 0.1214, d2.loss_bbox: 0.3022, d3.loss_cls: 0.1062, d3.loss_bbox: 0.2957, d4.loss_cls: 0.0991, d4.loss_bbox: 0.2925, d5.loss_cls: 0.0983, d5.loss_bbox: 0.2882, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7293, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5594, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4911, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4724, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4632, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4573, d0.loss_map_cls_all: 0.1795, d0.loss_map_pts_all: 1.0355, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1795, d0.loss_map_pts: 1.0355, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1566, d1.loss_map_pts: 0.7644, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1274, d2.loss_map_pts: 0.6171, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1160, d3.loss_map_pts: 0.5504, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1093, d4.loss_map_pts: 0.5209, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1029, d5.loss_map_pts: 0.5136, d5.loss_map_dir: 0.0060, loss: 22.3257, grad_norm: 149.9031 +2026-02-28 23:31:51,779 - DriveTransformer - INFO - Epoch [11][23600/39528] lr: 6.331e-05, eta: 4 days, 11:35:43, time: 0.730, data_time: 0.037, memory: 19865, loss_cls: 0.0751, loss_bbox: 0.2602, loss_traj: 0.4502, loss_traj_cls: 0.0022, loss_map_cls: 0.0893, loss_map_pts: 0.4710, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.1469, d0.loss_plan_l1_fix_dist: 0.4399, d1.loss_plan_l1_fix_time: 0.7964, d1.loss_plan_l1_fix_dist: 0.2147, d2.loss_plan_l1_fix_time: 0.7757, d2.loss_plan_l1_fix_dist: 0.1672, d3.loss_plan_l1_fix_time: 0.7429, d3.loss_plan_l1_fix_dist: 0.1916, d4.loss_plan_l1_fix_time: 0.7403, d4.loss_plan_l1_fix_dist: 0.1679, d5.loss_plan_l1_fix_time: 0.7400, d5.loss_plan_l1_fix_dist: 0.1625, d6.loss_plan_l1_fix_time: 0.7406, d6.loss_plan_l1_fix_dist: 0.1672, d0.loss_cls_all: 0.1196, d0.loss_bbox_all: 0.3221, d0.loss_cls: 0.1196, d0.loss_bbox: 0.3221, d1.loss_cls: 0.1143, d1.loss_bbox: 0.2914, d2.loss_cls: 0.0985, d2.loss_bbox: 0.2720, d3.loss_cls: 0.0808, d3.loss_bbox: 0.2671, d4.loss_cls: 0.0764, d4.loss_bbox: 0.2630, d5.loss_cls: 0.0755, d5.loss_bbox: 0.2598, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6492, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5224, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4823, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4641, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4559, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4506, d0.loss_map_cls_all: 0.1663, d0.loss_map_pts_all: 0.9801, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1663, d0.loss_map_pts: 0.9801, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1358, d1.loss_map_pts: 0.6899, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1147, d2.loss_map_pts: 0.5518, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1022, d3.loss_map_pts: 0.5007, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.0956, d4.loss_map_pts: 0.4816, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.0909, d5.loss_map_pts: 0.4719, d5.loss_map_dir: 0.0069, loss: 20.8376, grad_norm: 149.1936 +2026-02-28 23:32:27,342 - DriveTransformer - INFO - Epoch [11][23650/39528] lr: 6.331e-05, eta: 4 days, 11:35:03, time: 0.710, data_time: 0.035, memory: 19865, loss_cls: 0.0829, loss_bbox: 0.2614, loss_traj: 0.4211, loss_traj_cls: 0.0022, loss_map_cls: 0.0903, loss_map_pts: 0.4679, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.4882, d0.loss_plan_l1_fix_dist: 0.4480, d1.loss_plan_l1_fix_time: 0.6621, d1.loss_plan_l1_fix_dist: 0.2179, d2.loss_plan_l1_fix_time: 0.6418, d2.loss_plan_l1_fix_dist: 0.1861, d3.loss_plan_l1_fix_time: 0.6320, d3.loss_plan_l1_fix_dist: 0.2093, d4.loss_plan_l1_fix_time: 0.6344, d4.loss_plan_l1_fix_dist: 0.1852, d5.loss_plan_l1_fix_time: 0.6362, d5.loss_plan_l1_fix_dist: 0.1704, d6.loss_plan_l1_fix_time: 0.6379, d6.loss_plan_l1_fix_dist: 0.1721, d0.loss_cls_all: 0.1233, d0.loss_bbox_all: 0.3226, d0.loss_cls: 0.1233, d0.loss_bbox: 0.3226, d1.loss_cls: 0.1208, d1.loss_bbox: 0.2904, d2.loss_cls: 0.1079, d2.loss_bbox: 0.2692, d3.loss_cls: 0.0896, d3.loss_bbox: 0.2654, d4.loss_cls: 0.0856, d4.loss_bbox: 0.2609, d5.loss_cls: 0.0834, d5.loss_bbox: 0.2604, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6227, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.4892, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4460, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4306, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4253, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4242, d0.loss_map_cls_all: 0.1694, d0.loss_map_pts_all: 1.0313, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1694, d0.loss_map_pts: 1.0313, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1379, d1.loss_map_pts: 0.7226, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1117, d2.loss_map_pts: 0.5601, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1031, d3.loss_map_pts: 0.4989, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0967, d4.loss_map_pts: 0.4745, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0930, d5.loss_map_pts: 0.4683, d5.loss_map_dir: 0.0061, loss: 20.5332, grad_norm: 149.6702 +2026-02-28 23:33:04,033 - DriveTransformer - INFO - Epoch [11][23700/39528] lr: 6.331e-05, eta: 4 days, 11:34:27, time: 0.734, data_time: 0.039, memory: 19865, loss_cls: 0.0815, loss_bbox: 0.2648, loss_traj: 0.3905, loss_traj_cls: 0.0022, loss_map_cls: 0.0988, loss_map_pts: 0.5163, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.3615, d0.loss_plan_l1_fix_dist: 0.4220, d1.loss_plan_l1_fix_time: 0.7658, d1.loss_plan_l1_fix_dist: 0.2144, d2.loss_plan_l1_fix_time: 0.7480, d2.loss_plan_l1_fix_dist: 0.1915, d3.loss_plan_l1_fix_time: 0.7366, d3.loss_plan_l1_fix_dist: 0.2101, d4.loss_plan_l1_fix_time: 0.7382, d4.loss_plan_l1_fix_dist: 0.1812, d5.loss_plan_l1_fix_time: 0.7405, d5.loss_plan_l1_fix_dist: 0.1611, d6.loss_plan_l1_fix_time: 0.7428, d6.loss_plan_l1_fix_dist: 0.1692, d0.loss_cls_all: 0.1243, d0.loss_bbox_all: 0.3348, d0.loss_cls: 0.1243, d0.loss_bbox: 0.3348, d1.loss_cls: 0.1168, d1.loss_bbox: 0.3021, d2.loss_cls: 0.1028, d2.loss_bbox: 0.2770, d3.loss_cls: 0.0873, d3.loss_bbox: 0.2703, d4.loss_cls: 0.0840, d4.loss_bbox: 0.2662, d5.loss_cls: 0.0820, d5.loss_bbox: 0.2651, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6092, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.4638, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4242, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4123, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3986, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3951, d0.loss_map_cls_all: 0.1902, d0.loss_map_pts_all: 1.0651, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1902, d0.loss_map_pts: 1.0651, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1526, d1.loss_map_pts: 0.7549, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1271, d2.loss_map_pts: 0.6015, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1145, d3.loss_map_pts: 0.5477, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1071, d4.loss_map_pts: 0.5211, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1001, d5.loss_map_pts: 0.5173, d5.loss_map_dir: 0.0069, loss: 21.3287, grad_norm: 149.5945 +2026-02-28 23:33:39,086 - DriveTransformer - INFO - Epoch [11][23750/39528] lr: 6.331e-05, eta: 4 days, 11:33:46, time: 0.701, data_time: 0.038, memory: 19865, loss_cls: 0.0841, loss_bbox: 0.2732, loss_traj: 0.4725, loss_traj_cls: 0.0022, loss_map_cls: 0.0905, loss_map_pts: 0.4427, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.8747, d0.loss_plan_l1_fix_dist: 0.3758, d1.loss_plan_l1_fix_time: 0.8120, d1.loss_plan_l1_fix_dist: 0.2125, d2.loss_plan_l1_fix_time: 0.7982, d2.loss_plan_l1_fix_dist: 0.2047, d3.loss_plan_l1_fix_time: 0.7874, d3.loss_plan_l1_fix_dist: 0.2228, d4.loss_plan_l1_fix_time: 0.7882, d4.loss_plan_l1_fix_dist: 0.2077, d5.loss_plan_l1_fix_time: 0.7899, d5.loss_plan_l1_fix_dist: 0.1830, d6.loss_plan_l1_fix_time: 0.7917, d6.loss_plan_l1_fix_dist: 0.1864, d0.loss_cls_all: 0.1352, d0.loss_bbox_all: 0.3445, d0.loss_cls: 0.1352, d0.loss_bbox: 0.3445, d1.loss_cls: 0.1266, d1.loss_bbox: 0.3053, d2.loss_cls: 0.1170, d2.loss_bbox: 0.2815, d3.loss_cls: 0.0935, d3.loss_bbox: 0.2783, d4.loss_cls: 0.0854, d4.loss_bbox: 0.2761, d5.loss_cls: 0.0838, d5.loss_bbox: 0.2741, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7359, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5628, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4985, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4876, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4796, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4751, d0.loss_map_cls_all: 0.1785, d0.loss_map_pts_all: 0.9345, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1785, d0.loss_map_pts: 0.9345, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1452, d1.loss_map_pts: 0.6982, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1202, d2.loss_map_pts: 0.5361, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.1069, d3.loss_map_pts: 0.4773, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.1004, d4.loss_map_pts: 0.4508, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0927, d5.loss_map_pts: 0.4436, d5.loss_map_dir: 0.0050, loss: 22.1633, grad_norm: 149.6268 +2026-02-28 23:34:16,408 - DriveTransformer - INFO - Epoch [11][23800/39528] lr: 6.331e-05, eta: 4 days, 11:33:12, time: 0.746, data_time: 0.038, memory: 19865, loss_cls: 0.0729, loss_bbox: 0.2511, loss_traj: 0.4893, loss_traj_cls: 0.0022, loss_map_cls: 0.0842, loss_map_pts: 0.3993, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.5646, d0.loss_plan_l1_fix_dist: 0.3538, d1.loss_plan_l1_fix_time: 0.6697, d1.loss_plan_l1_fix_dist: 0.1735, d2.loss_plan_l1_fix_time: 0.6576, d2.loss_plan_l1_fix_dist: 0.1823, d3.loss_plan_l1_fix_time: 0.6335, d3.loss_plan_l1_fix_dist: 0.1803, d4.loss_plan_l1_fix_time: 0.6335, d4.loss_plan_l1_fix_dist: 0.1752, d5.loss_plan_l1_fix_time: 0.6354, d5.loss_plan_l1_fix_dist: 0.1489, d6.loss_plan_l1_fix_time: 0.6384, d6.loss_plan_l1_fix_dist: 0.1487, d0.loss_cls_all: 0.1128, d0.loss_bbox_all: 0.3096, d0.loss_cls: 0.1128, d0.loss_bbox: 0.3096, d1.loss_cls: 0.1068, d1.loss_bbox: 0.2806, d2.loss_cls: 0.0931, d2.loss_bbox: 0.2621, d3.loss_cls: 0.0784, d3.loss_bbox: 0.2539, d4.loss_cls: 0.0759, d4.loss_bbox: 0.2503, d5.loss_cls: 0.0737, d5.loss_bbox: 0.2505, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6637, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5484, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5068, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4971, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4920, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4907, d0.loss_map_cls_all: 0.1568, d0.loss_map_pts_all: 0.8975, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1568, d0.loss_map_pts: 0.8975, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1264, d1.loss_map_pts: 0.6106, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1050, d2.loss_map_pts: 0.4768, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0967, d3.loss_map_pts: 0.4285, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0921, d4.loss_map_pts: 0.4095, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0867, d5.loss_map_pts: 0.3988, d5.loss_map_dir: 0.0052, loss: 19.8513, grad_norm: 149.7485 +2026-02-28 23:34:53,842 - DriveTransformer - INFO - Epoch [11][23850/39528] lr: 6.331e-05, eta: 4 days, 11:32:38, time: 0.749, data_time: 0.041, memory: 19865, loss_cls: 0.0847, loss_bbox: 0.2688, loss_traj: 0.4274, loss_traj_cls: 0.0022, loss_map_cls: 0.0908, loss_map_pts: 0.5071, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.5791, d0.loss_plan_l1_fix_dist: 0.4056, d1.loss_plan_l1_fix_time: 0.6718, d1.loss_plan_l1_fix_dist: 0.1694, d2.loss_plan_l1_fix_time: 0.6500, d2.loss_plan_l1_fix_dist: 0.1917, d3.loss_plan_l1_fix_time: 0.6214, d3.loss_plan_l1_fix_dist: 0.1771, d4.loss_plan_l1_fix_time: 0.6234, d4.loss_plan_l1_fix_dist: 0.1741, d5.loss_plan_l1_fix_time: 0.6260, d5.loss_plan_l1_fix_dist: 0.1553, d6.loss_plan_l1_fix_time: 0.6293, d6.loss_plan_l1_fix_dist: 0.1630, d0.loss_cls_all: 0.1295, d0.loss_bbox_all: 0.3318, d0.loss_cls: 0.1295, d0.loss_bbox: 0.3318, d1.loss_cls: 0.1221, d1.loss_bbox: 0.2982, d2.loss_cls: 0.1133, d2.loss_bbox: 0.2736, d3.loss_cls: 0.0957, d3.loss_bbox: 0.2693, d4.loss_cls: 0.0897, d4.loss_bbox: 0.2661, d5.loss_cls: 0.0867, d5.loss_bbox: 0.2667, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6601, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5163, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4597, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4434, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4278, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4292, d0.loss_map_cls_all: 0.1739, d0.loss_map_pts_all: 1.0455, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1739, d0.loss_map_pts: 1.0455, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1366, d1.loss_map_pts: 0.7570, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1165, d2.loss_map_pts: 0.5999, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1050, d3.loss_map_pts: 0.5401, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0978, d4.loss_map_pts: 0.5168, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0929, d5.loss_map_pts: 0.5078, d5.loss_map_dir: 0.0062, loss: 20.9223, grad_norm: 145.6096 +2026-02-28 23:35:30,314 - DriveTransformer - INFO - Epoch [11][23900/39528] lr: 6.331e-05, eta: 4 days, 11:32:01, time: 0.729, data_time: 0.039, memory: 19865, loss_cls: 0.0657, loss_bbox: 0.2479, loss_traj: 0.4525, loss_traj_cls: 0.0022, loss_map_cls: 0.0785, loss_map_pts: 0.4137, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.3972, d0.loss_plan_l1_fix_dist: 0.4193, d1.loss_plan_l1_fix_time: 0.7324, d1.loss_plan_l1_fix_dist: 0.1388, d2.loss_plan_l1_fix_time: 0.7192, d2.loss_plan_l1_fix_dist: 0.1843, d3.loss_plan_l1_fix_time: 0.7161, d3.loss_plan_l1_fix_dist: 0.1572, d4.loss_plan_l1_fix_time: 0.7206, d4.loss_plan_l1_fix_dist: 0.1551, d5.loss_plan_l1_fix_time: 0.7241, d5.loss_plan_l1_fix_dist: 0.1378, d6.loss_plan_l1_fix_time: 0.7278, d6.loss_plan_l1_fix_dist: 0.1438, d0.loss_cls_all: 0.0997, d0.loss_bbox_all: 0.3019, d0.loss_cls: 0.0997, d0.loss_bbox: 0.3019, d1.loss_cls: 0.0927, d1.loss_bbox: 0.2743, d2.loss_cls: 0.0843, d2.loss_bbox: 0.2540, d3.loss_cls: 0.0738, d3.loss_bbox: 0.2493, d4.loss_cls: 0.0685, d4.loss_bbox: 0.2475, d5.loss_cls: 0.0660, d5.loss_bbox: 0.2467, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6465, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5037, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4717, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4589, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4565, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4567, d0.loss_map_cls_all: 0.1531, d0.loss_map_pts_all: 0.9238, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1531, d0.loss_map_pts: 0.9238, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1215, d1.loss_map_pts: 0.6512, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1008, d2.loss_map_pts: 0.4960, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0910, d3.loss_map_pts: 0.4419, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0851, d4.loss_map_pts: 0.4203, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0795, d5.loss_map_pts: 0.4150, d5.loss_map_dir: 0.0048, loss: 19.8895, grad_norm: 144.5157 +2026-02-28 23:36:08,919 - DriveTransformer - INFO - Epoch [11][23950/39528] lr: 6.331e-05, eta: 4 days, 11:31:30, time: 0.772, data_time: 0.038, memory: 19865, loss_cls: 0.0966, loss_bbox: 0.2915, loss_traj: 0.4116, loss_traj_cls: 0.0022, loss_map_cls: 0.1040, loss_map_pts: 0.5735, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.8360, d0.loss_plan_l1_fix_dist: 0.4253, d1.loss_plan_l1_fix_time: 0.7918, d1.loss_plan_l1_fix_dist: 0.2016, d2.loss_plan_l1_fix_time: 0.7683, d2.loss_plan_l1_fix_dist: 0.2382, d3.loss_plan_l1_fix_time: 0.7405, d3.loss_plan_l1_fix_dist: 0.2030, d4.loss_plan_l1_fix_time: 0.7418, d4.loss_plan_l1_fix_dist: 0.2059, d5.loss_plan_l1_fix_time: 0.7440, d5.loss_plan_l1_fix_dist: 0.1959, d6.loss_plan_l1_fix_time: 0.7467, d6.loss_plan_l1_fix_dist: 0.2049, d0.loss_cls_all: 0.1389, d0.loss_bbox_all: 0.3650, d0.loss_cls: 0.1389, d0.loss_bbox: 0.3650, d1.loss_cls: 0.1302, d1.loss_bbox: 0.3251, d2.loss_cls: 0.1188, d2.loss_bbox: 0.3036, d3.loss_cls: 0.1062, d3.loss_bbox: 0.2961, d4.loss_cls: 0.0992, d4.loss_bbox: 0.2927, d5.loss_cls: 0.0969, d5.loss_bbox: 0.2916, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5953, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.4560, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4247, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4176, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4163, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4137, d0.loss_map_cls_all: 0.1896, d0.loss_map_pts_all: 1.1671, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.1896, d0.loss_map_pts: 1.1671, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1547, d1.loss_map_pts: 0.8320, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1303, d2.loss_map_pts: 0.6599, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1198, d3.loss_map_pts: 0.5998, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.1109, d4.loss_map_pts: 0.5791, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1064, d5.loss_map_pts: 0.5743, d5.loss_map_dir: 0.0078, loss: 22.9635, grad_norm: 137.3325 +2026-02-28 23:36:47,407 - DriveTransformer - INFO - Epoch [11][24000/39528] lr: 6.331e-05, eta: 4 days, 11:30:59, time: 0.770, data_time: 0.037, memory: 19865, loss_cls: 0.0707, loss_bbox: 0.2467, loss_traj: 0.3590, loss_traj_cls: 0.0022, loss_map_cls: 0.0886, loss_map_pts: 0.4770, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.1636, d0.loss_plan_l1_fix_dist: 0.4741, d1.loss_plan_l1_fix_time: 0.6132, d1.loss_plan_l1_fix_dist: 0.1720, d2.loss_plan_l1_fix_time: 0.5967, d2.loss_plan_l1_fix_dist: 0.1814, d3.loss_plan_l1_fix_time: 0.6028, d3.loss_plan_l1_fix_dist: 0.1529, d4.loss_plan_l1_fix_time: 0.6052, d4.loss_plan_l1_fix_dist: 0.1551, d5.loss_plan_l1_fix_time: 0.6072, d5.loss_plan_l1_fix_dist: 0.1483, d6.loss_plan_l1_fix_time: 0.6095, d6.loss_plan_l1_fix_dist: 0.1664, d0.loss_cls_all: 0.1161, d0.loss_bbox_all: 0.3068, d0.loss_cls: 0.1161, d0.loss_bbox: 0.3068, d1.loss_cls: 0.1094, d1.loss_bbox: 0.2749, d2.loss_cls: 0.0963, d2.loss_bbox: 0.2564, d3.loss_cls: 0.0765, d3.loss_bbox: 0.2516, d4.loss_cls: 0.0721, d4.loss_bbox: 0.2474, d5.loss_cls: 0.0723, d5.loss_bbox: 0.2453, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5138, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.4184, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3785, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3694, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3648, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3606, d0.loss_map_cls_all: 0.1664, d0.loss_map_pts_all: 1.0631, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1664, d0.loss_map_pts: 1.0631, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1312, d1.loss_map_pts: 0.7203, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1112, d2.loss_map_pts: 0.5553, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1016, d3.loss_map_pts: 0.5026, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0955, d4.loss_map_pts: 0.4836, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0917, d5.loss_map_pts: 0.4772, d5.loss_map_dir: 0.0062, loss: 19.2321, grad_norm: 137.3271 +2026-02-28 23:37:23,342 - DriveTransformer - INFO - Epoch [11][24050/39528] lr: 6.331e-05, eta: 4 days, 11:30:21, time: 0.719, data_time: 0.037, memory: 19865, loss_cls: 0.0765, loss_bbox: 0.2455, loss_traj: 0.3938, loss_traj_cls: 0.0022, loss_map_cls: 0.0829, loss_map_pts: 0.4210, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.5878, d0.loss_plan_l1_fix_dist: 0.4467, d1.loss_plan_l1_fix_time: 0.7153, d1.loss_plan_l1_fix_dist: 0.1866, d2.loss_plan_l1_fix_time: 0.7044, d2.loss_plan_l1_fix_dist: 0.1740, d3.loss_plan_l1_fix_time: 0.7107, d3.loss_plan_l1_fix_dist: 0.1502, d4.loss_plan_l1_fix_time: 0.7147, d4.loss_plan_l1_fix_dist: 0.1557, d5.loss_plan_l1_fix_time: 0.7176, d5.loss_plan_l1_fix_dist: 0.1457, d6.loss_plan_l1_fix_time: 0.7207, d6.loss_plan_l1_fix_dist: 0.1604, d0.loss_cls_all: 0.1239, d0.loss_bbox_all: 0.3033, d0.loss_cls: 0.1239, d0.loss_bbox: 0.3033, d1.loss_cls: 0.1180, d1.loss_bbox: 0.2745, d2.loss_cls: 0.1026, d2.loss_bbox: 0.2554, d3.loss_cls: 0.0839, d3.loss_bbox: 0.2501, d4.loss_cls: 0.0776, d4.loss_bbox: 0.2466, d5.loss_cls: 0.0759, d5.loss_bbox: 0.2459, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5798, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.4603, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4172, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3939, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3978, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3951, d0.loss_map_cls_all: 0.1697, d0.loss_map_pts_all: 0.9053, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1697, d0.loss_map_pts: 0.9053, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1349, d1.loss_map_pts: 0.6382, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1074, d2.loss_map_pts: 0.4905, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0957, d3.loss_map_pts: 0.4416, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0894, d4.loss_map_pts: 0.4244, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0849, d5.loss_map_pts: 0.4210, d5.loss_map_dir: 0.0055, loss: 19.8707, grad_norm: 138.4169 +2026-02-28 23:37:59,590 - DriveTransformer - INFO - Epoch [11][24100/39528] lr: 6.331e-05, eta: 4 days, 11:29:44, time: 0.725, data_time: 0.041, memory: 19865, loss_cls: 0.0862, loss_bbox: 0.2776, loss_traj: 0.5216, loss_traj_cls: 0.0022, loss_map_cls: 0.0968, loss_map_pts: 0.4702, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.6523, d0.loss_plan_l1_fix_dist: 0.4959, d1.loss_plan_l1_fix_time: 0.7101, d1.loss_plan_l1_fix_dist: 0.2226, d2.loss_plan_l1_fix_time: 0.6936, d2.loss_plan_l1_fix_dist: 0.1740, d3.loss_plan_l1_fix_time: 0.6904, d3.loss_plan_l1_fix_dist: 0.1773, d4.loss_plan_l1_fix_time: 0.6909, d4.loss_plan_l1_fix_dist: 0.1712, d5.loss_plan_l1_fix_time: 0.6924, d5.loss_plan_l1_fix_dist: 0.1628, d6.loss_plan_l1_fix_time: 0.6939, d6.loss_plan_l1_fix_dist: 0.1719, d0.loss_cls_all: 0.1299, d0.loss_bbox_all: 0.3385, d0.loss_cls: 0.1299, d0.loss_bbox: 0.3385, d1.loss_cls: 0.1255, d1.loss_bbox: 0.3078, d2.loss_cls: 0.1092, d2.loss_bbox: 0.2866, d3.loss_cls: 0.0941, d3.loss_bbox: 0.2823, d4.loss_cls: 0.0883, d4.loss_bbox: 0.2787, d5.loss_cls: 0.0873, d5.loss_bbox: 0.2775, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7632, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.6080, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5473, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5259, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5224, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5207, d0.loss_map_cls_all: 0.1772, d0.loss_map_pts_all: 1.0372, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1772, d0.loss_map_pts: 1.0372, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1467, d1.loss_map_pts: 0.7240, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1184, d2.loss_map_pts: 0.5580, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1080, d3.loss_map_pts: 0.4950, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1028, d4.loss_map_pts: 0.4772, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0995, d5.loss_map_pts: 0.4711, d5.loss_map_dir: 0.0054, loss: 21.9937, grad_norm: 138.2500 +2026-02-28 23:38:36,461 - DriveTransformer - INFO - Epoch [11][24150/39528] lr: 6.331e-05, eta: 4 days, 11:29:08, time: 0.737, data_time: 0.037, memory: 19865, loss_cls: 0.0906, loss_bbox: 0.2985, loss_traj: 0.5264, loss_traj_cls: 0.0022, loss_map_cls: 0.1111, loss_map_pts: 0.5561, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.7395, d0.loss_plan_l1_fix_dist: 0.3921, d1.loss_plan_l1_fix_time: 0.8289, d1.loss_plan_l1_fix_dist: 0.2281, d2.loss_plan_l1_fix_time: 0.8189, d2.loss_plan_l1_fix_dist: 0.1638, d3.loss_plan_l1_fix_time: 0.8096, d3.loss_plan_l1_fix_dist: 0.1699, d4.loss_plan_l1_fix_time: 0.8104, d4.loss_plan_l1_fix_dist: 0.1556, d5.loss_plan_l1_fix_time: 0.8118, d5.loss_plan_l1_fix_dist: 0.1564, d6.loss_plan_l1_fix_time: 0.8130, d6.loss_plan_l1_fix_dist: 0.1604, d0.loss_cls_all: 0.1474, d0.loss_bbox_all: 0.3664, d0.loss_cls: 0.1474, d0.loss_bbox: 0.3664, d1.loss_cls: 0.1395, d1.loss_bbox: 0.3306, d2.loss_cls: 0.1227, d2.loss_bbox: 0.3094, d3.loss_cls: 0.1007, d3.loss_bbox: 0.3047, d4.loss_cls: 0.0933, d4.loss_bbox: 0.3011, d5.loss_cls: 0.0917, d5.loss_bbox: 0.3000, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8002, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.6310, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5634, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5433, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5332, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5305, d0.loss_map_cls_all: 0.1776, d0.loss_map_pts_all: 1.1028, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1776, d0.loss_map_pts: 1.1028, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1551, d1.loss_map_pts: 0.7993, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1359, d2.loss_map_pts: 0.6414, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1238, d3.loss_map_pts: 0.5819, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1184, d4.loss_map_pts: 0.5605, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1133, d5.loss_map_pts: 0.5567, d5.loss_map_dir: 0.0064, loss: 23.7693, grad_norm: 136.0583 +2026-02-28 23:39:15,093 - DriveTransformer - INFO - Epoch [11][24200/39528] lr: 6.331e-05, eta: 4 days, 11:28:37, time: 0.773, data_time: 0.036, memory: 19865, loss_cls: 0.0878, loss_bbox: 0.2764, loss_traj: 0.4308, loss_traj_cls: 0.0022, loss_map_cls: 0.0837, loss_map_pts: 0.5957, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.6173, d0.loss_plan_l1_fix_dist: 0.4059, d1.loss_plan_l1_fix_time: 0.7501, d1.loss_plan_l1_fix_dist: 0.2411, d2.loss_plan_l1_fix_time: 0.7368, d2.loss_plan_l1_fix_dist: 0.1654, d3.loss_plan_l1_fix_time: 0.7219, d3.loss_plan_l1_fix_dist: 0.1788, d4.loss_plan_l1_fix_time: 0.7241, d4.loss_plan_l1_fix_dist: 0.1585, d5.loss_plan_l1_fix_time: 0.7266, d5.loss_plan_l1_fix_dist: 0.1702, d6.loss_plan_l1_fix_time: 0.7298, d6.loss_plan_l1_fix_dist: 0.1635, d0.loss_cls_all: 0.1327, d0.loss_bbox_all: 0.3461, d0.loss_cls: 0.1327, d0.loss_bbox: 0.3461, d1.loss_cls: 0.1278, d1.loss_bbox: 0.3103, d2.loss_cls: 0.1145, d2.loss_bbox: 0.2859, d3.loss_cls: 0.0992, d3.loss_bbox: 0.2803, d4.loss_cls: 0.0899, d4.loss_bbox: 0.2786, d5.loss_cls: 0.0872, d5.loss_bbox: 0.2774, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6209, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.4878, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4510, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4377, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4356, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4301, d0.loss_map_cls_all: 0.1651, d0.loss_map_pts_all: 1.1846, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.1651, d0.loss_map_pts: 1.1846, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1292, d1.loss_map_pts: 0.8490, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1082, d2.loss_map_pts: 0.6825, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.0975, d3.loss_map_pts: 0.6262, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.0903, d4.loss_map_pts: 0.6022, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.0856, d5.loss_map_pts: 0.5969, d5.loss_map_dir: 0.0084, loss: 22.3786, grad_norm: 134.9591 +2026-02-28 23:39:51,968 - DriveTransformer - INFO - Epoch [11][24250/39528] lr: 6.331e-05, eta: 4 days, 11:28:02, time: 0.737, data_time: 0.036, memory: 19865, loss_cls: 0.0849, loss_bbox: 0.2766, loss_traj: 0.4803, loss_traj_cls: 0.0022, loss_map_cls: 0.0762, loss_map_pts: 0.4636, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.3967, d0.loss_plan_l1_fix_dist: 0.4834, d1.loss_plan_l1_fix_time: 0.7007, d1.loss_plan_l1_fix_dist: 0.2477, d2.loss_plan_l1_fix_time: 0.6813, d2.loss_plan_l1_fix_dist: 0.1831, d3.loss_plan_l1_fix_time: 0.6690, d3.loss_plan_l1_fix_dist: 0.2020, d4.loss_plan_l1_fix_time: 0.6722, d4.loss_plan_l1_fix_dist: 0.1729, d5.loss_plan_l1_fix_time: 0.6752, d5.loss_plan_l1_fix_dist: 0.1875, d6.loss_plan_l1_fix_time: 0.6788, d6.loss_plan_l1_fix_dist: 0.1851, d0.loss_cls_all: 0.1253, d0.loss_bbox_all: 0.3338, d0.loss_cls: 0.1253, d0.loss_bbox: 0.3338, d1.loss_cls: 0.1197, d1.loss_bbox: 0.3020, d2.loss_cls: 0.1100, d2.loss_bbox: 0.2826, d3.loss_cls: 0.0962, d3.loss_bbox: 0.2786, d4.loss_cls: 0.0885, d4.loss_bbox: 0.2760, d5.loss_cls: 0.0863, d5.loss_bbox: 0.2757, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6650, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5490, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4990, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4839, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4845, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4791, d0.loss_map_cls_all: 0.1611, d0.loss_map_pts_all: 0.9883, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1611, d0.loss_map_pts: 0.9883, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1267, d1.loss_map_pts: 0.7071, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1020, d2.loss_map_pts: 0.5466, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0905, d3.loss_map_pts: 0.4909, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0823, d4.loss_map_pts: 0.4719, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0777, d5.loss_map_pts: 0.4639, d5.loss_map_dir: 0.0058, loss: 21.0229, grad_norm: 134.5140 +2026-02-28 23:40:28,356 - DriveTransformer - INFO - Epoch [11][24300/39528] lr: 6.331e-05, eta: 4 days, 11:27:25, time: 0.728, data_time: 0.038, memory: 19865, loss_cls: 0.0764, loss_bbox: 0.2708, loss_traj: 0.4826, loss_traj_cls: 0.0023, loss_map_cls: 0.0849, loss_map_pts: 0.4626, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 1.9393, d0.loss_plan_l1_fix_dist: 0.4556, d1.loss_plan_l1_fix_time: 0.6099, d1.loss_plan_l1_fix_dist: 0.2347, d2.loss_plan_l1_fix_time: 0.5983, d2.loss_plan_l1_fix_dist: 0.1864, d3.loss_plan_l1_fix_time: 0.5960, d3.loss_plan_l1_fix_dist: 0.2025, d4.loss_plan_l1_fix_time: 0.5982, d4.loss_plan_l1_fix_dist: 0.1743, d5.loss_plan_l1_fix_time: 0.6011, d5.loss_plan_l1_fix_dist: 0.1730, d6.loss_plan_l1_fix_time: 0.6043, d6.loss_plan_l1_fix_dist: 0.1703, d0.loss_cls_all: 0.1170, d0.loss_bbox_all: 0.3286, d0.loss_cls: 0.1170, d0.loss_bbox: 0.3286, d1.loss_cls: 0.1094, d1.loss_bbox: 0.3032, d2.loss_cls: 0.0983, d2.loss_bbox: 0.2817, d3.loss_cls: 0.0844, d3.loss_bbox: 0.2766, d4.loss_cls: 0.0781, d4.loss_bbox: 0.2735, d5.loss_cls: 0.0763, d5.loss_bbox: 0.2722, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6988, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5566, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5126, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5039, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4926, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4871, d0.loss_map_cls_all: 0.1594, d0.loss_map_pts_all: 0.9879, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1594, d0.loss_map_pts: 0.9879, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1303, d1.loss_map_pts: 0.7037, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1095, d2.loss_map_pts: 0.5432, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.0981, d3.loss_map_pts: 0.4889, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.0919, d4.loss_map_pts: 0.4673, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0872, d5.loss_map_pts: 0.4624, d5.loss_map_dir: 0.0062, loss: 20.0526, grad_norm: 133.5584 +2026-02-28 23:41:06,801 - DriveTransformer - INFO - Epoch [11][24350/39528] lr: 6.331e-05, eta: 4 days, 11:26:54, time: 0.769, data_time: 0.038, memory: 19865, loss_cls: 0.0830, loss_bbox: 0.2722, loss_traj: 0.3831, loss_traj_cls: 0.0022, loss_map_cls: 0.0870, loss_map_pts: 0.5039, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.4949, d0.loss_plan_l1_fix_dist: 0.4414, d1.loss_plan_l1_fix_time: 0.6312, d1.loss_plan_l1_fix_dist: 0.2148, d2.loss_plan_l1_fix_time: 0.6194, d2.loss_plan_l1_fix_dist: 0.1802, d3.loss_plan_l1_fix_time: 0.6260, d3.loss_plan_l1_fix_dist: 0.1977, d4.loss_plan_l1_fix_time: 0.6299, d4.loss_plan_l1_fix_dist: 0.1716, d5.loss_plan_l1_fix_time: 0.6331, d5.loss_plan_l1_fix_dist: 0.1665, d6.loss_plan_l1_fix_time: 0.6365, d6.loss_plan_l1_fix_dist: 0.1738, d0.loss_cls_all: 0.1345, d0.loss_bbox_all: 0.3366, d0.loss_cls: 0.1345, d0.loss_bbox: 0.3366, d1.loss_cls: 0.1291, d1.loss_bbox: 0.3051, d2.loss_cls: 0.1157, d2.loss_bbox: 0.2831, d3.loss_cls: 0.0942, d3.loss_bbox: 0.2776, d4.loss_cls: 0.0848, d4.loss_bbox: 0.2756, d5.loss_cls: 0.0829, d5.loss_bbox: 0.2731, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6050, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.4561, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4096, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3887, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3859, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3813, d0.loss_map_cls_all: 0.1751, d0.loss_map_pts_all: 1.0597, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1751, d0.loss_map_pts: 1.0597, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1347, d1.loss_map_pts: 0.7373, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1116, d2.loss_map_pts: 0.5810, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1018, d3.loss_map_pts: 0.5307, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.0936, d4.loss_map_pts: 0.5104, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.0893, d5.loss_map_pts: 0.5044, d5.loss_map_dir: 0.0068, loss: 20.5634, grad_norm: 134.6286 +2026-02-28 23:41:42,717 - DriveTransformer - INFO - Epoch [11][24400/39528] lr: 6.331e-05, eta: 4 days, 11:26:15, time: 0.720, data_time: 0.043, memory: 19865, loss_cls: 0.0937, loss_bbox: 0.2796, loss_traj: 0.4966, loss_traj_cls: 0.0021, loss_map_cls: 0.1092, loss_map_pts: 0.5102, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.4715, d0.loss_plan_l1_fix_dist: 0.4956, d1.loss_plan_l1_fix_time: 0.7936, d1.loss_plan_l1_fix_dist: 0.2148, d2.loss_plan_l1_fix_time: 0.7910, d2.loss_plan_l1_fix_dist: 0.1920, d3.loss_plan_l1_fix_time: 0.7927, d3.loss_plan_l1_fix_dist: 0.2101, d4.loss_plan_l1_fix_time: 0.7949, d4.loss_plan_l1_fix_dist: 0.1930, d5.loss_plan_l1_fix_time: 0.7972, d5.loss_plan_l1_fix_dist: 0.1711, d6.loss_plan_l1_fix_time: 0.7996, d6.loss_plan_l1_fix_dist: 0.1850, d0.loss_cls_all: 0.1347, d0.loss_bbox_all: 0.3435, d0.loss_cls: 0.1347, d0.loss_bbox: 0.3435, d1.loss_cls: 0.1318, d1.loss_bbox: 0.3071, d2.loss_cls: 0.1207, d2.loss_bbox: 0.2854, d3.loss_cls: 0.1008, d3.loss_bbox: 0.2841, d4.loss_cls: 0.0947, d4.loss_bbox: 0.2803, d5.loss_cls: 0.0929, d5.loss_bbox: 0.2794, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7534, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5810, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5121, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4938, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4939, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4941, d0.loss_map_cls_all: 0.2012, d0.loss_map_pts_all: 1.1060, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.2012, d0.loss_map_pts: 1.1060, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1681, d1.loss_map_pts: 0.7917, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1367, d2.loss_map_pts: 0.6134, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1231, d3.loss_map_pts: 0.5424, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1157, d4.loss_map_pts: 0.5178, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1110, d5.loss_map_pts: 0.5114, d5.loss_map_dir: 0.0054, loss: 22.9496, grad_norm: 129.2520 +2026-02-28 23:42:18,463 - DriveTransformer - INFO - Epoch [11][24450/39528] lr: 6.331e-05, eta: 4 days, 11:25:36, time: 0.714, data_time: 0.035, memory: 19865, loss_cls: 0.0858, loss_bbox: 0.2686, loss_traj: 0.4025, loss_traj_cls: 0.0022, loss_map_cls: 0.1068, loss_map_pts: 0.4949, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.6097, d0.loss_plan_l1_fix_dist: 0.3871, d1.loss_plan_l1_fix_time: 0.6942, d1.loss_plan_l1_fix_dist: 0.1769, d2.loss_plan_l1_fix_time: 0.6778, d2.loss_plan_l1_fix_dist: 0.1762, d3.loss_plan_l1_fix_time: 0.6700, d3.loss_plan_l1_fix_dist: 0.1851, d4.loss_plan_l1_fix_time: 0.6712, d4.loss_plan_l1_fix_dist: 0.1784, d5.loss_plan_l1_fix_time: 0.6733, d5.loss_plan_l1_fix_dist: 0.1445, d6.loss_plan_l1_fix_time: 0.6757, d6.loss_plan_l1_fix_dist: 0.1559, d0.loss_cls_all: 0.1282, d0.loss_bbox_all: 0.3427, d0.loss_cls: 0.1282, d0.loss_bbox: 0.3427, d1.loss_cls: 0.1225, d1.loss_bbox: 0.3069, d2.loss_cls: 0.1107, d2.loss_bbox: 0.2834, d3.loss_cls: 0.0937, d3.loss_bbox: 0.2746, d4.loss_cls: 0.0869, d4.loss_bbox: 0.2717, d5.loss_cls: 0.0852, d5.loss_bbox: 0.2699, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6025, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.4863, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4414, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4213, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4140, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4076, d0.loss_map_cls_all: 0.1864, d0.loss_map_pts_all: 1.0336, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1864, d0.loss_map_pts: 1.0336, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1548, d1.loss_map_pts: 0.7347, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1316, d2.loss_map_pts: 0.5849, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1208, d3.loss_map_pts: 0.5321, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1133, d4.loss_map_pts: 0.5032, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1086, d5.loss_map_pts: 0.4958, d5.loss_map_dir: 0.0059, loss: 21.0289, grad_norm: 128.3058 +2026-02-28 23:42:55,267 - DriveTransformer - INFO - Epoch [11][24500/39528] lr: 6.331e-05, eta: 4 days, 11:25:00, time: 0.736, data_time: 0.037, memory: 19865, loss_cls: 0.0800, loss_bbox: 0.2710, loss_traj: 0.3989, loss_traj_cls: 0.0022, loss_map_cls: 0.0959, loss_map_pts: 0.4928, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.3437, d0.loss_plan_l1_fix_dist: 0.3567, d1.loss_plan_l1_fix_time: 0.6646, d1.loss_plan_l1_fix_dist: 0.1653, d2.loss_plan_l1_fix_time: 0.6502, d2.loss_plan_l1_fix_dist: 0.1878, d3.loss_plan_l1_fix_time: 0.6510, d3.loss_plan_l1_fix_dist: 0.1869, d4.loss_plan_l1_fix_time: 0.6539, d4.loss_plan_l1_fix_dist: 0.1884, d5.loss_plan_l1_fix_time: 0.6569, d5.loss_plan_l1_fix_dist: 0.1603, d6.loss_plan_l1_fix_time: 0.6604, d6.loss_plan_l1_fix_dist: 0.1651, d0.loss_cls_all: 0.1197, d0.loss_bbox_all: 0.3247, d0.loss_cls: 0.1197, d0.loss_bbox: 0.3247, d1.loss_cls: 0.1134, d1.loss_bbox: 0.2973, d2.loss_cls: 0.0991, d2.loss_bbox: 0.2798, d3.loss_cls: 0.0856, d3.loss_bbox: 0.2753, d4.loss_cls: 0.0815, d4.loss_bbox: 0.2718, d5.loss_cls: 0.0811, d5.loss_bbox: 0.2711, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5949, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.4603, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4223, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4111, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4046, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4035, d0.loss_map_cls_all: 0.1702, d0.loss_map_pts_all: 1.0231, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1702, d0.loss_map_pts: 1.0231, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1411, d1.loss_map_pts: 0.7310, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1201, d2.loss_map_pts: 0.5728, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1073, d3.loss_map_pts: 0.5196, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1012, d4.loss_map_pts: 0.4979, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0976, d5.loss_map_pts: 0.4933, d5.loss_map_dir: 0.0065, loss: 20.2984, grad_norm: 131.2890 +2026-02-28 23:43:33,683 - DriveTransformer - INFO - Epoch [11][24550/39528] lr: 6.331e-05, eta: 4 days, 11:24:29, time: 0.768, data_time: 0.036, memory: 19865, loss_cls: 0.0933, loss_bbox: 0.3103, loss_traj: 0.5151, loss_traj_cls: 0.0022, loss_map_cls: 0.1097, loss_map_pts: 0.5687, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 3.0091, d0.loss_plan_l1_fix_dist: 0.4401, d1.loss_plan_l1_fix_time: 0.8635, d1.loss_plan_l1_fix_dist: 0.1870, d2.loss_plan_l1_fix_time: 0.8423, d2.loss_plan_l1_fix_dist: 0.2255, d3.loss_plan_l1_fix_time: 0.8302, d3.loss_plan_l1_fix_dist: 0.2130, d4.loss_plan_l1_fix_time: 0.8313, d4.loss_plan_l1_fix_dist: 0.2213, d5.loss_plan_l1_fix_time: 0.8330, d5.loss_plan_l1_fix_dist: 0.1961, d6.loss_plan_l1_fix_time: 0.8354, d6.loss_plan_l1_fix_dist: 0.1853, d0.loss_cls_all: 0.1397, d0.loss_bbox_all: 0.3735, d0.loss_cls: 0.1397, d0.loss_bbox: 0.3735, d1.loss_cls: 0.1351, d1.loss_bbox: 0.3410, d2.loss_cls: 0.1193, d2.loss_bbox: 0.3203, d3.loss_cls: 0.1020, d3.loss_bbox: 0.3136, d4.loss_cls: 0.0972, d4.loss_bbox: 0.3109, d5.loss_cls: 0.0938, d5.loss_bbox: 0.3103, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8068, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5945, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5457, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5220, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5191, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5159, d0.loss_map_cls_all: 0.1957, d0.loss_map_pts_all: 1.1438, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1957, d0.loss_map_pts: 1.1438, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1625, d1.loss_map_pts: 0.8344, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1369, d2.loss_map_pts: 0.6644, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1234, d3.loss_map_pts: 0.6033, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1172, d4.loss_map_pts: 0.5765, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1116, d5.loss_map_pts: 0.5693, d5.loss_map_dir: 0.0068, loss: 24.6248, grad_norm: 132.0940 +2026-02-28 23:44:09,102 - DriveTransformer - INFO - Epoch [11][24600/39528] lr: 6.331e-05, eta: 4 days, 11:23:49, time: 0.708, data_time: 0.037, memory: 19865, loss_cls: 0.0863, loss_bbox: 0.2909, loss_traj: 0.4166, loss_traj_cls: 0.0021, loss_map_cls: 0.1055, loss_map_pts: 0.5053, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.3814, d0.loss_plan_l1_fix_dist: 0.4902, d1.loss_plan_l1_fix_time: 0.7005, d1.loss_plan_l1_fix_dist: 0.1618, d2.loss_plan_l1_fix_time: 0.6901, d2.loss_plan_l1_fix_dist: 0.2203, d3.loss_plan_l1_fix_time: 0.6940, d3.loss_plan_l1_fix_dist: 0.1898, d4.loss_plan_l1_fix_time: 0.6962, d4.loss_plan_l1_fix_dist: 0.2062, d5.loss_plan_l1_fix_time: 0.6982, d5.loss_plan_l1_fix_dist: 0.1823, d6.loss_plan_l1_fix_time: 0.7003, d6.loss_plan_l1_fix_dist: 0.1720, d0.loss_cls_all: 0.1296, d0.loss_bbox_all: 0.3581, d0.loss_cls: 0.1296, d0.loss_bbox: 0.3581, d1.loss_cls: 0.1240, d1.loss_bbox: 0.3229, d2.loss_cls: 0.1109, d2.loss_bbox: 0.3027, d3.loss_cls: 0.0937, d3.loss_bbox: 0.2978, d4.loss_cls: 0.0881, d4.loss_bbox: 0.2947, d5.loss_cls: 0.0867, d5.loss_bbox: 0.2920, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6267, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.4738, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4296, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4153, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4151, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4150, d0.loss_map_cls_all: 0.1955, d0.loss_map_pts_all: 1.0352, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1955, d0.loss_map_pts: 1.0352, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1567, d1.loss_map_pts: 0.7525, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1297, d2.loss_map_pts: 0.5918, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1180, d3.loss_map_pts: 0.5343, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1120, d4.loss_map_pts: 0.5131, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1075, d5.loss_map_pts: 0.5067, d5.loss_map_dir: 0.0064, loss: 21.3938, grad_norm: 127.6142 +2026-02-28 23:44:45,975 - DriveTransformer - INFO - Epoch [11][24650/39528] lr: 6.331e-05, eta: 4 days, 11:23:14, time: 0.737, data_time: 0.041, memory: 19865, loss_cls: 0.0910, loss_bbox: 0.2895, loss_traj: 0.4238, loss_traj_cls: 0.0021, loss_map_cls: 0.0984, loss_map_pts: 0.4666, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 3.0516, d0.loss_plan_l1_fix_dist: 0.4039, d1.loss_plan_l1_fix_time: 0.8525, d1.loss_plan_l1_fix_dist: 0.1699, d2.loss_plan_l1_fix_time: 0.8412, d2.loss_plan_l1_fix_dist: 0.2311, d3.loss_plan_l1_fix_time: 0.8423, d3.loss_plan_l1_fix_dist: 0.1756, d4.loss_plan_l1_fix_time: 0.8433, d4.loss_plan_l1_fix_dist: 0.2039, d5.loss_plan_l1_fix_time: 0.8445, d5.loss_plan_l1_fix_dist: 0.1786, d6.loss_plan_l1_fix_time: 0.8463, d6.loss_plan_l1_fix_dist: 0.1765, d0.loss_cls_all: 0.1387, d0.loss_bbox_all: 0.3524, d0.loss_cls: 0.1387, d0.loss_bbox: 0.3524, d1.loss_cls: 0.1308, d1.loss_bbox: 0.3190, d2.loss_cls: 0.1149, d2.loss_bbox: 0.2965, d3.loss_cls: 0.0979, d3.loss_bbox: 0.2907, d4.loss_cls: 0.0931, d4.loss_bbox: 0.2897, d5.loss_cls: 0.0917, d5.loss_bbox: 0.2874, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6476, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5027, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4510, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4363, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4297, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4266, d0.loss_map_cls_all: 0.1807, d0.loss_map_pts_all: 0.9909, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1807, d0.loss_map_pts: 0.9909, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1510, d1.loss_map_pts: 0.6998, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1231, d2.loss_map_pts: 0.5599, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.1129, d3.loss_map_pts: 0.4975, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.1059, d4.loss_map_pts: 0.4738, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.1010, d5.loss_map_pts: 0.4675, d5.loss_map_dir: 0.0050, loss: 22.6010, grad_norm: 127.0897 +2026-02-28 23:45:22,322 - DriveTransformer - INFO - Epoch [11][24700/39528] lr: 6.331e-05, eta: 4 days, 11:22:37, time: 0.727, data_time: 0.039, memory: 19865, loss_cls: 0.0791, loss_bbox: 0.2747, loss_traj: 0.4427, loss_traj_cls: 0.0022, loss_map_cls: 0.0931, loss_map_pts: 0.5063, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.3526, d0.loss_plan_l1_fix_dist: 0.4734, d1.loss_plan_l1_fix_time: 0.7356, d1.loss_plan_l1_fix_dist: 0.1660, d2.loss_plan_l1_fix_time: 0.7226, d2.loss_plan_l1_fix_dist: 0.2171, d3.loss_plan_l1_fix_time: 0.7189, d3.loss_plan_l1_fix_dist: 0.1459, d4.loss_plan_l1_fix_time: 0.7213, d4.loss_plan_l1_fix_dist: 0.1767, d5.loss_plan_l1_fix_time: 0.7242, d5.loss_plan_l1_fix_dist: 0.1488, d6.loss_plan_l1_fix_time: 0.7266, d6.loss_plan_l1_fix_dist: 0.1460, d0.loss_cls_all: 0.1196, d0.loss_bbox_all: 0.3158, d0.loss_cls: 0.1196, d0.loss_bbox: 0.3158, d1.loss_cls: 0.1150, d1.loss_bbox: 0.2931, d2.loss_cls: 0.1015, d2.loss_bbox: 0.2762, d3.loss_cls: 0.0845, d3.loss_bbox: 0.2741, d4.loss_cls: 0.0802, d4.loss_bbox: 0.2731, d5.loss_cls: 0.0794, d5.loss_bbox: 0.2734, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6498, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5045, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4620, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4387, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4387, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4416, d0.loss_map_cls_all: 0.1758, d0.loss_map_pts_all: 1.0775, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1758, d0.loss_map_pts: 1.0775, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1446, d1.loss_map_pts: 0.7732, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1200, d2.loss_map_pts: 0.5950, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1087, d3.loss_map_pts: 0.5319, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1024, d4.loss_map_pts: 0.5102, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0957, d5.loss_map_pts: 0.5063, d5.loss_map_dir: 0.0058, loss: 21.2776, grad_norm: 122.6654 +2026-02-28 23:45:58,868 - DriveTransformer - INFO - Epoch [11][24750/39528] lr: 6.331e-05, eta: 4 days, 11:22:00, time: 0.731, data_time: 0.039, memory: 19865, loss_cls: 0.1021, loss_bbox: 0.3057, loss_traj: 0.4740, loss_traj_cls: 0.0020, loss_map_cls: 0.1077, loss_map_pts: 0.5156, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.8006, d0.loss_plan_l1_fix_dist: 0.3776, d1.loss_plan_l1_fix_time: 0.8280, d1.loss_plan_l1_fix_dist: 0.1873, d2.loss_plan_l1_fix_time: 0.8119, d2.loss_plan_l1_fix_dist: 0.2143, d3.loss_plan_l1_fix_time: 0.8120, d3.loss_plan_l1_fix_dist: 0.1654, d4.loss_plan_l1_fix_time: 0.8139, d4.loss_plan_l1_fix_dist: 0.1813, d5.loss_plan_l1_fix_time: 0.8158, d5.loss_plan_l1_fix_dist: 0.1544, d6.loss_plan_l1_fix_time: 0.8177, d6.loss_plan_l1_fix_dist: 0.1583, d0.loss_cls_all: 0.1519, d0.loss_bbox_all: 0.3678, d0.loss_cls: 0.1519, d0.loss_bbox: 0.3678, d1.loss_cls: 0.1435, d1.loss_bbox: 0.3350, d2.loss_cls: 0.1310, d2.loss_bbox: 0.3111, d3.loss_cls: 0.1068, d3.loss_bbox: 0.3099, d4.loss_cls: 0.1018, d4.loss_bbox: 0.3081, d5.loss_cls: 0.1010, d5.loss_bbox: 0.3066, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6957, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5526, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4824, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4756, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4753, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4722, d0.loss_map_cls_all: 0.1974, d0.loss_map_pts_all: 1.1157, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1974, d0.loss_map_pts: 1.1157, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1594, d1.loss_map_pts: 0.8055, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1353, d2.loss_map_pts: 0.6235, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1235, d3.loss_map_pts: 0.5514, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1155, d4.loss_map_pts: 0.5222, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1095, d5.loss_map_pts: 0.5151, d5.loss_map_dir: 0.0058, loss: 23.3318, grad_norm: 123.0378 +2026-02-28 23:46:35,145 - DriveTransformer - INFO - Epoch [11][24800/39528] lr: 6.331e-05, eta: 4 days, 11:21:23, time: 0.726, data_time: 0.041, memory: 19865, loss_cls: 0.0984, loss_bbox: 0.2825, loss_traj: 0.4332, loss_traj_cls: 0.0021, loss_map_cls: 0.1116, loss_map_pts: 0.5309, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.5599, d0.loss_plan_l1_fix_dist: 0.4448, d1.loss_plan_l1_fix_time: 0.7134, d1.loss_plan_l1_fix_dist: 0.2088, d2.loss_plan_l1_fix_time: 0.7099, d2.loss_plan_l1_fix_dist: 0.2094, d3.loss_plan_l1_fix_time: 0.7054, d3.loss_plan_l1_fix_dist: 0.2029, d4.loss_plan_l1_fix_time: 0.7072, d4.loss_plan_l1_fix_dist: 0.1837, d5.loss_plan_l1_fix_time: 0.7088, d5.loss_plan_l1_fix_dist: 0.1744, d6.loss_plan_l1_fix_time: 0.7109, d6.loss_plan_l1_fix_dist: 0.1785, d0.loss_cls_all: 0.1489, d0.loss_bbox_all: 0.3501, d0.loss_cls: 0.1489, d0.loss_bbox: 0.3501, d1.loss_cls: 0.1425, d1.loss_bbox: 0.3137, d2.loss_cls: 0.1284, d2.loss_bbox: 0.2924, d3.loss_cls: 0.1077, d3.loss_bbox: 0.2853, d4.loss_cls: 0.0988, d4.loss_bbox: 0.2837, d5.loss_cls: 0.0988, d5.loss_bbox: 0.2819, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6662, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5277, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4729, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4519, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4361, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4327, d0.loss_map_cls_all: 0.1905, d0.loss_map_pts_all: 1.0574, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1905, d0.loss_map_pts: 1.0574, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1558, d1.loss_map_pts: 0.7731, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1335, d2.loss_map_pts: 0.6142, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1200, d3.loss_map_pts: 0.5615, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1151, d4.loss_map_pts: 0.5375, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1118, d5.loss_map_pts: 0.5321, d5.loss_map_dir: 0.0066, loss: 22.1053, grad_norm: 125.7196 +2026-02-28 23:47:11,663 - DriveTransformer - INFO - Epoch [11][24850/39528] lr: 6.331e-05, eta: 4 days, 11:20:46, time: 0.730, data_time: 0.039, memory: 19865, loss_cls: 0.0915, loss_bbox: 0.2812, loss_traj: 0.5166, loss_traj_cls: 0.0021, loss_map_cls: 0.0923, loss_map_pts: 0.4728, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.7352, d0.loss_plan_l1_fix_dist: 0.3991, d1.loss_plan_l1_fix_time: 0.8653, d1.loss_plan_l1_fix_dist: 0.2168, d2.loss_plan_l1_fix_time: 0.8582, d2.loss_plan_l1_fix_dist: 0.1931, d3.loss_plan_l1_fix_time: 0.8530, d3.loss_plan_l1_fix_dist: 0.2120, d4.loss_plan_l1_fix_time: 0.8537, d4.loss_plan_l1_fix_dist: 0.1658, d5.loss_plan_l1_fix_time: 0.8549, d5.loss_plan_l1_fix_dist: 0.1847, d6.loss_plan_l1_fix_time: 0.8564, d6.loss_plan_l1_fix_dist: 0.1925, d0.loss_cls_all: 0.1364, d0.loss_bbox_all: 0.3379, d0.loss_cls: 0.1364, d0.loss_bbox: 0.3379, d1.loss_cls: 0.1329, d1.loss_bbox: 0.3089, d2.loss_cls: 0.1162, d2.loss_bbox: 0.2914, d3.loss_cls: 0.0968, d3.loss_bbox: 0.2856, d4.loss_cls: 0.0911, d4.loss_bbox: 0.2822, d5.loss_cls: 0.0914, d5.loss_bbox: 0.2803, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7559, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5964, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5445, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5220, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5181, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5153, d0.loss_map_cls_all: 0.1615, d0.loss_map_pts_all: 1.0055, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1615, d0.loss_map_pts: 1.0055, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1324, d1.loss_map_pts: 0.7233, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1131, d2.loss_map_pts: 0.5727, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1044, d3.loss_map_pts: 0.5076, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0979, d4.loss_map_pts: 0.4785, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0928, d5.loss_map_pts: 0.4729, d5.loss_map_dir: 0.0062, loss: 22.9607, grad_norm: 128.5291 +2026-02-28 23:47:47,110 - DriveTransformer - INFO - Epoch [11][24900/39528] lr: 6.331e-05, eta: 4 days, 11:20:06, time: 0.709, data_time: 0.038, memory: 19865, loss_cls: 0.0929, loss_bbox: 0.2856, loss_traj: 0.5288, loss_traj_cls: 0.0021, loss_map_cls: 0.0801, loss_map_pts: 0.4496, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.5029, d0.loss_plan_l1_fix_dist: 0.4648, d1.loss_plan_l1_fix_time: 0.7161, d1.loss_plan_l1_fix_dist: 0.2364, d2.loss_plan_l1_fix_time: 0.7006, d2.loss_plan_l1_fix_dist: 0.1916, d3.loss_plan_l1_fix_time: 0.6952, d3.loss_plan_l1_fix_dist: 0.2340, d4.loss_plan_l1_fix_time: 0.6973, d4.loss_plan_l1_fix_dist: 0.1646, d5.loss_plan_l1_fix_time: 0.7002, d5.loss_plan_l1_fix_dist: 0.1714, d6.loss_plan_l1_fix_time: 0.7036, d6.loss_plan_l1_fix_dist: 0.1738, d0.loss_cls_all: 0.1364, d0.loss_bbox_all: 0.3495, d0.loss_cls: 0.1364, d0.loss_bbox: 0.3495, d1.loss_cls: 0.1302, d1.loss_bbox: 0.3160, d2.loss_cls: 0.1166, d2.loss_bbox: 0.2940, d3.loss_cls: 0.1004, d3.loss_bbox: 0.2883, d4.loss_cls: 0.0948, d4.loss_bbox: 0.2852, d5.loss_cls: 0.0936, d5.loss_bbox: 0.2845, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7495, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5987, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5560, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5438, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5388, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5315, d0.loss_map_cls_all: 0.1531, d0.loss_map_pts_all: 0.9243, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1531, d0.loss_map_pts: 0.9243, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1227, d1.loss_map_pts: 0.6757, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1017, d2.loss_map_pts: 0.5330, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0902, d3.loss_map_pts: 0.4807, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0846, d4.loss_map_pts: 0.4561, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0813, d5.loss_map_pts: 0.4510, d5.loss_map_dir: 0.0056, loss: 21.5667, grad_norm: 127.3145 +2026-02-28 23:48:23,420 - DriveTransformer - INFO - Epoch [11][24950/39528] lr: 6.331e-05, eta: 4 days, 11:19:29, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.0837, loss_bbox: 0.2754, loss_traj: 0.4402, loss_traj_cls: 0.0022, loss_map_cls: 0.0938, loss_map_pts: 0.4714, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.9754, d0.loss_plan_l1_fix_dist: 0.4977, d1.loss_plan_l1_fix_time: 0.7368, d1.loss_plan_l1_fix_dist: 0.2392, d2.loss_plan_l1_fix_time: 0.7225, d2.loss_plan_l1_fix_dist: 0.1911, d3.loss_plan_l1_fix_time: 0.7215, d3.loss_plan_l1_fix_dist: 0.2445, d4.loss_plan_l1_fix_time: 0.7244, d4.loss_plan_l1_fix_dist: 0.1816, d5.loss_plan_l1_fix_time: 0.7276, d5.loss_plan_l1_fix_dist: 0.1837, d6.loss_plan_l1_fix_time: 0.7313, d6.loss_plan_l1_fix_dist: 0.1917, d0.loss_cls_all: 0.1259, d0.loss_bbox_all: 0.3419, d0.loss_cls: 0.1259, d0.loss_bbox: 0.3419, d1.loss_cls: 0.1150, d1.loss_bbox: 0.3070, d2.loss_cls: 0.1041, d2.loss_bbox: 0.2848, d3.loss_cls: 0.0905, d3.loss_bbox: 0.2778, d4.loss_cls: 0.0843, d4.loss_bbox: 0.2754, d5.loss_cls: 0.0841, d5.loss_bbox: 0.2744, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6599, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5218, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4701, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4496, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4425, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4390, d0.loss_map_cls_all: 0.1735, d0.loss_map_pts_all: 0.9854, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1735, d0.loss_map_pts: 0.9854, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1428, d1.loss_map_pts: 0.7177, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1192, d2.loss_map_pts: 0.5707, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1062, d3.loss_map_pts: 0.5073, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1002, d4.loss_map_pts: 0.4778, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0965, d5.loss_map_pts: 0.4726, d5.loss_map_dir: 0.0058, loss: 21.9331, grad_norm: 126.9630 +2026-02-28 23:48:58,879 - DriveTransformer - INFO - Epoch [11][25000/39528] lr: 6.331e-05, eta: 4 days, 11:18:49, time: 0.709, data_time: 0.039, memory: 19865, loss_cls: 0.0741, loss_bbox: 0.2676, loss_traj: 0.4150, loss_traj_cls: 0.0022, loss_map_cls: 0.0888, loss_map_pts: 0.4319, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.6347, d0.loss_plan_l1_fix_dist: 0.5296, d1.loss_plan_l1_fix_time: 0.7981, d1.loss_plan_l1_fix_dist: 0.2411, d2.loss_plan_l1_fix_time: 0.7841, d2.loss_plan_l1_fix_dist: 0.1883, d3.loss_plan_l1_fix_time: 0.7762, d3.loss_plan_l1_fix_dist: 0.2415, d4.loss_plan_l1_fix_time: 0.7787, d4.loss_plan_l1_fix_dist: 0.1896, d5.loss_plan_l1_fix_time: 0.7810, d5.loss_plan_l1_fix_dist: 0.1890, d6.loss_plan_l1_fix_time: 0.7834, d6.loss_plan_l1_fix_dist: 0.2053, d0.loss_cls_all: 0.1186, d0.loss_bbox_all: 0.3230, d0.loss_cls: 0.1186, d0.loss_bbox: 0.3230, d1.loss_cls: 0.1110, d1.loss_bbox: 0.2956, d2.loss_cls: 0.0974, d2.loss_bbox: 0.2753, d3.loss_cls: 0.0799, d3.loss_bbox: 0.2716, d4.loss_cls: 0.0753, d4.loss_bbox: 0.2683, d5.loss_cls: 0.0738, d5.loss_bbox: 0.2685, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6130, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.4817, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4280, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4194, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4197, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4158, d0.loss_map_cls_all: 0.1570, d0.loss_map_pts_all: 0.9619, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1570, d0.loss_map_pts: 0.9619, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1278, d1.loss_map_pts: 0.6640, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1075, d2.loss_map_pts: 0.5188, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0996, d3.loss_map_pts: 0.4577, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0948, d4.loss_map_pts: 0.4383, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0905, d5.loss_map_pts: 0.4327, d5.loss_map_dir: 0.0050, loss: 21.1934, grad_norm: 127.2840 +2026-02-28 23:49:35,636 - DriveTransformer - INFO - Epoch [11][25050/39528] lr: 6.331e-05, eta: 4 days, 11:18:13, time: 0.735, data_time: 0.038, memory: 19865, loss_cls: 0.0831, loss_bbox: 0.2767, loss_traj: 0.4435, loss_traj_cls: 0.0022, loss_map_cls: 0.0942, loss_map_pts: 0.4705, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.4467, d0.loss_plan_l1_fix_dist: 0.3981, d1.loss_plan_l1_fix_time: 0.6847, d1.loss_plan_l1_fix_dist: 0.2195, d2.loss_plan_l1_fix_time: 0.6700, d2.loss_plan_l1_fix_dist: 0.1649, d3.loss_plan_l1_fix_time: 0.6619, d3.loss_plan_l1_fix_dist: 0.2002, d4.loss_plan_l1_fix_time: 0.6628, d4.loss_plan_l1_fix_dist: 0.1669, d5.loss_plan_l1_fix_time: 0.6645, d5.loss_plan_l1_fix_dist: 0.1741, d6.loss_plan_l1_fix_time: 0.6670, d6.loss_plan_l1_fix_dist: 0.1847, d0.loss_cls_all: 0.1243, d0.loss_bbox_all: 0.3332, d0.loss_cls: 0.1243, d0.loss_bbox: 0.3332, d1.loss_cls: 0.1197, d1.loss_bbox: 0.3022, d2.loss_cls: 0.1047, d2.loss_bbox: 0.2865, d3.loss_cls: 0.0896, d3.loss_bbox: 0.2794, d4.loss_cls: 0.0831, d4.loss_bbox: 0.2781, d5.loss_cls: 0.0828, d5.loss_bbox: 0.2763, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6699, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5164, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4714, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4548, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4539, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4490, d0.loss_map_cls_all: 0.1761, d0.loss_map_pts_all: 1.0245, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1761, d0.loss_map_pts: 1.0245, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1447, d1.loss_map_pts: 0.7131, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1171, d2.loss_map_pts: 0.5550, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1057, d3.loss_map_pts: 0.4958, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1005, d4.loss_map_pts: 0.4763, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0953, d5.loss_map_pts: 0.4710, d5.loss_map_dir: 0.0057, loss: 20.8962, grad_norm: 126.8089 +2026-02-28 23:50:11,177 - DriveTransformer - INFO - Epoch [11][25100/39528] lr: 6.331e-05, eta: 4 days, 11:17:34, time: 0.711, data_time: 0.038, memory: 19865, loss_cls: 0.0919, loss_bbox: 0.2783, loss_traj: 0.4543, loss_traj_cls: 0.0022, loss_map_cls: 0.1155, loss_map_pts: 0.5014, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.9851, d0.loss_plan_l1_fix_dist: 0.4569, d1.loss_plan_l1_fix_time: 0.7215, d1.loss_plan_l1_fix_dist: 0.2277, d2.loss_plan_l1_fix_time: 0.7094, d2.loss_plan_l1_fix_dist: 0.1916, d3.loss_plan_l1_fix_time: 0.7018, d3.loss_plan_l1_fix_dist: 0.2011, d4.loss_plan_l1_fix_time: 0.7043, d4.loss_plan_l1_fix_dist: 0.1828, d5.loss_plan_l1_fix_time: 0.7076, d5.loss_plan_l1_fix_dist: 0.2043, d6.loss_plan_l1_fix_time: 0.7114, d6.loss_plan_l1_fix_dist: 0.2080, d0.loss_cls_all: 0.1378, d0.loss_bbox_all: 0.3388, d0.loss_cls: 0.1378, d0.loss_bbox: 0.3388, d1.loss_cls: 0.1274, d1.loss_bbox: 0.3042, d2.loss_cls: 0.1166, d2.loss_bbox: 0.2846, d3.loss_cls: 0.0982, d3.loss_bbox: 0.2818, d4.loss_cls: 0.0934, d4.loss_bbox: 0.2790, d5.loss_cls: 0.0914, d5.loss_bbox: 0.2781, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6832, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5377, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4840, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4675, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4572, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4521, d0.loss_map_cls_all: 0.2085, d0.loss_map_pts_all: 0.9988, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.2085, d0.loss_map_pts: 0.9988, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1754, d1.loss_map_pts: 0.7353, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1463, d2.loss_map_pts: 0.5835, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1314, d3.loss_map_pts: 0.5271, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1245, d4.loss_map_pts: 0.5068, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1192, d5.loss_map_pts: 0.5004, d5.loss_map_dir: 0.0056, loss: 22.3623, grad_norm: 127.3272 +2026-02-28 23:50:47,975 - DriveTransformer - INFO - Epoch [11][25150/39528] lr: 6.331e-05, eta: 4 days, 11:16:58, time: 0.736, data_time: 0.037, memory: 19865, loss_cls: 0.0921, loss_bbox: 0.2863, loss_traj: 0.4413, loss_traj_cls: 0.0022, loss_map_cls: 0.1056, loss_map_pts: 0.5276, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.6634, d0.loss_plan_l1_fix_dist: 0.3980, d1.loss_plan_l1_fix_time: 0.7756, d1.loss_plan_l1_fix_dist: 0.2156, d2.loss_plan_l1_fix_time: 0.7600, d2.loss_plan_l1_fix_dist: 0.1892, d3.loss_plan_l1_fix_time: 0.7625, d3.loss_plan_l1_fix_dist: 0.1801, d4.loss_plan_l1_fix_time: 0.7658, d4.loss_plan_l1_fix_dist: 0.1705, d5.loss_plan_l1_fix_time: 0.7689, d5.loss_plan_l1_fix_dist: 0.1902, d6.loss_plan_l1_fix_time: 0.7728, d6.loss_plan_l1_fix_dist: 0.1726, d0.loss_cls_all: 0.1444, d0.loss_bbox_all: 0.3505, d0.loss_cls: 0.1444, d0.loss_bbox: 0.3505, d1.loss_cls: 0.1365, d1.loss_bbox: 0.3145, d2.loss_cls: 0.1201, d2.loss_bbox: 0.2927, d3.loss_cls: 0.0985, d3.loss_bbox: 0.2891, d4.loss_cls: 0.0925, d4.loss_bbox: 0.2875, d5.loss_cls: 0.0902, d5.loss_bbox: 0.2871, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7144, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5492, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4820, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4580, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4497, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4432, d0.loss_map_cls_all: 0.1865, d0.loss_map_pts_all: 1.1078, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1865, d0.loss_map_pts: 1.1078, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1565, d1.loss_map_pts: 0.7813, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1302, d2.loss_map_pts: 0.6178, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1189, d3.loss_map_pts: 0.5583, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1133, d4.loss_map_pts: 0.5335, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1087, d5.loss_map_pts: 0.5271, d5.loss_map_dir: 0.0070, loss: 22.6315, grad_norm: 130.2149 +2026-02-28 23:51:24,460 - DriveTransformer - INFO - Epoch [11][25200/39528] lr: 6.331e-05, eta: 4 days, 11:16:21, time: 0.731, data_time: 0.039, memory: 19865, loss_cls: 0.0928, loss_bbox: 0.2891, loss_traj: 0.5746, loss_traj_cls: 0.0021, loss_map_cls: 0.0910, loss_map_pts: 0.4781, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.8681, d0.loss_plan_l1_fix_dist: 0.4867, d1.loss_plan_l1_fix_time: 0.7512, d1.loss_plan_l1_fix_dist: 0.2206, d2.loss_plan_l1_fix_time: 0.7373, d2.loss_plan_l1_fix_dist: 0.2120, d3.loss_plan_l1_fix_time: 0.7341, d3.loss_plan_l1_fix_dist: 0.1931, d4.loss_plan_l1_fix_time: 0.7353, d4.loss_plan_l1_fix_dist: 0.1820, d5.loss_plan_l1_fix_time: 0.7372, d5.loss_plan_l1_fix_dist: 0.1998, d6.loss_plan_l1_fix_time: 0.7400, d6.loss_plan_l1_fix_dist: 0.1834, d0.loss_cls_all: 0.1282, d0.loss_bbox_all: 0.3511, d0.loss_cls: 0.1282, d0.loss_bbox: 0.3511, d1.loss_cls: 0.1294, d1.loss_bbox: 0.3161, d2.loss_cls: 0.1149, d2.loss_bbox: 0.2952, d3.loss_cls: 0.0992, d3.loss_bbox: 0.2901, d4.loss_cls: 0.0932, d4.loss_bbox: 0.2893, d5.loss_cls: 0.0935, d5.loss_bbox: 0.2878, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8420, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.6556, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.6067, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5880, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5755, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5760, d0.loss_map_cls_all: 0.1760, d0.loss_map_pts_all: 1.0192, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1760, d0.loss_map_pts: 1.0192, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1455, d1.loss_map_pts: 0.7353, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1157, d2.loss_map_pts: 0.5690, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1043, d3.loss_map_pts: 0.5058, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.0990, d4.loss_map_pts: 0.4859, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0928, d5.loss_map_pts: 0.4787, d5.loss_map_dir: 0.0063, loss: 23.0972, grad_norm: 129.7746 +2026-02-28 23:52:00,737 - DriveTransformer - INFO - Epoch [11][25250/39528] lr: 6.331e-05, eta: 4 days, 11:15:44, time: 0.724, data_time: 0.035, memory: 19865, loss_cls: 0.0938, loss_bbox: 0.2921, loss_traj: 0.4544, loss_traj_cls: 0.0021, loss_map_cls: 0.1138, loss_map_pts: 0.5508, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.5200, d0.loss_plan_l1_fix_dist: 0.4646, d1.loss_plan_l1_fix_time: 0.7409, d1.loss_plan_l1_fix_dist: 0.2013, d2.loss_plan_l1_fix_time: 0.7349, d2.loss_plan_l1_fix_dist: 0.2067, d3.loss_plan_l1_fix_time: 0.7346, d3.loss_plan_l1_fix_dist: 0.1828, d4.loss_plan_l1_fix_time: 0.7350, d4.loss_plan_l1_fix_dist: 0.1785, d5.loss_plan_l1_fix_time: 0.7357, d5.loss_plan_l1_fix_dist: 0.2050, d6.loss_plan_l1_fix_time: 0.7369, d6.loss_plan_l1_fix_dist: 0.2177, d0.loss_cls_all: 0.1324, d0.loss_bbox_all: 0.3526, d0.loss_cls: 0.1324, d0.loss_bbox: 0.3526, d1.loss_cls: 0.1260, d1.loss_bbox: 0.3217, d2.loss_cls: 0.1167, d2.loss_bbox: 0.3004, d3.loss_cls: 0.1012, d3.loss_bbox: 0.2957, d4.loss_cls: 0.0955, d4.loss_bbox: 0.2924, d5.loss_cls: 0.0952, d5.loss_bbox: 0.2904, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6991, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5445, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4853, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4642, d4.loss_traj_cls: 0.0010, d4.loss_traj: 0.4570, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4533, d0.loss_map_cls_all: 0.2005, d0.loss_map_pts_all: 1.0971, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.2005, d0.loss_map_pts: 1.0971, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1664, d1.loss_map_pts: 0.8058, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1419, d2.loss_map_pts: 0.6435, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1301, d3.loss_map_pts: 0.5811, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1222, d4.loss_map_pts: 0.5613, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1163, d5.loss_map_pts: 0.5514, d5.loss_map_dir: 0.0062, loss: 22.6792, grad_norm: 129.9453 +2026-02-28 23:52:37,347 - DriveTransformer - INFO - Epoch [11][25300/39528] lr: 6.331e-05, eta: 4 days, 11:15:07, time: 0.732, data_time: 0.039, memory: 19865, loss_cls: 0.0969, loss_bbox: 0.3012, loss_traj: 0.5813, loss_traj_cls: 0.0020, loss_map_cls: 0.1056, loss_map_pts: 0.5641, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.7195, d0.loss_plan_l1_fix_dist: 0.3438, d1.loss_plan_l1_fix_time: 0.8558, d1.loss_plan_l1_fix_dist: 0.1729, d2.loss_plan_l1_fix_time: 0.8355, d2.loss_plan_l1_fix_dist: 0.1973, d3.loss_plan_l1_fix_time: 0.8110, d3.loss_plan_l1_fix_dist: 0.1614, d4.loss_plan_l1_fix_time: 0.8115, d4.loss_plan_l1_fix_dist: 0.1609, d5.loss_plan_l1_fix_time: 0.8121, d5.loss_plan_l1_fix_dist: 0.1801, d6.loss_plan_l1_fix_time: 0.8130, d6.loss_plan_l1_fix_dist: 0.1949, d0.loss_cls_all: 0.1528, d0.loss_bbox_all: 0.3809, d0.loss_cls: 0.1528, d0.loss_bbox: 0.3809, d1.loss_cls: 0.1483, d1.loss_bbox: 0.3389, d2.loss_cls: 0.1309, d2.loss_bbox: 0.3118, d3.loss_cls: 0.1070, d3.loss_bbox: 0.3062, d4.loss_cls: 0.1001, d4.loss_bbox: 0.3028, d5.loss_cls: 0.0966, d5.loss_bbox: 0.3025, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8874, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.6905, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6212, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5993, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5868, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5811, d0.loss_map_cls_all: 0.1978, d0.loss_map_pts_all: 1.1450, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1978, d0.loss_map_pts: 1.1450, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1639, d1.loss_map_pts: 0.8467, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1329, d2.loss_map_pts: 0.6627, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1213, d3.loss_map_pts: 0.5954, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1125, d4.loss_map_pts: 0.5724, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1067, d5.loss_map_pts: 0.5653, d5.loss_map_dir: 0.0066, loss: 24.5218, grad_norm: 130.5679 +2026-02-28 23:53:13,823 - DriveTransformer - INFO - Epoch [11][25350/39528] lr: 6.331e-05, eta: 4 days, 11:14:30, time: 0.729, data_time: 0.041, memory: 19865, loss_cls: 0.0844, loss_bbox: 0.2910, loss_traj: 0.5261, loss_traj_cls: 0.0021, loss_map_cls: 0.1010, loss_map_pts: 0.4712, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.7621, d0.loss_plan_l1_fix_dist: 0.3847, d1.loss_plan_l1_fix_time: 0.7929, d1.loss_plan_l1_fix_dist: 0.1660, d2.loss_plan_l1_fix_time: 0.7791, d2.loss_plan_l1_fix_dist: 0.2079, d3.loss_plan_l1_fix_time: 0.7827, d3.loss_plan_l1_fix_dist: 0.1792, d4.loss_plan_l1_fix_time: 0.7848, d4.loss_plan_l1_fix_dist: 0.1872, d5.loss_plan_l1_fix_time: 0.7863, d5.loss_plan_l1_fix_dist: 0.1881, d6.loss_plan_l1_fix_time: 0.7876, d6.loss_plan_l1_fix_dist: 0.1984, d0.loss_cls_all: 0.1371, d0.loss_bbox_all: 0.3489, d0.loss_cls: 0.1371, d0.loss_bbox: 0.3489, d1.loss_cls: 0.1283, d1.loss_bbox: 0.3150, d2.loss_cls: 0.1105, d2.loss_bbox: 0.2970, d3.loss_cls: 0.0908, d3.loss_bbox: 0.2915, d4.loss_cls: 0.0871, d4.loss_bbox: 0.2893, d5.loss_cls: 0.0857, d5.loss_bbox: 0.2891, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7515, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.6000, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5568, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5375, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5298, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5276, d0.loss_map_cls_all: 0.1924, d0.loss_map_pts_all: 1.0132, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1924, d0.loss_map_pts: 1.0132, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1589, d1.loss_map_pts: 0.7198, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1275, d2.loss_map_pts: 0.5568, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1150, d3.loss_map_pts: 0.5009, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1089, d4.loss_map_pts: 0.4764, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1027, d5.loss_map_pts: 0.4720, d5.loss_map_dir: 0.0062, loss: 22.7269, grad_norm: 139.3207 +2026-02-28 23:53:50,401 - DriveTransformer - INFO - Epoch [11][25400/39528] lr: 6.331e-05, eta: 4 days, 11:13:54, time: 0.732, data_time: 0.038, memory: 19865, loss_cls: 0.0908, loss_bbox: 0.2880, loss_traj: 0.4490, loss_traj_cls: 0.0021, loss_map_cls: 0.0763, loss_map_pts: 0.4084, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.6184, d0.loss_plan_l1_fix_dist: 0.4590, d1.loss_plan_l1_fix_time: 0.8611, d1.loss_plan_l1_fix_dist: 0.1728, d2.loss_plan_l1_fix_time: 0.8407, d2.loss_plan_l1_fix_dist: 0.2239, d3.loss_plan_l1_fix_time: 0.8351, d3.loss_plan_l1_fix_dist: 0.1903, d4.loss_plan_l1_fix_time: 0.8352, d4.loss_plan_l1_fix_dist: 0.1971, d5.loss_plan_l1_fix_time: 0.8362, d5.loss_plan_l1_fix_dist: 0.1838, d6.loss_plan_l1_fix_time: 0.8374, d6.loss_plan_l1_fix_dist: 0.2048, d0.loss_cls_all: 0.1266, d0.loss_bbox_all: 0.3422, d0.loss_cls: 0.1266, d0.loss_bbox: 0.3422, d1.loss_cls: 0.1248, d1.loss_bbox: 0.3107, d2.loss_cls: 0.1136, d2.loss_bbox: 0.2929, d3.loss_cls: 0.0971, d3.loss_bbox: 0.2883, d4.loss_cls: 0.0937, d4.loss_bbox: 0.2862, d5.loss_cls: 0.0906, d5.loss_bbox: 0.2872, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7142, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5484, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4831, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4667, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4548, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4508, d0.loss_map_cls_all: 0.1495, d0.loss_map_pts_all: 0.8756, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1495, d0.loss_map_pts: 0.8756, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1179, d1.loss_map_pts: 0.6067, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.0949, d2.loss_map_pts: 0.4848, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0861, d3.loss_map_pts: 0.4376, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0801, d4.loss_map_pts: 0.4159, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0773, d5.loss_map_pts: 0.4087, d5.loss_map_dir: 0.0053, loss: 21.5603, grad_norm: 138.4873 +2026-02-28 23:54:27,066 - DriveTransformer - INFO - Epoch [11][25450/39528] lr: 6.331e-05, eta: 4 days, 11:13:18, time: 0.733, data_time: 0.038, memory: 19865, loss_cls: 0.0908, loss_bbox: 0.2862, loss_traj: 0.4458, loss_traj_cls: 0.0021, loss_map_cls: 0.1074, loss_map_pts: 0.5158, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.7009, d0.loss_plan_l1_fix_dist: 0.4069, d1.loss_plan_l1_fix_time: 0.7043, d1.loss_plan_l1_fix_dist: 0.1523, d2.loss_plan_l1_fix_time: 0.6943, d2.loss_plan_l1_fix_dist: 0.2105, d3.loss_plan_l1_fix_time: 0.6959, d3.loss_plan_l1_fix_dist: 0.1693, d4.loss_plan_l1_fix_time: 0.6978, d4.loss_plan_l1_fix_dist: 0.1883, d5.loss_plan_l1_fix_time: 0.6998, d5.loss_plan_l1_fix_dist: 0.1822, d6.loss_plan_l1_fix_time: 0.7019, d6.loss_plan_l1_fix_dist: 0.2067, d0.loss_cls_all: 0.1452, d0.loss_bbox_all: 0.3448, d0.loss_cls: 0.1452, d0.loss_bbox: 0.3448, d1.loss_cls: 0.1381, d1.loss_bbox: 0.3142, d2.loss_cls: 0.1208, d2.loss_bbox: 0.2944, d3.loss_cls: 0.1003, d3.loss_bbox: 0.2922, d4.loss_cls: 0.0915, d4.loss_bbox: 0.2908, d5.loss_cls: 0.0909, d5.loss_bbox: 0.2864, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6727, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5373, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4805, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4573, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4500, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4449, d0.loss_map_cls_all: 0.2034, d0.loss_map_pts_all: 1.0866, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2034, d0.loss_map_pts: 1.0866, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1642, d1.loss_map_pts: 0.7680, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1382, d2.loss_map_pts: 0.6038, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1212, d3.loss_map_pts: 0.5440, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1144, d4.loss_map_pts: 0.5225, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1088, d5.loss_map_pts: 0.5167, d5.loss_map_dir: 0.0065, loss: 22.1411, grad_norm: 139.0485 +2026-02-28 23:55:04,882 - DriveTransformer - INFO - Epoch [11][25500/39528] lr: 6.331e-05, eta: 4 days, 11:12:45, time: 0.756, data_time: 0.037, memory: 19865, loss_cls: 0.0832, loss_bbox: 0.2867, loss_traj: 0.4566, loss_traj_cls: 0.0021, loss_map_cls: 0.0971, loss_map_pts: 0.5597, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.7068, d0.loss_plan_l1_fix_dist: 0.4351, d1.loss_plan_l1_fix_time: 0.8030, d1.loss_plan_l1_fix_dist: 0.1616, d2.loss_plan_l1_fix_time: 0.7925, d2.loss_plan_l1_fix_dist: 0.2087, d3.loss_plan_l1_fix_time: 0.7695, d3.loss_plan_l1_fix_dist: 0.1622, d4.loss_plan_l1_fix_time: 0.7705, d4.loss_plan_l1_fix_dist: 0.1909, d5.loss_plan_l1_fix_time: 0.7723, d5.loss_plan_l1_fix_dist: 0.1856, d6.loss_plan_l1_fix_time: 0.7753, d6.loss_plan_l1_fix_dist: 0.2019, d0.loss_cls_all: 0.1294, d0.loss_bbox_all: 0.3523, d0.loss_cls: 0.1294, d0.loss_bbox: 0.3523, d1.loss_cls: 0.1208, d1.loss_bbox: 0.3169, d2.loss_cls: 0.1065, d2.loss_bbox: 0.2976, d3.loss_cls: 0.0902, d3.loss_bbox: 0.2904, d4.loss_cls: 0.0846, d4.loss_bbox: 0.2875, d5.loss_cls: 0.0837, d5.loss_bbox: 0.2868, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6742, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5134, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4724, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4643, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4588, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4570, d0.loss_map_cls_all: 0.1914, d0.loss_map_pts_all: 1.1969, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1914, d0.loss_map_pts: 1.1969, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1527, d1.loss_map_pts: 0.8601, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1259, d2.loss_map_pts: 0.6674, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1115, d3.loss_map_pts: 0.5985, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1046, d4.loss_map_pts: 0.5676, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.0988, d5.loss_map_pts: 0.5600, d5.loss_map_dir: 0.0074, loss: 23.0779, grad_norm: 139.5299 +2026-02-28 23:55:41,134 - DriveTransformer - INFO - Epoch [11][25550/39528] lr: 6.331e-05, eta: 4 days, 11:12:07, time: 0.725, data_time: 0.039, memory: 19865, loss_cls: 0.0831, loss_bbox: 0.2712, loss_traj: 0.4563, loss_traj_cls: 0.0021, loss_map_cls: 0.0968, loss_map_pts: 0.4286, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.3196, d0.loss_plan_l1_fix_dist: 0.4775, d1.loss_plan_l1_fix_time: 0.6871, d1.loss_plan_l1_fix_dist: 0.1772, d2.loss_plan_l1_fix_time: 0.6718, d2.loss_plan_l1_fix_dist: 0.2094, d3.loss_plan_l1_fix_time: 0.6724, d3.loss_plan_l1_fix_dist: 0.1711, d4.loss_plan_l1_fix_time: 0.6751, d4.loss_plan_l1_fix_dist: 0.1962, d5.loss_plan_l1_fix_time: 0.6779, d5.loss_plan_l1_fix_dist: 0.1844, d6.loss_plan_l1_fix_time: 0.6811, d6.loss_plan_l1_fix_dist: 0.1937, d0.loss_cls_all: 0.1339, d0.loss_bbox_all: 0.3267, d0.loss_cls: 0.1339, d0.loss_bbox: 0.3267, d1.loss_cls: 0.1228, d1.loss_bbox: 0.2955, d2.loss_cls: 0.1104, d2.loss_bbox: 0.2784, d3.loss_cls: 0.0903, d3.loss_bbox: 0.2740, d4.loss_cls: 0.0843, d4.loss_bbox: 0.2716, d5.loss_cls: 0.0833, d5.loss_bbox: 0.2716, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7024, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5492, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4848, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4669, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4645, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4603, d0.loss_map_cls_all: 0.1820, d0.loss_map_pts_all: 0.9173, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1820, d0.loss_map_pts: 0.9173, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1469, d1.loss_map_pts: 0.6492, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1230, d2.loss_map_pts: 0.5048, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1116, d3.loss_map_pts: 0.4525, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1044, d4.loss_map_pts: 0.4337, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0978, d5.loss_map_pts: 0.4297, d5.loss_map_dir: 0.0057, loss: 20.5674, grad_norm: 140.1937 +2026-02-28 23:56:17,796 - DriveTransformer - INFO - Epoch [11][25600/39528] lr: 6.331e-05, eta: 4 days, 11:11:31, time: 0.733, data_time: 0.040, memory: 19865, loss_cls: 0.0835, loss_bbox: 0.2751, loss_traj: 0.5245, loss_traj_cls: 0.0021, loss_map_cls: 0.0880, loss_map_pts: 0.4451, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.2645, d0.loss_plan_l1_fix_dist: 0.5706, d1.loss_plan_l1_fix_time: 0.7296, d1.loss_plan_l1_fix_dist: 0.1800, d2.loss_plan_l1_fix_time: 0.7150, d2.loss_plan_l1_fix_dist: 0.1943, d3.loss_plan_l1_fix_time: 0.7140, d3.loss_plan_l1_fix_dist: 0.1581, d4.loss_plan_l1_fix_time: 0.7152, d4.loss_plan_l1_fix_dist: 0.1864, d5.loss_plan_l1_fix_time: 0.7168, d5.loss_plan_l1_fix_dist: 0.1816, d6.loss_plan_l1_fix_time: 0.7186, d6.loss_plan_l1_fix_dist: 0.1710, d0.loss_cls_all: 0.1278, d0.loss_bbox_all: 0.3389, d0.loss_cls: 0.1278, d0.loss_bbox: 0.3389, d1.loss_cls: 0.1222, d1.loss_bbox: 0.3048, d2.loss_cls: 0.1128, d2.loss_bbox: 0.2810, d3.loss_cls: 0.0918, d3.loss_bbox: 0.2778, d4.loss_cls: 0.0861, d4.loss_bbox: 0.2767, d5.loss_cls: 0.0838, d5.loss_bbox: 0.2758, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7740, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.6167, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5563, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5362, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5284, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5288, d0.loss_map_cls_all: 0.1659, d0.loss_map_pts_all: 0.9745, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1659, d0.loss_map_pts: 0.9745, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1330, d1.loss_map_pts: 0.6792, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1107, d2.loss_map_pts: 0.5235, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1004, d3.loss_map_pts: 0.4738, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0935, d4.loss_map_pts: 0.4515, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0894, d5.loss_map_pts: 0.4456, d5.loss_map_dir: 0.0058, loss: 21.4534, grad_norm: 139.4055 +2026-02-28 23:56:56,048 - DriveTransformer - INFO - Epoch [11][25650/39528] lr: 6.331e-05, eta: 4 days, 11:10:59, time: 0.765, data_time: 0.038, memory: 19865, loss_cls: 0.0839, loss_bbox: 0.2865, loss_traj: 0.4477, loss_traj_cls: 0.0021, loss_map_cls: 0.1262, loss_map_pts: 0.5828, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.7994, d0.loss_plan_l1_fix_dist: 0.4590, d1.loss_plan_l1_fix_time: 0.7422, d1.loss_plan_l1_fix_dist: 0.1965, d2.loss_plan_l1_fix_time: 0.7343, d2.loss_plan_l1_fix_dist: 0.1899, d3.loss_plan_l1_fix_time: 0.7323, d3.loss_plan_l1_fix_dist: 0.1845, d4.loss_plan_l1_fix_time: 0.7341, d4.loss_plan_l1_fix_dist: 0.2013, d5.loss_plan_l1_fix_time: 0.7358, d5.loss_plan_l1_fix_dist: 0.2076, d6.loss_plan_l1_fix_time: 0.7381, d6.loss_plan_l1_fix_dist: 0.1963, d0.loss_cls_all: 0.1334, d0.loss_bbox_all: 0.3472, d0.loss_cls: 0.1334, d0.loss_bbox: 0.3472, d1.loss_cls: 0.1280, d1.loss_bbox: 0.3125, d2.loss_cls: 0.1134, d2.loss_bbox: 0.2893, d3.loss_cls: 0.0914, d3.loss_bbox: 0.2889, d4.loss_cls: 0.0851, d4.loss_bbox: 0.2867, d5.loss_cls: 0.0837, d5.loss_bbox: 0.2856, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6517, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5128, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4753, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4558, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4495, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4494, d0.loss_map_cls_all: 0.2171, d0.loss_map_pts_all: 1.2129, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2171, d0.loss_map_pts: 1.2129, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1834, d1.loss_map_pts: 0.8687, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1556, d2.loss_map_pts: 0.6812, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1431, d3.loss_map_pts: 0.6118, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1347, d4.loss_map_pts: 0.5875, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1291, d5.loss_map_pts: 0.5830, d5.loss_map_dir: 0.0077, loss: 23.3054, grad_norm: 141.7265 +2026-02-28 23:57:32,489 - DriveTransformer - INFO - Epoch [11][25700/39528] lr: 6.331e-05, eta: 4 days, 11:10:23, time: 0.729, data_time: 0.037, memory: 19865, loss_cls: 0.1005, loss_bbox: 0.3073, loss_traj: 0.5175, loss_traj_cls: 0.0021, loss_map_cls: 0.0950, loss_map_pts: 0.5248, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.3833, d0.loss_plan_l1_fix_dist: 0.4034, d1.loss_plan_l1_fix_time: 0.7012, d1.loss_plan_l1_fix_dist: 0.2053, d2.loss_plan_l1_fix_time: 0.6990, d2.loss_plan_l1_fix_dist: 0.1843, d3.loss_plan_l1_fix_time: 0.6920, d3.loss_plan_l1_fix_dist: 0.1907, d4.loss_plan_l1_fix_time: 0.6937, d4.loss_plan_l1_fix_dist: 0.1938, d5.loss_plan_l1_fix_time: 0.6958, d5.loss_plan_l1_fix_dist: 0.2031, d6.loss_plan_l1_fix_time: 0.6983, d6.loss_plan_l1_fix_dist: 0.1862, d0.loss_cls_all: 0.1490, d0.loss_bbox_all: 0.3658, d0.loss_cls: 0.1490, d0.loss_bbox: 0.3658, d1.loss_cls: 0.1420, d1.loss_bbox: 0.3336, d2.loss_cls: 0.1294, d2.loss_bbox: 0.3126, d3.loss_cls: 0.1109, d3.loss_bbox: 0.3080, d4.loss_cls: 0.1027, d4.loss_bbox: 0.3065, d5.loss_cls: 0.1015, d5.loss_bbox: 0.3058, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7817, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.6105, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5454, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5283, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5217, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5161, d0.loss_map_cls_all: 0.1705, d0.loss_map_pts_all: 1.0345, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1705, d0.loss_map_pts: 1.0345, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1360, d1.loss_map_pts: 0.7778, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1188, d2.loss_map_pts: 0.6139, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1065, d3.loss_map_pts: 0.5534, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.0999, d4.loss_map_pts: 0.5323, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.0966, d5.loss_map_pts: 0.5266, d5.loss_map_dir: 0.0066, loss: 22.3937, grad_norm: 142.2499 +2026-02-28 23:58:10,014 - DriveTransformer - INFO - Epoch [11][25750/39528] lr: 6.331e-05, eta: 4 days, 11:09:49, time: 0.751, data_time: 0.038, memory: 19865, loss_cls: 0.0921, loss_bbox: 0.2860, loss_traj: 0.3965, loss_traj_cls: 0.0021, loss_map_cls: 0.1100, loss_map_pts: 0.5549, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.8953, d0.loss_plan_l1_fix_dist: 0.4121, d1.loss_plan_l1_fix_time: 0.7955, d1.loss_plan_l1_fix_dist: 0.1936, d2.loss_plan_l1_fix_time: 0.7819, d2.loss_plan_l1_fix_dist: 0.1635, d3.loss_plan_l1_fix_time: 0.7753, d3.loss_plan_l1_fix_dist: 0.1811, d4.loss_plan_l1_fix_time: 0.7767, d4.loss_plan_l1_fix_dist: 0.1868, d5.loss_plan_l1_fix_time: 0.7786, d5.loss_plan_l1_fix_dist: 0.2069, d6.loss_plan_l1_fix_time: 0.7807, d6.loss_plan_l1_fix_dist: 0.1915, d0.loss_cls_all: 0.1400, d0.loss_bbox_all: 0.3393, d0.loss_cls: 0.1400, d0.loss_bbox: 0.3393, d1.loss_cls: 0.1337, d1.loss_bbox: 0.3097, d2.loss_cls: 0.1218, d2.loss_bbox: 0.2893, d3.loss_cls: 0.1041, d3.loss_bbox: 0.2865, d4.loss_cls: 0.0949, d4.loss_bbox: 0.2866, d5.loss_cls: 0.0921, d5.loss_bbox: 0.2864, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5897, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.4781, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4254, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4086, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4028, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3979, d0.loss_map_cls_all: 0.1909, d0.loss_map_pts_all: 1.1306, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.1909, d0.loss_map_pts: 1.1306, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1623, d1.loss_map_pts: 0.8027, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1369, d2.loss_map_pts: 0.6350, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1254, d3.loss_map_pts: 0.5807, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1178, d4.loss_map_pts: 0.5599, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1125, d5.loss_map_pts: 0.5554, d5.loss_map_dir: 0.0076, loss: 22.7255, grad_norm: 141.6504 +2026-02-28 23:58:46,373 - DriveTransformer - INFO - Epoch [11][25800/39528] lr: 6.331e-05, eta: 4 days, 11:09:12, time: 0.727, data_time: 0.036, memory: 19865, loss_cls: 0.0881, loss_bbox: 0.2962, loss_traj: 0.4424, loss_traj_cls: 0.0021, loss_map_cls: 0.0941, loss_map_pts: 0.4798, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.5300, d0.loss_plan_l1_fix_dist: 0.4934, d1.loss_plan_l1_fix_time: 0.6762, d1.loss_plan_l1_fix_dist: 0.1964, d2.loss_plan_l1_fix_time: 0.6692, d2.loss_plan_l1_fix_dist: 0.1652, d3.loss_plan_l1_fix_time: 0.6616, d3.loss_plan_l1_fix_dist: 0.2012, d4.loss_plan_l1_fix_time: 0.6635, d4.loss_plan_l1_fix_dist: 0.1869, d5.loss_plan_l1_fix_time: 0.6660, d5.loss_plan_l1_fix_dist: 0.2111, d6.loss_plan_l1_fix_time: 0.6684, d6.loss_plan_l1_fix_dist: 0.2071, d0.loss_cls_all: 0.1374, d0.loss_bbox_all: 0.3476, d0.loss_cls: 0.1374, d0.loss_bbox: 0.3476, d1.loss_cls: 0.1289, d1.loss_bbox: 0.3177, d2.loss_cls: 0.1139, d2.loss_bbox: 0.3013, d3.loss_cls: 0.0949, d3.loss_bbox: 0.2973, d4.loss_cls: 0.0897, d4.loss_bbox: 0.2950, d5.loss_cls: 0.0873, d5.loss_bbox: 0.2961, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6540, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5114, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4658, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4541, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4474, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4441, d0.loss_map_cls_all: 0.1769, d0.loss_map_pts_all: 1.0125, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1769, d0.loss_map_pts: 1.0125, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1451, d1.loss_map_pts: 0.7176, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1192, d2.loss_map_pts: 0.5610, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1066, d3.loss_map_pts: 0.5054, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1011, d4.loss_map_pts: 0.4870, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0959, d5.loss_map_pts: 0.4806, d5.loss_map_dir: 0.0057, loss: 21.3176, grad_norm: 141.6600 +2026-02-28 23:59:22,310 - DriveTransformer - INFO - Epoch [11][25850/39528] lr: 6.331e-05, eta: 4 days, 11:08:33, time: 0.719, data_time: 0.036, memory: 19865, loss_cls: 0.0812, loss_bbox: 0.2835, loss_traj: 0.4327, loss_traj_cls: 0.0021, loss_map_cls: 0.0978, loss_map_pts: 0.4756, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.5197, d0.loss_plan_l1_fix_dist: 0.4102, d1.loss_plan_l1_fix_time: 0.8001, d1.loss_plan_l1_fix_dist: 0.2024, d2.loss_plan_l1_fix_time: 0.7842, d2.loss_plan_l1_fix_dist: 0.1663, d3.loss_plan_l1_fix_time: 0.7760, d3.loss_plan_l1_fix_dist: 0.2145, d4.loss_plan_l1_fix_time: 0.7779, d4.loss_plan_l1_fix_dist: 0.1846, d5.loss_plan_l1_fix_time: 0.7797, d5.loss_plan_l1_fix_dist: 0.1846, d6.loss_plan_l1_fix_time: 0.7816, d6.loss_plan_l1_fix_dist: 0.1908, d0.loss_cls_all: 0.1277, d0.loss_bbox_all: 0.3293, d0.loss_cls: 0.1277, d0.loss_bbox: 0.3293, d1.loss_cls: 0.1210, d1.loss_bbox: 0.2991, d2.loss_cls: 0.1066, d2.loss_bbox: 0.2868, d3.loss_cls: 0.0901, d3.loss_bbox: 0.2823, d4.loss_cls: 0.0822, d4.loss_bbox: 0.2820, d5.loss_cls: 0.0821, d5.loss_bbox: 0.2821, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6120, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5056, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4546, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4358, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4307, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4282, d0.loss_map_cls_all: 0.1787, d0.loss_map_pts_all: 1.0137, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1787, d0.loss_map_pts: 1.0137, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1501, d1.loss_map_pts: 0.7275, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1234, d2.loss_map_pts: 0.5592, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1110, d3.loss_map_pts: 0.5010, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1050, d4.loss_map_pts: 0.4822, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0989, d5.loss_map_pts: 0.4751, d5.loss_map_dir: 0.0056, loss: 21.6094, grad_norm: 141.3127 +2026-02-28 23:59:59,690 - DriveTransformer - INFO - Epoch [11][25900/39528] lr: 6.331e-05, eta: 4 days, 11:07:59, time: 0.748, data_time: 0.038, memory: 19865, loss_cls: 0.0760, loss_bbox: 0.2593, loss_traj: 0.4550, loss_traj_cls: 0.0022, loss_map_cls: 0.0927, loss_map_pts: 0.5066, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.2079, d0.loss_plan_l1_fix_dist: 0.4055, d1.loss_plan_l1_fix_time: 0.6934, d1.loss_plan_l1_fix_dist: 0.2032, d2.loss_plan_l1_fix_time: 0.6793, d2.loss_plan_l1_fix_dist: 0.1710, d3.loss_plan_l1_fix_time: 0.6647, d3.loss_plan_l1_fix_dist: 0.2256, d4.loss_plan_l1_fix_time: 0.6663, d4.loss_plan_l1_fix_dist: 0.1959, d5.loss_plan_l1_fix_time: 0.6691, d5.loss_plan_l1_fix_dist: 0.1703, d6.loss_plan_l1_fix_time: 0.6721, d6.loss_plan_l1_fix_dist: 0.1902, d0.loss_cls_all: 0.1147, d0.loss_bbox_all: 0.3198, d0.loss_cls: 0.1147, d0.loss_bbox: 0.3198, d1.loss_cls: 0.1123, d1.loss_bbox: 0.2896, d2.loss_cls: 0.1024, d2.loss_bbox: 0.2698, d3.loss_cls: 0.0830, d3.loss_bbox: 0.2650, d4.loss_cls: 0.0764, d4.loss_bbox: 0.2617, d5.loss_cls: 0.0757, d5.loss_bbox: 0.2604, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7031, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5562, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4931, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4701, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4676, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4614, d0.loss_map_cls_all: 0.1713, d0.loss_map_pts_all: 1.0672, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1713, d0.loss_map_pts: 1.0672, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1384, d1.loss_map_pts: 0.7639, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1166, d2.loss_map_pts: 0.5945, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1055, d3.loss_map_pts: 0.5344, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.0989, d4.loss_map_pts: 0.5117, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0938, d5.loss_map_pts: 0.5074, d5.loss_map_dir: 0.0065, loss: 21.0233, grad_norm: 141.1466 +2026-03-01 00:00:37,401 - DriveTransformer - INFO - Epoch [11][25950/39528] lr: 6.331e-05, eta: 4 days, 11:07:26, time: 0.754, data_time: 0.038, memory: 19865, loss_cls: 0.0820, loss_bbox: 0.2806, loss_traj: 0.4524, loss_traj_cls: 0.0021, loss_map_cls: 0.0987, loss_map_pts: 0.5877, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 2.6389, d0.loss_plan_l1_fix_dist: 0.4217, d1.loss_plan_l1_fix_time: 0.7320, d1.loss_plan_l1_fix_dist: 0.2028, d2.loss_plan_l1_fix_time: 0.7193, d2.loss_plan_l1_fix_dist: 0.1839, d3.loss_plan_l1_fix_time: 0.7171, d3.loss_plan_l1_fix_dist: 0.2277, d4.loss_plan_l1_fix_time: 0.7188, d4.loss_plan_l1_fix_dist: 0.2232, d5.loss_plan_l1_fix_time: 0.7201, d5.loss_plan_l1_fix_dist: 0.1931, d6.loss_plan_l1_fix_time: 0.7221, d6.loss_plan_l1_fix_dist: 0.2010, d0.loss_cls_all: 0.1337, d0.loss_bbox_all: 0.3524, d0.loss_cls: 0.1337, d0.loss_bbox: 0.3524, d1.loss_cls: 0.1240, d1.loss_bbox: 0.3168, d2.loss_cls: 0.1105, d2.loss_bbox: 0.2936, d3.loss_cls: 0.0888, d3.loss_bbox: 0.2873, d4.loss_cls: 0.0834, d4.loss_bbox: 0.2840, d5.loss_cls: 0.0829, d5.loss_bbox: 0.2804, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6952, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5445, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4864, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4668, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4563, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4554, d0.loss_map_cls_all: 0.1845, d0.loss_map_pts_all: 1.2224, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.1845, d0.loss_map_pts: 1.2224, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1489, d1.loss_map_pts: 0.8849, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1233, d2.loss_map_pts: 0.7026, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1114, d3.loss_map_pts: 0.6313, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1053, d4.loss_map_pts: 0.5996, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1004, d5.loss_map_pts: 0.5893, d5.loss_map_dir: 0.0084, loss: 23.0362, grad_norm: 139.6626 +2026-03-01 00:01:12,637 - DriveTransformer - INFO - Epoch [11][26000/39528] lr: 6.331e-05, eta: 4 days, 11:06:46, time: 0.706, data_time: 0.037, memory: 19865, loss_cls: 0.0722, loss_bbox: 0.2735, loss_traj: 0.4528, loss_traj_cls: 0.0021, loss_map_cls: 0.1000, loss_map_pts: 0.4471, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.8194, d0.loss_plan_l1_fix_dist: 0.4529, d1.loss_plan_l1_fix_time: 0.7804, d1.loss_plan_l1_fix_dist: 0.1976, d2.loss_plan_l1_fix_time: 0.7705, d2.loss_plan_l1_fix_dist: 0.1905, d3.loss_plan_l1_fix_time: 0.7713, d3.loss_plan_l1_fix_dist: 0.2343, d4.loss_plan_l1_fix_time: 0.7729, d4.loss_plan_l1_fix_dist: 0.2480, d5.loss_plan_l1_fix_time: 0.7746, d5.loss_plan_l1_fix_dist: 0.2252, d6.loss_plan_l1_fix_time: 0.7766, d6.loss_plan_l1_fix_dist: 0.2178, d0.loss_cls_all: 0.1232, d0.loss_bbox_all: 0.3344, d0.loss_cls: 0.1232, d0.loss_bbox: 0.3344, d1.loss_cls: 0.1152, d1.loss_bbox: 0.3063, d2.loss_cls: 0.1017, d2.loss_bbox: 0.2822, d3.loss_cls: 0.0818, d3.loss_bbox: 0.2761, d4.loss_cls: 0.0750, d4.loss_bbox: 0.2742, d5.loss_cls: 0.0729, d5.loss_bbox: 0.2736, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6548, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5223, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4753, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4648, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4586, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4514, d0.loss_map_cls_all: 0.1713, d0.loss_map_pts_all: 0.8989, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1713, d0.loss_map_pts: 0.8989, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1422, d1.loss_map_pts: 0.6441, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1193, d2.loss_map_pts: 0.5170, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1100, d3.loss_map_pts: 0.4697, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1044, d4.loss_map_pts: 0.4546, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1001, d5.loss_map_pts: 0.4484, d5.loss_map_dir: 0.0057, loss: 21.6833, grad_norm: 142.9926 +2026-03-01 00:01:49,326 - DriveTransformer - INFO - Epoch [11][26050/39528] lr: 6.331e-05, eta: 4 days, 11:06:09, time: 0.732, data_time: 0.035, memory: 19865, loss_cls: 0.1033, loss_bbox: 0.2959, loss_traj: 0.5119, loss_traj_cls: 0.0020, loss_map_cls: 0.1062, loss_map_pts: 0.5935, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.6719, d0.loss_plan_l1_fix_dist: 0.3284, d1.loss_plan_l1_fix_time: 0.8257, d1.loss_plan_l1_fix_dist: 0.1878, d2.loss_plan_l1_fix_time: 0.8215, d2.loss_plan_l1_fix_dist: 0.1890, d3.loss_plan_l1_fix_time: 0.8183, d3.loss_plan_l1_fix_dist: 0.2274, d4.loss_plan_l1_fix_time: 0.8197, d4.loss_plan_l1_fix_dist: 0.2357, d5.loss_plan_l1_fix_time: 0.8212, d5.loss_plan_l1_fix_dist: 0.2110, d6.loss_plan_l1_fix_time: 0.8234, d6.loss_plan_l1_fix_dist: 0.2039, d0.loss_cls_all: 0.1501, d0.loss_bbox_all: 0.3547, d0.loss_cls: 0.1501, d0.loss_bbox: 0.3547, d1.loss_cls: 0.1445, d1.loss_bbox: 0.3218, d2.loss_cls: 0.1321, d2.loss_bbox: 0.2989, d3.loss_cls: 0.1107, d3.loss_bbox: 0.2959, d4.loss_cls: 0.1053, d4.loss_bbox: 0.2952, d5.loss_cls: 0.1037, d5.loss_bbox: 0.2950, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7508, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5969, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5342, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5219, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5116, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5136, d0.loss_map_cls_all: 0.1930, d0.loss_map_pts_all: 1.1913, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1930, d0.loss_map_pts: 1.1913, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1601, d1.loss_map_pts: 0.8867, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1321, d2.loss_map_pts: 0.6974, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1218, d3.loss_map_pts: 0.6255, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1138, d4.loss_map_pts: 0.5997, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1095, d5.loss_map_pts: 0.5929, d5.loss_map_dir: 0.0070, loss: 24.2076, grad_norm: 142.4940 +2026-03-01 00:02:27,789 - DriveTransformer - INFO - Epoch [11][26100/39528] lr: 6.331e-05, eta: 4 days, 11:05:38, time: 0.769, data_time: 0.041, memory: 19865, loss_cls: 0.0915, loss_bbox: 0.2731, loss_traj: 0.4428, loss_traj_cls: 0.0020, loss_map_cls: 0.0813, loss_map_pts: 0.4930, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.7226, d0.loss_plan_l1_fix_dist: 0.5018, d1.loss_plan_l1_fix_time: 0.7793, d1.loss_plan_l1_fix_dist: 0.1918, d2.loss_plan_l1_fix_time: 0.7687, d2.loss_plan_l1_fix_dist: 0.2070, d3.loss_plan_l1_fix_time: 0.7622, d3.loss_plan_l1_fix_dist: 0.2287, d4.loss_plan_l1_fix_time: 0.7637, d4.loss_plan_l1_fix_dist: 0.2457, d5.loss_plan_l1_fix_time: 0.7656, d5.loss_plan_l1_fix_dist: 0.2207, d6.loss_plan_l1_fix_time: 0.7679, d6.loss_plan_l1_fix_dist: 0.2103, d0.loss_cls_all: 0.1353, d0.loss_bbox_all: 0.3366, d0.loss_cls: 0.1353, d0.loss_bbox: 0.3366, d1.loss_cls: 0.1288, d1.loss_bbox: 0.3042, d2.loss_cls: 0.1155, d2.loss_bbox: 0.2818, d3.loss_cls: 0.0990, d3.loss_bbox: 0.2755, d4.loss_cls: 0.0922, d4.loss_bbox: 0.2742, d5.loss_cls: 0.0911, d5.loss_bbox: 0.2738, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6617, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5029, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4642, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4514, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4444, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4453, d0.loss_map_cls_all: 0.1572, d0.loss_map_pts_all: 1.0435, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1572, d0.loss_map_pts: 1.0435, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1252, d1.loss_map_pts: 0.7446, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1033, d2.loss_map_pts: 0.5834, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.0942, d3.loss_map_pts: 0.5258, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.0883, d4.loss_map_pts: 0.5001, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0831, d5.loss_map_pts: 0.4929, d5.loss_map_dir: 0.0068, loss: 22.1726, grad_norm: 140.2089 +2026-03-01 00:03:03,441 - DriveTransformer - INFO - Epoch [11][26150/39528] lr: 6.331e-05, eta: 4 days, 11:04:59, time: 0.713, data_time: 0.038, memory: 19865, loss_cls: 0.0954, loss_bbox: 0.2949, loss_traj: 0.5286, loss_traj_cls: 0.0020, loss_map_cls: 0.0969, loss_map_pts: 0.4691, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 3.2175, d0.loss_plan_l1_fix_dist: 0.4135, d1.loss_plan_l1_fix_time: 0.7858, d1.loss_plan_l1_fix_dist: 0.1708, d2.loss_plan_l1_fix_time: 0.7744, d2.loss_plan_l1_fix_dist: 0.2177, d3.loss_plan_l1_fix_time: 0.7818, d3.loss_plan_l1_fix_dist: 0.2137, d4.loss_plan_l1_fix_time: 0.7834, d4.loss_plan_l1_fix_dist: 0.2478, d5.loss_plan_l1_fix_time: 0.7848, d5.loss_plan_l1_fix_dist: 0.2234, d6.loss_plan_l1_fix_time: 0.7862, d6.loss_plan_l1_fix_dist: 0.2036, d0.loss_cls_all: 0.1343, d0.loss_bbox_all: 0.3536, d0.loss_cls: 0.1343, d0.loss_bbox: 0.3536, d1.loss_cls: 0.1311, d1.loss_bbox: 0.3204, d2.loss_cls: 0.1186, d2.loss_bbox: 0.3028, d3.loss_cls: 0.1025, d3.loss_bbox: 0.3000, d4.loss_cls: 0.0964, d4.loss_bbox: 0.2976, d5.loss_cls: 0.0951, d5.loss_bbox: 0.2965, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8045, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.6220, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5641, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5434, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5360, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5312, d0.loss_map_cls_all: 0.1741, d0.loss_map_pts_all: 0.9392, d0.loss_map_dir_all: 0.0043, d0.loss_map_cls: 0.1741, d0.loss_map_pts: 0.9392, d0.loss_map_dir: 0.0043, d1.loss_map_cls: 0.1474, d1.loss_map_pts: 0.6885, d1.loss_map_dir: 0.0042, d2.loss_map_cls: 0.1230, d2.loss_map_pts: 0.5459, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.1104, d3.loss_map_pts: 0.4927, d3.loss_map_dir: 0.0043, d4.loss_map_cls: 0.1045, d4.loss_map_pts: 0.4737, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0998, d5.loss_map_pts: 0.4680, d5.loss_map_dir: 0.0045, loss: 23.2499, grad_norm: 140.0481 +2026-03-01 00:03:41,883 - DriveTransformer - INFO - Epoch [11][26200/39528] lr: 6.331e-05, eta: 4 days, 11:04:28, time: 0.769, data_time: 0.039, memory: 19865, loss_cls: 0.0753, loss_bbox: 0.2644, loss_traj: 0.4817, loss_traj_cls: 0.0021, loss_map_cls: 0.0788, loss_map_pts: 0.4860, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.3007, d0.loss_plan_l1_fix_dist: 0.3734, d1.loss_plan_l1_fix_time: 0.6980, d1.loss_plan_l1_fix_dist: 0.1516, d2.loss_plan_l1_fix_time: 0.6850, d2.loss_plan_l1_fix_dist: 0.2017, d3.loss_plan_l1_fix_time: 0.6861, d3.loss_plan_l1_fix_dist: 0.1780, d4.loss_plan_l1_fix_time: 0.6873, d4.loss_plan_l1_fix_dist: 0.2089, d5.loss_plan_l1_fix_time: 0.6894, d5.loss_plan_l1_fix_dist: 0.1827, d6.loss_plan_l1_fix_time: 0.6914, d6.loss_plan_l1_fix_dist: 0.1786, d0.loss_cls_all: 0.1203, d0.loss_bbox_all: 0.3282, d0.loss_cls: 0.1203, d0.loss_bbox: 0.3282, d1.loss_cls: 0.1132, d1.loss_bbox: 0.2962, d2.loss_cls: 0.1013, d2.loss_bbox: 0.2715, d3.loss_cls: 0.0816, d3.loss_bbox: 0.2676, d4.loss_cls: 0.0756, d4.loss_bbox: 0.2660, d5.loss_cls: 0.0754, d5.loss_bbox: 0.2643, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7423, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5640, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5159, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4952, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4874, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4870, d0.loss_map_cls_all: 0.1641, d0.loss_map_pts_all: 1.0370, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1641, d0.loss_map_pts: 1.0370, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1232, d1.loss_map_pts: 0.7188, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1010, d2.loss_map_pts: 0.5685, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.0909, d3.loss_map_pts: 0.5145, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.0854, d4.loss_map_pts: 0.4923, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.0805, d5.loss_map_pts: 0.4864, d5.loss_map_dir: 0.0071, loss: 21.0293, grad_norm: 139.5468 +2026-03-01 00:04:18,066 - DriveTransformer - INFO - Epoch [11][26250/39528] lr: 6.331e-05, eta: 4 days, 11:03:50, time: 0.724, data_time: 0.037, memory: 19865, loss_cls: 0.0770, loss_bbox: 0.2461, loss_traj: 0.4440, loss_traj_cls: 0.0021, loss_map_cls: 0.0813, loss_map_pts: 0.4542, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.6187, d0.loss_plan_l1_fix_dist: 0.4412, d1.loss_plan_l1_fix_time: 0.6694, d1.loss_plan_l1_fix_dist: 0.1804, d2.loss_plan_l1_fix_time: 0.6513, d2.loss_plan_l1_fix_dist: 0.2480, d3.loss_plan_l1_fix_time: 0.6445, d3.loss_plan_l1_fix_dist: 0.1718, d4.loss_plan_l1_fix_time: 0.6479, d4.loss_plan_l1_fix_dist: 0.2068, d5.loss_plan_l1_fix_time: 0.6500, d5.loss_plan_l1_fix_dist: 0.1748, d6.loss_plan_l1_fix_time: 0.6525, d6.loss_plan_l1_fix_dist: 0.1929, d0.loss_cls_all: 0.1220, d0.loss_bbox_all: 0.3042, d0.loss_cls: 0.1220, d0.loss_bbox: 0.3042, d1.loss_cls: 0.1109, d1.loss_bbox: 0.2750, d2.loss_cls: 0.0983, d2.loss_bbox: 0.2534, d3.loss_cls: 0.0841, d3.loss_bbox: 0.2465, d4.loss_cls: 0.0787, d4.loss_bbox: 0.2453, d5.loss_cls: 0.0764, d5.loss_bbox: 0.2457, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6477, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5049, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4587, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4496, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4431, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4410, d0.loss_map_cls_all: 0.1558, d0.loss_map_pts_all: 0.9789, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1558, d0.loss_map_pts: 0.9789, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1254, d1.loss_map_pts: 0.6902, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1051, d2.loss_map_pts: 0.5300, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.0952, d3.loss_map_pts: 0.4798, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0872, d4.loss_map_pts: 0.4609, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0821, d5.loss_map_pts: 0.4555, d5.loss_map_dir: 0.0061, loss: 20.4021, grad_norm: 138.8140 +2026-03-01 00:04:52,920 - DriveTransformer - INFO - Epoch [11][26300/39528] lr: 6.331e-05, eta: 4 days, 11:03:09, time: 0.697, data_time: 0.035, memory: 19865, loss_cls: 0.1051, loss_bbox: 0.2846, loss_traj: 0.4638, loss_traj_cls: 0.0020, loss_map_cls: 0.0914, loss_map_pts: 0.4899, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.5779, d0.loss_plan_l1_fix_dist: 0.4512, d1.loss_plan_l1_fix_time: 0.6972, d1.loss_plan_l1_fix_dist: 0.2018, d2.loss_plan_l1_fix_time: 0.6796, d2.loss_plan_l1_fix_dist: 0.2168, d3.loss_plan_l1_fix_time: 0.6619, d3.loss_plan_l1_fix_dist: 0.1690, d4.loss_plan_l1_fix_time: 0.6630, d4.loss_plan_l1_fix_dist: 0.1839, d5.loss_plan_l1_fix_time: 0.6648, d5.loss_plan_l1_fix_dist: 0.1689, d6.loss_plan_l1_fix_time: 0.6670, d6.loss_plan_l1_fix_dist: 0.1756, d0.loss_cls_all: 0.1482, d0.loss_bbox_all: 0.3462, d0.loss_cls: 0.1482, d0.loss_bbox: 0.3462, d1.loss_cls: 0.1419, d1.loss_bbox: 0.3124, d2.loss_cls: 0.1279, d2.loss_bbox: 0.2945, d3.loss_cls: 0.1139, d3.loss_bbox: 0.2885, d4.loss_cls: 0.1073, d4.loss_bbox: 0.2854, d5.loss_cls: 0.1042, d5.loss_bbox: 0.2857, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6948, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5326, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4893, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4761, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4703, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4653, d0.loss_map_cls_all: 0.1805, d0.loss_map_pts_all: 1.0675, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1805, d0.loss_map_pts: 1.0675, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1482, d1.loss_map_pts: 0.7639, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1215, d2.loss_map_pts: 0.5988, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1074, d3.loss_map_pts: 0.5250, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1005, d4.loss_map_pts: 0.4996, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0944, d5.loss_map_pts: 0.4908, d5.loss_map_dir: 0.0051, loss: 21.7871, grad_norm: 136.8970 +2026-03-01 00:05:29,797 - DriveTransformer - INFO - Epoch [11][26350/39528] lr: 6.331e-05, eta: 4 days, 11:02:33, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.0938, loss_bbox: 0.2981, loss_traj: 0.5206, loss_traj_cls: 0.0021, loss_map_cls: 0.1086, loss_map_pts: 0.5688, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.7820, d0.loss_plan_l1_fix_dist: 0.4076, d1.loss_plan_l1_fix_time: 0.8137, d1.loss_plan_l1_fix_dist: 0.2590, d2.loss_plan_l1_fix_time: 0.8048, d2.loss_plan_l1_fix_dist: 0.2311, d3.loss_plan_l1_fix_time: 0.8051, d3.loss_plan_l1_fix_dist: 0.2304, d4.loss_plan_l1_fix_time: 0.8077, d4.loss_plan_l1_fix_dist: 0.2040, d5.loss_plan_l1_fix_time: 0.8115, d5.loss_plan_l1_fix_dist: 0.2127, d6.loss_plan_l1_fix_time: 0.8157, d6.loss_plan_l1_fix_dist: 0.2032, d0.loss_cls_all: 0.1384, d0.loss_bbox_all: 0.3688, d0.loss_cls: 0.1384, d0.loss_bbox: 0.3688, d1.loss_cls: 0.1324, d1.loss_bbox: 0.3331, d2.loss_cls: 0.1228, d2.loss_bbox: 0.3094, d3.loss_cls: 0.1032, d3.loss_bbox: 0.3034, d4.loss_cls: 0.0951, d4.loss_bbox: 0.2997, d5.loss_cls: 0.0938, d5.loss_bbox: 0.2982, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7665, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5976, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5474, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5310, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5241, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5226, d0.loss_map_cls_all: 0.1730, d0.loss_map_pts_all: 1.0844, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1730, d0.loss_map_pts: 1.0844, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1448, d1.loss_map_pts: 0.8007, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1278, d2.loss_map_pts: 0.6523, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1179, d3.loss_map_pts: 0.5971, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1137, d4.loss_map_pts: 0.5761, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1091, d5.loss_map_pts: 0.5700, d5.loss_map_dir: 0.0071, loss: 23.9606, grad_norm: 137.0455 +2026-03-01 00:06:06,596 - DriveTransformer - INFO - Epoch [11][26400/39528] lr: 6.331e-05, eta: 4 days, 11:01:57, time: 0.736, data_time: 0.038, memory: 19865, loss_cls: 0.0856, loss_bbox: 0.2790, loss_traj: 0.4786, loss_traj_cls: 0.0020, loss_map_cls: 0.1071, loss_map_pts: 0.5456, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.4427, d0.loss_plan_l1_fix_dist: 0.4540, d1.loss_plan_l1_fix_time: 0.7730, d1.loss_plan_l1_fix_dist: 0.2674, d2.loss_plan_l1_fix_time: 0.7704, d2.loss_plan_l1_fix_dist: 0.1940, d3.loss_plan_l1_fix_time: 0.7626, d3.loss_plan_l1_fix_dist: 0.2519, d4.loss_plan_l1_fix_time: 0.7654, d4.loss_plan_l1_fix_dist: 0.1872, d5.loss_plan_l1_fix_time: 0.7690, d5.loss_plan_l1_fix_dist: 0.2158, d6.loss_plan_l1_fix_time: 0.7731, d6.loss_plan_l1_fix_dist: 0.1958, d0.loss_cls_all: 0.1279, d0.loss_bbox_all: 0.3496, d0.loss_cls: 0.1279, d0.loss_bbox: 0.3496, d1.loss_cls: 0.1256, d1.loss_bbox: 0.3141, d2.loss_cls: 0.1105, d2.loss_bbox: 0.2918, d3.loss_cls: 0.0913, d3.loss_bbox: 0.2854, d4.loss_cls: 0.0876, d4.loss_bbox: 0.2805, d5.loss_cls: 0.0860, d5.loss_bbox: 0.2812, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7449, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5597, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5006, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4887, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4790, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4817, d0.loss_map_cls_all: 0.1948, d0.loss_map_pts_all: 1.0724, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1948, d0.loss_map_pts: 1.0724, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1567, d1.loss_map_pts: 0.7852, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1319, d2.loss_map_pts: 0.6314, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1187, d3.loss_map_pts: 0.5738, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1136, d4.loss_map_pts: 0.5535, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1091, d5.loss_map_pts: 0.5461, d5.loss_map_dir: 0.0066, loss: 22.7978, grad_norm: 139.4996 +2026-03-01 00:06:43,839 - DriveTransformer - INFO - Epoch [11][26450/39528] lr: 6.331e-05, eta: 4 days, 11:01:23, time: 0.745, data_time: 0.039, memory: 19865, loss_cls: 0.0825, loss_bbox: 0.2662, loss_traj: 0.4597, loss_traj_cls: 0.0021, loss_map_cls: 0.0842, loss_map_pts: 0.4644, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.2088, d0.loss_plan_l1_fix_dist: 0.3994, d1.loss_plan_l1_fix_time: 0.6844, d1.loss_plan_l1_fix_dist: 0.2692, d2.loss_plan_l1_fix_time: 0.6739, d2.loss_plan_l1_fix_dist: 0.1780, d3.loss_plan_l1_fix_time: 0.6741, d3.loss_plan_l1_fix_dist: 0.2602, d4.loss_plan_l1_fix_time: 0.6767, d4.loss_plan_l1_fix_dist: 0.1726, d5.loss_plan_l1_fix_time: 0.6801, d5.loss_plan_l1_fix_dist: 0.2002, d6.loss_plan_l1_fix_time: 0.6833, d6.loss_plan_l1_fix_dist: 0.1792, d0.loss_cls_all: 0.1227, d0.loss_bbox_all: 0.3311, d0.loss_cls: 0.1227, d0.loss_bbox: 0.3311, d1.loss_cls: 0.1189, d1.loss_bbox: 0.2962, d2.loss_cls: 0.1048, d2.loss_bbox: 0.2779, d3.loss_cls: 0.0874, d3.loss_bbox: 0.2726, d4.loss_cls: 0.0834, d4.loss_bbox: 0.2678, d5.loss_cls: 0.0830, d5.loss_bbox: 0.2668, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7029, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5346, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4756, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4674, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4610, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4616, d0.loss_map_cls_all: 0.1645, d0.loss_map_pts_all: 0.9731, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1645, d0.loss_map_pts: 0.9731, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1329, d1.loss_map_pts: 0.7120, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1078, d2.loss_map_pts: 0.5609, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.0946, d3.loss_map_pts: 0.5007, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0888, d4.loss_map_pts: 0.4741, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0855, d5.loss_map_pts: 0.4643, d5.loss_map_dir: 0.0056, loss: 20.7180, grad_norm: 137.2334 +2026-03-01 00:07:20,339 - DriveTransformer - INFO - Epoch [11][26500/39528] lr: 6.331e-05, eta: 4 days, 11:00:46, time: 0.730, data_time: 0.042, memory: 19865, loss_cls: 0.0837, loss_bbox: 0.2748, loss_traj: 0.5186, loss_traj_cls: 0.0020, loss_map_cls: 0.0779, loss_map_pts: 0.4740, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.7208, d0.loss_plan_l1_fix_dist: 0.4072, d1.loss_plan_l1_fix_time: 0.6673, d1.loss_plan_l1_fix_dist: 0.2697, d2.loss_plan_l1_fix_time: 0.6443, d2.loss_plan_l1_fix_dist: 0.1824, d3.loss_plan_l1_fix_time: 0.6431, d3.loss_plan_l1_fix_dist: 0.2774, d4.loss_plan_l1_fix_time: 0.6448, d4.loss_plan_l1_fix_dist: 0.1845, d5.loss_plan_l1_fix_time: 0.6467, d5.loss_plan_l1_fix_dist: 0.2079, d6.loss_plan_l1_fix_time: 0.6490, d6.loss_plan_l1_fix_dist: 0.1953, d0.loss_cls_all: 0.1215, d0.loss_bbox_all: 0.3330, d0.loss_cls: 0.1215, d0.loss_bbox: 0.3330, d1.loss_cls: 0.1168, d1.loss_bbox: 0.3039, d2.loss_cls: 0.1014, d2.loss_bbox: 0.2868, d3.loss_cls: 0.0888, d3.loss_bbox: 0.2773, d4.loss_cls: 0.0837, d4.loss_bbox: 0.2753, d5.loss_cls: 0.0838, d5.loss_bbox: 0.2736, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7528, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5958, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5415, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5270, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5229, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5206, d0.loss_map_cls_all: 0.1640, d0.loss_map_pts_all: 1.0031, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1640, d0.loss_map_pts: 1.0031, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1292, d1.loss_map_pts: 0.7122, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1043, d2.loss_map_pts: 0.5566, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0919, d3.loss_map_pts: 0.4992, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0842, d4.loss_map_pts: 0.4800, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0798, d5.loss_map_pts: 0.4738, d5.loss_map_dir: 0.0057, loss: 21.6296, grad_norm: 139.6993 +2026-03-01 00:07:55,963 - DriveTransformer - INFO - Epoch [11][26550/39528] lr: 6.331e-05, eta: 4 days, 11:00:07, time: 0.712, data_time: 0.040, memory: 19865, loss_cls: 0.1046, loss_bbox: 0.3174, loss_traj: 0.4958, loss_traj_cls: 0.0020, loss_map_cls: 0.1047, loss_map_pts: 0.5148, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.6898, d0.loss_plan_l1_fix_dist: 0.5009, d1.loss_plan_l1_fix_time: 0.7233, d1.loss_plan_l1_fix_dist: 0.2833, d2.loss_plan_l1_fix_time: 0.7108, d2.loss_plan_l1_fix_dist: 0.1977, d3.loss_plan_l1_fix_time: 0.7121, d3.loss_plan_l1_fix_dist: 0.2812, d4.loss_plan_l1_fix_time: 0.7148, d4.loss_plan_l1_fix_dist: 0.2084, d5.loss_plan_l1_fix_time: 0.7178, d5.loss_plan_l1_fix_dist: 0.2232, d6.loss_plan_l1_fix_time: 0.7210, d6.loss_plan_l1_fix_dist: 0.2208, d0.loss_cls_all: 0.1514, d0.loss_bbox_all: 0.3833, d0.loss_cls: 0.1514, d0.loss_bbox: 0.3833, d1.loss_cls: 0.1497, d1.loss_bbox: 0.3468, d2.loss_cls: 0.1320, d2.loss_bbox: 0.3275, d3.loss_cls: 0.1138, d3.loss_bbox: 0.3217, d4.loss_cls: 0.1067, d4.loss_bbox: 0.3173, d5.loss_cls: 0.1047, d5.loss_bbox: 0.3161, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7825, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5951, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5342, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5117, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5005, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4985, d0.loss_map_cls_all: 0.1845, d0.loss_map_pts_all: 0.9941, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1845, d0.loss_map_pts: 0.9941, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1471, d1.loss_map_pts: 0.7464, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1312, d2.loss_map_pts: 0.5994, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1201, d3.loss_map_pts: 0.5415, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1121, d4.loss_map_pts: 0.5206, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1072, d5.loss_map_pts: 0.5154, d5.loss_map_dir: 0.0063, loss: 23.1265, grad_norm: 148.1269 +2026-03-01 00:08:32,031 - DriveTransformer - INFO - Epoch [11][26600/39528] lr: 6.331e-05, eta: 4 days, 10:59:29, time: 0.721, data_time: 0.036, memory: 19865, loss_cls: 0.0929, loss_bbox: 0.2869, loss_traj: 0.4684, loss_traj_cls: 0.0020, loss_map_cls: 0.1025, loss_map_pts: 0.5068, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.7856, d0.loss_plan_l1_fix_dist: 0.4768, d1.loss_plan_l1_fix_time: 0.7204, d1.loss_plan_l1_fix_dist: 0.2751, d2.loss_plan_l1_fix_time: 0.7063, d2.loss_plan_l1_fix_dist: 0.1885, d3.loss_plan_l1_fix_time: 0.7074, d3.loss_plan_l1_fix_dist: 0.2585, d4.loss_plan_l1_fix_time: 0.7098, d4.loss_plan_l1_fix_dist: 0.1899, d5.loss_plan_l1_fix_time: 0.7126, d5.loss_plan_l1_fix_dist: 0.1940, d6.loss_plan_l1_fix_time: 0.7159, d6.loss_plan_l1_fix_dist: 0.1998, d0.loss_cls_all: 0.1328, d0.loss_bbox_all: 0.3465, d0.loss_cls: 0.1328, d0.loss_bbox: 0.3465, d1.loss_cls: 0.1293, d1.loss_bbox: 0.3184, d2.loss_cls: 0.1170, d2.loss_bbox: 0.2948, d3.loss_cls: 0.0988, d3.loss_bbox: 0.2900, d4.loss_cls: 0.0929, d4.loss_bbox: 0.2876, d5.loss_cls: 0.0926, d5.loss_bbox: 0.2874, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6945, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5525, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4912, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4797, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4744, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4739, d0.loss_map_cls_all: 0.1913, d0.loss_map_pts_all: 1.0304, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1913, d0.loss_map_pts: 1.0304, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1517, d1.loss_map_pts: 0.7584, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1272, d2.loss_map_pts: 0.5928, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1136, d3.loss_map_pts: 0.5314, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1087, d4.loss_map_pts: 0.5115, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1045, d5.loss_map_pts: 0.5073, d5.loss_map_dir: 0.0065, loss: 22.4404, grad_norm: 153.1655 +2026-03-01 00:09:08,551 - DriveTransformer - INFO - Epoch [11][26650/39528] lr: 6.331e-05, eta: 4 days, 10:58:52, time: 0.731, data_time: 0.037, memory: 19865, loss_cls: 0.1125, loss_bbox: 0.3196, loss_traj: 0.5010, loss_traj_cls: 0.0020, loss_map_cls: 0.0996, loss_map_pts: 0.5334, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.9038, d0.loss_plan_l1_fix_dist: 0.4898, d1.loss_plan_l1_fix_time: 0.8390, d1.loss_plan_l1_fix_dist: 0.2799, d2.loss_plan_l1_fix_time: 0.8315, d2.loss_plan_l1_fix_dist: 0.2078, d3.loss_plan_l1_fix_time: 0.8281, d3.loss_plan_l1_fix_dist: 0.2605, d4.loss_plan_l1_fix_time: 0.8294, d4.loss_plan_l1_fix_dist: 0.1989, d5.loss_plan_l1_fix_time: 0.8314, d5.loss_plan_l1_fix_dist: 0.2001, d6.loss_plan_l1_fix_time: 0.8334, d6.loss_plan_l1_fix_dist: 0.2155, d0.loss_cls_all: 0.1654, d0.loss_bbox_all: 0.3930, d0.loss_cls: 0.1654, d0.loss_bbox: 0.3930, d1.loss_cls: 0.1608, d1.loss_bbox: 0.3555, d2.loss_cls: 0.1464, d2.loss_bbox: 0.3328, d3.loss_cls: 0.1232, d3.loss_bbox: 0.3250, d4.loss_cls: 0.1155, d4.loss_bbox: 0.3197, d5.loss_cls: 0.1129, d5.loss_bbox: 0.3196, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7892, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5866, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5217, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5123, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5061, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5013, d0.loss_map_cls_all: 0.1837, d0.loss_map_pts_all: 1.0358, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1837, d0.loss_map_pts: 1.0358, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1496, d1.loss_map_pts: 0.7725, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1259, d2.loss_map_pts: 0.6235, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1155, d3.loss_map_pts: 0.5670, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1072, d4.loss_map_pts: 0.5421, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1026, d5.loss_map_pts: 0.5343, d5.loss_map_dir: 0.0070, loss: 24.3025, grad_norm: 162.6740 +2026-03-01 00:09:44,379 - DriveTransformer - INFO - Epoch [11][26700/39528] lr: 6.331e-05, eta: 4 days, 10:58:13, time: 0.716, data_time: 0.038, memory: 19865, loss_cls: 0.1041, loss_bbox: 0.2933, loss_traj: 0.4442, loss_traj_cls: 0.0020, loss_map_cls: 0.0996, loss_map_pts: 0.4941, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.6929, d0.loss_plan_l1_fix_dist: 0.4068, d1.loss_plan_l1_fix_time: 0.6657, d1.loss_plan_l1_fix_dist: 0.2668, d2.loss_plan_l1_fix_time: 0.6524, d2.loss_plan_l1_fix_dist: 0.1887, d3.loss_plan_l1_fix_time: 0.6536, d3.loss_plan_l1_fix_dist: 0.2250, d4.loss_plan_l1_fix_time: 0.6552, d4.loss_plan_l1_fix_dist: 0.1724, d5.loss_plan_l1_fix_time: 0.6569, d5.loss_plan_l1_fix_dist: 0.1718, d6.loss_plan_l1_fix_time: 0.6591, d6.loss_plan_l1_fix_dist: 0.1924, d0.loss_cls_all: 0.1459, d0.loss_bbox_all: 0.3524, d0.loss_cls: 0.1459, d0.loss_bbox: 0.3524, d1.loss_cls: 0.1363, d1.loss_bbox: 0.3226, d2.loss_cls: 0.1276, d2.loss_bbox: 0.3019, d3.loss_cls: 0.1098, d3.loss_bbox: 0.2968, d4.loss_cls: 0.1044, d4.loss_bbox: 0.2936, d5.loss_cls: 0.1051, d5.loss_bbox: 0.2926, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6699, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5235, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4738, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4589, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4499, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4451, d0.loss_map_cls_all: 0.1788, d0.loss_map_pts_all: 0.9546, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1788, d0.loss_map_pts: 0.9546, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1475, d1.loss_map_pts: 0.7105, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1228, d2.loss_map_pts: 0.5733, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1112, d3.loss_map_pts: 0.5202, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1045, d4.loss_map_pts: 0.5019, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1014, d5.loss_map_pts: 0.4955, d5.loss_map_dir: 0.0062, loss: 21.5155, grad_norm: 163.3024 +2026-03-01 00:10:20,761 - DriveTransformer - INFO - Epoch [11][26750/39528] lr: 6.331e-05, eta: 4 days, 10:57:36, time: 0.728, data_time: 0.037, memory: 19865, loss_cls: 0.0977, loss_bbox: 0.2755, loss_traj: 0.4676, loss_traj_cls: 0.0021, loss_map_cls: 0.0773, loss_map_pts: 0.4752, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.4372, d0.loss_plan_l1_fix_dist: 0.4422, d1.loss_plan_l1_fix_time: 0.7447, d1.loss_plan_l1_fix_dist: 0.2544, d2.loss_plan_l1_fix_time: 0.7332, d2.loss_plan_l1_fix_dist: 0.1944, d3.loss_plan_l1_fix_time: 0.7318, d3.loss_plan_l1_fix_dist: 0.2040, d4.loss_plan_l1_fix_time: 0.7335, d4.loss_plan_l1_fix_dist: 0.1817, d5.loss_plan_l1_fix_time: 0.7358, d5.loss_plan_l1_fix_dist: 0.1677, d6.loss_plan_l1_fix_time: 0.7384, d6.loss_plan_l1_fix_dist: 0.1870, d0.loss_cls_all: 0.1360, d0.loss_bbox_all: 0.3457, d0.loss_cls: 0.1360, d0.loss_bbox: 0.3457, d1.loss_cls: 0.1340, d1.loss_bbox: 0.3118, d2.loss_cls: 0.1181, d2.loss_bbox: 0.2897, d3.loss_cls: 0.1006, d3.loss_bbox: 0.2824, d4.loss_cls: 0.0971, d4.loss_bbox: 0.2791, d5.loss_cls: 0.0969, d5.loss_bbox: 0.2772, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6705, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5377, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4942, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4751, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4692, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4650, d0.loss_map_cls_all: 0.1566, d0.loss_map_pts_all: 0.9737, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1566, d0.loss_map_pts: 0.9737, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1230, d1.loss_map_pts: 0.7051, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1011, d2.loss_map_pts: 0.5563, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0899, d3.loss_map_pts: 0.5068, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0837, d4.loss_map_pts: 0.4859, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0790, d5.loss_map_pts: 0.4759, d5.loss_map_dir: 0.0057, loss: 21.4623, grad_norm: 162.8136 +2026-03-01 00:10:57,666 - DriveTransformer - INFO - Epoch [11][26800/39528] lr: 6.331e-05, eta: 4 days, 10:57:01, time: 0.739, data_time: 0.039, memory: 19865, loss_cls: 0.1061, loss_bbox: 0.2937, loss_traj: 0.4730, loss_traj_cls: 0.0020, loss_map_cls: 0.1090, loss_map_pts: 0.5415, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.6261, d0.loss_plan_l1_fix_dist: 0.3784, d1.loss_plan_l1_fix_time: 0.7878, d1.loss_plan_l1_fix_dist: 0.2525, d2.loss_plan_l1_fix_time: 0.7856, d2.loss_plan_l1_fix_dist: 0.2010, d3.loss_plan_l1_fix_time: 0.7781, d3.loss_plan_l1_fix_dist: 0.2007, d4.loss_plan_l1_fix_time: 0.7795, d4.loss_plan_l1_fix_dist: 0.1978, d5.loss_plan_l1_fix_time: 0.7813, d5.loss_plan_l1_fix_dist: 0.1880, d6.loss_plan_l1_fix_time: 0.7831, d6.loss_plan_l1_fix_dist: 0.1903, d0.loss_cls_all: 0.1459, d0.loss_bbox_all: 0.3635, d0.loss_cls: 0.1459, d0.loss_bbox: 0.3635, d1.loss_cls: 0.1445, d1.loss_bbox: 0.3286, d2.loss_cls: 0.1296, d2.loss_bbox: 0.3042, d3.loss_cls: 0.1103, d3.loss_bbox: 0.3001, d4.loss_cls: 0.1056, d4.loss_bbox: 0.2958, d5.loss_cls: 0.1047, d5.loss_bbox: 0.2950, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7209, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5553, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4954, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4827, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4756, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4735, d0.loss_map_cls_all: 0.2061, d0.loss_map_pts_all: 1.1534, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2061, d0.loss_map_pts: 1.1534, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1658, d1.loss_map_pts: 0.8292, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1379, d2.loss_map_pts: 0.6395, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1254, d3.loss_map_pts: 0.5748, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1162, d4.loss_map_pts: 0.5501, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1116, d5.loss_map_pts: 0.5429, d5.loss_map_dir: 0.0065, loss: 23.3656, grad_norm: 162.3378 +2026-03-01 00:11:34,894 - DriveTransformer - INFO - Epoch [11][26850/39528] lr: 6.331e-05, eta: 4 days, 10:56:26, time: 0.743, data_time: 0.037, memory: 19865, loss_cls: 0.0982, loss_bbox: 0.2870, loss_traj: 0.4629, loss_traj_cls: 0.0020, loss_map_cls: 0.0986, loss_map_pts: 0.5063, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.9984, d0.loss_plan_l1_fix_dist: 0.4614, d1.loss_plan_l1_fix_time: 0.8235, d1.loss_plan_l1_fix_dist: 0.2264, d2.loss_plan_l1_fix_time: 0.8048, d2.loss_plan_l1_fix_dist: 0.1925, d3.loss_plan_l1_fix_time: 0.7790, d3.loss_plan_l1_fix_dist: 0.1780, d4.loss_plan_l1_fix_time: 0.7805, d4.loss_plan_l1_fix_dist: 0.1912, d5.loss_plan_l1_fix_time: 0.7826, d5.loss_plan_l1_fix_dist: 0.1988, d6.loss_plan_l1_fix_time: 0.7856, d6.loss_plan_l1_fix_dist: 0.1762, d0.loss_cls_all: 0.1378, d0.loss_bbox_all: 0.3474, d0.loss_cls: 0.1378, d0.loss_bbox: 0.3474, d1.loss_cls: 0.1308, d1.loss_bbox: 0.3154, d2.loss_cls: 0.1207, d2.loss_bbox: 0.2953, d3.loss_cls: 0.1045, d3.loss_bbox: 0.2883, d4.loss_cls: 0.1007, d4.loss_bbox: 0.2868, d5.loss_cls: 0.0989, d5.loss_bbox: 0.2866, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7020, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5505, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4973, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4730, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4693, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4656, d0.loss_map_cls_all: 0.1886, d0.loss_map_pts_all: 1.0112, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1886, d0.loss_map_pts: 1.0112, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1522, d1.loss_map_pts: 0.7536, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1290, d2.loss_map_pts: 0.5948, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1157, d3.loss_map_pts: 0.5328, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1059, d4.loss_map_pts: 0.5112, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1001, d5.loss_map_pts: 0.5066, d5.loss_map_dir: 0.0060, loss: 22.9461, grad_norm: 161.4020 +2026-03-01 00:12:11,001 - DriveTransformer - INFO - Epoch [11][26900/39528] lr: 6.331e-05, eta: 4 days, 10:55:48, time: 0.722, data_time: 0.040, memory: 19865, loss_cls: 0.0928, loss_bbox: 0.2707, loss_traj: 0.4627, loss_traj_cls: 0.0020, loss_map_cls: 0.0773, loss_map_pts: 0.4087, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.6658, d0.loss_plan_l1_fix_dist: 0.4720, d1.loss_plan_l1_fix_time: 0.6812, d1.loss_plan_l1_fix_dist: 0.1899, d2.loss_plan_l1_fix_time: 0.6659, d2.loss_plan_l1_fix_dist: 0.1820, d3.loss_plan_l1_fix_time: 0.6657, d3.loss_plan_l1_fix_dist: 0.1594, d4.loss_plan_l1_fix_time: 0.6669, d4.loss_plan_l1_fix_dist: 0.1743, d5.loss_plan_l1_fix_time: 0.6688, d5.loss_plan_l1_fix_dist: 0.1876, d6.loss_plan_l1_fix_time: 0.6712, d6.loss_plan_l1_fix_dist: 0.1627, d0.loss_cls_all: 0.1309, d0.loss_bbox_all: 0.3331, d0.loss_cls: 0.1309, d0.loss_bbox: 0.3331, d1.loss_cls: 0.1264, d1.loss_bbox: 0.2996, d2.loss_cls: 0.1158, d2.loss_bbox: 0.2791, d3.loss_cls: 0.1002, d3.loss_bbox: 0.2729, d4.loss_cls: 0.0929, d4.loss_bbox: 0.2732, d5.loss_cls: 0.0930, d5.loss_bbox: 0.2704, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6801, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5488, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4949, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4695, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4653, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4601, d0.loss_map_cls_all: 0.1475, d0.loss_map_pts_all: 0.8633, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1475, d0.loss_map_pts: 0.8633, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1157, d1.loss_map_pts: 0.6194, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.0965, d2.loss_map_pts: 0.4838, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.0876, d3.loss_map_pts: 0.4307, d3.loss_map_dir: 0.0043, d4.loss_map_cls: 0.0819, d4.loss_map_pts: 0.4146, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0795, d5.loss_map_pts: 0.4082, d5.loss_map_dir: 0.0046, loss: 20.3791, grad_norm: 158.9393 +2026-03-01 00:12:47,507 - DriveTransformer - INFO - Epoch [11][26950/39528] lr: 6.331e-05, eta: 4 days, 10:55:12, time: 0.730, data_time: 0.039, memory: 19865, loss_cls: 0.0868, loss_bbox: 0.2674, loss_traj: 0.4192, loss_traj_cls: 0.0021, loss_map_cls: 0.1020, loss_map_pts: 0.4647, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.5861, d0.loss_plan_l1_fix_dist: 0.3864, d1.loss_plan_l1_fix_time: 0.7754, d1.loss_plan_l1_fix_dist: 0.1699, d2.loss_plan_l1_fix_time: 0.7631, d2.loss_plan_l1_fix_dist: 0.1697, d3.loss_plan_l1_fix_time: 0.7629, d3.loss_plan_l1_fix_dist: 0.1622, d4.loss_plan_l1_fix_time: 0.7645, d4.loss_plan_l1_fix_dist: 0.1688, d5.loss_plan_l1_fix_time: 0.7665, d5.loss_plan_l1_fix_dist: 0.2042, d6.loss_plan_l1_fix_time: 0.7689, d6.loss_plan_l1_fix_dist: 0.1697, d0.loss_cls_all: 0.1327, d0.loss_bbox_all: 0.3226, d0.loss_cls: 0.1327, d0.loss_bbox: 0.3226, d1.loss_cls: 0.1250, d1.loss_bbox: 0.2935, d2.loss_cls: 0.1110, d2.loss_bbox: 0.2726, d3.loss_cls: 0.0924, d3.loss_bbox: 0.2675, d4.loss_cls: 0.0869, d4.loss_bbox: 0.2671, d5.loss_cls: 0.0862, d5.loss_bbox: 0.2670, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6754, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.5083, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4423, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4299, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4251, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4199, d0.loss_map_cls_all: 0.1797, d0.loss_map_pts_all: 0.9332, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1797, d0.loss_map_pts: 0.9332, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1458, d1.loss_map_pts: 0.6727, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1249, d2.loss_map_pts: 0.5414, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1155, d3.loss_map_pts: 0.4950, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1090, d4.loss_map_pts: 0.4761, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1047, d5.loss_map_pts: 0.4640, d5.loss_map_dir: 0.0057, loss: 21.1683, grad_norm: 151.0159 +2026-03-01 00:13:25,778 - DriveTransformer - INFO - Epoch [11][27000/39528] lr: 6.331e-05, eta: 4 days, 10:54:40, time: 0.765, data_time: 0.037, memory: 19865, loss_cls: 0.0716, loss_bbox: 0.2492, loss_traj: 0.3453, loss_traj_cls: 0.0021, loss_map_cls: 0.0743, loss_map_pts: 0.4943, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 1.9114, d0.loss_plan_l1_fix_dist: 0.3351, d1.loss_plan_l1_fix_time: 0.6380, d1.loss_plan_l1_fix_dist: 0.1660, d2.loss_plan_l1_fix_time: 0.6287, d2.loss_plan_l1_fix_dist: 0.1804, d3.loss_plan_l1_fix_time: 0.6171, d3.loss_plan_l1_fix_dist: 0.1754, d4.loss_plan_l1_fix_time: 0.6196, d4.loss_plan_l1_fix_dist: 0.1886, d5.loss_plan_l1_fix_time: 0.6229, d5.loss_plan_l1_fix_dist: 0.2391, d6.loss_plan_l1_fix_time: 0.6272, d6.loss_plan_l1_fix_dist: 0.2174, d0.loss_cls_all: 0.1045, d0.loss_bbox_all: 0.2953, d0.loss_cls: 0.1045, d0.loss_bbox: 0.2953, d1.loss_cls: 0.1005, d1.loss_bbox: 0.2690, d2.loss_cls: 0.0900, d2.loss_bbox: 0.2533, d3.loss_cls: 0.0769, d3.loss_bbox: 0.2467, d4.loss_cls: 0.0723, d4.loss_bbox: 0.2451, d5.loss_cls: 0.0723, d5.loss_bbox: 0.2459, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.5107, d1.loss_traj_cls: 0.0015, d1.loss_traj: 0.3952, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3663, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3530, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3478, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3452, d0.loss_map_cls_all: 0.1487, d0.loss_map_pts_all: 1.0656, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.1487, d0.loss_map_pts: 1.0656, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1175, d1.loss_map_pts: 0.7681, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.0981, d2.loss_map_pts: 0.5915, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.0876, d3.loss_map_pts: 0.5324, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.0807, d4.loss_map_pts: 0.5020, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.0757, d5.loss_map_pts: 0.4955, d5.loss_map_dir: 0.0076, loss: 19.0379, grad_norm: 160.4478 +2026-03-01 00:14:03,372 - DriveTransformer - INFO - Epoch [11][27050/39528] lr: 6.331e-05, eta: 4 days, 10:54:06, time: 0.752, data_time: 0.041, memory: 19865, loss_cls: 0.0986, loss_bbox: 0.2813, loss_traj: 0.3942, loss_traj_cls: 0.0021, loss_map_cls: 0.0937, loss_map_pts: 0.5099, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.7527, d0.loss_plan_l1_fix_dist: 0.3662, d1.loss_plan_l1_fix_time: 0.7181, d1.loss_plan_l1_fix_dist: 0.1799, d2.loss_plan_l1_fix_time: 0.7048, d2.loss_plan_l1_fix_dist: 0.2050, d3.loss_plan_l1_fix_time: 0.7001, d3.loss_plan_l1_fix_dist: 0.1831, d4.loss_plan_l1_fix_time: 0.7019, d4.loss_plan_l1_fix_dist: 0.1914, d5.loss_plan_l1_fix_time: 0.7042, d5.loss_plan_l1_fix_dist: 0.2392, d6.loss_plan_l1_fix_time: 0.7072, d6.loss_plan_l1_fix_dist: 0.2235, d0.loss_cls_all: 0.1403, d0.loss_bbox_all: 0.3410, d0.loss_cls: 0.1403, d0.loss_bbox: 0.3410, d1.loss_cls: 0.1343, d1.loss_bbox: 0.3075, d2.loss_cls: 0.1226, d2.loss_bbox: 0.2858, d3.loss_cls: 0.1040, d3.loss_bbox: 0.2807, d4.loss_cls: 0.0996, d4.loss_bbox: 0.2783, d5.loss_cls: 0.0985, d5.loss_bbox: 0.2797, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6236, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4711, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4213, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4081, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4028, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3952, d0.loss_map_cls_all: 0.1670, d0.loss_map_pts_all: 1.0557, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1670, d0.loss_map_pts: 1.0557, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1345, d1.loss_map_pts: 0.7616, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1157, d2.loss_map_pts: 0.5907, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1069, d3.loss_map_pts: 0.5351, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1021, d4.loss_map_pts: 0.5146, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.0964, d5.loss_map_pts: 0.5101, d5.loss_map_dir: 0.0072, loss: 21.6078, grad_norm: 160.1016 +2026-03-01 00:14:40,533 - DriveTransformer - INFO - Epoch [11][27100/39528] lr: 6.331e-05, eta: 4 days, 10:53:31, time: 0.743, data_time: 0.037, memory: 19865, loss_cls: 0.0843, loss_bbox: 0.2768, loss_traj: 0.4311, loss_traj_cls: 0.0021, loss_map_cls: 0.1012, loss_map_pts: 0.5453, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.3831, d0.loss_plan_l1_fix_dist: 0.3762, d1.loss_plan_l1_fix_time: 0.7772, d1.loss_plan_l1_fix_dist: 0.1788, d2.loss_plan_l1_fix_time: 0.7619, d2.loss_plan_l1_fix_dist: 0.2121, d3.loss_plan_l1_fix_time: 0.7624, d3.loss_plan_l1_fix_dist: 0.1920, d4.loss_plan_l1_fix_time: 0.7665, d4.loss_plan_l1_fix_dist: 0.1883, d5.loss_plan_l1_fix_time: 0.7702, d5.loss_plan_l1_fix_dist: 0.2364, d6.loss_plan_l1_fix_time: 0.7737, d6.loss_plan_l1_fix_dist: 0.2457, d0.loss_cls_all: 0.1264, d0.loss_bbox_all: 0.3505, d0.loss_cls: 0.1264, d0.loss_bbox: 0.3505, d1.loss_cls: 0.1221, d1.loss_bbox: 0.3132, d2.loss_cls: 0.1060, d2.loss_bbox: 0.2877, d3.loss_cls: 0.0882, d3.loss_bbox: 0.2833, d4.loss_cls: 0.0840, d4.loss_bbox: 0.2808, d5.loss_cls: 0.0845, d5.loss_bbox: 0.2771, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6391, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4837, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4357, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4288, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4285, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4280, d0.loss_map_cls_all: 0.1950, d0.loss_map_pts_all: 1.1092, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.1950, d0.loss_map_pts: 1.1092, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1572, d1.loss_map_pts: 0.7974, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1302, d2.loss_map_pts: 0.6239, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1167, d3.loss_map_pts: 0.5697, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1093, d4.loss_map_pts: 0.5513, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1033, d5.loss_map_pts: 0.5451, d5.loss_map_dir: 0.0080, loss: 22.1718, grad_norm: 162.1487 +2026-03-01 00:15:17,262 - DriveTransformer - INFO - Epoch [11][27150/39528] lr: 6.331e-05, eta: 4 days, 10:52:55, time: 0.735, data_time: 0.040, memory: 19865, loss_cls: 0.0897, loss_bbox: 0.2848, loss_traj: 0.5372, loss_traj_cls: 0.0021, loss_map_cls: 0.0733, loss_map_pts: 0.4459, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 3.1363, d0.loss_plan_l1_fix_dist: 0.4003, d1.loss_plan_l1_fix_time: 0.8565, d1.loss_plan_l1_fix_dist: 0.1787, d2.loss_plan_l1_fix_time: 0.8344, d2.loss_plan_l1_fix_dist: 0.2112, d3.loss_plan_l1_fix_time: 0.8297, d3.loss_plan_l1_fix_dist: 0.1936, d4.loss_plan_l1_fix_time: 0.8329, d4.loss_plan_l1_fix_dist: 0.1993, d5.loss_plan_l1_fix_time: 0.8368, d5.loss_plan_l1_fix_dist: 0.2413, d6.loss_plan_l1_fix_time: 0.8404, d6.loss_plan_l1_fix_dist: 0.2646, d0.loss_cls_all: 0.1357, d0.loss_bbox_all: 0.3445, d0.loss_cls: 0.1357, d0.loss_bbox: 0.3445, d1.loss_cls: 0.1334, d1.loss_bbox: 0.3091, d2.loss_cls: 0.1167, d2.loss_bbox: 0.2884, d3.loss_cls: 0.0958, d3.loss_bbox: 0.2876, d4.loss_cls: 0.0900, d4.loss_bbox: 0.2849, d5.loss_cls: 0.0889, d5.loss_bbox: 0.2853, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8147, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.6320, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5644, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5426, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5404, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5386, d0.loss_map_cls_all: 0.1544, d0.loss_map_pts_all: 0.9484, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1544, d0.loss_map_pts: 0.9484, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1198, d1.loss_map_pts: 0.6700, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.0986, d2.loss_map_pts: 0.5255, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.0884, d3.loss_map_pts: 0.4724, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0805, d4.loss_map_pts: 0.4517, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0755, d5.loss_map_pts: 0.4468, d5.loss_map_dir: 0.0062, loss: 23.1525, grad_norm: 162.8753 +2026-03-01 00:15:55,254 - DriveTransformer - INFO - Epoch [11][27200/39528] lr: 6.331e-05, eta: 4 days, 10:52:23, time: 0.760, data_time: 0.039, memory: 19865, loss_cls: 0.0873, loss_bbox: 0.2790, loss_traj: 0.4646, loss_traj_cls: 0.0021, loss_map_cls: 0.0812, loss_map_pts: 0.4743, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.4909, d0.loss_plan_l1_fix_dist: 0.4996, d1.loss_plan_l1_fix_time: 0.7937, d1.loss_plan_l1_fix_dist: 0.1852, d2.loss_plan_l1_fix_time: 0.7677, d2.loss_plan_l1_fix_dist: 0.2255, d3.loss_plan_l1_fix_time: 0.7526, d3.loss_plan_l1_fix_dist: 0.2020, d4.loss_plan_l1_fix_time: 0.7549, d4.loss_plan_l1_fix_dist: 0.2148, d5.loss_plan_l1_fix_time: 0.7580, d5.loss_plan_l1_fix_dist: 0.2155, d6.loss_plan_l1_fix_time: 0.7612, d6.loss_plan_l1_fix_dist: 0.2488, d0.loss_cls_all: 0.1326, d0.loss_bbox_all: 0.3260, d0.loss_cls: 0.1326, d0.loss_bbox: 0.3260, d1.loss_cls: 0.1258, d1.loss_bbox: 0.2979, d2.loss_cls: 0.1128, d2.loss_bbox: 0.2822, d3.loss_cls: 0.0938, d3.loss_bbox: 0.2783, d4.loss_cls: 0.0891, d4.loss_bbox: 0.2777, d5.loss_cls: 0.0872, d5.loss_bbox: 0.2781, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7249, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5539, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4972, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4687, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4667, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4640, d0.loss_map_cls_all: 0.1596, d0.loss_map_pts_all: 0.9671, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1596, d0.loss_map_pts: 0.9671, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1268, d1.loss_map_pts: 0.6846, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1040, d2.loss_map_pts: 0.5394, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0924, d3.loss_map_pts: 0.4930, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0876, d4.loss_map_pts: 0.4753, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0825, d5.loss_map_pts: 0.4736, d5.loss_map_dir: 0.0058, loss: 21.7382, grad_norm: 167.0271 +2026-03-01 00:16:30,952 - DriveTransformer - INFO - Epoch [11][27250/39528] lr: 6.331e-05, eta: 4 days, 10:51:44, time: 0.714, data_time: 0.037, memory: 19865, loss_cls: 0.0919, loss_bbox: 0.2650, loss_traj: 0.4767, loss_traj_cls: 0.0022, loss_map_cls: 0.0809, loss_map_pts: 0.4500, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.5452, d0.loss_plan_l1_fix_dist: 0.4500, d1.loss_plan_l1_fix_time: 0.7449, d1.loss_plan_l1_fix_dist: 0.1655, d2.loss_plan_l1_fix_time: 0.7201, d2.loss_plan_l1_fix_dist: 0.2030, d3.loss_plan_l1_fix_time: 0.7115, d3.loss_plan_l1_fix_dist: 0.1914, d4.loss_plan_l1_fix_time: 0.7133, d4.loss_plan_l1_fix_dist: 0.2194, d5.loss_plan_l1_fix_time: 0.7160, d5.loss_plan_l1_fix_dist: 0.1858, d6.loss_plan_l1_fix_time: 0.7191, d6.loss_plan_l1_fix_dist: 0.2169, d0.loss_cls_all: 0.1376, d0.loss_bbox_all: 0.3307, d0.loss_cls: 0.1376, d0.loss_bbox: 0.3307, d1.loss_cls: 0.1259, d1.loss_bbox: 0.2988, d2.loss_cls: 0.1145, d2.loss_bbox: 0.2770, d3.loss_cls: 0.0984, d3.loss_bbox: 0.2723, d4.loss_cls: 0.0939, d4.loss_bbox: 0.2677, d5.loss_cls: 0.0914, d5.loss_bbox: 0.2657, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7262, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5662, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5024, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4848, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4806, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4768, d0.loss_map_cls_all: 0.1534, d0.loss_map_pts_all: 0.8942, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1534, d0.loss_map_pts: 0.8942, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1223, d1.loss_map_pts: 0.6478, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1035, d2.loss_map_pts: 0.5149, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.0933, d3.loss_map_pts: 0.4684, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0866, d4.loss_map_pts: 0.4538, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0826, d5.loss_map_pts: 0.4499, d5.loss_map_dir: 0.0058, loss: 21.1198, grad_norm: 168.5520 +2026-03-01 00:17:05,961 - DriveTransformer - INFO - Epoch [11][27300/39528] lr: 6.331e-05, eta: 4 days, 10:51:03, time: 0.700, data_time: 0.039, memory: 19865, loss_cls: 0.0832, loss_bbox: 0.2593, loss_traj: 0.5010, loss_traj_cls: 0.0021, loss_map_cls: 0.0724, loss_map_pts: 0.4039, loss_map_dir: 0.0042, d0.loss_plan_l1_fix_time: 2.4867, d0.loss_plan_l1_fix_dist: 0.4460, d1.loss_plan_l1_fix_time: 0.7821, d1.loss_plan_l1_fix_dist: 0.1553, d2.loss_plan_l1_fix_time: 0.7614, d2.loss_plan_l1_fix_dist: 0.1920, d3.loss_plan_l1_fix_time: 0.7566, d3.loss_plan_l1_fix_dist: 0.1576, d4.loss_plan_l1_fix_time: 0.7582, d4.loss_plan_l1_fix_dist: 0.2008, d5.loss_plan_l1_fix_time: 0.7604, d5.loss_plan_l1_fix_dist: 0.1719, d6.loss_plan_l1_fix_time: 0.7636, d6.loss_plan_l1_fix_dist: 0.2098, d0.loss_cls_all: 0.1233, d0.loss_bbox_all: 0.3193, d0.loss_cls: 0.1233, d0.loss_bbox: 0.3193, d1.loss_cls: 0.1169, d1.loss_bbox: 0.2884, d2.loss_cls: 0.1067, d2.loss_bbox: 0.2676, d3.loss_cls: 0.0901, d3.loss_bbox: 0.2631, d4.loss_cls: 0.0851, d4.loss_bbox: 0.2591, d5.loss_cls: 0.0837, d5.loss_bbox: 0.2586, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7155, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5520, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5181, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5039, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5021, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4998, d0.loss_map_cls_all: 0.1491, d0.loss_map_pts_all: 0.8916, d0.loss_map_dir_all: 0.0047, d0.loss_map_cls: 0.1491, d0.loss_map_pts: 0.8916, d0.loss_map_dir: 0.0047, d1.loss_map_cls: 0.1178, d1.loss_map_pts: 0.6324, d1.loss_map_dir: 0.0042, d2.loss_map_cls: 0.0932, d2.loss_map_pts: 0.4884, d2.loss_map_dir: 0.0041, d3.loss_map_cls: 0.0837, d3.loss_map_pts: 0.4275, d3.loss_map_dir: 0.0042, d4.loss_map_cls: 0.0786, d4.loss_map_pts: 0.4102, d4.loss_map_dir: 0.0042, d5.loss_map_cls: 0.0739, d5.loss_map_pts: 0.4047, d5.loss_map_dir: 0.0042, loss: 20.8516, grad_norm: 168.2575 +2026-03-01 00:17:43,737 - DriveTransformer - INFO - Epoch [11][27350/39528] lr: 6.331e-05, eta: 4 days, 10:50:30, time: 0.755, data_time: 0.037, memory: 19865, loss_cls: 0.0832, loss_bbox: 0.2686, loss_traj: 0.3643, loss_traj_cls: 0.0021, loss_map_cls: 0.0849, loss_map_pts: 0.4976, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.5711, d0.loss_plan_l1_fix_dist: 0.4579, d1.loss_plan_l1_fix_time: 0.6764, d1.loss_plan_l1_fix_dist: 0.1811, d2.loss_plan_l1_fix_time: 0.6616, d2.loss_plan_l1_fix_dist: 0.2114, d3.loss_plan_l1_fix_time: 0.6528, d3.loss_plan_l1_fix_dist: 0.1679, d4.loss_plan_l1_fix_time: 0.6536, d4.loss_plan_l1_fix_dist: 0.2154, d5.loss_plan_l1_fix_time: 0.6560, d5.loss_plan_l1_fix_dist: 0.1928, d6.loss_plan_l1_fix_time: 0.6593, d6.loss_plan_l1_fix_dist: 0.2373, d0.loss_cls_all: 0.1298, d0.loss_bbox_all: 0.3431, d0.loss_cls: 0.1298, d0.loss_bbox: 0.3431, d1.loss_cls: 0.1219, d1.loss_bbox: 0.3078, d2.loss_cls: 0.1090, d2.loss_bbox: 0.2846, d3.loss_cls: 0.0920, d3.loss_bbox: 0.2752, d4.loss_cls: 0.0851, d4.loss_bbox: 0.2713, d5.loss_cls: 0.0834, d5.loss_bbox: 0.2693, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5592, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4300, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3809, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3701, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3674, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3670, d0.loss_map_cls_all: 0.1758, d0.loss_map_pts_all: 1.0424, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1758, d0.loss_map_pts: 1.0424, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1359, d1.loss_map_pts: 0.7389, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1143, d2.loss_map_pts: 0.5849, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1012, d3.loss_map_pts: 0.5237, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.0924, d4.loss_map_pts: 0.5027, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.0868, d5.loss_map_pts: 0.4978, d5.loss_map_dir: 0.0068, loss: 20.6921, grad_norm: 170.3124 +2026-03-01 00:18:21,646 - DriveTransformer - INFO - Epoch [11][27400/39528] lr: 6.331e-05, eta: 4 days, 10:49:57, time: 0.758, data_time: 0.038, memory: 19865, loss_cls: 0.0899, loss_bbox: 0.2802, loss_traj: 0.4311, loss_traj_cls: 0.0021, loss_map_cls: 0.1033, loss_map_pts: 0.5348, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.4931, d0.loss_plan_l1_fix_dist: 0.3889, d1.loss_plan_l1_fix_time: 0.7291, d1.loss_plan_l1_fix_dist: 0.1658, d2.loss_plan_l1_fix_time: 0.7115, d2.loss_plan_l1_fix_dist: 0.1956, d3.loss_plan_l1_fix_time: 0.7123, d3.loss_plan_l1_fix_dist: 0.1488, d4.loss_plan_l1_fix_time: 0.7140, d4.loss_plan_l1_fix_dist: 0.1884, d5.loss_plan_l1_fix_time: 0.7163, d5.loss_plan_l1_fix_dist: 0.1703, d6.loss_plan_l1_fix_time: 0.7189, d6.loss_plan_l1_fix_dist: 0.2087, d0.loss_cls_all: 0.1353, d0.loss_bbox_all: 0.3427, d0.loss_cls: 0.1353, d0.loss_bbox: 0.3427, d1.loss_cls: 0.1280, d1.loss_bbox: 0.3077, d2.loss_cls: 0.1167, d2.loss_bbox: 0.2874, d3.loss_cls: 0.0964, d3.loss_bbox: 0.2833, d4.loss_cls: 0.0932, d4.loss_bbox: 0.2804, d5.loss_cls: 0.0897, d5.loss_bbox: 0.2801, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7011, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5248, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4606, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4430, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4335, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4307, d0.loss_map_cls_all: 0.2000, d0.loss_map_pts_all: 1.1514, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2000, d0.loss_map_pts: 1.1514, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1585, d1.loss_map_pts: 0.8120, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1347, d2.loss_map_pts: 0.6319, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1221, d3.loss_map_pts: 0.5651, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1128, d4.loss_map_pts: 0.5403, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1055, d5.loss_map_pts: 0.5353, d5.loss_map_dir: 0.0063, loss: 22.0924, grad_norm: 169.7904 +2026-03-01 00:19:00,681 - DriveTransformer - INFO - Epoch [11][27450/39528] lr: 6.331e-05, eta: 4 days, 10:49:28, time: 0.781, data_time: 0.036, memory: 19865, loss_cls: 0.1052, loss_bbox: 0.2900, loss_traj: 0.4053, loss_traj_cls: 0.0021, loss_map_cls: 0.1028, loss_map_pts: 0.6102, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.5772, d0.loss_plan_l1_fix_dist: 0.5035, d1.loss_plan_l1_fix_time: 0.6933, d1.loss_plan_l1_fix_dist: 0.1893, d2.loss_plan_l1_fix_time: 0.6887, d2.loss_plan_l1_fix_dist: 0.2241, d3.loss_plan_l1_fix_time: 0.6860, d3.loss_plan_l1_fix_dist: 0.1830, d4.loss_plan_l1_fix_time: 0.6878, d4.loss_plan_l1_fix_dist: 0.2178, d5.loss_plan_l1_fix_time: 0.6895, d5.loss_plan_l1_fix_dist: 0.2095, d6.loss_plan_l1_fix_time: 0.6917, d6.loss_plan_l1_fix_dist: 0.2242, d0.loss_cls_all: 0.1549, d0.loss_bbox_all: 0.3656, d0.loss_cls: 0.1549, d0.loss_bbox: 0.3656, d1.loss_cls: 0.1474, d1.loss_bbox: 0.3299, d2.loss_cls: 0.1337, d2.loss_bbox: 0.3062, d3.loss_cls: 0.1106, d3.loss_bbox: 0.2986, d4.loss_cls: 0.1059, d4.loss_bbox: 0.2937, d5.loss_cls: 0.1055, d5.loss_bbox: 0.2898, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6219, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4835, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4329, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4237, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4124, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4075, d0.loss_map_cls_all: 0.1907, d0.loss_map_pts_all: 1.2796, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.1907, d0.loss_map_pts: 1.2796, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1530, d1.loss_map_pts: 0.9256, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1301, d2.loss_map_pts: 0.7206, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1192, d3.loss_map_pts: 0.6482, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1114, d4.loss_map_pts: 0.6169, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1056, d5.loss_map_pts: 0.6114, d5.loss_map_dir: 0.0076, loss: 23.0758, grad_norm: 168.9288 +2026-03-01 00:19:36,552 - DriveTransformer - INFO - Epoch [11][27500/39528] lr: 6.331e-05, eta: 4 days, 10:48:49, time: 0.717, data_time: 0.039, memory: 19865, loss_cls: 0.1025, loss_bbox: 0.2787, loss_traj: 0.4105, loss_traj_cls: 0.0021, loss_map_cls: 0.0922, loss_map_pts: 0.4848, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.5592, d0.loss_plan_l1_fix_dist: 0.4929, d1.loss_plan_l1_fix_time: 0.6952, d1.loss_plan_l1_fix_dist: 0.1919, d2.loss_plan_l1_fix_time: 0.6803, d2.loss_plan_l1_fix_dist: 0.2246, d3.loss_plan_l1_fix_time: 0.6650, d3.loss_plan_l1_fix_dist: 0.1832, d4.loss_plan_l1_fix_time: 0.6660, d4.loss_plan_l1_fix_dist: 0.2117, d5.loss_plan_l1_fix_time: 0.6681, d5.loss_plan_l1_fix_dist: 0.2086, d6.loss_plan_l1_fix_time: 0.6707, d6.loss_plan_l1_fix_dist: 0.2022, d0.loss_cls_all: 0.1533, d0.loss_bbox_all: 0.3482, d0.loss_cls: 0.1533, d0.loss_bbox: 0.3482, d1.loss_cls: 0.1417, d1.loss_bbox: 0.3131, d2.loss_cls: 0.1291, d2.loss_bbox: 0.2880, d3.loss_cls: 0.1083, d3.loss_bbox: 0.2831, d4.loss_cls: 0.1023, d4.loss_bbox: 0.2814, d5.loss_cls: 0.1017, d5.loss_bbox: 0.2796, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6461, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4952, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4421, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4234, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4154, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4089, d0.loss_map_cls_all: 0.1745, d0.loss_map_pts_all: 1.0070, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1745, d0.loss_map_pts: 1.0070, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1395, d1.loss_map_pts: 0.7195, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1152, d2.loss_map_pts: 0.5588, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1041, d3.loss_map_pts: 0.5051, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0979, d4.loss_map_pts: 0.4885, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0944, d5.loss_map_pts: 0.4849, d5.loss_map_dir: 0.0059, loss: 21.2767, grad_norm: 172.2866 +2026-03-01 00:20:12,353 - DriveTransformer - INFO - Epoch [11][27550/39528] lr: 6.331e-05, eta: 4 days, 10:48:10, time: 0.716, data_time: 0.037, memory: 19865, loss_cls: 0.1003, loss_bbox: 0.2789, loss_traj: 0.4738, loss_traj_cls: 0.0021, loss_map_cls: 0.0870, loss_map_pts: 0.4240, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.6272, d0.loss_plan_l1_fix_dist: 0.3413, d1.loss_plan_l1_fix_time: 0.7852, d1.loss_plan_l1_fix_dist: 0.1862, d2.loss_plan_l1_fix_time: 0.7767, d2.loss_plan_l1_fix_dist: 0.2191, d3.loss_plan_l1_fix_time: 0.7772, d3.loss_plan_l1_fix_dist: 0.1794, d4.loss_plan_l1_fix_time: 0.7789, d4.loss_plan_l1_fix_dist: 0.2013, d5.loss_plan_l1_fix_time: 0.7808, d5.loss_plan_l1_fix_dist: 0.2051, d6.loss_plan_l1_fix_time: 0.7829, d6.loss_plan_l1_fix_dist: 0.1847, d0.loss_cls_all: 0.1313, d0.loss_bbox_all: 0.3389, d0.loss_cls: 0.1313, d0.loss_bbox: 0.3389, d1.loss_cls: 0.1257, d1.loss_bbox: 0.3093, d2.loss_cls: 0.1177, d2.loss_bbox: 0.2896, d3.loss_cls: 0.1052, d3.loss_bbox: 0.2812, d4.loss_cls: 0.1018, d4.loss_bbox: 0.2808, d5.loss_cls: 0.1001, d5.loss_bbox: 0.2797, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7063, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5355, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4998, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4849, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4782, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4757, d0.loss_map_cls_all: 0.1677, d0.loss_map_pts_all: 0.8798, d0.loss_map_dir_all: 0.0048, d0.loss_map_cls: 0.1677, d0.loss_map_pts: 0.8798, d0.loss_map_dir: 0.0048, d1.loss_map_cls: 0.1364, d1.loss_map_pts: 0.6399, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.1127, d2.loss_map_pts: 0.5067, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.1022, d3.loss_map_pts: 0.4568, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.0950, d4.loss_map_pts: 0.4366, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0889, d5.loss_map_pts: 0.4243, d5.loss_map_dir: 0.0046, loss: 21.4405, grad_norm: 172.4073 +2026-03-01 00:20:49,636 - DriveTransformer - INFO - Epoch [11][27600/39528] lr: 6.331e-05, eta: 4 days, 10:47:36, time: 0.747, data_time: 0.037, memory: 19865, loss_cls: 0.0861, loss_bbox: 0.2652, loss_traj: 0.4281, loss_traj_cls: 0.0021, loss_map_cls: 0.0824, loss_map_pts: 0.4779, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.2658, d0.loss_plan_l1_fix_dist: 0.4449, d1.loss_plan_l1_fix_time: 0.7895, d1.loss_plan_l1_fix_dist: 0.1687, d2.loss_plan_l1_fix_time: 0.7835, d2.loss_plan_l1_fix_dist: 0.2024, d3.loss_plan_l1_fix_time: 0.7836, d3.loss_plan_l1_fix_dist: 0.1718, d4.loss_plan_l1_fix_time: 0.7853, d4.loss_plan_l1_fix_dist: 0.1865, d5.loss_plan_l1_fix_time: 0.7877, d5.loss_plan_l1_fix_dist: 0.2012, d6.loss_plan_l1_fix_time: 0.7903, d6.loss_plan_l1_fix_dist: 0.1870, d0.loss_cls_all: 0.1304, d0.loss_bbox_all: 0.3320, d0.loss_cls: 0.1304, d0.loss_bbox: 0.3320, d1.loss_cls: 0.1237, d1.loss_bbox: 0.2978, d2.loss_cls: 0.1127, d2.loss_bbox: 0.2773, d3.loss_cls: 0.0933, d3.loss_bbox: 0.2700, d4.loss_cls: 0.0896, d4.loss_bbox: 0.2671, d5.loss_cls: 0.0861, d5.loss_bbox: 0.2660, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6269, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5109, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4599, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4443, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4359, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4278, d0.loss_map_cls_all: 0.1766, d0.loss_map_pts_all: 1.0438, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1766, d0.loss_map_pts: 1.0438, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1367, d1.loss_map_pts: 0.7086, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1103, d2.loss_map_pts: 0.5619, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.0981, d3.loss_map_pts: 0.5103, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.0917, d4.loss_map_pts: 0.4882, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0857, d5.loss_map_pts: 0.4782, d5.loss_map_dir: 0.0065, loss: 21.3747, grad_norm: 170.7043 +2026-03-01 00:21:26,254 - DriveTransformer - INFO - Epoch [11][27650/39528] lr: 6.331e-05, eta: 4 days, 10:46:59, time: 0.731, data_time: 0.040, memory: 19865, loss_cls: 0.0831, loss_bbox: 0.2537, loss_traj: 0.4720, loss_traj_cls: 0.0021, loss_map_cls: 0.0821, loss_map_pts: 0.4480, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.6821, d0.loss_plan_l1_fix_dist: 0.3823, d1.loss_plan_l1_fix_time: 0.7325, d1.loss_plan_l1_fix_dist: 0.1815, d2.loss_plan_l1_fix_time: 0.7139, d2.loss_plan_l1_fix_dist: 0.1958, d3.loss_plan_l1_fix_time: 0.7060, d3.loss_plan_l1_fix_dist: 0.1739, d4.loss_plan_l1_fix_time: 0.7063, d4.loss_plan_l1_fix_dist: 0.1831, d5.loss_plan_l1_fix_time: 0.7076, d5.loss_plan_l1_fix_dist: 0.1978, d6.loss_plan_l1_fix_time: 0.7100, d6.loss_plan_l1_fix_dist: 0.1782, d0.loss_cls_all: 0.1250, d0.loss_bbox_all: 0.3139, d0.loss_cls: 0.1250, d0.loss_bbox: 0.3139, d1.loss_cls: 0.1219, d1.loss_bbox: 0.2816, d2.loss_cls: 0.1105, d2.loss_bbox: 0.2644, d3.loss_cls: 0.0900, d3.loss_bbox: 0.2593, d4.loss_cls: 0.0838, d4.loss_bbox: 0.2567, d5.loss_cls: 0.0830, d5.loss_bbox: 0.2546, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6766, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5393, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4977, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4806, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4756, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4732, d0.loss_map_cls_all: 0.1607, d0.loss_map_pts_all: 0.9156, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1607, d0.loss_map_pts: 0.9156, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1268, d1.loss_map_pts: 0.6515, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1047, d2.loss_map_pts: 0.5251, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.0944, d3.loss_map_pts: 0.4733, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0885, d4.loss_map_pts: 0.4552, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0838, d5.loss_map_pts: 0.4484, d5.loss_map_dir: 0.0059, loss: 20.8780, grad_norm: 172.6346 +2026-03-01 00:22:02,457 - DriveTransformer - INFO - Epoch [11][27700/39528] lr: 6.331e-05, eta: 4 days, 10:46:22, time: 0.724, data_time: 0.037, memory: 19865, loss_cls: 0.0728, loss_bbox: 0.2478, loss_traj: 0.4937, loss_traj_cls: 0.0021, loss_map_cls: 0.0963, loss_map_pts: 0.4578, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.5847, d0.loss_plan_l1_fix_dist: 0.3990, d1.loss_plan_l1_fix_time: 0.6886, d1.loss_plan_l1_fix_dist: 0.1895, d2.loss_plan_l1_fix_time: 0.6763, d2.loss_plan_l1_fix_dist: 0.1841, d3.loss_plan_l1_fix_time: 0.6750, d3.loss_plan_l1_fix_dist: 0.1800, d4.loss_plan_l1_fix_time: 0.6762, d4.loss_plan_l1_fix_dist: 0.1894, d5.loss_plan_l1_fix_time: 0.6780, d5.loss_plan_l1_fix_dist: 0.2115, d6.loss_plan_l1_fix_time: 0.6802, d6.loss_plan_l1_fix_dist: 0.2079, d0.loss_cls_all: 0.1197, d0.loss_bbox_all: 0.3078, d0.loss_cls: 0.1197, d0.loss_bbox: 0.3078, d1.loss_cls: 0.1096, d1.loss_bbox: 0.2777, d2.loss_cls: 0.0955, d2.loss_bbox: 0.2584, d3.loss_cls: 0.0774, d3.loss_bbox: 0.2529, d4.loss_cls: 0.0729, d4.loss_bbox: 0.2503, d5.loss_cls: 0.0722, d5.loss_bbox: 0.2486, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6854, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5591, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5157, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5009, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4963, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4939, d0.loss_map_cls_all: 0.1715, d0.loss_map_pts_all: 0.9864, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1715, d0.loss_map_pts: 0.9864, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1403, d1.loss_map_pts: 0.6991, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1188, d2.loss_map_pts: 0.5459, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1076, d3.loss_map_pts: 0.4866, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1028, d4.loss_map_pts: 0.4626, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0981, d5.loss_map_pts: 0.4579, d5.loss_map_dir: 0.0052, loss: 20.9953, grad_norm: 173.7850 +2026-03-01 00:22:38,839 - DriveTransformer - INFO - Epoch [11][27750/39528] lr: 6.331e-05, eta: 4 days, 10:45:45, time: 0.727, data_time: 0.037, memory: 19865, loss_cls: 0.1056, loss_bbox: 0.2924, loss_traj: 0.5001, loss_traj_cls: 0.0020, loss_map_cls: 0.1015, loss_map_pts: 0.4980, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.7640, d0.loss_plan_l1_fix_dist: 0.3082, d1.loss_plan_l1_fix_time: 0.7618, d1.loss_plan_l1_fix_dist: 0.1904, d2.loss_plan_l1_fix_time: 0.7438, d2.loss_plan_l1_fix_dist: 0.1509, d3.loss_plan_l1_fix_time: 0.7308, d3.loss_plan_l1_fix_dist: 0.1739, d4.loss_plan_l1_fix_time: 0.7316, d4.loss_plan_l1_fix_dist: 0.1528, d5.loss_plan_l1_fix_time: 0.7333, d5.loss_plan_l1_fix_dist: 0.1755, d6.loss_plan_l1_fix_time: 0.7349, d6.loss_plan_l1_fix_dist: 0.1857, d0.loss_cls_all: 0.1502, d0.loss_bbox_all: 0.3671, d0.loss_cls: 0.1502, d0.loss_bbox: 0.3671, d1.loss_cls: 0.1426, d1.loss_bbox: 0.3290, d2.loss_cls: 0.1292, d2.loss_bbox: 0.3039, d3.loss_cls: 0.1132, d3.loss_bbox: 0.2988, d4.loss_cls: 0.1071, d4.loss_bbox: 0.2956, d5.loss_cls: 0.1051, d5.loss_bbox: 0.2941, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7897, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5924, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5276, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5129, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5047, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5017, d0.loss_map_cls_all: 0.1901, d0.loss_map_pts_all: 1.0860, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1901, d0.loss_map_pts: 1.0860, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1540, d1.loss_map_pts: 0.7684, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1297, d2.loss_map_pts: 0.6032, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1157, d3.loss_map_pts: 0.5362, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1087, d4.loss_map_pts: 0.5095, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1034, d5.loss_map_pts: 0.4979, d5.loss_map_dir: 0.0060, loss: 22.7504, grad_norm: 174.1607 +2026-03-01 00:23:15,404 - DriveTransformer - INFO - Epoch [11][27800/39528] lr: 6.331e-05, eta: 4 days, 10:45:08, time: 0.731, data_time: 0.039, memory: 19865, loss_cls: 0.1041, loss_bbox: 0.2948, loss_traj: 0.5345, loss_traj_cls: 0.0020, loss_map_cls: 0.0987, loss_map_pts: 0.4955, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.9080, d0.loss_plan_l1_fix_dist: 0.3997, d1.loss_plan_l1_fix_time: 0.8073, d1.loss_plan_l1_fix_dist: 0.2180, d2.loss_plan_l1_fix_time: 0.7988, d2.loss_plan_l1_fix_dist: 0.1697, d3.loss_plan_l1_fix_time: 0.8028, d3.loss_plan_l1_fix_dist: 0.2220, d4.loss_plan_l1_fix_time: 0.8053, d4.loss_plan_l1_fix_dist: 0.2007, d5.loss_plan_l1_fix_time: 0.8075, d5.loss_plan_l1_fix_dist: 0.1974, d6.loss_plan_l1_fix_time: 0.8096, d6.loss_plan_l1_fix_dist: 0.2183, d0.loss_cls_all: 0.1557, d0.loss_bbox_all: 0.3684, d0.loss_cls: 0.1557, d0.loss_bbox: 0.3684, d1.loss_cls: 0.1471, d1.loss_bbox: 0.3339, d2.loss_cls: 0.1307, d2.loss_bbox: 0.3113, d3.loss_cls: 0.1131, d3.loss_bbox: 0.3008, d4.loss_cls: 0.1064, d4.loss_bbox: 0.2974, d5.loss_cls: 0.1043, d5.loss_bbox: 0.2954, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8059, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.6122, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5520, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5407, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5385, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5353, d0.loss_map_cls_all: 0.1833, d0.loss_map_pts_all: 1.0493, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1833, d0.loss_map_pts: 1.0493, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1509, d1.loss_map_pts: 0.7501, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1273, d2.loss_map_pts: 0.5934, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1176, d3.loss_map_pts: 0.5258, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1083, d4.loss_map_pts: 0.5034, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1013, d5.loss_map_pts: 0.4963, d5.loss_map_dir: 0.0058, loss: 23.6579, grad_norm: 174.9412 +2026-03-01 00:23:52,240 - DriveTransformer - INFO - Epoch [11][27850/39528] lr: 6.331e-05, eta: 4 days, 10:44:32, time: 0.737, data_time: 0.037, memory: 19865, loss_cls: 0.0850, loss_bbox: 0.2691, loss_traj: 0.4614, loss_traj_cls: 0.0019, loss_map_cls: 0.0990, loss_map_pts: 0.4803, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.4748, d0.loss_plan_l1_fix_dist: 0.4013, d1.loss_plan_l1_fix_time: 0.7363, d1.loss_plan_l1_fix_dist: 0.2223, d2.loss_plan_l1_fix_time: 0.7178, d2.loss_plan_l1_fix_dist: 0.1629, d3.loss_plan_l1_fix_time: 0.7149, d3.loss_plan_l1_fix_dist: 0.2165, d4.loss_plan_l1_fix_time: 0.7163, d4.loss_plan_l1_fix_dist: 0.2033, d5.loss_plan_l1_fix_time: 0.7180, d5.loss_plan_l1_fix_dist: 0.1759, d6.loss_plan_l1_fix_time: 0.7205, d6.loss_plan_l1_fix_dist: 0.2133, d0.loss_cls_all: 0.1341, d0.loss_bbox_all: 0.3316, d0.loss_cls: 0.1341, d0.loss_bbox: 0.3316, d1.loss_cls: 0.1271, d1.loss_bbox: 0.2989, d2.loss_cls: 0.1124, d2.loss_bbox: 0.2801, d3.loss_cls: 0.0927, d3.loss_bbox: 0.2732, d4.loss_cls: 0.0854, d4.loss_bbox: 0.2720, d5.loss_cls: 0.0853, d5.loss_bbox: 0.2692, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6955, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5394, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4924, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4788, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4663, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4632, d0.loss_map_cls_all: 0.1770, d0.loss_map_pts_all: 1.0359, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1770, d0.loss_map_pts: 1.0359, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1470, d1.loss_map_pts: 0.7412, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1224, d2.loss_map_pts: 0.5739, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1125, d3.loss_map_pts: 0.5113, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1055, d4.loss_map_pts: 0.4888, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1003, d5.loss_map_pts: 0.4824, d5.loss_map_dir: 0.0056, loss: 21.6149, grad_norm: 174.4959 +2026-03-01 00:24:29,016 - DriveTransformer - INFO - Epoch [11][27900/39528] lr: 6.331e-05, eta: 4 days, 10:43:57, time: 0.735, data_time: 0.038, memory: 19865, loss_cls: 0.0886, loss_bbox: 0.2740, loss_traj: 0.4610, loss_traj_cls: 0.0019, loss_map_cls: 0.0960, loss_map_pts: 0.4886, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.7518, d0.loss_plan_l1_fix_dist: 0.3885, d1.loss_plan_l1_fix_time: 0.7547, d1.loss_plan_l1_fix_dist: 0.2252, d2.loss_plan_l1_fix_time: 0.7390, d2.loss_plan_l1_fix_dist: 0.1728, d3.loss_plan_l1_fix_time: 0.7362, d3.loss_plan_l1_fix_dist: 0.2210, d4.loss_plan_l1_fix_time: 0.7377, d4.loss_plan_l1_fix_dist: 0.2228, d5.loss_plan_l1_fix_time: 0.7398, d5.loss_plan_l1_fix_dist: 0.1938, d6.loss_plan_l1_fix_time: 0.7422, d6.loss_plan_l1_fix_dist: 0.2327, d0.loss_cls_all: 0.1314, d0.loss_bbox_all: 0.3354, d0.loss_cls: 0.1314, d0.loss_bbox: 0.3354, d1.loss_cls: 0.1231, d1.loss_bbox: 0.3052, d2.loss_cls: 0.1116, d2.loss_bbox: 0.2857, d3.loss_cls: 0.0957, d3.loss_bbox: 0.2793, d4.loss_cls: 0.0906, d4.loss_bbox: 0.2759, d5.loss_cls: 0.0890, d5.loss_bbox: 0.2754, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7507, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5778, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5204, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4994, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4694, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4621, d0.loss_map_cls_all: 0.1619, d0.loss_map_pts_all: 0.9686, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1619, d0.loss_map_pts: 0.9686, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1373, d1.loss_map_pts: 0.7041, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1164, d2.loss_map_pts: 0.5672, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1063, d3.loss_map_pts: 0.5149, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1020, d4.loss_map_pts: 0.4970, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0974, d5.loss_map_pts: 0.4895, d5.loss_map_dir: 0.0062, loss: 22.0617, grad_norm: 176.5803 +2026-03-01 00:25:04,836 - DriveTransformer - INFO - Epoch [11][27950/39528] lr: 6.331e-05, eta: 4 days, 10:43:18, time: 0.716, data_time: 0.036, memory: 19865, loss_cls: 0.1063, loss_bbox: 0.2639, loss_traj: 0.4710, loss_traj_cls: 0.0020, loss_map_cls: 0.0772, loss_map_pts: 0.4514, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.1623, d0.loss_plan_l1_fix_dist: 0.4409, d1.loss_plan_l1_fix_time: 0.7535, d1.loss_plan_l1_fix_dist: 0.2020, d2.loss_plan_l1_fix_time: 0.7415, d2.loss_plan_l1_fix_dist: 0.1728, d3.loss_plan_l1_fix_time: 0.7326, d3.loss_plan_l1_fix_dist: 0.2240, d4.loss_plan_l1_fix_time: 0.7337, d4.loss_plan_l1_fix_dist: 0.2447, d5.loss_plan_l1_fix_time: 0.7354, d5.loss_plan_l1_fix_dist: 0.2175, d6.loss_plan_l1_fix_time: 0.7374, d6.loss_plan_l1_fix_dist: 0.2335, d0.loss_cls_all: 0.1415, d0.loss_bbox_all: 0.3290, d0.loss_cls: 0.1415, d0.loss_bbox: 0.3290, d1.loss_cls: 0.1383, d1.loss_bbox: 0.2941, d2.loss_cls: 0.1247, d2.loss_bbox: 0.2740, d3.loss_cls: 0.1115, d3.loss_bbox: 0.2681, d4.loss_cls: 0.1075, d4.loss_bbox: 0.2659, d5.loss_cls: 0.1066, d5.loss_bbox: 0.2644, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7118, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5602, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5051, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4846, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4769, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4734, d0.loss_map_cls_all: 0.1518, d0.loss_map_pts_all: 0.9288, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1518, d0.loss_map_pts: 0.9288, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1203, d1.loss_map_pts: 0.6726, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.0991, d2.loss_map_pts: 0.5295, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0896, d3.loss_map_pts: 0.4778, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0816, d4.loss_map_pts: 0.4578, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0785, d5.loss_map_pts: 0.4521, d5.loss_map_dir: 0.0055, loss: 21.0800, grad_norm: 175.4945 +2026-03-01 00:25:42,233 - DriveTransformer - INFO - Epoch [11][28000/39528] lr: 6.331e-05, eta: 4 days, 10:42:44, time: 0.748, data_time: 0.037, memory: 19865, loss_cls: 0.0961, loss_bbox: 0.3035, loss_traj: 0.5257, loss_traj_cls: 0.0019, loss_map_cls: 0.0969, loss_map_pts: 0.5572, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 3.0006, d0.loss_plan_l1_fix_dist: 0.3459, d1.loss_plan_l1_fix_time: 0.7714, d1.loss_plan_l1_fix_dist: 0.1949, d2.loss_plan_l1_fix_time: 0.7498, d2.loss_plan_l1_fix_dist: 0.1774, d3.loss_plan_l1_fix_time: 0.7518, d3.loss_plan_l1_fix_dist: 0.2064, d4.loss_plan_l1_fix_time: 0.7536, d4.loss_plan_l1_fix_dist: 0.2355, d5.loss_plan_l1_fix_time: 0.7556, d5.loss_plan_l1_fix_dist: 0.2090, d6.loss_plan_l1_fix_time: 0.7578, d6.loss_plan_l1_fix_dist: 0.2027, d0.loss_cls_all: 0.1433, d0.loss_bbox_all: 0.3913, d0.loss_cls: 0.1433, d0.loss_bbox: 0.3913, d1.loss_cls: 0.1358, d1.loss_bbox: 0.3543, d2.loss_cls: 0.1214, d2.loss_bbox: 0.3286, d3.loss_cls: 0.1026, d3.loss_bbox: 0.3159, d4.loss_cls: 0.0969, d4.loss_bbox: 0.3101, d5.loss_cls: 0.0957, d5.loss_bbox: 0.3060, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7577, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5842, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5359, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5152, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5327, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5263, d0.loss_map_cls_all: 0.1794, d0.loss_map_pts_all: 1.1907, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1794, d0.loss_map_pts: 1.1907, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1429, d1.loss_map_pts: 0.8560, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1242, d2.loss_map_pts: 0.6632, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1111, d3.loss_map_pts: 0.5915, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1052, d4.loss_map_pts: 0.5636, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0996, d5.loss_map_pts: 0.5583, d5.loss_map_dir: 0.0069, loss: 23.9973, grad_norm: 166.5803 +2026-03-01 00:26:17,889 - DriveTransformer - INFO - Epoch [11][28050/39528] lr: 6.331e-05, eta: 4 days, 10:42:05, time: 0.713, data_time: 0.038, memory: 19865, loss_cls: 0.1011, loss_bbox: 0.2957, loss_traj: 0.4698, loss_traj_cls: 0.0020, loss_map_cls: 0.1123, loss_map_pts: 0.5553, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.9929, d0.loss_plan_l1_fix_dist: 0.3934, d1.loss_plan_l1_fix_time: 0.8436, d1.loss_plan_l1_fix_dist: 0.1991, d2.loss_plan_l1_fix_time: 0.8338, d2.loss_plan_l1_fix_dist: 0.1993, d3.loss_plan_l1_fix_time: 0.8234, d3.loss_plan_l1_fix_dist: 0.2182, d4.loss_plan_l1_fix_time: 0.8258, d4.loss_plan_l1_fix_dist: 0.2610, d5.loss_plan_l1_fix_time: 0.8289, d5.loss_plan_l1_fix_dist: 0.2409, d6.loss_plan_l1_fix_time: 0.8325, d6.loss_plan_l1_fix_dist: 0.2425, d0.loss_cls_all: 0.1480, d0.loss_bbox_all: 0.3695, d0.loss_cls: 0.1480, d0.loss_bbox: 0.3695, d1.loss_cls: 0.1406, d1.loss_bbox: 0.3362, d2.loss_cls: 0.1310, d2.loss_bbox: 0.3112, d3.loss_cls: 0.1078, d3.loss_bbox: 0.3042, d4.loss_cls: 0.1010, d4.loss_bbox: 0.2994, d5.loss_cls: 0.1002, d5.loss_bbox: 0.2974, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6748, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5338, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4847, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4840, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4730, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4702, d0.loss_map_cls_all: 0.1928, d0.loss_map_pts_all: 1.1137, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1928, d0.loss_map_pts: 1.1137, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1576, d1.loss_map_pts: 0.8072, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1366, d2.loss_map_pts: 0.6364, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1252, d3.loss_map_pts: 0.5766, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1195, d4.loss_map_pts: 0.5561, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1151, d5.loss_map_pts: 0.5552, d5.loss_map_dir: 0.0070, loss: 24.0153, grad_norm: 170.9097 +2026-03-01 00:26:54,730 - DriveTransformer - INFO - Epoch [11][28100/39528] lr: 6.331e-05, eta: 4 days, 10:41:29, time: 0.737, data_time: 0.037, memory: 19865, loss_cls: 0.0964, loss_bbox: 0.2834, loss_traj: 0.4963, loss_traj_cls: 0.0020, loss_map_cls: 0.0895, loss_map_pts: 0.5177, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.6293, d0.loss_plan_l1_fix_dist: 0.4240, d1.loss_plan_l1_fix_time: 0.6584, d1.loss_plan_l1_fix_dist: 0.1765, d2.loss_plan_l1_fix_time: 0.6496, d2.loss_plan_l1_fix_dist: 0.1896, d3.loss_plan_l1_fix_time: 0.6436, d3.loss_plan_l1_fix_dist: 0.1918, d4.loss_plan_l1_fix_time: 0.6457, d4.loss_plan_l1_fix_dist: 0.2512, d5.loss_plan_l1_fix_time: 0.6483, d5.loss_plan_l1_fix_dist: 0.2198, d6.loss_plan_l1_fix_time: 0.6513, d6.loss_plan_l1_fix_dist: 0.1976, d0.loss_cls_all: 0.1399, d0.loss_bbox_all: 0.3422, d0.loss_cls: 0.1399, d0.loss_bbox: 0.3422, d1.loss_cls: 0.1311, d1.loss_bbox: 0.3164, d2.loss_cls: 0.1217, d2.loss_bbox: 0.2915, d3.loss_cls: 0.1011, d3.loss_bbox: 0.2878, d4.loss_cls: 0.0953, d4.loss_bbox: 0.2847, d5.loss_cls: 0.0960, d5.loss_bbox: 0.2829, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7771, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5946, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5434, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5278, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5056, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5006, d0.loss_map_cls_all: 0.1763, d0.loss_map_pts_all: 1.1600, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1763, d0.loss_map_pts: 1.1600, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1395, d1.loss_map_pts: 0.7947, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1160, d2.loss_map_pts: 0.6160, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1036, d3.loss_map_pts: 0.5497, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0960, d4.loss_map_pts: 0.5258, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0915, d5.loss_map_pts: 0.5188, d5.loss_map_dir: 0.0062, loss: 22.3634, grad_norm: 168.4208 +2026-03-01 00:27:31,632 - DriveTransformer - INFO - Epoch [11][28150/39528] lr: 6.331e-05, eta: 4 days, 10:40:53, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.0925, loss_bbox: 0.2872, loss_traj: 0.4920, loss_traj_cls: 0.0019, loss_map_cls: 0.1070, loss_map_pts: 0.5354, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.7020, d0.loss_plan_l1_fix_dist: 0.3878, d1.loss_plan_l1_fix_time: 0.8052, d1.loss_plan_l1_fix_dist: 0.1880, d2.loss_plan_l1_fix_time: 0.7948, d2.loss_plan_l1_fix_dist: 0.2233, d3.loss_plan_l1_fix_time: 0.7879, d3.loss_plan_l1_fix_dist: 0.2026, d4.loss_plan_l1_fix_time: 0.7897, d4.loss_plan_l1_fix_dist: 0.2907, d5.loss_plan_l1_fix_time: 0.7922, d5.loss_plan_l1_fix_dist: 0.2569, d6.loss_plan_l1_fix_time: 0.7946, d6.loss_plan_l1_fix_dist: 0.2299, d0.loss_cls_all: 0.1411, d0.loss_bbox_all: 0.3470, d0.loss_cls: 0.1411, d0.loss_bbox: 0.3470, d1.loss_cls: 0.1386, d1.loss_bbox: 0.3153, d2.loss_cls: 0.1209, d2.loss_bbox: 0.2951, d3.loss_cls: 0.0993, d3.loss_bbox: 0.2915, d4.loss_cls: 0.0929, d4.loss_bbox: 0.2891, d5.loss_cls: 0.0914, d5.loss_bbox: 0.2883, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7078, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5508, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5123, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5001, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4937, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4923, d0.loss_map_cls_all: 0.1904, d0.loss_map_pts_all: 1.1499, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1904, d0.loss_map_pts: 1.1499, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1550, d1.loss_map_pts: 0.8116, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1310, d2.loss_map_pts: 0.6400, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1216, d3.loss_map_pts: 0.5746, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1142, d4.loss_map_pts: 0.5458, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1102, d5.loss_map_pts: 0.5359, d5.loss_map_dir: 0.0067, loss: 23.4957, grad_norm: 163.5464 +2026-03-01 00:28:08,706 - DriveTransformer - INFO - Epoch [11][28200/39528] lr: 6.331e-05, eta: 4 days, 10:40:18, time: 0.741, data_time: 0.037, memory: 19865, loss_cls: 0.0872, loss_bbox: 0.2937, loss_traj: 0.4587, loss_traj_cls: 0.0020, loss_map_cls: 0.1209, loss_map_pts: 0.5722, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.6184, d0.loss_plan_l1_fix_dist: 0.4100, d1.loss_plan_l1_fix_time: 0.8078, d1.loss_plan_l1_fix_dist: 0.1972, d2.loss_plan_l1_fix_time: 0.7866, d2.loss_plan_l1_fix_dist: 0.2475, d3.loss_plan_l1_fix_time: 0.7941, d3.loss_plan_l1_fix_dist: 0.1915, d4.loss_plan_l1_fix_time: 0.7989, d4.loss_plan_l1_fix_dist: 0.2885, d5.loss_plan_l1_fix_time: 0.8030, d5.loss_plan_l1_fix_dist: 0.2409, d6.loss_plan_l1_fix_time: 0.8069, d6.loss_plan_l1_fix_dist: 0.2181, d0.loss_cls_all: 0.1388, d0.loss_bbox_all: 0.3552, d0.loss_cls: 0.1388, d0.loss_bbox: 0.3552, d1.loss_cls: 0.1308, d1.loss_bbox: 0.3218, d2.loss_cls: 0.1196, d2.loss_bbox: 0.2966, d3.loss_cls: 0.0962, d3.loss_bbox: 0.2934, d4.loss_cls: 0.0908, d4.loss_bbox: 0.2926, d5.loss_cls: 0.0883, d5.loss_bbox: 0.2926, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6858, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5175, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4736, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4663, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4612, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4576, d0.loss_map_cls_all: 0.2029, d0.loss_map_pts_all: 1.2347, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2029, d0.loss_map_pts: 1.2347, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1670, d1.loss_map_pts: 0.8813, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1455, d2.loss_map_pts: 0.6928, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1344, d3.loss_map_pts: 0.6180, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1267, d4.loss_map_pts: 0.5867, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1224, d5.loss_map_pts: 0.5741, d5.loss_map_dir: 0.0071, loss: 23.8007, grad_norm: 159.8175 +2026-03-01 00:28:45,077 - DriveTransformer - INFO - Epoch [11][28250/39528] lr: 6.331e-05, eta: 4 days, 10:39:41, time: 0.727, data_time: 0.040, memory: 19865, loss_cls: 0.0873, loss_bbox: 0.2858, loss_traj: 0.4194, loss_traj_cls: 0.0020, loss_map_cls: 0.0922, loss_map_pts: 0.4810, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.9017, d0.loss_plan_l1_fix_dist: 0.3932, d1.loss_plan_l1_fix_time: 0.7573, d1.loss_plan_l1_fix_dist: 0.1877, d2.loss_plan_l1_fix_time: 0.7414, d2.loss_plan_l1_fix_dist: 0.2519, d3.loss_plan_l1_fix_time: 0.7407, d3.loss_plan_l1_fix_dist: 0.1826, d4.loss_plan_l1_fix_time: 0.7429, d4.loss_plan_l1_fix_dist: 0.2567, d5.loss_plan_l1_fix_time: 0.7453, d5.loss_plan_l1_fix_dist: 0.2015, d6.loss_plan_l1_fix_time: 0.7483, d6.loss_plan_l1_fix_dist: 0.1875, d0.loss_cls_all: 0.1412, d0.loss_bbox_all: 0.3453, d0.loss_cls: 0.1412, d0.loss_bbox: 0.3453, d1.loss_cls: 0.1328, d1.loss_bbox: 0.3129, d2.loss_cls: 0.1171, d2.loss_bbox: 0.2924, d3.loss_cls: 0.0918, d3.loss_bbox: 0.2892, d4.loss_cls: 0.0872, d4.loss_bbox: 0.2873, d5.loss_cls: 0.0865, d5.loss_bbox: 0.2868, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6473, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4876, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4452, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4305, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4254, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4218, d0.loss_map_cls_all: 0.1651, d0.loss_map_pts_all: 1.0014, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1651, d0.loss_map_pts: 1.0014, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1386, d1.loss_map_pts: 0.7085, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1134, d2.loss_map_pts: 0.5674, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1051, d3.loss_map_pts: 0.5128, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0984, d4.loss_map_pts: 0.4886, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0948, d5.loss_map_pts: 0.4821, d5.loss_map_dir: 0.0062, loss: 21.9184, grad_norm: 149.4680 +2026-03-01 00:29:20,916 - DriveTransformer - INFO - Epoch [11][28300/39528] lr: 6.331e-05, eta: 4 days, 10:39:02, time: 0.717, data_time: 0.037, memory: 19865, loss_cls: 0.0752, loss_bbox: 0.2885, loss_traj: 0.5004, loss_traj_cls: 0.0020, loss_map_cls: 0.0927, loss_map_pts: 0.4476, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.5538, d0.loss_plan_l1_fix_dist: 0.4306, d1.loss_plan_l1_fix_time: 0.7620, d1.loss_plan_l1_fix_dist: 0.1918, d2.loss_plan_l1_fix_time: 0.7548, d2.loss_plan_l1_fix_dist: 0.2543, d3.loss_plan_l1_fix_time: 0.7546, d3.loss_plan_l1_fix_dist: 0.1826, d4.loss_plan_l1_fix_time: 0.7558, d4.loss_plan_l1_fix_dist: 0.2313, d5.loss_plan_l1_fix_time: 0.7576, d5.loss_plan_l1_fix_dist: 0.1747, d6.loss_plan_l1_fix_time: 0.7600, d6.loss_plan_l1_fix_dist: 0.1847, d0.loss_cls_all: 0.1248, d0.loss_bbox_all: 0.3507, d0.loss_cls: 0.1248, d0.loss_bbox: 0.3507, d1.loss_cls: 0.1169, d1.loss_bbox: 0.3184, d2.loss_cls: 0.1029, d2.loss_bbox: 0.2957, d3.loss_cls: 0.0831, d3.loss_bbox: 0.2919, d4.loss_cls: 0.0776, d4.loss_bbox: 0.2884, d5.loss_cls: 0.0756, d5.loss_bbox: 0.2874, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7290, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5748, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5274, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5050, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5037, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4993, d0.loss_map_cls_all: 0.1701, d0.loss_map_pts_all: 0.9377, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1701, d0.loss_map_pts: 0.9377, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1369, d1.loss_map_pts: 0.6667, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1167, d2.loss_map_pts: 0.5214, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1066, d3.loss_map_pts: 0.4676, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1001, d4.loss_map_pts: 0.4503, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0946, d5.loss_map_pts: 0.4479, d5.loss_map_dir: 0.0053, loss: 21.7559, grad_norm: 147.8226 +2026-03-01 00:29:57,103 - DriveTransformer - INFO - Epoch [11][28350/39528] lr: 6.331e-05, eta: 4 days, 10:38:25, time: 0.724, data_time: 0.037, memory: 19865, loss_cls: 0.0983, loss_bbox: 0.2878, loss_traj: 0.5843, loss_traj_cls: 0.0019, loss_map_cls: 0.1041, loss_map_pts: 0.4854, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 3.0631, d0.loss_plan_l1_fix_dist: 0.3609, d1.loss_plan_l1_fix_time: 0.8027, d1.loss_plan_l1_fix_dist: 0.2055, d2.loss_plan_l1_fix_time: 0.7898, d2.loss_plan_l1_fix_dist: 0.2445, d3.loss_plan_l1_fix_time: 0.7923, d3.loss_plan_l1_fix_dist: 0.2082, d4.loss_plan_l1_fix_time: 0.7950, d4.loss_plan_l1_fix_dist: 0.2209, d5.loss_plan_l1_fix_time: 0.7976, d5.loss_plan_l1_fix_dist: 0.1762, d6.loss_plan_l1_fix_time: 0.8003, d6.loss_plan_l1_fix_dist: 0.2192, d0.loss_cls_all: 0.1414, d0.loss_bbox_all: 0.3541, d0.loss_cls: 0.1414, d0.loss_bbox: 0.3541, d1.loss_cls: 0.1375, d1.loss_bbox: 0.3149, d2.loss_cls: 0.1231, d2.loss_bbox: 0.2961, d3.loss_cls: 0.1069, d3.loss_bbox: 0.2898, d4.loss_cls: 0.0997, d4.loss_bbox: 0.2879, d5.loss_cls: 0.0984, d5.loss_bbox: 0.2869, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8601, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.6714, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.6052, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5930, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5891, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5851, d0.loss_map_cls_all: 0.1841, d0.loss_map_pts_all: 0.9903, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1841, d0.loss_map_pts: 0.9903, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1537, d1.loss_map_pts: 0.7131, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1320, d2.loss_map_pts: 0.5709, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1189, d3.loss_map_pts: 0.5149, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1115, d4.loss_map_pts: 0.4921, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1065, d5.loss_map_pts: 0.4867, d5.loss_map_dir: 0.0056, loss: 23.7733, grad_norm: 146.4380 +2026-03-01 00:30:33,496 - DriveTransformer - INFO - Epoch [11][28400/39528] lr: 6.331e-05, eta: 4 days, 10:37:48, time: 0.729, data_time: 0.036, memory: 19865, loss_cls: 0.0753, loss_bbox: 0.2845, loss_traj: 0.4329, loss_traj_cls: 0.0019, loss_map_cls: 0.0909, loss_map_pts: 0.4582, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.4213, d0.loss_plan_l1_fix_dist: 0.5312, d1.loss_plan_l1_fix_time: 0.6879, d1.loss_plan_l1_fix_dist: 0.2439, d2.loss_plan_l1_fix_time: 0.6727, d2.loss_plan_l1_fix_dist: 0.2504, d3.loss_plan_l1_fix_time: 0.6605, d3.loss_plan_l1_fix_dist: 0.2657, d4.loss_plan_l1_fix_time: 0.6625, d4.loss_plan_l1_fix_dist: 0.2014, d5.loss_plan_l1_fix_time: 0.6645, d5.loss_plan_l1_fix_dist: 0.2022, d6.loss_plan_l1_fix_time: 0.6666, d6.loss_plan_l1_fix_dist: 0.2032, d0.loss_cls_all: 0.1130, d0.loss_bbox_all: 0.3367, d0.loss_cls: 0.1130, d0.loss_bbox: 0.3367, d1.loss_cls: 0.1077, d1.loss_bbox: 0.3035, d2.loss_cls: 0.0971, d2.loss_bbox: 0.2865, d3.loss_cls: 0.0803, d3.loss_bbox: 0.2851, d4.loss_cls: 0.0765, d4.loss_bbox: 0.2827, d5.loss_cls: 0.0750, d5.loss_bbox: 0.2831, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6309, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4857, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4560, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4483, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4413, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4358, d0.loss_map_cls_all: 0.1730, d0.loss_map_pts_all: 1.0323, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1730, d0.loss_map_pts: 1.0323, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1437, d1.loss_map_pts: 0.7338, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1168, d2.loss_map_pts: 0.5584, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1050, d3.loss_map_pts: 0.4937, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0986, d4.loss_map_pts: 0.4670, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0925, d5.loss_map_pts: 0.4593, d5.loss_map_dir: 0.0056, loss: 21.0820, grad_norm: 147.5980 +2026-03-01 00:31:09,993 - DriveTransformer - INFO - Epoch [11][28450/39528] lr: 6.331e-05, eta: 4 days, 10:37:11, time: 0.729, data_time: 0.037, memory: 19865, loss_cls: 0.0889, loss_bbox: 0.2814, loss_traj: 0.5107, loss_traj_cls: 0.0019, loss_map_cls: 0.0848, loss_map_pts: 0.4716, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.8134, d0.loss_plan_l1_fix_dist: 0.3992, d1.loss_plan_l1_fix_time: 0.7679, d1.loss_plan_l1_fix_dist: 0.2516, d2.loss_plan_l1_fix_time: 0.7466, d2.loss_plan_l1_fix_dist: 0.2081, d3.loss_plan_l1_fix_time: 0.7387, d3.loss_plan_l1_fix_dist: 0.2930, d4.loss_plan_l1_fix_time: 0.7390, d4.loss_plan_l1_fix_dist: 0.1817, d5.loss_plan_l1_fix_time: 0.7403, d5.loss_plan_l1_fix_dist: 0.1997, d6.loss_plan_l1_fix_time: 0.7421, d6.loss_plan_l1_fix_dist: 0.1703, d0.loss_cls_all: 0.1247, d0.loss_bbox_all: 0.3519, d0.loss_cls: 0.1247, d0.loss_bbox: 0.3519, d1.loss_cls: 0.1171, d1.loss_bbox: 0.3191, d2.loss_cls: 0.1083, d2.loss_bbox: 0.2955, d3.loss_cls: 0.0933, d3.loss_bbox: 0.2869, d4.loss_cls: 0.0888, d4.loss_bbox: 0.2833, d5.loss_cls: 0.0890, d5.loss_bbox: 0.2820, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8335, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.6047, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5506, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5320, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5163, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5112, d0.loss_map_cls_all: 0.1730, d0.loss_map_pts_all: 1.0553, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1730, d0.loss_map_pts: 1.0553, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1385, d1.loss_map_pts: 0.7317, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1125, d2.loss_map_pts: 0.5663, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1011, d3.loss_map_pts: 0.4974, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0927, d4.loss_map_pts: 0.4767, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0867, d5.loss_map_pts: 0.4697, d5.loss_map_dir: 0.0059, loss: 22.6755, grad_norm: 152.9552 +2026-03-01 00:31:46,245 - DriveTransformer - INFO - Epoch [11][28500/39528] lr: 6.331e-05, eta: 4 days, 10:36:34, time: 0.725, data_time: 0.034, memory: 19865, loss_cls: 0.0775, loss_bbox: 0.2599, loss_traj: 0.4784, loss_traj_cls: 0.0019, loss_map_cls: 0.1044, loss_map_pts: 0.4902, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.3588, d0.loss_plan_l1_fix_dist: 0.4730, d1.loss_plan_l1_fix_time: 0.7872, d1.loss_plan_l1_fix_dist: 0.2863, d2.loss_plan_l1_fix_time: 0.7654, d2.loss_plan_l1_fix_dist: 0.2130, d3.loss_plan_l1_fix_time: 0.7541, d3.loss_plan_l1_fix_dist: 0.3260, d4.loss_plan_l1_fix_time: 0.7560, d4.loss_plan_l1_fix_dist: 0.2112, d5.loss_plan_l1_fix_time: 0.7584, d5.loss_plan_l1_fix_dist: 0.2213, d6.loss_plan_l1_fix_time: 0.7611, d6.loss_plan_l1_fix_dist: 0.2038, d0.loss_cls_all: 0.1168, d0.loss_bbox_all: 0.3191, d0.loss_cls: 0.1168, d0.loss_bbox: 0.3191, d1.loss_cls: 0.1155, d1.loss_bbox: 0.2896, d2.loss_cls: 0.1022, d2.loss_bbox: 0.2729, d3.loss_cls: 0.0860, d3.loss_bbox: 0.2641, d4.loss_cls: 0.0782, d4.loss_bbox: 0.2626, d5.loss_cls: 0.0766, d5.loss_bbox: 0.2611, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7762, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5889, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5135, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4894, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4826, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4795, d0.loss_map_cls_all: 0.1827, d0.loss_map_pts_all: 1.0523, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1827, d0.loss_map_pts: 1.0523, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1591, d1.loss_map_pts: 0.7382, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1300, d2.loss_map_pts: 0.5778, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1177, d3.loss_map_pts: 0.5163, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1094, d4.loss_map_pts: 0.4952, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1072, d5.loss_map_pts: 0.4901, d5.loss_map_dir: 0.0056, loss: 22.2583, grad_norm: 153.9489 +2026-03-01 00:32:21,096 - DriveTransformer - INFO - Epoch [11][28550/39528] lr: 6.331e-05, eta: 4 days, 10:35:52, time: 0.697, data_time: 0.044, memory: 19865, loss_cls: 0.0852, loss_bbox: 0.2562, loss_traj: 0.4228, loss_traj_cls: 0.0020, loss_map_cls: 0.1085, loss_map_pts: 0.4422, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.7854, d0.loss_plan_l1_fix_dist: 0.4861, d1.loss_plan_l1_fix_time: 0.7383, d1.loss_plan_l1_fix_dist: 0.2815, d2.loss_plan_l1_fix_time: 0.7250, d2.loss_plan_l1_fix_dist: 0.2208, d3.loss_plan_l1_fix_time: 0.7193, d3.loss_plan_l1_fix_dist: 0.3288, d4.loss_plan_l1_fix_time: 0.7183, d4.loss_plan_l1_fix_dist: 0.2387, d5.loss_plan_l1_fix_time: 0.7197, d5.loss_plan_l1_fix_dist: 0.2336, d6.loss_plan_l1_fix_time: 0.7226, d6.loss_plan_l1_fix_dist: 0.2265, d0.loss_cls_all: 0.1294, d0.loss_bbox_all: 0.3162, d0.loss_cls: 0.1294, d0.loss_bbox: 0.3162, d1.loss_cls: 0.1206, d1.loss_bbox: 0.2860, d2.loss_cls: 0.1079, d2.loss_bbox: 0.2663, d3.loss_cls: 0.0920, d3.loss_bbox: 0.2615, d4.loss_cls: 0.0869, d4.loss_bbox: 0.2584, d5.loss_cls: 0.0853, d5.loss_bbox: 0.2560, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6245, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4934, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4457, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4353, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4267, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4227, d0.loss_map_cls_all: 0.1807, d0.loss_map_pts_all: 0.9609, d0.loss_map_dir_all: 0.0048, d0.loss_map_cls: 0.1807, d0.loss_map_pts: 0.9609, d0.loss_map_dir: 0.0048, d1.loss_map_cls: 0.1546, d1.loss_map_pts: 0.6674, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.1315, d2.loss_map_pts: 0.5198, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.1226, d3.loss_map_pts: 0.4648, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.1151, d4.loss_map_pts: 0.4453, d4.loss_map_dir: 0.0044, d5.loss_map_cls: 0.1114, d5.loss_map_pts: 0.4411, d5.loss_map_dir: 0.0045, loss: 21.5200, grad_norm: 154.5937 +2026-03-01 00:32:58,322 - DriveTransformer - INFO - Epoch [11][28600/39528] lr: 6.331e-05, eta: 4 days, 10:35:18, time: 0.745, data_time: 0.039, memory: 19865, loss_cls: 0.0925, loss_bbox: 0.2896, loss_traj: 0.4181, loss_traj_cls: 0.0020, loss_map_cls: 0.0971, loss_map_pts: 0.5452, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.7400, d0.loss_plan_l1_fix_dist: 0.4910, d1.loss_plan_l1_fix_time: 0.8006, d1.loss_plan_l1_fix_dist: 0.2980, d2.loss_plan_l1_fix_time: 0.7796, d2.loss_plan_l1_fix_dist: 0.2197, d3.loss_plan_l1_fix_time: 0.7707, d3.loss_plan_l1_fix_dist: 0.3305, d4.loss_plan_l1_fix_time: 0.7728, d4.loss_plan_l1_fix_dist: 0.2457, d5.loss_plan_l1_fix_time: 0.7757, d5.loss_plan_l1_fix_dist: 0.2325, d6.loss_plan_l1_fix_time: 0.7793, d6.loss_plan_l1_fix_dist: 0.2397, d0.loss_cls_all: 0.1356, d0.loss_bbox_all: 0.3537, d0.loss_cls: 0.1356, d0.loss_bbox: 0.3537, d1.loss_cls: 0.1333, d1.loss_bbox: 0.3159, d2.loss_cls: 0.1185, d2.loss_bbox: 0.2987, d3.loss_cls: 0.1010, d3.loss_bbox: 0.2936, d4.loss_cls: 0.0947, d4.loss_bbox: 0.2912, d5.loss_cls: 0.0929, d5.loss_bbox: 0.2890, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6160, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4803, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4417, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4290, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4167, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4152, d0.loss_map_cls_all: 0.1790, d0.loss_map_pts_all: 1.1163, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1790, d0.loss_map_pts: 1.1163, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1418, d1.loss_map_pts: 0.8025, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1200, d2.loss_map_pts: 0.6286, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1094, d3.loss_map_pts: 0.5698, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1038, d4.loss_map_pts: 0.5475, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.0990, d5.loss_map_pts: 0.5442, d5.loss_map_dir: 0.0070, loss: 23.0455, grad_norm: 146.9673 +2026-03-01 00:33:35,828 - DriveTransformer - INFO - Epoch [11][28650/39528] lr: 6.331e-05, eta: 4 days, 10:34:44, time: 0.750, data_time: 0.037, memory: 19865, loss_cls: 0.1108, loss_bbox: 0.3147, loss_traj: 0.4668, loss_traj_cls: 0.0020, loss_map_cls: 0.1102, loss_map_pts: 0.6149, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.7037, d0.loss_plan_l1_fix_dist: 0.4457, d1.loss_plan_l1_fix_time: 0.7968, d1.loss_plan_l1_fix_dist: 0.3006, d2.loss_plan_l1_fix_time: 0.7858, d2.loss_plan_l1_fix_dist: 0.2122, d3.loss_plan_l1_fix_time: 0.7911, d3.loss_plan_l1_fix_dist: 0.3112, d4.loss_plan_l1_fix_time: 0.7937, d4.loss_plan_l1_fix_dist: 0.2360, d5.loss_plan_l1_fix_time: 0.7962, d5.loss_plan_l1_fix_dist: 0.2135, d6.loss_plan_l1_fix_time: 0.7988, d6.loss_plan_l1_fix_dist: 0.2355, d0.loss_cls_all: 0.1656, d0.loss_bbox_all: 0.3877, d0.loss_cls: 0.1656, d0.loss_bbox: 0.3877, d1.loss_cls: 0.1561, d1.loss_bbox: 0.3506, d2.loss_cls: 0.1401, d2.loss_bbox: 0.3263, d3.loss_cls: 0.1204, d3.loss_bbox: 0.3205, d4.loss_cls: 0.1125, d4.loss_bbox: 0.3168, d5.loss_cls: 0.1116, d5.loss_bbox: 0.3142, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7123, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5586, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5004, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4884, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4755, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4707, d0.loss_map_cls_all: 0.1953, d0.loss_map_pts_all: 1.2392, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1953, d0.loss_map_pts: 1.2392, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1608, d1.loss_map_pts: 0.8926, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1344, d2.loss_map_pts: 0.7060, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1237, d3.loss_map_pts: 0.6421, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1171, d4.loss_map_pts: 0.6195, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1125, d5.loss_map_pts: 0.6140, d5.loss_map_dir: 0.0075, loss: 24.6785, grad_norm: 148.5780 +2026-03-01 00:34:12,393 - DriveTransformer - INFO - Epoch [11][28700/39528] lr: 6.331e-05, eta: 4 days, 10:34:07, time: 0.731, data_time: 0.039, memory: 19865, loss_cls: 0.0933, loss_bbox: 0.2851, loss_traj: 0.4739, loss_traj_cls: 0.0020, loss_map_cls: 0.1108, loss_map_pts: 0.5192, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.6947, d0.loss_plan_l1_fix_dist: 0.3620, d1.loss_plan_l1_fix_time: 0.8435, d1.loss_plan_l1_fix_dist: 0.2673, d2.loss_plan_l1_fix_time: 0.8236, d2.loss_plan_l1_fix_dist: 0.1881, d3.loss_plan_l1_fix_time: 0.8236, d3.loss_plan_l1_fix_dist: 0.2489, d4.loss_plan_l1_fix_time: 0.8253, d4.loss_plan_l1_fix_dist: 0.1857, d5.loss_plan_l1_fix_time: 0.8268, d5.loss_plan_l1_fix_dist: 0.1769, d6.loss_plan_l1_fix_time: 0.8286, d6.loss_plan_l1_fix_dist: 0.2046, d0.loss_cls_all: 0.1395, d0.loss_bbox_all: 0.3540, d0.loss_cls: 0.1395, d0.loss_bbox: 0.3540, d1.loss_cls: 0.1360, d1.loss_bbox: 0.3179, d2.loss_cls: 0.1202, d2.loss_bbox: 0.2972, d3.loss_cls: 0.1017, d3.loss_bbox: 0.2905, d4.loss_cls: 0.0977, d4.loss_bbox: 0.2858, d5.loss_cls: 0.0940, d5.loss_bbox: 0.2848, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7122, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5377, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5005, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4879, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4766, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4771, d0.loss_map_cls_all: 0.2008, d0.loss_map_pts_all: 1.0894, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2008, d0.loss_map_pts: 1.0894, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1671, d1.loss_map_pts: 0.7817, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1387, d2.loss_map_pts: 0.6158, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1281, d3.loss_map_pts: 0.5551, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1190, d4.loss_map_pts: 0.5271, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1130, d5.loss_map_pts: 0.5207, d5.loss_map_dir: 0.0061, loss: 23.2884, grad_norm: 145.1919 +2026-03-01 00:34:49,105 - DriveTransformer - INFO - Epoch [11][28750/39528] lr: 6.331e-05, eta: 4 days, 10:33:31, time: 0.734, data_time: 0.038, memory: 19865, loss_cls: 0.0798, loss_bbox: 0.2710, loss_traj: 0.3746, loss_traj_cls: 0.0020, loss_map_cls: 0.0763, loss_map_pts: 0.4299, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.1910, d0.loss_plan_l1_fix_dist: 0.4941, d1.loss_plan_l1_fix_time: 0.6248, d1.loss_plan_l1_fix_dist: 0.2492, d2.loss_plan_l1_fix_time: 0.6215, d2.loss_plan_l1_fix_dist: 0.2058, d3.loss_plan_l1_fix_time: 0.6220, d3.loss_plan_l1_fix_dist: 0.2271, d4.loss_plan_l1_fix_time: 0.6244, d4.loss_plan_l1_fix_dist: 0.1796, d5.loss_plan_l1_fix_time: 0.6267, d5.loss_plan_l1_fix_dist: 0.1641, d6.loss_plan_l1_fix_time: 0.6294, d6.loss_plan_l1_fix_dist: 0.1741, d0.loss_cls_all: 0.1172, d0.loss_bbox_all: 0.3213, d0.loss_cls: 0.1172, d0.loss_bbox: 0.3213, d1.loss_cls: 0.1152, d1.loss_bbox: 0.2955, d2.loss_cls: 0.1033, d2.loss_bbox: 0.2778, d3.loss_cls: 0.0854, d3.loss_bbox: 0.2760, d4.loss_cls: 0.0802, d4.loss_bbox: 0.2734, d5.loss_cls: 0.0803, d5.loss_bbox: 0.2706, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5275, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4238, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3858, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3806, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3814, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.3774, d0.loss_map_cls_all: 0.1488, d0.loss_map_pts_all: 0.9506, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1488, d0.loss_map_pts: 0.9506, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1189, d1.loss_map_pts: 0.6560, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.0980, d2.loss_map_pts: 0.5092, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.0873, d3.loss_map_pts: 0.4559, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0818, d4.loss_map_pts: 0.4352, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0776, d5.loss_map_pts: 0.4311, d5.loss_map_dir: 0.0058, loss: 19.2803, grad_norm: 143.6798 +2026-03-01 00:35:25,095 - DriveTransformer - INFO - Epoch [11][28800/39528] lr: 6.331e-05, eta: 4 days, 10:32:53, time: 0.720, data_time: 0.037, memory: 19865, loss_cls: 0.0967, loss_bbox: 0.2776, loss_traj: 0.5303, loss_traj_cls: 0.0020, loss_map_cls: 0.0801, loss_map_pts: 0.4824, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.6530, d0.loss_plan_l1_fix_dist: 0.4464, d1.loss_plan_l1_fix_time: 0.7152, d1.loss_plan_l1_fix_dist: 0.2465, d2.loss_plan_l1_fix_time: 0.7113, d2.loss_plan_l1_fix_dist: 0.2073, d3.loss_plan_l1_fix_time: 0.6960, d3.loss_plan_l1_fix_dist: 0.1981, d4.loss_plan_l1_fix_time: 0.6972, d4.loss_plan_l1_fix_dist: 0.1961, d5.loss_plan_l1_fix_time: 0.6997, d5.loss_plan_l1_fix_dist: 0.1804, d6.loss_plan_l1_fix_time: 0.7029, d6.loss_plan_l1_fix_dist: 0.1681, d0.loss_cls_all: 0.1354, d0.loss_bbox_all: 0.3349, d0.loss_cls: 0.1354, d0.loss_bbox: 0.3349, d1.loss_cls: 0.1316, d1.loss_bbox: 0.3062, d2.loss_cls: 0.1204, d2.loss_bbox: 0.2867, d3.loss_cls: 0.1018, d3.loss_bbox: 0.2819, d4.loss_cls: 0.0966, d4.loss_bbox: 0.2794, d5.loss_cls: 0.0968, d5.loss_bbox: 0.2771, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7838, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.6348, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5850, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5500, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5355, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5321, d0.loss_map_cls_all: 0.1486, d0.loss_map_pts_all: 0.9592, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1486, d0.loss_map_pts: 0.9592, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1185, d1.loss_map_pts: 0.6915, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1001, d2.loss_map_pts: 0.5613, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0894, d3.loss_map_pts: 0.5125, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0850, d4.loss_map_pts: 0.4900, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0827, d5.loss_map_pts: 0.4840, d5.loss_map_dir: 0.0056, loss: 22.0085, grad_norm: 141.6642 +2026-03-01 00:36:00,487 - DriveTransformer - INFO - Epoch [11][28850/39528] lr: 6.331e-05, eta: 4 days, 10:32:13, time: 0.708, data_time: 0.036, memory: 19865, loss_cls: 0.0836, loss_bbox: 0.2859, loss_traj: 0.4736, loss_traj_cls: 0.0020, loss_map_cls: 0.0760, loss_map_pts: 0.4834, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.8220, d0.loss_plan_l1_fix_dist: 0.4735, d1.loss_plan_l1_fix_time: 0.6971, d1.loss_plan_l1_fix_dist: 0.2495, d2.loss_plan_l1_fix_time: 0.6775, d2.loss_plan_l1_fix_dist: 0.2126, d3.loss_plan_l1_fix_time: 0.6803, d3.loss_plan_l1_fix_dist: 0.1762, d4.loss_plan_l1_fix_time: 0.6815, d4.loss_plan_l1_fix_dist: 0.1906, d5.loss_plan_l1_fix_time: 0.6834, d5.loss_plan_l1_fix_dist: 0.1955, d6.loss_plan_l1_fix_time: 0.6855, d6.loss_plan_l1_fix_dist: 0.1687, d0.loss_cls_all: 0.1302, d0.loss_bbox_all: 0.3493, d0.loss_cls: 0.1302, d0.loss_bbox: 0.3493, d1.loss_cls: 0.1230, d1.loss_bbox: 0.3182, d2.loss_cls: 0.1083, d2.loss_bbox: 0.2972, d3.loss_cls: 0.0922, d3.loss_bbox: 0.2890, d4.loss_cls: 0.0865, d4.loss_bbox: 0.2867, d5.loss_cls: 0.0844, d5.loss_bbox: 0.2854, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7521, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5738, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5081, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4854, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4769, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4765, d0.loss_map_cls_all: 0.1574, d0.loss_map_pts_all: 1.0071, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1574, d0.loss_map_pts: 1.0071, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1258, d1.loss_map_pts: 0.7275, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1021, d2.loss_map_pts: 0.5797, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.0884, d3.loss_map_pts: 0.5190, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0817, d4.loss_map_pts: 0.4933, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0783, d5.loss_map_pts: 0.4840, d5.loss_map_dir: 0.0062, loss: 21.8641, grad_norm: 139.0542 +2026-03-01 00:36:37,527 - DriveTransformer - INFO - Epoch [11][28900/39528] lr: 6.331e-05, eta: 4 days, 10:31:38, time: 0.741, data_time: 0.038, memory: 19865, loss_cls: 0.0851, loss_bbox: 0.2719, loss_traj: 0.3896, loss_traj_cls: 0.0021, loss_map_cls: 0.0939, loss_map_pts: 0.5257, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.6027, d0.loss_plan_l1_fix_dist: 0.3760, d1.loss_plan_l1_fix_time: 0.7469, d1.loss_plan_l1_fix_dist: 0.2604, d2.loss_plan_l1_fix_time: 0.7247, d2.loss_plan_l1_fix_dist: 0.2163, d3.loss_plan_l1_fix_time: 0.7223, d3.loss_plan_l1_fix_dist: 0.1771, d4.loss_plan_l1_fix_time: 0.7255, d4.loss_plan_l1_fix_dist: 0.2019, d5.loss_plan_l1_fix_time: 0.7285, d5.loss_plan_l1_fix_dist: 0.2357, d6.loss_plan_l1_fix_time: 0.7318, d6.loss_plan_l1_fix_dist: 0.2062, d0.loss_cls_all: 0.1346, d0.loss_bbox_all: 0.3407, d0.loss_cls: 0.1346, d0.loss_bbox: 0.3407, d1.loss_cls: 0.1253, d1.loss_bbox: 0.3056, d2.loss_cls: 0.1114, d2.loss_bbox: 0.2831, d3.loss_cls: 0.0921, d3.loss_bbox: 0.2757, d4.loss_cls: 0.0861, d4.loss_bbox: 0.2735, d5.loss_cls: 0.0849, d5.loss_bbox: 0.2732, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6298, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4597, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4197, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3978, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3923, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3885, d0.loss_map_cls_all: 0.1706, d0.loss_map_pts_all: 1.0565, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1706, d0.loss_map_pts: 1.0565, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1408, d1.loss_map_pts: 0.7556, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1199, d2.loss_map_pts: 0.6012, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1087, d3.loss_map_pts: 0.5499, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1006, d4.loss_map_pts: 0.5319, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.0958, d5.loss_map_pts: 0.5259, d5.loss_map_dir: 0.0071, loss: 21.6195, grad_norm: 139.5877 +2026-03-01 00:37:13,438 - DriveTransformer - INFO - Epoch [11][28950/39528] lr: 6.331e-05, eta: 4 days, 10:30:59, time: 0.718, data_time: 0.037, memory: 19865, loss_cls: 0.0961, loss_bbox: 0.2914, loss_traj: 0.6167, loss_traj_cls: 0.0020, loss_map_cls: 0.1086, loss_map_pts: 0.5192, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.6558, d0.loss_plan_l1_fix_dist: 0.4605, d1.loss_plan_l1_fix_time: 0.8205, d1.loss_plan_l1_fix_dist: 0.2361, d2.loss_plan_l1_fix_time: 0.7828, d2.loss_plan_l1_fix_dist: 0.1989, d3.loss_plan_l1_fix_time: 0.7640, d3.loss_plan_l1_fix_dist: 0.1815, d4.loss_plan_l1_fix_time: 0.7654, d4.loss_plan_l1_fix_dist: 0.1761, d5.loss_plan_l1_fix_time: 0.7681, d5.loss_plan_l1_fix_dist: 0.2129, d6.loss_plan_l1_fix_time: 0.7715, d6.loss_plan_l1_fix_dist: 0.2034, d0.loss_cls_all: 0.1421, d0.loss_bbox_all: 0.3534, d0.loss_cls: 0.1421, d0.loss_bbox: 0.3534, d1.loss_cls: 0.1382, d1.loss_bbox: 0.3206, d2.loss_cls: 0.1238, d2.loss_bbox: 0.2991, d3.loss_cls: 0.1028, d3.loss_bbox: 0.2966, d4.loss_cls: 0.0981, d4.loss_bbox: 0.2927, d5.loss_cls: 0.0964, d5.loss_bbox: 0.2914, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8803, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.6882, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.6306, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.6175, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.6127, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6125, d0.loss_map_cls_all: 0.1917, d0.loss_map_pts_all: 1.0639, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1917, d0.loss_map_pts: 1.0639, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1564, d1.loss_map_pts: 0.7762, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1343, d2.loss_map_pts: 0.6107, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1233, d3.loss_map_pts: 0.5469, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1153, d4.loss_map_pts: 0.5253, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1108, d5.loss_map_pts: 0.5197, d5.loss_map_dir: 0.0064, loss: 23.9085, grad_norm: 144.0970 +2026-03-01 00:37:51,177 - DriveTransformer - INFO - Epoch [11][29000/39528] lr: 6.331e-05, eta: 4 days, 10:30:26, time: 0.755, data_time: 0.037, memory: 19865, loss_cls: 0.0985, loss_bbox: 0.2899, loss_traj: 0.4089, loss_traj_cls: 0.0020, loss_map_cls: 0.1018, loss_map_pts: 0.5758, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.5908, d0.loss_plan_l1_fix_dist: 0.4801, d1.loss_plan_l1_fix_time: 0.8629, d1.loss_plan_l1_fix_dist: 0.2423, d2.loss_plan_l1_fix_time: 0.8382, d2.loss_plan_l1_fix_dist: 0.2100, d3.loss_plan_l1_fix_time: 0.8254, d3.loss_plan_l1_fix_dist: 0.1905, d4.loss_plan_l1_fix_time: 0.8264, d4.loss_plan_l1_fix_dist: 0.2013, d5.loss_plan_l1_fix_time: 0.8284, d5.loss_plan_l1_fix_dist: 0.2393, d6.loss_plan_l1_fix_time: 0.8306, d6.loss_plan_l1_fix_dist: 0.2127, d0.loss_cls_all: 0.1493, d0.loss_bbox_all: 0.3675, d0.loss_cls: 0.1493, d0.loss_bbox: 0.3675, d1.loss_cls: 0.1419, d1.loss_bbox: 0.3324, d2.loss_cls: 0.1281, d2.loss_bbox: 0.3058, d3.loss_cls: 0.1063, d3.loss_bbox: 0.2952, d4.loss_cls: 0.1002, d4.loss_bbox: 0.2910, d5.loss_cls: 0.0986, d5.loss_bbox: 0.2906, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6554, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4957, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4333, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4173, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4109, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4090, d0.loss_map_cls_all: 0.1914, d0.loss_map_pts_all: 1.2087, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.1914, d0.loss_map_pts: 1.2087, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.1569, d1.loss_map_pts: 0.8591, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1300, d2.loss_map_pts: 0.6710, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1178, d3.loss_map_pts: 0.6057, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1095, d4.loss_map_pts: 0.5830, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1034, d5.loss_map_pts: 0.5771, d5.loss_map_dir: 0.0078, loss: 23.5839, grad_norm: 144.8751 +2026-03-01 00:38:29,331 - DriveTransformer - INFO - Epoch [11][29050/39528] lr: 6.331e-05, eta: 4 days, 10:29:54, time: 0.763, data_time: 0.037, memory: 19865, loss_cls: 0.0818, loss_bbox: 0.2914, loss_traj: 0.4952, loss_traj_cls: 0.0020, loss_map_cls: 0.1059, loss_map_pts: 0.5728, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.4005, d0.loss_plan_l1_fix_dist: 0.3574, d1.loss_plan_l1_fix_time: 0.7836, d1.loss_plan_l1_fix_dist: 0.2181, d2.loss_plan_l1_fix_time: 0.7712, d2.loss_plan_l1_fix_dist: 0.1994, d3.loss_plan_l1_fix_time: 0.7714, d3.loss_plan_l1_fix_dist: 0.1649, d4.loss_plan_l1_fix_time: 0.7736, d4.loss_plan_l1_fix_dist: 0.1995, d5.loss_plan_l1_fix_time: 0.7768, d5.loss_plan_l1_fix_dist: 0.2382, d6.loss_plan_l1_fix_time: 0.7796, d6.loss_plan_l1_fix_dist: 0.1975, d0.loss_cls_all: 0.1249, d0.loss_bbox_all: 0.3507, d0.loss_cls: 0.1249, d0.loss_bbox: 0.3507, d1.loss_cls: 0.1187, d1.loss_bbox: 0.3210, d2.loss_cls: 0.1070, d2.loss_bbox: 0.3009, d3.loss_cls: 0.0897, d3.loss_bbox: 0.2942, d4.loss_cls: 0.0840, d4.loss_bbox: 0.2921, d5.loss_cls: 0.0815, d5.loss_bbox: 0.2917, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8092, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5975, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5389, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5120, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5009, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4930, d0.loss_map_cls_all: 0.1949, d0.loss_map_pts_all: 1.1704, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1949, d0.loss_map_pts: 1.1704, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1628, d1.loss_map_pts: 0.8375, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1390, d2.loss_map_pts: 0.6701, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1253, d3.loss_map_pts: 0.6083, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1170, d4.loss_map_pts: 0.5806, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1088, d5.loss_map_pts: 0.5733, d5.loss_map_dir: 0.0076, loss: 23.2821, grad_norm: 147.1115 +2026-03-01 00:39:05,390 - DriveTransformer - INFO - Epoch [11][29100/39528] lr: 6.331e-05, eta: 4 days, 10:29:16, time: 0.721, data_time: 0.039, memory: 19865, loss_cls: 0.1044, loss_bbox: 0.2753, loss_traj: 0.4911, loss_traj_cls: 0.0021, loss_map_cls: 0.0963, loss_map_pts: 0.4946, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.5399, d0.loss_plan_l1_fix_dist: 0.4524, d1.loss_plan_l1_fix_time: 0.7702, d1.loss_plan_l1_fix_dist: 0.2175, d2.loss_plan_l1_fix_time: 0.7584, d2.loss_plan_l1_fix_dist: 0.2261, d3.loss_plan_l1_fix_time: 0.7428, d3.loss_plan_l1_fix_dist: 0.1902, d4.loss_plan_l1_fix_time: 0.7438, d4.loss_plan_l1_fix_dist: 0.1930, d5.loss_plan_l1_fix_time: 0.7454, d5.loss_plan_l1_fix_dist: 0.2151, d6.loss_plan_l1_fix_time: 0.7473, d6.loss_plan_l1_fix_dist: 0.2015, d0.loss_cls_all: 0.1348, d0.loss_bbox_all: 0.3418, d0.loss_cls: 0.1348, d0.loss_bbox: 0.3418, d1.loss_cls: 0.1320, d1.loss_bbox: 0.3106, d2.loss_cls: 0.1185, d2.loss_bbox: 0.2872, d3.loss_cls: 0.1078, d3.loss_bbox: 0.2802, d4.loss_cls: 0.1057, d4.loss_bbox: 0.2770, d5.loss_cls: 0.1041, d5.loss_bbox: 0.2767, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7792, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5887, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5248, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5047, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4973, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4911, d0.loss_map_cls_all: 0.1861, d0.loss_map_pts_all: 0.9934, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1861, d0.loss_map_pts: 0.9934, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1509, d1.loss_map_pts: 0.7328, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1245, d2.loss_map_pts: 0.5762, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1115, d3.loss_map_pts: 0.5200, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1035, d4.loss_map_pts: 0.5029, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0995, d5.loss_map_pts: 0.4943, d5.loss_map_dir: 0.0057, loss: 22.3716, grad_norm: 143.4561 +2026-03-01 00:39:40,340 - DriveTransformer - INFO - Epoch [11][29150/39528] lr: 6.331e-05, eta: 4 days, 10:28:35, time: 0.699, data_time: 0.037, memory: 19865, loss_cls: 0.0833, loss_bbox: 0.2735, loss_traj: 0.5108, loss_traj_cls: 0.0021, loss_map_cls: 0.0874, loss_map_pts: 0.4682, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.7924, d0.loss_plan_l1_fix_dist: 0.3603, d1.loss_plan_l1_fix_time: 0.8316, d1.loss_plan_l1_fix_dist: 0.2027, d2.loss_plan_l1_fix_time: 0.8253, d2.loss_plan_l1_fix_dist: 0.2378, d3.loss_plan_l1_fix_time: 0.8210, d3.loss_plan_l1_fix_dist: 0.2080, d4.loss_plan_l1_fix_time: 0.8243, d4.loss_plan_l1_fix_dist: 0.1933, d5.loss_plan_l1_fix_time: 0.8266, d5.loss_plan_l1_fix_dist: 0.1945, d6.loss_plan_l1_fix_time: 0.8294, d6.loss_plan_l1_fix_dist: 0.2236, d0.loss_cls_all: 0.1236, d0.loss_bbox_all: 0.3394, d0.loss_cls: 0.1236, d0.loss_bbox: 0.3394, d1.loss_cls: 0.1167, d1.loss_bbox: 0.3052, d2.loss_cls: 0.1034, d2.loss_bbox: 0.2837, d3.loss_cls: 0.0905, d3.loss_bbox: 0.2765, d4.loss_cls: 0.0852, d4.loss_bbox: 0.2760, d5.loss_cls: 0.0829, d5.loss_bbox: 0.2747, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8220, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.6197, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5550, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5324, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5244, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5169, d0.loss_map_cls_all: 0.1639, d0.loss_map_pts_all: 0.9493, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1639, d0.loss_map_pts: 0.9493, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1347, d1.loss_map_pts: 0.6978, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.1129, d2.loss_map_pts: 0.5464, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.1019, d3.loss_map_pts: 0.4929, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0942, d4.loss_map_pts: 0.4745, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0902, d5.loss_map_pts: 0.4662, d5.loss_map_dir: 0.0050, loss: 22.6695, grad_norm: 145.5311 +2026-03-01 00:40:17,200 - DriveTransformer - INFO - Epoch [11][29200/39528] lr: 6.331e-05, eta: 4 days, 10:28:00, time: 0.738, data_time: 0.037, memory: 19865, loss_cls: 0.0942, loss_bbox: 0.2871, loss_traj: 0.4298, loss_traj_cls: 0.0021, loss_map_cls: 0.1062, loss_map_pts: 0.5332, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.4102, d0.loss_plan_l1_fix_dist: 0.3492, d1.loss_plan_l1_fix_time: 0.6717, d1.loss_plan_l1_fix_dist: 0.1820, d2.loss_plan_l1_fix_time: 0.6516, d2.loss_plan_l1_fix_dist: 0.2313, d3.loss_plan_l1_fix_time: 0.6447, d3.loss_plan_l1_fix_dist: 0.1727, d4.loss_plan_l1_fix_time: 0.6468, d4.loss_plan_l1_fix_dist: 0.1743, d5.loss_plan_l1_fix_time: 0.6495, d5.loss_plan_l1_fix_dist: 0.1881, d6.loss_plan_l1_fix_time: 0.6532, d6.loss_plan_l1_fix_dist: 0.2080, d0.loss_cls_all: 0.1370, d0.loss_bbox_all: 0.3457, d0.loss_cls: 0.1370, d0.loss_bbox: 0.3457, d1.loss_cls: 0.1283, d1.loss_bbox: 0.3133, d2.loss_cls: 0.1166, d2.loss_bbox: 0.2939, d3.loss_cls: 0.0980, d3.loss_bbox: 0.2898, d4.loss_cls: 0.0934, d4.loss_bbox: 0.2876, d5.loss_cls: 0.0943, d5.loss_bbox: 0.2863, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6352, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5137, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4593, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4432, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4371, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4328, d0.loss_map_cls_all: 0.1922, d0.loss_map_pts_all: 1.1214, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1922, d0.loss_map_pts: 1.1214, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1568, d1.loss_map_pts: 0.8120, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1346, d2.loss_map_pts: 0.6264, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1227, d3.loss_map_pts: 0.5655, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1153, d4.loss_map_pts: 0.5393, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1095, d5.loss_map_pts: 0.5327, d5.loss_map_dir: 0.0064, loss: 21.5729, grad_norm: 145.2874 +2026-03-01 00:40:53,477 - DriveTransformer - INFO - Epoch [11][29250/39528] lr: 6.331e-05, eta: 4 days, 10:27:22, time: 0.724, data_time: 0.037, memory: 19865, loss_cls: 0.0723, loss_bbox: 0.2874, loss_traj: 0.4061, loss_traj_cls: 0.0021, loss_map_cls: 0.0977, loss_map_pts: 0.5330, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.2402, d0.loss_plan_l1_fix_dist: 0.4071, d1.loss_plan_l1_fix_time: 0.7922, d1.loss_plan_l1_fix_dist: 0.1804, d2.loss_plan_l1_fix_time: 0.7674, d2.loss_plan_l1_fix_dist: 0.2623, d3.loss_plan_l1_fix_time: 0.7643, d3.loss_plan_l1_fix_dist: 0.1854, d4.loss_plan_l1_fix_time: 0.7664, d4.loss_plan_l1_fix_dist: 0.2192, d5.loss_plan_l1_fix_time: 0.7699, d5.loss_plan_l1_fix_dist: 0.2479, d6.loss_plan_l1_fix_time: 0.7743, d6.loss_plan_l1_fix_dist: 0.2744, d0.loss_cls_all: 0.1261, d0.loss_bbox_all: 0.3431, d0.loss_cls: 0.1261, d0.loss_bbox: 0.3431, d1.loss_cls: 0.1188, d1.loss_bbox: 0.3087, d2.loss_cls: 0.1049, d2.loss_bbox: 0.2899, d3.loss_cls: 0.0810, d3.loss_bbox: 0.2866, d4.loss_cls: 0.0754, d4.loss_bbox: 0.2845, d5.loss_cls: 0.0727, d5.loss_bbox: 0.2852, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6508, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5116, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4405, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4133, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4129, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4091, d0.loss_map_cls_all: 0.1819, d0.loss_map_pts_all: 1.0667, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1819, d0.loss_map_pts: 1.0667, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1472, d1.loss_map_pts: 0.7768, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1236, d2.loss_map_pts: 0.6178, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1125, d3.loss_map_pts: 0.5624, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1048, d4.loss_map_pts: 0.5364, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0990, d5.loss_map_pts: 0.5319, d5.loss_map_dir: 0.0059, loss: 21.8977, grad_norm: 146.4241 +2026-03-01 00:41:29,388 - DriveTransformer - INFO - Epoch [11][29300/39528] lr: 6.331e-05, eta: 4 days, 10:26:44, time: 0.718, data_time: 0.038, memory: 19865, loss_cls: 0.0926, loss_bbox: 0.2900, loss_traj: 0.5086, loss_traj_cls: 0.0021, loss_map_cls: 0.0988, loss_map_pts: 0.5052, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.6917, d0.loss_plan_l1_fix_dist: 0.4367, d1.loss_plan_l1_fix_time: 0.7793, d1.loss_plan_l1_fix_dist: 0.1661, d2.loss_plan_l1_fix_time: 0.7662, d2.loss_plan_l1_fix_dist: 0.2445, d3.loss_plan_l1_fix_time: 0.7490, d3.loss_plan_l1_fix_dist: 0.1721, d4.loss_plan_l1_fix_time: 0.7502, d4.loss_plan_l1_fix_dist: 0.2023, d5.loss_plan_l1_fix_time: 0.7534, d5.loss_plan_l1_fix_dist: 0.2169, d6.loss_plan_l1_fix_time: 0.7568, d6.loss_plan_l1_fix_dist: 0.2459, d0.loss_cls_all: 0.1386, d0.loss_bbox_all: 0.3464, d0.loss_cls: 0.1386, d0.loss_bbox: 0.3464, d1.loss_cls: 0.1299, d1.loss_bbox: 0.3165, d2.loss_cls: 0.1143, d2.loss_bbox: 0.2989, d3.loss_cls: 0.0987, d3.loss_bbox: 0.2939, d4.loss_cls: 0.0956, d4.loss_bbox: 0.2891, d5.loss_cls: 0.0931, d5.loss_bbox: 0.2885, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7167, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5910, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5371, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5170, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5107, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5077, d0.loss_map_cls_all: 0.1802, d0.loss_map_pts_all: 1.0483, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1802, d0.loss_map_pts: 1.0483, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1492, d1.loss_map_pts: 0.7481, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1265, d2.loss_map_pts: 0.5963, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1127, d3.loss_map_pts: 0.5391, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1074, d4.loss_map_pts: 0.5150, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1010, d5.loss_map_pts: 0.5052, d5.loss_map_dir: 0.0056, loss: 22.8059, grad_norm: 146.0968 +2026-03-01 00:42:05,949 - DriveTransformer - INFO - Epoch [11][29350/39528] lr: 6.331e-05, eta: 4 days, 10:26:07, time: 0.731, data_time: 0.041, memory: 19865, loss_cls: 0.0758, loss_bbox: 0.2500, loss_traj: 0.3943, loss_traj_cls: 0.0021, loss_map_cls: 0.0796, loss_map_pts: 0.4192, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.4726, d0.loss_plan_l1_fix_dist: 0.4022, d1.loss_plan_l1_fix_time: 0.7119, d1.loss_plan_l1_fix_dist: 0.1765, d2.loss_plan_l1_fix_time: 0.6919, d2.loss_plan_l1_fix_dist: 0.2463, d3.loss_plan_l1_fix_time: 0.6900, d3.loss_plan_l1_fix_dist: 0.1802, d4.loss_plan_l1_fix_time: 0.6918, d4.loss_plan_l1_fix_dist: 0.2071, d5.loss_plan_l1_fix_time: 0.6942, d5.loss_plan_l1_fix_dist: 0.2198, d6.loss_plan_l1_fix_time: 0.6968, d6.loss_plan_l1_fix_dist: 0.2525, d0.loss_cls_all: 0.1170, d0.loss_bbox_all: 0.3074, d0.loss_cls: 0.1170, d0.loss_bbox: 0.3074, d1.loss_cls: 0.1076, d1.loss_bbox: 0.2795, d2.loss_cls: 0.0949, d2.loss_bbox: 0.2617, d3.loss_cls: 0.0848, d3.loss_bbox: 0.2515, d4.loss_cls: 0.0778, d4.loss_bbox: 0.2510, d5.loss_cls: 0.0761, d5.loss_bbox: 0.2497, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6112, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4744, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4133, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3936, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3939, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3928, d0.loss_map_cls_all: 0.1595, d0.loss_map_pts_all: 0.9138, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1595, d0.loss_map_pts: 0.9138, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1256, d1.loss_map_pts: 0.6367, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1025, d2.loss_map_pts: 0.4901, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0922, d3.loss_map_pts: 0.4396, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0865, d4.loss_map_pts: 0.4227, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0814, d5.loss_map_pts: 0.4189, d5.loss_map_dir: 0.0054, loss: 19.9093, grad_norm: 145.1079 +2026-03-01 00:42:41,702 - DriveTransformer - INFO - Epoch [11][29400/39528] lr: 6.331e-05, eta: 4 days, 10:25:28, time: 0.715, data_time: 0.037, memory: 19865, loss_cls: 0.0656, loss_bbox: 0.2391, loss_traj: 0.4061, loss_traj_cls: 0.0021, loss_map_cls: 0.0731, loss_map_pts: 0.3868, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.2768, d0.loss_plan_l1_fix_dist: 0.4563, d1.loss_plan_l1_fix_time: 0.6676, d1.loss_plan_l1_fix_dist: 0.1687, d2.loss_plan_l1_fix_time: 0.6543, d2.loss_plan_l1_fix_dist: 0.2246, d3.loss_plan_l1_fix_time: 0.6526, d3.loss_plan_l1_fix_dist: 0.1581, d4.loss_plan_l1_fix_time: 0.6547, d4.loss_plan_l1_fix_dist: 0.1704, d5.loss_plan_l1_fix_time: 0.6570, d5.loss_plan_l1_fix_dist: 0.1990, d6.loss_plan_l1_fix_time: 0.6597, d6.loss_plan_l1_fix_dist: 0.2168, d0.loss_cls_all: 0.1060, d0.loss_bbox_all: 0.2832, d0.loss_cls: 0.1060, d0.loss_bbox: 0.2832, d1.loss_cls: 0.0985, d1.loss_bbox: 0.2586, d2.loss_cls: 0.0867, d2.loss_bbox: 0.2431, d3.loss_cls: 0.0715, d3.loss_bbox: 0.2400, d4.loss_cls: 0.0665, d4.loss_bbox: 0.2384, d5.loss_cls: 0.0653, d5.loss_bbox: 0.2391, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6000, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4835, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4320, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4138, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4076, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4063, d0.loss_map_cls_all: 0.1452, d0.loss_map_pts_all: 0.8434, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1452, d0.loss_map_pts: 0.8434, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1175, d1.loss_map_pts: 0.5806, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.0973, d2.loss_map_pts: 0.4536, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.0877, d3.loss_map_pts: 0.4099, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0806, d4.loss_map_pts: 0.3929, d4.loss_map_dir: 0.0046, d5.loss_map_cls: 0.0753, d5.loss_map_pts: 0.3872, d5.loss_map_dir: 0.0047, loss: 18.8218, grad_norm: 145.2313 +2026-03-01 00:43:19,284 - DriveTransformer - INFO - Epoch [11][29450/39528] lr: 6.331e-05, eta: 4 days, 10:24:55, time: 0.752, data_time: 0.036, memory: 19865, loss_cls: 0.0729, loss_bbox: 0.2594, loss_traj: 0.3891, loss_traj_cls: 0.0021, loss_map_cls: 0.0830, loss_map_pts: 0.5138, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.3055, d0.loss_plan_l1_fix_dist: 0.4409, d1.loss_plan_l1_fix_time: 0.6644, d1.loss_plan_l1_fix_dist: 0.1817, d2.loss_plan_l1_fix_time: 0.6525, d2.loss_plan_l1_fix_dist: 0.2275, d3.loss_plan_l1_fix_time: 0.6529, d3.loss_plan_l1_fix_dist: 0.1554, d4.loss_plan_l1_fix_time: 0.6552, d4.loss_plan_l1_fix_dist: 0.1687, d5.loss_plan_l1_fix_time: 0.6577, d5.loss_plan_l1_fix_dist: 0.1956, d6.loss_plan_l1_fix_time: 0.6610, d6.loss_plan_l1_fix_dist: 0.1905, d0.loss_cls_all: 0.1166, d0.loss_bbox_all: 0.3161, d0.loss_cls: 0.1166, d0.loss_bbox: 0.3161, d1.loss_cls: 0.1090, d1.loss_bbox: 0.2887, d2.loss_cls: 0.0928, d2.loss_bbox: 0.2717, d3.loss_cls: 0.0785, d3.loss_bbox: 0.2652, d4.loss_cls: 0.0750, d4.loss_bbox: 0.2611, d5.loss_cls: 0.0737, d5.loss_bbox: 0.2595, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5787, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4676, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4181, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4027, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3977, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3915, d0.loss_map_cls_all: 0.1751, d0.loss_map_pts_all: 1.1146, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1751, d0.loss_map_pts: 1.1146, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1347, d1.loss_map_pts: 0.7849, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1112, d2.loss_map_pts: 0.6004, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.0984, d3.loss_map_pts: 0.5407, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.0917, d4.loss_map_pts: 0.5197, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.0852, d5.loss_map_pts: 0.5138, d5.loss_map_dir: 0.0070, loss: 20.5482, grad_norm: 144.9979 +2026-03-01 00:43:54,646 - DriveTransformer - INFO - Epoch [11][29500/39528] lr: 6.331e-05, eta: 4 days, 10:24:15, time: 0.707, data_time: 0.036, memory: 19865, loss_cls: 0.0945, loss_bbox: 0.3049, loss_traj: 0.3996, loss_traj_cls: 0.0021, loss_map_cls: 0.1059, loss_map_pts: 0.5370, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.3974, d0.loss_plan_l1_fix_dist: 0.3854, d1.loss_plan_l1_fix_time: 0.7137, d1.loss_plan_l1_fix_dist: 0.2087, d2.loss_plan_l1_fix_time: 0.6983, d2.loss_plan_l1_fix_dist: 0.2223, d3.loss_plan_l1_fix_time: 0.6942, d3.loss_plan_l1_fix_dist: 0.1703, d4.loss_plan_l1_fix_time: 0.6957, d4.loss_plan_l1_fix_dist: 0.2082, d5.loss_plan_l1_fix_time: 0.6976, d5.loss_plan_l1_fix_dist: 0.2169, d6.loss_plan_l1_fix_time: 0.7003, d6.loss_plan_l1_fix_dist: 0.1913, d0.loss_cls_all: 0.1420, d0.loss_bbox_all: 0.3654, d0.loss_cls: 0.1420, d0.loss_bbox: 0.3654, d1.loss_cls: 0.1368, d1.loss_bbox: 0.3308, d2.loss_cls: 0.1246, d2.loss_bbox: 0.3127, d3.loss_cls: 0.1053, d3.loss_bbox: 0.3074, d4.loss_cls: 0.0976, d4.loss_bbox: 0.3048, d5.loss_cls: 0.0950, d5.loss_bbox: 0.3052, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6379, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4786, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4281, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4126, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4058, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4015, d0.loss_map_cls_all: 0.1896, d0.loss_map_pts_all: 1.0653, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1896, d0.loss_map_pts: 1.0653, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1575, d1.loss_map_pts: 0.7690, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1371, d2.loss_map_pts: 0.6210, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1232, d3.loss_map_pts: 0.5640, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1162, d4.loss_map_pts: 0.5408, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1097, d5.loss_map_pts: 0.5364, d5.loss_map_dir: 0.0064, loss: 21.7835, grad_norm: 145.8112 +2026-03-01 00:44:31,323 - DriveTransformer - INFO - Epoch [11][29550/39528] lr: 6.331e-05, eta: 4 days, 10:23:38, time: 0.734, data_time: 0.039, memory: 19865, loss_cls: 0.0759, loss_bbox: 0.2670, loss_traj: 0.4597, loss_traj_cls: 0.0021, loss_map_cls: 0.0772, loss_map_pts: 0.4254, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.3062, d0.loss_plan_l1_fix_dist: 0.4654, d1.loss_plan_l1_fix_time: 0.7234, d1.loss_plan_l1_fix_dist: 0.2066, d2.loss_plan_l1_fix_time: 0.7151, d2.loss_plan_l1_fix_dist: 0.2057, d3.loss_plan_l1_fix_time: 0.7114, d3.loss_plan_l1_fix_dist: 0.1677, d4.loss_plan_l1_fix_time: 0.7147, d4.loss_plan_l1_fix_dist: 0.2055, d5.loss_plan_l1_fix_time: 0.7183, d5.loss_plan_l1_fix_dist: 0.2131, d6.loss_plan_l1_fix_time: 0.7221, d6.loss_plan_l1_fix_dist: 0.1808, d0.loss_cls_all: 0.1197, d0.loss_bbox_all: 0.3255, d0.loss_cls: 0.1197, d0.loss_bbox: 0.3255, d1.loss_cls: 0.1134, d1.loss_bbox: 0.2954, d2.loss_cls: 0.1033, d2.loss_bbox: 0.2734, d3.loss_cls: 0.0836, d3.loss_bbox: 0.2692, d4.loss_cls: 0.0771, d4.loss_bbox: 0.2676, d5.loss_cls: 0.0758, d5.loss_bbox: 0.2669, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6464, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5180, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4834, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4694, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4662, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4617, d0.loss_map_cls_all: 0.1522, d0.loss_map_pts_all: 0.9610, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1522, d0.loss_map_pts: 0.9610, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1206, d1.loss_map_pts: 0.6673, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1022, d2.loss_map_pts: 0.5153, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.0915, d3.loss_map_pts: 0.4534, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0845, d4.loss_map_pts: 0.4321, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0800, d5.loss_map_pts: 0.4252, d5.loss_map_dir: 0.0049, loss: 20.5678, grad_norm: 146.1283 +2026-03-01 00:45:05,352 - DriveTransformer - INFO - Epoch [11][29600/39528] lr: 6.331e-05, eta: 4 days, 10:22:55, time: 0.681, data_time: 0.035, memory: 19865, loss_cls: 0.0818, loss_bbox: 0.2653, loss_traj: 0.4028, loss_traj_cls: 0.0021, loss_map_cls: 0.1044, loss_map_pts: 0.4393, loss_map_dir: 0.0039, d0.loss_plan_l1_fix_time: 2.0549, d0.loss_plan_l1_fix_dist: 0.4486, d1.loss_plan_l1_fix_time: 0.6982, d1.loss_plan_l1_fix_dist: 0.2098, d2.loss_plan_l1_fix_time: 0.6995, d2.loss_plan_l1_fix_dist: 0.2074, d3.loss_plan_l1_fix_time: 0.6958, d3.loss_plan_l1_fix_dist: 0.1910, d4.loss_plan_l1_fix_time: 0.6993, d4.loss_plan_l1_fix_dist: 0.1924, d5.loss_plan_l1_fix_time: 0.7031, d5.loss_plan_l1_fix_dist: 0.2002, d6.loss_plan_l1_fix_time: 0.7058, d6.loss_plan_l1_fix_dist: 0.2182, d0.loss_cls_all: 0.1232, d0.loss_bbox_all: 0.3196, d0.loss_cls: 0.1232, d0.loss_bbox: 0.3196, d1.loss_cls: 0.1202, d1.loss_bbox: 0.2897, d2.loss_cls: 0.1021, d2.loss_bbox: 0.2739, d3.loss_cls: 0.0889, d3.loss_bbox: 0.2694, d4.loss_cls: 0.0838, d4.loss_bbox: 0.2660, d5.loss_cls: 0.0820, d5.loss_bbox: 0.2646, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6182, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4899, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4363, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4140, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4070, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4038, d0.loss_map_cls_all: 0.1899, d0.loss_map_pts_all: 0.9424, d0.loss_map_dir_all: 0.0040, d0.loss_map_cls: 0.1899, d0.loss_map_pts: 0.9424, d0.loss_map_dir: 0.0040, d1.loss_map_cls: 0.1613, d1.loss_map_pts: 0.6557, d1.loss_map_dir: 0.0038, d2.loss_map_cls: 0.1303, d2.loss_map_pts: 0.5101, d2.loss_map_dir: 0.0036, d3.loss_map_cls: 0.1198, d3.loss_map_pts: 0.4581, d3.loss_map_dir: 0.0037, d4.loss_map_cls: 0.1135, d4.loss_map_pts: 0.4407, d4.loss_map_dir: 0.0038, d5.loss_map_cls: 0.1075, d5.loss_map_pts: 0.4388, d5.loss_map_dir: 0.0039, loss: 20.1514, grad_norm: 147.3472 +2026-03-01 00:45:41,103 - DriveTransformer - INFO - Epoch [11][29650/39528] lr: 6.331e-05, eta: 4 days, 10:22:16, time: 0.715, data_time: 0.036, memory: 19865, loss_cls: 0.0900, loss_bbox: 0.2766, loss_traj: 0.4589, loss_traj_cls: 0.0021, loss_map_cls: 0.0861, loss_map_pts: 0.4516, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.2121, d0.loss_plan_l1_fix_dist: 0.3487, d1.loss_plan_l1_fix_time: 0.7284, d1.loss_plan_l1_fix_dist: 0.2223, d2.loss_plan_l1_fix_time: 0.7235, d2.loss_plan_l1_fix_dist: 0.1920, d3.loss_plan_l1_fix_time: 0.7074, d3.loss_plan_l1_fix_dist: 0.2175, d4.loss_plan_l1_fix_time: 0.7094, d4.loss_plan_l1_fix_dist: 0.1845, d5.loss_plan_l1_fix_time: 0.7128, d5.loss_plan_l1_fix_dist: 0.1910, d6.loss_plan_l1_fix_time: 0.7163, d6.loss_plan_l1_fix_dist: 0.2304, d0.loss_cls_all: 0.1382, d0.loss_bbox_all: 0.3331, d0.loss_cls: 0.1382, d0.loss_bbox: 0.3331, d1.loss_cls: 0.1297, d1.loss_bbox: 0.3044, d2.loss_cls: 0.1153, d2.loss_bbox: 0.2848, d3.loss_cls: 0.0984, d3.loss_bbox: 0.2791, d4.loss_cls: 0.0926, d4.loss_bbox: 0.2761, d5.loss_cls: 0.0906, d5.loss_bbox: 0.2762, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6992, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5346, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4876, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4730, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4668, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4593, d0.loss_map_cls_all: 0.1739, d0.loss_map_pts_all: 0.9673, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1739, d0.loss_map_pts: 0.9673, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1383, d1.loss_map_pts: 0.7037, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.1140, d2.loss_map_pts: 0.5361, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.1041, d3.loss_map_pts: 0.4760, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0940, d4.loss_map_pts: 0.4573, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0876, d5.loss_map_pts: 0.4524, d5.loss_map_dir: 0.0050, loss: 20.9618, grad_norm: 143.0476 +2026-03-01 00:46:16,522 - DriveTransformer - INFO - Epoch [11][29700/39528] lr: 6.331e-05, eta: 4 days, 10:21:36, time: 0.708, data_time: 0.038, memory: 19865, loss_cls: 0.0715, loss_bbox: 0.2545, loss_traj: 0.4667, loss_traj_cls: 0.0021, loss_map_cls: 0.0733, loss_map_pts: 0.4041, loss_map_dir: 0.0047, d0.loss_plan_l1_fix_time: 2.6440, d0.loss_plan_l1_fix_dist: 0.4514, d1.loss_plan_l1_fix_time: 0.6791, d1.loss_plan_l1_fix_dist: 0.2532, d2.loss_plan_l1_fix_time: 0.6671, d2.loss_plan_l1_fix_dist: 0.1839, d3.loss_plan_l1_fix_time: 0.6668, d3.loss_plan_l1_fix_dist: 0.2488, d4.loss_plan_l1_fix_time: 0.6684, d4.loss_plan_l1_fix_dist: 0.2191, d5.loss_plan_l1_fix_time: 0.6703, d5.loss_plan_l1_fix_dist: 0.2268, d6.loss_plan_l1_fix_time: 0.6730, d6.loss_plan_l1_fix_dist: 0.2493, d0.loss_cls_all: 0.1081, d0.loss_bbox_all: 0.3125, d0.loss_cls: 0.1081, d0.loss_bbox: 0.3125, d1.loss_cls: 0.1036, d1.loss_bbox: 0.2848, d2.loss_cls: 0.0921, d2.loss_bbox: 0.2655, d3.loss_cls: 0.0768, d3.loss_bbox: 0.2588, d4.loss_cls: 0.0729, d4.loss_bbox: 0.2561, d5.loss_cls: 0.0718, d5.loss_bbox: 0.2552, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7346, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5548, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4983, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4712, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4704, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4692, d0.loss_map_cls_all: 0.1511, d0.loss_map_pts_all: 0.8510, d0.loss_map_dir_all: 0.0049, d0.loss_map_cls: 0.1511, d0.loss_map_pts: 0.8510, d0.loss_map_dir: 0.0049, d1.loss_map_cls: 0.1159, d1.loss_map_pts: 0.6127, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.0956, d2.loss_map_pts: 0.4749, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.0855, d3.loss_map_pts: 0.4280, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.0800, d4.loss_map_pts: 0.4103, d4.loss_map_dir: 0.0046, d5.loss_map_cls: 0.0749, d5.loss_map_pts: 0.4054, d5.loss_map_dir: 0.0047, loss: 20.3804, grad_norm: 145.8435 +2026-03-01 00:46:52,862 - DriveTransformer - INFO - Epoch [11][29750/39528] lr: 6.331e-05, eta: 4 days, 10:20:59, time: 0.727, data_time: 0.040, memory: 19865, loss_cls: 0.0980, loss_bbox: 0.2930, loss_traj: 0.4465, loss_traj_cls: 0.0021, loss_map_cls: 0.0932, loss_map_pts: 0.4810, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.7666, d0.loss_plan_l1_fix_dist: 0.4487, d1.loss_plan_l1_fix_time: 0.8126, d1.loss_plan_l1_fix_dist: 0.2690, d2.loss_plan_l1_fix_time: 0.8037, d2.loss_plan_l1_fix_dist: 0.2058, d3.loss_plan_l1_fix_time: 0.8013, d3.loss_plan_l1_fix_dist: 0.2774, d4.loss_plan_l1_fix_time: 0.8034, d4.loss_plan_l1_fix_dist: 0.2500, d5.loss_plan_l1_fix_time: 0.8050, d5.loss_plan_l1_fix_dist: 0.2426, d6.loss_plan_l1_fix_time: 0.8073, d6.loss_plan_l1_fix_dist: 0.2620, d0.loss_cls_all: 0.1436, d0.loss_bbox_all: 0.3620, d0.loss_cls: 0.1436, d0.loss_bbox: 0.3620, d1.loss_cls: 0.1376, d1.loss_bbox: 0.3273, d2.loss_cls: 0.1280, d2.loss_bbox: 0.3032, d3.loss_cls: 0.1045, d3.loss_bbox: 0.3002, d4.loss_cls: 0.1007, d4.loss_bbox: 0.2954, d5.loss_cls: 0.0980, d5.loss_bbox: 0.2948, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6695, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5211, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4722, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4583, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4491, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4458, d0.loss_map_cls_all: 0.1691, d0.loss_map_pts_all: 0.9468, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1691, d0.loss_map_pts: 0.9468, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1397, d1.loss_map_pts: 0.6870, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1217, d2.loss_map_pts: 0.5550, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1087, d3.loss_map_pts: 0.5076, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1012, d4.loss_map_pts: 0.4903, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0951, d5.loss_map_pts: 0.4813, d5.loss_map_dir: 0.0057, loss: 22.6564, grad_norm: 141.6800 +2026-03-01 00:47:28,908 - DriveTransformer - INFO - Epoch [11][29800/39528] lr: 6.331e-05, eta: 4 days, 10:20:21, time: 0.721, data_time: 0.038, memory: 19865, loss_cls: 0.0859, loss_bbox: 0.2890, loss_traj: 0.5386, loss_traj_cls: 0.0021, loss_map_cls: 0.0957, loss_map_pts: 0.4773, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.6911, d0.loss_plan_l1_fix_dist: 0.4358, d1.loss_plan_l1_fix_time: 0.8863, d1.loss_plan_l1_fix_dist: 0.2734, d2.loss_plan_l1_fix_time: 0.8729, d2.loss_plan_l1_fix_dist: 0.2245, d3.loss_plan_l1_fix_time: 0.8782, d3.loss_plan_l1_fix_dist: 0.2979, d4.loss_plan_l1_fix_time: 0.8819, d4.loss_plan_l1_fix_dist: 0.2694, d5.loss_plan_l1_fix_time: 0.8852, d5.loss_plan_l1_fix_dist: 0.2430, d6.loss_plan_l1_fix_time: 0.8886, d6.loss_plan_l1_fix_dist: 0.2754, d0.loss_cls_all: 0.1297, d0.loss_bbox_all: 0.3483, d0.loss_cls: 0.1297, d0.loss_bbox: 0.3483, d1.loss_cls: 0.1237, d1.loss_bbox: 0.3169, d2.loss_cls: 0.1090, d2.loss_bbox: 0.2980, d3.loss_cls: 0.0984, d3.loss_bbox: 0.2922, d4.loss_cls: 0.0889, d4.loss_bbox: 0.2904, d5.loss_cls: 0.0873, d5.loss_bbox: 0.2886, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8249, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.6164, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5636, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5493, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5440, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5403, d0.loss_map_cls_all: 0.1820, d0.loss_map_pts_all: 0.9746, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1820, d0.loss_map_pts: 0.9746, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1502, d1.loss_map_pts: 0.6958, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1233, d2.loss_map_pts: 0.5537, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1104, d3.loss_map_pts: 0.5038, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1032, d4.loss_map_pts: 0.4845, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0984, d5.loss_map_pts: 0.4777, d5.loss_map_dir: 0.0059, loss: 23.7474, grad_norm: 141.8834 +2026-03-01 00:48:05,089 - DriveTransformer - INFO - Epoch [11][29850/39528] lr: 6.331e-05, eta: 4 days, 10:19:43, time: 0.724, data_time: 0.037, memory: 19865, loss_cls: 0.0852, loss_bbox: 0.2851, loss_traj: 0.4770, loss_traj_cls: 0.0021, loss_map_cls: 0.0889, loss_map_pts: 0.4850, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.5989, d0.loss_plan_l1_fix_dist: 0.3974, d1.loss_plan_l1_fix_time: 0.8798, d1.loss_plan_l1_fix_dist: 0.2754, d2.loss_plan_l1_fix_time: 0.8682, d2.loss_plan_l1_fix_dist: 0.2389, d3.loss_plan_l1_fix_time: 0.8626, d3.loss_plan_l1_fix_dist: 0.3097, d4.loss_plan_l1_fix_time: 0.8644, d4.loss_plan_l1_fix_dist: 0.3019, d5.loss_plan_l1_fix_time: 0.8672, d5.loss_plan_l1_fix_dist: 0.2712, d6.loss_plan_l1_fix_time: 0.8704, d6.loss_plan_l1_fix_dist: 0.2947, d0.loss_cls_all: 0.1348, d0.loss_bbox_all: 0.3389, d0.loss_cls: 0.1348, d0.loss_bbox: 0.3389, d1.loss_cls: 0.1296, d1.loss_bbox: 0.3126, d2.loss_cls: 0.1147, d2.loss_bbox: 0.2931, d3.loss_cls: 0.0935, d3.loss_bbox: 0.2900, d4.loss_cls: 0.0875, d4.loss_bbox: 0.2862, d5.loss_cls: 0.0855, d5.loss_bbox: 0.2856, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7223, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5693, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5118, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4939, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4806, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4779, d0.loss_map_cls_all: 0.1760, d0.loss_map_pts_all: 1.0422, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1760, d0.loss_map_pts: 1.0422, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1408, d1.loss_map_pts: 0.7447, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1158, d2.loss_map_pts: 0.5840, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1040, d3.loss_map_pts: 0.5186, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0971, d4.loss_map_pts: 0.4942, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0913, d5.loss_map_pts: 0.4853, d5.loss_map_dir: 0.0062, loss: 23.3722, grad_norm: 143.6988 +2026-03-01 00:48:40,660 - DriveTransformer - INFO - Epoch [11][29900/39528] lr: 6.331e-05, eta: 4 days, 10:19:04, time: 0.711, data_time: 0.036, memory: 19865, loss_cls: 0.0940, loss_bbox: 0.3196, loss_traj: 0.6423, loss_traj_cls: 0.0020, loss_map_cls: 0.1132, loss_map_pts: 0.5570, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 3.0809, d0.loss_plan_l1_fix_dist: 0.3906, d1.loss_plan_l1_fix_time: 0.8376, d1.loss_plan_l1_fix_dist: 0.2795, d2.loss_plan_l1_fix_time: 0.8211, d2.loss_plan_l1_fix_dist: 0.2496, d3.loss_plan_l1_fix_time: 0.8199, d3.loss_plan_l1_fix_dist: 0.2913, d4.loss_plan_l1_fix_time: 0.8205, d4.loss_plan_l1_fix_dist: 0.2990, d5.loss_plan_l1_fix_time: 0.8225, d5.loss_plan_l1_fix_dist: 0.2587, d6.loss_plan_l1_fix_time: 0.8252, d6.loss_plan_l1_fix_dist: 0.2547, d0.loss_cls_all: 0.1515, d0.loss_bbox_all: 0.3894, d0.loss_cls: 0.1515, d0.loss_bbox: 0.3894, d1.loss_cls: 0.1433, d1.loss_bbox: 0.3503, d2.loss_cls: 0.1280, d2.loss_bbox: 0.3278, d3.loss_cls: 0.1039, d3.loss_bbox: 0.3257, d4.loss_cls: 0.0952, d4.loss_bbox: 0.3216, d5.loss_cls: 0.0939, d5.loss_bbox: 0.3196, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9305, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.7137, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6374, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.6183, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.6221, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.6208, d0.loss_map_cls_all: 0.1939, d0.loss_map_pts_all: 1.0837, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1939, d0.loss_map_pts: 1.0837, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1656, d1.loss_map_pts: 0.8202, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1408, d2.loss_map_pts: 0.6560, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1284, d3.loss_map_pts: 0.5886, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1209, d4.loss_map_pts: 0.5610, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1159, d5.loss_map_pts: 0.5572, d5.loss_map_dir: 0.0063, loss: 25.6770, grad_norm: 144.3257 +2026-03-01 00:49:16,885 - DriveTransformer - INFO - Epoch [11][29950/39528] lr: 6.331e-05, eta: 4 days, 10:18:27, time: 0.724, data_time: 0.039, memory: 19865, loss_cls: 0.1034, loss_bbox: 0.2827, loss_traj: 0.4277, loss_traj_cls: 0.0021, loss_map_cls: 0.0983, loss_map_pts: 0.4901, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.8405, d0.loss_plan_l1_fix_dist: 0.4351, d1.loss_plan_l1_fix_time: 0.7607, d1.loss_plan_l1_fix_dist: 0.2713, d2.loss_plan_l1_fix_time: 0.7584, d2.loss_plan_l1_fix_dist: 0.2575, d3.loss_plan_l1_fix_time: 0.7612, d3.loss_plan_l1_fix_dist: 0.2921, d4.loss_plan_l1_fix_time: 0.7654, d4.loss_plan_l1_fix_dist: 0.3272, d5.loss_plan_l1_fix_time: 0.7711, d5.loss_plan_l1_fix_dist: 0.3020, d6.loss_plan_l1_fix_time: 0.7769, d6.loss_plan_l1_fix_dist: 0.2855, d0.loss_cls_all: 0.1434, d0.loss_bbox_all: 0.3524, d0.loss_cls: 0.1434, d0.loss_bbox: 0.3524, d1.loss_cls: 0.1370, d1.loss_bbox: 0.3152, d2.loss_cls: 0.1293, d2.loss_bbox: 0.2940, d3.loss_cls: 0.1090, d3.loss_bbox: 0.2874, d4.loss_cls: 0.1031, d4.loss_bbox: 0.2847, d5.loss_cls: 0.1037, d5.loss_bbox: 0.2830, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6529, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5013, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4517, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4381, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4344, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4296, d0.loss_map_cls_all: 0.1824, d0.loss_map_pts_all: 1.0150, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1824, d0.loss_map_pts: 1.0150, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1482, d1.loss_map_pts: 0.7425, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1286, d2.loss_map_pts: 0.5785, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1174, d3.loss_map_pts: 0.5214, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1083, d4.loss_map_pts: 0.4986, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1004, d5.loss_map_pts: 0.4907, d5.loss_map_dir: 0.0058, loss: 22.8366, grad_norm: 144.3120 +2026-03-01 00:49:54,207 - DriveTransformer - INFO - Epoch [11][30000/39528] lr: 6.331e-05, eta: 4 days, 10:17:52, time: 0.748, data_time: 0.037, memory: 19865, loss_cls: 0.0922, loss_bbox: 0.3020, loss_traj: 0.5012, loss_traj_cls: 0.0021, loss_map_cls: 0.1127, loss_map_pts: 0.5509, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.4800, d0.loss_plan_l1_fix_dist: 0.3961, d1.loss_plan_l1_fix_time: 0.7440, d1.loss_plan_l1_fix_dist: 0.2275, d2.loss_plan_l1_fix_time: 0.7303, d2.loss_plan_l1_fix_dist: 0.2193, d3.loss_plan_l1_fix_time: 0.6849, d3.loss_plan_l1_fix_dist: 0.2409, d4.loss_plan_l1_fix_time: 0.6854, d4.loss_plan_l1_fix_dist: 0.2805, d5.loss_plan_l1_fix_time: 0.6877, d5.loss_plan_l1_fix_dist: 0.2389, d6.loss_plan_l1_fix_time: 0.6905, d6.loss_plan_l1_fix_dist: 0.2151, d0.loss_cls_all: 0.1371, d0.loss_bbox_all: 0.3671, d0.loss_cls: 0.1371, d0.loss_bbox: 0.3671, d1.loss_cls: 0.1280, d1.loss_bbox: 0.3301, d2.loss_cls: 0.1157, d2.loss_bbox: 0.3098, d3.loss_cls: 0.1008, d3.loss_bbox: 0.3030, d4.loss_cls: 0.0936, d4.loss_bbox: 0.3019, d5.loss_cls: 0.0921, d5.loss_bbox: 0.3018, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7732, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5869, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5279, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5119, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5055, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5029, d0.loss_map_cls_all: 0.2035, d0.loss_map_pts_all: 1.1996, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.2035, d0.loss_map_pts: 1.1996, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1744, d1.loss_map_pts: 0.8637, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1436, d2.loss_map_pts: 0.6646, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1302, d3.loss_map_pts: 0.5906, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1226, d4.loss_map_pts: 0.5626, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1157, d5.loss_map_pts: 0.5517, d5.loss_map_dir: 0.0061, loss: 23.3535, grad_norm: 145.9887 +2026-03-01 00:50:30,166 - DriveTransformer - INFO - Epoch [11][30050/39528] lr: 6.331e-05, eta: 4 days, 10:17:14, time: 0.718, data_time: 0.035, memory: 19865, loss_cls: 0.1008, loss_bbox: 0.2992, loss_traj: 0.4986, loss_traj_cls: 0.0020, loss_map_cls: 0.1133, loss_map_pts: 0.5993, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.9792, d0.loss_plan_l1_fix_dist: 0.4231, d1.loss_plan_l1_fix_time: 0.8242, d1.loss_plan_l1_fix_dist: 0.1930, d2.loss_plan_l1_fix_time: 0.8141, d2.loss_plan_l1_fix_dist: 0.2065, d3.loss_plan_l1_fix_time: 0.8169, d3.loss_plan_l1_fix_dist: 0.2371, d4.loss_plan_l1_fix_time: 0.8198, d4.loss_plan_l1_fix_dist: 0.3077, d5.loss_plan_l1_fix_time: 0.8217, d5.loss_plan_l1_fix_dist: 0.2677, d6.loss_plan_l1_fix_time: 0.8239, d6.loss_plan_l1_fix_dist: 0.2422, d0.loss_cls_all: 0.1494, d0.loss_bbox_all: 0.3629, d0.loss_cls: 0.1494, d0.loss_bbox: 0.3629, d1.loss_cls: 0.1448, d1.loss_bbox: 0.3248, d2.loss_cls: 0.1274, d2.loss_bbox: 0.3058, d3.loss_cls: 0.1131, d3.loss_bbox: 0.2988, d4.loss_cls: 0.1033, d4.loss_bbox: 0.2991, d5.loss_cls: 0.1010, d5.loss_bbox: 0.2982, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8070, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5778, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5203, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5010, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4981, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4987, d0.loss_map_cls_all: 0.1973, d0.loss_map_pts_all: 1.2066, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1973, d0.loss_map_pts: 1.2066, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1662, d1.loss_map_pts: 0.8962, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1417, d2.loss_map_pts: 0.7000, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1322, d3.loss_map_pts: 0.6278, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1239, d4.loss_map_pts: 0.6058, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1175, d5.loss_map_pts: 0.5994, d5.loss_map_dir: 0.0064, loss: 24.9073, grad_norm: 143.6716 +2026-03-01 00:51:09,238 - DriveTransformer - INFO - Epoch [11][30100/39528] lr: 6.331e-05, eta: 4 days, 10:16:44, time: 0.781, data_time: 0.039, memory: 19865, loss_cls: 0.0918, loss_bbox: 0.2806, loss_traj: 0.4460, loss_traj_cls: 0.0021, loss_map_cls: 0.1036, loss_map_pts: 0.5597, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.4943, d0.loss_plan_l1_fix_dist: 0.3848, d1.loss_plan_l1_fix_time: 0.7949, d1.loss_plan_l1_fix_dist: 0.1805, d2.loss_plan_l1_fix_time: 0.7831, d2.loss_plan_l1_fix_dist: 0.2170, d3.loss_plan_l1_fix_time: 0.7794, d3.loss_plan_l1_fix_dist: 0.2271, d4.loss_plan_l1_fix_time: 0.7819, d4.loss_plan_l1_fix_dist: 0.3069, d5.loss_plan_l1_fix_time: 0.7842, d5.loss_plan_l1_fix_dist: 0.2559, d6.loss_plan_l1_fix_time: 0.7867, d6.loss_plan_l1_fix_dist: 0.2418, d0.loss_cls_all: 0.1361, d0.loss_bbox_all: 0.3479, d0.loss_cls: 0.1361, d0.loss_bbox: 0.3479, d1.loss_cls: 0.1327, d1.loss_bbox: 0.3095, d2.loss_cls: 0.1192, d2.loss_bbox: 0.2896, d3.loss_cls: 0.1011, d3.loss_bbox: 0.2836, d4.loss_cls: 0.0949, d4.loss_bbox: 0.2806, d5.loss_cls: 0.0918, d5.loss_bbox: 0.2809, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6831, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5351, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4622, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4485, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4453, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4445, d0.loss_map_cls_all: 0.1885, d0.loss_map_pts_all: 1.2062, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1885, d0.loss_map_pts: 1.2062, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1547, d1.loss_map_pts: 0.8511, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1316, d2.loss_map_pts: 0.6637, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1185, d3.loss_map_pts: 0.5998, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1121, d4.loss_map_pts: 0.5686, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1064, d5.loss_map_pts: 0.5610, d5.loss_map_dir: 0.0070, loss: 23.1906, grad_norm: 145.4637 +2026-03-01 00:51:44,394 - DriveTransformer - INFO - Epoch [11][30150/39528] lr: 6.331e-05, eta: 4 days, 10:16:04, time: 0.703, data_time: 0.037, memory: 19865, loss_cls: 0.0921, loss_bbox: 0.2945, loss_traj: 0.4625, loss_traj_cls: 0.0021, loss_map_cls: 0.0965, loss_map_pts: 0.4338, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.7139, d0.loss_plan_l1_fix_dist: 0.4230, d1.loss_plan_l1_fix_time: 0.6988, d1.loss_plan_l1_fix_dist: 0.1718, d2.loss_plan_l1_fix_time: 0.6863, d2.loss_plan_l1_fix_dist: 0.2427, d3.loss_plan_l1_fix_time: 0.6814, d3.loss_plan_l1_fix_dist: 0.1975, d4.loss_plan_l1_fix_time: 0.6836, d4.loss_plan_l1_fix_dist: 0.2637, d5.loss_plan_l1_fix_time: 0.6859, d5.loss_plan_l1_fix_dist: 0.2110, d6.loss_plan_l1_fix_time: 0.6882, d6.loss_plan_l1_fix_dist: 0.2454, d0.loss_cls_all: 0.1403, d0.loss_bbox_all: 0.3576, d0.loss_cls: 0.1403, d0.loss_bbox: 0.3576, d1.loss_cls: 0.1318, d1.loss_bbox: 0.3241, d2.loss_cls: 0.1173, d2.loss_bbox: 0.3024, d3.loss_cls: 0.1012, d3.loss_bbox: 0.2966, d4.loss_cls: 0.0950, d4.loss_bbox: 0.2936, d5.loss_cls: 0.0933, d5.loss_bbox: 0.2931, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7169, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5581, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4877, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4668, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4648, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4627, d0.loss_map_cls_all: 0.1768, d0.loss_map_pts_all: 0.8943, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1768, d0.loss_map_pts: 0.8943, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1451, d1.loss_map_pts: 0.6428, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1244, d2.loss_map_pts: 0.5056, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.1128, d3.loss_map_pts: 0.4555, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.1049, d4.loss_map_pts: 0.4388, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0996, d5.loss_map_pts: 0.4339, d5.loss_map_dir: 0.0051, loss: 21.4268, grad_norm: 142.9064 +2026-03-01 00:52:21,771 - DriveTransformer - INFO - Epoch [11][30200/39528] lr: 6.331e-05, eta: 4 days, 10:15:30, time: 0.748, data_time: 0.038, memory: 19865, loss_cls: 0.1039, loss_bbox: 0.3136, loss_traj: 0.4324, loss_traj_cls: 0.0020, loss_map_cls: 0.1025, loss_map_pts: 0.5786, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.6100, d0.loss_plan_l1_fix_dist: 0.4141, d1.loss_plan_l1_fix_time: 0.7121, d1.loss_plan_l1_fix_dist: 0.1899, d2.loss_plan_l1_fix_time: 0.6979, d2.loss_plan_l1_fix_dist: 0.2672, d3.loss_plan_l1_fix_time: 0.6954, d3.loss_plan_l1_fix_dist: 0.1937, d4.loss_plan_l1_fix_time: 0.6960, d4.loss_plan_l1_fix_dist: 0.2511, d5.loss_plan_l1_fix_time: 0.6972, d5.loss_plan_l1_fix_dist: 0.1973, d6.loss_plan_l1_fix_time: 0.6988, d6.loss_plan_l1_fix_dist: 0.2599, d0.loss_cls_all: 0.1535, d0.loss_bbox_all: 0.3836, d0.loss_cls: 0.1535, d0.loss_bbox: 0.3836, d1.loss_cls: 0.1503, d1.loss_bbox: 0.3453, d2.loss_cls: 0.1346, d2.loss_bbox: 0.3214, d3.loss_cls: 0.1151, d3.loss_bbox: 0.3159, d4.loss_cls: 0.1056, d4.loss_bbox: 0.3144, d5.loss_cls: 0.1053, d5.loss_bbox: 0.3119, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6700, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5078, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4535, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4432, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4352, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4348, d0.loss_map_cls_all: 0.1954, d0.loss_map_pts_all: 1.1749, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1954, d0.loss_map_pts: 1.1749, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1586, d1.loss_map_pts: 0.8532, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1323, d2.loss_map_pts: 0.6720, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1171, d3.loss_map_pts: 0.6109, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1100, d4.loss_map_pts: 0.5867, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1047, d5.loss_map_pts: 0.5790, d5.loss_map_dir: 0.0070, loss: 23.0779, grad_norm: 141.6798 +2026-03-01 00:52:58,901 - DriveTransformer - INFO - Epoch [11][30250/39528] lr: 6.331e-05, eta: 4 days, 10:14:55, time: 0.743, data_time: 0.038, memory: 19865, loss_cls: 0.0771, loss_bbox: 0.2530, loss_traj: 0.3834, loss_traj_cls: 0.0020, loss_map_cls: 0.0919, loss_map_pts: 0.5316, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.3699, d0.loss_plan_l1_fix_dist: 0.4863, d1.loss_plan_l1_fix_time: 0.6413, d1.loss_plan_l1_fix_dist: 0.2107, d2.loss_plan_l1_fix_time: 0.6272, d2.loss_plan_l1_fix_dist: 0.2727, d3.loss_plan_l1_fix_time: 0.6191, d3.loss_plan_l1_fix_dist: 0.1973, d4.loss_plan_l1_fix_time: 0.6201, d4.loss_plan_l1_fix_dist: 0.2438, d5.loss_plan_l1_fix_time: 0.6227, d5.loss_plan_l1_fix_dist: 0.1995, d6.loss_plan_l1_fix_time: 0.6254, d6.loss_plan_l1_fix_dist: 0.2383, d0.loss_cls_all: 0.1187, d0.loss_bbox_all: 0.3144, d0.loss_cls: 0.1187, d0.loss_bbox: 0.3144, d1.loss_cls: 0.1112, d1.loss_bbox: 0.2853, d2.loss_cls: 0.1016, d2.loss_bbox: 0.2627, d3.loss_cls: 0.0873, d3.loss_bbox: 0.2572, d4.loss_cls: 0.0787, d4.loss_bbox: 0.2561, d5.loss_cls: 0.0784, d5.loss_bbox: 0.2532, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6125, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4763, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4232, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4002, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3903, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3887, d0.loss_map_cls_all: 0.1764, d0.loss_map_pts_all: 1.0938, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1764, d0.loss_map_pts: 1.0938, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1468, d1.loss_map_pts: 0.7679, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1206, d2.loss_map_pts: 0.6115, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1086, d3.loss_map_pts: 0.5584, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1017, d4.loss_map_pts: 0.5374, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0945, d5.loss_map_pts: 0.5306, d5.loss_map_dir: 0.0065, loss: 20.8175, grad_norm: 141.5296 +2026-03-01 00:53:34,122 - DriveTransformer - INFO - Epoch [11][30300/39528] lr: 6.331e-05, eta: 4 days, 10:14:14, time: 0.704, data_time: 0.041, memory: 19865, loss_cls: 0.0749, loss_bbox: 0.2491, loss_traj: 0.4754, loss_traj_cls: 0.0020, loss_map_cls: 0.0675, loss_map_pts: 0.3434, loss_map_dir: 0.0037, d0.loss_plan_l1_fix_time: 2.8595, d0.loss_plan_l1_fix_dist: 0.4925, d1.loss_plan_l1_fix_time: 0.6977, d1.loss_plan_l1_fix_dist: 0.2369, d2.loss_plan_l1_fix_time: 0.6765, d2.loss_plan_l1_fix_dist: 0.2668, d3.loss_plan_l1_fix_time: 0.6731, d3.loss_plan_l1_fix_dist: 0.2115, d4.loss_plan_l1_fix_time: 0.6744, d4.loss_plan_l1_fix_dist: 0.2428, d5.loss_plan_l1_fix_time: 0.6769, d5.loss_plan_l1_fix_dist: 0.2318, d6.loss_plan_l1_fix_time: 0.6797, d6.loss_plan_l1_fix_dist: 0.2484, d0.loss_cls_all: 0.1162, d0.loss_bbox_all: 0.3143, d0.loss_cls: 0.1162, d0.loss_bbox: 0.3143, d1.loss_cls: 0.1085, d1.loss_bbox: 0.2851, d2.loss_cls: 0.0949, d2.loss_bbox: 0.2638, d3.loss_cls: 0.0818, d3.loss_bbox: 0.2543, d4.loss_cls: 0.0760, d4.loss_bbox: 0.2529, d5.loss_cls: 0.0745, d5.loss_bbox: 0.2511, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7375, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5784, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5101, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4854, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4809, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4749, d0.loss_map_cls_all: 0.1388, d0.loss_map_pts_all: 0.7575, d0.loss_map_dir_all: 0.0043, d0.loss_map_cls: 0.1388, d0.loss_map_pts: 0.7575, d0.loss_map_dir: 0.0043, d1.loss_map_cls: 0.1153, d1.loss_map_pts: 0.5192, d1.loss_map_dir: 0.0039, d2.loss_map_cls: 0.0938, d2.loss_map_pts: 0.4039, d2.loss_map_dir: 0.0036, d3.loss_map_cls: 0.0802, d3.loss_map_pts: 0.3637, d3.loss_map_dir: 0.0036, d4.loss_map_cls: 0.0744, d4.loss_map_pts: 0.3490, d4.loss_map_dir: 0.0036, d5.loss_map_cls: 0.0696, d5.loss_map_pts: 0.3433, d5.loss_map_dir: 0.0037, loss: 20.1926, grad_norm: 144.8396 +2026-03-01 00:54:10,766 - DriveTransformer - INFO - Epoch [11][30350/39528] lr: 6.331e-05, eta: 4 days, 10:13:38, time: 0.733, data_time: 0.038, memory: 19865, loss_cls: 0.0780, loss_bbox: 0.2563, loss_traj: 0.4157, loss_traj_cls: 0.0020, loss_map_cls: 0.1011, loss_map_pts: 0.4956, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.4170, d0.loss_plan_l1_fix_dist: 0.5145, d1.loss_plan_l1_fix_time: 0.7619, d1.loss_plan_l1_fix_dist: 0.2641, d2.loss_plan_l1_fix_time: 0.7441, d2.loss_plan_l1_fix_dist: 0.2533, d3.loss_plan_l1_fix_time: 0.7303, d3.loss_plan_l1_fix_dist: 0.2593, d4.loss_plan_l1_fix_time: 0.7308, d4.loss_plan_l1_fix_dist: 0.2555, d5.loss_plan_l1_fix_time: 0.7331, d5.loss_plan_l1_fix_dist: 0.2488, d6.loss_plan_l1_fix_time: 0.7366, d6.loss_plan_l1_fix_dist: 0.2568, d0.loss_cls_all: 0.1202, d0.loss_bbox_all: 0.3217, d0.loss_cls: 0.1202, d0.loss_bbox: 0.3217, d1.loss_cls: 0.1159, d1.loss_bbox: 0.2895, d2.loss_cls: 0.1024, d2.loss_bbox: 0.2672, d3.loss_cls: 0.0852, d3.loss_bbox: 0.2609, d4.loss_cls: 0.0806, d4.loss_bbox: 0.2571, d5.loss_cls: 0.0791, d5.loss_bbox: 0.2558, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6084, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4917, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4422, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4222, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4177, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4145, d0.loss_map_cls_all: 0.1837, d0.loss_map_pts_all: 1.1301, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1837, d0.loss_map_pts: 1.1301, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1490, d1.loss_map_pts: 0.8112, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1228, d2.loss_map_pts: 0.6007, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1122, d3.loss_map_pts: 0.5289, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1074, d4.loss_map_pts: 0.5026, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1027, d5.loss_map_pts: 0.4963, d5.loss_map_dir: 0.0062, loss: 21.9434, grad_norm: 146.3675 +2026-03-01 00:54:46,003 - DriveTransformer - INFO - Epoch [11][30400/39528] lr: 6.331e-05, eta: 4 days, 10:12:58, time: 0.705, data_time: 0.039, memory: 19865, loss_cls: 0.0682, loss_bbox: 0.2575, loss_traj: 0.5205, loss_traj_cls: 0.0020, loss_map_cls: 0.0822, loss_map_pts: 0.4102, loss_map_dir: 0.0037, d0.loss_plan_l1_fix_time: 2.7789, d0.loss_plan_l1_fix_dist: 0.3937, d1.loss_plan_l1_fix_time: 0.7860, d1.loss_plan_l1_fix_dist: 0.2636, d2.loss_plan_l1_fix_time: 0.7605, d2.loss_plan_l1_fix_dist: 0.2038, d3.loss_plan_l1_fix_time: 0.7478, d3.loss_plan_l1_fix_dist: 0.2779, d4.loss_plan_l1_fix_time: 0.7477, d4.loss_plan_l1_fix_dist: 0.2201, d5.loss_plan_l1_fix_time: 0.7488, d5.loss_plan_l1_fix_dist: 0.2499, d6.loss_plan_l1_fix_time: 0.7512, d6.loss_plan_l1_fix_dist: 0.2142, d0.loss_cls_all: 0.1084, d0.loss_bbox_all: 0.3159, d0.loss_cls: 0.1084, d0.loss_bbox: 0.3159, d1.loss_cls: 0.1015, d1.loss_bbox: 0.2825, d2.loss_cls: 0.0905, d2.loss_bbox: 0.2617, d3.loss_cls: 0.0741, d3.loss_bbox: 0.2591, d4.loss_cls: 0.0691, d4.loss_bbox: 0.2603, d5.loss_cls: 0.0685, d5.loss_bbox: 0.2582, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7725, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5886, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5389, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5235, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5208, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5212, d0.loss_map_cls_all: 0.1586, d0.loss_map_pts_all: 0.8773, d0.loss_map_dir_all: 0.0039, d0.loss_map_cls: 0.1586, d0.loss_map_pts: 0.8773, d0.loss_map_dir: 0.0039, d1.loss_map_cls: 0.1306, d1.loss_map_pts: 0.6163, d1.loss_map_dir: 0.0035, d2.loss_map_cls: 0.1059, d2.loss_map_pts: 0.4827, d2.loss_map_dir: 0.0034, d3.loss_map_cls: 0.0940, d3.loss_map_pts: 0.4332, d3.loss_map_dir: 0.0034, d4.loss_map_cls: 0.0873, d4.loss_map_pts: 0.4151, d4.loss_map_dir: 0.0036, d5.loss_map_cls: 0.0840, d5.loss_map_pts: 0.4107, d5.loss_map_dir: 0.0036, loss: 21.4895, grad_norm: 144.1529 +2026-03-01 00:55:22,888 - DriveTransformer - INFO - Epoch [11][30450/39528] lr: 6.331e-05, eta: 4 days, 10:12:22, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.0899, loss_bbox: 0.2737, loss_traj: 0.4501, loss_traj_cls: 0.0020, loss_map_cls: 0.0910, loss_map_pts: 0.4658, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.5415, d0.loss_plan_l1_fix_dist: 0.4999, d1.loss_plan_l1_fix_time: 0.6572, d1.loss_plan_l1_fix_dist: 0.2780, d2.loss_plan_l1_fix_time: 0.6467, d2.loss_plan_l1_fix_dist: 0.2015, d3.loss_plan_l1_fix_time: 0.6447, d3.loss_plan_l1_fix_dist: 0.2982, d4.loss_plan_l1_fix_time: 0.6464, d4.loss_plan_l1_fix_dist: 0.2062, d5.loss_plan_l1_fix_time: 0.6478, d5.loss_plan_l1_fix_dist: 0.2527, d6.loss_plan_l1_fix_time: 0.6494, d6.loss_plan_l1_fix_dist: 0.2243, d0.loss_cls_all: 0.1418, d0.loss_bbox_all: 0.3399, d0.loss_cls: 0.1418, d0.loss_bbox: 0.3399, d1.loss_cls: 0.1342, d1.loss_bbox: 0.3086, d2.loss_cls: 0.1183, d2.loss_bbox: 0.2864, d3.loss_cls: 0.0997, d3.loss_bbox: 0.2797, d4.loss_cls: 0.0930, d4.loss_bbox: 0.2746, d5.loss_cls: 0.0907, d5.loss_bbox: 0.2739, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6838, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5312, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4691, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4534, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4493, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4520, d0.loss_map_cls_all: 0.1604, d0.loss_map_pts_all: 0.9306, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1604, d0.loss_map_pts: 0.9306, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1324, d1.loss_map_pts: 0.6737, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1117, d2.loss_map_pts: 0.5424, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1036, d3.loss_map_pts: 0.4888, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0971, d4.loss_map_pts: 0.4704, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0933, d5.loss_map_pts: 0.4654, d5.loss_map_dir: 0.0056, loss: 21.1396, grad_norm: 142.4849 +2026-03-01 00:55:59,169 - DriveTransformer - INFO - Epoch [11][30500/39528] lr: 6.331e-05, eta: 4 days, 10:11:45, time: 0.726, data_time: 0.037, memory: 19865, loss_cls: 0.0794, loss_bbox: 0.2756, loss_traj: 0.4820, loss_traj_cls: 0.0021, loss_map_cls: 0.0891, loss_map_pts: 0.4574, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.4939, d0.loss_plan_l1_fix_dist: 0.4255, d1.loss_plan_l1_fix_time: 0.7736, d1.loss_plan_l1_fix_dist: 0.2757, d2.loss_plan_l1_fix_time: 0.7617, d2.loss_plan_l1_fix_dist: 0.1986, d3.loss_plan_l1_fix_time: 0.7414, d3.loss_plan_l1_fix_dist: 0.2928, d4.loss_plan_l1_fix_time: 0.7430, d4.loss_plan_l1_fix_dist: 0.1995, d5.loss_plan_l1_fix_time: 0.7459, d5.loss_plan_l1_fix_dist: 0.2485, d6.loss_plan_l1_fix_time: 0.7491, d6.loss_plan_l1_fix_dist: 0.2526, d0.loss_cls_all: 0.1196, d0.loss_bbox_all: 0.3339, d0.loss_cls: 0.1196, d0.loss_bbox: 0.3339, d1.loss_cls: 0.1112, d1.loss_bbox: 0.3040, d2.loss_cls: 0.1011, d2.loss_bbox: 0.2834, d3.loss_cls: 0.0882, d3.loss_bbox: 0.2781, d4.loss_cls: 0.0814, d4.loss_bbox: 0.2769, d5.loss_cls: 0.0793, d5.loss_bbox: 0.2762, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6926, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5459, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5025, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4914, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4868, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4820, d0.loss_map_cls_all: 0.1676, d0.loss_map_pts_all: 0.9437, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1676, d0.loss_map_pts: 0.9437, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1375, d1.loss_map_pts: 0.6844, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.1155, d2.loss_map_pts: 0.5346, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.1055, d3.loss_map_pts: 0.4799, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0979, d4.loss_map_pts: 0.4643, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0920, d5.loss_map_pts: 0.4568, d5.loss_map_dir: 0.0046, loss: 21.7084, grad_norm: 141.8977 +2026-03-01 00:56:36,402 - DriveTransformer - INFO - Epoch [11][30550/39528] lr: 6.331e-05, eta: 4 days, 10:11:10, time: 0.745, data_time: 0.037, memory: 19865, loss_cls: 0.0874, loss_bbox: 0.2814, loss_traj: 0.3098, loss_traj_cls: 0.0020, loss_map_cls: 0.0920, loss_map_pts: 0.5359, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.5420, d0.loss_plan_l1_fix_dist: 0.5318, d1.loss_plan_l1_fix_time: 0.6612, d1.loss_plan_l1_fix_dist: 0.2641, d2.loss_plan_l1_fix_time: 0.6485, d2.loss_plan_l1_fix_dist: 0.2229, d3.loss_plan_l1_fix_time: 0.6560, d3.loss_plan_l1_fix_dist: 0.3029, d4.loss_plan_l1_fix_time: 0.6590, d4.loss_plan_l1_fix_dist: 0.2325, d5.loss_plan_l1_fix_time: 0.6625, d5.loss_plan_l1_fix_dist: 0.2657, d6.loss_plan_l1_fix_time: 0.6663, d6.loss_plan_l1_fix_dist: 0.2843, d0.loss_cls_all: 0.1367, d0.loss_bbox_all: 0.3451, d0.loss_cls: 0.1367, d0.loss_bbox: 0.3451, d1.loss_cls: 0.1225, d1.loss_bbox: 0.3153, d2.loss_cls: 0.1119, d2.loss_bbox: 0.2911, d3.loss_cls: 0.0943, d3.loss_bbox: 0.2845, d4.loss_cls: 0.0888, d4.loss_bbox: 0.2833, d5.loss_cls: 0.0865, d5.loss_bbox: 0.2826, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.4697, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.3682, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3369, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3212, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3128, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3108, d0.loss_map_cls_all: 0.1756, d0.loss_map_pts_all: 1.0865, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1756, d0.loss_map_pts: 1.0865, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1424, d1.loss_map_pts: 0.7783, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1184, d2.loss_map_pts: 0.6100, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1050, d3.loss_map_pts: 0.5571, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.0983, d4.loss_map_pts: 0.5389, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.0946, d5.loss_map_pts: 0.5347, d5.loss_map_dir: 0.0073, loss: 21.1176, grad_norm: 136.6495 +2026-03-01 00:57:13,510 - DriveTransformer - INFO - Epoch [11][30600/39528] lr: 6.331e-05, eta: 4 days, 10:10:35, time: 0.742, data_time: 0.039, memory: 19865, loss_cls: 0.0826, loss_bbox: 0.2802, loss_traj: 0.4257, loss_traj_cls: 0.0020, loss_map_cls: 0.0801, loss_map_pts: 0.4898, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.3262, d0.loss_plan_l1_fix_dist: 0.4396, d1.loss_plan_l1_fix_time: 0.6518, d1.loss_plan_l1_fix_dist: 0.2614, d2.loss_plan_l1_fix_time: 0.6414, d2.loss_plan_l1_fix_dist: 0.2147, d3.loss_plan_l1_fix_time: 0.6277, d3.loss_plan_l1_fix_dist: 0.2736, d4.loss_plan_l1_fix_time: 0.6317, d4.loss_plan_l1_fix_dist: 0.2064, d5.loss_plan_l1_fix_time: 0.6352, d5.loss_plan_l1_fix_dist: 0.2274, d6.loss_plan_l1_fix_time: 0.6393, d6.loss_plan_l1_fix_dist: 0.2718, d0.loss_cls_all: 0.1239, d0.loss_bbox_all: 0.3436, d0.loss_cls: 0.1239, d0.loss_bbox: 0.3436, d1.loss_cls: 0.1158, d1.loss_bbox: 0.3123, d2.loss_cls: 0.1045, d2.loss_bbox: 0.2914, d3.loss_cls: 0.0889, d3.loss_bbox: 0.2856, d4.loss_cls: 0.0841, d4.loss_bbox: 0.2822, d5.loss_cls: 0.0829, d5.loss_bbox: 0.2808, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6482, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4982, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4510, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4356, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4270, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4260, d0.loss_map_cls_all: 0.1628, d0.loss_map_pts_all: 1.0880, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1628, d0.loss_map_pts: 1.0880, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1320, d1.loss_map_pts: 0.7662, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1059, d2.loss_map_pts: 0.5921, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0944, d3.loss_map_pts: 0.5216, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0874, d4.loss_map_pts: 0.4973, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0826, d5.loss_map_pts: 0.4908, d5.loss_map_dir: 0.0060, loss: 21.0821, grad_norm: 136.0726 +2026-03-01 00:57:51,265 - DriveTransformer - INFO - Epoch [11][30650/39528] lr: 6.331e-05, eta: 4 days, 10:10:02, time: 0.755, data_time: 0.044, memory: 19865, loss_cls: 0.0854, loss_bbox: 0.2672, loss_traj: 0.4252, loss_traj_cls: 0.0020, loss_map_cls: 0.0821, loss_map_pts: 0.4719, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.7939, d0.loss_plan_l1_fix_dist: 0.4124, d1.loss_plan_l1_fix_time: 0.7697, d1.loss_plan_l1_fix_dist: 0.2440, d2.loss_plan_l1_fix_time: 0.7610, d2.loss_plan_l1_fix_dist: 0.2186, d3.loss_plan_l1_fix_time: 0.7645, d3.loss_plan_l1_fix_dist: 0.2457, d4.loss_plan_l1_fix_time: 0.7673, d4.loss_plan_l1_fix_dist: 0.1963, d5.loss_plan_l1_fix_time: 0.7707, d5.loss_plan_l1_fix_dist: 0.2033, d6.loss_plan_l1_fix_time: 0.7750, d6.loss_plan_l1_fix_dist: 0.2825, d0.loss_cls_all: 0.1230, d0.loss_bbox_all: 0.3203, d0.loss_cls: 0.1230, d0.loss_bbox: 0.3203, d1.loss_cls: 0.1154, d1.loss_bbox: 0.2948, d2.loss_cls: 0.1059, d2.loss_bbox: 0.2758, d3.loss_cls: 0.0909, d3.loss_bbox: 0.2708, d4.loss_cls: 0.0889, d4.loss_bbox: 0.2672, d5.loss_cls: 0.0859, d5.loss_bbox: 0.2671, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6388, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4925, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4463, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4359, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4334, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4282, d0.loss_map_cls_all: 0.1623, d0.loss_map_pts_all: 0.9836, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1623, d0.loss_map_pts: 0.9836, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1289, d1.loss_map_pts: 0.6976, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1085, d2.loss_map_pts: 0.5486, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.0957, d3.loss_map_pts: 0.5006, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0898, d4.loss_map_pts: 0.4801, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0845, d5.loss_map_pts: 0.4717, d5.loss_map_dir: 0.0062, loss: 21.7160, grad_norm: 136.3218 +2026-03-01 00:58:27,126 - DriveTransformer - INFO - Epoch [11][30700/39528] lr: 6.331e-05, eta: 4 days, 10:09:24, time: 0.717, data_time: 0.039, memory: 19865, loss_cls: 0.0883, loss_bbox: 0.2795, loss_traj: 0.4467, loss_traj_cls: 0.0020, loss_map_cls: 0.1009, loss_map_pts: 0.4438, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.4329, d0.loss_plan_l1_fix_dist: 0.3940, d1.loss_plan_l1_fix_time: 0.7135, d1.loss_plan_l1_fix_dist: 0.2204, d2.loss_plan_l1_fix_time: 0.7052, d2.loss_plan_l1_fix_dist: 0.2067, d3.loss_plan_l1_fix_time: 0.7085, d3.loss_plan_l1_fix_dist: 0.2256, d4.loss_plan_l1_fix_time: 0.7105, d4.loss_plan_l1_fix_dist: 0.1942, d5.loss_plan_l1_fix_time: 0.7131, d5.loss_plan_l1_fix_dist: 0.1965, d6.loss_plan_l1_fix_time: 0.7158, d6.loss_plan_l1_fix_dist: 0.2946, d0.loss_cls_all: 0.1286, d0.loss_bbox_all: 0.3475, d0.loss_cls: 0.1286, d0.loss_bbox: 0.3475, d1.loss_cls: 0.1294, d1.loss_bbox: 0.3082, d2.loss_cls: 0.1152, d2.loss_bbox: 0.2897, d3.loss_cls: 0.0962, d3.loss_bbox: 0.2842, d4.loss_cls: 0.0902, d4.loss_bbox: 0.2813, d5.loss_cls: 0.0883, d5.loss_bbox: 0.2806, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6326, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5056, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4624, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4488, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4443, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4447, d0.loss_map_cls_all: 0.1771, d0.loss_map_pts_all: 0.9237, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1771, d0.loss_map_pts: 0.9237, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1419, d1.loss_map_pts: 0.6567, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1233, d2.loss_map_pts: 0.5174, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1110, d3.loss_map_pts: 0.4660, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1072, d4.loss_map_pts: 0.4486, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.1026, d5.loss_map_pts: 0.4437, d5.loss_map_dir: 0.0054, loss: 21.0151, grad_norm: 137.4433 +2026-03-01 00:59:03,605 - DriveTransformer - INFO - Epoch [11][30750/39528] lr: 6.331e-05, eta: 4 days, 10:08:47, time: 0.730, data_time: 0.038, memory: 19865, loss_cls: 0.0960, loss_bbox: 0.2888, loss_traj: 0.4712, loss_traj_cls: 0.0020, loss_map_cls: 0.0870, loss_map_pts: 0.4930, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.5096, d0.loss_plan_l1_fix_dist: 0.5258, d1.loss_plan_l1_fix_time: 0.7168, d1.loss_plan_l1_fix_dist: 0.2339, d2.loss_plan_l1_fix_time: 0.7099, d2.loss_plan_l1_fix_dist: 0.2446, d3.loss_plan_l1_fix_time: 0.7034, d3.loss_plan_l1_fix_dist: 0.2266, d4.loss_plan_l1_fix_time: 0.7067, d4.loss_plan_l1_fix_dist: 0.2196, d5.loss_plan_l1_fix_time: 0.7091, d5.loss_plan_l1_fix_dist: 0.2337, d6.loss_plan_l1_fix_time: 0.7114, d6.loss_plan_l1_fix_dist: 0.2975, d0.loss_cls_all: 0.1477, d0.loss_bbox_all: 0.3526, d0.loss_cls: 0.1477, d0.loss_bbox: 0.3526, d1.loss_cls: 0.1410, d1.loss_bbox: 0.3211, d2.loss_cls: 0.1242, d2.loss_bbox: 0.2994, d3.loss_cls: 0.1060, d3.loss_bbox: 0.2929, d4.loss_cls: 0.0983, d4.loss_bbox: 0.2902, d5.loss_cls: 0.0970, d5.loss_bbox: 0.2891, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7188, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5613, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5017, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4874, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4795, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4746, d0.loss_map_cls_all: 0.1647, d0.loss_map_pts_all: 0.9722, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1647, d0.loss_map_pts: 0.9722, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1366, d1.loss_map_pts: 0.7035, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1134, d2.loss_map_pts: 0.5624, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1008, d3.loss_map_pts: 0.5146, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.0951, d4.loss_map_pts: 0.4960, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0897, d5.loss_map_pts: 0.4930, d5.loss_map_dir: 0.0065, loss: 22.1058, grad_norm: 136.8195 +2026-03-01 00:59:40,812 - DriveTransformer - INFO - Epoch [11][30800/39528] lr: 6.331e-05, eta: 4 days, 10:08:12, time: 0.746, data_time: 0.036, memory: 19865, loss_cls: 0.0923, loss_bbox: 0.2784, loss_traj: 0.4059, loss_traj_cls: 0.0020, loss_map_cls: 0.1004, loss_map_pts: 0.5832, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.9186, d0.loss_plan_l1_fix_dist: 0.4371, d1.loss_plan_l1_fix_time: 0.6757, d1.loss_plan_l1_fix_dist: 0.2054, d2.loss_plan_l1_fix_time: 0.6556, d2.loss_plan_l1_fix_dist: 0.2335, d3.loss_plan_l1_fix_time: 0.6577, d3.loss_plan_l1_fix_dist: 0.1904, d4.loss_plan_l1_fix_time: 0.6602, d4.loss_plan_l1_fix_dist: 0.2092, d5.loss_plan_l1_fix_time: 0.6622, d5.loss_plan_l1_fix_dist: 0.2495, d6.loss_plan_l1_fix_time: 0.6643, d6.loss_plan_l1_fix_dist: 0.2723, d0.loss_cls_all: 0.1419, d0.loss_bbox_all: 0.3554, d0.loss_cls: 0.1419, d0.loss_bbox: 0.3554, d1.loss_cls: 0.1352, d1.loss_bbox: 0.3171, d2.loss_cls: 0.1193, d2.loss_bbox: 0.2943, d3.loss_cls: 0.0991, d3.loss_bbox: 0.2849, d4.loss_cls: 0.0942, d4.loss_bbox: 0.2808, d5.loss_cls: 0.0926, d5.loss_bbox: 0.2788, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6224, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4714, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4325, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4136, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4098, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4080, d0.loss_map_cls_all: 0.1934, d0.loss_map_pts_all: 1.1706, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1934, d0.loss_map_pts: 1.1706, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1585, d1.loss_map_pts: 0.8520, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1305, d2.loss_map_pts: 0.6778, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1163, d3.loss_map_pts: 0.6111, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1086, d4.loss_map_pts: 0.5914, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1024, d5.loss_map_pts: 0.5840, d5.loss_map_dir: 0.0077, loss: 22.6288, grad_norm: 138.7843 +2026-03-01 01:00:17,396 - DriveTransformer - INFO - Epoch [11][30850/39528] lr: 6.331e-05, eta: 4 days, 10:07:36, time: 0.730, data_time: 0.040, memory: 19865, loss_cls: 0.0797, loss_bbox: 0.2624, loss_traj: 0.4905, loss_traj_cls: 0.0020, loss_map_cls: 0.0888, loss_map_pts: 0.4347, loss_map_dir: 0.0045, d0.loss_plan_l1_fix_time: 2.5733, d0.loss_plan_l1_fix_dist: 0.4978, d1.loss_plan_l1_fix_time: 0.6540, d1.loss_plan_l1_fix_dist: 0.1840, d2.loss_plan_l1_fix_time: 0.6388, d2.loss_plan_l1_fix_dist: 0.2306, d3.loss_plan_l1_fix_time: 0.6407, d3.loss_plan_l1_fix_dist: 0.1897, d4.loss_plan_l1_fix_time: 0.6424, d4.loss_plan_l1_fix_dist: 0.2043, d5.loss_plan_l1_fix_time: 0.6450, d5.loss_plan_l1_fix_dist: 0.2570, d6.loss_plan_l1_fix_time: 0.6485, d6.loss_plan_l1_fix_dist: 0.2311, d0.loss_cls_all: 0.1172, d0.loss_bbox_all: 0.3267, d0.loss_cls: 0.1172, d0.loss_bbox: 0.3267, d1.loss_cls: 0.1066, d1.loss_bbox: 0.2921, d2.loss_cls: 0.0971, d2.loss_bbox: 0.2701, d3.loss_cls: 0.0858, d3.loss_bbox: 0.2652, d4.loss_cls: 0.0824, d4.loss_bbox: 0.2632, d5.loss_cls: 0.0805, d5.loss_bbox: 0.2621, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7266, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5605, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5131, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4990, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4952, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4945, d0.loss_map_cls_all: 0.1652, d0.loss_map_pts_all: 0.8966, d0.loss_map_dir_all: 0.0045, d0.loss_map_cls: 0.1652, d0.loss_map_pts: 0.8966, d0.loss_map_dir: 0.0045, d1.loss_map_cls: 0.1374, d1.loss_map_pts: 0.6596, d1.loss_map_dir: 0.0043, d2.loss_map_cls: 0.1119, d2.loss_map_pts: 0.5222, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.1017, d3.loss_map_pts: 0.4640, d3.loss_map_dir: 0.0043, d4.loss_map_cls: 0.0962, d4.loss_map_pts: 0.4421, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0904, d5.loss_map_pts: 0.4354, d5.loss_map_dir: 0.0045, loss: 20.8020, grad_norm: 136.8653 +2026-03-01 01:00:53,949 - DriveTransformer - INFO - Epoch [11][30900/39528] lr: 6.331e-05, eta: 4 days, 10:06:59, time: 0.731, data_time: 0.037, memory: 19865, loss_cls: 0.0848, loss_bbox: 0.2744, loss_traj: 0.4378, loss_traj_cls: 0.0021, loss_map_cls: 0.0924, loss_map_pts: 0.4480, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.6417, d0.loss_plan_l1_fix_dist: 0.5153, d1.loss_plan_l1_fix_time: 0.7893, d1.loss_plan_l1_fix_dist: 0.1880, d2.loss_plan_l1_fix_time: 0.7670, d2.loss_plan_l1_fix_dist: 0.2349, d3.loss_plan_l1_fix_time: 0.7614, d3.loss_plan_l1_fix_dist: 0.2105, d4.loss_plan_l1_fix_time: 0.7632, d4.loss_plan_l1_fix_dist: 0.2170, d5.loss_plan_l1_fix_time: 0.7659, d5.loss_plan_l1_fix_dist: 0.2784, d6.loss_plan_l1_fix_time: 0.7686, d6.loss_plan_l1_fix_dist: 0.2178, d0.loss_cls_all: 0.1288, d0.loss_bbox_all: 0.3369, d0.loss_cls: 0.1288, d0.loss_bbox: 0.3369, d1.loss_cls: 0.1229, d1.loss_bbox: 0.3070, d2.loss_cls: 0.1069, d2.loss_bbox: 0.2850, d3.loss_cls: 0.0901, d3.loss_bbox: 0.2781, d4.loss_cls: 0.0869, d4.loss_bbox: 0.2763, d5.loss_cls: 0.0851, d5.loss_bbox: 0.2758, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6592, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5040, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4586, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4486, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4453, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4392, d0.loss_map_cls_all: 0.1644, d0.loss_map_pts_all: 0.9556, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1644, d0.loss_map_pts: 0.9556, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1363, d1.loss_map_pts: 0.6664, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1137, d2.loss_map_pts: 0.5282, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1033, d3.loss_map_pts: 0.4754, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0976, d4.loss_map_pts: 0.4578, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0929, d5.loss_map_pts: 0.4488, d5.loss_map_dir: 0.0059, loss: 21.6724, grad_norm: 136.8229 +2026-03-01 01:01:31,942 - DriveTransformer - INFO - Epoch [11][30950/39528] lr: 6.331e-05, eta: 4 days, 10:06:26, time: 0.760, data_time: 0.037, memory: 19865, loss_cls: 0.0937, loss_bbox: 0.2900, loss_traj: 0.4346, loss_traj_cls: 0.0021, loss_map_cls: 0.1110, loss_map_pts: 0.5493, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.8794, d0.loss_plan_l1_fix_dist: 0.5620, d1.loss_plan_l1_fix_time: 0.7302, d1.loss_plan_l1_fix_dist: 0.2099, d2.loss_plan_l1_fix_time: 0.7127, d2.loss_plan_l1_fix_dist: 0.2451, d3.loss_plan_l1_fix_time: 0.7089, d3.loss_plan_l1_fix_dist: 0.2347, d4.loss_plan_l1_fix_time: 0.7110, d4.loss_plan_l1_fix_dist: 0.2204, d5.loss_plan_l1_fix_time: 0.7132, d5.loss_plan_l1_fix_dist: 0.2897, d6.loss_plan_l1_fix_time: 0.7153, d6.loss_plan_l1_fix_dist: 0.2370, d0.loss_cls_all: 0.1425, d0.loss_bbox_all: 0.3556, d0.loss_cls: 0.1425, d0.loss_bbox: 0.3556, d1.loss_cls: 0.1363, d1.loss_bbox: 0.3207, d2.loss_cls: 0.1232, d2.loss_bbox: 0.2992, d3.loss_cls: 0.1052, d3.loss_bbox: 0.2931, d4.loss_cls: 0.0964, d4.loss_bbox: 0.2915, d5.loss_cls: 0.0953, d5.loss_bbox: 0.2893, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6898, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5339, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4769, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4522, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4443, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4405, d0.loss_map_cls_all: 0.1843, d0.loss_map_pts_all: 1.1332, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1843, d0.loss_map_pts: 1.1332, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1515, d1.loss_map_pts: 0.8105, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1346, d2.loss_map_pts: 0.6359, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1227, d3.loss_map_pts: 0.5743, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1162, d4.loss_map_pts: 0.5548, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1112, d5.loss_map_pts: 0.5494, d5.loss_map_dir: 0.0072, loss: 23.1930, grad_norm: 136.5650 +2026-03-01 01:02:08,042 - DriveTransformer - INFO - Epoch [11][31000/39528] lr: 6.331e-05, eta: 4 days, 10:05:49, time: 0.722, data_time: 0.037, memory: 19865, loss_cls: 0.0913, loss_bbox: 0.2778, loss_traj: 0.4955, loss_traj_cls: 0.0020, loss_map_cls: 0.0855, loss_map_pts: 0.4664, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.1830, d0.loss_plan_l1_fix_dist: 0.4112, d1.loss_plan_l1_fix_time: 0.6581, d1.loss_plan_l1_fix_dist: 0.1970, d2.loss_plan_l1_fix_time: 0.6449, d2.loss_plan_l1_fix_dist: 0.2216, d3.loss_plan_l1_fix_time: 0.6325, d3.loss_plan_l1_fix_dist: 0.2202, d4.loss_plan_l1_fix_time: 0.6356, d4.loss_plan_l1_fix_dist: 0.1876, d5.loss_plan_l1_fix_time: 0.6388, d5.loss_plan_l1_fix_dist: 0.2729, d6.loss_plan_l1_fix_time: 0.6426, d6.loss_plan_l1_fix_dist: 0.2213, d0.loss_cls_all: 0.1254, d0.loss_bbox_all: 0.3312, d0.loss_cls: 0.1254, d0.loss_bbox: 0.3312, d1.loss_cls: 0.1219, d1.loss_bbox: 0.3036, d2.loss_cls: 0.1122, d2.loss_bbox: 0.2848, d3.loss_cls: 0.0937, d3.loss_bbox: 0.2805, d4.loss_cls: 0.0913, d4.loss_bbox: 0.2787, d5.loss_cls: 0.0901, d5.loss_bbox: 0.2775, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7311, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5657, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5309, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5138, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5052, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4986, d0.loss_map_cls_all: 0.1583, d0.loss_map_pts_all: 0.9790, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1583, d0.loss_map_pts: 0.9790, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1318, d1.loss_map_pts: 0.7013, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1103, d2.loss_map_pts: 0.5490, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.0982, d3.loss_map_pts: 0.4876, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0920, d4.loss_map_pts: 0.4695, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0883, d5.loss_map_pts: 0.4652, d5.loss_map_dir: 0.0059, loss: 20.8982, grad_norm: 137.2778 +2026-03-01 01:02:44,361 - DriveTransformer - INFO - Epoch [11][31050/39528] lr: 6.331e-05, eta: 4 days, 10:05:11, time: 0.726, data_time: 0.037, memory: 19865, loss_cls: 0.0815, loss_bbox: 0.2727, loss_traj: 0.4328, loss_traj_cls: 0.0020, loss_map_cls: 0.0841, loss_map_pts: 0.4574, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.6920, d0.loss_plan_l1_fix_dist: 0.4112, d1.loss_plan_l1_fix_time: 0.7717, d1.loss_plan_l1_fix_dist: 0.2054, d2.loss_plan_l1_fix_time: 0.7489, d2.loss_plan_l1_fix_dist: 0.2151, d3.loss_plan_l1_fix_time: 0.7375, d3.loss_plan_l1_fix_dist: 0.2070, d4.loss_plan_l1_fix_time: 0.7388, d4.loss_plan_l1_fix_dist: 0.1715, d5.loss_plan_l1_fix_time: 0.7410, d5.loss_plan_l1_fix_dist: 0.2560, d6.loss_plan_l1_fix_time: 0.7435, d6.loss_plan_l1_fix_dist: 0.2012, d0.loss_cls_all: 0.1280, d0.loss_bbox_all: 0.3400, d0.loss_cls: 0.1280, d0.loss_bbox: 0.3400, d1.loss_cls: 0.1192, d1.loss_bbox: 0.3083, d2.loss_cls: 0.1085, d2.loss_bbox: 0.2843, d3.loss_cls: 0.0891, d3.loss_bbox: 0.2770, d4.loss_cls: 0.0829, d4.loss_bbox: 0.2751, d5.loss_cls: 0.0814, d5.loss_bbox: 0.2728, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6570, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5021, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4538, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4438, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4354, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4313, d0.loss_map_cls_all: 0.1658, d0.loss_map_pts_all: 0.9906, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1658, d0.loss_map_pts: 0.9906, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1309, d1.loss_map_pts: 0.6915, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1086, d2.loss_map_pts: 0.5348, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.0963, d3.loss_map_pts: 0.4794, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0903, d4.loss_map_pts: 0.4622, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0861, d5.loss_map_pts: 0.4571, d5.loss_map_dir: 0.0058, loss: 21.4321, grad_norm: 137.5741 +2026-03-01 01:03:19,980 - DriveTransformer - INFO - Epoch [11][31100/39528] lr: 6.331e-05, eta: 4 days, 10:04:32, time: 0.712, data_time: 0.036, memory: 19865, loss_cls: 0.0876, loss_bbox: 0.2665, loss_traj: 0.4190, loss_traj_cls: 0.0021, loss_map_cls: 0.0794, loss_map_pts: 0.4545, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.5877, d0.loss_plan_l1_fix_dist: 0.4097, d1.loss_plan_l1_fix_time: 0.7302, d1.loss_plan_l1_fix_dist: 0.2121, d2.loss_plan_l1_fix_time: 0.7130, d2.loss_plan_l1_fix_dist: 0.2246, d3.loss_plan_l1_fix_time: 0.7109, d3.loss_plan_l1_fix_dist: 0.2236, d4.loss_plan_l1_fix_time: 0.7130, d4.loss_plan_l1_fix_dist: 0.1796, d5.loss_plan_l1_fix_time: 0.7150, d5.loss_plan_l1_fix_dist: 0.2495, d6.loss_plan_l1_fix_time: 0.7176, d6.loss_plan_l1_fix_dist: 0.2313, d0.loss_cls_all: 0.1316, d0.loss_bbox_all: 0.3330, d0.loss_cls: 0.1316, d0.loss_bbox: 0.3330, d1.loss_cls: 0.1242, d1.loss_bbox: 0.3013, d2.loss_cls: 0.1087, d2.loss_bbox: 0.2784, d3.loss_cls: 0.0931, d3.loss_bbox: 0.2738, d4.loss_cls: 0.0872, d4.loss_bbox: 0.2711, d5.loss_cls: 0.0868, d5.loss_bbox: 0.2674, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6284, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4926, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4424, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4305, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4174, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4145, d0.loss_map_cls_all: 0.1672, d0.loss_map_pts_all: 0.9355, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1672, d0.loss_map_pts: 0.9355, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1295, d1.loss_map_pts: 0.6619, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1053, d2.loss_map_pts: 0.5216, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0940, d3.loss_map_pts: 0.4716, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0871, d4.loss_map_pts: 0.4538, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0818, d5.loss_map_pts: 0.4520, d5.loss_map_dir: 0.0056, loss: 20.8894, grad_norm: 152.1022 +2026-03-01 01:03:55,759 - DriveTransformer - INFO - Epoch [11][31150/39528] lr: 6.331e-05, eta: 4 days, 10:03:53, time: 0.716, data_time: 0.038, memory: 19865, loss_cls: 0.0973, loss_bbox: 0.3038, loss_traj: 0.4716, loss_traj_cls: 0.0020, loss_map_cls: 0.1121, loss_map_pts: 0.5005, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.6750, d0.loss_plan_l1_fix_dist: 0.4356, d1.loss_plan_l1_fix_time: 0.7414, d1.loss_plan_l1_fix_dist: 0.2333, d2.loss_plan_l1_fix_time: 0.7285, d2.loss_plan_l1_fix_dist: 0.2394, d3.loss_plan_l1_fix_time: 0.7306, d3.loss_plan_l1_fix_dist: 0.2445, d4.loss_plan_l1_fix_time: 0.7320, d4.loss_plan_l1_fix_dist: 0.1915, d5.loss_plan_l1_fix_time: 0.7340, d5.loss_plan_l1_fix_dist: 0.2565, d6.loss_plan_l1_fix_time: 0.7364, d6.loss_plan_l1_fix_dist: 0.2487, d0.loss_cls_all: 0.1443, d0.loss_bbox_all: 0.3689, d0.loss_cls: 0.1443, d0.loss_bbox: 0.3689, d1.loss_cls: 0.1383, d1.loss_bbox: 0.3364, d2.loss_cls: 0.1224, d2.loss_bbox: 0.3139, d3.loss_cls: 0.1016, d3.loss_bbox: 0.3101, d4.loss_cls: 0.0990, d4.loss_bbox: 0.3058, d5.loss_cls: 0.0972, d5.loss_bbox: 0.3045, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7284, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5687, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4944, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4729, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4724, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4702, d0.loss_map_cls_all: 0.2038, d0.loss_map_pts_all: 1.0477, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.2038, d0.loss_map_pts: 1.0477, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1663, d1.loss_map_pts: 0.7510, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1392, d2.loss_map_pts: 0.5914, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1270, d3.loss_map_pts: 0.5266, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1196, d4.loss_map_pts: 0.5054, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.1144, d5.loss_map_pts: 0.4989, d5.loss_map_dir: 0.0052, loss: 22.8677, grad_norm: 152.8890 +2026-03-01 01:04:32,836 - DriveTransformer - INFO - Epoch [11][31200/39528] lr: 6.331e-05, eta: 4 days, 10:03:18, time: 0.741, data_time: 0.039, memory: 19865, loss_cls: 0.0876, loss_bbox: 0.2912, loss_traj: 0.5465, loss_traj_cls: 0.0020, loss_map_cls: 0.1002, loss_map_pts: 0.5213, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.9665, d0.loss_plan_l1_fix_dist: 0.3715, d1.loss_plan_l1_fix_time: 0.8565, d1.loss_plan_l1_fix_dist: 0.2175, d2.loss_plan_l1_fix_time: 0.8534, d2.loss_plan_l1_fix_dist: 0.2379, d3.loss_plan_l1_fix_time: 0.8417, d3.loss_plan_l1_fix_dist: 0.2268, d4.loss_plan_l1_fix_time: 0.8428, d4.loss_plan_l1_fix_dist: 0.1955, d5.loss_plan_l1_fix_time: 0.8440, d5.loss_plan_l1_fix_dist: 0.2291, d6.loss_plan_l1_fix_time: 0.8452, d6.loss_plan_l1_fix_dist: 0.2276, d0.loss_cls_all: 0.1407, d0.loss_bbox_all: 0.3550, d0.loss_cls: 0.1407, d0.loss_bbox: 0.3550, d1.loss_cls: 0.1333, d1.loss_bbox: 0.3224, d2.loss_cls: 0.1156, d2.loss_bbox: 0.3040, d3.loss_cls: 0.0976, d3.loss_bbox: 0.2979, d4.loss_cls: 0.0894, d4.loss_bbox: 0.2939, d5.loss_cls: 0.0882, d5.loss_bbox: 0.2918, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8079, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.6411, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5855, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5624, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5551, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5463, d0.loss_map_cls_all: 0.1835, d0.loss_map_pts_all: 1.0731, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1835, d0.loss_map_pts: 1.0731, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1503, d1.loss_map_pts: 0.7597, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1292, d2.loss_map_pts: 0.5981, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1155, d3.loss_map_pts: 0.5448, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1078, d4.loss_map_pts: 0.5248, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1029, d5.loss_map_pts: 0.5213, d5.loss_map_dir: 0.0068, loss: 24.1556, grad_norm: 151.5850 +2026-03-01 01:05:09,225 - DriveTransformer - INFO - Epoch [11][31250/39528] lr: 6.331e-05, eta: 4 days, 10:02:41, time: 0.728, data_time: 0.037, memory: 19865, loss_cls: 0.0961, loss_bbox: 0.2824, loss_traj: 0.4594, loss_traj_cls: 0.0020, loss_map_cls: 0.0985, loss_map_pts: 0.5174, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.7951, d0.loss_plan_l1_fix_dist: 0.3935, d1.loss_plan_l1_fix_time: 0.7796, d1.loss_plan_l1_fix_dist: 0.1953, d2.loss_plan_l1_fix_time: 0.7646, d2.loss_plan_l1_fix_dist: 0.2156, d3.loss_plan_l1_fix_time: 0.7472, d3.loss_plan_l1_fix_dist: 0.2047, d4.loss_plan_l1_fix_time: 0.7473, d4.loss_plan_l1_fix_dist: 0.1945, d5.loss_plan_l1_fix_time: 0.7488, d5.loss_plan_l1_fix_dist: 0.2137, d6.loss_plan_l1_fix_time: 0.7505, d6.loss_plan_l1_fix_dist: 0.2403, d0.loss_cls_all: 0.1404, d0.loss_bbox_all: 0.3591, d0.loss_cls: 0.1404, d0.loss_bbox: 0.3591, d1.loss_cls: 0.1342, d1.loss_bbox: 0.3218, d2.loss_cls: 0.1194, d2.loss_bbox: 0.2972, d3.loss_cls: 0.1025, d3.loss_bbox: 0.2899, d4.loss_cls: 0.0978, d4.loss_bbox: 0.2858, d5.loss_cls: 0.0962, d5.loss_bbox: 0.2833, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7195, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5385, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4818, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4662, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4588, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4579, d0.loss_map_cls_all: 0.1775, d0.loss_map_pts_all: 1.1123, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1775, d0.loss_map_pts: 1.1123, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1482, d1.loss_map_pts: 0.7918, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1227, d2.loss_map_pts: 0.6147, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1127, d3.loss_map_pts: 0.5481, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1069, d4.loss_map_pts: 0.5236, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1018, d5.loss_map_pts: 0.5172, d5.loss_map_dir: 0.0058, loss: 22.8161, grad_norm: 154.0949 +2026-03-01 01:05:46,445 - DriveTransformer - INFO - Epoch [11][31300/39528] lr: 6.331e-05, eta: 4 days, 10:02:07, time: 0.744, data_time: 0.037, memory: 19865, loss_cls: 0.0842, loss_bbox: 0.2786, loss_traj: 0.4738, loss_traj_cls: 0.0020, loss_map_cls: 0.0949, loss_map_pts: 0.4882, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.7227, d0.loss_plan_l1_fix_dist: 0.3887, d1.loss_plan_l1_fix_time: 0.7934, d1.loss_plan_l1_fix_dist: 0.1749, d2.loss_plan_l1_fix_time: 0.7757, d2.loss_plan_l1_fix_dist: 0.2005, d3.loss_plan_l1_fix_time: 0.7710, d3.loss_plan_l1_fix_dist: 0.1911, d4.loss_plan_l1_fix_time: 0.7719, d4.loss_plan_l1_fix_dist: 0.2006, d5.loss_plan_l1_fix_time: 0.7738, d5.loss_plan_l1_fix_dist: 0.2150, d6.loss_plan_l1_fix_time: 0.7756, d6.loss_plan_l1_fix_dist: 0.2556, d0.loss_cls_all: 0.1254, d0.loss_bbox_all: 0.3497, d0.loss_cls: 0.1254, d0.loss_bbox: 0.3497, d1.loss_cls: 0.1198, d1.loss_bbox: 0.3139, d2.loss_cls: 0.1117, d2.loss_bbox: 0.2857, d3.loss_cls: 0.0940, d3.loss_bbox: 0.2816, d4.loss_cls: 0.0868, d4.loss_bbox: 0.2789, d5.loss_cls: 0.0848, d5.loss_bbox: 0.2788, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7098, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5465, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5040, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4816, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4764, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4724, d0.loss_map_cls_all: 0.1634, d0.loss_map_pts_all: 1.0028, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1634, d0.loss_map_pts: 1.0028, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1344, d1.loss_map_pts: 0.7071, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1156, d2.loss_map_pts: 0.5642, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1072, d3.loss_map_pts: 0.5132, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1002, d4.loss_map_pts: 0.4954, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0958, d5.loss_map_pts: 0.4900, d5.loss_map_dir: 0.0062, loss: 22.2208, grad_norm: 152.3554 +2026-03-01 01:06:23,278 - DriveTransformer - INFO - Epoch [11][31350/39528] lr: 6.331e-05, eta: 4 days, 10:01:31, time: 0.737, data_time: 0.039, memory: 19865, loss_cls: 0.0922, loss_bbox: 0.2818, loss_traj: 0.4880, loss_traj_cls: 0.0020, loss_map_cls: 0.1049, loss_map_pts: 0.5328, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.7619, d0.loss_plan_l1_fix_dist: 0.4308, d1.loss_plan_l1_fix_time: 0.7475, d1.loss_plan_l1_fix_dist: 0.1588, d2.loss_plan_l1_fix_time: 0.7316, d2.loss_plan_l1_fix_dist: 0.1827, d3.loss_plan_l1_fix_time: 0.7193, d3.loss_plan_l1_fix_dist: 0.1866, d4.loss_plan_l1_fix_time: 0.7199, d4.loss_plan_l1_fix_dist: 0.1886, d5.loss_plan_l1_fix_time: 0.7209, d5.loss_plan_l1_fix_dist: 0.2127, d6.loss_plan_l1_fix_time: 0.7224, d6.loss_plan_l1_fix_dist: 0.2300, d0.loss_cls_all: 0.1347, d0.loss_bbox_all: 0.3550, d0.loss_cls: 0.1347, d0.loss_bbox: 0.3550, d1.loss_cls: 0.1307, d1.loss_bbox: 0.3182, d2.loss_cls: 0.1147, d2.loss_bbox: 0.2948, d3.loss_cls: 0.0963, d3.loss_bbox: 0.2876, d4.loss_cls: 0.0927, d4.loss_bbox: 0.2834, d5.loss_cls: 0.0928, d5.loss_bbox: 0.2811, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7759, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5837, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5227, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4993, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4928, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4897, d0.loss_map_cls_all: 0.1935, d0.loss_map_pts_all: 1.1058, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1935, d0.loss_map_pts: 1.1058, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1587, d1.loss_map_pts: 0.7794, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1313, d2.loss_map_pts: 0.6219, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1210, d3.loss_map_pts: 0.5626, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1135, d4.loss_map_pts: 0.5380, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1078, d5.loss_map_pts: 0.5328, d5.loss_map_dir: 0.0065, loss: 22.8747, grad_norm: 152.5162 +2026-03-01 01:06:58,268 - DriveTransformer - INFO - Epoch [11][31400/39528] lr: 6.331e-05, eta: 4 days, 10:00:50, time: 0.700, data_time: 0.040, memory: 19865, loss_cls: 0.0864, loss_bbox: 0.2879, loss_traj: 0.4995, loss_traj_cls: 0.0020, loss_map_cls: 0.1013, loss_map_pts: 0.4726, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.6341, d0.loss_plan_l1_fix_dist: 0.3908, d1.loss_plan_l1_fix_time: 0.7457, d1.loss_plan_l1_fix_dist: 0.1453, d2.loss_plan_l1_fix_time: 0.7317, d2.loss_plan_l1_fix_dist: 0.1729, d3.loss_plan_l1_fix_time: 0.7444, d3.loss_plan_l1_fix_dist: 0.1876, d4.loss_plan_l1_fix_time: 0.7469, d4.loss_plan_l1_fix_dist: 0.1873, d5.loss_plan_l1_fix_time: 0.7486, d5.loss_plan_l1_fix_dist: 0.2144, d6.loss_plan_l1_fix_time: 0.7507, d6.loss_plan_l1_fix_dist: 0.2150, d0.loss_cls_all: 0.1373, d0.loss_bbox_all: 0.3499, d0.loss_cls: 0.1373, d0.loss_bbox: 0.3499, d1.loss_cls: 0.1276, d1.loss_bbox: 0.3168, d2.loss_cls: 0.1158, d2.loss_bbox: 0.2913, d3.loss_cls: 0.0936, d3.loss_bbox: 0.2894, d4.loss_cls: 0.0872, d4.loss_bbox: 0.2872, d5.loss_cls: 0.0861, d5.loss_bbox: 0.2877, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7234, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5840, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5420, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5166, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5053, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5022, d0.loss_map_cls_all: 0.1966, d0.loss_map_pts_all: 1.0275, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1966, d0.loss_map_pts: 1.0275, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1577, d1.loss_map_pts: 0.7400, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1280, d2.loss_map_pts: 0.5737, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.1156, d3.loss_map_pts: 0.5037, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.1092, d4.loss_map_pts: 0.4779, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.1024, d5.loss_map_pts: 0.4734, d5.loss_map_dir: 0.0048, loss: 22.2695, grad_norm: 150.7690 +2026-03-01 01:07:35,634 - DriveTransformer - INFO - Epoch [11][31450/39528] lr: 6.331e-05, eta: 4 days, 10:00:16, time: 0.747, data_time: 0.038, memory: 19865, loss_cls: 0.0991, loss_bbox: 0.2976, loss_traj: 0.5226, loss_traj_cls: 0.0021, loss_map_cls: 0.0809, loss_map_pts: 0.5082, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.3845, d0.loss_plan_l1_fix_dist: 0.3463, d1.loss_plan_l1_fix_time: 0.6853, d1.loss_plan_l1_fix_dist: 0.1626, d2.loss_plan_l1_fix_time: 0.6741, d2.loss_plan_l1_fix_dist: 0.1841, d3.loss_plan_l1_fix_time: 0.6517, d3.loss_plan_l1_fix_dist: 0.2038, d4.loss_plan_l1_fix_time: 0.6518, d4.loss_plan_l1_fix_dist: 0.1962, d5.loss_plan_l1_fix_time: 0.6532, d5.loss_plan_l1_fix_dist: 0.2311, d6.loss_plan_l1_fix_time: 0.6552, d6.loss_plan_l1_fix_dist: 0.2217, d0.loss_cls_all: 0.1415, d0.loss_bbox_all: 0.3461, d0.loss_cls: 0.1415, d0.loss_bbox: 0.3461, d1.loss_cls: 0.1390, d1.loss_bbox: 0.3153, d2.loss_cls: 0.1251, d2.loss_bbox: 0.2995, d3.loss_cls: 0.1075, d3.loss_bbox: 0.2969, d4.loss_cls: 0.1007, d4.loss_bbox: 0.2949, d5.loss_cls: 0.0994, d5.loss_bbox: 0.2961, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7239, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5813, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5448, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5331, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5276, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5244, d0.loss_map_cls_all: 0.1703, d0.loss_map_pts_all: 1.0215, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1703, d0.loss_map_pts: 1.0215, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1316, d1.loss_map_pts: 0.7437, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1049, d2.loss_map_pts: 0.5909, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.0948, d3.loss_map_pts: 0.5356, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0882, d4.loss_map_pts: 0.5147, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0836, d5.loss_map_pts: 0.5083, d5.loss_map_dir: 0.0065, loss: 21.7326, grad_norm: 158.8229 +2026-03-01 01:08:12,757 - DriveTransformer - INFO - Epoch [11][31500/39528] lr: 6.331e-05, eta: 4 days, 9:59:41, time: 0.742, data_time: 0.038, memory: 19865, loss_cls: 0.0826, loss_bbox: 0.2886, loss_traj: 0.4344, loss_traj_cls: 0.0021, loss_map_cls: 0.1027, loss_map_pts: 0.4981, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.4175, d0.loss_plan_l1_fix_dist: 0.3775, d1.loss_plan_l1_fix_time: 0.7914, d1.loss_plan_l1_fix_dist: 0.1786, d2.loss_plan_l1_fix_time: 0.7759, d2.loss_plan_l1_fix_dist: 0.1865, d3.loss_plan_l1_fix_time: 0.7702, d3.loss_plan_l1_fix_dist: 0.2138, d4.loss_plan_l1_fix_time: 0.7719, d4.loss_plan_l1_fix_dist: 0.1921, d5.loss_plan_l1_fix_time: 0.7739, d5.loss_plan_l1_fix_dist: 0.2380, d6.loss_plan_l1_fix_time: 0.7761, d6.loss_plan_l1_fix_dist: 0.2042, d0.loss_cls_all: 0.1246, d0.loss_bbox_all: 0.3528, d0.loss_cls: 0.1246, d0.loss_bbox: 0.3528, d1.loss_cls: 0.1203, d1.loss_bbox: 0.3134, d2.loss_cls: 0.1070, d2.loss_bbox: 0.2955, d3.loss_cls: 0.0881, d3.loss_bbox: 0.2916, d4.loss_cls: 0.0846, d4.loss_bbox: 0.2884, d5.loss_cls: 0.0820, d5.loss_bbox: 0.2878, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6961, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5337, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4760, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4541, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4419, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4351, d0.loss_map_cls_all: 0.1929, d0.loss_map_pts_all: 1.0776, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1929, d0.loss_map_pts: 1.0776, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1578, d1.loss_map_pts: 0.7681, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1311, d2.loss_map_pts: 0.6014, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1192, d3.loss_map_pts: 0.5337, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1105, d4.loss_map_pts: 0.5072, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1058, d5.loss_map_pts: 0.4993, d5.loss_map_dir: 0.0060, loss: 22.1548, grad_norm: 160.2673 +2026-03-01 01:08:48,504 - DriveTransformer - INFO - Epoch [11][31550/39528] lr: 6.331e-05, eta: 4 days, 9:59:02, time: 0.715, data_time: 0.039, memory: 19865, loss_cls: 0.0972, loss_bbox: 0.3174, loss_traj: 0.5431, loss_traj_cls: 0.0020, loss_map_cls: 0.1077, loss_map_pts: 0.5088, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.7543, d0.loss_plan_l1_fix_dist: 0.4584, d1.loss_plan_l1_fix_time: 0.8160, d1.loss_plan_l1_fix_dist: 0.2082, d2.loss_plan_l1_fix_time: 0.8019, d2.loss_plan_l1_fix_dist: 0.2172, d3.loss_plan_l1_fix_time: 0.8019, d3.loss_plan_l1_fix_dist: 0.2353, d4.loss_plan_l1_fix_time: 0.8036, d4.loss_plan_l1_fix_dist: 0.2004, d5.loss_plan_l1_fix_time: 0.8057, d5.loss_plan_l1_fix_dist: 0.2536, d6.loss_plan_l1_fix_time: 0.8083, d6.loss_plan_l1_fix_dist: 0.2120, d0.loss_cls_all: 0.1498, d0.loss_bbox_all: 0.3874, d0.loss_cls: 0.1498, d0.loss_bbox: 0.3874, d1.loss_cls: 0.1428, d1.loss_bbox: 0.3494, d2.loss_cls: 0.1289, d2.loss_bbox: 0.3265, d3.loss_cls: 0.1071, d3.loss_bbox: 0.3211, d4.loss_cls: 0.0977, d4.loss_bbox: 0.3200, d5.loss_cls: 0.0964, d5.loss_bbox: 0.3175, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8082, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.6319, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5771, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5525, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5420, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5389, d0.loss_map_cls_all: 0.1854, d0.loss_map_pts_all: 1.0640, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1854, d0.loss_map_pts: 1.0640, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1559, d1.loss_map_pts: 0.7938, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1317, d2.loss_map_pts: 0.6091, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1211, d3.loss_map_pts: 0.5423, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1148, d4.loss_map_pts: 0.5181, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1097, d5.loss_map_pts: 0.5098, d5.loss_map_dir: 0.0055, loss: 24.0372, grad_norm: 160.5206 +2026-03-01 01:09:25,633 - DriveTransformer - INFO - Epoch [11][31600/39528] lr: 6.331e-05, eta: 4 days, 9:58:27, time: 0.744, data_time: 0.037, memory: 19865, loss_cls: 0.0926, loss_bbox: 0.2899, loss_traj: 0.3566, loss_traj_cls: 0.0021, loss_map_cls: 0.1021, loss_map_pts: 0.5369, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.6561, d0.loss_plan_l1_fix_dist: 0.4985, d1.loss_plan_l1_fix_time: 0.7834, d1.loss_plan_l1_fix_dist: 0.2111, d2.loss_plan_l1_fix_time: 0.7645, d2.loss_plan_l1_fix_dist: 0.2258, d3.loss_plan_l1_fix_time: 0.7618, d3.loss_plan_l1_fix_dist: 0.2380, d4.loss_plan_l1_fix_time: 0.7627, d4.loss_plan_l1_fix_dist: 0.1900, d5.loss_plan_l1_fix_time: 0.7646, d5.loss_plan_l1_fix_dist: 0.2485, d6.loss_plan_l1_fix_time: 0.7676, d6.loss_plan_l1_fix_dist: 0.2386, d0.loss_cls_all: 0.1409, d0.loss_bbox_all: 0.3438, d0.loss_cls: 0.1409, d0.loss_bbox: 0.3438, d1.loss_cls: 0.1306, d1.loss_bbox: 0.3148, d2.loss_cls: 0.1181, d2.loss_bbox: 0.2946, d3.loss_cls: 0.1010, d3.loss_bbox: 0.2899, d4.loss_cls: 0.0939, d4.loss_bbox: 0.2899, d5.loss_cls: 0.0938, d5.loss_bbox: 0.2889, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5239, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4213, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3793, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3665, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3601, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3581, d0.loss_map_cls_all: 0.1848, d0.loss_map_pts_all: 1.1296, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.1848, d0.loss_map_pts: 1.1296, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1515, d1.loss_map_pts: 0.8084, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1262, d2.loss_map_pts: 0.6280, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1168, d3.loss_map_pts: 0.5643, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1116, d4.loss_map_pts: 0.5417, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1042, d5.loss_map_pts: 0.5375, d5.loss_map_dir: 0.0075, loss: 22.2706, grad_norm: 159.6677 +2026-03-01 01:10:02,123 - DriveTransformer - INFO - Epoch [11][31650/39528] lr: 6.331e-05, eta: 4 days, 9:57:50, time: 0.728, data_time: 0.034, memory: 19865, loss_cls: 0.0913, loss_bbox: 0.2875, loss_traj: 0.5229, loss_traj_cls: 0.0021, loss_map_cls: 0.1055, loss_map_pts: 0.5121, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.7929, d0.loss_plan_l1_fix_dist: 0.4552, d1.loss_plan_l1_fix_time: 0.8820, d1.loss_plan_l1_fix_dist: 0.2100, d2.loss_plan_l1_fix_time: 0.8709, d2.loss_plan_l1_fix_dist: 0.2154, d3.loss_plan_l1_fix_time: 0.8591, d3.loss_plan_l1_fix_dist: 0.2113, d4.loss_plan_l1_fix_time: 0.8604, d4.loss_plan_l1_fix_dist: 0.1668, d5.loss_plan_l1_fix_time: 0.8620, d5.loss_plan_l1_fix_dist: 0.2275, d6.loss_plan_l1_fix_time: 0.8638, d6.loss_plan_l1_fix_dist: 0.2100, d0.loss_cls_all: 0.1432, d0.loss_bbox_all: 0.3566, d0.loss_cls: 0.1432, d0.loss_bbox: 0.3566, d1.loss_cls: 0.1354, d1.loss_bbox: 0.3161, d2.loss_cls: 0.1213, d2.loss_bbox: 0.2942, d3.loss_cls: 0.1022, d3.loss_bbox: 0.2882, d4.loss_cls: 0.0954, d4.loss_bbox: 0.2873, d5.loss_cls: 0.0912, d5.loss_bbox: 0.2878, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8356, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.6171, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5447, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5315, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5279, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5269, d0.loss_map_cls_all: 0.1865, d0.loss_map_pts_all: 1.0593, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1865, d0.loss_map_pts: 1.0593, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1511, d1.loss_map_pts: 0.7658, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1309, d2.loss_map_pts: 0.6046, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1197, d3.loss_map_pts: 0.5402, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1144, d4.loss_map_pts: 0.5175, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1082, d5.loss_map_pts: 0.5133, d5.loss_map_dir: 0.0061, loss: 23.9226, grad_norm: 157.2629 +2026-03-01 01:10:39,354 - DriveTransformer - INFO - Epoch [11][31700/39528] lr: 6.331e-05, eta: 4 days, 9:57:15, time: 0.745, data_time: 0.037, memory: 19865, loss_cls: 0.0880, loss_bbox: 0.2951, loss_traj: 0.4147, loss_traj_cls: 0.0020, loss_map_cls: 0.1173, loss_map_pts: 0.5455, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.7140, d0.loss_plan_l1_fix_dist: 0.4020, d1.loss_plan_l1_fix_time: 0.7623, d1.loss_plan_l1_fix_dist: 0.2077, d2.loss_plan_l1_fix_time: 0.7488, d2.loss_plan_l1_fix_dist: 0.2061, d3.loss_plan_l1_fix_time: 0.7399, d3.loss_plan_l1_fix_dist: 0.1999, d4.loss_plan_l1_fix_time: 0.7420, d4.loss_plan_l1_fix_dist: 0.1744, d5.loss_plan_l1_fix_time: 0.7442, d5.loss_plan_l1_fix_dist: 0.2170, d6.loss_plan_l1_fix_time: 0.7463, d6.loss_plan_l1_fix_dist: 0.2077, d0.loss_cls_all: 0.1390, d0.loss_bbox_all: 0.3675, d0.loss_cls: 0.1390, d0.loss_bbox: 0.3675, d1.loss_cls: 0.1315, d1.loss_bbox: 0.3317, d2.loss_cls: 0.1173, d2.loss_bbox: 0.3074, d3.loss_cls: 0.0979, d3.loss_bbox: 0.2992, d4.loss_cls: 0.0903, d4.loss_bbox: 0.2970, d5.loss_cls: 0.0886, d5.loss_bbox: 0.2952, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6142, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4771, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4338, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4165, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4136, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4146, d0.loss_map_cls_all: 0.2001, d0.loss_map_pts_all: 1.1893, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2001, d0.loss_map_pts: 1.1893, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1690, d1.loss_map_pts: 0.8520, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1476, d2.loss_map_pts: 0.6510, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1347, d3.loss_map_pts: 0.5807, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1258, d4.loss_map_pts: 0.5535, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1192, d5.loss_map_pts: 0.5461, d5.loss_map_dir: 0.0063, loss: 22.8279, grad_norm: 155.4997 +2026-03-01 01:11:16,553 - DriveTransformer - INFO - Epoch [11][31750/39528] lr: 6.331e-05, eta: 4 days, 9:56:41, time: 0.744, data_time: 0.039, memory: 19865, loss_cls: 0.0804, loss_bbox: 0.2952, loss_traj: 0.4710, loss_traj_cls: 0.0020, loss_map_cls: 0.1049, loss_map_pts: 0.4965, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.8504, d0.loss_plan_l1_fix_dist: 0.4765, d1.loss_plan_l1_fix_time: 0.8360, d1.loss_plan_l1_fix_dist: 0.2157, d2.loss_plan_l1_fix_time: 0.8208, d2.loss_plan_l1_fix_dist: 0.1963, d3.loss_plan_l1_fix_time: 0.8216, d3.loss_plan_l1_fix_dist: 0.2019, d4.loss_plan_l1_fix_time: 0.8230, d4.loss_plan_l1_fix_dist: 0.1884, d5.loss_plan_l1_fix_time: 0.8246, d5.loss_plan_l1_fix_dist: 0.1925, d6.loss_plan_l1_fix_time: 0.8265, d6.loss_plan_l1_fix_dist: 0.2104, d0.loss_cls_all: 0.1281, d0.loss_bbox_all: 0.3467, d0.loss_cls: 0.1281, d0.loss_bbox: 0.3467, d1.loss_cls: 0.1182, d1.loss_bbox: 0.3118, d2.loss_cls: 0.1068, d2.loss_bbox: 0.2945, d3.loss_cls: 0.0882, d3.loss_bbox: 0.2915, d4.loss_cls: 0.0830, d4.loss_bbox: 0.2916, d5.loss_cls: 0.0805, d5.loss_bbox: 0.2933, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6805, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5491, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4978, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4798, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4738, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4698, d0.loss_map_cls_all: 0.1734, d0.loss_map_pts_all: 1.0429, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1734, d0.loss_map_pts: 1.0429, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1505, d1.loss_map_pts: 0.7383, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1287, d2.loss_map_pts: 0.5761, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1188, d3.loss_map_pts: 0.5209, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1128, d4.loss_map_pts: 0.4983, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1079, d5.loss_map_pts: 0.4960, d5.loss_map_dir: 0.0062, loss: 22.9292, grad_norm: 156.2284 +2026-03-01 01:11:53,317 - DriveTransformer - INFO - Epoch [11][31800/39528] lr: 6.331e-05, eta: 4 days, 9:56:05, time: 0.735, data_time: 0.040, memory: 19865, loss_cls: 0.0886, loss_bbox: 0.2850, loss_traj: 0.4689, loss_traj_cls: 0.0021, loss_map_cls: 0.0958, loss_map_pts: 0.4930, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.5697, d0.loss_plan_l1_fix_dist: 0.4086, d1.loss_plan_l1_fix_time: 0.6711, d1.loss_plan_l1_fix_dist: 0.2153, d2.loss_plan_l1_fix_time: 0.6480, d2.loss_plan_l1_fix_dist: 0.1676, d3.loss_plan_l1_fix_time: 0.6463, d3.loss_plan_l1_fix_dist: 0.1828, d4.loss_plan_l1_fix_time: 0.6466, d4.loss_plan_l1_fix_dist: 0.1741, d5.loss_plan_l1_fix_time: 0.6479, d5.loss_plan_l1_fix_dist: 0.1715, d6.loss_plan_l1_fix_time: 0.6498, d6.loss_plan_l1_fix_dist: 0.1963, d0.loss_cls_all: 0.1299, d0.loss_bbox_all: 0.3442, d0.loss_cls: 0.1299, d0.loss_bbox: 0.3442, d1.loss_cls: 0.1246, d1.loss_bbox: 0.3132, d2.loss_cls: 0.1107, d2.loss_bbox: 0.2921, d3.loss_cls: 0.0927, d3.loss_bbox: 0.2855, d4.loss_cls: 0.0895, d4.loss_bbox: 0.2836, d5.loss_cls: 0.0890, d5.loss_bbox: 0.2842, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7086, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5557, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4982, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4774, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4697, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4674, d0.loss_map_cls_all: 0.1845, d0.loss_map_pts_all: 1.0801, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1845, d0.loss_map_pts: 1.0801, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1475, d1.loss_map_pts: 0.7662, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1212, d2.loss_map_pts: 0.5945, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1102, d3.loss_map_pts: 0.5264, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1026, d4.loss_map_pts: 0.5005, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0981, d5.loss_map_pts: 0.4935, d5.loss_map_dir: 0.0059, loss: 21.5608, grad_norm: 156.5013 +2026-03-01 01:12:28,867 - DriveTransformer - INFO - Epoch [11][31850/39528] lr: 6.331e-05, eta: 4 days, 9:55:25, time: 0.711, data_time: 0.040, memory: 19865, loss_cls: 0.0798, loss_bbox: 0.2787, loss_traj: 0.5142, loss_traj_cls: 0.0020, loss_map_cls: 0.0843, loss_map_pts: 0.4201, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.8091, d0.loss_plan_l1_fix_dist: 0.3605, d1.loss_plan_l1_fix_time: 0.7603, d1.loss_plan_l1_fix_dist: 0.2304, d2.loss_plan_l1_fix_time: 0.7426, d2.loss_plan_l1_fix_dist: 0.1734, d3.loss_plan_l1_fix_time: 0.7301, d3.loss_plan_l1_fix_dist: 0.1894, d4.loss_plan_l1_fix_time: 0.7308, d4.loss_plan_l1_fix_dist: 0.1918, d5.loss_plan_l1_fix_time: 0.7320, d5.loss_plan_l1_fix_dist: 0.1985, d6.loss_plan_l1_fix_time: 0.7334, d6.loss_plan_l1_fix_dist: 0.2123, d0.loss_cls_all: 0.1239, d0.loss_bbox_all: 0.3402, d0.loss_cls: 0.1239, d0.loss_bbox: 0.3402, d1.loss_cls: 0.1134, d1.loss_bbox: 0.3065, d2.loss_cls: 0.0992, d2.loss_bbox: 0.2917, d3.loss_cls: 0.0831, d3.loss_bbox: 0.2853, d4.loss_cls: 0.0801, d4.loss_bbox: 0.2825, d5.loss_cls: 0.0780, d5.loss_bbox: 0.2812, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7540, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5936, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5346, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5204, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5149, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5147, d0.loss_map_cls_all: 0.1831, d0.loss_map_pts_all: 0.9428, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1831, d0.loss_map_pts: 0.9428, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1470, d1.loss_map_pts: 0.6617, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1177, d2.loss_map_pts: 0.5063, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1020, d3.loss_map_pts: 0.4484, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0938, d4.loss_map_pts: 0.4253, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0875, d5.loss_map_pts: 0.4211, d5.loss_map_dir: 0.0056, loss: 21.7474, grad_norm: 156.4067 +2026-03-01 01:13:04,799 - DriveTransformer - INFO - Epoch [11][31900/39528] lr: 6.331e-05, eta: 4 days, 9:54:47, time: 0.719, data_time: 0.037, memory: 19865, loss_cls: 0.0805, loss_bbox: 0.2781, loss_traj: 0.5593, loss_traj_cls: 0.0020, loss_map_cls: 0.0754, loss_map_pts: 0.4392, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.4047, d0.loss_plan_l1_fix_dist: 0.4008, d1.loss_plan_l1_fix_time: 0.6181, d1.loss_plan_l1_fix_dist: 0.2339, d2.loss_plan_l1_fix_time: 0.6085, d2.loss_plan_l1_fix_dist: 0.1856, d3.loss_plan_l1_fix_time: 0.6067, d3.loss_plan_l1_fix_dist: 0.1961, d4.loss_plan_l1_fix_time: 0.6086, d4.loss_plan_l1_fix_dist: 0.2044, d5.loss_plan_l1_fix_time: 0.6111, d5.loss_plan_l1_fix_dist: 0.2103, d6.loss_plan_l1_fix_time: 0.6139, d6.loss_plan_l1_fix_dist: 0.1999, d0.loss_cls_all: 0.1224, d0.loss_bbox_all: 0.3311, d0.loss_cls: 0.1224, d0.loss_bbox: 0.3311, d1.loss_cls: 0.1158, d1.loss_bbox: 0.3063, d2.loss_cls: 0.1039, d2.loss_bbox: 0.2879, d3.loss_cls: 0.0876, d3.loss_bbox: 0.2813, d4.loss_cls: 0.0832, d4.loss_bbox: 0.2780, d5.loss_cls: 0.0804, d5.loss_bbox: 0.2782, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8616, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.6565, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5863, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5606, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5599, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5589, d0.loss_map_cls_all: 0.1471, d0.loss_map_pts_all: 0.8986, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1471, d0.loss_map_pts: 0.8986, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1165, d1.loss_map_pts: 0.6456, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.0996, d2.loss_map_pts: 0.5170, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0882, d3.loss_map_pts: 0.4674, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0823, d4.loss_map_pts: 0.4493, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0782, d5.loss_map_pts: 0.4394, d5.loss_map_dir: 0.0054, loss: 20.8545, grad_norm: 152.6333 +2026-03-01 01:13:40,602 - DriveTransformer - INFO - Epoch [11][31950/39528] lr: 6.331e-05, eta: 4 days, 9:54:08, time: 0.716, data_time: 0.038, memory: 19865, loss_cls: 0.0892, loss_bbox: 0.2829, loss_traj: 0.5249, loss_traj_cls: 0.0020, loss_map_cls: 0.0800, loss_map_pts: 0.4436, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.3951, d0.loss_plan_l1_fix_dist: 0.3488, d1.loss_plan_l1_fix_time: 0.6721, d1.loss_plan_l1_fix_dist: 0.2071, d2.loss_plan_l1_fix_time: 0.6667, d2.loss_plan_l1_fix_dist: 0.1683, d3.loss_plan_l1_fix_time: 0.6680, d3.loss_plan_l1_fix_dist: 0.1811, d4.loss_plan_l1_fix_time: 0.6705, d4.loss_plan_l1_fix_dist: 0.1714, d5.loss_plan_l1_fix_time: 0.6733, d5.loss_plan_l1_fix_dist: 0.1911, d6.loss_plan_l1_fix_time: 0.6767, d6.loss_plan_l1_fix_dist: 0.1699, d0.loss_cls_all: 0.1359, d0.loss_bbox_all: 0.3409, d0.loss_cls: 0.1359, d0.loss_bbox: 0.3409, d1.loss_cls: 0.1309, d1.loss_bbox: 0.3122, d2.loss_cls: 0.1156, d2.loss_bbox: 0.2916, d3.loss_cls: 0.0948, d3.loss_bbox: 0.2881, d4.loss_cls: 0.0908, d4.loss_bbox: 0.2845, d5.loss_cls: 0.0884, d5.loss_bbox: 0.2838, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7617, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5845, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5463, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5354, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5262, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5247, d0.loss_map_cls_all: 0.1502, d0.loss_map_pts_all: 0.9493, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1502, d0.loss_map_pts: 0.9493, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1228, d1.loss_map_pts: 0.6732, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1062, d2.loss_map_pts: 0.5298, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0940, d3.loss_map_pts: 0.4719, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0874, d4.loss_map_pts: 0.4514, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0817, d5.loss_map_pts: 0.4436, d5.loss_map_dir: 0.0053, loss: 21.0047, grad_norm: 151.8669 +2026-03-01 01:14:18,441 - DriveTransformer - INFO - Epoch [11][32000/39528] lr: 6.331e-05, eta: 4 days, 9:53:35, time: 0.757, data_time: 0.037, memory: 19865, loss_cls: 0.0957, loss_bbox: 0.2868, loss_traj: 0.3711, loss_traj_cls: 0.0020, loss_map_cls: 0.0901, loss_map_pts: 0.4783, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.7408, d0.loss_plan_l1_fix_dist: 0.3851, d1.loss_plan_l1_fix_time: 0.7087, d1.loss_plan_l1_fix_dist: 0.2233, d2.loss_plan_l1_fix_time: 0.6992, d2.loss_plan_l1_fix_dist: 0.1868, d3.loss_plan_l1_fix_time: 0.6939, d3.loss_plan_l1_fix_dist: 0.1942, d4.loss_plan_l1_fix_time: 0.6966, d4.loss_plan_l1_fix_dist: 0.1728, d5.loss_plan_l1_fix_time: 0.6992, d5.loss_plan_l1_fix_dist: 0.2020, d6.loss_plan_l1_fix_time: 0.7023, d6.loss_plan_l1_fix_dist: 0.1803, d0.loss_cls_all: 0.1355, d0.loss_bbox_all: 0.3369, d0.loss_cls: 0.1355, d0.loss_bbox: 0.3369, d1.loss_cls: 0.1316, d1.loss_bbox: 0.3082, d2.loss_cls: 0.1171, d2.loss_bbox: 0.2922, d3.loss_cls: 0.1016, d3.loss_bbox: 0.2874, d4.loss_cls: 0.0965, d4.loss_bbox: 0.2871, d5.loss_cls: 0.0958, d5.loss_bbox: 0.2860, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5547, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4418, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4029, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3788, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3759, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3680, d0.loss_map_cls_all: 0.1638, d0.loss_map_pts_all: 1.0170, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1638, d0.loss_map_pts: 1.0170, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1350, d1.loss_map_pts: 0.7270, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1154, d2.loss_map_pts: 0.5639, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1061, d3.loss_map_pts: 0.5056, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0992, d4.loss_map_pts: 0.4891, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0932, d5.loss_map_pts: 0.4786, d5.loss_map_dir: 0.0060, loss: 21.0094, grad_norm: 154.5336 +2026-03-01 01:14:53,402 - DriveTransformer - INFO - Epoch [11][32050/39528] lr: 6.331e-05, eta: 4 days, 9:52:54, time: 0.699, data_time: 0.036, memory: 19865, loss_cls: 0.0868, loss_bbox: 0.2898, loss_traj: 0.4935, loss_traj_cls: 0.0020, loss_map_cls: 0.0872, loss_map_pts: 0.4960, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.6726, d0.loss_plan_l1_fix_dist: 0.4375, d1.loss_plan_l1_fix_time: 0.7419, d1.loss_plan_l1_fix_dist: 0.2220, d2.loss_plan_l1_fix_time: 0.7179, d2.loss_plan_l1_fix_dist: 0.2055, d3.loss_plan_l1_fix_time: 0.7161, d3.loss_plan_l1_fix_dist: 0.1964, d4.loss_plan_l1_fix_time: 0.7175, d4.loss_plan_l1_fix_dist: 0.1798, d5.loss_plan_l1_fix_time: 0.7196, d5.loss_plan_l1_fix_dist: 0.2098, d6.loss_plan_l1_fix_time: 0.7220, d6.loss_plan_l1_fix_dist: 0.1981, d0.loss_cls_all: 0.1268, d0.loss_bbox_all: 0.3492, d0.loss_cls: 0.1268, d0.loss_bbox: 0.3492, d1.loss_cls: 0.1247, d1.loss_bbox: 0.3194, d2.loss_cls: 0.1107, d2.loss_bbox: 0.3002, d3.loss_cls: 0.0922, d3.loss_bbox: 0.2940, d4.loss_cls: 0.0886, d4.loss_bbox: 0.2904, d5.loss_cls: 0.0859, d5.loss_bbox: 0.2903, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7695, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5777, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5190, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5080, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4983, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4945, d0.loss_map_cls_all: 0.1709, d0.loss_map_pts_all: 1.0455, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1709, d0.loss_map_pts: 1.0455, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1395, d1.loss_map_pts: 0.7414, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1149, d2.loss_map_pts: 0.5895, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1051, d3.loss_map_pts: 0.5207, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0978, d4.loss_map_pts: 0.4998, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0910, d5.loss_map_pts: 0.4964, d5.loss_map_dir: 0.0058, loss: 22.3088, grad_norm: 154.3183 +2026-03-01 01:15:30,370 - DriveTransformer - INFO - Epoch [11][32100/39528] lr: 6.331e-05, eta: 4 days, 9:52:19, time: 0.739, data_time: 0.038, memory: 19865, loss_cls: 0.0815, loss_bbox: 0.2642, loss_traj: 0.4783, loss_traj_cls: 0.0020, loss_map_cls: 0.0901, loss_map_pts: 0.4616, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.6673, d0.loss_plan_l1_fix_dist: 0.4691, d1.loss_plan_l1_fix_time: 0.7306, d1.loss_plan_l1_fix_dist: 0.2082, d2.loss_plan_l1_fix_time: 0.7087, d2.loss_plan_l1_fix_dist: 0.2161, d3.loss_plan_l1_fix_time: 0.7031, d3.loss_plan_l1_fix_dist: 0.1883, d4.loss_plan_l1_fix_time: 0.7041, d4.loss_plan_l1_fix_dist: 0.1957, d5.loss_plan_l1_fix_time: 0.7055, d5.loss_plan_l1_fix_dist: 0.2159, d6.loss_plan_l1_fix_time: 0.7074, d6.loss_plan_l1_fix_dist: 0.2308, d0.loss_cls_all: 0.1242, d0.loss_bbox_all: 0.3331, d0.loss_cls: 0.1242, d0.loss_bbox: 0.3331, d1.loss_cls: 0.1178, d1.loss_bbox: 0.3004, d2.loss_cls: 0.1059, d2.loss_bbox: 0.2774, d3.loss_cls: 0.0879, d3.loss_bbox: 0.2678, d4.loss_cls: 0.0831, d4.loss_bbox: 0.2647, d5.loss_cls: 0.0808, d5.loss_bbox: 0.2647, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7315, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5516, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5021, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4778, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4756, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4774, d0.loss_map_cls_all: 0.1556, d0.loss_map_pts_all: 1.0253, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1556, d0.loss_map_pts: 1.0253, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1289, d1.loss_map_pts: 0.7183, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1096, d2.loss_map_pts: 0.5568, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1013, d3.loss_map_pts: 0.4923, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0972, d4.loss_map_pts: 0.4694, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0920, d5.loss_map_pts: 0.4625, d5.loss_map_dir: 0.0055, loss: 21.6479, grad_norm: 155.1833 +2026-03-01 01:16:06,864 - DriveTransformer - INFO - Epoch [11][32150/39528] lr: 6.331e-05, eta: 4 days, 9:51:42, time: 0.730, data_time: 0.039, memory: 19865, loss_cls: 0.0833, loss_bbox: 0.2822, loss_traj: 0.4532, loss_traj_cls: 0.0020, loss_map_cls: 0.1125, loss_map_pts: 0.5198, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.7356, d0.loss_plan_l1_fix_dist: 0.4778, d1.loss_plan_l1_fix_time: 0.7844, d1.loss_plan_l1_fix_dist: 0.2002, d2.loss_plan_l1_fix_time: 0.7693, d2.loss_plan_l1_fix_dist: 0.2421, d3.loss_plan_l1_fix_time: 0.7708, d3.loss_plan_l1_fix_dist: 0.2031, d4.loss_plan_l1_fix_time: 0.7720, d4.loss_plan_l1_fix_dist: 0.2125, d5.loss_plan_l1_fix_time: 0.7731, d5.loss_plan_l1_fix_dist: 0.2022, d6.loss_plan_l1_fix_time: 0.7744, d6.loss_plan_l1_fix_dist: 0.2359, d0.loss_cls_all: 0.1266, d0.loss_bbox_all: 0.3475, d0.loss_cls: 0.1266, d0.loss_bbox: 0.3475, d1.loss_cls: 0.1201, d1.loss_bbox: 0.3104, d2.loss_cls: 0.1045, d2.loss_bbox: 0.2901, d3.loss_cls: 0.0892, d3.loss_bbox: 0.2850, d4.loss_cls: 0.0861, d4.loss_bbox: 0.2811, d5.loss_cls: 0.0841, d5.loss_bbox: 0.2812, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6954, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5486, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4898, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4734, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4606, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4544, d0.loss_map_cls_all: 0.1911, d0.loss_map_pts_all: 1.0992, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1911, d0.loss_map_pts: 1.0992, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1619, d1.loss_map_pts: 0.7986, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1368, d2.loss_map_pts: 0.6112, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1271, d3.loss_map_pts: 0.5464, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1221, d4.loss_map_pts: 0.5246, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1166, d5.loss_map_pts: 0.5201, d5.loss_map_dir: 0.0063, loss: 22.9109, grad_norm: 153.7043 +2026-03-01 01:16:43,304 - DriveTransformer - INFO - Epoch [11][32200/39528] lr: 6.331e-05, eta: 4 days, 9:51:05, time: 0.729, data_time: 0.039, memory: 19865, loss_cls: 0.0836, loss_bbox: 0.2695, loss_traj: 0.4376, loss_traj_cls: 0.0020, loss_map_cls: 0.0798, loss_map_pts: 0.4275, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.3955, d0.loss_plan_l1_fix_dist: 0.4816, d1.loss_plan_l1_fix_time: 0.6022, d1.loss_plan_l1_fix_dist: 0.1874, d2.loss_plan_l1_fix_time: 0.5750, d2.loss_plan_l1_fix_dist: 0.2557, d3.loss_plan_l1_fix_time: 0.5723, d3.loss_plan_l1_fix_dist: 0.2064, d4.loss_plan_l1_fix_time: 0.5738, d4.loss_plan_l1_fix_dist: 0.2000, d5.loss_plan_l1_fix_time: 0.5753, d5.loss_plan_l1_fix_dist: 0.1821, d6.loss_plan_l1_fix_time: 0.5769, d6.loss_plan_l1_fix_dist: 0.2081, d0.loss_cls_all: 0.1234, d0.loss_bbox_all: 0.3306, d0.loss_cls: 0.1234, d0.loss_bbox: 0.3306, d1.loss_cls: 0.1176, d1.loss_bbox: 0.2965, d2.loss_cls: 0.1066, d2.loss_bbox: 0.2785, d3.loss_cls: 0.0884, d3.loss_bbox: 0.2733, d4.loss_cls: 0.0841, d4.loss_bbox: 0.2708, d5.loss_cls: 0.0830, d5.loss_bbox: 0.2700, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6412, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5119, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4608, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4490, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4415, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4389, d0.loss_map_cls_all: 0.1385, d0.loss_map_pts_all: 0.9195, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1385, d0.loss_map_pts: 0.9195, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1164, d1.loss_map_pts: 0.6499, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.0980, d2.loss_map_pts: 0.5110, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0913, d3.loss_map_pts: 0.4566, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0860, d4.loss_map_pts: 0.4362, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0821, d5.loss_map_pts: 0.4273, d5.loss_map_dir: 0.0054, loss: 19.7318, grad_norm: 153.8928 +2026-03-01 01:17:20,793 - DriveTransformer - INFO - Epoch [11][32250/39528] lr: 6.331e-05, eta: 4 days, 9:50:31, time: 0.750, data_time: 0.039, memory: 19865, loss_cls: 0.0786, loss_bbox: 0.2823, loss_traj: 0.4790, loss_traj_cls: 0.0020, loss_map_cls: 0.0820, loss_map_pts: 0.4737, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.5146, d0.loss_plan_l1_fix_dist: 0.4847, d1.loss_plan_l1_fix_time: 0.7534, d1.loss_plan_l1_fix_dist: 0.2188, d2.loss_plan_l1_fix_time: 0.7324, d2.loss_plan_l1_fix_dist: 0.3110, d3.loss_plan_l1_fix_time: 0.7258, d3.loss_plan_l1_fix_dist: 0.2404, d4.loss_plan_l1_fix_time: 0.7274, d4.loss_plan_l1_fix_dist: 0.2364, d5.loss_plan_l1_fix_time: 0.7298, d5.loss_plan_l1_fix_dist: 0.2306, d6.loss_plan_l1_fix_time: 0.7325, d6.loss_plan_l1_fix_dist: 0.2363, d0.loss_cls_all: 0.1172, d0.loss_bbox_all: 0.3483, d0.loss_cls: 0.1172, d0.loss_bbox: 0.3483, d1.loss_cls: 0.1102, d1.loss_bbox: 0.3097, d2.loss_cls: 0.0975, d2.loss_bbox: 0.2889, d3.loss_cls: 0.0859, d3.loss_bbox: 0.2810, d4.loss_cls: 0.0791, d4.loss_bbox: 0.2798, d5.loss_cls: 0.0784, d5.loss_bbox: 0.2800, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6772, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5162, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4903, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4743, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4773, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4796, d0.loss_map_cls_all: 0.1648, d0.loss_map_pts_all: 1.0485, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1648, d0.loss_map_pts: 1.0485, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1348, d1.loss_map_pts: 0.7140, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1076, d2.loss_map_pts: 0.5598, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.0961, d3.loss_map_pts: 0.5045, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0898, d4.loss_map_pts: 0.4800, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0846, d5.loss_map_pts: 0.4738, d5.loss_map_dir: 0.0059, loss: 21.9322, grad_norm: 158.8526 +2026-03-01 01:17:56,164 - DriveTransformer - INFO - Epoch [11][32300/39528] lr: 6.331e-05, eta: 4 days, 9:49:51, time: 0.707, data_time: 0.038, memory: 19865, loss_cls: 0.0888, loss_bbox: 0.2729, loss_traj: 0.4780, loss_traj_cls: 0.0019, loss_map_cls: 0.1019, loss_map_pts: 0.4854, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.9045, d0.loss_plan_l1_fix_dist: 0.3757, d1.loss_plan_l1_fix_time: 0.8285, d1.loss_plan_l1_fix_dist: 0.2259, d2.loss_plan_l1_fix_time: 0.8217, d2.loss_plan_l1_fix_dist: 0.3502, d3.loss_plan_l1_fix_time: 0.8046, d3.loss_plan_l1_fix_dist: 0.2276, d4.loss_plan_l1_fix_time: 0.8055, d4.loss_plan_l1_fix_dist: 0.2307, d5.loss_plan_l1_fix_time: 0.8069, d5.loss_plan_l1_fix_dist: 0.2157, d6.loss_plan_l1_fix_time: 0.8085, d6.loss_plan_l1_fix_dist: 0.2297, d0.loss_cls_all: 0.1300, d0.loss_bbox_all: 0.3483, d0.loss_cls: 0.1300, d0.loss_bbox: 0.3483, d1.loss_cls: 0.1248, d1.loss_bbox: 0.3069, d2.loss_cls: 0.1124, d2.loss_bbox: 0.2858, d3.loss_cls: 0.0971, d3.loss_bbox: 0.2790, d4.loss_cls: 0.0889, d4.loss_bbox: 0.2761, d5.loss_cls: 0.0884, d5.loss_bbox: 0.2730, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8299, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5764, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5133, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4873, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4808, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4819, d0.loss_map_cls_all: 0.1763, d0.loss_map_pts_all: 0.9996, d0.loss_map_dir_all: 0.0049, d0.loss_map_cls: 0.1763, d0.loss_map_pts: 0.9996, d0.loss_map_dir: 0.0049, d1.loss_map_cls: 0.1497, d1.loss_map_pts: 0.7439, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.1264, d2.loss_map_pts: 0.5906, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.1160, d3.loss_map_pts: 0.5226, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.1095, d4.loss_map_pts: 0.4951, d4.loss_map_dir: 0.0046, d5.loss_map_cls: 0.1044, d5.loss_map_pts: 0.4864, d5.loss_map_dir: 0.0048, loss: 23.1621, grad_norm: 157.5641 +2026-03-01 01:18:32,333 - DriveTransformer - INFO - Epoch [11][32350/39528] lr: 6.331e-05, eta: 4 days, 9:49:14, time: 0.723, data_time: 0.039, memory: 19865, loss_cls: 0.0856, loss_bbox: 0.2882, loss_traj: 0.5119, loss_traj_cls: 0.0020, loss_map_cls: 0.1023, loss_map_pts: 0.4997, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.4334, d0.loss_plan_l1_fix_dist: 0.4631, d1.loss_plan_l1_fix_time: 0.6990, d1.loss_plan_l1_fix_dist: 0.2268, d2.loss_plan_l1_fix_time: 0.6867, d2.loss_plan_l1_fix_dist: 0.3344, d3.loss_plan_l1_fix_time: 0.6881, d3.loss_plan_l1_fix_dist: 0.2341, d4.loss_plan_l1_fix_time: 0.6902, d4.loss_plan_l1_fix_dist: 0.2467, d5.loss_plan_l1_fix_time: 0.6927, d5.loss_plan_l1_fix_dist: 0.2161, d6.loss_plan_l1_fix_time: 0.6964, d6.loss_plan_l1_fix_dist: 0.2128, d0.loss_cls_all: 0.1364, d0.loss_bbox_all: 0.3436, d0.loss_cls: 0.1364, d0.loss_bbox: 0.3436, d1.loss_cls: 0.1273, d1.loss_bbox: 0.3144, d2.loss_cls: 0.1142, d2.loss_bbox: 0.2962, d3.loss_cls: 0.0945, d3.loss_bbox: 0.2921, d4.loss_cls: 0.0874, d4.loss_bbox: 0.2891, d5.loss_cls: 0.0836, d5.loss_bbox: 0.2904, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7785, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.6017, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5405, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5149, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5121, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5107, d0.loss_map_cls_all: 0.1801, d0.loss_map_pts_all: 1.0221, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1801, d0.loss_map_pts: 1.0221, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1535, d1.loss_map_pts: 0.7385, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1308, d2.loss_map_pts: 0.5842, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1161, d3.loss_map_pts: 0.5313, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1098, d4.loss_map_pts: 0.5065, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1045, d5.loss_map_pts: 0.5011, d5.loss_map_dir: 0.0058, loss: 22.3519, grad_norm: 158.5519 +2026-03-01 01:19:07,405 - DriveTransformer - INFO - Epoch [11][32400/39528] lr: 6.331e-05, eta: 4 days, 9:48:33, time: 0.703, data_time: 0.037, memory: 19865, loss_cls: 0.0747, loss_bbox: 0.2723, loss_traj: 0.4569, loss_traj_cls: 0.0020, loss_map_cls: 0.0818, loss_map_pts: 0.4611, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.4611, d0.loss_plan_l1_fix_dist: 0.4330, d1.loss_plan_l1_fix_time: 0.6988, d1.loss_plan_l1_fix_dist: 0.2378, d2.loss_plan_l1_fix_time: 0.7010, d2.loss_plan_l1_fix_dist: 0.3295, d3.loss_plan_l1_fix_time: 0.6987, d3.loss_plan_l1_fix_dist: 0.2516, d4.loss_plan_l1_fix_time: 0.7028, d4.loss_plan_l1_fix_dist: 0.2637, d5.loss_plan_l1_fix_time: 0.7077, d5.loss_plan_l1_fix_dist: 0.2381, d6.loss_plan_l1_fix_time: 0.7139, d6.loss_plan_l1_fix_dist: 0.2214, d0.loss_cls_all: 0.1133, d0.loss_bbox_all: 0.3336, d0.loss_cls: 0.1133, d0.loss_bbox: 0.3336, d1.loss_cls: 0.1077, d1.loss_bbox: 0.2997, d2.loss_cls: 0.0973, d2.loss_bbox: 0.2765, d3.loss_cls: 0.0787, d3.loss_bbox: 0.2733, d4.loss_cls: 0.0756, d4.loss_bbox: 0.2723, d5.loss_cls: 0.0741, d5.loss_bbox: 0.2726, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6942, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5224, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4774, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4611, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4581, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4579, d0.loss_map_cls_all: 0.1644, d0.loss_map_pts_all: 1.0021, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1644, d0.loss_map_pts: 1.0021, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1310, d1.loss_map_pts: 0.7077, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1075, d2.loss_map_pts: 0.5522, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.0954, d3.loss_map_pts: 0.4910, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.0891, d4.loss_map_pts: 0.4654, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0849, d5.loss_map_pts: 0.4608, d5.loss_map_dir: 0.0065, loss: 21.3748, grad_norm: 160.3072 +2026-03-01 01:19:42,037 - DriveTransformer - INFO - Epoch [11][32450/39528] lr: 6.331e-05, eta: 4 days, 9:47:51, time: 0.691, data_time: 0.037, memory: 19865, loss_cls: 0.0953, loss_bbox: 0.2960, loss_traj: 0.4643, loss_traj_cls: 0.0021, loss_map_cls: 0.0973, loss_map_pts: 0.4543, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.8614, d0.loss_plan_l1_fix_dist: 0.4167, d1.loss_plan_l1_fix_time: 0.7818, d1.loss_plan_l1_fix_dist: 0.2621, d2.loss_plan_l1_fix_time: 0.7683, d2.loss_plan_l1_fix_dist: 0.3329, d3.loss_plan_l1_fix_time: 0.7686, d3.loss_plan_l1_fix_dist: 0.2350, d4.loss_plan_l1_fix_time: 0.7726, d4.loss_plan_l1_fix_dist: 0.2573, d5.loss_plan_l1_fix_time: 0.7769, d5.loss_plan_l1_fix_dist: 0.2300, d6.loss_plan_l1_fix_time: 0.7820, d6.loss_plan_l1_fix_dist: 0.2160, d0.loss_cls_all: 0.1386, d0.loss_bbox_all: 0.3574, d0.loss_cls: 0.1386, d0.loss_bbox: 0.3574, d1.loss_cls: 0.1342, d1.loss_bbox: 0.3245, d2.loss_cls: 0.1218, d2.loss_bbox: 0.3050, d3.loss_cls: 0.1022, d3.loss_bbox: 0.3015, d4.loss_cls: 0.0970, d4.loss_bbox: 0.2968, d5.loss_cls: 0.0949, d5.loss_bbox: 0.2966, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6719, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5272, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4789, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4621, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4672, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4654, d0.loss_map_cls_all: 0.1809, d0.loss_map_pts_all: 0.9496, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1809, d0.loss_map_pts: 0.9496, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1474, d1.loss_map_pts: 0.6939, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1258, d2.loss_map_pts: 0.5410, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1136, d3.loss_map_pts: 0.4797, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.1066, d4.loss_map_pts: 0.4590, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.1008, d5.loss_map_pts: 0.4541, d5.loss_map_dir: 0.0053, loss: 22.5404, grad_norm: 161.5124 +2026-03-01 01:20:19,237 - DriveTransformer - INFO - Epoch [11][32500/39528] lr: 6.331e-05, eta: 4 days, 9:47:17, time: 0.744, data_time: 0.040, memory: 19865, loss_cls: 0.0852, loss_bbox: 0.2975, loss_traj: 0.5046, loss_traj_cls: 0.0020, loss_map_cls: 0.1005, loss_map_pts: 0.4977, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.5251, d0.loss_plan_l1_fix_dist: 0.4597, d1.loss_plan_l1_fix_time: 0.7325, d1.loss_plan_l1_fix_dist: 0.2832, d2.loss_plan_l1_fix_time: 0.7051, d2.loss_plan_l1_fix_dist: 0.3513, d3.loss_plan_l1_fix_time: 0.6867, d3.loss_plan_l1_fix_dist: 0.2444, d4.loss_plan_l1_fix_time: 0.6882, d4.loss_plan_l1_fix_dist: 0.2709, d5.loss_plan_l1_fix_time: 0.6914, d5.loss_plan_l1_fix_dist: 0.2383, d6.loss_plan_l1_fix_time: 0.6957, d6.loss_plan_l1_fix_dist: 0.2504, d0.loss_cls_all: 0.1294, d0.loss_bbox_all: 0.3586, d0.loss_cls: 0.1294, d0.loss_bbox: 0.3586, d1.loss_cls: 0.1235, d1.loss_bbox: 0.3304, d2.loss_cls: 0.1101, d2.loss_bbox: 0.3081, d3.loss_cls: 0.0897, d3.loss_bbox: 0.3017, d4.loss_cls: 0.0869, d4.loss_bbox: 0.2975, d5.loss_cls: 0.0842, d5.loss_bbox: 0.2982, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7297, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5937, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5433, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5075, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5044, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5056, d0.loss_map_cls_all: 0.1871, d0.loss_map_pts_all: 1.0879, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1871, d0.loss_map_pts: 1.0879, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1513, d1.loss_map_pts: 0.7864, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1269, d2.loss_map_pts: 0.6024, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1134, d3.loss_map_pts: 0.5318, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1077, d4.loss_map_pts: 0.5041, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1035, d5.loss_map_pts: 0.4976, d5.loss_map_dir: 0.0062, loss: 22.8295, grad_norm: 165.7260 +2026-03-01 01:20:56,927 - DriveTransformer - INFO - Epoch [11][32550/39528] lr: 6.331e-05, eta: 4 days, 9:46:43, time: 0.754, data_time: 0.039, memory: 19865, loss_cls: 0.0727, loss_bbox: 0.2640, loss_traj: 0.3894, loss_traj_cls: 0.0021, loss_map_cls: 0.1004, loss_map_pts: 0.5129, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.6998, d0.loss_plan_l1_fix_dist: 0.5236, d1.loss_plan_l1_fix_time: 0.7318, d1.loss_plan_l1_fix_dist: 0.2900, d2.loss_plan_l1_fix_time: 0.7077, d2.loss_plan_l1_fix_dist: 0.3632, d3.loss_plan_l1_fix_time: 0.6998, d3.loss_plan_l1_fix_dist: 0.2454, d4.loss_plan_l1_fix_time: 0.7004, d4.loss_plan_l1_fix_dist: 0.2748, d5.loss_plan_l1_fix_time: 0.7027, d5.loss_plan_l1_fix_dist: 0.2211, d6.loss_plan_l1_fix_time: 0.7056, d6.loss_plan_l1_fix_dist: 0.2574, d0.loss_cls_all: 0.1171, d0.loss_bbox_all: 0.3268, d0.loss_cls: 0.1171, d0.loss_bbox: 0.3268, d1.loss_cls: 0.1097, d1.loss_bbox: 0.2963, d2.loss_cls: 0.0989, d2.loss_bbox: 0.2757, d3.loss_cls: 0.0807, d3.loss_bbox: 0.2688, d4.loss_cls: 0.0739, d4.loss_bbox: 0.2657, d5.loss_cls: 0.0730, d5.loss_bbox: 0.2639, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5710, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4518, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4075, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3948, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3897, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3913, d0.loss_map_cls_all: 0.1815, d0.loss_map_pts_all: 1.1008, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1815, d0.loss_map_pts: 1.1008, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1473, d1.loss_map_pts: 0.7835, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1239, d2.loss_map_pts: 0.6081, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1137, d3.loss_map_pts: 0.5450, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1083, d4.loss_map_pts: 0.5172, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1037, d5.loss_map_pts: 0.5128, d5.loss_map_dir: 0.0062, loss: 21.9493, grad_norm: 166.6172 +2026-03-01 01:21:34,819 - DriveTransformer - INFO - Epoch [11][32600/39528] lr: 6.331e-05, eta: 4 days, 9:46:10, time: 0.758, data_time: 0.036, memory: 19865, loss_cls: 0.0841, loss_bbox: 0.2687, loss_traj: 0.4512, loss_traj_cls: 0.0021, loss_map_cls: 0.0943, loss_map_pts: 0.5024, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.2449, d0.loss_plan_l1_fix_dist: 0.4369, d1.loss_plan_l1_fix_time: 0.6855, d1.loss_plan_l1_fix_dist: 0.2741, d2.loss_plan_l1_fix_time: 0.6572, d2.loss_plan_l1_fix_dist: 0.3541, d3.loss_plan_l1_fix_time: 0.6458, d3.loss_plan_l1_fix_dist: 0.2347, d4.loss_plan_l1_fix_time: 0.6466, d4.loss_plan_l1_fix_dist: 0.2601, d5.loss_plan_l1_fix_time: 0.6478, d5.loss_plan_l1_fix_dist: 0.2046, d6.loss_plan_l1_fix_time: 0.6495, d6.loss_plan_l1_fix_dist: 0.2447, d0.loss_cls_all: 0.1214, d0.loss_bbox_all: 0.3346, d0.loss_cls: 0.1214, d0.loss_bbox: 0.3346, d1.loss_cls: 0.1195, d1.loss_bbox: 0.2975, d2.loss_cls: 0.1081, d2.loss_bbox: 0.2772, d3.loss_cls: 0.0915, d3.loss_bbox: 0.2712, d4.loss_cls: 0.0867, d4.loss_bbox: 0.2702, d5.loss_cls: 0.0850, d5.loss_bbox: 0.2683, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6749, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5249, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4718, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4568, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4551, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4535, d0.loss_map_cls_all: 0.1767, d0.loss_map_pts_all: 1.1262, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1767, d0.loss_map_pts: 1.1262, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1457, d1.loss_map_pts: 0.7872, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1205, d2.loss_map_pts: 0.6072, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1078, d3.loss_map_pts: 0.5373, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1008, d4.loss_map_pts: 0.5114, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.0963, d5.loss_map_pts: 0.5033, d5.loss_map_dir: 0.0068, loss: 21.5951, grad_norm: 167.1056 +2026-03-01 01:22:13,097 - DriveTransformer - INFO - Epoch [11][32650/39528] lr: 6.331e-05, eta: 4 days, 9:45:38, time: 0.766, data_time: 0.036, memory: 19865, loss_cls: 0.0943, loss_bbox: 0.2846, loss_traj: 0.4272, loss_traj_cls: 0.0020, loss_map_cls: 0.1048, loss_map_pts: 0.5595, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.5785, d0.loss_plan_l1_fix_dist: 0.4204, d1.loss_plan_l1_fix_time: 0.7254, d1.loss_plan_l1_fix_dist: 0.2639, d2.loss_plan_l1_fix_time: 0.7054, d2.loss_plan_l1_fix_dist: 0.3402, d3.loss_plan_l1_fix_time: 0.6903, d3.loss_plan_l1_fix_dist: 0.2282, d4.loss_plan_l1_fix_time: 0.6904, d4.loss_plan_l1_fix_dist: 0.2634, d5.loss_plan_l1_fix_time: 0.6913, d5.loss_plan_l1_fix_dist: 0.2248, d6.loss_plan_l1_fix_time: 0.6924, d6.loss_plan_l1_fix_dist: 0.2477, d0.loss_cls_all: 0.1342, d0.loss_bbox_all: 0.3495, d0.loss_cls: 0.1342, d0.loss_bbox: 0.3495, d1.loss_cls: 0.1265, d1.loss_bbox: 0.3178, d2.loss_cls: 0.1139, d2.loss_bbox: 0.2945, d3.loss_cls: 0.0985, d3.loss_bbox: 0.2897, d4.loss_cls: 0.0959, d4.loss_bbox: 0.2853, d5.loss_cls: 0.0939, d5.loss_bbox: 0.2852, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6409, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5073, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4513, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4359, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4323, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4291, d0.loss_map_cls_all: 0.1950, d0.loss_map_pts_all: 1.1936, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1950, d0.loss_map_pts: 1.1936, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1589, d1.loss_map_pts: 0.8548, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1357, d2.loss_map_pts: 0.6648, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1217, d3.loss_map_pts: 0.5972, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1152, d4.loss_map_pts: 0.5686, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1078, d5.loss_map_pts: 0.5609, d5.loss_map_dir: 0.0077, loss: 22.8273, grad_norm: 167.9897 +2026-03-01 01:22:50,037 - DriveTransformer - INFO - Epoch [11][32700/39528] lr: 6.331e-05, eta: 4 days, 9:45:03, time: 0.739, data_time: 0.037, memory: 19865, loss_cls: 0.0804, loss_bbox: 0.2598, loss_traj: 0.4294, loss_traj_cls: 0.0021, loss_map_cls: 0.0856, loss_map_pts: 0.4442, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.4886, d0.loss_plan_l1_fix_dist: 0.4817, d1.loss_plan_l1_fix_time: 0.6942, d1.loss_plan_l1_fix_dist: 0.2196, d2.loss_plan_l1_fix_time: 0.6724, d2.loss_plan_l1_fix_dist: 0.3004, d3.loss_plan_l1_fix_time: 0.6707, d3.loss_plan_l1_fix_dist: 0.1920, d4.loss_plan_l1_fix_time: 0.6717, d4.loss_plan_l1_fix_dist: 0.2151, d5.loss_plan_l1_fix_time: 0.6734, d5.loss_plan_l1_fix_dist: 0.1916, d6.loss_plan_l1_fix_time: 0.6755, d6.loss_plan_l1_fix_dist: 0.2018, d0.loss_cls_all: 0.1217, d0.loss_bbox_all: 0.3255, d0.loss_cls: 0.1217, d0.loss_bbox: 0.3255, d1.loss_cls: 0.1167, d1.loss_bbox: 0.2913, d2.loss_cls: 0.1037, d2.loss_bbox: 0.2711, d3.loss_cls: 0.0878, d3.loss_bbox: 0.2645, d4.loss_cls: 0.0816, d4.loss_bbox: 0.2616, d5.loss_cls: 0.0817, d5.loss_bbox: 0.2592, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6449, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4920, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4468, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4368, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4346, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4314, d0.loss_map_cls_all: 0.1657, d0.loss_map_pts_all: 0.9720, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1657, d0.loss_map_pts: 0.9720, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1307, d1.loss_map_pts: 0.6670, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1124, d2.loss_map_pts: 0.5246, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.0992, d3.loss_map_pts: 0.4733, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0914, d4.loss_map_pts: 0.4514, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0880, d5.loss_map_pts: 0.4445, d5.loss_map_dir: 0.0060, loss: 20.6628, grad_norm: 153.8832 +2026-03-01 01:23:26,728 - DriveTransformer - INFO - Epoch [11][32750/39528] lr: 6.331e-05, eta: 4 days, 9:44:27, time: 0.734, data_time: 0.039, memory: 19865, loss_cls: 0.0977, loss_bbox: 0.2972, loss_traj: 0.5053, loss_traj_cls: 0.0020, loss_map_cls: 0.1103, loss_map_pts: 0.5613, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.8807, d0.loss_plan_l1_fix_dist: 0.4055, d1.loss_plan_l1_fix_time: 0.7723, d1.loss_plan_l1_fix_dist: 0.2115, d2.loss_plan_l1_fix_time: 0.7586, d2.loss_plan_l1_fix_dist: 0.2907, d3.loss_plan_l1_fix_time: 0.7609, d3.loss_plan_l1_fix_dist: 0.2129, d4.loss_plan_l1_fix_time: 0.7626, d4.loss_plan_l1_fix_dist: 0.2181, d5.loss_plan_l1_fix_time: 0.7646, d5.loss_plan_l1_fix_dist: 0.2157, d6.loss_plan_l1_fix_time: 0.7671, d6.loss_plan_l1_fix_dist: 0.2058, d0.loss_cls_all: 0.1411, d0.loss_bbox_all: 0.3647, d0.loss_cls: 0.1411, d0.loss_bbox: 0.3647, d1.loss_cls: 0.1369, d1.loss_bbox: 0.3345, d2.loss_cls: 0.1204, d2.loss_bbox: 0.3120, d3.loss_cls: 0.1072, d3.loss_bbox: 0.3036, d4.loss_cls: 0.0997, d4.loss_bbox: 0.2996, d5.loss_cls: 0.0968, d5.loss_bbox: 0.2989, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8025, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.6149, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5427, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5161, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5088, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5094, d0.loss_map_cls_all: 0.1945, d0.loss_map_pts_all: 1.1181, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1945, d0.loss_map_pts: 1.1181, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1643, d1.loss_map_pts: 0.8225, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1396, d2.loss_map_pts: 0.6510, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1273, d3.loss_map_pts: 0.5887, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1186, d4.loss_map_pts: 0.5685, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1125, d5.loss_map_pts: 0.5625, d5.loss_map_dir: 0.0071, loss: 23.9576, grad_norm: 153.3112 +2026-03-01 01:24:03,939 - DriveTransformer - INFO - Epoch [11][32800/39528] lr: 6.331e-05, eta: 4 days, 9:43:52, time: 0.744, data_time: 0.040, memory: 19865, loss_cls: 0.0871, loss_bbox: 0.2640, loss_traj: 0.4333, loss_traj_cls: 0.0021, loss_map_cls: 0.1052, loss_map_pts: 0.5251, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.8512, d0.loss_plan_l1_fix_dist: 0.3658, d1.loss_plan_l1_fix_time: 0.7931, d1.loss_plan_l1_fix_dist: 0.1951, d2.loss_plan_l1_fix_time: 0.7769, d2.loss_plan_l1_fix_dist: 0.2590, d3.loss_plan_l1_fix_time: 0.7454, d3.loss_plan_l1_fix_dist: 0.1951, d4.loss_plan_l1_fix_time: 0.7465, d4.loss_plan_l1_fix_dist: 0.1895, d5.loss_plan_l1_fix_time: 0.7479, d5.loss_plan_l1_fix_dist: 0.2024, d6.loss_plan_l1_fix_time: 0.7500, d6.loss_plan_l1_fix_dist: 0.1855, d0.loss_cls_all: 0.1334, d0.loss_bbox_all: 0.3380, d0.loss_cls: 0.1334, d0.loss_bbox: 0.3380, d1.loss_cls: 0.1289, d1.loss_bbox: 0.2994, d2.loss_cls: 0.1144, d2.loss_bbox: 0.2754, d3.loss_cls: 0.0960, d3.loss_bbox: 0.2687, d4.loss_cls: 0.0890, d4.loss_bbox: 0.2661, d5.loss_cls: 0.0872, d5.loss_bbox: 0.2639, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6430, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5022, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4554, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4373, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4313, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4307, d0.loss_map_cls_all: 0.1814, d0.loss_map_pts_all: 1.1081, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1814, d0.loss_map_pts: 1.1081, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1526, d1.loss_map_pts: 0.8135, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1312, d2.loss_map_pts: 0.6304, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1182, d3.loss_map_pts: 0.5614, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1115, d4.loss_map_pts: 0.5331, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.1066, d5.loss_map_pts: 0.5259, d5.loss_map_dir: 0.0069, loss: 22.4749, grad_norm: 151.8898 +2026-03-01 01:24:40,374 - DriveTransformer - INFO - Epoch [11][32850/39528] lr: 6.331e-05, eta: 4 days, 9:43:15, time: 0.729, data_time: 0.037, memory: 19865, loss_cls: 0.1101, loss_bbox: 0.2970, loss_traj: 0.4644, loss_traj_cls: 0.0020, loss_map_cls: 0.1174, loss_map_pts: 0.5700, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.3919, d0.loss_plan_l1_fix_dist: 0.3820, d1.loss_plan_l1_fix_time: 0.7680, d1.loss_plan_l1_fix_dist: 0.1897, d2.loss_plan_l1_fix_time: 0.7611, d2.loss_plan_l1_fix_dist: 0.2383, d3.loss_plan_l1_fix_time: 0.7548, d3.loss_plan_l1_fix_dist: 0.1886, d4.loss_plan_l1_fix_time: 0.7553, d4.loss_plan_l1_fix_dist: 0.1816, d5.loss_plan_l1_fix_time: 0.7566, d5.loss_plan_l1_fix_dist: 0.1844, d6.loss_plan_l1_fix_time: 0.7589, d6.loss_plan_l1_fix_dist: 0.1967, d0.loss_cls_all: 0.1556, d0.loss_bbox_all: 0.3616, d0.loss_cls: 0.1556, d0.loss_bbox: 0.3616, d1.loss_cls: 0.1476, d1.loss_bbox: 0.3272, d2.loss_cls: 0.1380, d2.loss_bbox: 0.3067, d3.loss_cls: 0.1157, d3.loss_bbox: 0.3035, d4.loss_cls: 0.1100, d4.loss_bbox: 0.3002, d5.loss_cls: 0.1094, d5.loss_bbox: 0.2980, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6997, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5345, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4871, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4711, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4657, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4677, d0.loss_map_cls_all: 0.2098, d0.loss_map_pts_all: 1.1890, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2098, d0.loss_map_pts: 1.1890, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1783, d1.loss_map_pts: 0.8626, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1472, d2.loss_map_pts: 0.6779, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1332, d3.loss_map_pts: 0.6072, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1259, d4.loss_map_pts: 0.5773, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1205, d5.loss_map_pts: 0.5699, d5.loss_map_dir: 0.0069, loss: 23.2405, grad_norm: 152.5920 +2026-03-01 01:25:16,328 - DriveTransformer - INFO - Epoch [11][32900/39528] lr: 6.331e-05, eta: 4 days, 9:42:37, time: 0.719, data_time: 0.038, memory: 19865, loss_cls: 0.0820, loss_bbox: 0.2680, loss_traj: 0.5257, loss_traj_cls: 0.0022, loss_map_cls: 0.0832, loss_map_pts: 0.4426, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.4742, d0.loss_plan_l1_fix_dist: 0.3623, d1.loss_plan_l1_fix_time: 0.7667, d1.loss_plan_l1_fix_dist: 0.1848, d2.loss_plan_l1_fix_time: 0.7513, d2.loss_plan_l1_fix_dist: 0.2262, d3.loss_plan_l1_fix_time: 0.7477, d3.loss_plan_l1_fix_dist: 0.1865, d4.loss_plan_l1_fix_time: 0.7507, d4.loss_plan_l1_fix_dist: 0.1809, d5.loss_plan_l1_fix_time: 0.7530, d5.loss_plan_l1_fix_dist: 0.1773, d6.loss_plan_l1_fix_time: 0.7560, d6.loss_plan_l1_fix_dist: 0.1928, d0.loss_cls_all: 0.1262, d0.loss_bbox_all: 0.3291, d0.loss_cls: 0.1262, d0.loss_bbox: 0.3291, d1.loss_cls: 0.1204, d1.loss_bbox: 0.2965, d2.loss_cls: 0.1096, d2.loss_bbox: 0.2774, d3.loss_cls: 0.0890, d3.loss_bbox: 0.2726, d4.loss_cls: 0.0831, d4.loss_bbox: 0.2695, d5.loss_cls: 0.0827, d5.loss_bbox: 0.2679, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8445, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.6303, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5717, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5449, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5344, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5263, d0.loss_map_cls_all: 0.1566, d0.loss_map_pts_all: 0.9490, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1566, d0.loss_map_pts: 0.9490, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1240, d1.loss_map_pts: 0.6733, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1067, d2.loss_map_pts: 0.5327, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.0970, d3.loss_map_pts: 0.4763, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0900, d4.loss_map_pts: 0.4522, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0857, d5.loss_map_pts: 0.4439, d5.loss_map_dir: 0.0058, loss: 21.6909, grad_norm: 152.9099 +2026-03-01 01:25:52,397 - DriveTransformer - INFO - Epoch [11][32950/39528] lr: 6.331e-05, eta: 4 days, 9:41:59, time: 0.721, data_time: 0.038, memory: 19865, loss_cls: 0.0813, loss_bbox: 0.2653, loss_traj: 0.4868, loss_traj_cls: 0.0021, loss_map_cls: 0.0856, loss_map_pts: 0.4634, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.9631, d0.loss_plan_l1_fix_dist: 0.4371, d1.loss_plan_l1_fix_time: 0.7850, d1.loss_plan_l1_fix_dist: 0.2175, d2.loss_plan_l1_fix_time: 0.7697, d2.loss_plan_l1_fix_dist: 0.2483, d3.loss_plan_l1_fix_time: 0.7618, d3.loss_plan_l1_fix_dist: 0.2048, d4.loss_plan_l1_fix_time: 0.7652, d4.loss_plan_l1_fix_dist: 0.2111, d5.loss_plan_l1_fix_time: 0.7676, d5.loss_plan_l1_fix_dist: 0.2003, d6.loss_plan_l1_fix_time: 0.7700, d6.loss_plan_l1_fix_dist: 0.2173, d0.loss_cls_all: 0.1250, d0.loss_bbox_all: 0.3385, d0.loss_cls: 0.1250, d0.loss_bbox: 0.3385, d1.loss_cls: 0.1153, d1.loss_bbox: 0.3014, d2.loss_cls: 0.1038, d2.loss_bbox: 0.2775, d3.loss_cls: 0.0882, d3.loss_bbox: 0.2707, d4.loss_cls: 0.0825, d4.loss_bbox: 0.2681, d5.loss_cls: 0.0813, d5.loss_bbox: 0.2663, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7571, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5772, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5170, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5019, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4945, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4888, d0.loss_map_cls_all: 0.1584, d0.loss_map_pts_all: 0.9974, d0.loss_map_dir_all: 0.0050, d0.loss_map_cls: 0.1584, d0.loss_map_pts: 0.9974, d0.loss_map_dir: 0.0050, d1.loss_map_cls: 0.1280, d1.loss_map_pts: 0.7115, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1085, d2.loss_map_pts: 0.5425, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.0989, d3.loss_map_pts: 0.4838, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0913, d4.loss_map_pts: 0.4664, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0867, d5.loss_map_pts: 0.4631, d5.loss_map_dir: 0.0050, loss: 22.3585, grad_norm: 153.3273 +2026-03-01 01:26:29,137 - DriveTransformer - INFO - Epoch [11][33000/39528] lr: 6.331e-05, eta: 4 days, 9:41:23, time: 0.735, data_time: 0.040, memory: 19865, loss_cls: 0.0881, loss_bbox: 0.2813, loss_traj: 0.5216, loss_traj_cls: 0.0021, loss_map_cls: 0.0933, loss_map_pts: 0.4877, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.8757, d0.loss_plan_l1_fix_dist: 0.3221, d1.loss_plan_l1_fix_time: 0.7894, d1.loss_plan_l1_fix_dist: 0.2142, d2.loss_plan_l1_fix_time: 0.7736, d2.loss_plan_l1_fix_dist: 0.2350, d3.loss_plan_l1_fix_time: 0.7375, d3.loss_plan_l1_fix_dist: 0.1761, d4.loss_plan_l1_fix_time: 0.7359, d4.loss_plan_l1_fix_dist: 0.1861, d5.loss_plan_l1_fix_time: 0.7369, d5.loss_plan_l1_fix_dist: 0.1888, d6.loss_plan_l1_fix_time: 0.7385, d6.loss_plan_l1_fix_dist: 0.1963, d0.loss_cls_all: 0.1375, d0.loss_bbox_all: 0.3407, d0.loss_cls: 0.1375, d0.loss_bbox: 0.3407, d1.loss_cls: 0.1279, d1.loss_bbox: 0.3084, d2.loss_cls: 0.1127, d2.loss_bbox: 0.2892, d3.loss_cls: 0.0962, d3.loss_bbox: 0.2846, d4.loss_cls: 0.0893, d4.loss_bbox: 0.2816, d5.loss_cls: 0.0868, d5.loss_bbox: 0.2812, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8129, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.6242, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5583, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5391, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5299, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5254, d0.loss_map_cls_all: 0.1706, d0.loss_map_pts_all: 1.0222, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1706, d0.loss_map_pts: 1.0222, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1444, d1.loss_map_pts: 0.7321, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1190, d2.loss_map_pts: 0.5803, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1058, d3.loss_map_pts: 0.5159, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1003, d4.loss_map_pts: 0.4919, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0956, d5.loss_map_pts: 0.4866, d5.loss_map_dir: 0.0059, loss: 22.6944, grad_norm: 153.6603 +2026-03-01 01:27:04,088 - DriveTransformer - INFO - Epoch [11][33050/39528] lr: 6.331e-05, eta: 4 days, 9:40:42, time: 0.699, data_time: 0.036, memory: 19865, loss_cls: 0.0784, loss_bbox: 0.2479, loss_traj: 0.5363, loss_traj_cls: 0.0021, loss_map_cls: 0.0786, loss_map_pts: 0.4260, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.0114, d0.loss_plan_l1_fix_dist: 0.3590, d1.loss_plan_l1_fix_time: 0.6525, d1.loss_plan_l1_fix_dist: 0.2185, d2.loss_plan_l1_fix_time: 0.6470, d2.loss_plan_l1_fix_dist: 0.2430, d3.loss_plan_l1_fix_time: 0.6547, d3.loss_plan_l1_fix_dist: 0.1715, d4.loss_plan_l1_fix_time: 0.6570, d4.loss_plan_l1_fix_dist: 0.1591, d5.loss_plan_l1_fix_time: 0.6596, d5.loss_plan_l1_fix_dist: 0.1690, d6.loss_plan_l1_fix_time: 0.6621, d6.loss_plan_l1_fix_dist: 0.1658, d0.loss_cls_all: 0.1208, d0.loss_bbox_all: 0.3108, d0.loss_cls: 0.1208, d0.loss_bbox: 0.3108, d1.loss_cls: 0.1172, d1.loss_bbox: 0.2788, d2.loss_cls: 0.1038, d2.loss_bbox: 0.2587, d3.loss_cls: 0.0850, d3.loss_bbox: 0.2537, d4.loss_cls: 0.0801, d4.loss_bbox: 0.2502, d5.loss_cls: 0.0791, d5.loss_bbox: 0.2482, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7391, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5932, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5519, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5379, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5358, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5377, d0.loss_map_cls_all: 0.1621, d0.loss_map_pts_all: 0.9463, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1621, d0.loss_map_pts: 0.9463, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1253, d1.loss_map_pts: 0.6508, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1044, d2.loss_map_pts: 0.5029, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0947, d3.loss_map_pts: 0.4507, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0881, d4.loss_map_pts: 0.4316, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0812, d5.loss_map_pts: 0.4258, d5.loss_map_dir: 0.0048, loss: 20.1305, grad_norm: 144.9137 +2026-03-01 01:27:41,460 - DriveTransformer - INFO - Epoch [11][33100/39528] lr: 6.331e-05, eta: 4 days, 9:40:08, time: 0.747, data_time: 0.041, memory: 19865, loss_cls: 0.0859, loss_bbox: 0.2832, loss_traj: 0.4648, loss_traj_cls: 0.0021, loss_map_cls: 0.1091, loss_map_pts: 0.5279, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.5921, d0.loss_plan_l1_fix_dist: 0.3744, d1.loss_plan_l1_fix_time: 0.8070, d1.loss_plan_l1_fix_dist: 0.2348, d2.loss_plan_l1_fix_time: 0.7889, d2.loss_plan_l1_fix_dist: 0.2579, d3.loss_plan_l1_fix_time: 0.7898, d3.loss_plan_l1_fix_dist: 0.2056, d4.loss_plan_l1_fix_time: 0.7936, d4.loss_plan_l1_fix_dist: 0.1868, d5.loss_plan_l1_fix_time: 0.7969, d5.loss_plan_l1_fix_dist: 0.1915, d6.loss_plan_l1_fix_time: 0.7998, d6.loss_plan_l1_fix_dist: 0.1945, d0.loss_cls_all: 0.1285, d0.loss_bbox_all: 0.3565, d0.loss_cls: 0.1285, d0.loss_bbox: 0.3565, d1.loss_cls: 0.1256, d1.loss_bbox: 0.3182, d2.loss_cls: 0.1104, d2.loss_bbox: 0.2964, d3.loss_cls: 0.0908, d3.loss_bbox: 0.2898, d4.loss_cls: 0.0878, d4.loss_bbox: 0.2846, d5.loss_cls: 0.0866, d5.loss_bbox: 0.2826, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7166, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5640, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5136, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4828, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4739, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4725, d0.loss_map_cls_all: 0.1841, d0.loss_map_pts_all: 1.1043, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1841, d0.loss_map_pts: 1.1043, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1538, d1.loss_map_pts: 0.7827, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1328, d2.loss_map_pts: 0.6151, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1215, d3.loss_map_pts: 0.5526, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1162, d4.loss_map_pts: 0.5332, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1111, d5.loss_map_pts: 0.5276, d5.loss_map_dir: 0.0067, loss: 22.9343, grad_norm: 143.3369 +2026-03-01 01:28:17,640 - DriveTransformer - INFO - Epoch [11][33150/39528] lr: 6.331e-05, eta: 4 days, 9:39:30, time: 0.724, data_time: 0.037, memory: 19865, loss_cls: 0.0864, loss_bbox: 0.2702, loss_traj: 0.4305, loss_traj_cls: 0.0021, loss_map_cls: 0.0890, loss_map_pts: 0.4500, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.4272, d0.loss_plan_l1_fix_dist: 0.3962, d1.loss_plan_l1_fix_time: 0.6999, d1.loss_plan_l1_fix_dist: 0.2252, d2.loss_plan_l1_fix_time: 0.6844, d2.loss_plan_l1_fix_dist: 0.2178, d3.loss_plan_l1_fix_time: 0.6840, d3.loss_plan_l1_fix_dist: 0.1975, d4.loss_plan_l1_fix_time: 0.6860, d4.loss_plan_l1_fix_dist: 0.1732, d5.loss_plan_l1_fix_time: 0.6881, d5.loss_plan_l1_fix_dist: 0.1747, d6.loss_plan_l1_fix_time: 0.6904, d6.loss_plan_l1_fix_dist: 0.1748, d0.loss_cls_all: 0.1334, d0.loss_bbox_all: 0.3354, d0.loss_cls: 0.1334, d0.loss_bbox: 0.3354, d1.loss_cls: 0.1286, d1.loss_bbox: 0.2994, d2.loss_cls: 0.1127, d2.loss_bbox: 0.2795, d3.loss_cls: 0.0950, d3.loss_bbox: 0.2744, d4.loss_cls: 0.0881, d4.loss_bbox: 0.2710, d5.loss_cls: 0.0855, d5.loss_bbox: 0.2710, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6370, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5071, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4467, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4365, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4311, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4319, d0.loss_map_cls_all: 0.1706, d0.loss_map_pts_all: 0.9366, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1706, d0.loss_map_pts: 0.9366, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1404, d1.loss_map_pts: 0.6586, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1145, d2.loss_map_pts: 0.5299, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1025, d3.loss_map_pts: 0.4732, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0953, d4.loss_map_pts: 0.4549, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0898, d5.loss_map_pts: 0.4504, d5.loss_map_dir: 0.0050, loss: 20.5517, grad_norm: 141.5685 +2026-03-01 01:28:54,912 - DriveTransformer - INFO - Epoch [11][33200/39528] lr: 6.331e-05, eta: 4 days, 9:38:56, time: 0.747, data_time: 0.038, memory: 19865, loss_cls: 0.0860, loss_bbox: 0.2784, loss_traj: 0.4631, loss_traj_cls: 0.0020, loss_map_cls: 0.1063, loss_map_pts: 0.5571, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.6548, d0.loss_plan_l1_fix_dist: 0.4781, d1.loss_plan_l1_fix_time: 0.7324, d1.loss_plan_l1_fix_dist: 0.2278, d2.loss_plan_l1_fix_time: 0.7119, d2.loss_plan_l1_fix_dist: 0.2061, d3.loss_plan_l1_fix_time: 0.7181, d3.loss_plan_l1_fix_dist: 0.1883, d4.loss_plan_l1_fix_time: 0.7213, d4.loss_plan_l1_fix_dist: 0.1724, d5.loss_plan_l1_fix_time: 0.7231, d5.loss_plan_l1_fix_dist: 0.1724, d6.loss_plan_l1_fix_time: 0.7252, d6.loss_plan_l1_fix_dist: 0.1828, d0.loss_cls_all: 0.1315, d0.loss_bbox_all: 0.3455, d0.loss_cls: 0.1315, d0.loss_bbox: 0.3455, d1.loss_cls: 0.1238, d1.loss_bbox: 0.3146, d2.loss_cls: 0.1098, d2.loss_bbox: 0.2934, d3.loss_cls: 0.0938, d3.loss_bbox: 0.2861, d4.loss_cls: 0.0875, d4.loss_bbox: 0.2818, d5.loss_cls: 0.0856, d5.loss_bbox: 0.2793, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7242, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5340, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4903, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4751, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4670, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4636, d0.loss_map_cls_all: 0.1923, d0.loss_map_pts_all: 1.1491, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1923, d0.loss_map_pts: 1.1491, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1623, d1.loss_map_pts: 0.8301, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1340, d2.loss_map_pts: 0.6483, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1214, d3.loss_map_pts: 0.5849, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1139, d4.loss_map_pts: 0.5616, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1090, d5.loss_map_pts: 0.5562, d5.loss_map_dir: 0.0063, loss: 22.7311, grad_norm: 140.1747 +2026-03-01 01:29:33,541 - DriveTransformer - INFO - Epoch [11][33250/39528] lr: 6.331e-05, eta: 4 days, 9:38:24, time: 0.771, data_time: 0.040, memory: 19865, loss_cls: 0.0806, loss_bbox: 0.2580, loss_traj: 0.4564, loss_traj_cls: 0.0021, loss_map_cls: 0.0855, loss_map_pts: 0.5381, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.7680, d0.loss_plan_l1_fix_dist: 0.4210, d1.loss_plan_l1_fix_time: 0.7105, d1.loss_plan_l1_fix_dist: 0.2254, d2.loss_plan_l1_fix_time: 0.7044, d2.loss_plan_l1_fix_dist: 0.2136, d3.loss_plan_l1_fix_time: 0.7106, d3.loss_plan_l1_fix_dist: 0.1760, d4.loss_plan_l1_fix_time: 0.7161, d4.loss_plan_l1_fix_dist: 0.1760, d5.loss_plan_l1_fix_time: 0.7199, d5.loss_plan_l1_fix_dist: 0.1615, d6.loss_plan_l1_fix_time: 0.7237, d6.loss_plan_l1_fix_dist: 0.1886, d0.loss_cls_all: 0.1215, d0.loss_bbox_all: 0.3191, d0.loss_cls: 0.1215, d0.loss_bbox: 0.3191, d1.loss_cls: 0.1196, d1.loss_bbox: 0.2889, d2.loss_cls: 0.1069, d2.loss_bbox: 0.2693, d3.loss_cls: 0.0902, d3.loss_bbox: 0.2631, d4.loss_cls: 0.0820, d4.loss_bbox: 0.2613, d5.loss_cls: 0.0807, d5.loss_bbox: 0.2588, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6902, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5314, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4901, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4691, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4610, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4591, d0.loss_map_cls_all: 0.1770, d0.loss_map_pts_all: 1.1761, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1770, d0.loss_map_pts: 1.1761, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1391, d1.loss_map_pts: 0.8156, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1142, d2.loss_map_pts: 0.6364, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1027, d3.loss_map_pts: 0.5693, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.0951, d4.loss_map_pts: 0.5421, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.0892, d5.loss_map_pts: 0.5380, d5.loss_map_dir: 0.0073, loss: 22.2506, grad_norm: 139.8377 +2026-03-01 01:30:10,099 - DriveTransformer - INFO - Epoch [11][33300/39528] lr: 6.331e-05, eta: 4 days, 9:37:48, time: 0.731, data_time: 0.037, memory: 19865, loss_cls: 0.1042, loss_bbox: 0.2654, loss_traj: 0.4616, loss_traj_cls: 0.0020, loss_map_cls: 0.1003, loss_map_pts: 0.5051, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.6780, d0.loss_plan_l1_fix_dist: 0.3642, d1.loss_plan_l1_fix_time: 0.7400, d1.loss_plan_l1_fix_dist: 0.1927, d2.loss_plan_l1_fix_time: 0.7253, d2.loss_plan_l1_fix_dist: 0.2112, d3.loss_plan_l1_fix_time: 0.7233, d3.loss_plan_l1_fix_dist: 0.1443, d4.loss_plan_l1_fix_time: 0.7258, d4.loss_plan_l1_fix_dist: 0.1557, d5.loss_plan_l1_fix_time: 0.7293, d5.loss_plan_l1_fix_dist: 0.1472, d6.loss_plan_l1_fix_time: 0.7325, d6.loss_plan_l1_fix_dist: 0.1615, d0.loss_cls_all: 0.1472, d0.loss_bbox_all: 0.3321, d0.loss_cls: 0.1472, d0.loss_bbox: 0.3321, d1.loss_cls: 0.1410, d1.loss_bbox: 0.2951, d2.loss_cls: 0.1277, d2.loss_bbox: 0.2766, d3.loss_cls: 0.1089, d3.loss_bbox: 0.2708, d4.loss_cls: 0.1067, d4.loss_bbox: 0.2673, d5.loss_cls: 0.1050, d5.loss_bbox: 0.2660, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6590, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5344, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4737, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4635, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4607, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4603, d0.loss_map_cls_all: 0.1907, d0.loss_map_pts_all: 1.0574, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1907, d0.loss_map_pts: 1.0574, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1578, d1.loss_map_pts: 0.7686, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1288, d2.loss_map_pts: 0.5989, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1185, d3.loss_map_pts: 0.5346, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1096, d4.loss_map_pts: 0.5126, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1034, d5.loss_map_pts: 0.5055, d5.loss_map_dir: 0.0054, loss: 21.9289, grad_norm: 139.7179 +2026-03-01 01:30:46,383 - DriveTransformer - INFO - Epoch [11][33350/39528] lr: 6.331e-05, eta: 4 days, 9:37:11, time: 0.726, data_time: 0.037, memory: 19865, loss_cls: 0.0748, loss_bbox: 0.2670, loss_traj: 0.4460, loss_traj_cls: 0.0020, loss_map_cls: 0.0910, loss_map_pts: 0.4278, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.4712, d0.loss_plan_l1_fix_dist: 0.4028, d1.loss_plan_l1_fix_time: 0.7033, d1.loss_plan_l1_fix_dist: 0.1922, d2.loss_plan_l1_fix_time: 0.6867, d2.loss_plan_l1_fix_dist: 0.2424, d3.loss_plan_l1_fix_time: 0.6854, d3.loss_plan_l1_fix_dist: 0.1524, d4.loss_plan_l1_fix_time: 0.6886, d4.loss_plan_l1_fix_dist: 0.1705, d5.loss_plan_l1_fix_time: 0.6933, d5.loss_plan_l1_fix_dist: 0.1629, d6.loss_plan_l1_fix_time: 0.6983, d6.loss_plan_l1_fix_dist: 0.1501, d0.loss_cls_all: 0.1173, d0.loss_bbox_all: 0.3239, d0.loss_cls: 0.1173, d0.loss_bbox: 0.3239, d1.loss_cls: 0.1132, d1.loss_bbox: 0.2910, d2.loss_cls: 0.0974, d2.loss_bbox: 0.2765, d3.loss_cls: 0.0796, d3.loss_bbox: 0.2707, d4.loss_cls: 0.0774, d4.loss_bbox: 0.2675, d5.loss_cls: 0.0747, d5.loss_bbox: 0.2665, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6551, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5150, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4752, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4542, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4463, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4462, d0.loss_map_cls_all: 0.1809, d0.loss_map_pts_all: 0.9434, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1809, d0.loss_map_pts: 0.9434, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1492, d1.loss_map_pts: 0.6685, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1192, d2.loss_map_pts: 0.5138, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1048, d3.loss_map_pts: 0.4587, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0989, d4.loss_map_pts: 0.4395, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0940, d5.loss_map_pts: 0.4287, d5.loss_map_dir: 0.0054, loss: 20.4696, grad_norm: 142.3554 +2026-03-01 01:31:22,854 - DriveTransformer - INFO - Epoch [11][33400/39528] lr: 6.331e-05, eta: 4 days, 9:36:34, time: 0.729, data_time: 0.038, memory: 19865, loss_cls: 0.0857, loss_bbox: 0.2754, loss_traj: 0.4535, loss_traj_cls: 0.0020, loss_map_cls: 0.0872, loss_map_pts: 0.4573, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.4142, d0.loss_plan_l1_fix_dist: 0.4253, d1.loss_plan_l1_fix_time: 0.7995, d1.loss_plan_l1_fix_dist: 0.2246, d2.loss_plan_l1_fix_time: 0.7897, d2.loss_plan_l1_fix_dist: 0.2932, d3.loss_plan_l1_fix_time: 0.7866, d3.loss_plan_l1_fix_dist: 0.1922, d4.loss_plan_l1_fix_time: 0.7905, d4.loss_plan_l1_fix_dist: 0.2161, d5.loss_plan_l1_fix_time: 0.7956, d5.loss_plan_l1_fix_dist: 0.2044, d6.loss_plan_l1_fix_time: 0.8016, d6.loss_plan_l1_fix_dist: 0.1779, d0.loss_cls_all: 0.1327, d0.loss_bbox_all: 0.3424, d0.loss_cls: 0.1327, d0.loss_bbox: 0.3424, d1.loss_cls: 0.1273, d1.loss_bbox: 0.3041, d2.loss_cls: 0.1116, d2.loss_bbox: 0.2857, d3.loss_cls: 0.0933, d3.loss_bbox: 0.2793, d4.loss_cls: 0.0858, d4.loss_bbox: 0.2790, d5.loss_cls: 0.0855, d5.loss_bbox: 0.2759, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6466, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5102, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4688, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4519, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4493, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4545, d0.loss_map_cls_all: 0.1797, d0.loss_map_pts_all: 0.9922, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1797, d0.loss_map_pts: 0.9922, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1463, d1.loss_map_pts: 0.7114, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1127, d2.loss_map_pts: 0.5426, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1017, d3.loss_map_pts: 0.4776, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0953, d4.loss_map_pts: 0.4595, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0903, d5.loss_map_pts: 0.4571, d5.loss_map_dir: 0.0054, loss: 21.7186, grad_norm: 142.5692 +2026-03-01 01:31:59,035 - DriveTransformer - INFO - Epoch [11][33450/39528] lr: 6.331e-05, eta: 4 days, 9:35:56, time: 0.724, data_time: 0.036, memory: 19865, loss_cls: 0.0892, loss_bbox: 0.2625, loss_traj: 0.4267, loss_traj_cls: 0.0020, loss_map_cls: 0.0906, loss_map_pts: 0.4933, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.4377, d0.loss_plan_l1_fix_dist: 0.5084, d1.loss_plan_l1_fix_time: 0.6475, d1.loss_plan_l1_fix_dist: 0.2040, d2.loss_plan_l1_fix_time: 0.6264, d2.loss_plan_l1_fix_dist: 0.2815, d3.loss_plan_l1_fix_time: 0.6223, d3.loss_plan_l1_fix_dist: 0.1767, d4.loss_plan_l1_fix_time: 0.6237, d4.loss_plan_l1_fix_dist: 0.1926, d5.loss_plan_l1_fix_time: 0.6263, d5.loss_plan_l1_fix_dist: 0.1789, d6.loss_plan_l1_fix_time: 0.6300, d6.loss_plan_l1_fix_dist: 0.1552, d0.loss_cls_all: 0.1312, d0.loss_bbox_all: 0.3157, d0.loss_cls: 0.1312, d0.loss_bbox: 0.3157, d1.loss_cls: 0.1248, d1.loss_bbox: 0.2841, d2.loss_cls: 0.1117, d2.loss_bbox: 0.2687, d3.loss_cls: 0.0954, d3.loss_bbox: 0.2641, d4.loss_cls: 0.0910, d4.loss_bbox: 0.2621, d5.loss_cls: 0.0898, d5.loss_bbox: 0.2620, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6308, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4807, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4468, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4294, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4242, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4242, d0.loss_map_cls_all: 0.1759, d0.loss_map_pts_all: 1.0834, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1759, d0.loss_map_pts: 1.0834, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1424, d1.loss_map_pts: 0.7680, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1195, d2.loss_map_pts: 0.5874, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1052, d3.loss_map_pts: 0.5241, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0998, d4.loss_map_pts: 0.4988, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0937, d5.loss_map_pts: 0.4935, d5.loss_map_dir: 0.0056, loss: 20.8601, grad_norm: 142.4227 +2026-03-01 01:32:37,139 - DriveTransformer - INFO - Epoch [11][33500/39528] lr: 6.331e-05, eta: 4 days, 9:35:24, time: 0.762, data_time: 0.036, memory: 19865, loss_cls: 0.0948, loss_bbox: 0.2876, loss_traj: 0.3612, loss_traj_cls: 0.0019, loss_map_cls: 0.1006, loss_map_pts: 0.5725, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.5095, d0.loss_plan_l1_fix_dist: 0.4241, d1.loss_plan_l1_fix_time: 0.7321, d1.loss_plan_l1_fix_dist: 0.2181, d2.loss_plan_l1_fix_time: 0.7098, d2.loss_plan_l1_fix_dist: 0.3063, d3.loss_plan_l1_fix_time: 0.7086, d3.loss_plan_l1_fix_dist: 0.2152, d4.loss_plan_l1_fix_time: 0.7103, d4.loss_plan_l1_fix_dist: 0.2196, d5.loss_plan_l1_fix_time: 0.7116, d5.loss_plan_l1_fix_dist: 0.2075, d6.loss_plan_l1_fix_time: 0.7133, d6.loss_plan_l1_fix_dist: 0.1890, d0.loss_cls_all: 0.1426, d0.loss_bbox_all: 0.3507, d0.loss_cls: 0.1426, d0.loss_bbox: 0.3507, d1.loss_cls: 0.1324, d1.loss_bbox: 0.3196, d2.loss_cls: 0.1206, d2.loss_bbox: 0.2977, d3.loss_cls: 0.1017, d3.loss_bbox: 0.2936, d4.loss_cls: 0.0961, d4.loss_bbox: 0.2893, d5.loss_cls: 0.0956, d5.loss_bbox: 0.2877, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5182, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4165, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3795, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3677, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3632, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.3594, d0.loss_map_cls_all: 0.1851, d0.loss_map_pts_all: 1.2322, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1851, d0.loss_map_pts: 1.2322, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1512, d1.loss_map_pts: 0.8841, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1288, d2.loss_map_pts: 0.6773, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1183, d3.loss_map_pts: 0.6056, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1101, d4.loss_map_pts: 0.5790, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1045, d5.loss_map_pts: 0.5726, d5.loss_map_dir: 0.0079, loss: 22.2520, grad_norm: 141.8041 +2026-03-01 01:33:14,451 - DriveTransformer - INFO - Epoch [11][33550/39528] lr: 6.331e-05, eta: 4 days, 9:34:49, time: 0.746, data_time: 0.038, memory: 19865, loss_cls: 0.0893, loss_bbox: 0.2825, loss_traj: 0.4077, loss_traj_cls: 0.0020, loss_map_cls: 0.0938, loss_map_pts: 0.5127, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.5314, d0.loss_plan_l1_fix_dist: 0.5062, d1.loss_plan_l1_fix_time: 0.6583, d1.loss_plan_l1_fix_dist: 0.2165, d2.loss_plan_l1_fix_time: 0.6478, d2.loss_plan_l1_fix_dist: 0.3166, d3.loss_plan_l1_fix_time: 0.6457, d3.loss_plan_l1_fix_dist: 0.2295, d4.loss_plan_l1_fix_time: 0.6491, d4.loss_plan_l1_fix_dist: 0.2215, d5.loss_plan_l1_fix_time: 0.6519, d5.loss_plan_l1_fix_dist: 0.2123, d6.loss_plan_l1_fix_time: 0.6557, d6.loss_plan_l1_fix_dist: 0.2024, d0.loss_cls_all: 0.1311, d0.loss_bbox_all: 0.3405, d0.loss_cls: 0.1311, d0.loss_bbox: 0.3405, d1.loss_cls: 0.1229, d1.loss_bbox: 0.3096, d2.loss_cls: 0.1103, d2.loss_bbox: 0.2894, d3.loss_cls: 0.0955, d3.loss_bbox: 0.2852, d4.loss_cls: 0.0911, d4.loss_bbox: 0.2826, d5.loss_cls: 0.0904, d5.loss_bbox: 0.2813, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6160, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4801, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4378, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4179, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4128, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4086, d0.loss_map_cls_all: 0.1760, d0.loss_map_pts_all: 1.1140, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1760, d0.loss_map_pts: 1.1140, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1428, d1.loss_map_pts: 0.7765, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1188, d2.loss_map_pts: 0.6053, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1079, d3.loss_map_pts: 0.5441, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1021, d4.loss_map_pts: 0.5204, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0966, d5.loss_map_pts: 0.5134, d5.loss_map_dir: 0.0068, loss: 21.5752, grad_norm: 144.9619 +2026-03-01 01:33:51,191 - DriveTransformer - INFO - Epoch [11][33600/39528] lr: 6.331e-05, eta: 4 days, 9:34:13, time: 0.735, data_time: 0.038, memory: 19865, loss_cls: 0.0981, loss_bbox: 0.2951, loss_traj: 0.4845, loss_traj_cls: 0.0020, loss_map_cls: 0.1026, loss_map_pts: 0.5307, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.3481, d0.loss_plan_l1_fix_dist: 0.3969, d1.loss_plan_l1_fix_time: 0.7752, d1.loss_plan_l1_fix_dist: 0.2036, d2.loss_plan_l1_fix_time: 0.7609, d2.loss_plan_l1_fix_dist: 0.3039, d3.loss_plan_l1_fix_time: 0.7605, d3.loss_plan_l1_fix_dist: 0.2205, d4.loss_plan_l1_fix_time: 0.7634, d4.loss_plan_l1_fix_dist: 0.1799, d5.loss_plan_l1_fix_time: 0.7658, d5.loss_plan_l1_fix_dist: 0.1749, d6.loss_plan_l1_fix_time: 0.7689, d6.loss_plan_l1_fix_dist: 0.1649, d0.loss_cls_all: 0.1512, d0.loss_bbox_all: 0.3551, d0.loss_cls: 0.1512, d0.loss_bbox: 0.3551, d1.loss_cls: 0.1421, d1.loss_bbox: 0.3193, d2.loss_cls: 0.1265, d2.loss_bbox: 0.2993, d3.loss_cls: 0.1052, d3.loss_bbox: 0.2956, d4.loss_cls: 0.0985, d4.loss_bbox: 0.2949, d5.loss_cls: 0.0986, d5.loss_bbox: 0.2937, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7089, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5626, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5072, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4940, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4883, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4855, d0.loss_map_cls_all: 0.1914, d0.loss_map_pts_all: 1.0789, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1914, d0.loss_map_pts: 1.0789, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1596, d1.loss_map_pts: 0.7875, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1320, d2.loss_map_pts: 0.6295, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1196, d3.loss_map_pts: 0.5608, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1111, d4.loss_map_pts: 0.5390, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1042, d5.loss_map_pts: 0.5315, d5.loss_map_dir: 0.0055, loss: 22.6969, grad_norm: 143.0630 +2026-03-01 01:34:28,667 - DriveTransformer - INFO - Epoch [11][33650/39528] lr: 6.331e-05, eta: 4 days, 9:33:39, time: 0.750, data_time: 0.038, memory: 19865, loss_cls: 0.0916, loss_bbox: 0.2765, loss_traj: 0.4611, loss_traj_cls: 0.0020, loss_map_cls: 0.0979, loss_map_pts: 0.5165, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.6670, d0.loss_plan_l1_fix_dist: 0.4703, d1.loss_plan_l1_fix_time: 0.7439, d1.loss_plan_l1_fix_dist: 0.2068, d2.loss_plan_l1_fix_time: 0.7353, d2.loss_plan_l1_fix_dist: 0.3100, d3.loss_plan_l1_fix_time: 0.7327, d3.loss_plan_l1_fix_dist: 0.2345, d4.loss_plan_l1_fix_time: 0.7349, d4.loss_plan_l1_fix_dist: 0.1702, d5.loss_plan_l1_fix_time: 0.7373, d5.loss_plan_l1_fix_dist: 0.1718, d6.loss_plan_l1_fix_time: 0.7400, d6.loss_plan_l1_fix_dist: 0.1672, d0.loss_cls_all: 0.1392, d0.loss_bbox_all: 0.3319, d0.loss_cls: 0.1392, d0.loss_bbox: 0.3319, d1.loss_cls: 0.1326, d1.loss_bbox: 0.3006, d2.loss_cls: 0.1211, d2.loss_bbox: 0.2788, d3.loss_cls: 0.1016, d3.loss_bbox: 0.2761, d4.loss_cls: 0.0950, d4.loss_bbox: 0.2752, d5.loss_cls: 0.0924, d5.loss_bbox: 0.2762, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7201, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5678, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4912, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4716, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4664, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4664, d0.loss_map_cls_all: 0.1832, d0.loss_map_pts_all: 1.1124, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1832, d0.loss_map_pts: 1.1124, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1498, d1.loss_map_pts: 0.7913, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1250, d2.loss_map_pts: 0.6099, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1143, d3.loss_map_pts: 0.5401, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1071, d4.loss_map_pts: 0.5184, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1010, d5.loss_map_pts: 0.5153, d5.loss_map_dir: 0.0062, loss: 22.5596, grad_norm: 142.6838 +2026-03-01 01:35:04,572 - DriveTransformer - INFO - Epoch [11][33700/39528] lr: 6.331e-05, eta: 4 days, 9:33:01, time: 0.718, data_time: 0.041, memory: 19865, loss_cls: 0.0928, loss_bbox: 0.2784, loss_traj: 0.5750, loss_traj_cls: 0.0019, loss_map_cls: 0.0770, loss_map_pts: 0.4542, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.8451, d0.loss_plan_l1_fix_dist: 0.4616, d1.loss_plan_l1_fix_time: 0.8579, d1.loss_plan_l1_fix_dist: 0.2043, d2.loss_plan_l1_fix_time: 0.8471, d2.loss_plan_l1_fix_dist: 0.3060, d3.loss_plan_l1_fix_time: 0.8474, d3.loss_plan_l1_fix_dist: 0.2474, d4.loss_plan_l1_fix_time: 0.8506, d4.loss_plan_l1_fix_dist: 0.1728, d5.loss_plan_l1_fix_time: 0.8549, d5.loss_plan_l1_fix_dist: 0.1605, d6.loss_plan_l1_fix_time: 0.8591, d6.loss_plan_l1_fix_dist: 0.1654, d0.loss_cls_all: 0.1277, d0.loss_bbox_all: 0.3397, d0.loss_cls: 0.1277, d0.loss_bbox: 0.3397, d1.loss_cls: 0.1200, d1.loss_bbox: 0.3108, d2.loss_cls: 0.1120, d2.loss_bbox: 0.2895, d3.loss_cls: 0.0965, d3.loss_bbox: 0.2827, d4.loss_cls: 0.0933, d4.loss_bbox: 0.2790, d5.loss_cls: 0.0933, d5.loss_bbox: 0.2776, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8734, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.6799, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.6094, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5845, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5786, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5717, d0.loss_map_cls_all: 0.1653, d0.loss_map_pts_all: 0.9367, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1653, d0.loss_map_pts: 0.9367, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1304, d1.loss_map_pts: 0.6858, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1022, d2.loss_map_pts: 0.5368, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0907, d3.loss_map_pts: 0.4774, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0848, d4.loss_map_pts: 0.4597, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0793, d5.loss_map_pts: 0.4525, d5.loss_map_dir: 0.0050, loss: 23.2950, grad_norm: 143.0772 +2026-03-01 01:35:41,071 - DriveTransformer - INFO - Epoch [11][33750/39528] lr: 6.331e-05, eta: 4 days, 9:32:24, time: 0.730, data_time: 0.036, memory: 19865, loss_cls: 0.0958, loss_bbox: 0.2900, loss_traj: 0.3961, loss_traj_cls: 0.0020, loss_map_cls: 0.1048, loss_map_pts: 0.5129, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.3045, d0.loss_plan_l1_fix_dist: 0.4027, d1.loss_plan_l1_fix_time: 0.7432, d1.loss_plan_l1_fix_dist: 0.2118, d2.loss_plan_l1_fix_time: 0.7218, d2.loss_plan_l1_fix_dist: 0.3019, d3.loss_plan_l1_fix_time: 0.7235, d3.loss_plan_l1_fix_dist: 0.2518, d4.loss_plan_l1_fix_time: 0.7274, d4.loss_plan_l1_fix_dist: 0.1922, d5.loss_plan_l1_fix_time: 0.7318, d5.loss_plan_l1_fix_dist: 0.1631, d6.loss_plan_l1_fix_time: 0.7359, d6.loss_plan_l1_fix_dist: 0.1764, d0.loss_cls_all: 0.1392, d0.loss_bbox_all: 0.3475, d0.loss_cls: 0.1392, d0.loss_bbox: 0.3475, d1.loss_cls: 0.1334, d1.loss_bbox: 0.3164, d2.loss_cls: 0.1187, d2.loss_bbox: 0.2958, d3.loss_cls: 0.1000, d3.loss_bbox: 0.2913, d4.loss_cls: 0.0960, d4.loss_bbox: 0.2885, d5.loss_cls: 0.0954, d5.loss_bbox: 0.2883, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6124, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4714, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4276, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4082, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4014, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3985, d0.loss_map_cls_all: 0.1803, d0.loss_map_pts_all: 1.0237, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1803, d0.loss_map_pts: 1.0237, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1493, d1.loss_map_pts: 0.7447, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1296, d2.loss_map_pts: 0.5942, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1181, d3.loss_map_pts: 0.5389, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1126, d4.loss_map_pts: 0.5157, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1072, d5.loss_map_pts: 0.5135, d5.loss_map_dir: 0.0061, loss: 21.4914, grad_norm: 144.9114 +2026-03-01 01:36:16,823 - DriveTransformer - INFO - Epoch [11][33800/39528] lr: 6.331e-05, eta: 4 days, 9:31:45, time: 0.715, data_time: 0.038, memory: 19865, loss_cls: 0.1071, loss_bbox: 0.2985, loss_traj: 0.4930, loss_traj_cls: 0.0019, loss_map_cls: 0.0986, loss_map_pts: 0.5188, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.6678, d0.loss_plan_l1_fix_dist: 0.3984, d1.loss_plan_l1_fix_time: 0.7822, d1.loss_plan_l1_fix_dist: 0.2189, d2.loss_plan_l1_fix_time: 0.7628, d2.loss_plan_l1_fix_dist: 0.2898, d3.loss_plan_l1_fix_time: 0.7596, d3.loss_plan_l1_fix_dist: 0.2458, d4.loss_plan_l1_fix_time: 0.7618, d4.loss_plan_l1_fix_dist: 0.2149, d5.loss_plan_l1_fix_time: 0.7645, d5.loss_plan_l1_fix_dist: 0.1834, d6.loss_plan_l1_fix_time: 0.7680, d6.loss_plan_l1_fix_dist: 0.1917, d0.loss_cls_all: 0.1498, d0.loss_bbox_all: 0.3645, d0.loss_cls: 0.1498, d0.loss_bbox: 0.3645, d1.loss_cls: 0.1453, d1.loss_bbox: 0.3258, d2.loss_cls: 0.1312, d2.loss_bbox: 0.3051, d3.loss_cls: 0.1106, d3.loss_bbox: 0.3000, d4.loss_cls: 0.1082, d4.loss_bbox: 0.2969, d5.loss_cls: 0.1067, d5.loss_bbox: 0.2972, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7257, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5641, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5182, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5071, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4954, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4894, d0.loss_map_cls_all: 0.1790, d0.loss_map_pts_all: 1.0751, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1790, d0.loss_map_pts: 1.0751, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1498, d1.loss_map_pts: 0.7754, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1244, d2.loss_map_pts: 0.6078, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1130, d3.loss_map_pts: 0.5428, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1049, d4.loss_map_pts: 0.5237, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1003, d5.loss_map_pts: 0.5184, d5.loss_map_dir: 0.0064, loss: 23.1066, grad_norm: 145.5937 +2026-03-01 01:36:53,884 - DriveTransformer - INFO - Epoch [11][33850/39528] lr: 6.331e-05, eta: 4 days, 9:31:10, time: 0.741, data_time: 0.038, memory: 19865, loss_cls: 0.0921, loss_bbox: 0.2837, loss_traj: 0.3998, loss_traj_cls: 0.0020, loss_map_cls: 0.0870, loss_map_pts: 0.5004, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.5775, d0.loss_plan_l1_fix_dist: 0.4390, d1.loss_plan_l1_fix_time: 0.6981, d1.loss_plan_l1_fix_dist: 0.2045, d2.loss_plan_l1_fix_time: 0.6851, d2.loss_plan_l1_fix_dist: 0.2575, d3.loss_plan_l1_fix_time: 0.6815, d3.loss_plan_l1_fix_dist: 0.2067, d4.loss_plan_l1_fix_time: 0.6834, d4.loss_plan_l1_fix_dist: 0.2009, d5.loss_plan_l1_fix_time: 0.6860, d5.loss_plan_l1_fix_dist: 0.1573, d6.loss_plan_l1_fix_time: 0.6899, d6.loss_plan_l1_fix_dist: 0.1537, d0.loss_cls_all: 0.1375, d0.loss_bbox_all: 0.3492, d0.loss_cls: 0.1375, d0.loss_bbox: 0.3492, d1.loss_cls: 0.1295, d1.loss_bbox: 0.3152, d2.loss_cls: 0.1173, d2.loss_bbox: 0.2941, d3.loss_cls: 0.0984, d3.loss_bbox: 0.2886, d4.loss_cls: 0.0914, d4.loss_bbox: 0.2850, d5.loss_cls: 0.0923, d5.loss_bbox: 0.2829, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6025, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4733, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4250, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4096, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4020, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3988, d0.loss_map_cls_all: 0.1627, d0.loss_map_pts_all: 1.0423, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1627, d0.loss_map_pts: 1.0423, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1323, d1.loss_map_pts: 0.7223, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1107, d2.loss_map_pts: 0.5726, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1004, d3.loss_map_pts: 0.5242, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.0938, d4.loss_map_pts: 0.5030, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.0884, d5.loss_map_pts: 0.5001, d5.loss_map_dir: 0.0072, loss: 21.1857, grad_norm: 139.9555 +2026-03-01 01:37:30,940 - DriveTransformer - INFO - Epoch [11][33900/39528] lr: 6.331e-05, eta: 4 days, 9:30:35, time: 0.741, data_time: 0.038, memory: 19865, loss_cls: 0.0893, loss_bbox: 0.2797, loss_traj: 0.4931, loss_traj_cls: 0.0020, loss_map_cls: 0.0850, loss_map_pts: 0.4771, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.7142, d0.loss_plan_l1_fix_dist: 0.4592, d1.loss_plan_l1_fix_time: 0.7687, d1.loss_plan_l1_fix_dist: 0.2567, d2.loss_plan_l1_fix_time: 0.7578, d2.loss_plan_l1_fix_dist: 0.2881, d3.loss_plan_l1_fix_time: 0.7480, d3.loss_plan_l1_fix_dist: 0.2280, d4.loss_plan_l1_fix_time: 0.7486, d4.loss_plan_l1_fix_dist: 0.2434, d5.loss_plan_l1_fix_time: 0.7511, d5.loss_plan_l1_fix_dist: 0.1956, d6.loss_plan_l1_fix_time: 0.7545, d6.loss_plan_l1_fix_dist: 0.1957, d0.loss_cls_all: 0.1321, d0.loss_bbox_all: 0.3426, d0.loss_cls: 0.1321, d0.loss_bbox: 0.3426, d1.loss_cls: 0.1267, d1.loss_bbox: 0.3090, d2.loss_cls: 0.1165, d2.loss_bbox: 0.2886, d3.loss_cls: 0.0974, d3.loss_bbox: 0.2825, d4.loss_cls: 0.0906, d4.loss_bbox: 0.2799, d5.loss_cls: 0.0892, d5.loss_bbox: 0.2792, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7010, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5599, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5082, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4917, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4924, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4910, d0.loss_map_cls_all: 0.1736, d0.loss_map_pts_all: 1.0802, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1736, d0.loss_map_pts: 1.0802, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1349, d1.loss_map_pts: 0.7452, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1113, d2.loss_map_pts: 0.5731, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1013, d3.loss_map_pts: 0.5075, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.0926, d4.loss_map_pts: 0.4849, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0874, d5.loss_map_pts: 0.4769, d5.loss_map_dir: 0.0064, loss: 22.5684, grad_norm: 141.3184 +2026-03-01 01:38:07,233 - DriveTransformer - INFO - Epoch [11][33950/39528] lr: 6.331e-05, eta: 4 days, 9:29:58, time: 0.726, data_time: 0.040, memory: 19865, loss_cls: 0.0875, loss_bbox: 0.2906, loss_traj: 0.4613, loss_traj_cls: 0.0021, loss_map_cls: 0.0835, loss_map_pts: 0.4739, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.5414, d0.loss_plan_l1_fix_dist: 0.3491, d1.loss_plan_l1_fix_time: 0.7348, d1.loss_plan_l1_fix_dist: 0.2419, d2.loss_plan_l1_fix_time: 0.7135, d2.loss_plan_l1_fix_dist: 0.2498, d3.loss_plan_l1_fix_time: 0.7131, d3.loss_plan_l1_fix_dist: 0.1888, d4.loss_plan_l1_fix_time: 0.7152, d4.loss_plan_l1_fix_dist: 0.2375, d5.loss_plan_l1_fix_time: 0.7186, d5.loss_plan_l1_fix_dist: 0.1852, d6.loss_plan_l1_fix_time: 0.7223, d6.loss_plan_l1_fix_dist: 0.1872, d0.loss_cls_all: 0.1329, d0.loss_bbox_all: 0.3537, d0.loss_cls: 0.1329, d0.loss_bbox: 0.3537, d1.loss_cls: 0.1245, d1.loss_bbox: 0.3214, d2.loss_cls: 0.1139, d2.loss_bbox: 0.3005, d3.loss_cls: 0.0955, d3.loss_bbox: 0.2958, d4.loss_cls: 0.0883, d4.loss_bbox: 0.2925, d5.loss_cls: 0.0875, d5.loss_bbox: 0.2909, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6975, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5308, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4785, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4715, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4623, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4613, d0.loss_map_cls_all: 0.1683, d0.loss_map_pts_all: 1.0004, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1683, d0.loss_map_pts: 1.0004, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1334, d1.loss_map_pts: 0.6997, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1116, d2.loss_map_pts: 0.5546, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.0999, d3.loss_map_pts: 0.4976, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0914, d4.loss_map_pts: 0.4803, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0855, d5.loss_map_pts: 0.4745, d5.loss_map_dir: 0.0059, loss: 21.6021, grad_norm: 147.6516 +2026-03-01 01:38:43,533 - DriveTransformer - INFO - Epoch [11][34000/39528] lr: 6.331e-05, eta: 4 days, 9:29:21, time: 0.727, data_time: 0.039, memory: 19865, loss_cls: 0.0816, loss_bbox: 0.2672, loss_traj: 0.4832, loss_traj_cls: 0.0021, loss_map_cls: 0.1001, loss_map_pts: 0.4879, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.8224, d0.loss_plan_l1_fix_dist: 0.4738, d1.loss_plan_l1_fix_time: 0.7972, d1.loss_plan_l1_fix_dist: 0.2570, d2.loss_plan_l1_fix_time: 0.7852, d2.loss_plan_l1_fix_dist: 0.2595, d3.loss_plan_l1_fix_time: 0.7795, d3.loss_plan_l1_fix_dist: 0.1968, d4.loss_plan_l1_fix_time: 0.7804, d4.loss_plan_l1_fix_dist: 0.2380, d5.loss_plan_l1_fix_time: 0.7829, d5.loss_plan_l1_fix_dist: 0.1726, d6.loss_plan_l1_fix_time: 0.7857, d6.loss_plan_l1_fix_dist: 0.1832, d0.loss_cls_all: 0.1157, d0.loss_bbox_all: 0.3214, d0.loss_cls: 0.1157, d0.loss_bbox: 0.3214, d1.loss_cls: 0.1144, d1.loss_bbox: 0.2890, d2.loss_cls: 0.1023, d2.loss_bbox: 0.2723, d3.loss_cls: 0.0886, d3.loss_bbox: 0.2694, d4.loss_cls: 0.0824, d4.loss_bbox: 0.2673, d5.loss_cls: 0.0817, d5.loss_bbox: 0.2667, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6993, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5515, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4993, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4876, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4813, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4809, d0.loss_map_cls_all: 0.1725, d0.loss_map_pts_all: 1.0592, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1725, d0.loss_map_pts: 1.0592, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1415, d1.loss_map_pts: 0.7411, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1212, d2.loss_map_pts: 0.5776, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1114, d3.loss_map_pts: 0.5169, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1057, d4.loss_map_pts: 0.4957, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1015, d5.loss_map_pts: 0.4888, d5.loss_map_dir: 0.0058, loss: 22.5599, grad_norm: 145.9887 +2026-03-01 01:39:19,561 - DriveTransformer - INFO - Epoch [11][34050/39528] lr: 6.331e-05, eta: 4 days, 9:28:42, time: 0.719, data_time: 0.038, memory: 19865, loss_cls: 0.0981, loss_bbox: 0.2862, loss_traj: 0.5169, loss_traj_cls: 0.0021, loss_map_cls: 0.0918, loss_map_pts: 0.4600, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.9961, d0.loss_plan_l1_fix_dist: 0.4435, d1.loss_plan_l1_fix_time: 0.7061, d1.loss_plan_l1_fix_dist: 0.2676, d2.loss_plan_l1_fix_time: 0.6826, d2.loss_plan_l1_fix_dist: 0.2632, d3.loss_plan_l1_fix_time: 0.6750, d3.loss_plan_l1_fix_dist: 0.2086, d4.loss_plan_l1_fix_time: 0.6744, d4.loss_plan_l1_fix_dist: 0.2424, d5.loss_plan_l1_fix_time: 0.6751, d5.loss_plan_l1_fix_dist: 0.1767, d6.loss_plan_l1_fix_time: 0.6763, d6.loss_plan_l1_fix_dist: 0.1921, d0.loss_cls_all: 0.1381, d0.loss_bbox_all: 0.3538, d0.loss_cls: 0.1381, d0.loss_bbox: 0.3538, d1.loss_cls: 0.1333, d1.loss_bbox: 0.3213, d2.loss_cls: 0.1167, d2.loss_bbox: 0.3002, d3.loss_cls: 0.1037, d3.loss_bbox: 0.2924, d4.loss_cls: 0.0992, d4.loss_bbox: 0.2892, d5.loss_cls: 0.0987, d5.loss_bbox: 0.2868, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7618, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.6113, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5467, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5263, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5218, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5191, d0.loss_map_cls_all: 0.1646, d0.loss_map_pts_all: 0.9534, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1646, d0.loss_map_pts: 0.9534, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1352, d1.loss_map_pts: 0.6811, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1143, d2.loss_map_pts: 0.5435, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1044, d3.loss_map_pts: 0.4910, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0975, d4.loss_map_pts: 0.4676, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0934, d5.loss_map_pts: 0.4599, d5.loss_map_dir: 0.0054, loss: 22.3209, grad_norm: 143.8796 +2026-03-01 01:39:54,818 - DriveTransformer - INFO - Epoch [11][34100/39528] lr: 6.331e-05, eta: 4 days, 9:28:02, time: 0.705, data_time: 0.040, memory: 19865, loss_cls: 0.0887, loss_bbox: 0.2730, loss_traj: 0.5132, loss_traj_cls: 0.0020, loss_map_cls: 0.1150, loss_map_pts: 0.5089, loss_map_dir: 0.0044, d0.loss_plan_l1_fix_time: 2.8138, d0.loss_plan_l1_fix_dist: 0.4513, d1.loss_plan_l1_fix_time: 0.8241, d1.loss_plan_l1_fix_dist: 0.2772, d2.loss_plan_l1_fix_time: 0.8040, d2.loss_plan_l1_fix_dist: 0.2509, d3.loss_plan_l1_fix_time: 0.8004, d3.loss_plan_l1_fix_dist: 0.2054, d4.loss_plan_l1_fix_time: 0.8012, d4.loss_plan_l1_fix_dist: 0.2375, d5.loss_plan_l1_fix_time: 0.8028, d5.loss_plan_l1_fix_dist: 0.1829, d6.loss_plan_l1_fix_time: 0.8051, d6.loss_plan_l1_fix_dist: 0.2017, d0.loss_cls_all: 0.1324, d0.loss_bbox_all: 0.3440, d0.loss_cls: 0.1324, d0.loss_bbox: 0.3440, d1.loss_cls: 0.1278, d1.loss_bbox: 0.3065, d2.loss_cls: 0.1153, d2.loss_bbox: 0.2840, d3.loss_cls: 0.0968, d3.loss_bbox: 0.2794, d4.loss_cls: 0.0915, d4.loss_bbox: 0.2771, d5.loss_cls: 0.0893, d5.loss_bbox: 0.2739, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8188, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.6058, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5487, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5280, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5188, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5130, d0.loss_map_cls_all: 0.2016, d0.loss_map_pts_all: 1.0113, d0.loss_map_dir_all: 0.0049, d0.loss_map_cls: 0.2016, d0.loss_map_pts: 1.0113, d0.loss_map_dir: 0.0049, d1.loss_map_cls: 0.1713, d1.loss_map_pts: 0.7462, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.1457, d2.loss_map_pts: 0.5954, d2.loss_map_dir: 0.0041, d3.loss_map_cls: 0.1312, d3.loss_map_pts: 0.5310, d3.loss_map_dir: 0.0041, d4.loss_map_cls: 0.1243, d4.loss_map_pts: 0.5117, d4.loss_map_dir: 0.0043, d5.loss_map_cls: 0.1193, d5.loss_map_pts: 0.5085, d5.loss_map_dir: 0.0043, loss: 23.4377, grad_norm: 140.2506 +2026-03-01 01:40:30,720 - DriveTransformer - INFO - Epoch [11][34150/39528] lr: 6.331e-05, eta: 4 days, 9:27:24, time: 0.718, data_time: 0.036, memory: 19865, loss_cls: 0.0899, loss_bbox: 0.2862, loss_traj: 0.5608, loss_traj_cls: 0.0020, loss_map_cls: 0.0855, loss_map_pts: 0.4551, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.4160, d0.loss_plan_l1_fix_dist: 0.3488, d1.loss_plan_l1_fix_time: 0.8377, d1.loss_plan_l1_fix_dist: 0.2487, d2.loss_plan_l1_fix_time: 0.8196, d2.loss_plan_l1_fix_dist: 0.1970, d3.loss_plan_l1_fix_time: 0.8093, d3.loss_plan_l1_fix_dist: 0.1743, d4.loss_plan_l1_fix_time: 0.8099, d4.loss_plan_l1_fix_dist: 0.2040, d5.loss_plan_l1_fix_time: 0.8120, d5.loss_plan_l1_fix_dist: 0.1704, d6.loss_plan_l1_fix_time: 0.8146, d6.loss_plan_l1_fix_dist: 0.1849, d0.loss_cls_all: 0.1386, d0.loss_bbox_all: 0.3490, d0.loss_cls: 0.1386, d0.loss_bbox: 0.3490, d1.loss_cls: 0.1284, d1.loss_bbox: 0.3177, d2.loss_cls: 0.1149, d2.loss_bbox: 0.2952, d3.loss_cls: 0.0967, d3.loss_bbox: 0.2918, d4.loss_cls: 0.0919, d4.loss_bbox: 0.2881, d5.loss_cls: 0.0897, d5.loss_bbox: 0.2872, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8597, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.6300, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5814, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5702, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5617, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5580, d0.loss_map_cls_all: 0.1609, d0.loss_map_pts_all: 1.0079, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1609, d0.loss_map_pts: 1.0079, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1323, d1.loss_map_pts: 0.7030, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1103, d2.loss_map_pts: 0.5443, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0996, d3.loss_map_pts: 0.4825, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0932, d4.loss_map_pts: 0.4637, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0886, d5.loss_map_pts: 0.4546, d5.loss_map_dir: 0.0056, loss: 22.6248, grad_norm: 140.3058 +2026-03-01 01:41:09,136 - DriveTransformer - INFO - Epoch [11][34200/39528] lr: 6.331e-05, eta: 4 days, 9:26:53, time: 0.768, data_time: 0.038, memory: 19865, loss_cls: 0.0899, loss_bbox: 0.2721, loss_traj: 0.4619, loss_traj_cls: 0.0020, loss_map_cls: 0.0898, loss_map_pts: 0.5294, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.4845, d0.loss_plan_l1_fix_dist: 0.3770, d1.loss_plan_l1_fix_time: 0.7489, d1.loss_plan_l1_fix_dist: 0.2595, d2.loss_plan_l1_fix_time: 0.7325, d2.loss_plan_l1_fix_dist: 0.2040, d3.loss_plan_l1_fix_time: 0.7150, d3.loss_plan_l1_fix_dist: 0.1913, d4.loss_plan_l1_fix_time: 0.7156, d4.loss_plan_l1_fix_dist: 0.2059, d5.loss_plan_l1_fix_time: 0.7166, d5.loss_plan_l1_fix_dist: 0.1857, d6.loss_plan_l1_fix_time: 0.7181, d6.loss_plan_l1_fix_dist: 0.1634, d0.loss_cls_all: 0.1290, d0.loss_bbox_all: 0.3378, d0.loss_cls: 0.1290, d0.loss_bbox: 0.3378, d1.loss_cls: 0.1225, d1.loss_bbox: 0.3058, d2.loss_cls: 0.1106, d2.loss_bbox: 0.2822, d3.loss_cls: 0.0947, d3.loss_bbox: 0.2754, d4.loss_cls: 0.0892, d4.loss_bbox: 0.2742, d5.loss_cls: 0.0895, d5.loss_bbox: 0.2722, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7077, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5409, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4890, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4765, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4640, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4569, d0.loss_map_cls_all: 0.1737, d0.loss_map_pts_all: 1.2040, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1737, d0.loss_map_pts: 1.2040, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1354, d1.loss_map_pts: 0.8309, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1156, d2.loss_map_pts: 0.6439, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1044, d3.loss_map_pts: 0.5708, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.0986, d4.loss_map_pts: 0.5378, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.0927, d5.loss_map_pts: 0.5306, d5.loss_map_dir: 0.0074, loss: 22.3278, grad_norm: 138.8138 +2026-03-01 01:41:43,843 - DriveTransformer - INFO - Epoch [11][34250/39528] lr: 6.331e-05, eta: 4 days, 9:26:11, time: 0.694, data_time: 0.038, memory: 19865, loss_cls: 0.0989, loss_bbox: 0.2680, loss_traj: 0.5652, loss_traj_cls: 0.0021, loss_map_cls: 0.1026, loss_map_pts: 0.4476, loss_map_dir: 0.0047, d0.loss_plan_l1_fix_time: 2.8148, d0.loss_plan_l1_fix_dist: 0.4459, d1.loss_plan_l1_fix_time: 0.7696, d1.loss_plan_l1_fix_dist: 0.2597, d2.loss_plan_l1_fix_time: 0.7561, d2.loss_plan_l1_fix_dist: 0.2154, d3.loss_plan_l1_fix_time: 0.7437, d3.loss_plan_l1_fix_dist: 0.2181, d4.loss_plan_l1_fix_time: 0.7451, d4.loss_plan_l1_fix_dist: 0.2209, d5.loss_plan_l1_fix_time: 0.7469, d5.loss_plan_l1_fix_dist: 0.2083, d6.loss_plan_l1_fix_time: 0.7493, d6.loss_plan_l1_fix_dist: 0.1762, d0.loss_cls_all: 0.1365, d0.loss_bbox_all: 0.3385, d0.loss_cls: 0.1365, d0.loss_bbox: 0.3385, d1.loss_cls: 0.1301, d1.loss_bbox: 0.2995, d2.loss_cls: 0.1187, d2.loss_bbox: 0.2799, d3.loss_cls: 0.1030, d3.loss_bbox: 0.2734, d4.loss_cls: 0.0998, d4.loss_bbox: 0.2711, d5.loss_cls: 0.0988, d5.loss_bbox: 0.2691, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8597, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.6672, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6020, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5797, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5688, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5659, d0.loss_map_cls_all: 0.1796, d0.loss_map_pts_all: 0.9207, d0.loss_map_dir_all: 0.0045, d0.loss_map_cls: 0.1796, d0.loss_map_pts: 0.9207, d0.loss_map_dir: 0.0045, d1.loss_map_cls: 0.1485, d1.loss_map_pts: 0.6845, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.1296, d2.loss_map_pts: 0.5368, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.1167, d3.loss_map_pts: 0.4727, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.1103, d4.loss_map_pts: 0.4540, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.1051, d5.loss_map_pts: 0.4490, d5.loss_map_dir: 0.0047, loss: 22.7403, grad_norm: 138.9197 +2026-03-01 01:42:21,484 - DriveTransformer - INFO - Epoch [11][34300/39528] lr: 6.331e-05, eta: 4 days, 9:25:37, time: 0.753, data_time: 0.038, memory: 19865, loss_cls: 0.0772, loss_bbox: 0.2619, loss_traj: 0.4473, loss_traj_cls: 0.0021, loss_map_cls: 0.0624, loss_map_pts: 0.4452, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.4794, d0.loss_plan_l1_fix_dist: 0.4261, d1.loss_plan_l1_fix_time: 0.7293, d1.loss_plan_l1_fix_dist: 0.2645, d2.loss_plan_l1_fix_time: 0.7233, d2.loss_plan_l1_fix_dist: 0.2186, d3.loss_plan_l1_fix_time: 0.7192, d3.loss_plan_l1_fix_dist: 0.2274, d4.loss_plan_l1_fix_time: 0.7220, d4.loss_plan_l1_fix_dist: 0.2023, d5.loss_plan_l1_fix_time: 0.7250, d5.loss_plan_l1_fix_dist: 0.1917, d6.loss_plan_l1_fix_time: 0.7284, d6.loss_plan_l1_fix_dist: 0.1822, d0.loss_cls_all: 0.1227, d0.loss_bbox_all: 0.3237, d0.loss_cls: 0.1227, d0.loss_bbox: 0.3237, d1.loss_cls: 0.1159, d1.loss_bbox: 0.2931, d2.loss_cls: 0.1040, d2.loss_bbox: 0.2730, d3.loss_cls: 0.0840, d3.loss_bbox: 0.2665, d4.loss_cls: 0.0782, d4.loss_bbox: 0.2641, d5.loss_cls: 0.0770, d5.loss_bbox: 0.2628, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7343, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5561, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4857, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4547, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4486, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4446, d0.loss_map_cls_all: 0.1385, d0.loss_map_pts_all: 0.9231, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1385, d0.loss_map_pts: 0.9231, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1099, d1.loss_map_pts: 0.6376, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.0864, d2.loss_map_pts: 0.5082, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.0759, d3.loss_map_pts: 0.4632, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.0690, d4.loss_map_pts: 0.4466, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0642, d5.loss_map_pts: 0.4454, d5.loss_map_dir: 0.0063, loss: 20.7578, grad_norm: 137.2370 +2026-03-01 01:42:57,046 - DriveTransformer - INFO - Epoch [11][34350/39528] lr: 6.331e-05, eta: 4 days, 9:24:58, time: 0.711, data_time: 0.038, memory: 19865, loss_cls: 0.0851, loss_bbox: 0.2714, loss_traj: 0.5727, loss_traj_cls: 0.0021, loss_map_cls: 0.0826, loss_map_pts: 0.4362, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.4854, d0.loss_plan_l1_fix_dist: 0.4562, d1.loss_plan_l1_fix_time: 0.7241, d1.loss_plan_l1_fix_dist: 0.2629, d2.loss_plan_l1_fix_time: 0.7073, d2.loss_plan_l1_fix_dist: 0.2095, d3.loss_plan_l1_fix_time: 0.7013, d3.loss_plan_l1_fix_dist: 0.2352, d4.loss_plan_l1_fix_time: 0.7024, d4.loss_plan_l1_fix_dist: 0.1906, d5.loss_plan_l1_fix_time: 0.7042, d5.loss_plan_l1_fix_dist: 0.1958, d6.loss_plan_l1_fix_time: 0.7070, d6.loss_plan_l1_fix_dist: 0.2049, d0.loss_cls_all: 0.1236, d0.loss_bbox_all: 0.3322, d0.loss_cls: 0.1236, d0.loss_bbox: 0.3322, d1.loss_cls: 0.1187, d1.loss_bbox: 0.3001, d2.loss_cls: 0.1056, d2.loss_bbox: 0.2811, d3.loss_cls: 0.0925, d3.loss_bbox: 0.2759, d4.loss_cls: 0.0870, d4.loss_bbox: 0.2736, d5.loss_cls: 0.0856, d5.loss_bbox: 0.2726, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8543, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.6415, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5797, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5696, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5694, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5687, d0.loss_map_cls_all: 0.1683, d0.loss_map_pts_all: 0.9669, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1683, d0.loss_map_pts: 0.9669, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1370, d1.loss_map_pts: 0.6633, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1104, d2.loss_map_pts: 0.5106, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0976, d3.loss_map_pts: 0.4591, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0889, d4.loss_map_pts: 0.4417, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0844, d5.loss_map_pts: 0.4372, d5.loss_map_dir: 0.0053, loss: 21.8726, grad_norm: 139.9561 +2026-03-01 01:43:33,310 - DriveTransformer - INFO - Epoch [11][34400/39528] lr: 6.331e-05, eta: 4 days, 9:24:21, time: 0.725, data_time: 0.038, memory: 19865, loss_cls: 0.0801, loss_bbox: 0.2700, loss_traj: 0.3843, loss_traj_cls: 0.0021, loss_map_cls: 0.1102, loss_map_pts: 0.5417, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.5666, d0.loss_plan_l1_fix_dist: 0.4544, d1.loss_plan_l1_fix_time: 0.7527, d1.loss_plan_l1_fix_dist: 0.2669, d2.loss_plan_l1_fix_time: 0.7342, d2.loss_plan_l1_fix_dist: 0.2083, d3.loss_plan_l1_fix_time: 0.7322, d3.loss_plan_l1_fix_dist: 0.2413, d4.loss_plan_l1_fix_time: 0.7331, d4.loss_plan_l1_fix_dist: 0.1875, d5.loss_plan_l1_fix_time: 0.7345, d5.loss_plan_l1_fix_dist: 0.1964, d6.loss_plan_l1_fix_time: 0.7363, d6.loss_plan_l1_fix_dist: 0.2143, d0.loss_cls_all: 0.1211, d0.loss_bbox_all: 0.3366, d0.loss_cls: 0.1211, d0.loss_bbox: 0.3366, d1.loss_cls: 0.1133, d1.loss_bbox: 0.3015, d2.loss_cls: 0.1008, d2.loss_bbox: 0.2799, d3.loss_cls: 0.0844, d3.loss_bbox: 0.2745, d4.loss_cls: 0.0789, d4.loss_bbox: 0.2745, d5.loss_cls: 0.0788, d5.loss_bbox: 0.2727, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5736, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4448, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4045, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3907, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3933, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3853, d0.loss_map_cls_all: 0.1878, d0.loss_map_pts_all: 1.1196, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1878, d0.loss_map_pts: 1.1196, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1610, d1.loss_map_pts: 0.7951, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1391, d2.loss_map_pts: 0.6224, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1243, d3.loss_map_pts: 0.5676, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1179, d4.loss_map_pts: 0.5449, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1126, d5.loss_map_pts: 0.5421, d5.loss_map_dir: 0.0065, loss: 21.9123, grad_norm: 140.7498 +2026-03-01 01:44:10,334 - DriveTransformer - INFO - Epoch [11][34450/39528] lr: 6.331e-05, eta: 4 days, 9:23:45, time: 0.740, data_time: 0.039, memory: 19865, loss_cls: 0.0761, loss_bbox: 0.2532, loss_traj: 0.4896, loss_traj_cls: 0.0021, loss_map_cls: 0.0788, loss_map_pts: 0.4298, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.5172, d0.loss_plan_l1_fix_dist: 0.4178, d1.loss_plan_l1_fix_time: 0.7599, d1.loss_plan_l1_fix_dist: 0.2594, d2.loss_plan_l1_fix_time: 0.7298, d2.loss_plan_l1_fix_dist: 0.2107, d3.loss_plan_l1_fix_time: 0.7257, d3.loss_plan_l1_fix_dist: 0.2444, d4.loss_plan_l1_fix_time: 0.7268, d4.loss_plan_l1_fix_dist: 0.2004, d5.loss_plan_l1_fix_time: 0.7284, d5.loss_plan_l1_fix_dist: 0.2065, d6.loss_plan_l1_fix_time: 0.7299, d6.loss_plan_l1_fix_dist: 0.2348, d0.loss_cls_all: 0.1148, d0.loss_bbox_all: 0.3083, d0.loss_cls: 0.1148, d0.loss_bbox: 0.3083, d1.loss_cls: 0.1076, d1.loss_bbox: 0.2803, d2.loss_cls: 0.1004, d2.loss_bbox: 0.2616, d3.loss_cls: 0.0820, d3.loss_bbox: 0.2566, d4.loss_cls: 0.0784, d4.loss_bbox: 0.2537, d5.loss_cls: 0.0763, d5.loss_bbox: 0.2535, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7874, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5791, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5233, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4980, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4872, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4892, d0.loss_map_cls_all: 0.1569, d0.loss_map_pts_all: 0.9119, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1569, d0.loss_map_pts: 0.9119, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1227, d1.loss_map_pts: 0.6411, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1025, d2.loss_map_pts: 0.5081, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.0893, d3.loss_map_pts: 0.4572, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0854, d4.loss_map_pts: 0.4376, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0811, d5.loss_map_pts: 0.4307, d5.loss_map_dir: 0.0062, loss: 21.1299, grad_norm: 138.4469 +2026-03-01 01:44:46,766 - DriveTransformer - INFO - Epoch [11][34500/39528] lr: 6.331e-05, eta: 4 days, 9:23:09, time: 0.729, data_time: 0.038, memory: 19865, loss_cls: 0.0866, loss_bbox: 0.2739, loss_traj: 0.4115, loss_traj_cls: 0.0020, loss_map_cls: 0.0875, loss_map_pts: 0.4691, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.5966, d0.loss_plan_l1_fix_dist: 0.3614, d1.loss_plan_l1_fix_time: 0.7520, d1.loss_plan_l1_fix_dist: 0.2366, d2.loss_plan_l1_fix_time: 0.7297, d2.loss_plan_l1_fix_dist: 0.2016, d3.loss_plan_l1_fix_time: 0.7260, d3.loss_plan_l1_fix_dist: 0.2364, d4.loss_plan_l1_fix_time: 0.7267, d4.loss_plan_l1_fix_dist: 0.1988, d5.loss_plan_l1_fix_time: 0.7279, d5.loss_plan_l1_fix_dist: 0.1992, d6.loss_plan_l1_fix_time: 0.7299, d6.loss_plan_l1_fix_dist: 0.1964, d0.loss_cls_all: 0.1310, d0.loss_bbox_all: 0.3328, d0.loss_cls: 0.1310, d0.loss_bbox: 0.3328, d1.loss_cls: 0.1242, d1.loss_bbox: 0.3005, d2.loss_cls: 0.1118, d2.loss_bbox: 0.2812, d3.loss_cls: 0.0927, d3.loss_bbox: 0.2766, d4.loss_cls: 0.0873, d4.loss_bbox: 0.2746, d5.loss_cls: 0.0859, d5.loss_bbox: 0.2737, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6388, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4836, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4367, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4223, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4153, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4152, d0.loss_map_cls_all: 0.1667, d0.loss_map_pts_all: 0.9669, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1667, d0.loss_map_pts: 0.9669, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1400, d1.loss_map_pts: 0.7042, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1190, d2.loss_map_pts: 0.5599, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1046, d3.loss_map_pts: 0.5049, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0956, d4.loss_map_pts: 0.4787, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0908, d5.loss_map_pts: 0.4695, d5.loss_map_dir: 0.0053, loss: 21.1788, grad_norm: 137.2118 +2026-03-01 01:45:26,269 - DriveTransformer - INFO - Epoch [11][34550/39528] lr: 6.331e-05, eta: 4 days, 9:22:40, time: 0.790, data_time: 0.037, memory: 19865, loss_cls: 0.0803, loss_bbox: 0.2619, loss_traj: 0.3842, loss_traj_cls: 0.0020, loss_map_cls: 0.0867, loss_map_pts: 0.5567, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.1461, d0.loss_plan_l1_fix_dist: 0.4878, d1.loss_plan_l1_fix_time: 0.6692, d1.loss_plan_l1_fix_dist: 0.2287, d2.loss_plan_l1_fix_time: 0.6568, d2.loss_plan_l1_fix_dist: 0.1992, d3.loss_plan_l1_fix_time: 0.6435, d3.loss_plan_l1_fix_dist: 0.2464, d4.loss_plan_l1_fix_time: 0.6458, d4.loss_plan_l1_fix_dist: 0.2188, d5.loss_plan_l1_fix_time: 0.6483, d5.loss_plan_l1_fix_dist: 0.2046, d6.loss_plan_l1_fix_time: 0.6514, d6.loss_plan_l1_fix_dist: 0.1932, d0.loss_cls_all: 0.1186, d0.loss_bbox_all: 0.3325, d0.loss_cls: 0.1186, d0.loss_bbox: 0.3325, d1.loss_cls: 0.1141, d1.loss_bbox: 0.2931, d2.loss_cls: 0.1008, d2.loss_bbox: 0.2723, d3.loss_cls: 0.0875, d3.loss_bbox: 0.2656, d4.loss_cls: 0.0825, d4.loss_bbox: 0.2638, d5.loss_cls: 0.0805, d5.loss_bbox: 0.2620, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5775, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4458, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3950, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3866, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3894, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3852, d0.loss_map_cls_all: 0.1728, d0.loss_map_pts_all: 1.2204, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.1728, d0.loss_map_pts: 1.2204, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1363, d1.loss_map_pts: 0.8568, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1128, d2.loss_map_pts: 0.6566, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1019, d3.loss_map_pts: 0.5888, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.0957, d4.loss_map_pts: 0.5617, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.0887, d5.loss_map_pts: 0.5574, d5.loss_map_dir: 0.0085, loss: 21.1315, grad_norm: 137.2387 +2026-03-01 01:46:02,309 - DriveTransformer - INFO - Epoch [11][34600/39528] lr: 6.331e-05, eta: 4 days, 9:22:02, time: 0.721, data_time: 0.039, memory: 19865, loss_cls: 0.0781, loss_bbox: 0.2598, loss_traj: 0.3851, loss_traj_cls: 0.0021, loss_map_cls: 0.0845, loss_map_pts: 0.4063, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.3258, d0.loss_plan_l1_fix_dist: 0.4747, d1.loss_plan_l1_fix_time: 0.6521, d1.loss_plan_l1_fix_dist: 0.1936, d2.loss_plan_l1_fix_time: 0.6558, d2.loss_plan_l1_fix_dist: 0.1814, d3.loss_plan_l1_fix_time: 0.6606, d3.loss_plan_l1_fix_dist: 0.2278, d4.loss_plan_l1_fix_time: 0.6645, d4.loss_plan_l1_fix_dist: 0.2163, d5.loss_plan_l1_fix_time: 0.6681, d5.loss_plan_l1_fix_dist: 0.1950, d6.loss_plan_l1_fix_time: 0.6712, d6.loss_plan_l1_fix_dist: 0.1879, d0.loss_cls_all: 0.1172, d0.loss_bbox_all: 0.3193, d0.loss_cls: 0.1172, d0.loss_bbox: 0.3193, d1.loss_cls: 0.1097, d1.loss_bbox: 0.2888, d2.loss_cls: 0.0960, d2.loss_bbox: 0.2691, d3.loss_cls: 0.0816, d3.loss_bbox: 0.2637, d4.loss_cls: 0.0811, d4.loss_bbox: 0.2604, d5.loss_cls: 0.0784, d5.loss_bbox: 0.2600, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5760, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4473, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4027, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3943, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3878, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3869, d0.loss_map_cls_all: 0.1508, d0.loss_map_pts_all: 0.8982, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1508, d0.loss_map_pts: 0.8982, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1243, d1.loss_map_pts: 0.6349, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1012, d2.loss_map_pts: 0.4891, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.0901, d3.loss_map_pts: 0.4335, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0875, d4.loss_map_pts: 0.4128, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0855, d5.loss_map_pts: 0.4065, d5.loss_map_dir: 0.0050, loss: 19.4554, grad_norm: 141.2592 +2026-03-01 01:46:39,733 - DriveTransformer - INFO - Epoch [11][34650/39528] lr: 6.331e-05, eta: 4 days, 9:21:28, time: 0.748, data_time: 0.037, memory: 19865, loss_cls: 0.0914, loss_bbox: 0.2902, loss_traj: 0.4573, loss_traj_cls: 0.0020, loss_map_cls: 0.1001, loss_map_pts: 0.5647, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.4450, d0.loss_plan_l1_fix_dist: 0.4106, d1.loss_plan_l1_fix_time: 0.7233, d1.loss_plan_l1_fix_dist: 0.1891, d2.loss_plan_l1_fix_time: 0.7211, d2.loss_plan_l1_fix_dist: 0.1854, d3.loss_plan_l1_fix_time: 0.7103, d3.loss_plan_l1_fix_dist: 0.2278, d4.loss_plan_l1_fix_time: 0.7131, d4.loss_plan_l1_fix_dist: 0.2217, d5.loss_plan_l1_fix_time: 0.7168, d5.loss_plan_l1_fix_dist: 0.1958, d6.loss_plan_l1_fix_time: 0.7203, d6.loss_plan_l1_fix_dist: 0.1993, d0.loss_cls_all: 0.1415, d0.loss_bbox_all: 0.3492, d0.loss_cls: 0.1415, d0.loss_bbox: 0.3492, d1.loss_cls: 0.1365, d1.loss_bbox: 0.3161, d2.loss_cls: 0.1201, d2.loss_bbox: 0.2927, d3.loss_cls: 0.1000, d3.loss_bbox: 0.2876, d4.loss_cls: 0.0956, d4.loss_bbox: 0.2846, d5.loss_cls: 0.0914, d5.loss_bbox: 0.2879, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6810, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5475, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4898, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4774, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4682, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4621, d0.loss_map_cls_all: 0.1933, d0.loss_map_pts_all: 1.1907, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1933, d0.loss_map_pts: 1.1907, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1572, d1.loss_map_pts: 0.8763, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1294, d2.loss_map_pts: 0.6824, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1173, d3.loss_map_pts: 0.6087, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1100, d4.loss_map_pts: 0.5740, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1046, d5.loss_map_pts: 0.5655, d5.loss_map_dir: 0.0074, loss: 22.7623, grad_norm: 150.3254 +2026-03-01 01:47:15,200 - DriveTransformer - INFO - Epoch [11][34700/39528] lr: 6.331e-05, eta: 4 days, 9:20:48, time: 0.709, data_time: 0.039, memory: 19865, loss_cls: 0.0927, loss_bbox: 0.2850, loss_traj: 0.4151, loss_traj_cls: 0.0020, loss_map_cls: 0.0971, loss_map_pts: 0.4364, loss_map_dir: 0.0047, d0.loss_plan_l1_fix_time: 2.5180, d0.loss_plan_l1_fix_dist: 0.4754, d1.loss_plan_l1_fix_time: 0.7279, d1.loss_plan_l1_fix_dist: 0.1684, d2.loss_plan_l1_fix_time: 0.7188, d2.loss_plan_l1_fix_dist: 0.1663, d3.loss_plan_l1_fix_time: 0.7084, d3.loss_plan_l1_fix_dist: 0.1971, d4.loss_plan_l1_fix_time: 0.7096, d4.loss_plan_l1_fix_dist: 0.1946, d5.loss_plan_l1_fix_time: 0.7119, d5.loss_plan_l1_fix_dist: 0.1720, d6.loss_plan_l1_fix_time: 0.7142, d6.loss_plan_l1_fix_dist: 0.1820, d0.loss_cls_all: 0.1358, d0.loss_bbox_all: 0.3443, d0.loss_cls: 0.1358, d0.loss_bbox: 0.3443, d1.loss_cls: 0.1310, d1.loss_bbox: 0.3059, d2.loss_cls: 0.1191, d2.loss_bbox: 0.2861, d3.loss_cls: 0.1015, d3.loss_bbox: 0.2848, d4.loss_cls: 0.0962, d4.loss_bbox: 0.2810, d5.loss_cls: 0.0938, d5.loss_bbox: 0.2822, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6175, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4914, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4412, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4263, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4202, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4178, d0.loss_map_cls_all: 0.1769, d0.loss_map_pts_all: 0.9391, d0.loss_map_dir_all: 0.0050, d0.loss_map_cls: 0.1769, d0.loss_map_pts: 0.9391, d0.loss_map_dir: 0.0050, d1.loss_map_cls: 0.1481, d1.loss_map_pts: 0.6601, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.1225, d2.loss_map_pts: 0.5200, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.1104, d3.loss_map_pts: 0.4629, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.1041, d4.loss_map_pts: 0.4415, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0991, d5.loss_map_pts: 0.4366, d5.loss_map_dir: 0.0047, loss: 20.8292, grad_norm: 150.0483 +2026-03-01 01:47:52,649 - DriveTransformer - INFO - Epoch [11][34750/39528] lr: 6.331e-05, eta: 4 days, 9:20:14, time: 0.749, data_time: 0.037, memory: 19865, loss_cls: 0.1020, loss_bbox: 0.2965, loss_traj: 0.5628, loss_traj_cls: 0.0020, loss_map_cls: 0.1042, loss_map_pts: 0.5368, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.4665, d0.loss_plan_l1_fix_dist: 0.4452, d1.loss_plan_l1_fix_time: 0.7411, d1.loss_plan_l1_fix_dist: 0.1849, d2.loss_plan_l1_fix_time: 0.7261, d2.loss_plan_l1_fix_dist: 0.1740, d3.loss_plan_l1_fix_time: 0.7252, d3.loss_plan_l1_fix_dist: 0.1828, d4.loss_plan_l1_fix_time: 0.7258, d4.loss_plan_l1_fix_dist: 0.1877, d5.loss_plan_l1_fix_time: 0.7280, d5.loss_plan_l1_fix_dist: 0.1837, d6.loss_plan_l1_fix_time: 0.7306, d6.loss_plan_l1_fix_dist: 0.1976, d0.loss_cls_all: 0.1452, d0.loss_bbox_all: 0.3671, d0.loss_cls: 0.1452, d0.loss_bbox: 0.3671, d1.loss_cls: 0.1392, d1.loss_bbox: 0.3293, d2.loss_cls: 0.1277, d2.loss_bbox: 0.3071, d3.loss_cls: 0.1078, d3.loss_bbox: 0.3011, d4.loss_cls: 0.1011, d4.loss_bbox: 0.3003, d5.loss_cls: 0.1016, d5.loss_bbox: 0.2978, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8223, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.6449, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5881, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5780, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5692, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5644, d0.loss_map_cls_all: 0.1944, d0.loss_map_pts_all: 1.1459, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1944, d0.loss_map_pts: 1.1459, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1656, d1.loss_map_pts: 0.8285, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1358, d2.loss_map_pts: 0.6459, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1220, d3.loss_map_pts: 0.5735, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1139, d4.loss_map_pts: 0.5425, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1078, d5.loss_map_pts: 0.5368, d5.loss_map_dir: 0.0061, loss: 23.4142, grad_norm: 150.6940 +2026-03-01 01:48:28,424 - DriveTransformer - INFO - Epoch [11][34800/39528] lr: 6.331e-05, eta: 4 days, 9:19:36, time: 0.717, data_time: 0.039, memory: 19865, loss_cls: 0.1028, loss_bbox: 0.3013, loss_traj: 0.5048, loss_traj_cls: 0.0020, loss_map_cls: 0.1111, loss_map_pts: 0.5160, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.9138, d0.loss_plan_l1_fix_dist: 0.4246, d1.loss_plan_l1_fix_time: 0.8119, d1.loss_plan_l1_fix_dist: 0.1950, d2.loss_plan_l1_fix_time: 0.7916, d2.loss_plan_l1_fix_dist: 0.1801, d3.loss_plan_l1_fix_time: 0.7751, d3.loss_plan_l1_fix_dist: 0.1766, d4.loss_plan_l1_fix_time: 0.7756, d4.loss_plan_l1_fix_dist: 0.1914, d5.loss_plan_l1_fix_time: 0.7775, d5.loss_plan_l1_fix_dist: 0.1954, d6.loss_plan_l1_fix_time: 0.7801, d6.loss_plan_l1_fix_dist: 0.2029, d0.loss_cls_all: 0.1448, d0.loss_bbox_all: 0.3734, d0.loss_cls: 0.1448, d0.loss_bbox: 0.3734, d1.loss_cls: 0.1377, d1.loss_bbox: 0.3379, d2.loss_cls: 0.1241, d2.loss_bbox: 0.3107, d3.loss_cls: 0.1097, d3.loss_bbox: 0.3055, d4.loss_cls: 0.1051, d4.loss_bbox: 0.3034, d5.loss_cls: 0.1028, d5.loss_bbox: 0.3015, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7606, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5748, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5199, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5117, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5060, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5039, d0.loss_map_cls_all: 0.1918, d0.loss_map_pts_all: 1.0532, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1918, d0.loss_map_pts: 1.0532, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1618, d1.loss_map_pts: 0.7681, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1377, d2.loss_map_pts: 0.5999, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1254, d3.loss_map_pts: 0.5408, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1201, d4.loss_map_pts: 0.5214, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1142, d5.loss_map_pts: 0.5163, d5.loss_map_dir: 0.0061, loss: 23.4281, grad_norm: 153.9594 +2026-03-01 01:49:04,734 - DriveTransformer - INFO - Epoch [11][34850/39528] lr: 6.331e-05, eta: 4 days, 9:18:58, time: 0.725, data_time: 0.036, memory: 19865, loss_cls: 0.0984, loss_bbox: 0.2995, loss_traj: 0.4150, loss_traj_cls: 0.0020, loss_map_cls: 0.1026, loss_map_pts: 0.5164, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.6287, d0.loss_plan_l1_fix_dist: 0.3933, d1.loss_plan_l1_fix_time: 0.8156, d1.loss_plan_l1_fix_dist: 0.2161, d2.loss_plan_l1_fix_time: 0.8031, d2.loss_plan_l1_fix_dist: 0.1665, d3.loss_plan_l1_fix_time: 0.7950, d3.loss_plan_l1_fix_dist: 0.1550, d4.loss_plan_l1_fix_time: 0.7973, d4.loss_plan_l1_fix_dist: 0.1740, d5.loss_plan_l1_fix_time: 0.8006, d5.loss_plan_l1_fix_dist: 0.1821, d6.loss_plan_l1_fix_time: 0.8040, d6.loss_plan_l1_fix_dist: 0.1745, d0.loss_cls_all: 0.1507, d0.loss_bbox_all: 0.3566, d0.loss_cls: 0.1507, d0.loss_bbox: 0.3566, d1.loss_cls: 0.1415, d1.loss_bbox: 0.3259, d2.loss_cls: 0.1280, d2.loss_bbox: 0.3057, d3.loss_cls: 0.1124, d3.loss_bbox: 0.3038, d4.loss_cls: 0.1036, d4.loss_bbox: 0.2995, d5.loss_cls: 0.0991, d5.loss_bbox: 0.2994, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6760, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5037, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4441, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4209, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4170, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4203, d0.loss_map_cls_all: 0.1872, d0.loss_map_pts_all: 1.1227, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1872, d0.loss_map_pts: 1.1227, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1555, d1.loss_map_pts: 0.7823, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1287, d2.loss_map_pts: 0.6029, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1145, d3.loss_map_pts: 0.5457, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1094, d4.loss_map_pts: 0.5225, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1045, d5.loss_map_pts: 0.5180, d5.loss_map_dir: 0.0067, loss: 22.6180, grad_norm: 157.2799 +2026-03-01 01:49:41,030 - DriveTransformer - INFO - Epoch [11][34900/39528] lr: 6.331e-05, eta: 4 days, 9:18:21, time: 0.726, data_time: 0.039, memory: 19865, loss_cls: 0.0923, loss_bbox: 0.2910, loss_traj: 0.4822, loss_traj_cls: 0.0020, loss_map_cls: 0.0871, loss_map_pts: 0.4971, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.4538, d0.loss_plan_l1_fix_dist: 0.5276, d1.loss_plan_l1_fix_time: 0.7557, d1.loss_plan_l1_fix_dist: 0.2418, d2.loss_plan_l1_fix_time: 0.7452, d2.loss_plan_l1_fix_dist: 0.1848, d3.loss_plan_l1_fix_time: 0.7407, d3.loss_plan_l1_fix_dist: 0.1862, d4.loss_plan_l1_fix_time: 0.7427, d4.loss_plan_l1_fix_dist: 0.1857, d5.loss_plan_l1_fix_time: 0.7453, d5.loss_plan_l1_fix_dist: 0.1909, d6.loss_plan_l1_fix_time: 0.7482, d6.loss_plan_l1_fix_dist: 0.1886, d0.loss_cls_all: 0.1298, d0.loss_bbox_all: 0.3622, d0.loss_cls: 0.1298, d0.loss_bbox: 0.3622, d1.loss_cls: 0.1227, d1.loss_bbox: 0.3265, d2.loss_cls: 0.1123, d2.loss_bbox: 0.3043, d3.loss_cls: 0.0982, d3.loss_bbox: 0.2973, d4.loss_cls: 0.0936, d4.loss_bbox: 0.2929, d5.loss_cls: 0.0927, d5.loss_bbox: 0.2918, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7281, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5644, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5003, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4857, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4819, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4827, d0.loss_map_cls_all: 0.1701, d0.loss_map_pts_all: 1.0584, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1701, d0.loss_map_pts: 1.0584, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1382, d1.loss_map_pts: 0.7438, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1123, d2.loss_map_pts: 0.5839, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0995, d3.loss_map_pts: 0.5263, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0945, d4.loss_map_pts: 0.5044, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0884, d5.loss_map_pts: 0.4970, d5.loss_map_dir: 0.0054, loss: 22.2421, grad_norm: 159.3553 +2026-03-01 01:50:17,376 - DriveTransformer - INFO - Epoch [11][34950/39528] lr: 6.331e-05, eta: 4 days, 9:17:44, time: 0.727, data_time: 0.037, memory: 19865, loss_cls: 0.0788, loss_bbox: 0.2696, loss_traj: 0.4187, loss_traj_cls: 0.0021, loss_map_cls: 0.0881, loss_map_pts: 0.4464, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.7119, d0.loss_plan_l1_fix_dist: 0.5033, d1.loss_plan_l1_fix_time: 0.6969, d1.loss_plan_l1_fix_dist: 0.2462, d2.loss_plan_l1_fix_time: 0.6777, d2.loss_plan_l1_fix_dist: 0.1975, d3.loss_plan_l1_fix_time: 0.6641, d3.loss_plan_l1_fix_dist: 0.2179, d4.loss_plan_l1_fix_time: 0.6653, d4.loss_plan_l1_fix_dist: 0.2013, d5.loss_plan_l1_fix_time: 0.6674, d5.loss_plan_l1_fix_dist: 0.2077, d6.loss_plan_l1_fix_time: 0.6700, d6.loss_plan_l1_fix_dist: 0.2132, d0.loss_cls_all: 0.1240, d0.loss_bbox_all: 0.3348, d0.loss_cls: 0.1240, d0.loss_bbox: 0.3348, d1.loss_cls: 0.1206, d1.loss_bbox: 0.2987, d2.loss_cls: 0.1071, d2.loss_bbox: 0.2770, d3.loss_cls: 0.0877, d3.loss_bbox: 0.2718, d4.loss_cls: 0.0802, d4.loss_bbox: 0.2704, d5.loss_cls: 0.0780, d5.loss_bbox: 0.2706, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6214, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4847, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4385, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4244, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4177, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4156, d0.loss_map_cls_all: 0.1704, d0.loss_map_pts_all: 0.9788, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1704, d0.loss_map_pts: 0.9788, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1349, d1.loss_map_pts: 0.7016, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1099, d2.loss_map_pts: 0.5354, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.0997, d3.loss_map_pts: 0.4795, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0932, d4.loss_map_pts: 0.4545, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0897, d5.loss_map_pts: 0.4478, d5.loss_map_dir: 0.0060, loss: 20.9233, grad_norm: 159.6795 +2026-03-01 01:50:54,531 - DriveTransformer - INFO - Epoch [11][35000/39528] lr: 6.331e-05, eta: 4 days, 9:17:09, time: 0.743, data_time: 0.036, memory: 19865, loss_cls: 0.0841, loss_bbox: 0.2918, loss_traj: 0.4362, loss_traj_cls: 0.0020, loss_map_cls: 0.1012, loss_map_pts: 0.5397, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.7995, d0.loss_plan_l1_fix_dist: 0.4884, d1.loss_plan_l1_fix_time: 0.8080, d1.loss_plan_l1_fix_dist: 0.2262, d2.loss_plan_l1_fix_time: 0.7976, d2.loss_plan_l1_fix_dist: 0.1734, d3.loss_plan_l1_fix_time: 0.7945, d3.loss_plan_l1_fix_dist: 0.1866, d4.loss_plan_l1_fix_time: 0.7963, d4.loss_plan_l1_fix_dist: 0.1641, d5.loss_plan_l1_fix_time: 0.7983, d5.loss_plan_l1_fix_dist: 0.1700, d6.loss_plan_l1_fix_time: 0.8005, d6.loss_plan_l1_fix_dist: 0.1744, d0.loss_cls_all: 0.1363, d0.loss_bbox_all: 0.3530, d0.loss_cls: 0.1363, d0.loss_bbox: 0.3530, d1.loss_cls: 0.1282, d1.loss_bbox: 0.3192, d2.loss_cls: 0.1145, d2.loss_bbox: 0.3001, d3.loss_cls: 0.0906, d3.loss_bbox: 0.2948, d4.loss_cls: 0.0860, d4.loss_bbox: 0.2929, d5.loss_cls: 0.0833, d5.loss_bbox: 0.2932, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6563, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5007, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4511, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4420, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4387, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4376, d0.loss_map_cls_all: 0.1916, d0.loss_map_pts_all: 1.1526, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1916, d0.loss_map_pts: 1.1526, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1611, d1.loss_map_pts: 0.8201, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1307, d2.loss_map_pts: 0.6403, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1193, d3.loss_map_pts: 0.5711, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1115, d4.loss_map_pts: 0.5455, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1041, d5.loss_map_pts: 0.5410, d5.loss_map_dir: 0.0066, loss: 23.0300, grad_norm: 158.2689 +2026-03-01 01:51:31,114 - DriveTransformer - INFO - Epoch [11][35050/39528] lr: 6.331e-05, eta: 4 days, 9:16:32, time: 0.732, data_time: 0.037, memory: 19865, loss_cls: 0.0877, loss_bbox: 0.2723, loss_traj: 0.3990, loss_traj_cls: 0.0020, loss_map_cls: 0.1060, loss_map_pts: 0.5075, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.4066, d0.loss_plan_l1_fix_dist: 0.4533, d1.loss_plan_l1_fix_time: 0.6711, d1.loss_plan_l1_fix_dist: 0.2153, d2.loss_plan_l1_fix_time: 0.6572, d2.loss_plan_l1_fix_dist: 0.1705, d3.loss_plan_l1_fix_time: 0.6560, d3.loss_plan_l1_fix_dist: 0.1788, d4.loss_plan_l1_fix_time: 0.6579, d4.loss_plan_l1_fix_dist: 0.1655, d5.loss_plan_l1_fix_time: 0.6597, d5.loss_plan_l1_fix_dist: 0.1737, d6.loss_plan_l1_fix_time: 0.6617, d6.loss_plan_l1_fix_dist: 0.1828, d0.loss_cls_all: 0.1323, d0.loss_bbox_all: 0.3389, d0.loss_cls: 0.1323, d0.loss_bbox: 0.3389, d1.loss_cls: 0.1239, d1.loss_bbox: 0.3045, d2.loss_cls: 0.1112, d2.loss_bbox: 0.2818, d3.loss_cls: 0.0933, d3.loss_bbox: 0.2778, d4.loss_cls: 0.0885, d4.loss_bbox: 0.2748, d5.loss_cls: 0.0872, d5.loss_bbox: 0.2732, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5768, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4569, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4279, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4106, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4018, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4002, d0.loss_map_cls_all: 0.1795, d0.loss_map_pts_all: 1.0972, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1795, d0.loss_map_pts: 1.0972, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1462, d1.loss_map_pts: 0.7639, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1265, d2.loss_map_pts: 0.5945, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1170, d3.loss_map_pts: 0.5350, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1124, d4.loss_map_pts: 0.5134, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1086, d5.loss_map_pts: 0.5080, d5.loss_map_dir: 0.0070, loss: 20.9581, grad_norm: 157.4307 +2026-03-01 01:52:08,791 - DriveTransformer - INFO - Epoch [11][35100/39528] lr: 6.331e-05, eta: 4 days, 9:15:59, time: 0.754, data_time: 0.038, memory: 19865, loss_cls: 0.0950, loss_bbox: 0.2821, loss_traj: 0.4050, loss_traj_cls: 0.0020, loss_map_cls: 0.1276, loss_map_pts: 0.6297, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.8580, d0.loss_plan_l1_fix_dist: 0.4420, d1.loss_plan_l1_fix_time: 0.8819, d1.loss_plan_l1_fix_dist: 0.2140, d2.loss_plan_l1_fix_time: 0.8708, d2.loss_plan_l1_fix_dist: 0.1793, d3.loss_plan_l1_fix_time: 0.8737, d3.loss_plan_l1_fix_dist: 0.1873, d4.loss_plan_l1_fix_time: 0.8765, d4.loss_plan_l1_fix_dist: 0.1781, d5.loss_plan_l1_fix_time: 0.8793, d5.loss_plan_l1_fix_dist: 0.1823, d6.loss_plan_l1_fix_time: 0.8821, d6.loss_plan_l1_fix_dist: 0.1955, d0.loss_cls_all: 0.1370, d0.loss_bbox_all: 0.3535, d0.loss_cls: 0.1370, d0.loss_bbox: 0.3535, d1.loss_cls: 0.1353, d1.loss_bbox: 0.3144, d2.loss_cls: 0.1205, d2.loss_bbox: 0.2913, d3.loss_cls: 0.1018, d3.loss_bbox: 0.2859, d4.loss_cls: 0.0984, d4.loss_bbox: 0.2823, d5.loss_cls: 0.0963, d5.loss_bbox: 0.2817, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6235, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4664, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4281, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4173, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4094, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4039, d0.loss_map_cls_all: 0.2072, d0.loss_map_pts_all: 1.2355, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2072, d0.loss_map_pts: 1.2355, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1773, d1.loss_map_pts: 0.9174, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1550, d2.loss_map_pts: 0.7379, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1439, d3.loss_map_pts: 0.6613, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1372, d4.loss_map_pts: 0.6374, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1299, d5.loss_map_pts: 0.6291, d5.loss_map_dir: 0.0067, loss: 24.2501, grad_norm: 161.7477 +2026-03-01 01:52:46,221 - DriveTransformer - INFO - Epoch [11][35150/39528] lr: 6.331e-05, eta: 4 days, 9:15:25, time: 0.749, data_time: 0.043, memory: 19865, loss_cls: 0.0913, loss_bbox: 0.2778, loss_traj: 0.4126, loss_traj_cls: 0.0021, loss_map_cls: 0.0882, loss_map_pts: 0.4776, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.5074, d0.loss_plan_l1_fix_dist: 0.4350, d1.loss_plan_l1_fix_time: 0.7857, d1.loss_plan_l1_fix_dist: 0.1932, d2.loss_plan_l1_fix_time: 0.7820, d2.loss_plan_l1_fix_dist: 0.1531, d3.loss_plan_l1_fix_time: 0.7840, d3.loss_plan_l1_fix_dist: 0.1574, d4.loss_plan_l1_fix_time: 0.7871, d4.loss_plan_l1_fix_dist: 0.1569, d5.loss_plan_l1_fix_time: 0.7902, d5.loss_plan_l1_fix_dist: 0.1652, d6.loss_plan_l1_fix_time: 0.7935, d6.loss_plan_l1_fix_dist: 0.1690, d0.loss_cls_all: 0.1390, d0.loss_bbox_all: 0.3359, d0.loss_cls: 0.1390, d0.loss_bbox: 0.3359, d1.loss_cls: 0.1339, d1.loss_bbox: 0.3051, d2.loss_cls: 0.1195, d2.loss_bbox: 0.2887, d3.loss_cls: 0.1005, d3.loss_bbox: 0.2828, d4.loss_cls: 0.0934, d4.loss_bbox: 0.2803, d5.loss_cls: 0.0912, d5.loss_bbox: 0.2793, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6773, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5152, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4474, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4267, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4147, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4141, d0.loss_map_cls_all: 0.1587, d0.loss_map_pts_all: 1.0330, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1587, d0.loss_map_pts: 1.0330, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1312, d1.loss_map_pts: 0.7136, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1112, d2.loss_map_pts: 0.5528, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1017, d3.loss_map_pts: 0.4991, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0947, d4.loss_map_pts: 0.4829, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0897, d5.loss_map_pts: 0.4781, d5.loss_map_dir: 0.0060, loss: 21.5196, grad_norm: 158.3866 +2026-03-01 01:53:22,941 - DriveTransformer - INFO - Epoch [11][35200/39528] lr: 6.331e-05, eta: 4 days, 9:14:48, time: 0.734, data_time: 0.039, memory: 19865, loss_cls: 0.0887, loss_bbox: 0.2797, loss_traj: 0.4691, loss_traj_cls: 0.0020, loss_map_cls: 0.0808, loss_map_pts: 0.4458, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.7992, d0.loss_plan_l1_fix_dist: 0.5035, d1.loss_plan_l1_fix_time: 0.8128, d1.loss_plan_l1_fix_dist: 0.2123, d2.loss_plan_l1_fix_time: 0.7982, d2.loss_plan_l1_fix_dist: 0.1779, d3.loss_plan_l1_fix_time: 0.7894, d3.loss_plan_l1_fix_dist: 0.1670, d4.loss_plan_l1_fix_time: 0.7914, d4.loss_plan_l1_fix_dist: 0.1728, d5.loss_plan_l1_fix_time: 0.7937, d5.loss_plan_l1_fix_dist: 0.1902, d6.loss_plan_l1_fix_time: 0.7965, d6.loss_plan_l1_fix_dist: 0.1921, d0.loss_cls_all: 0.1273, d0.loss_bbox_all: 0.3370, d0.loss_cls: 0.1273, d0.loss_bbox: 0.3370, d1.loss_cls: 0.1238, d1.loss_bbox: 0.3070, d2.loss_cls: 0.1136, d2.loss_bbox: 0.2884, d3.loss_cls: 0.0972, d3.loss_bbox: 0.2837, d4.loss_cls: 0.0893, d4.loss_bbox: 0.2816, d5.loss_cls: 0.0883, d5.loss_bbox: 0.2801, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6787, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5429, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4934, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4750, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4692, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4693, d0.loss_map_cls_all: 0.1598, d0.loss_map_pts_all: 0.9383, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1598, d0.loss_map_pts: 0.9383, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1260, d1.loss_map_pts: 0.6710, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.1037, d2.loss_map_pts: 0.5190, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0917, d3.loss_map_pts: 0.4667, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0861, d4.loss_map_pts: 0.4516, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0824, d5.loss_map_pts: 0.4465, d5.loss_map_dir: 0.0049, loss: 21.8581, grad_norm: 172.9108 +2026-03-01 01:54:00,338 - DriveTransformer - INFO - Epoch [11][35250/39528] lr: 6.331e-05, eta: 4 days, 9:14:14, time: 0.748, data_time: 0.038, memory: 19865, loss_cls: 0.1063, loss_bbox: 0.3129, loss_traj: 0.4693, loss_traj_cls: 0.0019, loss_map_cls: 0.1292, loss_map_pts: 0.6581, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.6178, d0.loss_plan_l1_fix_dist: 0.4271, d1.loss_plan_l1_fix_time: 0.7560, d1.loss_plan_l1_fix_dist: 0.2207, d2.loss_plan_l1_fix_time: 0.7503, d2.loss_plan_l1_fix_dist: 0.1904, d3.loss_plan_l1_fix_time: 0.7412, d3.loss_plan_l1_fix_dist: 0.1712, d4.loss_plan_l1_fix_time: 0.7465, d4.loss_plan_l1_fix_dist: 0.1753, d5.loss_plan_l1_fix_time: 0.7502, d5.loss_plan_l1_fix_dist: 0.1995, d6.loss_plan_l1_fix_time: 0.7544, d6.loss_plan_l1_fix_dist: 0.2063, d0.loss_cls_all: 0.1494, d0.loss_bbox_all: 0.3914, d0.loss_cls: 0.1494, d0.loss_bbox: 0.3914, d1.loss_cls: 0.1439, d1.loss_bbox: 0.3495, d2.loss_cls: 0.1316, d2.loss_bbox: 0.3256, d3.loss_cls: 0.1125, d3.loss_bbox: 0.3185, d4.loss_cls: 0.1073, d4.loss_bbox: 0.3139, d5.loss_cls: 0.1058, d5.loss_bbox: 0.3140, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7532, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5690, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5082, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4894, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4801, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4699, d0.loss_map_cls_all: 0.2248, d0.loss_map_pts_all: 1.3276, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.2248, d0.loss_map_pts: 1.3276, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1901, d1.loss_map_pts: 0.9835, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1602, d2.loss_map_pts: 0.7736, d2.loss_map_dir: 0.0075, d3.loss_map_cls: 0.1484, d3.loss_map_pts: 0.6939, d3.loss_map_dir: 0.0078, d4.loss_map_cls: 0.1393, d4.loss_map_pts: 0.6649, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1329, d5.loss_map_pts: 0.6584, d5.loss_map_dir: 0.0081, loss: 24.6763, grad_norm: 178.2496 +2026-03-01 01:54:36,300 - DriveTransformer - INFO - Epoch [11][35300/39528] lr: 6.331e-05, eta: 4 days, 9:13:36, time: 0.719, data_time: 0.037, memory: 19865, loss_cls: 0.0878, loss_bbox: 0.2689, loss_traj: 0.5079, loss_traj_cls: 0.0020, loss_map_cls: 0.0774, loss_map_pts: 0.4328, loss_map_dir: 0.0042, d0.loss_plan_l1_fix_time: 2.8047, d0.loss_plan_l1_fix_dist: 0.4096, d1.loss_plan_l1_fix_time: 0.7270, d1.loss_plan_l1_fix_dist: 0.1866, d2.loss_plan_l1_fix_time: 0.7137, d2.loss_plan_l1_fix_dist: 0.1604, d3.loss_plan_l1_fix_time: 0.7136, d3.loss_plan_l1_fix_dist: 0.1378, d4.loss_plan_l1_fix_time: 0.7160, d4.loss_plan_l1_fix_dist: 0.1345, d5.loss_plan_l1_fix_time: 0.7182, d5.loss_plan_l1_fix_dist: 0.1564, d6.loss_plan_l1_fix_time: 0.7211, d6.loss_plan_l1_fix_dist: 0.1577, d0.loss_cls_all: 0.1293, d0.loss_bbox_all: 0.3279, d0.loss_cls: 0.1293, d0.loss_bbox: 0.3279, d1.loss_cls: 0.1241, d1.loss_bbox: 0.2959, d2.loss_cls: 0.1085, d2.loss_bbox: 0.2780, d3.loss_cls: 0.0943, d3.loss_bbox: 0.2711, d4.loss_cls: 0.0900, d4.loss_bbox: 0.2677, d5.loss_cls: 0.0877, d5.loss_bbox: 0.2688, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7719, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5830, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5371, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5223, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5192, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5120, d0.loss_map_cls_all: 0.1502, d0.loss_map_pts_all: 0.9142, d0.loss_map_dir_all: 0.0046, d0.loss_map_cls: 0.1502, d0.loss_map_pts: 0.9142, d0.loss_map_dir: 0.0046, d1.loss_map_cls: 0.1220, d1.loss_map_pts: 0.6693, d1.loss_map_dir: 0.0041, d2.loss_map_cls: 0.1015, d2.loss_map_pts: 0.5224, d2.loss_map_dir: 0.0040, d3.loss_map_cls: 0.0919, d3.loss_map_pts: 0.4630, d3.loss_map_dir: 0.0041, d4.loss_map_cls: 0.0855, d4.loss_map_pts: 0.4402, d4.loss_map_dir: 0.0041, d5.loss_map_cls: 0.0802, d5.loss_map_pts: 0.4325, d5.loss_map_dir: 0.0042, loss: 21.2561, grad_norm: 177.2450 +2026-03-01 01:55:12,943 - DriveTransformer - INFO - Epoch [11][35350/39528] lr: 6.331e-05, eta: 4 days, 9:13:00, time: 0.733, data_time: 0.037, memory: 19865, loss_cls: 0.0982, loss_bbox: 0.2768, loss_traj: 0.4568, loss_traj_cls: 0.0020, loss_map_cls: 0.0853, loss_map_pts: 0.4932, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.3590, d0.loss_plan_l1_fix_dist: 0.5082, d1.loss_plan_l1_fix_time: 0.6489, d1.loss_plan_l1_fix_dist: 0.2160, d2.loss_plan_l1_fix_time: 0.6315, d2.loss_plan_l1_fix_dist: 0.2120, d3.loss_plan_l1_fix_time: 0.6208, d3.loss_plan_l1_fix_dist: 0.1905, d4.loss_plan_l1_fix_time: 0.6231, d4.loss_plan_l1_fix_dist: 0.1857, d5.loss_plan_l1_fix_time: 0.6262, d5.loss_plan_l1_fix_dist: 0.1936, d6.loss_plan_l1_fix_time: 0.6296, d6.loss_plan_l1_fix_dist: 0.1845, d0.loss_cls_all: 0.1385, d0.loss_bbox_all: 0.3439, d0.loss_cls: 0.1385, d0.loss_bbox: 0.3439, d1.loss_cls: 0.1329, d1.loss_bbox: 0.3093, d2.loss_cls: 0.1237, d2.loss_bbox: 0.2874, d3.loss_cls: 0.1029, d3.loss_bbox: 0.2810, d4.loss_cls: 0.0981, d4.loss_bbox: 0.2778, d5.loss_cls: 0.0966, d5.loss_bbox: 0.2774, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7023, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5400, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4826, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4600, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4529, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4522, d0.loss_map_cls_all: 0.1690, d0.loss_map_pts_all: 1.0756, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1690, d0.loss_map_pts: 1.0756, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1379, d1.loss_map_pts: 0.7585, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1135, d2.loss_map_pts: 0.5801, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1006, d3.loss_map_pts: 0.5225, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.0947, d4.loss_map_pts: 0.5014, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0882, d5.loss_map_pts: 0.4918, d5.loss_map_dir: 0.0065, loss: 21.2198, grad_norm: 181.1851 +2026-03-01 01:55:47,267 - DriveTransformer - INFO - Epoch [11][35400/39528] lr: 6.331e-05, eta: 4 days, 9:12:17, time: 0.687, data_time: 0.037, memory: 19865, loss_cls: 0.0985, loss_bbox: 0.2737, loss_traj: 0.4288, loss_traj_cls: 0.0020, loss_map_cls: 0.0990, loss_map_pts: 0.4776, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.4663, d0.loss_plan_l1_fix_dist: 0.3656, d1.loss_plan_l1_fix_time: 0.6723, d1.loss_plan_l1_fix_dist: 0.1899, d2.loss_plan_l1_fix_time: 0.6590, d2.loss_plan_l1_fix_dist: 0.1831, d3.loss_plan_l1_fix_time: 0.6534, d3.loss_plan_l1_fix_dist: 0.1643, d4.loss_plan_l1_fix_time: 0.6564, d4.loss_plan_l1_fix_dist: 0.1549, d5.loss_plan_l1_fix_time: 0.6599, d5.loss_plan_l1_fix_dist: 0.1629, d6.loss_plan_l1_fix_time: 0.6631, d6.loss_plan_l1_fix_dist: 0.1673, d0.loss_cls_all: 0.1485, d0.loss_bbox_all: 0.3459, d0.loss_cls: 0.1485, d0.loss_bbox: 0.3459, d1.loss_cls: 0.1465, d1.loss_bbox: 0.3062, d2.loss_cls: 0.1241, d2.loss_bbox: 0.2851, d3.loss_cls: 0.1057, d3.loss_bbox: 0.2796, d4.loss_cls: 0.0999, d4.loss_bbox: 0.2760, d5.loss_cls: 0.0986, d5.loss_bbox: 0.2741, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6528, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4987, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4438, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4304, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4308, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4293, d0.loss_map_cls_all: 0.1917, d0.loss_map_pts_all: 0.9805, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1917, d0.loss_map_pts: 0.9805, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1566, d1.loss_map_pts: 0.6918, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1277, d2.loss_map_pts: 0.5495, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1141, d3.loss_map_pts: 0.5008, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1056, d4.loss_map_pts: 0.4819, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1009, d5.loss_map_pts: 0.4779, d5.loss_map_dir: 0.0058, loss: 20.7708, grad_norm: 179.9229 +2026-03-01 01:56:22,786 - DriveTransformer - INFO - Epoch [11][35450/39528] lr: 6.331e-05, eta: 4 days, 9:11:38, time: 0.710, data_time: 0.038, memory: 19865, loss_cls: 0.0817, loss_bbox: 0.2523, loss_traj: 0.4430, loss_traj_cls: 0.0020, loss_map_cls: 0.0757, loss_map_pts: 0.4516, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.3180, d0.loss_plan_l1_fix_dist: 0.3716, d1.loss_plan_l1_fix_time: 0.6469, d1.loss_plan_l1_fix_dist: 0.1628, d2.loss_plan_l1_fix_time: 0.6328, d2.loss_plan_l1_fix_dist: 0.1723, d3.loss_plan_l1_fix_time: 0.6387, d3.loss_plan_l1_fix_dist: 0.1490, d4.loss_plan_l1_fix_time: 0.6425, d4.loss_plan_l1_fix_dist: 0.1456, d5.loss_plan_l1_fix_time: 0.6456, d5.loss_plan_l1_fix_dist: 0.1595, d6.loss_plan_l1_fix_time: 0.6487, d6.loss_plan_l1_fix_dist: 0.1833, d0.loss_cls_all: 0.1243, d0.loss_bbox_all: 0.3121, d0.loss_cls: 0.1243, d0.loss_bbox: 0.3121, d1.loss_cls: 0.1205, d1.loss_bbox: 0.2837, d2.loss_cls: 0.1059, d2.loss_bbox: 0.2640, d3.loss_cls: 0.0889, d3.loss_bbox: 0.2566, d4.loss_cls: 0.0843, d4.loss_bbox: 0.2534, d5.loss_cls: 0.0828, d5.loss_bbox: 0.2523, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6907, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5005, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4582, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4478, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4431, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4409, d0.loss_map_cls_all: 0.1466, d0.loss_map_pts_all: 0.9478, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1466, d0.loss_map_pts: 0.9478, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1185, d1.loss_map_pts: 0.6774, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.0972, d2.loss_map_pts: 0.5302, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.0861, d3.loss_map_pts: 0.4738, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0808, d4.loss_map_pts: 0.4548, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0772, d5.loss_map_pts: 0.4512, d5.loss_map_dir: 0.0061, loss: 19.7623, grad_norm: 179.9792 +2026-03-01 01:56:58,698 - DriveTransformer - INFO - Epoch [11][35500/39528] lr: 6.331e-05, eta: 4 days, 9:10:59, time: 0.718, data_time: 0.039, memory: 19865, loss_cls: 0.0747, loss_bbox: 0.2605, loss_traj: 0.4663, loss_traj_cls: 0.0020, loss_map_cls: 0.0796, loss_map_pts: 0.4269, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.5636, d0.loss_plan_l1_fix_dist: 0.4351, d1.loss_plan_l1_fix_time: 0.6777, d1.loss_plan_l1_fix_dist: 0.1672, d2.loss_plan_l1_fix_time: 0.6632, d2.loss_plan_l1_fix_dist: 0.1933, d3.loss_plan_l1_fix_time: 0.6637, d3.loss_plan_l1_fix_dist: 0.1710, d4.loss_plan_l1_fix_time: 0.6683, d4.loss_plan_l1_fix_dist: 0.1776, d5.loss_plan_l1_fix_time: 0.6726, d5.loss_plan_l1_fix_dist: 0.1775, d6.loss_plan_l1_fix_time: 0.6775, d6.loss_plan_l1_fix_dist: 0.1981, d0.loss_cls_all: 0.1163, d0.loss_bbox_all: 0.3193, d0.loss_cls: 0.1163, d0.loss_bbox: 0.3193, d1.loss_cls: 0.1097, d1.loss_bbox: 0.2902, d2.loss_cls: 0.0977, d2.loss_bbox: 0.2725, d3.loss_cls: 0.0795, d3.loss_bbox: 0.2657, d4.loss_cls: 0.0751, d4.loss_bbox: 0.2623, d5.loss_cls: 0.0742, d5.loss_bbox: 0.2622, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7047, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5583, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5042, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4838, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4787, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4700, d0.loss_map_cls_all: 0.1612, d0.loss_map_pts_all: 0.9110, d0.loss_map_dir_all: 0.0049, d0.loss_map_cls: 0.1612, d0.loss_map_pts: 0.9110, d0.loss_map_dir: 0.0049, d1.loss_map_cls: 0.1265, d1.loss_map_pts: 0.6444, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.1050, d2.loss_map_pts: 0.5089, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.0936, d3.loss_map_pts: 0.4514, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0854, d4.loss_map_pts: 0.4343, d4.loss_map_dir: 0.0046, d5.loss_map_cls: 0.0813, d5.loss_map_pts: 0.4271, d5.loss_map_dir: 0.0047, loss: 20.4212, grad_norm: 180.5742 +2026-03-01 01:57:36,030 - DriveTransformer - INFO - Epoch [11][35550/39528] lr: 6.331e-05, eta: 4 days, 9:10:25, time: 0.747, data_time: 0.037, memory: 19865, loss_cls: 0.0841, loss_bbox: 0.2683, loss_traj: 0.4666, loss_traj_cls: 0.0020, loss_map_cls: 0.0869, loss_map_pts: 0.4544, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.4067, d0.loss_plan_l1_fix_dist: 0.3515, d1.loss_plan_l1_fix_time: 0.7346, d1.loss_plan_l1_fix_dist: 0.1582, d2.loss_plan_l1_fix_time: 0.7249, d2.loss_plan_l1_fix_dist: 0.1941, d3.loss_plan_l1_fix_time: 0.7239, d3.loss_plan_l1_fix_dist: 0.1633, d4.loss_plan_l1_fix_time: 0.7276, d4.loss_plan_l1_fix_dist: 0.1748, d5.loss_plan_l1_fix_time: 0.7307, d5.loss_plan_l1_fix_dist: 0.1672, d6.loss_plan_l1_fix_time: 0.7347, d6.loss_plan_l1_fix_dist: 0.1692, d0.loss_cls_all: 0.1230, d0.loss_bbox_all: 0.3327, d0.loss_cls: 0.1230, d0.loss_bbox: 0.3327, d1.loss_cls: 0.1192, d1.loss_bbox: 0.2991, d2.loss_cls: 0.1050, d2.loss_bbox: 0.2785, d3.loss_cls: 0.0901, d3.loss_bbox: 0.2731, d4.loss_cls: 0.0858, d4.loss_bbox: 0.2701, d5.loss_cls: 0.0842, d5.loss_bbox: 0.2684, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6828, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5250, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4826, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4725, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4696, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4658, d0.loss_map_cls_all: 0.1813, d0.loss_map_pts_all: 1.0901, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1813, d0.loss_map_pts: 1.0901, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1407, d1.loss_map_pts: 0.7369, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1124, d2.loss_map_pts: 0.5466, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1022, d3.loss_map_pts: 0.4851, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0961, d4.loss_map_pts: 0.4602, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0907, d5.loss_map_pts: 0.4537, d5.loss_map_dir: 0.0058, loss: 21.2260, grad_norm: 172.1557 +2026-03-01 01:58:13,306 - DriveTransformer - INFO - Epoch [11][35600/39528] lr: 6.331e-05, eta: 4 days, 9:09:51, time: 0.747, data_time: 0.040, memory: 19865, loss_cls: 0.0854, loss_bbox: 0.2767, loss_traj: 0.4189, loss_traj_cls: 0.0020, loss_map_cls: 0.0974, loss_map_pts: 0.5146, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.3106, d0.loss_plan_l1_fix_dist: 0.4229, d1.loss_plan_l1_fix_time: 0.7100, d1.loss_plan_l1_fix_dist: 0.1470, d2.loss_plan_l1_fix_time: 0.7047, d2.loss_plan_l1_fix_dist: 0.1838, d3.loss_plan_l1_fix_time: 0.7102, d3.loss_plan_l1_fix_dist: 0.1575, d4.loss_plan_l1_fix_time: 0.7141, d4.loss_plan_l1_fix_dist: 0.1771, d5.loss_plan_l1_fix_time: 0.7176, d5.loss_plan_l1_fix_dist: 0.1796, d6.loss_plan_l1_fix_time: 0.7213, d6.loss_plan_l1_fix_dist: 0.1802, d0.loss_cls_all: 0.1354, d0.loss_bbox_all: 0.3411, d0.loss_cls: 0.1354, d0.loss_bbox: 0.3411, d1.loss_cls: 0.1267, d1.loss_bbox: 0.3099, d2.loss_cls: 0.1130, d2.loss_bbox: 0.2901, d3.loss_cls: 0.0927, d3.loss_bbox: 0.2814, d4.loss_cls: 0.0885, d4.loss_bbox: 0.2770, d5.loss_cls: 0.0869, d5.loss_bbox: 0.2774, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6179, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4975, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4485, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4262, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4224, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4202, d0.loss_map_cls_all: 0.1774, d0.loss_map_pts_all: 1.1336, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1774, d0.loss_map_pts: 1.1336, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1486, d1.loss_map_pts: 0.7925, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1245, d2.loss_map_pts: 0.6139, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1133, d3.loss_map_pts: 0.5448, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1063, d4.loss_map_pts: 0.5213, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0996, d5.loss_map_pts: 0.5162, d5.loss_map_dir: 0.0066, loss: 21.4210, grad_norm: 174.0805 +2026-03-01 01:58:47,932 - DriveTransformer - INFO - Epoch [11][35650/39528] lr: 6.331e-05, eta: 4 days, 9:09:09, time: 0.691, data_time: 0.036, memory: 19865, loss_cls: 0.0800, loss_bbox: 0.2624, loss_traj: 0.5046, loss_traj_cls: 0.0019, loss_map_cls: 0.0815, loss_map_pts: 0.4151, loss_map_dir: 0.0042, d0.loss_plan_l1_fix_time: 2.4911, d0.loss_plan_l1_fix_dist: 0.3745, d1.loss_plan_l1_fix_time: 0.7083, d1.loss_plan_l1_fix_dist: 0.1556, d2.loss_plan_l1_fix_time: 0.6970, d2.loss_plan_l1_fix_dist: 0.1761, d3.loss_plan_l1_fix_time: 0.6917, d3.loss_plan_l1_fix_dist: 0.1683, d4.loss_plan_l1_fix_time: 0.6962, d4.loss_plan_l1_fix_dist: 0.1943, d5.loss_plan_l1_fix_time: 0.7022, d5.loss_plan_l1_fix_dist: 0.1991, d6.loss_plan_l1_fix_time: 0.7079, d6.loss_plan_l1_fix_dist: 0.2048, d0.loss_cls_all: 0.1178, d0.loss_bbox_all: 0.3166, d0.loss_cls: 0.1178, d0.loss_bbox: 0.3166, d1.loss_cls: 0.1145, d1.loss_bbox: 0.2864, d2.loss_cls: 0.1042, d2.loss_bbox: 0.2679, d3.loss_cls: 0.0892, d3.loss_bbox: 0.2630, d4.loss_cls: 0.0813, d4.loss_bbox: 0.2626, d5.loss_cls: 0.0795, d5.loss_bbox: 0.2646, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7802, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.6119, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5487, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5287, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5167, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5071, d0.loss_map_cls_all: 0.1684, d0.loss_map_pts_all: 0.9082, d0.loss_map_dir_all: 0.0038, d0.loss_map_cls: 0.1684, d0.loss_map_pts: 0.9082, d0.loss_map_dir: 0.0038, d1.loss_map_cls: 0.1303, d1.loss_map_pts: 0.6449, d1.loss_map_dir: 0.0037, d2.loss_map_cls: 0.1052, d2.loss_map_pts: 0.4994, d2.loss_map_dir: 0.0038, d3.loss_map_cls: 0.0952, d3.loss_map_pts: 0.4417, d3.loss_map_dir: 0.0039, d4.loss_map_cls: 0.0870, d4.loss_map_pts: 0.4234, d4.loss_map_dir: 0.0041, d5.loss_map_cls: 0.0835, d5.loss_map_pts: 0.4161, d5.loss_map_dir: 0.0041, loss: 20.8043, grad_norm: 175.9765 +2026-03-01 01:59:25,169 - DriveTransformer - INFO - Epoch [11][35700/39528] lr: 6.331e-05, eta: 4 days, 9:08:34, time: 0.745, data_time: 0.039, memory: 19865, loss_cls: 0.0842, loss_bbox: 0.2701, loss_traj: 0.4300, loss_traj_cls: 0.0020, loss_map_cls: 0.0745, loss_map_pts: 0.4657, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.6979, d0.loss_plan_l1_fix_dist: 0.4921, d1.loss_plan_l1_fix_time: 0.7609, d1.loss_plan_l1_fix_dist: 0.1964, d2.loss_plan_l1_fix_time: 0.7437, d2.loss_plan_l1_fix_dist: 0.1860, d3.loss_plan_l1_fix_time: 0.7482, d3.loss_plan_l1_fix_dist: 0.1844, d4.loss_plan_l1_fix_time: 0.7509, d4.loss_plan_l1_fix_dist: 0.1969, d5.loss_plan_l1_fix_time: 0.7548, d5.loss_plan_l1_fix_dist: 0.1933, d6.loss_plan_l1_fix_time: 0.7589, d6.loss_plan_l1_fix_dist: 0.2045, d0.loss_cls_all: 0.1307, d0.loss_bbox_all: 0.3256, d0.loss_cls: 0.1307, d0.loss_bbox: 0.3256, d1.loss_cls: 0.1261, d1.loss_bbox: 0.2954, d2.loss_cls: 0.1095, d2.loss_bbox: 0.2759, d3.loss_cls: 0.0913, d3.loss_bbox: 0.2722, d4.loss_cls: 0.0863, d4.loss_bbox: 0.2697, d5.loss_cls: 0.0842, d5.loss_bbox: 0.2702, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6180, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4929, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4469, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4380, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4329, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4296, d0.loss_map_cls_all: 0.1349, d0.loss_map_pts_all: 0.9713, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1349, d0.loss_map_pts: 0.9713, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1092, d1.loss_map_pts: 0.6814, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.0932, d2.loss_map_pts: 0.5429, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.0847, d3.loss_map_pts: 0.4922, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.0801, d4.loss_map_pts: 0.4724, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0760, d5.loss_map_pts: 0.4665, d5.loss_map_dir: 0.0064, loss: 21.2135, grad_norm: 174.9391 +2026-03-01 02:00:01,183 - DriveTransformer - INFO - Epoch [11][35750/39528] lr: 6.331e-05, eta: 4 days, 9:07:56, time: 0.720, data_time: 0.041, memory: 19865, loss_cls: 0.0918, loss_bbox: 0.2749, loss_traj: 0.4661, loss_traj_cls: 0.0020, loss_map_cls: 0.0970, loss_map_pts: 0.4531, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.6769, d0.loss_plan_l1_fix_dist: 0.3697, d1.loss_plan_l1_fix_time: 0.7411, d1.loss_plan_l1_fix_dist: 0.2038, d2.loss_plan_l1_fix_time: 0.7221, d2.loss_plan_l1_fix_dist: 0.1762, d3.loss_plan_l1_fix_time: 0.7210, d3.loss_plan_l1_fix_dist: 0.1771, d4.loss_plan_l1_fix_time: 0.7232, d4.loss_plan_l1_fix_dist: 0.1865, d5.loss_plan_l1_fix_time: 0.7254, d5.loss_plan_l1_fix_dist: 0.1867, d6.loss_plan_l1_fix_time: 0.7285, d6.loss_plan_l1_fix_dist: 0.2057, d0.loss_cls_all: 0.1309, d0.loss_bbox_all: 0.3356, d0.loss_cls: 0.1309, d0.loss_bbox: 0.3356, d1.loss_cls: 0.1284, d1.loss_bbox: 0.3031, d2.loss_cls: 0.1158, d2.loss_bbox: 0.2861, d3.loss_cls: 0.0991, d3.loss_bbox: 0.2800, d4.loss_cls: 0.0928, d4.loss_bbox: 0.2767, d5.loss_cls: 0.0928, d5.loss_bbox: 0.2755, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6725, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5249, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4806, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4760, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4690, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4657, d0.loss_map_cls_all: 0.1780, d0.loss_map_pts_all: 0.9195, d0.loss_map_dir_all: 0.0044, d0.loss_map_cls: 0.1780, d0.loss_map_pts: 0.9195, d0.loss_map_dir: 0.0044, d1.loss_map_cls: 0.1453, d1.loss_map_pts: 0.6599, d1.loss_map_dir: 0.0043, d2.loss_map_cls: 0.1232, d2.loss_map_pts: 0.5265, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.1100, d3.loss_map_pts: 0.4751, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.1039, d4.loss_map_pts: 0.4578, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.1001, d5.loss_map_pts: 0.4513, d5.loss_map_dir: 0.0049, loss: 21.2910, grad_norm: 174.4513 +2026-03-01 02:00:38,270 - DriveTransformer - INFO - Epoch [11][35800/39528] lr: 6.331e-05, eta: 4 days, 9:07:21, time: 0.742, data_time: 0.035, memory: 19865, loss_cls: 0.0806, loss_bbox: 0.2663, loss_traj: 0.4779, loss_traj_cls: 0.0019, loss_map_cls: 0.0974, loss_map_pts: 0.5314, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.6821, d0.loss_plan_l1_fix_dist: 0.4466, d1.loss_plan_l1_fix_time: 0.7228, d1.loss_plan_l1_fix_dist: 0.2192, d2.loss_plan_l1_fix_time: 0.7075, d2.loss_plan_l1_fix_dist: 0.1874, d3.loss_plan_l1_fix_time: 0.7059, d3.loss_plan_l1_fix_dist: 0.2015, d4.loss_plan_l1_fix_time: 0.7101, d4.loss_plan_l1_fix_dist: 0.1955, d5.loss_plan_l1_fix_time: 0.7145, d5.loss_plan_l1_fix_dist: 0.2022, d6.loss_plan_l1_fix_time: 0.7192, d6.loss_plan_l1_fix_dist: 0.2169, d0.loss_cls_all: 0.1233, d0.loss_bbox_all: 0.3342, d0.loss_cls: 0.1233, d0.loss_bbox: 0.3342, d1.loss_cls: 0.1187, d1.loss_bbox: 0.2987, d2.loss_cls: 0.1114, d2.loss_bbox: 0.2754, d3.loss_cls: 0.0903, d3.loss_bbox: 0.2706, d4.loss_cls: 0.0818, d4.loss_bbox: 0.2687, d5.loss_cls: 0.0787, d5.loss_bbox: 0.2694, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7036, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5501, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4984, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4859, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4795, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4771, d0.loss_map_cls_all: 0.1832, d0.loss_map_pts_all: 1.1344, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1832, d0.loss_map_pts: 1.1344, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1484, d1.loss_map_pts: 0.8043, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1252, d2.loss_map_pts: 0.6244, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1148, d3.loss_map_pts: 0.5579, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1056, d4.loss_map_pts: 0.5355, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0992, d5.loss_map_pts: 0.5307, d5.loss_map_dir: 0.0067, loss: 22.3988, grad_norm: 180.9199 +2026-03-01 02:01:15,985 - DriveTransformer - INFO - Epoch [11][35850/39528] lr: 6.331e-05, eta: 4 days, 9:06:47, time: 0.754, data_time: 0.041, memory: 19865, loss_cls: 0.0769, loss_bbox: 0.2812, loss_traj: 0.4550, loss_traj_cls: 0.0020, loss_map_cls: 0.0784, loss_map_pts: 0.4680, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.4655, d0.loss_plan_l1_fix_dist: 0.3741, d1.loss_plan_l1_fix_time: 0.7278, d1.loss_plan_l1_fix_dist: 0.2178, d2.loss_plan_l1_fix_time: 0.7152, d2.loss_plan_l1_fix_dist: 0.1802, d3.loss_plan_l1_fix_time: 0.7065, d3.loss_plan_l1_fix_dist: 0.1955, d4.loss_plan_l1_fix_time: 0.7118, d4.loss_plan_l1_fix_dist: 0.1669, d5.loss_plan_l1_fix_time: 0.7171, d5.loss_plan_l1_fix_dist: 0.1758, d6.loss_plan_l1_fix_time: 0.7231, d6.loss_plan_l1_fix_dist: 0.1858, d0.loss_cls_all: 0.1152, d0.loss_bbox_all: 0.3371, d0.loss_cls: 0.1152, d0.loss_bbox: 0.3371, d1.loss_cls: 0.1093, d1.loss_bbox: 0.3091, d2.loss_cls: 0.0987, d2.loss_bbox: 0.2901, d3.loss_cls: 0.0831, d3.loss_bbox: 0.2859, d4.loss_cls: 0.0776, d4.loss_bbox: 0.2818, d5.loss_cls: 0.0764, d5.loss_bbox: 0.2808, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7061, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5432, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4816, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4575, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4546, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4545, d0.loss_map_cls_all: 0.1685, d0.loss_map_pts_all: 1.0507, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1685, d0.loss_map_pts: 1.0507, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1318, d1.loss_map_pts: 0.7097, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1082, d2.loss_map_pts: 0.5556, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.0946, d3.loss_map_pts: 0.4952, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.0863, d4.loss_map_pts: 0.4742, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0815, d5.loss_map_pts: 0.4677, d5.loss_map_dir: 0.0065, loss: 21.2183, grad_norm: 182.1205 +2026-03-01 02:01:53,344 - DriveTransformer - INFO - Epoch [11][35900/39528] lr: 6.331e-05, eta: 4 days, 9:06:13, time: 0.747, data_time: 0.044, memory: 19865, loss_cls: 0.0869, loss_bbox: 0.2702, loss_traj: 0.4724, loss_traj_cls: 0.0021, loss_map_cls: 0.1035, loss_map_pts: 0.5090, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.9657, d0.loss_plan_l1_fix_dist: 0.4305, d1.loss_plan_l1_fix_time: 0.7748, d1.loss_plan_l1_fix_dist: 0.2317, d2.loss_plan_l1_fix_time: 0.7550, d2.loss_plan_l1_fix_dist: 0.2018, d3.loss_plan_l1_fix_time: 0.7321, d3.loss_plan_l1_fix_dist: 0.2232, d4.loss_plan_l1_fix_time: 0.7333, d4.loss_plan_l1_fix_dist: 0.1891, d5.loss_plan_l1_fix_time: 0.7357, d5.loss_plan_l1_fix_dist: 0.1924, d6.loss_plan_l1_fix_time: 0.7386, d6.loss_plan_l1_fix_dist: 0.2002, d0.loss_cls_all: 0.1258, d0.loss_bbox_all: 0.3315, d0.loss_cls: 0.1258, d0.loss_bbox: 0.3315, d1.loss_cls: 0.1195, d1.loss_bbox: 0.3002, d2.loss_cls: 0.1129, d2.loss_bbox: 0.2794, d3.loss_cls: 0.0952, d3.loss_bbox: 0.2749, d4.loss_cls: 0.0889, d4.loss_bbox: 0.2722, d5.loss_cls: 0.0873, d5.loss_bbox: 0.2712, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8008, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5771, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5167, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4916, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4795, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4722, d0.loss_map_cls_all: 0.1827, d0.loss_map_pts_all: 0.9993, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1827, d0.loss_map_pts: 0.9993, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1501, d1.loss_map_pts: 0.7144, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1282, d2.loss_map_pts: 0.5835, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1180, d3.loss_map_pts: 0.5324, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1106, d4.loss_map_pts: 0.5143, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1065, d5.loss_map_pts: 0.5076, d5.loss_map_dir: 0.0061, loss: 22.5846, grad_norm: 180.9679 +2026-03-01 02:02:29,601 - DriveTransformer - INFO - Epoch [11][35950/39528] lr: 6.331e-05, eta: 4 days, 9:05:35, time: 0.725, data_time: 0.038, memory: 19865, loss_cls: 0.0962, loss_bbox: 0.2689, loss_traj: 0.4510, loss_traj_cls: 0.0020, loss_map_cls: 0.0886, loss_map_pts: 0.4797, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.5980, d0.loss_plan_l1_fix_dist: 0.4336, d1.loss_plan_l1_fix_time: 0.6270, d1.loss_plan_l1_fix_dist: 0.2123, d2.loss_plan_l1_fix_time: 0.6109, d2.loss_plan_l1_fix_dist: 0.1763, d3.loss_plan_l1_fix_time: 0.6067, d3.loss_plan_l1_fix_dist: 0.2070, d4.loss_plan_l1_fix_time: 0.6097, d4.loss_plan_l1_fix_dist: 0.1799, d5.loss_plan_l1_fix_time: 0.6139, d5.loss_plan_l1_fix_dist: 0.1857, d6.loss_plan_l1_fix_time: 0.6186, d6.loss_plan_l1_fix_dist: 0.1953, d0.loss_cls_all: 0.1384, d0.loss_bbox_all: 0.3386, d0.loss_cls: 0.1384, d0.loss_bbox: 0.3386, d1.loss_cls: 0.1290, d1.loss_bbox: 0.3049, d2.loss_cls: 0.1169, d2.loss_bbox: 0.2819, d3.loss_cls: 0.1013, d3.loss_bbox: 0.2742, d4.loss_cls: 0.1004, d4.loss_bbox: 0.2701, d5.loss_cls: 0.0969, d5.loss_bbox: 0.2699, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6943, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5438, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4795, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4587, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4560, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4525, d0.loss_map_cls_all: 0.1791, d0.loss_map_pts_all: 1.0155, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1791, d0.loss_map_pts: 1.0155, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1399, d1.loss_map_pts: 0.7233, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1136, d2.loss_map_pts: 0.5665, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1016, d3.loss_map_pts: 0.5035, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0957, d4.loss_map_pts: 0.4827, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0903, d5.loss_map_pts: 0.4807, d5.loss_map_dir: 0.0057, loss: 20.9819, grad_norm: 177.8161 +2026-03-01 02:03:06,816 - DriveTransformer - INFO - Epoch [11][36000/39528] lr: 6.331e-05, eta: 4 days, 9:05:01, time: 0.744, data_time: 0.037, memory: 19865, loss_cls: 0.0847, loss_bbox: 0.2809, loss_traj: 0.5598, loss_traj_cls: 0.0020, loss_map_cls: 0.0783, loss_map_pts: 0.4455, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.5278, d0.loss_plan_l1_fix_dist: 0.3695, d1.loss_plan_l1_fix_time: 0.6987, d1.loss_plan_l1_fix_dist: 0.1978, d2.loss_plan_l1_fix_time: 0.6817, d2.loss_plan_l1_fix_dist: 0.1677, d3.loss_plan_l1_fix_time: 0.6847, d3.loss_plan_l1_fix_dist: 0.1935, d4.loss_plan_l1_fix_time: 0.6879, d4.loss_plan_l1_fix_dist: 0.1750, d5.loss_plan_l1_fix_time: 0.6909, d5.loss_plan_l1_fix_dist: 0.1784, d6.loss_plan_l1_fix_time: 0.6940, d6.loss_plan_l1_fix_dist: 0.1904, d0.loss_cls_all: 0.1152, d0.loss_bbox_all: 0.3394, d0.loss_cls: 0.1152, d0.loss_bbox: 0.3394, d1.loss_cls: 0.1117, d1.loss_bbox: 0.3088, d2.loss_cls: 0.1030, d2.loss_bbox: 0.2873, d3.loss_cls: 0.0894, d3.loss_bbox: 0.2832, d4.loss_cls: 0.0850, d4.loss_bbox: 0.2817, d5.loss_cls: 0.0849, d5.loss_bbox: 0.2808, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8987, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.6696, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5935, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5795, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5680, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5624, d0.loss_map_cls_all: 0.1588, d0.loss_map_pts_all: 0.9476, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1588, d0.loss_map_pts: 0.9476, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1265, d1.loss_map_pts: 0.6750, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1045, d2.loss_map_pts: 0.5197, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0925, d3.loss_map_pts: 0.4694, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0857, d4.loss_map_pts: 0.4500, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0798, d5.loss_map_pts: 0.4458, d5.loss_map_dir: 0.0056, loss: 21.5958, grad_norm: 177.5576 +2026-03-01 02:03:44,090 - DriveTransformer - INFO - Epoch [11][36050/39528] lr: 6.331e-05, eta: 4 days, 9:04:26, time: 0.745, data_time: 0.039, memory: 19865, loss_cls: 0.0658, loss_bbox: 0.2515, loss_traj: 0.3784, loss_traj_cls: 0.0021, loss_map_cls: 0.1011, loss_map_pts: 0.5127, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.3465, d0.loss_plan_l1_fix_dist: 0.3918, d1.loss_plan_l1_fix_time: 0.7518, d1.loss_plan_l1_fix_dist: 0.1635, d2.loss_plan_l1_fix_time: 0.7377, d2.loss_plan_l1_fix_dist: 0.1472, d3.loss_plan_l1_fix_time: 0.7388, d3.loss_plan_l1_fix_dist: 0.1598, d4.loss_plan_l1_fix_time: 0.7419, d4.loss_plan_l1_fix_dist: 0.1647, d5.loss_plan_l1_fix_time: 0.7453, d5.loss_plan_l1_fix_dist: 0.1737, d6.loss_plan_l1_fix_time: 0.7493, d6.loss_plan_l1_fix_dist: 0.1752, d0.loss_cls_all: 0.1102, d0.loss_bbox_all: 0.3149, d0.loss_cls: 0.1102, d0.loss_bbox: 0.3149, d1.loss_cls: 0.1033, d1.loss_bbox: 0.2844, d2.loss_cls: 0.0887, d2.loss_bbox: 0.2643, d3.loss_cls: 0.0735, d3.loss_bbox: 0.2578, d4.loss_cls: 0.0665, d4.loss_bbox: 0.2563, d5.loss_cls: 0.0671, d5.loss_bbox: 0.2517, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6004, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4522, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4051, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3947, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3904, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3788, d0.loss_map_cls_all: 0.1733, d0.loss_map_pts_all: 1.0901, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1733, d0.loss_map_pts: 1.0901, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1411, d1.loss_map_pts: 0.7414, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1233, d2.loss_map_pts: 0.5897, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1128, d3.loss_map_pts: 0.5379, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1081, d4.loss_map_pts: 0.5165, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1028, d5.loss_map_pts: 0.5128, d5.loss_map_dir: 0.0063, loss: 20.7532, grad_norm: 176.8307 +2026-03-01 02:04:21,067 - DriveTransformer - INFO - Epoch [11][36100/39528] lr: 6.331e-05, eta: 4 days, 9:03:51, time: 0.740, data_time: 0.037, memory: 19865, loss_cls: 0.0811, loss_bbox: 0.2709, loss_traj: 0.4198, loss_traj_cls: 0.0020, loss_map_cls: 0.0888, loss_map_pts: 0.4682, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.0708, d0.loss_plan_l1_fix_dist: 0.4543, d1.loss_plan_l1_fix_time: 0.7101, d1.loss_plan_l1_fix_dist: 0.1753, d2.loss_plan_l1_fix_time: 0.7027, d2.loss_plan_l1_fix_dist: 0.1622, d3.loss_plan_l1_fix_time: 0.6925, d3.loss_plan_l1_fix_dist: 0.1801, d4.loss_plan_l1_fix_time: 0.6960, d4.loss_plan_l1_fix_dist: 0.1927, d5.loss_plan_l1_fix_time: 0.7001, d5.loss_plan_l1_fix_dist: 0.2049, d6.loss_plan_l1_fix_time: 0.7048, d6.loss_plan_l1_fix_dist: 0.2097, d0.loss_cls_all: 0.1193, d0.loss_bbox_all: 0.3330, d0.loss_cls: 0.1193, d0.loss_bbox: 0.3330, d1.loss_cls: 0.1140, d1.loss_bbox: 0.2990, d2.loss_cls: 0.1022, d2.loss_bbox: 0.2787, d3.loss_cls: 0.0884, d3.loss_bbox: 0.2742, d4.loss_cls: 0.0826, d4.loss_bbox: 0.2727, d5.loss_cls: 0.0807, d5.loss_bbox: 0.2724, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6352, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.4878, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4402, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4313, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4215, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4200, d0.loss_map_cls_all: 0.1708, d0.loss_map_pts_all: 1.0615, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1708, d0.loss_map_pts: 1.0615, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1426, d1.loss_map_pts: 0.7322, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1164, d2.loss_map_pts: 0.5617, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1034, d3.loss_map_pts: 0.4984, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0962, d4.loss_map_pts: 0.4751, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0909, d5.loss_map_pts: 0.4686, d5.loss_map_dir: 0.0056, loss: 20.5903, grad_norm: 177.2606 +2026-03-01 02:04:55,434 - DriveTransformer - INFO - Epoch [11][36150/39528] lr: 6.331e-05, eta: 4 days, 9:03:08, time: 0.687, data_time: 0.037, memory: 19865, loss_cls: 0.0916, loss_bbox: 0.2834, loss_traj: 0.5554, loss_traj_cls: 0.0020, loss_map_cls: 0.0985, loss_map_pts: 0.4269, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.7191, d0.loss_plan_l1_fix_dist: 0.4058, d1.loss_plan_l1_fix_time: 0.8196, d1.loss_plan_l1_fix_dist: 0.1845, d2.loss_plan_l1_fix_time: 0.8087, d2.loss_plan_l1_fix_dist: 0.1719, d3.loss_plan_l1_fix_time: 0.8089, d3.loss_plan_l1_fix_dist: 0.1908, d4.loss_plan_l1_fix_time: 0.8132, d4.loss_plan_l1_fix_dist: 0.1975, d5.loss_plan_l1_fix_time: 0.8181, d5.loss_plan_l1_fix_dist: 0.2030, d6.loss_plan_l1_fix_time: 0.8229, d6.loss_plan_l1_fix_dist: 0.2163, d0.loss_cls_all: 0.1314, d0.loss_bbox_all: 0.3469, d0.loss_cls: 0.1314, d0.loss_bbox: 0.3469, d1.loss_cls: 0.1271, d1.loss_bbox: 0.3110, d2.loss_cls: 0.1178, d2.loss_bbox: 0.2881, d3.loss_cls: 0.1002, d3.loss_bbox: 0.2851, d4.loss_cls: 0.0940, d4.loss_bbox: 0.2828, d5.loss_cls: 0.0921, d5.loss_bbox: 0.2829, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8098, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.6393, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5792, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5608, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5573, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5537, d0.loss_map_cls_all: 0.1754, d0.loss_map_pts_all: 0.9246, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1754, d0.loss_map_pts: 0.9246, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1455, d1.loss_map_pts: 0.6597, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1233, d2.loss_map_pts: 0.5138, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.1121, d3.loss_map_pts: 0.4562, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.1048, d4.loss_map_pts: 0.4349, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.1008, d5.loss_map_pts: 0.4280, d5.loss_map_dir: 0.0048, loss: 22.5999, grad_norm: 179.7193 +2026-03-01 02:05:32,154 - DriveTransformer - INFO - Epoch [11][36200/39528] lr: 6.331e-05, eta: 4 days, 9:02:32, time: 0.734, data_time: 0.038, memory: 19865, loss_cls: 0.0792, loss_bbox: 0.2704, loss_traj: 0.4719, loss_traj_cls: 0.0020, loss_map_cls: 0.0825, loss_map_pts: 0.4772, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.6510, d0.loss_plan_l1_fix_dist: 0.3938, d1.loss_plan_l1_fix_time: 0.7452, d1.loss_plan_l1_fix_dist: 0.1656, d2.loss_plan_l1_fix_time: 0.7408, d2.loss_plan_l1_fix_dist: 0.1520, d3.loss_plan_l1_fix_time: 0.7284, d3.loss_plan_l1_fix_dist: 0.1611, d4.loss_plan_l1_fix_time: 0.7327, d4.loss_plan_l1_fix_dist: 0.1631, d5.loss_plan_l1_fix_time: 0.7375, d5.loss_plan_l1_fix_dist: 0.1562, d6.loss_plan_l1_fix_time: 0.7423, d6.loss_plan_l1_fix_dist: 0.1798, d0.loss_cls_all: 0.1286, d0.loss_bbox_all: 0.3328, d0.loss_cls: 0.1286, d0.loss_bbox: 0.3328, d1.loss_cls: 0.1230, d1.loss_bbox: 0.3014, d2.loss_cls: 0.1088, d2.loss_bbox: 0.2828, d3.loss_cls: 0.0870, d3.loss_bbox: 0.2760, d4.loss_cls: 0.0811, d4.loss_bbox: 0.2726, d5.loss_cls: 0.0794, d5.loss_bbox: 0.2709, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7200, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5559, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5012, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4928, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4847, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4762, d0.loss_map_cls_all: 0.1765, d0.loss_map_pts_all: 1.0669, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1765, d0.loss_map_pts: 1.0669, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1465, d1.loss_map_pts: 0.7474, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1132, d2.loss_map_pts: 0.5725, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0998, d3.loss_map_pts: 0.5058, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0911, d4.loss_map_pts: 0.4836, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0867, d5.loss_map_pts: 0.4769, d5.loss_map_dir: 0.0056, loss: 21.7300, grad_norm: 176.9237 +2026-03-01 02:06:07,494 - DriveTransformer - INFO - Epoch [11][36250/39528] lr: 6.331e-05, eta: 4 days, 9:01:52, time: 0.707, data_time: 0.037, memory: 19865, loss_cls: 0.0980, loss_bbox: 0.2903, loss_traj: 0.4741, loss_traj_cls: 0.0020, loss_map_cls: 0.1220, loss_map_pts: 0.5841, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.7757, d0.loss_plan_l1_fix_dist: 0.4071, d1.loss_plan_l1_fix_time: 0.7433, d1.loss_plan_l1_fix_dist: 0.1624, d2.loss_plan_l1_fix_time: 0.7340, d2.loss_plan_l1_fix_dist: 0.1588, d3.loss_plan_l1_fix_time: 0.7323, d3.loss_plan_l1_fix_dist: 0.1655, d4.loss_plan_l1_fix_time: 0.7348, d4.loss_plan_l1_fix_dist: 0.1792, d5.loss_plan_l1_fix_time: 0.7375, d5.loss_plan_l1_fix_dist: 0.1671, d6.loss_plan_l1_fix_time: 0.7405, d6.loss_plan_l1_fix_dist: 0.2009, d0.loss_cls_all: 0.1544, d0.loss_bbox_all: 0.3642, d0.loss_cls: 0.1544, d0.loss_bbox: 0.3642, d1.loss_cls: 0.1474, d1.loss_bbox: 0.3268, d2.loss_cls: 0.1334, d2.loss_bbox: 0.3031, d3.loss_cls: 0.1092, d3.loss_bbox: 0.2962, d4.loss_cls: 0.1001, d4.loss_bbox: 0.2928, d5.loss_cls: 0.0985, d5.loss_bbox: 0.2902, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7081, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5628, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5011, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4823, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4775, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4737, d0.loss_map_cls_all: 0.2123, d0.loss_map_pts_all: 1.1727, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.2123, d0.loss_map_pts: 1.1727, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1802, d1.loss_map_pts: 0.8740, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1507, d2.loss_map_pts: 0.6951, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1387, d3.loss_map_pts: 0.6212, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1291, d4.loss_map_pts: 0.5921, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1242, d5.loss_map_pts: 0.5843, d5.loss_map_dir: 0.0060, loss: 23.4615, grad_norm: 167.1737 +2026-03-01 02:06:44,509 - DriveTransformer - INFO - Epoch [11][36300/39528] lr: 6.331e-05, eta: 4 days, 9:01:17, time: 0.740, data_time: 0.039, memory: 19865, loss_cls: 0.0884, loss_bbox: 0.2763, loss_traj: 0.5124, loss_traj_cls: 0.0021, loss_map_cls: 0.1026, loss_map_pts: 0.5123, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.9849, d0.loss_plan_l1_fix_dist: 0.3996, d1.loss_plan_l1_fix_time: 0.7631, d1.loss_plan_l1_fix_dist: 0.1562, d2.loss_plan_l1_fix_time: 0.7573, d2.loss_plan_l1_fix_dist: 0.1551, d3.loss_plan_l1_fix_time: 0.7484, d3.loss_plan_l1_fix_dist: 0.1637, d4.loss_plan_l1_fix_time: 0.7512, d4.loss_plan_l1_fix_dist: 0.1791, d5.loss_plan_l1_fix_time: 0.7539, d5.loss_plan_l1_fix_dist: 0.1709, d6.loss_plan_l1_fix_time: 0.7570, d6.loss_plan_l1_fix_dist: 0.1875, d0.loss_cls_all: 0.1382, d0.loss_bbox_all: 0.3387, d0.loss_cls: 0.1382, d0.loss_bbox: 0.3387, d1.loss_cls: 0.1320, d1.loss_bbox: 0.3079, d2.loss_cls: 0.1184, d2.loss_bbox: 0.2846, d3.loss_cls: 0.0961, d3.loss_bbox: 0.2802, d4.loss_cls: 0.0910, d4.loss_bbox: 0.2778, d5.loss_cls: 0.0888, d5.loss_bbox: 0.2765, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7778, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.6072, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5405, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5170, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5156, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5134, d0.loss_map_cls_all: 0.1807, d0.loss_map_pts_all: 1.0430, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1807, d0.loss_map_pts: 1.0430, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1478, d1.loss_map_pts: 0.7533, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1265, d2.loss_map_pts: 0.6025, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1157, d3.loss_map_pts: 0.5417, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1110, d4.loss_map_pts: 0.5173, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1052, d5.loss_map_pts: 0.5133, d5.loss_map_dir: 0.0061, loss: 22.8366, grad_norm: 167.2166 +2026-03-01 02:07:20,992 - DriveTransformer - INFO - Epoch [11][36350/39528] lr: 6.331e-05, eta: 4 days, 9:00:40, time: 0.730, data_time: 0.038, memory: 19865, loss_cls: 0.0895, loss_bbox: 0.2704, loss_traj: 0.4397, loss_traj_cls: 0.0021, loss_map_cls: 0.0790, loss_map_pts: 0.4200, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.4130, d0.loss_plan_l1_fix_dist: 0.3983, d1.loss_plan_l1_fix_time: 0.6587, d1.loss_plan_l1_fix_dist: 0.1527, d2.loss_plan_l1_fix_time: 0.6477, d2.loss_plan_l1_fix_dist: 0.1549, d3.loss_plan_l1_fix_time: 0.6503, d3.loss_plan_l1_fix_dist: 0.1682, d4.loss_plan_l1_fix_time: 0.6524, d4.loss_plan_l1_fix_dist: 0.1864, d5.loss_plan_l1_fix_time: 0.6555, d5.loss_plan_l1_fix_dist: 0.1951, d6.loss_plan_l1_fix_time: 0.6591, d6.loss_plan_l1_fix_dist: 0.2089, d0.loss_cls_all: 0.1343, d0.loss_bbox_all: 0.3326, d0.loss_cls: 0.1343, d0.loss_bbox: 0.3326, d1.loss_cls: 0.1212, d1.loss_bbox: 0.3032, d2.loss_cls: 0.1090, d2.loss_bbox: 0.2826, d3.loss_cls: 0.0952, d3.loss_bbox: 0.2758, d4.loss_cls: 0.0892, d4.loss_bbox: 0.2743, d5.loss_cls: 0.0883, d5.loss_bbox: 0.2724, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6095, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5093, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4610, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4458, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4373, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4372, d0.loss_map_cls_all: 0.1546, d0.loss_map_pts_all: 0.9081, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1546, d0.loss_map_pts: 0.9081, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1250, d1.loss_map_pts: 0.6369, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1021, d2.loss_map_pts: 0.4977, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0901, d3.loss_map_pts: 0.4472, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0851, d4.loss_map_pts: 0.4266, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0813, d5.loss_map_pts: 0.4202, d5.loss_map_dir: 0.0056, loss: 19.9353, grad_norm: 167.4336 +2026-03-01 02:07:55,870 - DriveTransformer - INFO - Epoch [11][36400/39528] lr: 6.331e-05, eta: 4 days, 8:59:59, time: 0.699, data_time: 0.037, memory: 19865, loss_cls: 0.0762, loss_bbox: 0.2724, loss_traj: 0.5178, loss_traj_cls: 0.0021, loss_map_cls: 0.0766, loss_map_pts: 0.4210, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.7270, d0.loss_plan_l1_fix_dist: 0.3962, d1.loss_plan_l1_fix_time: 0.8006, d1.loss_plan_l1_fix_dist: 0.1593, d2.loss_plan_l1_fix_time: 0.7945, d2.loss_plan_l1_fix_dist: 0.1625, d3.loss_plan_l1_fix_time: 0.7982, d3.loss_plan_l1_fix_dist: 0.1625, d4.loss_plan_l1_fix_time: 0.8001, d4.loss_plan_l1_fix_dist: 0.1686, d5.loss_plan_l1_fix_time: 0.8019, d5.loss_plan_l1_fix_dist: 0.1669, d6.loss_plan_l1_fix_time: 0.8040, d6.loss_plan_l1_fix_dist: 0.1680, d0.loss_cls_all: 0.1247, d0.loss_bbox_all: 0.3343, d0.loss_cls: 0.1247, d0.loss_bbox: 0.3343, d1.loss_cls: 0.1141, d1.loss_bbox: 0.3011, d2.loss_cls: 0.1004, d2.loss_bbox: 0.2810, d3.loss_cls: 0.0855, d3.loss_bbox: 0.2751, d4.loss_cls: 0.0773, d4.loss_bbox: 0.2744, d5.loss_cls: 0.0767, d5.loss_bbox: 0.2728, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8480, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.6136, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5506, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5304, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5249, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5188, d0.loss_map_cls_all: 0.1542, d0.loss_map_pts_all: 0.9190, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1542, d0.loss_map_pts: 0.9190, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1241, d1.loss_map_pts: 0.6516, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1013, d2.loss_map_pts: 0.5001, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0900, d3.loss_map_pts: 0.4431, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0846, d4.loss_map_pts: 0.4240, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0793, d5.loss_map_pts: 0.4208, d5.loss_map_dir: 0.0050, loss: 21.7496, grad_norm: 163.5001 +2026-03-01 02:08:33,290 - DriveTransformer - INFO - Epoch [11][36450/39528] lr: 6.331e-05, eta: 4 days, 8:59:25, time: 0.747, data_time: 0.037, memory: 19865, loss_cls: 0.0934, loss_bbox: 0.2902, loss_traj: 0.4335, loss_traj_cls: 0.0021, loss_map_cls: 0.0812, loss_map_pts: 0.4983, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.3702, d0.loss_plan_l1_fix_dist: 0.3931, d1.loss_plan_l1_fix_time: 0.6326, d1.loss_plan_l1_fix_dist: 0.1819, d2.loss_plan_l1_fix_time: 0.6187, d2.loss_plan_l1_fix_dist: 0.1819, d3.loss_plan_l1_fix_time: 0.6142, d3.loss_plan_l1_fix_dist: 0.1897, d4.loss_plan_l1_fix_time: 0.6175, d4.loss_plan_l1_fix_dist: 0.1889, d5.loss_plan_l1_fix_time: 0.6205, d5.loss_plan_l1_fix_dist: 0.1929, d6.loss_plan_l1_fix_time: 0.6235, d6.loss_plan_l1_fix_dist: 0.1885, d0.loss_cls_all: 0.1360, d0.loss_bbox_all: 0.3556, d0.loss_cls: 0.1360, d0.loss_bbox: 0.3556, d1.loss_cls: 0.1312, d1.loss_bbox: 0.3236, d2.loss_cls: 0.1180, d2.loss_bbox: 0.3002, d3.loss_cls: 0.1016, d3.loss_bbox: 0.2916, d4.loss_cls: 0.0971, d4.loss_bbox: 0.2896, d5.loss_cls: 0.0940, d5.loss_bbox: 0.2899, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6450, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5163, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4573, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4393, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4286, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4327, d0.loss_map_cls_all: 0.1681, d0.loss_map_pts_all: 1.0837, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1681, d0.loss_map_pts: 1.0837, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1309, d1.loss_map_pts: 0.7571, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1083, d2.loss_map_pts: 0.5879, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.0952, d3.loss_map_pts: 0.5254, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.0871, d4.loss_map_pts: 0.5057, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0827, d5.loss_map_pts: 0.4990, d5.loss_map_dir: 0.0065, loss: 20.8929, grad_norm: 160.9676 +2026-03-01 02:09:11,844 - DriveTransformer - INFO - Epoch [11][36500/39528] lr: 6.331e-05, eta: 4 days, 8:58:54, time: 0.771, data_time: 0.040, memory: 19865, loss_cls: 0.0838, loss_bbox: 0.3089, loss_traj: 0.5520, loss_traj_cls: 0.0021, loss_map_cls: 0.1072, loss_map_pts: 0.5464, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.7869, d0.loss_plan_l1_fix_dist: 0.3446, d1.loss_plan_l1_fix_time: 0.7916, d1.loss_plan_l1_fix_dist: 0.1930, d2.loss_plan_l1_fix_time: 0.7782, d2.loss_plan_l1_fix_dist: 0.1796, d3.loss_plan_l1_fix_time: 0.7692, d3.loss_plan_l1_fix_dist: 0.1869, d4.loss_plan_l1_fix_time: 0.7732, d4.loss_plan_l1_fix_dist: 0.1694, d5.loss_plan_l1_fix_time: 0.7774, d5.loss_plan_l1_fix_dist: 0.1867, d6.loss_plan_l1_fix_time: 0.7814, d6.loss_plan_l1_fix_dist: 0.1933, d0.loss_cls_all: 0.1324, d0.loss_bbox_all: 0.3664, d0.loss_cls: 0.1324, d0.loss_bbox: 0.3664, d1.loss_cls: 0.1283, d1.loss_bbox: 0.3345, d2.loss_cls: 0.1144, d2.loss_bbox: 0.3143, d3.loss_cls: 0.0948, d3.loss_bbox: 0.3116, d4.loss_cls: 0.0869, d4.loss_bbox: 0.3103, d5.loss_cls: 0.0852, d5.loss_bbox: 0.3092, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8384, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.6448, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5909, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5592, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5533, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5490, d0.loss_map_cls_all: 0.2027, d0.loss_map_pts_all: 1.1437, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2027, d0.loss_map_pts: 1.1437, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1694, d1.loss_map_pts: 0.8330, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1379, d2.loss_map_pts: 0.6548, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1242, d3.loss_map_pts: 0.5831, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1153, d4.loss_map_pts: 0.5556, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1102, d5.loss_map_pts: 0.5477, d5.loss_map_dir: 0.0061, loss: 23.9132, grad_norm: 158.0439 +2026-03-01 02:09:49,160 - DriveTransformer - INFO - Epoch [11][36550/39528] lr: 6.331e-05, eta: 4 days, 8:58:19, time: 0.746, data_time: 0.040, memory: 19865, loss_cls: 0.0806, loss_bbox: 0.2595, loss_traj: 0.4372, loss_traj_cls: 0.0021, loss_map_cls: 0.0844, loss_map_pts: 0.4941, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.3087, d0.loss_plan_l1_fix_dist: 0.3511, d1.loss_plan_l1_fix_time: 0.6730, d1.loss_plan_l1_fix_dist: 0.1920, d2.loss_plan_l1_fix_time: 0.6601, d2.loss_plan_l1_fix_dist: 0.1811, d3.loss_plan_l1_fix_time: 0.6491, d3.loss_plan_l1_fix_dist: 0.1959, d4.loss_plan_l1_fix_time: 0.6511, d4.loss_plan_l1_fix_dist: 0.1666, d5.loss_plan_l1_fix_time: 0.6542, d5.loss_plan_l1_fix_dist: 0.1755, d6.loss_plan_l1_fix_time: 0.6575, d6.loss_plan_l1_fix_dist: 0.1934, d0.loss_cls_all: 0.1172, d0.loss_bbox_all: 0.3172, d0.loss_cls: 0.1172, d0.loss_bbox: 0.3172, d1.loss_cls: 0.1123, d1.loss_bbox: 0.2863, d2.loss_cls: 0.1035, d2.loss_bbox: 0.2667, d3.loss_cls: 0.0863, d3.loss_bbox: 0.2604, d4.loss_cls: 0.0819, d4.loss_bbox: 0.2597, d5.loss_cls: 0.0807, d5.loss_bbox: 0.2598, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6763, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5226, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4688, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4481, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4419, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4356, d0.loss_map_cls_all: 0.1707, d0.loss_map_pts_all: 1.0735, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1707, d0.loss_map_pts: 1.0735, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1384, d1.loss_map_pts: 0.7642, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1136, d2.loss_map_pts: 0.5942, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1013, d3.loss_map_pts: 0.5311, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0942, d4.loss_map_pts: 0.5060, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0875, d5.loss_map_pts: 0.4961, d5.loss_map_dir: 0.0060, loss: 20.6959, grad_norm: 154.1970 +2026-03-01 02:10:26,450 - DriveTransformer - INFO - Epoch [11][36600/39528] lr: 6.331e-05, eta: 4 days, 8:57:44, time: 0.746, data_time: 0.037, memory: 19865, loss_cls: 0.0971, loss_bbox: 0.2894, loss_traj: 0.4532, loss_traj_cls: 0.0021, loss_map_cls: 0.0920, loss_map_pts: 0.4971, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.9423, d0.loss_plan_l1_fix_dist: 0.4345, d1.loss_plan_l1_fix_time: 0.7675, d1.loss_plan_l1_fix_dist: 0.1811, d2.loss_plan_l1_fix_time: 0.7570, d2.loss_plan_l1_fix_dist: 0.1734, d3.loss_plan_l1_fix_time: 0.7568, d3.loss_plan_l1_fix_dist: 0.1928, d4.loss_plan_l1_fix_time: 0.7612, d4.loss_plan_l1_fix_dist: 0.1707, d5.loss_plan_l1_fix_time: 0.7649, d5.loss_plan_l1_fix_dist: 0.1605, d6.loss_plan_l1_fix_time: 0.7691, d6.loss_plan_l1_fix_dist: 0.1764, d0.loss_cls_all: 0.1446, d0.loss_bbox_all: 0.3375, d0.loss_cls: 0.1446, d0.loss_bbox: 0.3375, d1.loss_cls: 0.1363, d1.loss_bbox: 0.3073, d2.loss_cls: 0.1222, d2.loss_bbox: 0.2910, d3.loss_cls: 0.1043, d3.loss_bbox: 0.2881, d4.loss_cls: 0.0979, d4.loss_bbox: 0.2876, d5.loss_cls: 0.0981, d5.loss_bbox: 0.2877, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6530, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5110, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4742, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4591, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4544, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4524, d0.loss_map_cls_all: 0.1836, d0.loss_map_pts_all: 1.0625, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1836, d0.loss_map_pts: 1.0625, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1471, d1.loss_map_pts: 0.7515, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1221, d2.loss_map_pts: 0.5818, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1078, d3.loss_map_pts: 0.5214, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1009, d4.loss_map_pts: 0.5005, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0944, d5.loss_map_pts: 0.4970, d5.loss_map_dir: 0.0064, loss: 22.4019, grad_norm: 154.4223 +2026-03-01 02:11:02,883 - DriveTransformer - INFO - Epoch [11][36650/39528] lr: 6.331e-05, eta: 4 days, 8:57:08, time: 0.729, data_time: 0.044, memory: 19865, loss_cls: 0.0984, loss_bbox: 0.2993, loss_traj: 0.5077, loss_traj_cls: 0.0022, loss_map_cls: 0.1165, loss_map_pts: 0.5475, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.7948, d0.loss_plan_l1_fix_dist: 0.4625, d1.loss_plan_l1_fix_time: 0.6952, d1.loss_plan_l1_fix_dist: 0.1937, d2.loss_plan_l1_fix_time: 0.6856, d2.loss_plan_l1_fix_dist: 0.1956, d3.loss_plan_l1_fix_time: 0.6846, d3.loss_plan_l1_fix_dist: 0.2143, d4.loss_plan_l1_fix_time: 0.6861, d4.loss_plan_l1_fix_dist: 0.2064, d5.loss_plan_l1_fix_time: 0.6881, d5.loss_plan_l1_fix_dist: 0.1894, d6.loss_plan_l1_fix_time: 0.6906, d6.loss_plan_l1_fix_dist: 0.1892, d0.loss_cls_all: 0.1526, d0.loss_bbox_all: 0.3630, d0.loss_cls: 0.1526, d0.loss_bbox: 0.3630, d1.loss_cls: 0.1488, d1.loss_bbox: 0.3283, d2.loss_cls: 0.1333, d2.loss_bbox: 0.3064, d3.loss_cls: 0.1095, d3.loss_bbox: 0.2987, d4.loss_cls: 0.1021, d4.loss_bbox: 0.2967, d5.loss_cls: 0.0986, d5.loss_bbox: 0.2984, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8012, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5925, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5434, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5222, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5119, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5070, d0.loss_map_cls_all: 0.2061, d0.loss_map_pts_all: 1.0989, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2061, d0.loss_map_pts: 1.0989, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1758, d1.loss_map_pts: 0.8024, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1463, d2.loss_map_pts: 0.6451, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1302, d3.loss_map_pts: 0.5810, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1248, d4.loss_map_pts: 0.5549, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1190, d5.loss_map_pts: 0.5491, d5.loss_map_dir: 0.0063, loss: 23.2716, grad_norm: 153.8362 +2026-03-01 02:11:38,923 - DriveTransformer - INFO - Epoch [11][36700/39528] lr: 6.331e-05, eta: 4 days, 8:56:30, time: 0.721, data_time: 0.040, memory: 19865, loss_cls: 0.0953, loss_bbox: 0.2884, loss_traj: 0.5207, loss_traj_cls: 0.0021, loss_map_cls: 0.1139, loss_map_pts: 0.5624, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.7846, d0.loss_plan_l1_fix_dist: 0.4216, d1.loss_plan_l1_fix_time: 0.6614, d1.loss_plan_l1_fix_dist: 0.1802, d2.loss_plan_l1_fix_time: 0.6505, d2.loss_plan_l1_fix_dist: 0.1852, d3.loss_plan_l1_fix_time: 0.6531, d3.loss_plan_l1_fix_dist: 0.2014, d4.loss_plan_l1_fix_time: 0.6547, d4.loss_plan_l1_fix_dist: 0.2077, d5.loss_plan_l1_fix_time: 0.6569, d5.loss_plan_l1_fix_dist: 0.1853, d6.loss_plan_l1_fix_time: 0.6594, d6.loss_plan_l1_fix_dist: 0.1848, d0.loss_cls_all: 0.1397, d0.loss_bbox_all: 0.3542, d0.loss_cls: 0.1397, d0.loss_bbox: 0.3542, d1.loss_cls: 0.1345, d1.loss_bbox: 0.3161, d2.loss_cls: 0.1218, d2.loss_bbox: 0.2961, d3.loss_cls: 0.1024, d3.loss_bbox: 0.2916, d4.loss_cls: 0.0966, d4.loss_bbox: 0.2906, d5.loss_cls: 0.0951, d5.loss_bbox: 0.2893, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7883, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.6147, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5480, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5338, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5260, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5232, d0.loss_map_cls_all: 0.2136, d0.loss_map_pts_all: 1.1860, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.2136, d0.loss_map_pts: 1.1860, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1796, d1.loss_map_pts: 0.8744, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1456, d2.loss_map_pts: 0.6840, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1313, d3.loss_map_pts: 0.5966, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1232, d4.loss_map_pts: 0.5684, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1177, d5.loss_map_pts: 0.5611, d5.loss_map_dir: 0.0062, loss: 23.2605, grad_norm: 150.4746 +2026-03-01 02:12:16,584 - DriveTransformer - INFO - Epoch [11][36750/39528] lr: 6.331e-05, eta: 4 days, 8:55:56, time: 0.753, data_time: 0.039, memory: 19865, loss_cls: 0.0882, loss_bbox: 0.2816, loss_traj: 0.3935, loss_traj_cls: 0.0022, loss_map_cls: 0.0842, loss_map_pts: 0.5141, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.1529, d0.loss_plan_l1_fix_dist: 0.4277, d1.loss_plan_l1_fix_time: 0.7342, d1.loss_plan_l1_fix_dist: 0.1787, d2.loss_plan_l1_fix_time: 0.7238, d2.loss_plan_l1_fix_dist: 0.2031, d3.loss_plan_l1_fix_time: 0.7232, d3.loss_plan_l1_fix_dist: 0.2065, d4.loss_plan_l1_fix_time: 0.7254, d4.loss_plan_l1_fix_dist: 0.2219, d5.loss_plan_l1_fix_time: 0.7280, d5.loss_plan_l1_fix_dist: 0.1898, d6.loss_plan_l1_fix_time: 0.7308, d6.loss_plan_l1_fix_dist: 0.1826, d0.loss_cls_all: 0.1387, d0.loss_bbox_all: 0.3440, d0.loss_cls: 0.1387, d0.loss_bbox: 0.3440, d1.loss_cls: 0.1341, d1.loss_bbox: 0.3087, d2.loss_cls: 0.1163, d2.loss_bbox: 0.2934, d3.loss_cls: 0.0983, d3.loss_bbox: 0.2859, d4.loss_cls: 0.0897, d4.loss_bbox: 0.2841, d5.loss_cls: 0.0875, d5.loss_bbox: 0.2831, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5941, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4754, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4236, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3973, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3949, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3968, d0.loss_map_cls_all: 0.1619, d0.loss_map_pts_all: 1.0055, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1619, d0.loss_map_pts: 1.0055, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1293, d1.loss_map_pts: 0.7384, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1061, d2.loss_map_pts: 0.5973, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.0956, d3.loss_map_pts: 0.5394, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0903, d4.loss_map_pts: 0.5197, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0862, d5.loss_map_pts: 0.5147, d5.loss_map_dir: 0.0061, loss: 20.9277, grad_norm: 150.4851 +2026-03-01 02:12:52,051 - DriveTransformer - INFO - Epoch [11][36800/39528] lr: 6.331e-05, eta: 4 days, 8:55:17, time: 0.709, data_time: 0.036, memory: 19865, loss_cls: 0.0850, loss_bbox: 0.2778, loss_traj: 0.4588, loss_traj_cls: 0.0022, loss_map_cls: 0.1014, loss_map_pts: 0.4719, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.3350, d0.loss_plan_l1_fix_dist: 0.3650, d1.loss_plan_l1_fix_time: 0.6533, d1.loss_plan_l1_fix_dist: 0.1440, d2.loss_plan_l1_fix_time: 0.6384, d2.loss_plan_l1_fix_dist: 0.1888, d3.loss_plan_l1_fix_time: 0.6113, d3.loss_plan_l1_fix_dist: 0.1626, d4.loss_plan_l1_fix_time: 0.6118, d4.loss_plan_l1_fix_dist: 0.1911, d5.loss_plan_l1_fix_time: 0.6137, d5.loss_plan_l1_fix_dist: 0.1598, d6.loss_plan_l1_fix_time: 0.6161, d6.loss_plan_l1_fix_dist: 0.1649, d0.loss_cls_all: 0.1295, d0.loss_bbox_all: 0.3349, d0.loss_cls: 0.1295, d0.loss_bbox: 0.3349, d1.loss_cls: 0.1208, d1.loss_bbox: 0.3077, d2.loss_cls: 0.1114, d2.loss_bbox: 0.2856, d3.loss_cls: 0.0956, d3.loss_bbox: 0.2803, d4.loss_cls: 0.0875, d4.loss_bbox: 0.2780, d5.loss_cls: 0.0851, d5.loss_bbox: 0.2781, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6391, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5187, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4826, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4660, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4609, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4583, d0.loss_map_cls_all: 0.1797, d0.loss_map_pts_all: 0.9382, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1797, d0.loss_map_pts: 0.9382, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1496, d1.loss_map_pts: 0.6917, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1281, d2.loss_map_pts: 0.5442, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1176, d3.loss_map_pts: 0.4910, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1089, d4.loss_map_pts: 0.4751, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1037, d5.loss_map_pts: 0.4718, d5.loss_map_dir: 0.0058, loss: 20.3068, grad_norm: 136.4747 +2026-03-01 02:13:28,377 - DriveTransformer - INFO - Epoch [11][36850/39528] lr: 6.331e-05, eta: 4 days, 8:54:39, time: 0.727, data_time: 0.037, memory: 19865, loss_cls: 0.0886, loss_bbox: 0.2827, loss_traj: 0.4833, loss_traj_cls: 0.0021, loss_map_cls: 0.0912, loss_map_pts: 0.4611, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.4698, d0.loss_plan_l1_fix_dist: 0.4949, d1.loss_plan_l1_fix_time: 0.7405, d1.loss_plan_l1_fix_dist: 0.1739, d2.loss_plan_l1_fix_time: 0.7243, d2.loss_plan_l1_fix_dist: 0.1933, d3.loss_plan_l1_fix_time: 0.7168, d3.loss_plan_l1_fix_dist: 0.1610, d4.loss_plan_l1_fix_time: 0.7178, d4.loss_plan_l1_fix_dist: 0.1974, d5.loss_plan_l1_fix_time: 0.7198, d5.loss_plan_l1_fix_dist: 0.1660, d6.loss_plan_l1_fix_time: 0.7224, d6.loss_plan_l1_fix_dist: 0.1768, d0.loss_cls_all: 0.1345, d0.loss_bbox_all: 0.3428, d0.loss_cls: 0.1345, d0.loss_bbox: 0.3428, d1.loss_cls: 0.1272, d1.loss_bbox: 0.3099, d2.loss_cls: 0.1148, d2.loss_bbox: 0.2905, d3.loss_cls: 0.0964, d3.loss_bbox: 0.2853, d4.loss_cls: 0.0924, d4.loss_bbox: 0.2825, d5.loss_cls: 0.0895, d5.loss_bbox: 0.2821, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6971, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5511, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5064, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4912, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4867, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4843, d0.loss_map_cls_all: 0.1617, d0.loss_map_pts_all: 0.9726, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1617, d0.loss_map_pts: 0.9726, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1358, d1.loss_map_pts: 0.7091, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1141, d2.loss_map_pts: 0.5572, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1066, d3.loss_map_pts: 0.4965, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0982, d4.loss_map_pts: 0.4701, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0932, d5.loss_map_pts: 0.4610, d5.loss_map_dir: 0.0053, loss: 21.4832, grad_norm: 131.3338 +2026-03-01 02:14:05,176 - DriveTransformer - INFO - Epoch [11][36900/39528] lr: 6.331e-05, eta: 4 days, 8:54:03, time: 0.736, data_time: 0.038, memory: 19865, loss_cls: 0.0806, loss_bbox: 0.2807, loss_traj: 0.4066, loss_traj_cls: 0.0022, loss_map_cls: 0.0768, loss_map_pts: 0.4333, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.6404, d0.loss_plan_l1_fix_dist: 0.4772, d1.loss_plan_l1_fix_time: 0.7050, d1.loss_plan_l1_fix_dist: 0.1909, d2.loss_plan_l1_fix_time: 0.6902, d2.loss_plan_l1_fix_dist: 0.1709, d3.loss_plan_l1_fix_time: 0.6816, d3.loss_plan_l1_fix_dist: 0.1623, d4.loss_plan_l1_fix_time: 0.6824, d4.loss_plan_l1_fix_dist: 0.1912, d5.loss_plan_l1_fix_time: 0.6838, d5.loss_plan_l1_fix_dist: 0.1719, d6.loss_plan_l1_fix_time: 0.6859, d6.loss_plan_l1_fix_dist: 0.1733, d0.loss_cls_all: 0.1290, d0.loss_bbox_all: 0.3313, d0.loss_cls: 0.1290, d0.loss_bbox: 0.3313, d1.loss_cls: 0.1248, d1.loss_bbox: 0.3007, d2.loss_cls: 0.1080, d2.loss_bbox: 0.2839, d3.loss_cls: 0.0905, d3.loss_bbox: 0.2819, d4.loss_cls: 0.0831, d4.loss_bbox: 0.2800, d5.loss_cls: 0.0817, d5.loss_bbox: 0.2800, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6171, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4695, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4215, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4144, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4079, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4069, d0.loss_map_cls_all: 0.1507, d0.loss_map_pts_all: 0.9236, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1507, d0.loss_map_pts: 0.9236, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1245, d1.loss_map_pts: 0.6394, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.0997, d2.loss_map_pts: 0.5010, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0888, d3.loss_map_pts: 0.4548, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0833, d4.loss_map_pts: 0.4376, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0789, d5.loss_map_pts: 0.4338, d5.loss_map_dir: 0.0053, loss: 20.2976, grad_norm: 130.8306 +2026-03-01 02:14:42,289 - DriveTransformer - INFO - Epoch [11][36950/39528] lr: 6.331e-05, eta: 4 days, 8:53:28, time: 0.742, data_time: 0.037, memory: 19865, loss_cls: 0.0928, loss_bbox: 0.2869, loss_traj: 0.5896, loss_traj_cls: 0.0021, loss_map_cls: 0.0823, loss_map_pts: 0.5021, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.7591, d0.loss_plan_l1_fix_dist: 0.4295, d1.loss_plan_l1_fix_time: 0.8055, d1.loss_plan_l1_fix_dist: 0.2113, d2.loss_plan_l1_fix_time: 0.7842, d2.loss_plan_l1_fix_dist: 0.1713, d3.loss_plan_l1_fix_time: 0.7762, d3.loss_plan_l1_fix_dist: 0.1818, d4.loss_plan_l1_fix_time: 0.7766, d4.loss_plan_l1_fix_dist: 0.1799, d5.loss_plan_l1_fix_time: 0.7784, d5.loss_plan_l1_fix_dist: 0.1778, d6.loss_plan_l1_fix_time: 0.7808, d6.loss_plan_l1_fix_dist: 0.1829, d0.loss_cls_all: 0.1403, d0.loss_bbox_all: 0.3521, d0.loss_cls: 0.1403, d0.loss_bbox: 0.3521, d1.loss_cls: 0.1311, d1.loss_bbox: 0.3169, d2.loss_cls: 0.1190, d2.loss_bbox: 0.2955, d3.loss_cls: 0.1010, d3.loss_bbox: 0.2907, d4.loss_cls: 0.0944, d4.loss_bbox: 0.2886, d5.loss_cls: 0.0934, d5.loss_bbox: 0.2870, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8227, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.6808, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6090, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5933, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5927, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5913, d0.loss_map_cls_all: 0.1676, d0.loss_map_pts_all: 1.0379, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1676, d0.loss_map_pts: 1.0379, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1369, d1.loss_map_pts: 0.7571, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1082, d2.loss_map_pts: 0.6033, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.0965, d3.loss_map_pts: 0.5360, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.0886, d4.loss_map_pts: 0.5102, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0844, d5.loss_map_pts: 0.5033, d5.loss_map_dir: 0.0065, loss: 23.3367, grad_norm: 125.3689 +2026-03-01 02:15:19,379 - DriveTransformer - INFO - Epoch [11][37000/39528] lr: 6.331e-05, eta: 4 days, 8:52:53, time: 0.742, data_time: 0.039, memory: 19865, loss_cls: 0.0917, loss_bbox: 0.2687, loss_traj: 0.4608, loss_traj_cls: 0.0021, loss_map_cls: 0.0949, loss_map_pts: 0.4966, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.5713, d0.loss_plan_l1_fix_dist: 0.4449, d1.loss_plan_l1_fix_time: 0.7065, d1.loss_plan_l1_fix_dist: 0.2420, d2.loss_plan_l1_fix_time: 0.6954, d2.loss_plan_l1_fix_dist: 0.1813, d3.loss_plan_l1_fix_time: 0.6911, d3.loss_plan_l1_fix_dist: 0.2149, d4.loss_plan_l1_fix_time: 0.6936, d4.loss_plan_l1_fix_dist: 0.1881, d5.loss_plan_l1_fix_time: 0.6969, d5.loss_plan_l1_fix_dist: 0.1856, d6.loss_plan_l1_fix_time: 0.7004, d6.loss_plan_l1_fix_dist: 0.2088, d0.loss_cls_all: 0.1350, d0.loss_bbox_all: 0.3357, d0.loss_cls: 0.1350, d0.loss_bbox: 0.3357, d1.loss_cls: 0.1282, d1.loss_bbox: 0.3015, d2.loss_cls: 0.1118, d2.loss_bbox: 0.2809, d3.loss_cls: 0.0966, d3.loss_bbox: 0.2740, d4.loss_cls: 0.0923, d4.loss_bbox: 0.2696, d5.loss_cls: 0.0920, d5.loss_bbox: 0.2680, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6539, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5224, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4802, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4743, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4698, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4628, d0.loss_map_cls_all: 0.1794, d0.loss_map_pts_all: 1.0298, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1794, d0.loss_map_pts: 1.0298, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1429, d1.loss_map_pts: 0.7251, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1165, d2.loss_map_pts: 0.5767, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1080, d3.loss_map_pts: 0.5228, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1009, d4.loss_map_pts: 0.5064, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0962, d5.loss_map_pts: 0.4973, d5.loss_map_dir: 0.0065, loss: 21.6249, grad_norm: 126.0626 +2026-03-01 02:15:56,697 - DriveTransformer - INFO - Epoch [11][37050/39528] lr: 6.331e-05, eta: 4 days, 8:52:19, time: 0.746, data_time: 0.040, memory: 19865, loss_cls: 0.1045, loss_bbox: 0.3143, loss_traj: 0.4369, loss_traj_cls: 0.0020, loss_map_cls: 0.1258, loss_map_pts: 0.5879, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.6623, d0.loss_plan_l1_fix_dist: 0.4317, d1.loss_plan_l1_fix_time: 0.8105, d1.loss_plan_l1_fix_dist: 0.2680, d2.loss_plan_l1_fix_time: 0.7909, d2.loss_plan_l1_fix_dist: 0.2023, d3.loss_plan_l1_fix_time: 0.7907, d3.loss_plan_l1_fix_dist: 0.2316, d4.loss_plan_l1_fix_time: 0.7918, d4.loss_plan_l1_fix_dist: 0.2087, d5.loss_plan_l1_fix_time: 0.7935, d5.loss_plan_l1_fix_dist: 0.1906, d6.loss_plan_l1_fix_time: 0.7953, d6.loss_plan_l1_fix_dist: 0.2327, d0.loss_cls_all: 0.1535, d0.loss_bbox_all: 0.3843, d0.loss_cls: 0.1535, d0.loss_bbox: 0.3843, d1.loss_cls: 0.1452, d1.loss_bbox: 0.3512, d2.loss_cls: 0.1324, d2.loss_bbox: 0.3276, d3.loss_cls: 0.1139, d3.loss_bbox: 0.3199, d4.loss_cls: 0.1050, d4.loss_bbox: 0.3182, d5.loss_cls: 0.1038, d5.loss_bbox: 0.3166, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6146, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4959, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4536, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4419, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4410, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4350, d0.loss_map_cls_all: 0.2002, d0.loss_map_pts_all: 1.1756, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2002, d0.loss_map_pts: 1.1756, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1735, d1.loss_map_pts: 0.8673, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1491, d2.loss_map_pts: 0.6888, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1412, d3.loss_map_pts: 0.6168, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1350, d4.loss_map_pts: 0.5921, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1282, d5.loss_map_pts: 0.5879, d5.loss_map_dir: 0.0078, loss: 23.8626, grad_norm: 123.5930 +2026-03-01 02:16:34,504 - DriveTransformer - INFO - Epoch [11][37100/39528] lr: 6.331e-05, eta: 4 days, 8:51:45, time: 0.756, data_time: 0.037, memory: 19865, loss_cls: 0.0982, loss_bbox: 0.2999, loss_traj: 0.4101, loss_traj_cls: 0.0021, loss_map_cls: 0.0953, loss_map_pts: 0.5159, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.9111, d0.loss_plan_l1_fix_dist: 0.4450, d1.loss_plan_l1_fix_time: 0.7366, d1.loss_plan_l1_fix_dist: 0.2512, d2.loss_plan_l1_fix_time: 0.7206, d2.loss_plan_l1_fix_dist: 0.1891, d3.loss_plan_l1_fix_time: 0.7070, d3.loss_plan_l1_fix_dist: 0.2158, d4.loss_plan_l1_fix_time: 0.7080, d4.loss_plan_l1_fix_dist: 0.1979, d5.loss_plan_l1_fix_time: 0.7094, d5.loss_plan_l1_fix_dist: 0.1926, d6.loss_plan_l1_fix_time: 0.7109, d6.loss_plan_l1_fix_dist: 0.2186, d0.loss_cls_all: 0.1507, d0.loss_bbox_all: 0.3752, d0.loss_cls: 0.1507, d0.loss_bbox: 0.3752, d1.loss_cls: 0.1409, d1.loss_bbox: 0.3361, d2.loss_cls: 0.1252, d2.loss_bbox: 0.3143, d3.loss_cls: 0.1070, d3.loss_bbox: 0.3059, d4.loss_cls: 0.1011, d4.loss_bbox: 0.3014, d5.loss_cls: 0.0975, d5.loss_bbox: 0.3005, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7011, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4905, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4341, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4089, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4077, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4100, d0.loss_map_cls_all: 0.1725, d0.loss_map_pts_all: 1.1201, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1725, d0.loss_map_pts: 1.1201, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1379, d1.loss_map_pts: 0.7749, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1144, d2.loss_map_pts: 0.6146, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1065, d3.loss_map_pts: 0.5496, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1029, d4.loss_map_pts: 0.5245, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0978, d5.loss_map_pts: 0.5166, d5.loss_map_dir: 0.0069, loss: 22.5531, grad_norm: 121.6240 +2026-03-01 02:17:11,849 - DriveTransformer - INFO - Epoch [11][37150/39528] lr: 6.331e-05, eta: 4 days, 8:51:11, time: 0.747, data_time: 0.038, memory: 19865, loss_cls: 0.1010, loss_bbox: 0.2961, loss_traj: 0.4683, loss_traj_cls: 0.0021, loss_map_cls: 0.0957, loss_map_pts: 0.5304, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.5700, d0.loss_plan_l1_fix_dist: 0.3699, d1.loss_plan_l1_fix_time: 0.7689, d1.loss_plan_l1_fix_dist: 0.2148, d2.loss_plan_l1_fix_time: 0.7504, d2.loss_plan_l1_fix_dist: 0.1577, d3.loss_plan_l1_fix_time: 0.7470, d3.loss_plan_l1_fix_dist: 0.1870, d4.loss_plan_l1_fix_time: 0.7482, d4.loss_plan_l1_fix_dist: 0.1693, d5.loss_plan_l1_fix_time: 0.7502, d5.loss_plan_l1_fix_dist: 0.1851, d6.loss_plan_l1_fix_time: 0.7528, d6.loss_plan_l1_fix_dist: 0.1887, d0.loss_cls_all: 0.1522, d0.loss_bbox_all: 0.3631, d0.loss_cls: 0.1522, d0.loss_bbox: 0.3631, d1.loss_cls: 0.1459, d1.loss_bbox: 0.3263, d2.loss_cls: 0.1315, d2.loss_bbox: 0.3060, d3.loss_cls: 0.1092, d3.loss_bbox: 0.3014, d4.loss_cls: 0.1041, d4.loss_bbox: 0.2978, d5.loss_cls: 0.1020, d5.loss_bbox: 0.2958, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7264, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5576, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4962, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4828, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4746, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4694, d0.loss_map_cls_all: 0.1760, d0.loss_map_pts_all: 1.0962, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1760, d0.loss_map_pts: 1.0962, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1384, d1.loss_map_pts: 0.7955, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1179, d2.loss_map_pts: 0.6250, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1083, d3.loss_map_pts: 0.5620, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1032, d4.loss_map_pts: 0.5397, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.0980, d5.loss_map_pts: 0.5318, d5.loss_map_dir: 0.0070, loss: 22.6371, grad_norm: 122.7016 +2026-03-01 02:17:47,211 - DriveTransformer - INFO - Epoch [11][37200/39528] lr: 6.331e-05, eta: 4 days, 8:50:31, time: 0.709, data_time: 0.037, memory: 19865, loss_cls: 0.0836, loss_bbox: 0.2785, loss_traj: 0.5002, loss_traj_cls: 0.0021, loss_map_cls: 0.0989, loss_map_pts: 0.4920, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.7867, d0.loss_plan_l1_fix_dist: 0.4046, d1.loss_plan_l1_fix_time: 0.7950, d1.loss_plan_l1_fix_dist: 0.2107, d2.loss_plan_l1_fix_time: 0.7913, d2.loss_plan_l1_fix_dist: 0.1712, d3.loss_plan_l1_fix_time: 0.7920, d3.loss_plan_l1_fix_dist: 0.1998, d4.loss_plan_l1_fix_time: 0.7940, d4.loss_plan_l1_fix_dist: 0.1865, d5.loss_plan_l1_fix_time: 0.7962, d5.loss_plan_l1_fix_dist: 0.2088, d6.loss_plan_l1_fix_time: 0.7991, d6.loss_plan_l1_fix_dist: 0.2010, d0.loss_cls_all: 0.1297, d0.loss_bbox_all: 0.3475, d0.loss_cls: 0.1297, d0.loss_bbox: 0.3475, d1.loss_cls: 0.1183, d1.loss_bbox: 0.3137, d2.loss_cls: 0.1085, d2.loss_bbox: 0.2915, d3.loss_cls: 0.0905, d3.loss_bbox: 0.2846, d4.loss_cls: 0.0837, d4.loss_bbox: 0.2814, d5.loss_cls: 0.0835, d5.loss_bbox: 0.2790, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7415, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5710, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5164, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5087, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5019, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5001, d0.loss_map_cls_all: 0.1722, d0.loss_map_pts_all: 1.0411, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1722, d0.loss_map_pts: 1.0411, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1433, d1.loss_map_pts: 0.7372, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1233, d2.loss_map_pts: 0.5797, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1122, d3.loss_map_pts: 0.5194, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1069, d4.loss_map_pts: 0.4992, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1016, d5.loss_map_pts: 0.4929, d5.loss_map_dir: 0.0058, loss: 22.7166, grad_norm: 121.6477 +2026-03-01 02:18:24,855 - DriveTransformer - INFO - Epoch [11][37250/39528] lr: 6.331e-05, eta: 4 days, 8:49:57, time: 0.751, data_time: 0.036, memory: 19865, loss_cls: 0.0969, loss_bbox: 0.2779, loss_traj: 0.3996, loss_traj_cls: 0.0021, loss_map_cls: 0.1000, loss_map_pts: 0.5428, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.4293, d0.loss_plan_l1_fix_dist: 0.4198, d1.loss_plan_l1_fix_time: 0.7224, d1.loss_plan_l1_fix_dist: 0.2059, d2.loss_plan_l1_fix_time: 0.7165, d2.loss_plan_l1_fix_dist: 0.1680, d3.loss_plan_l1_fix_time: 0.7102, d3.loss_plan_l1_fix_dist: 0.1918, d4.loss_plan_l1_fix_time: 0.7118, d4.loss_plan_l1_fix_dist: 0.1773, d5.loss_plan_l1_fix_time: 0.7137, d5.loss_plan_l1_fix_dist: 0.1978, d6.loss_plan_l1_fix_time: 0.7164, d6.loss_plan_l1_fix_dist: 0.1816, d0.loss_cls_all: 0.1400, d0.loss_bbox_all: 0.3502, d0.loss_cls: 0.1400, d0.loss_bbox: 0.3502, d1.loss_cls: 0.1320, d1.loss_bbox: 0.3139, d2.loss_cls: 0.1185, d2.loss_bbox: 0.2929, d3.loss_cls: 0.1031, d3.loss_bbox: 0.2849, d4.loss_cls: 0.0979, d4.loss_bbox: 0.2807, d5.loss_cls: 0.0964, d5.loss_bbox: 0.2794, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5572, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4562, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4160, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4025, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4004, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3967, d0.loss_map_cls_all: 0.1796, d0.loss_map_pts_all: 1.1325, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1796, d0.loss_map_pts: 1.1325, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1488, d1.loss_map_pts: 0.8134, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1276, d2.loss_map_pts: 0.6397, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1166, d3.loss_map_pts: 0.5767, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1086, d4.loss_map_pts: 0.5489, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1023, d5.loss_map_pts: 0.5444, d5.loss_map_dir: 0.0066, loss: 21.7014, grad_norm: 120.6330 +2026-03-01 02:19:01,495 - DriveTransformer - INFO - Epoch [11][37300/39528] lr: 6.331e-05, eta: 4 days, 8:49:21, time: 0.733, data_time: 0.038, memory: 19865, loss_cls: 0.0782, loss_bbox: 0.2514, loss_traj: 0.3959, loss_traj_cls: 0.0021, loss_map_cls: 0.0858, loss_map_pts: 0.4529, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.3332, d0.loss_plan_l1_fix_dist: 0.3801, d1.loss_plan_l1_fix_time: 0.6077, d1.loss_plan_l1_fix_dist: 0.1852, d2.loss_plan_l1_fix_time: 0.5923, d2.loss_plan_l1_fix_dist: 0.1610, d3.loss_plan_l1_fix_time: 0.6019, d3.loss_plan_l1_fix_dist: 0.1750, d4.loss_plan_l1_fix_time: 0.6040, d4.loss_plan_l1_fix_dist: 0.1594, d5.loss_plan_l1_fix_time: 0.6061, d5.loss_plan_l1_fix_dist: 0.1872, d6.loss_plan_l1_fix_time: 0.6087, d6.loss_plan_l1_fix_dist: 0.1694, d0.loss_cls_all: 0.1224, d0.loss_bbox_all: 0.3126, d0.loss_cls: 0.1224, d0.loss_bbox: 0.3126, d1.loss_cls: 0.1152, d1.loss_bbox: 0.2798, d2.loss_cls: 0.1008, d2.loss_bbox: 0.2600, d3.loss_cls: 0.0863, d3.loss_bbox: 0.2546, d4.loss_cls: 0.0799, d4.loss_bbox: 0.2522, d5.loss_cls: 0.0777, d5.loss_bbox: 0.2521, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6837, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4850, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4247, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3995, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3964, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3930, d0.loss_map_cls_all: 0.1646, d0.loss_map_pts_all: 0.9933, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1646, d0.loss_map_pts: 0.9933, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1315, d1.loss_map_pts: 0.7060, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1086, d2.loss_map_pts: 0.5392, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0996, d3.loss_map_pts: 0.4814, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0909, d4.loss_map_pts: 0.4611, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0867, d5.loss_map_pts: 0.4551, d5.loss_map_dir: 0.0055, loss: 19.5753, grad_norm: 119.8345 +2026-03-01 02:19:37,833 - DriveTransformer - INFO - Epoch [11][37350/39528] lr: 6.331e-05, eta: 4 days, 8:48:44, time: 0.727, data_time: 0.039, memory: 19865, loss_cls: 0.1021, loss_bbox: 0.2755, loss_traj: 0.4732, loss_traj_cls: 0.0021, loss_map_cls: 0.0881, loss_map_pts: 0.4443, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.8788, d0.loss_plan_l1_fix_dist: 0.3871, d1.loss_plan_l1_fix_time: 0.7632, d1.loss_plan_l1_fix_dist: 0.1913, d2.loss_plan_l1_fix_time: 0.7436, d2.loss_plan_l1_fix_dist: 0.1827, d3.loss_plan_l1_fix_time: 0.7390, d3.loss_plan_l1_fix_dist: 0.1813, d4.loss_plan_l1_fix_time: 0.7397, d4.loss_plan_l1_fix_dist: 0.1716, d5.loss_plan_l1_fix_time: 0.7415, d5.loss_plan_l1_fix_dist: 0.2048, d6.loss_plan_l1_fix_time: 0.7433, d6.loss_plan_l1_fix_dist: 0.1890, d0.loss_cls_all: 0.1425, d0.loss_bbox_all: 0.3446, d0.loss_cls: 0.1425, d0.loss_bbox: 0.3446, d1.loss_cls: 0.1339, d1.loss_bbox: 0.3111, d2.loss_cls: 0.1236, d2.loss_bbox: 0.2880, d3.loss_cls: 0.1091, d3.loss_bbox: 0.2791, d4.loss_cls: 0.1049, d4.loss_bbox: 0.2763, d5.loss_cls: 0.1028, d5.loss_bbox: 0.2756, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7922, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5841, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5131, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4928, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4784, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4732, d0.loss_map_cls_all: 0.1654, d0.loss_map_pts_all: 0.9456, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1654, d0.loss_map_pts: 0.9456, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1375, d1.loss_map_pts: 0.6755, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1135, d2.loss_map_pts: 0.5318, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1016, d3.loss_map_pts: 0.4715, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0953, d4.loss_map_pts: 0.4534, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0906, d5.loss_map_pts: 0.4451, d5.loss_map_dir: 0.0059, loss: 21.9449, grad_norm: 121.0950 +2026-03-01 02:20:13,566 - DriveTransformer - INFO - Epoch [11][37400/39528] lr: 6.331e-05, eta: 4 days, 8:48:05, time: 0.715, data_time: 0.038, memory: 19865, loss_cls: 0.0922, loss_bbox: 0.2813, loss_traj: 0.4666, loss_traj_cls: 0.0021, loss_map_cls: 0.1066, loss_map_pts: 0.5064, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.5199, d0.loss_plan_l1_fix_dist: 0.4682, d1.loss_plan_l1_fix_time: 0.7558, d1.loss_plan_l1_fix_dist: 0.1846, d2.loss_plan_l1_fix_time: 0.7451, d2.loss_plan_l1_fix_dist: 0.2102, d3.loss_plan_l1_fix_time: 0.7283, d3.loss_plan_l1_fix_dist: 0.1800, d4.loss_plan_l1_fix_time: 0.7286, d4.loss_plan_l1_fix_dist: 0.1819, d5.loss_plan_l1_fix_time: 0.7302, d5.loss_plan_l1_fix_dist: 0.2080, d6.loss_plan_l1_fix_time: 0.7320, d6.loss_plan_l1_fix_dist: 0.2145, d0.loss_cls_all: 0.1252, d0.loss_bbox_all: 0.3430, d0.loss_cls: 0.1252, d0.loss_bbox: 0.3430, d1.loss_cls: 0.1239, d1.loss_bbox: 0.3130, d2.loss_cls: 0.1103, d2.loss_bbox: 0.2947, d3.loss_cls: 0.0978, d3.loss_bbox: 0.2880, d4.loss_cls: 0.0928, d4.loss_bbox: 0.2834, d5.loss_cls: 0.0924, d5.loss_bbox: 0.2815, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6724, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5269, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4772, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4659, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4649, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4631, d0.loss_map_cls_all: 0.1958, d0.loss_map_pts_all: 1.0151, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1958, d0.loss_map_pts: 1.0151, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1626, d1.loss_map_pts: 0.7564, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1350, d2.loss_map_pts: 0.5948, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1242, d3.loss_map_pts: 0.5303, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1147, d4.loss_map_pts: 0.5105, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1094, d5.loss_map_pts: 0.5056, d5.loss_map_dir: 0.0056, loss: 22.0426, grad_norm: 113.9345 +2026-03-01 02:20:47,456 - DriveTransformer - INFO - Epoch [11][37450/39528] lr: 6.331e-05, eta: 4 days, 8:47:22, time: 0.678, data_time: 0.040, memory: 19865, loss_cls: 0.0917, loss_bbox: 0.2752, loss_traj: 0.5288, loss_traj_cls: 0.0020, loss_map_cls: 0.0911, loss_map_pts: 0.4164, loss_map_dir: 0.0047, d0.loss_plan_l1_fix_time: 2.7024, d0.loss_plan_l1_fix_dist: 0.3606, d1.loss_plan_l1_fix_time: 0.7609, d1.loss_plan_l1_fix_dist: 0.1633, d2.loss_plan_l1_fix_time: 0.7467, d2.loss_plan_l1_fix_dist: 0.1903, d3.loss_plan_l1_fix_time: 0.7489, d3.loss_plan_l1_fix_dist: 0.1601, d4.loss_plan_l1_fix_time: 0.7499, d4.loss_plan_l1_fix_dist: 0.1698, d5.loss_plan_l1_fix_time: 0.7512, d5.loss_plan_l1_fix_dist: 0.1868, d6.loss_plan_l1_fix_time: 0.7536, d6.loss_plan_l1_fix_dist: 0.2106, d0.loss_cls_all: 0.1338, d0.loss_bbox_all: 0.3385, d0.loss_cls: 0.1338, d0.loss_bbox: 0.3385, d1.loss_cls: 0.1300, d1.loss_bbox: 0.3060, d2.loss_cls: 0.1154, d2.loss_bbox: 0.2865, d3.loss_cls: 0.0983, d3.loss_bbox: 0.2782, d4.loss_cls: 0.0950, d4.loss_bbox: 0.2740, d5.loss_cls: 0.0912, d5.loss_bbox: 0.2749, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7735, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.6092, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5479, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5355, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5273, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5269, d0.loss_map_cls_all: 0.1647, d0.loss_map_pts_all: 0.8518, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1647, d0.loss_map_pts: 0.8518, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1349, d1.loss_map_pts: 0.6204, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1146, d2.loss_map_pts: 0.5009, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.1044, d3.loss_map_pts: 0.4476, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.0972, d4.loss_map_pts: 0.4243, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0928, d5.loss_map_pts: 0.4171, d5.loss_map_dir: 0.0046, loss: 21.5064, grad_norm: 112.0946 +2026-03-01 02:21:24,185 - DriveTransformer - INFO - Epoch [11][37500/39528] lr: 6.331e-05, eta: 4 days, 8:46:45, time: 0.735, data_time: 0.036, memory: 19865, loss_cls: 0.0999, loss_bbox: 0.2858, loss_traj: 0.4853, loss_traj_cls: 0.0020, loss_map_cls: 0.0983, loss_map_pts: 0.4939, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.6633, d0.loss_plan_l1_fix_dist: 0.3798, d1.loss_plan_l1_fix_time: 0.7733, d1.loss_plan_l1_fix_dist: 0.1602, d2.loss_plan_l1_fix_time: 0.7542, d2.loss_plan_l1_fix_dist: 0.1823, d3.loss_plan_l1_fix_time: 0.7544, d3.loss_plan_l1_fix_dist: 0.1606, d4.loss_plan_l1_fix_time: 0.7563, d4.loss_plan_l1_fix_dist: 0.1814, d5.loss_plan_l1_fix_time: 0.7577, d5.loss_plan_l1_fix_dist: 0.1745, d6.loss_plan_l1_fix_time: 0.7600, d6.loss_plan_l1_fix_dist: 0.2114, d0.loss_cls_all: 0.1398, d0.loss_bbox_all: 0.3481, d0.loss_cls: 0.1398, d0.loss_bbox: 0.3481, d1.loss_cls: 0.1389, d1.loss_bbox: 0.3163, d2.loss_cls: 0.1229, d2.loss_bbox: 0.2951, d3.loss_cls: 0.1065, d3.loss_bbox: 0.2887, d4.loss_cls: 0.1018, d4.loss_bbox: 0.2876, d5.loss_cls: 0.0989, d5.loss_bbox: 0.2867, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7089, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5670, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5124, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4936, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4917, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4839, d0.loss_map_cls_all: 0.1720, d0.loss_map_pts_all: 1.0726, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1720, d0.loss_map_pts: 1.0726, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1440, d1.loss_map_pts: 0.7568, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1224, d2.loss_map_pts: 0.5859, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1118, d3.loss_map_pts: 0.5225, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1056, d4.loss_map_pts: 0.5004, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.0992, d5.loss_map_pts: 0.4947, d5.loss_map_dir: 0.0069, loss: 22.4050, grad_norm: 112.7948 +2026-03-01 02:22:00,082 - DriveTransformer - INFO - Epoch [11][37550/39528] lr: 6.331e-05, eta: 4 days, 8:46:07, time: 0.718, data_time: 0.036, memory: 19865, loss_cls: 0.0813, loss_bbox: 0.2711, loss_traj: 0.4923, loss_traj_cls: 0.0020, loss_map_cls: 0.0929, loss_map_pts: 0.4832, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.7565, d0.loss_plan_l1_fix_dist: 0.4989, d1.loss_plan_l1_fix_time: 0.7439, d1.loss_plan_l1_fix_dist: 0.1898, d2.loss_plan_l1_fix_time: 0.7265, d2.loss_plan_l1_fix_dist: 0.2023, d3.loss_plan_l1_fix_time: 0.7220, d3.loss_plan_l1_fix_dist: 0.1885, d4.loss_plan_l1_fix_time: 0.7229, d4.loss_plan_l1_fix_dist: 0.2232, d5.loss_plan_l1_fix_time: 0.7245, d5.loss_plan_l1_fix_dist: 0.2029, d6.loss_plan_l1_fix_time: 0.7263, d6.loss_plan_l1_fix_dist: 0.2529, d0.loss_cls_all: 0.1208, d0.loss_bbox_all: 0.3333, d0.loss_cls: 0.1208, d0.loss_bbox: 0.3333, d1.loss_cls: 0.1155, d1.loss_bbox: 0.3013, d2.loss_cls: 0.1048, d2.loss_bbox: 0.2794, d3.loss_cls: 0.0869, d3.loss_bbox: 0.2746, d4.loss_cls: 0.0829, d4.loss_bbox: 0.2724, d5.loss_cls: 0.0807, d5.loss_bbox: 0.2704, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7374, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5711, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5239, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5059, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5001, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4954, d0.loss_map_cls_all: 0.1830, d0.loss_map_pts_all: 1.0063, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1830, d0.loss_map_pts: 1.0063, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1475, d1.loss_map_pts: 0.7278, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1195, d2.loss_map_pts: 0.5644, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1058, d3.loss_map_pts: 0.5078, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0993, d4.loss_map_pts: 0.4900, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0942, d5.loss_map_pts: 0.4842, d5.loss_map_dir: 0.0058, loss: 22.1856, grad_norm: 113.3028 +2026-03-01 02:22:37,948 - DriveTransformer - INFO - Epoch [11][37600/39528] lr: 6.331e-05, eta: 4 days, 8:45:34, time: 0.757, data_time: 0.037, memory: 19865, loss_cls: 0.0864, loss_bbox: 0.2731, loss_traj: 0.4616, loss_traj_cls: 0.0022, loss_map_cls: 0.0689, loss_map_pts: 0.4385, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.4197, d0.loss_plan_l1_fix_dist: 0.4991, d1.loss_plan_l1_fix_time: 0.7046, d1.loss_plan_l1_fix_dist: 0.1853, d2.loss_plan_l1_fix_time: 0.6890, d2.loss_plan_l1_fix_dist: 0.1786, d3.loss_plan_l1_fix_time: 0.6847, d3.loss_plan_l1_fix_dist: 0.1691, d4.loss_plan_l1_fix_time: 0.6875, d4.loss_plan_l1_fix_dist: 0.2126, d5.loss_plan_l1_fix_time: 0.6908, d5.loss_plan_l1_fix_dist: 0.2011, d6.loss_plan_l1_fix_time: 0.6935, d6.loss_plan_l1_fix_dist: 0.2376, d0.loss_cls_all: 0.1268, d0.loss_bbox_all: 0.3205, d0.loss_cls: 0.1268, d0.loss_bbox: 0.3205, d1.loss_cls: 0.1242, d1.loss_bbox: 0.2958, d2.loss_cls: 0.1106, d2.loss_bbox: 0.2781, d3.loss_cls: 0.0933, d3.loss_bbox: 0.2735, d4.loss_cls: 0.0883, d4.loss_bbox: 0.2725, d5.loss_cls: 0.0873, d5.loss_bbox: 0.2705, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6640, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5396, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4837, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4647, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4617, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4601, d0.loss_map_cls_all: 0.1368, d0.loss_map_pts_all: 0.9163, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1368, d0.loss_map_pts: 0.9163, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1094, d1.loss_map_pts: 0.6469, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.0888, d2.loss_map_pts: 0.5121, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0790, d3.loss_map_pts: 0.4644, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0735, d4.loss_map_pts: 0.4451, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0702, d5.loss_map_pts: 0.4389, d5.loss_map_dir: 0.0057, loss: 20.5330, grad_norm: 118.3256 +2026-03-01 02:23:12,748 - DriveTransformer - INFO - Epoch [11][37650/39528] lr: 6.331e-05, eta: 4 days, 8:44:53, time: 0.696, data_time: 0.039, memory: 19865, loss_cls: 0.1035, loss_bbox: 0.2787, loss_traj: 0.5479, loss_traj_cls: 0.0021, loss_map_cls: 0.1037, loss_map_pts: 0.5208, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.9026, d0.loss_plan_l1_fix_dist: 0.3991, d1.loss_plan_l1_fix_time: 0.7581, d1.loss_plan_l1_fix_dist: 0.1940, d2.loss_plan_l1_fix_time: 0.7403, d2.loss_plan_l1_fix_dist: 0.1775, d3.loss_plan_l1_fix_time: 0.7391, d3.loss_plan_l1_fix_dist: 0.1455, d4.loss_plan_l1_fix_time: 0.7410, d4.loss_plan_l1_fix_dist: 0.1962, d5.loss_plan_l1_fix_time: 0.7425, d5.loss_plan_l1_fix_dist: 0.1990, d6.loss_plan_l1_fix_time: 0.7444, d6.loss_plan_l1_fix_dist: 0.2166, d0.loss_cls_all: 0.1418, d0.loss_bbox_all: 0.3410, d0.loss_cls: 0.1418, d0.loss_bbox: 0.3410, d1.loss_cls: 0.1411, d1.loss_bbox: 0.3047, d2.loss_cls: 0.1287, d2.loss_bbox: 0.2864, d3.loss_cls: 0.1071, d3.loss_bbox: 0.2830, d4.loss_cls: 0.1051, d4.loss_bbox: 0.2792, d5.loss_cls: 0.1045, d5.loss_bbox: 0.2765, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8350, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.6301, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5755, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5545, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5504, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5436, d0.loss_map_cls_all: 0.1919, d0.loss_map_pts_all: 1.0236, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1919, d0.loss_map_pts: 1.0236, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1594, d1.loss_map_pts: 0.7770, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1329, d2.loss_map_pts: 0.6200, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1191, d3.loss_map_pts: 0.5515, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1114, d4.loss_map_pts: 0.5275, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1059, d5.loss_map_pts: 0.5216, d5.loss_map_dir: 0.0056, loss: 23.2315, grad_norm: 118.2733 +2026-03-01 02:23:49,633 - DriveTransformer - INFO - Epoch [11][37700/39528] lr: 6.331e-05, eta: 4 days, 8:44:17, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.1034, loss_bbox: 0.2834, loss_traj: 0.4509, loss_traj_cls: 0.0021, loss_map_cls: 0.0998, loss_map_pts: 0.5095, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.3384, d0.loss_plan_l1_fix_dist: 0.3921, d1.loss_plan_l1_fix_time: 0.8285, d1.loss_plan_l1_fix_dist: 0.2067, d2.loss_plan_l1_fix_time: 0.8092, d2.loss_plan_l1_fix_dist: 0.1822, d3.loss_plan_l1_fix_time: 0.8068, d3.loss_plan_l1_fix_dist: 0.1579, d4.loss_plan_l1_fix_time: 0.8092, d4.loss_plan_l1_fix_dist: 0.1893, d5.loss_plan_l1_fix_time: 0.8115, d5.loss_plan_l1_fix_dist: 0.1947, d6.loss_plan_l1_fix_time: 0.8145, d6.loss_plan_l1_fix_dist: 0.1926, d0.loss_cls_all: 0.1458, d0.loss_bbox_all: 0.3477, d0.loss_cls: 0.1458, d0.loss_bbox: 0.3477, d1.loss_cls: 0.1433, d1.loss_bbox: 0.3153, d2.loss_cls: 0.1321, d2.loss_bbox: 0.2941, d3.loss_cls: 0.1107, d3.loss_bbox: 0.2876, d4.loss_cls: 0.1021, d4.loss_bbox: 0.2875, d5.loss_cls: 0.1018, d5.loss_bbox: 0.2851, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6449, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5205, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4679, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4566, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4556, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4502, d0.loss_map_cls_all: 0.1796, d0.loss_map_pts_all: 1.0833, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1796, d0.loss_map_pts: 1.0833, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1463, d1.loss_map_pts: 0.7756, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1217, d2.loss_map_pts: 0.6127, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1120, d3.loss_map_pts: 0.5452, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1066, d4.loss_map_pts: 0.5199, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1019, d5.loss_map_pts: 0.5107, d5.loss_map_dir: 0.0063, loss: 22.3597, grad_norm: 119.2669 +2026-03-01 02:24:25,518 - DriveTransformer - INFO - Epoch [11][37750/39528] lr: 6.331e-05, eta: 4 days, 8:43:39, time: 0.718, data_time: 0.038, memory: 19865, loss_cls: 0.0889, loss_bbox: 0.2788, loss_traj: 0.4772, loss_traj_cls: 0.0021, loss_map_cls: 0.0915, loss_map_pts: 0.4822, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 1.9865, d0.loss_plan_l1_fix_dist: 0.4198, d1.loss_plan_l1_fix_time: 0.6706, d1.loss_plan_l1_fix_dist: 0.2121, d2.loss_plan_l1_fix_time: 0.6577, d2.loss_plan_l1_fix_dist: 0.1880, d3.loss_plan_l1_fix_time: 0.6564, d3.loss_plan_l1_fix_dist: 0.1628, d4.loss_plan_l1_fix_time: 0.6577, d4.loss_plan_l1_fix_dist: 0.1849, d5.loss_plan_l1_fix_time: 0.6602, d5.loss_plan_l1_fix_dist: 0.1970, d6.loss_plan_l1_fix_time: 0.6629, d6.loss_plan_l1_fix_dist: 0.1754, d0.loss_cls_all: 0.1300, d0.loss_bbox_all: 0.3480, d0.loss_cls: 0.1300, d0.loss_bbox: 0.3480, d1.loss_cls: 0.1278, d1.loss_bbox: 0.3135, d2.loss_cls: 0.1133, d2.loss_bbox: 0.2909, d3.loss_cls: 0.0966, d3.loss_bbox: 0.2818, d4.loss_cls: 0.0909, d4.loss_bbox: 0.2791, d5.loss_cls: 0.0899, d5.loss_bbox: 0.2783, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6786, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5524, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4985, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4803, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4768, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4730, d0.loss_map_cls_all: 0.1739, d0.loss_map_pts_all: 1.0540, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1739, d0.loss_map_pts: 1.0540, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1410, d1.loss_map_pts: 0.7321, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1182, d2.loss_map_pts: 0.5680, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1084, d3.loss_map_pts: 0.5088, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1015, d4.loss_map_pts: 0.4881, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0952, d5.loss_map_pts: 0.4820, d5.loss_map_dir: 0.0060, loss: 20.8426, grad_norm: 115.8518 +2026-03-01 02:25:01,222 - DriveTransformer - INFO - Epoch [11][37800/39528] lr: 6.331e-05, eta: 4 days, 8:43:00, time: 0.714, data_time: 0.038, memory: 19865, loss_cls: 0.0716, loss_bbox: 0.2573, loss_traj: 0.4411, loss_traj_cls: 0.0021, loss_map_cls: 0.0720, loss_map_pts: 0.4427, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.3200, d0.loss_plan_l1_fix_dist: 0.4331, d1.loss_plan_l1_fix_time: 0.5993, d1.loss_plan_l1_fix_dist: 0.2252, d2.loss_plan_l1_fix_time: 0.5848, d2.loss_plan_l1_fix_dist: 0.2073, d3.loss_plan_l1_fix_time: 0.5814, d3.loss_plan_l1_fix_dist: 0.1679, d4.loss_plan_l1_fix_time: 0.5829, d4.loss_plan_l1_fix_dist: 0.1913, d5.loss_plan_l1_fix_time: 0.5853, d5.loss_plan_l1_fix_dist: 0.2136, d6.loss_plan_l1_fix_time: 0.5881, d6.loss_plan_l1_fix_dist: 0.1903, d0.loss_cls_all: 0.1092, d0.loss_bbox_all: 0.3146, d0.loss_cls: 0.1092, d0.loss_bbox: 0.3146, d1.loss_cls: 0.1054, d1.loss_bbox: 0.2836, d2.loss_cls: 0.0940, d2.loss_bbox: 0.2643, d3.loss_cls: 0.0771, d3.loss_bbox: 0.2593, d4.loss_cls: 0.0743, d4.loss_bbox: 0.2554, d5.loss_cls: 0.0722, d5.loss_bbox: 0.2559, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6744, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5107, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4580, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4436, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4389, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4385, d0.loss_map_cls_all: 0.1549, d0.loss_map_pts_all: 0.9257, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1549, d0.loss_map_pts: 0.9257, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1232, d1.loss_map_pts: 0.6627, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.0983, d2.loss_map_pts: 0.5243, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0860, d3.loss_map_pts: 0.4707, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0791, d4.loss_map_pts: 0.4482, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0743, d5.loss_map_pts: 0.4434, d5.loss_map_dir: 0.0053, loss: 19.5296, grad_norm: 114.7052 +2026-03-01 02:25:38,992 - DriveTransformer - INFO - Epoch [11][37850/39528] lr: 6.331e-05, eta: 4 days, 8:42:27, time: 0.755, data_time: 0.038, memory: 19865, loss_cls: 0.1018, loss_bbox: 0.3032, loss_traj: 0.4586, loss_traj_cls: 0.0020, loss_map_cls: 0.1048, loss_map_pts: 0.5858, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.7141, d0.loss_plan_l1_fix_dist: 0.3327, d1.loss_plan_l1_fix_time: 0.6624, d1.loss_plan_l1_fix_dist: 0.2139, d2.loss_plan_l1_fix_time: 0.6546, d2.loss_plan_l1_fix_dist: 0.1937, d3.loss_plan_l1_fix_time: 0.6744, d3.loss_plan_l1_fix_dist: 0.1488, d4.loss_plan_l1_fix_time: 0.6789, d4.loss_plan_l1_fix_dist: 0.1544, d5.loss_plan_l1_fix_time: 0.6825, d5.loss_plan_l1_fix_dist: 0.1868, d6.loss_plan_l1_fix_time: 0.6868, d6.loss_plan_l1_fix_dist: 0.1572, d0.loss_cls_all: 0.1529, d0.loss_bbox_all: 0.3695, d0.loss_cls: 0.1529, d0.loss_bbox: 0.3695, d1.loss_cls: 0.1519, d1.loss_bbox: 0.3306, d2.loss_cls: 0.1347, d2.loss_bbox: 0.3090, d3.loss_cls: 0.1104, d3.loss_bbox: 0.3047, d4.loss_cls: 0.1040, d4.loss_bbox: 0.3016, d5.loss_cls: 0.1025, d5.loss_bbox: 0.3019, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6942, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5471, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4781, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4666, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4594, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4575, d0.loss_map_cls_all: 0.1882, d0.loss_map_pts_all: 1.1488, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1882, d0.loss_map_pts: 1.1488, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1507, d1.loss_map_pts: 0.8636, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1300, d2.loss_map_pts: 0.6839, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1203, d3.loss_map_pts: 0.6162, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1131, d4.loss_map_pts: 0.5937, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1073, d5.loss_map_pts: 0.5842, d5.loss_map_dir: 0.0077, loss: 22.6990, grad_norm: 120.1607 +2026-03-01 02:26:15,325 - DriveTransformer - INFO - Epoch [11][37900/39528] lr: 6.331e-05, eta: 4 days, 8:41:50, time: 0.727, data_time: 0.037, memory: 19865, loss_cls: 0.0873, loss_bbox: 0.2874, loss_traj: 0.4945, loss_traj_cls: 0.0020, loss_map_cls: 0.0759, loss_map_pts: 0.4410, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.7047, d0.loss_plan_l1_fix_dist: 0.4569, d1.loss_plan_l1_fix_time: 0.8001, d1.loss_plan_l1_fix_dist: 0.2318, d2.loss_plan_l1_fix_time: 0.7864, d2.loss_plan_l1_fix_dist: 0.2125, d3.loss_plan_l1_fix_time: 0.7502, d3.loss_plan_l1_fix_dist: 0.1833, d4.loss_plan_l1_fix_time: 0.7525, d4.loss_plan_l1_fix_dist: 0.1734, d5.loss_plan_l1_fix_time: 0.7561, d5.loss_plan_l1_fix_dist: 0.2075, d6.loss_plan_l1_fix_time: 0.7610, d6.loss_plan_l1_fix_dist: 0.1878, d0.loss_cls_all: 0.1234, d0.loss_bbox_all: 0.3501, d0.loss_cls: 0.1234, d0.loss_bbox: 0.3501, d1.loss_cls: 0.1172, d1.loss_bbox: 0.3164, d2.loss_cls: 0.1051, d2.loss_bbox: 0.2956, d3.loss_cls: 0.0898, d3.loss_bbox: 0.2914, d4.loss_cls: 0.0863, d4.loss_bbox: 0.2880, d5.loss_cls: 0.0872, d5.loss_bbox: 0.2872, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7756, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5928, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5224, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5069, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4987, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4945, d0.loss_map_cls_all: 0.1650, d0.loss_map_pts_all: 0.9627, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1650, d0.loss_map_pts: 0.9627, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1319, d1.loss_map_pts: 0.6819, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1017, d2.loss_map_pts: 0.5215, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0893, d3.loss_map_pts: 0.4608, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0838, d4.loss_map_pts: 0.4400, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0780, d5.loss_map_pts: 0.4371, d5.loss_map_dir: 0.0054, loss: 21.9836, grad_norm: 121.9670 +2026-03-01 02:26:50,780 - DriveTransformer - INFO - Epoch [11][37950/39528] lr: 6.331e-05, eta: 4 days, 8:41:10, time: 0.709, data_time: 0.038, memory: 19865, loss_cls: 0.0902, loss_bbox: 0.2696, loss_traj: 0.4805, loss_traj_cls: 0.0021, loss_map_cls: 0.1006, loss_map_pts: 0.4810, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.4938, d0.loss_plan_l1_fix_dist: 0.3940, d1.loss_plan_l1_fix_time: 0.6741, d1.loss_plan_l1_fix_dist: 0.2265, d2.loss_plan_l1_fix_time: 0.6622, d2.loss_plan_l1_fix_dist: 0.1898, d3.loss_plan_l1_fix_time: 0.6546, d3.loss_plan_l1_fix_dist: 0.1695, d4.loss_plan_l1_fix_time: 0.6562, d4.loss_plan_l1_fix_dist: 0.1421, d5.loss_plan_l1_fix_time: 0.6587, d5.loss_plan_l1_fix_dist: 0.1722, d6.loss_plan_l1_fix_time: 0.6619, d6.loss_plan_l1_fix_dist: 0.1646, d0.loss_cls_all: 0.1412, d0.loss_bbox_all: 0.3341, d0.loss_cls: 0.1412, d0.loss_bbox: 0.3341, d1.loss_cls: 0.1292, d1.loss_bbox: 0.3005, d2.loss_cls: 0.1134, d2.loss_bbox: 0.2802, d3.loss_cls: 0.0942, d3.loss_bbox: 0.2749, d4.loss_cls: 0.0896, d4.loss_bbox: 0.2717, d5.loss_cls: 0.0889, d5.loss_bbox: 0.2710, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7179, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5626, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5012, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4930, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4803, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4783, d0.loss_map_cls_all: 0.1881, d0.loss_map_pts_all: 1.0456, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1881, d0.loss_map_pts: 1.0456, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1561, d1.loss_map_pts: 0.7336, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1319, d2.loss_map_pts: 0.5774, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1169, d3.loss_map_pts: 0.5128, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1096, d4.loss_map_pts: 0.4882, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1039, d5.loss_map_pts: 0.4809, d5.loss_map_dir: 0.0056, loss: 21.3701, grad_norm: 123.0283 +2026-03-01 02:27:29,229 - DriveTransformer - INFO - Epoch [11][38000/39528] lr: 6.331e-05, eta: 4 days, 8:40:39, time: 0.770, data_time: 0.042, memory: 19865, loss_cls: 0.1008, loss_bbox: 0.2957, loss_traj: 0.4220, loss_traj_cls: 0.0021, loss_map_cls: 0.1052, loss_map_pts: 0.5508, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.5161, d0.loss_plan_l1_fix_dist: 0.3836, d1.loss_plan_l1_fix_time: 0.7730, d1.loss_plan_l1_fix_dist: 0.2514, d2.loss_plan_l1_fix_time: 0.7681, d2.loss_plan_l1_fix_dist: 0.1999, d3.loss_plan_l1_fix_time: 0.7546, d3.loss_plan_l1_fix_dist: 0.1959, d4.loss_plan_l1_fix_time: 0.7564, d4.loss_plan_l1_fix_dist: 0.1687, d5.loss_plan_l1_fix_time: 0.7585, d5.loss_plan_l1_fix_dist: 0.1971, d6.loss_plan_l1_fix_time: 0.7609, d6.loss_plan_l1_fix_dist: 0.1924, d0.loss_cls_all: 0.1498, d0.loss_bbox_all: 0.3601, d0.loss_cls: 0.1498, d0.loss_bbox: 0.3601, d1.loss_cls: 0.1440, d1.loss_bbox: 0.3289, d2.loss_cls: 0.1289, d2.loss_bbox: 0.3066, d3.loss_cls: 0.1103, d3.loss_bbox: 0.2997, d4.loss_cls: 0.1015, d4.loss_bbox: 0.2979, d5.loss_cls: 0.1011, d5.loss_bbox: 0.2957, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6721, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5144, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4474, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4280, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4201, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4191, d0.loss_map_cls_all: 0.1920, d0.loss_map_pts_all: 1.1207, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1920, d0.loss_map_pts: 1.1207, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1525, d1.loss_map_pts: 0.8017, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1274, d2.loss_map_pts: 0.6299, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1183, d3.loss_map_pts: 0.5773, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1126, d4.loss_map_pts: 0.5560, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1063, d5.loss_map_pts: 0.5540, d5.loss_map_dir: 0.0071, loss: 22.6126, grad_norm: 124.7017 +2026-03-01 02:28:04,724 - DriveTransformer - INFO - Epoch [11][38050/39528] lr: 6.331e-05, eta: 4 days, 8:39:59, time: 0.708, data_time: 0.037, memory: 19865, loss_cls: 0.0749, loss_bbox: 0.2647, loss_traj: 0.4969, loss_traj_cls: 0.0021, loss_map_cls: 0.0998, loss_map_pts: 0.4473, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.4516, d0.loss_plan_l1_fix_dist: 0.3866, d1.loss_plan_l1_fix_time: 0.7565, d1.loss_plan_l1_fix_dist: 0.2565, d2.loss_plan_l1_fix_time: 0.7496, d2.loss_plan_l1_fix_dist: 0.1977, d3.loss_plan_l1_fix_time: 0.7401, d3.loss_plan_l1_fix_dist: 0.2049, d4.loss_plan_l1_fix_time: 0.7408, d4.loss_plan_l1_fix_dist: 0.1827, d5.loss_plan_l1_fix_time: 0.7420, d5.loss_plan_l1_fix_dist: 0.1775, d6.loss_plan_l1_fix_time: 0.7435, d6.loss_plan_l1_fix_dist: 0.1893, d0.loss_cls_all: 0.1219, d0.loss_bbox_all: 0.3272, d0.loss_cls: 0.1219, d0.loss_bbox: 0.3272, d1.loss_cls: 0.1185, d1.loss_bbox: 0.2900, d2.loss_cls: 0.1007, d2.loss_bbox: 0.2727, d3.loss_cls: 0.0822, d3.loss_bbox: 0.2683, d4.loss_cls: 0.0760, d4.loss_bbox: 0.2646, d5.loss_cls: 0.0754, d5.loss_bbox: 0.2644, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7348, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5764, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5270, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5067, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5015, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4972, d0.loss_map_cls_all: 0.1904, d0.loss_map_pts_all: 0.9372, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1904, d0.loss_map_pts: 0.9372, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1578, d1.loss_map_pts: 0.6579, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1313, d2.loss_map_pts: 0.5222, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.1183, d3.loss_map_pts: 0.4695, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.1083, d4.loss_map_pts: 0.4536, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.1031, d5.loss_map_pts: 0.4474, d5.loss_map_dir: 0.0050, loss: 21.4291, grad_norm: 125.3180 +2026-03-01 02:28:41,699 - DriveTransformer - INFO - Epoch [11][38100/39528] lr: 6.331e-05, eta: 4 days, 8:39:24, time: 0.739, data_time: 0.038, memory: 19865, loss_cls: 0.0971, loss_bbox: 0.2890, loss_traj: 0.5326, loss_traj_cls: 0.0021, loss_map_cls: 0.0996, loss_map_pts: 0.4824, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.6795, d0.loss_plan_l1_fix_dist: 0.3760, d1.loss_plan_l1_fix_time: 0.7520, d1.loss_plan_l1_fix_dist: 0.2287, d2.loss_plan_l1_fix_time: 0.7452, d2.loss_plan_l1_fix_dist: 0.1726, d3.loss_plan_l1_fix_time: 0.7527, d3.loss_plan_l1_fix_dist: 0.2061, d4.loss_plan_l1_fix_time: 0.7556, d4.loss_plan_l1_fix_dist: 0.1988, d5.loss_plan_l1_fix_time: 0.7581, d5.loss_plan_l1_fix_dist: 0.1706, d6.loss_plan_l1_fix_time: 0.7604, d6.loss_plan_l1_fix_dist: 0.1947, d0.loss_cls_all: 0.1499, d0.loss_bbox_all: 0.3548, d0.loss_cls: 0.1499, d0.loss_bbox: 0.3548, d1.loss_cls: 0.1395, d1.loss_bbox: 0.3244, d2.loss_cls: 0.1243, d2.loss_bbox: 0.3012, d3.loss_cls: 0.1072, d3.loss_bbox: 0.2930, d4.loss_cls: 0.0988, d4.loss_bbox: 0.2902, d5.loss_cls: 0.0975, d5.loss_bbox: 0.2887, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7808, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.6013, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5693, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5495, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5398, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5344, d0.loss_map_cls_all: 0.1792, d0.loss_map_pts_all: 0.9981, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1792, d0.loss_map_pts: 0.9981, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1462, d1.loss_map_pts: 0.7178, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1210, d2.loss_map_pts: 0.5649, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1106, d3.loss_map_pts: 0.5116, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1057, d4.loss_map_pts: 0.4907, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1014, d5.loss_map_pts: 0.4828, d5.loss_map_dir: 0.0059, loss: 22.6635, grad_norm: 129.4917 +2026-03-01 02:29:17,085 - DriveTransformer - INFO - Epoch [11][38150/39528] lr: 6.331e-05, eta: 4 days, 8:38:44, time: 0.708, data_time: 0.038, memory: 19865, loss_cls: 0.0868, loss_bbox: 0.2830, loss_traj: 0.4638, loss_traj_cls: 0.0021, loss_map_cls: 0.1023, loss_map_pts: 0.4597, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.5396, d0.loss_plan_l1_fix_dist: 0.4756, d1.loss_plan_l1_fix_time: 0.7453, d1.loss_plan_l1_fix_dist: 0.2141, d2.loss_plan_l1_fix_time: 0.7205, d2.loss_plan_l1_fix_dist: 0.1896, d3.loss_plan_l1_fix_time: 0.7164, d3.loss_plan_l1_fix_dist: 0.2269, d4.loss_plan_l1_fix_time: 0.7184, d4.loss_plan_l1_fix_dist: 0.2329, d5.loss_plan_l1_fix_time: 0.7212, d5.loss_plan_l1_fix_dist: 0.2035, d6.loss_plan_l1_fix_time: 0.7236, d6.loss_plan_l1_fix_dist: 0.2037, d0.loss_cls_all: 0.1282, d0.loss_bbox_all: 0.3408, d0.loss_cls: 0.1282, d0.loss_bbox: 0.3408, d1.loss_cls: 0.1200, d1.loss_bbox: 0.3126, d2.loss_cls: 0.1070, d2.loss_bbox: 0.2951, d3.loss_cls: 0.0933, d3.loss_bbox: 0.2875, d4.loss_cls: 0.0879, d4.loss_bbox: 0.2852, d5.loss_cls: 0.0862, d5.loss_bbox: 0.2841, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6871, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5340, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4838, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4720, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4652, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4637, d0.loss_map_cls_all: 0.1908, d0.loss_map_pts_all: 0.9748, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1908, d0.loss_map_pts: 0.9748, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1621, d1.loss_map_pts: 0.6795, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1336, d2.loss_map_pts: 0.5367, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1186, d3.loss_map_pts: 0.4793, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1098, d4.loss_map_pts: 0.4642, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.1042, d5.loss_map_pts: 0.4599, d5.loss_map_dir: 0.0053, loss: 21.6587, grad_norm: 134.1971 +2026-03-01 02:29:52,336 - DriveTransformer - INFO - Epoch [11][38200/39528] lr: 6.331e-05, eta: 4 days, 8:38:04, time: 0.705, data_time: 0.035, memory: 19865, loss_cls: 0.0960, loss_bbox: 0.2842, loss_traj: 0.4548, loss_traj_cls: 0.0020, loss_map_cls: 0.0963, loss_map_pts: 0.5000, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.9760, d0.loss_plan_l1_fix_dist: 0.4893, d1.loss_plan_l1_fix_time: 0.7570, d1.loss_plan_l1_fix_dist: 0.2267, d2.loss_plan_l1_fix_time: 0.7353, d2.loss_plan_l1_fix_dist: 0.2098, d3.loss_plan_l1_fix_time: 0.7281, d3.loss_plan_l1_fix_dist: 0.2155, d4.loss_plan_l1_fix_time: 0.7306, d4.loss_plan_l1_fix_dist: 0.2260, d5.loss_plan_l1_fix_time: 0.7334, d5.loss_plan_l1_fix_dist: 0.1940, d6.loss_plan_l1_fix_time: 0.7365, d6.loss_plan_l1_fix_dist: 0.1783, d0.loss_cls_all: 0.1392, d0.loss_bbox_all: 0.3394, d0.loss_cls: 0.1392, d0.loss_bbox: 0.3394, d1.loss_cls: 0.1339, d1.loss_bbox: 0.3084, d2.loss_cls: 0.1188, d2.loss_bbox: 0.2918, d3.loss_cls: 0.1043, d3.loss_bbox: 0.2848, d4.loss_cls: 0.0992, d4.loss_bbox: 0.2814, d5.loss_cls: 0.0951, d5.loss_bbox: 0.2833, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7313, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5520, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4865, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4667, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4609, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4542, d0.loss_map_cls_all: 0.1802, d0.loss_map_pts_all: 1.0447, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1802, d0.loss_map_pts: 1.0447, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1455, d1.loss_map_pts: 0.7583, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1229, d2.loss_map_pts: 0.5919, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1106, d3.loss_map_pts: 0.5300, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1035, d4.loss_map_pts: 0.5067, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0987, d5.loss_map_pts: 0.5000, d5.loss_map_dir: 0.0061, loss: 22.6518, grad_norm: 135.8493 +2026-03-01 02:30:27,771 - DriveTransformer - INFO - Epoch [11][38250/39528] lr: 6.331e-05, eta: 4 days, 8:37:25, time: 0.708, data_time: 0.040, memory: 19865, loss_cls: 0.1038, loss_bbox: 0.2961, loss_traj: 0.4708, loss_traj_cls: 0.0020, loss_map_cls: 0.1289, loss_map_pts: 0.5846, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.9633, d0.loss_plan_l1_fix_dist: 0.3660, d1.loss_plan_l1_fix_time: 0.8133, d1.loss_plan_l1_fix_dist: 0.2346, d2.loss_plan_l1_fix_time: 0.7969, d2.loss_plan_l1_fix_dist: 0.2369, d3.loss_plan_l1_fix_time: 0.7983, d3.loss_plan_l1_fix_dist: 0.2140, d4.loss_plan_l1_fix_time: 0.7985, d4.loss_plan_l1_fix_dist: 0.2420, d5.loss_plan_l1_fix_time: 0.7997, d5.loss_plan_l1_fix_dist: 0.2158, d6.loss_plan_l1_fix_time: 0.8016, d6.loss_plan_l1_fix_dist: 0.2117, d0.loss_cls_all: 0.1534, d0.loss_bbox_all: 0.3689, d0.loss_cls: 0.1534, d0.loss_bbox: 0.3689, d1.loss_cls: 0.1449, d1.loss_bbox: 0.3306, d2.loss_cls: 0.1330, d2.loss_bbox: 0.3047, d3.loss_cls: 0.1106, d3.loss_bbox: 0.3017, d4.loss_cls: 0.1059, d4.loss_bbox: 0.2960, d5.loss_cls: 0.1036, d5.loss_bbox: 0.2964, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7119, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5505, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4917, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4750, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4686, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4689, d0.loss_map_cls_all: 0.2232, d0.loss_map_pts_all: 1.1381, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.2232, d0.loss_map_pts: 1.1381, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1900, d1.loss_map_pts: 0.8451, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1594, d2.loss_map_pts: 0.6799, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1477, d3.loss_map_pts: 0.6150, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1387, d4.loss_map_pts: 0.5901, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.1324, d5.loss_map_pts: 0.5844, d5.loss_map_dir: 0.0053, loss: 24.2701, grad_norm: 136.4981 +2026-03-01 02:31:03,365 - DriveTransformer - INFO - Epoch [11][38300/39528] lr: 6.331e-05, eta: 4 days, 8:36:45, time: 0.712, data_time: 0.038, memory: 19865, loss_cls: 0.0913, loss_bbox: 0.2904, loss_traj: 0.6123, loss_traj_cls: 0.0020, loss_map_cls: 0.0766, loss_map_pts: 0.4776, loss_map_dir: 0.0045, d0.loss_plan_l1_fix_time: 2.7998, d0.loss_plan_l1_fix_dist: 0.4561, d1.loss_plan_l1_fix_time: 0.7855, d1.loss_plan_l1_fix_dist: 0.2072, d2.loss_plan_l1_fix_time: 0.7675, d2.loss_plan_l1_fix_dist: 0.2282, d3.loss_plan_l1_fix_time: 0.7576, d3.loss_plan_l1_fix_dist: 0.2138, d4.loss_plan_l1_fix_time: 0.7583, d4.loss_plan_l1_fix_dist: 0.2390, d5.loss_plan_l1_fix_time: 0.7598, d5.loss_plan_l1_fix_dist: 0.2023, d6.loss_plan_l1_fix_time: 0.7617, d6.loss_plan_l1_fix_dist: 0.1826, d0.loss_cls_all: 0.1282, d0.loss_bbox_all: 0.3552, d0.loss_cls: 0.1282, d0.loss_bbox: 0.3552, d1.loss_cls: 0.1247, d1.loss_bbox: 0.3197, d2.loss_cls: 0.1137, d2.loss_bbox: 0.2976, d3.loss_cls: 0.0988, d3.loss_bbox: 0.2926, d4.loss_cls: 0.0924, d4.loss_bbox: 0.2917, d5.loss_cls: 0.0911, d5.loss_bbox: 0.2908, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9336, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.7113, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.6437, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.6236, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.6172, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6137, d0.loss_map_cls_all: 0.1561, d0.loss_map_pts_all: 0.9429, d0.loss_map_dir_all: 0.0046, d0.loss_map_cls: 0.1561, d0.loss_map_pts: 0.9429, d0.loss_map_dir: 0.0046, d1.loss_map_cls: 0.1243, d1.loss_map_pts: 0.7032, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.1015, d2.loss_map_pts: 0.5625, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.0904, d3.loss_map_pts: 0.5073, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0825, d4.loss_map_pts: 0.4861, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0784, d5.loss_map_pts: 0.4778, d5.loss_map_dir: 0.0045, loss: 23.2454, grad_norm: 136.5270 +2026-03-01 02:31:39,688 - DriveTransformer - INFO - Epoch [11][38350/39528] lr: 6.331e-05, eta: 4 days, 8:36:08, time: 0.726, data_time: 0.040, memory: 19865, loss_cls: 0.0889, loss_bbox: 0.2766, loss_traj: 0.4744, loss_traj_cls: 0.0020, loss_map_cls: 0.0888, loss_map_pts: 0.4671, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.5294, d0.loss_plan_l1_fix_dist: 0.4590, d1.loss_plan_l1_fix_time: 0.7360, d1.loss_plan_l1_fix_dist: 0.1824, d2.loss_plan_l1_fix_time: 0.7204, d2.loss_plan_l1_fix_dist: 0.2296, d3.loss_plan_l1_fix_time: 0.7192, d3.loss_plan_l1_fix_dist: 0.2132, d4.loss_plan_l1_fix_time: 0.7205, d4.loss_plan_l1_fix_dist: 0.2546, d5.loss_plan_l1_fix_time: 0.7221, d5.loss_plan_l1_fix_dist: 0.2252, d6.loss_plan_l1_fix_time: 0.7241, d6.loss_plan_l1_fix_dist: 0.2140, d0.loss_cls_all: 0.1385, d0.loss_bbox_all: 0.3406, d0.loss_cls: 0.1385, d0.loss_bbox: 0.3406, d1.loss_cls: 0.1318, d1.loss_bbox: 0.3036, d2.loss_cls: 0.1167, d2.loss_bbox: 0.2818, d3.loss_cls: 0.0954, d3.loss_bbox: 0.2792, d4.loss_cls: 0.0907, d4.loss_bbox: 0.2784, d5.loss_cls: 0.0880, d5.loss_bbox: 0.2782, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7575, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5550, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5032, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4847, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4761, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4754, d0.loss_map_cls_all: 0.1697, d0.loss_map_pts_all: 0.9956, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1697, d0.loss_map_pts: 0.9956, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1380, d1.loss_map_pts: 0.7072, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1117, d2.loss_map_pts: 0.5538, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1000, d3.loss_map_pts: 0.4959, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0951, d4.loss_map_pts: 0.4723, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0898, d5.loss_map_pts: 0.4691, d5.loss_map_dir: 0.0051, loss: 21.8111, grad_norm: 142.0466 +2026-03-01 02:32:16,675 - DriveTransformer - INFO - Epoch [11][38400/39528] lr: 6.331e-05, eta: 4 days, 8:35:33, time: 0.740, data_time: 0.040, memory: 19865, loss_cls: 0.0801, loss_bbox: 0.2850, loss_traj: 0.3623, loss_traj_cls: 0.0019, loss_map_cls: 0.0924, loss_map_pts: 0.5126, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.5022, d0.loss_plan_l1_fix_dist: 0.4156, d1.loss_plan_l1_fix_time: 0.7389, d1.loss_plan_l1_fix_dist: 0.1579, d2.loss_plan_l1_fix_time: 0.7218, d2.loss_plan_l1_fix_dist: 0.2373, d3.loss_plan_l1_fix_time: 0.7206, d3.loss_plan_l1_fix_dist: 0.1763, d4.loss_plan_l1_fix_time: 0.7221, d4.loss_plan_l1_fix_dist: 0.2361, d5.loss_plan_l1_fix_time: 0.7241, d5.loss_plan_l1_fix_dist: 0.2017, d6.loss_plan_l1_fix_time: 0.7264, d6.loss_plan_l1_fix_dist: 0.2035, d0.loss_cls_all: 0.1228, d0.loss_bbox_all: 0.3556, d0.loss_cls: 0.1228, d0.loss_bbox: 0.3556, d1.loss_cls: 0.1131, d1.loss_bbox: 0.3193, d2.loss_cls: 0.1022, d2.loss_bbox: 0.2965, d3.loss_cls: 0.0844, d3.loss_bbox: 0.2906, d4.loss_cls: 0.0808, d4.loss_bbox: 0.2870, d5.loss_cls: 0.0799, d5.loss_bbox: 0.2854, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5386, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4127, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3747, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3659, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3591, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3631, d0.loss_map_cls_all: 0.1854, d0.loss_map_pts_all: 1.1048, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1854, d0.loss_map_pts: 1.1048, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1494, d1.loss_map_pts: 0.7793, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1218, d2.loss_map_pts: 0.6106, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1088, d3.loss_map_pts: 0.5464, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1007, d4.loss_map_pts: 0.5184, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0951, d5.loss_map_pts: 0.5132, d5.loss_map_dir: 0.0063, loss: 21.3091, grad_norm: 141.1728 +2026-03-01 02:32:54,153 - DriveTransformer - INFO - Epoch [11][38450/39528] lr: 6.331e-05, eta: 4 days, 8:34:59, time: 0.750, data_time: 0.039, memory: 19865, loss_cls: 0.0815, loss_bbox: 0.2678, loss_traj: 0.4105, loss_traj_cls: 0.0020, loss_map_cls: 0.1091, loss_map_pts: 0.5376, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.5038, d0.loss_plan_l1_fix_dist: 0.4790, d1.loss_plan_l1_fix_time: 0.7273, d1.loss_plan_l1_fix_dist: 0.1674, d2.loss_plan_l1_fix_time: 0.7093, d2.loss_plan_l1_fix_dist: 0.2502, d3.loss_plan_l1_fix_time: 0.6952, d3.loss_plan_l1_fix_dist: 0.1744, d4.loss_plan_l1_fix_time: 0.6952, d4.loss_plan_l1_fix_dist: 0.2373, d5.loss_plan_l1_fix_time: 0.6965, d5.loss_plan_l1_fix_dist: 0.2129, d6.loss_plan_l1_fix_time: 0.6980, d6.loss_plan_l1_fix_dist: 0.2324, d0.loss_cls_all: 0.1248, d0.loss_bbox_all: 0.3341, d0.loss_cls: 0.1248, d0.loss_bbox: 0.3341, d1.loss_cls: 0.1193, d1.loss_bbox: 0.3018, d2.loss_cls: 0.1044, d2.loss_bbox: 0.2811, d3.loss_cls: 0.0880, d3.loss_bbox: 0.2731, d4.loss_cls: 0.0824, d4.loss_bbox: 0.2712, d5.loss_cls: 0.0819, d5.loss_bbox: 0.2686, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6014, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4698, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4306, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4164, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4126, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4093, d0.loss_map_cls_all: 0.1876, d0.loss_map_pts_all: 1.0915, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1876, d0.loss_map_pts: 1.0915, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1586, d1.loss_map_pts: 0.7901, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1366, d2.loss_map_pts: 0.6294, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1248, d3.loss_map_pts: 0.5636, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1176, d4.loss_map_pts: 0.5408, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1117, d5.loss_map_pts: 0.5381, d5.loss_map_dir: 0.0063, loss: 21.7418, grad_norm: 140.5376 +2026-03-01 02:33:30,220 - DriveTransformer - INFO - Epoch [11][38500/39528] lr: 6.331e-05, eta: 4 days, 8:34:21, time: 0.721, data_time: 0.038, memory: 19865, loss_cls: 0.0988, loss_bbox: 0.2752, loss_traj: 0.5313, loss_traj_cls: 0.0020, loss_map_cls: 0.0840, loss_map_pts: 0.4294, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.3958, d0.loss_plan_l1_fix_dist: 0.4207, d1.loss_plan_l1_fix_time: 0.7023, d1.loss_plan_l1_fix_dist: 0.1718, d2.loss_plan_l1_fix_time: 0.6903, d2.loss_plan_l1_fix_dist: 0.2137, d3.loss_plan_l1_fix_time: 0.6837, d3.loss_plan_l1_fix_dist: 0.1771, d4.loss_plan_l1_fix_time: 0.6848, d4.loss_plan_l1_fix_dist: 0.1940, d5.loss_plan_l1_fix_time: 0.6865, d5.loss_plan_l1_fix_dist: 0.1786, d6.loss_plan_l1_fix_time: 0.6886, d6.loss_plan_l1_fix_dist: 0.1879, d0.loss_cls_all: 0.1468, d0.loss_bbox_all: 0.3320, d0.loss_cls: 0.1468, d0.loss_bbox: 0.3320, d1.loss_cls: 0.1370, d1.loss_bbox: 0.3012, d2.loss_cls: 0.1261, d2.loss_bbox: 0.2835, d3.loss_cls: 0.1048, d3.loss_bbox: 0.2781, d4.loss_cls: 0.1011, d4.loss_bbox: 0.2751, d5.loss_cls: 0.0994, d5.loss_bbox: 0.2744, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7743, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.6049, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5541, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5422, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5350, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5318, d0.loss_map_cls_all: 0.1742, d0.loss_map_pts_all: 0.8893, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1742, d0.loss_map_pts: 0.8893, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1353, d1.loss_map_pts: 0.6409, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1099, d2.loss_map_pts: 0.5114, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0983, d3.loss_map_pts: 0.4559, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0909, d4.loss_map_pts: 0.4362, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0856, d5.loss_map_pts: 0.4293, d5.loss_map_dir: 0.0047, loss: 21.1413, grad_norm: 140.3582 +2026-03-01 02:34:07,399 - DriveTransformer - INFO - Epoch [11][38550/39528] lr: 6.331e-05, eta: 4 days, 8:33:46, time: 0.744, data_time: 0.040, memory: 19865, loss_cls: 0.0820, loss_bbox: 0.2540, loss_traj: 0.4139, loss_traj_cls: 0.0020, loss_map_cls: 0.0839, loss_map_pts: 0.4385, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.6700, d0.loss_plan_l1_fix_dist: 0.5313, d1.loss_plan_l1_fix_time: 0.6072, d1.loss_plan_l1_fix_dist: 0.2072, d2.loss_plan_l1_fix_time: 0.5878, d2.loss_plan_l1_fix_dist: 0.1963, d3.loss_plan_l1_fix_time: 0.5838, d3.loss_plan_l1_fix_dist: 0.2253, d4.loss_plan_l1_fix_time: 0.5847, d4.loss_plan_l1_fix_dist: 0.1994, d5.loss_plan_l1_fix_time: 0.5867, d5.loss_plan_l1_fix_dist: 0.2269, d6.loss_plan_l1_fix_time: 0.5893, d6.loss_plan_l1_fix_dist: 0.2312, d0.loss_cls_all: 0.1187, d0.loss_bbox_all: 0.3195, d0.loss_cls: 0.1187, d0.loss_bbox: 0.3195, d1.loss_cls: 0.1178, d1.loss_bbox: 0.2863, d2.loss_cls: 0.1049, d2.loss_bbox: 0.2653, d3.loss_cls: 0.0866, d3.loss_bbox: 0.2589, d4.loss_cls: 0.0834, d4.loss_bbox: 0.2542, d5.loss_cls: 0.0824, d5.loss_bbox: 0.2530, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6531, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4888, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4399, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4172, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4143, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4197, d0.loss_map_cls_all: 0.1654, d0.loss_map_pts_all: 0.9832, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1654, d0.loss_map_pts: 0.9832, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1312, d1.loss_map_pts: 0.7009, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1077, d2.loss_map_pts: 0.5318, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0965, d3.loss_map_pts: 0.4643, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0905, d4.loss_map_pts: 0.4475, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0858, d5.loss_map_pts: 0.4389, d5.loss_map_dir: 0.0053, loss: 20.2441, grad_norm: 142.1626 +2026-03-01 02:34:44,725 - DriveTransformer - INFO - Epoch [11][38600/39528] lr: 6.331e-05, eta: 4 days, 8:33:11, time: 0.746, data_time: 0.040, memory: 19865, loss_cls: 0.0851, loss_bbox: 0.2680, loss_traj: 0.3783, loss_traj_cls: 0.0020, loss_map_cls: 0.0873, loss_map_pts: 0.5143, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.4172, d0.loss_plan_l1_fix_dist: 0.5198, d1.loss_plan_l1_fix_time: 0.5782, d1.loss_plan_l1_fix_dist: 0.2271, d2.loss_plan_l1_fix_time: 0.5614, d2.loss_plan_l1_fix_dist: 0.1681, d3.loss_plan_l1_fix_time: 0.5559, d3.loss_plan_l1_fix_dist: 0.2292, d4.loss_plan_l1_fix_time: 0.5580, d4.loss_plan_l1_fix_dist: 0.1735, d5.loss_plan_l1_fix_time: 0.5606, d5.loss_plan_l1_fix_dist: 0.2120, d6.loss_plan_l1_fix_time: 0.5640, d6.loss_plan_l1_fix_dist: 0.2228, d0.loss_cls_all: 0.1275, d0.loss_bbox_all: 0.3330, d0.loss_cls: 0.1275, d0.loss_bbox: 0.3330, d1.loss_cls: 0.1189, d1.loss_bbox: 0.3011, d2.loss_cls: 0.1076, d2.loss_bbox: 0.2783, d3.loss_cls: 0.0901, d3.loss_bbox: 0.2712, d4.loss_cls: 0.0859, d4.loss_bbox: 0.2677, d5.loss_cls: 0.0846, d5.loss_bbox: 0.2675, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5953, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4464, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3965, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3814, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3817, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3786, d0.loss_map_cls_all: 0.1719, d0.loss_map_pts_all: 1.0896, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1719, d0.loss_map_pts: 1.0896, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1338, d1.loss_map_pts: 0.7695, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1129, d2.loss_map_pts: 0.6032, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1000, d3.loss_map_pts: 0.5422, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.0948, d4.loss_map_pts: 0.5199, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0893, d5.loss_map_pts: 0.5150, d5.loss_map_dir: 0.0066, loss: 20.3174, grad_norm: 144.9188 +2026-03-01 02:35:20,316 - DriveTransformer - INFO - Epoch [11][38650/39528] lr: 6.331e-05, eta: 4 days, 8:32:32, time: 0.712, data_time: 0.038, memory: 19865, loss_cls: 0.0904, loss_bbox: 0.2808, loss_traj: 0.5528, loss_traj_cls: 0.0020, loss_map_cls: 0.1071, loss_map_pts: 0.4922, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.6553, d0.loss_plan_l1_fix_dist: 0.4554, d1.loss_plan_l1_fix_time: 0.8077, d1.loss_plan_l1_fix_dist: 0.2664, d2.loss_plan_l1_fix_time: 0.7869, d2.loss_plan_l1_fix_dist: 0.1839, d3.loss_plan_l1_fix_time: 0.7785, d3.loss_plan_l1_fix_dist: 0.2481, d4.loss_plan_l1_fix_time: 0.7778, d4.loss_plan_l1_fix_dist: 0.2071, d5.loss_plan_l1_fix_time: 0.7784, d5.loss_plan_l1_fix_dist: 0.2240, d6.loss_plan_l1_fix_time: 0.7797, d6.loss_plan_l1_fix_dist: 0.2389, d0.loss_cls_all: 0.1387, d0.loss_bbox_all: 0.3457, d0.loss_cls: 0.1387, d0.loss_bbox: 0.3457, d1.loss_cls: 0.1334, d1.loss_bbox: 0.3140, d2.loss_cls: 0.1179, d2.loss_bbox: 0.2914, d3.loss_cls: 0.0975, d3.loss_bbox: 0.2860, d4.loss_cls: 0.0920, d4.loss_bbox: 0.2818, d5.loss_cls: 0.0893, d5.loss_bbox: 0.2815, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8460, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.6495, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5794, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5609, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5517, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5539, d0.loss_map_cls_all: 0.1956, d0.loss_map_pts_all: 1.0167, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1956, d0.loss_map_pts: 1.0167, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1611, d1.loss_map_pts: 0.7393, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1358, d2.loss_map_pts: 0.5885, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1236, d3.loss_map_pts: 0.5228, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1150, d4.loss_map_pts: 0.4991, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1098, d5.loss_map_pts: 0.4935, d5.loss_map_dir: 0.0056, loss: 23.3713, grad_norm: 145.0424 +2026-03-01 02:35:59,022 - DriveTransformer - INFO - Epoch [11][38700/39528] lr: 6.331e-05, eta: 4 days, 8:32:01, time: 0.774, data_time: 0.037, memory: 19865, loss_cls: 0.0916, loss_bbox: 0.2739, loss_traj: 0.4780, loss_traj_cls: 0.0020, loss_map_cls: 0.0986, loss_map_pts: 0.5544, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.3609, d0.loss_plan_l1_fix_dist: 0.4200, d1.loss_plan_l1_fix_time: 0.7204, d1.loss_plan_l1_fix_dist: 0.2426, d2.loss_plan_l1_fix_time: 0.7031, d2.loss_plan_l1_fix_dist: 0.1787, d3.loss_plan_l1_fix_time: 0.6972, d3.loss_plan_l1_fix_dist: 0.2414, d4.loss_plan_l1_fix_time: 0.6990, d4.loss_plan_l1_fix_dist: 0.2222, d5.loss_plan_l1_fix_time: 0.7011, d5.loss_plan_l1_fix_dist: 0.2362, d6.loss_plan_l1_fix_time: 0.7037, d6.loss_plan_l1_fix_dist: 0.2704, d0.loss_cls_all: 0.1349, d0.loss_bbox_all: 0.3387, d0.loss_cls: 0.1349, d0.loss_bbox: 0.3387, d1.loss_cls: 0.1310, d1.loss_bbox: 0.3056, d2.loss_cls: 0.1231, d2.loss_bbox: 0.2847, d3.loss_cls: 0.0984, d3.loss_bbox: 0.2813, d4.loss_cls: 0.0920, d4.loss_bbox: 0.2780, d5.loss_cls: 0.0908, d5.loss_bbox: 0.2757, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7008, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5577, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5012, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4871, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4831, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4806, d0.loss_map_cls_all: 0.1840, d0.loss_map_pts_all: 1.1770, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1840, d0.loss_map_pts: 1.1770, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1494, d1.loss_map_pts: 0.8413, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1230, d2.loss_map_pts: 0.6580, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1137, d3.loss_map_pts: 0.5856, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1065, d4.loss_map_pts: 0.5630, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1008, d5.loss_map_pts: 0.5549, d5.loss_map_dir: 0.0073, loss: 22.5941, grad_norm: 146.9887 +2026-03-01 02:36:35,638 - DriveTransformer - INFO - Epoch [11][38750/39528] lr: 6.331e-05, eta: 4 days, 8:31:25, time: 0.732, data_time: 0.037, memory: 19865, loss_cls: 0.1018, loss_bbox: 0.2967, loss_traj: 0.5524, loss_traj_cls: 0.0020, loss_map_cls: 0.0999, loss_map_pts: 0.5418, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.8617, d0.loss_plan_l1_fix_dist: 0.4142, d1.loss_plan_l1_fix_time: 0.8490, d1.loss_plan_l1_fix_dist: 0.2379, d2.loss_plan_l1_fix_time: 0.8388, d2.loss_plan_l1_fix_dist: 0.1680, d3.loss_plan_l1_fix_time: 0.8309, d3.loss_plan_l1_fix_dist: 0.2216, d4.loss_plan_l1_fix_time: 0.8336, d4.loss_plan_l1_fix_dist: 0.2011, d5.loss_plan_l1_fix_time: 0.8362, d5.loss_plan_l1_fix_dist: 0.2001, d6.loss_plan_l1_fix_time: 0.8390, d6.loss_plan_l1_fix_dist: 0.2239, d0.loss_cls_all: 0.1408, d0.loss_bbox_all: 0.3717, d0.loss_cls: 0.1408, d0.loss_bbox: 0.3717, d1.loss_cls: 0.1366, d1.loss_bbox: 0.3323, d2.loss_cls: 0.1215, d2.loss_bbox: 0.3081, d3.loss_cls: 0.1076, d3.loss_bbox: 0.3015, d4.loss_cls: 0.1024, d4.loss_bbox: 0.2987, d5.loss_cls: 0.1020, d5.loss_bbox: 0.2977, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8213, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.6268, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5835, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5605, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5551, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5522, d0.loss_map_cls_all: 0.1951, d0.loss_map_pts_all: 1.0886, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1951, d0.loss_map_pts: 1.0886, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1559, d1.loss_map_pts: 0.8111, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1277, d2.loss_map_pts: 0.6337, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1144, d3.loss_map_pts: 0.5693, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1077, d4.loss_map_pts: 0.5475, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1025, d5.loss_map_pts: 0.5410, d5.loss_map_dir: 0.0059, loss: 24.3122, grad_norm: 146.1869 +2026-03-01 02:37:11,517 - DriveTransformer - INFO - Epoch [11][38800/39528] lr: 6.331e-05, eta: 4 days, 8:30:47, time: 0.719, data_time: 0.037, memory: 19865, loss_cls: 0.0781, loss_bbox: 0.2823, loss_traj: 0.4539, loss_traj_cls: 0.0021, loss_map_cls: 0.0858, loss_map_pts: 0.4672, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.3994, d0.loss_plan_l1_fix_dist: 0.4709, d1.loss_plan_l1_fix_time: 0.6731, d1.loss_plan_l1_fix_dist: 0.2331, d2.loss_plan_l1_fix_time: 0.6596, d2.loss_plan_l1_fix_dist: 0.1903, d3.loss_plan_l1_fix_time: 0.6585, d3.loss_plan_l1_fix_dist: 0.2303, d4.loss_plan_l1_fix_time: 0.6604, d4.loss_plan_l1_fix_dist: 0.2353, d5.loss_plan_l1_fix_time: 0.6633, d5.loss_plan_l1_fix_dist: 0.2286, d6.loss_plan_l1_fix_time: 0.6665, d6.loss_plan_l1_fix_dist: 0.2496, d0.loss_cls_all: 0.1216, d0.loss_bbox_all: 0.3407, d0.loss_cls: 0.1216, d0.loss_bbox: 0.3407, d1.loss_cls: 0.1138, d1.loss_bbox: 0.3093, d2.loss_cls: 0.0991, d2.loss_bbox: 0.2904, d3.loss_cls: 0.0840, d3.loss_bbox: 0.2854, d4.loss_cls: 0.0794, d4.loss_bbox: 0.2829, d5.loss_cls: 0.0783, d5.loss_bbox: 0.2819, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6573, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5139, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4738, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4556, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4511, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4502, d0.loss_map_cls_all: 0.1699, d0.loss_map_pts_all: 0.9934, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1699, d0.loss_map_pts: 0.9934, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1361, d1.loss_map_pts: 0.7234, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1131, d2.loss_map_pts: 0.5687, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1009, d3.loss_map_pts: 0.5004, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0935, d4.loss_map_pts: 0.4784, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0886, d5.loss_map_pts: 0.4684, d5.loss_map_dir: 0.0057, loss: 21.0674, grad_norm: 145.9425 +2026-03-01 02:37:48,692 - DriveTransformer - INFO - Epoch [11][38850/39528] lr: 6.331e-05, eta: 4 days, 8:30:12, time: 0.742, data_time: 0.037, memory: 19865, loss_cls: 0.0981, loss_bbox: 0.2877, loss_traj: 0.4346, loss_traj_cls: 0.0020, loss_map_cls: 0.0958, loss_map_pts: 0.5139, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.7486, d0.loss_plan_l1_fix_dist: 0.5160, d1.loss_plan_l1_fix_time: 0.7351, d1.loss_plan_l1_fix_dist: 0.2325, d2.loss_plan_l1_fix_time: 0.7211, d2.loss_plan_l1_fix_dist: 0.2052, d3.loss_plan_l1_fix_time: 0.7179, d3.loss_plan_l1_fix_dist: 0.2272, d4.loss_plan_l1_fix_time: 0.7192, d4.loss_plan_l1_fix_dist: 0.2314, d5.loss_plan_l1_fix_time: 0.7208, d5.loss_plan_l1_fix_dist: 0.2274, d6.loss_plan_l1_fix_time: 0.7228, d6.loss_plan_l1_fix_dist: 0.2383, d0.loss_cls_all: 0.1483, d0.loss_bbox_all: 0.3579, d0.loss_cls: 0.1483, d0.loss_bbox: 0.3579, d1.loss_cls: 0.1381, d1.loss_bbox: 0.3222, d2.loss_cls: 0.1232, d2.loss_bbox: 0.2989, d3.loss_cls: 0.1030, d3.loss_bbox: 0.2931, d4.loss_cls: 0.0992, d4.loss_bbox: 0.2894, d5.loss_cls: 0.0979, d5.loss_bbox: 0.2877, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6424, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4977, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4536, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4401, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4378, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4363, d0.loss_map_cls_all: 0.1807, d0.loss_map_pts_all: 1.0818, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1807, d0.loss_map_pts: 1.0818, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1446, d1.loss_map_pts: 0.7845, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1223, d2.loss_map_pts: 0.6191, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1111, d3.loss_map_pts: 0.5437, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1039, d4.loss_map_pts: 0.5194, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0982, d5.loss_map_pts: 0.5139, d5.loss_map_dir: 0.0062, loss: 22.5104, grad_norm: 145.5930 +2026-03-01 02:38:27,377 - DriveTransformer - INFO - Epoch [11][38900/39528] lr: 6.331e-05, eta: 4 days, 8:29:41, time: 0.774, data_time: 0.038, memory: 19865, loss_cls: 0.1007, loss_bbox: 0.3066, loss_traj: 0.4224, loss_traj_cls: 0.0020, loss_map_cls: 0.1130, loss_map_pts: 0.5833, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.8275, d0.loss_plan_l1_fix_dist: 0.4036, d1.loss_plan_l1_fix_time: 0.8704, d1.loss_plan_l1_fix_dist: 0.2072, d2.loss_plan_l1_fix_time: 0.8550, d2.loss_plan_l1_fix_dist: 0.1918, d3.loss_plan_l1_fix_time: 0.8516, d3.loss_plan_l1_fix_dist: 0.2194, d4.loss_plan_l1_fix_time: 0.8533, d4.loss_plan_l1_fix_dist: 0.2093, d5.loss_plan_l1_fix_time: 0.8548, d5.loss_plan_l1_fix_dist: 0.2285, d6.loss_plan_l1_fix_time: 0.8567, d6.loss_plan_l1_fix_dist: 0.2531, d0.loss_cls_all: 0.1543, d0.loss_bbox_all: 0.3826, d0.loss_cls: 0.1543, d0.loss_bbox: 0.3826, d1.loss_cls: 0.1450, d1.loss_bbox: 0.3446, d2.loss_cls: 0.1280, d2.loss_bbox: 0.3197, d3.loss_cls: 0.1096, d3.loss_bbox: 0.3114, d4.loss_cls: 0.1008, d4.loss_bbox: 0.3091, d5.loss_cls: 0.1014, d5.loss_bbox: 0.3060, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6356, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4937, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4495, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4297, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4236, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4225, d0.loss_map_cls_all: 0.1951, d0.loss_map_pts_all: 1.1358, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1951, d0.loss_map_pts: 1.1358, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1598, d1.loss_map_pts: 0.8510, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1348, d2.loss_map_pts: 0.6896, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1269, d3.loss_map_pts: 0.6189, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1197, d4.loss_map_pts: 0.5921, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1146, d5.loss_map_pts: 0.5844, d5.loss_map_dir: 0.0067, loss: 24.0264, grad_norm: 153.9035 +2026-03-01 02:39:03,775 - DriveTransformer - INFO - Epoch [11][38950/39528] lr: 6.331e-05, eta: 4 days, 8:29:04, time: 0.728, data_time: 0.038, memory: 19865, loss_cls: 0.0781, loss_bbox: 0.2585, loss_traj: 0.4355, loss_traj_cls: 0.0021, loss_map_cls: 0.0858, loss_map_pts: 0.4676, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.2741, d0.loss_plan_l1_fix_dist: 0.4249, d1.loss_plan_l1_fix_time: 0.6097, d1.loss_plan_l1_fix_dist: 0.1792, d2.loss_plan_l1_fix_time: 0.5967, d2.loss_plan_l1_fix_dist: 0.1665, d3.loss_plan_l1_fix_time: 0.5982, d3.loss_plan_l1_fix_dist: 0.2032, d4.loss_plan_l1_fix_time: 0.6012, d4.loss_plan_l1_fix_dist: 0.1844, d5.loss_plan_l1_fix_time: 0.6037, d5.loss_plan_l1_fix_dist: 0.2375, d6.loss_plan_l1_fix_time: 0.6066, d6.loss_plan_l1_fix_dist: 0.2577, d0.loss_cls_all: 0.1223, d0.loss_bbox_all: 0.3203, d0.loss_cls: 0.1223, d0.loss_bbox: 0.3203, d1.loss_cls: 0.1122, d1.loss_bbox: 0.2910, d2.loss_cls: 0.1000, d2.loss_bbox: 0.2692, d3.loss_cls: 0.0853, d3.loss_bbox: 0.2625, d4.loss_cls: 0.0797, d4.loss_bbox: 0.2599, d5.loss_cls: 0.0789, d5.loss_bbox: 0.2581, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6110, d1.loss_traj_cls: 0.0016, d1.loss_traj: 0.5060, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4618, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4460, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4387, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4374, d0.loss_map_cls_all: 0.1595, d0.loss_map_pts_all: 0.9729, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1595, d0.loss_map_pts: 0.9729, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1291, d1.loss_map_pts: 0.6929, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1068, d2.loss_map_pts: 0.5477, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.0952, d3.loss_map_pts: 0.4957, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0903, d4.loss_map_pts: 0.4735, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0866, d5.loss_map_pts: 0.4684, d5.loss_map_dir: 0.0061, loss: 19.9601, grad_norm: 153.2437 +2026-03-01 02:39:40,261 - DriveTransformer - INFO - Epoch [11][39000/39528] lr: 6.331e-05, eta: 4 days, 8:28:27, time: 0.730, data_time: 0.038, memory: 19865, loss_cls: 0.0948, loss_bbox: 0.3056, loss_traj: 0.5357, loss_traj_cls: 0.0020, loss_map_cls: 0.1227, loss_map_pts: 0.5636, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.4437, d0.loss_plan_l1_fix_dist: 0.4227, d1.loss_plan_l1_fix_time: 0.7112, d1.loss_plan_l1_fix_dist: 0.1819, d2.loss_plan_l1_fix_time: 0.7065, d2.loss_plan_l1_fix_dist: 0.1850, d3.loss_plan_l1_fix_time: 0.7169, d3.loss_plan_l1_fix_dist: 0.1965, d4.loss_plan_l1_fix_time: 0.7195, d4.loss_plan_l1_fix_dist: 0.1775, d5.loss_plan_l1_fix_time: 0.7218, d5.loss_plan_l1_fix_dist: 0.2211, d6.loss_plan_l1_fix_time: 0.7242, d6.loss_plan_l1_fix_dist: 0.2106, d0.loss_cls_all: 0.1479, d0.loss_bbox_all: 0.3727, d0.loss_cls: 0.1479, d0.loss_bbox: 0.3727, d1.loss_cls: 0.1411, d1.loss_bbox: 0.3379, d2.loss_cls: 0.1249, d2.loss_bbox: 0.3185, d3.loss_cls: 0.1033, d3.loss_bbox: 0.3126, d4.loss_cls: 0.0972, d4.loss_bbox: 0.3086, d5.loss_cls: 0.0956, d5.loss_bbox: 0.3062, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7793, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.6114, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5545, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5426, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5355, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5326, d0.loss_map_cls_all: 0.2045, d0.loss_map_pts_all: 1.1068, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.2045, d0.loss_map_pts: 1.1068, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1830, d1.loss_map_pts: 0.8187, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1537, d2.loss_map_pts: 0.6595, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1379, d3.loss_map_pts: 0.5938, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1305, d4.loss_map_pts: 0.5681, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1251, d5.loss_map_pts: 0.5630, d5.loss_map_dir: 0.0058, loss: 23.3126, grad_norm: 159.6929 +2026-03-01 02:40:17,926 - DriveTransformer - INFO - Epoch [11][39050/39528] lr: 6.331e-05, eta: 4 days, 8:27:53, time: 0.753, data_time: 0.039, memory: 19865, loss_cls: 0.0855, loss_bbox: 0.2585, loss_traj: 0.3797, loss_traj_cls: 0.0019, loss_map_cls: 0.0852, loss_map_pts: 0.4843, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.2155, d0.loss_plan_l1_fix_dist: 0.4292, d1.loss_plan_l1_fix_time: 0.7089, d1.loss_plan_l1_fix_dist: 0.1834, d2.loss_plan_l1_fix_time: 0.6910, d2.loss_plan_l1_fix_dist: 0.1803, d3.loss_plan_l1_fix_time: 0.6733, d3.loss_plan_l1_fix_dist: 0.2064, d4.loss_plan_l1_fix_time: 0.6732, d4.loss_plan_l1_fix_dist: 0.1820, d5.loss_plan_l1_fix_time: 0.6744, d5.loss_plan_l1_fix_dist: 0.2241, d6.loss_plan_l1_fix_time: 0.6762, d6.loss_plan_l1_fix_dist: 0.1920, d0.loss_cls_all: 0.1192, d0.loss_bbox_all: 0.3179, d0.loss_cls: 0.1192, d0.loss_bbox: 0.3179, d1.loss_cls: 0.1180, d1.loss_bbox: 0.2889, d2.loss_cls: 0.1069, d2.loss_bbox: 0.2716, d3.loss_cls: 0.0877, d3.loss_bbox: 0.2663, d4.loss_cls: 0.0839, d4.loss_bbox: 0.2631, d5.loss_cls: 0.0842, d5.loss_bbox: 0.2598, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6610, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4712, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4124, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3921, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3828, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3809, d0.loss_map_cls_all: 0.1675, d0.loss_map_pts_all: 1.0243, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1675, d0.loss_map_pts: 1.0243, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1347, d1.loss_map_pts: 0.7368, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1089, d2.loss_map_pts: 0.5790, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0987, d3.loss_map_pts: 0.5138, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0917, d4.loss_map_pts: 0.4895, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0869, d5.loss_map_pts: 0.4838, d5.loss_map_dir: 0.0054, loss: 20.3660, grad_norm: 158.9130 +2026-03-01 02:40:53,852 - DriveTransformer - INFO - Epoch [11][39100/39528] lr: 6.331e-05, eta: 4 days, 8:27:15, time: 0.719, data_time: 0.038, memory: 19865, loss_cls: 0.0978, loss_bbox: 0.2788, loss_traj: 0.4157, loss_traj_cls: 0.0020, loss_map_cls: 0.0965, loss_map_pts: 0.4919, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.3005, d0.loss_plan_l1_fix_dist: 0.4924, d1.loss_plan_l1_fix_time: 0.7332, d1.loss_plan_l1_fix_dist: 0.1762, d2.loss_plan_l1_fix_time: 0.7186, d2.loss_plan_l1_fix_dist: 0.1738, d3.loss_plan_l1_fix_time: 0.7031, d3.loss_plan_l1_fix_dist: 0.2161, d4.loss_plan_l1_fix_time: 0.7029, d4.loss_plan_l1_fix_dist: 0.2038, d5.loss_plan_l1_fix_time: 0.7041, d5.loss_plan_l1_fix_dist: 0.2508, d6.loss_plan_l1_fix_time: 0.7063, d6.loss_plan_l1_fix_dist: 0.2286, d0.loss_cls_all: 0.1401, d0.loss_bbox_all: 0.3405, d0.loss_cls: 0.1401, d0.loss_bbox: 0.3405, d1.loss_cls: 0.1365, d1.loss_bbox: 0.3094, d2.loss_cls: 0.1220, d2.loss_bbox: 0.2870, d3.loss_cls: 0.1022, d3.loss_bbox: 0.2835, d4.loss_cls: 0.0979, d4.loss_bbox: 0.2800, d5.loss_cls: 0.0975, d5.loss_bbox: 0.2792, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6315, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4964, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4530, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4338, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4246, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4207, d0.loss_map_cls_all: 0.1673, d0.loss_map_pts_all: 0.9837, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1673, d0.loss_map_pts: 0.9837, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1414, d1.loss_map_pts: 0.7138, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1177, d2.loss_map_pts: 0.5712, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1108, d3.loss_map_pts: 0.5122, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1040, d4.loss_map_pts: 0.4920, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0983, d5.loss_map_pts: 0.4905, d5.loss_map_dir: 0.0052, loss: 21.2103, grad_norm: 159.7761 +2026-03-01 02:41:30,108 - DriveTransformer - INFO - Epoch [11][39150/39528] lr: 6.331e-05, eta: 4 days, 8:26:38, time: 0.725, data_time: 0.039, memory: 19865, loss_cls: 0.0754, loss_bbox: 0.2651, loss_traj: 0.3851, loss_traj_cls: 0.0020, loss_map_cls: 0.0884, loss_map_pts: 0.4649, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.6060, d0.loss_plan_l1_fix_dist: 0.4358, d1.loss_plan_l1_fix_time: 0.7575, d1.loss_plan_l1_fix_dist: 0.1833, d2.loss_plan_l1_fix_time: 0.7416, d2.loss_plan_l1_fix_dist: 0.1910, d3.loss_plan_l1_fix_time: 0.7215, d3.loss_plan_l1_fix_dist: 0.2192, d4.loss_plan_l1_fix_time: 0.7210, d4.loss_plan_l1_fix_dist: 0.2027, d5.loss_plan_l1_fix_time: 0.7218, d5.loss_plan_l1_fix_dist: 0.2399, d6.loss_plan_l1_fix_time: 0.7235, d6.loss_plan_l1_fix_dist: 0.2470, d0.loss_cls_all: 0.1228, d0.loss_bbox_all: 0.3211, d0.loss_cls: 0.1228, d0.loss_bbox: 0.3211, d1.loss_cls: 0.1166, d1.loss_bbox: 0.2910, d2.loss_cls: 0.1068, d2.loss_bbox: 0.2710, d3.loss_cls: 0.0851, d3.loss_bbox: 0.2672, d4.loss_cls: 0.0782, d4.loss_bbox: 0.2652, d5.loss_cls: 0.0763, d5.loss_bbox: 0.2641, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6098, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4658, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4115, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3963, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3893, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3855, d0.loss_map_cls_all: 0.1849, d0.loss_map_pts_all: 0.9876, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1849, d0.loss_map_pts: 0.9876, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1427, d1.loss_map_pts: 0.7116, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1185, d2.loss_map_pts: 0.5593, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1039, d3.loss_map_pts: 0.4968, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0964, d4.loss_map_pts: 0.4709, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0910, d5.loss_map_pts: 0.4653, d5.loss_map_dir: 0.0057, loss: 21.0145, grad_norm: 158.7506 +2026-03-01 02:42:06,526 - DriveTransformer - INFO - Epoch [11][39200/39528] lr: 6.331e-05, eta: 4 days, 8:26:01, time: 0.728, data_time: 0.038, memory: 19865, loss_cls: 0.0864, loss_bbox: 0.2684, loss_traj: 0.5209, loss_traj_cls: 0.0021, loss_map_cls: 0.0657, loss_map_pts: 0.4078, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.6144, d0.loss_plan_l1_fix_dist: 0.4253, d1.loss_plan_l1_fix_time: 0.6938, d1.loss_plan_l1_fix_dist: 0.1593, d2.loss_plan_l1_fix_time: 0.6833, d2.loss_plan_l1_fix_dist: 0.1783, d3.loss_plan_l1_fix_time: 0.6809, d3.loss_plan_l1_fix_dist: 0.2075, d4.loss_plan_l1_fix_time: 0.6814, d4.loss_plan_l1_fix_dist: 0.2236, d5.loss_plan_l1_fix_time: 0.6829, d5.loss_plan_l1_fix_dist: 0.2540, d6.loss_plan_l1_fix_time: 0.6843, d6.loss_plan_l1_fix_dist: 0.3099, d0.loss_cls_all: 0.1204, d0.loss_bbox_all: 0.3320, d0.loss_cls: 0.1204, d0.loss_bbox: 0.3320, d1.loss_cls: 0.1163, d1.loss_bbox: 0.3015, d2.loss_cls: 0.1088, d2.loss_bbox: 0.2795, d3.loss_cls: 0.0921, d3.loss_bbox: 0.2738, d4.loss_cls: 0.0879, d4.loss_bbox: 0.2699, d5.loss_cls: 0.0866, d5.loss_bbox: 0.2675, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7719, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.6080, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5349, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5263, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5208, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5207, d0.loss_map_cls_all: 0.1441, d0.loss_map_pts_all: 0.8399, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1441, d0.loss_map_pts: 0.8399, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1118, d1.loss_map_pts: 0.5971, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.0872, d2.loss_map_pts: 0.4774, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.0765, d3.loss_map_pts: 0.4294, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0721, d4.loss_map_pts: 0.4124, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0670, d5.loss_map_pts: 0.4065, d5.loss_map_dir: 0.0047, loss: 20.8523, grad_norm: 155.8800 +2026-03-01 02:42:43,598 - DriveTransformer - INFO - Epoch [11][39250/39528] lr: 6.331e-05, eta: 4 days, 8:25:26, time: 0.741, data_time: 0.041, memory: 19865, loss_cls: 0.0875, loss_bbox: 0.2673, loss_traj: 0.3676, loss_traj_cls: 0.0021, loss_map_cls: 0.0950, loss_map_pts: 0.4829, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.4722, d0.loss_plan_l1_fix_dist: 0.5178, d1.loss_plan_l1_fix_time: 0.7680, d1.loss_plan_l1_fix_dist: 0.1627, d2.loss_plan_l1_fix_time: 0.7496, d2.loss_plan_l1_fix_dist: 0.1673, d3.loss_plan_l1_fix_time: 0.7464, d3.loss_plan_l1_fix_dist: 0.2002, d4.loss_plan_l1_fix_time: 0.7477, d4.loss_plan_l1_fix_dist: 0.2292, d5.loss_plan_l1_fix_time: 0.7494, d5.loss_plan_l1_fix_dist: 0.2209, d6.loss_plan_l1_fix_time: 0.7513, d6.loss_plan_l1_fix_dist: 0.2861, d0.loss_cls_all: 0.1331, d0.loss_bbox_all: 0.3389, d0.loss_cls: 0.1331, d0.loss_bbox: 0.3389, d1.loss_cls: 0.1223, d1.loss_bbox: 0.3060, d2.loss_cls: 0.1117, d2.loss_bbox: 0.2815, d3.loss_cls: 0.0936, d3.loss_bbox: 0.2742, d4.loss_cls: 0.0891, d4.loss_bbox: 0.2698, d5.loss_cls: 0.0873, d5.loss_bbox: 0.2680, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5867, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4555, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3852, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3725, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3674, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3664, d0.loss_map_cls_all: 0.1723, d0.loss_map_pts_all: 1.0000, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1723, d0.loss_map_pts: 1.0000, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1426, d1.loss_map_pts: 0.7301, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1160, d2.loss_map_pts: 0.5628, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1063, d3.loss_map_pts: 0.5095, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1008, d4.loss_map_pts: 0.4876, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0966, d5.loss_map_pts: 0.4833, d5.loss_map_dir: 0.0060, loss: 21.1846, grad_norm: 159.0383 +2026-03-01 02:43:18,419 - DriveTransformer - INFO - Epoch [11][39300/39528] lr: 6.331e-05, eta: 4 days, 8:24:44, time: 0.696, data_time: 0.037, memory: 19865, loss_cls: 0.1003, loss_bbox: 0.2955, loss_traj: 0.5264, loss_traj_cls: 0.0021, loss_map_cls: 0.0956, loss_map_pts: 0.5234, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.6562, d0.loss_plan_l1_fix_dist: 0.4239, d1.loss_plan_l1_fix_time: 0.8238, d1.loss_plan_l1_fix_dist: 0.2028, d2.loss_plan_l1_fix_time: 0.8067, d2.loss_plan_l1_fix_dist: 0.2342, d3.loss_plan_l1_fix_time: 0.7991, d3.loss_plan_l1_fix_dist: 0.2894, d4.loss_plan_l1_fix_time: 0.8013, d4.loss_plan_l1_fix_dist: 0.3544, d5.loss_plan_l1_fix_time: 0.8045, d5.loss_plan_l1_fix_dist: 0.3761, d6.loss_plan_l1_fix_time: 0.8083, d6.loss_plan_l1_fix_dist: 0.4273, d0.loss_cls_all: 0.1443, d0.loss_bbox_all: 0.3670, d0.loss_cls: 0.1443, d0.loss_bbox: 0.3670, d1.loss_cls: 0.1336, d1.loss_bbox: 0.3314, d2.loss_cls: 0.1195, d2.loss_bbox: 0.3113, d3.loss_cls: 0.1046, d3.loss_bbox: 0.3016, d4.loss_cls: 0.1004, d4.loss_bbox: 0.2960, d5.loss_cls: 0.1002, d5.loss_bbox: 0.2937, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8260, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.6241, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5507, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5294, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5215, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5221, d0.loss_map_cls_all: 0.1802, d0.loss_map_pts_all: 1.0798, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1802, d0.loss_map_pts: 1.0798, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1515, d1.loss_map_pts: 0.8063, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1257, d2.loss_map_pts: 0.6327, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1101, d3.loss_map_pts: 0.5574, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1031, d4.loss_map_pts: 0.5294, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0978, d5.loss_map_pts: 0.5234, d5.loss_map_dir: 0.0053, loss: 24.2456, grad_norm: 162.0393 +2026-03-01 02:43:55,160 - DriveTransformer - INFO - Epoch [11][39350/39528] lr: 6.331e-05, eta: 4 days, 8:24:08, time: 0.735, data_time: 0.039, memory: 19865, loss_cls: 0.0741, loss_bbox: 0.2701, loss_traj: 0.4747, loss_traj_cls: 0.0021, loss_map_cls: 0.0732, loss_map_pts: 0.4410, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.8074, d0.loss_plan_l1_fix_dist: 0.4526, d1.loss_plan_l1_fix_time: 0.6883, d1.loss_plan_l1_fix_dist: 0.1956, d2.loss_plan_l1_fix_time: 0.6720, d2.loss_plan_l1_fix_dist: 0.2254, d3.loss_plan_l1_fix_time: 0.6617, d3.loss_plan_l1_fix_dist: 0.2705, d4.loss_plan_l1_fix_time: 0.6649, d4.loss_plan_l1_fix_dist: 0.3394, d5.loss_plan_l1_fix_time: 0.6688, d5.loss_plan_l1_fix_dist: 0.3758, d6.loss_plan_l1_fix_time: 0.6732, d6.loss_plan_l1_fix_dist: 0.4179, d0.loss_cls_all: 0.1118, d0.loss_bbox_all: 0.3195, d0.loss_cls: 0.1118, d0.loss_bbox: 0.3195, d1.loss_cls: 0.1095, d1.loss_bbox: 0.2874, d2.loss_cls: 0.0974, d2.loss_bbox: 0.2695, d3.loss_cls: 0.0805, d3.loss_bbox: 0.2635, d4.loss_cls: 0.0745, d4.loss_bbox: 0.2650, d5.loss_cls: 0.0750, d5.loss_bbox: 0.2657, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7146, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5616, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5084, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4878, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4770, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4749, d0.loss_map_cls_all: 0.1498, d0.loss_map_pts_all: 0.9137, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1498, d0.loss_map_pts: 0.9137, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1148, d1.loss_map_pts: 0.6448, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.0943, d2.loss_map_pts: 0.5134, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0868, d3.loss_map_pts: 0.4629, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0799, d4.loss_map_pts: 0.4482, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0761, d5.loss_map_pts: 0.4401, d5.loss_map_dir: 0.0055, loss: 21.4621, grad_norm: 165.6197 +2026-03-01 02:44:32,271 - DriveTransformer - INFO - Epoch [11][39400/39528] lr: 6.331e-05, eta: 4 days, 8:23:33, time: 0.742, data_time: 0.038, memory: 19865, loss_cls: 0.0924, loss_bbox: 0.2904, loss_traj: 0.4977, loss_traj_cls: 0.0021, loss_map_cls: 0.0969, loss_map_pts: 0.5087, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.4264, d0.loss_plan_l1_fix_dist: 0.4166, d1.loss_plan_l1_fix_time: 0.7075, d1.loss_plan_l1_fix_dist: 0.1815, d2.loss_plan_l1_fix_time: 0.6794, d2.loss_plan_l1_fix_dist: 0.1683, d3.loss_plan_l1_fix_time: 0.6786, d3.loss_plan_l1_fix_dist: 0.1860, d4.loss_plan_l1_fix_time: 0.6802, d4.loss_plan_l1_fix_dist: 0.2315, d5.loss_plan_l1_fix_time: 0.6826, d5.loss_plan_l1_fix_dist: 0.2571, d6.loss_plan_l1_fix_time: 0.6859, d6.loss_plan_l1_fix_dist: 0.2743, d0.loss_cls_all: 0.1389, d0.loss_bbox_all: 0.3493, d0.loss_cls: 0.1389, d0.loss_bbox: 0.3493, d1.loss_cls: 0.1322, d1.loss_bbox: 0.3140, d2.loss_cls: 0.1180, d2.loss_bbox: 0.2947, d3.loss_cls: 0.1013, d3.loss_bbox: 0.2882, d4.loss_cls: 0.0945, d4.loss_bbox: 0.2881, d5.loss_cls: 0.0919, d5.loss_bbox: 0.2888, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7695, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.6029, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5444, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5217, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5065, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5015, d0.loss_map_cls_all: 0.1738, d0.loss_map_pts_all: 1.0189, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1738, d0.loss_map_pts: 1.0189, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1435, d1.loss_map_pts: 0.7259, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1230, d2.loss_map_pts: 0.5818, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1109, d3.loss_map_pts: 0.5266, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1055, d4.loss_map_pts: 0.5102, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0999, d5.loss_map_pts: 0.5078, d5.loss_map_dir: 0.0064, loss: 22.0553, grad_norm: 167.2373 +2026-03-01 02:45:06,093 - DriveTransformer - INFO - Epoch [11][39450/39528] lr: 6.331e-05, eta: 4 days, 8:22:50, time: 0.676, data_time: 0.036, memory: 19865, loss_cls: 0.0989, loss_bbox: 0.2867, loss_traj: 0.5189, loss_traj_cls: 0.0021, loss_map_cls: 0.0961, loss_map_pts: 0.5105, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.8093, d0.loss_plan_l1_fix_dist: 0.3369, d1.loss_plan_l1_fix_time: 0.8296, d1.loss_plan_l1_fix_dist: 0.2189, d2.loss_plan_l1_fix_time: 0.8165, d2.loss_plan_l1_fix_dist: 0.2195, d3.loss_plan_l1_fix_time: 0.8049, d3.loss_plan_l1_fix_dist: 0.2341, d4.loss_plan_l1_fix_time: 0.8064, d4.loss_plan_l1_fix_dist: 0.2857, d5.loss_plan_l1_fix_time: 0.8081, d5.loss_plan_l1_fix_dist: 0.3262, d6.loss_plan_l1_fix_time: 0.8105, d6.loss_plan_l1_fix_dist: 0.3433, d0.loss_cls_all: 0.1467, d0.loss_bbox_all: 0.3500, d0.loss_cls: 0.1467, d0.loss_bbox: 0.3500, d1.loss_cls: 0.1372, d1.loss_bbox: 0.3147, d2.loss_cls: 0.1276, d2.loss_bbox: 0.2928, d3.loss_cls: 0.1063, d3.loss_bbox: 0.2880, d4.loss_cls: 0.1001, d4.loss_bbox: 0.2868, d5.loss_cls: 0.0976, d5.loss_bbox: 0.2854, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8097, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.6149, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5465, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5307, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5242, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5193, d0.loss_map_cls_all: 0.1722, d0.loss_map_pts_all: 0.9907, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1722, d0.loss_map_pts: 0.9907, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1434, d1.loss_map_pts: 0.7340, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1202, d2.loss_map_pts: 0.5935, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1100, d3.loss_map_pts: 0.5321, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.1042, d4.loss_map_pts: 0.5139, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0984, d5.loss_map_pts: 0.5086, d5.loss_map_dir: 0.0050, loss: 23.5679, grad_norm: 167.2046 +2026-03-01 02:45:42,983 - DriveTransformer - INFO - Epoch [11][39500/39528] lr: 6.331e-05, eta: 4 days, 8:22:14, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.0914, loss_bbox: 0.2806, loss_traj: 0.4866, loss_traj_cls: 0.0021, loss_map_cls: 0.0853, loss_map_pts: 0.4955, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.6775, d0.loss_plan_l1_fix_dist: 0.3508, d1.loss_plan_l1_fix_time: 0.8115, d1.loss_plan_l1_fix_dist: 0.2299, d2.loss_plan_l1_fix_time: 0.7991, d2.loss_plan_l1_fix_dist: 0.2278, d3.loss_plan_l1_fix_time: 0.7879, d3.loss_plan_l1_fix_dist: 0.2351, d4.loss_plan_l1_fix_time: 0.7905, d4.loss_plan_l1_fix_dist: 0.2700, d5.loss_plan_l1_fix_time: 0.7926, d5.loss_plan_l1_fix_dist: 0.3087, d6.loss_plan_l1_fix_time: 0.7946, d6.loss_plan_l1_fix_dist: 0.3263, d0.loss_cls_all: 0.1328, d0.loss_bbox_all: 0.3469, d0.loss_cls: 0.1328, d0.loss_bbox: 0.3469, d1.loss_cls: 0.1284, d1.loss_bbox: 0.3100, d2.loss_cls: 0.1152, d2.loss_bbox: 0.2881, d3.loss_cls: 0.0964, d3.loss_bbox: 0.2843, d4.loss_cls: 0.0935, d4.loss_bbox: 0.2825, d5.loss_cls: 0.0917, d5.loss_bbox: 0.2810, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7583, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5815, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5227, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5015, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4872, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4857, d0.loss_map_cls_all: 0.1787, d0.loss_map_pts_all: 1.0265, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1787, d0.loss_map_pts: 1.0265, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1356, d1.loss_map_pts: 0.7362, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1121, d2.loss_map_pts: 0.5753, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0985, d3.loss_map_pts: 0.5165, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0924, d4.loss_map_pts: 0.4981, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0872, d5.loss_map_pts: 0.4947, d5.loss_map_dir: 0.0056, loss: 22.9183, grad_norm: 166.8765 +2026-03-01 02:46:03,583 - DriveTransformer - INFO - Saving checkpoint at 11 epochs +2026-03-01 02:46:49,569 - DriveTransformer - INFO - Epoch [12][50/39528] lr: 5.696e-05, eta: 4 days, 8:20:43, time: 0.878, data_time: 0.155, memory: 19865, loss_cls: 0.0955, loss_bbox: 0.2933, loss_traj: 0.4839, loss_traj_cls: 0.0021, loss_map_cls: 0.1114, loss_map_pts: 0.6065, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.5607, d0.loss_plan_l1_fix_dist: 0.4300, d1.loss_plan_l1_fix_time: 0.6843, d1.loss_plan_l1_fix_dist: 0.2014, d2.loss_plan_l1_fix_time: 0.6588, d2.loss_plan_l1_fix_dist: 0.2069, d3.loss_plan_l1_fix_time: 0.6616, d3.loss_plan_l1_fix_dist: 0.2020, d4.loss_plan_l1_fix_time: 0.6634, d4.loss_plan_l1_fix_dist: 0.2017, d5.loss_plan_l1_fix_time: 0.6653, d5.loss_plan_l1_fix_dist: 0.2426, d6.loss_plan_l1_fix_time: 0.6672, d6.loss_plan_l1_fix_dist: 0.2617, d0.loss_cls_all: 0.1357, d0.loss_bbox_all: 0.3596, d0.loss_cls: 0.1357, d0.loss_bbox: 0.3596, d1.loss_cls: 0.1316, d1.loss_bbox: 0.3282, d2.loss_cls: 0.1210, d2.loss_bbox: 0.3050, d3.loss_cls: 0.1012, d3.loss_bbox: 0.3013, d4.loss_cls: 0.0980, d4.loss_bbox: 0.2953, d5.loss_cls: 0.0967, d5.loss_bbox: 0.2940, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7317, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5785, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5143, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4895, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4836, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4850, d0.loss_map_cls_all: 0.1892, d0.loss_map_pts_all: 1.2210, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1892, d0.loss_map_pts: 1.2210, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1580, d1.loss_map_pts: 0.8990, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1329, d2.loss_map_pts: 0.7050, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1226, d3.loss_map_pts: 0.6325, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1189, d4.loss_map_pts: 0.6091, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1142, d5.loss_map_pts: 0.6055, d5.loss_map_dir: 0.0073, loss: 23.2273, grad_norm: 130.9443 +2026-03-01 02:47:24,631 - DriveTransformer - INFO - Epoch [12][100/39528] lr: 5.696e-05, eta: 4 days, 8:20:02, time: 0.701, data_time: 0.032, memory: 19865, loss_cls: 0.0891, loss_bbox: 0.2788, loss_traj: 0.5268, loss_traj_cls: 0.0021, loss_map_cls: 0.0987, loss_map_pts: 0.4817, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.5047, d0.loss_plan_l1_fix_dist: 0.3773, d1.loss_plan_l1_fix_time: 0.7485, d1.loss_plan_l1_fix_dist: 0.1934, d2.loss_plan_l1_fix_time: 0.7328, d2.loss_plan_l1_fix_dist: 0.2016, d3.loss_plan_l1_fix_time: 0.7169, d3.loss_plan_l1_fix_dist: 0.2033, d4.loss_plan_l1_fix_time: 0.7171, d4.loss_plan_l1_fix_dist: 0.1792, d5.loss_plan_l1_fix_time: 0.7179, d5.loss_plan_l1_fix_dist: 0.2412, d6.loss_plan_l1_fix_time: 0.7192, d6.loss_plan_l1_fix_dist: 0.2332, d0.loss_cls_all: 0.1312, d0.loss_bbox_all: 0.3434, d0.loss_cls: 0.1312, d0.loss_bbox: 0.3434, d1.loss_cls: 0.1249, d1.loss_bbox: 0.3052, d2.loss_cls: 0.1107, d2.loss_bbox: 0.2871, d3.loss_cls: 0.0958, d3.loss_bbox: 0.2811, d4.loss_cls: 0.0911, d4.loss_bbox: 0.2794, d5.loss_cls: 0.0899, d5.loss_bbox: 0.2784, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7864, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5989, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5370, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5296, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5250, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5247, d0.loss_map_cls_all: 0.1851, d0.loss_map_pts_all: 0.9932, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1851, d0.loss_map_pts: 0.9932, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1489, d1.loss_map_pts: 0.7356, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1225, d2.loss_map_pts: 0.5796, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1120, d3.loss_map_pts: 0.5119, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1060, d4.loss_map_pts: 0.4879, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.1007, d5.loss_map_pts: 0.4824, d5.loss_map_dir: 0.0053, loss: 22.1502, grad_norm: 133.0107 +2026-03-01 02:48:01,913 - DriveTransformer - INFO - Epoch [12][150/39528] lr: 5.696e-05, eta: 4 days, 8:19:28, time: 0.746, data_time: 0.030, memory: 19865, loss_cls: 0.0792, loss_bbox: 0.2681, loss_traj: 0.4431, loss_traj_cls: 0.0022, loss_map_cls: 0.0964, loss_map_pts: 0.4979, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.5204, d0.loss_plan_l1_fix_dist: 0.3401, d1.loss_plan_l1_fix_time: 0.6227, d1.loss_plan_l1_fix_dist: 0.1873, d2.loss_plan_l1_fix_time: 0.6039, d2.loss_plan_l1_fix_dist: 0.1959, d3.loss_plan_l1_fix_time: 0.5899, d3.loss_plan_l1_fix_dist: 0.1947, d4.loss_plan_l1_fix_time: 0.5906, d4.loss_plan_l1_fix_dist: 0.1750, d5.loss_plan_l1_fix_time: 0.5922, d5.loss_plan_l1_fix_dist: 0.2394, d6.loss_plan_l1_fix_time: 0.5948, d6.loss_plan_l1_fix_dist: 0.1971, d0.loss_cls_all: 0.1216, d0.loss_bbox_all: 0.3334, d0.loss_cls: 0.1216, d0.loss_bbox: 0.3334, d1.loss_cls: 0.1128, d1.loss_bbox: 0.3004, d2.loss_cls: 0.1025, d2.loss_bbox: 0.2816, d3.loss_cls: 0.0873, d3.loss_bbox: 0.2732, d4.loss_cls: 0.0820, d4.loss_bbox: 0.2704, d5.loss_cls: 0.0797, d5.loss_bbox: 0.2685, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6112, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4765, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4493, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4461, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4418, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4419, d0.loss_map_cls_all: 0.1765, d0.loss_map_pts_all: 1.0518, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1765, d0.loss_map_pts: 1.0518, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1431, d1.loss_map_pts: 0.7667, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1219, d2.loss_map_pts: 0.5869, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1104, d3.loss_map_pts: 0.5244, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1031, d4.loss_map_pts: 0.5032, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0983, d5.loss_map_pts: 0.4982, d5.loss_map_dir: 0.0061, loss: 20.6332, grad_norm: 146.3067 +2026-03-01 02:48:37,143 - DriveTransformer - INFO - Epoch [12][200/39528] lr: 5.696e-05, eta: 4 days, 8:18:48, time: 0.706, data_time: 0.030, memory: 19865, loss_cls: 0.0811, loss_bbox: 0.2775, loss_traj: 0.3779, loss_traj_cls: 0.0022, loss_map_cls: 0.0877, loss_map_pts: 0.4501, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.6481, d0.loss_plan_l1_fix_dist: 0.5302, d1.loss_plan_l1_fix_time: 0.6322, d1.loss_plan_l1_fix_dist: 0.1933, d2.loss_plan_l1_fix_time: 0.6154, d2.loss_plan_l1_fix_dist: 0.2189, d3.loss_plan_l1_fix_time: 0.6109, d3.loss_plan_l1_fix_dist: 0.2119, d4.loss_plan_l1_fix_time: 0.6123, d4.loss_plan_l1_fix_dist: 0.2063, d5.loss_plan_l1_fix_time: 0.6146, d5.loss_plan_l1_fix_dist: 0.2548, d6.loss_plan_l1_fix_time: 0.6175, d6.loss_plan_l1_fix_dist: 0.2360, d0.loss_cls_all: 0.1265, d0.loss_bbox_all: 0.3378, d0.loss_cls: 0.1265, d0.loss_bbox: 0.3378, d1.loss_cls: 0.1196, d1.loss_bbox: 0.3093, d2.loss_cls: 0.1074, d2.loss_bbox: 0.2892, d3.loss_cls: 0.0885, d3.loss_bbox: 0.2833, d4.loss_cls: 0.0839, d4.loss_bbox: 0.2795, d5.loss_cls: 0.0810, d5.loss_bbox: 0.2790, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5873, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4628, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4152, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3929, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3805, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3795, d0.loss_map_cls_all: 0.1689, d0.loss_map_pts_all: 0.9605, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1689, d0.loss_map_pts: 0.9605, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1367, d1.loss_map_pts: 0.6906, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1123, d2.loss_map_pts: 0.5299, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1016, d3.loss_map_pts: 0.4734, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0964, d4.loss_map_pts: 0.4552, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0909, d5.loss_map_pts: 0.4493, d5.loss_map_dir: 0.0054, loss: 20.3889, grad_norm: 144.3096 +2026-03-01 02:49:14,718 - DriveTransformer - INFO - Epoch [12][250/39528] lr: 5.696e-05, eta: 4 days, 8:18:14, time: 0.750, data_time: 0.031, memory: 19865, loss_cls: 0.0843, loss_bbox: 0.2730, loss_traj: 0.4593, loss_traj_cls: 0.0021, loss_map_cls: 0.0937, loss_map_pts: 0.4827, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.8398, d0.loss_plan_l1_fix_dist: 0.4752, d1.loss_plan_l1_fix_time: 0.7317, d1.loss_plan_l1_fix_dist: 0.1875, d2.loss_plan_l1_fix_time: 0.7185, d2.loss_plan_l1_fix_dist: 0.2346, d3.loss_plan_l1_fix_time: 0.7142, d3.loss_plan_l1_fix_dist: 0.1984, d4.loss_plan_l1_fix_time: 0.7164, d4.loss_plan_l1_fix_dist: 0.1948, d5.loss_plan_l1_fix_time: 0.7187, d5.loss_plan_l1_fix_dist: 0.2095, d6.loss_plan_l1_fix_time: 0.7212, d6.loss_plan_l1_fix_dist: 0.2122, d0.loss_cls_all: 0.1233, d0.loss_bbox_all: 0.3363, d0.loss_cls: 0.1233, d0.loss_bbox: 0.3363, d1.loss_cls: 0.1160, d1.loss_bbox: 0.3022, d2.loss_cls: 0.1050, d2.loss_bbox: 0.2833, d3.loss_cls: 0.0912, d3.loss_bbox: 0.2782, d4.loss_cls: 0.0847, d4.loss_bbox: 0.2764, d5.loss_cls: 0.0846, d5.loss_bbox: 0.2736, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7457, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5557, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4944, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4666, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4609, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4603, d0.loss_map_cls_all: 0.1803, d0.loss_map_pts_all: 1.1275, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1803, d0.loss_map_pts: 1.1275, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1461, d1.loss_map_pts: 0.7871, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1200, d2.loss_map_pts: 0.5924, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1094, d3.loss_map_pts: 0.5210, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1019, d4.loss_map_pts: 0.4914, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0966, d5.loss_map_pts: 0.4837, d5.loss_map_dir: 0.0058, loss: 22.3814, grad_norm: 139.7184 +2026-03-01 02:49:49,876 - DriveTransformer - INFO - Epoch [12][300/39528] lr: 5.696e-05, eta: 4 days, 8:17:34, time: 0.703, data_time: 0.035, memory: 19865, loss_cls: 0.0821, loss_bbox: 0.2652, loss_traj: 0.5267, loss_traj_cls: 0.0020, loss_map_cls: 0.0981, loss_map_pts: 0.4654, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.8715, d0.loss_plan_l1_fix_dist: 0.4033, d1.loss_plan_l1_fix_time: 0.7305, d1.loss_plan_l1_fix_dist: 0.1805, d2.loss_plan_l1_fix_time: 0.7188, d2.loss_plan_l1_fix_dist: 0.2376, d3.loss_plan_l1_fix_time: 0.7149, d3.loss_plan_l1_fix_dist: 0.1986, d4.loss_plan_l1_fix_time: 0.7172, d4.loss_plan_l1_fix_dist: 0.1950, d5.loss_plan_l1_fix_time: 0.7197, d5.loss_plan_l1_fix_dist: 0.1957, d6.loss_plan_l1_fix_time: 0.7222, d6.loss_plan_l1_fix_dist: 0.2207, d0.loss_cls_all: 0.1220, d0.loss_bbox_all: 0.3290, d0.loss_cls: 0.1220, d0.loss_bbox: 0.3290, d1.loss_cls: 0.1151, d1.loss_bbox: 0.2995, d2.loss_cls: 0.1045, d2.loss_bbox: 0.2787, d3.loss_cls: 0.0897, d3.loss_bbox: 0.2702, d4.loss_cls: 0.0843, d4.loss_bbox: 0.2668, d5.loss_cls: 0.0826, d5.loss_bbox: 0.2653, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8253, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.6200, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5439, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5336, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5276, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5270, d0.loss_map_cls_all: 0.1729, d0.loss_map_pts_all: 0.9768, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1729, d0.loss_map_pts: 0.9768, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1473, d1.loss_map_pts: 0.7266, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.1207, d2.loss_map_pts: 0.5593, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.1123, d3.loss_map_pts: 0.4965, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.1073, d4.loss_map_pts: 0.4727, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.1005, d5.loss_map_pts: 0.4668, d5.loss_map_dir: 0.0049, loss: 22.2554, grad_norm: 141.2096 +2026-03-01 02:50:25,846 - DriveTransformer - INFO - Epoch [12][350/39528] lr: 5.696e-05, eta: 4 days, 8:16:55, time: 0.719, data_time: 0.031, memory: 19865, loss_cls: 0.0893, loss_bbox: 0.2654, loss_traj: 0.4776, loss_traj_cls: 0.0021, loss_map_cls: 0.0908, loss_map_pts: 0.4749, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.2097, d0.loss_plan_l1_fix_dist: 0.3443, d1.loss_plan_l1_fix_time: 0.6098, d1.loss_plan_l1_fix_dist: 0.1668, d2.loss_plan_l1_fix_time: 0.5988, d2.loss_plan_l1_fix_dist: 0.2138, d3.loss_plan_l1_fix_time: 0.5930, d3.loss_plan_l1_fix_dist: 0.1842, d4.loss_plan_l1_fix_time: 0.5936, d4.loss_plan_l1_fix_dist: 0.1783, d5.loss_plan_l1_fix_time: 0.5950, d5.loss_plan_l1_fix_dist: 0.1713, d6.loss_plan_l1_fix_time: 0.5971, d6.loss_plan_l1_fix_dist: 0.2093, d0.loss_cls_all: 0.1347, d0.loss_bbox_all: 0.3341, d0.loss_cls: 0.1347, d0.loss_bbox: 0.3341, d1.loss_cls: 0.1247, d1.loss_bbox: 0.2998, d2.loss_cls: 0.1120, d2.loss_bbox: 0.2774, d3.loss_cls: 0.0949, d3.loss_bbox: 0.2700, d4.loss_cls: 0.0908, d4.loss_bbox: 0.2675, d5.loss_cls: 0.0894, d5.loss_bbox: 0.2664, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7349, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5622, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5108, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4909, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4813, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4789, d0.loss_map_cls_all: 0.1781, d0.loss_map_pts_all: 0.9983, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1781, d0.loss_map_pts: 0.9983, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1454, d1.loss_map_pts: 0.7161, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1196, d2.loss_map_pts: 0.5656, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1070, d3.loss_map_pts: 0.5041, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0993, d4.loss_map_pts: 0.4796, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0938, d5.loss_map_pts: 0.4758, d5.loss_map_dir: 0.0054, loss: 20.4615, grad_norm: 136.0214 +2026-03-01 02:51:02,499 - DriveTransformer - INFO - Epoch [12][400/39528] lr: 5.696e-05, eta: 4 days, 8:16:19, time: 0.733, data_time: 0.032, memory: 19865, loss_cls: 0.0945, loss_bbox: 0.2785, loss_traj: 0.5172, loss_traj_cls: 0.0021, loss_map_cls: 0.0883, loss_map_pts: 0.4690, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.2684, d0.loss_plan_l1_fix_dist: 0.3967, d1.loss_plan_l1_fix_time: 0.6819, d1.loss_plan_l1_fix_dist: 0.1996, d2.loss_plan_l1_fix_time: 0.6694, d2.loss_plan_l1_fix_dist: 0.2292, d3.loss_plan_l1_fix_time: 0.6710, d3.loss_plan_l1_fix_dist: 0.2187, d4.loss_plan_l1_fix_time: 0.6725, d4.loss_plan_l1_fix_dist: 0.2163, d5.loss_plan_l1_fix_time: 0.6743, d5.loss_plan_l1_fix_dist: 0.2179, d6.loss_plan_l1_fix_time: 0.6770, d6.loss_plan_l1_fix_dist: 0.2459, d0.loss_cls_all: 0.1394, d0.loss_bbox_all: 0.3424, d0.loss_cls: 0.1394, d0.loss_bbox: 0.3424, d1.loss_cls: 0.1295, d1.loss_bbox: 0.3130, d2.loss_cls: 0.1194, d2.loss_bbox: 0.2877, d3.loss_cls: 0.1011, d3.loss_bbox: 0.2835, d4.loss_cls: 0.0972, d4.loss_bbox: 0.2793, d5.loss_cls: 0.0950, d5.loss_bbox: 0.2783, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8701, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.6395, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5620, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5363, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5262, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5209, d0.loss_map_cls_all: 0.1814, d0.loss_map_pts_all: 1.0080, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1814, d0.loss_map_pts: 1.0080, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1414, d1.loss_map_pts: 0.7207, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1143, d2.loss_map_pts: 0.5497, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1028, d3.loss_map_pts: 0.4915, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0953, d4.loss_map_pts: 0.4726, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0905, d5.loss_map_pts: 0.4702, d5.loss_map_dir: 0.0060, loss: 21.7719, grad_norm: 137.4786 +2026-03-01 02:51:36,885 - DriveTransformer - INFO - Epoch [12][450/39528] lr: 5.696e-05, eta: 4 days, 8:15:37, time: 0.688, data_time: 0.035, memory: 19865, loss_cls: 0.0886, loss_bbox: 0.2744, loss_traj: 0.4693, loss_traj_cls: 0.0021, loss_map_cls: 0.0847, loss_map_pts: 0.4265, loss_map_dir: 0.0045, d0.loss_plan_l1_fix_time: 2.8594, d0.loss_plan_l1_fix_dist: 0.4102, d1.loss_plan_l1_fix_time: 0.7606, d1.loss_plan_l1_fix_dist: 0.2040, d2.loss_plan_l1_fix_time: 0.7392, d2.loss_plan_l1_fix_dist: 0.2064, d3.loss_plan_l1_fix_time: 0.7332, d3.loss_plan_l1_fix_dist: 0.2241, d4.loss_plan_l1_fix_time: 0.7343, d4.loss_plan_l1_fix_dist: 0.2097, d5.loss_plan_l1_fix_time: 0.7361, d5.loss_plan_l1_fix_dist: 0.2066, d6.loss_plan_l1_fix_time: 0.7389, d6.loss_plan_l1_fix_dist: 0.2068, d0.loss_cls_all: 0.1358, d0.loss_bbox_all: 0.3327, d0.loss_cls: 0.1358, d0.loss_bbox: 0.3327, d1.loss_cls: 0.1286, d1.loss_bbox: 0.3027, d2.loss_cls: 0.1152, d2.loss_bbox: 0.2819, d3.loss_cls: 0.0977, d3.loss_bbox: 0.2770, d4.loss_cls: 0.0919, d4.loss_bbox: 0.2765, d5.loss_cls: 0.0893, d5.loss_bbox: 0.2749, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7534, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5569, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5007, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4751, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4705, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4682, d0.loss_map_cls_all: 0.1578, d0.loss_map_pts_all: 0.9025, d0.loss_map_dir_all: 0.0044, d0.loss_map_cls: 0.1578, d0.loss_map_pts: 0.9025, d0.loss_map_dir: 0.0044, d1.loss_map_cls: 0.1294, d1.loss_map_pts: 0.6485, d1.loss_map_dir: 0.0041, d2.loss_map_cls: 0.1082, d2.loss_map_pts: 0.5050, d2.loss_map_dir: 0.0039, d3.loss_map_cls: 0.0990, d3.loss_map_pts: 0.4491, d3.loss_map_dir: 0.0042, d4.loss_map_cls: 0.0926, d4.loss_map_pts: 0.4270, d4.loss_map_dir: 0.0043, d5.loss_map_cls: 0.0870, d5.loss_map_pts: 0.4252, d5.loss_map_dir: 0.0044, loss: 21.5439, grad_norm: 134.4403 +2026-03-01 02:52:13,810 - DriveTransformer - INFO - Epoch [12][500/39528] lr: 5.696e-05, eta: 4 days, 8:15:01, time: 0.738, data_time: 0.030, memory: 19865, loss_cls: 0.0880, loss_bbox: 0.2624, loss_traj: 0.4230, loss_traj_cls: 0.0021, loss_map_cls: 0.0886, loss_map_pts: 0.4815, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.7650, d0.loss_plan_l1_fix_dist: 0.4720, d1.loss_plan_l1_fix_time: 0.6726, d1.loss_plan_l1_fix_dist: 0.2256, d2.loss_plan_l1_fix_time: 0.6568, d2.loss_plan_l1_fix_dist: 0.2216, d3.loss_plan_l1_fix_time: 0.6528, d3.loss_plan_l1_fix_dist: 0.2356, d4.loss_plan_l1_fix_time: 0.6536, d4.loss_plan_l1_fix_dist: 0.2215, d5.loss_plan_l1_fix_time: 0.6555, d5.loss_plan_l1_fix_dist: 0.2211, d6.loss_plan_l1_fix_time: 0.6574, d6.loss_plan_l1_fix_dist: 0.2248, d0.loss_cls_all: 0.1295, d0.loss_bbox_all: 0.3321, d0.loss_cls: 0.1295, d0.loss_bbox: 0.3321, d1.loss_cls: 0.1232, d1.loss_bbox: 0.2963, d2.loss_cls: 0.1107, d2.loss_bbox: 0.2770, d3.loss_cls: 0.0938, d3.loss_bbox: 0.2704, d4.loss_cls: 0.0887, d4.loss_bbox: 0.2654, d5.loss_cls: 0.0875, d5.loss_bbox: 0.2633, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6571, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4998, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4464, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4293, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4263, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4243, d0.loss_map_cls_all: 0.1735, d0.loss_map_pts_all: 0.9968, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1735, d0.loss_map_pts: 0.9968, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1377, d1.loss_map_pts: 0.7194, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1133, d2.loss_map_pts: 0.5748, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1045, d3.loss_map_pts: 0.5152, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0982, d4.loss_map_pts: 0.4875, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0914, d5.loss_map_pts: 0.4818, d5.loss_map_dir: 0.0061, loss: 21.2826, grad_norm: 130.3834 +2026-03-01 02:52:50,827 - DriveTransformer - INFO - Epoch [12][550/39528] lr: 5.696e-05, eta: 4 days, 8:14:26, time: 0.740, data_time: 0.030, memory: 19865, loss_cls: 0.0782, loss_bbox: 0.2596, loss_traj: 0.4101, loss_traj_cls: 0.0021, loss_map_cls: 0.0856, loss_map_pts: 0.4903, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.6307, d0.loss_plan_l1_fix_dist: 0.4754, d1.loss_plan_l1_fix_time: 0.7225, d1.loss_plan_l1_fix_dist: 0.2156, d2.loss_plan_l1_fix_time: 0.7170, d2.loss_plan_l1_fix_dist: 0.2095, d3.loss_plan_l1_fix_time: 0.6966, d3.loss_plan_l1_fix_dist: 0.2185, d4.loss_plan_l1_fix_time: 0.6978, d4.loss_plan_l1_fix_dist: 0.2048, d5.loss_plan_l1_fix_time: 0.6994, d5.loss_plan_l1_fix_dist: 0.1954, d6.loss_plan_l1_fix_time: 0.7013, d6.loss_plan_l1_fix_dist: 0.2010, d0.loss_cls_all: 0.1167, d0.loss_bbox_all: 0.3341, d0.loss_cls: 0.1167, d0.loss_bbox: 0.3341, d1.loss_cls: 0.1117, d1.loss_bbox: 0.2971, d2.loss_cls: 0.1018, d2.loss_bbox: 0.2757, d3.loss_cls: 0.0850, d3.loss_bbox: 0.2672, d4.loss_cls: 0.0799, d4.loss_bbox: 0.2635, d5.loss_cls: 0.0785, d5.loss_bbox: 0.2611, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6000, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4767, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4331, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4204, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4140, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4123, d0.loss_map_cls_all: 0.1667, d0.loss_map_pts_all: 1.0555, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1667, d0.loss_map_pts: 1.0555, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1368, d1.loss_map_pts: 0.7399, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1128, d2.loss_map_pts: 0.5775, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1027, d3.loss_map_pts: 0.5211, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.0948, d4.loss_map_pts: 0.4976, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0884, d5.loss_map_pts: 0.4912, d5.loss_map_dir: 0.0065, loss: 21.2533, grad_norm: 129.4041 +2026-03-01 02:53:28,613 - DriveTransformer - INFO - Epoch [12][600/39528] lr: 5.696e-05, eta: 4 days, 8:13:53, time: 0.756, data_time: 0.031, memory: 19865, loss_cls: 0.0840, loss_bbox: 0.2825, loss_traj: 0.4775, loss_traj_cls: 0.0021, loss_map_cls: 0.1003, loss_map_pts: 0.5696, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.3987, d0.loss_plan_l1_fix_dist: 0.4092, d1.loss_plan_l1_fix_time: 0.7305, d1.loss_plan_l1_fix_dist: 0.1997, d2.loss_plan_l1_fix_time: 0.7107, d2.loss_plan_l1_fix_dist: 0.1852, d3.loss_plan_l1_fix_time: 0.7112, d3.loss_plan_l1_fix_dist: 0.2078, d4.loss_plan_l1_fix_time: 0.7137, d4.loss_plan_l1_fix_dist: 0.2310, d5.loss_plan_l1_fix_time: 0.7157, d5.loss_plan_l1_fix_dist: 0.2000, d6.loss_plan_l1_fix_time: 0.7177, d6.loss_plan_l1_fix_dist: 0.2114, d0.loss_cls_all: 0.1331, d0.loss_bbox_all: 0.3543, d0.loss_cls: 0.1331, d0.loss_bbox: 0.3543, d1.loss_cls: 0.1268, d1.loss_bbox: 0.3160, d2.loss_cls: 0.1128, d2.loss_bbox: 0.2925, d3.loss_cls: 0.0930, d3.loss_bbox: 0.2870, d4.loss_cls: 0.0857, d4.loss_bbox: 0.2848, d5.loss_cls: 0.0842, d5.loss_bbox: 0.2820, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7368, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5665, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5121, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4849, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4801, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4793, d0.loss_map_cls_all: 0.1904, d0.loss_map_pts_all: 1.1404, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1904, d0.loss_map_pts: 1.1404, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1563, d1.loss_map_pts: 0.8338, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1289, d2.loss_map_pts: 0.6648, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1161, d3.loss_map_pts: 0.5998, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1075, d4.loss_map_pts: 0.5745, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1031, d5.loss_map_pts: 0.5696, d5.loss_map_dir: 0.0072, loss: 22.6349, grad_norm: 127.5210 +2026-03-01 02:54:05,281 - DriveTransformer - INFO - Epoch [12][650/39528] lr: 5.696e-05, eta: 4 days, 8:13:16, time: 0.733, data_time: 0.032, memory: 19865, loss_cls: 0.0965, loss_bbox: 0.2893, loss_traj: 0.4892, loss_traj_cls: 0.0020, loss_map_cls: 0.1009, loss_map_pts: 0.5390, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.5660, d0.loss_plan_l1_fix_dist: 0.3871, d1.loss_plan_l1_fix_time: 0.6908, d1.loss_plan_l1_fix_dist: 0.1844, d2.loss_plan_l1_fix_time: 0.6690, d2.loss_plan_l1_fix_dist: 0.1780, d3.loss_plan_l1_fix_time: 0.6735, d3.loss_plan_l1_fix_dist: 0.1880, d4.loss_plan_l1_fix_time: 0.6759, d4.loss_plan_l1_fix_dist: 0.2495, d5.loss_plan_l1_fix_time: 0.6787, d5.loss_plan_l1_fix_dist: 0.2007, d6.loss_plan_l1_fix_time: 0.6815, d6.loss_plan_l1_fix_dist: 0.2159, d0.loss_cls_all: 0.1481, d0.loss_bbox_all: 0.3663, d0.loss_cls: 0.1481, d0.loss_bbox: 0.3663, d1.loss_cls: 0.1338, d1.loss_bbox: 0.3337, d2.loss_cls: 0.1209, d2.loss_bbox: 0.3067, d3.loss_cls: 0.1027, d3.loss_bbox: 0.2961, d4.loss_cls: 0.0989, d4.loss_bbox: 0.2922, d5.loss_cls: 0.0978, d5.loss_bbox: 0.2889, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7246, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5617, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5058, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4901, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4872, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4895, d0.loss_map_cls_all: 0.1973, d0.loss_map_pts_all: 1.1244, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1973, d0.loss_map_pts: 1.1244, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1605, d1.loss_map_pts: 0.8317, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1315, d2.loss_map_pts: 0.6448, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1161, d3.loss_map_pts: 0.5687, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1079, d4.loss_map_pts: 0.5468, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1040, d5.loss_map_pts: 0.5390, d5.loss_map_dir: 0.0063, loss: 22.5650, grad_norm: 129.2608 +2026-03-01 02:54:41,410 - DriveTransformer - INFO - Epoch [12][700/39528] lr: 5.696e-05, eta: 4 days, 8:12:39, time: 0.723, data_time: 0.031, memory: 19865, loss_cls: 0.0703, loss_bbox: 0.2434, loss_traj: 0.4896, loss_traj_cls: 0.0021, loss_map_cls: 0.0734, loss_map_pts: 0.3840, loss_map_dir: 0.0047, d0.loss_plan_l1_fix_time: 2.5061, d0.loss_plan_l1_fix_dist: 0.4526, d1.loss_plan_l1_fix_time: 0.6927, d1.loss_plan_l1_fix_dist: 0.1753, d2.loss_plan_l1_fix_time: 0.6746, d2.loss_plan_l1_fix_dist: 0.1774, d3.loss_plan_l1_fix_time: 0.6604, d3.loss_plan_l1_fix_dist: 0.1804, d4.loss_plan_l1_fix_time: 0.6624, d4.loss_plan_l1_fix_dist: 0.2488, d5.loss_plan_l1_fix_time: 0.6651, d5.loss_plan_l1_fix_dist: 0.1936, d6.loss_plan_l1_fix_time: 0.6682, d6.loss_plan_l1_fix_dist: 0.2253, d0.loss_cls_all: 0.1113, d0.loss_bbox_all: 0.3088, d0.loss_cls: 0.1113, d0.loss_bbox: 0.3088, d1.loss_cls: 0.1044, d1.loss_bbox: 0.2763, d2.loss_cls: 0.0913, d2.loss_bbox: 0.2554, d3.loss_cls: 0.0751, d3.loss_bbox: 0.2504, d4.loss_cls: 0.0701, d4.loss_bbox: 0.2473, d5.loss_cls: 0.0698, d5.loss_bbox: 0.2440, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7976, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5944, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5332, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5077, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4953, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4923, d0.loss_map_cls_all: 0.1397, d0.loss_map_pts_all: 0.8415, d0.loss_map_dir_all: 0.0050, d0.loss_map_cls: 0.1397, d0.loss_map_pts: 0.8415, d0.loss_map_dir: 0.0050, d1.loss_map_cls: 0.1164, d1.loss_map_pts: 0.5966, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.0964, d2.loss_map_pts: 0.4624, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.0871, d3.loss_map_pts: 0.4081, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0801, d4.loss_map_pts: 0.3883, d4.loss_map_dir: 0.0046, d5.loss_map_cls: 0.0755, d5.loss_map_pts: 0.3837, d5.loss_map_dir: 0.0046, loss: 20.0899, grad_norm: 130.0550 +2026-03-01 02:55:18,712 - DriveTransformer - INFO - Epoch [12][750/39528] lr: 5.696e-05, eta: 4 days, 8:12:04, time: 0.746, data_time: 0.034, memory: 19865, loss_cls: 0.0893, loss_bbox: 0.2963, loss_traj: 0.4647, loss_traj_cls: 0.0020, loss_map_cls: 0.1019, loss_map_pts: 0.5246, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.6453, d0.loss_plan_l1_fix_dist: 0.3281, d1.loss_plan_l1_fix_time: 0.6718, d1.loss_plan_l1_fix_dist: 0.1652, d2.loss_plan_l1_fix_time: 0.6522, d2.loss_plan_l1_fix_dist: 0.1720, d3.loss_plan_l1_fix_time: 0.6447, d3.loss_plan_l1_fix_dist: 0.1903, d4.loss_plan_l1_fix_time: 0.6452, d4.loss_plan_l1_fix_dist: 0.2361, d5.loss_plan_l1_fix_time: 0.6461, d5.loss_plan_l1_fix_dist: 0.1860, d6.loss_plan_l1_fix_time: 0.6478, d6.loss_plan_l1_fix_dist: 0.2167, d0.loss_cls_all: 0.1367, d0.loss_bbox_all: 0.3595, d0.loss_cls: 0.1367, d0.loss_bbox: 0.3595, d1.loss_cls: 0.1330, d1.loss_bbox: 0.3250, d2.loss_cls: 0.1183, d2.loss_bbox: 0.3060, d3.loss_cls: 0.0981, d3.loss_bbox: 0.3019, d4.loss_cls: 0.0911, d4.loss_bbox: 0.2981, d5.loss_cls: 0.0905, d5.loss_bbox: 0.2953, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6933, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5268, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4839, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4703, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4654, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4662, d0.loss_map_cls_all: 0.1762, d0.loss_map_pts_all: 1.0964, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1762, d0.loss_map_pts: 1.0964, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1485, d1.loss_map_pts: 0.7902, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1267, d2.loss_map_pts: 0.6185, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1162, d3.loss_map_pts: 0.5540, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1103, d4.loss_map_pts: 0.5312, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1046, d5.loss_map_pts: 0.5242, d5.loss_map_dir: 0.0067, loss: 21.9101, grad_norm: 126.1171 +2026-03-01 02:55:54,751 - DriveTransformer - INFO - Epoch [12][800/39528] lr: 5.696e-05, eta: 4 days, 8:11:26, time: 0.721, data_time: 0.034, memory: 19865, loss_cls: 0.0858, loss_bbox: 0.2643, loss_traj: 0.4643, loss_traj_cls: 0.0020, loss_map_cls: 0.1054, loss_map_pts: 0.4988, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.2993, d0.loss_plan_l1_fix_dist: 0.4001, d1.loss_plan_l1_fix_time: 0.6688, d1.loss_plan_l1_fix_dist: 0.1578, d2.loss_plan_l1_fix_time: 0.6633, d2.loss_plan_l1_fix_dist: 0.1744, d3.loss_plan_l1_fix_time: 0.6658, d3.loss_plan_l1_fix_dist: 0.2048, d4.loss_plan_l1_fix_time: 0.6692, d4.loss_plan_l1_fix_dist: 0.2520, d5.loss_plan_l1_fix_time: 0.6717, d5.loss_plan_l1_fix_dist: 0.2216, d6.loss_plan_l1_fix_time: 0.6743, d6.loss_plan_l1_fix_dist: 0.2473, d0.loss_cls_all: 0.1208, d0.loss_bbox_all: 0.3317, d0.loss_cls: 0.1208, d0.loss_bbox: 0.3317, d1.loss_cls: 0.1164, d1.loss_bbox: 0.2982, d2.loss_cls: 0.1065, d2.loss_bbox: 0.2767, d3.loss_cls: 0.0938, d3.loss_bbox: 0.2669, d4.loss_cls: 0.0875, d4.loss_bbox: 0.2652, d5.loss_cls: 0.0873, d5.loss_bbox: 0.2635, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7094, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5524, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4959, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4794, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4688, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4668, d0.loss_map_cls_all: 0.1834, d0.loss_map_pts_all: 1.0764, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1834, d0.loss_map_pts: 1.0764, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1534, d1.loss_map_pts: 0.7646, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1308, d2.loss_map_pts: 0.5923, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1190, d3.loss_map_pts: 0.5258, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1133, d4.loss_map_pts: 0.5037, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1086, d5.loss_map_pts: 0.4986, d5.loss_map_dir: 0.0056, loss: 21.4100, grad_norm: 129.7732 +2026-03-01 02:56:32,434 - DriveTransformer - INFO - Epoch [12][850/39528] lr: 5.696e-05, eta: 4 days, 8:10:53, time: 0.754, data_time: 0.033, memory: 19865, loss_cls: 0.0939, loss_bbox: 0.2878, loss_traj: 0.4111, loss_traj_cls: 0.0020, loss_map_cls: 0.0997, loss_map_pts: 0.5132, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.7682, d0.loss_plan_l1_fix_dist: 0.4163, d1.loss_plan_l1_fix_time: 0.6909, d1.loss_plan_l1_fix_dist: 0.1753, d2.loss_plan_l1_fix_time: 0.6785, d2.loss_plan_l1_fix_dist: 0.1901, d3.loss_plan_l1_fix_time: 0.6771, d3.loss_plan_l1_fix_dist: 0.2393, d4.loss_plan_l1_fix_time: 0.6801, d4.loss_plan_l1_fix_dist: 0.2583, d5.loss_plan_l1_fix_time: 0.6830, d5.loss_plan_l1_fix_dist: 0.2502, d6.loss_plan_l1_fix_time: 0.6857, d6.loss_plan_l1_fix_dist: 0.2585, d0.loss_cls_all: 0.1448, d0.loss_bbox_all: 0.3657, d0.loss_cls: 0.1448, d0.loss_bbox: 0.3657, d1.loss_cls: 0.1358, d1.loss_bbox: 0.3289, d2.loss_cls: 0.1227, d2.loss_bbox: 0.3014, d3.loss_cls: 0.1040, d3.loss_bbox: 0.2926, d4.loss_cls: 0.0966, d4.loss_bbox: 0.2888, d5.loss_cls: 0.0947, d5.loss_bbox: 0.2878, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6388, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5099, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4540, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4189, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4105, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4119, d0.loss_map_cls_all: 0.1873, d0.loss_map_pts_all: 1.0728, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1873, d0.loss_map_pts: 1.0728, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1524, d1.loss_map_pts: 0.7696, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1252, d2.loss_map_pts: 0.6014, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1130, d3.loss_map_pts: 0.5389, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1062, d4.loss_map_pts: 0.5170, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1016, d5.loss_map_pts: 0.5136, d5.loss_map_dir: 0.0061, loss: 22.0897, grad_norm: 129.4335 +2026-03-01 02:57:09,090 - DriveTransformer - INFO - Epoch [12][900/39528] lr: 5.696e-05, eta: 4 days, 8:10:16, time: 0.733, data_time: 0.034, memory: 19865, loss_cls: 0.0840, loss_bbox: 0.2793, loss_traj: 0.5385, loss_traj_cls: 0.0020, loss_map_cls: 0.0908, loss_map_pts: 0.4480, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.9041, d0.loss_plan_l1_fix_dist: 0.3983, d1.loss_plan_l1_fix_time: 0.7547, d1.loss_plan_l1_fix_dist: 0.1795, d2.loss_plan_l1_fix_time: 0.7428, d2.loss_plan_l1_fix_dist: 0.1716, d3.loss_plan_l1_fix_time: 0.7205, d3.loss_plan_l1_fix_dist: 0.2513, d4.loss_plan_l1_fix_time: 0.7203, d4.loss_plan_l1_fix_dist: 0.2128, d5.loss_plan_l1_fix_time: 0.7217, d5.loss_plan_l1_fix_dist: 0.2099, d6.loss_plan_l1_fix_time: 0.7234, d6.loss_plan_l1_fix_dist: 0.2048, d0.loss_cls_all: 0.1278, d0.loss_bbox_all: 0.3418, d0.loss_cls: 0.1278, d0.loss_bbox: 0.3418, d1.loss_cls: 0.1246, d1.loss_bbox: 0.3097, d2.loss_cls: 0.1109, d2.loss_bbox: 0.2890, d3.loss_cls: 0.0910, d3.loss_bbox: 0.2843, d4.loss_cls: 0.0868, d4.loss_bbox: 0.2799, d5.loss_cls: 0.0845, d5.loss_bbox: 0.2794, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7942, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.6183, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5637, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5426, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5367, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5385, d0.loss_map_cls_all: 0.1603, d0.loss_map_pts_all: 0.9255, d0.loss_map_dir_all: 0.0049, d0.loss_map_cls: 0.1603, d0.loss_map_pts: 0.9255, d0.loss_map_dir: 0.0049, d1.loss_map_cls: 0.1330, d1.loss_map_pts: 0.6758, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.1143, d2.loss_map_pts: 0.5312, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.1042, d3.loss_map_pts: 0.4731, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0974, d4.loss_map_pts: 0.4539, d4.loss_map_dir: 0.0046, d5.loss_map_cls: 0.0922, d5.loss_map_pts: 0.4487, d5.loss_map_dir: 0.0046, loss: 22.1682, grad_norm: 127.6865 +2026-03-01 02:57:45,560 - DriveTransformer - INFO - Epoch [12][950/39528] lr: 5.696e-05, eta: 4 days, 8:09:40, time: 0.730, data_time: 0.035, memory: 19865, loss_cls: 0.0959, loss_bbox: 0.2801, loss_traj: 0.4574, loss_traj_cls: 0.0020, loss_map_cls: 0.1011, loss_map_pts: 0.5445, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.8977, d0.loss_plan_l1_fix_dist: 0.4683, d1.loss_plan_l1_fix_time: 0.7738, d1.loss_plan_l1_fix_dist: 0.1933, d2.loss_plan_l1_fix_time: 0.7465, d2.loss_plan_l1_fix_dist: 0.1838, d3.loss_plan_l1_fix_time: 0.7314, d3.loss_plan_l1_fix_dist: 0.2802, d4.loss_plan_l1_fix_time: 0.7325, d4.loss_plan_l1_fix_dist: 0.2123, d5.loss_plan_l1_fix_time: 0.7341, d5.loss_plan_l1_fix_dist: 0.2107, d6.loss_plan_l1_fix_time: 0.7363, d6.loss_plan_l1_fix_dist: 0.2310, d0.loss_cls_all: 0.1413, d0.loss_bbox_all: 0.3595, d0.loss_cls: 0.1413, d0.loss_bbox: 0.3595, d1.loss_cls: 0.1389, d1.loss_bbox: 0.3214, d2.loss_cls: 0.1219, d2.loss_bbox: 0.2956, d3.loss_cls: 0.1019, d3.loss_bbox: 0.2883, d4.loss_cls: 0.0960, d4.loss_bbox: 0.2843, d5.loss_cls: 0.0962, d5.loss_bbox: 0.2814, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7213, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5588, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4837, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4620, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4581, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4561, d0.loss_map_cls_all: 0.1859, d0.loss_map_pts_all: 1.1311, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1859, d0.loss_map_pts: 1.1311, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1540, d1.loss_map_pts: 0.8301, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1292, d2.loss_map_pts: 0.6403, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1158, d3.loss_map_pts: 0.5743, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1094, d4.loss_map_pts: 0.5499, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1043, d5.loss_map_pts: 0.5447, d5.loss_map_dir: 0.0061, loss: 23.2213, grad_norm: 126.4173 +2026-03-01 02:58:22,489 - DriveTransformer - INFO - Epoch [12][1000/39528] lr: 5.696e-05, eta: 4 days, 8:09:04, time: 0.740, data_time: 0.037, memory: 19865, loss_cls: 0.0850, loss_bbox: 0.2764, loss_traj: 0.3968, loss_traj_cls: 0.0021, loss_map_cls: 0.0835, loss_map_pts: 0.4816, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.4587, d0.loss_plan_l1_fix_dist: 0.4086, d1.loss_plan_l1_fix_time: 0.7073, d1.loss_plan_l1_fix_dist: 0.1789, d2.loss_plan_l1_fix_time: 0.6931, d2.loss_plan_l1_fix_dist: 0.1688, d3.loss_plan_l1_fix_time: 0.6781, d3.loss_plan_l1_fix_dist: 0.2597, d4.loss_plan_l1_fix_time: 0.6796, d4.loss_plan_l1_fix_dist: 0.1911, d5.loss_plan_l1_fix_time: 0.6821, d5.loss_plan_l1_fix_dist: 0.1764, d6.loss_plan_l1_fix_time: 0.6860, d6.loss_plan_l1_fix_dist: 0.2145, d0.loss_cls_all: 0.1293, d0.loss_bbox_all: 0.3309, d0.loss_cls: 0.1293, d0.loss_bbox: 0.3309, d1.loss_cls: 0.1248, d1.loss_bbox: 0.2983, d2.loss_cls: 0.1120, d2.loss_bbox: 0.2796, d3.loss_cls: 0.0937, d3.loss_bbox: 0.2748, d4.loss_cls: 0.0870, d4.loss_bbox: 0.2755, d5.loss_cls: 0.0859, d5.loss_bbox: 0.2753, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5713, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4492, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4183, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4026, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3978, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3971, d0.loss_map_cls_all: 0.1529, d0.loss_map_pts_all: 0.9906, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1529, d0.loss_map_pts: 0.9906, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1263, d1.loss_map_pts: 0.7143, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1061, d2.loss_map_pts: 0.5700, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0964, d3.loss_map_pts: 0.5129, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0903, d4.loss_map_pts: 0.4888, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0851, d5.loss_map_pts: 0.4825, d5.loss_map_dir: 0.0056, loss: 20.5820, grad_norm: 124.4831 +2026-03-01 02:58:57,357 - DriveTransformer - INFO - Epoch [12][1050/39528] lr: 5.696e-05, eta: 4 days, 8:08:23, time: 0.696, data_time: 0.034, memory: 19865, loss_cls: 0.0863, loss_bbox: 0.2791, loss_traj: 0.5188, loss_traj_cls: 0.0019, loss_map_cls: 0.1047, loss_map_pts: 0.4904, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.5563, d0.loss_plan_l1_fix_dist: 0.3701, d1.loss_plan_l1_fix_time: 0.6774, d1.loss_plan_l1_fix_dist: 0.1823, d2.loss_plan_l1_fix_time: 0.6628, d2.loss_plan_l1_fix_dist: 0.1801, d3.loss_plan_l1_fix_time: 0.6629, d3.loss_plan_l1_fix_dist: 0.2509, d4.loss_plan_l1_fix_time: 0.6642, d4.loss_plan_l1_fix_dist: 0.2042, d5.loss_plan_l1_fix_time: 0.6660, d5.loss_plan_l1_fix_dist: 0.2005, d6.loss_plan_l1_fix_time: 0.6677, d6.loss_plan_l1_fix_dist: 0.2340, d0.loss_cls_all: 0.1299, d0.loss_bbox_all: 0.3475, d0.loss_cls: 0.1299, d0.loss_bbox: 0.3475, d1.loss_cls: 0.1221, d1.loss_bbox: 0.3098, d2.loss_cls: 0.1102, d2.loss_bbox: 0.2864, d3.loss_cls: 0.0926, d3.loss_bbox: 0.2820, d4.loss_cls: 0.0874, d4.loss_bbox: 0.2791, d5.loss_cls: 0.0857, d5.loss_bbox: 0.2796, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7560, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5897, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5415, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5260, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5232, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5203, d0.loss_map_cls_all: 0.1984, d0.loss_map_pts_all: 1.0308, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1984, d0.loss_map_pts: 1.0308, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1662, d1.loss_map_pts: 0.7620, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1343, d2.loss_map_pts: 0.5905, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1194, d3.loss_map_pts: 0.5196, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1119, d4.loss_map_pts: 0.4953, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.1068, d5.loss_map_pts: 0.4910, d5.loss_map_dir: 0.0052, loss: 22.0085, grad_norm: 123.2482 +2026-03-01 02:59:33,524 - DriveTransformer - INFO - Epoch [12][1100/39528] lr: 5.696e-05, eta: 4 days, 8:07:45, time: 0.723, data_time: 0.034, memory: 19865, loss_cls: 0.0839, loss_bbox: 0.2724, loss_traj: 0.4470, loss_traj_cls: 0.0020, loss_map_cls: 0.0991, loss_map_pts: 0.4660, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.5017, d0.loss_plan_l1_fix_dist: 0.4634, d1.loss_plan_l1_fix_time: 0.6127, d1.loss_plan_l1_fix_dist: 0.1724, d2.loss_plan_l1_fix_time: 0.5975, d2.loss_plan_l1_fix_dist: 0.1782, d3.loss_plan_l1_fix_time: 0.6102, d3.loss_plan_l1_fix_dist: 0.2435, d4.loss_plan_l1_fix_time: 0.6145, d4.loss_plan_l1_fix_dist: 0.1983, d5.loss_plan_l1_fix_time: 0.6183, d5.loss_plan_l1_fix_dist: 0.2045, d6.loss_plan_l1_fix_time: 0.6215, d6.loss_plan_l1_fix_dist: 0.2298, d0.loss_cls_all: 0.1295, d0.loss_bbox_all: 0.3419, d0.loss_cls: 0.1295, d0.loss_bbox: 0.3419, d1.loss_cls: 0.1240, d1.loss_bbox: 0.3098, d2.loss_cls: 0.1134, d2.loss_bbox: 0.2824, d3.loss_cls: 0.0934, d3.loss_bbox: 0.2765, d4.loss_cls: 0.0853, d4.loss_bbox: 0.2748, d5.loss_cls: 0.0844, d5.loss_bbox: 0.2727, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6796, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5351, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4781, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4624, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4548, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4491, d0.loss_map_cls_all: 0.1840, d0.loss_map_pts_all: 0.9654, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1840, d0.loss_map_pts: 0.9654, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1492, d1.loss_map_pts: 0.7073, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1275, d2.loss_map_pts: 0.5496, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.1171, d3.loss_map_pts: 0.4872, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.1096, d4.loss_map_pts: 0.4684, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.1018, d5.loss_map_pts: 0.4651, d5.loss_map_dir: 0.0049, loss: 20.7834, grad_norm: 125.3977 +2026-03-01 03:00:10,551 - DriveTransformer - INFO - Epoch [12][1150/39528] lr: 5.696e-05, eta: 4 days, 8:07:10, time: 0.741, data_time: 0.039, memory: 19865, loss_cls: 0.0866, loss_bbox: 0.2861, loss_traj: 0.4594, loss_traj_cls: 0.0020, loss_map_cls: 0.1090, loss_map_pts: 0.5196, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.5458, d0.loss_plan_l1_fix_dist: 0.4360, d1.loss_plan_l1_fix_time: 0.7730, d1.loss_plan_l1_fix_dist: 0.1642, d2.loss_plan_l1_fix_time: 0.7510, d2.loss_plan_l1_fix_dist: 0.1804, d3.loss_plan_l1_fix_time: 0.7478, d3.loss_plan_l1_fix_dist: 0.2327, d4.loss_plan_l1_fix_time: 0.7504, d4.loss_plan_l1_fix_dist: 0.1842, d5.loss_plan_l1_fix_time: 0.7525, d5.loss_plan_l1_fix_dist: 0.2025, d6.loss_plan_l1_fix_time: 0.7547, d6.loss_plan_l1_fix_dist: 0.2045, d0.loss_cls_all: 0.1282, d0.loss_bbox_all: 0.3491, d0.loss_cls: 0.1282, d0.loss_bbox: 0.3491, d1.loss_cls: 0.1206, d1.loss_bbox: 0.3127, d2.loss_cls: 0.1124, d2.loss_bbox: 0.2919, d3.loss_cls: 0.0980, d3.loss_bbox: 0.2887, d4.loss_cls: 0.0911, d4.loss_bbox: 0.2864, d5.loss_cls: 0.0882, d5.loss_bbox: 0.2858, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6682, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5344, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4835, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4647, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4601, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4574, d0.loss_map_cls_all: 0.1965, d0.loss_map_pts_all: 1.0911, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1965, d0.loss_map_pts: 1.0911, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1661, d1.loss_map_pts: 0.8065, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1367, d2.loss_map_pts: 0.6237, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1241, d3.loss_map_pts: 0.5529, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1161, d4.loss_map_pts: 0.5265, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1114, d5.loss_map_pts: 0.5211, d5.loss_map_dir: 0.0060, loss: 22.4544, grad_norm: 124.4128 +2026-03-01 03:00:49,201 - DriveTransformer - INFO - Epoch [12][1200/39528] lr: 5.696e-05, eta: 4 days, 8:06:39, time: 0.773, data_time: 0.036, memory: 19865, loss_cls: 0.0872, loss_bbox: 0.2748, loss_traj: 0.4483, loss_traj_cls: 0.0020, loss_map_cls: 0.0964, loss_map_pts: 0.5369, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.6232, d0.loss_plan_l1_fix_dist: 0.3930, d1.loss_plan_l1_fix_time: 0.7041, d1.loss_plan_l1_fix_dist: 0.1476, d2.loss_plan_l1_fix_time: 0.6915, d2.loss_plan_l1_fix_dist: 0.1647, d3.loss_plan_l1_fix_time: 0.6881, d3.loss_plan_l1_fix_dist: 0.2023, d4.loss_plan_l1_fix_time: 0.6907, d4.loss_plan_l1_fix_dist: 0.1757, d5.loss_plan_l1_fix_time: 0.6934, d5.loss_plan_l1_fix_dist: 0.2151, d6.loss_plan_l1_fix_time: 0.6966, d6.loss_plan_l1_fix_dist: 0.1898, d0.loss_cls_all: 0.1273, d0.loss_bbox_all: 0.3386, d0.loss_cls: 0.1273, d0.loss_bbox: 0.3386, d1.loss_cls: 0.1243, d1.loss_bbox: 0.3074, d2.loss_cls: 0.1107, d2.loss_bbox: 0.2843, d3.loss_cls: 0.0952, d3.loss_bbox: 0.2775, d4.loss_cls: 0.0882, d4.loss_bbox: 0.2758, d5.loss_cls: 0.0875, d5.loss_bbox: 0.2739, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7256, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5564, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4972, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4652, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4578, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4473, d0.loss_map_cls_all: 0.1879, d0.loss_map_pts_all: 1.1105, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1879, d0.loss_map_pts: 1.1105, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1520, d1.loss_map_pts: 0.8156, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1238, d2.loss_map_pts: 0.6486, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1123, d3.loss_map_pts: 0.5758, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1050, d4.loss_map_pts: 0.5444, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0985, d5.loss_map_pts: 0.5378, d5.loss_map_dir: 0.0065, loss: 22.0961, grad_norm: 122.9299 +2026-03-01 03:01:26,603 - DriveTransformer - INFO - Epoch [12][1250/39528] lr: 5.696e-05, eta: 4 days, 8:06:05, time: 0.748, data_time: 0.037, memory: 19865, loss_cls: 0.0869, loss_bbox: 0.2612, loss_traj: 0.3868, loss_traj_cls: 0.0021, loss_map_cls: 0.0908, loss_map_pts: 0.4445, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.4054, d0.loss_plan_l1_fix_dist: 0.3611, d1.loss_plan_l1_fix_time: 0.6195, d1.loss_plan_l1_fix_dist: 0.1471, d2.loss_plan_l1_fix_time: 0.6072, d2.loss_plan_l1_fix_dist: 0.1612, d3.loss_plan_l1_fix_time: 0.6158, d3.loss_plan_l1_fix_dist: 0.1785, d4.loss_plan_l1_fix_time: 0.6194, d4.loss_plan_l1_fix_dist: 0.1574, d5.loss_plan_l1_fix_time: 0.6233, d5.loss_plan_l1_fix_dist: 0.1990, d6.loss_plan_l1_fix_time: 0.6278, d6.loss_plan_l1_fix_dist: 0.1682, d0.loss_cls_all: 0.1269, d0.loss_bbox_all: 0.3209, d0.loss_cls: 0.1269, d0.loss_bbox: 0.3209, d1.loss_cls: 0.1231, d1.loss_bbox: 0.2893, d2.loss_cls: 0.1105, d2.loss_bbox: 0.2714, d3.loss_cls: 0.0990, d3.loss_bbox: 0.2628, d4.loss_cls: 0.0878, d4.loss_bbox: 0.2627, d5.loss_cls: 0.0872, d5.loss_bbox: 0.2614, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5722, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4518, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4151, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3976, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3890, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3879, d0.loss_map_cls_all: 0.1726, d0.loss_map_pts_all: 0.9186, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1726, d0.loss_map_pts: 0.9186, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1428, d1.loss_map_pts: 0.6567, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1152, d2.loss_map_pts: 0.5157, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1048, d3.loss_map_pts: 0.4669, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0979, d4.loss_map_pts: 0.4491, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0929, d5.loss_map_pts: 0.4453, d5.loss_map_dir: 0.0052, loss: 19.4457, grad_norm: 126.8921 +2026-03-01 03:02:04,014 - DriveTransformer - INFO - Epoch [12][1300/39528] lr: 5.696e-05, eta: 4 days, 8:05:30, time: 0.748, data_time: 0.034, memory: 19865, loss_cls: 0.0792, loss_bbox: 0.2555, loss_traj: 0.3944, loss_traj_cls: 0.0021, loss_map_cls: 0.0825, loss_map_pts: 0.4207, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.0634, d0.loss_plan_l1_fix_dist: 0.4173, d1.loss_plan_l1_fix_time: 0.6449, d1.loss_plan_l1_fix_dist: 0.1714, d2.loss_plan_l1_fix_time: 0.6265, d2.loss_plan_l1_fix_dist: 0.1851, d3.loss_plan_l1_fix_time: 0.6230, d3.loss_plan_l1_fix_dist: 0.1865, d4.loss_plan_l1_fix_time: 0.6245, d4.loss_plan_l1_fix_dist: 0.1616, d5.loss_plan_l1_fix_time: 0.6275, d5.loss_plan_l1_fix_dist: 0.1966, d6.loss_plan_l1_fix_time: 0.6309, d6.loss_plan_l1_fix_dist: 0.1786, d0.loss_cls_all: 0.1193, d0.loss_bbox_all: 0.3116, d0.loss_cls: 0.1193, d0.loss_bbox: 0.3116, d1.loss_cls: 0.1138, d1.loss_bbox: 0.2826, d2.loss_cls: 0.1013, d2.loss_bbox: 0.2628, d3.loss_cls: 0.0876, d3.loss_bbox: 0.2578, d4.loss_cls: 0.0806, d4.loss_bbox: 0.2562, d5.loss_cls: 0.0783, d5.loss_bbox: 0.2558, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5609, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4498, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4081, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3937, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3916, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3916, d0.loss_map_cls_all: 0.1678, d0.loss_map_pts_all: 0.9194, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1678, d0.loss_map_pts: 0.9194, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1341, d1.loss_map_pts: 0.6543, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1090, d2.loss_map_pts: 0.5054, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.0944, d3.loss_map_pts: 0.4484, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0891, d4.loss_map_pts: 0.4287, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0847, d5.loss_map_pts: 0.4213, d5.loss_map_dir: 0.0050, loss: 18.9959, grad_norm: 125.4993 +2026-03-01 03:02:40,627 - DriveTransformer - INFO - Epoch [12][1350/39528] lr: 5.696e-05, eta: 4 days, 8:04:54, time: 0.732, data_time: 0.035, memory: 19865, loss_cls: 0.0835, loss_bbox: 0.2723, loss_traj: 0.4348, loss_traj_cls: 0.0021, loss_map_cls: 0.0913, loss_map_pts: 0.4746, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.8404, d0.loss_plan_l1_fix_dist: 0.4140, d1.loss_plan_l1_fix_time: 0.7758, d1.loss_plan_l1_fix_dist: 0.1962, d2.loss_plan_l1_fix_time: 0.7622, d2.loss_plan_l1_fix_dist: 0.2200, d3.loss_plan_l1_fix_time: 0.7570, d3.loss_plan_l1_fix_dist: 0.2028, d4.loss_plan_l1_fix_time: 0.7593, d4.loss_plan_l1_fix_dist: 0.1811, d5.loss_plan_l1_fix_time: 0.7620, d5.loss_plan_l1_fix_dist: 0.2155, d6.loss_plan_l1_fix_time: 0.7647, d6.loss_plan_l1_fix_dist: 0.1950, d0.loss_cls_all: 0.1294, d0.loss_bbox_all: 0.3450, d0.loss_cls: 0.1294, d0.loss_bbox: 0.3450, d1.loss_cls: 0.1247, d1.loss_bbox: 0.3088, d2.loss_cls: 0.1084, d2.loss_bbox: 0.2863, d3.loss_cls: 0.0915, d3.loss_bbox: 0.2779, d4.loss_cls: 0.0853, d4.loss_bbox: 0.2744, d5.loss_cls: 0.0825, d5.loss_bbox: 0.2741, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6699, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4971, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4553, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4417, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4358, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4331, d0.loss_map_cls_all: 0.1782, d0.loss_map_pts_all: 1.0272, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1782, d0.loss_map_pts: 1.0272, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1401, d1.loss_map_pts: 0.7355, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1154, d2.loss_map_pts: 0.5686, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1044, d3.loss_map_pts: 0.5056, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0988, d4.loss_map_pts: 0.4816, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0934, d5.loss_map_pts: 0.4751, d5.loss_map_dir: 0.0059, loss: 21.9831, grad_norm: 125.6352 +2026-03-01 03:03:15,873 - DriveTransformer - INFO - Epoch [12][1400/39528] lr: 5.696e-05, eta: 4 days, 8:04:14, time: 0.705, data_time: 0.036, memory: 19865, loss_cls: 0.0861, loss_bbox: 0.2635, loss_traj: 0.4360, loss_traj_cls: 0.0020, loss_map_cls: 0.1064, loss_map_pts: 0.4813, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.9477, d0.loss_plan_l1_fix_dist: 0.4369, d1.loss_plan_l1_fix_time: 0.8060, d1.loss_plan_l1_fix_dist: 0.2118, d2.loss_plan_l1_fix_time: 0.7785, d2.loss_plan_l1_fix_dist: 0.2405, d3.loss_plan_l1_fix_time: 0.7801, d3.loss_plan_l1_fix_dist: 0.2141, d4.loss_plan_l1_fix_time: 0.7823, d4.loss_plan_l1_fix_dist: 0.1866, d5.loss_plan_l1_fix_time: 0.7844, d5.loss_plan_l1_fix_dist: 0.1978, d6.loss_plan_l1_fix_time: 0.7870, d6.loss_plan_l1_fix_dist: 0.2011, d0.loss_cls_all: 0.1277, d0.loss_bbox_all: 0.3270, d0.loss_cls: 0.1277, d0.loss_bbox: 0.3270, d1.loss_cls: 0.1234, d1.loss_bbox: 0.2902, d2.loss_cls: 0.1092, d2.loss_bbox: 0.2739, d3.loss_cls: 0.0930, d3.loss_bbox: 0.2667, d4.loss_cls: 0.0879, d4.loss_bbox: 0.2644, d5.loss_cls: 0.0861, d5.loss_bbox: 0.2628, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6814, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5235, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4626, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4469, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4393, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4383, d0.loss_map_cls_all: 0.1984, d0.loss_map_pts_all: 1.0205, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1984, d0.loss_map_pts: 1.0205, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1584, d1.loss_map_pts: 0.7547, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.1314, d2.loss_map_pts: 0.5792, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.1209, d3.loss_map_pts: 0.5108, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.1137, d4.loss_map_pts: 0.4867, d4.loss_map_dir: 0.0046, d5.loss_map_cls: 0.1089, d5.loss_map_pts: 0.4819, d5.loss_map_dir: 0.0047, loss: 22.4165, grad_norm: 124.5730 +2026-03-01 03:03:51,513 - DriveTransformer - INFO - Epoch [12][1450/39528] lr: 5.696e-05, eta: 4 days, 8:03:35, time: 0.713, data_time: 0.036, memory: 19865, loss_cls: 0.0857, loss_bbox: 0.2789, loss_traj: 0.3867, loss_traj_cls: 0.0021, loss_map_cls: 0.0884, loss_map_pts: 0.4928, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.6957, d0.loss_plan_l1_fix_dist: 0.4860, d1.loss_plan_l1_fix_time: 0.7535, d1.loss_plan_l1_fix_dist: 0.2010, d2.loss_plan_l1_fix_time: 0.7236, d2.loss_plan_l1_fix_dist: 0.2210, d3.loss_plan_l1_fix_time: 0.7175, d3.loss_plan_l1_fix_dist: 0.1997, d4.loss_plan_l1_fix_time: 0.7186, d4.loss_plan_l1_fix_dist: 0.1854, d5.loss_plan_l1_fix_time: 0.7202, d5.loss_plan_l1_fix_dist: 0.1892, d6.loss_plan_l1_fix_time: 0.7228, d6.loss_plan_l1_fix_dist: 0.1964, d0.loss_cls_all: 0.1255, d0.loss_bbox_all: 0.3389, d0.loss_cls: 0.1255, d0.loss_bbox: 0.3389, d1.loss_cls: 0.1209, d1.loss_bbox: 0.3103, d2.loss_cls: 0.1108, d2.loss_bbox: 0.2888, d3.loss_cls: 0.0934, d3.loss_bbox: 0.2841, d4.loss_cls: 0.0863, d4.loss_bbox: 0.2820, d5.loss_cls: 0.0852, d5.loss_bbox: 0.2803, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6012, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4700, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4195, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3967, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3925, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3894, d0.loss_map_cls_all: 0.1647, d0.loss_map_pts_all: 0.9567, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1647, d0.loss_map_pts: 0.9567, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1322, d1.loss_map_pts: 0.7061, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1117, d2.loss_map_pts: 0.5682, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1013, d3.loss_map_pts: 0.5163, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0951, d4.loss_map_pts: 0.4990, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0906, d5.loss_map_pts: 0.4929, d5.loss_map_dir: 0.0053, loss: 21.2096, grad_norm: 124.7502 +2026-03-01 03:04:27,418 - DriveTransformer - INFO - Epoch [12][1500/39528] lr: 5.696e-05, eta: 4 days, 8:02:57, time: 0.718, data_time: 0.037, memory: 19865, loss_cls: 0.0820, loss_bbox: 0.2599, loss_traj: 0.4816, loss_traj_cls: 0.0021, loss_map_cls: 0.0869, loss_map_pts: 0.4593, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.7530, d0.loss_plan_l1_fix_dist: 0.3827, d1.loss_plan_l1_fix_time: 0.8575, d1.loss_plan_l1_fix_dist: 0.1998, d2.loss_plan_l1_fix_time: 0.8302, d2.loss_plan_l1_fix_dist: 0.2122, d3.loss_plan_l1_fix_time: 0.8148, d3.loss_plan_l1_fix_dist: 0.1826, d4.loss_plan_l1_fix_time: 0.8151, d4.loss_plan_l1_fix_dist: 0.1862, d5.loss_plan_l1_fix_time: 0.8160, d5.loss_plan_l1_fix_dist: 0.1709, d6.loss_plan_l1_fix_time: 0.8182, d6.loss_plan_l1_fix_dist: 0.1923, d0.loss_cls_all: 0.1220, d0.loss_bbox_all: 0.3205, d0.loss_cls: 0.1220, d0.loss_bbox: 0.3205, d1.loss_cls: 0.1156, d1.loss_bbox: 0.2889, d2.loss_cls: 0.1025, d2.loss_bbox: 0.2717, d3.loss_cls: 0.0898, d3.loss_bbox: 0.2655, d4.loss_cls: 0.0837, d4.loss_bbox: 0.2624, d5.loss_cls: 0.0819, d5.loss_bbox: 0.2606, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7780, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5896, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5399, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4968, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4880, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4872, d0.loss_map_cls_all: 0.1671, d0.loss_map_pts_all: 0.9266, d0.loss_map_dir_all: 0.0048, d0.loss_map_cls: 0.1671, d0.loss_map_pts: 0.9266, d0.loss_map_dir: 0.0048, d1.loss_map_cls: 0.1359, d1.loss_map_pts: 0.6879, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.1137, d2.loss_map_pts: 0.5425, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.1030, d3.loss_map_pts: 0.4845, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.0936, d4.loss_map_pts: 0.4653, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0885, d5.loss_map_pts: 0.4600, d5.loss_map_dir: 0.0047, loss: 22.0959, grad_norm: 124.0042 +2026-03-01 03:05:01,491 - DriveTransformer - INFO - Epoch [12][1550/39528] lr: 5.696e-05, eta: 4 days, 8:02:14, time: 0.681, data_time: 0.038, memory: 19865, loss_cls: 0.0810, loss_bbox: 0.2521, loss_traj: 0.4809, loss_traj_cls: 0.0021, loss_map_cls: 0.0688, loss_map_pts: 0.3440, loss_map_dir: 0.0034, d0.loss_plan_l1_fix_time: 2.5473, d0.loss_plan_l1_fix_dist: 0.3926, d1.loss_plan_l1_fix_time: 0.6764, d1.loss_plan_l1_fix_dist: 0.1803, d2.loss_plan_l1_fix_time: 0.6582, d2.loss_plan_l1_fix_dist: 0.1910, d3.loss_plan_l1_fix_time: 0.6559, d3.loss_plan_l1_fix_dist: 0.1632, d4.loss_plan_l1_fix_time: 0.6574, d4.loss_plan_l1_fix_dist: 0.1836, d5.loss_plan_l1_fix_time: 0.6598, d5.loss_plan_l1_fix_dist: 0.1557, d6.loss_plan_l1_fix_time: 0.6625, d6.loss_plan_l1_fix_dist: 0.1863, d0.loss_cls_all: 0.1172, d0.loss_bbox_all: 0.3131, d0.loss_cls: 0.1172, d0.loss_bbox: 0.3131, d1.loss_cls: 0.1170, d1.loss_bbox: 0.2786, d2.loss_cls: 0.1039, d2.loss_bbox: 0.2602, d3.loss_cls: 0.0886, d3.loss_bbox: 0.2559, d4.loss_cls: 0.0825, d4.loss_bbox: 0.2536, d5.loss_cls: 0.0812, d5.loss_bbox: 0.2520, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7232, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5527, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5064, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4873, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4821, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4800, d0.loss_map_cls_all: 0.1479, d0.loss_map_pts_all: 0.7424, d0.loss_map_dir_all: 0.0039, d0.loss_map_cls: 0.1479, d0.loss_map_pts: 0.7424, d0.loss_map_dir: 0.0039, d1.loss_map_cls: 0.1152, d1.loss_map_pts: 0.5218, d1.loss_map_dir: 0.0035, d2.loss_map_cls: 0.0906, d2.loss_map_pts: 0.4063, d2.loss_map_dir: 0.0033, d3.loss_map_cls: 0.0800, d3.loss_map_pts: 0.3609, d3.loss_map_dir: 0.0033, d4.loss_map_cls: 0.0741, d4.loss_map_pts: 0.3481, d4.loss_map_dir: 0.0034, d5.loss_map_cls: 0.0711, d5.loss_map_pts: 0.3445, d5.loss_map_dir: 0.0034, loss: 19.2909, grad_norm: 125.2807 +2026-03-01 03:05:38,597 - DriveTransformer - INFO - Epoch [12][1600/39528] lr: 5.696e-05, eta: 4 days, 8:01:39, time: 0.742, data_time: 0.036, memory: 19865, loss_cls: 0.0816, loss_bbox: 0.2739, loss_traj: 0.4549, loss_traj_cls: 0.0022, loss_map_cls: 0.0957, loss_map_pts: 0.4927, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.5972, d0.loss_plan_l1_fix_dist: 0.4497, d1.loss_plan_l1_fix_time: 0.7346, d1.loss_plan_l1_fix_dist: 0.1858, d2.loss_plan_l1_fix_time: 0.7239, d2.loss_plan_l1_fix_dist: 0.1877, d3.loss_plan_l1_fix_time: 0.7227, d3.loss_plan_l1_fix_dist: 0.1599, d4.loss_plan_l1_fix_time: 0.7256, d4.loss_plan_l1_fix_dist: 0.1915, d5.loss_plan_l1_fix_time: 0.7288, d5.loss_plan_l1_fix_dist: 0.1579, d6.loss_plan_l1_fix_time: 0.7316, d6.loss_plan_l1_fix_dist: 0.1735, d0.loss_cls_all: 0.1262, d0.loss_bbox_all: 0.3334, d0.loss_cls: 0.1262, d0.loss_bbox: 0.3334, d1.loss_cls: 0.1207, d1.loss_bbox: 0.3028, d2.loss_cls: 0.1046, d2.loss_bbox: 0.2830, d3.loss_cls: 0.0863, d3.loss_bbox: 0.2801, d4.loss_cls: 0.0815, d4.loss_bbox: 0.2758, d5.loss_cls: 0.0819, d5.loss_bbox: 0.2743, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6444, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5300, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4850, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4656, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4628, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4567, d0.loss_map_cls_all: 0.1710, d0.loss_map_pts_all: 1.0399, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1710, d0.loss_map_pts: 1.0399, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1423, d1.loss_map_pts: 0.7338, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1204, d2.loss_map_pts: 0.5699, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1106, d3.loss_map_pts: 0.5128, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1039, d4.loss_map_pts: 0.4960, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0990, d5.loss_map_pts: 0.4918, d5.loss_map_dir: 0.0060, loss: 21.5799, grad_norm: 131.8983 +2026-03-01 03:06:13,971 - DriveTransformer - INFO - Epoch [12][1650/39528] lr: 5.696e-05, eta: 4 days, 8:00:59, time: 0.707, data_time: 0.038, memory: 19865, loss_cls: 0.0793, loss_bbox: 0.2570, loss_traj: 0.4241, loss_traj_cls: 0.0021, loss_map_cls: 0.0764, loss_map_pts: 0.4181, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.5112, d0.loss_plan_l1_fix_dist: 0.4551, d1.loss_plan_l1_fix_time: 0.6962, d1.loss_plan_l1_fix_dist: 0.1961, d2.loss_plan_l1_fix_time: 0.6780, d2.loss_plan_l1_fix_dist: 0.1884, d3.loss_plan_l1_fix_time: 0.6764, d3.loss_plan_l1_fix_dist: 0.1593, d4.loss_plan_l1_fix_time: 0.6782, d4.loss_plan_l1_fix_dist: 0.1986, d5.loss_plan_l1_fix_time: 0.6806, d5.loss_plan_l1_fix_dist: 0.1808, d6.loss_plan_l1_fix_time: 0.6833, d6.loss_plan_l1_fix_dist: 0.1756, d0.loss_cls_all: 0.1189, d0.loss_bbox_all: 0.3283, d0.loss_cls: 0.1189, d0.loss_bbox: 0.3283, d1.loss_cls: 0.1164, d1.loss_bbox: 0.2925, d2.loss_cls: 0.1024, d2.loss_bbox: 0.2701, d3.loss_cls: 0.0868, d3.loss_bbox: 0.2633, d4.loss_cls: 0.0806, d4.loss_bbox: 0.2610, d5.loss_cls: 0.0792, d5.loss_bbox: 0.2585, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5818, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4822, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4503, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4324, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4289, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4264, d0.loss_map_cls_all: 0.1672, d0.loss_map_pts_all: 0.9170, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1672, d0.loss_map_pts: 0.9170, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1290, d1.loss_map_pts: 0.6438, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1017, d2.loss_map_pts: 0.4951, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0899, d3.loss_map_pts: 0.4426, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0823, d4.loss_map_pts: 0.4233, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0782, d5.loss_map_pts: 0.4179, d5.loss_map_dir: 0.0049, loss: 20.0402, grad_norm: 130.8960 +2026-03-01 03:06:51,693 - DriveTransformer - INFO - Epoch [12][1700/39528] lr: 5.696e-05, eta: 4 days, 8:00:26, time: 0.754, data_time: 0.036, memory: 19865, loss_cls: 0.0923, loss_bbox: 0.2728, loss_traj: 0.3835, loss_traj_cls: 0.0022, loss_map_cls: 0.0853, loss_map_pts: 0.5012, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.3920, d0.loss_plan_l1_fix_dist: 0.4679, d1.loss_plan_l1_fix_time: 0.6677, d1.loss_plan_l1_fix_dist: 0.2247, d2.loss_plan_l1_fix_time: 0.6500, d2.loss_plan_l1_fix_dist: 0.2001, d3.loss_plan_l1_fix_time: 0.6481, d3.loss_plan_l1_fix_dist: 0.1718, d4.loss_plan_l1_fix_time: 0.6496, d4.loss_plan_l1_fix_dist: 0.2157, d5.loss_plan_l1_fix_time: 0.6518, d5.loss_plan_l1_fix_dist: 0.2192, d6.loss_plan_l1_fix_time: 0.6540, d6.loss_plan_l1_fix_dist: 0.2141, d0.loss_cls_all: 0.1375, d0.loss_bbox_all: 0.3431, d0.loss_cls: 0.1375, d0.loss_bbox: 0.3431, d1.loss_cls: 0.1297, d1.loss_bbox: 0.3094, d2.loss_cls: 0.1183, d2.loss_bbox: 0.2848, d3.loss_cls: 0.1003, d3.loss_bbox: 0.2782, d4.loss_cls: 0.0938, d4.loss_bbox: 0.2752, d5.loss_cls: 0.0925, d5.loss_bbox: 0.2734, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5862, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4613, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4145, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3999, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3935, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3875, d0.loss_map_cls_all: 0.1652, d0.loss_map_pts_all: 1.0319, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1652, d0.loss_map_pts: 1.0319, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1318, d1.loss_map_pts: 0.7397, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1102, d2.loss_map_pts: 0.5866, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.0991, d3.loss_map_pts: 0.5317, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.0920, d4.loss_map_pts: 0.5098, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0872, d5.loss_map_pts: 0.5020, d5.loss_map_dir: 0.0066, loss: 20.7657, grad_norm: 131.0648 +2026-03-01 03:07:29,527 - DriveTransformer - INFO - Epoch [12][1750/39528] lr: 5.696e-05, eta: 4 days, 7:59:52, time: 0.757, data_time: 0.034, memory: 19865, loss_cls: 0.0838, loss_bbox: 0.2567, loss_traj: 0.4098, loss_traj_cls: 0.0022, loss_map_cls: 0.0853, loss_map_pts: 0.5091, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.0992, d0.loss_plan_l1_fix_dist: 0.3574, d1.loss_plan_l1_fix_time: 0.6176, d1.loss_plan_l1_fix_dist: 0.2009, d2.loss_plan_l1_fix_time: 0.6054, d2.loss_plan_l1_fix_dist: 0.1596, d3.loss_plan_l1_fix_time: 0.5967, d3.loss_plan_l1_fix_dist: 0.1442, d4.loss_plan_l1_fix_time: 0.5989, d4.loss_plan_l1_fix_dist: 0.1807, d5.loss_plan_l1_fix_time: 0.6011, d5.loss_plan_l1_fix_dist: 0.1832, d6.loss_plan_l1_fix_time: 0.6042, d6.loss_plan_l1_fix_dist: 0.1762, d0.loss_cls_all: 0.1168, d0.loss_bbox_all: 0.3245, d0.loss_cls: 0.1168, d0.loss_bbox: 0.3245, d1.loss_cls: 0.1133, d1.loss_bbox: 0.2928, d2.loss_cls: 0.1052, d2.loss_bbox: 0.2691, d3.loss_cls: 0.0905, d3.loss_bbox: 0.2611, d4.loss_cls: 0.0848, d4.loss_bbox: 0.2596, d5.loss_cls: 0.0835, d5.loss_bbox: 0.2585, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6821, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4893, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4284, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4088, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4084, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4049, d0.loss_map_cls_all: 0.1704, d0.loss_map_pts_all: 1.0814, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1704, d0.loss_map_pts: 1.0814, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1383, d1.loss_map_pts: 0.7792, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1108, d2.loss_map_pts: 0.6095, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.0981, d3.loss_map_pts: 0.5487, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.0932, d4.loss_map_pts: 0.5216, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.0881, d5.loss_map_pts: 0.5095, d5.loss_map_dir: 0.0071, loss: 20.0584, grad_norm: 127.3572 +2026-03-01 03:08:06,453 - DriveTransformer - INFO - Epoch [12][1800/39528] lr: 5.696e-05, eta: 4 days, 7:59:17, time: 0.740, data_time: 0.036, memory: 19865, loss_cls: 0.0952, loss_bbox: 0.2722, loss_traj: 0.4152, loss_traj_cls: 0.0021, loss_map_cls: 0.1026, loss_map_pts: 0.5391, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.6582, d0.loss_plan_l1_fix_dist: 0.3958, d1.loss_plan_l1_fix_time: 0.7485, d1.loss_plan_l1_fix_dist: 0.2200, d2.loss_plan_l1_fix_time: 0.7255, d2.loss_plan_l1_fix_dist: 0.1669, d3.loss_plan_l1_fix_time: 0.7195, d3.loss_plan_l1_fix_dist: 0.1662, d4.loss_plan_l1_fix_time: 0.7213, d4.loss_plan_l1_fix_dist: 0.1937, d5.loss_plan_l1_fix_time: 0.7236, d5.loss_plan_l1_fix_dist: 0.2014, d6.loss_plan_l1_fix_time: 0.7264, d6.loss_plan_l1_fix_dist: 0.2065, d0.loss_cls_all: 0.1349, d0.loss_bbox_all: 0.3456, d0.loss_cls: 0.1349, d0.loss_bbox: 0.3456, d1.loss_cls: 0.1296, d1.loss_bbox: 0.3089, d2.loss_cls: 0.1139, d2.loss_bbox: 0.2887, d3.loss_cls: 0.1013, d3.loss_bbox: 0.2801, d4.loss_cls: 0.0977, d4.loss_bbox: 0.2759, d5.loss_cls: 0.0952, d5.loss_bbox: 0.2737, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6699, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5029, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4426, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4245, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4166, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4164, d0.loss_map_cls_all: 0.1925, d0.loss_map_pts_all: 1.1007, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1925, d0.loss_map_pts: 1.1007, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1576, d1.loss_map_pts: 0.8023, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1282, d2.loss_map_pts: 0.6305, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1172, d3.loss_map_pts: 0.5677, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1101, d4.loss_map_pts: 0.5465, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1066, d5.loss_map_pts: 0.5389, d5.loss_map_dir: 0.0065, loss: 22.1484, grad_norm: 126.3066 +2026-03-01 03:08:41,265 - DriveTransformer - INFO - Epoch [12][1850/39528] lr: 5.696e-05, eta: 4 days, 7:58:36, time: 0.695, data_time: 0.037, memory: 19865, loss_cls: 0.0798, loss_bbox: 0.2638, loss_traj: 0.4538, loss_traj_cls: 0.0021, loss_map_cls: 0.0908, loss_map_pts: 0.4030, loss_map_dir: 0.0040, d0.loss_plan_l1_fix_time: 2.9043, d0.loss_plan_l1_fix_dist: 0.2867, d1.loss_plan_l1_fix_time: 0.6229, d1.loss_plan_l1_fix_dist: 0.2163, d2.loss_plan_l1_fix_time: 0.6194, d2.loss_plan_l1_fix_dist: 0.1653, d3.loss_plan_l1_fix_time: 0.6226, d3.loss_plan_l1_fix_dist: 0.1600, d4.loss_plan_l1_fix_time: 0.6250, d4.loss_plan_l1_fix_dist: 0.1589, d5.loss_plan_l1_fix_time: 0.6274, d5.loss_plan_l1_fix_dist: 0.1613, d6.loss_plan_l1_fix_time: 0.6300, d6.loss_plan_l1_fix_dist: 0.1569, d0.loss_cls_all: 0.1237, d0.loss_bbox_all: 0.3273, d0.loss_cls: 0.1237, d0.loss_bbox: 0.3273, d1.loss_cls: 0.1132, d1.loss_bbox: 0.2954, d2.loss_cls: 0.1027, d2.loss_bbox: 0.2758, d3.loss_cls: 0.0848, d3.loss_bbox: 0.2713, d4.loss_cls: 0.0809, d4.loss_bbox: 0.2669, d5.loss_cls: 0.0801, d5.loss_bbox: 0.2644, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6972, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5193, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4709, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4614, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4555, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4538, d0.loss_map_cls_all: 0.1716, d0.loss_map_pts_all: 0.8589, d0.loss_map_dir_all: 0.0037, d0.loss_map_cls: 0.1716, d0.loss_map_pts: 0.8589, d0.loss_map_dir: 0.0037, d1.loss_map_cls: 0.1418, d1.loss_map_pts: 0.6301, d1.loss_map_dir: 0.0036, d2.loss_map_cls: 0.1161, d2.loss_map_pts: 0.4855, d2.loss_map_dir: 0.0036, d3.loss_map_cls: 0.1054, d3.loss_map_pts: 0.4301, d3.loss_map_dir: 0.0038, d4.loss_map_cls: 0.0971, d4.loss_map_pts: 0.4112, d4.loss_map_dir: 0.0039, d5.loss_map_cls: 0.0925, d5.loss_map_pts: 0.4042, d5.loss_map_dir: 0.0040, loss: 20.0565, grad_norm: 128.9792 +2026-03-01 03:09:17,692 - DriveTransformer - INFO - Epoch [12][1900/39528] lr: 5.696e-05, eta: 4 days, 7:57:59, time: 0.729, data_time: 0.034, memory: 19865, loss_cls: 0.0805, loss_bbox: 0.2608, loss_traj: 0.4395, loss_traj_cls: 0.0022, loss_map_cls: 0.0872, loss_map_pts: 0.4629, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.4774, d0.loss_plan_l1_fix_dist: 0.4168, d1.loss_plan_l1_fix_time: 0.6077, d1.loss_plan_l1_fix_dist: 0.2156, d2.loss_plan_l1_fix_time: 0.5971, d2.loss_plan_l1_fix_dist: 0.2024, d3.loss_plan_l1_fix_time: 0.5953, d3.loss_plan_l1_fix_dist: 0.1865, d4.loss_plan_l1_fix_time: 0.5969, d4.loss_plan_l1_fix_dist: 0.1600, d5.loss_plan_l1_fix_time: 0.5989, d5.loss_plan_l1_fix_dist: 0.1626, d6.loss_plan_l1_fix_time: 0.6016, d6.loss_plan_l1_fix_dist: 0.1511, d0.loss_cls_all: 0.1175, d0.loss_bbox_all: 0.3210, d0.loss_cls: 0.1175, d0.loss_bbox: 0.3210, d1.loss_cls: 0.1147, d1.loss_bbox: 0.2901, d2.loss_cls: 0.1045, d2.loss_bbox: 0.2718, d3.loss_cls: 0.0859, d3.loss_bbox: 0.2683, d4.loss_cls: 0.0818, d4.loss_bbox: 0.2635, d5.loss_cls: 0.0811, d5.loss_bbox: 0.2606, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7523, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5670, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4801, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4502, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4423, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4377, d0.loss_map_cls_all: 0.1602, d0.loss_map_pts_all: 0.9948, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1602, d0.loss_map_pts: 0.9948, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1313, d1.loss_map_pts: 0.7243, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1103, d2.loss_map_pts: 0.5626, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1008, d3.loss_map_pts: 0.4949, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0948, d4.loss_map_pts: 0.4705, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0903, d5.loss_map_pts: 0.4628, d5.loss_map_dir: 0.0054, loss: 20.3346, grad_norm: 126.4719 +2026-03-01 03:09:53,033 - DriveTransformer - INFO - Epoch [12][1950/39528] lr: 5.696e-05, eta: 4 days, 7:57:19, time: 0.707, data_time: 0.038, memory: 19865, loss_cls: 0.0888, loss_bbox: 0.2648, loss_traj: 0.4231, loss_traj_cls: 0.0022, loss_map_cls: 0.0946, loss_map_pts: 0.4425, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.7976, d0.loss_plan_l1_fix_dist: 0.4042, d1.loss_plan_l1_fix_time: 0.7405, d1.loss_plan_l1_fix_dist: 0.2360, d2.loss_plan_l1_fix_time: 0.7275, d2.loss_plan_l1_fix_dist: 0.2349, d3.loss_plan_l1_fix_time: 0.7087, d3.loss_plan_l1_fix_dist: 0.2222, d4.loss_plan_l1_fix_time: 0.7089, d4.loss_plan_l1_fix_dist: 0.1803, d5.loss_plan_l1_fix_time: 0.7103, d5.loss_plan_l1_fix_dist: 0.2000, d6.loss_plan_l1_fix_time: 0.7121, d6.loss_plan_l1_fix_dist: 0.2061, d0.loss_cls_all: 0.1296, d0.loss_bbox_all: 0.3358, d0.loss_cls: 0.1296, d0.loss_bbox: 0.3358, d1.loss_cls: 0.1237, d1.loss_bbox: 0.3006, d2.loss_cls: 0.1150, d2.loss_bbox: 0.2776, d3.loss_cls: 0.0984, d3.loss_bbox: 0.2709, d4.loss_cls: 0.0907, d4.loss_bbox: 0.2674, d5.loss_cls: 0.0879, d5.loss_bbox: 0.2667, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6347, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4962, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4420, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4252, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4182, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4225, d0.loss_map_cls_all: 0.1729, d0.loss_map_pts_all: 0.9124, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1729, d0.loss_map_pts: 0.9124, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1400, d1.loss_map_pts: 0.6529, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1186, d2.loss_map_pts: 0.5175, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1071, d3.loss_map_pts: 0.4703, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1023, d4.loss_map_pts: 0.4492, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0962, d5.loss_map_pts: 0.4431, d5.loss_map_dir: 0.0051, loss: 21.0899, grad_norm: 126.6895 +2026-03-01 03:10:28,512 - DriveTransformer - INFO - Epoch [12][2000/39528] lr: 5.696e-05, eta: 4 days, 7:56:40, time: 0.710, data_time: 0.036, memory: 19865, loss_cls: 0.0816, loss_bbox: 0.2596, loss_traj: 0.4001, loss_traj_cls: 0.0022, loss_map_cls: 0.0998, loss_map_pts: 0.4735, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.3010, d0.loss_plan_l1_fix_dist: 0.4773, d1.loss_plan_l1_fix_time: 0.6624, d1.loss_plan_l1_fix_dist: 0.2313, d2.loss_plan_l1_fix_time: 0.6458, d2.loss_plan_l1_fix_dist: 0.2516, d3.loss_plan_l1_fix_time: 0.6417, d3.loss_plan_l1_fix_dist: 0.2278, d4.loss_plan_l1_fix_time: 0.6434, d4.loss_plan_l1_fix_dist: 0.1750, d5.loss_plan_l1_fix_time: 0.6453, d5.loss_plan_l1_fix_dist: 0.1869, d6.loss_plan_l1_fix_time: 0.6471, d6.loss_plan_l1_fix_dist: 0.1845, d0.loss_cls_all: 0.1231, d0.loss_bbox_all: 0.3268, d0.loss_cls: 0.1231, d0.loss_bbox: 0.3268, d1.loss_cls: 0.1142, d1.loss_bbox: 0.2936, d2.loss_cls: 0.1055, d2.loss_bbox: 0.2715, d3.loss_cls: 0.0878, d3.loss_bbox: 0.2658, d4.loss_cls: 0.0818, d4.loss_bbox: 0.2636, d5.loss_cls: 0.0816, d5.loss_bbox: 0.2597, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5832, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4766, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4300, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4121, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4018, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4012, d0.loss_map_cls_all: 0.1710, d0.loss_map_pts_all: 0.9916, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1710, d0.loss_map_pts: 0.9916, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1431, d1.loss_map_pts: 0.7171, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1241, d2.loss_map_pts: 0.5563, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1137, d3.loss_map_pts: 0.4960, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1071, d4.loss_map_pts: 0.4773, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1031, d5.loss_map_pts: 0.4732, d5.loss_map_dir: 0.0058, loss: 20.3558, grad_norm: 127.2737 +2026-03-01 03:11:04,158 - DriveTransformer - INFO - Epoch [12][2050/39528] lr: 5.696e-05, eta: 4 days, 7:56:01, time: 0.713, data_time: 0.038, memory: 19865, loss_cls: 0.0882, loss_bbox: 0.2841, loss_traj: 0.4697, loss_traj_cls: 0.0021, loss_map_cls: 0.1030, loss_map_pts: 0.4799, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.4318, d0.loss_plan_l1_fix_dist: 0.3947, d1.loss_plan_l1_fix_time: 0.6515, d1.loss_plan_l1_fix_dist: 0.2072, d2.loss_plan_l1_fix_time: 0.6428, d2.loss_plan_l1_fix_dist: 0.2509, d3.loss_plan_l1_fix_time: 0.6389, d3.loss_plan_l1_fix_dist: 0.2237, d4.loss_plan_l1_fix_time: 0.6411, d4.loss_plan_l1_fix_dist: 0.1711, d5.loss_plan_l1_fix_time: 0.6430, d5.loss_plan_l1_fix_dist: 0.1738, d6.loss_plan_l1_fix_time: 0.6448, d6.loss_plan_l1_fix_dist: 0.1794, d0.loss_cls_all: 0.1294, d0.loss_bbox_all: 0.3402, d0.loss_cls: 0.1294, d0.loss_bbox: 0.3402, d1.loss_cls: 0.1221, d1.loss_bbox: 0.3087, d2.loss_cls: 0.1100, d2.loss_bbox: 0.2912, d3.loss_cls: 0.0956, d3.loss_bbox: 0.2861, d4.loss_cls: 0.0887, d4.loss_bbox: 0.2851, d5.loss_cls: 0.0889, d5.loss_bbox: 0.2832, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7009, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5319, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4973, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4824, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4732, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4724, d0.loss_map_cls_all: 0.1801, d0.loss_map_pts_all: 1.0111, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1801, d0.loss_map_pts: 1.0111, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1500, d1.loss_map_pts: 0.7260, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1294, d2.loss_map_pts: 0.5651, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1171, d3.loss_map_pts: 0.5042, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1110, d4.loss_map_pts: 0.4824, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.1068, d5.loss_map_pts: 0.4781, d5.loss_map_dir: 0.0051, loss: 21.1771, grad_norm: 127.2623 +2026-03-01 03:11:40,758 - DriveTransformer - INFO - Epoch [12][2100/39528] lr: 5.696e-05, eta: 4 days, 7:55:25, time: 0.732, data_time: 0.037, memory: 19865, loss_cls: 0.0679, loss_bbox: 0.2444, loss_traj: 0.4810, loss_traj_cls: 0.0021, loss_map_cls: 0.0628, loss_map_pts: 0.3632, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.3098, d0.loss_plan_l1_fix_dist: 0.3920, d1.loss_plan_l1_fix_time: 0.6949, d1.loss_plan_l1_fix_dist: 0.1889, d2.loss_plan_l1_fix_time: 0.6759, d2.loss_plan_l1_fix_dist: 0.2538, d3.loss_plan_l1_fix_time: 0.6689, d3.loss_plan_l1_fix_dist: 0.2128, d4.loss_plan_l1_fix_time: 0.6691, d4.loss_plan_l1_fix_dist: 0.1693, d5.loss_plan_l1_fix_time: 0.6701, d5.loss_plan_l1_fix_dist: 0.1611, d6.loss_plan_l1_fix_time: 0.6715, d6.loss_plan_l1_fix_dist: 0.1624, d0.loss_cls_all: 0.1048, d0.loss_bbox_all: 0.2955, d0.loss_cls: 0.1048, d0.loss_bbox: 0.2955, d1.loss_cls: 0.0995, d1.loss_bbox: 0.2700, d2.loss_cls: 0.0867, d2.loss_bbox: 0.2527, d3.loss_cls: 0.0751, d3.loss_bbox: 0.2467, d4.loss_cls: 0.0692, d4.loss_bbox: 0.2460, d5.loss_cls: 0.0676, d5.loss_bbox: 0.2451, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.7752, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5923, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5209, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4974, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4889, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4860, d0.loss_map_cls_all: 0.1269, d0.loss_map_pts_all: 0.8109, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1269, d0.loss_map_pts: 0.8109, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.0990, d1.loss_map_pts: 0.5605, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.0824, d2.loss_map_pts: 0.4278, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0738, d3.loss_map_pts: 0.3843, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0678, d4.loss_map_pts: 0.3677, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0649, d5.loss_map_pts: 0.3634, d5.loss_map_dir: 0.0050, loss: 19.3548, grad_norm: 126.6541 +2026-03-01 03:12:17,057 - DriveTransformer - INFO - Epoch [12][2150/39528] lr: 5.696e-05, eta: 4 days, 7:54:47, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.0929, loss_bbox: 0.2846, loss_traj: 0.4122, loss_traj_cls: 0.0021, loss_map_cls: 0.0820, loss_map_pts: 0.4261, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.1534, d0.loss_plan_l1_fix_dist: 0.4094, d1.loss_plan_l1_fix_time: 0.6459, d1.loss_plan_l1_fix_dist: 0.1757, d2.loss_plan_l1_fix_time: 0.6271, d2.loss_plan_l1_fix_dist: 0.2844, d3.loss_plan_l1_fix_time: 0.6153, d3.loss_plan_l1_fix_dist: 0.2000, d4.loss_plan_l1_fix_time: 0.6160, d4.loss_plan_l1_fix_dist: 0.1671, d5.loss_plan_l1_fix_time: 0.6179, d5.loss_plan_l1_fix_dist: 0.1562, d6.loss_plan_l1_fix_time: 0.6208, d6.loss_plan_l1_fix_dist: 0.1556, d0.loss_cls_all: 0.1338, d0.loss_bbox_all: 0.3520, d0.loss_cls: 0.1338, d0.loss_bbox: 0.3520, d1.loss_cls: 0.1268, d1.loss_bbox: 0.3161, d2.loss_cls: 0.1139, d2.loss_bbox: 0.2971, d3.loss_cls: 0.0987, d3.loss_bbox: 0.2895, d4.loss_cls: 0.0919, d4.loss_bbox: 0.2872, d5.loss_cls: 0.0930, d5.loss_bbox: 0.2847, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6569, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4962, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4448, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4280, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4189, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4142, d0.loss_map_cls_all: 0.1562, d0.loss_map_pts_all: 0.9055, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1562, d0.loss_map_pts: 0.9055, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1219, d1.loss_map_pts: 0.6555, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1023, d2.loss_map_pts: 0.5057, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.0921, d3.loss_map_pts: 0.4545, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0867, d4.loss_map_pts: 0.4332, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0835, d5.loss_map_pts: 0.4258, d5.loss_map_dir: 0.0059, loss: 19.7111, grad_norm: 126.8336 +2026-03-01 03:12:54,809 - DriveTransformer - INFO - Epoch [12][2200/39528] lr: 5.696e-05, eta: 4 days, 7:54:14, time: 0.755, data_time: 0.040, memory: 19865, loss_cls: 0.0784, loss_bbox: 0.2712, loss_traj: 0.3867, loss_traj_cls: 0.0021, loss_map_cls: 0.0936, loss_map_pts: 0.5113, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.0414, d0.loss_plan_l1_fix_dist: 0.4550, d1.loss_plan_l1_fix_time: 0.7072, d1.loss_plan_l1_fix_dist: 0.1800, d2.loss_plan_l1_fix_time: 0.6946, d2.loss_plan_l1_fix_dist: 0.3053, d3.loss_plan_l1_fix_time: 0.6746, d3.loss_plan_l1_fix_dist: 0.1986, d4.loss_plan_l1_fix_time: 0.6763, d4.loss_plan_l1_fix_dist: 0.1904, d5.loss_plan_l1_fix_time: 0.6795, d5.loss_plan_l1_fix_dist: 0.1908, d6.loss_plan_l1_fix_time: 0.6840, d6.loss_plan_l1_fix_dist: 0.1923, d0.loss_cls_all: 0.1188, d0.loss_bbox_all: 0.3322, d0.loss_cls: 0.1188, d0.loss_bbox: 0.3322, d1.loss_cls: 0.1151, d1.loss_bbox: 0.2980, d2.loss_cls: 0.1023, d2.loss_bbox: 0.2811, d3.loss_cls: 0.0866, d3.loss_bbox: 0.2765, d4.loss_cls: 0.0794, d4.loss_bbox: 0.2735, d5.loss_cls: 0.0792, d5.loss_bbox: 0.2710, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6704, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4840, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4182, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4008, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3950, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3895, d0.loss_map_cls_all: 0.1705, d0.loss_map_pts_all: 1.0545, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1705, d0.loss_map_pts: 1.0545, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1424, d1.loss_map_pts: 0.7610, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1203, d2.loss_map_pts: 0.6092, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1083, d3.loss_map_pts: 0.5483, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1004, d4.loss_map_pts: 0.5227, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0959, d5.loss_map_pts: 0.5123, d5.loss_map_dir: 0.0058, loss: 20.7587, grad_norm: 131.0405 +2026-03-01 03:13:31,838 - DriveTransformer - INFO - Epoch [12][2250/39528] lr: 5.696e-05, eta: 4 days, 7:53:39, time: 0.741, data_time: 0.036, memory: 19865, loss_cls: 0.0848, loss_bbox: 0.2755, loss_traj: 0.4719, loss_traj_cls: 0.0020, loss_map_cls: 0.0840, loss_map_pts: 0.4845, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.9283, d0.loss_plan_l1_fix_dist: 0.3903, d1.loss_plan_l1_fix_time: 0.7321, d1.loss_plan_l1_fix_dist: 0.1806, d2.loss_plan_l1_fix_time: 0.7071, d2.loss_plan_l1_fix_dist: 0.2998, d3.loss_plan_l1_fix_time: 0.7003, d3.loss_plan_l1_fix_dist: 0.1723, d4.loss_plan_l1_fix_time: 0.7012, d4.loss_plan_l1_fix_dist: 0.1674, d5.loss_plan_l1_fix_time: 0.7034, d5.loss_plan_l1_fix_dist: 0.1718, d6.loss_plan_l1_fix_time: 0.7063, d6.loss_plan_l1_fix_dist: 0.1648, d0.loss_cls_all: 0.1348, d0.loss_bbox_all: 0.3513, d0.loss_cls: 0.1348, d0.loss_bbox: 0.3513, d1.loss_cls: 0.1243, d1.loss_bbox: 0.3114, d2.loss_cls: 0.1096, d2.loss_bbox: 0.2898, d3.loss_cls: 0.0930, d3.loss_bbox: 0.2806, d4.loss_cls: 0.0867, d4.loss_bbox: 0.2773, d5.loss_cls: 0.0846, d5.loss_bbox: 0.2765, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6999, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5364, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4922, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4787, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4735, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4716, d0.loss_map_cls_all: 0.1638, d0.loss_map_pts_all: 1.0204, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1638, d0.loss_map_pts: 1.0204, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1322, d1.loss_map_pts: 0.7265, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1110, d2.loss_map_pts: 0.5673, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0991, d3.loss_map_pts: 0.5092, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0923, d4.loss_map_pts: 0.4891, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0859, d5.loss_map_pts: 0.4847, d5.loss_map_dir: 0.0057, loss: 21.9036, grad_norm: 130.9260 +2026-03-01 03:14:08,173 - DriveTransformer - INFO - Epoch [12][2300/39528] lr: 5.696e-05, eta: 4 days, 7:53:01, time: 0.727, data_time: 0.037, memory: 19865, loss_cls: 0.0798, loss_bbox: 0.2673, loss_traj: 0.4716, loss_traj_cls: 0.0021, loss_map_cls: 0.0709, loss_map_pts: 0.3839, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.5564, d0.loss_plan_l1_fix_dist: 0.4161, d1.loss_plan_l1_fix_time: 0.6942, d1.loss_plan_l1_fix_dist: 0.2012, d2.loss_plan_l1_fix_time: 0.6829, d2.loss_plan_l1_fix_dist: 0.2974, d3.loss_plan_l1_fix_time: 0.6818, d3.loss_plan_l1_fix_dist: 0.1477, d4.loss_plan_l1_fix_time: 0.6833, d4.loss_plan_l1_fix_dist: 0.1555, d5.loss_plan_l1_fix_time: 0.6856, d5.loss_plan_l1_fix_dist: 0.1621, d6.loss_plan_l1_fix_time: 0.6882, d6.loss_plan_l1_fix_dist: 0.1548, d0.loss_cls_all: 0.1271, d0.loss_bbox_all: 0.3259, d0.loss_cls: 0.1271, d0.loss_bbox: 0.3259, d1.loss_cls: 0.1206, d1.loss_bbox: 0.2935, d2.loss_cls: 0.1051, d2.loss_bbox: 0.2768, d3.loss_cls: 0.0879, d3.loss_bbox: 0.2694, d4.loss_cls: 0.0810, d4.loss_bbox: 0.2677, d5.loss_cls: 0.0799, d5.loss_bbox: 0.2669, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7360, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5633, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5056, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4832, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4756, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4718, d0.loss_map_cls_all: 0.1417, d0.loss_map_pts_all: 0.8255, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1417, d0.loss_map_pts: 0.8255, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1124, d1.loss_map_pts: 0.5856, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.0925, d2.loss_map_pts: 0.4546, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0832, d3.loss_map_pts: 0.4074, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0765, d4.loss_map_pts: 0.3921, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0718, d5.loss_map_pts: 0.3838, d5.loss_map_dir: 0.0052, loss: 20.1158, grad_norm: 130.4224 +2026-03-01 03:14:44,862 - DriveTransformer - INFO - Epoch [12][2350/39528] lr: 5.696e-05, eta: 4 days, 7:52:25, time: 0.734, data_time: 0.037, memory: 19865, loss_cls: 0.0967, loss_bbox: 0.2910, loss_traj: 0.4622, loss_traj_cls: 0.0020, loss_map_cls: 0.0926, loss_map_pts: 0.4959, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.7855, d0.loss_plan_l1_fix_dist: 0.3960, d1.loss_plan_l1_fix_time: 0.7180, d1.loss_plan_l1_fix_dist: 0.2524, d2.loss_plan_l1_fix_time: 0.7044, d2.loss_plan_l1_fix_dist: 0.2710, d3.loss_plan_l1_fix_time: 0.6983, d3.loss_plan_l1_fix_dist: 0.1615, d4.loss_plan_l1_fix_time: 0.6992, d4.loss_plan_l1_fix_dist: 0.1629, d5.loss_plan_l1_fix_time: 0.7009, d5.loss_plan_l1_fix_dist: 0.1633, d6.loss_plan_l1_fix_time: 0.7028, d6.loss_plan_l1_fix_dist: 0.1611, d0.loss_cls_all: 0.1461, d0.loss_bbox_all: 0.3578, d0.loss_cls: 0.1461, d0.loss_bbox: 0.3578, d1.loss_cls: 0.1397, d1.loss_bbox: 0.3218, d2.loss_cls: 0.1238, d2.loss_bbox: 0.3010, d3.loss_cls: 0.1063, d3.loss_bbox: 0.2954, d4.loss_cls: 0.0977, d4.loss_bbox: 0.2936, d5.loss_cls: 0.0967, d5.loss_bbox: 0.2913, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6798, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5394, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4928, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4704, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4669, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4636, d0.loss_map_cls_all: 0.1715, d0.loss_map_pts_all: 1.0286, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1715, d0.loss_map_pts: 1.0286, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1411, d1.loss_map_pts: 0.7501, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1208, d2.loss_map_pts: 0.5890, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1080, d3.loss_map_pts: 0.5294, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1000, d4.loss_map_pts: 0.5082, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0948, d5.loss_map_pts: 0.4968, d5.loss_map_dir: 0.0060, loss: 22.0970, grad_norm: 130.8993 +2026-03-01 03:15:20,721 - DriveTransformer - INFO - Epoch [12][2400/39528] lr: 5.696e-05, eta: 4 days, 7:51:47, time: 0.717, data_time: 0.035, memory: 19865, loss_cls: 0.0954, loss_bbox: 0.3023, loss_traj: 0.4813, loss_traj_cls: 0.0019, loss_map_cls: 0.1103, loss_map_pts: 0.5442, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 3.2099, d0.loss_plan_l1_fix_dist: 0.4808, d1.loss_plan_l1_fix_time: 0.7841, d1.loss_plan_l1_fix_dist: 0.2917, d2.loss_plan_l1_fix_time: 0.7540, d2.loss_plan_l1_fix_dist: 0.2598, d3.loss_plan_l1_fix_time: 0.7484, d3.loss_plan_l1_fix_dist: 0.2127, d4.loss_plan_l1_fix_time: 0.7492, d4.loss_plan_l1_fix_dist: 0.1899, d5.loss_plan_l1_fix_time: 0.7504, d5.loss_plan_l1_fix_dist: 0.1670, d6.loss_plan_l1_fix_time: 0.7519, d6.loss_plan_l1_fix_dist: 0.1659, d0.loss_cls_all: 0.1403, d0.loss_bbox_all: 0.3621, d0.loss_cls: 0.1403, d0.loss_bbox: 0.3621, d1.loss_cls: 0.1335, d1.loss_bbox: 0.3308, d2.loss_cls: 0.1181, d2.loss_bbox: 0.3098, d3.loss_cls: 0.1014, d3.loss_bbox: 0.3048, d4.loss_cls: 0.0964, d4.loss_bbox: 0.3030, d5.loss_cls: 0.0948, d5.loss_bbox: 0.3022, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7397, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5491, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4975, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4866, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4825, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4808, d0.loss_map_cls_all: 0.2036, d0.loss_map_pts_all: 1.1211, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.2036, d0.loss_map_pts: 1.1211, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1719, d1.loss_map_pts: 0.8262, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1460, d2.loss_map_pts: 0.6495, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.1305, d3.loss_map_pts: 0.5763, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1205, d4.loss_map_pts: 0.5511, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.1127, d5.loss_map_pts: 0.5441, d5.loss_map_dir: 0.0052, loss: 23.9113, grad_norm: 128.1964 +2026-03-01 03:15:57,521 - DriveTransformer - INFO - Epoch [12][2450/39528] lr: 5.696e-05, eta: 4 days, 7:51:11, time: 0.736, data_time: 0.038, memory: 19865, loss_cls: 0.0815, loss_bbox: 0.2741, loss_traj: 0.4707, loss_traj_cls: 0.0020, loss_map_cls: 0.0694, loss_map_pts: 0.4036, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.3685, d0.loss_plan_l1_fix_dist: 0.4509, d1.loss_plan_l1_fix_time: 0.6696, d1.loss_plan_l1_fix_dist: 0.2976, d2.loss_plan_l1_fix_time: 0.6414, d2.loss_plan_l1_fix_dist: 0.2365, d3.loss_plan_l1_fix_time: 0.6446, d3.loss_plan_l1_fix_dist: 0.2120, d4.loss_plan_l1_fix_time: 0.6474, d4.loss_plan_l1_fix_dist: 0.1970, d5.loss_plan_l1_fix_time: 0.6495, d5.loss_plan_l1_fix_dist: 0.1669, d6.loss_plan_l1_fix_time: 0.6516, d6.loss_plan_l1_fix_dist: 0.1710, d0.loss_cls_all: 0.1157, d0.loss_bbox_all: 0.3290, d0.loss_cls: 0.1157, d0.loss_bbox: 0.3290, d1.loss_cls: 0.1100, d1.loss_bbox: 0.2968, d2.loss_cls: 0.0974, d2.loss_bbox: 0.2768, d3.loss_cls: 0.0859, d3.loss_bbox: 0.2729, d4.loss_cls: 0.0829, d4.loss_bbox: 0.2727, d5.loss_cls: 0.0811, d5.loss_bbox: 0.2736, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7143, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5680, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4997, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4818, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4733, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4726, d0.loss_map_cls_all: 0.1486, d0.loss_map_pts_all: 0.8773, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1486, d0.loss_map_pts: 0.8773, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1144, d1.loss_map_pts: 0.6172, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.0888, d2.loss_map_pts: 0.4859, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.0809, d3.loss_map_pts: 0.4307, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0730, d4.loss_map_pts: 0.4103, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0709, d5.loss_map_pts: 0.4031, d5.loss_map_dir: 0.0048, loss: 20.1268, grad_norm: 129.1927 +2026-03-01 03:16:33,727 - DriveTransformer - INFO - Epoch [12][2500/39528] lr: 5.696e-05, eta: 4 days, 7:50:34, time: 0.724, data_time: 0.037, memory: 19865, loss_cls: 0.0966, loss_bbox: 0.3090, loss_traj: 0.4844, loss_traj_cls: 0.0020, loss_map_cls: 0.0933, loss_map_pts: 0.4670, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.9923, d0.loss_plan_l1_fix_dist: 0.4630, d1.loss_plan_l1_fix_time: 0.8514, d1.loss_plan_l1_fix_dist: 0.3213, d2.loss_plan_l1_fix_time: 0.8112, d2.loss_plan_l1_fix_dist: 0.2404, d3.loss_plan_l1_fix_time: 0.8060, d3.loss_plan_l1_fix_dist: 0.2365, d4.loss_plan_l1_fix_time: 0.8066, d4.loss_plan_l1_fix_dist: 0.2098, d5.loss_plan_l1_fix_time: 0.8088, d5.loss_plan_l1_fix_dist: 0.1847, d6.loss_plan_l1_fix_time: 0.8111, d6.loss_plan_l1_fix_dist: 0.1814, d0.loss_cls_all: 0.1443, d0.loss_bbox_all: 0.3763, d0.loss_cls: 0.1443, d0.loss_bbox: 0.3763, d1.loss_cls: 0.1391, d1.loss_bbox: 0.3432, d2.loss_cls: 0.1213, d2.loss_bbox: 0.3203, d3.loss_cls: 0.1041, d3.loss_bbox: 0.3132, d4.loss_cls: 0.0995, d4.loss_bbox: 0.3090, d5.loss_cls: 0.0966, d5.loss_bbox: 0.3090, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7694, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.6098, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5265, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5097, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4978, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4857, d0.loss_map_cls_all: 0.1770, d0.loss_map_pts_all: 0.9502, d0.loss_map_dir_all: 0.0050, d0.loss_map_cls: 0.1770, d0.loss_map_pts: 0.9502, d0.loss_map_dir: 0.0050, d1.loss_map_cls: 0.1483, d1.loss_map_pts: 0.6913, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.1232, d2.loss_map_pts: 0.5494, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.1095, d3.loss_map_pts: 0.4895, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.1005, d4.loss_map_pts: 0.4723, d4.loss_map_dir: 0.0046, d5.loss_map_cls: 0.0956, d5.loss_map_pts: 0.4667, d5.loss_map_dir: 0.0047, loss: 23.3155, grad_norm: 131.9627 +2026-03-01 03:17:11,535 - DriveTransformer - INFO - Epoch [12][2550/39528] lr: 5.696e-05, eta: 4 days, 7:50:00, time: 0.756, data_time: 0.038, memory: 19865, loss_cls: 0.0769, loss_bbox: 0.2687, loss_traj: 0.3613, loss_traj_cls: 0.0020, loss_map_cls: 0.0867, loss_map_pts: 0.4791, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.3883, d0.loss_plan_l1_fix_dist: 0.4222, d1.loss_plan_l1_fix_time: 0.7087, d1.loss_plan_l1_fix_dist: 0.3235, d2.loss_plan_l1_fix_time: 0.6747, d2.loss_plan_l1_fix_dist: 0.2111, d3.loss_plan_l1_fix_time: 0.6702, d3.loss_plan_l1_fix_dist: 0.2258, d4.loss_plan_l1_fix_time: 0.6720, d4.loss_plan_l1_fix_dist: 0.1941, d5.loss_plan_l1_fix_time: 0.6744, d5.loss_plan_l1_fix_dist: 0.1802, d6.loss_plan_l1_fix_time: 0.6770, d6.loss_plan_l1_fix_dist: 0.1638, d0.loss_cls_all: 0.1152, d0.loss_bbox_all: 0.3327, d0.loss_cls: 0.1152, d0.loss_bbox: 0.3327, d1.loss_cls: 0.1081, d1.loss_bbox: 0.3014, d2.loss_cls: 0.0962, d2.loss_bbox: 0.2775, d3.loss_cls: 0.0834, d3.loss_bbox: 0.2718, d4.loss_cls: 0.0774, d4.loss_bbox: 0.2705, d5.loss_cls: 0.0759, d5.loss_bbox: 0.2694, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5457, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4372, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3818, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3651, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.3647, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3626, d0.loss_map_cls_all: 0.1728, d0.loss_map_pts_all: 1.0436, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1728, d0.loss_map_pts: 1.0436, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1420, d1.loss_map_pts: 0.7415, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1158, d2.loss_map_pts: 0.5725, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1013, d3.loss_map_pts: 0.5105, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.0938, d4.loss_map_pts: 0.4854, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0880, d5.loss_map_pts: 0.4804, d5.loss_map_dir: 0.0066, loss: 20.4673, grad_norm: 132.6809 +2026-03-01 03:17:47,003 - DriveTransformer - INFO - Epoch [12][2600/39528] lr: 5.696e-05, eta: 4 days, 7:49:21, time: 0.711, data_time: 0.035, memory: 19865, loss_cls: 0.0735, loss_bbox: 0.2674, loss_traj: 0.4372, loss_traj_cls: 0.0020, loss_map_cls: 0.0812, loss_map_pts: 0.4440, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.4196, d0.loss_plan_l1_fix_dist: 0.4951, d1.loss_plan_l1_fix_time: 0.7569, d1.loss_plan_l1_fix_dist: 0.3493, d2.loss_plan_l1_fix_time: 0.7322, d2.loss_plan_l1_fix_dist: 0.2392, d3.loss_plan_l1_fix_time: 0.7324, d3.loss_plan_l1_fix_dist: 0.2571, d4.loss_plan_l1_fix_time: 0.7345, d4.loss_plan_l1_fix_dist: 0.2220, d5.loss_plan_l1_fix_time: 0.7371, d5.loss_plan_l1_fix_dist: 0.2213, d6.loss_plan_l1_fix_time: 0.7404, d6.loss_plan_l1_fix_dist: 0.1913, d0.loss_cls_all: 0.1154, d0.loss_bbox_all: 0.3342, d0.loss_cls: 0.1154, d0.loss_bbox: 0.3342, d1.loss_cls: 0.1069, d1.loss_bbox: 0.2984, d2.loss_cls: 0.0942, d2.loss_bbox: 0.2794, d3.loss_cls: 0.0779, d3.loss_bbox: 0.2717, d4.loss_cls: 0.0734, d4.loss_bbox: 0.2687, d5.loss_cls: 0.0734, d5.loss_bbox: 0.2664, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6817, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5067, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4554, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4449, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4412, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4369, d0.loss_map_cls_all: 0.1619, d0.loss_map_pts_all: 0.9977, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1619, d0.loss_map_pts: 0.9977, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1335, d1.loss_map_pts: 0.6959, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1044, d2.loss_map_pts: 0.5322, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0930, d3.loss_map_pts: 0.4688, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0867, d4.loss_map_pts: 0.4487, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0828, d5.loss_map_pts: 0.4452, d5.loss_map_dir: 0.0054, loss: 21.2691, grad_norm: 142.2732 +2026-03-01 03:18:23,511 - DriveTransformer - INFO - Epoch [12][2650/39528] lr: 5.696e-05, eta: 4 days, 7:48:44, time: 0.729, data_time: 0.034, memory: 19865, loss_cls: 0.0955, loss_bbox: 0.2655, loss_traj: 0.4288, loss_traj_cls: 0.0020, loss_map_cls: 0.0779, loss_map_pts: 0.4205, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.5130, d0.loss_plan_l1_fix_dist: 0.4060, d1.loss_plan_l1_fix_time: 0.7164, d1.loss_plan_l1_fix_dist: 0.3227, d2.loss_plan_l1_fix_time: 0.6902, d2.loss_plan_l1_fix_dist: 0.1921, d3.loss_plan_l1_fix_time: 0.6829, d3.loss_plan_l1_fix_dist: 0.2155, d4.loss_plan_l1_fix_time: 0.6859, d4.loss_plan_l1_fix_dist: 0.1898, d5.loss_plan_l1_fix_time: 0.6892, d5.loss_plan_l1_fix_dist: 0.1948, d6.loss_plan_l1_fix_time: 0.6935, d6.loss_plan_l1_fix_dist: 0.1682, d0.loss_cls_all: 0.1370, d0.loss_bbox_all: 0.3235, d0.loss_cls: 0.1370, d0.loss_bbox: 0.3235, d1.loss_cls: 0.1285, d1.loss_bbox: 0.2921, d2.loss_cls: 0.1137, d2.loss_bbox: 0.2725, d3.loss_cls: 0.0989, d3.loss_bbox: 0.2650, d4.loss_cls: 0.0938, d4.loss_bbox: 0.2653, d5.loss_cls: 0.0940, d5.loss_bbox: 0.2648, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6359, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4827, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4397, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4333, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4300, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4271, d0.loss_map_cls_all: 0.1527, d0.loss_map_pts_all: 0.8903, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1527, d0.loss_map_pts: 0.8903, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1223, d1.loss_map_pts: 0.6380, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.0997, d2.loss_map_pts: 0.4957, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0894, d3.loss_map_pts: 0.4499, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0836, d4.loss_map_pts: 0.4279, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0791, d5.loss_map_pts: 0.4208, d5.loss_map_dir: 0.0052, loss: 20.3482, grad_norm: 142.7713 +2026-03-01 03:18:59,776 - DriveTransformer - INFO - Epoch [12][2700/39528] lr: 5.696e-05, eta: 4 days, 7:48:07, time: 0.725, data_time: 0.035, memory: 19865, loss_cls: 0.0767, loss_bbox: 0.2618, loss_traj: 0.3517, loss_traj_cls: 0.0020, loss_map_cls: 0.0864, loss_map_pts: 0.4654, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.2829, d0.loss_plan_l1_fix_dist: 0.4248, d1.loss_plan_l1_fix_time: 0.6399, d1.loss_plan_l1_fix_dist: 0.3115, d2.loss_plan_l1_fix_time: 0.6141, d2.loss_plan_l1_fix_dist: 0.1831, d3.loss_plan_l1_fix_time: 0.6176, d3.loss_plan_l1_fix_dist: 0.2116, d4.loss_plan_l1_fix_time: 0.6195, d4.loss_plan_l1_fix_dist: 0.1752, d5.loss_plan_l1_fix_time: 0.6210, d5.loss_plan_l1_fix_dist: 0.1663, d6.loss_plan_l1_fix_time: 0.6231, d6.loss_plan_l1_fix_dist: 0.1545, d0.loss_cls_all: 0.1184, d0.loss_bbox_all: 0.3331, d0.loss_cls: 0.1184, d0.loss_bbox: 0.3331, d1.loss_cls: 0.1114, d1.loss_bbox: 0.2973, d2.loss_cls: 0.0978, d2.loss_bbox: 0.2755, d3.loss_cls: 0.0828, d3.loss_bbox: 0.2654, d4.loss_cls: 0.0778, d4.loss_bbox: 0.2628, d5.loss_cls: 0.0764, d5.loss_bbox: 0.2621, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5389, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4153, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3752, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3623, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3536, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3521, d0.loss_map_cls_all: 0.1592, d0.loss_map_pts_all: 0.9815, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1592, d0.loss_map_pts: 0.9815, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1308, d1.loss_map_pts: 0.6937, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1091, d2.loss_map_pts: 0.5477, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0997, d3.loss_map_pts: 0.4948, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0937, d4.loss_map_pts: 0.4690, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0901, d5.loss_map_pts: 0.4640, d5.loss_map_dir: 0.0057, loss: 19.5234, grad_norm: 140.9363 +2026-03-01 03:19:38,151 - DriveTransformer - INFO - Epoch [12][2750/39528] lr: 5.696e-05, eta: 4 days, 7:47:35, time: 0.768, data_time: 0.036, memory: 19865, loss_cls: 0.0764, loss_bbox: 0.2619, loss_traj: 0.4249, loss_traj_cls: 0.0021, loss_map_cls: 0.0821, loss_map_pts: 0.5001, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.5648, d0.loss_plan_l1_fix_dist: 0.4040, d1.loss_plan_l1_fix_time: 0.6873, d1.loss_plan_l1_fix_dist: 0.2836, d2.loss_plan_l1_fix_time: 0.6597, d2.loss_plan_l1_fix_dist: 0.1763, d3.loss_plan_l1_fix_time: 0.6368, d3.loss_plan_l1_fix_dist: 0.1903, d4.loss_plan_l1_fix_time: 0.6369, d4.loss_plan_l1_fix_dist: 0.1567, d5.loss_plan_l1_fix_time: 0.6380, d5.loss_plan_l1_fix_dist: 0.1609, d6.loss_plan_l1_fix_time: 0.6395, d6.loss_plan_l1_fix_dist: 0.1535, d0.loss_cls_all: 0.1244, d0.loss_bbox_all: 0.3261, d0.loss_cls: 0.1244, d0.loss_bbox: 0.3261, d1.loss_cls: 0.1149, d1.loss_bbox: 0.2963, d2.loss_cls: 0.0987, d2.loss_bbox: 0.2748, d3.loss_cls: 0.0823, d3.loss_bbox: 0.2665, d4.loss_cls: 0.0773, d4.loss_bbox: 0.2633, d5.loss_cls: 0.0763, d5.loss_bbox: 0.2612, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6340, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5052, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4521, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4331, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4284, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4250, d0.loss_map_cls_all: 0.1627, d0.loss_map_pts_all: 1.0503, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1627, d0.loss_map_pts: 1.0503, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1293, d1.loss_map_pts: 0.7366, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1077, d2.loss_map_pts: 0.5744, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.0952, d3.loss_map_pts: 0.5199, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0891, d4.loss_map_pts: 0.5032, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0836, d5.loss_map_pts: 0.5003, d5.loss_map_dir: 0.0062, loss: 20.7459, grad_norm: 140.7740 +2026-03-01 03:20:14,763 - DriveTransformer - INFO - Epoch [12][2800/39528] lr: 5.696e-05, eta: 4 days, 7:46:59, time: 0.732, data_time: 0.034, memory: 19865, loss_cls: 0.0803, loss_bbox: 0.2655, loss_traj: 0.4670, loss_traj_cls: 0.0020, loss_map_cls: 0.0622, loss_map_pts: 0.4000, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.4379, d0.loss_plan_l1_fix_dist: 0.4469, d1.loss_plan_l1_fix_time: 0.6668, d1.loss_plan_l1_fix_dist: 0.2728, d2.loss_plan_l1_fix_time: 0.6506, d2.loss_plan_l1_fix_dist: 0.1946, d3.loss_plan_l1_fix_time: 0.6488, d3.loss_plan_l1_fix_dist: 0.1956, d4.loss_plan_l1_fix_time: 0.6503, d4.loss_plan_l1_fix_dist: 0.1796, d5.loss_plan_l1_fix_time: 0.6524, d5.loss_plan_l1_fix_dist: 0.1789, d6.loss_plan_l1_fix_time: 0.6544, d6.loss_plan_l1_fix_dist: 0.1775, d0.loss_cls_all: 0.1240, d0.loss_bbox_all: 0.3230, d0.loss_cls: 0.1240, d0.loss_bbox: 0.3230, d1.loss_cls: 0.1190, d1.loss_bbox: 0.2947, d2.loss_cls: 0.1074, d2.loss_bbox: 0.2732, d3.loss_cls: 0.0884, d3.loss_bbox: 0.2704, d4.loss_cls: 0.0820, d4.loss_bbox: 0.2672, d5.loss_cls: 0.0802, d5.loss_bbox: 0.2654, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7313, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5417, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4805, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4720, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4703, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4659, d0.loss_map_cls_all: 0.1284, d0.loss_map_pts_all: 0.8528, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1284, d0.loss_map_pts: 0.8528, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1004, d1.loss_map_pts: 0.5942, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.0834, d2.loss_map_pts: 0.4658, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0748, d3.loss_map_pts: 0.4190, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0699, d4.loss_map_pts: 0.4000, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0646, d5.loss_map_pts: 0.3980, d5.loss_map_dir: 0.0053, loss: 19.8682, grad_norm: 142.0479 +2026-03-01 03:20:50,147 - DriveTransformer - INFO - Epoch [12][2850/39528] lr: 5.696e-05, eta: 4 days, 7:46:19, time: 0.708, data_time: 0.036, memory: 19865, loss_cls: 0.0806, loss_bbox: 0.2678, loss_traj: 0.4022, loss_traj_cls: 0.0020, loss_map_cls: 0.0953, loss_map_pts: 0.4803, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.8127, d0.loss_plan_l1_fix_dist: 0.4317, d1.loss_plan_l1_fix_time: 0.6496, d1.loss_plan_l1_fix_dist: 0.2531, d2.loss_plan_l1_fix_time: 0.6364, d2.loss_plan_l1_fix_dist: 0.1842, d3.loss_plan_l1_fix_time: 0.6251, d3.loss_plan_l1_fix_dist: 0.1860, d4.loss_plan_l1_fix_time: 0.6260, d4.loss_plan_l1_fix_dist: 0.1933, d5.loss_plan_l1_fix_time: 0.6278, d5.loss_plan_l1_fix_dist: 0.1929, d6.loss_plan_l1_fix_time: 0.6296, d6.loss_plan_l1_fix_dist: 0.1979, d0.loss_cls_all: 0.1289, d0.loss_bbox_all: 0.3300, d0.loss_cls: 0.1289, d0.loss_bbox: 0.3300, d1.loss_cls: 0.1251, d1.loss_bbox: 0.2987, d2.loss_cls: 0.1083, d2.loss_bbox: 0.2775, d3.loss_cls: 0.0914, d3.loss_bbox: 0.2703, d4.loss_cls: 0.0823, d4.loss_bbox: 0.2697, d5.loss_cls: 0.0802, d5.loss_bbox: 0.2683, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5922, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4764, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4450, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4132, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4064, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4017, d0.loss_map_cls_all: 0.1726, d0.loss_map_pts_all: 0.9926, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1726, d0.loss_map_pts: 0.9926, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1458, d1.loss_map_pts: 0.7061, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1237, d2.loss_map_pts: 0.5550, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1122, d3.loss_map_pts: 0.5052, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1033, d4.loss_map_pts: 0.4885, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0973, d5.loss_map_pts: 0.4818, d5.loss_map_dir: 0.0058, loss: 20.7991, grad_norm: 139.9593 +2026-03-01 03:21:25,944 - DriveTransformer - INFO - Epoch [12][2900/39528] lr: 5.696e-05, eta: 4 days, 7:45:41, time: 0.716, data_time: 0.037, memory: 19865, loss_cls: 0.0902, loss_bbox: 0.2795, loss_traj: 0.4743, loss_traj_cls: 0.0020, loss_map_cls: 0.1130, loss_map_pts: 0.5110, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.6691, d0.loss_plan_l1_fix_dist: 0.3567, d1.loss_plan_l1_fix_time: 0.6942, d1.loss_plan_l1_fix_dist: 0.2455, d2.loss_plan_l1_fix_time: 0.6832, d2.loss_plan_l1_fix_dist: 0.1743, d3.loss_plan_l1_fix_time: 0.6804, d3.loss_plan_l1_fix_dist: 0.1826, d4.loss_plan_l1_fix_time: 0.6805, d4.loss_plan_l1_fix_dist: 0.1896, d5.loss_plan_l1_fix_time: 0.6820, d5.loss_plan_l1_fix_dist: 0.1869, d6.loss_plan_l1_fix_time: 0.6838, d6.loss_plan_l1_fix_dist: 0.1835, d0.loss_cls_all: 0.1294, d0.loss_bbox_all: 0.3507, d0.loss_cls: 0.1294, d0.loss_bbox: 0.3507, d1.loss_cls: 0.1261, d1.loss_bbox: 0.3111, d2.loss_cls: 0.1093, d2.loss_bbox: 0.2895, d3.loss_cls: 0.0936, d3.loss_bbox: 0.2826, d4.loss_cls: 0.0878, d4.loss_bbox: 0.2806, d5.loss_cls: 0.0887, d5.loss_bbox: 0.2794, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7819, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5799, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5194, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4920, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4846, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4764, d0.loss_map_cls_all: 0.1965, d0.loss_map_pts_all: 1.0663, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1965, d0.loss_map_pts: 1.0663, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1682, d1.loss_map_pts: 0.7740, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1398, d2.loss_map_pts: 0.6094, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1280, d3.loss_map_pts: 0.5454, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1207, d4.loss_map_pts: 0.5199, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1157, d5.loss_map_pts: 0.5121, d5.loss_map_dir: 0.0058, loss: 22.2146, grad_norm: 140.6111 +2026-03-01 03:22:02,507 - DriveTransformer - INFO - Epoch [12][2950/39528] lr: 5.696e-05, eta: 4 days, 7:45:04, time: 0.731, data_time: 0.040, memory: 19865, loss_cls: 0.0980, loss_bbox: 0.3006, loss_traj: 0.4532, loss_traj_cls: 0.0020, loss_map_cls: 0.1220, loss_map_pts: 0.5931, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.8199, d0.loss_plan_l1_fix_dist: 0.4405, d1.loss_plan_l1_fix_time: 0.7005, d1.loss_plan_l1_fix_dist: 0.2555, d2.loss_plan_l1_fix_time: 0.6772, d2.loss_plan_l1_fix_dist: 0.2011, d3.loss_plan_l1_fix_time: 0.6675, d3.loss_plan_l1_fix_dist: 0.2097, d4.loss_plan_l1_fix_time: 0.6678, d4.loss_plan_l1_fix_dist: 0.2162, d5.loss_plan_l1_fix_time: 0.6693, d5.loss_plan_l1_fix_dist: 0.2072, d6.loss_plan_l1_fix_time: 0.6711, d6.loss_plan_l1_fix_dist: 0.2050, d0.loss_cls_all: 0.1455, d0.loss_bbox_all: 0.3724, d0.loss_cls: 0.1455, d0.loss_bbox: 0.3724, d1.loss_cls: 0.1393, d1.loss_bbox: 0.3343, d2.loss_cls: 0.1228, d2.loss_bbox: 0.3103, d3.loss_cls: 0.1035, d3.loss_bbox: 0.3063, d4.loss_cls: 0.0982, d4.loss_bbox: 0.3032, d5.loss_cls: 0.0970, d5.loss_bbox: 0.3018, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7030, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5328, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4805, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4629, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4548, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4550, d0.loss_map_cls_all: 0.2072, d0.loss_map_pts_all: 1.1589, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.2072, d0.loss_map_pts: 1.1589, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1799, d1.loss_map_pts: 0.8637, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1551, d2.loss_map_pts: 0.6960, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1418, d3.loss_map_pts: 0.6297, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1328, d4.loss_map_pts: 0.6019, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1256, d5.loss_map_pts: 0.5936, d5.loss_map_dir: 0.0060, loss: 23.3241, grad_norm: 140.2825 +2026-03-01 03:22:36,801 - DriveTransformer - INFO - Epoch [12][3000/39528] lr: 5.696e-05, eta: 4 days, 7:44:22, time: 0.686, data_time: 0.038, memory: 19865, loss_cls: 0.0783, loss_bbox: 0.2828, loss_traj: 0.5150, loss_traj_cls: 0.0020, loss_map_cls: 0.0860, loss_map_pts: 0.4417, loss_map_dir: 0.0044, d0.loss_plan_l1_fix_time: 3.2688, d0.loss_plan_l1_fix_dist: 0.4853, d1.loss_plan_l1_fix_time: 0.7902, d1.loss_plan_l1_fix_dist: 0.2301, d2.loss_plan_l1_fix_time: 0.7666, d2.loss_plan_l1_fix_dist: 0.1915, d3.loss_plan_l1_fix_time: 0.7640, d3.loss_plan_l1_fix_dist: 0.2070, d4.loss_plan_l1_fix_time: 0.7650, d4.loss_plan_l1_fix_dist: 0.2217, d5.loss_plan_l1_fix_time: 0.7666, d5.loss_plan_l1_fix_dist: 0.2174, d6.loss_plan_l1_fix_time: 0.7683, d6.loss_plan_l1_fix_dist: 0.1946, d0.loss_cls_all: 0.1236, d0.loss_bbox_all: 0.3553, d0.loss_cls: 0.1236, d0.loss_bbox: 0.3553, d1.loss_cls: 0.1207, d1.loss_bbox: 0.3128, d2.loss_cls: 0.1056, d2.loss_bbox: 0.2936, d3.loss_cls: 0.0860, d3.loss_bbox: 0.2856, d4.loss_cls: 0.0794, d4.loss_bbox: 0.2837, d5.loss_cls: 0.0779, d5.loss_bbox: 0.2826, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7816, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5823, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5457, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5209, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5191, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5153, d0.loss_map_cls_all: 0.1681, d0.loss_map_pts_all: 0.9029, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1681, d0.loss_map_pts: 0.9029, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1357, d1.loss_map_pts: 0.6548, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.1119, d2.loss_map_pts: 0.5214, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.0994, d3.loss_map_pts: 0.4682, d3.loss_map_dir: 0.0043, d4.loss_map_cls: 0.0934, d4.loss_map_pts: 0.4481, d4.loss_map_dir: 0.0044, d5.loss_map_cls: 0.0881, d5.loss_map_pts: 0.4410, d5.loss_map_dir: 0.0044, loss: 22.6393, grad_norm: 140.7771 +2026-03-01 03:23:11,778 - DriveTransformer - INFO - Epoch [12][3050/39528] lr: 5.696e-05, eta: 4 days, 7:43:41, time: 0.700, data_time: 0.036, memory: 19865, loss_cls: 0.0841, loss_bbox: 0.2633, loss_traj: 0.4091, loss_traj_cls: 0.0020, loss_map_cls: 0.0814, loss_map_pts: 0.4694, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 3.0598, d0.loss_plan_l1_fix_dist: 0.4371, d1.loss_plan_l1_fix_time: 0.7322, d1.loss_plan_l1_fix_dist: 0.1986, d2.loss_plan_l1_fix_time: 0.7217, d2.loss_plan_l1_fix_dist: 0.1664, d3.loss_plan_l1_fix_time: 0.6912, d3.loss_plan_l1_fix_dist: 0.1722, d4.loss_plan_l1_fix_time: 0.6917, d4.loss_plan_l1_fix_dist: 0.1907, d5.loss_plan_l1_fix_time: 0.6925, d5.loss_plan_l1_fix_dist: 0.1834, d6.loss_plan_l1_fix_time: 0.6942, d6.loss_plan_l1_fix_dist: 0.1620, d0.loss_cls_all: 0.1321, d0.loss_bbox_all: 0.3372, d0.loss_cls: 0.1321, d0.loss_bbox: 0.3372, d1.loss_cls: 0.1243, d1.loss_bbox: 0.2990, d2.loss_cls: 0.1091, d2.loss_bbox: 0.2770, d3.loss_cls: 0.0931, d3.loss_bbox: 0.2684, d4.loss_cls: 0.0858, d4.loss_bbox: 0.2663, d5.loss_cls: 0.0842, d5.loss_bbox: 0.2637, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6318, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4813, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4297, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4183, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4111, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4061, d0.loss_map_cls_all: 0.1589, d0.loss_map_pts_all: 0.9381, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1589, d0.loss_map_pts: 0.9381, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1284, d1.loss_map_pts: 0.6891, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1034, d2.loss_map_pts: 0.5457, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.0919, d3.loss_map_pts: 0.4901, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0856, d4.loss_map_pts: 0.4692, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0835, d5.loss_map_pts: 0.4664, d5.loss_map_dir: 0.0057, loss: 21.0916, grad_norm: 141.4583 +2026-03-01 03:23:47,145 - DriveTransformer - INFO - Epoch [12][3100/39528] lr: 5.696e-05, eta: 4 days, 7:43:02, time: 0.707, data_time: 0.037, memory: 19865, loss_cls: 0.0801, loss_bbox: 0.2466, loss_traj: 0.5166, loss_traj_cls: 0.0021, loss_map_cls: 0.0569, loss_map_pts: 0.3667, loss_map_dir: 0.0043, d0.loss_plan_l1_fix_time: 2.2217, d0.loss_plan_l1_fix_dist: 0.4209, d1.loss_plan_l1_fix_time: 0.5353, d1.loss_plan_l1_fix_dist: 0.1777, d2.loss_plan_l1_fix_time: 0.5185, d2.loss_plan_l1_fix_dist: 0.1764, d3.loss_plan_l1_fix_time: 0.5168, d3.loss_plan_l1_fix_dist: 0.1490, d4.loss_plan_l1_fix_time: 0.5186, d4.loss_plan_l1_fix_dist: 0.1801, d5.loss_plan_l1_fix_time: 0.5206, d5.loss_plan_l1_fix_dist: 0.1611, d6.loss_plan_l1_fix_time: 0.5232, d6.loss_plan_l1_fix_dist: 0.1698, d0.loss_cls_all: 0.1159, d0.loss_bbox_all: 0.3003, d0.loss_cls: 0.1159, d0.loss_bbox: 0.3003, d1.loss_cls: 0.1090, d1.loss_bbox: 0.2721, d2.loss_cls: 0.0982, d2.loss_bbox: 0.2557, d3.loss_cls: 0.0832, d3.loss_bbox: 0.2493, d4.loss_cls: 0.0800, d4.loss_bbox: 0.2467, d5.loss_cls: 0.0797, d5.loss_bbox: 0.2458, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7807, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5996, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5563, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5338, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5225, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5202, d0.loss_map_cls_all: 0.1263, d0.loss_map_pts_all: 0.7789, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1263, d0.loss_map_pts: 0.7789, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.0973, d1.loss_map_pts: 0.5567, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.0774, d2.loss_map_pts: 0.4320, d2.loss_map_dir: 0.0041, d3.loss_map_cls: 0.0693, d3.loss_map_pts: 0.3897, d3.loss_map_dir: 0.0041, d4.loss_map_cls: 0.0637, d4.loss_map_pts: 0.3745, d4.loss_map_dir: 0.0042, d5.loss_map_cls: 0.0590, d5.loss_map_pts: 0.3672, d5.loss_map_dir: 0.0043, loss: 18.4615, grad_norm: 144.2239 +2026-03-01 03:24:23,099 - DriveTransformer - INFO - Epoch [12][3150/39528] lr: 5.696e-05, eta: 4 days, 7:42:24, time: 0.719, data_time: 0.039, memory: 19865, loss_cls: 0.0948, loss_bbox: 0.2982, loss_traj: 0.5695, loss_traj_cls: 0.0020, loss_map_cls: 0.1026, loss_map_pts: 0.4949, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.5948, d0.loss_plan_l1_fix_dist: 0.4251, d1.loss_plan_l1_fix_time: 0.7351, d1.loss_plan_l1_fix_dist: 0.1852, d2.loss_plan_l1_fix_time: 0.7245, d2.loss_plan_l1_fix_dist: 0.1918, d3.loss_plan_l1_fix_time: 0.7230, d3.loss_plan_l1_fix_dist: 0.1657, d4.loss_plan_l1_fix_time: 0.7245, d4.loss_plan_l1_fix_dist: 0.1931, d5.loss_plan_l1_fix_time: 0.7265, d5.loss_plan_l1_fix_dist: 0.1649, d6.loss_plan_l1_fix_time: 0.7292, d6.loss_plan_l1_fix_dist: 0.1838, d0.loss_cls_all: 0.1334, d0.loss_bbox_all: 0.3597, d0.loss_cls: 0.1334, d0.loss_bbox: 0.3597, d1.loss_cls: 0.1309, d1.loss_bbox: 0.3283, d2.loss_cls: 0.1148, d2.loss_bbox: 0.3092, d3.loss_cls: 0.1002, d3.loss_bbox: 0.3016, d4.loss_cls: 0.0952, d4.loss_bbox: 0.2988, d5.loss_cls: 0.0943, d5.loss_bbox: 0.2978, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8417, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.6521, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5850, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5697, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5652, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5665, d0.loss_map_cls_all: 0.1814, d0.loss_map_pts_all: 1.0370, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1814, d0.loss_map_pts: 1.0370, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1550, d1.loss_map_pts: 0.7352, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1310, d2.loss_map_pts: 0.5750, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1183, d3.loss_map_pts: 0.5196, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1116, d4.loss_map_pts: 0.4976, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1048, d5.loss_map_pts: 0.4947, d5.loss_map_dir: 0.0060, loss: 22.7996, grad_norm: 145.9297 +2026-03-01 03:24:59,709 - DriveTransformer - INFO - Epoch [12][3200/39528] lr: 5.696e-05, eta: 4 days, 7:41:47, time: 0.732, data_time: 0.037, memory: 19865, loss_cls: 0.0772, loss_bbox: 0.2612, loss_traj: 0.4352, loss_traj_cls: 0.0020, loss_map_cls: 0.0888, loss_map_pts: 0.4649, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.3354, d0.loss_plan_l1_fix_dist: 0.3698, d1.loss_plan_l1_fix_time: 0.7532, d1.loss_plan_l1_fix_dist: 0.1622, d2.loss_plan_l1_fix_time: 0.7391, d2.loss_plan_l1_fix_dist: 0.1651, d3.loss_plan_l1_fix_time: 0.7433, d3.loss_plan_l1_fix_dist: 0.1517, d4.loss_plan_l1_fix_time: 0.7454, d4.loss_plan_l1_fix_dist: 0.1705, d5.loss_plan_l1_fix_time: 0.7477, d5.loss_plan_l1_fix_dist: 0.1425, d6.loss_plan_l1_fix_time: 0.7502, d6.loss_plan_l1_fix_dist: 0.1585, d0.loss_cls_all: 0.1171, d0.loss_bbox_all: 0.3212, d0.loss_cls: 0.1171, d0.loss_bbox: 0.3212, d1.loss_cls: 0.1143, d1.loss_bbox: 0.2912, d2.loss_cls: 0.0995, d2.loss_bbox: 0.2735, d3.loss_cls: 0.0864, d3.loss_bbox: 0.2676, d4.loss_cls: 0.0789, d4.loss_bbox: 0.2633, d5.loss_cls: 0.0768, d5.loss_bbox: 0.2612, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6601, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4930, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4519, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4403, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4354, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4346, d0.loss_map_cls_all: 0.1728, d0.loss_map_pts_all: 1.0311, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1728, d0.loss_map_pts: 1.0311, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1388, d1.loss_map_pts: 0.7330, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1157, d2.loss_map_pts: 0.5670, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1041, d3.loss_map_pts: 0.4981, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0969, d4.loss_map_pts: 0.4736, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0924, d5.loss_map_pts: 0.4652, d5.loss_map_dir: 0.0057, loss: 20.8131, grad_norm: 138.8605 +2026-03-01 03:25:35,994 - DriveTransformer - INFO - Epoch [12][3250/39528] lr: 5.696e-05, eta: 4 days, 7:41:10, time: 0.726, data_time: 0.037, memory: 19865, loss_cls: 0.0759, loss_bbox: 0.2526, loss_traj: 0.4334, loss_traj_cls: 0.0021, loss_map_cls: 0.0807, loss_map_pts: 0.4214, loss_map_dir: 0.0047, d0.loss_plan_l1_fix_time: 2.7583, d0.loss_plan_l1_fix_dist: 0.5025, d1.loss_plan_l1_fix_time: 0.7211, d1.loss_plan_l1_fix_dist: 0.2066, d2.loss_plan_l1_fix_time: 0.7030, d2.loss_plan_l1_fix_dist: 0.1976, d3.loss_plan_l1_fix_time: 0.6861, d3.loss_plan_l1_fix_dist: 0.1973, d4.loss_plan_l1_fix_time: 0.6882, d4.loss_plan_l1_fix_dist: 0.1972, d5.loss_plan_l1_fix_time: 0.6902, d5.loss_plan_l1_fix_dist: 0.1932, d6.loss_plan_l1_fix_time: 0.6926, d6.loss_plan_l1_fix_dist: 0.1890, d0.loss_cls_all: 0.1177, d0.loss_bbox_all: 0.3192, d0.loss_cls: 0.1177, d0.loss_bbox: 0.3192, d1.loss_cls: 0.1129, d1.loss_bbox: 0.2863, d2.loss_cls: 0.1010, d2.loss_bbox: 0.2653, d3.loss_cls: 0.0843, d3.loss_bbox: 0.2589, d4.loss_cls: 0.0778, d4.loss_bbox: 0.2553, d5.loss_cls: 0.0750, d5.loss_bbox: 0.2540, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6253, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4899, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4483, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4406, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4384, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4360, d0.loss_map_cls_all: 0.1520, d0.loss_map_pts_all: 0.8730, d0.loss_map_dir_all: 0.0048, d0.loss_map_cls: 0.1520, d0.loss_map_pts: 0.8730, d0.loss_map_dir: 0.0048, d1.loss_map_cls: 0.1243, d1.loss_map_pts: 0.6396, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.1016, d2.loss_map_pts: 0.4948, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.0928, d3.loss_map_pts: 0.4441, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0869, d4.loss_map_pts: 0.4255, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0828, d5.loss_map_pts: 0.4214, d5.loss_map_dir: 0.0047, loss: 20.4183, grad_norm: 139.4379 +2026-03-01 03:26:11,951 - DriveTransformer - INFO - Epoch [12][3300/39528] lr: 5.696e-05, eta: 4 days, 7:40:32, time: 0.719, data_time: 0.036, memory: 19865, loss_cls: 0.0829, loss_bbox: 0.2584, loss_traj: 0.4468, loss_traj_cls: 0.0020, loss_map_cls: 0.0766, loss_map_pts: 0.4190, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.8115, d0.loss_plan_l1_fix_dist: 0.4786, d1.loss_plan_l1_fix_time: 0.7606, d1.loss_plan_l1_fix_dist: 0.1879, d2.loss_plan_l1_fix_time: 0.7420, d2.loss_plan_l1_fix_dist: 0.1765, d3.loss_plan_l1_fix_time: 0.7453, d3.loss_plan_l1_fix_dist: 0.1761, d4.loss_plan_l1_fix_time: 0.7465, d4.loss_plan_l1_fix_dist: 0.1564, d5.loss_plan_l1_fix_time: 0.7479, d5.loss_plan_l1_fix_dist: 0.1854, d6.loss_plan_l1_fix_time: 0.7497, d6.loss_plan_l1_fix_dist: 0.1579, d0.loss_cls_all: 0.1217, d0.loss_bbox_all: 0.3216, d0.loss_cls: 0.1217, d0.loss_bbox: 0.3216, d1.loss_cls: 0.1157, d1.loss_bbox: 0.2917, d2.loss_cls: 0.1044, d2.loss_bbox: 0.2682, d3.loss_cls: 0.0857, d3.loss_bbox: 0.2623, d4.loss_cls: 0.0813, d4.loss_bbox: 0.2605, d5.loss_cls: 0.0827, d5.loss_bbox: 0.2582, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7024, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5321, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4796, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4600, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4565, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4484, d0.loss_map_cls_all: 0.1569, d0.loss_map_pts_all: 0.8903, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1569, d0.loss_map_pts: 0.8903, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1240, d1.loss_map_pts: 0.6316, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1005, d2.loss_map_pts: 0.4922, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0891, d3.loss_map_pts: 0.4409, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0840, d4.loss_map_pts: 0.4234, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0789, d5.loss_map_pts: 0.4188, d5.loss_map_dir: 0.0050, loss: 20.9072, grad_norm: 139.2428 +2026-03-01 03:26:47,046 - DriveTransformer - INFO - Epoch [12][3350/39528] lr: 5.696e-05, eta: 4 days, 7:39:52, time: 0.702, data_time: 0.036, memory: 19865, loss_cls: 0.0944, loss_bbox: 0.2695, loss_traj: 0.4847, loss_traj_cls: 0.0020, loss_map_cls: 0.0998, loss_map_pts: 0.4517, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.9118, d0.loss_plan_l1_fix_dist: 0.3885, d1.loss_plan_l1_fix_time: 0.6005, d1.loss_plan_l1_fix_dist: 0.1823, d2.loss_plan_l1_fix_time: 0.5824, d2.loss_plan_l1_fix_dist: 0.1553, d3.loss_plan_l1_fix_time: 0.5815, d3.loss_plan_l1_fix_dist: 0.1813, d4.loss_plan_l1_fix_time: 0.5827, d4.loss_plan_l1_fix_dist: 0.1488, d5.loss_plan_l1_fix_time: 0.5843, d5.loss_plan_l1_fix_dist: 0.1816, d6.loss_plan_l1_fix_time: 0.5864, d6.loss_plan_l1_fix_dist: 0.1579, d0.loss_cls_all: 0.1412, d0.loss_bbox_all: 0.3343, d0.loss_cls: 0.1412, d0.loss_bbox: 0.3343, d1.loss_cls: 0.1321, d1.loss_bbox: 0.3014, d2.loss_cls: 0.1159, d2.loss_bbox: 0.2816, d3.loss_cls: 0.1014, d3.loss_bbox: 0.2732, d4.loss_cls: 0.0958, d4.loss_bbox: 0.2708, d5.loss_cls: 0.0949, d5.loss_bbox: 0.2693, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7887, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5880, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5216, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4959, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4894, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4851, d0.loss_map_cls_all: 0.1826, d0.loss_map_pts_all: 0.9431, d0.loss_map_dir_all: 0.0050, d0.loss_map_cls: 0.1826, d0.loss_map_pts: 0.9431, d0.loss_map_dir: 0.0050, d1.loss_map_cls: 0.1479, d1.loss_map_pts: 0.6775, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.1246, d2.loss_map_pts: 0.5357, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.1105, d3.loss_map_pts: 0.4769, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.1051, d4.loss_map_pts: 0.4578, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.1005, d5.loss_map_pts: 0.4528, d5.loss_map_dir: 0.0047, loss: 20.9675, grad_norm: 142.2036 +2026-03-01 03:27:22,591 - DriveTransformer - INFO - Epoch [12][3400/39528] lr: 5.696e-05, eta: 4 days, 7:39:13, time: 0.712, data_time: 0.038, memory: 19865, loss_cls: 0.0793, loss_bbox: 0.2542, loss_traj: 0.3970, loss_traj_cls: 0.0020, loss_map_cls: 0.0795, loss_map_pts: 0.3782, loss_map_dir: 0.0042, d0.loss_plan_l1_fix_time: 2.5029, d0.loss_plan_l1_fix_dist: 0.4876, d1.loss_plan_l1_fix_time: 0.6953, d1.loss_plan_l1_fix_dist: 0.1958, d2.loss_plan_l1_fix_time: 0.6741, d2.loss_plan_l1_fix_dist: 0.1629, d3.loss_plan_l1_fix_time: 0.6766, d3.loss_plan_l1_fix_dist: 0.2028, d4.loss_plan_l1_fix_time: 0.6780, d4.loss_plan_l1_fix_dist: 0.1703, d5.loss_plan_l1_fix_time: 0.6794, d5.loss_plan_l1_fix_dist: 0.1811, d6.loss_plan_l1_fix_time: 0.6813, d6.loss_plan_l1_fix_dist: 0.1777, d0.loss_cls_all: 0.1213, d0.loss_bbox_all: 0.3078, d0.loss_cls: 0.1213, d0.loss_bbox: 0.3078, d1.loss_cls: 0.1166, d1.loss_bbox: 0.2793, d2.loss_cls: 0.1047, d2.loss_bbox: 0.2607, d3.loss_cls: 0.0859, d3.loss_bbox: 0.2561, d4.loss_cls: 0.0815, d4.loss_bbox: 0.2540, d5.loss_cls: 0.0792, d5.loss_bbox: 0.2540, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5946, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4684, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4255, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4048, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3986, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3993, d0.loss_map_cls_all: 0.1667, d0.loss_map_pts_all: 0.8451, d0.loss_map_dir_all: 0.0049, d0.loss_map_cls: 0.1667, d0.loss_map_pts: 0.8451, d0.loss_map_dir: 0.0049, d1.loss_map_cls: 0.1333, d1.loss_map_pts: 0.5878, d1.loss_map_dir: 0.0042, d2.loss_map_cls: 0.1091, d2.loss_map_pts: 0.4558, d2.loss_map_dir: 0.0040, d3.loss_map_cls: 0.0959, d3.loss_map_pts: 0.4025, d3.loss_map_dir: 0.0040, d4.loss_map_cls: 0.0880, d4.loss_map_pts: 0.3849, d4.loss_map_dir: 0.0042, d5.loss_map_cls: 0.0820, d5.loss_map_pts: 0.3798, d5.loss_map_dir: 0.0042, loss: 19.4599, grad_norm: 162.2049 +2026-03-01 03:27:58,282 - DriveTransformer - INFO - Epoch [12][3450/39528] lr: 5.696e-05, eta: 4 days, 7:38:34, time: 0.712, data_time: 0.034, memory: 19865, loss_cls: 0.0783, loss_bbox: 0.2640, loss_traj: 0.3393, loss_traj_cls: 0.0020, loss_map_cls: 0.0861, loss_map_pts: 0.4600, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.4666, d0.loss_plan_l1_fix_dist: 0.5651, d1.loss_plan_l1_fix_time: 0.7449, d1.loss_plan_l1_fix_dist: 0.2103, d2.loss_plan_l1_fix_time: 0.7252, d2.loss_plan_l1_fix_dist: 0.1891, d3.loss_plan_l1_fix_time: 0.7227, d3.loss_plan_l1_fix_dist: 0.2250, d4.loss_plan_l1_fix_time: 0.7240, d4.loss_plan_l1_fix_dist: 0.2058, d5.loss_plan_l1_fix_time: 0.7256, d5.loss_plan_l1_fix_dist: 0.2035, d6.loss_plan_l1_fix_time: 0.7274, d6.loss_plan_l1_fix_dist: 0.2137, d0.loss_cls_all: 0.1203, d0.loss_bbox_all: 0.3256, d0.loss_cls: 0.1203, d0.loss_bbox: 0.3256, d1.loss_cls: 0.1145, d1.loss_bbox: 0.2928, d2.loss_cls: 0.0998, d2.loss_bbox: 0.2734, d3.loss_cls: 0.0831, d3.loss_bbox: 0.2672, d4.loss_cls: 0.0786, d4.loss_bbox: 0.2652, d5.loss_cls: 0.0775, d5.loss_bbox: 0.2644, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5275, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4032, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3609, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3455, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3433, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3401, d0.loss_map_cls_all: 0.1709, d0.loss_map_pts_all: 1.0020, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1709, d0.loss_map_pts: 1.0020, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1342, d1.loss_map_pts: 0.6993, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1112, d2.loss_map_pts: 0.5392, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1008, d3.loss_map_pts: 0.4870, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0938, d4.loss_map_pts: 0.4664, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0882, d5.loss_map_pts: 0.4615, d5.loss_map_dir: 0.0059, loss: 20.4874, grad_norm: 159.9159 +2026-03-01 03:28:34,735 - DriveTransformer - INFO - Epoch [12][3500/39528] lr: 5.696e-05, eta: 4 days, 7:37:57, time: 0.729, data_time: 0.037, memory: 19865, loss_cls: 0.0958, loss_bbox: 0.2910, loss_traj: 0.4806, loss_traj_cls: 0.0019, loss_map_cls: 0.1170, loss_map_pts: 0.5759, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.4435, d0.loss_plan_l1_fix_dist: 0.3115, d1.loss_plan_l1_fix_time: 0.7246, d1.loss_plan_l1_fix_dist: 0.1850, d2.loss_plan_l1_fix_time: 0.7040, d2.loss_plan_l1_fix_dist: 0.1540, d3.loss_plan_l1_fix_time: 0.6996, d3.loss_plan_l1_fix_dist: 0.1751, d4.loss_plan_l1_fix_time: 0.7013, d4.loss_plan_l1_fix_dist: 0.1633, d5.loss_plan_l1_fix_time: 0.7037, d5.loss_plan_l1_fix_dist: 0.1605, d6.loss_plan_l1_fix_time: 0.7059, d6.loss_plan_l1_fix_dist: 0.1746, d0.loss_cls_all: 0.1395, d0.loss_bbox_all: 0.3599, d0.loss_cls: 0.1395, d0.loss_bbox: 0.3599, d1.loss_cls: 0.1340, d1.loss_bbox: 0.3253, d2.loss_cls: 0.1188, d2.loss_bbox: 0.3041, d3.loss_cls: 0.1023, d3.loss_bbox: 0.2962, d4.loss_cls: 0.0969, d4.loss_bbox: 0.2929, d5.loss_cls: 0.0966, d5.loss_bbox: 0.2908, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7326, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5638, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5076, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4889, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4871, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4828, d0.loss_map_cls_all: 0.2233, d0.loss_map_pts_all: 1.1774, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2233, d0.loss_map_pts: 1.1774, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1840, d1.loss_map_pts: 0.8735, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1499, d2.loss_map_pts: 0.6862, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1338, d3.loss_map_pts: 0.6140, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1270, d4.loss_map_pts: 0.5839, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1202, d5.loss_map_pts: 0.5753, d5.loss_map_dir: 0.0066, loss: 22.7929, grad_norm: 163.8489 +2026-03-01 03:29:10,921 - DriveTransformer - INFO - Epoch [12][3550/39528] lr: 5.696e-05, eta: 4 days, 7:37:19, time: 0.724, data_time: 0.038, memory: 19865, loss_cls: 0.0934, loss_bbox: 0.2745, loss_traj: 0.4371, loss_traj_cls: 0.0020, loss_map_cls: 0.0975, loss_map_pts: 0.5347, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.1945, d0.loss_plan_l1_fix_dist: 0.4167, d1.loss_plan_l1_fix_time: 0.6396, d1.loss_plan_l1_fix_dist: 0.1889, d2.loss_plan_l1_fix_time: 0.6188, d2.loss_plan_l1_fix_dist: 0.1677, d3.loss_plan_l1_fix_time: 0.6175, d3.loss_plan_l1_fix_dist: 0.1798, d4.loss_plan_l1_fix_time: 0.6188, d4.loss_plan_l1_fix_dist: 0.1833, d5.loss_plan_l1_fix_time: 0.6203, d5.loss_plan_l1_fix_dist: 0.1731, d6.loss_plan_l1_fix_time: 0.6220, d6.loss_plan_l1_fix_dist: 0.1876, d0.loss_cls_all: 0.1326, d0.loss_bbox_all: 0.3460, d0.loss_cls: 0.1326, d0.loss_bbox: 0.3460, d1.loss_cls: 0.1288, d1.loss_bbox: 0.3099, d2.loss_cls: 0.1174, d2.loss_bbox: 0.2871, d3.loss_cls: 0.1003, d3.loss_bbox: 0.2799, d4.loss_cls: 0.0931, d4.loss_bbox: 0.2762, d5.loss_cls: 0.0929, d5.loss_bbox: 0.2743, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6714, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5022, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4585, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4421, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4382, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4373, d0.loss_map_cls_all: 0.1874, d0.loss_map_pts_all: 1.1127, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1874, d0.loss_map_pts: 1.1127, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1535, d1.loss_map_pts: 0.8219, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1273, d2.loss_map_pts: 0.6458, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1148, d3.loss_map_pts: 0.5683, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1063, d4.loss_map_pts: 0.5423, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0994, d5.loss_map_pts: 0.5343, d5.loss_map_dir: 0.0061, loss: 21.1028, grad_norm: 164.4488 +2026-03-01 03:29:48,134 - DriveTransformer - INFO - Epoch [12][3600/39528] lr: 5.696e-05, eta: 4 days, 7:36:45, time: 0.744, data_time: 0.040, memory: 19865, loss_cls: 0.0800, loss_bbox: 0.2604, loss_traj: 0.4724, loss_traj_cls: 0.0020, loss_map_cls: 0.0702, loss_map_pts: 0.4159, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.4655, d0.loss_plan_l1_fix_dist: 0.4197, d1.loss_plan_l1_fix_time: 0.6379, d1.loss_plan_l1_fix_dist: 0.1651, d2.loss_plan_l1_fix_time: 0.6157, d2.loss_plan_l1_fix_dist: 0.1640, d3.loss_plan_l1_fix_time: 0.6117, d3.loss_plan_l1_fix_dist: 0.1672, d4.loss_plan_l1_fix_time: 0.6119, d4.loss_plan_l1_fix_dist: 0.1941, d5.loss_plan_l1_fix_time: 0.6126, d5.loss_plan_l1_fix_dist: 0.1744, d6.loss_plan_l1_fix_time: 0.6142, d6.loss_plan_l1_fix_dist: 0.1714, d0.loss_cls_all: 0.1219, d0.loss_bbox_all: 0.3229, d0.loss_cls: 0.1219, d0.loss_bbox: 0.3229, d1.loss_cls: 0.1143, d1.loss_bbox: 0.2943, d2.loss_cls: 0.1031, d2.loss_bbox: 0.2743, d3.loss_cls: 0.0876, d3.loss_bbox: 0.2674, d4.loss_cls: 0.0807, d4.loss_bbox: 0.2643, d5.loss_cls: 0.0799, d5.loss_bbox: 0.2614, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7388, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5779, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5071, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4845, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4767, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4756, d0.loss_map_cls_all: 0.1483, d0.loss_map_pts_all: 0.9484, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1483, d0.loss_map_pts: 0.9484, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1164, d1.loss_map_pts: 0.6663, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.0944, d2.loss_map_pts: 0.5130, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.0826, d3.loss_map_pts: 0.4517, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.0770, d4.loss_map_pts: 0.4251, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0727, d5.loss_map_pts: 0.4168, d5.loss_map_dir: 0.0047, loss: 20.0564, grad_norm: 164.3296 +2026-03-01 03:30:25,573 - DriveTransformer - INFO - Epoch [12][3650/39528] lr: 5.696e-05, eta: 4 days, 7:36:10, time: 0.749, data_time: 0.037, memory: 19865, loss_cls: 0.0845, loss_bbox: 0.2725, loss_traj: 0.4004, loss_traj_cls: 0.0020, loss_map_cls: 0.0947, loss_map_pts: 0.4971, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.6386, d0.loss_plan_l1_fix_dist: 0.5097, d1.loss_plan_l1_fix_time: 0.6627, d1.loss_plan_l1_fix_dist: 0.1719, d2.loss_plan_l1_fix_time: 0.6565, d2.loss_plan_l1_fix_dist: 0.1828, d3.loss_plan_l1_fix_time: 0.6536, d3.loss_plan_l1_fix_dist: 0.1785, d4.loss_plan_l1_fix_time: 0.6553, d4.loss_plan_l1_fix_dist: 0.2185, d5.loss_plan_l1_fix_time: 0.6575, d5.loss_plan_l1_fix_dist: 0.2144, d6.loss_plan_l1_fix_time: 0.6601, d6.loss_plan_l1_fix_dist: 0.2084, d0.loss_cls_all: 0.1285, d0.loss_bbox_all: 0.3401, d0.loss_cls: 0.1285, d0.loss_bbox: 0.3401, d1.loss_cls: 0.1210, d1.loss_bbox: 0.3071, d2.loss_cls: 0.1090, d2.loss_bbox: 0.2877, d3.loss_cls: 0.0908, d3.loss_bbox: 0.2777, d4.loss_cls: 0.0856, d4.loss_bbox: 0.2745, d5.loss_cls: 0.0856, d5.loss_bbox: 0.2720, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6184, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4832, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4331, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4129, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4069, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4021, d0.loss_map_cls_all: 0.1884, d0.loss_map_pts_all: 1.0547, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1884, d0.loss_map_pts: 1.0547, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1494, d1.loss_map_pts: 0.7667, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1235, d2.loss_map_pts: 0.5906, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1086, d3.loss_map_pts: 0.5257, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1016, d4.loss_map_pts: 0.5030, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0963, d5.loss_map_pts: 0.4973, d5.loss_map_dir: 0.0057, loss: 21.2228, grad_norm: 165.1835 +2026-03-01 03:31:03,300 - DriveTransformer - INFO - Epoch [12][3700/39528] lr: 5.696e-05, eta: 4 days, 7:35:37, time: 0.755, data_time: 0.036, memory: 19865, loss_cls: 0.0760, loss_bbox: 0.2531, loss_traj: 0.3872, loss_traj_cls: 0.0020, loss_map_cls: 0.0859, loss_map_pts: 0.4644, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.0305, d0.loss_plan_l1_fix_dist: 0.4550, d1.loss_plan_l1_fix_time: 0.5542, d1.loss_plan_l1_fix_dist: 0.1495, d2.loss_plan_l1_fix_time: 0.5451, d2.loss_plan_l1_fix_dist: 0.1528, d3.loss_plan_l1_fix_time: 0.5396, d3.loss_plan_l1_fix_dist: 0.1617, d4.loss_plan_l1_fix_time: 0.5412, d4.loss_plan_l1_fix_dist: 0.1840, d5.loss_plan_l1_fix_time: 0.5439, d5.loss_plan_l1_fix_dist: 0.1746, d6.loss_plan_l1_fix_time: 0.5467, d6.loss_plan_l1_fix_dist: 0.1671, d0.loss_cls_all: 0.1178, d0.loss_bbox_all: 0.3163, d0.loss_cls: 0.1178, d0.loss_bbox: 0.3163, d1.loss_cls: 0.1114, d1.loss_bbox: 0.2859, d2.loss_cls: 0.0985, d2.loss_bbox: 0.2645, d3.loss_cls: 0.0838, d3.loss_bbox: 0.2591, d4.loss_cls: 0.0787, d4.loss_bbox: 0.2546, d5.loss_cls: 0.0762, d5.loss_bbox: 0.2534, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5845, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4590, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4092, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3896, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3860, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3875, d0.loss_map_cls_all: 0.1588, d0.loss_map_pts_all: 0.9864, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1588, d0.loss_map_pts: 0.9864, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1284, d1.loss_map_pts: 0.7076, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1087, d2.loss_map_pts: 0.5514, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.0981, d3.loss_map_pts: 0.4932, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0921, d4.loss_map_pts: 0.4689, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0879, d5.loss_map_pts: 0.4639, d5.loss_map_dir: 0.0059, loss: 18.8084, grad_norm: 167.2807 +2026-03-01 03:31:40,609 - DriveTransformer - INFO - Epoch [12][3750/39528] lr: 5.696e-05, eta: 4 days, 7:35:02, time: 0.746, data_time: 0.038, memory: 19865, loss_cls: 0.0894, loss_bbox: 0.2835, loss_traj: 0.5141, loss_traj_cls: 0.0020, loss_map_cls: 0.0935, loss_map_pts: 0.5332, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.6140, d0.loss_plan_l1_fix_dist: 0.3667, d1.loss_plan_l1_fix_time: 0.6827, d1.loss_plan_l1_fix_dist: 0.1493, d2.loss_plan_l1_fix_time: 0.6793, d2.loss_plan_l1_fix_dist: 0.1654, d3.loss_plan_l1_fix_time: 0.6768, d3.loss_plan_l1_fix_dist: 0.1772, d4.loss_plan_l1_fix_time: 0.6791, d4.loss_plan_l1_fix_dist: 0.1928, d5.loss_plan_l1_fix_time: 0.6812, d5.loss_plan_l1_fix_dist: 0.1788, d6.loss_plan_l1_fix_time: 0.6830, d6.loss_plan_l1_fix_dist: 0.1841, d0.loss_cls_all: 0.1297, d0.loss_bbox_all: 0.3556, d0.loss_cls: 0.1297, d0.loss_bbox: 0.3556, d1.loss_cls: 0.1242, d1.loss_bbox: 0.3197, d2.loss_cls: 0.1155, d2.loss_bbox: 0.2924, d3.loss_cls: 0.0944, d3.loss_bbox: 0.2903, d4.loss_cls: 0.0901, d4.loss_bbox: 0.2866, d5.loss_cls: 0.0891, d5.loss_bbox: 0.2846, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7885, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.6041, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5489, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5263, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5179, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5153, d0.loss_map_cls_all: 0.1757, d0.loss_map_pts_all: 1.1012, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1757, d0.loss_map_pts: 1.1012, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1418, d1.loss_map_pts: 0.8061, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1197, d2.loss_map_pts: 0.6263, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1099, d3.loss_map_pts: 0.5622, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1034, d4.loss_map_pts: 0.5389, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0964, d5.loss_map_pts: 0.5330, d5.loss_map_dir: 0.0061, loss: 22.3284, grad_norm: 168.0045 +2026-03-01 03:32:17,887 - DriveTransformer - INFO - Epoch [12][3800/39528] lr: 5.696e-05, eta: 4 days, 7:34:27, time: 0.746, data_time: 0.036, memory: 19865, loss_cls: 0.0696, loss_bbox: 0.2427, loss_traj: 0.4592, loss_traj_cls: 0.0020, loss_map_cls: 0.0918, loss_map_pts: 0.4914, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.5210, d0.loss_plan_l1_fix_dist: 0.3760, d1.loss_plan_l1_fix_time: 0.7343, d1.loss_plan_l1_fix_dist: 0.1568, d2.loss_plan_l1_fix_time: 0.7221, d2.loss_plan_l1_fix_dist: 0.1662, d3.loss_plan_l1_fix_time: 0.7195, d3.loss_plan_l1_fix_dist: 0.1731, d4.loss_plan_l1_fix_time: 0.7206, d4.loss_plan_l1_fix_dist: 0.1834, d5.loss_plan_l1_fix_time: 0.7222, d5.loss_plan_l1_fix_dist: 0.1821, d6.loss_plan_l1_fix_time: 0.7239, d6.loss_plan_l1_fix_dist: 0.2000, d0.loss_cls_all: 0.1108, d0.loss_bbox_all: 0.3015, d0.loss_cls: 0.1108, d0.loss_bbox: 0.3015, d1.loss_cls: 0.1042, d1.loss_bbox: 0.2714, d2.loss_cls: 0.0919, d2.loss_bbox: 0.2524, d3.loss_cls: 0.0753, d3.loss_bbox: 0.2481, d4.loss_cls: 0.0710, d4.loss_bbox: 0.2446, d5.loss_cls: 0.0693, d5.loss_bbox: 0.2434, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7444, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5529, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4994, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4751, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4665, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4616, d0.loss_map_cls_all: 0.1925, d0.loss_map_pts_all: 1.1275, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1925, d0.loss_map_pts: 1.1275, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1513, d1.loss_map_pts: 0.7853, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1216, d2.loss_map_pts: 0.5945, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1096, d3.loss_map_pts: 0.5244, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1012, d4.loss_map_pts: 0.4971, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0941, d5.loss_map_pts: 0.4932, d5.loss_map_dir: 0.0056, loss: 21.5170, grad_norm: 163.4819 +2026-03-01 03:32:54,409 - DriveTransformer - INFO - Epoch [12][3850/39528] lr: 5.696e-05, eta: 4 days, 7:33:51, time: 0.730, data_time: 0.037, memory: 19865, loss_cls: 0.0733, loss_bbox: 0.2498, loss_traj: 0.4900, loss_traj_cls: 0.0019, loss_map_cls: 0.0807, loss_map_pts: 0.4555, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.6262, d0.loss_plan_l1_fix_dist: 0.2555, d1.loss_plan_l1_fix_time: 0.6133, d1.loss_plan_l1_fix_dist: 0.1458, d2.loss_plan_l1_fix_time: 0.5998, d2.loss_plan_l1_fix_dist: 0.1555, d3.loss_plan_l1_fix_time: 0.6016, d3.loss_plan_l1_fix_dist: 0.1713, d4.loss_plan_l1_fix_time: 0.6023, d4.loss_plan_l1_fix_dist: 0.1786, d5.loss_plan_l1_fix_time: 0.6038, d5.loss_plan_l1_fix_dist: 0.1752, d6.loss_plan_l1_fix_time: 0.6056, d6.loss_plan_l1_fix_dist: 0.2012, d0.loss_cls_all: 0.1178, d0.loss_bbox_all: 0.3136, d0.loss_cls: 0.1178, d0.loss_bbox: 0.3136, d1.loss_cls: 0.1089, d1.loss_bbox: 0.2802, d2.loss_cls: 0.0966, d2.loss_bbox: 0.2590, d3.loss_cls: 0.0802, d3.loss_bbox: 0.2539, d4.loss_cls: 0.0746, d4.loss_bbox: 0.2520, d5.loss_cls: 0.0732, d5.loss_bbox: 0.2507, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7571, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5785, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5212, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4928, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4914, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4915, d0.loss_map_cls_all: 0.1585, d0.loss_map_pts_all: 0.9130, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1585, d0.loss_map_pts: 0.9130, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1276, d1.loss_map_pts: 0.6537, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1077, d2.loss_map_pts: 0.5264, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0951, d3.loss_map_pts: 0.4781, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0886, d4.loss_map_pts: 0.4619, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0835, d5.loss_map_pts: 0.4538, d5.loss_map_dir: 0.0055, loss: 20.0798, grad_norm: 163.2351 +2026-03-01 03:33:31,407 - DriveTransformer - INFO - Epoch [12][3900/39528] lr: 5.696e-05, eta: 4 days, 7:33:15, time: 0.740, data_time: 0.036, memory: 19865, loss_cls: 0.0961, loss_bbox: 0.2861, loss_traj: 0.4246, loss_traj_cls: 0.0019, loss_map_cls: 0.0944, loss_map_pts: 0.5474, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.9280, d0.loss_plan_l1_fix_dist: 0.3592, d1.loss_plan_l1_fix_time: 0.8153, d1.loss_plan_l1_fix_dist: 0.1777, d2.loss_plan_l1_fix_time: 0.7991, d2.loss_plan_l1_fix_dist: 0.1828, d3.loss_plan_l1_fix_time: 0.7988, d3.loss_plan_l1_fix_dist: 0.2097, d4.loss_plan_l1_fix_time: 0.7994, d4.loss_plan_l1_fix_dist: 0.2044, d5.loss_plan_l1_fix_time: 0.8013, d5.loss_plan_l1_fix_dist: 0.1891, d6.loss_plan_l1_fix_time: 0.8036, d6.loss_plan_l1_fix_dist: 0.1886, d0.loss_cls_all: 0.1461, d0.loss_bbox_all: 0.3651, d0.loss_cls: 0.1461, d0.loss_bbox: 0.3651, d1.loss_cls: 0.1379, d1.loss_bbox: 0.3286, d2.loss_cls: 0.1257, d2.loss_bbox: 0.3012, d3.loss_cls: 0.1040, d3.loss_bbox: 0.2931, d4.loss_cls: 0.0971, d4.loss_bbox: 0.2871, d5.loss_cls: 0.0958, d5.loss_bbox: 0.2858, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6746, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5150, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4545, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4371, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4287, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4266, d0.loss_map_cls_all: 0.1934, d0.loss_map_pts_all: 1.1047, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1934, d0.loss_map_pts: 1.1047, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1497, d1.loss_map_pts: 0.7950, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1234, d2.loss_map_pts: 0.6407, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1118, d3.loss_map_pts: 0.5827, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1035, d4.loss_map_pts: 0.5583, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0975, d5.loss_map_pts: 0.5480, d5.loss_map_dir: 0.0067, loss: 23.0872, grad_norm: 162.3972 +2026-03-01 03:34:07,165 - DriveTransformer - INFO - Epoch [12][3950/39528] lr: 5.696e-05, eta: 4 days, 7:32:37, time: 0.715, data_time: 0.038, memory: 19865, loss_cls: 0.0762, loss_bbox: 0.2606, loss_traj: 0.3338, loss_traj_cls: 0.0019, loss_map_cls: 0.0835, loss_map_pts: 0.4279, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.7864, d0.loss_plan_l1_fix_dist: 0.3695, d1.loss_plan_l1_fix_time: 0.7430, d1.loss_plan_l1_fix_dist: 0.1665, d2.loss_plan_l1_fix_time: 0.7253, d2.loss_plan_l1_fix_dist: 0.1662, d3.loss_plan_l1_fix_time: 0.7210, d3.loss_plan_l1_fix_dist: 0.1838, d4.loss_plan_l1_fix_time: 0.7209, d4.loss_plan_l1_fix_dist: 0.1818, d5.loss_plan_l1_fix_time: 0.7224, d5.loss_plan_l1_fix_dist: 0.1777, d6.loss_plan_l1_fix_time: 0.7248, d6.loss_plan_l1_fix_dist: 0.1719, d0.loss_cls_all: 0.1213, d0.loss_bbox_all: 0.3263, d0.loss_cls: 0.1213, d0.loss_bbox: 0.3263, d1.loss_cls: 0.1172, d1.loss_bbox: 0.2913, d2.loss_cls: 0.1050, d2.loss_bbox: 0.2690, d3.loss_cls: 0.0836, d3.loss_bbox: 0.2639, d4.loss_cls: 0.0791, d4.loss_bbox: 0.2606, d5.loss_cls: 0.0765, d5.loss_bbox: 0.2605, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5230, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.3991, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3607, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3460, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3354, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3350, d0.loss_map_cls_all: 0.1589, d0.loss_map_pts_all: 0.9677, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1589, d0.loss_map_pts: 0.9677, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1305, d1.loss_map_pts: 0.6649, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1061, d2.loss_map_pts: 0.5147, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0965, d3.loss_map_pts: 0.4576, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0913, d4.loss_map_pts: 0.4342, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0854, d5.loss_map_pts: 0.4284, d5.loss_map_dir: 0.0052, loss: 20.0553, grad_norm: 161.5356 +2026-03-01 03:34:43,624 - DriveTransformer - INFO - Epoch [12][4000/39528] lr: 5.696e-05, eta: 4 days, 7:32:00, time: 0.729, data_time: 0.040, memory: 19865, loss_cls: 0.0785, loss_bbox: 0.2745, loss_traj: 0.4028, loss_traj_cls: 0.0020, loss_map_cls: 0.0845, loss_map_pts: 0.4829, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.4381, d0.loss_plan_l1_fix_dist: 0.4716, d1.loss_plan_l1_fix_time: 0.6429, d1.loss_plan_l1_fix_dist: 0.1866, d2.loss_plan_l1_fix_time: 0.6301, d2.loss_plan_l1_fix_dist: 0.1867, d3.loss_plan_l1_fix_time: 0.6251, d3.loss_plan_l1_fix_dist: 0.2003, d4.loss_plan_l1_fix_time: 0.6268, d4.loss_plan_l1_fix_dist: 0.2064, d5.loss_plan_l1_fix_time: 0.6289, d5.loss_plan_l1_fix_dist: 0.2108, d6.loss_plan_l1_fix_time: 0.6308, d6.loss_plan_l1_fix_dist: 0.2176, d0.loss_cls_all: 0.1223, d0.loss_bbox_all: 0.3341, d0.loss_cls: 0.1223, d0.loss_bbox: 0.3341, d1.loss_cls: 0.1190, d1.loss_bbox: 0.3046, d2.loss_cls: 0.1086, d2.loss_bbox: 0.2836, d3.loss_cls: 0.0903, d3.loss_bbox: 0.2758, d4.loss_cls: 0.0818, d4.loss_bbox: 0.2761, d5.loss_cls: 0.0789, d5.loss_bbox: 0.2744, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6352, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4822, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4406, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4172, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4050, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4037, d0.loss_map_cls_all: 0.1611, d0.loss_map_pts_all: 0.9918, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1611, d0.loss_map_pts: 0.9918, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1308, d1.loss_map_pts: 0.7089, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1090, d2.loss_map_pts: 0.5618, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0989, d3.loss_map_pts: 0.5079, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0924, d4.loss_map_pts: 0.4878, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0868, d5.loss_map_pts: 0.4832, d5.loss_map_dir: 0.0056, loss: 20.4425, grad_norm: 164.1181 +2026-03-01 03:35:20,052 - DriveTransformer - INFO - Epoch [12][4050/39528] lr: 5.696e-05, eta: 4 days, 7:31:23, time: 0.729, data_time: 0.040, memory: 19865, loss_cls: 0.0809, loss_bbox: 0.2560, loss_traj: 0.4100, loss_traj_cls: 0.0020, loss_map_cls: 0.0637, loss_map_pts: 0.4104, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.2282, d0.loss_plan_l1_fix_dist: 0.4761, d1.loss_plan_l1_fix_time: 0.6390, d1.loss_plan_l1_fix_dist: 0.1736, d2.loss_plan_l1_fix_time: 0.6213, d2.loss_plan_l1_fix_dist: 0.1674, d3.loss_plan_l1_fix_time: 0.6186, d3.loss_plan_l1_fix_dist: 0.1788, d4.loss_plan_l1_fix_time: 0.6203, d4.loss_plan_l1_fix_dist: 0.1843, d5.loss_plan_l1_fix_time: 0.6222, d5.loss_plan_l1_fix_dist: 0.1971, d6.loss_plan_l1_fix_time: 0.6242, d6.loss_plan_l1_fix_dist: 0.1913, d0.loss_cls_all: 0.1200, d0.loss_bbox_all: 0.3191, d0.loss_cls: 0.1200, d0.loss_bbox: 0.3191, d1.loss_cls: 0.1149, d1.loss_bbox: 0.2871, d2.loss_cls: 0.1042, d2.loss_bbox: 0.2658, d3.loss_cls: 0.0873, d3.loss_bbox: 0.2590, d4.loss_cls: 0.0823, d4.loss_bbox: 0.2567, d5.loss_cls: 0.0800, d5.loss_bbox: 0.2565, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6589, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4973, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4397, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4238, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4117, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4103, d0.loss_map_cls_all: 0.1467, d0.loss_map_pts_all: 0.8879, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1467, d0.loss_map_pts: 0.8879, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1133, d1.loss_map_pts: 0.6361, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.0899, d2.loss_map_pts: 0.4909, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0770, d3.loss_map_pts: 0.4383, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0715, d4.loss_map_pts: 0.4166, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0659, d5.loss_map_pts: 0.4098, d5.loss_map_dir: 0.0052, loss: 19.2056, grad_norm: 162.4545 +2026-03-01 03:35:56,930 - DriveTransformer - INFO - Epoch [12][4100/39528] lr: 5.696e-05, eta: 4 days, 7:30:47, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.0757, loss_bbox: 0.2693, loss_traj: 0.4190, loss_traj_cls: 0.0020, loss_map_cls: 0.0813, loss_map_pts: 0.4311, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.6237, d0.loss_plan_l1_fix_dist: 0.3618, d1.loss_plan_l1_fix_time: 0.6112, d1.loss_plan_l1_fix_dist: 0.1607, d2.loss_plan_l1_fix_time: 0.5996, d2.loss_plan_l1_fix_dist: 0.1470, d3.loss_plan_l1_fix_time: 0.5946, d3.loss_plan_l1_fix_dist: 0.1515, d4.loss_plan_l1_fix_time: 0.5952, d4.loss_plan_l1_fix_dist: 0.1701, d5.loss_plan_l1_fix_time: 0.5965, d5.loss_plan_l1_fix_dist: 0.1926, d6.loss_plan_l1_fix_time: 0.5980, d6.loss_plan_l1_fix_dist: 0.1915, d0.loss_cls_all: 0.1256, d0.loss_bbox_all: 0.3360, d0.loss_cls: 0.1256, d0.loss_bbox: 0.3360, d1.loss_cls: 0.1183, d1.loss_bbox: 0.3003, d2.loss_cls: 0.1045, d2.loss_bbox: 0.2799, d3.loss_cls: 0.0843, d3.loss_bbox: 0.2741, d4.loss_cls: 0.0781, d4.loss_bbox: 0.2701, d5.loss_cls: 0.0761, d5.loss_bbox: 0.2693, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6677, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4998, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4548, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4346, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4212, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4198, d0.loss_map_cls_all: 0.1665, d0.loss_map_pts_all: 0.9325, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1665, d0.loss_map_pts: 0.9325, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1327, d1.loss_map_pts: 0.6595, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1077, d2.loss_map_pts: 0.5130, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0967, d3.loss_map_pts: 0.4564, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0898, d4.loss_map_pts: 0.4393, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0840, d5.loss_map_pts: 0.4308, d5.loss_map_dir: 0.0053, loss: 19.8045, grad_norm: 160.1473 +2026-03-01 03:36:33,161 - DriveTransformer - INFO - Epoch [12][4150/39528] lr: 5.696e-05, eta: 4 days, 7:30:10, time: 0.725, data_time: 0.036, memory: 19865, loss_cls: 0.0810, loss_bbox: 0.2569, loss_traj: 0.3926, loss_traj_cls: 0.0019, loss_map_cls: 0.0811, loss_map_pts: 0.4573, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.6802, d0.loss_plan_l1_fix_dist: 0.3413, d1.loss_plan_l1_fix_time: 0.7267, d1.loss_plan_l1_fix_dist: 0.1622, d2.loss_plan_l1_fix_time: 0.7098, d2.loss_plan_l1_fix_dist: 0.1513, d3.loss_plan_l1_fix_time: 0.6981, d3.loss_plan_l1_fix_dist: 0.1671, d4.loss_plan_l1_fix_time: 0.6982, d4.loss_plan_l1_fix_dist: 0.1701, d5.loss_plan_l1_fix_time: 0.6995, d5.loss_plan_l1_fix_dist: 0.1878, d6.loss_plan_l1_fix_time: 0.7010, d6.loss_plan_l1_fix_dist: 0.1976, d0.loss_cls_all: 0.1244, d0.loss_bbox_all: 0.3268, d0.loss_cls: 0.1244, d0.loss_bbox: 0.3268, d1.loss_cls: 0.1175, d1.loss_bbox: 0.2914, d2.loss_cls: 0.1051, d2.loss_bbox: 0.2678, d3.loss_cls: 0.0911, d3.loss_bbox: 0.2606, d4.loss_cls: 0.0822, d4.loss_bbox: 0.2604, d5.loss_cls: 0.0815, d5.loss_bbox: 0.2579, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6183, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4707, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4119, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3979, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3945, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3937, d0.loss_map_cls_all: 0.1556, d0.loss_map_pts_all: 0.9934, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1556, d0.loss_map_pts: 0.9934, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1267, d1.loss_map_pts: 0.6971, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1063, d2.loss_map_pts: 0.5390, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.0971, d3.loss_map_pts: 0.4828, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0889, d4.loss_map_pts: 0.4647, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0838, d5.loss_map_pts: 0.4574, d5.loss_map_dir: 0.0062, loss: 20.4637, grad_norm: 159.4450 +2026-03-01 03:37:10,082 - DriveTransformer - INFO - Epoch [12][4200/39528] lr: 5.696e-05, eta: 4 days, 7:29:35, time: 0.740, data_time: 0.038, memory: 19865, loss_cls: 0.0829, loss_bbox: 0.2586, loss_traj: 0.3940, loss_traj_cls: 0.0019, loss_map_cls: 0.0851, loss_map_pts: 0.4672, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.5079, d0.loss_plan_l1_fix_dist: 0.3620, d1.loss_plan_l1_fix_time: 0.6796, d1.loss_plan_l1_fix_dist: 0.1672, d2.loss_plan_l1_fix_time: 0.6665, d2.loss_plan_l1_fix_dist: 0.1638, d3.loss_plan_l1_fix_time: 0.6675, d3.loss_plan_l1_fix_dist: 0.2053, d4.loss_plan_l1_fix_time: 0.6696, d4.loss_plan_l1_fix_dist: 0.1866, d5.loss_plan_l1_fix_time: 0.6719, d5.loss_plan_l1_fix_dist: 0.2025, d6.loss_plan_l1_fix_time: 0.6744, d6.loss_plan_l1_fix_dist: 0.2046, d0.loss_cls_all: 0.1253, d0.loss_bbox_all: 0.3230, d0.loss_cls: 0.1253, d0.loss_bbox: 0.3230, d1.loss_cls: 0.1203, d1.loss_bbox: 0.2965, d2.loss_cls: 0.1091, d2.loss_bbox: 0.2711, d3.loss_cls: 0.0888, d3.loss_bbox: 0.2655, d4.loss_cls: 0.0844, d4.loss_bbox: 0.2606, d5.loss_cls: 0.0818, d5.loss_bbox: 0.2601, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5995, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4508, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4087, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3985, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.3969, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3931, d0.loss_map_cls_all: 0.1691, d0.loss_map_pts_all: 0.9742, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1691, d0.loss_map_pts: 0.9742, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1376, d1.loss_map_pts: 0.7085, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1128, d2.loss_map_pts: 0.5487, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1018, d3.loss_map_pts: 0.4919, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0934, d4.loss_map_pts: 0.4714, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0877, d5.loss_map_pts: 0.4676, d5.loss_map_dir: 0.0059, loss: 20.2613, grad_norm: 152.3698 +2026-03-01 03:37:46,801 - DriveTransformer - INFO - Epoch [12][4250/39528] lr: 5.696e-05, eta: 4 days, 7:28:58, time: 0.733, data_time: 0.038, memory: 19865, loss_cls: 0.0738, loss_bbox: 0.2561, loss_traj: 0.4172, loss_traj_cls: 0.0020, loss_map_cls: 0.0831, loss_map_pts: 0.4385, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.3788, d0.loss_plan_l1_fix_dist: 0.5203, d1.loss_plan_l1_fix_time: 0.6275, d1.loss_plan_l1_fix_dist: 0.1794, d2.loss_plan_l1_fix_time: 0.6133, d2.loss_plan_l1_fix_dist: 0.1959, d3.loss_plan_l1_fix_time: 0.6080, d3.loss_plan_l1_fix_dist: 0.2254, d4.loss_plan_l1_fix_time: 0.6090, d4.loss_plan_l1_fix_dist: 0.2033, d5.loss_plan_l1_fix_time: 0.6107, d5.loss_plan_l1_fix_dist: 0.2013, d6.loss_plan_l1_fix_time: 0.6131, d6.loss_plan_l1_fix_dist: 0.2024, d0.loss_cls_all: 0.1161, d0.loss_bbox_all: 0.3238, d0.loss_cls: 0.1161, d0.loss_bbox: 0.3238, d1.loss_cls: 0.1099, d1.loss_bbox: 0.2890, d2.loss_cls: 0.0951, d2.loss_bbox: 0.2678, d3.loss_cls: 0.0795, d3.loss_bbox: 0.2603, d4.loss_cls: 0.0744, d4.loss_bbox: 0.2580, d5.loss_cls: 0.0743, d5.loss_bbox: 0.2560, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6490, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5032, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4390, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4244, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4188, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4196, d0.loss_map_cls_all: 0.1599, d0.loss_map_pts_all: 0.9644, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1599, d0.loss_map_pts: 0.9644, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1270, d1.loss_map_pts: 0.6894, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1054, d2.loss_map_pts: 0.5268, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0955, d3.loss_map_pts: 0.4677, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0889, d4.loss_map_pts: 0.4444, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0851, d5.loss_map_pts: 0.4395, d5.loss_map_dir: 0.0054, loss: 19.9243, grad_norm: 152.4755 +2026-03-01 03:38:23,505 - DriveTransformer - INFO - Epoch [12][4300/39528] lr: 5.696e-05, eta: 4 days, 7:28:22, time: 0.734, data_time: 0.037, memory: 19865, loss_cls: 0.0823, loss_bbox: 0.2658, loss_traj: 0.4269, loss_traj_cls: 0.0019, loss_map_cls: 0.0754, loss_map_pts: 0.4338, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.6077, d0.loss_plan_l1_fix_dist: 0.3553, d1.loss_plan_l1_fix_time: 0.6121, d1.loss_plan_l1_fix_dist: 0.1672, d2.loss_plan_l1_fix_time: 0.6033, d2.loss_plan_l1_fix_dist: 0.2023, d3.loss_plan_l1_fix_time: 0.6039, d3.loss_plan_l1_fix_dist: 0.2080, d4.loss_plan_l1_fix_time: 0.6056, d4.loss_plan_l1_fix_dist: 0.2010, d5.loss_plan_l1_fix_time: 0.6070, d5.loss_plan_l1_fix_dist: 0.1822, d6.loss_plan_l1_fix_time: 0.6087, d6.loss_plan_l1_fix_dist: 0.2079, d0.loss_cls_all: 0.1290, d0.loss_bbox_all: 0.3388, d0.loss_cls: 0.1290, d0.loss_bbox: 0.3388, d1.loss_cls: 0.1288, d1.loss_bbox: 0.3011, d2.loss_cls: 0.1104, d2.loss_bbox: 0.2793, d3.loss_cls: 0.0913, d3.loss_bbox: 0.2728, d4.loss_cls: 0.0854, d4.loss_bbox: 0.2677, d5.loss_cls: 0.0815, d5.loss_bbox: 0.2675, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6579, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5107, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4507, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4338, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4321, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4288, d0.loss_map_cls_all: 0.1542, d0.loss_map_pts_all: 0.9345, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1542, d0.loss_map_pts: 0.9345, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1205, d1.loss_map_pts: 0.6747, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1021, d2.loss_map_pts: 0.5151, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.0896, d3.loss_map_pts: 0.4611, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0844, d4.loss_map_pts: 0.4393, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0790, d5.loss_map_pts: 0.4343, d5.loss_map_dir: 0.0061, loss: 20.0264, grad_norm: 152.4297 +2026-03-01 03:39:02,104 - DriveTransformer - INFO - Epoch [12][4350/39528] lr: 5.696e-05, eta: 4 days, 7:27:51, time: 0.772, data_time: 0.036, memory: 19865, loss_cls: 0.0762, loss_bbox: 0.2445, loss_traj: 0.3798, loss_traj_cls: 0.0019, loss_map_cls: 0.0776, loss_map_pts: 0.4849, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.8357, d0.loss_plan_l1_fix_dist: 0.3885, d1.loss_plan_l1_fix_time: 0.7211, d1.loss_plan_l1_fix_dist: 0.1633, d2.loss_plan_l1_fix_time: 0.7070, d2.loss_plan_l1_fix_dist: 0.2154, d3.loss_plan_l1_fix_time: 0.7038, d3.loss_plan_l1_fix_dist: 0.2110, d4.loss_plan_l1_fix_time: 0.7046, d4.loss_plan_l1_fix_dist: 0.2081, d5.loss_plan_l1_fix_time: 0.7057, d5.loss_plan_l1_fix_dist: 0.1907, d6.loss_plan_l1_fix_time: 0.7072, d6.loss_plan_l1_fix_dist: 0.1988, d0.loss_cls_all: 0.1203, d0.loss_bbox_all: 0.3121, d0.loss_cls: 0.1203, d0.loss_bbox: 0.3121, d1.loss_cls: 0.1155, d1.loss_bbox: 0.2769, d2.loss_cls: 0.0998, d2.loss_bbox: 0.2528, d3.loss_cls: 0.0827, d3.loss_bbox: 0.2481, d4.loss_cls: 0.0776, d4.loss_bbox: 0.2450, d5.loss_cls: 0.0772, d5.loss_bbox: 0.2437, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5480, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4340, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3969, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3865, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.3848, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3800, d0.loss_map_cls_all: 0.1583, d0.loss_map_pts_all: 1.0239, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1583, d0.loss_map_pts: 1.0239, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1239, d1.loss_map_pts: 0.7334, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1024, d2.loss_map_pts: 0.5715, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.0921, d3.loss_map_pts: 0.5113, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.0847, d4.loss_map_pts: 0.4908, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0801, d5.loss_map_pts: 0.4847, d5.loss_map_dir: 0.0068, loss: 20.7392, grad_norm: 152.3807 +2026-03-01 03:39:36,846 - DriveTransformer - INFO - Epoch [12][4400/39528] lr: 5.696e-05, eta: 4 days, 7:27:10, time: 0.695, data_time: 0.036, memory: 19865, loss_cls: 0.0812, loss_bbox: 0.2716, loss_traj: 0.5372, loss_traj_cls: 0.0020, loss_map_cls: 0.0800, loss_map_pts: 0.4477, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.3835, d0.loss_plan_l1_fix_dist: 0.4529, d1.loss_plan_l1_fix_time: 0.6339, d1.loss_plan_l1_fix_dist: 0.1565, d2.loss_plan_l1_fix_time: 0.6258, d2.loss_plan_l1_fix_dist: 0.1988, d3.loss_plan_l1_fix_time: 0.6045, d3.loss_plan_l1_fix_dist: 0.1988, d4.loss_plan_l1_fix_time: 0.6039, d4.loss_plan_l1_fix_dist: 0.2114, d5.loss_plan_l1_fix_time: 0.6050, d5.loss_plan_l1_fix_dist: 0.2163, d6.loss_plan_l1_fix_time: 0.6061, d6.loss_plan_l1_fix_dist: 0.2018, d0.loss_cls_all: 0.1251, d0.loss_bbox_all: 0.3411, d0.loss_cls: 0.1251, d0.loss_bbox: 0.3411, d1.loss_cls: 0.1175, d1.loss_bbox: 0.3092, d2.loss_cls: 0.1049, d2.loss_bbox: 0.2853, d3.loss_cls: 0.0893, d3.loss_bbox: 0.2781, d4.loss_cls: 0.0832, d4.loss_bbox: 0.2750, d5.loss_cls: 0.0819, d5.loss_bbox: 0.2724, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7784, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.6078, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5550, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5384, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5345, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5347, d0.loss_map_cls_all: 0.1548, d0.loss_map_pts_all: 0.9178, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1548, d0.loss_map_pts: 0.9178, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1253, d1.loss_map_pts: 0.6678, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1045, d2.loss_map_pts: 0.5220, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.0939, d3.loss_map_pts: 0.4690, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0872, d4.loss_map_pts: 0.4519, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0822, d5.loss_map_pts: 0.4478, d5.loss_map_dir: 0.0056, loss: 20.7454, grad_norm: 151.7796 +2026-03-01 03:40:12,746 - DriveTransformer - INFO - Epoch [12][4450/39528] lr: 5.696e-05, eta: 4 days, 7:26:31, time: 0.718, data_time: 0.036, memory: 19865, loss_cls: 0.1046, loss_bbox: 0.2986, loss_traj: 0.4993, loss_traj_cls: 0.0018, loss_map_cls: 0.0974, loss_map_pts: 0.5414, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 3.2683, d0.loss_plan_l1_fix_dist: 0.3669, d1.loss_plan_l1_fix_time: 0.8487, d1.loss_plan_l1_fix_dist: 0.1724, d2.loss_plan_l1_fix_time: 0.8326, d2.loss_plan_l1_fix_dist: 0.2167, d3.loss_plan_l1_fix_time: 0.8061, d3.loss_plan_l1_fix_dist: 0.1855, d4.loss_plan_l1_fix_time: 0.8057, d4.loss_plan_l1_fix_dist: 0.2017, d5.loss_plan_l1_fix_time: 0.8064, d5.loss_plan_l1_fix_dist: 0.1948, d6.loss_plan_l1_fix_time: 0.8073, d6.loss_plan_l1_fix_dist: 0.1820, d0.loss_cls_all: 0.1557, d0.loss_bbox_all: 0.3823, d0.loss_cls: 0.1557, d0.loss_bbox: 0.3823, d1.loss_cls: 0.1510, d1.loss_bbox: 0.3395, d2.loss_cls: 0.1360, d2.loss_bbox: 0.3123, d3.loss_cls: 0.1128, d3.loss_bbox: 0.3067, d4.loss_cls: 0.1072, d4.loss_bbox: 0.3015, d5.loss_cls: 0.1041, d5.loss_bbox: 0.3001, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7611, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5931, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5328, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5103, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.5045, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5000, d0.loss_map_cls_all: 0.1838, d0.loss_map_pts_all: 1.0972, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1838, d0.loss_map_pts: 1.0972, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1470, d1.loss_map_pts: 0.7871, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1232, d2.loss_map_pts: 0.6258, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1093, d3.loss_map_pts: 0.5674, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1039, d4.loss_map_pts: 0.5460, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0996, d5.loss_map_pts: 0.5421, d5.loss_map_dir: 0.0063, loss: 24.1562, grad_norm: 150.9677 +2026-03-01 03:40:48,007 - DriveTransformer - INFO - Epoch [12][4500/39528] lr: 5.696e-05, eta: 4 days, 7:25:52, time: 0.705, data_time: 0.039, memory: 19865, loss_cls: 0.0858, loss_bbox: 0.2618, loss_traj: 0.5463, loss_traj_cls: 0.0018, loss_map_cls: 0.0781, loss_map_pts: 0.3691, loss_map_dir: 0.0042, d0.loss_plan_l1_fix_time: 2.8580, d0.loss_plan_l1_fix_dist: 0.4455, d1.loss_plan_l1_fix_time: 0.6540, d1.loss_plan_l1_fix_dist: 0.1742, d2.loss_plan_l1_fix_time: 0.6360, d2.loss_plan_l1_fix_dist: 0.2188, d3.loss_plan_l1_fix_time: 0.6343, d3.loss_plan_l1_fix_dist: 0.1740, d4.loss_plan_l1_fix_time: 0.6350, d4.loss_plan_l1_fix_dist: 0.1864, d5.loss_plan_l1_fix_time: 0.6362, d5.loss_plan_l1_fix_dist: 0.1685, d6.loss_plan_l1_fix_time: 0.6377, d6.loss_plan_l1_fix_dist: 0.1620, d0.loss_cls_all: 0.1281, d0.loss_bbox_all: 0.3274, d0.loss_cls: 0.1281, d0.loss_bbox: 0.3274, d1.loss_cls: 0.1199, d1.loss_bbox: 0.2945, d2.loss_cls: 0.1087, d2.loss_bbox: 0.2753, d3.loss_cls: 0.0922, d3.loss_bbox: 0.2702, d4.loss_cls: 0.0879, d4.loss_bbox: 0.2659, d5.loss_cls: 0.0851, d5.loss_bbox: 0.2639, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8124, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.6233, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5731, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5560, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.5521, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5456, d0.loss_map_cls_all: 0.1441, d0.loss_map_pts_all: 0.7795, d0.loss_map_dir_all: 0.0044, d0.loss_map_cls: 0.1441, d0.loss_map_pts: 0.7795, d0.loss_map_dir: 0.0044, d1.loss_map_cls: 0.1187, d1.loss_map_pts: 0.5523, d1.loss_map_dir: 0.0041, d2.loss_map_cls: 0.0981, d2.loss_map_pts: 0.4309, d2.loss_map_dir: 0.0039, d3.loss_map_cls: 0.0888, d3.loss_map_pts: 0.3864, d3.loss_map_dir: 0.0040, d4.loss_map_cls: 0.0831, d4.loss_map_pts: 0.3733, d4.loss_map_dir: 0.0042, d5.loss_map_cls: 0.0795, d5.loss_map_pts: 0.3691, d5.loss_map_dir: 0.0042, loss: 20.4663, grad_norm: 152.3067 +2026-03-01 03:41:24,855 - DriveTransformer - INFO - Epoch [12][4550/39528] lr: 5.696e-05, eta: 4 days, 7:25:16, time: 0.737, data_time: 0.038, memory: 19865, loss_cls: 0.0863, loss_bbox: 0.2690, loss_traj: 0.4026, loss_traj_cls: 0.0018, loss_map_cls: 0.0807, loss_map_pts: 0.4556, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.6665, d0.loss_plan_l1_fix_dist: 0.4487, d1.loss_plan_l1_fix_time: 0.6947, d1.loss_plan_l1_fix_dist: 0.1781, d2.loss_plan_l1_fix_time: 0.6800, d2.loss_plan_l1_fix_dist: 0.1950, d3.loss_plan_l1_fix_time: 0.6747, d3.loss_plan_l1_fix_dist: 0.1762, d4.loss_plan_l1_fix_time: 0.6756, d4.loss_plan_l1_fix_dist: 0.1788, d5.loss_plan_l1_fix_time: 0.6774, d5.loss_plan_l1_fix_dist: 0.1708, d6.loss_plan_l1_fix_time: 0.6787, d6.loss_plan_l1_fix_dist: 0.1571, d0.loss_cls_all: 0.1349, d0.loss_bbox_all: 0.3340, d0.loss_cls: 0.1349, d0.loss_bbox: 0.3340, d1.loss_cls: 0.1262, d1.loss_bbox: 0.3010, d2.loss_cls: 0.1109, d2.loss_bbox: 0.2806, d3.loss_cls: 0.0930, d3.loss_bbox: 0.2742, d4.loss_cls: 0.0868, d4.loss_bbox: 0.2719, d5.loss_cls: 0.0854, d5.loss_bbox: 0.2700, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6203, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4799, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4257, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4151, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4087, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4024, d0.loss_map_cls_all: 0.1602, d0.loss_map_pts_all: 0.9905, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1602, d0.loss_map_pts: 0.9905, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1309, d1.loss_map_pts: 0.7010, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1079, d2.loss_map_pts: 0.5437, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.0952, d3.loss_map_pts: 0.4878, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0886, d4.loss_map_pts: 0.4629, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0833, d5.loss_map_pts: 0.4554, d5.loss_map_dir: 0.0059, loss: 20.6502, grad_norm: 151.5792 +2026-03-01 03:42:01,209 - DriveTransformer - INFO - Epoch [12][4600/39528] lr: 5.696e-05, eta: 4 days, 7:24:39, time: 0.727, data_time: 0.038, memory: 19865, loss_cls: 0.0964, loss_bbox: 0.2930, loss_traj: 0.5806, loss_traj_cls: 0.0017, loss_map_cls: 0.0902, loss_map_pts: 0.5484, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.9697, d0.loss_plan_l1_fix_dist: 0.4243, d1.loss_plan_l1_fix_time: 0.7081, d1.loss_plan_l1_fix_dist: 0.2133, d2.loss_plan_l1_fix_time: 0.6877, d2.loss_plan_l1_fix_dist: 0.1996, d3.loss_plan_l1_fix_time: 0.6835, d3.loss_plan_l1_fix_dist: 0.2159, d4.loss_plan_l1_fix_time: 0.6847, d4.loss_plan_l1_fix_dist: 0.2033, d5.loss_plan_l1_fix_time: 0.6863, d5.loss_plan_l1_fix_dist: 0.2078, d6.loss_plan_l1_fix_time: 0.6887, d6.loss_plan_l1_fix_dist: 0.2060, d0.loss_cls_all: 0.1381, d0.loss_bbox_all: 0.3694, d0.loss_cls: 0.1381, d0.loss_bbox: 0.3694, d1.loss_cls: 0.1294, d1.loss_bbox: 0.3325, d2.loss_cls: 0.1169, d2.loss_bbox: 0.3085, d3.loss_cls: 0.1022, d3.loss_bbox: 0.3000, d4.loss_cls: 0.0963, d4.loss_bbox: 0.2960, d5.loss_cls: 0.0957, d5.loss_bbox: 0.2941, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9473, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.7044, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.6277, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.6032, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.5866, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.5778, d0.loss_map_cls_all: 0.1716, d0.loss_map_pts_all: 1.1177, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1716, d0.loss_map_pts: 1.1177, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1384, d1.loss_map_pts: 0.8245, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1183, d2.loss_map_pts: 0.6504, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1059, d3.loss_map_pts: 0.5757, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.0989, d4.loss_map_pts: 0.5521, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0938, d5.loss_map_pts: 0.5482, d5.loss_map_dir: 0.0065, loss: 23.8665, grad_norm: 152.7353 +2026-03-01 03:42:37,819 - DriveTransformer - INFO - Epoch [12][4650/39528] lr: 5.696e-05, eta: 4 days, 7:24:02, time: 0.732, data_time: 0.037, memory: 19865, loss_cls: 0.0816, loss_bbox: 0.2661, loss_traj: 0.4542, loss_traj_cls: 0.0019, loss_map_cls: 0.0902, loss_map_pts: 0.4628, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.8001, d0.loss_plan_l1_fix_dist: 0.4782, d1.loss_plan_l1_fix_time: 0.6016, d1.loss_plan_l1_fix_dist: 0.2127, d2.loss_plan_l1_fix_time: 0.5849, d2.loss_plan_l1_fix_dist: 0.1880, d3.loss_plan_l1_fix_time: 0.5863, d3.loss_plan_l1_fix_dist: 0.2004, d4.loss_plan_l1_fix_time: 0.5879, d4.loss_plan_l1_fix_dist: 0.1618, d5.loss_plan_l1_fix_time: 0.5896, d5.loss_plan_l1_fix_dist: 0.1898, d6.loss_plan_l1_fix_time: 0.5918, d6.loss_plan_l1_fix_dist: 0.1796, d0.loss_cls_all: 0.1263, d0.loss_bbox_all: 0.3236, d0.loss_cls: 0.1263, d0.loss_bbox: 0.3236, d1.loss_cls: 0.1195, d1.loss_bbox: 0.2958, d2.loss_cls: 0.1066, d2.loss_bbox: 0.2770, d3.loss_cls: 0.0904, d3.loss_bbox: 0.2694, d4.loss_cls: 0.0844, d4.loss_bbox: 0.2666, d5.loss_cls: 0.0819, d5.loss_bbox: 0.2661, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6833, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5622, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4888, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4698, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4575, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4557, d0.loss_map_cls_all: 0.1705, d0.loss_map_pts_all: 0.9811, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1705, d0.loss_map_pts: 0.9811, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1406, d1.loss_map_pts: 0.6935, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1168, d2.loss_map_pts: 0.5446, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1047, d3.loss_map_pts: 0.4903, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0982, d4.loss_map_pts: 0.4709, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0925, d5.loss_map_pts: 0.4632, d5.loss_map_dir: 0.0057, loss: 20.7539, grad_norm: 150.3782 +2026-03-01 03:43:12,941 - DriveTransformer - INFO - Epoch [12][4700/39528] lr: 5.696e-05, eta: 4 days, 7:23:22, time: 0.702, data_time: 0.038, memory: 19865, loss_cls: 0.0763, loss_bbox: 0.2695, loss_traj: 0.4312, loss_traj_cls: 0.0018, loss_map_cls: 0.0923, loss_map_pts: 0.4688, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.5675, d0.loss_plan_l1_fix_dist: 0.4234, d1.loss_plan_l1_fix_time: 0.6941, d1.loss_plan_l1_fix_dist: 0.2058, d2.loss_plan_l1_fix_time: 0.6831, d2.loss_plan_l1_fix_dist: 0.1678, d3.loss_plan_l1_fix_time: 0.6850, d3.loss_plan_l1_fix_dist: 0.1946, d4.loss_plan_l1_fix_time: 0.6867, d4.loss_plan_l1_fix_dist: 0.1512, d5.loss_plan_l1_fix_time: 0.6882, d5.loss_plan_l1_fix_dist: 0.1718, d6.loss_plan_l1_fix_time: 0.6905, d6.loss_plan_l1_fix_dist: 0.1590, d0.loss_cls_all: 0.1157, d0.loss_bbox_all: 0.3303, d0.loss_cls: 0.1157, d0.loss_bbox: 0.3303, d1.loss_cls: 0.1134, d1.loss_bbox: 0.2960, d2.loss_cls: 0.1027, d2.loss_bbox: 0.2752, d3.loss_cls: 0.0844, d3.loss_bbox: 0.2713, d4.loss_cls: 0.0790, d4.loss_bbox: 0.2683, d5.loss_cls: 0.0770, d5.loss_bbox: 0.2689, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6544, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5184, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4682, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4429, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4370, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4319, d0.loss_map_cls_all: 0.1614, d0.loss_map_pts_all: 0.9549, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1614, d0.loss_map_pts: 0.9549, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1354, d1.loss_map_pts: 0.7010, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1137, d2.loss_map_pts: 0.5530, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1045, d3.loss_map_pts: 0.4962, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0990, d4.loss_map_pts: 0.4744, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0944, d5.loss_map_pts: 0.4685, d5.loss_map_dir: 0.0053, loss: 20.7099, grad_norm: 148.7311 +2026-03-01 03:43:49,419 - DriveTransformer - INFO - Epoch [12][4750/39528] lr: 5.696e-05, eta: 4 days, 7:22:46, time: 0.730, data_time: 0.037, memory: 19865, loss_cls: 0.0771, loss_bbox: 0.2451, loss_traj: 0.4440, loss_traj_cls: 0.0018, loss_map_cls: 0.0841, loss_map_pts: 0.4341, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.5834, d0.loss_plan_l1_fix_dist: 0.4568, d1.loss_plan_l1_fix_time: 0.7215, d1.loss_plan_l1_fix_dist: 0.2241, d2.loss_plan_l1_fix_time: 0.7053, d2.loss_plan_l1_fix_dist: 0.1806, d3.loss_plan_l1_fix_time: 0.7098, d3.loss_plan_l1_fix_dist: 0.2155, d4.loss_plan_l1_fix_time: 0.7119, d4.loss_plan_l1_fix_dist: 0.1827, d5.loss_plan_l1_fix_time: 0.7141, d5.loss_plan_l1_fix_dist: 0.1679, d6.loss_plan_l1_fix_time: 0.7170, d6.loss_plan_l1_fix_dist: 0.1702, d0.loss_cls_all: 0.1147, d0.loss_bbox_all: 0.3051, d0.loss_cls: 0.1147, d0.loss_bbox: 0.3051, d1.loss_cls: 0.1073, d1.loss_bbox: 0.2750, d2.loss_cls: 0.0971, d2.loss_bbox: 0.2533, d3.loss_cls: 0.0807, d3.loss_bbox: 0.2475, d4.loss_cls: 0.0772, d4.loss_bbox: 0.2457, d5.loss_cls: 0.0761, d5.loss_bbox: 0.2452, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6884, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5145, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4697, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4555, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4466, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4424, d0.loss_map_cls_all: 0.1701, d0.loss_map_pts_all: 0.9248, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1701, d0.loss_map_pts: 0.9248, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1393, d1.loss_map_pts: 0.6862, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1143, d2.loss_map_pts: 0.5205, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0997, d3.loss_map_pts: 0.4638, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0934, d4.loss_map_pts: 0.4412, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0878, d5.loss_map_pts: 0.4341, d5.loss_map_dir: 0.0054, loss: 20.6275, grad_norm: 147.2341 +2026-03-01 03:44:25,949 - DriveTransformer - INFO - Epoch [12][4800/39528] lr: 5.696e-05, eta: 4 days, 7:22:09, time: 0.731, data_time: 0.039, memory: 19865, loss_cls: 0.0705, loss_bbox: 0.2541, loss_traj: 0.4005, loss_traj_cls: 0.0018, loss_map_cls: 0.0984, loss_map_pts: 0.4781, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.6716, d0.loss_plan_l1_fix_dist: 0.4607, d1.loss_plan_l1_fix_time: 0.7237, d1.loss_plan_l1_fix_dist: 0.2087, d2.loss_plan_l1_fix_time: 0.7138, d2.loss_plan_l1_fix_dist: 0.1702, d3.loss_plan_l1_fix_time: 0.7049, d3.loss_plan_l1_fix_dist: 0.1961, d4.loss_plan_l1_fix_time: 0.7058, d4.loss_plan_l1_fix_dist: 0.1868, d5.loss_plan_l1_fix_time: 0.7070, d5.loss_plan_l1_fix_dist: 0.1615, d6.loss_plan_l1_fix_time: 0.7085, d6.loss_plan_l1_fix_dist: 0.1566, d0.loss_cls_all: 0.1081, d0.loss_bbox_all: 0.3111, d0.loss_cls: 0.1081, d0.loss_bbox: 0.3111, d1.loss_cls: 0.1069, d1.loss_bbox: 0.2792, d2.loss_cls: 0.0943, d2.loss_bbox: 0.2629, d3.loss_cls: 0.0783, d3.loss_bbox: 0.2573, d4.loss_cls: 0.0741, d4.loss_bbox: 0.2544, d5.loss_cls: 0.0714, d5.loss_bbox: 0.2534, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6354, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4795, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4366, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4173, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4106, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4020, d0.loss_map_cls_all: 0.1858, d0.loss_map_pts_all: 0.9853, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1858, d0.loss_map_pts: 0.9853, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1560, d1.loss_map_pts: 0.7220, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1266, d2.loss_map_pts: 0.5692, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1132, d3.loss_map_pts: 0.5073, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1065, d4.loss_map_pts: 0.4825, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.1014, d5.loss_map_pts: 0.4788, d5.loss_map_dir: 0.0053, loss: 20.8857, grad_norm: 146.3749 +2026-03-01 03:45:04,034 - DriveTransformer - INFO - Epoch [12][4850/39528] lr: 5.696e-05, eta: 4 days, 7:21:36, time: 0.762, data_time: 0.036, memory: 19865, loss_cls: 0.0873, loss_bbox: 0.2608, loss_traj: 0.5012, loss_traj_cls: 0.0018, loss_map_cls: 0.1002, loss_map_pts: 0.5590, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 3.0388, d0.loss_plan_l1_fix_dist: 0.3790, d1.loss_plan_l1_fix_time: 0.6989, d1.loss_plan_l1_fix_dist: 0.1965, d2.loss_plan_l1_fix_time: 0.6868, d2.loss_plan_l1_fix_dist: 0.1698, d3.loss_plan_l1_fix_time: 0.6829, d3.loss_plan_l1_fix_dist: 0.1937, d4.loss_plan_l1_fix_time: 0.6843, d4.loss_plan_l1_fix_dist: 0.1884, d5.loss_plan_l1_fix_time: 0.6866, d5.loss_plan_l1_fix_dist: 0.1700, d6.loss_plan_l1_fix_time: 0.6889, d6.loss_plan_l1_fix_dist: 0.1589, d0.loss_cls_all: 0.1295, d0.loss_bbox_all: 0.3336, d0.loss_cls: 0.1295, d0.loss_bbox: 0.3336, d1.loss_cls: 0.1244, d1.loss_bbox: 0.2974, d2.loss_cls: 0.1085, d2.loss_bbox: 0.2758, d3.loss_cls: 0.0925, d3.loss_bbox: 0.2688, d4.loss_cls: 0.0885, d4.loss_bbox: 0.2641, d5.loss_cls: 0.0869, d5.loss_bbox: 0.2623, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7046, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5681, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5246, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5094, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.5009, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4996, d0.loss_map_cls_all: 0.1957, d0.loss_map_pts_all: 1.1831, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1957, d0.loss_map_pts: 1.1831, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1578, d1.loss_map_pts: 0.8465, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1301, d2.loss_map_pts: 0.6577, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1187, d3.loss_map_pts: 0.5867, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1094, d4.loss_map_pts: 0.5640, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1030, d5.loss_map_pts: 0.5594, d5.loss_map_dir: 0.0073, loss: 22.8894, grad_norm: 145.4537 +2026-03-01 03:45:40,931 - DriveTransformer - INFO - Epoch [12][4900/39528] lr: 5.696e-05, eta: 4 days, 7:21:01, time: 0.738, data_time: 0.039, memory: 19865, loss_cls: 0.0860, loss_bbox: 0.2663, loss_traj: 0.4846, loss_traj_cls: 0.0018, loss_map_cls: 0.0877, loss_map_pts: 0.4602, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.7023, d0.loss_plan_l1_fix_dist: 0.4600, d1.loss_plan_l1_fix_time: 0.7641, d1.loss_plan_l1_fix_dist: 0.1879, d2.loss_plan_l1_fix_time: 0.7488, d2.loss_plan_l1_fix_dist: 0.1776, d3.loss_plan_l1_fix_time: 0.7428, d3.loss_plan_l1_fix_dist: 0.1886, d4.loss_plan_l1_fix_time: 0.7450, d4.loss_plan_l1_fix_dist: 0.1923, d5.loss_plan_l1_fix_time: 0.7471, d5.loss_plan_l1_fix_dist: 0.1742, d6.loss_plan_l1_fix_time: 0.7493, d6.loss_plan_l1_fix_dist: 0.1696, d0.loss_cls_all: 0.1329, d0.loss_bbox_all: 0.3308, d0.loss_cls: 0.1329, d0.loss_bbox: 0.3308, d1.loss_cls: 0.1236, d1.loss_bbox: 0.3004, d2.loss_cls: 0.1109, d2.loss_bbox: 0.2773, d3.loss_cls: 0.0920, d3.loss_bbox: 0.2720, d4.loss_cls: 0.0872, d4.loss_bbox: 0.2680, d5.loss_cls: 0.0860, d5.loss_bbox: 0.2668, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7359, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5662, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5094, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4903, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4828, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4812, d0.loss_map_cls_all: 0.1755, d0.loss_map_pts_all: 0.9976, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1755, d0.loss_map_pts: 0.9976, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1406, d1.loss_map_pts: 0.7099, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1116, d2.loss_map_pts: 0.5427, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1020, d3.loss_map_pts: 0.4853, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0947, d4.loss_map_pts: 0.4668, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0904, d5.loss_map_pts: 0.4604, d5.loss_map_dir: 0.0062, loss: 21.8181, grad_norm: 144.5200 +2026-03-01 03:46:17,037 - DriveTransformer - INFO - Epoch [12][4950/39528] lr: 5.696e-05, eta: 4 days, 7:20:23, time: 0.722, data_time: 0.038, memory: 19865, loss_cls: 0.0683, loss_bbox: 0.2413, loss_traj: 0.4182, loss_traj_cls: 0.0018, loss_map_cls: 0.0765, loss_map_pts: 0.4086, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.4709, d0.loss_plan_l1_fix_dist: 0.4869, d1.loss_plan_l1_fix_time: 0.5798, d1.loss_plan_l1_fix_dist: 0.1472, d2.loss_plan_l1_fix_time: 0.5624, d2.loss_plan_l1_fix_dist: 0.1526, d3.loss_plan_l1_fix_time: 0.5518, d3.loss_plan_l1_fix_dist: 0.1697, d4.loss_plan_l1_fix_time: 0.5536, d4.loss_plan_l1_fix_dist: 0.1688, d5.loss_plan_l1_fix_time: 0.5555, d5.loss_plan_l1_fix_dist: 0.1482, d6.loss_plan_l1_fix_time: 0.5584, d6.loss_plan_l1_fix_dist: 0.1439, d0.loss_cls_all: 0.1103, d0.loss_bbox_all: 0.2974, d0.loss_cls: 0.1103, d0.loss_bbox: 0.2974, d1.loss_cls: 0.0992, d1.loss_bbox: 0.2720, d2.loss_cls: 0.0870, d2.loss_bbox: 0.2542, d3.loss_cls: 0.0749, d3.loss_bbox: 0.2463, d4.loss_cls: 0.0699, d4.loss_bbox: 0.2437, d5.loss_cls: 0.0667, d5.loss_bbox: 0.2438, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6217, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4877, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4448, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4301, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4241, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4204, d0.loss_map_cls_all: 0.1418, d0.loss_map_pts_all: 0.8727, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1418, d0.loss_map_pts: 0.8727, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1151, d1.loss_map_pts: 0.6157, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.0972, d2.loss_map_pts: 0.4806, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.0883, d3.loss_map_pts: 0.4303, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0823, d4.loss_map_pts: 0.4128, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0783, d5.loss_map_pts: 0.4095, d5.loss_map_dir: 0.0061, loss: 18.6600, grad_norm: 142.8120 +2026-03-01 03:46:53,228 - DriveTransformer - INFO - Epoch [12][5000/39528] lr: 5.696e-05, eta: 4 days, 7:19:46, time: 0.725, data_time: 0.040, memory: 19865, loss_cls: 0.0841, loss_bbox: 0.2862, loss_traj: 0.4706, loss_traj_cls: 0.0018, loss_map_cls: 0.0932, loss_map_pts: 0.4842, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.5859, d0.loss_plan_l1_fix_dist: 0.4342, d1.loss_plan_l1_fix_time: 0.7641, d1.loss_plan_l1_fix_dist: 0.1641, d2.loss_plan_l1_fix_time: 0.7501, d2.loss_plan_l1_fix_dist: 0.1774, d3.loss_plan_l1_fix_time: 0.7495, d3.loss_plan_l1_fix_dist: 0.1984, d4.loss_plan_l1_fix_time: 0.7516, d4.loss_plan_l1_fix_dist: 0.1867, d5.loss_plan_l1_fix_time: 0.7536, d5.loss_plan_l1_fix_dist: 0.1719, d6.loss_plan_l1_fix_time: 0.7560, d6.loss_plan_l1_fix_dist: 0.1706, d0.loss_cls_all: 0.1329, d0.loss_bbox_all: 0.3591, d0.loss_cls: 0.1329, d0.loss_bbox: 0.3591, d1.loss_cls: 0.1256, d1.loss_bbox: 0.3227, d2.loss_cls: 0.1113, d2.loss_bbox: 0.2995, d3.loss_cls: 0.0931, d3.loss_bbox: 0.2919, d4.loss_cls: 0.0884, d4.loss_bbox: 0.2873, d5.loss_cls: 0.0841, d5.loss_bbox: 0.2873, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6849, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5525, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5027, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4878, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4765, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4727, d0.loss_map_cls_all: 0.1796, d0.loss_map_pts_all: 0.9811, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1796, d0.loss_map_pts: 0.9811, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1482, d1.loss_map_pts: 0.7278, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1206, d2.loss_map_pts: 0.5690, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1094, d3.loss_map_pts: 0.5098, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1008, d4.loss_map_pts: 0.4886, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0960, d5.loss_map_pts: 0.4844, d5.loss_map_dir: 0.0056, loss: 21.9128, grad_norm: 123.0576 +2026-03-01 03:47:29,806 - DriveTransformer - INFO - Epoch [12][5050/39528] lr: 5.696e-05, eta: 4 days, 7:19:09, time: 0.730, data_time: 0.037, memory: 19865, loss_cls: 0.0736, loss_bbox: 0.2535, loss_traj: 0.4884, loss_traj_cls: 0.0019, loss_map_cls: 0.0667, loss_map_pts: 0.4216, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.3173, d0.loss_plan_l1_fix_dist: 0.3753, d1.loss_plan_l1_fix_time: 0.6239, d1.loss_plan_l1_fix_dist: 0.1385, d2.loss_plan_l1_fix_time: 0.6151, d2.loss_plan_l1_fix_dist: 0.1648, d3.loss_plan_l1_fix_time: 0.6133, d3.loss_plan_l1_fix_dist: 0.1858, d4.loss_plan_l1_fix_time: 0.6142, d4.loss_plan_l1_fix_dist: 0.1697, d5.loss_plan_l1_fix_time: 0.6162, d5.loss_plan_l1_fix_dist: 0.1635, d6.loss_plan_l1_fix_time: 0.6185, d6.loss_plan_l1_fix_dist: 0.1726, d0.loss_cls_all: 0.1150, d0.loss_bbox_all: 0.3110, d0.loss_cls: 0.1150, d0.loss_bbox: 0.3110, d1.loss_cls: 0.1078, d1.loss_bbox: 0.2834, d2.loss_cls: 0.0936, d2.loss_bbox: 0.2630, d3.loss_cls: 0.0783, d3.loss_bbox: 0.2586, d4.loss_cls: 0.0745, d4.loss_bbox: 0.2563, d5.loss_cls: 0.0728, d5.loss_bbox: 0.2549, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7186, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5582, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5128, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4960, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4885, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4880, d0.loss_map_cls_all: 0.1429, d0.loss_map_pts_all: 0.9187, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1429, d0.loss_map_pts: 0.9187, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1072, d1.loss_map_pts: 0.6465, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.0887, d2.loss_map_pts: 0.5040, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0787, d3.loss_map_pts: 0.4518, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0723, d4.loss_map_pts: 0.4285, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0683, d5.loss_map_pts: 0.4222, d5.loss_map_dir: 0.0057, loss: 19.5944, grad_norm: 122.8201 +2026-03-01 03:48:05,731 - DriveTransformer - INFO - Epoch [12][5100/39528] lr: 5.696e-05, eta: 4 days, 7:18:31, time: 0.718, data_time: 0.039, memory: 19865, loss_cls: 0.0779, loss_bbox: 0.2662, loss_traj: 0.3894, loss_traj_cls: 0.0019, loss_map_cls: 0.0677, loss_map_pts: 0.3857, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.7298, d0.loss_plan_l1_fix_dist: 0.4560, d1.loss_plan_l1_fix_time: 0.6731, d1.loss_plan_l1_fix_dist: 0.1511, d2.loss_plan_l1_fix_time: 0.6587, d2.loss_plan_l1_fix_dist: 0.1587, d3.loss_plan_l1_fix_time: 0.6520, d3.loss_plan_l1_fix_dist: 0.2041, d4.loss_plan_l1_fix_time: 0.6527, d4.loss_plan_l1_fix_dist: 0.1683, d5.loss_plan_l1_fix_time: 0.6546, d5.loss_plan_l1_fix_dist: 0.1586, d6.loss_plan_l1_fix_time: 0.6569, d6.loss_plan_l1_fix_dist: 0.1811, d0.loss_cls_all: 0.1199, d0.loss_bbox_all: 0.3287, d0.loss_cls: 0.1199, d0.loss_bbox: 0.3287, d1.loss_cls: 0.1135, d1.loss_bbox: 0.2993, d2.loss_cls: 0.1027, d2.loss_bbox: 0.2776, d3.loss_cls: 0.0853, d3.loss_bbox: 0.2698, d4.loss_cls: 0.0797, d4.loss_bbox: 0.2669, d5.loss_cls: 0.0772, d5.loss_bbox: 0.2672, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5954, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4751, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4331, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4108, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3966, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3919, d0.loss_map_cls_all: 0.1455, d0.loss_map_pts_all: 0.8049, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1455, d0.loss_map_pts: 0.8049, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1125, d1.loss_map_pts: 0.5776, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.0911, d2.loss_map_pts: 0.4527, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0791, d3.loss_map_pts: 0.4067, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0745, d4.loss_map_pts: 0.3896, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0693, d5.loss_map_pts: 0.3856, d5.loss_map_dir: 0.0053, loss: 19.3723, grad_norm: 121.2475 +2026-03-01 03:48:40,795 - DriveTransformer - INFO - Epoch [12][5150/39528] lr: 5.696e-05, eta: 4 days, 7:17:51, time: 0.701, data_time: 0.036, memory: 19865, loss_cls: 0.0928, loss_bbox: 0.2978, loss_traj: 0.4806, loss_traj_cls: 0.0018, loss_map_cls: 0.1098, loss_map_pts: 0.5260, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 3.1471, d0.loss_plan_l1_fix_dist: 0.3954, d1.loss_plan_l1_fix_time: 0.8437, d1.loss_plan_l1_fix_dist: 0.1710, d2.loss_plan_l1_fix_time: 0.8298, d2.loss_plan_l1_fix_dist: 0.1724, d3.loss_plan_l1_fix_time: 0.8228, d3.loss_plan_l1_fix_dist: 0.2149, d4.loss_plan_l1_fix_time: 0.8233, d4.loss_plan_l1_fix_dist: 0.1838, d5.loss_plan_l1_fix_time: 0.8248, d5.loss_plan_l1_fix_dist: 0.1793, d6.loss_plan_l1_fix_time: 0.8264, d6.loss_plan_l1_fix_dist: 0.1869, d0.loss_cls_all: 0.1444, d0.loss_bbox_all: 0.3742, d0.loss_cls: 0.1444, d0.loss_bbox: 0.3742, d1.loss_cls: 0.1345, d1.loss_bbox: 0.3337, d2.loss_cls: 0.1171, d2.loss_bbox: 0.3080, d3.loss_cls: 0.1025, d3.loss_bbox: 0.2997, d4.loss_cls: 0.0950, d4.loss_bbox: 0.2992, d5.loss_cls: 0.0919, d5.loss_bbox: 0.2991, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7356, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5569, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5018, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4836, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4754, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4739, d0.loss_map_cls_all: 0.1915, d0.loss_map_pts_all: 1.0509, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1915, d0.loss_map_pts: 1.0509, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1620, d1.loss_map_pts: 0.7971, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1349, d2.loss_map_pts: 0.6280, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1261, d3.loss_map_pts: 0.5567, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1174, d4.loss_map_pts: 0.5341, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1127, d5.loss_map_pts: 0.5261, d5.loss_map_dir: 0.0062, loss: 23.7098, grad_norm: 120.5232 +2026-03-01 03:49:18,869 - DriveTransformer - INFO - Epoch [12][5200/39528] lr: 5.696e-05, eta: 4 days, 7:17:18, time: 0.761, data_time: 0.038, memory: 19865, loss_cls: 0.0906, loss_bbox: 0.2767, loss_traj: 0.4419, loss_traj_cls: 0.0019, loss_map_cls: 0.1057, loss_map_pts: 0.5377, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 3.0669, d0.loss_plan_l1_fix_dist: 0.4590, d1.loss_plan_l1_fix_time: 0.7983, d1.loss_plan_l1_fix_dist: 0.1841, d2.loss_plan_l1_fix_time: 0.7823, d2.loss_plan_l1_fix_dist: 0.1806, d3.loss_plan_l1_fix_time: 0.7800, d3.loss_plan_l1_fix_dist: 0.2171, d4.loss_plan_l1_fix_time: 0.7815, d4.loss_plan_l1_fix_dist: 0.1920, d5.loss_plan_l1_fix_time: 0.7839, d5.loss_plan_l1_fix_dist: 0.1900, d6.loss_plan_l1_fix_time: 0.7860, d6.loss_plan_l1_fix_dist: 0.1942, d0.loss_cls_all: 0.1346, d0.loss_bbox_all: 0.3452, d0.loss_cls: 0.1346, d0.loss_bbox: 0.3452, d1.loss_cls: 0.1287, d1.loss_bbox: 0.3088, d2.loss_cls: 0.1157, d2.loss_bbox: 0.2864, d3.loss_cls: 0.0996, d3.loss_bbox: 0.2808, d4.loss_cls: 0.0934, d4.loss_bbox: 0.2785, d5.loss_cls: 0.0906, d5.loss_bbox: 0.2767, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6976, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5346, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4818, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4581, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4464, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4434, d0.loss_map_cls_all: 0.1864, d0.loss_map_pts_all: 1.1025, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1864, d0.loss_map_pts: 1.1025, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1554, d1.loss_map_pts: 0.8156, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1301, d2.loss_map_pts: 0.6315, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1191, d3.loss_map_pts: 0.5673, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1132, d4.loss_map_pts: 0.5435, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1080, d5.loss_map_pts: 0.5382, d5.loss_map_dir: 0.0075, loss: 23.1950, grad_norm: 117.7604 +2026-03-01 03:49:55,089 - DriveTransformer - INFO - Epoch [12][5250/39528] lr: 5.696e-05, eta: 4 days, 7:16:40, time: 0.724, data_time: 0.037, memory: 19865, loss_cls: 0.0868, loss_bbox: 0.2726, loss_traj: 0.4348, loss_traj_cls: 0.0018, loss_map_cls: 0.1034, loss_map_pts: 0.4812, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.6102, d0.loss_plan_l1_fix_dist: 0.3832, d1.loss_plan_l1_fix_time: 0.6983, d1.loss_plan_l1_fix_dist: 0.1847, d2.loss_plan_l1_fix_time: 0.6841, d2.loss_plan_l1_fix_dist: 0.1656, d3.loss_plan_l1_fix_time: 0.6743, d3.loss_plan_l1_fix_dist: 0.1986, d4.loss_plan_l1_fix_time: 0.6753, d4.loss_plan_l1_fix_dist: 0.1698, d5.loss_plan_l1_fix_time: 0.6770, d5.loss_plan_l1_fix_dist: 0.1702, d6.loss_plan_l1_fix_time: 0.6795, d6.loss_plan_l1_fix_dist: 0.1610, d0.loss_cls_all: 0.1315, d0.loss_bbox_all: 0.3429, d0.loss_cls: 0.1315, d0.loss_bbox: 0.3429, d1.loss_cls: 0.1224, d1.loss_bbox: 0.3115, d2.loss_cls: 0.1081, d2.loss_bbox: 0.2887, d3.loss_cls: 0.0948, d3.loss_bbox: 0.2773, d4.loss_cls: 0.0883, d4.loss_bbox: 0.2747, d5.loss_cls: 0.0874, d5.loss_bbox: 0.2724, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7209, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5375, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4752, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4537, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4420, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4354, d0.loss_map_cls_all: 0.1947, d0.loss_map_pts_all: 1.0422, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1947, d0.loss_map_pts: 1.0422, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1610, d1.loss_map_pts: 0.7653, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1321, d2.loss_map_pts: 0.5923, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1201, d3.loss_map_pts: 0.5191, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1122, d4.loss_map_pts: 0.4937, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.1061, d5.loss_map_pts: 0.4816, d5.loss_map_dir: 0.0054, loss: 21.4557, grad_norm: 116.3370 +2026-03-01 03:50:33,525 - DriveTransformer - INFO - Epoch [12][5300/39528] lr: 5.696e-05, eta: 4 days, 7:16:09, time: 0.769, data_time: 0.037, memory: 19865, loss_cls: 0.0714, loss_bbox: 0.2525, loss_traj: 0.3349, loss_traj_cls: 0.0019, loss_map_cls: 0.0808, loss_map_pts: 0.4453, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.5726, d0.loss_plan_l1_fix_dist: 0.4045, d1.loss_plan_l1_fix_time: 0.6500, d1.loss_plan_l1_fix_dist: 0.2133, d2.loss_plan_l1_fix_time: 0.6379, d2.loss_plan_l1_fix_dist: 0.2076, d3.loss_plan_l1_fix_time: 0.6444, d3.loss_plan_l1_fix_dist: 0.2383, d4.loss_plan_l1_fix_time: 0.6468, d4.loss_plan_l1_fix_dist: 0.1976, d5.loss_plan_l1_fix_time: 0.6499, d5.loss_plan_l1_fix_dist: 0.2092, d6.loss_plan_l1_fix_time: 0.6543, d6.loss_plan_l1_fix_dist: 0.2107, d0.loss_cls_all: 0.1130, d0.loss_bbox_all: 0.3158, d0.loss_cls: 0.1130, d0.loss_bbox: 0.3158, d1.loss_cls: 0.1098, d1.loss_bbox: 0.2817, d2.loss_cls: 0.0956, d2.loss_bbox: 0.2616, d3.loss_cls: 0.0790, d3.loss_bbox: 0.2539, d4.loss_cls: 0.0744, d4.loss_bbox: 0.2516, d5.loss_cls: 0.0716, d5.loss_bbox: 0.2520, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5139, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.3852, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3503, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3374, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3378, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3343, d0.loss_map_cls_all: 0.1560, d0.loss_map_pts_all: 1.0028, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1560, d0.loss_map_pts: 1.0028, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1249, d1.loss_map_pts: 0.6923, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1048, d2.loss_map_pts: 0.5257, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.0934, d3.loss_map_pts: 0.4695, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0873, d4.loss_map_pts: 0.4510, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0837, d5.loss_map_pts: 0.4458, d5.loss_map_dir: 0.0061, loss: 19.6244, grad_norm: 116.8925 +2026-03-01 03:51:10,385 - DriveTransformer - INFO - Epoch [12][5350/39528] lr: 5.696e-05, eta: 4 days, 7:15:33, time: 0.737, data_time: 0.038, memory: 19865, loss_cls: 0.0782, loss_bbox: 0.2672, loss_traj: 0.4122, loss_traj_cls: 0.0019, loss_map_cls: 0.0913, loss_map_pts: 0.4741, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.1245, d0.loss_plan_l1_fix_dist: 0.5032, d1.loss_plan_l1_fix_time: 0.6229, d1.loss_plan_l1_fix_dist: 0.2182, d2.loss_plan_l1_fix_time: 0.6149, d2.loss_plan_l1_fix_dist: 0.2239, d3.loss_plan_l1_fix_time: 0.6168, d3.loss_plan_l1_fix_dist: 0.2396, d4.loss_plan_l1_fix_time: 0.6194, d4.loss_plan_l1_fix_dist: 0.1991, d5.loss_plan_l1_fix_time: 0.6225, d5.loss_plan_l1_fix_dist: 0.2022, d6.loss_plan_l1_fix_time: 0.6264, d6.loss_plan_l1_fix_dist: 0.2097, d0.loss_cls_all: 0.1197, d0.loss_bbox_all: 0.3281, d0.loss_cls: 0.1197, d0.loss_bbox: 0.3281, d1.loss_cls: 0.1131, d1.loss_bbox: 0.2967, d2.loss_cls: 0.0987, d2.loss_bbox: 0.2775, d3.loss_cls: 0.0854, d3.loss_bbox: 0.2713, d4.loss_cls: 0.0795, d4.loss_bbox: 0.2689, d5.loss_cls: 0.0791, d5.loss_bbox: 0.2663, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5934, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4689, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4291, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4146, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4136, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4107, d0.loss_map_cls_all: 0.1690, d0.loss_map_pts_all: 0.9563, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1690, d0.loss_map_pts: 0.9563, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1410, d1.loss_map_pts: 0.7032, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1157, d2.loss_map_pts: 0.5549, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1036, d3.loss_map_pts: 0.5003, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0988, d4.loss_map_pts: 0.4804, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0930, d5.loss_map_pts: 0.4752, d5.loss_map_dir: 0.0061, loss: 20.0030, grad_norm: 115.2861 +2026-03-01 03:51:46,554 - DriveTransformer - INFO - Epoch [12][5400/39528] lr: 5.696e-05, eta: 4 days, 7:14:55, time: 0.723, data_time: 0.036, memory: 19865, loss_cls: 0.0935, loss_bbox: 0.2680, loss_traj: 0.3946, loss_traj_cls: 0.0019, loss_map_cls: 0.0771, loss_map_pts: 0.4630, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.1111, d0.loss_plan_l1_fix_dist: 0.3660, d1.loss_plan_l1_fix_time: 0.6555, d1.loss_plan_l1_fix_dist: 0.2035, d2.loss_plan_l1_fix_time: 0.6411, d2.loss_plan_l1_fix_dist: 0.2085, d3.loss_plan_l1_fix_time: 0.6376, d3.loss_plan_l1_fix_dist: 0.2059, d4.loss_plan_l1_fix_time: 0.6398, d4.loss_plan_l1_fix_dist: 0.2083, d5.loss_plan_l1_fix_time: 0.6423, d5.loss_plan_l1_fix_dist: 0.2002, d6.loss_plan_l1_fix_time: 0.6447, d6.loss_plan_l1_fix_dist: 0.2252, d0.loss_cls_all: 0.1336, d0.loss_bbox_all: 0.3308, d0.loss_cls: 0.1336, d0.loss_bbox: 0.3308, d1.loss_cls: 0.1251, d1.loss_bbox: 0.2983, d2.loss_cls: 0.1130, d2.loss_bbox: 0.2770, d3.loss_cls: 0.0988, d3.loss_bbox: 0.2713, d4.loss_cls: 0.0956, d4.loss_bbox: 0.2677, d5.loss_cls: 0.0944, d5.loss_bbox: 0.2677, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6289, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4677, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4256, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4021, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3968, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3948, d0.loss_map_cls_all: 0.1689, d0.loss_map_pts_all: 0.9411, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1689, d0.loss_map_pts: 0.9411, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1296, d1.loss_map_pts: 0.6814, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1014, d2.loss_map_pts: 0.5368, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.0895, d3.loss_map_pts: 0.4874, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0836, d4.loss_map_pts: 0.4697, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0786, d5.loss_map_pts: 0.4643, d5.loss_map_dir: 0.0060, loss: 19.8368, grad_norm: 116.9636 +2026-03-01 03:52:23,791 - DriveTransformer - INFO - Epoch [12][5450/39528] lr: 5.696e-05, eta: 4 days, 7:14:20, time: 0.745, data_time: 0.036, memory: 19865, loss_cls: 0.0802, loss_bbox: 0.2717, loss_traj: 0.4351, loss_traj_cls: 0.0019, loss_map_cls: 0.0958, loss_map_pts: 0.5136, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.4587, d0.loss_plan_l1_fix_dist: 0.4170, d1.loss_plan_l1_fix_time: 0.7418, d1.loss_plan_l1_fix_dist: 0.2096, d2.loss_plan_l1_fix_time: 0.7267, d2.loss_plan_l1_fix_dist: 0.2322, d3.loss_plan_l1_fix_time: 0.7248, d3.loss_plan_l1_fix_dist: 0.2276, d4.loss_plan_l1_fix_time: 0.7269, d4.loss_plan_l1_fix_dist: 0.2149, d5.loss_plan_l1_fix_time: 0.7291, d5.loss_plan_l1_fix_dist: 0.1992, d6.loss_plan_l1_fix_time: 0.7315, d6.loss_plan_l1_fix_dist: 0.2433, d0.loss_cls_all: 0.1266, d0.loss_bbox_all: 0.3402, d0.loss_cls: 0.1266, d0.loss_bbox: 0.3402, d1.loss_cls: 0.1186, d1.loss_bbox: 0.3069, d2.loss_cls: 0.1061, d2.loss_bbox: 0.2850, d3.loss_cls: 0.0882, d3.loss_bbox: 0.2773, d4.loss_cls: 0.0818, d4.loss_bbox: 0.2734, d5.loss_cls: 0.0804, d5.loss_bbox: 0.2719, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7106, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5236, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4693, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4572, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4469, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4387, d0.loss_map_cls_all: 0.1743, d0.loss_map_pts_all: 1.1286, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1743, d0.loss_map_pts: 1.1286, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1451, d1.loss_map_pts: 0.8137, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1232, d2.loss_map_pts: 0.6237, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1123, d3.loss_map_pts: 0.5494, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1038, d4.loss_map_pts: 0.5209, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0980, d5.loss_map_pts: 0.5134, d5.loss_map_dir: 0.0068, loss: 22.1187, grad_norm: 115.9740 +2026-03-01 03:53:00,322 - DriveTransformer - INFO - Epoch [12][5500/39528] lr: 5.696e-05, eta: 4 days, 7:13:44, time: 0.731, data_time: 0.036, memory: 19865, loss_cls: 0.0829, loss_bbox: 0.2753, loss_traj: 0.4735, loss_traj_cls: 0.0018, loss_map_cls: 0.1000, loss_map_pts: 0.5112, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.7279, d0.loss_plan_l1_fix_dist: 0.3804, d1.loss_plan_l1_fix_time: 0.6922, d1.loss_plan_l1_fix_dist: 0.1937, d2.loss_plan_l1_fix_time: 0.6847, d2.loss_plan_l1_fix_dist: 0.2280, d3.loss_plan_l1_fix_time: 0.6863, d3.loss_plan_l1_fix_dist: 0.2188, d4.loss_plan_l1_fix_time: 0.6886, d4.loss_plan_l1_fix_dist: 0.2100, d5.loss_plan_l1_fix_time: 0.6907, d5.loss_plan_l1_fix_dist: 0.2020, d6.loss_plan_l1_fix_time: 0.6932, d6.loss_plan_l1_fix_dist: 0.2312, d0.loss_cls_all: 0.1267, d0.loss_bbox_all: 0.3427, d0.loss_cls: 0.1267, d0.loss_bbox: 0.3427, d1.loss_cls: 0.1208, d1.loss_bbox: 0.3094, d2.loss_cls: 0.1074, d2.loss_bbox: 0.2870, d3.loss_cls: 0.0930, d3.loss_bbox: 0.2785, d4.loss_cls: 0.0853, d4.loss_bbox: 0.2765, d5.loss_cls: 0.0842, d5.loss_bbox: 0.2752, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7382, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5660, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5069, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4877, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4813, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4750, d0.loss_map_cls_all: 0.1942, d0.loss_map_pts_all: 1.1014, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1942, d0.loss_map_pts: 1.1014, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1621, d1.loss_map_pts: 0.7858, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1324, d2.loss_map_pts: 0.6036, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1180, d3.loss_map_pts: 0.5359, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1087, d4.loss_map_pts: 0.5159, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1027, d5.loss_map_pts: 0.5111, d5.loss_map_dir: 0.0063, loss: 22.3054, grad_norm: 116.6354 +2026-03-01 03:53:36,455 - DriveTransformer - INFO - Epoch [12][5550/39528] lr: 5.696e-05, eta: 4 days, 7:13:06, time: 0.723, data_time: 0.036, memory: 19865, loss_cls: 0.0908, loss_bbox: 0.2816, loss_traj: 0.4397, loss_traj_cls: 0.0019, loss_map_cls: 0.0852, loss_map_pts: 0.4571, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.6808, d0.loss_plan_l1_fix_dist: 0.4043, d1.loss_plan_l1_fix_time: 0.7713, d1.loss_plan_l1_fix_dist: 0.1740, d2.loss_plan_l1_fix_time: 0.7694, d2.loss_plan_l1_fix_dist: 0.2151, d3.loss_plan_l1_fix_time: 0.7729, d3.loss_plan_l1_fix_dist: 0.2015, d4.loss_plan_l1_fix_time: 0.7762, d4.loss_plan_l1_fix_dist: 0.2107, d5.loss_plan_l1_fix_time: 0.7787, d5.loss_plan_l1_fix_dist: 0.2090, d6.loss_plan_l1_fix_time: 0.7813, d6.loss_plan_l1_fix_dist: 0.2266, d0.loss_cls_all: 0.1409, d0.loss_bbox_all: 0.3493, d0.loss_cls: 0.1409, d0.loss_bbox: 0.3493, d1.loss_cls: 0.1352, d1.loss_bbox: 0.3160, d2.loss_cls: 0.1198, d2.loss_bbox: 0.2936, d3.loss_cls: 0.0996, d3.loss_bbox: 0.2860, d4.loss_cls: 0.0911, d4.loss_bbox: 0.2848, d5.loss_cls: 0.0917, d5.loss_bbox: 0.2814, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6616, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5155, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4675, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4458, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4346, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4398, d0.loss_map_cls_all: 0.1638, d0.loss_map_pts_all: 0.9618, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1638, d0.loss_map_pts: 0.9618, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1328, d1.loss_map_pts: 0.6982, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1108, d2.loss_map_pts: 0.5468, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0992, d3.loss_map_pts: 0.4837, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0931, d4.loss_map_pts: 0.4646, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0872, d5.loss_map_pts: 0.4583, d5.loss_map_dir: 0.0057, loss: 21.7486, grad_norm: 121.0082 +2026-03-01 03:54:11,232 - DriveTransformer - INFO - Epoch [12][5600/39528] lr: 5.696e-05, eta: 4 days, 7:12:25, time: 0.695, data_time: 0.036, memory: 19865, loss_cls: 0.0870, loss_bbox: 0.2608, loss_traj: 0.4324, loss_traj_cls: 0.0018, loss_map_cls: 0.0815, loss_map_pts: 0.4067, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.2468, d0.loss_plan_l1_fix_dist: 0.3801, d1.loss_plan_l1_fix_time: 0.5961, d1.loss_plan_l1_fix_dist: 0.1518, d2.loss_plan_l1_fix_time: 0.5803, d2.loss_plan_l1_fix_dist: 0.2055, d3.loss_plan_l1_fix_time: 0.5791, d3.loss_plan_l1_fix_dist: 0.1718, d4.loss_plan_l1_fix_time: 0.5825, d4.loss_plan_l1_fix_dist: 0.2010, d5.loss_plan_l1_fix_time: 0.5863, d5.loss_plan_l1_fix_dist: 0.1937, d6.loss_plan_l1_fix_time: 0.5901, d6.loss_plan_l1_fix_dist: 0.1975, d0.loss_cls_all: 0.1247, d0.loss_bbox_all: 0.3236, d0.loss_cls: 0.1247, d0.loss_bbox: 0.3236, d1.loss_cls: 0.1178, d1.loss_bbox: 0.2956, d2.loss_cls: 0.1075, d2.loss_bbox: 0.2762, d3.loss_cls: 0.0931, d3.loss_bbox: 0.2673, d4.loss_cls: 0.0874, d4.loss_bbox: 0.2635, d5.loss_cls: 0.0867, d5.loss_bbox: 0.2605, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6443, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5013, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4596, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4428, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4337, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4310, d0.loss_map_cls_all: 0.1585, d0.loss_map_pts_all: 0.8308, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1585, d0.loss_map_pts: 0.8308, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1247, d1.loss_map_pts: 0.5908, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1032, d2.loss_map_pts: 0.4744, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0945, d3.loss_map_pts: 0.4267, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0870, d4.loss_map_pts: 0.4146, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0833, d5.loss_map_pts: 0.4072, d5.loss_map_dir: 0.0051, loss: 19.0286, grad_norm: 122.2370 +2026-03-01 03:54:47,171 - DriveTransformer - INFO - Epoch [12][5650/39528] lr: 5.696e-05, eta: 4 days, 7:11:47, time: 0.719, data_time: 0.038, memory: 19865, loss_cls: 0.0715, loss_bbox: 0.2447, loss_traj: 0.3895, loss_traj_cls: 0.0020, loss_map_cls: 0.0740, loss_map_pts: 0.3871, loss_map_dir: 0.0041, d0.loss_plan_l1_fix_time: 2.4059, d0.loss_plan_l1_fix_dist: 0.4656, d1.loss_plan_l1_fix_time: 0.6598, d1.loss_plan_l1_fix_dist: 0.1736, d2.loss_plan_l1_fix_time: 0.6544, d2.loss_plan_l1_fix_dist: 0.2166, d3.loss_plan_l1_fix_time: 0.6470, d3.loss_plan_l1_fix_dist: 0.1770, d4.loss_plan_l1_fix_time: 0.6490, d4.loss_plan_l1_fix_dist: 0.2103, d5.loss_plan_l1_fix_time: 0.6517, d5.loss_plan_l1_fix_dist: 0.1967, d6.loss_plan_l1_fix_time: 0.6546, d6.loss_plan_l1_fix_dist: 0.1969, d0.loss_cls_all: 0.1130, d0.loss_bbox_all: 0.3039, d0.loss_cls: 0.1130, d0.loss_bbox: 0.3039, d1.loss_cls: 0.1071, d1.loss_bbox: 0.2740, d2.loss_cls: 0.0982, d2.loss_bbox: 0.2544, d3.loss_cls: 0.0813, d3.loss_bbox: 0.2469, d4.loss_cls: 0.0738, d4.loss_bbox: 0.2443, d5.loss_cls: 0.0722, d5.loss_bbox: 0.2441, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6068, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4689, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4142, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3990, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3956, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3934, d0.loss_map_cls_all: 0.1521, d0.loss_map_pts_all: 0.8224, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1521, d0.loss_map_pts: 0.8224, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1196, d1.loss_map_pts: 0.5910, d1.loss_map_dir: 0.0043, d2.loss_map_cls: 0.0976, d2.loss_map_pts: 0.4601, d2.loss_map_dir: 0.0040, d3.loss_map_cls: 0.0872, d3.loss_map_pts: 0.4112, d3.loss_map_dir: 0.0039, d4.loss_map_cls: 0.0808, d4.loss_map_pts: 0.3922, d4.loss_map_dir: 0.0040, d5.loss_map_cls: 0.0762, d5.loss_map_pts: 0.3878, d5.loss_map_dir: 0.0041, loss: 19.0283, grad_norm: 121.9772 +2026-03-01 03:55:25,244 - DriveTransformer - INFO - Epoch [12][5700/39528] lr: 5.696e-05, eta: 4 days, 7:11:14, time: 0.761, data_time: 0.038, memory: 19865, loss_cls: 0.0988, loss_bbox: 0.2766, loss_traj: 0.5015, loss_traj_cls: 0.0019, loss_map_cls: 0.1023, loss_map_pts: 0.5687, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.4746, d0.loss_plan_l1_fix_dist: 0.4096, d1.loss_plan_l1_fix_time: 0.7470, d1.loss_plan_l1_fix_dist: 0.1675, d2.loss_plan_l1_fix_time: 0.7329, d2.loss_plan_l1_fix_dist: 0.1821, d3.loss_plan_l1_fix_time: 0.7152, d3.loss_plan_l1_fix_dist: 0.1422, d4.loss_plan_l1_fix_time: 0.7152, d4.loss_plan_l1_fix_dist: 0.1767, d5.loss_plan_l1_fix_time: 0.7168, d5.loss_plan_l1_fix_dist: 0.1659, d6.loss_plan_l1_fix_time: 0.7189, d6.loss_plan_l1_fix_dist: 0.1707, d0.loss_cls_all: 0.1415, d0.loss_bbox_all: 0.3472, d0.loss_cls: 0.1415, d0.loss_bbox: 0.3472, d1.loss_cls: 0.1354, d1.loss_bbox: 0.3174, d2.loss_cls: 0.1200, d2.loss_bbox: 0.2944, d3.loss_cls: 0.1062, d3.loss_bbox: 0.2843, d4.loss_cls: 0.0997, d4.loss_bbox: 0.2812, d5.loss_cls: 0.0987, d5.loss_bbox: 0.2776, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7382, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5752, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5258, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5007, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5005, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4996, d0.loss_map_cls_all: 0.1960, d0.loss_map_pts_all: 1.1785, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1960, d0.loss_map_pts: 1.1785, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1592, d1.loss_map_pts: 0.8667, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1313, d2.loss_map_pts: 0.6818, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1181, d3.loss_map_pts: 0.6056, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1105, d4.loss_map_pts: 0.5767, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1051, d5.loss_map_pts: 0.5691, d5.loss_map_dir: 0.0069, loss: 22.8492, grad_norm: 121.4750 +2026-03-01 03:56:01,017 - DriveTransformer - INFO - Epoch [12][5750/39528] lr: 5.696e-05, eta: 4 days, 7:10:36, time: 0.715, data_time: 0.037, memory: 19865, loss_cls: 0.0833, loss_bbox: 0.2618, loss_traj: 0.3978, loss_traj_cls: 0.0020, loss_map_cls: 0.0826, loss_map_pts: 0.4636, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.4855, d0.loss_plan_l1_fix_dist: 0.4696, d1.loss_plan_l1_fix_time: 0.6033, d1.loss_plan_l1_fix_dist: 0.1754, d2.loss_plan_l1_fix_time: 0.5864, d2.loss_plan_l1_fix_dist: 0.1640, d3.loss_plan_l1_fix_time: 0.5854, d3.loss_plan_l1_fix_dist: 0.1462, d4.loss_plan_l1_fix_time: 0.5872, d4.loss_plan_l1_fix_dist: 0.1709, d5.loss_plan_l1_fix_time: 0.5893, d5.loss_plan_l1_fix_dist: 0.1525, d6.loss_plan_l1_fix_time: 0.5919, d6.loss_plan_l1_fix_dist: 0.1525, d0.loss_cls_all: 0.1172, d0.loss_bbox_all: 0.3275, d0.loss_cls: 0.1172, d0.loss_bbox: 0.3275, d1.loss_cls: 0.1131, d1.loss_bbox: 0.2979, d2.loss_cls: 0.1024, d2.loss_bbox: 0.2754, d3.loss_cls: 0.0876, d3.loss_bbox: 0.2674, d4.loss_cls: 0.0840, d4.loss_bbox: 0.2630, d5.loss_cls: 0.0829, d5.loss_bbox: 0.2620, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5676, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4541, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4161, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4060, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3962, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3982, d0.loss_map_cls_all: 0.1679, d0.loss_map_pts_all: 0.9769, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1679, d0.loss_map_pts: 0.9769, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1311, d1.loss_map_pts: 0.7071, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1052, d2.loss_map_pts: 0.5432, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0951, d3.loss_map_pts: 0.4890, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0891, d4.loss_map_pts: 0.4665, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0845, d5.loss_map_pts: 0.4637, d5.loss_map_dir: 0.0057, loss: 19.6299, grad_norm: 120.8224 +2026-03-01 03:56:37,676 - DriveTransformer - INFO - Epoch [12][5800/39528] lr: 5.696e-05, eta: 4 days, 7:10:00, time: 0.735, data_time: 0.039, memory: 19865, loss_cls: 0.0934, loss_bbox: 0.2853, loss_traj: 0.4648, loss_traj_cls: 0.0020, loss_map_cls: 0.0876, loss_map_pts: 0.4946, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.6308, d0.loss_plan_l1_fix_dist: 0.4814, d1.loss_plan_l1_fix_time: 0.6700, d1.loss_plan_l1_fix_dist: 0.2019, d2.loss_plan_l1_fix_time: 0.6562, d2.loss_plan_l1_fix_dist: 0.1660, d3.loss_plan_l1_fix_time: 0.6585, d3.loss_plan_l1_fix_dist: 0.1732, d4.loss_plan_l1_fix_time: 0.6606, d4.loss_plan_l1_fix_dist: 0.1716, d5.loss_plan_l1_fix_time: 0.6624, d5.loss_plan_l1_fix_dist: 0.1582, d6.loss_plan_l1_fix_time: 0.6646, d6.loss_plan_l1_fix_dist: 0.1607, d0.loss_cls_all: 0.1413, d0.loss_bbox_all: 0.3623, d0.loss_cls: 0.1413, d0.loss_bbox: 0.3623, d1.loss_cls: 0.1329, d1.loss_bbox: 0.3276, d2.loss_cls: 0.1206, d2.loss_bbox: 0.3030, d3.loss_cls: 0.1024, d3.loss_bbox: 0.2931, d4.loss_cls: 0.0947, d4.loss_bbox: 0.2888, d5.loss_cls: 0.0929, d5.loss_bbox: 0.2865, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7010, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5563, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5023, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4786, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4754, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4677, d0.loss_map_cls_all: 0.1634, d0.loss_map_pts_all: 0.9826, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1634, d0.loss_map_pts: 0.9826, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1309, d1.loss_map_pts: 0.7296, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1115, d2.loss_map_pts: 0.5821, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1009, d3.loss_map_pts: 0.5228, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0940, d4.loss_map_pts: 0.5026, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0900, d5.loss_map_pts: 0.4948, d5.loss_map_dir: 0.0052, loss: 21.4744, grad_norm: 118.3224 +2026-03-01 03:57:13,133 - DriveTransformer - INFO - Epoch [12][5850/39528] lr: 5.696e-05, eta: 4 days, 7:09:20, time: 0.708, data_time: 0.037, memory: 19865, loss_cls: 0.0933, loss_bbox: 0.2822, loss_traj: 0.4874, loss_traj_cls: 0.0020, loss_map_cls: 0.0864, loss_map_pts: 0.4645, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.7046, d0.loss_plan_l1_fix_dist: 0.4272, d1.loss_plan_l1_fix_time: 0.5776, d1.loss_plan_l1_fix_dist: 0.2235, d2.loss_plan_l1_fix_time: 0.5601, d2.loss_plan_l1_fix_dist: 0.1830, d3.loss_plan_l1_fix_time: 0.5555, d3.loss_plan_l1_fix_dist: 0.1872, d4.loss_plan_l1_fix_time: 0.5565, d4.loss_plan_l1_fix_dist: 0.1687, d5.loss_plan_l1_fix_time: 0.5581, d5.loss_plan_l1_fix_dist: 0.1840, d6.loss_plan_l1_fix_time: 0.5599, d6.loss_plan_l1_fix_dist: 0.1720, d0.loss_cls_all: 0.1384, d0.loss_bbox_all: 0.3444, d0.loss_cls: 0.1384, d0.loss_bbox: 0.3444, d1.loss_cls: 0.1325, d1.loss_bbox: 0.3137, d2.loss_cls: 0.1225, d2.loss_bbox: 0.2935, d3.loss_cls: 0.1040, d3.loss_bbox: 0.2879, d4.loss_cls: 0.0956, d4.loss_bbox: 0.2846, d5.loss_cls: 0.0925, d5.loss_bbox: 0.2835, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7183, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5628, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5147, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4954, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4910, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4856, d0.loss_map_cls_all: 0.1646, d0.loss_map_pts_all: 0.9488, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1646, d0.loss_map_pts: 0.9488, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1293, d1.loss_map_pts: 0.6949, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1092, d2.loss_map_pts: 0.5415, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0998, d3.loss_map_pts: 0.4840, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0927, d4.loss_map_pts: 0.4674, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0880, d5.loss_map_pts: 0.4647, d5.loss_map_dir: 0.0057, loss: 20.7280, grad_norm: 118.7078 +2026-03-01 03:57:49,110 - DriveTransformer - INFO - Epoch [12][5900/39528] lr: 5.696e-05, eta: 4 days, 7:08:42, time: 0.720, data_time: 0.038, memory: 19865, loss_cls: 0.0782, loss_bbox: 0.2689, loss_traj: 0.4935, loss_traj_cls: 0.0021, loss_map_cls: 0.0752, loss_map_pts: 0.3859, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.9375, d0.loss_plan_l1_fix_dist: 0.3653, d1.loss_plan_l1_fix_time: 0.8619, d1.loss_plan_l1_fix_dist: 0.2347, d2.loss_plan_l1_fix_time: 0.8476, d2.loss_plan_l1_fix_dist: 0.1773, d3.loss_plan_l1_fix_time: 0.8436, d3.loss_plan_l1_fix_dist: 0.1955, d4.loss_plan_l1_fix_time: 0.8449, d4.loss_plan_l1_fix_dist: 0.1642, d5.loss_plan_l1_fix_time: 0.8464, d5.loss_plan_l1_fix_dist: 0.1738, d6.loss_plan_l1_fix_time: 0.8484, d6.loss_plan_l1_fix_dist: 0.1726, d0.loss_cls_all: 0.1181, d0.loss_bbox_all: 0.3299, d0.loss_cls: 0.1181, d0.loss_bbox: 0.3299, d1.loss_cls: 0.1124, d1.loss_bbox: 0.2967, d2.loss_cls: 0.1006, d2.loss_bbox: 0.2774, d3.loss_cls: 0.0845, d3.loss_bbox: 0.2720, d4.loss_cls: 0.0802, d4.loss_bbox: 0.2694, d5.loss_cls: 0.0790, d5.loss_bbox: 0.2680, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7655, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5876, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5303, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5073, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4958, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4942, d0.loss_map_cls_all: 0.1463, d0.loss_map_pts_all: 0.8500, d0.loss_map_dir_all: 0.0049, d0.loss_map_cls: 0.1463, d0.loss_map_pts: 0.8500, d0.loss_map_dir: 0.0049, d1.loss_map_cls: 0.1166, d1.loss_map_pts: 0.6040, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.0958, d2.loss_map_pts: 0.4671, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.0855, d3.loss_map_pts: 0.4075, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0802, d4.loss_map_pts: 0.3917, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0769, d5.loss_map_pts: 0.3860, d5.loss_map_dir: 0.0046, loss: 21.6804, grad_norm: 118.8002 +2026-03-01 03:58:25,805 - DriveTransformer - INFO - Epoch [12][5950/39528] lr: 5.696e-05, eta: 4 days, 7:08:06, time: 0.734, data_time: 0.037, memory: 19865, loss_cls: 0.0819, loss_bbox: 0.2627, loss_traj: 0.4647, loss_traj_cls: 0.0021, loss_map_cls: 0.0936, loss_map_pts: 0.4755, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.9258, d0.loss_plan_l1_fix_dist: 0.4234, d1.loss_plan_l1_fix_time: 0.8002, d1.loss_plan_l1_fix_dist: 0.2341, d2.loss_plan_l1_fix_time: 0.7871, d2.loss_plan_l1_fix_dist: 0.1779, d3.loss_plan_l1_fix_time: 0.7798, d3.loss_plan_l1_fix_dist: 0.2037, d4.loss_plan_l1_fix_time: 0.7803, d4.loss_plan_l1_fix_dist: 0.1634, d5.loss_plan_l1_fix_time: 0.7812, d5.loss_plan_l1_fix_dist: 0.1803, d6.loss_plan_l1_fix_time: 0.7826, d6.loss_plan_l1_fix_dist: 0.1768, d0.loss_cls_all: 0.1204, d0.loss_bbox_all: 0.3244, d0.loss_cls: 0.1204, d0.loss_bbox: 0.3244, d1.loss_cls: 0.1183, d1.loss_bbox: 0.2900, d2.loss_cls: 0.1035, d2.loss_bbox: 0.2713, d3.loss_cls: 0.0892, d3.loss_bbox: 0.2650, d4.loss_cls: 0.0847, d4.loss_bbox: 0.2619, d5.loss_cls: 0.0821, d5.loss_bbox: 0.2620, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7180, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5561, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5012, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4608, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4540, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4666, d0.loss_map_cls_all: 0.1717, d0.loss_map_pts_all: 0.9785, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1717, d0.loss_map_pts: 0.9785, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1430, d1.loss_map_pts: 0.7195, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1186, d2.loss_map_pts: 0.5709, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1078, d3.loss_map_pts: 0.5060, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1006, d4.loss_map_pts: 0.4839, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0957, d5.loss_map_pts: 0.4763, d5.loss_map_dir: 0.0057, loss: 22.1238, grad_norm: 119.7245 +2026-03-01 03:59:02,301 - DriveTransformer - INFO - Epoch [12][6000/39528] lr: 5.696e-05, eta: 4 days, 7:07:30, time: 0.730, data_time: 0.036, memory: 19865, loss_cls: 0.0828, loss_bbox: 0.2948, loss_traj: 0.4115, loss_traj_cls: 0.0021, loss_map_cls: 0.0904, loss_map_pts: 0.4838, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 3.0585, d0.loss_plan_l1_fix_dist: 0.3986, d1.loss_plan_l1_fix_time: 0.7402, d1.loss_plan_l1_fix_dist: 0.2130, d2.loss_plan_l1_fix_time: 0.7296, d2.loss_plan_l1_fix_dist: 0.1738, d3.loss_plan_l1_fix_time: 0.7276, d3.loss_plan_l1_fix_dist: 0.2002, d4.loss_plan_l1_fix_time: 0.7291, d4.loss_plan_l1_fix_dist: 0.1579, d5.loss_plan_l1_fix_time: 0.7304, d5.loss_plan_l1_fix_dist: 0.1801, d6.loss_plan_l1_fix_time: 0.7322, d6.loss_plan_l1_fix_dist: 0.1758, d0.loss_cls_all: 0.1395, d0.loss_bbox_all: 0.3600, d0.loss_cls: 0.1395, d0.loss_bbox: 0.3600, d1.loss_cls: 0.1329, d1.loss_bbox: 0.3254, d2.loss_cls: 0.1144, d2.loss_bbox: 0.3000, d3.loss_cls: 0.0931, d3.loss_bbox: 0.2939, d4.loss_cls: 0.0850, d4.loss_bbox: 0.2931, d5.loss_cls: 0.0836, d5.loss_bbox: 0.2935, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6656, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4985, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4395, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4186, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4137, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4133, d0.loss_map_cls_all: 0.1867, d0.loss_map_pts_all: 0.9791, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1867, d0.loss_map_pts: 0.9791, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1475, d1.loss_map_pts: 0.7149, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1202, d2.loss_map_pts: 0.5616, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1053, d3.loss_map_pts: 0.5087, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0988, d4.loss_map_pts: 0.4868, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0925, d5.loss_map_pts: 0.4840, d5.loss_map_dir: 0.0060, loss: 21.8815, grad_norm: 123.6132 +2026-03-01 03:59:37,485 - DriveTransformer - INFO - Epoch [12][6050/39528] lr: 5.696e-05, eta: 4 days, 7:06:50, time: 0.704, data_time: 0.039, memory: 19865, loss_cls: 0.0932, loss_bbox: 0.2861, loss_traj: 0.5251, loss_traj_cls: 0.0021, loss_map_cls: 0.0753, loss_map_pts: 0.4118, loss_map_dir: 0.0042, d0.loss_plan_l1_fix_time: 2.4104, d0.loss_plan_l1_fix_dist: 0.4256, d1.loss_plan_l1_fix_time: 0.6626, d1.loss_plan_l1_fix_dist: 0.2024, d2.loss_plan_l1_fix_time: 0.6500, d2.loss_plan_l1_fix_dist: 0.1813, d3.loss_plan_l1_fix_time: 0.6431, d3.loss_plan_l1_fix_dist: 0.1974, d4.loss_plan_l1_fix_time: 0.6460, d4.loss_plan_l1_fix_dist: 0.1527, d5.loss_plan_l1_fix_time: 0.6483, d5.loss_plan_l1_fix_dist: 0.1576, d6.loss_plan_l1_fix_time: 0.6506, d6.loss_plan_l1_fix_dist: 0.1537, d0.loss_cls_all: 0.1357, d0.loss_bbox_all: 0.3532, d0.loss_cls: 0.1357, d0.loss_bbox: 0.3532, d1.loss_cls: 0.1282, d1.loss_bbox: 0.3176, d2.loss_cls: 0.1179, d2.loss_bbox: 0.2944, d3.loss_cls: 0.0999, d3.loss_bbox: 0.2895, d4.loss_cls: 0.0958, d4.loss_bbox: 0.2854, d5.loss_cls: 0.0934, d5.loss_bbox: 0.2861, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8207, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.6258, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5538, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5321, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5262, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5223, d0.loss_map_cls_all: 0.1463, d0.loss_map_pts_all: 0.8738, d0.loss_map_dir_all: 0.0047, d0.loss_map_cls: 0.1463, d0.loss_map_pts: 0.8738, d0.loss_map_dir: 0.0047, d1.loss_map_cls: 0.1232, d1.loss_map_pts: 0.6357, d1.loss_map_dir: 0.0040, d2.loss_map_cls: 0.0997, d2.loss_map_pts: 0.4947, d2.loss_map_dir: 0.0038, d3.loss_map_cls: 0.0872, d3.loss_map_pts: 0.4369, d3.loss_map_dir: 0.0040, d4.loss_map_cls: 0.0821, d4.loss_map_pts: 0.4160, d4.loss_map_dir: 0.0041, d5.loss_map_cls: 0.0774, d5.loss_map_pts: 0.4122, d5.loss_map_dir: 0.0042, loss: 20.6861, grad_norm: 122.4934 +2026-03-01 04:00:14,051 - DriveTransformer - INFO - Epoch [12][6100/39528] lr: 5.696e-05, eta: 4 days, 7:06:13, time: 0.731, data_time: 0.036, memory: 19865, loss_cls: 0.0874, loss_bbox: 0.2633, loss_traj: 0.4308, loss_traj_cls: 0.0021, loss_map_cls: 0.0972, loss_map_pts: 0.4782, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.2608, d0.loss_plan_l1_fix_dist: 0.3782, d1.loss_plan_l1_fix_time: 0.6638, d1.loss_plan_l1_fix_dist: 0.1724, d2.loss_plan_l1_fix_time: 0.6585, d2.loss_plan_l1_fix_dist: 0.1664, d3.loss_plan_l1_fix_time: 0.6583, d3.loss_plan_l1_fix_dist: 0.1692, d4.loss_plan_l1_fix_time: 0.6605, d4.loss_plan_l1_fix_dist: 0.1416, d5.loss_plan_l1_fix_time: 0.6632, d5.loss_plan_l1_fix_dist: 0.1375, d6.loss_plan_l1_fix_time: 0.6660, d6.loss_plan_l1_fix_dist: 0.1429, d0.loss_cls_all: 0.1320, d0.loss_bbox_all: 0.3292, d0.loss_cls: 0.1320, d0.loss_bbox: 0.3292, d1.loss_cls: 0.1258, d1.loss_bbox: 0.2949, d2.loss_cls: 0.1126, d2.loss_bbox: 0.2728, d3.loss_cls: 0.0967, d3.loss_bbox: 0.2652, d4.loss_cls: 0.0895, d4.loss_bbox: 0.2626, d5.loss_cls: 0.0876, d5.loss_bbox: 0.2626, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6405, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4892, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4542, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4370, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4300, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4293, d0.loss_map_cls_all: 0.1887, d0.loss_map_pts_all: 1.0001, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1887, d0.loss_map_pts: 1.0001, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1534, d1.loss_map_pts: 0.7295, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1239, d2.loss_map_pts: 0.5718, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.1114, d3.loss_map_pts: 0.5061, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.1047, d4.loss_map_pts: 0.4844, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0997, d5.loss_map_pts: 0.4774, d5.loss_map_dir: 0.0051, loss: 20.3572, grad_norm: 120.7731 +2026-03-01 04:00:49,798 - DriveTransformer - INFO - Epoch [12][6150/39528] lr: 5.696e-05, eta: 4 days, 7:05:35, time: 0.715, data_time: 0.037, memory: 19865, loss_cls: 0.0968, loss_bbox: 0.2907, loss_traj: 0.5147, loss_traj_cls: 0.0022, loss_map_cls: 0.0808, loss_map_pts: 0.4740, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.8378, d0.loss_plan_l1_fix_dist: 0.3739, d1.loss_plan_l1_fix_time: 0.7381, d1.loss_plan_l1_fix_dist: 0.1667, d2.loss_plan_l1_fix_time: 0.7275, d2.loss_plan_l1_fix_dist: 0.1848, d3.loss_plan_l1_fix_time: 0.7276, d3.loss_plan_l1_fix_dist: 0.1662, d4.loss_plan_l1_fix_time: 0.7290, d4.loss_plan_l1_fix_dist: 0.1552, d5.loss_plan_l1_fix_time: 0.7312, d5.loss_plan_l1_fix_dist: 0.1480, d6.loss_plan_l1_fix_time: 0.7338, d6.loss_plan_l1_fix_dist: 0.1537, d0.loss_cls_all: 0.1502, d0.loss_bbox_all: 0.3583, d0.loss_cls: 0.1502, d0.loss_bbox: 0.3583, d1.loss_cls: 0.1417, d1.loss_bbox: 0.3240, d2.loss_cls: 0.1265, d2.loss_bbox: 0.2995, d3.loss_cls: 0.1049, d3.loss_bbox: 0.2943, d4.loss_cls: 0.0985, d4.loss_bbox: 0.2907, d5.loss_cls: 0.0968, d5.loss_bbox: 0.2905, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7461, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.6143, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5572, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5355, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5198, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5172, d0.loss_map_cls_all: 0.1579, d0.loss_map_pts_all: 0.9471, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1579, d0.loss_map_pts: 0.9471, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1240, d1.loss_map_pts: 0.6944, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1037, d2.loss_map_pts: 0.5559, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.0927, d3.loss_map_pts: 0.4971, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0876, d4.loss_map_pts: 0.4772, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0831, d5.loss_map_pts: 0.4724, d5.loss_map_dir: 0.0058, loss: 22.0581, grad_norm: 121.6559 +2026-03-01 04:01:25,810 - DriveTransformer - INFO - Epoch [12][6200/39528] lr: 5.696e-05, eta: 4 days, 7:04:57, time: 0.720, data_time: 0.037, memory: 19865, loss_cls: 0.0811, loss_bbox: 0.2648, loss_traj: 0.5088, loss_traj_cls: 0.0021, loss_map_cls: 0.0862, loss_map_pts: 0.4695, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.5485, d0.loss_plan_l1_fix_dist: 0.3676, d1.loss_plan_l1_fix_time: 0.6971, d1.loss_plan_l1_fix_dist: 0.1639, d2.loss_plan_l1_fix_time: 0.6887, d2.loss_plan_l1_fix_dist: 0.1774, d3.loss_plan_l1_fix_time: 0.6856, d3.loss_plan_l1_fix_dist: 0.1461, d4.loss_plan_l1_fix_time: 0.6875, d4.loss_plan_l1_fix_dist: 0.1485, d5.loss_plan_l1_fix_time: 0.6903, d5.loss_plan_l1_fix_dist: 0.1491, d6.loss_plan_l1_fix_time: 0.6938, d6.loss_plan_l1_fix_dist: 0.1466, d0.loss_cls_all: 0.1196, d0.loss_bbox_all: 0.3338, d0.loss_cls: 0.1196, d0.loss_bbox: 0.3338, d1.loss_cls: 0.1137, d1.loss_bbox: 0.2996, d2.loss_cls: 0.1032, d2.loss_bbox: 0.2765, d3.loss_cls: 0.0874, d3.loss_bbox: 0.2709, d4.loss_cls: 0.0836, d4.loss_bbox: 0.2661, d5.loss_cls: 0.0804, d5.loss_bbox: 0.2667, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7340, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5782, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5314, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5220, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5177, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5103, d0.loss_map_cls_all: 0.1713, d0.loss_map_pts_all: 0.9616, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1713, d0.loss_map_pts: 0.9616, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1382, d1.loss_map_pts: 0.7144, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1150, d2.loss_map_pts: 0.5646, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1035, d3.loss_map_pts: 0.5011, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0945, d4.loss_map_pts: 0.4789, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0898, d5.loss_map_pts: 0.4697, d5.loss_map_dir: 0.0057, loss: 21.1393, grad_norm: 120.1972 +2026-03-01 04:02:02,306 - DriveTransformer - INFO - Epoch [12][6250/39528] lr: 5.696e-05, eta: 4 days, 7:04:20, time: 0.730, data_time: 0.038, memory: 19865, loss_cls: 0.0882, loss_bbox: 0.2705, loss_traj: 0.4735, loss_traj_cls: 0.0021, loss_map_cls: 0.0878, loss_map_pts: 0.4966, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.5680, d0.loss_plan_l1_fix_dist: 0.3724, d1.loss_plan_l1_fix_time: 0.7255, d1.loss_plan_l1_fix_dist: 0.1779, d2.loss_plan_l1_fix_time: 0.7152, d2.loss_plan_l1_fix_dist: 0.1819, d3.loss_plan_l1_fix_time: 0.7142, d3.loss_plan_l1_fix_dist: 0.1520, d4.loss_plan_l1_fix_time: 0.7154, d4.loss_plan_l1_fix_dist: 0.1497, d5.loss_plan_l1_fix_time: 0.7165, d5.loss_plan_l1_fix_dist: 0.1533, d6.loss_plan_l1_fix_time: 0.7177, d6.loss_plan_l1_fix_dist: 0.1571, d0.loss_cls_all: 0.1319, d0.loss_bbox_all: 0.3438, d0.loss_cls: 0.1319, d0.loss_bbox: 0.3438, d1.loss_cls: 0.1253, d1.loss_bbox: 0.3051, d2.loss_cls: 0.1117, d2.loss_bbox: 0.2823, d3.loss_cls: 0.0942, d3.loss_bbox: 0.2772, d4.loss_cls: 0.0895, d4.loss_bbox: 0.2735, d5.loss_cls: 0.0882, d5.loss_bbox: 0.2713, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6629, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5259, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4931, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4830, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4746, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4725, d0.loss_map_cls_all: 0.1723, d0.loss_map_pts_all: 1.0589, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1723, d0.loss_map_pts: 1.0589, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1388, d1.loss_map_pts: 0.7650, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1161, d2.loss_map_pts: 0.5912, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1035, d3.loss_map_pts: 0.5246, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0959, d4.loss_map_pts: 0.5006, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0903, d5.loss_map_pts: 0.4967, d5.loss_map_dir: 0.0058, loss: 21.5538, grad_norm: 122.5300 +2026-03-01 04:02:40,474 - DriveTransformer - INFO - Epoch [12][6300/39528] lr: 5.696e-05, eta: 4 days, 7:03:47, time: 0.763, data_time: 0.038, memory: 19865, loss_cls: 0.0760, loss_bbox: 0.2727, loss_traj: 0.4374, loss_traj_cls: 0.0021, loss_map_cls: 0.0943, loss_map_pts: 0.5244, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.3973, d0.loss_plan_l1_fix_dist: 0.3545, d1.loss_plan_l1_fix_time: 0.6412, d1.loss_plan_l1_fix_dist: 0.1856, d2.loss_plan_l1_fix_time: 0.6095, d2.loss_plan_l1_fix_dist: 0.1707, d3.loss_plan_l1_fix_time: 0.6054, d3.loss_plan_l1_fix_dist: 0.1512, d4.loss_plan_l1_fix_time: 0.6085, d4.loss_plan_l1_fix_dist: 0.1470, d5.loss_plan_l1_fix_time: 0.6111, d5.loss_plan_l1_fix_dist: 0.1551, d6.loss_plan_l1_fix_time: 0.6134, d6.loss_plan_l1_fix_dist: 0.1659, d0.loss_cls_all: 0.1219, d0.loss_bbox_all: 0.3364, d0.loss_cls: 0.1219, d0.loss_bbox: 0.3364, d1.loss_cls: 0.1159, d1.loss_bbox: 0.3035, d2.loss_cls: 0.1032, d2.loss_bbox: 0.2833, d3.loss_cls: 0.0864, d3.loss_bbox: 0.2773, d4.loss_cls: 0.0787, d4.loss_bbox: 0.2743, d5.loss_cls: 0.0763, d5.loss_bbox: 0.2728, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6714, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5116, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4650, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4494, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4424, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4406, d0.loss_map_cls_all: 0.1901, d0.loss_map_pts_all: 1.1574, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1901, d0.loss_map_pts: 1.1574, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1521, d1.loss_map_pts: 0.8238, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1250, d2.loss_map_pts: 0.6331, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1108, d3.loss_map_pts: 0.5594, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1020, d4.loss_map_pts: 0.5320, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.0967, d5.loss_map_pts: 0.5253, d5.loss_map_dir: 0.0070, loss: 21.0088, grad_norm: 124.1642 +2026-03-01 04:03:15,577 - DriveTransformer - INFO - Epoch [12][6350/39528] lr: 5.696e-05, eta: 4 days, 7:03:07, time: 0.702, data_time: 0.036, memory: 19865, loss_cls: 0.0771, loss_bbox: 0.2597, loss_traj: 0.4522, loss_traj_cls: 0.0022, loss_map_cls: 0.0884, loss_map_pts: 0.4110, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.5496, d0.loss_plan_l1_fix_dist: 0.3312, d1.loss_plan_l1_fix_time: 0.7399, d1.loss_plan_l1_fix_dist: 0.1850, d2.loss_plan_l1_fix_time: 0.7260, d2.loss_plan_l1_fix_dist: 0.1587, d3.loss_plan_l1_fix_time: 0.7088, d3.loss_plan_l1_fix_dist: 0.1440, d4.loss_plan_l1_fix_time: 0.7122, d4.loss_plan_l1_fix_dist: 0.1399, d5.loss_plan_l1_fix_time: 0.7151, d5.loss_plan_l1_fix_dist: 0.1409, d6.loss_plan_l1_fix_time: 0.7179, d6.loss_plan_l1_fix_dist: 0.1534, d0.loss_cls_all: 0.1204, d0.loss_bbox_all: 0.3217, d0.loss_cls: 0.1204, d0.loss_bbox: 0.3217, d1.loss_cls: 0.1164, d1.loss_bbox: 0.2896, d2.loss_cls: 0.1028, d2.loss_bbox: 0.2685, d3.loss_cls: 0.0858, d3.loss_bbox: 0.2648, d4.loss_cls: 0.0786, d4.loss_bbox: 0.2616, d5.loss_cls: 0.0761, d5.loss_bbox: 0.2614, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6888, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5233, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4748, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4675, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4584, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4534, d0.loss_map_cls_all: 0.1744, d0.loss_map_pts_all: 0.9082, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1744, d0.loss_map_pts: 0.9082, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1442, d1.loss_map_pts: 0.6442, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1165, d2.loss_map_pts: 0.4967, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1023, d3.loss_map_pts: 0.4397, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0950, d4.loss_map_pts: 0.4179, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0917, d5.loss_map_pts: 0.4118, d5.loss_map_dir: 0.0054, loss: 20.3426, grad_norm: 120.8683 +2026-03-01 04:03:53,140 - DriveTransformer - INFO - Epoch [12][6400/39528] lr: 5.696e-05, eta: 4 days, 7:02:33, time: 0.751, data_time: 0.037, memory: 19865, loss_cls: 0.0832, loss_bbox: 0.2798, loss_traj: 0.3964, loss_traj_cls: 0.0021, loss_map_cls: 0.1020, loss_map_pts: 0.5304, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.4723, d0.loss_plan_l1_fix_dist: 0.4621, d1.loss_plan_l1_fix_time: 0.7411, d1.loss_plan_l1_fix_dist: 0.1959, d2.loss_plan_l1_fix_time: 0.7262, d2.loss_plan_l1_fix_dist: 0.1696, d3.loss_plan_l1_fix_time: 0.7114, d3.loss_plan_l1_fix_dist: 0.1620, d4.loss_plan_l1_fix_time: 0.7147, d4.loss_plan_l1_fix_dist: 0.1539, d5.loss_plan_l1_fix_time: 0.7194, d5.loss_plan_l1_fix_dist: 0.1521, d6.loss_plan_l1_fix_time: 0.7247, d6.loss_plan_l1_fix_dist: 0.1592, d0.loss_cls_all: 0.1247, d0.loss_bbox_all: 0.3426, d0.loss_cls: 0.1247, d0.loss_bbox: 0.3426, d1.loss_cls: 0.1213, d1.loss_bbox: 0.3117, d2.loss_cls: 0.1072, d2.loss_bbox: 0.2900, d3.loss_cls: 0.0918, d3.loss_bbox: 0.2840, d4.loss_cls: 0.0857, d4.loss_bbox: 0.2799, d5.loss_cls: 0.0845, d5.loss_bbox: 0.2784, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6039, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4713, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4163, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4056, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4023, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3945, d0.loss_map_cls_all: 0.1909, d0.loss_map_pts_all: 1.1118, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1909, d0.loss_map_pts: 1.1118, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1567, d1.loss_map_pts: 0.8014, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1315, d2.loss_map_pts: 0.6221, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1189, d3.loss_map_pts: 0.5580, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1113, d4.loss_map_pts: 0.5350, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1049, d5.loss_map_pts: 0.5300, d5.loss_map_dir: 0.0072, loss: 21.5586, grad_norm: 122.0693 +2026-03-01 04:04:29,649 - DriveTransformer - INFO - Epoch [12][6450/39528] lr: 5.696e-05, eta: 4 days, 7:01:57, time: 0.730, data_time: 0.039, memory: 19865, loss_cls: 0.0816, loss_bbox: 0.2780, loss_traj: 0.4832, loss_traj_cls: 0.0021, loss_map_cls: 0.0992, loss_map_pts: 0.4718, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.7008, d0.loss_plan_l1_fix_dist: 0.4224, d1.loss_plan_l1_fix_time: 0.6823, d1.loss_plan_l1_fix_dist: 0.1960, d2.loss_plan_l1_fix_time: 0.6578, d2.loss_plan_l1_fix_dist: 0.1661, d3.loss_plan_l1_fix_time: 0.6619, d3.loss_plan_l1_fix_dist: 0.1669, d4.loss_plan_l1_fix_time: 0.6657, d4.loss_plan_l1_fix_dist: 0.1601, d5.loss_plan_l1_fix_time: 0.6706, d5.loss_plan_l1_fix_dist: 0.1609, d6.loss_plan_l1_fix_time: 0.6763, d6.loss_plan_l1_fix_dist: 0.1700, d0.loss_cls_all: 0.1255, d0.loss_bbox_all: 0.3399, d0.loss_cls: 0.1255, d0.loss_bbox: 0.3399, d1.loss_cls: 0.1188, d1.loss_bbox: 0.3081, d2.loss_cls: 0.1071, d2.loss_bbox: 0.2858, d3.loss_cls: 0.0894, d3.loss_bbox: 0.2814, d4.loss_cls: 0.0844, d4.loss_bbox: 0.2788, d5.loss_cls: 0.0813, d5.loss_bbox: 0.2788, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7594, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5454, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5168, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4958, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4858, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4832, d0.loss_map_cls_all: 0.1891, d0.loss_map_pts_all: 0.9926, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1891, d0.loss_map_pts: 0.9926, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1549, d1.loss_map_pts: 0.7273, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1276, d2.loss_map_pts: 0.5753, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.1155, d3.loss_map_pts: 0.5059, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.1067, d4.loss_map_pts: 0.4814, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.1009, d5.loss_map_pts: 0.4722, d5.loss_map_dir: 0.0050, loss: 21.4805, grad_norm: 128.0608 +2026-03-01 04:05:06,326 - DriveTransformer - INFO - Epoch [12][6500/39528] lr: 5.696e-05, eta: 4 days, 7:01:20, time: 0.734, data_time: 0.041, memory: 19865, loss_cls: 0.0703, loss_bbox: 0.2641, loss_traj: 0.4036, loss_traj_cls: 0.0021, loss_map_cls: 0.0871, loss_map_pts: 0.4504, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.9222, d0.loss_plan_l1_fix_dist: 0.4889, d1.loss_plan_l1_fix_time: 0.8896, d1.loss_plan_l1_fix_dist: 0.2144, d2.loss_plan_l1_fix_time: 0.8697, d2.loss_plan_l1_fix_dist: 0.1930, d3.loss_plan_l1_fix_time: 0.8478, d3.loss_plan_l1_fix_dist: 0.1882, d4.loss_plan_l1_fix_time: 0.8495, d4.loss_plan_l1_fix_dist: 0.1797, d5.loss_plan_l1_fix_time: 0.8530, d5.loss_plan_l1_fix_dist: 0.1815, d6.loss_plan_l1_fix_time: 0.8575, d6.loss_plan_l1_fix_dist: 0.1831, d0.loss_cls_all: 0.1162, d0.loss_bbox_all: 0.3231, d0.loss_cls: 0.1162, d0.loss_bbox: 0.3231, d1.loss_cls: 0.1089, d1.loss_bbox: 0.2906, d2.loss_cls: 0.0975, d2.loss_bbox: 0.2725, d3.loss_cls: 0.0793, d3.loss_bbox: 0.2672, d4.loss_cls: 0.0723, d4.loss_bbox: 0.2655, d5.loss_cls: 0.0709, d5.loss_bbox: 0.2646, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6419, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4777, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4365, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4144, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4125, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4034, d0.loss_map_cls_all: 0.1711, d0.loss_map_pts_all: 0.9704, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1711, d0.loss_map_pts: 0.9704, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1364, d1.loss_map_pts: 0.6796, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1146, d2.loss_map_pts: 0.5192, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1008, d3.loss_map_pts: 0.4728, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.0931, d4.loss_map_pts: 0.4558, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0882, d5.loss_map_pts: 0.4517, d5.loss_map_dir: 0.0068, loss: 21.9036, grad_norm: 128.0168 +2026-03-01 04:05:43,300 - DriveTransformer - INFO - Epoch [12][6550/39528] lr: 5.696e-05, eta: 4 days, 7:00:45, time: 0.740, data_time: 0.038, memory: 19865, loss_cls: 0.0915, loss_bbox: 0.2933, loss_traj: 0.4634, loss_traj_cls: 0.0020, loss_map_cls: 0.0969, loss_map_pts: 0.4883, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.5608, d0.loss_plan_l1_fix_dist: 0.3959, d1.loss_plan_l1_fix_time: 0.7504, d1.loss_plan_l1_fix_dist: 0.2126, d2.loss_plan_l1_fix_time: 0.7307, d2.loss_plan_l1_fix_dist: 0.1953, d3.loss_plan_l1_fix_time: 0.7286, d3.loss_plan_l1_fix_dist: 0.1859, d4.loss_plan_l1_fix_time: 0.7312, d4.loss_plan_l1_fix_dist: 0.1948, d5.loss_plan_l1_fix_time: 0.7341, d5.loss_plan_l1_fix_dist: 0.2040, d6.loss_plan_l1_fix_time: 0.7376, d6.loss_plan_l1_fix_dist: 0.2025, d0.loss_cls_all: 0.1443, d0.loss_bbox_all: 0.3619, d0.loss_cls: 0.1443, d0.loss_bbox: 0.3619, d1.loss_cls: 0.1359, d1.loss_bbox: 0.3291, d2.loss_cls: 0.1211, d2.loss_bbox: 0.3054, d3.loss_cls: 0.1039, d3.loss_bbox: 0.2980, d4.loss_cls: 0.0963, d4.loss_bbox: 0.2948, d5.loss_cls: 0.0914, d5.loss_bbox: 0.2944, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7024, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5538, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4921, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4762, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4716, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4677, d0.loss_map_cls_all: 0.1866, d0.loss_map_pts_all: 1.0112, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1866, d0.loss_map_pts: 1.0112, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1505, d1.loss_map_pts: 0.7385, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1265, d2.loss_map_pts: 0.5773, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1134, d3.loss_map_pts: 0.5155, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1061, d4.loss_map_pts: 0.4930, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1012, d5.loss_map_pts: 0.4883, d5.loss_map_dir: 0.0055, loss: 22.1024, grad_norm: 131.8855 +2026-03-01 04:06:19,198 - DriveTransformer - INFO - Epoch [12][6600/39528] lr: 5.696e-05, eta: 4 days, 7:00:07, time: 0.719, data_time: 0.035, memory: 19865, loss_cls: 0.0940, loss_bbox: 0.2904, loss_traj: 0.5050, loss_traj_cls: 0.0020, loss_map_cls: 0.0940, loss_map_pts: 0.5076, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.7700, d0.loss_plan_l1_fix_dist: 0.4264, d1.loss_plan_l1_fix_time: 0.7510, d1.loss_plan_l1_fix_dist: 0.2011, d2.loss_plan_l1_fix_time: 0.7377, d2.loss_plan_l1_fix_dist: 0.1860, d3.loss_plan_l1_fix_time: 0.7324, d3.loss_plan_l1_fix_dist: 0.1780, d4.loss_plan_l1_fix_time: 0.7363, d4.loss_plan_l1_fix_dist: 0.1825, d5.loss_plan_l1_fix_time: 0.7404, d5.loss_plan_l1_fix_dist: 0.1909, d6.loss_plan_l1_fix_time: 0.7450, d6.loss_plan_l1_fix_dist: 0.1802, d0.loss_cls_all: 0.1389, d0.loss_bbox_all: 0.3551, d0.loss_cls: 0.1389, d0.loss_bbox: 0.3551, d1.loss_cls: 0.1364, d1.loss_bbox: 0.3268, d2.loss_cls: 0.1211, d2.loss_bbox: 0.3035, d3.loss_cls: 0.1017, d3.loss_bbox: 0.2984, d4.loss_cls: 0.0960, d4.loss_bbox: 0.2927, d5.loss_cls: 0.0940, d5.loss_bbox: 0.2913, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7309, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5769, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5277, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5156, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5053, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5041, d0.loss_map_cls_all: 0.1774, d0.loss_map_pts_all: 1.0089, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1774, d0.loss_map_pts: 1.0089, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1440, d1.loss_map_pts: 0.7480, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1198, d2.loss_map_pts: 0.5944, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1092, d3.loss_map_pts: 0.5367, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1017, d4.loss_map_pts: 0.5149, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0967, d5.loss_map_pts: 0.5077, d5.loss_map_dir: 0.0060, loss: 22.5594, grad_norm: 133.1438 +2026-03-01 04:06:56,906 - DriveTransformer - INFO - Epoch [12][6650/39528] lr: 5.696e-05, eta: 4 days, 6:59:33, time: 0.753, data_time: 0.037, memory: 19865, loss_cls: 0.0842, loss_bbox: 0.2822, loss_traj: 0.4635, loss_traj_cls: 0.0020, loss_map_cls: 0.0924, loss_map_pts: 0.4820, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.7801, d0.loss_plan_l1_fix_dist: 0.4087, d1.loss_plan_l1_fix_time: 0.8162, d1.loss_plan_l1_fix_dist: 0.2041, d2.loss_plan_l1_fix_time: 0.8105, d2.loss_plan_l1_fix_dist: 0.1695, d3.loss_plan_l1_fix_time: 0.8117, d3.loss_plan_l1_fix_dist: 0.1673, d4.loss_plan_l1_fix_time: 0.8154, d4.loss_plan_l1_fix_dist: 0.1609, d5.loss_plan_l1_fix_time: 0.8188, d5.loss_plan_l1_fix_dist: 0.1735, d6.loss_plan_l1_fix_time: 0.8225, d6.loss_plan_l1_fix_dist: 0.1845, d0.loss_cls_all: 0.1324, d0.loss_bbox_all: 0.3521, d0.loss_cls: 0.1324, d0.loss_bbox: 0.3521, d1.loss_cls: 0.1252, d1.loss_bbox: 0.3184, d2.loss_cls: 0.1099, d2.loss_bbox: 0.2946, d3.loss_cls: 0.0915, d3.loss_bbox: 0.2888, d4.loss_cls: 0.0876, d4.loss_bbox: 0.2834, d5.loss_cls: 0.0839, d5.loss_bbox: 0.2823, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6549, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5226, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4831, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4686, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4653, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4625, d0.loss_map_cls_all: 0.1677, d0.loss_map_pts_all: 1.0261, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1677, d0.loss_map_pts: 1.0261, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1411, d1.loss_map_pts: 0.7281, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1168, d2.loss_map_pts: 0.5647, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1053, d3.loss_map_pts: 0.5066, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.0980, d4.loss_map_pts: 0.4876, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0933, d5.loss_map_pts: 0.4827, d5.loss_map_dir: 0.0065, loss: 22.3125, grad_norm: 134.8084 +2026-03-01 04:07:33,875 - DriveTransformer - INFO - Epoch [12][6700/39528] lr: 5.696e-05, eta: 4 days, 6:58:58, time: 0.739, data_time: 0.037, memory: 19865, loss_cls: 0.0932, loss_bbox: 0.2863, loss_traj: 0.3740, loss_traj_cls: 0.0021, loss_map_cls: 0.0948, loss_map_pts: 0.4949, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.5353, d0.loss_plan_l1_fix_dist: 0.4317, d1.loss_plan_l1_fix_time: 0.6467, d1.loss_plan_l1_fix_dist: 0.2057, d2.loss_plan_l1_fix_time: 0.6314, d2.loss_plan_l1_fix_dist: 0.1704, d3.loss_plan_l1_fix_time: 0.6238, d3.loss_plan_l1_fix_dist: 0.1688, d4.loss_plan_l1_fix_time: 0.6262, d4.loss_plan_l1_fix_dist: 0.1659, d5.loss_plan_l1_fix_time: 0.6293, d5.loss_plan_l1_fix_dist: 0.1841, d6.loss_plan_l1_fix_time: 0.6330, d6.loss_plan_l1_fix_dist: 0.2036, d0.loss_cls_all: 0.1407, d0.loss_bbox_all: 0.3449, d0.loss_cls: 0.1407, d0.loss_bbox: 0.3449, d1.loss_cls: 0.1358, d1.loss_bbox: 0.3132, d2.loss_cls: 0.1202, d2.loss_bbox: 0.2938, d3.loss_cls: 0.1017, d3.loss_bbox: 0.2862, d4.loss_cls: 0.0949, d4.loss_bbox: 0.2854, d5.loss_cls: 0.0929, d5.loss_bbox: 0.2861, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5482, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4268, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3879, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3782, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3733, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3729, d0.loss_map_cls_all: 0.1710, d0.loss_map_pts_all: 1.0282, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1710, d0.loss_map_pts: 1.0282, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1411, d1.loss_map_pts: 0.7347, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1178, d2.loss_map_pts: 0.5806, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1066, d3.loss_map_pts: 0.5248, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1010, d4.loss_map_pts: 0.5004, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0971, d5.loss_map_pts: 0.4953, d5.loss_map_dir: 0.0064, loss: 20.5246, grad_norm: 134.5536 +2026-03-01 04:08:09,470 - DriveTransformer - INFO - Epoch [12][6750/39528] lr: 5.696e-05, eta: 4 days, 6:58:19, time: 0.712, data_time: 0.037, memory: 19865, loss_cls: 0.0763, loss_bbox: 0.2566, loss_traj: 0.4733, loss_traj_cls: 0.0021, loss_map_cls: 0.0704, loss_map_pts: 0.4502, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.2745, d0.loss_plan_l1_fix_dist: 0.4466, d1.loss_plan_l1_fix_time: 0.6189, d1.loss_plan_l1_fix_dist: 0.2037, d2.loss_plan_l1_fix_time: 0.6063, d2.loss_plan_l1_fix_dist: 0.1716, d3.loss_plan_l1_fix_time: 0.6007, d3.loss_plan_l1_fix_dist: 0.1559, d4.loss_plan_l1_fix_time: 0.6029, d4.loss_plan_l1_fix_dist: 0.1567, d5.loss_plan_l1_fix_time: 0.6050, d5.loss_plan_l1_fix_dist: 0.1627, d6.loss_plan_l1_fix_time: 0.6073, d6.loss_plan_l1_fix_dist: 0.1740, d0.loss_cls_all: 0.1171, d0.loss_bbox_all: 0.3196, d0.loss_cls: 0.1171, d0.loss_bbox: 0.3196, d1.loss_cls: 0.1107, d1.loss_bbox: 0.2878, d2.loss_cls: 0.1013, d2.loss_bbox: 0.2663, d3.loss_cls: 0.0854, d3.loss_bbox: 0.2593, d4.loss_cls: 0.0789, d4.loss_bbox: 0.2577, d5.loss_cls: 0.0770, d5.loss_bbox: 0.2569, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7229, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5610, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5027, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4850, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4773, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4743, d0.loss_map_cls_all: 0.1506, d0.loss_map_pts_all: 0.9698, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1506, d0.loss_map_pts: 0.9698, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1181, d1.loss_map_pts: 0.6926, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.0937, d2.loss_map_pts: 0.5404, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0836, d3.loss_map_pts: 0.4781, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0767, d4.loss_map_pts: 0.4564, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0718, d5.loss_map_pts: 0.4516, d5.loss_map_dir: 0.0059, loss: 19.9492, grad_norm: 134.9240 +2026-03-01 04:08:47,520 - DriveTransformer - INFO - Epoch [12][6800/39528] lr: 5.696e-05, eta: 4 days, 6:57:46, time: 0.761, data_time: 0.037, memory: 19865, loss_cls: 0.0892, loss_bbox: 0.2692, loss_traj: 0.3393, loss_traj_cls: 0.0021, loss_map_cls: 0.0937, loss_map_pts: 0.5460, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.4505, d0.loss_plan_l1_fix_dist: 0.4164, d1.loss_plan_l1_fix_time: 0.7102, d1.loss_plan_l1_fix_dist: 0.2126, d2.loss_plan_l1_fix_time: 0.6898, d2.loss_plan_l1_fix_dist: 0.1821, d3.loss_plan_l1_fix_time: 0.6810, d3.loss_plan_l1_fix_dist: 0.1674, d4.loss_plan_l1_fix_time: 0.6813, d4.loss_plan_l1_fix_dist: 0.1659, d5.loss_plan_l1_fix_time: 0.6823, d5.loss_plan_l1_fix_dist: 0.1688, d6.loss_plan_l1_fix_time: 0.6838, d6.loss_plan_l1_fix_dist: 0.1816, d0.loss_cls_all: 0.1298, d0.loss_bbox_all: 0.3383, d0.loss_cls: 0.1298, d0.loss_bbox: 0.3383, d1.loss_cls: 0.1204, d1.loss_bbox: 0.3052, d2.loss_cls: 0.1064, d2.loss_bbox: 0.2844, d3.loss_cls: 0.0938, d3.loss_bbox: 0.2761, d4.loss_cls: 0.0913, d4.loss_bbox: 0.2714, d5.loss_cls: 0.0899, d5.loss_bbox: 0.2701, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5616, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.4271, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3725, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3511, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3485, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3417, d0.loss_map_cls_all: 0.1724, d0.loss_map_pts_all: 1.1110, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1724, d0.loss_map_pts: 1.1110, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1423, d1.loss_map_pts: 0.8204, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1197, d2.loss_map_pts: 0.6433, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1083, d3.loss_map_pts: 0.5785, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1004, d4.loss_map_pts: 0.5503, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0963, d5.loss_map_pts: 0.5456, d5.loss_map_dir: 0.0067, loss: 20.9917, grad_norm: 135.6907 +2026-03-01 04:09:24,384 - DriveTransformer - INFO - Epoch [12][6850/39528] lr: 5.696e-05, eta: 4 days, 6:57:10, time: 0.737, data_time: 0.037, memory: 19865, loss_cls: 0.0814, loss_bbox: 0.2758, loss_traj: 0.4527, loss_traj_cls: 0.0021, loss_map_cls: 0.0978, loss_map_pts: 0.4887, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.6806, d0.loss_plan_l1_fix_dist: 0.4264, d1.loss_plan_l1_fix_time: 0.7415, d1.loss_plan_l1_fix_dist: 0.2136, d2.loss_plan_l1_fix_time: 0.7199, d2.loss_plan_l1_fix_dist: 0.1863, d3.loss_plan_l1_fix_time: 0.7179, d3.loss_plan_l1_fix_dist: 0.1748, d4.loss_plan_l1_fix_time: 0.7199, d4.loss_plan_l1_fix_dist: 0.1772, d5.loss_plan_l1_fix_time: 0.7222, d5.loss_plan_l1_fix_dist: 0.1836, d6.loss_plan_l1_fix_time: 0.7250, d6.loss_plan_l1_fix_dist: 0.1867, d0.loss_cls_all: 0.1290, d0.loss_bbox_all: 0.3419, d0.loss_cls: 0.1290, d0.loss_bbox: 0.3419, d1.loss_cls: 0.1222, d1.loss_bbox: 0.3067, d2.loss_cls: 0.1090, d2.loss_bbox: 0.2857, d3.loss_cls: 0.0894, d3.loss_bbox: 0.2802, d4.loss_cls: 0.0841, d4.loss_bbox: 0.2772, d5.loss_cls: 0.0808, d5.loss_bbox: 0.2772, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7048, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5307, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4788, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4604, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4554, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4530, d0.loss_map_cls_all: 0.1894, d0.loss_map_pts_all: 1.0341, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1894, d0.loss_map_pts: 1.0341, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1538, d1.loss_map_pts: 0.7449, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1262, d2.loss_map_pts: 0.5865, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1123, d3.loss_map_pts: 0.5243, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1046, d4.loss_map_pts: 0.5008, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0995, d5.loss_map_pts: 0.4889, d5.loss_map_dir: 0.0057, loss: 21.8515, grad_norm: 140.0038 +2026-03-01 04:10:00,469 - DriveTransformer - INFO - Epoch [12][6900/39528] lr: 5.696e-05, eta: 4 days, 6:56:32, time: 0.722, data_time: 0.036, memory: 19865, loss_cls: 0.0950, loss_bbox: 0.2781, loss_traj: 0.4849, loss_traj_cls: 0.0020, loss_map_cls: 0.1011, loss_map_pts: 0.5124, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.6301, d0.loss_plan_l1_fix_dist: 0.4191, d1.loss_plan_l1_fix_time: 0.7770, d1.loss_plan_l1_fix_dist: 0.2007, d2.loss_plan_l1_fix_time: 0.7599, d2.loss_plan_l1_fix_dist: 0.1772, d3.loss_plan_l1_fix_time: 0.7580, d3.loss_plan_l1_fix_dist: 0.1549, d4.loss_plan_l1_fix_time: 0.7605, d4.loss_plan_l1_fix_dist: 0.1624, d5.loss_plan_l1_fix_time: 0.7633, d5.loss_plan_l1_fix_dist: 0.1692, d6.loss_plan_l1_fix_time: 0.7665, d6.loss_plan_l1_fix_dist: 0.1764, d0.loss_cls_all: 0.1349, d0.loss_bbox_all: 0.3437, d0.loss_cls: 0.1349, d0.loss_bbox: 0.3437, d1.loss_cls: 0.1310, d1.loss_bbox: 0.3098, d2.loss_cls: 0.1222, d2.loss_bbox: 0.2875, d3.loss_cls: 0.1018, d3.loss_bbox: 0.2819, d4.loss_cls: 0.0968, d4.loss_bbox: 0.2779, d5.loss_cls: 0.0948, d5.loss_bbox: 0.2781, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7764, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5786, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5326, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5156, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4936, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4878, d0.loss_map_cls_all: 0.2062, d0.loss_map_pts_all: 1.0962, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.2062, d0.loss_map_pts: 1.0962, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1662, d1.loss_map_pts: 0.7962, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1376, d2.loss_map_pts: 0.6279, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1220, d3.loss_map_pts: 0.5491, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.1122, d4.loss_map_pts: 0.5197, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.1040, d5.loss_map_pts: 0.5123, d5.loss_map_dir: 0.0054, loss: 22.7719, grad_norm: 138.5176 +2026-03-01 04:10:36,798 - DriveTransformer - INFO - Epoch [12][6950/39528] lr: 5.696e-05, eta: 4 days, 6:55:55, time: 0.727, data_time: 0.038, memory: 19865, loss_cls: 0.0951, loss_bbox: 0.2771, loss_traj: 0.4486, loss_traj_cls: 0.0021, loss_map_cls: 0.0882, loss_map_pts: 0.4985, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.7187, d0.loss_plan_l1_fix_dist: 0.4268, d1.loss_plan_l1_fix_time: 0.6001, d1.loss_plan_l1_fix_dist: 0.1963, d2.loss_plan_l1_fix_time: 0.5830, d2.loss_plan_l1_fix_dist: 0.1823, d3.loss_plan_l1_fix_time: 0.5824, d3.loss_plan_l1_fix_dist: 0.1500, d4.loss_plan_l1_fix_time: 0.5848, d4.loss_plan_l1_fix_dist: 0.1641, d5.loss_plan_l1_fix_time: 0.5875, d5.loss_plan_l1_fix_dist: 0.1667, d6.loss_plan_l1_fix_time: 0.5898, d6.loss_plan_l1_fix_dist: 0.1789, d0.loss_cls_all: 0.1373, d0.loss_bbox_all: 0.3344, d0.loss_cls: 0.1373, d0.loss_bbox: 0.3344, d1.loss_cls: 0.1267, d1.loss_bbox: 0.3058, d2.loss_cls: 0.1159, d2.loss_bbox: 0.2852, d3.loss_cls: 0.1012, d3.loss_bbox: 0.2785, d4.loss_cls: 0.0949, d4.loss_bbox: 0.2770, d5.loss_cls: 0.0946, d5.loss_bbox: 0.2768, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6437, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5114, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4694, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4560, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4511, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4505, d0.loss_map_cls_all: 0.1734, d0.loss_map_pts_all: 1.0603, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1734, d0.loss_map_pts: 1.0603, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1369, d1.loss_map_pts: 0.7512, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1136, d2.loss_map_pts: 0.5827, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1010, d3.loss_map_pts: 0.5269, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.0949, d4.loss_map_pts: 0.5057, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0907, d5.loss_map_pts: 0.4980, d5.loss_map_dir: 0.0068, loss: 20.9314, grad_norm: 139.8619 +2026-03-01 04:11:13,623 - DriveTransformer - INFO - Epoch [12][7000/39528] lr: 5.696e-05, eta: 4 days, 6:55:19, time: 0.736, data_time: 0.036, memory: 19865, loss_cls: 0.0759, loss_bbox: 0.2634, loss_traj: 0.3661, loss_traj_cls: 0.0021, loss_map_cls: 0.0887, loss_map_pts: 0.4582, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.4773, d0.loss_plan_l1_fix_dist: 0.5757, d1.loss_plan_l1_fix_time: 0.6705, d1.loss_plan_l1_fix_dist: 0.2015, d2.loss_plan_l1_fix_time: 0.6583, d2.loss_plan_l1_fix_dist: 0.2092, d3.loss_plan_l1_fix_time: 0.6521, d3.loss_plan_l1_fix_dist: 0.1832, d4.loss_plan_l1_fix_time: 0.6550, d4.loss_plan_l1_fix_dist: 0.1979, d5.loss_plan_l1_fix_time: 0.6586, d5.loss_plan_l1_fix_dist: 0.2007, d6.loss_plan_l1_fix_time: 0.6615, d6.loss_plan_l1_fix_dist: 0.2021, d0.loss_cls_all: 0.1243, d0.loss_bbox_all: 0.3337, d0.loss_cls: 0.1243, d0.loss_bbox: 0.3337, d1.loss_cls: 0.1141, d1.loss_bbox: 0.3007, d2.loss_cls: 0.1016, d2.loss_bbox: 0.2761, d3.loss_cls: 0.0826, d3.loss_bbox: 0.2706, d4.loss_cls: 0.0780, d4.loss_bbox: 0.2659, d5.loss_cls: 0.0762, d5.loss_bbox: 0.2641, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5136, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4115, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3692, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3679, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3642, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3643, d0.loss_map_cls_all: 0.1544, d0.loss_map_pts_all: 1.0041, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1544, d0.loss_map_pts: 1.0041, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1266, d1.loss_map_pts: 0.7143, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1122, d2.loss_map_pts: 0.5459, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1013, d3.loss_map_pts: 0.4854, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0957, d4.loss_map_pts: 0.4607, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0904, d5.loss_map_pts: 0.4576, d5.loss_map_dir: 0.0060, loss: 20.1557, grad_norm: 143.9377 +2026-03-01 04:11:49,827 - DriveTransformer - INFO - Epoch [12][7050/39528] lr: 5.696e-05, eta: 4 days, 6:54:42, time: 0.724, data_time: 0.038, memory: 19865, loss_cls: 0.0853, loss_bbox: 0.2537, loss_traj: 0.4638, loss_traj_cls: 0.0021, loss_map_cls: 0.0902, loss_map_pts: 0.4517, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.6394, d0.loss_plan_l1_fix_dist: 0.4476, d1.loss_plan_l1_fix_time: 0.6551, d1.loss_plan_l1_fix_dist: 0.1764, d2.loss_plan_l1_fix_time: 0.6414, d2.loss_plan_l1_fix_dist: 0.1974, d3.loss_plan_l1_fix_time: 0.6371, d3.loss_plan_l1_fix_dist: 0.1617, d4.loss_plan_l1_fix_time: 0.6403, d4.loss_plan_l1_fix_dist: 0.1658, d5.loss_plan_l1_fix_time: 0.6435, d5.loss_plan_l1_fix_dist: 0.1691, d6.loss_plan_l1_fix_time: 0.6463, d6.loss_plan_l1_fix_dist: 0.1630, d0.loss_cls_all: 0.1267, d0.loss_bbox_all: 0.3247, d0.loss_cls: 0.1267, d0.loss_bbox: 0.3247, d1.loss_cls: 0.1212, d1.loss_bbox: 0.2888, d2.loss_cls: 0.1062, d2.loss_bbox: 0.2696, d3.loss_cls: 0.0914, d3.loss_bbox: 0.2590, d4.loss_cls: 0.0872, d4.loss_bbox: 0.2563, d5.loss_cls: 0.0853, d5.loss_bbox: 0.2547, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7540, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5458, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4944, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4760, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4709, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4651, d0.loss_map_cls_all: 0.1733, d0.loss_map_pts_all: 0.9648, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1733, d0.loss_map_pts: 0.9648, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1419, d1.loss_map_pts: 0.6913, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1151, d2.loss_map_pts: 0.5507, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1054, d3.loss_map_pts: 0.4826, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0980, d4.loss_map_pts: 0.4577, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0922, d5.loss_map_pts: 0.4527, d5.loss_map_dir: 0.0056, loss: 20.7732, grad_norm: 145.5015 +2026-03-01 04:12:26,484 - DriveTransformer - INFO - Epoch [12][7100/39528] lr: 5.696e-05, eta: 4 days, 6:54:06, time: 0.733, data_time: 0.038, memory: 19865, loss_cls: 0.0894, loss_bbox: 0.2801, loss_traj: 0.4646, loss_traj_cls: 0.0021, loss_map_cls: 0.1171, loss_map_pts: 0.5561, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.6348, d0.loss_plan_l1_fix_dist: 0.3842, d1.loss_plan_l1_fix_time: 0.7101, d1.loss_plan_l1_fix_dist: 0.1746, d2.loss_plan_l1_fix_time: 0.6996, d2.loss_plan_l1_fix_dist: 0.1835, d3.loss_plan_l1_fix_time: 0.7005, d3.loss_plan_l1_fix_dist: 0.1522, d4.loss_plan_l1_fix_time: 0.7019, d4.loss_plan_l1_fix_dist: 0.1535, d5.loss_plan_l1_fix_time: 0.7038, d5.loss_plan_l1_fix_dist: 0.1551, d6.loss_plan_l1_fix_time: 0.7064, d6.loss_plan_l1_fix_dist: 0.1635, d0.loss_cls_all: 0.1342, d0.loss_bbox_all: 0.3440, d0.loss_cls: 0.1342, d0.loss_bbox: 0.3440, d1.loss_cls: 0.1290, d1.loss_bbox: 0.3094, d2.loss_cls: 0.1166, d2.loss_bbox: 0.2888, d3.loss_cls: 0.0950, d3.loss_bbox: 0.2852, d4.loss_cls: 0.0915, d4.loss_bbox: 0.2813, d5.loss_cls: 0.0891, d5.loss_bbox: 0.2798, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7219, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5460, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4980, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4753, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4698, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4656, d0.loss_map_cls_all: 0.2000, d0.loss_map_pts_all: 1.1063, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2000, d0.loss_map_pts: 1.1063, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1687, d1.loss_map_pts: 0.8219, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1441, d2.loss_map_pts: 0.6561, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1327, d3.loss_map_pts: 0.5901, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1253, d4.loss_map_pts: 0.5639, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1196, d5.loss_map_pts: 0.5564, d5.loss_map_dir: 0.0062, loss: 22.3780, grad_norm: 146.2959 +2026-03-01 04:13:02,574 - DriveTransformer - INFO - Epoch [12][7150/39528] lr: 5.696e-05, eta: 4 days, 6:53:28, time: 0.722, data_time: 0.037, memory: 19865, loss_cls: 0.0823, loss_bbox: 0.2653, loss_traj: 0.4667, loss_traj_cls: 0.0021, loss_map_cls: 0.0927, loss_map_pts: 0.4664, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.8418, d0.loss_plan_l1_fix_dist: 0.3392, d1.loss_plan_l1_fix_time: 0.6960, d1.loss_plan_l1_fix_dist: 0.1800, d2.loss_plan_l1_fix_time: 0.6706, d2.loss_plan_l1_fix_dist: 0.1807, d3.loss_plan_l1_fix_time: 0.6590, d3.loss_plan_l1_fix_dist: 0.1594, d4.loss_plan_l1_fix_time: 0.6602, d4.loss_plan_l1_fix_dist: 0.1544, d5.loss_plan_l1_fix_time: 0.6622, d5.loss_plan_l1_fix_dist: 0.1558, d6.loss_plan_l1_fix_time: 0.6648, d6.loss_plan_l1_fix_dist: 0.1735, d0.loss_cls_all: 0.1348, d0.loss_bbox_all: 0.3327, d0.loss_cls: 0.1348, d0.loss_bbox: 0.3327, d1.loss_cls: 0.1217, d1.loss_bbox: 0.2998, d2.loss_cls: 0.1100, d2.loss_bbox: 0.2770, d3.loss_cls: 0.0913, d3.loss_bbox: 0.2712, d4.loss_cls: 0.0846, d4.loss_bbox: 0.2671, d5.loss_cls: 0.0825, d5.loss_bbox: 0.2669, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6735, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5408, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4915, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4732, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4677, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4669, d0.loss_map_cls_all: 0.1773, d0.loss_map_pts_all: 0.9664, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1773, d0.loss_map_pts: 0.9664, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1445, d1.loss_map_pts: 0.7036, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1172, d2.loss_map_pts: 0.5452, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1068, d3.loss_map_pts: 0.4919, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1000, d4.loss_map_pts: 0.4732, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0946, d5.loss_map_pts: 0.4661, d5.loss_map_dir: 0.0056, loss: 21.0741, grad_norm: 142.3062 +2026-03-01 04:13:41,926 - DriveTransformer - INFO - Epoch [12][7200/39528] lr: 5.696e-05, eta: 4 days, 6:52:58, time: 0.787, data_time: 0.038, memory: 19865, loss_cls: 0.0854, loss_bbox: 0.2831, loss_traj: 0.4157, loss_traj_cls: 0.0022, loss_map_cls: 0.1002, loss_map_pts: 0.5602, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.2479, d0.loss_plan_l1_fix_dist: 0.3988, d1.loss_plan_l1_fix_time: 0.6453, d1.loss_plan_l1_fix_dist: 0.2162, d2.loss_plan_l1_fix_time: 0.6266, d2.loss_plan_l1_fix_dist: 0.2093, d3.loss_plan_l1_fix_time: 0.6263, d3.loss_plan_l1_fix_dist: 0.2005, d4.loss_plan_l1_fix_time: 0.6278, d4.loss_plan_l1_fix_dist: 0.1793, d5.loss_plan_l1_fix_time: 0.6300, d5.loss_plan_l1_fix_dist: 0.1866, d6.loss_plan_l1_fix_time: 0.6329, d6.loss_plan_l1_fix_dist: 0.1925, d0.loss_cls_all: 0.1369, d0.loss_bbox_all: 0.3505, d0.loss_cls: 0.1369, d0.loss_bbox: 0.3505, d1.loss_cls: 0.1299, d1.loss_bbox: 0.3144, d2.loss_cls: 0.1136, d2.loss_bbox: 0.2913, d3.loss_cls: 0.0944, d3.loss_bbox: 0.2866, d4.loss_cls: 0.0876, d4.loss_bbox: 0.2851, d5.loss_cls: 0.0852, d5.loss_bbox: 0.2843, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6615, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4995, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4366, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4215, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4194, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4161, d0.loss_map_cls_all: 0.1870, d0.loss_map_pts_all: 1.1879, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1870, d0.loss_map_pts: 1.1879, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1522, d1.loss_map_pts: 0.8657, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1310, d2.loss_map_pts: 0.6725, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1168, d3.loss_map_pts: 0.5991, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1087, d4.loss_map_pts: 0.5691, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1034, d5.loss_map_pts: 0.5606, d5.loss_map_dir: 0.0071, loss: 21.5601, grad_norm: 141.0793 +2026-03-01 04:14:20,104 - DriveTransformer - INFO - Epoch [12][7250/39528] lr: 5.696e-05, eta: 4 days, 6:52:26, time: 0.764, data_time: 0.037, memory: 19865, loss_cls: 0.0755, loss_bbox: 0.2627, loss_traj: 0.4556, loss_traj_cls: 0.0021, loss_map_cls: 0.0795, loss_map_pts: 0.4835, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.5365, d0.loss_plan_l1_fix_dist: 0.4524, d1.loss_plan_l1_fix_time: 0.7239, d1.loss_plan_l1_fix_dist: 0.1931, d2.loss_plan_l1_fix_time: 0.7102, d2.loss_plan_l1_fix_dist: 0.1894, d3.loss_plan_l1_fix_time: 0.7130, d3.loss_plan_l1_fix_dist: 0.1848, d4.loss_plan_l1_fix_time: 0.7144, d4.loss_plan_l1_fix_dist: 0.1608, d5.loss_plan_l1_fix_time: 0.7161, d5.loss_plan_l1_fix_dist: 0.1745, d6.loss_plan_l1_fix_time: 0.7185, d6.loss_plan_l1_fix_dist: 0.1719, d0.loss_cls_all: 0.1173, d0.loss_bbox_all: 0.3202, d0.loss_cls: 0.1173, d0.loss_bbox: 0.3202, d1.loss_cls: 0.1109, d1.loss_bbox: 0.2908, d2.loss_cls: 0.0984, d2.loss_bbox: 0.2725, d3.loss_cls: 0.0820, d3.loss_bbox: 0.2657, d4.loss_cls: 0.0774, d4.loss_bbox: 0.2633, d5.loss_cls: 0.0751, d5.loss_bbox: 0.2628, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6944, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5381, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4953, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4629, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4574, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4556, d0.loss_map_cls_all: 0.1724, d0.loss_map_pts_all: 1.0136, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1724, d0.loss_map_pts: 1.0136, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1318, d1.loss_map_pts: 0.7343, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1071, d2.loss_map_pts: 0.5672, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.0947, d3.loss_map_pts: 0.5119, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.0880, d4.loss_map_pts: 0.4910, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0824, d5.loss_map_pts: 0.4841, d5.loss_map_dir: 0.0066, loss: 21.2186, grad_norm: 140.7647 +2026-03-01 04:14:55,227 - DriveTransformer - INFO - Epoch [12][7300/39528] lr: 5.696e-05, eta: 4 days, 6:51:46, time: 0.702, data_time: 0.036, memory: 19865, loss_cls: 0.0823, loss_bbox: 0.2639, loss_traj: 0.4660, loss_traj_cls: 0.0020, loss_map_cls: 0.0848, loss_map_pts: 0.4440, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.6814, d0.loss_plan_l1_fix_dist: 0.4348, d1.loss_plan_l1_fix_time: 0.6952, d1.loss_plan_l1_fix_dist: 0.1975, d2.loss_plan_l1_fix_time: 0.6836, d2.loss_plan_l1_fix_dist: 0.1917, d3.loss_plan_l1_fix_time: 0.6832, d3.loss_plan_l1_fix_dist: 0.1920, d4.loss_plan_l1_fix_time: 0.6847, d4.loss_plan_l1_fix_dist: 0.1706, d5.loss_plan_l1_fix_time: 0.6865, d5.loss_plan_l1_fix_dist: 0.1807, d6.loss_plan_l1_fix_time: 0.6888, d6.loss_plan_l1_fix_dist: 0.1780, d0.loss_cls_all: 0.1226, d0.loss_bbox_all: 0.3318, d0.loss_cls: 0.1226, d0.loss_bbox: 0.3318, d1.loss_cls: 0.1166, d1.loss_bbox: 0.2975, d2.loss_cls: 0.1059, d2.loss_bbox: 0.2767, d3.loss_cls: 0.0875, d3.loss_bbox: 0.2698, d4.loss_cls: 0.0839, d4.loss_bbox: 0.2653, d5.loss_cls: 0.0819, d5.loss_bbox: 0.2648, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7057, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5378, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4931, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4752, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4695, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4637, d0.loss_map_cls_all: 0.1768, d0.loss_map_pts_all: 0.9437, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1768, d0.loss_map_pts: 0.9437, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1394, d1.loss_map_pts: 0.6671, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1123, d2.loss_map_pts: 0.5272, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1002, d3.loss_map_pts: 0.4736, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0940, d4.loss_map_pts: 0.4515, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0881, d5.loss_map_pts: 0.4433, d5.loss_map_dir: 0.0052, loss: 20.9815, grad_norm: 142.6914 +2026-03-01 04:15:31,869 - DriveTransformer - INFO - Epoch [12][7350/39528] lr: 5.696e-05, eta: 4 days, 6:51:09, time: 0.733, data_time: 0.037, memory: 19865, loss_cls: 0.0810, loss_bbox: 0.2704, loss_traj: 0.4719, loss_traj_cls: 0.0020, loss_map_cls: 0.0896, loss_map_pts: 0.5041, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.4255, d0.loss_plan_l1_fix_dist: 0.4704, d1.loss_plan_l1_fix_time: 0.7030, d1.loss_plan_l1_fix_dist: 0.2011, d2.loss_plan_l1_fix_time: 0.6970, d2.loss_plan_l1_fix_dist: 0.1937, d3.loss_plan_l1_fix_time: 0.6860, d3.loss_plan_l1_fix_dist: 0.1921, d4.loss_plan_l1_fix_time: 0.6885, d4.loss_plan_l1_fix_dist: 0.1834, d5.loss_plan_l1_fix_time: 0.6916, d5.loss_plan_l1_fix_dist: 0.1814, d6.loss_plan_l1_fix_time: 0.6949, d6.loss_plan_l1_fix_dist: 0.1786, d0.loss_cls_all: 0.1204, d0.loss_bbox_all: 0.3398, d0.loss_cls: 0.1204, d0.loss_bbox: 0.3398, d1.loss_cls: 0.1164, d1.loss_bbox: 0.3052, d2.loss_cls: 0.1063, d2.loss_bbox: 0.2796, d3.loss_cls: 0.0892, d3.loss_bbox: 0.2738, d4.loss_cls: 0.0830, d4.loss_bbox: 0.2705, d5.loss_cls: 0.0809, d5.loss_bbox: 0.2701, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7383, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5506, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5013, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4817, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4723, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4731, d0.loss_map_cls_all: 0.1753, d0.loss_map_pts_all: 1.0423, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1753, d0.loss_map_pts: 1.0423, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1391, d1.loss_map_pts: 0.7673, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1150, d2.loss_map_pts: 0.5979, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1029, d3.loss_map_pts: 0.5358, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0970, d4.loss_map_pts: 0.5100, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0911, d5.loss_map_pts: 0.5044, d5.loss_map_dir: 0.0056, loss: 21.5666, grad_norm: 147.7359 +2026-03-01 04:16:09,067 - DriveTransformer - INFO - Epoch [12][7400/39528] lr: 5.696e-05, eta: 4 days, 6:50:35, time: 0.745, data_time: 0.035, memory: 19865, loss_cls: 0.0960, loss_bbox: 0.2823, loss_traj: 0.3732, loss_traj_cls: 0.0020, loss_map_cls: 0.1165, loss_map_pts: 0.5980, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.5843, d0.loss_plan_l1_fix_dist: 0.4384, d1.loss_plan_l1_fix_time: 0.7868, d1.loss_plan_l1_fix_dist: 0.1975, d2.loss_plan_l1_fix_time: 0.7751, d2.loss_plan_l1_fix_dist: 0.1891, d3.loss_plan_l1_fix_time: 0.7640, d3.loss_plan_l1_fix_dist: 0.1862, d4.loss_plan_l1_fix_time: 0.7662, d4.loss_plan_l1_fix_dist: 0.1864, d5.loss_plan_l1_fix_time: 0.7689, d5.loss_plan_l1_fix_dist: 0.1689, d6.loss_plan_l1_fix_time: 0.7712, d6.loss_plan_l1_fix_dist: 0.1727, d0.loss_cls_all: 0.1394, d0.loss_bbox_all: 0.3535, d0.loss_cls: 0.1394, d0.loss_bbox: 0.3535, d1.loss_cls: 0.1292, d1.loss_bbox: 0.3150, d2.loss_cls: 0.1197, d2.loss_bbox: 0.2890, d3.loss_cls: 0.1021, d3.loss_bbox: 0.2869, d4.loss_cls: 0.0965, d4.loss_bbox: 0.2847, d5.loss_cls: 0.0950, d5.loss_bbox: 0.2829, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5366, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4266, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3877, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3765, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3732, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3740, d0.loss_map_cls_all: 0.2008, d0.loss_map_pts_all: 1.2413, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.2008, d0.loss_map_pts: 1.2413, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1645, d1.loss_map_pts: 0.9031, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1418, d2.loss_map_pts: 0.7067, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1318, d3.loss_map_pts: 0.6355, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1240, d4.loss_map_pts: 0.6082, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1198, d5.loss_map_pts: 0.5990, d5.loss_map_dir: 0.0074, loss: 22.7670, grad_norm: 149.5468 +2026-03-01 04:16:45,496 - DriveTransformer - INFO - Epoch [12][7450/39528] lr: 5.696e-05, eta: 4 days, 6:49:58, time: 0.727, data_time: 0.035, memory: 19865, loss_cls: 0.0901, loss_bbox: 0.2670, loss_traj: 0.4629, loss_traj_cls: 0.0020, loss_map_cls: 0.1019, loss_map_pts: 0.5205, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.6154, d0.loss_plan_l1_fix_dist: 0.4006, d1.loss_plan_l1_fix_time: 0.7096, d1.loss_plan_l1_fix_dist: 0.1689, d2.loss_plan_l1_fix_time: 0.6941, d2.loss_plan_l1_fix_dist: 0.1666, d3.loss_plan_l1_fix_time: 0.6919, d3.loss_plan_l1_fix_dist: 0.1550, d4.loss_plan_l1_fix_time: 0.6922, d4.loss_plan_l1_fix_dist: 0.1652, d5.loss_plan_l1_fix_time: 0.6934, d5.loss_plan_l1_fix_dist: 0.1498, d6.loss_plan_l1_fix_time: 0.6952, d6.loss_plan_l1_fix_dist: 0.1597, d0.loss_cls_all: 0.1325, d0.loss_bbox_all: 0.3325, d0.loss_cls: 0.1325, d0.loss_bbox: 0.3325, d1.loss_cls: 0.1294, d1.loss_bbox: 0.2999, d2.loss_cls: 0.1174, d2.loss_bbox: 0.2780, d3.loss_cls: 0.0983, d3.loss_bbox: 0.2711, d4.loss_cls: 0.0914, d4.loss_bbox: 0.2695, d5.loss_cls: 0.0895, d5.loss_bbox: 0.2685, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7303, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5548, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4978, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4731, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4677, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4650, d0.loss_map_cls_all: 0.1884, d0.loss_map_pts_all: 1.0751, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1884, d0.loss_map_pts: 1.0751, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1540, d1.loss_map_pts: 0.7801, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1312, d2.loss_map_pts: 0.6076, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1171, d3.loss_map_pts: 0.5474, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1125, d4.loss_map_pts: 0.5277, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1046, d5.loss_map_pts: 0.5208, d5.loss_map_dir: 0.0058, loss: 21.8153, grad_norm: 149.2386 +2026-03-01 04:17:21,325 - DriveTransformer - INFO - Epoch [12][7500/39528] lr: 5.696e-05, eta: 4 days, 6:49:19, time: 0.717, data_time: 0.036, memory: 19865, loss_cls: 0.0821, loss_bbox: 0.2671, loss_traj: 0.4048, loss_traj_cls: 0.0021, loss_map_cls: 0.0953, loss_map_pts: 0.4860, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.6454, d0.loss_plan_l1_fix_dist: 0.3745, d1.loss_plan_l1_fix_time: 0.7138, d1.loss_plan_l1_fix_dist: 0.1691, d2.loss_plan_l1_fix_time: 0.6994, d2.loss_plan_l1_fix_dist: 0.1753, d3.loss_plan_l1_fix_time: 0.6965, d3.loss_plan_l1_fix_dist: 0.1525, d4.loss_plan_l1_fix_time: 0.6980, d4.loss_plan_l1_fix_dist: 0.1754, d5.loss_plan_l1_fix_time: 0.7004, d5.loss_plan_l1_fix_dist: 0.1722, d6.loss_plan_l1_fix_time: 0.7040, d6.loss_plan_l1_fix_dist: 0.1767, d0.loss_cls_all: 0.1240, d0.loss_bbox_all: 0.3295, d0.loss_cls: 0.1240, d0.loss_bbox: 0.3295, d1.loss_cls: 0.1219, d1.loss_bbox: 0.2950, d2.loss_cls: 0.1079, d2.loss_bbox: 0.2777, d3.loss_cls: 0.0900, d3.loss_bbox: 0.2697, d4.loss_cls: 0.0855, d4.loss_bbox: 0.2676, d5.loss_cls: 0.0824, d5.loss_bbox: 0.2674, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6974, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4997, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4300, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4076, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4045, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4034, d0.loss_map_cls_all: 0.1757, d0.loss_map_pts_all: 1.0155, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1757, d0.loss_map_pts: 1.0155, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1455, d1.loss_map_pts: 0.7197, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1217, d2.loss_map_pts: 0.5734, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1105, d3.loss_map_pts: 0.5119, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1027, d4.loss_map_pts: 0.4907, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0964, d5.loss_map_pts: 0.4862, d5.loss_map_dir: 0.0053, loss: 20.9948, grad_norm: 150.7948 +2026-03-01 04:17:57,039 - DriveTransformer - INFO - Epoch [12][7550/39528] lr: 5.696e-05, eta: 4 days, 6:48:41, time: 0.714, data_time: 0.037, memory: 19865, loss_cls: 0.0828, loss_bbox: 0.2697, loss_traj: 0.4578, loss_traj_cls: 0.0020, loss_map_cls: 0.1063, loss_map_pts: 0.4986, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.5101, d0.loss_plan_l1_fix_dist: 0.3374, d1.loss_plan_l1_fix_time: 0.7415, d1.loss_plan_l1_fix_dist: 0.1538, d2.loss_plan_l1_fix_time: 0.7306, d2.loss_plan_l1_fix_dist: 0.1561, d3.loss_plan_l1_fix_time: 0.7304, d3.loss_plan_l1_fix_dist: 0.1429, d4.loss_plan_l1_fix_time: 0.7328, d4.loss_plan_l1_fix_dist: 0.1643, d5.loss_plan_l1_fix_time: 0.7357, d5.loss_plan_l1_fix_dist: 0.1558, d6.loss_plan_l1_fix_time: 0.7392, d6.loss_plan_l1_fix_dist: 0.1617, d0.loss_cls_all: 0.1232, d0.loss_bbox_all: 0.3240, d0.loss_cls: 0.1232, d0.loss_bbox: 0.3240, d1.loss_cls: 0.1241, d1.loss_bbox: 0.2938, d2.loss_cls: 0.1119, d2.loss_bbox: 0.2750, d3.loss_cls: 0.0920, d3.loss_bbox: 0.2711, d4.loss_cls: 0.0851, d4.loss_bbox: 0.2700, d5.loss_cls: 0.0830, d5.loss_bbox: 0.2692, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6428, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5211, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4794, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4641, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4581, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4562, d0.loss_map_cls_all: 0.1978, d0.loss_map_pts_all: 1.0578, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1978, d0.loss_map_pts: 1.0578, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1637, d1.loss_map_pts: 0.7669, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1357, d2.loss_map_pts: 0.6064, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1209, d3.loss_map_pts: 0.5325, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1134, d4.loss_map_pts: 0.5098, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.1080, d5.loss_map_pts: 0.4998, d5.loss_map_dir: 0.0053, loss: 21.5167, grad_norm: 149.8836 +2026-03-01 04:18:32,622 - DriveTransformer - INFO - Epoch [12][7600/39528] lr: 5.696e-05, eta: 4 days, 6:48:02, time: 0.712, data_time: 0.037, memory: 19865, loss_cls: 0.0762, loss_bbox: 0.2723, loss_traj: 0.5257, loss_traj_cls: 0.0019, loss_map_cls: 0.0740, loss_map_pts: 0.4108, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.8163, d0.loss_plan_l1_fix_dist: 0.3544, d1.loss_plan_l1_fix_time: 0.6705, d1.loss_plan_l1_fix_dist: 0.1480, d2.loss_plan_l1_fix_time: 0.6555, d2.loss_plan_l1_fix_dist: 0.1488, d3.loss_plan_l1_fix_time: 0.6429, d3.loss_plan_l1_fix_dist: 0.1531, d4.loss_plan_l1_fix_time: 0.6451, d4.loss_plan_l1_fix_dist: 0.1622, d5.loss_plan_l1_fix_time: 0.6477, d5.loss_plan_l1_fix_dist: 0.1625, d6.loss_plan_l1_fix_time: 0.6501, d6.loss_plan_l1_fix_dist: 0.1833, d0.loss_cls_all: 0.1198, d0.loss_bbox_all: 0.3274, d0.loss_cls: 0.1198, d0.loss_bbox: 0.3274, d1.loss_cls: 0.1068, d1.loss_bbox: 0.3000, d2.loss_cls: 0.0991, d2.loss_bbox: 0.2810, d3.loss_cls: 0.0835, d3.loss_bbox: 0.2736, d4.loss_cls: 0.0787, d4.loss_bbox: 0.2718, d5.loss_cls: 0.0769, d5.loss_bbox: 0.2711, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7843, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5997, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5448, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5255, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5231, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5257, d0.loss_map_cls_all: 0.1502, d0.loss_map_pts_all: 0.8685, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1502, d0.loss_map_pts: 0.8685, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1179, d1.loss_map_pts: 0.6238, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.0958, d2.loss_map_pts: 0.4858, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0861, d3.loss_map_pts: 0.4335, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0818, d4.loss_map_pts: 0.4169, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0763, d5.loss_map_pts: 0.4110, d5.loss_map_dir: 0.0048, loss: 20.5511, grad_norm: 148.6888 +2026-03-01 04:19:09,077 - DriveTransformer - INFO - Epoch [12][7650/39528] lr: 5.696e-05, eta: 4 days, 6:47:25, time: 0.729, data_time: 0.037, memory: 19865, loss_cls: 0.0862, loss_bbox: 0.2794, loss_traj: 0.4482, loss_traj_cls: 0.0019, loss_map_cls: 0.0853, loss_map_pts: 0.4788, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.3994, d0.loss_plan_l1_fix_dist: 0.3726, d1.loss_plan_l1_fix_time: 0.7539, d1.loss_plan_l1_fix_dist: 0.1569, d2.loss_plan_l1_fix_time: 0.7428, d2.loss_plan_l1_fix_dist: 0.1594, d3.loss_plan_l1_fix_time: 0.7331, d3.loss_plan_l1_fix_dist: 0.1667, d4.loss_plan_l1_fix_time: 0.7352, d4.loss_plan_l1_fix_dist: 0.1568, d5.loss_plan_l1_fix_time: 0.7378, d5.loss_plan_l1_fix_dist: 0.1624, d6.loss_plan_l1_fix_time: 0.7404, d6.loss_plan_l1_fix_dist: 0.1897, d0.loss_cls_all: 0.1260, d0.loss_bbox_all: 0.3375, d0.loss_cls: 0.1260, d0.loss_bbox: 0.3375, d1.loss_cls: 0.1182, d1.loss_bbox: 0.3052, d2.loss_cls: 0.1077, d2.loss_bbox: 0.2851, d3.loss_cls: 0.0905, d3.loss_bbox: 0.2808, d4.loss_cls: 0.0875, d4.loss_bbox: 0.2784, d5.loss_cls: 0.0859, d5.loss_bbox: 0.2792, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6890, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5351, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4753, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4585, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4500, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4486, d0.loss_map_cls_all: 0.1638, d0.loss_map_pts_all: 1.0404, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1638, d0.loss_map_pts: 1.0404, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1306, d1.loss_map_pts: 0.7193, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1082, d2.loss_map_pts: 0.5636, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0995, d3.loss_map_pts: 0.5047, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0922, d4.loss_map_pts: 0.4841, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0878, d5.loss_map_pts: 0.4798, d5.loss_map_dir: 0.0055, loss: 21.2170, grad_norm: 149.6817 +2026-03-01 04:19:44,769 - DriveTransformer - INFO - Epoch [12][7700/39528] lr: 5.696e-05, eta: 4 days, 6:46:46, time: 0.714, data_time: 0.037, memory: 19865, loss_cls: 0.0732, loss_bbox: 0.2507, loss_traj: 0.4492, loss_traj_cls: 0.0019, loss_map_cls: 0.0831, loss_map_pts: 0.4508, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.5966, d0.loss_plan_l1_fix_dist: 0.3514, d1.loss_plan_l1_fix_time: 0.6694, d1.loss_plan_l1_fix_dist: 0.1380, d2.loss_plan_l1_fix_time: 0.6483, d2.loss_plan_l1_fix_dist: 0.1429, d3.loss_plan_l1_fix_time: 0.6483, d3.loss_plan_l1_fix_dist: 0.1574, d4.loss_plan_l1_fix_time: 0.6500, d4.loss_plan_l1_fix_dist: 0.1399, d5.loss_plan_l1_fix_time: 0.6521, d5.loss_plan_l1_fix_dist: 0.1333, d6.loss_plan_l1_fix_time: 0.6544, d6.loss_plan_l1_fix_dist: 0.1475, d0.loss_cls_all: 0.1148, d0.loss_bbox_all: 0.3066, d0.loss_cls: 0.1148, d0.loss_bbox: 0.3066, d1.loss_cls: 0.1095, d1.loss_bbox: 0.2771, d2.loss_cls: 0.0960, d2.loss_bbox: 0.2580, d3.loss_cls: 0.0794, d3.loss_bbox: 0.2538, d4.loss_cls: 0.0741, d4.loss_bbox: 0.2525, d5.loss_cls: 0.0732, d5.loss_bbox: 0.2508, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6735, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5241, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4776, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4622, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4513, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4493, d0.loss_map_cls_all: 0.1685, d0.loss_map_pts_all: 1.0057, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1685, d0.loss_map_pts: 1.0057, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1321, d1.loss_map_pts: 0.7185, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1099, d2.loss_map_pts: 0.5469, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0982, d3.loss_map_pts: 0.4784, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.0915, d4.loss_map_pts: 0.4585, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0852, d5.loss_map_pts: 0.4525, d5.loss_map_dir: 0.0047, loss: 20.2065, grad_norm: 151.1825 +2026-03-01 04:20:19,405 - DriveTransformer - INFO - Epoch [12][7750/39528] lr: 5.696e-05, eta: 4 days, 6:46:05, time: 0.693, data_time: 0.036, memory: 19865, loss_cls: 0.0972, loss_bbox: 0.2787, loss_traj: 0.4033, loss_traj_cls: 0.0019, loss_map_cls: 0.0947, loss_map_pts: 0.4462, loss_map_dir: 0.0047, d0.loss_plan_l1_fix_time: 2.6263, d0.loss_plan_l1_fix_dist: 0.3406, d1.loss_plan_l1_fix_time: 0.6927, d1.loss_plan_l1_fix_dist: 0.1487, d2.loss_plan_l1_fix_time: 0.6763, d2.loss_plan_l1_fix_dist: 0.1447, d3.loss_plan_l1_fix_time: 0.6772, d3.loss_plan_l1_fix_dist: 0.1740, d4.loss_plan_l1_fix_time: 0.6786, d4.loss_plan_l1_fix_dist: 0.1532, d5.loss_plan_l1_fix_time: 0.6801, d5.loss_plan_l1_fix_dist: 0.1481, d6.loss_plan_l1_fix_time: 0.6822, d6.loss_plan_l1_fix_dist: 0.1503, d0.loss_cls_all: 0.1435, d0.loss_bbox_all: 0.3422, d0.loss_cls: 0.1435, d0.loss_bbox: 0.3422, d1.loss_cls: 0.1368, d1.loss_bbox: 0.3097, d2.loss_cls: 0.1246, d2.loss_bbox: 0.2921, d3.loss_cls: 0.1020, d3.loss_bbox: 0.2842, d4.loss_cls: 0.0973, d4.loss_bbox: 0.2815, d5.loss_cls: 0.0959, d5.loss_bbox: 0.2802, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6245, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4617, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4235, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4132, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4069, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4050, d0.loss_map_cls_all: 0.1739, d0.loss_map_pts_all: 0.9420, d0.loss_map_dir_all: 0.0049, d0.loss_map_cls: 0.1739, d0.loss_map_pts: 0.9420, d0.loss_map_dir: 0.0049, d1.loss_map_cls: 0.1440, d1.loss_map_pts: 0.6743, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.1211, d2.loss_map_pts: 0.5354, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.1111, d3.loss_map_pts: 0.4748, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.1051, d4.loss_map_pts: 0.4538, d4.loss_map_dir: 0.0046, d5.loss_map_cls: 0.0986, d5.loss_map_pts: 0.4451, d5.loss_map_dir: 0.0047, loss: 20.4428, grad_norm: 150.7065 +2026-03-01 04:20:56,050 - DriveTransformer - INFO - Epoch [12][7800/39528] lr: 5.696e-05, eta: 4 days, 6:45:29, time: 0.733, data_time: 0.037, memory: 19865, loss_cls: 0.0862, loss_bbox: 0.2648, loss_traj: 0.4295, loss_traj_cls: 0.0018, loss_map_cls: 0.0950, loss_map_pts: 0.5339, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.6226, d0.loss_plan_l1_fix_dist: 0.3604, d1.loss_plan_l1_fix_time: 0.7742, d1.loss_plan_l1_fix_dist: 0.1746, d2.loss_plan_l1_fix_time: 0.7626, d2.loss_plan_l1_fix_dist: 0.1780, d3.loss_plan_l1_fix_time: 0.7628, d3.loss_plan_l1_fix_dist: 0.1859, d4.loss_plan_l1_fix_time: 0.7637, d4.loss_plan_l1_fix_dist: 0.1571, d5.loss_plan_l1_fix_time: 0.7653, d5.loss_plan_l1_fix_dist: 0.1667, d6.loss_plan_l1_fix_time: 0.7674, d6.loss_plan_l1_fix_dist: 0.1707, d0.loss_cls_all: 0.1279, d0.loss_bbox_all: 0.3247, d0.loss_cls: 0.1279, d0.loss_bbox: 0.3247, d1.loss_cls: 0.1277, d1.loss_bbox: 0.2934, d2.loss_cls: 0.1101, d2.loss_bbox: 0.2752, d3.loss_cls: 0.0934, d3.loss_bbox: 0.2676, d4.loss_cls: 0.0879, d4.loss_bbox: 0.2663, d5.loss_cls: 0.0863, d5.loss_bbox: 0.2657, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6490, d1.loss_traj_cls: 0.0017, d1.loss_traj: 0.5099, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4557, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4407, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4361, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4309, d0.loss_map_cls_all: 0.1884, d0.loss_map_pts_all: 1.1664, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1884, d0.loss_map_pts: 1.1664, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1518, d1.loss_map_pts: 0.8303, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1267, d2.loss_map_pts: 0.6399, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1128, d3.loss_map_pts: 0.5635, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1052, d4.loss_map_pts: 0.5374, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0977, d5.loss_map_pts: 0.5339, d5.loss_map_dir: 0.0060, loss: 22.1870, grad_norm: 149.9642 +2026-03-01 04:21:33,513 - DriveTransformer - INFO - Epoch [12][7850/39528] lr: 5.696e-05, eta: 4 days, 6:44:54, time: 0.749, data_time: 0.036, memory: 19865, loss_cls: 0.0794, loss_bbox: 0.2732, loss_traj: 0.4829, loss_traj_cls: 0.0019, loss_map_cls: 0.1131, loss_map_pts: 0.5487, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.8999, d0.loss_plan_l1_fix_dist: 0.3967, d1.loss_plan_l1_fix_time: 0.8047, d1.loss_plan_l1_fix_dist: 0.1609, d2.loss_plan_l1_fix_time: 0.7967, d2.loss_plan_l1_fix_dist: 0.1716, d3.loss_plan_l1_fix_time: 0.7915, d3.loss_plan_l1_fix_dist: 0.1795, d4.loss_plan_l1_fix_time: 0.7939, d4.loss_plan_l1_fix_dist: 0.1522, d5.loss_plan_l1_fix_time: 0.7978, d5.loss_plan_l1_fix_dist: 0.1599, d6.loss_plan_l1_fix_time: 0.8018, d6.loss_plan_l1_fix_dist: 0.1629, d0.loss_cls_all: 0.1249, d0.loss_bbox_all: 0.3308, d0.loss_cls: 0.1249, d0.loss_bbox: 0.3308, d1.loss_cls: 0.1180, d1.loss_bbox: 0.2983, d2.loss_cls: 0.1058, d2.loss_bbox: 0.2765, d3.loss_cls: 0.0873, d3.loss_bbox: 0.2727, d4.loss_cls: 0.0829, d4.loss_bbox: 0.2711, d5.loss_cls: 0.0801, d5.loss_bbox: 0.2727, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7485, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5494, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5020, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4856, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4810, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4823, d0.loss_map_cls_all: 0.2028, d0.loss_map_pts_all: 1.1804, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.2028, d0.loss_map_pts: 1.1804, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1681, d1.loss_map_pts: 0.8490, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1441, d2.loss_map_pts: 0.6607, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1310, d3.loss_map_pts: 0.5866, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1220, d4.loss_map_pts: 0.5587, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1167, d5.loss_map_pts: 0.5490, d5.loss_map_dir: 0.0059, loss: 23.2970, grad_norm: 148.1746 +2026-03-01 04:22:09,649 - DriveTransformer - INFO - Epoch [12][7900/39528] lr: 5.696e-05, eta: 4 days, 6:44:17, time: 0.723, data_time: 0.037, memory: 19865, loss_cls: 0.0955, loss_bbox: 0.2769, loss_traj: 0.4330, loss_traj_cls: 0.0019, loss_map_cls: 0.1003, loss_map_pts: 0.5328, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.8045, d0.loss_plan_l1_fix_dist: 0.3502, d1.loss_plan_l1_fix_time: 0.7120, d1.loss_plan_l1_fix_dist: 0.1479, d2.loss_plan_l1_fix_time: 0.7016, d2.loss_plan_l1_fix_dist: 0.1518, d3.loss_plan_l1_fix_time: 0.6974, d3.loss_plan_l1_fix_dist: 0.1656, d4.loss_plan_l1_fix_time: 0.7000, d4.loss_plan_l1_fix_dist: 0.1460, d5.loss_plan_l1_fix_time: 0.7031, d5.loss_plan_l1_fix_dist: 0.1504, d6.loss_plan_l1_fix_time: 0.7064, d6.loss_plan_l1_fix_dist: 0.1786, d0.loss_cls_all: 0.1445, d0.loss_bbox_all: 0.3412, d0.loss_cls: 0.1445, d0.loss_bbox: 0.3412, d1.loss_cls: 0.1329, d1.loss_bbox: 0.3093, d2.loss_cls: 0.1204, d2.loss_bbox: 0.2894, d3.loss_cls: 0.1028, d3.loss_bbox: 0.2817, d4.loss_cls: 0.0974, d4.loss_bbox: 0.2786, d5.loss_cls: 0.0954, d5.loss_bbox: 0.2779, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6976, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5214, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4649, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4463, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4362, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4329, d0.loss_map_cls_all: 0.1883, d0.loss_map_pts_all: 1.0615, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1883, d0.loss_map_pts: 1.0615, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1560, d1.loss_map_pts: 0.7885, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1291, d2.loss_map_pts: 0.6291, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1191, d3.loss_map_pts: 0.5634, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1110, d4.loss_map_pts: 0.5398, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.1043, d5.loss_map_pts: 0.5339, d5.loss_map_dir: 0.0054, loss: 21.9336, grad_norm: 145.4214 +2026-03-01 04:22:45,667 - DriveTransformer - INFO - Epoch [12][7950/39528] lr: 5.696e-05, eta: 4 days, 6:43:39, time: 0.721, data_time: 0.035, memory: 19865, loss_cls: 0.0759, loss_bbox: 0.2575, loss_traj: 0.4426, loss_traj_cls: 0.0019, loss_map_cls: 0.0925, loss_map_pts: 0.4642, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.6003, d0.loss_plan_l1_fix_dist: 0.4431, d1.loss_plan_l1_fix_time: 0.7055, d1.loss_plan_l1_fix_dist: 0.1318, d2.loss_plan_l1_fix_time: 0.6994, d2.loss_plan_l1_fix_dist: 0.1358, d3.loss_plan_l1_fix_time: 0.7001, d3.loss_plan_l1_fix_dist: 0.1473, d4.loss_plan_l1_fix_time: 0.7025, d4.loss_plan_l1_fix_dist: 0.1460, d5.loss_plan_l1_fix_time: 0.7045, d5.loss_plan_l1_fix_dist: 0.1412, d6.loss_plan_l1_fix_time: 0.7070, d6.loss_plan_l1_fix_dist: 0.1706, d0.loss_cls_all: 0.1209, d0.loss_bbox_all: 0.3132, d0.loss_cls: 0.1209, d0.loss_bbox: 0.3132, d1.loss_cls: 0.1139, d1.loss_bbox: 0.2863, d2.loss_cls: 0.1004, d2.loss_bbox: 0.2669, d3.loss_cls: 0.0844, d3.loss_bbox: 0.2619, d4.loss_cls: 0.0792, d4.loss_bbox: 0.2592, d5.loss_cls: 0.0770, d5.loss_bbox: 0.2571, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6815, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5346, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4719, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4486, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4416, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4437, d0.loss_map_cls_all: 0.1657, d0.loss_map_pts_all: 0.9598, d0.loss_map_dir_all: 0.0047, d0.loss_map_cls: 0.1657, d0.loss_map_pts: 0.9598, d0.loss_map_dir: 0.0047, d1.loss_map_cls: 0.1380, d1.loss_map_pts: 0.6929, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.1178, d2.loss_map_pts: 0.5508, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.1064, d3.loss_map_pts: 0.4917, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.0989, d4.loss_map_pts: 0.4693, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0944, d5.loss_map_pts: 0.4642, d5.loss_map_dir: 0.0048, loss: 20.6640, grad_norm: 146.7855 +2026-03-01 04:23:22,479 - DriveTransformer - INFO - Epoch [12][8000/39528] lr: 5.696e-05, eta: 4 days, 6:43:03, time: 0.736, data_time: 0.037, memory: 19865, loss_cls: 0.0952, loss_bbox: 0.3080, loss_traj: 0.4710, loss_traj_cls: 0.0019, loss_map_cls: 0.1023, loss_map_pts: 0.5220, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.8969, d0.loss_plan_l1_fix_dist: 0.4062, d1.loss_plan_l1_fix_time: 0.7656, d1.loss_plan_l1_fix_dist: 0.1597, d2.loss_plan_l1_fix_time: 0.7547, d2.loss_plan_l1_fix_dist: 0.1612, d3.loss_plan_l1_fix_time: 0.7491, d3.loss_plan_l1_fix_dist: 0.1658, d4.loss_plan_l1_fix_time: 0.7506, d4.loss_plan_l1_fix_dist: 0.1692, d5.loss_plan_l1_fix_time: 0.7527, d5.loss_plan_l1_fix_dist: 0.1694, d6.loss_plan_l1_fix_time: 0.7555, d6.loss_plan_l1_fix_dist: 0.1667, d0.loss_cls_all: 0.1488, d0.loss_bbox_all: 0.3770, d0.loss_cls: 0.1488, d0.loss_bbox: 0.3770, d1.loss_cls: 0.1408, d1.loss_bbox: 0.3407, d2.loss_cls: 0.1264, d2.loss_bbox: 0.3169, d3.loss_cls: 0.1027, d3.loss_bbox: 0.3123, d4.loss_cls: 0.0970, d4.loss_bbox: 0.3090, d5.loss_cls: 0.0954, d5.loss_bbox: 0.3078, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7400, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5720, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5059, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4847, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4759, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4715, d0.loss_map_cls_all: 0.1900, d0.loss_map_pts_all: 1.0290, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1900, d0.loss_map_pts: 1.0290, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1525, d1.loss_map_pts: 0.7750, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1290, d2.loss_map_pts: 0.6217, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1159, d3.loss_map_pts: 0.5562, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1110, d4.loss_map_pts: 0.5294, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1048, d5.loss_map_pts: 0.5228, d5.loss_map_dir: 0.0055, loss: 22.8799, grad_norm: 150.3572 +2026-03-01 04:23:58,944 - DriveTransformer - INFO - Epoch [12][8050/39528] lr: 5.696e-05, eta: 4 days, 6:42:26, time: 0.729, data_time: 0.036, memory: 19865, loss_cls: 0.0853, loss_bbox: 0.2639, loss_traj: 0.4078, loss_traj_cls: 0.0019, loss_map_cls: 0.0720, loss_map_pts: 0.4474, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.5527, d0.loss_plan_l1_fix_dist: 0.4425, d1.loss_plan_l1_fix_time: 0.6428, d1.loss_plan_l1_fix_dist: 0.1535, d2.loss_plan_l1_fix_time: 0.6335, d2.loss_plan_l1_fix_dist: 0.1538, d3.loss_plan_l1_fix_time: 0.6136, d3.loss_plan_l1_fix_dist: 0.1619, d4.loss_plan_l1_fix_time: 0.6152, d4.loss_plan_l1_fix_dist: 0.1671, d5.loss_plan_l1_fix_time: 0.6171, d5.loss_plan_l1_fix_dist: 0.1611, d6.loss_plan_l1_fix_time: 0.6197, d6.loss_plan_l1_fix_dist: 0.1583, d0.loss_cls_all: 0.1275, d0.loss_bbox_all: 0.3298, d0.loss_cls: 0.1275, d0.loss_bbox: 0.3298, d1.loss_cls: 0.1218, d1.loss_bbox: 0.2975, d2.loss_cls: 0.1129, d2.loss_bbox: 0.2755, d3.loss_cls: 0.0915, d3.loss_bbox: 0.2696, d4.loss_cls: 0.0850, d4.loss_bbox: 0.2670, d5.loss_cls: 0.0849, d5.loss_bbox: 0.2642, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6625, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5005, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4419, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4228, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4113, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4084, d0.loss_map_cls_all: 0.1493, d0.loss_map_pts_all: 0.9524, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1493, d0.loss_map_pts: 0.9524, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1203, d1.loss_map_pts: 0.6650, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.0965, d2.loss_map_pts: 0.5286, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.0842, d3.loss_map_pts: 0.4741, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0790, d4.loss_map_pts: 0.4533, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0740, d5.loss_map_pts: 0.4485, d5.loss_map_dir: 0.0061, loss: 19.8855, grad_norm: 144.4155 +2026-03-01 04:24:37,510 - DriveTransformer - INFO - Epoch [12][8100/39528] lr: 5.696e-05, eta: 4 days, 6:41:55, time: 0.771, data_time: 0.035, memory: 19865, loss_cls: 0.0755, loss_bbox: 0.2512, loss_traj: 0.3782, loss_traj_cls: 0.0020, loss_map_cls: 0.0916, loss_map_pts: 0.4674, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.3972, d0.loss_plan_l1_fix_dist: 0.3832, d1.loss_plan_l1_fix_time: 0.6496, d1.loss_plan_l1_fix_dist: 0.1650, d2.loss_plan_l1_fix_time: 0.6439, d2.loss_plan_l1_fix_dist: 0.1628, d3.loss_plan_l1_fix_time: 0.6458, d3.loss_plan_l1_fix_dist: 0.1648, d4.loss_plan_l1_fix_time: 0.6478, d4.loss_plan_l1_fix_dist: 0.1798, d5.loss_plan_l1_fix_time: 0.6494, d5.loss_plan_l1_fix_dist: 0.1655, d6.loss_plan_l1_fix_time: 0.6509, d6.loss_plan_l1_fix_dist: 0.1621, d0.loss_cls_all: 0.1154, d0.loss_bbox_all: 0.3049, d0.loss_cls: 0.1154, d0.loss_bbox: 0.3049, d1.loss_cls: 0.1112, d1.loss_bbox: 0.2746, d2.loss_cls: 0.0946, d2.loss_bbox: 0.2599, d3.loss_cls: 0.0808, d3.loss_bbox: 0.2548, d4.loss_cls: 0.0775, d4.loss_bbox: 0.2515, d5.loss_cls: 0.0761, d5.loss_bbox: 0.2510, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5822, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4440, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4062, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3879, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3863, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3793, d0.loss_map_cls_all: 0.1729, d0.loss_map_pts_all: 1.0186, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1729, d0.loss_map_pts: 1.0186, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1407, d1.loss_map_pts: 0.7146, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1190, d2.loss_map_pts: 0.5532, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1067, d3.loss_map_pts: 0.4919, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1007, d4.loss_map_pts: 0.4727, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0946, d5.loss_map_pts: 0.4672, d5.loss_map_dir: 0.0059, loss: 19.7876, grad_norm: 144.4089 +2026-03-01 04:25:15,528 - DriveTransformer - INFO - Epoch [12][8150/39528] lr: 5.696e-05, eta: 4 days, 6:41:22, time: 0.760, data_time: 0.036, memory: 19865, loss_cls: 0.0876, loss_bbox: 0.2747, loss_traj: 0.3847, loss_traj_cls: 0.0019, loss_map_cls: 0.0961, loss_map_pts: 0.5786, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.3519, d0.loss_plan_l1_fix_dist: 0.4409, d1.loss_plan_l1_fix_time: 0.7024, d1.loss_plan_l1_fix_dist: 0.1740, d2.loss_plan_l1_fix_time: 0.6875, d2.loss_plan_l1_fix_dist: 0.1660, d3.loss_plan_l1_fix_time: 0.6863, d3.loss_plan_l1_fix_dist: 0.1596, d4.loss_plan_l1_fix_time: 0.6887, d4.loss_plan_l1_fix_dist: 0.1919, d5.loss_plan_l1_fix_time: 0.6908, d5.loss_plan_l1_fix_dist: 0.1926, d6.loss_plan_l1_fix_time: 0.6929, d6.loss_plan_l1_fix_dist: 0.1844, d0.loss_cls_all: 0.1323, d0.loss_bbox_all: 0.3541, d0.loss_cls: 0.1323, d0.loss_bbox: 0.3541, d1.loss_cls: 0.1277, d1.loss_bbox: 0.3142, d2.loss_cls: 0.1131, d2.loss_bbox: 0.2890, d3.loss_cls: 0.0970, d3.loss_bbox: 0.2789, d4.loss_cls: 0.0904, d4.loss_bbox: 0.2765, d5.loss_cls: 0.0867, d5.loss_bbox: 0.2759, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6259, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4721, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4095, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3945, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3902, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3865, d0.loss_map_cls_all: 0.1809, d0.loss_map_pts_all: 1.2093, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1809, d0.loss_map_pts: 1.2093, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1496, d1.loss_map_pts: 0.8619, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1234, d2.loss_map_pts: 0.6842, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1129, d3.loss_map_pts: 0.6121, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1059, d4.loss_map_pts: 0.5823, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.0987, d5.loss_map_pts: 0.5791, d5.loss_map_dir: 0.0077, loss: 21.7901, grad_norm: 140.2263 +2026-03-01 04:25:52,063 - DriveTransformer - INFO - Epoch [12][8200/39528] lr: 5.696e-05, eta: 4 days, 6:40:45, time: 0.732, data_time: 0.037, memory: 19865, loss_cls: 0.0778, loss_bbox: 0.2580, loss_traj: 0.4276, loss_traj_cls: 0.0019, loss_map_cls: 0.0728, loss_map_pts: 0.4485, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.5236, d0.loss_plan_l1_fix_dist: 0.4160, d1.loss_plan_l1_fix_time: 0.6649, d1.loss_plan_l1_fix_dist: 0.1974, d2.loss_plan_l1_fix_time: 0.6505, d2.loss_plan_l1_fix_dist: 0.1834, d3.loss_plan_l1_fix_time: 0.6511, d3.loss_plan_l1_fix_dist: 0.1732, d4.loss_plan_l1_fix_time: 0.6532, d4.loss_plan_l1_fix_dist: 0.1982, d5.loss_plan_l1_fix_time: 0.6559, d5.loss_plan_l1_fix_dist: 0.1956, d6.loss_plan_l1_fix_time: 0.6594, d6.loss_plan_l1_fix_dist: 0.2006, d0.loss_cls_all: 0.1145, d0.loss_bbox_all: 0.3184, d0.loss_cls: 0.1145, d0.loss_bbox: 0.3184, d1.loss_cls: 0.1100, d1.loss_bbox: 0.2866, d2.loss_cls: 0.1001, d2.loss_bbox: 0.2668, d3.loss_cls: 0.0842, d3.loss_bbox: 0.2624, d4.loss_cls: 0.0789, d4.loss_bbox: 0.2604, d5.loss_cls: 0.0776, d5.loss_bbox: 0.2586, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6640, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5128, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4615, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4408, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4314, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4275, d0.loss_map_cls_all: 0.1472, d0.loss_map_pts_all: 0.9064, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1472, d0.loss_map_pts: 0.9064, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1193, d1.loss_map_pts: 0.6645, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.0966, d2.loss_map_pts: 0.5239, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0846, d3.loss_map_pts: 0.4730, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0784, d4.loss_map_pts: 0.4547, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0740, d5.loss_map_pts: 0.4497, d5.loss_map_dir: 0.0056, loss: 20.0749, grad_norm: 138.3622 +2026-03-01 04:26:29,963 - DriveTransformer - INFO - Epoch [12][8250/39528] lr: 5.696e-05, eta: 4 days, 6:40:12, time: 0.757, data_time: 0.036, memory: 19865, loss_cls: 0.0648, loss_bbox: 0.2513, loss_traj: 0.3943, loss_traj_cls: 0.0019, loss_map_cls: 0.1159, loss_map_pts: 0.5605, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.2880, d0.loss_plan_l1_fix_dist: 0.4609, d1.loss_plan_l1_fix_time: 0.6455, d1.loss_plan_l1_fix_dist: 0.1733, d2.loss_plan_l1_fix_time: 0.6385, d2.loss_plan_l1_fix_dist: 0.1786, d3.loss_plan_l1_fix_time: 0.6386, d3.loss_plan_l1_fix_dist: 0.1719, d4.loss_plan_l1_fix_time: 0.6406, d4.loss_plan_l1_fix_dist: 0.1647, d5.loss_plan_l1_fix_time: 0.6422, d5.loss_plan_l1_fix_dist: 0.1581, d6.loss_plan_l1_fix_time: 0.6444, d6.loss_plan_l1_fix_dist: 0.1550, d0.loss_cls_all: 0.1132, d0.loss_bbox_all: 0.3169, d0.loss_cls: 0.1132, d0.loss_bbox: 0.3169, d1.loss_cls: 0.1046, d1.loss_bbox: 0.2859, d2.loss_cls: 0.0925, d2.loss_bbox: 0.2643, d3.loss_cls: 0.0721, d3.loss_bbox: 0.2582, d4.loss_cls: 0.0655, d4.loss_bbox: 0.2533, d5.loss_cls: 0.0651, d5.loss_bbox: 0.2512, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6241, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4664, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4173, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4070, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3994, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3974, d0.loss_map_cls_all: 0.2072, d0.loss_map_pts_all: 1.1986, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2072, d0.loss_map_pts: 1.1986, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1693, d1.loss_map_pts: 0.8603, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1456, d2.loss_map_pts: 0.6725, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1334, d3.loss_map_pts: 0.6000, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1240, d4.loss_map_pts: 0.5693, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1185, d5.loss_map_pts: 0.5607, d5.loss_map_dir: 0.0068, loss: 21.0959, grad_norm: 136.3828 +2026-03-01 04:27:05,465 - DriveTransformer - INFO - Epoch [12][8300/39528] lr: 5.696e-05, eta: 4 days, 6:39:33, time: 0.710, data_time: 0.036, memory: 19865, loss_cls: 0.0826, loss_bbox: 0.2689, loss_traj: 0.5023, loss_traj_cls: 0.0020, loss_map_cls: 0.1012, loss_map_pts: 0.5072, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.8364, d0.loss_plan_l1_fix_dist: 0.4103, d1.loss_plan_l1_fix_time: 0.8005, d1.loss_plan_l1_fix_dist: 0.1773, d2.loss_plan_l1_fix_time: 0.7885, d2.loss_plan_l1_fix_dist: 0.1820, d3.loss_plan_l1_fix_time: 0.7857, d3.loss_plan_l1_fix_dist: 0.1977, d4.loss_plan_l1_fix_time: 0.7870, d4.loss_plan_l1_fix_dist: 0.1706, d5.loss_plan_l1_fix_time: 0.7880, d5.loss_plan_l1_fix_dist: 0.1699, d6.loss_plan_l1_fix_time: 0.7896, d6.loss_plan_l1_fix_dist: 0.1767, d0.loss_cls_all: 0.1289, d0.loss_bbox_all: 0.3283, d0.loss_cls: 0.1289, d0.loss_bbox: 0.3283, d1.loss_cls: 0.1221, d1.loss_bbox: 0.3005, d2.loss_cls: 0.1103, d2.loss_bbox: 0.2800, d3.loss_cls: 0.0923, d3.loss_bbox: 0.2719, d4.loss_cls: 0.0855, d4.loss_bbox: 0.2702, d5.loss_cls: 0.0823, d5.loss_bbox: 0.2696, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7385, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5862, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5356, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5144, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5086, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5060, d0.loss_map_cls_all: 0.1891, d0.loss_map_pts_all: 1.0155, d0.loss_map_dir_all: 0.0050, d0.loss_map_cls: 0.1891, d0.loss_map_pts: 1.0155, d0.loss_map_dir: 0.0050, d1.loss_map_cls: 0.1557, d1.loss_map_pts: 0.7479, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.1288, d2.loss_map_pts: 0.5953, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.1171, d3.loss_map_pts: 0.5341, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1114, d4.loss_map_pts: 0.5123, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.1044, d5.loss_map_pts: 0.5083, d5.loss_map_dir: 0.0051, loss: 22.6816, grad_norm: 135.1812 +2026-03-01 04:27:41,614 - DriveTransformer - INFO - Epoch [12][8350/39528] lr: 5.696e-05, eta: 4 days, 6:38:55, time: 0.723, data_time: 0.036, memory: 19865, loss_cls: 0.0790, loss_bbox: 0.2634, loss_traj: 0.3750, loss_traj_cls: 0.0020, loss_map_cls: 0.0860, loss_map_pts: 0.4573, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.3983, d0.loss_plan_l1_fix_dist: 0.3734, d1.loss_plan_l1_fix_time: 0.6756, d1.loss_plan_l1_fix_dist: 0.1600, d2.loss_plan_l1_fix_time: 0.6612, d2.loss_plan_l1_fix_dist: 0.1780, d3.loss_plan_l1_fix_time: 0.6618, d3.loss_plan_l1_fix_dist: 0.2054, d4.loss_plan_l1_fix_time: 0.6650, d4.loss_plan_l1_fix_dist: 0.1570, d5.loss_plan_l1_fix_time: 0.6676, d5.loss_plan_l1_fix_dist: 0.1668, d6.loss_plan_l1_fix_time: 0.6708, d6.loss_plan_l1_fix_dist: 0.1711, d0.loss_cls_all: 0.1216, d0.loss_bbox_all: 0.3210, d0.loss_cls: 0.1216, d0.loss_bbox: 0.3210, d1.loss_cls: 0.1182, d1.loss_bbox: 0.2918, d2.loss_cls: 0.1052, d2.loss_bbox: 0.2729, d3.loss_cls: 0.0867, d3.loss_bbox: 0.2680, d4.loss_cls: 0.0805, d4.loss_bbox: 0.2662, d5.loss_cls: 0.0781, d5.loss_bbox: 0.2651, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5697, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4408, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4002, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3879, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3784, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3761, d0.loss_map_cls_all: 0.1574, d0.loss_map_pts_all: 0.9554, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1574, d0.loss_map_pts: 0.9554, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1307, d1.loss_map_pts: 0.6870, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1082, d2.loss_map_pts: 0.5366, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0999, d3.loss_map_pts: 0.4837, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0938, d4.loss_map_pts: 0.4639, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0881, d5.loss_map_pts: 0.4579, d5.loss_map_dir: 0.0056, loss: 19.7705, grad_norm: 134.9430 +2026-03-01 04:28:18,058 - DriveTransformer - INFO - Epoch [12][8400/39528] lr: 5.696e-05, eta: 4 days, 6:38:18, time: 0.729, data_time: 0.035, memory: 19865, loss_cls: 0.0963, loss_bbox: 0.2997, loss_traj: 0.4876, loss_traj_cls: 0.0019, loss_map_cls: 0.1095, loss_map_pts: 0.5328, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.7905, d0.loss_plan_l1_fix_dist: 0.4052, d1.loss_plan_l1_fix_time: 0.8098, d1.loss_plan_l1_fix_dist: 0.1690, d2.loss_plan_l1_fix_time: 0.7943, d2.loss_plan_l1_fix_dist: 0.1941, d3.loss_plan_l1_fix_time: 0.7867, d3.loss_plan_l1_fix_dist: 0.2173, d4.loss_plan_l1_fix_time: 0.7873, d4.loss_plan_l1_fix_dist: 0.1706, d5.loss_plan_l1_fix_time: 0.7885, d5.loss_plan_l1_fix_dist: 0.1970, d6.loss_plan_l1_fix_time: 0.7902, d6.loss_plan_l1_fix_dist: 0.1880, d0.loss_cls_all: 0.1470, d0.loss_bbox_all: 0.3749, d0.loss_cls: 0.1470, d0.loss_bbox: 0.3749, d1.loss_cls: 0.1418, d1.loss_bbox: 0.3395, d2.loss_cls: 0.1263, d2.loss_bbox: 0.3112, d3.loss_cls: 0.1049, d3.loss_bbox: 0.3047, d4.loss_cls: 0.0971, d4.loss_bbox: 0.3027, d5.loss_cls: 0.0957, d5.loss_bbox: 0.3007, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7730, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5900, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5175, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4977, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4933, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4901, d0.loss_map_cls_all: 0.1834, d0.loss_map_pts_all: 1.0551, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1834, d0.loss_map_pts: 1.0551, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1567, d1.loss_map_pts: 0.7867, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1363, d2.loss_map_pts: 0.6220, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1253, d3.loss_map_pts: 0.5626, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1173, d4.loss_map_pts: 0.5426, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1119, d5.loss_map_pts: 0.5331, d5.loss_map_dir: 0.0067, loss: 23.3764, grad_norm: 135.4491 +2026-03-01 04:28:53,960 - DriveTransformer - INFO - Epoch [12][8450/39528] lr: 5.696e-05, eta: 4 days, 6:37:40, time: 0.718, data_time: 0.036, memory: 19865, loss_cls: 0.0869, loss_bbox: 0.2772, loss_traj: 0.4519, loss_traj_cls: 0.0020, loss_map_cls: 0.0891, loss_map_pts: 0.4758, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.5988, d0.loss_plan_l1_fix_dist: 0.3645, d1.loss_plan_l1_fix_time: 0.6748, d1.loss_plan_l1_fix_dist: 0.1462, d2.loss_plan_l1_fix_time: 0.6594, d2.loss_plan_l1_fix_dist: 0.1824, d3.loss_plan_l1_fix_time: 0.6579, d3.loss_plan_l1_fix_dist: 0.1979, d4.loss_plan_l1_fix_time: 0.6582, d4.loss_plan_l1_fix_dist: 0.1616, d5.loss_plan_l1_fix_time: 0.6590, d5.loss_plan_l1_fix_dist: 0.1824, d6.loss_plan_l1_fix_time: 0.6602, d6.loss_plan_l1_fix_dist: 0.1875, d0.loss_cls_all: 0.1355, d0.loss_bbox_all: 0.3474, d0.loss_cls: 0.1355, d0.loss_bbox: 0.3474, d1.loss_cls: 0.1342, d1.loss_bbox: 0.3136, d2.loss_cls: 0.1171, d2.loss_bbox: 0.2905, d3.loss_cls: 0.0957, d3.loss_bbox: 0.2821, d4.loss_cls: 0.0882, d4.loss_bbox: 0.2797, d5.loss_cls: 0.0866, d5.loss_bbox: 0.2788, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6883, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5248, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4734, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4586, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4558, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4527, d0.loss_map_cls_all: 0.1742, d0.loss_map_pts_all: 0.9900, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1742, d0.loss_map_pts: 0.9900, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1459, d1.loss_map_pts: 0.7075, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1177, d2.loss_map_pts: 0.5608, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1052, d3.loss_map_pts: 0.5006, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0976, d4.loss_map_pts: 0.4806, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0923, d5.loss_map_pts: 0.4754, d5.loss_map_dir: 0.0057, loss: 21.0236, grad_norm: 132.9070 +2026-03-01 04:29:31,126 - DriveTransformer - INFO - Epoch [12][8500/39528] lr: 5.696e-05, eta: 4 days, 6:37:05, time: 0.743, data_time: 0.035, memory: 19865, loss_cls: 0.0934, loss_bbox: 0.2760, loss_traj: 0.4286, loss_traj_cls: 0.0020, loss_map_cls: 0.0909, loss_map_pts: 0.4868, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.6045, d0.loss_plan_l1_fix_dist: 0.4434, d1.loss_plan_l1_fix_time: 0.6948, d1.loss_plan_l1_fix_dist: 0.1595, d2.loss_plan_l1_fix_time: 0.6747, d2.loss_plan_l1_fix_dist: 0.2014, d3.loss_plan_l1_fix_time: 0.6652, d3.loss_plan_l1_fix_dist: 0.2103, d4.loss_plan_l1_fix_time: 0.6638, d4.loss_plan_l1_fix_dist: 0.1937, d5.loss_plan_l1_fix_time: 0.6639, d5.loss_plan_l1_fix_dist: 0.1765, d6.loss_plan_l1_fix_time: 0.6651, d6.loss_plan_l1_fix_dist: 0.1926, d0.loss_cls_all: 0.1425, d0.loss_bbox_all: 0.3541, d0.loss_cls: 0.1425, d0.loss_bbox: 0.3541, d1.loss_cls: 0.1362, d1.loss_bbox: 0.3128, d2.loss_cls: 0.1179, d2.loss_bbox: 0.2885, d3.loss_cls: 0.1047, d3.loss_bbox: 0.2794, d4.loss_cls: 0.0952, d4.loss_bbox: 0.2769, d5.loss_cls: 0.0940, d5.loss_bbox: 0.2752, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6931, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5192, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4601, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4401, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4295, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4291, d0.loss_map_cls_all: 0.1618, d0.loss_map_pts_all: 0.9934, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1618, d0.loss_map_pts: 0.9934, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1334, d1.loss_map_pts: 0.7205, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1132, d2.loss_map_pts: 0.5684, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1034, d3.loss_map_pts: 0.5128, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0977, d4.loss_map_pts: 0.4920, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0926, d5.loss_map_pts: 0.4873, d5.loss_map_dir: 0.0061, loss: 21.2184, grad_norm: 134.7816 +2026-03-01 04:30:05,948 - DriveTransformer - INFO - Epoch [12][8550/39528] lr: 5.696e-05, eta: 4 days, 6:36:24, time: 0.696, data_time: 0.036, memory: 19865, loss_cls: 0.0743, loss_bbox: 0.2520, loss_traj: 0.3886, loss_traj_cls: 0.0021, loss_map_cls: 0.0853, loss_map_pts: 0.4278, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.3541, d0.loss_plan_l1_fix_dist: 0.5182, d1.loss_plan_l1_fix_time: 0.6628, d1.loss_plan_l1_fix_dist: 0.1687, d2.loss_plan_l1_fix_time: 0.6535, d2.loss_plan_l1_fix_dist: 0.2005, d3.loss_plan_l1_fix_time: 0.6350, d3.loss_plan_l1_fix_dist: 0.2031, d4.loss_plan_l1_fix_time: 0.6369, d4.loss_plan_l1_fix_dist: 0.2053, d5.loss_plan_l1_fix_time: 0.6388, d5.loss_plan_l1_fix_dist: 0.1757, d6.loss_plan_l1_fix_time: 0.6407, d6.loss_plan_l1_fix_dist: 0.1824, d0.loss_cls_all: 0.1128, d0.loss_bbox_all: 0.3182, d0.loss_cls: 0.1128, d0.loss_bbox: 0.3182, d1.loss_cls: 0.1071, d1.loss_bbox: 0.2861, d2.loss_cls: 0.0969, d2.loss_bbox: 0.2671, d3.loss_cls: 0.0810, d3.loss_bbox: 0.2566, d4.loss_cls: 0.0755, d4.loss_bbox: 0.2536, d5.loss_cls: 0.0744, d5.loss_bbox: 0.2522, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6347, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4694, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4195, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3997, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3941, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3920, d0.loss_map_cls_all: 0.1623, d0.loss_map_pts_all: 0.9076, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1623, d0.loss_map_pts: 0.9076, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1371, d1.loss_map_pts: 0.6434, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1133, d2.loss_map_pts: 0.5066, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0986, d3.loss_map_pts: 0.4554, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0935, d4.loss_map_pts: 0.4347, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0885, d5.loss_map_pts: 0.4277, d5.loss_map_dir: 0.0048, loss: 19.6109, grad_norm: 133.1149 +2026-03-01 04:30:42,762 - DriveTransformer - INFO - Epoch [12][8600/39528] lr: 5.696e-05, eta: 4 days, 6:35:49, time: 0.736, data_time: 0.040, memory: 19865, loss_cls: 0.0789, loss_bbox: 0.2735, loss_traj: 0.3621, loss_traj_cls: 0.0020, loss_map_cls: 0.1078, loss_map_pts: 0.5534, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.4863, d0.loss_plan_l1_fix_dist: 0.5298, d1.loss_plan_l1_fix_time: 0.6723, d1.loss_plan_l1_fix_dist: 0.1662, d2.loss_plan_l1_fix_time: 0.6583, d2.loss_plan_l1_fix_dist: 0.1662, d3.loss_plan_l1_fix_time: 0.6569, d3.loss_plan_l1_fix_dist: 0.1606, d4.loss_plan_l1_fix_time: 0.6580, d4.loss_plan_l1_fix_dist: 0.1747, d5.loss_plan_l1_fix_time: 0.6600, d5.loss_plan_l1_fix_dist: 0.1735, d6.loss_plan_l1_fix_time: 0.6625, d6.loss_plan_l1_fix_dist: 0.1721, d0.loss_cls_all: 0.1227, d0.loss_bbox_all: 0.3420, d0.loss_cls: 0.1227, d0.loss_bbox: 0.3420, d1.loss_cls: 0.1158, d1.loss_bbox: 0.3111, d2.loss_cls: 0.1033, d2.loss_bbox: 0.2867, d3.loss_cls: 0.0828, d3.loss_bbox: 0.2799, d4.loss_cls: 0.0801, d4.loss_bbox: 0.2771, d5.loss_cls: 0.0784, d5.loss_bbox: 0.2749, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5976, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4220, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3842, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3642, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3640, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3624, d0.loss_map_cls_all: 0.1991, d0.loss_map_pts_all: 1.1525, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1991, d0.loss_map_pts: 1.1525, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1624, d1.loss_map_pts: 0.8334, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1402, d2.loss_map_pts: 0.6502, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1272, d3.loss_map_pts: 0.5803, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1188, d4.loss_map_pts: 0.5582, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1112, d5.loss_map_pts: 0.5540, d5.loss_map_dir: 0.0059, loss: 21.2800, grad_norm: 126.5563 +2026-03-01 04:31:19,016 - DriveTransformer - INFO - Epoch [12][8650/39528] lr: 5.696e-05, eta: 4 days, 6:35:11, time: 0.725, data_time: 0.036, memory: 19865, loss_cls: 0.0695, loss_bbox: 0.2499, loss_traj: 0.5031, loss_traj_cls: 0.0020, loss_map_cls: 0.0935, loss_map_pts: 0.4364, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.2132, d0.loss_plan_l1_fix_dist: 0.4123, d1.loss_plan_l1_fix_time: 0.5828, d1.loss_plan_l1_fix_dist: 0.1762, d2.loss_plan_l1_fix_time: 0.5671, d2.loss_plan_l1_fix_dist: 0.1504, d3.loss_plan_l1_fix_time: 0.5638, d3.loss_plan_l1_fix_dist: 0.1599, d4.loss_plan_l1_fix_time: 0.5651, d4.loss_plan_l1_fix_dist: 0.1459, d5.loss_plan_l1_fix_time: 0.5667, d5.loss_plan_l1_fix_dist: 0.1553, d6.loss_plan_l1_fix_time: 0.5687, d6.loss_plan_l1_fix_dist: 0.1641, d0.loss_cls_all: 0.1138, d0.loss_bbox_all: 0.3069, d0.loss_cls: 0.1138, d0.loss_bbox: 0.3069, d1.loss_cls: 0.1095, d1.loss_bbox: 0.2762, d2.loss_cls: 0.0985, d2.loss_bbox: 0.2605, d3.loss_cls: 0.0792, d3.loss_bbox: 0.2524, d4.loss_cls: 0.0731, d4.loss_bbox: 0.2511, d5.loss_cls: 0.0709, d5.loss_bbox: 0.2496, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7362, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5882, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5320, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5089, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5077, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5061, d0.loss_map_cls_all: 0.1811, d0.loss_map_pts_all: 0.9561, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1811, d0.loss_map_pts: 0.9561, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1489, d1.loss_map_pts: 0.6719, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1238, d2.loss_map_pts: 0.5195, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.1108, d3.loss_map_pts: 0.4591, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.1020, d4.loss_map_pts: 0.4399, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0951, d5.loss_map_pts: 0.4368, d5.loss_map_dir: 0.0051, loss: 19.7158, grad_norm: 123.9316 +2026-03-01 04:31:53,778 - DriveTransformer - INFO - Epoch [12][8700/39528] lr: 5.696e-05, eta: 4 days, 6:34:30, time: 0.695, data_time: 0.036, memory: 19865, loss_cls: 0.0719, loss_bbox: 0.2735, loss_traj: 0.4142, loss_traj_cls: 0.0020, loss_map_cls: 0.0829, loss_map_pts: 0.4172, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.5233, d0.loss_plan_l1_fix_dist: 0.4407, d1.loss_plan_l1_fix_time: 0.7092, d1.loss_plan_l1_fix_dist: 0.2021, d2.loss_plan_l1_fix_time: 0.6868, d2.loss_plan_l1_fix_dist: 0.1505, d3.loss_plan_l1_fix_time: 0.6861, d3.loss_plan_l1_fix_dist: 0.1826, d4.loss_plan_l1_fix_time: 0.6877, d4.loss_plan_l1_fix_dist: 0.1445, d5.loss_plan_l1_fix_time: 0.6898, d5.loss_plan_l1_fix_dist: 0.1553, d6.loss_plan_l1_fix_time: 0.6928, d6.loss_plan_l1_fix_dist: 0.1882, d0.loss_cls_all: 0.1234, d0.loss_bbox_all: 0.3297, d0.loss_cls: 0.1234, d0.loss_bbox: 0.3297, d1.loss_cls: 0.1117, d1.loss_bbox: 0.3010, d2.loss_cls: 0.1015, d2.loss_bbox: 0.2789, d3.loss_cls: 0.0817, d3.loss_bbox: 0.2755, d4.loss_cls: 0.0749, d4.loss_bbox: 0.2743, d5.loss_cls: 0.0718, d5.loss_bbox: 0.2735, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6241, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4937, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4383, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4195, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4158, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4123, d0.loss_map_cls_all: 0.1658, d0.loss_map_pts_all: 0.8513, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1658, d0.loss_map_pts: 0.8513, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1311, d1.loss_map_pts: 0.6165, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1084, d2.loss_map_pts: 0.4876, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0979, d3.loss_map_pts: 0.4388, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0901, d4.loss_map_pts: 0.4225, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0859, d5.loss_map_pts: 0.4171, d5.loss_map_dir: 0.0054, loss: 19.9329, grad_norm: 123.1087 +2026-03-01 04:32:30,091 - DriveTransformer - INFO - Epoch [12][8750/39528] lr: 5.696e-05, eta: 4 days, 6:33:53, time: 0.726, data_time: 0.041, memory: 19865, loss_cls: 0.0767, loss_bbox: 0.2545, loss_traj: 0.4924, loss_traj_cls: 0.0021, loss_map_cls: 0.0776, loss_map_pts: 0.4248, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.5441, d0.loss_plan_l1_fix_dist: 0.4539, d1.loss_plan_l1_fix_time: 0.6871, d1.loss_plan_l1_fix_dist: 0.2302, d2.loss_plan_l1_fix_time: 0.6611, d2.loss_plan_l1_fix_dist: 0.1833, d3.loss_plan_l1_fix_time: 0.6554, d3.loss_plan_l1_fix_dist: 0.2189, d4.loss_plan_l1_fix_time: 0.6564, d4.loss_plan_l1_fix_dist: 0.1828, d5.loss_plan_l1_fix_time: 0.6582, d5.loss_plan_l1_fix_dist: 0.1817, d6.loss_plan_l1_fix_time: 0.6613, d6.loss_plan_l1_fix_dist: 0.2172, d0.loss_cls_all: 0.1190, d0.loss_bbox_all: 0.3141, d0.loss_cls: 0.1190, d0.loss_bbox: 0.3141, d1.loss_cls: 0.1118, d1.loss_bbox: 0.2825, d2.loss_cls: 0.1003, d2.loss_bbox: 0.2656, d3.loss_cls: 0.0820, d3.loss_bbox: 0.2605, d4.loss_cls: 0.0773, d4.loss_bbox: 0.2573, d5.loss_cls: 0.0756, d5.loss_bbox: 0.2562, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7488, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5709, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5233, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5058, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5006, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4953, d0.loss_map_cls_all: 0.1508, d0.loss_map_pts_all: 0.8871, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1508, d0.loss_map_pts: 0.8871, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1198, d1.loss_map_pts: 0.6316, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.0962, d2.loss_map_pts: 0.5018, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0866, d3.loss_map_pts: 0.4487, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0805, d4.loss_map_pts: 0.4292, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0795, d5.loss_map_pts: 0.4247, d5.loss_map_dir: 0.0055, loss: 20.5242, grad_norm: 129.0689 +2026-03-01 04:33:05,470 - DriveTransformer - INFO - Epoch [12][8800/39528] lr: 5.696e-05, eta: 4 days, 6:33:14, time: 0.708, data_time: 0.036, memory: 19865, loss_cls: 0.0898, loss_bbox: 0.2786, loss_traj: 0.4656, loss_traj_cls: 0.0021, loss_map_cls: 0.1041, loss_map_pts: 0.4946, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.9237, d0.loss_plan_l1_fix_dist: 0.3204, d1.loss_plan_l1_fix_time: 0.7955, d1.loss_plan_l1_fix_dist: 0.2359, d2.loss_plan_l1_fix_time: 0.7765, d2.loss_plan_l1_fix_dist: 0.1676, d3.loss_plan_l1_fix_time: 0.7760, d3.loss_plan_l1_fix_dist: 0.2219, d4.loss_plan_l1_fix_time: 0.7776, d4.loss_plan_l1_fix_dist: 0.1831, d5.loss_plan_l1_fix_time: 0.7796, d5.loss_plan_l1_fix_dist: 0.1638, d6.loss_plan_l1_fix_time: 0.7823, d6.loss_plan_l1_fix_dist: 0.2041, d0.loss_cls_all: 0.1350, d0.loss_bbox_all: 0.3412, d0.loss_cls: 0.1350, d0.loss_bbox: 0.3412, d1.loss_cls: 0.1302, d1.loss_bbox: 0.3072, d2.loss_cls: 0.1169, d2.loss_bbox: 0.2867, d3.loss_cls: 0.0984, d3.loss_bbox: 0.2829, d4.loss_cls: 0.0920, d4.loss_bbox: 0.2804, d5.loss_cls: 0.0898, d5.loss_bbox: 0.2796, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7004, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5473, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4879, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4785, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4706, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4694, d0.loss_map_cls_all: 0.1999, d0.loss_map_pts_all: 0.9900, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1999, d0.loss_map_pts: 0.9900, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1599, d1.loss_map_pts: 0.7264, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1313, d2.loss_map_pts: 0.5749, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1197, d3.loss_map_pts: 0.5199, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1117, d4.loss_map_pts: 0.4995, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1072, d5.loss_map_pts: 0.4943, d5.loss_map_dir: 0.0060, loss: 22.4907, grad_norm: 129.5678 +2026-03-01 04:33:44,071 - DriveTransformer - INFO - Epoch [12][8850/39528] lr: 5.696e-05, eta: 4 days, 6:32:42, time: 0.772, data_time: 0.036, memory: 19865, loss_cls: 0.0865, loss_bbox: 0.2723, loss_traj: 0.4569, loss_traj_cls: 0.0020, loss_map_cls: 0.1020, loss_map_pts: 0.5589, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.9453, d0.loss_plan_l1_fix_dist: 0.3872, d1.loss_plan_l1_fix_time: 0.7879, d1.loss_plan_l1_fix_dist: 0.2481, d2.loss_plan_l1_fix_time: 0.7712, d2.loss_plan_l1_fix_dist: 0.1861, d3.loss_plan_l1_fix_time: 0.7600, d3.loss_plan_l1_fix_dist: 0.2290, d4.loss_plan_l1_fix_time: 0.7609, d4.loss_plan_l1_fix_dist: 0.2023, d5.loss_plan_l1_fix_time: 0.7622, d5.loss_plan_l1_fix_dist: 0.1836, d6.loss_plan_l1_fix_time: 0.7640, d6.loss_plan_l1_fix_dist: 0.2128, d0.loss_cls_all: 0.1314, d0.loss_bbox_all: 0.3460, d0.loss_cls: 0.1314, d0.loss_bbox: 0.3460, d1.loss_cls: 0.1250, d1.loss_bbox: 0.3101, d2.loss_cls: 0.1112, d2.loss_bbox: 0.2879, d3.loss_cls: 0.0929, d3.loss_bbox: 0.2776, d4.loss_cls: 0.0873, d4.loss_bbox: 0.2740, d5.loss_cls: 0.0862, d5.loss_bbox: 0.2724, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7057, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5469, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4866, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4648, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4628, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4584, d0.loss_map_cls_all: 0.1882, d0.loss_map_pts_all: 1.1207, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1882, d0.loss_map_pts: 1.1207, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1514, d1.loss_map_pts: 0.8215, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1268, d2.loss_map_pts: 0.6474, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1170, d3.loss_map_pts: 0.5856, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1095, d4.loss_map_pts: 0.5649, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1033, d5.loss_map_pts: 0.5599, d5.loss_map_dir: 0.0071, loss: 23.1502, grad_norm: 130.0181 +2026-03-01 04:34:21,860 - DriveTransformer - INFO - Epoch [12][8900/39528] lr: 5.696e-05, eta: 4 days, 6:32:09, time: 0.756, data_time: 0.036, memory: 19865, loss_cls: 0.0975, loss_bbox: 0.2889, loss_traj: 0.3906, loss_traj_cls: 0.0020, loss_map_cls: 0.1089, loss_map_pts: 0.5779, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.3899, d0.loss_plan_l1_fix_dist: 0.4059, d1.loss_plan_l1_fix_time: 0.6983, d1.loss_plan_l1_fix_dist: 0.2402, d2.loss_plan_l1_fix_time: 0.6709, d2.loss_plan_l1_fix_dist: 0.1874, d3.loss_plan_l1_fix_time: 0.6698, d3.loss_plan_l1_fix_dist: 0.2113, d4.loss_plan_l1_fix_time: 0.6708, d4.loss_plan_l1_fix_dist: 0.2034, d5.loss_plan_l1_fix_time: 0.6726, d5.loss_plan_l1_fix_dist: 0.1893, d6.loss_plan_l1_fix_time: 0.6746, d6.loss_plan_l1_fix_dist: 0.2027, d0.loss_cls_all: 0.1480, d0.loss_bbox_all: 0.3552, d0.loss_cls: 0.1480, d0.loss_bbox: 0.3552, d1.loss_cls: 0.1411, d1.loss_bbox: 0.3193, d2.loss_cls: 0.1257, d2.loss_bbox: 0.3004, d3.loss_cls: 0.1043, d3.loss_bbox: 0.2936, d4.loss_cls: 0.0988, d4.loss_bbox: 0.2908, d5.loss_cls: 0.0974, d5.loss_bbox: 0.2899, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6070, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4644, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4150, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3975, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3911, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3866, d0.loss_map_cls_all: 0.1890, d0.loss_map_pts_all: 1.1561, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1890, d0.loss_map_pts: 1.1561, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1575, d1.loss_map_pts: 0.8359, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1332, d2.loss_map_pts: 0.6748, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1224, d3.loss_map_pts: 0.6118, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1165, d4.loss_map_pts: 0.5833, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1117, d5.loss_map_pts: 0.5776, d5.loss_map_dir: 0.0071, loss: 21.9578, grad_norm: 129.6643 +2026-03-01 04:34:58,359 - DriveTransformer - INFO - Epoch [12][8950/39528] lr: 5.696e-05, eta: 4 days, 6:31:32, time: 0.730, data_time: 0.036, memory: 19865, loss_cls: 0.0879, loss_bbox: 0.2582, loss_traj: 0.4462, loss_traj_cls: 0.0020, loss_map_cls: 0.1004, loss_map_pts: 0.4652, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.3303, d0.loss_plan_l1_fix_dist: 0.3677, d1.loss_plan_l1_fix_time: 0.8069, d1.loss_plan_l1_fix_dist: 0.2267, d2.loss_plan_l1_fix_time: 0.7906, d2.loss_plan_l1_fix_dist: 0.1918, d3.loss_plan_l1_fix_time: 0.7792, d3.loss_plan_l1_fix_dist: 0.1932, d4.loss_plan_l1_fix_time: 0.7817, d4.loss_plan_l1_fix_dist: 0.1911, d5.loss_plan_l1_fix_time: 0.7848, d5.loss_plan_l1_fix_dist: 0.1758, d6.loss_plan_l1_fix_time: 0.7878, d6.loss_plan_l1_fix_dist: 0.1807, d0.loss_cls_all: 0.1330, d0.loss_bbox_all: 0.3207, d0.loss_cls: 0.1330, d0.loss_bbox: 0.3207, d1.loss_cls: 0.1295, d1.loss_bbox: 0.2900, d2.loss_cls: 0.1150, d2.loss_bbox: 0.2687, d3.loss_cls: 0.0952, d3.loss_bbox: 0.2630, d4.loss_cls: 0.0893, d4.loss_bbox: 0.2611, d5.loss_cls: 0.0881, d5.loss_bbox: 0.2587, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6407, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5116, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4723, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4597, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4497, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4494, d0.loss_map_cls_all: 0.1802, d0.loss_map_pts_all: 1.0086, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1802, d0.loss_map_pts: 1.0086, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1535, d1.loss_map_pts: 0.7195, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1277, d2.loss_map_pts: 0.5594, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1152, d3.loss_map_pts: 0.4946, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1079, d4.loss_map_pts: 0.4708, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1023, d5.loss_map_pts: 0.4657, d5.loss_map_dir: 0.0055, loss: 21.4400, grad_norm: 126.7136 +2026-03-01 04:35:34,491 - DriveTransformer - INFO - Epoch [12][9000/39528] lr: 5.696e-05, eta: 4 days, 6:30:55, time: 0.724, data_time: 0.036, memory: 19865, loss_cls: 0.0830, loss_bbox: 0.2786, loss_traj: 0.4990, loss_traj_cls: 0.0020, loss_map_cls: 0.0935, loss_map_pts: 0.4980, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.9427, d0.loss_plan_l1_fix_dist: 0.4245, d1.loss_plan_l1_fix_time: 0.8145, d1.loss_plan_l1_fix_dist: 0.2293, d2.loss_plan_l1_fix_time: 0.7881, d2.loss_plan_l1_fix_dist: 0.2066, d3.loss_plan_l1_fix_time: 0.7855, d3.loss_plan_l1_fix_dist: 0.1865, d4.loss_plan_l1_fix_time: 0.7870, d4.loss_plan_l1_fix_dist: 0.1919, d5.loss_plan_l1_fix_time: 0.7889, d5.loss_plan_l1_fix_dist: 0.1837, d6.loss_plan_l1_fix_time: 0.7910, d6.loss_plan_l1_fix_dist: 0.1803, d0.loss_cls_all: 0.1279, d0.loss_bbox_all: 0.3479, d0.loss_cls: 0.1279, d0.loss_bbox: 0.3479, d1.loss_cls: 0.1204, d1.loss_bbox: 0.3130, d2.loss_cls: 0.1102, d2.loss_bbox: 0.2930, d3.loss_cls: 0.0891, d3.loss_bbox: 0.2869, d4.loss_cls: 0.0854, d4.loss_bbox: 0.2812, d5.loss_cls: 0.0840, d5.loss_bbox: 0.2794, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7734, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5828, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5206, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5037, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5004, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4959, d0.loss_map_cls_all: 0.1777, d0.loss_map_pts_all: 1.0224, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1777, d0.loss_map_pts: 1.0224, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1523, d1.loss_map_pts: 0.7547, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1223, d2.loss_map_pts: 0.5914, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1094, d3.loss_map_pts: 0.5286, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.1012, d4.loss_map_pts: 0.5038, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0961, d5.loss_map_pts: 0.4973, d5.loss_map_dir: 0.0054, loss: 22.9305, grad_norm: 126.3817 +2026-03-01 04:36:11,063 - DriveTransformer - INFO - Epoch [12][9050/39528] lr: 5.696e-05, eta: 4 days, 6:30:18, time: 0.730, data_time: 0.036, memory: 19865, loss_cls: 0.0835, loss_bbox: 0.2587, loss_traj: 0.4676, loss_traj_cls: 0.0020, loss_map_cls: 0.0817, loss_map_pts: 0.4639, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.4848, d0.loss_plan_l1_fix_dist: 0.3999, d1.loss_plan_l1_fix_time: 0.6726, d1.loss_plan_l1_fix_dist: 0.2216, d2.loss_plan_l1_fix_time: 0.6567, d2.loss_plan_l1_fix_dist: 0.2054, d3.loss_plan_l1_fix_time: 0.6546, d3.loss_plan_l1_fix_dist: 0.1787, d4.loss_plan_l1_fix_time: 0.6565, d4.loss_plan_l1_fix_dist: 0.1956, d5.loss_plan_l1_fix_time: 0.6587, d5.loss_plan_l1_fix_dist: 0.1932, d6.loss_plan_l1_fix_time: 0.6609, d6.loss_plan_l1_fix_dist: 0.1823, d0.loss_cls_all: 0.1220, d0.loss_bbox_all: 0.3173, d0.loss_cls: 0.1220, d0.loss_bbox: 0.3173, d1.loss_cls: 0.1173, d1.loss_bbox: 0.2873, d2.loss_cls: 0.1043, d2.loss_bbox: 0.2701, d3.loss_cls: 0.0897, d3.loss_bbox: 0.2626, d4.loss_cls: 0.0847, d4.loss_bbox: 0.2597, d5.loss_cls: 0.0840, d5.loss_bbox: 0.2586, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6768, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5576, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5027, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4675, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4626, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4649, d0.loss_map_cls_all: 0.1679, d0.loss_map_pts_all: 0.9468, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1679, d0.loss_map_pts: 0.9468, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1362, d1.loss_map_pts: 0.6846, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.1108, d2.loss_map_pts: 0.5429, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0959, d3.loss_map_pts: 0.4892, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0896, d4.loss_map_pts: 0.4666, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0848, d5.loss_map_pts: 0.4628, d5.loss_map_dir: 0.0050, loss: 20.6461, grad_norm: 126.0165 +2026-03-01 04:36:46,988 - DriveTransformer - INFO - Epoch [12][9100/39528] lr: 5.696e-05, eta: 4 days, 6:29:40, time: 0.718, data_time: 0.037, memory: 19865, loss_cls: 0.0876, loss_bbox: 0.2903, loss_traj: 0.4391, loss_traj_cls: 0.0020, loss_map_cls: 0.1134, loss_map_pts: 0.5290, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.7213, d0.loss_plan_l1_fix_dist: 0.3005, d1.loss_plan_l1_fix_time: 0.8059, d1.loss_plan_l1_fix_dist: 0.2044, d2.loss_plan_l1_fix_time: 0.7815, d2.loss_plan_l1_fix_dist: 0.1878, d3.loss_plan_l1_fix_time: 0.7791, d3.loss_plan_l1_fix_dist: 0.1715, d4.loss_plan_l1_fix_time: 0.7795, d4.loss_plan_l1_fix_dist: 0.1805, d5.loss_plan_l1_fix_time: 0.7806, d5.loss_plan_l1_fix_dist: 0.1843, d6.loss_plan_l1_fix_time: 0.7819, d6.loss_plan_l1_fix_dist: 0.1939, d0.loss_cls_all: 0.1414, d0.loss_bbox_all: 0.3564, d0.loss_cls: 0.1414, d0.loss_bbox: 0.3564, d1.loss_cls: 0.1344, d1.loss_bbox: 0.3238, d2.loss_cls: 0.1169, d2.loss_bbox: 0.3041, d3.loss_cls: 0.0964, d3.loss_bbox: 0.2968, d4.loss_cls: 0.0891, d4.loss_bbox: 0.2943, d5.loss_cls: 0.0878, d5.loss_bbox: 0.2918, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6995, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5180, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4691, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4516, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4407, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4371, d0.loss_map_cls_all: 0.2046, d0.loss_map_pts_all: 1.0463, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2046, d0.loss_map_pts: 1.0463, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1698, d1.loss_map_pts: 0.7691, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1405, d2.loss_map_pts: 0.6113, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1286, d3.loss_map_pts: 0.5543, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1213, d4.loss_map_pts: 0.5349, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1162, d5.loss_map_pts: 0.5291, d5.loss_map_dir: 0.0060, loss: 22.5910, grad_norm: 123.4124 +2026-03-01 04:37:23,658 - DriveTransformer - INFO - Epoch [12][9150/39528] lr: 5.696e-05, eta: 4 days, 6:29:04, time: 0.733, data_time: 0.039, memory: 19865, loss_cls: 0.0742, loss_bbox: 0.2540, loss_traj: 0.4477, loss_traj_cls: 0.0021, loss_map_cls: 0.0835, loss_map_pts: 0.4314, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.3247, d0.loss_plan_l1_fix_dist: 0.4135, d1.loss_plan_l1_fix_time: 0.7220, d1.loss_plan_l1_fix_dist: 0.1929, d2.loss_plan_l1_fix_time: 0.6964, d2.loss_plan_l1_fix_dist: 0.1971, d3.loss_plan_l1_fix_time: 0.6946, d3.loss_plan_l1_fix_dist: 0.1842, d4.loss_plan_l1_fix_time: 0.6956, d4.loss_plan_l1_fix_dist: 0.1665, d5.loss_plan_l1_fix_time: 0.6969, d5.loss_plan_l1_fix_dist: 0.1724, d6.loss_plan_l1_fix_time: 0.6989, d6.loss_plan_l1_fix_dist: 0.1966, d0.loss_cls_all: 0.1137, d0.loss_bbox_all: 0.3123, d0.loss_cls: 0.1137, d0.loss_bbox: 0.3123, d1.loss_cls: 0.1115, d1.loss_bbox: 0.2822, d2.loss_cls: 0.1004, d2.loss_bbox: 0.2661, d3.loss_cls: 0.0808, d3.loss_bbox: 0.2595, d4.loss_cls: 0.0757, d4.loss_bbox: 0.2563, d5.loss_cls: 0.0735, d5.loss_bbox: 0.2551, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7052, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5448, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4899, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4560, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4501, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4485, d0.loss_map_cls_all: 0.1610, d0.loss_map_pts_all: 0.9215, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1610, d0.loss_map_pts: 0.9215, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1294, d1.loss_map_pts: 0.6565, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1080, d2.loss_map_pts: 0.5194, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0978, d3.loss_map_pts: 0.4628, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0919, d4.loss_map_pts: 0.4392, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0862, d5.loss_map_pts: 0.4316, d5.loss_map_dir: 0.0055, loss: 20.2912, grad_norm: 124.4297 +2026-03-01 04:38:00,218 - DriveTransformer - INFO - Epoch [12][9200/39528] lr: 5.696e-05, eta: 4 days, 6:28:27, time: 0.731, data_time: 0.037, memory: 19865, loss_cls: 0.0792, loss_bbox: 0.2743, loss_traj: 0.4835, loss_traj_cls: 0.0021, loss_map_cls: 0.0942, loss_map_pts: 0.4620, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.6102, d0.loss_plan_l1_fix_dist: 0.3446, d1.loss_plan_l1_fix_time: 0.6838, d1.loss_plan_l1_fix_dist: 0.1889, d2.loss_plan_l1_fix_time: 0.6719, d2.loss_plan_l1_fix_dist: 0.2033, d3.loss_plan_l1_fix_time: 0.6646, d3.loss_plan_l1_fix_dist: 0.1963, d4.loss_plan_l1_fix_time: 0.6657, d4.loss_plan_l1_fix_dist: 0.1590, d5.loss_plan_l1_fix_time: 0.6669, d5.loss_plan_l1_fix_dist: 0.1662, d6.loss_plan_l1_fix_time: 0.6681, d6.loss_plan_l1_fix_dist: 0.1811, d0.loss_cls_all: 0.1280, d0.loss_bbox_all: 0.3442, d0.loss_cls: 0.1280, d0.loss_bbox: 0.3442, d1.loss_cls: 0.1225, d1.loss_bbox: 0.3116, d2.loss_cls: 0.1063, d2.loss_bbox: 0.2882, d3.loss_cls: 0.0851, d3.loss_bbox: 0.2839, d4.loss_cls: 0.0806, d4.loss_bbox: 0.2789, d5.loss_cls: 0.0786, d5.loss_bbox: 0.2763, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7223, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5682, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5124, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4889, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4828, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4784, d0.loss_map_cls_all: 0.1805, d0.loss_map_pts_all: 1.0246, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1805, d0.loss_map_pts: 1.0246, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1422, d1.loss_map_pts: 0.7061, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1167, d2.loss_map_pts: 0.5476, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1071, d3.loss_map_pts: 0.4911, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1010, d4.loss_map_pts: 0.4664, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0954, d5.loss_map_pts: 0.4621, d5.loss_map_dir: 0.0058, loss: 21.2735, grad_norm: 123.7264 +2026-03-01 04:38:36,478 - DriveTransformer - INFO - Epoch [12][9250/39528] lr: 5.696e-05, eta: 4 days, 6:27:50, time: 0.725, data_time: 0.037, memory: 19865, loss_cls: 0.0811, loss_bbox: 0.2556, loss_traj: 0.3746, loss_traj_cls: 0.0022, loss_map_cls: 0.0709, loss_map_pts: 0.4204, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.3897, d0.loss_plan_l1_fix_dist: 0.4504, d1.loss_plan_l1_fix_time: 0.6498, d1.loss_plan_l1_fix_dist: 0.1841, d2.loss_plan_l1_fix_time: 0.6449, d2.loss_plan_l1_fix_dist: 0.2203, d3.loss_plan_l1_fix_time: 0.6472, d3.loss_plan_l1_fix_dist: 0.2154, d4.loss_plan_l1_fix_time: 0.6492, d4.loss_plan_l1_fix_dist: 0.1813, d5.loss_plan_l1_fix_time: 0.6513, d5.loss_plan_l1_fix_dist: 0.1999, d6.loss_plan_l1_fix_time: 0.6534, d6.loss_plan_l1_fix_dist: 0.2119, d0.loss_cls_all: 0.1250, d0.loss_bbox_all: 0.3185, d0.loss_cls: 0.1250, d0.loss_bbox: 0.3185, d1.loss_cls: 0.1183, d1.loss_bbox: 0.2853, d2.loss_cls: 0.1052, d2.loss_bbox: 0.2655, d3.loss_cls: 0.0879, d3.loss_bbox: 0.2622, d4.loss_cls: 0.0808, d4.loss_bbox: 0.2592, d5.loss_cls: 0.0808, d5.loss_bbox: 0.2566, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5523, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4408, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4046, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3861, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3797, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3760, d0.loss_map_cls_all: 0.1400, d0.loss_map_pts_all: 0.8704, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1400, d0.loss_map_pts: 0.8704, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1101, d1.loss_map_pts: 0.6306, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.0915, d2.loss_map_pts: 0.4975, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0837, d3.loss_map_pts: 0.4458, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0776, d4.loss_map_pts: 0.4259, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0736, d5.loss_map_pts: 0.4205, d5.loss_map_dir: 0.0047, loss: 19.3045, grad_norm: 124.1374 +2026-03-01 04:39:13,587 - DriveTransformer - INFO - Epoch [12][9300/39528] lr: 5.696e-05, eta: 4 days, 6:27:15, time: 0.742, data_time: 0.035, memory: 19865, loss_cls: 0.0868, loss_bbox: 0.2923, loss_traj: 0.4615, loss_traj_cls: 0.0021, loss_map_cls: 0.0978, loss_map_pts: 0.5060, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.7394, d0.loss_plan_l1_fix_dist: 0.4741, d1.loss_plan_l1_fix_time: 0.8705, d1.loss_plan_l1_fix_dist: 0.1984, d2.loss_plan_l1_fix_time: 0.8566, d2.loss_plan_l1_fix_dist: 0.2468, d3.loss_plan_l1_fix_time: 0.8576, d3.loss_plan_l1_fix_dist: 0.2288, d4.loss_plan_l1_fix_time: 0.8588, d4.loss_plan_l1_fix_dist: 0.1948, d5.loss_plan_l1_fix_time: 0.8601, d5.loss_plan_l1_fix_dist: 0.2062, d6.loss_plan_l1_fix_time: 0.8617, d6.loss_plan_l1_fix_dist: 0.2038, d0.loss_cls_all: 0.1395, d0.loss_bbox_all: 0.3689, d0.loss_cls: 0.1395, d0.loss_bbox: 0.3689, d1.loss_cls: 0.1311, d1.loss_bbox: 0.3330, d2.loss_cls: 0.1164, d2.loss_bbox: 0.3058, d3.loss_cls: 0.0959, d3.loss_bbox: 0.3000, d4.loss_cls: 0.0898, d4.loss_bbox: 0.2961, d5.loss_cls: 0.0872, d5.loss_bbox: 0.2935, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6901, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5258, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4764, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4607, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4582, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4566, d0.loss_map_cls_all: 0.1728, d0.loss_map_pts_all: 1.0129, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1728, d0.loss_map_pts: 1.0129, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1415, d1.loss_map_pts: 0.7382, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1238, d2.loss_map_pts: 0.5901, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1127, d3.loss_map_pts: 0.5355, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1052, d4.loss_map_pts: 0.5144, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0998, d5.loss_map_pts: 0.5067, d5.loss_map_dir: 0.0062, loss: 23.1320, grad_norm: 121.8952 +2026-03-01 04:39:49,651 - DriveTransformer - INFO - Epoch [12][9350/39528] lr: 5.696e-05, eta: 4 days, 6:26:37, time: 0.721, data_time: 0.036, memory: 19865, loss_cls: 0.0840, loss_bbox: 0.2985, loss_traj: 0.4681, loss_traj_cls: 0.0021, loss_map_cls: 0.0956, loss_map_pts: 0.4771, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.6910, d0.loss_plan_l1_fix_dist: 0.3554, d1.loss_plan_l1_fix_time: 0.7636, d1.loss_plan_l1_fix_dist: 0.1954, d2.loss_plan_l1_fix_time: 0.7494, d2.loss_plan_l1_fix_dist: 0.2684, d3.loss_plan_l1_fix_time: 0.7454, d3.loss_plan_l1_fix_dist: 0.2433, d4.loss_plan_l1_fix_time: 0.7472, d4.loss_plan_l1_fix_dist: 0.2160, d5.loss_plan_l1_fix_time: 0.7497, d5.loss_plan_l1_fix_dist: 0.2139, d6.loss_plan_l1_fix_time: 0.7529, d6.loss_plan_l1_fix_dist: 0.2256, d0.loss_cls_all: 0.1371, d0.loss_bbox_all: 0.3634, d0.loss_cls: 0.1371, d0.loss_bbox: 0.3634, d1.loss_cls: 0.1294, d1.loss_bbox: 0.3330, d2.loss_cls: 0.1137, d2.loss_bbox: 0.3088, d3.loss_cls: 0.0918, d3.loss_bbox: 0.3022, d4.loss_cls: 0.0850, d4.loss_bbox: 0.3000, d5.loss_cls: 0.0838, d5.loss_bbox: 0.2986, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6885, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5536, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4962, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4705, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4712, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4696, d0.loss_map_cls_all: 0.1851, d0.loss_map_pts_all: 0.9852, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1851, d0.loss_map_pts: 0.9852, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1485, d1.loss_map_pts: 0.7090, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1254, d2.loss_map_pts: 0.5568, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1100, d3.loss_map_pts: 0.5027, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1041, d4.loss_map_pts: 0.4853, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0973, d5.loss_map_pts: 0.4776, d5.loss_map_dir: 0.0058, loss: 22.2506, grad_norm: 123.5639 +2026-03-01 04:40:23,691 - DriveTransformer - INFO - Epoch [12][9400/39528] lr: 5.696e-05, eta: 4 days, 6:25:54, time: 0.681, data_time: 0.034, memory: 19865, loss_cls: 0.0945, loss_bbox: 0.2803, loss_traj: 0.4725, loss_traj_cls: 0.0021, loss_map_cls: 0.0636, loss_map_pts: 0.3791, loss_map_dir: 0.0038, d0.loss_plan_l1_fix_time: 2.5714, d0.loss_plan_l1_fix_dist: 0.4020, d1.loss_plan_l1_fix_time: 0.7708, d1.loss_plan_l1_fix_dist: 0.1789, d2.loss_plan_l1_fix_time: 0.7606, d2.loss_plan_l1_fix_dist: 0.2605, d3.loss_plan_l1_fix_time: 0.7572, d3.loss_plan_l1_fix_dist: 0.2303, d4.loss_plan_l1_fix_time: 0.7617, d4.loss_plan_l1_fix_dist: 0.2206, d5.loss_plan_l1_fix_time: 0.7664, d5.loss_plan_l1_fix_dist: 0.2199, d6.loss_plan_l1_fix_time: 0.7719, d6.loss_plan_l1_fix_dist: 0.2304, d0.loss_cls_all: 0.1405, d0.loss_bbox_all: 0.3374, d0.loss_cls: 0.1405, d0.loss_bbox: 0.3374, d1.loss_cls: 0.1338, d1.loss_bbox: 0.3035, d2.loss_cls: 0.1213, d2.loss_bbox: 0.2826, d3.loss_cls: 0.1024, d3.loss_bbox: 0.2796, d4.loss_cls: 0.0969, d4.loss_bbox: 0.2794, d5.loss_cls: 0.0939, d5.loss_bbox: 0.2810, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7604, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5790, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5108, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4826, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4766, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4723, d0.loss_map_cls_all: 0.1272, d0.loss_map_pts_all: 0.7931, d0.loss_map_dir_all: 0.0042, d0.loss_map_cls: 0.1272, d0.loss_map_pts: 0.7931, d0.loss_map_dir: 0.0042, d1.loss_map_cls: 0.1001, d1.loss_map_pts: 0.5890, d1.loss_map_dir: 0.0039, d2.loss_map_cls: 0.0847, d2.loss_map_pts: 0.4546, d2.loss_map_dir: 0.0036, d3.loss_map_cls: 0.0744, d3.loss_map_pts: 0.4043, d3.loss_map_dir: 0.0036, d4.loss_map_cls: 0.0676, d4.loss_map_pts: 0.3867, d4.loss_map_dir: 0.0037, d5.loss_map_cls: 0.0648, d5.loss_map_pts: 0.3802, d5.loss_map_dir: 0.0037, loss: 20.8898, grad_norm: 127.9838 +2026-03-01 04:40:59,222 - DriveTransformer - INFO - Epoch [12][9450/39528] lr: 5.696e-05, eta: 4 days, 6:25:15, time: 0.711, data_time: 0.036, memory: 19865, loss_cls: 0.0789, loss_bbox: 0.2771, loss_traj: 0.3893, loss_traj_cls: 0.0020, loss_map_cls: 0.0868, loss_map_pts: 0.4594, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.4026, d0.loss_plan_l1_fix_dist: 0.4038, d1.loss_plan_l1_fix_time: 0.7395, d1.loss_plan_l1_fix_dist: 0.1627, d2.loss_plan_l1_fix_time: 0.7226, d2.loss_plan_l1_fix_dist: 0.2509, d3.loss_plan_l1_fix_time: 0.7187, d3.loss_plan_l1_fix_dist: 0.2038, d4.loss_plan_l1_fix_time: 0.7208, d4.loss_plan_l1_fix_dist: 0.1918, d5.loss_plan_l1_fix_time: 0.7238, d5.loss_plan_l1_fix_dist: 0.1897, d6.loss_plan_l1_fix_time: 0.7277, d6.loss_plan_l1_fix_dist: 0.1778, d0.loss_cls_all: 0.1272, d0.loss_bbox_all: 0.3332, d0.loss_cls: 0.1272, d0.loss_bbox: 0.3332, d1.loss_cls: 0.1224, d1.loss_bbox: 0.3023, d2.loss_cls: 0.1089, d2.loss_bbox: 0.2829, d3.loss_cls: 0.0874, d3.loss_bbox: 0.2813, d4.loss_cls: 0.0812, d4.loss_bbox: 0.2789, d5.loss_cls: 0.0792, d5.loss_bbox: 0.2776, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5878, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4379, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4020, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3927, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3872, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3871, d0.loss_map_cls_all: 0.1836, d0.loss_map_pts_all: 0.9751, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1836, d0.loss_map_pts: 0.9751, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1475, d1.loss_map_pts: 0.7123, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1155, d2.loss_map_pts: 0.5521, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1042, d3.loss_map_pts: 0.4858, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0956, d4.loss_map_pts: 0.4630, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0891, d5.loss_map_pts: 0.4585, d5.loss_map_dir: 0.0057, loss: 20.6392, grad_norm: 129.4163 +2026-03-01 04:41:34,844 - DriveTransformer - INFO - Epoch [12][9500/39528] lr: 5.696e-05, eta: 4 days, 6:24:36, time: 0.712, data_time: 0.037, memory: 19865, loss_cls: 0.0834, loss_bbox: 0.2743, loss_traj: 0.4553, loss_traj_cls: 0.0021, loss_map_cls: 0.0737, loss_map_pts: 0.3997, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.5140, d0.loss_plan_l1_fix_dist: 0.3748, d1.loss_plan_l1_fix_time: 0.6688, d1.loss_plan_l1_fix_dist: 0.1661, d2.loss_plan_l1_fix_time: 0.6517, d2.loss_plan_l1_fix_dist: 0.2347, d3.loss_plan_l1_fix_time: 0.6417, d3.loss_plan_l1_fix_dist: 0.1925, d4.loss_plan_l1_fix_time: 0.6417, d4.loss_plan_l1_fix_dist: 0.1941, d5.loss_plan_l1_fix_time: 0.6433, d5.loss_plan_l1_fix_dist: 0.2109, d6.loss_plan_l1_fix_time: 0.6457, d6.loss_plan_l1_fix_dist: 0.1919, d0.loss_cls_all: 0.1303, d0.loss_bbox_all: 0.3341, d0.loss_cls: 0.1303, d0.loss_bbox: 0.3341, d1.loss_cls: 0.1230, d1.loss_bbox: 0.3015, d2.loss_cls: 0.1103, d2.loss_bbox: 0.2798, d3.loss_cls: 0.0884, d3.loss_bbox: 0.2784, d4.loss_cls: 0.0855, d4.loss_bbox: 0.2754, d5.loss_cls: 0.0840, d5.loss_bbox: 0.2744, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6784, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5376, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4823, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4698, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4581, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4568, d0.loss_map_cls_all: 0.1447, d0.loss_map_pts_all: 0.8423, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1447, d0.loss_map_pts: 0.8423, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1154, d1.loss_map_pts: 0.6046, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.0932, d2.loss_map_pts: 0.4771, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0837, d3.loss_map_pts: 0.4263, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0802, d4.loss_map_pts: 0.4040, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0761, d5.loss_map_pts: 0.3993, d5.loss_map_dir: 0.0050, loss: 19.9546, grad_norm: 130.1583 +2026-03-01 04:42:11,786 - DriveTransformer - INFO - Epoch [12][9550/39528] lr: 5.696e-05, eta: 4 days, 6:24:01, time: 0.739, data_time: 0.036, memory: 19865, loss_cls: 0.0887, loss_bbox: 0.2890, loss_traj: 0.5328, loss_traj_cls: 0.0021, loss_map_cls: 0.0901, loss_map_pts: 0.4876, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.8885, d0.loss_plan_l1_fix_dist: 0.3890, d1.loss_plan_l1_fix_time: 0.7278, d1.loss_plan_l1_fix_dist: 0.1980, d2.loss_plan_l1_fix_time: 0.7156, d2.loss_plan_l1_fix_dist: 0.2425, d3.loss_plan_l1_fix_time: 0.7171, d3.loss_plan_l1_fix_dist: 0.1910, d4.loss_plan_l1_fix_time: 0.7187, d4.loss_plan_l1_fix_dist: 0.1963, d5.loss_plan_l1_fix_time: 0.7207, d5.loss_plan_l1_fix_dist: 0.2148, d6.loss_plan_l1_fix_time: 0.7229, d6.loss_plan_l1_fix_dist: 0.2159, d0.loss_cls_all: 0.1357, d0.loss_bbox_all: 0.3557, d0.loss_cls: 0.1357, d0.loss_bbox: 0.3557, d1.loss_cls: 0.1290, d1.loss_bbox: 0.3195, d2.loss_cls: 0.1136, d2.loss_bbox: 0.3015, d3.loss_cls: 0.0949, d3.loss_bbox: 0.2948, d4.loss_cls: 0.0909, d4.loss_bbox: 0.2904, d5.loss_cls: 0.0893, d5.loss_bbox: 0.2896, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7804, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.6269, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5783, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5547, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5376, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5332, d0.loss_map_cls_all: 0.1680, d0.loss_map_pts_all: 0.9868, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1680, d0.loss_map_pts: 0.9868, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1364, d1.loss_map_pts: 0.7155, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1135, d2.loss_map_pts: 0.5717, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1007, d3.loss_map_pts: 0.5182, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.0969, d4.loss_map_pts: 0.4943, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0925, d5.loss_map_pts: 0.4881, d5.loss_map_dir: 0.0068, loss: 22.6557, grad_norm: 132.6841 +2026-03-01 04:42:48,496 - DriveTransformer - INFO - Epoch [12][9600/39528] lr: 5.696e-05, eta: 4 days, 6:23:25, time: 0.734, data_time: 0.038, memory: 19865, loss_cls: 0.0834, loss_bbox: 0.2664, loss_traj: 0.5533, loss_traj_cls: 0.0021, loss_map_cls: 0.0858, loss_map_pts: 0.4356, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.9988, d0.loss_plan_l1_fix_dist: 0.4621, d1.loss_plan_l1_fix_time: 0.6943, d1.loss_plan_l1_fix_dist: 0.1997, d2.loss_plan_l1_fix_time: 0.6729, d2.loss_plan_l1_fix_dist: 0.2285, d3.loss_plan_l1_fix_time: 0.6702, d3.loss_plan_l1_fix_dist: 0.1529, d4.loss_plan_l1_fix_time: 0.6711, d4.loss_plan_l1_fix_dist: 0.1543, d5.loss_plan_l1_fix_time: 0.6729, d5.loss_plan_l1_fix_dist: 0.1680, d6.loss_plan_l1_fix_time: 0.6750, d6.loss_plan_l1_fix_dist: 0.1710, d0.loss_cls_all: 0.1280, d0.loss_bbox_all: 0.3301, d0.loss_cls: 0.1280, d0.loss_bbox: 0.3301, d1.loss_cls: 0.1195, d1.loss_bbox: 0.2970, d2.loss_cls: 0.1052, d2.loss_bbox: 0.2769, d3.loss_cls: 0.0904, d3.loss_bbox: 0.2701, d4.loss_cls: 0.0838, d4.loss_bbox: 0.2670, d5.loss_cls: 0.0833, d5.loss_bbox: 0.2666, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8072, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.6350, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5723, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5532, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5484, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5504, d0.loss_map_cls_all: 0.1594, d0.loss_map_pts_all: 0.9390, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1594, d0.loss_map_pts: 0.9390, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1321, d1.loss_map_pts: 0.6669, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1098, d2.loss_map_pts: 0.5220, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0990, d3.loss_map_pts: 0.4609, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0931, d4.loss_map_pts: 0.4400, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0880, d5.loss_map_pts: 0.4355, d5.loss_map_dir: 0.0052, loss: 21.7537, grad_norm: 128.8523 +2026-03-01 04:43:24,303 - DriveTransformer - INFO - Epoch [12][9650/39528] lr: 5.696e-05, eta: 4 days, 6:22:46, time: 0.716, data_time: 0.036, memory: 19865, loss_cls: 0.0719, loss_bbox: 0.2503, loss_traj: 0.4641, loss_traj_cls: 0.0022, loss_map_cls: 0.0744, loss_map_pts: 0.4056, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.3049, d0.loss_plan_l1_fix_dist: 0.4297, d1.loss_plan_l1_fix_time: 0.6295, d1.loss_plan_l1_fix_dist: 0.2171, d2.loss_plan_l1_fix_time: 0.6173, d2.loss_plan_l1_fix_dist: 0.2356, d3.loss_plan_l1_fix_time: 0.6165, d3.loss_plan_l1_fix_dist: 0.1666, d4.loss_plan_l1_fix_time: 0.6177, d4.loss_plan_l1_fix_dist: 0.1767, d5.loss_plan_l1_fix_time: 0.6196, d5.loss_plan_l1_fix_dist: 0.1785, d6.loss_plan_l1_fix_time: 0.6218, d6.loss_plan_l1_fix_dist: 0.1936, d0.loss_cls_all: 0.1142, d0.loss_bbox_all: 0.3027, d0.loss_cls: 0.1142, d0.loss_bbox: 0.3027, d1.loss_cls: 0.1035, d1.loss_bbox: 0.2756, d2.loss_cls: 0.0936, d2.loss_bbox: 0.2583, d3.loss_cls: 0.0789, d3.loss_bbox: 0.2536, d4.loss_cls: 0.0734, d4.loss_bbox: 0.2516, d5.loss_cls: 0.0723, d5.loss_bbox: 0.2505, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6717, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5378, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4869, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4755, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4711, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4670, d0.loss_map_cls_all: 0.1460, d0.loss_map_pts_all: 0.9290, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1460, d0.loss_map_pts: 0.9290, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1159, d1.loss_map_pts: 0.6439, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.0977, d2.loss_map_pts: 0.4812, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0867, d3.loss_map_pts: 0.4276, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0800, d4.loss_map_pts: 0.4119, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0761, d5.loss_map_pts: 0.4051, d5.loss_map_dir: 0.0050, loss: 19.5720, grad_norm: 129.8812 +2026-03-01 04:44:01,159 - DriveTransformer - INFO - Epoch [12][9700/39528] lr: 5.696e-05, eta: 4 days, 6:22:11, time: 0.737, data_time: 0.035, memory: 19865, loss_cls: 0.0833, loss_bbox: 0.2588, loss_traj: 0.4467, loss_traj_cls: 0.0021, loss_map_cls: 0.0724, loss_map_pts: 0.4505, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.2991, d0.loss_plan_l1_fix_dist: 0.4435, d1.loss_plan_l1_fix_time: 0.6250, d1.loss_plan_l1_fix_dist: 0.2311, d2.loss_plan_l1_fix_time: 0.6103, d2.loss_plan_l1_fix_dist: 0.2173, d3.loss_plan_l1_fix_time: 0.5909, d3.loss_plan_l1_fix_dist: 0.1640, d4.loss_plan_l1_fix_time: 0.5911, d4.loss_plan_l1_fix_dist: 0.1699, d5.loss_plan_l1_fix_time: 0.5926, d5.loss_plan_l1_fix_dist: 0.1698, d6.loss_plan_l1_fix_time: 0.5945, d6.loss_plan_l1_fix_dist: 0.1800, d0.loss_cls_all: 0.1235, d0.loss_bbox_all: 0.3275, d0.loss_cls: 0.1235, d0.loss_bbox: 0.3275, d1.loss_cls: 0.1192, d1.loss_bbox: 0.2942, d2.loss_cls: 0.1056, d2.loss_bbox: 0.2733, d3.loss_cls: 0.0903, d3.loss_bbox: 0.2628, d4.loss_cls: 0.0835, d4.loss_bbox: 0.2607, d5.loss_cls: 0.0822, d5.loss_bbox: 0.2598, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7326, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5408, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4876, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4587, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4515, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4525, d0.loss_map_cls_all: 0.1635, d0.loss_map_pts_all: 1.0265, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1635, d0.loss_map_pts: 1.0265, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1237, d1.loss_map_pts: 0.7270, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.0994, d2.loss_map_pts: 0.5480, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0877, d3.loss_map_pts: 0.4826, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0806, d4.loss_map_pts: 0.4550, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0749, d5.loss_map_pts: 0.4517, d5.loss_map_dir: 0.0056, loss: 20.2126, grad_norm: 129.9577 +2026-03-01 04:44:37,933 - DriveTransformer - INFO - Epoch [12][9750/39528] lr: 5.696e-05, eta: 4 days, 6:21:35, time: 0.735, data_time: 0.037, memory: 19865, loss_cls: 0.0741, loss_bbox: 0.2630, loss_traj: 0.4718, loss_traj_cls: 0.0021, loss_map_cls: 0.0802, loss_map_pts: 0.4568, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.6419, d0.loss_plan_l1_fix_dist: 0.4488, d1.loss_plan_l1_fix_time: 0.7514, d1.loss_plan_l1_fix_dist: 0.2557, d2.loss_plan_l1_fix_time: 0.7388, d2.loss_plan_l1_fix_dist: 0.2203, d3.loss_plan_l1_fix_time: 0.7300, d3.loss_plan_l1_fix_dist: 0.1785, d4.loss_plan_l1_fix_time: 0.7312, d4.loss_plan_l1_fix_dist: 0.1817, d5.loss_plan_l1_fix_time: 0.7328, d5.loss_plan_l1_fix_dist: 0.1962, d6.loss_plan_l1_fix_time: 0.7348, d6.loss_plan_l1_fix_dist: 0.1992, d0.loss_cls_all: 0.1246, d0.loss_bbox_all: 0.3289, d0.loss_cls: 0.1246, d0.loss_bbox: 0.3289, d1.loss_cls: 0.1175, d1.loss_bbox: 0.2937, d2.loss_cls: 0.0987, d2.loss_bbox: 0.2747, d3.loss_cls: 0.0803, d3.loss_bbox: 0.2687, d4.loss_cls: 0.0755, d4.loss_bbox: 0.2653, d5.loss_cls: 0.0746, d5.loss_bbox: 0.2636, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6609, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5429, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4925, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4756, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4782, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4735, d0.loss_map_cls_all: 0.1580, d0.loss_map_pts_all: 0.9349, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1580, d0.loss_map_pts: 0.9349, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1215, d1.loss_map_pts: 0.6845, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1028, d2.loss_map_pts: 0.5424, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0924, d3.loss_map_pts: 0.4886, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0867, d4.loss_map_pts: 0.4632, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0830, d5.loss_map_pts: 0.4564, d5.loss_map_dir: 0.0055, loss: 21.2911, grad_norm: 129.3065 +2026-03-01 04:45:16,845 - DriveTransformer - INFO - Epoch [12][9800/39528] lr: 5.696e-05, eta: 4 days, 6:21:04, time: 0.780, data_time: 0.037, memory: 19865, loss_cls: 0.0845, loss_bbox: 0.2873, loss_traj: 0.4377, loss_traj_cls: 0.0020, loss_map_cls: 0.1060, loss_map_pts: 0.5802, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.5251, d0.loss_plan_l1_fix_dist: 0.5340, d1.loss_plan_l1_fix_time: 0.7188, d1.loss_plan_l1_fix_dist: 0.2494, d2.loss_plan_l1_fix_time: 0.7007, d2.loss_plan_l1_fix_dist: 0.2084, d3.loss_plan_l1_fix_time: 0.6998, d3.loss_plan_l1_fix_dist: 0.1763, d4.loss_plan_l1_fix_time: 0.7026, d4.loss_plan_l1_fix_dist: 0.1775, d5.loss_plan_l1_fix_time: 0.7053, d5.loss_plan_l1_fix_dist: 0.1798, d6.loss_plan_l1_fix_time: 0.7078, d6.loss_plan_l1_fix_dist: 0.1848, d0.loss_cls_all: 0.1376, d0.loss_bbox_all: 0.3521, d0.loss_cls: 0.1376, d0.loss_bbox: 0.3521, d1.loss_cls: 0.1303, d1.loss_bbox: 0.3150, d2.loss_cls: 0.1135, d2.loss_bbox: 0.2946, d3.loss_cls: 0.0934, d3.loss_bbox: 0.2875, d4.loss_cls: 0.0874, d4.loss_bbox: 0.2862, d5.loss_cls: 0.0850, d5.loss_bbox: 0.2866, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7265, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5455, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4732, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4545, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4497, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4397, d0.loss_map_cls_all: 0.2003, d0.loss_map_pts_all: 1.2007, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.2003, d0.loss_map_pts: 1.2007, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1630, d1.loss_map_pts: 0.8747, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1373, d2.loss_map_pts: 0.6862, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1248, d3.loss_map_pts: 0.6150, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1162, d4.loss_map_pts: 0.5865, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1096, d5.loss_map_pts: 0.5798, d5.loss_map_dir: 0.0070, loss: 22.8730, grad_norm: 130.6003 +2026-03-01 04:45:52,478 - DriveTransformer - INFO - Epoch [12][9850/39528] lr: 5.696e-05, eta: 4 days, 6:20:25, time: 0.711, data_time: 0.036, memory: 19865, loss_cls: 0.0873, loss_bbox: 0.2692, loss_traj: 0.5105, loss_traj_cls: 0.0020, loss_map_cls: 0.0950, loss_map_pts: 0.4973, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.5626, d0.loss_plan_l1_fix_dist: 0.3622, d1.loss_plan_l1_fix_time: 0.7485, d1.loss_plan_l1_fix_dist: 0.2465, d2.loss_plan_l1_fix_time: 0.7351, d2.loss_plan_l1_fix_dist: 0.1980, d3.loss_plan_l1_fix_time: 0.7191, d3.loss_plan_l1_fix_dist: 0.1604, d4.loss_plan_l1_fix_time: 0.7194, d4.loss_plan_l1_fix_dist: 0.1700, d5.loss_plan_l1_fix_time: 0.7210, d5.loss_plan_l1_fix_dist: 0.1631, d6.loss_plan_l1_fix_time: 0.7231, d6.loss_plan_l1_fix_dist: 0.1761, d0.loss_cls_all: 0.1296, d0.loss_bbox_all: 0.3331, d0.loss_cls: 0.1296, d0.loss_bbox: 0.3331, d1.loss_cls: 0.1253, d1.loss_bbox: 0.2983, d2.loss_cls: 0.1128, d2.loss_bbox: 0.2794, d3.loss_cls: 0.0938, d3.loss_bbox: 0.2749, d4.loss_cls: 0.0891, d4.loss_bbox: 0.2708, d5.loss_cls: 0.0868, d5.loss_bbox: 0.2699, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8046, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.6082, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5382, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5129, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5098, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5128, d0.loss_map_cls_all: 0.1895, d0.loss_map_pts_all: 1.0655, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1895, d0.loss_map_pts: 1.0655, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1500, d1.loss_map_pts: 0.7764, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1231, d2.loss_map_pts: 0.5998, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1100, d3.loss_map_pts: 0.5299, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1024, d4.loss_map_pts: 0.5024, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0978, d5.loss_map_pts: 0.4975, d5.loss_map_dir: 0.0052, loss: 22.2255, grad_norm: 130.4045 +2026-03-01 04:46:29,192 - DriveTransformer - INFO - Epoch [12][9900/39528] lr: 5.696e-05, eta: 4 days, 6:19:49, time: 0.734, data_time: 0.038, memory: 19865, loss_cls: 0.0918, loss_bbox: 0.2879, loss_traj: 0.4525, loss_traj_cls: 0.0021, loss_map_cls: 0.1226, loss_map_pts: 0.5607, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.8817, d0.loss_plan_l1_fix_dist: 0.4193, d1.loss_plan_l1_fix_time: 0.7689, d1.loss_plan_l1_fix_dist: 0.2600, d2.loss_plan_l1_fix_time: 0.7357, d2.loss_plan_l1_fix_dist: 0.1965, d3.loss_plan_l1_fix_time: 0.7256, d3.loss_plan_l1_fix_dist: 0.1690, d4.loss_plan_l1_fix_time: 0.7274, d4.loss_plan_l1_fix_dist: 0.1859, d5.loss_plan_l1_fix_time: 0.7293, d5.loss_plan_l1_fix_dist: 0.1852, d6.loss_plan_l1_fix_time: 0.7318, d6.loss_plan_l1_fix_dist: 0.1958, d0.loss_cls_all: 0.1499, d0.loss_bbox_all: 0.3595, d0.loss_cls: 0.1499, d0.loss_bbox: 0.3595, d1.loss_cls: 0.1377, d1.loss_bbox: 0.3218, d2.loss_cls: 0.1232, d2.loss_bbox: 0.2979, d3.loss_cls: 0.1046, d3.loss_bbox: 0.2915, d4.loss_cls: 0.0946, d4.loss_bbox: 0.2899, d5.loss_cls: 0.0913, d5.loss_bbox: 0.2888, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6915, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5300, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4808, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4598, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4516, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4483, d0.loss_map_cls_all: 0.1960, d0.loss_map_pts_all: 1.1144, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1960, d0.loss_map_pts: 1.1144, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1675, d1.loss_map_pts: 0.8348, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1490, d2.loss_map_pts: 0.6594, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1408, d3.loss_map_pts: 0.5928, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1309, d4.loss_map_pts: 0.5671, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1262, d5.loss_map_pts: 0.5607, d5.loss_map_dir: 0.0064, loss: 23.1595, grad_norm: 131.1223 +2026-03-01 04:47:05,830 - DriveTransformer - INFO - Epoch [12][9950/39528] lr: 5.696e-05, eta: 4 days, 6:19:12, time: 0.733, data_time: 0.036, memory: 19865, loss_cls: 0.0859, loss_bbox: 0.2642, loss_traj: 0.4783, loss_traj_cls: 0.0021, loss_map_cls: 0.0781, loss_map_pts: 0.4727, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.8825, d0.loss_plan_l1_fix_dist: 0.5239, d1.loss_plan_l1_fix_time: 0.7683, d1.loss_plan_l1_fix_dist: 0.2594, d2.loss_plan_l1_fix_time: 0.7586, d2.loss_plan_l1_fix_dist: 0.1996, d3.loss_plan_l1_fix_time: 0.7547, d3.loss_plan_l1_fix_dist: 0.1818, d4.loss_plan_l1_fix_time: 0.7574, d4.loss_plan_l1_fix_dist: 0.1957, d5.loss_plan_l1_fix_time: 0.7602, d5.loss_plan_l1_fix_dist: 0.2023, d6.loss_plan_l1_fix_time: 0.7635, d6.loss_plan_l1_fix_dist: 0.2057, d0.loss_cls_all: 0.1311, d0.loss_bbox_all: 0.3337, d0.loss_cls: 0.1311, d0.loss_bbox: 0.3337, d1.loss_cls: 0.1229, d1.loss_bbox: 0.2975, d2.loss_cls: 0.1155, d2.loss_bbox: 0.2738, d3.loss_cls: 0.0959, d3.loss_bbox: 0.2685, d4.loss_cls: 0.0889, d4.loss_bbox: 0.2657, d5.loss_cls: 0.0860, d5.loss_bbox: 0.2650, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8602, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5734, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5100, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4851, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4773, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4748, d0.loss_map_cls_all: 0.1516, d0.loss_map_pts_all: 0.9900, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1516, d0.loss_map_pts: 0.9900, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1231, d1.loss_map_pts: 0.7054, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1007, d2.loss_map_pts: 0.5575, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.0895, d3.loss_map_pts: 0.4990, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0840, d4.loss_map_pts: 0.4781, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0796, d5.loss_map_pts: 0.4719, d5.loss_map_dir: 0.0062, loss: 22.3130, grad_norm: 134.3504 +2026-03-01 04:47:41,769 - DriveTransformer - INFO - Epoch [12][10000/39528] lr: 5.696e-05, eta: 4 days, 6:18:34, time: 0.719, data_time: 0.035, memory: 19865, loss_cls: 0.0916, loss_bbox: 0.2817, loss_traj: 0.4218, loss_traj_cls: 0.0020, loss_map_cls: 0.1170, loss_map_pts: 0.5188, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.4462, d0.loss_plan_l1_fix_dist: 0.3441, d1.loss_plan_l1_fix_time: 0.7278, d1.loss_plan_l1_fix_dist: 0.2364, d2.loss_plan_l1_fix_time: 0.7218, d2.loss_plan_l1_fix_dist: 0.1730, d3.loss_plan_l1_fix_time: 0.7210, d3.loss_plan_l1_fix_dist: 0.1608, d4.loss_plan_l1_fix_time: 0.7233, d4.loss_plan_l1_fix_dist: 0.1659, d5.loss_plan_l1_fix_time: 0.7253, d5.loss_plan_l1_fix_dist: 0.1752, d6.loss_plan_l1_fix_time: 0.7283, d6.loss_plan_l1_fix_dist: 0.1785, d0.loss_cls_all: 0.1424, d0.loss_bbox_all: 0.3569, d0.loss_cls: 0.1424, d0.loss_bbox: 0.3569, d1.loss_cls: 0.1317, d1.loss_bbox: 0.3204, d2.loss_cls: 0.1185, d2.loss_bbox: 0.2995, d3.loss_cls: 0.0990, d3.loss_bbox: 0.2900, d4.loss_cls: 0.0932, d4.loss_bbox: 0.2836, d5.loss_cls: 0.0916, d5.loss_bbox: 0.2824, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6629, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4834, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4523, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4285, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4221, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4175, d0.loss_map_cls_all: 0.2257, d0.loss_map_pts_all: 1.0987, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.2257, d0.loss_map_pts: 1.0987, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1850, d1.loss_map_pts: 0.8094, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1502, d2.loss_map_pts: 0.6232, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1346, d3.loss_map_pts: 0.5466, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1260, d4.loss_map_pts: 0.5225, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.1205, d5.loss_map_pts: 0.5168, d5.loss_map_dir: 0.0053, loss: 21.9677, grad_norm: 136.0064 +2026-03-01 04:48:16,546 - DriveTransformer - INFO - Epoch [12][10050/39528] lr: 5.696e-05, eta: 4 days, 6:17:54, time: 0.696, data_time: 0.036, memory: 19865, loss_cls: 0.0922, loss_bbox: 0.2594, loss_traj: 0.4294, loss_traj_cls: 0.0021, loss_map_cls: 0.0706, loss_map_pts: 0.3674, loss_map_dir: 0.0043, d0.loss_plan_l1_fix_time: 2.7150, d0.loss_plan_l1_fix_dist: 0.4088, d1.loss_plan_l1_fix_time: 0.6753, d1.loss_plan_l1_fix_dist: 0.2289, d2.loss_plan_l1_fix_time: 0.6624, d2.loss_plan_l1_fix_dist: 0.1745, d3.loss_plan_l1_fix_time: 0.6528, d3.loss_plan_l1_fix_dist: 0.1664, d4.loss_plan_l1_fix_time: 0.6540, d4.loss_plan_l1_fix_dist: 0.1541, d5.loss_plan_l1_fix_time: 0.6556, d5.loss_plan_l1_fix_dist: 0.1633, d6.loss_plan_l1_fix_time: 0.6574, d6.loss_plan_l1_fix_dist: 0.1781, d0.loss_cls_all: 0.1377, d0.loss_bbox_all: 0.3241, d0.loss_cls: 0.1377, d0.loss_bbox: 0.3241, d1.loss_cls: 0.1294, d1.loss_bbox: 0.2916, d2.loss_cls: 0.1154, d2.loss_bbox: 0.2746, d3.loss_cls: 0.0977, d3.loss_bbox: 0.2680, d4.loss_cls: 0.0941, d4.loss_bbox: 0.2605, d5.loss_cls: 0.0927, d5.loss_bbox: 0.2596, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6982, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5247, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4650, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4456, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4338, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4291, d0.loss_map_cls_all: 0.1404, d0.loss_map_pts_all: 0.7559, d0.loss_map_dir_all: 0.0045, d0.loss_map_cls: 0.1404, d0.loss_map_pts: 0.7559, d0.loss_map_dir: 0.0045, d1.loss_map_cls: 0.1096, d1.loss_map_pts: 0.5447, d1.loss_map_dir: 0.0042, d2.loss_map_cls: 0.0917, d2.loss_map_pts: 0.4318, d2.loss_map_dir: 0.0040, d3.loss_map_cls: 0.0834, d3.loss_map_pts: 0.3864, d3.loss_map_dir: 0.0041, d4.loss_map_cls: 0.0773, d4.loss_map_pts: 0.3736, d4.loss_map_dir: 0.0042, d5.loss_map_cls: 0.0727, d5.loss_map_pts: 0.3677, d5.loss_map_dir: 0.0042, loss: 19.5421, grad_norm: 134.4214 +2026-03-01 04:48:53,991 - DriveTransformer - INFO - Epoch [12][10100/39528] lr: 5.696e-05, eta: 4 days, 6:17:19, time: 0.749, data_time: 0.035, memory: 19865, loss_cls: 0.0731, loss_bbox: 0.2412, loss_traj: 0.4063, loss_traj_cls: 0.0021, loss_map_cls: 0.0701, loss_map_pts: 0.4273, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.2266, d0.loss_plan_l1_fix_dist: 0.4406, d1.loss_plan_l1_fix_time: 0.6770, d1.loss_plan_l1_fix_dist: 0.2171, d2.loss_plan_l1_fix_time: 0.6425, d2.loss_plan_l1_fix_dist: 0.1592, d3.loss_plan_l1_fix_time: 0.6425, d3.loss_plan_l1_fix_dist: 0.1618, d4.loss_plan_l1_fix_time: 0.6439, d4.loss_plan_l1_fix_dist: 0.1560, d5.loss_plan_l1_fix_time: 0.6453, d5.loss_plan_l1_fix_dist: 0.1631, d6.loss_plan_l1_fix_time: 0.6469, d6.loss_plan_l1_fix_dist: 0.1715, d0.loss_cls_all: 0.1137, d0.loss_bbox_all: 0.3075, d0.loss_cls: 0.1137, d0.loss_bbox: 0.3075, d1.loss_cls: 0.1081, d1.loss_bbox: 0.2717, d2.loss_cls: 0.0955, d2.loss_bbox: 0.2539, d3.loss_cls: 0.0796, d3.loss_bbox: 0.2463, d4.loss_cls: 0.0743, d4.loss_bbox: 0.2440, d5.loss_cls: 0.0731, d5.loss_bbox: 0.2420, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6104, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4742, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4257, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4126, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4077, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4053, d0.loss_map_cls_all: 0.1526, d0.loss_map_pts_all: 0.9074, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1526, d0.loss_map_pts: 0.9074, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1199, d1.loss_map_pts: 0.6492, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.0971, d2.loss_map_pts: 0.4995, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.0862, d3.loss_map_pts: 0.4462, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0783, d4.loss_map_pts: 0.4285, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0722, d5.loss_map_pts: 0.4263, d5.loss_map_dir: 0.0060, loss: 19.1563, grad_norm: 133.1263 +2026-03-01 04:49:30,940 - DriveTransformer - INFO - Epoch [12][10150/39528] lr: 5.696e-05, eta: 4 days, 6:16:44, time: 0.739, data_time: 0.038, memory: 19865, loss_cls: 0.0828, loss_bbox: 0.2994, loss_traj: 0.6012, loss_traj_cls: 0.0020, loss_map_cls: 0.1022, loss_map_pts: 0.4983, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.9739, d0.loss_plan_l1_fix_dist: 0.4087, d1.loss_plan_l1_fix_time: 0.7950, d1.loss_plan_l1_fix_dist: 0.2233, d2.loss_plan_l1_fix_time: 0.7574, d2.loss_plan_l1_fix_dist: 0.1608, d3.loss_plan_l1_fix_time: 0.7473, d3.loss_plan_l1_fix_dist: 0.1640, d4.loss_plan_l1_fix_time: 0.7490, d4.loss_plan_l1_fix_dist: 0.1648, d5.loss_plan_l1_fix_time: 0.7502, d5.loss_plan_l1_fix_dist: 0.1650, d6.loss_plan_l1_fix_time: 0.7518, d6.loss_plan_l1_fix_dist: 0.1718, d0.loss_cls_all: 0.1300, d0.loss_bbox_all: 0.3682, d0.loss_cls: 0.1300, d0.loss_bbox: 0.3682, d1.loss_cls: 0.1260, d1.loss_bbox: 0.3308, d2.loss_cls: 0.1089, d2.loss_bbox: 0.3114, d3.loss_cls: 0.0898, d3.loss_bbox: 0.3046, d4.loss_cls: 0.0833, d4.loss_bbox: 0.3030, d5.loss_cls: 0.0816, d5.loss_bbox: 0.3006, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8784, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.6903, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.6305, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.6125, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.6040, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6012, d0.loss_map_cls_all: 0.1951, d0.loss_map_pts_all: 1.0423, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1951, d0.loss_map_pts: 1.0423, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1594, d1.loss_map_pts: 0.7625, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1324, d2.loss_map_pts: 0.5898, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1192, d3.loss_map_pts: 0.5287, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1100, d4.loss_map_pts: 0.5039, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1048, d5.loss_map_pts: 0.4981, d5.loss_map_dir: 0.0058, loss: 23.6573, grad_norm: 134.0201 +2026-03-01 04:50:06,773 - DriveTransformer - INFO - Epoch [12][10200/39528] lr: 5.696e-05, eta: 4 days, 6:16:05, time: 0.717, data_time: 0.034, memory: 19865, loss_cls: 0.0841, loss_bbox: 0.2748, loss_traj: 0.4902, loss_traj_cls: 0.0020, loss_map_cls: 0.0828, loss_map_pts: 0.4639, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.4164, d0.loss_plan_l1_fix_dist: 0.4410, d1.loss_plan_l1_fix_time: 0.6155, d1.loss_plan_l1_fix_dist: 0.2163, d2.loss_plan_l1_fix_time: 0.5880, d2.loss_plan_l1_fix_dist: 0.1772, d3.loss_plan_l1_fix_time: 0.5866, d3.loss_plan_l1_fix_dist: 0.1675, d4.loss_plan_l1_fix_time: 0.5875, d4.loss_plan_l1_fix_dist: 0.1907, d5.loss_plan_l1_fix_time: 0.5887, d5.loss_plan_l1_fix_dist: 0.1801, d6.loss_plan_l1_fix_time: 0.5907, d6.loss_plan_l1_fix_dist: 0.1799, d0.loss_cls_all: 0.1277, d0.loss_bbox_all: 0.3317, d0.loss_cls: 0.1277, d0.loss_bbox: 0.3317, d1.loss_cls: 0.1190, d1.loss_bbox: 0.3012, d2.loss_cls: 0.1091, d2.loss_bbox: 0.2812, d3.loss_cls: 0.0919, d3.loss_bbox: 0.2781, d4.loss_cls: 0.0866, d4.loss_bbox: 0.2760, d5.loss_cls: 0.0841, d5.loss_bbox: 0.2753, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7591, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5817, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5165, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4942, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4903, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4899, d0.loss_map_cls_all: 0.1585, d0.loss_map_pts_all: 0.9527, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1585, d0.loss_map_pts: 0.9527, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1293, d1.loss_map_pts: 0.7046, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1049, d2.loss_map_pts: 0.5454, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0975, d3.loss_map_pts: 0.4874, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0909, d4.loss_map_pts: 0.4683, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0857, d5.loss_map_pts: 0.4639, d5.loss_map_dir: 0.0056, loss: 20.5271, grad_norm: 136.1271 +2026-03-01 04:50:44,275 - DriveTransformer - INFO - Epoch [12][10250/39528] lr: 5.696e-05, eta: 4 days, 6:15:31, time: 0.750, data_time: 0.034, memory: 19865, loss_cls: 0.0880, loss_bbox: 0.2790, loss_traj: 0.4525, loss_traj_cls: 0.0020, loss_map_cls: 0.1102, loss_map_pts: 0.5857, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.5255, d0.loss_plan_l1_fix_dist: 0.4150, d1.loss_plan_l1_fix_time: 0.7397, d1.loss_plan_l1_fix_dist: 0.2219, d2.loss_plan_l1_fix_time: 0.7320, d2.loss_plan_l1_fix_dist: 0.2005, d3.loss_plan_l1_fix_time: 0.7294, d3.loss_plan_l1_fix_dist: 0.1688, d4.loss_plan_l1_fix_time: 0.7313, d4.loss_plan_l1_fix_dist: 0.1898, d5.loss_plan_l1_fix_time: 0.7326, d5.loss_plan_l1_fix_dist: 0.1778, d6.loss_plan_l1_fix_time: 0.7342, d6.loss_plan_l1_fix_dist: 0.1841, d0.loss_cls_all: 0.1336, d0.loss_bbox_all: 0.3525, d0.loss_cls: 0.1336, d0.loss_bbox: 0.3525, d1.loss_cls: 0.1285, d1.loss_bbox: 0.3133, d2.loss_cls: 0.1118, d2.loss_bbox: 0.2897, d3.loss_cls: 0.0946, d3.loss_bbox: 0.2844, d4.loss_cls: 0.0897, d4.loss_bbox: 0.2812, d5.loss_cls: 0.0880, d5.loss_bbox: 0.2806, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7270, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5374, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4848, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4647, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4541, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4536, d0.loss_map_cls_all: 0.1966, d0.loss_map_pts_all: 1.2056, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1966, d0.loss_map_pts: 1.2056, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1600, d1.loss_map_pts: 0.8674, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1379, d2.loss_map_pts: 0.6844, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1263, d3.loss_map_pts: 0.6173, d3.loss_map_dir: 0.0071, d4.loss_map_cls: 0.1177, d4.loss_map_pts: 0.5920, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1126, d5.loss_map_pts: 0.5865, d5.loss_map_dir: 0.0074, loss: 22.9266, grad_norm: 138.1171 +2026-03-01 04:51:20,844 - DriveTransformer - INFO - Epoch [12][10300/39528] lr: 5.696e-05, eta: 4 days, 6:14:55, time: 0.731, data_time: 0.035, memory: 19865, loss_cls: 0.0738, loss_bbox: 0.2574, loss_traj: 0.4452, loss_traj_cls: 0.0020, loss_map_cls: 0.0832, loss_map_pts: 0.4477, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.3176, d0.loss_plan_l1_fix_dist: 0.3547, d1.loss_plan_l1_fix_time: 0.6481, d1.loss_plan_l1_fix_dist: 0.2181, d2.loss_plan_l1_fix_time: 0.6392, d2.loss_plan_l1_fix_dist: 0.2160, d3.loss_plan_l1_fix_time: 0.6365, d3.loss_plan_l1_fix_dist: 0.1769, d4.loss_plan_l1_fix_time: 0.6390, d4.loss_plan_l1_fix_dist: 0.1929, d5.loss_plan_l1_fix_time: 0.6412, d5.loss_plan_l1_fix_dist: 0.1938, d6.loss_plan_l1_fix_time: 0.6435, d6.loss_plan_l1_fix_dist: 0.2235, d0.loss_cls_all: 0.1165, d0.loss_bbox_all: 0.3213, d0.loss_cls: 0.1165, d0.loss_bbox: 0.3213, d1.loss_cls: 0.1145, d1.loss_bbox: 0.2846, d2.loss_cls: 0.1021, d2.loss_bbox: 0.2650, d3.loss_cls: 0.0834, d3.loss_bbox: 0.2632, d4.loss_cls: 0.0775, d4.loss_bbox: 0.2595, d5.loss_cls: 0.0738, d5.loss_bbox: 0.2584, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6748, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5160, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4667, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4575, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4485, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4461, d0.loss_map_cls_all: 0.1701, d0.loss_map_pts_all: 1.0217, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1701, d0.loss_map_pts: 1.0217, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1331, d1.loss_map_pts: 0.7210, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1088, d2.loss_map_pts: 0.5463, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0968, d3.loss_map_pts: 0.4773, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0904, d4.loss_map_pts: 0.4532, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0854, d5.loss_map_pts: 0.4479, d5.loss_map_dir: 0.0057, loss: 20.3130, grad_norm: 142.7684 +2026-03-01 04:51:58,680 - DriveTransformer - INFO - Epoch [12][10350/39528] lr: 5.696e-05, eta: 4 days, 6:14:21, time: 0.757, data_time: 0.036, memory: 19865, loss_cls: 0.0768, loss_bbox: 0.2821, loss_traj: 0.4084, loss_traj_cls: 0.0020, loss_map_cls: 0.1093, loss_map_pts: 0.5374, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.7444, d0.loss_plan_l1_fix_dist: 0.3526, d1.loss_plan_l1_fix_time: 0.7170, d1.loss_plan_l1_fix_dist: 0.2153, d2.loss_plan_l1_fix_time: 0.7093, d2.loss_plan_l1_fix_dist: 0.2247, d3.loss_plan_l1_fix_time: 0.7095, d3.loss_plan_l1_fix_dist: 0.1772, d4.loss_plan_l1_fix_time: 0.7121, d4.loss_plan_l1_fix_dist: 0.1864, d5.loss_plan_l1_fix_time: 0.7143, d5.loss_plan_l1_fix_dist: 0.1778, d6.loss_plan_l1_fix_time: 0.7164, d6.loss_plan_l1_fix_dist: 0.2008, d0.loss_cls_all: 0.1354, d0.loss_bbox_all: 0.3480, d0.loss_cls: 0.1354, d0.loss_bbox: 0.3480, d1.loss_cls: 0.1248, d1.loss_bbox: 0.3117, d2.loss_cls: 0.1103, d2.loss_bbox: 0.2895, d3.loss_cls: 0.0849, d3.loss_bbox: 0.2856, d4.loss_cls: 0.0786, d4.loss_bbox: 0.2824, d5.loss_cls: 0.0761, d5.loss_bbox: 0.2828, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6432, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4999, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4428, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4210, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4161, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4128, d0.loss_map_cls_all: 0.1916, d0.loss_map_pts_all: 1.1085, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1916, d0.loss_map_pts: 1.1085, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1566, d1.loss_map_pts: 0.7967, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.1340, d2.loss_map_pts: 0.6248, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1231, d3.loss_map_pts: 0.5658, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1146, d4.loss_map_pts: 0.5436, d4.loss_map_dir: 0.0071, d5.loss_map_cls: 0.1111, d5.loss_map_pts: 0.5376, d5.loss_map_dir: 0.0071, loss: 22.0749, grad_norm: 138.0555 +2026-03-01 04:52:35,875 - DriveTransformer - INFO - Epoch [12][10400/39528] lr: 5.696e-05, eta: 4 days, 6:13:46, time: 0.744, data_time: 0.037, memory: 19865, loss_cls: 0.0780, loss_bbox: 0.2648, loss_traj: 0.4568, loss_traj_cls: 0.0020, loss_map_cls: 0.0761, loss_map_pts: 0.4387, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.2003, d0.loss_plan_l1_fix_dist: 0.3588, d1.loss_plan_l1_fix_time: 0.7541, d1.loss_plan_l1_fix_dist: 0.2030, d2.loss_plan_l1_fix_time: 0.7303, d2.loss_plan_l1_fix_dist: 0.2272, d3.loss_plan_l1_fix_time: 0.7242, d3.loss_plan_l1_fix_dist: 0.1852, d4.loss_plan_l1_fix_time: 0.7251, d4.loss_plan_l1_fix_dist: 0.2001, d5.loss_plan_l1_fix_time: 0.7274, d5.loss_plan_l1_fix_dist: 0.1921, d6.loss_plan_l1_fix_time: 0.7301, d6.loss_plan_l1_fix_dist: 0.1913, d0.loss_cls_all: 0.1184, d0.loss_bbox_all: 0.3239, d0.loss_cls: 0.1184, d0.loss_bbox: 0.3239, d1.loss_cls: 0.1116, d1.loss_bbox: 0.2949, d2.loss_cls: 0.1018, d2.loss_bbox: 0.2738, d3.loss_cls: 0.0834, d3.loss_bbox: 0.2701, d4.loss_cls: 0.0792, d4.loss_bbox: 0.2671, d5.loss_cls: 0.0774, d5.loss_bbox: 0.2669, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6638, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5283, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4803, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4648, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4605, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4601, d0.loss_map_cls_all: 0.1565, d0.loss_map_pts_all: 0.9626, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1565, d0.loss_map_pts: 0.9626, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1271, d1.loss_map_pts: 0.6811, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1027, d2.loss_map_pts: 0.5308, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0919, d3.loss_map_pts: 0.4699, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0832, d4.loss_map_pts: 0.4496, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0785, d5.loss_map_pts: 0.4391, d5.loss_map_dir: 0.0052, loss: 20.5728, grad_norm: 136.1742 +2026-03-01 04:53:13,271 - DriveTransformer - INFO - Epoch [12][10450/39528] lr: 5.696e-05, eta: 4 days, 6:13:12, time: 0.748, data_time: 0.036, memory: 19865, loss_cls: 0.0653, loss_bbox: 0.2540, loss_traj: 0.4254, loss_traj_cls: 0.0020, loss_map_cls: 0.0976, loss_map_pts: 0.5002, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.8984, d0.loss_plan_l1_fix_dist: 0.4272, d1.loss_plan_l1_fix_time: 0.6963, d1.loss_plan_l1_fix_dist: 0.1816, d2.loss_plan_l1_fix_time: 0.6678, d2.loss_plan_l1_fix_dist: 0.2230, d3.loss_plan_l1_fix_time: 0.6582, d3.loss_plan_l1_fix_dist: 0.1908, d4.loss_plan_l1_fix_time: 0.6586, d4.loss_plan_l1_fix_dist: 0.1967, d5.loss_plan_l1_fix_time: 0.6609, d5.loss_plan_l1_fix_dist: 0.2002, d6.loss_plan_l1_fix_time: 0.6639, d6.loss_plan_l1_fix_dist: 0.2020, d0.loss_cls_all: 0.1172, d0.loss_bbox_all: 0.3116, d0.loss_cls: 0.1172, d0.loss_bbox: 0.3116, d1.loss_cls: 0.1064, d1.loss_bbox: 0.2816, d2.loss_cls: 0.0926, d2.loss_bbox: 0.2631, d3.loss_cls: 0.0767, d3.loss_bbox: 0.2556, d4.loss_cls: 0.0692, d4.loss_bbox: 0.2530, d5.loss_cls: 0.0664, d5.loss_bbox: 0.2532, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6508, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4854, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4472, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4379, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4276, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4250, d0.loss_map_cls_all: 0.1850, d0.loss_map_pts_all: 1.0222, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1850, d0.loss_map_pts: 1.0222, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1559, d1.loss_map_pts: 0.7380, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1273, d2.loss_map_pts: 0.5789, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1137, d3.loss_map_pts: 0.5275, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1050, d4.loss_map_pts: 0.5082, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0993, d5.loss_map_pts: 0.5007, d5.loss_map_dir: 0.0058, loss: 21.2417, grad_norm: 137.3102 +2026-03-01 04:53:50,186 - DriveTransformer - INFO - Epoch [12][10500/39528] lr: 5.696e-05, eta: 4 days, 6:12:36, time: 0.738, data_time: 0.039, memory: 19865, loss_cls: 0.0733, loss_bbox: 0.2632, loss_traj: 0.4353, loss_traj_cls: 0.0021, loss_map_cls: 0.0845, loss_map_pts: 0.4631, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.4155, d0.loss_plan_l1_fix_dist: 0.2860, d1.loss_plan_l1_fix_time: 0.6986, d1.loss_plan_l1_fix_dist: 0.1540, d2.loss_plan_l1_fix_time: 0.6820, d2.loss_plan_l1_fix_dist: 0.1979, d3.loss_plan_l1_fix_time: 0.6783, d3.loss_plan_l1_fix_dist: 0.1704, d4.loss_plan_l1_fix_time: 0.6796, d4.loss_plan_l1_fix_dist: 0.1559, d5.loss_plan_l1_fix_time: 0.6816, d5.loss_plan_l1_fix_dist: 0.1570, d6.loss_plan_l1_fix_time: 0.6844, d6.loss_plan_l1_fix_dist: 0.1669, d0.loss_cls_all: 0.1186, d0.loss_bbox_all: 0.3237, d0.loss_cls: 0.1186, d0.loss_bbox: 0.3237, d1.loss_cls: 0.1120, d1.loss_bbox: 0.2925, d2.loss_cls: 0.0976, d2.loss_bbox: 0.2737, d3.loss_cls: 0.0811, d3.loss_bbox: 0.2677, d4.loss_cls: 0.0737, d4.loss_bbox: 0.2652, d5.loss_cls: 0.0735, d5.loss_bbox: 0.2631, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6958, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5075, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4563, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4402, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4323, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4338, d0.loss_map_cls_all: 0.1726, d0.loss_map_pts_all: 0.9584, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1726, d0.loss_map_pts: 0.9584, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1377, d1.loss_map_pts: 0.6834, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1097, d2.loss_map_pts: 0.5431, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1000, d3.loss_map_pts: 0.4870, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0918, d4.loss_map_pts: 0.4659, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0872, d5.loss_map_pts: 0.4619, d5.loss_map_dir: 0.0052, loss: 20.2570, grad_norm: 135.9881 +2026-03-01 04:54:26,360 - DriveTransformer - INFO - Epoch [12][10550/39528] lr: 5.696e-05, eta: 4 days, 6:11:59, time: 0.723, data_time: 0.036, memory: 19865, loss_cls: 0.0770, loss_bbox: 0.2650, loss_traj: 0.4803, loss_traj_cls: 0.0021, loss_map_cls: 0.0846, loss_map_pts: 0.4209, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.5527, d0.loss_plan_l1_fix_dist: 0.3464, d1.loss_plan_l1_fix_time: 0.7540, d1.loss_plan_l1_fix_dist: 0.1570, d2.loss_plan_l1_fix_time: 0.7365, d2.loss_plan_l1_fix_dist: 0.2220, d3.loss_plan_l1_fix_time: 0.7323, d3.loss_plan_l1_fix_dist: 0.1911, d4.loss_plan_l1_fix_time: 0.7340, d4.loss_plan_l1_fix_dist: 0.1874, d5.loss_plan_l1_fix_time: 0.7364, d5.loss_plan_l1_fix_dist: 0.1978, d6.loss_plan_l1_fix_time: 0.7396, d6.loss_plan_l1_fix_dist: 0.2128, d0.loss_cls_all: 0.1181, d0.loss_bbox_all: 0.3249, d0.loss_cls: 0.1181, d0.loss_bbox: 0.3249, d1.loss_cls: 0.1108, d1.loss_bbox: 0.2941, d2.loss_cls: 0.0993, d2.loss_bbox: 0.2756, d3.loss_cls: 0.0856, d3.loss_bbox: 0.2678, d4.loss_cls: 0.0787, d4.loss_bbox: 0.2675, d5.loss_cls: 0.0774, d5.loss_bbox: 0.2657, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6972, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5763, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5211, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4959, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4855, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4819, d0.loss_map_cls_all: 0.1595, d0.loss_map_pts_all: 0.9089, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1595, d0.loss_map_pts: 0.9089, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1292, d1.loss_map_pts: 0.6361, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.1067, d2.loss_map_pts: 0.4904, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.0967, d3.loss_map_pts: 0.4405, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.0913, d4.loss_map_pts: 0.4261, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0867, d5.loss_map_pts: 0.4208, d5.loss_map_dir: 0.0048, loss: 20.9019, grad_norm: 136.4347 +2026-03-01 04:55:00,624 - DriveTransformer - INFO - Epoch [12][10600/39528] lr: 5.696e-05, eta: 4 days, 6:11:17, time: 0.687, data_time: 0.036, memory: 19865, loss_cls: 0.0848, loss_bbox: 0.2597, loss_traj: 0.4324, loss_traj_cls: 0.0021, loss_map_cls: 0.0697, loss_map_pts: 0.3758, loss_map_dir: 0.0042, d0.loss_plan_l1_fix_time: 2.6782, d0.loss_plan_l1_fix_dist: 0.3256, d1.loss_plan_l1_fix_time: 0.6946, d1.loss_plan_l1_fix_dist: 0.1364, d2.loss_plan_l1_fix_time: 0.6821, d2.loss_plan_l1_fix_dist: 0.2030, d3.loss_plan_l1_fix_time: 0.6885, d3.loss_plan_l1_fix_dist: 0.1550, d4.loss_plan_l1_fix_time: 0.6925, d4.loss_plan_l1_fix_dist: 0.1530, d5.loss_plan_l1_fix_time: 0.6957, d5.loss_plan_l1_fix_dist: 0.1628, d6.loss_plan_l1_fix_time: 0.6990, d6.loss_plan_l1_fix_dist: 0.1716, d0.loss_cls_all: 0.1280, d0.loss_bbox_all: 0.3264, d0.loss_cls: 0.1280, d0.loss_bbox: 0.3264, d1.loss_cls: 0.1232, d1.loss_bbox: 0.2936, d2.loss_cls: 0.1103, d2.loss_bbox: 0.2716, d3.loss_cls: 0.0926, d3.loss_bbox: 0.2647, d4.loss_cls: 0.0855, d4.loss_bbox: 0.2623, d5.loss_cls: 0.0840, d5.loss_bbox: 0.2615, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6553, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5134, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4664, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4481, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4421, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4366, d0.loss_map_cls_all: 0.1464, d0.loss_map_pts_all: 0.7721, d0.loss_map_dir_all: 0.0050, d0.loss_map_cls: 0.1464, d0.loss_map_pts: 0.7721, d0.loss_map_dir: 0.0050, d1.loss_map_cls: 0.1158, d1.loss_map_pts: 0.5496, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.0938, d2.loss_map_pts: 0.4386, d2.loss_map_dir: 0.0041, d3.loss_map_cls: 0.0837, d3.loss_map_pts: 0.3955, d3.loss_map_dir: 0.0042, d4.loss_map_cls: 0.0753, d4.loss_map_pts: 0.3824, d4.loss_map_dir: 0.0042, d5.loss_map_cls: 0.0710, d5.loss_map_pts: 0.3759, d5.loss_map_dir: 0.0042, loss: 19.5418, grad_norm: 135.6923 +2026-03-01 04:55:37,011 - DriveTransformer - INFO - Epoch [12][10650/39528] lr: 5.696e-05, eta: 4 days, 6:10:40, time: 0.727, data_time: 0.033, memory: 19865, loss_cls: 0.0765, loss_bbox: 0.2633, loss_traj: 0.4471, loss_traj_cls: 0.0021, loss_map_cls: 0.0811, loss_map_pts: 0.4659, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.1772, d0.loss_plan_l1_fix_dist: 0.4106, d1.loss_plan_l1_fix_time: 0.6607, d1.loss_plan_l1_fix_dist: 0.1370, d2.loss_plan_l1_fix_time: 0.6458, d2.loss_plan_l1_fix_dist: 0.2084, d3.loss_plan_l1_fix_time: 0.6446, d3.loss_plan_l1_fix_dist: 0.1739, d4.loss_plan_l1_fix_time: 0.6461, d4.loss_plan_l1_fix_dist: 0.1694, d5.loss_plan_l1_fix_time: 0.6479, d5.loss_plan_l1_fix_dist: 0.1802, d6.loss_plan_l1_fix_time: 0.6497, d6.loss_plan_l1_fix_dist: 0.2049, d0.loss_cls_all: 0.1145, d0.loss_bbox_all: 0.3219, d0.loss_cls: 0.1145, d0.loss_bbox: 0.3219, d1.loss_cls: 0.1121, d1.loss_bbox: 0.2936, d2.loss_cls: 0.1019, d2.loss_bbox: 0.2720, d3.loss_cls: 0.0845, d3.loss_bbox: 0.2653, d4.loss_cls: 0.0795, d4.loss_bbox: 0.2642, d5.loss_cls: 0.0771, d5.loss_bbox: 0.2636, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6708, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5201, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4692, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4541, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4497, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4462, d0.loss_map_cls_all: 0.1666, d0.loss_map_pts_all: 1.0189, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1666, d0.loss_map_pts: 1.0189, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1302, d1.loss_map_pts: 0.7339, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1057, d2.loss_map_pts: 0.5637, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.0945, d3.loss_map_pts: 0.4997, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0872, d4.loss_map_pts: 0.4735, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0837, d5.loss_map_pts: 0.4671, d5.loss_map_dir: 0.0062, loss: 20.2546, grad_norm: 135.8401 +2026-03-01 04:56:13,823 - DriveTransformer - INFO - Epoch [12][10700/39528] lr: 5.696e-05, eta: 4 days, 6:10:04, time: 0.736, data_time: 0.036, memory: 19865, loss_cls: 0.0852, loss_bbox: 0.2794, loss_traj: 0.3958, loss_traj_cls: 0.0021, loss_map_cls: 0.0957, loss_map_pts: 0.5147, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.8855, d0.loss_plan_l1_fix_dist: 0.3813, d1.loss_plan_l1_fix_time: 0.7717, d1.loss_plan_l1_fix_dist: 0.1550, d2.loss_plan_l1_fix_time: 0.7656, d2.loss_plan_l1_fix_dist: 0.2303, d3.loss_plan_l1_fix_time: 0.7628, d3.loss_plan_l1_fix_dist: 0.2030, d4.loss_plan_l1_fix_time: 0.7643, d4.loss_plan_l1_fix_dist: 0.1768, d5.loss_plan_l1_fix_time: 0.7669, d5.loss_plan_l1_fix_dist: 0.1818, d6.loss_plan_l1_fix_time: 0.7697, d6.loss_plan_l1_fix_dist: 0.2001, d0.loss_cls_all: 0.1331, d0.loss_bbox_all: 0.3494, d0.loss_cls: 0.1331, d0.loss_bbox: 0.3494, d1.loss_cls: 0.1284, d1.loss_bbox: 0.3166, d2.loss_cls: 0.1131, d2.loss_bbox: 0.2909, d3.loss_cls: 0.0928, d3.loss_bbox: 0.2855, d4.loss_cls: 0.0877, d4.loss_bbox: 0.2807, d5.loss_cls: 0.0852, d5.loss_bbox: 0.2796, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6154, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4768, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4320, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4068, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4003, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3962, d0.loss_map_cls_all: 0.1689, d0.loss_map_pts_all: 1.0450, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1689, d0.loss_map_pts: 1.0450, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1428, d1.loss_map_pts: 0.7578, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1229, d2.loss_map_pts: 0.5899, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1116, d3.loss_map_pts: 0.5349, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1046, d4.loss_map_pts: 0.5179, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.0991, d5.loss_map_pts: 0.5145, d5.loss_map_dir: 0.0071, loss: 22.0265, grad_norm: 137.9042 +2026-03-01 04:56:50,038 - DriveTransformer - INFO - Epoch [12][10750/39528] lr: 5.696e-05, eta: 4 days, 6:09:26, time: 0.724, data_time: 0.035, memory: 19865, loss_cls: 0.0882, loss_bbox: 0.2744, loss_traj: 0.3880, loss_traj_cls: 0.0021, loss_map_cls: 0.1011, loss_map_pts: 0.5255, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.5800, d0.loss_plan_l1_fix_dist: 0.3992, d1.loss_plan_l1_fix_time: 0.6800, d1.loss_plan_l1_fix_dist: 0.1462, d2.loss_plan_l1_fix_time: 0.6747, d2.loss_plan_l1_fix_dist: 0.2119, d3.loss_plan_l1_fix_time: 0.6747, d3.loss_plan_l1_fix_dist: 0.1948, d4.loss_plan_l1_fix_time: 0.6778, d4.loss_plan_l1_fix_dist: 0.1700, d5.loss_plan_l1_fix_time: 0.6808, d5.loss_plan_l1_fix_dist: 0.1792, d6.loss_plan_l1_fix_time: 0.6844, d6.loss_plan_l1_fix_dist: 0.1747, d0.loss_cls_all: 0.1365, d0.loss_bbox_all: 0.3487, d0.loss_cls: 0.1365, d0.loss_bbox: 0.3487, d1.loss_cls: 0.1257, d1.loss_bbox: 0.3158, d2.loss_cls: 0.1129, d2.loss_bbox: 0.2883, d3.loss_cls: 0.0968, d3.loss_bbox: 0.2803, d4.loss_cls: 0.0898, d4.loss_bbox: 0.2756, d5.loss_cls: 0.0883, d5.loss_bbox: 0.2752, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6123, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4613, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4083, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4004, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3904, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3887, d0.loss_map_cls_all: 0.1788, d0.loss_map_pts_all: 1.0277, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1788, d0.loss_map_pts: 1.0277, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1503, d1.loss_map_pts: 0.7540, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1282, d2.loss_map_pts: 0.6057, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1180, d3.loss_map_pts: 0.5468, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1103, d4.loss_map_pts: 0.5284, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1038, d5.loss_map_pts: 0.5261, d5.loss_map_dir: 0.0065, loss: 21.1308, grad_norm: 139.9944 +2026-03-01 04:57:25,330 - DriveTransformer - INFO - Epoch [12][10800/39528] lr: 5.696e-05, eta: 4 days, 6:08:47, time: 0.706, data_time: 0.035, memory: 19865, loss_cls: 0.0892, loss_bbox: 0.2620, loss_traj: 0.3767, loss_traj_cls: 0.0021, loss_map_cls: 0.0844, loss_map_pts: 0.4451, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.3815, d0.loss_plan_l1_fix_dist: 0.3806, d1.loss_plan_l1_fix_time: 0.7582, d1.loss_plan_l1_fix_dist: 0.1597, d2.loss_plan_l1_fix_time: 0.7497, d2.loss_plan_l1_fix_dist: 0.2058, d3.loss_plan_l1_fix_time: 0.7479, d3.loss_plan_l1_fix_dist: 0.1817, d4.loss_plan_l1_fix_time: 0.7502, d4.loss_plan_l1_fix_dist: 0.1607, d5.loss_plan_l1_fix_time: 0.7527, d5.loss_plan_l1_fix_dist: 0.1692, d6.loss_plan_l1_fix_time: 0.7559, d6.loss_plan_l1_fix_dist: 0.1698, d0.loss_cls_all: 0.1322, d0.loss_bbox_all: 0.3336, d0.loss_cls: 0.1322, d0.loss_bbox: 0.3336, d1.loss_cls: 0.1262, d1.loss_bbox: 0.2975, d2.loss_cls: 0.1128, d2.loss_bbox: 0.2738, d3.loss_cls: 0.0955, d3.loss_bbox: 0.2679, d4.loss_cls: 0.0916, d4.loss_bbox: 0.2651, d5.loss_cls: 0.0892, d5.loss_bbox: 0.2633, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5911, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4554, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3993, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3795, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3796, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3764, d0.loss_map_cls_all: 0.1739, d0.loss_map_pts_all: 0.9168, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1739, d0.loss_map_pts: 0.9168, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1341, d1.loss_map_pts: 0.6770, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1096, d2.loss_map_pts: 0.5280, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0988, d3.loss_map_pts: 0.4720, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0910, d4.loss_map_pts: 0.4544, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0858, d5.loss_map_pts: 0.4457, d5.loss_map_dir: 0.0051, loss: 20.3034, grad_norm: 137.3053 +2026-03-01 04:58:02,770 - DriveTransformer - INFO - Epoch [12][10850/39528] lr: 5.696e-05, eta: 4 days, 6:08:12, time: 0.749, data_time: 0.038, memory: 19865, loss_cls: 0.0912, loss_bbox: 0.2835, loss_traj: 0.5223, loss_traj_cls: 0.0020, loss_map_cls: 0.1038, loss_map_pts: 0.5209, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.7307, d0.loss_plan_l1_fix_dist: 0.3998, d1.loss_plan_l1_fix_time: 0.7130, d1.loss_plan_l1_fix_dist: 0.1988, d2.loss_plan_l1_fix_time: 0.6966, d2.loss_plan_l1_fix_dist: 0.2216, d3.loss_plan_l1_fix_time: 0.6868, d3.loss_plan_l1_fix_dist: 0.1941, d4.loss_plan_l1_fix_time: 0.6874, d4.loss_plan_l1_fix_dist: 0.1768, d5.loss_plan_l1_fix_time: 0.6889, d5.loss_plan_l1_fix_dist: 0.1798, d6.loss_plan_l1_fix_time: 0.6913, d6.loss_plan_l1_fix_dist: 0.1889, d0.loss_cls_all: 0.1411, d0.loss_bbox_all: 0.3570, d0.loss_cls: 0.1411, d0.loss_bbox: 0.3570, d1.loss_cls: 0.1350, d1.loss_bbox: 0.3167, d2.loss_cls: 0.1227, d2.loss_bbox: 0.2939, d3.loss_cls: 0.1019, d3.loss_bbox: 0.2876, d4.loss_cls: 0.0937, d4.loss_bbox: 0.2850, d5.loss_cls: 0.0896, d5.loss_bbox: 0.2846, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8272, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.6354, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5539, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5363, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5230, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5247, d0.loss_map_cls_all: 0.1919, d0.loss_map_pts_all: 1.0586, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1919, d0.loss_map_pts: 1.0586, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1654, d1.loss_map_pts: 0.7843, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1383, d2.loss_map_pts: 0.6241, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1223, d3.loss_map_pts: 0.5544, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1133, d4.loss_map_pts: 0.5298, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1061, d5.loss_map_pts: 0.5223, d5.loss_map_dir: 0.0063, loss: 22.8020, grad_norm: 136.2262 +2026-03-01 04:58:39,097 - DriveTransformer - INFO - Epoch [12][10900/39528] lr: 5.696e-05, eta: 4 days, 6:07:35, time: 0.726, data_time: 0.035, memory: 19865, loss_cls: 0.0808, loss_bbox: 0.2586, loss_traj: 0.4321, loss_traj_cls: 0.0020, loss_map_cls: 0.0837, loss_map_pts: 0.4645, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.3609, d0.loss_plan_l1_fix_dist: 0.4412, d1.loss_plan_l1_fix_time: 0.6294, d1.loss_plan_l1_fix_dist: 0.1879, d2.loss_plan_l1_fix_time: 0.6039, d2.loss_plan_l1_fix_dist: 0.1882, d3.loss_plan_l1_fix_time: 0.6026, d3.loss_plan_l1_fix_dist: 0.1681, d4.loss_plan_l1_fix_time: 0.6037, d4.loss_plan_l1_fix_dist: 0.1515, d5.loss_plan_l1_fix_time: 0.6052, d5.loss_plan_l1_fix_dist: 0.1536, d6.loss_plan_l1_fix_time: 0.6072, d6.loss_plan_l1_fix_dist: 0.1696, d0.loss_cls_all: 0.1242, d0.loss_bbox_all: 0.3263, d0.loss_cls: 0.1242, d0.loss_bbox: 0.3263, d1.loss_cls: 0.1186, d1.loss_bbox: 0.2923, d2.loss_cls: 0.1064, d2.loss_bbox: 0.2693, d3.loss_cls: 0.0883, d3.loss_bbox: 0.2622, d4.loss_cls: 0.0821, d4.loss_bbox: 0.2605, d5.loss_cls: 0.0805, d5.loss_bbox: 0.2587, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6657, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5194, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4591, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4449, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4407, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4357, d0.loss_map_cls_all: 0.1641, d0.loss_map_pts_all: 1.0200, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1641, d0.loss_map_pts: 1.0200, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1331, d1.loss_map_pts: 0.7070, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1105, d2.loss_map_pts: 0.5486, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0997, d3.loss_map_pts: 0.4893, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0919, d4.loss_map_pts: 0.4704, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0862, d5.loss_map_pts: 0.4655, d5.loss_map_dir: 0.0056, loss: 20.1020, grad_norm: 136.9568 +2026-03-01 04:59:15,632 - DriveTransformer - INFO - Epoch [12][10950/39528] lr: 5.696e-05, eta: 4 days, 6:06:59, time: 0.731, data_time: 0.037, memory: 19865, loss_cls: 0.0839, loss_bbox: 0.2606, loss_traj: 0.4563, loss_traj_cls: 0.0020, loss_map_cls: 0.0891, loss_map_pts: 0.4796, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.8622, d0.loss_plan_l1_fix_dist: 0.3574, d1.loss_plan_l1_fix_time: 0.7171, d1.loss_plan_l1_fix_dist: 0.2092, d2.loss_plan_l1_fix_time: 0.7014, d2.loss_plan_l1_fix_dist: 0.1769, d3.loss_plan_l1_fix_time: 0.6894, d3.loss_plan_l1_fix_dist: 0.1669, d4.loss_plan_l1_fix_time: 0.6910, d4.loss_plan_l1_fix_dist: 0.1620, d5.loss_plan_l1_fix_time: 0.6935, d5.loss_plan_l1_fix_dist: 0.1621, d6.loss_plan_l1_fix_time: 0.6958, d6.loss_plan_l1_fix_dist: 0.1735, d0.loss_cls_all: 0.1192, d0.loss_bbox_all: 0.3303, d0.loss_cls: 0.1192, d0.loss_bbox: 0.3303, d1.loss_cls: 0.1146, d1.loss_bbox: 0.2930, d2.loss_cls: 0.1041, d2.loss_bbox: 0.2733, d3.loss_cls: 0.0869, d3.loss_bbox: 0.2674, d4.loss_cls: 0.0823, d4.loss_bbox: 0.2654, d5.loss_cls: 0.0828, d5.loss_bbox: 0.2617, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7450, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5341, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4821, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4599, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4589, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4553, d0.loss_map_cls_all: 0.1816, d0.loss_map_pts_all: 1.0015, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1816, d0.loss_map_pts: 1.0015, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1463, d1.loss_map_pts: 0.7153, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1200, d2.loss_map_pts: 0.5662, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1048, d3.loss_map_pts: 0.5076, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0988, d4.loss_map_pts: 0.4850, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0911, d5.loss_map_pts: 0.4815, d5.loss_map_dir: 0.0060, loss: 21.4324, grad_norm: 135.9558 +2026-03-01 04:59:52,389 - DriveTransformer - INFO - Epoch [12][11000/39528] lr: 5.696e-05, eta: 4 days, 6:06:23, time: 0.735, data_time: 0.039, memory: 19865, loss_cls: 0.0747, loss_bbox: 0.2534, loss_traj: 0.4166, loss_traj_cls: 0.0021, loss_map_cls: 0.0705, loss_map_pts: 0.3778, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.3715, d0.loss_plan_l1_fix_dist: 0.4277, d1.loss_plan_l1_fix_time: 0.6344, d1.loss_plan_l1_fix_dist: 0.2249, d2.loss_plan_l1_fix_time: 0.6198, d2.loss_plan_l1_fix_dist: 0.1542, d3.loss_plan_l1_fix_time: 0.6206, d3.loss_plan_l1_fix_dist: 0.1580, d4.loss_plan_l1_fix_time: 0.6223, d4.loss_plan_l1_fix_dist: 0.1586, d5.loss_plan_l1_fix_time: 0.6242, d5.loss_plan_l1_fix_dist: 0.1610, d6.loss_plan_l1_fix_time: 0.6261, d6.loss_plan_l1_fix_dist: 0.1669, d0.loss_cls_all: 0.1195, d0.loss_bbox_all: 0.3201, d0.loss_cls: 0.1195, d0.loss_bbox: 0.3201, d1.loss_cls: 0.1114, d1.loss_bbox: 0.2869, d2.loss_cls: 0.1003, d2.loss_bbox: 0.2631, d3.loss_cls: 0.0830, d3.loss_bbox: 0.2570, d4.loss_cls: 0.0775, d4.loss_bbox: 0.2543, d5.loss_cls: 0.0756, d5.loss_bbox: 0.2530, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6178, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4759, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4309, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4253, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4195, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4158, d0.loss_map_cls_all: 0.1375, d0.loss_map_pts_all: 0.8163, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1375, d0.loss_map_pts: 0.8163, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1095, d1.loss_map_pts: 0.5642, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.0892, d2.loss_map_pts: 0.4381, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0818, d3.loss_map_pts: 0.3910, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0761, d4.loss_map_pts: 0.3805, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0729, d5.loss_map_pts: 0.3777, d5.loss_map_dir: 0.0051, loss: 18.7279, grad_norm: 131.5910 +2026-03-01 05:00:30,861 - DriveTransformer - INFO - Epoch [12][11050/39528] lr: 5.696e-05, eta: 4 days, 6:05:51, time: 0.769, data_time: 0.040, memory: 19865, loss_cls: 0.0703, loss_bbox: 0.2395, loss_traj: 0.4076, loss_traj_cls: 0.0021, loss_map_cls: 0.0836, loss_map_pts: 0.4397, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.3978, d0.loss_plan_l1_fix_dist: 0.4052, d1.loss_plan_l1_fix_time: 0.6530, d1.loss_plan_l1_fix_dist: 0.2244, d2.loss_plan_l1_fix_time: 0.6300, d2.loss_plan_l1_fix_dist: 0.1479, d3.loss_plan_l1_fix_time: 0.6262, d3.loss_plan_l1_fix_dist: 0.1664, d4.loss_plan_l1_fix_time: 0.6278, d4.loss_plan_l1_fix_dist: 0.1460, d5.loss_plan_l1_fix_time: 0.6298, d5.loss_plan_l1_fix_dist: 0.1568, d6.loss_plan_l1_fix_time: 0.6320, d6.loss_plan_l1_fix_dist: 0.1700, d0.loss_cls_all: 0.1141, d0.loss_bbox_all: 0.3016, d0.loss_cls: 0.1141, d0.loss_bbox: 0.3016, d1.loss_cls: 0.1071, d1.loss_bbox: 0.2703, d2.loss_cls: 0.0950, d2.loss_bbox: 0.2522, d3.loss_cls: 0.0768, d3.loss_bbox: 0.2462, d4.loss_cls: 0.0722, d4.loss_bbox: 0.2421, d5.loss_cls: 0.0708, d5.loss_bbox: 0.2401, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6573, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5033, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4427, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4199, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4130, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4072, d0.loss_map_cls_all: 0.1660, d0.loss_map_pts_all: 0.9673, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1660, d0.loss_map_pts: 0.9673, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1336, d1.loss_map_pts: 0.6682, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1066, d2.loss_map_pts: 0.5235, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.0973, d3.loss_map_pts: 0.4682, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0922, d4.loss_map_pts: 0.4446, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0861, d5.loss_map_pts: 0.4406, d5.loss_map_dir: 0.0061, loss: 19.5888, grad_norm: 130.5256 +2026-03-01 05:01:07,023 - DriveTransformer - INFO - Epoch [12][11100/39528] lr: 5.696e-05, eta: 4 days, 6:05:13, time: 0.723, data_time: 0.037, memory: 19865, loss_cls: 0.0771, loss_bbox: 0.2657, loss_traj: 0.4242, loss_traj_cls: 0.0021, loss_map_cls: 0.0980, loss_map_pts: 0.4723, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.5326, d0.loss_plan_l1_fix_dist: 0.4485, d1.loss_plan_l1_fix_time: 0.7612, d1.loss_plan_l1_fix_dist: 0.2596, d2.loss_plan_l1_fix_time: 0.7334, d2.loss_plan_l1_fix_dist: 0.1697, d3.loss_plan_l1_fix_time: 0.7337, d3.loss_plan_l1_fix_dist: 0.1898, d4.loss_plan_l1_fix_time: 0.7350, d4.loss_plan_l1_fix_dist: 0.1648, d5.loss_plan_l1_fix_time: 0.7370, d5.loss_plan_l1_fix_dist: 0.1707, d6.loss_plan_l1_fix_time: 0.7392, d6.loss_plan_l1_fix_dist: 0.1880, d0.loss_cls_all: 0.1330, d0.loss_bbox_all: 0.3407, d0.loss_cls: 0.1330, d0.loss_bbox: 0.3407, d1.loss_cls: 0.1213, d1.loss_bbox: 0.3056, d2.loss_cls: 0.1044, d2.loss_bbox: 0.2814, d3.loss_cls: 0.0854, d3.loss_bbox: 0.2734, d4.loss_cls: 0.0800, d4.loss_bbox: 0.2691, d5.loss_cls: 0.0767, d5.loss_bbox: 0.2676, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6671, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5077, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4644, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4349, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4271, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4242, d0.loss_map_cls_all: 0.1670, d0.loss_map_pts_all: 0.9336, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1670, d0.loss_map_pts: 0.9336, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1379, d1.loss_map_pts: 0.6901, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1212, d2.loss_map_pts: 0.5441, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1122, d3.loss_map_pts: 0.4956, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1066, d4.loss_map_pts: 0.4776, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1012, d5.loss_map_pts: 0.4718, d5.loss_map_dir: 0.0057, loss: 21.1504, grad_norm: 130.0079 +2026-03-01 05:01:42,173 - DriveTransformer - INFO - Epoch [12][11150/39528] lr: 5.696e-05, eta: 4 days, 6:04:33, time: 0.703, data_time: 0.036, memory: 19865, loss_cls: 0.0832, loss_bbox: 0.2740, loss_traj: 0.4253, loss_traj_cls: 0.0021, loss_map_cls: 0.1008, loss_map_pts: 0.4775, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.6130, d0.loss_plan_l1_fix_dist: 0.3837, d1.loss_plan_l1_fix_time: 0.7041, d1.loss_plan_l1_fix_dist: 0.2246, d2.loss_plan_l1_fix_time: 0.6816, d2.loss_plan_l1_fix_dist: 0.1494, d3.loss_plan_l1_fix_time: 0.6719, d3.loss_plan_l1_fix_dist: 0.1578, d4.loss_plan_l1_fix_time: 0.6723, d4.loss_plan_l1_fix_dist: 0.1467, d5.loss_plan_l1_fix_time: 0.6735, d5.loss_plan_l1_fix_dist: 0.1427, d6.loss_plan_l1_fix_time: 0.6758, d6.loss_plan_l1_fix_dist: 0.1683, d0.loss_cls_all: 0.1355, d0.loss_bbox_all: 0.3493, d0.loss_cls: 0.1355, d0.loss_bbox: 0.3493, d1.loss_cls: 0.1326, d1.loss_bbox: 0.3112, d2.loss_cls: 0.1157, d2.loss_bbox: 0.2905, d3.loss_cls: 0.0913, d3.loss_bbox: 0.2824, d4.loss_cls: 0.0850, d4.loss_bbox: 0.2768, d5.loss_cls: 0.0822, d5.loss_bbox: 0.2759, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7233, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5223, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4637, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4322, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4277, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4283, d0.loss_map_cls_all: 0.1838, d0.loss_map_pts_all: 0.9791, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1838, d0.loss_map_pts: 0.9791, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1526, d1.loss_map_pts: 0.7306, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1261, d2.loss_map_pts: 0.5777, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1147, d3.loss_map_pts: 0.5138, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.1074, d4.loss_map_pts: 0.4885, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.1025, d5.loss_map_pts: 0.4793, d5.loss_map_dir: 0.0052, loss: 21.1057, grad_norm: 126.8214 +2026-03-01 05:02:19,989 - DriveTransformer - INFO - Epoch [12][11200/39528] lr: 5.696e-05, eta: 4 days, 6:04:00, time: 0.756, data_time: 0.035, memory: 19865, loss_cls: 0.0797, loss_bbox: 0.2671, loss_traj: 0.4508, loss_traj_cls: 0.0020, loss_map_cls: 0.0984, loss_map_pts: 0.5383, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.5342, d0.loss_plan_l1_fix_dist: 0.4548, d1.loss_plan_l1_fix_time: 0.6798, d1.loss_plan_l1_fix_dist: 0.2214, d2.loss_plan_l1_fix_time: 0.6597, d2.loss_plan_l1_fix_dist: 0.1669, d3.loss_plan_l1_fix_time: 0.6498, d3.loss_plan_l1_fix_dist: 0.1668, d4.loss_plan_l1_fix_time: 0.6522, d4.loss_plan_l1_fix_dist: 0.1726, d5.loss_plan_l1_fix_time: 0.6549, d5.loss_plan_l1_fix_dist: 0.1662, d6.loss_plan_l1_fix_time: 0.6585, d6.loss_plan_l1_fix_dist: 0.1714, d0.loss_cls_all: 0.1197, d0.loss_bbox_all: 0.3334, d0.loss_cls: 0.1197, d0.loss_bbox: 0.3334, d1.loss_cls: 0.1127, d1.loss_bbox: 0.2980, d2.loss_cls: 0.1006, d2.loss_bbox: 0.2763, d3.loss_cls: 0.0856, d3.loss_bbox: 0.2714, d4.loss_cls: 0.0815, d4.loss_bbox: 0.2682, d5.loss_cls: 0.0800, d5.loss_bbox: 0.2675, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6697, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5299, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4685, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4624, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4564, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4528, d0.loss_map_cls_all: 0.1904, d0.loss_map_pts_all: 1.1151, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1904, d0.loss_map_pts: 1.1151, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1518, d1.loss_map_pts: 0.8062, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1287, d2.loss_map_pts: 0.6311, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1157, d3.loss_map_pts: 0.5671, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1069, d4.loss_map_pts: 0.5449, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1007, d5.loss_map_pts: 0.5378, d5.loss_map_dir: 0.0065, loss: 21.5937, grad_norm: 127.2693 +2026-03-01 05:02:55,984 - DriveTransformer - INFO - Epoch [12][11250/39528] lr: 5.696e-05, eta: 4 days, 6:03:22, time: 0.720, data_time: 0.039, memory: 19865, loss_cls: 0.0855, loss_bbox: 0.2741, loss_traj: 0.5052, loss_traj_cls: 0.0020, loss_map_cls: 0.0884, loss_map_pts: 0.4289, loss_map_dir: 0.0045, d0.loss_plan_l1_fix_time: 2.4285, d0.loss_plan_l1_fix_dist: 0.3625, d1.loss_plan_l1_fix_time: 0.6667, d1.loss_plan_l1_fix_dist: 0.2042, d2.loss_plan_l1_fix_time: 0.6459, d2.loss_plan_l1_fix_dist: 0.1586, d3.loss_plan_l1_fix_time: 0.6404, d3.loss_plan_l1_fix_dist: 0.1527, d4.loss_plan_l1_fix_time: 0.6408, d4.loss_plan_l1_fix_dist: 0.1675, d5.loss_plan_l1_fix_time: 0.6423, d5.loss_plan_l1_fix_dist: 0.1642, d6.loss_plan_l1_fix_time: 0.6447, d6.loss_plan_l1_fix_dist: 0.1579, d0.loss_cls_all: 0.1247, d0.loss_bbox_all: 0.3327, d0.loss_cls: 0.1247, d0.loss_bbox: 0.3327, d1.loss_cls: 0.1168, d1.loss_bbox: 0.2999, d2.loss_cls: 0.1067, d2.loss_bbox: 0.2806, d3.loss_cls: 0.0921, d3.loss_bbox: 0.2765, d4.loss_cls: 0.0869, d4.loss_bbox: 0.2740, d5.loss_cls: 0.0858, d5.loss_bbox: 0.2736, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7855, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5923, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5261, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5124, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5075, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5059, d0.loss_map_cls_all: 0.1669, d0.loss_map_pts_all: 0.8921, d0.loss_map_dir_all: 0.0048, d0.loss_map_cls: 0.1669, d0.loss_map_pts: 0.8921, d0.loss_map_dir: 0.0048, d1.loss_map_cls: 0.1400, d1.loss_map_pts: 0.6528, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.1132, d2.loss_map_pts: 0.5153, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.1006, d3.loss_map_pts: 0.4555, d3.loss_map_dir: 0.0043, d4.loss_map_cls: 0.0952, d4.loss_map_pts: 0.4353, d4.loss_map_dir: 0.0044, d5.loss_map_cls: 0.0911, d5.loss_map_pts: 0.4288, d5.loss_map_dir: 0.0045, loss: 20.4854, grad_norm: 125.4865 +2026-03-01 05:03:32,846 - DriveTransformer - INFO - Epoch [12][11300/39528] lr: 5.696e-05, eta: 4 days, 6:02:46, time: 0.737, data_time: 0.037, memory: 19865, loss_cls: 0.0762, loss_bbox: 0.2688, loss_traj: 0.4273, loss_traj_cls: 0.0020, loss_map_cls: 0.0808, loss_map_pts: 0.4016, loss_map_dir: 0.0047, d0.loss_plan_l1_fix_time: 2.5425, d0.loss_plan_l1_fix_dist: 0.5455, d1.loss_plan_l1_fix_time: 0.7407, d1.loss_plan_l1_fix_dist: 0.2002, d2.loss_plan_l1_fix_time: 0.7177, d2.loss_plan_l1_fix_dist: 0.1744, d3.loss_plan_l1_fix_time: 0.7007, d3.loss_plan_l1_fix_dist: 0.1749, d4.loss_plan_l1_fix_time: 0.7010, d4.loss_plan_l1_fix_dist: 0.1838, d5.loss_plan_l1_fix_time: 0.7023, d5.loss_plan_l1_fix_dist: 0.1899, d6.loss_plan_l1_fix_time: 0.7043, d6.loss_plan_l1_fix_dist: 0.1875, d0.loss_cls_all: 0.1200, d0.loss_bbox_all: 0.3365, d0.loss_cls: 0.1200, d0.loss_bbox: 0.3365, d1.loss_cls: 0.1158, d1.loss_bbox: 0.3032, d2.loss_cls: 0.1045, d2.loss_bbox: 0.2812, d3.loss_cls: 0.0836, d3.loss_bbox: 0.2761, d4.loss_cls: 0.0789, d4.loss_bbox: 0.2713, d5.loss_cls: 0.0779, d5.loss_bbox: 0.2693, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7062, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5170, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4635, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4463, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4350, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4287, d0.loss_map_cls_all: 0.1635, d0.loss_map_pts_all: 0.9075, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1635, d0.loss_map_pts: 0.9075, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1306, d1.loss_map_pts: 0.6336, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1061, d2.loss_map_pts: 0.4941, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0936, d3.loss_map_pts: 0.4330, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0872, d4.loss_map_pts: 0.4091, d4.loss_map_dir: 0.0046, d5.loss_map_cls: 0.0826, d5.loss_map_pts: 0.4028, d5.loss_map_dir: 0.0047, loss: 20.5533, grad_norm: 126.2157 +2026-03-01 05:04:10,821 - DriveTransformer - INFO - Epoch [12][11350/39528] lr: 5.696e-05, eta: 4 days, 6:02:13, time: 0.760, data_time: 0.037, memory: 19865, loss_cls: 0.0759, loss_bbox: 0.2670, loss_traj: 0.4092, loss_traj_cls: 0.0021, loss_map_cls: 0.0924, loss_map_pts: 0.4576, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.8101, d0.loss_plan_l1_fix_dist: 0.5485, d1.loss_plan_l1_fix_time: 0.7210, d1.loss_plan_l1_fix_dist: 0.1778, d2.loss_plan_l1_fix_time: 0.6983, d2.loss_plan_l1_fix_dist: 0.1657, d3.loss_plan_l1_fix_time: 0.6983, d3.loss_plan_l1_fix_dist: 0.1794, d4.loss_plan_l1_fix_time: 0.6997, d4.loss_plan_l1_fix_dist: 0.1799, d5.loss_plan_l1_fix_time: 0.7012, d5.loss_plan_l1_fix_dist: 0.1939, d6.loss_plan_l1_fix_time: 0.7028, d6.loss_plan_l1_fix_dist: 0.2103, d0.loss_cls_all: 0.1290, d0.loss_bbox_all: 0.3334, d0.loss_cls: 0.1290, d0.loss_bbox: 0.3334, d1.loss_cls: 0.1237, d1.loss_bbox: 0.3009, d2.loss_cls: 0.1092, d2.loss_bbox: 0.2785, d3.loss_cls: 0.0861, d3.loss_bbox: 0.2732, d4.loss_cls: 0.0795, d4.loss_bbox: 0.2687, d5.loss_cls: 0.0764, d5.loss_bbox: 0.2676, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6238, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4761, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4352, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4199, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4141, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4106, d0.loss_map_cls_all: 0.1684, d0.loss_map_pts_all: 0.9260, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1684, d0.loss_map_pts: 0.9260, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1353, d1.loss_map_pts: 0.6682, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1159, d2.loss_map_pts: 0.5324, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1046, d3.loss_map_pts: 0.4824, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0984, d4.loss_map_pts: 0.4631, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0941, d5.loss_map_pts: 0.4581, d5.loss_map_dir: 0.0052, loss: 20.9515, grad_norm: 126.0752 +2026-03-01 05:04:47,065 - DriveTransformer - INFO - Epoch [12][11400/39528] lr: 5.696e-05, eta: 4 days, 6:01:36, time: 0.726, data_time: 0.037, memory: 19865, loss_cls: 0.0827, loss_bbox: 0.2549, loss_traj: 0.4070, loss_traj_cls: 0.0021, loss_map_cls: 0.0758, loss_map_pts: 0.4161, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.1869, d0.loss_plan_l1_fix_dist: 0.4383, d1.loss_plan_l1_fix_time: 0.6140, d1.loss_plan_l1_fix_dist: 0.1815, d2.loss_plan_l1_fix_time: 0.6003, d2.loss_plan_l1_fix_dist: 0.1731, d3.loss_plan_l1_fix_time: 0.5954, d3.loss_plan_l1_fix_dist: 0.2006, d4.loss_plan_l1_fix_time: 0.5977, d4.loss_plan_l1_fix_dist: 0.1831, d5.loss_plan_l1_fix_time: 0.6001, d5.loss_plan_l1_fix_dist: 0.1963, d6.loss_plan_l1_fix_time: 0.6023, d6.loss_plan_l1_fix_dist: 0.2201, d0.loss_cls_all: 0.1245, d0.loss_bbox_all: 0.3141, d0.loss_cls: 0.1245, d0.loss_bbox: 0.3141, d1.loss_cls: 0.1169, d1.loss_bbox: 0.2849, d2.loss_cls: 0.1065, d2.loss_bbox: 0.2648, d3.loss_cls: 0.0870, d3.loss_bbox: 0.2623, d4.loss_cls: 0.0823, d4.loss_bbox: 0.2598, d5.loss_cls: 0.0830, d5.loss_bbox: 0.2559, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5888, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4730, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4294, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4149, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4089, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4065, d0.loss_map_cls_all: 0.1546, d0.loss_map_pts_all: 0.8797, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1546, d0.loss_map_pts: 0.8797, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1206, d1.loss_map_pts: 0.6508, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.0965, d2.loss_map_pts: 0.5053, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0880, d3.loss_map_pts: 0.4455, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0817, d4.loss_map_pts: 0.4233, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0773, d5.loss_map_pts: 0.4170, d5.loss_map_dir: 0.0053, loss: 19.0550, grad_norm: 127.4689 +2026-03-01 05:05:24,531 - DriveTransformer - INFO - Epoch [12][11450/39528] lr: 5.696e-05, eta: 4 days, 6:01:01, time: 0.748, data_time: 0.038, memory: 19865, loss_cls: 0.0701, loss_bbox: 0.2503, loss_traj: 0.3686, loss_traj_cls: 0.0021, loss_map_cls: 0.0874, loss_map_pts: 0.4902, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.3850, d0.loss_plan_l1_fix_dist: 0.4229, d1.loss_plan_l1_fix_time: 0.6193, d1.loss_plan_l1_fix_dist: 0.1773, d2.loss_plan_l1_fix_time: 0.5992, d2.loss_plan_l1_fix_dist: 0.1631, d3.loss_plan_l1_fix_time: 0.5994, d3.loss_plan_l1_fix_dist: 0.2005, d4.loss_plan_l1_fix_time: 0.6004, d4.loss_plan_l1_fix_dist: 0.1691, d5.loss_plan_l1_fix_time: 0.6025, d5.loss_plan_l1_fix_dist: 0.1821, d6.loss_plan_l1_fix_time: 0.6055, d6.loss_plan_l1_fix_dist: 0.2097, d0.loss_cls_all: 0.1140, d0.loss_bbox_all: 0.3178, d0.loss_cls: 0.1140, d0.loss_bbox: 0.3178, d1.loss_cls: 0.1098, d1.loss_bbox: 0.2818, d2.loss_cls: 0.0974, d2.loss_bbox: 0.2587, d3.loss_cls: 0.0797, d3.loss_bbox: 0.2536, d4.loss_cls: 0.0726, d4.loss_bbox: 0.2530, d5.loss_cls: 0.0724, d5.loss_bbox: 0.2496, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.5785, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4474, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3909, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3710, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3720, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3675, d0.loss_map_cls_all: 0.1680, d0.loss_map_pts_all: 1.0680, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1680, d0.loss_map_pts: 1.0680, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1352, d1.loss_map_pts: 0.7682, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1102, d2.loss_map_pts: 0.5907, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1021, d3.loss_map_pts: 0.5244, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.0930, d4.loss_map_pts: 0.4982, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0897, d5.loss_map_pts: 0.4908, d5.loss_map_dir: 0.0065, loss: 19.8585, grad_norm: 127.4465 +2026-03-01 05:06:00,994 - DriveTransformer - INFO - Epoch [12][11500/39528] lr: 5.696e-05, eta: 4 days, 6:00:25, time: 0.729, data_time: 0.038, memory: 19865, loss_cls: 0.0824, loss_bbox: 0.2503, loss_traj: 0.4072, loss_traj_cls: 0.0021, loss_map_cls: 0.0879, loss_map_pts: 0.4219, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.8459, d0.loss_plan_l1_fix_dist: 0.4622, d1.loss_plan_l1_fix_time: 0.7696, d1.loss_plan_l1_fix_dist: 0.1659, d2.loss_plan_l1_fix_time: 0.7492, d2.loss_plan_l1_fix_dist: 0.1555, d3.loss_plan_l1_fix_time: 0.7396, d3.loss_plan_l1_fix_dist: 0.1893, d4.loss_plan_l1_fix_time: 0.7397, d4.loss_plan_l1_fix_dist: 0.1678, d5.loss_plan_l1_fix_time: 0.7412, d5.loss_plan_l1_fix_dist: 0.1739, d6.loss_plan_l1_fix_time: 0.7433, d6.loss_plan_l1_fix_dist: 0.1955, d0.loss_cls_all: 0.1197, d0.loss_bbox_all: 0.3158, d0.loss_cls: 0.1197, d0.loss_bbox: 0.3158, d1.loss_cls: 0.1137, d1.loss_bbox: 0.2872, d2.loss_cls: 0.1035, d2.loss_bbox: 0.2627, d3.loss_cls: 0.0878, d3.loss_bbox: 0.2571, d4.loss_cls: 0.0835, d4.loss_bbox: 0.2526, d5.loss_cls: 0.0828, d5.loss_bbox: 0.2506, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6728, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4997, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4398, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4211, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4140, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4108, d0.loss_map_cls_all: 0.1655, d0.loss_map_pts_all: 0.9045, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1655, d0.loss_map_pts: 0.9045, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1325, d1.loss_map_pts: 0.6419, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1130, d2.loss_map_pts: 0.4987, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1016, d3.loss_map_pts: 0.4439, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0946, d4.loss_map_pts: 0.4260, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0913, d5.loss_map_pts: 0.4219, d5.loss_map_dir: 0.0055, loss: 20.7562, grad_norm: 126.7006 +2026-03-01 05:06:38,646 - DriveTransformer - INFO - Epoch [12][11550/39528] lr: 5.696e-05, eta: 4 days, 5:59:51, time: 0.753, data_time: 0.038, memory: 19865, loss_cls: 0.0828, loss_bbox: 0.2716, loss_traj: 0.4614, loss_traj_cls: 0.0021, loss_map_cls: 0.0897, loss_map_pts: 0.4900, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.7760, d0.loss_plan_l1_fix_dist: 0.3481, d1.loss_plan_l1_fix_time: 0.6404, d1.loss_plan_l1_fix_dist: 0.1506, d2.loss_plan_l1_fix_time: 0.6213, d2.loss_plan_l1_fix_dist: 0.1548, d3.loss_plan_l1_fix_time: 0.6085, d3.loss_plan_l1_fix_dist: 0.1765, d4.loss_plan_l1_fix_time: 0.6096, d4.loss_plan_l1_fix_dist: 0.1612, d5.loss_plan_l1_fix_time: 0.6109, d5.loss_plan_l1_fix_dist: 0.1585, d6.loss_plan_l1_fix_time: 0.6127, d6.loss_plan_l1_fix_dist: 0.1596, d0.loss_cls_all: 0.1289, d0.loss_bbox_all: 0.3334, d0.loss_cls: 0.1289, d0.loss_bbox: 0.3334, d1.loss_cls: 0.1252, d1.loss_bbox: 0.3037, d2.loss_cls: 0.1136, d2.loss_bbox: 0.2821, d3.loss_cls: 0.0930, d3.loss_bbox: 0.2773, d4.loss_cls: 0.0861, d4.loss_bbox: 0.2730, d5.loss_cls: 0.0843, d5.loss_bbox: 0.2711, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6601, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5134, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4780, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4667, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4652, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4619, d0.loss_map_cls_all: 0.1706, d0.loss_map_pts_all: 0.9984, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1706, d0.loss_map_pts: 0.9984, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1408, d1.loss_map_pts: 0.7353, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1163, d2.loss_map_pts: 0.5779, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1061, d3.loss_map_pts: 0.5149, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.0987, d4.loss_map_pts: 0.4951, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0933, d5.loss_map_pts: 0.4902, d5.loss_map_dir: 0.0064, loss: 20.8297, grad_norm: 123.1286 +2026-03-01 05:07:16,466 - DriveTransformer - INFO - Epoch [12][11600/39528] lr: 5.696e-05, eta: 4 days, 5:59:17, time: 0.757, data_time: 0.039, memory: 19865, loss_cls: 0.0748, loss_bbox: 0.2571, loss_traj: 0.4778, loss_traj_cls: 0.0021, loss_map_cls: 0.1017, loss_map_pts: 0.4863, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.2878, d0.loss_plan_l1_fix_dist: 0.4370, d1.loss_plan_l1_fix_time: 0.6363, d1.loss_plan_l1_fix_dist: 0.1622, d2.loss_plan_l1_fix_time: 0.6192, d2.loss_plan_l1_fix_dist: 0.1694, d3.loss_plan_l1_fix_time: 0.6085, d3.loss_plan_l1_fix_dist: 0.1942, d4.loss_plan_l1_fix_time: 0.6108, d4.loss_plan_l1_fix_dist: 0.1921, d5.loss_plan_l1_fix_time: 0.6133, d5.loss_plan_l1_fix_dist: 0.2054, d6.loss_plan_l1_fix_time: 0.6162, d6.loss_plan_l1_fix_dist: 0.1977, d0.loss_cls_all: 0.1192, d0.loss_bbox_all: 0.3189, d0.loss_cls: 0.1192, d0.loss_bbox: 0.3189, d1.loss_cls: 0.1097, d1.loss_bbox: 0.2887, d2.loss_cls: 0.0950, d2.loss_bbox: 0.2681, d3.loss_cls: 0.0805, d3.loss_bbox: 0.2629, d4.loss_cls: 0.0764, d4.loss_bbox: 0.2604, d5.loss_cls: 0.0752, d5.loss_bbox: 0.2582, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6656, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5629, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4971, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4842, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4823, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4767, d0.loss_map_cls_all: 0.1864, d0.loss_map_pts_all: 1.0371, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1864, d0.loss_map_pts: 1.0371, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1528, d1.loss_map_pts: 0.7558, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1280, d2.loss_map_pts: 0.5875, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1148, d3.loss_map_pts: 0.5206, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1088, d4.loss_map_pts: 0.4935, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1050, d5.loss_map_pts: 0.4862, d5.loss_map_dir: 0.0057, loss: 20.7222, grad_norm: 123.4450 +2026-03-01 05:07:54,288 - DriveTransformer - INFO - Epoch [12][11650/39528] lr: 5.696e-05, eta: 4 days, 5:58:44, time: 0.756, data_time: 0.038, memory: 19865, loss_cls: 0.0876, loss_bbox: 0.2698, loss_traj: 0.5140, loss_traj_cls: 0.0021, loss_map_cls: 0.0803, loss_map_pts: 0.4141, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.4778, d0.loss_plan_l1_fix_dist: 0.3605, d1.loss_plan_l1_fix_time: 0.6893, d1.loss_plan_l1_fix_dist: 0.1447, d2.loss_plan_l1_fix_time: 0.6704, d2.loss_plan_l1_fix_dist: 0.1544, d3.loss_plan_l1_fix_time: 0.6594, d3.loss_plan_l1_fix_dist: 0.1676, d4.loss_plan_l1_fix_time: 0.6603, d4.loss_plan_l1_fix_dist: 0.1644, d5.loss_plan_l1_fix_time: 0.6619, d5.loss_plan_l1_fix_dist: 0.1655, d6.loss_plan_l1_fix_time: 0.6639, d6.loss_plan_l1_fix_dist: 0.1639, d0.loss_cls_all: 0.1317, d0.loss_bbox_all: 0.3285, d0.loss_cls: 0.1317, d0.loss_bbox: 0.3285, d1.loss_cls: 0.1278, d1.loss_bbox: 0.2970, d2.loss_cls: 0.1123, d2.loss_bbox: 0.2817, d3.loss_cls: 0.0948, d3.loss_bbox: 0.2776, d4.loss_cls: 0.0899, d4.loss_bbox: 0.2720, d5.loss_cls: 0.0881, d5.loss_bbox: 0.2702, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6669, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5553, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5239, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5202, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5152, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5132, d0.loss_map_cls_all: 0.1692, d0.loss_map_pts_all: 0.9112, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1692, d0.loss_map_pts: 0.9112, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1281, d1.loss_map_pts: 0.6457, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1011, d2.loss_map_pts: 0.5020, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0913, d3.loss_map_pts: 0.4447, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0862, d4.loss_map_pts: 0.4205, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0832, d5.loss_map_pts: 0.4148, d5.loss_map_dir: 0.0048, loss: 20.4234, grad_norm: 124.0188 +2026-03-01 05:08:32,910 - DriveTransformer - INFO - Epoch [12][11700/39528] lr: 5.696e-05, eta: 4 days, 5:58:12, time: 0.772, data_time: 0.038, memory: 19865, loss_cls: 0.0926, loss_bbox: 0.2785, loss_traj: 0.4166, loss_traj_cls: 0.0021, loss_map_cls: 0.0855, loss_map_pts: 0.4862, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.4125, d0.loss_plan_l1_fix_dist: 0.3478, d1.loss_plan_l1_fix_time: 0.6608, d1.loss_plan_l1_fix_dist: 0.1562, d2.loss_plan_l1_fix_time: 0.6422, d2.loss_plan_l1_fix_dist: 0.1599, d3.loss_plan_l1_fix_time: 0.6332, d3.loss_plan_l1_fix_dist: 0.1612, d4.loss_plan_l1_fix_time: 0.6337, d4.loss_plan_l1_fix_dist: 0.1617, d5.loss_plan_l1_fix_time: 0.6348, d5.loss_plan_l1_fix_dist: 0.1541, d6.loss_plan_l1_fix_time: 0.6363, d6.loss_plan_l1_fix_dist: 0.1617, d0.loss_cls_all: 0.1376, d0.loss_bbox_all: 0.3460, d0.loss_cls: 0.1376, d0.loss_bbox: 0.3460, d1.loss_cls: 0.1312, d1.loss_bbox: 0.3136, d2.loss_cls: 0.1201, d2.loss_bbox: 0.2911, d3.loss_cls: 0.1005, d3.loss_bbox: 0.2838, d4.loss_cls: 0.0942, d4.loss_bbox: 0.2812, d5.loss_cls: 0.0927, d5.loss_bbox: 0.2797, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6313, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4822, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4403, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4220, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4179, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4139, d0.loss_map_cls_all: 0.1700, d0.loss_map_pts_all: 1.0045, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1700, d0.loss_map_pts: 1.0045, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1340, d1.loss_map_pts: 0.7229, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1089, d2.loss_map_pts: 0.5668, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.0996, d3.loss_map_pts: 0.5116, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0935, d4.loss_map_pts: 0.4929, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0889, d5.loss_map_pts: 0.4874, d5.loss_map_dir: 0.0061, loss: 20.3918, grad_norm: 122.5122 +2026-03-01 05:09:10,694 - DriveTransformer - INFO - Epoch [12][11750/39528] lr: 5.696e-05, eta: 4 days, 5:57:38, time: 0.756, data_time: 0.041, memory: 19865, loss_cls: 0.0773, loss_bbox: 0.2594, loss_traj: 0.4053, loss_traj_cls: 0.0020, loss_map_cls: 0.0859, loss_map_pts: 0.4320, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.4440, d0.loss_plan_l1_fix_dist: 0.3656, d1.loss_plan_l1_fix_time: 0.6075, d1.loss_plan_l1_fix_dist: 0.1628, d2.loss_plan_l1_fix_time: 0.5983, d2.loss_plan_l1_fix_dist: 0.1490, d3.loss_plan_l1_fix_time: 0.5968, d3.loss_plan_l1_fix_dist: 0.1421, d4.loss_plan_l1_fix_time: 0.5976, d4.loss_plan_l1_fix_dist: 0.1525, d5.loss_plan_l1_fix_time: 0.5987, d5.loss_plan_l1_fix_dist: 0.1526, d6.loss_plan_l1_fix_time: 0.5994, d6.loss_plan_l1_fix_dist: 0.1666, d0.loss_cls_all: 0.1185, d0.loss_bbox_all: 0.3279, d0.loss_cls: 0.1185, d0.loss_bbox: 0.3279, d1.loss_cls: 0.1125, d1.loss_bbox: 0.2953, d2.loss_cls: 0.1002, d2.loss_bbox: 0.2745, d3.loss_cls: 0.0833, d3.loss_bbox: 0.2669, d4.loss_cls: 0.0782, d4.loss_bbox: 0.2622, d5.loss_cls: 0.0773, d5.loss_bbox: 0.2608, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6102, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4577, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4267, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4099, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4085, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4060, d0.loss_map_cls_all: 0.1609, d0.loss_map_pts_all: 0.9155, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1609, d0.loss_map_pts: 0.9155, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1311, d1.loss_map_pts: 0.6519, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1104, d2.loss_map_pts: 0.5050, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0994, d3.loss_map_pts: 0.4554, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0942, d4.loss_map_pts: 0.4368, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0881, d5.loss_map_pts: 0.4312, d5.loss_map_dir: 0.0051, loss: 19.2221, grad_norm: 122.3863 +2026-03-01 05:09:47,130 - DriveTransformer - INFO - Epoch [12][11800/39528] lr: 5.696e-05, eta: 4 days, 5:57:02, time: 0.729, data_time: 0.038, memory: 19865, loss_cls: 0.0809, loss_bbox: 0.2685, loss_traj: 0.4349, loss_traj_cls: 0.0021, loss_map_cls: 0.0822, loss_map_pts: 0.4434, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.4604, d0.loss_plan_l1_fix_dist: 0.3819, d1.loss_plan_l1_fix_time: 0.6655, d1.loss_plan_l1_fix_dist: 0.1880, d2.loss_plan_l1_fix_time: 0.6553, d2.loss_plan_l1_fix_dist: 0.1649, d3.loss_plan_l1_fix_time: 0.6541, d3.loss_plan_l1_fix_dist: 0.1499, d4.loss_plan_l1_fix_time: 0.6549, d4.loss_plan_l1_fix_dist: 0.1531, d5.loss_plan_l1_fix_time: 0.6564, d5.loss_plan_l1_fix_dist: 0.1601, d6.loss_plan_l1_fix_time: 0.6583, d6.loss_plan_l1_fix_dist: 0.1619, d0.loss_cls_all: 0.1209, d0.loss_bbox_all: 0.3281, d0.loss_cls: 0.1209, d0.loss_bbox: 0.3281, d1.loss_cls: 0.1164, d1.loss_bbox: 0.2966, d2.loss_cls: 0.1035, d2.loss_bbox: 0.2782, d3.loss_cls: 0.0885, d3.loss_bbox: 0.2709, d4.loss_cls: 0.0812, d4.loss_bbox: 0.2712, d5.loss_cls: 0.0813, d5.loss_bbox: 0.2680, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6594, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5256, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4692, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4480, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4393, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4341, d0.loss_map_cls_all: 0.1626, d0.loss_map_pts_all: 0.9741, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1626, d0.loss_map_pts: 0.9741, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1259, d1.loss_map_pts: 0.6934, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1044, d2.loss_map_pts: 0.5267, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.0946, d3.loss_map_pts: 0.4705, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0883, d4.loss_map_pts: 0.4499, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0833, d5.loss_map_pts: 0.4444, d5.loss_map_dir: 0.0060, loss: 20.2149, grad_norm: 121.8968 +2026-03-01 05:10:24,138 - DriveTransformer - INFO - Epoch [12][11850/39528] lr: 5.696e-05, eta: 4 days, 5:56:26, time: 0.740, data_time: 0.038, memory: 19865, loss_cls: 0.1037, loss_bbox: 0.3204, loss_traj: 0.5417, loss_traj_cls: 0.0021, loss_map_cls: 0.1088, loss_map_pts: 0.5437, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.5480, d0.loss_plan_l1_fix_dist: 0.4084, d1.loss_plan_l1_fix_time: 0.6947, d1.loss_plan_l1_fix_dist: 0.2249, d2.loss_plan_l1_fix_time: 0.6832, d2.loss_plan_l1_fix_dist: 0.1954, d3.loss_plan_l1_fix_time: 0.6828, d3.loss_plan_l1_fix_dist: 0.1822, d4.loss_plan_l1_fix_time: 0.6857, d4.loss_plan_l1_fix_dist: 0.1798, d5.loss_plan_l1_fix_time: 0.6882, d5.loss_plan_l1_fix_dist: 0.1922, d6.loss_plan_l1_fix_time: 0.6910, d6.loss_plan_l1_fix_dist: 0.1923, d0.loss_cls_all: 0.1544, d0.loss_bbox_all: 0.3906, d0.loss_cls: 0.1544, d0.loss_bbox: 0.3906, d1.loss_cls: 0.1446, d1.loss_bbox: 0.3566, d2.loss_cls: 0.1314, d2.loss_bbox: 0.3330, d3.loss_cls: 0.1108, d3.loss_bbox: 0.3259, d4.loss_cls: 0.1048, d4.loss_bbox: 0.3235, d5.loss_cls: 0.1031, d5.loss_bbox: 0.3211, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8359, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.6464, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5711, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5622, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5462, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5434, d0.loss_map_cls_all: 0.2024, d0.loss_map_pts_all: 1.1331, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2024, d0.loss_map_pts: 1.1331, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1647, d1.loss_map_pts: 0.8132, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1356, d2.loss_map_pts: 0.6402, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1223, d3.loss_map_pts: 0.5746, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1151, d4.loss_map_pts: 0.5503, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1104, d5.loss_map_pts: 0.5445, d5.loss_map_dir: 0.0060, loss: 23.4144, grad_norm: 121.9231 +2026-03-01 05:10:59,748 - DriveTransformer - INFO - Epoch [12][11900/39528] lr: 5.696e-05, eta: 4 days, 5:55:47, time: 0.712, data_time: 0.038, memory: 19865, loss_cls: 0.0802, loss_bbox: 0.2728, loss_traj: 0.4189, loss_traj_cls: 0.0021, loss_map_cls: 0.0863, loss_map_pts: 0.4319, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.9174, d0.loss_plan_l1_fix_dist: 0.4515, d1.loss_plan_l1_fix_time: 0.8923, d1.loss_plan_l1_fix_dist: 0.2234, d2.loss_plan_l1_fix_time: 0.8741, d2.loss_plan_l1_fix_dist: 0.1910, d3.loss_plan_l1_fix_time: 0.8605, d3.loss_plan_l1_fix_dist: 0.1828, d4.loss_plan_l1_fix_time: 0.8613, d4.loss_plan_l1_fix_dist: 0.1687, d5.loss_plan_l1_fix_time: 0.8634, d5.loss_plan_l1_fix_dist: 0.1714, d6.loss_plan_l1_fix_time: 0.8662, d6.loss_plan_l1_fix_dist: 0.1702, d0.loss_cls_all: 0.1256, d0.loss_bbox_all: 0.3381, d0.loss_cls: 0.1256, d0.loss_bbox: 0.3381, d1.loss_cls: 0.1192, d1.loss_bbox: 0.3053, d2.loss_cls: 0.1065, d2.loss_bbox: 0.2862, d3.loss_cls: 0.0883, d3.loss_bbox: 0.2773, d4.loss_cls: 0.0805, d4.loss_bbox: 0.2762, d5.loss_cls: 0.0798, d5.loss_bbox: 0.2736, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6385, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4941, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4396, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4256, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4266, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4210, d0.loss_map_cls_all: 0.1634, d0.loss_map_pts_all: 0.8853, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1634, d0.loss_map_pts: 0.8853, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1316, d1.loss_map_pts: 0.6450, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1098, d2.loss_map_pts: 0.5124, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0985, d3.loss_map_pts: 0.4605, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0921, d4.loss_map_pts: 0.4408, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0882, d5.loss_map_pts: 0.4319, d5.loss_map_dir: 0.0051, loss: 21.8071, grad_norm: 116.7334 +2026-03-01 05:11:36,599 - DriveTransformer - INFO - Epoch [12][11950/39528] lr: 5.696e-05, eta: 4 days, 5:55:12, time: 0.737, data_time: 0.040, memory: 19865, loss_cls: 0.0699, loss_bbox: 0.2471, loss_traj: 0.4548, loss_traj_cls: 0.0021, loss_map_cls: 0.0739, loss_map_pts: 0.4092, loss_map_dir: 0.0045, d0.loss_plan_l1_fix_time: 2.1699, d0.loss_plan_l1_fix_dist: 0.3982, d1.loss_plan_l1_fix_time: 0.6183, d1.loss_plan_l1_fix_dist: 0.1917, d2.loss_plan_l1_fix_time: 0.6008, d2.loss_plan_l1_fix_dist: 0.1702, d3.loss_plan_l1_fix_time: 0.5956, d3.loss_plan_l1_fix_dist: 0.1641, d4.loss_plan_l1_fix_time: 0.5976, d4.loss_plan_l1_fix_dist: 0.1486, d5.loss_plan_l1_fix_time: 0.6006, d5.loss_plan_l1_fix_dist: 0.1582, d6.loss_plan_l1_fix_time: 0.6043, d6.loss_plan_l1_fix_dist: 0.1671, d0.loss_cls_all: 0.1079, d0.loss_bbox_all: 0.3138, d0.loss_cls: 0.1079, d0.loss_bbox: 0.3138, d1.loss_cls: 0.1020, d1.loss_bbox: 0.2792, d2.loss_cls: 0.0923, d2.loss_bbox: 0.2589, d3.loss_cls: 0.0751, d3.loss_bbox: 0.2534, d4.loss_cls: 0.0711, d4.loss_bbox: 0.2502, d5.loss_cls: 0.0703, d5.loss_bbox: 0.2481, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6786, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5225, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4634, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4536, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4542, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4538, d0.loss_map_cls_all: 0.1534, d0.loss_map_pts_all: 0.8630, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1534, d0.loss_map_pts: 0.8630, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1234, d1.loss_map_pts: 0.6260, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.0984, d2.loss_map_pts: 0.4819, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.0882, d3.loss_map_pts: 0.4320, d3.loss_map_dir: 0.0043, d4.loss_map_cls: 0.0811, d4.loss_map_pts: 0.4141, d4.loss_map_dir: 0.0044, d5.loss_map_cls: 0.0760, d5.loss_map_pts: 0.4097, d5.loss_map_dir: 0.0045, loss: 18.9185, grad_norm: 115.9806 +2026-03-01 05:12:13,700 - DriveTransformer - INFO - Epoch [12][12000/39528] lr: 5.696e-05, eta: 4 days, 5:54:36, time: 0.742, data_time: 0.041, memory: 19865, loss_cls: 0.0784, loss_bbox: 0.2580, loss_traj: 0.4466, loss_traj_cls: 0.0020, loss_map_cls: 0.0888, loss_map_pts: 0.4825, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.4353, d0.loss_plan_l1_fix_dist: 0.4137, d1.loss_plan_l1_fix_time: 0.6731, d1.loss_plan_l1_fix_dist: 0.1765, d2.loss_plan_l1_fix_time: 0.6550, d2.loss_plan_l1_fix_dist: 0.1638, d3.loss_plan_l1_fix_time: 0.6343, d3.loss_plan_l1_fix_dist: 0.1576, d4.loss_plan_l1_fix_time: 0.6349, d4.loss_plan_l1_fix_dist: 0.1489, d5.loss_plan_l1_fix_time: 0.6373, d5.loss_plan_l1_fix_dist: 0.1610, d6.loss_plan_l1_fix_time: 0.6404, d6.loss_plan_l1_fix_dist: 0.1778, d0.loss_cls_all: 0.1175, d0.loss_bbox_all: 0.3225, d0.loss_cls: 0.1175, d0.loss_bbox: 0.3225, d1.loss_cls: 0.1130, d1.loss_bbox: 0.2887, d2.loss_cls: 0.1033, d2.loss_bbox: 0.2706, d3.loss_cls: 0.0874, d3.loss_bbox: 0.2632, d4.loss_cls: 0.0818, d4.loss_bbox: 0.2595, d5.loss_cls: 0.0806, d5.loss_bbox: 0.2576, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6244, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5042, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4630, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4471, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4496, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4464, d0.loss_map_cls_all: 0.1762, d0.loss_map_pts_all: 0.9928, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1762, d0.loss_map_pts: 0.9928, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1385, d1.loss_map_pts: 0.7069, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1141, d2.loss_map_pts: 0.5562, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1039, d3.loss_map_pts: 0.5074, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0959, d4.loss_map_pts: 0.4869, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0905, d5.loss_map_pts: 0.4819, d5.loss_map_dir: 0.0059, loss: 20.3620, grad_norm: 115.8252 +2026-03-01 05:12:52,667 - DriveTransformer - INFO - Epoch [12][12050/39528] lr: 5.696e-05, eta: 4 days, 5:54:06, time: 0.779, data_time: 0.043, memory: 19865, loss_cls: 0.0721, loss_bbox: 0.2466, loss_traj: 0.4331, loss_traj_cls: 0.0020, loss_map_cls: 0.0798, loss_map_pts: 0.4716, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.2317, d0.loss_plan_l1_fix_dist: 0.4430, d1.loss_plan_l1_fix_time: 0.6609, d1.loss_plan_l1_fix_dist: 0.1624, d2.loss_plan_l1_fix_time: 0.6512, d2.loss_plan_l1_fix_dist: 0.1595, d3.loss_plan_l1_fix_time: 0.6349, d3.loss_plan_l1_fix_dist: 0.1505, d4.loss_plan_l1_fix_time: 0.6351, d4.loss_plan_l1_fix_dist: 0.1497, d5.loss_plan_l1_fix_time: 0.6367, d5.loss_plan_l1_fix_dist: 0.1504, d6.loss_plan_l1_fix_time: 0.6394, d6.loss_plan_l1_fix_dist: 0.1633, d0.loss_cls_all: 0.1114, d0.loss_bbox_all: 0.3162, d0.loss_cls: 0.1114, d0.loss_bbox: 0.3162, d1.loss_cls: 0.1036, d1.loss_bbox: 0.2816, d2.loss_cls: 0.0925, d2.loss_bbox: 0.2589, d3.loss_cls: 0.0780, d3.loss_bbox: 0.2514, d4.loss_cls: 0.0729, d4.loss_bbox: 0.2482, d5.loss_cls: 0.0720, d5.loss_bbox: 0.2465, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6473, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5023, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4631, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4433, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4356, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4338, d0.loss_map_cls_all: 0.1688, d0.loss_map_pts_all: 0.9805, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1688, d0.loss_map_pts: 0.9805, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1319, d1.loss_map_pts: 0.7032, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1097, d2.loss_map_pts: 0.5456, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.0970, d3.loss_map_pts: 0.4939, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0880, d4.loss_map_pts: 0.4747, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0823, d5.loss_map_pts: 0.4692, d5.loss_map_dir: 0.0061, loss: 19.8106, grad_norm: 115.2007 +2026-03-01 05:13:31,212 - DriveTransformer - INFO - Epoch [12][12100/39528] lr: 5.696e-05, eta: 4 days, 5:53:34, time: 0.771, data_time: 0.038, memory: 19865, loss_cls: 0.0816, loss_bbox: 0.2582, loss_traj: 0.4461, loss_traj_cls: 0.0021, loss_map_cls: 0.0777, loss_map_pts: 0.4723, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.5295, d0.loss_plan_l1_fix_dist: 0.4239, d1.loss_plan_l1_fix_time: 0.7872, d1.loss_plan_l1_fix_dist: 0.1722, d2.loss_plan_l1_fix_time: 0.7748, d2.loss_plan_l1_fix_dist: 0.1737, d3.loss_plan_l1_fix_time: 0.7598, d3.loss_plan_l1_fix_dist: 0.1682, d4.loss_plan_l1_fix_time: 0.7608, d4.loss_plan_l1_fix_dist: 0.1782, d5.loss_plan_l1_fix_time: 0.7629, d5.loss_plan_l1_fix_dist: 0.1792, d6.loss_plan_l1_fix_time: 0.7664, d6.loss_plan_l1_fix_dist: 0.1825, d0.loss_cls_all: 0.1241, d0.loss_bbox_all: 0.3237, d0.loss_cls: 0.1241, d0.loss_bbox: 0.3237, d1.loss_cls: 0.1200, d1.loss_bbox: 0.2914, d2.loss_cls: 0.1066, d2.loss_bbox: 0.2680, d3.loss_cls: 0.0874, d3.loss_bbox: 0.2629, d4.loss_cls: 0.0835, d4.loss_bbox: 0.2592, d5.loss_cls: 0.0815, d5.loss_bbox: 0.2587, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6742, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5258, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4769, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4556, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4506, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4483, d0.loss_map_cls_all: 0.1594, d0.loss_map_pts_all: 0.9713, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1594, d0.loss_map_pts: 0.9713, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1267, d1.loss_map_pts: 0.7021, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1034, d2.loss_map_pts: 0.5528, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.0930, d3.loss_map_pts: 0.5013, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.0851, d4.loss_map_pts: 0.4790, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0800, d5.loss_map_pts: 0.4734, d5.loss_map_dir: 0.0064, loss: 21.2202, grad_norm: 119.1471 +2026-03-01 05:14:10,501 - DriveTransformer - INFO - Epoch [12][12150/39528] lr: 5.696e-05, eta: 4 days, 5:53:04, time: 0.786, data_time: 0.038, memory: 19865, loss_cls: 0.0850, loss_bbox: 0.2729, loss_traj: 0.3925, loss_traj_cls: 0.0020, loss_map_cls: 0.1083, loss_map_pts: 0.5836, loss_map_dir: 0.0085, d0.loss_plan_l1_fix_time: 2.3071, d0.loss_plan_l1_fix_dist: 0.2992, d1.loss_plan_l1_fix_time: 0.6063, d1.loss_plan_l1_fix_dist: 0.1389, d2.loss_plan_l1_fix_time: 0.5972, d2.loss_plan_l1_fix_dist: 0.1458, d3.loss_plan_l1_fix_time: 0.5931, d3.loss_plan_l1_fix_dist: 0.1365, d4.loss_plan_l1_fix_time: 0.5949, d4.loss_plan_l1_fix_dist: 0.1530, d5.loss_plan_l1_fix_time: 0.5968, d5.loss_plan_l1_fix_dist: 0.1575, d6.loss_plan_l1_fix_time: 0.5999, d6.loss_plan_l1_fix_dist: 0.1542, d0.loss_cls_all: 0.1383, d0.loss_bbox_all: 0.3504, d0.loss_cls: 0.1383, d0.loss_bbox: 0.3504, d1.loss_cls: 0.1263, d1.loss_bbox: 0.3119, d2.loss_cls: 0.1125, d2.loss_bbox: 0.2855, d3.loss_cls: 0.0924, d3.loss_bbox: 0.2796, d4.loss_cls: 0.0875, d4.loss_bbox: 0.2736, d5.loss_cls: 0.0852, d5.loss_bbox: 0.2735, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5922, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4516, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4136, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3989, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3913, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3922, d0.loss_map_cls_all: 0.1965, d0.loss_map_pts_all: 1.2127, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.1965, d0.loss_map_pts: 1.2127, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1619, d1.loss_map_pts: 0.8805, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1347, d2.loss_map_pts: 0.6897, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1229, d3.loss_map_pts: 0.6205, d3.loss_map_dir: 0.0082, d4.loss_map_cls: 0.1159, d4.loss_map_pts: 0.5912, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1098, d5.loss_map_pts: 0.5850, d5.loss_map_dir: 0.0084, loss: 20.9738, grad_norm: 121.6101 +2026-03-01 05:14:48,236 - DriveTransformer - INFO - Epoch [12][12200/39528] lr: 5.696e-05, eta: 4 days, 5:52:30, time: 0.756, data_time: 0.040, memory: 19865, loss_cls: 0.0858, loss_bbox: 0.2863, loss_traj: 0.5009, loss_traj_cls: 0.0020, loss_map_cls: 0.1000, loss_map_pts: 0.5312, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.8035, d0.loss_plan_l1_fix_dist: 0.3890, d1.loss_plan_l1_fix_time: 0.8255, d1.loss_plan_l1_fix_dist: 0.1594, d2.loss_plan_l1_fix_time: 0.8240, d2.loss_plan_l1_fix_dist: 0.1641, d3.loss_plan_l1_fix_time: 0.8238, d3.loss_plan_l1_fix_dist: 0.1564, d4.loss_plan_l1_fix_time: 0.8255, d4.loss_plan_l1_fix_dist: 0.1685, d5.loss_plan_l1_fix_time: 0.8274, d5.loss_plan_l1_fix_dist: 0.1763, d6.loss_plan_l1_fix_time: 0.8302, d6.loss_plan_l1_fix_dist: 0.1800, d0.loss_cls_all: 0.1314, d0.loss_bbox_all: 0.3522, d0.loss_cls: 0.1314, d0.loss_bbox: 0.3522, d1.loss_cls: 0.1201, d1.loss_bbox: 0.3212, d2.loss_cls: 0.1114, d2.loss_bbox: 0.2975, d3.loss_cls: 0.0945, d3.loss_bbox: 0.2902, d4.loss_cls: 0.0859, d4.loss_bbox: 0.2875, d5.loss_cls: 0.0867, d5.loss_bbox: 0.2859, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7361, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5786, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5307, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5044, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5017, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4997, d0.loss_map_cls_all: 0.1777, d0.loss_map_pts_all: 1.1263, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1777, d0.loss_map_pts: 1.1263, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1512, d1.loss_map_pts: 0.8058, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1259, d2.loss_map_pts: 0.6287, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1138, d3.loss_map_pts: 0.5674, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1072, d4.loss_map_pts: 0.5419, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.1012, d5.loss_map_pts: 0.5327, d5.loss_map_dir: 0.0070, loss: 23.3030, grad_norm: 123.0735 +2026-03-01 05:15:25,664 - DriveTransformer - INFO - Epoch [12][12250/39528] lr: 5.696e-05, eta: 4 days, 5:51:56, time: 0.747, data_time: 0.037, memory: 19865, loss_cls: 0.0820, loss_bbox: 0.2600, loss_traj: 0.3656, loss_traj_cls: 0.0021, loss_map_cls: 0.0874, loss_map_pts: 0.5172, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.2492, d0.loss_plan_l1_fix_dist: 0.4473, d1.loss_plan_l1_fix_time: 0.6462, d1.loss_plan_l1_fix_dist: 0.1631, d2.loss_plan_l1_fix_time: 0.6403, d2.loss_plan_l1_fix_dist: 0.1620, d3.loss_plan_l1_fix_time: 0.6484, d3.loss_plan_l1_fix_dist: 0.1580, d4.loss_plan_l1_fix_time: 0.6512, d4.loss_plan_l1_fix_dist: 0.1603, d5.loss_plan_l1_fix_time: 0.6533, d5.loss_plan_l1_fix_dist: 0.1670, d6.loss_plan_l1_fix_time: 0.6557, d6.loss_plan_l1_fix_dist: 0.1756, d0.loss_cls_all: 0.1201, d0.loss_bbox_all: 0.3169, d0.loss_cls: 0.1201, d0.loss_bbox: 0.3169, d1.loss_cls: 0.1164, d1.loss_bbox: 0.2893, d2.loss_cls: 0.1060, d2.loss_bbox: 0.2700, d3.loss_cls: 0.0866, d3.loss_bbox: 0.2659, d4.loss_cls: 0.0826, d4.loss_bbox: 0.2634, d5.loss_cls: 0.0813, d5.loss_bbox: 0.2606, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5370, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4297, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3857, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3765, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3721, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3688, d0.loss_map_cls_all: 0.1571, d0.loss_map_pts_all: 1.0054, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1571, d0.loss_map_pts: 1.0054, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1299, d1.loss_map_pts: 0.7391, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1105, d2.loss_map_pts: 0.5992, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1007, d3.loss_map_pts: 0.5457, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0947, d4.loss_map_pts: 0.5244, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0893, d5.loss_map_pts: 0.5171, d5.loss_map_dir: 0.0060, loss: 19.8877, grad_norm: 123.4605 +2026-03-01 05:16:01,877 - DriveTransformer - INFO - Epoch [12][12300/39528] lr: 5.696e-05, eta: 4 days, 5:51:18, time: 0.724, data_time: 0.037, memory: 19865, loss_cls: 0.0801, loss_bbox: 0.2739, loss_traj: 0.4205, loss_traj_cls: 0.0021, loss_map_cls: 0.0982, loss_map_pts: 0.4500, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.5538, d0.loss_plan_l1_fix_dist: 0.3723, d1.loss_plan_l1_fix_time: 0.6904, d1.loss_plan_l1_fix_dist: 0.1436, d2.loss_plan_l1_fix_time: 0.6819, d2.loss_plan_l1_fix_dist: 0.1402, d3.loss_plan_l1_fix_time: 0.6778, d3.loss_plan_l1_fix_dist: 0.1422, d4.loss_plan_l1_fix_time: 0.6797, d4.loss_plan_l1_fix_dist: 0.1462, d5.loss_plan_l1_fix_time: 0.6817, d5.loss_plan_l1_fix_dist: 0.1434, d6.loss_plan_l1_fix_time: 0.6834, d6.loss_plan_l1_fix_dist: 0.1576, d0.loss_cls_all: 0.1236, d0.loss_bbox_all: 0.3379, d0.loss_cls: 0.1236, d0.loss_bbox: 0.3379, d1.loss_cls: 0.1188, d1.loss_bbox: 0.3016, d2.loss_cls: 0.1045, d2.loss_bbox: 0.2815, d3.loss_cls: 0.0893, d3.loss_bbox: 0.2760, d4.loss_cls: 0.0828, d4.loss_bbox: 0.2744, d5.loss_cls: 0.0811, d5.loss_bbox: 0.2732, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6643, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4961, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4443, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4263, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4230, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4218, d0.loss_map_cls_all: 0.1782, d0.loss_map_pts_all: 0.9683, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1782, d0.loss_map_pts: 0.9683, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1490, d1.loss_map_pts: 0.6839, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.1240, d2.loss_map_pts: 0.5357, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.1136, d3.loss_map_pts: 0.4734, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.1065, d4.loss_map_pts: 0.4540, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.1006, d5.loss_map_pts: 0.4500, d5.loss_map_dir: 0.0048, loss: 20.4283, grad_norm: 121.6710 +2026-03-01 05:16:37,338 - DriveTransformer - INFO - Epoch [12][12350/39528] lr: 5.696e-05, eta: 4 days, 5:50:39, time: 0.709, data_time: 0.038, memory: 19865, loss_cls: 0.0805, loss_bbox: 0.2684, loss_traj: 0.4120, loss_traj_cls: 0.0021, loss_map_cls: 0.0760, loss_map_pts: 0.4379, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.5575, d0.loss_plan_l1_fix_dist: 0.3486, d1.loss_plan_l1_fix_time: 0.6535, d1.loss_plan_l1_fix_dist: 0.1463, d2.loss_plan_l1_fix_time: 0.6327, d2.loss_plan_l1_fix_dist: 0.1404, d3.loss_plan_l1_fix_time: 0.6315, d3.loss_plan_l1_fix_dist: 0.1451, d4.loss_plan_l1_fix_time: 0.6334, d4.loss_plan_l1_fix_dist: 0.1486, d5.loss_plan_l1_fix_time: 0.6362, d5.loss_plan_l1_fix_dist: 0.1426, d6.loss_plan_l1_fix_time: 0.6395, d6.loss_plan_l1_fix_dist: 0.1598, d0.loss_cls_all: 0.1258, d0.loss_bbox_all: 0.3336, d0.loss_cls: 0.1258, d0.loss_bbox: 0.3336, d1.loss_cls: 0.1189, d1.loss_bbox: 0.3002, d2.loss_cls: 0.1078, d2.loss_bbox: 0.2779, d3.loss_cls: 0.0892, d3.loss_bbox: 0.2725, d4.loss_cls: 0.0841, d4.loss_bbox: 0.2700, d5.loss_cls: 0.0817, d5.loss_bbox: 0.2680, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6051, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4653, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4219, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4105, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4142, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4131, d0.loss_map_cls_all: 0.1649, d0.loss_map_pts_all: 0.9325, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1649, d0.loss_map_pts: 0.9325, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1283, d1.loss_map_pts: 0.6674, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1023, d2.loss_map_pts: 0.5193, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0908, d3.loss_map_pts: 0.4631, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0840, d4.loss_map_pts: 0.4430, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0778, d5.loss_map_pts: 0.4384, d5.loss_map_dir: 0.0056, loss: 19.6709, grad_norm: 118.6078 +2026-03-01 05:17:13,896 - DriveTransformer - INFO - Epoch [12][12400/39528] lr: 5.696e-05, eta: 4 days, 5:50:02, time: 0.731, data_time: 0.039, memory: 19865, loss_cls: 0.0921, loss_bbox: 0.2765, loss_traj: 0.4524, loss_traj_cls: 0.0020, loss_map_cls: 0.0958, loss_map_pts: 0.4833, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.5965, d0.loss_plan_l1_fix_dist: 0.3661, d1.loss_plan_l1_fix_time: 0.6870, d1.loss_plan_l1_fix_dist: 0.1538, d2.loss_plan_l1_fix_time: 0.6733, d2.loss_plan_l1_fix_dist: 0.1414, d3.loss_plan_l1_fix_time: 0.6733, d3.loss_plan_l1_fix_dist: 0.1423, d4.loss_plan_l1_fix_time: 0.6768, d4.loss_plan_l1_fix_dist: 0.1485, d5.loss_plan_l1_fix_time: 0.6796, d5.loss_plan_l1_fix_dist: 0.1566, d6.loss_plan_l1_fix_time: 0.6826, d6.loss_plan_l1_fix_dist: 0.1552, d0.loss_cls_all: 0.1415, d0.loss_bbox_all: 0.3341, d0.loss_cls: 0.1415, d0.loss_bbox: 0.3341, d1.loss_cls: 0.1349, d1.loss_bbox: 0.2999, d2.loss_cls: 0.1215, d2.loss_bbox: 0.2792, d3.loss_cls: 0.0992, d3.loss_bbox: 0.2784, d4.loss_cls: 0.0936, d4.loss_bbox: 0.2769, d5.loss_cls: 0.0914, d5.loss_bbox: 0.2763, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6916, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5343, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4900, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4582, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4510, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4484, d0.loss_map_cls_all: 0.1698, d0.loss_map_pts_all: 1.0260, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1698, d0.loss_map_pts: 1.0260, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1430, d1.loss_map_pts: 0.7344, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1211, d2.loss_map_pts: 0.5781, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.1106, d3.loss_map_pts: 0.5125, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1043, d4.loss_map_pts: 0.4888, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0985, d5.loss_map_pts: 0.4833, d5.loss_map_dir: 0.0050, loss: 21.1226, grad_norm: 118.5537 +2026-03-01 05:17:50,863 - DriveTransformer - INFO - Epoch [12][12450/39528] lr: 5.696e-05, eta: 4 days, 5:49:27, time: 0.739, data_time: 0.039, memory: 19865, loss_cls: 0.0880, loss_bbox: 0.2748, loss_traj: 0.4587, loss_traj_cls: 0.0021, loss_map_cls: 0.0817, loss_map_pts: 0.4613, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.6540, d0.loss_plan_l1_fix_dist: 0.3501, d1.loss_plan_l1_fix_time: 0.7148, d1.loss_plan_l1_fix_dist: 0.1466, d2.loss_plan_l1_fix_time: 0.6919, d2.loss_plan_l1_fix_dist: 0.1301, d3.loss_plan_l1_fix_time: 0.6752, d3.loss_plan_l1_fix_dist: 0.1267, d4.loss_plan_l1_fix_time: 0.6747, d4.loss_plan_l1_fix_dist: 0.1317, d5.loss_plan_l1_fix_time: 0.6757, d5.loss_plan_l1_fix_dist: 0.1464, d6.loss_plan_l1_fix_time: 0.6776, d6.loss_plan_l1_fix_dist: 0.1494, d0.loss_cls_all: 0.1377, d0.loss_bbox_all: 0.3369, d0.loss_cls: 0.1377, d0.loss_bbox: 0.3369, d1.loss_cls: 0.1324, d1.loss_bbox: 0.3017, d2.loss_cls: 0.1184, d2.loss_bbox: 0.2802, d3.loss_cls: 0.0969, d3.loss_bbox: 0.2763, d4.loss_cls: 0.0882, d4.loss_bbox: 0.2768, d5.loss_cls: 0.0879, d5.loss_bbox: 0.2750, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7069, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5349, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4872, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4666, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4637, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4591, d0.loss_map_cls_all: 0.1596, d0.loss_map_pts_all: 0.9441, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1596, d0.loss_map_pts: 0.9441, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1253, d1.loss_map_pts: 0.6837, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1082, d2.loss_map_pts: 0.5328, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0952, d3.loss_map_pts: 0.4870, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0896, d4.loss_map_pts: 0.4694, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0838, d5.loss_map_pts: 0.4616, d5.loss_map_dir: 0.0053, loss: 20.7048, grad_norm: 120.3099 +2026-03-01 05:18:26,906 - DriveTransformer - INFO - Epoch [12][12500/39528] lr: 5.696e-05, eta: 4 days, 5:48:49, time: 0.721, data_time: 0.037, memory: 19865, loss_cls: 0.0842, loss_bbox: 0.2772, loss_traj: 0.4884, loss_traj_cls: 0.0021, loss_map_cls: 0.0974, loss_map_pts: 0.4796, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.7189, d0.loss_plan_l1_fix_dist: 0.4095, d1.loss_plan_l1_fix_time: 0.6569, d1.loss_plan_l1_fix_dist: 0.1688, d2.loss_plan_l1_fix_time: 0.6420, d2.loss_plan_l1_fix_dist: 0.1583, d3.loss_plan_l1_fix_time: 0.6334, d3.loss_plan_l1_fix_dist: 0.1549, d4.loss_plan_l1_fix_time: 0.6336, d4.loss_plan_l1_fix_dist: 0.1471, d5.loss_plan_l1_fix_time: 0.6348, d5.loss_plan_l1_fix_dist: 0.1500, d6.loss_plan_l1_fix_time: 0.6366, d6.loss_plan_l1_fix_dist: 0.1647, d0.loss_cls_all: 0.1396, d0.loss_bbox_all: 0.3492, d0.loss_cls: 0.1396, d0.loss_bbox: 0.3492, d1.loss_cls: 0.1291, d1.loss_bbox: 0.3170, d2.loss_cls: 0.1137, d2.loss_bbox: 0.2922, d3.loss_cls: 0.0932, d3.loss_bbox: 0.2850, d4.loss_cls: 0.0859, d4.loss_bbox: 0.2807, d5.loss_cls: 0.0838, d5.loss_bbox: 0.2789, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7758, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5991, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5281, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4997, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4907, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4863, d0.loss_map_cls_all: 0.1771, d0.loss_map_pts_all: 1.0314, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1771, d0.loss_map_pts: 1.0314, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1464, d1.loss_map_pts: 0.7207, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1219, d2.loss_map_pts: 0.5614, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1113, d3.loss_map_pts: 0.5052, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1041, d4.loss_map_pts: 0.4853, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0991, d5.loss_map_pts: 0.4803, d5.loss_map_dir: 0.0063, loss: 21.4650, grad_norm: 119.6566 +2026-03-01 05:19:05,215 - DriveTransformer - INFO - Epoch [12][12550/39528] lr: 5.696e-05, eta: 4 days, 5:48:17, time: 0.766, data_time: 0.037, memory: 19865, loss_cls: 0.0728, loss_bbox: 0.2542, loss_traj: 0.4187, loss_traj_cls: 0.0021, loss_map_cls: 0.0824, loss_map_pts: 0.5238, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.3763, d0.loss_plan_l1_fix_dist: 0.4393, d1.loss_plan_l1_fix_time: 0.6384, d1.loss_plan_l1_fix_dist: 0.1486, d2.loss_plan_l1_fix_time: 0.6271, d2.loss_plan_l1_fix_dist: 0.1458, d3.loss_plan_l1_fix_time: 0.6246, d3.loss_plan_l1_fix_dist: 0.1457, d4.loss_plan_l1_fix_time: 0.6268, d4.loss_plan_l1_fix_dist: 0.1404, d5.loss_plan_l1_fix_time: 0.6290, d5.loss_plan_l1_fix_dist: 0.1359, d6.loss_plan_l1_fix_time: 0.6316, d6.loss_plan_l1_fix_dist: 0.1455, d0.loss_cls_all: 0.1158, d0.loss_bbox_all: 0.3214, d0.loss_cls: 0.1158, d0.loss_bbox: 0.3214, d1.loss_cls: 0.1073, d1.loss_bbox: 0.2854, d2.loss_cls: 0.0971, d2.loss_bbox: 0.2614, d3.loss_cls: 0.0784, d3.loss_bbox: 0.2566, d4.loss_cls: 0.0748, d4.loss_bbox: 0.2541, d5.loss_cls: 0.0742, d5.loss_bbox: 0.2531, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6223, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4925, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4473, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4335, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4260, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4214, d0.loss_map_cls_all: 0.1566, d0.loss_map_pts_all: 1.0837, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1566, d0.loss_map_pts: 1.0837, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1249, d1.loss_map_pts: 0.7720, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1046, d2.loss_map_pts: 0.6091, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.0976, d3.loss_map_pts: 0.5514, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.0901, d4.loss_map_pts: 0.5272, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0851, d5.loss_map_pts: 0.5237, d5.loss_map_dir: 0.0069, loss: 20.2962, grad_norm: 119.5207 +2026-03-01 05:19:41,804 - DriveTransformer - INFO - Epoch [12][12600/39528] lr: 5.696e-05, eta: 4 days, 5:47:40, time: 0.732, data_time: 0.039, memory: 19865, loss_cls: 0.0803, loss_bbox: 0.2656, loss_traj: 0.4144, loss_traj_cls: 0.0021, loss_map_cls: 0.0742, loss_map_pts: 0.4169, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.6224, d0.loss_plan_l1_fix_dist: 0.4331, d1.loss_plan_l1_fix_time: 0.7868, d1.loss_plan_l1_fix_dist: 0.1713, d2.loss_plan_l1_fix_time: 0.7714, d2.loss_plan_l1_fix_dist: 0.1679, d3.loss_plan_l1_fix_time: 0.7451, d3.loss_plan_l1_fix_dist: 0.1670, d4.loss_plan_l1_fix_time: 0.7462, d4.loss_plan_l1_fix_dist: 0.1683, d5.loss_plan_l1_fix_time: 0.7481, d5.loss_plan_l1_fix_dist: 0.1598, d6.loss_plan_l1_fix_time: 0.7506, d6.loss_plan_l1_fix_dist: 0.1684, d0.loss_cls_all: 0.1238, d0.loss_bbox_all: 0.3186, d0.loss_cls: 0.1238, d0.loss_bbox: 0.3186, d1.loss_cls: 0.1197, d1.loss_bbox: 0.2889, d2.loss_cls: 0.1081, d2.loss_bbox: 0.2688, d3.loss_cls: 0.0867, d3.loss_bbox: 0.2682, d4.loss_cls: 0.0820, d4.loss_bbox: 0.2637, d5.loss_cls: 0.0804, d5.loss_bbox: 0.2642, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6448, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4995, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4439, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4281, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4207, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4164, d0.loss_map_cls_all: 0.1633, d0.loss_map_pts_all: 0.9221, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1633, d0.loss_map_pts: 0.9221, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1293, d1.loss_map_pts: 0.6543, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1026, d2.loss_map_pts: 0.4927, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0869, d3.loss_map_pts: 0.4417, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0804, d4.loss_map_pts: 0.4224, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0767, d5.loss_map_pts: 0.4168, d5.loss_map_dir: 0.0052, loss: 20.5505, grad_norm: 120.2994 +2026-03-01 05:20:20,935 - DriveTransformer - INFO - Epoch [12][12650/39528] lr: 5.696e-05, eta: 4 days, 5:47:10, time: 0.783, data_time: 0.038, memory: 19865, loss_cls: 0.0720, loss_bbox: 0.2620, loss_traj: 0.3448, loss_traj_cls: 0.0021, loss_map_cls: 0.0951, loss_map_pts: 0.5004, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.4396, d0.loss_plan_l1_fix_dist: 0.3101, d1.loss_plan_l1_fix_time: 0.7242, d1.loss_plan_l1_fix_dist: 0.1668, d2.loss_plan_l1_fix_time: 0.7118, d2.loss_plan_l1_fix_dist: 0.1590, d3.loss_plan_l1_fix_time: 0.6914, d3.loss_plan_l1_fix_dist: 0.1562, d4.loss_plan_l1_fix_time: 0.6946, d4.loss_plan_l1_fix_dist: 0.1594, d5.loss_plan_l1_fix_time: 0.6968, d5.loss_plan_l1_fix_dist: 0.1704, d6.loss_plan_l1_fix_time: 0.6990, d6.loss_plan_l1_fix_dist: 0.1808, d0.loss_cls_all: 0.1231, d0.loss_bbox_all: 0.3173, d0.loss_cls: 0.1231, d0.loss_bbox: 0.3173, d1.loss_cls: 0.1159, d1.loss_bbox: 0.2862, d2.loss_cls: 0.1020, d2.loss_bbox: 0.2676, d3.loss_cls: 0.0801, d3.loss_bbox: 0.2644, d4.loss_cls: 0.0746, d4.loss_bbox: 0.2615, d5.loss_cls: 0.0728, d5.loss_bbox: 0.2612, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5507, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4238, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3743, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3542, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3464, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3421, d0.loss_map_cls_all: 0.1794, d0.loss_map_pts_all: 1.1208, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1794, d0.loss_map_pts: 1.1208, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1480, d1.loss_map_pts: 0.7871, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1210, d2.loss_map_pts: 0.5952, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1110, d3.loss_map_pts: 0.5322, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.1029, d4.loss_map_pts: 0.5075, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.0974, d5.loss_map_pts: 0.5021, d5.loss_map_dir: 0.0070, loss: 20.4602, grad_norm: 129.4890 +2026-03-01 05:20:58,903 - DriveTransformer - INFO - Epoch [12][12700/39528] lr: 5.696e-05, eta: 4 days, 5:46:37, time: 0.759, data_time: 0.040, memory: 19865, loss_cls: 0.0727, loss_bbox: 0.2526, loss_traj: 0.3958, loss_traj_cls: 0.0021, loss_map_cls: 0.0906, loss_map_pts: 0.4788, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.4448, d0.loss_plan_l1_fix_dist: 0.3750, d1.loss_plan_l1_fix_time: 0.6659, d1.loss_plan_l1_fix_dist: 0.1645, d2.loss_plan_l1_fix_time: 0.6489, d2.loss_plan_l1_fix_dist: 0.1609, d3.loss_plan_l1_fix_time: 0.6539, d3.loss_plan_l1_fix_dist: 0.1530, d4.loss_plan_l1_fix_time: 0.6563, d4.loss_plan_l1_fix_dist: 0.1564, d5.loss_plan_l1_fix_time: 0.6586, d5.loss_plan_l1_fix_dist: 0.1721, d6.loss_plan_l1_fix_time: 0.6611, d6.loss_plan_l1_fix_dist: 0.1804, d0.loss_cls_all: 0.1117, d0.loss_bbox_all: 0.3040, d0.loss_cls: 0.1117, d0.loss_bbox: 0.3040, d1.loss_cls: 0.1045, d1.loss_bbox: 0.2749, d2.loss_cls: 0.0933, d2.loss_bbox: 0.2569, d3.loss_cls: 0.0771, d3.loss_bbox: 0.2557, d4.loss_cls: 0.0745, d4.loss_bbox: 0.2536, d5.loss_cls: 0.0724, d5.loss_bbox: 0.2523, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5731, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4586, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4191, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4051, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3995, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3984, d0.loss_map_cls_all: 0.1753, d0.loss_map_pts_all: 1.0658, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1753, d0.loss_map_pts: 1.0658, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1447, d1.loss_map_pts: 0.7549, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1196, d2.loss_map_pts: 0.5795, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1057, d3.loss_map_pts: 0.5160, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0973, d4.loss_map_pts: 0.4899, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0928, d5.loss_map_pts: 0.4800, d5.loss_map_dir: 0.0061, loss: 20.1622, grad_norm: 130.2001 +2026-03-01 05:21:35,588 - DriveTransformer - INFO - Epoch [12][12750/39528] lr: 5.696e-05, eta: 4 days, 5:46:00, time: 0.734, data_time: 0.042, memory: 19865, loss_cls: 0.0809, loss_bbox: 0.2727, loss_traj: 0.4141, loss_traj_cls: 0.0020, loss_map_cls: 0.0834, loss_map_pts: 0.4315, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.8045, d0.loss_plan_l1_fix_dist: 0.3945, d1.loss_plan_l1_fix_time: 0.7795, d1.loss_plan_l1_fix_dist: 0.1781, d2.loss_plan_l1_fix_time: 0.7570, d2.loss_plan_l1_fix_dist: 0.1790, d3.loss_plan_l1_fix_time: 0.7302, d3.loss_plan_l1_fix_dist: 0.1605, d4.loss_plan_l1_fix_time: 0.7271, d4.loss_plan_l1_fix_dist: 0.1640, d5.loss_plan_l1_fix_time: 0.7273, d5.loss_plan_l1_fix_dist: 0.1586, d6.loss_plan_l1_fix_time: 0.7288, d6.loss_plan_l1_fix_dist: 0.1761, d0.loss_cls_all: 0.1244, d0.loss_bbox_all: 0.3267, d0.loss_cls: 0.1244, d0.loss_bbox: 0.3267, d1.loss_cls: 0.1178, d1.loss_bbox: 0.2941, d2.loss_cls: 0.1067, d2.loss_bbox: 0.2768, d3.loss_cls: 0.0897, d3.loss_bbox: 0.2731, d4.loss_cls: 0.0827, d4.loss_bbox: 0.2723, d5.loss_cls: 0.0818, d5.loss_bbox: 0.2712, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6563, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4824, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4324, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4175, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4137, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4122, d0.loss_map_cls_all: 0.1563, d0.loss_map_pts_all: 0.9292, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1563, d0.loss_map_pts: 0.9292, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1291, d1.loss_map_pts: 0.6637, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1058, d2.loss_map_pts: 0.5086, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0970, d3.loss_map_pts: 0.4574, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0898, d4.loss_map_pts: 0.4379, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0859, d5.loss_map_pts: 0.4323, d5.loss_map_dir: 0.0052, loss: 20.7596, grad_norm: 130.3441 +2026-03-01 05:22:12,977 - DriveTransformer - INFO - Epoch [12][12800/39528] lr: 5.696e-05, eta: 4 days, 5:45:26, time: 0.748, data_time: 0.041, memory: 19865, loss_cls: 0.0748, loss_bbox: 0.2745, loss_traj: 0.3700, loss_traj_cls: 0.0021, loss_map_cls: 0.0952, loss_map_pts: 0.4995, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.3139, d0.loss_plan_l1_fix_dist: 0.4839, d1.loss_plan_l1_fix_time: 0.7099, d1.loss_plan_l1_fix_dist: 0.1764, d2.loss_plan_l1_fix_time: 0.6988, d2.loss_plan_l1_fix_dist: 0.1825, d3.loss_plan_l1_fix_time: 0.6801, d3.loss_plan_l1_fix_dist: 0.1666, d4.loss_plan_l1_fix_time: 0.6801, d4.loss_plan_l1_fix_dist: 0.1692, d5.loss_plan_l1_fix_time: 0.6812, d5.loss_plan_l1_fix_dist: 0.1621, d6.loss_plan_l1_fix_time: 0.6827, d6.loss_plan_l1_fix_dist: 0.1784, d0.loss_cls_all: 0.1293, d0.loss_bbox_all: 0.3349, d0.loss_cls: 0.1293, d0.loss_bbox: 0.3349, d1.loss_cls: 0.1226, d1.loss_bbox: 0.3033, d2.loss_cls: 0.1096, d2.loss_bbox: 0.2827, d3.loss_cls: 0.0857, d3.loss_bbox: 0.2781, d4.loss_cls: 0.0774, d4.loss_bbox: 0.2757, d5.loss_cls: 0.0755, d5.loss_bbox: 0.2745, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5775, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4526, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4054, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3841, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3760, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3722, d0.loss_map_cls_all: 0.1819, d0.loss_map_pts_all: 1.0354, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1819, d0.loss_map_pts: 1.0354, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1490, d1.loss_map_pts: 0.7594, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1201, d2.loss_map_pts: 0.5866, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1081, d3.loss_map_pts: 0.5243, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1026, d4.loss_map_pts: 0.5027, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0979, d5.loss_map_pts: 0.4986, d5.loss_map_dir: 0.0062, loss: 20.6014, grad_norm: 130.4622 +2026-03-01 05:22:51,469 - DriveTransformer - INFO - Epoch [12][12850/39528] lr: 5.696e-05, eta: 4 days, 5:44:54, time: 0.770, data_time: 0.041, memory: 19865, loss_cls: 0.0784, loss_bbox: 0.2613, loss_traj: 0.4126, loss_traj_cls: 0.0021, loss_map_cls: 0.0814, loss_map_pts: 0.4424, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.4512, d0.loss_plan_l1_fix_dist: 0.4537, d1.loss_plan_l1_fix_time: 0.7412, d1.loss_plan_l1_fix_dist: 0.1738, d2.loss_plan_l1_fix_time: 0.7233, d2.loss_plan_l1_fix_dist: 0.1727, d3.loss_plan_l1_fix_time: 0.7081, d3.loss_plan_l1_fix_dist: 0.1655, d4.loss_plan_l1_fix_time: 0.7088, d4.loss_plan_l1_fix_dist: 0.1636, d5.loss_plan_l1_fix_time: 0.7104, d5.loss_plan_l1_fix_dist: 0.1678, d6.loss_plan_l1_fix_time: 0.7123, d6.loss_plan_l1_fix_dist: 0.1733, d0.loss_cls_all: 0.1260, d0.loss_bbox_all: 0.3210, d0.loss_cls: 0.1260, d0.loss_bbox: 0.3210, d1.loss_cls: 0.1183, d1.loss_bbox: 0.2909, d2.loss_cls: 0.1050, d2.loss_bbox: 0.2674, d3.loss_cls: 0.0852, d3.loss_bbox: 0.2638, d4.loss_cls: 0.0803, d4.loss_bbox: 0.2611, d5.loss_cls: 0.0788, d5.loss_bbox: 0.2609, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6240, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4797, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4351, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4166, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4107, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4106, d0.loss_map_cls_all: 0.1640, d0.loss_map_pts_all: 0.9905, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1640, d0.loss_map_pts: 0.9905, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1323, d1.loss_map_pts: 0.6842, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1080, d2.loss_map_pts: 0.5265, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.0976, d3.loss_map_pts: 0.4689, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0888, d4.loss_map_pts: 0.4490, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0836, d5.loss_map_pts: 0.4423, d5.loss_map_dir: 0.0057, loss: 20.4320, grad_norm: 130.8503 +2026-03-01 05:23:28,829 - DriveTransformer - INFO - Epoch [12][12900/39528] lr: 5.696e-05, eta: 4 days, 5:44:19, time: 0.747, data_time: 0.038, memory: 19865, loss_cls: 0.0733, loss_bbox: 0.2704, loss_traj: 0.3926, loss_traj_cls: 0.0020, loss_map_cls: 0.0875, loss_map_pts: 0.4482, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.6404, d0.loss_plan_l1_fix_dist: 0.3552, d1.loss_plan_l1_fix_time: 0.6592, d1.loss_plan_l1_fix_dist: 0.1446, d2.loss_plan_l1_fix_time: 0.6441, d2.loss_plan_l1_fix_dist: 0.1446, d3.loss_plan_l1_fix_time: 0.6393, d3.loss_plan_l1_fix_dist: 0.1405, d4.loss_plan_l1_fix_time: 0.6406, d4.loss_plan_l1_fix_dist: 0.1400, d5.loss_plan_l1_fix_time: 0.6420, d5.loss_plan_l1_fix_dist: 0.1382, d6.loss_plan_l1_fix_time: 0.6439, d6.loss_plan_l1_fix_dist: 0.1518, d0.loss_cls_all: 0.1249, d0.loss_bbox_all: 0.3271, d0.loss_cls: 0.1249, d0.loss_bbox: 0.3271, d1.loss_cls: 0.1164, d1.loss_bbox: 0.2943, d2.loss_cls: 0.1017, d2.loss_bbox: 0.2744, d3.loss_cls: 0.0806, d3.loss_bbox: 0.2713, d4.loss_cls: 0.0735, d4.loss_bbox: 0.2713, d5.loss_cls: 0.0732, d5.loss_bbox: 0.2703, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5892, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4446, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4122, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3993, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3968, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3936, d0.loss_map_cls_all: 0.1764, d0.loss_map_pts_all: 0.9369, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1764, d0.loss_map_pts: 0.9369, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1387, d1.loss_map_pts: 0.6707, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1149, d2.loss_map_pts: 0.5199, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1034, d3.loss_map_pts: 0.4687, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0951, d4.loss_map_pts: 0.4516, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0899, d5.loss_map_pts: 0.4475, d5.loss_map_dir: 0.0055, loss: 19.7433, grad_norm: 129.9988 +2026-03-01 05:24:04,656 - DriveTransformer - INFO - Epoch [12][12950/39528] lr: 5.696e-05, eta: 4 days, 5:43:41, time: 0.716, data_time: 0.038, memory: 19865, loss_cls: 0.0731, loss_bbox: 0.2493, loss_traj: 0.3975, loss_traj_cls: 0.0020, loss_map_cls: 0.0919, loss_map_pts: 0.4545, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.6070, d0.loss_plan_l1_fix_dist: 0.4050, d1.loss_plan_l1_fix_time: 0.6916, d1.loss_plan_l1_fix_dist: 0.1444, d2.loss_plan_l1_fix_time: 0.6725, d2.loss_plan_l1_fix_dist: 0.1364, d3.loss_plan_l1_fix_time: 0.6970, d3.loss_plan_l1_fix_dist: 0.1416, d4.loss_plan_l1_fix_time: 0.6996, d4.loss_plan_l1_fix_dist: 0.1454, d5.loss_plan_l1_fix_time: 0.7023, d5.loss_plan_l1_fix_dist: 0.1495, d6.loss_plan_l1_fix_time: 0.7052, d6.loss_plan_l1_fix_dist: 0.1750, d0.loss_cls_all: 0.1210, d0.loss_bbox_all: 0.3046, d0.loss_cls: 0.1210, d0.loss_bbox: 0.3046, d1.loss_cls: 0.1141, d1.loss_bbox: 0.2780, d2.loss_cls: 0.1020, d2.loss_bbox: 0.2575, d3.loss_cls: 0.0790, d3.loss_bbox: 0.2542, d4.loss_cls: 0.0740, d4.loss_bbox: 0.2516, d5.loss_cls: 0.0727, d5.loss_bbox: 0.2505, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6038, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4455, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4132, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4084, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3963, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3993, d0.loss_map_cls_all: 0.1705, d0.loss_map_pts_all: 0.9714, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1705, d0.loss_map_pts: 0.9714, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1397, d1.loss_map_pts: 0.7016, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1185, d2.loss_map_pts: 0.5395, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.1069, d3.loss_map_pts: 0.4799, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.1005, d4.loss_map_pts: 0.4592, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0945, d5.loss_map_pts: 0.4545, d5.loss_map_dir: 0.0050, loss: 20.1162, grad_norm: 132.0530 +2026-03-01 05:24:40,878 - DriveTransformer - INFO - Epoch [12][13000/39528] lr: 5.696e-05, eta: 4 days, 5:43:04, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.0904, loss_bbox: 0.2871, loss_traj: 0.4320, loss_traj_cls: 0.0021, loss_map_cls: 0.0915, loss_map_pts: 0.4838, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.6001, d0.loss_plan_l1_fix_dist: 0.4194, d1.loss_plan_l1_fix_time: 0.7214, d1.loss_plan_l1_fix_dist: 0.1669, d2.loss_plan_l1_fix_time: 0.7106, d2.loss_plan_l1_fix_dist: 0.1561, d3.loss_plan_l1_fix_time: 0.7151, d3.loss_plan_l1_fix_dist: 0.1639, d4.loss_plan_l1_fix_time: 0.7180, d4.loss_plan_l1_fix_dist: 0.1664, d5.loss_plan_l1_fix_time: 0.7210, d5.loss_plan_l1_fix_dist: 0.1636, d6.loss_plan_l1_fix_time: 0.7240, d6.loss_plan_l1_fix_dist: 0.1686, d0.loss_cls_all: 0.1398, d0.loss_bbox_all: 0.3559, d0.loss_cls: 0.1398, d0.loss_bbox: 0.3559, d1.loss_cls: 0.1312, d1.loss_bbox: 0.3225, d2.loss_cls: 0.1146, d2.loss_bbox: 0.2984, d3.loss_cls: 0.0967, d3.loss_bbox: 0.2919, d4.loss_cls: 0.0918, d4.loss_bbox: 0.2896, d5.loss_cls: 0.0914, d5.loss_bbox: 0.2873, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6572, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5036, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4572, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4364, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4283, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4288, d0.loss_map_cls_all: 0.1774, d0.loss_map_pts_all: 1.0166, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1774, d0.loss_map_pts: 1.0166, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1420, d1.loss_map_pts: 0.7413, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1198, d2.loss_map_pts: 0.5709, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1057, d3.loss_map_pts: 0.5069, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0994, d4.loss_map_pts: 0.4890, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0942, d5.loss_map_pts: 0.4839, d5.loss_map_dir: 0.0061, loss: 21.4146, grad_norm: 128.7936 +2026-03-01 05:25:17,184 - DriveTransformer - INFO - Epoch [12][13050/39528] lr: 5.696e-05, eta: 4 days, 5:42:27, time: 0.725, data_time: 0.037, memory: 19865, loss_cls: 0.0845, loss_bbox: 0.2740, loss_traj: 0.4269, loss_traj_cls: 0.0021, loss_map_cls: 0.0906, loss_map_pts: 0.4790, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.2690, d0.loss_plan_l1_fix_dist: 0.3777, d1.loss_plan_l1_fix_time: 0.6475, d1.loss_plan_l1_fix_dist: 0.1573, d2.loss_plan_l1_fix_time: 0.6337, d2.loss_plan_l1_fix_dist: 0.1410, d3.loss_plan_l1_fix_time: 0.6290, d3.loss_plan_l1_fix_dist: 0.1461, d4.loss_plan_l1_fix_time: 0.6307, d4.loss_plan_l1_fix_dist: 0.1482, d5.loss_plan_l1_fix_time: 0.6328, d5.loss_plan_l1_fix_dist: 0.1510, d6.loss_plan_l1_fix_time: 0.6349, d6.loss_plan_l1_fix_dist: 0.1567, d0.loss_cls_all: 0.1277, d0.loss_bbox_all: 0.3385, d0.loss_cls: 0.1277, d0.loss_bbox: 0.3385, d1.loss_cls: 0.1267, d1.loss_bbox: 0.3028, d2.loss_cls: 0.1119, d2.loss_bbox: 0.2832, d3.loss_cls: 0.0937, d3.loss_bbox: 0.2785, d4.loss_cls: 0.0877, d4.loss_bbox: 0.2752, d5.loss_cls: 0.0849, d5.loss_bbox: 0.2746, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6418, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4996, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4636, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4441, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4315, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4273, d0.loss_map_cls_all: 0.1704, d0.loss_map_pts_all: 1.0155, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1704, d0.loss_map_pts: 1.0155, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1362, d1.loss_map_pts: 0.7367, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1140, d2.loss_map_pts: 0.5687, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1044, d3.loss_map_pts: 0.5059, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0978, d4.loss_map_pts: 0.4859, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0929, d5.loss_map_pts: 0.4790, d5.loss_map_dir: 0.0056, loss: 20.2161, grad_norm: 129.0350 +2026-03-01 05:25:53,201 - DriveTransformer - INFO - Epoch [12][13100/39528] lr: 5.696e-05, eta: 4 days, 5:41:49, time: 0.720, data_time: 0.036, memory: 19865, loss_cls: 0.0880, loss_bbox: 0.2745, loss_traj: 0.4900, loss_traj_cls: 0.0020, loss_map_cls: 0.0722, loss_map_pts: 0.3898, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.6630, d0.loss_plan_l1_fix_dist: 0.3622, d1.loss_plan_l1_fix_time: 0.6600, d1.loss_plan_l1_fix_dist: 0.1537, d2.loss_plan_l1_fix_time: 0.6474, d2.loss_plan_l1_fix_dist: 0.1389, d3.loss_plan_l1_fix_time: 0.6434, d3.loss_plan_l1_fix_dist: 0.1475, d4.loss_plan_l1_fix_time: 0.6467, d4.loss_plan_l1_fix_dist: 0.1461, d5.loss_plan_l1_fix_time: 0.6498, d5.loss_plan_l1_fix_dist: 0.1586, d6.loss_plan_l1_fix_time: 0.6535, d6.loss_plan_l1_fix_dist: 0.1712, d0.loss_cls_all: 0.1289, d0.loss_bbox_all: 0.3340, d0.loss_cls: 0.1289, d0.loss_bbox: 0.3340, d1.loss_cls: 0.1257, d1.loss_bbox: 0.3030, d2.loss_cls: 0.1116, d2.loss_bbox: 0.2860, d3.loss_cls: 0.0948, d3.loss_bbox: 0.2785, d4.loss_cls: 0.0889, d4.loss_bbox: 0.2771, d5.loss_cls: 0.0892, d5.loss_bbox: 0.2745, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7132, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5764, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5250, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5034, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4901, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4892, d0.loss_map_cls_all: 0.1462, d0.loss_map_pts_all: 0.8499, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1462, d0.loss_map_pts: 0.8499, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1187, d1.loss_map_pts: 0.6059, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.0959, d2.loss_map_pts: 0.4631, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0856, d3.loss_map_pts: 0.4123, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0784, d4.loss_map_pts: 0.3941, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0739, d5.loss_map_pts: 0.3908, d5.loss_map_dir: 0.0048, loss: 20.0657, grad_norm: 137.8825 +2026-03-01 05:26:29,238 - DriveTransformer - INFO - Epoch [12][13150/39528] lr: 5.696e-05, eta: 4 days, 5:41:11, time: 0.721, data_time: 0.037, memory: 19865, loss_cls: 0.0790, loss_bbox: 0.2540, loss_traj: 0.4022, loss_traj_cls: 0.0020, loss_map_cls: 0.0772, loss_map_pts: 0.4446, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.6351, d0.loss_plan_l1_fix_dist: 0.3785, d1.loss_plan_l1_fix_time: 0.6496, d1.loss_plan_l1_fix_dist: 0.1537, d2.loss_plan_l1_fix_time: 0.6349, d2.loss_plan_l1_fix_dist: 0.1398, d3.loss_plan_l1_fix_time: 0.6385, d3.loss_plan_l1_fix_dist: 0.1538, d4.loss_plan_l1_fix_time: 0.6447, d4.loss_plan_l1_fix_dist: 0.1554, d5.loss_plan_l1_fix_time: 0.6507, d5.loss_plan_l1_fix_dist: 0.1730, d6.loss_plan_l1_fix_time: 0.6581, d6.loss_plan_l1_fix_dist: 0.1807, d0.loss_cls_all: 0.1195, d0.loss_bbox_all: 0.3048, d0.loss_cls: 0.1195, d0.loss_bbox: 0.3048, d1.loss_cls: 0.1121, d1.loss_bbox: 0.2798, d2.loss_cls: 0.1010, d2.loss_bbox: 0.2609, d3.loss_cls: 0.0829, d3.loss_bbox: 0.2578, d4.loss_cls: 0.0788, d4.loss_bbox: 0.2567, d5.loss_cls: 0.0772, d5.loss_bbox: 0.2553, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6076, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4747, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4274, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4090, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4011, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4004, d0.loss_map_cls_all: 0.1546, d0.loss_map_pts_all: 0.9354, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1546, d0.loss_map_pts: 0.9354, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1218, d1.loss_map_pts: 0.6783, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1003, d2.loss_map_pts: 0.5300, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0921, d3.loss_map_pts: 0.4715, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0847, d4.loss_map_pts: 0.4494, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0797, d5.loss_map_pts: 0.4455, d5.loss_map_dir: 0.0052, loss: 19.7200, grad_norm: 143.9393 +2026-03-01 05:27:05,780 - DriveTransformer - INFO - Epoch [12][13200/39528] lr: 5.696e-05, eta: 4 days, 5:40:34, time: 0.731, data_time: 0.039, memory: 19865, loss_cls: 0.0780, loss_bbox: 0.2662, loss_traj: 0.4634, loss_traj_cls: 0.0020, loss_map_cls: 0.0912, loss_map_pts: 0.4758, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.4653, d0.loss_plan_l1_fix_dist: 0.3913, d1.loss_plan_l1_fix_time: 0.7039, d1.loss_plan_l1_fix_dist: 0.1572, d2.loss_plan_l1_fix_time: 0.6945, d2.loss_plan_l1_fix_dist: 0.1410, d3.loss_plan_l1_fix_time: 0.6891, d3.loss_plan_l1_fix_dist: 0.1479, d4.loss_plan_l1_fix_time: 0.6926, d4.loss_plan_l1_fix_dist: 0.1486, d5.loss_plan_l1_fix_time: 0.6967, d5.loss_plan_l1_fix_dist: 0.1504, d6.loss_plan_l1_fix_time: 0.7014, d6.loss_plan_l1_fix_dist: 0.1630, d0.loss_cls_all: 0.1262, d0.loss_bbox_all: 0.3282, d0.loss_cls: 0.1262, d0.loss_bbox: 0.3282, d1.loss_cls: 0.1169, d1.loss_bbox: 0.2964, d2.loss_cls: 0.1049, d2.loss_bbox: 0.2750, d3.loss_cls: 0.0857, d3.loss_bbox: 0.2690, d4.loss_cls: 0.0809, d4.loss_bbox: 0.2664, d5.loss_cls: 0.0787, d5.loss_bbox: 0.2657, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6907, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5421, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4948, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4718, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4625, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4622, d0.loss_map_cls_all: 0.1775, d0.loss_map_pts_all: 0.9792, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1775, d0.loss_map_pts: 0.9792, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1456, d1.loss_map_pts: 0.7155, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1185, d2.loss_map_pts: 0.5656, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1070, d3.loss_map_pts: 0.5063, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0995, d4.loss_map_pts: 0.4815, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0941, d5.loss_map_pts: 0.4751, d5.loss_map_dir: 0.0052, loss: 20.8637, grad_norm: 141.8679 +2026-03-01 05:27:42,607 - DriveTransformer - INFO - Epoch [12][13250/39528] lr: 5.696e-05, eta: 4 days, 5:39:58, time: 0.736, data_time: 0.037, memory: 19865, loss_cls: 0.0681, loss_bbox: 0.2671, loss_traj: 0.4878, loss_traj_cls: 0.0020, loss_map_cls: 0.0781, loss_map_pts: 0.4009, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.4682, d0.loss_plan_l1_fix_dist: 0.4179, d1.loss_plan_l1_fix_time: 0.6339, d1.loss_plan_l1_fix_dist: 0.1610, d2.loss_plan_l1_fix_time: 0.6204, d2.loss_plan_l1_fix_dist: 0.1549, d3.loss_plan_l1_fix_time: 0.6218, d3.loss_plan_l1_fix_dist: 0.1602, d4.loss_plan_l1_fix_time: 0.6239, d4.loss_plan_l1_fix_dist: 0.1807, d5.loss_plan_l1_fix_time: 0.6267, d5.loss_plan_l1_fix_dist: 0.1792, d6.loss_plan_l1_fix_time: 0.6296, d6.loss_plan_l1_fix_dist: 0.2073, d0.loss_cls_all: 0.1140, d0.loss_bbox_all: 0.3214, d0.loss_cls: 0.1140, d0.loss_bbox: 0.3214, d1.loss_cls: 0.1106, d1.loss_bbox: 0.2885, d2.loss_cls: 0.0966, d2.loss_bbox: 0.2705, d3.loss_cls: 0.0753, d3.loss_bbox: 0.2703, d4.loss_cls: 0.0708, d4.loss_bbox: 0.2680, d5.loss_cls: 0.0694, d5.loss_bbox: 0.2665, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7942, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5982, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5338, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5098, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4961, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4887, d0.loss_map_cls_all: 0.1553, d0.loss_map_pts_all: 0.9067, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1553, d0.loss_map_pts: 0.9067, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1255, d1.loss_map_pts: 0.6395, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1023, d2.loss_map_pts: 0.4801, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0919, d3.loss_map_pts: 0.4262, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0853, d4.loss_map_pts: 0.4080, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0812, d5.loss_map_pts: 0.4010, d5.loss_map_dir: 0.0052, loss: 20.0817, grad_norm: 144.3036 +2026-03-01 05:28:19,083 - DriveTransformer - INFO - Epoch [12][13300/39528] lr: 5.696e-05, eta: 4 days, 5:39:22, time: 0.730, data_time: 0.035, memory: 19865, loss_cls: 0.0898, loss_bbox: 0.2776, loss_traj: 0.4117, loss_traj_cls: 0.0019, loss_map_cls: 0.0886, loss_map_pts: 0.4979, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.8423, d0.loss_plan_l1_fix_dist: 0.4194, d1.loss_plan_l1_fix_time: 0.8009, d1.loss_plan_l1_fix_dist: 0.1618, d2.loss_plan_l1_fix_time: 0.7934, d2.loss_plan_l1_fix_dist: 0.1658, d3.loss_plan_l1_fix_time: 0.7845, d3.loss_plan_l1_fix_dist: 0.1656, d4.loss_plan_l1_fix_time: 0.7853, d4.loss_plan_l1_fix_dist: 0.1806, d5.loss_plan_l1_fix_time: 0.7865, d5.loss_plan_l1_fix_dist: 0.1700, d6.loss_plan_l1_fix_time: 0.7875, d6.loss_plan_l1_fix_dist: 0.2033, d0.loss_cls_all: 0.1407, d0.loss_bbox_all: 0.3362, d0.loss_cls: 0.1407, d0.loss_bbox: 0.3362, d1.loss_cls: 0.1341, d1.loss_bbox: 0.2999, d2.loss_cls: 0.1197, d2.loss_bbox: 0.2797, d3.loss_cls: 0.0978, d3.loss_bbox: 0.2797, d4.loss_cls: 0.0919, d4.loss_bbox: 0.2775, d5.loss_cls: 0.0905, d5.loss_bbox: 0.2762, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6607, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5104, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4516, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4291, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4148, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4123, d0.loss_map_cls_all: 0.1687, d0.loss_map_pts_all: 1.0102, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1687, d0.loss_map_pts: 1.0102, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1387, d1.loss_map_pts: 0.7413, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1157, d2.loss_map_pts: 0.5901, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1030, d3.loss_map_pts: 0.5282, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.0965, d4.loss_map_pts: 0.5047, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0909, d5.loss_map_pts: 0.4983, d5.loss_map_dir: 0.0062, loss: 22.0150, grad_norm: 145.1378 +2026-03-01 05:28:56,975 - DriveTransformer - INFO - Epoch [12][13350/39528] lr: 5.696e-05, eta: 4 days, 5:38:48, time: 0.758, data_time: 0.039, memory: 19865, loss_cls: 0.0824, loss_bbox: 0.2590, loss_traj: 0.4984, loss_traj_cls: 0.0020, loss_map_cls: 0.0928, loss_map_pts: 0.4838, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.3491, d0.loss_plan_l1_fix_dist: 0.4808, d1.loss_plan_l1_fix_time: 0.6545, d1.loss_plan_l1_fix_dist: 0.1550, d2.loss_plan_l1_fix_time: 0.6317, d2.loss_plan_l1_fix_dist: 0.1711, d3.loss_plan_l1_fix_time: 0.6285, d3.loss_plan_l1_fix_dist: 0.1829, d4.loss_plan_l1_fix_time: 0.6304, d4.loss_plan_l1_fix_dist: 0.1989, d5.loss_plan_l1_fix_time: 0.6325, d5.loss_plan_l1_fix_dist: 0.1936, d6.loss_plan_l1_fix_time: 0.6354, d6.loss_plan_l1_fix_dist: 0.2150, d0.loss_cls_all: 0.1229, d0.loss_bbox_all: 0.3247, d0.loss_cls: 0.1229, d0.loss_bbox: 0.3247, d1.loss_cls: 0.1200, d1.loss_bbox: 0.2885, d2.loss_cls: 0.1073, d2.loss_bbox: 0.2682, d3.loss_cls: 0.0873, d3.loss_bbox: 0.2636, d4.loss_cls: 0.0851, d4.loss_bbox: 0.2595, d5.loss_cls: 0.0830, d5.loss_bbox: 0.2598, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7386, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5672, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5232, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5047, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4965, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4949, d0.loss_map_cls_all: 0.1691, d0.loss_map_pts_all: 1.0170, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1691, d0.loss_map_pts: 1.0170, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1360, d1.loss_map_pts: 0.7249, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1137, d2.loss_map_pts: 0.5626, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1056, d3.loss_map_pts: 0.5096, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0997, d4.loss_map_pts: 0.4893, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0942, d5.loss_map_pts: 0.4848, d5.loss_map_dir: 0.0061, loss: 20.9688, grad_norm: 146.2018 +2026-03-01 05:29:32,333 - DriveTransformer - INFO - Epoch [12][13400/39528] lr: 5.696e-05, eta: 4 days, 5:38:09, time: 0.707, data_time: 0.038, memory: 19865, loss_cls: 0.0968, loss_bbox: 0.2843, loss_traj: 0.4786, loss_traj_cls: 0.0020, loss_map_cls: 0.1076, loss_map_pts: 0.4979, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.5653, d0.loss_plan_l1_fix_dist: 0.3385, d1.loss_plan_l1_fix_time: 0.7273, d1.loss_plan_l1_fix_dist: 0.1372, d2.loss_plan_l1_fix_time: 0.7194, d2.loss_plan_l1_fix_dist: 0.1592, d3.loss_plan_l1_fix_time: 0.7183, d3.loss_plan_l1_fix_dist: 0.1661, d4.loss_plan_l1_fix_time: 0.7214, d4.loss_plan_l1_fix_dist: 0.1872, d5.loss_plan_l1_fix_time: 0.7245, d5.loss_plan_l1_fix_dist: 0.1774, d6.loss_plan_l1_fix_time: 0.7282, d6.loss_plan_l1_fix_dist: 0.1807, d0.loss_cls_all: 0.1360, d0.loss_bbox_all: 0.3421, d0.loss_cls: 0.1360, d0.loss_bbox: 0.3421, d1.loss_cls: 0.1351, d1.loss_bbox: 0.3099, d2.loss_cls: 0.1205, d2.loss_bbox: 0.2906, d3.loss_cls: 0.1004, d3.loss_bbox: 0.2886, d4.loss_cls: 0.0976, d4.loss_bbox: 0.2854, d5.loss_cls: 0.0967, d5.loss_bbox: 0.2845, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7170, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5598, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4962, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4949, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4770, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4787, d0.loss_map_cls_all: 0.1894, d0.loss_map_pts_all: 1.0473, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1894, d0.loss_map_pts: 1.0473, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1607, d1.loss_map_pts: 0.7824, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1364, d2.loss_map_pts: 0.6032, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.1220, d3.loss_map_pts: 0.5298, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.1145, d4.loss_map_pts: 0.5039, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.1094, d5.loss_map_pts: 0.4990, d5.loss_map_dir: 0.0049, loss: 21.9873, grad_norm: 148.2650 +2026-03-01 05:30:09,273 - DriveTransformer - INFO - Epoch [12][13450/39528] lr: 5.696e-05, eta: 4 days, 5:37:33, time: 0.739, data_time: 0.036, memory: 19865, loss_cls: 0.0840, loss_bbox: 0.2566, loss_traj: 0.3860, loss_traj_cls: 0.0020, loss_map_cls: 0.0912, loss_map_pts: 0.4531, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.2680, d0.loss_plan_l1_fix_dist: 0.5022, d1.loss_plan_l1_fix_time: 0.5919, d1.loss_plan_l1_fix_dist: 0.1520, d2.loss_plan_l1_fix_time: 0.5779, d2.loss_plan_l1_fix_dist: 0.1696, d3.loss_plan_l1_fix_time: 0.5825, d3.loss_plan_l1_fix_dist: 0.1685, d4.loss_plan_l1_fix_time: 0.5852, d4.loss_plan_l1_fix_dist: 0.2027, d5.loss_plan_l1_fix_time: 0.5876, d5.loss_plan_l1_fix_dist: 0.1855, d6.loss_plan_l1_fix_time: 0.5911, d6.loss_plan_l1_fix_dist: 0.1849, d0.loss_cls_all: 0.1274, d0.loss_bbox_all: 0.3128, d0.loss_cls: 0.1274, d0.loss_bbox: 0.3128, d1.loss_cls: 0.1204, d1.loss_bbox: 0.2813, d2.loss_cls: 0.1072, d2.loss_bbox: 0.2639, d3.loss_cls: 0.0901, d3.loss_bbox: 0.2603, d4.loss_cls: 0.0861, d4.loss_bbox: 0.2571, d5.loss_cls: 0.0845, d5.loss_bbox: 0.2567, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6126, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4635, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4093, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3890, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3875, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3845, d0.loss_map_cls_all: 0.1735, d0.loss_map_pts_all: 0.9795, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1735, d0.loss_map_pts: 0.9795, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1452, d1.loss_map_pts: 0.7010, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1169, d2.loss_map_pts: 0.5422, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1057, d3.loss_map_pts: 0.4842, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0991, d4.loss_map_pts: 0.4597, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0938, d5.loss_map_pts: 0.4536, d5.loss_map_dir: 0.0053, loss: 19.5137, grad_norm: 146.4991 +2026-03-01 05:30:46,132 - DriveTransformer - INFO - Epoch [12][13500/39528] lr: 5.696e-05, eta: 4 days, 5:36:57, time: 0.737, data_time: 0.039, memory: 19865, loss_cls: 0.0908, loss_bbox: 0.2896, loss_traj: 0.4712, loss_traj_cls: 0.0019, loss_map_cls: 0.1124, loss_map_pts: 0.5133, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.9773, d0.loss_plan_l1_fix_dist: 0.3446, d1.loss_plan_l1_fix_time: 0.7055, d1.loss_plan_l1_fix_dist: 0.1491, d2.loss_plan_l1_fix_time: 0.6944, d2.loss_plan_l1_fix_dist: 0.1675, d3.loss_plan_l1_fix_time: 0.6953, d3.loss_plan_l1_fix_dist: 0.1566, d4.loss_plan_l1_fix_time: 0.6965, d4.loss_plan_l1_fix_dist: 0.1977, d5.loss_plan_l1_fix_time: 0.6985, d5.loss_plan_l1_fix_dist: 0.1732, d6.loss_plan_l1_fix_time: 0.7011, d6.loss_plan_l1_fix_dist: 0.1754, d0.loss_cls_all: 0.1424, d0.loss_bbox_all: 0.3607, d0.loss_cls: 0.1424, d0.loss_bbox: 0.3607, d1.loss_cls: 0.1330, d1.loss_bbox: 0.3231, d2.loss_cls: 0.1171, d2.loss_bbox: 0.2969, d3.loss_cls: 0.0977, d3.loss_bbox: 0.2939, d4.loss_cls: 0.0929, d4.loss_bbox: 0.2915, d5.loss_cls: 0.0910, d5.loss_bbox: 0.2905, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7443, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5669, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5058, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4893, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4771, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4719, d0.loss_map_cls_all: 0.2053, d0.loss_map_pts_all: 1.0804, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2053, d0.loss_map_pts: 1.0804, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1704, d1.loss_map_pts: 0.7679, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1438, d2.loss_map_pts: 0.6022, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1318, d3.loss_map_pts: 0.5452, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1226, d4.loss_map_pts: 0.5227, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1171, d5.loss_map_pts: 0.5137, d5.loss_map_dir: 0.0061, loss: 22.5648, grad_norm: 147.2635 +2026-03-01 05:31:20,800 - DriveTransformer - INFO - Epoch [12][13550/39528] lr: 5.696e-05, eta: 4 days, 5:36:16, time: 0.693, data_time: 0.037, memory: 19865, loss_cls: 0.0782, loss_bbox: 0.2479, loss_traj: 0.4666, loss_traj_cls: 0.0019, loss_map_cls: 0.0899, loss_map_pts: 0.4342, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.7312, d0.loss_plan_l1_fix_dist: 0.4001, d1.loss_plan_l1_fix_time: 0.7489, d1.loss_plan_l1_fix_dist: 0.1481, d2.loss_plan_l1_fix_time: 0.7341, d2.loss_plan_l1_fix_dist: 0.1572, d3.loss_plan_l1_fix_time: 0.7157, d3.loss_plan_l1_fix_dist: 0.1596, d4.loss_plan_l1_fix_time: 0.7160, d4.loss_plan_l1_fix_dist: 0.1811, d5.loss_plan_l1_fix_time: 0.7186, d5.loss_plan_l1_fix_dist: 0.1686, d6.loss_plan_l1_fix_time: 0.7216, d6.loss_plan_l1_fix_dist: 0.1773, d0.loss_cls_all: 0.1116, d0.loss_bbox_all: 0.3048, d0.loss_cls: 0.1116, d0.loss_bbox: 0.3048, d1.loss_cls: 0.1091, d1.loss_bbox: 0.2753, d2.loss_cls: 0.0974, d2.loss_bbox: 0.2566, d3.loss_cls: 0.0813, d3.loss_bbox: 0.2529, d4.loss_cls: 0.0782, d4.loss_bbox: 0.2514, d5.loss_cls: 0.0768, d5.loss_bbox: 0.2501, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6631, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5305, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4848, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4738, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4649, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4681, d0.loss_map_cls_all: 0.1744, d0.loss_map_pts_all: 0.9110, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1744, d0.loss_map_pts: 0.9110, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1417, d1.loss_map_pts: 0.6646, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1168, d2.loss_map_pts: 0.5144, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.1047, d3.loss_map_pts: 0.4591, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0977, d4.loss_map_pts: 0.4375, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0938, d5.loss_map_pts: 0.4345, d5.loss_map_dir: 0.0046, loss: 20.7227, grad_norm: 151.2405 +2026-03-01 05:31:58,271 - DriveTransformer - INFO - Epoch [12][13600/39528] lr: 5.696e-05, eta: 4 days, 5:35:42, time: 0.749, data_time: 0.038, memory: 19865, loss_cls: 0.1013, loss_bbox: 0.2835, loss_traj: 0.5213, loss_traj_cls: 0.0020, loss_map_cls: 0.0896, loss_map_pts: 0.5241, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.6320, d0.loss_plan_l1_fix_dist: 0.3928, d1.loss_plan_l1_fix_time: 0.6481, d1.loss_plan_l1_fix_dist: 0.1485, d2.loss_plan_l1_fix_time: 0.6378, d2.loss_plan_l1_fix_dist: 0.1388, d3.loss_plan_l1_fix_time: 0.6360, d3.loss_plan_l1_fix_dist: 0.1583, d4.loss_plan_l1_fix_time: 0.6390, d4.loss_plan_l1_fix_dist: 0.1658, d5.loss_plan_l1_fix_time: 0.6429, d5.loss_plan_l1_fix_dist: 0.1559, d6.loss_plan_l1_fix_time: 0.6470, d6.loss_plan_l1_fix_dist: 0.1679, d0.loss_cls_all: 0.1455, d0.loss_bbox_all: 0.3525, d0.loss_cls: 0.1455, d0.loss_bbox: 0.3525, d1.loss_cls: 0.1452, d1.loss_bbox: 0.3164, d2.loss_cls: 0.1295, d2.loss_bbox: 0.2922, d3.loss_cls: 0.1116, d3.loss_bbox: 0.2847, d4.loss_cls: 0.1049, d4.loss_bbox: 0.2824, d5.loss_cls: 0.1014, d5.loss_bbox: 0.2829, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7982, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.6095, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5544, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5375, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5309, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5220, d0.loss_map_cls_all: 0.1794, d0.loss_map_pts_all: 1.0737, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1794, d0.loss_map_pts: 1.0737, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1444, d1.loss_map_pts: 0.7926, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1206, d2.loss_map_pts: 0.6133, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1072, d3.loss_map_pts: 0.5535, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0996, d4.loss_map_pts: 0.5298, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0923, d5.loss_map_pts: 0.5248, d5.loss_map_dir: 0.0061, loss: 22.0712, grad_norm: 154.6056 +2026-03-01 05:32:32,683 - DriveTransformer - INFO - Epoch [12][13650/39528] lr: 5.696e-05, eta: 4 days, 5:35:00, time: 0.688, data_time: 0.038, memory: 19865, loss_cls: 0.0913, loss_bbox: 0.2818, loss_traj: 0.5132, loss_traj_cls: 0.0020, loss_map_cls: 0.0787, loss_map_pts: 0.4009, loss_map_dir: 0.0039, d0.loss_plan_l1_fix_time: 2.7732, d0.loss_plan_l1_fix_dist: 0.4103, d1.loss_plan_l1_fix_time: 0.7262, d1.loss_plan_l1_fix_dist: 0.1672, d2.loss_plan_l1_fix_time: 0.7110, d2.loss_plan_l1_fix_dist: 0.1409, d3.loss_plan_l1_fix_time: 0.7028, d3.loss_plan_l1_fix_dist: 0.1717, d4.loss_plan_l1_fix_time: 0.7048, d4.loss_plan_l1_fix_dist: 0.1677, d5.loss_plan_l1_fix_time: 0.7072, d5.loss_plan_l1_fix_dist: 0.1603, d6.loss_plan_l1_fix_time: 0.7095, d6.loss_plan_l1_fix_dist: 0.1693, d0.loss_cls_all: 0.1314, d0.loss_bbox_all: 0.3407, d0.loss_cls: 0.1314, d0.loss_bbox: 0.3407, d1.loss_cls: 0.1290, d1.loss_bbox: 0.3077, d2.loss_cls: 0.1136, d2.loss_bbox: 0.2887, d3.loss_cls: 0.0980, d3.loss_bbox: 0.2841, d4.loss_cls: 0.0926, d4.loss_bbox: 0.2830, d5.loss_cls: 0.0927, d5.loss_bbox: 0.2804, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8390, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.6276, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5678, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5500, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5422, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5175, d0.loss_map_cls_all: 0.1583, d0.loss_map_pts_all: 0.8201, d0.loss_map_dir_all: 0.0039, d0.loss_map_cls: 0.1583, d0.loss_map_pts: 0.8201, d0.loss_map_dir: 0.0039, d1.loss_map_cls: 0.1292, d1.loss_map_pts: 0.6034, d1.loss_map_dir: 0.0037, d2.loss_map_cls: 0.1037, d2.loss_map_pts: 0.4731, d2.loss_map_dir: 0.0035, d3.loss_map_cls: 0.0923, d3.loss_map_pts: 0.4211, d3.loss_map_dir: 0.0036, d4.loss_map_cls: 0.0857, d4.loss_map_pts: 0.4040, d4.loss_map_dir: 0.0037, d5.loss_map_cls: 0.0811, d5.loss_map_pts: 0.4005, d5.loss_map_dir: 0.0038, loss: 21.1347, grad_norm: 154.1345 +2026-03-01 05:33:10,971 - DriveTransformer - INFO - Epoch [12][13700/39528] lr: 5.696e-05, eta: 4 days, 5:34:28, time: 0.766, data_time: 0.040, memory: 19865, loss_cls: 0.0779, loss_bbox: 0.2723, loss_traj: 0.4200, loss_traj_cls: 0.0019, loss_map_cls: 0.1059, loss_map_pts: 0.5554, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.3291, d0.loss_plan_l1_fix_dist: 0.4315, d1.loss_plan_l1_fix_time: 0.6657, d1.loss_plan_l1_fix_dist: 0.1785, d2.loss_plan_l1_fix_time: 0.6594, d2.loss_plan_l1_fix_dist: 0.1527, d3.loss_plan_l1_fix_time: 0.6582, d3.loss_plan_l1_fix_dist: 0.1891, d4.loss_plan_l1_fix_time: 0.6591, d4.loss_plan_l1_fix_dist: 0.1646, d5.loss_plan_l1_fix_time: 0.6603, d5.loss_plan_l1_fix_dist: 0.1653, d6.loss_plan_l1_fix_time: 0.6619, d6.loss_plan_l1_fix_dist: 0.1757, d0.loss_cls_all: 0.1269, d0.loss_bbox_all: 0.3337, d0.loss_cls: 0.1269, d0.loss_bbox: 0.3337, d1.loss_cls: 0.1182, d1.loss_bbox: 0.3029, d2.loss_cls: 0.1052, d2.loss_bbox: 0.2834, d3.loss_cls: 0.0860, d3.loss_bbox: 0.2774, d4.loss_cls: 0.0797, d4.loss_bbox: 0.2746, d5.loss_cls: 0.0783, d5.loss_bbox: 0.2727, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6224, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4975, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4453, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4292, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4239, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4218, d0.loss_map_cls_all: 0.1904, d0.loss_map_pts_all: 1.0729, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1904, d0.loss_map_pts: 1.0729, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1623, d1.loss_map_pts: 0.8088, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1355, d2.loss_map_pts: 0.6418, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1219, d3.loss_map_pts: 0.5841, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1141, d4.loss_map_pts: 0.5599, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1090, d5.loss_map_pts: 0.5545, d5.loss_map_dir: 0.0064, loss: 21.1988, grad_norm: 150.2390 +2026-03-01 05:33:48,112 - DriveTransformer - INFO - Epoch [12][13750/39528] lr: 5.696e-05, eta: 4 days, 5:33:53, time: 0.743, data_time: 0.037, memory: 19865, loss_cls: 0.0870, loss_bbox: 0.2987, loss_traj: 0.4467, loss_traj_cls: 0.0019, loss_map_cls: 0.1010, loss_map_pts: 0.4888, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.8649, d0.loss_plan_l1_fix_dist: 0.3454, d1.loss_plan_l1_fix_time: 0.6449, d1.loss_plan_l1_fix_dist: 0.1660, d2.loss_plan_l1_fix_time: 0.6344, d2.loss_plan_l1_fix_dist: 0.1433, d3.loss_plan_l1_fix_time: 0.6271, d3.loss_plan_l1_fix_dist: 0.1806, d4.loss_plan_l1_fix_time: 0.6290, d4.loss_plan_l1_fix_dist: 0.1479, d5.loss_plan_l1_fix_time: 0.6314, d5.loss_plan_l1_fix_dist: 0.1412, d6.loss_plan_l1_fix_time: 0.6343, d6.loss_plan_l1_fix_dist: 0.1511, d0.loss_cls_all: 0.1340, d0.loss_bbox_all: 0.3548, d0.loss_cls: 0.1340, d0.loss_bbox: 0.3548, d1.loss_cls: 0.1293, d1.loss_bbox: 0.3214, d2.loss_cls: 0.1139, d2.loss_bbox: 0.3015, d3.loss_cls: 0.0974, d3.loss_bbox: 0.2981, d4.loss_cls: 0.0904, d4.loss_bbox: 0.2967, d5.loss_cls: 0.0881, d5.loss_bbox: 0.2980, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7081, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5354, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4711, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4495, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4458, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4451, d0.loss_map_cls_all: 0.1797, d0.loss_map_pts_all: 0.9580, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1797, d0.loss_map_pts: 0.9580, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1502, d1.loss_map_pts: 0.7098, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1290, d2.loss_map_pts: 0.5666, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1171, d3.loss_map_pts: 0.5123, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1107, d4.loss_map_pts: 0.4931, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.1036, d5.loss_map_pts: 0.4887, d5.loss_map_dir: 0.0054, loss: 21.1394, grad_norm: 156.2567 +2026-03-01 05:34:26,797 - DriveTransformer - INFO - Epoch [12][13800/39528] lr: 5.696e-05, eta: 4 days, 5:33:21, time: 0.775, data_time: 0.039, memory: 19865, loss_cls: 0.0974, loss_bbox: 0.2986, loss_traj: 0.4341, loss_traj_cls: 0.0019, loss_map_cls: 0.1116, loss_map_pts: 0.5588, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 3.0277, d0.loss_plan_l1_fix_dist: 0.3743, d1.loss_plan_l1_fix_time: 0.7169, d1.loss_plan_l1_fix_dist: 0.1935, d2.loss_plan_l1_fix_time: 0.7037, d2.loss_plan_l1_fix_dist: 0.1813, d3.loss_plan_l1_fix_time: 0.7097, d3.loss_plan_l1_fix_dist: 0.2222, d4.loss_plan_l1_fix_time: 0.7140, d4.loss_plan_l1_fix_dist: 0.2048, d5.loss_plan_l1_fix_time: 0.7184, d5.loss_plan_l1_fix_dist: 0.1984, d6.loss_plan_l1_fix_time: 0.7235, d6.loss_plan_l1_fix_dist: 0.2140, d0.loss_cls_all: 0.1435, d0.loss_bbox_all: 0.3527, d0.loss_cls: 0.1435, d0.loss_bbox: 0.3527, d1.loss_cls: 0.1422, d1.loss_bbox: 0.3199, d2.loss_cls: 0.1264, d2.loss_bbox: 0.2970, d3.loss_cls: 0.1042, d3.loss_bbox: 0.2944, d4.loss_cls: 0.0978, d4.loss_bbox: 0.2948, d5.loss_cls: 0.0962, d5.loss_bbox: 0.2973, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7107, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5343, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4675, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4503, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4440, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4361, d0.loss_map_cls_all: 0.2008, d0.loss_map_pts_all: 1.1692, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.2008, d0.loss_map_pts: 1.1692, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1671, d1.loss_map_pts: 0.8545, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1409, d2.loss_map_pts: 0.6585, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1276, d3.loss_map_pts: 0.5829, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1192, d4.loss_map_pts: 0.5615, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1142, d5.loss_map_pts: 0.5565, d5.loss_map_dir: 0.0064, loss: 23.1882, grad_norm: 172.9228 +2026-03-01 05:35:03,229 - DriveTransformer - INFO - Epoch [12][13850/39528] lr: 5.696e-05, eta: 4 days, 5:32:44, time: 0.727, data_time: 0.036, memory: 19865, loss_cls: 0.0877, loss_bbox: 0.2920, loss_traj: 0.4826, loss_traj_cls: 0.0019, loss_map_cls: 0.0997, loss_map_pts: 0.5580, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 3.0899, d0.loss_plan_l1_fix_dist: 0.4272, d1.loss_plan_l1_fix_time: 0.9601, d1.loss_plan_l1_fix_dist: 0.2031, d2.loss_plan_l1_fix_time: 0.9467, d2.loss_plan_l1_fix_dist: 0.1985, d3.loss_plan_l1_fix_time: 0.9346, d3.loss_plan_l1_fix_dist: 0.2267, d4.loss_plan_l1_fix_time: 0.9377, d4.loss_plan_l1_fix_dist: 0.2127, d5.loss_plan_l1_fix_time: 0.9420, d5.loss_plan_l1_fix_dist: 0.1957, d6.loss_plan_l1_fix_time: 0.9471, d6.loss_plan_l1_fix_dist: 0.2076, d0.loss_cls_all: 0.1293, d0.loss_bbox_all: 0.3446, d0.loss_cls: 0.1293, d0.loss_bbox: 0.3446, d1.loss_cls: 0.1286, d1.loss_bbox: 0.3121, d2.loss_cls: 0.1124, d2.loss_bbox: 0.2931, d3.loss_cls: 0.0969, d3.loss_bbox: 0.2878, d4.loss_cls: 0.0861, d4.loss_bbox: 0.2902, d5.loss_cls: 0.0867, d5.loss_bbox: 0.2907, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7214, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5613, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5096, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4912, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4859, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4832, d0.loss_map_cls_all: 0.1822, d0.loss_map_pts_all: 1.1166, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1822, d0.loss_map_pts: 1.1166, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1516, d1.loss_map_pts: 0.8211, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1282, d2.loss_map_pts: 0.6532, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1173, d3.loss_map_pts: 0.5875, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1087, d4.loss_map_pts: 0.5646, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1027, d5.loss_map_pts: 0.5558, d5.loss_map_dir: 0.0063, loss: 24.5819, grad_norm: 172.8351 +2026-03-01 05:35:37,593 - DriveTransformer - INFO - Epoch [12][13900/39528] lr: 5.696e-05, eta: 4 days, 5:32:03, time: 0.687, data_time: 0.041, memory: 19865, loss_cls: 0.0905, loss_bbox: 0.2827, loss_traj: 0.4053, loss_traj_cls: 0.0019, loss_map_cls: 0.0885, loss_map_pts: 0.4352, loss_map_dir: 0.0042, d0.loss_plan_l1_fix_time: 2.5787, d0.loss_plan_l1_fix_dist: 0.3507, d1.loss_plan_l1_fix_time: 0.6971, d1.loss_plan_l1_fix_dist: 0.1805, d2.loss_plan_l1_fix_time: 0.6834, d2.loss_plan_l1_fix_dist: 0.1805, d3.loss_plan_l1_fix_time: 0.6838, d3.loss_plan_l1_fix_dist: 0.1946, d4.loss_plan_l1_fix_time: 0.6864, d4.loss_plan_l1_fix_dist: 0.1882, d5.loss_plan_l1_fix_time: 0.6892, d5.loss_plan_l1_fix_dist: 0.1703, d6.loss_plan_l1_fix_time: 0.6928, d6.loss_plan_l1_fix_dist: 0.1902, d0.loss_cls_all: 0.1365, d0.loss_bbox_all: 0.3472, d0.loss_cls: 0.1365, d0.loss_bbox: 0.3472, d1.loss_cls: 0.1317, d1.loss_bbox: 0.3105, d2.loss_cls: 0.1189, d2.loss_bbox: 0.2896, d3.loss_cls: 0.0964, d3.loss_bbox: 0.2882, d4.loss_cls: 0.0930, d4.loss_bbox: 0.2826, d5.loss_cls: 0.0905, d5.loss_bbox: 0.2828, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6514, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5007, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4455, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4244, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4113, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4042, d0.loss_map_cls_all: 0.1723, d0.loss_map_pts_all: 0.9312, d0.loss_map_dir_all: 0.0048, d0.loss_map_cls: 0.1723, d0.loss_map_pts: 0.9312, d0.loss_map_dir: 0.0048, d1.loss_map_cls: 0.1421, d1.loss_map_pts: 0.6851, d1.loss_map_dir: 0.0043, d2.loss_map_cls: 0.1143, d2.loss_map_pts: 0.5261, d2.loss_map_dir: 0.0038, d3.loss_map_cls: 0.1036, d3.loss_map_pts: 0.4605, d3.loss_map_dir: 0.0041, d4.loss_map_cls: 0.0957, d4.loss_map_pts: 0.4402, d4.loss_map_dir: 0.0042, d5.loss_map_cls: 0.0903, d5.loss_map_pts: 0.4362, d5.loss_map_dir: 0.0043, loss: 20.6006, grad_norm: 173.3975 +2026-03-01 05:36:13,659 - DriveTransformer - INFO - Epoch [12][13950/39528] lr: 5.696e-05, eta: 4 days, 5:31:25, time: 0.721, data_time: 0.038, memory: 19865, loss_cls: 0.0811, loss_bbox: 0.2504, loss_traj: 0.4590, loss_traj_cls: 0.0019, loss_map_cls: 0.0920, loss_map_pts: 0.4985, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.5798, d0.loss_plan_l1_fix_dist: 0.4404, d1.loss_plan_l1_fix_time: 0.7133, d1.loss_plan_l1_fix_dist: 0.1864, d2.loss_plan_l1_fix_time: 0.7090, d2.loss_plan_l1_fix_dist: 0.1911, d3.loss_plan_l1_fix_time: 0.7056, d3.loss_plan_l1_fix_dist: 0.2037, d4.loss_plan_l1_fix_time: 0.7073, d4.loss_plan_l1_fix_dist: 0.2054, d5.loss_plan_l1_fix_time: 0.7089, d5.loss_plan_l1_fix_dist: 0.1979, d6.loss_plan_l1_fix_time: 0.7106, d6.loss_plan_l1_fix_dist: 0.2133, d0.loss_cls_all: 0.1132, d0.loss_bbox_all: 0.3192, d0.loss_cls: 0.1132, d0.loss_bbox: 0.3192, d1.loss_cls: 0.1112, d1.loss_bbox: 0.2802, d2.loss_cls: 0.0981, d2.loss_bbox: 0.2599, d3.loss_cls: 0.0863, d3.loss_bbox: 0.2543, d4.loss_cls: 0.0823, d4.loss_bbox: 0.2530, d5.loss_cls: 0.0804, d5.loss_bbox: 0.2524, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7585, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5557, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4886, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4711, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4667, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4619, d0.loss_map_cls_all: 0.1790, d0.loss_map_pts_all: 1.0541, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1790, d0.loss_map_pts: 1.0541, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1474, d1.loss_map_pts: 0.7879, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1191, d2.loss_map_pts: 0.5985, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1064, d3.loss_map_pts: 0.5295, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0984, d4.loss_map_pts: 0.5053, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0948, d5.loss_map_pts: 0.4988, d5.loss_map_dir: 0.0058, loss: 21.6845, grad_norm: 173.9176 +2026-03-01 05:36:49,658 - DriveTransformer - INFO - Epoch [12][14000/39528] lr: 5.696e-05, eta: 4 days, 5:30:47, time: 0.720, data_time: 0.039, memory: 19865, loss_cls: 0.0707, loss_bbox: 0.2538, loss_traj: 0.4390, loss_traj_cls: 0.0020, loss_map_cls: 0.0779, loss_map_pts: 0.4571, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.6535, d0.loss_plan_l1_fix_dist: 0.4662, d1.loss_plan_l1_fix_time: 0.7267, d1.loss_plan_l1_fix_dist: 0.1588, d2.loss_plan_l1_fix_time: 0.7205, d2.loss_plan_l1_fix_dist: 0.1656, d3.loss_plan_l1_fix_time: 0.7210, d3.loss_plan_l1_fix_dist: 0.1793, d4.loss_plan_l1_fix_time: 0.7232, d4.loss_plan_l1_fix_dist: 0.1917, d5.loss_plan_l1_fix_time: 0.7259, d5.loss_plan_l1_fix_dist: 0.1798, d6.loss_plan_l1_fix_time: 0.7288, d6.loss_plan_l1_fix_dist: 0.1843, d0.loss_cls_all: 0.1144, d0.loss_bbox_all: 0.3081, d0.loss_cls: 0.1144, d0.loss_bbox: 0.3081, d1.loss_cls: 0.1077, d1.loss_bbox: 0.2774, d2.loss_cls: 0.0904, d2.loss_bbox: 0.2596, d3.loss_cls: 0.0762, d3.loss_bbox: 0.2561, d4.loss_cls: 0.0731, d4.loss_bbox: 0.2542, d5.loss_cls: 0.0705, d5.loss_bbox: 0.2543, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6721, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5250, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4710, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4478, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4428, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4410, d0.loss_map_cls_all: 0.1511, d0.loss_map_pts_all: 0.9096, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1511, d0.loss_map_pts: 0.9096, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1191, d1.loss_map_pts: 0.6609, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1022, d2.loss_map_pts: 0.5330, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0908, d3.loss_map_pts: 0.4846, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0836, d4.loss_map_pts: 0.4628, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0794, d5.loss_map_pts: 0.4581, d5.loss_map_dir: 0.0050, loss: 20.6323, grad_norm: 175.6911 +2026-03-01 05:37:25,107 - DriveTransformer - INFO - Epoch [12][14050/39528] lr: 5.696e-05, eta: 4 days, 5:30:08, time: 0.709, data_time: 0.038, memory: 19865, loss_cls: 0.0713, loss_bbox: 0.2698, loss_traj: 0.4513, loss_traj_cls: 0.0019, loss_map_cls: 0.0851, loss_map_pts: 0.4731, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.6625, d0.loss_plan_l1_fix_dist: 0.4207, d1.loss_plan_l1_fix_time: 0.6110, d1.loss_plan_l1_fix_dist: 0.1473, d2.loss_plan_l1_fix_time: 0.5979, d2.loss_plan_l1_fix_dist: 0.1645, d3.loss_plan_l1_fix_time: 0.6004, d3.loss_plan_l1_fix_dist: 0.1772, d4.loss_plan_l1_fix_time: 0.6025, d4.loss_plan_l1_fix_dist: 0.1832, d5.loss_plan_l1_fix_time: 0.6046, d5.loss_plan_l1_fix_dist: 0.1687, d6.loss_plan_l1_fix_time: 0.6067, d6.loss_plan_l1_fix_dist: 0.1769, d0.loss_cls_all: 0.1179, d0.loss_bbox_all: 0.3278, d0.loss_cls: 0.1179, d0.loss_bbox: 0.3278, d1.loss_cls: 0.1117, d1.loss_bbox: 0.2979, d2.loss_cls: 0.0998, d2.loss_bbox: 0.2779, d3.loss_cls: 0.0791, d3.loss_bbox: 0.2751, d4.loss_cls: 0.0728, d4.loss_bbox: 0.2715, d5.loss_cls: 0.0708, d5.loss_bbox: 0.2708, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7249, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5398, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4828, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4612, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4593, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4539, d0.loss_map_cls_all: 0.1679, d0.loss_map_pts_all: 0.9475, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1679, d0.loss_map_pts: 0.9475, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1383, d1.loss_map_pts: 0.7060, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1099, d2.loss_map_pts: 0.5597, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0983, d3.loss_map_pts: 0.4974, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0927, d4.loss_map_pts: 0.4775, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0876, d5.loss_map_pts: 0.4738, d5.loss_map_dir: 0.0052, loss: 20.4375, grad_norm: 174.0023 +2026-03-01 05:38:03,332 - DriveTransformer - INFO - Epoch [12][14100/39528] lr: 5.696e-05, eta: 4 days, 5:29:35, time: 0.764, data_time: 0.038, memory: 19865, loss_cls: 0.0829, loss_bbox: 0.2690, loss_traj: 0.5099, loss_traj_cls: 0.0019, loss_map_cls: 0.0780, loss_map_pts: 0.4565, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.9378, d0.loss_plan_l1_fix_dist: 0.4108, d1.loss_plan_l1_fix_time: 0.7787, d1.loss_plan_l1_fix_dist: 0.1416, d2.loss_plan_l1_fix_time: 0.7650, d2.loss_plan_l1_fix_dist: 0.1559, d3.loss_plan_l1_fix_time: 0.7569, d3.loss_plan_l1_fix_dist: 0.1765, d4.loss_plan_l1_fix_time: 0.7602, d4.loss_plan_l1_fix_dist: 0.1701, d5.loss_plan_l1_fix_time: 0.7628, d5.loss_plan_l1_fix_dist: 0.1655, d6.loss_plan_l1_fix_time: 0.7651, d6.loss_plan_l1_fix_dist: 0.1777, d0.loss_cls_all: 0.1225, d0.loss_bbox_all: 0.3388, d0.loss_cls: 0.1225, d0.loss_bbox: 0.3388, d1.loss_cls: 0.1161, d1.loss_bbox: 0.3040, d2.loss_cls: 0.1036, d2.loss_bbox: 0.2823, d3.loss_cls: 0.0897, d3.loss_bbox: 0.2744, d4.loss_cls: 0.0833, d4.loss_bbox: 0.2709, d5.loss_cls: 0.0828, d5.loss_bbox: 0.2692, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7458, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5891, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5421, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5215, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5137, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5092, d0.loss_map_cls_all: 0.1607, d0.loss_map_pts_all: 0.9241, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1607, d0.loss_map_pts: 0.9241, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1261, d1.loss_map_pts: 0.6912, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1008, d2.loss_map_pts: 0.5426, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0908, d3.loss_map_pts: 0.4832, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0844, d4.loss_map_pts: 0.4652, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0795, d5.loss_map_pts: 0.4574, d5.loss_map_dir: 0.0057, loss: 21.8845, grad_norm: 174.8397 +2026-03-01 05:38:41,957 - DriveTransformer - INFO - Epoch [12][14150/39528] lr: 5.696e-05, eta: 4 days, 5:29:04, time: 0.772, data_time: 0.037, memory: 19865, loss_cls: 0.0807, loss_bbox: 0.2727, loss_traj: 0.4130, loss_traj_cls: 0.0019, loss_map_cls: 0.0847, loss_map_pts: 0.4588, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.7876, d0.loss_plan_l1_fix_dist: 0.4756, d1.loss_plan_l1_fix_time: 0.6735, d1.loss_plan_l1_fix_dist: 0.1583, d2.loss_plan_l1_fix_time: 0.6596, d2.loss_plan_l1_fix_dist: 0.1632, d3.loss_plan_l1_fix_time: 0.6606, d3.loss_plan_l1_fix_dist: 0.1857, d4.loss_plan_l1_fix_time: 0.6634, d4.loss_plan_l1_fix_dist: 0.1791, d5.loss_plan_l1_fix_time: 0.6659, d5.loss_plan_l1_fix_dist: 0.1730, d6.loss_plan_l1_fix_time: 0.6684, d6.loss_plan_l1_fix_dist: 0.1829, d0.loss_cls_all: 0.1349, d0.loss_bbox_all: 0.3372, d0.loss_cls: 0.1349, d0.loss_bbox: 0.3372, d1.loss_cls: 0.1275, d1.loss_bbox: 0.3093, d2.loss_cls: 0.1111, d2.loss_bbox: 0.2875, d3.loss_cls: 0.0875, d3.loss_bbox: 0.2796, d4.loss_cls: 0.0821, d4.loss_bbox: 0.2764, d5.loss_cls: 0.0798, d5.loss_bbox: 0.2752, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6234, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4799, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4367, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4222, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4161, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4147, d0.loss_map_cls_all: 0.1678, d0.loss_map_pts_all: 0.9681, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1678, d0.loss_map_pts: 0.9681, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1333, d1.loss_map_pts: 0.6925, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1095, d2.loss_map_pts: 0.5405, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.0977, d3.loss_map_pts: 0.4860, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0915, d4.loss_map_pts: 0.4671, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0853, d5.loss_map_pts: 0.4595, d5.loss_map_dir: 0.0056, loss: 20.7488, grad_norm: 176.4565 +2026-03-01 05:39:26,882 - DriveTransformer - INFO - Epoch [12][14200/39528] lr: 5.696e-05, eta: 4 days, 5:28:47, time: 0.899, data_time: 0.037, memory: 19865, loss_cls: 0.0705, loss_bbox: 0.2747, loss_traj: 0.4287, loss_traj_cls: 0.0019, loss_map_cls: 0.0769, loss_map_pts: 0.4610, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.6210, d0.loss_plan_l1_fix_dist: 0.4537, d1.loss_plan_l1_fix_time: 0.7336, d1.loss_plan_l1_fix_dist: 0.1620, d2.loss_plan_l1_fix_time: 0.7233, d2.loss_plan_l1_fix_dist: 0.1606, d3.loss_plan_l1_fix_time: 0.7157, d3.loss_plan_l1_fix_dist: 0.1766, d4.loss_plan_l1_fix_time: 0.7174, d4.loss_plan_l1_fix_dist: 0.1693, d5.loss_plan_l1_fix_time: 0.7196, d5.loss_plan_l1_fix_dist: 0.1536, d6.loss_plan_l1_fix_time: 0.7226, d6.loss_plan_l1_fix_dist: 0.1826, d0.loss_cls_all: 0.1199, d0.loss_bbox_all: 0.3345, d0.loss_cls: 0.1199, d0.loss_bbox: 0.3345, d1.loss_cls: 0.1142, d1.loss_bbox: 0.3027, d2.loss_cls: 0.0968, d2.loss_bbox: 0.2827, d3.loss_cls: 0.0779, d3.loss_bbox: 0.2773, d4.loss_cls: 0.0729, d4.loss_bbox: 0.2741, d5.loss_cls: 0.0716, d5.loss_bbox: 0.2742, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6364, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5159, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4587, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4416, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4346, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4300, d0.loss_map_cls_all: 0.1563, d0.loss_map_pts_all: 1.0003, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1563, d0.loss_map_pts: 1.0003, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1225, d1.loss_map_pts: 0.7157, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1011, d2.loss_map_pts: 0.5451, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.0907, d3.loss_map_pts: 0.4853, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0834, d4.loss_map_pts: 0.4660, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0789, d5.loss_map_pts: 0.4615, d5.loss_map_dir: 0.0059, loss: 20.9133, grad_norm: 180.9588 +2026-03-01 05:40:09,485 - DriveTransformer - INFO - Epoch [12][14250/39528] lr: 5.696e-05, eta: 4 days, 5:28:24, time: 0.852, data_time: 0.040, memory: 19865, loss_cls: 0.0876, loss_bbox: 0.2732, loss_traj: 0.4514, loss_traj_cls: 0.0019, loss_map_cls: 0.0898, loss_map_pts: 0.4130, loss_map_dir: 0.0044, d0.loss_plan_l1_fix_time: 2.8187, d0.loss_plan_l1_fix_dist: 0.3709, d1.loss_plan_l1_fix_time: 0.6541, d1.loss_plan_l1_fix_dist: 0.1557, d2.loss_plan_l1_fix_time: 0.6382, d2.loss_plan_l1_fix_dist: 0.1523, d3.loss_plan_l1_fix_time: 0.6368, d3.loss_plan_l1_fix_dist: 0.1626, d4.loss_plan_l1_fix_time: 0.6384, d4.loss_plan_l1_fix_dist: 0.1569, d5.loss_plan_l1_fix_time: 0.6405, d5.loss_plan_l1_fix_dist: 0.1504, d6.loss_plan_l1_fix_time: 0.6430, d6.loss_plan_l1_fix_dist: 0.1914, d0.loss_cls_all: 0.1304, d0.loss_bbox_all: 0.3284, d0.loss_cls: 0.1304, d0.loss_bbox: 0.3284, d1.loss_cls: 0.1259, d1.loss_bbox: 0.2958, d2.loss_cls: 0.1138, d2.loss_bbox: 0.2784, d3.loss_cls: 0.0951, d3.loss_bbox: 0.2760, d4.loss_cls: 0.0901, d4.loss_bbox: 0.2731, d5.loss_cls: 0.0861, d5.loss_bbox: 0.2760, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6715, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5437, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4850, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4636, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4573, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4501, d0.loss_map_cls_all: 0.1596, d0.loss_map_pts_all: 0.8795, d0.loss_map_dir_all: 0.0048, d0.loss_map_cls: 0.1596, d0.loss_map_pts: 0.8795, d0.loss_map_dir: 0.0048, d1.loss_map_cls: 0.1352, d1.loss_map_pts: 0.6254, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.1113, d2.loss_map_pts: 0.4872, d2.loss_map_dir: 0.0041, d3.loss_map_cls: 0.1019, d3.loss_map_pts: 0.4355, d3.loss_map_dir: 0.0043, d4.loss_map_cls: 0.0971, d4.loss_map_pts: 0.4179, d4.loss_map_dir: 0.0043, d5.loss_map_cls: 0.0926, d5.loss_map_pts: 0.4137, d5.loss_map_dir: 0.0044, loss: 20.2625, grad_norm: 172.3496 +2026-03-01 05:40:53,283 - DriveTransformer - INFO - Epoch [12][14300/39528] lr: 5.696e-05, eta: 4 days, 5:28:05, time: 0.876, data_time: 0.041, memory: 19865, loss_cls: 0.0808, loss_bbox: 0.2853, loss_traj: 0.4719, loss_traj_cls: 0.0019, loss_map_cls: 0.1117, loss_map_pts: 0.5479, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.3959, d0.loss_plan_l1_fix_dist: 0.3584, d1.loss_plan_l1_fix_time: 0.7606, d1.loss_plan_l1_fix_dist: 0.1688, d2.loss_plan_l1_fix_time: 0.7392, d2.loss_plan_l1_fix_dist: 0.1453, d3.loss_plan_l1_fix_time: 0.7259, d3.loss_plan_l1_fix_dist: 0.1613, d4.loss_plan_l1_fix_time: 0.7276, d4.loss_plan_l1_fix_dist: 0.1644, d5.loss_plan_l1_fix_time: 0.7292, d5.loss_plan_l1_fix_dist: 0.1571, d6.loss_plan_l1_fix_time: 0.7306, d6.loss_plan_l1_fix_dist: 0.1687, d0.loss_cls_all: 0.1370, d0.loss_bbox_all: 0.3541, d0.loss_cls: 0.1370, d0.loss_bbox: 0.3541, d1.loss_cls: 0.1300, d1.loss_bbox: 0.3162, d2.loss_cls: 0.1130, d2.loss_bbox: 0.2939, d3.loss_cls: 0.0935, d3.loss_bbox: 0.2876, d4.loss_cls: 0.0828, d4.loss_bbox: 0.2869, d5.loss_cls: 0.0806, d5.loss_bbox: 0.2861, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7749, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5845, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5158, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4891, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4707, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4744, d0.loss_map_cls_all: 0.2080, d0.loss_map_pts_all: 1.0456, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.2080, d0.loss_map_pts: 1.0456, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1738, d1.loss_map_pts: 0.7928, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1446, d2.loss_map_pts: 0.6248, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1295, d3.loss_map_pts: 0.5670, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1213, d4.loss_map_pts: 0.5517, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.1157, d5.loss_map_pts: 0.5470, d5.loss_map_dir: 0.0054, loss: 22.2191, grad_norm: 175.3913 +2026-03-01 05:41:36,592 - DriveTransformer - INFO - Epoch [12][14350/39528] lr: 5.696e-05, eta: 4 days, 5:27:44, time: 0.866, data_time: 0.037, memory: 19865, loss_cls: 0.0859, loss_bbox: 0.2761, loss_traj: 0.5390, loss_traj_cls: 0.0020, loss_map_cls: 0.0804, loss_map_pts: 0.4238, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.4025, d0.loss_plan_l1_fix_dist: 0.4193, d1.loss_plan_l1_fix_time: 0.6921, d1.loss_plan_l1_fix_dist: 0.1821, d2.loss_plan_l1_fix_time: 0.6801, d2.loss_plan_l1_fix_dist: 0.1670, d3.loss_plan_l1_fix_time: 0.6667, d3.loss_plan_l1_fix_dist: 0.1888, d4.loss_plan_l1_fix_time: 0.6682, d4.loss_plan_l1_fix_dist: 0.1977, d5.loss_plan_l1_fix_time: 0.6704, d5.loss_plan_l1_fix_dist: 0.1981, d6.loss_plan_l1_fix_time: 0.6725, d6.loss_plan_l1_fix_dist: 0.1988, d0.loss_cls_all: 0.1326, d0.loss_bbox_all: 0.3431, d0.loss_cls: 0.1326, d0.loss_bbox: 0.3431, d1.loss_cls: 0.1271, d1.loss_bbox: 0.3102, d2.loss_cls: 0.1154, d2.loss_bbox: 0.2855, d3.loss_cls: 0.0952, d3.loss_bbox: 0.2804, d4.loss_cls: 0.0877, d4.loss_bbox: 0.2780, d5.loss_cls: 0.0870, d5.loss_bbox: 0.2761, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7931, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.6400, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5704, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5444, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5361, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5367, d0.loss_map_cls_all: 0.1701, d0.loss_map_pts_all: 0.9111, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1701, d0.loss_map_pts: 0.9111, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1341, d1.loss_map_pts: 0.6498, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1092, d2.loss_map_pts: 0.4998, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0972, d3.loss_map_pts: 0.4448, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0890, d4.loss_map_pts: 0.4292, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0838, d5.loss_map_pts: 0.4228, d5.loss_map_dir: 0.0052, loss: 21.0962, grad_norm: 184.4406 +2026-03-01 05:42:18,100 - DriveTransformer - INFO - Epoch [12][14400/39528] lr: 5.696e-05, eta: 4 days, 5:27:19, time: 0.830, data_time: 0.041, memory: 19865, loss_cls: 0.0802, loss_bbox: 0.2692, loss_traj: 0.3864, loss_traj_cls: 0.0020, loss_map_cls: 0.0948, loss_map_pts: 0.4537, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.2002, d0.loss_plan_l1_fix_dist: 0.3943, d1.loss_plan_l1_fix_time: 0.6640, d1.loss_plan_l1_fix_dist: 0.1878, d2.loss_plan_l1_fix_time: 0.6522, d2.loss_plan_l1_fix_dist: 0.1677, d3.loss_plan_l1_fix_time: 0.6533, d3.loss_plan_l1_fix_dist: 0.1809, d4.loss_plan_l1_fix_time: 0.6553, d4.loss_plan_l1_fix_dist: 0.1796, d5.loss_plan_l1_fix_time: 0.6575, d5.loss_plan_l1_fix_dist: 0.1784, d6.loss_plan_l1_fix_time: 0.6593, d6.loss_plan_l1_fix_dist: 0.1668, d0.loss_cls_all: 0.1256, d0.loss_bbox_all: 0.3283, d0.loss_cls: 0.1256, d0.loss_bbox: 0.3283, d1.loss_cls: 0.1210, d1.loss_bbox: 0.2962, d2.loss_cls: 0.1080, d2.loss_bbox: 0.2759, d3.loss_cls: 0.0884, d3.loss_bbox: 0.2720, d4.loss_cls: 0.0813, d4.loss_bbox: 0.2710, d5.loss_cls: 0.0799, d5.loss_bbox: 0.2695, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5595, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4535, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4113, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3911, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3815, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3857, d0.loss_map_cls_all: 0.1767, d0.loss_map_pts_all: 0.9682, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1767, d0.loss_map_pts: 0.9682, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1442, d1.loss_map_pts: 0.6816, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1188, d2.loss_map_pts: 0.5297, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1074, d3.loss_map_pts: 0.4761, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1006, d4.loss_map_pts: 0.4588, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0965, d5.loss_map_pts: 0.4545, d5.loss_map_dir: 0.0055, loss: 19.7458, grad_norm: 183.8689 +2026-03-01 05:42:55,784 - DriveTransformer - INFO - Epoch [12][14450/39528] lr: 5.696e-05, eta: 4 days, 5:26:45, time: 0.754, data_time: 0.038, memory: 19865, loss_cls: 0.0681, loss_bbox: 0.2467, loss_traj: 0.4400, loss_traj_cls: 0.0020, loss_map_cls: 0.0805, loss_map_pts: 0.4292, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.2405, d0.loss_plan_l1_fix_dist: 0.3258, d1.loss_plan_l1_fix_time: 0.6031, d1.loss_plan_l1_fix_dist: 0.1749, d2.loss_plan_l1_fix_time: 0.5912, d2.loss_plan_l1_fix_dist: 0.1594, d3.loss_plan_l1_fix_time: 0.5877, d3.loss_plan_l1_fix_dist: 0.1679, d4.loss_plan_l1_fix_time: 0.5886, d4.loss_plan_l1_fix_dist: 0.1597, d5.loss_plan_l1_fix_time: 0.5903, d5.loss_plan_l1_fix_dist: 0.1676, d6.loss_plan_l1_fix_time: 0.5930, d6.loss_plan_l1_fix_dist: 0.1655, d0.loss_cls_all: 0.1106, d0.loss_bbox_all: 0.3023, d0.loss_cls: 0.1106, d0.loss_bbox: 0.3023, d1.loss_cls: 0.1042, d1.loss_bbox: 0.2751, d2.loss_cls: 0.0936, d2.loss_bbox: 0.2557, d3.loss_cls: 0.0757, d3.loss_bbox: 0.2488, d4.loss_cls: 0.0702, d4.loss_bbox: 0.2479, d5.loss_cls: 0.0681, d5.loss_bbox: 0.2470, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6935, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5414, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4739, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4520, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4429, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4397, d0.loss_map_cls_all: 0.1661, d0.loss_map_pts_all: 1.0109, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1661, d0.loss_map_pts: 1.0109, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1342, d1.loss_map_pts: 0.6992, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1060, d2.loss_map_pts: 0.5205, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0951, d3.loss_map_pts: 0.4542, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0877, d4.loss_map_pts: 0.4338, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0831, d5.loss_map_pts: 0.4299, d5.loss_map_dir: 0.0050, loss: 19.3813, grad_norm: 183.2210 +2026-03-01 05:43:34,121 - DriveTransformer - INFO - Epoch [12][14500/39528] lr: 5.696e-05, eta: 4 days, 5:26:13, time: 0.767, data_time: 0.038, memory: 19865, loss_cls: 0.0827, loss_bbox: 0.2606, loss_traj: 0.4107, loss_traj_cls: 0.0020, loss_map_cls: 0.0849, loss_map_pts: 0.4891, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.5276, d0.loss_plan_l1_fix_dist: 0.3603, d1.loss_plan_l1_fix_time: 0.6444, d1.loss_plan_l1_fix_dist: 0.1921, d2.loss_plan_l1_fix_time: 0.6336, d2.loss_plan_l1_fix_dist: 0.1806, d3.loss_plan_l1_fix_time: 0.6174, d3.loss_plan_l1_fix_dist: 0.1861, d4.loss_plan_l1_fix_time: 0.6190, d4.loss_plan_l1_fix_dist: 0.1687, d5.loss_plan_l1_fix_time: 0.6208, d5.loss_plan_l1_fix_dist: 0.1779, d6.loss_plan_l1_fix_time: 0.6234, d6.loss_plan_l1_fix_dist: 0.1880, d0.loss_cls_all: 0.1212, d0.loss_bbox_all: 0.3298, d0.loss_cls: 0.1212, d0.loss_bbox: 0.3298, d1.loss_cls: 0.1179, d1.loss_bbox: 0.2944, d2.loss_cls: 0.1051, d2.loss_bbox: 0.2749, d3.loss_cls: 0.0909, d3.loss_bbox: 0.2669, d4.loss_cls: 0.0834, d4.loss_bbox: 0.2639, d5.loss_cls: 0.0819, d5.loss_bbox: 0.2616, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6739, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4971, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4411, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4269, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4128, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4130, d0.loss_map_cls_all: 0.1796, d0.loss_map_pts_all: 1.1086, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1796, d0.loss_map_pts: 1.1086, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1411, d1.loss_map_pts: 0.7897, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1096, d2.loss_map_pts: 0.5906, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.0999, d3.loss_map_pts: 0.5207, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.0919, d4.loss_map_pts: 0.4957, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0876, d5.loss_map_pts: 0.4893, d5.loss_map_dir: 0.0064, loss: 20.7282, grad_norm: 184.7240 +2026-03-01 05:44:13,505 - DriveTransformer - INFO - Epoch [12][14550/39528] lr: 5.696e-05, eta: 4 days, 5:25:43, time: 0.788, data_time: 0.038, memory: 19865, loss_cls: 0.0780, loss_bbox: 0.2606, loss_traj: 0.4272, loss_traj_cls: 0.0020, loss_map_cls: 0.0953, loss_map_pts: 0.5317, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.8082, d0.loss_plan_l1_fix_dist: 0.4011, d1.loss_plan_l1_fix_time: 0.6993, d1.loss_plan_l1_fix_dist: 0.1916, d2.loss_plan_l1_fix_time: 0.6922, d2.loss_plan_l1_fix_dist: 0.1792, d3.loss_plan_l1_fix_time: 0.6913, d3.loss_plan_l1_fix_dist: 0.1881, d4.loss_plan_l1_fix_time: 0.6936, d4.loss_plan_l1_fix_dist: 0.1558, d5.loss_plan_l1_fix_time: 0.6959, d5.loss_plan_l1_fix_dist: 0.1589, d6.loss_plan_l1_fix_time: 0.6984, d6.loss_plan_l1_fix_dist: 0.1647, d0.loss_cls_all: 0.1243, d0.loss_bbox_all: 0.3265, d0.loss_cls: 0.1243, d0.loss_bbox: 0.3265, d1.loss_cls: 0.1170, d1.loss_bbox: 0.2950, d2.loss_cls: 0.1034, d2.loss_bbox: 0.2749, d3.loss_cls: 0.0855, d3.loss_bbox: 0.2676, d4.loss_cls: 0.0789, d4.loss_bbox: 0.2651, d5.loss_cls: 0.0769, d5.loss_bbox: 0.2635, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6644, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4924, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4482, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4389, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4307, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4279, d0.loss_map_cls_all: 0.1744, d0.loss_map_pts_all: 1.1206, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1744, d0.loss_map_pts: 1.1206, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1461, d1.loss_map_pts: 0.8088, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1235, d2.loss_map_pts: 0.6278, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1139, d3.loss_map_pts: 0.5635, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1051, d4.loss_map_pts: 0.5383, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.0985, d5.loss_map_pts: 0.5326, d5.loss_map_dir: 0.0067, loss: 21.7530, grad_norm: 184.1324 +2026-03-01 05:44:50,595 - DriveTransformer - INFO - Epoch [12][14600/39528] lr: 5.696e-05, eta: 4 days, 5:25:08, time: 0.743, data_time: 0.037, memory: 19865, loss_cls: 0.0811, loss_bbox: 0.2682, loss_traj: 0.4363, loss_traj_cls: 0.0020, loss_map_cls: 0.0822, loss_map_pts: 0.4575, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.4901, d0.loss_plan_l1_fix_dist: 0.3899, d1.loss_plan_l1_fix_time: 0.7173, d1.loss_plan_l1_fix_dist: 0.1951, d2.loss_plan_l1_fix_time: 0.7054, d2.loss_plan_l1_fix_dist: 0.1821, d3.loss_plan_l1_fix_time: 0.6861, d3.loss_plan_l1_fix_dist: 0.2057, d4.loss_plan_l1_fix_time: 0.6880, d4.loss_plan_l1_fix_dist: 0.1821, d5.loss_plan_l1_fix_time: 0.6902, d5.loss_plan_l1_fix_dist: 0.1973, d6.loss_plan_l1_fix_time: 0.6924, d6.loss_plan_l1_fix_dist: 0.2065, d0.loss_cls_all: 0.1259, d0.loss_bbox_all: 0.3402, d0.loss_cls: 0.1259, d0.loss_bbox: 0.3402, d1.loss_cls: 0.1189, d1.loss_bbox: 0.3062, d2.loss_cls: 0.1037, d2.loss_bbox: 0.2849, d3.loss_cls: 0.0885, d3.loss_bbox: 0.2756, d4.loss_cls: 0.0824, d4.loss_bbox: 0.2712, d5.loss_cls: 0.0808, d5.loss_bbox: 0.2689, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7060, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5256, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4709, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4533, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4409, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4361, d0.loss_map_cls_all: 0.1694, d0.loss_map_pts_all: 1.0081, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1694, d0.loss_map_pts: 1.0081, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1327, d1.loss_map_pts: 0.7014, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1062, d2.loss_map_pts: 0.5306, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0962, d3.loss_map_pts: 0.4755, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0901, d4.loss_map_pts: 0.4605, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0846, d5.loss_map_pts: 0.4574, d5.loss_map_dir: 0.0057, loss: 20.9435, grad_norm: 185.6797 +2026-03-01 05:45:26,820 - DriveTransformer - INFO - Epoch [12][14650/39528] lr: 5.696e-05, eta: 4 days, 5:24:30, time: 0.723, data_time: 0.037, memory: 19865, loss_cls: 0.0791, loss_bbox: 0.2557, loss_traj: 0.4519, loss_traj_cls: 0.0020, loss_map_cls: 0.0892, loss_map_pts: 0.4586, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.9890, d0.loss_plan_l1_fix_dist: 0.3882, d1.loss_plan_l1_fix_time: 0.6414, d1.loss_plan_l1_fix_dist: 0.1983, d2.loss_plan_l1_fix_time: 0.6282, d2.loss_plan_l1_fix_dist: 0.1896, d3.loss_plan_l1_fix_time: 0.6084, d3.loss_plan_l1_fix_dist: 0.1909, d4.loss_plan_l1_fix_time: 0.6089, d4.loss_plan_l1_fix_dist: 0.1647, d5.loss_plan_l1_fix_time: 0.6103, d5.loss_plan_l1_fix_dist: 0.1606, d6.loss_plan_l1_fix_time: 0.6115, d6.loss_plan_l1_fix_dist: 0.1672, d0.loss_cls_all: 0.1253, d0.loss_bbox_all: 0.3204, d0.loss_cls: 0.1253, d0.loss_bbox: 0.3204, d1.loss_cls: 0.1204, d1.loss_bbox: 0.2888, d2.loss_cls: 0.1088, d2.loss_bbox: 0.2670, d3.loss_cls: 0.0891, d3.loss_bbox: 0.2626, d4.loss_cls: 0.0822, d4.loss_bbox: 0.2594, d5.loss_cls: 0.0803, d5.loss_bbox: 0.2564, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7256, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5522, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4896, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4686, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4563, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4520, d0.loss_map_cls_all: 0.1837, d0.loss_map_pts_all: 0.9975, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1837, d0.loss_map_pts: 0.9975, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1470, d1.loss_map_pts: 0.7101, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1156, d2.loss_map_pts: 0.5531, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1029, d3.loss_map_pts: 0.4870, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0955, d4.loss_map_pts: 0.4649, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0914, d5.loss_map_pts: 0.4591, d5.loss_map_dir: 0.0052, loss: 20.9822, grad_norm: 185.9942 +2026-03-01 05:46:03,581 - DriveTransformer - INFO - Epoch [12][14700/39528] lr: 5.696e-05, eta: 4 days, 5:23:54, time: 0.735, data_time: 0.039, memory: 19865, loss_cls: 0.0689, loss_bbox: 0.2294, loss_traj: 0.3318, loss_traj_cls: 0.0020, loss_map_cls: 0.0595, loss_map_pts: 0.3859, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.0666, d0.loss_plan_l1_fix_dist: 0.4086, d1.loss_plan_l1_fix_time: 0.6073, d1.loss_plan_l1_fix_dist: 0.1876, d2.loss_plan_l1_fix_time: 0.5957, d2.loss_plan_l1_fix_dist: 0.1927, d3.loss_plan_l1_fix_time: 0.5929, d3.loss_plan_l1_fix_dist: 0.1917, d4.loss_plan_l1_fix_time: 0.5948, d4.loss_plan_l1_fix_dist: 0.1818, d5.loss_plan_l1_fix_time: 0.5968, d5.loss_plan_l1_fix_dist: 0.1663, d6.loss_plan_l1_fix_time: 0.5986, d6.loss_plan_l1_fix_dist: 0.1812, d0.loss_cls_all: 0.1095, d0.loss_bbox_all: 0.2884, d0.loss_cls: 0.1095, d0.loss_bbox: 0.2884, d1.loss_cls: 0.1008, d1.loss_bbox: 0.2580, d2.loss_cls: 0.0898, d2.loss_bbox: 0.2381, d3.loss_cls: 0.0778, d3.loss_bbox: 0.2322, d4.loss_cls: 0.0740, d4.loss_bbox: 0.2289, d5.loss_cls: 0.0702, d5.loss_bbox: 0.2292, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5302, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.3997, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3610, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3440, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3376, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3343, d0.loss_map_cls_all: 0.1357, d0.loss_map_pts_all: 0.8091, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1357, d0.loss_map_pts: 0.8091, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1002, d1.loss_map_pts: 0.5625, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.0820, d2.loss_map_pts: 0.4473, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0699, d3.loss_map_pts: 0.4041, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0642, d4.loss_map_pts: 0.3898, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0605, d5.loss_map_pts: 0.3872, d5.loss_map_dir: 0.0051, loss: 17.4495, grad_norm: 177.9885 +2026-03-01 05:46:40,745 - DriveTransformer - INFO - Epoch [12][14750/39528] lr: 5.696e-05, eta: 4 days, 5:23:19, time: 0.743, data_time: 0.039, memory: 19865, loss_cls: 0.0788, loss_bbox: 0.2698, loss_traj: 0.4616, loss_traj_cls: 0.0020, loss_map_cls: 0.0927, loss_map_pts: 0.4535, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.8995, d0.loss_plan_l1_fix_dist: 0.3768, d1.loss_plan_l1_fix_time: 0.7048, d1.loss_plan_l1_fix_dist: 0.1837, d2.loss_plan_l1_fix_time: 0.6856, d2.loss_plan_l1_fix_dist: 0.1875, d3.loss_plan_l1_fix_time: 0.6730, d3.loss_plan_l1_fix_dist: 0.1908, d4.loss_plan_l1_fix_time: 0.6736, d4.loss_plan_l1_fix_dist: 0.1867, d5.loss_plan_l1_fix_time: 0.6755, d5.loss_plan_l1_fix_dist: 0.1577, d6.loss_plan_l1_fix_time: 0.6781, d6.loss_plan_l1_fix_dist: 0.1726, d0.loss_cls_all: 0.1252, d0.loss_bbox_all: 0.3268, d0.loss_cls: 0.1252, d0.loss_bbox: 0.3268, d1.loss_cls: 0.1192, d1.loss_bbox: 0.2974, d2.loss_cls: 0.1050, d2.loss_bbox: 0.2806, d3.loss_cls: 0.0844, d3.loss_bbox: 0.2760, d4.loss_cls: 0.0812, d4.loss_bbox: 0.2714, d5.loss_cls: 0.0793, d5.loss_bbox: 0.2702, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7204, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5464, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4925, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4697, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4678, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4630, d0.loss_map_cls_all: 0.1744, d0.loss_map_pts_all: 0.9564, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1744, d0.loss_map_pts: 0.9564, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1415, d1.loss_map_pts: 0.6896, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1198, d2.loss_map_pts: 0.5346, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1074, d3.loss_map_pts: 0.4810, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0996, d4.loss_map_pts: 0.4608, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0942, d5.loss_map_pts: 0.4537, d5.loss_map_dir: 0.0056, loss: 21.2272, grad_norm: 173.7903 +2026-03-01 05:47:19,498 - DriveTransformer - INFO - Epoch [12][14800/39528] lr: 5.696e-05, eta: 4 days, 5:22:48, time: 0.775, data_time: 0.040, memory: 19865, loss_cls: 0.0742, loss_bbox: 0.2508, loss_traj: 0.4412, loss_traj_cls: 0.0021, loss_map_cls: 0.0539, loss_map_pts: 0.3810, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.0954, d0.loss_plan_l1_fix_dist: 0.3205, d1.loss_plan_l1_fix_time: 0.5513, d1.loss_plan_l1_fix_dist: 0.1592, d2.loss_plan_l1_fix_time: 0.5263, d2.loss_plan_l1_fix_dist: 0.1695, d3.loss_plan_l1_fix_time: 0.5113, d3.loss_plan_l1_fix_dist: 0.1814, d4.loss_plan_l1_fix_time: 0.5126, d4.loss_plan_l1_fix_dist: 0.1911, d5.loss_plan_l1_fix_time: 0.5155, d5.loss_plan_l1_fix_dist: 0.1631, d6.loss_plan_l1_fix_time: 0.5193, d6.loss_plan_l1_fix_dist: 0.1769, d0.loss_cls_all: 0.1115, d0.loss_bbox_all: 0.3028, d0.loss_cls: 0.1115, d0.loss_bbox: 0.3028, d1.loss_cls: 0.1000, d1.loss_bbox: 0.2774, d2.loss_cls: 0.0921, d2.loss_bbox: 0.2605, d3.loss_cls: 0.0751, d3.loss_bbox: 0.2572, d4.loss_cls: 0.0725, d4.loss_bbox: 0.2540, d5.loss_cls: 0.0744, d5.loss_bbox: 0.2512, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6841, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5255, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4684, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4549, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4449, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4419, d0.loss_map_cls_all: 0.1259, d0.loss_map_pts_all: 0.8463, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1259, d0.loss_map_pts: 0.8463, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.0961, d1.loss_map_pts: 0.6005, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.0763, d2.loss_map_pts: 0.4517, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0660, d3.loss_map_pts: 0.4015, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0607, d4.loss_map_pts: 0.3835, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0561, d5.loss_map_pts: 0.3804, d5.loss_map_dir: 0.0052, loss: 17.9238, grad_norm: 179.4960 +2026-03-01 05:47:57,446 - DriveTransformer - INFO - Epoch [12][14850/39528] lr: 5.696e-05, eta: 4 days, 5:22:14, time: 0.759, data_time: 0.037, memory: 19865, loss_cls: 0.0797, loss_bbox: 0.2777, loss_traj: 0.4482, loss_traj_cls: 0.0020, loss_map_cls: 0.0731, loss_map_pts: 0.4735, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.7911, d0.loss_plan_l1_fix_dist: 0.4249, d1.loss_plan_l1_fix_time: 0.6468, d1.loss_plan_l1_fix_dist: 0.1614, d2.loss_plan_l1_fix_time: 0.6311, d2.loss_plan_l1_fix_dist: 0.1753, d3.loss_plan_l1_fix_time: 0.6272, d3.loss_plan_l1_fix_dist: 0.1828, d4.loss_plan_l1_fix_time: 0.6291, d4.loss_plan_l1_fix_dist: 0.2069, d5.loss_plan_l1_fix_time: 0.6320, d5.loss_plan_l1_fix_dist: 0.1727, d6.loss_plan_l1_fix_time: 0.6354, d6.loss_plan_l1_fix_dist: 0.1695, d0.loss_cls_all: 0.1298, d0.loss_bbox_all: 0.3368, d0.loss_cls: 0.1298, d0.loss_bbox: 0.3368, d1.loss_cls: 0.1219, d1.loss_bbox: 0.3029, d2.loss_cls: 0.1076, d2.loss_bbox: 0.2833, d3.loss_cls: 0.0877, d3.loss_bbox: 0.2802, d4.loss_cls: 0.0808, d4.loss_bbox: 0.2787, d5.loss_cls: 0.0796, d5.loss_bbox: 0.2779, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7172, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5406, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4742, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4547, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4503, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4481, d0.loss_map_cls_all: 0.1564, d0.loss_map_pts_all: 0.9461, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1564, d0.loss_map_pts: 0.9461, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1250, d1.loss_map_pts: 0.6961, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1019, d2.loss_map_pts: 0.5488, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.0884, d3.loss_map_pts: 0.4970, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0813, d4.loss_map_pts: 0.4783, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0765, d5.loss_map_pts: 0.4727, d5.loss_map_dir: 0.0060, loss: 20.7837, grad_norm: 177.6615 +2026-03-01 05:48:35,541 - DriveTransformer - INFO - Epoch [12][14900/39528] lr: 5.696e-05, eta: 4 days, 5:21:41, time: 0.762, data_time: 0.038, memory: 19865, loss_cls: 0.0777, loss_bbox: 0.2480, loss_traj: 0.4760, loss_traj_cls: 0.0021, loss_map_cls: 0.0702, loss_map_pts: 0.4178, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.3986, d0.loss_plan_l1_fix_dist: 0.3361, d1.loss_plan_l1_fix_time: 0.6507, d1.loss_plan_l1_fix_dist: 0.1548, d2.loss_plan_l1_fix_time: 0.6368, d2.loss_plan_l1_fix_dist: 0.1858, d3.loss_plan_l1_fix_time: 0.6285, d3.loss_plan_l1_fix_dist: 0.1795, d4.loss_plan_l1_fix_time: 0.6302, d4.loss_plan_l1_fix_dist: 0.2203, d5.loss_plan_l1_fix_time: 0.6322, d5.loss_plan_l1_fix_dist: 0.1870, d6.loss_plan_l1_fix_time: 0.6339, d6.loss_plan_l1_fix_dist: 0.1911, d0.loss_cls_all: 0.1215, d0.loss_bbox_all: 0.3148, d0.loss_cls: 0.1215, d0.loss_bbox: 0.3148, d1.loss_cls: 0.1156, d1.loss_bbox: 0.2800, d2.loss_cls: 0.1025, d2.loss_bbox: 0.2578, d3.loss_cls: 0.0858, d3.loss_bbox: 0.2532, d4.loss_cls: 0.0800, d4.loss_bbox: 0.2498, d5.loss_cls: 0.0783, d5.loss_bbox: 0.2484, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7255, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5529, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5016, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4846, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4781, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4772, d0.loss_map_cls_all: 0.1400, d0.loss_map_pts_all: 0.9060, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1400, d0.loss_map_pts: 0.9060, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1114, d1.loss_map_pts: 0.6478, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.0905, d2.loss_map_pts: 0.4978, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0809, d3.loss_map_pts: 0.4437, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0757, d4.loss_map_pts: 0.4243, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0720, d5.loss_map_pts: 0.4178, d5.loss_map_dir: 0.0055, loss: 19.8065, grad_norm: 175.9753 +2026-03-01 05:49:13,136 - DriveTransformer - INFO - Epoch [12][14950/39528] lr: 5.696e-05, eta: 4 days, 5:21:07, time: 0.752, data_time: 0.039, memory: 19865, loss_cls: 0.0724, loss_bbox: 0.2728, loss_traj: 0.3463, loss_traj_cls: 0.0021, loss_map_cls: 0.1019, loss_map_pts: 0.5027, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.3836, d0.loss_plan_l1_fix_dist: 0.4717, d1.loss_plan_l1_fix_time: 0.6823, d1.loss_plan_l1_fix_dist: 0.1640, d2.loss_plan_l1_fix_time: 0.6711, d2.loss_plan_l1_fix_dist: 0.1734, d3.loss_plan_l1_fix_time: 0.6446, d3.loss_plan_l1_fix_dist: 0.1721, d4.loss_plan_l1_fix_time: 0.6458, d4.loss_plan_l1_fix_dist: 0.2260, d5.loss_plan_l1_fix_time: 0.6480, d5.loss_plan_l1_fix_dist: 0.1888, d6.loss_plan_l1_fix_time: 0.6503, d6.loss_plan_l1_fix_dist: 0.1946, d0.loss_cls_all: 0.1179, d0.loss_bbox_all: 0.3377, d0.loss_cls: 0.1179, d0.loss_bbox: 0.3377, d1.loss_cls: 0.1126, d1.loss_bbox: 0.3027, d2.loss_cls: 0.0981, d2.loss_bbox: 0.2816, d3.loss_cls: 0.0792, d3.loss_bbox: 0.2784, d4.loss_cls: 0.0739, d4.loss_bbox: 0.2751, d5.loss_cls: 0.0735, d5.loss_bbox: 0.2721, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5317, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4218, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3710, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3608, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3518, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3485, d0.loss_map_cls_all: 0.1871, d0.loss_map_pts_all: 1.0216, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1871, d0.loss_map_pts: 1.0216, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1556, d1.loss_map_pts: 0.7345, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1288, d2.loss_map_pts: 0.5769, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1179, d3.loss_map_pts: 0.5256, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1116, d4.loss_map_pts: 0.5058, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1053, d5.loss_map_pts: 0.5021, d5.loss_map_dir: 0.0064, loss: 20.2975, grad_norm: 175.7234 +2026-03-01 05:49:48,693 - DriveTransformer - INFO - Epoch [12][15000/39528] lr: 5.696e-05, eta: 4 days, 5:20:28, time: 0.711, data_time: 0.039, memory: 19865, loss_cls: 0.0831, loss_bbox: 0.2680, loss_traj: 0.4525, loss_traj_cls: 0.0020, loss_map_cls: 0.0787, loss_map_pts: 0.4052, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.7088, d0.loss_plan_l1_fix_dist: 0.4275, d1.loss_plan_l1_fix_time: 0.7850, d1.loss_plan_l1_fix_dist: 0.1803, d2.loss_plan_l1_fix_time: 0.7692, d2.loss_plan_l1_fix_dist: 0.1542, d3.loss_plan_l1_fix_time: 0.7679, d3.loss_plan_l1_fix_dist: 0.1631, d4.loss_plan_l1_fix_time: 0.7711, d4.loss_plan_l1_fix_dist: 0.1981, d5.loss_plan_l1_fix_time: 0.7741, d5.loss_plan_l1_fix_dist: 0.1660, d6.loss_plan_l1_fix_time: 0.7780, d6.loss_plan_l1_fix_dist: 0.1624, d0.loss_cls_all: 0.1266, d0.loss_bbox_all: 0.3290, d0.loss_cls: 0.1266, d0.loss_bbox: 0.3290, d1.loss_cls: 0.1165, d1.loss_bbox: 0.2965, d2.loss_cls: 0.1069, d2.loss_bbox: 0.2750, d3.loss_cls: 0.0905, d3.loss_bbox: 0.2724, d4.loss_cls: 0.0838, d4.loss_bbox: 0.2698, d5.loss_cls: 0.0825, d5.loss_bbox: 0.2687, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7139, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5313, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4833, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4636, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4574, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4527, d0.loss_map_cls_all: 0.1676, d0.loss_map_pts_all: 0.8883, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1676, d0.loss_map_pts: 0.8883, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1347, d1.loss_map_pts: 0.6482, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.1096, d2.loss_map_pts: 0.4990, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0971, d3.loss_map_pts: 0.4339, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0873, d4.loss_map_pts: 0.4140, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0820, d5.loss_map_pts: 0.4062, d5.loss_map_dir: 0.0047, loss: 21.0386, grad_norm: 175.1882 +2026-03-01 05:50:25,518 - DriveTransformer - INFO - Epoch [12][15050/39528] lr: 5.696e-05, eta: 4 days, 5:19:52, time: 0.736, data_time: 0.037, memory: 19865, loss_cls: 0.0953, loss_bbox: 0.2891, loss_traj: 0.4337, loss_traj_cls: 0.0020, loss_map_cls: 0.0892, loss_map_pts: 0.5075, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.7927, d0.loss_plan_l1_fix_dist: 0.4143, d1.loss_plan_l1_fix_time: 0.7648, d1.loss_plan_l1_fix_dist: 0.2180, d2.loss_plan_l1_fix_time: 0.7464, d2.loss_plan_l1_fix_dist: 0.1783, d3.loss_plan_l1_fix_time: 0.7449, d3.loss_plan_l1_fix_dist: 0.2022, d4.loss_plan_l1_fix_time: 0.7468, d4.loss_plan_l1_fix_dist: 0.1969, d5.loss_plan_l1_fix_time: 0.7493, d5.loss_plan_l1_fix_dist: 0.1879, d6.loss_plan_l1_fix_time: 0.7524, d6.loss_plan_l1_fix_dist: 0.1926, d0.loss_cls_all: 0.1409, d0.loss_bbox_all: 0.3490, d0.loss_cls: 0.1409, d0.loss_bbox: 0.3490, d1.loss_cls: 0.1339, d1.loss_bbox: 0.3188, d2.loss_cls: 0.1187, d2.loss_bbox: 0.2990, d3.loss_cls: 0.1046, d3.loss_bbox: 0.2925, d4.loss_cls: 0.0980, d4.loss_bbox: 0.2903, d5.loss_cls: 0.0959, d5.loss_bbox: 0.2894, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6967, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5210, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4676, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4482, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4414, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4351, d0.loss_map_cls_all: 0.1718, d0.loss_map_pts_all: 1.0088, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1718, d0.loss_map_pts: 1.0088, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1389, d1.loss_map_pts: 0.7334, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1119, d2.loss_map_pts: 0.5890, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1039, d3.loss_map_pts: 0.5321, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0964, d4.loss_map_pts: 0.5125, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0924, d5.loss_map_pts: 0.5064, d5.loss_map_dir: 0.0059, loss: 22.1662, grad_norm: 176.6282 +2026-03-01 05:51:02,117 - DriveTransformer - INFO - Epoch [12][15100/39528] lr: 5.696e-05, eta: 4 days, 5:19:16, time: 0.732, data_time: 0.037, memory: 19865, loss_cls: 0.0774, loss_bbox: 0.2681, loss_traj: 0.4618, loss_traj_cls: 0.0020, loss_map_cls: 0.0931, loss_map_pts: 0.4597, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.8562, d0.loss_plan_l1_fix_dist: 0.4025, d1.loss_plan_l1_fix_time: 0.7562, d1.loss_plan_l1_fix_dist: 0.2272, d2.loss_plan_l1_fix_time: 0.7403, d2.loss_plan_l1_fix_dist: 0.1596, d3.loss_plan_l1_fix_time: 0.7391, d3.loss_plan_l1_fix_dist: 0.2042, d4.loss_plan_l1_fix_time: 0.7402, d4.loss_plan_l1_fix_dist: 0.1797, d5.loss_plan_l1_fix_time: 0.7417, d5.loss_plan_l1_fix_dist: 0.1808, d6.loss_plan_l1_fix_time: 0.7434, d6.loss_plan_l1_fix_dist: 0.1973, d0.loss_cls_all: 0.1191, d0.loss_bbox_all: 0.3388, d0.loss_cls: 0.1191, d0.loss_bbox: 0.3388, d1.loss_cls: 0.1126, d1.loss_bbox: 0.3006, d2.loss_cls: 0.1032, d2.loss_bbox: 0.2780, d3.loss_cls: 0.0839, d3.loss_bbox: 0.2756, d4.loss_cls: 0.0795, d4.loss_bbox: 0.2713, d5.loss_cls: 0.0779, d5.loss_bbox: 0.2689, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7580, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5647, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4996, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4744, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4691, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4641, d0.loss_map_cls_all: 0.1787, d0.loss_map_pts_all: 0.9519, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1787, d0.loss_map_pts: 0.9519, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1414, d1.loss_map_pts: 0.6942, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1180, d2.loss_map_pts: 0.5485, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1073, d3.loss_map_pts: 0.4918, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1005, d4.loss_map_pts: 0.4676, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0964, d5.loss_map_pts: 0.4597, d5.loss_map_dir: 0.0051, loss: 21.7610, grad_norm: 178.3427 +2026-03-01 05:51:37,913 - DriveTransformer - INFO - Epoch [12][15150/39528] lr: 5.696e-05, eta: 4 days, 5:18:38, time: 0.716, data_time: 0.037, memory: 19865, loss_cls: 0.0775, loss_bbox: 0.2636, loss_traj: 0.4734, loss_traj_cls: 0.0020, loss_map_cls: 0.0774, loss_map_pts: 0.4332, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.7102, d0.loss_plan_l1_fix_dist: 0.4597, d1.loss_plan_l1_fix_time: 0.7858, d1.loss_plan_l1_fix_dist: 0.2441, d2.loss_plan_l1_fix_time: 0.7590, d2.loss_plan_l1_fix_dist: 0.1695, d3.loss_plan_l1_fix_time: 0.7547, d3.loss_plan_l1_fix_dist: 0.2134, d4.loss_plan_l1_fix_time: 0.7554, d4.loss_plan_l1_fix_dist: 0.1984, d5.loss_plan_l1_fix_time: 0.7565, d5.loss_plan_l1_fix_dist: 0.1896, d6.loss_plan_l1_fix_time: 0.7579, d6.loss_plan_l1_fix_dist: 0.2018, d0.loss_cls_all: 0.1215, d0.loss_bbox_all: 0.3238, d0.loss_cls: 0.1215, d0.loss_bbox: 0.3238, d1.loss_cls: 0.1129, d1.loss_bbox: 0.2940, d2.loss_cls: 0.1048, d2.loss_bbox: 0.2724, d3.loss_cls: 0.0860, d3.loss_bbox: 0.2671, d4.loss_cls: 0.0790, d4.loss_bbox: 0.2643, d5.loss_cls: 0.0780, d5.loss_bbox: 0.2620, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7700, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5561, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5064, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4813, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4752, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4736, d0.loss_map_cls_all: 0.1504, d0.loss_map_pts_all: 0.8384, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1504, d0.loss_map_pts: 0.8384, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1233, d1.loss_map_pts: 0.6212, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.1018, d2.loss_map_pts: 0.5000, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.0917, d3.loss_map_pts: 0.4561, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.0845, d4.loss_map_pts: 0.4365, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0801, d5.loss_map_pts: 0.4327, d5.loss_map_dir: 0.0049, loss: 21.2065, grad_norm: 174.7843 +2026-03-01 05:52:11,686 - DriveTransformer - INFO - Epoch [12][15200/39528] lr: 5.696e-05, eta: 4 days, 5:17:54, time: 0.675, data_time: 0.040, memory: 19865, loss_cls: 0.0765, loss_bbox: 0.2579, loss_traj: 0.5135, loss_traj_cls: 0.0020, loss_map_cls: 0.0808, loss_map_pts: 0.3842, loss_map_dir: 0.0036, d0.loss_plan_l1_fix_time: 2.6782, d0.loss_plan_l1_fix_dist: 0.4477, d1.loss_plan_l1_fix_time: 0.6583, d1.loss_plan_l1_fix_dist: 0.2328, d2.loss_plan_l1_fix_time: 0.6427, d2.loss_plan_l1_fix_dist: 0.1568, d3.loss_plan_l1_fix_time: 0.6431, d3.loss_plan_l1_fix_dist: 0.1950, d4.loss_plan_l1_fix_time: 0.6450, d4.loss_plan_l1_fix_dist: 0.1859, d5.loss_plan_l1_fix_time: 0.6469, d5.loss_plan_l1_fix_dist: 0.1819, d6.loss_plan_l1_fix_time: 0.6491, d6.loss_plan_l1_fix_dist: 0.2084, d0.loss_cls_all: 0.1187, d0.loss_bbox_all: 0.3220, d0.loss_cls: 0.1187, d0.loss_bbox: 0.3220, d1.loss_cls: 0.1159, d1.loss_bbox: 0.2902, d2.loss_cls: 0.1042, d2.loss_bbox: 0.2713, d3.loss_cls: 0.0868, d3.loss_bbox: 0.2631, d4.loss_cls: 0.0778, d4.loss_bbox: 0.2600, d5.loss_cls: 0.0764, d5.loss_bbox: 0.2581, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7900, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.6052, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5493, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5273, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5153, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5130, d0.loss_map_cls_all: 0.1556, d0.loss_map_pts_all: 0.8173, d0.loss_map_dir_all: 0.0042, d0.loss_map_cls: 0.1556, d0.loss_map_pts: 0.8173, d0.loss_map_dir: 0.0042, d1.loss_map_cls: 0.1298, d1.loss_map_pts: 0.5985, d1.loss_map_dir: 0.0036, d2.loss_map_cls: 0.1044, d2.loss_map_pts: 0.4664, d2.loss_map_dir: 0.0033, d3.loss_map_cls: 0.0943, d3.loss_map_pts: 0.4094, d3.loss_map_dir: 0.0034, d4.loss_map_cls: 0.0888, d4.loss_map_pts: 0.3916, d4.loss_map_dir: 0.0036, d5.loss_map_cls: 0.0840, d5.loss_map_pts: 0.3846, d5.loss_map_dir: 0.0036, loss: 20.4044, grad_norm: 171.4870 +2026-03-01 05:52:49,014 - DriveTransformer - INFO - Epoch [12][15250/39528] lr: 5.696e-05, eta: 4 days, 5:17:20, time: 0.747, data_time: 0.037, memory: 19865, loss_cls: 0.0801, loss_bbox: 0.2810, loss_traj: 0.3937, loss_traj_cls: 0.0020, loss_map_cls: 0.0950, loss_map_pts: 0.5529, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.5256, d0.loss_plan_l1_fix_dist: 0.4787, d1.loss_plan_l1_fix_time: 0.6998, d1.loss_plan_l1_fix_dist: 0.2221, d2.loss_plan_l1_fix_time: 0.6965, d2.loss_plan_l1_fix_dist: 0.1643, d3.loss_plan_l1_fix_time: 0.7043, d3.loss_plan_l1_fix_dist: 0.1857, d4.loss_plan_l1_fix_time: 0.7069, d4.loss_plan_l1_fix_dist: 0.1760, d5.loss_plan_l1_fix_time: 0.7094, d5.loss_plan_l1_fix_dist: 0.1687, d6.loss_plan_l1_fix_time: 0.7121, d6.loss_plan_l1_fix_dist: 0.1876, d0.loss_cls_all: 0.1256, d0.loss_bbox_all: 0.3580, d0.loss_cls: 0.1256, d0.loss_bbox: 0.3580, d1.loss_cls: 0.1185, d1.loss_bbox: 0.3237, d2.loss_cls: 0.1057, d2.loss_bbox: 0.2986, d3.loss_cls: 0.0883, d3.loss_bbox: 0.2885, d4.loss_cls: 0.0826, d4.loss_bbox: 0.2840, d5.loss_cls: 0.0797, d5.loss_bbox: 0.2830, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6693, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4909, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4321, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4064, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3997, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3956, d0.loss_map_cls_all: 0.1859, d0.loss_map_pts_all: 1.1434, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1859, d0.loss_map_pts: 1.1434, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1489, d1.loss_map_pts: 0.8370, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1224, d2.loss_map_pts: 0.6482, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1101, d3.loss_map_pts: 0.5838, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1034, d4.loss_map_pts: 0.5602, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0982, d5.loss_map_pts: 0.5528, d5.loss_map_dir: 0.0059, loss: 21.9333, grad_norm: 170.7483 +2026-03-01 05:53:25,959 - DriveTransformer - INFO - Epoch [12][15300/39528] lr: 5.696e-05, eta: 4 days, 5:16:44, time: 0.739, data_time: 0.037, memory: 19865, loss_cls: 0.0735, loss_bbox: 0.2459, loss_traj: 0.4723, loss_traj_cls: 0.0021, loss_map_cls: 0.0711, loss_map_pts: 0.4131, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.2847, d0.loss_plan_l1_fix_dist: 0.4754, d1.loss_plan_l1_fix_time: 0.6157, d1.loss_plan_l1_fix_dist: 0.2040, d2.loss_plan_l1_fix_time: 0.6091, d2.loss_plan_l1_fix_dist: 0.1638, d3.loss_plan_l1_fix_time: 0.6284, d3.loss_plan_l1_fix_dist: 0.1723, d4.loss_plan_l1_fix_time: 0.6315, d4.loss_plan_l1_fix_dist: 0.1710, d5.loss_plan_l1_fix_time: 0.6342, d5.loss_plan_l1_fix_dist: 0.1675, d6.loss_plan_l1_fix_time: 0.6374, d6.loss_plan_l1_fix_dist: 0.1631, d0.loss_cls_all: 0.1100, d0.loss_bbox_all: 0.3118, d0.loss_cls: 0.1100, d0.loss_bbox: 0.3118, d1.loss_cls: 0.1025, d1.loss_bbox: 0.2789, d2.loss_cls: 0.0920, d2.loss_bbox: 0.2558, d3.loss_cls: 0.0782, d3.loss_bbox: 0.2496, d4.loss_cls: 0.0749, d4.loss_bbox: 0.2473, d5.loss_cls: 0.0731, d5.loss_bbox: 0.2467, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6756, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5309, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4821, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4723, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4666, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4675, d0.loss_map_cls_all: 0.1557, d0.loss_map_pts_all: 0.9094, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1557, d0.loss_map_pts: 0.9094, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1206, d1.loss_map_pts: 0.6397, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.0938, d2.loss_map_pts: 0.4924, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0835, d3.loss_map_pts: 0.4399, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0775, d4.loss_map_pts: 0.4190, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0730, d5.loss_map_pts: 0.4138, d5.loss_map_dir: 0.0048, loss: 19.5021, grad_norm: 170.0657 +2026-03-01 05:54:02,106 - DriveTransformer - INFO - Epoch [12][15350/39528] lr: 5.696e-05, eta: 4 days, 5:16:06, time: 0.723, data_time: 0.042, memory: 19865, loss_cls: 0.0845, loss_bbox: 0.2819, loss_traj: 0.3665, loss_traj_cls: 0.0020, loss_map_cls: 0.0982, loss_map_pts: 0.5067, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.5647, d0.loss_plan_l1_fix_dist: 0.3337, d1.loss_plan_l1_fix_time: 0.6279, d1.loss_plan_l1_fix_dist: 0.1960, d2.loss_plan_l1_fix_time: 0.6157, d2.loss_plan_l1_fix_dist: 0.1672, d3.loss_plan_l1_fix_time: 0.5729, d3.loss_plan_l1_fix_dist: 0.1645, d4.loss_plan_l1_fix_time: 0.5740, d4.loss_plan_l1_fix_dist: 0.1608, d5.loss_plan_l1_fix_time: 0.5765, d5.loss_plan_l1_fix_dist: 0.1748, d6.loss_plan_l1_fix_time: 0.5793, d6.loss_plan_l1_fix_dist: 0.1585, d0.loss_cls_all: 0.1335, d0.loss_bbox_all: 0.3449, d0.loss_cls: 0.1335, d0.loss_bbox: 0.3449, d1.loss_cls: 0.1305, d1.loss_bbox: 0.3052, d2.loss_cls: 0.1156, d2.loss_bbox: 0.2841, d3.loss_cls: 0.0967, d3.loss_bbox: 0.2812, d4.loss_cls: 0.0890, d4.loss_bbox: 0.2811, d5.loss_cls: 0.0861, d5.loss_bbox: 0.2810, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5861, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4482, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3890, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3751, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3683, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3666, d0.loss_map_cls_all: 0.1763, d0.loss_map_pts_all: 1.0000, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1763, d0.loss_map_pts: 1.0000, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1443, d1.loss_map_pts: 0.7298, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1199, d2.loss_map_pts: 0.5794, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1110, d3.loss_map_pts: 0.5295, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1045, d4.loss_map_pts: 0.5118, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1002, d5.loss_map_pts: 0.5077, d5.loss_map_dir: 0.0065, loss: 20.0945, grad_norm: 159.5184 +2026-03-01 05:54:38,207 - DriveTransformer - INFO - Epoch [12][15400/39528] lr: 5.696e-05, eta: 4 days, 5:15:29, time: 0.723, data_time: 0.037, memory: 19865, loss_cls: 0.0918, loss_bbox: 0.2702, loss_traj: 0.5110, loss_traj_cls: 0.0020, loss_map_cls: 0.0743, loss_map_pts: 0.4361, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.6590, d0.loss_plan_l1_fix_dist: 0.4329, d1.loss_plan_l1_fix_time: 0.6813, d1.loss_plan_l1_fix_dist: 0.1983, d2.loss_plan_l1_fix_time: 0.6714, d2.loss_plan_l1_fix_dist: 0.1835, d3.loss_plan_l1_fix_time: 0.6598, d3.loss_plan_l1_fix_dist: 0.1859, d4.loss_plan_l1_fix_time: 0.6622, d4.loss_plan_l1_fix_dist: 0.1666, d5.loss_plan_l1_fix_time: 0.6645, d5.loss_plan_l1_fix_dist: 0.1848, d6.loss_plan_l1_fix_time: 0.6671, d6.loss_plan_l1_fix_dist: 0.1794, d0.loss_cls_all: 0.1364, d0.loss_bbox_all: 0.3372, d0.loss_cls: 0.1364, d0.loss_bbox: 0.3372, d1.loss_cls: 0.1309, d1.loss_bbox: 0.3076, d2.loss_cls: 0.1187, d2.loss_bbox: 0.2836, d3.loss_cls: 0.1006, d3.loss_bbox: 0.2755, d4.loss_cls: 0.0953, d4.loss_bbox: 0.2709, d5.loss_cls: 0.0934, d5.loss_bbox: 0.2698, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7716, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.6096, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5507, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5289, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5191, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5138, d0.loss_map_cls_all: 0.1514, d0.loss_map_pts_all: 0.9009, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1514, d0.loss_map_pts: 0.9009, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1213, d1.loss_map_pts: 0.6553, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.0971, d2.loss_map_pts: 0.5070, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0873, d3.loss_map_pts: 0.4599, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0810, d4.loss_map_pts: 0.4430, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0747, d5.loss_map_pts: 0.4373, d5.loss_map_dir: 0.0051, loss: 21.0845, grad_norm: 142.9587 +2026-03-01 05:55:14,734 - DriveTransformer - INFO - Epoch [12][15450/39528] lr: 5.696e-05, eta: 4 days, 5:14:52, time: 0.729, data_time: 0.036, memory: 19865, loss_cls: 0.0656, loss_bbox: 0.2479, loss_traj: 0.5289, loss_traj_cls: 0.0021, loss_map_cls: 0.0847, loss_map_pts: 0.4376, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.4938, d0.loss_plan_l1_fix_dist: 0.4115, d1.loss_plan_l1_fix_time: 0.7508, d1.loss_plan_l1_fix_dist: 0.1903, d2.loss_plan_l1_fix_time: 0.7429, d2.loss_plan_l1_fix_dist: 0.1866, d3.loss_plan_l1_fix_time: 0.7298, d3.loss_plan_l1_fix_dist: 0.1941, d4.loss_plan_l1_fix_time: 0.7322, d4.loss_plan_l1_fix_dist: 0.1781, d5.loss_plan_l1_fix_time: 0.7353, d5.loss_plan_l1_fix_dist: 0.1839, d6.loss_plan_l1_fix_time: 0.7386, d6.loss_plan_l1_fix_dist: 0.1919, d0.loss_cls_all: 0.1100, d0.loss_bbox_all: 0.3069, d0.loss_cls: 0.1100, d0.loss_bbox: 0.3069, d1.loss_cls: 0.1012, d1.loss_bbox: 0.2736, d2.loss_cls: 0.0892, d2.loss_bbox: 0.2562, d3.loss_cls: 0.0736, d3.loss_bbox: 0.2509, d4.loss_cls: 0.0662, d4.loss_bbox: 0.2495, d5.loss_cls: 0.0656, d5.loss_bbox: 0.2477, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7356, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5882, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5490, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5313, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5277, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5276, d0.loss_map_cls_all: 0.1581, d0.loss_map_pts_all: 0.9156, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1581, d0.loss_map_pts: 0.9156, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1284, d1.loss_map_pts: 0.6756, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1080, d2.loss_map_pts: 0.5199, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0993, d3.loss_map_pts: 0.4633, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0916, d4.loss_map_pts: 0.4453, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0879, d5.loss_map_pts: 0.4381, d5.loss_map_dir: 0.0051, loss: 21.0453, grad_norm: 143.4308 +2026-03-01 05:55:51,838 - DriveTransformer - INFO - Epoch [12][15500/39528] lr: 5.696e-05, eta: 4 days, 5:14:17, time: 0.742, data_time: 0.039, memory: 19865, loss_cls: 0.0793, loss_bbox: 0.2641, loss_traj: 0.4988, loss_traj_cls: 0.0020, loss_map_cls: 0.0962, loss_map_pts: 0.5027, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.5794, d0.loss_plan_l1_fix_dist: 0.4871, d1.loss_plan_l1_fix_time: 0.7038, d1.loss_plan_l1_fix_dist: 0.1858, d2.loss_plan_l1_fix_time: 0.6888, d2.loss_plan_l1_fix_dist: 0.1843, d3.loss_plan_l1_fix_time: 0.6961, d3.loss_plan_l1_fix_dist: 0.1845, d4.loss_plan_l1_fix_time: 0.6986, d4.loss_plan_l1_fix_dist: 0.1815, d5.loss_plan_l1_fix_time: 0.7014, d5.loss_plan_l1_fix_dist: 0.1775, d6.loss_plan_l1_fix_time: 0.7044, d6.loss_plan_l1_fix_dist: 0.1856, d0.loss_cls_all: 0.1203, d0.loss_bbox_all: 0.3223, d0.loss_cls: 0.1203, d0.loss_bbox: 0.3223, d1.loss_cls: 0.1130, d1.loss_bbox: 0.2931, d2.loss_cls: 0.1041, d2.loss_bbox: 0.2721, d3.loss_cls: 0.0859, d3.loss_bbox: 0.2673, d4.loss_cls: 0.0787, d4.loss_bbox: 0.2662, d5.loss_cls: 0.0783, d5.loss_bbox: 0.2648, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8034, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5997, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5380, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5099, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5013, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4983, d0.loss_map_cls_all: 0.1805, d0.loss_map_pts_all: 1.0807, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1805, d0.loss_map_pts: 1.0807, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1474, d1.loss_map_pts: 0.7956, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1206, d2.loss_map_pts: 0.6027, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1096, d3.loss_map_pts: 0.5332, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1029, d4.loss_map_pts: 0.5106, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0986, d5.loss_map_pts: 0.5024, d5.loss_map_dir: 0.0060, loss: 22.0612, grad_norm: 145.1177 +2026-03-01 05:56:28,920 - DriveTransformer - INFO - Epoch [12][15550/39528] lr: 5.696e-05, eta: 4 days, 5:13:41, time: 0.742, data_time: 0.039, memory: 19865, loss_cls: 0.0854, loss_bbox: 0.2814, loss_traj: 0.4475, loss_traj_cls: 0.0021, loss_map_cls: 0.0950, loss_map_pts: 0.5144, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.6677, d0.loss_plan_l1_fix_dist: 0.4213, d1.loss_plan_l1_fix_time: 0.7257, d1.loss_plan_l1_fix_dist: 0.1840, d2.loss_plan_l1_fix_time: 0.7063, d2.loss_plan_l1_fix_dist: 0.1773, d3.loss_plan_l1_fix_time: 0.7017, d3.loss_plan_l1_fix_dist: 0.1790, d4.loss_plan_l1_fix_time: 0.7031, d4.loss_plan_l1_fix_dist: 0.1891, d5.loss_plan_l1_fix_time: 0.7053, d5.loss_plan_l1_fix_dist: 0.1803, d6.loss_plan_l1_fix_time: 0.7082, d6.loss_plan_l1_fix_dist: 0.2010, d0.loss_cls_all: 0.1313, d0.loss_bbox_all: 0.3484, d0.loss_cls: 0.1313, d0.loss_bbox: 0.3484, d1.loss_cls: 0.1240, d1.loss_bbox: 0.3168, d2.loss_cls: 0.1103, d2.loss_bbox: 0.2944, d3.loss_cls: 0.0961, d3.loss_bbox: 0.2874, d4.loss_cls: 0.0876, d4.loss_bbox: 0.2854, d5.loss_cls: 0.0857, d5.loss_bbox: 0.2828, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6498, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5117, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4678, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4512, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4480, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4505, d0.loss_map_cls_all: 0.1772, d0.loss_map_pts_all: 1.0426, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1772, d0.loss_map_pts: 1.0426, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1431, d1.loss_map_pts: 0.7692, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1191, d2.loss_map_pts: 0.6036, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1087, d3.loss_map_pts: 0.5414, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1023, d4.loss_map_pts: 0.5218, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0984, d5.loss_map_pts: 0.5142, d5.loss_map_dir: 0.0057, loss: 21.7962, grad_norm: 144.8605 +2026-03-01 05:57:04,968 - DriveTransformer - INFO - Epoch [12][15600/39528] lr: 5.696e-05, eta: 4 days, 5:13:04, time: 0.721, data_time: 0.036, memory: 19865, loss_cls: 0.0792, loss_bbox: 0.2584, loss_traj: 0.4599, loss_traj_cls: 0.0020, loss_map_cls: 0.1021, loss_map_pts: 0.5182, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.2950, d0.loss_plan_l1_fix_dist: 0.3217, d1.loss_plan_l1_fix_time: 0.6452, d1.loss_plan_l1_fix_dist: 0.1726, d2.loss_plan_l1_fix_time: 0.6251, d2.loss_plan_l1_fix_dist: 0.1766, d3.loss_plan_l1_fix_time: 0.6342, d3.loss_plan_l1_fix_dist: 0.1543, d4.loss_plan_l1_fix_time: 0.6367, d4.loss_plan_l1_fix_dist: 0.1680, d5.loss_plan_l1_fix_time: 0.6386, d5.loss_plan_l1_fix_dist: 0.1508, d6.loss_plan_l1_fix_time: 0.6411, d6.loss_plan_l1_fix_dist: 0.1779, d0.loss_cls_all: 0.1171, d0.loss_bbox_all: 0.3256, d0.loss_cls: 0.1171, d0.loss_bbox: 0.3256, d1.loss_cls: 0.1159, d1.loss_bbox: 0.2902, d2.loss_cls: 0.1021, d2.loss_bbox: 0.2708, d3.loss_cls: 0.0870, d3.loss_bbox: 0.2635, d4.loss_cls: 0.0819, d4.loss_bbox: 0.2600, d5.loss_cls: 0.0800, d5.loss_bbox: 0.2575, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7671, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5574, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4934, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4710, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4610, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4632, d0.loss_map_cls_all: 0.1961, d0.loss_map_pts_all: 1.0102, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1961, d0.loss_map_pts: 1.0102, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1555, d1.loss_map_pts: 0.7662, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1283, d2.loss_map_pts: 0.6054, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1171, d3.loss_map_pts: 0.5425, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1084, d4.loss_map_pts: 0.5229, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1036, d5.loss_map_pts: 0.5185, d5.loss_map_dir: 0.0057, loss: 20.7956, grad_norm: 143.7287 +2026-03-01 05:57:40,723 - DriveTransformer - INFO - Epoch [12][15650/39528] lr: 5.696e-05, eta: 4 days, 5:12:25, time: 0.715, data_time: 0.039, memory: 19865, loss_cls: 0.0653, loss_bbox: 0.2406, loss_traj: 0.3936, loss_traj_cls: 0.0021, loss_map_cls: 0.0727, loss_map_pts: 0.4332, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.4164, d0.loss_plan_l1_fix_dist: 0.4294, d1.loss_plan_l1_fix_time: 0.6595, d1.loss_plan_l1_fix_dist: 0.1788, d2.loss_plan_l1_fix_time: 0.6373, d2.loss_plan_l1_fix_dist: 0.1671, d3.loss_plan_l1_fix_time: 0.6254, d3.loss_plan_l1_fix_dist: 0.1516, d4.loss_plan_l1_fix_time: 0.6267, d4.loss_plan_l1_fix_dist: 0.1808, d5.loss_plan_l1_fix_time: 0.6285, d5.loss_plan_l1_fix_dist: 0.1586, d6.loss_plan_l1_fix_time: 0.6308, d6.loss_plan_l1_fix_dist: 0.1751, d0.loss_cls_all: 0.1045, d0.loss_bbox_all: 0.3034, d0.loss_cls: 0.1045, d0.loss_bbox: 0.3034, d1.loss_cls: 0.0957, d1.loss_bbox: 0.2706, d2.loss_cls: 0.0897, d2.loss_bbox: 0.2479, d3.loss_cls: 0.0715, d3.loss_bbox: 0.2417, d4.loss_cls: 0.0660, d4.loss_bbox: 0.2406, d5.loss_cls: 0.0650, d5.loss_bbox: 0.2405, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6229, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4743, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4255, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4048, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3966, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3939, d0.loss_map_cls_all: 0.1578, d0.loss_map_pts_all: 0.9293, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1578, d0.loss_map_pts: 0.9293, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1216, d1.loss_map_pts: 0.6616, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.0977, d2.loss_map_pts: 0.5120, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0877, d3.loss_map_pts: 0.4569, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0815, d4.loss_map_pts: 0.4375, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0755, d5.loss_map_pts: 0.4333, d5.loss_map_dir: 0.0055, loss: 19.2269, grad_norm: 144.6428 +2026-03-01 05:58:15,512 - DriveTransformer - INFO - Epoch [12][15700/39528] lr: 5.696e-05, eta: 4 days, 5:11:45, time: 0.696, data_time: 0.037, memory: 19865, loss_cls: 0.0795, loss_bbox: 0.2552, loss_traj: 0.5016, loss_traj_cls: 0.0021, loss_map_cls: 0.0784, loss_map_pts: 0.4075, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.5967, d0.loss_plan_l1_fix_dist: 0.4795, d1.loss_plan_l1_fix_time: 0.7160, d1.loss_plan_l1_fix_dist: 0.1740, d2.loss_plan_l1_fix_time: 0.7111, d2.loss_plan_l1_fix_dist: 0.1554, d3.loss_plan_l1_fix_time: 0.7108, d3.loss_plan_l1_fix_dist: 0.1442, d4.loss_plan_l1_fix_time: 0.7116, d4.loss_plan_l1_fix_dist: 0.1767, d5.loss_plan_l1_fix_time: 0.7131, d5.loss_plan_l1_fix_dist: 0.1641, d6.loss_plan_l1_fix_time: 0.7147, d6.loss_plan_l1_fix_dist: 0.1707, d0.loss_cls_all: 0.1229, d0.loss_bbox_all: 0.3195, d0.loss_cls: 0.1229, d0.loss_bbox: 0.3195, d1.loss_cls: 0.1160, d1.loss_bbox: 0.2892, d2.loss_cls: 0.1018, d2.loss_bbox: 0.2689, d3.loss_cls: 0.0844, d3.loss_bbox: 0.2602, d4.loss_cls: 0.0806, d4.loss_bbox: 0.2572, d5.loss_cls: 0.0801, d5.loss_bbox: 0.2551, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7159, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5702, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5200, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5024, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5016, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5002, d0.loss_map_cls_all: 0.1543, d0.loss_map_pts_all: 0.8167, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1543, d0.loss_map_pts: 0.8167, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1190, d1.loss_map_pts: 0.5960, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.0962, d2.loss_map_pts: 0.4732, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0885, d3.loss_map_pts: 0.4243, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.0830, d4.loss_map_pts: 0.4098, d4.loss_map_dir: 0.0046, d5.loss_map_cls: 0.0810, d5.loss_map_pts: 0.4066, d5.loss_map_dir: 0.0046, loss: 20.4161, grad_norm: 147.1638 +2026-03-01 05:58:52,400 - DriveTransformer - INFO - Epoch [12][15750/39528] lr: 5.696e-05, eta: 4 days, 5:11:09, time: 0.738, data_time: 0.044, memory: 19865, loss_cls: 0.0700, loss_bbox: 0.2504, loss_traj: 0.3990, loss_traj_cls: 0.0022, loss_map_cls: 0.0645, loss_map_pts: 0.3480, loss_map_dir: 0.0040, d0.loss_plan_l1_fix_time: 2.1394, d0.loss_plan_l1_fix_dist: 0.4453, d1.loss_plan_l1_fix_time: 0.6154, d1.loss_plan_l1_fix_dist: 0.1872, d2.loss_plan_l1_fix_time: 0.6048, d2.loss_plan_l1_fix_dist: 0.1613, d3.loss_plan_l1_fix_time: 0.6030, d3.loss_plan_l1_fix_dist: 0.1409, d4.loss_plan_l1_fix_time: 0.6041, d4.loss_plan_l1_fix_dist: 0.1776, d5.loss_plan_l1_fix_time: 0.6058, d5.loss_plan_l1_fix_dist: 0.1668, d6.loss_plan_l1_fix_time: 0.6080, d6.loss_plan_l1_fix_dist: 0.1736, d0.loss_cls_all: 0.1108, d0.loss_bbox_all: 0.3088, d0.loss_cls: 0.1108, d0.loss_bbox: 0.3088, d1.loss_cls: 0.1016, d1.loss_bbox: 0.2799, d2.loss_cls: 0.0900, d2.loss_bbox: 0.2615, d3.loss_cls: 0.0773, d3.loss_bbox: 0.2531, d4.loss_cls: 0.0714, d4.loss_bbox: 0.2505, d5.loss_cls: 0.0704, d5.loss_bbox: 0.2501, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5701, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4535, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4135, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4014, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4006, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3973, d0.loss_map_cls_all: 0.1395, d0.loss_map_pts_all: 0.7407, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1395, d0.loss_map_pts: 0.7407, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1102, d1.loss_map_pts: 0.5179, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.0878, d2.loss_map_pts: 0.4019, d2.loss_map_dir: 0.0039, d3.loss_map_cls: 0.0772, d3.loss_map_pts: 0.3664, d3.loss_map_dir: 0.0040, d4.loss_map_cls: 0.0719, d4.loss_map_pts: 0.3551, d4.loss_map_dir: 0.0040, d5.loss_map_cls: 0.0673, d5.loss_map_pts: 0.3482, d5.loss_map_dir: 0.0040, loss: 17.7536, grad_norm: 144.9987 +2026-03-01 05:59:28,429 - DriveTransformer - INFO - Epoch [12][15800/39528] lr: 5.696e-05, eta: 4 days, 5:10:31, time: 0.721, data_time: 0.038, memory: 19865, loss_cls: 0.0933, loss_bbox: 0.2909, loss_traj: 0.4029, loss_traj_cls: 0.0021, loss_map_cls: 0.0938, loss_map_pts: 0.4869, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.5205, d0.loss_plan_l1_fix_dist: 0.4351, d1.loss_plan_l1_fix_time: 0.6754, d1.loss_plan_l1_fix_dist: 0.1991, d2.loss_plan_l1_fix_time: 0.6487, d2.loss_plan_l1_fix_dist: 0.1672, d3.loss_plan_l1_fix_time: 0.6482, d3.loss_plan_l1_fix_dist: 0.1337, d4.loss_plan_l1_fix_time: 0.6498, d4.loss_plan_l1_fix_dist: 0.1755, d5.loss_plan_l1_fix_time: 0.6517, d5.loss_plan_l1_fix_dist: 0.1649, d6.loss_plan_l1_fix_time: 0.6538, d6.loss_plan_l1_fix_dist: 0.1661, d0.loss_cls_all: 0.1410, d0.loss_bbox_all: 0.3571, d0.loss_cls: 0.1410, d0.loss_bbox: 0.3571, d1.loss_cls: 0.1372, d1.loss_bbox: 0.3212, d2.loss_cls: 0.1225, d2.loss_bbox: 0.3018, d3.loss_cls: 0.1032, d3.loss_bbox: 0.2934, d4.loss_cls: 0.0960, d4.loss_bbox: 0.2921, d5.loss_cls: 0.0955, d5.loss_bbox: 0.2894, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6455, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4834, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4428, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4143, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4093, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4049, d0.loss_map_cls_all: 0.1717, d0.loss_map_pts_all: 1.0040, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1717, d0.loss_map_pts: 1.0040, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1427, d1.loss_map_pts: 0.7273, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1156, d2.loss_map_pts: 0.5630, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1043, d3.loss_map_pts: 0.5098, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.0995, d4.loss_map_pts: 0.4926, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0956, d5.loss_map_pts: 0.4877, d5.loss_map_dir: 0.0064, loss: 20.8550, grad_norm: 139.9226 +2026-03-01 06:00:03,421 - DriveTransformer - INFO - Epoch [12][15850/39528] lr: 5.696e-05, eta: 4 days, 5:09:51, time: 0.700, data_time: 0.038, memory: 19865, loss_cls: 0.0776, loss_bbox: 0.2520, loss_traj: 0.4276, loss_traj_cls: 0.0022, loss_map_cls: 0.0750, loss_map_pts: 0.3843, loss_map_dir: 0.0039, d0.loss_plan_l1_fix_time: 2.4163, d0.loss_plan_l1_fix_dist: 0.4843, d1.loss_plan_l1_fix_time: 0.6585, d1.loss_plan_l1_fix_dist: 0.2145, d2.loss_plan_l1_fix_time: 0.6306, d2.loss_plan_l1_fix_dist: 0.1838, d3.loss_plan_l1_fix_time: 0.6329, d3.loss_plan_l1_fix_dist: 0.1573, d4.loss_plan_l1_fix_time: 0.6349, d4.loss_plan_l1_fix_dist: 0.1846, d5.loss_plan_l1_fix_time: 0.6364, d5.loss_plan_l1_fix_dist: 0.1778, d6.loss_plan_l1_fix_time: 0.6380, d6.loss_plan_l1_fix_dist: 0.1626, d0.loss_cls_all: 0.1115, d0.loss_bbox_all: 0.3210, d0.loss_cls: 0.1115, d0.loss_bbox: 0.3210, d1.loss_cls: 0.1072, d1.loss_bbox: 0.2869, d2.loss_cls: 0.0958, d2.loss_bbox: 0.2647, d3.loss_cls: 0.0840, d3.loss_bbox: 0.2576, d4.loss_cls: 0.0789, d4.loss_bbox: 0.2528, d5.loss_cls: 0.0772, d5.loss_bbox: 0.2521, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6143, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4839, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4402, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4403, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4317, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4290, d0.loss_map_cls_all: 0.1418, d0.loss_map_pts_all: 0.8009, d0.loss_map_dir_all: 0.0043, d0.loss_map_cls: 0.1418, d0.loss_map_pts: 0.8009, d0.loss_map_dir: 0.0043, d1.loss_map_cls: 0.1145, d1.loss_map_pts: 0.5854, d1.loss_map_dir: 0.0039, d2.loss_map_cls: 0.0947, d2.loss_map_pts: 0.4567, d2.loss_map_dir: 0.0036, d3.loss_map_cls: 0.0858, d3.loss_map_pts: 0.4046, d3.loss_map_dir: 0.0037, d4.loss_map_cls: 0.0807, d4.loss_map_pts: 0.3874, d4.loss_map_dir: 0.0038, d5.loss_map_cls: 0.0780, d5.loss_map_pts: 0.3841, d5.loss_map_dir: 0.0039, loss: 19.0869, grad_norm: 140.8999 +2026-03-01 06:00:38,770 - DriveTransformer - INFO - Epoch [12][15900/39528] lr: 5.696e-05, eta: 4 days, 5:09:11, time: 0.707, data_time: 0.038, memory: 19865, loss_cls: 0.0883, loss_bbox: 0.2738, loss_traj: 0.4286, loss_traj_cls: 0.0021, loss_map_cls: 0.0858, loss_map_pts: 0.4535, loss_map_dir: 0.0045, d0.loss_plan_l1_fix_time: 2.3657, d0.loss_plan_l1_fix_dist: 0.3898, d1.loss_plan_l1_fix_time: 0.6266, d1.loss_plan_l1_fix_dist: 0.2022, d2.loss_plan_l1_fix_time: 0.6071, d2.loss_plan_l1_fix_dist: 0.1665, d3.loss_plan_l1_fix_time: 0.6038, d3.loss_plan_l1_fix_dist: 0.1475, d4.loss_plan_l1_fix_time: 0.6053, d4.loss_plan_l1_fix_dist: 0.1730, d5.loss_plan_l1_fix_time: 0.6072, d5.loss_plan_l1_fix_dist: 0.1673, d6.loss_plan_l1_fix_time: 0.6095, d6.loss_plan_l1_fix_dist: 0.1420, d0.loss_cls_all: 0.1280, d0.loss_bbox_all: 0.3373, d0.loss_cls: 0.1280, d0.loss_bbox: 0.3373, d1.loss_cls: 0.1197, d1.loss_bbox: 0.3089, d2.loss_cls: 0.1061, d2.loss_bbox: 0.2860, d3.loss_cls: 0.0946, d3.loss_bbox: 0.2774, d4.loss_cls: 0.0907, d4.loss_bbox: 0.2745, d5.loss_cls: 0.0885, d5.loss_bbox: 0.2740, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6564, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4988, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4537, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4402, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4336, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4307, d0.loss_map_cls_all: 0.1658, d0.loss_map_pts_all: 0.9442, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1658, d0.loss_map_pts: 0.9442, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1331, d1.loss_map_pts: 0.7061, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1095, d2.loss_map_pts: 0.5499, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.0983, d3.loss_map_pts: 0.4854, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0928, d4.loss_map_pts: 0.4602, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0890, d5.loss_map_pts: 0.4543, d5.loss_map_dir: 0.0045, loss: 19.9510, grad_norm: 137.1184 +2026-03-01 06:01:14,555 - DriveTransformer - INFO - Epoch [12][15950/39528] lr: 5.696e-05, eta: 4 days, 5:08:33, time: 0.716, data_time: 0.038, memory: 19865, loss_cls: 0.0847, loss_bbox: 0.2695, loss_traj: 0.4422, loss_traj_cls: 0.0021, loss_map_cls: 0.0970, loss_map_pts: 0.4775, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.3011, d0.loss_plan_l1_fix_dist: 0.4405, d1.loss_plan_l1_fix_time: 0.6908, d1.loss_plan_l1_fix_dist: 0.2268, d2.loss_plan_l1_fix_time: 0.6793, d2.loss_plan_l1_fix_dist: 0.1896, d3.loss_plan_l1_fix_time: 0.6520, d3.loss_plan_l1_fix_dist: 0.1543, d4.loss_plan_l1_fix_time: 0.6522, d4.loss_plan_l1_fix_dist: 0.1699, d5.loss_plan_l1_fix_time: 0.6538, d5.loss_plan_l1_fix_dist: 0.1676, d6.loss_plan_l1_fix_time: 0.6567, d6.loss_plan_l1_fix_dist: 0.1447, d0.loss_cls_all: 0.1260, d0.loss_bbox_all: 0.3368, d0.loss_cls: 0.1260, d0.loss_bbox: 0.3368, d1.loss_cls: 0.1208, d1.loss_bbox: 0.3055, d2.loss_cls: 0.1111, d2.loss_bbox: 0.2820, d3.loss_cls: 0.0901, d3.loss_bbox: 0.2751, d4.loss_cls: 0.0862, d4.loss_bbox: 0.2714, d5.loss_cls: 0.0853, d5.loss_bbox: 0.2696, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7449, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5418, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4624, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4508, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4440, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4432, d0.loss_map_cls_all: 0.1852, d0.loss_map_pts_all: 1.0021, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1852, d0.loss_map_pts: 1.0021, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1438, d1.loss_map_pts: 0.7468, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1174, d2.loss_map_pts: 0.5696, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.1082, d3.loss_map_pts: 0.5054, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.1036, d4.loss_map_pts: 0.4834, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0985, d5.loss_map_pts: 0.4771, d5.loss_map_dir: 0.0050, loss: 20.8354, grad_norm: 130.3125 +2026-03-01 06:01:52,132 - DriveTransformer - INFO - Epoch [12][16000/39528] lr: 5.696e-05, eta: 4 days, 5:07:59, time: 0.751, data_time: 0.036, memory: 19865, loss_cls: 0.0865, loss_bbox: 0.2690, loss_traj: 0.4017, loss_traj_cls: 0.0021, loss_map_cls: 0.0812, loss_map_pts: 0.4258, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.6925, d0.loss_plan_l1_fix_dist: 0.4813, d1.loss_plan_l1_fix_time: 0.6942, d1.loss_plan_l1_fix_dist: 0.2491, d2.loss_plan_l1_fix_time: 0.6806, d2.loss_plan_l1_fix_dist: 0.2086, d3.loss_plan_l1_fix_time: 0.6722, d3.loss_plan_l1_fix_dist: 0.1912, d4.loss_plan_l1_fix_time: 0.6732, d4.loss_plan_l1_fix_dist: 0.1809, d5.loss_plan_l1_fix_time: 0.6745, d5.loss_plan_l1_fix_dist: 0.1841, d6.loss_plan_l1_fix_time: 0.6761, d6.loss_plan_l1_fix_dist: 0.1798, d0.loss_cls_all: 0.1325, d0.loss_bbox_all: 0.3406, d0.loss_cls: 0.1325, d0.loss_bbox: 0.3406, d1.loss_cls: 0.1262, d1.loss_bbox: 0.3071, d2.loss_cls: 0.1127, d2.loss_bbox: 0.2836, d3.loss_cls: 0.0960, d3.loss_bbox: 0.2751, d4.loss_cls: 0.0887, d4.loss_bbox: 0.2719, d5.loss_cls: 0.0870, d5.loss_bbox: 0.2703, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6009, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4637, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4301, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4155, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4061, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4036, d0.loss_map_cls_all: 0.1583, d0.loss_map_pts_all: 0.9221, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1583, d0.loss_map_pts: 0.9221, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1243, d1.loss_map_pts: 0.6464, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1029, d2.loss_map_pts: 0.5016, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0928, d3.loss_map_pts: 0.4508, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0879, d4.loss_map_pts: 0.4301, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0833, d5.loss_map_pts: 0.4254, d5.loss_map_dir: 0.0054, loss: 20.4465, grad_norm: 129.8038 +2026-03-01 06:02:28,555 - DriveTransformer - INFO - Epoch [12][16050/39528] lr: 5.696e-05, eta: 4 days, 5:07:22, time: 0.729, data_time: 0.037, memory: 19865, loss_cls: 0.0918, loss_bbox: 0.2725, loss_traj: 0.4755, loss_traj_cls: 0.0021, loss_map_cls: 0.1021, loss_map_pts: 0.5119, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.7164, d0.loss_plan_l1_fix_dist: 0.3745, d1.loss_plan_l1_fix_time: 0.6669, d1.loss_plan_l1_fix_dist: 0.2398, d2.loss_plan_l1_fix_time: 0.6577, d2.loss_plan_l1_fix_dist: 0.1961, d3.loss_plan_l1_fix_time: 0.6559, d3.loss_plan_l1_fix_dist: 0.1935, d4.loss_plan_l1_fix_time: 0.6569, d4.loss_plan_l1_fix_dist: 0.1649, d5.loss_plan_l1_fix_time: 0.6582, d5.loss_plan_l1_fix_dist: 0.1712, d6.loss_plan_l1_fix_time: 0.6598, d6.loss_plan_l1_fix_dist: 0.1750, d0.loss_cls_all: 0.1293, d0.loss_bbox_all: 0.3415, d0.loss_cls: 0.1293, d0.loss_bbox: 0.3415, d1.loss_cls: 0.1223, d1.loss_bbox: 0.3090, d2.loss_cls: 0.1130, d2.loss_bbox: 0.2844, d3.loss_cls: 0.1012, d3.loss_bbox: 0.2764, d4.loss_cls: 0.0952, d4.loss_bbox: 0.2738, d5.loss_cls: 0.0924, d5.loss_bbox: 0.2730, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7536, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5609, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4947, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4780, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4740, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4719, d0.loss_map_cls_all: 0.1931, d0.loss_map_pts_all: 1.0752, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1931, d0.loss_map_pts: 1.0752, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1595, d1.loss_map_pts: 0.7918, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1318, d2.loss_map_pts: 0.6030, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1174, d3.loss_map_pts: 0.5404, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1108, d4.loss_map_pts: 0.5195, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1058, d5.loss_map_pts: 0.5127, d5.loss_map_dir: 0.0060, loss: 21.9407, grad_norm: 132.7818 +2026-03-01 06:03:04,501 - DriveTransformer - INFO - Epoch [12][16100/39528] lr: 5.696e-05, eta: 4 days, 5:06:44, time: 0.719, data_time: 0.039, memory: 19865, loss_cls: 0.0801, loss_bbox: 0.2755, loss_traj: 0.4252, loss_traj_cls: 0.0020, loss_map_cls: 0.0960, loss_map_pts: 0.4801, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.4089, d0.loss_plan_l1_fix_dist: 0.4258, d1.loss_plan_l1_fix_time: 0.6343, d1.loss_plan_l1_fix_dist: 0.2419, d2.loss_plan_l1_fix_time: 0.6212, d2.loss_plan_l1_fix_dist: 0.1970, d3.loss_plan_l1_fix_time: 0.6016, d3.loss_plan_l1_fix_dist: 0.2072, d4.loss_plan_l1_fix_time: 0.6034, d4.loss_plan_l1_fix_dist: 0.1690, d5.loss_plan_l1_fix_time: 0.6056, d5.loss_plan_l1_fix_dist: 0.1745, d6.loss_plan_l1_fix_time: 0.6078, d6.loss_plan_l1_fix_dist: 0.1745, d0.loss_cls_all: 0.1300, d0.loss_bbox_all: 0.3413, d0.loss_cls: 0.1300, d0.loss_bbox: 0.3413, d1.loss_cls: 0.1222, d1.loss_bbox: 0.3079, d2.loss_cls: 0.1099, d2.loss_bbox: 0.2865, d3.loss_cls: 0.0905, d3.loss_bbox: 0.2798, d4.loss_cls: 0.0829, d4.loss_bbox: 0.2767, d5.loss_cls: 0.0815, d5.loss_bbox: 0.2756, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7113, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5557, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4877, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4338, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4274, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4257, d0.loss_map_cls_all: 0.1890, d0.loss_map_pts_all: 0.9432, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1890, d0.loss_map_pts: 0.9432, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1548, d1.loss_map_pts: 0.6950, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1280, d2.loss_map_pts: 0.5578, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1135, d3.loss_map_pts: 0.5023, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1041, d4.loss_map_pts: 0.4864, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0991, d5.loss_map_pts: 0.4803, d5.loss_map_dir: 0.0057, loss: 20.5649, grad_norm: 131.7338 +2026-03-01 06:03:41,669 - DriveTransformer - INFO - Epoch [12][16150/39528] lr: 5.696e-05, eta: 4 days, 5:06:09, time: 0.743, data_time: 0.038, memory: 19865, loss_cls: 0.0802, loss_bbox: 0.2622, loss_traj: 0.3910, loss_traj_cls: 0.0020, loss_map_cls: 0.1016, loss_map_pts: 0.5056, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.3538, d0.loss_plan_l1_fix_dist: 0.3811, d1.loss_plan_l1_fix_time: 0.6305, d1.loss_plan_l1_fix_dist: 0.2393, d2.loss_plan_l1_fix_time: 0.6230, d2.loss_plan_l1_fix_dist: 0.1685, d3.loss_plan_l1_fix_time: 0.6037, d3.loss_plan_l1_fix_dist: 0.1992, d4.loss_plan_l1_fix_time: 0.6052, d4.loss_plan_l1_fix_dist: 0.1677, d5.loss_plan_l1_fix_time: 0.6075, d5.loss_plan_l1_fix_dist: 0.1556, d6.loss_plan_l1_fix_time: 0.6098, d6.loss_plan_l1_fix_dist: 0.1610, d0.loss_cls_all: 0.1298, d0.loss_bbox_all: 0.3306, d0.loss_cls: 0.1298, d0.loss_bbox: 0.3306, d1.loss_cls: 0.1228, d1.loss_bbox: 0.2959, d2.loss_cls: 0.1107, d2.loss_bbox: 0.2726, d3.loss_cls: 0.0915, d3.loss_bbox: 0.2658, d4.loss_cls: 0.0823, d4.loss_bbox: 0.2643, d5.loss_cls: 0.0804, d5.loss_bbox: 0.2627, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6569, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4809, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4196, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4000, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3899, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3893, d0.loss_map_cls_all: 0.1888, d0.loss_map_pts_all: 1.0597, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1888, d0.loss_map_pts: 1.0597, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1501, d1.loss_map_pts: 0.7564, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1271, d2.loss_map_pts: 0.5984, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1162, d3.loss_map_pts: 0.5380, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1087, d4.loss_map_pts: 0.5144, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1049, d5.loss_map_pts: 0.5059, d5.loss_map_dir: 0.0058, loss: 20.4263, grad_norm: 135.2868 +2026-03-01 06:04:19,414 - DriveTransformer - INFO - Epoch [12][16200/39528] lr: 5.696e-05, eta: 4 days, 5:05:35, time: 0.756, data_time: 0.037, memory: 19865, loss_cls: 0.0942, loss_bbox: 0.2667, loss_traj: 0.3769, loss_traj_cls: 0.0020, loss_map_cls: 0.0892, loss_map_pts: 0.4597, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.2158, d0.loss_plan_l1_fix_dist: 0.4072, d1.loss_plan_l1_fix_time: 0.5995, d1.loss_plan_l1_fix_dist: 0.2450, d2.loss_plan_l1_fix_time: 0.5922, d2.loss_plan_l1_fix_dist: 0.1665, d3.loss_plan_l1_fix_time: 0.5936, d3.loss_plan_l1_fix_dist: 0.2102, d4.loss_plan_l1_fix_time: 0.5950, d4.loss_plan_l1_fix_dist: 0.1858, d5.loss_plan_l1_fix_time: 0.5966, d5.loss_plan_l1_fix_dist: 0.1605, d6.loss_plan_l1_fix_time: 0.5987, d6.loss_plan_l1_fix_dist: 0.1669, d0.loss_cls_all: 0.1330, d0.loss_bbox_all: 0.3310, d0.loss_cls: 0.1330, d0.loss_bbox: 0.3310, d1.loss_cls: 0.1249, d1.loss_bbox: 0.3020, d2.loss_cls: 0.1143, d2.loss_bbox: 0.2825, d3.loss_cls: 0.1018, d3.loss_bbox: 0.2728, d4.loss_cls: 0.0960, d4.loss_bbox: 0.2692, d5.loss_cls: 0.0925, d5.loss_bbox: 0.2697, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5696, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4452, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4108, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3877, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3817, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3838, d0.loss_map_cls_all: 0.1699, d0.loss_map_pts_all: 0.9671, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1699, d0.loss_map_pts: 0.9671, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1403, d1.loss_map_pts: 0.6864, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1178, d2.loss_map_pts: 0.5343, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1056, d3.loss_map_pts: 0.4810, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0981, d4.loss_map_pts: 0.4632, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0927, d5.loss_map_pts: 0.4591, d5.loss_map_dir: 0.0051, loss: 19.5550, grad_norm: 135.8807 +2026-03-01 06:04:56,316 - DriveTransformer - INFO - Epoch [12][16250/39528] lr: 5.696e-05, eta: 4 days, 5:04:59, time: 0.737, data_time: 0.037, memory: 19865, loss_cls: 0.0975, loss_bbox: 0.2918, loss_traj: 0.4308, loss_traj_cls: 0.0020, loss_map_cls: 0.1114, loss_map_pts: 0.5545, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.5545, d0.loss_plan_l1_fix_dist: 0.3810, d1.loss_plan_l1_fix_time: 0.7912, d1.loss_plan_l1_fix_dist: 0.2450, d2.loss_plan_l1_fix_time: 0.7859, d2.loss_plan_l1_fix_dist: 0.1613, d3.loss_plan_l1_fix_time: 0.7659, d3.loss_plan_l1_fix_dist: 0.2151, d4.loss_plan_l1_fix_time: 0.7657, d4.loss_plan_l1_fix_dist: 0.2039, d5.loss_plan_l1_fix_time: 0.7668, d5.loss_plan_l1_fix_dist: 0.1744, d6.loss_plan_l1_fix_time: 0.7687, d6.loss_plan_l1_fix_dist: 0.1532, d0.loss_cls_all: 0.1465, d0.loss_bbox_all: 0.3601, d0.loss_cls: 0.1465, d0.loss_bbox: 0.3601, d1.loss_cls: 0.1403, d1.loss_bbox: 0.3257, d2.loss_cls: 0.1229, d2.loss_bbox: 0.3065, d3.loss_cls: 0.1051, d3.loss_bbox: 0.2982, d4.loss_cls: 0.1004, d4.loss_bbox: 0.2935, d5.loss_cls: 0.0981, d5.loss_bbox: 0.2923, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6800, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5149, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4517, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4441, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4356, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4340, d0.loss_map_cls_all: 0.1961, d0.loss_map_pts_all: 1.1992, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1961, d0.loss_map_pts: 1.1992, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1656, d1.loss_map_pts: 0.8582, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1440, d2.loss_map_pts: 0.6629, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1306, d3.loss_map_pts: 0.5846, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1221, d4.loss_map_pts: 0.5591, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1152, d5.loss_map_pts: 0.5543, d5.loss_map_dir: 0.0058, loss: 23.0154, grad_norm: 135.5801 +2026-03-01 06:05:34,246 - DriveTransformer - INFO - Epoch [12][16300/39528] lr: 5.696e-05, eta: 4 days, 5:04:26, time: 0.759, data_time: 0.038, memory: 19865, loss_cls: 0.0847, loss_bbox: 0.2543, loss_traj: 0.3891, loss_traj_cls: 0.0020, loss_map_cls: 0.0861, loss_map_pts: 0.4963, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.2146, d0.loss_plan_l1_fix_dist: 0.4365, d1.loss_plan_l1_fix_time: 0.6768, d1.loss_plan_l1_fix_dist: 0.2341, d2.loss_plan_l1_fix_time: 0.6567, d2.loss_plan_l1_fix_dist: 0.1555, d3.loss_plan_l1_fix_time: 0.6399, d3.loss_plan_l1_fix_dist: 0.2021, d4.loss_plan_l1_fix_time: 0.6397, d4.loss_plan_l1_fix_dist: 0.1980, d5.loss_plan_l1_fix_time: 0.6407, d5.loss_plan_l1_fix_dist: 0.1757, d6.loss_plan_l1_fix_time: 0.6426, d6.loss_plan_l1_fix_dist: 0.1533, d0.loss_cls_all: 0.1289, d0.loss_bbox_all: 0.3184, d0.loss_cls: 0.1289, d0.loss_bbox: 0.3184, d1.loss_cls: 0.1235, d1.loss_bbox: 0.2883, d2.loss_cls: 0.1075, d2.loss_bbox: 0.2673, d3.loss_cls: 0.0933, d3.loss_bbox: 0.2602, d4.loss_cls: 0.0862, d4.loss_bbox: 0.2579, d5.loss_cls: 0.0841, d5.loss_bbox: 0.2561, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6001, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4693, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4188, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4018, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3946, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3907, d0.loss_map_cls_all: 0.1601, d0.loss_map_pts_all: 1.0326, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1601, d0.loss_map_pts: 1.0326, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1274, d1.loss_map_pts: 0.7283, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1084, d2.loss_map_pts: 0.5757, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.0981, d3.loss_map_pts: 0.5210, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0929, d4.loss_map_pts: 0.5015, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0883, d5.loss_map_pts: 0.4962, d5.loss_map_dir: 0.0061, loss: 20.1519, grad_norm: 147.4467 +2026-03-01 06:06:11,213 - DriveTransformer - INFO - Epoch [12][16350/39528] lr: 5.696e-05, eta: 4 days, 5:03:50, time: 0.739, data_time: 0.039, memory: 19865, loss_cls: 0.0850, loss_bbox: 0.2507, loss_traj: 0.3576, loss_traj_cls: 0.0021, loss_map_cls: 0.0761, loss_map_pts: 0.4271, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.3424, d0.loss_plan_l1_fix_dist: 0.5211, d1.loss_plan_l1_fix_time: 0.6434, d1.loss_plan_l1_fix_dist: 0.2411, d2.loss_plan_l1_fix_time: 0.6237, d2.loss_plan_l1_fix_dist: 0.1759, d3.loss_plan_l1_fix_time: 0.6160, d3.loss_plan_l1_fix_dist: 0.2182, d4.loss_plan_l1_fix_time: 0.6163, d4.loss_plan_l1_fix_dist: 0.2216, d5.loss_plan_l1_fix_time: 0.6178, d5.loss_plan_l1_fix_dist: 0.1967, d6.loss_plan_l1_fix_time: 0.6196, d6.loss_plan_l1_fix_dist: 0.1745, d0.loss_cls_all: 0.1320, d0.loss_bbox_all: 0.3214, d0.loss_cls: 0.1320, d0.loss_bbox: 0.3214, d1.loss_cls: 0.1287, d1.loss_bbox: 0.2843, d2.loss_cls: 0.1118, d2.loss_bbox: 0.2627, d3.loss_cls: 0.0939, d3.loss_bbox: 0.2548, d4.loss_cls: 0.0884, d4.loss_bbox: 0.2504, d5.loss_cls: 0.0856, d5.loss_bbox: 0.2503, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5873, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4230, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3762, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3598, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3532, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3575, d0.loss_map_cls_all: 0.1545, d0.loss_map_pts_all: 0.8870, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1545, d0.loss_map_pts: 0.8870, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1218, d1.loss_map_pts: 0.6356, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1003, d2.loss_map_pts: 0.4929, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0903, d3.loss_map_pts: 0.4448, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0834, d4.loss_map_pts: 0.4297, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0790, d5.loss_map_pts: 0.4271, d5.loss_map_dir: 0.0050, loss: 19.2364, grad_norm: 145.5983 +2026-03-01 06:06:48,080 - DriveTransformer - INFO - Epoch [12][16400/39528] lr: 5.696e-05, eta: 4 days, 5:03:14, time: 0.737, data_time: 0.037, memory: 19865, loss_cls: 0.0826, loss_bbox: 0.2661, loss_traj: 0.3652, loss_traj_cls: 0.0020, loss_map_cls: 0.0884, loss_map_pts: 0.4489, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.2950, d0.loss_plan_l1_fix_dist: 0.3798, d1.loss_plan_l1_fix_time: 0.6266, d1.loss_plan_l1_fix_dist: 0.2083, d2.loss_plan_l1_fix_time: 0.6112, d2.loss_plan_l1_fix_dist: 0.1483, d3.loss_plan_l1_fix_time: 0.6142, d3.loss_plan_l1_fix_dist: 0.1878, d4.loss_plan_l1_fix_time: 0.6153, d4.loss_plan_l1_fix_dist: 0.1933, d5.loss_plan_l1_fix_time: 0.6164, d5.loss_plan_l1_fix_dist: 0.1695, d6.loss_plan_l1_fix_time: 0.6175, d6.loss_plan_l1_fix_dist: 0.1605, d0.loss_cls_all: 0.1299, d0.loss_bbox_all: 0.3332, d0.loss_cls: 0.1299, d0.loss_bbox: 0.3332, d1.loss_cls: 0.1246, d1.loss_bbox: 0.2999, d2.loss_cls: 0.1060, d2.loss_bbox: 0.2805, d3.loss_cls: 0.0900, d3.loss_bbox: 0.2739, d4.loss_cls: 0.0846, d4.loss_bbox: 0.2687, d5.loss_cls: 0.0824, d5.loss_bbox: 0.2669, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5755, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4244, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3877, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3773, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3693, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3661, d0.loss_map_cls_all: 0.1729, d0.loss_map_pts_all: 0.9508, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1729, d0.loss_map_pts: 0.9508, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1386, d1.loss_map_pts: 0.6748, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1133, d2.loss_map_pts: 0.5323, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1022, d3.loss_map_pts: 0.4751, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0962, d4.loss_map_pts: 0.4556, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0923, d5.loss_map_pts: 0.4493, d5.loss_map_dir: 0.0052, loss: 19.4261, grad_norm: 138.5723 +2026-03-01 06:07:23,735 - DriveTransformer - INFO - Epoch [12][16450/39528] lr: 5.696e-05, eta: 4 days, 5:02:35, time: 0.713, data_time: 0.039, memory: 19865, loss_cls: 0.0647, loss_bbox: 0.2517, loss_traj: 0.4504, loss_traj_cls: 0.0020, loss_map_cls: 0.0728, loss_map_pts: 0.4168, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.2503, d0.loss_plan_l1_fix_dist: 0.3314, d1.loss_plan_l1_fix_time: 0.7433, d1.loss_plan_l1_fix_dist: 0.1953, d2.loss_plan_l1_fix_time: 0.7254, d2.loss_plan_l1_fix_dist: 0.1636, d3.loss_plan_l1_fix_time: 0.7214, d3.loss_plan_l1_fix_dist: 0.1835, d4.loss_plan_l1_fix_time: 0.7222, d4.loss_plan_l1_fix_dist: 0.1843, d5.loss_plan_l1_fix_time: 0.7236, d5.loss_plan_l1_fix_dist: 0.1654, d6.loss_plan_l1_fix_time: 0.7252, d6.loss_plan_l1_fix_dist: 0.1709, d0.loss_cls_all: 0.1029, d0.loss_bbox_all: 0.3091, d0.loss_cls: 0.1029, d0.loss_bbox: 0.3091, d1.loss_cls: 0.0988, d1.loss_bbox: 0.2809, d2.loss_cls: 0.0874, d2.loss_bbox: 0.2624, d3.loss_cls: 0.0711, d3.loss_bbox: 0.2555, d4.loss_cls: 0.0668, d4.loss_bbox: 0.2523, d5.loss_cls: 0.0645, d5.loss_bbox: 0.2529, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6642, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5127, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4681, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4508, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4483, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4521, d0.loss_map_cls_all: 0.1581, d0.loss_map_pts_all: 0.9236, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1581, d0.loss_map_pts: 0.9236, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1228, d1.loss_map_pts: 0.6490, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.0988, d2.loss_map_pts: 0.4946, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0868, d3.loss_map_pts: 0.4356, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0810, d4.loss_map_pts: 0.4187, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0748, d5.loss_map_pts: 0.4161, d5.loss_map_dir: 0.0051, loss: 19.8657, grad_norm: 138.5262 +2026-03-01 06:07:59,742 - DriveTransformer - INFO - Epoch [12][16500/39528] lr: 5.696e-05, eta: 4 days, 5:01:58, time: 0.720, data_time: 0.042, memory: 19865, loss_cls: 0.0959, loss_bbox: 0.2819, loss_traj: 0.5479, loss_traj_cls: 0.0019, loss_map_cls: 0.0861, loss_map_pts: 0.4427, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.9375, d0.loss_plan_l1_fix_dist: 0.4631, d1.loss_plan_l1_fix_time: 0.7321, d1.loss_plan_l1_fix_dist: 0.1856, d2.loss_plan_l1_fix_time: 0.7184, d2.loss_plan_l1_fix_dist: 0.1841, d3.loss_plan_l1_fix_time: 0.7137, d3.loss_plan_l1_fix_dist: 0.1750, d4.loss_plan_l1_fix_time: 0.7149, d4.loss_plan_l1_fix_dist: 0.1805, d5.loss_plan_l1_fix_time: 0.7162, d5.loss_plan_l1_fix_dist: 0.1707, d6.loss_plan_l1_fix_time: 0.7180, d6.loss_plan_l1_fix_dist: 0.1794, d0.loss_cls_all: 0.1466, d0.loss_bbox_all: 0.3513, d0.loss_cls: 0.1466, d0.loss_bbox: 0.3513, d1.loss_cls: 0.1455, d1.loss_bbox: 0.3158, d2.loss_cls: 0.1263, d2.loss_bbox: 0.2938, d3.loss_cls: 0.1049, d3.loss_bbox: 0.2878, d4.loss_cls: 0.0981, d4.loss_bbox: 0.2844, d5.loss_cls: 0.0957, d5.loss_bbox: 0.2828, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8312, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.6421, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5839, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5603, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5526, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5476, d0.loss_map_cls_all: 0.1642, d0.loss_map_pts_all: 0.8858, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1642, d0.loss_map_pts: 0.8858, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1373, d1.loss_map_pts: 0.6418, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1143, d2.loss_map_pts: 0.5135, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0998, d3.loss_map_pts: 0.4622, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0942, d4.loss_map_pts: 0.4472, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0888, d5.loss_map_pts: 0.4429, d5.loss_map_dir: 0.0051, loss: 22.1852, grad_norm: 140.1804 +2026-03-01 06:08:33,739 - DriveTransformer - INFO - Epoch [12][16550/39528] lr: 5.696e-05, eta: 4 days, 5:01:15, time: 0.680, data_time: 0.035, memory: 19865, loss_cls: 0.0836, loss_bbox: 0.2708, loss_traj: 0.4278, loss_traj_cls: 0.0019, loss_map_cls: 0.0799, loss_map_pts: 0.4121, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.9331, d0.loss_plan_l1_fix_dist: 0.3341, d1.loss_plan_l1_fix_time: 0.7488, d1.loss_plan_l1_fix_dist: 0.1406, d2.loss_plan_l1_fix_time: 0.7287, d2.loss_plan_l1_fix_dist: 0.1620, d3.loss_plan_l1_fix_time: 0.7266, d3.loss_plan_l1_fix_dist: 0.1533, d4.loss_plan_l1_fix_time: 0.7282, d4.loss_plan_l1_fix_dist: 0.1535, d5.loss_plan_l1_fix_time: 0.7303, d5.loss_plan_l1_fix_dist: 0.1648, d6.loss_plan_l1_fix_time: 0.7327, d6.loss_plan_l1_fix_dist: 0.1612, d0.loss_cls_all: 0.1396, d0.loss_bbox_all: 0.3438, d0.loss_cls: 0.1396, d0.loss_bbox: 0.3438, d1.loss_cls: 0.1325, d1.loss_bbox: 0.3064, d2.loss_cls: 0.1128, d2.loss_bbox: 0.2825, d3.loss_cls: 0.0947, d3.loss_bbox: 0.2745, d4.loss_cls: 0.0862, d4.loss_bbox: 0.2724, d5.loss_cls: 0.0837, d5.loss_bbox: 0.2712, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6932, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5162, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4518, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4364, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4310, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4307, d0.loss_map_cls_all: 0.1660, d0.loss_map_pts_all: 0.8073, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1660, d0.loss_map_pts: 0.8073, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1309, d1.loss_map_pts: 0.5933, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1083, d2.loss_map_pts: 0.4730, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0936, d3.loss_map_pts: 0.4321, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0860, d4.loss_map_pts: 0.4146, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0816, d5.loss_map_pts: 0.4115, d5.loss_map_dir: 0.0050, loss: 20.5346, grad_norm: 141.1570 +2026-03-01 06:09:08,860 - DriveTransformer - INFO - Epoch [12][16600/39528] lr: 5.696e-05, eta: 4 days, 5:00:35, time: 0.702, data_time: 0.038, memory: 19865, loss_cls: 0.0817, loss_bbox: 0.2592, loss_traj: 0.4560, loss_traj_cls: 0.0019, loss_map_cls: 0.0764, loss_map_pts: 0.4156, loss_map_dir: 0.0045, d0.loss_plan_l1_fix_time: 2.5258, d0.loss_plan_l1_fix_dist: 0.3998, d1.loss_plan_l1_fix_time: 0.7377, d1.loss_plan_l1_fix_dist: 0.1500, d2.loss_plan_l1_fix_time: 0.7178, d2.loss_plan_l1_fix_dist: 0.1725, d3.loss_plan_l1_fix_time: 0.6999, d3.loss_plan_l1_fix_dist: 0.1817, d4.loss_plan_l1_fix_time: 0.6997, d4.loss_plan_l1_fix_dist: 0.1458, d5.loss_plan_l1_fix_time: 0.7008, d5.loss_plan_l1_fix_dist: 0.1635, d6.loss_plan_l1_fix_time: 0.7025, d6.loss_plan_l1_fix_dist: 0.1613, d0.loss_cls_all: 0.1255, d0.loss_bbox_all: 0.3149, d0.loss_cls: 0.1255, d0.loss_bbox: 0.3149, d1.loss_cls: 0.1187, d1.loss_bbox: 0.2860, d2.loss_cls: 0.1054, d2.loss_bbox: 0.2685, d3.loss_cls: 0.0889, d3.loss_bbox: 0.2631, d4.loss_cls: 0.0847, d4.loss_bbox: 0.2601, d5.loss_cls: 0.0828, d5.loss_bbox: 0.2594, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7015, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5451, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4902, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4699, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4636, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4583, d0.loss_map_cls_all: 0.1571, d0.loss_map_pts_all: 0.8767, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1571, d0.loss_map_pts: 0.8767, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1284, d1.loss_map_pts: 0.6379, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.1036, d2.loss_map_pts: 0.5038, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.0937, d3.loss_map_pts: 0.4442, d3.loss_map_dir: 0.0043, d4.loss_map_cls: 0.0860, d4.loss_map_pts: 0.4211, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0801, d5.loss_map_pts: 0.4157, d5.loss_map_dir: 0.0046, loss: 20.3012, grad_norm: 137.7774 +2026-03-01 06:09:44,003 - DriveTransformer - INFO - Epoch [12][16650/39528] lr: 5.696e-05, eta: 4 days, 4:59:55, time: 0.703, data_time: 0.037, memory: 19865, loss_cls: 0.0716, loss_bbox: 0.2611, loss_traj: 0.4373, loss_traj_cls: 0.0020, loss_map_cls: 0.0778, loss_map_pts: 0.3967, loss_map_dir: 0.0045, d0.loss_plan_l1_fix_time: 2.7632, d0.loss_plan_l1_fix_dist: 0.4328, d1.loss_plan_l1_fix_time: 0.6694, d1.loss_plan_l1_fix_dist: 0.1501, d2.loss_plan_l1_fix_time: 0.6529, d2.loss_plan_l1_fix_dist: 0.1732, d3.loss_plan_l1_fix_time: 0.6570, d3.loss_plan_l1_fix_dist: 0.2048, d4.loss_plan_l1_fix_time: 0.6597, d4.loss_plan_l1_fix_dist: 0.1551, d5.loss_plan_l1_fix_time: 0.6615, d5.loss_plan_l1_fix_dist: 0.1861, d6.loss_plan_l1_fix_time: 0.6641, d6.loss_plan_l1_fix_dist: 0.1950, d0.loss_cls_all: 0.1125, d0.loss_bbox_all: 0.3192, d0.loss_cls: 0.1125, d0.loss_bbox: 0.3192, d1.loss_cls: 0.1070, d1.loss_bbox: 0.2872, d2.loss_cls: 0.0965, d2.loss_bbox: 0.2661, d3.loss_cls: 0.0803, d3.loss_bbox: 0.2628, d4.loss_cls: 0.0728, d4.loss_bbox: 0.2619, d5.loss_cls: 0.0712, d5.loss_bbox: 0.2612, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6821, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5192, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4681, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4498, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4405, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4391, d0.loss_map_cls_all: 0.1542, d0.loss_map_pts_all: 0.8373, d0.loss_map_dir_all: 0.0050, d0.loss_map_cls: 0.1542, d0.loss_map_pts: 0.8373, d0.loss_map_dir: 0.0050, d1.loss_map_cls: 0.1239, d1.loss_map_pts: 0.6134, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.1034, d2.loss_map_pts: 0.4786, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.0910, d3.loss_map_pts: 0.4218, d3.loss_map_dir: 0.0043, d4.loss_map_cls: 0.0845, d4.loss_map_pts: 0.4043, d4.loss_map_dir: 0.0044, d5.loss_map_cls: 0.0799, d5.loss_map_pts: 0.3985, d5.loss_map_dir: 0.0044, loss: 19.9241, grad_norm: 137.8969 +2026-03-01 06:10:20,568 - DriveTransformer - INFO - Epoch [12][16700/39528] lr: 5.696e-05, eta: 4 days, 4:59:19, time: 0.732, data_time: 0.036, memory: 19865, loss_cls: 0.0705, loss_bbox: 0.2567, loss_traj: 0.4756, loss_traj_cls: 0.0020, loss_map_cls: 0.0710, loss_map_pts: 0.4124, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.8733, d0.loss_plan_l1_fix_dist: 0.4545, d1.loss_plan_l1_fix_time: 0.7984, d1.loss_plan_l1_fix_dist: 0.1801, d2.loss_plan_l1_fix_time: 0.7804, d2.loss_plan_l1_fix_dist: 0.1854, d3.loss_plan_l1_fix_time: 0.7766, d3.loss_plan_l1_fix_dist: 0.2189, d4.loss_plan_l1_fix_time: 0.7776, d4.loss_plan_l1_fix_dist: 0.1750, d5.loss_plan_l1_fix_time: 0.7792, d5.loss_plan_l1_fix_dist: 0.1901, d6.loss_plan_l1_fix_time: 0.7813, d6.loss_plan_l1_fix_dist: 0.2079, d0.loss_cls_all: 0.1063, d0.loss_bbox_all: 0.3164, d0.loss_cls: 0.1063, d0.loss_bbox: 0.3164, d1.loss_cls: 0.1052, d1.loss_bbox: 0.2851, d2.loss_cls: 0.0928, d2.loss_bbox: 0.2660, d3.loss_cls: 0.0768, d3.loss_bbox: 0.2623, d4.loss_cls: 0.0708, d4.loss_bbox: 0.2600, d5.loss_cls: 0.0697, d5.loss_bbox: 0.2579, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7696, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5632, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4960, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4795, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4731, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4744, d0.loss_map_cls_all: 0.1566, d0.loss_map_pts_all: 0.8821, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1566, d0.loss_map_pts: 0.8821, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1224, d1.loss_map_pts: 0.6341, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.0977, d2.loss_map_pts: 0.4869, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0866, d3.loss_map_pts: 0.4348, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0798, d4.loss_map_pts: 0.4160, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0741, d5.loss_map_pts: 0.4121, d5.loss_map_dir: 0.0047, loss: 21.2808, grad_norm: 138.4617 +2026-03-01 06:10:59,322 - DriveTransformer - INFO - Epoch [12][16750/39528] lr: 5.696e-05, eta: 4 days, 4:58:47, time: 0.775, data_time: 0.036, memory: 19865, loss_cls: 0.0689, loss_bbox: 0.2584, loss_traj: 0.3935, loss_traj_cls: 0.0020, loss_map_cls: 0.0886, loss_map_pts: 0.5056, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.5422, d0.loss_plan_l1_fix_dist: 0.3505, d1.loss_plan_l1_fix_time: 0.7545, d1.loss_plan_l1_fix_dist: 0.1683, d2.loss_plan_l1_fix_time: 0.7483, d2.loss_plan_l1_fix_dist: 0.1655, d3.loss_plan_l1_fix_time: 0.7395, d3.loss_plan_l1_fix_dist: 0.2021, d4.loss_plan_l1_fix_time: 0.7420, d4.loss_plan_l1_fix_dist: 0.1760, d5.loss_plan_l1_fix_time: 0.7446, d5.loss_plan_l1_fix_dist: 0.1596, d6.loss_plan_l1_fix_time: 0.7471, d6.loss_plan_l1_fix_dist: 0.1878, d0.loss_cls_all: 0.1157, d0.loss_bbox_all: 0.3193, d0.loss_cls: 0.1157, d0.loss_bbox: 0.3193, d1.loss_cls: 0.1106, d1.loss_bbox: 0.2916, d2.loss_cls: 0.0947, d2.loss_bbox: 0.2710, d3.loss_cls: 0.0750, d3.loss_bbox: 0.2654, d4.loss_cls: 0.0697, d4.loss_bbox: 0.2628, d5.loss_cls: 0.0690, d5.loss_bbox: 0.2592, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6383, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4674, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4141, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4006, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.3972, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3944, d0.loss_map_cls_all: 0.1746, d0.loss_map_pts_all: 1.0566, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1746, d0.loss_map_pts: 1.0566, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1443, d1.loss_map_pts: 0.7528, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1187, d2.loss_map_pts: 0.5854, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1041, d3.loss_map_pts: 0.5268, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.0974, d4.loss_map_pts: 0.5095, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0917, d5.loss_map_pts: 0.5059, d5.loss_map_dir: 0.0068, loss: 21.0556, grad_norm: 138.8015 +2026-03-01 06:11:37,109 - DriveTransformer - INFO - Epoch [12][16800/39528] lr: 5.696e-05, eta: 4 days, 4:58:14, time: 0.756, data_time: 0.038, memory: 19865, loss_cls: 0.0961, loss_bbox: 0.2759, loss_traj: 0.4743, loss_traj_cls: 0.0020, loss_map_cls: 0.0843, loss_map_pts: 0.5078, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.8871, d0.loss_plan_l1_fix_dist: 0.3984, d1.loss_plan_l1_fix_time: 0.8294, d1.loss_plan_l1_fix_dist: 0.1626, d2.loss_plan_l1_fix_time: 0.8167, d2.loss_plan_l1_fix_dist: 0.1692, d3.loss_plan_l1_fix_time: 0.8304, d3.loss_plan_l1_fix_dist: 0.1778, d4.loss_plan_l1_fix_time: 0.8326, d4.loss_plan_l1_fix_dist: 0.1841, d5.loss_plan_l1_fix_time: 0.8341, d5.loss_plan_l1_fix_dist: 0.1593, d6.loss_plan_l1_fix_time: 0.8354, d6.loss_plan_l1_fix_dist: 0.1998, d0.loss_cls_all: 0.1435, d0.loss_bbox_all: 0.3472, d0.loss_cls: 0.1435, d0.loss_bbox: 0.3472, d1.loss_cls: 0.1326, d1.loss_bbox: 0.3158, d2.loss_cls: 0.1202, d2.loss_bbox: 0.2920, d3.loss_cls: 0.1044, d3.loss_bbox: 0.2828, d4.loss_cls: 0.0975, d4.loss_bbox: 0.2788, d5.loss_cls: 0.0961, d5.loss_bbox: 0.2760, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7361, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5536, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5098, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4924, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4843, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4783, d0.loss_map_cls_all: 0.1591, d0.loss_map_pts_all: 1.0056, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1591, d0.loss_map_pts: 1.0056, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1281, d1.loss_map_pts: 0.7405, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1044, d2.loss_map_pts: 0.5848, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.0975, d3.loss_map_pts: 0.5300, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.0913, d4.loss_map_pts: 0.5122, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0869, d5.loss_map_pts: 0.5079, d5.loss_map_dir: 0.0065, loss: 22.7596, grad_norm: 137.8135 +2026-03-01 06:12:13,428 - DriveTransformer - INFO - Epoch [12][16850/39528] lr: 5.696e-05, eta: 4 days, 4:57:36, time: 0.726, data_time: 0.036, memory: 19865, loss_cls: 0.0858, loss_bbox: 0.2722, loss_traj: 0.3947, loss_traj_cls: 0.0020, loss_map_cls: 0.0906, loss_map_pts: 0.4931, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.7627, d0.loss_plan_l1_fix_dist: 0.4105, d1.loss_plan_l1_fix_time: 0.7861, d1.loss_plan_l1_fix_dist: 0.1632, d2.loss_plan_l1_fix_time: 0.7700, d2.loss_plan_l1_fix_dist: 0.1768, d3.loss_plan_l1_fix_time: 0.7649, d3.loss_plan_l1_fix_dist: 0.1654, d4.loss_plan_l1_fix_time: 0.7665, d4.loss_plan_l1_fix_dist: 0.1853, d5.loss_plan_l1_fix_time: 0.7687, d5.loss_plan_l1_fix_dist: 0.1724, d6.loss_plan_l1_fix_time: 0.7715, d6.loss_plan_l1_fix_dist: 0.1927, d0.loss_cls_all: 0.1309, d0.loss_bbox_all: 0.3423, d0.loss_cls: 0.1309, d0.loss_bbox: 0.3423, d1.loss_cls: 0.1240, d1.loss_bbox: 0.3104, d2.loss_cls: 0.1139, d2.loss_bbox: 0.2855, d3.loss_cls: 0.0941, d3.loss_bbox: 0.2781, d4.loss_cls: 0.0881, d4.loss_bbox: 0.2752, d5.loss_cls: 0.0858, d5.loss_bbox: 0.2728, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6478, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.4787, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4258, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4060, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3966, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3963, d0.loss_map_cls_all: 0.1810, d0.loss_map_pts_all: 1.0059, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1810, d0.loss_map_pts: 1.0059, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1430, d1.loss_map_pts: 0.7409, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1163, d2.loss_map_pts: 0.5855, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1055, d3.loss_map_pts: 0.5232, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0975, d4.loss_map_pts: 0.4985, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0944, d5.loss_map_pts: 0.4925, d5.loss_map_dir: 0.0061, loss: 21.6468, grad_norm: 138.8449 +2026-03-01 06:12:50,460 - DriveTransformer - INFO - Epoch [12][16900/39528] lr: 5.696e-05, eta: 4 days, 4:57:01, time: 0.741, data_time: 0.039, memory: 19865, loss_cls: 0.1054, loss_bbox: 0.2891, loss_traj: 0.4447, loss_traj_cls: 0.0020, loss_map_cls: 0.0960, loss_map_pts: 0.5360, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.8755, d0.loss_plan_l1_fix_dist: 0.3678, d1.loss_plan_l1_fix_time: 0.7444, d1.loss_plan_l1_fix_dist: 0.1772, d2.loss_plan_l1_fix_time: 0.7315, d2.loss_plan_l1_fix_dist: 0.1983, d3.loss_plan_l1_fix_time: 0.7192, d3.loss_plan_l1_fix_dist: 0.1754, d4.loss_plan_l1_fix_time: 0.7192, d4.loss_plan_l1_fix_dist: 0.1828, d5.loss_plan_l1_fix_time: 0.7205, d5.loss_plan_l1_fix_dist: 0.1928, d6.loss_plan_l1_fix_time: 0.7225, d6.loss_plan_l1_fix_dist: 0.1785, d0.loss_cls_all: 0.1545, d0.loss_bbox_all: 0.3662, d0.loss_cls: 0.1545, d0.loss_bbox: 0.3662, d1.loss_cls: 0.1431, d1.loss_bbox: 0.3293, d2.loss_cls: 0.1299, d2.loss_bbox: 0.3060, d3.loss_cls: 0.1124, d3.loss_bbox: 0.2966, d4.loss_cls: 0.1085, d4.loss_bbox: 0.2906, d5.loss_cls: 0.1050, d5.loss_bbox: 0.2901, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7018, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5411, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4757, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4511, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4455, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4475, d0.loss_map_cls_all: 0.1849, d0.loss_map_pts_all: 1.0649, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1849, d0.loss_map_pts: 1.0649, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1511, d1.loss_map_pts: 0.7780, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1245, d2.loss_map_pts: 0.6288, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1130, d3.loss_map_pts: 0.5660, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1049, d4.loss_map_pts: 0.5439, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0990, d5.loss_map_pts: 0.5366, d5.loss_map_dir: 0.0064, loss: 22.5967, grad_norm: 140.3634 +2026-03-01 06:13:28,034 - DriveTransformer - INFO - Epoch [12][16950/39528] lr: 5.696e-05, eta: 4 days, 4:56:27, time: 0.751, data_time: 0.037, memory: 19865, loss_cls: 0.0801, loss_bbox: 0.2694, loss_traj: 0.4137, loss_traj_cls: 0.0019, loss_map_cls: 0.0970, loss_map_pts: 0.5498, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.6320, d0.loss_plan_l1_fix_dist: 0.4538, d1.loss_plan_l1_fix_time: 0.6995, d1.loss_plan_l1_fix_dist: 0.1806, d2.loss_plan_l1_fix_time: 0.6817, d2.loss_plan_l1_fix_dist: 0.2125, d3.loss_plan_l1_fix_time: 0.6782, d3.loss_plan_l1_fix_dist: 0.1959, d4.loss_plan_l1_fix_time: 0.6803, d4.loss_plan_l1_fix_dist: 0.1902, d5.loss_plan_l1_fix_time: 0.6833, d5.loss_plan_l1_fix_dist: 0.2265, d6.loss_plan_l1_fix_time: 0.6870, d6.loss_plan_l1_fix_dist: 0.2034, d0.loss_cls_all: 0.1269, d0.loss_bbox_all: 0.3491, d0.loss_cls: 0.1269, d0.loss_bbox: 0.3491, d1.loss_cls: 0.1193, d1.loss_bbox: 0.3126, d2.loss_cls: 0.1047, d2.loss_bbox: 0.2835, d3.loss_cls: 0.0880, d3.loss_bbox: 0.2759, d4.loss_cls: 0.0814, d4.loss_bbox: 0.2710, d5.loss_cls: 0.0802, d5.loss_bbox: 0.2695, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6675, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4940, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4434, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4274, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4202, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4180, d0.loss_map_cls_all: 0.1883, d0.loss_map_pts_all: 1.1050, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1883, d0.loss_map_pts: 1.1050, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1523, d1.loss_map_pts: 0.8228, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1259, d2.loss_map_pts: 0.6535, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1134, d3.loss_map_pts: 0.5827, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1064, d4.loss_map_pts: 0.5570, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0996, d5.loss_map_pts: 0.5501, d5.loss_map_dir: 0.0063, loss: 21.9322, grad_norm: 147.5577 +2026-03-01 06:14:03,933 - DriveTransformer - INFO - Epoch [12][17000/39528] lr: 5.696e-05, eta: 4 days, 4:55:49, time: 0.719, data_time: 0.037, memory: 19865, loss_cls: 0.0901, loss_bbox: 0.2877, loss_traj: 0.5541, loss_traj_cls: 0.0020, loss_map_cls: 0.1040, loss_map_pts: 0.5129, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.5397, d0.loss_plan_l1_fix_dist: 0.3902, d1.loss_plan_l1_fix_time: 0.7565, d1.loss_plan_l1_fix_dist: 0.1675, d2.loss_plan_l1_fix_time: 0.7447, d2.loss_plan_l1_fix_dist: 0.1930, d3.loss_plan_l1_fix_time: 0.7319, d3.loss_plan_l1_fix_dist: 0.1887, d4.loss_plan_l1_fix_time: 0.7331, d4.loss_plan_l1_fix_dist: 0.1639, d5.loss_plan_l1_fix_time: 0.7349, d5.loss_plan_l1_fix_dist: 0.2003, d6.loss_plan_l1_fix_time: 0.7373, d6.loss_plan_l1_fix_dist: 0.1767, d0.loss_cls_all: 0.1354, d0.loss_bbox_all: 0.3644, d0.loss_cls: 0.1354, d0.loss_bbox: 0.3644, d1.loss_cls: 0.1271, d1.loss_bbox: 0.3298, d2.loss_cls: 0.1179, d2.loss_bbox: 0.3032, d3.loss_cls: 0.0997, d3.loss_bbox: 0.2945, d4.loss_cls: 0.0926, d4.loss_bbox: 0.2917, d5.loss_cls: 0.0899, d5.loss_bbox: 0.2900, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8215, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.6156, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5616, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5496, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5534, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5558, d0.loss_map_cls_all: 0.1967, d0.loss_map_pts_all: 1.0246, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1967, d0.loss_map_pts: 1.0246, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1624, d1.loss_map_pts: 0.7728, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1335, d2.loss_map_pts: 0.6080, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1196, d3.loss_map_pts: 0.5422, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.1121, d4.loss_map_pts: 0.5192, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.1060, d5.loss_map_pts: 0.5139, d5.loss_map_dir: 0.0051, loss: 22.7817, grad_norm: 145.2520 +2026-03-01 06:14:39,420 - DriveTransformer - INFO - Epoch [12][17050/39528] lr: 5.696e-05, eta: 4 days, 4:55:10, time: 0.708, data_time: 0.035, memory: 19865, loss_cls: 0.0986, loss_bbox: 0.2891, loss_traj: 0.4521, loss_traj_cls: 0.0019, loss_map_cls: 0.1031, loss_map_pts: 0.5367, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.5803, d0.loss_plan_l1_fix_dist: 0.2937, d1.loss_plan_l1_fix_time: 0.7130, d1.loss_plan_l1_fix_dist: 0.1593, d2.loss_plan_l1_fix_time: 0.7001, d2.loss_plan_l1_fix_dist: 0.1826, d3.loss_plan_l1_fix_time: 0.6953, d3.loss_plan_l1_fix_dist: 0.1823, d4.loss_plan_l1_fix_time: 0.6961, d4.loss_plan_l1_fix_dist: 0.1687, d5.loss_plan_l1_fix_time: 0.6980, d5.loss_plan_l1_fix_dist: 0.2024, d6.loss_plan_l1_fix_time: 0.7000, d6.loss_plan_l1_fix_dist: 0.1986, d0.loss_cls_all: 0.1449, d0.loss_bbox_all: 0.3621, d0.loss_cls: 0.1449, d0.loss_bbox: 0.3621, d1.loss_cls: 0.1351, d1.loss_bbox: 0.3262, d2.loss_cls: 0.1242, d2.loss_bbox: 0.2996, d3.loss_cls: 0.1061, d3.loss_bbox: 0.2935, d4.loss_cls: 0.0995, d4.loss_bbox: 0.2921, d5.loss_cls: 0.0985, d5.loss_bbox: 0.2901, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7079, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5374, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4874, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4626, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4567, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4524, d0.loss_map_cls_all: 0.1910, d0.loss_map_pts_all: 1.0656, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1910, d0.loss_map_pts: 1.0656, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1601, d1.loss_map_pts: 0.8081, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1330, d2.loss_map_pts: 0.6398, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1206, d3.loss_map_pts: 0.5737, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1115, d4.loss_map_pts: 0.5473, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1044, d5.loss_map_pts: 0.5379, d5.loss_map_dir: 0.0061, loss: 22.1393, grad_norm: 143.7909 +2026-03-01 06:15:16,905 - DriveTransformer - INFO - Epoch [12][17100/39528] lr: 5.696e-05, eta: 4 days, 4:54:35, time: 0.750, data_time: 0.039, memory: 19865, loss_cls: 0.0749, loss_bbox: 0.2578, loss_traj: 0.4517, loss_traj_cls: 0.0019, loss_map_cls: 0.0905, loss_map_pts: 0.4822, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.9187, d0.loss_plan_l1_fix_dist: 0.3824, d1.loss_plan_l1_fix_time: 0.7671, d1.loss_plan_l1_fix_dist: 0.1599, d2.loss_plan_l1_fix_time: 0.7525, d2.loss_plan_l1_fix_dist: 0.1784, d3.loss_plan_l1_fix_time: 0.7393, d3.loss_plan_l1_fix_dist: 0.1765, d4.loss_plan_l1_fix_time: 0.7393, d4.loss_plan_l1_fix_dist: 0.1884, d5.loss_plan_l1_fix_time: 0.7406, d5.loss_plan_l1_fix_dist: 0.1994, d6.loss_plan_l1_fix_time: 0.7425, d6.loss_plan_l1_fix_dist: 0.2059, d0.loss_cls_all: 0.1169, d0.loss_bbox_all: 0.3153, d0.loss_cls: 0.1169, d0.loss_bbox: 0.3153, d1.loss_cls: 0.1099, d1.loss_bbox: 0.2869, d2.loss_cls: 0.0994, d2.loss_bbox: 0.2668, d3.loss_cls: 0.0833, d3.loss_bbox: 0.2612, d4.loss_cls: 0.0783, d4.loss_bbox: 0.2594, d5.loss_cls: 0.0755, d5.loss_bbox: 0.2577, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6772, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5464, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4679, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4572, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4531, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4540, d0.loss_map_cls_all: 0.1677, d0.loss_map_pts_all: 1.0012, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1677, d0.loss_map_pts: 1.0012, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1358, d1.loss_map_pts: 0.7284, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1202, d2.loss_map_pts: 0.5787, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1084, d3.loss_map_pts: 0.5111, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1013, d4.loss_map_pts: 0.4876, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0938, d5.loss_map_pts: 0.4827, d5.loss_map_dir: 0.0061, loss: 21.6883, grad_norm: 141.7608 +2026-03-01 06:15:54,444 - DriveTransformer - INFO - Epoch [12][17150/39528] lr: 5.696e-05, eta: 4 days, 4:54:01, time: 0.751, data_time: 0.037, memory: 19865, loss_cls: 0.0838, loss_bbox: 0.2612, loss_traj: 0.4889, loss_traj_cls: 0.0020, loss_map_cls: 0.1020, loss_map_pts: 0.5101, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.8897, d0.loss_plan_l1_fix_dist: 0.4286, d1.loss_plan_l1_fix_time: 0.6956, d1.loss_plan_l1_fix_dist: 0.1614, d2.loss_plan_l1_fix_time: 0.6734, d2.loss_plan_l1_fix_dist: 0.1616, d3.loss_plan_l1_fix_time: 0.6621, d3.loss_plan_l1_fix_dist: 0.1521, d4.loss_plan_l1_fix_time: 0.6627, d4.loss_plan_l1_fix_dist: 0.1823, d5.loss_plan_l1_fix_time: 0.6643, d5.loss_plan_l1_fix_dist: 0.1634, d6.loss_plan_l1_fix_time: 0.6667, d6.loss_plan_l1_fix_dist: 0.1772, d0.loss_cls_all: 0.1230, d0.loss_bbox_all: 0.3261, d0.loss_cls: 0.1230, d0.loss_bbox: 0.3261, d1.loss_cls: 0.1188, d1.loss_bbox: 0.2927, d2.loss_cls: 0.1078, d2.loss_bbox: 0.2707, d3.loss_cls: 0.0931, d3.loss_bbox: 0.2651, d4.loss_cls: 0.0857, d4.loss_bbox: 0.2637, d5.loss_cls: 0.0845, d5.loss_bbox: 0.2615, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7358, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5589, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5166, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5013, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4954, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4922, d0.loss_map_cls_all: 0.1797, d0.loss_map_pts_all: 1.0798, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1797, d0.loss_map_pts: 1.0798, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1470, d1.loss_map_pts: 0.7844, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1235, d2.loss_map_pts: 0.6095, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1148, d3.loss_map_pts: 0.5411, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1090, d4.loss_map_pts: 0.5185, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1043, d5.loss_map_pts: 0.5107, d5.loss_map_dir: 0.0062, loss: 21.9665, grad_norm: 143.0486 +2026-03-01 06:16:32,616 - DriveTransformer - INFO - Epoch [12][17200/39528] lr: 5.696e-05, eta: 4 days, 4:53:28, time: 0.763, data_time: 0.039, memory: 19865, loss_cls: 0.0779, loss_bbox: 0.2562, loss_traj: 0.4185, loss_traj_cls: 0.0021, loss_map_cls: 0.0826, loss_map_pts: 0.4666, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.5905, d0.loss_plan_l1_fix_dist: 0.4471, d1.loss_plan_l1_fix_time: 0.6662, d1.loss_plan_l1_fix_dist: 0.1744, d2.loss_plan_l1_fix_time: 0.6385, d2.loss_plan_l1_fix_dist: 0.1742, d3.loss_plan_l1_fix_time: 0.6220, d3.loss_plan_l1_fix_dist: 0.1612, d4.loss_plan_l1_fix_time: 0.6216, d4.loss_plan_l1_fix_dist: 0.1910, d5.loss_plan_l1_fix_time: 0.6231, d5.loss_plan_l1_fix_dist: 0.1591, d6.loss_plan_l1_fix_time: 0.6254, d6.loss_plan_l1_fix_dist: 0.1821, d0.loss_cls_all: 0.1184, d0.loss_bbox_all: 0.3218, d0.loss_cls: 0.1184, d0.loss_bbox: 0.3218, d1.loss_cls: 0.1145, d1.loss_bbox: 0.2884, d2.loss_cls: 0.1004, d2.loss_bbox: 0.2698, d3.loss_cls: 0.0843, d3.loss_bbox: 0.2629, d4.loss_cls: 0.0788, d4.loss_bbox: 0.2603, d5.loss_cls: 0.0778, d5.loss_bbox: 0.2573, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6048, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4922, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4457, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4265, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4213, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4183, d0.loss_map_cls_all: 0.1583, d0.loss_map_pts_all: 0.9889, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1583, d0.loss_map_pts: 0.9889, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1268, d1.loss_map_pts: 0.7077, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1047, d2.loss_map_pts: 0.5473, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0947, d3.loss_map_pts: 0.4891, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0877, d4.loss_map_pts: 0.4709, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0834, d5.loss_map_pts: 0.4671, d5.loss_map_dir: 0.0059, loss: 20.1907, grad_norm: 142.9092 +2026-03-01 06:17:09,265 - DriveTransformer - INFO - Epoch [12][17250/39528] lr: 5.696e-05, eta: 4 days, 4:52:52, time: 0.733, data_time: 0.038, memory: 19865, loss_cls: 0.0988, loss_bbox: 0.2873, loss_traj: 0.4575, loss_traj_cls: 0.0020, loss_map_cls: 0.0791, loss_map_pts: 0.4580, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.5071, d0.loss_plan_l1_fix_dist: 0.4549, d1.loss_plan_l1_fix_time: 0.6521, d1.loss_plan_l1_fix_dist: 0.1888, d2.loss_plan_l1_fix_time: 0.6451, d2.loss_plan_l1_fix_dist: 0.1860, d3.loss_plan_l1_fix_time: 0.6407, d3.loss_plan_l1_fix_dist: 0.1635, d4.loss_plan_l1_fix_time: 0.6428, d4.loss_plan_l1_fix_dist: 0.1947, d5.loss_plan_l1_fix_time: 0.6455, d5.loss_plan_l1_fix_dist: 0.1741, d6.loss_plan_l1_fix_time: 0.6485, d6.loss_plan_l1_fix_dist: 0.1980, d0.loss_cls_all: 0.1482, d0.loss_bbox_all: 0.3539, d0.loss_cls: 0.1482, d0.loss_bbox: 0.3539, d1.loss_cls: 0.1392, d1.loss_bbox: 0.3234, d2.loss_cls: 0.1271, d2.loss_bbox: 0.3009, d3.loss_cls: 0.1056, d3.loss_bbox: 0.2928, d4.loss_cls: 0.0996, d4.loss_bbox: 0.2895, d5.loss_cls: 0.0984, d5.loss_bbox: 0.2872, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7221, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5373, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4875, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4632, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4597, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4599, d0.loss_map_cls_all: 0.1711, d0.loss_map_pts_all: 0.9529, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1711, d0.loss_map_pts: 0.9529, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1297, d1.loss_map_pts: 0.6764, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1058, d2.loss_map_pts: 0.5303, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.0934, d3.loss_map_pts: 0.4774, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0864, d4.loss_map_pts: 0.4612, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0814, d5.loss_map_pts: 0.4587, d5.loss_map_dir: 0.0060, loss: 20.9258, grad_norm: 141.5088 +2026-03-01 06:17:46,378 - DriveTransformer - INFO - Epoch [12][17300/39528] lr: 5.696e-05, eta: 4 days, 4:52:16, time: 0.742, data_time: 0.039, memory: 19865, loss_cls: 0.0849, loss_bbox: 0.2730, loss_traj: 0.4711, loss_traj_cls: 0.0020, loss_map_cls: 0.0850, loss_map_pts: 0.4884, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.5839, d0.loss_plan_l1_fix_dist: 0.4021, d1.loss_plan_l1_fix_time: 0.6592, d1.loss_plan_l1_fix_dist: 0.1713, d2.loss_plan_l1_fix_time: 0.6566, d2.loss_plan_l1_fix_dist: 0.1687, d3.loss_plan_l1_fix_time: 0.6591, d3.loss_plan_l1_fix_dist: 0.1532, d4.loss_plan_l1_fix_time: 0.6630, d4.loss_plan_l1_fix_dist: 0.1953, d5.loss_plan_l1_fix_time: 0.6670, d5.loss_plan_l1_fix_dist: 0.2009, d6.loss_plan_l1_fix_time: 0.6712, d6.loss_plan_l1_fix_dist: 0.2082, d0.loss_cls_all: 0.1263, d0.loss_bbox_all: 0.3371, d0.loss_cls: 0.1263, d0.loss_bbox: 0.3371, d1.loss_cls: 0.1185, d1.loss_bbox: 0.3025, d2.loss_cls: 0.1051, d2.loss_bbox: 0.2802, d3.loss_cls: 0.0881, d3.loss_bbox: 0.2754, d4.loss_cls: 0.0854, d4.loss_bbox: 0.2721, d5.loss_cls: 0.0845, d5.loss_bbox: 0.2720, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7396, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5648, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5106, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4876, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4771, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4729, d0.loss_map_cls_all: 0.1615, d0.loss_map_pts_all: 0.9788, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1615, d0.loss_map_pts: 0.9788, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1339, d1.loss_map_pts: 0.7311, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1127, d2.loss_map_pts: 0.5802, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1001, d3.loss_map_pts: 0.5160, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0945, d4.loss_map_pts: 0.4927, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0882, d5.loss_map_pts: 0.4872, d5.loss_map_dir: 0.0053, loss: 21.1924, grad_norm: 142.7638 +2026-03-01 06:18:23,695 - DriveTransformer - INFO - Epoch [12][17350/39528] lr: 5.696e-05, eta: 4 days, 4:51:41, time: 0.746, data_time: 0.039, memory: 19865, loss_cls: 0.0888, loss_bbox: 0.2734, loss_traj: 0.4796, loss_traj_cls: 0.0020, loss_map_cls: 0.0872, loss_map_pts: 0.4561, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.6015, d0.loss_plan_l1_fix_dist: 0.3987, d1.loss_plan_l1_fix_time: 0.7662, d1.loss_plan_l1_fix_dist: 0.1695, d2.loss_plan_l1_fix_time: 0.7555, d2.loss_plan_l1_fix_dist: 0.1631, d3.loss_plan_l1_fix_time: 0.7291, d3.loss_plan_l1_fix_dist: 0.1499, d4.loss_plan_l1_fix_time: 0.7311, d4.loss_plan_l1_fix_dist: 0.1920, d5.loss_plan_l1_fix_time: 0.7349, d5.loss_plan_l1_fix_dist: 0.1915, d6.loss_plan_l1_fix_time: 0.7396, d6.loss_plan_l1_fix_dist: 0.1895, d0.loss_cls_all: 0.1317, d0.loss_bbox_all: 0.3361, d0.loss_cls: 0.1317, d0.loss_bbox: 0.3361, d1.loss_cls: 0.1234, d1.loss_bbox: 0.3021, d2.loss_cls: 0.1107, d2.loss_bbox: 0.2803, d3.loss_cls: 0.0944, d3.loss_bbox: 0.2747, d4.loss_cls: 0.0910, d4.loss_bbox: 0.2711, d5.loss_cls: 0.0899, d5.loss_bbox: 0.2716, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8006, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5832, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5114, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4898, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4848, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4802, d0.loss_map_cls_all: 0.1670, d0.loss_map_pts_all: 0.9846, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1670, d0.loss_map_pts: 0.9846, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1376, d1.loss_map_pts: 0.7162, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1124, d2.loss_map_pts: 0.5542, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1026, d3.loss_map_pts: 0.4860, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0954, d4.loss_map_pts: 0.4614, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0893, d5.loss_map_pts: 0.4551, d5.loss_map_dir: 0.0057, loss: 21.6579, grad_norm: 143.2885 +2026-03-01 06:18:59,733 - DriveTransformer - INFO - Epoch [12][17400/39528] lr: 5.696e-05, eta: 4 days, 4:51:04, time: 0.721, data_time: 0.037, memory: 19865, loss_cls: 0.0900, loss_bbox: 0.2890, loss_traj: 0.4577, loss_traj_cls: 0.0020, loss_map_cls: 0.0911, loss_map_pts: 0.4737, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.6493, d0.loss_plan_l1_fix_dist: 0.4181, d1.loss_plan_l1_fix_time: 0.6834, d1.loss_plan_l1_fix_dist: 0.1811, d2.loss_plan_l1_fix_time: 0.6711, d2.loss_plan_l1_fix_dist: 0.1739, d3.loss_plan_l1_fix_time: 0.6666, d3.loss_plan_l1_fix_dist: 0.1643, d4.loss_plan_l1_fix_time: 0.6681, d4.loss_plan_l1_fix_dist: 0.2068, d5.loss_plan_l1_fix_time: 0.6702, d5.loss_plan_l1_fix_dist: 0.2036, d6.loss_plan_l1_fix_time: 0.6730, d6.loss_plan_l1_fix_dist: 0.2064, d0.loss_cls_all: 0.1379, d0.loss_bbox_all: 0.3589, d0.loss_cls: 0.1379, d0.loss_bbox: 0.3589, d1.loss_cls: 0.1304, d1.loss_bbox: 0.3236, d2.loss_cls: 0.1177, d2.loss_bbox: 0.2973, d3.loss_cls: 0.0991, d3.loss_bbox: 0.2936, d4.loss_cls: 0.0924, d4.loss_bbox: 0.2918, d5.loss_cls: 0.0891, d5.loss_bbox: 0.2900, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7095, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5487, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4925, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4647, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4618, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4597, d0.loss_map_cls_all: 0.1812, d0.loss_map_pts_all: 0.9476, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1812, d0.loss_map_pts: 0.9476, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1450, d1.loss_map_pts: 0.7103, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1164, d2.loss_map_pts: 0.5547, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1050, d3.loss_map_pts: 0.4974, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0982, d4.loss_map_pts: 0.4792, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0939, d5.loss_map_pts: 0.4736, d5.loss_map_dir: 0.0055, loss: 21.3751, grad_norm: 144.6744 +2026-03-01 06:19:36,332 - DriveTransformer - INFO - Epoch [12][17450/39528] lr: 5.696e-05, eta: 4 days, 4:50:27, time: 0.732, data_time: 0.037, memory: 19865, loss_cls: 0.0907, loss_bbox: 0.2863, loss_traj: 0.4508, loss_traj_cls: 0.0020, loss_map_cls: 0.1021, loss_map_pts: 0.4825, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.6839, d0.loss_plan_l1_fix_dist: 0.3514, d1.loss_plan_l1_fix_time: 0.6962, d1.loss_plan_l1_fix_dist: 0.1718, d2.loss_plan_l1_fix_time: 0.6811, d2.loss_plan_l1_fix_dist: 0.1598, d3.loss_plan_l1_fix_time: 0.6700, d3.loss_plan_l1_fix_dist: 0.1468, d4.loss_plan_l1_fix_time: 0.6718, d4.loss_plan_l1_fix_dist: 0.1834, d5.loss_plan_l1_fix_time: 0.6740, d5.loss_plan_l1_fix_dist: 0.1896, d6.loss_plan_l1_fix_time: 0.6767, d6.loss_plan_l1_fix_dist: 0.1759, d0.loss_cls_all: 0.1393, d0.loss_bbox_all: 0.3506, d0.loss_cls: 0.1393, d0.loss_bbox: 0.3506, d1.loss_cls: 0.1326, d1.loss_bbox: 0.3202, d2.loss_cls: 0.1199, d2.loss_bbox: 0.2988, d3.loss_cls: 0.0970, d3.loss_bbox: 0.2930, d4.loss_cls: 0.0913, d4.loss_bbox: 0.2886, d5.loss_cls: 0.0902, d5.loss_bbox: 0.2868, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7471, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5618, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4903, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4689, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4617, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4558, d0.loss_map_cls_all: 0.1807, d0.loss_map_pts_all: 0.9901, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1807, d0.loss_map_pts: 0.9901, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1492, d1.loss_map_pts: 0.7223, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1251, d2.loss_map_pts: 0.5677, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1149, d3.loss_map_pts: 0.5113, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1085, d4.loss_map_pts: 0.4891, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1049, d5.loss_map_pts: 0.4830, d5.loss_map_dir: 0.0061, loss: 21.5018, grad_norm: 142.2787 +2026-03-01 06:20:12,260 - DriveTransformer - INFO - Epoch [12][17500/39528] lr: 5.696e-05, eta: 4 days, 4:49:49, time: 0.719, data_time: 0.038, memory: 19865, loss_cls: 0.0729, loss_bbox: 0.2717, loss_traj: 0.4679, loss_traj_cls: 0.0019, loss_map_cls: 0.0717, loss_map_pts: 0.4672, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.3220, d0.loss_plan_l1_fix_dist: 0.4460, d1.loss_plan_l1_fix_time: 0.7670, d1.loss_plan_l1_fix_dist: 0.1775, d2.loss_plan_l1_fix_time: 0.7504, d2.loss_plan_l1_fix_dist: 0.1567, d3.loss_plan_l1_fix_time: 0.7195, d3.loss_plan_l1_fix_dist: 0.1480, d4.loss_plan_l1_fix_time: 0.7205, d4.loss_plan_l1_fix_dist: 0.1845, d5.loss_plan_l1_fix_time: 0.7228, d5.loss_plan_l1_fix_dist: 0.2044, d6.loss_plan_l1_fix_time: 0.7260, d6.loss_plan_l1_fix_dist: 0.1847, d0.loss_cls_all: 0.1155, d0.loss_bbox_all: 0.3264, d0.loss_cls: 0.1155, d0.loss_bbox: 0.3264, d1.loss_cls: 0.1143, d1.loss_bbox: 0.2991, d2.loss_cls: 0.0971, d2.loss_bbox: 0.2802, d3.loss_cls: 0.0796, d3.loss_bbox: 0.2723, d4.loss_cls: 0.0752, d4.loss_bbox: 0.2702, d5.loss_cls: 0.0742, d5.loss_bbox: 0.2702, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7244, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5686, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5037, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4807, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4692, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4694, d0.loss_map_cls_all: 0.1573, d0.loss_map_pts_all: 0.9916, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1573, d0.loss_map_pts: 0.9916, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1228, d1.loss_map_pts: 0.7138, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1001, d2.loss_map_pts: 0.5574, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0855, d3.loss_map_pts: 0.4973, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0773, d4.loss_map_pts: 0.4740, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0736, d5.loss_map_pts: 0.4671, d5.loss_map_dir: 0.0058, loss: 21.0348, grad_norm: 143.3047 +2026-03-01 06:20:49,126 - DriveTransformer - INFO - Epoch [12][17550/39528] lr: 5.696e-05, eta: 4 days, 4:49:13, time: 0.737, data_time: 0.039, memory: 19865, loss_cls: 0.0748, loss_bbox: 0.2665, loss_traj: 0.5091, loss_traj_cls: 0.0019, loss_map_cls: 0.0862, loss_map_pts: 0.4671, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 3.2371, d0.loss_plan_l1_fix_dist: 0.3663, d1.loss_plan_l1_fix_time: 0.8479, d1.loss_plan_l1_fix_dist: 0.2006, d2.loss_plan_l1_fix_time: 0.8329, d2.loss_plan_l1_fix_dist: 0.1684, d3.loss_plan_l1_fix_time: 0.8274, d3.loss_plan_l1_fix_dist: 0.1661, d4.loss_plan_l1_fix_time: 0.8294, d4.loss_plan_l1_fix_dist: 0.1862, d5.loss_plan_l1_fix_time: 0.8315, d5.loss_plan_l1_fix_dist: 0.2048, d6.loss_plan_l1_fix_time: 0.8340, d6.loss_plan_l1_fix_dist: 0.1745, d0.loss_cls_all: 0.1284, d0.loss_bbox_all: 0.3279, d0.loss_cls: 0.1284, d0.loss_bbox: 0.3279, d1.loss_cls: 0.1137, d1.loss_bbox: 0.3020, d2.loss_cls: 0.1001, d2.loss_bbox: 0.2796, d3.loss_cls: 0.0815, d3.loss_bbox: 0.2711, d4.loss_cls: 0.0782, d4.loss_bbox: 0.2683, d5.loss_cls: 0.0753, d5.loss_bbox: 0.2673, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7720, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5966, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5423, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5200, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5155, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5129, d0.loss_map_cls_all: 0.1691, d0.loss_map_pts_all: 0.9576, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1691, d0.loss_map_pts: 0.9576, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1387, d1.loss_map_pts: 0.6991, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1116, d2.loss_map_pts: 0.5441, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1008, d3.loss_map_pts: 0.4900, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0930, d4.loss_map_pts: 0.4717, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0879, d5.loss_map_pts: 0.4669, d5.loss_map_dir: 0.0059, loss: 22.8289, grad_norm: 144.1397 +2026-03-01 06:21:27,000 - DriveTransformer - INFO - Epoch [12][17600/39528] lr: 5.696e-05, eta: 4 days, 4:48:40, time: 0.758, data_time: 0.037, memory: 19865, loss_cls: 0.0816, loss_bbox: 0.2751, loss_traj: 0.3740, loss_traj_cls: 0.0019, loss_map_cls: 0.0889, loss_map_pts: 0.5228, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.3602, d0.loss_plan_l1_fix_dist: 0.4448, d1.loss_plan_l1_fix_time: 0.7230, d1.loss_plan_l1_fix_dist: 0.2091, d2.loss_plan_l1_fix_time: 0.7138, d2.loss_plan_l1_fix_dist: 0.1898, d3.loss_plan_l1_fix_time: 0.7165, d3.loss_plan_l1_fix_dist: 0.1804, d4.loss_plan_l1_fix_time: 0.7193, d4.loss_plan_l1_fix_dist: 0.1897, d5.loss_plan_l1_fix_time: 0.7220, d5.loss_plan_l1_fix_dist: 0.2069, d6.loss_plan_l1_fix_time: 0.7250, d6.loss_plan_l1_fix_dist: 0.1950, d0.loss_cls_all: 0.1286, d0.loss_bbox_all: 0.3398, d0.loss_cls: 0.1286, d0.loss_bbox: 0.3398, d1.loss_cls: 0.1181, d1.loss_bbox: 0.3117, d2.loss_cls: 0.1076, d2.loss_bbox: 0.2903, d3.loss_cls: 0.0898, d3.loss_bbox: 0.2828, d4.loss_cls: 0.0837, d4.loss_bbox: 0.2779, d5.loss_cls: 0.0802, d5.loss_bbox: 0.2770, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5759, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4467, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4051, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3866, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3796, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3778, d0.loss_map_cls_all: 0.1722, d0.loss_map_pts_all: 1.0298, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1722, d0.loss_map_pts: 1.0298, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1359, d1.loss_map_pts: 0.7651, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1151, d2.loss_map_pts: 0.6003, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1029, d3.loss_map_pts: 0.5475, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.0965, d4.loss_map_pts: 0.5267, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0915, d5.loss_map_pts: 0.5232, d5.loss_map_dir: 0.0064, loss: 21.0321, grad_norm: 144.2878 +2026-03-01 06:22:04,369 - DriveTransformer - INFO - Epoch [12][17650/39528] lr: 5.696e-05, eta: 4 days, 4:48:05, time: 0.748, data_time: 0.037, memory: 19865, loss_cls: 0.0851, loss_bbox: 0.2709, loss_traj: 0.5173, loss_traj_cls: 0.0019, loss_map_cls: 0.0913, loss_map_pts: 0.5131, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.4392, d0.loss_plan_l1_fix_dist: 0.3143, d1.loss_plan_l1_fix_time: 0.6559, d1.loss_plan_l1_fix_dist: 0.2056, d2.loss_plan_l1_fix_time: 0.6442, d2.loss_plan_l1_fix_dist: 0.1855, d3.loss_plan_l1_fix_time: 0.6491, d3.loss_plan_l1_fix_dist: 0.1772, d4.loss_plan_l1_fix_time: 0.6522, d4.loss_plan_l1_fix_dist: 0.1611, d5.loss_plan_l1_fix_time: 0.6554, d5.loss_plan_l1_fix_dist: 0.1802, d6.loss_plan_l1_fix_time: 0.6593, d6.loss_plan_l1_fix_dist: 0.1815, d0.loss_cls_all: 0.1299, d0.loss_bbox_all: 0.3417, d0.loss_cls: 0.1299, d0.loss_bbox: 0.3417, d1.loss_cls: 0.1232, d1.loss_bbox: 0.3077, d2.loss_cls: 0.1118, d2.loss_bbox: 0.2847, d3.loss_cls: 0.0934, d3.loss_bbox: 0.2770, d4.loss_cls: 0.0886, d4.loss_bbox: 0.2732, d5.loss_cls: 0.0865, d5.loss_bbox: 0.2707, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8281, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.6323, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5511, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5325, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5241, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5213, d0.loss_map_cls_all: 0.1867, d0.loss_map_pts_all: 1.0386, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1867, d0.loss_map_pts: 1.0386, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1507, d1.loss_map_pts: 0.7597, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1221, d2.loss_map_pts: 0.5985, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1084, d3.loss_map_pts: 0.5364, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1014, d4.loss_map_pts: 0.5175, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0946, d5.loss_map_pts: 0.5124, d5.loss_map_dir: 0.0056, loss: 21.6909, grad_norm: 144.3536 +2026-03-01 06:22:42,281 - DriveTransformer - INFO - Epoch [12][17700/39528] lr: 5.696e-05, eta: 4 days, 4:47:32, time: 0.758, data_time: 0.037, memory: 19865, loss_cls: 0.0688, loss_bbox: 0.2789, loss_traj: 0.4084, loss_traj_cls: 0.0019, loss_map_cls: 0.1000, loss_map_pts: 0.5756, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.6297, d0.loss_plan_l1_fix_dist: 0.3511, d1.loss_plan_l1_fix_time: 0.7073, d1.loss_plan_l1_fix_dist: 0.1874, d2.loss_plan_l1_fix_time: 0.7019, d2.loss_plan_l1_fix_dist: 0.1745, d3.loss_plan_l1_fix_time: 0.6897, d3.loss_plan_l1_fix_dist: 0.1759, d4.loss_plan_l1_fix_time: 0.6926, d4.loss_plan_l1_fix_dist: 0.1463, d5.loss_plan_l1_fix_time: 0.6955, d5.loss_plan_l1_fix_dist: 0.1578, d6.loss_plan_l1_fix_time: 0.6990, d6.loss_plan_l1_fix_dist: 0.1601, d0.loss_cls_all: 0.1224, d0.loss_bbox_all: 0.3498, d0.loss_cls: 0.1224, d0.loss_bbox: 0.3498, d1.loss_cls: 0.1138, d1.loss_bbox: 0.3154, d2.loss_cls: 0.0985, d2.loss_bbox: 0.2912, d3.loss_cls: 0.0776, d3.loss_bbox: 0.2847, d4.loss_cls: 0.0719, d4.loss_bbox: 0.2824, d5.loss_cls: 0.0692, d5.loss_bbox: 0.2800, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6408, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4822, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4305, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4172, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4152, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4089, d0.loss_map_cls_all: 0.1871, d0.loss_map_pts_all: 1.1653, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1871, d0.loss_map_pts: 1.1653, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1557, d1.loss_map_pts: 0.8455, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1274, d2.loss_map_pts: 0.6604, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1174, d3.loss_map_pts: 0.5973, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1087, d4.loss_map_pts: 0.5772, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1029, d5.loss_map_pts: 0.5746, d5.loss_map_dir: 0.0072, loss: 21.8613, grad_norm: 145.1314 +2026-03-01 06:23:18,280 - DriveTransformer - INFO - Epoch [12][17750/39528] lr: 5.696e-05, eta: 4 days, 4:46:54, time: 0.720, data_time: 0.037, memory: 19865, loss_cls: 0.0831, loss_bbox: 0.2847, loss_traj: 0.5008, loss_traj_cls: 0.0019, loss_map_cls: 0.0821, loss_map_pts: 0.4423, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.6926, d0.loss_plan_l1_fix_dist: 0.3473, d1.loss_plan_l1_fix_time: 0.6960, d1.loss_plan_l1_fix_dist: 0.1784, d2.loss_plan_l1_fix_time: 0.6881, d2.loss_plan_l1_fix_dist: 0.1608, d3.loss_plan_l1_fix_time: 0.6748, d3.loss_plan_l1_fix_dist: 0.1780, d4.loss_plan_l1_fix_time: 0.6774, d4.loss_plan_l1_fix_dist: 0.1590, d5.loss_plan_l1_fix_time: 0.6798, d5.loss_plan_l1_fix_dist: 0.1332, d6.loss_plan_l1_fix_time: 0.6823, d6.loss_plan_l1_fix_dist: 0.1426, d0.loss_cls_all: 0.1287, d0.loss_bbox_all: 0.3476, d0.loss_cls: 0.1287, d0.loss_bbox: 0.3476, d1.loss_cls: 0.1263, d1.loss_bbox: 0.3148, d2.loss_cls: 0.1092, d2.loss_bbox: 0.2966, d3.loss_cls: 0.0913, d3.loss_bbox: 0.2899, d4.loss_cls: 0.0856, d4.loss_bbox: 0.2863, d5.loss_cls: 0.0835, d5.loss_bbox: 0.2850, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7677, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5949, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5264, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5047, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4997, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5005, d0.loss_map_cls_all: 0.1665, d0.loss_map_pts_all: 0.9048, d0.loss_map_dir_all: 0.0050, d0.loss_map_cls: 0.1665, d0.loss_map_pts: 0.9048, d0.loss_map_dir: 0.0050, d1.loss_map_cls: 0.1373, d1.loss_map_pts: 0.6715, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.1089, d2.loss_map_pts: 0.5293, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.0952, d3.loss_map_pts: 0.4720, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0883, d4.loss_map_pts: 0.4513, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0834, d5.loss_map_pts: 0.4424, d5.loss_map_dir: 0.0049, loss: 21.0666, grad_norm: 140.9492 +2026-03-01 06:23:54,275 - DriveTransformer - INFO - Epoch [12][17800/39528] lr: 5.696e-05, eta: 4 days, 4:46:16, time: 0.721, data_time: 0.039, memory: 19865, loss_cls: 0.0755, loss_bbox: 0.2667, loss_traj: 0.5187, loss_traj_cls: 0.0019, loss_map_cls: 0.0833, loss_map_pts: 0.4819, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.5471, d0.loss_plan_l1_fix_dist: 0.3922, d1.loss_plan_l1_fix_time: 0.6993, d1.loss_plan_l1_fix_dist: 0.2031, d2.loss_plan_l1_fix_time: 0.6862, d2.loss_plan_l1_fix_dist: 0.1801, d3.loss_plan_l1_fix_time: 0.6830, d3.loss_plan_l1_fix_dist: 0.2055, d4.loss_plan_l1_fix_time: 0.6859, d4.loss_plan_l1_fix_dist: 0.2031, d5.loss_plan_l1_fix_time: 0.6886, d5.loss_plan_l1_fix_dist: 0.1621, d6.loss_plan_l1_fix_time: 0.6915, d6.loss_plan_l1_fix_dist: 0.1671, d0.loss_cls_all: 0.1185, d0.loss_bbox_all: 0.3255, d0.loss_cls: 0.1185, d0.loss_bbox: 0.3255, d1.loss_cls: 0.1135, d1.loss_bbox: 0.2945, d2.loss_cls: 0.0974, d2.loss_bbox: 0.2776, d3.loss_cls: 0.0823, d3.loss_bbox: 0.2711, d4.loss_cls: 0.0772, d4.loss_bbox: 0.2688, d5.loss_cls: 0.0751, d5.loss_bbox: 0.2669, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7898, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5857, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5433, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5262, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5187, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5187, d0.loss_map_cls_all: 0.1629, d0.loss_map_pts_all: 0.9753, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1629, d0.loss_map_pts: 0.9753, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1292, d1.loss_map_pts: 0.7132, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1081, d2.loss_map_pts: 0.5666, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0963, d3.loss_map_pts: 0.5104, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0905, d4.loss_map_pts: 0.4853, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0852, d5.loss_map_pts: 0.4820, d5.loss_map_dir: 0.0056, loss: 21.4117, grad_norm: 143.2207 +2026-03-01 06:24:29,898 - DriveTransformer - INFO - Epoch [12][17850/39528] lr: 5.696e-05, eta: 4 days, 4:45:37, time: 0.711, data_time: 0.034, memory: 19865, loss_cls: 0.0854, loss_bbox: 0.2770, loss_traj: 0.3700, loss_traj_cls: 0.0018, loss_map_cls: 0.0988, loss_map_pts: 0.5331, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.5878, d0.loss_plan_l1_fix_dist: 0.3858, d1.loss_plan_l1_fix_time: 0.6975, d1.loss_plan_l1_fix_dist: 0.1806, d2.loss_plan_l1_fix_time: 0.6740, d2.loss_plan_l1_fix_dist: 0.1563, d3.loss_plan_l1_fix_time: 0.6797, d3.loss_plan_l1_fix_dist: 0.2032, d4.loss_plan_l1_fix_time: 0.6823, d4.loss_plan_l1_fix_dist: 0.2148, d5.loss_plan_l1_fix_time: 0.6860, d5.loss_plan_l1_fix_dist: 0.1782, d6.loss_plan_l1_fix_time: 0.6905, d6.loss_plan_l1_fix_dist: 0.1578, d0.loss_cls_all: 0.1325, d0.loss_bbox_all: 0.3427, d0.loss_cls: 0.1325, d0.loss_bbox: 0.3427, d1.loss_cls: 0.1232, d1.loss_bbox: 0.3086, d2.loss_cls: 0.1116, d2.loss_bbox: 0.2855, d3.loss_cls: 0.0953, d3.loss_bbox: 0.2825, d4.loss_cls: 0.0879, d4.loss_bbox: 0.2798, d5.loss_cls: 0.0855, d5.loss_bbox: 0.2777, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5987, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4494, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4014, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3828, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.3730, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3705, d0.loss_map_cls_all: 0.1888, d0.loss_map_pts_all: 1.1337, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1888, d0.loss_map_pts: 1.1337, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1510, d1.loss_map_pts: 0.8182, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1248, d2.loss_map_pts: 0.6386, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1118, d3.loss_map_pts: 0.5702, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1062, d4.loss_map_pts: 0.5412, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1019, d5.loss_map_pts: 0.5338, d5.loss_map_dir: 0.0065, loss: 21.4031, grad_norm: 145.2972 +2026-03-01 06:25:06,184 - DriveTransformer - INFO - Epoch [12][17900/39528] lr: 5.696e-05, eta: 4 days, 4:45:00, time: 0.726, data_time: 0.039, memory: 19865, loss_cls: 0.0819, loss_bbox: 0.2695, loss_traj: 0.4281, loss_traj_cls: 0.0019, loss_map_cls: 0.0863, loss_map_pts: 0.4668, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.3734, d0.loss_plan_l1_fix_dist: 0.3922, d1.loss_plan_l1_fix_time: 0.6808, d1.loss_plan_l1_fix_dist: 0.1880, d2.loss_plan_l1_fix_time: 0.6630, d2.loss_plan_l1_fix_dist: 0.1553, d3.loss_plan_l1_fix_time: 0.6570, d3.loss_plan_l1_fix_dist: 0.2058, d4.loss_plan_l1_fix_time: 0.6586, d4.loss_plan_l1_fix_dist: 0.2301, d5.loss_plan_l1_fix_time: 0.6616, d5.loss_plan_l1_fix_dist: 0.1932, d6.loss_plan_l1_fix_time: 0.6656, d6.loss_plan_l1_fix_dist: 0.1522, d0.loss_cls_all: 0.1283, d0.loss_bbox_all: 0.3372, d0.loss_cls: 0.1283, d0.loss_bbox: 0.3372, d1.loss_cls: 0.1208, d1.loss_bbox: 0.3029, d2.loss_cls: 0.1106, d2.loss_bbox: 0.2815, d3.loss_cls: 0.0909, d3.loss_bbox: 0.2755, d4.loss_cls: 0.0853, d4.loss_bbox: 0.2728, d5.loss_cls: 0.0834, d5.loss_bbox: 0.2697, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6920, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5145, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4629, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4434, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4347, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4295, d0.loss_map_cls_all: 0.1715, d0.loss_map_pts_all: 0.9879, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1715, d0.loss_map_pts: 0.9879, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1367, d1.loss_map_pts: 0.7091, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1120, d2.loss_map_pts: 0.5563, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0997, d3.loss_map_pts: 0.4958, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0939, d4.loss_map_pts: 0.4743, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0881, d5.loss_map_pts: 0.4675, d5.loss_map_dir: 0.0053, loss: 20.6119, grad_norm: 133.1579 +2026-03-01 06:25:42,984 - DriveTransformer - INFO - Epoch [12][17950/39528] lr: 5.696e-05, eta: 4 days, 4:44:24, time: 0.736, data_time: 0.039, memory: 19865, loss_cls: 0.0780, loss_bbox: 0.2740, loss_traj: 0.4046, loss_traj_cls: 0.0019, loss_map_cls: 0.0829, loss_map_pts: 0.4707, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.4384, d0.loss_plan_l1_fix_dist: 0.4001, d1.loss_plan_l1_fix_time: 0.6498, d1.loss_plan_l1_fix_dist: 0.1935, d2.loss_plan_l1_fix_time: 0.6280, d2.loss_plan_l1_fix_dist: 0.1694, d3.loss_plan_l1_fix_time: 0.6225, d3.loss_plan_l1_fix_dist: 0.2226, d4.loss_plan_l1_fix_time: 0.6243, d4.loss_plan_l1_fix_dist: 0.2532, d5.loss_plan_l1_fix_time: 0.6267, d5.loss_plan_l1_fix_dist: 0.2169, d6.loss_plan_l1_fix_time: 0.6291, d6.loss_plan_l1_fix_dist: 0.1806, d0.loss_cls_all: 0.1243, d0.loss_bbox_all: 0.3386, d0.loss_cls: 0.1243, d0.loss_bbox: 0.3386, d1.loss_cls: 0.1167, d1.loss_bbox: 0.3093, d2.loss_cls: 0.1020, d2.loss_bbox: 0.2875, d3.loss_cls: 0.0868, d3.loss_bbox: 0.2796, d4.loss_cls: 0.0809, d4.loss_bbox: 0.2748, d5.loss_cls: 0.0771, d5.loss_bbox: 0.2754, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5947, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4797, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4394, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4178, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4139, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4138, d0.loss_map_cls_all: 0.1633, d0.loss_map_pts_all: 0.9822, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1633, d0.loss_map_pts: 0.9822, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1248, d1.loss_map_pts: 0.7125, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1045, d2.loss_map_pts: 0.5551, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.0945, d3.loss_map_pts: 0.5007, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0889, d4.loss_map_pts: 0.4761, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0855, d5.loss_map_pts: 0.4704, d5.loss_map_dir: 0.0059, loss: 20.2992, grad_norm: 134.8594 +2026-03-01 06:26:20,418 - DriveTransformer - INFO - Epoch [12][18000/39528] lr: 5.696e-05, eta: 4 days, 4:43:49, time: 0.749, data_time: 0.040, memory: 19865, loss_cls: 0.0953, loss_bbox: 0.2936, loss_traj: 0.4480, loss_traj_cls: 0.0018, loss_map_cls: 0.0894, loss_map_pts: 0.5251, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.6067, d0.loss_plan_l1_fix_dist: 0.3366, d1.loss_plan_l1_fix_time: 0.7290, d1.loss_plan_l1_fix_dist: 0.1733, d2.loss_plan_l1_fix_time: 0.7179, d2.loss_plan_l1_fix_dist: 0.1590, d3.loss_plan_l1_fix_time: 0.7079, d3.loss_plan_l1_fix_dist: 0.2011, d4.loss_plan_l1_fix_time: 0.7103, d4.loss_plan_l1_fix_dist: 0.2321, d5.loss_plan_l1_fix_time: 0.7132, d5.loss_plan_l1_fix_dist: 0.1917, d6.loss_plan_l1_fix_time: 0.7159, d6.loss_plan_l1_fix_dist: 0.1708, d0.loss_cls_all: 0.1358, d0.loss_bbox_all: 0.3682, d0.loss_cls: 0.1358, d0.loss_bbox: 0.3682, d1.loss_cls: 0.1346, d1.loss_bbox: 0.3361, d2.loss_cls: 0.1248, d2.loss_bbox: 0.3086, d3.loss_cls: 0.1057, d3.loss_bbox: 0.3007, d4.loss_cls: 0.0988, d4.loss_bbox: 0.2954, d5.loss_cls: 0.0961, d5.loss_bbox: 0.2938, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6977, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5373, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4819, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4584, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4534, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4495, d0.loss_map_cls_all: 0.1805, d0.loss_map_pts_all: 1.0582, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1805, d0.loss_map_pts: 1.0582, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1434, d1.loss_map_pts: 0.7927, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1165, d2.loss_map_pts: 0.6235, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1050, d3.loss_map_pts: 0.5568, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.0970, d4.loss_map_pts: 0.5344, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.0925, d5.loss_map_pts: 0.5250, d5.loss_map_dir: 0.0066, loss: 22.1221, grad_norm: 136.2089 +2026-03-01 06:26:57,754 - DriveTransformer - INFO - Epoch [12][18050/39528] lr: 5.696e-05, eta: 4 days, 4:43:14, time: 0.747, data_time: 0.039, memory: 19865, loss_cls: 0.0753, loss_bbox: 0.2479, loss_traj: 0.4215, loss_traj_cls: 0.0018, loss_map_cls: 0.1053, loss_map_pts: 0.5164, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.7106, d0.loss_plan_l1_fix_dist: 0.4262, d1.loss_plan_l1_fix_time: 0.7208, d1.loss_plan_l1_fix_dist: 0.1455, d2.loss_plan_l1_fix_time: 0.7094, d2.loss_plan_l1_fix_dist: 0.1503, d3.loss_plan_l1_fix_time: 0.6980, d3.loss_plan_l1_fix_dist: 0.1752, d4.loss_plan_l1_fix_time: 0.6999, d4.loss_plan_l1_fix_dist: 0.2096, d5.loss_plan_l1_fix_time: 0.7021, d5.loss_plan_l1_fix_dist: 0.1602, d6.loss_plan_l1_fix_time: 0.7044, d6.loss_plan_l1_fix_dist: 0.1458, d0.loss_cls_all: 0.1143, d0.loss_bbox_all: 0.3256, d0.loss_cls: 0.1143, d0.loss_bbox: 0.3256, d1.loss_cls: 0.1135, d1.loss_bbox: 0.2913, d2.loss_cls: 0.1019, d2.loss_bbox: 0.2636, d3.loss_cls: 0.0831, d3.loss_bbox: 0.2553, d4.loss_cls: 0.0767, d4.loss_bbox: 0.2501, d5.loss_cls: 0.0750, d5.loss_bbox: 0.2486, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6801, d1.loss_traj_cls: 0.0018, d1.loss_traj: 0.5208, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4586, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4323, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4270, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4233, d0.loss_map_cls_all: 0.1909, d0.loss_map_pts_all: 1.1582, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1909, d0.loss_map_pts: 1.1582, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1590, d1.loss_map_pts: 0.8231, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1335, d2.loss_map_pts: 0.6342, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1197, d3.loss_map_pts: 0.5579, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1122, d4.loss_map_pts: 0.5243, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1076, d5.loss_map_pts: 0.5166, d5.loss_map_dir: 0.0061, loss: 21.7484, grad_norm: 135.3786 +2026-03-01 06:27:34,877 - DriveTransformer - INFO - Epoch [12][18100/39528] lr: 5.696e-05, eta: 4 days, 4:42:39, time: 0.742, data_time: 0.038, memory: 19865, loss_cls: 0.0878, loss_bbox: 0.2710, loss_traj: 0.4822, loss_traj_cls: 0.0018, loss_map_cls: 0.0958, loss_map_pts: 0.4927, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.5897, d0.loss_plan_l1_fix_dist: 0.4133, d1.loss_plan_l1_fix_time: 0.6990, d1.loss_plan_l1_fix_dist: 0.1411, d2.loss_plan_l1_fix_time: 0.6879, d2.loss_plan_l1_fix_dist: 0.1814, d3.loss_plan_l1_fix_time: 0.6725, d3.loss_plan_l1_fix_dist: 0.1712, d4.loss_plan_l1_fix_time: 0.6757, d4.loss_plan_l1_fix_dist: 0.2112, d5.loss_plan_l1_fix_time: 0.6797, d5.loss_plan_l1_fix_dist: 0.1680, d6.loss_plan_l1_fix_time: 0.6844, d6.loss_plan_l1_fix_dist: 0.1618, d0.loss_cls_all: 0.1317, d0.loss_bbox_all: 0.3480, d0.loss_cls: 0.1317, d0.loss_bbox: 0.3480, d1.loss_cls: 0.1259, d1.loss_bbox: 0.3101, d2.loss_cls: 0.1119, d2.loss_bbox: 0.2871, d3.loss_cls: 0.0947, d3.loss_bbox: 0.2790, d4.loss_cls: 0.0886, d4.loss_bbox: 0.2745, d5.loss_cls: 0.0878, d5.loss_bbox: 0.2722, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7077, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5680, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5151, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4913, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4858, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4835, d0.loss_map_cls_all: 0.1873, d0.loss_map_pts_all: 1.0741, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1873, d0.loss_map_pts: 1.0741, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1483, d1.loss_map_pts: 0.7643, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1230, d2.loss_map_pts: 0.5843, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1102, d3.loss_map_pts: 0.5230, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1033, d4.loss_map_pts: 0.4984, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0980, d5.loss_map_pts: 0.4927, d5.loss_map_dir: 0.0061, loss: 21.7340, grad_norm: 138.8984 +2026-03-01 06:28:11,745 - DriveTransformer - INFO - Epoch [12][18150/39528] lr: 5.696e-05, eta: 4 days, 4:42:03, time: 0.737, data_time: 0.039, memory: 19865, loss_cls: 0.1051, loss_bbox: 0.3094, loss_traj: 0.4291, loss_traj_cls: 0.0018, loss_map_cls: 0.1025, loss_map_pts: 0.5595, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.8055, d0.loss_plan_l1_fix_dist: 0.3628, d1.loss_plan_l1_fix_time: 0.7614, d1.loss_plan_l1_fix_dist: 0.1473, d2.loss_plan_l1_fix_time: 0.7558, d2.loss_plan_l1_fix_dist: 0.1950, d3.loss_plan_l1_fix_time: 0.7522, d3.loss_plan_l1_fix_dist: 0.1686, d4.loss_plan_l1_fix_time: 0.7560, d4.loss_plan_l1_fix_dist: 0.2132, d5.loss_plan_l1_fix_time: 0.7613, d5.loss_plan_l1_fix_dist: 0.1606, d6.loss_plan_l1_fix_time: 0.7673, d6.loss_plan_l1_fix_dist: 0.1732, d0.loss_cls_all: 0.1554, d0.loss_bbox_all: 0.3776, d0.loss_cls: 0.1554, d0.loss_bbox: 0.3776, d1.loss_cls: 0.1458, d1.loss_bbox: 0.3385, d2.loss_cls: 0.1315, d2.loss_bbox: 0.3165, d3.loss_cls: 0.1140, d3.loss_bbox: 0.3122, d4.loss_cls: 0.1067, d4.loss_bbox: 0.3108, d5.loss_cls: 0.1059, d5.loss_bbox: 0.3088, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6777, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5355, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4719, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4451, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4361, d5.loss_traj_cls: 0.0011, d5.loss_traj: 0.4329, d0.loss_map_cls_all: 0.1857, d0.loss_map_pts_all: 1.0846, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1857, d0.loss_map_pts: 1.0846, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1537, d1.loss_map_pts: 0.8131, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1279, d2.loss_map_pts: 0.6494, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.1170, d3.loss_map_pts: 0.5900, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1107, d4.loss_map_pts: 0.5636, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1056, d5.loss_map_pts: 0.5603, d5.loss_map_dir: 0.0071, loss: 22.9384, grad_norm: 138.0563 +2026-03-01 06:28:50,236 - DriveTransformer - INFO - Epoch [12][18200/39528] lr: 5.696e-05, eta: 4 days, 4:41:31, time: 0.770, data_time: 0.038, memory: 19865, loss_cls: 0.0756, loss_bbox: 0.2573, loss_traj: 0.3846, loss_traj_cls: 0.0019, loss_map_cls: 0.0895, loss_map_pts: 0.4904, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.7426, d0.loss_plan_l1_fix_dist: 0.3404, d1.loss_plan_l1_fix_time: 0.7159, d1.loss_plan_l1_fix_dist: 0.1425, d2.loss_plan_l1_fix_time: 0.7072, d2.loss_plan_l1_fix_dist: 0.1745, d3.loss_plan_l1_fix_time: 0.7102, d3.loss_plan_l1_fix_dist: 0.1498, d4.loss_plan_l1_fix_time: 0.7162, d4.loss_plan_l1_fix_dist: 0.1812, d5.loss_plan_l1_fix_time: 0.7243, d5.loss_plan_l1_fix_dist: 0.1415, d6.loss_plan_l1_fix_time: 0.7327, d6.loss_plan_l1_fix_dist: 0.1657, d0.loss_cls_all: 0.1183, d0.loss_bbox_all: 0.3268, d0.loss_cls: 0.1183, d0.loss_bbox: 0.3268, d1.loss_cls: 0.1135, d1.loss_bbox: 0.2944, d2.loss_cls: 0.1001, d2.loss_bbox: 0.2711, d3.loss_cls: 0.0833, d3.loss_bbox: 0.2632, d4.loss_cls: 0.0775, d4.loss_bbox: 0.2599, d5.loss_cls: 0.0752, d5.loss_bbox: 0.2582, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6157, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4629, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4025, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3851, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.3819, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3821, d0.loss_map_cls_all: 0.1861, d0.loss_map_pts_all: 1.0973, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1861, d0.loss_map_pts: 1.0973, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1453, d1.loss_map_pts: 0.7681, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1175, d2.loss_map_pts: 0.5939, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1034, d3.loss_map_pts: 0.5258, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.0968, d4.loss_map_pts: 0.5009, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0917, d5.loss_map_pts: 0.4914, d5.loss_map_dir: 0.0064, loss: 21.0183, grad_norm: 144.8579 +2026-03-01 06:29:26,801 - DriveTransformer - INFO - Epoch [12][18250/39528] lr: 5.696e-05, eta: 4 days, 4:40:55, time: 0.731, data_time: 0.037, memory: 19865, loss_cls: 0.0723, loss_bbox: 0.2492, loss_traj: 0.3782, loss_traj_cls: 0.0019, loss_map_cls: 0.0795, loss_map_pts: 0.4550, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.4794, d0.loss_plan_l1_fix_dist: 0.5113, d1.loss_plan_l1_fix_time: 0.6647, d1.loss_plan_l1_fix_dist: 0.1811, d2.loss_plan_l1_fix_time: 0.6599, d2.loss_plan_l1_fix_dist: 0.1842, d3.loss_plan_l1_fix_time: 0.6752, d3.loss_plan_l1_fix_dist: 0.1955, d4.loss_plan_l1_fix_time: 0.6816, d4.loss_plan_l1_fix_dist: 0.1963, d5.loss_plan_l1_fix_time: 0.6891, d5.loss_plan_l1_fix_dist: 0.1778, d6.loss_plan_l1_fix_time: 0.6966, d6.loss_plan_l1_fix_dist: 0.1874, d0.loss_cls_all: 0.1179, d0.loss_bbox_all: 0.3050, d0.loss_cls: 0.1179, d0.loss_bbox: 0.3050, d1.loss_cls: 0.1065, d1.loss_bbox: 0.2779, d2.loss_cls: 0.0932, d2.loss_bbox: 0.2574, d3.loss_cls: 0.0775, d3.loss_bbox: 0.2525, d4.loss_cls: 0.0734, d4.loss_bbox: 0.2505, d5.loss_cls: 0.0727, d5.loss_bbox: 0.2491, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5393, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4353, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4024, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3863, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.3829, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3805, d0.loss_map_cls_all: 0.1564, d0.loss_map_pts_all: 0.9713, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1564, d0.loss_map_pts: 0.9713, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1245, d1.loss_map_pts: 0.6802, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1012, d2.loss_map_pts: 0.5326, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0905, d3.loss_map_pts: 0.4811, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0845, d4.loss_map_pts: 0.4609, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0811, d5.loss_map_pts: 0.4559, d5.loss_map_dir: 0.0055, loss: 19.8974, grad_norm: 145.2735 +2026-03-01 06:30:02,853 - DriveTransformer - INFO - Epoch [12][18300/39528] lr: 5.696e-05, eta: 4 days, 4:40:17, time: 0.721, data_time: 0.039, memory: 19865, loss_cls: 0.0935, loss_bbox: 0.2735, loss_traj: 0.4883, loss_traj_cls: 0.0018, loss_map_cls: 0.0944, loss_map_pts: 0.5073, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.4148, d0.loss_plan_l1_fix_dist: 0.3977, d1.loss_plan_l1_fix_time: 0.6958, d1.loss_plan_l1_fix_dist: 0.1861, d2.loss_plan_l1_fix_time: 0.6834, d2.loss_plan_l1_fix_dist: 0.1633, d3.loss_plan_l1_fix_time: 0.6818, d3.loss_plan_l1_fix_dist: 0.2032, d4.loss_plan_l1_fix_time: 0.6847, d4.loss_plan_l1_fix_dist: 0.1622, d5.loss_plan_l1_fix_time: 0.6883, d5.loss_plan_l1_fix_dist: 0.1695, d6.loss_plan_l1_fix_time: 0.6922, d6.loss_plan_l1_fix_dist: 0.1541, d0.loss_cls_all: 0.1390, d0.loss_bbox_all: 0.3420, d0.loss_cls: 0.1390, d0.loss_bbox: 0.3420, d1.loss_cls: 0.1310, d1.loss_bbox: 0.3081, d2.loss_cls: 0.1143, d2.loss_bbox: 0.2882, d3.loss_cls: 0.0989, d3.loss_bbox: 0.2814, d4.loss_cls: 0.0953, d4.loss_bbox: 0.2751, d5.loss_cls: 0.0951, d5.loss_bbox: 0.2736, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7579, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5889, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5316, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5037, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4934, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4923, d0.loss_map_cls_all: 0.1880, d0.loss_map_pts_all: 1.0524, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1880, d0.loss_map_pts: 1.0524, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1554, d1.loss_map_pts: 0.7595, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1258, d2.loss_map_pts: 0.6008, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1116, d3.loss_map_pts: 0.5345, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1024, d4.loss_map_pts: 0.5122, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0968, d5.loss_map_pts: 0.5076, d5.loss_map_dir: 0.0060, loss: 21.7675, grad_norm: 141.8275 +2026-03-01 06:30:39,587 - DriveTransformer - INFO - Epoch [12][18350/39528] lr: 5.696e-05, eta: 4 days, 4:39:41, time: 0.735, data_time: 0.035, memory: 19865, loss_cls: 0.0756, loss_bbox: 0.2521, loss_traj: 0.4483, loss_traj_cls: 0.0019, loss_map_cls: 0.0909, loss_map_pts: 0.4896, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.2129, d0.loss_plan_l1_fix_dist: 0.4473, d1.loss_plan_l1_fix_time: 0.6576, d1.loss_plan_l1_fix_dist: 0.1887, d2.loss_plan_l1_fix_time: 0.6466, d2.loss_plan_l1_fix_dist: 0.1469, d3.loss_plan_l1_fix_time: 0.6461, d3.loss_plan_l1_fix_dist: 0.2223, d4.loss_plan_l1_fix_time: 0.6509, d4.loss_plan_l1_fix_dist: 0.1579, d5.loss_plan_l1_fix_time: 0.6551, d5.loss_plan_l1_fix_dist: 0.1790, d6.loss_plan_l1_fix_time: 0.6597, d6.loss_plan_l1_fix_dist: 0.1811, d0.loss_cls_all: 0.1196, d0.loss_bbox_all: 0.3120, d0.loss_cls: 0.1196, d0.loss_bbox: 0.3120, d1.loss_cls: 0.1151, d1.loss_bbox: 0.2820, d2.loss_cls: 0.1019, d2.loss_bbox: 0.2593, d3.loss_cls: 0.0828, d3.loss_bbox: 0.2551, d4.loss_cls: 0.0759, d4.loss_bbox: 0.2538, d5.loss_cls: 0.0760, d5.loss_bbox: 0.2521, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7008, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5341, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4721, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4537, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4529, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4501, d0.loss_map_cls_all: 0.1705, d0.loss_map_pts_all: 1.0232, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1705, d0.loss_map_pts: 1.0232, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1380, d1.loss_map_pts: 0.7390, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1157, d2.loss_map_pts: 0.5844, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1050, d3.loss_map_pts: 0.5185, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0988, d4.loss_map_pts: 0.4953, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0938, d5.loss_map_pts: 0.4900, d5.loss_map_dir: 0.0055, loss: 20.5060, grad_norm: 145.6181 +2026-03-01 06:31:17,149 - DriveTransformer - INFO - Epoch [12][18400/39528] lr: 5.696e-05, eta: 4 days, 4:39:06, time: 0.751, data_time: 0.035, memory: 19865, loss_cls: 0.0828, loss_bbox: 0.2847, loss_traj: 0.3569, loss_traj_cls: 0.0018, loss_map_cls: 0.1116, loss_map_pts: 0.5933, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.3393, d0.loss_plan_l1_fix_dist: 0.4295, d1.loss_plan_l1_fix_time: 0.6219, d1.loss_plan_l1_fix_dist: 0.2012, d2.loss_plan_l1_fix_time: 0.6140, d2.loss_plan_l1_fix_dist: 0.1489, d3.loss_plan_l1_fix_time: 0.6180, d3.loss_plan_l1_fix_dist: 0.2328, d4.loss_plan_l1_fix_time: 0.6224, d4.loss_plan_l1_fix_dist: 0.1606, d5.loss_plan_l1_fix_time: 0.6257, d5.loss_plan_l1_fix_dist: 0.1764, d6.loss_plan_l1_fix_time: 0.6295, d6.loss_plan_l1_fix_dist: 0.1976, d0.loss_cls_all: 0.1263, d0.loss_bbox_all: 0.3473, d0.loss_cls: 0.1263, d0.loss_bbox: 0.3473, d1.loss_cls: 0.1218, d1.loss_bbox: 0.3101, d2.loss_cls: 0.1100, d2.loss_bbox: 0.2886, d3.loss_cls: 0.0904, d3.loss_bbox: 0.2859, d4.loss_cls: 0.0863, d4.loss_bbox: 0.2827, d5.loss_cls: 0.0839, d5.loss_bbox: 0.2834, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5994, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4527, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3900, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3642, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.3589, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3567, d0.loss_map_cls_all: 0.1919, d0.loss_map_pts_all: 1.1948, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.1919, d0.loss_map_pts: 1.1948, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1594, d1.loss_map_pts: 0.8729, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1372, d2.loss_map_pts: 0.6807, d2.loss_map_dir: 0.0074, d3.loss_map_cls: 0.1252, d3.loss_map_pts: 0.6165, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1196, d4.loss_map_pts: 0.5971, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1144, d5.loss_map_pts: 0.5930, d5.loss_map_dir: 0.0079, loss: 21.3188, grad_norm: 146.0937 +2026-03-01 06:31:53,888 - DriveTransformer - INFO - Epoch [12][18450/39528] lr: 5.696e-05, eta: 4 days, 4:38:30, time: 0.735, data_time: 0.035, memory: 19865, loss_cls: 0.0858, loss_bbox: 0.2671, loss_traj: 0.3804, loss_traj_cls: 0.0019, loss_map_cls: 0.0977, loss_map_pts: 0.5117, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 1.7915, d0.loss_plan_l1_fix_dist: 0.4119, d1.loss_plan_l1_fix_time: 0.5908, d1.loss_plan_l1_fix_dist: 0.2031, d2.loss_plan_l1_fix_time: 0.5793, d2.loss_plan_l1_fix_dist: 0.1509, d3.loss_plan_l1_fix_time: 0.5532, d3.loss_plan_l1_fix_dist: 0.2243, d4.loss_plan_l1_fix_time: 0.5559, d4.loss_plan_l1_fix_dist: 0.1775, d5.loss_plan_l1_fix_time: 0.5585, d5.loss_plan_l1_fix_dist: 0.1760, d6.loss_plan_l1_fix_time: 0.5620, d6.loss_plan_l1_fix_dist: 0.2090, d0.loss_cls_all: 0.1298, d0.loss_bbox_all: 0.3341, d0.loss_cls: 0.1298, d0.loss_bbox: 0.3341, d1.loss_cls: 0.1229, d1.loss_bbox: 0.3040, d2.loss_cls: 0.1084, d2.loss_bbox: 0.2808, d3.loss_cls: 0.0940, d3.loss_bbox: 0.2729, d4.loss_cls: 0.0872, d4.loss_bbox: 0.2695, d5.loss_cls: 0.0862, d5.loss_bbox: 0.2671, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6457, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4676, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4097, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3934, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.3854, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3825, d0.loss_map_cls_all: 0.1864, d0.loss_map_pts_all: 1.1274, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1864, d0.loss_map_pts: 1.1274, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1482, d1.loss_map_pts: 0.7942, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1280, d2.loss_map_pts: 0.6126, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1147, d3.loss_map_pts: 0.5416, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1064, d4.loss_map_pts: 0.5174, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1006, d5.loss_map_pts: 0.5113, d5.loss_map_dir: 0.0066, loss: 19.8545, grad_norm: 146.1767 +2026-03-01 06:32:30,590 - DriveTransformer - INFO - Epoch [12][18500/39528] lr: 5.696e-05, eta: 4 days, 4:37:54, time: 0.734, data_time: 0.035, memory: 19865, loss_cls: 0.0821, loss_bbox: 0.2563, loss_traj: 0.4369, loss_traj_cls: 0.0019, loss_map_cls: 0.0821, loss_map_pts: 0.4671, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.6219, d0.loss_plan_l1_fix_dist: 0.3935, d1.loss_plan_l1_fix_time: 0.7056, d1.loss_plan_l1_fix_dist: 0.1938, d2.loss_plan_l1_fix_time: 0.6914, d2.loss_plan_l1_fix_dist: 0.1449, d3.loss_plan_l1_fix_time: 0.6600, d3.loss_plan_l1_fix_dist: 0.1965, d4.loss_plan_l1_fix_time: 0.6602, d4.loss_plan_l1_fix_dist: 0.1628, d5.loss_plan_l1_fix_time: 0.6614, d5.loss_plan_l1_fix_dist: 0.1561, d6.loss_plan_l1_fix_time: 0.6641, d6.loss_plan_l1_fix_dist: 0.1973, d0.loss_cls_all: 0.1244, d0.loss_bbox_all: 0.3145, d0.loss_cls: 0.1244, d0.loss_bbox: 0.3145, d1.loss_cls: 0.1187, d1.loss_bbox: 0.2836, d2.loss_cls: 0.1067, d2.loss_bbox: 0.2650, d3.loss_cls: 0.0882, d3.loss_bbox: 0.2613, d4.loss_cls: 0.0813, d4.loss_bbox: 0.2587, d5.loss_cls: 0.0816, d5.loss_bbox: 0.2565, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6512, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5020, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4544, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4405, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4392, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4375, d0.loss_map_cls_all: 0.1591, d0.loss_map_pts_all: 1.0533, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1591, d0.loss_map_pts: 1.0533, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1308, d1.loss_map_pts: 0.7360, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1065, d2.loss_map_pts: 0.5635, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.0965, d3.loss_map_pts: 0.4997, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.0899, d4.loss_map_pts: 0.4754, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.0841, d5.loss_map_pts: 0.4673, d5.loss_map_dir: 0.0067, loss: 20.7752, grad_norm: 148.2441 +2026-03-01 06:33:06,492 - DriveTransformer - INFO - Epoch [12][18550/39528] lr: 5.696e-05, eta: 4 days, 4:37:16, time: 0.718, data_time: 0.037, memory: 19865, loss_cls: 0.0753, loss_bbox: 0.2636, loss_traj: 0.3922, loss_traj_cls: 0.0019, loss_map_cls: 0.0730, loss_map_pts: 0.4214, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.7588, d0.loss_plan_l1_fix_dist: 0.4892, d1.loss_plan_l1_fix_time: 0.7979, d1.loss_plan_l1_fix_dist: 0.2037, d2.loss_plan_l1_fix_time: 0.7807, d2.loss_plan_l1_fix_dist: 0.1776, d3.loss_plan_l1_fix_time: 0.7740, d3.loss_plan_l1_fix_dist: 0.2048, d4.loss_plan_l1_fix_time: 0.7764, d4.loss_plan_l1_fix_dist: 0.1856, d5.loss_plan_l1_fix_time: 0.7786, d5.loss_plan_l1_fix_dist: 0.1759, d6.loss_plan_l1_fix_time: 0.7811, d6.loss_plan_l1_fix_dist: 0.2207, d0.loss_cls_all: 0.1140, d0.loss_bbox_all: 0.3340, d0.loss_cls: 0.1140, d0.loss_bbox: 0.3340, d1.loss_cls: 0.1072, d1.loss_bbox: 0.3007, d2.loss_cls: 0.0972, d2.loss_bbox: 0.2805, d3.loss_cls: 0.0810, d3.loss_bbox: 0.2719, d4.loss_cls: 0.0747, d4.loss_bbox: 0.2671, d5.loss_cls: 0.0748, d5.loss_bbox: 0.2647, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6526, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4826, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4314, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4074, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4005, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3940, d0.loss_map_cls_all: 0.1468, d0.loss_map_pts_all: 0.9391, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1468, d0.loss_map_pts: 0.9391, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1152, d1.loss_map_pts: 0.6510, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.0934, d2.loss_map_pts: 0.5074, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0863, d3.loss_map_pts: 0.4460, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0805, d4.loss_map_pts: 0.4239, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0759, d5.loss_map_pts: 0.4211, d5.loss_map_dir: 0.0056, loss: 20.9414, grad_norm: 141.4191 +2026-03-01 06:33:43,660 - DriveTransformer - INFO - Epoch [12][18600/39528] lr: 5.696e-05, eta: 4 days, 4:36:41, time: 0.745, data_time: 0.036, memory: 19865, loss_cls: 0.0838, loss_bbox: 0.2982, loss_traj: 0.4637, loss_traj_cls: 0.0018, loss_map_cls: 0.0956, loss_map_pts: 0.5456, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.7093, d0.loss_plan_l1_fix_dist: 0.4853, d1.loss_plan_l1_fix_time: 0.7827, d1.loss_plan_l1_fix_dist: 0.2188, d2.loss_plan_l1_fix_time: 0.7669, d2.loss_plan_l1_fix_dist: 0.2085, d3.loss_plan_l1_fix_time: 0.7569, d3.loss_plan_l1_fix_dist: 0.2091, d4.loss_plan_l1_fix_time: 0.7567, d4.loss_plan_l1_fix_dist: 0.1845, d5.loss_plan_l1_fix_time: 0.7578, d5.loss_plan_l1_fix_dist: 0.1894, d6.loss_plan_l1_fix_time: 0.7590, d6.loss_plan_l1_fix_dist: 0.2240, d0.loss_cls_all: 0.1362, d0.loss_bbox_all: 0.3688, d0.loss_cls: 0.1362, d0.loss_bbox: 0.3688, d1.loss_cls: 0.1300, d1.loss_bbox: 0.3310, d2.loss_cls: 0.1179, d2.loss_bbox: 0.3063, d3.loss_cls: 0.0939, d3.loss_bbox: 0.3028, d4.loss_cls: 0.0862, d4.loss_bbox: 0.3012, d5.loss_cls: 0.0849, d5.loss_bbox: 0.2979, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7621, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5948, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5160, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4835, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4748, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4676, d0.loss_map_cls_all: 0.1849, d0.loss_map_pts_all: 1.1489, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1849, d0.loss_map_pts: 1.1489, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1509, d1.loss_map_pts: 0.8366, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1264, d2.loss_map_pts: 0.6493, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1134, d3.loss_map_pts: 0.5797, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1071, d4.loss_map_pts: 0.5531, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0998, d5.loss_map_pts: 0.5458, d5.loss_map_dir: 0.0062, loss: 23.3449, grad_norm: 141.5595 +2026-03-01 06:34:19,976 - DriveTransformer - INFO - Epoch [12][18650/39528] lr: 5.696e-05, eta: 4 days, 4:36:04, time: 0.725, data_time: 0.039, memory: 19865, loss_cls: 0.0691, loss_bbox: 0.2635, loss_traj: 0.4261, loss_traj_cls: 0.0019, loss_map_cls: 0.0958, loss_map_pts: 0.4664, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.4617, d0.loss_plan_l1_fix_dist: 0.4872, d1.loss_plan_l1_fix_time: 0.6731, d1.loss_plan_l1_fix_dist: 0.1744, d2.loss_plan_l1_fix_time: 0.6622, d2.loss_plan_l1_fix_dist: 0.1874, d3.loss_plan_l1_fix_time: 0.6492, d3.loss_plan_l1_fix_dist: 0.1675, d4.loss_plan_l1_fix_time: 0.6508, d4.loss_plan_l1_fix_dist: 0.1471, d5.loss_plan_l1_fix_time: 0.6537, d5.loss_plan_l1_fix_dist: 0.1726, d6.loss_plan_l1_fix_time: 0.6573, d6.loss_plan_l1_fix_dist: 0.1870, d0.loss_cls_all: 0.1182, d0.loss_bbox_all: 0.3076, d0.loss_cls: 0.1182, d0.loss_bbox: 0.3076, d1.loss_cls: 0.1117, d1.loss_bbox: 0.2828, d2.loss_cls: 0.0965, d2.loss_bbox: 0.2663, d3.loss_cls: 0.0797, d3.loss_bbox: 0.2609, d4.loss_cls: 0.0714, d4.loss_bbox: 0.2600, d5.loss_cls: 0.0691, d5.loss_bbox: 0.2614, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6277, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4974, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4554, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4350, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4311, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4282, d0.loss_map_cls_all: 0.1843, d0.loss_map_pts_all: 0.9929, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1843, d0.loss_map_pts: 0.9929, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1479, d1.loss_map_pts: 0.7045, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1244, d2.loss_map_pts: 0.5582, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1109, d3.loss_map_pts: 0.4964, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1041, d4.loss_map_pts: 0.4731, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0981, d5.loss_map_pts: 0.4670, d5.loss_map_dir: 0.0055, loss: 20.4290, grad_norm: 142.9223 +2026-03-01 06:34:56,460 - DriveTransformer - INFO - Epoch [12][18700/39528] lr: 5.696e-05, eta: 4 days, 4:35:27, time: 0.730, data_time: 0.036, memory: 19865, loss_cls: 0.0790, loss_bbox: 0.2829, loss_traj: 0.5121, loss_traj_cls: 0.0020, loss_map_cls: 0.1040, loss_map_pts: 0.5878, loss_map_dir: 0.0073, d0.loss_plan_l1_fix_time: 2.5916, d0.loss_plan_l1_fix_dist: 0.4694, d1.loss_plan_l1_fix_time: 0.6564, d1.loss_plan_l1_fix_dist: 0.1764, d2.loss_plan_l1_fix_time: 0.6397, d2.loss_plan_l1_fix_dist: 0.2057, d3.loss_plan_l1_fix_time: 0.6384, d3.loss_plan_l1_fix_dist: 0.1843, d4.loss_plan_l1_fix_time: 0.6409, d4.loss_plan_l1_fix_dist: 0.1559, d5.loss_plan_l1_fix_time: 0.6436, d5.loss_plan_l1_fix_dist: 0.1837, d6.loss_plan_l1_fix_time: 0.6463, d6.loss_plan_l1_fix_dist: 0.1921, d0.loss_cls_all: 0.1225, d0.loss_bbox_all: 0.3458, d0.loss_cls: 0.1225, d0.loss_bbox: 0.3458, d1.loss_cls: 0.1188, d1.loss_bbox: 0.3096, d2.loss_cls: 0.1041, d2.loss_bbox: 0.2899, d3.loss_cls: 0.0869, d3.loss_bbox: 0.2856, d4.loss_cls: 0.0807, d4.loss_bbox: 0.2839, d5.loss_cls: 0.0796, d5.loss_bbox: 0.2827, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7739, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.6078, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5485, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5190, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.5196, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5179, d0.loss_map_cls_all: 0.1860, d0.loss_map_pts_all: 1.1352, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1860, d0.loss_map_pts: 1.1352, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1511, d1.loss_map_pts: 0.8512, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1278, d2.loss_map_pts: 0.6828, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1169, d3.loss_map_pts: 0.6229, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1109, d4.loss_map_pts: 0.5943, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1064, d5.loss_map_pts: 0.5880, d5.loss_map_dir: 0.0073, loss: 22.5969, grad_norm: 146.5204 +2026-03-01 06:35:32,665 - DriveTransformer - INFO - Epoch [12][18750/39528] lr: 5.696e-05, eta: 4 days, 4:34:49, time: 0.724, data_time: 0.039, memory: 19865, loss_cls: 0.0808, loss_bbox: 0.2636, loss_traj: 0.4336, loss_traj_cls: 0.0019, loss_map_cls: 0.0813, loss_map_pts: 0.4629, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.8293, d0.loss_plan_l1_fix_dist: 0.4230, d1.loss_plan_l1_fix_time: 0.7343, d1.loss_plan_l1_fix_dist: 0.1762, d2.loss_plan_l1_fix_time: 0.7153, d2.loss_plan_l1_fix_dist: 0.2005, d3.loss_plan_l1_fix_time: 0.7098, d3.loss_plan_l1_fix_dist: 0.1755, d4.loss_plan_l1_fix_time: 0.7103, d4.loss_plan_l1_fix_dist: 0.1625, d5.loss_plan_l1_fix_time: 0.7121, d5.loss_plan_l1_fix_dist: 0.2026, d6.loss_plan_l1_fix_time: 0.7141, d6.loss_plan_l1_fix_dist: 0.1841, d0.loss_cls_all: 0.1250, d0.loss_bbox_all: 0.3276, d0.loss_cls: 0.1250, d0.loss_bbox: 0.3276, d1.loss_cls: 0.1188, d1.loss_bbox: 0.2935, d2.loss_cls: 0.1072, d2.loss_bbox: 0.2736, d3.loss_cls: 0.0901, d3.loss_bbox: 0.2686, d4.loss_cls: 0.0834, d4.loss_bbox: 0.2657, d5.loss_cls: 0.0810, d5.loss_bbox: 0.2641, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7113, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5369, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4662, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4476, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4332, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4332, d0.loss_map_cls_all: 0.1742, d0.loss_map_pts_all: 0.9629, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1742, d0.loss_map_pts: 0.9629, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1382, d1.loss_map_pts: 0.7007, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1100, d2.loss_map_pts: 0.5532, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0967, d3.loss_map_pts: 0.4900, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0890, d4.loss_map_pts: 0.4720, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0836, d5.loss_map_pts: 0.4623, d5.loss_map_dir: 0.0058, loss: 21.2756, grad_norm: 145.5170 +2026-03-01 06:36:09,978 - DriveTransformer - INFO - Epoch [12][18800/39528] lr: 5.696e-05, eta: 4 days, 4:34:14, time: 0.746, data_time: 0.038, memory: 19865, loss_cls: 0.0853, loss_bbox: 0.2688, loss_traj: 0.4479, loss_traj_cls: 0.0019, loss_map_cls: 0.1086, loss_map_pts: 0.5364, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.8044, d0.loss_plan_l1_fix_dist: 0.3385, d1.loss_plan_l1_fix_time: 0.7287, d1.loss_plan_l1_fix_dist: 0.1719, d2.loss_plan_l1_fix_time: 0.7081, d2.loss_plan_l1_fix_dist: 0.2034, d3.loss_plan_l1_fix_time: 0.7062, d3.loss_plan_l1_fix_dist: 0.1507, d4.loss_plan_l1_fix_time: 0.7077, d4.loss_plan_l1_fix_dist: 0.1499, d5.loss_plan_l1_fix_time: 0.7096, d5.loss_plan_l1_fix_dist: 0.1978, d6.loss_plan_l1_fix_time: 0.7124, d6.loss_plan_l1_fix_dist: 0.1587, d0.loss_cls_all: 0.1376, d0.loss_bbox_all: 0.3350, d0.loss_cls: 0.1376, d0.loss_bbox: 0.3350, d1.loss_cls: 0.1287, d1.loss_bbox: 0.3021, d2.loss_cls: 0.1139, d2.loss_bbox: 0.2795, d3.loss_cls: 0.0925, d3.loss_bbox: 0.2718, d4.loss_cls: 0.0878, d4.loss_bbox: 0.2689, d5.loss_cls: 0.0852, d5.loss_bbox: 0.2674, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7105, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5496, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4769, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4559, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4497, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4492, d0.loss_map_cls_all: 0.2028, d0.loss_map_pts_all: 1.0741, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2028, d0.loss_map_pts: 1.0741, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1651, d1.loss_map_pts: 0.7920, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1380, d2.loss_map_pts: 0.6358, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1259, d3.loss_map_pts: 0.5717, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1185, d4.loss_map_pts: 0.5443, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1121, d5.loss_map_pts: 0.5370, d5.loss_map_dir: 0.0062, loss: 22.1812, grad_norm: 147.1913 +2026-03-01 06:36:46,685 - DriveTransformer - INFO - Epoch [12][18850/39528] lr: 5.696e-05, eta: 4 days, 4:33:38, time: 0.734, data_time: 0.037, memory: 19865, loss_cls: 0.0742, loss_bbox: 0.2660, loss_traj: 0.5656, loss_traj_cls: 0.0019, loss_map_cls: 0.0710, loss_map_pts: 0.4067, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.7339, d0.loss_plan_l1_fix_dist: 0.3535, d1.loss_plan_l1_fix_time: 0.7671, d1.loss_plan_l1_fix_dist: 0.1881, d2.loss_plan_l1_fix_time: 0.7576, d2.loss_plan_l1_fix_dist: 0.2239, d3.loss_plan_l1_fix_time: 0.7615, d3.loss_plan_l1_fix_dist: 0.1553, d4.loss_plan_l1_fix_time: 0.7627, d4.loss_plan_l1_fix_dist: 0.1611, d5.loss_plan_l1_fix_time: 0.7641, d5.loss_plan_l1_fix_dist: 0.2128, d6.loss_plan_l1_fix_time: 0.7662, d6.loss_plan_l1_fix_dist: 0.1747, d0.loss_cls_all: 0.1156, d0.loss_bbox_all: 0.3304, d0.loss_cls: 0.1156, d0.loss_bbox: 0.3304, d1.loss_cls: 0.1133, d1.loss_bbox: 0.2968, d2.loss_cls: 0.1029, d2.loss_bbox: 0.2747, d3.loss_cls: 0.0815, d3.loss_bbox: 0.2696, d4.loss_cls: 0.0757, d4.loss_bbox: 0.2667, d5.loss_cls: 0.0753, d5.loss_bbox: 0.2652, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8156, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.6595, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5981, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5753, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.5716, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5653, d0.loss_map_cls_all: 0.1501, d0.loss_map_pts_all: 0.8890, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1501, d0.loss_map_pts: 0.8890, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1167, d1.loss_map_pts: 0.6300, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.0956, d2.loss_map_pts: 0.4961, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0828, d3.loss_map_pts: 0.4402, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0775, d4.loss_map_pts: 0.4171, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0724, d5.loss_map_pts: 0.4078, d5.loss_map_dir: 0.0049, loss: 21.6278, grad_norm: 148.1830 +2026-03-01 06:37:24,366 - DriveTransformer - INFO - Epoch [12][18900/39528] lr: 5.696e-05, eta: 4 days, 4:33:04, time: 0.754, data_time: 0.040, memory: 19865, loss_cls: 0.0814, loss_bbox: 0.2579, loss_traj: 0.4129, loss_traj_cls: 0.0020, loss_map_cls: 0.0906, loss_map_pts: 0.4546, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.6067, d0.loss_plan_l1_fix_dist: 0.4028, d1.loss_plan_l1_fix_time: 0.7538, d1.loss_plan_l1_fix_dist: 0.1798, d2.loss_plan_l1_fix_time: 0.7378, d2.loss_plan_l1_fix_dist: 0.2102, d3.loss_plan_l1_fix_time: 0.7313, d3.loss_plan_l1_fix_dist: 0.1540, d4.loss_plan_l1_fix_time: 0.7321, d4.loss_plan_l1_fix_dist: 0.1574, d5.loss_plan_l1_fix_time: 0.7340, d5.loss_plan_l1_fix_dist: 0.2220, d6.loss_plan_l1_fix_time: 0.7366, d6.loss_plan_l1_fix_dist: 0.1921, d0.loss_cls_all: 0.1234, d0.loss_bbox_all: 0.3236, d0.loss_cls: 0.1234, d0.loss_bbox: 0.3236, d1.loss_cls: 0.1159, d1.loss_bbox: 0.2853, d2.loss_cls: 0.1056, d2.loss_bbox: 0.2666, d3.loss_cls: 0.0885, d3.loss_bbox: 0.2622, d4.loss_cls: 0.0838, d4.loss_bbox: 0.2593, d5.loss_cls: 0.0813, d5.loss_bbox: 0.2590, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6671, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4913, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4385, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4158, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4112, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4087, d0.loss_map_cls_all: 0.1614, d0.loss_map_pts_all: 0.9086, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1614, d0.loss_map_pts: 0.9086, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1310, d1.loss_map_pts: 0.6777, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1108, d2.loss_map_pts: 0.5324, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.1020, d3.loss_map_pts: 0.4787, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0972, d4.loss_map_pts: 0.4634, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0925, d5.loss_map_pts: 0.4550, d5.loss_map_dir: 0.0049, loss: 20.7094, grad_norm: 152.5706 +2026-03-01 06:38:03,381 - DriveTransformer - INFO - Epoch [12][18950/39528] lr: 5.696e-05, eta: 4 days, 4:32:33, time: 0.780, data_time: 0.037, memory: 19865, loss_cls: 0.0884, loss_bbox: 0.2907, loss_traj: 0.4498, loss_traj_cls: 0.0019, loss_map_cls: 0.1127, loss_map_pts: 0.6225, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.4140, d0.loss_plan_l1_fix_dist: 0.3835, d1.loss_plan_l1_fix_time: 0.7211, d1.loss_plan_l1_fix_dist: 0.1764, d2.loss_plan_l1_fix_time: 0.7080, d2.loss_plan_l1_fix_dist: 0.1948, d3.loss_plan_l1_fix_time: 0.6989, d3.loss_plan_l1_fix_dist: 0.1608, d4.loss_plan_l1_fix_time: 0.6993, d4.loss_plan_l1_fix_dist: 0.1645, d5.loss_plan_l1_fix_time: 0.7007, d5.loss_plan_l1_fix_dist: 0.2277, d6.loss_plan_l1_fix_time: 0.7023, d6.loss_plan_l1_fix_dist: 0.2008, d0.loss_cls_all: 0.1402, d0.loss_bbox_all: 0.3619, d0.loss_cls: 0.1402, d0.loss_bbox: 0.3619, d1.loss_cls: 0.1338, d1.loss_bbox: 0.3266, d2.loss_cls: 0.1192, d2.loss_bbox: 0.3011, d3.loss_cls: 0.0970, d3.loss_bbox: 0.2948, d4.loss_cls: 0.0912, d4.loss_bbox: 0.2918, d5.loss_cls: 0.0895, d5.loss_bbox: 0.2909, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7069, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5362, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4799, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4526, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4496, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4515, d0.loss_map_cls_all: 0.2010, d0.loss_map_pts_all: 1.2434, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2010, d0.loss_map_pts: 1.2434, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1640, d1.loss_map_pts: 0.9327, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1412, d2.loss_map_pts: 0.7364, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1289, d3.loss_map_pts: 0.6617, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1213, d4.loss_map_pts: 0.6293, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1152, d5.loss_map_pts: 0.6231, d5.loss_map_dir: 0.0079, loss: 23.0452, grad_norm: 152.3456 +2026-03-01 06:38:39,905 - DriveTransformer - INFO - Epoch [12][19000/39528] lr: 5.696e-05, eta: 4 days, 4:31:57, time: 0.730, data_time: 0.038, memory: 19865, loss_cls: 0.0983, loss_bbox: 0.2896, loss_traj: 0.4781, loss_traj_cls: 0.0019, loss_map_cls: 0.1050, loss_map_pts: 0.5246, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.6182, d0.loss_plan_l1_fix_dist: 0.3821, d1.loss_plan_l1_fix_time: 0.7457, d1.loss_plan_l1_fix_dist: 0.1771, d2.loss_plan_l1_fix_time: 0.7320, d2.loss_plan_l1_fix_dist: 0.1978, d3.loss_plan_l1_fix_time: 0.7074, d3.loss_plan_l1_fix_dist: 0.1569, d4.loss_plan_l1_fix_time: 0.7073, d4.loss_plan_l1_fix_dist: 0.1598, d5.loss_plan_l1_fix_time: 0.7082, d5.loss_plan_l1_fix_dist: 0.2131, d6.loss_plan_l1_fix_time: 0.7095, d6.loss_plan_l1_fix_dist: 0.2096, d0.loss_cls_all: 0.1455, d0.loss_bbox_all: 0.3635, d0.loss_cls: 0.1455, d0.loss_bbox: 0.3635, d1.loss_cls: 0.1428, d1.loss_bbox: 0.3256, d2.loss_cls: 0.1278, d2.loss_bbox: 0.3019, d3.loss_cls: 0.1058, d3.loss_bbox: 0.2950, d4.loss_cls: 0.0999, d4.loss_bbox: 0.2927, d5.loss_cls: 0.0980, d5.loss_bbox: 0.2906, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7943, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5739, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5146, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4906, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4823, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4806, d0.loss_map_cls_all: 0.1920, d0.loss_map_pts_all: 1.0604, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1920, d0.loss_map_pts: 1.0604, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1550, d1.loss_map_pts: 0.7805, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1281, d2.loss_map_pts: 0.6122, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1176, d3.loss_map_pts: 0.5479, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1105, d4.loss_map_pts: 0.5288, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1070, d5.loss_map_pts: 0.5241, d5.loss_map_dir: 0.0065, loss: 22.5295, grad_norm: 151.0659 +2026-03-01 06:39:16,224 - DriveTransformer - INFO - Epoch [12][19050/39528] lr: 5.696e-05, eta: 4 days, 4:31:19, time: 0.726, data_time: 0.037, memory: 19865, loss_cls: 0.0903, loss_bbox: 0.2891, loss_traj: 0.4748, loss_traj_cls: 0.0019, loss_map_cls: 0.1034, loss_map_pts: 0.5214, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.6181, d0.loss_plan_l1_fix_dist: 0.3986, d1.loss_plan_l1_fix_time: 0.6886, d1.loss_plan_l1_fix_dist: 0.1627, d2.loss_plan_l1_fix_time: 0.6759, d2.loss_plan_l1_fix_dist: 0.1865, d3.loss_plan_l1_fix_time: 0.6723, d3.loss_plan_l1_fix_dist: 0.1491, d4.loss_plan_l1_fix_time: 0.6736, d4.loss_plan_l1_fix_dist: 0.1548, d5.loss_plan_l1_fix_time: 0.6750, d5.loss_plan_l1_fix_dist: 0.1981, d6.loss_plan_l1_fix_time: 0.6768, d6.loss_plan_l1_fix_dist: 0.2289, d0.loss_cls_all: 0.1363, d0.loss_bbox_all: 0.3503, d0.loss_cls: 0.1363, d0.loss_bbox: 0.3503, d1.loss_cls: 0.1263, d1.loss_bbox: 0.3210, d2.loss_cls: 0.1127, d2.loss_bbox: 0.2975, d3.loss_cls: 0.0983, d3.loss_bbox: 0.2924, d4.loss_cls: 0.0915, d4.loss_bbox: 0.2902, d5.loss_cls: 0.0901, d5.loss_bbox: 0.2891, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7417, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5813, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5105, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4868, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4766, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4771, d0.loss_map_cls_all: 0.1886, d0.loss_map_pts_all: 1.1243, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1886, d0.loss_map_pts: 1.1243, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1546, d1.loss_map_pts: 0.8194, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1306, d2.loss_map_pts: 0.6382, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1196, d3.loss_map_pts: 0.5623, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1121, d4.loss_map_pts: 0.5340, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1057, d5.loss_map_pts: 0.5230, d5.loss_map_dir: 0.0062, loss: 22.2755, grad_norm: 153.8512 +2026-03-01 06:39:52,636 - DriveTransformer - INFO - Epoch [12][19100/39528] lr: 5.696e-05, eta: 4 days, 4:30:43, time: 0.728, data_time: 0.039, memory: 19865, loss_cls: 0.0789, loss_bbox: 0.2659, loss_traj: 0.4689, loss_traj_cls: 0.0019, loss_map_cls: 0.0893, loss_map_pts: 0.4500, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.4867, d0.loss_plan_l1_fix_dist: 0.3890, d1.loss_plan_l1_fix_time: 0.7454, d1.loss_plan_l1_fix_dist: 0.1686, d2.loss_plan_l1_fix_time: 0.7229, d2.loss_plan_l1_fix_dist: 0.1856, d3.loss_plan_l1_fix_time: 0.7211, d3.loss_plan_l1_fix_dist: 0.1488, d4.loss_plan_l1_fix_time: 0.7220, d4.loss_plan_l1_fix_dist: 0.1581, d5.loss_plan_l1_fix_time: 0.7232, d5.loss_plan_l1_fix_dist: 0.1786, d6.loss_plan_l1_fix_time: 0.7250, d6.loss_plan_l1_fix_dist: 0.2185, d0.loss_cls_all: 0.1219, d0.loss_bbox_all: 0.3269, d0.loss_cls: 0.1219, d0.loss_bbox: 0.3269, d1.loss_cls: 0.1174, d1.loss_bbox: 0.2946, d2.loss_cls: 0.1040, d2.loss_bbox: 0.2745, d3.loss_cls: 0.0847, d3.loss_bbox: 0.2689, d4.loss_cls: 0.0802, d4.loss_bbox: 0.2665, d5.loss_cls: 0.0788, d5.loss_bbox: 0.2655, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7296, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5524, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4940, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4735, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4749, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4704, d0.loss_map_cls_all: 0.1636, d0.loss_map_pts_all: 0.9300, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1636, d0.loss_map_pts: 0.9300, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1330, d1.loss_map_pts: 0.6748, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1110, d2.loss_map_pts: 0.5259, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1028, d3.loss_map_pts: 0.4702, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0957, d4.loss_map_pts: 0.4535, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0910, d5.loss_map_pts: 0.4500, d5.loss_map_dir: 0.0056, loss: 20.9211, grad_norm: 153.7761 +2026-03-01 06:40:31,470 - DriveTransformer - INFO - Epoch [12][19150/39528] lr: 5.696e-05, eta: 4 days, 4:30:11, time: 0.777, data_time: 0.039, memory: 19865, loss_cls: 0.0926, loss_bbox: 0.2970, loss_traj: 0.3826, loss_traj_cls: 0.0020, loss_map_cls: 0.1099, loss_map_pts: 0.5924, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.2756, d0.loss_plan_l1_fix_dist: 0.3721, d1.loss_plan_l1_fix_time: 0.7276, d1.loss_plan_l1_fix_dist: 0.1667, d2.loss_plan_l1_fix_time: 0.7109, d2.loss_plan_l1_fix_dist: 0.1805, d3.loss_plan_l1_fix_time: 0.6876, d3.loss_plan_l1_fix_dist: 0.1610, d4.loss_plan_l1_fix_time: 0.6877, d4.loss_plan_l1_fix_dist: 0.1780, d5.loss_plan_l1_fix_time: 0.6882, d5.loss_plan_l1_fix_dist: 0.1666, d6.loss_plan_l1_fix_time: 0.6891, d6.loss_plan_l1_fix_dist: 0.2137, d0.loss_cls_all: 0.1432, d0.loss_bbox_all: 0.3630, d0.loss_cls: 0.1432, d0.loss_bbox: 0.3630, d1.loss_cls: 0.1361, d1.loss_bbox: 0.3313, d2.loss_cls: 0.1228, d2.loss_bbox: 0.3084, d3.loss_cls: 0.1030, d3.loss_bbox: 0.3010, d4.loss_cls: 0.0958, d4.loss_bbox: 0.2969, d5.loss_cls: 0.0942, d5.loss_bbox: 0.2956, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5962, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4687, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4186, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4003, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.3936, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3876, d0.loss_map_cls_all: 0.2115, d0.loss_map_pts_all: 1.2129, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2115, d0.loss_map_pts: 1.2129, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1709, d1.loss_map_pts: 0.8866, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1426, d2.loss_map_pts: 0.6940, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1295, d3.loss_map_pts: 0.6248, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1204, d4.loss_map_pts: 0.5966, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1144, d5.loss_map_pts: 0.5925, d5.loss_map_dir: 0.0078, loss: 22.1329, grad_norm: 154.3925 +2026-03-01 06:41:06,884 - DriveTransformer - INFO - Epoch [12][19200/39528] lr: 5.696e-05, eta: 4 days, 4:29:32, time: 0.708, data_time: 0.035, memory: 19865, loss_cls: 0.0789, loss_bbox: 0.2721, loss_traj: 0.3923, loss_traj_cls: 0.0019, loss_map_cls: 0.0760, loss_map_pts: 0.4665, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.4625, d0.loss_plan_l1_fix_dist: 0.4114, d1.loss_plan_l1_fix_time: 0.6641, d1.loss_plan_l1_fix_dist: 0.1645, d2.loss_plan_l1_fix_time: 0.6472, d2.loss_plan_l1_fix_dist: 0.1704, d3.loss_plan_l1_fix_time: 0.6477, d3.loss_plan_l1_fix_dist: 0.1541, d4.loss_plan_l1_fix_time: 0.6504, d4.loss_plan_l1_fix_dist: 0.1889, d5.loss_plan_l1_fix_time: 0.6526, d5.loss_plan_l1_fix_dist: 0.1470, d6.loss_plan_l1_fix_time: 0.6548, d6.loss_plan_l1_fix_dist: 0.2119, d0.loss_cls_all: 0.1206, d0.loss_bbox_all: 0.3335, d0.loss_cls: 0.1206, d0.loss_bbox: 0.3335, d1.loss_cls: 0.1141, d1.loss_bbox: 0.3047, d2.loss_cls: 0.1013, d2.loss_bbox: 0.2821, d3.loss_cls: 0.0865, d3.loss_bbox: 0.2750, d4.loss_cls: 0.0803, d4.loss_bbox: 0.2720, d5.loss_cls: 0.0796, d5.loss_bbox: 0.2714, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6003, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4747, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4271, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4081, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.3988, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3932, d0.loss_map_cls_all: 0.1511, d0.loss_map_pts_all: 0.9319, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1511, d0.loss_map_pts: 0.9319, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1194, d1.loss_map_pts: 0.7004, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.0965, d2.loss_map_pts: 0.5501, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0884, d3.loss_map_pts: 0.4938, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0823, d4.loss_map_pts: 0.4719, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0779, d5.loss_map_pts: 0.4670, d5.loss_map_dir: 0.0049, loss: 19.9518, grad_norm: 155.0942 +2026-03-01 06:41:44,643 - DriveTransformer - INFO - Epoch [12][19250/39528] lr: 5.696e-05, eta: 4 days, 4:28:58, time: 0.755, data_time: 0.038, memory: 19865, loss_cls: 0.0766, loss_bbox: 0.2701, loss_traj: 0.4191, loss_traj_cls: 0.0019, loss_map_cls: 0.1140, loss_map_pts: 0.5536, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.4693, d0.loss_plan_l1_fix_dist: 0.3568, d1.loss_plan_l1_fix_time: 0.6802, d1.loss_plan_l1_fix_dist: 0.1725, d2.loss_plan_l1_fix_time: 0.6660, d2.loss_plan_l1_fix_dist: 0.1746, d3.loss_plan_l1_fix_time: 0.6576, d3.loss_plan_l1_fix_dist: 0.1643, d4.loss_plan_l1_fix_time: 0.6581, d4.loss_plan_l1_fix_dist: 0.2051, d5.loss_plan_l1_fix_time: 0.6595, d5.loss_plan_l1_fix_dist: 0.1629, d6.loss_plan_l1_fix_time: 0.6614, d6.loss_plan_l1_fix_dist: 0.2209, d0.loss_cls_all: 0.1176, d0.loss_bbox_all: 0.3361, d0.loss_cls: 0.1176, d0.loss_bbox: 0.3361, d1.loss_cls: 0.1102, d1.loss_bbox: 0.3005, d2.loss_cls: 0.0990, d2.loss_bbox: 0.2814, d3.loss_cls: 0.0810, d3.loss_bbox: 0.2751, d4.loss_cls: 0.0762, d4.loss_bbox: 0.2720, d5.loss_cls: 0.0756, d5.loss_bbox: 0.2700, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6896, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5208, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4432, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4292, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4241, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4227, d0.loss_map_cls_all: 0.2102, d0.loss_map_pts_all: 1.1805, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2102, d0.loss_map_pts: 1.1805, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1787, d1.loss_map_pts: 0.8530, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1440, d2.loss_map_pts: 0.6557, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1314, d3.loss_map_pts: 0.5869, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1252, d4.loss_map_pts: 0.5594, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1178, d5.loss_map_pts: 0.5546, d5.loss_map_dir: 0.0064, loss: 21.7661, grad_norm: 154.9619 +2026-03-01 06:42:20,348 - DriveTransformer - INFO - Epoch [12][19300/39528] lr: 5.696e-05, eta: 4 days, 4:28:20, time: 0.714, data_time: 0.039, memory: 19865, loss_cls: 0.0915, loss_bbox: 0.2718, loss_traj: 0.4942, loss_traj_cls: 0.0020, loss_map_cls: 0.0783, loss_map_pts: 0.4310, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.5023, d0.loss_plan_l1_fix_dist: 0.3270, d1.loss_plan_l1_fix_time: 0.6551, d1.loss_plan_l1_fix_dist: 0.1661, d2.loss_plan_l1_fix_time: 0.6455, d2.loss_plan_l1_fix_dist: 0.1709, d3.loss_plan_l1_fix_time: 0.6336, d3.loss_plan_l1_fix_dist: 0.1613, d4.loss_plan_l1_fix_time: 0.6341, d4.loss_plan_l1_fix_dist: 0.1987, d5.loss_plan_l1_fix_time: 0.6354, d5.loss_plan_l1_fix_dist: 0.1775, d6.loss_plan_l1_fix_time: 0.6370, d6.loss_plan_l1_fix_dist: 0.2057, d0.loss_cls_all: 0.1355, d0.loss_bbox_all: 0.3433, d0.loss_cls: 0.1355, d0.loss_bbox: 0.3433, d1.loss_cls: 0.1325, d1.loss_bbox: 0.3087, d2.loss_cls: 0.1194, d2.loss_bbox: 0.2871, d3.loss_cls: 0.0986, d3.loss_bbox: 0.2789, d4.loss_cls: 0.0919, d4.loss_bbox: 0.2764, d5.loss_cls: 0.0913, d5.loss_bbox: 0.2728, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7336, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5764, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5238, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5061, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4972, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4939, d0.loss_map_cls_all: 0.1714, d0.loss_map_pts_all: 0.8829, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1714, d0.loss_map_pts: 0.8829, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1319, d1.loss_map_pts: 0.6511, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1051, d2.loss_map_pts: 0.5090, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0918, d3.loss_map_pts: 0.4577, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.0864, d4.loss_map_pts: 0.4373, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0809, d5.loss_map_pts: 0.4306, d5.loss_map_dir: 0.0045, loss: 20.4997, grad_norm: 154.4896 +2026-03-01 06:42:58,293 - DriveTransformer - INFO - Epoch [12][19350/39528] lr: 5.696e-05, eta: 4 days, 4:27:46, time: 0.759, data_time: 0.038, memory: 19865, loss_cls: 0.0793, loss_bbox: 0.2654, loss_traj: 0.5140, loss_traj_cls: 0.0019, loss_map_cls: 0.0787, loss_map_pts: 0.4353, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.7384, d0.loss_plan_l1_fix_dist: 0.3985, d1.loss_plan_l1_fix_time: 0.7563, d1.loss_plan_l1_fix_dist: 0.1780, d2.loss_plan_l1_fix_time: 0.7410, d2.loss_plan_l1_fix_dist: 0.1923, d3.loss_plan_l1_fix_time: 0.7283, d3.loss_plan_l1_fix_dist: 0.1808, d4.loss_plan_l1_fix_time: 0.7308, d4.loss_plan_l1_fix_dist: 0.2228, d5.loss_plan_l1_fix_time: 0.7325, d5.loss_plan_l1_fix_dist: 0.2201, d6.loss_plan_l1_fix_time: 0.7342, d6.loss_plan_l1_fix_dist: 0.2360, d0.loss_cls_all: 0.1219, d0.loss_bbox_all: 0.3292, d0.loss_cls: 0.1219, d0.loss_bbox: 0.3292, d1.loss_cls: 0.1159, d1.loss_bbox: 0.2979, d2.loss_cls: 0.1042, d2.loss_bbox: 0.2792, d3.loss_cls: 0.0870, d3.loss_bbox: 0.2740, d4.loss_cls: 0.0816, d4.loss_bbox: 0.2697, d5.loss_cls: 0.0803, d5.loss_bbox: 0.2659, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.7713, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5977, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5436, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5276, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.5197, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5182, d0.loss_map_cls_all: 0.1635, d0.loss_map_pts_all: 1.0041, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1635, d0.loss_map_pts: 1.0041, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1314, d1.loss_map_pts: 0.6981, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1052, d2.loss_map_pts: 0.5239, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.0938, d3.loss_map_pts: 0.4645, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0881, d4.loss_map_pts: 0.4413, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0819, d5.loss_map_pts: 0.4355, d5.loss_map_dir: 0.0050, loss: 21.8453, grad_norm: 155.2397 +2026-03-01 06:43:35,267 - DriveTransformer - INFO - Epoch [12][19400/39528] lr: 5.696e-05, eta: 4 days, 4:27:11, time: 0.741, data_time: 0.040, memory: 19865, loss_cls: 0.0938, loss_bbox: 0.2799, loss_traj: 0.4596, loss_traj_cls: 0.0019, loss_map_cls: 0.1018, loss_map_pts: 0.5136, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.4270, d0.loss_plan_l1_fix_dist: 0.4041, d1.loss_plan_l1_fix_time: 0.6439, d1.loss_plan_l1_fix_dist: 0.1821, d2.loss_plan_l1_fix_time: 0.6256, d2.loss_plan_l1_fix_dist: 0.1981, d3.loss_plan_l1_fix_time: 0.6212, d3.loss_plan_l1_fix_dist: 0.1847, d4.loss_plan_l1_fix_time: 0.6223, d4.loss_plan_l1_fix_dist: 0.2257, d5.loss_plan_l1_fix_time: 0.6239, d5.loss_plan_l1_fix_dist: 0.2351, d6.loss_plan_l1_fix_time: 0.6264, d6.loss_plan_l1_fix_dist: 0.2411, d0.loss_cls_all: 0.1337, d0.loss_bbox_all: 0.3474, d0.loss_cls: 0.1337, d0.loss_bbox: 0.3474, d1.loss_cls: 0.1256, d1.loss_bbox: 0.3147, d2.loss_cls: 0.1151, d2.loss_bbox: 0.2934, d3.loss_cls: 0.1031, d3.loss_bbox: 0.2834, d4.loss_cls: 0.0970, d4.loss_bbox: 0.2808, d5.loss_cls: 0.0950, d5.loss_bbox: 0.2792, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7184, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5522, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4924, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4732, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4699, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4605, d0.loss_map_cls_all: 0.1995, d0.loss_map_pts_all: 1.0588, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1995, d0.loss_map_pts: 1.0588, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1580, d1.loss_map_pts: 0.7775, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1298, d2.loss_map_pts: 0.6105, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1173, d3.loss_map_pts: 0.5478, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1093, d4.loss_map_pts: 0.5239, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1046, d5.loss_map_pts: 0.5148, d5.loss_map_dir: 0.0059, loss: 21.5913, grad_norm: 157.5745 +2026-03-01 06:44:12,790 - DriveTransformer - INFO - Epoch [12][19450/39528] lr: 5.696e-05, eta: 4 days, 4:26:36, time: 0.749, data_time: 0.038, memory: 19865, loss_cls: 0.0779, loss_bbox: 0.2555, loss_traj: 0.3953, loss_traj_cls: 0.0020, loss_map_cls: 0.0922, loss_map_pts: 0.4646, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.4432, d0.loss_plan_l1_fix_dist: 0.3253, d1.loss_plan_l1_fix_time: 0.7078, d1.loss_plan_l1_fix_dist: 0.1771, d2.loss_plan_l1_fix_time: 0.6890, d2.loss_plan_l1_fix_dist: 0.1894, d3.loss_plan_l1_fix_time: 0.6841, d3.loss_plan_l1_fix_dist: 0.1606, d4.loss_plan_l1_fix_time: 0.6867, d4.loss_plan_l1_fix_dist: 0.1957, d5.loss_plan_l1_fix_time: 0.6889, d5.loss_plan_l1_fix_dist: 0.2072, d6.loss_plan_l1_fix_time: 0.6920, d6.loss_plan_l1_fix_dist: 0.1994, d0.loss_cls_all: 0.1264, d0.loss_bbox_all: 0.3207, d0.loss_cls: 0.1264, d0.loss_bbox: 0.3207, d1.loss_cls: 0.1183, d1.loss_bbox: 0.2879, d2.loss_cls: 0.1024, d2.loss_bbox: 0.2666, d3.loss_cls: 0.0847, d3.loss_bbox: 0.2590, d4.loss_cls: 0.0795, d4.loss_bbox: 0.2555, d5.loss_cls: 0.0775, d5.loss_bbox: 0.2549, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6390, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4863, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4302, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4142, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4046, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3989, d0.loss_map_cls_all: 0.1807, d0.loss_map_pts_all: 1.0202, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1807, d0.loss_map_pts: 1.0202, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1403, d1.loss_map_pts: 0.7110, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1166, d2.loss_map_pts: 0.5534, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1072, d3.loss_map_pts: 0.4932, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1002, d4.loss_map_pts: 0.4723, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0949, d5.loss_map_pts: 0.4652, d5.loss_map_dir: 0.0060, loss: 20.4990, grad_norm: 157.3833 +2026-03-01 06:44:48,055 - DriveTransformer - INFO - Epoch [12][19500/39528] lr: 5.696e-05, eta: 4 days, 4:25:57, time: 0.705, data_time: 0.043, memory: 19865, loss_cls: 0.0871, loss_bbox: 0.2890, loss_traj: 0.4983, loss_traj_cls: 0.0019, loss_map_cls: 0.1021, loss_map_pts: 0.4884, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.4608, d0.loss_plan_l1_fix_dist: 0.3767, d1.loss_plan_l1_fix_time: 0.6960, d1.loss_plan_l1_fix_dist: 0.1833, d2.loss_plan_l1_fix_time: 0.6826, d2.loss_plan_l1_fix_dist: 0.2000, d3.loss_plan_l1_fix_time: 0.6827, d3.loss_plan_l1_fix_dist: 0.1658, d4.loss_plan_l1_fix_time: 0.6838, d4.loss_plan_l1_fix_dist: 0.2057, d5.loss_plan_l1_fix_time: 0.6848, d5.loss_plan_l1_fix_dist: 0.2094, d6.loss_plan_l1_fix_time: 0.6866, d6.loss_plan_l1_fix_dist: 0.1859, d0.loss_cls_all: 0.1327, d0.loss_bbox_all: 0.3637, d0.loss_cls: 0.1327, d0.loss_bbox: 0.3637, d1.loss_cls: 0.1250, d1.loss_bbox: 0.3288, d2.loss_cls: 0.1162, d2.loss_bbox: 0.3038, d3.loss_cls: 0.0962, d3.loss_bbox: 0.2965, d4.loss_cls: 0.0893, d4.loss_bbox: 0.2923, d5.loss_cls: 0.0877, d5.loss_bbox: 0.2903, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7341, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5778, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5225, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5068, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4988, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4998, d0.loss_map_cls_all: 0.1825, d0.loss_map_pts_all: 1.0104, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1825, d0.loss_map_pts: 1.0104, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1521, d1.loss_map_pts: 0.7565, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1261, d2.loss_map_pts: 0.5841, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.1158, d3.loss_map_pts: 0.5202, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.1096, d4.loss_map_pts: 0.4957, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.1061, d5.loss_map_pts: 0.4883, d5.loss_map_dir: 0.0050, loss: 21.8150, grad_norm: 155.4789 +2026-03-01 06:45:23,848 - DriveTransformer - INFO - Epoch [12][19550/39528] lr: 5.696e-05, eta: 4 days, 4:25:18, time: 0.716, data_time: 0.039, memory: 19865, loss_cls: 0.0864, loss_bbox: 0.2697, loss_traj: 0.4910, loss_traj_cls: 0.0019, loss_map_cls: 0.0920, loss_map_pts: 0.4779, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.5013, d0.loss_plan_l1_fix_dist: 0.3294, d1.loss_plan_l1_fix_time: 0.6756, d1.loss_plan_l1_fix_dist: 0.1820, d2.loss_plan_l1_fix_time: 0.6565, d2.loss_plan_l1_fix_dist: 0.1973, d3.loss_plan_l1_fix_time: 0.6556, d3.loss_plan_l1_fix_dist: 0.1645, d4.loss_plan_l1_fix_time: 0.6564, d4.loss_plan_l1_fix_dist: 0.2101, d5.loss_plan_l1_fix_time: 0.6580, d5.loss_plan_l1_fix_dist: 0.2052, d6.loss_plan_l1_fix_time: 0.6599, d6.loss_plan_l1_fix_dist: 0.1598, d0.loss_cls_all: 0.1263, d0.loss_bbox_all: 0.3333, d0.loss_cls: 0.1263, d0.loss_bbox: 0.3333, d1.loss_cls: 0.1204, d1.loss_bbox: 0.2986, d2.loss_cls: 0.1079, d2.loss_bbox: 0.2806, d3.loss_cls: 0.0958, d3.loss_bbox: 0.2716, d4.loss_cls: 0.0881, d4.loss_bbox: 0.2696, d5.loss_cls: 0.0853, d5.loss_bbox: 0.2702, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7531, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5775, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5184, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4995, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4960, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4943, d0.loss_map_cls_all: 0.1729, d0.loss_map_pts_all: 0.9786, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1729, d0.loss_map_pts: 0.9786, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1375, d1.loss_map_pts: 0.7206, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1161, d2.loss_map_pts: 0.5705, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1063, d3.loss_map_pts: 0.5121, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0994, d4.loss_map_pts: 0.4896, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0942, d5.loss_map_pts: 0.4786, d5.loss_map_dir: 0.0058, loss: 21.1555, grad_norm: 154.0689 +2026-03-01 06:46:01,808 - DriveTransformer - INFO - Epoch [12][19600/39528] lr: 5.696e-05, eta: 4 days, 4:24:45, time: 0.759, data_time: 0.040, memory: 19865, loss_cls: 0.0825, loss_bbox: 0.2792, loss_traj: 0.5246, loss_traj_cls: 0.0020, loss_map_cls: 0.0856, loss_map_pts: 0.4636, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.9087, d0.loss_plan_l1_fix_dist: 0.3717, d1.loss_plan_l1_fix_time: 0.7121, d1.loss_plan_l1_fix_dist: 0.2041, d2.loss_plan_l1_fix_time: 0.7030, d2.loss_plan_l1_fix_dist: 0.2050, d3.loss_plan_l1_fix_time: 0.7007, d3.loss_plan_l1_fix_dist: 0.1805, d4.loss_plan_l1_fix_time: 0.7019, d4.loss_plan_l1_fix_dist: 0.2063, d5.loss_plan_l1_fix_time: 0.7037, d5.loss_plan_l1_fix_dist: 0.2132, d6.loss_plan_l1_fix_time: 0.7061, d6.loss_plan_l1_fix_dist: 0.1845, d0.loss_cls_all: 0.1316, d0.loss_bbox_all: 0.3467, d0.loss_cls: 0.1316, d0.loss_bbox: 0.3467, d1.loss_cls: 0.1285, d1.loss_bbox: 0.3132, d2.loss_cls: 0.1123, d2.loss_bbox: 0.2899, d3.loss_cls: 0.0932, d3.loss_bbox: 0.2832, d4.loss_cls: 0.0859, d4.loss_bbox: 0.2810, d5.loss_cls: 0.0836, d5.loss_bbox: 0.2793, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7547, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5952, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5455, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5281, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5276, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5232, d0.loss_map_cls_all: 0.1763, d0.loss_map_pts_all: 0.9932, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1763, d0.loss_map_pts: 0.9932, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1394, d1.loss_map_pts: 0.7120, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1132, d2.loss_map_pts: 0.5486, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.0998, d3.loss_map_pts: 0.4906, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0926, d4.loss_map_pts: 0.4690, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0880, d5.loss_map_pts: 0.4639, d5.loss_map_dir: 0.0059, loss: 22.1292, grad_norm: 154.9778 +2026-03-01 06:46:38,188 - DriveTransformer - INFO - Epoch [12][19650/39528] lr: 5.696e-05, eta: 4 days, 4:24:08, time: 0.728, data_time: 0.040, memory: 19865, loss_cls: 0.0877, loss_bbox: 0.2693, loss_traj: 0.4804, loss_traj_cls: 0.0019, loss_map_cls: 0.1054, loss_map_pts: 0.5444, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.6133, d0.loss_plan_l1_fix_dist: 0.4206, d1.loss_plan_l1_fix_time: 0.7027, d1.loss_plan_l1_fix_dist: 0.2206, d2.loss_plan_l1_fix_time: 0.6998, d2.loss_plan_l1_fix_dist: 0.2021, d3.loss_plan_l1_fix_time: 0.6977, d3.loss_plan_l1_fix_dist: 0.1967, d4.loss_plan_l1_fix_time: 0.6994, d4.loss_plan_l1_fix_dist: 0.1939, d5.loss_plan_l1_fix_time: 0.7019, d5.loss_plan_l1_fix_dist: 0.1973, d6.loss_plan_l1_fix_time: 0.7043, d6.loss_plan_l1_fix_dist: 0.1829, d0.loss_cls_all: 0.1274, d0.loss_bbox_all: 0.3366, d0.loss_cls: 0.1274, d0.loss_bbox: 0.3366, d1.loss_cls: 0.1213, d1.loss_bbox: 0.3043, d2.loss_cls: 0.1088, d2.loss_bbox: 0.2809, d3.loss_cls: 0.0935, d3.loss_bbox: 0.2721, d4.loss_cls: 0.0905, d4.loss_bbox: 0.2691, d5.loss_cls: 0.0878, d5.loss_bbox: 0.2687, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7351, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5658, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4962, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4790, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4799, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4759, d0.loss_map_cls_all: 0.1943, d0.loss_map_pts_all: 1.0836, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1943, d0.loss_map_pts: 1.0836, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1628, d1.loss_map_pts: 0.8013, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1339, d2.loss_map_pts: 0.6266, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1214, d3.loss_map_pts: 0.5691, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1143, d4.loss_map_pts: 0.5477, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1083, d5.loss_map_pts: 0.5444, d5.loss_map_dir: 0.0069, loss: 22.3242, grad_norm: 161.5551 +2026-03-01 06:47:15,307 - DriveTransformer - INFO - Epoch [12][19700/39528] lr: 5.696e-05, eta: 4 days, 4:23:33, time: 0.742, data_time: 0.040, memory: 19865, loss_cls: 0.0818, loss_bbox: 0.2722, loss_traj: 0.4248, loss_traj_cls: 0.0020, loss_map_cls: 0.1002, loss_map_pts: 0.5031, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.5624, d0.loss_plan_l1_fix_dist: 0.4517, d1.loss_plan_l1_fix_time: 0.6737, d1.loss_plan_l1_fix_dist: 0.2209, d2.loss_plan_l1_fix_time: 0.6613, d2.loss_plan_l1_fix_dist: 0.1932, d3.loss_plan_l1_fix_time: 0.6560, d3.loss_plan_l1_fix_dist: 0.2123, d4.loss_plan_l1_fix_time: 0.6576, d4.loss_plan_l1_fix_dist: 0.1829, d5.loss_plan_l1_fix_time: 0.6597, d5.loss_plan_l1_fix_dist: 0.1796, d6.loss_plan_l1_fix_time: 0.6621, d6.loss_plan_l1_fix_dist: 0.1761, d0.loss_cls_all: 0.1259, d0.loss_bbox_all: 0.3452, d0.loss_cls: 0.1259, d0.loss_bbox: 0.3452, d1.loss_cls: 0.1233, d1.loss_bbox: 0.3051, d2.loss_cls: 0.1106, d2.loss_bbox: 0.2823, d3.loss_cls: 0.0910, d3.loss_bbox: 0.2760, d4.loss_cls: 0.0837, d4.loss_bbox: 0.2738, d5.loss_cls: 0.0812, d5.loss_bbox: 0.2730, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6078, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4908, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4504, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4244, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4259, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4231, d0.loss_map_cls_all: 0.1953, d0.loss_map_pts_all: 1.0794, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1953, d0.loss_map_pts: 1.0794, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1557, d1.loss_map_pts: 0.7777, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1278, d2.loss_map_pts: 0.5992, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1154, d3.loss_map_pts: 0.5337, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1086, d4.loss_map_pts: 0.5099, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1031, d5.loss_map_pts: 0.5037, d5.loss_map_dir: 0.0057, loss: 21.3348, grad_norm: 158.7419 +2026-03-01 06:47:51,595 - DriveTransformer - INFO - Epoch [12][19750/39528] lr: 5.696e-05, eta: 4 days, 4:22:55, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.0832, loss_bbox: 0.2800, loss_traj: 0.3786, loss_traj_cls: 0.0020, loss_map_cls: 0.1085, loss_map_pts: 0.5459, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 3.1262, d0.loss_plan_l1_fix_dist: 0.4474, d1.loss_plan_l1_fix_time: 0.6810, d1.loss_plan_l1_fix_dist: 0.2455, d2.loss_plan_l1_fix_time: 0.6535, d2.loss_plan_l1_fix_dist: 0.1991, d3.loss_plan_l1_fix_time: 0.6524, d3.loss_plan_l1_fix_dist: 0.2405, d4.loss_plan_l1_fix_time: 0.6531, d4.loss_plan_l1_fix_dist: 0.1843, d5.loss_plan_l1_fix_time: 0.6541, d5.loss_plan_l1_fix_dist: 0.1746, d6.loss_plan_l1_fix_time: 0.6557, d6.loss_plan_l1_fix_dist: 0.1774, d0.loss_cls_all: 0.1322, d0.loss_bbox_all: 0.3478, d0.loss_cls: 0.1322, d0.loss_bbox: 0.3478, d1.loss_cls: 0.1252, d1.loss_bbox: 0.3111, d2.loss_cls: 0.1098, d2.loss_bbox: 0.2900, d3.loss_cls: 0.0919, d3.loss_bbox: 0.2843, d4.loss_cls: 0.0859, d4.loss_bbox: 0.2819, d5.loss_cls: 0.0833, d5.loss_bbox: 0.2808, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6245, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4641, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4159, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3891, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3833, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3779, d0.loss_map_cls_all: 0.1945, d0.loss_map_pts_all: 1.0784, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1945, d0.loss_map_pts: 1.0784, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1596, d1.loss_map_pts: 0.7916, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1370, d2.loss_map_pts: 0.6339, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1250, d3.loss_map_pts: 0.5751, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1173, d4.loss_map_pts: 0.5537, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1114, d5.loss_map_pts: 0.5475, d5.loss_map_dir: 0.0067, loss: 22.0594, grad_norm: 157.3898 +2026-03-01 06:48:26,532 - DriveTransformer - INFO - Epoch [12][19800/39528] lr: 5.696e-05, eta: 4 days, 4:22:15, time: 0.699, data_time: 0.036, memory: 19865, loss_cls: 0.0726, loss_bbox: 0.2627, loss_traj: 0.4291, loss_traj_cls: 0.0019, loss_map_cls: 0.1019, loss_map_pts: 0.5101, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.5813, d0.loss_plan_l1_fix_dist: 0.4209, d1.loss_plan_l1_fix_time: 0.7073, d1.loss_plan_l1_fix_dist: 0.2513, d2.loss_plan_l1_fix_time: 0.6758, d2.loss_plan_l1_fix_dist: 0.1946, d3.loss_plan_l1_fix_time: 0.6709, d3.loss_plan_l1_fix_dist: 0.2406, d4.loss_plan_l1_fix_time: 0.6719, d4.loss_plan_l1_fix_dist: 0.1806, d5.loss_plan_l1_fix_time: 0.6733, d5.loss_plan_l1_fix_dist: 0.1645, d6.loss_plan_l1_fix_time: 0.6749, d6.loss_plan_l1_fix_dist: 0.1703, d0.loss_cls_all: 0.1193, d0.loss_bbox_all: 0.3286, d0.loss_cls: 0.1193, d0.loss_bbox: 0.3286, d1.loss_cls: 0.1122, d1.loss_bbox: 0.2966, d2.loss_cls: 0.0991, d2.loss_bbox: 0.2736, d3.loss_cls: 0.0818, d3.loss_bbox: 0.2656, d4.loss_cls: 0.0760, d4.loss_bbox: 0.2635, d5.loss_cls: 0.0725, d5.loss_bbox: 0.2634, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6717, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5125, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4570, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4376, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4369, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4299, d0.loss_map_cls_all: 0.1882, d0.loss_map_pts_all: 1.0978, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1882, d0.loss_map_pts: 1.0978, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1486, d1.loss_map_pts: 0.7938, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1268, d2.loss_map_pts: 0.6113, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1152, d3.loss_map_pts: 0.5418, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1092, d4.loss_map_pts: 0.5149, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1042, d5.loss_map_pts: 0.5096, d5.loss_map_dir: 0.0060, loss: 21.5025, grad_norm: 150.8422 +2026-03-01 06:49:04,043 - DriveTransformer - INFO - Epoch [12][19850/39528] lr: 5.696e-05, eta: 4 days, 4:21:41, time: 0.750, data_time: 0.038, memory: 19865, loss_cls: 0.0945, loss_bbox: 0.2740, loss_traj: 0.4267, loss_traj_cls: 0.0020, loss_map_cls: 0.0976, loss_map_pts: 0.5049, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.4628, d0.loss_plan_l1_fix_dist: 0.3690, d1.loss_plan_l1_fix_time: 0.6552, d1.loss_plan_l1_fix_dist: 0.2439, d2.loss_plan_l1_fix_time: 0.6297, d2.loss_plan_l1_fix_dist: 0.2075, d3.loss_plan_l1_fix_time: 0.6269, d3.loss_plan_l1_fix_dist: 0.2599, d4.loss_plan_l1_fix_time: 0.6273, d4.loss_plan_l1_fix_dist: 0.1718, d5.loss_plan_l1_fix_time: 0.6284, d5.loss_plan_l1_fix_dist: 0.1554, d6.loss_plan_l1_fix_time: 0.6297, d6.loss_plan_l1_fix_dist: 0.1656, d0.loss_cls_all: 0.1370, d0.loss_bbox_all: 0.3524, d0.loss_cls: 0.1370, d0.loss_bbox: 0.3524, d1.loss_cls: 0.1318, d1.loss_bbox: 0.3149, d2.loss_cls: 0.1188, d2.loss_bbox: 0.2901, d3.loss_cls: 0.1017, d3.loss_bbox: 0.2806, d4.loss_cls: 0.0960, d4.loss_bbox: 0.2761, d5.loss_cls: 0.0942, d5.loss_bbox: 0.2753, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6937, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5275, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4657, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4369, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4324, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4242, d0.loss_map_cls_all: 0.1900, d0.loss_map_pts_all: 1.0507, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1900, d0.loss_map_pts: 1.0507, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1470, d1.loss_map_pts: 0.7707, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1241, d2.loss_map_pts: 0.5968, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1120, d3.loss_map_pts: 0.5382, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1046, d4.loss_map_pts: 0.5131, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1005, d5.loss_map_pts: 0.5048, d5.loss_map_dir: 0.0063, loss: 21.2208, grad_norm: 148.9766 +2026-03-01 06:49:40,053 - DriveTransformer - INFO - Epoch [12][19900/39528] lr: 5.696e-05, eta: 4 days, 4:21:03, time: 0.720, data_time: 0.039, memory: 19865, loss_cls: 0.0763, loss_bbox: 0.2606, loss_traj: 0.4135, loss_traj_cls: 0.0020, loss_map_cls: 0.0840, loss_map_pts: 0.4417, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.4919, d0.loss_plan_l1_fix_dist: 0.3992, d1.loss_plan_l1_fix_time: 0.7261, d1.loss_plan_l1_fix_dist: 0.2474, d2.loss_plan_l1_fix_time: 0.7081, d2.loss_plan_l1_fix_dist: 0.2344, d3.loss_plan_l1_fix_time: 0.6965, d3.loss_plan_l1_fix_dist: 0.2724, d4.loss_plan_l1_fix_time: 0.6971, d4.loss_plan_l1_fix_dist: 0.1847, d5.loss_plan_l1_fix_time: 0.6988, d5.loss_plan_l1_fix_dist: 0.1679, d6.loss_plan_l1_fix_time: 0.7005, d6.loss_plan_l1_fix_dist: 0.1626, d0.loss_cls_all: 0.1174, d0.loss_bbox_all: 0.3306, d0.loss_cls: 0.1174, d0.loss_bbox: 0.3306, d1.loss_cls: 0.1131, d1.loss_bbox: 0.2963, d2.loss_cls: 0.0997, d2.loss_bbox: 0.2725, d3.loss_cls: 0.0834, d3.loss_bbox: 0.2636, d4.loss_cls: 0.0759, d4.loss_bbox: 0.2624, d5.loss_cls: 0.0769, d5.loss_bbox: 0.2597, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6160, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4861, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4352, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4196, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4154, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4138, d0.loss_map_cls_all: 0.1621, d0.loss_map_pts_all: 0.8927, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1621, d0.loss_map_pts: 0.8927, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1301, d1.loss_map_pts: 0.6634, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1093, d2.loss_map_pts: 0.5224, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0948, d3.loss_map_pts: 0.4713, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0880, d4.loss_map_pts: 0.4500, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0857, d5.loss_map_pts: 0.4427, d5.loss_map_dir: 0.0054, loss: 20.3662, grad_norm: 149.7979 +2026-03-01 06:50:17,424 - DriveTransformer - INFO - Epoch [12][19950/39528] lr: 5.696e-05, eta: 4 days, 4:20:28, time: 0.747, data_time: 0.039, memory: 19865, loss_cls: 0.0858, loss_bbox: 0.2777, loss_traj: 0.5195, loss_traj_cls: 0.0020, loss_map_cls: 0.0853, loss_map_pts: 0.4703, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.4594, d0.loss_plan_l1_fix_dist: 0.3520, d1.loss_plan_l1_fix_time: 0.6423, d1.loss_plan_l1_fix_dist: 0.2379, d2.loss_plan_l1_fix_time: 0.6229, d2.loss_plan_l1_fix_dist: 0.2440, d3.loss_plan_l1_fix_time: 0.6233, d3.loss_plan_l1_fix_dist: 0.2707, d4.loss_plan_l1_fix_time: 0.6248, d4.loss_plan_l1_fix_dist: 0.1974, d5.loss_plan_l1_fix_time: 0.6268, d5.loss_plan_l1_fix_dist: 0.1762, d6.loss_plan_l1_fix_time: 0.6290, d6.loss_plan_l1_fix_dist: 0.1694, d0.loss_cls_all: 0.1299, d0.loss_bbox_all: 0.3343, d0.loss_cls: 0.1299, d0.loss_bbox: 0.3343, d1.loss_cls: 0.1211, d1.loss_bbox: 0.3011, d2.loss_cls: 0.1087, d2.loss_bbox: 0.2840, d3.loss_cls: 0.0933, d3.loss_bbox: 0.2785, d4.loss_cls: 0.0881, d4.loss_bbox: 0.2769, d5.loss_cls: 0.0865, d5.loss_bbox: 0.2767, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7724, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.6090, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5432, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5291, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5223, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5207, d0.loss_map_cls_all: 0.1685, d0.loss_map_pts_all: 0.9828, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1685, d0.loss_map_pts: 0.9828, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1346, d1.loss_map_pts: 0.7106, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1154, d2.loss_map_pts: 0.5562, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1013, d3.loss_map_pts: 0.4964, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0928, d4.loss_map_pts: 0.4771, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0888, d5.loss_map_pts: 0.4697, d5.loss_map_dir: 0.0057, loss: 21.2541, grad_norm: 147.8674 +2026-03-01 06:50:53,631 - DriveTransformer - INFO - Epoch [12][20000/39528] lr: 5.696e-05, eta: 4 days, 4:19:51, time: 0.724, data_time: 0.038, memory: 19865, loss_cls: 0.0890, loss_bbox: 0.2708, loss_traj: 0.3774, loss_traj_cls: 0.0020, loss_map_cls: 0.0837, loss_map_pts: 0.4257, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.8309, d0.loss_plan_l1_fix_dist: 0.5087, d1.loss_plan_l1_fix_time: 0.7039, d1.loss_plan_l1_fix_dist: 0.2317, d2.loss_plan_l1_fix_time: 0.6895, d2.loss_plan_l1_fix_dist: 0.2705, d3.loss_plan_l1_fix_time: 0.6646, d3.loss_plan_l1_fix_dist: 0.2968, d4.loss_plan_l1_fix_time: 0.6635, d4.loss_plan_l1_fix_dist: 0.2518, d5.loss_plan_l1_fix_time: 0.6642, d5.loss_plan_l1_fix_dist: 0.2161, d6.loss_plan_l1_fix_time: 0.6655, d6.loss_plan_l1_fix_dist: 0.1951, d0.loss_cls_all: 0.1343, d0.loss_bbox_all: 0.3279, d0.loss_cls: 0.1343, d0.loss_bbox: 0.3279, d1.loss_cls: 0.1251, d1.loss_bbox: 0.2967, d2.loss_cls: 0.1151, d2.loss_bbox: 0.2768, d3.loss_cls: 0.0963, d3.loss_bbox: 0.2709, d4.loss_cls: 0.0885, d4.loss_bbox: 0.2704, d5.loss_cls: 0.0881, d5.loss_bbox: 0.2710, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6051, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4345, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3975, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3825, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3790, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3746, d0.loss_map_cls_all: 0.1504, d0.loss_map_pts_all: 0.8816, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1504, d0.loss_map_pts: 0.8816, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1209, d1.loss_map_pts: 0.6261, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.0998, d2.loss_map_pts: 0.5010, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0939, d3.loss_map_pts: 0.4518, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0901, d4.loss_map_pts: 0.4309, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0845, d5.loss_map_pts: 0.4261, d5.loss_map_dir: 0.0052, loss: 20.5360, grad_norm: 150.5052 +2026-03-01 06:51:29,940 - DriveTransformer - INFO - Epoch [12][20050/39528] lr: 5.696e-05, eta: 4 days, 4:19:13, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.1047, loss_bbox: 0.2884, loss_traj: 0.4200, loss_traj_cls: 0.0020, loss_map_cls: 0.0984, loss_map_pts: 0.5011, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.8680, d0.loss_plan_l1_fix_dist: 0.4813, d1.loss_plan_l1_fix_time: 0.8806, d1.loss_plan_l1_fix_dist: 0.2158, d2.loss_plan_l1_fix_time: 0.8584, d2.loss_plan_l1_fix_dist: 0.2769, d3.loss_plan_l1_fix_time: 0.8429, d3.loss_plan_l1_fix_dist: 0.2836, d4.loss_plan_l1_fix_time: 0.8440, d4.loss_plan_l1_fix_dist: 0.2538, d5.loss_plan_l1_fix_time: 0.8455, d5.loss_plan_l1_fix_dist: 0.2231, d6.loss_plan_l1_fix_time: 0.8476, d6.loss_plan_l1_fix_dist: 0.2045, d0.loss_cls_all: 0.1442, d0.loss_bbox_all: 0.3560, d0.loss_cls: 0.1442, d0.loss_bbox: 0.3560, d1.loss_cls: 0.1426, d1.loss_bbox: 0.3188, d2.loss_cls: 0.1306, d2.loss_bbox: 0.2980, d3.loss_cls: 0.1119, d3.loss_bbox: 0.2964, d4.loss_cls: 0.1052, d4.loss_bbox: 0.2914, d5.loss_cls: 0.1042, d5.loss_bbox: 0.2891, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6371, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5029, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4495, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4349, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4226, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4220, d0.loss_map_cls_all: 0.1812, d0.loss_map_pts_all: 1.0317, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1812, d0.loss_map_pts: 1.0317, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1478, d1.loss_map_pts: 0.7478, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1257, d2.loss_map_pts: 0.5948, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1148, d3.loss_map_pts: 0.5307, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1062, d4.loss_map_pts: 0.5070, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1026, d5.loss_map_pts: 0.5012, d5.loss_map_dir: 0.0061, loss: 23.2571, grad_norm: 152.6826 +2026-03-01 06:52:06,639 - DriveTransformer - INFO - Epoch [12][20100/39528] lr: 5.696e-05, eta: 4 days, 4:18:37, time: 0.734, data_time: 0.037, memory: 19865, loss_cls: 0.0905, loss_bbox: 0.2848, loss_traj: 0.4551, loss_traj_cls: 0.0021, loss_map_cls: 0.1164, loss_map_pts: 0.5673, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 3.0900, d0.loss_plan_l1_fix_dist: 0.4400, d1.loss_plan_l1_fix_time: 0.7786, d1.loss_plan_l1_fix_dist: 0.1712, d2.loss_plan_l1_fix_time: 0.7546, d2.loss_plan_l1_fix_dist: 0.2628, d3.loss_plan_l1_fix_time: 0.7470, d3.loss_plan_l1_fix_dist: 0.2335, d4.loss_plan_l1_fix_time: 0.7467, d4.loss_plan_l1_fix_dist: 0.2029, d5.loss_plan_l1_fix_time: 0.7473, d5.loss_plan_l1_fix_dist: 0.1781, d6.loss_plan_l1_fix_time: 0.7485, d6.loss_plan_l1_fix_dist: 0.1808, d0.loss_cls_all: 0.1368, d0.loss_bbox_all: 0.3576, d0.loss_cls: 0.1368, d0.loss_bbox: 0.3576, d1.loss_cls: 0.1284, d1.loss_bbox: 0.3216, d2.loss_cls: 0.1170, d2.loss_bbox: 0.2995, d3.loss_cls: 0.0983, d3.loss_bbox: 0.2899, d4.loss_cls: 0.0931, d4.loss_bbox: 0.2862, d5.loss_cls: 0.0899, d5.loss_bbox: 0.2857, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6552, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5166, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4773, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4608, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4537, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4523, d0.loss_map_cls_all: 0.2006, d0.loss_map_pts_all: 1.1292, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2006, d0.loss_map_pts: 1.1292, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1678, d1.loss_map_pts: 0.8320, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1423, d2.loss_map_pts: 0.6750, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1305, d3.loss_map_pts: 0.6008, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1244, d4.loss_map_pts: 0.5744, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1193, d5.loss_map_pts: 0.5676, d5.loss_map_dir: 0.0066, loss: 23.4649, grad_norm: 149.0519 +2026-03-01 06:52:44,333 - DriveTransformer - INFO - Epoch [12][20150/39528] lr: 5.696e-05, eta: 4 days, 4:18:03, time: 0.754, data_time: 0.040, memory: 19865, loss_cls: 0.0844, loss_bbox: 0.2984, loss_traj: 0.4678, loss_traj_cls: 0.0020, loss_map_cls: 0.1172, loss_map_pts: 0.6266, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.5573, d0.loss_plan_l1_fix_dist: 0.4022, d1.loss_plan_l1_fix_time: 0.8120, d1.loss_plan_l1_fix_dist: 0.1759, d2.loss_plan_l1_fix_time: 0.7992, d2.loss_plan_l1_fix_dist: 0.2773, d3.loss_plan_l1_fix_time: 0.7962, d3.loss_plan_l1_fix_dist: 0.2033, d4.loss_plan_l1_fix_time: 0.7976, d4.loss_plan_l1_fix_dist: 0.2020, d5.loss_plan_l1_fix_time: 0.7989, d5.loss_plan_l1_fix_dist: 0.1809, d6.loss_plan_l1_fix_time: 0.8005, d6.loss_plan_l1_fix_dist: 0.2079, d0.loss_cls_all: 0.1361, d0.loss_bbox_all: 0.3691, d0.loss_cls: 0.1361, d0.loss_bbox: 0.3691, d1.loss_cls: 0.1262, d1.loss_bbox: 0.3291, d2.loss_cls: 0.1132, d2.loss_bbox: 0.3064, d3.loss_cls: 0.0923, d3.loss_bbox: 0.3022, d4.loss_cls: 0.0869, d4.loss_bbox: 0.2977, d5.loss_cls: 0.0863, d5.loss_bbox: 0.2965, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7493, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5675, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4975, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4819, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4701, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4652, d0.loss_map_cls_all: 0.2068, d0.loss_map_pts_all: 1.2154, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.2068, d0.loss_map_pts: 1.2154, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1713, d1.loss_map_pts: 0.9064, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1480, d2.loss_map_pts: 0.7355, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1369, d3.loss_map_pts: 0.6669, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1274, d4.loss_map_pts: 0.6364, d4.loss_map_dir: 0.0074, d5.loss_map_cls: 0.1210, d5.loss_map_pts: 0.6267, d5.loss_map_dir: 0.0075, loss: 24.0738, grad_norm: 148.3488 +2026-03-01 06:53:19,514 - DriveTransformer - INFO - Epoch [12][20200/39528] lr: 5.696e-05, eta: 4 days, 4:17:24, time: 0.705, data_time: 0.039, memory: 19865, loss_cls: 0.0720, loss_bbox: 0.2652, loss_traj: 0.4533, loss_traj_cls: 0.0020, loss_map_cls: 0.0893, loss_map_pts: 0.4450, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.7202, d0.loss_plan_l1_fix_dist: 0.5165, d1.loss_plan_l1_fix_time: 0.7328, d1.loss_plan_l1_fix_dist: 0.2034, d2.loss_plan_l1_fix_time: 0.7199, d2.loss_plan_l1_fix_dist: 0.2504, d3.loss_plan_l1_fix_time: 0.7172, d3.loss_plan_l1_fix_dist: 0.1661, d4.loss_plan_l1_fix_time: 0.7182, d4.loss_plan_l1_fix_dist: 0.2183, d5.loss_plan_l1_fix_time: 0.7198, d5.loss_plan_l1_fix_dist: 0.1922, d6.loss_plan_l1_fix_time: 0.7218, d6.loss_plan_l1_fix_dist: 0.2215, d0.loss_cls_all: 0.1130, d0.loss_bbox_all: 0.3273, d0.loss_cls: 0.1130, d0.loss_bbox: 0.3273, d1.loss_cls: 0.1108, d1.loss_bbox: 0.2964, d2.loss_cls: 0.0975, d2.loss_bbox: 0.2767, d3.loss_cls: 0.0794, d3.loss_bbox: 0.2700, d4.loss_cls: 0.0731, d4.loss_bbox: 0.2675, d5.loss_cls: 0.0717, d5.loss_bbox: 0.2663, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7488, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5406, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4780, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4592, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4580, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4555, d0.loss_map_cls_all: 0.1789, d0.loss_map_pts_all: 0.9042, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1789, d0.loss_map_pts: 0.9042, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1402, d1.loss_map_pts: 0.6582, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1147, d2.loss_map_pts: 0.5212, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1031, d3.loss_map_pts: 0.4654, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0957, d4.loss_map_pts: 0.4478, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0924, d5.loss_map_pts: 0.4450, d5.loss_map_dir: 0.0053, loss: 21.2729, grad_norm: 148.3534 +2026-03-01 06:53:57,567 - DriveTransformer - INFO - Epoch [12][20250/39528] lr: 5.696e-05, eta: 4 days, 4:16:50, time: 0.760, data_time: 0.039, memory: 19865, loss_cls: 0.0795, loss_bbox: 0.2666, loss_traj: 0.4915, loss_traj_cls: 0.0019, loss_map_cls: 0.0845, loss_map_pts: 0.4849, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.9582, d0.loss_plan_l1_fix_dist: 0.4566, d1.loss_plan_l1_fix_time: 0.7391, d1.loss_plan_l1_fix_dist: 0.2458, d2.loss_plan_l1_fix_time: 0.7133, d2.loss_plan_l1_fix_dist: 0.2308, d3.loss_plan_l1_fix_time: 0.6976, d3.loss_plan_l1_fix_dist: 0.1928, d4.loss_plan_l1_fix_time: 0.6975, d4.loss_plan_l1_fix_dist: 0.2110, d5.loss_plan_l1_fix_time: 0.6988, d5.loss_plan_l1_fix_dist: 0.2120, d6.loss_plan_l1_fix_time: 0.7002, d6.loss_plan_l1_fix_dist: 0.2009, d0.loss_cls_all: 0.1225, d0.loss_bbox_all: 0.3333, d0.loss_cls: 0.1225, d0.loss_bbox: 0.3333, d1.loss_cls: 0.1153, d1.loss_bbox: 0.3021, d2.loss_cls: 0.1024, d2.loss_bbox: 0.2836, d3.loss_cls: 0.0837, d3.loss_bbox: 0.2730, d4.loss_cls: 0.0801, d4.loss_bbox: 0.2683, d5.loss_cls: 0.0786, d5.loss_bbox: 0.2674, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7640, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5751, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5254, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5003, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4972, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4958, d0.loss_map_cls_all: 0.1693, d0.loss_map_pts_all: 0.9777, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1693, d0.loss_map_pts: 0.9777, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1371, d1.loss_map_pts: 0.7116, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1126, d2.loss_map_pts: 0.5631, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1006, d3.loss_map_pts: 0.5129, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0913, d4.loss_map_pts: 0.4901, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0858, d5.loss_map_pts: 0.4853, d5.loss_map_dir: 0.0060, loss: 22.1266, grad_norm: 146.9791 +2026-03-01 06:54:36,376 - DriveTransformer - INFO - Epoch [12][20300/39528] lr: 5.696e-05, eta: 4 days, 4:16:19, time: 0.776, data_time: 0.037, memory: 19865, loss_cls: 0.0785, loss_bbox: 0.2747, loss_traj: 0.3873, loss_traj_cls: 0.0020, loss_map_cls: 0.0916, loss_map_pts: 0.5245, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.7152, d0.loss_plan_l1_fix_dist: 0.4446, d1.loss_plan_l1_fix_time: 0.7251, d1.loss_plan_l1_fix_dist: 0.2647, d2.loss_plan_l1_fix_time: 0.7013, d2.loss_plan_l1_fix_dist: 0.1971, d3.loss_plan_l1_fix_time: 0.7044, d3.loss_plan_l1_fix_dist: 0.2465, d4.loss_plan_l1_fix_time: 0.7063, d4.loss_plan_l1_fix_dist: 0.2043, d5.loss_plan_l1_fix_time: 0.7084, d5.loss_plan_l1_fix_dist: 0.2277, d6.loss_plan_l1_fix_time: 0.7107, d6.loss_plan_l1_fix_dist: 0.2145, d0.loss_cls_all: 0.1232, d0.loss_bbox_all: 0.3341, d0.loss_cls: 0.1232, d0.loss_bbox: 0.3341, d1.loss_cls: 0.1147, d1.loss_bbox: 0.3048, d2.loss_cls: 0.1035, d2.loss_bbox: 0.2829, d3.loss_cls: 0.0888, d3.loss_bbox: 0.2765, d4.loss_cls: 0.0820, d4.loss_bbox: 0.2742, d5.loss_cls: 0.0794, d5.loss_bbox: 0.2745, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6413, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4767, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4149, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4010, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.3896, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.3872, d0.loss_map_cls_all: 0.1809, d0.loss_map_pts_all: 1.1135, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1809, d0.loss_map_pts: 1.1135, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1482, d1.loss_map_pts: 0.8011, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1240, d2.loss_map_pts: 0.6179, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1103, d3.loss_map_pts: 0.5517, d3.loss_map_dir: 0.0067, d4.loss_map_cls: 0.0997, d4.loss_map_pts: 0.5289, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.0935, d5.loss_map_pts: 0.5251, d5.loss_map_dir: 0.0069, loss: 21.8851, grad_norm: 142.9780 +2026-03-01 06:55:13,342 - DriveTransformer - INFO - Epoch [12][20350/39528] lr: 5.696e-05, eta: 4 days, 4:15:43, time: 0.739, data_time: 0.039, memory: 19865, loss_cls: 0.0735, loss_bbox: 0.2568, loss_traj: 0.4946, loss_traj_cls: 0.0020, loss_map_cls: 0.0763, loss_map_pts: 0.4373, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.5745, d0.loss_plan_l1_fix_dist: 0.4509, d1.loss_plan_l1_fix_time: 0.6856, d1.loss_plan_l1_fix_dist: 0.3068, d2.loss_plan_l1_fix_time: 0.6455, d2.loss_plan_l1_fix_dist: 0.1868, d3.loss_plan_l1_fix_time: 0.6399, d3.loss_plan_l1_fix_dist: 0.3058, d4.loss_plan_l1_fix_time: 0.6412, d4.loss_plan_l1_fix_dist: 0.2145, d5.loss_plan_l1_fix_time: 0.6428, d5.loss_plan_l1_fix_dist: 0.2381, d6.loss_plan_l1_fix_time: 0.6449, d6.loss_plan_l1_fix_dist: 0.2481, d0.loss_cls_all: 0.1165, d0.loss_bbox_all: 0.3177, d0.loss_cls: 0.1165, d0.loss_bbox: 0.3177, d1.loss_cls: 0.1144, d1.loss_bbox: 0.2826, d2.loss_cls: 0.0970, d2.loss_bbox: 0.2651, d3.loss_cls: 0.0801, d3.loss_bbox: 0.2592, d4.loss_cls: 0.0744, d4.loss_bbox: 0.2581, d5.loss_cls: 0.0739, d5.loss_bbox: 0.2565, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7281, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5720, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5185, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4967, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4939, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4978, d0.loss_map_cls_all: 0.1447, d0.loss_map_pts_all: 0.8943, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1447, d0.loss_map_pts: 0.8943, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1178, d1.loss_map_pts: 0.6388, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.0970, d2.loss_map_pts: 0.5104, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0883, d3.loss_map_pts: 0.4592, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0831, d4.loss_map_pts: 0.4432, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0785, d5.loss_map_pts: 0.4371, d5.loss_map_dir: 0.0056, loss: 20.7834, grad_norm: 143.6042 +2026-03-01 06:55:48,392 - DriveTransformer - INFO - Epoch [12][20400/39528] lr: 5.696e-05, eta: 4 days, 4:15:03, time: 0.701, data_time: 0.037, memory: 19865, loss_cls: 0.0919, loss_bbox: 0.2701, loss_traj: 0.5218, loss_traj_cls: 0.0019, loss_map_cls: 0.1013, loss_map_pts: 0.4911, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.7603, d0.loss_plan_l1_fix_dist: 0.4596, d1.loss_plan_l1_fix_time: 0.7927, d1.loss_plan_l1_fix_dist: 0.3095, d2.loss_plan_l1_fix_time: 0.7544, d2.loss_plan_l1_fix_dist: 0.1660, d3.loss_plan_l1_fix_time: 0.7233, d3.loss_plan_l1_fix_dist: 0.3007, d4.loss_plan_l1_fix_time: 0.7227, d4.loss_plan_l1_fix_dist: 0.1942, d5.loss_plan_l1_fix_time: 0.7237, d5.loss_plan_l1_fix_dist: 0.2307, d6.loss_plan_l1_fix_time: 0.7258, d6.loss_plan_l1_fix_dist: 0.2731, d0.loss_cls_all: 0.1372, d0.loss_bbox_all: 0.3324, d0.loss_cls: 0.1372, d0.loss_bbox: 0.3324, d1.loss_cls: 0.1355, d1.loss_bbox: 0.2995, d2.loss_cls: 0.1202, d2.loss_bbox: 0.2793, d3.loss_cls: 0.1007, d3.loss_bbox: 0.2746, d4.loss_cls: 0.0944, d4.loss_bbox: 0.2714, d5.loss_cls: 0.0939, d5.loss_bbox: 0.2697, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7671, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.6017, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5323, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5216, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.5189, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5223, d0.loss_map_cls_all: 0.1818, d0.loss_map_pts_all: 0.9561, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1818, d0.loss_map_pts: 0.9561, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1508, d1.loss_map_pts: 0.6947, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1292, d2.loss_map_pts: 0.5606, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1191, d3.loss_map_pts: 0.5103, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1100, d4.loss_map_pts: 0.4935, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1052, d5.loss_map_pts: 0.4910, d5.loss_map_dir: 0.0064, loss: 22.6521, grad_norm: 143.5195 +2026-03-01 06:56:23,315 - DriveTransformer - INFO - Epoch [12][20450/39528] lr: 5.696e-05, eta: 4 days, 4:14:23, time: 0.698, data_time: 0.041, memory: 19865, loss_cls: 0.0820, loss_bbox: 0.2580, loss_traj: 0.4323, loss_traj_cls: 0.0020, loss_map_cls: 0.0655, loss_map_pts: 0.3803, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.9772, d0.loss_plan_l1_fix_dist: 0.5366, d1.loss_plan_l1_fix_time: 0.7649, d1.loss_plan_l1_fix_dist: 0.3203, d2.loss_plan_l1_fix_time: 0.7447, d2.loss_plan_l1_fix_dist: 0.1999, d3.loss_plan_l1_fix_time: 0.7366, d3.loss_plan_l1_fix_dist: 0.3059, d4.loss_plan_l1_fix_time: 0.7378, d4.loss_plan_l1_fix_dist: 0.2255, d5.loss_plan_l1_fix_time: 0.7390, d5.loss_plan_l1_fix_dist: 0.2532, d6.loss_plan_l1_fix_time: 0.7407, d6.loss_plan_l1_fix_dist: 0.3160, d0.loss_cls_all: 0.1220, d0.loss_bbox_all: 0.3248, d0.loss_cls: 0.1220, d0.loss_bbox: 0.3248, d1.loss_cls: 0.1170, d1.loss_bbox: 0.2918, d2.loss_cls: 0.1039, d2.loss_bbox: 0.2732, d3.loss_cls: 0.0857, d3.loss_bbox: 0.2661, d4.loss_cls: 0.0829, d4.loss_bbox: 0.2616, d5.loss_cls: 0.0806, d5.loss_bbox: 0.2595, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6705, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5140, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4597, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4406, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4342, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4321, d0.loss_map_cls_all: 0.1310, d0.loss_map_pts_all: 0.7828, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1310, d0.loss_map_pts: 0.7828, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.0988, d1.loss_map_pts: 0.5684, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.0821, d2.loss_map_pts: 0.4484, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0754, d3.loss_map_pts: 0.4030, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0697, d4.loss_map_pts: 0.3868, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0668, d5.loss_map_pts: 0.3813, d5.loss_map_dir: 0.0050, loss: 20.9407, grad_norm: 143.2001 +2026-03-01 06:56:58,980 - DriveTransformer - INFO - Epoch [12][20500/39528] lr: 5.696e-05, eta: 4 days, 4:13:44, time: 0.713, data_time: 0.037, memory: 19865, loss_cls: 0.0880, loss_bbox: 0.2554, loss_traj: 0.4345, loss_traj_cls: 0.0020, loss_map_cls: 0.0947, loss_map_pts: 0.4921, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.6432, d0.loss_plan_l1_fix_dist: 0.4308, d1.loss_plan_l1_fix_time: 0.7049, d1.loss_plan_l1_fix_dist: 0.3041, d2.loss_plan_l1_fix_time: 0.6775, d2.loss_plan_l1_fix_dist: 0.1964, d3.loss_plan_l1_fix_time: 0.6761, d3.loss_plan_l1_fix_dist: 0.2607, d4.loss_plan_l1_fix_time: 0.6773, d4.loss_plan_l1_fix_dist: 0.1963, d5.loss_plan_l1_fix_time: 0.6788, d5.loss_plan_l1_fix_dist: 0.2049, d6.loss_plan_l1_fix_time: 0.6806, d6.loss_plan_l1_fix_dist: 0.2602, d0.loss_cls_all: 0.1243, d0.loss_bbox_all: 0.3107, d0.loss_cls: 0.1243, d0.loss_bbox: 0.3107, d1.loss_cls: 0.1171, d1.loss_bbox: 0.2833, d2.loss_cls: 0.1075, d2.loss_bbox: 0.2628, d3.loss_cls: 0.0943, d3.loss_bbox: 0.2567, d4.loss_cls: 0.0891, d4.loss_bbox: 0.2563, d5.loss_cls: 0.0881, d5.loss_bbox: 0.2552, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6258, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4866, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4417, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4379, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4371, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4362, d0.loss_map_cls_all: 0.1704, d0.loss_map_pts_all: 0.9791, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1704, d0.loss_map_pts: 0.9791, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1394, d1.loss_map_pts: 0.7143, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1156, d2.loss_map_pts: 0.5772, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1074, d3.loss_map_pts: 0.5187, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0997, d4.loss_map_pts: 0.4988, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0967, d5.loss_map_pts: 0.4937, d5.loss_map_dir: 0.0054, loss: 21.2152, grad_norm: 133.6212 +2026-03-01 06:57:35,477 - DriveTransformer - INFO - Epoch [12][20550/39528] lr: 5.696e-05, eta: 4 days, 4:13:07, time: 0.730, data_time: 0.039, memory: 19865, loss_cls: 0.0799, loss_bbox: 0.2556, loss_traj: 0.4505, loss_traj_cls: 0.0019, loss_map_cls: 0.0723, loss_map_pts: 0.4223, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.5307, d0.loss_plan_l1_fix_dist: 0.4682, d1.loss_plan_l1_fix_time: 0.7251, d1.loss_plan_l1_fix_dist: 0.2800, d2.loss_plan_l1_fix_time: 0.6735, d2.loss_plan_l1_fix_dist: 0.2247, d3.loss_plan_l1_fix_time: 0.6677, d3.loss_plan_l1_fix_dist: 0.2316, d4.loss_plan_l1_fix_time: 0.6686, d4.loss_plan_l1_fix_dist: 0.1969, d5.loss_plan_l1_fix_time: 0.6712, d5.loss_plan_l1_fix_dist: 0.1913, d6.loss_plan_l1_fix_time: 0.6744, d6.loss_plan_l1_fix_dist: 0.2495, d0.loss_cls_all: 0.1235, d0.loss_bbox_all: 0.3159, d0.loss_cls: 0.1235, d0.loss_bbox: 0.3159, d1.loss_cls: 0.1159, d1.loss_bbox: 0.2862, d2.loss_cls: 0.1006, d2.loss_bbox: 0.2662, d3.loss_cls: 0.0869, d3.loss_bbox: 0.2592, d4.loss_cls: 0.0813, d4.loss_bbox: 0.2566, d5.loss_cls: 0.0788, d5.loss_bbox: 0.2558, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6573, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5165, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4724, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4608, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4554, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4539, d0.loss_map_cls_all: 0.1448, d0.loss_map_pts_all: 0.8777, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1448, d0.loss_map_pts: 0.8777, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1110, d1.loss_map_pts: 0.6414, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.0920, d2.loss_map_pts: 0.5001, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.0832, d3.loss_map_pts: 0.4501, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0781, d4.loss_map_pts: 0.4278, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0741, d5.loss_map_pts: 0.4230, d5.loss_map_dir: 0.0057, loss: 20.3972, grad_norm: 133.1966 +2026-03-01 06:58:12,326 - DriveTransformer - INFO - Epoch [12][20600/39528] lr: 5.696e-05, eta: 4 days, 4:12:32, time: 0.737, data_time: 0.042, memory: 19865, loss_cls: 0.0946, loss_bbox: 0.2881, loss_traj: 0.4496, loss_traj_cls: 0.0020, loss_map_cls: 0.1058, loss_map_pts: 0.5474, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.5826, d0.loss_plan_l1_fix_dist: 0.4323, d1.loss_plan_l1_fix_time: 0.7049, d1.loss_plan_l1_fix_dist: 0.2574, d2.loss_plan_l1_fix_time: 0.6747, d2.loss_plan_l1_fix_dist: 0.2399, d3.loss_plan_l1_fix_time: 0.6707, d3.loss_plan_l1_fix_dist: 0.2171, d4.loss_plan_l1_fix_time: 0.6705, d4.loss_plan_l1_fix_dist: 0.1834, d5.loss_plan_l1_fix_time: 0.6719, d5.loss_plan_l1_fix_dist: 0.1906, d6.loss_plan_l1_fix_time: 0.6739, d6.loss_plan_l1_fix_dist: 0.2596, d0.loss_cls_all: 0.1408, d0.loss_bbox_all: 0.3601, d0.loss_cls: 0.1408, d0.loss_bbox: 0.3601, d1.loss_cls: 0.1306, d1.loss_bbox: 0.3275, d2.loss_cls: 0.1181, d2.loss_bbox: 0.3019, d3.loss_cls: 0.1018, d3.loss_bbox: 0.2937, d4.loss_cls: 0.0959, d4.loss_bbox: 0.2897, d5.loss_cls: 0.0932, d5.loss_bbox: 0.2888, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7489, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5665, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4920, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4639, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4538, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4493, d0.loss_map_cls_all: 0.2006, d0.loss_map_pts_all: 1.1099, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2006, d0.loss_map_pts: 1.1099, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1646, d1.loss_map_pts: 0.8271, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1338, d2.loss_map_pts: 0.6461, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1210, d3.loss_map_pts: 0.5802, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1136, d4.loss_map_pts: 0.5547, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1080, d5.loss_map_pts: 0.5479, d5.loss_map_dir: 0.0067, loss: 22.6111, grad_norm: 133.6498 +2026-03-01 06:58:48,629 - DriveTransformer - INFO - Epoch [12][20650/39528] lr: 5.696e-05, eta: 4 days, 4:11:54, time: 0.726, data_time: 0.039, memory: 19865, loss_cls: 0.0859, loss_bbox: 0.2723, loss_traj: 0.4467, loss_traj_cls: 0.0020, loss_map_cls: 0.0856, loss_map_pts: 0.4748, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.4064, d0.loss_plan_l1_fix_dist: 0.4682, d1.loss_plan_l1_fix_time: 0.6437, d1.loss_plan_l1_fix_dist: 0.2400, d2.loss_plan_l1_fix_time: 0.6143, d2.loss_plan_l1_fix_dist: 0.2486, d3.loss_plan_l1_fix_time: 0.5991, d3.loss_plan_l1_fix_dist: 0.2198, d4.loss_plan_l1_fix_time: 0.5985, d4.loss_plan_l1_fix_dist: 0.1984, d5.loss_plan_l1_fix_time: 0.5996, d5.loss_plan_l1_fix_dist: 0.2389, d6.loss_plan_l1_fix_time: 0.6014, d6.loss_plan_l1_fix_dist: 0.2919, d0.loss_cls_all: 0.1267, d0.loss_bbox_all: 0.3383, d0.loss_cls: 0.1267, d0.loss_bbox: 0.3383, d1.loss_cls: 0.1233, d1.loss_bbox: 0.3033, d2.loss_cls: 0.1114, d2.loss_bbox: 0.2828, d3.loss_cls: 0.0942, d3.loss_bbox: 0.2785, d4.loss_cls: 0.0885, d4.loss_bbox: 0.2738, d5.loss_cls: 0.0853, d5.loss_bbox: 0.2737, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6537, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5156, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4658, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4506, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4465, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4440, d0.loss_map_cls_all: 0.1637, d0.loss_map_pts_all: 0.9623, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1637, d0.loss_map_pts: 0.9623, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1351, d1.loss_map_pts: 0.7010, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1100, d2.loss_map_pts: 0.5491, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1001, d3.loss_map_pts: 0.4971, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0917, d4.loss_map_pts: 0.4805, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0881, d5.loss_map_pts: 0.4746, d5.loss_map_dir: 0.0057, loss: 20.6898, grad_norm: 139.0519 +2026-03-01 06:59:27,558 - DriveTransformer - INFO - Epoch [12][20700/39528] lr: 5.696e-05, eta: 4 days, 4:11:23, time: 0.779, data_time: 0.038, memory: 19865, loss_cls: 0.0865, loss_bbox: 0.2663, loss_traj: 0.4205, loss_traj_cls: 0.0020, loss_map_cls: 0.0934, loss_map_pts: 0.5412, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.5261, d0.loss_plan_l1_fix_dist: 0.3458, d1.loss_plan_l1_fix_time: 0.7973, d1.loss_plan_l1_fix_dist: 0.2058, d2.loss_plan_l1_fix_time: 0.7821, d2.loss_plan_l1_fix_dist: 0.2238, d3.loss_plan_l1_fix_time: 0.7672, d3.loss_plan_l1_fix_dist: 0.1925, d4.loss_plan_l1_fix_time: 0.7683, d4.loss_plan_l1_fix_dist: 0.1790, d5.loss_plan_l1_fix_time: 0.7704, d5.loss_plan_l1_fix_dist: 0.2479, d6.loss_plan_l1_fix_time: 0.7730, d6.loss_plan_l1_fix_dist: 0.2538, d0.loss_cls_all: 0.1277, d0.loss_bbox_all: 0.3310, d0.loss_cls: 0.1277, d0.loss_bbox: 0.3310, d1.loss_cls: 0.1195, d1.loss_bbox: 0.2986, d2.loss_cls: 0.1068, d2.loss_bbox: 0.2796, d3.loss_cls: 0.0939, d3.loss_bbox: 0.2710, d4.loss_cls: 0.0887, d4.loss_bbox: 0.2679, d5.loss_cls: 0.0864, d5.loss_bbox: 0.2672, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6023, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4843, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4346, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4236, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4205, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4195, d0.loss_map_cls_all: 0.1766, d0.loss_map_pts_all: 1.1823, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.1766, d0.loss_map_pts: 1.1823, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1441, d1.loss_map_pts: 0.8322, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1181, d2.loss_map_pts: 0.6435, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1055, d3.loss_map_pts: 0.5748, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.1006, d4.loss_map_pts: 0.5487, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.0957, d5.loss_map_pts: 0.5426, d5.loss_map_dir: 0.0071, loss: 22.3117, grad_norm: 138.6621 +2026-03-01 07:00:03,203 - DriveTransformer - INFO - Epoch [12][20750/39528] lr: 5.696e-05, eta: 4 days, 4:10:44, time: 0.713, data_time: 0.037, memory: 19865, loss_cls: 0.0764, loss_bbox: 0.2520, loss_traj: 0.4256, loss_traj_cls: 0.0020, loss_map_cls: 0.0822, loss_map_pts: 0.4441, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.5395, d0.loss_plan_l1_fix_dist: 0.4034, d1.loss_plan_l1_fix_time: 0.7429, d1.loss_plan_l1_fix_dist: 0.2115, d2.loss_plan_l1_fix_time: 0.7215, d2.loss_plan_l1_fix_dist: 0.2154, d3.loss_plan_l1_fix_time: 0.7198, d3.loss_plan_l1_fix_dist: 0.1983, d4.loss_plan_l1_fix_time: 0.7211, d4.loss_plan_l1_fix_dist: 0.1864, d5.loss_plan_l1_fix_time: 0.7224, d5.loss_plan_l1_fix_dist: 0.2695, d6.loss_plan_l1_fix_time: 0.7242, d6.loss_plan_l1_fix_dist: 0.2621, d0.loss_cls_all: 0.1210, d0.loss_bbox_all: 0.3196, d0.loss_cls: 0.1210, d0.loss_bbox: 0.3196, d1.loss_cls: 0.1133, d1.loss_bbox: 0.2890, d2.loss_cls: 0.0977, d2.loss_bbox: 0.2650, d3.loss_cls: 0.0791, d3.loss_bbox: 0.2588, d4.loss_cls: 0.0777, d4.loss_bbox: 0.2537, d5.loss_cls: 0.0766, d5.loss_bbox: 0.2513, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6556, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5041, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4462, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4331, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4280, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4264, d0.loss_map_cls_all: 0.1682, d0.loss_map_pts_all: 0.9216, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1682, d0.loss_map_pts: 0.9216, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1310, d1.loss_map_pts: 0.6714, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1066, d2.loss_map_pts: 0.5257, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0946, d3.loss_map_pts: 0.4672, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0900, d4.loss_map_pts: 0.4469, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0856, d5.loss_map_pts: 0.4446, d5.loss_map_dir: 0.0053, loss: 20.7496, grad_norm: 134.4081 +2026-03-01 07:00:39,409 - DriveTransformer - INFO - Epoch [12][20800/39528] lr: 5.696e-05, eta: 4 days, 4:10:07, time: 0.724, data_time: 0.038, memory: 19865, loss_cls: 0.0858, loss_bbox: 0.2616, loss_traj: 0.3749, loss_traj_cls: 0.0020, loss_map_cls: 0.0892, loss_map_pts: 0.4764, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.3224, d0.loss_plan_l1_fix_dist: 0.4435, d1.loss_plan_l1_fix_time: 0.7273, d1.loss_plan_l1_fix_dist: 0.2151, d2.loss_plan_l1_fix_time: 0.7094, d2.loss_plan_l1_fix_dist: 0.2155, d3.loss_plan_l1_fix_time: 0.7026, d3.loss_plan_l1_fix_dist: 0.2161, d4.loss_plan_l1_fix_time: 0.7043, d4.loss_plan_l1_fix_dist: 0.1936, d5.loss_plan_l1_fix_time: 0.7057, d5.loss_plan_l1_fix_dist: 0.2881, d6.loss_plan_l1_fix_time: 0.7072, d6.loss_plan_l1_fix_dist: 0.2442, d0.loss_cls_all: 0.1223, d0.loss_bbox_all: 0.3301, d0.loss_cls: 0.1223, d0.loss_bbox: 0.3301, d1.loss_cls: 0.1178, d1.loss_bbox: 0.2991, d2.loss_cls: 0.1055, d2.loss_bbox: 0.2773, d3.loss_cls: 0.0915, d3.loss_bbox: 0.2694, d4.loss_cls: 0.0885, d4.loss_bbox: 0.2643, d5.loss_cls: 0.0853, d5.loss_bbox: 0.2636, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5885, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4410, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3985, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3858, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3772, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3738, d0.loss_map_cls_all: 0.1688, d0.loss_map_pts_all: 0.9737, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1688, d0.loss_map_pts: 0.9737, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1358, d1.loss_map_pts: 0.6909, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1106, d2.loss_map_pts: 0.5575, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1005, d3.loss_map_pts: 0.5021, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0953, d4.loss_map_pts: 0.4798, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0908, d5.loss_map_pts: 0.4770, d5.loss_map_dir: 0.0056, loss: 20.5925, grad_norm: 136.6652 +2026-03-01 07:01:15,639 - DriveTransformer - INFO - Epoch [12][20850/39528] lr: 5.696e-05, eta: 4 days, 4:09:30, time: 0.725, data_time: 0.038, memory: 19865, loss_cls: 0.0790, loss_bbox: 0.2634, loss_traj: 0.4641, loss_traj_cls: 0.0020, loss_map_cls: 0.0801, loss_map_pts: 0.4331, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.9737, d0.loss_plan_l1_fix_dist: 0.3420, d1.loss_plan_l1_fix_time: 0.6916, d1.loss_plan_l1_fix_dist: 0.2025, d2.loss_plan_l1_fix_time: 0.6796, d2.loss_plan_l1_fix_dist: 0.1873, d3.loss_plan_l1_fix_time: 0.6706, d3.loss_plan_l1_fix_dist: 0.1979, d4.loss_plan_l1_fix_time: 0.6734, d4.loss_plan_l1_fix_dist: 0.1710, d5.loss_plan_l1_fix_time: 0.6757, d5.loss_plan_l1_fix_dist: 0.2646, d6.loss_plan_l1_fix_time: 0.6777, d6.loss_plan_l1_fix_dist: 0.2086, d0.loss_cls_all: 0.1241, d0.loss_bbox_all: 0.3158, d0.loss_cls: 0.1241, d0.loss_bbox: 0.3158, d1.loss_cls: 0.1167, d1.loss_bbox: 0.2907, d2.loss_cls: 0.1070, d2.loss_bbox: 0.2694, d3.loss_cls: 0.0874, d3.loss_bbox: 0.2652, d4.loss_cls: 0.0799, d4.loss_bbox: 0.2642, d5.loss_cls: 0.0783, d5.loss_bbox: 0.2637, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7384, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5461, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4890, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4734, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4691, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4661, d0.loss_map_cls_all: 0.1455, d0.loss_map_pts_all: 0.8596, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1455, d0.loss_map_pts: 0.8596, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1186, d1.loss_map_pts: 0.6195, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1003, d2.loss_map_pts: 0.4981, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0913, d3.loss_map_pts: 0.4533, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0844, d4.loss_map_pts: 0.4389, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0807, d5.loss_map_pts: 0.4346, d5.loss_map_dir: 0.0053, loss: 20.8019, grad_norm: 134.8303 +2026-03-01 07:01:50,969 - DriveTransformer - INFO - Epoch [12][20900/39528] lr: 5.696e-05, eta: 4 days, 4:08:50, time: 0.707, data_time: 0.038, memory: 19865, loss_cls: 0.0860, loss_bbox: 0.2811, loss_traj: 0.3622, loss_traj_cls: 0.0021, loss_map_cls: 0.0927, loss_map_pts: 0.4721, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.5200, d0.loss_plan_l1_fix_dist: 0.4342, d1.loss_plan_l1_fix_time: 0.7027, d1.loss_plan_l1_fix_dist: 0.2309, d2.loss_plan_l1_fix_time: 0.6917, d2.loss_plan_l1_fix_dist: 0.2081, d3.loss_plan_l1_fix_time: 0.6859, d3.loss_plan_l1_fix_dist: 0.2140, d4.loss_plan_l1_fix_time: 0.6878, d4.loss_plan_l1_fix_dist: 0.1944, d5.loss_plan_l1_fix_time: 0.6894, d5.loss_plan_l1_fix_dist: 0.2838, d6.loss_plan_l1_fix_time: 0.6912, d6.loss_plan_l1_fix_dist: 0.2191, d0.loss_cls_all: 0.1322, d0.loss_bbox_all: 0.3502, d0.loss_cls: 0.1322, d0.loss_bbox: 0.3502, d1.loss_cls: 0.1239, d1.loss_bbox: 0.3169, d2.loss_cls: 0.1132, d2.loss_bbox: 0.2947, d3.loss_cls: 0.0928, d3.loss_bbox: 0.2874, d4.loss_cls: 0.0872, d4.loss_bbox: 0.2835, d5.loss_cls: 0.0863, d5.loss_bbox: 0.2818, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5630, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4272, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3831, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3704, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3657, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3671, d0.loss_map_cls_all: 0.1695, d0.loss_map_pts_all: 1.0148, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1695, d0.loss_map_pts: 1.0148, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1392, d1.loss_map_pts: 0.7137, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1158, d2.loss_map_pts: 0.5573, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1066, d3.loss_map_pts: 0.4987, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0987, d4.loss_map_pts: 0.4776, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0945, d5.loss_map_pts: 0.4725, d5.loss_map_dir: 0.0056, loss: 20.8533, grad_norm: 134.6970 +2026-03-01 07:02:27,318 - DriveTransformer - INFO - Epoch [12][20950/39528] lr: 5.696e-05, eta: 4 days, 4:08:13, time: 0.727, data_time: 0.039, memory: 19865, loss_cls: 0.0845, loss_bbox: 0.2783, loss_traj: 0.4508, loss_traj_cls: 0.0020, loss_map_cls: 0.0866, loss_map_pts: 0.4594, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.4187, d0.loss_plan_l1_fix_dist: 0.4761, d1.loss_plan_l1_fix_time: 0.7042, d1.loss_plan_l1_fix_dist: 0.2235, d2.loss_plan_l1_fix_time: 0.6840, d2.loss_plan_l1_fix_dist: 0.2183, d3.loss_plan_l1_fix_time: 0.6925, d3.loss_plan_l1_fix_dist: 0.2144, d4.loss_plan_l1_fix_time: 0.6947, d4.loss_plan_l1_fix_dist: 0.2033, d5.loss_plan_l1_fix_time: 0.6972, d5.loss_plan_l1_fix_dist: 0.2896, d6.loss_plan_l1_fix_time: 0.7000, d6.loss_plan_l1_fix_dist: 0.2416, d0.loss_cls_all: 0.1307, d0.loss_bbox_all: 0.3465, d0.loss_cls: 0.1307, d0.loss_bbox: 0.3465, d1.loss_cls: 0.1242, d1.loss_bbox: 0.3100, d2.loss_cls: 0.1109, d2.loss_bbox: 0.2870, d3.loss_cls: 0.0933, d3.loss_bbox: 0.2824, d4.loss_cls: 0.0867, d4.loss_bbox: 0.2792, d5.loss_cls: 0.0848, d5.loss_bbox: 0.2787, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6738, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5422, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4887, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4621, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4570, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4527, d0.loss_map_cls_all: 0.1609, d0.loss_map_pts_all: 0.9692, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1609, d0.loss_map_pts: 0.9692, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1318, d1.loss_map_pts: 0.6909, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1102, d2.loss_map_pts: 0.5393, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.0994, d3.loss_map_pts: 0.4798, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.0932, d4.loss_map_pts: 0.4615, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0888, d5.loss_map_pts: 0.4581, d5.loss_map_dir: 0.0064, loss: 21.2573, grad_norm: 135.9108 +2026-03-01 07:03:03,191 - DriveTransformer - INFO - Epoch [12][21000/39528] lr: 5.696e-05, eta: 4 days, 4:07:35, time: 0.719, data_time: 0.040, memory: 19865, loss_cls: 0.0787, loss_bbox: 0.2669, loss_traj: 0.4968, loss_traj_cls: 0.0020, loss_map_cls: 0.0806, loss_map_pts: 0.4700, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.7499, d0.loss_plan_l1_fix_dist: 0.3573, d1.loss_plan_l1_fix_time: 0.7532, d1.loss_plan_l1_fix_dist: 0.2220, d2.loss_plan_l1_fix_time: 0.7381, d2.loss_plan_l1_fix_dist: 0.2219, d3.loss_plan_l1_fix_time: 0.7393, d3.loss_plan_l1_fix_dist: 0.2066, d4.loss_plan_l1_fix_time: 0.7424, d4.loss_plan_l1_fix_dist: 0.1949, d5.loss_plan_l1_fix_time: 0.7462, d5.loss_plan_l1_fix_dist: 0.2669, d6.loss_plan_l1_fix_time: 0.7507, d6.loss_plan_l1_fix_dist: 0.2616, d0.loss_cls_all: 0.1236, d0.loss_bbox_all: 0.3309, d0.loss_cls: 0.1236, d0.loss_bbox: 0.3309, d1.loss_cls: 0.1170, d1.loss_bbox: 0.2993, d2.loss_cls: 0.1018, d2.loss_bbox: 0.2781, d3.loss_cls: 0.0860, d3.loss_bbox: 0.2690, d4.loss_cls: 0.0800, d4.loss_bbox: 0.2664, d5.loss_cls: 0.0788, d5.loss_bbox: 0.2664, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7908, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5985, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5315, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5080, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5031, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5023, d0.loss_map_cls_all: 0.1614, d0.loss_map_pts_all: 0.9918, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1614, d0.loss_map_pts: 0.9918, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1267, d1.loss_map_pts: 0.7110, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1035, d2.loss_map_pts: 0.5522, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0927, d3.loss_map_pts: 0.4974, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0866, d4.loss_map_pts: 0.4744, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0842, d5.loss_map_pts: 0.4689, d5.loss_map_dir: 0.0056, loss: 22.0874, grad_norm: 134.5994 +2026-03-01 07:03:39,130 - DriveTransformer - INFO - Epoch [12][21050/39528] lr: 5.696e-05, eta: 4 days, 4:06:57, time: 0.717, data_time: 0.038, memory: 19865, loss_cls: 0.0912, loss_bbox: 0.2833, loss_traj: 0.5073, loss_traj_cls: 0.0020, loss_map_cls: 0.0897, loss_map_pts: 0.4923, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.9472, d0.loss_plan_l1_fix_dist: 0.3981, d1.loss_plan_l1_fix_time: 0.7027, d1.loss_plan_l1_fix_dist: 0.2094, d2.loss_plan_l1_fix_time: 0.6899, d2.loss_plan_l1_fix_dist: 0.2101, d3.loss_plan_l1_fix_time: 0.6876, d3.loss_plan_l1_fix_dist: 0.1898, d4.loss_plan_l1_fix_time: 0.6899, d4.loss_plan_l1_fix_dist: 0.1789, d5.loss_plan_l1_fix_time: 0.6927, d5.loss_plan_l1_fix_dist: 0.2268, d6.loss_plan_l1_fix_time: 0.6964, d6.loss_plan_l1_fix_dist: 0.2201, d0.loss_cls_all: 0.1325, d0.loss_bbox_all: 0.3594, d0.loss_cls: 0.1325, d0.loss_bbox: 0.3594, d1.loss_cls: 0.1269, d1.loss_bbox: 0.3232, d2.loss_cls: 0.1162, d2.loss_bbox: 0.2983, d3.loss_cls: 0.0966, d3.loss_bbox: 0.2898, d4.loss_cls: 0.0916, d4.loss_bbox: 0.2881, d5.loss_cls: 0.0919, d5.loss_bbox: 0.2848, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7429, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5875, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5273, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5123, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5097, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5096, d0.loss_map_cls_all: 0.1838, d0.loss_map_pts_all: 1.0486, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1838, d0.loss_map_pts: 1.0486, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1483, d1.loss_map_pts: 0.7804, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1197, d2.loss_map_pts: 0.5978, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1048, d3.loss_map_pts: 0.5263, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0963, d4.loss_map_pts: 0.5001, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0913, d5.loss_map_pts: 0.4917, d5.loss_map_dir: 0.0054, loss: 22.5558, grad_norm: 132.7725 +2026-03-01 07:04:13,481 - DriveTransformer - INFO - Epoch [12][21100/39528] lr: 5.696e-05, eta: 4 days, 4:06:16, time: 0.687, data_time: 0.038, memory: 19865, loss_cls: 0.0975, loss_bbox: 0.2848, loss_traj: 0.5188, loss_traj_cls: 0.0020, loss_map_cls: 0.0960, loss_map_pts: 0.5109, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.8889, d0.loss_plan_l1_fix_dist: 0.4661, d1.loss_plan_l1_fix_time: 0.8014, d1.loss_plan_l1_fix_dist: 0.2185, d2.loss_plan_l1_fix_time: 0.7896, d2.loss_plan_l1_fix_dist: 0.2224, d3.loss_plan_l1_fix_time: 0.7747, d3.loss_plan_l1_fix_dist: 0.2046, d4.loss_plan_l1_fix_time: 0.7750, d4.loss_plan_l1_fix_dist: 0.2089, d5.loss_plan_l1_fix_time: 0.7764, d5.loss_plan_l1_fix_dist: 0.2446, d6.loss_plan_l1_fix_time: 0.7791, d6.loss_plan_l1_fix_dist: 0.2450, d0.loss_cls_all: 0.1449, d0.loss_bbox_all: 0.3594, d0.loss_cls: 0.1449, d0.loss_bbox: 0.3594, d1.loss_cls: 0.1351, d1.loss_bbox: 0.3241, d2.loss_cls: 0.1207, d2.loss_bbox: 0.2983, d3.loss_cls: 0.1047, d3.loss_bbox: 0.2935, d4.loss_cls: 0.0984, d4.loss_bbox: 0.2890, d5.loss_cls: 0.0957, d5.loss_bbox: 0.2875, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8104, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.6145, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5441, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5238, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5171, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5152, d0.loss_map_cls_all: 0.1882, d0.loss_map_pts_all: 1.0047, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1882, d0.loss_map_pts: 1.0047, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1491, d1.loss_map_pts: 0.7439, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1246, d2.loss_map_pts: 0.5948, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1112, d3.loss_map_pts: 0.5310, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1048, d4.loss_map_pts: 0.5121, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0981, d5.loss_map_pts: 0.5095, d5.loss_map_dir: 0.0053, loss: 23.3976, grad_norm: 135.2252 +2026-03-01 07:04:49,822 - DriveTransformer - INFO - Epoch [12][21150/39528] lr: 5.696e-05, eta: 4 days, 4:05:39, time: 0.727, data_time: 0.039, memory: 19865, loss_cls: 0.0917, loss_bbox: 0.2847, loss_traj: 0.5305, loss_traj_cls: 0.0019, loss_map_cls: 0.0863, loss_map_pts: 0.5127, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.8731, d0.loss_plan_l1_fix_dist: 0.4602, d1.loss_plan_l1_fix_time: 0.7561, d1.loss_plan_l1_fix_dist: 0.2049, d2.loss_plan_l1_fix_time: 0.7372, d2.loss_plan_l1_fix_dist: 0.2165, d3.loss_plan_l1_fix_time: 0.7308, d3.loss_plan_l1_fix_dist: 0.1779, d4.loss_plan_l1_fix_time: 0.7328, d4.loss_plan_l1_fix_dist: 0.1949, d5.loss_plan_l1_fix_time: 0.7349, d5.loss_plan_l1_fix_dist: 0.2318, d6.loss_plan_l1_fix_time: 0.7371, d6.loss_plan_l1_fix_dist: 0.2537, d0.loss_cls_all: 0.1338, d0.loss_bbox_all: 0.3530, d0.loss_cls: 0.1338, d0.loss_bbox: 0.3530, d1.loss_cls: 0.1281, d1.loss_bbox: 0.3234, d2.loss_cls: 0.1174, d2.loss_bbox: 0.2992, d3.loss_cls: 0.0987, d3.loss_bbox: 0.2923, d4.loss_cls: 0.0932, d4.loss_bbox: 0.2878, d5.loss_cls: 0.0919, d5.loss_bbox: 0.2862, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8233, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.6380, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5757, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5393, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5315, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5255, d0.loss_map_cls_all: 0.1675, d0.loss_map_pts_all: 1.0166, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1675, d0.loss_map_pts: 1.0166, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1307, d1.loss_map_pts: 0.7506, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1097, d2.loss_map_pts: 0.5999, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.0972, d3.loss_map_pts: 0.5431, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.0919, d4.loss_map_pts: 0.5203, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0880, d5.loss_map_pts: 0.5138, d5.loss_map_dir: 0.0066, loss: 23.0467, grad_norm: 135.6075 +2026-03-01 07:05:23,963 - DriveTransformer - INFO - Epoch [12][21200/39528] lr: 5.696e-05, eta: 4 days, 4:04:57, time: 0.683, data_time: 0.037, memory: 19865, loss_cls: 0.0831, loss_bbox: 0.2701, loss_traj: 0.4944, loss_traj_cls: 0.0019, loss_map_cls: 0.0701, loss_map_pts: 0.3947, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.4139, d0.loss_plan_l1_fix_dist: 0.4056, d1.loss_plan_l1_fix_time: 0.7242, d1.loss_plan_l1_fix_dist: 0.1981, d2.loss_plan_l1_fix_time: 0.7178, d2.loss_plan_l1_fix_dist: 0.2078, d3.loss_plan_l1_fix_time: 0.7182, d3.loss_plan_l1_fix_dist: 0.1722, d4.loss_plan_l1_fix_time: 0.7208, d4.loss_plan_l1_fix_dist: 0.2031, d5.loss_plan_l1_fix_time: 0.7232, d5.loss_plan_l1_fix_dist: 0.2178, d6.loss_plan_l1_fix_time: 0.7257, d6.loss_plan_l1_fix_dist: 0.2428, d0.loss_cls_all: 0.1273, d0.loss_bbox_all: 0.3265, d0.loss_cls: 0.1273, d0.loss_bbox: 0.3265, d1.loss_cls: 0.1200, d1.loss_bbox: 0.2977, d2.loss_cls: 0.1056, d2.loss_bbox: 0.2779, d3.loss_cls: 0.0895, d3.loss_bbox: 0.2724, d4.loss_cls: 0.0853, d4.loss_bbox: 0.2700, d5.loss_cls: 0.0835, d5.loss_bbox: 0.2692, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7674, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.6025, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5282, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5059, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4985, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4966, d0.loss_map_cls_all: 0.1409, d0.loss_map_pts_all: 0.7930, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1409, d0.loss_map_pts: 0.7930, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1120, d1.loss_map_pts: 0.5682, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.0939, d2.loss_map_pts: 0.4599, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.0824, d3.loss_map_pts: 0.4175, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0755, d4.loss_map_pts: 0.4014, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0718, d5.loss_map_pts: 0.3947, d5.loss_map_dir: 0.0045, loss: 20.4711, grad_norm: 134.1110 +2026-03-01 07:05:59,239 - DriveTransformer - INFO - Epoch [12][21250/39528] lr: 5.696e-05, eta: 4 days, 4:04:17, time: 0.706, data_time: 0.039, memory: 19865, loss_cls: 0.0817, loss_bbox: 0.2811, loss_traj: 0.4811, loss_traj_cls: 0.0020, loss_map_cls: 0.0715, loss_map_pts: 0.4497, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.6808, d0.loss_plan_l1_fix_dist: 0.4991, d1.loss_plan_l1_fix_time: 0.6204, d1.loss_plan_l1_fix_dist: 0.2120, d2.loss_plan_l1_fix_time: 0.5962, d2.loss_plan_l1_fix_dist: 0.2264, d3.loss_plan_l1_fix_time: 0.5936, d3.loss_plan_l1_fix_dist: 0.1948, d4.loss_plan_l1_fix_time: 0.5957, d4.loss_plan_l1_fix_dist: 0.2277, d5.loss_plan_l1_fix_time: 0.5981, d5.loss_plan_l1_fix_dist: 0.2328, d6.loss_plan_l1_fix_time: 0.6013, d6.loss_plan_l1_fix_dist: 0.2754, d0.loss_cls_all: 0.1234, d0.loss_bbox_all: 0.3472, d0.loss_cls: 0.1234, d0.loss_bbox: 0.3472, d1.loss_cls: 0.1214, d1.loss_bbox: 0.3095, d2.loss_cls: 0.1070, d2.loss_bbox: 0.2881, d3.loss_cls: 0.0890, d3.loss_bbox: 0.2811, d4.loss_cls: 0.0837, d4.loss_bbox: 0.2798, d5.loss_cls: 0.0814, d5.loss_bbox: 0.2802, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7014, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5599, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5094, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4931, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4796, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4796, d0.loss_map_cls_all: 0.1508, d0.loss_map_pts_all: 0.9221, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1508, d0.loss_map_pts: 0.9221, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1197, d1.loss_map_pts: 0.6696, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.0945, d2.loss_map_pts: 0.5279, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0849, d3.loss_map_pts: 0.4654, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0788, d4.loss_map_pts: 0.4494, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0739, d5.loss_map_pts: 0.4468, d5.loss_map_dir: 0.0050, loss: 20.8112, grad_norm: 129.7119 +2026-03-01 07:06:35,362 - DriveTransformer - INFO - Epoch [12][21300/39528] lr: 5.696e-05, eta: 4 days, 4:03:40, time: 0.723, data_time: 0.037, memory: 19865, loss_cls: 0.0842, loss_bbox: 0.2936, loss_traj: 0.4475, loss_traj_cls: 0.0019, loss_map_cls: 0.0773, loss_map_pts: 0.4912, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.6228, d0.loss_plan_l1_fix_dist: 0.3627, d1.loss_plan_l1_fix_time: 0.6885, d1.loss_plan_l1_fix_dist: 0.2357, d2.loss_plan_l1_fix_time: 0.6730, d2.loss_plan_l1_fix_dist: 0.2568, d3.loss_plan_l1_fix_time: 0.6797, d3.loss_plan_l1_fix_dist: 0.2270, d4.loss_plan_l1_fix_time: 0.6822, d4.loss_plan_l1_fix_dist: 0.2538, d5.loss_plan_l1_fix_time: 0.6854, d5.loss_plan_l1_fix_dist: 0.2621, d6.loss_plan_l1_fix_time: 0.6896, d6.loss_plan_l1_fix_dist: 0.3277, d0.loss_cls_all: 0.1345, d0.loss_bbox_all: 0.3553, d0.loss_cls: 0.1345, d0.loss_bbox: 0.3553, d1.loss_cls: 0.1250, d1.loss_bbox: 0.3215, d2.loss_cls: 0.1136, d2.loss_bbox: 0.2982, d3.loss_cls: 0.0909, d3.loss_bbox: 0.2959, d4.loss_cls: 0.0837, d4.loss_bbox: 0.2942, d5.loss_cls: 0.0834, d5.loss_bbox: 0.2927, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6771, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5214, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4696, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4557, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4505, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4426, d0.loss_map_cls_all: 0.1580, d0.loss_map_pts_all: 0.9621, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1580, d0.loss_map_pts: 0.9621, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1239, d1.loss_map_pts: 0.6904, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1011, d2.loss_map_pts: 0.5608, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.0899, d3.loss_map_pts: 0.5082, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0852, d4.loss_map_pts: 0.4918, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0796, d5.loss_map_pts: 0.4896, d5.loss_map_dir: 0.0063, loss: 21.5570, grad_norm: 134.9109 +2026-03-01 07:07:11,546 - DriveTransformer - INFO - Epoch [12][21350/39528] lr: 5.696e-05, eta: 4 days, 4:03:02, time: 0.724, data_time: 0.038, memory: 19865, loss_cls: 0.0880, loss_bbox: 0.2841, loss_traj: 0.4154, loss_traj_cls: 0.0019, loss_map_cls: 0.0849, loss_map_pts: 0.4926, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.4723, d0.loss_plan_l1_fix_dist: 0.3555, d1.loss_plan_l1_fix_time: 0.6979, d1.loss_plan_l1_fix_dist: 0.1929, d2.loss_plan_l1_fix_time: 0.6931, d2.loss_plan_l1_fix_dist: 0.2115, d3.loss_plan_l1_fix_time: 0.6900, d3.loss_plan_l1_fix_dist: 0.1765, d4.loss_plan_l1_fix_time: 0.6929, d4.loss_plan_l1_fix_dist: 0.1895, d5.loss_plan_l1_fix_time: 0.6960, d5.loss_plan_l1_fix_dist: 0.1917, d6.loss_plan_l1_fix_time: 0.6993, d6.loss_plan_l1_fix_dist: 0.2356, d0.loss_cls_all: 0.1333, d0.loss_bbox_all: 0.3447, d0.loss_cls: 0.1333, d0.loss_bbox: 0.3447, d1.loss_cls: 0.1295, d1.loss_bbox: 0.3103, d2.loss_cls: 0.1172, d2.loss_bbox: 0.2887, d3.loss_cls: 0.0993, d3.loss_bbox: 0.2858, d4.loss_cls: 0.0889, d4.loss_bbox: 0.2848, d5.loss_cls: 0.0882, d5.loss_bbox: 0.2837, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6427, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4870, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4348, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4174, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4148, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4108, d0.loss_map_cls_all: 0.1824, d0.loss_map_pts_all: 1.0439, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1824, d0.loss_map_pts: 1.0439, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1413, d1.loss_map_pts: 0.7535, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1147, d2.loss_map_pts: 0.5756, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1015, d3.loss_map_pts: 0.5124, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0927, d4.loss_map_pts: 0.4949, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0876, d5.loss_map_pts: 0.4918, d5.loss_map_dir: 0.0061, loss: 21.1744, grad_norm: 135.6819 +2026-03-01 07:07:47,301 - DriveTransformer - INFO - Epoch [12][21400/39528] lr: 5.696e-05, eta: 4 days, 4:02:24, time: 0.715, data_time: 0.038, memory: 19865, loss_cls: 0.0785, loss_bbox: 0.2760, loss_traj: 0.4025, loss_traj_cls: 0.0019, loss_map_cls: 0.0772, loss_map_pts: 0.5010, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.7183, d0.loss_plan_l1_fix_dist: 0.3873, d1.loss_plan_l1_fix_time: 0.6564, d1.loss_plan_l1_fix_dist: 0.1977, d2.loss_plan_l1_fix_time: 0.6466, d2.loss_plan_l1_fix_dist: 0.2463, d3.loss_plan_l1_fix_time: 0.6434, d3.loss_plan_l1_fix_dist: 0.2087, d4.loss_plan_l1_fix_time: 0.6461, d4.loss_plan_l1_fix_dist: 0.2208, d5.loss_plan_l1_fix_time: 0.6486, d5.loss_plan_l1_fix_dist: 0.2228, d6.loss_plan_l1_fix_time: 0.6507, d6.loss_plan_l1_fix_dist: 0.2401, d0.loss_cls_all: 0.1249, d0.loss_bbox_all: 0.3401, d0.loss_cls: 0.1249, d0.loss_bbox: 0.3401, d1.loss_cls: 0.1177, d1.loss_bbox: 0.3059, d2.loss_cls: 0.1056, d2.loss_bbox: 0.2845, d3.loss_cls: 0.0876, d3.loss_bbox: 0.2775, d4.loss_cls: 0.0793, d4.loss_bbox: 0.2786, d5.loss_cls: 0.0794, d5.loss_bbox: 0.2774, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5794, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4747, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4350, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4100, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4060, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4035, d0.loss_map_cls_all: 0.1508, d0.loss_map_pts_all: 0.9455, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1508, d0.loss_map_pts: 0.9455, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1194, d1.loss_map_pts: 0.6805, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.0983, d2.loss_map_pts: 0.5492, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0891, d3.loss_map_pts: 0.5043, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0840, d4.loss_map_pts: 0.4907, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0789, d5.loss_map_pts: 0.4927, d5.loss_map_dir: 0.0054, loss: 20.6336, grad_norm: 139.2137 +2026-03-01 07:08:24,536 - DriveTransformer - INFO - Epoch [12][21450/39528] lr: 5.696e-05, eta: 4 days, 4:01:49, time: 0.745, data_time: 0.038, memory: 19865, loss_cls: 0.0943, loss_bbox: 0.2775, loss_traj: 0.4025, loss_traj_cls: 0.0018, loss_map_cls: 0.0771, loss_map_pts: 0.4724, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.8065, d0.loss_plan_l1_fix_dist: 0.3379, d1.loss_plan_l1_fix_time: 0.6423, d1.loss_plan_l1_fix_dist: 0.1771, d2.loss_plan_l1_fix_time: 0.6290, d2.loss_plan_l1_fix_dist: 0.2374, d3.loss_plan_l1_fix_time: 0.6263, d3.loss_plan_l1_fix_dist: 0.1944, d4.loss_plan_l1_fix_time: 0.6278, d4.loss_plan_l1_fix_dist: 0.1889, d5.loss_plan_l1_fix_time: 0.6294, d5.loss_plan_l1_fix_dist: 0.2034, d6.loss_plan_l1_fix_time: 0.6310, d6.loss_plan_l1_fix_dist: 0.2132, d0.loss_cls_all: 0.1427, d0.loss_bbox_all: 0.3308, d0.loss_cls: 0.1427, d0.loss_bbox: 0.3308, d1.loss_cls: 0.1366, d1.loss_bbox: 0.3002, d2.loss_cls: 0.1249, d2.loss_bbox: 0.2798, d3.loss_cls: 0.1077, d3.loss_bbox: 0.2745, d4.loss_cls: 0.0966, d4.loss_bbox: 0.2770, d5.loss_cls: 0.0943, d5.loss_bbox: 0.2760, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6542, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4846, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4340, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4127, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4066, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4030, d0.loss_map_cls_all: 0.1616, d0.loss_map_pts_all: 0.9790, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1616, d0.loss_map_pts: 0.9790, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1265, d1.loss_map_pts: 0.7004, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1037, d2.loss_map_pts: 0.5490, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.0914, d3.loss_map_pts: 0.4954, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.0857, d4.loss_map_pts: 0.4762, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0809, d5.loss_map_pts: 0.4707, d5.loss_map_dir: 0.0066, loss: 20.7008, grad_norm: 139.7427 +2026-03-01 07:09:00,132 - DriveTransformer - INFO - Epoch [12][21500/39528] lr: 5.696e-05, eta: 4 days, 4:01:10, time: 0.712, data_time: 0.037, memory: 19865, loss_cls: 0.0804, loss_bbox: 0.2801, loss_traj: 0.4097, loss_traj_cls: 0.0019, loss_map_cls: 0.0941, loss_map_pts: 0.5215, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.5674, d0.loss_plan_l1_fix_dist: 0.4302, d1.loss_plan_l1_fix_time: 0.6134, d1.loss_plan_l1_fix_dist: 0.1683, d2.loss_plan_l1_fix_time: 0.5962, d2.loss_plan_l1_fix_dist: 0.2440, d3.loss_plan_l1_fix_time: 0.5937, d3.loss_plan_l1_fix_dist: 0.2026, d4.loss_plan_l1_fix_time: 0.5957, d4.loss_plan_l1_fix_dist: 0.2139, d5.loss_plan_l1_fix_time: 0.5981, d5.loss_plan_l1_fix_dist: 0.2286, d6.loss_plan_l1_fix_time: 0.6012, d6.loss_plan_l1_fix_dist: 0.2255, d0.loss_cls_all: 0.1225, d0.loss_bbox_all: 0.3410, d0.loss_cls: 0.1225, d0.loss_bbox: 0.3410, d1.loss_cls: 0.1150, d1.loss_bbox: 0.3119, d2.loss_cls: 0.1044, d2.loss_bbox: 0.2869, d3.loss_cls: 0.0877, d3.loss_bbox: 0.2805, d4.loss_cls: 0.0825, d4.loss_bbox: 0.2779, d5.loss_cls: 0.0812, d5.loss_bbox: 0.2784, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6366, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4755, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4311, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4160, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4095, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4074, d0.loss_map_cls_all: 0.1890, d0.loss_map_pts_all: 1.0427, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1890, d0.loss_map_pts: 1.0427, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1556, d1.loss_map_pts: 0.7641, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1255, d2.loss_map_pts: 0.6079, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1114, d3.loss_map_pts: 0.5440, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1024, d4.loss_map_pts: 0.5251, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0967, d5.loss_map_pts: 0.5200, d5.loss_map_dir: 0.0055, loss: 20.9413, grad_norm: 141.3190 +2026-03-01 07:09:34,815 - DriveTransformer - INFO - Epoch [12][21550/39528] lr: 5.696e-05, eta: 4 days, 4:00:29, time: 0.694, data_time: 0.038, memory: 19865, loss_cls: 0.0961, loss_bbox: 0.2868, loss_traj: 0.4933, loss_traj_cls: 0.0018, loss_map_cls: 0.0864, loss_map_pts: 0.4482, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.6616, d0.loss_plan_l1_fix_dist: 0.3582, d1.loss_plan_l1_fix_time: 0.7033, d1.loss_plan_l1_fix_dist: 0.1620, d2.loss_plan_l1_fix_time: 0.6867, d2.loss_plan_l1_fix_dist: 0.2659, d3.loss_plan_l1_fix_time: 0.6821, d3.loss_plan_l1_fix_dist: 0.1991, d4.loss_plan_l1_fix_time: 0.6837, d4.loss_plan_l1_fix_dist: 0.2157, d5.loss_plan_l1_fix_time: 0.6864, d5.loss_plan_l1_fix_dist: 0.2311, d6.loss_plan_l1_fix_time: 0.6894, d6.loss_plan_l1_fix_dist: 0.2097, d0.loss_cls_all: 0.1462, d0.loss_bbox_all: 0.3496, d0.loss_cls: 0.1462, d0.loss_bbox: 0.3496, d1.loss_cls: 0.1389, d1.loss_bbox: 0.3148, d2.loss_cls: 0.1265, d2.loss_bbox: 0.2957, d3.loss_cls: 0.1068, d3.loss_bbox: 0.2896, d4.loss_cls: 0.0985, d4.loss_bbox: 0.2874, d5.loss_cls: 0.0963, d5.loss_bbox: 0.2863, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7632, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5817, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5246, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5053, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4982, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4925, d0.loss_map_cls_all: 0.1648, d0.loss_map_pts_all: 0.8833, d0.loss_map_dir_all: 0.0050, d0.loss_map_cls: 0.1648, d0.loss_map_pts: 0.8833, d0.loss_map_dir: 0.0050, d1.loss_map_cls: 0.1346, d1.loss_map_pts: 0.6476, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1112, d2.loss_map_pts: 0.5140, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.1012, d3.loss_map_pts: 0.4633, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0936, d4.loss_map_pts: 0.4494, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0893, d5.loss_map_pts: 0.4459, d5.loss_map_dir: 0.0048, loss: 21.4363, grad_norm: 141.8860 +2026-03-01 07:10:10,635 - DriveTransformer - INFO - Epoch [12][21600/39528] lr: 5.696e-05, eta: 4 days, 3:59:51, time: 0.716, data_time: 0.041, memory: 19865, loss_cls: 0.0780, loss_bbox: 0.2836, loss_traj: 0.4500, loss_traj_cls: 0.0019, loss_map_cls: 0.0989, loss_map_pts: 0.5077, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.3823, d0.loss_plan_l1_fix_dist: 0.3893, d1.loss_plan_l1_fix_time: 0.6902, d1.loss_plan_l1_fix_dist: 0.1712, d2.loss_plan_l1_fix_time: 0.6750, d2.loss_plan_l1_fix_dist: 0.2877, d3.loss_plan_l1_fix_time: 0.6682, d3.loss_plan_l1_fix_dist: 0.1808, d4.loss_plan_l1_fix_time: 0.6696, d4.loss_plan_l1_fix_dist: 0.1943, d5.loss_plan_l1_fix_time: 0.6717, d5.loss_plan_l1_fix_dist: 0.2190, d6.loss_plan_l1_fix_time: 0.6744, d6.loss_plan_l1_fix_dist: 0.2061, d0.loss_cls_all: 0.1222, d0.loss_bbox_all: 0.3318, d0.loss_cls: 0.1222, d0.loss_bbox: 0.3318, d1.loss_cls: 0.1168, d1.loss_bbox: 0.3030, d2.loss_cls: 0.1015, d2.loss_bbox: 0.2876, d3.loss_cls: 0.0844, d3.loss_bbox: 0.2835, d4.loss_cls: 0.0799, d4.loss_bbox: 0.2823, d5.loss_cls: 0.0781, d5.loss_bbox: 0.2834, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6714, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5270, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4789, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4658, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4531, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4492, d0.loss_map_cls_all: 0.1744, d0.loss_map_pts_all: 1.0417, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1744, d0.loss_map_pts: 1.0417, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1462, d1.loss_map_pts: 0.7589, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1216, d2.loss_map_pts: 0.5950, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1136, d3.loss_map_pts: 0.5336, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1061, d4.loss_map_pts: 0.5126, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1018, d5.loss_map_pts: 0.5078, d5.loss_map_dir: 0.0055, loss: 21.3336, grad_norm: 141.3460 +2026-03-01 07:10:48,493 - DriveTransformer - INFO - Epoch [12][21650/39528] lr: 5.696e-05, eta: 4 days, 3:59:17, time: 0.757, data_time: 0.040, memory: 19865, loss_cls: 0.0675, loss_bbox: 0.2590, loss_traj: 0.4711, loss_traj_cls: 0.0019, loss_map_cls: 0.0729, loss_map_pts: 0.4575, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.3874, d0.loss_plan_l1_fix_dist: 0.4687, d1.loss_plan_l1_fix_time: 0.6454, d1.loss_plan_l1_fix_dist: 0.1698, d2.loss_plan_l1_fix_time: 0.6380, d2.loss_plan_l1_fix_dist: 0.3037, d3.loss_plan_l1_fix_time: 0.6366, d3.loss_plan_l1_fix_dist: 0.1962, d4.loss_plan_l1_fix_time: 0.6387, d4.loss_plan_l1_fix_dist: 0.1896, d5.loss_plan_l1_fix_time: 0.6408, d5.loss_plan_l1_fix_dist: 0.2173, d6.loss_plan_l1_fix_time: 0.6437, d6.loss_plan_l1_fix_dist: 0.2186, d0.loss_cls_all: 0.1048, d0.loss_bbox_all: 0.3087, d0.loss_cls: 0.1048, d0.loss_bbox: 0.3087, d1.loss_cls: 0.0983, d1.loss_bbox: 0.2819, d2.loss_cls: 0.0858, d2.loss_bbox: 0.2642, d3.loss_cls: 0.0723, d3.loss_bbox: 0.2598, d4.loss_cls: 0.0670, d4.loss_bbox: 0.2593, d5.loss_cls: 0.0671, d5.loss_bbox: 0.2587, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6475, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5269, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4831, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4720, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4737, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4690, d0.loss_map_cls_all: 0.1564, d0.loss_map_pts_all: 0.9538, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1564, d0.loss_map_pts: 0.9538, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1221, d1.loss_map_pts: 0.6760, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.0963, d2.loss_map_pts: 0.5359, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.0848, d3.loss_map_pts: 0.4865, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0781, d4.loss_map_pts: 0.4654, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0751, d5.loss_map_pts: 0.4592, d5.loss_map_dir: 0.0057, loss: 20.2904, grad_norm: 139.9518 +2026-03-01 07:11:24,432 - DriveTransformer - INFO - Epoch [12][21700/39528] lr: 5.696e-05, eta: 4 days, 3:58:39, time: 0.719, data_time: 0.041, memory: 19865, loss_cls: 0.0758, loss_bbox: 0.2541, loss_traj: 0.4670, loss_traj_cls: 0.0020, loss_map_cls: 0.0687, loss_map_pts: 0.4089, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.8722, d0.loss_plan_l1_fix_dist: 0.3848, d1.loss_plan_l1_fix_time: 0.7038, d1.loss_plan_l1_fix_dist: 0.1555, d2.loss_plan_l1_fix_time: 0.6880, d2.loss_plan_l1_fix_dist: 0.2994, d3.loss_plan_l1_fix_time: 0.6672, d3.loss_plan_l1_fix_dist: 0.1890, d4.loss_plan_l1_fix_time: 0.6669, d4.loss_plan_l1_fix_dist: 0.1818, d5.loss_plan_l1_fix_time: 0.6680, d5.loss_plan_l1_fix_dist: 0.1873, d6.loss_plan_l1_fix_time: 0.6693, d6.loss_plan_l1_fix_dist: 0.1690, d0.loss_cls_all: 0.1153, d0.loss_bbox_all: 0.3074, d0.loss_cls: 0.1153, d0.loss_bbox: 0.3074, d1.loss_cls: 0.1088, d1.loss_bbox: 0.2819, d2.loss_cls: 0.0972, d2.loss_bbox: 0.2614, d3.loss_cls: 0.0812, d3.loss_bbox: 0.2571, d4.loss_cls: 0.0758, d4.loss_bbox: 0.2559, d5.loss_cls: 0.0757, d5.loss_bbox: 0.2545, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6820, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5349, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4925, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4746, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4689, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4684, d0.loss_map_cls_all: 0.1437, d0.loss_map_pts_all: 0.8562, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1437, d0.loss_map_pts: 0.8562, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1163, d1.loss_map_pts: 0.6167, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.0939, d2.loss_map_pts: 0.4821, d2.loss_map_dir: 0.0041, d3.loss_map_cls: 0.0815, d3.loss_map_pts: 0.4319, d3.loss_map_dir: 0.0043, d4.loss_map_cls: 0.0757, d4.loss_map_pts: 0.4118, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0718, d5.loss_map_pts: 0.4091, d5.loss_map_dir: 0.0045, loss: 20.3274, grad_norm: 140.5154 +2026-03-01 07:12:01,335 - DriveTransformer - INFO - Epoch [12][21750/39528] lr: 5.696e-05, eta: 4 days, 3:58:03, time: 0.738, data_time: 0.037, memory: 19865, loss_cls: 0.0792, loss_bbox: 0.2466, loss_traj: 0.4509, loss_traj_cls: 0.0018, loss_map_cls: 0.0738, loss_map_pts: 0.4637, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.4387, d0.loss_plan_l1_fix_dist: 0.3724, d1.loss_plan_l1_fix_time: 0.5977, d1.loss_plan_l1_fix_dist: 0.1896, d2.loss_plan_l1_fix_time: 0.5791, d2.loss_plan_l1_fix_dist: 0.3099, d3.loss_plan_l1_fix_time: 0.5798, d3.loss_plan_l1_fix_dist: 0.1907, d4.loss_plan_l1_fix_time: 0.5831, d4.loss_plan_l1_fix_dist: 0.1953, d5.loss_plan_l1_fix_time: 0.5855, d5.loss_plan_l1_fix_dist: 0.1834, d6.loss_plan_l1_fix_time: 0.5879, d6.loss_plan_l1_fix_dist: 0.1885, d0.loss_cls_all: 0.1246, d0.loss_bbox_all: 0.3016, d0.loss_cls: 0.1246, d0.loss_bbox: 0.3016, d1.loss_cls: 0.1158, d1.loss_bbox: 0.2734, d2.loss_cls: 0.1054, d2.loss_bbox: 0.2544, d3.loss_cls: 0.0883, d3.loss_bbox: 0.2478, d4.loss_cls: 0.0810, d4.loss_bbox: 0.2457, d5.loss_cls: 0.0793, d5.loss_bbox: 0.2460, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6255, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5034, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4693, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4581, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4541, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4525, d0.loss_map_cls_all: 0.1524, d0.loss_map_pts_all: 1.0023, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1524, d0.loss_map_pts: 1.0023, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1183, d1.loss_map_pts: 0.7187, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.0984, d2.loss_map_pts: 0.5617, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0879, d3.loss_map_pts: 0.4935, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0816, d4.loss_map_pts: 0.4690, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0766, d5.loss_map_pts: 0.4631, d5.loss_map_dir: 0.0057, loss: 19.9816, grad_norm: 140.7369 +2026-03-01 07:12:37,568 - DriveTransformer - INFO - Epoch [12][21800/39528] lr: 5.696e-05, eta: 4 days, 3:57:26, time: 0.726, data_time: 0.036, memory: 19865, loss_cls: 0.0672, loss_bbox: 0.2449, loss_traj: 0.4432, loss_traj_cls: 0.0019, loss_map_cls: 0.0913, loss_map_pts: 0.4626, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.5537, d0.loss_plan_l1_fix_dist: 0.4373, d1.loss_plan_l1_fix_time: 0.7713, d1.loss_plan_l1_fix_dist: 0.2188, d2.loss_plan_l1_fix_time: 0.7533, d2.loss_plan_l1_fix_dist: 0.3007, d3.loss_plan_l1_fix_time: 0.7413, d3.loss_plan_l1_fix_dist: 0.2045, d4.loss_plan_l1_fix_time: 0.7423, d4.loss_plan_l1_fix_dist: 0.2100, d5.loss_plan_l1_fix_time: 0.7438, d5.loss_plan_l1_fix_dist: 0.1841, d6.loss_plan_l1_fix_time: 0.7459, d6.loss_plan_l1_fix_dist: 0.2200, d0.loss_cls_all: 0.1039, d0.loss_bbox_all: 0.3081, d0.loss_cls: 0.1039, d0.loss_bbox: 0.3081, d1.loss_cls: 0.0991, d1.loss_bbox: 0.2735, d2.loss_cls: 0.0878, d2.loss_bbox: 0.2534, d3.loss_cls: 0.0727, d3.loss_bbox: 0.2479, d4.loss_cls: 0.0684, d4.loss_bbox: 0.2464, d5.loss_cls: 0.0674, d5.loss_bbox: 0.2445, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7092, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5347, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4762, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4520, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4470, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4459, d0.loss_map_cls_all: 0.1761, d0.loss_map_pts_all: 0.9914, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1761, d0.loss_map_pts: 0.9914, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1412, d1.loss_map_pts: 0.7105, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1183, d2.loss_map_pts: 0.5558, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.1084, d3.loss_map_pts: 0.4889, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1003, d4.loss_map_pts: 0.4676, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0947, d5.loss_map_pts: 0.4625, d5.loss_map_dir: 0.0052, loss: 21.3187, grad_norm: 142.5043 +2026-03-01 07:13:13,043 - DriveTransformer - INFO - Epoch [12][21850/39528] lr: 5.696e-05, eta: 4 days, 3:56:47, time: 0.708, data_time: 0.036, memory: 19865, loss_cls: 0.0724, loss_bbox: 0.2593, loss_traj: 0.4294, loss_traj_cls: 0.0019, loss_map_cls: 0.0819, loss_map_pts: 0.4657, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.6741, d0.loss_plan_l1_fix_dist: 0.4987, d1.loss_plan_l1_fix_time: 0.7455, d1.loss_plan_l1_fix_dist: 0.2409, d2.loss_plan_l1_fix_time: 0.7363, d2.loss_plan_l1_fix_dist: 0.2777, d3.loss_plan_l1_fix_time: 0.7073, d3.loss_plan_l1_fix_dist: 0.2273, d4.loss_plan_l1_fix_time: 0.7074, d4.loss_plan_l1_fix_dist: 0.2362, d5.loss_plan_l1_fix_time: 0.7089, d5.loss_plan_l1_fix_dist: 0.2134, d6.loss_plan_l1_fix_time: 0.7108, d6.loss_plan_l1_fix_dist: 0.2526, d0.loss_cls_all: 0.1148, d0.loss_bbox_all: 0.3252, d0.loss_cls: 0.1148, d0.loss_bbox: 0.3252, d1.loss_cls: 0.1061, d1.loss_bbox: 0.2958, d2.loss_cls: 0.0944, d2.loss_bbox: 0.2740, d3.loss_cls: 0.0787, d3.loss_bbox: 0.2651, d4.loss_cls: 0.0732, d4.loss_bbox: 0.2630, d5.loss_cls: 0.0728, d5.loss_bbox: 0.2608, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6804, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5236, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4619, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4414, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4357, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4322, d0.loss_map_cls_all: 0.1577, d0.loss_map_pts_all: 0.9762, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1577, d0.loss_map_pts: 0.9762, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1207, d1.loss_map_pts: 0.7139, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1017, d2.loss_map_pts: 0.5450, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0938, d3.loss_map_pts: 0.4870, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0878, d4.loss_map_pts: 0.4704, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0837, d5.loss_map_pts: 0.4661, d5.loss_map_dir: 0.0055, loss: 21.3745, grad_norm: 143.3072 +2026-03-01 07:13:49,410 - DriveTransformer - INFO - Epoch [12][21900/39528] lr: 5.696e-05, eta: 4 days, 3:56:10, time: 0.727, data_time: 0.038, memory: 19865, loss_cls: 0.0715, loss_bbox: 0.2498, loss_traj: 0.5038, loss_traj_cls: 0.0019, loss_map_cls: 0.0726, loss_map_pts: 0.4421, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.2865, d0.loss_plan_l1_fix_dist: 0.3923, d1.loss_plan_l1_fix_time: 0.6289, d1.loss_plan_l1_fix_dist: 0.2419, d2.loss_plan_l1_fix_time: 0.6191, d2.loss_plan_l1_fix_dist: 0.2504, d3.loss_plan_l1_fix_time: 0.5926, d3.loss_plan_l1_fix_dist: 0.2157, d4.loss_plan_l1_fix_time: 0.5922, d4.loss_plan_l1_fix_dist: 0.2203, d5.loss_plan_l1_fix_time: 0.5937, d5.loss_plan_l1_fix_dist: 0.2101, d6.loss_plan_l1_fix_time: 0.5959, d6.loss_plan_l1_fix_dist: 0.2442, d0.loss_cls_all: 0.1136, d0.loss_bbox_all: 0.3126, d0.loss_cls: 0.1136, d0.loss_bbox: 0.3126, d1.loss_cls: 0.1046, d1.loss_bbox: 0.2794, d2.loss_cls: 0.0967, d2.loss_bbox: 0.2599, d3.loss_cls: 0.0787, d3.loss_bbox: 0.2538, d4.loss_cls: 0.0725, d4.loss_bbox: 0.2523, d5.loss_cls: 0.0718, d5.loss_bbox: 0.2502, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7337, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5773, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5244, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5108, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5090, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5056, d0.loss_map_cls_all: 0.1538, d0.loss_map_pts_all: 0.9618, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1538, d0.loss_map_pts: 0.9618, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1187, d1.loss_map_pts: 0.6768, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.0962, d2.loss_map_pts: 0.5169, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0876, d3.loss_map_pts: 0.4617, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0813, d4.loss_map_pts: 0.4446, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0755, d5.loss_map_pts: 0.4408, d5.loss_map_dir: 0.0054, loss: 20.2397, grad_norm: 143.7865 +2026-03-01 07:14:24,762 - DriveTransformer - INFO - Epoch [12][21950/39528] lr: 5.696e-05, eta: 4 days, 3:55:31, time: 0.707, data_time: 0.042, memory: 19865, loss_cls: 0.0802, loss_bbox: 0.2514, loss_traj: 0.4919, loss_traj_cls: 0.0019, loss_map_cls: 0.0834, loss_map_pts: 0.4335, loss_map_dir: 0.0041, d0.loss_plan_l1_fix_time: 2.6939, d0.loss_plan_l1_fix_dist: 0.4412, d1.loss_plan_l1_fix_time: 0.7644, d1.loss_plan_l1_fix_dist: 0.2561, d2.loss_plan_l1_fix_time: 0.7331, d2.loss_plan_l1_fix_dist: 0.2385, d3.loss_plan_l1_fix_time: 0.7314, d3.loss_plan_l1_fix_dist: 0.2107, d4.loss_plan_l1_fix_time: 0.7332, d4.loss_plan_l1_fix_dist: 0.2209, d5.loss_plan_l1_fix_time: 0.7352, d5.loss_plan_l1_fix_dist: 0.2246, d6.loss_plan_l1_fix_time: 0.7374, d6.loss_plan_l1_fix_dist: 0.1867, d0.loss_cls_all: 0.1210, d0.loss_bbox_all: 0.3230, d0.loss_cls: 0.1210, d0.loss_bbox: 0.3230, d1.loss_cls: 0.1153, d1.loss_bbox: 0.2832, d2.loss_cls: 0.1043, d2.loss_bbox: 0.2605, d3.loss_cls: 0.0863, d3.loss_bbox: 0.2577, d4.loss_cls: 0.0810, d4.loss_bbox: 0.2544, d5.loss_cls: 0.0792, d5.loss_bbox: 0.2527, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7529, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5659, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5170, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5018, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4952, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4912, d0.loss_map_cls_all: 0.1698, d0.loss_map_pts_all: 0.9360, d0.loss_map_dir_all: 0.0044, d0.loss_map_cls: 0.1698, d0.loss_map_pts: 0.9360, d0.loss_map_dir: 0.0044, d1.loss_map_cls: 0.1426, d1.loss_map_pts: 0.6671, d1.loss_map_dir: 0.0039, d2.loss_map_cls: 0.1135, d2.loss_map_pts: 0.5211, d2.loss_map_dir: 0.0037, d3.loss_map_cls: 0.1018, d3.loss_map_pts: 0.4602, d3.loss_map_dir: 0.0039, d4.loss_map_cls: 0.0923, d4.loss_map_pts: 0.4404, d4.loss_map_dir: 0.0040, d5.loss_map_cls: 0.0872, d5.loss_map_pts: 0.4333, d5.loss_map_dir: 0.0041, loss: 21.5454, grad_norm: 143.7852 +2026-03-01 07:14:59,122 - DriveTransformer - INFO - Epoch [12][22000/39528] lr: 5.696e-05, eta: 4 days, 3:54:49, time: 0.687, data_time: 0.037, memory: 19865, loss_cls: 0.0875, loss_bbox: 0.2776, loss_traj: 0.4872, loss_traj_cls: 0.0019, loss_map_cls: 0.0784, loss_map_pts: 0.4111, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.7123, d0.loss_plan_l1_fix_dist: 0.3796, d1.loss_plan_l1_fix_time: 0.8010, d1.loss_plan_l1_fix_dist: 0.2905, d2.loss_plan_l1_fix_time: 0.7709, d2.loss_plan_l1_fix_dist: 0.2595, d3.loss_plan_l1_fix_time: 0.7719, d3.loss_plan_l1_fix_dist: 0.2075, d4.loss_plan_l1_fix_time: 0.7727, d4.loss_plan_l1_fix_dist: 0.2237, d5.loss_plan_l1_fix_time: 0.7743, d5.loss_plan_l1_fix_dist: 0.2251, d6.loss_plan_l1_fix_time: 0.7760, d6.loss_plan_l1_fix_dist: 0.1989, d0.loss_cls_all: 0.1317, d0.loss_bbox_all: 0.3402, d0.loss_cls: 0.1317, d0.loss_bbox: 0.3402, d1.loss_cls: 0.1241, d1.loss_bbox: 0.3093, d2.loss_cls: 0.1112, d2.loss_bbox: 0.2888, d3.loss_cls: 0.0952, d3.loss_bbox: 0.2813, d4.loss_cls: 0.0910, d4.loss_bbox: 0.2784, d5.loss_cls: 0.0890, d5.loss_bbox: 0.2772, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7548, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5871, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5246, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4999, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4918, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4914, d0.loss_map_cls_all: 0.1562, d0.loss_map_pts_all: 0.8529, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1562, d0.loss_map_pts: 0.8529, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1242, d1.loss_map_pts: 0.6233, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.1004, d2.loss_map_pts: 0.4906, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.0898, d3.loss_map_pts: 0.4333, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0835, d4.loss_map_pts: 0.4172, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0802, d5.loss_map_pts: 0.4114, d5.loss_map_dir: 0.0048, loss: 21.6629, grad_norm: 141.7671 +2026-03-01 07:15:36,644 - DriveTransformer - INFO - Epoch [12][22050/39528] lr: 5.696e-05, eta: 4 days, 3:54:15, time: 0.750, data_time: 0.038, memory: 19865, loss_cls: 0.0762, loss_bbox: 0.2655, loss_traj: 0.4637, loss_traj_cls: 0.0020, loss_map_cls: 0.0938, loss_map_pts: 0.5103, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.8152, d0.loss_plan_l1_fix_dist: 0.5802, d1.loss_plan_l1_fix_time: 0.7870, d1.loss_plan_l1_fix_dist: 0.3006, d2.loss_plan_l1_fix_time: 0.7635, d2.loss_plan_l1_fix_dist: 0.3074, d3.loss_plan_l1_fix_time: 0.7590, d3.loss_plan_l1_fix_dist: 0.2334, d4.loss_plan_l1_fix_time: 0.7596, d4.loss_plan_l1_fix_dist: 0.2361, d5.loss_plan_l1_fix_time: 0.7613, d5.loss_plan_l1_fix_dist: 0.2271, d6.loss_plan_l1_fix_time: 0.7635, d6.loss_plan_l1_fix_dist: 0.2487, d0.loss_cls_all: 0.1217, d0.loss_bbox_all: 0.3257, d0.loss_cls: 0.1217, d0.loss_bbox: 0.3257, d1.loss_cls: 0.1146, d1.loss_bbox: 0.2946, d2.loss_cls: 0.1016, d2.loss_bbox: 0.2758, d3.loss_cls: 0.0816, d3.loss_bbox: 0.2723, d4.loss_cls: 0.0783, d4.loss_bbox: 0.2674, d5.loss_cls: 0.0769, d5.loss_bbox: 0.2658, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7106, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5489, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4932, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4678, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4662, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4639, d0.loss_map_cls_all: 0.1835, d0.loss_map_pts_all: 1.0723, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1835, d0.loss_map_pts: 1.0723, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1494, d1.loss_map_pts: 0.7869, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1228, d2.loss_map_pts: 0.6031, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1102, d3.loss_map_pts: 0.5385, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1019, d4.loss_map_pts: 0.5142, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0967, d5.loss_map_pts: 0.5101, d5.loss_map_dir: 0.0059, loss: 22.9258, grad_norm: 140.9961 +2026-03-01 07:16:11,812 - DriveTransformer - INFO - Epoch [12][22100/39528] lr: 5.696e-05, eta: 4 days, 3:53:35, time: 0.703, data_time: 0.038, memory: 19865, loss_cls: 0.0838, loss_bbox: 0.2705, loss_traj: 0.4175, loss_traj_cls: 0.0020, loss_map_cls: 0.0780, loss_map_pts: 0.4352, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.4934, d0.loss_plan_l1_fix_dist: 0.3210, d1.loss_plan_l1_fix_time: 0.7493, d1.loss_plan_l1_fix_dist: 0.2777, d2.loss_plan_l1_fix_time: 0.7583, d2.loss_plan_l1_fix_dist: 0.3191, d3.loss_plan_l1_fix_time: 0.7576, d3.loss_plan_l1_fix_dist: 0.2261, d4.loss_plan_l1_fix_time: 0.7608, d4.loss_plan_l1_fix_dist: 0.2406, d5.loss_plan_l1_fix_time: 0.7640, d5.loss_plan_l1_fix_dist: 0.2220, d6.loss_plan_l1_fix_time: 0.7672, d6.loss_plan_l1_fix_dist: 0.2589, d0.loss_cls_all: 0.1284, d0.loss_bbox_all: 0.3287, d0.loss_cls: 0.1284, d0.loss_bbox: 0.3287, d1.loss_cls: 0.1239, d1.loss_bbox: 0.2988, d2.loss_cls: 0.1094, d2.loss_bbox: 0.2808, d3.loss_cls: 0.0908, d3.loss_bbox: 0.2752, d4.loss_cls: 0.0851, d4.loss_bbox: 0.2735, d5.loss_cls: 0.0846, d5.loss_bbox: 0.2713, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6571, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5092, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4545, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4294, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4244, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4196, d0.loss_map_cls_all: 0.1511, d0.loss_map_pts_all: 0.8599, d0.loss_map_dir_all: 0.0049, d0.loss_map_cls: 0.1511, d0.loss_map_pts: 0.8599, d0.loss_map_dir: 0.0049, d1.loss_map_cls: 0.1239, d1.loss_map_pts: 0.6357, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.1015, d2.loss_map_pts: 0.5031, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.0915, d3.loss_map_pts: 0.4574, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0861, d4.loss_map_pts: 0.4396, d4.loss_map_dir: 0.0046, d5.loss_map_cls: 0.0807, d5.loss_map_pts: 0.4355, d5.loss_map_dir: 0.0046, loss: 20.9240, grad_norm: 142.7705 +2026-03-01 07:16:49,760 - DriveTransformer - INFO - Epoch [12][22150/39528] lr: 5.696e-05, eta: 4 days, 3:53:02, time: 0.759, data_time: 0.038, memory: 19865, loss_cls: 0.0812, loss_bbox: 0.2554, loss_traj: 0.3609, loss_traj_cls: 0.0020, loss_map_cls: 0.0776, loss_map_pts: 0.4601, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.6568, d0.loss_plan_l1_fix_dist: 0.4349, d1.loss_plan_l1_fix_time: 0.7400, d1.loss_plan_l1_fix_dist: 0.2631, d2.loss_plan_l1_fix_time: 0.7295, d2.loss_plan_l1_fix_dist: 0.3248, d3.loss_plan_l1_fix_time: 0.7121, d3.loss_plan_l1_fix_dist: 0.2296, d4.loss_plan_l1_fix_time: 0.7138, d4.loss_plan_l1_fix_dist: 0.2297, d5.loss_plan_l1_fix_time: 0.7170, d5.loss_plan_l1_fix_dist: 0.2160, d6.loss_plan_l1_fix_time: 0.7210, d6.loss_plan_l1_fix_dist: 0.2839, d0.loss_cls_all: 0.1170, d0.loss_bbox_all: 0.3086, d0.loss_cls: 0.1170, d0.loss_bbox: 0.3086, d1.loss_cls: 0.1115, d1.loss_bbox: 0.2822, d2.loss_cls: 0.1017, d2.loss_bbox: 0.2616, d3.loss_cls: 0.0879, d3.loss_bbox: 0.2587, d4.loss_cls: 0.0830, d4.loss_bbox: 0.2567, d5.loss_cls: 0.0820, d5.loss_bbox: 0.2549, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5687, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4265, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3820, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3710, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3625, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3604, d0.loss_map_cls_all: 0.1629, d0.loss_map_pts_all: 0.9592, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1629, d0.loss_map_pts: 0.9592, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1296, d1.loss_map_pts: 0.6795, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1050, d2.loss_map_pts: 0.5378, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0907, d3.loss_map_pts: 0.4853, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0854, d4.loss_map_pts: 0.4646, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0805, d5.loss_map_pts: 0.4593, d5.loss_map_dir: 0.0054, loss: 20.7237, grad_norm: 146.4668 +2026-03-01 07:17:25,506 - DriveTransformer - INFO - Epoch [12][22200/39528] lr: 5.696e-05, eta: 4 days, 3:52:23, time: 0.715, data_time: 0.040, memory: 19865, loss_cls: 0.0938, loss_bbox: 0.2763, loss_traj: 0.4891, loss_traj_cls: 0.0019, loss_map_cls: 0.0957, loss_map_pts: 0.4948, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.8975, d0.loss_plan_l1_fix_dist: 0.3439, d1.loss_plan_l1_fix_time: 0.8068, d1.loss_plan_l1_fix_dist: 0.2484, d2.loss_plan_l1_fix_time: 0.7761, d2.loss_plan_l1_fix_dist: 0.3281, d3.loss_plan_l1_fix_time: 0.7678, d3.loss_plan_l1_fix_dist: 0.2464, d4.loss_plan_l1_fix_time: 0.7692, d4.loss_plan_l1_fix_dist: 0.2027, d5.loss_plan_l1_fix_time: 0.7720, d5.loss_plan_l1_fix_dist: 0.2112, d6.loss_plan_l1_fix_time: 0.7756, d6.loss_plan_l1_fix_dist: 0.3228, d0.loss_cls_all: 0.1426, d0.loss_bbox_all: 0.3425, d0.loss_cls: 0.1426, d0.loss_bbox: 0.3425, d1.loss_cls: 0.1320, d1.loss_bbox: 0.3145, d2.loss_cls: 0.1216, d2.loss_bbox: 0.2901, d3.loss_cls: 0.1001, d3.loss_bbox: 0.2833, d4.loss_cls: 0.0951, d4.loss_bbox: 0.2795, d5.loss_cls: 0.0943, d5.loss_bbox: 0.2773, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7176, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5717, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5170, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5011, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4928, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4907, d0.loss_map_cls_all: 0.1870, d0.loss_map_pts_all: 0.9826, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1870, d0.loss_map_pts: 0.9826, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1519, d1.loss_map_pts: 0.7249, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1256, d2.loss_map_pts: 0.5789, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1108, d3.loss_map_pts: 0.5221, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1043, d4.loss_map_pts: 0.4999, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0995, d5.loss_map_pts: 0.4931, d5.loss_map_dir: 0.0053, loss: 22.9668, grad_norm: 149.0984 +2026-03-01 07:18:03,002 - DriveTransformer - INFO - Epoch [12][22250/39528] lr: 5.696e-05, eta: 4 days, 3:51:49, time: 0.750, data_time: 0.036, memory: 19865, loss_cls: 0.0797, loss_bbox: 0.2705, loss_traj: 0.3943, loss_traj_cls: 0.0020, loss_map_cls: 0.0811, loss_map_pts: 0.4635, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.3814, d0.loss_plan_l1_fix_dist: 0.4234, d1.loss_plan_l1_fix_time: 0.7310, d1.loss_plan_l1_fix_dist: 0.2258, d2.loss_plan_l1_fix_time: 0.7126, d2.loss_plan_l1_fix_dist: 0.3011, d3.loss_plan_l1_fix_time: 0.6665, d3.loss_plan_l1_fix_dist: 0.2380, d4.loss_plan_l1_fix_time: 0.6688, d4.loss_plan_l1_fix_dist: 0.1877, d5.loss_plan_l1_fix_time: 0.6721, d5.loss_plan_l1_fix_dist: 0.2381, d6.loss_plan_l1_fix_time: 0.6765, d6.loss_plan_l1_fix_dist: 0.2853, d0.loss_cls_all: 0.1185, d0.loss_bbox_all: 0.3304, d0.loss_cls: 0.1185, d0.loss_bbox: 0.3304, d1.loss_cls: 0.1111, d1.loss_bbox: 0.3007, d2.loss_cls: 0.0989, d2.loss_bbox: 0.2789, d3.loss_cls: 0.0853, d3.loss_bbox: 0.2733, d4.loss_cls: 0.0802, d4.loss_bbox: 0.2717, d5.loss_cls: 0.0798, d5.loss_bbox: 0.2705, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6193, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4740, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4285, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4096, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3993, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3980, d0.loss_map_cls_all: 0.1700, d0.loss_map_pts_all: 1.0828, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1700, d0.loss_map_pts: 1.0828, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1307, d1.loss_map_pts: 0.7318, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1079, d2.loss_map_pts: 0.5561, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0953, d3.loss_map_pts: 0.4912, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0878, d4.loss_map_pts: 0.4683, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0836, d5.loss_map_pts: 0.4634, d5.loss_map_dir: 0.0059, loss: 20.9509, grad_norm: 143.4145 +2026-03-01 07:18:37,895 - DriveTransformer - INFO - Epoch [12][22300/39528] lr: 5.696e-05, eta: 4 days, 3:51:09, time: 0.698, data_time: 0.037, memory: 19865, loss_cls: 0.0844, loss_bbox: 0.2848, loss_traj: 0.4643, loss_traj_cls: 0.0020, loss_map_cls: 0.1030, loss_map_pts: 0.5057, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.7138, d0.loss_plan_l1_fix_dist: 0.3237, d1.loss_plan_l1_fix_time: 0.7184, d1.loss_plan_l1_fix_dist: 0.2069, d2.loss_plan_l1_fix_time: 0.6967, d2.loss_plan_l1_fix_dist: 0.2643, d3.loss_plan_l1_fix_time: 0.7043, d3.loss_plan_l1_fix_dist: 0.2390, d4.loss_plan_l1_fix_time: 0.7066, d4.loss_plan_l1_fix_dist: 0.2111, d5.loss_plan_l1_fix_time: 0.7091, d5.loss_plan_l1_fix_dist: 0.3101, d6.loss_plan_l1_fix_time: 0.7118, d6.loss_plan_l1_fix_dist: 0.2511, d0.loss_cls_all: 0.1327, d0.loss_bbox_all: 0.3474, d0.loss_cls: 0.1327, d0.loss_bbox: 0.3474, d1.loss_cls: 0.1255, d1.loss_bbox: 0.3111, d2.loss_cls: 0.1140, d2.loss_bbox: 0.2910, d3.loss_cls: 0.0926, d3.loss_bbox: 0.2898, d4.loss_cls: 0.0868, d4.loss_bbox: 0.2866, d5.loss_cls: 0.0842, d5.loss_bbox: 0.2854, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7281, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5583, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4975, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4808, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4667, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4626, d0.loss_map_cls_all: 0.1828, d0.loss_map_pts_all: 1.0268, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1828, d0.loss_map_pts: 1.0268, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1513, d1.loss_map_pts: 0.7525, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1289, d2.loss_map_pts: 0.5994, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1156, d3.loss_map_pts: 0.5352, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1105, d4.loss_map_pts: 0.5123, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.1059, d5.loss_map_pts: 0.5068, d5.loss_map_dir: 0.0061, loss: 22.3238, grad_norm: 143.2649 +2026-03-01 07:19:13,640 - DriveTransformer - INFO - Epoch [12][22350/39528] lr: 5.696e-05, eta: 4 days, 3:50:30, time: 0.715, data_time: 0.042, memory: 19865, loss_cls: 0.0819, loss_bbox: 0.2711, loss_traj: 0.5440, loss_traj_cls: 0.0020, loss_map_cls: 0.0810, loss_map_pts: 0.4061, loss_map_dir: 0.0044, d0.loss_plan_l1_fix_time: 2.8908, d0.loss_plan_l1_fix_dist: 0.3612, d1.loss_plan_l1_fix_time: 0.7017, d1.loss_plan_l1_fix_dist: 0.1773, d2.loss_plan_l1_fix_time: 0.6796, d2.loss_plan_l1_fix_dist: 0.2145, d3.loss_plan_l1_fix_time: 0.6804, d3.loss_plan_l1_fix_dist: 0.2105, d4.loss_plan_l1_fix_time: 0.6817, d4.loss_plan_l1_fix_dist: 0.1796, d5.loss_plan_l1_fix_time: 0.6830, d5.loss_plan_l1_fix_dist: 0.3011, d6.loss_plan_l1_fix_time: 0.6851, d6.loss_plan_l1_fix_dist: 0.2250, d0.loss_cls_all: 0.1280, d0.loss_bbox_all: 0.3251, d0.loss_cls: 0.1280, d0.loss_bbox: 0.3251, d1.loss_cls: 0.1217, d1.loss_bbox: 0.2969, d2.loss_cls: 0.1105, d2.loss_bbox: 0.2782, d3.loss_cls: 0.0885, d3.loss_bbox: 0.2757, d4.loss_cls: 0.0853, d4.loss_bbox: 0.2704, d5.loss_cls: 0.0840, d5.loss_bbox: 0.2694, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8853, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.6518, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5838, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5563, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5482, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5449, d0.loss_map_cls_all: 0.1604, d0.loss_map_pts_all: 0.8609, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1604, d0.loss_map_pts: 0.8609, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1301, d1.loss_map_pts: 0.6153, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.1038, d2.loss_map_pts: 0.4830, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.0927, d3.loss_map_pts: 0.4303, d3.loss_map_dir: 0.0042, d4.loss_map_cls: 0.0885, d4.loss_map_pts: 0.4112, d4.loss_map_dir: 0.0044, d5.loss_map_cls: 0.0836, d5.loss_map_pts: 0.4057, d5.loss_map_dir: 0.0044, loss: 21.5438, grad_norm: 143.1263 +2026-03-01 07:19:50,727 - DriveTransformer - INFO - Epoch [12][22400/39528] lr: 5.696e-05, eta: 4 days, 3:49:55, time: 0.742, data_time: 0.039, memory: 19865, loss_cls: 0.0766, loss_bbox: 0.2565, loss_traj: 0.3922, loss_traj_cls: 0.0020, loss_map_cls: 0.0920, loss_map_pts: 0.4923, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.1893, d0.loss_plan_l1_fix_dist: 0.4895, d1.loss_plan_l1_fix_time: 0.6102, d1.loss_plan_l1_fix_dist: 0.1616, d2.loss_plan_l1_fix_time: 0.5930, d2.loss_plan_l1_fix_dist: 0.1814, d3.loss_plan_l1_fix_time: 0.5928, d3.loss_plan_l1_fix_dist: 0.1955, d4.loss_plan_l1_fix_time: 0.5966, d4.loss_plan_l1_fix_dist: 0.1666, d5.loss_plan_l1_fix_time: 0.5994, d5.loss_plan_l1_fix_dist: 0.2441, d6.loss_plan_l1_fix_time: 0.6020, d6.loss_plan_l1_fix_dist: 0.1990, d0.loss_cls_all: 0.1191, d0.loss_bbox_all: 0.3165, d0.loss_cls: 0.1191, d0.loss_bbox: 0.3165, d1.loss_cls: 0.1154, d1.loss_bbox: 0.2835, d2.loss_cls: 0.1052, d2.loss_bbox: 0.2629, d3.loss_cls: 0.0865, d3.loss_bbox: 0.2584, d4.loss_cls: 0.0783, d4.loss_bbox: 0.2576, d5.loss_cls: 0.0776, d5.loss_bbox: 0.2555, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6184, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4685, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4228, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4035, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3977, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3921, d0.loss_map_cls_all: 0.1721, d0.loss_map_pts_all: 1.0580, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1721, d0.loss_map_pts: 1.0580, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1368, d1.loss_map_pts: 0.7750, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1161, d2.loss_map_pts: 0.5913, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1055, d3.loss_map_pts: 0.5271, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0997, d4.loss_map_pts: 0.5003, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0949, d5.loss_map_pts: 0.4931, d5.loss_map_dir: 0.0058, loss: 20.0393, grad_norm: 142.5393 +2026-03-01 07:20:26,288 - DriveTransformer - INFO - Epoch [12][22450/39528] lr: 5.696e-05, eta: 4 days, 3:49:16, time: 0.711, data_time: 0.039, memory: 19865, loss_cls: 0.0775, loss_bbox: 0.2667, loss_traj: 0.4682, loss_traj_cls: 0.0020, loss_map_cls: 0.0948, loss_map_pts: 0.4428, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.7453, d0.loss_plan_l1_fix_dist: 0.4763, d1.loss_plan_l1_fix_time: 0.7295, d1.loss_plan_l1_fix_dist: 0.1714, d2.loss_plan_l1_fix_time: 0.7146, d2.loss_plan_l1_fix_dist: 0.1843, d3.loss_plan_l1_fix_time: 0.7020, d3.loss_plan_l1_fix_dist: 0.2076, d4.loss_plan_l1_fix_time: 0.7032, d4.loss_plan_l1_fix_dist: 0.2056, d5.loss_plan_l1_fix_time: 0.7053, d5.loss_plan_l1_fix_dist: 0.2338, d6.loss_plan_l1_fix_time: 0.7077, d6.loss_plan_l1_fix_dist: 0.2268, d0.loss_cls_all: 0.1194, d0.loss_bbox_all: 0.3325, d0.loss_cls: 0.1194, d0.loss_bbox: 0.3325, d1.loss_cls: 0.1155, d1.loss_bbox: 0.2975, d2.loss_cls: 0.1021, d2.loss_bbox: 0.2763, d3.loss_cls: 0.0811, d3.loss_bbox: 0.2729, d4.loss_cls: 0.0777, d4.loss_bbox: 0.2702, d5.loss_cls: 0.0780, d5.loss_bbox: 0.2681, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7484, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5852, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5092, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4940, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4796, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4697, d0.loss_map_cls_all: 0.1669, d0.loss_map_pts_all: 0.9199, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1669, d0.loss_map_pts: 0.9199, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1405, d1.loss_map_pts: 0.6743, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.1173, d2.loss_map_pts: 0.5254, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.1075, d3.loss_map_pts: 0.4707, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.1016, d4.loss_map_pts: 0.4482, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0967, d5.loss_map_pts: 0.4440, d5.loss_map_dir: 0.0047, loss: 21.4384, grad_norm: 146.0039 +2026-03-01 07:21:01,363 - DriveTransformer - INFO - Epoch [12][22500/39528] lr: 5.696e-05, eta: 4 days, 3:48:36, time: 0.701, data_time: 0.038, memory: 19865, loss_cls: 0.0848, loss_bbox: 0.2768, loss_traj: 0.3782, loss_traj_cls: 0.0020, loss_map_cls: 0.0944, loss_map_pts: 0.4943, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.6123, d0.loss_plan_l1_fix_dist: 0.3973, d1.loss_plan_l1_fix_time: 0.6937, d1.loss_plan_l1_fix_dist: 0.1679, d2.loss_plan_l1_fix_time: 0.6791, d2.loss_plan_l1_fix_dist: 0.1787, d3.loss_plan_l1_fix_time: 0.6752, d3.loss_plan_l1_fix_dist: 0.1888, d4.loss_plan_l1_fix_time: 0.6762, d4.loss_plan_l1_fix_dist: 0.2025, d5.loss_plan_l1_fix_time: 0.6784, d5.loss_plan_l1_fix_dist: 0.1939, d6.loss_plan_l1_fix_time: 0.6809, d6.loss_plan_l1_fix_dist: 0.2140, d0.loss_cls_all: 0.1300, d0.loss_bbox_all: 0.3426, d0.loss_cls: 0.1300, d0.loss_bbox: 0.3426, d1.loss_cls: 0.1214, d1.loss_bbox: 0.3098, d2.loss_cls: 0.1077, d2.loss_bbox: 0.2875, d3.loss_cls: 0.0926, d3.loss_bbox: 0.2796, d4.loss_cls: 0.0875, d4.loss_bbox: 0.2780, d5.loss_cls: 0.0847, d5.loss_bbox: 0.2773, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5978, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4528, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3908, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3805, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3777, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3759, d0.loss_map_cls_all: 0.1823, d0.loss_map_pts_all: 1.0454, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1823, d0.loss_map_pts: 1.0454, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1486, d1.loss_map_pts: 0.7521, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1223, d2.loss_map_pts: 0.5880, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1106, d3.loss_map_pts: 0.5213, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1029, d4.loss_map_pts: 0.4977, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0973, d5.loss_map_pts: 0.4945, d5.loss_map_dir: 0.0056, loss: 20.9578, grad_norm: 146.6686 +2026-03-01 07:21:37,271 - DriveTransformer - INFO - Epoch [12][22550/39528] lr: 5.696e-05, eta: 4 days, 3:47:58, time: 0.718, data_time: 0.038, memory: 19865, loss_cls: 0.0858, loss_bbox: 0.2864, loss_traj: 0.5212, loss_traj_cls: 0.0019, loss_map_cls: 0.0946, loss_map_pts: 0.4909, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.7293, d0.loss_plan_l1_fix_dist: 0.4473, d1.loss_plan_l1_fix_time: 0.7190, d1.loss_plan_l1_fix_dist: 0.2043, d2.loss_plan_l1_fix_time: 0.7002, d2.loss_plan_l1_fix_dist: 0.2220, d3.loss_plan_l1_fix_time: 0.6961, d3.loss_plan_l1_fix_dist: 0.2039, d4.loss_plan_l1_fix_time: 0.6973, d4.loss_plan_l1_fix_dist: 0.2327, d5.loss_plan_l1_fix_time: 0.6986, d5.loss_plan_l1_fix_dist: 0.2193, d6.loss_plan_l1_fix_time: 0.7001, d6.loss_plan_l1_fix_dist: 0.2448, d0.loss_cls_all: 0.1323, d0.loss_bbox_all: 0.3509, d0.loss_cls: 0.1323, d0.loss_bbox: 0.3509, d1.loss_cls: 0.1242, d1.loss_bbox: 0.3184, d2.loss_cls: 0.1112, d2.loss_bbox: 0.2955, d3.loss_cls: 0.0926, d3.loss_bbox: 0.2904, d4.loss_cls: 0.0853, d4.loss_bbox: 0.2890, d5.loss_cls: 0.0852, d5.loss_bbox: 0.2863, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7950, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.6165, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5522, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5329, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5264, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5220, d0.loss_map_cls_all: 0.1720, d0.loss_map_pts_all: 0.9549, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1720, d0.loss_map_pts: 0.9549, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1402, d1.loss_map_pts: 0.7118, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1192, d2.loss_map_pts: 0.5716, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1073, d3.loss_map_pts: 0.5171, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0999, d4.loss_map_pts: 0.4976, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0966, d5.loss_map_pts: 0.4915, d5.loss_map_dir: 0.0056, loss: 22.3418, grad_norm: 148.6567 +2026-03-01 07:22:13,852 - DriveTransformer - INFO - Epoch [12][22600/39528] lr: 5.696e-05, eta: 4 days, 3:47:22, time: 0.733, data_time: 0.040, memory: 19865, loss_cls: 0.0813, loss_bbox: 0.2760, loss_traj: 0.4608, loss_traj_cls: 0.0020, loss_map_cls: 0.0843, loss_map_pts: 0.4311, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.8439, d0.loss_plan_l1_fix_dist: 0.4333, d1.loss_plan_l1_fix_time: 0.7480, d1.loss_plan_l1_fix_dist: 0.2045, d2.loss_plan_l1_fix_time: 0.7369, d2.loss_plan_l1_fix_dist: 0.2290, d3.loss_plan_l1_fix_time: 0.7259, d3.loss_plan_l1_fix_dist: 0.1926, d4.loss_plan_l1_fix_time: 0.7272, d4.loss_plan_l1_fix_dist: 0.2299, d5.loss_plan_l1_fix_time: 0.7284, d5.loss_plan_l1_fix_dist: 0.2169, d6.loss_plan_l1_fix_time: 0.7302, d6.loss_plan_l1_fix_dist: 0.2263, d0.loss_cls_all: 0.1328, d0.loss_bbox_all: 0.3400, d0.loss_cls: 0.1328, d0.loss_bbox: 0.3400, d1.loss_cls: 0.1259, d1.loss_bbox: 0.3080, d2.loss_cls: 0.1121, d2.loss_bbox: 0.2859, d3.loss_cls: 0.0898, d3.loss_bbox: 0.2813, d4.loss_cls: 0.0833, d4.loss_bbox: 0.2785, d5.loss_cls: 0.0810, d5.loss_bbox: 0.2770, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7256, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5630, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4911, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4749, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4676, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4617, d0.loss_map_cls_all: 0.1638, d0.loss_map_pts_all: 0.9512, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1638, d0.loss_map_pts: 0.9512, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1331, d1.loss_map_pts: 0.6651, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.1109, d2.loss_map_pts: 0.5095, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.0994, d3.loss_map_pts: 0.4538, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0913, d4.loss_map_pts: 0.4359, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0861, d5.loss_map_pts: 0.4316, d5.loss_map_dir: 0.0049, loss: 21.6519, grad_norm: 142.6618 +2026-03-01 07:22:49,053 - DriveTransformer - INFO - Epoch [12][22650/39528] lr: 5.696e-05, eta: 4 days, 3:46:42, time: 0.703, data_time: 0.038, memory: 19865, loss_cls: 0.0908, loss_bbox: 0.2662, loss_traj: 0.3704, loss_traj_cls: 0.0020, loss_map_cls: 0.0796, loss_map_pts: 0.4428, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.5678, d0.loss_plan_l1_fix_dist: 0.5541, d1.loss_plan_l1_fix_time: 0.6290, d1.loss_plan_l1_fix_dist: 0.2021, d2.loss_plan_l1_fix_time: 0.6108, d2.loss_plan_l1_fix_dist: 0.2371, d3.loss_plan_l1_fix_time: 0.6025, d3.loss_plan_l1_fix_dist: 0.1933, d4.loss_plan_l1_fix_time: 0.6034, d4.loss_plan_l1_fix_dist: 0.2371, d5.loss_plan_l1_fix_time: 0.6051, d5.loss_plan_l1_fix_dist: 0.2367, d6.loss_plan_l1_fix_time: 0.6075, d6.loss_plan_l1_fix_dist: 0.2127, d0.loss_cls_all: 0.1373, d0.loss_bbox_all: 0.3278, d0.loss_cls: 0.1373, d0.loss_bbox: 0.3278, d1.loss_cls: 0.1300, d1.loss_bbox: 0.2985, d2.loss_cls: 0.1137, d2.loss_bbox: 0.2767, d3.loss_cls: 0.0994, d3.loss_bbox: 0.2697, d4.loss_cls: 0.0944, d4.loss_bbox: 0.2653, d5.loss_cls: 0.0907, d5.loss_bbox: 0.2665, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6236, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4655, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4042, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3772, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3714, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3711, d0.loss_map_cls_all: 0.1684, d0.loss_map_pts_all: 0.8999, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1684, d0.loss_map_pts: 0.8999, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1338, d1.loss_map_pts: 0.6605, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1085, d2.loss_map_pts: 0.5183, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.0953, d3.loss_map_pts: 0.4614, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0877, d4.loss_map_pts: 0.4439, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0827, d5.loss_map_pts: 0.4415, d5.loss_map_dir: 0.0049, loss: 20.0148, grad_norm: 144.2389 +2026-03-01 07:23:26,952 - DriveTransformer - INFO - Epoch [12][22700/39528] lr: 5.696e-05, eta: 4 days, 3:46:08, time: 0.758, data_time: 0.037, memory: 19865, loss_cls: 0.0776, loss_bbox: 0.2732, loss_traj: 0.4943, loss_traj_cls: 0.0019, loss_map_cls: 0.0893, loss_map_pts: 0.5273, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.4705, d0.loss_plan_l1_fix_dist: 0.4387, d1.loss_plan_l1_fix_time: 0.7202, d1.loss_plan_l1_fix_dist: 0.1985, d2.loss_plan_l1_fix_time: 0.7002, d2.loss_plan_l1_fix_dist: 0.2459, d3.loss_plan_l1_fix_time: 0.6827, d3.loss_plan_l1_fix_dist: 0.1954, d4.loss_plan_l1_fix_time: 0.6844, d4.loss_plan_l1_fix_dist: 0.2150, d5.loss_plan_l1_fix_time: 0.6875, d5.loss_plan_l1_fix_dist: 0.2300, d6.loss_plan_l1_fix_time: 0.6906, d6.loss_plan_l1_fix_dist: 0.2112, d0.loss_cls_all: 0.1220, d0.loss_bbox_all: 0.3416, d0.loss_cls: 0.1220, d0.loss_bbox: 0.3416, d1.loss_cls: 0.1160, d1.loss_bbox: 0.3074, d2.loss_cls: 0.1022, d2.loss_bbox: 0.2851, d3.loss_cls: 0.0856, d3.loss_bbox: 0.2779, d4.loss_cls: 0.0796, d4.loss_bbox: 0.2754, d5.loss_cls: 0.0787, d5.loss_bbox: 0.2732, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7333, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5878, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5249, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5063, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4949, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4938, d0.loss_map_cls_all: 0.1726, d0.loss_map_pts_all: 1.1013, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1726, d0.loss_map_pts: 1.1013, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1358, d1.loss_map_pts: 0.7855, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1135, d2.loss_map_pts: 0.6232, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1043, d3.loss_map_pts: 0.5596, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.0968, d4.loss_map_pts: 0.5365, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0918, d5.loss_map_pts: 0.5286, d5.loss_map_dir: 0.0065, loss: 22.1655, grad_norm: 142.2421 +2026-03-01 07:24:01,523 - DriveTransformer - INFO - Epoch [12][22750/39528] lr: 5.696e-05, eta: 4 days, 3:45:27, time: 0.691, data_time: 0.039, memory: 19865, loss_cls: 0.0923, loss_bbox: 0.2794, loss_traj: 0.5179, loss_traj_cls: 0.0020, loss_map_cls: 0.0774, loss_map_pts: 0.4266, loss_map_dir: 0.0041, d0.loss_plan_l1_fix_time: 2.9112, d0.loss_plan_l1_fix_dist: 0.4192, d1.loss_plan_l1_fix_time: 0.8065, d1.loss_plan_l1_fix_dist: 0.1873, d2.loss_plan_l1_fix_time: 0.7785, d2.loss_plan_l1_fix_dist: 0.2525, d3.loss_plan_l1_fix_time: 0.7759, d3.loss_plan_l1_fix_dist: 0.2093, d4.loss_plan_l1_fix_time: 0.7767, d4.loss_plan_l1_fix_dist: 0.2129, d5.loss_plan_l1_fix_time: 0.7783, d5.loss_plan_l1_fix_dist: 0.2262, d6.loss_plan_l1_fix_time: 0.7802, d6.loss_plan_l1_fix_dist: 0.2185, d0.loss_cls_all: 0.1350, d0.loss_bbox_all: 0.3517, d0.loss_cls: 0.1350, d0.loss_bbox: 0.3517, d1.loss_cls: 0.1286, d1.loss_bbox: 0.3157, d2.loss_cls: 0.1150, d2.loss_bbox: 0.2938, d3.loss_cls: 0.0979, d3.loss_bbox: 0.2866, d4.loss_cls: 0.0942, d4.loss_bbox: 0.2813, d5.loss_cls: 0.0915, d5.loss_bbox: 0.2806, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8734, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.6631, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5669, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5405, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5255, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5233, d0.loss_map_cls_all: 0.1500, d0.loss_map_pts_all: 0.8979, d0.loss_map_dir_all: 0.0040, d0.loss_map_cls: 0.1500, d0.loss_map_pts: 0.8979, d0.loss_map_dir: 0.0040, d1.loss_map_cls: 0.1230, d1.loss_map_pts: 0.6580, d1.loss_map_dir: 0.0039, d2.loss_map_cls: 0.1022, d2.loss_map_pts: 0.5145, d2.loss_map_dir: 0.0038, d3.loss_map_cls: 0.0893, d3.loss_map_pts: 0.4541, d3.loss_map_dir: 0.0039, d4.loss_map_cls: 0.0843, d4.loss_map_pts: 0.4326, d4.loss_map_dir: 0.0041, d5.loss_map_cls: 0.0801, d5.loss_map_pts: 0.4272, d5.loss_map_dir: 0.0041, loss: 22.4782, grad_norm: 141.9760 +2026-03-01 07:24:37,695 - DriveTransformer - INFO - Epoch [12][22800/39528] lr: 5.696e-05, eta: 4 days, 3:44:50, time: 0.723, data_time: 0.040, memory: 19865, loss_cls: 0.0796, loss_bbox: 0.2702, loss_traj: 0.4407, loss_traj_cls: 0.0020, loss_map_cls: 0.0908, loss_map_pts: 0.4596, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.6673, d0.loss_plan_l1_fix_dist: 0.3330, d1.loss_plan_l1_fix_time: 0.6779, d1.loss_plan_l1_fix_dist: 0.1639, d2.loss_plan_l1_fix_time: 0.6642, d2.loss_plan_l1_fix_dist: 0.2385, d3.loss_plan_l1_fix_time: 0.6591, d3.loss_plan_l1_fix_dist: 0.2053, d4.loss_plan_l1_fix_time: 0.6602, d4.loss_plan_l1_fix_dist: 0.1821, d5.loss_plan_l1_fix_time: 0.6624, d5.loss_plan_l1_fix_dist: 0.2106, d6.loss_plan_l1_fix_time: 0.6650, d6.loss_plan_l1_fix_dist: 0.2004, d0.loss_cls_all: 0.1282, d0.loss_bbox_all: 0.3351, d0.loss_cls: 0.1282, d0.loss_bbox: 0.3351, d1.loss_cls: 0.1204, d1.loss_bbox: 0.3031, d2.loss_cls: 0.1051, d2.loss_bbox: 0.2810, d3.loss_cls: 0.0880, d3.loss_bbox: 0.2764, d4.loss_cls: 0.0818, d4.loss_bbox: 0.2709, d5.loss_cls: 0.0805, d5.loss_bbox: 0.2687, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7307, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5418, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4811, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4575, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4472, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4431, d0.loss_map_cls_all: 0.1812, d0.loss_map_pts_all: 0.9419, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1812, d0.loss_map_pts: 0.9419, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1456, d1.loss_map_pts: 0.6839, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1217, d2.loss_map_pts: 0.5392, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1087, d3.loss_map_pts: 0.4862, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.1009, d4.loss_map_pts: 0.4645, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0947, d5.loss_map_pts: 0.4597, d5.loss_map_dir: 0.0050, loss: 20.9350, grad_norm: 143.6200 +2026-03-01 07:25:12,849 - DriveTransformer - INFO - Epoch [12][22850/39528] lr: 5.696e-05, eta: 4 days, 3:44:10, time: 0.703, data_time: 0.040, memory: 19865, loss_cls: 0.0738, loss_bbox: 0.2778, loss_traj: 0.3873, loss_traj_cls: 0.0021, loss_map_cls: 0.0967, loss_map_pts: 0.4542, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.6918, d0.loss_plan_l1_fix_dist: 0.4069, d1.loss_plan_l1_fix_time: 0.6597, d1.loss_plan_l1_fix_dist: 0.1544, d2.loss_plan_l1_fix_time: 0.6461, d2.loss_plan_l1_fix_dist: 0.2304, d3.loss_plan_l1_fix_time: 0.6490, d3.loss_plan_l1_fix_dist: 0.2119, d4.loss_plan_l1_fix_time: 0.6507, d4.loss_plan_l1_fix_dist: 0.1599, d5.loss_plan_l1_fix_time: 0.6533, d5.loss_plan_l1_fix_dist: 0.2116, d6.loss_plan_l1_fix_time: 0.6572, d6.loss_plan_l1_fix_dist: 0.1791, d0.loss_cls_all: 0.1230, d0.loss_bbox_all: 0.3360, d0.loss_cls: 0.1230, d0.loss_bbox: 0.3360, d1.loss_cls: 0.1179, d1.loss_bbox: 0.3053, d2.loss_cls: 0.1029, d2.loss_bbox: 0.2860, d3.loss_cls: 0.0828, d3.loss_bbox: 0.2814, d4.loss_cls: 0.0766, d4.loss_bbox: 0.2784, d5.loss_cls: 0.0743, d5.loss_bbox: 0.2776, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5728, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4605, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4172, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4000, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3876, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3854, d0.loss_map_cls_all: 0.1643, d0.loss_map_pts_all: 0.9475, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1643, d0.loss_map_pts: 0.9475, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1400, d1.loss_map_pts: 0.6702, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1184, d2.loss_map_pts: 0.5305, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1092, d3.loss_map_pts: 0.4827, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.1028, d4.loss_map_pts: 0.4631, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0987, d5.loss_map_pts: 0.4548, d5.loss_map_dir: 0.0051, loss: 20.3202, grad_norm: 143.3534 +2026-03-01 07:25:48,723 - DriveTransformer - INFO - Epoch [12][22900/39528] lr: 5.696e-05, eta: 4 days, 3:43:32, time: 0.717, data_time: 0.037, memory: 19865, loss_cls: 0.0774, loss_bbox: 0.2569, loss_traj: 0.4772, loss_traj_cls: 0.0019, loss_map_cls: 0.0695, loss_map_pts: 0.4137, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.7122, d0.loss_plan_l1_fix_dist: 0.3473, d1.loss_plan_l1_fix_time: 0.7103, d1.loss_plan_l1_fix_dist: 0.1661, d2.loss_plan_l1_fix_time: 0.6950, d2.loss_plan_l1_fix_dist: 0.2497, d3.loss_plan_l1_fix_time: 0.6967, d3.loss_plan_l1_fix_dist: 0.2343, d4.loss_plan_l1_fix_time: 0.6979, d4.loss_plan_l1_fix_dist: 0.1670, d5.loss_plan_l1_fix_time: 0.7000, d5.loss_plan_l1_fix_dist: 0.2032, d6.loss_plan_l1_fix_time: 0.7032, d6.loss_plan_l1_fix_dist: 0.1802, d0.loss_cls_all: 0.1281, d0.loss_bbox_all: 0.3129, d0.loss_cls: 0.1281, d0.loss_bbox: 0.3129, d1.loss_cls: 0.1206, d1.loss_bbox: 0.2849, d2.loss_cls: 0.1091, d2.loss_bbox: 0.2653, d3.loss_cls: 0.0884, d3.loss_bbox: 0.2606, d4.loss_cls: 0.0806, d4.loss_bbox: 0.2576, d5.loss_cls: 0.0786, d5.loss_bbox: 0.2569, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6654, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5412, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4978, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4794, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4795, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4801, d0.loss_map_cls_all: 0.1424, d0.loss_map_pts_all: 0.8353, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1424, d0.loss_map_pts: 0.8353, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1127, d1.loss_map_pts: 0.6025, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.0930, d2.loss_map_pts: 0.4795, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0818, d3.loss_map_pts: 0.4322, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0751, d4.loss_map_pts: 0.4126, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0717, d5.loss_map_pts: 0.4108, d5.loss_map_dir: 0.0051, loss: 20.3614, grad_norm: 139.2181 +2026-03-01 07:26:24,344 - DriveTransformer - INFO - Epoch [12][22950/39528] lr: 5.696e-05, eta: 4 days, 3:42:53, time: 0.712, data_time: 0.040, memory: 19865, loss_cls: 0.0877, loss_bbox: 0.2710, loss_traj: 0.5232, loss_traj_cls: 0.0020, loss_map_cls: 0.0772, loss_map_pts: 0.3956, loss_map_dir: 0.0042, d0.loss_plan_l1_fix_time: 2.6148, d0.loss_plan_l1_fix_dist: 0.3815, d1.loss_plan_l1_fix_time: 0.6908, d1.loss_plan_l1_fix_dist: 0.1807, d2.loss_plan_l1_fix_time: 0.6792, d2.loss_plan_l1_fix_dist: 0.2641, d3.loss_plan_l1_fix_time: 0.6663, d3.loss_plan_l1_fix_dist: 0.2450, d4.loss_plan_l1_fix_time: 0.6664, d4.loss_plan_l1_fix_dist: 0.1850, d5.loss_plan_l1_fix_time: 0.6671, d5.loss_plan_l1_fix_dist: 0.1857, d6.loss_plan_l1_fix_time: 0.6681, d6.loss_plan_l1_fix_dist: 0.1834, d0.loss_cls_all: 0.1341, d0.loss_bbox_all: 0.3402, d0.loss_cls: 0.1341, d0.loss_bbox: 0.3402, d1.loss_cls: 0.1324, d1.loss_bbox: 0.3044, d2.loss_cls: 0.1163, d2.loss_bbox: 0.2832, d3.loss_cls: 0.0941, d3.loss_bbox: 0.2777, d4.loss_cls: 0.0891, d4.loss_bbox: 0.2734, d5.loss_cls: 0.0879, d5.loss_bbox: 0.2716, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8168, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.6300, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5480, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5273, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5250, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.5247, d0.loss_map_cls_all: 0.1603, d0.loss_map_pts_all: 0.8237, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1603, d0.loss_map_pts: 0.8237, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1244, d1.loss_map_pts: 0.5955, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.0979, d2.loss_map_pts: 0.4673, d2.loss_map_dir: 0.0041, d3.loss_map_cls: 0.0880, d3.loss_map_pts: 0.4147, d3.loss_map_dir: 0.0040, d4.loss_map_cls: 0.0823, d4.loss_map_pts: 0.3980, d4.loss_map_dir: 0.0041, d5.loss_map_cls: 0.0788, d5.loss_map_pts: 0.3958, d5.loss_map_dir: 0.0042, loss: 20.8365, grad_norm: 139.3363 +2026-03-01 07:26:59,896 - DriveTransformer - INFO - Epoch [12][23000/39528] lr: 5.696e-05, eta: 4 days, 3:42:15, time: 0.711, data_time: 0.038, memory: 19865, loss_cls: 0.0750, loss_bbox: 0.2655, loss_traj: 0.4292, loss_traj_cls: 0.0020, loss_map_cls: 0.0846, loss_map_pts: 0.4313, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.4838, d0.loss_plan_l1_fix_dist: 0.4476, d1.loss_plan_l1_fix_time: 0.5707, d1.loss_plan_l1_fix_dist: 0.1848, d2.loss_plan_l1_fix_time: 0.5621, d2.loss_plan_l1_fix_dist: 0.2541, d3.loss_plan_l1_fix_time: 0.5600, d3.loss_plan_l1_fix_dist: 0.2328, d4.loss_plan_l1_fix_time: 0.5613, d4.loss_plan_l1_fix_dist: 0.2039, d5.loss_plan_l1_fix_time: 0.5626, d5.loss_plan_l1_fix_dist: 0.1972, d6.loss_plan_l1_fix_time: 0.5642, d6.loss_plan_l1_fix_dist: 0.1952, d0.loss_cls_all: 0.1206, d0.loss_bbox_all: 0.3208, d0.loss_cls: 0.1206, d0.loss_bbox: 0.3208, d1.loss_cls: 0.1128, d1.loss_bbox: 0.2916, d2.loss_cls: 0.0978, d2.loss_bbox: 0.2743, d3.loss_cls: 0.0811, d3.loss_bbox: 0.2678, d4.loss_cls: 0.0767, d4.loss_bbox: 0.2652, d5.loss_cls: 0.0752, d5.loss_bbox: 0.2653, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6166, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4878, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4434, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4352, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4278, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4260, d0.loss_map_cls_all: 0.1584, d0.loss_map_pts_all: 0.8792, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1584, d0.loss_map_pts: 0.8792, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1288, d1.loss_map_pts: 0.6308, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1092, d2.loss_map_pts: 0.5073, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.0984, d3.loss_map_pts: 0.4569, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0925, d4.loss_map_pts: 0.4358, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0871, d5.loss_map_pts: 0.4322, d5.loss_map_dir: 0.0046, loss: 19.4928, grad_norm: 137.4960 +2026-03-01 07:27:36,058 - DriveTransformer - INFO - Epoch [12][23050/39528] lr: 5.696e-05, eta: 4 days, 3:41:37, time: 0.723, data_time: 0.040, memory: 19865, loss_cls: 0.0813, loss_bbox: 0.2578, loss_traj: 0.4020, loss_traj_cls: 0.0019, loss_map_cls: 0.0909, loss_map_pts: 0.4453, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.5981, d0.loss_plan_l1_fix_dist: 0.3394, d1.loss_plan_l1_fix_time: 0.7047, d1.loss_plan_l1_fix_dist: 0.2050, d2.loss_plan_l1_fix_time: 0.6913, d2.loss_plan_l1_fix_dist: 0.2768, d3.loss_plan_l1_fix_time: 0.6769, d3.loss_plan_l1_fix_dist: 0.2302, d4.loss_plan_l1_fix_time: 0.6765, d4.loss_plan_l1_fix_dist: 0.1744, d5.loss_plan_l1_fix_time: 0.6774, d5.loss_plan_l1_fix_dist: 0.1708, d6.loss_plan_l1_fix_time: 0.6793, d6.loss_plan_l1_fix_dist: 0.2058, d0.loss_cls_all: 0.1270, d0.loss_bbox_all: 0.3255, d0.loss_cls: 0.1270, d0.loss_bbox: 0.3255, d1.loss_cls: 0.1188, d1.loss_bbox: 0.2934, d2.loss_cls: 0.1064, d2.loss_bbox: 0.2698, d3.loss_cls: 0.0880, d3.loss_bbox: 0.2638, d4.loss_cls: 0.0831, d4.loss_bbox: 0.2599, d5.loss_cls: 0.0821, d5.loss_bbox: 0.2573, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6515, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4854, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4383, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4137, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4075, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4028, d0.loss_map_cls_all: 0.1815, d0.loss_map_pts_all: 0.9872, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1815, d0.loss_map_pts: 0.9872, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1418, d1.loss_map_pts: 0.6971, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1171, d2.loss_map_pts: 0.5407, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.1069, d3.loss_map_pts: 0.4782, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.1000, d4.loss_map_pts: 0.4516, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0937, d5.loss_map_pts: 0.4466, d5.loss_map_dir: 0.0052, loss: 20.6706, grad_norm: 137.2194 +2026-03-01 07:28:11,466 - DriveTransformer - INFO - Epoch [12][23100/39528] lr: 5.696e-05, eta: 4 days, 3:40:58, time: 0.708, data_time: 0.041, memory: 19865, loss_cls: 0.0885, loss_bbox: 0.2643, loss_traj: 0.4247, loss_traj_cls: 0.0019, loss_map_cls: 0.0735, loss_map_pts: 0.4359, loss_map_dir: 0.0047, d0.loss_plan_l1_fix_time: 2.7222, d0.loss_plan_l1_fix_dist: 0.4116, d1.loss_plan_l1_fix_time: 0.6539, d1.loss_plan_l1_fix_dist: 0.2128, d2.loss_plan_l1_fix_time: 0.6518, d2.loss_plan_l1_fix_dist: 0.2734, d3.loss_plan_l1_fix_time: 0.6521, d3.loss_plan_l1_fix_dist: 0.2417, d4.loss_plan_l1_fix_time: 0.6566, d4.loss_plan_l1_fix_dist: 0.1887, d5.loss_plan_l1_fix_time: 0.6595, d5.loss_plan_l1_fix_dist: 0.1962, d6.loss_plan_l1_fix_time: 0.6624, d6.loss_plan_l1_fix_dist: 0.2497, d0.loss_cls_all: 0.1301, d0.loss_bbox_all: 0.3297, d0.loss_cls: 0.1301, d0.loss_bbox: 0.3297, d1.loss_cls: 0.1215, d1.loss_bbox: 0.2972, d2.loss_cls: 0.1121, d2.loss_bbox: 0.2734, d3.loss_cls: 0.0943, d3.loss_bbox: 0.2691, d4.loss_cls: 0.0892, d4.loss_bbox: 0.2664, d5.loss_cls: 0.0883, d5.loss_bbox: 0.2653, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6401, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4916, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4487, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4346, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4308, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4268, d0.loss_map_cls_all: 0.1642, d0.loss_map_pts_all: 0.9368, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1642, d0.loss_map_pts: 0.9368, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1278, d1.loss_map_pts: 0.6825, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.1027, d2.loss_map_pts: 0.5278, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.0902, d3.loss_map_pts: 0.4640, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0825, d4.loss_map_pts: 0.4423, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0758, d5.loss_map_pts: 0.4367, d5.loss_map_dir: 0.0047, loss: 20.6677, grad_norm: 135.9487 +2026-03-01 07:28:48,538 - DriveTransformer - INFO - Epoch [12][23150/39528] lr: 5.696e-05, eta: 4 days, 3:40:23, time: 0.742, data_time: 0.036, memory: 19865, loss_cls: 0.0810, loss_bbox: 0.2690, loss_traj: 0.4014, loss_traj_cls: 0.0020, loss_map_cls: 0.0798, loss_map_pts: 0.4686, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 3.0446, d0.loss_plan_l1_fix_dist: 0.3841, d1.loss_plan_l1_fix_time: 0.7514, d1.loss_plan_l1_fix_dist: 0.1946, d2.loss_plan_l1_fix_time: 0.7370, d2.loss_plan_l1_fix_dist: 0.2366, d3.loss_plan_l1_fix_time: 0.7264, d3.loss_plan_l1_fix_dist: 0.2094, d4.loss_plan_l1_fix_time: 0.7272, d4.loss_plan_l1_fix_dist: 0.1699, d5.loss_plan_l1_fix_time: 0.7290, d5.loss_plan_l1_fix_dist: 0.1949, d6.loss_plan_l1_fix_time: 0.7314, d6.loss_plan_l1_fix_dist: 0.2035, d0.loss_cls_all: 0.1271, d0.loss_bbox_all: 0.3295, d0.loss_cls: 0.1271, d0.loss_bbox: 0.3295, d1.loss_cls: 0.1212, d1.loss_bbox: 0.2993, d2.loss_cls: 0.1051, d2.loss_bbox: 0.2798, d3.loss_cls: 0.0861, d3.loss_bbox: 0.2752, d4.loss_cls: 0.0817, d4.loss_bbox: 0.2729, d5.loss_cls: 0.0821, d5.loss_bbox: 0.2690, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6243, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4754, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4340, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4139, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4064, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4036, d0.loss_map_cls_all: 0.1643, d0.loss_map_pts_all: 0.9987, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1643, d0.loss_map_pts: 0.9987, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1288, d1.loss_map_pts: 0.7019, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1069, d2.loss_map_pts: 0.5525, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0953, d3.loss_map_pts: 0.4967, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0885, d4.loss_map_pts: 0.4736, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0823, d5.loss_map_pts: 0.4697, d5.loss_map_dir: 0.0057, loss: 21.4587, grad_norm: 132.8494 +2026-03-01 07:29:23,717 - DriveTransformer - INFO - Epoch [12][23200/39528] lr: 5.696e-05, eta: 4 days, 3:39:43, time: 0.703, data_time: 0.041, memory: 19865, loss_cls: 0.0822, loss_bbox: 0.2537, loss_traj: 0.4733, loss_traj_cls: 0.0020, loss_map_cls: 0.0788, loss_map_pts: 0.4166, loss_map_dir: 0.0045, d0.loss_plan_l1_fix_time: 3.1500, d0.loss_plan_l1_fix_dist: 0.4752, d1.loss_plan_l1_fix_time: 0.6737, d1.loss_plan_l1_fix_dist: 0.2283, d2.loss_plan_l1_fix_time: 0.6512, d2.loss_plan_l1_fix_dist: 0.2464, d3.loss_plan_l1_fix_time: 0.6438, d3.loss_plan_l1_fix_dist: 0.2266, d4.loss_plan_l1_fix_time: 0.6441, d4.loss_plan_l1_fix_dist: 0.1993, d5.loss_plan_l1_fix_time: 0.6455, d5.loss_plan_l1_fix_dist: 0.2497, d6.loss_plan_l1_fix_time: 0.6476, d6.loss_plan_l1_fix_dist: 0.2257, d0.loss_cls_all: 0.1271, d0.loss_bbox_all: 0.3140, d0.loss_cls: 0.1271, d0.loss_bbox: 0.3140, d1.loss_cls: 0.1239, d1.loss_bbox: 0.2855, d2.loss_cls: 0.1123, d2.loss_bbox: 0.2646, d3.loss_cls: 0.0931, d3.loss_bbox: 0.2579, d4.loss_cls: 0.0836, d4.loss_bbox: 0.2566, d5.loss_cls: 0.0825, d5.loss_bbox: 0.2545, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7110, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5510, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4996, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4820, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4745, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4725, d0.loss_map_cls_all: 0.1641, d0.loss_map_pts_all: 0.8808, d0.loss_map_dir_all: 0.0048, d0.loss_map_cls: 0.1641, d0.loss_map_pts: 0.8808, d0.loss_map_dir: 0.0048, d1.loss_map_cls: 0.1298, d1.loss_map_pts: 0.6376, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.1084, d2.loss_map_pts: 0.4982, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.0950, d3.loss_map_pts: 0.4389, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0874, d4.loss_map_pts: 0.4192, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0816, d5.loss_map_pts: 0.4162, d5.loss_map_dir: 0.0045, loss: 21.1448, grad_norm: 130.2702 +2026-03-01 07:29:58,368 - DriveTransformer - INFO - Epoch [12][23250/39528] lr: 5.696e-05, eta: 4 days, 3:39:02, time: 0.693, data_time: 0.039, memory: 19865, loss_cls: 0.0756, loss_bbox: 0.2513, loss_traj: 0.4453, loss_traj_cls: 0.0020, loss_map_cls: 0.0757, loss_map_pts: 0.4234, loss_map_dir: 0.0041, d0.loss_plan_l1_fix_time: 2.6143, d0.loss_plan_l1_fix_dist: 0.4376, d1.loss_plan_l1_fix_time: 0.6570, d1.loss_plan_l1_fix_dist: 0.2467, d2.loss_plan_l1_fix_time: 0.6493, d2.loss_plan_l1_fix_dist: 0.2310, d3.loss_plan_l1_fix_time: 0.6482, d3.loss_plan_l1_fix_dist: 0.2109, d4.loss_plan_l1_fix_time: 0.6496, d4.loss_plan_l1_fix_dist: 0.1692, d5.loss_plan_l1_fix_time: 0.6516, d5.loss_plan_l1_fix_dist: 0.2232, d6.loss_plan_l1_fix_time: 0.6542, d6.loss_plan_l1_fix_dist: 0.2065, d0.loss_cls_all: 0.1225, d0.loss_bbox_all: 0.3112, d0.loss_cls: 0.1225, d0.loss_bbox: 0.3112, d1.loss_cls: 0.1146, d1.loss_bbox: 0.2795, d2.loss_cls: 0.1006, d2.loss_bbox: 0.2616, d3.loss_cls: 0.0820, d3.loss_bbox: 0.2571, d4.loss_cls: 0.0785, d4.loss_bbox: 0.2532, d5.loss_cls: 0.0767, d5.loss_bbox: 0.2507, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6732, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5294, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4708, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4575, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4520, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4487, d0.loss_map_cls_all: 0.1577, d0.loss_map_pts_all: 0.8763, d0.loss_map_dir_all: 0.0048, d0.loss_map_cls: 0.1577, d0.loss_map_pts: 0.8763, d0.loss_map_dir: 0.0048, d1.loss_map_cls: 0.1252, d1.loss_map_pts: 0.6392, d1.loss_map_dir: 0.0042, d2.loss_map_cls: 0.1019, d2.loss_map_pts: 0.5041, d2.loss_map_dir: 0.0038, d3.loss_map_cls: 0.0913, d3.loss_map_pts: 0.4496, d3.loss_map_dir: 0.0039, d4.loss_map_cls: 0.0836, d4.loss_map_pts: 0.4285, d4.loss_map_dir: 0.0041, d5.loss_map_cls: 0.0783, d5.loss_map_pts: 0.4236, d5.loss_map_dir: 0.0041, loss: 20.2082, grad_norm: 129.5440 +2026-03-01 07:30:35,754 - DriveTransformer - INFO - Epoch [12][23300/39528] lr: 5.696e-05, eta: 4 days, 3:38:27, time: 0.748, data_time: 0.042, memory: 19865, loss_cls: 0.0832, loss_bbox: 0.2608, loss_traj: 0.4370, loss_traj_cls: 0.0019, loss_map_cls: 0.0798, loss_map_pts: 0.4994, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.5946, d0.loss_plan_l1_fix_dist: 0.4353, d1.loss_plan_l1_fix_time: 0.7230, d1.loss_plan_l1_fix_dist: 0.2693, d2.loss_plan_l1_fix_time: 0.7011, d2.loss_plan_l1_fix_dist: 0.2175, d3.loss_plan_l1_fix_time: 0.7018, d3.loss_plan_l1_fix_dist: 0.2293, d4.loss_plan_l1_fix_time: 0.7038, d4.loss_plan_l1_fix_dist: 0.1732, d5.loss_plan_l1_fix_time: 0.7060, d5.loss_plan_l1_fix_dist: 0.1999, d6.loss_plan_l1_fix_time: 0.7085, d6.loss_plan_l1_fix_dist: 0.2076, d0.loss_cls_all: 0.1327, d0.loss_bbox_all: 0.3203, d0.loss_cls: 0.1327, d0.loss_bbox: 0.3203, d1.loss_cls: 0.1282, d1.loss_bbox: 0.2879, d2.loss_cls: 0.1140, d2.loss_bbox: 0.2692, d3.loss_cls: 0.0919, d3.loss_bbox: 0.2655, d4.loss_cls: 0.0828, d4.loss_bbox: 0.2632, d5.loss_cls: 0.0827, d5.loss_bbox: 0.2615, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6236, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5051, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4536, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4467, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4401, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4362, d0.loss_map_cls_all: 0.1654, d0.loss_map_pts_all: 1.0195, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1654, d0.loss_map_pts: 1.0195, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1312, d1.loss_map_pts: 0.7425, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1071, d2.loss_map_pts: 0.5950, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.0955, d3.loss_map_pts: 0.5367, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0880, d4.loss_map_pts: 0.5084, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0824, d5.loss_map_pts: 0.4998, d5.loss_map_dir: 0.0061, loss: 21.4038, grad_norm: 130.0671 +2026-03-01 07:31:11,844 - DriveTransformer - INFO - Epoch [12][23350/39528] lr: 5.696e-05, eta: 4 days, 3:37:50, time: 0.722, data_time: 0.036, memory: 19865, loss_cls: 0.0656, loss_bbox: 0.2508, loss_traj: 0.3669, loss_traj_cls: 0.0020, loss_map_cls: 0.0748, loss_map_pts: 0.4538, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.3488, d0.loss_plan_l1_fix_dist: 0.4346, d1.loss_plan_l1_fix_time: 0.6331, d1.loss_plan_l1_fix_dist: 0.2670, d2.loss_plan_l1_fix_time: 0.6095, d2.loss_plan_l1_fix_dist: 0.1926, d3.loss_plan_l1_fix_time: 0.6079, d3.loss_plan_l1_fix_dist: 0.2079, d4.loss_plan_l1_fix_time: 0.6090, d4.loss_plan_l1_fix_dist: 0.1542, d5.loss_plan_l1_fix_time: 0.6100, d5.loss_plan_l1_fix_dist: 0.1789, d6.loss_plan_l1_fix_time: 0.6116, d6.loss_plan_l1_fix_dist: 0.1976, d0.loss_cls_all: 0.1132, d0.loss_bbox_all: 0.3060, d0.loss_cls: 0.1132, d0.loss_bbox: 0.3060, d1.loss_cls: 0.1077, d1.loss_bbox: 0.2751, d2.loss_cls: 0.0913, d2.loss_bbox: 0.2598, d3.loss_cls: 0.0732, d3.loss_bbox: 0.2548, d4.loss_cls: 0.0668, d4.loss_bbox: 0.2517, d5.loss_cls: 0.0645, d5.loss_bbox: 0.2518, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5739, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4457, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3934, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3758, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3714, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3686, d0.loss_map_cls_all: 0.1559, d0.loss_map_pts_all: 0.9490, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1559, d0.loss_map_pts: 0.9490, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1215, d1.loss_map_pts: 0.6802, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.0987, d2.loss_map_pts: 0.5282, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0884, d3.loss_map_pts: 0.4779, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0822, d4.loss_map_pts: 0.4587, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0766, d5.loss_map_pts: 0.4541, d5.loss_map_dir: 0.0055, loss: 19.2676, grad_norm: 129.6304 +2026-03-01 07:31:48,611 - DriveTransformer - INFO - Epoch [12][23400/39528] lr: 5.696e-05, eta: 4 days, 3:37:14, time: 0.737, data_time: 0.039, memory: 19865, loss_cls: 0.0859, loss_bbox: 0.2698, loss_traj: 0.4734, loss_traj_cls: 0.0020, loss_map_cls: 0.0810, loss_map_pts: 0.4558, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.7075, d0.loss_plan_l1_fix_dist: 0.4598, d1.loss_plan_l1_fix_time: 0.7188, d1.loss_plan_l1_fix_dist: 0.2866, d2.loss_plan_l1_fix_time: 0.6781, d2.loss_plan_l1_fix_dist: 0.1982, d3.loss_plan_l1_fix_time: 0.6673, d3.loss_plan_l1_fix_dist: 0.2103, d4.loss_plan_l1_fix_time: 0.6675, d4.loss_plan_l1_fix_dist: 0.1714, d5.loss_plan_l1_fix_time: 0.6688, d5.loss_plan_l1_fix_dist: 0.1939, d6.loss_plan_l1_fix_time: 0.6703, d6.loss_plan_l1_fix_dist: 0.2239, d0.loss_cls_all: 0.1288, d0.loss_bbox_all: 0.3342, d0.loss_cls: 0.1288, d0.loss_bbox: 0.3342, d1.loss_cls: 0.1218, d1.loss_bbox: 0.3020, d2.loss_cls: 0.1091, d2.loss_bbox: 0.2792, d3.loss_cls: 0.0931, d3.loss_bbox: 0.2737, d4.loss_cls: 0.0874, d4.loss_bbox: 0.2718, d5.loss_cls: 0.0864, d5.loss_bbox: 0.2703, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7137, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5584, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5008, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4814, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4785, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4749, d0.loss_map_cls_all: 0.1631, d0.loss_map_pts_all: 0.9414, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1631, d0.loss_map_pts: 0.9414, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1310, d1.loss_map_pts: 0.6792, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1065, d2.loss_map_pts: 0.5376, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0956, d3.loss_map_pts: 0.4815, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0877, d4.loss_map_pts: 0.4616, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0818, d5.loss_map_pts: 0.4565, d5.loss_map_dir: 0.0057, loss: 21.2983, grad_norm: 127.0757 +2026-03-01 07:32:25,390 - DriveTransformer - INFO - Epoch [12][23450/39528] lr: 5.696e-05, eta: 4 days, 3:36:38, time: 0.734, data_time: 0.038, memory: 19865, loss_cls: 0.0787, loss_bbox: 0.2651, loss_traj: 0.4337, loss_traj_cls: 0.0020, loss_map_cls: 0.1059, loss_map_pts: 0.5144, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.6606, d0.loss_plan_l1_fix_dist: 0.4372, d1.loss_plan_l1_fix_time: 0.6946, d1.loss_plan_l1_fix_dist: 0.3044, d2.loss_plan_l1_fix_time: 0.6585, d2.loss_plan_l1_fix_dist: 0.2110, d3.loss_plan_l1_fix_time: 0.6593, d3.loss_plan_l1_fix_dist: 0.2154, d4.loss_plan_l1_fix_time: 0.6615, d4.loss_plan_l1_fix_dist: 0.1802, d5.loss_plan_l1_fix_time: 0.6638, d5.loss_plan_l1_fix_dist: 0.1942, d6.loss_plan_l1_fix_time: 0.6668, d6.loss_plan_l1_fix_dist: 0.2317, d0.loss_cls_all: 0.1239, d0.loss_bbox_all: 0.3283, d0.loss_cls: 0.1239, d0.loss_bbox: 0.3283, d1.loss_cls: 0.1146, d1.loss_bbox: 0.2971, d2.loss_cls: 0.0994, d2.loss_bbox: 0.2762, d3.loss_cls: 0.0850, d3.loss_bbox: 0.2688, d4.loss_cls: 0.0799, d4.loss_bbox: 0.2668, d5.loss_cls: 0.0783, d5.loss_bbox: 0.2656, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6941, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5159, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4589, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4399, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4381, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4367, d0.loss_map_cls_all: 0.2023, d0.loss_map_pts_all: 1.0694, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.2023, d0.loss_map_pts: 1.0694, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1657, d1.loss_map_pts: 0.7931, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1350, d2.loss_map_pts: 0.6068, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1236, d3.loss_map_pts: 0.5406, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1145, d4.loss_map_pts: 0.5206, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1097, d5.loss_map_pts: 0.5149, d5.loss_map_dir: 0.0058, loss: 21.7775, grad_norm: 127.4961 +2026-03-01 07:33:01,560 - DriveTransformer - INFO - Epoch [12][23500/39528] lr: 5.696e-05, eta: 4 days, 3:36:00, time: 0.723, data_time: 0.040, memory: 19865, loss_cls: 0.0754, loss_bbox: 0.2576, loss_traj: 0.5471, loss_traj_cls: 0.0020, loss_map_cls: 0.0923, loss_map_pts: 0.4931, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.5595, d0.loss_plan_l1_fix_dist: 0.4401, d1.loss_plan_l1_fix_time: 0.6930, d1.loss_plan_l1_fix_dist: 0.2914, d2.loss_plan_l1_fix_time: 0.6609, d2.loss_plan_l1_fix_dist: 0.2203, d3.loss_plan_l1_fix_time: 0.6420, d3.loss_plan_l1_fix_dist: 0.2247, d4.loss_plan_l1_fix_time: 0.6416, d4.loss_plan_l1_fix_dist: 0.1995, d5.loss_plan_l1_fix_time: 0.6431, d5.loss_plan_l1_fix_dist: 0.2214, d6.loss_plan_l1_fix_time: 0.6455, d6.loss_plan_l1_fix_dist: 0.2300, d0.loss_cls_all: 0.1232, d0.loss_bbox_all: 0.3165, d0.loss_cls: 0.1232, d0.loss_bbox: 0.3165, d1.loss_cls: 0.1167, d1.loss_bbox: 0.2828, d2.loss_cls: 0.1047, d2.loss_bbox: 0.2636, d3.loss_cls: 0.0842, d3.loss_bbox: 0.2596, d4.loss_cls: 0.0777, d4.loss_bbox: 0.2580, d5.loss_cls: 0.0764, d5.loss_bbox: 0.2572, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8032, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.6378, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5726, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5630, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5577, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5524, d0.loss_map_cls_all: 0.1733, d0.loss_map_pts_all: 1.0189, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1733, d0.loss_map_pts: 1.0189, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1430, d1.loss_map_pts: 0.7451, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1182, d2.loss_map_pts: 0.5833, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1077, d3.loss_map_pts: 0.5237, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0994, d4.loss_map_pts: 0.5004, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0948, d5.loss_map_pts: 0.4939, d5.loss_map_dir: 0.0059, loss: 21.9747, grad_norm: 129.2111 +2026-03-01 07:33:37,295 - DriveTransformer - INFO - Epoch [12][23550/39528] lr: 5.696e-05, eta: 4 days, 3:35:22, time: 0.715, data_time: 0.038, memory: 19865, loss_cls: 0.0793, loss_bbox: 0.2604, loss_traj: 0.3339, loss_traj_cls: 0.0020, loss_map_cls: 0.0886, loss_map_pts: 0.4425, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.6586, d0.loss_plan_l1_fix_dist: 0.4135, d1.loss_plan_l1_fix_time: 0.8842, d1.loss_plan_l1_fix_dist: 0.2985, d2.loss_plan_l1_fix_time: 0.8485, d2.loss_plan_l1_fix_dist: 0.2459, d3.loss_plan_l1_fix_time: 0.8075, d3.loss_plan_l1_fix_dist: 0.2384, d4.loss_plan_l1_fix_time: 0.8062, d4.loss_plan_l1_fix_dist: 0.2156, d5.loss_plan_l1_fix_time: 0.8075, d5.loss_plan_l1_fix_dist: 0.2437, d6.loss_plan_l1_fix_time: 0.8092, d6.loss_plan_l1_fix_dist: 0.2491, d0.loss_cls_all: 0.1283, d0.loss_bbox_all: 0.3353, d0.loss_cls: 0.1283, d0.loss_bbox: 0.3353, d1.loss_cls: 0.1196, d1.loss_bbox: 0.2956, d2.loss_cls: 0.1095, d2.loss_bbox: 0.2701, d3.loss_cls: 0.0904, d3.loss_bbox: 0.2645, d4.loss_cls: 0.0813, d4.loss_bbox: 0.2622, d5.loss_cls: 0.0785, d5.loss_bbox: 0.2617, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5157, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4050, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3503, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3377, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3398, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3380, d0.loss_map_cls_all: 0.1701, d0.loss_map_pts_all: 0.9423, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1701, d0.loss_map_pts: 0.9423, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1375, d1.loss_map_pts: 0.6731, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1119, d2.loss_map_pts: 0.5195, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1015, d3.loss_map_pts: 0.4667, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0949, d4.loss_map_pts: 0.4473, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0911, d5.loss_map_pts: 0.4421, d5.loss_map_dir: 0.0055, loss: 21.1423, grad_norm: 128.8949 +2026-03-01 07:34:13,399 - DriveTransformer - INFO - Epoch [12][23600/39528] lr: 5.696e-05, eta: 4 days, 3:34:44, time: 0.722, data_time: 0.036, memory: 19865, loss_cls: 0.0806, loss_bbox: 0.2677, loss_traj: 0.4187, loss_traj_cls: 0.0020, loss_map_cls: 0.1091, loss_map_pts: 0.5705, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.2923, d0.loss_plan_l1_fix_dist: 0.4221, d1.loss_plan_l1_fix_time: 0.6387, d1.loss_plan_l1_fix_dist: 0.2683, d2.loss_plan_l1_fix_time: 0.6062, d2.loss_plan_l1_fix_dist: 0.2221, d3.loss_plan_l1_fix_time: 0.5994, d3.loss_plan_l1_fix_dist: 0.2086, d4.loss_plan_l1_fix_time: 0.6007, d4.loss_plan_l1_fix_dist: 0.1919, d5.loss_plan_l1_fix_time: 0.6022, d5.loss_plan_l1_fix_dist: 0.2329, d6.loss_plan_l1_fix_time: 0.6038, d6.loss_plan_l1_fix_dist: 0.2268, d0.loss_cls_all: 0.1222, d0.loss_bbox_all: 0.3344, d0.loss_cls: 0.1222, d0.loss_bbox: 0.3344, d1.loss_cls: 0.1177, d1.loss_bbox: 0.3011, d2.loss_cls: 0.1047, d2.loss_bbox: 0.2787, d3.loss_cls: 0.0868, d3.loss_bbox: 0.2716, d4.loss_cls: 0.0825, d4.loss_bbox: 0.2683, d5.loss_cls: 0.0808, d5.loss_bbox: 0.2677, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6701, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5079, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4546, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4331, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4254, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4214, d0.loss_map_cls_all: 0.1976, d0.loss_map_pts_all: 1.1032, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1976, d0.loss_map_pts: 1.1032, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1650, d1.loss_map_pts: 0.8186, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1399, d2.loss_map_pts: 0.6578, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1260, d3.loss_map_pts: 0.5965, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1173, d4.loss_map_pts: 0.5735, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1113, d5.loss_map_pts: 0.5703, d5.loss_map_dir: 0.0059, loss: 21.3793, grad_norm: 129.2743 +2026-03-01 07:34:50,315 - DriveTransformer - INFO - Epoch [12][23650/39528] lr: 5.696e-05, eta: 4 days, 3:34:09, time: 0.738, data_time: 0.037, memory: 19865, loss_cls: 0.0625, loss_bbox: 0.2329, loss_traj: 0.3950, loss_traj_cls: 0.0020, loss_map_cls: 0.0810, loss_map_pts: 0.4597, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.4671, d0.loss_plan_l1_fix_dist: 0.3866, d1.loss_plan_l1_fix_time: 0.6715, d1.loss_plan_l1_fix_dist: 0.2430, d2.loss_plan_l1_fix_time: 0.6455, d2.loss_plan_l1_fix_dist: 0.1882, d3.loss_plan_l1_fix_time: 0.6316, d3.loss_plan_l1_fix_dist: 0.1834, d4.loss_plan_l1_fix_time: 0.6341, d4.loss_plan_l1_fix_dist: 0.1762, d5.loss_plan_l1_fix_time: 0.6361, d5.loss_plan_l1_fix_dist: 0.2105, d6.loss_plan_l1_fix_time: 0.6391, d6.loss_plan_l1_fix_dist: 0.1862, d0.loss_cls_all: 0.1012, d0.loss_bbox_all: 0.2944, d0.loss_cls: 0.1012, d0.loss_bbox: 0.2944, d1.loss_cls: 0.0892, d1.loss_bbox: 0.2646, d2.loss_cls: 0.0803, d2.loss_bbox: 0.2428, d3.loss_cls: 0.0675, d3.loss_bbox: 0.2364, d4.loss_cls: 0.0632, d4.loss_bbox: 0.2354, d5.loss_cls: 0.0631, d5.loss_bbox: 0.2319, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.5766, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4571, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4096, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3992, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3943, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3948, d0.loss_map_cls_all: 0.1686, d0.loss_map_pts_all: 1.0156, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1686, d0.loss_map_pts: 1.0156, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1309, d1.loss_map_pts: 0.7158, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1063, d2.loss_map_pts: 0.5493, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.0943, d3.loss_map_pts: 0.4925, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0883, d4.loss_map_pts: 0.4657, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0838, d5.loss_map_pts: 0.4595, d5.loss_map_dir: 0.0057, loss: 19.7377, grad_norm: 130.2813 +2026-03-01 07:35:26,585 - DriveTransformer - INFO - Epoch [12][23700/39528] lr: 5.696e-05, eta: 4 days, 3:33:31, time: 0.725, data_time: 0.038, memory: 19865, loss_cls: 0.0830, loss_bbox: 0.2618, loss_traj: 0.3383, loss_traj_cls: 0.0020, loss_map_cls: 0.1073, loss_map_pts: 0.4945, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.8852, d0.loss_plan_l1_fix_dist: 0.3748, d1.loss_plan_l1_fix_time: 0.7185, d1.loss_plan_l1_fix_dist: 0.2140, d2.loss_plan_l1_fix_time: 0.6896, d2.loss_plan_l1_fix_dist: 0.1778, d3.loss_plan_l1_fix_time: 0.6886, d3.loss_plan_l1_fix_dist: 0.1934, d4.loss_plan_l1_fix_time: 0.6906, d4.loss_plan_l1_fix_dist: 0.1777, d5.loss_plan_l1_fix_time: 0.6921, d5.loss_plan_l1_fix_dist: 0.1842, d6.loss_plan_l1_fix_time: 0.6948, d6.loss_plan_l1_fix_dist: 0.2045, d0.loss_cls_all: 0.1293, d0.loss_bbox_all: 0.3258, d0.loss_cls: 0.1293, d0.loss_bbox: 0.3258, d1.loss_cls: 0.1223, d1.loss_bbox: 0.2908, d2.loss_cls: 0.1073, d2.loss_bbox: 0.2715, d3.loss_cls: 0.0885, d3.loss_bbox: 0.2656, d4.loss_cls: 0.0834, d4.loss_bbox: 0.2637, d5.loss_cls: 0.0818, d5.loss_bbox: 0.2622, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5854, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4174, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3643, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3425, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3391, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3373, d0.loss_map_cls_all: 0.1837, d0.loss_map_pts_all: 0.9689, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1837, d0.loss_map_pts: 0.9689, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1487, d1.loss_map_pts: 0.7104, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1266, d2.loss_map_pts: 0.5714, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1160, d3.loss_map_pts: 0.5179, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1127, d4.loss_map_pts: 0.4992, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1095, d5.loss_map_pts: 0.4942, d5.loss_map_dir: 0.0058, loss: 20.7701, grad_norm: 136.0705 +2026-03-01 07:36:02,100 - DriveTransformer - INFO - Epoch [12][23750/39528] lr: 5.696e-05, eta: 4 days, 3:32:52, time: 0.710, data_time: 0.038, memory: 19865, loss_cls: 0.0710, loss_bbox: 0.2288, loss_traj: 0.3565, loss_traj_cls: 0.0020, loss_map_cls: 0.0773, loss_map_pts: 0.4218, loss_map_dir: 0.0045, d0.loss_plan_l1_fix_time: 2.7633, d0.loss_plan_l1_fix_dist: 0.3993, d1.loss_plan_l1_fix_time: 0.6813, d1.loss_plan_l1_fix_dist: 0.1981, d2.loss_plan_l1_fix_time: 0.6598, d2.loss_plan_l1_fix_dist: 0.1765, d3.loss_plan_l1_fix_time: 0.6456, d3.loss_plan_l1_fix_dist: 0.2146, d4.loss_plan_l1_fix_time: 0.6486, d4.loss_plan_l1_fix_dist: 0.2056, d5.loss_plan_l1_fix_time: 0.6515, d5.loss_plan_l1_fix_dist: 0.1926, d6.loss_plan_l1_fix_time: 0.6551, d6.loss_plan_l1_fix_dist: 0.2396, d0.loss_cls_all: 0.1071, d0.loss_bbox_all: 0.2884, d0.loss_cls: 0.1071, d0.loss_bbox: 0.2884, d1.loss_cls: 0.0992, d1.loss_bbox: 0.2589, d2.loss_cls: 0.0875, d2.loss_bbox: 0.2393, d3.loss_cls: 0.0770, d3.loss_bbox: 0.2331, d4.loss_cls: 0.0727, d4.loss_bbox: 0.2298, d5.loss_cls: 0.0715, d5.loss_bbox: 0.2284, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.5818, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4327, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3852, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3640, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3608, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3578, d0.loss_map_cls_all: 0.1497, d0.loss_map_pts_all: 0.9252, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1497, d0.loss_map_pts: 0.9252, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1211, d1.loss_map_pts: 0.6536, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.0989, d2.loss_map_pts: 0.4995, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.0901, d3.loss_map_pts: 0.4441, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0838, d4.loss_map_pts: 0.4280, d4.loss_map_dir: 0.0044, d5.loss_map_cls: 0.0795, d5.loss_map_pts: 0.4221, d5.loss_map_dir: 0.0045, loss: 19.4727, grad_norm: 133.3533 +2026-03-01 07:36:37,251 - DriveTransformer - INFO - Epoch [12][23800/39528] lr: 5.696e-05, eta: 4 days, 3:32:13, time: 0.703, data_time: 0.040, memory: 19865, loss_cls: 0.0863, loss_bbox: 0.2692, loss_traj: 0.3639, loss_traj_cls: 0.0021, loss_map_cls: 0.0684, loss_map_pts: 0.3786, loss_map_dir: 0.0044, d0.loss_plan_l1_fix_time: 2.6150, d0.loss_plan_l1_fix_dist: 0.4399, d1.loss_plan_l1_fix_time: 0.6857, d1.loss_plan_l1_fix_dist: 0.1932, d2.loss_plan_l1_fix_time: 0.6721, d2.loss_plan_l1_fix_dist: 0.1816, d3.loss_plan_l1_fix_time: 0.6732, d3.loss_plan_l1_fix_dist: 0.2234, d4.loss_plan_l1_fix_time: 0.6762, d4.loss_plan_l1_fix_dist: 0.2191, d5.loss_plan_l1_fix_time: 0.6794, d5.loss_plan_l1_fix_dist: 0.1944, d6.loss_plan_l1_fix_time: 0.6823, d6.loss_plan_l1_fix_dist: 0.2499, d0.loss_cls_all: 0.1306, d0.loss_bbox_all: 0.3296, d0.loss_cls: 0.1306, d0.loss_bbox: 0.3296, d1.loss_cls: 0.1252, d1.loss_bbox: 0.2987, d2.loss_cls: 0.1121, d2.loss_bbox: 0.2783, d3.loss_cls: 0.0962, d3.loss_bbox: 0.2737, d4.loss_cls: 0.0874, d4.loss_bbox: 0.2730, d5.loss_cls: 0.0865, d5.loss_bbox: 0.2702, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5538, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4289, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3860, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3702, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3696, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3631, d0.loss_map_cls_all: 0.1383, d0.loss_map_pts_all: 0.8049, d0.loss_map_dir_all: 0.0050, d0.loss_map_cls: 0.1383, d0.loss_map_pts: 0.8049, d0.loss_map_dir: 0.0050, d1.loss_map_cls: 0.1093, d1.loss_map_pts: 0.5732, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.0891, d2.loss_map_pts: 0.4487, d2.loss_map_dir: 0.0041, d3.loss_map_cls: 0.0796, d3.loss_map_pts: 0.4020, d3.loss_map_dir: 0.0042, d4.loss_map_cls: 0.0745, d4.loss_map_pts: 0.3828, d4.loss_map_dir: 0.0043, d5.loss_map_cls: 0.0705, d5.loss_map_pts: 0.3789, d5.loss_map_dir: 0.0044, loss: 19.3838, grad_norm: 134.6218 +2026-03-01 07:37:14,025 - DriveTransformer - INFO - Epoch [12][23850/39528] lr: 5.696e-05, eta: 4 days, 3:31:37, time: 0.735, data_time: 0.038, memory: 19865, loss_cls: 0.0745, loss_bbox: 0.2536, loss_traj: 0.3720, loss_traj_cls: 0.0020, loss_map_cls: 0.0860, loss_map_pts: 0.4444, loss_map_dir: 0.0047, d0.loss_plan_l1_fix_time: 2.5390, d0.loss_plan_l1_fix_dist: 0.3589, d1.loss_plan_l1_fix_time: 0.6678, d1.loss_plan_l1_fix_dist: 0.1890, d2.loss_plan_l1_fix_time: 0.6493, d2.loss_plan_l1_fix_dist: 0.1982, d3.loss_plan_l1_fix_time: 0.6479, d3.loss_plan_l1_fix_dist: 0.2220, d4.loss_plan_l1_fix_time: 0.6505, d4.loss_plan_l1_fix_dist: 0.2259, d5.loss_plan_l1_fix_time: 0.6534, d5.loss_plan_l1_fix_dist: 0.2142, d6.loss_plan_l1_fix_time: 0.6559, d6.loss_plan_l1_fix_dist: 0.2746, d0.loss_cls_all: 0.1151, d0.loss_bbox_all: 0.3181, d0.loss_cls: 0.1151, d0.loss_bbox: 0.3181, d1.loss_cls: 0.1102, d1.loss_bbox: 0.2833, d2.loss_cls: 0.0961, d2.loss_bbox: 0.2623, d3.loss_cls: 0.0777, d3.loss_bbox: 0.2591, d4.loss_cls: 0.0740, d4.loss_bbox: 0.2564, d5.loss_cls: 0.0739, d5.loss_bbox: 0.2544, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5699, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4392, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4014, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3851, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3791, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3745, d0.loss_map_cls_all: 0.1761, d0.loss_map_pts_all: 0.9359, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1761, d0.loss_map_pts: 0.9359, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1368, d1.loss_map_pts: 0.6768, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1125, d2.loss_map_pts: 0.5359, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.1028, d3.loss_map_pts: 0.4776, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.0974, d4.loss_map_pts: 0.4520, d4.loss_map_dir: 0.0046, d5.loss_map_cls: 0.0896, d5.loss_map_pts: 0.4453, d5.loss_map_dir: 0.0047, loss: 19.9381, grad_norm: 134.6531 +2026-03-01 07:37:50,333 - DriveTransformer - INFO - Epoch [12][23900/39528] lr: 5.696e-05, eta: 4 days, 3:31:00, time: 0.726, data_time: 0.037, memory: 19865, loss_cls: 0.0975, loss_bbox: 0.2905, loss_traj: 0.4472, loss_traj_cls: 0.0020, loss_map_cls: 0.0915, loss_map_pts: 0.5210, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.5806, d0.loss_plan_l1_fix_dist: 0.4378, d1.loss_plan_l1_fix_time: 0.8261, d1.loss_plan_l1_fix_dist: 0.1921, d2.loss_plan_l1_fix_time: 0.7958, d2.loss_plan_l1_fix_dist: 0.2536, d3.loss_plan_l1_fix_time: 0.7920, d3.loss_plan_l1_fix_dist: 0.2371, d4.loss_plan_l1_fix_time: 0.7918, d4.loss_plan_l1_fix_dist: 0.2373, d5.loss_plan_l1_fix_time: 0.7928, d5.loss_plan_l1_fix_dist: 0.2498, d6.loss_plan_l1_fix_time: 0.7942, d6.loss_plan_l1_fix_dist: 0.2958, d0.loss_cls_all: 0.1423, d0.loss_bbox_all: 0.3675, d0.loss_cls: 0.1423, d0.loss_bbox: 0.3675, d1.loss_cls: 0.1391, d1.loss_bbox: 0.3298, d2.loss_cls: 0.1278, d2.loss_bbox: 0.3021, d3.loss_cls: 0.1041, d3.loss_bbox: 0.2959, d4.loss_cls: 0.0996, d4.loss_bbox: 0.2909, d5.loss_cls: 0.0984, d5.loss_bbox: 0.2895, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7055, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5286, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4804, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4612, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4496, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4480, d0.loss_map_cls_all: 0.1886, d0.loss_map_pts_all: 1.0967, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1886, d0.loss_map_pts: 1.0967, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1445, d1.loss_map_pts: 0.7778, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1192, d2.loss_map_pts: 0.6229, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1069, d3.loss_map_pts: 0.5591, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1005, d4.loss_map_pts: 0.5332, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0939, d5.loss_map_pts: 0.5215, d5.loss_map_dir: 0.0065, loss: 23.1056, grad_norm: 136.4218 +2026-03-01 07:38:25,996 - DriveTransformer - INFO - Epoch [12][23950/39528] lr: 5.696e-05, eta: 4 days, 3:30:21, time: 0.713, data_time: 0.039, memory: 19865, loss_cls: 0.0833, loss_bbox: 0.2753, loss_traj: 0.4517, loss_traj_cls: 0.0020, loss_map_cls: 0.0971, loss_map_pts: 0.4963, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.3949, d0.loss_plan_l1_fix_dist: 0.3735, d1.loss_plan_l1_fix_time: 0.6307, d1.loss_plan_l1_fix_dist: 0.1857, d2.loss_plan_l1_fix_time: 0.6075, d2.loss_plan_l1_fix_dist: 0.2696, d3.loss_plan_l1_fix_time: 0.6042, d3.loss_plan_l1_fix_dist: 0.2312, d4.loss_plan_l1_fix_time: 0.6043, d4.loss_plan_l1_fix_dist: 0.2317, d5.loss_plan_l1_fix_time: 0.6058, d5.loss_plan_l1_fix_dist: 0.2522, d6.loss_plan_l1_fix_time: 0.6080, d6.loss_plan_l1_fix_dist: 0.2594, d0.loss_cls_all: 0.1267, d0.loss_bbox_all: 0.3467, d0.loss_cls: 0.1267, d0.loss_bbox: 0.3467, d1.loss_cls: 0.1187, d1.loss_bbox: 0.3141, d2.loss_cls: 0.1086, d2.loss_bbox: 0.2881, d3.loss_cls: 0.0914, d3.loss_bbox: 0.2801, d4.loss_cls: 0.0861, d4.loss_bbox: 0.2760, d5.loss_cls: 0.0841, d5.loss_bbox: 0.2753, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7233, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5522, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4944, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4664, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4606, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4524, d0.loss_map_cls_all: 0.1772, d0.loss_map_pts_all: 1.0255, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1772, d0.loss_map_pts: 1.0255, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1421, d1.loss_map_pts: 0.7557, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1200, d2.loss_map_pts: 0.5868, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.1091, d3.loss_map_pts: 0.5228, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.1041, d4.loss_map_pts: 0.5020, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0992, d5.loss_map_pts: 0.4971, d5.loss_map_dir: 0.0050, loss: 21.1735, grad_norm: 137.0342 +2026-03-01 07:39:02,056 - DriveTransformer - INFO - Epoch [12][24000/39528] lr: 5.696e-05, eta: 4 days, 3:29:43, time: 0.721, data_time: 0.039, memory: 19865, loss_cls: 0.0811, loss_bbox: 0.2569, loss_traj: 0.3842, loss_traj_cls: 0.0021, loss_map_cls: 0.0772, loss_map_pts: 0.4584, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.3609, d0.loss_plan_l1_fix_dist: 0.4089, d1.loss_plan_l1_fix_time: 0.6686, d1.loss_plan_l1_fix_dist: 0.1746, d2.loss_plan_l1_fix_time: 0.6566, d2.loss_plan_l1_fix_dist: 0.2801, d3.loss_plan_l1_fix_time: 0.6527, d3.loss_plan_l1_fix_dist: 0.2287, d4.loss_plan_l1_fix_time: 0.6547, d4.loss_plan_l1_fix_dist: 0.2356, d5.loss_plan_l1_fix_time: 0.6577, d5.loss_plan_l1_fix_dist: 0.2556, d6.loss_plan_l1_fix_time: 0.6611, d6.loss_plan_l1_fix_dist: 0.2355, d0.loss_cls_all: 0.1232, d0.loss_bbox_all: 0.3177, d0.loss_cls: 0.1232, d0.loss_bbox: 0.3177, d1.loss_cls: 0.1210, d1.loss_bbox: 0.2856, d2.loss_cls: 0.1065, d2.loss_bbox: 0.2681, d3.loss_cls: 0.0891, d3.loss_bbox: 0.2600, d4.loss_cls: 0.0821, d4.loss_bbox: 0.2588, d5.loss_cls: 0.0810, d5.loss_bbox: 0.2572, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6187, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4658, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4099, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3906, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3871, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3858, d0.loss_map_cls_all: 0.1498, d0.loss_map_pts_all: 0.9048, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1498, d0.loss_map_pts: 0.9048, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1197, d1.loss_map_pts: 0.6650, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.0985, d2.loss_map_pts: 0.5353, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0894, d3.loss_map_pts: 0.4828, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0846, d4.loss_map_pts: 0.4640, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0796, d5.loss_map_pts: 0.4583, d5.loss_map_dir: 0.0052, loss: 19.9750, grad_norm: 136.1371 +2026-03-01 07:39:37,075 - DriveTransformer - INFO - Epoch [12][24050/39528] lr: 5.696e-05, eta: 4 days, 3:29:03, time: 0.700, data_time: 0.039, memory: 19865, loss_cls: 0.0926, loss_bbox: 0.2624, loss_traj: 0.4713, loss_traj_cls: 0.0021, loss_map_cls: 0.0853, loss_map_pts: 0.4314, loss_map_dir: 0.0042, d0.loss_plan_l1_fix_time: 2.7062, d0.loss_plan_l1_fix_dist: 0.3633, d1.loss_plan_l1_fix_time: 0.7318, d1.loss_plan_l1_fix_dist: 0.1659, d2.loss_plan_l1_fix_time: 0.7135, d2.loss_plan_l1_fix_dist: 0.2921, d3.loss_plan_l1_fix_time: 0.7099, d3.loss_plan_l1_fix_dist: 0.2155, d4.loss_plan_l1_fix_time: 0.7112, d4.loss_plan_l1_fix_dist: 0.2143, d5.loss_plan_l1_fix_time: 0.7135, d5.loss_plan_l1_fix_dist: 0.2257, d6.loss_plan_l1_fix_time: 0.7160, d6.loss_plan_l1_fix_dist: 0.2423, d0.loss_cls_all: 0.1367, d0.loss_bbox_all: 0.3320, d0.loss_cls: 0.1367, d0.loss_bbox: 0.3320, d1.loss_cls: 0.1299, d1.loss_bbox: 0.2953, d2.loss_cls: 0.1191, d2.loss_bbox: 0.2716, d3.loss_cls: 0.0967, d3.loss_bbox: 0.2680, d4.loss_cls: 0.0943, d4.loss_bbox: 0.2644, d5.loss_cls: 0.0921, d5.loss_bbox: 0.2637, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6921, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5442, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4999, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4833, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4766, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4719, d0.loss_map_cls_all: 0.1635, d0.loss_map_pts_all: 0.8676, d0.loss_map_dir_all: 0.0047, d0.loss_map_cls: 0.1635, d0.loss_map_pts: 0.8676, d0.loss_map_dir: 0.0047, d1.loss_map_cls: 0.1303, d1.loss_map_pts: 0.6427, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.1091, d2.loss_map_pts: 0.5138, d2.loss_map_dir: 0.0040, d3.loss_map_cls: 0.0993, d3.loss_map_pts: 0.4606, d3.loss_map_dir: 0.0040, d4.loss_map_cls: 0.0927, d4.loss_map_pts: 0.4367, d4.loss_map_dir: 0.0041, d5.loss_map_cls: 0.0875, d5.loss_map_pts: 0.4313, d5.loss_map_dir: 0.0042, loss: 21.1730, grad_norm: 133.8251 +2026-03-01 07:40:13,444 - DriveTransformer - INFO - Epoch [12][24100/39528] lr: 5.696e-05, eta: 4 days, 3:28:26, time: 0.727, data_time: 0.037, memory: 19865, loss_cls: 0.0870, loss_bbox: 0.2710, loss_traj: 0.3898, loss_traj_cls: 0.0020, loss_map_cls: 0.0854, loss_map_pts: 0.4734, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.1535, d0.loss_plan_l1_fix_dist: 0.3178, d1.loss_plan_l1_fix_time: 0.6960, d1.loss_plan_l1_fix_dist: 0.1710, d2.loss_plan_l1_fix_time: 0.6812, d2.loss_plan_l1_fix_dist: 0.3005, d3.loss_plan_l1_fix_time: 0.6775, d3.loss_plan_l1_fix_dist: 0.2116, d4.loss_plan_l1_fix_time: 0.6798, d4.loss_plan_l1_fix_dist: 0.2030, d5.loss_plan_l1_fix_time: 0.6818, d5.loss_plan_l1_fix_dist: 0.1869, d6.loss_plan_l1_fix_time: 0.6837, d6.loss_plan_l1_fix_dist: 0.2242, d0.loss_cls_all: 0.1272, d0.loss_bbox_all: 0.3308, d0.loss_cls: 0.1272, d0.loss_bbox: 0.3308, d1.loss_cls: 0.1210, d1.loss_bbox: 0.3050, d2.loss_cls: 0.1072, d2.loss_bbox: 0.2839, d3.loss_cls: 0.0938, d3.loss_bbox: 0.2768, d4.loss_cls: 0.0885, d4.loss_bbox: 0.2727, d5.loss_cls: 0.0872, d5.loss_bbox: 0.2712, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5987, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4615, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4297, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4065, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3933, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3899, d0.loss_map_cls_all: 0.1634, d0.loss_map_pts_all: 0.9700, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1634, d0.loss_map_pts: 0.9700, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1288, d1.loss_map_pts: 0.6934, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1096, d2.loss_map_pts: 0.5432, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1000, d3.loss_map_pts: 0.4942, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0923, d4.loss_map_pts: 0.4777, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0876, d5.loss_map_pts: 0.4739, d5.loss_map_dir: 0.0059, loss: 20.2023, grad_norm: 133.7753 +2026-03-01 07:40:50,188 - DriveTransformer - INFO - Epoch [12][24150/39528] lr: 5.696e-05, eta: 4 days, 3:27:50, time: 0.735, data_time: 0.039, memory: 19865, loss_cls: 0.0834, loss_bbox: 0.2540, loss_traj: 0.3819, loss_traj_cls: 0.0021, loss_map_cls: 0.0849, loss_map_pts: 0.4520, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.2457, d0.loss_plan_l1_fix_dist: 0.4720, d1.loss_plan_l1_fix_time: 0.6423, d1.loss_plan_l1_fix_dist: 0.1656, d2.loss_plan_l1_fix_time: 0.6248, d2.loss_plan_l1_fix_dist: 0.2987, d3.loss_plan_l1_fix_time: 0.6241, d3.loss_plan_l1_fix_dist: 0.2099, d4.loss_plan_l1_fix_time: 0.6266, d4.loss_plan_l1_fix_dist: 0.2098, d5.loss_plan_l1_fix_time: 0.6293, d5.loss_plan_l1_fix_dist: 0.1947, d6.loss_plan_l1_fix_time: 0.6324, d6.loss_plan_l1_fix_dist: 0.2058, d0.loss_cls_all: 0.1240, d0.loss_bbox_all: 0.3232, d0.loss_cls: 0.1240, d0.loss_bbox: 0.3232, d1.loss_cls: 0.1177, d1.loss_bbox: 0.2859, d2.loss_cls: 0.1064, d2.loss_bbox: 0.2651, d3.loss_cls: 0.0890, d3.loss_bbox: 0.2597, d4.loss_cls: 0.0853, d4.loss_bbox: 0.2554, d5.loss_cls: 0.0831, d5.loss_bbox: 0.2543, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5902, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4580, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4074, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3907, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3858, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3837, d0.loss_map_cls_all: 0.1516, d0.loss_map_pts_all: 0.9439, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1516, d0.loss_map_pts: 0.9439, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1220, d1.loss_map_pts: 0.6722, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1036, d2.loss_map_pts: 0.5324, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.0958, d3.loss_map_pts: 0.4776, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0900, d4.loss_map_pts: 0.4554, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0871, d5.loss_map_pts: 0.4515, d5.loss_map_dir: 0.0058, loss: 19.6842, grad_norm: 131.9191 +2026-03-01 07:41:25,671 - DriveTransformer - INFO - Epoch [12][24200/39528] lr: 5.696e-05, eta: 4 days, 3:27:11, time: 0.711, data_time: 0.037, memory: 19865, loss_cls: 0.0962, loss_bbox: 0.2641, loss_traj: 0.5266, loss_traj_cls: 0.0020, loss_map_cls: 0.1009, loss_map_pts: 0.5053, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.8541, d0.loss_plan_l1_fix_dist: 0.4740, d1.loss_plan_l1_fix_time: 0.7359, d1.loss_plan_l1_fix_dist: 0.1771, d2.loss_plan_l1_fix_time: 0.7135, d2.loss_plan_l1_fix_dist: 0.2825, d3.loss_plan_l1_fix_time: 0.7104, d3.loss_plan_l1_fix_dist: 0.1944, d4.loss_plan_l1_fix_time: 0.7118, d4.loss_plan_l1_fix_dist: 0.2141, d5.loss_plan_l1_fix_time: 0.7143, d5.loss_plan_l1_fix_dist: 0.2244, d6.loss_plan_l1_fix_time: 0.7169, d6.loss_plan_l1_fix_dist: 0.2005, d0.loss_cls_all: 0.1334, d0.loss_bbox_all: 0.3276, d0.loss_cls: 0.1334, d0.loss_bbox: 0.3276, d1.loss_cls: 0.1279, d1.loss_bbox: 0.2968, d2.loss_cls: 0.1164, d2.loss_bbox: 0.2762, d3.loss_cls: 0.1004, d3.loss_bbox: 0.2684, d4.loss_cls: 0.0971, d4.loss_bbox: 0.2646, d5.loss_cls: 0.0954, d5.loss_bbox: 0.2648, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8020, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5871, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5406, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5161, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5175, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5222, d0.loss_map_cls_all: 0.1875, d0.loss_map_pts_all: 1.0252, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1875, d0.loss_map_pts: 1.0252, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1551, d1.loss_map_pts: 0.7593, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1264, d2.loss_map_pts: 0.5951, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.1143, d3.loss_map_pts: 0.5311, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.1083, d4.loss_map_pts: 0.5081, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.1036, d5.loss_map_pts: 0.5053, d5.loss_map_dir: 0.0051, loss: 22.7123, grad_norm: 132.7316 +2026-03-01 07:42:01,374 - DriveTransformer - INFO - Epoch [12][24250/39528] lr: 5.696e-05, eta: 4 days, 3:26:33, time: 0.713, data_time: 0.035, memory: 19865, loss_cls: 0.0850, loss_bbox: 0.2740, loss_traj: 0.4028, loss_traj_cls: 0.0021, loss_map_cls: 0.1048, loss_map_pts: 0.4709, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.6193, d0.loss_plan_l1_fix_dist: 0.3551, d1.loss_plan_l1_fix_time: 0.8586, d1.loss_plan_l1_fix_dist: 0.1873, d2.loss_plan_l1_fix_time: 0.8446, d2.loss_plan_l1_fix_dist: 0.2417, d3.loss_plan_l1_fix_time: 0.8262, d3.loss_plan_l1_fix_dist: 0.1649, d4.loss_plan_l1_fix_time: 0.8268, d4.loss_plan_l1_fix_dist: 0.2489, d5.loss_plan_l1_fix_time: 0.8282, d5.loss_plan_l1_fix_dist: 0.2292, d6.loss_plan_l1_fix_time: 0.8307, d6.loss_plan_l1_fix_dist: 0.1893, d0.loss_cls_all: 0.1323, d0.loss_bbox_all: 0.3430, d0.loss_cls: 0.1323, d0.loss_bbox: 0.3430, d1.loss_cls: 0.1287, d1.loss_bbox: 0.3033, d2.loss_cls: 0.1139, d2.loss_bbox: 0.2829, d3.loss_cls: 0.0957, d3.loss_bbox: 0.2783, d4.loss_cls: 0.0902, d4.loss_bbox: 0.2756, d5.loss_cls: 0.0857, d5.loss_bbox: 0.2750, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6058, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4699, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4219, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4113, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4044, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4048, d0.loss_map_cls_all: 0.1912, d0.loss_map_pts_all: 1.0279, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1912, d0.loss_map_pts: 1.0279, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1570, d1.loss_map_pts: 0.7357, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1295, d2.loss_map_pts: 0.5648, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1202, d3.loss_map_pts: 0.5045, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.1133, d4.loss_map_pts: 0.4759, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.1073, d5.loss_map_pts: 0.4716, d5.loss_map_dir: 0.0052, loss: 22.0553, grad_norm: 130.7897 +2026-03-01 07:42:37,484 - DriveTransformer - INFO - Epoch [12][24300/39528] lr: 5.696e-05, eta: 4 days, 3:25:55, time: 0.722, data_time: 0.037, memory: 19865, loss_cls: 0.0801, loss_bbox: 0.2521, loss_traj: 0.4815, loss_traj_cls: 0.0021, loss_map_cls: 0.0740, loss_map_pts: 0.4305, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.6896, d0.loss_plan_l1_fix_dist: 0.4014, d1.loss_plan_l1_fix_time: 0.7385, d1.loss_plan_l1_fix_dist: 0.2000, d2.loss_plan_l1_fix_time: 0.7342, d2.loss_plan_l1_fix_dist: 0.2384, d3.loss_plan_l1_fix_time: 0.7291, d3.loss_plan_l1_fix_dist: 0.1706, d4.loss_plan_l1_fix_time: 0.7297, d4.loss_plan_l1_fix_dist: 0.2497, d5.loss_plan_l1_fix_time: 0.7314, d5.loss_plan_l1_fix_dist: 0.2381, d6.loss_plan_l1_fix_time: 0.7342, d6.loss_plan_l1_fix_dist: 0.1833, d0.loss_cls_all: 0.1234, d0.loss_bbox_all: 0.3141, d0.loss_cls: 0.1234, d0.loss_bbox: 0.3141, d1.loss_cls: 0.1132, d1.loss_bbox: 0.2850, d2.loss_cls: 0.1019, d2.loss_bbox: 0.2646, d3.loss_cls: 0.0877, d3.loss_bbox: 0.2557, d4.loss_cls: 0.0804, d4.loss_bbox: 0.2531, d5.loss_cls: 0.0800, d5.loss_bbox: 0.2517, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7618, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5738, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5097, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4900, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4826, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4801, d0.loss_map_cls_all: 0.1543, d0.loss_map_pts_all: 0.9332, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1543, d0.loss_map_pts: 0.9332, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1235, d1.loss_map_pts: 0.6654, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.0993, d2.loss_map_pts: 0.5179, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0881, d3.loss_map_pts: 0.4554, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0820, d4.loss_map_pts: 0.4348, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0756, d5.loss_map_pts: 0.4326, d5.loss_map_dir: 0.0052, loss: 21.2322, grad_norm: 132.2298 +2026-03-01 07:43:14,489 - DriveTransformer - INFO - Epoch [12][24350/39528] lr: 5.696e-05, eta: 4 days, 3:25:20, time: 0.740, data_time: 0.036, memory: 19865, loss_cls: 0.0928, loss_bbox: 0.2752, loss_traj: 0.4888, loss_traj_cls: 0.0021, loss_map_cls: 0.0864, loss_map_pts: 0.5005, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.6701, d0.loss_plan_l1_fix_dist: 0.4036, d1.loss_plan_l1_fix_time: 0.6894, d1.loss_plan_l1_fix_dist: 0.2055, d2.loss_plan_l1_fix_time: 0.6728, d2.loss_plan_l1_fix_dist: 0.2458, d3.loss_plan_l1_fix_time: 0.6746, d3.loss_plan_l1_fix_dist: 0.1930, d4.loss_plan_l1_fix_time: 0.6760, d4.loss_plan_l1_fix_dist: 0.2494, d5.loss_plan_l1_fix_time: 0.6779, d5.loss_plan_l1_fix_dist: 0.2444, d6.loss_plan_l1_fix_time: 0.6806, d6.loss_plan_l1_fix_dist: 0.1972, d0.loss_cls_all: 0.1448, d0.loss_bbox_all: 0.3468, d0.loss_cls: 0.1448, d0.loss_bbox: 0.3468, d1.loss_cls: 0.1341, d1.loss_bbox: 0.3095, d2.loss_cls: 0.1187, d2.loss_bbox: 0.2864, d3.loss_cls: 0.1007, d3.loss_bbox: 0.2815, d4.loss_cls: 0.0949, d4.loss_bbox: 0.2772, d5.loss_cls: 0.0929, d5.loss_bbox: 0.2757, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7296, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5777, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5208, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4991, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4926, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4893, d0.loss_map_cls_all: 0.1778, d0.loss_map_pts_all: 1.0212, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1778, d0.loss_map_pts: 1.0212, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1379, d1.loss_map_pts: 0.7430, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1111, d2.loss_map_pts: 0.5922, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1007, d3.loss_map_pts: 0.5336, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0936, d4.loss_map_pts: 0.5095, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0882, d5.loss_map_pts: 0.5015, d5.loss_map_dir: 0.0058, loss: 22.0526, grad_norm: 132.3083 +2026-03-01 07:43:51,130 - DriveTransformer - INFO - Epoch [12][24400/39528] lr: 5.696e-05, eta: 4 days, 3:24:43, time: 0.733, data_time: 0.040, memory: 19865, loss_cls: 0.0796, loss_bbox: 0.2774, loss_traj: 0.5157, loss_traj_cls: 0.0020, loss_map_cls: 0.1036, loss_map_pts: 0.5232, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.7191, d0.loss_plan_l1_fix_dist: 0.3543, d1.loss_plan_l1_fix_time: 0.7177, d1.loss_plan_l1_fix_dist: 0.1831, d2.loss_plan_l1_fix_time: 0.6924, d2.loss_plan_l1_fix_dist: 0.2252, d3.loss_plan_l1_fix_time: 0.6949, d3.loss_plan_l1_fix_dist: 0.1900, d4.loss_plan_l1_fix_time: 0.6966, d4.loss_plan_l1_fix_dist: 0.2248, d5.loss_plan_l1_fix_time: 0.6982, d5.loss_plan_l1_fix_dist: 0.2029, d6.loss_plan_l1_fix_time: 0.7001, d6.loss_plan_l1_fix_dist: 0.1847, d0.loss_cls_all: 0.1217, d0.loss_bbox_all: 0.3517, d0.loss_cls: 0.1217, d0.loss_bbox: 0.3517, d1.loss_cls: 0.1189, d1.loss_bbox: 0.3150, d2.loss_cls: 0.1037, d2.loss_bbox: 0.2909, d3.loss_cls: 0.0864, d3.loss_bbox: 0.2836, d4.loss_cls: 0.0821, d4.loss_bbox: 0.2787, d5.loss_cls: 0.0802, d5.loss_bbox: 0.2779, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8029, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.6164, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5578, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5352, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5249, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5177, d0.loss_map_cls_all: 0.1835, d0.loss_map_pts_all: 1.0164, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1835, d0.loss_map_pts: 1.0164, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1541, d1.loss_map_pts: 0.7574, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1306, d2.loss_map_pts: 0.6112, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1186, d3.loss_map_pts: 0.5521, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1109, d4.loss_map_pts: 0.5295, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.1061, d5.loss_map_pts: 0.5233, d5.loss_map_dir: 0.0063, loss: 22.4537, grad_norm: 131.7584 +2026-03-01 07:44:27,231 - DriveTransformer - INFO - Epoch [12][24450/39528] lr: 5.696e-05, eta: 4 days, 3:24:06, time: 0.722, data_time: 0.038, memory: 19865, loss_cls: 0.0845, loss_bbox: 0.2744, loss_traj: 0.4123, loss_traj_cls: 0.0020, loss_map_cls: 0.1000, loss_map_pts: 0.5023, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.9759, d0.loss_plan_l1_fix_dist: 0.4029, d1.loss_plan_l1_fix_time: 0.7864, d1.loss_plan_l1_fix_dist: 0.1970, d2.loss_plan_l1_fix_time: 0.7618, d2.loss_plan_l1_fix_dist: 0.2405, d3.loss_plan_l1_fix_time: 0.7533, d3.loss_plan_l1_fix_dist: 0.2176, d4.loss_plan_l1_fix_time: 0.7538, d4.loss_plan_l1_fix_dist: 0.2384, d5.loss_plan_l1_fix_time: 0.7548, d5.loss_plan_l1_fix_dist: 0.1967, d6.loss_plan_l1_fix_time: 0.7562, d6.loss_plan_l1_fix_dist: 0.1883, d0.loss_cls_all: 0.1259, d0.loss_bbox_all: 0.3439, d0.loss_cls: 0.1259, d0.loss_bbox: 0.3439, d1.loss_cls: 0.1244, d1.loss_bbox: 0.3051, d2.loss_cls: 0.1082, d2.loss_bbox: 0.2889, d3.loss_cls: 0.0909, d3.loss_bbox: 0.2787, d4.loss_cls: 0.0868, d4.loss_bbox: 0.2751, d5.loss_cls: 0.0838, d5.loss_bbox: 0.2755, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6589, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4906, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4366, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4253, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4136, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4116, d0.loss_map_cls_all: 0.1891, d0.loss_map_pts_all: 1.0296, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1891, d0.loss_map_pts: 1.0296, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1551, d1.loss_map_pts: 0.7565, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1269, d2.loss_map_pts: 0.5980, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1144, d3.loss_map_pts: 0.5353, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1067, d4.loss_map_pts: 0.5085, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1024, d5.loss_map_pts: 0.5036, d5.loss_map_dir: 0.0055, loss: 22.2879, grad_norm: 129.9048 +2026-03-01 07:45:03,205 - DriveTransformer - INFO - Epoch [12][24500/39528] lr: 5.696e-05, eta: 4 days, 3:23:28, time: 0.720, data_time: 0.040, memory: 19865, loss_cls: 0.0853, loss_bbox: 0.2567, loss_traj: 0.4824, loss_traj_cls: 0.0021, loss_map_cls: 0.0801, loss_map_pts: 0.4178, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.2923, d0.loss_plan_l1_fix_dist: 0.3966, d1.loss_plan_l1_fix_time: 0.6640, d1.loss_plan_l1_fix_dist: 0.1834, d2.loss_plan_l1_fix_time: 0.6514, d2.loss_plan_l1_fix_dist: 0.2260, d3.loss_plan_l1_fix_time: 0.6419, d3.loss_plan_l1_fix_dist: 0.2148, d4.loss_plan_l1_fix_time: 0.6424, d4.loss_plan_l1_fix_dist: 0.2187, d5.loss_plan_l1_fix_time: 0.6440, d5.loss_plan_l1_fix_dist: 0.1948, d6.loss_plan_l1_fix_time: 0.6460, d6.loss_plan_l1_fix_dist: 0.1989, d0.loss_cls_all: 0.1246, d0.loss_bbox_all: 0.3271, d0.loss_cls: 0.1246, d0.loss_bbox: 0.3271, d1.loss_cls: 0.1190, d1.loss_bbox: 0.2935, d2.loss_cls: 0.1071, d2.loss_bbox: 0.2715, d3.loss_cls: 0.0936, d3.loss_bbox: 0.2628, d4.loss_cls: 0.0870, d4.loss_bbox: 0.2588, d5.loss_cls: 0.0861, d5.loss_bbox: 0.2572, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8123, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5885, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5141, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4995, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4902, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4846, d0.loss_map_cls_all: 0.1602, d0.loss_map_pts_all: 0.8818, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1602, d0.loss_map_pts: 0.8818, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1236, d1.loss_map_pts: 0.6246, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1024, d2.loss_map_pts: 0.4928, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0916, d3.loss_map_pts: 0.4453, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0874, d4.loss_map_pts: 0.4281, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0829, d5.loss_map_pts: 0.4183, d5.loss_map_dir: 0.0048, loss: 20.2955, grad_norm: 134.7604 +2026-03-01 07:45:38,026 - DriveTransformer - INFO - Epoch [12][24550/39528] lr: 5.696e-05, eta: 4 days, 3:22:48, time: 0.696, data_time: 0.038, memory: 19865, loss_cls: 0.0745, loss_bbox: 0.2431, loss_traj: 0.4317, loss_traj_cls: 0.0021, loss_map_cls: 0.0628, loss_map_pts: 0.3915, loss_map_dir: 0.0044, d0.loss_plan_l1_fix_time: 2.5978, d0.loss_plan_l1_fix_dist: 0.4713, d1.loss_plan_l1_fix_time: 0.6566, d1.loss_plan_l1_fix_dist: 0.1717, d2.loss_plan_l1_fix_time: 0.6373, d2.loss_plan_l1_fix_dist: 0.2171, d3.loss_plan_l1_fix_time: 0.6364, d3.loss_plan_l1_fix_dist: 0.2254, d4.loss_plan_l1_fix_time: 0.6391, d4.loss_plan_l1_fix_dist: 0.2060, d5.loss_plan_l1_fix_time: 0.6428, d5.loss_plan_l1_fix_dist: 0.2135, d6.loss_plan_l1_fix_time: 0.6469, d6.loss_plan_l1_fix_dist: 0.2314, d0.loss_cls_all: 0.1121, d0.loss_bbox_all: 0.3131, d0.loss_cls: 0.1121, d0.loss_bbox: 0.3131, d1.loss_cls: 0.1070, d1.loss_bbox: 0.2768, d2.loss_cls: 0.0962, d2.loss_bbox: 0.2565, d3.loss_cls: 0.0809, d3.loss_bbox: 0.2489, d4.loss_cls: 0.0750, d4.loss_bbox: 0.2457, d5.loss_cls: 0.0741, d5.loss_bbox: 0.2440, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6344, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5098, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4601, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4478, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4377, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4359, d0.loss_map_cls_all: 0.1507, d0.loss_map_pts_all: 0.8633, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1507, d0.loss_map_pts: 0.8633, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1114, d1.loss_map_pts: 0.6256, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.0876, d2.loss_map_pts: 0.4855, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.0764, d3.loss_map_pts: 0.4218, d3.loss_map_dir: 0.0042, d4.loss_map_cls: 0.0695, d4.loss_map_pts: 0.3988, d4.loss_map_dir: 0.0043, d5.loss_map_cls: 0.0645, d5.loss_map_pts: 0.3919, d5.loss_map_dir: 0.0043, loss: 19.6830, grad_norm: 135.4273 +2026-03-01 07:46:16,633 - DriveTransformer - INFO - Epoch [12][24600/39528] lr: 5.696e-05, eta: 4 days, 3:22:16, time: 0.772, data_time: 0.038, memory: 19865, loss_cls: 0.0796, loss_bbox: 0.2686, loss_traj: 0.3865, loss_traj_cls: 0.0021, loss_map_cls: 0.0838, loss_map_pts: 0.4984, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.6477, d0.loss_plan_l1_fix_dist: 0.4544, d1.loss_plan_l1_fix_time: 0.7191, d1.loss_plan_l1_fix_dist: 0.1941, d2.loss_plan_l1_fix_time: 0.7053, d2.loss_plan_l1_fix_dist: 0.2223, d3.loss_plan_l1_fix_time: 0.6996, d3.loss_plan_l1_fix_dist: 0.2430, d4.loss_plan_l1_fix_time: 0.7009, d4.loss_plan_l1_fix_dist: 0.1829, d5.loss_plan_l1_fix_time: 0.7037, d5.loss_plan_l1_fix_dist: 0.2258, d6.loss_plan_l1_fix_time: 0.7073, d6.loss_plan_l1_fix_dist: 0.2225, d0.loss_cls_all: 0.1283, d0.loss_bbox_all: 0.3371, d0.loss_cls: 0.1283, d0.loss_bbox: 0.3371, d1.loss_cls: 0.1209, d1.loss_bbox: 0.3048, d2.loss_cls: 0.1063, d2.loss_bbox: 0.2822, d3.loss_cls: 0.0887, d3.loss_bbox: 0.2763, d4.loss_cls: 0.0818, d4.loss_bbox: 0.2720, d5.loss_cls: 0.0798, d5.loss_bbox: 0.2697, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6014, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4774, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4231, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4054, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3927, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3899, d0.loss_map_cls_all: 0.1687, d0.loss_map_pts_all: 1.0393, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1687, d0.loss_map_pts: 1.0393, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1319, d1.loss_map_pts: 0.7468, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1104, d2.loss_map_pts: 0.5726, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.0977, d3.loss_map_pts: 0.5165, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.0905, d4.loss_map_pts: 0.5003, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.0864, d5.loss_map_pts: 0.4974, d5.loss_map_dir: 0.0066, loss: 21.2763, grad_norm: 139.5622 +2026-03-01 07:46:53,823 - DriveTransformer - INFO - Epoch [12][24650/39528] lr: 5.696e-05, eta: 4 days, 3:21:40, time: 0.744, data_time: 0.040, memory: 19865, loss_cls: 0.0808, loss_bbox: 0.2782, loss_traj: 0.4563, loss_traj_cls: 0.0021, loss_map_cls: 0.0991, loss_map_pts: 0.5012, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.6040, d0.loss_plan_l1_fix_dist: 0.4168, d1.loss_plan_l1_fix_time: 0.7184, d1.loss_plan_l1_fix_dist: 0.1960, d2.loss_plan_l1_fix_time: 0.7079, d2.loss_plan_l1_fix_dist: 0.2279, d3.loss_plan_l1_fix_time: 0.6999, d3.loss_plan_l1_fix_dist: 0.2605, d4.loss_plan_l1_fix_time: 0.7011, d4.loss_plan_l1_fix_dist: 0.1906, d5.loss_plan_l1_fix_time: 0.7039, d5.loss_plan_l1_fix_dist: 0.2591, d6.loss_plan_l1_fix_time: 0.7071, d6.loss_plan_l1_fix_dist: 0.2086, d0.loss_cls_all: 0.1222, d0.loss_bbox_all: 0.3472, d0.loss_cls: 0.1222, d0.loss_bbox: 0.3472, d1.loss_cls: 0.1171, d1.loss_bbox: 0.3110, d2.loss_cls: 0.1029, d2.loss_bbox: 0.2893, d3.loss_cls: 0.0877, d3.loss_bbox: 0.2812, d4.loss_cls: 0.0821, d4.loss_bbox: 0.2788, d5.loss_cls: 0.0802, d5.loss_bbox: 0.2785, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7036, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5386, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4789, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4657, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4545, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4569, d0.loss_map_cls_all: 0.1820, d0.loss_map_pts_all: 0.9989, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1820, d0.loss_map_pts: 0.9989, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1479, d1.loss_map_pts: 0.7205, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1227, d2.loss_map_pts: 0.5760, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1122, d3.loss_map_pts: 0.5252, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1061, d4.loss_map_pts: 0.5080, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1013, d5.loss_map_pts: 0.5019, d5.loss_map_dir: 0.0062, loss: 21.8048, grad_norm: 141.9239 +2026-03-01 07:47:27,946 - DriveTransformer - INFO - Epoch [12][24700/39528] lr: 5.696e-05, eta: 4 days, 3:20:58, time: 0.682, data_time: 0.037, memory: 19865, loss_cls: 0.0872, loss_bbox: 0.2681, loss_traj: 0.4995, loss_traj_cls: 0.0020, loss_map_cls: 0.1060, loss_map_pts: 0.4819, loss_map_dir: 0.0047, d0.loss_plan_l1_fix_time: 2.4780, d0.loss_plan_l1_fix_dist: 0.4090, d1.loss_plan_l1_fix_time: 0.6567, d1.loss_plan_l1_fix_dist: 0.1885, d2.loss_plan_l1_fix_time: 0.6539, d2.loss_plan_l1_fix_dist: 0.2091, d3.loss_plan_l1_fix_time: 0.6377, d3.loss_plan_l1_fix_dist: 0.2406, d4.loss_plan_l1_fix_time: 0.6388, d4.loss_plan_l1_fix_dist: 0.1710, d5.loss_plan_l1_fix_time: 0.6406, d5.loss_plan_l1_fix_dist: 0.2487, d6.loss_plan_l1_fix_time: 0.6428, d6.loss_plan_l1_fix_dist: 0.1701, d0.loss_cls_all: 0.1317, d0.loss_bbox_all: 0.3356, d0.loss_cls: 0.1317, d0.loss_bbox: 0.3356, d1.loss_cls: 0.1289, d1.loss_bbox: 0.3008, d2.loss_cls: 0.1146, d2.loss_bbox: 0.2800, d3.loss_cls: 0.0957, d3.loss_bbox: 0.2733, d4.loss_cls: 0.0905, d4.loss_bbox: 0.2694, d5.loss_cls: 0.0862, d5.loss_bbox: 0.2697, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7567, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5778, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5170, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5037, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4976, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4980, d0.loss_map_cls_all: 0.1932, d0.loss_map_pts_all: 0.9161, d0.loss_map_dir_all: 0.0049, d0.loss_map_cls: 0.1932, d0.loss_map_pts: 0.9161, d0.loss_map_dir: 0.0049, d1.loss_map_cls: 0.1569, d1.loss_map_pts: 0.6906, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.1334, d2.loss_map_pts: 0.5590, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.1190, d3.loss_map_pts: 0.5098, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.1147, d4.loss_map_pts: 0.4871, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.1097, d5.loss_map_pts: 0.4811, d5.loss_map_dir: 0.0048, loss: 21.2475, grad_norm: 142.8659 +2026-03-01 07:48:05,372 - DriveTransformer - INFO - Epoch [12][24750/39528] lr: 5.696e-05, eta: 4 days, 3:20:24, time: 0.748, data_time: 0.036, memory: 19865, loss_cls: 0.0782, loss_bbox: 0.2558, loss_traj: 0.4701, loss_traj_cls: 0.0021, loss_map_cls: 0.0734, loss_map_pts: 0.4157, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.6067, d0.loss_plan_l1_fix_dist: 0.4881, d1.loss_plan_l1_fix_time: 0.7418, d1.loss_plan_l1_fix_dist: 0.2006, d2.loss_plan_l1_fix_time: 0.7239, d2.loss_plan_l1_fix_dist: 0.1928, d3.loss_plan_l1_fix_time: 0.7212, d3.loss_plan_l1_fix_dist: 0.2286, d4.loss_plan_l1_fix_time: 0.7239, d4.loss_plan_l1_fix_dist: 0.1638, d5.loss_plan_l1_fix_time: 0.7263, d5.loss_plan_l1_fix_dist: 0.2308, d6.loss_plan_l1_fix_time: 0.7285, d6.loss_plan_l1_fix_dist: 0.1831, d0.loss_cls_all: 0.1232, d0.loss_bbox_all: 0.3118, d0.loss_cls: 0.1232, d0.loss_bbox: 0.3118, d1.loss_cls: 0.1181, d1.loss_bbox: 0.2847, d2.loss_cls: 0.1038, d2.loss_bbox: 0.2668, d3.loss_cls: 0.0833, d3.loss_bbox: 0.2609, d4.loss_cls: 0.0800, d4.loss_bbox: 0.2571, d5.loss_cls: 0.0781, d5.loss_bbox: 0.2565, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6639, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5502, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5008, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4788, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4694, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4698, d0.loss_map_cls_all: 0.1545, d0.loss_map_pts_all: 0.8998, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1545, d0.loss_map_pts: 0.8998, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1190, d1.loss_map_pts: 0.6276, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.0964, d2.loss_map_pts: 0.4898, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0861, d3.loss_map_pts: 0.4408, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0787, d4.loss_map_pts: 0.4211, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0748, d5.loss_map_pts: 0.4166, d5.loss_map_dir: 0.0055, loss: 20.7597, grad_norm: 145.4284 +2026-03-01 07:48:41,889 - DriveTransformer - INFO - Epoch [12][24800/39528] lr: 5.696e-05, eta: 4 days, 3:19:47, time: 0.730, data_time: 0.037, memory: 19865, loss_cls: 0.0742, loss_bbox: 0.2361, loss_traj: 0.3690, loss_traj_cls: 0.0020, loss_map_cls: 0.0739, loss_map_pts: 0.4519, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.0393, d0.loss_plan_l1_fix_dist: 0.3984, d1.loss_plan_l1_fix_time: 0.6299, d1.loss_plan_l1_fix_dist: 0.1874, d2.loss_plan_l1_fix_time: 0.6187, d2.loss_plan_l1_fix_dist: 0.1653, d3.loss_plan_l1_fix_time: 0.6107, d3.loss_plan_l1_fix_dist: 0.2043, d4.loss_plan_l1_fix_time: 0.6142, d4.loss_plan_l1_fix_dist: 0.1599, d5.loss_plan_l1_fix_time: 0.6169, d5.loss_plan_l1_fix_dist: 0.1978, d6.loss_plan_l1_fix_time: 0.6190, d6.loss_plan_l1_fix_dist: 0.1839, d0.loss_cls_all: 0.1122, d0.loss_bbox_all: 0.3049, d0.loss_cls: 0.1122, d0.loss_bbox: 0.3049, d1.loss_cls: 0.1048, d1.loss_bbox: 0.2672, d2.loss_cls: 0.0926, d2.loss_bbox: 0.2487, d3.loss_cls: 0.0823, d3.loss_bbox: 0.2404, d4.loss_cls: 0.0759, d4.loss_bbox: 0.2384, d5.loss_cls: 0.0757, d5.loss_bbox: 0.2363, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5925, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4345, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3925, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3831, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3711, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3716, d0.loss_map_cls_all: 0.1524, d0.loss_map_pts_all: 0.9714, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1524, d0.loss_map_pts: 0.9714, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1233, d1.loss_map_pts: 0.6918, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.0975, d2.loss_map_pts: 0.5391, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0874, d3.loss_map_pts: 0.4850, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0807, d4.loss_map_pts: 0.4623, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0772, d5.loss_map_pts: 0.4527, d5.loss_map_dir: 0.0054, loss: 18.8867, grad_norm: 146.7463 +2026-03-01 07:49:18,411 - DriveTransformer - INFO - Epoch [12][24850/39528] lr: 5.696e-05, eta: 4 days, 3:19:10, time: 0.730, data_time: 0.036, memory: 19865, loss_cls: 0.1069, loss_bbox: 0.2901, loss_traj: 0.4586, loss_traj_cls: 0.0020, loss_map_cls: 0.0910, loss_map_pts: 0.5017, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.9721, d0.loss_plan_l1_fix_dist: 0.4063, d1.loss_plan_l1_fix_time: 0.6964, d1.loss_plan_l1_fix_dist: 0.1907, d2.loss_plan_l1_fix_time: 0.6817, d2.loss_plan_l1_fix_dist: 0.1647, d3.loss_plan_l1_fix_time: 0.6726, d3.loss_plan_l1_fix_dist: 0.2062, d4.loss_plan_l1_fix_time: 0.6747, d4.loss_plan_l1_fix_dist: 0.1799, d5.loss_plan_l1_fix_time: 0.6768, d5.loss_plan_l1_fix_dist: 0.1773, d6.loss_plan_l1_fix_time: 0.6795, d6.loss_plan_l1_fix_dist: 0.1797, d0.loss_cls_all: 0.1517, d0.loss_bbox_all: 0.3583, d0.loss_cls: 0.1517, d0.loss_bbox: 0.3583, d1.loss_cls: 0.1477, d1.loss_bbox: 0.3222, d2.loss_cls: 0.1324, d2.loss_bbox: 0.3033, d3.loss_cls: 0.1120, d3.loss_bbox: 0.2975, d4.loss_cls: 0.1056, d4.loss_bbox: 0.2955, d5.loss_cls: 0.1062, d5.loss_bbox: 0.2918, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7413, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5461, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4932, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4761, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4684, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4634, d0.loss_map_cls_all: 0.1729, d0.loss_map_pts_all: 1.0437, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1729, d0.loss_map_pts: 1.0437, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1362, d1.loss_map_pts: 0.7596, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1126, d2.loss_map_pts: 0.5890, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1038, d3.loss_map_pts: 0.5298, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.0964, d4.loss_map_pts: 0.5072, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0933, d5.loss_map_pts: 0.5015, d5.loss_map_dir: 0.0065, loss: 22.2514, grad_norm: 149.1012 +2026-03-01 07:49:53,788 - DriveTransformer - INFO - Epoch [12][24900/39528] lr: 5.696e-05, eta: 4 days, 3:18:31, time: 0.707, data_time: 0.037, memory: 19865, loss_cls: 0.0917, loss_bbox: 0.2784, loss_traj: 0.4737, loss_traj_cls: 0.0020, loss_map_cls: 0.0960, loss_map_pts: 0.4661, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.5969, d0.loss_plan_l1_fix_dist: 0.4378, d1.loss_plan_l1_fix_time: 0.6729, d1.loss_plan_l1_fix_dist: 0.1836, d2.loss_plan_l1_fix_time: 0.6616, d2.loss_plan_l1_fix_dist: 0.1593, d3.loss_plan_l1_fix_time: 0.6727, d3.loss_plan_l1_fix_dist: 0.2020, d4.loss_plan_l1_fix_time: 0.6746, d4.loss_plan_l1_fix_dist: 0.2156, d5.loss_plan_l1_fix_time: 0.6776, d5.loss_plan_l1_fix_dist: 0.1958, d6.loss_plan_l1_fix_time: 0.6819, d6.loss_plan_l1_fix_dist: 0.2261, d0.loss_cls_all: 0.1363, d0.loss_bbox_all: 0.3474, d0.loss_cls: 0.1363, d0.loss_bbox: 0.3474, d1.loss_cls: 0.1284, d1.loss_bbox: 0.3084, d2.loss_cls: 0.1174, d2.loss_bbox: 0.2891, d3.loss_cls: 0.0973, d3.loss_bbox: 0.2832, d4.loss_cls: 0.0932, d4.loss_bbox: 0.2794, d5.loss_cls: 0.0920, d5.loss_bbox: 0.2786, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7166, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5493, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5020, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4812, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4761, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4712, d0.loss_map_cls_all: 0.1781, d0.loss_map_pts_all: 0.9691, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1781, d0.loss_map_pts: 0.9691, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1475, d1.loss_map_pts: 0.7134, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1215, d2.loss_map_pts: 0.5548, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1097, d3.loss_map_pts: 0.4933, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1033, d4.loss_map_pts: 0.4718, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0985, d5.loss_map_pts: 0.4655, d5.loss_map_dir: 0.0052, loss: 21.4189, grad_norm: 151.1645 +2026-03-01 07:50:29,787 - DriveTransformer - INFO - Epoch [12][24950/39528] lr: 5.696e-05, eta: 4 days, 3:17:54, time: 0.720, data_time: 0.035, memory: 19865, loss_cls: 0.0889, loss_bbox: 0.2639, loss_traj: 0.4448, loss_traj_cls: 0.0020, loss_map_cls: 0.0800, loss_map_pts: 0.4517, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.7048, d0.loss_plan_l1_fix_dist: 0.3648, d1.loss_plan_l1_fix_time: 0.6567, d1.loss_plan_l1_fix_dist: 0.1796, d2.loss_plan_l1_fix_time: 0.6500, d2.loss_plan_l1_fix_dist: 0.1599, d3.loss_plan_l1_fix_time: 0.6251, d3.loss_plan_l1_fix_dist: 0.1745, d4.loss_plan_l1_fix_time: 0.6270, d4.loss_plan_l1_fix_dist: 0.2062, d5.loss_plan_l1_fix_time: 0.6307, d5.loss_plan_l1_fix_dist: 0.1732, d6.loss_plan_l1_fix_time: 0.6363, d6.loss_plan_l1_fix_dist: 0.1979, d0.loss_cls_all: 0.1285, d0.loss_bbox_all: 0.3311, d0.loss_cls: 0.1285, d0.loss_bbox: 0.3311, d1.loss_cls: 0.1210, d1.loss_bbox: 0.2992, d2.loss_cls: 0.1114, d2.loss_bbox: 0.2763, d3.loss_cls: 0.0938, d3.loss_bbox: 0.2702, d4.loss_cls: 0.0908, d4.loss_bbox: 0.2658, d5.loss_cls: 0.0883, d5.loss_bbox: 0.2651, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7049, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5321, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4740, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4546, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4490, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4469, d0.loss_map_cls_all: 0.1653, d0.loss_map_pts_all: 0.9754, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1653, d0.loss_map_pts: 0.9754, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1316, d1.loss_map_pts: 0.7111, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1084, d2.loss_map_pts: 0.5468, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0971, d3.loss_map_pts: 0.4840, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0889, d4.loss_map_pts: 0.4588, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0822, d5.loss_map_pts: 0.4525, d5.loss_map_dir: 0.0052, loss: 20.6729, grad_norm: 155.4969 +2026-03-01 07:51:05,841 - DriveTransformer - INFO - Epoch [12][25000/39528] lr: 5.696e-05, eta: 4 days, 3:17:16, time: 0.722, data_time: 0.035, memory: 19865, loss_cls: 0.0919, loss_bbox: 0.2787, loss_traj: 0.4517, loss_traj_cls: 0.0020, loss_map_cls: 0.0954, loss_map_pts: 0.5136, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 3.1491, d0.loss_plan_l1_fix_dist: 0.3558, d1.loss_plan_l1_fix_time: 0.8138, d1.loss_plan_l1_fix_dist: 0.1915, d2.loss_plan_l1_fix_time: 0.8013, d2.loss_plan_l1_fix_dist: 0.1844, d3.loss_plan_l1_fix_time: 0.7947, d3.loss_plan_l1_fix_dist: 0.1790, d4.loss_plan_l1_fix_time: 0.7966, d4.loss_plan_l1_fix_dist: 0.2037, d5.loss_plan_l1_fix_time: 0.7987, d5.loss_plan_l1_fix_dist: 0.1723, d6.loss_plan_l1_fix_time: 0.8018, d6.loss_plan_l1_fix_dist: 0.1659, d0.loss_cls_all: 0.1451, d0.loss_bbox_all: 0.3452, d0.loss_cls: 0.1451, d0.loss_bbox: 0.3452, d1.loss_cls: 0.1343, d1.loss_bbox: 0.3152, d2.loss_cls: 0.1188, d2.loss_bbox: 0.2928, d3.loss_cls: 0.0995, d3.loss_bbox: 0.2855, d4.loss_cls: 0.0934, d4.loss_bbox: 0.2825, d5.loss_cls: 0.0919, d5.loss_bbox: 0.2799, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7155, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5368, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4746, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4602, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4579, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4487, d0.loss_map_cls_all: 0.1698, d0.loss_map_pts_all: 1.0227, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1698, d0.loss_map_pts: 1.0227, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1415, d1.loss_map_pts: 0.7558, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1175, d2.loss_map_pts: 0.5995, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1086, d3.loss_map_pts: 0.5427, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1033, d4.loss_map_pts: 0.5185, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0980, d5.loss_map_pts: 0.5145, d5.loss_map_dir: 0.0064, loss: 22.8519, grad_norm: 157.1587 +2026-03-01 07:51:41,194 - DriveTransformer - INFO - Epoch [12][25050/39528] lr: 5.696e-05, eta: 4 days, 3:16:37, time: 0.706, data_time: 0.036, memory: 19865, loss_cls: 0.0788, loss_bbox: 0.2544, loss_traj: 0.4346, loss_traj_cls: 0.0021, loss_map_cls: 0.0739, loss_map_pts: 0.4471, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.2924, d0.loss_plan_l1_fix_dist: 0.4252, d1.loss_plan_l1_fix_time: 0.6513, d1.loss_plan_l1_fix_dist: 0.2123, d2.loss_plan_l1_fix_time: 0.6375, d2.loss_plan_l1_fix_dist: 0.1996, d3.loss_plan_l1_fix_time: 0.6190, d3.loss_plan_l1_fix_dist: 0.1822, d4.loss_plan_l1_fix_time: 0.6208, d4.loss_plan_l1_fix_dist: 0.2072, d5.loss_plan_l1_fix_time: 0.6226, d5.loss_plan_l1_fix_dist: 0.1722, d6.loss_plan_l1_fix_time: 0.6245, d6.loss_plan_l1_fix_dist: 0.1657, d0.loss_cls_all: 0.1225, d0.loss_bbox_all: 0.3248, d0.loss_cls: 0.1225, d0.loss_bbox: 0.3248, d1.loss_cls: 0.1182, d1.loss_bbox: 0.2915, d2.loss_cls: 0.1044, d2.loss_bbox: 0.2692, d3.loss_cls: 0.0848, d3.loss_bbox: 0.2624, d4.loss_cls: 0.0806, d4.loss_bbox: 0.2582, d5.loss_cls: 0.0779, d5.loss_bbox: 0.2568, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6699, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5203, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4645, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4439, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4357, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4343, d0.loss_map_cls_all: 0.1464, d0.loss_map_pts_all: 0.9129, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1464, d0.loss_map_pts: 0.9129, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1202, d1.loss_map_pts: 0.6536, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.0977, d2.loss_map_pts: 0.5218, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0867, d3.loss_map_pts: 0.4705, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0810, d4.loss_map_pts: 0.4514, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0765, d5.loss_map_pts: 0.4471, d5.loss_map_dir: 0.0057, loss: 19.7682, grad_norm: 156.6976 +2026-03-01 07:52:17,216 - DriveTransformer - INFO - Epoch [12][25100/39528] lr: 5.696e-05, eta: 4 days, 3:15:59, time: 0.720, data_time: 0.036, memory: 19865, loss_cls: 0.0825, loss_bbox: 0.2747, loss_traj: 0.4090, loss_traj_cls: 0.0021, loss_map_cls: 0.0847, loss_map_pts: 0.4522, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.7341, d0.loss_plan_l1_fix_dist: 0.5406, d1.loss_plan_l1_fix_time: 0.6912, d1.loss_plan_l1_fix_dist: 0.2073, d2.loss_plan_l1_fix_time: 0.6714, d2.loss_plan_l1_fix_dist: 0.2045, d3.loss_plan_l1_fix_time: 0.6532, d3.loss_plan_l1_fix_dist: 0.1855, d4.loss_plan_l1_fix_time: 0.6528, d4.loss_plan_l1_fix_dist: 0.2093, d5.loss_plan_l1_fix_time: 0.6535, d5.loss_plan_l1_fix_dist: 0.1750, d6.loss_plan_l1_fix_time: 0.6549, d6.loss_plan_l1_fix_dist: 0.1883, d0.loss_cls_all: 0.1256, d0.loss_bbox_all: 0.3410, d0.loss_cls: 0.1256, d0.loss_bbox: 0.3410, d1.loss_cls: 0.1166, d1.loss_bbox: 0.3066, d2.loss_cls: 0.1095, d2.loss_bbox: 0.2844, d3.loss_cls: 0.0904, d3.loss_bbox: 0.2803, d4.loss_cls: 0.0851, d4.loss_bbox: 0.2757, d5.loss_cls: 0.0831, d5.loss_bbox: 0.2751, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6412, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4855, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4277, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4122, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4086, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4078, d0.loss_map_cls_all: 0.1781, d0.loss_map_pts_all: 0.9612, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1781, d0.loss_map_pts: 0.9612, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1423, d1.loss_map_pts: 0.6904, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1119, d2.loss_map_pts: 0.5279, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1015, d3.loss_map_pts: 0.4717, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0922, d4.loss_map_pts: 0.4549, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0870, d5.loss_map_pts: 0.4518, d5.loss_map_dir: 0.0052, loss: 20.8071, grad_norm: 154.2662 +2026-03-01 07:52:53,199 - DriveTransformer - INFO - Epoch [12][25150/39528] lr: 5.696e-05, eta: 4 days, 3:15:21, time: 0.720, data_time: 0.035, memory: 19865, loss_cls: 0.0798, loss_bbox: 0.2558, loss_traj: 0.3669, loss_traj_cls: 0.0021, loss_map_cls: 0.0819, loss_map_pts: 0.4462, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.1391, d0.loss_plan_l1_fix_dist: 0.4797, d1.loss_plan_l1_fix_time: 0.5431, d1.loss_plan_l1_fix_dist: 0.1874, d2.loss_plan_l1_fix_time: 0.5296, d2.loss_plan_l1_fix_dist: 0.1870, d3.loss_plan_l1_fix_time: 0.5251, d3.loss_plan_l1_fix_dist: 0.1740, d4.loss_plan_l1_fix_time: 0.5265, d4.loss_plan_l1_fix_dist: 0.1960, d5.loss_plan_l1_fix_time: 0.5283, d5.loss_plan_l1_fix_dist: 0.1548, d6.loss_plan_l1_fix_time: 0.5306, d6.loss_plan_l1_fix_dist: 0.1612, d0.loss_cls_all: 0.1268, d0.loss_bbox_all: 0.3284, d0.loss_cls: 0.1268, d0.loss_bbox: 0.3284, d1.loss_cls: 0.1217, d1.loss_bbox: 0.2944, d2.loss_cls: 0.1082, d2.loss_bbox: 0.2683, d3.loss_cls: 0.0909, d3.loss_bbox: 0.2606, d4.loss_cls: 0.0838, d4.loss_bbox: 0.2566, d5.loss_cls: 0.0804, d5.loss_bbox: 0.2562, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5979, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4336, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3795, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3662, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3627, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3636, d0.loss_map_cls_all: 0.1647, d0.loss_map_pts_all: 0.9854, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1647, d0.loss_map_pts: 0.9854, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1322, d1.loss_map_pts: 0.6907, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1104, d2.loss_map_pts: 0.5197, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0976, d3.loss_map_pts: 0.4683, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0914, d4.loss_map_pts: 0.4496, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0850, d5.loss_map_pts: 0.4462, d5.loss_map_dir: 0.0054, loss: 18.7700, grad_norm: 153.5166 +2026-03-01 07:53:31,174 - DriveTransformer - INFO - Epoch [12][25200/39528] lr: 5.696e-05, eta: 4 days, 3:14:48, time: 0.759, data_time: 0.038, memory: 19865, loss_cls: 0.0681, loss_bbox: 0.2605, loss_traj: 0.4014, loss_traj_cls: 0.0021, loss_map_cls: 0.0871, loss_map_pts: 0.4988, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.7150, d0.loss_plan_l1_fix_dist: 0.3829, d1.loss_plan_l1_fix_time: 0.6884, d1.loss_plan_l1_fix_dist: 0.1954, d2.loss_plan_l1_fix_time: 0.6743, d2.loss_plan_l1_fix_dist: 0.2051, d3.loss_plan_l1_fix_time: 0.6628, d3.loss_plan_l1_fix_dist: 0.1905, d4.loss_plan_l1_fix_time: 0.6643, d4.loss_plan_l1_fix_dist: 0.1990, d5.loss_plan_l1_fix_time: 0.6671, d5.loss_plan_l1_fix_dist: 0.1630, d6.loss_plan_l1_fix_time: 0.6699, d6.loss_plan_l1_fix_dist: 0.1837, d0.loss_cls_all: 0.1090, d0.loss_bbox_all: 0.3084, d0.loss_cls: 0.1090, d0.loss_bbox: 0.3084, d1.loss_cls: 0.1021, d1.loss_bbox: 0.2770, d2.loss_cls: 0.0920, d2.loss_bbox: 0.2639, d3.loss_cls: 0.0743, d3.loss_bbox: 0.2613, d4.loss_cls: 0.0724, d4.loss_bbox: 0.2586, d5.loss_cls: 0.0679, d5.loss_bbox: 0.2603, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5681, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4529, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4120, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3989, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3997, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4021, d0.loss_map_cls_all: 0.1646, d0.loss_map_pts_all: 1.0365, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1646, d0.loss_map_pts: 1.0365, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1348, d1.loss_map_pts: 0.7255, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1125, d2.loss_map_pts: 0.5688, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1019, d3.loss_map_pts: 0.5208, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0948, d4.loss_map_pts: 0.5038, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0895, d5.loss_map_pts: 0.4989, d5.loss_map_dir: 0.0061, loss: 20.5865, grad_norm: 156.0863 +2026-03-01 07:54:06,572 - DriveTransformer - INFO - Epoch [12][25250/39528] lr: 5.696e-05, eta: 4 days, 3:14:09, time: 0.708, data_time: 0.038, memory: 19865, loss_cls: 0.0768, loss_bbox: 0.2790, loss_traj: 0.4263, loss_traj_cls: 0.0021, loss_map_cls: 0.0938, loss_map_pts: 0.4967, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.4417, d0.loss_plan_l1_fix_dist: 0.3686, d1.loss_plan_l1_fix_time: 0.6872, d1.loss_plan_l1_fix_dist: 0.1904, d2.loss_plan_l1_fix_time: 0.6653, d2.loss_plan_l1_fix_dist: 0.2127, d3.loss_plan_l1_fix_time: 0.6635, d3.loss_plan_l1_fix_dist: 0.1965, d4.loss_plan_l1_fix_time: 0.6644, d4.loss_plan_l1_fix_dist: 0.1825, d5.loss_plan_l1_fix_time: 0.6669, d5.loss_plan_l1_fix_dist: 0.1529, d6.loss_plan_l1_fix_time: 0.6696, d6.loss_plan_l1_fix_dist: 0.1812, d0.loss_cls_all: 0.1231, d0.loss_bbox_all: 0.3495, d0.loss_cls: 0.1231, d0.loss_bbox: 0.3495, d1.loss_cls: 0.1153, d1.loss_bbox: 0.3174, d2.loss_cls: 0.0999, d2.loss_bbox: 0.2917, d3.loss_cls: 0.0853, d3.loss_bbox: 0.2839, d4.loss_cls: 0.0791, d4.loss_bbox: 0.2813, d5.loss_cls: 0.0771, d5.loss_bbox: 0.2800, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7063, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5220, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4619, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4477, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4357, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4276, d0.loss_map_cls_all: 0.1780, d0.loss_map_pts_all: 1.0535, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1780, d0.loss_map_pts: 1.0535, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1428, d1.loss_map_pts: 0.7673, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1191, d2.loss_map_pts: 0.6013, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1061, d3.loss_map_pts: 0.5324, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0998, d4.loss_map_pts: 0.5064, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0956, d5.loss_map_pts: 0.4982, d5.loss_map_dir: 0.0053, loss: 21.1552, grad_norm: 155.6331 +2026-03-01 07:54:41,998 - DriveTransformer - INFO - Epoch [12][25300/39528] lr: 5.696e-05, eta: 4 days, 3:13:30, time: 0.708, data_time: 0.035, memory: 19865, loss_cls: 0.0789, loss_bbox: 0.2706, loss_traj: 0.3844, loss_traj_cls: 0.0020, loss_map_cls: 0.0746, loss_map_pts: 0.4900, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.4092, d0.loss_plan_l1_fix_dist: 0.3968, d1.loss_plan_l1_fix_time: 0.6792, d1.loss_plan_l1_fix_dist: 0.1864, d2.loss_plan_l1_fix_time: 0.6555, d2.loss_plan_l1_fix_dist: 0.2284, d3.loss_plan_l1_fix_time: 0.6534, d3.loss_plan_l1_fix_dist: 0.2193, d4.loss_plan_l1_fix_time: 0.6552, d4.loss_plan_l1_fix_dist: 0.1893, d5.loss_plan_l1_fix_time: 0.6585, d5.loss_plan_l1_fix_dist: 0.1761, d6.loss_plan_l1_fix_time: 0.6620, d6.loss_plan_l1_fix_dist: 0.1970, d0.loss_cls_all: 0.1272, d0.loss_bbox_all: 0.3394, d0.loss_cls: 0.1272, d0.loss_bbox: 0.3394, d1.loss_cls: 0.1204, d1.loss_bbox: 0.3054, d2.loss_cls: 0.1055, d2.loss_bbox: 0.2821, d3.loss_cls: 0.0865, d3.loss_bbox: 0.2757, d4.loss_cls: 0.0816, d4.loss_bbox: 0.2716, d5.loss_cls: 0.0800, d5.loss_bbox: 0.2706, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6425, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4652, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4058, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3932, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3826, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3851, d0.loss_map_cls_all: 0.1499, d0.loss_map_pts_all: 0.9693, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1499, d0.loss_map_pts: 0.9693, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1185, d1.loss_map_pts: 0.7298, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.0985, d2.loss_map_pts: 0.5694, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0865, d3.loss_map_pts: 0.5143, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0796, d4.loss_map_pts: 0.4943, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0764, d5.loss_map_pts: 0.4909, d5.loss_map_dir: 0.0053, loss: 20.2987, grad_norm: 151.3980 +2026-03-01 07:55:17,757 - DriveTransformer - INFO - Epoch [12][25350/39528] lr: 5.696e-05, eta: 4 days, 3:12:51, time: 0.715, data_time: 0.038, memory: 19865, loss_cls: 0.0848, loss_bbox: 0.2676, loss_traj: 0.3858, loss_traj_cls: 0.0021, loss_map_cls: 0.0878, loss_map_pts: 0.4835, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.6699, d0.loss_plan_l1_fix_dist: 0.5102, d1.loss_plan_l1_fix_time: 0.6658, d1.loss_plan_l1_fix_dist: 0.1808, d2.loss_plan_l1_fix_time: 0.6548, d2.loss_plan_l1_fix_dist: 0.2255, d3.loss_plan_l1_fix_time: 0.6508, d3.loss_plan_l1_fix_dist: 0.2197, d4.loss_plan_l1_fix_time: 0.6519, d4.loss_plan_l1_fix_dist: 0.1860, d5.loss_plan_l1_fix_time: 0.6540, d5.loss_plan_l1_fix_dist: 0.1739, d6.loss_plan_l1_fix_time: 0.6565, d6.loss_plan_l1_fix_dist: 0.1852, d0.loss_cls_all: 0.1246, d0.loss_bbox_all: 0.3335, d0.loss_cls: 0.1246, d0.loss_bbox: 0.3335, d1.loss_cls: 0.1177, d1.loss_bbox: 0.3014, d2.loss_cls: 0.1053, d2.loss_bbox: 0.2813, d3.loss_cls: 0.0893, d3.loss_bbox: 0.2749, d4.loss_cls: 0.0859, d4.loss_bbox: 0.2711, d5.loss_cls: 0.0845, d5.loss_bbox: 0.2682, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6150, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4751, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4098, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3911, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3869, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3872, d0.loss_map_cls_all: 0.1640, d0.loss_map_pts_all: 1.0585, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1640, d0.loss_map_pts: 1.0585, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1314, d1.loss_map_pts: 0.7506, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1105, d2.loss_map_pts: 0.5828, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0996, d3.loss_map_pts: 0.5162, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0944, d4.loss_map_pts: 0.4923, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0903, d5.loss_map_pts: 0.4835, d5.loss_map_dir: 0.0055, loss: 20.9033, grad_norm: 152.8602 +2026-03-01 07:55:53,471 - DriveTransformer - INFO - Epoch [12][25400/39528] lr: 5.696e-05, eta: 4 days, 3:12:13, time: 0.714, data_time: 0.040, memory: 19865, loss_cls: 0.0686, loss_bbox: 0.2532, loss_traj: 0.5500, loss_traj_cls: 0.0021, loss_map_cls: 0.0700, loss_map_pts: 0.3788, loss_map_dir: 0.0044, d0.loss_plan_l1_fix_time: 2.4903, d0.loss_plan_l1_fix_dist: 0.3749, d1.loss_plan_l1_fix_time: 0.6941, d1.loss_plan_l1_fix_dist: 0.1745, d2.loss_plan_l1_fix_time: 0.6799, d2.loss_plan_l1_fix_dist: 0.2303, d3.loss_plan_l1_fix_time: 0.6530, d3.loss_plan_l1_fix_dist: 0.2253, d4.loss_plan_l1_fix_time: 0.6524, d4.loss_plan_l1_fix_dist: 0.1857, d5.loss_plan_l1_fix_time: 0.6535, d5.loss_plan_l1_fix_dist: 0.1692, d6.loss_plan_l1_fix_time: 0.6554, d6.loss_plan_l1_fix_dist: 0.1827, d0.loss_cls_all: 0.1075, d0.loss_bbox_all: 0.3144, d0.loss_cls: 0.1075, d0.loss_bbox: 0.3144, d1.loss_cls: 0.1016, d1.loss_bbox: 0.2855, d2.loss_cls: 0.0917, d2.loss_bbox: 0.2661, d3.loss_cls: 0.0747, d3.loss_bbox: 0.2593, d4.loss_cls: 0.0702, d4.loss_bbox: 0.2551, d5.loss_cls: 0.0696, d5.loss_bbox: 0.2531, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7278, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.6029, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5714, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5535, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5550, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5522, d0.loss_map_cls_all: 0.1514, d0.loss_map_pts_all: 0.8697, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1514, d0.loss_map_pts: 0.8697, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1180, d1.loss_map_pts: 0.5972, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.0938, d2.loss_map_pts: 0.4555, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.0820, d3.loss_map_pts: 0.4024, d3.loss_map_dir: 0.0042, d4.loss_map_cls: 0.0764, d4.loss_map_pts: 0.3852, d4.loss_map_dir: 0.0043, d5.loss_map_cls: 0.0711, d5.loss_map_pts: 0.3802, d5.loss_map_dir: 0.0044, loss: 20.2239, grad_norm: 149.5609 +2026-03-01 07:56:29,151 - DriveTransformer - INFO - Epoch [12][25450/39528] lr: 5.696e-05, eta: 4 days, 3:11:34, time: 0.714, data_time: 0.038, memory: 19865, loss_cls: 0.0907, loss_bbox: 0.2746, loss_traj: 0.5002, loss_traj_cls: 0.0021, loss_map_cls: 0.0953, loss_map_pts: 0.4800, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.8935, d0.loss_plan_l1_fix_dist: 0.3364, d1.loss_plan_l1_fix_time: 0.7204, d1.loss_plan_l1_fix_dist: 0.1473, d2.loss_plan_l1_fix_time: 0.6971, d2.loss_plan_l1_fix_dist: 0.2065, d3.loss_plan_l1_fix_time: 0.6901, d3.loss_plan_l1_fix_dist: 0.2034, d4.loss_plan_l1_fix_time: 0.6902, d4.loss_plan_l1_fix_dist: 0.1692, d5.loss_plan_l1_fix_time: 0.6913, d5.loss_plan_l1_fix_dist: 0.1563, d6.loss_plan_l1_fix_time: 0.6931, d6.loss_plan_l1_fix_dist: 0.1609, d0.loss_cls_all: 0.1333, d0.loss_bbox_all: 0.3434, d0.loss_cls: 0.1333, d0.loss_bbox: 0.3434, d1.loss_cls: 0.1245, d1.loss_bbox: 0.3093, d2.loss_cls: 0.1140, d2.loss_bbox: 0.2863, d3.loss_cls: 0.0978, d3.loss_bbox: 0.2814, d4.loss_cls: 0.0927, d4.loss_bbox: 0.2764, d5.loss_cls: 0.0910, d5.loss_bbox: 0.2754, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7818, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5827, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5254, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5079, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5032, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5007, d0.loss_map_cls_all: 0.1912, d0.loss_map_pts_all: 0.9975, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1912, d0.loss_map_pts: 0.9975, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1571, d1.loss_map_pts: 0.7248, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1279, d2.loss_map_pts: 0.5659, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1131, d3.loss_map_pts: 0.5080, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1039, d4.loss_map_pts: 0.4857, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0982, d5.loss_map_pts: 0.4807, d5.loss_map_dir: 0.0059, loss: 21.9976, grad_norm: 147.1220 +2026-03-01 07:57:04,574 - DriveTransformer - INFO - Epoch [12][25500/39528] lr: 5.696e-05, eta: 4 days, 3:10:55, time: 0.708, data_time: 0.037, memory: 19865, loss_cls: 0.0726, loss_bbox: 0.2526, loss_traj: 0.4209, loss_traj_cls: 0.0021, loss_map_cls: 0.0655, loss_map_pts: 0.4128, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.4230, d0.loss_plan_l1_fix_dist: 0.3798, d1.loss_plan_l1_fix_time: 0.6808, d1.loss_plan_l1_fix_dist: 0.1475, d2.loss_plan_l1_fix_time: 0.6636, d2.loss_plan_l1_fix_dist: 0.1904, d3.loss_plan_l1_fix_time: 0.6654, d3.loss_plan_l1_fix_dist: 0.1905, d4.loss_plan_l1_fix_time: 0.6670, d4.loss_plan_l1_fix_dist: 0.1495, d5.loss_plan_l1_fix_time: 0.6693, d5.loss_plan_l1_fix_dist: 0.1567, d6.loss_plan_l1_fix_time: 0.6720, d6.loss_plan_l1_fix_dist: 0.1557, d0.loss_cls_all: 0.1115, d0.loss_bbox_all: 0.3128, d0.loss_cls: 0.1115, d0.loss_bbox: 0.3128, d1.loss_cls: 0.1067, d1.loss_bbox: 0.2822, d2.loss_cls: 0.0955, d2.loss_bbox: 0.2637, d3.loss_cls: 0.0805, d3.loss_bbox: 0.2567, d4.loss_cls: 0.0724, d4.loss_bbox: 0.2552, d5.loss_cls: 0.0723, d5.loss_bbox: 0.2530, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6498, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4760, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4345, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4216, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4193, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4198, d0.loss_map_cls_all: 0.1393, d0.loss_map_pts_all: 0.8734, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1393, d0.loss_map_pts: 0.8734, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1075, d1.loss_map_pts: 0.6335, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.0888, d2.loss_map_pts: 0.4927, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.0779, d3.loss_map_pts: 0.4380, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0712, d4.loss_map_pts: 0.4176, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0674, d5.loss_map_pts: 0.4130, d5.loss_map_dir: 0.0050, loss: 19.3245, grad_norm: 147.4964 +2026-03-01 07:57:40,085 - DriveTransformer - INFO - Epoch [12][25550/39528] lr: 5.696e-05, eta: 4 days, 3:10:16, time: 0.710, data_time: 0.036, memory: 19865, loss_cls: 0.0990, loss_bbox: 0.2909, loss_traj: 0.4072, loss_traj_cls: 0.0022, loss_map_cls: 0.0903, loss_map_pts: 0.4918, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.2979, d0.loss_plan_l1_fix_dist: 0.4794, d1.loss_plan_l1_fix_time: 0.6924, d1.loss_plan_l1_fix_dist: 0.1703, d2.loss_plan_l1_fix_time: 0.6772, d2.loss_plan_l1_fix_dist: 0.1836, d3.loss_plan_l1_fix_time: 0.6640, d3.loss_plan_l1_fix_dist: 0.1805, d4.loss_plan_l1_fix_time: 0.6646, d4.loss_plan_l1_fix_dist: 0.1428, d5.loss_plan_l1_fix_time: 0.6662, d5.loss_plan_l1_fix_dist: 0.1471, d6.loss_plan_l1_fix_time: 0.6685, d6.loss_plan_l1_fix_dist: 0.1565, d0.loss_cls_all: 0.1432, d0.loss_bbox_all: 0.3523, d0.loss_cls: 0.1432, d0.loss_bbox: 0.3523, d1.loss_cls: 0.1361, d1.loss_bbox: 0.3217, d2.loss_cls: 0.1262, d2.loss_bbox: 0.2978, d3.loss_cls: 0.1079, d3.loss_bbox: 0.2932, d4.loss_cls: 0.1025, d4.loss_bbox: 0.2912, d5.loss_cls: 0.1007, d5.loss_bbox: 0.2900, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6045, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4802, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4256, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4110, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4046, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4067, d0.loss_map_cls_all: 0.1811, d0.loss_map_pts_all: 1.0642, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1811, d0.loss_map_pts: 1.0642, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1465, d1.loss_map_pts: 0.7743, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1202, d2.loss_map_pts: 0.5937, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1080, d3.loss_map_pts: 0.5233, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1008, d4.loss_map_pts: 0.4997, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0947, d5.loss_map_pts: 0.4918, d5.loss_map_dir: 0.0062, loss: 20.9613, grad_norm: 148.3772 +2026-03-01 07:58:16,279 - DriveTransformer - INFO - Epoch [12][25600/39528] lr: 5.696e-05, eta: 4 days, 3:09:39, time: 0.724, data_time: 0.039, memory: 19865, loss_cls: 0.0790, loss_bbox: 0.2843, loss_traj: 0.5274, loss_traj_cls: 0.0021, loss_map_cls: 0.0819, loss_map_pts: 0.4351, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.6389, d0.loss_plan_l1_fix_dist: 0.4847, d1.loss_plan_l1_fix_time: 0.6638, d1.loss_plan_l1_fix_dist: 0.1984, d2.loss_plan_l1_fix_time: 0.6489, d2.loss_plan_l1_fix_dist: 0.1764, d3.loss_plan_l1_fix_time: 0.6326, d3.loss_plan_l1_fix_dist: 0.1777, d4.loss_plan_l1_fix_time: 0.6326, d4.loss_plan_l1_fix_dist: 0.1551, d5.loss_plan_l1_fix_time: 0.6335, d5.loss_plan_l1_fix_dist: 0.1593, d6.loss_plan_l1_fix_time: 0.6349, d6.loss_plan_l1_fix_dist: 0.1773, d0.loss_cls_all: 0.1227, d0.loss_bbox_all: 0.3548, d0.loss_cls: 0.1227, d0.loss_bbox: 0.3548, d1.loss_cls: 0.1199, d1.loss_bbox: 0.3184, d2.loss_cls: 0.1075, d2.loss_bbox: 0.2951, d3.loss_cls: 0.0888, d3.loss_bbox: 0.2869, d4.loss_cls: 0.0817, d4.loss_bbox: 0.2856, d5.loss_cls: 0.0802, d5.loss_bbox: 0.2835, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8115, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.6096, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5512, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5350, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5286, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5234, d0.loss_map_cls_all: 0.1549, d0.loss_map_pts_all: 0.9270, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1549, d0.loss_map_pts: 0.9270, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1243, d1.loss_map_pts: 0.6706, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1052, d2.loss_map_pts: 0.5188, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0948, d3.loss_map_pts: 0.4644, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0866, d4.loss_map_pts: 0.4423, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0835, d5.loss_map_pts: 0.4357, d5.loss_map_dir: 0.0051, loss: 21.1242, grad_norm: 147.6203 +2026-03-01 07:58:51,853 - DriveTransformer - INFO - Epoch [12][25650/39528] lr: 5.696e-05, eta: 4 days, 3:09:00, time: 0.711, data_time: 0.040, memory: 19865, loss_cls: 0.0696, loss_bbox: 0.2485, loss_traj: 0.4057, loss_traj_cls: 0.0022, loss_map_cls: 0.0662, loss_map_pts: 0.3765, loss_map_dir: 0.0044, d0.loss_plan_l1_fix_time: 2.5400, d0.loss_plan_l1_fix_dist: 0.3753, d1.loss_plan_l1_fix_time: 0.6058, d1.loss_plan_l1_fix_dist: 0.2071, d2.loss_plan_l1_fix_time: 0.5891, d2.loss_plan_l1_fix_dist: 0.1455, d3.loss_plan_l1_fix_time: 0.5823, d3.loss_plan_l1_fix_dist: 0.1487, d4.loss_plan_l1_fix_time: 0.5839, d4.loss_plan_l1_fix_dist: 0.1409, d5.loss_plan_l1_fix_time: 0.5857, d5.loss_plan_l1_fix_dist: 0.1344, d6.loss_plan_l1_fix_time: 0.5874, d6.loss_plan_l1_fix_dist: 0.1540, d0.loss_cls_all: 0.1107, d0.loss_bbox_all: 0.3063, d0.loss_cls: 0.1107, d0.loss_bbox: 0.3063, d1.loss_cls: 0.1059, d1.loss_bbox: 0.2746, d2.loss_cls: 0.0919, d2.loss_bbox: 0.2577, d3.loss_cls: 0.0769, d3.loss_bbox: 0.2529, d4.loss_cls: 0.0722, d4.loss_bbox: 0.2496, d5.loss_cls: 0.0695, d5.loss_bbox: 0.2486, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6417, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4945, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4349, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4148, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4112, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4072, d0.loss_map_cls_all: 0.1408, d0.loss_map_pts_all: 0.8250, d0.loss_map_dir_all: 0.0049, d0.loss_map_cls: 0.1408, d0.loss_map_pts: 0.8250, d0.loss_map_dir: 0.0049, d1.loss_map_cls: 0.1081, d1.loss_map_pts: 0.5862, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.0867, d2.loss_map_pts: 0.4420, d2.loss_map_dir: 0.0041, d3.loss_map_cls: 0.0766, d3.loss_map_pts: 0.3965, d3.loss_map_dir: 0.0042, d4.loss_map_cls: 0.0716, d4.loss_map_pts: 0.3835, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0671, d5.loss_map_pts: 0.3773, d5.loss_map_dir: 0.0046, loss: 18.4557, grad_norm: 146.0315 +2026-03-01 07:59:28,179 - DriveTransformer - INFO - Epoch [12][25700/39528] lr: 5.696e-05, eta: 4 days, 3:08:23, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.1005, loss_bbox: 0.3045, loss_traj: 0.4299, loss_traj_cls: 0.0020, loss_map_cls: 0.0981, loss_map_pts: 0.5182, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.7924, d0.loss_plan_l1_fix_dist: 0.3741, d1.loss_plan_l1_fix_time: 0.6405, d1.loss_plan_l1_fix_dist: 0.2339, d2.loss_plan_l1_fix_time: 0.6143, d2.loss_plan_l1_fix_dist: 0.1478, d3.loss_plan_l1_fix_time: 0.6088, d3.loss_plan_l1_fix_dist: 0.1575, d4.loss_plan_l1_fix_time: 0.6098, d4.loss_plan_l1_fix_dist: 0.1651, d5.loss_plan_l1_fix_time: 0.6110, d5.loss_plan_l1_fix_dist: 0.1520, d6.loss_plan_l1_fix_time: 0.6129, d6.loss_plan_l1_fix_dist: 0.1531, d0.loss_cls_all: 0.1507, d0.loss_bbox_all: 0.3746, d0.loss_cls: 0.1507, d0.loss_bbox: 0.3746, d1.loss_cls: 0.1422, d1.loss_bbox: 0.3388, d2.loss_cls: 0.1288, d2.loss_bbox: 0.3196, d3.loss_cls: 0.1107, d3.loss_bbox: 0.3093, d4.loss_cls: 0.1019, d4.loss_bbox: 0.3080, d5.loss_cls: 0.1003, d5.loss_bbox: 0.3048, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6778, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4884, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4435, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4229, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4284, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4262, d0.loss_map_cls_all: 0.1938, d0.loss_map_pts_all: 1.0427, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1938, d0.loss_map_pts: 1.0427, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1570, d1.loss_map_pts: 0.7540, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1297, d2.loss_map_pts: 0.5993, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1179, d3.loss_map_pts: 0.5410, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1082, d4.loss_map_pts: 0.5207, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1018, d5.loss_map_pts: 0.5173, d5.loss_map_dir: 0.0066, loss: 21.5065, grad_norm: 144.8440 +2026-03-01 08:00:05,527 - DriveTransformer - INFO - Epoch [12][25750/39528] lr: 5.696e-05, eta: 4 days, 3:07:49, time: 0.747, data_time: 0.037, memory: 19865, loss_cls: 0.0760, loss_bbox: 0.2489, loss_traj: 0.4034, loss_traj_cls: 0.0021, loss_map_cls: 0.0699, loss_map_pts: 0.4226, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.2241, d0.loss_plan_l1_fix_dist: 0.4694, d1.loss_plan_l1_fix_time: 0.6813, d1.loss_plan_l1_fix_dist: 0.2336, d2.loss_plan_l1_fix_time: 0.6548, d2.loss_plan_l1_fix_dist: 0.1543, d3.loss_plan_l1_fix_time: 0.6118, d3.loss_plan_l1_fix_dist: 0.1670, d4.loss_plan_l1_fix_time: 0.6138, d4.loss_plan_l1_fix_dist: 0.1571, d5.loss_plan_l1_fix_time: 0.6161, d5.loss_plan_l1_fix_dist: 0.1349, d6.loss_plan_l1_fix_time: 0.6190, d6.loss_plan_l1_fix_dist: 0.1420, d0.loss_cls_all: 0.1121, d0.loss_bbox_all: 0.3065, d0.loss_cls: 0.1121, d0.loss_bbox: 0.3065, d1.loss_cls: 0.1058, d1.loss_bbox: 0.2781, d2.loss_cls: 0.0941, d2.loss_bbox: 0.2578, d3.loss_cls: 0.0803, d3.loss_bbox: 0.2515, d4.loss_cls: 0.0771, d4.loss_bbox: 0.2484, d5.loss_cls: 0.0764, d5.loss_bbox: 0.2477, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6280, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4784, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4244, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4077, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4067, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4038, d0.loss_map_cls_all: 0.1572, d0.loss_map_pts_all: 0.9988, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1572, d0.loss_map_pts: 0.9988, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1204, d1.loss_map_pts: 0.7015, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.0968, d2.loss_map_pts: 0.5072, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0844, d3.loss_map_pts: 0.4415, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0784, d4.loss_map_pts: 0.4237, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0721, d5.loss_map_pts: 0.4220, d5.loss_map_dir: 0.0056, loss: 19.3165, grad_norm: 144.2226 +2026-03-01 08:00:41,052 - DriveTransformer - INFO - Epoch [12][25800/39528] lr: 5.696e-05, eta: 4 days, 3:07:10, time: 0.712, data_time: 0.037, memory: 19865, loss_cls: 0.0834, loss_bbox: 0.2792, loss_traj: 0.4191, loss_traj_cls: 0.0021, loss_map_cls: 0.0856, loss_map_pts: 0.4929, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.7509, d0.loss_plan_l1_fix_dist: 0.4599, d1.loss_plan_l1_fix_time: 0.6815, d1.loss_plan_l1_fix_dist: 0.2700, d2.loss_plan_l1_fix_time: 0.6511, d2.loss_plan_l1_fix_dist: 0.1971, d3.loss_plan_l1_fix_time: 0.6529, d3.loss_plan_l1_fix_dist: 0.2070, d4.loss_plan_l1_fix_time: 0.6552, d4.loss_plan_l1_fix_dist: 0.1928, d5.loss_plan_l1_fix_time: 0.6573, d5.loss_plan_l1_fix_dist: 0.1671, d6.loss_plan_l1_fix_time: 0.6598, d6.loss_plan_l1_fix_dist: 0.1782, d0.loss_cls_all: 0.1297, d0.loss_bbox_all: 0.3344, d0.loss_cls: 0.1297, d0.loss_bbox: 0.3344, d1.loss_cls: 0.1226, d1.loss_bbox: 0.3065, d2.loss_cls: 0.1099, d2.loss_bbox: 0.2846, d3.loss_cls: 0.0909, d3.loss_bbox: 0.2797, d4.loss_cls: 0.0855, d4.loss_bbox: 0.2784, d5.loss_cls: 0.0843, d5.loss_bbox: 0.2782, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6534, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5064, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4538, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4222, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4164, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4210, d0.loss_map_cls_all: 0.1603, d0.loss_map_pts_all: 0.9977, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1603, d0.loss_map_pts: 0.9977, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1270, d1.loss_map_pts: 0.7281, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1056, d2.loss_map_pts: 0.5797, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0986, d3.loss_map_pts: 0.5170, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0929, d4.loss_map_pts: 0.4960, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0869, d5.loss_map_pts: 0.4916, d5.loss_map_dir: 0.0057, loss: 21.1564, grad_norm: 146.4565 +2026-03-01 08:01:15,191 - DriveTransformer - INFO - Epoch [12][25850/39528] lr: 5.696e-05, eta: 4 days, 3:06:28, time: 0.681, data_time: 0.034, memory: 19865, loss_cls: 0.0849, loss_bbox: 0.2755, loss_traj: 0.4218, loss_traj_cls: 0.0020, loss_map_cls: 0.0975, loss_map_pts: 0.4561, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.7958, d0.loss_plan_l1_fix_dist: 0.4359, d1.loss_plan_l1_fix_time: 0.7333, d1.loss_plan_l1_fix_dist: 0.2538, d2.loss_plan_l1_fix_time: 0.7073, d2.loss_plan_l1_fix_dist: 0.1914, d3.loss_plan_l1_fix_time: 0.7056, d3.loss_plan_l1_fix_dist: 0.1946, d4.loss_plan_l1_fix_time: 0.7068, d4.loss_plan_l1_fix_dist: 0.1698, d5.loss_plan_l1_fix_time: 0.7083, d5.loss_plan_l1_fix_dist: 0.1428, d6.loss_plan_l1_fix_time: 0.7103, d6.loss_plan_l1_fix_dist: 0.1488, d0.loss_cls_all: 0.1316, d0.loss_bbox_all: 0.3507, d0.loss_cls: 0.1316, d0.loss_bbox: 0.3507, d1.loss_cls: 0.1278, d1.loss_bbox: 0.3168, d2.loss_cls: 0.1125, d2.loss_bbox: 0.2907, d3.loss_cls: 0.0918, d3.loss_bbox: 0.2829, d4.loss_cls: 0.0879, d4.loss_bbox: 0.2771, d5.loss_cls: 0.0856, d5.loss_bbox: 0.2759, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6578, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4993, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4488, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4284, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4286, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4231, d0.loss_map_cls_all: 0.1795, d0.loss_map_pts_all: 0.9474, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1795, d0.loss_map_pts: 0.9474, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1506, d1.loss_map_pts: 0.6823, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1243, d2.loss_map_pts: 0.5422, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.1142, d3.loss_map_pts: 0.4828, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.1069, d4.loss_map_pts: 0.4600, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0996, d5.loss_map_pts: 0.4551, d5.loss_map_dir: 0.0048, loss: 21.2586, grad_norm: 147.7595 +2026-03-01 08:01:51,878 - DriveTransformer - INFO - Epoch [12][25900/39528] lr: 5.696e-05, eta: 4 days, 3:05:52, time: 0.734, data_time: 0.038, memory: 19865, loss_cls: 0.0783, loss_bbox: 0.2844, loss_traj: 0.4388, loss_traj_cls: 0.0021, loss_map_cls: 0.1015, loss_map_pts: 0.5313, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.5182, d0.loss_plan_l1_fix_dist: 0.5264, d1.loss_plan_l1_fix_time: 0.7185, d1.loss_plan_l1_fix_dist: 0.2515, d2.loss_plan_l1_fix_time: 0.6931, d2.loss_plan_l1_fix_dist: 0.2146, d3.loss_plan_l1_fix_time: 0.6785, d3.loss_plan_l1_fix_dist: 0.2151, d4.loss_plan_l1_fix_time: 0.6789, d4.loss_plan_l1_fix_dist: 0.1899, d5.loss_plan_l1_fix_time: 0.6803, d5.loss_plan_l1_fix_dist: 0.1712, d6.loss_plan_l1_fix_time: 0.6823, d6.loss_plan_l1_fix_dist: 0.1768, d0.loss_cls_all: 0.1262, d0.loss_bbox_all: 0.3551, d0.loss_cls: 0.1262, d0.loss_bbox: 0.3551, d1.loss_cls: 0.1200, d1.loss_bbox: 0.3136, d2.loss_cls: 0.1005, d2.loss_bbox: 0.2963, d3.loss_cls: 0.0864, d3.loss_bbox: 0.2897, d4.loss_cls: 0.0816, d4.loss_bbox: 0.2862, d5.loss_cls: 0.0786, d5.loss_bbox: 0.2852, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7328, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5434, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4761, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4544, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4448, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4390, d0.loss_map_cls_all: 0.1848, d0.loss_map_pts_all: 1.0861, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1848, d0.loss_map_pts: 1.0861, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1562, d1.loss_map_pts: 0.8009, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1288, d2.loss_map_pts: 0.6204, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1155, d3.loss_map_pts: 0.5609, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1105, d4.loss_map_pts: 0.5373, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1044, d5.loss_map_pts: 0.5312, d5.loss_map_dir: 0.0067, loss: 22.0910, grad_norm: 149.4144 +2026-03-01 08:02:28,442 - DriveTransformer - INFO - Epoch [12][25950/39528] lr: 5.696e-05, eta: 4 days, 3:05:15, time: 0.731, data_time: 0.040, memory: 19865, loss_cls: 0.0884, loss_bbox: 0.2776, loss_traj: 0.4326, loss_traj_cls: 0.0020, loss_map_cls: 0.0783, loss_map_pts: 0.4450, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.4618, d0.loss_plan_l1_fix_dist: 0.3779, d1.loss_plan_l1_fix_time: 0.6886, d1.loss_plan_l1_fix_dist: 0.2322, d2.loss_plan_l1_fix_time: 0.6678, d2.loss_plan_l1_fix_dist: 0.1971, d3.loss_plan_l1_fix_time: 0.6682, d3.loss_plan_l1_fix_dist: 0.2019, d4.loss_plan_l1_fix_time: 0.6698, d4.loss_plan_l1_fix_dist: 0.1508, d5.loss_plan_l1_fix_time: 0.6716, d5.loss_plan_l1_fix_dist: 0.1410, d6.loss_plan_l1_fix_time: 0.6737, d6.loss_plan_l1_fix_dist: 0.1493, d0.loss_cls_all: 0.1274, d0.loss_bbox_all: 0.3395, d0.loss_cls: 0.1274, d0.loss_bbox: 0.3395, d1.loss_cls: 0.1221, d1.loss_bbox: 0.3098, d2.loss_cls: 0.1108, d2.loss_bbox: 0.2884, d3.loss_cls: 0.0977, d3.loss_bbox: 0.2824, d4.loss_cls: 0.0911, d4.loss_bbox: 0.2787, d5.loss_cls: 0.0888, d5.loss_bbox: 0.2783, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6833, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5064, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4523, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4343, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4335, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4327, d0.loss_map_cls_all: 0.1475, d0.loss_map_pts_all: 0.8786, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1475, d0.loss_map_pts: 0.8786, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1207, d1.loss_map_pts: 0.6443, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1025, d2.loss_map_pts: 0.5163, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0911, d3.loss_map_pts: 0.4679, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0836, d4.loss_map_pts: 0.4505, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0804, d5.loss_map_pts: 0.4453, d5.loss_map_dir: 0.0052, loss: 20.2031, grad_norm: 149.1894 +2026-03-01 08:03:05,006 - DriveTransformer - INFO - Epoch [12][26000/39528] lr: 5.696e-05, eta: 4 days, 3:04:39, time: 0.731, data_time: 0.039, memory: 19865, loss_cls: 0.0772, loss_bbox: 0.2729, loss_traj: 0.4107, loss_traj_cls: 0.0021, loss_map_cls: 0.1123, loss_map_pts: 0.5350, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.8964, d0.loss_plan_l1_fix_dist: 0.4495, d1.loss_plan_l1_fix_time: 0.6693, d1.loss_plan_l1_fix_dist: 0.2366, d2.loss_plan_l1_fix_time: 0.6455, d2.loss_plan_l1_fix_dist: 0.2175, d3.loss_plan_l1_fix_time: 0.6427, d3.loss_plan_l1_fix_dist: 0.2304, d4.loss_plan_l1_fix_time: 0.6434, d4.loss_plan_l1_fix_dist: 0.1649, d5.loss_plan_l1_fix_time: 0.6446, d5.loss_plan_l1_fix_dist: 0.1710, d6.loss_plan_l1_fix_time: 0.6461, d6.loss_plan_l1_fix_dist: 0.1762, d0.loss_cls_all: 0.1254, d0.loss_bbox_all: 0.3409, d0.loss_cls: 0.1254, d0.loss_bbox: 0.3409, d1.loss_cls: 0.1154, d1.loss_bbox: 0.3063, d2.loss_cls: 0.1052, d2.loss_bbox: 0.2820, d3.loss_cls: 0.0843, d3.loss_bbox: 0.2766, d4.loss_cls: 0.0766, d4.loss_bbox: 0.2752, d5.loss_cls: 0.0767, d5.loss_bbox: 0.2733, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6386, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4765, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4327, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4161, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4105, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4109, d0.loss_map_cls_all: 0.1888, d0.loss_map_pts_all: 1.0774, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1888, d0.loss_map_pts: 1.0774, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1632, d1.loss_map_pts: 0.7872, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1389, d2.loss_map_pts: 0.6184, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1254, d3.loss_map_pts: 0.5607, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1194, d4.loss_map_pts: 0.5394, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1150, d5.loss_map_pts: 0.5353, d5.loss_map_dir: 0.0063, loss: 21.7257, grad_norm: 149.7102 +2026-03-01 08:03:41,100 - DriveTransformer - INFO - Epoch [12][26050/39528] lr: 5.696e-05, eta: 4 days, 3:04:01, time: 0.722, data_time: 0.037, memory: 19865, loss_cls: 0.0794, loss_bbox: 0.2484, loss_traj: 0.4367, loss_traj_cls: 0.0020, loss_map_cls: 0.0740, loss_map_pts: 0.4300, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.3558, d0.loss_plan_l1_fix_dist: 0.4791, d1.loss_plan_l1_fix_time: 0.6253, d1.loss_plan_l1_fix_dist: 0.2036, d2.loss_plan_l1_fix_time: 0.6186, d2.loss_plan_l1_fix_dist: 0.1925, d3.loss_plan_l1_fix_time: 0.6192, d3.loss_plan_l1_fix_dist: 0.2028, d4.loss_plan_l1_fix_time: 0.6222, d4.loss_plan_l1_fix_dist: 0.1425, d5.loss_plan_l1_fix_time: 0.6245, d5.loss_plan_l1_fix_dist: 0.1561, d6.loss_plan_l1_fix_time: 0.6267, d6.loss_plan_l1_fix_dist: 0.1551, d0.loss_cls_all: 0.1181, d0.loss_bbox_all: 0.3088, d0.loss_cls: 0.1181, d0.loss_bbox: 0.3088, d1.loss_cls: 0.1112, d1.loss_bbox: 0.2791, d2.loss_cls: 0.1019, d2.loss_bbox: 0.2590, d3.loss_cls: 0.0859, d3.loss_bbox: 0.2542, d4.loss_cls: 0.0827, d4.loss_bbox: 0.2495, d5.loss_cls: 0.0800, d5.loss_bbox: 0.2495, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6708, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5013, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4570, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4443, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4362, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4383, d0.loss_map_cls_all: 0.1637, d0.loss_map_pts_all: 0.9790, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1637, d0.loss_map_pts: 0.9790, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1288, d1.loss_map_pts: 0.6862, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1013, d2.loss_map_pts: 0.5267, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0889, d3.loss_map_pts: 0.4603, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0825, d4.loss_map_pts: 0.4366, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0768, d5.loss_map_pts: 0.4304, d5.loss_map_dir: 0.0052, loss: 19.8010, grad_norm: 150.1217 +2026-03-01 08:04:16,224 - DriveTransformer - INFO - Epoch [12][26100/39528] lr: 5.696e-05, eta: 4 days, 3:03:21, time: 0.702, data_time: 0.040, memory: 19865, loss_cls: 0.0925, loss_bbox: 0.2904, loss_traj: 0.4906, loss_traj_cls: 0.0020, loss_map_cls: 0.0729, loss_map_pts: 0.4506, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.5782, d0.loss_plan_l1_fix_dist: 0.3737, d1.loss_plan_l1_fix_time: 0.7136, d1.loss_plan_l1_fix_dist: 0.1893, d2.loss_plan_l1_fix_time: 0.6966, d2.loss_plan_l1_fix_dist: 0.1896, d3.loss_plan_l1_fix_time: 0.6950, d3.loss_plan_l1_fix_dist: 0.2094, d4.loss_plan_l1_fix_time: 0.6959, d4.loss_plan_l1_fix_dist: 0.1629, d5.loss_plan_l1_fix_time: 0.6975, d5.loss_plan_l1_fix_dist: 0.1782, d6.loss_plan_l1_fix_time: 0.6992, d6.loss_plan_l1_fix_dist: 0.1707, d0.loss_cls_all: 0.1346, d0.loss_bbox_all: 0.3523, d0.loss_cls: 0.1346, d0.loss_bbox: 0.3523, d1.loss_cls: 0.1261, d1.loss_bbox: 0.3195, d2.loss_cls: 0.1160, d2.loss_bbox: 0.3019, d3.loss_cls: 0.1008, d3.loss_bbox: 0.2960, d4.loss_cls: 0.0937, d4.loss_bbox: 0.2935, d5.loss_cls: 0.0932, d5.loss_bbox: 0.2905, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8342, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.6069, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5226, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4999, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4946, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4900, d0.loss_map_cls_all: 0.1541, d0.loss_map_pts_all: 0.8985, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1541, d0.loss_map_pts: 0.8985, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1249, d1.loss_map_pts: 0.6573, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1003, d2.loss_map_pts: 0.5323, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0867, d3.loss_map_pts: 0.4767, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0794, d4.loss_map_pts: 0.4558, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0748, d5.loss_map_pts: 0.4495, d5.loss_map_dir: 0.0053, loss: 21.2946, grad_norm: 144.9082 +2026-03-01 08:04:51,154 - DriveTransformer - INFO - Epoch [12][26150/39528] lr: 5.696e-05, eta: 4 days, 3:02:41, time: 0.699, data_time: 0.037, memory: 19865, loss_cls: 0.0791, loss_bbox: 0.2732, loss_traj: 0.4651, loss_traj_cls: 0.0021, loss_map_cls: 0.0924, loss_map_pts: 0.4627, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.8013, d0.loss_plan_l1_fix_dist: 0.4978, d1.loss_plan_l1_fix_time: 0.7122, d1.loss_plan_l1_fix_dist: 0.1866, d2.loss_plan_l1_fix_time: 0.7039, d2.loss_plan_l1_fix_dist: 0.1991, d3.loss_plan_l1_fix_time: 0.6897, d3.loss_plan_l1_fix_dist: 0.2186, d4.loss_plan_l1_fix_time: 0.6900, d4.loss_plan_l1_fix_dist: 0.1866, d5.loss_plan_l1_fix_time: 0.6910, d5.loss_plan_l1_fix_dist: 0.2047, d6.loss_plan_l1_fix_time: 0.6923, d6.loss_plan_l1_fix_dist: 0.1959, d0.loss_cls_all: 0.1307, d0.loss_bbox_all: 0.3367, d0.loss_cls: 0.1307, d0.loss_bbox: 0.3367, d1.loss_cls: 0.1250, d1.loss_bbox: 0.3025, d2.loss_cls: 0.1090, d2.loss_bbox: 0.2811, d3.loss_cls: 0.0885, d3.loss_bbox: 0.2775, d4.loss_cls: 0.0807, d4.loss_bbox: 0.2760, d5.loss_cls: 0.0800, d5.loss_bbox: 0.2728, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7115, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5505, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4816, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5097, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5093, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4640, d0.loss_map_cls_all: 0.1768, d0.loss_map_pts_all: 0.9633, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1768, d0.loss_map_pts: 0.9633, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1443, d1.loss_map_pts: 0.6886, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1185, d2.loss_map_pts: 0.5304, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1083, d3.loss_map_pts: 0.4772, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1012, d4.loss_map_pts: 0.4650, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0954, d5.loss_map_pts: 0.4622, d5.loss_map_dir: 0.0054, loss: 21.6193, grad_norm: 143.5226 +2026-03-01 08:05:28,058 - DriveTransformer - INFO - Epoch [12][26200/39528] lr: 5.696e-05, eta: 4 days, 3:02:05, time: 0.738, data_time: 0.037, memory: 19865, loss_cls: 0.0793, loss_bbox: 0.2597, loss_traj: 0.4442, loss_traj_cls: 0.0021, loss_map_cls: 0.0634, loss_map_pts: 0.4199, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.3184, d0.loss_plan_l1_fix_dist: 0.3902, d1.loss_plan_l1_fix_time: 0.6988, d1.loss_plan_l1_fix_dist: 0.1553, d2.loss_plan_l1_fix_time: 0.6873, d2.loss_plan_l1_fix_dist: 0.1743, d3.loss_plan_l1_fix_time: 0.6800, d3.loss_plan_l1_fix_dist: 0.1904, d4.loss_plan_l1_fix_time: 0.6826, d4.loss_plan_l1_fix_dist: 0.1726, d5.loss_plan_l1_fix_time: 0.6852, d5.loss_plan_l1_fix_dist: 0.1885, d6.loss_plan_l1_fix_time: 0.6880, d6.loss_plan_l1_fix_dist: 0.1733, d0.loss_cls_all: 0.1235, d0.loss_bbox_all: 0.3151, d0.loss_cls: 0.1235, d0.loss_bbox: 0.3151, d1.loss_cls: 0.1178, d1.loss_bbox: 0.2839, d2.loss_cls: 0.1045, d2.loss_bbox: 0.2655, d3.loss_cls: 0.0848, d3.loss_bbox: 0.2615, d4.loss_cls: 0.0806, d4.loss_bbox: 0.2603, d5.loss_cls: 0.0788, d5.loss_bbox: 0.2601, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7132, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5372, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4787, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4604, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4477, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4442, d0.loss_map_cls_all: 0.1485, d0.loss_map_pts_all: 0.9186, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1485, d0.loss_map_pts: 0.9186, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1163, d1.loss_map_pts: 0.6605, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.0888, d2.loss_map_pts: 0.5104, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0777, d3.loss_map_pts: 0.4491, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0712, d4.loss_map_pts: 0.4237, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0656, d5.loss_map_pts: 0.4186, d5.loss_map_dir: 0.0051, loss: 19.9740, grad_norm: 140.7297 +2026-03-01 08:06:04,738 - DriveTransformer - INFO - Epoch [12][26250/39528] lr: 5.696e-05, eta: 4 days, 3:01:29, time: 0.734, data_time: 0.039, memory: 19865, loss_cls: 0.0792, loss_bbox: 0.2895, loss_traj: 0.3792, loss_traj_cls: 0.0020, loss_map_cls: 0.0892, loss_map_pts: 0.4825, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.7828, d0.loss_plan_l1_fix_dist: 0.3562, d1.loss_plan_l1_fix_time: 0.6540, d1.loss_plan_l1_fix_dist: 0.1445, d2.loss_plan_l1_fix_time: 0.6386, d2.loss_plan_l1_fix_dist: 0.1613, d3.loss_plan_l1_fix_time: 0.6306, d3.loss_plan_l1_fix_dist: 0.1693, d4.loss_plan_l1_fix_time: 0.6310, d4.loss_plan_l1_fix_dist: 0.1546, d5.loss_plan_l1_fix_time: 0.6321, d5.loss_plan_l1_fix_dist: 0.1603, d6.loss_plan_l1_fix_time: 0.6338, d6.loss_plan_l1_fix_dist: 0.1551, d0.loss_cls_all: 0.1258, d0.loss_bbox_all: 0.3610, d0.loss_cls: 0.1258, d0.loss_bbox: 0.3610, d1.loss_cls: 0.1195, d1.loss_bbox: 0.3243, d2.loss_cls: 0.1045, d2.loss_bbox: 0.2987, d3.loss_cls: 0.0889, d3.loss_bbox: 0.2928, d4.loss_cls: 0.0831, d4.loss_bbox: 0.2880, d5.loss_cls: 0.0796, d5.loss_bbox: 0.2900, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5747, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4509, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4068, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3889, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3801, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3770, d0.loss_map_cls_all: 0.1743, d0.loss_map_pts_all: 1.0435, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1743, d0.loss_map_pts: 1.0435, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1375, d1.loss_map_pts: 0.7383, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1134, d2.loss_map_pts: 0.5645, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1020, d3.loss_map_pts: 0.5050, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0957, d4.loss_map_pts: 0.4851, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0912, d5.loss_map_pts: 0.4820, d5.loss_map_dir: 0.0062, loss: 20.5545, grad_norm: 137.7074 +2026-03-01 08:06:41,630 - DriveTransformer - INFO - Epoch [12][26300/39528] lr: 5.696e-05, eta: 4 days, 3:00:53, time: 0.738, data_time: 0.039, memory: 19865, loss_cls: 0.0972, loss_bbox: 0.3017, loss_traj: 0.4338, loss_traj_cls: 0.0019, loss_map_cls: 0.1108, loss_map_pts: 0.5901, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.9837, d0.loss_plan_l1_fix_dist: 0.3785, d1.loss_plan_l1_fix_time: 0.7308, d1.loss_plan_l1_fix_dist: 0.1642, d2.loss_plan_l1_fix_time: 0.7180, d2.loss_plan_l1_fix_dist: 0.1703, d3.loss_plan_l1_fix_time: 0.7025, d3.loss_plan_l1_fix_dist: 0.1541, d4.loss_plan_l1_fix_time: 0.7035, d4.loss_plan_l1_fix_dist: 0.1534, d5.loss_plan_l1_fix_time: 0.7049, d5.loss_plan_l1_fix_dist: 0.1682, d6.loss_plan_l1_fix_time: 0.7066, d6.loss_plan_l1_fix_dist: 0.1715, d0.loss_cls_all: 0.1416, d0.loss_bbox_all: 0.3779, d0.loss_cls: 0.1416, d0.loss_bbox: 0.3779, d1.loss_cls: 0.1361, d1.loss_bbox: 0.3387, d2.loss_cls: 0.1198, d2.loss_bbox: 0.3153, d3.loss_cls: 0.1024, d3.loss_bbox: 0.3086, d4.loss_cls: 0.1010, d4.loss_bbox: 0.3043, d5.loss_cls: 0.0982, d5.loss_bbox: 0.3023, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7156, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5308, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4717, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4499, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4422, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4329, d0.loss_map_cls_all: 0.2005, d0.loss_map_pts_all: 1.1915, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.2005, d0.loss_map_pts: 1.1915, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1685, d1.loss_map_pts: 0.8781, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1403, d2.loss_map_pts: 0.6884, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1274, d3.loss_map_pts: 0.6181, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1201, d4.loss_map_pts: 0.5951, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.1144, d5.loss_map_pts: 0.5898, d5.loss_map_dir: 0.0066, loss: 23.2360, grad_norm: 137.5245 +2026-03-01 08:07:16,405 - DriveTransformer - INFO - Epoch [12][26350/39528] lr: 5.696e-05, eta: 4 days, 3:00:13, time: 0.695, data_time: 0.037, memory: 19865, loss_cls: 0.0821, loss_bbox: 0.2514, loss_traj: 0.5246, loss_traj_cls: 0.0020, loss_map_cls: 0.0855, loss_map_pts: 0.4326, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.4921, d0.loss_plan_l1_fix_dist: 0.4514, d1.loss_plan_l1_fix_time: 0.7101, d1.loss_plan_l1_fix_dist: 0.1609, d2.loss_plan_l1_fix_time: 0.6902, d2.loss_plan_l1_fix_dist: 0.1622, d3.loss_plan_l1_fix_time: 0.6772, d3.loss_plan_l1_fix_dist: 0.1426, d4.loss_plan_l1_fix_time: 0.6774, d4.loss_plan_l1_fix_dist: 0.1385, d5.loss_plan_l1_fix_time: 0.6787, d5.loss_plan_l1_fix_dist: 0.1470, d6.loss_plan_l1_fix_time: 0.6800, d6.loss_plan_l1_fix_dist: 0.1487, d0.loss_cls_all: 0.1181, d0.loss_bbox_all: 0.3169, d0.loss_cls: 0.1181, d0.loss_bbox: 0.3169, d1.loss_cls: 0.1128, d1.loss_bbox: 0.2844, d2.loss_cls: 0.1033, d2.loss_bbox: 0.2649, d3.loss_cls: 0.0900, d3.loss_bbox: 0.2568, d4.loss_cls: 0.0835, d4.loss_bbox: 0.2540, d5.loss_cls: 0.0817, d5.loss_bbox: 0.2523, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8341, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.6053, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5461, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5306, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5273, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5240, d0.loss_map_cls_all: 0.1561, d0.loss_map_pts_all: 0.9171, d0.loss_map_dir_all: 0.0050, d0.loss_map_cls: 0.1561, d0.loss_map_pts: 0.9171, d0.loss_map_dir: 0.0050, d1.loss_map_cls: 0.1303, d1.loss_map_pts: 0.6684, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.1071, d2.loss_map_pts: 0.5104, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.0984, d3.loss_map_pts: 0.4562, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0919, d4.loss_map_pts: 0.4392, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0873, d5.loss_map_pts: 0.4328, d5.loss_map_dir: 0.0045, loss: 20.7668, grad_norm: 134.9980 +2026-03-01 08:07:52,514 - DriveTransformer - INFO - Epoch [12][26400/39528] lr: 5.696e-05, eta: 4 days, 2:59:35, time: 0.722, data_time: 0.038, memory: 19865, loss_cls: 0.0749, loss_bbox: 0.2664, loss_traj: 0.5221, loss_traj_cls: 0.0019, loss_map_cls: 0.0759, loss_map_pts: 0.4286, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.3986, d0.loss_plan_l1_fix_dist: 0.3298, d1.loss_plan_l1_fix_time: 0.7439, d1.loss_plan_l1_fix_dist: 0.1709, d2.loss_plan_l1_fix_time: 0.7341, d2.loss_plan_l1_fix_dist: 0.1531, d3.loss_plan_l1_fix_time: 0.7205, d3.loss_plan_l1_fix_dist: 0.1364, d4.loss_plan_l1_fix_time: 0.7218, d4.loss_plan_l1_fix_dist: 0.1337, d5.loss_plan_l1_fix_time: 0.7230, d5.loss_plan_l1_fix_dist: 0.1392, d6.loss_plan_l1_fix_time: 0.7244, d6.loss_plan_l1_fix_dist: 0.1566, d0.loss_cls_all: 0.1170, d0.loss_bbox_all: 0.3248, d0.loss_cls: 0.1170, d0.loss_bbox: 0.3248, d1.loss_cls: 0.1060, d1.loss_bbox: 0.2962, d2.loss_cls: 0.0947, d2.loss_bbox: 0.2748, d3.loss_cls: 0.0804, d3.loss_bbox: 0.2685, d4.loss_cls: 0.0768, d4.loss_bbox: 0.2657, d5.loss_cls: 0.0756, d5.loss_bbox: 0.2653, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7875, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.6022, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5493, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5274, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5246, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5260, d0.loss_map_cls_all: 0.1617, d0.loss_map_pts_all: 0.9817, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1617, d0.loss_map_pts: 0.9817, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1271, d1.loss_map_pts: 0.6781, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1049, d2.loss_map_pts: 0.5146, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0929, d3.loss_map_pts: 0.4557, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0854, d4.loss_map_pts: 0.4337, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0789, d5.loss_map_pts: 0.4288, d5.loss_map_dir: 0.0054, loss: 20.8965, grad_norm: 136.2988 +2026-03-01 08:08:28,597 - DriveTransformer - INFO - Epoch [12][26450/39528] lr: 5.696e-05, eta: 4 days, 2:58:58, time: 0.722, data_time: 0.036, memory: 19865, loss_cls: 0.0844, loss_bbox: 0.2759, loss_traj: 0.4819, loss_traj_cls: 0.0019, loss_map_cls: 0.0884, loss_map_pts: 0.4604, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.7357, d0.loss_plan_l1_fix_dist: 0.4465, d1.loss_plan_l1_fix_time: 0.7445, d1.loss_plan_l1_fix_dist: 0.2136, d2.loss_plan_l1_fix_time: 0.7282, d2.loss_plan_l1_fix_dist: 0.1847, d3.loss_plan_l1_fix_time: 0.7143, d3.loss_plan_l1_fix_dist: 0.1773, d4.loss_plan_l1_fix_time: 0.7175, d4.loss_plan_l1_fix_dist: 0.1772, d5.loss_plan_l1_fix_time: 0.7203, d5.loss_plan_l1_fix_dist: 0.1857, d6.loss_plan_l1_fix_time: 0.7231, d6.loss_plan_l1_fix_dist: 0.1999, d0.loss_cls_all: 0.1267, d0.loss_bbox_all: 0.3405, d0.loss_cls: 0.1267, d0.loss_bbox: 0.3405, d1.loss_cls: 0.1197, d1.loss_bbox: 0.3049, d2.loss_cls: 0.1067, d2.loss_bbox: 0.2844, d3.loss_cls: 0.0937, d3.loss_bbox: 0.2785, d4.loss_cls: 0.0868, d4.loss_bbox: 0.2777, d5.loss_cls: 0.0853, d5.loss_bbox: 0.2753, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7363, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5520, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5027, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4881, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4849, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4809, d0.loss_map_cls_all: 0.1729, d0.loss_map_pts_all: 0.9618, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1729, d0.loss_map_pts: 0.9618, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1426, d1.loss_map_pts: 0.7038, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1160, d2.loss_map_pts: 0.5413, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1044, d3.loss_map_pts: 0.4838, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0959, d4.loss_map_pts: 0.4666, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0909, d5.loss_map_pts: 0.4602, d5.loss_map_dir: 0.0055, loss: 21.6791, grad_norm: 140.2959 +2026-03-01 08:09:04,191 - DriveTransformer - INFO - Epoch [12][26500/39528] lr: 5.696e-05, eta: 4 days, 2:58:19, time: 0.712, data_time: 0.037, memory: 19865, loss_cls: 0.0818, loss_bbox: 0.2491, loss_traj: 0.4328, loss_traj_cls: 0.0020, loss_map_cls: 0.0519, loss_map_pts: 0.3434, loss_map_dir: 0.0041, d0.loss_plan_l1_fix_time: 2.4364, d0.loss_plan_l1_fix_dist: 0.3964, d1.loss_plan_l1_fix_time: 0.6510, d1.loss_plan_l1_fix_dist: 0.1939, d2.loss_plan_l1_fix_time: 0.6310, d2.loss_plan_l1_fix_dist: 0.1551, d3.loss_plan_l1_fix_time: 0.6327, d3.loss_plan_l1_fix_dist: 0.1664, d4.loss_plan_l1_fix_time: 0.6338, d4.loss_plan_l1_fix_dist: 0.1604, d5.loss_plan_l1_fix_time: 0.6357, d5.loss_plan_l1_fix_dist: 0.1632, d6.loss_plan_l1_fix_time: 0.6379, d6.loss_plan_l1_fix_dist: 0.1644, d0.loss_cls_all: 0.1194, d0.loss_bbox_all: 0.3123, d0.loss_cls: 0.1194, d0.loss_bbox: 0.3123, d1.loss_cls: 0.1168, d1.loss_bbox: 0.2825, d2.loss_cls: 0.1050, d2.loss_bbox: 0.2634, d3.loss_cls: 0.0872, d3.loss_bbox: 0.2559, d4.loss_cls: 0.0826, d4.loss_bbox: 0.2529, d5.loss_cls: 0.0822, d5.loss_bbox: 0.2496, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6470, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5137, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4547, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4396, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4343, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4304, d0.loss_map_cls_all: 0.1157, d0.loss_map_pts_all: 0.7368, d0.loss_map_dir_all: 0.0048, d0.loss_map_cls: 0.1157, d0.loss_map_pts: 0.7368, d0.loss_map_dir: 0.0048, d1.loss_map_cls: 0.0912, d1.loss_map_pts: 0.5287, d1.loss_map_dir: 0.0043, d2.loss_map_cls: 0.0729, d2.loss_map_pts: 0.4083, d2.loss_map_dir: 0.0040, d3.loss_map_cls: 0.0641, d3.loss_map_pts: 0.3633, d3.loss_map_dir: 0.0040, d4.loss_map_cls: 0.0595, d4.loss_map_pts: 0.3456, d4.loss_map_dir: 0.0041, d5.loss_map_cls: 0.0539, d5.loss_map_pts: 0.3438, d5.loss_map_dir: 0.0041, loss: 18.4563, grad_norm: 137.4906 +2026-03-01 08:09:40,796 - DriveTransformer - INFO - Epoch [12][26550/39528] lr: 5.696e-05, eta: 4 days, 2:57:43, time: 0.732, data_time: 0.036, memory: 19865, loss_cls: 0.0807, loss_bbox: 0.2664, loss_traj: 0.4995, loss_traj_cls: 0.0020, loss_map_cls: 0.0669, loss_map_pts: 0.4044, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.5684, d0.loss_plan_l1_fix_dist: 0.4039, d1.loss_plan_l1_fix_time: 0.6519, d1.loss_plan_l1_fix_dist: 0.1781, d2.loss_plan_l1_fix_time: 0.6310, d2.loss_plan_l1_fix_dist: 0.1444, d3.loss_plan_l1_fix_time: 0.6215, d3.loss_plan_l1_fix_dist: 0.1622, d4.loss_plan_l1_fix_time: 0.6232, d4.loss_plan_l1_fix_dist: 0.1573, d5.loss_plan_l1_fix_time: 0.6249, d5.loss_plan_l1_fix_dist: 0.1547, d6.loss_plan_l1_fix_time: 0.6273, d6.loss_plan_l1_fix_dist: 0.1555, d0.loss_cls_all: 0.1196, d0.loss_bbox_all: 0.3244, d0.loss_cls: 0.1196, d0.loss_bbox: 0.3244, d1.loss_cls: 0.1164, d1.loss_bbox: 0.2919, d2.loss_cls: 0.1044, d2.loss_bbox: 0.2725, d3.loss_cls: 0.0890, d3.loss_bbox: 0.2694, d4.loss_cls: 0.0819, d4.loss_bbox: 0.2683, d5.loss_cls: 0.0808, d5.loss_bbox: 0.2668, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7676, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5879, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5287, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5108, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4989, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4995, d0.loss_map_cls_all: 0.1423, d0.loss_map_pts_all: 0.8930, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1423, d0.loss_map_pts: 0.8930, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1099, d1.loss_map_pts: 0.6287, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.0896, d2.loss_map_pts: 0.4777, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.0789, d3.loss_map_pts: 0.4261, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0728, d4.loss_map_pts: 0.4105, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0693, d5.loss_map_pts: 0.4038, d5.loss_map_dir: 0.0050, loss: 20.0304, grad_norm: 134.0541 +2026-03-01 08:10:17,638 - DriveTransformer - INFO - Epoch [12][26600/39528] lr: 5.696e-05, eta: 4 days, 2:57:07, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.1036, loss_bbox: 0.3050, loss_traj: 0.5174, loss_traj_cls: 0.0019, loss_map_cls: 0.1107, loss_map_pts: 0.5728, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 3.0166, d0.loss_plan_l1_fix_dist: 0.3478, d1.loss_plan_l1_fix_time: 0.7005, d1.loss_plan_l1_fix_dist: 0.1728, d2.loss_plan_l1_fix_time: 0.6735, d2.loss_plan_l1_fix_dist: 0.1375, d3.loss_plan_l1_fix_time: 0.6590, d3.loss_plan_l1_fix_dist: 0.1424, d4.loss_plan_l1_fix_time: 0.6600, d4.loss_plan_l1_fix_dist: 0.1470, d5.loss_plan_l1_fix_time: 0.6617, d5.loss_plan_l1_fix_dist: 0.1436, d6.loss_plan_l1_fix_time: 0.6644, d6.loss_plan_l1_fix_dist: 0.1437, d0.loss_cls_all: 0.1530, d0.loss_bbox_all: 0.3726, d0.loss_cls: 0.1530, d0.loss_bbox: 0.3726, d1.loss_cls: 0.1455, d1.loss_bbox: 0.3368, d2.loss_cls: 0.1317, d2.loss_bbox: 0.3141, d3.loss_cls: 0.1122, d3.loss_bbox: 0.3100, d4.loss_cls: 0.1047, d4.loss_bbox: 0.3081, d5.loss_cls: 0.1017, d5.loss_bbox: 0.3063, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8048, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.6116, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5490, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5271, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5224, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5183, d0.loss_map_cls_all: 0.2073, d0.loss_map_pts_all: 1.1412, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.2073, d0.loss_map_pts: 1.1412, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1737, d1.loss_map_pts: 0.8438, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1410, d2.loss_map_pts: 0.6812, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1274, d3.loss_map_pts: 0.6069, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1190, d4.loss_map_pts: 0.5787, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1139, d5.loss_map_pts: 0.5721, d5.loss_map_dir: 0.0063, loss: 23.3485, grad_norm: 136.2032 +2026-03-01 08:10:53,918 - DriveTransformer - INFO - Epoch [12][26650/39528] lr: 5.696e-05, eta: 4 days, 2:56:30, time: 0.724, data_time: 0.040, memory: 19865, loss_cls: 0.0767, loss_bbox: 0.2395, loss_traj: 0.4489, loss_traj_cls: 0.0020, loss_map_cls: 0.0666, loss_map_pts: 0.3773, loss_map_dir: 0.0042, d0.loss_plan_l1_fix_time: 2.2874, d0.loss_plan_l1_fix_dist: 0.4088, d1.loss_plan_l1_fix_time: 0.6202, d1.loss_plan_l1_fix_dist: 0.1662, d2.loss_plan_l1_fix_time: 0.6010, d2.loss_plan_l1_fix_dist: 0.1453, d3.loss_plan_l1_fix_time: 0.5892, d3.loss_plan_l1_fix_dist: 0.1444, d4.loss_plan_l1_fix_time: 0.5931, d4.loss_plan_l1_fix_dist: 0.1551, d5.loss_plan_l1_fix_time: 0.5964, d5.loss_plan_l1_fix_dist: 0.1544, d6.loss_plan_l1_fix_time: 0.6002, d6.loss_plan_l1_fix_dist: 0.1586, d0.loss_cls_all: 0.1033, d0.loss_bbox_all: 0.2997, d0.loss_cls: 0.1033, d0.loss_bbox: 0.2997, d1.loss_cls: 0.1023, d1.loss_bbox: 0.2649, d2.loss_cls: 0.0908, d2.loss_bbox: 0.2472, d3.loss_cls: 0.0788, d3.loss_bbox: 0.2424, d4.loss_cls: 0.0777, d4.loss_bbox: 0.2388, d5.loss_cls: 0.0763, d5.loss_bbox: 0.2390, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6957, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5450, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4828, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4567, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4521, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4508, d0.loss_map_cls_all: 0.1364, d0.loss_map_pts_all: 0.8449, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1364, d0.loss_map_pts: 0.8449, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1111, d1.loss_map_pts: 0.5964, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.0895, d2.loss_map_pts: 0.4586, d2.loss_map_dir: 0.0039, d3.loss_map_cls: 0.0798, d3.loss_map_pts: 0.4049, d3.loss_map_dir: 0.0039, d4.loss_map_cls: 0.0749, d4.loss_map_pts: 0.3867, d4.loss_map_dir: 0.0041, d5.loss_map_cls: 0.0693, d5.loss_map_pts: 0.3774, d5.loss_map_dir: 0.0041, loss: 18.6302, grad_norm: 137.6990 +2026-03-01 08:11:29,197 - DriveTransformer - INFO - Epoch [12][26700/39528] lr: 5.696e-05, eta: 4 days, 2:55:50, time: 0.706, data_time: 0.038, memory: 19865, loss_cls: 0.0767, loss_bbox: 0.2727, loss_traj: 0.5172, loss_traj_cls: 0.0020, loss_map_cls: 0.0917, loss_map_pts: 0.5018, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 3.0650, d0.loss_plan_l1_fix_dist: 0.4755, d1.loss_plan_l1_fix_time: 0.8611, d1.loss_plan_l1_fix_dist: 0.1705, d2.loss_plan_l1_fix_time: 0.8435, d2.loss_plan_l1_fix_dist: 0.1590, d3.loss_plan_l1_fix_time: 0.8414, d3.loss_plan_l1_fix_dist: 0.1547, d4.loss_plan_l1_fix_time: 0.8431, d4.loss_plan_l1_fix_dist: 0.1606, d5.loss_plan_l1_fix_time: 0.8454, d5.loss_plan_l1_fix_dist: 0.1631, d6.loss_plan_l1_fix_time: 0.8477, d6.loss_plan_l1_fix_dist: 0.1759, d0.loss_cls_all: 0.1291, d0.loss_bbox_all: 0.3382, d0.loss_cls: 0.1291, d0.loss_bbox: 0.3382, d1.loss_cls: 0.1188, d1.loss_bbox: 0.3034, d2.loss_cls: 0.1063, d2.loss_bbox: 0.2817, d3.loss_cls: 0.0858, d3.loss_bbox: 0.2761, d4.loss_cls: 0.0780, d4.loss_bbox: 0.2734, d5.loss_cls: 0.0776, d5.loss_bbox: 0.2716, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8138, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.6141, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5536, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5382, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5225, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5212, d0.loss_map_cls_all: 0.1660, d0.loss_map_pts_all: 1.0038, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1660, d0.loss_map_pts: 1.0038, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1388, d1.loss_map_pts: 0.7519, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1168, d2.loss_map_pts: 0.5973, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1044, d3.loss_map_pts: 0.5332, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0976, d4.loss_map_pts: 0.5084, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0929, d5.loss_map_pts: 0.5023, d5.loss_map_dir: 0.0055, loss: 23.2725, grad_norm: 141.9566 +2026-03-01 08:12:05,050 - DriveTransformer - INFO - Epoch [12][26750/39528] lr: 5.696e-05, eta: 4 days, 2:55:12, time: 0.717, data_time: 0.037, memory: 19865, loss_cls: 0.0735, loss_bbox: 0.2684, loss_traj: 0.5000, loss_traj_cls: 0.0020, loss_map_cls: 0.1046, loss_map_pts: 0.4891, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.3672, d0.loss_plan_l1_fix_dist: 0.3821, d1.loss_plan_l1_fix_time: 0.6892, d1.loss_plan_l1_fix_dist: 0.1509, d2.loss_plan_l1_fix_time: 0.6808, d2.loss_plan_l1_fix_dist: 0.1501, d3.loss_plan_l1_fix_time: 0.6704, d3.loss_plan_l1_fix_dist: 0.1579, d4.loss_plan_l1_fix_time: 0.6721, d4.loss_plan_l1_fix_dist: 0.1621, d5.loss_plan_l1_fix_time: 0.6746, d5.loss_plan_l1_fix_dist: 0.1764, d6.loss_plan_l1_fix_time: 0.6768, d6.loss_plan_l1_fix_dist: 0.1995, d0.loss_cls_all: 0.1155, d0.loss_bbox_all: 0.3150, d0.loss_cls: 0.1155, d0.loss_bbox: 0.3150, d1.loss_cls: 0.1090, d1.loss_bbox: 0.2849, d2.loss_cls: 0.0977, d2.loss_bbox: 0.2665, d3.loss_cls: 0.0826, d3.loss_bbox: 0.2628, d4.loss_cls: 0.0741, d4.loss_bbox: 0.2662, d5.loss_cls: 0.0735, d5.loss_bbox: 0.2669, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7738, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5803, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5243, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5070, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.5022, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4981, d0.loss_map_cls_all: 0.1908, d0.loss_map_pts_all: 1.0124, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1908, d0.loss_map_pts: 1.0124, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1581, d1.loss_map_pts: 0.7557, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1281, d2.loss_map_pts: 0.5869, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1174, d3.loss_map_pts: 0.5197, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.1119, d4.loss_map_pts: 0.4945, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.1077, d5.loss_map_pts: 0.4899, d5.loss_map_dir: 0.0051, loss: 21.2025, grad_norm: 142.2710 +2026-03-01 08:12:42,124 - DriveTransformer - INFO - Epoch [12][26800/39528] lr: 5.696e-05, eta: 4 days, 2:54:37, time: 0.741, data_time: 0.038, memory: 19865, loss_cls: 0.0945, loss_bbox: 0.2824, loss_traj: 0.4410, loss_traj_cls: 0.0020, loss_map_cls: 0.0823, loss_map_pts: 0.4905, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.5968, d0.loss_plan_l1_fix_dist: 0.3825, d1.loss_plan_l1_fix_time: 0.6725, d1.loss_plan_l1_fix_dist: 0.1487, d2.loss_plan_l1_fix_time: 0.6598, d2.loss_plan_l1_fix_dist: 0.1476, d3.loss_plan_l1_fix_time: 0.6631, d3.loss_plan_l1_fix_dist: 0.1565, d4.loss_plan_l1_fix_time: 0.6656, d4.loss_plan_l1_fix_dist: 0.1570, d5.loss_plan_l1_fix_time: 0.6686, d5.loss_plan_l1_fix_dist: 0.1587, d6.loss_plan_l1_fix_time: 0.6725, d6.loss_plan_l1_fix_dist: 0.1652, d0.loss_cls_all: 0.1360, d0.loss_bbox_all: 0.3471, d0.loss_cls: 0.1360, d0.loss_bbox: 0.3471, d1.loss_cls: 0.1333, d1.loss_bbox: 0.3120, d2.loss_cls: 0.1205, d2.loss_bbox: 0.2891, d3.loss_cls: 0.1020, d3.loss_bbox: 0.2849, d4.loss_cls: 0.0967, d4.loss_bbox: 0.2836, d5.loss_cls: 0.0941, d5.loss_bbox: 0.2830, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6689, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5073, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4592, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4478, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4382, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4385, d0.loss_map_cls_all: 0.1711, d0.loss_map_pts_all: 1.0608, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1711, d0.loss_map_pts: 1.0608, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1414, d1.loss_map_pts: 0.7676, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1146, d2.loss_map_pts: 0.5829, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.0990, d3.loss_map_pts: 0.5174, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0916, d4.loss_map_pts: 0.4943, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0848, d5.loss_map_pts: 0.4913, d5.loss_map_dir: 0.0060, loss: 21.1360, grad_norm: 139.6753 +2026-03-01 08:13:19,366 - DriveTransformer - INFO - Epoch [12][26850/39528] lr: 5.696e-05, eta: 4 days, 2:54:02, time: 0.745, data_time: 0.038, memory: 19865, loss_cls: 0.0823, loss_bbox: 0.2801, loss_traj: 0.4292, loss_traj_cls: 0.0020, loss_map_cls: 0.0885, loss_map_pts: 0.5241, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.4514, d0.loss_plan_l1_fix_dist: 0.3521, d1.loss_plan_l1_fix_time: 0.7245, d1.loss_plan_l1_fix_dist: 0.1316, d2.loss_plan_l1_fix_time: 0.7092, d2.loss_plan_l1_fix_dist: 0.1306, d3.loss_plan_l1_fix_time: 0.7044, d3.loss_plan_l1_fix_dist: 0.1470, d4.loss_plan_l1_fix_time: 0.7066, d4.loss_plan_l1_fix_dist: 0.1527, d5.loss_plan_l1_fix_time: 0.7103, d5.loss_plan_l1_fix_dist: 0.1526, d6.loss_plan_l1_fix_time: 0.7150, d6.loss_plan_l1_fix_dist: 0.1542, d0.loss_cls_all: 0.1286, d0.loss_bbox_all: 0.3444, d0.loss_cls: 0.1286, d0.loss_bbox: 0.3444, d1.loss_cls: 0.1173, d1.loss_bbox: 0.3118, d2.loss_cls: 0.1073, d2.loss_bbox: 0.2883, d3.loss_cls: 0.0905, d3.loss_bbox: 0.2819, d4.loss_cls: 0.0839, d4.loss_bbox: 0.2795, d5.loss_cls: 0.0826, d5.loss_bbox: 0.2787, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6284, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5090, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4636, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4429, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4351, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4282, d0.loss_map_cls_all: 0.1689, d0.loss_map_pts_all: 1.1350, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1689, d0.loss_map_pts: 1.1350, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1395, d1.loss_map_pts: 0.8037, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1127, d2.loss_map_pts: 0.6226, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1019, d3.loss_map_pts: 0.5586, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.0961, d4.loss_map_pts: 0.5292, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.0923, d5.loss_map_pts: 0.5242, d5.loss_map_dir: 0.0071, loss: 21.3764, grad_norm: 139.7063 +2026-03-01 08:13:54,384 - DriveTransformer - INFO - Epoch [12][26900/39528] lr: 5.696e-05, eta: 4 days, 2:53:22, time: 0.700, data_time: 0.037, memory: 19865, loss_cls: 0.0777, loss_bbox: 0.2700, loss_traj: 0.4393, loss_traj_cls: 0.0020, loss_map_cls: 0.1007, loss_map_pts: 0.4750, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.6401, d0.loss_plan_l1_fix_dist: 0.3255, d1.loss_plan_l1_fix_time: 0.6900, d1.loss_plan_l1_fix_dist: 0.1347, d2.loss_plan_l1_fix_time: 0.6800, d2.loss_plan_l1_fix_dist: 0.1413, d3.loss_plan_l1_fix_time: 0.6773, d3.loss_plan_l1_fix_dist: 0.1485, d4.loss_plan_l1_fix_time: 0.6798, d4.loss_plan_l1_fix_dist: 0.1480, d5.loss_plan_l1_fix_time: 0.6829, d5.loss_plan_l1_fix_dist: 0.1456, d6.loss_plan_l1_fix_time: 0.6866, d6.loss_plan_l1_fix_dist: 0.1598, d0.loss_cls_all: 0.1215, d0.loss_bbox_all: 0.3291, d0.loss_cls: 0.1215, d0.loss_bbox: 0.3291, d1.loss_cls: 0.1155, d1.loss_bbox: 0.2925, d2.loss_cls: 0.1019, d2.loss_bbox: 0.2741, d3.loss_cls: 0.0873, d3.loss_bbox: 0.2699, d4.loss_cls: 0.0783, d4.loss_bbox: 0.2703, d5.loss_cls: 0.0775, d5.loss_bbox: 0.2694, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6966, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5376, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4729, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4475, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4453, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4425, d0.loss_map_cls_all: 0.1896, d0.loss_map_pts_all: 1.0348, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1896, d0.loss_map_pts: 1.0348, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1620, d1.loss_map_pts: 0.7498, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1292, d2.loss_map_pts: 0.5686, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1157, d3.loss_map_pts: 0.5023, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1076, d4.loss_map_pts: 0.4804, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1035, d5.loss_map_pts: 0.4759, d5.loss_map_dir: 0.0055, loss: 20.9779, grad_norm: 136.9689 +2026-03-01 08:14:29,019 - DriveTransformer - INFO - Epoch [12][26950/39528] lr: 5.696e-05, eta: 4 days, 2:52:41, time: 0.693, data_time: 0.042, memory: 19865, loss_cls: 0.0895, loss_bbox: 0.2937, loss_traj: 0.4635, loss_traj_cls: 0.0021, loss_map_cls: 0.0886, loss_map_pts: 0.4098, loss_map_dir: 0.0043, d0.loss_plan_l1_fix_time: 2.6205, d0.loss_plan_l1_fix_dist: 0.3173, d1.loss_plan_l1_fix_time: 0.6396, d1.loss_plan_l1_fix_dist: 0.1265, d2.loss_plan_l1_fix_time: 0.6300, d2.loss_plan_l1_fix_dist: 0.1372, d3.loss_plan_l1_fix_time: 0.6180, d3.loss_plan_l1_fix_dist: 0.1483, d4.loss_plan_l1_fix_time: 0.6208, d4.loss_plan_l1_fix_dist: 0.1462, d5.loss_plan_l1_fix_time: 0.6233, d5.loss_plan_l1_fix_dist: 0.1401, d6.loss_plan_l1_fix_time: 0.6258, d6.loss_plan_l1_fix_dist: 0.1541, d0.loss_cls_all: 0.1355, d0.loss_bbox_all: 0.3622, d0.loss_cls: 0.1355, d0.loss_bbox: 0.3622, d1.loss_cls: 0.1269, d1.loss_bbox: 0.3265, d2.loss_cls: 0.1154, d2.loss_bbox: 0.3044, d3.loss_cls: 0.0966, d3.loss_bbox: 0.2977, d4.loss_cls: 0.0919, d4.loss_bbox: 0.2951, d5.loss_cls: 0.0897, d5.loss_bbox: 0.2938, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6995, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5521, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4918, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4729, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4664, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4613, d0.loss_map_cls_all: 0.1720, d0.loss_map_pts_all: 0.8719, d0.loss_map_dir_all: 0.0042, d0.loss_map_cls: 0.1720, d0.loss_map_pts: 0.8719, d0.loss_map_dir: 0.0042, d1.loss_map_cls: 0.1467, d1.loss_map_pts: 0.6328, d1.loss_map_dir: 0.0041, d2.loss_map_cls: 0.1180, d2.loss_map_pts: 0.4924, d2.loss_map_dir: 0.0040, d3.loss_map_cls: 0.1044, d3.loss_map_pts: 0.4375, d3.loss_map_dir: 0.0041, d4.loss_map_cls: 0.0955, d4.loss_map_pts: 0.4160, d4.loss_map_dir: 0.0043, d5.loss_map_cls: 0.0904, d5.loss_map_pts: 0.4112, d5.loss_map_dir: 0.0043, loss: 20.1437, grad_norm: 134.0451 +2026-03-01 08:15:04,789 - DriveTransformer - INFO - Epoch [12][27000/39528] lr: 5.696e-05, eta: 4 days, 2:52:03, time: 0.715, data_time: 0.039, memory: 19865, loss_cls: 0.0655, loss_bbox: 0.2544, loss_traj: 0.5078, loss_traj_cls: 0.0022, loss_map_cls: 0.0867, loss_map_pts: 0.4443, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.4274, d0.loss_plan_l1_fix_dist: 0.4266, d1.loss_plan_l1_fix_time: 0.6756, d1.loss_plan_l1_fix_dist: 0.1468, d2.loss_plan_l1_fix_time: 0.6786, d2.loss_plan_l1_fix_dist: 0.1590, d3.loss_plan_l1_fix_time: 0.6766, d3.loss_plan_l1_fix_dist: 0.1771, d4.loss_plan_l1_fix_time: 0.6802, d4.loss_plan_l1_fix_dist: 0.1780, d5.loss_plan_l1_fix_time: 0.6828, d5.loss_plan_l1_fix_dist: 0.1744, d6.loss_plan_l1_fix_time: 0.6856, d6.loss_plan_l1_fix_dist: 0.1893, d0.loss_cls_all: 0.0998, d0.loss_bbox_all: 0.3052, d0.loss_cls: 0.0998, d0.loss_bbox: 0.3052, d1.loss_cls: 0.0938, d1.loss_bbox: 0.2769, d2.loss_cls: 0.0838, d2.loss_bbox: 0.2600, d3.loss_cls: 0.0735, d3.loss_bbox: 0.2540, d4.loss_cls: 0.0666, d4.loss_bbox: 0.2528, d5.loss_cls: 0.0658, d5.loss_bbox: 0.2535, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.7542, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5941, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5384, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5198, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5102, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5058, d0.loss_map_cls_all: 0.1730, d0.loss_map_pts_all: 0.9235, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1730, d0.loss_map_pts: 0.9235, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1411, d1.loss_map_pts: 0.6764, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1123, d2.loss_map_pts: 0.5248, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1021, d3.loss_map_pts: 0.4706, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0944, d4.loss_map_pts: 0.4509, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0885, d5.loss_map_pts: 0.4451, d5.loss_map_dir: 0.0055, loss: 20.5804, grad_norm: 134.2851 +2026-03-01 08:15:40,184 - DriveTransformer - INFO - Epoch [12][27050/39528] lr: 5.696e-05, eta: 4 days, 2:51:24, time: 0.708, data_time: 0.039, memory: 19865, loss_cls: 0.0849, loss_bbox: 0.2713, loss_traj: 0.4762, loss_traj_cls: 0.0021, loss_map_cls: 0.0812, loss_map_pts: 0.4408, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 3.0578, d0.loss_plan_l1_fix_dist: 0.3525, d1.loss_plan_l1_fix_time: 0.7124, d1.loss_plan_l1_fix_dist: 0.1394, d2.loss_plan_l1_fix_time: 0.7068, d2.loss_plan_l1_fix_dist: 0.1477, d3.loss_plan_l1_fix_time: 0.7068, d3.loss_plan_l1_fix_dist: 0.1597, d4.loss_plan_l1_fix_time: 0.7085, d4.loss_plan_l1_fix_dist: 0.1637, d5.loss_plan_l1_fix_time: 0.7102, d5.loss_plan_l1_fix_dist: 0.1606, d6.loss_plan_l1_fix_time: 0.7120, d6.loss_plan_l1_fix_dist: 0.1688, d0.loss_cls_all: 0.1371, d0.loss_bbox_all: 0.3391, d0.loss_cls: 0.1371, d0.loss_bbox: 0.3391, d1.loss_cls: 0.1292, d1.loss_bbox: 0.3047, d2.loss_cls: 0.1134, d2.loss_bbox: 0.2800, d3.loss_cls: 0.0943, d3.loss_bbox: 0.2732, d4.loss_cls: 0.0876, d4.loss_bbox: 0.2722, d5.loss_cls: 0.0855, d5.loss_bbox: 0.2712, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7392, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5687, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5142, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4900, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4817, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4760, d0.loss_map_cls_all: 0.1584, d0.loss_map_pts_all: 0.8878, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1584, d0.loss_map_pts: 0.8878, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1300, d1.loss_map_pts: 0.6430, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1070, d2.loss_map_pts: 0.5129, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.0955, d3.loss_map_pts: 0.4608, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0889, d4.loss_map_pts: 0.4439, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0843, d5.loss_map_pts: 0.4401, d5.loss_map_dir: 0.0050, loss: 21.2410, grad_norm: 134.4709 +2026-03-01 08:16:17,095 - DriveTransformer - INFO - Epoch [12][27100/39528] lr: 5.696e-05, eta: 4 days, 2:50:48, time: 0.738, data_time: 0.039, memory: 19865, loss_cls: 0.0647, loss_bbox: 0.2447, loss_traj: 0.4253, loss_traj_cls: 0.0022, loss_map_cls: 0.0686, loss_map_pts: 0.4025, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.2268, d0.loss_plan_l1_fix_dist: 0.4056, d1.loss_plan_l1_fix_time: 0.6244, d1.loss_plan_l1_fix_dist: 0.1590, d2.loss_plan_l1_fix_time: 0.6145, d2.loss_plan_l1_fix_dist: 0.1578, d3.loss_plan_l1_fix_time: 0.6137, d3.loss_plan_l1_fix_dist: 0.1599, d4.loss_plan_l1_fix_time: 0.6152, d4.loss_plan_l1_fix_dist: 0.1795, d5.loss_plan_l1_fix_time: 0.6174, d5.loss_plan_l1_fix_dist: 0.1713, d6.loss_plan_l1_fix_time: 0.6196, d6.loss_plan_l1_fix_dist: 0.1729, d0.loss_cls_all: 0.0977, d0.loss_bbox_all: 0.3021, d0.loss_cls: 0.0977, d0.loss_bbox: 0.3021, d1.loss_cls: 0.0950, d1.loss_bbox: 0.2706, d2.loss_cls: 0.0824, d2.loss_bbox: 0.2531, d3.loss_cls: 0.0677, d3.loss_bbox: 0.2488, d4.loss_cls: 0.0646, d4.loss_bbox: 0.2455, d5.loss_cls: 0.0639, d5.loss_bbox: 0.2449, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6565, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5189, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4632, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4392, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4295, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4265, d0.loss_map_cls_all: 0.1447, d0.loss_map_pts_all: 0.9081, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1447, d0.loss_map_pts: 0.9081, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1103, d1.loss_map_pts: 0.6322, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.0902, d2.loss_map_pts: 0.4729, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0815, d3.loss_map_pts: 0.4213, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0746, d4.loss_map_pts: 0.4066, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0708, d5.loss_map_pts: 0.4022, d5.loss_map_dir: 0.0050, loss: 18.8298, grad_norm: 131.5448 +2026-03-01 08:16:52,797 - DriveTransformer - INFO - Epoch [12][27150/39528] lr: 5.696e-05, eta: 4 days, 2:50:10, time: 0.714, data_time: 0.037, memory: 19865, loss_cls: 0.0743, loss_bbox: 0.2657, loss_traj: 0.4283, loss_traj_cls: 0.0021, loss_map_cls: 0.0921, loss_map_pts: 0.4465, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.6368, d0.loss_plan_l1_fix_dist: 0.3935, d1.loss_plan_l1_fix_time: 0.6849, d1.loss_plan_l1_fix_dist: 0.1695, d2.loss_plan_l1_fix_time: 0.6770, d2.loss_plan_l1_fix_dist: 0.1620, d3.loss_plan_l1_fix_time: 0.6780, d3.loss_plan_l1_fix_dist: 0.1560, d4.loss_plan_l1_fix_time: 0.6790, d4.loss_plan_l1_fix_dist: 0.1706, d5.loss_plan_l1_fix_time: 0.6804, d5.loss_plan_l1_fix_dist: 0.1602, d6.loss_plan_l1_fix_time: 0.6822, d6.loss_plan_l1_fix_dist: 0.1602, d0.loss_cls_all: 0.1206, d0.loss_bbox_all: 0.3226, d0.loss_cls: 0.1206, d0.loss_bbox: 0.3226, d1.loss_cls: 0.1118, d1.loss_bbox: 0.2913, d2.loss_cls: 0.1004, d2.loss_bbox: 0.2696, d3.loss_cls: 0.0825, d3.loss_bbox: 0.2682, d4.loss_cls: 0.0770, d4.loss_bbox: 0.2676, d5.loss_cls: 0.0743, d5.loss_bbox: 0.2669, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6803, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5250, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4655, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4397, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4374, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4315, d0.loss_map_cls_all: 0.1663, d0.loss_map_pts_all: 0.9843, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1663, d0.loss_map_pts: 0.9843, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1418, d1.loss_map_pts: 0.6706, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1181, d2.loss_map_pts: 0.5224, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1058, d3.loss_map_pts: 0.4660, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1008, d4.loss_map_pts: 0.4490, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0950, d5.loss_map_pts: 0.4452, d5.loss_map_dir: 0.0055, loss: 20.5419, grad_norm: 134.0559 +2026-03-01 08:17:26,542 - DriveTransformer - INFO - Epoch [12][27200/39528] lr: 5.696e-05, eta: 4 days, 2:49:27, time: 0.675, data_time: 0.037, memory: 19865, loss_cls: 0.0975, loss_bbox: 0.2849, loss_traj: 0.4936, loss_traj_cls: 0.0020, loss_map_cls: 0.0861, loss_map_pts: 0.4467, loss_map_dir: 0.0045, d0.loss_plan_l1_fix_time: 2.5440, d0.loss_plan_l1_fix_dist: 0.4293, d1.loss_plan_l1_fix_time: 0.7534, d1.loss_plan_l1_fix_dist: 0.1962, d2.loss_plan_l1_fix_time: 0.7529, d2.loss_plan_l1_fix_dist: 0.1896, d3.loss_plan_l1_fix_time: 0.7550, d3.loss_plan_l1_fix_dist: 0.1930, d4.loss_plan_l1_fix_time: 0.7582, d4.loss_plan_l1_fix_dist: 0.1993, d5.loss_plan_l1_fix_time: 0.7609, d5.loss_plan_l1_fix_dist: 0.1919, d6.loss_plan_l1_fix_time: 0.7644, d6.loss_plan_l1_fix_dist: 0.1976, d0.loss_cls_all: 0.1416, d0.loss_bbox_all: 0.3575, d0.loss_cls: 0.1416, d0.loss_bbox: 0.3575, d1.loss_cls: 0.1337, d1.loss_bbox: 0.3202, d2.loss_cls: 0.1255, d2.loss_bbox: 0.2964, d3.loss_cls: 0.1056, d3.loss_bbox: 0.2896, d4.loss_cls: 0.0992, d4.loss_bbox: 0.2864, d5.loss_cls: 0.0970, d5.loss_bbox: 0.2852, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7146, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5744, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5203, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5016, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4928, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4921, d0.loss_map_cls_all: 0.1735, d0.loss_map_pts_all: 0.9429, d0.loss_map_dir_all: 0.0050, d0.loss_map_cls: 0.1735, d0.loss_map_pts: 0.9429, d0.loss_map_dir: 0.0050, d1.loss_map_cls: 0.1385, d1.loss_map_pts: 0.6861, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.1146, d2.loss_map_pts: 0.5410, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.1019, d3.loss_map_pts: 0.4728, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0928, d4.loss_map_pts: 0.4472, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0884, d5.loss_map_pts: 0.4452, d5.loss_map_dir: 0.0045, loss: 21.8327, grad_norm: 134.7164 +2026-03-01 08:18:02,410 - DriveTransformer - INFO - Epoch [12][27250/39528] lr: 5.696e-05, eta: 4 days, 2:48:49, time: 0.717, data_time: 0.037, memory: 19865, loss_cls: 0.0827, loss_bbox: 0.2677, loss_traj: 0.4048, loss_traj_cls: 0.0022, loss_map_cls: 0.0915, loss_map_pts: 0.4645, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.6936, d0.loss_plan_l1_fix_dist: 0.3916, d1.loss_plan_l1_fix_time: 0.6544, d1.loss_plan_l1_fix_dist: 0.1867, d2.loss_plan_l1_fix_time: 0.6450, d2.loss_plan_l1_fix_dist: 0.1708, d3.loss_plan_l1_fix_time: 0.6458, d3.loss_plan_l1_fix_dist: 0.1784, d4.loss_plan_l1_fix_time: 0.6490, d4.loss_plan_l1_fix_dist: 0.1705, d5.loss_plan_l1_fix_time: 0.6528, d5.loss_plan_l1_fix_dist: 0.1657, d6.loss_plan_l1_fix_time: 0.6571, d6.loss_plan_l1_fix_dist: 0.1853, d0.loss_cls_all: 0.1305, d0.loss_bbox_all: 0.3279, d0.loss_cls: 0.1305, d0.loss_bbox: 0.3279, d1.loss_cls: 0.1265, d1.loss_bbox: 0.2933, d2.loss_cls: 0.1093, d2.loss_bbox: 0.2743, d3.loss_cls: 0.0885, d3.loss_bbox: 0.2711, d4.loss_cls: 0.0821, d4.loss_bbox: 0.2694, d5.loss_cls: 0.0816, d5.loss_bbox: 0.2678, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6107, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4686, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4149, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4076, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4042, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.4033, d0.loss_map_cls_all: 0.1712, d0.loss_map_pts_all: 0.9751, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1712, d0.loss_map_pts: 0.9751, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1390, d1.loss_map_pts: 0.7156, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1160, d2.loss_map_pts: 0.5443, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1057, d3.loss_map_pts: 0.4861, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0989, d4.loss_map_pts: 0.4673, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0935, d5.loss_map_pts: 0.4644, d5.loss_map_dir: 0.0059, loss: 20.4278, grad_norm: 136.1598 +2026-03-01 08:18:38,014 - DriveTransformer - INFO - Epoch [12][27300/39528] lr: 5.696e-05, eta: 4 days, 2:48:10, time: 0.712, data_time: 0.040, memory: 19865, loss_cls: 0.0776, loss_bbox: 0.2659, loss_traj: 0.4766, loss_traj_cls: 0.0022, loss_map_cls: 0.0671, loss_map_pts: 0.3792, loss_map_dir: 0.0042, d0.loss_plan_l1_fix_time: 2.3428, d0.loss_plan_l1_fix_dist: 0.4325, d1.loss_plan_l1_fix_time: 0.6521, d1.loss_plan_l1_fix_dist: 0.1810, d2.loss_plan_l1_fix_time: 0.6372, d2.loss_plan_l1_fix_dist: 0.1767, d3.loss_plan_l1_fix_time: 0.6369, d3.loss_plan_l1_fix_dist: 0.1855, d4.loss_plan_l1_fix_time: 0.6383, d4.loss_plan_l1_fix_dist: 0.1528, d5.loss_plan_l1_fix_time: 0.6407, d5.loss_plan_l1_fix_dist: 0.1584, d6.loss_plan_l1_fix_time: 0.6436, d6.loss_plan_l1_fix_dist: 0.1863, d0.loss_cls_all: 0.1160, d0.loss_bbox_all: 0.3177, d0.loss_cls: 0.1160, d0.loss_bbox: 0.3177, d1.loss_cls: 0.1099, d1.loss_bbox: 0.2869, d2.loss_cls: 0.1011, d2.loss_bbox: 0.2670, d3.loss_cls: 0.0840, d3.loss_bbox: 0.2646, d4.loss_cls: 0.0784, d4.loss_bbox: 0.2644, d5.loss_cls: 0.0778, d5.loss_bbox: 0.2645, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6795, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5478, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4964, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4810, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4787, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.4756, d0.loss_map_cls_all: 0.1433, d0.loss_map_pts_all: 0.7993, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1433, d0.loss_map_pts: 0.7993, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1123, d1.loss_map_pts: 0.5815, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.0889, d2.loss_map_pts: 0.4518, d2.loss_map_dir: 0.0040, d3.loss_map_cls: 0.0786, d3.loss_map_pts: 0.4000, d3.loss_map_dir: 0.0040, d4.loss_map_cls: 0.0731, d4.loss_map_pts: 0.3821, d4.loss_map_dir: 0.0041, d5.loss_map_cls: 0.0691, d5.loss_map_pts: 0.3776, d5.loss_map_dir: 0.0041, loss: 19.2997, grad_norm: 136.6307 +2026-03-01 08:19:14,849 - DriveTransformer - INFO - Epoch [12][27350/39528] lr: 5.696e-05, eta: 4 days, 2:47:34, time: 0.737, data_time: 0.040, memory: 19865, loss_cls: 0.0822, loss_bbox: 0.2822, loss_traj: 0.3800, loss_traj_cls: 0.0022, loss_map_cls: 0.0743, loss_map_pts: 0.4284, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.4397, d0.loss_plan_l1_fix_dist: 0.3616, d1.loss_plan_l1_fix_time: 0.6769, d1.loss_plan_l1_fix_dist: 0.1734, d2.loss_plan_l1_fix_time: 0.6546, d2.loss_plan_l1_fix_dist: 0.1703, d3.loss_plan_l1_fix_time: 0.6539, d3.loss_plan_l1_fix_dist: 0.1922, d4.loss_plan_l1_fix_time: 0.6552, d4.loss_plan_l1_fix_dist: 0.1374, d5.loss_plan_l1_fix_time: 0.6570, d5.loss_plan_l1_fix_dist: 0.1539, d6.loss_plan_l1_fix_time: 0.6592, d6.loss_plan_l1_fix_dist: 0.1440, d0.loss_cls_all: 0.1283, d0.loss_bbox_all: 0.3448, d0.loss_cls: 0.1283, d0.loss_bbox: 0.3448, d1.loss_cls: 0.1202, d1.loss_bbox: 0.3127, d2.loss_cls: 0.1080, d2.loss_bbox: 0.2926, d3.loss_cls: 0.0888, d3.loss_bbox: 0.2875, d4.loss_cls: 0.0841, d4.loss_bbox: 0.2833, d5.loss_cls: 0.0827, d5.loss_bbox: 0.2820, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5713, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4342, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3953, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3921, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3834, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.3812, d0.loss_map_cls_all: 0.1585, d0.loss_map_pts_all: 0.8872, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1585, d0.loss_map_pts: 0.8872, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1215, d1.loss_map_pts: 0.6408, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.0978, d2.loss_map_pts: 0.5053, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.0874, d3.loss_map_pts: 0.4524, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0801, d4.loss_map_pts: 0.4338, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0760, d5.loss_map_pts: 0.4293, d5.loss_map_dir: 0.0056, loss: 19.4943, grad_norm: 134.9524 +2026-03-01 08:19:49,299 - DriveTransformer - INFO - Epoch [12][27400/39528] lr: 5.696e-05, eta: 4 days, 2:46:53, time: 0.690, data_time: 0.038, memory: 19865, loss_cls: 0.0718, loss_bbox: 0.2504, loss_traj: 0.4684, loss_traj_cls: 0.0022, loss_map_cls: 0.0764, loss_map_pts: 0.4172, loss_map_dir: 0.0043, d0.loss_plan_l1_fix_time: 2.4522, d0.loss_plan_l1_fix_dist: 0.3603, d1.loss_plan_l1_fix_time: 0.6549, d1.loss_plan_l1_fix_dist: 0.1662, d2.loss_plan_l1_fix_time: 0.6388, d2.loss_plan_l1_fix_dist: 0.1765, d3.loss_plan_l1_fix_time: 0.6330, d3.loss_plan_l1_fix_dist: 0.1929, d4.loss_plan_l1_fix_time: 0.6348, d4.loss_plan_l1_fix_dist: 0.1458, d5.loss_plan_l1_fix_time: 0.6373, d5.loss_plan_l1_fix_dist: 0.1643, d6.loss_plan_l1_fix_time: 0.6408, d6.loss_plan_l1_fix_dist: 0.1508, d0.loss_cls_all: 0.1161, d0.loss_bbox_all: 0.3053, d0.loss_cls: 0.1161, d0.loss_bbox: 0.3053, d1.loss_cls: 0.1097, d1.loss_bbox: 0.2786, d2.loss_cls: 0.0981, d2.loss_bbox: 0.2617, d3.loss_cls: 0.0784, d3.loss_bbox: 0.2564, d4.loss_cls: 0.0745, d4.loss_bbox: 0.2516, d5.loss_cls: 0.0723, d5.loss_bbox: 0.2503, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7412, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5519, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4926, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4771, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4698, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.4685, d0.loss_map_cls_all: 0.1477, d0.loss_map_pts_all: 0.8596, d0.loss_map_dir_all: 0.0048, d0.loss_map_cls: 0.1477, d0.loss_map_pts: 0.8596, d0.loss_map_dir: 0.0048, d1.loss_map_cls: 0.1217, d1.loss_map_pts: 0.6259, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.0960, d2.loss_map_pts: 0.4858, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.0859, d3.loss_map_pts: 0.4350, d3.loss_map_dir: 0.0042, d4.loss_map_cls: 0.0816, d4.loss_map_pts: 0.4211, d4.loss_map_dir: 0.0043, d5.loss_map_cls: 0.0788, d5.loss_map_pts: 0.4165, d5.loss_map_dir: 0.0043, loss: 19.6145, grad_norm: 134.1418 +2026-03-01 08:20:24,041 - DriveTransformer - INFO - Epoch [12][27450/39528] lr: 5.696e-05, eta: 4 days, 2:46:13, time: 0.693, data_time: 0.037, memory: 19865, loss_cls: 0.0819, loss_bbox: 0.2739, loss_traj: 0.3399, loss_traj_cls: 0.0023, loss_map_cls: 0.0878, loss_map_pts: 0.4424, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.7432, d0.loss_plan_l1_fix_dist: 0.3907, d1.loss_plan_l1_fix_time: 0.7064, d1.loss_plan_l1_fix_dist: 0.1759, d2.loss_plan_l1_fix_time: 0.6902, d2.loss_plan_l1_fix_dist: 0.1899, d3.loss_plan_l1_fix_time: 0.6924, d3.loss_plan_l1_fix_dist: 0.2010, d4.loss_plan_l1_fix_time: 0.6948, d4.loss_plan_l1_fix_dist: 0.1618, d5.loss_plan_l1_fix_time: 0.6971, d5.loss_plan_l1_fix_dist: 0.1709, d6.loss_plan_l1_fix_time: 0.7001, d6.loss_plan_l1_fix_dist: 0.1625, d0.loss_cls_all: 0.1354, d0.loss_bbox_all: 0.3322, d0.loss_cls: 0.1354, d0.loss_bbox: 0.3322, d1.loss_cls: 0.1239, d1.loss_bbox: 0.3022, d2.loss_cls: 0.1086, d2.loss_bbox: 0.2851, d3.loss_cls: 0.0878, d3.loss_bbox: 0.2812, d4.loss_cls: 0.0837, d4.loss_bbox: 0.2758, d5.loss_cls: 0.0813, d5.loss_bbox: 0.2748, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5349, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4090, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3614, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3500, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3417, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.3371, d0.loss_map_cls_all: 0.1678, d0.loss_map_pts_all: 0.8871, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1678, d0.loss_map_pts: 0.8871, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1348, d1.loss_map_pts: 0.6495, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1118, d2.loss_map_pts: 0.5149, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1010, d3.loss_map_pts: 0.4627, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0936, d4.loss_map_pts: 0.4482, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0906, d5.loss_map_pts: 0.4426, d5.loss_map_dir: 0.0050, loss: 19.9867, grad_norm: 132.9321 +2026-03-01 08:20:59,089 - DriveTransformer - INFO - Epoch [12][27500/39528] lr: 5.696e-05, eta: 4 days, 2:45:33, time: 0.701, data_time: 0.038, memory: 19865, loss_cls: 0.0845, loss_bbox: 0.2539, loss_traj: 0.4452, loss_traj_cls: 0.0022, loss_map_cls: 0.0784, loss_map_pts: 0.4221, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.3434, d0.loss_plan_l1_fix_dist: 0.3550, d1.loss_plan_l1_fix_time: 0.6573, d1.loss_plan_l1_fix_dist: 0.1649, d2.loss_plan_l1_fix_time: 0.6399, d2.loss_plan_l1_fix_dist: 0.1652, d3.loss_plan_l1_fix_time: 0.6372, d3.loss_plan_l1_fix_dist: 0.1728, d4.loss_plan_l1_fix_time: 0.6380, d4.loss_plan_l1_fix_dist: 0.1436, d5.loss_plan_l1_fix_time: 0.6399, d5.loss_plan_l1_fix_dist: 0.1536, d6.loss_plan_l1_fix_time: 0.6423, d6.loss_plan_l1_fix_dist: 0.1688, d0.loss_cls_all: 0.1288, d0.loss_bbox_all: 0.3199, d0.loss_cls: 0.1288, d0.loss_bbox: 0.3199, d1.loss_cls: 0.1237, d1.loss_bbox: 0.2841, d2.loss_cls: 0.1087, d2.loss_bbox: 0.2653, d3.loss_cls: 0.0944, d3.loss_bbox: 0.2576, d4.loss_cls: 0.0871, d4.loss_bbox: 0.2558, d5.loss_cls: 0.0857, d5.loss_bbox: 0.2535, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7031, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5336, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4773, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4549, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4520, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4468, d0.loss_map_cls_all: 0.1655, d0.loss_map_pts_all: 0.9086, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1655, d0.loss_map_pts: 0.9086, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1292, d1.loss_map_pts: 0.6583, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1043, d2.loss_map_pts: 0.5091, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0927, d3.loss_map_pts: 0.4519, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0855, d4.loss_map_pts: 0.4297, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0816, d5.loss_map_pts: 0.4226, d5.loss_map_dir: 0.0052, loss: 19.7525, grad_norm: 130.3589 +2026-03-01 08:21:35,886 - DriveTransformer - INFO - Epoch [12][27550/39528] lr: 5.696e-05, eta: 4 days, 2:44:57, time: 0.736, data_time: 0.039, memory: 19865, loss_cls: 0.0675, loss_bbox: 0.2422, loss_traj: 0.3668, loss_traj_cls: 0.0023, loss_map_cls: 0.0896, loss_map_pts: 0.4480, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.1433, d0.loss_plan_l1_fix_dist: 0.3430, d1.loss_plan_l1_fix_time: 0.7550, d1.loss_plan_l1_fix_dist: 0.1662, d2.loss_plan_l1_fix_time: 0.7513, d2.loss_plan_l1_fix_dist: 0.1470, d3.loss_plan_l1_fix_time: 0.7106, d3.loss_plan_l1_fix_dist: 0.1543, d4.loss_plan_l1_fix_time: 0.7111, d4.loss_plan_l1_fix_dist: 0.1382, d5.loss_plan_l1_fix_time: 0.7130, d5.loss_plan_l1_fix_dist: 0.1421, d6.loss_plan_l1_fix_time: 0.7149, d6.loss_plan_l1_fix_dist: 0.1674, d0.loss_cls_all: 0.1094, d0.loss_bbox_all: 0.2962, d0.loss_cls: 0.1094, d0.loss_bbox: 0.2962, d1.loss_cls: 0.1003, d1.loss_bbox: 0.2694, d2.loss_cls: 0.0909, d2.loss_bbox: 0.2505, d3.loss_cls: 0.0742, d3.loss_bbox: 0.2440, d4.loss_cls: 0.0693, d4.loss_bbox: 0.2416, d5.loss_cls: 0.0677, d5.loss_bbox: 0.2421, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.5337, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.4187, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3757, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3675, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3704, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3690, d0.loss_map_cls_all: 0.1692, d0.loss_map_pts_all: 1.0028, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1692, d0.loss_map_pts: 1.0028, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1369, d1.loss_map_pts: 0.6965, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1112, d2.loss_map_pts: 0.5382, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1006, d3.loss_map_pts: 0.4767, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0957, d4.loss_map_pts: 0.4544, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0920, d5.loss_map_pts: 0.4487, d5.loss_map_dir: 0.0058, loss: 19.4188, grad_norm: 131.5760 +2026-03-01 08:22:11,031 - DriveTransformer - INFO - Epoch [12][27600/39528] lr: 5.696e-05, eta: 4 days, 2:44:17, time: 0.703, data_time: 0.037, memory: 19865, loss_cls: 0.0801, loss_bbox: 0.2543, loss_traj: 0.4569, loss_traj_cls: 0.0022, loss_map_cls: 0.0877, loss_map_pts: 0.4927, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.3854, d0.loss_plan_l1_fix_dist: 0.4030, d1.loss_plan_l1_fix_time: 0.6849, d1.loss_plan_l1_fix_dist: 0.1759, d2.loss_plan_l1_fix_time: 0.6704, d2.loss_plan_l1_fix_dist: 0.1424, d3.loss_plan_l1_fix_time: 0.6675, d3.loss_plan_l1_fix_dist: 0.1397, d4.loss_plan_l1_fix_time: 0.6689, d4.loss_plan_l1_fix_dist: 0.1387, d5.loss_plan_l1_fix_time: 0.6706, d5.loss_plan_l1_fix_dist: 0.1540, d6.loss_plan_l1_fix_time: 0.6724, d6.loss_plan_l1_fix_dist: 0.1537, d0.loss_cls_all: 0.1260, d0.loss_bbox_all: 0.3219, d0.loss_cls: 0.1260, d0.loss_bbox: 0.3219, d1.loss_cls: 0.1202, d1.loss_bbox: 0.2915, d2.loss_cls: 0.1067, d2.loss_bbox: 0.2679, d3.loss_cls: 0.0888, d3.loss_bbox: 0.2604, d4.loss_cls: 0.0827, d4.loss_bbox: 0.2563, d5.loss_cls: 0.0802, d5.loss_bbox: 0.2549, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6929, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.5333, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4804, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4618, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4599, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4556, d0.loss_map_cls_all: 0.1632, d0.loss_map_pts_all: 1.0349, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1632, d0.loss_map_pts: 1.0349, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1352, d1.loss_map_pts: 0.7609, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1103, d2.loss_map_pts: 0.5912, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1010, d3.loss_map_pts: 0.5228, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0956, d4.loss_map_pts: 0.4983, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0903, d5.loss_map_pts: 0.4935, d5.loss_map_dir: 0.0055, loss: 20.7381, grad_norm: 131.4169 +2026-03-01 08:22:48,311 - DriveTransformer - INFO - Epoch [12][27650/39528] lr: 5.696e-05, eta: 4 days, 2:43:43, time: 0.746, data_time: 0.037, memory: 19865, loss_cls: 0.0731, loss_bbox: 0.2465, loss_traj: 0.3679, loss_traj_cls: 0.0023, loss_map_cls: 0.0760, loss_map_pts: 0.4339, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.3568, d0.loss_plan_l1_fix_dist: 0.3872, d1.loss_plan_l1_fix_time: 0.6132, d1.loss_plan_l1_fix_dist: 0.1960, d2.loss_plan_l1_fix_time: 0.5973, d2.loss_plan_l1_fix_dist: 0.1622, d3.loss_plan_l1_fix_time: 0.5903, d3.loss_plan_l1_fix_dist: 0.1482, d4.loss_plan_l1_fix_time: 0.5930, d4.loss_plan_l1_fix_dist: 0.1511, d5.loss_plan_l1_fix_time: 0.5961, d5.loss_plan_l1_fix_dist: 0.1779, d6.loss_plan_l1_fix_time: 0.5992, d6.loss_plan_l1_fix_dist: 0.1693, d0.loss_cls_all: 0.1094, d0.loss_bbox_all: 0.3081, d0.loss_cls: 0.1094, d0.loss_bbox: 0.3081, d1.loss_cls: 0.1089, d1.loss_bbox: 0.2731, d2.loss_cls: 0.0955, d2.loss_bbox: 0.2542, d3.loss_cls: 0.0808, d3.loss_bbox: 0.2490, d4.loss_cls: 0.0751, d4.loss_bbox: 0.2470, d5.loss_cls: 0.0726, d5.loss_bbox: 0.2469, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5820, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4415, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3983, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3807, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3762, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3729, d0.loss_map_cls_all: 0.1526, d0.loss_map_pts_all: 0.8962, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1526, d0.loss_map_pts: 0.8962, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1215, d1.loss_map_pts: 0.6332, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.0982, d2.loss_map_pts: 0.5047, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.0867, d3.loss_map_pts: 0.4554, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0827, d4.loss_map_pts: 0.4393, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0783, d5.loss_map_pts: 0.4343, d5.loss_map_dir: 0.0059, loss: 18.7149, grad_norm: 132.8472 +2026-03-01 08:23:24,697 - DriveTransformer - INFO - Epoch [12][27700/39528] lr: 5.696e-05, eta: 4 days, 2:43:06, time: 0.728, data_time: 0.040, memory: 19865, loss_cls: 0.0721, loss_bbox: 0.2441, loss_traj: 0.3847, loss_traj_cls: 0.0022, loss_map_cls: 0.0946, loss_map_pts: 0.4908, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.5375, d0.loss_plan_l1_fix_dist: 0.4963, d1.loss_plan_l1_fix_time: 0.6916, d1.loss_plan_l1_fix_dist: 0.2063, d2.loss_plan_l1_fix_time: 0.6733, d2.loss_plan_l1_fix_dist: 0.1814, d3.loss_plan_l1_fix_time: 0.6684, d3.loss_plan_l1_fix_dist: 0.1692, d4.loss_plan_l1_fix_time: 0.6702, d4.loss_plan_l1_fix_dist: 0.1663, d5.loss_plan_l1_fix_time: 0.6722, d5.loss_plan_l1_fix_dist: 0.1824, d6.loss_plan_l1_fix_time: 0.6748, d6.loss_plan_l1_fix_dist: 0.1822, d0.loss_cls_all: 0.1091, d0.loss_bbox_all: 0.3170, d0.loss_cls: 0.1091, d0.loss_bbox: 0.3170, d1.loss_cls: 0.1038, d1.loss_bbox: 0.2799, d2.loss_cls: 0.0912, d2.loss_bbox: 0.2574, d3.loss_cls: 0.0774, d3.loss_bbox: 0.2523, d4.loss_cls: 0.0714, d4.loss_bbox: 0.2481, d5.loss_cls: 0.0718, d5.loss_bbox: 0.2450, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6290, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4592, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4162, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3977, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3897, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3864, d0.loss_map_cls_all: 0.1897, d0.loss_map_pts_all: 1.0788, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1897, d0.loss_map_pts: 1.0788, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1511, d1.loss_map_pts: 0.7804, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1251, d2.loss_map_pts: 0.5929, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1131, d3.loss_map_pts: 0.5258, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1043, d4.loss_map_pts: 0.5009, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0974, d5.loss_map_pts: 0.4914, d5.loss_map_dir: 0.0061, loss: 20.7654, grad_norm: 133.6065 +2026-03-01 08:24:00,745 - DriveTransformer - INFO - Epoch [12][27750/39528] lr: 5.696e-05, eta: 4 days, 2:42:28, time: 0.721, data_time: 0.038, memory: 19865, loss_cls: 0.1007, loss_bbox: 0.2776, loss_traj: 0.4529, loss_traj_cls: 0.0022, loss_map_cls: 0.0946, loss_map_pts: 0.5235, loss_map_dir: 0.0072, d0.loss_plan_l1_fix_time: 2.8512, d0.loss_plan_l1_fix_dist: 0.3813, d1.loss_plan_l1_fix_time: 0.6898, d1.loss_plan_l1_fix_dist: 0.2053, d2.loss_plan_l1_fix_time: 0.6683, d2.loss_plan_l1_fix_dist: 0.1833, d3.loss_plan_l1_fix_time: 0.6558, d3.loss_plan_l1_fix_dist: 0.1730, d4.loss_plan_l1_fix_time: 0.6569, d4.loss_plan_l1_fix_dist: 0.1698, d5.loss_plan_l1_fix_time: 0.6586, d5.loss_plan_l1_fix_dist: 0.1697, d6.loss_plan_l1_fix_time: 0.6611, d6.loss_plan_l1_fix_dist: 0.1831, d0.loss_cls_all: 0.1455, d0.loss_bbox_all: 0.3567, d0.loss_cls: 0.1455, d0.loss_bbox: 0.3567, d1.loss_cls: 0.1342, d1.loss_bbox: 0.3172, d2.loss_cls: 0.1268, d2.loss_bbox: 0.2928, d3.loss_cls: 0.1112, d3.loss_bbox: 0.2840, d4.loss_cls: 0.1050, d4.loss_bbox: 0.2782, d5.loss_cls: 0.1023, d5.loss_bbox: 0.2771, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7430, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5526, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4878, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4650, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4576, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4530, d0.loss_map_cls_all: 0.1874, d0.loss_map_pts_all: 1.0811, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1874, d0.loss_map_pts: 1.0811, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1560, d1.loss_map_pts: 0.7897, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1221, d2.loss_map_pts: 0.6179, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1096, d3.loss_map_pts: 0.5572, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1019, d4.loss_map_pts: 0.5327, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.0968, d5.loss_map_pts: 0.5239, d5.loss_map_dir: 0.0070, loss: 22.1581, grad_norm: 136.7552 +2026-03-01 08:24:36,335 - DriveTransformer - INFO - Epoch [12][27800/39528] lr: 5.696e-05, eta: 4 days, 2:41:49, time: 0.712, data_time: 0.037, memory: 19865, loss_cls: 0.0738, loss_bbox: 0.2503, loss_traj: 0.3230, loss_traj_cls: 0.0021, loss_map_cls: 0.0886, loss_map_pts: 0.4734, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.3676, d0.loss_plan_l1_fix_dist: 0.4106, d1.loss_plan_l1_fix_time: 0.6537, d1.loss_plan_l1_fix_dist: 0.2059, d2.loss_plan_l1_fix_time: 0.6382, d2.loss_plan_l1_fix_dist: 0.1831, d3.loss_plan_l1_fix_time: 0.6228, d3.loss_plan_l1_fix_dist: 0.1724, d4.loss_plan_l1_fix_time: 0.6233, d4.loss_plan_l1_fix_dist: 0.1675, d5.loss_plan_l1_fix_time: 0.6254, d5.loss_plan_l1_fix_dist: 0.1606, d6.loss_plan_l1_fix_time: 0.6287, d6.loss_plan_l1_fix_dist: 0.1756, d0.loss_cls_all: 0.1278, d0.loss_bbox_all: 0.3089, d0.loss_cls: 0.1278, d0.loss_bbox: 0.3089, d1.loss_cls: 0.1192, d1.loss_bbox: 0.2784, d2.loss_cls: 0.1032, d2.loss_bbox: 0.2590, d3.loss_cls: 0.0832, d3.loss_bbox: 0.2536, d4.loss_cls: 0.0755, d4.loss_bbox: 0.2511, d5.loss_cls: 0.0742, d5.loss_bbox: 0.2492, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.5527, d1.loss_traj_cls: 0.0019, d1.loss_traj: 0.3924, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3434, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3296, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3262, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3250, d0.loss_map_cls_all: 0.1729, d0.loss_map_pts_all: 0.9579, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1729, d0.loss_map_pts: 0.9579, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1421, d1.loss_map_pts: 0.6923, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1158, d2.loss_map_pts: 0.5404, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1038, d3.loss_map_pts: 0.4940, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0964, d4.loss_map_pts: 0.4756, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0913, d5.loss_map_pts: 0.4735, d5.loss_map_dir: 0.0060, loss: 19.2765, grad_norm: 137.0156 +2026-03-01 08:25:11,005 - DriveTransformer - INFO - Epoch [12][27850/39528] lr: 5.696e-05, eta: 4 days, 2:41:09, time: 0.693, data_time: 0.038, memory: 19865, loss_cls: 0.0860, loss_bbox: 0.2641, loss_traj: 0.4980, loss_traj_cls: 0.0021, loss_map_cls: 0.0814, loss_map_pts: 0.4477, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.8836, d0.loss_plan_l1_fix_dist: 0.4041, d1.loss_plan_l1_fix_time: 0.7240, d1.loss_plan_l1_fix_dist: 0.2083, d2.loss_plan_l1_fix_time: 0.7184, d2.loss_plan_l1_fix_dist: 0.1800, d3.loss_plan_l1_fix_time: 0.7170, d3.loss_plan_l1_fix_dist: 0.1730, d4.loss_plan_l1_fix_time: 0.7182, d4.loss_plan_l1_fix_dist: 0.1738, d5.loss_plan_l1_fix_time: 0.7198, d5.loss_plan_l1_fix_dist: 0.1735, d6.loss_plan_l1_fix_time: 0.7217, d6.loss_plan_l1_fix_dist: 0.1801, d0.loss_cls_all: 0.1326, d0.loss_bbox_all: 0.3281, d0.loss_cls: 0.1326, d0.loss_bbox: 0.3281, d1.loss_cls: 0.1281, d1.loss_bbox: 0.2975, d2.loss_cls: 0.1130, d2.loss_bbox: 0.2749, d3.loss_cls: 0.0937, d3.loss_bbox: 0.2695, d4.loss_cls: 0.0877, d4.loss_bbox: 0.2650, d5.loss_cls: 0.0865, d5.loss_bbox: 0.2637, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7718, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5747, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5261, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5073, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5019, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4985, d0.loss_map_cls_all: 0.1642, d0.loss_map_pts_all: 0.9085, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1642, d0.loss_map_pts: 0.9085, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1308, d1.loss_map_pts: 0.6695, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1079, d2.loss_map_pts: 0.5341, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0975, d3.loss_map_pts: 0.4705, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0918, d4.loss_map_pts: 0.4522, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0854, d5.loss_map_pts: 0.4475, d5.loss_map_dir: 0.0050, loss: 21.5335, grad_norm: 138.9297 +2026-03-01 08:25:47,521 - DriveTransformer - INFO - Epoch [12][27900/39528] lr: 5.696e-05, eta: 4 days, 2:40:32, time: 0.730, data_time: 0.038, memory: 19865, loss_cls: 0.0673, loss_bbox: 0.2423, loss_traj: 0.4421, loss_traj_cls: 0.0022, loss_map_cls: 0.0694, loss_map_pts: 0.3730, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.4725, d0.loss_plan_l1_fix_dist: 0.4418, d1.loss_plan_l1_fix_time: 0.5746, d1.loss_plan_l1_fix_dist: 0.1780, d2.loss_plan_l1_fix_time: 0.5611, d2.loss_plan_l1_fix_dist: 0.1499, d3.loss_plan_l1_fix_time: 0.5568, d3.loss_plan_l1_fix_dist: 0.1418, d4.loss_plan_l1_fix_time: 0.5581, d4.loss_plan_l1_fix_dist: 0.1477, d5.loss_plan_l1_fix_time: 0.5598, d5.loss_plan_l1_fix_dist: 0.1552, d6.loss_plan_l1_fix_time: 0.5612, d6.loss_plan_l1_fix_dist: 0.1604, d0.loss_cls_all: 0.1055, d0.loss_bbox_all: 0.2974, d0.loss_cls: 0.1055, d0.loss_bbox: 0.2974, d1.loss_cls: 0.0975, d1.loss_bbox: 0.2720, d2.loss_cls: 0.0842, d2.loss_bbox: 0.2531, d3.loss_cls: 0.0717, d3.loss_bbox: 0.2470, d4.loss_cls: 0.0683, d4.loss_bbox: 0.2433, d5.loss_cls: 0.0667, d5.loss_bbox: 0.2427, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6840, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5084, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4587, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4478, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4451, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4419, d0.loss_map_cls_all: 0.1518, d0.loss_map_pts_all: 0.8825, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1518, d0.loss_map_pts: 0.8825, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1186, d1.loss_map_pts: 0.6042, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.0923, d2.loss_map_pts: 0.4505, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0822, d3.loss_map_pts: 0.3943, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.0754, d4.loss_map_pts: 0.3781, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0709, d5.loss_map_pts: 0.3722, d5.loss_map_dir: 0.0049, loss: 18.6071, grad_norm: 137.7801 +2026-03-01 08:26:22,664 - DriveTransformer - INFO - Epoch [12][27950/39528] lr: 5.696e-05, eta: 4 days, 2:39:53, time: 0.703, data_time: 0.038, memory: 19865, loss_cls: 0.0777, loss_bbox: 0.2568, loss_traj: 0.4910, loss_traj_cls: 0.0021, loss_map_cls: 0.0686, loss_map_pts: 0.3692, loss_map_dir: 0.0044, d0.loss_plan_l1_fix_time: 2.3312, d0.loss_plan_l1_fix_dist: 0.4672, d1.loss_plan_l1_fix_time: 0.6913, d1.loss_plan_l1_fix_dist: 0.1880, d2.loss_plan_l1_fix_time: 0.6701, d2.loss_plan_l1_fix_dist: 0.1741, d3.loss_plan_l1_fix_time: 0.6558, d3.loss_plan_l1_fix_dist: 0.1599, d4.loss_plan_l1_fix_time: 0.6561, d4.loss_plan_l1_fix_dist: 0.1499, d5.loss_plan_l1_fix_time: 0.6574, d5.loss_plan_l1_fix_dist: 0.1596, d6.loss_plan_l1_fix_time: 0.6589, d6.loss_plan_l1_fix_dist: 0.1747, d0.loss_cls_all: 0.1171, d0.loss_bbox_all: 0.3245, d0.loss_cls: 0.1171, d0.loss_bbox: 0.3245, d1.loss_cls: 0.1144, d1.loss_bbox: 0.2880, d2.loss_cls: 0.1022, d2.loss_bbox: 0.2695, d3.loss_cls: 0.0845, d3.loss_bbox: 0.2627, d4.loss_cls: 0.0795, d4.loss_bbox: 0.2585, d5.loss_cls: 0.0773, d5.loss_bbox: 0.2574, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7484, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5911, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5217, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5041, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4965, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4930, d0.loss_map_cls_all: 0.1489, d0.loss_map_pts_all: 0.8294, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1489, d0.loss_map_pts: 0.8294, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1115, d1.loss_map_pts: 0.5929, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.0909, d2.loss_map_pts: 0.4471, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.0819, d3.loss_map_pts: 0.3929, d3.loss_map_dir: 0.0043, d4.loss_map_cls: 0.0756, d4.loss_map_pts: 0.3755, d4.loss_map_dir: 0.0043, d5.loss_map_cls: 0.0712, d5.loss_map_pts: 0.3691, d5.loss_map_dir: 0.0043, loss: 19.6990, grad_norm: 137.2355 +2026-03-01 08:26:59,799 - DriveTransformer - INFO - Epoch [12][28000/39528] lr: 5.696e-05, eta: 4 days, 2:39:17, time: 0.743, data_time: 0.039, memory: 19865, loss_cls: 0.0789, loss_bbox: 0.2444, loss_traj: 0.4346, loss_traj_cls: 0.0021, loss_map_cls: 0.0826, loss_map_pts: 0.4757, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.7875, d0.loss_plan_l1_fix_dist: 0.3723, d1.loss_plan_l1_fix_time: 0.6640, d1.loss_plan_l1_fix_dist: 0.1633, d2.loss_plan_l1_fix_time: 0.6491, d2.loss_plan_l1_fix_dist: 0.1560, d3.loss_plan_l1_fix_time: 0.6511, d3.loss_plan_l1_fix_dist: 0.1502, d4.loss_plan_l1_fix_time: 0.6543, d4.loss_plan_l1_fix_dist: 0.1367, d5.loss_plan_l1_fix_time: 0.6570, d5.loss_plan_l1_fix_dist: 0.1353, d6.loss_plan_l1_fix_time: 0.6600, d6.loss_plan_l1_fix_dist: 0.1562, d0.loss_cls_all: 0.1118, d0.loss_bbox_all: 0.3052, d0.loss_cls: 0.1118, d0.loss_bbox: 0.3052, d1.loss_cls: 0.1087, d1.loss_bbox: 0.2750, d2.loss_cls: 0.0994, d2.loss_bbox: 0.2558, d3.loss_cls: 0.0818, d3.loss_bbox: 0.2503, d4.loss_cls: 0.0798, d4.loss_bbox: 0.2475, d5.loss_cls: 0.0788, d5.loss_bbox: 0.2448, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7169, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5337, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4715, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4483, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4448, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4345, d0.loss_map_cls_all: 0.1699, d0.loss_map_pts_all: 1.0163, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1699, d0.loss_map_pts: 1.0163, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1343, d1.loss_map_pts: 0.7351, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1065, d2.loss_map_pts: 0.5728, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.0948, d3.loss_map_pts: 0.5057, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.0880, d4.loss_map_pts: 0.4837, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.0840, d5.loss_map_pts: 0.4760, d5.loss_map_dir: 0.0066, loss: 20.6283, grad_norm: 134.3531 +2026-03-01 08:27:36,710 - DriveTransformer - INFO - Epoch [12][28050/39528] lr: 5.696e-05, eta: 4 days, 2:38:41, time: 0.738, data_time: 0.037, memory: 19865, loss_cls: 0.0729, loss_bbox: 0.2608, loss_traj: 0.3930, loss_traj_cls: 0.0022, loss_map_cls: 0.0750, loss_map_pts: 0.4631, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.4273, d0.loss_plan_l1_fix_dist: 0.4409, d1.loss_plan_l1_fix_time: 0.6558, d1.loss_plan_l1_fix_dist: 0.1859, d2.loss_plan_l1_fix_time: 0.6391, d2.loss_plan_l1_fix_dist: 0.2038, d3.loss_plan_l1_fix_time: 0.6417, d3.loss_plan_l1_fix_dist: 0.2109, d4.loss_plan_l1_fix_time: 0.6441, d4.loss_plan_l1_fix_dist: 0.2207, d5.loss_plan_l1_fix_time: 0.6470, d5.loss_plan_l1_fix_dist: 0.2202, d6.loss_plan_l1_fix_time: 0.6508, d6.loss_plan_l1_fix_dist: 0.2250, d0.loss_cls_all: 0.1158, d0.loss_bbox_all: 0.3164, d0.loss_cls: 0.1158, d0.loss_bbox: 0.3164, d1.loss_cls: 0.1133, d1.loss_bbox: 0.2895, d2.loss_cls: 0.0953, d2.loss_bbox: 0.2710, d3.loss_cls: 0.0803, d3.loss_bbox: 0.2650, d4.loss_cls: 0.0757, d4.loss_bbox: 0.2611, d5.loss_cls: 0.0731, d5.loss_bbox: 0.2614, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5563, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4520, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4211, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4037, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3981, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3933, d0.loss_map_cls_all: 0.1433, d0.loss_map_pts_all: 0.9211, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1433, d0.loss_map_pts: 0.9211, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1132, d1.loss_map_pts: 0.6745, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.0951, d2.loss_map_pts: 0.5318, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.0885, d3.loss_map_pts: 0.4842, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.0816, d4.loss_map_pts: 0.4667, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0775, d5.loss_map_pts: 0.4619, d5.loss_map_dir: 0.0068, loss: 19.8180, grad_norm: 155.3782 +2026-03-01 08:28:11,802 - DriveTransformer - INFO - Epoch [12][28100/39528] lr: 5.696e-05, eta: 4 days, 2:38:02, time: 0.702, data_time: 0.037, memory: 19865, loss_cls: 0.0810, loss_bbox: 0.2451, loss_traj: 0.3823, loss_traj_cls: 0.0022, loss_map_cls: 0.0619, loss_map_pts: 0.3781, loss_map_dir: 0.0042, d0.loss_plan_l1_fix_time: 2.3482, d0.loss_plan_l1_fix_dist: 0.4691, d1.loss_plan_l1_fix_time: 0.6672, d1.loss_plan_l1_fix_dist: 0.1831, d2.loss_plan_l1_fix_time: 0.6555, d2.loss_plan_l1_fix_dist: 0.2189, d3.loss_plan_l1_fix_time: 0.6569, d3.loss_plan_l1_fix_dist: 0.2450, d4.loss_plan_l1_fix_time: 0.6611, d4.loss_plan_l1_fix_dist: 0.2760, d5.loss_plan_l1_fix_time: 0.6658, d5.loss_plan_l1_fix_dist: 0.2801, d6.loss_plan_l1_fix_time: 0.6718, d6.loss_plan_l1_fix_dist: 0.2806, d0.loss_cls_all: 0.1230, d0.loss_bbox_all: 0.3031, d0.loss_cls: 0.1230, d0.loss_bbox: 0.3031, d1.loss_cls: 0.1154, d1.loss_bbox: 0.2742, d2.loss_cls: 0.1056, d2.loss_bbox: 0.2536, d3.loss_cls: 0.0892, d3.loss_bbox: 0.2473, d4.loss_cls: 0.0837, d4.loss_bbox: 0.2439, d5.loss_cls: 0.0806, d5.loss_bbox: 0.2449, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6175, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4624, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4153, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4016, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3929, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3864, d0.loss_map_cls_all: 0.1362, d0.loss_map_pts_all: 0.7599, d0.loss_map_dir_all: 0.0049, d0.loss_map_cls: 0.1362, d0.loss_map_pts: 0.7599, d0.loss_map_dir: 0.0049, d1.loss_map_cls: 0.1044, d1.loss_map_pts: 0.5646, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.0812, d2.loss_map_pts: 0.4391, d2.loss_map_dir: 0.0040, d3.loss_map_cls: 0.0735, d3.loss_map_pts: 0.3967, d3.loss_map_dir: 0.0041, d4.loss_map_cls: 0.0667, d4.loss_map_pts: 0.3833, d4.loss_map_dir: 0.0042, d5.loss_map_cls: 0.0632, d5.loss_map_pts: 0.3780, d5.loss_map_dir: 0.0042, loss: 19.0800, grad_norm: 161.1102 +2026-03-01 08:28:47,309 - DriveTransformer - INFO - Epoch [12][28150/39528] lr: 5.696e-05, eta: 4 days, 2:37:23, time: 0.710, data_time: 0.039, memory: 19865, loss_cls: 0.0719, loss_bbox: 0.2359, loss_traj: 0.3983, loss_traj_cls: 0.0021, loss_map_cls: 0.0665, loss_map_pts: 0.3502, loss_map_dir: 0.0041, d0.loss_plan_l1_fix_time: 2.4672, d0.loss_plan_l1_fix_dist: 0.3955, d1.loss_plan_l1_fix_time: 0.6679, d1.loss_plan_l1_fix_dist: 0.1458, d2.loss_plan_l1_fix_time: 0.6545, d2.loss_plan_l1_fix_dist: 0.1708, d3.loss_plan_l1_fix_time: 0.6580, d3.loss_plan_l1_fix_dist: 0.1750, d4.loss_plan_l1_fix_time: 0.6611, d4.loss_plan_l1_fix_dist: 0.2052, d5.loss_plan_l1_fix_time: 0.6644, d5.loss_plan_l1_fix_dist: 0.2024, d6.loss_plan_l1_fix_time: 0.6684, d6.loss_plan_l1_fix_dist: 0.2061, d0.loss_cls_all: 0.1151, d0.loss_bbox_all: 0.2887, d0.loss_cls: 0.1151, d0.loss_bbox: 0.2887, d1.loss_cls: 0.1066, d1.loss_bbox: 0.2610, d2.loss_cls: 0.0966, d2.loss_bbox: 0.2436, d3.loss_cls: 0.0787, d3.loss_bbox: 0.2379, d4.loss_cls: 0.0737, d4.loss_bbox: 0.2351, d5.loss_cls: 0.0725, d5.loss_bbox: 0.2350, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6096, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4835, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4320, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4109, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4031, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4009, d0.loss_map_cls_all: 0.1340, d0.loss_map_pts_all: 0.7199, d0.loss_map_dir_all: 0.0046, d0.loss_map_cls: 0.1340, d0.loss_map_pts: 0.7199, d0.loss_map_dir: 0.0046, d1.loss_map_cls: 0.1056, d1.loss_map_pts: 0.5089, d1.loss_map_dir: 0.0041, d2.loss_map_cls: 0.0853, d2.loss_map_pts: 0.4048, d2.loss_map_dir: 0.0040, d3.loss_map_cls: 0.0774, d3.loss_map_pts: 0.3671, d3.loss_map_dir: 0.0040, d4.loss_map_cls: 0.0721, d4.loss_map_pts: 0.3542, d4.loss_map_dir: 0.0040, d5.loss_map_cls: 0.0687, d5.loss_map_pts: 0.3505, d5.loss_map_dir: 0.0041, loss: 18.3971, grad_norm: 160.5534 +2026-03-01 08:29:24,410 - DriveTransformer - INFO - Epoch [12][28200/39528] lr: 5.696e-05, eta: 4 days, 2:36:48, time: 0.743, data_time: 0.036, memory: 19865, loss_cls: 0.0746, loss_bbox: 0.2474, loss_traj: 0.4497, loss_traj_cls: 0.0021, loss_map_cls: 0.0633, loss_map_pts: 0.4126, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.2694, d0.loss_plan_l1_fix_dist: 0.4381, d1.loss_plan_l1_fix_time: 0.6422, d1.loss_plan_l1_fix_dist: 0.1670, d2.loss_plan_l1_fix_time: 0.6263, d2.loss_plan_l1_fix_dist: 0.1961, d3.loss_plan_l1_fix_time: 0.6371, d3.loss_plan_l1_fix_dist: 0.1960, d4.loss_plan_l1_fix_time: 0.6398, d4.loss_plan_l1_fix_dist: 0.2354, d5.loss_plan_l1_fix_time: 0.6428, d5.loss_plan_l1_fix_dist: 0.2544, d6.loss_plan_l1_fix_time: 0.6459, d6.loss_plan_l1_fix_dist: 0.2779, d0.loss_cls_all: 0.1127, d0.loss_bbox_all: 0.3073, d0.loss_cls: 0.1127, d0.loss_bbox: 0.3073, d1.loss_cls: 0.1139, d1.loss_bbox: 0.2761, d2.loss_cls: 0.1021, d2.loss_bbox: 0.2562, d3.loss_cls: 0.0835, d3.loss_bbox: 0.2495, d4.loss_cls: 0.0773, d4.loss_bbox: 0.2474, d5.loss_cls: 0.0753, d5.loss_bbox: 0.2467, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7153, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5430, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4806, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4665, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4549, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4504, d0.loss_map_cls_all: 0.1394, d0.loss_map_pts_all: 0.9117, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1394, d0.loss_map_pts: 0.9117, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1079, d1.loss_map_pts: 0.6432, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.0879, d2.loss_map_pts: 0.4938, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0761, d3.loss_map_pts: 0.4390, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0700, d4.loss_map_pts: 0.4186, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0656, d5.loss_map_pts: 0.4128, d5.loss_map_dir: 0.0053, loss: 19.7640, grad_norm: 160.1753 +2026-03-01 08:30:01,679 - DriveTransformer - INFO - Epoch [12][28250/39528] lr: 5.696e-05, eta: 4 days, 2:36:13, time: 0.744, data_time: 0.036, memory: 19865, loss_cls: 0.0728, loss_bbox: 0.2433, loss_traj: 0.4557, loss_traj_cls: 0.0021, loss_map_cls: 0.0928, loss_map_pts: 0.5226, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.4323, d0.loss_plan_l1_fix_dist: 0.4353, d1.loss_plan_l1_fix_time: 0.6313, d1.loss_plan_l1_fix_dist: 0.1974, d2.loss_plan_l1_fix_time: 0.6131, d2.loss_plan_l1_fix_dist: 0.2044, d3.loss_plan_l1_fix_time: 0.6072, d3.loss_plan_l1_fix_dist: 0.2223, d4.loss_plan_l1_fix_time: 0.6097, d4.loss_plan_l1_fix_dist: 0.2515, d5.loss_plan_l1_fix_time: 0.6123, d5.loss_plan_l1_fix_dist: 0.2731, d6.loss_plan_l1_fix_time: 0.6148, d6.loss_plan_l1_fix_dist: 0.3081, d0.loss_cls_all: 0.1090, d0.loss_bbox_all: 0.2972, d0.loss_cls: 0.1090, d0.loss_bbox: 0.2972, d1.loss_cls: 0.1047, d1.loss_bbox: 0.2675, d2.loss_cls: 0.0957, d2.loss_bbox: 0.2500, d3.loss_cls: 0.0805, d3.loss_bbox: 0.2444, d4.loss_cls: 0.0740, d4.loss_bbox: 0.2425, d5.loss_cls: 0.0723, d5.loss_bbox: 0.2424, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.7164, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5522, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4804, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4668, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4563, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4552, d0.loss_map_cls_all: 0.1688, d0.loss_map_pts_all: 1.1073, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1688, d0.loss_map_pts: 1.1073, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1433, d1.loss_map_pts: 0.8079, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1186, d2.loss_map_pts: 0.6156, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1057, d3.loss_map_pts: 0.5507, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.0995, d4.loss_map_pts: 0.5278, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0956, d5.loss_map_pts: 0.5220, d5.loss_map_dir: 0.0067, loss: 21.2141, grad_norm: 159.5549 +2026-03-01 08:30:36,867 - DriveTransformer - INFO - Epoch [12][28300/39528] lr: 5.696e-05, eta: 4 days, 2:35:33, time: 0.704, data_time: 0.036, memory: 19865, loss_cls: 0.0776, loss_bbox: 0.2576, loss_traj: 0.3826, loss_traj_cls: 0.0021, loss_map_cls: 0.0862, loss_map_pts: 0.4756, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.3189, d0.loss_plan_l1_fix_dist: 0.3742, d1.loss_plan_l1_fix_time: 0.6584, d1.loss_plan_l1_fix_dist: 0.1964, d2.loss_plan_l1_fix_time: 0.6546, d2.loss_plan_l1_fix_dist: 0.1771, d3.loss_plan_l1_fix_time: 0.6542, d3.loss_plan_l1_fix_dist: 0.2074, d4.loss_plan_l1_fix_time: 0.6562, d4.loss_plan_l1_fix_dist: 0.2015, d5.loss_plan_l1_fix_time: 0.6580, d5.loss_plan_l1_fix_dist: 0.2220, d6.loss_plan_l1_fix_time: 0.6599, d6.loss_plan_l1_fix_dist: 0.2635, d0.loss_cls_all: 0.1260, d0.loss_bbox_all: 0.3189, d0.loss_cls: 0.1260, d0.loss_bbox: 0.3189, d1.loss_cls: 0.1194, d1.loss_bbox: 0.2875, d2.loss_cls: 0.1047, d2.loss_bbox: 0.2674, d3.loss_cls: 0.0868, d3.loss_bbox: 0.2621, d4.loss_cls: 0.0796, d4.loss_bbox: 0.2585, d5.loss_cls: 0.0780, d5.loss_bbox: 0.2567, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5983, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4468, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4022, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3872, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3836, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3824, d0.loss_map_cls_all: 0.1699, d0.loss_map_pts_all: 0.9665, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1699, d0.loss_map_pts: 0.9665, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1391, d1.loss_map_pts: 0.6964, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1179, d2.loss_map_pts: 0.5544, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1055, d3.loss_map_pts: 0.5009, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0966, d4.loss_map_pts: 0.4803, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0896, d5.loss_map_pts: 0.4749, d5.loss_map_dir: 0.0057, loss: 20.0556, grad_norm: 156.6100 +2026-03-01 08:31:13,342 - DriveTransformer - INFO - Epoch [12][28350/39528] lr: 5.696e-05, eta: 4 days, 2:34:56, time: 0.729, data_time: 0.038, memory: 19865, loss_cls: 0.0805, loss_bbox: 0.2772, loss_traj: 0.4415, loss_traj_cls: 0.0021, loss_map_cls: 0.0721, loss_map_pts: 0.4338, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.9338, d0.loss_plan_l1_fix_dist: 0.3881, d1.loss_plan_l1_fix_time: 0.7321, d1.loss_plan_l1_fix_dist: 0.2070, d2.loss_plan_l1_fix_time: 0.7157, d2.loss_plan_l1_fix_dist: 0.1820, d3.loss_plan_l1_fix_time: 0.7147, d3.loss_plan_l1_fix_dist: 0.2232, d4.loss_plan_l1_fix_time: 0.7151, d4.loss_plan_l1_fix_dist: 0.1902, d5.loss_plan_l1_fix_time: 0.7159, d5.loss_plan_l1_fix_dist: 0.2153, d6.loss_plan_l1_fix_time: 0.7172, d6.loss_plan_l1_fix_dist: 0.2500, d0.loss_cls_all: 0.1256, d0.loss_bbox_all: 0.3416, d0.loss_cls: 0.1256, d0.loss_bbox: 0.3416, d1.loss_cls: 0.1164, d1.loss_bbox: 0.3070, d2.loss_cls: 0.1044, d2.loss_bbox: 0.2860, d3.loss_cls: 0.0881, d3.loss_bbox: 0.2798, d4.loss_cls: 0.0805, d4.loss_bbox: 0.2777, d5.loss_cls: 0.0806, d5.loss_bbox: 0.2768, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7142, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5297, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4739, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4543, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4419, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4402, d0.loss_map_cls_all: 0.1453, d0.loss_map_pts_all: 0.9060, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1453, d0.loss_map_pts: 0.9060, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1171, d1.loss_map_pts: 0.6546, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.0952, d2.loss_map_pts: 0.5079, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0858, d3.loss_map_pts: 0.4519, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0798, d4.loss_map_pts: 0.4352, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0750, d5.loss_map_pts: 0.4328, d5.loss_map_dir: 0.0057, loss: 21.1836, grad_norm: 157.3600 +2026-03-01 08:31:50,662 - DriveTransformer - INFO - Epoch [12][28400/39528] lr: 5.696e-05, eta: 4 days, 2:34:22, time: 0.746, data_time: 0.039, memory: 19865, loss_cls: 0.0673, loss_bbox: 0.2530, loss_traj: 0.4216, loss_traj_cls: 0.0021, loss_map_cls: 0.0840, loss_map_pts: 0.4753, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.6387, d0.loss_plan_l1_fix_dist: 0.4417, d1.loss_plan_l1_fix_time: 0.7024, d1.loss_plan_l1_fix_dist: 0.2116, d2.loss_plan_l1_fix_time: 0.6858, d2.loss_plan_l1_fix_dist: 0.2031, d3.loss_plan_l1_fix_time: 0.6766, d3.loss_plan_l1_fix_dist: 0.2492, d4.loss_plan_l1_fix_time: 0.6785, d4.loss_plan_l1_fix_dist: 0.2235, d5.loss_plan_l1_fix_time: 0.6806, d5.loss_plan_l1_fix_dist: 0.2414, d6.loss_plan_l1_fix_time: 0.6832, d6.loss_plan_l1_fix_dist: 0.2744, d0.loss_cls_all: 0.1106, d0.loss_bbox_all: 0.3215, d0.loss_cls: 0.1106, d0.loss_bbox: 0.3215, d1.loss_cls: 0.1040, d1.loss_bbox: 0.2866, d2.loss_cls: 0.0909, d2.loss_bbox: 0.2667, d3.loss_cls: 0.0765, d3.loss_bbox: 0.2576, d4.loss_cls: 0.0684, d4.loss_bbox: 0.2559, d5.loss_cls: 0.0668, d5.loss_bbox: 0.2534, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6362, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4847, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4426, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4303, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4249, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4212, d0.loss_map_cls_all: 0.1586, d0.loss_map_pts_all: 0.9832, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1586, d0.loss_map_pts: 0.9832, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1304, d1.loss_map_pts: 0.7134, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1085, d2.loss_map_pts: 0.5649, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0972, d3.loss_map_pts: 0.5060, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0912, d4.loss_map_pts: 0.4826, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0869, d5.loss_map_pts: 0.4754, d5.loss_map_dir: 0.0057, loss: 20.9161, grad_norm: 158.9477 +2026-03-01 08:32:27,449 - DriveTransformer - INFO - Epoch [12][28450/39528] lr: 5.696e-05, eta: 4 days, 2:33:46, time: 0.736, data_time: 0.044, memory: 19865, loss_cls: 0.0789, loss_bbox: 0.2520, loss_traj: 0.4199, loss_traj_cls: 0.0021, loss_map_cls: 0.0785, loss_map_pts: 0.4437, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.7605, d0.loss_plan_l1_fix_dist: 0.4965, d1.loss_plan_l1_fix_time: 0.7377, d1.loss_plan_l1_fix_dist: 0.2038, d2.loss_plan_l1_fix_time: 0.7214, d2.loss_plan_l1_fix_dist: 0.1958, d3.loss_plan_l1_fix_time: 0.7201, d3.loss_plan_l1_fix_dist: 0.2330, d4.loss_plan_l1_fix_time: 0.7219, d4.loss_plan_l1_fix_dist: 0.2192, d5.loss_plan_l1_fix_time: 0.7245, d5.loss_plan_l1_fix_dist: 0.2387, d6.loss_plan_l1_fix_time: 0.7278, d6.loss_plan_l1_fix_dist: 0.2398, d0.loss_cls_all: 0.1151, d0.loss_bbox_all: 0.3213, d0.loss_cls: 0.1151, d0.loss_bbox: 0.3213, d1.loss_cls: 0.1140, d1.loss_bbox: 0.2858, d2.loss_cls: 0.1029, d2.loss_bbox: 0.2629, d3.loss_cls: 0.0872, d3.loss_bbox: 0.2589, d4.loss_cls: 0.0797, d4.loss_bbox: 0.2540, d5.loss_cls: 0.0792, d5.loss_bbox: 0.2522, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6410, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5075, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4555, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4344, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4222, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4219, d0.loss_map_cls_all: 0.1564, d0.loss_map_pts_all: 0.9264, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1564, d0.loss_map_pts: 0.9264, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1262, d1.loss_map_pts: 0.6671, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1053, d2.loss_map_pts: 0.5198, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0933, d3.loss_map_pts: 0.4690, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0865, d4.loss_map_pts: 0.4505, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0811, d5.loss_map_pts: 0.4441, d5.loss_map_dir: 0.0051, loss: 21.0045, grad_norm: 159.1422 +2026-03-01 08:33:03,033 - DriveTransformer - INFO - Epoch [12][28500/39528] lr: 5.696e-05, eta: 4 days, 2:33:07, time: 0.711, data_time: 0.039, memory: 19865, loss_cls: 0.0759, loss_bbox: 0.2455, loss_traj: 0.3490, loss_traj_cls: 0.0021, loss_map_cls: 0.0654, loss_map_pts: 0.3880, loss_map_dir: 0.0043, d0.loss_plan_l1_fix_time: 2.0109, d0.loss_plan_l1_fix_dist: 0.5686, d1.loss_plan_l1_fix_time: 0.5749, d1.loss_plan_l1_fix_dist: 0.1755, d2.loss_plan_l1_fix_time: 0.5555, d2.loss_plan_l1_fix_dist: 0.1665, d3.loss_plan_l1_fix_time: 0.5552, d3.loss_plan_l1_fix_dist: 0.1932, d4.loss_plan_l1_fix_time: 0.5563, d4.loss_plan_l1_fix_dist: 0.1900, d5.loss_plan_l1_fix_time: 0.5582, d5.loss_plan_l1_fix_dist: 0.2190, d6.loss_plan_l1_fix_time: 0.5603, d6.loss_plan_l1_fix_dist: 0.1957, d0.loss_cls_all: 0.1131, d0.loss_bbox_all: 0.3027, d0.loss_cls: 0.1131, d0.loss_bbox: 0.3027, d1.loss_cls: 0.1102, d1.loss_bbox: 0.2735, d2.loss_cls: 0.0984, d2.loss_bbox: 0.2535, d3.loss_cls: 0.0808, d3.loss_bbox: 0.2500, d4.loss_cls: 0.0771, d4.loss_bbox: 0.2458, d5.loss_cls: 0.0756, d5.loss_bbox: 0.2457, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5439, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4236, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3750, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3574, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3528, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3499, d0.loss_map_cls_all: 0.1367, d0.loss_map_pts_all: 0.8411, d0.loss_map_dir_all: 0.0047, d0.loss_map_cls: 0.1367, d0.loss_map_pts: 0.8411, d0.loss_map_dir: 0.0047, d1.loss_map_cls: 0.1114, d1.loss_map_pts: 0.6079, d1.loss_map_dir: 0.0041, d2.loss_map_cls: 0.0875, d2.loss_map_pts: 0.4639, d2.loss_map_dir: 0.0038, d3.loss_map_cls: 0.0778, d3.loss_map_pts: 0.4090, d3.loss_map_dir: 0.0040, d4.loss_map_cls: 0.0730, d4.loss_map_pts: 0.3903, d4.loss_map_dir: 0.0041, d5.loss_map_cls: 0.0683, d5.loss_map_pts: 0.3883, d5.loss_map_dir: 0.0042, loss: 17.8229, grad_norm: 159.0425 +2026-03-01 08:33:39,593 - DriveTransformer - INFO - Epoch [12][28550/39528] lr: 5.696e-05, eta: 4 days, 2:32:30, time: 0.731, data_time: 0.036, memory: 19865, loss_cls: 0.0725, loss_bbox: 0.2516, loss_traj: 0.4338, loss_traj_cls: 0.0021, loss_map_cls: 0.0656, loss_map_pts: 0.3971, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.6521, d0.loss_plan_l1_fix_dist: 0.3404, d1.loss_plan_l1_fix_time: 0.6906, d1.loss_plan_l1_fix_dist: 0.1808, d2.loss_plan_l1_fix_time: 0.6794, d2.loss_plan_l1_fix_dist: 0.1702, d3.loss_plan_l1_fix_time: 0.6596, d3.loss_plan_l1_fix_dist: 0.2006, d4.loss_plan_l1_fix_time: 0.6604, d4.loss_plan_l1_fix_dist: 0.1818, d5.loss_plan_l1_fix_time: 0.6619, d5.loss_plan_l1_fix_dist: 0.2043, d6.loss_plan_l1_fix_time: 0.6637, d6.loss_plan_l1_fix_dist: 0.1970, d0.loss_cls_all: 0.1143, d0.loss_bbox_all: 0.3109, d0.loss_cls: 0.1143, d0.loss_bbox: 0.3109, d1.loss_cls: 0.1108, d1.loss_bbox: 0.2780, d2.loss_cls: 0.0966, d2.loss_bbox: 0.2616, d3.loss_cls: 0.0814, d3.loss_bbox: 0.2557, d4.loss_cls: 0.0754, d4.loss_bbox: 0.2546, d5.loss_cls: 0.0732, d5.loss_bbox: 0.2524, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6800, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5025, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4565, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4431, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4410, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4360, d0.loss_map_cls_all: 0.1522, d0.loss_map_pts_all: 0.9219, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1522, d0.loss_map_pts: 0.9219, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1203, d1.loss_map_pts: 0.6483, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.0922, d2.loss_map_pts: 0.4808, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0814, d3.loss_map_pts: 0.4233, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0730, d4.loss_map_pts: 0.4043, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0692, d5.loss_map_pts: 0.3980, d5.loss_map_dir: 0.0051, loss: 19.9015, grad_norm: 159.4501 +2026-03-01 08:34:15,796 - DriveTransformer - INFO - Epoch [12][28600/39528] lr: 5.696e-05, eta: 4 days, 2:31:53, time: 0.724, data_time: 0.037, memory: 19865, loss_cls: 0.0831, loss_bbox: 0.2649, loss_traj: 0.4365, loss_traj_cls: 0.0020, loss_map_cls: 0.0960, loss_map_pts: 0.4969, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.3720, d0.loss_plan_l1_fix_dist: 0.4232, d1.loss_plan_l1_fix_time: 0.6089, d1.loss_plan_l1_fix_dist: 0.1842, d2.loss_plan_l1_fix_time: 0.6024, d2.loss_plan_l1_fix_dist: 0.1866, d3.loss_plan_l1_fix_time: 0.6081, d3.loss_plan_l1_fix_dist: 0.2031, d4.loss_plan_l1_fix_time: 0.6104, d4.loss_plan_l1_fix_dist: 0.1750, d5.loss_plan_l1_fix_time: 0.6131, d5.loss_plan_l1_fix_dist: 0.1868, d6.loss_plan_l1_fix_time: 0.6163, d6.loss_plan_l1_fix_dist: 0.2150, d0.loss_cls_all: 0.1239, d0.loss_bbox_all: 0.3370, d0.loss_cls: 0.1239, d0.loss_bbox: 0.3370, d1.loss_cls: 0.1158, d1.loss_bbox: 0.2994, d2.loss_cls: 0.1071, d2.loss_bbox: 0.2738, d3.loss_cls: 0.0893, d3.loss_bbox: 0.2681, d4.loss_cls: 0.0834, d4.loss_bbox: 0.2667, d5.loss_cls: 0.0823, d5.loss_bbox: 0.2655, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6908, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5107, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4516, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4442, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4392, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4355, d0.loss_map_cls_all: 0.1926, d0.loss_map_pts_all: 1.0642, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1926, d0.loss_map_pts: 1.0642, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1512, d1.loss_map_pts: 0.7781, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1262, d2.loss_map_pts: 0.5915, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1105, d3.loss_map_pts: 0.5304, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1041, d4.loss_map_pts: 0.5057, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0993, d5.loss_map_pts: 0.4970, d5.loss_map_dir: 0.0058, loss: 20.7890, grad_norm: 158.5786 +2026-03-01 08:34:52,065 - DriveTransformer - INFO - Epoch [12][28650/39528] lr: 5.696e-05, eta: 4 days, 2:31:16, time: 0.725, data_time: 0.040, memory: 19865, loss_cls: 0.0722, loss_bbox: 0.2512, loss_traj: 0.3919, loss_traj_cls: 0.0021, loss_map_cls: 0.0753, loss_map_pts: 0.4009, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.1486, d0.loss_plan_l1_fix_dist: 0.3757, d1.loss_plan_l1_fix_time: 0.6310, d1.loss_plan_l1_fix_dist: 0.1779, d2.loss_plan_l1_fix_time: 0.6179, d2.loss_plan_l1_fix_dist: 0.1926, d3.loss_plan_l1_fix_time: 0.6143, d3.loss_plan_l1_fix_dist: 0.2038, d4.loss_plan_l1_fix_time: 0.6149, d4.loss_plan_l1_fix_dist: 0.1737, d5.loss_plan_l1_fix_time: 0.6161, d5.loss_plan_l1_fix_dist: 0.1730, d6.loss_plan_l1_fix_time: 0.6182, d6.loss_plan_l1_fix_dist: 0.2123, d0.loss_cls_all: 0.1088, d0.loss_bbox_all: 0.3104, d0.loss_cls: 0.1088, d0.loss_bbox: 0.3104, d1.loss_cls: 0.1034, d1.loss_bbox: 0.2816, d2.loss_cls: 0.0895, d2.loss_bbox: 0.2617, d3.loss_cls: 0.0776, d3.loss_bbox: 0.2547, d4.loss_cls: 0.0738, d4.loss_bbox: 0.2529, d5.loss_cls: 0.0727, d5.loss_bbox: 0.2510, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6266, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4839, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4218, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4049, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3988, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3947, d0.loss_map_cls_all: 0.1540, d0.loss_map_pts_all: 0.8632, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1540, d0.loss_map_pts: 0.8632, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1237, d1.loss_map_pts: 0.6098, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.0991, d2.loss_map_pts: 0.4697, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.0886, d3.loss_map_pts: 0.4216, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0821, d4.loss_map_pts: 0.4044, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0774, d5.loss_map_pts: 0.4012, d5.loss_map_dir: 0.0048, loss: 18.7089, grad_norm: 159.9301 +2026-03-01 08:35:27,511 - DriveTransformer - INFO - Epoch [12][28700/39528] lr: 5.696e-05, eta: 4 days, 2:30:37, time: 0.709, data_time: 0.039, memory: 19865, loss_cls: 0.0767, loss_bbox: 0.2763, loss_traj: 0.4608, loss_traj_cls: 0.0020, loss_map_cls: 0.0881, loss_map_pts: 0.4662, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.8084, d0.loss_plan_l1_fix_dist: 0.4027, d1.loss_plan_l1_fix_time: 0.7959, d1.loss_plan_l1_fix_dist: 0.1935, d2.loss_plan_l1_fix_time: 0.7723, d2.loss_plan_l1_fix_dist: 0.2104, d3.loss_plan_l1_fix_time: 0.7549, d3.loss_plan_l1_fix_dist: 0.2185, d4.loss_plan_l1_fix_time: 0.7543, d4.loss_plan_l1_fix_dist: 0.1981, d5.loss_plan_l1_fix_time: 0.7552, d5.loss_plan_l1_fix_dist: 0.2008, d6.loss_plan_l1_fix_time: 0.7566, d6.loss_plan_l1_fix_dist: 0.2351, d0.loss_cls_all: 0.1224, d0.loss_bbox_all: 0.3395, d0.loss_cls: 0.1224, d0.loss_bbox: 0.3395, d1.loss_cls: 0.1192, d1.loss_bbox: 0.3076, d2.loss_cls: 0.1050, d2.loss_bbox: 0.2880, d3.loss_cls: 0.0866, d3.loss_bbox: 0.2828, d4.loss_cls: 0.0791, d4.loss_bbox: 0.2790, d5.loss_cls: 0.0762, d5.loss_bbox: 0.2776, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7853, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5865, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5101, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4833, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4699, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4625, d0.loss_map_cls_all: 0.1758, d0.loss_map_pts_all: 1.0007, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1758, d0.loss_map_pts: 1.0007, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1396, d1.loss_map_pts: 0.7292, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1129, d2.loss_map_pts: 0.5574, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1006, d3.loss_map_pts: 0.4967, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0955, d4.loss_map_pts: 0.4732, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0909, d5.loss_map_pts: 0.4671, d5.loss_map_dir: 0.0052, loss: 22.2143, grad_norm: 160.8360 +2026-03-01 08:36:03,064 - DriveTransformer - INFO - Epoch [12][28750/39528] lr: 5.696e-05, eta: 4 days, 2:29:58, time: 0.711, data_time: 0.038, memory: 19865, loss_cls: 0.0850, loss_bbox: 0.2686, loss_traj: 0.3992, loss_traj_cls: 0.0021, loss_map_cls: 0.0768, loss_map_pts: 0.4377, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.8854, d0.loss_plan_l1_fix_dist: 0.4094, d1.loss_plan_l1_fix_time: 0.7471, d1.loss_plan_l1_fix_dist: 0.1921, d2.loss_plan_l1_fix_time: 0.7226, d2.loss_plan_l1_fix_dist: 0.2101, d3.loss_plan_l1_fix_time: 0.7121, d3.loss_plan_l1_fix_dist: 0.2106, d4.loss_plan_l1_fix_time: 0.7124, d4.loss_plan_l1_fix_dist: 0.1960, d5.loss_plan_l1_fix_time: 0.7133, d5.loss_plan_l1_fix_dist: 0.2120, d6.loss_plan_l1_fix_time: 0.7143, d6.loss_plan_l1_fix_dist: 0.2322, d0.loss_cls_all: 0.1340, d0.loss_bbox_all: 0.3307, d0.loss_cls: 0.1340, d0.loss_bbox: 0.3307, d1.loss_cls: 0.1249, d1.loss_bbox: 0.2993, d2.loss_cls: 0.1108, d2.loss_bbox: 0.2760, d3.loss_cls: 0.0957, d3.loss_bbox: 0.2692, d4.loss_cls: 0.0854, d4.loss_bbox: 0.2700, d5.loss_cls: 0.0845, d5.loss_bbox: 0.2685, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6663, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4809, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4385, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4161, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4024, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3989, d0.loss_map_cls_all: 0.1583, d0.loss_map_pts_all: 0.8963, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1583, d0.loss_map_pts: 0.8963, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1237, d1.loss_map_pts: 0.6514, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1006, d2.loss_map_pts: 0.5156, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.0910, d3.loss_map_pts: 0.4622, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0849, d4.loss_map_pts: 0.4432, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0792, d5.loss_map_pts: 0.4381, d5.loss_map_dir: 0.0057, loss: 20.9084, grad_norm: 159.3086 +2026-03-01 08:36:39,819 - DriveTransformer - INFO - Epoch [12][28800/39528] lr: 5.696e-05, eta: 4 days, 2:29:22, time: 0.735, data_time: 0.040, memory: 19865, loss_cls: 0.0831, loss_bbox: 0.2700, loss_traj: 0.4211, loss_traj_cls: 0.0020, loss_map_cls: 0.0897, loss_map_pts: 0.5021, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.1104, d0.loss_plan_l1_fix_dist: 0.3721, d1.loss_plan_l1_fix_time: 0.6345, d1.loss_plan_l1_fix_dist: 0.1765, d2.loss_plan_l1_fix_time: 0.6213, d2.loss_plan_l1_fix_dist: 0.1916, d3.loss_plan_l1_fix_time: 0.6190, d3.loss_plan_l1_fix_dist: 0.1913, d4.loss_plan_l1_fix_time: 0.6194, d4.loss_plan_l1_fix_dist: 0.1741, d5.loss_plan_l1_fix_time: 0.6208, d5.loss_plan_l1_fix_dist: 0.2042, d6.loss_plan_l1_fix_time: 0.6226, d6.loss_plan_l1_fix_dist: 0.1990, d0.loss_cls_all: 0.1256, d0.loss_bbox_all: 0.3479, d0.loss_cls: 0.1256, d0.loss_bbox: 0.3479, d1.loss_cls: 0.1172, d1.loss_bbox: 0.3084, d2.loss_cls: 0.1056, d2.loss_bbox: 0.2851, d3.loss_cls: 0.0885, d3.loss_bbox: 0.2769, d4.loss_cls: 0.0846, d4.loss_bbox: 0.2716, d5.loss_cls: 0.0825, d5.loss_bbox: 0.2700, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6775, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5364, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4626, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4718, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4614, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4235, d0.loss_map_cls_all: 0.1751, d0.loss_map_pts_all: 1.0321, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1751, d0.loss_map_pts: 1.0321, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1394, d1.loss_map_pts: 0.7532, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1161, d2.loss_map_pts: 0.5943, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1050, d3.loss_map_pts: 0.5347, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0965, d4.loss_map_pts: 0.5091, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0918, d5.loss_map_pts: 0.5022, d5.loss_map_dir: 0.0058, loss: 20.5047, grad_norm: 158.5958 +2026-03-01 08:37:16,123 - DriveTransformer - INFO - Epoch [12][28850/39528] lr: 5.696e-05, eta: 4 days, 2:28:45, time: 0.726, data_time: 0.040, memory: 19865, loss_cls: 0.0897, loss_bbox: 0.2702, loss_traj: 0.3914, loss_traj_cls: 0.0021, loss_map_cls: 0.0916, loss_map_pts: 0.4711, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.8982, d0.loss_plan_l1_fix_dist: 0.3828, d1.loss_plan_l1_fix_time: 0.6654, d1.loss_plan_l1_fix_dist: 0.1600, d2.loss_plan_l1_fix_time: 0.6435, d2.loss_plan_l1_fix_dist: 0.1739, d3.loss_plan_l1_fix_time: 0.6351, d3.loss_plan_l1_fix_dist: 0.1817, d4.loss_plan_l1_fix_time: 0.6350, d4.loss_plan_l1_fix_dist: 0.1671, d5.loss_plan_l1_fix_time: 0.6359, d5.loss_plan_l1_fix_dist: 0.2126, d6.loss_plan_l1_fix_time: 0.6375, d6.loss_plan_l1_fix_dist: 0.2007, d0.loss_cls_all: 0.1364, d0.loss_bbox_all: 0.3346, d0.loss_cls: 0.1364, d0.loss_bbox: 0.3346, d1.loss_cls: 0.1296, d1.loss_bbox: 0.3011, d2.loss_cls: 0.1151, d2.loss_bbox: 0.2805, d3.loss_cls: 0.1003, d3.loss_bbox: 0.2729, d4.loss_cls: 0.0916, d4.loss_bbox: 0.2708, d5.loss_cls: 0.0897, d5.loss_bbox: 0.2704, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6290, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4821, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4266, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4091, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3989, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3957, d0.loss_map_cls_all: 0.1830, d0.loss_map_pts_all: 1.0647, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1830, d0.loss_map_pts: 1.0647, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1438, d1.loss_map_pts: 0.7647, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1183, d2.loss_map_pts: 0.5714, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1065, d3.loss_map_pts: 0.5030, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0990, d4.loss_map_pts: 0.4799, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0939, d5.loss_map_pts: 0.4721, d5.loss_map_dir: 0.0054, loss: 21.0487, grad_norm: 156.6839 +2026-03-01 08:37:51,116 - DriveTransformer - INFO - Epoch [12][28900/39528] lr: 5.696e-05, eta: 4 days, 2:28:05, time: 0.700, data_time: 0.039, memory: 19865, loss_cls: 0.0771, loss_bbox: 0.2525, loss_traj: 0.4595, loss_traj_cls: 0.0021, loss_map_cls: 0.0718, loss_map_pts: 0.3739, loss_map_dir: 0.0040, d0.loss_plan_l1_fix_time: 2.6192, d0.loss_plan_l1_fix_dist: 0.3920, d1.loss_plan_l1_fix_time: 0.6152, d1.loss_plan_l1_fix_dist: 0.1393, d2.loss_plan_l1_fix_time: 0.6061, d2.loss_plan_l1_fix_dist: 0.1457, d3.loss_plan_l1_fix_time: 0.6057, d3.loss_plan_l1_fix_dist: 0.1509, d4.loss_plan_l1_fix_time: 0.6073, d4.loss_plan_l1_fix_dist: 0.1438, d5.loss_plan_l1_fix_time: 0.6088, d5.loss_plan_l1_fix_dist: 0.1760, d6.loss_plan_l1_fix_time: 0.6104, d6.loss_plan_l1_fix_dist: 0.1820, d0.loss_cls_all: 0.1244, d0.loss_bbox_all: 0.3168, d0.loss_cls: 0.1244, d0.loss_bbox: 0.3168, d1.loss_cls: 0.1193, d1.loss_bbox: 0.2842, d2.loss_cls: 0.1062, d2.loss_bbox: 0.2628, d3.loss_cls: 0.0874, d3.loss_bbox: 0.2562, d4.loss_cls: 0.0794, d4.loss_bbox: 0.2552, d5.loss_cls: 0.0779, d5.loss_bbox: 0.2525, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6601, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5280, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4833, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4656, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4617, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4587, d0.loss_map_cls_all: 0.1430, d0.loss_map_pts_all: 0.8152, d0.loss_map_dir_all: 0.0042, d0.loss_map_cls: 0.1430, d0.loss_map_pts: 0.8152, d0.loss_map_dir: 0.0042, d1.loss_map_cls: 0.1162, d1.loss_map_pts: 0.5870, d1.loss_map_dir: 0.0038, d2.loss_map_cls: 0.0948, d2.loss_map_pts: 0.4479, d2.loss_map_dir: 0.0036, d3.loss_map_cls: 0.0845, d3.loss_map_pts: 0.3969, d3.loss_map_dir: 0.0038, d4.loss_map_cls: 0.0781, d4.loss_map_pts: 0.3799, d4.loss_map_dir: 0.0039, d5.loss_map_cls: 0.0746, d5.loss_map_pts: 0.3738, d5.loss_map_dir: 0.0040, loss: 19.1472, grad_norm: 156.2195 +2026-03-01 08:38:27,809 - DriveTransformer - INFO - Epoch [12][28950/39528] lr: 5.696e-05, eta: 4 days, 2:27:29, time: 0.734, data_time: 0.039, memory: 19865, loss_cls: 0.0945, loss_bbox: 0.2660, loss_traj: 0.4149, loss_traj_cls: 0.0020, loss_map_cls: 0.0915, loss_map_pts: 0.4888, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.6298, d0.loss_plan_l1_fix_dist: 0.3743, d1.loss_plan_l1_fix_time: 0.6550, d1.loss_plan_l1_fix_dist: 0.1629, d2.loss_plan_l1_fix_time: 0.6387, d2.loss_plan_l1_fix_dist: 0.1644, d3.loss_plan_l1_fix_time: 0.6251, d3.loss_plan_l1_fix_dist: 0.1651, d4.loss_plan_l1_fix_time: 0.6251, d4.loss_plan_l1_fix_dist: 0.1607, d5.loss_plan_l1_fix_time: 0.6261, d5.loss_plan_l1_fix_dist: 0.1780, d6.loss_plan_l1_fix_time: 0.6277, d6.loss_plan_l1_fix_dist: 0.1808, d0.loss_cls_all: 0.1462, d0.loss_bbox_all: 0.3329, d0.loss_cls: 0.1462, d0.loss_bbox: 0.3329, d1.loss_cls: 0.1383, d1.loss_bbox: 0.3027, d2.loss_cls: 0.1217, d2.loss_bbox: 0.2801, d3.loss_cls: 0.1013, d3.loss_bbox: 0.2734, d4.loss_cls: 0.0953, d4.loss_bbox: 0.2687, d5.loss_cls: 0.0944, d5.loss_bbox: 0.2665, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6683, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5003, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4468, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4258, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4167, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4142, d0.loss_map_cls_all: 0.1864, d0.loss_map_pts_all: 0.9991, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1864, d0.loss_map_pts: 0.9991, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1476, d1.loss_map_pts: 0.7340, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1161, d2.loss_map_pts: 0.5802, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1072, d3.loss_map_pts: 0.5174, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0989, d4.loss_map_pts: 0.4960, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0939, d5.loss_map_pts: 0.4898, d5.loss_map_dir: 0.0059, loss: 20.7504, grad_norm: 155.3401 +2026-03-01 08:39:03,412 - DriveTransformer - INFO - Epoch [12][29000/39528] lr: 5.696e-05, eta: 4 days, 2:26:51, time: 0.713, data_time: 0.039, memory: 19865, loss_cls: 0.0612, loss_bbox: 0.2293, loss_traj: 0.4360, loss_traj_cls: 0.0021, loss_map_cls: 0.0667, loss_map_pts: 0.3498, loss_map_dir: 0.0038, d0.loss_plan_l1_fix_time: 2.3556, d0.loss_plan_l1_fix_dist: 0.4731, d1.loss_plan_l1_fix_time: 0.6237, d1.loss_plan_l1_fix_dist: 0.1821, d2.loss_plan_l1_fix_time: 0.6056, d2.loss_plan_l1_fix_dist: 0.1839, d3.loss_plan_l1_fix_time: 0.6011, d3.loss_plan_l1_fix_dist: 0.1930, d4.loss_plan_l1_fix_time: 0.6035, d4.loss_plan_l1_fix_dist: 0.1758, d5.loss_plan_l1_fix_time: 0.6056, d5.loss_plan_l1_fix_dist: 0.1886, d6.loss_plan_l1_fix_time: 0.6081, d6.loss_plan_l1_fix_dist: 0.2015, d0.loss_cls_all: 0.1013, d0.loss_bbox_all: 0.2881, d0.loss_cls: 0.1013, d0.loss_bbox: 0.2881, d1.loss_cls: 0.0956, d1.loss_bbox: 0.2576, d2.loss_cls: 0.0837, d2.loss_bbox: 0.2401, d3.loss_cls: 0.0657, d3.loss_bbox: 0.2334, d4.loss_cls: 0.0621, d4.loss_bbox: 0.2306, d5.loss_cls: 0.0607, d5.loss_bbox: 0.2296, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7065, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5341, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4705, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4455, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4379, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4349, d0.loss_map_cls_all: 0.1435, d0.loss_map_pts_all: 0.7950, d0.loss_map_dir_all: 0.0044, d0.loss_map_cls: 0.1435, d0.loss_map_pts: 0.7950, d0.loss_map_dir: 0.0044, d1.loss_map_cls: 0.1123, d1.loss_map_pts: 0.5619, d1.loss_map_dir: 0.0038, d2.loss_map_cls: 0.0908, d2.loss_map_pts: 0.4298, d2.loss_map_dir: 0.0035, d3.loss_map_cls: 0.0804, d3.loss_map_pts: 0.3771, d3.loss_map_dir: 0.0036, d4.loss_map_cls: 0.0738, d4.loss_map_pts: 0.3559, d4.loss_map_dir: 0.0037, d5.loss_map_cls: 0.0689, d5.loss_map_pts: 0.3505, d5.loss_map_dir: 0.0038, loss: 18.5284, grad_norm: 162.5346 +2026-03-01 08:39:40,311 - DriveTransformer - INFO - Epoch [12][29050/39528] lr: 5.696e-05, eta: 4 days, 2:26:15, time: 0.737, data_time: 0.036, memory: 19865, loss_cls: 0.0857, loss_bbox: 0.2759, loss_traj: 0.4060, loss_traj_cls: 0.0020, loss_map_cls: 0.0916, loss_map_pts: 0.4971, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.3362, d0.loss_plan_l1_fix_dist: 0.3351, d1.loss_plan_l1_fix_time: 0.6338, d1.loss_plan_l1_fix_dist: 0.1934, d2.loss_plan_l1_fix_time: 0.6197, d2.loss_plan_l1_fix_dist: 0.1990, d3.loss_plan_l1_fix_time: 0.6165, d3.loss_plan_l1_fix_dist: 0.1988, d4.loss_plan_l1_fix_time: 0.6179, d4.loss_plan_l1_fix_dist: 0.1718, d5.loss_plan_l1_fix_time: 0.6201, d5.loss_plan_l1_fix_dist: 0.1923, d6.loss_plan_l1_fix_time: 0.6228, d6.loss_plan_l1_fix_dist: 0.1775, d0.loss_cls_all: 0.1265, d0.loss_bbox_all: 0.3365, d0.loss_cls: 0.1265, d0.loss_bbox: 0.3365, d1.loss_cls: 0.1199, d1.loss_bbox: 0.3081, d2.loss_cls: 0.1075, d2.loss_bbox: 0.2887, d3.loss_cls: 0.0920, d3.loss_bbox: 0.2791, d4.loss_cls: 0.0866, d4.loss_bbox: 0.2782, d5.loss_cls: 0.0859, d5.loss_bbox: 0.2764, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6253, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4762, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4259, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4160, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4157, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4072, d0.loss_map_cls_all: 0.1847, d0.loss_map_pts_all: 1.0906, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1847, d0.loss_map_pts: 1.0906, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1478, d1.loss_map_pts: 0.7823, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1183, d2.loss_map_pts: 0.5986, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1061, d3.loss_map_pts: 0.5369, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.0981, d4.loss_map_pts: 0.5066, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0940, d5.loss_map_pts: 0.4985, d5.loss_map_dir: 0.0063, loss: 20.6014, grad_norm: 162.5253 +2026-03-01 08:40:15,753 - DriveTransformer - INFO - Epoch [12][29100/39528] lr: 5.696e-05, eta: 4 days, 2:25:36, time: 0.709, data_time: 0.039, memory: 19865, loss_cls: 0.0893, loss_bbox: 0.2703, loss_traj: 0.4721, loss_traj_cls: 0.0020, loss_map_cls: 0.0942, loss_map_pts: 0.4561, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.9310, d0.loss_plan_l1_fix_dist: 0.4107, d1.loss_plan_l1_fix_time: 0.8235, d1.loss_plan_l1_fix_dist: 0.1971, d2.loss_plan_l1_fix_time: 0.8054, d2.loss_plan_l1_fix_dist: 0.2073, d3.loss_plan_l1_fix_time: 0.7884, d3.loss_plan_l1_fix_dist: 0.2092, d4.loss_plan_l1_fix_time: 0.7890, d4.loss_plan_l1_fix_dist: 0.1944, d5.loss_plan_l1_fix_time: 0.7903, d5.loss_plan_l1_fix_dist: 0.2484, d6.loss_plan_l1_fix_time: 0.7921, d6.loss_plan_l1_fix_dist: 0.1973, d0.loss_cls_all: 0.1287, d0.loss_bbox_all: 0.3370, d0.loss_cls: 0.1287, d0.loss_bbox: 0.3370, d1.loss_cls: 0.1236, d1.loss_bbox: 0.3000, d2.loss_cls: 0.1111, d2.loss_bbox: 0.2809, d3.loss_cls: 0.0967, d3.loss_bbox: 0.2724, d4.loss_cls: 0.0909, d4.loss_bbox: 0.2713, d5.loss_cls: 0.0892, d5.loss_bbox: 0.2698, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7679, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5808, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5103, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4808, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4795, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4746, d0.loss_map_cls_all: 0.1739, d0.loss_map_pts_all: 0.9619, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1739, d0.loss_map_pts: 0.9619, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1469, d1.loss_map_pts: 0.7049, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1196, d2.loss_map_pts: 0.5419, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1090, d3.loss_map_pts: 0.4794, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1020, d4.loss_map_pts: 0.4602, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0979, d5.loss_map_pts: 0.4552, d5.loss_map_dir: 0.0051, loss: 22.4349, grad_norm: 162.9019 +2026-03-01 08:40:51,044 - DriveTransformer - INFO - Epoch [12][29150/39528] lr: 5.696e-05, eta: 4 days, 2:24:57, time: 0.706, data_time: 0.041, memory: 19865, loss_cls: 0.0760, loss_bbox: 0.2679, loss_traj: 0.4669, loss_traj_cls: 0.0020, loss_map_cls: 0.1007, loss_map_pts: 0.4731, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.8841, d0.loss_plan_l1_fix_dist: 0.4241, d1.loss_plan_l1_fix_time: 0.7410, d1.loss_plan_l1_fix_dist: 0.2132, d2.loss_plan_l1_fix_time: 0.7284, d2.loss_plan_l1_fix_dist: 0.2269, d3.loss_plan_l1_fix_time: 0.7156, d3.loss_plan_l1_fix_dist: 0.2216, d4.loss_plan_l1_fix_time: 0.7175, d4.loss_plan_l1_fix_dist: 0.2023, d5.loss_plan_l1_fix_time: 0.7190, d5.loss_plan_l1_fix_dist: 0.2518, d6.loss_plan_l1_fix_time: 0.7211, d6.loss_plan_l1_fix_dist: 0.2123, d0.loss_cls_all: 0.1288, d0.loss_bbox_all: 0.3297, d0.loss_cls: 0.1288, d0.loss_bbox: 0.3297, d1.loss_cls: 0.1191, d1.loss_bbox: 0.2967, d2.loss_cls: 0.1038, d2.loss_bbox: 0.2786, d3.loss_cls: 0.0894, d3.loss_bbox: 0.2681, d4.loss_cls: 0.0819, d4.loss_bbox: 0.2656, d5.loss_cls: 0.0775, d5.loss_bbox: 0.2672, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7056, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5552, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4998, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4715, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4659, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4641, d0.loss_map_cls_all: 0.1895, d0.loss_map_pts_all: 0.9546, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1895, d0.loss_map_pts: 0.9546, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1528, d1.loss_map_pts: 0.7094, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1281, d2.loss_map_pts: 0.5542, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1170, d3.loss_map_pts: 0.4996, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1093, d4.loss_map_pts: 0.4776, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.1038, d5.loss_map_pts: 0.4733, d5.loss_map_dir: 0.0057, loss: 21.9574, grad_norm: 163.3956 +2026-03-01 08:41:30,084 - DriveTransformer - INFO - Epoch [12][29200/39528] lr: 5.696e-05, eta: 4 days, 2:24:25, time: 0.781, data_time: 0.037, memory: 19865, loss_cls: 0.0615, loss_bbox: 0.2374, loss_traj: 0.3603, loss_traj_cls: 0.0020, loss_map_cls: 0.0805, loss_map_pts: 0.4614, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.3447, d0.loss_plan_l1_fix_dist: 0.3235, d1.loss_plan_l1_fix_time: 0.6163, d1.loss_plan_l1_fix_dist: 0.1593, d2.loss_plan_l1_fix_time: 0.6036, d2.loss_plan_l1_fix_dist: 0.1854, d3.loss_plan_l1_fix_time: 0.5946, d3.loss_plan_l1_fix_dist: 0.1767, d4.loss_plan_l1_fix_time: 0.5950, d4.loss_plan_l1_fix_dist: 0.1482, d5.loss_plan_l1_fix_time: 0.5963, d5.loss_plan_l1_fix_dist: 0.2040, d6.loss_plan_l1_fix_time: 0.5981, d6.loss_plan_l1_fix_dist: 0.1750, d0.loss_cls_all: 0.1025, d0.loss_bbox_all: 0.2886, d0.loss_cls: 0.1025, d0.loss_bbox: 0.2886, d1.loss_cls: 0.0940, d1.loss_bbox: 0.2611, d2.loss_cls: 0.0827, d2.loss_bbox: 0.2448, d3.loss_cls: 0.0677, d3.loss_bbox: 0.2380, d4.loss_cls: 0.0631, d4.loss_bbox: 0.2361, d5.loss_cls: 0.0621, d5.loss_bbox: 0.2361, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5085, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4163, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3828, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3701, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3662, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3602, d0.loss_map_cls_all: 0.1615, d0.loss_map_pts_all: 1.0063, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1615, d0.loss_map_pts: 1.0063, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1285, d1.loss_map_pts: 0.7235, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1083, d2.loss_map_pts: 0.5499, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.0955, d3.loss_map_pts: 0.4889, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0880, d4.loss_map_pts: 0.4664, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0828, d5.loss_map_pts: 0.4611, d5.loss_map_dir: 0.0062, loss: 18.8788, grad_norm: 163.7694 +2026-03-01 08:42:07,692 - DriveTransformer - INFO - Epoch [12][29250/39528] lr: 5.696e-05, eta: 4 days, 2:23:51, time: 0.752, data_time: 0.041, memory: 19865, loss_cls: 0.0707, loss_bbox: 0.2466, loss_traj: 0.4325, loss_traj_cls: 0.0021, loss_map_cls: 0.0708, loss_map_pts: 0.4662, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.4947, d0.loss_plan_l1_fix_dist: 0.3102, d1.loss_plan_l1_fix_time: 0.6144, d1.loss_plan_l1_fix_dist: 0.1491, d2.loss_plan_l1_fix_time: 0.5927, d2.loss_plan_l1_fix_dist: 0.1851, d3.loss_plan_l1_fix_time: 0.5892, d3.loss_plan_l1_fix_dist: 0.1780, d4.loss_plan_l1_fix_time: 0.5903, d4.loss_plan_l1_fix_dist: 0.1559, d5.loss_plan_l1_fix_time: 0.5918, d5.loss_plan_l1_fix_dist: 0.1810, d6.loss_plan_l1_fix_time: 0.5934, d6.loss_plan_l1_fix_dist: 0.1757, d0.loss_cls_all: 0.1029, d0.loss_bbox_all: 0.3113, d0.loss_cls: 0.1029, d0.loss_bbox: 0.3113, d1.loss_cls: 0.1001, d1.loss_bbox: 0.2772, d2.loss_cls: 0.0913, d2.loss_bbox: 0.2564, d3.loss_cls: 0.0749, d3.loss_bbox: 0.2505, d4.loss_cls: 0.0720, d4.loss_bbox: 0.2481, d5.loss_cls: 0.0710, d5.loss_bbox: 0.2466, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6518, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5039, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4527, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4422, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4381, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4316, d0.loss_map_cls_all: 0.1514, d0.loss_map_pts_all: 1.0140, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1514, d0.loss_map_pts: 1.0140, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1171, d1.loss_map_pts: 0.7183, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.0956, d2.loss_map_pts: 0.5576, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0848, d3.loss_map_pts: 0.4977, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0778, d4.loss_map_pts: 0.4703, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0731, d5.loss_map_pts: 0.4661, d5.loss_map_dir: 0.0055, loss: 19.6659, grad_norm: 162.1132 +2026-03-01 08:42:44,400 - DriveTransformer - INFO - Epoch [12][29300/39528] lr: 5.696e-05, eta: 4 days, 2:23:15, time: 0.734, data_time: 0.037, memory: 19865, loss_cls: 0.0824, loss_bbox: 0.2606, loss_traj: 0.4529, loss_traj_cls: 0.0021, loss_map_cls: 0.0714, loss_map_pts: 0.3969, loss_map_dir: 0.0044, d0.loss_plan_l1_fix_time: 2.3933, d0.loss_plan_l1_fix_dist: 0.4465, d1.loss_plan_l1_fix_time: 0.6966, d1.loss_plan_l1_fix_dist: 0.1456, d2.loss_plan_l1_fix_time: 0.6804, d2.loss_plan_l1_fix_dist: 0.1741, d3.loss_plan_l1_fix_time: 0.6814, d3.loss_plan_l1_fix_dist: 0.1662, d4.loss_plan_l1_fix_time: 0.6831, d4.loss_plan_l1_fix_dist: 0.1683, d5.loss_plan_l1_fix_time: 0.6848, d5.loss_plan_l1_fix_dist: 0.1681, d6.loss_plan_l1_fix_time: 0.6867, d6.loss_plan_l1_fix_dist: 0.1854, d0.loss_cls_all: 0.1200, d0.loss_bbox_all: 0.3229, d0.loss_cls: 0.1200, d0.loss_bbox: 0.3229, d1.loss_cls: 0.1092, d1.loss_bbox: 0.2948, d2.loss_cls: 0.1040, d2.loss_bbox: 0.2731, d3.loss_cls: 0.0870, d3.loss_bbox: 0.2666, d4.loss_cls: 0.0832, d4.loss_bbox: 0.2628, d5.loss_cls: 0.0824, d5.loss_bbox: 0.2610, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7117, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5533, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4809, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4635, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4503, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4527, d0.loss_map_cls_all: 0.1453, d0.loss_map_pts_all: 0.8387, d0.loss_map_dir_all: 0.0049, d0.loss_map_cls: 0.1453, d0.loss_map_pts: 0.8387, d0.loss_map_dir: 0.0049, d1.loss_map_cls: 0.1125, d1.loss_map_pts: 0.6088, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.0939, d2.loss_map_pts: 0.4712, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.0835, d3.loss_map_pts: 0.4189, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0769, d4.loss_map_pts: 0.4019, d4.loss_map_dir: 0.0044, d5.loss_map_cls: 0.0736, d5.loss_map_pts: 0.3962, d5.loss_map_dir: 0.0044, loss: 19.7964, grad_norm: 160.3777 +2026-03-01 08:43:21,359 - DriveTransformer - INFO - Epoch [12][29350/39528] lr: 5.696e-05, eta: 4 days, 2:22:39, time: 0.739, data_time: 0.038, memory: 19865, loss_cls: 0.0817, loss_bbox: 0.2596, loss_traj: 0.4226, loss_traj_cls: 0.0021, loss_map_cls: 0.0886, loss_map_pts: 0.4898, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.5469, d0.loss_plan_l1_fix_dist: 0.4509, d1.loss_plan_l1_fix_time: 0.6537, d1.loss_plan_l1_fix_dist: 0.1527, d2.loss_plan_l1_fix_time: 0.6349, d2.loss_plan_l1_fix_dist: 0.1578, d3.loss_plan_l1_fix_time: 0.6332, d3.loss_plan_l1_fix_dist: 0.1577, d4.loss_plan_l1_fix_time: 0.6340, d4.loss_plan_l1_fix_dist: 0.1640, d5.loss_plan_l1_fix_time: 0.6355, d5.loss_plan_l1_fix_dist: 0.1798, d6.loss_plan_l1_fix_time: 0.6373, d6.loss_plan_l1_fix_dist: 0.1847, d0.loss_cls_all: 0.1266, d0.loss_bbox_all: 0.3228, d0.loss_cls: 0.1266, d0.loss_bbox: 0.3228, d1.loss_cls: 0.1222, d1.loss_bbox: 0.2899, d2.loss_cls: 0.1068, d2.loss_bbox: 0.2749, d3.loss_cls: 0.0904, d3.loss_bbox: 0.2639, d4.loss_cls: 0.0847, d4.loss_bbox: 0.2605, d5.loss_cls: 0.0829, d5.loss_bbox: 0.2596, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6139, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4899, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4380, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4227, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4210, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4185, d0.loss_map_cls_all: 0.1786, d0.loss_map_pts_all: 1.0476, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1786, d0.loss_map_pts: 1.0476, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1437, d1.loss_map_pts: 0.7389, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1137, d2.loss_map_pts: 0.5767, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1027, d3.loss_map_pts: 0.5175, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0961, d4.loss_map_pts: 0.4952, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0909, d5.loss_map_pts: 0.4899, d5.loss_map_dir: 0.0057, loss: 20.5749, grad_norm: 157.9231 +2026-03-01 08:43:57,460 - DriveTransformer - INFO - Epoch [12][29400/39528] lr: 5.696e-05, eta: 4 days, 2:22:02, time: 0.722, data_time: 0.037, memory: 19865, loss_cls: 0.0926, loss_bbox: 0.2816, loss_traj: 0.4661, loss_traj_cls: 0.0021, loss_map_cls: 0.0911, loss_map_pts: 0.4806, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.9359, d0.loss_plan_l1_fix_dist: 0.3546, d1.loss_plan_l1_fix_time: 0.7291, d1.loss_plan_l1_fix_dist: 0.1674, d2.loss_plan_l1_fix_time: 0.7011, d2.loss_plan_l1_fix_dist: 0.1554, d3.loss_plan_l1_fix_time: 0.6961, d3.loss_plan_l1_fix_dist: 0.1625, d4.loss_plan_l1_fix_time: 0.6969, d4.loss_plan_l1_fix_dist: 0.1550, d5.loss_plan_l1_fix_time: 0.6981, d5.loss_plan_l1_fix_dist: 0.1915, d6.loss_plan_l1_fix_time: 0.7001, d6.loss_plan_l1_fix_dist: 0.1787, d0.loss_cls_all: 0.1440, d0.loss_bbox_all: 0.3445, d0.loss_cls: 0.1440, d0.loss_bbox: 0.3445, d1.loss_cls: 0.1351, d1.loss_bbox: 0.3111, d2.loss_cls: 0.1239, d2.loss_bbox: 0.2903, d3.loss_cls: 0.1037, d3.loss_bbox: 0.2858, d4.loss_cls: 0.0953, d4.loss_bbox: 0.2836, d5.loss_cls: 0.0930, d5.loss_bbox: 0.2821, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7700, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5658, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4965, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4766, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4683, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4652, d0.loss_map_cls_all: 0.1710, d0.loss_map_pts_all: 0.9988, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1710, d0.loss_map_pts: 0.9988, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1398, d1.loss_map_pts: 0.7298, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1139, d2.loss_map_pts: 0.5722, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1027, d3.loss_map_pts: 0.5106, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0958, d4.loss_map_pts: 0.4858, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0919, d5.loss_map_pts: 0.4815, d5.loss_map_dir: 0.0053, loss: 21.8716, grad_norm: 157.5230 +2026-03-01 08:44:32,961 - DriveTransformer - INFO - Epoch [12][29450/39528] lr: 5.696e-05, eta: 4 days, 2:21:23, time: 0.710, data_time: 0.038, memory: 19865, loss_cls: 0.0860, loss_bbox: 0.2724, loss_traj: 0.4919, loss_traj_cls: 0.0021, loss_map_cls: 0.1142, loss_map_pts: 0.5700, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.8033, d0.loss_plan_l1_fix_dist: 0.3666, d1.loss_plan_l1_fix_time: 0.6763, d1.loss_plan_l1_fix_dist: 0.1904, d2.loss_plan_l1_fix_time: 0.6595, d2.loss_plan_l1_fix_dist: 0.1698, d3.loss_plan_l1_fix_time: 0.6581, d3.loss_plan_l1_fix_dist: 0.1815, d4.loss_plan_l1_fix_time: 0.6602, d4.loss_plan_l1_fix_dist: 0.1638, d5.loss_plan_l1_fix_time: 0.6622, d5.loss_plan_l1_fix_dist: 0.2041, d6.loss_plan_l1_fix_time: 0.6645, d6.loss_plan_l1_fix_dist: 0.1857, d0.loss_cls_all: 0.1276, d0.loss_bbox_all: 0.3307, d0.loss_cls: 0.1276, d0.loss_bbox: 0.3307, d1.loss_cls: 0.1205, d1.loss_bbox: 0.3006, d2.loss_cls: 0.1083, d2.loss_bbox: 0.2836, d3.loss_cls: 0.0922, d3.loss_bbox: 0.2762, d4.loss_cls: 0.0883, d4.loss_bbox: 0.2733, d5.loss_cls: 0.0870, d5.loss_bbox: 0.2723, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7739, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5827, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5243, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5041, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4898, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4895, d0.loss_map_cls_all: 0.2027, d0.loss_map_pts_all: 1.1561, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.2027, d0.loss_map_pts: 1.1561, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1695, d1.loss_map_pts: 0.8490, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1421, d2.loss_map_pts: 0.6750, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1312, d3.loss_map_pts: 0.6031, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1232, d4.loss_map_pts: 0.5764, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1173, d5.loss_map_pts: 0.5705, d5.loss_map_dir: 0.0059, loss: 22.6921, grad_norm: 155.9377 +2026-03-01 08:45:09,266 - DriveTransformer - INFO - Epoch [12][29500/39528] lr: 5.696e-05, eta: 4 days, 2:20:46, time: 0.726, data_time: 0.039, memory: 19865, loss_cls: 0.0778, loss_bbox: 0.2654, loss_traj: 0.4481, loss_traj_cls: 0.0022, loss_map_cls: 0.1098, loss_map_pts: 0.5072, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.3466, d0.loss_plan_l1_fix_dist: 0.3794, d1.loss_plan_l1_fix_time: 0.6687, d1.loss_plan_l1_fix_dist: 0.2148, d2.loss_plan_l1_fix_time: 0.6633, d2.loss_plan_l1_fix_dist: 0.1741, d3.loss_plan_l1_fix_time: 0.6668, d3.loss_plan_l1_fix_dist: 0.1961, d4.loss_plan_l1_fix_time: 0.6691, d4.loss_plan_l1_fix_dist: 0.1693, d5.loss_plan_l1_fix_time: 0.6712, d5.loss_plan_l1_fix_dist: 0.2182, d6.loss_plan_l1_fix_time: 0.6733, d6.loss_plan_l1_fix_dist: 0.1894, d0.loss_cls_all: 0.1250, d0.loss_bbox_all: 0.3246, d0.loss_cls: 0.1250, d0.loss_bbox: 0.3246, d1.loss_cls: 0.1186, d1.loss_bbox: 0.2964, d2.loss_cls: 0.1036, d2.loss_bbox: 0.2763, d3.loss_cls: 0.0849, d3.loss_bbox: 0.2699, d4.loss_cls: 0.0804, d4.loss_bbox: 0.2647, d5.loss_cls: 0.0787, d5.loss_bbox: 0.2644, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7378, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5285, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4741, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4575, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4542, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4482, d0.loss_map_cls_all: 0.2003, d0.loss_map_pts_all: 1.0775, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.2003, d0.loss_map_pts: 1.0775, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1637, d1.loss_map_pts: 0.7847, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1406, d2.loss_map_pts: 0.5981, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1259, d3.loss_map_pts: 0.5371, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1195, d4.loss_map_pts: 0.5110, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1137, d5.loss_map_pts: 0.5065, d5.loss_map_dir: 0.0056, loss: 21.3546, grad_norm: 155.7348 +2026-03-01 08:45:45,581 - DriveTransformer - INFO - Epoch [12][29550/39528] lr: 5.696e-05, eta: 4 days, 2:20:09, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.0775, loss_bbox: 0.2571, loss_traj: 0.4301, loss_traj_cls: 0.0022, loss_map_cls: 0.0912, loss_map_pts: 0.4721, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.5792, d0.loss_plan_l1_fix_dist: 0.4339, d1.loss_plan_l1_fix_time: 0.7062, d1.loss_plan_l1_fix_dist: 0.1969, d2.loss_plan_l1_fix_time: 0.6924, d2.loss_plan_l1_fix_dist: 0.1721, d3.loss_plan_l1_fix_time: 0.6810, d3.loss_plan_l1_fix_dist: 0.1943, d4.loss_plan_l1_fix_time: 0.6814, d4.loss_plan_l1_fix_dist: 0.1728, d5.loss_plan_l1_fix_time: 0.6830, d5.loss_plan_l1_fix_dist: 0.1981, d6.loss_plan_l1_fix_time: 0.6852, d6.loss_plan_l1_fix_dist: 0.2010, d0.loss_cls_all: 0.1167, d0.loss_bbox_all: 0.3148, d0.loss_cls: 0.1167, d0.loss_bbox: 0.3148, d1.loss_cls: 0.1112, d1.loss_bbox: 0.2812, d2.loss_cls: 0.0998, d2.loss_bbox: 0.2623, d3.loss_cls: 0.0838, d3.loss_bbox: 0.2580, d4.loss_cls: 0.0779, d4.loss_bbox: 0.2570, d5.loss_cls: 0.0767, d5.loss_bbox: 0.2567, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6351, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5055, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4589, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4417, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4397, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4295, d0.loss_map_cls_all: 0.1774, d0.loss_map_pts_all: 1.0438, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1774, d0.loss_map_pts: 1.0438, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1388, d1.loss_map_pts: 0.7452, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1174, d2.loss_map_pts: 0.5717, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1076, d3.loss_map_pts: 0.5049, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0985, d4.loss_map_pts: 0.4796, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0936, d5.loss_map_pts: 0.4720, d5.loss_map_dir: 0.0054, loss: 20.9664, grad_norm: 156.8361 +2026-03-01 08:46:21,472 - DriveTransformer - INFO - Epoch [12][29600/39528] lr: 5.696e-05, eta: 4 days, 2:19:31, time: 0.718, data_time: 0.039, memory: 19865, loss_cls: 0.0866, loss_bbox: 0.2677, loss_traj: 0.4537, loss_traj_cls: 0.0021, loss_map_cls: 0.0735, loss_map_pts: 0.4244, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.6306, d0.loss_plan_l1_fix_dist: 0.4066, d1.loss_plan_l1_fix_time: 0.6902, d1.loss_plan_l1_fix_dist: 0.1870, d2.loss_plan_l1_fix_time: 0.6857, d2.loss_plan_l1_fix_dist: 0.1611, d3.loss_plan_l1_fix_time: 0.6846, d3.loss_plan_l1_fix_dist: 0.1803, d4.loss_plan_l1_fix_time: 0.6854, d4.loss_plan_l1_fix_dist: 0.1708, d5.loss_plan_l1_fix_time: 0.6870, d5.loss_plan_l1_fix_dist: 0.1833, d6.loss_plan_l1_fix_time: 0.6891, d6.loss_plan_l1_fix_dist: 0.2078, d0.loss_cls_all: 0.1337, d0.loss_bbox_all: 0.3220, d0.loss_cls: 0.1337, d0.loss_bbox: 0.3220, d1.loss_cls: 0.1251, d1.loss_bbox: 0.2974, d2.loss_cls: 0.1095, d2.loss_bbox: 0.2790, d3.loss_cls: 0.0952, d3.loss_bbox: 0.2694, d4.loss_cls: 0.0887, d4.loss_bbox: 0.2691, d5.loss_cls: 0.0877, d5.loss_bbox: 0.2676, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7182, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5430, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4789, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4596, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4598, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4542, d0.loss_map_cls_all: 0.1601, d0.loss_map_pts_all: 0.9036, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1601, d0.loss_map_pts: 0.9036, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1246, d1.loss_map_pts: 0.6480, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1005, d2.loss_map_pts: 0.5050, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0882, d3.loss_map_pts: 0.4538, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0817, d4.loss_map_pts: 0.4332, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0767, d5.loss_map_pts: 0.4260, d5.loss_map_dir: 0.0052, loss: 20.5841, grad_norm: 159.3642 +2026-03-01 08:46:58,006 - DriveTransformer - INFO - Epoch [12][29650/39528] lr: 5.696e-05, eta: 4 days, 2:18:54, time: 0.731, data_time: 0.038, memory: 19865, loss_cls: 0.0705, loss_bbox: 0.2567, loss_traj: 0.4696, loss_traj_cls: 0.0021, loss_map_cls: 0.0772, loss_map_pts: 0.3946, loss_map_dir: 0.0047, d0.loss_plan_l1_fix_time: 2.7091, d0.loss_plan_l1_fix_dist: 0.4282, d1.loss_plan_l1_fix_time: 0.7598, d1.loss_plan_l1_fix_dist: 0.1911, d2.loss_plan_l1_fix_time: 0.7442, d2.loss_plan_l1_fix_dist: 0.1711, d3.loss_plan_l1_fix_time: 0.7430, d3.loss_plan_l1_fix_dist: 0.1748, d4.loss_plan_l1_fix_time: 0.7437, d4.loss_plan_l1_fix_dist: 0.1839, d5.loss_plan_l1_fix_time: 0.7449, d5.loss_plan_l1_fix_dist: 0.1817, d6.loss_plan_l1_fix_time: 0.7467, d6.loss_plan_l1_fix_dist: 0.2140, d0.loss_cls_all: 0.1101, d0.loss_bbox_all: 0.3241, d0.loss_cls: 0.1101, d0.loss_bbox: 0.3241, d1.loss_cls: 0.1098, d1.loss_bbox: 0.2915, d2.loss_cls: 0.0963, d2.loss_bbox: 0.2681, d3.loss_cls: 0.0769, d3.loss_bbox: 0.2627, d4.loss_cls: 0.0712, d4.loss_bbox: 0.2581, d5.loss_cls: 0.0703, d5.loss_bbox: 0.2567, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6703, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5355, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4964, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4758, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4724, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4710, d0.loss_map_cls_all: 0.1472, d0.loss_map_pts_all: 0.9082, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1472, d0.loss_map_pts: 0.9082, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1149, d1.loss_map_pts: 0.6368, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.0985, d2.loss_map_pts: 0.4829, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.0881, d3.loss_map_pts: 0.4233, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0837, d4.loss_map_pts: 0.3986, d4.loss_map_dir: 0.0046, d5.loss_map_cls: 0.0785, d5.loss_map_pts: 0.3943, d5.loss_map_dir: 0.0047, loss: 20.7123, grad_norm: 132.6910 +2026-03-01 08:47:34,266 - DriveTransformer - INFO - Epoch [12][29700/39528] lr: 5.696e-05, eta: 4 days, 2:18:17, time: 0.725, data_time: 0.041, memory: 19865, loss_cls: 0.0799, loss_bbox: 0.2645, loss_traj: 0.4451, loss_traj_cls: 0.0022, loss_map_cls: 0.0789, loss_map_pts: 0.4190, loss_map_dir: 0.0047, d0.loss_plan_l1_fix_time: 2.1203, d0.loss_plan_l1_fix_dist: 0.4029, d1.loss_plan_l1_fix_time: 0.5998, d1.loss_plan_l1_fix_dist: 0.1789, d2.loss_plan_l1_fix_time: 0.5902, d2.loss_plan_l1_fix_dist: 0.1663, d3.loss_plan_l1_fix_time: 0.5953, d3.loss_plan_l1_fix_dist: 0.1569, d4.loss_plan_l1_fix_time: 0.5966, d4.loss_plan_l1_fix_dist: 0.1833, d5.loss_plan_l1_fix_time: 0.5980, d5.loss_plan_l1_fix_dist: 0.1753, d6.loss_plan_l1_fix_time: 0.5996, d6.loss_plan_l1_fix_dist: 0.1926, d0.loss_cls_all: 0.1228, d0.loss_bbox_all: 0.3379, d0.loss_cls: 0.1228, d0.loss_bbox: 0.3379, d1.loss_cls: 0.1134, d1.loss_bbox: 0.3017, d2.loss_cls: 0.1036, d2.loss_bbox: 0.2730, d3.loss_cls: 0.0855, d3.loss_bbox: 0.2675, d4.loss_cls: 0.0807, d4.loss_bbox: 0.2635, d5.loss_cls: 0.0785, d5.loss_bbox: 0.2655, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7245, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5472, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4783, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4550, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4499, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4442, d0.loss_map_cls_all: 0.1435, d0.loss_map_pts_all: 0.8374, d0.loss_map_dir_all: 0.0050, d0.loss_map_cls: 0.1435, d0.loss_map_pts: 0.8374, d0.loss_map_dir: 0.0050, d1.loss_map_cls: 0.1146, d1.loss_map_pts: 0.6096, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.0962, d2.loss_map_pts: 0.4824, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.0887, d3.loss_map_pts: 0.4405, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0846, d4.loss_map_pts: 0.4235, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0801, d5.loss_map_pts: 0.4198, d5.loss_map_dir: 0.0046, loss: 19.1429, grad_norm: 128.2845 +2026-03-01 08:48:10,258 - DriveTransformer - INFO - Epoch [12][29750/39528] lr: 5.696e-05, eta: 4 days, 2:17:39, time: 0.720, data_time: 0.037, memory: 19865, loss_cls: 0.0763, loss_bbox: 0.2506, loss_traj: 0.3938, loss_traj_cls: 0.0022, loss_map_cls: 0.0843, loss_map_pts: 0.4318, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.1068, d0.loss_plan_l1_fix_dist: 0.4152, d1.loss_plan_l1_fix_time: 0.5639, d1.loss_plan_l1_fix_dist: 0.1815, d2.loss_plan_l1_fix_time: 0.5552, d2.loss_plan_l1_fix_dist: 0.1809, d3.loss_plan_l1_fix_time: 0.5531, d3.loss_plan_l1_fix_dist: 0.1640, d4.loss_plan_l1_fix_time: 0.5536, d4.loss_plan_l1_fix_dist: 0.1700, d5.loss_plan_l1_fix_time: 0.5549, d5.loss_plan_l1_fix_dist: 0.1781, d6.loss_plan_l1_fix_time: 0.5569, d6.loss_plan_l1_fix_dist: 0.1824, d0.loss_cls_all: 0.1139, d0.loss_bbox_all: 0.3173, d0.loss_cls: 0.1139, d0.loss_bbox: 0.3173, d1.loss_cls: 0.1121, d1.loss_bbox: 0.2828, d2.loss_cls: 0.0999, d2.loss_bbox: 0.2594, d3.loss_cls: 0.0833, d3.loss_bbox: 0.2529, d4.loss_cls: 0.0776, d4.loss_bbox: 0.2499, d5.loss_cls: 0.0765, d5.loss_bbox: 0.2500, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6036, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4686, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4181, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4023, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3987, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3943, d0.loss_map_cls_all: 0.1661, d0.loss_map_pts_all: 0.9348, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1661, d0.loss_map_pts: 0.9348, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1320, d1.loss_map_pts: 0.6625, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1118, d2.loss_map_pts: 0.5012, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0990, d3.loss_map_pts: 0.4506, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0932, d4.loss_map_pts: 0.4332, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0864, d5.loss_map_pts: 0.4314, d5.loss_map_dir: 0.0055, loss: 18.6990, grad_norm: 127.9884 +2026-03-01 08:48:46,643 - DriveTransformer - INFO - Epoch [12][29800/39528] lr: 5.696e-05, eta: 4 days, 2:17:03, time: 0.729, data_time: 0.037, memory: 19865, loss_cls: 0.0737, loss_bbox: 0.2543, loss_traj: 0.4365, loss_traj_cls: 0.0021, loss_map_cls: 0.0696, loss_map_pts: 0.4323, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.7415, d0.loss_plan_l1_fix_dist: 0.4485, d1.loss_plan_l1_fix_time: 0.7334, d1.loss_plan_l1_fix_dist: 0.1882, d2.loss_plan_l1_fix_time: 0.7248, d2.loss_plan_l1_fix_dist: 0.1941, d3.loss_plan_l1_fix_time: 0.7283, d3.loss_plan_l1_fix_dist: 0.1796, d4.loss_plan_l1_fix_time: 0.7308, d4.loss_plan_l1_fix_dist: 0.1805, d5.loss_plan_l1_fix_time: 0.7328, d5.loss_plan_l1_fix_dist: 0.1871, d6.loss_plan_l1_fix_time: 0.7348, d6.loss_plan_l1_fix_dist: 0.1884, d0.loss_cls_all: 0.1178, d0.loss_bbox_all: 0.3143, d0.loss_cls: 0.1178, d0.loss_bbox: 0.3143, d1.loss_cls: 0.1118, d1.loss_bbox: 0.2826, d2.loss_cls: 0.0990, d2.loss_bbox: 0.2644, d3.loss_cls: 0.0824, d3.loss_bbox: 0.2595, d4.loss_cls: 0.0762, d4.loss_bbox: 0.2560, d5.loss_cls: 0.0739, d5.loss_bbox: 0.2550, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6401, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5063, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4596, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4494, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4424, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4367, d0.loss_map_cls_all: 0.1499, d0.loss_map_pts_all: 0.9317, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1499, d0.loss_map_pts: 0.9317, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1169, d1.loss_map_pts: 0.6513, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.0949, d2.loss_map_pts: 0.5037, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0832, d3.loss_map_pts: 0.4531, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0773, d4.loss_map_pts: 0.4359, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0722, d5.loss_map_pts: 0.4317, d5.loss_map_dir: 0.0054, loss: 20.6555, grad_norm: 127.4793 +2026-03-01 08:49:24,152 - DriveTransformer - INFO - Epoch [12][29850/39528] lr: 5.696e-05, eta: 4 days, 2:16:28, time: 0.749, data_time: 0.041, memory: 19865, loss_cls: 0.0733, loss_bbox: 0.2426, loss_traj: 0.3528, loss_traj_cls: 0.0022, loss_map_cls: 0.0758, loss_map_pts: 0.4502, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.2296, d0.loss_plan_l1_fix_dist: 0.4567, d1.loss_plan_l1_fix_time: 0.5839, d1.loss_plan_l1_fix_dist: 0.1818, d2.loss_plan_l1_fix_time: 0.5724, d2.loss_plan_l1_fix_dist: 0.2041, d3.loss_plan_l1_fix_time: 0.5511, d3.loss_plan_l1_fix_dist: 0.1767, d4.loss_plan_l1_fix_time: 0.5516, d4.loss_plan_l1_fix_dist: 0.1918, d5.loss_plan_l1_fix_time: 0.5533, d5.loss_plan_l1_fix_dist: 0.1776, d6.loss_plan_l1_fix_time: 0.5552, d6.loss_plan_l1_fix_dist: 0.2056, d0.loss_cls_all: 0.1089, d0.loss_bbox_all: 0.3056, d0.loss_cls: 0.1089, d0.loss_bbox: 0.3056, d1.loss_cls: 0.1049, d1.loss_bbox: 0.2751, d2.loss_cls: 0.0945, d2.loss_bbox: 0.2547, d3.loss_cls: 0.0791, d3.loss_bbox: 0.2495, d4.loss_cls: 0.0741, d4.loss_bbox: 0.2453, d5.loss_cls: 0.0727, d5.loss_bbox: 0.2436, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.5649, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4303, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3763, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3674, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3589, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3539, d0.loss_map_cls_all: 0.1596, d0.loss_map_pts_all: 0.9312, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1596, d0.loss_map_pts: 0.9312, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1240, d1.loss_map_pts: 0.6645, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.0987, d2.loss_map_pts: 0.5153, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0886, d3.loss_map_pts: 0.4678, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0828, d4.loss_map_pts: 0.4492, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0789, d5.loss_map_pts: 0.4476, d5.loss_map_dir: 0.0057, loss: 18.6140, grad_norm: 126.0415 +2026-03-01 08:50:00,142 - DriveTransformer - INFO - Epoch [12][29900/39528] lr: 5.696e-05, eta: 4 days, 2:15:50, time: 0.720, data_time: 0.041, memory: 19865, loss_cls: 0.0828, loss_bbox: 0.2763, loss_traj: 0.4611, loss_traj_cls: 0.0021, loss_map_cls: 0.0806, loss_map_pts: 0.5032, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.3950, d0.loss_plan_l1_fix_dist: 0.3619, d1.loss_plan_l1_fix_time: 0.6535, d1.loss_plan_l1_fix_dist: 0.1923, d2.loss_plan_l1_fix_time: 0.6355, d2.loss_plan_l1_fix_dist: 0.2256, d3.loss_plan_l1_fix_time: 0.6279, d3.loss_plan_l1_fix_dist: 0.1869, d4.loss_plan_l1_fix_time: 0.6285, d4.loss_plan_l1_fix_dist: 0.2078, d5.loss_plan_l1_fix_time: 0.6301, d5.loss_plan_l1_fix_dist: 0.1883, d6.loss_plan_l1_fix_time: 0.6317, d6.loss_plan_l1_fix_dist: 0.2290, d0.loss_cls_all: 0.1262, d0.loss_bbox_all: 0.3419, d0.loss_cls: 0.1262, d0.loss_bbox: 0.3419, d1.loss_cls: 0.1232, d1.loss_bbox: 0.3097, d2.loss_cls: 0.1064, d2.loss_bbox: 0.2910, d3.loss_cls: 0.0897, d3.loss_bbox: 0.2820, d4.loss_cls: 0.0849, d4.loss_bbox: 0.2781, d5.loss_cls: 0.0822, d5.loss_bbox: 0.2772, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6939, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5452, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4973, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4709, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4686, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4642, d0.loss_map_cls_all: 0.1589, d0.loss_map_pts_all: 0.9889, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1589, d0.loss_map_pts: 0.9889, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1243, d1.loss_map_pts: 0.7362, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1036, d2.loss_map_pts: 0.5901, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0952, d3.loss_map_pts: 0.5331, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0877, d4.loss_map_pts: 0.5088, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0826, d5.loss_map_pts: 0.5031, d5.loss_map_dir: 0.0055, loss: 20.9101, grad_norm: 127.7683 +2026-03-01 08:50:36,915 - DriveTransformer - INFO - Epoch [12][29950/39528] lr: 5.696e-05, eta: 4 days, 2:15:14, time: 0.735, data_time: 0.038, memory: 19865, loss_cls: 0.0748, loss_bbox: 0.2626, loss_traj: 0.5205, loss_traj_cls: 0.0021, loss_map_cls: 0.0773, loss_map_pts: 0.4521, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.1776, d0.loss_plan_l1_fix_dist: 0.3322, d1.loss_plan_l1_fix_time: 0.6734, d1.loss_plan_l1_fix_dist: 0.1722, d2.loss_plan_l1_fix_time: 0.6539, d2.loss_plan_l1_fix_dist: 0.2348, d3.loss_plan_l1_fix_time: 0.6470, d3.loss_plan_l1_fix_dist: 0.1700, d4.loss_plan_l1_fix_time: 0.6488, d4.loss_plan_l1_fix_dist: 0.1896, d5.loss_plan_l1_fix_time: 0.6508, d5.loss_plan_l1_fix_dist: 0.1678, d6.loss_plan_l1_fix_time: 0.6533, d6.loss_plan_l1_fix_dist: 0.2102, d0.loss_cls_all: 0.1129, d0.loss_bbox_all: 0.3235, d0.loss_cls: 0.1129, d0.loss_bbox: 0.3235, d1.loss_cls: 0.1066, d1.loss_bbox: 0.2912, d2.loss_cls: 0.0967, d2.loss_bbox: 0.2715, d3.loss_cls: 0.0823, d3.loss_bbox: 0.2659, d4.loss_cls: 0.0773, d4.loss_bbox: 0.2639, d5.loss_cls: 0.0755, d5.loss_bbox: 0.2626, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7108, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5840, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5353, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5242, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5232, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5215, d0.loss_map_cls_all: 0.1484, d0.loss_map_pts_all: 0.9846, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1484, d0.loss_map_pts: 0.9846, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1188, d1.loss_map_pts: 0.6926, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1000, d2.loss_map_pts: 0.5257, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0897, d3.loss_map_pts: 0.4724, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0866, d4.loss_map_pts: 0.4539, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0809, d5.loss_map_pts: 0.4512, d5.loss_map_dir: 0.0054, loss: 20.4243, grad_norm: 127.0992 +2026-03-01 08:51:13,159 - DriveTransformer - INFO - Epoch [12][30000/39528] lr: 5.696e-05, eta: 4 days, 2:14:37, time: 0.725, data_time: 0.039, memory: 19865, loss_cls: 0.0741, loss_bbox: 0.2660, loss_traj: 0.4039, loss_traj_cls: 0.0021, loss_map_cls: 0.0761, loss_map_pts: 0.4572, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.7484, d0.loss_plan_l1_fix_dist: 0.4573, d1.loss_plan_l1_fix_time: 0.7915, d1.loss_plan_l1_fix_dist: 0.1906, d2.loss_plan_l1_fix_time: 0.7644, d2.loss_plan_l1_fix_dist: 0.2647, d3.loss_plan_l1_fix_time: 0.7320, d3.loss_plan_l1_fix_dist: 0.1837, d4.loss_plan_l1_fix_time: 0.7313, d4.loss_plan_l1_fix_dist: 0.1984, d5.loss_plan_l1_fix_time: 0.7322, d5.loss_plan_l1_fix_dist: 0.1872, d6.loss_plan_l1_fix_time: 0.7340, d6.loss_plan_l1_fix_dist: 0.2201, d0.loss_cls_all: 0.1168, d0.loss_bbox_all: 0.3349, d0.loss_cls: 0.1168, d0.loss_bbox: 0.3349, d1.loss_cls: 0.1116, d1.loss_bbox: 0.3060, d2.loss_cls: 0.0977, d2.loss_bbox: 0.2821, d3.loss_cls: 0.0823, d3.loss_bbox: 0.2733, d4.loss_cls: 0.0753, d4.loss_bbox: 0.2695, d5.loss_cls: 0.0743, d5.loss_bbox: 0.2664, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6621, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4886, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4235, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4154, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4197, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4054, d0.loss_map_cls_all: 0.1651, d0.loss_map_pts_all: 1.0042, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1651, d0.loss_map_pts: 1.0042, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1287, d1.loss_map_pts: 0.7080, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1024, d2.loss_map_pts: 0.5478, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.0888, d3.loss_map_pts: 0.4881, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0833, d4.loss_map_pts: 0.4669, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0779, d5.loss_map_pts: 0.4572, d5.loss_map_dir: 0.0062, loss: 21.3148, grad_norm: 126.8090 +2026-03-01 08:51:49,453 - DriveTransformer - INFO - Epoch [12][30050/39528] lr: 5.696e-05, eta: 4 days, 2:14:00, time: 0.726, data_time: 0.041, memory: 19865, loss_cls: 0.0708, loss_bbox: 0.2574, loss_traj: 0.4720, loss_traj_cls: 0.0021, loss_map_cls: 0.0795, loss_map_pts: 0.4385, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.3934, d0.loss_plan_l1_fix_dist: 0.4474, d1.loss_plan_l1_fix_time: 0.6608, d1.loss_plan_l1_fix_dist: 0.2085, d2.loss_plan_l1_fix_time: 0.6475, d2.loss_plan_l1_fix_dist: 0.2818, d3.loss_plan_l1_fix_time: 0.6480, d3.loss_plan_l1_fix_dist: 0.2176, d4.loss_plan_l1_fix_time: 0.6500, d4.loss_plan_l1_fix_dist: 0.2122, d5.loss_plan_l1_fix_time: 0.6520, d5.loss_plan_l1_fix_dist: 0.1961, d6.loss_plan_l1_fix_time: 0.6543, d6.loss_plan_l1_fix_dist: 0.2359, d0.loss_cls_all: 0.1122, d0.loss_bbox_all: 0.3204, d0.loss_cls: 0.1122, d0.loss_bbox: 0.3204, d1.loss_cls: 0.1066, d1.loss_bbox: 0.2887, d2.loss_cls: 0.0958, d2.loss_bbox: 0.2673, d3.loss_cls: 0.0762, d3.loss_bbox: 0.2631, d4.loss_cls: 0.0712, d4.loss_bbox: 0.2592, d5.loss_cls: 0.0702, d5.loss_bbox: 0.2574, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7050, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5526, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5065, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4864, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4792, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4736, d0.loss_map_cls_all: 0.1689, d0.loss_map_pts_all: 0.8952, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1689, d0.loss_map_pts: 0.8952, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1378, d1.loss_map_pts: 0.6527, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1093, d2.loss_map_pts: 0.5168, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.0947, d3.loss_map_pts: 0.4675, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.0879, d4.loss_map_pts: 0.4451, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0824, d5.loss_map_pts: 0.4387, d5.loss_map_dir: 0.0047, loss: 20.4561, grad_norm: 127.0904 +2026-03-01 08:52:27,839 - DriveTransformer - INFO - Epoch [12][30100/39528] lr: 5.696e-05, eta: 4 days, 2:13:27, time: 0.768, data_time: 0.040, memory: 19865, loss_cls: 0.0899, loss_bbox: 0.2854, loss_traj: 0.4954, loss_traj_cls: 0.0021, loss_map_cls: 0.0872, loss_map_pts: 0.4913, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.7270, d0.loss_plan_l1_fix_dist: 0.4227, d1.loss_plan_l1_fix_time: 0.7436, d1.loss_plan_l1_fix_dist: 0.1958, d2.loss_plan_l1_fix_time: 0.7274, d2.loss_plan_l1_fix_dist: 0.2478, d3.loss_plan_l1_fix_time: 0.7015, d3.loss_plan_l1_fix_dist: 0.1962, d4.loss_plan_l1_fix_time: 0.7051, d4.loss_plan_l1_fix_dist: 0.1891, d5.loss_plan_l1_fix_time: 0.7077, d5.loss_plan_l1_fix_dist: 0.1819, d6.loss_plan_l1_fix_time: 0.7100, d6.loss_plan_l1_fix_dist: 0.2012, d0.loss_cls_all: 0.1336, d0.loss_bbox_all: 0.3491, d0.loss_cls: 0.1336, d0.loss_bbox: 0.3491, d1.loss_cls: 0.1248, d1.loss_bbox: 0.3182, d2.loss_cls: 0.1146, d2.loss_bbox: 0.2955, d3.loss_cls: 0.0980, d3.loss_bbox: 0.2902, d4.loss_cls: 0.0909, d4.loss_bbox: 0.2871, d5.loss_cls: 0.0900, d5.loss_bbox: 0.2857, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7324, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5844, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5304, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5098, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4992, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4969, d0.loss_map_cls_all: 0.1699, d0.loss_map_pts_all: 1.0190, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1699, d0.loss_map_pts: 1.0190, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1321, d1.loss_map_pts: 0.7408, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1093, d2.loss_map_pts: 0.5782, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1011, d3.loss_map_pts: 0.5151, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.0940, d4.loss_map_pts: 0.4960, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0892, d5.loss_map_pts: 0.4924, d5.loss_map_dir: 0.0063, loss: 22.2037, grad_norm: 128.4291 +2026-03-01 08:53:03,467 - DriveTransformer - INFO - Epoch [12][30150/39528] lr: 5.696e-05, eta: 4 days, 2:12:49, time: 0.713, data_time: 0.040, memory: 19865, loss_cls: 0.0749, loss_bbox: 0.2650, loss_traj: 0.4455, loss_traj_cls: 0.0022, loss_map_cls: 0.0926, loss_map_pts: 0.4560, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.6188, d0.loss_plan_l1_fix_dist: 0.4350, d1.loss_plan_l1_fix_time: 0.7230, d1.loss_plan_l1_fix_dist: 0.1788, d2.loss_plan_l1_fix_time: 0.7142, d2.loss_plan_l1_fix_dist: 0.2368, d3.loss_plan_l1_fix_time: 0.7081, d3.loss_plan_l1_fix_dist: 0.1762, d4.loss_plan_l1_fix_time: 0.7096, d4.loss_plan_l1_fix_dist: 0.1946, d5.loss_plan_l1_fix_time: 0.7117, d5.loss_plan_l1_fix_dist: 0.2129, d6.loss_plan_l1_fix_time: 0.7140, d6.loss_plan_l1_fix_dist: 0.2183, d0.loss_cls_all: 0.1260, d0.loss_bbox_all: 0.3285, d0.loss_cls: 0.1260, d0.loss_bbox: 0.3285, d1.loss_cls: 0.1170, d1.loss_bbox: 0.2967, d2.loss_cls: 0.1044, d2.loss_bbox: 0.2738, d3.loss_cls: 0.0853, d3.loss_bbox: 0.2692, d4.loss_cls: 0.0791, d4.loss_bbox: 0.2661, d5.loss_cls: 0.0762, d5.loss_bbox: 0.2641, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7359, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5432, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4756, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4595, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4551, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4474, d0.loss_map_cls_all: 0.1782, d0.loss_map_pts_all: 0.9392, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1782, d0.loss_map_pts: 0.9392, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1419, d1.loss_map_pts: 0.6848, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1183, d2.loss_map_pts: 0.5288, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1054, d3.loss_map_pts: 0.4790, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0988, d4.loss_map_pts: 0.4604, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0946, d5.loss_map_pts: 0.4559, d5.loss_map_dir: 0.0053, loss: 21.1966, grad_norm: 129.1809 +2026-03-01 08:53:39,934 - DriveTransformer - INFO - Epoch [12][30200/39528] lr: 5.696e-05, eta: 4 days, 2:12:12, time: 0.729, data_time: 0.037, memory: 19865, loss_cls: 0.0752, loss_bbox: 0.2722, loss_traj: 0.4346, loss_traj_cls: 0.0022, loss_map_cls: 0.0965, loss_map_pts: 0.4686, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.6919, d0.loss_plan_l1_fix_dist: 0.4805, d1.loss_plan_l1_fix_time: 0.7130, d1.loss_plan_l1_fix_dist: 0.1752, d2.loss_plan_l1_fix_time: 0.7052, d2.loss_plan_l1_fix_dist: 0.2181, d3.loss_plan_l1_fix_time: 0.6841, d3.loss_plan_l1_fix_dist: 0.1656, d4.loss_plan_l1_fix_time: 0.6871, d4.loss_plan_l1_fix_dist: 0.1848, d5.loss_plan_l1_fix_time: 0.6910, d5.loss_plan_l1_fix_dist: 0.2003, d6.loss_plan_l1_fix_time: 0.6954, d6.loss_plan_l1_fix_dist: 0.2030, d0.loss_cls_all: 0.1209, d0.loss_bbox_all: 0.3356, d0.loss_cls: 0.1209, d0.loss_bbox: 0.3356, d1.loss_cls: 0.1135, d1.loss_bbox: 0.3031, d2.loss_cls: 0.0996, d2.loss_bbox: 0.2833, d3.loss_cls: 0.0820, d3.loss_bbox: 0.2786, d4.loss_cls: 0.0765, d4.loss_bbox: 0.2744, d5.loss_cls: 0.0755, d5.loss_bbox: 0.2720, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6884, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5247, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4588, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4425, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4382, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4356, d0.loss_map_cls_all: 0.1710, d0.loss_map_pts_all: 0.9590, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1710, d0.loss_map_pts: 0.9590, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1414, d1.loss_map_pts: 0.7079, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1214, d2.loss_map_pts: 0.5501, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1094, d3.loss_map_pts: 0.4965, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.1037, d4.loss_map_pts: 0.4759, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0990, d5.loss_map_pts: 0.4691, d5.loss_map_dir: 0.0052, loss: 21.1867, grad_norm: 133.4660 +2026-03-01 08:54:14,980 - DriveTransformer - INFO - Epoch [12][30250/39528] lr: 5.696e-05, eta: 4 days, 2:11:32, time: 0.701, data_time: 0.037, memory: 19865, loss_cls: 0.0881, loss_bbox: 0.2512, loss_traj: 0.3867, loss_traj_cls: 0.0022, loss_map_cls: 0.0941, loss_map_pts: 0.4621, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.5480, d0.loss_plan_l1_fix_dist: 0.5223, d1.loss_plan_l1_fix_time: 0.6393, d1.loss_plan_l1_fix_dist: 0.1692, d2.loss_plan_l1_fix_time: 0.6290, d2.loss_plan_l1_fix_dist: 0.1872, d3.loss_plan_l1_fix_time: 0.6337, d3.loss_plan_l1_fix_dist: 0.1607, d4.loss_plan_l1_fix_time: 0.6378, d4.loss_plan_l1_fix_dist: 0.1753, d5.loss_plan_l1_fix_time: 0.6415, d5.loss_plan_l1_fix_dist: 0.1881, d6.loss_plan_l1_fix_time: 0.6456, d6.loss_plan_l1_fix_dist: 0.1808, d0.loss_cls_all: 0.1278, d0.loss_bbox_all: 0.3268, d0.loss_cls: 0.1278, d0.loss_bbox: 0.3268, d1.loss_cls: 0.1209, d1.loss_bbox: 0.2913, d2.loss_cls: 0.1096, d2.loss_bbox: 0.2663, d3.loss_cls: 0.0936, d3.loss_bbox: 0.2580, d4.loss_cls: 0.0902, d4.loss_bbox: 0.2537, d5.loss_cls: 0.0880, d5.loss_bbox: 0.2516, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6171, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4569, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4073, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3892, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3859, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3853, d0.loss_map_cls_all: 0.1737, d0.loss_map_pts_all: 0.9839, d0.loss_map_dir_all: 0.0049, d0.loss_map_cls: 0.1737, d0.loss_map_pts: 0.9839, d0.loss_map_dir: 0.0049, d1.loss_map_cls: 0.1413, d1.loss_map_pts: 0.7059, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.1185, d2.loss_map_pts: 0.5429, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.1081, d3.loss_map_pts: 0.4860, d3.loss_map_dir: 0.0043, d4.loss_map_cls: 0.1011, d4.loss_map_pts: 0.4660, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0969, d5.loss_map_pts: 0.4611, d5.loss_map_dir: 0.0046, loss: 20.2021, grad_norm: 135.1303 +2026-03-01 08:54:52,991 - DriveTransformer - INFO - Epoch [12][30300/39528] lr: 5.696e-05, eta: 4 days, 2:10:59, time: 0.760, data_time: 0.039, memory: 19865, loss_cls: 0.0764, loss_bbox: 0.2652, loss_traj: 0.3535, loss_traj_cls: 0.0021, loss_map_cls: 0.0865, loss_map_pts: 0.5296, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.5215, d0.loss_plan_l1_fix_dist: 0.4512, d1.loss_plan_l1_fix_time: 0.6452, d1.loss_plan_l1_fix_dist: 0.2009, d2.loss_plan_l1_fix_time: 0.6269, d2.loss_plan_l1_fix_dist: 0.2051, d3.loss_plan_l1_fix_time: 0.6282, d3.loss_plan_l1_fix_dist: 0.1910, d4.loss_plan_l1_fix_time: 0.6308, d4.loss_plan_l1_fix_dist: 0.1973, d5.loss_plan_l1_fix_time: 0.6336, d5.loss_plan_l1_fix_dist: 0.2242, d6.loss_plan_l1_fix_time: 0.6369, d6.loss_plan_l1_fix_dist: 0.2134, d0.loss_cls_all: 0.1175, d0.loss_bbox_all: 0.3427, d0.loss_cls: 0.1175, d0.loss_bbox: 0.3427, d1.loss_cls: 0.1114, d1.loss_bbox: 0.3057, d2.loss_cls: 0.0972, d2.loss_bbox: 0.2794, d3.loss_cls: 0.0834, d3.loss_bbox: 0.2705, d4.loss_cls: 0.0789, d4.loss_bbox: 0.2667, d5.loss_cls: 0.0767, d5.loss_bbox: 0.2656, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5667, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4249, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3756, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3605, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3564, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3540, d0.loss_map_cls_all: 0.1692, d0.loss_map_pts_all: 1.0833, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1692, d0.loss_map_pts: 1.0833, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1326, d1.loss_map_pts: 0.7896, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1102, d2.loss_map_pts: 0.6165, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.0987, d3.loss_map_pts: 0.5562, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.0924, d4.loss_map_pts: 0.5330, d4.loss_map_dir: 0.0069, d5.loss_map_cls: 0.0876, d5.loss_map_pts: 0.5289, d5.loss_map_dir: 0.0069, loss: 20.6248, grad_norm: 136.5398 +2026-03-01 08:55:29,257 - DriveTransformer - INFO - Epoch [12][30350/39528] lr: 5.696e-05, eta: 4 days, 2:10:22, time: 0.725, data_time: 0.039, memory: 19865, loss_cls: 0.0896, loss_bbox: 0.2965, loss_traj: 0.4543, loss_traj_cls: 0.0022, loss_map_cls: 0.1010, loss_map_pts: 0.5219, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 3.0767, d0.loss_plan_l1_fix_dist: 0.4787, d1.loss_plan_l1_fix_time: 0.6824, d1.loss_plan_l1_fix_dist: 0.1951, d2.loss_plan_l1_fix_time: 0.6576, d2.loss_plan_l1_fix_dist: 0.1791, d3.loss_plan_l1_fix_time: 0.6628, d3.loss_plan_l1_fix_dist: 0.1722, d4.loss_plan_l1_fix_time: 0.6662, d4.loss_plan_l1_fix_dist: 0.1766, d5.loss_plan_l1_fix_time: 0.6692, d5.loss_plan_l1_fix_dist: 0.1971, d6.loss_plan_l1_fix_time: 0.6725, d6.loss_plan_l1_fix_dist: 0.1981, d0.loss_cls_all: 0.1335, d0.loss_bbox_all: 0.3661, d0.loss_cls: 0.1335, d0.loss_bbox: 0.3661, d1.loss_cls: 0.1302, d1.loss_bbox: 0.3290, d2.loss_cls: 0.1179, d2.loss_bbox: 0.3068, d3.loss_cls: 0.0983, d3.loss_bbox: 0.3009, d4.loss_cls: 0.0915, d4.loss_bbox: 0.2988, d5.loss_cls: 0.0885, d5.loss_bbox: 0.2981, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6735, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5270, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4804, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4638, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4572, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4564, d0.loss_map_cls_all: 0.1761, d0.loss_map_pts_all: 1.0911, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1761, d0.loss_map_pts: 1.0911, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1501, d1.loss_map_pts: 0.7941, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1253, d2.loss_map_pts: 0.6192, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1151, d3.loss_map_pts: 0.5541, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1084, d4.loss_map_pts: 0.5276, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1032, d5.loss_map_pts: 0.5228, d5.loss_map_dir: 0.0061, loss: 22.4763, grad_norm: 154.0149 +2026-03-01 08:56:06,936 - DriveTransformer - INFO - Epoch [12][30400/39528] lr: 5.696e-05, eta: 4 days, 2:09:48, time: 0.754, data_time: 0.038, memory: 19865, loss_cls: 0.0696, loss_bbox: 0.2474, loss_traj: 0.3215, loss_traj_cls: 0.0021, loss_map_cls: 0.0892, loss_map_pts: 0.4972, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.5559, d0.loss_plan_l1_fix_dist: 0.4361, d1.loss_plan_l1_fix_time: 0.6558, d1.loss_plan_l1_fix_dist: 0.1846, d2.loss_plan_l1_fix_time: 0.6399, d2.loss_plan_l1_fix_dist: 0.1546, d3.loss_plan_l1_fix_time: 0.6404, d3.loss_plan_l1_fix_dist: 0.1605, d4.loss_plan_l1_fix_time: 0.6433, d4.loss_plan_l1_fix_dist: 0.1623, d5.loss_plan_l1_fix_time: 0.6465, d5.loss_plan_l1_fix_dist: 0.1782, d6.loss_plan_l1_fix_time: 0.6500, d6.loss_plan_l1_fix_dist: 0.2075, d0.loss_cls_all: 0.1156, d0.loss_bbox_all: 0.3085, d0.loss_cls: 0.1156, d0.loss_bbox: 0.3085, d1.loss_cls: 0.1074, d1.loss_bbox: 0.2784, d2.loss_cls: 0.0943, d2.loss_bbox: 0.2571, d3.loss_cls: 0.0784, d3.loss_bbox: 0.2514, d4.loss_cls: 0.0722, d4.loss_bbox: 0.2478, d5.loss_cls: 0.0699, d5.loss_bbox: 0.2471, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5006, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.3841, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3453, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3342, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3283, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.3241, d0.loss_map_cls_all: 0.1706, d0.loss_map_pts_all: 1.0248, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1706, d0.loss_map_pts: 1.0248, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1382, d1.loss_map_pts: 0.7503, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1153, d2.loss_map_pts: 0.5896, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1025, d3.loss_map_pts: 0.5313, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0963, d4.loss_map_pts: 0.5036, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0906, d5.loss_map_pts: 0.4979, d5.loss_map_dir: 0.0062, loss: 19.7739, grad_norm: 153.3965 +2026-03-01 08:56:43,500 - DriveTransformer - INFO - Epoch [12][30450/39528] lr: 5.696e-05, eta: 4 days, 2:09:11, time: 0.731, data_time: 0.042, memory: 19865, loss_cls: 0.0905, loss_bbox: 0.2768, loss_traj: 0.3944, loss_traj_cls: 0.0021, loss_map_cls: 0.1001, loss_map_pts: 0.4882, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.2829, d0.loss_plan_l1_fix_dist: 0.4334, d1.loss_plan_l1_fix_time: 0.6688, d1.loss_plan_l1_fix_dist: 0.2195, d2.loss_plan_l1_fix_time: 0.6556, d2.loss_plan_l1_fix_dist: 0.1886, d3.loss_plan_l1_fix_time: 0.6379, d3.loss_plan_l1_fix_dist: 0.2037, d4.loss_plan_l1_fix_time: 0.6390, d4.loss_plan_l1_fix_dist: 0.1925, d5.loss_plan_l1_fix_time: 0.6405, d5.loss_plan_l1_fix_dist: 0.2149, d6.loss_plan_l1_fix_time: 0.6424, d6.loss_plan_l1_fix_dist: 0.2403, d0.loss_cls_all: 0.1357, d0.loss_bbox_all: 0.3501, d0.loss_cls: 0.1357, d0.loss_bbox: 0.3501, d1.loss_cls: 0.1293, d1.loss_bbox: 0.3133, d2.loss_cls: 0.1177, d2.loss_bbox: 0.2912, d3.loss_cls: 0.0985, d3.loss_bbox: 0.2831, d4.loss_cls: 0.0923, d4.loss_bbox: 0.2782, d5.loss_cls: 0.0912, d5.loss_bbox: 0.2773, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5983, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4511, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4106, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3998, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3926, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3951, d0.loss_map_cls_all: 0.1825, d0.loss_map_pts_all: 1.0017, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1825, d0.loss_map_pts: 1.0017, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1522, d1.loss_map_pts: 0.7350, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1270, d2.loss_map_pts: 0.5735, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1158, d3.loss_map_pts: 0.5195, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.1080, d4.loss_map_pts: 0.4967, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.1041, d5.loss_map_pts: 0.4882, d5.loss_map_dir: 0.0051, loss: 20.6387, grad_norm: 153.5054 +2026-03-01 08:57:19,491 - DriveTransformer - INFO - Epoch [12][30500/39528] lr: 5.696e-05, eta: 4 days, 2:08:33, time: 0.720, data_time: 0.043, memory: 19865, loss_cls: 0.0690, loss_bbox: 0.2598, loss_traj: 0.4956, loss_traj_cls: 0.0021, loss_map_cls: 0.0869, loss_map_pts: 0.4092, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.4550, d0.loss_plan_l1_fix_dist: 0.3860, d1.loss_plan_l1_fix_time: 0.6855, d1.loss_plan_l1_fix_dist: 0.2007, d2.loss_plan_l1_fix_time: 0.6680, d2.loss_plan_l1_fix_dist: 0.1738, d3.loss_plan_l1_fix_time: 0.6671, d3.loss_plan_l1_fix_dist: 0.1898, d4.loss_plan_l1_fix_time: 0.6689, d4.loss_plan_l1_fix_dist: 0.1857, d5.loss_plan_l1_fix_time: 0.6713, d5.loss_plan_l1_fix_dist: 0.2067, d6.loss_plan_l1_fix_time: 0.6738, d6.loss_plan_l1_fix_dist: 0.2144, d0.loss_cls_all: 0.1092, d0.loss_bbox_all: 0.3240, d0.loss_cls: 0.1092, d0.loss_bbox: 0.3240, d1.loss_cls: 0.1037, d1.loss_bbox: 0.2947, d2.loss_cls: 0.0914, d2.loss_bbox: 0.2731, d3.loss_cls: 0.0750, d3.loss_bbox: 0.2653, d4.loss_cls: 0.0720, d4.loss_bbox: 0.2602, d5.loss_cls: 0.0693, d5.loss_bbox: 0.2599, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.7972, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.6069, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5453, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5172, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5052, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4993, d0.loss_map_cls_all: 0.1605, d0.loss_map_pts_all: 0.8893, d0.loss_map_dir_all: 0.0049, d0.loss_map_cls: 0.1605, d0.loss_map_pts: 0.8893, d0.loss_map_dir: 0.0049, d1.loss_map_cls: 0.1343, d1.loss_map_pts: 0.6402, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.1093, d2.loss_map_pts: 0.4895, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.0991, d3.loss_map_pts: 0.4347, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.0932, d4.loss_map_pts: 0.4164, d4.loss_map_dir: 0.0046, d5.loss_map_cls: 0.0885, d5.loss_map_pts: 0.4097, d5.loss_map_dir: 0.0047, loss: 20.5285, grad_norm: 155.2226 +2026-03-01 08:57:55,477 - DriveTransformer - INFO - Epoch [12][30550/39528] lr: 5.696e-05, eta: 4 days, 2:07:56, time: 0.720, data_time: 0.038, memory: 19865, loss_cls: 0.0761, loss_bbox: 0.2609, loss_traj: 0.4597, loss_traj_cls: 0.0021, loss_map_cls: 0.0680, loss_map_pts: 0.3725, loss_map_dir: 0.0041, d0.loss_plan_l1_fix_time: 2.3610, d0.loss_plan_l1_fix_dist: 0.4847, d1.loss_plan_l1_fix_time: 0.6029, d1.loss_plan_l1_fix_dist: 0.2025, d2.loss_plan_l1_fix_time: 0.5971, d2.loss_plan_l1_fix_dist: 0.1820, d3.loss_plan_l1_fix_time: 0.6085, d3.loss_plan_l1_fix_dist: 0.1974, d4.loss_plan_l1_fix_time: 0.6117, d4.loss_plan_l1_fix_dist: 0.1921, d5.loss_plan_l1_fix_time: 0.6153, d5.loss_plan_l1_fix_dist: 0.2116, d6.loss_plan_l1_fix_time: 0.6189, d6.loss_plan_l1_fix_dist: 0.2016, d0.loss_cls_all: 0.1177, d0.loss_bbox_all: 0.3191, d0.loss_cls: 0.1177, d0.loss_bbox: 0.3191, d1.loss_cls: 0.1120, d1.loss_bbox: 0.2895, d2.loss_cls: 0.1062, d2.loss_bbox: 0.2683, d3.loss_cls: 0.0855, d3.loss_bbox: 0.2632, d4.loss_cls: 0.0783, d4.loss_bbox: 0.2612, d5.loss_cls: 0.0757, d5.loss_bbox: 0.2605, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7101, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5710, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5052, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4809, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4661, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4617, d0.loss_map_cls_all: 0.1399, d0.loss_map_pts_all: 0.8154, d0.loss_map_dir_all: 0.0050, d0.loss_map_cls: 0.1399, d0.loss_map_pts: 0.8154, d0.loss_map_dir: 0.0050, d1.loss_map_cls: 0.1106, d1.loss_map_pts: 0.5739, d1.loss_map_dir: 0.0042, d2.loss_map_cls: 0.0907, d2.loss_map_pts: 0.4439, d2.loss_map_dir: 0.0038, d3.loss_map_cls: 0.0808, d3.loss_map_pts: 0.3934, d3.loss_map_dir: 0.0039, d4.loss_map_cls: 0.0750, d4.loss_map_pts: 0.3766, d4.loss_map_dir: 0.0041, d5.loss_map_cls: 0.0704, d5.loss_map_pts: 0.3721, d5.loss_map_dir: 0.0042, loss: 19.3335, grad_norm: 156.5376 +2026-03-01 08:58:30,873 - DriveTransformer - INFO - Epoch [12][30600/39528] lr: 5.696e-05, eta: 4 days, 2:07:17, time: 0.709, data_time: 0.039, memory: 19865, loss_cls: 0.0730, loss_bbox: 0.2538, loss_traj: 0.4308, loss_traj_cls: 0.0021, loss_map_cls: 0.0733, loss_map_pts: 0.4001, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.3298, d0.loss_plan_l1_fix_dist: 0.4064, d1.loss_plan_l1_fix_time: 0.5984, d1.loss_plan_l1_fix_dist: 0.1820, d2.loss_plan_l1_fix_time: 0.5847, d2.loss_plan_l1_fix_dist: 0.1657, d3.loss_plan_l1_fix_time: 0.5791, d3.loss_plan_l1_fix_dist: 0.1774, d4.loss_plan_l1_fix_time: 0.5827, d4.loss_plan_l1_fix_dist: 0.1708, d5.loss_plan_l1_fix_time: 0.5858, d5.loss_plan_l1_fix_dist: 0.1929, d6.loss_plan_l1_fix_time: 0.5895, d6.loss_plan_l1_fix_dist: 0.1718, d0.loss_cls_all: 0.1123, d0.loss_bbox_all: 0.3164, d0.loss_cls: 0.1123, d0.loss_bbox: 0.3164, d1.loss_cls: 0.1080, d1.loss_bbox: 0.2851, d2.loss_cls: 0.0959, d2.loss_bbox: 0.2641, d3.loss_cls: 0.0808, d3.loss_bbox: 0.2568, d4.loss_cls: 0.0746, d4.loss_bbox: 0.2543, d5.loss_cls: 0.0736, d5.loss_bbox: 0.2529, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6824, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5263, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4617, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4363, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4330, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4303, d0.loss_map_cls_all: 0.1530, d0.loss_map_pts_all: 0.8569, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1530, d0.loss_map_pts: 0.8569, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1221, d1.loss_map_pts: 0.6150, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.0942, d2.loss_map_pts: 0.4775, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0849, d3.loss_map_pts: 0.4275, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0792, d4.loss_map_pts: 0.4054, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0749, d5.loss_map_pts: 0.4008, d5.loss_map_dir: 0.0050, loss: 18.9708, grad_norm: 149.5170 +2026-03-01 08:59:06,670 - DriveTransformer - INFO - Epoch [12][30650/39528] lr: 5.696e-05, eta: 4 days, 2:06:38, time: 0.715, data_time: 0.036, memory: 19865, loss_cls: 0.0822, loss_bbox: 0.2609, loss_traj: 0.4847, loss_traj_cls: 0.0021, loss_map_cls: 0.0746, loss_map_pts: 0.4059, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.6973, d0.loss_plan_l1_fix_dist: 0.4608, d1.loss_plan_l1_fix_time: 0.6668, d1.loss_plan_l1_fix_dist: 0.1994, d2.loss_plan_l1_fix_time: 0.6636, d2.loss_plan_l1_fix_dist: 0.1943, d3.loss_plan_l1_fix_time: 0.6543, d3.loss_plan_l1_fix_dist: 0.1892, d4.loss_plan_l1_fix_time: 0.6573, d4.loss_plan_l1_fix_dist: 0.2055, d5.loss_plan_l1_fix_time: 0.6607, d5.loss_plan_l1_fix_dist: 0.2104, d6.loss_plan_l1_fix_time: 0.6643, d6.loss_plan_l1_fix_dist: 0.1687, d0.loss_cls_all: 0.1231, d0.loss_bbox_all: 0.3286, d0.loss_cls: 0.1231, d0.loss_bbox: 0.3286, d1.loss_cls: 0.1127, d1.loss_bbox: 0.2985, d2.loss_cls: 0.1038, d2.loss_bbox: 0.2743, d3.loss_cls: 0.0908, d3.loss_bbox: 0.2679, d4.loss_cls: 0.0826, d4.loss_bbox: 0.2658, d5.loss_cls: 0.0823, d5.loss_bbox: 0.2624, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7235, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5624, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4956, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4912, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4861, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4836, d0.loss_map_cls_all: 0.1540, d0.loss_map_pts_all: 0.8781, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1540, d0.loss_map_pts: 0.8781, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1244, d1.loss_map_pts: 0.6314, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1039, d2.loss_map_pts: 0.4871, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0903, d3.loss_map_pts: 0.4359, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0818, d4.loss_map_pts: 0.4152, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0763, d5.loss_map_pts: 0.4076, d5.loss_map_dir: 0.0049, loss: 20.5539, grad_norm: 150.4092 +2026-03-01 08:59:43,054 - DriveTransformer - INFO - Epoch [12][30700/39528] lr: 5.696e-05, eta: 4 days, 2:06:02, time: 0.728, data_time: 0.041, memory: 19865, loss_cls: 0.0705, loss_bbox: 0.2340, loss_traj: 0.3978, loss_traj_cls: 0.0021, loss_map_cls: 0.0795, loss_map_pts: 0.3768, loss_map_dir: 0.0040, d0.loss_plan_l1_fix_time: 2.0569, d0.loss_plan_l1_fix_dist: 0.4034, d1.loss_plan_l1_fix_time: 0.5770, d1.loss_plan_l1_fix_dist: 0.1773, d2.loss_plan_l1_fix_time: 0.5694, d2.loss_plan_l1_fix_dist: 0.1824, d3.loss_plan_l1_fix_time: 0.5669, d3.loss_plan_l1_fix_dist: 0.1643, d4.loss_plan_l1_fix_time: 0.5699, d4.loss_plan_l1_fix_dist: 0.2002, d5.loss_plan_l1_fix_time: 0.5735, d5.loss_plan_l1_fix_dist: 0.1881, d6.loss_plan_l1_fix_time: 0.5778, d6.loss_plan_l1_fix_dist: 0.1548, d0.loss_cls_all: 0.1108, d0.loss_bbox_all: 0.2962, d0.loss_cls: 0.1108, d0.loss_bbox: 0.2962, d1.loss_cls: 0.1067, d1.loss_bbox: 0.2655, d2.loss_cls: 0.0899, d2.loss_bbox: 0.2468, d3.loss_cls: 0.0748, d3.loss_bbox: 0.2390, d4.loss_cls: 0.0700, d4.loss_bbox: 0.2365, d5.loss_cls: 0.0690, d5.loss_bbox: 0.2352, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6097, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4648, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4169, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4076, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4000, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3963, d0.loss_map_cls_all: 0.1600, d0.loss_map_pts_all: 0.8008, d0.loss_map_dir_all: 0.0042, d0.loss_map_cls: 0.1600, d0.loss_map_pts: 0.8008, d0.loss_map_dir: 0.0042, d1.loss_map_cls: 0.1262, d1.loss_map_pts: 0.5820, d1.loss_map_dir: 0.0037, d2.loss_map_cls: 0.1045, d2.loss_map_pts: 0.4488, d2.loss_map_dir: 0.0036, d3.loss_map_cls: 0.0941, d3.loss_map_pts: 0.3960, d3.loss_map_dir: 0.0037, d4.loss_map_cls: 0.0865, d4.loss_map_pts: 0.3802, d4.loss_map_dir: 0.0039, d5.loss_map_cls: 0.0821, d5.loss_map_pts: 0.3768, d5.loss_map_dir: 0.0040, loss: 17.9004, grad_norm: 151.3998 +2026-03-01 09:00:16,636 - DriveTransformer - INFO - Epoch [12][30750/39528] lr: 5.696e-05, eta: 4 days, 2:05:19, time: 0.672, data_time: 0.038, memory: 19865, loss_cls: 0.0846, loss_bbox: 0.2582, loss_traj: 0.4299, loss_traj_cls: 0.0021, loss_map_cls: 0.0736, loss_map_pts: 0.3627, loss_map_dir: 0.0034, d0.loss_plan_l1_fix_time: 2.5373, d0.loss_plan_l1_fix_dist: 0.5041, d1.loss_plan_l1_fix_time: 0.6500, d1.loss_plan_l1_fix_dist: 0.1804, d2.loss_plan_l1_fix_time: 0.6372, d2.loss_plan_l1_fix_dist: 0.1857, d3.loss_plan_l1_fix_time: 0.6357, d3.loss_plan_l1_fix_dist: 0.1710, d4.loss_plan_l1_fix_time: 0.6377, d4.loss_plan_l1_fix_dist: 0.2393, d5.loss_plan_l1_fix_time: 0.6396, d5.loss_plan_l1_fix_dist: 0.2028, d6.loss_plan_l1_fix_time: 0.6418, d6.loss_plan_l1_fix_dist: 0.1769, d0.loss_cls_all: 0.1256, d0.loss_bbox_all: 0.3261, d0.loss_cls: 0.1256, d0.loss_bbox: 0.3261, d1.loss_cls: 0.1194, d1.loss_bbox: 0.2932, d2.loss_cls: 0.1059, d2.loss_bbox: 0.2713, d3.loss_cls: 0.0885, d3.loss_bbox: 0.2644, d4.loss_cls: 0.0853, d4.loss_bbox: 0.2608, d5.loss_cls: 0.0852, d5.loss_bbox: 0.2590, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6196, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4831, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4432, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4369, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4303, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4292, d0.loss_map_cls_all: 0.1500, d0.loss_map_pts_all: 0.7899, d0.loss_map_dir_all: 0.0037, d0.loss_map_cls: 0.1500, d0.loss_map_pts: 0.7899, d0.loss_map_dir: 0.0037, d1.loss_map_cls: 0.1174, d1.loss_map_pts: 0.5831, d1.loss_map_dir: 0.0033, d2.loss_map_cls: 0.0926, d2.loss_map_pts: 0.4458, d2.loss_map_dir: 0.0032, d3.loss_map_cls: 0.0843, d3.loss_map_pts: 0.3926, d3.loss_map_dir: 0.0032, d4.loss_map_cls: 0.0806, d4.loss_map_pts: 0.3676, d4.loss_map_dir: 0.0033, d5.loss_map_cls: 0.0756, d5.loss_map_pts: 0.3635, d5.loss_map_dir: 0.0033, loss: 19.3451, grad_norm: 151.8295 +2026-03-01 09:00:52,414 - DriveTransformer - INFO - Epoch [12][30800/39528] lr: 5.696e-05, eta: 4 days, 2:04:41, time: 0.715, data_time: 0.037, memory: 19865, loss_cls: 0.0831, loss_bbox: 0.2630, loss_traj: 0.4422, loss_traj_cls: 0.0020, loss_map_cls: 0.0947, loss_map_pts: 0.5046, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 3.0902, d0.loss_plan_l1_fix_dist: 0.4635, d1.loss_plan_l1_fix_time: 0.7671, d1.loss_plan_l1_fix_dist: 0.1931, d2.loss_plan_l1_fix_time: 0.7442, d2.loss_plan_l1_fix_dist: 0.1899, d3.loss_plan_l1_fix_time: 0.7131, d3.loss_plan_l1_fix_dist: 0.1763, d4.loss_plan_l1_fix_time: 0.7141, d4.loss_plan_l1_fix_dist: 0.2595, d5.loss_plan_l1_fix_time: 0.7172, d5.loss_plan_l1_fix_dist: 0.2252, d6.loss_plan_l1_fix_time: 0.7206, d6.loss_plan_l1_fix_dist: 0.2079, d0.loss_cls_all: 0.1336, d0.loss_bbox_all: 0.3237, d0.loss_cls: 0.1336, d0.loss_bbox: 0.3237, d1.loss_cls: 0.1264, d1.loss_bbox: 0.2963, d2.loss_cls: 0.1142, d2.loss_bbox: 0.2741, d3.loss_cls: 0.0938, d3.loss_bbox: 0.2700, d4.loss_cls: 0.0843, d4.loss_bbox: 0.2664, d5.loss_cls: 0.0842, d5.loss_bbox: 0.2635, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6902, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5325, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4844, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4559, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4479, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4422, d0.loss_map_cls_all: 0.1856, d0.loss_map_pts_all: 1.0765, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1856, d0.loss_map_pts: 1.0765, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1493, d1.loss_map_pts: 0.7754, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1237, d2.loss_map_pts: 0.5891, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1097, d3.loss_map_pts: 0.5314, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1021, d4.loss_map_pts: 0.5103, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0970, d5.loss_map_pts: 0.5053, d5.loss_map_dir: 0.0056, loss: 22.4793, grad_norm: 154.6535 +2026-03-01 09:01:28,392 - DriveTransformer - INFO - Epoch [12][30850/39528] lr: 5.696e-05, eta: 4 days, 2:04:03, time: 0.720, data_time: 0.041, memory: 19865, loss_cls: 0.0974, loss_bbox: 0.3081, loss_traj: 0.5381, loss_traj_cls: 0.0020, loss_map_cls: 0.1115, loss_map_pts: 0.5415, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 3.0812, d0.loss_plan_l1_fix_dist: 0.4258, d1.loss_plan_l1_fix_time: 0.6662, d1.loss_plan_l1_fix_dist: 0.2031, d2.loss_plan_l1_fix_time: 0.6542, d2.loss_plan_l1_fix_dist: 0.1843, d3.loss_plan_l1_fix_time: 0.6648, d3.loss_plan_l1_fix_dist: 0.1669, d4.loss_plan_l1_fix_time: 0.6688, d4.loss_plan_l1_fix_dist: 0.2282, d5.loss_plan_l1_fix_time: 0.6728, d5.loss_plan_l1_fix_dist: 0.1934, d6.loss_plan_l1_fix_time: 0.6771, d6.loss_plan_l1_fix_dist: 0.1977, d0.loss_cls_all: 0.1513, d0.loss_bbox_all: 0.3766, d0.loss_cls: 0.1513, d0.loss_bbox: 0.3766, d1.loss_cls: 0.1405, d1.loss_bbox: 0.3417, d2.loss_cls: 0.1274, d2.loss_bbox: 0.3168, d3.loss_cls: 0.1093, d3.loss_bbox: 0.3109, d4.loss_cls: 0.0991, d4.loss_bbox: 0.3098, d5.loss_cls: 0.1002, d5.loss_bbox: 0.3055, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8311, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.6303, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5564, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5452, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5398, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5344, d0.loss_map_cls_all: 0.1996, d0.loss_map_pts_all: 1.1289, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1996, d0.loss_map_pts: 1.1289, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1668, d1.loss_map_pts: 0.8272, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1412, d2.loss_map_pts: 0.6491, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1281, d3.loss_map_pts: 0.5776, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.1204, d4.loss_map_pts: 0.5468, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.1139, d5.loss_map_pts: 0.5412, d5.loss_map_dir: 0.0053, loss: 23.6538, grad_norm: 155.0992 +2026-03-01 09:02:04,442 - DriveTransformer - INFO - Epoch [12][30900/39528] lr: 5.696e-05, eta: 4 days, 2:03:25, time: 0.721, data_time: 0.038, memory: 19865, loss_cls: 0.0734, loss_bbox: 0.2577, loss_traj: 0.3945, loss_traj_cls: 0.0022, loss_map_cls: 0.0984, loss_map_pts: 0.4842, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.7657, d0.loss_plan_l1_fix_dist: 0.4218, d1.loss_plan_l1_fix_time: 0.5961, d1.loss_plan_l1_fix_dist: 0.1927, d2.loss_plan_l1_fix_time: 0.5733, d2.loss_plan_l1_fix_dist: 0.1657, d3.loss_plan_l1_fix_time: 0.5715, d3.loss_plan_l1_fix_dist: 0.1643, d4.loss_plan_l1_fix_time: 0.5730, d4.loss_plan_l1_fix_dist: 0.1986, d5.loss_plan_l1_fix_time: 0.5749, d5.loss_plan_l1_fix_dist: 0.1662, d6.loss_plan_l1_fix_time: 0.5770, d6.loss_plan_l1_fix_dist: 0.1854, d0.loss_cls_all: 0.1245, d0.loss_bbox_all: 0.3243, d0.loss_cls: 0.1245, d0.loss_bbox: 0.3243, d1.loss_cls: 0.1153, d1.loss_bbox: 0.2927, d2.loss_cls: 0.1013, d2.loss_bbox: 0.2696, d3.loss_cls: 0.0852, d3.loss_bbox: 0.2627, d4.loss_cls: 0.0776, d4.loss_bbox: 0.2590, d5.loss_cls: 0.0750, d5.loss_bbox: 0.2578, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5901, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4432, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4126, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4028, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3982, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3977, d0.loss_map_cls_all: 0.1685, d0.loss_map_pts_all: 0.9157, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1685, d0.loss_map_pts: 0.9157, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1401, d1.loss_map_pts: 0.6880, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1200, d2.loss_map_pts: 0.5468, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1100, d3.loss_map_pts: 0.5033, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1064, d4.loss_map_pts: 0.4882, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1014, d5.loss_map_pts: 0.4843, d5.loss_map_dir: 0.0059, loss: 19.8839, grad_norm: 153.6885 +2026-03-01 09:02:42,548 - DriveTransformer - INFO - Epoch [12][30950/39528] lr: 5.696e-05, eta: 4 days, 2:02:52, time: 0.762, data_time: 0.039, memory: 19865, loss_cls: 0.0837, loss_bbox: 0.2685, loss_traj: 0.4312, loss_traj_cls: 0.0021, loss_map_cls: 0.1048, loss_map_pts: 0.5795, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.4780, d0.loss_plan_l1_fix_dist: 0.4357, d1.loss_plan_l1_fix_time: 0.7147, d1.loss_plan_l1_fix_dist: 0.2054, d2.loss_plan_l1_fix_time: 0.7108, d2.loss_plan_l1_fix_dist: 0.1639, d3.loss_plan_l1_fix_time: 0.7079, d3.loss_plan_l1_fix_dist: 0.1862, d4.loss_plan_l1_fix_time: 0.7109, d4.loss_plan_l1_fix_dist: 0.2057, d5.loss_plan_l1_fix_time: 0.7139, d5.loss_plan_l1_fix_dist: 0.1983, d6.loss_plan_l1_fix_time: 0.7170, d6.loss_plan_l1_fix_dist: 0.1992, d0.loss_cls_all: 0.1306, d0.loss_bbox_all: 0.3442, d0.loss_cls: 0.1306, d0.loss_bbox: 0.3442, d1.loss_cls: 0.1235, d1.loss_bbox: 0.3091, d2.loss_cls: 0.1087, d2.loss_bbox: 0.2868, d3.loss_cls: 0.0924, d3.loss_bbox: 0.2756, d4.loss_cls: 0.0864, d4.loss_bbox: 0.2713, d5.loss_cls: 0.0841, d5.loss_bbox: 0.2705, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6487, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4910, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4590, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4442, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4332, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4314, d0.loss_map_cls_all: 0.1946, d0.loss_map_pts_all: 1.2192, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1946, d0.loss_map_pts: 1.2192, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1579, d1.loss_map_pts: 0.9071, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1318, d2.loss_map_pts: 0.7067, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1199, d3.loss_map_pts: 0.6258, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1123, d4.loss_map_pts: 0.5924, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1070, d5.loss_map_pts: 0.5811, d5.loss_map_dir: 0.0067, loss: 22.5108, grad_norm: 153.2970 +2026-03-01 09:03:18,068 - DriveTransformer - INFO - Epoch [12][31000/39528] lr: 5.696e-05, eta: 4 days, 2:02:13, time: 0.710, data_time: 0.039, memory: 19865, loss_cls: 0.0789, loss_bbox: 0.2609, loss_traj: 0.4857, loss_traj_cls: 0.0021, loss_map_cls: 0.0848, loss_map_pts: 0.4584, loss_map_dir: 0.0047, d0.loss_plan_l1_fix_time: 2.5694, d0.loss_plan_l1_fix_dist: 0.4263, d1.loss_plan_l1_fix_time: 0.7185, d1.loss_plan_l1_fix_dist: 0.2279, d2.loss_plan_l1_fix_time: 0.6941, d2.loss_plan_l1_fix_dist: 0.1956, d3.loss_plan_l1_fix_time: 0.6911, d3.loss_plan_l1_fix_dist: 0.2211, d4.loss_plan_l1_fix_time: 0.6937, d4.loss_plan_l1_fix_dist: 0.1982, d5.loss_plan_l1_fix_time: 0.6971, d5.loss_plan_l1_fix_dist: 0.2368, d6.loss_plan_l1_fix_time: 0.7009, d6.loss_plan_l1_fix_dist: 0.2114, d0.loss_cls_all: 0.1221, d0.loss_bbox_all: 0.3220, d0.loss_cls: 0.1221, d0.loss_bbox: 0.3220, d1.loss_cls: 0.1146, d1.loss_bbox: 0.2926, d2.loss_cls: 0.1044, d2.loss_bbox: 0.2723, d3.loss_cls: 0.0854, d3.loss_bbox: 0.2662, d4.loss_cls: 0.0802, d4.loss_bbox: 0.2631, d5.loss_cls: 0.0792, d5.loss_bbox: 0.2620, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7713, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5812, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5186, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5014, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4913, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4881, d0.loss_map_cls_all: 0.1604, d0.loss_map_pts_all: 0.9445, d0.loss_map_dir_all: 0.0048, d0.loss_map_cls: 0.1604, d0.loss_map_pts: 0.9445, d0.loss_map_dir: 0.0048, d1.loss_map_cls: 0.1351, d1.loss_map_pts: 0.7020, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.1139, d2.loss_map_pts: 0.5481, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.0990, d3.loss_map_pts: 0.4849, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.0920, d4.loss_map_pts: 0.4644, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0869, d5.loss_map_pts: 0.4583, d5.loss_map_dir: 0.0047, loss: 21.3501, grad_norm: 152.1453 +2026-03-01 09:03:54,961 - DriveTransformer - INFO - Epoch [12][31050/39528] lr: 5.696e-05, eta: 4 days, 2:01:37, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.0895, loss_bbox: 0.2764, loss_traj: 0.4109, loss_traj_cls: 0.0022, loss_map_cls: 0.1061, loss_map_pts: 0.5529, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.6695, d0.loss_plan_l1_fix_dist: 0.4034, d1.loss_plan_l1_fix_time: 0.7324, d1.loss_plan_l1_fix_dist: 0.2234, d2.loss_plan_l1_fix_time: 0.7060, d2.loss_plan_l1_fix_dist: 0.2036, d3.loss_plan_l1_fix_time: 0.7036, d3.loss_plan_l1_fix_dist: 0.2209, d4.loss_plan_l1_fix_time: 0.7068, d4.loss_plan_l1_fix_dist: 0.1633, d5.loss_plan_l1_fix_time: 0.7101, d5.loss_plan_l1_fix_dist: 0.2171, d6.loss_plan_l1_fix_time: 0.7135, d6.loss_plan_l1_fix_dist: 0.2035, d0.loss_cls_all: 0.1363, d0.loss_bbox_all: 0.3484, d0.loss_cls: 0.1363, d0.loss_bbox: 0.3484, d1.loss_cls: 0.1327, d1.loss_bbox: 0.3104, d2.loss_cls: 0.1180, d2.loss_bbox: 0.2842, d3.loss_cls: 0.0978, d3.loss_bbox: 0.2799, d4.loss_cls: 0.0931, d4.loss_bbox: 0.2773, d5.loss_cls: 0.0900, d5.loss_bbox: 0.2764, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7075, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5237, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4607, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4322, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4223, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4148, d0.loss_map_cls_all: 0.1875, d0.loss_map_pts_all: 1.1779, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1875, d0.loss_map_pts: 1.1779, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1538, d1.loss_map_pts: 0.8495, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1291, d2.loss_map_pts: 0.6617, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1176, d3.loss_map_pts: 0.5858, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1127, d4.loss_map_pts: 0.5591, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1087, d5.loss_map_pts: 0.5519, d5.loss_map_dir: 0.0067, loss: 22.5261, grad_norm: 155.3154 +2026-03-01 09:04:32,236 - DriveTransformer - INFO - Epoch [12][31100/39528] lr: 5.696e-05, eta: 4 days, 2:01:02, time: 0.746, data_time: 0.037, memory: 19865, loss_cls: 0.0785, loss_bbox: 0.2637, loss_traj: 0.3687, loss_traj_cls: 0.0021, loss_map_cls: 0.1039, loss_map_pts: 0.5746, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.6681, d0.loss_plan_l1_fix_dist: 0.4097, d1.loss_plan_l1_fix_time: 0.7547, d1.loss_plan_l1_fix_dist: 0.2135, d2.loss_plan_l1_fix_time: 0.7428, d2.loss_plan_l1_fix_dist: 0.2128, d3.loss_plan_l1_fix_time: 0.7436, d3.loss_plan_l1_fix_dist: 0.2303, d4.loss_plan_l1_fix_time: 0.7454, d4.loss_plan_l1_fix_dist: 0.1716, d5.loss_plan_l1_fix_time: 0.7476, d5.loss_plan_l1_fix_dist: 0.2241, d6.loss_plan_l1_fix_time: 0.7499, d6.loss_plan_l1_fix_dist: 0.2006, d0.loss_cls_all: 0.1276, d0.loss_bbox_all: 0.3290, d0.loss_cls: 0.1276, d0.loss_bbox: 0.3290, d1.loss_cls: 0.1230, d1.loss_bbox: 0.2932, d2.loss_cls: 0.1084, d2.loss_bbox: 0.2720, d3.loss_cls: 0.0884, d3.loss_bbox: 0.2676, d4.loss_cls: 0.0804, d4.loss_bbox: 0.2659, d5.loss_cls: 0.0784, d5.loss_bbox: 0.2639, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5591, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4316, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3934, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3760, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3732, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3693, d0.loss_map_cls_all: 0.1816, d0.loss_map_pts_all: 1.1318, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1816, d0.loss_map_pts: 1.1318, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1513, d1.loss_map_pts: 0.8359, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1305, d2.loss_map_pts: 0.6643, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1196, d3.loss_map_pts: 0.6004, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1121, d4.loss_map_pts: 0.5799, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1074, d5.loss_map_pts: 0.5736, d5.loss_map_dir: 0.0067, loss: 22.0251, grad_norm: 155.2279 +2026-03-01 09:05:10,542 - DriveTransformer - INFO - Epoch [12][31150/39528] lr: 5.696e-05, eta: 4 days, 2:00:30, time: 0.766, data_time: 0.040, memory: 19865, loss_cls: 0.0714, loss_bbox: 0.2548, loss_traj: 0.3953, loss_traj_cls: 0.0022, loss_map_cls: 0.0885, loss_map_pts: 0.4881, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.7252, d0.loss_plan_l1_fix_dist: 0.4681, d1.loss_plan_l1_fix_time: 0.6782, d1.loss_plan_l1_fix_dist: 0.2071, d2.loss_plan_l1_fix_time: 0.6666, d2.loss_plan_l1_fix_dist: 0.2123, d3.loss_plan_l1_fix_time: 0.6679, d3.loss_plan_l1_fix_dist: 0.2328, d4.loss_plan_l1_fix_time: 0.6711, d4.loss_plan_l1_fix_dist: 0.2051, d5.loss_plan_l1_fix_time: 0.6747, d5.loss_plan_l1_fix_dist: 0.2272, d6.loss_plan_l1_fix_time: 0.6786, d6.loss_plan_l1_fix_dist: 0.2086, d0.loss_cls_all: 0.1218, d0.loss_bbox_all: 0.3216, d0.loss_cls: 0.1218, d0.loss_bbox: 0.3216, d1.loss_cls: 0.1155, d1.loss_bbox: 0.2902, d2.loss_cls: 0.0977, d2.loss_bbox: 0.2699, d3.loss_cls: 0.0799, d3.loss_bbox: 0.2629, d4.loss_cls: 0.0735, d4.loss_bbox: 0.2582, d5.loss_cls: 0.0712, d5.loss_bbox: 0.2558, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6157, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4733, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4169, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4059, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4011, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3961, d0.loss_map_cls_all: 0.1763, d0.loss_map_pts_all: 1.0715, d0.loss_map_dir_all: 0.0075, d0.loss_map_cls: 0.1763, d0.loss_map_pts: 1.0715, d0.loss_map_dir: 0.0075, d1.loss_map_cls: 0.1390, d1.loss_map_pts: 0.7489, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1154, d2.loss_map_pts: 0.5695, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1036, d3.loss_map_pts: 0.5121, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.0975, d4.loss_map_pts: 0.4925, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0912, d5.loss_map_pts: 0.4881, d5.loss_map_dir: 0.0068, loss: 21.1086, grad_norm: 154.5071 +2026-03-01 09:05:47,314 - DriveTransformer - INFO - Epoch [12][31200/39528] lr: 5.696e-05, eta: 4 days, 1:59:54, time: 0.735, data_time: 0.039, memory: 19865, loss_cls: 0.0735, loss_bbox: 0.2495, loss_traj: 0.3736, loss_traj_cls: 0.0021, loss_map_cls: 0.0838, loss_map_pts: 0.4628, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.1556, d0.loss_plan_l1_fix_dist: 0.3642, d1.loss_plan_l1_fix_time: 0.6215, d1.loss_plan_l1_fix_dist: 0.1880, d2.loss_plan_l1_fix_time: 0.6106, d2.loss_plan_l1_fix_dist: 0.1728, d3.loss_plan_l1_fix_time: 0.6130, d3.loss_plan_l1_fix_dist: 0.1920, d4.loss_plan_l1_fix_time: 0.6169, d4.loss_plan_l1_fix_dist: 0.1871, d5.loss_plan_l1_fix_time: 0.6212, d5.loss_plan_l1_fix_dist: 0.1856, d6.loss_plan_l1_fix_time: 0.6264, d6.loss_plan_l1_fix_dist: 0.1947, d0.loss_cls_all: 0.1166, d0.loss_bbox_all: 0.3124, d0.loss_cls: 0.1166, d0.loss_bbox: 0.3124, d1.loss_cls: 0.1103, d1.loss_bbox: 0.2780, d2.loss_cls: 0.1004, d2.loss_bbox: 0.2577, d3.loss_cls: 0.0833, d3.loss_bbox: 0.2525, d4.loss_cls: 0.0758, d4.loss_bbox: 0.2515, d5.loss_cls: 0.0742, d5.loss_bbox: 0.2498, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5996, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4568, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3986, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3836, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3751, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3747, d0.loss_map_cls_all: 0.1693, d0.loss_map_pts_all: 1.0110, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1693, d0.loss_map_pts: 1.0110, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1325, d1.loss_map_pts: 0.7117, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1104, d2.loss_map_pts: 0.5478, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.0981, d3.loss_map_pts: 0.4901, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0914, d4.loss_map_pts: 0.4667, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0867, d5.loss_map_pts: 0.4633, d5.loss_map_dir: 0.0062, loss: 19.3900, grad_norm: 153.5245 +2026-03-01 09:06:22,753 - DriveTransformer - INFO - Epoch [12][31250/39528] lr: 5.696e-05, eta: 4 days, 1:59:15, time: 0.709, data_time: 0.040, memory: 19865, loss_cls: 0.0925, loss_bbox: 0.2943, loss_traj: 0.4420, loss_traj_cls: 0.0021, loss_map_cls: 0.0958, loss_map_pts: 0.5092, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.8466, d0.loss_plan_l1_fix_dist: 0.3821, d1.loss_plan_l1_fix_time: 0.7078, d1.loss_plan_l1_fix_dist: 0.1930, d2.loss_plan_l1_fix_time: 0.6895, d2.loss_plan_l1_fix_dist: 0.1594, d3.loss_plan_l1_fix_time: 0.6780, d3.loss_plan_l1_fix_dist: 0.1775, d4.loss_plan_l1_fix_time: 0.6790, d4.loss_plan_l1_fix_dist: 0.1780, d5.loss_plan_l1_fix_time: 0.6814, d5.loss_plan_l1_fix_dist: 0.1710, d6.loss_plan_l1_fix_time: 0.6846, d6.loss_plan_l1_fix_dist: 0.1967, d0.loss_cls_all: 0.1491, d0.loss_bbox_all: 0.3719, d0.loss_cls: 0.1491, d0.loss_bbox: 0.3719, d1.loss_cls: 0.1426, d1.loss_bbox: 0.3234, d2.loss_cls: 0.1264, d2.loss_bbox: 0.3025, d3.loss_cls: 0.1031, d3.loss_bbox: 0.2982, d4.loss_cls: 0.0969, d4.loss_bbox: 0.2948, d5.loss_cls: 0.0934, d5.loss_bbox: 0.2944, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6705, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5215, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4699, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4454, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4426, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4430, d0.loss_map_cls_all: 0.1765, d0.loss_map_pts_all: 1.0243, d0.loss_map_dir_all: 0.0073, d0.loss_map_cls: 0.1765, d0.loss_map_pts: 1.0243, d0.loss_map_dir: 0.0073, d1.loss_map_cls: 0.1434, d1.loss_map_pts: 0.7529, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1222, d2.loss_map_pts: 0.5910, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1113, d3.loss_map_pts: 0.5347, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1035, d4.loss_map_pts: 0.5142, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.0994, d5.loss_map_pts: 0.5099, d5.loss_map_dir: 0.0066, loss: 21.9140, grad_norm: 153.5220 +2026-03-01 09:06:59,676 - DriveTransformer - INFO - Epoch [12][31300/39528] lr: 5.696e-05, eta: 4 days, 1:58:39, time: 0.738, data_time: 0.042, memory: 19865, loss_cls: 0.0656, loss_bbox: 0.2525, loss_traj: 0.3681, loss_traj_cls: 0.0021, loss_map_cls: 0.0761, loss_map_pts: 0.4258, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.2515, d0.loss_plan_l1_fix_dist: 0.4091, d1.loss_plan_l1_fix_time: 0.6244, d1.loss_plan_l1_fix_dist: 0.1897, d2.loss_plan_l1_fix_time: 0.6012, d2.loss_plan_l1_fix_dist: 0.1597, d3.loss_plan_l1_fix_time: 0.5974, d3.loss_plan_l1_fix_dist: 0.1747, d4.loss_plan_l1_fix_time: 0.6012, d4.loss_plan_l1_fix_dist: 0.1830, d5.loss_plan_l1_fix_time: 0.6052, d5.loss_plan_l1_fix_dist: 0.1912, d6.loss_plan_l1_fix_time: 0.6095, d6.loss_plan_l1_fix_dist: 0.1959, d0.loss_cls_all: 0.1142, d0.loss_bbox_all: 0.3138, d0.loss_cls: 0.1142, d0.loss_bbox: 0.3138, d1.loss_cls: 0.1048, d1.loss_bbox: 0.2828, d2.loss_cls: 0.0902, d2.loss_bbox: 0.2593, d3.loss_cls: 0.0736, d3.loss_bbox: 0.2541, d4.loss_cls: 0.0666, d4.loss_bbox: 0.2529, d5.loss_cls: 0.0658, d5.loss_bbox: 0.2516, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5786, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4404, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3948, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3794, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3694, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3676, d0.loss_map_cls_all: 0.1550, d0.loss_map_pts_all: 0.9234, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1550, d0.loss_map_pts: 0.9234, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1225, d1.loss_map_pts: 0.6468, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1021, d2.loss_map_pts: 0.5054, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0921, d3.loss_map_pts: 0.4515, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0847, d4.loss_map_pts: 0.4313, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0794, d5.loss_map_pts: 0.4253, d5.loss_map_dir: 0.0058, loss: 18.8222, grad_norm: 154.4965 +2026-03-01 09:07:36,099 - DriveTransformer - INFO - Epoch [12][31350/39528] lr: 5.696e-05, eta: 4 days, 1:58:02, time: 0.728, data_time: 0.037, memory: 19865, loss_cls: 0.0623, loss_bbox: 0.2547, loss_traj: 0.4672, loss_traj_cls: 0.0021, loss_map_cls: 0.0877, loss_map_pts: 0.4662, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.5540, d0.loss_plan_l1_fix_dist: 0.4384, d1.loss_plan_l1_fix_time: 0.7151, d1.loss_plan_l1_fix_dist: 0.2026, d2.loss_plan_l1_fix_time: 0.7041, d2.loss_plan_l1_fix_dist: 0.1878, d3.loss_plan_l1_fix_time: 0.7025, d3.loss_plan_l1_fix_dist: 0.1753, d4.loss_plan_l1_fix_time: 0.7066, d4.loss_plan_l1_fix_dist: 0.1837, d5.loss_plan_l1_fix_time: 0.7114, d5.loss_plan_l1_fix_dist: 0.2150, d6.loss_plan_l1_fix_time: 0.7164, d6.loss_plan_l1_fix_dist: 0.1897, d0.loss_cls_all: 0.1052, d0.loss_bbox_all: 0.3189, d0.loss_cls: 0.1052, d0.loss_bbox: 0.3189, d1.loss_cls: 0.0976, d1.loss_bbox: 0.2838, d2.loss_cls: 0.0851, d2.loss_bbox: 0.2630, d3.loss_cls: 0.0692, d3.loss_bbox: 0.2581, d4.loss_cls: 0.0631, d4.loss_bbox: 0.2569, d5.loss_cls: 0.0613, d5.loss_bbox: 0.2558, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7101, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5343, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4897, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4690, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4647, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4653, d0.loss_map_cls_all: 0.1734, d0.loss_map_pts_all: 0.9827, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1734, d0.loss_map_pts: 0.9827, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1414, d1.loss_map_pts: 0.7178, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1142, d2.loss_map_pts: 0.5527, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1022, d3.loss_map_pts: 0.4940, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0953, d4.loss_map_pts: 0.4726, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0904, d5.loss_map_pts: 0.4667, d5.loss_map_dir: 0.0054, loss: 21.0263, grad_norm: 157.4936 +2026-03-01 09:08:13,010 - DriveTransformer - INFO - Epoch [12][31400/39528] lr: 5.696e-05, eta: 4 days, 1:57:26, time: 0.740, data_time: 0.038, memory: 19865, loss_cls: 0.0769, loss_bbox: 0.2736, loss_traj: 0.3749, loss_traj_cls: 0.0021, loss_map_cls: 0.0929, loss_map_pts: 0.5103, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.5403, d0.loss_plan_l1_fix_dist: 0.4133, d1.loss_plan_l1_fix_time: 0.7272, d1.loss_plan_l1_fix_dist: 0.2297, d2.loss_plan_l1_fix_time: 0.7088, d2.loss_plan_l1_fix_dist: 0.2215, d3.loss_plan_l1_fix_time: 0.7043, d3.loss_plan_l1_fix_dist: 0.1793, d4.loss_plan_l1_fix_time: 0.7073, d4.loss_plan_l1_fix_dist: 0.1857, d5.loss_plan_l1_fix_time: 0.7114, d5.loss_plan_l1_fix_dist: 0.2366, d6.loss_plan_l1_fix_time: 0.7157, d6.loss_plan_l1_fix_dist: 0.1944, d0.loss_cls_all: 0.1228, d0.loss_bbox_all: 0.3322, d0.loss_cls: 0.1228, d0.loss_bbox: 0.3322, d1.loss_cls: 0.1142, d1.loss_bbox: 0.3020, d2.loss_cls: 0.1042, d2.loss_bbox: 0.2794, d3.loss_cls: 0.0849, d3.loss_bbox: 0.2756, d4.loss_cls: 0.0787, d4.loss_bbox: 0.2744, d5.loss_cls: 0.0770, d5.loss_bbox: 0.2732, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5695, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4449, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3977, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3806, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3742, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3742, d0.loss_map_cls_all: 0.1857, d0.loss_map_pts_all: 1.0754, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1857, d0.loss_map_pts: 1.0754, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1504, d1.loss_map_pts: 0.7754, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1235, d2.loss_map_pts: 0.5977, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.1114, d3.loss_map_pts: 0.5356, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1031, d4.loss_map_pts: 0.5145, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.0968, d5.loss_map_pts: 0.5102, d5.loss_map_dir: 0.0068, loss: 21.2238, grad_norm: 159.4263 +2026-03-01 09:08:48,188 - DriveTransformer - INFO - Epoch [12][31450/39528] lr: 5.696e-05, eta: 4 days, 1:56:47, time: 0.702, data_time: 0.037, memory: 19865, loss_cls: 0.0737, loss_bbox: 0.2618, loss_traj: 0.4656, loss_traj_cls: 0.0021, loss_map_cls: 0.0816, loss_map_pts: 0.4093, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.9093, d0.loss_plan_l1_fix_dist: 0.4580, d1.loss_plan_l1_fix_time: 0.7418, d1.loss_plan_l1_fix_dist: 0.2333, d2.loss_plan_l1_fix_time: 0.7119, d2.loss_plan_l1_fix_dist: 0.2297, d3.loss_plan_l1_fix_time: 0.6911, d3.loss_plan_l1_fix_dist: 0.1707, d4.loss_plan_l1_fix_time: 0.6943, d4.loss_plan_l1_fix_dist: 0.1727, d5.loss_plan_l1_fix_time: 0.6977, d5.loss_plan_l1_fix_dist: 0.2293, d6.loss_plan_l1_fix_time: 0.7012, d6.loss_plan_l1_fix_dist: 0.1946, d0.loss_cls_all: 0.1138, d0.loss_bbox_all: 0.3168, d0.loss_cls: 0.1138, d0.loss_bbox: 0.3168, d1.loss_cls: 0.1073, d1.loss_bbox: 0.2887, d2.loss_cls: 0.0992, d2.loss_bbox: 0.2692, d3.loss_cls: 0.0816, d3.loss_bbox: 0.2644, d4.loss_cls: 0.0760, d4.loss_bbox: 0.2634, d5.loss_cls: 0.0745, d5.loss_bbox: 0.2629, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7069, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5651, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5063, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4791, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4724, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4686, d0.loss_map_cls_all: 0.1683, d0.loss_map_pts_all: 0.8390, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1683, d0.loss_map_pts: 0.8390, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1306, d1.loss_map_pts: 0.6158, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1062, d2.loss_map_pts: 0.4867, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.0949, d3.loss_map_pts: 0.4319, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0885, d4.loss_map_pts: 0.4144, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0846, d5.loss_map_pts: 0.4089, d5.loss_map_dir: 0.0046, loss: 20.8971, grad_norm: 159.9870 +2026-03-01 09:09:24,314 - DriveTransformer - INFO - Epoch [12][31500/39528] lr: 5.696e-05, eta: 4 days, 1:56:09, time: 0.722, data_time: 0.037, memory: 19865, loss_cls: 0.0875, loss_bbox: 0.2889, loss_traj: 0.4442, loss_traj_cls: 0.0021, loss_map_cls: 0.1009, loss_map_pts: 0.4839, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.6943, d0.loss_plan_l1_fix_dist: 0.3767, d1.loss_plan_l1_fix_time: 0.7367, d1.loss_plan_l1_fix_dist: 0.2366, d2.loss_plan_l1_fix_time: 0.7184, d2.loss_plan_l1_fix_dist: 0.2319, d3.loss_plan_l1_fix_time: 0.7118, d3.loss_plan_l1_fix_dist: 0.1728, d4.loss_plan_l1_fix_time: 0.7142, d4.loss_plan_l1_fix_dist: 0.1798, d5.loss_plan_l1_fix_time: 0.7174, d5.loss_plan_l1_fix_dist: 0.2267, d6.loss_plan_l1_fix_time: 0.7207, d6.loss_plan_l1_fix_dist: 0.1920, d0.loss_cls_all: 0.1353, d0.loss_bbox_all: 0.3509, d0.loss_cls: 0.1353, d0.loss_bbox: 0.3509, d1.loss_cls: 0.1279, d1.loss_bbox: 0.3176, d2.loss_cls: 0.1163, d2.loss_bbox: 0.2969, d3.loss_cls: 0.0975, d3.loss_bbox: 0.2947, d4.loss_cls: 0.0902, d4.loss_bbox: 0.2910, d5.loss_cls: 0.0885, d5.loss_bbox: 0.2889, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6665, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5184, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4616, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4482, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4415, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4418, d0.loss_map_cls_all: 0.1823, d0.loss_map_pts_all: 1.0011, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1823, d0.loss_map_pts: 1.0011, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1532, d1.loss_map_pts: 0.7300, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1245, d2.loss_map_pts: 0.5670, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1142, d3.loss_map_pts: 0.5112, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1083, d4.loss_map_pts: 0.4909, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.1028, d5.loss_map_pts: 0.4847, d5.loss_map_dir: 0.0053, loss: 21.8003, grad_norm: 157.8871 +2026-03-01 09:10:01,378 - DriveTransformer - INFO - Epoch [12][31550/39528] lr: 5.696e-05, eta: 4 days, 1:55:34, time: 0.741, data_time: 0.037, memory: 19865, loss_cls: 0.0892, loss_bbox: 0.2772, loss_traj: 0.4602, loss_traj_cls: 0.0021, loss_map_cls: 0.0953, loss_map_pts: 0.4997, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.8005, d0.loss_plan_l1_fix_dist: 0.4842, d1.loss_plan_l1_fix_time: 0.7115, d1.loss_plan_l1_fix_dist: 0.2331, d2.loss_plan_l1_fix_time: 0.6899, d2.loss_plan_l1_fix_dist: 0.2316, d3.loss_plan_l1_fix_time: 0.6907, d3.loss_plan_l1_fix_dist: 0.1760, d4.loss_plan_l1_fix_time: 0.6939, d4.loss_plan_l1_fix_dist: 0.1956, d5.loss_plan_l1_fix_time: 0.6972, d5.loss_plan_l1_fix_dist: 0.2100, d6.loss_plan_l1_fix_time: 0.7008, d6.loss_plan_l1_fix_dist: 0.1851, d0.loss_cls_all: 0.1400, d0.loss_bbox_all: 0.3533, d0.loss_cls: 0.1400, d0.loss_bbox: 0.3533, d1.loss_cls: 0.1375, d1.loss_bbox: 0.3090, d2.loss_cls: 0.1215, d2.loss_bbox: 0.2865, d3.loss_cls: 0.1012, d3.loss_bbox: 0.2801, d4.loss_cls: 0.0927, d4.loss_bbox: 0.2776, d5.loss_cls: 0.0896, d5.loss_bbox: 0.2773, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7215, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5511, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4974, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4768, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4666, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4626, d0.loss_map_cls_all: 0.1762, d0.loss_map_pts_all: 1.0047, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1762, d0.loss_map_pts: 1.0047, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1413, d1.loss_map_pts: 0.7470, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1201, d2.loss_map_pts: 0.5894, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1086, d3.loss_map_pts: 0.5307, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1021, d4.loss_map_pts: 0.5053, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0973, d5.loss_map_pts: 0.5000, d5.loss_map_dir: 0.0058, loss: 22.1163, grad_norm: 158.3094 +2026-03-01 09:10:37,890 - DriveTransformer - INFO - Epoch [12][31600/39528] lr: 5.696e-05, eta: 4 days, 1:54:57, time: 0.730, data_time: 0.038, memory: 19865, loss_cls: 0.0750, loss_bbox: 0.2635, loss_traj: 0.4245, loss_traj_cls: 0.0020, loss_map_cls: 0.0905, loss_map_pts: 0.4552, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.9474, d0.loss_plan_l1_fix_dist: 0.3536, d1.loss_plan_l1_fix_time: 0.7852, d1.loss_plan_l1_fix_dist: 0.2203, d2.loss_plan_l1_fix_time: 0.7605, d2.loss_plan_l1_fix_dist: 0.2218, d3.loss_plan_l1_fix_time: 0.7571, d3.loss_plan_l1_fix_dist: 0.1668, d4.loss_plan_l1_fix_time: 0.7589, d4.loss_plan_l1_fix_dist: 0.2034, d5.loss_plan_l1_fix_time: 0.7611, d5.loss_plan_l1_fix_dist: 0.1809, d6.loss_plan_l1_fix_time: 0.7636, d6.loss_plan_l1_fix_dist: 0.1879, d0.loss_cls_all: 0.1264, d0.loss_bbox_all: 0.3343, d0.loss_cls: 0.1264, d0.loss_bbox: 0.3343, d1.loss_cls: 0.1156, d1.loss_bbox: 0.2990, d2.loss_cls: 0.0972, d2.loss_bbox: 0.2778, d3.loss_cls: 0.0802, d3.loss_bbox: 0.2709, d4.loss_cls: 0.0760, d4.loss_bbox: 0.2668, d5.loss_cls: 0.0754, d5.loss_bbox: 0.2643, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6690, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4917, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4435, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4314, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4263, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4238, d0.loss_map_cls_all: 0.1763, d0.loss_map_pts_all: 0.9710, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1763, d0.loss_map_pts: 0.9710, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1413, d1.loss_map_pts: 0.6968, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1194, d2.loss_map_pts: 0.5363, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1074, d3.loss_map_pts: 0.4768, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0977, d4.loss_map_pts: 0.4581, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0939, d5.loss_map_pts: 0.4537, d5.loss_map_dir: 0.0058, loss: 21.5386, grad_norm: 156.0884 +2026-03-01 09:11:14,167 - DriveTransformer - INFO - Epoch [12][31650/39528] lr: 5.696e-05, eta: 4 days, 1:54:20, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.0919, loss_bbox: 0.2819, loss_traj: 0.4748, loss_traj_cls: 0.0020, loss_map_cls: 0.0937, loss_map_pts: 0.4936, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.8370, d0.loss_plan_l1_fix_dist: 0.4167, d1.loss_plan_l1_fix_time: 0.7491, d1.loss_plan_l1_fix_dist: 0.2107, d2.loss_plan_l1_fix_time: 0.7235, d2.loss_plan_l1_fix_dist: 0.2163, d3.loss_plan_l1_fix_time: 0.7294, d3.loss_plan_l1_fix_dist: 0.1714, d4.loss_plan_l1_fix_time: 0.7319, d4.loss_plan_l1_fix_dist: 0.1996, d5.loss_plan_l1_fix_time: 0.7342, d5.loss_plan_l1_fix_dist: 0.1708, d6.loss_plan_l1_fix_time: 0.7370, d6.loss_plan_l1_fix_dist: 0.1998, d0.loss_cls_all: 0.1415, d0.loss_bbox_all: 0.3611, d0.loss_cls: 0.1415, d0.loss_bbox: 0.3611, d1.loss_cls: 0.1334, d1.loss_bbox: 0.3254, d2.loss_cls: 0.1184, d2.loss_bbox: 0.3019, d3.loss_cls: 0.0977, d3.loss_bbox: 0.2908, d4.loss_cls: 0.0917, d4.loss_bbox: 0.2877, d5.loss_cls: 0.0923, d5.loss_bbox: 0.2831, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7375, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5719, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5121, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4842, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4816, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4759, d0.loss_map_cls_all: 0.1763, d0.loss_map_pts_all: 0.9937, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1763, d0.loss_map_pts: 0.9937, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1403, d1.loss_map_pts: 0.7377, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1170, d2.loss_map_pts: 0.5837, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1090, d3.loss_map_pts: 0.5208, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1026, d4.loss_map_pts: 0.4954, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0968, d5.loss_map_pts: 0.4929, d5.loss_map_dir: 0.0062, loss: 22.3478, grad_norm: 158.3436 +2026-03-01 09:11:50,085 - DriveTransformer - INFO - Epoch [12][31700/39528] lr: 5.696e-05, eta: 4 days, 1:53:42, time: 0.718, data_time: 0.037, memory: 19865, loss_cls: 0.0888, loss_bbox: 0.2799, loss_traj: 0.4219, loss_traj_cls: 0.0021, loss_map_cls: 0.0972, loss_map_pts: 0.5257, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.7483, d0.loss_plan_l1_fix_dist: 0.4186, d1.loss_plan_l1_fix_time: 0.7127, d1.loss_plan_l1_fix_dist: 0.1995, d2.loss_plan_l1_fix_time: 0.6991, d2.loss_plan_l1_fix_dist: 0.2139, d3.loss_plan_l1_fix_time: 0.6999, d3.loss_plan_l1_fix_dist: 0.1618, d4.loss_plan_l1_fix_time: 0.7025, d4.loss_plan_l1_fix_dist: 0.2021, d5.loss_plan_l1_fix_time: 0.7055, d5.loss_plan_l1_fix_dist: 0.1855, d6.loss_plan_l1_fix_time: 0.7088, d6.loss_plan_l1_fix_dist: 0.2127, d0.loss_cls_all: 0.1383, d0.loss_bbox_all: 0.3545, d0.loss_cls: 0.1383, d0.loss_bbox: 0.3545, d1.loss_cls: 0.1286, d1.loss_bbox: 0.3207, d2.loss_cls: 0.1149, d2.loss_bbox: 0.2962, d3.loss_cls: 0.0974, d3.loss_bbox: 0.2850, d4.loss_cls: 0.0909, d4.loss_bbox: 0.2824, d5.loss_cls: 0.0902, d5.loss_bbox: 0.2795, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6598, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5025, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4474, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4324, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4261, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4204, d0.loss_map_cls_all: 0.1840, d0.loss_map_pts_all: 1.0620, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1840, d0.loss_map_pts: 1.0620, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1510, d1.loss_map_pts: 0.7835, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1243, d2.loss_map_pts: 0.6144, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1116, d3.loss_map_pts: 0.5517, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1047, d4.loss_map_pts: 0.5285, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0994, d5.loss_map_pts: 0.5252, d5.loss_map_dir: 0.0062, loss: 21.9892, grad_norm: 158.1134 +2026-03-01 09:12:25,756 - DriveTransformer - INFO - Epoch [12][31750/39528] lr: 5.696e-05, eta: 4 days, 1:53:04, time: 0.713, data_time: 0.039, memory: 19865, loss_cls: 0.0760, loss_bbox: 0.2523, loss_traj: 0.3419, loss_traj_cls: 0.0021, loss_map_cls: 0.0781, loss_map_pts: 0.4382, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.4819, d0.loss_plan_l1_fix_dist: 0.4409, d1.loss_plan_l1_fix_time: 0.6187, d1.loss_plan_l1_fix_dist: 0.1533, d2.loss_plan_l1_fix_time: 0.5970, d2.loss_plan_l1_fix_dist: 0.1742, d3.loss_plan_l1_fix_time: 0.5889, d3.loss_plan_l1_fix_dist: 0.1245, d4.loss_plan_l1_fix_time: 0.5896, d4.loss_plan_l1_fix_dist: 0.1733, d5.loss_plan_l1_fix_time: 0.5914, d5.loss_plan_l1_fix_dist: 0.1771, d6.loss_plan_l1_fix_time: 0.5935, d6.loss_plan_l1_fix_dist: 0.1945, d0.loss_cls_all: 0.1123, d0.loss_bbox_all: 0.3159, d0.loss_cls: 0.1123, d0.loss_bbox: 0.3159, d1.loss_cls: 0.1069, d1.loss_bbox: 0.2850, d2.loss_cls: 0.0956, d2.loss_bbox: 0.2653, d3.loss_cls: 0.0807, d3.loss_bbox: 0.2576, d4.loss_cls: 0.0766, d4.loss_bbox: 0.2546, d5.loss_cls: 0.0767, d5.loss_bbox: 0.2526, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5270, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4002, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3729, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3520, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3467, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3425, d0.loss_map_cls_all: 0.1572, d0.loss_map_pts_all: 0.8787, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1572, d0.loss_map_pts: 0.8787, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1271, d1.loss_map_pts: 0.6497, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1033, d2.loss_map_pts: 0.5201, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0933, d3.loss_map_pts: 0.4665, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0861, d4.loss_map_pts: 0.4439, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0802, d5.loss_map_pts: 0.4390, d5.loss_map_dir: 0.0054, loss: 18.7670, grad_norm: 157.5764 +2026-03-01 09:13:03,120 - DriveTransformer - INFO - Epoch [12][31800/39528] lr: 5.696e-05, eta: 4 days, 1:52:29, time: 0.747, data_time: 0.043, memory: 19865, loss_cls: 0.0811, loss_bbox: 0.2722, loss_traj: 0.4073, loss_traj_cls: 0.0021, loss_map_cls: 0.1033, loss_map_pts: 0.5282, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.5188, d0.loss_plan_l1_fix_dist: 0.3746, d1.loss_plan_l1_fix_time: 0.6679, d1.loss_plan_l1_fix_dist: 0.1702, d2.loss_plan_l1_fix_time: 0.6504, d2.loss_plan_l1_fix_dist: 0.1905, d3.loss_plan_l1_fix_time: 0.6498, d3.loss_plan_l1_fix_dist: 0.1675, d4.loss_plan_l1_fix_time: 0.6518, d4.loss_plan_l1_fix_dist: 0.1861, d5.loss_plan_l1_fix_time: 0.6542, d5.loss_plan_l1_fix_dist: 0.2005, d6.loss_plan_l1_fix_time: 0.6570, d6.loss_plan_l1_fix_dist: 0.2055, d0.loss_cls_all: 0.1294, d0.loss_bbox_all: 0.3341, d0.loss_cls: 0.1294, d0.loss_bbox: 0.3341, d1.loss_cls: 0.1192, d1.loss_bbox: 0.3014, d2.loss_cls: 0.1060, d2.loss_bbox: 0.2800, d3.loss_cls: 0.0891, d3.loss_bbox: 0.2760, d4.loss_cls: 0.0827, d4.loss_bbox: 0.2735, d5.loss_cls: 0.0815, d5.loss_bbox: 0.2716, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6418, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5042, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4460, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4264, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4123, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4069, d0.loss_map_cls_all: 0.1958, d0.loss_map_pts_all: 1.1347, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1958, d0.loss_map_pts: 1.1347, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1592, d1.loss_map_pts: 0.8273, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1338, d2.loss_map_pts: 0.6367, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1200, d3.loss_map_pts: 0.5696, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.1130, d4.loss_map_pts: 0.5366, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1066, d5.loss_map_pts: 0.5282, d5.loss_map_dir: 0.0073, loss: 21.4402, grad_norm: 153.6801 +2026-03-01 09:13:39,467 - DriveTransformer - INFO - Epoch [12][31850/39528] lr: 5.696e-05, eta: 4 days, 1:51:52, time: 0.727, data_time: 0.037, memory: 19865, loss_cls: 0.0759, loss_bbox: 0.2594, loss_traj: 0.4503, loss_traj_cls: 0.0020, loss_map_cls: 0.0838, loss_map_pts: 0.4451, loss_map_dir: 0.0047, d0.loss_plan_l1_fix_time: 3.0140, d0.loss_plan_l1_fix_dist: 0.3554, d1.loss_plan_l1_fix_time: 0.7873, d1.loss_plan_l1_fix_dist: 0.1665, d2.loss_plan_l1_fix_time: 0.7766, d2.loss_plan_l1_fix_dist: 0.1757, d3.loss_plan_l1_fix_time: 0.7773, d3.loss_plan_l1_fix_dist: 0.1693, d4.loss_plan_l1_fix_time: 0.7802, d4.loss_plan_l1_fix_dist: 0.1769, d5.loss_plan_l1_fix_time: 0.7829, d5.loss_plan_l1_fix_dist: 0.2077, d6.loss_plan_l1_fix_time: 0.7863, d6.loss_plan_l1_fix_dist: 0.1811, d0.loss_cls_all: 0.1087, d0.loss_bbox_all: 0.3326, d0.loss_cls: 0.1087, d0.loss_bbox: 0.3326, d1.loss_cls: 0.1025, d1.loss_bbox: 0.2992, d2.loss_cls: 0.0963, d2.loss_bbox: 0.2732, d3.loss_cls: 0.0814, d3.loss_bbox: 0.2675, d4.loss_cls: 0.0791, d4.loss_bbox: 0.2614, d5.loss_cls: 0.0753, d5.loss_bbox: 0.2609, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6638, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5205, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4690, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4642, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4538, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4494, d0.loss_map_cls_all: 0.1731, d0.loss_map_pts_all: 0.9571, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1731, d0.loss_map_pts: 0.9571, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1409, d1.loss_map_pts: 0.6929, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1106, d2.loss_map_pts: 0.5342, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0991, d3.loss_map_pts: 0.4746, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.0931, d4.loss_map_pts: 0.4499, d4.loss_map_dir: 0.0046, d5.loss_map_cls: 0.0864, d5.loss_map_pts: 0.4457, d5.loss_map_dir: 0.0047, loss: 21.5871, grad_norm: 153.1069 +2026-03-01 09:14:15,379 - DriveTransformer - INFO - Epoch [12][31900/39528] lr: 5.696e-05, eta: 4 days, 1:51:14, time: 0.718, data_time: 0.039, memory: 19865, loss_cls: 0.0878, loss_bbox: 0.2603, loss_traj: 0.4968, loss_traj_cls: 0.0021, loss_map_cls: 0.0642, loss_map_pts: 0.4080, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.7911, d0.loss_plan_l1_fix_dist: 0.3507, d1.loss_plan_l1_fix_time: 0.7771, d1.loss_plan_l1_fix_dist: 0.1562, d2.loss_plan_l1_fix_time: 0.7546, d2.loss_plan_l1_fix_dist: 0.1582, d3.loss_plan_l1_fix_time: 0.7518, d3.loss_plan_l1_fix_dist: 0.1787, d4.loss_plan_l1_fix_time: 0.7530, d4.loss_plan_l1_fix_dist: 0.1697, d5.loss_plan_l1_fix_time: 0.7547, d5.loss_plan_l1_fix_dist: 0.2024, d6.loss_plan_l1_fix_time: 0.7570, d6.loss_plan_l1_fix_dist: 0.1532, d0.loss_cls_all: 0.1249, d0.loss_bbox_all: 0.3218, d0.loss_cls: 0.1249, d0.loss_bbox: 0.3218, d1.loss_cls: 0.1156, d1.loss_bbox: 0.2905, d2.loss_cls: 0.1049, d2.loss_bbox: 0.2720, d3.loss_cls: 0.0909, d3.loss_bbox: 0.2644, d4.loss_cls: 0.0884, d4.loss_bbox: 0.2615, d5.loss_cls: 0.0878, d5.loss_bbox: 0.2599, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7611, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5837, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5340, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5135, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5043, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4972, d0.loss_map_cls_all: 0.1399, d0.loss_map_pts_all: 0.8379, d0.loss_map_dir_all: 0.0050, d0.loss_map_cls: 0.1399, d0.loss_map_pts: 0.8379, d0.loss_map_dir: 0.0050, d1.loss_map_cls: 0.1072, d1.loss_map_pts: 0.6196, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.0863, d2.loss_map_pts: 0.4925, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0737, d3.loss_map_pts: 0.4379, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0695, d4.loss_map_pts: 0.4143, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0655, d5.loss_map_pts: 0.4091, d5.loss_map_dir: 0.0049, loss: 20.9265, grad_norm: 151.0481 +2026-03-01 09:14:53,523 - DriveTransformer - INFO - Epoch [12][31950/39528] lr: 5.696e-05, eta: 4 days, 1:50:41, time: 0.763, data_time: 0.042, memory: 19865, loss_cls: 0.0678, loss_bbox: 0.2497, loss_traj: 0.3953, loss_traj_cls: 0.0021, loss_map_cls: 0.0789, loss_map_pts: 0.4528, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.5763, d0.loss_plan_l1_fix_dist: 0.5049, d1.loss_plan_l1_fix_time: 0.6953, d1.loss_plan_l1_fix_dist: 0.1502, d2.loss_plan_l1_fix_time: 0.6851, d2.loss_plan_l1_fix_dist: 0.1652, d3.loss_plan_l1_fix_time: 0.6774, d3.loss_plan_l1_fix_dist: 0.1820, d4.loss_plan_l1_fix_time: 0.6791, d4.loss_plan_l1_fix_dist: 0.1745, d5.loss_plan_l1_fix_time: 0.6822, d5.loss_plan_l1_fix_dist: 0.1915, d6.loss_plan_l1_fix_time: 0.6852, d6.loss_plan_l1_fix_dist: 0.1638, d0.loss_cls_all: 0.1076, d0.loss_bbox_all: 0.3058, d0.loss_cls: 0.1076, d0.loss_bbox: 0.3058, d1.loss_cls: 0.1028, d1.loss_bbox: 0.2777, d2.loss_cls: 0.0911, d2.loss_bbox: 0.2573, d3.loss_cls: 0.0769, d3.loss_bbox: 0.2515, d4.loss_cls: 0.0698, d4.loss_bbox: 0.2501, d5.loss_cls: 0.0685, d5.loss_bbox: 0.2491, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6285, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4676, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4252, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4083, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4056, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3955, d0.loss_map_cls_all: 0.1643, d0.loss_map_pts_all: 1.0454, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1643, d0.loss_map_pts: 1.0454, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1262, d1.loss_map_pts: 0.7168, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1018, d2.loss_map_pts: 0.5430, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.0929, d3.loss_map_pts: 0.4829, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0853, d4.loss_map_pts: 0.4587, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0807, d5.loss_map_pts: 0.4536, d5.loss_map_dir: 0.0060, loss: 20.3274, grad_norm: 139.5105 +2026-03-01 09:15:28,434 - DriveTransformer - INFO - Epoch [12][32000/39528] lr: 5.696e-05, eta: 4 days, 1:50:01, time: 0.698, data_time: 0.039, memory: 19865, loss_cls: 0.0800, loss_bbox: 0.2546, loss_traj: 0.4550, loss_traj_cls: 0.0021, loss_map_cls: 0.0766, loss_map_pts: 0.4265, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.9551, d0.loss_plan_l1_fix_dist: 0.3402, d1.loss_plan_l1_fix_time: 0.7281, d1.loss_plan_l1_fix_dist: 0.1524, d2.loss_plan_l1_fix_time: 0.7144, d2.loss_plan_l1_fix_dist: 0.1721, d3.loss_plan_l1_fix_time: 0.6929, d3.loss_plan_l1_fix_dist: 0.1805, d4.loss_plan_l1_fix_time: 0.6936, d4.loss_plan_l1_fix_dist: 0.1780, d5.loss_plan_l1_fix_time: 0.6968, d5.loss_plan_l1_fix_dist: 0.1820, d6.loss_plan_l1_fix_time: 0.7001, d6.loss_plan_l1_fix_dist: 0.1716, d0.loss_cls_all: 0.1161, d0.loss_bbox_all: 0.3145, d0.loss_cls: 0.1161, d0.loss_bbox: 0.3145, d1.loss_cls: 0.1094, d1.loss_bbox: 0.2856, d2.loss_cls: 0.1016, d2.loss_bbox: 0.2638, d3.loss_cls: 0.0848, d3.loss_bbox: 0.2577, d4.loss_cls: 0.0821, d4.loss_bbox: 0.2549, d5.loss_cls: 0.0793, d5.loss_bbox: 0.2558, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6808, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5277, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4753, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4667, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4606, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4540, d0.loss_map_cls_all: 0.1592, d0.loss_map_pts_all: 0.9175, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1592, d0.loss_map_pts: 0.9175, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1247, d1.loss_map_pts: 0.6506, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1022, d2.loss_map_pts: 0.5135, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0908, d3.loss_map_pts: 0.4531, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0833, d4.loss_map_pts: 0.4309, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0794, d5.loss_map_pts: 0.4259, d5.loss_map_dir: 0.0049, loss: 20.7076, grad_norm: 139.6246 +2026-03-01 09:16:05,926 - DriveTransformer - INFO - Epoch [12][32050/39528] lr: 5.696e-05, eta: 4 days, 1:49:27, time: 0.750, data_time: 0.040, memory: 19865, loss_cls: 0.0757, loss_bbox: 0.2568, loss_traj: 0.4727, loss_traj_cls: 0.0021, loss_map_cls: 0.0793, loss_map_pts: 0.4469, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.7936, d0.loss_plan_l1_fix_dist: 0.4347, d1.loss_plan_l1_fix_time: 0.7279, d1.loss_plan_l1_fix_dist: 0.1644, d2.loss_plan_l1_fix_time: 0.7134, d2.loss_plan_l1_fix_dist: 0.1804, d3.loss_plan_l1_fix_time: 0.6984, d3.loss_plan_l1_fix_dist: 0.1827, d4.loss_plan_l1_fix_time: 0.6982, d4.loss_plan_l1_fix_dist: 0.1933, d5.loss_plan_l1_fix_time: 0.7002, d5.loss_plan_l1_fix_dist: 0.1685, d6.loss_plan_l1_fix_time: 0.7024, d6.loss_plan_l1_fix_dist: 0.1816, d0.loss_cls_all: 0.1189, d0.loss_bbox_all: 0.3196, d0.loss_cls: 0.1189, d0.loss_bbox: 0.3196, d1.loss_cls: 0.1104, d1.loss_bbox: 0.2866, d2.loss_cls: 0.0950, d2.loss_bbox: 0.2696, d3.loss_cls: 0.0812, d3.loss_bbox: 0.2627, d4.loss_cls: 0.0765, d4.loss_bbox: 0.2587, d5.loss_cls: 0.0752, d5.loss_bbox: 0.2575, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7479, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5609, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5002, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4813, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4735, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4737, d0.loss_map_cls_all: 0.1634, d0.loss_map_pts_all: 0.9914, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1634, d0.loss_map_pts: 0.9914, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1293, d1.loss_map_pts: 0.7002, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1058, d2.loss_map_pts: 0.5304, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0935, d3.loss_map_pts: 0.4722, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0874, d4.loss_map_pts: 0.4510, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0812, d5.loss_map_pts: 0.4474, d5.loss_map_dir: 0.0054, loss: 21.2175, grad_norm: 141.1168 +2026-03-01 09:16:43,326 - DriveTransformer - INFO - Epoch [12][32100/39528] lr: 5.696e-05, eta: 4 days, 1:48:52, time: 0.748, data_time: 0.039, memory: 19865, loss_cls: 0.0689, loss_bbox: 0.2593, loss_traj: 0.4925, loss_traj_cls: 0.0022, loss_map_cls: 0.0852, loss_map_pts: 0.4216, loss_map_dir: 0.0045, d0.loss_plan_l1_fix_time: 2.9082, d0.loss_plan_l1_fix_dist: 0.3310, d1.loss_plan_l1_fix_time: 0.7357, d1.loss_plan_l1_fix_dist: 0.1765, d2.loss_plan_l1_fix_time: 0.7222, d2.loss_plan_l1_fix_dist: 0.1854, d3.loss_plan_l1_fix_time: 0.7192, d3.loss_plan_l1_fix_dist: 0.1735, d4.loss_plan_l1_fix_time: 0.7209, d4.loss_plan_l1_fix_dist: 0.1865, d5.loss_plan_l1_fix_time: 0.7233, d5.loss_plan_l1_fix_dist: 0.1559, d6.loss_plan_l1_fix_time: 0.7257, d6.loss_plan_l1_fix_dist: 0.1794, d0.loss_cls_all: 0.1098, d0.loss_bbox_all: 0.3195, d0.loss_cls: 0.1098, d0.loss_bbox: 0.3195, d1.loss_cls: 0.1097, d1.loss_bbox: 0.2913, d2.loss_cls: 0.0939, d2.loss_bbox: 0.2721, d3.loss_cls: 0.0796, d3.loss_bbox: 0.2663, d4.loss_cls: 0.0708, d4.loss_bbox: 0.2622, d5.loss_cls: 0.0685, d5.loss_bbox: 0.2604, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6910, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5673, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5221, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5052, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4943, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4925, d0.loss_map_cls_all: 0.1639, d0.loss_map_pts_all: 0.9148, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1639, d0.loss_map_pts: 0.9148, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1328, d1.loss_map_pts: 0.6627, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.1089, d2.loss_map_pts: 0.5134, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.0973, d3.loss_map_pts: 0.4510, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0911, d4.loss_map_pts: 0.4296, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0881, d5.loss_map_pts: 0.4210, d5.loss_map_dir: 0.0045, loss: 21.0750, grad_norm: 139.0581 +2026-03-01 09:17:22,187 - DriveTransformer - INFO - Epoch [12][32150/39528] lr: 5.696e-05, eta: 4 days, 1:48:20, time: 0.777, data_time: 0.036, memory: 19865, loss_cls: 0.0767, loss_bbox: 0.2648, loss_traj: 0.3711, loss_traj_cls: 0.0021, loss_map_cls: 0.1030, loss_map_pts: 0.5361, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.4851, d0.loss_plan_l1_fix_dist: 0.4397, d1.loss_plan_l1_fix_time: 0.6679, d1.loss_plan_l1_fix_dist: 0.1952, d2.loss_plan_l1_fix_time: 0.6520, d2.loss_plan_l1_fix_dist: 0.1808, d3.loss_plan_l1_fix_time: 0.6435, d3.loss_plan_l1_fix_dist: 0.1786, d4.loss_plan_l1_fix_time: 0.6458, d4.loss_plan_l1_fix_dist: 0.1952, d5.loss_plan_l1_fix_time: 0.6484, d5.loss_plan_l1_fix_dist: 0.1604, d6.loss_plan_l1_fix_time: 0.6510, d6.loss_plan_l1_fix_dist: 0.1705, d0.loss_cls_all: 0.1358, d0.loss_bbox_all: 0.3239, d0.loss_cls: 0.1358, d0.loss_bbox: 0.3239, d1.loss_cls: 0.1268, d1.loss_bbox: 0.2926, d2.loss_cls: 0.1139, d2.loss_bbox: 0.2724, d3.loss_cls: 0.0894, d3.loss_bbox: 0.2689, d4.loss_cls: 0.0783, d4.loss_bbox: 0.2660, d5.loss_cls: 0.0774, d5.loss_bbox: 0.2644, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5444, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4216, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3996, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3820, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3746, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3722, d0.loss_map_cls_all: 0.1876, d0.loss_map_pts_all: 1.1169, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.1876, d0.loss_map_pts: 1.1169, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1546, d1.loss_map_pts: 0.7980, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1290, d2.loss_map_pts: 0.6254, d2.loss_map_dir: 0.0067, d3.loss_map_cls: 0.1179, d3.loss_map_pts: 0.5640, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1124, d4.loss_map_pts: 0.5408, d4.loss_map_dir: 0.0072, d5.loss_map_cls: 0.1079, d5.loss_map_pts: 0.5346, d5.loss_map_dir: 0.0074, loss: 20.8904, grad_norm: 138.6841 +2026-03-01 09:17:59,551 - DriveTransformer - INFO - Epoch [12][32200/39528] lr: 5.696e-05, eta: 4 days, 1:47:45, time: 0.749, data_time: 0.038, memory: 19865, loss_cls: 0.0815, loss_bbox: 0.2810, loss_traj: 0.4352, loss_traj_cls: 0.0022, loss_map_cls: 0.0958, loss_map_pts: 0.5034, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.7322, d0.loss_plan_l1_fix_dist: 0.3849, d1.loss_plan_l1_fix_time: 0.6706, d1.loss_plan_l1_fix_dist: 0.2366, d2.loss_plan_l1_fix_time: 0.6530, d2.loss_plan_l1_fix_dist: 0.2093, d3.loss_plan_l1_fix_time: 0.6523, d3.loss_plan_l1_fix_dist: 0.2131, d4.loss_plan_l1_fix_time: 0.6553, d4.loss_plan_l1_fix_dist: 0.2084, d5.loss_plan_l1_fix_time: 0.6592, d5.loss_plan_l1_fix_dist: 0.1916, d6.loss_plan_l1_fix_time: 0.6636, d6.loss_plan_l1_fix_dist: 0.2120, d0.loss_cls_all: 0.1302, d0.loss_bbox_all: 0.3346, d0.loss_cls: 0.1302, d0.loss_bbox: 0.3346, d1.loss_cls: 0.1197, d1.loss_bbox: 0.3036, d2.loss_cls: 0.1044, d2.loss_bbox: 0.2840, d3.loss_cls: 0.0864, d3.loss_bbox: 0.2818, d4.loss_cls: 0.0840, d4.loss_bbox: 0.2789, d5.loss_cls: 0.0827, d5.loss_bbox: 0.2791, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6553, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5079, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4601, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4418, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4394, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4338, d0.loss_map_cls_all: 0.1858, d0.loss_map_pts_all: 1.0951, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1858, d0.loss_map_pts: 1.0951, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1514, d1.loss_map_pts: 0.7891, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1235, d2.loss_map_pts: 0.6104, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1102, d3.loss_map_pts: 0.5328, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1043, d4.loss_map_pts: 0.5062, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0988, d5.loss_map_pts: 0.5020, d5.loss_map_dir: 0.0064, loss: 21.6639, grad_norm: 143.5660 +2026-03-01 09:18:37,986 - DriveTransformer - INFO - Epoch [12][32250/39528] lr: 5.696e-05, eta: 4 days, 1:47:13, time: 0.767, data_time: 0.037, memory: 19865, loss_cls: 0.0728, loss_bbox: 0.2546, loss_traj: 0.2780, loss_traj_cls: 0.0022, loss_map_cls: 0.0809, loss_map_pts: 0.4428, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.5526, d0.loss_plan_l1_fix_dist: 0.4112, d1.loss_plan_l1_fix_time: 0.6733, d1.loss_plan_l1_fix_dist: 0.2394, d2.loss_plan_l1_fix_time: 0.6542, d2.loss_plan_l1_fix_dist: 0.2491, d3.loss_plan_l1_fix_time: 0.6493, d3.loss_plan_l1_fix_dist: 0.2541, d4.loss_plan_l1_fix_time: 0.6514, d4.loss_plan_l1_fix_dist: 0.1991, d5.loss_plan_l1_fix_time: 0.6549, d5.loss_plan_l1_fix_dist: 0.2139, d6.loss_plan_l1_fix_time: 0.6593, d6.loss_plan_l1_fix_dist: 0.1956, d0.loss_cls_all: 0.1135, d0.loss_bbox_all: 0.3105, d0.loss_cls: 0.1135, d0.loss_bbox: 0.3105, d1.loss_cls: 0.1085, d1.loss_bbox: 0.2828, d2.loss_cls: 0.0940, d2.loss_bbox: 0.2606, d3.loss_cls: 0.0781, d3.loss_bbox: 0.2571, d4.loss_cls: 0.0729, d4.loss_bbox: 0.2543, d5.loss_cls: 0.0725, d5.loss_bbox: 0.2536, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5002, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.3694, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3054, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.2902, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.2847, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.2802, d0.loss_map_cls_all: 0.1597, d0.loss_map_pts_all: 0.9172, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1597, d0.loss_map_pts: 0.9172, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1266, d1.loss_map_pts: 0.6579, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1034, d2.loss_map_pts: 0.5186, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0936, d3.loss_map_pts: 0.4692, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0880, d4.loss_map_pts: 0.4455, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0836, d5.loss_map_pts: 0.4421, d5.loss_map_dir: 0.0050, loss: 19.2321, grad_norm: 143.5268 +2026-03-01 09:19:15,194 - DriveTransformer - INFO - Epoch [12][32300/39528] lr: 5.696e-05, eta: 4 days, 1:46:38, time: 0.744, data_time: 0.038, memory: 19865, loss_cls: 0.0786, loss_bbox: 0.2659, loss_traj: 0.4519, loss_traj_cls: 0.0022, loss_map_cls: 0.0738, loss_map_pts: 0.4663, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.6459, d0.loss_plan_l1_fix_dist: 0.3831, d1.loss_plan_l1_fix_time: 0.7317, d1.loss_plan_l1_fix_dist: 0.2367, d2.loss_plan_l1_fix_time: 0.6969, d2.loss_plan_l1_fix_dist: 0.2583, d3.loss_plan_l1_fix_time: 0.6934, d3.loss_plan_l1_fix_dist: 0.2652, d4.loss_plan_l1_fix_time: 0.6943, d4.loss_plan_l1_fix_dist: 0.1863, d5.loss_plan_l1_fix_time: 0.6966, d5.loss_plan_l1_fix_dist: 0.2069, d6.loss_plan_l1_fix_time: 0.6999, d6.loss_plan_l1_fix_dist: 0.1754, d0.loss_cls_all: 0.1282, d0.loss_bbox_all: 0.3308, d0.loss_cls: 0.1282, d0.loss_bbox: 0.3308, d1.loss_cls: 0.1225, d1.loss_bbox: 0.2971, d2.loss_cls: 0.1098, d2.loss_bbox: 0.2753, d3.loss_cls: 0.0867, d3.loss_bbox: 0.2702, d4.loss_cls: 0.0804, d4.loss_bbox: 0.2682, d5.loss_cls: 0.0776, d5.loss_bbox: 0.2666, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6489, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5293, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4699, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4551, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4535, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4504, d0.loss_map_cls_all: 0.1437, d0.loss_map_pts_all: 0.9318, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1437, d0.loss_map_pts: 0.9318, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1157, d1.loss_map_pts: 0.6805, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.0966, d2.loss_map_pts: 0.5368, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0842, d3.loss_map_pts: 0.4888, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0797, d4.loss_map_pts: 0.4707, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0762, d5.loss_map_pts: 0.4663, d5.loss_map_dir: 0.0056, loss: 20.9883, grad_norm: 142.1386 +2026-03-01 09:19:51,979 - DriveTransformer - INFO - Epoch [12][32350/39528] lr: 5.696e-05, eta: 4 days, 1:46:02, time: 0.736, data_time: 0.044, memory: 19865, loss_cls: 0.0800, loss_bbox: 0.2801, loss_traj: 0.4936, loss_traj_cls: 0.0023, loss_map_cls: 0.1078, loss_map_pts: 0.4873, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.8022, d0.loss_plan_l1_fix_dist: 0.4358, d1.loss_plan_l1_fix_time: 0.7462, d1.loss_plan_l1_fix_dist: 0.2200, d2.loss_plan_l1_fix_time: 0.7172, d2.loss_plan_l1_fix_dist: 0.2728, d3.loss_plan_l1_fix_time: 0.7036, d3.loss_plan_l1_fix_dist: 0.2748, d4.loss_plan_l1_fix_time: 0.7045, d4.loss_plan_l1_fix_dist: 0.1907, d5.loss_plan_l1_fix_time: 0.7056, d5.loss_plan_l1_fix_dist: 0.2113, d6.loss_plan_l1_fix_time: 0.7075, d6.loss_plan_l1_fix_dist: 0.1738, d0.loss_cls_all: 0.1228, d0.loss_bbox_all: 0.3403, d0.loss_cls: 0.1228, d0.loss_bbox: 0.3403, d1.loss_cls: 0.1218, d1.loss_bbox: 0.3105, d2.loss_cls: 0.1067, d2.loss_bbox: 0.2862, d3.loss_cls: 0.0895, d3.loss_bbox: 0.2805, d4.loss_cls: 0.0846, d4.loss_bbox: 0.2790, d5.loss_cls: 0.0797, d5.loss_bbox: 0.2816, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7299, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5934, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5287, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5111, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5029, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4957, d0.loss_map_cls_all: 0.1909, d0.loss_map_pts_all: 0.9861, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1909, d0.loss_map_pts: 0.9861, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1557, d1.loss_map_pts: 0.7150, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1329, d2.loss_map_pts: 0.5663, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1242, d3.loss_map_pts: 0.5108, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1167, d4.loss_map_pts: 0.4921, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1110, d5.loss_map_pts: 0.4870, d5.loss_map_dir: 0.0059, loss: 22.3451, grad_norm: 139.9539 +2026-03-01 09:20:29,199 - DriveTransformer - INFO - Epoch [12][32400/39528] lr: 5.696e-05, eta: 4 days, 1:45:26, time: 0.744, data_time: 0.039, memory: 19865, loss_cls: 0.0812, loss_bbox: 0.2621, loss_traj: 0.3886, loss_traj_cls: 0.0022, loss_map_cls: 0.0820, loss_map_pts: 0.5018, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.3945, d0.loss_plan_l1_fix_dist: 0.4163, d1.loss_plan_l1_fix_time: 0.6950, d1.loss_plan_l1_fix_dist: 0.2087, d2.loss_plan_l1_fix_time: 0.6675, d2.loss_plan_l1_fix_dist: 0.2843, d3.loss_plan_l1_fix_time: 0.6709, d3.loss_plan_l1_fix_dist: 0.2769, d4.loss_plan_l1_fix_time: 0.6724, d4.loss_plan_l1_fix_dist: 0.1952, d5.loss_plan_l1_fix_time: 0.6740, d5.loss_plan_l1_fix_dist: 0.2282, d6.loss_plan_l1_fix_time: 0.6761, d6.loss_plan_l1_fix_dist: 0.1841, d0.loss_cls_all: 0.1326, d0.loss_bbox_all: 0.3186, d0.loss_cls: 0.1326, d0.loss_bbox: 0.3186, d1.loss_cls: 0.1286, d1.loss_bbox: 0.2866, d2.loss_cls: 0.1105, d2.loss_bbox: 0.2685, d3.loss_cls: 0.0919, d3.loss_bbox: 0.2637, d4.loss_cls: 0.0837, d4.loss_bbox: 0.2609, d5.loss_cls: 0.0809, d5.loss_bbox: 0.2614, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6344, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4746, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4267, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4019, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3927, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3911, d0.loss_map_cls_all: 0.1600, d0.loss_map_pts_all: 1.0210, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1600, d0.loss_map_pts: 1.0210, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1264, d1.loss_map_pts: 0.7454, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1043, d2.loss_map_pts: 0.5866, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.0946, d3.loss_map_pts: 0.5315, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.0889, d4.loss_map_pts: 0.5085, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0845, d5.loss_map_pts: 0.5026, d5.loss_map_dir: 0.0067, loss: 20.8167, grad_norm: 153.2269 +2026-03-01 09:21:07,456 - DriveTransformer - INFO - Epoch [12][32450/39528] lr: 5.696e-05, eta: 4 days, 1:44:53, time: 0.765, data_time: 0.039, memory: 19865, loss_cls: 0.0813, loss_bbox: 0.2551, loss_traj: 0.4404, loss_traj_cls: 0.0023, loss_map_cls: 0.0802, loss_map_pts: 0.4228, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.4022, d0.loss_plan_l1_fix_dist: 0.4447, d1.loss_plan_l1_fix_time: 0.6363, d1.loss_plan_l1_fix_dist: 0.2144, d2.loss_plan_l1_fix_time: 0.6130, d2.loss_plan_l1_fix_dist: 0.3073, d3.loss_plan_l1_fix_time: 0.6069, d3.loss_plan_l1_fix_dist: 0.2757, d4.loss_plan_l1_fix_time: 0.6083, d4.loss_plan_l1_fix_dist: 0.2169, d5.loss_plan_l1_fix_time: 0.6101, d5.loss_plan_l1_fix_dist: 0.2484, d6.loss_plan_l1_fix_time: 0.6128, d6.loss_plan_l1_fix_dist: 0.2231, d0.loss_cls_all: 0.1168, d0.loss_bbox_all: 0.3103, d0.loss_cls: 0.1168, d0.loss_bbox: 0.3103, d1.loss_cls: 0.1139, d1.loss_bbox: 0.2785, d2.loss_cls: 0.1026, d2.loss_bbox: 0.2603, d3.loss_cls: 0.0877, d3.loss_bbox: 0.2572, d4.loss_cls: 0.0834, d4.loss_bbox: 0.2537, d5.loss_cls: 0.0824, d5.loss_bbox: 0.2529, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6835, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5181, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4621, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4440, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4399, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4369, d0.loss_map_cls_all: 0.1530, d0.loss_map_pts_all: 0.9073, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1530, d0.loss_map_pts: 0.9073, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1206, d1.loss_map_pts: 0.6344, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1013, d2.loss_map_pts: 0.5018, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0926, d3.loss_map_pts: 0.4509, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0857, d4.loss_map_pts: 0.4303, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0825, d5.loss_map_pts: 0.4241, d5.loss_map_dir: 0.0053, loss: 20.0075, grad_norm: 153.3786 +2026-03-01 09:21:46,305 - DriveTransformer - INFO - Epoch [12][32500/39528] lr: 5.696e-05, eta: 4 days, 1:44:22, time: 0.777, data_time: 0.042, memory: 19865, loss_cls: 0.0843, loss_bbox: 0.2669, loss_traj: 0.4598, loss_traj_cls: 0.0022, loss_map_cls: 0.0949, loss_map_pts: 0.4992, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.8029, d0.loss_plan_l1_fix_dist: 0.3726, d1.loss_plan_l1_fix_time: 0.6912, d1.loss_plan_l1_fix_dist: 0.2383, d2.loss_plan_l1_fix_time: 0.6676, d2.loss_plan_l1_fix_dist: 0.3342, d3.loss_plan_l1_fix_time: 0.6670, d3.loss_plan_l1_fix_dist: 0.2694, d4.loss_plan_l1_fix_time: 0.6682, d4.loss_plan_l1_fix_dist: 0.2241, d5.loss_plan_l1_fix_time: 0.6696, d5.loss_plan_l1_fix_dist: 0.2316, d6.loss_plan_l1_fix_time: 0.6713, d6.loss_plan_l1_fix_dist: 0.2127, d0.loss_cls_all: 0.1296, d0.loss_bbox_all: 0.3353, d0.loss_cls: 0.1296, d0.loss_bbox: 0.3353, d1.loss_cls: 0.1244, d1.loss_bbox: 0.3029, d2.loss_cls: 0.1101, d2.loss_bbox: 0.2804, d3.loss_cls: 0.0913, d3.loss_bbox: 0.2745, d4.loss_cls: 0.0854, d4.loss_bbox: 0.2709, d5.loss_cls: 0.0842, d5.loss_bbox: 0.2685, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7378, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5503, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4987, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4721, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4604, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4574, d0.loss_map_cls_all: 0.1794, d0.loss_map_pts_all: 1.0290, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1794, d0.loss_map_pts: 1.0290, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1458, d1.loss_map_pts: 0.7393, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1204, d2.loss_map_pts: 0.5780, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1106, d3.loss_map_pts: 0.5263, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1034, d4.loss_map_pts: 0.5031, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0975, d5.loss_map_pts: 0.4997, d5.loss_map_dir: 0.0057, loss: 22.0205, grad_norm: 154.2275 +2026-03-01 09:22:23,353 - DriveTransformer - INFO - Epoch [12][32550/39528] lr: 5.696e-05, eta: 4 days, 1:43:46, time: 0.741, data_time: 0.039, memory: 19865, loss_cls: 0.0680, loss_bbox: 0.2459, loss_traj: 0.4828, loss_traj_cls: 0.0022, loss_map_cls: 0.0896, loss_map_pts: 0.4129, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.7472, d0.loss_plan_l1_fix_dist: 0.4078, d1.loss_plan_l1_fix_time: 0.7626, d1.loss_plan_l1_fix_dist: 0.2283, d2.loss_plan_l1_fix_time: 0.7390, d2.loss_plan_l1_fix_dist: 0.3079, d3.loss_plan_l1_fix_time: 0.7232, d3.loss_plan_l1_fix_dist: 0.2632, d4.loss_plan_l1_fix_time: 0.7253, d4.loss_plan_l1_fix_dist: 0.2212, d5.loss_plan_l1_fix_time: 0.7277, d5.loss_plan_l1_fix_dist: 0.1923, d6.loss_plan_l1_fix_time: 0.7299, d6.loss_plan_l1_fix_dist: 0.1812, d0.loss_cls_all: 0.1031, d0.loss_bbox_all: 0.3050, d0.loss_cls: 0.1031, d0.loss_bbox: 0.3050, d1.loss_cls: 0.1009, d1.loss_bbox: 0.2749, d2.loss_cls: 0.0920, d2.loss_bbox: 0.2549, d3.loss_cls: 0.0727, d3.loss_bbox: 0.2503, d4.loss_cls: 0.0694, d4.loss_bbox: 0.2468, d5.loss_cls: 0.0683, d5.loss_bbox: 0.2458, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7467, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5691, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5133, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4920, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4864, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4855, d0.loss_map_cls_all: 0.1759, d0.loss_map_pts_all: 0.9184, d0.loss_map_dir_all: 0.0046, d0.loss_map_cls: 0.1759, d0.loss_map_pts: 0.9184, d0.loss_map_dir: 0.0046, d1.loss_map_cls: 0.1453, d1.loss_map_pts: 0.6625, d1.loss_map_dir: 0.0042, d2.loss_map_cls: 0.1139, d2.loss_map_pts: 0.5108, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.1035, d3.loss_map_pts: 0.4411, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0976, d4.loss_map_pts: 0.4183, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0923, d5.loss_map_pts: 0.4135, d5.loss_map_dir: 0.0046, loss: 21.2723, grad_norm: 154.4415 +2026-03-01 09:23:01,848 - DriveTransformer - INFO - Epoch [12][32600/39528] lr: 5.696e-05, eta: 4 days, 1:43:14, time: 0.770, data_time: 0.037, memory: 19865, loss_cls: 0.0898, loss_bbox: 0.2758, loss_traj: 0.4269, loss_traj_cls: 0.0022, loss_map_cls: 0.0802, loss_map_pts: 0.4537, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.3215, d0.loss_plan_l1_fix_dist: 0.3410, d1.loss_plan_l1_fix_time: 0.7017, d1.loss_plan_l1_fix_dist: 0.2530, d2.loss_plan_l1_fix_time: 0.6926, d2.loss_plan_l1_fix_dist: 0.2959, d3.loss_plan_l1_fix_time: 0.6840, d3.loss_plan_l1_fix_dist: 0.2918, d4.loss_plan_l1_fix_time: 0.6860, d4.loss_plan_l1_fix_dist: 0.2440, d5.loss_plan_l1_fix_time: 0.6893, d5.loss_plan_l1_fix_dist: 0.1809, d6.loss_plan_l1_fix_time: 0.6923, d6.loss_plan_l1_fix_dist: 0.2126, d0.loss_cls_all: 0.1388, d0.loss_bbox_all: 0.3425, d0.loss_cls: 0.1388, d0.loss_bbox: 0.3425, d1.loss_cls: 0.1324, d1.loss_bbox: 0.3112, d2.loss_cls: 0.1209, d2.loss_bbox: 0.2881, d3.loss_cls: 0.0976, d3.loss_bbox: 0.2824, d4.loss_cls: 0.0916, d4.loss_bbox: 0.2786, d5.loss_cls: 0.0902, d5.loss_bbox: 0.2763, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6490, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4995, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4608, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4419, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4296, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4306, d0.loss_map_cls_all: 0.1743, d0.loss_map_pts_all: 0.9796, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1743, d0.loss_map_pts: 0.9796, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1356, d1.loss_map_pts: 0.6940, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1082, d2.loss_map_pts: 0.5430, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0957, d3.loss_map_pts: 0.4832, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0892, d4.loss_map_pts: 0.4580, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0830, d5.loss_map_pts: 0.4531, d5.loss_map_dir: 0.0058, loss: 20.9629, grad_norm: 154.4774 +2026-03-01 09:23:39,097 - DriveTransformer - INFO - Epoch [12][32650/39528] lr: 5.696e-05, eta: 4 days, 1:42:39, time: 0.745, data_time: 0.039, memory: 19865, loss_cls: 0.0708, loss_bbox: 0.2615, loss_traj: 0.4881, loss_traj_cls: 0.0022, loss_map_cls: 0.0947, loss_map_pts: 0.4871, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.4451, d0.loss_plan_l1_fix_dist: 0.4606, d1.loss_plan_l1_fix_time: 0.6853, d1.loss_plan_l1_fix_dist: 0.2589, d2.loss_plan_l1_fix_time: 0.6745, d2.loss_plan_l1_fix_dist: 0.2765, d3.loss_plan_l1_fix_time: 0.6629, d3.loss_plan_l1_fix_dist: 0.2986, d4.loss_plan_l1_fix_time: 0.6643, d4.loss_plan_l1_fix_dist: 0.2496, d5.loss_plan_l1_fix_time: 0.6678, d5.loss_plan_l1_fix_dist: 0.1952, d6.loss_plan_l1_fix_time: 0.6713, d6.loss_plan_l1_fix_dist: 0.2536, d0.loss_cls_all: 0.1098, d0.loss_bbox_all: 0.3166, d0.loss_cls: 0.1098, d0.loss_bbox: 0.3166, d1.loss_cls: 0.1028, d1.loss_bbox: 0.2867, d2.loss_cls: 0.0919, d2.loss_bbox: 0.2640, d3.loss_cls: 0.0766, d3.loss_bbox: 0.2623, d4.loss_cls: 0.0707, d4.loss_bbox: 0.2622, d5.loss_cls: 0.0704, d5.loss_bbox: 0.2613, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7506, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5681, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5083, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4978, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4927, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4872, d0.loss_map_cls_all: 0.1791, d0.loss_map_pts_all: 1.0026, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1791, d0.loss_map_pts: 1.0026, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1469, d1.loss_map_pts: 0.7262, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1212, d2.loss_map_pts: 0.5801, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1094, d3.loss_map_pts: 0.5180, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1024, d4.loss_map_pts: 0.4945, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0974, d5.loss_map_pts: 0.4875, d5.loss_map_dir: 0.0055, loss: 21.5724, grad_norm: 152.5783 +2026-03-01 09:24:16,661 - DriveTransformer - INFO - Epoch [12][32700/39528] lr: 5.696e-05, eta: 4 days, 1:42:04, time: 0.751, data_time: 0.039, memory: 19865, loss_cls: 0.0636, loss_bbox: 0.2344, loss_traj: 0.3343, loss_traj_cls: 0.0022, loss_map_cls: 0.0556, loss_map_pts: 0.3499, loss_map_dir: 0.0040, d0.loss_plan_l1_fix_time: 2.0251, d0.loss_plan_l1_fix_dist: 0.5126, d1.loss_plan_l1_fix_time: 0.5572, d1.loss_plan_l1_fix_dist: 0.2552, d2.loss_plan_l1_fix_time: 0.5453, d2.loss_plan_l1_fix_dist: 0.2484, d3.loss_plan_l1_fix_time: 0.5368, d3.loss_plan_l1_fix_dist: 0.2822, d4.loss_plan_l1_fix_time: 0.5382, d4.loss_plan_l1_fix_dist: 0.2564, d5.loss_plan_l1_fix_time: 0.5411, d5.loss_plan_l1_fix_dist: 0.2576, d6.loss_plan_l1_fix_time: 0.5444, d6.loss_plan_l1_fix_dist: 0.2836, d0.loss_cls_all: 0.1082, d0.loss_bbox_all: 0.2839, d0.loss_cls: 0.1082, d0.loss_bbox: 0.2839, d1.loss_cls: 0.0997, d1.loss_bbox: 0.2586, d2.loss_cls: 0.0875, d2.loss_bbox: 0.2407, d3.loss_cls: 0.0707, d3.loss_bbox: 0.2391, d4.loss_cls: 0.0663, d4.loss_bbox: 0.2362, d5.loss_cls: 0.0646, d5.loss_bbox: 0.2339, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5024, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.3969, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3596, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3442, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3365, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3324, d0.loss_map_cls_all: 0.1273, d0.loss_map_pts_all: 0.7327, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1273, d0.loss_map_pts: 0.7327, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.0959, d1.loss_map_pts: 0.5069, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.0737, d2.loss_map_pts: 0.4037, d2.loss_map_dir: 0.0040, d3.loss_map_cls: 0.0659, d3.loss_map_pts: 0.3659, d3.loss_map_dir: 0.0040, d4.loss_map_cls: 0.0615, d4.loss_map_pts: 0.3531, d4.loss_map_dir: 0.0040, d5.loss_map_cls: 0.0579, d5.loss_map_pts: 0.3490, d5.loss_map_dir: 0.0040, loss: 17.1713, grad_norm: 154.6051 +2026-03-01 09:24:54,882 - DriveTransformer - INFO - Epoch [12][32750/39528] lr: 5.696e-05, eta: 4 days, 1:41:31, time: 0.764, data_time: 0.037, memory: 19865, loss_cls: 0.0823, loss_bbox: 0.2732, loss_traj: 0.4834, loss_traj_cls: 0.0021, loss_map_cls: 0.0967, loss_map_pts: 0.5174, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 3.2228, d0.loss_plan_l1_fix_dist: 0.5253, d1.loss_plan_l1_fix_time: 0.8945, d1.loss_plan_l1_fix_dist: 0.2902, d2.loss_plan_l1_fix_time: 0.8916, d2.loss_plan_l1_fix_dist: 0.2648, d3.loss_plan_l1_fix_time: 0.8911, d3.loss_plan_l1_fix_dist: 0.2959, d4.loss_plan_l1_fix_time: 0.8923, d4.loss_plan_l1_fix_dist: 0.2659, d5.loss_plan_l1_fix_time: 0.8944, d5.loss_plan_l1_fix_dist: 0.2847, d6.loss_plan_l1_fix_time: 0.8968, d6.loss_plan_l1_fix_dist: 0.2762, d0.loss_cls_all: 0.1327, d0.loss_bbox_all: 0.3456, d0.loss_cls: 0.1327, d0.loss_bbox: 0.3456, d1.loss_cls: 0.1248, d1.loss_bbox: 0.3089, d2.loss_cls: 0.1108, d2.loss_bbox: 0.2868, d3.loss_cls: 0.0920, d3.loss_bbox: 0.2802, d4.loss_cls: 0.0860, d4.loss_bbox: 0.2765, d5.loss_cls: 0.0840, d5.loss_bbox: 0.2737, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7065, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5578, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5132, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4938, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4875, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4868, d0.loss_map_cls_all: 0.1791, d0.loss_map_pts_all: 1.0816, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1791, d0.loss_map_pts: 1.0816, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1432, d1.loss_map_pts: 0.7855, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1209, d2.loss_map_pts: 0.6148, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1113, d3.loss_map_pts: 0.5474, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1047, d4.loss_map_pts: 0.5227, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0992, d5.loss_map_pts: 0.5171, d5.loss_map_dir: 0.0062, loss: 24.5113, grad_norm: 155.7543 +2026-03-01 09:25:32,736 - DriveTransformer - INFO - Epoch [12][32800/39528] lr: 5.696e-05, eta: 4 days, 1:40:57, time: 0.757, data_time: 0.040, memory: 19865, loss_cls: 0.0773, loss_bbox: 0.2668, loss_traj: 0.3817, loss_traj_cls: 0.0021, loss_map_cls: 0.0854, loss_map_pts: 0.4361, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.2867, d0.loss_plan_l1_fix_dist: 0.4795, d1.loss_plan_l1_fix_time: 0.6624, d1.loss_plan_l1_fix_dist: 0.2872, d2.loss_plan_l1_fix_time: 0.6427, d2.loss_plan_l1_fix_dist: 0.2743, d3.loss_plan_l1_fix_time: 0.6271, d3.loss_plan_l1_fix_dist: 0.2711, d4.loss_plan_l1_fix_time: 0.6292, d4.loss_plan_l1_fix_dist: 0.2411, d5.loss_plan_l1_fix_time: 0.6314, d5.loss_plan_l1_fix_dist: 0.2668, d6.loss_plan_l1_fix_time: 0.6343, d6.loss_plan_l1_fix_dist: 0.2325, d0.loss_cls_all: 0.1264, d0.loss_bbox_all: 0.3262, d0.loss_cls: 0.1264, d0.loss_bbox: 0.3262, d1.loss_cls: 0.1226, d1.loss_bbox: 0.2940, d2.loss_cls: 0.1080, d2.loss_bbox: 0.2738, d3.loss_cls: 0.0902, d3.loss_bbox: 0.2684, d4.loss_cls: 0.0811, d4.loss_bbox: 0.2671, d5.loss_cls: 0.0778, d5.loss_bbox: 0.2666, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5932, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4536, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4083, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3939, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3885, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3825, d0.loss_map_cls_all: 0.1647, d0.loss_map_pts_all: 0.9601, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1647, d0.loss_map_pts: 0.9601, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1327, d1.loss_map_pts: 0.6563, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1078, d2.loss_map_pts: 0.5129, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0976, d3.loss_map_pts: 0.4597, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0913, d4.loss_map_pts: 0.4413, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0873, d5.loss_map_pts: 0.4368, d5.loss_map_dir: 0.0057, loss: 20.1164, grad_norm: 154.2523 +2026-03-01 09:26:13,415 - DriveTransformer - INFO - Epoch [12][32850/39528] lr: 5.696e-05, eta: 4 days, 1:40:29, time: 0.814, data_time: 0.039, memory: 19865, loss_cls: 0.0872, loss_bbox: 0.2523, loss_traj: 0.3782, loss_traj_cls: 0.0021, loss_map_cls: 0.0795, loss_map_pts: 0.4495, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.5170, d0.loss_plan_l1_fix_dist: 0.4493, d1.loss_plan_l1_fix_time: 0.6733, d1.loss_plan_l1_fix_dist: 0.2862, d2.loss_plan_l1_fix_time: 0.6453, d2.loss_plan_l1_fix_dist: 0.2697, d3.loss_plan_l1_fix_time: 0.6370, d3.loss_plan_l1_fix_dist: 0.2598, d4.loss_plan_l1_fix_time: 0.6383, d4.loss_plan_l1_fix_dist: 0.2185, d5.loss_plan_l1_fix_time: 0.6398, d5.loss_plan_l1_fix_dist: 0.2539, d6.loss_plan_l1_fix_time: 0.6420, d6.loss_plan_l1_fix_dist: 0.2352, d0.loss_cls_all: 0.1252, d0.loss_bbox_all: 0.3178, d0.loss_cls: 0.1252, d0.loss_bbox: 0.3178, d1.loss_cls: 0.1214, d1.loss_bbox: 0.2860, d2.loss_cls: 0.1072, d2.loss_bbox: 0.2663, d3.loss_cls: 0.0935, d3.loss_bbox: 0.2591, d4.loss_cls: 0.0894, d4.loss_bbox: 0.2557, d5.loss_cls: 0.0876, d5.loss_bbox: 0.2539, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5730, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4515, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4087, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3905, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3805, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3793, d0.loss_map_cls_all: 0.1511, d0.loss_map_pts_all: 0.9925, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1511, d0.loss_map_pts: 0.9925, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1192, d1.loss_map_pts: 0.6982, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1006, d2.loss_map_pts: 0.5393, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.0909, d3.loss_map_pts: 0.4783, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0861, d4.loss_map_pts: 0.4574, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0807, d5.loss_map_pts: 0.4501, d5.loss_map_dir: 0.0059, loss: 20.3462, grad_norm: 152.4711 +2026-03-01 09:26:53,226 - DriveTransformer - INFO - Epoch [12][32900/39528] lr: 5.696e-05, eta: 4 days, 1:40:00, time: 0.796, data_time: 0.040, memory: 19865, loss_cls: 0.0759, loss_bbox: 0.2613, loss_traj: 0.4545, loss_traj_cls: 0.0021, loss_map_cls: 0.0957, loss_map_pts: 0.4942, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.9506, d0.loss_plan_l1_fix_dist: 0.4526, d1.loss_plan_l1_fix_time: 0.7354, d1.loss_plan_l1_fix_dist: 0.3073, d2.loss_plan_l1_fix_time: 0.6877, d2.loss_plan_l1_fix_dist: 0.2835, d3.loss_plan_l1_fix_time: 0.6913, d3.loss_plan_l1_fix_dist: 0.2843, d4.loss_plan_l1_fix_time: 0.6933, d4.loss_plan_l1_fix_dist: 0.2216, d5.loss_plan_l1_fix_time: 0.6958, d5.loss_plan_l1_fix_dist: 0.2686, d6.loss_plan_l1_fix_time: 0.6983, d6.loss_plan_l1_fix_dist: 0.2609, d0.loss_cls_all: 0.1181, d0.loss_bbox_all: 0.3285, d0.loss_cls: 0.1181, d0.loss_bbox: 0.3285, d1.loss_cls: 0.1151, d1.loss_bbox: 0.2933, d2.loss_cls: 0.1013, d2.loss_bbox: 0.2741, d3.loss_cls: 0.0864, d3.loss_bbox: 0.2680, d4.loss_cls: 0.0771, d4.loss_bbox: 0.2654, d5.loss_cls: 0.0748, d5.loss_bbox: 0.2633, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6791, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5328, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4872, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4698, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4597, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4569, d0.loss_map_cls_all: 0.1700, d0.loss_map_pts_all: 1.0199, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1700, d0.loss_map_pts: 1.0199, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1415, d1.loss_map_pts: 0.7380, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1198, d2.loss_map_pts: 0.5908, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1089, d3.loss_map_pts: 0.5285, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1028, d4.loss_map_pts: 0.5008, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0992, d5.loss_map_pts: 0.4940, d5.loss_map_dir: 0.0058, loss: 22.2689, grad_norm: 151.8800 +2026-03-01 09:27:29,475 - DriveTransformer - INFO - Epoch [12][32950/39528] lr: 5.696e-05, eta: 4 days, 1:39:22, time: 0.725, data_time: 0.040, memory: 19865, loss_cls: 0.0697, loss_bbox: 0.2387, loss_traj: 0.4852, loss_traj_cls: 0.0021, loss_map_cls: 0.0848, loss_map_pts: 0.4182, loss_map_dir: 0.0044, d0.loss_plan_l1_fix_time: 2.6020, d0.loss_plan_l1_fix_dist: 0.4031, d1.loss_plan_l1_fix_time: 0.6561, d1.loss_plan_l1_fix_dist: 0.3055, d2.loss_plan_l1_fix_time: 0.5988, d2.loss_plan_l1_fix_dist: 0.2611, d3.loss_plan_l1_fix_time: 0.5914, d3.loss_plan_l1_fix_dist: 0.2746, d4.loss_plan_l1_fix_time: 0.5921, d4.loss_plan_l1_fix_dist: 0.1965, d5.loss_plan_l1_fix_time: 0.5939, d5.loss_plan_l1_fix_dist: 0.2396, d6.loss_plan_l1_fix_time: 0.5958, d6.loss_plan_l1_fix_dist: 0.2383, d0.loss_cls_all: 0.1040, d0.loss_bbox_all: 0.3077, d0.loss_cls: 0.1040, d0.loss_bbox: 0.3077, d1.loss_cls: 0.1041, d1.loss_bbox: 0.2742, d2.loss_cls: 0.0897, d2.loss_bbox: 0.2526, d3.loss_cls: 0.0744, d3.loss_bbox: 0.2439, d4.loss_cls: 0.0702, d4.loss_bbox: 0.2416, d5.loss_cls: 0.0695, d5.loss_bbox: 0.2386, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6589, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5320, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5002, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4907, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4864, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4850, d0.loss_map_cls_all: 0.1588, d0.loss_map_pts_all: 0.9034, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1588, d0.loss_map_pts: 0.9034, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1323, d1.loss_map_pts: 0.6397, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.1113, d2.loss_map_pts: 0.4991, d2.loss_map_dir: 0.0040, d3.loss_map_cls: 0.0976, d3.loss_map_pts: 0.4437, d3.loss_map_dir: 0.0040, d4.loss_map_cls: 0.0914, d4.loss_map_pts: 0.4227, d4.loss_map_dir: 0.0043, d5.loss_map_cls: 0.0860, d5.loss_map_pts: 0.4195, d5.loss_map_dir: 0.0044, loss: 20.1922, grad_norm: 150.9038 +2026-03-01 09:28:07,055 - DriveTransformer - INFO - Epoch [12][33000/39528] lr: 5.696e-05, eta: 4 days, 1:38:48, time: 0.753, data_time: 0.036, memory: 19865, loss_cls: 0.0856, loss_bbox: 0.2740, loss_traj: 0.3752, loss_traj_cls: 0.0021, loss_map_cls: 0.0784, loss_map_pts: 0.5099, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.4235, d0.loss_plan_l1_fix_dist: 0.5251, d1.loss_plan_l1_fix_time: 0.7085, d1.loss_plan_l1_fix_dist: 0.3245, d2.loss_plan_l1_fix_time: 0.6882, d2.loss_plan_l1_fix_dist: 0.2710, d3.loss_plan_l1_fix_time: 0.6825, d3.loss_plan_l1_fix_dist: 0.2982, d4.loss_plan_l1_fix_time: 0.6846, d4.loss_plan_l1_fix_dist: 0.2246, d5.loss_plan_l1_fix_time: 0.6867, d5.loss_plan_l1_fix_dist: 0.2442, d6.loss_plan_l1_fix_time: 0.6892, d6.loss_plan_l1_fix_dist: 0.2792, d0.loss_cls_all: 0.1196, d0.loss_bbox_all: 0.3378, d0.loss_cls: 0.1196, d0.loss_bbox: 0.3378, d1.loss_cls: 0.1147, d1.loss_bbox: 0.3066, d2.loss_cls: 0.1023, d2.loss_bbox: 0.2874, d3.loss_cls: 0.0907, d3.loss_bbox: 0.2802, d4.loss_cls: 0.0881, d4.loss_bbox: 0.2760, d5.loss_cls: 0.0870, d5.loss_bbox: 0.2728, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6402, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4639, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4172, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3900, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3802, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3760, d0.loss_map_cls_all: 0.1562, d0.loss_map_pts_all: 1.0392, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1562, d0.loss_map_pts: 1.0392, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1253, d1.loss_map_pts: 0.7702, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1017, d2.loss_map_pts: 0.6075, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.0917, d3.loss_map_pts: 0.5376, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0849, d4.loss_map_pts: 0.5145, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0810, d5.loss_map_pts: 0.5099, d5.loss_map_dir: 0.0062, loss: 21.4139, grad_norm: 146.2284 +2026-03-01 09:28:44,561 - DriveTransformer - INFO - Epoch [12][33050/39528] lr: 5.696e-05, eta: 4 days, 1:38:13, time: 0.749, data_time: 0.039, memory: 19865, loss_cls: 0.0893, loss_bbox: 0.2670, loss_traj: 0.4345, loss_traj_cls: 0.0020, loss_map_cls: 0.0954, loss_map_pts: 0.4819, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.0855, d0.loss_plan_l1_fix_dist: 0.4236, d1.loss_plan_l1_fix_time: 0.6335, d1.loss_plan_l1_fix_dist: 0.2962, d2.loss_plan_l1_fix_time: 0.5887, d2.loss_plan_l1_fix_dist: 0.2268, d3.loss_plan_l1_fix_time: 0.5863, d3.loss_plan_l1_fix_dist: 0.2486, d4.loss_plan_l1_fix_time: 0.5880, d4.loss_plan_l1_fix_dist: 0.1914, d5.loss_plan_l1_fix_time: 0.5896, d5.loss_plan_l1_fix_dist: 0.1852, d6.loss_plan_l1_fix_time: 0.5920, d6.loss_plan_l1_fix_dist: 0.2789, d0.loss_cls_all: 0.1285, d0.loss_bbox_all: 0.3339, d0.loss_cls: 0.1285, d0.loss_bbox: 0.3339, d1.loss_cls: 0.1256, d1.loss_bbox: 0.2976, d2.loss_cls: 0.1142, d2.loss_bbox: 0.2769, d3.loss_cls: 0.0942, d3.loss_bbox: 0.2712, d4.loss_cls: 0.0896, d4.loss_bbox: 0.2691, d5.loss_cls: 0.0892, d5.loss_bbox: 0.2669, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6719, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5162, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4639, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4442, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4372, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4354, d0.loss_map_cls_all: 0.1796, d0.loss_map_pts_all: 1.0358, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1796, d0.loss_map_pts: 1.0358, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1449, d1.loss_map_pts: 0.7457, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1194, d2.loss_map_pts: 0.5780, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1088, d3.loss_map_pts: 0.5126, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1035, d4.loss_map_pts: 0.4884, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0987, d5.loss_map_pts: 0.4817, d5.loss_map_dir: 0.0056, loss: 20.5344, grad_norm: 146.1630 +2026-03-01 09:29:22,804 - DriveTransformer - INFO - Epoch [12][33100/39528] lr: 5.696e-05, eta: 4 days, 1:37:40, time: 0.765, data_time: 0.039, memory: 19865, loss_cls: 0.0700, loss_bbox: 0.2452, loss_traj: 0.4462, loss_traj_cls: 0.0020, loss_map_cls: 0.0779, loss_map_pts: 0.4207, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.4328, d0.loss_plan_l1_fix_dist: 0.4696, d1.loss_plan_l1_fix_time: 0.6760, d1.loss_plan_l1_fix_dist: 0.2867, d2.loss_plan_l1_fix_time: 0.6395, d2.loss_plan_l1_fix_dist: 0.2330, d3.loss_plan_l1_fix_time: 0.6148, d3.loss_plan_l1_fix_dist: 0.2417, d4.loss_plan_l1_fix_time: 0.6150, d4.loss_plan_l1_fix_dist: 0.1977, d5.loss_plan_l1_fix_time: 0.6167, d5.loss_plan_l1_fix_dist: 0.1831, d6.loss_plan_l1_fix_time: 0.6188, d6.loss_plan_l1_fix_dist: 0.2933, d0.loss_cls_all: 0.1011, d0.loss_bbox_all: 0.3012, d0.loss_cls: 0.1011, d0.loss_bbox: 0.3012, d1.loss_cls: 0.0962, d1.loss_bbox: 0.2704, d2.loss_cls: 0.0873, d2.loss_bbox: 0.2522, d3.loss_cls: 0.0745, d3.loss_bbox: 0.2466, d4.loss_cls: 0.0705, d4.loss_bbox: 0.2447, d5.loss_cls: 0.0704, d5.loss_bbox: 0.2440, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6272, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5064, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4708, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4576, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4514, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4476, d0.loss_map_cls_all: 0.1514, d0.loss_map_pts_all: 0.9227, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1514, d0.loss_map_pts: 0.9227, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1259, d1.loss_map_pts: 0.6547, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1030, d2.loss_map_pts: 0.5008, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0926, d3.loss_map_pts: 0.4446, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0848, d4.loss_map_pts: 0.4251, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0804, d5.loss_map_pts: 0.4206, d5.loss_map_dir: 0.0048, loss: 19.9284, grad_norm: 145.1202 +2026-03-01 09:29:59,880 - DriveTransformer - INFO - Epoch [12][33150/39528] lr: 5.696e-05, eta: 4 days, 1:37:05, time: 0.742, data_time: 0.039, memory: 19865, loss_cls: 0.0936, loss_bbox: 0.2872, loss_traj: 0.4964, loss_traj_cls: 0.0020, loss_map_cls: 0.0870, loss_map_pts: 0.4809, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.6472, d0.loss_plan_l1_fix_dist: 0.4287, d1.loss_plan_l1_fix_time: 0.7804, d1.loss_plan_l1_fix_dist: 0.2663, d2.loss_plan_l1_fix_time: 0.7357, d2.loss_plan_l1_fix_dist: 0.2147, d3.loss_plan_l1_fix_time: 0.7350, d3.loss_plan_l1_fix_dist: 0.2178, d4.loss_plan_l1_fix_time: 0.7360, d4.loss_plan_l1_fix_dist: 0.1983, d5.loss_plan_l1_fix_time: 0.7373, d5.loss_plan_l1_fix_dist: 0.2119, d6.loss_plan_l1_fix_time: 0.7391, d6.loss_plan_l1_fix_dist: 0.2892, d0.loss_cls_all: 0.1372, d0.loss_bbox_all: 0.3642, d0.loss_cls: 0.1372, d0.loss_bbox: 0.3642, d1.loss_cls: 0.1299, d1.loss_bbox: 0.3268, d2.loss_cls: 0.1157, d2.loss_bbox: 0.3032, d3.loss_cls: 0.0988, d3.loss_bbox: 0.2954, d4.loss_cls: 0.0939, d4.loss_bbox: 0.2907, d5.loss_cls: 0.0943, d5.loss_bbox: 0.2872, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7740, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5916, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5341, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5145, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.5002, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4954, d0.loss_map_cls_all: 0.1746, d0.loss_map_pts_all: 1.0211, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1746, d0.loss_map_pts: 1.0211, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1352, d1.loss_map_pts: 0.7524, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1113, d2.loss_map_pts: 0.5861, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1001, d3.loss_map_pts: 0.5122, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0942, d4.loss_map_pts: 0.4869, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0894, d5.loss_map_pts: 0.4816, d5.loss_map_dir: 0.0061, loss: 22.6280, grad_norm: 144.5597 +2026-03-01 09:30:37,152 - DriveTransformer - INFO - Epoch [12][33200/39528] lr: 5.696e-05, eta: 4 days, 1:36:30, time: 0.745, data_time: 0.043, memory: 19865, loss_cls: 0.0947, loss_bbox: 0.2915, loss_traj: 0.5352, loss_traj_cls: 0.0020, loss_map_cls: 0.0968, loss_map_pts: 0.4465, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.7894, d0.loss_plan_l1_fix_dist: 0.3984, d1.loss_plan_l1_fix_time: 0.7497, d1.loss_plan_l1_fix_dist: 0.2582, d2.loss_plan_l1_fix_time: 0.6928, d2.loss_plan_l1_fix_dist: 0.2129, d3.loss_plan_l1_fix_time: 0.6887, d3.loss_plan_l1_fix_dist: 0.2057, d4.loss_plan_l1_fix_time: 0.6909, d4.loss_plan_l1_fix_dist: 0.1962, d5.loss_plan_l1_fix_time: 0.6939, d5.loss_plan_l1_fix_dist: 0.2509, d6.loss_plan_l1_fix_time: 0.6971, d6.loss_plan_l1_fix_dist: 0.2587, d0.loss_cls_all: 0.1385, d0.loss_bbox_all: 0.3697, d0.loss_cls: 0.1385, d0.loss_bbox: 0.3697, d1.loss_cls: 0.1338, d1.loss_bbox: 0.3259, d2.loss_cls: 0.1180, d2.loss_bbox: 0.3033, d3.loss_cls: 0.1002, d3.loss_bbox: 0.2984, d4.loss_cls: 0.0958, d4.loss_bbox: 0.2945, d5.loss_cls: 0.0939, d5.loss_bbox: 0.2920, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7875, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.6111, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5556, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5373, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.5364, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5357, d0.loss_map_cls_all: 0.1725, d0.loss_map_pts_all: 0.9303, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1725, d0.loss_map_pts: 0.9303, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1467, d1.loss_map_pts: 0.6697, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1208, d2.loss_map_pts: 0.5220, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.1116, d3.loss_map_pts: 0.4701, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.1027, d4.loss_map_pts: 0.4540, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0978, d5.loss_map_pts: 0.4473, d5.loss_map_dir: 0.0051, loss: 22.2804, grad_norm: 148.2795 +2026-03-01 09:31:13,383 - DriveTransformer - INFO - Epoch [12][33250/39528] lr: 5.696e-05, eta: 4 days, 1:35:53, time: 0.725, data_time: 0.039, memory: 19865, loss_cls: 0.0828, loss_bbox: 0.2551, loss_traj: 0.4157, loss_traj_cls: 0.0022, loss_map_cls: 0.0847, loss_map_pts: 0.4677, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.5145, d0.loss_plan_l1_fix_dist: 0.4741, d1.loss_plan_l1_fix_time: 0.6367, d1.loss_plan_l1_fix_dist: 0.2609, d2.loss_plan_l1_fix_time: 0.5939, d2.loss_plan_l1_fix_dist: 0.2233, d3.loss_plan_l1_fix_time: 0.5861, d3.loss_plan_l1_fix_dist: 0.2086, d4.loss_plan_l1_fix_time: 0.5899, d4.loss_plan_l1_fix_dist: 0.1958, d5.loss_plan_l1_fix_time: 0.5932, d5.loss_plan_l1_fix_dist: 0.2759, d6.loss_plan_l1_fix_time: 0.5957, d6.loss_plan_l1_fix_dist: 0.2288, d0.loss_cls_all: 0.1221, d0.loss_bbox_all: 0.3239, d0.loss_cls: 0.1221, d0.loss_bbox: 0.3239, d1.loss_cls: 0.1136, d1.loss_bbox: 0.2904, d2.loss_cls: 0.1045, d2.loss_bbox: 0.2669, d3.loss_cls: 0.0883, d3.loss_bbox: 0.2616, d4.loss_cls: 0.0838, d4.loss_bbox: 0.2571, d5.loss_cls: 0.0821, d5.loss_bbox: 0.2555, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6702, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5053, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4536, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4307, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4246, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4184, d0.loss_map_cls_all: 0.1627, d0.loss_map_pts_all: 0.9493, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1627, d0.loss_map_pts: 0.9493, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1305, d1.loss_map_pts: 0.6980, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1085, d2.loss_map_pts: 0.5511, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0998, d3.loss_map_pts: 0.4992, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0916, d4.loss_map_pts: 0.4740, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0874, d5.loss_map_pts: 0.4676, d5.loss_map_dir: 0.0056, loss: 20.3676, grad_norm: 146.4438 +2026-03-01 09:31:52,096 - DriveTransformer - INFO - Epoch [12][33300/39528] lr: 5.696e-05, eta: 4 days, 1:35:21, time: 0.774, data_time: 0.038, memory: 19865, loss_cls: 0.0750, loss_bbox: 0.2586, loss_traj: 0.4302, loss_traj_cls: 0.0021, loss_map_cls: 0.0805, loss_map_pts: 0.5008, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.6840, d0.loss_plan_l1_fix_dist: 0.4381, d1.loss_plan_l1_fix_time: 0.7140, d1.loss_plan_l1_fix_dist: 0.2704, d2.loss_plan_l1_fix_time: 0.6975, d2.loss_plan_l1_fix_dist: 0.2312, d3.loss_plan_l1_fix_time: 0.6933, d3.loss_plan_l1_fix_dist: 0.2269, d4.loss_plan_l1_fix_time: 0.6958, d4.loss_plan_l1_fix_dist: 0.2095, d5.loss_plan_l1_fix_time: 0.6976, d5.loss_plan_l1_fix_dist: 0.2580, d6.loss_plan_l1_fix_time: 0.6993, d6.loss_plan_l1_fix_dist: 0.2226, d0.loss_cls_all: 0.1286, d0.loss_bbox_all: 0.3197, d0.loss_cls: 0.1286, d0.loss_bbox: 0.3197, d1.loss_cls: 0.1159, d1.loss_bbox: 0.2862, d2.loss_cls: 0.1027, d2.loss_bbox: 0.2669, d3.loss_cls: 0.0850, d3.loss_bbox: 0.2596, d4.loss_cls: 0.0772, d4.loss_bbox: 0.2594, d5.loss_cls: 0.0753, d5.loss_bbox: 0.2589, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6797, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5224, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4586, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4334, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4342, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4322, d0.loss_map_cls_all: 0.1755, d0.loss_map_pts_all: 1.0698, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1755, d0.loss_map_pts: 1.0698, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1372, d1.loss_map_pts: 0.7639, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1095, d2.loss_map_pts: 0.5893, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.0965, d3.loss_map_pts: 0.5272, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0892, d4.loss_map_pts: 0.5049, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0833, d5.loss_map_pts: 0.5016, d5.loss_map_dir: 0.0062, loss: 21.6785, grad_norm: 146.5482 +2026-03-01 09:32:29,751 - DriveTransformer - INFO - Epoch [12][33350/39528] lr: 5.696e-05, eta: 4 days, 1:34:46, time: 0.753, data_time: 0.037, memory: 19865, loss_cls: 0.0849, loss_bbox: 0.2725, loss_traj: 0.4182, loss_traj_cls: 0.0020, loss_map_cls: 0.0889, loss_map_pts: 0.4899, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.4263, d0.loss_plan_l1_fix_dist: 0.4828, d1.loss_plan_l1_fix_time: 0.6639, d1.loss_plan_l1_fix_dist: 0.2760, d2.loss_plan_l1_fix_time: 0.6372, d2.loss_plan_l1_fix_dist: 0.2276, d3.loss_plan_l1_fix_time: 0.6230, d3.loss_plan_l1_fix_dist: 0.2392, d4.loss_plan_l1_fix_time: 0.6235, d4.loss_plan_l1_fix_dist: 0.2309, d5.loss_plan_l1_fix_time: 0.6246, d5.loss_plan_l1_fix_dist: 0.2496, d6.loss_plan_l1_fix_time: 0.6273, d6.loss_plan_l1_fix_dist: 0.2284, d0.loss_cls_all: 0.1281, d0.loss_bbox_all: 0.3423, d0.loss_cls: 0.1281, d0.loss_bbox: 0.3423, d1.loss_cls: 0.1240, d1.loss_bbox: 0.3088, d2.loss_cls: 0.1105, d2.loss_bbox: 0.2829, d3.loss_cls: 0.0914, d3.loss_bbox: 0.2777, d4.loss_cls: 0.0864, d4.loss_bbox: 0.2745, d5.loss_cls: 0.0853, d5.loss_bbox: 0.2727, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6868, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5121, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4498, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4250, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4159, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4133, d0.loss_map_cls_all: 0.1759, d0.loss_map_pts_all: 1.0783, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1759, d0.loss_map_pts: 1.0783, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1354, d1.loss_map_pts: 0.7560, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1142, d2.loss_map_pts: 0.5883, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1020, d3.loss_map_pts: 0.5214, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0952, d4.loss_map_pts: 0.4970, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0902, d5.loss_map_pts: 0.4905, d5.loss_map_dir: 0.0062, loss: 21.2285, grad_norm: 147.0532 +2026-03-01 09:33:07,659 - DriveTransformer - INFO - Epoch [12][33400/39528] lr: 5.696e-05, eta: 4 days, 1:34:13, time: 0.758, data_time: 0.039, memory: 19865, loss_cls: 0.0700, loss_bbox: 0.2566, loss_traj: 0.4365, loss_traj_cls: 0.0021, loss_map_cls: 0.0801, loss_map_pts: 0.4196, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.7719, d0.loss_plan_l1_fix_dist: 0.4208, d1.loss_plan_l1_fix_time: 0.7063, d1.loss_plan_l1_fix_dist: 0.2620, d2.loss_plan_l1_fix_time: 0.6945, d2.loss_plan_l1_fix_dist: 0.2204, d3.loss_plan_l1_fix_time: 0.6961, d3.loss_plan_l1_fix_dist: 0.2071, d4.loss_plan_l1_fix_time: 0.6991, d4.loss_plan_l1_fix_dist: 0.2339, d5.loss_plan_l1_fix_time: 0.7010, d5.loss_plan_l1_fix_dist: 0.2408, d6.loss_plan_l1_fix_time: 0.7037, d6.loss_plan_l1_fix_dist: 0.2676, d0.loss_cls_all: 0.1097, d0.loss_bbox_all: 0.3302, d0.loss_cls: 0.1097, d0.loss_bbox: 0.3302, d1.loss_cls: 0.1039, d1.loss_bbox: 0.2936, d2.loss_cls: 0.0920, d2.loss_bbox: 0.2690, d3.loss_cls: 0.0746, d3.loss_bbox: 0.2618, d4.loss_cls: 0.0698, d4.loss_bbox: 0.2588, d5.loss_cls: 0.0694, d5.loss_bbox: 0.2571, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6711, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5197, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4642, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4436, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4382, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4379, d0.loss_map_cls_all: 0.1557, d0.loss_map_pts_all: 0.9027, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1557, d0.loss_map_pts: 0.9027, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1290, d1.loss_map_pts: 0.6495, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1065, d2.loss_map_pts: 0.5109, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0953, d3.loss_map_pts: 0.4496, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0893, d4.loss_map_pts: 0.4269, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0833, d5.loss_map_pts: 0.4199, d5.loss_map_dir: 0.0049, loss: 20.8166, grad_norm: 146.4434 +2026-03-01 09:33:45,547 - DriveTransformer - INFO - Epoch [12][33450/39528] lr: 5.696e-05, eta: 4 days, 1:33:39, time: 0.758, data_time: 0.038, memory: 19865, loss_cls: 0.0832, loss_bbox: 0.2566, loss_traj: 0.4838, loss_traj_cls: 0.0020, loss_map_cls: 0.0807, loss_map_pts: 0.4641, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.6918, d0.loss_plan_l1_fix_dist: 0.3786, d1.loss_plan_l1_fix_time: 0.6340, d1.loss_plan_l1_fix_dist: 0.2298, d2.loss_plan_l1_fix_time: 0.6154, d2.loss_plan_l1_fix_dist: 0.2105, d3.loss_plan_l1_fix_time: 0.6021, d3.loss_plan_l1_fix_dist: 0.1665, d4.loss_plan_l1_fix_time: 0.6031, d4.loss_plan_l1_fix_dist: 0.2316, d5.loss_plan_l1_fix_time: 0.6043, d5.loss_plan_l1_fix_dist: 0.1924, d6.loss_plan_l1_fix_time: 0.6062, d6.loss_plan_l1_fix_dist: 0.2763, d0.loss_cls_all: 0.1221, d0.loss_bbox_all: 0.3244, d0.loss_cls: 0.1221, d0.loss_bbox: 0.3244, d1.loss_cls: 0.1181, d1.loss_bbox: 0.2897, d2.loss_cls: 0.1076, d2.loss_bbox: 0.2662, d3.loss_cls: 0.0909, d3.loss_bbox: 0.2596, d4.loss_cls: 0.0844, d4.loss_bbox: 0.2584, d5.loss_cls: 0.0829, d5.loss_bbox: 0.2566, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7597, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5811, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5105, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4893, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4867, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4823, d0.loss_map_cls_all: 0.1698, d0.loss_map_pts_all: 1.0669, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1698, d0.loss_map_pts: 1.0669, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1348, d1.loss_map_pts: 0.7618, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1084, d2.loss_map_pts: 0.5720, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0960, d3.loss_map_pts: 0.4941, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0889, d4.loss_map_pts: 0.4696, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0831, d5.loss_map_pts: 0.4652, d5.loss_map_dir: 0.0054, loss: 21.2255, grad_norm: 144.5535 +2026-03-01 09:34:21,525 - DriveTransformer - INFO - Epoch [12][33500/39528] lr: 5.696e-05, eta: 4 days, 1:33:01, time: 0.720, data_time: 0.039, memory: 19865, loss_cls: 0.0784, loss_bbox: 0.2572, loss_traj: 0.4548, loss_traj_cls: 0.0020, loss_map_cls: 0.0853, loss_map_pts: 0.4317, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.5565, d0.loss_plan_l1_fix_dist: 0.3318, d1.loss_plan_l1_fix_time: 0.7484, d1.loss_plan_l1_fix_dist: 0.2133, d2.loss_plan_l1_fix_time: 0.7246, d2.loss_plan_l1_fix_dist: 0.2191, d3.loss_plan_l1_fix_time: 0.7231, d3.loss_plan_l1_fix_dist: 0.1707, d4.loss_plan_l1_fix_time: 0.7246, d4.loss_plan_l1_fix_dist: 0.2698, d5.loss_plan_l1_fix_time: 0.7271, d5.loss_plan_l1_fix_dist: 0.1892, d6.loss_plan_l1_fix_time: 0.7298, d6.loss_plan_l1_fix_dist: 0.3158, d0.loss_cls_all: 0.1185, d0.loss_bbox_all: 0.3161, d0.loss_cls: 0.1185, d0.loss_bbox: 0.3161, d1.loss_cls: 0.1119, d1.loss_bbox: 0.2877, d2.loss_cls: 0.1021, d2.loss_bbox: 0.2664, d3.loss_cls: 0.0849, d3.loss_bbox: 0.2610, d4.loss_cls: 0.0788, d4.loss_bbox: 0.2602, d5.loss_cls: 0.0779, d5.loss_bbox: 0.2580, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7420, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5657, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4878, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4677, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4607, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4549, d0.loss_map_cls_all: 0.1665, d0.loss_map_pts_all: 0.9153, d0.loss_map_dir_all: 0.0048, d0.loss_map_cls: 0.1665, d0.loss_map_pts: 0.9153, d0.loss_map_dir: 0.0048, d1.loss_map_cls: 0.1356, d1.loss_map_pts: 0.6676, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.1112, d2.loss_map_pts: 0.5244, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.0994, d3.loss_map_pts: 0.4646, d3.loss_map_dir: 0.0043, d4.loss_map_cls: 0.0936, d4.loss_map_pts: 0.4388, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0889, d5.loss_map_pts: 0.4315, d5.loss_map_dir: 0.0046, loss: 21.0506, grad_norm: 146.2487 +2026-03-01 09:34:57,982 - DriveTransformer - INFO - Epoch [12][33550/39528] lr: 5.696e-05, eta: 4 days, 1:32:24, time: 0.729, data_time: 0.037, memory: 19865, loss_cls: 0.0708, loss_bbox: 0.2537, loss_traj: 0.4399, loss_traj_cls: 0.0021, loss_map_cls: 0.0938, loss_map_pts: 0.4870, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.7751, d0.loss_plan_l1_fix_dist: 0.4321, d1.loss_plan_l1_fix_time: 0.7044, d1.loss_plan_l1_fix_dist: 0.1864, d2.loss_plan_l1_fix_time: 0.6897, d2.loss_plan_l1_fix_dist: 0.2079, d3.loss_plan_l1_fix_time: 0.6843, d3.loss_plan_l1_fix_dist: 0.1868, d4.loss_plan_l1_fix_time: 0.6850, d4.loss_plan_l1_fix_dist: 0.2791, d5.loss_plan_l1_fix_time: 0.6874, d5.loss_plan_l1_fix_dist: 0.2344, d6.loss_plan_l1_fix_time: 0.6901, d6.loss_plan_l1_fix_dist: 0.2938, d0.loss_cls_all: 0.1196, d0.loss_bbox_all: 0.3220, d0.loss_cls: 0.1196, d0.loss_bbox: 0.3220, d1.loss_cls: 0.1085, d1.loss_bbox: 0.2864, d2.loss_cls: 0.0990, d2.loss_bbox: 0.2642, d3.loss_cls: 0.0790, d3.loss_bbox: 0.2581, d4.loss_cls: 0.0714, d4.loss_bbox: 0.2557, d5.loss_cls: 0.0703, d5.loss_bbox: 0.2540, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6945, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5128, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4656, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4521, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4450, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4405, d0.loss_map_cls_all: 0.1821, d0.loss_map_pts_all: 0.9997, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1821, d0.loss_map_pts: 0.9997, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1485, d1.loss_map_pts: 0.7126, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1239, d2.loss_map_pts: 0.5611, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1119, d3.loss_map_pts: 0.5091, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1028, d4.loss_map_pts: 0.4875, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0970, d5.loss_map_pts: 0.4860, d5.loss_map_dir: 0.0053, loss: 21.4770, grad_norm: 138.2552 +2026-03-01 09:35:33,117 - DriveTransformer - INFO - Epoch [12][33600/39528] lr: 5.696e-05, eta: 4 days, 1:31:45, time: 0.703, data_time: 0.037, memory: 19865, loss_cls: 0.0981, loss_bbox: 0.2940, loss_traj: 0.4710, loss_traj_cls: 0.0021, loss_map_cls: 0.0930, loss_map_pts: 0.4847, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.9532, d0.loss_plan_l1_fix_dist: 0.4542, d1.loss_plan_l1_fix_time: 0.8056, d1.loss_plan_l1_fix_dist: 0.1991, d2.loss_plan_l1_fix_time: 0.7883, d2.loss_plan_l1_fix_dist: 0.2346, d3.loss_plan_l1_fix_time: 0.7866, d3.loss_plan_l1_fix_dist: 0.2355, d4.loss_plan_l1_fix_time: 0.7868, d4.loss_plan_l1_fix_dist: 0.3300, d5.loss_plan_l1_fix_time: 0.7888, d5.loss_plan_l1_fix_dist: 0.3035, d6.loss_plan_l1_fix_time: 0.7909, d6.loss_plan_l1_fix_dist: 0.2992, d0.loss_cls_all: 0.1519, d0.loss_bbox_all: 0.3683, d0.loss_cls: 0.1519, d0.loss_bbox: 0.3683, d1.loss_cls: 0.1431, d1.loss_bbox: 0.3279, d2.loss_cls: 0.1276, d2.loss_bbox: 0.3055, d3.loss_cls: 0.1061, d3.loss_bbox: 0.2970, d4.loss_cls: 0.0984, d4.loss_bbox: 0.2964, d5.loss_cls: 0.0979, d5.loss_bbox: 0.2947, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7147, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5614, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5031, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4896, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4815, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4717, d0.loss_map_cls_all: 0.1825, d0.loss_map_pts_all: 0.9310, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1825, d0.loss_map_pts: 0.9310, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1483, d1.loss_map_pts: 0.6974, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1214, d2.loss_map_pts: 0.5582, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1078, d3.loss_map_pts: 0.5009, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1011, d4.loss_map_pts: 0.4824, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0973, d5.loss_map_pts: 0.4816, d5.loss_map_dir: 0.0058, loss: 23.1327, grad_norm: 141.5875 +2026-03-01 09:36:08,408 - DriveTransformer - INFO - Epoch [12][33650/39528] lr: 5.696e-05, eta: 4 days, 1:31:06, time: 0.706, data_time: 0.038, memory: 19865, loss_cls: 0.0877, loss_bbox: 0.2672, loss_traj: 0.4822, loss_traj_cls: 0.0021, loss_map_cls: 0.0809, loss_map_pts: 0.4420, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.6175, d0.loss_plan_l1_fix_dist: 0.4298, d1.loss_plan_l1_fix_time: 0.7096, d1.loss_plan_l1_fix_dist: 0.1791, d2.loss_plan_l1_fix_time: 0.6822, d2.loss_plan_l1_fix_dist: 0.2211, d3.loss_plan_l1_fix_time: 0.6683, d3.loss_plan_l1_fix_dist: 0.2134, d4.loss_plan_l1_fix_time: 0.6677, d4.loss_plan_l1_fix_dist: 0.3161, d5.loss_plan_l1_fix_time: 0.6698, d5.loss_plan_l1_fix_dist: 0.2943, d6.loss_plan_l1_fix_time: 0.6724, d6.loss_plan_l1_fix_dist: 0.2465, d0.loss_cls_all: 0.1306, d0.loss_bbox_all: 0.3221, d0.loss_cls: 0.1306, d0.loss_bbox: 0.3221, d1.loss_cls: 0.1235, d1.loss_bbox: 0.2939, d2.loss_cls: 0.1088, d2.loss_bbox: 0.2754, d3.loss_cls: 0.0913, d3.loss_bbox: 0.2710, d4.loss_cls: 0.0883, d4.loss_bbox: 0.2685, d5.loss_cls: 0.0867, d5.loss_bbox: 0.2671, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7157, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5397, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4969, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4857, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4812, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4786, d0.loss_map_cls_all: 0.1531, d0.loss_map_pts_all: 0.8959, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1531, d0.loss_map_pts: 0.8959, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1280, d1.loss_map_pts: 0.6667, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1038, d2.loss_map_pts: 0.5233, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0914, d3.loss_map_pts: 0.4651, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0867, d4.loss_map_pts: 0.4447, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0825, d5.loss_map_pts: 0.4415, d5.loss_map_dir: 0.0049, loss: 21.1040, grad_norm: 142.2769 +2026-03-01 09:36:46,260 - DriveTransformer - INFO - Epoch [12][33700/39528] lr: 5.696e-05, eta: 4 days, 1:30:32, time: 0.756, data_time: 0.040, memory: 19865, loss_cls: 0.0825, loss_bbox: 0.2652, loss_traj: 0.5462, loss_traj_cls: 0.0021, loss_map_cls: 0.0716, loss_map_pts: 0.4186, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.5467, d0.loss_plan_l1_fix_dist: 0.4528, d1.loss_plan_l1_fix_time: 0.7624, d1.loss_plan_l1_fix_dist: 0.1796, d2.loss_plan_l1_fix_time: 0.7511, d2.loss_plan_l1_fix_dist: 0.2299, d3.loss_plan_l1_fix_time: 0.7492, d3.loss_plan_l1_fix_dist: 0.2079, d4.loss_plan_l1_fix_time: 0.7509, d4.loss_plan_l1_fix_dist: 0.3199, d5.loss_plan_l1_fix_time: 0.7523, d5.loss_plan_l1_fix_dist: 0.2831, d6.loss_plan_l1_fix_time: 0.7536, d6.loss_plan_l1_fix_dist: 0.2214, d0.loss_cls_all: 0.1281, d0.loss_bbox_all: 0.3286, d0.loss_cls: 0.1281, d0.loss_bbox: 0.3286, d1.loss_cls: 0.1199, d1.loss_bbox: 0.2953, d2.loss_cls: 0.1060, d2.loss_bbox: 0.2753, d3.loss_cls: 0.0887, d3.loss_bbox: 0.2678, d4.loss_cls: 0.0845, d4.loss_bbox: 0.2661, d5.loss_cls: 0.0832, d5.loss_bbox: 0.2642, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7432, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.6129, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5743, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5548, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5481, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5457, d0.loss_map_cls_all: 0.1461, d0.loss_map_pts_all: 0.8675, d0.loss_map_dir_all: 0.0048, d0.loss_map_cls: 0.1461, d0.loss_map_pts: 0.8675, d0.loss_map_dir: 0.0048, d1.loss_map_cls: 0.1189, d1.loss_map_pts: 0.6217, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.0963, d2.loss_map_pts: 0.4843, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.0829, d3.loss_map_pts: 0.4374, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0776, d4.loss_map_pts: 0.4195, d4.loss_map_dir: 0.0046, d5.loss_map_cls: 0.0737, d5.loss_map_pts: 0.4152, d5.loss_map_dir: 0.0046, loss: 21.5876, grad_norm: 143.6252 +2026-03-01 09:37:23,006 - DriveTransformer - INFO - Epoch [12][33750/39528] lr: 5.696e-05, eta: 4 days, 1:29:56, time: 0.736, data_time: 0.041, memory: 19865, loss_cls: 0.0908, loss_bbox: 0.2799, loss_traj: 0.4051, loss_traj_cls: 0.0021, loss_map_cls: 0.0859, loss_map_pts: 0.4807, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.9642, d0.loss_plan_l1_fix_dist: 0.4513, d1.loss_plan_l1_fix_time: 0.7252, d1.loss_plan_l1_fix_dist: 0.1941, d2.loss_plan_l1_fix_time: 0.7009, d2.loss_plan_l1_fix_dist: 0.2453, d3.loss_plan_l1_fix_time: 0.6938, d3.loss_plan_l1_fix_dist: 0.2115, d4.loss_plan_l1_fix_time: 0.6945, d4.loss_plan_l1_fix_dist: 0.3259, d5.loss_plan_l1_fix_time: 0.6958, d5.loss_plan_l1_fix_dist: 0.2684, d6.loss_plan_l1_fix_time: 0.6976, d6.loss_plan_l1_fix_dist: 0.2048, d0.loss_cls_all: 0.1442, d0.loss_bbox_all: 0.3520, d0.loss_cls: 0.1442, d0.loss_bbox: 0.3520, d1.loss_cls: 0.1363, d1.loss_bbox: 0.3192, d2.loss_cls: 0.1215, d2.loss_bbox: 0.2972, d3.loss_cls: 0.0957, d3.loss_bbox: 0.2907, d4.loss_cls: 0.0915, d4.loss_bbox: 0.2838, d5.loss_cls: 0.0909, d5.loss_bbox: 0.2806, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6605, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4930, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4365, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4137, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4100, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4041, d0.loss_map_cls_all: 0.1746, d0.loss_map_pts_all: 1.0344, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1746, d0.loss_map_pts: 1.0344, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1397, d1.loss_map_pts: 0.7585, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1122, d2.loss_map_pts: 0.5881, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1014, d3.loss_map_pts: 0.5162, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0943, d4.loss_map_pts: 0.4923, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0892, d5.loss_map_pts: 0.4804, d5.loss_map_dir: 0.0055, loss: 22.0754, grad_norm: 144.9633 +2026-03-01 09:38:00,223 - DriveTransformer - INFO - Epoch [12][33800/39528] lr: 5.696e-05, eta: 4 days, 1:29:21, time: 0.745, data_time: 0.038, memory: 19865, loss_cls: 0.0725, loss_bbox: 0.2498, loss_traj: 0.4006, loss_traj_cls: 0.0021, loss_map_cls: 0.0757, loss_map_pts: 0.4321, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.4755, d0.loss_plan_l1_fix_dist: 0.4102, d1.loss_plan_l1_fix_time: 0.6427, d1.loss_plan_l1_fix_dist: 0.1790, d2.loss_plan_l1_fix_time: 0.6261, d2.loss_plan_l1_fix_dist: 0.2249, d3.loss_plan_l1_fix_time: 0.6236, d3.loss_plan_l1_fix_dist: 0.1912, d4.loss_plan_l1_fix_time: 0.6251, d4.loss_plan_l1_fix_dist: 0.2917, d5.loss_plan_l1_fix_time: 0.6265, d5.loss_plan_l1_fix_dist: 0.2477, d6.loss_plan_l1_fix_time: 0.6282, d6.loss_plan_l1_fix_dist: 0.1905, d0.loss_cls_all: 0.1189, d0.loss_bbox_all: 0.3090, d0.loss_cls: 0.1189, d0.loss_bbox: 0.3090, d1.loss_cls: 0.1098, d1.loss_bbox: 0.2799, d2.loss_cls: 0.0989, d2.loss_bbox: 0.2617, d3.loss_cls: 0.0817, d3.loss_bbox: 0.2530, d4.loss_cls: 0.0751, d4.loss_bbox: 0.2506, d5.loss_cls: 0.0730, d5.loss_bbox: 0.2499, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6707, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4834, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4372, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4098, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4022, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3996, d0.loss_map_cls_all: 0.1553, d0.loss_map_pts_all: 0.9041, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1553, d0.loss_map_pts: 0.9041, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1235, d1.loss_map_pts: 0.6449, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1007, d2.loss_map_pts: 0.5002, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0888, d3.loss_map_pts: 0.4501, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0828, d4.loss_map_pts: 0.4353, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0784, d5.loss_map_pts: 0.4318, d5.loss_map_dir: 0.0054, loss: 19.7126, grad_norm: 138.1693 +2026-03-01 09:38:38,195 - DriveTransformer - INFO - Epoch [12][33850/39528] lr: 5.696e-05, eta: 4 days, 1:28:47, time: 0.758, data_time: 0.038, memory: 19865, loss_cls: 0.0698, loss_bbox: 0.2583, loss_traj: 0.4041, loss_traj_cls: 0.0021, loss_map_cls: 0.0831, loss_map_pts: 0.4425, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.5656, d0.loss_plan_l1_fix_dist: 0.4009, d1.loss_plan_l1_fix_time: 0.7083, d1.loss_plan_l1_fix_dist: 0.1854, d2.loss_plan_l1_fix_time: 0.6886, d2.loss_plan_l1_fix_dist: 0.2112, d3.loss_plan_l1_fix_time: 0.6792, d3.loss_plan_l1_fix_dist: 0.1842, d4.loss_plan_l1_fix_time: 0.6814, d4.loss_plan_l1_fix_dist: 0.2401, d5.loss_plan_l1_fix_time: 0.6831, d5.loss_plan_l1_fix_dist: 0.2166, d6.loss_plan_l1_fix_time: 0.6850, d6.loss_plan_l1_fix_dist: 0.2004, d0.loss_cls_all: 0.1124, d0.loss_bbox_all: 0.3135, d0.loss_cls: 0.1124, d0.loss_bbox: 0.3135, d1.loss_cls: 0.1056, d1.loss_bbox: 0.2814, d2.loss_cls: 0.0932, d2.loss_bbox: 0.2648, d3.loss_cls: 0.0794, d3.loss_bbox: 0.2598, d4.loss_cls: 0.0729, d4.loss_bbox: 0.2580, d5.loss_cls: 0.0702, d5.loss_bbox: 0.2573, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6088, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4958, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4343, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4147, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4062, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4057, d0.loss_map_cls_all: 0.1597, d0.loss_map_pts_all: 0.9638, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1597, d0.loss_map_pts: 0.9638, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1320, d1.loss_map_pts: 0.6815, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1085, d2.loss_map_pts: 0.5222, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0982, d3.loss_map_pts: 0.4681, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0906, d4.loss_map_pts: 0.4483, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0849, d5.loss_map_pts: 0.4427, d5.loss_map_dir: 0.0056, loss: 20.3235, grad_norm: 139.5939 +2026-03-01 09:39:17,143 - DriveTransformer - INFO - Epoch [12][33900/39528] lr: 5.696e-05, eta: 4 days, 1:28:15, time: 0.779, data_time: 0.039, memory: 19865, loss_cls: 0.0666, loss_bbox: 0.2538, loss_traj: 0.4583, loss_traj_cls: 0.0021, loss_map_cls: 0.0731, loss_map_pts: 0.4315, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.3086, d0.loss_plan_l1_fix_dist: 0.3865, d1.loss_plan_l1_fix_time: 0.6678, d1.loss_plan_l1_fix_dist: 0.1961, d2.loss_plan_l1_fix_time: 0.6643, d2.loss_plan_l1_fix_dist: 0.2120, d3.loss_plan_l1_fix_time: 0.6620, d3.loss_plan_l1_fix_dist: 0.1947, d4.loss_plan_l1_fix_time: 0.6641, d4.loss_plan_l1_fix_dist: 0.2232, d5.loss_plan_l1_fix_time: 0.6664, d5.loss_plan_l1_fix_dist: 0.2056, d6.loss_plan_l1_fix_time: 0.6690, d6.loss_plan_l1_fix_dist: 0.2148, d0.loss_cls_all: 0.1096, d0.loss_bbox_all: 0.3207, d0.loss_cls: 0.1096, d0.loss_bbox: 0.3207, d1.loss_cls: 0.1040, d1.loss_bbox: 0.2865, d2.loss_cls: 0.0908, d2.loss_bbox: 0.2668, d3.loss_cls: 0.0717, d3.loss_bbox: 0.2610, d4.loss_cls: 0.0686, d4.loss_bbox: 0.2554, d5.loss_cls: 0.0667, d5.loss_bbox: 0.2539, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7168, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5463, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4922, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4756, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4684, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4640, d0.loss_map_cls_all: 0.1529, d0.loss_map_pts_all: 0.9609, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1529, d0.loss_map_pts: 0.9609, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1225, d1.loss_map_pts: 0.6766, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.0995, d2.loss_map_pts: 0.5225, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0881, d3.loss_map_pts: 0.4627, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0819, d4.loss_map_pts: 0.4401, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0766, d5.loss_map_pts: 0.4320, d5.loss_map_dir: 0.0052, loss: 20.2476, grad_norm: 140.7695 +2026-03-01 09:39:54,955 - DriveTransformer - INFO - Epoch [12][33950/39528] lr: 5.696e-05, eta: 4 days, 1:27:41, time: 0.756, data_time: 0.038, memory: 19865, loss_cls: 0.0758, loss_bbox: 0.2701, loss_traj: 0.3901, loss_traj_cls: 0.0021, loss_map_cls: 0.1020, loss_map_pts: 0.5255, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.6367, d0.loss_plan_l1_fix_dist: 0.3808, d1.loss_plan_l1_fix_time: 0.6784, d1.loss_plan_l1_fix_dist: 0.1944, d2.loss_plan_l1_fix_time: 0.6652, d2.loss_plan_l1_fix_dist: 0.2055, d3.loss_plan_l1_fix_time: 0.6638, d3.loss_plan_l1_fix_dist: 0.1929, d4.loss_plan_l1_fix_time: 0.6649, d4.loss_plan_l1_fix_dist: 0.2029, d5.loss_plan_l1_fix_time: 0.6656, d5.loss_plan_l1_fix_dist: 0.1961, d6.loss_plan_l1_fix_time: 0.6669, d6.loss_plan_l1_fix_dist: 0.2238, d0.loss_cls_all: 0.1215, d0.loss_bbox_all: 0.3394, d0.loss_cls: 0.1215, d0.loss_bbox: 0.3394, d1.loss_cls: 0.1168, d1.loss_bbox: 0.3037, d2.loss_cls: 0.1042, d2.loss_bbox: 0.2795, d3.loss_cls: 0.0828, d3.loss_bbox: 0.2731, d4.loss_cls: 0.0766, d4.loss_bbox: 0.2719, d5.loss_cls: 0.0757, d5.loss_bbox: 0.2705, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6037, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4715, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4248, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4033, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3957, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3899, d0.loss_map_cls_all: 0.1928, d0.loss_map_pts_all: 1.1237, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1928, d0.loss_map_pts: 1.1237, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1576, d1.loss_map_pts: 0.8166, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1303, d2.loss_map_pts: 0.6254, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1190, d3.loss_map_pts: 0.5555, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1119, d4.loss_map_pts: 0.5299, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1062, d5.loss_map_pts: 0.5249, d5.loss_map_dir: 0.0061, loss: 21.4332, grad_norm: 140.5979 +2026-03-01 09:40:32,282 - DriveTransformer - INFO - Epoch [12][34000/39528] lr: 5.696e-05, eta: 4 days, 1:27:06, time: 0.746, data_time: 0.040, memory: 19865, loss_cls: 0.0824, loss_bbox: 0.2476, loss_traj: 0.4445, loss_traj_cls: 0.0021, loss_map_cls: 0.0748, loss_map_pts: 0.4505, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.8532, d0.loss_plan_l1_fix_dist: 0.4442, d1.loss_plan_l1_fix_time: 0.7606, d1.loss_plan_l1_fix_dist: 0.1893, d2.loss_plan_l1_fix_time: 0.7453, d2.loss_plan_l1_fix_dist: 0.2089, d3.loss_plan_l1_fix_time: 0.7419, d3.loss_plan_l1_fix_dist: 0.1936, d4.loss_plan_l1_fix_time: 0.7440, d4.loss_plan_l1_fix_dist: 0.2053, d5.loss_plan_l1_fix_time: 0.7455, d5.loss_plan_l1_fix_dist: 0.2432, d6.loss_plan_l1_fix_time: 0.7475, d6.loss_plan_l1_fix_dist: 0.2435, d0.loss_cls_all: 0.1207, d0.loss_bbox_all: 0.3121, d0.loss_cls: 0.1207, d0.loss_bbox: 0.3121, d1.loss_cls: 0.1139, d1.loss_bbox: 0.2831, d2.loss_cls: 0.1018, d2.loss_bbox: 0.2611, d3.loss_cls: 0.0875, d3.loss_bbox: 0.2538, d4.loss_cls: 0.0836, d4.loss_bbox: 0.2494, d5.loss_cls: 0.0823, d5.loss_bbox: 0.2482, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6948, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5407, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4913, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4638, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4511, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4489, d0.loss_map_cls_all: 0.1527, d0.loss_map_pts_all: 0.9315, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1527, d0.loss_map_pts: 0.9315, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1193, d1.loss_map_pts: 0.6757, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.0983, d2.loss_map_pts: 0.5297, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0861, d3.loss_map_pts: 0.4730, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0813, d4.loss_map_pts: 0.4560, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0771, d5.loss_map_pts: 0.4495, d5.loss_map_dir: 0.0052, loss: 21.3501, grad_norm: 125.1740 +2026-03-01 09:41:09,247 - DriveTransformer - INFO - Epoch [12][34050/39528] lr: 5.696e-05, eta: 4 days, 1:26:31, time: 0.739, data_time: 0.040, memory: 19865, loss_cls: 0.0853, loss_bbox: 0.2846, loss_traj: 0.4062, loss_traj_cls: 0.0021, loss_map_cls: 0.0733, loss_map_pts: 0.4529, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.7779, d0.loss_plan_l1_fix_dist: 0.5005, d1.loss_plan_l1_fix_time: 0.6968, d1.loss_plan_l1_fix_dist: 0.2018, d2.loss_plan_l1_fix_time: 0.6883, d2.loss_plan_l1_fix_dist: 0.2220, d3.loss_plan_l1_fix_time: 0.6755, d3.loss_plan_l1_fix_dist: 0.2125, d4.loss_plan_l1_fix_time: 0.6758, d4.loss_plan_l1_fix_dist: 0.2272, d5.loss_plan_l1_fix_time: 0.6775, d5.loss_plan_l1_fix_dist: 0.2938, d6.loss_plan_l1_fix_time: 0.6791, d6.loss_plan_l1_fix_dist: 0.2712, d0.loss_cls_all: 0.1344, d0.loss_bbox_all: 0.3554, d0.loss_cls: 0.1344, d0.loss_bbox: 0.3554, d1.loss_cls: 0.1291, d1.loss_bbox: 0.3209, d2.loss_cls: 0.1129, d2.loss_bbox: 0.2991, d3.loss_cls: 0.0931, d3.loss_bbox: 0.2901, d4.loss_cls: 0.0891, d4.loss_bbox: 0.2856, d5.loss_cls: 0.0859, d5.loss_bbox: 0.2848, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6326, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4818, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4427, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4167, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4114, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4077, d0.loss_map_cls_all: 0.1598, d0.loss_map_pts_all: 0.9386, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1598, d0.loss_map_pts: 0.9386, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1211, d1.loss_map_pts: 0.6850, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.0978, d2.loss_map_pts: 0.5348, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0860, d3.loss_map_pts: 0.4784, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0804, d4.loss_map_pts: 0.4559, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0759, d5.loss_map_pts: 0.4525, d5.loss_map_dir: 0.0056, loss: 21.1841, grad_norm: 124.0170 +2026-03-01 09:41:46,184 - DriveTransformer - INFO - Epoch [12][34100/39528] lr: 5.696e-05, eta: 4 days, 1:25:55, time: 0.739, data_time: 0.039, memory: 19865, loss_cls: 0.0668, loss_bbox: 0.2629, loss_traj: 0.4341, loss_traj_cls: 0.0021, loss_map_cls: 0.0855, loss_map_pts: 0.4748, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.5964, d0.loss_plan_l1_fix_dist: 0.4398, d1.loss_plan_l1_fix_time: 0.5820, d1.loss_plan_l1_fix_dist: 0.1802, d2.loss_plan_l1_fix_time: 0.5560, d2.loss_plan_l1_fix_dist: 0.2090, d3.loss_plan_l1_fix_time: 0.5598, d3.loss_plan_l1_fix_dist: 0.1935, d4.loss_plan_l1_fix_time: 0.5615, d4.loss_plan_l1_fix_dist: 0.2215, d5.loss_plan_l1_fix_time: 0.5644, d5.loss_plan_l1_fix_dist: 0.2783, d6.loss_plan_l1_fix_time: 0.5670, d6.loss_plan_l1_fix_dist: 0.2273, d0.loss_cls_all: 0.1099, d0.loss_bbox_all: 0.3177, d0.loss_cls: 0.1099, d0.loss_bbox: 0.3177, d1.loss_cls: 0.1052, d1.loss_bbox: 0.2880, d2.loss_cls: 0.0951, d2.loss_bbox: 0.2686, d3.loss_cls: 0.0771, d3.loss_bbox: 0.2639, d4.loss_cls: 0.0713, d4.loss_bbox: 0.2622, d5.loss_cls: 0.0678, d5.loss_bbox: 0.2628, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7144, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5275, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4729, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4532, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4383, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4322, d0.loss_map_cls_all: 0.1725, d0.loss_map_pts_all: 1.0023, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1725, d0.loss_map_pts: 1.0023, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1368, d1.loss_map_pts: 0.7199, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1111, d2.loss_map_pts: 0.5645, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0996, d3.loss_map_pts: 0.5033, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0938, d4.loss_map_pts: 0.4770, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0880, d5.loss_map_pts: 0.4740, d5.loss_map_dir: 0.0054, loss: 20.3858, grad_norm: 129.8245 +2026-03-01 09:42:23,157 - DriveTransformer - INFO - Epoch [12][34150/39528] lr: 5.696e-05, eta: 4 days, 1:25:19, time: 0.739, data_time: 0.039, memory: 19865, loss_cls: 0.0806, loss_bbox: 0.2700, loss_traj: 0.3989, loss_traj_cls: 0.0022, loss_map_cls: 0.0881, loss_map_pts: 0.4631, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.9178, d0.loss_plan_l1_fix_dist: 0.4034, d1.loss_plan_l1_fix_time: 0.6861, d1.loss_plan_l1_fix_dist: 0.1709, d2.loss_plan_l1_fix_time: 0.6526, d2.loss_plan_l1_fix_dist: 0.2014, d3.loss_plan_l1_fix_time: 0.6603, d3.loss_plan_l1_fix_dist: 0.1855, d4.loss_plan_l1_fix_time: 0.6636, d4.loss_plan_l1_fix_dist: 0.2280, d5.loss_plan_l1_fix_time: 0.6668, d5.loss_plan_l1_fix_dist: 0.2780, d6.loss_plan_l1_fix_time: 0.6699, d6.loss_plan_l1_fix_dist: 0.1927, d0.loss_cls_all: 0.1242, d0.loss_bbox_all: 0.3325, d0.loss_cls: 0.1242, d0.loss_bbox: 0.3325, d1.loss_cls: 0.1177, d1.loss_bbox: 0.2983, d2.loss_cls: 0.1041, d2.loss_bbox: 0.2780, d3.loss_cls: 0.0860, d3.loss_bbox: 0.2748, d4.loss_cls: 0.0810, d4.loss_bbox: 0.2710, d5.loss_cls: 0.0793, d5.loss_bbox: 0.2705, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6242, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4824, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4279, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4063, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4015, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3994, d0.loss_map_cls_all: 0.1645, d0.loss_map_pts_all: 0.9668, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1645, d0.loss_map_pts: 0.9668, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1295, d1.loss_map_pts: 0.6852, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1104, d2.loss_map_pts: 0.5332, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.0993, d3.loss_map_pts: 0.4863, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0946, d4.loss_map_pts: 0.4683, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0904, d5.loss_map_pts: 0.4637, d5.loss_map_dir: 0.0059, loss: 20.8718, grad_norm: 129.1895 +2026-03-01 09:42:58,696 - DriveTransformer - INFO - Epoch [12][34200/39528] lr: 5.696e-05, eta: 4 days, 1:24:41, time: 0.711, data_time: 0.040, memory: 19865, loss_cls: 0.0834, loss_bbox: 0.2682, loss_traj: 0.4861, loss_traj_cls: 0.0022, loss_map_cls: 0.0785, loss_map_pts: 0.4466, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.5195, d0.loss_plan_l1_fix_dist: 0.4041, d1.loss_plan_l1_fix_time: 0.6454, d1.loss_plan_l1_fix_dist: 0.1675, d2.loss_plan_l1_fix_time: 0.6242, d2.loss_plan_l1_fix_dist: 0.2011, d3.loss_plan_l1_fix_time: 0.6232, d3.loss_plan_l1_fix_dist: 0.1929, d4.loss_plan_l1_fix_time: 0.6253, d4.loss_plan_l1_fix_dist: 0.2348, d5.loss_plan_l1_fix_time: 0.6273, d5.loss_plan_l1_fix_dist: 0.2830, d6.loss_plan_l1_fix_time: 0.6306, d6.loss_plan_l1_fix_dist: 0.2247, d0.loss_cls_all: 0.1260, d0.loss_bbox_all: 0.3316, d0.loss_cls: 0.1260, d0.loss_bbox: 0.3316, d1.loss_cls: 0.1192, d1.loss_bbox: 0.3005, d2.loss_cls: 0.1059, d2.loss_bbox: 0.2781, d3.loss_cls: 0.0892, d3.loss_bbox: 0.2721, d4.loss_cls: 0.0827, d4.loss_bbox: 0.2700, d5.loss_cls: 0.0840, d5.loss_bbox: 0.2686, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7977, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5860, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5142, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4976, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4878, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.4873, d0.loss_map_cls_all: 0.1744, d0.loss_map_pts_all: 0.9196, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1744, d0.loss_map_pts: 0.9196, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1335, d1.loss_map_pts: 0.6671, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1072, d2.loss_map_pts: 0.5224, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0935, d3.loss_map_pts: 0.4660, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0859, d4.loss_map_pts: 0.4474, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0809, d5.loss_map_pts: 0.4448, d5.loss_map_dir: 0.0049, loss: 20.8084, grad_norm: 130.6706 +2026-03-01 09:43:35,823 - DriveTransformer - INFO - Epoch [12][34250/39528] lr: 5.696e-05, eta: 4 days, 1:24:05, time: 0.743, data_time: 0.039, memory: 19865, loss_cls: 0.0896, loss_bbox: 0.2762, loss_traj: 0.4046, loss_traj_cls: 0.0022, loss_map_cls: 0.0954, loss_map_pts: 0.5359, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.2782, d0.loss_plan_l1_fix_dist: 0.5313, d1.loss_plan_l1_fix_time: 0.6367, d1.loss_plan_l1_fix_dist: 0.1756, d2.loss_plan_l1_fix_time: 0.6184, d2.loss_plan_l1_fix_dist: 0.2125, d3.loss_plan_l1_fix_time: 0.6177, d3.loss_plan_l1_fix_dist: 0.2151, d4.loss_plan_l1_fix_time: 0.6204, d4.loss_plan_l1_fix_dist: 0.2526, d5.loss_plan_l1_fix_time: 0.6224, d5.loss_plan_l1_fix_dist: 0.2719, d6.loss_plan_l1_fix_time: 0.6257, d6.loss_plan_l1_fix_dist: 0.2630, d0.loss_cls_all: 0.1399, d0.loss_bbox_all: 0.3425, d0.loss_cls: 0.1399, d0.loss_bbox: 0.3425, d1.loss_cls: 0.1310, d1.loss_bbox: 0.3101, d2.loss_cls: 0.1166, d2.loss_bbox: 0.2870, d3.loss_cls: 0.0943, d3.loss_bbox: 0.2833, d4.loss_cls: 0.0913, d4.loss_bbox: 0.2775, d5.loss_cls: 0.0901, d5.loss_bbox: 0.2770, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5957, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4804, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4355, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4204, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4093, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.4045, d0.loss_map_cls_all: 0.1584, d0.loss_map_pts_all: 1.0332, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1584, d0.loss_map_pts: 1.0332, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1308, d1.loss_map_pts: 0.7638, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1162, d2.loss_map_pts: 0.6137, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.1075, d3.loss_map_pts: 0.5604, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1012, d4.loss_map_pts: 0.5387, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0975, d5.loss_map_pts: 0.5353, d5.loss_map_dir: 0.0064, loss: 21.0205, grad_norm: 130.7341 +2026-03-01 09:44:10,414 - DriveTransformer - INFO - Epoch [12][34300/39528] lr: 5.696e-05, eta: 4 days, 1:23:25, time: 0.692, data_time: 0.038, memory: 19865, loss_cls: 0.0682, loss_bbox: 0.2530, loss_traj: 0.3821, loss_traj_cls: 0.0022, loss_map_cls: 0.0953, loss_map_pts: 0.4515, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.4796, d0.loss_plan_l1_fix_dist: 0.3851, d1.loss_plan_l1_fix_time: 0.7376, d1.loss_plan_l1_fix_dist: 0.1636, d2.loss_plan_l1_fix_time: 0.7165, d2.loss_plan_l1_fix_dist: 0.2032, d3.loss_plan_l1_fix_time: 0.7178, d3.loss_plan_l1_fix_dist: 0.2096, d4.loss_plan_l1_fix_time: 0.7202, d4.loss_plan_l1_fix_dist: 0.2516, d5.loss_plan_l1_fix_time: 0.7228, d5.loss_plan_l1_fix_dist: 0.2577, d6.loss_plan_l1_fix_time: 0.7246, d6.loss_plan_l1_fix_dist: 0.2080, d0.loss_cls_all: 0.1185, d0.loss_bbox_all: 0.3051, d0.loss_cls: 0.1185, d0.loss_bbox: 0.3051, d1.loss_cls: 0.1107, d1.loss_bbox: 0.2765, d2.loss_cls: 0.0939, d2.loss_bbox: 0.2577, d3.loss_cls: 0.0794, d3.loss_bbox: 0.2518, d4.loss_cls: 0.0708, d4.loss_bbox: 0.2518, d5.loss_cls: 0.0690, d5.loss_bbox: 0.2514, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5875, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4656, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4159, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3986, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3897, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.3849, d0.loss_map_cls_all: 0.1730, d0.loss_map_pts_all: 0.9536, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1730, d0.loss_map_pts: 0.9536, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1430, d1.loss_map_pts: 0.6809, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1192, d2.loss_map_pts: 0.5316, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.1088, d3.loss_map_pts: 0.4748, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1025, d4.loss_map_pts: 0.4559, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0980, d5.loss_map_pts: 0.4513, d5.loss_map_dir: 0.0050, loss: 20.4181, grad_norm: 129.5043 +2026-03-01 09:44:45,621 - DriveTransformer - INFO - Epoch [12][34350/39528] lr: 5.696e-05, eta: 4 days, 1:22:45, time: 0.704, data_time: 0.036, memory: 19865, loss_cls: 0.0809, loss_bbox: 0.2696, loss_traj: 0.4442, loss_traj_cls: 0.0022, loss_map_cls: 0.0881, loss_map_pts: 0.4410, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.5340, d0.loss_plan_l1_fix_dist: 0.3441, d1.loss_plan_l1_fix_time: 0.6604, d1.loss_plan_l1_fix_dist: 0.1633, d2.loss_plan_l1_fix_time: 0.6382, d2.loss_plan_l1_fix_dist: 0.1930, d3.loss_plan_l1_fix_time: 0.6281, d3.loss_plan_l1_fix_dist: 0.1951, d4.loss_plan_l1_fix_time: 0.6292, d4.loss_plan_l1_fix_dist: 0.2257, d5.loss_plan_l1_fix_time: 0.6310, d5.loss_plan_l1_fix_dist: 0.2443, d6.loss_plan_l1_fix_time: 0.6329, d6.loss_plan_l1_fix_dist: 0.2327, d0.loss_cls_all: 0.1247, d0.loss_bbox_all: 0.3376, d0.loss_cls: 0.1247, d0.loss_bbox: 0.3376, d1.loss_cls: 0.1204, d1.loss_bbox: 0.3033, d2.loss_cls: 0.1045, d2.loss_bbox: 0.2819, d3.loss_cls: 0.0877, d3.loss_bbox: 0.2758, d4.loss_cls: 0.0824, d4.loss_bbox: 0.2726, d5.loss_cls: 0.0811, d5.loss_bbox: 0.2704, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7178, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5364, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4745, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4569, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4450, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.4437, d0.loss_map_cls_all: 0.1726, d0.loss_map_pts_all: 0.9074, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1726, d0.loss_map_pts: 0.9074, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1327, d1.loss_map_pts: 0.6616, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1137, d2.loss_map_pts: 0.5192, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1013, d3.loss_map_pts: 0.4684, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0953, d4.loss_map_pts: 0.4474, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0906, d5.loss_map_pts: 0.4412, d5.loss_map_dir: 0.0051, loss: 20.4364, grad_norm: 128.4234 +2026-03-01 09:45:21,194 - DriveTransformer - INFO - Epoch [12][34400/39528] lr: 5.696e-05, eta: 4 days, 1:22:07, time: 0.712, data_time: 0.038, memory: 19865, loss_cls: 0.0932, loss_bbox: 0.2987, loss_traj: 0.4784, loss_traj_cls: 0.0022, loss_map_cls: 0.1031, loss_map_pts: 0.5432, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 3.0350, d0.loss_plan_l1_fix_dist: 0.3770, d1.loss_plan_l1_fix_time: 0.8503, d1.loss_plan_l1_fix_dist: 0.1828, d2.loss_plan_l1_fix_time: 0.8407, d2.loss_plan_l1_fix_dist: 0.1999, d3.loss_plan_l1_fix_time: 0.8341, d3.loss_plan_l1_fix_dist: 0.2084, d4.loss_plan_l1_fix_time: 0.8358, d4.loss_plan_l1_fix_dist: 0.2310, d5.loss_plan_l1_fix_time: 0.8383, d5.loss_plan_l1_fix_dist: 0.2301, d6.loss_plan_l1_fix_time: 0.8418, d6.loss_plan_l1_fix_dist: 0.2387, d0.loss_cls_all: 0.1504, d0.loss_bbox_all: 0.3765, d0.loss_cls: 0.1504, d0.loss_bbox: 0.3765, d1.loss_cls: 0.1390, d1.loss_bbox: 0.3387, d2.loss_cls: 0.1259, d2.loss_bbox: 0.3127, d3.loss_cls: 0.1052, d3.loss_bbox: 0.3045, d4.loss_cls: 0.0973, d4.loss_bbox: 0.3003, d5.loss_cls: 0.0952, d5.loss_bbox: 0.2976, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7034, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5697, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5205, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4867, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4830, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.4818, d0.loss_map_cls_all: 0.1829, d0.loss_map_pts_all: 1.0277, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1829, d0.loss_map_pts: 1.0277, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1544, d1.loss_map_pts: 0.7668, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1302, d2.loss_map_pts: 0.6221, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1179, d3.loss_map_pts: 0.5669, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.1099, d4.loss_map_pts: 0.5468, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.1055, d5.loss_map_pts: 0.5430, d5.loss_map_dir: 0.0064, loss: 23.8221, grad_norm: 132.9345 +2026-03-01 09:45:57,306 - DriveTransformer - INFO - Epoch [12][34450/39528] lr: 5.696e-05, eta: 4 days, 1:21:29, time: 0.722, data_time: 0.038, memory: 19865, loss_cls: 0.0799, loss_bbox: 0.2726, loss_traj: 0.4215, loss_traj_cls: 0.0023, loss_map_cls: 0.0845, loss_map_pts: 0.4384, loss_map_dir: 0.0045, d0.loss_plan_l1_fix_time: 2.7479, d0.loss_plan_l1_fix_dist: 0.4896, d1.loss_plan_l1_fix_time: 0.6925, d1.loss_plan_l1_fix_dist: 0.1943, d2.loss_plan_l1_fix_time: 0.6847, d2.loss_plan_l1_fix_dist: 0.2124, d3.loss_plan_l1_fix_time: 0.6831, d3.loss_plan_l1_fix_dist: 0.2235, d4.loss_plan_l1_fix_time: 0.6851, d4.loss_plan_l1_fix_dist: 0.2447, d5.loss_plan_l1_fix_time: 0.6880, d5.loss_plan_l1_fix_dist: 0.2326, d6.loss_plan_l1_fix_time: 0.6919, d6.loss_plan_l1_fix_dist: 0.2403, d0.loss_cls_all: 0.1166, d0.loss_bbox_all: 0.3352, d0.loss_cls: 0.1166, d0.loss_bbox: 0.3352, d1.loss_cls: 0.1133, d1.loss_bbox: 0.3057, d2.loss_cls: 0.1010, d2.loss_bbox: 0.2863, d3.loss_cls: 0.0837, d3.loss_bbox: 0.2796, d4.loss_cls: 0.0809, d4.loss_bbox: 0.2752, d5.loss_cls: 0.0800, d5.loss_bbox: 0.2729, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6341, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5091, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4589, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4342, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4268, d5.loss_traj_cls: 0.0017, d5.loss_traj: 0.4234, d0.loss_map_cls_all: 0.1584, d0.loss_map_pts_all: 0.8792, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1584, d0.loss_map_pts: 0.8792, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1272, d1.loss_map_pts: 0.6433, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1025, d2.loss_map_pts: 0.5168, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.0954, d3.loss_map_pts: 0.4651, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0896, d4.loss_map_pts: 0.4453, d4.loss_map_dir: 0.0044, d5.loss_map_cls: 0.0850, d5.loss_map_pts: 0.4393, d5.loss_map_dir: 0.0044, loss: 20.8073, grad_norm: 136.4448 +2026-03-01 09:46:33,225 - DriveTransformer - INFO - Epoch [12][34500/39528] lr: 5.696e-05, eta: 4 days, 1:20:51, time: 0.718, data_time: 0.040, memory: 19865, loss_cls: 0.1060, loss_bbox: 0.3000, loss_traj: 0.4796, loss_traj_cls: 0.0022, loss_map_cls: 0.1082, loss_map_pts: 0.5629, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.5231, d0.loss_plan_l1_fix_dist: 0.3954, d1.loss_plan_l1_fix_time: 0.6720, d1.loss_plan_l1_fix_dist: 0.1892, d2.loss_plan_l1_fix_time: 0.6540, d2.loss_plan_l1_fix_dist: 0.2060, d3.loss_plan_l1_fix_time: 0.6462, d3.loss_plan_l1_fix_dist: 0.2205, d4.loss_plan_l1_fix_time: 0.6470, d4.loss_plan_l1_fix_dist: 0.2256, d5.loss_plan_l1_fix_time: 0.6485, d5.loss_plan_l1_fix_dist: 0.2179, d6.loss_plan_l1_fix_time: 0.6501, d6.loss_plan_l1_fix_dist: 0.2096, d0.loss_cls_all: 0.1563, d0.loss_bbox_all: 0.3766, d0.loss_cls: 0.1563, d0.loss_bbox: 0.3766, d1.loss_cls: 0.1478, d1.loss_bbox: 0.3427, d2.loss_cls: 0.1331, d2.loss_bbox: 0.3140, d3.loss_cls: 0.1135, d3.loss_bbox: 0.3088, d4.loss_cls: 0.1069, d4.loss_bbox: 0.3054, d5.loss_cls: 0.1046, d5.loss_bbox: 0.3029, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7276, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5525, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5067, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4854, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4812, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.4792, d0.loss_map_cls_all: 0.1958, d0.loss_map_pts_all: 1.0916, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1958, d0.loss_map_pts: 1.0916, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1602, d1.loss_map_pts: 0.8311, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1356, d2.loss_map_pts: 0.6639, d2.loss_map_dir: 0.0063, d3.loss_map_cls: 0.1237, d3.loss_map_pts: 0.5984, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1167, d4.loss_map_pts: 0.5720, d4.loss_map_dir: 0.0066, d5.loss_map_cls: 0.1110, d5.loss_map_pts: 0.5636, d5.loss_map_dir: 0.0066, loss: 22.6525, grad_norm: 134.6290 +2026-03-01 09:47:08,793 - DriveTransformer - INFO - Epoch [12][34550/39528] lr: 5.696e-05, eta: 4 days, 1:20:13, time: 0.711, data_time: 0.039, memory: 19865, loss_cls: 0.0833, loss_bbox: 0.2741, loss_traj: 0.4657, loss_traj_cls: 0.0023, loss_map_cls: 0.1017, loss_map_pts: 0.4987, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.6238, d0.loss_plan_l1_fix_dist: 0.4106, d1.loss_plan_l1_fix_time: 0.6875, d1.loss_plan_l1_fix_dist: 0.1960, d2.loss_plan_l1_fix_time: 0.6727, d2.loss_plan_l1_fix_dist: 0.2040, d3.loss_plan_l1_fix_time: 0.6692, d3.loss_plan_l1_fix_dist: 0.2253, d4.loss_plan_l1_fix_time: 0.6698, d4.loss_plan_l1_fix_dist: 0.2206, d5.loss_plan_l1_fix_time: 0.6716, d5.loss_plan_l1_fix_dist: 0.2364, d6.loss_plan_l1_fix_time: 0.6740, d6.loss_plan_l1_fix_dist: 0.1979, d0.loss_cls_all: 0.1289, d0.loss_bbox_all: 0.3405, d0.loss_cls: 0.1289, d0.loss_bbox: 0.3405, d1.loss_cls: 0.1217, d1.loss_bbox: 0.3103, d2.loss_cls: 0.1073, d2.loss_bbox: 0.2856, d3.loss_cls: 0.0897, d3.loss_bbox: 0.2782, d4.loss_cls: 0.0837, d4.loss_bbox: 0.2773, d5.loss_cls: 0.0829, d5.loss_bbox: 0.2751, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7253, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5480, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4932, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4737, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4668, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.4635, d0.loss_map_cls_all: 0.1776, d0.loss_map_pts_all: 1.0034, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1776, d0.loss_map_pts: 1.0034, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1491, d1.loss_map_pts: 0.7396, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1252, d2.loss_map_pts: 0.5867, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1156, d3.loss_map_pts: 0.5231, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1105, d4.loss_map_pts: 0.5026, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1047, d5.loss_map_pts: 0.4982, d5.loss_map_dir: 0.0056, loss: 21.6762, grad_norm: 133.6433 +2026-03-01 09:47:45,322 - DriveTransformer - INFO - Epoch [12][34600/39528] lr: 5.696e-05, eta: 4 days, 1:19:36, time: 0.732, data_time: 0.037, memory: 19865, loss_cls: 0.0860, loss_bbox: 0.2755, loss_traj: 0.4450, loss_traj_cls: 0.0023, loss_map_cls: 0.1083, loss_map_pts: 0.5287, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.8975, d0.loss_plan_l1_fix_dist: 0.3558, d1.loss_plan_l1_fix_time: 0.8150, d1.loss_plan_l1_fix_dist: 0.2025, d2.loss_plan_l1_fix_time: 0.7999, d2.loss_plan_l1_fix_dist: 0.2259, d3.loss_plan_l1_fix_time: 0.7982, d3.loss_plan_l1_fix_dist: 0.2357, d4.loss_plan_l1_fix_time: 0.7998, d4.loss_plan_l1_fix_dist: 0.2251, d5.loss_plan_l1_fix_time: 0.8021, d5.loss_plan_l1_fix_dist: 0.2160, d6.loss_plan_l1_fix_time: 0.8049, d6.loss_plan_l1_fix_dist: 0.2001, d0.loss_cls_all: 0.1306, d0.loss_bbox_all: 0.3424, d0.loss_cls: 0.1306, d0.loss_bbox: 0.3424, d1.loss_cls: 0.1238, d1.loss_bbox: 0.3077, d2.loss_cls: 0.1109, d2.loss_bbox: 0.2865, d3.loss_cls: 0.0936, d3.loss_bbox: 0.2808, d4.loss_cls: 0.0865, d4.loss_bbox: 0.2788, d5.loss_cls: 0.0848, d5.loss_bbox: 0.2771, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7143, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5424, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4778, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4506, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4481, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.4481, d0.loss_map_cls_all: 0.1964, d0.loss_map_pts_all: 1.0392, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1964, d0.loss_map_pts: 1.0392, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1633, d1.loss_map_pts: 0.7701, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1375, d2.loss_map_pts: 0.6160, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1229, d3.loss_map_pts: 0.5591, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1163, d4.loss_map_pts: 0.5354, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1108, d5.loss_map_pts: 0.5293, d5.loss_map_dir: 0.0056, loss: 22.9666, grad_norm: 134.1740 +2026-03-01 09:48:21,880 - DriveTransformer - INFO - Epoch [12][34650/39528] lr: 5.696e-05, eta: 4 days, 1:19:00, time: 0.730, data_time: 0.035, memory: 19865, loss_cls: 0.0828, loss_bbox: 0.2787, loss_traj: 0.4722, loss_traj_cls: 0.0023, loss_map_cls: 0.1059, loss_map_pts: 0.5355, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.5277, d0.loss_plan_l1_fix_dist: 0.3937, d1.loss_plan_l1_fix_time: 0.7088, d1.loss_plan_l1_fix_dist: 0.1832, d2.loss_plan_l1_fix_time: 0.6996, d2.loss_plan_l1_fix_dist: 0.2516, d3.loss_plan_l1_fix_time: 0.6984, d3.loss_plan_l1_fix_dist: 0.2290, d4.loss_plan_l1_fix_time: 0.7005, d4.loss_plan_l1_fix_dist: 0.2264, d5.loss_plan_l1_fix_time: 0.7024, d5.loss_plan_l1_fix_dist: 0.1936, d6.loss_plan_l1_fix_time: 0.7051, d6.loss_plan_l1_fix_dist: 0.2235, d0.loss_cls_all: 0.1379, d0.loss_bbox_all: 0.3499, d0.loss_cls: 0.1379, d0.loss_bbox: 0.3499, d1.loss_cls: 0.1321, d1.loss_bbox: 0.3102, d2.loss_cls: 0.1142, d2.loss_bbox: 0.2923, d3.loss_cls: 0.0905, d3.loss_bbox: 0.2854, d4.loss_cls: 0.0839, d4.loss_bbox: 0.2816, d5.loss_cls: 0.0830, d5.loss_bbox: 0.2800, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7100, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5621, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5075, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4846, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4768, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4724, d0.loss_map_cls_all: 0.1903, d0.loss_map_pts_all: 1.0655, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1903, d0.loss_map_pts: 1.0655, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1574, d1.loss_map_pts: 0.7771, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1345, d2.loss_map_pts: 0.6202, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1201, d3.loss_map_pts: 0.5591, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1139, d4.loss_map_pts: 0.5404, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1088, d5.loss_map_pts: 0.5366, d5.loss_map_dir: 0.0060, loss: 22.2973, grad_norm: 134.8919 +2026-03-01 09:48:59,054 - DriveTransformer - INFO - Epoch [12][34700/39528] lr: 5.696e-05, eta: 4 days, 1:18:24, time: 0.743, data_time: 0.037, memory: 19865, loss_cls: 0.0807, loss_bbox: 0.2805, loss_traj: 0.4461, loss_traj_cls: 0.0022, loss_map_cls: 0.0926, loss_map_pts: 0.5422, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.1596, d0.loss_plan_l1_fix_dist: 0.3957, d1.loss_plan_l1_fix_time: 0.6009, d1.loss_plan_l1_fix_dist: 0.1663, d2.loss_plan_l1_fix_time: 0.5823, d2.loss_plan_l1_fix_dist: 0.2670, d3.loss_plan_l1_fix_time: 0.5767, d3.loss_plan_l1_fix_dist: 0.2357, d4.loss_plan_l1_fix_time: 0.5790, d4.loss_plan_l1_fix_dist: 0.2280, d5.loss_plan_l1_fix_time: 0.5814, d5.loss_plan_l1_fix_dist: 0.2252, d6.loss_plan_l1_fix_time: 0.5840, d6.loss_plan_l1_fix_dist: 0.2435, d0.loss_cls_all: 0.1193, d0.loss_bbox_all: 0.3382, d0.loss_cls: 0.1193, d0.loss_bbox: 0.3382, d1.loss_cls: 0.1147, d1.loss_bbox: 0.3071, d2.loss_cls: 0.1033, d2.loss_bbox: 0.2887, d3.loss_cls: 0.0882, d3.loss_bbox: 0.2819, d4.loss_cls: 0.0820, d4.loss_bbox: 0.2811, d5.loss_cls: 0.0804, d5.loss_bbox: 0.2813, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7037, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5367, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4779, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4574, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4468, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4427, d0.loss_map_cls_all: 0.1903, d0.loss_map_pts_all: 1.0756, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1903, d0.loss_map_pts: 1.0756, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1510, d1.loss_map_pts: 0.8058, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1233, d2.loss_map_pts: 0.6465, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.1084, d3.loss_map_pts: 0.5788, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1004, d4.loss_map_pts: 0.5505, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0949, d5.loss_map_pts: 0.5429, d5.loss_map_dir: 0.0055, loss: 21.0435, grad_norm: 141.0363 +2026-03-01 09:49:34,682 - DriveTransformer - INFO - Epoch [12][34750/39528] lr: 5.696e-05, eta: 4 days, 1:17:46, time: 0.713, data_time: 0.038, memory: 19865, loss_cls: 0.0846, loss_bbox: 0.2711, loss_traj: 0.4073, loss_traj_cls: 0.0022, loss_map_cls: 0.0931, loss_map_pts: 0.4901, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.7105, d0.loss_plan_l1_fix_dist: 0.3801, d1.loss_plan_l1_fix_time: 0.7818, d1.loss_plan_l1_fix_dist: 0.1854, d2.loss_plan_l1_fix_time: 0.7694, d2.loss_plan_l1_fix_dist: 0.2778, d3.loss_plan_l1_fix_time: 0.7541, d3.loss_plan_l1_fix_dist: 0.2229, d4.loss_plan_l1_fix_time: 0.7557, d4.loss_plan_l1_fix_dist: 0.1802, d5.loss_plan_l1_fix_time: 0.7575, d5.loss_plan_l1_fix_dist: 0.1948, d6.loss_plan_l1_fix_time: 0.7595, d6.loss_plan_l1_fix_dist: 0.2042, d0.loss_cls_all: 0.1258, d0.loss_bbox_all: 0.3394, d0.loss_cls: 0.1258, d0.loss_bbox: 0.3394, d1.loss_cls: 0.1200, d1.loss_bbox: 0.3073, d2.loss_cls: 0.1079, d2.loss_bbox: 0.2854, d3.loss_cls: 0.0934, d3.loss_bbox: 0.2750, d4.loss_cls: 0.0873, d4.loss_bbox: 0.2728, d5.loss_cls: 0.0849, d5.loss_bbox: 0.2720, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6854, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5023, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4351, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4213, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4133, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4094, d0.loss_map_cls_all: 0.1835, d0.loss_map_pts_all: 1.0144, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1835, d0.loss_map_pts: 1.0144, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1505, d1.loss_map_pts: 0.7440, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1209, d2.loss_map_pts: 0.5856, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1071, d3.loss_map_pts: 0.5189, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.1020, d4.loss_map_pts: 0.4968, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0959, d5.loss_map_pts: 0.4909, d5.loss_map_dir: 0.0055, loss: 21.8441, grad_norm: 141.1171 +2026-03-01 09:50:13,489 - DriveTransformer - INFO - Epoch [12][34800/39528] lr: 5.696e-05, eta: 4 days, 1:17:14, time: 0.776, data_time: 0.042, memory: 19865, loss_cls: 0.0717, loss_bbox: 0.2554, loss_traj: 0.3751, loss_traj_cls: 0.0021, loss_map_cls: 0.0863, loss_map_pts: 0.5391, loss_map_dir: 0.0074, d0.loss_plan_l1_fix_time: 2.1272, d0.loss_plan_l1_fix_dist: 0.4196, d1.loss_plan_l1_fix_time: 0.6167, d1.loss_plan_l1_fix_dist: 0.2086, d2.loss_plan_l1_fix_time: 0.6101, d2.loss_plan_l1_fix_dist: 0.2949, d3.loss_plan_l1_fix_time: 0.6127, d3.loss_plan_l1_fix_dist: 0.2374, d4.loss_plan_l1_fix_time: 0.6157, d4.loss_plan_l1_fix_dist: 0.1889, d5.loss_plan_l1_fix_time: 0.6193, d5.loss_plan_l1_fix_dist: 0.2042, d6.loss_plan_l1_fix_time: 0.6231, d6.loss_plan_l1_fix_dist: 0.2463, d0.loss_cls_all: 0.1180, d0.loss_bbox_all: 0.3138, d0.loss_cls: 0.1180, d0.loss_bbox: 0.3138, d1.loss_cls: 0.1104, d1.loss_bbox: 0.2809, d2.loss_cls: 0.0967, d2.loss_bbox: 0.2629, d3.loss_cls: 0.0792, d3.loss_bbox: 0.2580, d4.loss_cls: 0.0731, d4.loss_bbox: 0.2564, d5.loss_cls: 0.0722, d5.loss_bbox: 0.2543, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5499, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4398, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4034, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3893, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3804, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3775, d0.loss_map_cls_all: 0.1673, d0.loss_map_pts_all: 1.1128, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.1673, d0.loss_map_pts: 1.1128, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1340, d1.loss_map_pts: 0.8025, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1112, d2.loss_map_pts: 0.6361, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1003, d3.loss_map_pts: 0.5735, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.0927, d4.loss_map_pts: 0.5463, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.0879, d5.loss_map_pts: 0.5402, d5.loss_map_dir: 0.0073, loss: 20.3526, grad_norm: 143.8471 +2026-03-01 09:50:49,027 - DriveTransformer - INFO - Epoch [12][34850/39528] lr: 5.696e-05, eta: 4 days, 1:16:35, time: 0.711, data_time: 0.038, memory: 19865, loss_cls: 0.0693, loss_bbox: 0.3022, loss_traj: 0.5197, loss_traj_cls: 0.0022, loss_map_cls: 0.1090, loss_map_pts: 0.5171, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.5366, d0.loss_plan_l1_fix_dist: 0.4288, d1.loss_plan_l1_fix_time: 0.6736, d1.loss_plan_l1_fix_dist: 0.2223, d2.loss_plan_l1_fix_time: 0.6443, d2.loss_plan_l1_fix_dist: 0.3046, d3.loss_plan_l1_fix_time: 0.6381, d3.loss_plan_l1_fix_dist: 0.2423, d4.loss_plan_l1_fix_time: 0.6405, d4.loss_plan_l1_fix_dist: 0.2051, d5.loss_plan_l1_fix_time: 0.6442, d5.loss_plan_l1_fix_dist: 0.2234, d6.loss_plan_l1_fix_time: 0.6482, d6.loss_plan_l1_fix_dist: 0.2635, d0.loss_cls_all: 0.1174, d0.loss_bbox_all: 0.3514, d0.loss_cls: 0.1174, d0.loss_bbox: 0.3514, d1.loss_cls: 0.1112, d1.loss_bbox: 0.3228, d2.loss_cls: 0.0968, d2.loss_bbox: 0.3071, d3.loss_cls: 0.0774, d3.loss_bbox: 0.3043, d4.loss_cls: 0.0710, d4.loss_bbox: 0.3019, d5.loss_cls: 0.0689, d5.loss_bbox: 0.3021, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7676, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5945, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5352, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5201, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5210, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5153, d0.loss_map_cls_all: 0.1979, d0.loss_map_pts_all: 1.0230, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1979, d0.loss_map_pts: 1.0230, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1608, d1.loss_map_pts: 0.7505, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1346, d2.loss_map_pts: 0.5974, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1240, d3.loss_map_pts: 0.5441, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1170, d4.loss_map_pts: 0.5219, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.1119, d5.loss_map_pts: 0.5176, d5.loss_map_dir: 0.0057, loss: 22.2627, grad_norm: 146.5232 +2026-03-01 09:51:25,214 - DriveTransformer - INFO - Epoch [12][34900/39528] lr: 5.696e-05, eta: 4 days, 1:15:58, time: 0.724, data_time: 0.037, memory: 19865, loss_cls: 0.0814, loss_bbox: 0.2733, loss_traj: 0.3972, loss_traj_cls: 0.0021, loss_map_cls: 0.0993, loss_map_pts: 0.5144, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.7098, d0.loss_plan_l1_fix_dist: 0.4431, d1.loss_plan_l1_fix_time: 0.6504, d1.loss_plan_l1_fix_dist: 0.2309, d2.loss_plan_l1_fix_time: 0.6268, d2.loss_plan_l1_fix_dist: 0.2982, d3.loss_plan_l1_fix_time: 0.6236, d3.loss_plan_l1_fix_dist: 0.2378, d4.loss_plan_l1_fix_time: 0.6254, d4.loss_plan_l1_fix_dist: 0.2071, d5.loss_plan_l1_fix_time: 0.6279, d5.loss_plan_l1_fix_dist: 0.2409, d6.loss_plan_l1_fix_time: 0.6307, d6.loss_plan_l1_fix_dist: 0.2309, d0.loss_cls_all: 0.1246, d0.loss_bbox_all: 0.3322, d0.loss_cls: 0.1246, d0.loss_bbox: 0.3322, d1.loss_cls: 0.1202, d1.loss_bbox: 0.3007, d2.loss_cls: 0.1048, d2.loss_bbox: 0.2809, d3.loss_cls: 0.0873, d3.loss_bbox: 0.2752, d4.loss_cls: 0.0818, d4.loss_bbox: 0.2735, d5.loss_cls: 0.0816, d5.loss_bbox: 0.2728, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6304, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4829, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4256, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4145, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4031, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3971, d0.loss_map_cls_all: 0.1930, d0.loss_map_pts_all: 1.0332, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1930, d0.loss_map_pts: 1.0332, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1588, d1.loss_map_pts: 0.7553, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1300, d2.loss_map_pts: 0.5981, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1161, d3.loss_map_pts: 0.5412, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1091, d4.loss_map_pts: 0.5202, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1037, d5.loss_map_pts: 0.5142, d5.loss_map_dir: 0.0061, loss: 21.3526, grad_norm: 147.1943 +2026-03-01 09:52:02,772 - DriveTransformer - INFO - Epoch [12][34950/39528] lr: 5.696e-05, eta: 4 days, 1:15:23, time: 0.751, data_time: 0.040, memory: 19865, loss_cls: 0.0759, loss_bbox: 0.2559, loss_traj: 0.4027, loss_traj_cls: 0.0022, loss_map_cls: 0.0800, loss_map_pts: 0.4861, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.5068, d0.loss_plan_l1_fix_dist: 0.3704, d1.loss_plan_l1_fix_time: 0.6438, d1.loss_plan_l1_fix_dist: 0.1882, d2.loss_plan_l1_fix_time: 0.6305, d2.loss_plan_l1_fix_dist: 0.2492, d3.loss_plan_l1_fix_time: 0.6183, d3.loss_plan_l1_fix_dist: 0.1833, d4.loss_plan_l1_fix_time: 0.6194, d4.loss_plan_l1_fix_dist: 0.1512, d5.loss_plan_l1_fix_time: 0.6211, d5.loss_plan_l1_fix_dist: 0.1993, d6.loss_plan_l1_fix_time: 0.6236, d6.loss_plan_l1_fix_dist: 0.1539, d0.loss_cls_all: 0.1195, d0.loss_bbox_all: 0.3194, d0.loss_cls: 0.1195, d0.loss_bbox: 0.3194, d1.loss_cls: 0.1138, d1.loss_bbox: 0.2843, d2.loss_cls: 0.1023, d2.loss_bbox: 0.2664, d3.loss_cls: 0.0831, d3.loss_bbox: 0.2625, d4.loss_cls: 0.0767, d4.loss_bbox: 0.2574, d5.loss_cls: 0.0763, d5.loss_bbox: 0.2565, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6164, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4891, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4299, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4153, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4093, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4046, d0.loss_map_cls_all: 0.1632, d0.loss_map_pts_all: 1.0107, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1632, d0.loss_map_pts: 1.0107, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1243, d1.loss_map_pts: 0.7218, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1042, d2.loss_map_pts: 0.5679, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.0927, d3.loss_map_pts: 0.5136, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0865, d4.loss_map_pts: 0.4928, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0822, d5.loss_map_pts: 0.4873, d5.loss_map_dir: 0.0060, loss: 20.1591, grad_norm: 147.2287 +2026-03-01 09:52:39,231 - DriveTransformer - INFO - Epoch [12][35000/39528] lr: 5.696e-05, eta: 4 days, 1:14:47, time: 0.729, data_time: 0.043, memory: 19865, loss_cls: 0.0699, loss_bbox: 0.2612, loss_traj: 0.4748, loss_traj_cls: 0.0023, loss_map_cls: 0.0800, loss_map_pts: 0.4701, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.2887, d0.loss_plan_l1_fix_dist: 0.5120, d1.loss_plan_l1_fix_time: 0.6350, d1.loss_plan_l1_fix_dist: 0.2229, d2.loss_plan_l1_fix_time: 0.6301, d2.loss_plan_l1_fix_dist: 0.2704, d3.loss_plan_l1_fix_time: 0.6241, d3.loss_plan_l1_fix_dist: 0.2237, d4.loss_plan_l1_fix_time: 0.6264, d4.loss_plan_l1_fix_dist: 0.2059, d5.loss_plan_l1_fix_time: 0.6300, d5.loss_plan_l1_fix_dist: 0.2336, d6.loss_plan_l1_fix_time: 0.6340, d6.loss_plan_l1_fix_dist: 0.2194, d0.loss_cls_all: 0.1047, d0.loss_bbox_all: 0.3177, d0.loss_cls: 0.1047, d0.loss_bbox: 0.3177, d1.loss_cls: 0.0981, d1.loss_bbox: 0.2858, d2.loss_cls: 0.0892, d2.loss_bbox: 0.2674, d3.loss_cls: 0.0766, d3.loss_bbox: 0.2632, d4.loss_cls: 0.0718, d4.loss_bbox: 0.2601, d5.loss_cls: 0.0707, d5.loss_bbox: 0.2603, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6945, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5404, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4880, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4794, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4759, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.4735, d0.loss_map_cls_all: 0.1592, d0.loss_map_pts_all: 0.9427, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1592, d0.loss_map_pts: 0.9427, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1222, d1.loss_map_pts: 0.6905, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1024, d2.loss_map_pts: 0.5576, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.0923, d3.loss_map_pts: 0.5013, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0855, d4.loss_map_pts: 0.4773, d4.loss_map_dir: 0.0044, d5.loss_map_cls: 0.0824, d5.loss_map_pts: 0.4717, d5.loss_map_dir: 0.0046, loss: 20.4852, grad_norm: 179.0156 +2026-03-01 09:53:15,741 - DriveTransformer - INFO - Epoch [12][35050/39528] lr: 5.696e-05, eta: 4 days, 1:14:10, time: 0.730, data_time: 0.037, memory: 19865, loss_cls: 0.0770, loss_bbox: 0.2735, loss_traj: 0.4611, loss_traj_cls: 0.0022, loss_map_cls: 0.0910, loss_map_pts: 0.4827, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.6167, d0.loss_plan_l1_fix_dist: 0.5032, d1.loss_plan_l1_fix_time: 0.7318, d1.loss_plan_l1_fix_dist: 0.2273, d2.loss_plan_l1_fix_time: 0.7338, d2.loss_plan_l1_fix_dist: 0.2561, d3.loss_plan_l1_fix_time: 0.7192, d3.loss_plan_l1_fix_dist: 0.2151, d4.loss_plan_l1_fix_time: 0.7219, d4.loss_plan_l1_fix_dist: 0.2224, d5.loss_plan_l1_fix_time: 0.7263, d5.loss_plan_l1_fix_dist: 0.2166, d6.loss_plan_l1_fix_time: 0.7313, d6.loss_plan_l1_fix_dist: 0.2286, d0.loss_cls_all: 0.1203, d0.loss_bbox_all: 0.3269, d0.loss_cls: 0.1203, d0.loss_bbox: 0.3269, d1.loss_cls: 0.1134, d1.loss_bbox: 0.2959, d2.loss_cls: 0.1005, d2.loss_bbox: 0.2768, d3.loss_cls: 0.0822, d3.loss_bbox: 0.2730, d4.loss_cls: 0.0779, d4.loss_bbox: 0.2697, d5.loss_cls: 0.0772, d5.loss_bbox: 0.2720, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6763, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5290, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4831, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4660, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4604, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4563, d0.loss_map_cls_all: 0.1736, d0.loss_map_pts_all: 0.9725, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1736, d0.loss_map_pts: 0.9725, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1374, d1.loss_map_pts: 0.7099, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1142, d2.loss_map_pts: 0.5639, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1030, d3.loss_map_pts: 0.5099, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0974, d4.loss_map_pts: 0.4892, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0927, d5.loss_map_pts: 0.4841, d5.loss_map_dir: 0.0060, loss: 21.6922, grad_norm: 181.2633 +2026-03-01 09:53:51,378 - DriveTransformer - INFO - Epoch [12][35100/39528] lr: 5.696e-05, eta: 4 days, 1:13:32, time: 0.713, data_time: 0.038, memory: 19865, loss_cls: 0.0760, loss_bbox: 0.2793, loss_traj: 0.4290, loss_traj_cls: 0.0021, loss_map_cls: 0.0996, loss_map_pts: 0.4847, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.5878, d0.loss_plan_l1_fix_dist: 0.4259, d1.loss_plan_l1_fix_time: 0.7391, d1.loss_plan_l1_fix_dist: 0.2418, d2.loss_plan_l1_fix_time: 0.7343, d2.loss_plan_l1_fix_dist: 0.2319, d3.loss_plan_l1_fix_time: 0.7339, d3.loss_plan_l1_fix_dist: 0.1924, d4.loss_plan_l1_fix_time: 0.7363, d4.loss_plan_l1_fix_dist: 0.2293, d5.loss_plan_l1_fix_time: 0.7394, d5.loss_plan_l1_fix_dist: 0.1732, d6.loss_plan_l1_fix_time: 0.7428, d6.loss_plan_l1_fix_dist: 0.2268, d0.loss_cls_all: 0.1215, d0.loss_bbox_all: 0.3447, d0.loss_cls: 0.1215, d0.loss_bbox: 0.3447, d1.loss_cls: 0.1135, d1.loss_bbox: 0.3097, d2.loss_cls: 0.0997, d2.loss_bbox: 0.2878, d3.loss_cls: 0.0868, d3.loss_bbox: 0.2792, d4.loss_cls: 0.0783, d4.loss_bbox: 0.2785, d5.loss_cls: 0.0762, d5.loss_bbox: 0.2783, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6681, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5130, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4432, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4307, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4302, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4272, d0.loss_map_cls_all: 0.1872, d0.loss_map_pts_all: 0.9786, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1872, d0.loss_map_pts: 0.9786, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1600, d1.loss_map_pts: 0.7212, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1290, d2.loss_map_pts: 0.5760, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1141, d3.loss_map_pts: 0.5139, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1070, d4.loss_map_pts: 0.4912, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.1022, d5.loss_map_pts: 0.4856, d5.loss_map_dir: 0.0053, loss: 21.6185, grad_norm: 180.3313 +2026-03-01 09:54:26,650 - DriveTransformer - INFO - Epoch [12][35150/39528] lr: 5.696e-05, eta: 4 days, 1:12:52, time: 0.705, data_time: 0.037, memory: 19865, loss_cls: 0.0833, loss_bbox: 0.2847, loss_traj: 0.5041, loss_traj_cls: 0.0021, loss_map_cls: 0.0983, loss_map_pts: 0.4697, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.6664, d0.loss_plan_l1_fix_dist: 0.4646, d1.loss_plan_l1_fix_time: 0.7436, d1.loss_plan_l1_fix_dist: 0.2498, d2.loss_plan_l1_fix_time: 0.7358, d2.loss_plan_l1_fix_dist: 0.2186, d3.loss_plan_l1_fix_time: 0.7245, d3.loss_plan_l1_fix_dist: 0.1852, d4.loss_plan_l1_fix_time: 0.7263, d4.loss_plan_l1_fix_dist: 0.2285, d5.loss_plan_l1_fix_time: 0.7282, d5.loss_plan_l1_fix_dist: 0.1786, d6.loss_plan_l1_fix_time: 0.7304, d6.loss_plan_l1_fix_dist: 0.2189, d0.loss_cls_all: 0.1315, d0.loss_bbox_all: 0.3350, d0.loss_cls: 0.1315, d0.loss_bbox: 0.3350, d1.loss_cls: 0.1227, d1.loss_bbox: 0.3092, d2.loss_cls: 0.1100, d2.loss_bbox: 0.2914, d3.loss_cls: 0.0908, d3.loss_bbox: 0.2890, d4.loss_cls: 0.0830, d4.loss_bbox: 0.2879, d5.loss_cls: 0.0843, d5.loss_bbox: 0.2850, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7820, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.6062, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5388, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5170, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5136, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5063, d0.loss_map_cls_all: 0.1773, d0.loss_map_pts_all: 0.9769, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1773, d0.loss_map_pts: 0.9769, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1445, d1.loss_map_pts: 0.7172, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1218, d2.loss_map_pts: 0.5607, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.1120, d3.loss_map_pts: 0.4953, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.1055, d4.loss_map_pts: 0.4744, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.1006, d5.loss_map_pts: 0.4694, d5.loss_map_dir: 0.0049, loss: 22.2466, grad_norm: 182.4730 +2026-03-01 09:55:03,766 - DriveTransformer - INFO - Epoch [12][35200/39528] lr: 5.696e-05, eta: 4 days, 1:12:17, time: 0.742, data_time: 0.041, memory: 19865, loss_cls: 0.0760, loss_bbox: 0.2680, loss_traj: 0.4237, loss_traj_cls: 0.0021, loss_map_cls: 0.0885, loss_map_pts: 0.5067, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.5331, d0.loss_plan_l1_fix_dist: 0.3918, d1.loss_plan_l1_fix_time: 0.7643, d1.loss_plan_l1_fix_dist: 0.2495, d2.loss_plan_l1_fix_time: 0.7610, d2.loss_plan_l1_fix_dist: 0.2100, d3.loss_plan_l1_fix_time: 0.7617, d3.loss_plan_l1_fix_dist: 0.1794, d4.loss_plan_l1_fix_time: 0.7645, d4.loss_plan_l1_fix_dist: 0.2440, d5.loss_plan_l1_fix_time: 0.7673, d5.loss_plan_l1_fix_dist: 0.2111, d6.loss_plan_l1_fix_time: 0.7708, d6.loss_plan_l1_fix_dist: 0.2251, d0.loss_cls_all: 0.1192, d0.loss_bbox_all: 0.3274, d0.loss_cls: 0.1192, d0.loss_bbox: 0.3274, d1.loss_cls: 0.1164, d1.loss_bbox: 0.2953, d2.loss_cls: 0.1041, d2.loss_bbox: 0.2758, d3.loss_cls: 0.0855, d3.loss_bbox: 0.2684, d4.loss_cls: 0.0784, d4.loss_bbox: 0.2676, d5.loss_cls: 0.0770, d5.loss_bbox: 0.2674, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6485, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4949, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4353, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4195, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4188, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4219, d0.loss_map_cls_all: 0.1650, d0.loss_map_pts_all: 1.0446, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1650, d0.loss_map_pts: 1.0446, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1384, d1.loss_map_pts: 0.7621, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1161, d2.loss_map_pts: 0.5988, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1035, d3.loss_map_pts: 0.5357, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0966, d4.loss_map_pts: 0.5104, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0908, d5.loss_map_pts: 0.5063, d5.loss_map_dir: 0.0062, loss: 21.7021, grad_norm: 187.6589 +2026-03-01 09:55:38,843 - DriveTransformer - INFO - Epoch [12][35250/39528] lr: 5.696e-05, eta: 4 days, 1:11:37, time: 0.701, data_time: 0.038, memory: 19865, loss_cls: 0.0849, loss_bbox: 0.2641, loss_traj: 0.4995, loss_traj_cls: 0.0022, loss_map_cls: 0.0863, loss_map_pts: 0.4309, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.4673, d0.loss_plan_l1_fix_dist: 0.4728, d1.loss_plan_l1_fix_time: 0.7027, d1.loss_plan_l1_fix_dist: 0.2660, d2.loss_plan_l1_fix_time: 0.6900, d2.loss_plan_l1_fix_dist: 0.2080, d3.loss_plan_l1_fix_time: 0.6848, d3.loss_plan_l1_fix_dist: 0.1837, d4.loss_plan_l1_fix_time: 0.6866, d4.loss_plan_l1_fix_dist: 0.2462, d5.loss_plan_l1_fix_time: 0.6888, d5.loss_plan_l1_fix_dist: 0.2296, d6.loss_plan_l1_fix_time: 0.6917, d6.loss_plan_l1_fix_dist: 0.2091, d0.loss_cls_all: 0.1207, d0.loss_bbox_all: 0.3134, d0.loss_cls: 0.1207, d0.loss_bbox: 0.3134, d1.loss_cls: 0.1151, d1.loss_bbox: 0.2825, d2.loss_cls: 0.1029, d2.loss_bbox: 0.2677, d3.loss_cls: 0.0919, d3.loss_bbox: 0.2627, d4.loss_cls: 0.0874, d4.loss_bbox: 0.2622, d5.loss_cls: 0.0855, d5.loss_bbox: 0.2630, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7665, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5791, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5196, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5052, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5021, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4970, d0.loss_map_cls_all: 0.1638, d0.loss_map_pts_all: 0.8847, d0.loss_map_dir_all: 0.0050, d0.loss_map_cls: 0.1638, d0.loss_map_pts: 0.8847, d0.loss_map_dir: 0.0050, d1.loss_map_cls: 0.1330, d1.loss_map_pts: 0.6452, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.1093, d2.loss_map_pts: 0.5153, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.0993, d3.loss_map_pts: 0.4558, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0930, d4.loss_map_pts: 0.4352, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0901, d5.loss_map_pts: 0.4305, d5.loss_map_dir: 0.0046, loss: 20.9999, grad_norm: 187.3758 +2026-03-01 09:56:15,724 - DriveTransformer - INFO - Epoch [12][35300/39528] lr: 5.696e-05, eta: 4 days, 1:11:02, time: 0.738, data_time: 0.039, memory: 19865, loss_cls: 0.0849, loss_bbox: 0.2778, loss_traj: 0.4275, loss_traj_cls: 0.0022, loss_map_cls: 0.0858, loss_map_pts: 0.4603, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.5141, d0.loss_plan_l1_fix_dist: 0.3556, d1.loss_plan_l1_fix_time: 0.7124, d1.loss_plan_l1_fix_dist: 0.2717, d2.loss_plan_l1_fix_time: 0.6975, d2.loss_plan_l1_fix_dist: 0.1768, d3.loss_plan_l1_fix_time: 0.7006, d3.loss_plan_l1_fix_dist: 0.1702, d4.loss_plan_l1_fix_time: 0.7027, d4.loss_plan_l1_fix_dist: 0.2224, d5.loss_plan_l1_fix_time: 0.7048, d5.loss_plan_l1_fix_dist: 0.2217, d6.loss_plan_l1_fix_time: 0.7069, d6.loss_plan_l1_fix_dist: 0.1863, d0.loss_cls_all: 0.1317, d0.loss_bbox_all: 0.3379, d0.loss_cls: 0.1317, d0.loss_bbox: 0.3379, d1.loss_cls: 0.1268, d1.loss_bbox: 0.3052, d2.loss_cls: 0.1107, d2.loss_bbox: 0.2869, d3.loss_cls: 0.0956, d3.loss_bbox: 0.2808, d4.loss_cls: 0.0866, d4.loss_bbox: 0.2800, d5.loss_cls: 0.0859, d5.loss_bbox: 0.2779, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6496, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5074, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4577, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4404, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4309, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4285, d0.loss_map_cls_all: 0.1628, d0.loss_map_pts_all: 0.9363, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1628, d0.loss_map_pts: 0.9363, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1296, d1.loss_map_pts: 0.6879, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1089, d2.loss_map_pts: 0.5438, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0982, d3.loss_map_pts: 0.4859, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0923, d4.loss_map_pts: 0.4656, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0875, d5.loss_map_pts: 0.4616, d5.loss_map_dir: 0.0056, loss: 20.8819, grad_norm: 186.7309 +2026-03-01 09:56:52,026 - DriveTransformer - INFO - Epoch [12][35350/39528] lr: 5.696e-05, eta: 4 days, 1:10:24, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.0856, loss_bbox: 0.2728, loss_traj: 0.3950, loss_traj_cls: 0.0021, loss_map_cls: 0.1184, loss_map_pts: 0.5954, loss_map_dir: 0.0076, d0.loss_plan_l1_fix_time: 2.4124, d0.loss_plan_l1_fix_dist: 0.4298, d1.loss_plan_l1_fix_time: 0.7748, d1.loss_plan_l1_fix_dist: 0.2869, d2.loss_plan_l1_fix_time: 0.7629, d2.loss_plan_l1_fix_dist: 0.2066, d3.loss_plan_l1_fix_time: 0.7579, d3.loss_plan_l1_fix_dist: 0.2102, d4.loss_plan_l1_fix_time: 0.7596, d4.loss_plan_l1_fix_dist: 0.2247, d5.loss_plan_l1_fix_time: 0.7627, d5.loss_plan_l1_fix_dist: 0.2324, d6.loss_plan_l1_fix_time: 0.7660, d6.loss_plan_l1_fix_dist: 0.2119, d0.loss_cls_all: 0.1356, d0.loss_bbox_all: 0.3496, d0.loss_cls: 0.1356, d0.loss_bbox: 0.3496, d1.loss_cls: 0.1257, d1.loss_bbox: 0.3137, d2.loss_cls: 0.1113, d2.loss_bbox: 0.2868, d3.loss_cls: 0.0931, d3.loss_bbox: 0.2795, d4.loss_cls: 0.0876, d4.loss_bbox: 0.2757, d5.loss_cls: 0.0869, d5.loss_bbox: 0.2733, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6065, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4658, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4175, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4066, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3991, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3952, d0.loss_map_cls_all: 0.2063, d0.loss_map_pts_all: 1.2801, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2063, d0.loss_map_pts: 1.2801, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1725, d1.loss_map_pts: 0.9268, d1.loss_map_dir: 0.0077, d2.loss_map_cls: 0.1438, d2.loss_map_pts: 0.7154, d2.loss_map_dir: 0.0071, d3.loss_map_cls: 0.1325, d3.loss_map_pts: 0.6355, d3.loss_map_dir: 0.0072, d4.loss_map_cls: 0.1269, d4.loss_map_pts: 0.6029, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1217, d5.loss_map_pts: 0.5966, d5.loss_map_dir: 0.0076, loss: 23.0766, grad_norm: 189.5154 +2026-03-01 09:57:31,008 - DriveTransformer - INFO - Epoch [12][35400/39528] lr: 5.696e-05, eta: 4 days, 1:09:53, time: 0.781, data_time: 0.036, memory: 19865, loss_cls: 0.0690, loss_bbox: 0.2527, loss_traj: 0.4346, loss_traj_cls: 0.0022, loss_map_cls: 0.0727, loss_map_pts: 0.4710, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.3035, d0.loss_plan_l1_fix_dist: 0.4346, d1.loss_plan_l1_fix_time: 0.6253, d1.loss_plan_l1_fix_dist: 0.2947, d2.loss_plan_l1_fix_time: 0.6162, d2.loss_plan_l1_fix_dist: 0.2167, d3.loss_plan_l1_fix_time: 0.6185, d3.loss_plan_l1_fix_dist: 0.2229, d4.loss_plan_l1_fix_time: 0.6223, d4.loss_plan_l1_fix_dist: 0.2152, d5.loss_plan_l1_fix_time: 0.6266, d5.loss_plan_l1_fix_dist: 0.2272, d6.loss_plan_l1_fix_time: 0.6315, d6.loss_plan_l1_fix_dist: 0.2278, d0.loss_cls_all: 0.1105, d0.loss_bbox_all: 0.3066, d0.loss_cls: 0.1105, d0.loss_bbox: 0.3066, d1.loss_cls: 0.1025, d1.loss_bbox: 0.2814, d2.loss_cls: 0.0948, d2.loss_bbox: 0.2578, d3.loss_cls: 0.0772, d3.loss_bbox: 0.2526, d4.loss_cls: 0.0720, d4.loss_bbox: 0.2503, d5.loss_cls: 0.0701, d5.loss_bbox: 0.2506, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6585, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4851, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4518, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4362, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4349, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4362, d0.loss_map_cls_all: 0.1543, d0.loss_map_pts_all: 1.0681, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1543, d0.loss_map_pts: 1.0681, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1161, d1.loss_map_pts: 0.7513, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.0952, d2.loss_map_pts: 0.5646, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.0871, d3.loss_map_pts: 0.5057, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0786, d4.loss_map_pts: 0.4791, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0754, d5.loss_map_pts: 0.4720, d5.loss_map_dir: 0.0063, loss: 20.3583, grad_norm: 191.5725 +2026-03-01 09:58:07,051 - DriveTransformer - INFO - Epoch [12][35450/39528] lr: 5.696e-05, eta: 4 days, 1:09:15, time: 0.720, data_time: 0.038, memory: 19865, loss_cls: 0.1030, loss_bbox: 0.2903, loss_traj: 0.5084, loss_traj_cls: 0.0021, loss_map_cls: 0.0974, loss_map_pts: 0.4887, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.8789, d0.loss_plan_l1_fix_dist: 0.3782, d1.loss_plan_l1_fix_time: 0.7760, d1.loss_plan_l1_fix_dist: 0.2950, d2.loss_plan_l1_fix_time: 0.7547, d2.loss_plan_l1_fix_dist: 0.2371, d3.loss_plan_l1_fix_time: 0.7464, d3.loss_plan_l1_fix_dist: 0.2229, d4.loss_plan_l1_fix_time: 0.7473, d4.loss_plan_l1_fix_dist: 0.1919, d5.loss_plan_l1_fix_time: 0.7486, d5.loss_plan_l1_fix_dist: 0.1953, d6.loss_plan_l1_fix_time: 0.7502, d6.loss_plan_l1_fix_dist: 0.2151, d0.loss_cls_all: 0.1554, d0.loss_bbox_all: 0.3488, d0.loss_cls: 0.1554, d0.loss_bbox: 0.3488, d1.loss_cls: 0.1488, d1.loss_bbox: 0.3169, d2.loss_cls: 0.1319, d2.loss_bbox: 0.2959, d3.loss_cls: 0.1133, d3.loss_bbox: 0.2903, d4.loss_cls: 0.1045, d4.loss_bbox: 0.2892, d5.loss_cls: 0.1018, d5.loss_bbox: 0.2902, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7856, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.6013, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5334, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5128, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5053, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5084, d0.loss_map_cls_all: 0.1860, d0.loss_map_pts_all: 1.0349, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1860, d0.loss_map_pts: 1.0349, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1483, d1.loss_map_pts: 0.7628, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1251, d2.loss_map_pts: 0.5905, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1138, d3.loss_map_pts: 0.5212, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.1052, d4.loss_map_pts: 0.4963, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.1011, d5.loss_map_pts: 0.4893, d5.loss_map_dir: 0.0052, loss: 23.1083, grad_norm: 189.4250 +2026-03-01 09:58:43,241 - DriveTransformer - INFO - Epoch [12][35500/39528] lr: 5.696e-05, eta: 4 days, 1:08:38, time: 0.724, data_time: 0.036, memory: 19865, loss_cls: 0.0682, loss_bbox: 0.2512, loss_traj: 0.4247, loss_traj_cls: 0.0021, loss_map_cls: 0.0855, loss_map_pts: 0.4942, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.7687, d0.loss_plan_l1_fix_dist: 0.4107, d1.loss_plan_l1_fix_time: 0.6602, d1.loss_plan_l1_fix_dist: 0.2961, d2.loss_plan_l1_fix_time: 0.6485, d2.loss_plan_l1_fix_dist: 0.2566, d3.loss_plan_l1_fix_time: 0.6422, d3.loss_plan_l1_fix_dist: 0.2188, d4.loss_plan_l1_fix_time: 0.6440, d4.loss_plan_l1_fix_dist: 0.1746, d5.loss_plan_l1_fix_time: 0.6461, d5.loss_plan_l1_fix_dist: 0.1764, d6.loss_plan_l1_fix_time: 0.6484, d6.loss_plan_l1_fix_dist: 0.1993, d0.loss_cls_all: 0.1033, d0.loss_bbox_all: 0.3121, d0.loss_cls: 0.1033, d0.loss_bbox: 0.3121, d1.loss_cls: 0.0995, d1.loss_bbox: 0.2847, d2.loss_cls: 0.0903, d2.loss_bbox: 0.2631, d3.loss_cls: 0.0753, d3.loss_bbox: 0.2556, d4.loss_cls: 0.0698, d4.loss_bbox: 0.2524, d5.loss_cls: 0.0680, d5.loss_bbox: 0.2510, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6935, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5041, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4470, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4334, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4194, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4200, d0.loss_map_cls_all: 0.1589, d0.loss_map_pts_all: 1.0141, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1589, d0.loss_map_pts: 1.0141, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1297, d1.loss_map_pts: 0.7262, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1092, d2.loss_map_pts: 0.5714, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1007, d3.loss_map_pts: 0.5195, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0923, d4.loss_map_pts: 0.4970, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0880, d5.loss_map_pts: 0.4934, d5.loss_map_dir: 0.0055, loss: 20.8995, grad_norm: 190.4355 +2026-03-01 09:59:19,718 - DriveTransformer - INFO - Epoch [12][35550/39528] lr: 5.696e-05, eta: 4 days, 1:08:01, time: 0.730, data_time: 0.037, memory: 19865, loss_cls: 0.0813, loss_bbox: 0.2723, loss_traj: 0.4208, loss_traj_cls: 0.0021, loss_map_cls: 0.0856, loss_map_pts: 0.4785, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.5763, d0.loss_plan_l1_fix_dist: 0.4298, d1.loss_plan_l1_fix_time: 0.6272, d1.loss_plan_l1_fix_dist: 0.2869, d2.loss_plan_l1_fix_time: 0.6212, d2.loss_plan_l1_fix_dist: 0.2765, d3.loss_plan_l1_fix_time: 0.6162, d3.loss_plan_l1_fix_dist: 0.2363, d4.loss_plan_l1_fix_time: 0.6189, d4.loss_plan_l1_fix_dist: 0.1971, d5.loss_plan_l1_fix_time: 0.6212, d5.loss_plan_l1_fix_dist: 0.1930, d6.loss_plan_l1_fix_time: 0.6235, d6.loss_plan_l1_fix_dist: 0.1961, d0.loss_cls_all: 0.1308, d0.loss_bbox_all: 0.3280, d0.loss_cls: 0.1308, d0.loss_bbox: 0.3280, d1.loss_cls: 0.1230, d1.loss_bbox: 0.2969, d2.loss_cls: 0.1102, d2.loss_bbox: 0.2780, d3.loss_cls: 0.0886, d3.loss_bbox: 0.2744, d4.loss_cls: 0.0819, d4.loss_bbox: 0.2726, d5.loss_cls: 0.0813, d5.loss_bbox: 0.2718, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6357, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4950, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4454, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4196, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4159, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4170, d0.loss_map_cls_all: 0.1674, d0.loss_map_pts_all: 0.9851, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1674, d0.loss_map_pts: 0.9851, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1352, d1.loss_map_pts: 0.7100, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1111, d2.loss_map_pts: 0.5580, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.0998, d3.loss_map_pts: 0.5035, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0932, d4.loss_map_pts: 0.4824, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0881, d5.loss_map_pts: 0.4781, d5.loss_map_dir: 0.0057, loss: 20.7032, grad_norm: 191.7100 +2026-03-01 09:59:55,412 - DriveTransformer - INFO - Epoch [12][35600/39528] lr: 5.696e-05, eta: 4 days, 1:07:23, time: 0.714, data_time: 0.038, memory: 19865, loss_cls: 0.0643, loss_bbox: 0.2464, loss_traj: 0.4203, loss_traj_cls: 0.0021, loss_map_cls: 0.0683, loss_map_pts: 0.4318, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.6678, d0.loss_plan_l1_fix_dist: 0.5005, d1.loss_plan_l1_fix_time: 0.6338, d1.loss_plan_l1_fix_dist: 0.2775, d2.loss_plan_l1_fix_time: 0.6210, d2.loss_plan_l1_fix_dist: 0.2867, d3.loss_plan_l1_fix_time: 0.6193, d3.loss_plan_l1_fix_dist: 0.2470, d4.loss_plan_l1_fix_time: 0.6219, d4.loss_plan_l1_fix_dist: 0.2049, d5.loss_plan_l1_fix_time: 0.6237, d5.loss_plan_l1_fix_dist: 0.2077, d6.loss_plan_l1_fix_time: 0.6259, d6.loss_plan_l1_fix_dist: 0.1862, d0.loss_cls_all: 0.1075, d0.loss_bbox_all: 0.3087, d0.loss_cls: 0.1075, d0.loss_bbox: 0.3087, d1.loss_cls: 0.1007, d1.loss_bbox: 0.2793, d2.loss_cls: 0.0916, d2.loss_bbox: 0.2548, d3.loss_cls: 0.0750, d3.loss_bbox: 0.2487, d4.loss_cls: 0.0689, d4.loss_bbox: 0.2452, d5.loss_cls: 0.0660, d5.loss_bbox: 0.2452, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6633, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5124, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4539, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4293, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4182, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4176, d0.loss_map_cls_all: 0.1519, d0.loss_map_pts_all: 0.8732, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1519, d0.loss_map_pts: 0.8732, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1164, d1.loss_map_pts: 0.6349, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.0926, d2.loss_map_pts: 0.5026, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0826, d3.loss_map_pts: 0.4496, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0748, d4.loss_map_pts: 0.4348, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0707, d5.loss_map_pts: 0.4320, d5.loss_map_dir: 0.0049, loss: 19.9475, grad_norm: 188.5089 +2026-03-01 10:00:31,494 - DriveTransformer - INFO - Epoch [12][35650/39528] lr: 5.696e-05, eta: 4 days, 1:06:45, time: 0.721, data_time: 0.037, memory: 19865, loss_cls: 0.0672, loss_bbox: 0.2501, loss_traj: 0.4599, loss_traj_cls: 0.0021, loss_map_cls: 0.0661, loss_map_pts: 0.3903, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.5688, d0.loss_plan_l1_fix_dist: 0.3631, d1.loss_plan_l1_fix_time: 0.6292, d1.loss_plan_l1_fix_dist: 0.2414, d2.loss_plan_l1_fix_time: 0.6149, d2.loss_plan_l1_fix_dist: 0.2621, d3.loss_plan_l1_fix_time: 0.6060, d3.loss_plan_l1_fix_dist: 0.2169, d4.loss_plan_l1_fix_time: 0.6068, d4.loss_plan_l1_fix_dist: 0.1801, d5.loss_plan_l1_fix_time: 0.6088, d5.loss_plan_l1_fix_dist: 0.1877, d6.loss_plan_l1_fix_time: 0.6106, d6.loss_plan_l1_fix_dist: 0.1526, d0.loss_cls_all: 0.1101, d0.loss_bbox_all: 0.3039, d0.loss_cls: 0.1101, d0.loss_bbox: 0.3039, d1.loss_cls: 0.1044, d1.loss_bbox: 0.2744, d2.loss_cls: 0.0921, d2.loss_bbox: 0.2557, d3.loss_cls: 0.0740, d3.loss_bbox: 0.2514, d4.loss_cls: 0.0682, d4.loss_bbox: 0.2496, d5.loss_cls: 0.0662, d5.loss_bbox: 0.2496, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7308, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5568, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4900, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4670, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4595, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4578, d0.loss_map_cls_all: 0.1507, d0.loss_map_pts_all: 0.9200, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1507, d0.loss_map_pts: 0.9200, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1162, d1.loss_map_pts: 0.6447, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.0906, d2.loss_map_pts: 0.4752, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.0785, d3.loss_map_pts: 0.4137, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.0729, d4.loss_map_pts: 0.3953, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0681, d5.loss_map_pts: 0.3904, d5.loss_map_dir: 0.0048, loss: 19.6913, grad_norm: 189.1089 +2026-03-01 10:01:07,048 - DriveTransformer - INFO - Epoch [12][35700/39528] lr: 5.696e-05, eta: 4 days, 1:06:07, time: 0.711, data_time: 0.038, memory: 19865, loss_cls: 0.0679, loss_bbox: 0.2608, loss_traj: 0.5292, loss_traj_cls: 0.0021, loss_map_cls: 0.0701, loss_map_pts: 0.4176, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.5712, d0.loss_plan_l1_fix_dist: 0.3444, d1.loss_plan_l1_fix_time: 0.6518, d1.loss_plan_l1_fix_dist: 0.1986, d2.loss_plan_l1_fix_time: 0.6309, d2.loss_plan_l1_fix_dist: 0.2291, d3.loss_plan_l1_fix_time: 0.6226, d3.loss_plan_l1_fix_dist: 0.1876, d4.loss_plan_l1_fix_time: 0.6236, d4.loss_plan_l1_fix_dist: 0.1829, d5.loss_plan_l1_fix_time: 0.6259, d5.loss_plan_l1_fix_dist: 0.1824, d6.loss_plan_l1_fix_time: 0.6280, d6.loss_plan_l1_fix_dist: 0.1648, d0.loss_cls_all: 0.1093, d0.loss_bbox_all: 0.3150, d0.loss_cls: 0.1093, d0.loss_bbox: 0.3150, d1.loss_cls: 0.1023, d1.loss_bbox: 0.2862, d2.loss_cls: 0.0938, d2.loss_bbox: 0.2663, d3.loss_cls: 0.0752, d3.loss_bbox: 0.2609, d4.loss_cls: 0.0703, d4.loss_bbox: 0.2586, d5.loss_cls: 0.0685, d5.loss_bbox: 0.2591, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8102, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5988, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5418, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5319, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5287, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5292, d0.loss_map_cls_all: 0.1492, d0.loss_map_pts_all: 0.9112, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1492, d0.loss_map_pts: 0.9112, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1124, d1.loss_map_pts: 0.6450, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.0903, d2.loss_map_pts: 0.5060, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0815, d3.loss_map_pts: 0.4478, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0769, d4.loss_map_pts: 0.4244, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0728, d5.loss_map_pts: 0.4186, d5.loss_map_dir: 0.0050, loss: 20.3651, grad_norm: 190.0477 +2026-03-01 10:01:43,382 - DriveTransformer - INFO - Epoch [12][35750/39528] lr: 5.696e-05, eta: 4 days, 1:05:30, time: 0.727, data_time: 0.038, memory: 19865, loss_cls: 0.0686, loss_bbox: 0.2695, loss_traj: 0.4257, loss_traj_cls: 0.0020, loss_map_cls: 0.0783, loss_map_pts: 0.4374, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.7465, d0.loss_plan_l1_fix_dist: 0.4540, d1.loss_plan_l1_fix_time: 0.6911, d1.loss_plan_l1_fix_dist: 0.2018, d2.loss_plan_l1_fix_time: 0.6787, d2.loss_plan_l1_fix_dist: 0.2282, d3.loss_plan_l1_fix_time: 0.6793, d3.loss_plan_l1_fix_dist: 0.1916, d4.loss_plan_l1_fix_time: 0.6829, d4.loss_plan_l1_fix_dist: 0.2221, d5.loss_plan_l1_fix_time: 0.6874, d5.loss_plan_l1_fix_dist: 0.2106, d6.loss_plan_l1_fix_time: 0.6926, d6.loss_plan_l1_fix_dist: 0.2125, d0.loss_cls_all: 0.1101, d0.loss_bbox_all: 0.3148, d0.loss_cls: 0.1101, d0.loss_bbox: 0.3148, d1.loss_cls: 0.1052, d1.loss_bbox: 0.2894, d2.loss_cls: 0.0930, d2.loss_bbox: 0.2750, d3.loss_cls: 0.0753, d3.loss_bbox: 0.2719, d4.loss_cls: 0.0696, d4.loss_bbox: 0.2705, d5.loss_cls: 0.0690, d5.loss_bbox: 0.2688, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6315, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4765, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4285, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4184, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4239, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4217, d0.loss_map_cls_all: 0.1586, d0.loss_map_pts_all: 0.9209, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1586, d0.loss_map_pts: 0.9209, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1323, d1.loss_map_pts: 0.6606, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1071, d2.loss_map_pts: 0.5185, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0939, d3.loss_map_pts: 0.4671, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0868, d4.loss_map_pts: 0.4443, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0814, d5.loss_map_pts: 0.4384, d5.loss_map_dir: 0.0052, loss: 20.5362, grad_norm: 191.9225 +2026-03-01 10:02:19,336 - DriveTransformer - INFO - Epoch [12][35800/39528] lr: 5.696e-05, eta: 4 days, 1:04:52, time: 0.719, data_time: 0.038, memory: 19865, loss_cls: 0.0734, loss_bbox: 0.2598, loss_traj: 0.5143, loss_traj_cls: 0.0022, loss_map_cls: 0.0680, loss_map_pts: 0.3869, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.6288, d0.loss_plan_l1_fix_dist: 0.4165, d1.loss_plan_l1_fix_time: 0.6284, d1.loss_plan_l1_fix_dist: 0.1819, d2.loss_plan_l1_fix_time: 0.6108, d2.loss_plan_l1_fix_dist: 0.2138, d3.loss_plan_l1_fix_time: 0.6079, d3.loss_plan_l1_fix_dist: 0.1804, d4.loss_plan_l1_fix_time: 0.6095, d4.loss_plan_l1_fix_dist: 0.1975, d5.loss_plan_l1_fix_time: 0.6118, d5.loss_plan_l1_fix_dist: 0.1859, d6.loss_plan_l1_fix_time: 0.6147, d6.loss_plan_l1_fix_dist: 0.1875, d0.loss_cls_all: 0.1099, d0.loss_bbox_all: 0.3104, d0.loss_cls: 0.1099, d0.loss_bbox: 0.3104, d1.loss_cls: 0.1073, d1.loss_bbox: 0.2825, d2.loss_cls: 0.0943, d2.loss_bbox: 0.2673, d3.loss_cls: 0.0787, d3.loss_bbox: 0.2624, d4.loss_cls: 0.0742, d4.loss_bbox: 0.2604, d5.loss_cls: 0.0725, d5.loss_bbox: 0.2597, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7618, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.6090, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5423, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5256, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5151, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.5155, d0.loss_map_cls_all: 0.1493, d0.loss_map_pts_all: 0.8824, d0.loss_map_dir_all: 0.0050, d0.loss_map_cls: 0.1493, d0.loss_map_pts: 0.8824, d0.loss_map_dir: 0.0050, d1.loss_map_cls: 0.1151, d1.loss_map_pts: 0.6240, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.0908, d2.loss_map_pts: 0.4685, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.0812, d3.loss_map_pts: 0.4144, d3.loss_map_dir: 0.0043, d4.loss_map_cls: 0.0759, d4.loss_map_pts: 0.3915, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0716, d5.loss_map_pts: 0.3868, d5.loss_map_dir: 0.0046, loss: 20.0751, grad_norm: 189.9948 +2026-03-01 10:02:54,237 - DriveTransformer - INFO - Epoch [12][35850/39528] lr: 5.696e-05, eta: 4 days, 1:04:12, time: 0.698, data_time: 0.039, memory: 19865, loss_cls: 0.0952, loss_bbox: 0.2787, loss_traj: 0.4984, loss_traj_cls: 0.0021, loss_map_cls: 0.0999, loss_map_pts: 0.5168, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.4029, d0.loss_plan_l1_fix_dist: 0.4113, d1.loss_plan_l1_fix_time: 0.6404, d1.loss_plan_l1_fix_dist: 0.1866, d2.loss_plan_l1_fix_time: 0.6195, d2.loss_plan_l1_fix_dist: 0.2120, d3.loss_plan_l1_fix_time: 0.6169, d3.loss_plan_l1_fix_dist: 0.1981, d4.loss_plan_l1_fix_time: 0.6181, d4.loss_plan_l1_fix_dist: 0.1714, d5.loss_plan_l1_fix_time: 0.6193, d5.loss_plan_l1_fix_dist: 0.1749, d6.loss_plan_l1_fix_time: 0.6217, d6.loss_plan_l1_fix_dist: 0.1993, d0.loss_cls_all: 0.1419, d0.loss_bbox_all: 0.3482, d0.loss_cls: 0.1419, d0.loss_bbox: 0.3482, d1.loss_cls: 0.1336, d1.loss_bbox: 0.3141, d2.loss_cls: 0.1192, d2.loss_bbox: 0.2905, d3.loss_cls: 0.1019, d3.loss_bbox: 0.2855, d4.loss_cls: 0.0971, d4.loss_bbox: 0.2796, d5.loss_cls: 0.0952, d5.loss_bbox: 0.2791, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7652, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5951, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5265, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5203, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5002, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4990, d0.loss_map_cls_all: 0.1882, d0.loss_map_pts_all: 1.0400, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1882, d0.loss_map_pts: 1.0400, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1494, d1.loss_map_pts: 0.7791, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1261, d2.loss_map_pts: 0.6117, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1146, d3.loss_map_pts: 0.5464, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1081, d4.loss_map_pts: 0.5207, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1023, d5.loss_map_pts: 0.5161, d5.loss_map_dir: 0.0062, loss: 21.6518, grad_norm: 189.7441 +2026-03-01 10:03:31,160 - DriveTransformer - INFO - Epoch [12][35900/39528] lr: 5.696e-05, eta: 4 days, 1:03:36, time: 0.738, data_time: 0.039, memory: 19865, loss_cls: 0.0940, loss_bbox: 0.2837, loss_traj: 0.4149, loss_traj_cls: 0.0021, loss_map_cls: 0.0957, loss_map_pts: 0.5484, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.6837, d0.loss_plan_l1_fix_dist: 0.4469, d1.loss_plan_l1_fix_time: 0.7493, d1.loss_plan_l1_fix_dist: 0.2294, d2.loss_plan_l1_fix_time: 0.7353, d2.loss_plan_l1_fix_dist: 0.2285, d3.loss_plan_l1_fix_time: 0.7292, d3.loss_plan_l1_fix_dist: 0.2594, d4.loss_plan_l1_fix_time: 0.7303, d4.loss_plan_l1_fix_dist: 0.1861, d5.loss_plan_l1_fix_time: 0.7319, d5.loss_plan_l1_fix_dist: 0.2049, d6.loss_plan_l1_fix_time: 0.7342, d6.loss_plan_l1_fix_dist: 0.2549, d0.loss_cls_all: 0.1412, d0.loss_bbox_all: 0.3413, d0.loss_cls: 0.1412, d0.loss_bbox: 0.3413, d1.loss_cls: 0.1328, d1.loss_bbox: 0.3089, d2.loss_cls: 0.1175, d2.loss_bbox: 0.2907, d3.loss_cls: 0.1007, d3.loss_bbox: 0.2852, d4.loss_cls: 0.0951, d4.loss_bbox: 0.2849, d5.loss_cls: 0.0950, d5.loss_bbox: 0.2835, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6482, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5009, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4406, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4226, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4149, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4135, d0.loss_map_cls_all: 0.1668, d0.loss_map_pts_all: 1.0667, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1668, d0.loss_map_pts: 1.0667, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1401, d1.loss_map_pts: 0.7781, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1204, d2.loss_map_pts: 0.6267, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1092, d3.loss_map_pts: 0.5732, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1026, d4.loss_map_pts: 0.5531, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0983, d5.loss_map_pts: 0.5483, d5.loss_map_dir: 0.0065, loss: 22.3187, grad_norm: 190.0043 +2026-03-01 10:04:07,418 - DriveTransformer - INFO - Epoch [12][35950/39528] lr: 5.696e-05, eta: 4 days, 1:02:59, time: 0.725, data_time: 0.040, memory: 19865, loss_cls: 0.0806, loss_bbox: 0.2749, loss_traj: 0.4314, loss_traj_cls: 0.0022, loss_map_cls: 0.0944, loss_map_pts: 0.4646, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.9328, d0.loss_plan_l1_fix_dist: 0.4153, d1.loss_plan_l1_fix_time: 0.7252, d1.loss_plan_l1_fix_dist: 0.2247, d2.loss_plan_l1_fix_time: 0.7077, d2.loss_plan_l1_fix_dist: 0.2162, d3.loss_plan_l1_fix_time: 0.7039, d3.loss_plan_l1_fix_dist: 0.2621, d4.loss_plan_l1_fix_time: 0.7044, d4.loss_plan_l1_fix_dist: 0.1701, d5.loss_plan_l1_fix_time: 0.7058, d5.loss_plan_l1_fix_dist: 0.1979, d6.loss_plan_l1_fix_time: 0.7075, d6.loss_plan_l1_fix_dist: 0.2032, d0.loss_cls_all: 0.1293, d0.loss_bbox_all: 0.3372, d0.loss_cls: 0.1293, d0.loss_bbox: 0.3372, d1.loss_cls: 0.1275, d1.loss_bbox: 0.3026, d2.loss_cls: 0.1115, d2.loss_bbox: 0.2804, d3.loss_cls: 0.0894, d3.loss_bbox: 0.2762, d4.loss_cls: 0.0819, d4.loss_bbox: 0.2761, d5.loss_cls: 0.0814, d5.loss_bbox: 0.2746, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6711, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5034, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4502, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4378, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4332, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4308, d0.loss_map_cls_all: 0.1758, d0.loss_map_pts_all: 0.9820, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1758, d0.loss_map_pts: 0.9820, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1413, d1.loss_map_pts: 0.7081, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1175, d2.loss_map_pts: 0.5557, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1083, d3.loss_map_pts: 0.4965, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.1015, d4.loss_map_pts: 0.4712, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0971, d5.loss_map_pts: 0.4648, d5.loss_map_dir: 0.0053, loss: 21.6128, grad_norm: 191.6253 +2026-03-01 10:04:41,844 - DriveTransformer - INFO - Epoch [12][36000/39528] lr: 5.696e-05, eta: 4 days, 1:02:18, time: 0.688, data_time: 0.039, memory: 19865, loss_cls: 0.0897, loss_bbox: 0.2654, loss_traj: 0.4961, loss_traj_cls: 0.0021, loss_map_cls: 0.1007, loss_map_pts: 0.4946, loss_map_dir: 0.0047, d0.loss_plan_l1_fix_time: 2.5991, d0.loss_plan_l1_fix_dist: 0.4010, d1.loss_plan_l1_fix_time: 0.7331, d1.loss_plan_l1_fix_dist: 0.2196, d2.loss_plan_l1_fix_time: 0.7221, d2.loss_plan_l1_fix_dist: 0.2048, d3.loss_plan_l1_fix_time: 0.7187, d3.loss_plan_l1_fix_dist: 0.2640, d4.loss_plan_l1_fix_time: 0.7200, d4.loss_plan_l1_fix_dist: 0.1899, d5.loss_plan_l1_fix_time: 0.7215, d5.loss_plan_l1_fix_dist: 0.2350, d6.loss_plan_l1_fix_time: 0.7229, d6.loss_plan_l1_fix_dist: 0.1860, d0.loss_cls_all: 0.1396, d0.loss_bbox_all: 0.3287, d0.loss_cls: 0.1396, d0.loss_bbox: 0.3287, d1.loss_cls: 0.1321, d1.loss_bbox: 0.2998, d2.loss_cls: 0.1201, d2.loss_bbox: 0.2772, d3.loss_cls: 0.0992, d3.loss_bbox: 0.2701, d4.loss_cls: 0.0913, d4.loss_bbox: 0.2681, d5.loss_cls: 0.0890, d5.loss_bbox: 0.2660, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7672, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5955, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5336, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5061, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4991, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4970, d0.loss_map_cls_all: 0.1883, d0.loss_map_pts_all: 0.9777, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1883, d0.loss_map_pts: 0.9777, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1550, d1.loss_map_pts: 0.7221, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1297, d2.loss_map_pts: 0.5759, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.1170, d3.loss_map_pts: 0.5168, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.1097, d4.loss_map_pts: 0.4958, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.1046, d5.loss_map_pts: 0.4927, d5.loss_map_dir: 0.0048, loss: 22.1301, grad_norm: 187.6316 +2026-03-01 10:05:16,163 - DriveTransformer - INFO - Epoch [12][36050/39528] lr: 5.696e-05, eta: 4 days, 1:01:37, time: 0.686, data_time: 0.037, memory: 19865, loss_cls: 0.0899, loss_bbox: 0.2720, loss_traj: 0.4940, loss_traj_cls: 0.0021, loss_map_cls: 0.0849, loss_map_pts: 0.4827, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.4568, d0.loss_plan_l1_fix_dist: 0.4228, d1.loss_plan_l1_fix_time: 0.7032, d1.loss_plan_l1_fix_dist: 0.2257, d2.loss_plan_l1_fix_time: 0.6884, d2.loss_plan_l1_fix_dist: 0.2149, d3.loss_plan_l1_fix_time: 0.6859, d3.loss_plan_l1_fix_dist: 0.2459, d4.loss_plan_l1_fix_time: 0.6864, d4.loss_plan_l1_fix_dist: 0.1992, d5.loss_plan_l1_fix_time: 0.6874, d5.loss_plan_l1_fix_dist: 0.2277, d6.loss_plan_l1_fix_time: 0.6890, d6.loss_plan_l1_fix_dist: 0.2078, d0.loss_cls_all: 0.1369, d0.loss_bbox_all: 0.3377, d0.loss_cls: 0.1369, d0.loss_bbox: 0.3377, d1.loss_cls: 0.1278, d1.loss_bbox: 0.3056, d2.loss_cls: 0.1155, d2.loss_bbox: 0.2819, d3.loss_cls: 0.0978, d3.loss_bbox: 0.2754, d4.loss_cls: 0.0919, d4.loss_bbox: 0.2732, d5.loss_cls: 0.0900, d5.loss_bbox: 0.2725, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7676, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5871, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5044, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4917, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4929, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4946, d0.loss_map_cls_all: 0.1811, d0.loss_map_pts_all: 0.9801, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1811, d0.loss_map_pts: 0.9801, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1428, d1.loss_map_pts: 0.7298, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1142, d2.loss_map_pts: 0.5822, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1002, d3.loss_map_pts: 0.5193, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0930, d4.loss_map_pts: 0.4888, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0885, d5.loss_map_pts: 0.4831, d5.loss_map_dir: 0.0052, loss: 21.6976, grad_norm: 184.3155 +2026-03-01 10:05:53,570 - DriveTransformer - INFO - Epoch [12][36100/39528] lr: 5.696e-05, eta: 4 days, 1:01:02, time: 0.748, data_time: 0.037, memory: 19865, loss_cls: 0.0748, loss_bbox: 0.2538, loss_traj: 0.4447, loss_traj_cls: 0.0022, loss_map_cls: 0.0810, loss_map_pts: 0.4834, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.5506, d0.loss_plan_l1_fix_dist: 0.5288, d1.loss_plan_l1_fix_time: 0.5983, d1.loss_plan_l1_fix_dist: 0.2258, d2.loss_plan_l1_fix_time: 0.5842, d2.loss_plan_l1_fix_dist: 0.2259, d3.loss_plan_l1_fix_time: 0.5827, d3.loss_plan_l1_fix_dist: 0.2324, d4.loss_plan_l1_fix_time: 0.5843, d4.loss_plan_l1_fix_dist: 0.2051, d5.loss_plan_l1_fix_time: 0.5859, d5.loss_plan_l1_fix_dist: 0.2215, d6.loss_plan_l1_fix_time: 0.5881, d6.loss_plan_l1_fix_dist: 0.2308, d0.loss_cls_all: 0.1260, d0.loss_bbox_all: 0.3107, d0.loss_cls: 0.1260, d0.loss_bbox: 0.3107, d1.loss_cls: 0.1203, d1.loss_bbox: 0.2795, d2.loss_cls: 0.1050, d2.loss_bbox: 0.2614, d3.loss_cls: 0.0863, d3.loss_bbox: 0.2579, d4.loss_cls: 0.0775, d4.loss_bbox: 0.2560, d5.loss_cls: 0.0745, d5.loss_bbox: 0.2544, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6603, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5096, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4677, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4570, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4509, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4460, d0.loss_map_cls_all: 0.1584, d0.loss_map_pts_all: 1.0117, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1584, d0.loss_map_pts: 1.0117, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1268, d1.loss_map_pts: 0.7184, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1041, d2.loss_map_pts: 0.5622, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.0934, d3.loss_map_pts: 0.5112, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.0875, d4.loss_map_pts: 0.4884, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0823, d5.loss_map_pts: 0.4854, d5.loss_map_dir: 0.0067, loss: 20.5833, grad_norm: 184.5622 +2026-03-01 10:06:28,860 - DriveTransformer - INFO - Epoch [12][36150/39528] lr: 5.696e-05, eta: 4 days, 1:00:23, time: 0.706, data_time: 0.038, memory: 19865, loss_cls: 0.0848, loss_bbox: 0.2634, loss_traj: 0.5054, loss_traj_cls: 0.0021, loss_map_cls: 0.0805, loss_map_pts: 0.4188, loss_map_dir: 0.0045, d0.loss_plan_l1_fix_time: 2.2921, d0.loss_plan_l1_fix_dist: 0.5015, d1.loss_plan_l1_fix_time: 0.6225, d1.loss_plan_l1_fix_dist: 0.2147, d2.loss_plan_l1_fix_time: 0.6001, d2.loss_plan_l1_fix_dist: 0.2295, d3.loss_plan_l1_fix_time: 0.5962, d3.loss_plan_l1_fix_dist: 0.2028, d4.loss_plan_l1_fix_time: 0.5969, d4.loss_plan_l1_fix_dist: 0.1979, d5.loss_plan_l1_fix_time: 0.5983, d5.loss_plan_l1_fix_dist: 0.2067, d6.loss_plan_l1_fix_time: 0.6006, d6.loss_plan_l1_fix_dist: 0.2401, d0.loss_cls_all: 0.1261, d0.loss_bbox_all: 0.3342, d0.loss_cls: 0.1261, d0.loss_bbox: 0.3342, d1.loss_cls: 0.1183, d1.loss_bbox: 0.3013, d2.loss_cls: 0.1074, d2.loss_bbox: 0.2764, d3.loss_cls: 0.0914, d3.loss_bbox: 0.2684, d4.loss_cls: 0.0859, d4.loss_bbox: 0.2652, d5.loss_cls: 0.0850, d5.loss_bbox: 0.2633, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7866, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5835, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5252, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5112, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5158, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5084, d0.loss_map_cls_all: 0.1664, d0.loss_map_pts_all: 0.8752, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1664, d0.loss_map_pts: 0.8752, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1335, d1.loss_map_pts: 0.6510, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.1070, d2.loss_map_pts: 0.5091, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.0946, d3.loss_map_pts: 0.4454, d3.loss_map_dir: 0.0043, d4.loss_map_cls: 0.0879, d4.loss_map_pts: 0.4242, d4.loss_map_dir: 0.0044, d5.loss_map_cls: 0.0826, d5.loss_map_pts: 0.4201, d5.loss_map_dir: 0.0045, loss: 20.3509, grad_norm: 184.2177 +2026-03-01 10:07:03,974 - DriveTransformer - INFO - Epoch [12][36200/39528] lr: 5.696e-05, eta: 4 days, 0:59:44, time: 0.704, data_time: 0.038, memory: 19865, loss_cls: 0.0751, loss_bbox: 0.2673, loss_traj: 0.4557, loss_traj_cls: 0.0020, loss_map_cls: 0.0855, loss_map_pts: 0.4628, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.6651, d0.loss_plan_l1_fix_dist: 0.5088, d1.loss_plan_l1_fix_time: 0.6552, d1.loss_plan_l1_fix_dist: 0.1958, d2.loss_plan_l1_fix_time: 0.6418, d2.loss_plan_l1_fix_dist: 0.2213, d3.loss_plan_l1_fix_time: 0.6402, d3.loss_plan_l1_fix_dist: 0.1701, d4.loss_plan_l1_fix_time: 0.6413, d4.loss_plan_l1_fix_dist: 0.1714, d5.loss_plan_l1_fix_time: 0.6421, d5.loss_plan_l1_fix_dist: 0.1818, d6.loss_plan_l1_fix_time: 0.6432, d6.loss_plan_l1_fix_dist: 0.1938, d0.loss_cls_all: 0.1197, d0.loss_bbox_all: 0.3323, d0.loss_cls: 0.1197, d0.loss_bbox: 0.3323, d1.loss_cls: 0.1170, d1.loss_bbox: 0.2996, d2.loss_cls: 0.1004, d2.loss_bbox: 0.2786, d3.loss_cls: 0.0841, d3.loss_bbox: 0.2732, d4.loss_cls: 0.0762, d4.loss_bbox: 0.2707, d5.loss_cls: 0.0751, d5.loss_bbox: 0.2688, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7062, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5224, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4679, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4573, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4512, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4534, d0.loss_map_cls_all: 0.1709, d0.loss_map_pts_all: 0.9853, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1709, d0.loss_map_pts: 0.9853, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1358, d1.loss_map_pts: 0.7212, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1103, d2.loss_map_pts: 0.5572, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1008, d3.loss_map_pts: 0.4917, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0930, d4.loss_map_pts: 0.4667, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0878, d5.loss_map_pts: 0.4627, d5.loss_map_dir: 0.0052, loss: 20.9128, grad_norm: 184.9351 +2026-03-01 10:07:40,892 - DriveTransformer - INFO - Epoch [12][36250/39528] lr: 5.696e-05, eta: 4 days, 0:59:08, time: 0.737, data_time: 0.038, memory: 19865, loss_cls: 0.0612, loss_bbox: 0.2546, loss_traj: 0.5086, loss_traj_cls: 0.0021, loss_map_cls: 0.0900, loss_map_pts: 0.5274, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.3677, d0.loss_plan_l1_fix_dist: 0.3866, d1.loss_plan_l1_fix_time: 0.7056, d1.loss_plan_l1_fix_dist: 0.1791, d2.loss_plan_l1_fix_time: 0.6828, d2.loss_plan_l1_fix_dist: 0.2281, d3.loss_plan_l1_fix_time: 0.6826, d3.loss_plan_l1_fix_dist: 0.1949, d4.loss_plan_l1_fix_time: 0.6838, d4.loss_plan_l1_fix_dist: 0.1633, d5.loss_plan_l1_fix_time: 0.6858, d5.loss_plan_l1_fix_dist: 0.2071, d6.loss_plan_l1_fix_time: 0.6884, d6.loss_plan_l1_fix_dist: 0.1755, d0.loss_cls_all: 0.1028, d0.loss_bbox_all: 0.3170, d0.loss_cls: 0.1028, d0.loss_bbox: 0.3170, d1.loss_cls: 0.0935, d1.loss_bbox: 0.2899, d2.loss_cls: 0.0849, d2.loss_bbox: 0.2670, d3.loss_cls: 0.0680, d3.loss_bbox: 0.2609, d4.loss_cls: 0.0637, d4.loss_bbox: 0.2566, d5.loss_cls: 0.0619, d5.loss_bbox: 0.2546, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.7349, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5647, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5182, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5062, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5070, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5090, d0.loss_map_cls_all: 0.1865, d0.loss_map_pts_all: 1.1259, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1865, d0.loss_map_pts: 1.1259, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1480, d1.loss_map_pts: 0.8009, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1221, d2.loss_map_pts: 0.6242, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1091, d3.loss_map_pts: 0.5560, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1008, d4.loss_map_pts: 0.5314, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0938, d5.loss_map_pts: 0.5276, d5.loss_map_dir: 0.0061, loss: 21.6494, grad_norm: 185.8237 +2026-03-01 10:08:17,068 - DriveTransformer - INFO - Epoch [12][36300/39528] lr: 5.696e-05, eta: 4 days, 0:58:31, time: 0.724, data_time: 0.040, memory: 19865, loss_cls: 0.0821, loss_bbox: 0.2608, loss_traj: 0.5049, loss_traj_cls: 0.0021, loss_map_cls: 0.0763, loss_map_pts: 0.4668, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.8154, d0.loss_plan_l1_fix_dist: 0.4175, d1.loss_plan_l1_fix_time: 0.6230, d1.loss_plan_l1_fix_dist: 0.1940, d2.loss_plan_l1_fix_time: 0.6094, d2.loss_plan_l1_fix_dist: 0.2560, d3.loss_plan_l1_fix_time: 0.6061, d3.loss_plan_l1_fix_dist: 0.2363, d4.loss_plan_l1_fix_time: 0.6073, d4.loss_plan_l1_fix_dist: 0.1824, d5.loss_plan_l1_fix_time: 0.6092, d5.loss_plan_l1_fix_dist: 0.2343, d6.loss_plan_l1_fix_time: 0.6111, d6.loss_plan_l1_fix_dist: 0.1863, d0.loss_cls_all: 0.1308, d0.loss_bbox_all: 0.3220, d0.loss_cls: 0.1308, d0.loss_bbox: 0.3220, d1.loss_cls: 0.1234, d1.loss_bbox: 0.2889, d2.loss_cls: 0.1079, d2.loss_bbox: 0.2686, d3.loss_cls: 0.0901, d3.loss_bbox: 0.2648, d4.loss_cls: 0.0842, d4.loss_bbox: 0.2619, d5.loss_cls: 0.0819, d5.loss_bbox: 0.2602, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7016, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5585, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5135, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5035, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5084, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5075, d0.loss_map_cls_all: 0.1586, d0.loss_map_pts_all: 1.0196, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1586, d0.loss_map_pts: 1.0196, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1258, d1.loss_map_pts: 0.7102, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1010, d2.loss_map_pts: 0.5555, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.0918, d3.loss_map_pts: 0.4961, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0846, d4.loss_map_pts: 0.4715, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0787, d5.loss_map_pts: 0.4678, d5.loss_map_dir: 0.0057, loss: 21.2048, grad_norm: 180.5383 +2026-03-01 10:08:53,692 - DriveTransformer - INFO - Epoch [12][36350/39528] lr: 5.696e-05, eta: 4 days, 0:57:54, time: 0.732, data_time: 0.037, memory: 19865, loss_cls: 0.0781, loss_bbox: 0.2840, loss_traj: 0.4011, loss_traj_cls: 0.0021, loss_map_cls: 0.0818, loss_map_pts: 0.4825, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.4941, d0.loss_plan_l1_fix_dist: 0.4357, d1.loss_plan_l1_fix_time: 0.6520, d1.loss_plan_l1_fix_dist: 0.1756, d2.loss_plan_l1_fix_time: 0.6412, d2.loss_plan_l1_fix_dist: 0.2489, d3.loss_plan_l1_fix_time: 0.6297, d3.loss_plan_l1_fix_dist: 0.2338, d4.loss_plan_l1_fix_time: 0.6303, d4.loss_plan_l1_fix_dist: 0.1677, d5.loss_plan_l1_fix_time: 0.6321, d5.loss_plan_l1_fix_dist: 0.2248, d6.loss_plan_l1_fix_time: 0.6341, d6.loss_plan_l1_fix_dist: 0.1687, d0.loss_cls_all: 0.1218, d0.loss_bbox_all: 0.3555, d0.loss_cls: 0.1218, d0.loss_bbox: 0.3555, d1.loss_cls: 0.1135, d1.loss_bbox: 0.3230, d2.loss_cls: 0.1011, d2.loss_bbox: 0.2974, d3.loss_cls: 0.0888, d3.loss_bbox: 0.2901, d4.loss_cls: 0.0822, d4.loss_bbox: 0.2863, d5.loss_cls: 0.0786, d5.loss_bbox: 0.2850, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5997, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4590, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4136, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4015, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4025, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4045, d0.loss_map_cls_all: 0.1569, d0.loss_map_pts_all: 0.9883, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1569, d0.loss_map_pts: 0.9883, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1269, d1.loss_map_pts: 0.7072, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1039, d2.loss_map_pts: 0.5629, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.0955, d3.loss_map_pts: 0.5081, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0886, d4.loss_map_pts: 0.4862, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0841, d5.loss_map_pts: 0.4829, d5.loss_map_dir: 0.0062, loss: 20.4732, grad_norm: 181.0296 +2026-03-01 10:09:30,525 - DriveTransformer - INFO - Epoch [12][36400/39528] lr: 5.696e-05, eta: 4 days, 0:57:18, time: 0.737, data_time: 0.037, memory: 19865, loss_cls: 0.0753, loss_bbox: 0.2646, loss_traj: 0.4497, loss_traj_cls: 0.0021, loss_map_cls: 0.0783, loss_map_pts: 0.5016, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.5027, d0.loss_plan_l1_fix_dist: 0.4564, d1.loss_plan_l1_fix_time: 0.6921, d1.loss_plan_l1_fix_dist: 0.1751, d2.loss_plan_l1_fix_time: 0.6848, d2.loss_plan_l1_fix_dist: 0.2411, d3.loss_plan_l1_fix_time: 0.6844, d3.loss_plan_l1_fix_dist: 0.2378, d4.loss_plan_l1_fix_time: 0.6863, d4.loss_plan_l1_fix_dist: 0.1824, d5.loss_plan_l1_fix_time: 0.6880, d5.loss_plan_l1_fix_dist: 0.2338, d6.loss_plan_l1_fix_time: 0.6898, d6.loss_plan_l1_fix_dist: 0.1854, d0.loss_cls_all: 0.1228, d0.loss_bbox_all: 0.3348, d0.loss_cls: 0.1228, d0.loss_bbox: 0.3348, d1.loss_cls: 0.1142, d1.loss_bbox: 0.3042, d2.loss_cls: 0.1020, d2.loss_bbox: 0.2794, d3.loss_cls: 0.0838, d3.loss_bbox: 0.2708, d4.loss_cls: 0.0776, d4.loss_bbox: 0.2673, d5.loss_cls: 0.0755, d5.loss_bbox: 0.2659, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6851, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5399, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4856, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4624, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4498, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4479, d0.loss_map_cls_all: 0.1620, d0.loss_map_pts_all: 1.0045, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1620, d0.loss_map_pts: 1.0045, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1252, d1.loss_map_pts: 0.7263, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1028, d2.loss_map_pts: 0.5795, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0908, d3.loss_map_pts: 0.5253, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0852, d4.loss_map_pts: 0.5040, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0805, d5.loss_map_pts: 0.5013, d5.loss_map_dir: 0.0055, loss: 21.2424, grad_norm: 174.9735 +2026-03-01 10:10:08,472 - DriveTransformer - INFO - Epoch [12][36450/39528] lr: 5.696e-05, eta: 4 days, 0:56:45, time: 0.759, data_time: 0.038, memory: 19865, loss_cls: 0.0758, loss_bbox: 0.2530, loss_traj: 0.4760, loss_traj_cls: 0.0021, loss_map_cls: 0.0663, loss_map_pts: 0.4192, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.8337, d0.loss_plan_l1_fix_dist: 0.4987, d1.loss_plan_l1_fix_time: 0.6211, d1.loss_plan_l1_fix_dist: 0.1754, d2.loss_plan_l1_fix_time: 0.6035, d2.loss_plan_l1_fix_dist: 0.2357, d3.loss_plan_l1_fix_time: 0.5924, d3.loss_plan_l1_fix_dist: 0.2321, d4.loss_plan_l1_fix_time: 0.5927, d4.loss_plan_l1_fix_dist: 0.2012, d5.loss_plan_l1_fix_time: 0.5939, d5.loss_plan_l1_fix_dist: 0.2218, d6.loss_plan_l1_fix_time: 0.5958, d6.loss_plan_l1_fix_dist: 0.2121, d0.loss_cls_all: 0.1220, d0.loss_bbox_all: 0.3091, d0.loss_cls: 0.1220, d0.loss_bbox: 0.3091, d1.loss_cls: 0.1157, d1.loss_bbox: 0.2821, d2.loss_cls: 0.1048, d2.loss_bbox: 0.2615, d3.loss_cls: 0.0834, d3.loss_bbox: 0.2562, d4.loss_cls: 0.0765, d4.loss_bbox: 0.2541, d5.loss_cls: 0.0756, d5.loss_bbox: 0.2529, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7004, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5603, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5031, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4854, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4829, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4781, d0.loss_map_cls_all: 0.1520, d0.loss_map_pts_all: 0.9369, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1520, d0.loss_map_pts: 0.9369, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1134, d1.loss_map_pts: 0.6559, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.0887, d2.loss_map_pts: 0.4975, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0780, d3.loss_map_pts: 0.4423, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0731, d4.loss_map_pts: 0.4227, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0693, d5.loss_map_pts: 0.4193, d5.loss_map_dir: 0.0052, loss: 20.4247, grad_norm: 173.7299 +2026-03-01 10:10:44,656 - DriveTransformer - INFO - Epoch [12][36500/39528] lr: 5.696e-05, eta: 4 days, 0:56:07, time: 0.724, data_time: 0.041, memory: 19865, loss_cls: 0.0843, loss_bbox: 0.2746, loss_traj: 0.4504, loss_traj_cls: 0.0021, loss_map_cls: 0.0801, loss_map_pts: 0.4721, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.5049, d0.loss_plan_l1_fix_dist: 0.3977, d1.loss_plan_l1_fix_time: 0.6752, d1.loss_plan_l1_fix_dist: 0.1566, d2.loss_plan_l1_fix_time: 0.6670, d2.loss_plan_l1_fix_dist: 0.2056, d3.loss_plan_l1_fix_time: 0.6637, d3.loss_plan_l1_fix_dist: 0.1943, d4.loss_plan_l1_fix_time: 0.6660, d4.loss_plan_l1_fix_dist: 0.1761, d5.loss_plan_l1_fix_time: 0.6690, d5.loss_plan_l1_fix_dist: 0.1838, d6.loss_plan_l1_fix_time: 0.6729, d6.loss_plan_l1_fix_dist: 0.1977, d0.loss_cls_all: 0.1290, d0.loss_bbox_all: 0.3390, d0.loss_cls: 0.1290, d0.loss_bbox: 0.3390, d1.loss_cls: 0.1214, d1.loss_bbox: 0.3098, d2.loss_cls: 0.1065, d2.loss_bbox: 0.2852, d3.loss_cls: 0.0929, d3.loss_bbox: 0.2760, d4.loss_cls: 0.0847, d4.loss_bbox: 0.2768, d5.loss_cls: 0.0842, d5.loss_bbox: 0.2751, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6904, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5213, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4682, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4567, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4560, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4550, d0.loss_map_cls_all: 0.1604, d0.loss_map_pts_all: 0.9707, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1604, d0.loss_map_pts: 0.9707, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1297, d1.loss_map_pts: 0.7133, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1066, d2.loss_map_pts: 0.5540, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0947, d3.loss_map_pts: 0.4971, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0886, d4.loss_map_pts: 0.4767, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0837, d5.loss_map_pts: 0.4713, d5.loss_map_dir: 0.0052, loss: 20.8159, grad_norm: 173.9178 +2026-03-01 10:11:20,286 - DriveTransformer - INFO - Epoch [12][36550/39528] lr: 5.696e-05, eta: 4 days, 0:55:29, time: 0.713, data_time: 0.039, memory: 19865, loss_cls: 0.0764, loss_bbox: 0.2569, loss_traj: 0.4292, loss_traj_cls: 0.0021, loss_map_cls: 0.0983, loss_map_pts: 0.4579, loss_map_dir: 0.0047, d0.loss_plan_l1_fix_time: 2.6853, d0.loss_plan_l1_fix_dist: 0.4781, d1.loss_plan_l1_fix_time: 0.6770, d1.loss_plan_l1_fix_dist: 0.1713, d2.loss_plan_l1_fix_time: 0.6647, d2.loss_plan_l1_fix_dist: 0.1912, d3.loss_plan_l1_fix_time: 0.6499, d3.loss_plan_l1_fix_dist: 0.1771, d4.loss_plan_l1_fix_time: 0.6504, d4.loss_plan_l1_fix_dist: 0.1669, d5.loss_plan_l1_fix_time: 0.6526, d5.loss_plan_l1_fix_dist: 0.1804, d6.loss_plan_l1_fix_time: 0.6561, d6.loss_plan_l1_fix_dist: 0.2074, d0.loss_cls_all: 0.1199, d0.loss_bbox_all: 0.3275, d0.loss_cls: 0.1199, d0.loss_bbox: 0.3275, d1.loss_cls: 0.1121, d1.loss_bbox: 0.2958, d2.loss_cls: 0.1007, d2.loss_bbox: 0.2691, d3.loss_cls: 0.0840, d3.loss_bbox: 0.2616, d4.loss_cls: 0.0781, d4.loss_bbox: 0.2587, d5.loss_cls: 0.0750, d5.loss_bbox: 0.2589, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6979, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5235, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4479, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4318, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4335, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4341, d0.loss_map_cls_all: 0.1812, d0.loss_map_pts_all: 0.9932, d0.loss_map_dir_all: 0.0049, d0.loss_map_cls: 0.1812, d0.loss_map_pts: 0.9932, d0.loss_map_dir: 0.0049, d1.loss_map_cls: 0.1492, d1.loss_map_pts: 0.7110, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.1236, d2.loss_map_pts: 0.5491, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.1128, d3.loss_map_pts: 0.4837, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.1067, d4.loss_map_pts: 0.4620, d4.loss_map_dir: 0.0046, d5.loss_map_cls: 0.1004, d5.loss_map_pts: 0.4586, d5.loss_map_dir: 0.0047, loss: 20.8342, grad_norm: 173.6301 +2026-03-01 10:11:55,918 - DriveTransformer - INFO - Epoch [12][36600/39528] lr: 5.696e-05, eta: 4 days, 0:54:50, time: 0.713, data_time: 0.038, memory: 19865, loss_cls: 0.0822, loss_bbox: 0.2725, loss_traj: 0.4477, loss_traj_cls: 0.0020, loss_map_cls: 0.1001, loss_map_pts: 0.5150, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.7141, d0.loss_plan_l1_fix_dist: 0.4607, d1.loss_plan_l1_fix_time: 0.7804, d1.loss_plan_l1_fix_dist: 0.2098, d2.loss_plan_l1_fix_time: 0.7621, d2.loss_plan_l1_fix_dist: 0.1886, d3.loss_plan_l1_fix_time: 0.7563, d3.loss_plan_l1_fix_dist: 0.1747, d4.loss_plan_l1_fix_time: 0.7568, d4.loss_plan_l1_fix_dist: 0.1730, d5.loss_plan_l1_fix_time: 0.7581, d5.loss_plan_l1_fix_dist: 0.1899, d6.loss_plan_l1_fix_time: 0.7595, d6.loss_plan_l1_fix_dist: 0.2084, d0.loss_cls_all: 0.1301, d0.loss_bbox_all: 0.3323, d0.loss_cls: 0.1301, d0.loss_bbox: 0.3323, d1.loss_cls: 0.1176, d1.loss_bbox: 0.3019, d2.loss_cls: 0.1067, d2.loss_bbox: 0.2821, d3.loss_cls: 0.0898, d3.loss_bbox: 0.2767, d4.loss_cls: 0.0852, d4.loss_bbox: 0.2739, d5.loss_cls: 0.0821, d5.loss_bbox: 0.2727, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6622, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5175, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4775, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4573, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4504, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4480, d0.loss_map_cls_all: 0.1879, d0.loss_map_pts_all: 1.0544, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1879, d0.loss_map_pts: 1.0544, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1535, d1.loss_map_pts: 0.7836, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1284, d2.loss_map_pts: 0.6187, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1162, d3.loss_map_pts: 0.5489, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1076, d4.loss_map_pts: 0.5231, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.1014, d5.loss_map_pts: 0.5153, d5.loss_map_dir: 0.0063, loss: 22.2730, grad_norm: 141.9577 +2026-03-01 10:12:32,472 - DriveTransformer - INFO - Epoch [12][36650/39528] lr: 5.696e-05, eta: 4 days, 0:54:14, time: 0.731, data_time: 0.037, memory: 19865, loss_cls: 0.0583, loss_bbox: 0.2553, loss_traj: 0.3847, loss_traj_cls: 0.0020, loss_map_cls: 0.0991, loss_map_pts: 0.5093, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.5460, d0.loss_plan_l1_fix_dist: 0.3829, d1.loss_plan_l1_fix_time: 0.7585, d1.loss_plan_l1_fix_dist: 0.1920, d2.loss_plan_l1_fix_time: 0.7400, d2.loss_plan_l1_fix_dist: 0.1623, d3.loss_plan_l1_fix_time: 0.7147, d3.loss_plan_l1_fix_dist: 0.1531, d4.loss_plan_l1_fix_time: 0.7162, d4.loss_plan_l1_fix_dist: 0.1435, d5.loss_plan_l1_fix_time: 0.7178, d5.loss_plan_l1_fix_dist: 0.1771, d6.loss_plan_l1_fix_time: 0.7190, d6.loss_plan_l1_fix_dist: 0.1821, d0.loss_cls_all: 0.1063, d0.loss_bbox_all: 0.3142, d0.loss_cls: 0.1063, d0.loss_bbox: 0.3142, d1.loss_cls: 0.0991, d1.loss_bbox: 0.2832, d2.loss_cls: 0.0840, d2.loss_bbox: 0.2641, d3.loss_cls: 0.0668, d3.loss_bbox: 0.2598, d4.loss_cls: 0.0600, d4.loss_bbox: 0.2567, d5.loss_cls: 0.0578, d5.loss_bbox: 0.2551, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6126, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4449, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4053, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3864, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.3827, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3826, d0.loss_map_cls_all: 0.1956, d0.loss_map_pts_all: 1.0707, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1956, d0.loss_map_pts: 1.0707, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1585, d1.loss_map_pts: 0.7736, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1308, d2.loss_map_pts: 0.6041, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1183, d3.loss_map_pts: 0.5400, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1082, d4.loss_map_pts: 0.5180, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1021, d5.loss_map_pts: 0.5096, d5.loss_map_dir: 0.0059, loss: 20.9030, grad_norm: 141.9416 +2026-03-01 10:13:08,618 - DriveTransformer - INFO - Epoch [12][36700/39528] lr: 5.696e-05, eta: 4 days, 0:53:36, time: 0.723, data_time: 0.040, memory: 19865, loss_cls: 0.0872, loss_bbox: 0.2635, loss_traj: 0.3980, loss_traj_cls: 0.0019, loss_map_cls: 0.0782, loss_map_pts: 0.4577, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.4233, d0.loss_plan_l1_fix_dist: 0.4771, d1.loss_plan_l1_fix_time: 0.6502, d1.loss_plan_l1_fix_dist: 0.2332, d2.loss_plan_l1_fix_time: 0.6298, d2.loss_plan_l1_fix_dist: 0.2163, d3.loss_plan_l1_fix_time: 0.6290, d3.loss_plan_l1_fix_dist: 0.2000, d4.loss_plan_l1_fix_time: 0.6317, d4.loss_plan_l1_fix_dist: 0.1851, d5.loss_plan_l1_fix_time: 0.6336, d5.loss_plan_l1_fix_dist: 0.2209, d6.loss_plan_l1_fix_time: 0.6352, d6.loss_plan_l1_fix_dist: 0.2010, d0.loss_cls_all: 0.1264, d0.loss_bbox_all: 0.3276, d0.loss_cls: 0.1264, d0.loss_bbox: 0.3276, d1.loss_cls: 0.1184, d1.loss_bbox: 0.2969, d2.loss_cls: 0.1088, d2.loss_bbox: 0.2776, d3.loss_cls: 0.0934, d3.loss_bbox: 0.2710, d4.loss_cls: 0.0886, d4.loss_bbox: 0.2661, d5.loss_cls: 0.0870, d5.loss_bbox: 0.2644, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6839, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4943, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4308, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4086, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3995, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3970, d0.loss_map_cls_all: 0.1557, d0.loss_map_pts_all: 0.9689, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1557, d0.loss_map_pts: 0.9689, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1212, d1.loss_map_pts: 0.6969, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.0981, d2.loss_map_pts: 0.5397, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0896, d3.loss_map_pts: 0.4893, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0839, d4.loss_map_pts: 0.4665, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0799, d5.loss_map_pts: 0.4582, d5.loss_map_dir: 0.0054, loss: 20.2690, grad_norm: 140.6111 +2026-03-01 10:13:45,328 - DriveTransformer - INFO - Epoch [12][36750/39528] lr: 5.696e-05, eta: 4 days, 0:53:00, time: 0.734, data_time: 0.038, memory: 19865, loss_cls: 0.0748, loss_bbox: 0.2537, loss_traj: 0.4308, loss_traj_cls: 0.0020, loss_map_cls: 0.0719, loss_map_pts: 0.4267, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.4906, d0.loss_plan_l1_fix_dist: 0.3899, d1.loss_plan_l1_fix_time: 0.6810, d1.loss_plan_l1_fix_dist: 0.2143, d2.loss_plan_l1_fix_time: 0.6587, d2.loss_plan_l1_fix_dist: 0.2092, d3.loss_plan_l1_fix_time: 0.6484, d3.loss_plan_l1_fix_dist: 0.1781, d4.loss_plan_l1_fix_time: 0.6481, d4.loss_plan_l1_fix_dist: 0.1670, d5.loss_plan_l1_fix_time: 0.6496, d5.loss_plan_l1_fix_dist: 0.1971, d6.loss_plan_l1_fix_time: 0.6518, d6.loss_plan_l1_fix_dist: 0.1673, d0.loss_cls_all: 0.1129, d0.loss_bbox_all: 0.3114, d0.loss_cls: 0.1129, d0.loss_bbox: 0.3114, d1.loss_cls: 0.1078, d1.loss_bbox: 0.2830, d2.loss_cls: 0.0955, d2.loss_bbox: 0.2612, d3.loss_cls: 0.0807, d3.loss_bbox: 0.2544, d4.loss_cls: 0.0763, d4.loss_bbox: 0.2524, d5.loss_cls: 0.0754, d5.loss_bbox: 0.2526, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6457, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5064, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4579, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4395, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4350, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4325, d0.loss_map_cls_all: 0.1518, d0.loss_map_pts_all: 0.9396, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1518, d0.loss_map_pts: 0.9396, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1183, d1.loss_map_pts: 0.6650, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.0987, d2.loss_map_pts: 0.5115, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0870, d3.loss_map_pts: 0.4555, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0802, d4.loss_map_pts: 0.4319, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0743, d5.loss_map_pts: 0.4271, d5.loss_map_dir: 0.0054, loss: 19.8984, grad_norm: 140.0286 +2026-03-01 10:14:20,996 - DriveTransformer - INFO - Epoch [12][36800/39528] lr: 5.696e-05, eta: 4 days, 0:52:22, time: 0.713, data_time: 0.038, memory: 19865, loss_cls: 0.0868, loss_bbox: 0.2897, loss_traj: 0.5280, loss_traj_cls: 0.0020, loss_map_cls: 0.1048, loss_map_pts: 0.5365, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.8319, d0.loss_plan_l1_fix_dist: 0.4428, d1.loss_plan_l1_fix_time: 0.7816, d1.loss_plan_l1_fix_dist: 0.2360, d2.loss_plan_l1_fix_time: 0.7691, d2.loss_plan_l1_fix_dist: 0.2568, d3.loss_plan_l1_fix_time: 0.7652, d3.loss_plan_l1_fix_dist: 0.2204, d4.loss_plan_l1_fix_time: 0.7665, d4.loss_plan_l1_fix_dist: 0.2250, d5.loss_plan_l1_fix_time: 0.7687, d5.loss_plan_l1_fix_dist: 0.2485, d6.loss_plan_l1_fix_time: 0.7717, d6.loss_plan_l1_fix_dist: 0.2380, d0.loss_cls_all: 0.1350, d0.loss_bbox_all: 0.3547, d0.loss_cls: 0.1350, d0.loss_bbox: 0.3547, d1.loss_cls: 0.1240, d1.loss_bbox: 0.3224, d2.loss_cls: 0.1120, d2.loss_bbox: 0.3003, d3.loss_cls: 0.0975, d3.loss_bbox: 0.2928, d4.loss_cls: 0.0887, d4.loss_bbox: 0.2912, d5.loss_cls: 0.0866, d5.loss_bbox: 0.2897, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7491, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.6055, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5571, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5358, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5295, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5293, d0.loss_map_cls_all: 0.2009, d0.loss_map_pts_all: 1.0674, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2009, d0.loss_map_pts: 1.0674, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1611, d1.loss_map_pts: 0.7862, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1318, d2.loss_map_pts: 0.6179, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1172, d3.loss_map_pts: 0.5582, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1115, d4.loss_map_pts: 0.5388, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1073, d5.loss_map_pts: 0.5359, d5.loss_map_dir: 0.0060, loss: 23.6161, grad_norm: 131.2011 +2026-03-01 10:14:56,089 - DriveTransformer - INFO - Epoch [12][36850/39528] lr: 5.696e-05, eta: 4 days, 0:51:42, time: 0.702, data_time: 0.035, memory: 19865, loss_cls: 0.0994, loss_bbox: 0.2760, loss_traj: 0.4556, loss_traj_cls: 0.0020, loss_map_cls: 0.0850, loss_map_pts: 0.4656, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.5313, d0.loss_plan_l1_fix_dist: 0.4052, d1.loss_plan_l1_fix_time: 0.6666, d1.loss_plan_l1_fix_dist: 0.1952, d2.loss_plan_l1_fix_time: 0.6497, d2.loss_plan_l1_fix_dist: 0.2316, d3.loss_plan_l1_fix_time: 0.6466, d3.loss_plan_l1_fix_dist: 0.1717, d4.loss_plan_l1_fix_time: 0.6476, d4.loss_plan_l1_fix_dist: 0.1901, d5.loss_plan_l1_fix_time: 0.6494, d5.loss_plan_l1_fix_dist: 0.1969, d6.loss_plan_l1_fix_time: 0.6517, d6.loss_plan_l1_fix_dist: 0.1896, d0.loss_cls_all: 0.1486, d0.loss_bbox_all: 0.3373, d0.loss_cls: 0.1486, d0.loss_bbox: 0.3373, d1.loss_cls: 0.1426, d1.loss_bbox: 0.3056, d2.loss_cls: 0.1261, d2.loss_bbox: 0.2845, d3.loss_cls: 0.1100, d3.loss_bbox: 0.2796, d4.loss_cls: 0.1034, d4.loss_bbox: 0.2767, d5.loss_cls: 0.1009, d5.loss_bbox: 0.2750, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7323, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5531, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4862, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4658, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4620, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4562, d0.loss_map_cls_all: 0.1772, d0.loss_map_pts_all: 0.9724, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1772, d0.loss_map_pts: 0.9724, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1388, d1.loss_map_pts: 0.7154, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1122, d2.loss_map_pts: 0.5577, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1004, d3.loss_map_pts: 0.4981, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0937, d4.loss_map_pts: 0.4747, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0879, d5.loss_map_pts: 0.4651, d5.loss_map_dir: 0.0053, loss: 21.1303, grad_norm: 130.5004 +2026-03-01 10:15:32,920 - DriveTransformer - INFO - Epoch [12][36900/39528] lr: 5.696e-05, eta: 4 days, 0:51:06, time: 0.737, data_time: 0.040, memory: 19865, loss_cls: 0.0885, loss_bbox: 0.2773, loss_traj: 0.4497, loss_traj_cls: 0.0020, loss_map_cls: 0.0953, loss_map_pts: 0.5197, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.6097, d0.loss_plan_l1_fix_dist: 0.3270, d1.loss_plan_l1_fix_time: 0.7209, d1.loss_plan_l1_fix_dist: 0.1692, d2.loss_plan_l1_fix_time: 0.7058, d2.loss_plan_l1_fix_dist: 0.2337, d3.loss_plan_l1_fix_time: 0.7018, d3.loss_plan_l1_fix_dist: 0.1511, d4.loss_plan_l1_fix_time: 0.7016, d4.loss_plan_l1_fix_dist: 0.1669, d5.loss_plan_l1_fix_time: 0.7025, d5.loss_plan_l1_fix_dist: 0.1700, d6.loss_plan_l1_fix_time: 0.7037, d6.loss_plan_l1_fix_dist: 0.1833, d0.loss_cls_all: 0.1456, d0.loss_bbox_all: 0.3464, d0.loss_cls: 0.1456, d0.loss_bbox: 0.3464, d1.loss_cls: 0.1324, d1.loss_bbox: 0.3103, d2.loss_cls: 0.1169, d2.loss_bbox: 0.2875, d3.loss_cls: 0.0966, d3.loss_bbox: 0.2806, d4.loss_cls: 0.0912, d4.loss_bbox: 0.2777, d5.loss_cls: 0.0894, d5.loss_bbox: 0.2764, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7127, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5247, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4726, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4561, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4501, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4499, d0.loss_map_cls_all: 0.1818, d0.loss_map_pts_all: 1.0671, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1818, d0.loss_map_pts: 1.0671, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1470, d1.loss_map_pts: 0.7874, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1219, d2.loss_map_pts: 0.6151, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1124, d3.loss_map_pts: 0.5526, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1041, d4.loss_map_pts: 0.5298, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0989, d5.loss_map_pts: 0.5200, d5.loss_map_dir: 0.0064, loss: 21.8314, grad_norm: 130.3757 +2026-03-01 10:16:08,331 - DriveTransformer - INFO - Epoch [12][36950/39528] lr: 5.696e-05, eta: 4 days, 0:50:28, time: 0.708, data_time: 0.038, memory: 19865, loss_cls: 0.0853, loss_bbox: 0.2832, loss_traj: 0.4551, loss_traj_cls: 0.0020, loss_map_cls: 0.0867, loss_map_pts: 0.4773, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.7929, d0.loss_plan_l1_fix_dist: 0.4439, d1.loss_plan_l1_fix_time: 0.7278, d1.loss_plan_l1_fix_dist: 0.1520, d2.loss_plan_l1_fix_time: 0.7132, d2.loss_plan_l1_fix_dist: 0.2278, d3.loss_plan_l1_fix_time: 0.7088, d3.loss_plan_l1_fix_dist: 0.1568, d4.loss_plan_l1_fix_time: 0.7097, d4.loss_plan_l1_fix_dist: 0.1615, d5.loss_plan_l1_fix_time: 0.7108, d5.loss_plan_l1_fix_dist: 0.1654, d6.loss_plan_l1_fix_time: 0.7118, d6.loss_plan_l1_fix_dist: 0.1958, d0.loss_cls_all: 0.1332, d0.loss_bbox_all: 0.3447, d0.loss_cls: 0.1332, d0.loss_bbox: 0.3447, d1.loss_cls: 0.1266, d1.loss_bbox: 0.3101, d2.loss_cls: 0.1063, d2.loss_bbox: 0.2912, d3.loss_cls: 0.0908, d3.loss_bbox: 0.2845, d4.loss_cls: 0.0867, d4.loss_bbox: 0.2822, d5.loss_cls: 0.0852, d5.loss_bbox: 0.2822, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7283, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5386, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4907, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4663, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4620, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4576, d0.loss_map_cls_all: 0.1756, d0.loss_map_pts_all: 0.9797, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1756, d0.loss_map_pts: 0.9797, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1402, d1.loss_map_pts: 0.7152, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1153, d2.loss_map_pts: 0.5677, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1020, d3.loss_map_pts: 0.5086, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0954, d4.loss_map_pts: 0.4848, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0899, d5.loss_map_pts: 0.4780, d5.loss_map_dir: 0.0052, loss: 21.6686, grad_norm: 126.1016 +2026-03-01 10:16:44,388 - DriveTransformer - INFO - Epoch [12][37000/39528] lr: 5.696e-05, eta: 4 days, 0:49:50, time: 0.722, data_time: 0.040, memory: 19865, loss_cls: 0.0873, loss_bbox: 0.2912, loss_traj: 0.4461, loss_traj_cls: 0.0020, loss_map_cls: 0.0834, loss_map_pts: 0.4466, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.8403, d0.loss_plan_l1_fix_dist: 0.3125, d1.loss_plan_l1_fix_time: 0.7108, d1.loss_plan_l1_fix_dist: 0.1526, d2.loss_plan_l1_fix_time: 0.7014, d2.loss_plan_l1_fix_dist: 0.2209, d3.loss_plan_l1_fix_time: 0.6987, d3.loss_plan_l1_fix_dist: 0.1736, d4.loss_plan_l1_fix_time: 0.7002, d4.loss_plan_l1_fix_dist: 0.1571, d5.loss_plan_l1_fix_time: 0.7017, d5.loss_plan_l1_fix_dist: 0.1740, d6.loss_plan_l1_fix_time: 0.7035, d6.loss_plan_l1_fix_dist: 0.1924, d0.loss_cls_all: 0.1354, d0.loss_bbox_all: 0.3428, d0.loss_cls: 0.1354, d0.loss_bbox: 0.3428, d1.loss_cls: 0.1289, d1.loss_bbox: 0.3111, d2.loss_cls: 0.1159, d2.loss_bbox: 0.2970, d3.loss_cls: 0.0953, d3.loss_bbox: 0.2930, d4.loss_cls: 0.0899, d4.loss_bbox: 0.2896, d5.loss_cls: 0.0873, d5.loss_bbox: 0.2902, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6656, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5182, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4644, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4476, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4412, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4420, d0.loss_map_cls_all: 0.1568, d0.loss_map_pts_all: 0.9167, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1568, d0.loss_map_pts: 0.9167, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1291, d1.loss_map_pts: 0.6474, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1052, d2.loss_map_pts: 0.5178, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.0950, d3.loss_map_pts: 0.4659, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0899, d4.loss_map_pts: 0.4495, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0865, d5.loss_map_pts: 0.4459, d5.loss_map_dir: 0.0049, loss: 20.9539, grad_norm: 124.9819 +2026-03-01 10:17:19,302 - DriveTransformer - INFO - Epoch [12][37050/39528] lr: 5.696e-05, eta: 4 days, 0:49:10, time: 0.697, data_time: 0.035, memory: 19865, loss_cls: 0.0834, loss_bbox: 0.2651, loss_traj: 0.3963, loss_traj_cls: 0.0020, loss_map_cls: 0.0842, loss_map_pts: 0.4496, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.6909, d0.loss_plan_l1_fix_dist: 0.4587, d1.loss_plan_l1_fix_time: 0.7225, d1.loss_plan_l1_fix_dist: 0.1758, d2.loss_plan_l1_fix_time: 0.7133, d2.loss_plan_l1_fix_dist: 0.2202, d3.loss_plan_l1_fix_time: 0.7117, d3.loss_plan_l1_fix_dist: 0.2106, d4.loss_plan_l1_fix_time: 0.7136, d4.loss_plan_l1_fix_dist: 0.1824, d5.loss_plan_l1_fix_time: 0.7156, d5.loss_plan_l1_fix_dist: 0.2131, d6.loss_plan_l1_fix_time: 0.7184, d6.loss_plan_l1_fix_dist: 0.2016, d0.loss_cls_all: 0.1308, d0.loss_bbox_all: 0.3266, d0.loss_cls: 0.1308, d0.loss_bbox: 0.3266, d1.loss_cls: 0.1216, d1.loss_bbox: 0.2968, d2.loss_cls: 0.1127, d2.loss_bbox: 0.2720, d3.loss_cls: 0.0914, d3.loss_bbox: 0.2680, d4.loss_cls: 0.0851, d4.loss_bbox: 0.2666, d5.loss_cls: 0.0830, d5.loss_bbox: 0.2660, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5931, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4836, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4293, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4090, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4000, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3971, d0.loss_map_cls_all: 0.1624, d0.loss_map_pts_all: 0.9144, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1624, d0.loss_map_pts: 0.9144, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1292, d1.loss_map_pts: 0.6616, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1056, d2.loss_map_pts: 0.5211, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0953, d3.loss_map_pts: 0.4741, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0899, d4.loss_map_pts: 0.4549, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0858, d5.loss_map_pts: 0.4507, d5.loss_map_dir: 0.0052, loss: 20.6884, grad_norm: 125.2205 +2026-03-01 10:17:56,383 - DriveTransformer - INFO - Epoch [12][37100/39528] lr: 5.696e-05, eta: 4 days, 0:48:35, time: 0.742, data_time: 0.039, memory: 19865, loss_cls: 0.0863, loss_bbox: 0.2732, loss_traj: 0.4416, loss_traj_cls: 0.0020, loss_map_cls: 0.1035, loss_map_pts: 0.4744, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.3554, d0.loss_plan_l1_fix_dist: 0.3902, d1.loss_plan_l1_fix_time: 0.7286, d1.loss_plan_l1_fix_dist: 0.1910, d2.loss_plan_l1_fix_time: 0.7199, d2.loss_plan_l1_fix_dist: 0.2138, d3.loss_plan_l1_fix_time: 0.6968, d3.loss_plan_l1_fix_dist: 0.2110, d4.loss_plan_l1_fix_time: 0.6971, d4.loss_plan_l1_fix_dist: 0.1847, d5.loss_plan_l1_fix_time: 0.6986, d5.loss_plan_l1_fix_dist: 0.2017, d6.loss_plan_l1_fix_time: 0.7011, d6.loss_plan_l1_fix_dist: 0.1754, d0.loss_cls_all: 0.1361, d0.loss_bbox_all: 0.3335, d0.loss_cls: 0.1361, d0.loss_bbox: 0.3335, d1.loss_cls: 0.1305, d1.loss_bbox: 0.3003, d2.loss_cls: 0.1174, d2.loss_bbox: 0.2809, d3.loss_cls: 0.0971, d3.loss_bbox: 0.2758, d4.loss_cls: 0.0894, d4.loss_bbox: 0.2731, d5.loss_cls: 0.0880, d5.loss_bbox: 0.2715, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6590, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5177, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4688, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4515, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4469, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4438, d0.loss_map_cls_all: 0.1949, d0.loss_map_pts_all: 1.0281, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1949, d0.loss_map_pts: 1.0281, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1590, d1.loss_map_pts: 0.7311, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1312, d2.loss_map_pts: 0.5583, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1184, d3.loss_map_pts: 0.4992, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.1109, d4.loss_map_pts: 0.4782, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.1058, d5.loss_map_pts: 0.4750, d5.loss_map_dir: 0.0053, loss: 21.2588, grad_norm: 123.9760 +2026-03-01 10:18:32,972 - DriveTransformer - INFO - Epoch [12][37150/39528] lr: 5.696e-05, eta: 4 days, 0:47:58, time: 0.732, data_time: 0.037, memory: 19865, loss_cls: 0.0767, loss_bbox: 0.2529, loss_traj: 0.4001, loss_traj_cls: 0.0021, loss_map_cls: 0.0832, loss_map_pts: 0.4521, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.6912, d0.loss_plan_l1_fix_dist: 0.4948, d1.loss_plan_l1_fix_time: 0.6830, d1.loss_plan_l1_fix_dist: 0.1995, d2.loss_plan_l1_fix_time: 0.6531, d2.loss_plan_l1_fix_dist: 0.2017, d3.loss_plan_l1_fix_time: 0.6517, d3.loss_plan_l1_fix_dist: 0.2149, d4.loss_plan_l1_fix_time: 0.6524, d4.loss_plan_l1_fix_dist: 0.1903, d5.loss_plan_l1_fix_time: 0.6550, d5.loss_plan_l1_fix_dist: 0.2180, d6.loss_plan_l1_fix_time: 0.6587, d6.loss_plan_l1_fix_dist: 0.1885, d0.loss_cls_all: 0.1230, d0.loss_bbox_all: 0.3058, d0.loss_cls: 0.1230, d0.loss_bbox: 0.3058, d1.loss_cls: 0.1135, d1.loss_bbox: 0.2743, d2.loss_cls: 0.1004, d2.loss_bbox: 0.2575, d3.loss_cls: 0.0851, d3.loss_bbox: 0.2539, d4.loss_cls: 0.0771, d4.loss_bbox: 0.2543, d5.loss_cls: 0.0757, d5.loss_bbox: 0.2538, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6183, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4699, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4173, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4049, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4015, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4008, d0.loss_map_cls_all: 0.1579, d0.loss_map_pts_all: 0.9720, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1579, d0.loss_map_pts: 0.9720, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1267, d1.loss_map_pts: 0.6767, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1037, d2.loss_map_pts: 0.5326, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0960, d3.loss_map_pts: 0.4794, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.0899, d4.loss_map_pts: 0.4584, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0860, d5.loss_map_pts: 0.4529, d5.loss_map_dir: 0.0057, loss: 20.3503, grad_norm: 123.4512 +2026-03-01 10:19:09,928 - DriveTransformer - INFO - Epoch [12][37200/39528] lr: 5.696e-05, eta: 4 days, 0:47:22, time: 0.739, data_time: 0.039, memory: 19865, loss_cls: 0.0721, loss_bbox: 0.2589, loss_traj: 0.4217, loss_traj_cls: 0.0020, loss_map_cls: 0.1045, loss_map_pts: 0.5183, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.3839, d0.loss_plan_l1_fix_dist: 0.4533, d1.loss_plan_l1_fix_time: 0.6117, d1.loss_plan_l1_fix_dist: 0.2227, d2.loss_plan_l1_fix_time: 0.5873, d2.loss_plan_l1_fix_dist: 0.2043, d3.loss_plan_l1_fix_time: 0.5885, d3.loss_plan_l1_fix_dist: 0.2267, d4.loss_plan_l1_fix_time: 0.5904, d4.loss_plan_l1_fix_dist: 0.1876, d5.loss_plan_l1_fix_time: 0.5936, d5.loss_plan_l1_fix_dist: 0.2160, d6.loss_plan_l1_fix_time: 0.5973, d6.loss_plan_l1_fix_dist: 0.1898, d0.loss_cls_all: 0.1108, d0.loss_bbox_all: 0.3217, d0.loss_cls: 0.1108, d0.loss_bbox: 0.3217, d1.loss_cls: 0.1040, d1.loss_bbox: 0.2890, d2.loss_cls: 0.0936, d2.loss_bbox: 0.2669, d3.loss_cls: 0.0759, d3.loss_bbox: 0.2635, d4.loss_cls: 0.0718, d4.loss_bbox: 0.2602, d5.loss_cls: 0.0710, d5.loss_bbox: 0.2598, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6269, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4950, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4482, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4335, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4254, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4223, d0.loss_map_cls_all: 0.1936, d0.loss_map_pts_all: 1.1577, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1936, d0.loss_map_pts: 1.1577, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1602, d1.loss_map_pts: 0.8283, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1309, d2.loss_map_pts: 0.6302, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1186, d3.loss_map_pts: 0.5554, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1118, d4.loss_map_pts: 0.5258, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1073, d5.loss_map_pts: 0.5189, d5.loss_map_dir: 0.0058, loss: 20.9445, grad_norm: 127.6279 +2026-03-01 10:19:46,274 - DriveTransformer - INFO - Epoch [12][37250/39528] lr: 5.696e-05, eta: 4 days, 0:46:45, time: 0.727, data_time: 0.038, memory: 19865, loss_cls: 0.0812, loss_bbox: 0.2606, loss_traj: 0.4072, loss_traj_cls: 0.0021, loss_map_cls: 0.0812, loss_map_pts: 0.4654, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.0458, d0.loss_plan_l1_fix_dist: 0.4612, d1.loss_plan_l1_fix_time: 0.5730, d1.loss_plan_l1_fix_dist: 0.2104, d2.loss_plan_l1_fix_time: 0.5563, d2.loss_plan_l1_fix_dist: 0.1805, d3.loss_plan_l1_fix_time: 0.5460, d3.loss_plan_l1_fix_dist: 0.2063, d4.loss_plan_l1_fix_time: 0.5486, d4.loss_plan_l1_fix_dist: 0.1769, d5.loss_plan_l1_fix_time: 0.5517, d5.loss_plan_l1_fix_dist: 0.2001, d6.loss_plan_l1_fix_time: 0.5546, d6.loss_plan_l1_fix_dist: 0.1849, d0.loss_cls_all: 0.1249, d0.loss_bbox_all: 0.3193, d0.loss_cls: 0.1249, d0.loss_bbox: 0.3193, d1.loss_cls: 0.1205, d1.loss_bbox: 0.2875, d2.loss_cls: 0.1073, d2.loss_bbox: 0.2706, d3.loss_cls: 0.0897, d3.loss_bbox: 0.2644, d4.loss_cls: 0.0836, d4.loss_bbox: 0.2624, d5.loss_cls: 0.0824, d5.loss_bbox: 0.2606, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6537, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4877, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4344, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4104, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4103, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4103, d0.loss_map_cls_all: 0.1641, d0.loss_map_pts_all: 0.9783, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1641, d0.loss_map_pts: 0.9783, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1280, d1.loss_map_pts: 0.6961, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1046, d2.loss_map_pts: 0.5531, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0934, d3.loss_map_pts: 0.4975, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0857, d4.loss_map_pts: 0.4730, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0830, d5.loss_map_pts: 0.4661, d5.loss_map_dir: 0.0056, loss: 19.3352, grad_norm: 129.4114 +2026-03-01 10:20:21,928 - DriveTransformer - INFO - Epoch [12][37300/39528] lr: 5.696e-05, eta: 4 days, 0:46:07, time: 0.713, data_time: 0.040, memory: 19865, loss_cls: 0.0889, loss_bbox: 0.2888, loss_traj: 0.5187, loss_traj_cls: 0.0021, loss_map_cls: 0.0972, loss_map_pts: 0.4779, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 3.0874, d0.loss_plan_l1_fix_dist: 0.5218, d1.loss_plan_l1_fix_time: 0.7937, d1.loss_plan_l1_fix_dist: 0.2478, d2.loss_plan_l1_fix_time: 0.7737, d2.loss_plan_l1_fix_dist: 0.2130, d3.loss_plan_l1_fix_time: 0.7673, d3.loss_plan_l1_fix_dist: 0.2282, d4.loss_plan_l1_fix_time: 0.7688, d4.loss_plan_l1_fix_dist: 0.2044, d5.loss_plan_l1_fix_time: 0.7712, d5.loss_plan_l1_fix_dist: 0.2369, d6.loss_plan_l1_fix_time: 0.7729, d6.loss_plan_l1_fix_dist: 0.2432, d0.loss_cls_all: 0.1304, d0.loss_bbox_all: 0.3515, d0.loss_cls: 0.1304, d0.loss_bbox: 0.3515, d1.loss_cls: 0.1222, d1.loss_bbox: 0.3241, d2.loss_cls: 0.1103, d2.loss_bbox: 0.3015, d3.loss_cls: 0.0962, d3.loss_bbox: 0.2953, d4.loss_cls: 0.0907, d4.loss_bbox: 0.2901, d5.loss_cls: 0.0889, d5.loss_bbox: 0.2904, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7650, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.6042, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5457, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5321, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5235, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5197, d0.loss_map_cls_all: 0.1784, d0.loss_map_pts_all: 0.9674, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1784, d0.loss_map_pts: 0.9674, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1464, d1.loss_map_pts: 0.7245, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1239, d2.loss_map_pts: 0.5676, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1117, d3.loss_map_pts: 0.5042, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.1042, d4.loss_map_pts: 0.4840, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.1003, d5.loss_map_pts: 0.4785, d5.loss_map_dir: 0.0052, loss: 23.2512, grad_norm: 123.4699 +2026-03-01 10:20:57,210 - DriveTransformer - INFO - Epoch [12][37350/39528] lr: 5.696e-05, eta: 4 days, 0:45:28, time: 0.705, data_time: 0.039, memory: 19865, loss_cls: 0.0842, loss_bbox: 0.2547, loss_traj: 0.4075, loss_traj_cls: 0.0022, loss_map_cls: 0.0770, loss_map_pts: 0.4046, loss_map_dir: 0.0038, d0.loss_plan_l1_fix_time: 2.5862, d0.loss_plan_l1_fix_dist: 0.4363, d1.loss_plan_l1_fix_time: 0.6673, d1.loss_plan_l1_fix_dist: 0.2310, d2.loss_plan_l1_fix_time: 0.6518, d2.loss_plan_l1_fix_dist: 0.2086, d3.loss_plan_l1_fix_time: 0.6381, d3.loss_plan_l1_fix_dist: 0.2027, d4.loss_plan_l1_fix_time: 0.6393, d4.loss_plan_l1_fix_dist: 0.1772, d5.loss_plan_l1_fix_time: 0.6414, d5.loss_plan_l1_fix_dist: 0.2152, d6.loss_plan_l1_fix_time: 0.6439, d6.loss_plan_l1_fix_dist: 0.2208, d0.loss_cls_all: 0.1191, d0.loss_bbox_all: 0.3145, d0.loss_cls: 0.1191, d0.loss_bbox: 0.3145, d1.loss_cls: 0.1138, d1.loss_bbox: 0.2847, d2.loss_cls: 0.1068, d2.loss_bbox: 0.2633, d3.loss_cls: 0.0880, d3.loss_bbox: 0.2587, d4.loss_cls: 0.0846, d4.loss_bbox: 0.2563, d5.loss_cls: 0.0834, d5.loss_bbox: 0.2548, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6405, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4704, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4183, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4130, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4107, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.4072, d0.loss_map_cls_all: 0.1562, d0.loss_map_pts_all: 0.8082, d0.loss_map_dir_all: 0.0044, d0.loss_map_cls: 0.1562, d0.loss_map_pts: 0.8082, d0.loss_map_dir: 0.0044, d1.loss_map_cls: 0.1239, d1.loss_map_pts: 0.5965, d1.loss_map_dir: 0.0039, d2.loss_map_cls: 0.1023, d2.loss_map_pts: 0.4849, d2.loss_map_dir: 0.0036, d3.loss_map_cls: 0.0921, d3.loss_map_pts: 0.4333, d3.loss_map_dir: 0.0036, d4.loss_map_cls: 0.0845, d4.loss_map_pts: 0.4145, d4.loss_map_dir: 0.0037, d5.loss_map_cls: 0.0805, d5.loss_map_pts: 0.4055, d5.loss_map_dir: 0.0038, loss: 19.5956, grad_norm: 124.0518 +2026-03-01 10:21:32,486 - DriveTransformer - INFO - Epoch [12][37400/39528] lr: 5.696e-05, eta: 4 days, 0:44:49, time: 0.706, data_time: 0.039, memory: 19865, loss_cls: 0.0838, loss_bbox: 0.2629, loss_traj: 0.4185, loss_traj_cls: 0.0021, loss_map_cls: 0.0991, loss_map_pts: 0.4677, loss_map_dir: 0.0044, d0.loss_plan_l1_fix_time: 2.7022, d0.loss_plan_l1_fix_dist: 0.4223, d1.loss_plan_l1_fix_time: 0.6961, d1.loss_plan_l1_fix_dist: 0.2319, d2.loss_plan_l1_fix_time: 0.6859, d2.loss_plan_l1_fix_dist: 0.2226, d3.loss_plan_l1_fix_time: 0.6711, d3.loss_plan_l1_fix_dist: 0.1921, d4.loss_plan_l1_fix_time: 0.6743, d4.loss_plan_l1_fix_dist: 0.1840, d5.loss_plan_l1_fix_time: 0.6781, d5.loss_plan_l1_fix_dist: 0.2151, d6.loss_plan_l1_fix_time: 0.6831, d6.loss_plan_l1_fix_dist: 0.2243, d0.loss_cls_all: 0.1268, d0.loss_bbox_all: 0.3279, d0.loss_cls: 0.1268, d0.loss_bbox: 0.3279, d1.loss_cls: 0.1206, d1.loss_bbox: 0.2907, d2.loss_cls: 0.1089, d2.loss_bbox: 0.2709, d3.loss_cls: 0.0923, d3.loss_bbox: 0.2656, d4.loss_cls: 0.0861, d4.loss_bbox: 0.2637, d5.loss_cls: 0.0836, d5.loss_bbox: 0.2639, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7141, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5149, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4591, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4353, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4232, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4184, d0.loss_map_cls_all: 0.1836, d0.loss_map_pts_all: 0.9334, d0.loss_map_dir_all: 0.0049, d0.loss_map_cls: 0.1836, d0.loss_map_pts: 0.9334, d0.loss_map_dir: 0.0049, d1.loss_map_cls: 0.1502, d1.loss_map_pts: 0.6964, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.1254, d2.loss_map_pts: 0.5577, d2.loss_map_dir: 0.0041, d3.loss_map_cls: 0.1132, d3.loss_map_pts: 0.4987, d3.loss_map_dir: 0.0043, d4.loss_map_cls: 0.1070, d4.loss_map_pts: 0.4757, d4.loss_map_dir: 0.0044, d5.loss_map_cls: 0.1012, d5.loss_map_pts: 0.4687, d5.loss_map_dir: 0.0045, loss: 21.1077, grad_norm: 125.4225 +2026-03-01 10:22:08,187 - DriveTransformer - INFO - Epoch [12][37450/39528] lr: 5.696e-05, eta: 4 days, 0:44:11, time: 0.714, data_time: 0.041, memory: 19865, loss_cls: 0.0814, loss_bbox: 0.2699, loss_traj: 0.4787, loss_traj_cls: 0.0021, loss_map_cls: 0.0671, loss_map_pts: 0.4028, loss_map_dir: 0.0047, d0.loss_plan_l1_fix_time: 2.7244, d0.loss_plan_l1_fix_dist: 0.4193, d1.loss_plan_l1_fix_time: 0.7035, d1.loss_plan_l1_fix_dist: 0.2245, d2.loss_plan_l1_fix_time: 0.6970, d2.loss_plan_l1_fix_dist: 0.2212, d3.loss_plan_l1_fix_time: 0.6960, d3.loss_plan_l1_fix_dist: 0.1836, d4.loss_plan_l1_fix_time: 0.6993, d4.loss_plan_l1_fix_dist: 0.1846, d5.loss_plan_l1_fix_time: 0.7032, d5.loss_plan_l1_fix_dist: 0.2027, d6.loss_plan_l1_fix_time: 0.7081, d6.loss_plan_l1_fix_dist: 0.2142, d0.loss_cls_all: 0.1232, d0.loss_bbox_all: 0.3348, d0.loss_cls: 0.1232, d0.loss_bbox: 0.3348, d1.loss_cls: 0.1170, d1.loss_bbox: 0.3021, d2.loss_cls: 0.1066, d2.loss_bbox: 0.2810, d3.loss_cls: 0.0867, d3.loss_bbox: 0.2747, d4.loss_cls: 0.0819, d4.loss_bbox: 0.2716, d5.loss_cls: 0.0823, d5.loss_bbox: 0.2685, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7299, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5881, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5165, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4904, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4829, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4771, d0.loss_map_cls_all: 0.1488, d0.loss_map_pts_all: 0.8413, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1488, d0.loss_map_pts: 0.8413, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1173, d1.loss_map_pts: 0.6129, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.0926, d2.loss_map_pts: 0.4766, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.0799, d3.loss_map_pts: 0.4270, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.0743, d4.loss_map_pts: 0.4083, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0709, d5.loss_map_pts: 0.4030, d5.loss_map_dir: 0.0047, loss: 20.7437, grad_norm: 126.4026 +2026-03-01 10:22:42,380 - DriveTransformer - INFO - Epoch [12][37500/39528] lr: 5.696e-05, eta: 4 days, 0:43:29, time: 0.684, data_time: 0.037, memory: 19865, loss_cls: 0.0786, loss_bbox: 0.2586, loss_traj: 0.4845, loss_traj_cls: 0.0021, loss_map_cls: 0.0867, loss_map_pts: 0.4699, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.5313, d0.loss_plan_l1_fix_dist: 0.3643, d1.loss_plan_l1_fix_time: 0.7085, d1.loss_plan_l1_fix_dist: 0.2009, d2.loss_plan_l1_fix_time: 0.6959, d2.loss_plan_l1_fix_dist: 0.2073, d3.loss_plan_l1_fix_time: 0.6887, d3.loss_plan_l1_fix_dist: 0.1656, d4.loss_plan_l1_fix_time: 0.6906, d4.loss_plan_l1_fix_dist: 0.1855, d5.loss_plan_l1_fix_time: 0.6934, d5.loss_plan_l1_fix_dist: 0.1830, d6.loss_plan_l1_fix_time: 0.6970, d6.loss_plan_l1_fix_dist: 0.2055, d0.loss_cls_all: 0.1267, d0.loss_bbox_all: 0.3277, d0.loss_cls: 0.1267, d0.loss_bbox: 0.3277, d1.loss_cls: 0.1192, d1.loss_bbox: 0.2937, d2.loss_cls: 0.1062, d2.loss_bbox: 0.2728, d3.loss_cls: 0.0870, d3.loss_bbox: 0.2652, d4.loss_cls: 0.0804, d4.loss_bbox: 0.2613, d5.loss_cls: 0.0789, d5.loss_bbox: 0.2594, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7397, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5506, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5070, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4950, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4895, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4844, d0.loss_map_cls_all: 0.1673, d0.loss_map_pts_all: 0.9508, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1673, d0.loss_map_pts: 0.9508, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1299, d1.loss_map_pts: 0.7050, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1094, d2.loss_map_pts: 0.5531, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0988, d3.loss_map_pts: 0.4957, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0919, d4.loss_map_pts: 0.4755, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0879, d5.loss_map_pts: 0.4700, d5.loss_map_dir: 0.0052, loss: 21.0979, grad_norm: 125.2556 +2026-03-01 10:23:18,951 - DriveTransformer - INFO - Epoch [12][37550/39528] lr: 5.696e-05, eta: 4 days, 0:42:53, time: 0.731, data_time: 0.041, memory: 19865, loss_cls: 0.0692, loss_bbox: 0.2547, loss_traj: 0.3826, loss_traj_cls: 0.0022, loss_map_cls: 0.0654, loss_map_pts: 0.3735, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.2599, d0.loss_plan_l1_fix_dist: 0.4038, d1.loss_plan_l1_fix_time: 0.6106, d1.loss_plan_l1_fix_dist: 0.1842, d2.loss_plan_l1_fix_time: 0.6015, d2.loss_plan_l1_fix_dist: 0.1950, d3.loss_plan_l1_fix_time: 0.6020, d3.loss_plan_l1_fix_dist: 0.1533, d4.loss_plan_l1_fix_time: 0.6040, d4.loss_plan_l1_fix_dist: 0.1821, d5.loss_plan_l1_fix_time: 0.6059, d5.loss_plan_l1_fix_dist: 0.1806, d6.loss_plan_l1_fix_time: 0.6081, d6.loss_plan_l1_fix_dist: 0.2003, d0.loss_cls_all: 0.1153, d0.loss_bbox_all: 0.3168, d0.loss_cls: 0.1153, d0.loss_bbox: 0.3168, d1.loss_cls: 0.1057, d1.loss_bbox: 0.2847, d2.loss_cls: 0.0915, d2.loss_bbox: 0.2659, d3.loss_cls: 0.0753, d3.loss_bbox: 0.2586, d4.loss_cls: 0.0695, d4.loss_bbox: 0.2558, d5.loss_cls: 0.0689, d5.loss_bbox: 0.2545, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5425, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4304, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4009, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3855, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3817, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3794, d0.loss_map_cls_all: 0.1469, d0.loss_map_pts_all: 0.8173, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1469, d0.loss_map_pts: 0.8173, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1121, d1.loss_map_pts: 0.5767, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.0858, d2.loss_map_pts: 0.4484, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0780, d3.loss_map_pts: 0.3986, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0715, d4.loss_map_pts: 0.3805, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0674, d5.loss_map_pts: 0.3735, d5.loss_map_dir: 0.0053, loss: 18.2255, grad_norm: 123.5728 +2026-03-01 10:23:54,231 - DriveTransformer - INFO - Epoch [12][37600/39528] lr: 5.696e-05, eta: 4 days, 0:42:14, time: 0.706, data_time: 0.038, memory: 19865, loss_cls: 0.0897, loss_bbox: 0.2927, loss_traj: 0.4705, loss_traj_cls: 0.0021, loss_map_cls: 0.0781, loss_map_pts: 0.4456, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 3.1302, d0.loss_plan_l1_fix_dist: 0.3770, d1.loss_plan_l1_fix_time: 0.7449, d1.loss_plan_l1_fix_dist: 0.1850, d2.loss_plan_l1_fix_time: 0.7354, d2.loss_plan_l1_fix_dist: 0.2065, d3.loss_plan_l1_fix_time: 0.7357, d3.loss_plan_l1_fix_dist: 0.1800, d4.loss_plan_l1_fix_time: 0.7372, d4.loss_plan_l1_fix_dist: 0.1960, d5.loss_plan_l1_fix_time: 0.7384, d5.loss_plan_l1_fix_dist: 0.2128, d6.loss_plan_l1_fix_time: 0.7400, d6.loss_plan_l1_fix_dist: 0.2013, d0.loss_cls_all: 0.1420, d0.loss_bbox_all: 0.3656, d0.loss_cls: 0.1420, d0.loss_bbox: 0.3656, d1.loss_cls: 0.1334, d1.loss_bbox: 0.3290, d2.loss_cls: 0.1181, d2.loss_bbox: 0.3039, d3.loss_cls: 0.0984, d3.loss_bbox: 0.2954, d4.loss_cls: 0.0917, d4.loss_bbox: 0.2929, d5.loss_cls: 0.0903, d5.loss_bbox: 0.2920, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7524, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5656, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5088, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4879, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4769, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4714, d0.loss_map_cls_all: 0.1645, d0.loss_map_pts_all: 0.9316, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1645, d0.loss_map_pts: 0.9316, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1292, d1.loss_map_pts: 0.6677, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1043, d2.loss_map_pts: 0.5252, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0934, d3.loss_map_pts: 0.4709, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0853, d4.loss_map_pts: 0.4498, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0807, d5.loss_map_pts: 0.4453, d5.loss_map_dir: 0.0055, loss: 22.1186, grad_norm: 123.6459 +2026-03-01 10:24:30,595 - DriveTransformer - INFO - Epoch [12][37650/39528] lr: 5.696e-05, eta: 4 days, 0:41:37, time: 0.727, data_time: 0.038, memory: 19865, loss_cls: 0.0830, loss_bbox: 0.2803, loss_traj: 0.5323, loss_traj_cls: 0.0021, loss_map_cls: 0.0791, loss_map_pts: 0.4562, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.5582, d0.loss_plan_l1_fix_dist: 0.4078, d1.loss_plan_l1_fix_time: 0.6810, d1.loss_plan_l1_fix_dist: 0.1689, d2.loss_plan_l1_fix_time: 0.6716, d2.loss_plan_l1_fix_dist: 0.1961, d3.loss_plan_l1_fix_time: 0.6689, d3.loss_plan_l1_fix_dist: 0.1904, d4.loss_plan_l1_fix_time: 0.6709, d4.loss_plan_l1_fix_dist: 0.1887, d5.loss_plan_l1_fix_time: 0.6722, d5.loss_plan_l1_fix_dist: 0.2226, d6.loss_plan_l1_fix_time: 0.6739, d6.loss_plan_l1_fix_dist: 0.1984, d0.loss_cls_all: 0.1266, d0.loss_bbox_all: 0.3512, d0.loss_cls: 0.1266, d0.loss_bbox: 0.3512, d1.loss_cls: 0.1216, d1.loss_bbox: 0.3131, d2.loss_cls: 0.1102, d2.loss_bbox: 0.2914, d3.loss_cls: 0.0924, d3.loss_bbox: 0.2831, d4.loss_cls: 0.0852, d4.loss_bbox: 0.2807, d5.loss_cls: 0.0832, d5.loss_bbox: 0.2809, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8187, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.6233, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5570, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5418, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5378, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5361, d0.loss_map_cls_all: 0.1636, d0.loss_map_pts_all: 0.9977, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1636, d0.loss_map_pts: 0.9977, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1284, d1.loss_map_pts: 0.7195, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1022, d2.loss_map_pts: 0.5440, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.0939, d3.loss_map_pts: 0.4820, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0869, d4.loss_map_pts: 0.4618, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0821, d5.loss_map_pts: 0.4565, d5.loss_map_dir: 0.0059, loss: 21.6480, grad_norm: 123.2483 +2026-03-01 10:25:06,799 - DriveTransformer - INFO - Epoch [12][37700/39528] lr: 5.696e-05, eta: 4 days, 0:40:59, time: 0.724, data_time: 0.037, memory: 19865, loss_cls: 0.0767, loss_bbox: 0.2881, loss_traj: 0.4614, loss_traj_cls: 0.0021, loss_map_cls: 0.1016, loss_map_pts: 0.5184, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 3.1471, d0.loss_plan_l1_fix_dist: 0.3487, d1.loss_plan_l1_fix_time: 0.8245, d1.loss_plan_l1_fix_dist: 0.1605, d2.loss_plan_l1_fix_time: 0.8136, d2.loss_plan_l1_fix_dist: 0.1938, d3.loss_plan_l1_fix_time: 0.8115, d3.loss_plan_l1_fix_dist: 0.2034, d4.loss_plan_l1_fix_time: 0.8122, d4.loss_plan_l1_fix_dist: 0.1909, d5.loss_plan_l1_fix_time: 0.8139, d5.loss_plan_l1_fix_dist: 0.2248, d6.loss_plan_l1_fix_time: 0.8153, d6.loss_plan_l1_fix_dist: 0.2049, d0.loss_cls_all: 0.1349, d0.loss_bbox_all: 0.3533, d0.loss_cls: 0.1349, d0.loss_bbox: 0.3533, d1.loss_cls: 0.1225, d1.loss_bbox: 0.3182, d2.loss_cls: 0.1102, d2.loss_bbox: 0.2957, d3.loss_cls: 0.0910, d3.loss_bbox: 0.2919, d4.loss_cls: 0.0842, d4.loss_bbox: 0.2874, d5.loss_cls: 0.0774, d5.loss_bbox: 0.2884, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7950, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5641, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4923, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4689, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4640, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4606, d0.loss_map_cls_all: 0.2000, d0.loss_map_pts_all: 1.0841, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.2000, d0.loss_map_pts: 1.0841, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1632, d1.loss_map_pts: 0.7837, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1332, d2.loss_map_pts: 0.6132, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1195, d3.loss_map_pts: 0.5472, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.1103, d4.loss_map_pts: 0.5234, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.1053, d5.loss_map_pts: 0.5181, d5.loss_map_dir: 0.0059, loss: 23.4418, grad_norm: 126.9490 +2026-03-01 10:25:43,136 - DriveTransformer - INFO - Epoch [12][37750/39528] lr: 5.696e-05, eta: 4 days, 0:40:22, time: 0.727, data_time: 0.039, memory: 19865, loss_cls: 0.0904, loss_bbox: 0.2865, loss_traj: 0.4409, loss_traj_cls: 0.0021, loss_map_cls: 0.0937, loss_map_pts: 0.4911, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.4096, d0.loss_plan_l1_fix_dist: 0.4577, d1.loss_plan_l1_fix_time: 0.6694, d1.loss_plan_l1_fix_dist: 0.1572, d2.loss_plan_l1_fix_time: 0.6582, d2.loss_plan_l1_fix_dist: 0.2021, d3.loss_plan_l1_fix_time: 0.6557, d3.loss_plan_l1_fix_dist: 0.2096, d4.loss_plan_l1_fix_time: 0.6568, d4.loss_plan_l1_fix_dist: 0.1935, d5.loss_plan_l1_fix_time: 0.6588, d5.loss_plan_l1_fix_dist: 0.2299, d6.loss_plan_l1_fix_time: 0.6615, d6.loss_plan_l1_fix_dist: 0.2435, d0.loss_cls_all: 0.1470, d0.loss_bbox_all: 0.3593, d0.loss_cls: 0.1470, d0.loss_bbox: 0.3593, d1.loss_cls: 0.1340, d1.loss_bbox: 0.3234, d2.loss_cls: 0.1182, d2.loss_bbox: 0.2999, d3.loss_cls: 0.0986, d3.loss_bbox: 0.2941, d4.loss_cls: 0.0917, d4.loss_bbox: 0.2886, d5.loss_cls: 0.0913, d5.loss_bbox: 0.2859, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6833, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5148, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4589, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4454, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4419, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4394, d0.loss_map_cls_all: 0.1743, d0.loss_map_pts_all: 1.0349, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1743, d0.loss_map_pts: 1.0349, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1440, d1.loss_map_pts: 0.7454, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1167, d2.loss_map_pts: 0.5843, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1098, d3.loss_map_pts: 0.5229, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.1023, d4.loss_map_pts: 0.4973, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0969, d5.loss_map_pts: 0.4917, d5.loss_map_dir: 0.0061, loss: 21.3749, grad_norm: 127.1687 +2026-03-01 10:26:20,523 - DriveTransformer - INFO - Epoch [12][37800/39528] lr: 5.696e-05, eta: 4 days, 0:39:48, time: 0.749, data_time: 0.039, memory: 19865, loss_cls: 0.0831, loss_bbox: 0.2681, loss_traj: 0.4036, loss_traj_cls: 0.0021, loss_map_cls: 0.0731, loss_map_pts: 0.4433, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.1201, d0.loss_plan_l1_fix_dist: 0.3433, d1.loss_plan_l1_fix_time: 0.6072, d1.loss_plan_l1_fix_dist: 0.1313, d2.loss_plan_l1_fix_time: 0.6030, d2.loss_plan_l1_fix_dist: 0.1761, d3.loss_plan_l1_fix_time: 0.5989, d3.loss_plan_l1_fix_dist: 0.1874, d4.loss_plan_l1_fix_time: 0.6005, d4.loss_plan_l1_fix_dist: 0.1661, d5.loss_plan_l1_fix_time: 0.6029, d5.loss_plan_l1_fix_dist: 0.2104, d6.loss_plan_l1_fix_time: 0.6064, d6.loss_plan_l1_fix_dist: 0.2204, d0.loss_cls_all: 0.1288, d0.loss_bbox_all: 0.3398, d0.loss_cls: 0.1288, d0.loss_bbox: 0.3398, d1.loss_cls: 0.1232, d1.loss_bbox: 0.3050, d2.loss_cls: 0.1107, d2.loss_bbox: 0.2848, d3.loss_cls: 0.0905, d3.loss_bbox: 0.2747, d4.loss_cls: 0.0834, d4.loss_bbox: 0.2708, d5.loss_cls: 0.0827, d5.loss_bbox: 0.2690, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6071, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4746, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4246, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4129, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4035, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4029, d0.loss_map_cls_all: 0.1551, d0.loss_map_pts_all: 0.9929, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1551, d0.loss_map_pts: 0.9929, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1181, d1.loss_map_pts: 0.6980, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.0951, d2.loss_map_pts: 0.5361, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.0870, d3.loss_map_pts: 0.4777, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0807, d4.loss_map_pts: 0.4489, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0760, d5.loss_map_pts: 0.4435, d5.loss_map_dir: 0.0057, loss: 19.4170, grad_norm: 126.9951 +2026-03-01 10:26:57,183 - DriveTransformer - INFO - Epoch [12][37850/39528] lr: 5.696e-05, eta: 4 days, 0:39:11, time: 0.732, data_time: 0.038, memory: 19865, loss_cls: 0.0850, loss_bbox: 0.2713, loss_traj: 0.4743, loss_traj_cls: 0.0021, loss_map_cls: 0.0717, loss_map_pts: 0.4381, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.4044, d0.loss_plan_l1_fix_dist: 0.4098, d1.loss_plan_l1_fix_time: 0.6652, d1.loss_plan_l1_fix_dist: 0.1647, d2.loss_plan_l1_fix_time: 0.6589, d2.loss_plan_l1_fix_dist: 0.2092, d3.loss_plan_l1_fix_time: 0.6591, d3.loss_plan_l1_fix_dist: 0.2058, d4.loss_plan_l1_fix_time: 0.6603, d4.loss_plan_l1_fix_dist: 0.1782, d5.loss_plan_l1_fix_time: 0.6616, d5.loss_plan_l1_fix_dist: 0.2324, d6.loss_plan_l1_fix_time: 0.6633, d6.loss_plan_l1_fix_dist: 0.2536, d0.loss_cls_all: 0.1315, d0.loss_bbox_all: 0.3409, d0.loss_cls: 0.1315, d0.loss_bbox: 0.3409, d1.loss_cls: 0.1245, d1.loss_bbox: 0.3030, d2.loss_cls: 0.1104, d2.loss_bbox: 0.2788, d3.loss_cls: 0.0936, d3.loss_bbox: 0.2721, d4.loss_cls: 0.0879, d4.loss_bbox: 0.2706, d5.loss_cls: 0.0869, d5.loss_bbox: 0.2703, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6481, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5235, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4856, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4785, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4730, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4738, d0.loss_map_cls_all: 0.1538, d0.loss_map_pts_all: 0.9266, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1538, d0.loss_map_pts: 0.9266, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1216, d1.loss_map_pts: 0.6607, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.0968, d2.loss_map_pts: 0.5167, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.0847, d3.loss_map_pts: 0.4629, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0794, d4.loss_map_pts: 0.4423, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0750, d5.loss_map_pts: 0.4384, d5.loss_map_dir: 0.0061, loss: 20.4890, grad_norm: 125.1070 +2026-03-01 10:27:33,454 - DriveTransformer - INFO - Epoch [12][37900/39528] lr: 5.696e-05, eta: 4 days, 0:38:34, time: 0.725, data_time: 0.037, memory: 19865, loss_cls: 0.0842, loss_bbox: 0.2808, loss_traj: 0.4535, loss_traj_cls: 0.0021, loss_map_cls: 0.0975, loss_map_pts: 0.5069, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.8275, d0.loss_plan_l1_fix_dist: 0.3852, d1.loss_plan_l1_fix_time: 0.6790, d1.loss_plan_l1_fix_dist: 0.1622, d2.loss_plan_l1_fix_time: 0.6713, d2.loss_plan_l1_fix_dist: 0.2127, d3.loss_plan_l1_fix_time: 0.6623, d3.loss_plan_l1_fix_dist: 0.1952, d4.loss_plan_l1_fix_time: 0.6631, d4.loss_plan_l1_fix_dist: 0.1693, d5.loss_plan_l1_fix_time: 0.6644, d5.loss_plan_l1_fix_dist: 0.2080, d6.loss_plan_l1_fix_time: 0.6665, d6.loss_plan_l1_fix_dist: 0.2235, d0.loss_cls_all: 0.1269, d0.loss_bbox_all: 0.3479, d0.loss_cls: 0.1269, d0.loss_bbox: 0.3479, d1.loss_cls: 0.1252, d1.loss_bbox: 0.3132, d2.loss_cls: 0.1084, d2.loss_bbox: 0.2908, d3.loss_cls: 0.0915, d3.loss_bbox: 0.2868, d4.loss_cls: 0.0870, d4.loss_bbox: 0.2831, d5.loss_cls: 0.0855, d5.loss_bbox: 0.2807, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7286, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5362, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4867, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4596, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4534, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4553, d0.loss_map_cls_all: 0.1848, d0.loss_map_pts_all: 1.0492, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1848, d0.loss_map_pts: 1.0492, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1498, d1.loss_map_pts: 0.7733, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1196, d2.loss_map_pts: 0.5998, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1106, d3.loss_map_pts: 0.5323, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1049, d4.loss_map_pts: 0.5110, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.1000, d5.loss_map_pts: 0.5075, d5.loss_map_dir: 0.0053, loss: 21.8640, grad_norm: 124.4621 +2026-03-01 10:28:11,019 - DriveTransformer - INFO - Epoch [12][37950/39528] lr: 5.696e-05, eta: 4 days, 0:38:00, time: 0.751, data_time: 0.038, memory: 19865, loss_cls: 0.0828, loss_bbox: 0.2798, loss_traj: 0.4021, loss_traj_cls: 0.0022, loss_map_cls: 0.1045, loss_map_pts: 0.5137, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.4149, d0.loss_plan_l1_fix_dist: 0.3844, d1.loss_plan_l1_fix_time: 0.7242, d1.loss_plan_l1_fix_dist: 0.1711, d2.loss_plan_l1_fix_time: 0.7020, d2.loss_plan_l1_fix_dist: 0.2089, d3.loss_plan_l1_fix_time: 0.6989, d3.loss_plan_l1_fix_dist: 0.1881, d4.loss_plan_l1_fix_time: 0.6998, d4.loss_plan_l1_fix_dist: 0.1759, d5.loss_plan_l1_fix_time: 0.7014, d5.loss_plan_l1_fix_dist: 0.1822, d6.loss_plan_l1_fix_time: 0.7036, d6.loss_plan_l1_fix_dist: 0.2126, d0.loss_cls_all: 0.1288, d0.loss_bbox_all: 0.3385, d0.loss_cls: 0.1288, d0.loss_bbox: 0.3385, d1.loss_cls: 0.1236, d1.loss_bbox: 0.3072, d2.loss_cls: 0.1076, d2.loss_bbox: 0.2864, d3.loss_cls: 0.0917, d3.loss_bbox: 0.2826, d4.loss_cls: 0.0850, d4.loss_bbox: 0.2809, d5.loss_cls: 0.0821, d5.loss_bbox: 0.2804, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6102, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4816, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4267, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4077, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4049, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4033, d0.loss_map_cls_all: 0.1834, d0.loss_map_pts_all: 1.1150, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1834, d0.loss_map_pts: 1.1150, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1512, d1.loss_map_pts: 0.7970, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1311, d2.loss_map_pts: 0.6155, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1174, d3.loss_map_pts: 0.5453, d3.loss_map_dir: 0.0064, d4.loss_map_cls: 0.1116, d4.loss_map_pts: 0.5198, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1072, d5.loss_map_pts: 0.5138, d5.loss_map_dir: 0.0067, loss: 21.4171, grad_norm: 124.0779 +2026-03-01 10:28:47,039 - DriveTransformer - INFO - Epoch [12][38000/39528] lr: 5.696e-05, eta: 4 days, 0:37:22, time: 0.720, data_time: 0.042, memory: 19865, loss_cls: 0.0846, loss_bbox: 0.2891, loss_traj: 0.5084, loss_traj_cls: 0.0020, loss_map_cls: 0.0836, loss_map_pts: 0.4311, loss_map_dir: 0.0042, d0.loss_plan_l1_fix_time: 3.0287, d0.loss_plan_l1_fix_dist: 0.3708, d1.loss_plan_l1_fix_time: 0.7527, d1.loss_plan_l1_fix_dist: 0.1817, d2.loss_plan_l1_fix_time: 0.7308, d2.loss_plan_l1_fix_dist: 0.2010, d3.loss_plan_l1_fix_time: 0.7241, d3.loss_plan_l1_fix_dist: 0.1793, d4.loss_plan_l1_fix_time: 0.7245, d4.loss_plan_l1_fix_dist: 0.1791, d5.loss_plan_l1_fix_time: 0.7253, d5.loss_plan_l1_fix_dist: 0.1681, d6.loss_plan_l1_fix_time: 0.7267, d6.loss_plan_l1_fix_dist: 0.2061, d0.loss_cls_all: 0.1313, d0.loss_bbox_all: 0.3449, d0.loss_cls: 0.1313, d0.loss_bbox: 0.3449, d1.loss_cls: 0.1241, d1.loss_bbox: 0.3125, d2.loss_cls: 0.1088, d2.loss_bbox: 0.2923, d3.loss_cls: 0.0922, d3.loss_bbox: 0.2872, d4.loss_cls: 0.0884, d4.loss_bbox: 0.2854, d5.loss_cls: 0.0854, d5.loss_bbox: 0.2875, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8198, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.6125, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5439, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5175, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5131, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5075, d0.loss_map_cls_all: 0.1804, d0.loss_map_pts_all: 0.8843, d0.loss_map_dir_all: 0.0047, d0.loss_map_cls: 0.1804, d0.loss_map_pts: 0.8843, d0.loss_map_dir: 0.0047, d1.loss_map_cls: 0.1450, d1.loss_map_pts: 0.6460, d1.loss_map_dir: 0.0043, d2.loss_map_cls: 0.1163, d2.loss_map_pts: 0.5134, d2.loss_map_dir: 0.0040, d3.loss_map_cls: 0.1036, d3.loss_map_pts: 0.4531, d3.loss_map_dir: 0.0041, d4.loss_map_cls: 0.0942, d4.loss_map_pts: 0.4350, d4.loss_map_dir: 0.0041, d5.loss_map_cls: 0.0871, d5.loss_map_pts: 0.4307, d5.loss_map_dir: 0.0042, loss: 21.9217, grad_norm: 125.9679 +2026-03-01 10:29:22,978 - DriveTransformer - INFO - Epoch [12][38050/39528] lr: 5.696e-05, eta: 4 days, 0:36:44, time: 0.719, data_time: 0.037, memory: 19865, loss_cls: 0.0733, loss_bbox: 0.2673, loss_traj: 0.4224, loss_traj_cls: 0.0021, loss_map_cls: 0.0830, loss_map_pts: 0.4596, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.5443, d0.loss_plan_l1_fix_dist: 0.4147, d1.loss_plan_l1_fix_time: 0.6759, d1.loss_plan_l1_fix_dist: 0.2084, d2.loss_plan_l1_fix_time: 0.6526, d2.loss_plan_l1_fix_dist: 0.1976, d3.loss_plan_l1_fix_time: 0.6556, d3.loss_plan_l1_fix_dist: 0.1798, d4.loss_plan_l1_fix_time: 0.6577, d4.loss_plan_l1_fix_dist: 0.1921, d5.loss_plan_l1_fix_time: 0.6594, d5.loss_plan_l1_fix_dist: 0.1902, d6.loss_plan_l1_fix_time: 0.6618, d6.loss_plan_l1_fix_dist: 0.2106, d0.loss_cls_all: 0.1178, d0.loss_bbox_all: 0.3273, d0.loss_cls: 0.1178, d0.loss_bbox: 0.3273, d1.loss_cls: 0.1075, d1.loss_bbox: 0.2961, d2.loss_cls: 0.0946, d2.loss_bbox: 0.2751, d3.loss_cls: 0.0783, d3.loss_bbox: 0.2711, d4.loss_cls: 0.0738, d4.loss_bbox: 0.2683, d5.loss_cls: 0.0729, d5.loss_bbox: 0.2677, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6798, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5092, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4433, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4262, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4181, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4186, d0.loss_map_cls_all: 0.1708, d0.loss_map_pts_all: 0.9935, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1708, d0.loss_map_pts: 0.9935, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1368, d1.loss_map_pts: 0.7050, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1111, d2.loss_map_pts: 0.5415, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.0981, d3.loss_map_pts: 0.4863, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0900, d4.loss_map_pts: 0.4636, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0859, d5.loss_map_pts: 0.4603, d5.loss_map_dir: 0.0060, loss: 20.5619, grad_norm: 126.0627 +2026-03-01 10:29:58,591 - DriveTransformer - INFO - Epoch [12][38100/39528] lr: 5.696e-05, eta: 4 days, 0:36:06, time: 0.712, data_time: 0.039, memory: 19865, loss_cls: 0.0843, loss_bbox: 0.2809, loss_traj: 0.4435, loss_traj_cls: 0.0020, loss_map_cls: 0.0924, loss_map_pts: 0.5323, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.4920, d0.loss_plan_l1_fix_dist: 0.4194, d1.loss_plan_l1_fix_time: 0.6037, d1.loss_plan_l1_fix_dist: 0.2263, d2.loss_plan_l1_fix_time: 0.5898, d2.loss_plan_l1_fix_dist: 0.1979, d3.loss_plan_l1_fix_time: 0.5868, d3.loss_plan_l1_fix_dist: 0.1747, d4.loss_plan_l1_fix_time: 0.5885, d4.loss_plan_l1_fix_dist: 0.1968, d5.loss_plan_l1_fix_time: 0.5906, d5.loss_plan_l1_fix_dist: 0.1967, d6.loss_plan_l1_fix_time: 0.5923, d6.loss_plan_l1_fix_dist: 0.2025, d0.loss_cls_all: 0.1251, d0.loss_bbox_all: 0.3447, d0.loss_cls: 0.1251, d0.loss_bbox: 0.3447, d1.loss_cls: 0.1163, d1.loss_bbox: 0.3149, d2.loss_cls: 0.1078, d2.loss_bbox: 0.2882, d3.loss_cls: 0.0896, d3.loss_bbox: 0.2845, d4.loss_cls: 0.0856, d4.loss_bbox: 0.2813, d5.loss_cls: 0.0843, d5.loss_bbox: 0.2804, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6876, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5207, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4638, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4403, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4399, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4401, d0.loss_map_cls_all: 0.1884, d0.loss_map_pts_all: 1.1321, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1884, d0.loss_map_pts: 1.1321, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1479, d1.loss_map_pts: 0.8321, d1.loss_map_dir: 0.0069, d2.loss_map_cls: 0.1178, d2.loss_map_pts: 0.6374, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1062, d3.loss_map_pts: 0.5653, d3.loss_map_dir: 0.0063, d4.loss_map_cls: 0.0980, d4.loss_map_pts: 0.5408, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0952, d5.loss_map_pts: 0.5326, d5.loss_map_dir: 0.0066, loss: 21.3321, grad_norm: 130.3414 +2026-03-01 10:30:36,863 - DriveTransformer - INFO - Epoch [12][38150/39528] lr: 5.696e-05, eta: 4 days, 0:35:33, time: 0.765, data_time: 0.038, memory: 19865, loss_cls: 0.0776, loss_bbox: 0.2686, loss_traj: 0.4848, loss_traj_cls: 0.0021, loss_map_cls: 0.0840, loss_map_pts: 0.4783, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.4798, d0.loss_plan_l1_fix_dist: 0.2954, d1.loss_plan_l1_fix_time: 0.6636, d1.loss_plan_l1_fix_dist: 0.2179, d2.loss_plan_l1_fix_time: 0.6484, d2.loss_plan_l1_fix_dist: 0.1666, d3.loss_plan_l1_fix_time: 0.6242, d3.loss_plan_l1_fix_dist: 0.1580, d4.loss_plan_l1_fix_time: 0.6261, d4.loss_plan_l1_fix_dist: 0.1941, d5.loss_plan_l1_fix_time: 0.6296, d5.loss_plan_l1_fix_dist: 0.2068, d6.loss_plan_l1_fix_time: 0.6322, d6.loss_plan_l1_fix_dist: 0.2016, d0.loss_cls_all: 0.1136, d0.loss_bbox_all: 0.3249, d0.loss_cls: 0.1136, d0.loss_bbox: 0.3249, d1.loss_cls: 0.1112, d1.loss_bbox: 0.2943, d2.loss_cls: 0.0968, d2.loss_bbox: 0.2771, d3.loss_cls: 0.0834, d3.loss_bbox: 0.2711, d4.loss_cls: 0.0782, d4.loss_bbox: 0.2686, d5.loss_cls: 0.0774, d5.loss_bbox: 0.2685, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7563, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5902, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5275, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4977, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4880, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4869, d0.loss_map_cls_all: 0.1657, d0.loss_map_pts_all: 0.9871, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1657, d0.loss_map_pts: 0.9871, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1301, d1.loss_map_pts: 0.7108, d1.loss_map_dir: 0.0068, d2.loss_map_cls: 0.1074, d2.loss_map_pts: 0.5601, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.0967, d3.loss_map_pts: 0.5059, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.0902, d4.loss_map_pts: 0.4839, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0859, d5.loss_map_pts: 0.4787, d5.loss_map_dir: 0.0064, loss: 20.8040, grad_norm: 130.9362 +2026-03-01 10:31:13,283 - DriveTransformer - INFO - Epoch [12][38200/39528] lr: 5.696e-05, eta: 4 days, 0:34:56, time: 0.728, data_time: 0.037, memory: 19865, loss_cls: 0.0725, loss_bbox: 0.2686, loss_traj: 0.3717, loss_traj_cls: 0.0020, loss_map_cls: 0.0786, loss_map_pts: 0.4626, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.3309, d0.loss_plan_l1_fix_dist: 0.4162, d1.loss_plan_l1_fix_time: 0.6744, d1.loss_plan_l1_fix_dist: 0.2417, d2.loss_plan_l1_fix_time: 0.6626, d2.loss_plan_l1_fix_dist: 0.2028, d3.loss_plan_l1_fix_time: 0.6569, d3.loss_plan_l1_fix_dist: 0.1936, d4.loss_plan_l1_fix_time: 0.6593, d4.loss_plan_l1_fix_dist: 0.2043, d5.loss_plan_l1_fix_time: 0.6621, d5.loss_plan_l1_fix_dist: 0.2030, d6.loss_plan_l1_fix_time: 0.6649, d6.loss_plan_l1_fix_dist: 0.2535, d0.loss_cls_all: 0.1141, d0.loss_bbox_all: 0.3348, d0.loss_cls: 0.1141, d0.loss_bbox: 0.3348, d1.loss_cls: 0.1065, d1.loss_bbox: 0.3023, d2.loss_cls: 0.0951, d2.loss_bbox: 0.2786, d3.loss_cls: 0.0807, d3.loss_bbox: 0.2739, d4.loss_cls: 0.0749, d4.loss_bbox: 0.2703, d5.loss_cls: 0.0730, d5.loss_bbox: 0.2690, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6093, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4440, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3984, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3801, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3742, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3715, d0.loss_map_cls_all: 0.1735, d0.loss_map_pts_all: 1.0372, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1735, d0.loss_map_pts: 1.0372, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1324, d1.loss_map_pts: 0.7176, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1081, d2.loss_map_pts: 0.5439, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.0943, d3.loss_map_pts: 0.4900, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0868, d4.loss_map_pts: 0.4691, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0813, d5.loss_map_pts: 0.4634, d5.loss_map_dir: 0.0061, loss: 20.2461, grad_norm: 134.2707 +2026-03-01 10:31:49,801 - DriveTransformer - INFO - Epoch [12][38250/39528] lr: 5.696e-05, eta: 4 days, 0:34:19, time: 0.730, data_time: 0.038, memory: 19865, loss_cls: 0.0766, loss_bbox: 0.2564, loss_traj: 0.4763, loss_traj_cls: 0.0020, loss_map_cls: 0.0899, loss_map_pts: 0.4817, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.5335, d0.loss_plan_l1_fix_dist: 0.3667, d1.loss_plan_l1_fix_time: 0.6370, d1.loss_plan_l1_fix_dist: 0.2329, d2.loss_plan_l1_fix_time: 0.6112, d2.loss_plan_l1_fix_dist: 0.2000, d3.loss_plan_l1_fix_time: 0.6121, d3.loss_plan_l1_fix_dist: 0.1936, d4.loss_plan_l1_fix_time: 0.6134, d4.loss_plan_l1_fix_dist: 0.2075, d5.loss_plan_l1_fix_time: 0.6151, d5.loss_plan_l1_fix_dist: 0.1957, d6.loss_plan_l1_fix_time: 0.6175, d6.loss_plan_l1_fix_dist: 0.2585, d0.loss_cls_all: 0.1254, d0.loss_bbox_all: 0.3158, d0.loss_cls: 0.1254, d0.loss_bbox: 0.3158, d1.loss_cls: 0.1196, d1.loss_bbox: 0.2840, d2.loss_cls: 0.1034, d2.loss_bbox: 0.2620, d3.loss_cls: 0.0860, d3.loss_bbox: 0.2561, d4.loss_cls: 0.0803, d4.loss_bbox: 0.2540, d5.loss_cls: 0.0770, d5.loss_bbox: 0.2551, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6981, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5522, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5090, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4908, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4821, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4780, d0.loss_map_cls_all: 0.1693, d0.loss_map_pts_all: 0.9909, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1693, d0.loss_map_pts: 0.9909, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1369, d1.loss_map_pts: 0.7252, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1119, d2.loss_map_pts: 0.5692, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1041, d3.loss_map_pts: 0.5093, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0967, d4.loss_map_pts: 0.4866, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0916, d5.loss_map_pts: 0.4826, d5.loss_map_dir: 0.0058, loss: 20.8340, grad_norm: 133.1803 +2026-03-01 10:32:25,692 - DriveTransformer - INFO - Epoch [12][38300/39528] lr: 5.696e-05, eta: 4 days, 0:33:41, time: 0.718, data_time: 0.038, memory: 19865, loss_cls: 0.0764, loss_bbox: 0.2677, loss_traj: 0.4672, loss_traj_cls: 0.0021, loss_map_cls: 0.0876, loss_map_pts: 0.4640, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.5823, d0.loss_plan_l1_fix_dist: 0.3719, d1.loss_plan_l1_fix_time: 0.7692, d1.loss_plan_l1_fix_dist: 0.2173, d2.loss_plan_l1_fix_time: 0.7494, d2.loss_plan_l1_fix_dist: 0.2094, d3.loss_plan_l1_fix_time: 0.7352, d3.loss_plan_l1_fix_dist: 0.1823, d4.loss_plan_l1_fix_time: 0.7361, d4.loss_plan_l1_fix_dist: 0.2048, d5.loss_plan_l1_fix_time: 0.7378, d5.loss_plan_l1_fix_dist: 0.2014, d6.loss_plan_l1_fix_time: 0.7408, d6.loss_plan_l1_fix_dist: 0.2501, d0.loss_cls_all: 0.1171, d0.loss_bbox_all: 0.3308, d0.loss_cls: 0.1171, d0.loss_bbox: 0.3308, d1.loss_cls: 0.1158, d1.loss_bbox: 0.2965, d2.loss_cls: 0.1033, d2.loss_bbox: 0.2754, d3.loss_cls: 0.0817, d3.loss_bbox: 0.2731, d4.loss_cls: 0.0752, d4.loss_bbox: 0.2707, d5.loss_cls: 0.0755, d5.loss_bbox: 0.2687, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7032, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5527, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4987, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4818, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4698, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4689, d0.loss_map_cls_all: 0.1744, d0.loss_map_pts_all: 0.9662, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1744, d0.loss_map_pts: 0.9662, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1424, d1.loss_map_pts: 0.7006, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1160, d2.loss_map_pts: 0.5432, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1023, d3.loss_map_pts: 0.4875, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0954, d4.loss_map_pts: 0.4670, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0910, d5.loss_map_pts: 0.4622, d5.loss_map_dir: 0.0056, loss: 21.4997, grad_norm: 133.3549 +2026-03-01 10:33:03,191 - DriveTransformer - INFO - Epoch [12][38350/39528] lr: 5.696e-05, eta: 4 days, 0:33:07, time: 0.750, data_time: 0.038, memory: 19865, loss_cls: 0.0895, loss_bbox: 0.2715, loss_traj: 0.4226, loss_traj_cls: 0.0020, loss_map_cls: 0.0817, loss_map_pts: 0.5222, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.2505, d0.loss_plan_l1_fix_dist: 0.4505, d1.loss_plan_l1_fix_time: 0.6896, d1.loss_plan_l1_fix_dist: 0.2000, d2.loss_plan_l1_fix_time: 0.6621, d2.loss_plan_l1_fix_dist: 0.2221, d3.loss_plan_l1_fix_time: 0.6462, d3.loss_plan_l1_fix_dist: 0.1717, d4.loss_plan_l1_fix_time: 0.6461, d4.loss_plan_l1_fix_dist: 0.1839, d5.loss_plan_l1_fix_time: 0.6467, d5.loss_plan_l1_fix_dist: 0.1905, d6.loss_plan_l1_fix_time: 0.6479, d6.loss_plan_l1_fix_dist: 0.2302, d0.loss_cls_all: 0.1358, d0.loss_bbox_all: 0.3334, d0.loss_cls: 0.1358, d0.loss_bbox: 0.3334, d1.loss_cls: 0.1288, d1.loss_bbox: 0.3020, d2.loss_cls: 0.1140, d2.loss_bbox: 0.2827, d3.loss_cls: 0.0967, d3.loss_bbox: 0.2771, d4.loss_cls: 0.0908, d4.loss_bbox: 0.2742, d5.loss_cls: 0.0894, d5.loss_bbox: 0.2723, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6878, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5297, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4651, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4348, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4270, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4245, d0.loss_map_cls_all: 0.1608, d0.loss_map_pts_all: 1.0591, d0.loss_map_dir_all: 0.0077, d0.loss_map_cls: 0.1608, d0.loss_map_pts: 1.0591, d0.loss_map_dir: 0.0077, d1.loss_map_cls: 0.1282, d1.loss_map_pts: 0.7758, d1.loss_map_dir: 0.0071, d2.loss_map_cls: 0.1060, d2.loss_map_pts: 0.6062, d2.loss_map_dir: 0.0066, d3.loss_map_cls: 0.0964, d3.loss_map_pts: 0.5524, d3.loss_map_dir: 0.0068, d4.loss_map_cls: 0.0900, d4.loss_map_pts: 0.5284, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.0839, d5.loss_map_pts: 0.5221, d5.loss_map_dir: 0.0070, loss: 21.0548, grad_norm: 132.1424 +2026-03-01 10:33:39,706 - DriveTransformer - INFO - Epoch [12][38400/39528] lr: 5.696e-05, eta: 4 days, 0:32:30, time: 0.730, data_time: 0.039, memory: 19865, loss_cls: 0.0801, loss_bbox: 0.2722, loss_traj: 0.4355, loss_traj_cls: 0.0020, loss_map_cls: 0.0900, loss_map_pts: 0.4941, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.8397, d0.loss_plan_l1_fix_dist: 0.5331, d1.loss_plan_l1_fix_time: 0.7199, d1.loss_plan_l1_fix_dist: 0.1942, d2.loss_plan_l1_fix_time: 0.7025, d2.loss_plan_l1_fix_dist: 0.2584, d3.loss_plan_l1_fix_time: 0.6901, d3.loss_plan_l1_fix_dist: 0.1768, d4.loss_plan_l1_fix_time: 0.6902, d4.loss_plan_l1_fix_dist: 0.1794, d5.loss_plan_l1_fix_time: 0.6912, d5.loss_plan_l1_fix_dist: 0.1939, d6.loss_plan_l1_fix_time: 0.6924, d6.loss_plan_l1_fix_dist: 0.2117, d0.loss_cls_all: 0.1258, d0.loss_bbox_all: 0.3355, d0.loss_cls: 0.1258, d0.loss_bbox: 0.3355, d1.loss_cls: 0.1215, d1.loss_bbox: 0.3034, d2.loss_cls: 0.1051, d2.loss_bbox: 0.2833, d3.loss_cls: 0.0897, d3.loss_bbox: 0.2763, d4.loss_cls: 0.0834, d4.loss_bbox: 0.2748, d5.loss_cls: 0.0821, d5.loss_bbox: 0.2730, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7016, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5426, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4868, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4554, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4408, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4389, d0.loss_map_cls_all: 0.1650, d0.loss_map_pts_all: 0.9487, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1650, d0.loss_map_pts: 0.9487, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1323, d1.loss_map_pts: 0.7035, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1108, d2.loss_map_pts: 0.5670, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1019, d3.loss_map_pts: 0.5173, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0958, d4.loss_map_pts: 0.4974, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0925, d5.loss_map_pts: 0.4929, d5.loss_map_dir: 0.0056, loss: 21.6206, grad_norm: 132.9325 +2026-03-01 10:34:18,868 - DriveTransformer - INFO - Epoch [12][38450/39528] lr: 5.696e-05, eta: 4 days, 0:31:59, time: 0.783, data_time: 0.038, memory: 19865, loss_cls: 0.0794, loss_bbox: 0.2726, loss_traj: 0.3982, loss_traj_cls: 0.0020, loss_map_cls: 0.0766, loss_map_pts: 0.4916, loss_map_dir: 0.0079, d0.loss_plan_l1_fix_time: 2.8506, d0.loss_plan_l1_fix_dist: 0.4534, d1.loss_plan_l1_fix_time: 0.7098, d1.loss_plan_l1_fix_dist: 0.1618, d2.loss_plan_l1_fix_time: 0.6913, d2.loss_plan_l1_fix_dist: 0.2599, d3.loss_plan_l1_fix_time: 0.6578, d3.loss_plan_l1_fix_dist: 0.1599, d4.loss_plan_l1_fix_time: 0.6571, d4.loss_plan_l1_fix_dist: 0.1746, d5.loss_plan_l1_fix_time: 0.6579, d5.loss_plan_l1_fix_dist: 0.1679, d6.loss_plan_l1_fix_time: 0.6591, d6.loss_plan_l1_fix_dist: 0.1792, d0.loss_cls_all: 0.1192, d0.loss_bbox_all: 0.3334, d0.loss_cls: 0.1192, d0.loss_bbox: 0.3334, d1.loss_cls: 0.1135, d1.loss_bbox: 0.3043, d2.loss_cls: 0.1026, d2.loss_bbox: 0.2831, d3.loss_cls: 0.0847, d3.loss_bbox: 0.2791, d4.loss_cls: 0.0806, d4.loss_bbox: 0.2754, d5.loss_cls: 0.0809, d5.loss_bbox: 0.2726, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5933, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4693, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4299, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4127, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4033, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3990, d0.loss_map_cls_all: 0.1655, d0.loss_map_pts_all: 1.0887, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.1655, d0.loss_map_pts: 1.0887, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1249, d1.loss_map_pts: 0.7640, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.1007, d2.loss_map_pts: 0.5790, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.0912, d3.loss_map_pts: 0.5175, d3.loss_map_dir: 0.0077, d4.loss_map_cls: 0.0840, d4.loss_map_pts: 0.4969, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.0796, d5.loss_map_pts: 0.4913, d5.loss_map_dir: 0.0079, loss: 21.1600, grad_norm: 133.9101 +2026-03-01 10:34:54,161 - DriveTransformer - INFO - Epoch [12][38500/39528] lr: 5.696e-05, eta: 4 days, 0:31:20, time: 0.706, data_time: 0.039, memory: 19865, loss_cls: 0.0785, loss_bbox: 0.2607, loss_traj: 0.3750, loss_traj_cls: 0.0020, loss_map_cls: 0.0819, loss_map_pts: 0.4063, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.5200, d0.loss_plan_l1_fix_dist: 0.3804, d1.loss_plan_l1_fix_time: 0.6530, d1.loss_plan_l1_fix_dist: 0.1641, d2.loss_plan_l1_fix_time: 0.6416, d2.loss_plan_l1_fix_dist: 0.2709, d3.loss_plan_l1_fix_time: 0.6370, d3.loss_plan_l1_fix_dist: 0.1663, d4.loss_plan_l1_fix_time: 0.6378, d4.loss_plan_l1_fix_dist: 0.1814, d5.loss_plan_l1_fix_time: 0.6393, d5.loss_plan_l1_fix_dist: 0.1640, d6.loss_plan_l1_fix_time: 0.6416, d6.loss_plan_l1_fix_dist: 0.1714, d0.loss_cls_all: 0.1256, d0.loss_bbox_all: 0.3240, d0.loss_cls: 0.1256, d0.loss_bbox: 0.3240, d1.loss_cls: 0.1194, d1.loss_bbox: 0.2930, d2.loss_cls: 0.1094, d2.loss_bbox: 0.2703, d3.loss_cls: 0.0871, d3.loss_bbox: 0.2656, d4.loss_cls: 0.0793, d4.loss_bbox: 0.2634, d5.loss_cls: 0.0794, d5.loss_bbox: 0.2614, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5877, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4423, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3964, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3821, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3762, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3747, d0.loss_map_cls_all: 0.1653, d0.loss_map_pts_all: 0.8818, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1653, d0.loss_map_pts: 0.8818, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1332, d1.loss_map_pts: 0.6180, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1108, d2.loss_map_pts: 0.4802, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0962, d3.loss_map_pts: 0.4310, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0880, d4.loss_map_pts: 0.4131, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0838, d5.loss_map_pts: 0.4077, d5.loss_map_dir: 0.0050, loss: 19.3649, grad_norm: 134.9074 +2026-03-01 10:35:31,502 - DriveTransformer - INFO - Epoch [12][38550/39528] lr: 5.696e-05, eta: 4 days, 0:30:45, time: 0.747, data_time: 0.040, memory: 19865, loss_cls: 0.0744, loss_bbox: 0.2455, loss_traj: 0.3740, loss_traj_cls: 0.0021, loss_map_cls: 0.0701, loss_map_pts: 0.4199, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.4457, d0.loss_plan_l1_fix_dist: 0.4885, d1.loss_plan_l1_fix_time: 0.5718, d1.loss_plan_l1_fix_dist: 0.1466, d2.loss_plan_l1_fix_time: 0.5544, d2.loss_plan_l1_fix_dist: 0.2629, d3.loss_plan_l1_fix_time: 0.5561, d3.loss_plan_l1_fix_dist: 0.1695, d4.loss_plan_l1_fix_time: 0.5583, d4.loss_plan_l1_fix_dist: 0.1758, d5.loss_plan_l1_fix_time: 0.5605, d5.loss_plan_l1_fix_dist: 0.1668, d6.loss_plan_l1_fix_time: 0.5629, d6.loss_plan_l1_fix_dist: 0.1807, d0.loss_cls_all: 0.1175, d0.loss_bbox_all: 0.3024, d0.loss_cls: 0.1175, d0.loss_bbox: 0.3024, d1.loss_cls: 0.1093, d1.loss_bbox: 0.2732, d2.loss_cls: 0.0972, d2.loss_bbox: 0.2561, d3.loss_cls: 0.0813, d3.loss_bbox: 0.2493, d4.loss_cls: 0.0755, d4.loss_bbox: 0.2478, d5.loss_cls: 0.0747, d5.loss_bbox: 0.2458, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5459, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4370, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3960, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3827, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3784, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.3782, d0.loss_map_cls_all: 0.1453, d0.loss_map_pts_all: 0.9432, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1453, d0.loss_map_pts: 0.9432, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1154, d1.loss_map_pts: 0.6654, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.0936, d2.loss_map_pts: 0.4972, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0804, d3.loss_map_pts: 0.4436, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0756, d4.loss_map_pts: 0.4249, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0714, d5.loss_map_pts: 0.4200, d5.loss_map_dir: 0.0056, loss: 18.7714, grad_norm: 134.6841 +2026-03-01 10:36:08,746 - DriveTransformer - INFO - Epoch [12][38600/39528] lr: 5.696e-05, eta: 4 days, 0:30:10, time: 0.746, data_time: 0.039, memory: 19865, loss_cls: 0.0766, loss_bbox: 0.2556, loss_traj: 0.4874, loss_traj_cls: 0.0020, loss_map_cls: 0.0860, loss_map_pts: 0.4898, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.8094, d0.loss_plan_l1_fix_dist: 0.4133, d1.loss_plan_l1_fix_time: 0.6976, d1.loss_plan_l1_fix_dist: 0.1721, d2.loss_plan_l1_fix_time: 0.6803, d2.loss_plan_l1_fix_dist: 0.2647, d3.loss_plan_l1_fix_time: 0.6785, d3.loss_plan_l1_fix_dist: 0.1840, d4.loss_plan_l1_fix_time: 0.6806, d4.loss_plan_l1_fix_dist: 0.1732, d5.loss_plan_l1_fix_time: 0.6833, d5.loss_plan_l1_fix_dist: 0.1782, d6.loss_plan_l1_fix_time: 0.6860, d6.loss_plan_l1_fix_dist: 0.1841, d0.loss_cls_all: 0.1217, d0.loss_bbox_all: 0.3226, d0.loss_cls: 0.1217, d0.loss_bbox: 0.3226, d1.loss_cls: 0.1133, d1.loss_bbox: 0.2883, d2.loss_cls: 0.1022, d2.loss_bbox: 0.2676, d3.loss_cls: 0.0832, d3.loss_bbox: 0.2628, d4.loss_cls: 0.0772, d4.loss_bbox: 0.2584, d5.loss_cls: 0.0768, d5.loss_bbox: 0.2562, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7025, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5566, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5130, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4916, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4869, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4867, d0.loss_map_cls_all: 0.1655, d0.loss_map_pts_all: 0.9883, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1655, d0.loss_map_pts: 0.9883, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1292, d1.loss_map_pts: 0.7266, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1094, d2.loss_map_pts: 0.5777, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.0983, d3.loss_map_pts: 0.5173, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0931, d4.loss_map_pts: 0.4941, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0877, d5.loss_map_pts: 0.4900, d5.loss_map_dir: 0.0062, loss: 21.4829, grad_norm: 134.4373 +2026-03-01 10:36:44,329 - DriveTransformer - INFO - Epoch [12][38650/39528] lr: 5.696e-05, eta: 4 days, 0:29:31, time: 0.710, data_time: 0.035, memory: 19865, loss_cls: 0.0902, loss_bbox: 0.2716, loss_traj: 0.5218, loss_traj_cls: 0.0021, loss_map_cls: 0.0999, loss_map_pts: 0.4863, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.8437, d0.loss_plan_l1_fix_dist: 0.4534, d1.loss_plan_l1_fix_time: 0.6384, d1.loss_plan_l1_fix_dist: 0.1895, d2.loss_plan_l1_fix_time: 0.6239, d2.loss_plan_l1_fix_dist: 0.2504, d3.loss_plan_l1_fix_time: 0.6242, d3.loss_plan_l1_fix_dist: 0.1823, d4.loss_plan_l1_fix_time: 0.6258, d4.loss_plan_l1_fix_dist: 0.1710, d5.loss_plan_l1_fix_time: 0.6277, d5.loss_plan_l1_fix_dist: 0.1946, d6.loss_plan_l1_fix_time: 0.6296, d6.loss_plan_l1_fix_dist: 0.1896, d0.loss_cls_all: 0.1407, d0.loss_bbox_all: 0.3356, d0.loss_cls: 0.1407, d0.loss_bbox: 0.3356, d1.loss_cls: 0.1302, d1.loss_bbox: 0.3039, d2.loss_cls: 0.1150, d2.loss_bbox: 0.2852, d3.loss_cls: 0.0972, d3.loss_bbox: 0.2770, d4.loss_cls: 0.0905, d4.loss_bbox: 0.2745, d5.loss_cls: 0.0898, d5.loss_bbox: 0.2725, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7880, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.6041, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5489, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5336, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5177, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5193, d0.loss_map_cls_all: 0.1865, d0.loss_map_pts_all: 0.9976, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1865, d0.loss_map_pts: 0.9976, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1513, d1.loss_map_pts: 0.7268, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1263, d2.loss_map_pts: 0.5768, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1142, d3.loss_map_pts: 0.5186, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1076, d4.loss_map_pts: 0.4939, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1028, d5.loss_map_pts: 0.4865, d5.loss_map_dir: 0.0055, loss: 21.9392, grad_norm: 134.2297 +2026-03-01 10:37:20,608 - DriveTransformer - INFO - Epoch [12][38700/39528] lr: 5.696e-05, eta: 4 days, 0:28:54, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.0798, loss_bbox: 0.2657, loss_traj: 0.4741, loss_traj_cls: 0.0020, loss_map_cls: 0.0813, loss_map_pts: 0.4429, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.7316, d0.loss_plan_l1_fix_dist: 0.4835, d1.loss_plan_l1_fix_time: 0.6615, d1.loss_plan_l1_fix_dist: 0.1889, d2.loss_plan_l1_fix_time: 0.6472, d2.loss_plan_l1_fix_dist: 0.2435, d3.loss_plan_l1_fix_time: 0.6431, d3.loss_plan_l1_fix_dist: 0.1730, d4.loss_plan_l1_fix_time: 0.6471, d4.loss_plan_l1_fix_dist: 0.1736, d5.loss_plan_l1_fix_time: 0.6498, d5.loss_plan_l1_fix_dist: 0.1959, d6.loss_plan_l1_fix_time: 0.6528, d6.loss_plan_l1_fix_dist: 0.1881, d0.loss_cls_all: 0.1213, d0.loss_bbox_all: 0.3240, d0.loss_cls: 0.1213, d0.loss_bbox: 0.3240, d1.loss_cls: 0.1137, d1.loss_bbox: 0.2961, d2.loss_cls: 0.1027, d2.loss_bbox: 0.2770, d3.loss_cls: 0.0842, d3.loss_bbox: 0.2717, d4.loss_cls: 0.0796, d4.loss_bbox: 0.2677, d5.loss_cls: 0.0784, d5.loss_bbox: 0.2674, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6916, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5580, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4985, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4868, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4775, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4746, d0.loss_map_cls_all: 0.1632, d0.loss_map_pts_all: 0.9448, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1632, d0.loss_map_pts: 0.9448, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1307, d1.loss_map_pts: 0.6779, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1070, d2.loss_map_pts: 0.5297, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0951, d3.loss_map_pts: 0.4762, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0896, d4.loss_map_pts: 0.4525, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0842, d5.loss_map_pts: 0.4440, d5.loss_map_dir: 0.0051, loss: 20.8939, grad_norm: 132.9206 +2026-03-01 10:37:55,989 - DriveTransformer - INFO - Epoch [12][38750/39528] lr: 5.696e-05, eta: 4 days, 0:28:15, time: 0.708, data_time: 0.037, memory: 19865, loss_cls: 0.0800, loss_bbox: 0.2649, loss_traj: 0.4312, loss_traj_cls: 0.0021, loss_map_cls: 0.0904, loss_map_pts: 0.4787, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.7518, d0.loss_plan_l1_fix_dist: 0.4350, d1.loss_plan_l1_fix_time: 0.6782, d1.loss_plan_l1_fix_dist: 0.1810, d2.loss_plan_l1_fix_time: 0.6587, d2.loss_plan_l1_fix_dist: 0.2402, d3.loss_plan_l1_fix_time: 0.6444, d3.loss_plan_l1_fix_dist: 0.1569, d4.loss_plan_l1_fix_time: 0.6448, d4.loss_plan_l1_fix_dist: 0.1931, d5.loss_plan_l1_fix_time: 0.6464, d5.loss_plan_l1_fix_dist: 0.2036, d6.loss_plan_l1_fix_time: 0.6487, d6.loss_plan_l1_fix_dist: 0.1850, d0.loss_cls_all: 0.1255, d0.loss_bbox_all: 0.3308, d0.loss_cls: 0.1255, d0.loss_bbox: 0.3308, d1.loss_cls: 0.1169, d1.loss_bbox: 0.2989, d2.loss_cls: 0.1077, d2.loss_bbox: 0.2765, d3.loss_cls: 0.0867, d3.loss_bbox: 0.2676, d4.loss_cls: 0.0812, d4.loss_bbox: 0.2647, d5.loss_cls: 0.0805, d5.loss_bbox: 0.2638, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7033, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5150, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4503, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4406, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4352, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4310, d0.loss_map_cls_all: 0.1647, d0.loss_map_pts_all: 0.9915, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1647, d0.loss_map_pts: 0.9915, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1397, d1.loss_map_pts: 0.7366, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1167, d2.loss_map_pts: 0.5706, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1060, d3.loss_map_pts: 0.5107, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0997, d4.loss_map_pts: 0.4834, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0937, d5.loss_map_pts: 0.4790, d5.loss_map_dir: 0.0050, loss: 21.0420, grad_norm: 132.0931 +2026-03-01 10:38:35,136 - DriveTransformer - INFO - Epoch [12][38800/39528] lr: 5.696e-05, eta: 4 days, 0:27:44, time: 0.783, data_time: 0.043, memory: 19865, loss_cls: 0.0851, loss_bbox: 0.2944, loss_traj: 0.3943, loss_traj_cls: 0.0021, loss_map_cls: 0.1060, loss_map_pts: 0.5922, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 2.8579, d0.loss_plan_l1_fix_dist: 0.3101, d1.loss_plan_l1_fix_time: 0.7717, d1.loss_plan_l1_fix_dist: 0.1682, d2.loss_plan_l1_fix_time: 0.7594, d2.loss_plan_l1_fix_dist: 0.2453, d3.loss_plan_l1_fix_time: 0.7596, d3.loss_plan_l1_fix_dist: 0.1633, d4.loss_plan_l1_fix_time: 0.7628, d4.loss_plan_l1_fix_dist: 0.2468, d5.loss_plan_l1_fix_time: 0.7655, d5.loss_plan_l1_fix_dist: 0.2431, d6.loss_plan_l1_fix_time: 0.7691, d6.loss_plan_l1_fix_dist: 0.2011, d0.loss_cls_all: 0.1257, d0.loss_bbox_all: 0.3644, d0.loss_cls: 0.1257, d0.loss_bbox: 0.3644, d1.loss_cls: 0.1220, d1.loss_bbox: 0.3299, d2.loss_cls: 0.1093, d2.loss_bbox: 0.3067, d3.loss_cls: 0.0916, d3.loss_bbox: 0.3015, d4.loss_cls: 0.0851, d4.loss_bbox: 0.2981, d5.loss_cls: 0.0846, d5.loss_bbox: 0.2956, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6177, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4786, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4205, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3982, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3935, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3931, d0.loss_map_cls_all: 0.2007, d0.loss_map_pts_all: 1.2414, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2007, d0.loss_map_pts: 1.2414, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.1631, d1.loss_map_pts: 0.9105, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1379, d2.loss_map_pts: 0.7005, d2.loss_map_dir: 0.0072, d3.loss_map_cls: 0.1254, d3.loss_map_pts: 0.6290, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1151, d4.loss_map_pts: 0.5979, d4.loss_map_dir: 0.0076, d5.loss_map_cls: 0.1089, d5.loss_map_pts: 0.5920, d5.loss_map_dir: 0.0078, loss: 23.2373, grad_norm: 130.7531 +2026-03-01 10:39:10,765 - DriveTransformer - INFO - Epoch [12][38850/39528] lr: 5.696e-05, eta: 4 days, 0:27:06, time: 0.713, data_time: 0.038, memory: 19865, loss_cls: 0.0714, loss_bbox: 0.2499, loss_traj: 0.4100, loss_traj_cls: 0.0022, loss_map_cls: 0.0857, loss_map_pts: 0.4228, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.3355, d0.loss_plan_l1_fix_dist: 0.4175, d1.loss_plan_l1_fix_time: 0.6216, d1.loss_plan_l1_fix_dist: 0.1521, d2.loss_plan_l1_fix_time: 0.6119, d2.loss_plan_l1_fix_dist: 0.2219, d3.loss_plan_l1_fix_time: 0.6061, d3.loss_plan_l1_fix_dist: 0.1686, d4.loss_plan_l1_fix_time: 0.6089, d4.loss_plan_l1_fix_dist: 0.2477, d5.loss_plan_l1_fix_time: 0.6111, d5.loss_plan_l1_fix_dist: 0.2395, d6.loss_plan_l1_fix_time: 0.6140, d6.loss_plan_l1_fix_dist: 0.1759, d0.loss_cls_all: 0.1168, d0.loss_bbox_all: 0.3132, d0.loss_cls: 0.1168, d0.loss_bbox: 0.3132, d1.loss_cls: 0.1130, d1.loss_bbox: 0.2798, d2.loss_cls: 0.0983, d2.loss_bbox: 0.2594, d3.loss_cls: 0.0785, d3.loss_bbox: 0.2540, d4.loss_cls: 0.0737, d4.loss_bbox: 0.2504, d5.loss_cls: 0.0718, d5.loss_bbox: 0.2500, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6092, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4763, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4259, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4189, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4107, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.4105, d0.loss_map_cls_all: 0.1762, d0.loss_map_pts_all: 0.8716, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1762, d0.loss_map_pts: 0.8716, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1364, d1.loss_map_pts: 0.6371, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1119, d2.loss_map_pts: 0.5032, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1010, d3.loss_map_pts: 0.4479, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0929, d4.loss_map_pts: 0.4267, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0885, d5.loss_map_pts: 0.4231, d5.loss_map_dir: 0.0050, loss: 19.3270, grad_norm: 129.9526 +2026-03-01 10:39:45,480 - DriveTransformer - INFO - Epoch [12][38900/39528] lr: 5.696e-05, eta: 4 days, 0:26:25, time: 0.694, data_time: 0.039, memory: 19865, loss_cls: 0.0730, loss_bbox: 0.2533, loss_traj: 0.4632, loss_traj_cls: 0.0021, loss_map_cls: 0.0666, loss_map_pts: 0.3530, loss_map_dir: 0.0039, d0.loss_plan_l1_fix_time: 2.6149, d0.loss_plan_l1_fix_dist: 0.3983, d1.loss_plan_l1_fix_time: 0.7559, d1.loss_plan_l1_fix_dist: 0.1621, d2.loss_plan_l1_fix_time: 0.7531, d2.loss_plan_l1_fix_dist: 0.2337, d3.loss_plan_l1_fix_time: 0.7621, d3.loss_plan_l1_fix_dist: 0.2117, d4.loss_plan_l1_fix_time: 0.7641, d4.loss_plan_l1_fix_dist: 0.2755, d5.loss_plan_l1_fix_time: 0.7659, d5.loss_plan_l1_fix_dist: 0.2533, d6.loss_plan_l1_fix_time: 0.7677, d6.loss_plan_l1_fix_dist: 0.1942, d0.loss_cls_all: 0.1121, d0.loss_bbox_all: 0.3116, d0.loss_cls: 0.1121, d0.loss_bbox: 0.3116, d1.loss_cls: 0.1053, d1.loss_bbox: 0.2812, d2.loss_cls: 0.0928, d2.loss_bbox: 0.2644, d3.loss_cls: 0.0771, d3.loss_bbox: 0.2591, d4.loss_cls: 0.0731, d4.loss_bbox: 0.2551, d5.loss_cls: 0.0726, d5.loss_bbox: 0.2532, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7042, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5271, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4864, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4649, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4620, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4616, d0.loss_map_cls_all: 0.1374, d0.loss_map_pts_all: 0.7663, d0.loss_map_dir_all: 0.0044, d0.loss_map_cls: 0.1374, d0.loss_map_pts: 0.7663, d0.loss_map_dir: 0.0044, d1.loss_map_cls: 0.1108, d1.loss_map_pts: 0.5400, d1.loss_map_dir: 0.0040, d2.loss_map_cls: 0.0889, d2.loss_map_pts: 0.4210, d2.loss_map_dir: 0.0037, d3.loss_map_cls: 0.0789, d3.loss_map_pts: 0.3764, d3.loss_map_dir: 0.0037, d4.loss_map_cls: 0.0739, d4.loss_map_pts: 0.3575, d4.loss_map_dir: 0.0038, d5.loss_map_cls: 0.0697, d5.loss_map_pts: 0.3527, d5.loss_map_dir: 0.0039, loss: 20.1262, grad_norm: 127.5697 +2026-03-01 10:40:22,590 - DriveTransformer - INFO - Epoch [12][38950/39528] lr: 5.696e-05, eta: 4 days, 0:25:50, time: 0.742, data_time: 0.039, memory: 19865, loss_cls: 0.0695, loss_bbox: 0.2393, loss_traj: 0.3561, loss_traj_cls: 0.0022, loss_map_cls: 0.0676, loss_map_pts: 0.4042, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.4235, d0.loss_plan_l1_fix_dist: 0.4087, d1.loss_plan_l1_fix_time: 0.6775, d1.loss_plan_l1_fix_dist: 0.1393, d2.loss_plan_l1_fix_time: 0.6698, d2.loss_plan_l1_fix_dist: 0.2235, d3.loss_plan_l1_fix_time: 0.6630, d3.loss_plan_l1_fix_dist: 0.2152, d4.loss_plan_l1_fix_time: 0.6640, d4.loss_plan_l1_fix_dist: 0.2635, d5.loss_plan_l1_fix_time: 0.6665, d5.loss_plan_l1_fix_dist: 0.2358, d6.loss_plan_l1_fix_time: 0.6705, d6.loss_plan_l1_fix_dist: 0.1981, d0.loss_cls_all: 0.1049, d0.loss_bbox_all: 0.3009, d0.loss_cls: 0.1049, d0.loss_bbox: 0.3009, d1.loss_cls: 0.1040, d1.loss_bbox: 0.2699, d2.loss_cls: 0.0928, d2.loss_bbox: 0.2495, d3.loss_cls: 0.0760, d3.loss_bbox: 0.2433, d4.loss_cls: 0.0711, d4.loss_bbox: 0.2404, d5.loss_cls: 0.0698, d5.loss_bbox: 0.2392, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5591, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4248, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3775, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3632, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3574, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3584, d0.loss_map_cls_all: 0.1441, d0.loss_map_pts_all: 0.9329, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1441, d0.loss_map_pts: 0.9329, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1141, d1.loss_map_pts: 0.6429, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.0938, d2.loss_map_pts: 0.4855, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0826, d3.loss_map_pts: 0.4263, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0753, d4.loss_map_pts: 0.4072, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0708, d5.loss_map_pts: 0.4044, d5.loss_map_dir: 0.0053, loss: 19.1722, grad_norm: 125.7984 +2026-03-01 10:41:00,675 - DriveTransformer - INFO - Epoch [12][39000/39528] lr: 5.696e-05, eta: 4 days, 0:25:16, time: 0.762, data_time: 0.037, memory: 19865, loss_cls: 0.0748, loss_bbox: 0.2604, loss_traj: 0.4538, loss_traj_cls: 0.0021, loss_map_cls: 0.0796, loss_map_pts: 0.5183, loss_map_dir: 0.0071, d0.loss_plan_l1_fix_time: 2.4667, d0.loss_plan_l1_fix_dist: 0.3788, d1.loss_plan_l1_fix_time: 0.7420, d1.loss_plan_l1_fix_dist: 0.1477, d2.loss_plan_l1_fix_time: 0.7249, d2.loss_plan_l1_fix_dist: 0.2171, d3.loss_plan_l1_fix_time: 0.6958, d3.loss_plan_l1_fix_dist: 0.2424, d4.loss_plan_l1_fix_time: 0.6953, d4.loss_plan_l1_fix_dist: 0.2643, d5.loss_plan_l1_fix_time: 0.6966, d5.loss_plan_l1_fix_dist: 0.2370, d6.loss_plan_l1_fix_time: 0.6991, d6.loss_plan_l1_fix_dist: 0.1811, d0.loss_cls_all: 0.1186, d0.loss_bbox_all: 0.3248, d0.loss_cls: 0.1186, d0.loss_bbox: 0.3248, d1.loss_cls: 0.1106, d1.loss_bbox: 0.2927, d2.loss_cls: 0.0960, d2.loss_bbox: 0.2710, d3.loss_cls: 0.0823, d3.loss_bbox: 0.2656, d4.loss_cls: 0.0773, d4.loss_bbox: 0.2613, d5.loss_cls: 0.0747, d5.loss_bbox: 0.2600, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7279, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5511, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4919, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4635, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4568, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4526, d0.loss_map_cls_all: 0.1661, d0.loss_map_pts_all: 1.0829, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1661, d0.loss_map_pts: 1.0829, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1289, d1.loss_map_pts: 0.7880, d1.loss_map_dir: 0.0074, d2.loss_map_cls: 0.1048, d2.loss_map_pts: 0.6167, d2.loss_map_dir: 0.0068, d3.loss_map_cls: 0.0948, d3.loss_map_pts: 0.5561, d3.loss_map_dir: 0.0069, d4.loss_map_cls: 0.0873, d4.loss_map_pts: 0.5228, d4.loss_map_dir: 0.0070, d5.loss_map_cls: 0.0818, d5.loss_map_pts: 0.5189, d5.loss_map_dir: 0.0071, loss: 21.6616, grad_norm: 123.5475 +2026-03-01 10:41:37,731 - DriveTransformer - INFO - Epoch [12][39050/39528] lr: 5.696e-05, eta: 4 days, 0:24:41, time: 0.741, data_time: 0.040, memory: 19865, loss_cls: 0.0825, loss_bbox: 0.2657, loss_traj: 0.4501, loss_traj_cls: 0.0021, loss_map_cls: 0.0664, loss_map_pts: 0.4408, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.2996, d0.loss_plan_l1_fix_dist: 0.4196, d1.loss_plan_l1_fix_time: 0.6431, d1.loss_plan_l1_fix_dist: 0.1565, d2.loss_plan_l1_fix_time: 0.6258, d2.loss_plan_l1_fix_dist: 0.2192, d3.loss_plan_l1_fix_time: 0.6301, d3.loss_plan_l1_fix_dist: 0.2496, d4.loss_plan_l1_fix_time: 0.6325, d4.loss_plan_l1_fix_dist: 0.2524, d5.loss_plan_l1_fix_time: 0.6343, d5.loss_plan_l1_fix_dist: 0.2292, d6.loss_plan_l1_fix_time: 0.6363, d6.loss_plan_l1_fix_dist: 0.1964, d0.loss_cls_all: 0.1250, d0.loss_bbox_all: 0.3156, d0.loss_cls: 0.1250, d0.loss_bbox: 0.3156, d1.loss_cls: 0.1162, d1.loss_bbox: 0.2880, d2.loss_cls: 0.1047, d2.loss_bbox: 0.2704, d3.loss_cls: 0.0876, d3.loss_bbox: 0.2678, d4.loss_cls: 0.0848, d4.loss_bbox: 0.2648, d5.loss_cls: 0.0816, d5.loss_bbox: 0.2657, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6756, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5212, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4685, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4520, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4534, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4504, d0.loss_map_cls_all: 0.1584, d0.loss_map_pts_all: 0.9118, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1584, d0.loss_map_pts: 0.9118, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1178, d1.loss_map_pts: 0.6763, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.0914, d2.loss_map_pts: 0.5296, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0801, d3.loss_map_pts: 0.4710, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0730, d4.loss_map_pts: 0.4461, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0690, d5.loss_map_pts: 0.4406, d5.loss_map_dir: 0.0052, loss: 20.0509, grad_norm: 122.3678 +2026-03-01 10:42:12,257 - DriveTransformer - INFO - Epoch [12][39100/39528] lr: 5.696e-05, eta: 4 days, 0:24:00, time: 0.690, data_time: 0.038, memory: 19865, loss_cls: 0.0660, loss_bbox: 0.2428, loss_traj: 0.4942, loss_traj_cls: 0.0021, loss_map_cls: 0.0756, loss_map_pts: 0.3817, loss_map_dir: 0.0044, d0.loss_plan_l1_fix_time: 2.2008, d0.loss_plan_l1_fix_dist: 0.4910, d1.loss_plan_l1_fix_time: 0.6765, d1.loss_plan_l1_fix_dist: 0.1413, d2.loss_plan_l1_fix_time: 0.6575, d2.loss_plan_l1_fix_dist: 0.2414, d3.loss_plan_l1_fix_time: 0.6543, d3.loss_plan_l1_fix_dist: 0.2419, d4.loss_plan_l1_fix_time: 0.6563, d4.loss_plan_l1_fix_dist: 0.2007, d5.loss_plan_l1_fix_time: 0.6579, d5.loss_plan_l1_fix_dist: 0.2076, d6.loss_plan_l1_fix_time: 0.6600, d6.loss_plan_l1_fix_dist: 0.2242, d0.loss_cls_all: 0.1023, d0.loss_bbox_all: 0.3036, d0.loss_cls: 0.1023, d0.loss_bbox: 0.3036, d1.loss_cls: 0.0981, d1.loss_bbox: 0.2759, d2.loss_cls: 0.0852, d2.loss_bbox: 0.2558, d3.loss_cls: 0.0731, d3.loss_bbox: 0.2492, d4.loss_cls: 0.0692, d4.loss_bbox: 0.2445, d5.loss_cls: 0.0662, d5.loss_bbox: 0.2433, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7287, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5483, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5163, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4998, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4977, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4950, d0.loss_map_cls_all: 0.1603, d0.loss_map_pts_all: 0.8110, d0.loss_map_dir_all: 0.0049, d0.loss_map_cls: 0.1603, d0.loss_map_pts: 0.8110, d0.loss_map_dir: 0.0049, d1.loss_map_cls: 0.1300, d1.loss_map_pts: 0.5882, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.1061, d2.loss_map_pts: 0.4601, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.0912, d3.loss_map_pts: 0.4056, d3.loss_map_dir: 0.0043, d4.loss_map_cls: 0.0829, d4.loss_map_pts: 0.3835, d4.loss_map_dir: 0.0044, d5.loss_map_cls: 0.0777, d5.loss_map_pts: 0.3818, d5.loss_map_dir: 0.0045, loss: 19.6235, grad_norm: 122.2852 +2026-03-01 10:42:49,279 - DriveTransformer - INFO - Epoch [12][39150/39528] lr: 5.696e-05, eta: 4 days, 0:23:25, time: 0.740, data_time: 0.040, memory: 19865, loss_cls: 0.0777, loss_bbox: 0.2654, loss_traj: 0.4058, loss_traj_cls: 0.0021, loss_map_cls: 0.0881, loss_map_pts: 0.5238, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.7605, d0.loss_plan_l1_fix_dist: 0.4672, d1.loss_plan_l1_fix_time: 0.6963, d1.loss_plan_l1_fix_dist: 0.1480, d2.loss_plan_l1_fix_time: 0.6824, d2.loss_plan_l1_fix_dist: 0.2587, d3.loss_plan_l1_fix_time: 0.6727, d3.loss_plan_l1_fix_dist: 0.2639, d4.loss_plan_l1_fix_time: 0.6747, d4.loss_plan_l1_fix_dist: 0.2183, d5.loss_plan_l1_fix_time: 0.6769, d5.loss_plan_l1_fix_dist: 0.2754, d6.loss_plan_l1_fix_time: 0.6795, d6.loss_plan_l1_fix_dist: 0.2454, d0.loss_cls_all: 0.1140, d0.loss_bbox_all: 0.3389, d0.loss_cls: 0.1140, d0.loss_bbox: 0.3389, d1.loss_cls: 0.1101, d1.loss_bbox: 0.3043, d2.loss_cls: 0.1012, d2.loss_bbox: 0.2792, d3.loss_cls: 0.0818, d3.loss_bbox: 0.2746, d4.loss_cls: 0.0795, d4.loss_bbox: 0.2685, d5.loss_cls: 0.0773, d5.loss_bbox: 0.2663, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6673, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4877, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4311, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4142, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4073, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4081, d0.loss_map_cls_all: 0.1785, d0.loss_map_pts_all: 1.0358, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1785, d0.loss_map_pts: 1.0358, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1338, d1.loss_map_pts: 0.7672, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1118, d2.loss_map_pts: 0.6103, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1014, d3.loss_map_pts: 0.5498, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.0944, d4.loss_map_pts: 0.5297, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.0913, d5.loss_map_pts: 0.5241, d5.loss_map_dir: 0.0069, loss: 21.6519, grad_norm: 125.7108 +2026-03-01 10:43:25,125 - DriveTransformer - INFO - Epoch [12][39200/39528] lr: 5.696e-05, eta: 4 days, 0:22:47, time: 0.717, data_time: 0.037, memory: 19865, loss_cls: 0.0862, loss_bbox: 0.2562, loss_traj: 0.3923, loss_traj_cls: 0.0021, loss_map_cls: 0.0904, loss_map_pts: 0.4772, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.7047, d0.loss_plan_l1_fix_dist: 0.3489, d1.loss_plan_l1_fix_time: 0.7094, d1.loss_plan_l1_fix_dist: 0.1355, d2.loss_plan_l1_fix_time: 0.6860, d2.loss_plan_l1_fix_dist: 0.2572, d3.loss_plan_l1_fix_time: 0.6634, d3.loss_plan_l1_fix_dist: 0.2711, d4.loss_plan_l1_fix_time: 0.6636, d4.loss_plan_l1_fix_dist: 0.2046, d5.loss_plan_l1_fix_time: 0.6651, d5.loss_plan_l1_fix_dist: 0.2897, d6.loss_plan_l1_fix_time: 0.6673, d6.loss_plan_l1_fix_dist: 0.2496, d0.loss_cls_all: 0.1263, d0.loss_bbox_all: 0.3213, d0.loss_cls: 0.1263, d0.loss_bbox: 0.3213, d1.loss_cls: 0.1192, d1.loss_bbox: 0.2906, d2.loss_cls: 0.1063, d2.loss_bbox: 0.2670, d3.loss_cls: 0.0927, d3.loss_bbox: 0.2610, d4.loss_cls: 0.0869, d4.loss_bbox: 0.2597, d5.loss_cls: 0.0863, d5.loss_bbox: 0.2558, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5891, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4603, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4107, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3982, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3953, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3928, d0.loss_map_cls_all: 0.1776, d0.loss_map_pts_all: 1.0604, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1776, d0.loss_map_pts: 1.0604, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1421, d1.loss_map_pts: 0.7639, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1144, d2.loss_map_pts: 0.5802, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.1050, d3.loss_map_pts: 0.5112, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0978, d4.loss_map_pts: 0.4853, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0931, d5.loss_map_pts: 0.4785, d5.loss_map_dir: 0.0051, loss: 21.0814, grad_norm: 125.8534 +2026-03-01 10:44:01,640 - DriveTransformer - INFO - Epoch [12][39250/39528] lr: 5.696e-05, eta: 4 days, 0:22:10, time: 0.730, data_time: 0.038, memory: 19865, loss_cls: 0.0864, loss_bbox: 0.2686, loss_traj: 0.3712, loss_traj_cls: 0.0020, loss_map_cls: 0.0780, loss_map_pts: 0.4622, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.6138, d0.loss_plan_l1_fix_dist: 0.4330, d1.loss_plan_l1_fix_time: 0.6863, d1.loss_plan_l1_fix_dist: 0.1671, d2.loss_plan_l1_fix_time: 0.6729, d2.loss_plan_l1_fix_dist: 0.2676, d3.loss_plan_l1_fix_time: 0.6704, d3.loss_plan_l1_fix_dist: 0.3004, d4.loss_plan_l1_fix_time: 0.6717, d4.loss_plan_l1_fix_dist: 0.2236, d5.loss_plan_l1_fix_time: 0.6735, d5.loss_plan_l1_fix_dist: 0.3123, d6.loss_plan_l1_fix_time: 0.6757, d6.loss_plan_l1_fix_dist: 0.2612, d0.loss_cls_all: 0.1440, d0.loss_bbox_all: 0.3263, d0.loss_cls: 0.1440, d0.loss_bbox: 0.3263, d1.loss_cls: 0.1356, d1.loss_bbox: 0.2926, d2.loss_cls: 0.1190, d2.loss_bbox: 0.2764, d3.loss_cls: 0.0942, d3.loss_bbox: 0.2725, d4.loss_cls: 0.0885, d4.loss_bbox: 0.2703, d5.loss_cls: 0.0868, d5.loss_bbox: 0.2686, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5983, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4559, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3989, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3869, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3805, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3759, d0.loss_map_cls_all: 0.1692, d0.loss_map_pts_all: 0.9350, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1692, d0.loss_map_pts: 0.9350, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1302, d1.loss_map_pts: 0.6819, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1079, d2.loss_map_pts: 0.5411, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.0946, d3.loss_map_pts: 0.4879, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0867, d4.loss_map_pts: 0.4681, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0808, d5.loss_map_pts: 0.4629, d5.loss_map_dir: 0.0062, loss: 20.7463, grad_norm: 127.1789 +2026-03-01 10:44:37,752 - DriveTransformer - INFO - Epoch [12][39300/39528] lr: 5.696e-05, eta: 4 days, 0:21:33, time: 0.722, data_time: 0.040, memory: 19865, loss_cls: 0.0773, loss_bbox: 0.2685, loss_traj: 0.4759, loss_traj_cls: 0.0021, loss_map_cls: 0.0815, loss_map_pts: 0.4614, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.5929, d0.loss_plan_l1_fix_dist: 0.4578, d1.loss_plan_l1_fix_time: 0.6337, d1.loss_plan_l1_fix_dist: 0.1777, d2.loss_plan_l1_fix_time: 0.6228, d2.loss_plan_l1_fix_dist: 0.2436, d3.loss_plan_l1_fix_time: 0.6151, d3.loss_plan_l1_fix_dist: 0.2875, d4.loss_plan_l1_fix_time: 0.6159, d4.loss_plan_l1_fix_dist: 0.2139, d5.loss_plan_l1_fix_time: 0.6178, d5.loss_plan_l1_fix_dist: 0.3056, d6.loss_plan_l1_fix_time: 0.6201, d6.loss_plan_l1_fix_dist: 0.2112, d0.loss_cls_all: 0.1240, d0.loss_bbox_all: 0.3268, d0.loss_cls: 0.1240, d0.loss_bbox: 0.3268, d1.loss_cls: 0.1216, d1.loss_bbox: 0.2986, d2.loss_cls: 0.1036, d2.loss_bbox: 0.2756, d3.loss_cls: 0.0859, d3.loss_bbox: 0.2709, d4.loss_cls: 0.0798, d4.loss_bbox: 0.2696, d5.loss_cls: 0.0773, d5.loss_bbox: 0.2686, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6746, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5493, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5011, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4868, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4834, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4791, d0.loss_map_cls_all: 0.1596, d0.loss_map_pts_all: 0.9250, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1596, d0.loss_map_pts: 0.9250, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1264, d1.loss_map_pts: 0.6804, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1054, d2.loss_map_pts: 0.5304, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0945, d3.loss_map_pts: 0.4825, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0886, d4.loss_map_pts: 0.4628, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0842, d5.loss_map_pts: 0.4595, d5.loss_map_dir: 0.0052, loss: 20.8430, grad_norm: 123.3462 +2026-03-01 10:45:13,520 - DriveTransformer - INFO - Epoch [12][39350/39528] lr: 5.696e-05, eta: 4 days, 0:20:55, time: 0.715, data_time: 0.037, memory: 19865, loss_cls: 0.0819, loss_bbox: 0.2937, loss_traj: 0.4547, loss_traj_cls: 0.0020, loss_map_cls: 0.0963, loss_map_pts: 0.5481, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.3104, d0.loss_plan_l1_fix_dist: 0.3458, d1.loss_plan_l1_fix_time: 0.6549, d1.loss_plan_l1_fix_dist: 0.1867, d2.loss_plan_l1_fix_time: 0.6406, d2.loss_plan_l1_fix_dist: 0.2301, d3.loss_plan_l1_fix_time: 0.6372, d3.loss_plan_l1_fix_dist: 0.2560, d4.loss_plan_l1_fix_time: 0.6387, d4.loss_plan_l1_fix_dist: 0.2006, d5.loss_plan_l1_fix_time: 0.6407, d5.loss_plan_l1_fix_dist: 0.2842, d6.loss_plan_l1_fix_time: 0.6423, d6.loss_plan_l1_fix_dist: 0.1996, d0.loss_cls_all: 0.1278, d0.loss_bbox_all: 0.3628, d0.loss_cls: 0.1278, d0.loss_bbox: 0.3628, d1.loss_cls: 0.1239, d1.loss_bbox: 0.3289, d2.loss_cls: 0.1066, d2.loss_bbox: 0.3068, d3.loss_cls: 0.0893, d3.loss_bbox: 0.2972, d4.loss_cls: 0.0852, d4.loss_bbox: 0.2935, d5.loss_cls: 0.0821, d5.loss_bbox: 0.2932, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7053, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5190, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4721, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4557, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4529, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4523, d0.loss_map_cls_all: 0.1876, d0.loss_map_pts_all: 1.0708, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1876, d0.loss_map_pts: 1.0708, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1523, d1.loss_map_pts: 0.8021, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1252, d2.loss_map_pts: 0.6354, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1129, d3.loss_map_pts: 0.5749, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1049, d4.loss_map_pts: 0.5518, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0988, d5.loss_map_pts: 0.5485, d5.loss_map_dir: 0.0062, loss: 21.6702, grad_norm: 123.8704 +2026-03-01 10:45:48,998 - DriveTransformer - INFO - Epoch [12][39400/39528] lr: 5.696e-05, eta: 4 days, 0:20:16, time: 0.711, data_time: 0.038, memory: 19865, loss_cls: 0.0775, loss_bbox: 0.2545, loss_traj: 0.4023, loss_traj_cls: 0.0021, loss_map_cls: 0.0850, loss_map_pts: 0.4571, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.5985, d0.loss_plan_l1_fix_dist: 0.3586, d1.loss_plan_l1_fix_time: 0.7399, d1.loss_plan_l1_fix_dist: 0.1909, d2.loss_plan_l1_fix_time: 0.7230, d2.loss_plan_l1_fix_dist: 0.2189, d3.loss_plan_l1_fix_time: 0.7058, d3.loss_plan_l1_fix_dist: 0.2302, d4.loss_plan_l1_fix_time: 0.7061, d4.loss_plan_l1_fix_dist: 0.1862, d5.loss_plan_l1_fix_time: 0.7083, d5.loss_plan_l1_fix_dist: 0.2351, d6.loss_plan_l1_fix_time: 0.7109, d6.loss_plan_l1_fix_dist: 0.1805, d0.loss_cls_all: 0.1099, d0.loss_bbox_all: 0.3195, d0.loss_cls: 0.1099, d0.loss_bbox: 0.3195, d1.loss_cls: 0.1073, d1.loss_bbox: 0.2852, d2.loss_cls: 0.0981, d2.loss_bbox: 0.2612, d3.loss_cls: 0.0833, d3.loss_bbox: 0.2542, d4.loss_cls: 0.0783, d4.loss_bbox: 0.2541, d5.loss_cls: 0.0775, d5.loss_bbox: 0.2536, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6804, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5076, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4329, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4068, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4057, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4027, d0.loss_map_cls_all: 0.1834, d0.loss_map_pts_all: 0.9713, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1834, d0.loss_map_pts: 0.9713, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1423, d1.loss_map_pts: 0.7067, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1133, d2.loss_map_pts: 0.5524, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1023, d3.loss_map_pts: 0.4850, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0954, d4.loss_map_pts: 0.4635, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0881, d5.loss_map_pts: 0.4576, d5.loss_map_dir: 0.0050, loss: 20.7823, grad_norm: 128.0881 +2026-03-01 10:46:26,861 - DriveTransformer - INFO - Epoch [12][39450/39528] lr: 5.696e-05, eta: 4 days, 0:19:42, time: 0.756, data_time: 0.037, memory: 19865, loss_cls: 0.0790, loss_bbox: 0.2739, loss_traj: 0.4641, loss_traj_cls: 0.0021, loss_map_cls: 0.0901, loss_map_pts: 0.5179, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.3735, d0.loss_plan_l1_fix_dist: 0.4131, d1.loss_plan_l1_fix_time: 0.7811, d1.loss_plan_l1_fix_dist: 0.2261, d2.loss_plan_l1_fix_time: 0.7665, d2.loss_plan_l1_fix_dist: 0.2511, d3.loss_plan_l1_fix_time: 0.7675, d3.loss_plan_l1_fix_dist: 0.2499, d4.loss_plan_l1_fix_time: 0.7701, d4.loss_plan_l1_fix_dist: 0.2271, d5.loss_plan_l1_fix_time: 0.7728, d5.loss_plan_l1_fix_dist: 0.2714, d6.loss_plan_l1_fix_time: 0.7759, d6.loss_plan_l1_fix_dist: 0.2047, d0.loss_cls_all: 0.1145, d0.loss_bbox_all: 0.3321, d0.loss_cls: 0.1145, d0.loss_bbox: 0.3321, d1.loss_cls: 0.1102, d1.loss_bbox: 0.3058, d2.loss_cls: 0.1016, d2.loss_bbox: 0.2833, d3.loss_cls: 0.0814, d3.loss_bbox: 0.2797, d4.loss_cls: 0.0785, d4.loss_bbox: 0.2769, d5.loss_cls: 0.0791, d5.loss_bbox: 0.2742, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7138, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5427, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4803, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4728, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4681, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4656, d0.loss_map_cls_all: 0.1875, d0.loss_map_pts_all: 1.1024, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1875, d0.loss_map_pts: 1.1024, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1488, d1.loss_map_pts: 0.7871, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1200, d2.loss_map_pts: 0.6143, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1094, d3.loss_map_pts: 0.5497, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0989, d4.loss_map_pts: 0.5254, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0936, d5.loss_map_pts: 0.5173, d5.loss_map_dir: 0.0060, loss: 22.3848, grad_norm: 128.3896 +2026-03-01 10:47:03,424 - DriveTransformer - INFO - Epoch [12][39500/39528] lr: 5.696e-05, eta: 4 days, 0:19:05, time: 0.731, data_time: 0.045, memory: 19865, loss_cls: 0.0777, loss_bbox: 0.2511, loss_traj: 0.4218, loss_traj_cls: 0.0020, loss_map_cls: 0.0732, loss_map_pts: 0.4252, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.3872, d0.loss_plan_l1_fix_dist: 0.3299, d1.loss_plan_l1_fix_time: 0.6107, d1.loss_plan_l1_fix_dist: 0.2104, d2.loss_plan_l1_fix_time: 0.6067, d2.loss_plan_l1_fix_dist: 0.2128, d3.loss_plan_l1_fix_time: 0.6024, d3.loss_plan_l1_fix_dist: 0.1995, d4.loss_plan_l1_fix_time: 0.6041, d4.loss_plan_l1_fix_dist: 0.1951, d5.loss_plan_l1_fix_time: 0.6066, d5.loss_plan_l1_fix_dist: 0.2444, d6.loss_plan_l1_fix_time: 0.6100, d6.loss_plan_l1_fix_dist: 0.1807, d0.loss_cls_all: 0.1219, d0.loss_bbox_all: 0.3161, d0.loss_cls: 0.1219, d0.loss_bbox: 0.3161, d1.loss_cls: 0.1137, d1.loss_bbox: 0.2877, d2.loss_cls: 0.1000, d2.loss_bbox: 0.2649, d3.loss_cls: 0.0837, d3.loss_bbox: 0.2568, d4.loss_cls: 0.0781, d4.loss_bbox: 0.2540, d5.loss_cls: 0.0768, d5.loss_bbox: 0.2522, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6394, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4828, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4349, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4242, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4242, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4221, d0.loss_map_cls_all: 0.1525, d0.loss_map_pts_all: 0.8668, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1525, d0.loss_map_pts: 0.8668, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1195, d1.loss_map_pts: 0.6171, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.0982, d2.loss_map_pts: 0.4917, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0872, d3.loss_map_pts: 0.4475, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0807, d4.loss_map_pts: 0.4295, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0757, d5.loss_map_pts: 0.4252, d5.loss_map_dir: 0.0052, loss: 19.2833, grad_norm: 129.7347 +2026-03-01 10:47:22,767 - DriveTransformer - INFO - Saving checkpoint at 12 epochs +2026-03-01 10:48:09,493 - DriveTransformer - INFO - Epoch [13][50/39528] lr: 5.050e-05, eta: 4 days, 0:17:44, time: 0.894, data_time: 0.147, memory: 19865, loss_cls: 0.0709, loss_bbox: 0.2490, loss_traj: 0.4145, loss_traj_cls: 0.0021, loss_map_cls: 0.0751, loss_map_pts: 0.4881, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.4958, d0.loss_plan_l1_fix_dist: 0.4741, d1.loss_plan_l1_fix_time: 0.6145, d1.loss_plan_l1_fix_dist: 0.2547, d2.loss_plan_l1_fix_time: 0.6028, d2.loss_plan_l1_fix_dist: 0.2095, d3.loss_plan_l1_fix_time: 0.5987, d3.loss_plan_l1_fix_dist: 0.1841, d4.loss_plan_l1_fix_time: 0.6002, d4.loss_plan_l1_fix_dist: 0.2178, d5.loss_plan_l1_fix_time: 0.6029, d5.loss_plan_l1_fix_dist: 0.2404, d6.loss_plan_l1_fix_time: 0.6062, d6.loss_plan_l1_fix_dist: 0.2293, d0.loss_cls_all: 0.1088, d0.loss_bbox_all: 0.3111, d0.loss_cls: 0.1088, d0.loss_bbox: 0.3111, d1.loss_cls: 0.1064, d1.loss_bbox: 0.2787, d2.loss_cls: 0.0924, d2.loss_bbox: 0.2595, d3.loss_cls: 0.0785, d3.loss_bbox: 0.2529, d4.loss_cls: 0.0716, d4.loss_bbox: 0.2504, d5.loss_cls: 0.0694, d5.loss_bbox: 0.2507, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5909, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4615, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4249, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4167, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4139, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4143, d0.loss_map_cls_all: 0.1565, d0.loss_map_pts_all: 1.0209, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1565, d0.loss_map_pts: 1.0209, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1190, d1.loss_map_pts: 0.7241, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.0967, d2.loss_map_pts: 0.5657, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.0869, d3.loss_map_pts: 0.5140, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0800, d4.loss_map_pts: 0.4912, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0765, d5.loss_map_pts: 0.4881, d5.loss_map_dir: 0.0061, loss: 20.1568, grad_norm: 79.1814 +2026-03-01 10:48:47,327 - DriveTransformer - INFO - Epoch [13][100/39528] lr: 5.050e-05, eta: 4 days, 0:17:10, time: 0.757, data_time: 0.036, memory: 19865, loss_cls: 0.0930, loss_bbox: 0.2745, loss_traj: 0.4504, loss_traj_cls: 0.0020, loss_map_cls: 0.0714, loss_map_pts: 0.4417, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.7932, d0.loss_plan_l1_fix_dist: 0.4809, d1.loss_plan_l1_fix_time: 0.7154, d1.loss_plan_l1_fix_dist: 0.2644, d2.loss_plan_l1_fix_time: 0.6934, d2.loss_plan_l1_fix_dist: 0.2254, d3.loss_plan_l1_fix_time: 0.6925, d3.loss_plan_l1_fix_dist: 0.2085, d4.loss_plan_l1_fix_time: 0.6937, d4.loss_plan_l1_fix_dist: 0.2355, d5.loss_plan_l1_fix_time: 0.6950, d5.loss_plan_l1_fix_dist: 0.2325, d6.loss_plan_l1_fix_time: 0.6971, d6.loss_plan_l1_fix_dist: 0.2097, d0.loss_cls_all: 0.1336, d0.loss_bbox_all: 0.3393, d0.loss_cls: 0.1336, d0.loss_bbox: 0.3393, d1.loss_cls: 0.1282, d1.loss_bbox: 0.3061, d2.loss_cls: 0.1152, d2.loss_bbox: 0.2849, d3.loss_cls: 0.0992, d3.loss_bbox: 0.2793, d4.loss_cls: 0.0923, d4.loss_bbox: 0.2773, d5.loss_cls: 0.0920, d5.loss_bbox: 0.2763, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6744, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5220, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4661, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4594, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4569, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4528, d0.loss_map_cls_all: 0.1591, d0.loss_map_pts_all: 0.9062, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1591, d0.loss_map_pts: 0.9062, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1179, d1.loss_map_pts: 0.6445, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.0937, d2.loss_map_pts: 0.5165, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0855, d3.loss_map_pts: 0.4662, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0787, d4.loss_map_pts: 0.4457, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0740, d5.loss_map_pts: 0.4414, d5.loss_map_dir: 0.0053, loss: 21.2431, grad_norm: 170.3270 +2026-03-01 10:49:20,887 - DriveTransformer - INFO - Epoch [13][150/39528] lr: 5.050e-05, eta: 4 days, 0:16:27, time: 0.671, data_time: 0.032, memory: 19865, loss_cls: 0.0974, loss_bbox: 0.2734, loss_traj: 0.4837, loss_traj_cls: 0.0020, loss_map_cls: 0.0838, loss_map_pts: 0.4598, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.9068, d0.loss_plan_l1_fix_dist: 0.4016, d1.loss_plan_l1_fix_time: 0.7092, d1.loss_plan_l1_fix_dist: 0.2507, d2.loss_plan_l1_fix_time: 0.6985, d2.loss_plan_l1_fix_dist: 0.2187, d3.loss_plan_l1_fix_time: 0.6894, d3.loss_plan_l1_fix_dist: 0.2253, d4.loss_plan_l1_fix_time: 0.6912, d4.loss_plan_l1_fix_dist: 0.2303, d5.loss_plan_l1_fix_time: 0.6928, d5.loss_plan_l1_fix_dist: 0.2150, d6.loss_plan_l1_fix_time: 0.6955, d6.loss_plan_l1_fix_dist: 0.1948, d0.loss_cls_all: 0.1419, d0.loss_bbox_all: 0.3419, d0.loss_cls: 0.1419, d0.loss_bbox: 0.3419, d1.loss_cls: 0.1314, d1.loss_bbox: 0.3091, d2.loss_cls: 0.1198, d2.loss_bbox: 0.2856, d3.loss_cls: 0.1023, d3.loss_bbox: 0.2788, d4.loss_cls: 0.0970, d4.loss_bbox: 0.2751, d5.loss_cls: 0.0961, d5.loss_bbox: 0.2741, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7276, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5523, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5093, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4900, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4868, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4868, d0.loss_map_cls_all: 0.1714, d0.loss_map_pts_all: 0.8879, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1714, d0.loss_map_pts: 0.8879, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1404, d1.loss_map_pts: 0.6650, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1096, d2.loss_map_pts: 0.5370, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.0988, d3.loss_map_pts: 0.4829, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0912, d4.loss_map_pts: 0.4636, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0860, d5.loss_map_pts: 0.4596, d5.loss_map_dir: 0.0048, loss: 21.7073, grad_norm: 182.5489 +2026-03-01 10:49:57,142 - DriveTransformer - INFO - Epoch [13][200/39528] lr: 5.050e-05, eta: 4 days, 0:15:50, time: 0.725, data_time: 0.031, memory: 19865, loss_cls: 0.0854, loss_bbox: 0.2516, loss_traj: 0.4447, loss_traj_cls: 0.0020, loss_map_cls: 0.0966, loss_map_pts: 0.4767, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.3778, d0.loss_plan_l1_fix_dist: 0.4600, d1.loss_plan_l1_fix_time: 0.6808, d1.loss_plan_l1_fix_dist: 0.2924, d2.loss_plan_l1_fix_time: 0.6652, d2.loss_plan_l1_fix_dist: 0.2519, d3.loss_plan_l1_fix_time: 0.6649, d3.loss_plan_l1_fix_dist: 0.2764, d4.loss_plan_l1_fix_time: 0.6673, d4.loss_plan_l1_fix_dist: 0.2527, d5.loss_plan_l1_fix_time: 0.6692, d5.loss_plan_l1_fix_dist: 0.2409, d6.loss_plan_l1_fix_time: 0.6722, d6.loss_plan_l1_fix_dist: 0.2339, d0.loss_cls_all: 0.1213, d0.loss_bbox_all: 0.3199, d0.loss_cls: 0.1213, d0.loss_bbox: 0.3199, d1.loss_cls: 0.1185, d1.loss_bbox: 0.2879, d2.loss_cls: 0.1034, d2.loss_bbox: 0.2660, d3.loss_cls: 0.0867, d3.loss_bbox: 0.2591, d4.loss_cls: 0.0843, d4.loss_bbox: 0.2544, d5.loss_cls: 0.0849, d5.loss_bbox: 0.2520, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6817, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5374, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4705, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4486, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4480, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4479, d0.loss_map_cls_all: 0.1823, d0.loss_map_pts_all: 1.0190, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1823, d0.loss_map_pts: 1.0190, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1469, d1.loss_map_pts: 0.7337, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1233, d2.loss_map_pts: 0.5659, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1127, d3.loss_map_pts: 0.5026, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1066, d4.loss_map_pts: 0.4794, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1009, d5.loss_map_pts: 0.4765, d5.loss_map_dir: 0.0055, loss: 21.2777, grad_norm: 214.9093 +2026-03-01 10:50:32,717 - DriveTransformer - INFO - Epoch [13][250/39528] lr: 5.050e-05, eta: 4 days, 0:15:12, time: 0.711, data_time: 0.031, memory: 19865, loss_cls: 0.0871, loss_bbox: 0.2677, loss_traj: 0.4244, loss_traj_cls: 0.0020, loss_map_cls: 0.0805, loss_map_pts: 0.4176, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.7618, d0.loss_plan_l1_fix_dist: 0.4219, d1.loss_plan_l1_fix_time: 0.6501, d1.loss_plan_l1_fix_dist: 0.2951, d2.loss_plan_l1_fix_time: 0.6281, d2.loss_plan_l1_fix_dist: 0.2457, d3.loss_plan_l1_fix_time: 0.6259, d3.loss_plan_l1_fix_dist: 0.2824, d4.loss_plan_l1_fix_time: 0.6287, d4.loss_plan_l1_fix_dist: 0.2178, d5.loss_plan_l1_fix_time: 0.6311, d5.loss_plan_l1_fix_dist: 0.2053, d6.loss_plan_l1_fix_time: 0.6341, d6.loss_plan_l1_fix_dist: 0.2072, d0.loss_cls_all: 0.1344, d0.loss_bbox_all: 0.3324, d0.loss_cls: 0.1344, d0.loss_bbox: 0.3324, d1.loss_cls: 0.1286, d1.loss_bbox: 0.3034, d2.loss_cls: 0.1147, d2.loss_bbox: 0.2817, d3.loss_cls: 0.0926, d3.loss_bbox: 0.2750, d4.loss_cls: 0.0869, d4.loss_bbox: 0.2710, d5.loss_cls: 0.0870, d5.loss_bbox: 0.2690, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6593, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4945, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4453, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4316, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4331, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4272, d0.loss_map_cls_all: 0.1603, d0.loss_map_pts_all: 0.8868, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1603, d0.loss_map_pts: 0.8868, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1255, d1.loss_map_pts: 0.6389, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1044, d2.loss_map_pts: 0.4921, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0942, d3.loss_map_pts: 0.4394, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0869, d4.loss_map_pts: 0.4226, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0831, d5.loss_map_pts: 0.4184, d5.loss_map_dir: 0.0055, loss: 20.4986, grad_norm: 224.1000 +2026-03-01 10:51:07,860 - DriveTransformer - INFO - Epoch [13][300/39528] lr: 5.050e-05, eta: 4 days, 0:14:32, time: 0.703, data_time: 0.033, memory: 19865, loss_cls: 0.0716, loss_bbox: 0.2468, loss_traj: 0.4023, loss_traj_cls: 0.0020, loss_map_cls: 0.0653, loss_map_pts: 0.3942, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.2117, d0.loss_plan_l1_fix_dist: 0.4064, d1.loss_plan_l1_fix_time: 0.6110, d1.loss_plan_l1_fix_dist: 0.2970, d2.loss_plan_l1_fix_time: 0.5965, d2.loss_plan_l1_fix_dist: 0.2502, d3.loss_plan_l1_fix_time: 0.5861, d3.loss_plan_l1_fix_dist: 0.2854, d4.loss_plan_l1_fix_time: 0.5867, d4.loss_plan_l1_fix_dist: 0.1985, d5.loss_plan_l1_fix_time: 0.5881, d5.loss_plan_l1_fix_dist: 0.1720, d6.loss_plan_l1_fix_time: 0.5903, d6.loss_plan_l1_fix_dist: 0.1815, d0.loss_cls_all: 0.1188, d0.loss_bbox_all: 0.3085, d0.loss_cls: 0.1188, d0.loss_bbox: 0.3085, d1.loss_cls: 0.1125, d1.loss_bbox: 0.2788, d2.loss_cls: 0.0989, d2.loss_bbox: 0.2577, d3.loss_cls: 0.0772, d3.loss_bbox: 0.2513, d4.loss_cls: 0.0730, d4.loss_bbox: 0.2473, d5.loss_cls: 0.0715, d5.loss_bbox: 0.2468, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6188, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4688, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4336, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4104, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4076, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4059, d0.loss_map_cls_all: 0.1438, d0.loss_map_pts_all: 0.8574, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1438, d0.loss_map_pts: 0.8574, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1123, d1.loss_map_pts: 0.6243, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.0861, d2.loss_map_pts: 0.4798, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.0777, d3.loss_map_pts: 0.4229, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0723, d4.loss_map_pts: 0.4007, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0680, d5.loss_map_pts: 0.3944, d5.loss_map_dir: 0.0049, loss: 18.8465, grad_norm: 198.2993 +2026-03-01 10:51:42,238 - DriveTransformer - INFO - Epoch [13][350/39528] lr: 5.050e-05, eta: 4 days, 0:13:51, time: 0.688, data_time: 0.032, memory: 19865, loss_cls: 0.0820, loss_bbox: 0.2706, loss_traj: 0.4945, loss_traj_cls: 0.0020, loss_map_cls: 0.0946, loss_map_pts: 0.4046, loss_map_dir: 0.0039, d0.loss_plan_l1_fix_time: 2.5311, d0.loss_plan_l1_fix_dist: 0.4254, d1.loss_plan_l1_fix_time: 0.6431, d1.loss_plan_l1_fix_dist: 0.3068, d2.loss_plan_l1_fix_time: 0.6249, d2.loss_plan_l1_fix_dist: 0.2619, d3.loss_plan_l1_fix_time: 0.6216, d3.loss_plan_l1_fix_dist: 0.2950, d4.loss_plan_l1_fix_time: 0.6221, d4.loss_plan_l1_fix_dist: 0.1938, d5.loss_plan_l1_fix_time: 0.6233, d5.loss_plan_l1_fix_dist: 0.1773, d6.loss_plan_l1_fix_time: 0.6250, d6.loss_plan_l1_fix_dist: 0.1796, d0.loss_cls_all: 0.1239, d0.loss_bbox_all: 0.3306, d0.loss_cls: 0.1239, d0.loss_bbox: 0.3306, d1.loss_cls: 0.1199, d1.loss_bbox: 0.2969, d2.loss_cls: 0.1101, d2.loss_bbox: 0.2773, d3.loss_cls: 0.0909, d3.loss_bbox: 0.2720, d4.loss_cls: 0.0852, d4.loss_bbox: 0.2697, d5.loss_cls: 0.0821, d5.loss_bbox: 0.2703, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.7509, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5902, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5259, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5041, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4963, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4967, d0.loss_map_cls_all: 0.1733, d0.loss_map_pts_all: 0.8737, d0.loss_map_dir_all: 0.0040, d0.loss_map_cls: 0.1733, d0.loss_map_pts: 0.8737, d0.loss_map_dir: 0.0040, d1.loss_map_cls: 0.1404, d1.loss_map_pts: 0.6349, d1.loss_map_dir: 0.0037, d2.loss_map_cls: 0.1161, d2.loss_map_pts: 0.4831, d2.loss_map_dir: 0.0035, d3.loss_map_cls: 0.1083, d3.loss_map_pts: 0.4267, d3.loss_map_dir: 0.0036, d4.loss_map_cls: 0.1009, d4.loss_map_pts: 0.4079, d4.loss_map_dir: 0.0038, d5.loss_map_cls: 0.0977, d5.loss_map_pts: 0.4042, d5.loss_map_dir: 0.0038, loss: 20.6768, grad_norm: 187.9742 +2026-03-01 10:52:18,273 - DriveTransformer - INFO - Epoch [13][400/39528] lr: 5.050e-05, eta: 4 days, 0:13:14, time: 0.721, data_time: 0.029, memory: 19865, loss_cls: 0.0835, loss_bbox: 0.2790, loss_traj: 0.4774, loss_traj_cls: 0.0021, loss_map_cls: 0.0833, loss_map_pts: 0.4468, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.4739, d0.loss_plan_l1_fix_dist: 0.5129, d1.loss_plan_l1_fix_time: 0.6677, d1.loss_plan_l1_fix_dist: 0.2899, d2.loss_plan_l1_fix_time: 0.6538, d2.loss_plan_l1_fix_dist: 0.2604, d3.loss_plan_l1_fix_time: 0.6516, d3.loss_plan_l1_fix_dist: 0.3045, d4.loss_plan_l1_fix_time: 0.6525, d4.loss_plan_l1_fix_dist: 0.2048, d5.loss_plan_l1_fix_time: 0.6540, d5.loss_plan_l1_fix_dist: 0.2102, d6.loss_plan_l1_fix_time: 0.6554, d6.loss_plan_l1_fix_dist: 0.2051, d0.loss_cls_all: 0.1244, d0.loss_bbox_all: 0.3491, d0.loss_cls: 0.1244, d0.loss_bbox: 0.3491, d1.loss_cls: 0.1218, d1.loss_bbox: 0.3147, d2.loss_cls: 0.1075, d2.loss_bbox: 0.2916, d3.loss_cls: 0.0874, d3.loss_bbox: 0.2846, d4.loss_cls: 0.0829, d4.loss_bbox: 0.2805, d5.loss_cls: 0.0832, d5.loss_bbox: 0.2794, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7363, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5653, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5132, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4880, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4824, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4792, d0.loss_map_cls_all: 0.1560, d0.loss_map_pts_all: 0.9498, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1560, d0.loss_map_pts: 0.9498, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1273, d1.loss_map_pts: 0.6960, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1064, d2.loss_map_pts: 0.5424, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0950, d3.loss_map_pts: 0.4814, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0892, d4.loss_map_pts: 0.4544, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0850, d5.loss_map_pts: 0.4481, d5.loss_map_dir: 0.0055, loss: 21.3011, grad_norm: 181.3743 +2026-03-01 10:52:54,429 - DriveTransformer - INFO - Epoch [13][450/39528] lr: 5.050e-05, eta: 4 days, 0:12:37, time: 0.723, data_time: 0.034, memory: 19865, loss_cls: 0.0785, loss_bbox: 0.2589, loss_traj: 0.4568, loss_traj_cls: 0.0021, loss_map_cls: 0.0847, loss_map_pts: 0.4208, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.5895, d0.loss_plan_l1_fix_dist: 0.4568, d1.loss_plan_l1_fix_time: 0.6471, d1.loss_plan_l1_fix_dist: 0.2772, d2.loss_plan_l1_fix_time: 0.6359, d2.loss_plan_l1_fix_dist: 0.2563, d3.loss_plan_l1_fix_time: 0.6244, d3.loss_plan_l1_fix_dist: 0.2999, d4.loss_plan_l1_fix_time: 0.6281, d4.loss_plan_l1_fix_dist: 0.1858, d5.loss_plan_l1_fix_time: 0.6306, d5.loss_plan_l1_fix_dist: 0.1961, d6.loss_plan_l1_fix_time: 0.6328, d6.loss_plan_l1_fix_dist: 0.1983, d0.loss_cls_all: 0.1184, d0.loss_bbox_all: 0.3224, d0.loss_cls: 0.1184, d0.loss_bbox: 0.3224, d1.loss_cls: 0.1107, d1.loss_bbox: 0.2929, d2.loss_cls: 0.1009, d2.loss_bbox: 0.2684, d3.loss_cls: 0.0805, d3.loss_bbox: 0.2619, d4.loss_cls: 0.0776, d4.loss_bbox: 0.2595, d5.loss_cls: 0.0782, d5.loss_bbox: 0.2590, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7206, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5633, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4871, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4664, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4582, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4567, d0.loss_map_cls_all: 0.1551, d0.loss_map_pts_all: 0.9239, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1551, d0.loss_map_pts: 0.9239, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1283, d1.loss_map_pts: 0.6625, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1073, d2.loss_map_pts: 0.5084, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0967, d3.loss_map_pts: 0.4480, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0906, d4.loss_map_pts: 0.4274, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0863, d5.loss_map_pts: 0.4216, d5.loss_map_dir: 0.0049, loss: 20.5652, grad_norm: 173.9936 +2026-03-01 10:53:30,447 - DriveTransformer - INFO - Epoch [13][500/39528] lr: 5.050e-05, eta: 4 days, 0:11:59, time: 0.720, data_time: 0.032, memory: 19865, loss_cls: 0.0869, loss_bbox: 0.2647, loss_traj: 0.3998, loss_traj_cls: 0.0020, loss_map_cls: 0.0834, loss_map_pts: 0.4694, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.0946, d0.loss_plan_l1_fix_dist: 0.3805, d1.loss_plan_l1_fix_time: 0.6267, d1.loss_plan_l1_fix_dist: 0.2430, d2.loss_plan_l1_fix_time: 0.6098, d2.loss_plan_l1_fix_dist: 0.2312, d3.loss_plan_l1_fix_time: 0.6085, d3.loss_plan_l1_fix_dist: 0.2703, d4.loss_plan_l1_fix_time: 0.6107, d4.loss_plan_l1_fix_dist: 0.1676, d5.loss_plan_l1_fix_time: 0.6127, d5.loss_plan_l1_fix_dist: 0.1692, d6.loss_plan_l1_fix_time: 0.6155, d6.loss_plan_l1_fix_dist: 0.1829, d0.loss_cls_all: 0.1263, d0.loss_bbox_all: 0.3316, d0.loss_cls: 0.1263, d0.loss_bbox: 0.3316, d1.loss_cls: 0.1260, d1.loss_bbox: 0.2980, d2.loss_cls: 0.1122, d2.loss_bbox: 0.2768, d3.loss_cls: 0.0961, d3.loss_bbox: 0.2701, d4.loss_cls: 0.0891, d4.loss_bbox: 0.2670, d5.loss_cls: 0.0873, d5.loss_bbox: 0.2647, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6036, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4738, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4355, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4057, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3990, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4004, d0.loss_map_cls_all: 0.1711, d0.loss_map_pts_all: 1.0284, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1711, d0.loss_map_pts: 1.0284, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1403, d1.loss_map_pts: 0.7313, d1.loss_map_dir: 0.0062, d2.loss_map_cls: 0.1109, d2.loss_map_pts: 0.5618, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.0967, d3.loss_map_pts: 0.4964, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0895, d4.loss_map_pts: 0.4757, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0852, d5.loss_map_pts: 0.4708, d5.loss_map_dir: 0.0062, loss: 19.9653, grad_norm: 168.8480 +2026-03-01 10:54:07,416 - DriveTransformer - INFO - Epoch [13][550/39528] lr: 5.050e-05, eta: 4 days, 0:11:23, time: 0.739, data_time: 0.033, memory: 19865, loss_cls: 0.0761, loss_bbox: 0.2584, loss_traj: 0.4124, loss_traj_cls: 0.0020, loss_map_cls: 0.1016, loss_map_pts: 0.4988, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.8963, d0.loss_plan_l1_fix_dist: 0.3157, d1.loss_plan_l1_fix_time: 0.7389, d1.loss_plan_l1_fix_dist: 0.2431, d2.loss_plan_l1_fix_time: 0.7258, d2.loss_plan_l1_fix_dist: 0.2379, d3.loss_plan_l1_fix_time: 0.7257, d3.loss_plan_l1_fix_dist: 0.2714, d4.loss_plan_l1_fix_time: 0.7277, d4.loss_plan_l1_fix_dist: 0.1847, d5.loss_plan_l1_fix_time: 0.7295, d5.loss_plan_l1_fix_dist: 0.1875, d6.loss_plan_l1_fix_time: 0.7319, d6.loss_plan_l1_fix_dist: 0.1954, d0.loss_cls_all: 0.1180, d0.loss_bbox_all: 0.3239, d0.loss_cls: 0.1180, d0.loss_bbox: 0.3239, d1.loss_cls: 0.1128, d1.loss_bbox: 0.2943, d2.loss_cls: 0.0997, d2.loss_bbox: 0.2719, d3.loss_cls: 0.0844, d3.loss_bbox: 0.2656, d4.loss_cls: 0.0792, d4.loss_bbox: 0.2608, d5.loss_cls: 0.0773, d5.loss_bbox: 0.2588, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6665, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4812, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4290, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4114, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4076, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4088, d0.loss_map_cls_all: 0.1807, d0.loss_map_pts_all: 1.0255, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1807, d0.loss_map_pts: 1.0255, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1484, d1.loss_map_pts: 0.7450, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1241, d2.loss_map_pts: 0.5865, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1149, d3.loss_map_pts: 0.5308, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1076, d4.loss_map_pts: 0.5057, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1038, d5.loss_map_pts: 0.5001, d5.loss_map_dir: 0.0065, loss: 21.6908, grad_norm: 160.8078 +2026-03-01 10:54:43,506 - DriveTransformer - INFO - Epoch [13][600/39528] lr: 5.050e-05, eta: 4 days, 0:10:46, time: 0.722, data_time: 0.034, memory: 19865, loss_cls: 0.0811, loss_bbox: 0.2599, loss_traj: 0.5501, loss_traj_cls: 0.0020, loss_map_cls: 0.0904, loss_map_pts: 0.4411, loss_map_dir: 0.0047, d0.loss_plan_l1_fix_time: 2.7360, d0.loss_plan_l1_fix_dist: 0.3854, d1.loss_plan_l1_fix_time: 0.6431, d1.loss_plan_l1_fix_dist: 0.2270, d2.loss_plan_l1_fix_time: 0.6354, d2.loss_plan_l1_fix_dist: 0.2266, d3.loss_plan_l1_fix_time: 0.6290, d3.loss_plan_l1_fix_dist: 0.2587, d4.loss_plan_l1_fix_time: 0.6308, d4.loss_plan_l1_fix_dist: 0.1892, d5.loss_plan_l1_fix_time: 0.6332, d5.loss_plan_l1_fix_dist: 0.1985, d6.loss_plan_l1_fix_time: 0.6363, d6.loss_plan_l1_fix_dist: 0.2031, d0.loss_cls_all: 0.1279, d0.loss_bbox_all: 0.3298, d0.loss_cls: 0.1279, d0.loss_bbox: 0.3298, d1.loss_cls: 0.1163, d1.loss_bbox: 0.2970, d2.loss_cls: 0.1064, d2.loss_bbox: 0.2707, d3.loss_cls: 0.0886, d3.loss_bbox: 0.2645, d4.loss_cls: 0.0829, d4.loss_bbox: 0.2622, d5.loss_cls: 0.0813, d5.loss_bbox: 0.2601, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8579, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.6536, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5685, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5534, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5527, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5524, d0.loss_map_cls_all: 0.1648, d0.loss_map_pts_all: 0.8823, d0.loss_map_dir_all: 0.0048, d0.loss_map_cls: 0.1648, d0.loss_map_pts: 0.8823, d0.loss_map_dir: 0.0048, d1.loss_map_cls: 0.1360, d1.loss_map_pts: 0.6657, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.1146, d2.loss_map_pts: 0.5213, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.1017, d3.loss_map_pts: 0.4673, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0966, d4.loss_map_pts: 0.4453, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0926, d5.loss_map_pts: 0.4413, d5.loss_map_dir: 0.0047, loss: 21.3601, grad_norm: 158.1361 +2026-03-01 10:55:18,008 - DriveTransformer - INFO - Epoch [13][650/39528] lr: 5.050e-05, eta: 4 days, 0:10:05, time: 0.690, data_time: 0.033, memory: 19865, loss_cls: 0.0655, loss_bbox: 0.2469, loss_traj: 0.5167, loss_traj_cls: 0.0020, loss_map_cls: 0.0582, loss_map_pts: 0.3617, loss_map_dir: 0.0042, d0.loss_plan_l1_fix_time: 2.6678, d0.loss_plan_l1_fix_dist: 0.3468, d1.loss_plan_l1_fix_time: 0.7255, d1.loss_plan_l1_fix_dist: 0.2004, d2.loss_plan_l1_fix_time: 0.7203, d2.loss_plan_l1_fix_dist: 0.2181, d3.loss_plan_l1_fix_time: 0.7198, d3.loss_plan_l1_fix_dist: 0.2390, d4.loss_plan_l1_fix_time: 0.7220, d4.loss_plan_l1_fix_dist: 0.1782, d5.loss_plan_l1_fix_time: 0.7244, d5.loss_plan_l1_fix_dist: 0.1706, d6.loss_plan_l1_fix_time: 0.7268, d6.loss_plan_l1_fix_dist: 0.1838, d0.loss_cls_all: 0.1066, d0.loss_bbox_all: 0.3064, d0.loss_cls: 0.1066, d0.loss_bbox: 0.3064, d1.loss_cls: 0.1001, d1.loss_bbox: 0.2762, d2.loss_cls: 0.0869, d2.loss_bbox: 0.2585, d3.loss_cls: 0.0714, d3.loss_bbox: 0.2527, d4.loss_cls: 0.0662, d4.loss_bbox: 0.2495, d5.loss_cls: 0.0650, d5.loss_bbox: 0.2478, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7439, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5911, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5364, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5189, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5189, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5175, d0.loss_map_cls_all: 0.1374, d0.loss_map_pts_all: 0.7596, d0.loss_map_dir_all: 0.0049, d0.loss_map_cls: 0.1374, d0.loss_map_pts: 0.7596, d0.loss_map_dir: 0.0049, d1.loss_map_cls: 0.1055, d1.loss_map_pts: 0.5588, d1.loss_map_dir: 0.0043, d2.loss_map_cls: 0.0805, d2.loss_map_pts: 0.4388, d2.loss_map_dir: 0.0040, d3.loss_map_cls: 0.0709, d3.loss_map_pts: 0.3864, d3.loss_map_dir: 0.0040, d4.loss_map_cls: 0.0663, d4.loss_map_pts: 0.3669, d4.loss_map_dir: 0.0041, d5.loss_map_cls: 0.0600, d5.loss_map_pts: 0.3615, d5.loss_map_dir: 0.0042, loss: 20.0520, grad_norm: 159.0474 +2026-03-01 10:55:53,197 - DriveTransformer - INFO - Epoch [13][700/39528] lr: 5.050e-05, eta: 4 days, 0:09:26, time: 0.704, data_time: 0.034, memory: 19865, loss_cls: 0.0684, loss_bbox: 0.2447, loss_traj: 0.3997, loss_traj_cls: 0.0020, loss_map_cls: 0.0829, loss_map_pts: 0.4346, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.4873, d0.loss_plan_l1_fix_dist: 0.4108, d1.loss_plan_l1_fix_time: 0.6434, d1.loss_plan_l1_fix_dist: 0.1994, d2.loss_plan_l1_fix_time: 0.6247, d2.loss_plan_l1_fix_dist: 0.2398, d3.loss_plan_l1_fix_time: 0.6237, d3.loss_plan_l1_fix_dist: 0.2575, d4.loss_plan_l1_fix_time: 0.6260, d4.loss_plan_l1_fix_dist: 0.2090, d5.loss_plan_l1_fix_time: 0.6293, d5.loss_plan_l1_fix_dist: 0.2024, d6.loss_plan_l1_fix_time: 0.6326, d6.loss_plan_l1_fix_dist: 0.2198, d0.loss_cls_all: 0.1131, d0.loss_bbox_all: 0.3105, d0.loss_cls: 0.1131, d0.loss_bbox: 0.3105, d1.loss_cls: 0.1088, d1.loss_bbox: 0.2768, d2.loss_cls: 0.0925, d2.loss_bbox: 0.2547, d3.loss_cls: 0.0735, d3.loss_bbox: 0.2492, d4.loss_cls: 0.0693, d4.loss_bbox: 0.2464, d5.loss_cls: 0.0681, d5.loss_bbox: 0.2448, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.5839, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4760, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4290, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4105, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4050, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4031, d0.loss_map_cls_all: 0.1701, d0.loss_map_pts_all: 0.9117, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1701, d0.loss_map_pts: 0.9117, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1334, d1.loss_map_pts: 0.6546, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.1103, d2.loss_map_pts: 0.5074, d2.loss_map_dir: 0.0043, d3.loss_map_cls: 0.0981, d3.loss_map_pts: 0.4504, d3.loss_map_dir: 0.0043, d4.loss_map_cls: 0.0897, d4.loss_map_pts: 0.4322, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0841, d5.loss_map_pts: 0.4308, d5.loss_map_dir: 0.0046, loss: 19.6743, grad_norm: 164.7479 +2026-03-01 10:56:31,359 - DriveTransformer - INFO - Epoch [13][750/39528] lr: 5.050e-05, eta: 4 days, 0:08:53, time: 0.763, data_time: 0.037, memory: 19865, loss_cls: 0.0770, loss_bbox: 0.2451, loss_traj: 0.3710, loss_traj_cls: 0.0020, loss_map_cls: 0.0824, loss_map_pts: 0.4809, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.4896, d0.loss_plan_l1_fix_dist: 0.3876, d1.loss_plan_l1_fix_time: 0.6917, d1.loss_plan_l1_fix_dist: 0.1804, d2.loss_plan_l1_fix_time: 0.6775, d2.loss_plan_l1_fix_dist: 0.2183, d3.loss_plan_l1_fix_time: 0.6737, d3.loss_plan_l1_fix_dist: 0.2229, d4.loss_plan_l1_fix_time: 0.6765, d4.loss_plan_l1_fix_dist: 0.1732, d5.loss_plan_l1_fix_time: 0.6796, d5.loss_plan_l1_fix_dist: 0.1715, d6.loss_plan_l1_fix_time: 0.6827, d6.loss_plan_l1_fix_dist: 0.1841, d0.loss_cls_all: 0.1150, d0.loss_bbox_all: 0.3044, d0.loss_cls: 0.1150, d0.loss_bbox: 0.3044, d1.loss_cls: 0.1098, d1.loss_bbox: 0.2752, d2.loss_cls: 0.0974, d2.loss_bbox: 0.2570, d3.loss_cls: 0.0820, d3.loss_bbox: 0.2509, d4.loss_cls: 0.0770, d4.loss_bbox: 0.2476, d5.loss_cls: 0.0757, d5.loss_bbox: 0.2469, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5567, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4462, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3887, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3735, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3730, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3769, d0.loss_map_cls_all: 0.1614, d0.loss_map_pts_all: 1.0309, d0.loss_map_dir_all: 0.0074, d0.loss_map_cls: 0.1614, d0.loss_map_pts: 1.0309, d0.loss_map_dir: 0.0074, d1.loss_map_cls: 0.1278, d1.loss_map_pts: 0.7302, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1047, d2.loss_map_pts: 0.5647, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.0961, d3.loss_map_pts: 0.5092, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0884, d4.loss_map_pts: 0.4865, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0843, d5.loss_map_pts: 0.4810, d5.loss_map_dir: 0.0063, loss: 20.1565, grad_norm: 159.4072 +2026-03-01 10:57:06,013 - DriveTransformer - INFO - Epoch [13][800/39528] lr: 5.050e-05, eta: 4 days, 0:08:12, time: 0.694, data_time: 0.035, memory: 19865, loss_cls: 0.0923, loss_bbox: 0.2677, loss_traj: 0.4332, loss_traj_cls: 0.0020, loss_map_cls: 0.0928, loss_map_pts: 0.4422, loss_map_dir: 0.0044, d0.loss_plan_l1_fix_time: 2.8346, d0.loss_plan_l1_fix_dist: 0.4227, d1.loss_plan_l1_fix_time: 0.7213, d1.loss_plan_l1_fix_dist: 0.1834, d2.loss_plan_l1_fix_time: 0.7009, d2.loss_plan_l1_fix_dist: 0.2336, d3.loss_plan_l1_fix_time: 0.6818, d3.loss_plan_l1_fix_dist: 0.2335, d4.loss_plan_l1_fix_time: 0.6813, d4.loss_plan_l1_fix_dist: 0.1944, d5.loss_plan_l1_fix_time: 0.6825, d5.loss_plan_l1_fix_dist: 0.2084, d6.loss_plan_l1_fix_time: 0.6848, d6.loss_plan_l1_fix_dist: 0.2398, d0.loss_cls_all: 0.1349, d0.loss_bbox_all: 0.3370, d0.loss_cls: 0.1349, d0.loss_bbox: 0.3370, d1.loss_cls: 0.1276, d1.loss_bbox: 0.3015, d2.loss_cls: 0.1169, d2.loss_bbox: 0.2797, d3.loss_cls: 0.0995, d3.loss_bbox: 0.2740, d4.loss_cls: 0.0935, d4.loss_bbox: 0.2700, d5.loss_cls: 0.0924, d5.loss_bbox: 0.2682, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6849, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5160, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4669, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4403, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4395, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4383, d0.loss_map_cls_all: 0.1844, d0.loss_map_pts_all: 0.9563, d0.loss_map_dir_all: 0.0045, d0.loss_map_cls: 0.1844, d0.loss_map_pts: 0.9563, d0.loss_map_dir: 0.0045, d1.loss_map_cls: 0.1480, d1.loss_map_pts: 0.6913, d1.loss_map_dir: 0.0041, d2.loss_map_cls: 0.1196, d2.loss_map_pts: 0.5346, d2.loss_map_dir: 0.0040, d3.loss_map_cls: 0.1081, d3.loss_map_pts: 0.4702, d3.loss_map_dir: 0.0041, d4.loss_map_cls: 0.1019, d4.loss_map_pts: 0.4468, d4.loss_map_dir: 0.0043, d5.loss_map_cls: 0.0961, d5.loss_map_pts: 0.4426, d5.loss_map_dir: 0.0044, loss: 21.3669, grad_norm: 155.5562 +2026-03-01 10:57:43,395 - DriveTransformer - INFO - Epoch [13][850/39528] lr: 5.050e-05, eta: 4 days, 0:07:37, time: 0.746, data_time: 0.033, memory: 19865, loss_cls: 0.0868, loss_bbox: 0.2829, loss_traj: 0.4995, loss_traj_cls: 0.0020, loss_map_cls: 0.0859, loss_map_pts: 0.4887, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.9888, d0.loss_plan_l1_fix_dist: 0.3954, d1.loss_plan_l1_fix_time: 0.6844, d1.loss_plan_l1_fix_dist: 0.1592, d2.loss_plan_l1_fix_time: 0.6671, d2.loss_plan_l1_fix_dist: 0.2192, d3.loss_plan_l1_fix_time: 0.6657, d3.loss_plan_l1_fix_dist: 0.2060, d4.loss_plan_l1_fix_time: 0.6673, d4.loss_plan_l1_fix_dist: 0.1575, d5.loss_plan_l1_fix_time: 0.6692, d5.loss_plan_l1_fix_dist: 0.1626, d6.loss_plan_l1_fix_time: 0.6715, d6.loss_plan_l1_fix_dist: 0.1813, d0.loss_cls_all: 0.1396, d0.loss_bbox_all: 0.3462, d0.loss_cls: 0.1396, d0.loss_bbox: 0.3462, d1.loss_cls: 0.1332, d1.loss_bbox: 0.3140, d2.loss_cls: 0.1160, d2.loss_bbox: 0.2945, d3.loss_cls: 0.0928, d3.loss_bbox: 0.2889, d4.loss_cls: 0.0881, d4.loss_bbox: 0.2852, d5.loss_cls: 0.0873, d5.loss_bbox: 0.2827, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7435, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5980, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5354, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5187, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5049, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4979, d0.loss_map_cls_all: 0.1709, d0.loss_map_pts_all: 1.0110, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1709, d0.loss_map_pts: 1.0110, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1357, d1.loss_map_pts: 0.7520, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1106, d2.loss_map_pts: 0.5792, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1007, d3.loss_map_pts: 0.5151, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0930, d4.loss_map_pts: 0.4951, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0892, d5.loss_map_pts: 0.4890, d5.loss_map_dir: 0.0063, loss: 22.0726, grad_norm: 152.9360 +2026-03-01 10:58:18,039 - DriveTransformer - INFO - Epoch [13][900/39528] lr: 5.050e-05, eta: 4 days, 0:06:57, time: 0.693, data_time: 0.035, memory: 19865, loss_cls: 0.0849, loss_bbox: 0.2627, loss_traj: 0.4544, loss_traj_cls: 0.0020, loss_map_cls: 0.0830, loss_map_pts: 0.4469, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.7172, d0.loss_plan_l1_fix_dist: 0.4352, d1.loss_plan_l1_fix_time: 0.7393, d1.loss_plan_l1_fix_dist: 0.1549, d2.loss_plan_l1_fix_time: 0.7177, d2.loss_plan_l1_fix_dist: 0.2211, d3.loss_plan_l1_fix_time: 0.7107, d3.loss_plan_l1_fix_dist: 0.2137, d4.loss_plan_l1_fix_time: 0.7112, d4.loss_plan_l1_fix_dist: 0.1761, d5.loss_plan_l1_fix_time: 0.7123, d5.loss_plan_l1_fix_dist: 0.1982, d6.loss_plan_l1_fix_time: 0.7137, d6.loss_plan_l1_fix_dist: 0.2106, d0.loss_cls_all: 0.1309, d0.loss_bbox_all: 0.3314, d0.loss_cls: 0.1309, d0.loss_bbox: 0.3314, d1.loss_cls: 0.1204, d1.loss_bbox: 0.2947, d2.loss_cls: 0.1078, d2.loss_bbox: 0.2746, d3.loss_cls: 0.0939, d3.loss_bbox: 0.2680, d4.loss_cls: 0.0888, d4.loss_bbox: 0.2637, d5.loss_cls: 0.0867, d5.loss_bbox: 0.2627, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7221, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.5495, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4818, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4656, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4601, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4555, d0.loss_map_cls_all: 0.1700, d0.loss_map_pts_all: 0.9175, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1700, d0.loss_map_pts: 0.9175, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1385, d1.loss_map_pts: 0.6620, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1111, d2.loss_map_pts: 0.5254, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0961, d3.loss_map_pts: 0.4718, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0901, d4.loss_map_pts: 0.4517, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0847, d5.loss_map_pts: 0.4474, d5.loss_map_dir: 0.0048, loss: 21.1841, grad_norm: 148.4745 +2026-03-01 10:58:52,737 - DriveTransformer - INFO - Epoch [13][950/39528] lr: 5.050e-05, eta: 4 days, 0:06:17, time: 0.694, data_time: 0.037, memory: 19865, loss_cls: 0.0752, loss_bbox: 0.2469, loss_traj: 0.4482, loss_traj_cls: 0.0021, loss_map_cls: 0.0776, loss_map_pts: 0.3859, loss_map_dir: 0.0042, d0.loss_plan_l1_fix_time: 2.8400, d0.loss_plan_l1_fix_dist: 0.4092, d1.loss_plan_l1_fix_time: 0.6810, d1.loss_plan_l1_fix_dist: 0.1509, d2.loss_plan_l1_fix_time: 0.6630, d2.loss_plan_l1_fix_dist: 0.2111, d3.loss_plan_l1_fix_time: 0.6590, d3.loss_plan_l1_fix_dist: 0.1819, d4.loss_plan_l1_fix_time: 0.6596, d4.loss_plan_l1_fix_dist: 0.1677, d5.loss_plan_l1_fix_time: 0.6611, d5.loss_plan_l1_fix_dist: 0.1616, d6.loss_plan_l1_fix_time: 0.6629, d6.loss_plan_l1_fix_dist: 0.1613, d0.loss_cls_all: 0.1176, d0.loss_bbox_all: 0.3062, d0.loss_cls: 0.1176, d0.loss_bbox: 0.3062, d1.loss_cls: 0.1077, d1.loss_bbox: 0.2770, d2.loss_cls: 0.0982, d2.loss_bbox: 0.2574, d3.loss_cls: 0.0810, d3.loss_bbox: 0.2523, d4.loss_cls: 0.0769, d4.loss_bbox: 0.2498, d5.loss_cls: 0.0756, d5.loss_bbox: 0.2471, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6933, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5217, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4706, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4523, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4509, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4493, d0.loss_map_cls_all: 0.1520, d0.loss_map_pts_all: 0.8497, d0.loss_map_dir_all: 0.0046, d0.loss_map_cls: 0.1520, d0.loss_map_pts: 0.8497, d0.loss_map_dir: 0.0046, d1.loss_map_cls: 0.1213, d1.loss_map_pts: 0.6042, d1.loss_map_dir: 0.0042, d2.loss_map_cls: 0.0989, d2.loss_map_pts: 0.4655, d2.loss_map_dir: 0.0039, d3.loss_map_cls: 0.0869, d3.loss_map_pts: 0.4100, d3.loss_map_dir: 0.0040, d4.loss_map_cls: 0.0833, d4.loss_map_pts: 0.3923, d4.loss_map_dir: 0.0041, d5.loss_map_cls: 0.0788, d5.loss_map_pts: 0.3860, d5.loss_map_dir: 0.0042, loss: 19.8846, grad_norm: 148.6223 +2026-03-01 10:59:28,461 - DriveTransformer - INFO - Epoch [13][1000/39528] lr: 5.050e-05, eta: 4 days, 0:05:39, time: 0.714, data_time: 0.035, memory: 19865, loss_cls: 0.0712, loss_bbox: 0.2689, loss_traj: 0.4735, loss_traj_cls: 0.0020, loss_map_cls: 0.0835, loss_map_pts: 0.4488, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.5472, d0.loss_plan_l1_fix_dist: 0.4759, d1.loss_plan_l1_fix_time: 0.7021, d1.loss_plan_l1_fix_dist: 0.2024, d2.loss_plan_l1_fix_time: 0.6822, d2.loss_plan_l1_fix_dist: 0.2407, d3.loss_plan_l1_fix_time: 0.6779, d3.loss_plan_l1_fix_dist: 0.2049, d4.loss_plan_l1_fix_time: 0.6781, d4.loss_plan_l1_fix_dist: 0.2019, d5.loss_plan_l1_fix_time: 0.6791, d5.loss_plan_l1_fix_dist: 0.1932, d6.loss_plan_l1_fix_time: 0.6805, d6.loss_plan_l1_fix_dist: 0.1967, d0.loss_cls_all: 0.1209, d0.loss_bbox_all: 0.3308, d0.loss_cls: 0.1209, d0.loss_bbox: 0.3308, d1.loss_cls: 0.1066, d1.loss_bbox: 0.3008, d2.loss_cls: 0.0940, d2.loss_bbox: 0.2799, d3.loss_cls: 0.0754, d3.loss_bbox: 0.2764, d4.loss_cls: 0.0723, d4.loss_bbox: 0.2719, d5.loss_cls: 0.0708, d5.loss_bbox: 0.2698, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7481, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5717, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5051, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4895, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4820, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4755, d0.loss_map_cls_all: 0.1776, d0.loss_map_pts_all: 0.9521, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1776, d0.loss_map_pts: 0.9521, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1389, d1.loss_map_pts: 0.6920, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1123, d2.loss_map_pts: 0.5458, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0996, d3.loss_map_pts: 0.4852, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0928, d4.loss_map_pts: 0.4568, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0860, d5.loss_map_pts: 0.4492, d5.loss_map_dir: 0.0053, loss: 21.1711, grad_norm: 149.0755 +2026-03-01 11:00:03,922 - DriveTransformer - INFO - Epoch [13][1050/39528] lr: 5.050e-05, eta: 4 days, 0:05:00, time: 0.709, data_time: 0.033, memory: 19865, loss_cls: 0.0755, loss_bbox: 0.2613, loss_traj: 0.5226, loss_traj_cls: 0.0021, loss_map_cls: 0.0670, loss_map_pts: 0.3934, loss_map_dir: 0.0043, d0.loss_plan_l1_fix_time: 2.3459, d0.loss_plan_l1_fix_dist: 0.4814, d1.loss_plan_l1_fix_time: 0.6522, d1.loss_plan_l1_fix_dist: 0.1821, d2.loss_plan_l1_fix_time: 0.6251, d2.loss_plan_l1_fix_dist: 0.1999, d3.loss_plan_l1_fix_time: 0.6217, d3.loss_plan_l1_fix_dist: 0.1632, d4.loss_plan_l1_fix_time: 0.6214, d4.loss_plan_l1_fix_dist: 0.1498, d5.loss_plan_l1_fix_time: 0.6221, d5.loss_plan_l1_fix_dist: 0.1530, d6.loss_plan_l1_fix_time: 0.6235, d6.loss_plan_l1_fix_dist: 0.1617, d0.loss_cls_all: 0.1123, d0.loss_bbox_all: 0.3268, d0.loss_cls: 0.1123, d0.loss_bbox: 0.3268, d1.loss_cls: 0.1097, d1.loss_bbox: 0.2934, d2.loss_cls: 0.1002, d2.loss_bbox: 0.2721, d3.loss_cls: 0.0816, d3.loss_bbox: 0.2669, d4.loss_cls: 0.0765, d4.loss_bbox: 0.2633, d5.loss_cls: 0.0749, d5.loss_bbox: 0.2624, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8028, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.6026, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5340, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5221, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5204, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5191, d0.loss_map_cls_all: 0.1604, d0.loss_map_pts_all: 0.8647, d0.loss_map_dir_all: 0.0047, d0.loss_map_cls: 0.1604, d0.loss_map_pts: 0.8647, d0.loss_map_dir: 0.0047, d1.loss_map_cls: 0.1226, d1.loss_map_pts: 0.6231, d1.loss_map_dir: 0.0043, d2.loss_map_cls: 0.0938, d2.loss_map_pts: 0.4731, d2.loss_map_dir: 0.0039, d3.loss_map_cls: 0.0823, d3.loss_map_pts: 0.4172, d3.loss_map_dir: 0.0040, d4.loss_map_cls: 0.0742, d4.loss_map_pts: 0.3991, d4.loss_map_dir: 0.0042, d5.loss_map_cls: 0.0698, d5.loss_map_pts: 0.3927, d5.loss_map_dir: 0.0042, loss: 19.9436, grad_norm: 147.0633 +2026-03-01 11:00:40,133 - DriveTransformer - INFO - Epoch [13][1100/39528] lr: 5.050e-05, eta: 4 days, 0:04:23, time: 0.724, data_time: 0.036, memory: 19865, loss_cls: 0.0696, loss_bbox: 0.2511, loss_traj: 0.4347, loss_traj_cls: 0.0021, loss_map_cls: 0.0783, loss_map_pts: 0.4338, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.7990, d0.loss_plan_l1_fix_dist: 0.3747, d1.loss_plan_l1_fix_time: 0.7040, d1.loss_plan_l1_fix_dist: 0.2105, d2.loss_plan_l1_fix_time: 0.6824, d2.loss_plan_l1_fix_dist: 0.2222, d3.loss_plan_l1_fix_time: 0.6814, d3.loss_plan_l1_fix_dist: 0.1812, d4.loss_plan_l1_fix_time: 0.6820, d4.loss_plan_l1_fix_dist: 0.1692, d5.loss_plan_l1_fix_time: 0.6833, d5.loss_plan_l1_fix_dist: 0.1789, d6.loss_plan_l1_fix_time: 0.6852, d6.loss_plan_l1_fix_dist: 0.1938, d0.loss_cls_all: 0.1152, d0.loss_bbox_all: 0.3085, d0.loss_cls: 0.1152, d0.loss_bbox: 0.3085, d1.loss_cls: 0.1105, d1.loss_bbox: 0.2788, d2.loss_cls: 0.0978, d2.loss_bbox: 0.2622, d3.loss_cls: 0.0768, d3.loss_bbox: 0.2575, d4.loss_cls: 0.0712, d4.loss_bbox: 0.2526, d5.loss_cls: 0.0698, d5.loss_bbox: 0.2512, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6302, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5067, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4557, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4412, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4330, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4333, d0.loss_map_cls_all: 0.1641, d0.loss_map_pts_all: 0.9564, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1641, d0.loss_map_pts: 0.9564, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1297, d1.loss_map_pts: 0.6664, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1047, d2.loss_map_pts: 0.5126, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0932, d3.loss_map_pts: 0.4585, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0863, d4.loss_map_pts: 0.4390, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0812, d5.loss_map_pts: 0.4330, d5.loss_map_dir: 0.0056, loss: 20.4892, grad_norm: 146.2099 +2026-03-01 11:01:15,241 - DriveTransformer - INFO - Epoch [13][1150/39528] lr: 5.050e-05, eta: 4 days, 0:03:43, time: 0.702, data_time: 0.036, memory: 19865, loss_cls: 0.0984, loss_bbox: 0.2982, loss_traj: 0.4554, loss_traj_cls: 0.0020, loss_map_cls: 0.0968, loss_map_pts: 0.4536, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 3.1974, d0.loss_plan_l1_fix_dist: 0.4259, d1.loss_plan_l1_fix_time: 0.7112, d1.loss_plan_l1_fix_dist: 0.2293, d2.loss_plan_l1_fix_time: 0.7080, d2.loss_plan_l1_fix_dist: 0.2264, d3.loss_plan_l1_fix_time: 0.7077, d3.loss_plan_l1_fix_dist: 0.1687, d4.loss_plan_l1_fix_time: 0.7101, d4.loss_plan_l1_fix_dist: 0.1802, d5.loss_plan_l1_fix_time: 0.7122, d5.loss_plan_l1_fix_dist: 0.1771, d6.loss_plan_l1_fix_time: 0.7143, d6.loss_plan_l1_fix_dist: 0.1811, d0.loss_cls_all: 0.1503, d0.loss_bbox_all: 0.3673, d0.loss_cls: 0.1503, d0.loss_bbox: 0.3673, d1.loss_cls: 0.1419, d1.loss_bbox: 0.3303, d2.loss_cls: 0.1295, d2.loss_bbox: 0.3063, d3.loss_cls: 0.1099, d3.loss_bbox: 0.3000, d4.loss_cls: 0.1001, d4.loss_bbox: 0.2990, d5.loss_cls: 0.0979, d5.loss_bbox: 0.2985, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7279, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5589, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4830, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4666, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4617, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4559, d0.loss_map_cls_all: 0.1792, d0.loss_map_pts_all: 0.9709, d0.loss_map_dir_all: 0.0050, d0.loss_map_cls: 0.1792, d0.loss_map_pts: 0.9709, d0.loss_map_dir: 0.0050, d1.loss_map_cls: 0.1537, d1.loss_map_pts: 0.7082, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.1248, d2.loss_map_pts: 0.5488, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.1114, d3.loss_map_pts: 0.4843, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.1058, d4.loss_map_pts: 0.4595, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.1006, d5.loss_map_pts: 0.4536, d5.loss_map_dir: 0.0049, loss: 22.3519, grad_norm: 146.6058 +2026-03-01 11:01:52,563 - DriveTransformer - INFO - Epoch [13][1200/39528] lr: 5.050e-05, eta: 4 days, 0:03:08, time: 0.746, data_time: 0.034, memory: 19865, loss_cls: 0.0718, loss_bbox: 0.2426, loss_traj: 0.4135, loss_traj_cls: 0.0021, loss_map_cls: 0.0676, loss_map_pts: 0.4413, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.7904, d0.loss_plan_l1_fix_dist: 0.4969, d1.loss_plan_l1_fix_time: 0.7427, d1.loss_plan_l1_fix_dist: 0.2480, d2.loss_plan_l1_fix_time: 0.7347, d2.loss_plan_l1_fix_dist: 0.2199, d3.loss_plan_l1_fix_time: 0.7127, d3.loss_plan_l1_fix_dist: 0.1885, d4.loss_plan_l1_fix_time: 0.7137, d4.loss_plan_l1_fix_dist: 0.1923, d5.loss_plan_l1_fix_time: 0.7154, d5.loss_plan_l1_fix_dist: 0.1883, d6.loss_plan_l1_fix_time: 0.7174, d6.loss_plan_l1_fix_dist: 0.1822, d0.loss_cls_all: 0.1135, d0.loss_bbox_all: 0.3164, d0.loss_cls: 0.1135, d0.loss_bbox: 0.3164, d1.loss_cls: 0.1031, d1.loss_bbox: 0.2839, d2.loss_cls: 0.0922, d2.loss_bbox: 0.2577, d3.loss_cls: 0.0783, d3.loss_bbox: 0.2482, d4.loss_cls: 0.0727, d4.loss_bbox: 0.2452, d5.loss_cls: 0.0714, d5.loss_bbox: 0.2431, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6232, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4792, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4354, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4193, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4173, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4135, d0.loss_map_cls_all: 0.1510, d0.loss_map_pts_all: 0.9558, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1510, d0.loss_map_pts: 0.9558, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1154, d1.loss_map_pts: 0.6744, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.0945, d2.loss_map_pts: 0.5140, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0826, d3.loss_map_pts: 0.4605, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0749, d4.loss_map_pts: 0.4448, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0702, d5.loss_map_pts: 0.4398, d5.loss_map_dir: 0.0054, loss: 20.6607, grad_norm: 144.5414 +2026-03-01 11:02:29,345 - DriveTransformer - INFO - Epoch [13][1250/39528] lr: 5.050e-05, eta: 4 days, 0:02:32, time: 0.736, data_time: 0.034, memory: 19865, loss_cls: 0.0789, loss_bbox: 0.2383, loss_traj: 0.4431, loss_traj_cls: 0.0021, loss_map_cls: 0.0668, loss_map_pts: 0.3948, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.7088, d0.loss_plan_l1_fix_dist: 0.4804, d1.loss_plan_l1_fix_time: 0.6271, d1.loss_plan_l1_fix_dist: 0.2358, d2.loss_plan_l1_fix_time: 0.6165, d2.loss_plan_l1_fix_dist: 0.1989, d3.loss_plan_l1_fix_time: 0.6147, d3.loss_plan_l1_fix_dist: 0.1923, d4.loss_plan_l1_fix_time: 0.6161, d4.loss_plan_l1_fix_dist: 0.1793, d5.loss_plan_l1_fix_time: 0.6180, d5.loss_plan_l1_fix_dist: 0.1709, d6.loss_plan_l1_fix_time: 0.6200, d6.loss_plan_l1_fix_dist: 0.1701, d0.loss_cls_all: 0.1200, d0.loss_bbox_all: 0.3074, d0.loss_cls: 0.1200, d0.loss_bbox: 0.3074, d1.loss_cls: 0.1159, d1.loss_bbox: 0.2751, d2.loss_cls: 0.1042, d2.loss_bbox: 0.2540, d3.loss_cls: 0.0862, d3.loss_bbox: 0.2459, d4.loss_cls: 0.0787, d4.loss_bbox: 0.2413, d5.loss_cls: 0.0784, d5.loss_bbox: 0.2388, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6439, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4962, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4538, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4419, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4425, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4416, d0.loss_map_cls_all: 0.1544, d0.loss_map_pts_all: 0.9000, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1544, d0.loss_map_pts: 0.9000, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1190, d1.loss_map_pts: 0.6328, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.0922, d2.loss_map_pts: 0.4724, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0814, d3.loss_map_pts: 0.4204, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0764, d4.loss_map_pts: 0.4026, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0699, d5.loss_map_pts: 0.3952, d5.loss_map_dir: 0.0049, loss: 19.6828, grad_norm: 143.2164 +2026-03-01 11:03:04,884 - DriveTransformer - INFO - Epoch [13][1300/39528] lr: 5.050e-05, eta: 4 days, 0:01:54, time: 0.711, data_time: 0.034, memory: 19865, loss_cls: 0.0918, loss_bbox: 0.2807, loss_traj: 0.4644, loss_traj_cls: 0.0021, loss_map_cls: 0.0828, loss_map_pts: 0.4223, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.7369, d0.loss_plan_l1_fix_dist: 0.3256, d1.loss_plan_l1_fix_time: 0.6651, d1.loss_plan_l1_fix_dist: 0.2331, d2.loss_plan_l1_fix_time: 0.6577, d2.loss_plan_l1_fix_dist: 0.1781, d3.loss_plan_l1_fix_time: 0.6588, d3.loss_plan_l1_fix_dist: 0.1934, d4.loss_plan_l1_fix_time: 0.6610, d4.loss_plan_l1_fix_dist: 0.1641, d5.loss_plan_l1_fix_time: 0.6634, d5.loss_plan_l1_fix_dist: 0.1539, d6.loss_plan_l1_fix_time: 0.6662, d6.loss_plan_l1_fix_dist: 0.1575, d0.loss_cls_all: 0.1363, d0.loss_bbox_all: 0.3453, d0.loss_cls: 0.1363, d0.loss_bbox: 0.3453, d1.loss_cls: 0.1330, d1.loss_bbox: 0.3133, d2.loss_cls: 0.1156, d2.loss_bbox: 0.2929, d3.loss_cls: 0.0985, d3.loss_bbox: 0.2854, d4.loss_cls: 0.0917, d4.loss_bbox: 0.2838, d5.loss_cls: 0.0923, d5.loss_bbox: 0.2809, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7162, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5470, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5008, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4791, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4701, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4651, d0.loss_map_cls_all: 0.1574, d0.loss_map_pts_all: 0.8927, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1574, d0.loss_map_pts: 0.8927, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1246, d1.loss_map_pts: 0.6438, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1044, d2.loss_map_pts: 0.5049, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0936, d3.loss_map_pts: 0.4519, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0885, d4.loss_map_pts: 0.4324, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0856, d5.loss_map_pts: 0.4236, d5.loss_map_dir: 0.0051, loss: 20.6891, grad_norm: 143.8014 +2026-03-01 11:03:41,633 - DriveTransformer - INFO - Epoch [13][1350/39528] lr: 5.050e-05, eta: 4 days, 0:01:18, time: 0.735, data_time: 0.035, memory: 19865, loss_cls: 0.0806, loss_bbox: 0.2623, loss_traj: 0.3926, loss_traj_cls: 0.0022, loss_map_cls: 0.0857, loss_map_pts: 0.4873, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.7918, d0.loss_plan_l1_fix_dist: 0.5253, d1.loss_plan_l1_fix_time: 0.6553, d1.loss_plan_l1_fix_dist: 0.2581, d2.loss_plan_l1_fix_time: 0.6449, d2.loss_plan_l1_fix_dist: 0.2003, d3.loss_plan_l1_fix_time: 0.6396, d3.loss_plan_l1_fix_dist: 0.2273, d4.loss_plan_l1_fix_time: 0.6408, d4.loss_plan_l1_fix_dist: 0.1802, d5.loss_plan_l1_fix_time: 0.6427, d5.loss_plan_l1_fix_dist: 0.1749, d6.loss_plan_l1_fix_time: 0.6448, d6.loss_plan_l1_fix_dist: 0.1805, d0.loss_cls_all: 0.1253, d0.loss_bbox_all: 0.3286, d0.loss_cls: 0.1253, d0.loss_bbox: 0.3286, d1.loss_cls: 0.1219, d1.loss_bbox: 0.2923, d2.loss_cls: 0.1107, d2.loss_bbox: 0.2721, d3.loss_cls: 0.0901, d3.loss_bbox: 0.2669, d4.loss_cls: 0.0837, d4.loss_bbox: 0.2636, d5.loss_cls: 0.0799, d5.loss_bbox: 0.2636, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6416, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4766, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4216, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4052, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3999, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3979, d0.loss_map_cls_all: 0.1668, d0.loss_map_pts_all: 1.0129, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1668, d0.loss_map_pts: 1.0129, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1353, d1.loss_map_pts: 0.7333, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1117, d2.loss_map_pts: 0.5834, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1015, d3.loss_map_pts: 0.5224, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0947, d4.loss_map_pts: 0.4939, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0887, d5.loss_map_pts: 0.4888, d5.loss_map_dir: 0.0056, loss: 20.9775, grad_norm: 144.4720 +2026-03-01 11:04:18,966 - DriveTransformer - INFO - Epoch [13][1400/39528] lr: 5.050e-05, eta: 4 days, 0:00:43, time: 0.747, data_time: 0.034, memory: 19865, loss_cls: 0.0759, loss_bbox: 0.2699, loss_traj: 0.4250, loss_traj_cls: 0.0021, loss_map_cls: 0.0750, loss_map_pts: 0.4664, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.6484, d0.loss_plan_l1_fix_dist: 0.4222, d1.loss_plan_l1_fix_time: 0.7347, d1.loss_plan_l1_fix_dist: 0.2292, d2.loss_plan_l1_fix_time: 0.7187, d2.loss_plan_l1_fix_dist: 0.1748, d3.loss_plan_l1_fix_time: 0.7147, d3.loss_plan_l1_fix_dist: 0.2063, d4.loss_plan_l1_fix_time: 0.7156, d4.loss_plan_l1_fix_dist: 0.1474, d5.loss_plan_l1_fix_time: 0.7173, d5.loss_plan_l1_fix_dist: 0.1595, d6.loss_plan_l1_fix_time: 0.7196, d6.loss_plan_l1_fix_dist: 0.1600, d0.loss_cls_all: 0.1234, d0.loss_bbox_all: 0.3388, d0.loss_cls: 0.1234, d0.loss_bbox: 0.3388, d1.loss_cls: 0.1162, d1.loss_bbox: 0.3048, d2.loss_cls: 0.1019, d2.loss_bbox: 0.2846, d3.loss_cls: 0.0822, d3.loss_bbox: 0.2778, d4.loss_cls: 0.0772, d4.loss_bbox: 0.2738, d5.loss_cls: 0.0754, d5.loss_bbox: 0.2717, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6223, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4903, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4479, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4341, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4288, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4249, d0.loss_map_cls_all: 0.1528, d0.loss_map_pts_all: 1.0302, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1528, d0.loss_map_pts: 1.0302, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1228, d1.loss_map_pts: 0.7254, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.0998, d2.loss_map_pts: 0.5562, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.0888, d3.loss_map_pts: 0.4941, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0832, d4.loss_map_pts: 0.4710, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0775, d5.loss_map_pts: 0.4674, d5.loss_map_dir: 0.0062, loss: 21.0286, grad_norm: 144.1426 +2026-03-01 11:04:58,926 - DriveTransformer - INFO - Epoch [13][1450/39528] lr: 5.050e-05, eta: 4 days, 0:00:13, time: 0.799, data_time: 0.039, memory: 19865, loss_cls: 0.0703, loss_bbox: 0.2588, loss_traj: 0.3694, loss_traj_cls: 0.0022, loss_map_cls: 0.0740, loss_map_pts: 0.4758, loss_map_dir: 0.0069, d0.loss_plan_l1_fix_time: 2.6551, d0.loss_plan_l1_fix_dist: 0.4411, d1.loss_plan_l1_fix_time: 0.6442, d1.loss_plan_l1_fix_dist: 0.2494, d2.loss_plan_l1_fix_time: 0.6379, d2.loss_plan_l1_fix_dist: 0.1719, d3.loss_plan_l1_fix_time: 0.6268, d3.loss_plan_l1_fix_dist: 0.2093, d4.loss_plan_l1_fix_time: 0.6275, d4.loss_plan_l1_fix_dist: 0.1453, d5.loss_plan_l1_fix_time: 0.6283, d5.loss_plan_l1_fix_dist: 0.1600, d6.loss_plan_l1_fix_time: 0.6297, d6.loss_plan_l1_fix_dist: 0.1501, d0.loss_cls_all: 0.1151, d0.loss_bbox_all: 0.3154, d0.loss_cls: 0.1151, d0.loss_bbox: 0.3154, d1.loss_cls: 0.1084, d1.loss_bbox: 0.2854, d2.loss_cls: 0.0938, d2.loss_bbox: 0.2683, d3.loss_cls: 0.0789, d3.loss_bbox: 0.2635, d4.loss_cls: 0.0749, d4.loss_bbox: 0.2594, d5.loss_cls: 0.0720, d5.loss_bbox: 0.2577, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5622, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4397, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.3920, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3781, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3728, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3707, d0.loss_map_cls_all: 0.1539, d0.loss_map_pts_all: 1.0076, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1539, d0.loss_map_pts: 1.0076, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1207, d1.loss_map_pts: 0.7240, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.0989, d2.loss_map_pts: 0.5568, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.0898, d3.loss_map_pts: 0.4996, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.0823, d4.loss_map_pts: 0.4813, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.0772, d5.loss_map_pts: 0.4758, d5.loss_map_dir: 0.0068, loss: 19.9557, grad_norm: 141.9791 +2026-03-01 11:05:35,353 - DriveTransformer - INFO - Epoch [13][1500/39528] lr: 5.050e-05, eta: 3 days, 23:59:36, time: 0.729, data_time: 0.036, memory: 19865, loss_cls: 0.0744, loss_bbox: 0.2582, loss_traj: 0.4611, loss_traj_cls: 0.0021, loss_map_cls: 0.0892, loss_map_pts: 0.5057, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.5393, d0.loss_plan_l1_fix_dist: 0.3943, d1.loss_plan_l1_fix_time: 0.6719, d1.loss_plan_l1_fix_dist: 0.2339, d2.loss_plan_l1_fix_time: 0.6579, d2.loss_plan_l1_fix_dist: 0.1532, d3.loss_plan_l1_fix_time: 0.6445, d3.loss_plan_l1_fix_dist: 0.1971, d4.loss_plan_l1_fix_time: 0.6447, d4.loss_plan_l1_fix_dist: 0.1417, d5.loss_plan_l1_fix_time: 0.6453, d5.loss_plan_l1_fix_dist: 0.1593, d6.loss_plan_l1_fix_time: 0.6467, d6.loss_plan_l1_fix_dist: 0.1507, d0.loss_cls_all: 0.1208, d0.loss_bbox_all: 0.3213, d0.loss_cls: 0.1208, d0.loss_bbox: 0.3213, d1.loss_cls: 0.1114, d1.loss_bbox: 0.2909, d2.loss_cls: 0.0995, d2.loss_bbox: 0.2680, d3.loss_cls: 0.0803, d3.loss_bbox: 0.2628, d4.loss_cls: 0.0756, d4.loss_bbox: 0.2593, d5.loss_cls: 0.0730, d5.loss_bbox: 0.2597, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7834, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.6049, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5221, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4859, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4698, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4636, d0.loss_map_cls_all: 0.1805, d0.loss_map_pts_all: 1.0898, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1805, d0.loss_map_pts: 1.0898, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1458, d1.loss_map_pts: 0.8038, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1185, d2.loss_map_pts: 0.6099, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1063, d3.loss_map_pts: 0.5394, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0974, d4.loss_map_pts: 0.5140, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0918, d5.loss_map_pts: 0.5078, d5.loss_map_dir: 0.0059, loss: 21.3934, grad_norm: 141.6211 +2026-03-01 11:06:12,087 - DriveTransformer - INFO - Epoch [13][1550/39528] lr: 5.050e-05, eta: 3 days, 23:59:00, time: 0.735, data_time: 0.035, memory: 19865, loss_cls: 0.0771, loss_bbox: 0.2648, loss_traj: 0.4236, loss_traj_cls: 0.0021, loss_map_cls: 0.0958, loss_map_pts: 0.5210, loss_map_dir: 0.0065, d0.loss_plan_l1_fix_time: 2.7136, d0.loss_plan_l1_fix_dist: 0.3546, d1.loss_plan_l1_fix_time: 0.6833, d1.loss_plan_l1_fix_dist: 0.2328, d2.loss_plan_l1_fix_time: 0.6602, d2.loss_plan_l1_fix_dist: 0.1580, d3.loss_plan_l1_fix_time: 0.6462, d3.loss_plan_l1_fix_dist: 0.1925, d4.loss_plan_l1_fix_time: 0.6463, d4.loss_plan_l1_fix_dist: 0.1413, d5.loss_plan_l1_fix_time: 0.6471, d5.loss_plan_l1_fix_dist: 0.1469, d6.loss_plan_l1_fix_time: 0.6486, d6.loss_plan_l1_fix_dist: 0.1432, d0.loss_cls_all: 0.1315, d0.loss_bbox_all: 0.3350, d0.loss_cls: 0.1315, d0.loss_bbox: 0.3350, d1.loss_cls: 0.1190, d1.loss_bbox: 0.3023, d2.loss_cls: 0.1044, d2.loss_bbox: 0.2796, d3.loss_cls: 0.0883, d3.loss_bbox: 0.2712, d4.loss_cls: 0.0804, d4.loss_bbox: 0.2665, d5.loss_cls: 0.0769, d5.loss_bbox: 0.2657, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6726, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5108, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4523, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4350, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4272, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4208, d0.loss_map_cls_all: 0.1843, d0.loss_map_pts_all: 1.1271, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1843, d0.loss_map_pts: 1.1271, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1543, d1.loss_map_pts: 0.8150, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1274, d2.loss_map_pts: 0.6160, d2.loss_map_dir: 0.0060, d3.loss_map_cls: 0.1123, d3.loss_map_pts: 0.5513, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.1034, d4.loss_map_pts: 0.5258, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0984, d5.loss_map_pts: 0.5209, d5.loss_map_dir: 0.0065, loss: 21.4102, grad_norm: 141.2681 +2026-03-01 11:06:48,230 - DriveTransformer - INFO - Epoch [13][1600/39528] lr: 5.050e-05, eta: 3 days, 23:58:23, time: 0.724, data_time: 0.033, memory: 19865, loss_cls: 0.0702, loss_bbox: 0.2559, loss_traj: 0.4835, loss_traj_cls: 0.0021, loss_map_cls: 0.1040, loss_map_pts: 0.4783, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.6865, d0.loss_plan_l1_fix_dist: 0.3971, d1.loss_plan_l1_fix_time: 0.7099, d1.loss_plan_l1_fix_dist: 0.2253, d2.loss_plan_l1_fix_time: 0.6952, d2.loss_plan_l1_fix_dist: 0.1592, d3.loss_plan_l1_fix_time: 0.6974, d3.loss_plan_l1_fix_dist: 0.1842, d4.loss_plan_l1_fix_time: 0.6989, d4.loss_plan_l1_fix_dist: 0.1513, d5.loss_plan_l1_fix_time: 0.7008, d5.loss_plan_l1_fix_dist: 0.1501, d6.loss_plan_l1_fix_time: 0.7028, d6.loss_plan_l1_fix_dist: 0.1501, d0.loss_cls_all: 0.1144, d0.loss_bbox_all: 0.3260, d0.loss_cls: 0.1144, d0.loss_bbox: 0.3260, d1.loss_cls: 0.1097, d1.loss_bbox: 0.2932, d2.loss_cls: 0.0957, d2.loss_bbox: 0.2719, d3.loss_cls: 0.0782, d3.loss_bbox: 0.2646, d4.loss_cls: 0.0713, d4.loss_bbox: 0.2609, d5.loss_cls: 0.0700, d5.loss_bbox: 0.2577, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7145, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5661, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5181, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4971, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4875, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4867, d0.loss_map_cls_all: 0.1945, d0.loss_map_pts_all: 1.0495, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1945, d0.loss_map_pts: 1.0495, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1586, d1.loss_map_pts: 0.7431, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1318, d2.loss_map_pts: 0.5749, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1200, d3.loss_map_pts: 0.5059, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1123, d4.loss_map_pts: 0.4847, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.1073, d5.loss_map_pts: 0.4783, d5.loss_map_dir: 0.0055, loss: 21.5817, grad_norm: 141.9867 +2026-03-01 11:07:24,246 - DriveTransformer - INFO - Epoch [13][1650/39528] lr: 5.050e-05, eta: 3 days, 23:57:45, time: 0.719, data_time: 0.035, memory: 19865, loss_cls: 0.0570, loss_bbox: 0.2216, loss_traj: 0.3896, loss_traj_cls: 0.0022, loss_map_cls: 0.0704, loss_map_pts: 0.3871, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.6355, d0.loss_plan_l1_fix_dist: 0.4221, d1.loss_plan_l1_fix_time: 0.7085, d1.loss_plan_l1_fix_dist: 0.2133, d2.loss_plan_l1_fix_time: 0.6894, d2.loss_plan_l1_fix_dist: 0.1590, d3.loss_plan_l1_fix_time: 0.7010, d3.loss_plan_l1_fix_dist: 0.1737, d4.loss_plan_l1_fix_time: 0.7034, d4.loss_plan_l1_fix_dist: 0.1414, d5.loss_plan_l1_fix_time: 0.7047, d5.loss_plan_l1_fix_dist: 0.1410, d6.loss_plan_l1_fix_time: 0.7061, d6.loss_plan_l1_fix_dist: 0.1506, d0.loss_cls_all: 0.0997, d0.loss_bbox_all: 0.2832, d0.loss_cls: 0.0997, d0.loss_bbox: 0.2832, d1.loss_cls: 0.0933, d1.loss_bbox: 0.2575, d2.loss_cls: 0.0800, d2.loss_bbox: 0.2344, d3.loss_cls: 0.0646, d3.loss_bbox: 0.2276, d4.loss_cls: 0.0590, d4.loss_bbox: 0.2244, d5.loss_cls: 0.0573, d5.loss_bbox: 0.2225, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6145, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4562, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4093, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3979, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3907, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.3886, d0.loss_map_cls_all: 0.1419, d0.loss_map_pts_all: 0.8157, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1419, d0.loss_map_pts: 0.8157, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1094, d1.loss_map_pts: 0.5829, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.0907, d2.loss_map_pts: 0.4507, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0823, d3.loss_map_pts: 0.4092, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0770, d4.loss_map_pts: 0.3894, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0715, d5.loss_map_pts: 0.3873, d5.loss_map_dir: 0.0048, loss: 18.9319, grad_norm: 142.8364 +2026-03-01 11:07:59,869 - DriveTransformer - INFO - Epoch [13][1700/39528] lr: 5.050e-05, eta: 3 days, 23:57:07, time: 0.712, data_time: 0.038, memory: 19865, loss_cls: 0.0752, loss_bbox: 0.2599, loss_traj: 0.4177, loss_traj_cls: 0.0021, loss_map_cls: 0.0782, loss_map_pts: 0.4137, loss_map_dir: 0.0044, d0.loss_plan_l1_fix_time: 2.6056, d0.loss_plan_l1_fix_dist: 0.3961, d1.loss_plan_l1_fix_time: 0.6910, d1.loss_plan_l1_fix_dist: 0.2019, d2.loss_plan_l1_fix_time: 0.6699, d2.loss_plan_l1_fix_dist: 0.1658, d3.loss_plan_l1_fix_time: 0.6669, d3.loss_plan_l1_fix_dist: 0.1785, d4.loss_plan_l1_fix_time: 0.6684, d4.loss_plan_l1_fix_dist: 0.1542, d5.loss_plan_l1_fix_time: 0.6699, d5.loss_plan_l1_fix_dist: 0.1576, d6.loss_plan_l1_fix_time: 0.6714, d6.loss_plan_l1_fix_dist: 0.1729, d0.loss_cls_all: 0.1201, d0.loss_bbox_all: 0.3237, d0.loss_cls: 0.1201, d0.loss_bbox: 0.3237, d1.loss_cls: 0.1151, d1.loss_bbox: 0.2911, d2.loss_cls: 0.1005, d2.loss_bbox: 0.2718, d3.loss_cls: 0.0849, d3.loss_bbox: 0.2648, d4.loss_cls: 0.0783, d4.loss_bbox: 0.2608, d5.loss_cls: 0.0757, d5.loss_bbox: 0.2602, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6613, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4980, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4500, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4324, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4287, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4217, d0.loss_map_cls_all: 0.1602, d0.loss_map_pts_all: 0.8960, d0.loss_map_dir_all: 0.0047, d0.loss_map_cls: 0.1602, d0.loss_map_pts: 0.8960, d0.loss_map_dir: 0.0047, d1.loss_map_cls: 0.1288, d1.loss_map_pts: 0.6396, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.1036, d2.loss_map_pts: 0.4958, d2.loss_map_dir: 0.0041, d3.loss_map_cls: 0.0929, d3.loss_map_pts: 0.4404, d3.loss_map_dir: 0.0041, d4.loss_map_cls: 0.0857, d4.loss_map_pts: 0.4205, d4.loss_map_dir: 0.0043, d5.loss_map_cls: 0.0815, d5.loss_map_pts: 0.4130, d5.loss_map_dir: 0.0044, loss: 19.9548, grad_norm: 140.8718 +2026-03-01 11:08:34,822 - DriveTransformer - INFO - Epoch [13][1750/39528] lr: 5.050e-05, eta: 3 days, 23:56:27, time: 0.699, data_time: 0.039, memory: 19865, loss_cls: 0.0713, loss_bbox: 0.2451, loss_traj: 0.4201, loss_traj_cls: 0.0021, loss_map_cls: 0.0610, loss_map_pts: 0.3376, loss_map_dir: 0.0038, d0.loss_plan_l1_fix_time: 2.4729, d0.loss_plan_l1_fix_dist: 0.3545, d1.loss_plan_l1_fix_time: 0.6145, d1.loss_plan_l1_fix_dist: 0.1727, d2.loss_plan_l1_fix_time: 0.5991, d2.loss_plan_l1_fix_dist: 0.1448, d3.loss_plan_l1_fix_time: 0.5923, d3.loss_plan_l1_fix_dist: 0.1451, d4.loss_plan_l1_fix_time: 0.5932, d4.loss_plan_l1_fix_dist: 0.1298, d5.loss_plan_l1_fix_time: 0.5947, d5.loss_plan_l1_fix_dist: 0.1359, d6.loss_plan_l1_fix_time: 0.5966, d6.loss_plan_l1_fix_dist: 0.1451, d0.loss_cls_all: 0.1104, d0.loss_bbox_all: 0.3063, d0.loss_cls: 0.1104, d0.loss_bbox: 0.3063, d1.loss_cls: 0.1051, d1.loss_bbox: 0.2744, d2.loss_cls: 0.0896, d2.loss_bbox: 0.2591, d3.loss_cls: 0.0763, d3.loss_bbox: 0.2519, d4.loss_cls: 0.0729, d4.loss_bbox: 0.2460, d5.loss_cls: 0.0718, d5.loss_bbox: 0.2447, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7083, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5160, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4519, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4351, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4257, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4212, d0.loss_map_cls_all: 0.1450, d0.loss_map_pts_all: 0.7918, d0.loss_map_dir_all: 0.0046, d0.loss_map_cls: 0.1450, d0.loss_map_pts: 0.7918, d0.loss_map_dir: 0.0046, d1.loss_map_cls: 0.1084, d1.loss_map_pts: 0.5588, d1.loss_map_dir: 0.0038, d2.loss_map_cls: 0.0841, d2.loss_map_pts: 0.4166, d2.loss_map_dir: 0.0035, d3.loss_map_cls: 0.0735, d3.loss_map_pts: 0.3603, d3.loss_map_dir: 0.0036, d4.loss_map_cls: 0.0693, d4.loss_map_pts: 0.3424, d4.loss_map_dir: 0.0037, d5.loss_map_cls: 0.0646, d5.loss_map_pts: 0.3372, d5.loss_map_dir: 0.0037, loss: 18.2375, grad_norm: 139.3473 +2026-03-01 11:09:08,704 - DriveTransformer - INFO - Epoch [13][1800/39528] lr: 5.050e-05, eta: 3 days, 23:55:45, time: 0.678, data_time: 0.033, memory: 19865, loss_cls: 0.0831, loss_bbox: 0.2687, loss_traj: 0.4335, loss_traj_cls: 0.0021, loss_map_cls: 0.0813, loss_map_pts: 0.4391, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.9066, d0.loss_plan_l1_fix_dist: 0.3456, d1.loss_plan_l1_fix_time: 0.6956, d1.loss_plan_l1_fix_dist: 0.1772, d2.loss_plan_l1_fix_time: 0.6813, d2.loss_plan_l1_fix_dist: 0.1681, d3.loss_plan_l1_fix_time: 0.6787, d3.loss_plan_l1_fix_dist: 0.1615, d4.loss_plan_l1_fix_time: 0.6797, d4.loss_plan_l1_fix_dist: 0.1440, d5.loss_plan_l1_fix_time: 0.6811, d5.loss_plan_l1_fix_dist: 0.1582, d6.loss_plan_l1_fix_time: 0.6827, d6.loss_plan_l1_fix_dist: 0.1582, d0.loss_cls_all: 0.1382, d0.loss_bbox_all: 0.3307, d0.loss_cls: 0.1382, d0.loss_bbox: 0.3307, d1.loss_cls: 0.1255, d1.loss_bbox: 0.3005, d2.loss_cls: 0.1114, d2.loss_bbox: 0.2791, d3.loss_cls: 0.0909, d3.loss_bbox: 0.2760, d4.loss_cls: 0.0839, d4.loss_bbox: 0.2727, d5.loss_cls: 0.0837, d5.loss_bbox: 0.2693, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6623, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5229, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4598, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4450, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4398, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4355, d0.loss_map_cls_all: 0.1708, d0.loss_map_pts_all: 0.8786, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1708, d0.loss_map_pts: 0.8786, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1325, d1.loss_map_pts: 0.6493, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1092, d2.loss_map_pts: 0.5142, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0972, d3.loss_map_pts: 0.4579, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0903, d4.loss_map_pts: 0.4418, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0853, d5.loss_map_pts: 0.4386, d5.loss_map_dir: 0.0051, loss: 20.5857, grad_norm: 139.0953 +2026-03-01 11:09:45,385 - DriveTransformer - INFO - Epoch [13][1850/39528] lr: 5.050e-05, eta: 3 days, 23:55:09, time: 0.734, data_time: 0.036, memory: 19865, loss_cls: 0.0818, loss_bbox: 0.2704, loss_traj: 0.4680, loss_traj_cls: 0.0021, loss_map_cls: 0.1017, loss_map_pts: 0.5355, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.5804, d0.loss_plan_l1_fix_dist: 0.4414, d1.loss_plan_l1_fix_time: 0.6529, d1.loss_plan_l1_fix_dist: 0.1787, d2.loss_plan_l1_fix_time: 0.6386, d2.loss_plan_l1_fix_dist: 0.1814, d3.loss_plan_l1_fix_time: 0.6151, d3.loss_plan_l1_fix_dist: 0.1775, d4.loss_plan_l1_fix_time: 0.6159, d4.loss_plan_l1_fix_dist: 0.1554, d5.loss_plan_l1_fix_time: 0.6180, d5.loss_plan_l1_fix_dist: 0.1772, d6.loss_plan_l1_fix_time: 0.6207, d6.loss_plan_l1_fix_dist: 0.1825, d0.loss_cls_all: 0.1283, d0.loss_bbox_all: 0.3456, d0.loss_cls: 0.1283, d0.loss_bbox: 0.3456, d1.loss_cls: 0.1207, d1.loss_bbox: 0.3068, d2.loss_cls: 0.1067, d2.loss_bbox: 0.2816, d3.loss_cls: 0.0875, d3.loss_bbox: 0.2771, d4.loss_cls: 0.0817, d4.loss_bbox: 0.2727, d5.loss_cls: 0.0814, d5.loss_bbox: 0.2719, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7390, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5795, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5025, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4842, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4743, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4700, d0.loss_map_cls_all: 0.1937, d0.loss_map_pts_all: 1.1174, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1937, d0.loss_map_pts: 1.1174, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1552, d1.loss_map_pts: 0.8243, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1319, d2.loss_map_pts: 0.6373, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1194, d3.loss_map_pts: 0.5670, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1110, d4.loss_map_pts: 0.5391, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.1048, d5.loss_map_pts: 0.5360, d5.loss_map_dir: 0.0059, loss: 21.7821, grad_norm: 136.5118 +2026-03-01 11:10:21,693 - DriveTransformer - INFO - Epoch [13][1900/39528] lr: 5.050e-05, eta: 3 days, 23:54:32, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.0747, loss_bbox: 0.2441, loss_traj: 0.3474, loss_traj_cls: 0.0021, loss_map_cls: 0.0653, loss_map_pts: 0.3909, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.7542, d0.loss_plan_l1_fix_dist: 0.4073, d1.loss_plan_l1_fix_time: 0.5953, d1.loss_plan_l1_fix_dist: 0.1509, d2.loss_plan_l1_fix_time: 0.5782, d2.loss_plan_l1_fix_dist: 0.1734, d3.loss_plan_l1_fix_time: 0.5805, d3.loss_plan_l1_fix_dist: 0.1564, d4.loss_plan_l1_fix_time: 0.5824, d4.loss_plan_l1_fix_dist: 0.1380, d5.loss_plan_l1_fix_time: 0.5845, d5.loss_plan_l1_fix_dist: 0.1459, d6.loss_plan_l1_fix_time: 0.5867, d6.loss_plan_l1_fix_dist: 0.1508, d0.loss_cls_all: 0.1163, d0.loss_bbox_all: 0.3049, d0.loss_cls: 0.1163, d0.loss_bbox: 0.3049, d1.loss_cls: 0.1128, d1.loss_bbox: 0.2762, d2.loss_cls: 0.1020, d2.loss_bbox: 0.2549, d3.loss_cls: 0.0843, d3.loss_bbox: 0.2499, d4.loss_cls: 0.0789, d4.loss_bbox: 0.2469, d5.loss_cls: 0.0754, d5.loss_bbox: 0.2459, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5415, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4220, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3711, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3592, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3480, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3482, d0.loss_map_cls_all: 0.1475, d0.loss_map_pts_all: 0.8909, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1475, d0.loss_map_pts: 0.8909, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1131, d1.loss_map_pts: 0.6230, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.0922, d2.loss_map_pts: 0.4783, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0810, d3.loss_map_pts: 0.4203, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0716, d4.loss_map_pts: 0.3978, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0671, d5.loss_map_pts: 0.3913, d5.loss_map_dir: 0.0051, loss: 18.5284, grad_norm: 136.7885 +2026-03-01 11:10:58,851 - DriveTransformer - INFO - Epoch [13][1950/39528] lr: 5.050e-05, eta: 3 days, 23:53:57, time: 0.743, data_time: 0.036, memory: 19865, loss_cls: 0.0804, loss_bbox: 0.2627, loss_traj: 0.4058, loss_traj_cls: 0.0021, loss_map_cls: 0.0859, loss_map_pts: 0.4606, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.1756, d0.loss_plan_l1_fix_dist: 0.4162, d1.loss_plan_l1_fix_time: 0.6657, d1.loss_plan_l1_fix_dist: 0.1587, d2.loss_plan_l1_fix_time: 0.6473, d2.loss_plan_l1_fix_dist: 0.1995, d3.loss_plan_l1_fix_time: 0.6296, d3.loss_plan_l1_fix_dist: 0.1727, d4.loss_plan_l1_fix_time: 0.6324, d4.loss_plan_l1_fix_dist: 0.1735, d5.loss_plan_l1_fix_time: 0.6341, d5.loss_plan_l1_fix_dist: 0.1788, d6.loss_plan_l1_fix_time: 0.6362, d6.loss_plan_l1_fix_dist: 0.1841, d0.loss_cls_all: 0.1224, d0.loss_bbox_all: 0.3378, d0.loss_cls: 0.1224, d0.loss_bbox: 0.3378, d1.loss_cls: 0.1185, d1.loss_bbox: 0.3022, d2.loss_cls: 0.1068, d2.loss_bbox: 0.2790, d3.loss_cls: 0.0887, d3.loss_bbox: 0.2695, d4.loss_cls: 0.0824, d4.loss_bbox: 0.2665, d5.loss_cls: 0.0811, d5.loss_bbox: 0.2643, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6433, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4796, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.4272, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4144, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4077, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4057, d0.loss_map_cls_all: 0.1724, d0.loss_map_pts_all: 1.0285, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1724, d0.loss_map_pts: 1.0285, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1355, d1.loss_map_pts: 0.7273, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1120, d2.loss_map_pts: 0.5564, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1003, d3.loss_map_pts: 0.4925, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0944, d4.loss_map_pts: 0.4696, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0886, d5.loss_map_pts: 0.4608, d5.loss_map_dir: 0.0060, loss: 20.0518, grad_norm: 138.6928 +2026-03-01 11:11:34,097 - DriveTransformer - INFO - Epoch [13][2000/39528] lr: 5.050e-05, eta: 3 days, 23:53:18, time: 0.705, data_time: 0.036, memory: 19865, loss_cls: 0.0762, loss_bbox: 0.2671, loss_traj: 0.5197, loss_traj_cls: 0.0021, loss_map_cls: 0.1023, loss_map_pts: 0.4814, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.9641, d0.loss_plan_l1_fix_dist: 0.3704, d1.loss_plan_l1_fix_time: 0.7209, d1.loss_plan_l1_fix_dist: 0.1364, d2.loss_plan_l1_fix_time: 0.7047, d2.loss_plan_l1_fix_dist: 0.1899, d3.loss_plan_l1_fix_time: 0.6956, d3.loss_plan_l1_fix_dist: 0.1452, d4.loss_plan_l1_fix_time: 0.6967, d4.loss_plan_l1_fix_dist: 0.1412, d5.loss_plan_l1_fix_time: 0.6978, d5.loss_plan_l1_fix_dist: 0.1458, d6.loss_plan_l1_fix_time: 0.6992, d6.loss_plan_l1_fix_dist: 0.1531, d0.loss_cls_all: 0.1245, d0.loss_bbox_all: 0.3489, d0.loss_cls: 0.1245, d0.loss_bbox: 0.3489, d1.loss_cls: 0.1166, d1.loss_bbox: 0.3094, d2.loss_cls: 0.1025, d2.loss_bbox: 0.2841, d3.loss_cls: 0.0838, d3.loss_bbox: 0.2766, d4.loss_cls: 0.0782, d4.loss_bbox: 0.2715, d5.loss_cls: 0.0761, d5.loss_bbox: 0.2684, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8517, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.6348, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5682, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5430, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5250, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5208, d0.loss_map_cls_all: 0.1920, d0.loss_map_pts_all: 1.0419, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1920, d0.loss_map_pts: 1.0419, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1583, d1.loss_map_pts: 0.7639, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1306, d2.loss_map_pts: 0.5910, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1186, d3.loss_map_pts: 0.5224, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.1112, d4.loss_map_pts: 0.4904, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.1046, d5.loss_map_pts: 0.4819, d5.loss_map_dir: 0.0056, loss: 22.3591, grad_norm: 136.4117 +2026-03-01 11:12:09,846 - DriveTransformer - INFO - Epoch [13][2050/39528] lr: 5.050e-05, eta: 3 days, 23:52:39, time: 0.715, data_time: 0.036, memory: 19865, loss_cls: 0.0681, loss_bbox: 0.2374, loss_traj: 0.3684, loss_traj_cls: 0.0022, loss_map_cls: 0.0695, loss_map_pts: 0.3574, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.3316, d0.loss_plan_l1_fix_dist: 0.4472, d1.loss_plan_l1_fix_time: 0.5996, d1.loss_plan_l1_fix_dist: 0.1273, d2.loss_plan_l1_fix_time: 0.5818, d2.loss_plan_l1_fix_dist: 0.1807, d3.loss_plan_l1_fix_time: 0.5749, d3.loss_plan_l1_fix_dist: 0.1367, d4.loss_plan_l1_fix_time: 0.5766, d4.loss_plan_l1_fix_dist: 0.1405, d5.loss_plan_l1_fix_time: 0.5781, d5.loss_plan_l1_fix_dist: 0.1429, d6.loss_plan_l1_fix_time: 0.5792, d6.loss_plan_l1_fix_dist: 0.1605, d0.loss_cls_all: 0.1069, d0.loss_bbox_all: 0.2927, d0.loss_cls: 0.1069, d0.loss_bbox: 0.2927, d1.loss_cls: 0.1036, d1.loss_bbox: 0.2637, d2.loss_cls: 0.0912, d2.loss_bbox: 0.2474, d3.loss_cls: 0.0734, d3.loss_bbox: 0.2426, d4.loss_cls: 0.0701, d4.loss_bbox: 0.2375, d5.loss_cls: 0.0681, d5.loss_bbox: 0.2377, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5366, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4350, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3945, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3840, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3737, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3714, d0.loss_map_cls_all: 0.1511, d0.loss_map_pts_all: 0.8524, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1511, d0.loss_map_pts: 0.8524, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1130, d1.loss_map_pts: 0.5901, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.0922, d2.loss_map_pts: 0.4395, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.0829, d3.loss_map_pts: 0.3799, d3.loss_map_dir: 0.0045, d4.loss_map_cls: 0.0765, d4.loss_map_pts: 0.3610, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0715, d5.loss_map_pts: 0.3586, d5.loss_map_dir: 0.0048, loss: 17.8064, grad_norm: 138.1916 +2026-03-01 11:12:46,832 - DriveTransformer - INFO - Epoch [13][2100/39528] lr: 5.050e-05, eta: 3 days, 23:52:04, time: 0.740, data_time: 0.037, memory: 19865, loss_cls: 0.0813, loss_bbox: 0.2638, loss_traj: 0.4247, loss_traj_cls: 0.0021, loss_map_cls: 0.0695, loss_map_pts: 0.4689, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.9448, d0.loss_plan_l1_fix_dist: 0.4080, d1.loss_plan_l1_fix_time: 0.6368, d1.loss_plan_l1_fix_dist: 0.1620, d2.loss_plan_l1_fix_time: 0.6149, d2.loss_plan_l1_fix_dist: 0.1990, d3.loss_plan_l1_fix_time: 0.6126, d3.loss_plan_l1_fix_dist: 0.1588, d4.loss_plan_l1_fix_time: 0.6138, d4.loss_plan_l1_fix_dist: 0.1748, d5.loss_plan_l1_fix_time: 0.6154, d5.loss_plan_l1_fix_dist: 0.1797, d6.loss_plan_l1_fix_time: 0.6169, d6.loss_plan_l1_fix_dist: 0.1972, d0.loss_cls_all: 0.1305, d0.loss_bbox_all: 0.3320, d0.loss_cls: 0.1305, d0.loss_bbox: 0.3320, d1.loss_cls: 0.1244, d1.loss_bbox: 0.2997, d2.loss_cls: 0.1077, d2.loss_bbox: 0.2745, d3.loss_cls: 0.0914, d3.loss_bbox: 0.2661, d4.loss_cls: 0.0832, d4.loss_bbox: 0.2652, d5.loss_cls: 0.0819, d5.loss_bbox: 0.2635, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6983, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5291, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4622, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4423, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4329, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4277, d0.loss_map_cls_all: 0.1510, d0.loss_map_pts_all: 0.9703, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1510, d0.loss_map_pts: 0.9703, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1173, d1.loss_map_pts: 0.6998, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.0924, d2.loss_map_pts: 0.5513, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.0822, d3.loss_map_pts: 0.4926, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.0752, d4.loss_map_pts: 0.4741, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.0718, d5.loss_map_pts: 0.4694, d5.loss_map_dir: 0.0064, loss: 20.6461, grad_norm: 139.6191 +2026-03-01 11:13:22,278 - DriveTransformer - INFO - Epoch [13][2150/39528] lr: 5.050e-05, eta: 3 days, 23:51:25, time: 0.709, data_time: 0.037, memory: 19865, loss_cls: 0.0661, loss_bbox: 0.2454, loss_traj: 0.4187, loss_traj_cls: 0.0022, loss_map_cls: 0.0553, loss_map_pts: 0.3575, loss_map_dir: 0.0043, d0.loss_plan_l1_fix_time: 2.3221, d0.loss_plan_l1_fix_dist: 0.5141, d1.loss_plan_l1_fix_time: 0.6018, d1.loss_plan_l1_fix_dist: 0.1630, d2.loss_plan_l1_fix_time: 0.5784, d2.loss_plan_l1_fix_dist: 0.1664, d3.loss_plan_l1_fix_time: 0.5669, d3.loss_plan_l1_fix_dist: 0.1384, d4.loss_plan_l1_fix_time: 0.5669, d4.loss_plan_l1_fix_dist: 0.1482, d5.loss_plan_l1_fix_time: 0.5680, d5.loss_plan_l1_fix_dist: 0.1548, d6.loss_plan_l1_fix_time: 0.5698, d6.loss_plan_l1_fix_dist: 0.1591, d0.loss_cls_all: 0.1059, d0.loss_bbox_all: 0.3079, d0.loss_cls: 0.1059, d0.loss_bbox: 0.3079, d1.loss_cls: 0.0996, d1.loss_bbox: 0.2779, d2.loss_cls: 0.0867, d2.loss_bbox: 0.2578, d3.loss_cls: 0.0724, d3.loss_bbox: 0.2510, d4.loss_cls: 0.0675, d4.loss_bbox: 0.2483, d5.loss_cls: 0.0666, d5.loss_bbox: 0.2452, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6152, d1.loss_traj_cls: 0.0022, d1.loss_traj: 0.4938, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4495, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4292, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4261, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4193, d0.loss_map_cls_all: 0.1246, d0.loss_map_pts_all: 0.8271, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1246, d0.loss_map_pts: 0.8271, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.0920, d1.loss_map_pts: 0.5758, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.0759, d2.loss_map_pts: 0.4309, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.0653, d3.loss_map_pts: 0.3797, d3.loss_map_dir: 0.0042, d4.loss_map_cls: 0.0602, d4.loss_map_pts: 0.3620, d4.loss_map_dir: 0.0044, d5.loss_map_cls: 0.0576, d5.loss_map_pts: 0.3583, d5.loss_map_dir: 0.0044, loss: 18.1007, grad_norm: 140.7755 +2026-03-01 11:13:56,792 - DriveTransformer - INFO - Epoch [13][2200/39528] lr: 5.050e-05, eta: 3 days, 23:50:45, time: 0.690, data_time: 0.036, memory: 19865, loss_cls: 0.0855, loss_bbox: 0.2677, loss_traj: 0.4319, loss_traj_cls: 0.0021, loss_map_cls: 0.0961, loss_map_pts: 0.4395, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.6435, d0.loss_plan_l1_fix_dist: 0.4121, d1.loss_plan_l1_fix_time: 0.7667, d1.loss_plan_l1_fix_dist: 0.1792, d2.loss_plan_l1_fix_time: 0.7383, d2.loss_plan_l1_fix_dist: 0.1653, d3.loss_plan_l1_fix_time: 0.7362, d3.loss_plan_l1_fix_dist: 0.1476, d4.loss_plan_l1_fix_time: 0.7365, d4.loss_plan_l1_fix_dist: 0.1585, d5.loss_plan_l1_fix_time: 0.7376, d5.loss_plan_l1_fix_dist: 0.1668, d6.loss_plan_l1_fix_time: 0.7391, d6.loss_plan_l1_fix_dist: 0.1692, d0.loss_cls_all: 0.1367, d0.loss_bbox_all: 0.3369, d0.loss_cls: 0.1367, d0.loss_bbox: 0.3369, d1.loss_cls: 0.1276, d1.loss_bbox: 0.3048, d2.loss_cls: 0.1131, d2.loss_bbox: 0.2805, d3.loss_cls: 0.0953, d3.loss_bbox: 0.2718, d4.loss_cls: 0.0874, d4.loss_bbox: 0.2709, d5.loss_cls: 0.0855, d5.loss_bbox: 0.2691, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6674, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5080, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4536, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4392, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4368, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4336, d0.loss_map_cls_all: 0.1800, d0.loss_map_pts_all: 0.9049, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1800, d0.loss_map_pts: 0.9049, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1472, d1.loss_map_pts: 0.6541, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1207, d2.loss_map_pts: 0.5200, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1103, d3.loss_map_pts: 0.4619, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1043, d4.loss_map_pts: 0.4441, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0982, d5.loss_map_pts: 0.4401, d5.loss_map_dir: 0.0051, loss: 20.9286, grad_norm: 140.3392 +2026-03-01 11:14:33,221 - DriveTransformer - INFO - Epoch [13][2250/39528] lr: 5.050e-05, eta: 3 days, 23:50:08, time: 0.729, data_time: 0.039, memory: 19865, loss_cls: 0.0712, loss_bbox: 0.2459, loss_traj: 0.3574, loss_traj_cls: 0.0022, loss_map_cls: 0.0829, loss_map_pts: 0.4455, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.5060, d0.loss_plan_l1_fix_dist: 0.4367, d1.loss_plan_l1_fix_time: 0.6308, d1.loss_plan_l1_fix_dist: 0.1861, d2.loss_plan_l1_fix_time: 0.6142, d2.loss_plan_l1_fix_dist: 0.1522, d3.loss_plan_l1_fix_time: 0.6064, d3.loss_plan_l1_fix_dist: 0.1454, d4.loss_plan_l1_fix_time: 0.6066, d4.loss_plan_l1_fix_dist: 0.1487, d5.loss_plan_l1_fix_time: 0.6077, d5.loss_plan_l1_fix_dist: 0.1430, d6.loss_plan_l1_fix_time: 0.6091, d6.loss_plan_l1_fix_dist: 0.1494, d0.loss_cls_all: 0.1154, d0.loss_bbox_all: 0.3106, d0.loss_cls: 0.1154, d0.loss_bbox: 0.3106, d1.loss_cls: 0.1127, d1.loss_bbox: 0.2828, d2.loss_cls: 0.0980, d2.loss_bbox: 0.2602, d3.loss_cls: 0.0800, d3.loss_bbox: 0.2548, d4.loss_cls: 0.0726, d4.loss_bbox: 0.2501, d5.loss_cls: 0.0710, d5.loss_bbox: 0.2470, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5512, d1.loss_traj_cls: 0.0022, d1.loss_traj: 0.4403, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3879, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3671, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3591, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3563, d0.loss_map_cls_all: 0.1630, d0.loss_map_pts_all: 0.9874, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1630, d0.loss_map_pts: 0.9874, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1336, d1.loss_map_pts: 0.6944, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1111, d2.loss_map_pts: 0.5401, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0989, d3.loss_map_pts: 0.4752, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0916, d4.loss_map_pts: 0.4515, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0864, d5.loss_map_pts: 0.4462, d5.loss_map_dir: 0.0053, loss: 19.2685, grad_norm: 137.5088 +2026-03-01 11:15:09,471 - DriveTransformer - INFO - Epoch [13][2300/39528] lr: 5.050e-05, eta: 3 days, 23:49:31, time: 0.725, data_time: 0.037, memory: 19865, loss_cls: 0.0882, loss_bbox: 0.2759, loss_traj: 0.4662, loss_traj_cls: 0.0021, loss_map_cls: 0.0831, loss_map_pts: 0.4311, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.5291, d0.loss_plan_l1_fix_dist: 0.4573, d1.loss_plan_l1_fix_time: 0.6667, d1.loss_plan_l1_fix_dist: 0.2036, d2.loss_plan_l1_fix_time: 0.6494, d2.loss_plan_l1_fix_dist: 0.1642, d3.loss_plan_l1_fix_time: 0.6477, d3.loss_plan_l1_fix_dist: 0.1724, d4.loss_plan_l1_fix_time: 0.6487, d4.loss_plan_l1_fix_dist: 0.1711, d5.loss_plan_l1_fix_time: 0.6498, d5.loss_plan_l1_fix_dist: 0.1727, d6.loss_plan_l1_fix_time: 0.6514, d6.loss_plan_l1_fix_dist: 0.1771, d0.loss_cls_all: 0.1297, d0.loss_bbox_all: 0.3372, d0.loss_cls: 0.1297, d0.loss_bbox: 0.3372, d1.loss_cls: 0.1251, d1.loss_bbox: 0.3053, d2.loss_cls: 0.1129, d2.loss_bbox: 0.2864, d3.loss_cls: 0.0967, d3.loss_bbox: 0.2793, d4.loss_cls: 0.0894, d4.loss_bbox: 0.2776, d5.loss_cls: 0.0885, d5.loss_bbox: 0.2751, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7696, d1.loss_traj_cls: 0.0022, d1.loss_traj: 0.5602, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4990, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4705, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4765, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4692, d0.loss_map_cls_all: 0.1623, d0.loss_map_pts_all: 0.9251, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1623, d0.loss_map_pts: 0.9251, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1296, d1.loss_map_pts: 0.6684, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.1041, d2.loss_map_pts: 0.5229, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0927, d3.loss_map_pts: 0.4619, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0875, d4.loss_map_pts: 0.4368, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0845, d5.loss_map_pts: 0.4314, d5.loss_map_dir: 0.0053, loss: 20.6661, grad_norm: 136.9361 +2026-03-01 11:15:47,470 - DriveTransformer - INFO - Epoch [13][2350/39528] lr: 5.050e-05, eta: 3 days, 23:48:57, time: 0.760, data_time: 0.039, memory: 19865, loss_cls: 0.0673, loss_bbox: 0.2630, loss_traj: 0.4236, loss_traj_cls: 0.0021, loss_map_cls: 0.0867, loss_map_pts: 0.4278, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.6384, d0.loss_plan_l1_fix_dist: 0.3350, d1.loss_plan_l1_fix_time: 0.6715, d1.loss_plan_l1_fix_dist: 0.1919, d2.loss_plan_l1_fix_time: 0.6539, d2.loss_plan_l1_fix_dist: 0.1373, d3.loss_plan_l1_fix_time: 0.6446, d3.loss_plan_l1_fix_dist: 0.1565, d4.loss_plan_l1_fix_time: 0.6450, d4.loss_plan_l1_fix_dist: 0.1436, d5.loss_plan_l1_fix_time: 0.6460, d5.loss_plan_l1_fix_dist: 0.1476, d6.loss_plan_l1_fix_time: 0.6476, d6.loss_plan_l1_fix_dist: 0.1537, d0.loss_cls_all: 0.1103, d0.loss_bbox_all: 0.3242, d0.loss_cls: 0.1103, d0.loss_bbox: 0.3242, d1.loss_cls: 0.1047, d1.loss_bbox: 0.2915, d2.loss_cls: 0.0938, d2.loss_bbox: 0.2718, d3.loss_cls: 0.0717, d3.loss_bbox: 0.2690, d4.loss_cls: 0.0685, d4.loss_bbox: 0.2653, d5.loss_cls: 0.0674, d5.loss_bbox: 0.2632, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6199, d1.loss_traj_cls: 0.0022, d1.loss_traj: 0.4881, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4318, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4259, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4263, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4228, d0.loss_map_cls_all: 0.1687, d0.loss_map_pts_all: 0.9579, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1687, d0.loss_map_pts: 0.9579, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1347, d1.loss_map_pts: 0.6606, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1133, d2.loss_map_pts: 0.5027, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1017, d3.loss_map_pts: 0.4515, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0948, d4.loss_map_pts: 0.4325, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0893, d5.loss_map_pts: 0.4285, d5.loss_map_dir: 0.0060, loss: 19.8503, grad_norm: 137.5068 +2026-03-01 11:16:24,331 - DriveTransformer - INFO - Epoch [13][2400/39528] lr: 5.050e-05, eta: 3 days, 23:48:21, time: 0.739, data_time: 0.038, memory: 19865, loss_cls: 0.0801, loss_bbox: 0.2661, loss_traj: 0.4223, loss_traj_cls: 0.0021, loss_map_cls: 0.0861, loss_map_pts: 0.4632, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.6676, d0.loss_plan_l1_fix_dist: 0.4347, d1.loss_plan_l1_fix_time: 0.5859, d1.loss_plan_l1_fix_dist: 0.1951, d2.loss_plan_l1_fix_time: 0.5644, d2.loss_plan_l1_fix_dist: 0.1353, d3.loss_plan_l1_fix_time: 0.5508, d3.loss_plan_l1_fix_dist: 0.1658, d4.loss_plan_l1_fix_time: 0.5507, d4.loss_plan_l1_fix_dist: 0.1476, d5.loss_plan_l1_fix_time: 0.5518, d5.loss_plan_l1_fix_dist: 0.1522, d6.loss_plan_l1_fix_time: 0.5532, d6.loss_plan_l1_fix_dist: 0.1641, d0.loss_cls_all: 0.1310, d0.loss_bbox_all: 0.3322, d0.loss_cls: 0.1310, d0.loss_bbox: 0.3322, d1.loss_cls: 0.1230, d1.loss_bbox: 0.2963, d2.loss_cls: 0.1077, d2.loss_bbox: 0.2781, d3.loss_cls: 0.0918, d3.loss_bbox: 0.2697, d4.loss_cls: 0.0846, d4.loss_bbox: 0.2673, d5.loss_cls: 0.0809, d5.loss_bbox: 0.2664, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6625, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4905, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4451, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4323, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4289, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4242, d0.loss_map_cls_all: 0.1716, d0.loss_map_pts_all: 1.0275, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1716, d0.loss_map_pts: 1.0275, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1339, d1.loss_map_pts: 0.7229, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.1084, d2.loss_map_pts: 0.5506, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.0988, d3.loss_map_pts: 0.4966, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.0933, d4.loss_map_pts: 0.4691, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0898, d5.loss_map_pts: 0.4634, d5.loss_map_dir: 0.0063, loss: 20.0966, grad_norm: 140.7640 +2026-03-01 11:16:59,806 - DriveTransformer - INFO - Epoch [13][2450/39528] lr: 5.050e-05, eta: 3 days, 23:47:42, time: 0.708, data_time: 0.037, memory: 19865, loss_cls: 0.0680, loss_bbox: 0.2397, loss_traj: 0.4578, loss_traj_cls: 0.0021, loss_map_cls: 0.0809, loss_map_pts: 0.4046, loss_map_dir: 0.0047, d0.loss_plan_l1_fix_time: 2.5781, d0.loss_plan_l1_fix_dist: 0.4274, d1.loss_plan_l1_fix_time: 0.6858, d1.loss_plan_l1_fix_dist: 0.1988, d2.loss_plan_l1_fix_time: 0.6659, d2.loss_plan_l1_fix_dist: 0.1376, d3.loss_plan_l1_fix_time: 0.6455, d3.loss_plan_l1_fix_dist: 0.1724, d4.loss_plan_l1_fix_time: 0.6464, d4.loss_plan_l1_fix_dist: 0.1481, d5.loss_plan_l1_fix_time: 0.6480, d5.loss_plan_l1_fix_dist: 0.1562, d6.loss_plan_l1_fix_time: 0.6496, d6.loss_plan_l1_fix_dist: 0.1692, d0.loss_cls_all: 0.1079, d0.loss_bbox_all: 0.3096, d0.loss_cls: 0.1079, d0.loss_bbox: 0.3096, d1.loss_cls: 0.1006, d1.loss_bbox: 0.2741, d2.loss_cls: 0.0877, d2.loss_bbox: 0.2521, d3.loss_cls: 0.0736, d3.loss_bbox: 0.2440, d4.loss_cls: 0.0680, d4.loss_bbox: 0.2414, d5.loss_cls: 0.0675, d5.loss_bbox: 0.2398, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6957, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5517, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4858, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4680, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4600, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4579, d0.loss_map_cls_all: 0.1599, d0.loss_map_pts_all: 0.9214, d0.loss_map_dir_all: 0.0050, d0.loss_map_cls: 0.1599, d0.loss_map_pts: 0.9214, d0.loss_map_dir: 0.0050, d1.loss_map_cls: 0.1292, d1.loss_map_pts: 0.6412, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.1042, d2.loss_map_pts: 0.4853, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.0941, d3.loss_map_pts: 0.4282, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0883, d4.loss_map_pts: 0.4076, d4.loss_map_dir: 0.0046, d5.loss_map_cls: 0.0828, d5.loss_map_pts: 0.4051, d5.loss_map_dir: 0.0046, loss: 19.8564, grad_norm: 140.9581 +2026-03-01 11:17:36,631 - DriveTransformer - INFO - Epoch [13][2500/39528] lr: 5.050e-05, eta: 3 days, 23:47:06, time: 0.737, data_time: 0.036, memory: 19865, loss_cls: 0.0733, loss_bbox: 0.2623, loss_traj: 0.4228, loss_traj_cls: 0.0021, loss_map_cls: 0.0987, loss_map_pts: 0.5464, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.7048, d0.loss_plan_l1_fix_dist: 0.3340, d1.loss_plan_l1_fix_time: 0.6200, d1.loss_plan_l1_fix_dist: 0.1989, d2.loss_plan_l1_fix_time: 0.6002, d2.loss_plan_l1_fix_dist: 0.1524, d3.loss_plan_l1_fix_time: 0.5948, d3.loss_plan_l1_fix_dist: 0.1774, d4.loss_plan_l1_fix_time: 0.5950, d4.loss_plan_l1_fix_dist: 0.1531, d5.loss_plan_l1_fix_time: 0.5959, d5.loss_plan_l1_fix_dist: 0.1641, d6.loss_plan_l1_fix_time: 0.5973, d6.loss_plan_l1_fix_dist: 0.1684, d0.loss_cls_all: 0.1249, d0.loss_bbox_all: 0.3320, d0.loss_cls: 0.1249, d0.loss_bbox: 0.3320, d1.loss_cls: 0.1186, d1.loss_bbox: 0.2969, d2.loss_cls: 0.1019, d2.loss_bbox: 0.2755, d3.loss_cls: 0.0821, d3.loss_bbox: 0.2696, d4.loss_cls: 0.0760, d4.loss_bbox: 0.2644, d5.loss_cls: 0.0740, d5.loss_bbox: 0.2626, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6510, d1.loss_traj_cls: 0.0022, d1.loss_traj: 0.5049, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4426, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4309, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4228, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4228, d0.loss_map_cls_all: 0.1971, d0.loss_map_pts_all: 1.1462, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1971, d0.loss_map_pts: 1.1462, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1517, d1.loss_map_pts: 0.8352, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1270, d2.loss_map_pts: 0.6480, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1150, d3.loss_map_pts: 0.5787, d3.loss_map_dir: 0.0061, d4.loss_map_cls: 0.1066, d4.loss_map_pts: 0.5520, d4.loss_map_dir: 0.0063, d5.loss_map_cls: 0.1008, d5.loss_map_pts: 0.5478, d5.loss_map_dir: 0.0064, loss: 21.1785, grad_norm: 141.8764 +2026-03-01 11:18:12,551 - DriveTransformer - INFO - Epoch [13][2550/39528] lr: 5.050e-05, eta: 3 days, 23:46:29, time: 0.718, data_time: 0.037, memory: 19865, loss_cls: 0.0694, loss_bbox: 0.2414, loss_traj: 0.4153, loss_traj_cls: 0.0021, loss_map_cls: 0.0744, loss_map_pts: 0.4298, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.4582, d0.loss_plan_l1_fix_dist: 0.3511, d1.loss_plan_l1_fix_time: 0.6372, d1.loss_plan_l1_fix_dist: 0.1823, d2.loss_plan_l1_fix_time: 0.6195, d2.loss_plan_l1_fix_dist: 0.1428, d3.loss_plan_l1_fix_time: 0.6112, d3.loss_plan_l1_fix_dist: 0.1727, d4.loss_plan_l1_fix_time: 0.6121, d4.loss_plan_l1_fix_dist: 0.1600, d5.loss_plan_l1_fix_time: 0.6134, d5.loss_plan_l1_fix_dist: 0.1651, d6.loss_plan_l1_fix_time: 0.6147, d6.loss_plan_l1_fix_dist: 0.1652, d0.loss_cls_all: 0.1044, d0.loss_bbox_all: 0.3038, d0.loss_cls: 0.1044, d0.loss_bbox: 0.3038, d1.loss_cls: 0.0993, d1.loss_bbox: 0.2714, d2.loss_cls: 0.0896, d2.loss_bbox: 0.2525, d3.loss_cls: 0.0778, d3.loss_bbox: 0.2467, d4.loss_cls: 0.0706, d4.loss_bbox: 0.2439, d5.loss_cls: 0.0691, d5.loss_bbox: 0.2416, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6343, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5012, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4463, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4261, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4206, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4171, d0.loss_map_cls_all: 0.1652, d0.loss_map_pts_all: 0.9995, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1652, d0.loss_map_pts: 0.9995, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1328, d1.loss_map_pts: 0.7085, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1028, d2.loss_map_pts: 0.5304, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.0909, d3.loss_map_pts: 0.4677, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0824, d4.loss_map_pts: 0.4401, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0761, d5.loss_map_pts: 0.4311, d5.loss_map_dir: 0.0048, loss: 19.5004, grad_norm: 140.5316 +2026-03-01 11:18:48,199 - DriveTransformer - INFO - Epoch [13][2600/39528] lr: 5.050e-05, eta: 3 days, 23:45:50, time: 0.713, data_time: 0.040, memory: 19865, loss_cls: 0.0740, loss_bbox: 0.2546, loss_traj: 0.4309, loss_traj_cls: 0.0021, loss_map_cls: 0.0787, loss_map_pts: 0.4469, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.5088, d0.loss_plan_l1_fix_dist: 0.3945, d1.loss_plan_l1_fix_time: 0.6484, d1.loss_plan_l1_fix_dist: 0.1677, d2.loss_plan_l1_fix_time: 0.6351, d2.loss_plan_l1_fix_dist: 0.1345, d3.loss_plan_l1_fix_time: 0.6037, d3.loss_plan_l1_fix_dist: 0.1584, d4.loss_plan_l1_fix_time: 0.6027, d4.loss_plan_l1_fix_dist: 0.1518, d5.loss_plan_l1_fix_time: 0.6033, d5.loss_plan_l1_fix_dist: 0.1570, d6.loss_plan_l1_fix_time: 0.6042, d6.loss_plan_l1_fix_dist: 0.1483, d0.loss_cls_all: 0.1192, d0.loss_bbox_all: 0.3261, d0.loss_cls: 0.1192, d0.loss_bbox: 0.3261, d1.loss_cls: 0.1167, d1.loss_bbox: 0.2892, d2.loss_cls: 0.1013, d2.loss_bbox: 0.2672, d3.loss_cls: 0.0844, d3.loss_bbox: 0.2608, d4.loss_cls: 0.0762, d4.loss_bbox: 0.2568, d5.loss_cls: 0.0738, d5.loss_bbox: 0.2553, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6539, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5150, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4599, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4431, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4377, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4332, d0.loss_map_cls_all: 0.1658, d0.loss_map_pts_all: 0.9545, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1658, d0.loss_map_pts: 0.9545, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1268, d1.loss_map_pts: 0.6806, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1043, d2.loss_map_pts: 0.5307, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0919, d3.loss_map_pts: 0.4740, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0853, d4.loss_map_pts: 0.4517, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0817, d5.loss_map_pts: 0.4467, d5.loss_map_dir: 0.0054, loss: 19.7856, grad_norm: 138.0214 +2026-03-01 11:19:23,960 - DriveTransformer - INFO - Epoch [13][2650/39528] lr: 5.050e-05, eta: 3 days, 23:45:12, time: 0.715, data_time: 0.037, memory: 19865, loss_cls: 0.0724, loss_bbox: 0.2410, loss_traj: 0.3637, loss_traj_cls: 0.0021, loss_map_cls: 0.0691, loss_map_pts: 0.4006, loss_map_dir: 0.0043, d0.loss_plan_l1_fix_time: 2.5449, d0.loss_plan_l1_fix_dist: 0.5120, d1.loss_plan_l1_fix_time: 0.5737, d1.loss_plan_l1_fix_dist: 0.1554, d2.loss_plan_l1_fix_time: 0.5714, d2.loss_plan_l1_fix_dist: 0.1405, d3.loss_plan_l1_fix_time: 0.5633, d3.loss_plan_l1_fix_dist: 0.1559, d4.loss_plan_l1_fix_time: 0.5650, d4.loss_plan_l1_fix_dist: 0.1563, d5.loss_plan_l1_fix_time: 0.5665, d5.loss_plan_l1_fix_dist: 0.1594, d6.loss_plan_l1_fix_time: 0.5682, d6.loss_plan_l1_fix_dist: 0.1522, d0.loss_cls_all: 0.1112, d0.loss_bbox_all: 0.3010, d0.loss_cls: 0.1112, d0.loss_bbox: 0.3010, d1.loss_cls: 0.1097, d1.loss_bbox: 0.2733, d2.loss_cls: 0.0964, d2.loss_bbox: 0.2525, d3.loss_cls: 0.0784, d3.loss_bbox: 0.2475, d4.loss_cls: 0.0741, d4.loss_bbox: 0.2448, d5.loss_cls: 0.0729, d5.loss_bbox: 0.2421, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6252, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4548, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3951, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3717, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3659, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3634, d0.loss_map_cls_all: 0.1620, d0.loss_map_pts_all: 0.8619, d0.loss_map_dir_all: 0.0048, d0.loss_map_cls: 0.1620, d0.loss_map_pts: 0.8619, d0.loss_map_dir: 0.0048, d1.loss_map_cls: 0.1239, d1.loss_map_pts: 0.6107, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.0955, d2.loss_map_pts: 0.4719, d2.loss_map_dir: 0.0040, d3.loss_map_cls: 0.0839, d3.loss_map_pts: 0.4244, d3.loss_map_dir: 0.0041, d4.loss_map_cls: 0.0785, d4.loss_map_pts: 0.4083, d4.loss_map_dir: 0.0042, d5.loss_map_cls: 0.0727, d5.loss_map_pts: 0.4006, d5.loss_map_dir: 0.0042, loss: 18.4844, grad_norm: 137.8181 +2026-03-01 11:20:00,622 - DriveTransformer - INFO - Epoch [13][2700/39528] lr: 5.050e-05, eta: 3 days, 23:44:36, time: 0.733, data_time: 0.037, memory: 19865, loss_cls: 0.0956, loss_bbox: 0.2842, loss_traj: 0.4143, loss_traj_cls: 0.0021, loss_map_cls: 0.0957, loss_map_pts: 0.5372, loss_map_dir: 0.0067, d0.loss_plan_l1_fix_time: 2.9041, d0.loss_plan_l1_fix_dist: 0.3542, d1.loss_plan_l1_fix_time: 0.6894, d1.loss_plan_l1_fix_dist: 0.1495, d2.loss_plan_l1_fix_time: 0.6752, d2.loss_plan_l1_fix_dist: 0.1475, d3.loss_plan_l1_fix_time: 0.6659, d3.loss_plan_l1_fix_dist: 0.1618, d4.loss_plan_l1_fix_time: 0.6675, d4.loss_plan_l1_fix_dist: 0.1746, d5.loss_plan_l1_fix_time: 0.6694, d5.loss_plan_l1_fix_dist: 0.1748, d6.loss_plan_l1_fix_time: 0.6719, d6.loss_plan_l1_fix_dist: 0.1746, d0.loss_cls_all: 0.1420, d0.loss_bbox_all: 0.3607, d0.loss_cls: 0.1420, d0.loss_bbox: 0.3607, d1.loss_cls: 0.1355, d1.loss_bbox: 0.3241, d2.loss_cls: 0.1213, d2.loss_bbox: 0.2966, d3.loss_cls: 0.1068, d3.loss_bbox: 0.2883, d4.loss_cls: 0.0985, d4.loss_bbox: 0.2853, d5.loss_cls: 0.0964, d5.loss_bbox: 0.2846, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6936, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5214, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4557, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4309, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4215, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4175, d0.loss_map_cls_all: 0.1723, d0.loss_map_pts_all: 1.0644, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1723, d0.loss_map_pts: 1.0644, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1425, d1.loss_map_pts: 0.7919, d1.loss_map_dir: 0.0067, d2.loss_map_cls: 0.1215, d2.loss_map_pts: 0.6291, d2.loss_map_dir: 0.0064, d3.loss_map_cls: 0.1111, d3.loss_map_pts: 0.5660, d3.loss_map_dir: 0.0065, d4.loss_map_cls: 0.1027, d4.loss_map_pts: 0.5431, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.0980, d5.loss_map_pts: 0.5376, d5.loss_map_dir: 0.0067, loss: 21.8688, grad_norm: 145.2141 +2026-03-01 11:20:36,637 - DriveTransformer - INFO - Epoch [13][2750/39528] lr: 5.050e-05, eta: 3 days, 23:43:58, time: 0.720, data_time: 0.036, memory: 19865, loss_cls: 0.0784, loss_bbox: 0.2646, loss_traj: 0.4260, loss_traj_cls: 0.0020, loss_map_cls: 0.0756, loss_map_pts: 0.4582, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.4103, d0.loss_plan_l1_fix_dist: 0.3839, d1.loss_plan_l1_fix_time: 0.6989, d1.loss_plan_l1_fix_dist: 0.1334, d2.loss_plan_l1_fix_time: 0.6889, d2.loss_plan_l1_fix_dist: 0.1389, d3.loss_plan_l1_fix_time: 0.6919, d3.loss_plan_l1_fix_dist: 0.1453, d4.loss_plan_l1_fix_time: 0.6950, d4.loss_plan_l1_fix_dist: 0.1650, d5.loss_plan_l1_fix_time: 0.6979, d5.loss_plan_l1_fix_dist: 0.1625, d6.loss_plan_l1_fix_time: 0.7011, d6.loss_plan_l1_fix_dist: 0.1640, d0.loss_cls_all: 0.1234, d0.loss_bbox_all: 0.3309, d0.loss_cls: 0.1234, d0.loss_bbox: 0.3309, d1.loss_cls: 0.1134, d1.loss_bbox: 0.2992, d2.loss_cls: 0.1051, d2.loss_bbox: 0.2763, d3.loss_cls: 0.0854, d3.loss_bbox: 0.2708, d4.loss_cls: 0.0806, d4.loss_bbox: 0.2666, d5.loss_cls: 0.0797, d5.loss_bbox: 0.2647, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6756, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5080, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4571, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4352, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4315, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4273, d0.loss_map_cls_all: 0.1697, d0.loss_map_pts_all: 1.0300, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1697, d0.loss_map_pts: 1.0300, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1311, d1.loss_map_pts: 0.7504, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1037, d2.loss_map_pts: 0.5689, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0921, d3.loss_map_pts: 0.4939, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0832, d4.loss_map_pts: 0.4681, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0784, d5.loss_map_pts: 0.4593, d5.loss_map_dir: 0.0051, loss: 20.5421, grad_norm: 146.3766 +2026-03-01 11:21:11,877 - DriveTransformer - INFO - Epoch [13][2800/39528] lr: 5.050e-05, eta: 3 days, 23:43:19, time: 0.705, data_time: 0.036, memory: 19865, loss_cls: 0.0807, loss_bbox: 0.2627, loss_traj: 0.4919, loss_traj_cls: 0.0021, loss_map_cls: 0.0848, loss_map_pts: 0.4818, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.5658, d0.loss_plan_l1_fix_dist: 0.3237, d1.loss_plan_l1_fix_time: 0.6369, d1.loss_plan_l1_fix_dist: 0.1397, d2.loss_plan_l1_fix_time: 0.6316, d2.loss_plan_l1_fix_dist: 0.1502, d3.loss_plan_l1_fix_time: 0.6342, d3.loss_plan_l1_fix_dist: 0.1396, d4.loss_plan_l1_fix_time: 0.6356, d4.loss_plan_l1_fix_dist: 0.1515, d5.loss_plan_l1_fix_time: 0.6373, d5.loss_plan_l1_fix_dist: 0.1445, d6.loss_plan_l1_fix_time: 0.6392, d6.loss_plan_l1_fix_dist: 0.1531, d0.loss_cls_all: 0.1241, d0.loss_bbox_all: 0.3424, d0.loss_cls: 0.1241, d0.loss_bbox: 0.3424, d1.loss_cls: 0.1184, d1.loss_bbox: 0.3035, d2.loss_cls: 0.1046, d2.loss_bbox: 0.2782, d3.loss_cls: 0.0887, d3.loss_bbox: 0.2709, d4.loss_cls: 0.0829, d4.loss_bbox: 0.2659, d5.loss_cls: 0.0808, d5.loss_bbox: 0.2640, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8029, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.6078, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5413, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5080, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4912, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4953, d0.loss_map_cls_all: 0.1659, d0.loss_map_pts_all: 0.9877, d0.loss_map_dir_all: 0.0068, d0.loss_map_cls: 0.1659, d0.loss_map_pts: 0.9877, d0.loss_map_dir: 0.0068, d1.loss_map_cls: 0.1333, d1.loss_map_pts: 0.7181, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1125, d2.loss_map_pts: 0.5647, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0987, d3.loss_map_pts: 0.5125, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0930, d4.loss_map_pts: 0.4881, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0873, d5.loss_map_pts: 0.4818, d5.loss_map_dir: 0.0057, loss: 20.8750, grad_norm: 145.4407 +2026-03-01 11:21:47,741 - DriveTransformer - INFO - Epoch [13][2850/39528] lr: 5.050e-05, eta: 3 days, 23:42:41, time: 0.717, data_time: 0.037, memory: 19865, loss_cls: 0.0806, loss_bbox: 0.2625, loss_traj: 0.4383, loss_traj_cls: 0.0021, loss_map_cls: 0.1018, loss_map_pts: 0.4693, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.6997, d0.loss_plan_l1_fix_dist: 0.3408, d1.loss_plan_l1_fix_time: 0.7575, d1.loss_plan_l1_fix_dist: 0.1420, d2.loss_plan_l1_fix_time: 0.7436, d2.loss_plan_l1_fix_dist: 0.1470, d3.loss_plan_l1_fix_time: 0.7333, d3.loss_plan_l1_fix_dist: 0.1358, d4.loss_plan_l1_fix_time: 0.7339, d4.loss_plan_l1_fix_dist: 0.1467, d5.loss_plan_l1_fix_time: 0.7352, d5.loss_plan_l1_fix_dist: 0.1497, d6.loss_plan_l1_fix_time: 0.7367, d6.loss_plan_l1_fix_dist: 0.1549, d0.loss_cls_all: 0.1313, d0.loss_bbox_all: 0.3266, d0.loss_cls: 0.1313, d0.loss_bbox: 0.3266, d1.loss_cls: 0.1251, d1.loss_bbox: 0.2936, d2.loss_cls: 0.1100, d2.loss_bbox: 0.2702, d3.loss_cls: 0.0904, d3.loss_bbox: 0.2663, d4.loss_cls: 0.0858, d4.loss_bbox: 0.2616, d5.loss_cls: 0.0839, d5.loss_bbox: 0.2606, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6881, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5304, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4620, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4449, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4377, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4332, d0.loss_map_cls_all: 0.1880, d0.loss_map_pts_all: 0.9916, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1880, d0.loss_map_pts: 0.9916, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1542, d1.loss_map_pts: 0.7030, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.1283, d2.loss_map_pts: 0.5517, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.1167, d3.loss_map_pts: 0.4988, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.1113, d4.loss_map_pts: 0.4744, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.1055, d5.loss_map_pts: 0.4686, d5.loss_map_dir: 0.0048, loss: 21.1877, grad_norm: 144.0169 +2026-03-01 11:22:25,014 - DriveTransformer - INFO - Epoch [13][2900/39528] lr: 5.050e-05, eta: 3 days, 23:42:06, time: 0.745, data_time: 0.041, memory: 19865, loss_cls: 0.0797, loss_bbox: 0.2645, loss_traj: 0.3832, loss_traj_cls: 0.0021, loss_map_cls: 0.0881, loss_map_pts: 0.4672, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.7960, d0.loss_plan_l1_fix_dist: 0.3800, d1.loss_plan_l1_fix_time: 0.7113, d1.loss_plan_l1_fix_dist: 0.1629, d2.loss_plan_l1_fix_time: 0.6974, d2.loss_plan_l1_fix_dist: 0.1608, d3.loss_plan_l1_fix_time: 0.6855, d3.loss_plan_l1_fix_dist: 0.1536, d4.loss_plan_l1_fix_time: 0.6867, d4.loss_plan_l1_fix_dist: 0.1504, d5.loss_plan_l1_fix_time: 0.6887, d5.loss_plan_l1_fix_dist: 0.1552, d6.loss_plan_l1_fix_time: 0.6911, d6.loss_plan_l1_fix_dist: 0.1491, d0.loss_cls_all: 0.1260, d0.loss_bbox_all: 0.3457, d0.loss_cls: 0.1260, d0.loss_bbox: 0.3457, d1.loss_cls: 0.1198, d1.loss_bbox: 0.3054, d2.loss_cls: 0.1064, d2.loss_bbox: 0.2795, d3.loss_cls: 0.0875, d3.loss_bbox: 0.2704, d4.loss_cls: 0.0830, d4.loss_bbox: 0.2676, d5.loss_cls: 0.0796, d5.loss_bbox: 0.2655, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6553, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4639, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4094, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3910, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3847, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3804, d0.loss_map_cls_all: 0.1750, d0.loss_map_pts_all: 1.0304, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.1750, d0.loss_map_pts: 1.0304, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.1398, d1.loss_map_pts: 0.7231, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1151, d2.loss_map_pts: 0.5645, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.1028, d3.loss_map_pts: 0.4949, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0968, d4.loss_map_pts: 0.4733, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0904, d5.loss_map_pts: 0.4666, d5.loss_map_dir: 0.0061, loss: 20.7797, grad_norm: 142.9235 +2026-03-01 11:23:01,364 - DriveTransformer - INFO - Epoch [13][2950/39528] lr: 5.050e-05, eta: 3 days, 23:41:29, time: 0.727, data_time: 0.039, memory: 19865, loss_cls: 0.0712, loss_bbox: 0.2539, loss_traj: 0.3955, loss_traj_cls: 0.0021, loss_map_cls: 0.0775, loss_map_pts: 0.4193, loss_map_dir: 0.0047, d0.loss_plan_l1_fix_time: 2.1966, d0.loss_plan_l1_fix_dist: 0.4689, d1.loss_plan_l1_fix_time: 0.6092, d1.loss_plan_l1_fix_dist: 0.1701, d2.loss_plan_l1_fix_time: 0.5912, d2.loss_plan_l1_fix_dist: 0.1609, d3.loss_plan_l1_fix_time: 0.5801, d3.loss_plan_l1_fix_dist: 0.1676, d4.loss_plan_l1_fix_time: 0.5815, d4.loss_plan_l1_fix_dist: 0.1614, d5.loss_plan_l1_fix_time: 0.5839, d5.loss_plan_l1_fix_dist: 0.1698, d6.loss_plan_l1_fix_time: 0.5868, d6.loss_plan_l1_fix_dist: 0.1673, d0.loss_cls_all: 0.1094, d0.loss_bbox_all: 0.3134, d0.loss_cls: 0.1094, d0.loss_bbox: 0.3134, d1.loss_cls: 0.1054, d1.loss_bbox: 0.2838, d2.loss_cls: 0.0933, d2.loss_bbox: 0.2631, d3.loss_cls: 0.0771, d3.loss_bbox: 0.2588, d4.loss_cls: 0.0730, d4.loss_bbox: 0.2555, d5.loss_cls: 0.0712, d5.loss_bbox: 0.2533, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5936, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4491, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4125, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4024, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4004, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3976, d0.loss_map_cls_all: 0.1676, d0.loss_map_pts_all: 0.9233, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1676, d0.loss_map_pts: 0.9233, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1283, d1.loss_map_pts: 0.6539, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1033, d2.loss_map_pts: 0.4977, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0926, d3.loss_map_pts: 0.4445, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0863, d4.loss_map_pts: 0.4230, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0805, d5.loss_map_pts: 0.4194, d5.loss_map_dir: 0.0047, loss: 18.8072, grad_norm: 145.7066 +2026-03-01 11:23:38,012 - DriveTransformer - INFO - Epoch [13][3000/39528] lr: 5.050e-05, eta: 3 days, 23:40:53, time: 0.733, data_time: 0.038, memory: 19865, loss_cls: 0.0705, loss_bbox: 0.2634, loss_traj: 0.5145, loss_traj_cls: 0.0021, loss_map_cls: 0.0735, loss_map_pts: 0.4454, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.6931, d0.loss_plan_l1_fix_dist: 0.4801, d1.loss_plan_l1_fix_time: 0.7299, d1.loss_plan_l1_fix_dist: 0.1939, d2.loss_plan_l1_fix_time: 0.7030, d2.loss_plan_l1_fix_dist: 0.1772, d3.loss_plan_l1_fix_time: 0.6923, d3.loss_plan_l1_fix_dist: 0.1905, d4.loss_plan_l1_fix_time: 0.6932, d4.loss_plan_l1_fix_dist: 0.1774, d5.loss_plan_l1_fix_time: 0.6953, d5.loss_plan_l1_fix_dist: 0.1856, d6.loss_plan_l1_fix_time: 0.6978, d6.loss_plan_l1_fix_dist: 0.1830, d0.loss_cls_all: 0.1103, d0.loss_bbox_all: 0.3276, d0.loss_cls: 0.1103, d0.loss_bbox: 0.3276, d1.loss_cls: 0.1069, d1.loss_bbox: 0.2919, d2.loss_cls: 0.0939, d2.loss_bbox: 0.2720, d3.loss_cls: 0.0798, d3.loss_bbox: 0.2644, d4.loss_cls: 0.0723, d4.loss_bbox: 0.2634, d5.loss_cls: 0.0713, d5.loss_bbox: 0.2626, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8081, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.6023, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5379, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5188, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5096, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5141, d0.loss_map_cls_all: 0.1629, d0.loss_map_pts_all: 0.9702, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1629, d0.loss_map_pts: 0.9702, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1246, d1.loss_map_pts: 0.6922, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1000, d2.loss_map_pts: 0.5314, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0893, d3.loss_map_pts: 0.4760, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0798, d4.loss_map_pts: 0.4521, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0758, d5.loss_map_pts: 0.4463, d5.loss_map_dir: 0.0053, loss: 21.3909, grad_norm: 148.2135 +2026-03-01 11:24:13,218 - DriveTransformer - INFO - Epoch [13][3050/39528] lr: 5.050e-05, eta: 3 days, 23:40:14, time: 0.704, data_time: 0.035, memory: 19865, loss_cls: 0.0776, loss_bbox: 0.2572, loss_traj: 0.4644, loss_traj_cls: 0.0021, loss_map_cls: 0.0773, loss_map_pts: 0.4175, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.6839, d0.loss_plan_l1_fix_dist: 0.4593, d1.loss_plan_l1_fix_time: 0.6540, d1.loss_plan_l1_fix_dist: 0.1651, d2.loss_plan_l1_fix_time: 0.6255, d2.loss_plan_l1_fix_dist: 0.1448, d3.loss_plan_l1_fix_time: 0.6159, d3.loss_plan_l1_fix_dist: 0.1606, d4.loss_plan_l1_fix_time: 0.6170, d4.loss_plan_l1_fix_dist: 0.1436, d5.loss_plan_l1_fix_time: 0.6192, d5.loss_plan_l1_fix_dist: 0.1501, d6.loss_plan_l1_fix_time: 0.6219, d6.loss_plan_l1_fix_dist: 0.1422, d0.loss_cls_all: 0.1166, d0.loss_bbox_all: 0.3185, d0.loss_cls: 0.1166, d0.loss_bbox: 0.3185, d1.loss_cls: 0.1099, d1.loss_bbox: 0.2859, d2.loss_cls: 0.1025, d2.loss_bbox: 0.2655, d3.loss_cls: 0.0837, d3.loss_bbox: 0.2608, d4.loss_cls: 0.0794, d4.loss_bbox: 0.2578, d5.loss_cls: 0.0780, d5.loss_bbox: 0.2569, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6908, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5393, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4985, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4765, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4687, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4665, d0.loss_map_cls_all: 0.1496, d0.loss_map_pts_all: 0.9113, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1496, d0.loss_map_pts: 0.9113, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1218, d1.loss_map_pts: 0.6344, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.0996, d2.loss_map_pts: 0.4912, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0894, d3.loss_map_pts: 0.4437, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0832, d4.loss_map_pts: 0.4247, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0785, d5.loss_map_pts: 0.4176, d5.loss_map_dir: 0.0052, loss: 19.9433, grad_norm: 148.1982 +2026-03-01 11:24:50,571 - DriveTransformer - INFO - Epoch [13][3100/39528] lr: 5.050e-05, eta: 3 days, 23:39:39, time: 0.747, data_time: 0.037, memory: 19865, loss_cls: 0.0753, loss_bbox: 0.2553, loss_traj: 0.4367, loss_traj_cls: 0.0021, loss_map_cls: 0.0730, loss_map_pts: 0.4585, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.2787, d0.loss_plan_l1_fix_dist: 0.4005, d1.loss_plan_l1_fix_time: 0.6251, d1.loss_plan_l1_fix_dist: 0.1544, d2.loss_plan_l1_fix_time: 0.6105, d2.loss_plan_l1_fix_dist: 0.1377, d3.loss_plan_l1_fix_time: 0.5875, d3.loss_plan_l1_fix_dist: 0.1557, d4.loss_plan_l1_fix_time: 0.5897, d4.loss_plan_l1_fix_dist: 0.1378, d5.loss_plan_l1_fix_time: 0.5923, d5.loss_plan_l1_fix_dist: 0.1531, d6.loss_plan_l1_fix_time: 0.5949, d6.loss_plan_l1_fix_dist: 0.1569, d0.loss_cls_all: 0.1186, d0.loss_bbox_all: 0.3142, d0.loss_cls: 0.1186, d0.loss_bbox: 0.3142, d1.loss_cls: 0.1176, d1.loss_bbox: 0.2807, d2.loss_cls: 0.1043, d2.loss_bbox: 0.2616, d3.loss_cls: 0.0845, d3.loss_bbox: 0.2590, d4.loss_cls: 0.0788, d4.loss_bbox: 0.2556, d5.loss_cls: 0.0761, d5.loss_bbox: 0.2542, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6487, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5211, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4619, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4518, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4396, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4373, d0.loss_map_cls_all: 0.1514, d0.loss_map_pts_all: 0.9592, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1514, d0.loss_map_pts: 0.9592, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1198, d1.loss_map_pts: 0.6801, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.0942, d2.loss_map_pts: 0.5266, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.0855, d3.loss_map_pts: 0.4818, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.0784, d4.loss_map_pts: 0.4625, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0751, d5.loss_map_pts: 0.4585, d5.loss_map_dir: 0.0060, loss: 19.4122, grad_norm: 147.5573 +2026-03-01 11:25:28,051 - DriveTransformer - INFO - Epoch [13][3150/39528] lr: 5.050e-05, eta: 3 days, 23:39:04, time: 0.750, data_time: 0.039, memory: 19865, loss_cls: 0.0687, loss_bbox: 0.2402, loss_traj: 0.3550, loss_traj_cls: 0.0021, loss_map_cls: 0.0731, loss_map_pts: 0.4321, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.5554, d0.loss_plan_l1_fix_dist: 0.3990, d1.loss_plan_l1_fix_time: 0.5651, d1.loss_plan_l1_fix_dist: 0.1504, d2.loss_plan_l1_fix_time: 0.5506, d2.loss_plan_l1_fix_dist: 0.1369, d3.loss_plan_l1_fix_time: 0.5471, d3.loss_plan_l1_fix_dist: 0.1402, d4.loss_plan_l1_fix_time: 0.5483, d4.loss_plan_l1_fix_dist: 0.1336, d5.loss_plan_l1_fix_time: 0.5499, d5.loss_plan_l1_fix_dist: 0.1394, d6.loss_plan_l1_fix_time: 0.5521, d6.loss_plan_l1_fix_dist: 0.1392, d0.loss_cls_all: 0.1153, d0.loss_bbox_all: 0.3034, d0.loss_cls: 0.1153, d0.loss_bbox: 0.3034, d1.loss_cls: 0.1065, d1.loss_bbox: 0.2719, d2.loss_cls: 0.0933, d2.loss_bbox: 0.2545, d3.loss_cls: 0.0764, d3.loss_bbox: 0.2461, d4.loss_cls: 0.0703, d4.loss_bbox: 0.2432, d5.loss_cls: 0.0687, d5.loss_bbox: 0.2404, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5443, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4322, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3881, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3704, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3611, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3557, d0.loss_map_cls_all: 0.1513, d0.loss_map_pts_all: 0.9721, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1513, d0.loss_map_pts: 0.9721, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1198, d1.loss_map_pts: 0.6755, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.0975, d2.loss_map_pts: 0.5200, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0865, d3.loss_map_pts: 0.4633, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0792, d4.loss_map_pts: 0.4368, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0757, d5.loss_map_pts: 0.4323, d5.loss_map_dir: 0.0056, loss: 18.5240, grad_norm: 145.8469 +2026-03-01 11:26:05,209 - DriveTransformer - INFO - Epoch [13][3200/39528] lr: 5.050e-05, eta: 3 days, 23:38:29, time: 0.745, data_time: 0.037, memory: 19865, loss_cls: 0.0723, loss_bbox: 0.2584, loss_traj: 0.4240, loss_traj_cls: 0.0021, loss_map_cls: 0.0867, loss_map_pts: 0.4640, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.6069, d0.loss_plan_l1_fix_dist: 0.4189, d1.loss_plan_l1_fix_time: 0.6434, d1.loss_plan_l1_fix_dist: 0.1587, d2.loss_plan_l1_fix_time: 0.6237, d2.loss_plan_l1_fix_dist: 0.1522, d3.loss_plan_l1_fix_time: 0.6045, d3.loss_plan_l1_fix_dist: 0.1554, d4.loss_plan_l1_fix_time: 0.6050, d4.loss_plan_l1_fix_dist: 0.1571, d5.loss_plan_l1_fix_time: 0.6069, d5.loss_plan_l1_fix_dist: 0.1601, d6.loss_plan_l1_fix_time: 0.6093, d6.loss_plan_l1_fix_dist: 0.1643, d0.loss_cls_all: 0.1106, d0.loss_bbox_all: 0.3231, d0.loss_cls: 0.1106, d0.loss_bbox: 0.3231, d1.loss_cls: 0.1077, d1.loss_bbox: 0.2909, d2.loss_cls: 0.0969, d2.loss_bbox: 0.2693, d3.loss_cls: 0.0783, d3.loss_bbox: 0.2648, d4.loss_cls: 0.0748, d4.loss_bbox: 0.2600, d5.loss_cls: 0.0725, d5.loss_bbox: 0.2590, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6525, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5207, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4646, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4413, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4284, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4247, d0.loss_map_cls_all: 0.1717, d0.loss_map_pts_all: 1.0441, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1717, d0.loss_map_pts: 1.0441, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1397, d1.loss_map_pts: 0.7312, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1151, d2.loss_map_pts: 0.5483, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1013, d3.loss_map_pts: 0.4917, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0943, d4.loss_map_pts: 0.4683, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0890, d5.loss_map_pts: 0.4650, d5.loss_map_dir: 0.0054, loss: 20.2748, grad_norm: 144.6864 +2026-03-01 11:26:42,989 - DriveTransformer - INFO - Epoch [13][3250/39528] lr: 5.050e-05, eta: 3 days, 23:37:55, time: 0.754, data_time: 0.036, memory: 19865, loss_cls: 0.0726, loss_bbox: 0.2434, loss_traj: 0.3937, loss_traj_cls: 0.0020, loss_map_cls: 0.0809, loss_map_pts: 0.4743, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.2021, d0.loss_plan_l1_fix_dist: 0.4358, d1.loss_plan_l1_fix_time: 0.5347, d1.loss_plan_l1_fix_dist: 0.1456, d2.loss_plan_l1_fix_time: 0.5179, d2.loss_plan_l1_fix_dist: 0.1445, d3.loss_plan_l1_fix_time: 0.5199, d3.loss_plan_l1_fix_dist: 0.1392, d4.loss_plan_l1_fix_time: 0.5223, d4.loss_plan_l1_fix_dist: 0.1434, d5.loss_plan_l1_fix_time: 0.5249, d5.loss_plan_l1_fix_dist: 0.1450, d6.loss_plan_l1_fix_time: 0.5278, d6.loss_plan_l1_fix_dist: 0.1523, d0.loss_cls_all: 0.1168, d0.loss_bbox_all: 0.3006, d0.loss_cls: 0.1168, d0.loss_bbox: 0.3006, d1.loss_cls: 0.1101, d1.loss_bbox: 0.2715, d2.loss_cls: 0.0953, d2.loss_bbox: 0.2530, d3.loss_cls: 0.0782, d3.loss_bbox: 0.2463, d4.loss_cls: 0.0739, d4.loss_bbox: 0.2431, d5.loss_cls: 0.0729, d5.loss_bbox: 0.2420, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6147, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4682, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4295, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4071, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3990, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3961, d0.loss_map_cls_all: 0.1639, d0.loss_map_pts_all: 1.0114, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1639, d0.loss_map_pts: 1.0114, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1330, d1.loss_map_pts: 0.7416, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1069, d2.loss_map_pts: 0.5681, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.0961, d3.loss_map_pts: 0.5094, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0886, d4.loss_map_pts: 0.4844, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0834, d5.loss_map_pts: 0.4749, d5.loss_map_dir: 0.0056, loss: 18.8477, grad_norm: 143.9211 +2026-03-01 11:27:17,375 - DriveTransformer - INFO - Epoch [13][3300/39528] lr: 5.050e-05, eta: 3 days, 23:37:14, time: 0.688, data_time: 0.037, memory: 19865, loss_cls: 0.0718, loss_bbox: 0.2376, loss_traj: 0.4390, loss_traj_cls: 0.0021, loss_map_cls: 0.0717, loss_map_pts: 0.3538, loss_map_dir: 0.0034, d0.loss_plan_l1_fix_time: 2.4139, d0.loss_plan_l1_fix_dist: 0.3820, d1.loss_plan_l1_fix_time: 0.5720, d1.loss_plan_l1_fix_dist: 0.1393, d2.loss_plan_l1_fix_time: 0.5670, d2.loss_plan_l1_fix_dist: 0.1423, d3.loss_plan_l1_fix_time: 0.5684, d3.loss_plan_l1_fix_dist: 0.1353, d4.loss_plan_l1_fix_time: 0.5702, d4.loss_plan_l1_fix_dist: 0.1420, d5.loss_plan_l1_fix_time: 0.5721, d5.loss_plan_l1_fix_dist: 0.1437, d6.loss_plan_l1_fix_time: 0.5741, d6.loss_plan_l1_fix_dist: 0.1509, d0.loss_cls_all: 0.1124, d0.loss_bbox_all: 0.2945, d0.loss_cls: 0.1124, d0.loss_bbox: 0.2945, d1.loss_cls: 0.1089, d1.loss_bbox: 0.2646, d2.loss_cls: 0.0968, d2.loss_bbox: 0.2456, d3.loss_cls: 0.0782, d3.loss_bbox: 0.2404, d4.loss_cls: 0.0735, d4.loss_bbox: 0.2386, d5.loss_cls: 0.0721, d5.loss_bbox: 0.2377, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.7095, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5402, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4884, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4629, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4457, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4429, d0.loss_map_cls_all: 0.1609, d0.loss_map_pts_all: 0.7585, d0.loss_map_dir_all: 0.0040, d0.loss_map_cls: 0.1609, d0.loss_map_pts: 0.7585, d0.loss_map_dir: 0.0040, d1.loss_map_cls: 0.1256, d1.loss_map_pts: 0.5491, d1.loss_map_dir: 0.0035, d2.loss_map_cls: 0.0997, d2.loss_map_pts: 0.4310, d2.loss_map_dir: 0.0032, d3.loss_map_cls: 0.0856, d3.loss_map_pts: 0.3770, d3.loss_map_dir: 0.0032, d4.loss_map_cls: 0.0785, d4.loss_map_pts: 0.3594, d4.loss_map_dir: 0.0033, d5.loss_map_cls: 0.0742, d5.loss_map_pts: 0.3538, d5.loss_map_dir: 0.0033, loss: 18.2151, grad_norm: 141.2869 +2026-03-01 11:27:53,941 - DriveTransformer - INFO - Epoch [13][3350/39528] lr: 5.050e-05, eta: 3 days, 23:36:38, time: 0.731, data_time: 0.038, memory: 19865, loss_cls: 0.0687, loss_bbox: 0.2441, loss_traj: 0.3206, loss_traj_cls: 0.0021, loss_map_cls: 0.0646, loss_map_pts: 0.3870, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.3002, d0.loss_plan_l1_fix_dist: 0.3867, d1.loss_plan_l1_fix_time: 0.6387, d1.loss_plan_l1_fix_dist: 0.1352, d2.loss_plan_l1_fix_time: 0.6297, d2.loss_plan_l1_fix_dist: 0.1458, d3.loss_plan_l1_fix_time: 0.6320, d3.loss_plan_l1_fix_dist: 0.1366, d4.loss_plan_l1_fix_time: 0.6350, d4.loss_plan_l1_fix_dist: 0.1395, d5.loss_plan_l1_fix_time: 0.6377, d5.loss_plan_l1_fix_dist: 0.1434, d6.loss_plan_l1_fix_time: 0.6404, d6.loss_plan_l1_fix_dist: 0.1492, d0.loss_cls_all: 0.1090, d0.loss_bbox_all: 0.3061, d0.loss_cls: 0.1090, d0.loss_bbox: 0.3061, d1.loss_cls: 0.1050, d1.loss_bbox: 0.2755, d2.loss_cls: 0.0889, d2.loss_bbox: 0.2564, d3.loss_cls: 0.0764, d3.loss_bbox: 0.2477, d4.loss_cls: 0.0714, d4.loss_bbox: 0.2450, d5.loss_cls: 0.0686, d5.loss_bbox: 0.2439, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5599, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4170, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3612, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3368, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3283, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3230, d0.loss_map_cls_all: 0.1406, d0.loss_map_pts_all: 0.8339, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1406, d0.loss_map_pts: 0.8339, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1093, d1.loss_map_pts: 0.5777, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.0853, d2.loss_map_pts: 0.4510, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0771, d3.loss_map_pts: 0.4056, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0703, d4.loss_map_pts: 0.3897, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0671, d5.loss_map_pts: 0.3866, d5.loss_map_dir: 0.0048, loss: 17.8875, grad_norm: 140.2951 +2026-03-01 11:28:30,662 - DriveTransformer - INFO - Epoch [13][3400/39528] lr: 5.050e-05, eta: 3 days, 23:36:01, time: 0.734, data_time: 0.036, memory: 19865, loss_cls: 0.0762, loss_bbox: 0.2636, loss_traj: 0.4512, loss_traj_cls: 0.0021, loss_map_cls: 0.0881, loss_map_pts: 0.4475, loss_map_dir: 0.0044, d0.loss_plan_l1_fix_time: 2.6393, d0.loss_plan_l1_fix_dist: 0.4440, d1.loss_plan_l1_fix_time: 0.6315, d1.loss_plan_l1_fix_dist: 0.1423, d2.loss_plan_l1_fix_time: 0.6169, d2.loss_plan_l1_fix_dist: 0.1621, d3.loss_plan_l1_fix_time: 0.6147, d3.loss_plan_l1_fix_dist: 0.1465, d4.loss_plan_l1_fix_time: 0.6180, d4.loss_plan_l1_fix_dist: 0.1432, d5.loss_plan_l1_fix_time: 0.6209, d5.loss_plan_l1_fix_dist: 0.1483, d6.loss_plan_l1_fix_time: 0.6238, d6.loss_plan_l1_fix_dist: 0.1570, d0.loss_cls_all: 0.1202, d0.loss_bbox_all: 0.3325, d0.loss_cls: 0.1202, d0.loss_bbox: 0.3325, d1.loss_cls: 0.1167, d1.loss_bbox: 0.2988, d2.loss_cls: 0.1044, d2.loss_bbox: 0.2745, d3.loss_cls: 0.0865, d3.loss_bbox: 0.2677, d4.loss_cls: 0.0776, d4.loss_bbox: 0.2662, d5.loss_cls: 0.0767, d5.loss_bbox: 0.2640, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7000, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5427, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4797, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4610, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4553, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.4516, d0.loss_map_cls_all: 0.1741, d0.loss_map_pts_all: 0.9612, d0.loss_map_dir_all: 0.0048, d0.loss_map_cls: 0.1741, d0.loss_map_pts: 0.9612, d0.loss_map_dir: 0.0048, d1.loss_map_cls: 0.1390, d1.loss_map_pts: 0.7073, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.1133, d2.loss_map_pts: 0.5382, d2.loss_map_dir: 0.0041, d3.loss_map_cls: 0.1017, d3.loss_map_pts: 0.4758, d3.loss_map_dir: 0.0041, d4.loss_map_cls: 0.0959, d4.loss_map_pts: 0.4540, d4.loss_map_dir: 0.0043, d5.loss_map_cls: 0.0906, d5.loss_map_pts: 0.4469, d5.loss_map_dir: 0.0044, loss: 20.3408, grad_norm: 135.2037 +2026-03-01 11:29:07,669 - DriveTransformer - INFO - Epoch [13][3450/39528] lr: 5.050e-05, eta: 3 days, 23:35:26, time: 0.740, data_time: 0.036, memory: 19865, loss_cls: 0.0773, loss_bbox: 0.2469, loss_traj: 0.3874, loss_traj_cls: 0.0021, loss_map_cls: 0.0859, loss_map_pts: 0.4539, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.3202, d0.loss_plan_l1_fix_dist: 0.4085, d1.loss_plan_l1_fix_time: 0.6123, d1.loss_plan_l1_fix_dist: 0.1173, d2.loss_plan_l1_fix_time: 0.6081, d2.loss_plan_l1_fix_dist: 0.1479, d3.loss_plan_l1_fix_time: 0.6045, d3.loss_plan_l1_fix_dist: 0.1226, d4.loss_plan_l1_fix_time: 0.6057, d4.loss_plan_l1_fix_dist: 0.1227, d5.loss_plan_l1_fix_time: 0.6072, d5.loss_plan_l1_fix_dist: 0.1253, d6.loss_plan_l1_fix_time: 0.6095, d6.loss_plan_l1_fix_dist: 0.1310, d0.loss_cls_all: 0.1202, d0.loss_bbox_all: 0.3105, d0.loss_cls: 0.1202, d0.loss_bbox: 0.3105, d1.loss_cls: 0.1107, d1.loss_bbox: 0.2791, d2.loss_cls: 0.0975, d2.loss_bbox: 0.2592, d3.loss_cls: 0.0834, d3.loss_bbox: 0.2529, d4.loss_cls: 0.0781, d4.loss_bbox: 0.2487, d5.loss_cls: 0.0775, d5.loss_bbox: 0.2470, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6043, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4559, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4100, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3902, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3871, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3886, d0.loss_map_cls_all: 0.1734, d0.loss_map_pts_all: 0.9881, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1734, d0.loss_map_pts: 0.9881, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1421, d1.loss_map_pts: 0.7189, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1153, d2.loss_map_pts: 0.5454, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1011, d3.loss_map_pts: 0.4852, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0942, d4.loss_map_pts: 0.4614, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0892, d5.loss_map_pts: 0.4546, d5.loss_map_dir: 0.0052, loss: 19.2061, grad_norm: 133.6951 +2026-03-01 11:29:43,889 - DriveTransformer - INFO - Epoch [13][3500/39528] lr: 5.050e-05, eta: 3 days, 23:34:49, time: 0.724, data_time: 0.036, memory: 19865, loss_cls: 0.0691, loss_bbox: 0.2505, loss_traj: 0.3696, loss_traj_cls: 0.0021, loss_map_cls: 0.0649, loss_map_pts: 0.3849, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.6310, d0.loss_plan_l1_fix_dist: 0.3902, d1.loss_plan_l1_fix_time: 0.6391, d1.loss_plan_l1_fix_dist: 0.1268, d2.loss_plan_l1_fix_time: 0.6239, d2.loss_plan_l1_fix_dist: 0.1594, d3.loss_plan_l1_fix_time: 0.6117, d3.loss_plan_l1_fix_dist: 0.1301, d4.loss_plan_l1_fix_time: 0.6115, d4.loss_plan_l1_fix_dist: 0.1300, d5.loss_plan_l1_fix_time: 0.6130, d5.loss_plan_l1_fix_dist: 0.1330, d6.loss_plan_l1_fix_time: 0.6152, d6.loss_plan_l1_fix_dist: 0.1353, d0.loss_cls_all: 0.1223, d0.loss_bbox_all: 0.3109, d0.loss_cls: 0.1223, d0.loss_bbox: 0.3109, d1.loss_cls: 0.1130, d1.loss_bbox: 0.2813, d2.loss_cls: 0.0988, d2.loss_bbox: 0.2587, d3.loss_cls: 0.0769, d3.loss_bbox: 0.2517, d4.loss_cls: 0.0718, d4.loss_bbox: 0.2486, d5.loss_cls: 0.0707, d5.loss_bbox: 0.2478, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5871, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4551, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3975, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3828, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3730, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3695, d0.loss_map_cls_all: 0.1413, d0.loss_map_pts_all: 0.7977, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1413, d0.loss_map_pts: 0.7977, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1065, d1.loss_map_pts: 0.5631, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.0873, d2.loss_map_pts: 0.4423, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0781, d3.loss_map_pts: 0.4009, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0717, d4.loss_map_pts: 0.3875, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0673, d5.loss_map_pts: 0.3848, d5.loss_map_dir: 0.0050, loss: 18.3585, grad_norm: 135.7801 +2026-03-01 11:30:20,318 - DriveTransformer - INFO - Epoch [13][3550/39528] lr: 5.050e-05, eta: 3 days, 23:34:12, time: 0.729, data_time: 0.040, memory: 19865, loss_cls: 0.0626, loss_bbox: 0.2596, loss_traj: 0.3506, loss_traj_cls: 0.0021, loss_map_cls: 0.0831, loss_map_pts: 0.4526, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.7014, d0.loss_plan_l1_fix_dist: 0.3480, d1.loss_plan_l1_fix_time: 0.6345, d1.loss_plan_l1_fix_dist: 0.1132, d2.loss_plan_l1_fix_time: 0.6307, d2.loss_plan_l1_fix_dist: 0.1414, d3.loss_plan_l1_fix_time: 0.6014, d3.loss_plan_l1_fix_dist: 0.1150, d4.loss_plan_l1_fix_time: 0.6024, d4.loss_plan_l1_fix_dist: 0.1151, d5.loss_plan_l1_fix_time: 0.6045, d5.loss_plan_l1_fix_dist: 0.1178, d6.loss_plan_l1_fix_time: 0.6068, d6.loss_plan_l1_fix_dist: 0.1256, d0.loss_cls_all: 0.1116, d0.loss_bbox_all: 0.3259, d0.loss_cls: 0.1116, d0.loss_bbox: 0.3259, d1.loss_cls: 0.1053, d1.loss_bbox: 0.2911, d2.loss_cls: 0.0911, d2.loss_bbox: 0.2652, d3.loss_cls: 0.0701, d3.loss_bbox: 0.2595, d4.loss_cls: 0.0658, d4.loss_bbox: 0.2574, d5.loss_cls: 0.0624, d5.loss_bbox: 0.2593, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5975, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4377, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3744, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3578, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3516, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3507, d0.loss_map_cls_all: 0.1775, d0.loss_map_pts_all: 1.0349, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1775, d0.loss_map_pts: 1.0349, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1392, d1.loss_map_pts: 0.7254, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1104, d2.loss_map_pts: 0.5524, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0989, d3.loss_map_pts: 0.4874, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0916, d4.loss_map_pts: 0.4607, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0847, d5.loss_map_pts: 0.4548, d5.loss_map_dir: 0.0054, loss: 19.4210, grad_norm: 134.4462 +2026-03-01 11:30:57,297 - DriveTransformer - INFO - Epoch [13][3600/39528] lr: 5.050e-05, eta: 3 days, 23:33:36, time: 0.740, data_time: 0.036, memory: 19865, loss_cls: 0.0781, loss_bbox: 0.2815, loss_traj: 0.4132, loss_traj_cls: 0.0020, loss_map_cls: 0.0939, loss_map_pts: 0.5064, loss_map_dir: 0.0063, d0.loss_plan_l1_fix_time: 2.8253, d0.loss_plan_l1_fix_dist: 0.3885, d1.loss_plan_l1_fix_time: 0.6851, d1.loss_plan_l1_fix_dist: 0.1445, d2.loss_plan_l1_fix_time: 0.6736, d2.loss_plan_l1_fix_dist: 0.1594, d3.loss_plan_l1_fix_time: 0.6716, d3.loss_plan_l1_fix_dist: 0.1321, d4.loss_plan_l1_fix_time: 0.6728, d4.loss_plan_l1_fix_dist: 0.1316, d5.loss_plan_l1_fix_time: 0.6742, d5.loss_plan_l1_fix_dist: 0.1332, d6.loss_plan_l1_fix_time: 0.6757, d6.loss_plan_l1_fix_dist: 0.1391, d0.loss_cls_all: 0.1257, d0.loss_bbox_all: 0.3492, d0.loss_cls: 0.1257, d0.loss_bbox: 0.3492, d1.loss_cls: 0.1208, d1.loss_bbox: 0.3159, d2.loss_cls: 0.1082, d2.loss_bbox: 0.2936, d3.loss_cls: 0.0863, d3.loss_bbox: 0.2862, d4.loss_cls: 0.0799, d4.loss_bbox: 0.2835, d5.loss_cls: 0.0776, d5.loss_bbox: 0.2826, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6429, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4907, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4298, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4177, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4117, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4115, d0.loss_map_cls_all: 0.1725, d0.loss_map_pts_all: 1.0770, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1725, d0.loss_map_pts: 1.0770, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1432, d1.loss_map_pts: 0.7830, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1182, d2.loss_map_pts: 0.5971, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1083, d3.loss_map_pts: 0.5345, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.1007, d4.loss_map_pts: 0.5103, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0958, d5.loss_map_pts: 0.5063, d5.loss_map_dir: 0.0062, loss: 21.2224, grad_norm: 134.0527 +2026-03-01 11:31:35,171 - DriveTransformer - INFO - Epoch [13][3650/39528] lr: 5.050e-05, eta: 3 days, 23:33:02, time: 0.757, data_time: 0.037, memory: 19865, loss_cls: 0.0747, loss_bbox: 0.2640, loss_traj: 0.3546, loss_traj_cls: 0.0022, loss_map_cls: 0.0700, loss_map_pts: 0.4544, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.3189, d0.loss_plan_l1_fix_dist: 0.4946, d1.loss_plan_l1_fix_time: 0.5492, d1.loss_plan_l1_fix_dist: 0.1555, d2.loss_plan_l1_fix_time: 0.5329, d2.loss_plan_l1_fix_dist: 0.1594, d3.loss_plan_l1_fix_time: 0.5302, d3.loss_plan_l1_fix_dist: 0.1443, d4.loss_plan_l1_fix_time: 0.5316, d4.loss_plan_l1_fix_dist: 0.1454, d5.loss_plan_l1_fix_time: 0.5338, d5.loss_plan_l1_fix_dist: 0.1535, d6.loss_plan_l1_fix_time: 0.5364, d6.loss_plan_l1_fix_dist: 0.1572, d0.loss_cls_all: 0.1127, d0.loss_bbox_all: 0.3239, d0.loss_cls: 0.1127, d0.loss_bbox: 0.3239, d1.loss_cls: 0.1099, d1.loss_bbox: 0.2941, d2.loss_cls: 0.0959, d2.loss_bbox: 0.2719, d3.loss_cls: 0.0817, d3.loss_bbox: 0.2667, d4.loss_cls: 0.0779, d4.loss_bbox: 0.2624, d5.loss_cls: 0.0754, d5.loss_bbox: 0.2629, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5580, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4276, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3780, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3618, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3578, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3570, d0.loss_map_cls_all: 0.1419, d0.loss_map_pts_all: 0.9774, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1419, d0.loss_map_pts: 0.9774, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1093, d1.loss_map_pts: 0.6804, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.0919, d2.loss_map_pts: 0.5275, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0818, d3.loss_map_pts: 0.4789, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0764, d4.loss_map_pts: 0.4578, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0725, d5.loss_map_pts: 0.4533, d5.loss_map_dir: 0.0055, loss: 18.5942, grad_norm: 130.8302 +2026-03-01 11:32:13,010 - DriveTransformer - INFO - Epoch [13][3700/39528] lr: 5.050e-05, eta: 3 days, 23:32:28, time: 0.757, data_time: 0.037, memory: 19865, loss_cls: 0.0869, loss_bbox: 0.2720, loss_traj: 0.5136, loss_traj_cls: 0.0021, loss_map_cls: 0.0799, loss_map_pts: 0.4686, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.3811, d0.loss_plan_l1_fix_dist: 0.3835, d1.loss_plan_l1_fix_time: 0.5738, d1.loss_plan_l1_fix_dist: 0.1419, d2.loss_plan_l1_fix_time: 0.5571, d2.loss_plan_l1_fix_dist: 0.1350, d3.loss_plan_l1_fix_time: 0.5540, d3.loss_plan_l1_fix_dist: 0.1252, d4.loss_plan_l1_fix_time: 0.5546, d4.loss_plan_l1_fix_dist: 0.1248, d5.loss_plan_l1_fix_time: 0.5558, d5.loss_plan_l1_fix_dist: 0.1245, d6.loss_plan_l1_fix_time: 0.5575, d6.loss_plan_l1_fix_dist: 0.1333, d0.loss_cls_all: 0.1297, d0.loss_bbox_all: 0.3461, d0.loss_cls: 0.1297, d0.loss_bbox: 0.3461, d1.loss_cls: 0.1234, d1.loss_bbox: 0.3098, d2.loss_cls: 0.1116, d2.loss_bbox: 0.2855, d3.loss_cls: 0.0932, d3.loss_bbox: 0.2800, d4.loss_cls: 0.0890, d4.loss_bbox: 0.2741, d5.loss_cls: 0.0872, d5.loss_bbox: 0.2718, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7978, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.6251, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5557, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5273, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5231, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5150, d0.loss_map_cls_all: 0.1683, d0.loss_map_pts_all: 1.0297, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1683, d0.loss_map_pts: 1.0297, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1322, d1.loss_map_pts: 0.7512, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1059, d2.loss_map_pts: 0.5696, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0959, d3.loss_map_pts: 0.5031, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0890, d4.loss_map_pts: 0.4761, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0829, d5.loss_map_pts: 0.4682, d5.loss_map_dir: 0.0057, loss: 20.4687, grad_norm: 129.1545 +2026-03-01 11:32:50,977 - DriveTransformer - INFO - Epoch [13][3750/39528] lr: 5.050e-05, eta: 3 days, 23:31:55, time: 0.759, data_time: 0.037, memory: 19865, loss_cls: 0.0681, loss_bbox: 0.2469, loss_traj: 0.4131, loss_traj_cls: 0.0021, loss_map_cls: 0.0893, loss_map_pts: 0.4854, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.6453, d0.loss_plan_l1_fix_dist: 0.3301, d1.loss_plan_l1_fix_time: 0.6733, d1.loss_plan_l1_fix_dist: 0.1486, d2.loss_plan_l1_fix_time: 0.6535, d2.loss_plan_l1_fix_dist: 0.1288, d3.loss_plan_l1_fix_time: 0.6592, d3.loss_plan_l1_fix_dist: 0.1235, d4.loss_plan_l1_fix_time: 0.6603, d4.loss_plan_l1_fix_dist: 0.1218, d5.loss_plan_l1_fix_time: 0.6618, d5.loss_plan_l1_fix_dist: 0.1259, d6.loss_plan_l1_fix_time: 0.6634, d6.loss_plan_l1_fix_dist: 0.1328, d0.loss_cls_all: 0.1090, d0.loss_bbox_all: 0.3156, d0.loss_cls: 0.1090, d0.loss_bbox: 0.3156, d1.loss_cls: 0.1038, d1.loss_bbox: 0.2809, d2.loss_cls: 0.0938, d2.loss_bbox: 0.2571, d3.loss_cls: 0.0748, d3.loss_bbox: 0.2526, d4.loss_cls: 0.0700, d4.loss_bbox: 0.2495, d5.loss_cls: 0.0679, d5.loss_bbox: 0.2483, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6829, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5058, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4387, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4189, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4140, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4105, d0.loss_map_cls_all: 0.1810, d0.loss_map_pts_all: 1.0630, d0.loss_map_dir_all: 0.0065, d0.loss_map_cls: 0.1810, d0.loss_map_pts: 1.0630, d0.loss_map_dir: 0.0065, d1.loss_map_cls: 0.1451, d1.loss_map_pts: 0.7538, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1164, d2.loss_map_pts: 0.5761, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1057, d3.loss_map_pts: 0.5136, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0972, d4.loss_map_pts: 0.4898, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0920, d5.loss_map_pts: 0.4854, d5.loss_map_dir: 0.0060, loss: 20.3697, grad_norm: 128.0234 +2026-03-01 11:33:26,808 - DriveTransformer - INFO - Epoch [13][3800/39528] lr: 5.050e-05, eta: 3 days, 23:31:17, time: 0.717, data_time: 0.037, memory: 19865, loss_cls: 0.0869, loss_bbox: 0.2705, loss_traj: 0.4403, loss_traj_cls: 0.0021, loss_map_cls: 0.0859, loss_map_pts: 0.4438, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.4790, d0.loss_plan_l1_fix_dist: 0.4140, d1.loss_plan_l1_fix_time: 0.6567, d1.loss_plan_l1_fix_dist: 0.1636, d2.loss_plan_l1_fix_time: 0.6405, d2.loss_plan_l1_fix_dist: 0.1418, d3.loss_plan_l1_fix_time: 0.6287, d3.loss_plan_l1_fix_dist: 0.1390, d4.loss_plan_l1_fix_time: 0.6303, d4.loss_plan_l1_fix_dist: 0.1427, d5.loss_plan_l1_fix_time: 0.6316, d5.loss_plan_l1_fix_dist: 0.1502, d6.loss_plan_l1_fix_time: 0.6330, d6.loss_plan_l1_fix_dist: 0.1575, d0.loss_cls_all: 0.1329, d0.loss_bbox_all: 0.3385, d0.loss_cls: 0.1329, d0.loss_bbox: 0.3385, d1.loss_cls: 0.1295, d1.loss_bbox: 0.3008, d2.loss_cls: 0.1155, d2.loss_bbox: 0.2793, d3.loss_cls: 0.0965, d3.loss_bbox: 0.2727, d4.loss_cls: 0.0907, d4.loss_bbox: 0.2707, d5.loss_cls: 0.0884, d5.loss_bbox: 0.2697, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7484, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5627, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4850, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4613, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4480, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4434, d0.loss_map_cls_all: 0.1713, d0.loss_map_pts_all: 0.9505, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1713, d0.loss_map_pts: 0.9505, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1375, d1.loss_map_pts: 0.6908, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.1128, d2.loss_map_pts: 0.5299, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.1016, d3.loss_map_pts: 0.4740, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0943, d4.loss_map_pts: 0.4510, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0882, d5.loss_map_pts: 0.4445, d5.loss_map_dir: 0.0051, loss: 20.3574, grad_norm: 128.3040 +2026-03-01 11:34:03,665 - DriveTransformer - INFO - Epoch [13][3850/39528] lr: 5.050e-05, eta: 3 days, 23:30:41, time: 0.737, data_time: 0.048, memory: 19865, loss_cls: 0.0881, loss_bbox: 0.2678, loss_traj: 0.5058, loss_traj_cls: 0.0021, loss_map_cls: 0.0901, loss_map_pts: 0.4729, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.8790, d0.loss_plan_l1_fix_dist: 0.4051, d1.loss_plan_l1_fix_time: 0.8011, d1.loss_plan_l1_fix_dist: 0.1797, d2.loss_plan_l1_fix_time: 0.7822, d2.loss_plan_l1_fix_dist: 0.1671, d3.loss_plan_l1_fix_time: 0.7639, d3.loss_plan_l1_fix_dist: 0.1596, d4.loss_plan_l1_fix_time: 0.7637, d4.loss_plan_l1_fix_dist: 0.1659, d5.loss_plan_l1_fix_time: 0.7647, d5.loss_plan_l1_fix_dist: 0.1672, d6.loss_plan_l1_fix_time: 0.7661, d6.loss_plan_l1_fix_dist: 0.1747, d0.loss_cls_all: 0.1244, d0.loss_bbox_all: 0.3346, d0.loss_cls: 0.1244, d0.loss_bbox: 0.3346, d1.loss_cls: 0.1187, d1.loss_bbox: 0.3009, d2.loss_cls: 0.1121, d2.loss_bbox: 0.2769, d3.loss_cls: 0.0929, d3.loss_bbox: 0.2731, d4.loss_cls: 0.0885, d4.loss_bbox: 0.2691, d5.loss_cls: 0.0878, d5.loss_bbox: 0.2675, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7575, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.6123, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5413, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4897, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5094, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4778, d0.loss_map_cls_all: 0.1789, d0.loss_map_pts_all: 0.9419, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1789, d0.loss_map_pts: 0.9419, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1437, d1.loss_map_pts: 0.7057, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1218, d2.loss_map_pts: 0.5573, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1081, d3.loss_map_pts: 0.4978, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0997, d4.loss_map_pts: 0.4778, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0921, d5.loss_map_pts: 0.4739, d5.loss_map_dir: 0.0051, loss: 22.1267, grad_norm: 127.7427 +2026-03-01 11:34:40,939 - DriveTransformer - INFO - Epoch [13][3900/39528] lr: 5.050e-05, eta: 3 days, 23:30:06, time: 0.745, data_time: 0.036, memory: 19865, loss_cls: 0.0708, loss_bbox: 0.2603, loss_traj: 0.4170, loss_traj_cls: 0.0021, loss_map_cls: 0.0796, loss_map_pts: 0.4683, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.8616, d0.loss_plan_l1_fix_dist: 0.3998, d1.loss_plan_l1_fix_time: 0.6900, d1.loss_plan_l1_fix_dist: 0.1645, d2.loss_plan_l1_fix_time: 0.6747, d2.loss_plan_l1_fix_dist: 0.1649, d3.loss_plan_l1_fix_time: 0.6706, d3.loss_plan_l1_fix_dist: 0.1546, d4.loss_plan_l1_fix_time: 0.6718, d4.loss_plan_l1_fix_dist: 0.1611, d5.loss_plan_l1_fix_time: 0.6734, d5.loss_plan_l1_fix_dist: 0.1639, d6.loss_plan_l1_fix_time: 0.6754, d6.loss_plan_l1_fix_dist: 0.1743, d0.loss_cls_all: 0.1205, d0.loss_bbox_all: 0.3351, d0.loss_cls: 0.1205, d0.loss_bbox: 0.3351, d1.loss_cls: 0.1141, d1.loss_bbox: 0.2987, d2.loss_cls: 0.1021, d2.loss_bbox: 0.2731, d3.loss_cls: 0.0790, d3.loss_bbox: 0.2652, d4.loss_cls: 0.0745, d4.loss_bbox: 0.2604, d5.loss_cls: 0.0720, d5.loss_bbox: 0.2589, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6700, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5067, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4530, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4280, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4215, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4190, d0.loss_map_cls_all: 0.1669, d0.loss_map_pts_all: 1.0032, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1669, d0.loss_map_pts: 1.0032, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1318, d1.loss_map_pts: 0.7128, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1065, d2.loss_map_pts: 0.5525, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0951, d3.loss_map_pts: 0.4940, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0867, d4.loss_map_pts: 0.4725, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0822, d5.loss_map_pts: 0.4681, d5.loss_map_dir: 0.0050, loss: 20.7964, grad_norm: 124.8432 +2026-03-01 11:35:17,380 - DriveTransformer - INFO - Epoch [13][3950/39528] lr: 5.050e-05, eta: 3 days, 23:29:29, time: 0.729, data_time: 0.038, memory: 19865, loss_cls: 0.0742, loss_bbox: 0.2597, loss_traj: 0.4557, loss_traj_cls: 0.0021, loss_map_cls: 0.0882, loss_map_pts: 0.4735, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.8811, d0.loss_plan_l1_fix_dist: 0.3432, d1.loss_plan_l1_fix_time: 0.6998, d1.loss_plan_l1_fix_dist: 0.1433, d2.loss_plan_l1_fix_time: 0.6782, d2.loss_plan_l1_fix_dist: 0.1434, d3.loss_plan_l1_fix_time: 0.6623, d3.loss_plan_l1_fix_dist: 0.1426, d4.loss_plan_l1_fix_time: 0.6622, d4.loss_plan_l1_fix_dist: 0.1470, d5.loss_plan_l1_fix_time: 0.6631, d5.loss_plan_l1_fix_dist: 0.1413, d6.loss_plan_l1_fix_time: 0.6645, d6.loss_plan_l1_fix_dist: 0.1482, d0.loss_cls_all: 0.1190, d0.loss_bbox_all: 0.3256, d0.loss_cls: 0.1190, d0.loss_bbox: 0.3256, d1.loss_cls: 0.1119, d1.loss_bbox: 0.2929, d2.loss_cls: 0.0967, d2.loss_bbox: 0.2688, d3.loss_cls: 0.0819, d3.loss_bbox: 0.2617, d4.loss_cls: 0.0766, d4.loss_bbox: 0.2583, d5.loss_cls: 0.0737, d5.loss_bbox: 0.2586, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7375, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5703, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5141, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4692, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4590, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4543, d0.loss_map_cls_all: 0.1726, d0.loss_map_pts_all: 1.0332, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1726, d0.loss_map_pts: 1.0332, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1434, d1.loss_map_pts: 0.7345, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1152, d2.loss_map_pts: 0.5709, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1037, d3.loss_map_pts: 0.5042, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0969, d4.loss_map_pts: 0.4789, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0914, d5.loss_map_pts: 0.4739, d5.loss_map_dir: 0.0056, loss: 21.1241, grad_norm: 123.8895 +2026-03-01 11:35:53,021 - DriveTransformer - INFO - Epoch [13][4000/39528] lr: 5.050e-05, eta: 3 days, 23:28:51, time: 0.714, data_time: 0.038, memory: 19865, loss_cls: 0.0806, loss_bbox: 0.2528, loss_traj: 0.4783, loss_traj_cls: 0.0021, loss_map_cls: 0.0749, loss_map_pts: 0.4531, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.5368, d0.loss_plan_l1_fix_dist: 0.3755, d1.loss_plan_l1_fix_time: 0.6364, d1.loss_plan_l1_fix_dist: 0.1448, d2.loss_plan_l1_fix_time: 0.6246, d2.loss_plan_l1_fix_dist: 0.1529, d3.loss_plan_l1_fix_time: 0.6230, d3.loss_plan_l1_fix_dist: 0.1569, d4.loss_plan_l1_fix_time: 0.6254, d4.loss_plan_l1_fix_dist: 0.1672, d5.loss_plan_l1_fix_time: 0.6277, d5.loss_plan_l1_fix_dist: 0.1704, d6.loss_plan_l1_fix_time: 0.6301, d6.loss_plan_l1_fix_dist: 0.1799, d0.loss_cls_all: 0.1238, d0.loss_bbox_all: 0.3187, d0.loss_cls: 0.1238, d0.loss_bbox: 0.3187, d1.loss_cls: 0.1200, d1.loss_bbox: 0.2879, d2.loss_cls: 0.1048, d2.loss_bbox: 0.2655, d3.loss_cls: 0.0871, d3.loss_bbox: 0.2585, d4.loss_cls: 0.0818, d4.loss_bbox: 0.2550, d5.loss_cls: 0.0803, d5.loss_bbox: 0.2535, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7433, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5631, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5083, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4860, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4808, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4783, d0.loss_map_cls_all: 0.1559, d0.loss_map_pts_all: 0.9158, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1559, d0.loss_map_pts: 0.9158, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1240, d1.loss_map_pts: 0.6719, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.0980, d2.loss_map_pts: 0.5269, d2.loss_map_dir: 0.0051, d3.loss_map_cls: 0.0879, d3.loss_map_pts: 0.4788, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.0808, d4.loss_map_pts: 0.4607, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0773, d5.loss_map_pts: 0.4533, d5.loss_map_dir: 0.0053, loss: 20.1852, grad_norm: 121.4674 +2026-03-01 11:36:29,874 - DriveTransformer - INFO - Epoch [13][4050/39528] lr: 5.050e-05, eta: 3 days, 23:28:15, time: 0.736, data_time: 0.040, memory: 19865, loss_cls: 0.0679, loss_bbox: 0.2431, loss_traj: 0.3783, loss_traj_cls: 0.0021, loss_map_cls: 0.0690, loss_map_pts: 0.3984, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.6560, d0.loss_plan_l1_fix_dist: 0.4247, d1.loss_plan_l1_fix_time: 0.5808, d1.loss_plan_l1_fix_dist: 0.1295, d2.loss_plan_l1_fix_time: 0.5671, d2.loss_plan_l1_fix_dist: 0.1390, d3.loss_plan_l1_fix_time: 0.5705, d3.loss_plan_l1_fix_dist: 0.1372, d4.loss_plan_l1_fix_time: 0.5729, d4.loss_plan_l1_fix_dist: 0.1497, d5.loss_plan_l1_fix_time: 0.5752, d5.loss_plan_l1_fix_dist: 0.1543, d6.loss_plan_l1_fix_time: 0.5780, d6.loss_plan_l1_fix_dist: 0.1671, d0.loss_cls_all: 0.1113, d0.loss_bbox_all: 0.3099, d0.loss_cls: 0.1113, d0.loss_bbox: 0.3099, d1.loss_cls: 0.1076, d1.loss_bbox: 0.2765, d2.loss_cls: 0.0949, d2.loss_bbox: 0.2533, d3.loss_cls: 0.0770, d3.loss_bbox: 0.2464, d4.loss_cls: 0.0713, d4.loss_bbox: 0.2437, d5.loss_cls: 0.0693, d5.loss_bbox: 0.2419, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6192, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4579, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4065, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3935, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3849, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3811, d0.loss_map_cls_all: 0.1335, d0.loss_map_pts_all: 0.8454, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1335, d0.loss_map_pts: 0.8454, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1100, d1.loss_map_pts: 0.6125, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.0890, d2.loss_map_pts: 0.4763, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.0801, d3.loss_map_pts: 0.4243, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0742, d4.loss_map_pts: 0.4039, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0707, d5.loss_map_pts: 0.3984, d5.loss_map_dir: 0.0054, loss: 18.4747, grad_norm: 121.2364 +2026-03-01 11:37:06,162 - DriveTransformer - INFO - Epoch [13][4100/39528] lr: 5.050e-05, eta: 3 days, 23:27:38, time: 0.726, data_time: 0.038, memory: 19865, loss_cls: 0.0846, loss_bbox: 0.2819, loss_traj: 0.4999, loss_traj_cls: 0.0021, loss_map_cls: 0.0880, loss_map_pts: 0.4207, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.9338, d0.loss_plan_l1_fix_dist: 0.3828, d1.loss_plan_l1_fix_time: 0.6732, d1.loss_plan_l1_fix_dist: 0.1340, d2.loss_plan_l1_fix_time: 0.6576, d2.loss_plan_l1_fix_dist: 0.1488, d3.loss_plan_l1_fix_time: 0.6491, d3.loss_plan_l1_fix_dist: 0.1459, d4.loss_plan_l1_fix_time: 0.6497, d4.loss_plan_l1_fix_dist: 0.1603, d5.loss_plan_l1_fix_time: 0.6515, d5.loss_plan_l1_fix_dist: 0.1712, d6.loss_plan_l1_fix_time: 0.6540, d6.loss_plan_l1_fix_dist: 0.1864, d0.loss_cls_all: 0.1270, d0.loss_bbox_all: 0.3560, d0.loss_cls: 0.1270, d0.loss_bbox: 0.3560, d1.loss_cls: 0.1232, d1.loss_bbox: 0.3224, d2.loss_cls: 0.1098, d2.loss_bbox: 0.2961, d3.loss_cls: 0.0906, d3.loss_bbox: 0.2883, d4.loss_cls: 0.0849, d4.loss_bbox: 0.2859, d5.loss_cls: 0.0851, d5.loss_bbox: 0.2826, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8181, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.6042, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5292, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5168, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5062, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5022, d0.loss_map_cls_all: 0.1644, d0.loss_map_pts_all: 0.8907, d0.loss_map_dir_all: 0.0054, d0.loss_map_cls: 0.1644, d0.loss_map_pts: 0.8907, d0.loss_map_dir: 0.0054, d1.loss_map_cls: 0.1391, d1.loss_map_pts: 0.6498, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1156, d2.loss_map_pts: 0.5081, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.1022, d3.loss_map_pts: 0.4504, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0956, d4.loss_map_pts: 0.4281, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0913, d5.loss_map_pts: 0.4211, d5.loss_map_dir: 0.0049, loss: 21.1439, grad_norm: 123.3083 +2026-03-01 11:37:44,487 - DriveTransformer - INFO - Epoch [13][4150/39528] lr: 5.050e-05, eta: 3 days, 23:27:04, time: 0.767, data_time: 0.035, memory: 19865, loss_cls: 0.0780, loss_bbox: 0.2679, loss_traj: 0.3631, loss_traj_cls: 0.0021, loss_map_cls: 0.0894, loss_map_pts: 0.4814, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.3797, d0.loss_plan_l1_fix_dist: 0.4623, d1.loss_plan_l1_fix_time: 0.6260, d1.loss_plan_l1_fix_dist: 0.1425, d2.loss_plan_l1_fix_time: 0.6203, d2.loss_plan_l1_fix_dist: 0.1510, d3.loss_plan_l1_fix_time: 0.6232, d3.loss_plan_l1_fix_dist: 0.1502, d4.loss_plan_l1_fix_time: 0.6257, d4.loss_plan_l1_fix_dist: 0.1568, d5.loss_plan_l1_fix_time: 0.6285, d5.loss_plan_l1_fix_dist: 0.1674, d6.loss_plan_l1_fix_time: 0.6316, d6.loss_plan_l1_fix_dist: 0.1776, d0.loss_cls_all: 0.1205, d0.loss_bbox_all: 0.3363, d0.loss_cls: 0.1205, d0.loss_bbox: 0.3363, d1.loss_cls: 0.1132, d1.loss_bbox: 0.3031, d2.loss_cls: 0.1026, d2.loss_bbox: 0.2783, d3.loss_cls: 0.0843, d3.loss_bbox: 0.2725, d4.loss_cls: 0.0804, d4.loss_bbox: 0.2696, d5.loss_cls: 0.0788, d5.loss_bbox: 0.2677, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5839, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4464, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3950, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3748, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3675, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3651, d0.loss_map_cls_all: 0.1687, d0.loss_map_pts_all: 1.0337, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.1687, d0.loss_map_pts: 1.0337, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.1345, d1.loss_map_pts: 0.7480, d1.loss_map_dir: 0.0063, d2.loss_map_cls: 0.1123, d2.loss_map_pts: 0.5749, d2.loss_map_dir: 0.0059, d3.loss_map_cls: 0.1029, d3.loss_map_pts: 0.5162, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.0969, d4.loss_map_pts: 0.4885, d4.loss_map_dir: 0.0064, d5.loss_map_cls: 0.0908, d5.loss_map_pts: 0.4828, d5.loss_map_dir: 0.0064, loss: 19.9318, grad_norm: 125.6860 +2026-03-01 11:38:20,370 - DriveTransformer - INFO - Epoch [13][4200/39528] lr: 5.050e-05, eta: 3 days, 23:26:27, time: 0.718, data_time: 0.036, memory: 19865, loss_cls: 0.0787, loss_bbox: 0.2800, loss_traj: 0.3829, loss_traj_cls: 0.0021, loss_map_cls: 0.0967, loss_map_pts: 0.4527, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.5846, d0.loss_plan_l1_fix_dist: 0.4425, d1.loss_plan_l1_fix_time: 0.7068, d1.loss_plan_l1_fix_dist: 0.1392, d2.loss_plan_l1_fix_time: 0.6835, d2.loss_plan_l1_fix_dist: 0.1510, d3.loss_plan_l1_fix_time: 0.6851, d3.loss_plan_l1_fix_dist: 0.1465, d4.loss_plan_l1_fix_time: 0.6879, d4.loss_plan_l1_fix_dist: 0.1511, d5.loss_plan_l1_fix_time: 0.6912, d5.loss_plan_l1_fix_dist: 0.1580, d6.loss_plan_l1_fix_time: 0.6945, d6.loss_plan_l1_fix_dist: 0.1636, d0.loss_cls_all: 0.1353, d0.loss_bbox_all: 0.3422, d0.loss_cls: 0.1353, d0.loss_bbox: 0.3422, d1.loss_cls: 0.1234, d1.loss_bbox: 0.3088, d2.loss_cls: 0.1060, d2.loss_bbox: 0.2875, d3.loss_cls: 0.0845, d3.loss_bbox: 0.2837, d4.loss_cls: 0.0783, d4.loss_bbox: 0.2829, d5.loss_cls: 0.0781, d5.loss_bbox: 0.2804, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6172, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4676, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4161, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3995, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3906, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3838, d0.loss_map_cls_all: 0.1768, d0.loss_map_pts_all: 0.9445, d0.loss_map_dir_all: 0.0048, d0.loss_map_cls: 0.1768, d0.loss_map_pts: 0.9445, d0.loss_map_dir: 0.0048, d1.loss_map_cls: 0.1428, d1.loss_map_pts: 0.6910, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.1211, d2.loss_map_pts: 0.5396, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.1104, d3.loss_map_pts: 0.4805, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.1045, d4.loss_map_pts: 0.4586, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0994, d5.loss_map_pts: 0.4536, d5.loss_map_dir: 0.0050, loss: 20.4102, grad_norm: 131.5505 +2026-03-01 11:38:56,794 - DriveTransformer - INFO - Epoch [13][4250/39528] lr: 5.050e-05, eta: 3 days, 23:25:50, time: 0.728, data_time: 0.040, memory: 19865, loss_cls: 0.0776, loss_bbox: 0.2460, loss_traj: 0.4148, loss_traj_cls: 0.0021, loss_map_cls: 0.0572, loss_map_pts: 0.3737, loss_map_dir: 0.0041, d0.loss_plan_l1_fix_time: 2.3736, d0.loss_plan_l1_fix_dist: 0.4496, d1.loss_plan_l1_fix_time: 0.5900, d1.loss_plan_l1_fix_dist: 0.1300, d2.loss_plan_l1_fix_time: 0.5852, d2.loss_plan_l1_fix_dist: 0.1391, d3.loss_plan_l1_fix_time: 0.5881, d3.loss_plan_l1_fix_dist: 0.1281, d4.loss_plan_l1_fix_time: 0.5917, d4.loss_plan_l1_fix_dist: 0.1358, d5.loss_plan_l1_fix_time: 0.5950, d5.loss_plan_l1_fix_dist: 0.1379, d6.loss_plan_l1_fix_time: 0.5984, d6.loss_plan_l1_fix_dist: 0.1442, d0.loss_cls_all: 0.1214, d0.loss_bbox_all: 0.3021, d0.loss_cls: 0.1214, d0.loss_bbox: 0.3021, d1.loss_cls: 0.1118, d1.loss_bbox: 0.2719, d2.loss_cls: 0.1009, d2.loss_bbox: 0.2537, d3.loss_cls: 0.0848, d3.loss_bbox: 0.2483, d4.loss_cls: 0.0795, d4.loss_bbox: 0.2466, d5.loss_cls: 0.0771, d5.loss_bbox: 0.2461, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6196, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4899, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4430, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4236, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4163, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4144, d0.loss_map_cls_all: 0.1327, d0.loss_map_pts_all: 0.7439, d0.loss_map_dir_all: 0.0044, d0.loss_map_cls: 0.1327, d0.loss_map_pts: 0.7439, d0.loss_map_dir: 0.0044, d1.loss_map_cls: 0.1032, d1.loss_map_pts: 0.5412, d1.loss_map_dir: 0.0040, d2.loss_map_cls: 0.0801, d2.loss_map_pts: 0.4368, d2.loss_map_dir: 0.0038, d3.loss_map_cls: 0.0700, d3.loss_map_pts: 0.3910, d3.loss_map_dir: 0.0039, d4.loss_map_cls: 0.0627, d4.loss_map_pts: 0.3786, d4.loss_map_dir: 0.0041, d5.loss_map_cls: 0.0592, d5.loss_map_pts: 0.3738, d5.loss_map_dir: 0.0041, loss: 18.0208, grad_norm: 132.2746 +2026-03-01 11:39:36,135 - DriveTransformer - INFO - Epoch [13][4300/39528] lr: 5.050e-05, eta: 3 days, 23:25:19, time: 0.787, data_time: 0.037, memory: 19865, loss_cls: 0.0593, loss_bbox: 0.2286, loss_traj: 0.4124, loss_traj_cls: 0.0022, loss_map_cls: 0.0586, loss_map_pts: 0.3925, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.4271, d0.loss_plan_l1_fix_dist: 0.3882, d1.loss_plan_l1_fix_time: 0.6046, d1.loss_plan_l1_fix_dist: 0.1544, d2.loss_plan_l1_fix_time: 0.5908, d2.loss_plan_l1_fix_dist: 0.1678, d3.loss_plan_l1_fix_time: 0.5787, d3.loss_plan_l1_fix_dist: 0.1467, d4.loss_plan_l1_fix_time: 0.5814, d4.loss_plan_l1_fix_dist: 0.1567, d5.loss_plan_l1_fix_time: 0.5847, d5.loss_plan_l1_fix_dist: 0.1544, d6.loss_plan_l1_fix_time: 0.5882, d6.loss_plan_l1_fix_dist: 0.1602, d0.loss_cls_all: 0.0997, d0.loss_bbox_all: 0.2806, d0.loss_cls: 0.0997, d0.loss_bbox: 0.2806, d1.loss_cls: 0.0932, d1.loss_bbox: 0.2523, d2.loss_cls: 0.0820, d2.loss_bbox: 0.2349, d3.loss_cls: 0.0690, d3.loss_bbox: 0.2285, d4.loss_cls: 0.0624, d4.loss_bbox: 0.2285, d5.loss_cls: 0.0599, d5.loss_bbox: 0.2284, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6196, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4841, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4417, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4290, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4200, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4176, d0.loss_map_cls_all: 0.1465, d0.loss_map_pts_all: 0.9023, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1465, d0.loss_map_pts: 0.9023, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1094, d1.loss_map_pts: 0.6375, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.0848, d2.loss_map_pts: 0.4829, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.0751, d3.loss_map_pts: 0.4245, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0670, d4.loss_map_pts: 0.3981, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0616, d5.loss_map_pts: 0.3927, d5.loss_map_dir: 0.0050, loss: 18.4267, grad_norm: 126.5034 +2026-03-01 11:40:13,413 - DriveTransformer - INFO - Epoch [13][4350/39528] lr: 5.050e-05, eta: 3 days, 23:24:44, time: 0.746, data_time: 0.037, memory: 19865, loss_cls: 0.0674, loss_bbox: 0.2545, loss_traj: 0.4872, loss_traj_cls: 0.0021, loss_map_cls: 0.0642, loss_map_pts: 0.3948, loss_map_dir: 0.0043, d0.loss_plan_l1_fix_time: 2.4952, d0.loss_plan_l1_fix_dist: 0.3250, d1.loss_plan_l1_fix_time: 0.6525, d1.loss_plan_l1_fix_dist: 0.1380, d2.loss_plan_l1_fix_time: 0.6456, d2.loss_plan_l1_fix_dist: 0.1530, d3.loss_plan_l1_fix_time: 0.6177, d3.loss_plan_l1_fix_dist: 0.1322, d4.loss_plan_l1_fix_time: 0.6201, d4.loss_plan_l1_fix_dist: 0.1421, d5.loss_plan_l1_fix_time: 0.6230, d5.loss_plan_l1_fix_dist: 0.1422, d6.loss_plan_l1_fix_time: 0.6262, d6.loss_plan_l1_fix_dist: 0.1462, d0.loss_cls_all: 0.1111, d0.loss_bbox_all: 0.3153, d0.loss_cls: 0.1111, d0.loss_bbox: 0.3153, d1.loss_cls: 0.1045, d1.loss_bbox: 0.2850, d2.loss_cls: 0.0926, d2.loss_bbox: 0.2615, d3.loss_cls: 0.0727, d3.loss_bbox: 0.2565, d4.loss_cls: 0.0674, d4.loss_bbox: 0.2540, d5.loss_cls: 0.0675, d5.loss_bbox: 0.2537, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7514, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5650, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5264, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5013, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4945, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4878, d0.loss_map_cls_all: 0.1481, d0.loss_map_pts_all: 0.8486, d0.loss_map_dir_all: 0.0050, d0.loss_map_cls: 0.1481, d0.loss_map_pts: 0.8486, d0.loss_map_dir: 0.0050, d1.loss_map_cls: 0.1172, d1.loss_map_pts: 0.6169, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.0928, d2.loss_map_pts: 0.4760, d2.loss_map_dir: 0.0040, d3.loss_map_cls: 0.0816, d3.loss_map_pts: 0.4192, d3.loss_map_dir: 0.0041, d4.loss_map_cls: 0.0728, d4.loss_map_pts: 0.3999, d4.loss_map_dir: 0.0042, d5.loss_map_cls: 0.0680, d5.loss_map_pts: 0.3943, d5.loss_map_dir: 0.0042, loss: 19.3970, grad_norm: 123.7885 +2026-03-01 11:40:52,050 - DriveTransformer - INFO - Epoch [13][4400/39528] lr: 5.050e-05, eta: 3 days, 23:24:11, time: 0.773, data_time: 0.039, memory: 19865, loss_cls: 0.0787, loss_bbox: 0.2654, loss_traj: 0.4490, loss_traj_cls: 0.0021, loss_map_cls: 0.0769, loss_map_pts: 0.4196, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.4063, d0.loss_plan_l1_fix_dist: 0.4143, d1.loss_plan_l1_fix_time: 0.6020, d1.loss_plan_l1_fix_dist: 0.1481, d2.loss_plan_l1_fix_time: 0.5851, d2.loss_plan_l1_fix_dist: 0.1627, d3.loss_plan_l1_fix_time: 0.5901, d3.loss_plan_l1_fix_dist: 0.1521, d4.loss_plan_l1_fix_time: 0.5927, d4.loss_plan_l1_fix_dist: 0.1520, d5.loss_plan_l1_fix_time: 0.5946, d5.loss_plan_l1_fix_dist: 0.1551, d6.loss_plan_l1_fix_time: 0.5970, d6.loss_plan_l1_fix_dist: 0.1654, d0.loss_cls_all: 0.1283, d0.loss_bbox_all: 0.3325, d0.loss_cls: 0.1283, d0.loss_bbox: 0.3325, d1.loss_cls: 0.1230, d1.loss_bbox: 0.2936, d2.loss_cls: 0.1069, d2.loss_bbox: 0.2744, d3.loss_cls: 0.0866, d3.loss_bbox: 0.2686, d4.loss_cls: 0.0809, d4.loss_bbox: 0.2655, d5.loss_cls: 0.0794, d5.loss_bbox: 0.2649, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7085, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5357, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4809, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4574, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4569, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4502, d0.loss_map_cls_all: 0.1528, d0.loss_map_pts_all: 0.8859, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1528, d0.loss_map_pts: 0.8859, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1200, d1.loss_map_pts: 0.6486, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.0991, d2.loss_map_pts: 0.4978, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0885, d3.loss_map_pts: 0.4456, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0852, d4.loss_map_pts: 0.4245, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0798, d5.loss_map_pts: 0.4202, d5.loss_map_dir: 0.0049, loss: 19.4979, grad_norm: 125.3589 +2026-03-01 11:41:31,939 - DriveTransformer - INFO - Epoch [13][4450/39528] lr: 5.050e-05, eta: 3 days, 23:23:41, time: 0.798, data_time: 0.043, memory: 19865, loss_cls: 0.0681, loss_bbox: 0.2435, loss_traj: 0.4269, loss_traj_cls: 0.0021, loss_map_cls: 0.0638, loss_map_pts: 0.4112, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.3243, d0.loss_plan_l1_fix_dist: 0.3492, d1.loss_plan_l1_fix_time: 0.5778, d1.loss_plan_l1_fix_dist: 0.1398, d2.loss_plan_l1_fix_time: 0.5649, d2.loss_plan_l1_fix_dist: 0.1527, d3.loss_plan_l1_fix_time: 0.5623, d3.loss_plan_l1_fix_dist: 0.1418, d4.loss_plan_l1_fix_time: 0.5660, d4.loss_plan_l1_fix_dist: 0.1393, d5.loss_plan_l1_fix_time: 0.5692, d5.loss_plan_l1_fix_dist: 0.1434, d6.loss_plan_l1_fix_time: 0.5730, d6.loss_plan_l1_fix_dist: 0.1483, d0.loss_cls_all: 0.1099, d0.loss_bbox_all: 0.3042, d0.loss_cls: 0.1099, d0.loss_bbox: 0.3042, d1.loss_cls: 0.1032, d1.loss_bbox: 0.2702, d2.loss_cls: 0.0916, d2.loss_bbox: 0.2521, d3.loss_cls: 0.0784, d3.loss_bbox: 0.2462, d4.loss_cls: 0.0713, d4.loss_bbox: 0.2429, d5.loss_cls: 0.0686, d5.loss_bbox: 0.2433, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6613, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4989, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4523, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4346, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4293, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4281, d0.loss_map_cls_all: 0.1599, d0.loss_map_pts_all: 0.9208, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1599, d0.loss_map_pts: 0.9208, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1191, d1.loss_map_pts: 0.6606, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.0962, d2.loss_map_pts: 0.5070, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0830, d3.loss_map_pts: 0.4444, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0734, d4.loss_map_pts: 0.4216, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0670, d5.loss_map_pts: 0.4115, d5.loss_map_dir: 0.0049, loss: 18.6604, grad_norm: 132.7991 +2026-03-01 11:42:09,538 - DriveTransformer - INFO - Epoch [13][4500/39528] lr: 5.050e-05, eta: 3 days, 23:23:07, time: 0.752, data_time: 0.039, memory: 19865, loss_cls: 0.0773, loss_bbox: 0.2754, loss_traj: 0.4364, loss_traj_cls: 0.0021, loss_map_cls: 0.0955, loss_map_pts: 0.4938, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.4799, d0.loss_plan_l1_fix_dist: 0.3989, d1.loss_plan_l1_fix_time: 0.7198, d1.loss_plan_l1_fix_dist: 0.1486, d2.loss_plan_l1_fix_time: 0.7112, d2.loss_plan_l1_fix_dist: 0.1682, d3.loss_plan_l1_fix_time: 0.7062, d3.loss_plan_l1_fix_dist: 0.1536, d4.loss_plan_l1_fix_time: 0.7078, d4.loss_plan_l1_fix_dist: 0.1486, d5.loss_plan_l1_fix_time: 0.7101, d5.loss_plan_l1_fix_dist: 0.1593, d6.loss_plan_l1_fix_time: 0.7127, d6.loss_plan_l1_fix_dist: 0.1563, d0.loss_cls_all: 0.1243, d0.loss_bbox_all: 0.3397, d0.loss_cls: 0.1243, d0.loss_bbox: 0.3397, d1.loss_cls: 0.1183, d1.loss_bbox: 0.3081, d2.loss_cls: 0.1033, d2.loss_bbox: 0.2851, d3.loss_cls: 0.0855, d3.loss_bbox: 0.2781, d4.loss_cls: 0.0800, d4.loss_bbox: 0.2754, d5.loss_cls: 0.0776, d5.loss_bbox: 0.2755, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7070, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5199, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4702, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4457, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4403, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4387, d0.loss_map_cls_all: 0.1855, d0.loss_map_pts_all: 0.9984, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1855, d0.loss_map_pts: 0.9984, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1528, d1.loss_map_pts: 0.7188, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1207, d2.loss_map_pts: 0.5743, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1100, d3.loss_map_pts: 0.5235, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.1037, d4.loss_map_pts: 0.5030, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0986, d5.loss_map_pts: 0.4939, d5.loss_map_dir: 0.0053, loss: 21.1125, grad_norm: 132.6050 +2026-03-01 11:42:46,755 - DriveTransformer - INFO - Epoch [13][4550/39528] lr: 5.050e-05, eta: 3 days, 23:22:31, time: 0.745, data_time: 0.041, memory: 19865, loss_cls: 0.0852, loss_bbox: 0.2770, loss_traj: 0.3881, loss_traj_cls: 0.0022, loss_map_cls: 0.0943, loss_map_pts: 0.4818, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.8571, d0.loss_plan_l1_fix_dist: 0.3756, d1.loss_plan_l1_fix_time: 0.7480, d1.loss_plan_l1_fix_dist: 0.1386, d2.loss_plan_l1_fix_time: 0.7401, d2.loss_plan_l1_fix_dist: 0.1547, d3.loss_plan_l1_fix_time: 0.7364, d3.loss_plan_l1_fix_dist: 0.1438, d4.loss_plan_l1_fix_time: 0.7376, d4.loss_plan_l1_fix_dist: 0.1431, d5.loss_plan_l1_fix_time: 0.7392, d5.loss_plan_l1_fix_dist: 0.1575, d6.loss_plan_l1_fix_time: 0.7413, d6.loss_plan_l1_fix_dist: 0.1547, d0.loss_cls_all: 0.1333, d0.loss_bbox_all: 0.3476, d0.loss_cls: 0.1333, d0.loss_bbox: 0.3476, d1.loss_cls: 0.1218, d1.loss_bbox: 0.3163, d2.loss_cls: 0.1115, d2.loss_bbox: 0.2931, d3.loss_cls: 0.0943, d3.loss_bbox: 0.2853, d4.loss_cls: 0.0875, d4.loss_bbox: 0.2809, d5.loss_cls: 0.0856, d5.loss_bbox: 0.2780, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6070, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4742, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4253, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4032, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3942, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3915, d0.loss_map_cls_all: 0.1857, d0.loss_map_pts_all: 0.9983, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1857, d0.loss_map_pts: 0.9983, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1482, d1.loss_map_pts: 0.7333, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1231, d2.loss_map_pts: 0.5727, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1109, d3.loss_map_pts: 0.5110, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.1035, d4.loss_map_pts: 0.4863, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0965, d5.loss_map_pts: 0.4824, d5.loss_map_dir: 0.0055, loss: 21.2929, grad_norm: 127.2068 +2026-03-01 11:43:22,951 - DriveTransformer - INFO - Epoch [13][4600/39528] lr: 5.050e-05, eta: 3 days, 23:21:54, time: 0.724, data_time: 0.039, memory: 19865, loss_cls: 0.0729, loss_bbox: 0.2635, loss_traj: 0.4095, loss_traj_cls: 0.0022, loss_map_cls: 0.0773, loss_map_pts: 0.4359, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.4479, d0.loss_plan_l1_fix_dist: 0.4653, d1.loss_plan_l1_fix_time: 0.6277, d1.loss_plan_l1_fix_dist: 0.1304, d2.loss_plan_l1_fix_time: 0.6204, d2.loss_plan_l1_fix_dist: 0.1422, d3.loss_plan_l1_fix_time: 0.6201, d3.loss_plan_l1_fix_dist: 0.1278, d4.loss_plan_l1_fix_time: 0.6213, d4.loss_plan_l1_fix_dist: 0.1305, d5.loss_plan_l1_fix_time: 0.6228, d5.loss_plan_l1_fix_dist: 0.1378, d6.loss_plan_l1_fix_time: 0.6246, d6.loss_plan_l1_fix_dist: 0.1358, d0.loss_cls_all: 0.1177, d0.loss_bbox_all: 0.3252, d0.loss_cls: 0.1177, d0.loss_bbox: 0.3252, d1.loss_cls: 0.1096, d1.loss_bbox: 0.2966, d2.loss_cls: 0.0969, d2.loss_bbox: 0.2753, d3.loss_cls: 0.0812, d3.loss_bbox: 0.2697, d4.loss_cls: 0.0753, d4.loss_bbox: 0.2665, d5.loss_cls: 0.0739, d5.loss_bbox: 0.2637, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6434, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4961, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4424, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4172, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4149, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4098, d0.loss_map_cls_all: 0.1551, d0.loss_map_pts_all: 0.9253, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1551, d0.loss_map_pts: 0.9253, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1227, d1.loss_map_pts: 0.6649, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1017, d2.loss_map_pts: 0.5208, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0924, d3.loss_map_pts: 0.4627, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0848, d4.loss_map_pts: 0.4418, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0785, d5.loss_map_pts: 0.4380, d5.loss_map_dir: 0.0052, loss: 19.4509, grad_norm: 123.4282 +2026-03-01 11:44:00,718 - DriveTransformer - INFO - Epoch [13][4650/39528] lr: 5.050e-05, eta: 3 days, 23:21:20, time: 0.755, data_time: 0.037, memory: 19865, loss_cls: 0.0813, loss_bbox: 0.2592, loss_traj: 0.3725, loss_traj_cls: 0.0022, loss_map_cls: 0.0796, loss_map_pts: 0.4475, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.3162, d0.loss_plan_l1_fix_dist: 0.4657, d1.loss_plan_l1_fix_time: 0.5845, d1.loss_plan_l1_fix_dist: 0.1317, d2.loss_plan_l1_fix_time: 0.5724, d2.loss_plan_l1_fix_dist: 0.1287, d3.loss_plan_l1_fix_time: 0.5606, d3.loss_plan_l1_fix_dist: 0.1178, d4.loss_plan_l1_fix_time: 0.5616, d4.loss_plan_l1_fix_dist: 0.1168, d5.loss_plan_l1_fix_time: 0.5634, d5.loss_plan_l1_fix_dist: 0.1222, d6.loss_plan_l1_fix_time: 0.5652, d6.loss_plan_l1_fix_dist: 0.1210, d0.loss_cls_all: 0.1302, d0.loss_bbox_all: 0.3224, d0.loss_cls: 0.1302, d0.loss_bbox: 0.3224, d1.loss_cls: 0.1230, d1.loss_bbox: 0.2926, d2.loss_cls: 0.1125, d2.loss_bbox: 0.2703, d3.loss_cls: 0.0920, d3.loss_bbox: 0.2655, d4.loss_cls: 0.0836, d4.loss_bbox: 0.2621, d5.loss_cls: 0.0814, d5.loss_bbox: 0.2599, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5830, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4440, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4009, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3835, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3776, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3757, d0.loss_map_cls_all: 0.1558, d0.loss_map_pts_all: 0.9576, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1558, d0.loss_map_pts: 0.9576, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1237, d1.loss_map_pts: 0.6902, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1033, d2.loss_map_pts: 0.5374, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0914, d3.loss_map_pts: 0.4782, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0860, d4.loss_map_pts: 0.4522, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0817, d5.loss_map_pts: 0.4480, d5.loss_map_dir: 0.0057, loss: 18.8546, grad_norm: 122.9740 +2026-03-01 11:44:37,322 - DriveTransformer - INFO - Epoch [13][4700/39528] lr: 5.050e-05, eta: 3 days, 23:20:44, time: 0.732, data_time: 0.035, memory: 19865, loss_cls: 0.0678, loss_bbox: 0.2464, loss_traj: 0.4031, loss_traj_cls: 0.0022, loss_map_cls: 0.0746, loss_map_pts: 0.4011, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.3890, d0.loss_plan_l1_fix_dist: 0.3280, d1.loss_plan_l1_fix_time: 0.6352, d1.loss_plan_l1_fix_dist: 0.1407, d2.loss_plan_l1_fix_time: 0.6223, d2.loss_plan_l1_fix_dist: 0.1306, d3.loss_plan_l1_fix_time: 0.6155, d3.loss_plan_l1_fix_dist: 0.1281, d4.loss_plan_l1_fix_time: 0.6176, d4.loss_plan_l1_fix_dist: 0.1230, d5.loss_plan_l1_fix_time: 0.6195, d5.loss_plan_l1_fix_dist: 0.1230, d6.loss_plan_l1_fix_time: 0.6216, d6.loss_plan_l1_fix_dist: 0.1284, d0.loss_cls_all: 0.1071, d0.loss_bbox_all: 0.3055, d0.loss_cls: 0.1071, d0.loss_bbox: 0.3055, d1.loss_cls: 0.1029, d1.loss_bbox: 0.2758, d2.loss_cls: 0.0911, d2.loss_bbox: 0.2566, d3.loss_cls: 0.0776, d3.loss_bbox: 0.2494, d4.loss_cls: 0.0689, d4.loss_bbox: 0.2478, d5.loss_cls: 0.0681, d5.loss_bbox: 0.2465, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6152, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4735, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4309, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4169, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4082, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4058, d0.loss_map_cls_all: 0.1471, d0.loss_map_pts_all: 0.8510, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1471, d0.loss_map_pts: 0.8510, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1166, d1.loss_map_pts: 0.6108, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.0968, d2.loss_map_pts: 0.4711, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0870, d3.loss_map_pts: 0.4239, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0822, d4.loss_map_pts: 0.4067, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0772, d5.loss_map_pts: 0.4019, d5.loss_map_dir: 0.0051, loss: 18.4956, grad_norm: 122.8881 +2026-03-01 11:45:15,148 - DriveTransformer - INFO - Epoch [13][4750/39528] lr: 5.050e-05, eta: 3 days, 23:20:10, time: 0.757, data_time: 0.038, memory: 19865, loss_cls: 0.0747, loss_bbox: 0.2497, loss_traj: 0.3628, loss_traj_cls: 0.0023, loss_map_cls: 0.0790, loss_map_pts: 0.4445, loss_map_dir: 0.0064, d0.loss_plan_l1_fix_time: 2.5239, d0.loss_plan_l1_fix_dist: 0.4007, d1.loss_plan_l1_fix_time: 0.6565, d1.loss_plan_l1_fix_dist: 0.1513, d2.loss_plan_l1_fix_time: 0.6451, d2.loss_plan_l1_fix_dist: 0.1338, d3.loss_plan_l1_fix_time: 0.6352, d3.loss_plan_l1_fix_dist: 0.1483, d4.loss_plan_l1_fix_time: 0.6364, d4.loss_plan_l1_fix_dist: 0.1441, d5.loss_plan_l1_fix_time: 0.6380, d5.loss_plan_l1_fix_dist: 0.1531, d6.loss_plan_l1_fix_time: 0.6402, d6.loss_plan_l1_fix_dist: 0.1571, d0.loss_cls_all: 0.1147, d0.loss_bbox_all: 0.3146, d0.loss_cls: 0.1147, d0.loss_bbox: 0.3146, d1.loss_cls: 0.1081, d1.loss_bbox: 0.2827, d2.loss_cls: 0.0943, d2.loss_bbox: 0.2636, d3.loss_cls: 0.0808, d3.loss_bbox: 0.2570, d4.loss_cls: 0.0753, d4.loss_bbox: 0.2531, d5.loss_cls: 0.0739, d5.loss_bbox: 0.2509, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5933, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4276, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3712, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3659, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3627, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3630, d0.loss_map_cls_all: 0.1631, d0.loss_map_pts_all: 0.9822, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1631, d0.loss_map_pts: 0.9822, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1266, d1.loss_map_pts: 0.7015, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1045, d2.loss_map_pts: 0.5311, d2.loss_map_dir: 0.0056, d3.loss_map_cls: 0.0936, d3.loss_map_pts: 0.4704, d3.loss_map_dir: 0.0060, d4.loss_map_cls: 0.0868, d4.loss_map_pts: 0.4504, d4.loss_map_dir: 0.0062, d5.loss_map_cls: 0.0821, d5.loss_map_pts: 0.4452, d5.loss_map_dir: 0.0064, loss: 19.3970, grad_norm: 128.3439 +2026-03-01 11:45:53,431 - DriveTransformer - INFO - Epoch [13][4800/39528] lr: 5.050e-05, eta: 3 days, 23:19:37, time: 0.767, data_time: 0.037, memory: 19865, loss_cls: 0.0879, loss_bbox: 0.2800, loss_traj: 0.4372, loss_traj_cls: 0.0021, loss_map_cls: 0.0904, loss_map_pts: 0.4933, loss_map_dir: 0.0061, d0.loss_plan_l1_fix_time: 2.8527, d0.loss_plan_l1_fix_dist: 0.3488, d1.loss_plan_l1_fix_time: 0.7995, d1.loss_plan_l1_fix_dist: 0.1525, d2.loss_plan_l1_fix_time: 0.7892, d2.loss_plan_l1_fix_dist: 0.1339, d3.loss_plan_l1_fix_time: 0.7814, d3.loss_plan_l1_fix_dist: 0.1595, d4.loss_plan_l1_fix_time: 0.7842, d4.loss_plan_l1_fix_dist: 0.1500, d5.loss_plan_l1_fix_time: 0.7871, d5.loss_plan_l1_fix_dist: 0.1660, d6.loss_plan_l1_fix_time: 0.7902, d6.loss_plan_l1_fix_dist: 0.1722, d0.loss_cls_all: 0.1333, d0.loss_bbox_all: 0.3531, d0.loss_cls: 0.1333, d0.loss_bbox: 0.3531, d1.loss_cls: 0.1271, d1.loss_bbox: 0.3185, d2.loss_cls: 0.1165, d2.loss_bbox: 0.2927, d3.loss_cls: 0.0967, d3.loss_bbox: 0.2857, d4.loss_cls: 0.0895, d4.loss_bbox: 0.2831, d5.loss_cls: 0.0883, d5.loss_bbox: 0.2804, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6862, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5340, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4659, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4497, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4428, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4399, d0.loss_map_cls_all: 0.1730, d0.loss_map_pts_all: 0.9637, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1730, d0.loss_map_pts: 0.9637, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1394, d1.loss_map_pts: 0.7241, d1.loss_map_dir: 0.0059, d2.loss_map_cls: 0.1196, d2.loss_map_pts: 0.5768, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.1063, d3.loss_map_pts: 0.5246, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0982, d4.loss_map_pts: 0.5026, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0922, d5.loss_map_pts: 0.4938, d5.loss_map_dir: 0.0061, loss: 21.9319, grad_norm: 128.7664 +2026-03-01 11:46:29,881 - DriveTransformer - INFO - Epoch [13][4850/39528] lr: 5.050e-05, eta: 3 days, 23:19:00, time: 0.728, data_time: 0.037, memory: 19865, loss_cls: 0.0760, loss_bbox: 0.2651, loss_traj: 0.4932, loss_traj_cls: 0.0022, loss_map_cls: 0.0949, loss_map_pts: 0.4906, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.6000, d0.loss_plan_l1_fix_dist: 0.3713, d1.loss_plan_l1_fix_time: 0.6983, d1.loss_plan_l1_fix_dist: 0.1602, d2.loss_plan_l1_fix_time: 0.6841, d2.loss_plan_l1_fix_dist: 0.1373, d3.loss_plan_l1_fix_time: 0.6576, d3.loss_plan_l1_fix_dist: 0.1566, d4.loss_plan_l1_fix_time: 0.6582, d4.loss_plan_l1_fix_dist: 0.1404, d5.loss_plan_l1_fix_time: 0.6607, d5.loss_plan_l1_fix_dist: 0.1428, d6.loss_plan_l1_fix_time: 0.6636, d6.loss_plan_l1_fix_dist: 0.1445, d0.loss_cls_all: 0.1172, d0.loss_bbox_all: 0.3257, d0.loss_cls: 0.1172, d0.loss_bbox: 0.3257, d1.loss_cls: 0.1096, d1.loss_bbox: 0.2933, d2.loss_cls: 0.0986, d2.loss_bbox: 0.2722, d3.loss_cls: 0.0824, d3.loss_bbox: 0.2678, d4.loss_cls: 0.0759, d4.loss_bbox: 0.2670, d5.loss_cls: 0.0757, d5.loss_bbox: 0.2653, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7047, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5625, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5204, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5097, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5063, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4999, d0.loss_map_cls_all: 0.1690, d0.loss_map_pts_all: 0.9868, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1690, d0.loss_map_pts: 0.9868, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1438, d1.loss_map_pts: 0.7365, d1.loss_map_dir: 0.0055, d2.loss_map_cls: 0.1196, d2.loss_map_pts: 0.5757, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1111, d3.loss_map_pts: 0.5170, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1025, d4.loss_map_pts: 0.4963, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0977, d5.loss_map_pts: 0.4914, d5.loss_map_dir: 0.0051, loss: 21.0463, grad_norm: 130.5875 +2026-03-01 11:47:07,657 - DriveTransformer - INFO - Epoch [13][4900/39528] lr: 5.050e-05, eta: 3 days, 23:18:26, time: 0.755, data_time: 0.037, memory: 19865, loss_cls: 0.0842, loss_bbox: 0.2803, loss_traj: 0.4822, loss_traj_cls: 0.0022, loss_map_cls: 0.0916, loss_map_pts: 0.4760, loss_map_dir: 0.0056, d0.loss_plan_l1_fix_time: 2.8951, d0.loss_plan_l1_fix_dist: 0.3834, d1.loss_plan_l1_fix_time: 0.7147, d1.loss_plan_l1_fix_dist: 0.1842, d2.loss_plan_l1_fix_time: 0.6963, d2.loss_plan_l1_fix_dist: 0.1694, d3.loss_plan_l1_fix_time: 0.6857, d3.loss_plan_l1_fix_dist: 0.1885, d4.loss_plan_l1_fix_time: 0.6870, d4.loss_plan_l1_fix_dist: 0.1790, d5.loss_plan_l1_fix_time: 0.6889, d5.loss_plan_l1_fix_dist: 0.1810, d6.loss_plan_l1_fix_time: 0.6915, d6.loss_plan_l1_fix_dist: 0.1865, d0.loss_cls_all: 0.1297, d0.loss_bbox_all: 0.3520, d0.loss_cls: 0.1297, d0.loss_bbox: 0.3520, d1.loss_cls: 0.1250, d1.loss_bbox: 0.3175, d2.loss_cls: 0.1133, d2.loss_bbox: 0.2941, d3.loss_cls: 0.0900, d3.loss_bbox: 0.2884, d4.loss_cls: 0.0835, d4.loss_bbox: 0.2847, d5.loss_cls: 0.0831, d5.loss_bbox: 0.2821, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7213, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5557, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5072, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4936, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4921, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4835, d0.loss_map_cls_all: 0.1738, d0.loss_map_pts_all: 0.9506, d0.loss_map_dir_all: 0.0062, d0.loss_map_cls: 0.1738, d0.loss_map_pts: 0.9506, d0.loss_map_dir: 0.0062, d1.loss_map_cls: 0.1423, d1.loss_map_pts: 0.7009, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1183, d2.loss_map_pts: 0.5539, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1061, d3.loss_map_pts: 0.5010, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0991, d4.loss_map_pts: 0.4807, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0941, d5.loss_map_pts: 0.4770, d5.loss_map_dir: 0.0055, loss: 21.6994, grad_norm: 132.9656 +2026-03-01 11:47:44,554 - DriveTransformer - INFO - Epoch [13][4950/39528] lr: 5.050e-05, eta: 3 days, 23:17:50, time: 0.738, data_time: 0.038, memory: 19865, loss_cls: 0.0711, loss_bbox: 0.2604, loss_traj: 0.4292, loss_traj_cls: 0.0021, loss_map_cls: 0.0795, loss_map_pts: 0.4293, loss_map_dir: 0.0043, d0.loss_plan_l1_fix_time: 2.4020, d0.loss_plan_l1_fix_dist: 0.3893, d1.loss_plan_l1_fix_time: 0.6463, d1.loss_plan_l1_fix_dist: 0.1558, d2.loss_plan_l1_fix_time: 0.6423, d2.loss_plan_l1_fix_dist: 0.1429, d3.loss_plan_l1_fix_time: 0.6310, d3.loss_plan_l1_fix_dist: 0.1567, d4.loss_plan_l1_fix_time: 0.6336, d4.loss_plan_l1_fix_dist: 0.1405, d5.loss_plan_l1_fix_time: 0.6366, d5.loss_plan_l1_fix_dist: 0.1402, d6.loss_plan_l1_fix_time: 0.6400, d6.loss_plan_l1_fix_dist: 0.1495, d0.loss_cls_all: 0.1209, d0.loss_bbox_all: 0.3204, d0.loss_cls: 0.1209, d0.loss_bbox: 0.3204, d1.loss_cls: 0.1133, d1.loss_bbox: 0.2899, d2.loss_cls: 0.0984, d2.loss_bbox: 0.2709, d3.loss_cls: 0.0809, d3.loss_bbox: 0.2644, d4.loss_cls: 0.0745, d4.loss_bbox: 0.2615, d5.loss_cls: 0.0715, d5.loss_bbox: 0.2609, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6337, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5036, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4554, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4404, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4376, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4335, d0.loss_map_cls_all: 0.1676, d0.loss_map_pts_all: 0.9542, d0.loss_map_dir_all: 0.0052, d0.loss_map_cls: 0.1676, d0.loss_map_pts: 0.9542, d0.loss_map_dir: 0.0052, d1.loss_map_cls: 0.1359, d1.loss_map_pts: 0.6851, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.1087, d2.loss_map_pts: 0.5179, d2.loss_map_dir: 0.0040, d3.loss_map_cls: 0.0964, d3.loss_map_pts: 0.4593, d3.loss_map_dir: 0.0041, d4.loss_map_cls: 0.0875, d4.loss_map_pts: 0.4375, d4.loss_map_dir: 0.0042, d5.loss_map_cls: 0.0826, d5.loss_map_pts: 0.4290, d5.loss_map_dir: 0.0042, loss: 19.6765, grad_norm: 138.6016 +2026-03-01 11:48:19,496 - DriveTransformer - INFO - Epoch [13][5000/39528] lr: 5.050e-05, eta: 3 days, 23:17:10, time: 0.699, data_time: 0.036, memory: 19865, loss_cls: 0.0860, loss_bbox: 0.2560, loss_traj: 0.4763, loss_traj_cls: 0.0021, loss_map_cls: 0.0607, loss_map_pts: 0.3964, loss_map_dir: 0.0042, d0.loss_plan_l1_fix_time: 2.9060, d0.loss_plan_l1_fix_dist: 0.4434, d1.loss_plan_l1_fix_time: 0.6417, d1.loss_plan_l1_fix_dist: 0.1501, d2.loss_plan_l1_fix_time: 0.6265, d2.loss_plan_l1_fix_dist: 0.1459, d3.loss_plan_l1_fix_time: 0.6256, d3.loss_plan_l1_fix_dist: 0.1540, d4.loss_plan_l1_fix_time: 0.6284, d4.loss_plan_l1_fix_dist: 0.1366, d5.loss_plan_l1_fix_time: 0.6310, d5.loss_plan_l1_fix_dist: 0.1379, d6.loss_plan_l1_fix_time: 0.6339, d6.loss_plan_l1_fix_dist: 0.1417, d0.loss_cls_all: 0.1261, d0.loss_bbox_all: 0.3208, d0.loss_cls: 0.1261, d0.loss_bbox: 0.3208, d1.loss_cls: 0.1197, d1.loss_bbox: 0.2922, d2.loss_cls: 0.1089, d2.loss_bbox: 0.2692, d3.loss_cls: 0.0918, d3.loss_bbox: 0.2605, d4.loss_cls: 0.0876, d4.loss_bbox: 0.2582, d5.loss_cls: 0.0861, d5.loss_bbox: 0.2569, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7620, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5771, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5157, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4861, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4833, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4798, d0.loss_map_cls_all: 0.1396, d0.loss_map_pts_all: 0.8705, d0.loss_map_dir_all: 0.0047, d0.loss_map_cls: 0.1396, d0.loss_map_pts: 0.8705, d0.loss_map_dir: 0.0047, d1.loss_map_cls: 0.1117, d1.loss_map_pts: 0.6468, d1.loss_map_dir: 0.0043, d2.loss_map_cls: 0.0871, d2.loss_map_pts: 0.4917, d2.loss_map_dir: 0.0040, d3.loss_map_cls: 0.0751, d3.loss_map_pts: 0.4197, d3.loss_map_dir: 0.0040, d4.loss_map_cls: 0.0673, d4.loss_map_pts: 0.4011, d4.loss_map_dir: 0.0041, d5.loss_map_cls: 0.0631, d5.loss_map_pts: 0.3964, d5.loss_map_dir: 0.0042, loss: 20.1295, grad_norm: 138.0835 +2026-03-01 11:48:57,559 - DriveTransformer - INFO - Epoch [13][5050/39528] lr: 5.050e-05, eta: 3 days, 23:16:36, time: 0.761, data_time: 0.044, memory: 19865, loss_cls: 0.0674, loss_bbox: 0.2363, loss_traj: 0.3524, loss_traj_cls: 0.0022, loss_map_cls: 0.0705, loss_map_pts: 0.4236, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.3544, d0.loss_plan_l1_fix_dist: 0.4451, d1.loss_plan_l1_fix_time: 0.6144, d1.loss_plan_l1_fix_dist: 0.1552, d2.loss_plan_l1_fix_time: 0.6060, d2.loss_plan_l1_fix_dist: 0.1632, d3.loss_plan_l1_fix_time: 0.6066, d3.loss_plan_l1_fix_dist: 0.1698, d4.loss_plan_l1_fix_time: 0.6090, d4.loss_plan_l1_fix_dist: 0.1563, d5.loss_plan_l1_fix_time: 0.6112, d5.loss_plan_l1_fix_dist: 0.1561, d6.loss_plan_l1_fix_time: 0.6140, d6.loss_plan_l1_fix_dist: 0.1526, d0.loss_cls_all: 0.1087, d0.loss_bbox_all: 0.2909, d0.loss_cls: 0.1087, d0.loss_bbox: 0.2909, d1.loss_cls: 0.1020, d1.loss_bbox: 0.2612, d2.loss_cls: 0.0886, d2.loss_bbox: 0.2437, d3.loss_cls: 0.0713, d3.loss_bbox: 0.2410, d4.loss_cls: 0.0671, d4.loss_bbox: 0.2382, d5.loss_cls: 0.0673, d5.loss_bbox: 0.2364, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5135, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.3978, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3649, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3596, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3542, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3538, d0.loss_map_cls_all: 0.1478, d0.loss_map_pts_all: 0.9015, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1478, d0.loss_map_pts: 0.9015, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1146, d1.loss_map_pts: 0.6410, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.0939, d2.loss_map_pts: 0.4997, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.0848, d3.loss_map_pts: 0.4504, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0774, d4.loss_map_pts: 0.4285, d4.loss_map_dir: 0.0054, d5.loss_map_cls: 0.0730, d5.loss_map_pts: 0.4237, d5.loss_map_dir: 0.0055, loss: 18.3629, grad_norm: 138.6703 +2026-03-01 11:49:34,760 - DriveTransformer - INFO - Epoch [13][5100/39528] lr: 5.050e-05, eta: 3 days, 23:16:01, time: 0.744, data_time: 0.042, memory: 19865, loss_cls: 0.0781, loss_bbox: 0.2534, loss_traj: 0.4214, loss_traj_cls: 0.0021, loss_map_cls: 0.0889, loss_map_pts: 0.4581, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.4519, d0.loss_plan_l1_fix_dist: 0.3652, d1.loss_plan_l1_fix_time: 0.6522, d1.loss_plan_l1_fix_dist: 0.1425, d2.loss_plan_l1_fix_time: 0.6352, d2.loss_plan_l1_fix_dist: 0.1650, d3.loss_plan_l1_fix_time: 0.6181, d3.loss_plan_l1_fix_dist: 0.1655, d4.loss_plan_l1_fix_time: 0.6186, d4.loss_plan_l1_fix_dist: 0.1430, d5.loss_plan_l1_fix_time: 0.6201, d5.loss_plan_l1_fix_dist: 0.1425, d6.loss_plan_l1_fix_time: 0.6218, d6.loss_plan_l1_fix_dist: 0.1481, d0.loss_cls_all: 0.1244, d0.loss_bbox_all: 0.3184, d0.loss_cls: 0.1244, d0.loss_bbox: 0.3184, d1.loss_cls: 0.1174, d1.loss_bbox: 0.2868, d2.loss_cls: 0.1035, d2.loss_bbox: 0.2657, d3.loss_cls: 0.0843, d3.loss_bbox: 0.2611, d4.loss_cls: 0.0804, d4.loss_bbox: 0.2560, d5.loss_cls: 0.0787, d5.loss_bbox: 0.2538, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6932, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5131, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4475, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4294, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4242, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4239, d0.loss_map_cls_all: 0.1770, d0.loss_map_pts_all: 0.9932, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1770, d0.loss_map_pts: 0.9932, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1441, d1.loss_map_pts: 0.7346, d1.loss_map_dir: 0.0048, d2.loss_map_cls: 0.1162, d2.loss_map_pts: 0.5641, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.1042, d3.loss_map_pts: 0.4904, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0979, d4.loss_map_pts: 0.4645, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0911, d5.loss_map_pts: 0.4581, d5.loss_map_dir: 0.0051, loss: 20.0484, grad_norm: 137.8569 +2026-03-01 11:50:10,885 - DriveTransformer - INFO - Epoch [13][5150/39528] lr: 5.050e-05, eta: 3 days, 23:15:24, time: 0.723, data_time: 0.038, memory: 19865, loss_cls: 0.0789, loss_bbox: 0.2832, loss_traj: 0.4331, loss_traj_cls: 0.0021, loss_map_cls: 0.0948, loss_map_pts: 0.4724, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.3285, d0.loss_plan_l1_fix_dist: 0.4056, d1.loss_plan_l1_fix_time: 0.7021, d1.loss_plan_l1_fix_dist: 0.1477, d2.loss_plan_l1_fix_time: 0.6903, d2.loss_plan_l1_fix_dist: 0.1779, d3.loss_plan_l1_fix_time: 0.6901, d3.loss_plan_l1_fix_dist: 0.1760, d4.loss_plan_l1_fix_time: 0.6916, d4.loss_plan_l1_fix_dist: 0.1512, d5.loss_plan_l1_fix_time: 0.6934, d5.loss_plan_l1_fix_dist: 0.1506, d6.loss_plan_l1_fix_time: 0.6953, d6.loss_plan_l1_fix_dist: 0.1570, d0.loss_cls_all: 0.1286, d0.loss_bbox_all: 0.3512, d0.loss_cls: 0.1286, d0.loss_bbox: 0.3512, d1.loss_cls: 0.1209, d1.loss_bbox: 0.3215, d2.loss_cls: 0.1085, d2.loss_bbox: 0.2957, d3.loss_cls: 0.0910, d3.loss_bbox: 0.2892, d4.loss_cls: 0.0829, d4.loss_bbox: 0.2853, d5.loss_cls: 0.0791, d5.loss_bbox: 0.2841, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6968, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5378, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4794, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4596, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4460, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4399, d0.loss_map_cls_all: 0.1811, d0.loss_map_pts_all: 1.0111, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1811, d0.loss_map_pts: 1.0111, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1519, d1.loss_map_pts: 0.7446, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1249, d2.loss_map_pts: 0.5688, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.1112, d3.loss_map_pts: 0.5024, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.1030, d4.loss_map_pts: 0.4791, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0970, d5.loss_map_pts: 0.4732, d5.loss_map_dir: 0.0051, loss: 20.9876, grad_norm: 137.5303 +2026-03-01 11:50:45,224 - DriveTransformer - INFO - Epoch [13][5200/39528] lr: 5.050e-05, eta: 3 days, 23:14:43, time: 0.687, data_time: 0.036, memory: 19865, loss_cls: 0.0722, loss_bbox: 0.2558, loss_traj: 0.4532, loss_traj_cls: 0.0021, loss_map_cls: 0.0807, loss_map_pts: 0.4380, loss_map_dir: 0.0042, d0.loss_plan_l1_fix_time: 2.6150, d0.loss_plan_l1_fix_dist: 0.3810, d1.loss_plan_l1_fix_time: 0.6208, d1.loss_plan_l1_fix_dist: 0.1192, d2.loss_plan_l1_fix_time: 0.5965, d2.loss_plan_l1_fix_dist: 0.1591, d3.loss_plan_l1_fix_time: 0.5949, d3.loss_plan_l1_fix_dist: 0.1437, d4.loss_plan_l1_fix_time: 0.5956, d4.loss_plan_l1_fix_dist: 0.1229, d5.loss_plan_l1_fix_time: 0.5968, d5.loss_plan_l1_fix_dist: 0.1254, d6.loss_plan_l1_fix_time: 0.5984, d6.loss_plan_l1_fix_dist: 0.1280, d0.loss_cls_all: 0.1207, d0.loss_bbox_all: 0.3267, d0.loss_cls: 0.1207, d0.loss_bbox: 0.3267, d1.loss_cls: 0.1108, d1.loss_bbox: 0.2922, d2.loss_cls: 0.1029, d2.loss_bbox: 0.2678, d3.loss_cls: 0.0826, d3.loss_bbox: 0.2618, d4.loss_cls: 0.0739, d4.loss_bbox: 0.2573, d5.loss_cls: 0.0725, d5.loss_bbox: 0.2560, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6913, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5174, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4735, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4597, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4507, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4503, d0.loss_map_cls_all: 0.1532, d0.loss_map_pts_all: 0.9198, d0.loss_map_dir_all: 0.0045, d0.loss_map_cls: 0.1532, d0.loss_map_pts: 0.9198, d0.loss_map_dir: 0.0045, d1.loss_map_cls: 0.1261, d1.loss_map_pts: 0.6790, d1.loss_map_dir: 0.0042, d2.loss_map_cls: 0.1038, d2.loss_map_pts: 0.5356, d2.loss_map_dir: 0.0040, d3.loss_map_cls: 0.0913, d3.loss_map_pts: 0.4703, d3.loss_map_dir: 0.0040, d4.loss_map_cls: 0.0873, d4.loss_map_pts: 0.4431, d4.loss_map_dir: 0.0041, d5.loss_map_cls: 0.0831, d5.loss_map_pts: 0.4391, d5.loss_map_dir: 0.0042, loss: 19.6587, grad_norm: 138.2861 +2026-03-01 11:51:21,367 - DriveTransformer - INFO - Epoch [13][5250/39528] lr: 5.050e-05, eta: 3 days, 23:14:06, time: 0.723, data_time: 0.037, memory: 19865, loss_cls: 0.0564, loss_bbox: 0.2374, loss_traj: 0.3758, loss_traj_cls: 0.0021, loss_map_cls: 0.0664, loss_map_pts: 0.4094, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.5574, d0.loss_plan_l1_fix_dist: 0.3548, d1.loss_plan_l1_fix_time: 0.6347, d1.loss_plan_l1_fix_dist: 0.1139, d2.loss_plan_l1_fix_time: 0.6196, d2.loss_plan_l1_fix_dist: 0.1470, d3.loss_plan_l1_fix_time: 0.6175, d3.loss_plan_l1_fix_dist: 0.1297, d4.loss_plan_l1_fix_time: 0.6193, d4.loss_plan_l1_fix_dist: 0.1117, d5.loss_plan_l1_fix_time: 0.6209, d5.loss_plan_l1_fix_dist: 0.1143, d6.loss_plan_l1_fix_time: 0.6229, d6.loss_plan_l1_fix_dist: 0.1204, d0.loss_cls_all: 0.0978, d0.loss_bbox_all: 0.2970, d0.loss_cls: 0.0978, d0.loss_bbox: 0.2970, d1.loss_cls: 0.0946, d1.loss_bbox: 0.2650, d2.loss_cls: 0.0818, d2.loss_bbox: 0.2464, d3.loss_cls: 0.0648, d3.loss_bbox: 0.2410, d4.loss_cls: 0.0585, d4.loss_bbox: 0.2384, d5.loss_cls: 0.0568, d5.loss_bbox: 0.2379, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6510, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4745, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4127, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3953, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.3834, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.3784, d0.loss_map_cls_all: 0.1472, d0.loss_map_pts_all: 0.9182, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1472, d0.loss_map_pts: 0.9182, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1148, d1.loss_map_pts: 0.6562, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.0926, d2.loss_map_pts: 0.4998, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0813, d3.loss_map_pts: 0.4390, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0739, d4.loss_map_pts: 0.4146, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0690, d5.loss_map_pts: 0.4101, d5.loss_map_dir: 0.0050, loss: 18.6307, grad_norm: 138.7401 +2026-03-01 11:51:57,366 - DriveTransformer - INFO - Epoch [13][5300/39528] lr: 5.050e-05, eta: 3 days, 23:13:28, time: 0.720, data_time: 0.036, memory: 19865, loss_cls: 0.0571, loss_bbox: 0.2271, loss_traj: 0.4556, loss_traj_cls: 0.0021, loss_map_cls: 0.0624, loss_map_pts: 0.3733, loss_map_dir: 0.0048, d0.loss_plan_l1_fix_time: 2.2649, d0.loss_plan_l1_fix_dist: 0.4302, d1.loss_plan_l1_fix_time: 0.6021, d1.loss_plan_l1_fix_dist: 0.1427, d2.loss_plan_l1_fix_time: 0.5859, d2.loss_plan_l1_fix_dist: 0.1657, d3.loss_plan_l1_fix_time: 0.5831, d3.loss_plan_l1_fix_dist: 0.1437, d4.loss_plan_l1_fix_time: 0.5833, d4.loss_plan_l1_fix_dist: 0.1369, d5.loss_plan_l1_fix_time: 0.5843, d5.loss_plan_l1_fix_dist: 0.1409, d6.loss_plan_l1_fix_time: 0.5860, d6.loss_plan_l1_fix_dist: 0.1438, d0.loss_cls_all: 0.0997, d0.loss_bbox_all: 0.2893, d0.loss_cls: 0.0997, d0.loss_bbox: 0.2893, d1.loss_cls: 0.0936, d1.loss_bbox: 0.2598, d2.loss_cls: 0.0829, d2.loss_bbox: 0.2371, d3.loss_cls: 0.0617, d3.loss_bbox: 0.2327, d4.loss_cls: 0.0576, d4.loss_bbox: 0.2289, d5.loss_cls: 0.0566, d5.loss_bbox: 0.2277, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6703, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5154, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4692, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4577, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4568, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4570, d0.loss_map_cls_all: 0.1378, d0.loss_map_pts_all: 0.8560, d0.loss_map_dir_all: 0.0058, d0.loss_map_cls: 0.1378, d0.loss_map_pts: 0.8560, d0.loss_map_dir: 0.0058, d1.loss_map_cls: 0.1059, d1.loss_map_pts: 0.6141, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.0859, d2.loss_map_pts: 0.4572, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0760, d3.loss_map_pts: 0.4001, d3.loss_map_dir: 0.0046, d4.loss_map_cls: 0.0699, d4.loss_map_pts: 0.3808, d4.loss_map_dir: 0.0047, d5.loss_map_cls: 0.0655, d5.loss_map_pts: 0.3737, d5.loss_map_dir: 0.0047, loss: 18.2763, grad_norm: 138.5669 +2026-03-01 11:52:34,732 - DriveTransformer - INFO - Epoch [13][5350/39528] lr: 5.050e-05, eta: 3 days, 23:12:53, time: 0.747, data_time: 0.036, memory: 19865, loss_cls: 0.0703, loss_bbox: 0.2534, loss_traj: 0.3709, loss_traj_cls: 0.0021, loss_map_cls: 0.0825, loss_map_pts: 0.4697, loss_map_dir: 0.0066, d0.loss_plan_l1_fix_time: 2.2368, d0.loss_plan_l1_fix_dist: 0.2924, d1.loss_plan_l1_fix_time: 0.6669, d1.loss_plan_l1_fix_dist: 0.1400, d2.loss_plan_l1_fix_time: 0.6624, d2.loss_plan_l1_fix_dist: 0.1499, d3.loss_plan_l1_fix_time: 0.6515, d3.loss_plan_l1_fix_dist: 0.1303, d4.loss_plan_l1_fix_time: 0.6523, d4.loss_plan_l1_fix_dist: 0.1274, d5.loss_plan_l1_fix_time: 0.6543, d5.loss_plan_l1_fix_dist: 0.1221, d6.loss_plan_l1_fix_time: 0.6563, d6.loss_plan_l1_fix_dist: 0.1325, d0.loss_cls_all: 0.1130, d0.loss_bbox_all: 0.3154, d0.loss_cls: 0.1130, d0.loss_bbox: 0.3154, d1.loss_cls: 0.1047, d1.loss_bbox: 0.2856, d2.loss_cls: 0.0922, d2.loss_bbox: 0.2651, d3.loss_cls: 0.0784, d3.loss_bbox: 0.2575, d4.loss_cls: 0.0721, d4.loss_bbox: 0.2543, d5.loss_cls: 0.0698, d5.loss_bbox: 0.2537, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5851, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4442, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3936, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3773, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.3705, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3695, d0.loss_map_cls_all: 0.1548, d0.loss_map_pts_all: 1.0311, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.1548, d0.loss_map_pts: 1.0311, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1254, d1.loss_map_pts: 0.7369, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1036, d2.loss_map_pts: 0.5646, d2.loss_map_dir: 0.0061, d3.loss_map_cls: 0.0952, d3.loss_map_pts: 0.5035, d3.loss_map_dir: 0.0062, d4.loss_map_cls: 0.0885, d4.loss_map_pts: 0.4781, d4.loss_map_dir: 0.0065, d5.loss_map_cls: 0.0845, d5.loss_map_pts: 0.4700, d5.loss_map_dir: 0.0066, loss: 19.3356, grad_norm: 139.4820 +2026-03-01 11:53:09,535 - DriveTransformer - INFO - Epoch [13][5400/39528] lr: 5.050e-05, eta: 3 days, 23:12:13, time: 0.696, data_time: 0.038, memory: 19865, loss_cls: 0.0856, loss_bbox: 0.2737, loss_traj: 0.5037, loss_traj_cls: 0.0021, loss_map_cls: 0.0832, loss_map_pts: 0.4255, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.9216, d0.loss_plan_l1_fix_dist: 0.3195, d1.loss_plan_l1_fix_time: 0.7531, d1.loss_plan_l1_fix_dist: 0.1585, d2.loss_plan_l1_fix_time: 0.7342, d2.loss_plan_l1_fix_dist: 0.1542, d3.loss_plan_l1_fix_time: 0.7330, d3.loss_plan_l1_fix_dist: 0.1348, d4.loss_plan_l1_fix_time: 0.7344, d4.loss_plan_l1_fix_dist: 0.1440, d5.loss_plan_l1_fix_time: 0.7362, d5.loss_plan_l1_fix_dist: 0.1393, d6.loss_plan_l1_fix_time: 0.7381, d6.loss_plan_l1_fix_dist: 0.1511, d0.loss_cls_all: 0.1361, d0.loss_bbox_all: 0.3455, d0.loss_cls: 0.1361, d0.loss_bbox: 0.3455, d1.loss_cls: 0.1292, d1.loss_bbox: 0.3135, d2.loss_cls: 0.1147, d2.loss_bbox: 0.2905, d3.loss_cls: 0.0949, d3.loss_bbox: 0.2825, d4.loss_cls: 0.0893, d4.loss_bbox: 0.2771, d5.loss_cls: 0.0851, d5.loss_bbox: 0.2758, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7944, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.6080, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5402, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.5185, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.5078, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5052, d0.loss_map_cls_all: 0.1591, d0.loss_map_pts_all: 0.9069, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1591, d0.loss_map_pts: 0.9069, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1273, d1.loss_map_pts: 0.6367, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1071, d2.loss_map_pts: 0.4915, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0955, d3.loss_map_pts: 0.4444, d3.loss_map_dir: 0.0051, d4.loss_map_cls: 0.0897, d4.loss_map_pts: 0.4294, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0864, d5.loss_map_pts: 0.4250, d5.loss_map_dir: 0.0052, loss: 21.4291, grad_norm: 141.9302 +2026-03-01 11:53:44,629 - DriveTransformer - INFO - Epoch [13][5450/39528] lr: 5.050e-05, eta: 3 days, 23:11:34, time: 0.702, data_time: 0.036, memory: 19865, loss_cls: 0.0687, loss_bbox: 0.2465, loss_traj: 0.4214, loss_traj_cls: 0.0021, loss_map_cls: 0.0943, loss_map_pts: 0.4408, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.3395, d0.loss_plan_l1_fix_dist: 0.3336, d1.loss_plan_l1_fix_time: 0.5838, d1.loss_plan_l1_fix_dist: 0.1578, d2.loss_plan_l1_fix_time: 0.5815, d2.loss_plan_l1_fix_dist: 0.1459, d3.loss_plan_l1_fix_time: 0.5827, d3.loss_plan_l1_fix_dist: 0.1248, d4.loss_plan_l1_fix_time: 0.5855, d4.loss_plan_l1_fix_dist: 0.1337, d5.loss_plan_l1_fix_time: 0.5877, d5.loss_plan_l1_fix_dist: 0.1316, d6.loss_plan_l1_fix_time: 0.5904, d6.loss_plan_l1_fix_dist: 0.1337, d0.loss_cls_all: 0.1075, d0.loss_bbox_all: 0.3022, d0.loss_cls: 0.1075, d0.loss_bbox: 0.3022, d1.loss_cls: 0.1056, d1.loss_bbox: 0.2713, d2.loss_cls: 0.0907, d2.loss_bbox: 0.2561, d3.loss_cls: 0.0759, d3.loss_bbox: 0.2503, d4.loss_cls: 0.0696, d4.loss_bbox: 0.2485, d5.loss_cls: 0.0686, d5.loss_bbox: 0.2470, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6122, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4812, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4258, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4175, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4153, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4187, d0.loss_map_cls_all: 0.1727, d0.loss_map_pts_all: 0.9379, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1727, d0.loss_map_pts: 0.9379, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1445, d1.loss_map_pts: 0.6755, d1.loss_map_dir: 0.0047, d2.loss_map_cls: 0.1240, d2.loss_map_pts: 0.5216, d2.loss_map_dir: 0.0044, d3.loss_map_cls: 0.1117, d3.loss_map_pts: 0.4618, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.1044, d4.loss_map_pts: 0.4438, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0982, d5.loss_map_pts: 0.4411, d5.loss_map_dir: 0.0049, loss: 18.9515, grad_norm: 145.9644 +2026-03-01 11:54:21,362 - DriveTransformer - INFO - Epoch [13][5500/39528] lr: 5.050e-05, eta: 3 days, 23:10:58, time: 0.735, data_time: 0.037, memory: 19865, loss_cls: 0.0771, loss_bbox: 0.2595, loss_traj: 0.4132, loss_traj_cls: 0.0021, loss_map_cls: 0.0714, loss_map_pts: 0.4473, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.3648, d0.loss_plan_l1_fix_dist: 0.4222, d1.loss_plan_l1_fix_time: 0.6419, d1.loss_plan_l1_fix_dist: 0.1596, d2.loss_plan_l1_fix_time: 0.6265, d2.loss_plan_l1_fix_dist: 0.1395, d3.loss_plan_l1_fix_time: 0.6215, d3.loss_plan_l1_fix_dist: 0.1249, d4.loss_plan_l1_fix_time: 0.6246, d4.loss_plan_l1_fix_dist: 0.1356, d5.loss_plan_l1_fix_time: 0.6264, d5.loss_plan_l1_fix_dist: 0.1287, d6.loss_plan_l1_fix_time: 0.6286, d6.loss_plan_l1_fix_dist: 0.1285, d0.loss_cls_all: 0.1223, d0.loss_bbox_all: 0.3156, d0.loss_cls: 0.1223, d0.loss_bbox: 0.3156, d1.loss_cls: 0.1102, d1.loss_bbox: 0.2911, d2.loss_cls: 0.0990, d2.loss_bbox: 0.2711, d3.loss_cls: 0.0842, d3.loss_bbox: 0.2655, d4.loss_cls: 0.0810, d4.loss_bbox: 0.2609, d5.loss_cls: 0.0781, d5.loss_bbox: 0.2595, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6576, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4943, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4347, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4212, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4188, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4151, d0.loss_map_cls_all: 0.1594, d0.loss_map_pts_all: 0.9791, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1594, d0.loss_map_pts: 0.9791, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1221, d1.loss_map_pts: 0.7108, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.0945, d2.loss_map_pts: 0.5416, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0857, d3.loss_map_pts: 0.4766, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0792, d4.loss_map_pts: 0.4540, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0744, d5.loss_map_pts: 0.4481, d5.loss_map_dir: 0.0053, loss: 19.5734, grad_norm: 145.7854 +2026-03-01 11:54:56,557 - DriveTransformer - INFO - Epoch [13][5550/39528] lr: 5.050e-05, eta: 3 days, 23:10:19, time: 0.704, data_time: 0.037, memory: 19865, loss_cls: 0.0716, loss_bbox: 0.2394, loss_traj: 0.3654, loss_traj_cls: 0.0021, loss_map_cls: 0.0808, loss_map_pts: 0.4202, loss_map_dir: 0.0050, d0.loss_plan_l1_fix_time: 2.0843, d0.loss_plan_l1_fix_dist: 0.4690, d1.loss_plan_l1_fix_time: 0.5976, d1.loss_plan_l1_fix_dist: 0.1647, d2.loss_plan_l1_fix_time: 0.5771, d2.loss_plan_l1_fix_dist: 0.1324, d3.loss_plan_l1_fix_time: 0.5700, d3.loss_plan_l1_fix_dist: 0.1384, d4.loss_plan_l1_fix_time: 0.5709, d4.loss_plan_l1_fix_dist: 0.1463, d5.loss_plan_l1_fix_time: 0.5720, d5.loss_plan_l1_fix_dist: 0.1346, d6.loss_plan_l1_fix_time: 0.5732, d6.loss_plan_l1_fix_dist: 0.1400, d0.loss_cls_all: 0.1115, d0.loss_bbox_all: 0.3022, d0.loss_cls: 0.1115, d0.loss_bbox: 0.3022, d1.loss_cls: 0.1043, d1.loss_bbox: 0.2696, d2.loss_cls: 0.0941, d2.loss_bbox: 0.2490, d3.loss_cls: 0.0774, d3.loss_bbox: 0.2449, d4.loss_cls: 0.0721, d4.loss_bbox: 0.2422, d5.loss_cls: 0.0719, d5.loss_bbox: 0.2401, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5831, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4330, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3849, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3737, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3658, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.3645, d0.loss_map_cls_all: 0.1632, d0.loss_map_pts_all: 0.9303, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1632, d0.loss_map_pts: 0.9303, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1335, d1.loss_map_pts: 0.6858, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1072, d2.loss_map_pts: 0.5168, d2.loss_map_dir: 0.0045, d3.loss_map_cls: 0.0960, d3.loss_map_pts: 0.4504, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0901, d4.loss_map_pts: 0.4248, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0845, d5.loss_map_pts: 0.4203, d5.loss_map_dir: 0.0049, loss: 18.2902, grad_norm: 147.6682 +2026-03-01 11:55:32,162 - DriveTransformer - INFO - Epoch [13][5600/39528] lr: 5.050e-05, eta: 3 days, 23:09:40, time: 0.713, data_time: 0.040, memory: 19865, loss_cls: 0.0754, loss_bbox: 0.2668, loss_traj: 0.4489, loss_traj_cls: 0.0021, loss_map_cls: 0.0957, loss_map_pts: 0.4648, loss_map_dir: 0.0054, d0.loss_plan_l1_fix_time: 2.6965, d0.loss_plan_l1_fix_dist: 0.3729, d1.loss_plan_l1_fix_time: 0.6858, d1.loss_plan_l1_fix_dist: 0.1753, d2.loss_plan_l1_fix_time: 0.6734, d2.loss_plan_l1_fix_dist: 0.1308, d3.loss_plan_l1_fix_time: 0.6757, d3.loss_plan_l1_fix_dist: 0.1492, d4.loss_plan_l1_fix_time: 0.6782, d4.loss_plan_l1_fix_dist: 0.1490, d5.loss_plan_l1_fix_time: 0.6805, d5.loss_plan_l1_fix_dist: 0.1343, d6.loss_plan_l1_fix_time: 0.6827, d6.loss_plan_l1_fix_dist: 0.1404, d0.loss_cls_all: 0.1236, d0.loss_bbox_all: 0.3338, d0.loss_cls: 0.1236, d0.loss_bbox: 0.3338, d1.loss_cls: 0.1181, d1.loss_bbox: 0.2967, d2.loss_cls: 0.1043, d2.loss_bbox: 0.2758, d3.loss_cls: 0.0879, d3.loss_bbox: 0.2707, d4.loss_cls: 0.0766, d4.loss_bbox: 0.2690, d5.loss_cls: 0.0751, d5.loss_bbox: 0.2676, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7757, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5567, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4885, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4657, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4565, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4505, d0.loss_map_cls_all: 0.1774, d0.loss_map_pts_all: 0.9647, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1774, d0.loss_map_pts: 0.9647, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1470, d1.loss_map_pts: 0.7081, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1216, d2.loss_map_pts: 0.5505, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1118, d3.loss_map_pts: 0.4934, d3.loss_map_dir: 0.0052, d4.loss_map_cls: 0.1044, d4.loss_map_pts: 0.4724, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.0990, d5.loss_map_pts: 0.4655, d5.loss_map_dir: 0.0053, loss: 20.9349, grad_norm: 147.1004 +2026-03-01 11:56:10,579 - DriveTransformer - INFO - Epoch [13][5650/39528] lr: 5.050e-05, eta: 3 days, 23:09:07, time: 0.767, data_time: 0.039, memory: 19865, loss_cls: 0.0676, loss_bbox: 0.2365, loss_traj: 0.4279, loss_traj_cls: 0.0022, loss_map_cls: 0.0660, loss_map_pts: 0.4120, loss_map_dir: 0.0055, d0.loss_plan_l1_fix_time: 2.4038, d0.loss_plan_l1_fix_dist: 0.3927, d1.loss_plan_l1_fix_time: 0.5972, d1.loss_plan_l1_fix_dist: 0.1803, d2.loss_plan_l1_fix_time: 0.5896, d2.loss_plan_l1_fix_dist: 0.1444, d3.loss_plan_l1_fix_time: 0.5903, d3.loss_plan_l1_fix_dist: 0.1675, d4.loss_plan_l1_fix_time: 0.5930, d4.loss_plan_l1_fix_dist: 0.1516, d5.loss_plan_l1_fix_time: 0.5957, d5.loss_plan_l1_fix_dist: 0.1474, d6.loss_plan_l1_fix_time: 0.5984, d6.loss_plan_l1_fix_dist: 0.1547, d0.loss_cls_all: 0.1043, d0.loss_bbox_all: 0.2997, d0.loss_cls: 0.1043, d0.loss_bbox: 0.2997, d1.loss_cls: 0.1002, d1.loss_bbox: 0.2684, d2.loss_cls: 0.0905, d2.loss_bbox: 0.2460, d3.loss_cls: 0.0723, d3.loss_bbox: 0.2412, d4.loss_cls: 0.0684, d4.loss_bbox: 0.2393, d5.loss_cls: 0.0678, d5.loss_bbox: 0.2369, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6348, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5024, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4513, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4332, d4.loss_traj_cls: 0.0007, d4.loss_traj: 0.4297, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.4289, d0.loss_map_cls_all: 0.1514, d0.loss_map_pts_all: 0.9426, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1514, d0.loss_map_pts: 0.9426, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1125, d1.loss_map_pts: 0.6521, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.0912, d2.loss_map_pts: 0.4921, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.0799, d3.loss_map_pts: 0.4385, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0722, d4.loss_map_pts: 0.4180, d4.loss_map_dir: 0.0056, d5.loss_map_cls: 0.0681, d5.loss_map_pts: 0.4122, d5.loss_map_dir: 0.0055, loss: 18.9157, grad_norm: 147.9325 +2026-03-01 11:56:45,875 - DriveTransformer - INFO - Epoch [13][5700/39528] lr: 5.050e-05, eta: 3 days, 23:08:28, time: 0.706, data_time: 0.036, memory: 19865, loss_cls: 0.0771, loss_bbox: 0.2594, loss_traj: 0.4097, loss_traj_cls: 0.0021, loss_map_cls: 0.0871, loss_map_pts: 0.4353, loss_map_dir: 0.0045, d0.loss_plan_l1_fix_time: 2.5094, d0.loss_plan_l1_fix_dist: 0.3673, d1.loss_plan_l1_fix_time: 0.6534, d1.loss_plan_l1_fix_dist: 0.1829, d2.loss_plan_l1_fix_time: 0.6397, d2.loss_plan_l1_fix_dist: 0.1531, d3.loss_plan_l1_fix_time: 0.6276, d3.loss_plan_l1_fix_dist: 0.1770, d4.loss_plan_l1_fix_time: 0.6274, d4.loss_plan_l1_fix_dist: 0.1577, d5.loss_plan_l1_fix_time: 0.6285, d5.loss_plan_l1_fix_dist: 0.1603, d6.loss_plan_l1_fix_time: 0.6300, d6.loss_plan_l1_fix_dist: 0.1647, d0.loss_cls_all: 0.1201, d0.loss_bbox_all: 0.3253, d0.loss_cls: 0.1201, d0.loss_bbox: 0.3253, d1.loss_cls: 0.1198, d1.loss_bbox: 0.2916, d2.loss_cls: 0.1031, d2.loss_bbox: 0.2697, d3.loss_cls: 0.0832, d3.loss_bbox: 0.2627, d4.loss_cls: 0.0782, d4.loss_bbox: 0.2597, d5.loss_cls: 0.0771, d5.loss_bbox: 0.2587, d0.loss_traj_cls: 0.0000, d0.loss_traj: 0.6162, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4813, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4344, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4164, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4131, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4081, d0.loss_map_cls_all: 0.1691, d0.loss_map_pts_all: 0.8964, d0.loss_map_dir_all: 0.0041, d0.loss_map_cls: 0.1691, d0.loss_map_pts: 0.8964, d0.loss_map_dir: 0.0041, d1.loss_map_cls: 0.1424, d1.loss_map_pts: 0.6591, d1.loss_map_dir: 0.0040, d2.loss_map_cls: 0.1178, d2.loss_map_pts: 0.5068, d2.loss_map_dir: 0.0039, d3.loss_map_cls: 0.1030, d3.loss_map_pts: 0.4564, d3.loss_map_dir: 0.0042, d4.loss_map_cls: 0.0952, d4.loss_map_pts: 0.4410, d4.loss_map_dir: 0.0043, d5.loss_map_cls: 0.0901, d5.loss_map_pts: 0.4355, d5.loss_map_dir: 0.0044, loss: 19.6317, grad_norm: 149.3481 +2026-03-01 11:57:22,575 - DriveTransformer - INFO - Epoch [13][5750/39528] lr: 5.050e-05, eta: 3 days, 23:07:52, time: 0.734, data_time: 0.037, memory: 19865, loss_cls: 0.0771, loss_bbox: 0.2542, loss_traj: 0.3476, loss_traj_cls: 0.0022, loss_map_cls: 0.0948, loss_map_pts: 0.4847, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.3306, d0.loss_plan_l1_fix_dist: 0.4553, d1.loss_plan_l1_fix_time: 0.5925, d1.loss_plan_l1_fix_dist: 0.2037, d2.loss_plan_l1_fix_time: 0.5760, d2.loss_plan_l1_fix_dist: 0.1682, d3.loss_plan_l1_fix_time: 0.5697, d3.loss_plan_l1_fix_dist: 0.1896, d4.loss_plan_l1_fix_time: 0.5706, d4.loss_plan_l1_fix_dist: 0.1632, d5.loss_plan_l1_fix_time: 0.5727, d5.loss_plan_l1_fix_dist: 0.1731, d6.loss_plan_l1_fix_time: 0.5752, d6.loss_plan_l1_fix_dist: 0.1706, d0.loss_cls_all: 0.1213, d0.loss_bbox_all: 0.3145, d0.loss_cls: 0.1213, d0.loss_bbox: 0.3145, d1.loss_cls: 0.1153, d1.loss_bbox: 0.2838, d2.loss_cls: 0.1015, d2.loss_bbox: 0.2633, d3.loss_cls: 0.0864, d3.loss_bbox: 0.2577, d4.loss_cls: 0.0784, d4.loss_bbox: 0.2567, d5.loss_cls: 0.0764, d5.loss_bbox: 0.2550, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5279, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4217, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3686, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3513, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3458, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.3456, d0.loss_map_cls_all: 0.1715, d0.loss_map_pts_all: 0.9934, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.1715, d0.loss_map_pts: 0.9934, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.1413, d1.loss_map_pts: 0.7128, d1.loss_map_dir: 0.0060, d2.loss_map_cls: 0.1185, d2.loss_map_pts: 0.5609, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1067, d3.loss_map_pts: 0.5102, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1018, d4.loss_map_pts: 0.4914, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0978, d5.loss_map_pts: 0.4847, d5.loss_map_dir: 0.0058, loss: 19.2876, grad_norm: 147.8422 +2026-03-01 11:57:58,574 - DriveTransformer - INFO - Epoch [13][5800/39528] lr: 5.050e-05, eta: 3 days, 23:07:14, time: 0.720, data_time: 0.036, memory: 19865, loss_cls: 0.0682, loss_bbox: 0.2702, loss_traj: 0.4432, loss_traj_cls: 0.0021, loss_map_cls: 0.0867, loss_map_pts: 0.4661, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.7738, d0.loss_plan_l1_fix_dist: 0.4085, d1.loss_plan_l1_fix_time: 0.6580, d1.loss_plan_l1_fix_dist: 0.1750, d2.loss_plan_l1_fix_time: 0.6420, d2.loss_plan_l1_fix_dist: 0.1411, d3.loss_plan_l1_fix_time: 0.6358, d3.loss_plan_l1_fix_dist: 0.1664, d4.loss_plan_l1_fix_time: 0.6370, d4.loss_plan_l1_fix_dist: 0.1359, d5.loss_plan_l1_fix_time: 0.6387, d5.loss_plan_l1_fix_dist: 0.1520, d6.loss_plan_l1_fix_time: 0.6408, d6.loss_plan_l1_fix_dist: 0.1501, d0.loss_cls_all: 0.1146, d0.loss_bbox_all: 0.3310, d0.loss_cls: 0.1146, d0.loss_bbox: 0.3310, d1.loss_cls: 0.1122, d1.loss_bbox: 0.2996, d2.loss_cls: 0.0969, d2.loss_bbox: 0.2794, d3.loss_cls: 0.0764, d3.loss_bbox: 0.2741, d4.loss_cls: 0.0696, d4.loss_bbox: 0.2717, d5.loss_cls: 0.0679, d5.loss_bbox: 0.2704, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6915, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5254, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4723, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4511, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4455, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4432, d0.loss_map_cls_all: 0.1665, d0.loss_map_pts_all: 1.0177, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1665, d0.loss_map_pts: 1.0177, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1395, d1.loss_map_pts: 0.7343, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1122, d2.loss_map_pts: 0.5579, d2.loss_map_dir: 0.0052, d3.loss_map_cls: 0.1005, d3.loss_map_pts: 0.4917, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0946, d4.loss_map_pts: 0.4719, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0904, d5.loss_map_pts: 0.4661, d5.loss_map_dir: 0.0057, loss: 20.7076, grad_norm: 144.5733 +2026-03-01 11:58:34,394 - DriveTransformer - INFO - Epoch [13][5850/39528] lr: 5.050e-05, eta: 3 days, 23:06:37, time: 0.716, data_time: 0.038, memory: 19865, loss_cls: 0.0667, loss_bbox: 0.2396, loss_traj: 0.3671, loss_traj_cls: 0.0021, loss_map_cls: 0.0746, loss_map_pts: 0.4107, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.2216, d0.loss_plan_l1_fix_dist: 0.4050, d1.loss_plan_l1_fix_time: 0.5434, d1.loss_plan_l1_fix_dist: 0.1752, d2.loss_plan_l1_fix_time: 0.5272, d2.loss_plan_l1_fix_dist: 0.1498, d3.loss_plan_l1_fix_time: 0.5272, d3.loss_plan_l1_fix_dist: 0.1705, d4.loss_plan_l1_fix_time: 0.5291, d4.loss_plan_l1_fix_dist: 0.1367, d5.loss_plan_l1_fix_time: 0.5310, d5.loss_plan_l1_fix_dist: 0.1492, d6.loss_plan_l1_fix_time: 0.5335, d6.loss_plan_l1_fix_dist: 0.1477, d0.loss_cls_all: 0.1034, d0.loss_bbox_all: 0.2957, d0.loss_cls: 0.1034, d0.loss_bbox: 0.2957, d1.loss_cls: 0.1018, d1.loss_bbox: 0.2707, d2.loss_cls: 0.0888, d2.loss_bbox: 0.2493, d3.loss_cls: 0.0729, d3.loss_bbox: 0.2436, d4.loss_cls: 0.0657, d4.loss_bbox: 0.2431, d5.loss_cls: 0.0649, d5.loss_bbox: 0.2420, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5627, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4356, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3973, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3729, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3704, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.3690, d0.loss_map_cls_all: 0.1520, d0.loss_map_pts_all: 0.8814, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1520, d0.loss_map_pts: 0.8814, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.1199, d1.loss_map_pts: 0.6364, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.0989, d2.loss_map_pts: 0.4958, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0867, d3.loss_map_pts: 0.4390, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0807, d4.loss_map_pts: 0.4186, d4.loss_map_dir: 0.0049, d5.loss_map_cls: 0.0763, d5.loss_map_pts: 0.4111, d5.loss_map_dir: 0.0050, loss: 17.8334, grad_norm: 144.9335 +2026-03-01 11:59:09,974 - DriveTransformer - INFO - Epoch [13][5900/39528] lr: 5.050e-05, eta: 3 days, 23:05:58, time: 0.712, data_time: 0.038, memory: 19865, loss_cls: 0.0854, loss_bbox: 0.2771, loss_traj: 0.4748, loss_traj_cls: 0.0022, loss_map_cls: 0.0781, loss_map_pts: 0.4253, loss_map_dir: 0.0045, d0.loss_plan_l1_fix_time: 2.5370, d0.loss_plan_l1_fix_dist: 0.3712, d1.loss_plan_l1_fix_time: 0.7020, d1.loss_plan_l1_fix_dist: 0.1774, d2.loss_plan_l1_fix_time: 0.6956, d2.loss_plan_l1_fix_dist: 0.1635, d3.loss_plan_l1_fix_time: 0.6822, d3.loss_plan_l1_fix_dist: 0.1778, d4.loss_plan_l1_fix_time: 0.6837, d4.loss_plan_l1_fix_dist: 0.1490, d5.loss_plan_l1_fix_time: 0.6853, d5.loss_plan_l1_fix_dist: 0.1537, d6.loss_plan_l1_fix_time: 0.6873, d6.loss_plan_l1_fix_dist: 0.1532, d0.loss_cls_all: 0.1305, d0.loss_bbox_all: 0.3394, d0.loss_cls: 0.1305, d0.loss_bbox: 0.3394, d1.loss_cls: 0.1258, d1.loss_bbox: 0.3084, d2.loss_cls: 0.1133, d2.loss_bbox: 0.2890, d3.loss_cls: 0.0927, d3.loss_bbox: 0.2842, d4.loss_cls: 0.0862, d4.loss_bbox: 0.2795, d5.loss_cls: 0.0854, d5.loss_bbox: 0.2773, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7418, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5835, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5281, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5054, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4833, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.4782, d0.loss_map_cls_all: 0.1598, d0.loss_map_pts_all: 0.8731, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1598, d0.loss_map_pts: 0.8731, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1283, d1.loss_map_pts: 0.6456, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.1055, d2.loss_map_pts: 0.5080, d2.loss_map_dir: 0.0041, d3.loss_map_cls: 0.0929, d3.loss_map_pts: 0.4509, d3.loss_map_dir: 0.0042, d4.loss_map_cls: 0.0858, d4.loss_map_pts: 0.4288, d4.loss_map_dir: 0.0044, d5.loss_map_cls: 0.0809, d5.loss_map_pts: 0.4247, d5.loss_map_dir: 0.0044, loss: 20.6227, grad_norm: 141.9814 +2026-03-01 11:59:47,820 - DriveTransformer - INFO - Epoch [13][5950/39528] lr: 5.050e-05, eta: 3 days, 23:05:24, time: 0.757, data_time: 0.036, memory: 19865, loss_cls: 0.0691, loss_bbox: 0.2646, loss_traj: 0.4251, loss_traj_cls: 0.0022, loss_map_cls: 0.0812, loss_map_pts: 0.4331, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.4603, d0.loss_plan_l1_fix_dist: 0.4238, d1.loss_plan_l1_fix_time: 0.6510, d1.loss_plan_l1_fix_dist: 0.1656, d2.loss_plan_l1_fix_time: 0.6460, d2.loss_plan_l1_fix_dist: 0.1641, d3.loss_plan_l1_fix_time: 0.6458, d3.loss_plan_l1_fix_dist: 0.1760, d4.loss_plan_l1_fix_time: 0.6487, d4.loss_plan_l1_fix_dist: 0.1484, d5.loss_plan_l1_fix_time: 0.6517, d5.loss_plan_l1_fix_dist: 0.1555, d6.loss_plan_l1_fix_time: 0.6548, d6.loss_plan_l1_fix_dist: 0.1572, d0.loss_cls_all: 0.1194, d0.loss_bbox_all: 0.3274, d0.loss_cls: 0.1194, d0.loss_bbox: 0.3274, d1.loss_cls: 0.1089, d1.loss_bbox: 0.2988, d2.loss_cls: 0.0982, d2.loss_bbox: 0.2757, d3.loss_cls: 0.0775, d3.loss_bbox: 0.2708, d4.loss_cls: 0.0710, d4.loss_bbox: 0.2671, d5.loss_cls: 0.0684, d5.loss_bbox: 0.2651, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6325, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5000, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4480, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4278, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4276, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.4253, d0.loss_map_cls_all: 0.1544, d0.loss_map_pts_all: 0.9057, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1544, d0.loss_map_pts: 0.9057, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1232, d1.loss_map_pts: 0.6438, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1054, d2.loss_map_pts: 0.5046, d2.loss_map_dir: 0.0049, d3.loss_map_cls: 0.0972, d3.loss_map_pts: 0.4524, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.0887, d4.loss_map_pts: 0.4353, d4.loss_map_dir: 0.0052, d5.loss_map_cls: 0.0839, d5.loss_map_pts: 0.4328, d5.loss_map_dir: 0.0052, loss: 19.7169, grad_norm: 145.2803 +2026-03-01 12:00:24,668 - DriveTransformer - INFO - Epoch [13][6000/39528] lr: 5.050e-05, eta: 3 days, 23:04:48, time: 0.737, data_time: 0.037, memory: 19865, loss_cls: 0.0690, loss_bbox: 0.2535, loss_traj: 0.4604, loss_traj_cls: 0.0022, loss_map_cls: 0.0688, loss_map_pts: 0.3650, loss_map_dir: 0.0035, d0.loss_plan_l1_fix_time: 2.4660, d0.loss_plan_l1_fix_dist: 0.3530, d1.loss_plan_l1_fix_time: 0.6301, d1.loss_plan_l1_fix_dist: 0.1249, d2.loss_plan_l1_fix_time: 0.6151, d2.loss_plan_l1_fix_dist: 0.1382, d3.loss_plan_l1_fix_time: 0.6065, d3.loss_plan_l1_fix_dist: 0.1372, d4.loss_plan_l1_fix_time: 0.6069, d4.loss_plan_l1_fix_dist: 0.1130, d5.loss_plan_l1_fix_time: 0.6086, d5.loss_plan_l1_fix_dist: 0.1174, d6.loss_plan_l1_fix_time: 0.6104, d6.loss_plan_l1_fix_dist: 0.1218, d0.loss_cls_all: 0.1140, d0.loss_bbox_all: 0.3122, d0.loss_cls: 0.1140, d0.loss_bbox: 0.3122, d1.loss_cls: 0.1081, d1.loss_bbox: 0.2825, d2.loss_cls: 0.0915, d2.loss_bbox: 0.2625, d3.loss_cls: 0.0754, d3.loss_bbox: 0.2566, d4.loss_cls: 0.0703, d4.loss_bbox: 0.2546, d5.loss_cls: 0.0692, d5.loss_bbox: 0.2533, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7352, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5603, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4975, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4799, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4691, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.4617, d0.loss_map_cls_all: 0.1388, d0.loss_map_pts_all: 0.7327, d0.loss_map_dir_all: 0.0043, d0.loss_map_cls: 0.1388, d0.loss_map_pts: 0.7327, d0.loss_map_dir: 0.0043, d1.loss_map_cls: 0.1127, d1.loss_map_pts: 0.5398, d1.loss_map_dir: 0.0038, d2.loss_map_cls: 0.0921, d2.loss_map_pts: 0.4336, d2.loss_map_dir: 0.0034, d3.loss_map_cls: 0.0808, d3.loss_map_pts: 0.3857, d3.loss_map_dir: 0.0034, d4.loss_map_cls: 0.0744, d4.loss_map_pts: 0.3682, d4.loss_map_dir: 0.0034, d5.loss_map_cls: 0.0705, d5.loss_map_pts: 0.3648, d5.loss_map_dir: 0.0035, loss: 18.5486, grad_norm: 143.6433 +2026-03-01 12:01:00,640 - DriveTransformer - INFO - Epoch [13][6050/39528] lr: 5.050e-05, eta: 3 days, 23:04:10, time: 0.719, data_time: 0.038, memory: 19865, loss_cls: 0.0792, loss_bbox: 0.2535, loss_traj: 0.4288, loss_traj_cls: 0.0022, loss_map_cls: 0.0681, loss_map_pts: 0.3904, loss_map_dir: 0.0044, d0.loss_plan_l1_fix_time: 2.6538, d0.loss_plan_l1_fix_dist: 0.3746, d1.loss_plan_l1_fix_time: 0.7293, d1.loss_plan_l1_fix_dist: 0.1230, d2.loss_plan_l1_fix_time: 0.7133, d2.loss_plan_l1_fix_dist: 0.1466, d3.loss_plan_l1_fix_time: 0.6907, d3.loss_plan_l1_fix_dist: 0.1360, d4.loss_plan_l1_fix_time: 0.6913, d4.loss_plan_l1_fix_dist: 0.1211, d5.loss_plan_l1_fix_time: 0.6923, d5.loss_plan_l1_fix_dist: 0.1256, d6.loss_plan_l1_fix_time: 0.6937, d6.loss_plan_l1_fix_dist: 0.1278, d0.loss_cls_all: 0.1207, d0.loss_bbox_all: 0.3212, d0.loss_cls: 0.1207, d0.loss_bbox: 0.3212, d1.loss_cls: 0.1147, d1.loss_bbox: 0.2866, d2.loss_cls: 0.1044, d2.loss_bbox: 0.2636, d3.loss_cls: 0.0884, d3.loss_bbox: 0.2569, d4.loss_cls: 0.0807, d4.loss_bbox: 0.2557, d5.loss_cls: 0.0801, d5.loss_bbox: 0.2534, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7236, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5357, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4692, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4481, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4364, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.4277, d0.loss_map_cls_all: 0.1461, d0.loss_map_pts_all: 0.8673, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1461, d0.loss_map_pts: 0.8673, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1143, d1.loss_map_pts: 0.6170, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.0932, d2.loss_map_pts: 0.4754, d2.loss_map_dir: 0.0041, d3.loss_map_cls: 0.0825, d3.loss_map_pts: 0.4206, d3.loss_map_dir: 0.0043, d4.loss_map_cls: 0.0761, d4.loss_map_pts: 0.3961, d4.loss_map_dir: 0.0044, d5.loss_map_cls: 0.0708, d5.loss_map_pts: 0.3908, d5.loss_map_dir: 0.0044, loss: 19.7564, grad_norm: 135.5821 +2026-03-01 12:01:39,252 - DriveTransformer - INFO - Epoch [13][6100/39528] lr: 5.050e-05, eta: 3 days, 23:03:38, time: 0.772, data_time: 0.038, memory: 19865, loss_cls: 0.0814, loss_bbox: 0.2759, loss_traj: 0.3932, loss_traj_cls: 0.0021, loss_map_cls: 0.0987, loss_map_pts: 0.5421, loss_map_dir: 0.0075, d0.loss_plan_l1_fix_time: 2.4632, d0.loss_plan_l1_fix_dist: 0.4994, d1.loss_plan_l1_fix_time: 0.6332, d1.loss_plan_l1_fix_dist: 0.1515, d2.loss_plan_l1_fix_time: 0.6190, d2.loss_plan_l1_fix_dist: 0.1725, d3.loss_plan_l1_fix_time: 0.6065, d3.loss_plan_l1_fix_dist: 0.1589, d4.loss_plan_l1_fix_time: 0.6074, d4.loss_plan_l1_fix_dist: 0.1445, d5.loss_plan_l1_fix_time: 0.6089, d5.loss_plan_l1_fix_dist: 0.1462, d6.loss_plan_l1_fix_time: 0.6106, d6.loss_plan_l1_fix_dist: 0.1505, d0.loss_cls_all: 0.1286, d0.loss_bbox_all: 0.3449, d0.loss_cls: 0.1286, d0.loss_bbox: 0.3449, d1.loss_cls: 0.1198, d1.loss_bbox: 0.3141, d2.loss_cls: 0.1021, d2.loss_bbox: 0.2924, d3.loss_cls: 0.0889, d3.loss_bbox: 0.2833, d4.loss_cls: 0.0838, d4.loss_bbox: 0.2785, d5.loss_cls: 0.0825, d5.loss_bbox: 0.2762, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6042, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4549, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4089, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3942, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3903, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3917, d0.loss_map_cls_all: 0.1921, d0.loss_map_pts_all: 1.1453, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.1921, d0.loss_map_pts: 1.1453, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.1527, d1.loss_map_pts: 0.8165, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1267, d2.loss_map_pts: 0.6405, d2.loss_map_dir: 0.0069, d3.loss_map_cls: 0.1140, d3.loss_map_pts: 0.5739, d3.loss_map_dir: 0.0070, d4.loss_map_cls: 0.1076, d4.loss_map_pts: 0.5454, d4.loss_map_dir: 0.0073, d5.loss_map_cls: 0.1014, d5.loss_map_pts: 0.5424, d5.loss_map_dir: 0.0073, loss: 20.9394, grad_norm: 135.3720 +2026-03-01 12:02:16,520 - DriveTransformer - INFO - Epoch [13][6150/39528] lr: 5.050e-05, eta: 3 days, 23:03:03, time: 0.745, data_time: 0.037, memory: 19865, loss_cls: 0.0721, loss_bbox: 0.2648, loss_traj: 0.4353, loss_traj_cls: 0.0022, loss_map_cls: 0.0856, loss_map_pts: 0.4317, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.8541, d0.loss_plan_l1_fix_dist: 0.4038, d1.loss_plan_l1_fix_time: 0.7483, d1.loss_plan_l1_fix_dist: 0.1503, d2.loss_plan_l1_fix_time: 0.7363, d2.loss_plan_l1_fix_dist: 0.1620, d3.loss_plan_l1_fix_time: 0.7113, d3.loss_plan_l1_fix_dist: 0.1416, d4.loss_plan_l1_fix_time: 0.7130, d4.loss_plan_l1_fix_dist: 0.1353, d5.loss_plan_l1_fix_time: 0.7150, d5.loss_plan_l1_fix_dist: 0.1376, d6.loss_plan_l1_fix_time: 0.7172, d6.loss_plan_l1_fix_dist: 0.1419, d0.loss_cls_all: 0.1168, d0.loss_bbox_all: 0.3322, d0.loss_cls: 0.1168, d0.loss_bbox: 0.3322, d1.loss_cls: 0.1118, d1.loss_bbox: 0.3002, d2.loss_cls: 0.0975, d2.loss_bbox: 0.2769, d3.loss_cls: 0.0788, d3.loss_bbox: 0.2694, d4.loss_cls: 0.0731, d4.loss_bbox: 0.2672, d5.loss_cls: 0.0714, d5.loss_bbox: 0.2654, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7525, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5529, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4834, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4548, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4496, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4375, d0.loss_map_cls_all: 0.1703, d0.loss_map_pts_all: 0.9540, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1703, d0.loss_map_pts: 0.9540, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1341, d1.loss_map_pts: 0.6864, d1.loss_map_dir: 0.0052, d2.loss_map_cls: 0.1112, d2.loss_map_pts: 0.5224, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1002, d3.loss_map_pts: 0.4589, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0932, d4.loss_map_pts: 0.4375, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0887, d5.loss_map_pts: 0.4318, d5.loss_map_dir: 0.0051, loss: 20.9608, grad_norm: 137.5510 +2026-03-01 12:02:53,121 - DriveTransformer - INFO - Epoch [13][6200/39528] lr: 5.050e-05, eta: 3 days, 23:02:26, time: 0.732, data_time: 0.039, memory: 19865, loss_cls: 0.0607, loss_bbox: 0.2428, loss_traj: 0.4120, loss_traj_cls: 0.0022, loss_map_cls: 0.0491, loss_map_pts: 0.3610, loss_map_dir: 0.0043, d0.loss_plan_l1_fix_time: 2.5981, d0.loss_plan_l1_fix_dist: 0.3891, d1.loss_plan_l1_fix_time: 0.6500, d1.loss_plan_l1_fix_dist: 0.1557, d2.loss_plan_l1_fix_time: 0.6402, d2.loss_plan_l1_fix_dist: 0.1494, d3.loss_plan_l1_fix_time: 0.6433, d3.loss_plan_l1_fix_dist: 0.1249, d4.loss_plan_l1_fix_time: 0.6470, d4.loss_plan_l1_fix_dist: 0.1233, d5.loss_plan_l1_fix_time: 0.6501, d5.loss_plan_l1_fix_dist: 0.1255, d6.loss_plan_l1_fix_time: 0.6531, d6.loss_plan_l1_fix_dist: 0.1325, d0.loss_cls_all: 0.1006, d0.loss_bbox_all: 0.3074, d0.loss_cls: 0.1006, d0.loss_bbox: 0.3074, d1.loss_cls: 0.0955, d1.loss_bbox: 0.2709, d2.loss_cls: 0.0835, d2.loss_bbox: 0.2520, d3.loss_cls: 0.0649, d3.loss_bbox: 0.2476, d4.loss_cls: 0.0611, d4.loss_bbox: 0.2434, d5.loss_cls: 0.0611, d5.loss_bbox: 0.2421, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6544, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5044, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4454, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4247, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4202, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4159, d0.loss_map_cls_all: 0.1374, d0.loss_map_pts_all: 0.8073, d0.loss_map_dir_all: 0.0055, d0.loss_map_cls: 0.1374, d0.loss_map_pts: 0.8073, d0.loss_map_dir: 0.0055, d1.loss_map_cls: 0.0960, d1.loss_map_pts: 0.5683, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.0743, d2.loss_map_pts: 0.4318, d2.loss_map_dir: 0.0041, d3.loss_map_cls: 0.0631, d3.loss_map_pts: 0.3842, d3.loss_map_dir: 0.0041, d4.loss_map_cls: 0.0555, d4.loss_map_pts: 0.3667, d4.loss_map_dir: 0.0042, d5.loss_map_cls: 0.0516, d5.loss_map_pts: 0.3610, d5.loss_map_dir: 0.0043, loss: 18.4970, grad_norm: 138.3260 +2026-03-01 12:03:30,272 - DriveTransformer - INFO - Epoch [13][6250/39528] lr: 5.050e-05, eta: 3 days, 23:01:51, time: 0.743, data_time: 0.034, memory: 19865, loss_cls: 0.0753, loss_bbox: 0.2537, loss_traj: 0.4016, loss_traj_cls: 0.0021, loss_map_cls: 0.0740, loss_map_pts: 0.4427, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.0935, d0.loss_plan_l1_fix_dist: 0.3816, d1.loss_plan_l1_fix_time: 0.6559, d1.loss_plan_l1_fix_dist: 0.1701, d2.loss_plan_l1_fix_time: 0.6513, d2.loss_plan_l1_fix_dist: 0.1530, d3.loss_plan_l1_fix_time: 0.6313, d3.loss_plan_l1_fix_dist: 0.1320, d4.loss_plan_l1_fix_time: 0.6340, d4.loss_plan_l1_fix_dist: 0.1358, d5.loss_plan_l1_fix_time: 0.6364, d5.loss_plan_l1_fix_dist: 0.1371, d6.loss_plan_l1_fix_time: 0.6389, d6.loss_plan_l1_fix_dist: 0.1432, d0.loss_cls_all: 0.1161, d0.loss_bbox_all: 0.3218, d0.loss_cls: 0.1161, d0.loss_bbox: 0.3218, d1.loss_cls: 0.1117, d1.loss_bbox: 0.2873, d2.loss_cls: 0.0992, d2.loss_bbox: 0.2657, d3.loss_cls: 0.0824, d3.loss_bbox: 0.2596, d4.loss_cls: 0.0772, d4.loss_bbox: 0.2555, d5.loss_cls: 0.0764, d5.loss_bbox: 0.2532, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6327, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4916, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4244, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.4090, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4035, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4011, d0.loss_map_cls_all: 0.1627, d0.loss_map_pts_all: 0.9788, d0.loss_map_dir_all: 0.0069, d0.loss_map_cls: 0.1627, d0.loss_map_pts: 0.9788, d0.loss_map_dir: 0.0069, d1.loss_map_cls: 0.1240, d1.loss_map_pts: 0.6930, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1015, d2.loss_map_pts: 0.5286, d2.loss_map_dir: 0.0057, d3.loss_map_cls: 0.0891, d3.loss_map_pts: 0.4712, d3.loss_map_dir: 0.0059, d4.loss_map_cls: 0.0824, d4.loss_map_pts: 0.4485, d4.loss_map_dir: 0.0060, d5.loss_map_cls: 0.0774, d5.loss_map_pts: 0.4429, d5.loss_map_dir: 0.0062, loss: 19.2471, grad_norm: 144.5846 +2026-03-01 12:04:06,246 - DriveTransformer - INFO - Epoch [13][6300/39528] lr: 5.050e-05, eta: 3 days, 23:01:13, time: 0.719, data_time: 0.040, memory: 19865, loss_cls: 0.0714, loss_bbox: 0.2604, loss_traj: 0.4157, loss_traj_cls: 0.0021, loss_map_cls: 0.1025, loss_map_pts: 0.4939, loss_map_dir: 0.0053, d0.loss_plan_l1_fix_time: 2.8052, d0.loss_plan_l1_fix_dist: 0.4191, d1.loss_plan_l1_fix_time: 0.7931, d1.loss_plan_l1_fix_dist: 0.1770, d2.loss_plan_l1_fix_time: 0.7765, d2.loss_plan_l1_fix_dist: 0.1518, d3.loss_plan_l1_fix_time: 0.7713, d3.loss_plan_l1_fix_dist: 0.1341, d4.loss_plan_l1_fix_time: 0.7724, d4.loss_plan_l1_fix_dist: 0.1368, d5.loss_plan_l1_fix_time: 0.7741, d5.loss_plan_l1_fix_dist: 0.1322, d6.loss_plan_l1_fix_time: 0.7763, d6.loss_plan_l1_fix_dist: 0.1375, d0.loss_cls_all: 0.1155, d0.loss_bbox_all: 0.3272, d0.loss_cls: 0.1155, d0.loss_bbox: 0.3272, d1.loss_cls: 0.1106, d1.loss_bbox: 0.2916, d2.loss_cls: 0.0959, d2.loss_bbox: 0.2708, d3.loss_cls: 0.0780, d3.loss_bbox: 0.2629, d4.loss_cls: 0.0718, d4.loss_bbox: 0.2632, d5.loss_cls: 0.0708, d5.loss_bbox: 0.2602, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6392, d1.loss_traj_cls: 0.0020, d1.loss_traj: 0.4694, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4263, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4121, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4129, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4170, d0.loss_map_cls_all: 0.1910, d0.loss_map_pts_all: 1.0155, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1910, d0.loss_map_pts: 1.0155, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1552, d1.loss_map_pts: 0.7568, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1291, d2.loss_map_pts: 0.5909, d2.loss_map_dir: 0.0050, d3.loss_map_cls: 0.1163, d3.loss_map_pts: 0.5262, d3.loss_map_dir: 0.0050, d4.loss_map_cls: 0.1089, d4.loss_map_pts: 0.5027, d4.loss_map_dir: 0.0053, d5.loss_map_cls: 0.1056, d5.loss_map_pts: 0.4952, d5.loss_map_dir: 0.0053, loss: 21.4896, grad_norm: 146.9860 +2026-03-01 12:04:45,651 - DriveTransformer - INFO - Epoch [13][6350/39528] lr: 5.050e-05, eta: 3 days, 23:00:42, time: 0.788, data_time: 0.040, memory: 19865, loss_cls: 0.0728, loss_bbox: 0.2756, loss_traj: 0.4836, loss_traj_cls: 0.0022, loss_map_cls: 0.0850, loss_map_pts: 0.4836, loss_map_dir: 0.0058, d0.loss_plan_l1_fix_time: 2.9426, d0.loss_plan_l1_fix_dist: 0.4431, d1.loss_plan_l1_fix_time: 0.7275, d1.loss_plan_l1_fix_dist: 0.1890, d2.loss_plan_l1_fix_time: 0.7100, d2.loss_plan_l1_fix_dist: 0.1621, d3.loss_plan_l1_fix_time: 0.6837, d3.loss_plan_l1_fix_dist: 0.1470, d4.loss_plan_l1_fix_time: 0.6836, d4.loss_plan_l1_fix_dist: 0.1494, d5.loss_plan_l1_fix_time: 0.6847, d5.loss_plan_l1_fix_dist: 0.1482, d6.loss_plan_l1_fix_time: 0.6861, d6.loss_plan_l1_fix_dist: 0.1486, d0.loss_cls_all: 0.1196, d0.loss_bbox_all: 0.3543, d0.loss_cls: 0.1196, d0.loss_bbox: 0.3543, d1.loss_cls: 0.1126, d1.loss_bbox: 0.3169, d2.loss_cls: 0.1024, d2.loss_bbox: 0.2901, d3.loss_cls: 0.0811, d3.loss_bbox: 0.2840, d4.loss_cls: 0.0740, d4.loss_bbox: 0.2796, d5.loss_cls: 0.0716, d5.loss_bbox: 0.2785, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7565, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5851, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5113, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4947, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4852, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4798, d0.loss_map_cls_all: 0.1797, d0.loss_map_pts_all: 1.0633, d0.loss_map_dir_all: 0.0059, d0.loss_map_cls: 0.1797, d0.loss_map_pts: 1.0633, d0.loss_map_dir: 0.0059, d1.loss_map_cls: 0.1433, d1.loss_map_pts: 0.7757, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1165, d2.loss_map_pts: 0.5969, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1007, d3.loss_map_pts: 0.5212, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0934, d4.loss_map_pts: 0.4953, d4.loss_map_dir: 0.0057, d5.loss_map_cls: 0.0882, d5.loss_map_pts: 0.4846, d5.loss_map_dir: 0.0058, loss: 22.0121, grad_norm: 142.2134 +2026-03-01 12:05:22,886 - DriveTransformer - INFO - Epoch [13][6400/39528] lr: 5.050e-05, eta: 3 days, 23:00:07, time: 0.746, data_time: 0.036, memory: 19865, loss_cls: 0.0823, loss_bbox: 0.2798, loss_traj: 0.4793, loss_traj_cls: 0.0021, loss_map_cls: 0.0871, loss_map_pts: 0.4910, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.7719, d0.loss_plan_l1_fix_dist: 0.4208, d1.loss_plan_l1_fix_time: 0.6458, d1.loss_plan_l1_fix_dist: 0.1847, d2.loss_plan_l1_fix_time: 0.6273, d2.loss_plan_l1_fix_dist: 0.1498, d3.loss_plan_l1_fix_time: 0.6342, d3.loss_plan_l1_fix_dist: 0.1398, d4.loss_plan_l1_fix_time: 0.6354, d4.loss_plan_l1_fix_dist: 0.1353, d5.loss_plan_l1_fix_time: 0.6366, d5.loss_plan_l1_fix_dist: 0.1356, d6.loss_plan_l1_fix_time: 0.6378, d6.loss_plan_l1_fix_dist: 0.1371, d0.loss_cls_all: 0.1305, d0.loss_bbox_all: 0.3491, d0.loss_cls: 0.1305, d0.loss_bbox: 0.3491, d1.loss_cls: 0.1228, d1.loss_bbox: 0.3128, d2.loss_cls: 0.1106, d2.loss_bbox: 0.2903, d3.loss_cls: 0.0896, d3.loss_bbox: 0.2859, d4.loss_cls: 0.0841, d4.loss_bbox: 0.2823, d5.loss_cls: 0.0825, d5.loss_bbox: 0.2801, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7883, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5899, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5160, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4970, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4853, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4835, d0.loss_map_cls_all: 0.1745, d0.loss_map_pts_all: 1.0248, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.1745, d0.loss_map_pts: 1.0248, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.1369, d1.loss_map_pts: 0.7440, d1.loss_map_dir: 0.0056, d2.loss_map_cls: 0.1137, d2.loss_map_pts: 0.5853, d2.loss_map_dir: 0.0053, d3.loss_map_cls: 0.1024, d3.loss_map_pts: 0.5226, d3.loss_map_dir: 0.0055, d4.loss_map_cls: 0.0955, d4.loss_map_pts: 0.4985, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0900, d5.loss_map_pts: 0.4920, d5.loss_map_dir: 0.0060, loss: 21.4059, grad_norm: 142.0595 +2026-03-01 12:05:59,845 - DriveTransformer - INFO - Epoch [13][6450/39528] lr: 5.050e-05, eta: 3 days, 22:59:31, time: 0.738, data_time: 0.036, memory: 19865, loss_cls: 0.0823, loss_bbox: 0.2826, loss_traj: 0.4710, loss_traj_cls: 0.0021, loss_map_cls: 0.1023, loss_map_pts: 0.4834, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.5176, d0.loss_plan_l1_fix_dist: 0.4240, d1.loss_plan_l1_fix_time: 0.6388, d1.loss_plan_l1_fix_dist: 0.1916, d2.loss_plan_l1_fix_time: 0.6207, d2.loss_plan_l1_fix_dist: 0.1492, d3.loss_plan_l1_fix_time: 0.6160, d3.loss_plan_l1_fix_dist: 0.1505, d4.loss_plan_l1_fix_time: 0.6178, d4.loss_plan_l1_fix_dist: 0.1386, d5.loss_plan_l1_fix_time: 0.6196, d5.loss_plan_l1_fix_dist: 0.1384, d6.loss_plan_l1_fix_time: 0.6218, d6.loss_plan_l1_fix_dist: 0.1444, d0.loss_cls_all: 0.1316, d0.loss_bbox_all: 0.3460, d0.loss_cls: 0.1316, d0.loss_bbox: 0.3460, d1.loss_cls: 0.1242, d1.loss_bbox: 0.3122, d2.loss_cls: 0.1104, d2.loss_bbox: 0.2911, d3.loss_cls: 0.0922, d3.loss_bbox: 0.2855, d4.loss_cls: 0.0848, d4.loss_bbox: 0.2835, d5.loss_cls: 0.0820, d5.loss_bbox: 0.2829, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7390, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5520, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5016, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4827, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4720, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4723, d0.loss_map_cls_all: 0.1874, d0.loss_map_pts_all: 0.9879, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1874, d0.loss_map_pts: 0.9879, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1608, d1.loss_map_pts: 0.7195, d1.loss_map_dir: 0.0054, d2.loss_map_cls: 0.1333, d2.loss_map_pts: 0.5680, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.1201, d3.loss_map_pts: 0.5120, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.1109, d4.loss_map_pts: 0.4885, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.1060, d5.loss_map_pts: 0.4828, d5.loss_map_dir: 0.0052, loss: 20.9372, grad_norm: 140.6316 +2026-03-01 12:06:35,845 - DriveTransformer - INFO - Epoch [13][6500/39528] lr: 5.050e-05, eta: 3 days, 22:58:54, time: 0.720, data_time: 0.040, memory: 19865, loss_cls: 0.0838, loss_bbox: 0.2644, loss_traj: 0.4110, loss_traj_cls: 0.0021, loss_map_cls: 0.0796, loss_map_pts: 0.4609, loss_map_dir: 0.0052, d0.loss_plan_l1_fix_time: 2.9175, d0.loss_plan_l1_fix_dist: 0.3829, d1.loss_plan_l1_fix_time: 0.6671, d1.loss_plan_l1_fix_dist: 0.1911, d2.loss_plan_l1_fix_time: 0.6497, d2.loss_plan_l1_fix_dist: 0.1393, d3.loss_plan_l1_fix_time: 0.6506, d3.loss_plan_l1_fix_dist: 0.1464, d4.loss_plan_l1_fix_time: 0.6520, d4.loss_plan_l1_fix_dist: 0.1291, d5.loss_plan_l1_fix_time: 0.6536, d5.loss_plan_l1_fix_dist: 0.1285, d6.loss_plan_l1_fix_time: 0.6556, d6.loss_plan_l1_fix_dist: 0.1350, d0.loss_cls_all: 0.1303, d0.loss_bbox_all: 0.3288, d0.loss_cls: 0.1303, d0.loss_bbox: 0.3288, d1.loss_cls: 0.1259, d1.loss_bbox: 0.2943, d2.loss_cls: 0.1092, d2.loss_bbox: 0.2742, d3.loss_cls: 0.0907, d3.loss_bbox: 0.2709, d4.loss_cls: 0.0844, d4.loss_bbox: 0.2681, d5.loss_cls: 0.0849, d5.loss_bbox: 0.2641, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6813, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4928, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4375, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4161, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4135, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4105, d0.loss_map_cls_all: 0.1785, d0.loss_map_pts_all: 0.9685, d0.loss_map_dir_all: 0.0056, d0.loss_map_cls: 0.1785, d0.loss_map_pts: 0.9685, d0.loss_map_dir: 0.0056, d1.loss_map_cls: 0.1390, d1.loss_map_pts: 0.7108, d1.loss_map_dir: 0.0051, d2.loss_map_cls: 0.1110, d2.loss_map_pts: 0.5551, d2.loss_map_dir: 0.0048, d3.loss_map_cls: 0.0972, d3.loss_map_pts: 0.4932, d3.loss_map_dir: 0.0049, d4.loss_map_cls: 0.0885, d4.loss_map_pts: 0.4664, d4.loss_map_dir: 0.0051, d5.loss_map_cls: 0.0830, d5.loss_map_pts: 0.4610, d5.loss_map_dir: 0.0051, loss: 20.5830, grad_norm: 137.8025 +2026-03-01 12:07:11,888 - DriveTransformer - INFO - Epoch [13][6550/39528] lr: 5.050e-05, eta: 3 days, 22:58:16, time: 0.721, data_time: 0.036, memory: 19865, loss_cls: 0.0654, loss_bbox: 0.2360, loss_traj: 0.3582, loss_traj_cls: 0.0022, loss_map_cls: 0.0762, loss_map_pts: 0.4350, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.3580, d0.loss_plan_l1_fix_dist: 0.5439, d1.loss_plan_l1_fix_time: 0.6008, d1.loss_plan_l1_fix_dist: 0.1919, d2.loss_plan_l1_fix_time: 0.5823, d2.loss_plan_l1_fix_dist: 0.1425, d3.loss_plan_l1_fix_time: 0.5699, d3.loss_plan_l1_fix_dist: 0.1587, d4.loss_plan_l1_fix_time: 0.5714, d4.loss_plan_l1_fix_dist: 0.1391, d5.loss_plan_l1_fix_time: 0.5731, d5.loss_plan_l1_fix_dist: 0.1395, d6.loss_plan_l1_fix_time: 0.5749, d6.loss_plan_l1_fix_dist: 0.1361, d0.loss_cls_all: 0.1055, d0.loss_bbox_all: 0.2975, d0.loss_cls: 0.1055, d0.loss_bbox: 0.2975, d1.loss_cls: 0.0976, d1.loss_bbox: 0.2668, d2.loss_cls: 0.0870, d2.loss_bbox: 0.2441, d3.loss_cls: 0.0718, d3.loss_bbox: 0.2408, d4.loss_cls: 0.0662, d4.loss_bbox: 0.2372, d5.loss_cls: 0.0649, d5.loss_bbox: 0.2359, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5358, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4261, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3870, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3702, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3627, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3607, d0.loss_map_cls_all: 0.1651, d0.loss_map_pts_all: 0.9656, d0.loss_map_dir_all: 0.0067, d0.loss_map_cls: 0.1651, d0.loss_map_pts: 0.9656, d0.loss_map_dir: 0.0067, d1.loss_map_cls: 0.1283, d1.loss_map_pts: 0.6837, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1016, d2.loss_map_pts: 0.5279, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0916, d3.loss_map_pts: 0.4675, d3.loss_map_dir: 0.0053, d4.loss_map_cls: 0.0843, d4.loss_map_pts: 0.4409, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0788, d5.loss_map_pts: 0.4358, d5.loss_map_dir: 0.0057, loss: 18.6700, grad_norm: 132.4163 +2026-03-01 12:07:49,580 - DriveTransformer - INFO - Epoch [13][6600/39528] lr: 5.050e-05, eta: 3 days, 22:57:42, time: 0.754, data_time: 0.037, memory: 19865, loss_cls: 0.0948, loss_bbox: 0.2757, loss_traj: 0.4339, loss_traj_cls: 0.0021, loss_map_cls: 0.0935, loss_map_pts: 0.5126, loss_map_dir: 0.0060, d0.loss_plan_l1_fix_time: 2.7449, d0.loss_plan_l1_fix_dist: 0.5099, d1.loss_plan_l1_fix_time: 0.6019, d1.loss_plan_l1_fix_dist: 0.2003, d2.loss_plan_l1_fix_time: 0.5884, d2.loss_plan_l1_fix_dist: 0.1529, d3.loss_plan_l1_fix_time: 0.5888, d3.loss_plan_l1_fix_dist: 0.1657, d4.loss_plan_l1_fix_time: 0.5907, d4.loss_plan_l1_fix_dist: 0.1411, d5.loss_plan_l1_fix_time: 0.5927, d5.loss_plan_l1_fix_dist: 0.1458, d6.loss_plan_l1_fix_time: 0.5952, d6.loss_plan_l1_fix_dist: 0.1424, d0.loss_cls_all: 0.1451, d0.loss_bbox_all: 0.3431, d0.loss_cls: 0.1451, d0.loss_bbox: 0.3431, d1.loss_cls: 0.1358, d1.loss_bbox: 0.3080, d2.loss_cls: 0.1213, d2.loss_bbox: 0.2875, d3.loss_cls: 0.1029, d3.loss_bbox: 0.2799, d4.loss_cls: 0.0977, d4.loss_bbox: 0.2761, d5.loss_cls: 0.0948, d5.loss_bbox: 0.2757, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6699, d1.loss_traj_cls: 0.0022, d1.loss_traj: 0.5149, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4664, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4447, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4350, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4369, d0.loss_map_cls_all: 0.1729, d0.loss_map_pts_all: 1.0568, d0.loss_map_dir_all: 0.0061, d0.loss_map_cls: 0.1729, d0.loss_map_pts: 1.0568, d0.loss_map_dir: 0.0061, d1.loss_map_cls: 0.1419, d1.loss_map_pts: 0.7845, d1.loss_map_dir: 0.0057, d2.loss_map_cls: 0.1198, d2.loss_map_pts: 0.6141, d2.loss_map_dir: 0.0055, d3.loss_map_cls: 0.1094, d3.loss_map_pts: 0.5462, d3.loss_map_dir: 0.0057, d4.loss_map_cls: 0.1014, d4.loss_map_pts: 0.5199, d4.loss_map_dir: 0.0059, d5.loss_map_cls: 0.0965, d5.loss_map_pts: 0.5127, d5.loss_map_dir: 0.0060, loss: 21.1561, grad_norm: 133.0505 +2026-03-01 12:08:25,280 - DriveTransformer - INFO - Epoch [13][6650/39528] lr: 5.050e-05, eta: 3 days, 22:57:04, time: 0.714, data_time: 0.038, memory: 19865, loss_cls: 0.0809, loss_bbox: 0.2799, loss_traj: 0.4817, loss_traj_cls: 0.0021, loss_map_cls: 0.1017, loss_map_pts: 0.5195, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 3.0056, d0.loss_plan_l1_fix_dist: 0.3421, d1.loss_plan_l1_fix_time: 0.6999, d1.loss_plan_l1_fix_dist: 0.1905, d2.loss_plan_l1_fix_time: 0.6874, d2.loss_plan_l1_fix_dist: 0.1359, d3.loss_plan_l1_fix_time: 0.6818, d3.loss_plan_l1_fix_dist: 0.1528, d4.loss_plan_l1_fix_time: 0.6833, d4.loss_plan_l1_fix_dist: 0.1234, d5.loss_plan_l1_fix_time: 0.6849, d5.loss_plan_l1_fix_dist: 0.1313, d6.loss_plan_l1_fix_time: 0.6868, d6.loss_plan_l1_fix_dist: 0.1306, d0.loss_cls_all: 0.1264, d0.loss_bbox_all: 0.3438, d0.loss_cls: 0.1264, d0.loss_bbox: 0.3438, d1.loss_cls: 0.1219, d1.loss_bbox: 0.3133, d2.loss_cls: 0.1055, d2.loss_bbox: 0.2941, d3.loss_cls: 0.0927, d3.loss_bbox: 0.2839, d4.loss_cls: 0.0828, d4.loss_bbox: 0.2807, d5.loss_cls: 0.0815, d5.loss_bbox: 0.2798, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7237, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5506, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5015, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4936, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4857, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4840, d0.loss_map_cls_all: 0.1942, d0.loss_map_pts_all: 1.0751, d0.loss_map_dir_all: 0.0057, d0.loss_map_cls: 0.1942, d0.loss_map_pts: 1.0751, d0.loss_map_dir: 0.0057, d1.loss_map_cls: 0.1571, d1.loss_map_pts: 0.7978, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1296, d2.loss_map_pts: 0.6345, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.1164, d3.loss_map_pts: 0.5583, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.1103, d4.loss_map_pts: 0.5298, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.1046, d5.loss_map_pts: 0.5206, d5.loss_map_dir: 0.0051, loss: 22.1620, grad_norm: 134.2501 +2026-03-01 12:09:01,392 - DriveTransformer - INFO - Epoch [13][6700/39528] lr: 5.050e-05, eta: 3 days, 22:56:26, time: 0.722, data_time: 0.040, memory: 19865, loss_cls: 0.0715, loss_bbox: 0.2667, loss_traj: 0.4586, loss_traj_cls: 0.0021, loss_map_cls: 0.0694, loss_map_pts: 0.3821, loss_map_dir: 0.0044, d0.loss_plan_l1_fix_time: 2.6354, d0.loss_plan_l1_fix_dist: 0.4901, d1.loss_plan_l1_fix_time: 0.7018, d1.loss_plan_l1_fix_dist: 0.2029, d2.loss_plan_l1_fix_time: 0.6879, d2.loss_plan_l1_fix_dist: 0.1606, d3.loss_plan_l1_fix_time: 0.6683, d3.loss_plan_l1_fix_dist: 0.1787, d4.loss_plan_l1_fix_time: 0.6691, d4.loss_plan_l1_fix_dist: 0.1540, d5.loss_plan_l1_fix_time: 0.6706, d5.loss_plan_l1_fix_dist: 0.1586, d6.loss_plan_l1_fix_time: 0.6724, d6.loss_plan_l1_fix_dist: 0.1606, d0.loss_cls_all: 0.1159, d0.loss_bbox_all: 0.3280, d0.loss_cls: 0.1159, d0.loss_bbox: 0.3280, d1.loss_cls: 0.1088, d1.loss_bbox: 0.2961, d2.loss_cls: 0.0913, d2.loss_bbox: 0.2782, d3.loss_cls: 0.0781, d3.loss_bbox: 0.2708, d4.loss_cls: 0.0726, d4.loss_bbox: 0.2679, d5.loss_cls: 0.0712, d5.loss_bbox: 0.2667, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7364, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5501, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4927, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4708, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4643, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4627, d0.loss_map_cls_all: 0.1520, d0.loss_map_pts_all: 0.8271, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1520, d0.loss_map_pts: 0.8271, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1169, d1.loss_map_pts: 0.5920, d1.loss_map_dir: 0.0044, d2.loss_map_cls: 0.0895, d2.loss_map_pts: 0.4609, d2.loss_map_dir: 0.0040, d3.loss_map_cls: 0.0809, d3.loss_map_pts: 0.4116, d3.loss_map_dir: 0.0041, d4.loss_map_cls: 0.0759, d4.loss_map_pts: 0.3919, d4.loss_map_dir: 0.0043, d5.loss_map_cls: 0.0722, d5.loss_map_pts: 0.3816, d5.loss_map_dir: 0.0044, loss: 20.0013, grad_norm: 132.6210 +2026-03-01 12:09:36,457 - DriveTransformer - INFO - Epoch [13][6750/39528] lr: 5.050e-05, eta: 3 days, 22:55:47, time: 0.702, data_time: 0.040, memory: 19865, loss_cls: 0.0664, loss_bbox: 0.2545, loss_traj: 0.4549, loss_traj_cls: 0.0022, loss_map_cls: 0.0972, loss_map_pts: 0.4303, loss_map_dir: 0.0041, d0.loss_plan_l1_fix_time: 2.3850, d0.loss_plan_l1_fix_dist: 0.4385, d1.loss_plan_l1_fix_time: 0.6231, d1.loss_plan_l1_fix_dist: 0.1863, d2.loss_plan_l1_fix_time: 0.6098, d2.loss_plan_l1_fix_dist: 0.1552, d3.loss_plan_l1_fix_time: 0.6077, d3.loss_plan_l1_fix_dist: 0.1603, d4.loss_plan_l1_fix_time: 0.6090, d4.loss_plan_l1_fix_dist: 0.1458, d5.loss_plan_l1_fix_time: 0.6107, d5.loss_plan_l1_fix_dist: 0.1486, d6.loss_plan_l1_fix_time: 0.6124, d6.loss_plan_l1_fix_dist: 0.1550, d0.loss_cls_all: 0.1058, d0.loss_bbox_all: 0.3312, d0.loss_cls: 0.1058, d0.loss_bbox: 0.3312, d1.loss_cls: 0.0983, d1.loss_bbox: 0.2939, d2.loss_cls: 0.0843, d2.loss_bbox: 0.2712, d3.loss_cls: 0.0705, d3.loss_bbox: 0.2624, d4.loss_cls: 0.0671, d4.loss_bbox: 0.2586, d5.loss_cls: 0.0661, d5.loss_bbox: 0.2556, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6862, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5412, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4895, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4728, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4638, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4587, d0.loss_map_cls_all: 0.1824, d0.loss_map_pts_all: 0.9150, d0.loss_map_dir_all: 0.0047, d0.loss_map_cls: 0.1824, d0.loss_map_pts: 0.9150, d0.loss_map_dir: 0.0047, d1.loss_map_cls: 0.1531, d1.loss_map_pts: 0.6669, d1.loss_map_dir: 0.0041, d2.loss_map_cls: 0.1260, d2.loss_map_pts: 0.5222, d2.loss_map_dir: 0.0038, d3.loss_map_cls: 0.1143, d3.loss_map_pts: 0.4573, d3.loss_map_dir: 0.0040, d4.loss_map_cls: 0.1065, d4.loss_map_pts: 0.4347, d4.loss_map_dir: 0.0040, d5.loss_map_cls: 0.0995, d5.loss_map_pts: 0.4311, d5.loss_map_dir: 0.0041, loss: 19.8130, grad_norm: 132.4657 +2026-03-01 12:10:11,407 - DriveTransformer - INFO - Epoch [13][6800/39528] lr: 5.050e-05, eta: 3 days, 22:55:07, time: 0.699, data_time: 0.037, memory: 19865, loss_cls: 0.0838, loss_bbox: 0.2619, loss_traj: 0.4992, loss_traj_cls: 0.0021, loss_map_cls: 0.0805, loss_map_pts: 0.3952, loss_map_dir: 0.0046, d0.loss_plan_l1_fix_time: 2.6748, d0.loss_plan_l1_fix_dist: 0.3181, d1.loss_plan_l1_fix_time: 0.6262, d1.loss_plan_l1_fix_dist: 0.1630, d2.loss_plan_l1_fix_time: 0.6131, d2.loss_plan_l1_fix_dist: 0.1401, d3.loss_plan_l1_fix_time: 0.5829, d3.loss_plan_l1_fix_dist: 0.1345, d4.loss_plan_l1_fix_time: 0.5826, d4.loss_plan_l1_fix_dist: 0.1271, d5.loss_plan_l1_fix_time: 0.5838, d5.loss_plan_l1_fix_dist: 0.1351, d6.loss_plan_l1_fix_time: 0.5854, d6.loss_plan_l1_fix_dist: 0.1422, d0.loss_cls_all: 0.1236, d0.loss_bbox_all: 0.3214, d0.loss_cls: 0.1236, d0.loss_bbox: 0.3214, d1.loss_cls: 0.1196, d1.loss_bbox: 0.2926, d2.loss_cls: 0.1035, d2.loss_bbox: 0.2751, d3.loss_cls: 0.0915, d3.loss_bbox: 0.2662, d4.loss_cls: 0.0850, d4.loss_bbox: 0.2630, d5.loss_cls: 0.0840, d5.loss_bbox: 0.2619, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7455, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5817, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5280, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5102, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5034, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.5002, d0.loss_map_cls_all: 0.1686, d0.loss_map_pts_all: 0.8568, d0.loss_map_dir_all: 0.0051, d0.loss_map_cls: 0.1686, d0.loss_map_pts: 0.8568, d0.loss_map_dir: 0.0051, d1.loss_map_cls: 0.1339, d1.loss_map_pts: 0.6247, d1.loss_map_dir: 0.0045, d2.loss_map_cls: 0.1102, d2.loss_map_pts: 0.4815, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.0974, d3.loss_map_pts: 0.4204, d3.loss_map_dir: 0.0044, d4.loss_map_cls: 0.0887, d4.loss_map_pts: 0.4007, d4.loss_map_dir: 0.0045, d5.loss_map_cls: 0.0834, d5.loss_map_pts: 0.3953, d5.loss_map_dir: 0.0045, loss: 19.7627, grad_norm: 134.8313 +2026-03-01 12:10:46,277 - DriveTransformer - INFO - Epoch [13][6850/39528] lr: 5.050e-05, eta: 3 days, 22:54:28, time: 0.697, data_time: 0.038, memory: 19865, loss_cls: 0.0699, loss_bbox: 0.2437, loss_traj: 0.4582, loss_traj_cls: 0.0022, loss_map_cls: 0.0697, loss_map_pts: 0.3559, loss_map_dir: 0.0043, d0.loss_plan_l1_fix_time: 2.4547, d0.loss_plan_l1_fix_dist: 0.3294, d1.loss_plan_l1_fix_time: 0.5734, d1.loss_plan_l1_fix_dist: 0.1395, d2.loss_plan_l1_fix_time: 0.5577, d2.loss_plan_l1_fix_dist: 0.1381, d3.loss_plan_l1_fix_time: 0.5555, d3.loss_plan_l1_fix_dist: 0.1381, d4.loss_plan_l1_fix_time: 0.5564, d4.loss_plan_l1_fix_dist: 0.1298, d5.loss_plan_l1_fix_time: 0.5577, d5.loss_plan_l1_fix_dist: 0.1305, d6.loss_plan_l1_fix_time: 0.5594, d6.loss_plan_l1_fix_dist: 0.1341, d0.loss_cls_all: 0.1107, d0.loss_bbox_all: 0.3035, d0.loss_cls: 0.1107, d0.loss_bbox: 0.3035, d1.loss_cls: 0.1048, d1.loss_bbox: 0.2735, d2.loss_cls: 0.0919, d2.loss_bbox: 0.2524, d3.loss_cls: 0.0759, d3.loss_bbox: 0.2501, d4.loss_cls: 0.0708, d4.loss_bbox: 0.2464, d5.loss_cls: 0.0697, d5.loss_bbox: 0.2435, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6789, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5355, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4781, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4674, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4608, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4576, d0.loss_map_cls_all: 0.1428, d0.loss_map_pts_all: 0.7981, d0.loss_map_dir_all: 0.0048, d0.loss_map_cls: 0.1428, d0.loss_map_pts: 0.7981, d0.loss_map_dir: 0.0048, d1.loss_map_cls: 0.1149, d1.loss_map_pts: 0.5602, d1.loss_map_dir: 0.0043, d2.loss_map_cls: 0.0912, d2.loss_map_pts: 0.4243, d2.loss_map_dir: 0.0040, d3.loss_map_cls: 0.0808, d3.loss_map_pts: 0.3783, d3.loss_map_dir: 0.0040, d4.loss_map_cls: 0.0753, d4.loss_map_pts: 0.3606, d4.loss_map_dir: 0.0042, d5.loss_map_cls: 0.0709, d5.loss_map_pts: 0.3563, d5.loss_map_dir: 0.0043, loss: 18.1746, grad_norm: 134.5593 +2026-03-01 12:11:20,296 - DriveTransformer - INFO - Epoch [13][6900/39528] lr: 5.050e-05, eta: 3 days, 22:53:46, time: 0.680, data_time: 0.038, memory: 19865, loss_cls: 0.0833, loss_bbox: 0.2641, loss_traj: 0.4987, loss_traj_cls: 0.0022, loss_map_cls: 0.0720, loss_map_pts: 0.4030, loss_map_dir: 0.0041, d0.loss_plan_l1_fix_time: 2.5527, d0.loss_plan_l1_fix_dist: 0.3235, d1.loss_plan_l1_fix_time: 0.6479, d1.loss_plan_l1_fix_dist: 0.1440, d2.loss_plan_l1_fix_time: 0.6355, d2.loss_plan_l1_fix_dist: 0.1623, d3.loss_plan_l1_fix_time: 0.6292, d3.loss_plan_l1_fix_dist: 0.1398, d4.loss_plan_l1_fix_time: 0.6300, d4.loss_plan_l1_fix_dist: 0.1438, d5.loss_plan_l1_fix_time: 0.6315, d5.loss_plan_l1_fix_dist: 0.1493, d6.loss_plan_l1_fix_time: 0.6333, d6.loss_plan_l1_fix_dist: 0.1560, d0.loss_cls_all: 0.1239, d0.loss_bbox_all: 0.3258, d0.loss_cls: 0.1239, d0.loss_bbox: 0.3258, d1.loss_cls: 0.1160, d1.loss_bbox: 0.2981, d2.loss_cls: 0.1037, d2.loss_bbox: 0.2758, d3.loss_cls: 0.0870, d3.loss_bbox: 0.2699, d4.loss_cls: 0.0846, d4.loss_bbox: 0.2672, d5.loss_cls: 0.0829, d5.loss_bbox: 0.2646, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7456, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5860, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5263, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.5084, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.5030, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4997, d0.loss_map_cls_all: 0.1548, d0.loss_map_pts_all: 0.8616, d0.loss_map_dir_all: 0.0046, d0.loss_map_cls: 0.1548, d0.loss_map_pts: 0.8616, d0.loss_map_dir: 0.0046, d1.loss_map_cls: 0.1227, d1.loss_map_pts: 0.6171, d1.loss_map_dir: 0.0040, d2.loss_map_cls: 0.0977, d2.loss_map_pts: 0.4841, d2.loss_map_dir: 0.0038, d3.loss_map_cls: 0.0857, d3.loss_map_pts: 0.4287, d3.loss_map_dir: 0.0038, d4.loss_map_cls: 0.0790, d4.loss_map_pts: 0.4083, d4.loss_map_dir: 0.0040, d5.loss_map_cls: 0.0744, d5.loss_map_pts: 0.4039, d5.loss_map_dir: 0.0041, loss: 19.8932, grad_norm: 134.3562 +2026-03-01 12:11:57,801 - DriveTransformer - INFO - Epoch [13][6950/39528] lr: 5.050e-05, eta: 3 days, 22:53:12, time: 0.750, data_time: 0.039, memory: 19865, loss_cls: 0.0734, loss_bbox: 0.2548, loss_traj: 0.4159, loss_traj_cls: 0.0022, loss_map_cls: 0.0904, loss_map_pts: 0.5239, loss_map_dir: 0.0062, d0.loss_plan_l1_fix_time: 2.5299, d0.loss_plan_l1_fix_dist: 0.3535, d1.loss_plan_l1_fix_time: 0.7282, d1.loss_plan_l1_fix_dist: 0.1329, d2.loss_plan_l1_fix_time: 0.7201, d2.loss_plan_l1_fix_dist: 0.1783, d3.loss_plan_l1_fix_time: 0.7132, d3.loss_plan_l1_fix_dist: 0.1392, d4.loss_plan_l1_fix_time: 0.7141, d4.loss_plan_l1_fix_dist: 0.1556, d5.loss_plan_l1_fix_time: 0.7153, d5.loss_plan_l1_fix_dist: 0.1672, d6.loss_plan_l1_fix_time: 0.7170, d6.loss_plan_l1_fix_dist: 0.1824, d0.loss_cls_all: 0.1224, d0.loss_bbox_all: 0.3358, d0.loss_cls: 0.1224, d0.loss_bbox: 0.3358, d1.loss_cls: 0.1191, d1.loss_bbox: 0.3019, d2.loss_cls: 0.1011, d2.loss_bbox: 0.2731, d3.loss_cls: 0.0840, d3.loss_bbox: 0.2617, d4.loss_cls: 0.0749, d4.loss_bbox: 0.2569, d5.loss_cls: 0.0731, d5.loss_bbox: 0.2554, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6721, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5046, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4478, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4290, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4196, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4185, d0.loss_map_cls_all: 0.1727, d0.loss_map_pts_all: 1.0564, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1727, d0.loss_map_pts: 1.0564, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1374, d1.loss_map_pts: 0.7834, d1.loss_map_dir: 0.0061, d2.loss_map_cls: 0.1174, d2.loss_map_pts: 0.6141, d2.loss_map_dir: 0.0058, d3.loss_map_cls: 0.1044, d3.loss_map_pts: 0.5513, d3.loss_map_dir: 0.0058, d4.loss_map_cls: 0.0962, d4.loss_map_pts: 0.5274, d4.loss_map_dir: 0.0061, d5.loss_map_cls: 0.0931, d5.loss_map_pts: 0.5240, d5.loss_map_dir: 0.0062, loss: 21.1787, grad_norm: 133.5529 +2026-03-01 12:12:36,027 - DriveTransformer - INFO - Epoch [13][7000/39528] lr: 5.050e-05, eta: 3 days, 22:52:38, time: 0.765, data_time: 0.039, memory: 19865, loss_cls: 0.0940, loss_bbox: 0.2791, loss_traj: 0.4700, loss_traj_cls: 0.0021, loss_map_cls: 0.0888, loss_map_pts: 0.4510, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.5308, d0.loss_plan_l1_fix_dist: 0.4603, d1.loss_plan_l1_fix_time: 0.6539, d1.loss_plan_l1_fix_dist: 0.1393, d2.loss_plan_l1_fix_time: 0.6399, d2.loss_plan_l1_fix_dist: 0.1665, d3.loss_plan_l1_fix_time: 0.6487, d3.loss_plan_l1_fix_dist: 0.1365, d4.loss_plan_l1_fix_time: 0.6512, d4.loss_plan_l1_fix_dist: 0.1447, d5.loss_plan_l1_fix_time: 0.6528, d5.loss_plan_l1_fix_dist: 0.1502, d6.loss_plan_l1_fix_time: 0.6543, d6.loss_plan_l1_fix_dist: 0.1597, d0.loss_cls_all: 0.1379, d0.loss_bbox_all: 0.3461, d0.loss_cls: 0.1379, d0.loss_bbox: 0.3461, d1.loss_cls: 0.1331, d1.loss_bbox: 0.3126, d2.loss_cls: 0.1211, d2.loss_bbox: 0.2920, d3.loss_cls: 0.1030, d3.loss_bbox: 0.2847, d4.loss_cls: 0.0940, d4.loss_bbox: 0.2828, d5.loss_cls: 0.0931, d5.loss_bbox: 0.2811, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7544, d1.loss_traj_cls: 0.0022, d1.loss_traj: 0.5821, d2.loss_traj_cls: 0.0008, d2.loss_traj: 0.5103, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4844, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4741, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4724, d0.loss_map_cls_all: 0.1802, d0.loss_map_pts_all: 0.9471, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1802, d0.loss_map_pts: 0.9471, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1423, d1.loss_map_pts: 0.6865, d1.loss_map_dir: 0.0049, d2.loss_map_cls: 0.1156, d2.loss_map_pts: 0.5370, d2.loss_map_dir: 0.0046, d3.loss_map_cls: 0.1034, d3.loss_map_pts: 0.4727, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0964, d4.loss_map_pts: 0.4553, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0914, d5.loss_map_pts: 0.4515, d5.loss_map_dir: 0.0050, loss: 20.8695, grad_norm: 133.2203 +2026-03-01 12:13:13,585 - DriveTransformer - INFO - Epoch [13][7050/39528] lr: 5.050e-05, eta: 3 days, 22:52:04, time: 0.751, data_time: 0.039, memory: 19865, loss_cls: 0.0782, loss_bbox: 0.2549, loss_traj: 0.4375, loss_traj_cls: 0.0021, loss_map_cls: 0.0738, loss_map_pts: 0.4359, loss_map_dir: 0.0049, d0.loss_plan_l1_fix_time: 2.7627, d0.loss_plan_l1_fix_dist: 0.4099, d1.loss_plan_l1_fix_time: 0.6324, d1.loss_plan_l1_fix_dist: 0.1551, d2.loss_plan_l1_fix_time: 0.6142, d2.loss_plan_l1_fix_dist: 0.1653, d3.loss_plan_l1_fix_time: 0.6103, d3.loss_plan_l1_fix_dist: 0.1523, d4.loss_plan_l1_fix_time: 0.6115, d4.loss_plan_l1_fix_dist: 0.1530, d5.loss_plan_l1_fix_time: 0.6129, d5.loss_plan_l1_fix_dist: 0.1546, d6.loss_plan_l1_fix_time: 0.6145, d6.loss_plan_l1_fix_dist: 0.1576, d0.loss_cls_all: 0.1206, d0.loss_bbox_all: 0.3132, d0.loss_cls: 0.1206, d0.loss_bbox: 0.3132, d1.loss_cls: 0.1148, d1.loss_bbox: 0.2828, d2.loss_cls: 0.1049, d2.loss_bbox: 0.2634, d3.loss_cls: 0.0854, d3.loss_bbox: 0.2602, d4.loss_cls: 0.0801, d4.loss_bbox: 0.2578, d5.loss_cls: 0.0788, d5.loss_bbox: 0.2557, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6723, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5164, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4648, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4390, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4381, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4369, d0.loss_map_cls_all: 0.1547, d0.loss_map_pts_all: 0.8963, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1547, d0.loss_map_pts: 0.8963, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1232, d1.loss_map_pts: 0.6489, d1.loss_map_dir: 0.0053, d2.loss_map_cls: 0.0972, d2.loss_map_pts: 0.5141, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0885, d3.loss_map_pts: 0.4620, d3.loss_map_dir: 0.0047, d4.loss_map_cls: 0.0810, d4.loss_map_pts: 0.4425, d4.loss_map_dir: 0.0048, d5.loss_map_cls: 0.0755, d5.loss_map_pts: 0.4362, d5.loss_map_dir: 0.0049, loss: 19.8261, grad_norm: 131.4732 +2026-03-01 12:13:52,024 - DriveTransformer - INFO - Epoch [13][7100/39528] lr: 5.050e-05, eta: 3 days, 22:51:31, time: 0.769, data_time: 0.041, memory: 19865, loss_cls: 0.0772, loss_bbox: 0.2654, loss_traj: 0.3759, loss_traj_cls: 0.0021, loss_map_cls: 0.0929, loss_map_pts: 0.4798, loss_map_dir: 0.0059, d0.loss_plan_l1_fix_time: 2.1640, d0.loss_plan_l1_fix_dist: 0.3385, d1.loss_plan_l1_fix_time: 0.6056, d1.loss_plan_l1_fix_dist: 0.1544, d2.loss_plan_l1_fix_time: 0.5883, d2.loss_plan_l1_fix_dist: 0.1608, d3.loss_plan_l1_fix_time: 0.5810, d3.loss_plan_l1_fix_dist: 0.1452, d4.loss_plan_l1_fix_time: 0.5815, d4.loss_plan_l1_fix_dist: 0.1405, d5.loss_plan_l1_fix_time: 0.5825, d5.loss_plan_l1_fix_dist: 0.1413, d6.loss_plan_l1_fix_time: 0.5835, d6.loss_plan_l1_fix_dist: 0.1488, d0.loss_cls_all: 0.1184, d0.loss_bbox_all: 0.3256, d0.loss_cls: 0.1184, d0.loss_bbox: 0.3256, d1.loss_cls: 0.1125, d1.loss_bbox: 0.2956, d2.loss_cls: 0.1000, d2.loss_bbox: 0.2727, d3.loss_cls: 0.0842, d3.loss_bbox: 0.2684, d4.loss_cls: 0.0782, d4.loss_bbox: 0.2675, d5.loss_cls: 0.0773, d5.loss_bbox: 0.2652, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.5851, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4548, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.3967, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.3794, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.3773, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.3754, d0.loss_map_cls_all: 0.1763, d0.loss_map_pts_all: 1.0002, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1763, d0.loss_map_pts: 1.0002, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1457, d1.loss_map_pts: 0.7347, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1191, d2.loss_map_pts: 0.5659, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.1076, d3.loss_map_pts: 0.5063, d3.loss_map_dir: 0.0056, d4.loss_map_cls: 0.1022, d4.loss_map_pts: 0.4842, d4.loss_map_dir: 0.0058, d5.loss_map_cls: 0.0955, d5.loss_map_pts: 0.4809, d5.loss_map_dir: 0.0059, loss: 19.2365, grad_norm: 131.4413 +2026-03-01 12:14:29,437 - DriveTransformer - INFO - Epoch [13][7150/39528] lr: 5.050e-05, eta: 3 days, 22:50:56, time: 0.748, data_time: 0.038, memory: 19865, loss_cls: 0.0738, loss_bbox: 0.2617, loss_traj: 0.4465, loss_traj_cls: 0.0020, loss_map_cls: 0.0804, loss_map_pts: 0.4361, loss_map_dir: 0.0057, d0.loss_plan_l1_fix_time: 2.9315, d0.loss_plan_l1_fix_dist: 0.3877, d1.loss_plan_l1_fix_time: 0.7056, d1.loss_plan_l1_fix_dist: 0.1632, d2.loss_plan_l1_fix_time: 0.6977, d2.loss_plan_l1_fix_dist: 0.1591, d3.loss_plan_l1_fix_time: 0.7086, d3.loss_plan_l1_fix_dist: 0.1554, d4.loss_plan_l1_fix_time: 0.7108, d4.loss_plan_l1_fix_dist: 0.1446, d5.loss_plan_l1_fix_time: 0.7129, d5.loss_plan_l1_fix_dist: 0.1545, d6.loss_plan_l1_fix_time: 0.7149, d6.loss_plan_l1_fix_dist: 0.1685, d0.loss_cls_all: 0.1190, d0.loss_bbox_all: 0.3289, d0.loss_cls: 0.1190, d0.loss_bbox: 0.3289, d1.loss_cls: 0.1101, d1.loss_bbox: 0.2920, d2.loss_cls: 0.1003, d2.loss_bbox: 0.2695, d3.loss_cls: 0.0808, d3.loss_bbox: 0.2609, d4.loss_cls: 0.0756, d4.loss_bbox: 0.2590, d5.loss_cls: 0.0734, d5.loss_bbox: 0.2605, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7043, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5259, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4684, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4549, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4498, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.4462, d0.loss_map_cls_all: 0.1644, d0.loss_map_pts_all: 0.9256, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.1644, d0.loss_map_pts: 0.9256, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1294, d1.loss_map_pts: 0.6669, d1.loss_map_dir: 0.0058, d2.loss_map_cls: 0.1037, d2.loss_map_pts: 0.5233, d2.loss_map_dir: 0.0054, d3.loss_map_cls: 0.0930, d3.loss_map_pts: 0.4638, d3.loss_map_dir: 0.0054, d4.loss_map_cls: 0.0879, d4.loss_map_pts: 0.4432, d4.loss_map_dir: 0.0055, d5.loss_map_cls: 0.0844, d5.loss_map_pts: 0.4357, d5.loss_map_dir: 0.0056, loss: 20.8063, grad_norm: 135.5341 +2026-03-01 12:15:04,570 - DriveTransformer - INFO - Epoch [13][7200/39528] lr: 5.050e-05, eta: 3 days, 22:50:17, time: 0.704, data_time: 0.037, memory: 19865, loss_cls: 0.0765, loss_bbox: 0.2561, loss_traj: 0.4724, loss_traj_cls: 0.0021, loss_map_cls: 0.0771, loss_map_pts: 0.3613, loss_map_dir: 0.0037, d0.loss_plan_l1_fix_time: 2.5708, d0.loss_plan_l1_fix_dist: 0.4319, d1.loss_plan_l1_fix_time: 0.7420, d1.loss_plan_l1_fix_dist: 0.1820, d2.loss_plan_l1_fix_time: 0.7337, d2.loss_plan_l1_fix_dist: 0.1567, d3.loss_plan_l1_fix_time: 0.7375, d3.loss_plan_l1_fix_dist: 0.1662, d4.loss_plan_l1_fix_time: 0.7396, d4.loss_plan_l1_fix_dist: 0.1533, d5.loss_plan_l1_fix_time: 0.7418, d5.loss_plan_l1_fix_dist: 0.1626, d6.loss_plan_l1_fix_time: 0.7440, d6.loss_plan_l1_fix_dist: 0.1700, d0.loss_cls_all: 0.1179, d0.loss_bbox_all: 0.3126, d0.loss_cls: 0.1179, d0.loss_bbox: 0.3126, d1.loss_cls: 0.1094, d1.loss_bbox: 0.2816, d2.loss_cls: 0.0981, d2.loss_bbox: 0.2625, d3.loss_cls: 0.0818, d3.loss_bbox: 0.2561, d4.loss_cls: 0.0767, d4.loss_bbox: 0.2548, d5.loss_cls: 0.0766, d5.loss_bbox: 0.2545, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6818, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5347, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4980, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4790, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4771, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.4726, d0.loss_map_cls_all: 0.1582, d0.loss_map_pts_all: 0.7607, d0.loss_map_dir_all: 0.0043, d0.loss_map_cls: 0.1582, d0.loss_map_pts: 0.7607, d0.loss_map_dir: 0.0043, d1.loss_map_cls: 0.1281, d1.loss_map_pts: 0.5500, d1.loss_map_dir: 0.0037, d2.loss_map_cls: 0.1041, d2.loss_map_pts: 0.4307, d2.loss_map_dir: 0.0033, d3.loss_map_cls: 0.0935, d3.loss_map_pts: 0.3847, d3.loss_map_dir: 0.0034, d4.loss_map_cls: 0.0847, d4.loss_map_pts: 0.3703, d4.loss_map_dir: 0.0036, d5.loss_map_cls: 0.0791, d5.loss_map_pts: 0.3630, d5.loss_map_dir: 0.0036, loss: 19.8953, grad_norm: 134.3555 +2026-03-01 12:15:43,052 - DriveTransformer - INFO - Epoch [13][7250/39528] lr: 5.050e-05, eta: 3 days, 22:49:44, time: 0.768, data_time: 0.038, memory: 19865, loss_cls: 0.0736, loss_bbox: 0.2641, loss_traj: 0.4844, loss_traj_cls: 0.0021, loss_map_cls: 0.0822, loss_map_pts: 0.4216, loss_map_dir: 0.0051, d0.loss_plan_l1_fix_time: 2.6609, d0.loss_plan_l1_fix_dist: 0.3241, d1.loss_plan_l1_fix_time: 0.6448, d1.loss_plan_l1_fix_dist: 0.1662, d2.loss_plan_l1_fix_time: 0.6291, d2.loss_plan_l1_fix_dist: 0.1393, d3.loss_plan_l1_fix_time: 0.6159, d3.loss_plan_l1_fix_dist: 0.1522, d4.loss_plan_l1_fix_time: 0.6174, d4.loss_plan_l1_fix_dist: 0.1446, d5.loss_plan_l1_fix_time: 0.6188, d5.loss_plan_l1_fix_dist: 0.1553, d6.loss_plan_l1_fix_time: 0.6204, d6.loss_plan_l1_fix_dist: 0.1727, d0.loss_cls_all: 0.1151, d0.loss_bbox_all: 0.3261, d0.loss_cls: 0.1151, d0.loss_bbox: 0.3261, d1.loss_cls: 0.1063, d1.loss_bbox: 0.2940, d2.loss_cls: 0.0950, d2.loss_bbox: 0.2765, d3.loss_cls: 0.0825, d3.loss_bbox: 0.2695, d4.loss_cls: 0.0750, d4.loss_bbox: 0.2676, d5.loss_cls: 0.0734, d5.loss_bbox: 0.2655, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7951, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5850, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.5243, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4986, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4902, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.4855, d0.loss_map_cls_all: 0.1714, d0.loss_map_pts_all: 0.9629, d0.loss_map_dir_all: 0.0060, d0.loss_map_cls: 0.1714, d0.loss_map_pts: 0.9629, d0.loss_map_dir: 0.0060, d1.loss_map_cls: 0.1373, d1.loss_map_pts: 0.6731, d1.loss_map_dir: 0.0050, d2.loss_map_cls: 0.1111, d2.loss_map_pts: 0.5053, d2.loss_map_dir: 0.0047, d3.loss_map_cls: 0.0993, d3.loss_map_pts: 0.4473, d3.loss_map_dir: 0.0048, d4.loss_map_cls: 0.0920, d4.loss_map_pts: 0.4281, d4.loss_map_dir: 0.0050, d5.loss_map_cls: 0.0862, d5.loss_map_pts: 0.4225, d5.loss_map_dir: 0.0050, loss: 20.3746, grad_norm: 133.9170 +2026-03-01 12:16:19,926 - DriveTransformer - INFO - Epoch [13][7300/39528] lr: 5.050e-05, eta: 3 days, 22:49:08, time: 0.737, data_time: 0.039, memory: 19865, loss_cls: 0.0838, loss_bbox: 0.2723, loss_traj: 0.4569, loss_traj_cls: 0.0021, loss_map_cls: 0.0719, loss_map_pts: 0.4008, loss_map_dir: 0.0045, d0.loss_plan_l1_fix_time: 2.4968, d0.loss_plan_l1_fix_dist: 0.4083, d1.loss_plan_l1_fix_time: 0.6538, d1.loss_plan_l1_fix_dist: 0.1838, d2.loss_plan_l1_fix_time: 0.6370, d2.loss_plan_l1_fix_dist: 0.1520, d3.loss_plan_l1_fix_time: 0.6284, d3.loss_plan_l1_fix_dist: 0.1678, d4.loss_plan_l1_fix_time: 0.6296, d4.loss_plan_l1_fix_dist: 0.1639, d5.loss_plan_l1_fix_time: 0.6310, d5.loss_plan_l1_fix_dist: 0.1689, d6.loss_plan_l1_fix_time: 0.6328, d6.loss_plan_l1_fix_dist: 0.1798, d0.loss_cls_all: 0.1349, d0.loss_bbox_all: 0.3357, d0.loss_cls: 0.1349, d0.loss_bbox: 0.3357, d1.loss_cls: 0.1274, d1.loss_bbox: 0.3022, d2.loss_cls: 0.1153, d2.loss_bbox: 0.2791, d3.loss_cls: 0.0968, d3.loss_bbox: 0.2729, d4.loss_cls: 0.0893, d4.loss_bbox: 0.2702, d5.loss_cls: 0.0863, d5.loss_bbox: 0.2697, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7577, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.5702, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4854, d3.loss_traj_cls: 0.0006, d3.loss_traj: 0.4630, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.4570, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.4552, d0.loss_map_cls_all: 0.1542, d0.loss_map_pts_all: 0.8405, d0.loss_map_dir_all: 0.0053, d0.loss_map_cls: 0.1542, d0.loss_map_pts: 0.8405, d0.loss_map_dir: 0.0053, d1.loss_map_cls: 0.1247, d1.loss_map_pts: 0.6217, d1.loss_map_dir: 0.0046, d2.loss_map_cls: 0.0982, d2.loss_map_pts: 0.4858, d2.loss_map_dir: 0.0042, d3.loss_map_cls: 0.0863, d3.loss_map_pts: 0.4258, d3.loss_map_dir: 0.0041, d4.loss_map_cls: 0.0791, d4.loss_map_pts: 0.4051, d4.loss_map_dir: 0.0043, d5.loss_map_cls: 0.0746, d5.loss_map_pts: 0.4015, d5.loss_map_dir: 0.0044, loss: 19.8950, grad_norm: 129.6280 +2026-03-01 12:16:55,232 - DriveTransformer - INFO - Epoch [13][7350/39528] lr: 5.050e-05, eta: 3 days, 22:48:29, time: 0.706, data_time: 0.041, memory: 19865, loss_cls: 0.0693, loss_bbox: 0.2420, loss_traj: 0.3866, loss_traj_cls: 0.0021, loss_map_cls: 0.0686, loss_map_pts: 0.3586, loss_map_dir: 0.0034, d0.loss_plan_l1_fix_time: 2.7226, d0.loss_plan_l1_fix_dist: 0.3411, d1.loss_plan_l1_fix_time: 0.7509, d1.loss_plan_l1_fix_dist: 0.1741, d2.loss_plan_l1_fix_time: 0.7382, d2.loss_plan_l1_fix_dist: 0.1438, d3.loss_plan_l1_fix_time: 0.7274, d3.loss_plan_l1_fix_dist: 0.1543, d4.loss_plan_l1_fix_time: 0.7287, d4.loss_plan_l1_fix_dist: 0.1562, d5.loss_plan_l1_fix_time: 0.7302, d5.loss_plan_l1_fix_dist: 0.1533, d6.loss_plan_l1_fix_time: 0.7321, d6.loss_plan_l1_fix_dist: 0.1597, d0.loss_cls_all: 0.1108, d0.loss_bbox_all: 0.3033, d0.loss_cls: 0.1108, d0.loss_bbox: 0.3033, d1.loss_cls: 0.1029, d1.loss_bbox: 0.2762, d2.loss_cls: 0.0907, d2.loss_bbox: 0.2560, d3.loss_cls: 0.0741, d3.loss_bbox: 0.2481, d4.loss_cls: 0.0703, d4.loss_bbox: 0.2433, d5.loss_cls: 0.0693, d5.loss_bbox: 0.2418, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6264, d1.loss_traj_cls: 0.0021, d1.loss_traj: 0.4797, d2.loss_traj_cls: 0.0007, d2.loss_traj: 0.4258, d3.loss_traj_cls: 0.0005, d3.loss_traj: 0.3967, d4.loss_traj_cls: 0.0008, d4.loss_traj: 0.3874, d5.loss_traj_cls: 0.0016, d5.loss_traj: 0.3833, d0.loss_map_cls_all: 0.1450, d0.loss_map_pts_all: 0.7803, d0.loss_map_dir_all: 0.0039, d0.loss_map_cls: 0.1450, d0.loss_map_pts: 0.7803, d0.loss_map_dir: 0.0039, d1.loss_map_cls: 0.1170, d1.loss_map_pts: 0.5493, d1.loss_map_dir: 0.0035, d2.loss_map_cls: 0.0942, d2.loss_map_pts: 0.4298, d2.loss_map_dir: 0.0032, d3.loss_map_cls: 0.0829, d3.loss_map_pts: 0.3800, d3.loss_map_dir: 0.0033, d4.loss_map_cls: 0.0759, d4.loss_map_pts: 0.3618, d4.loss_map_dir: 0.0033, d5.loss_map_cls: 0.0711, d5.loss_map_pts: 0.3585, d5.loss_map_dir: 0.0034, loss: 19.1445, grad_norm: 128.3467 diff --git a/DriveTransformer/goalpoint_1gpu/20260227_103553.log.json b/DriveTransformer/goalpoint_1gpu/20260227_103553.log.json new file mode 100644 index 0000000000000000000000000000000000000000..c731495cbcdedc4120edd18bb2cc7a3cbdb8ccb5 --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260227_103553.log.json @@ -0,0 +1,4888 @@ +{"mmcv_version": "0.0.1", "config": "point_cloud_range = [-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]\nclass_names = [\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n]\ndataset_type = 'B2D_DriveTransformer_GoalPoint_Dataset'\ndata_root = 'data/bench2drive'\ninput_modality = dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True)\nfile_client_args = dict(backend='disk')\ntrain_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\ntest_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\neval_pipeline = [\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone', 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n]\ndata = dict(\n samples_per_gpu=6,\n workers_per_gpu=8,\n train=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=False,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n sub_seq_lenth=-1,\n use_splited_data=True,\n cache_lenth=7,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n val=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_root='data/bench2drive',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=7,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n test=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=7,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n shuffler_sampler=dict(type='InfiniteGroupEachSampleInBatchSampler'),\n nonshuffler_sampler=dict(type='DistributedSampler'))\nevaluation = dict(\n interval=24,\n pipeline=[\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone',\n 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n ])\ncheckpoint_config = dict(interval=1)\nlog_config = dict(\n interval=50,\n hooks=[dict(type='TextLoggerHook'),\n dict(type='TensorboardLoggerHook')])\ndist_params = dict(backend='nccl')\nlog_level = 'INFO'\nwork_dir = './work_dirs/drivetransformer_goalpoint_1gpu'\nload_from = None\nresume_from = None\nworkflow = [('train', 1)]\nplugin = True\nplugin_dir = 'adzoo/drivetransformer/mmdet3d_plugin/'\nvoxel_size = [0.15, 0.15, 4]\nimg_norm_cfg = dict(\n mean=[123.675, 116.28, 103.53], std=[58.395, 57.12, 57.375], to_rgb=True)\nNameMapping = dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n})\ncollect_keys = [\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', 'ego_pose',\n 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n]\nnum_classes = 9\nmap_classes = [\n 'Broken', 'Solid', 'SolidSolid', 'Center', 'TrafficLight', 'StopSign'\n]\nmap_fixed_ptsnum_per_gt_line = 20\nmap_fixed_ptsnum_per_pred_line = 20\nmap_eval_use_same_gt_sample_num_flag = True\nmap_num_classes = 6\nagent_query_num_vec = 900\nagent_num_topk_sift = 900\nagent_num_propagated = 50\nmap_query_num_vec = 100\nmap_num_topk_sift = 100\nmap_num_propagated = 50\nmemory_len_frame = 10\nnum_mode = 6\nnum_gpus = 1\nbatch_size = 6\nnum_iters_per_epoch = 1041\ndata_aug_conf = dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0])\n_dim_ = 512\nqueue_length = 1\ntotal_epochs = 24\ndropout = 0.1\nmodel = dict(\n type='DriveTransformer',\n use_grid_mask=False,\n pretrained=dict(img='./ckpts/resnet50-19c8e357.pth'),\n img_backbone=dict(\n type='ResNet',\n depth=50,\n num_stages=4,\n out_indices=(3, ),\n frozen_stages=1,\n norm_cfg=dict(type='BN', requires_grad=False),\n norm_eval=True,\n style='pytorch'),\n img_neck=dict(\n type='FPN',\n in_channels=[2048],\n out_channels=512,\n start_level=0,\n add_extra_convs='on_output',\n num_outs=1,\n relu_before_extra_convs=True),\n pts_bbox_head=dict(\n type='DriveTransformerlHead',\n ego_lcf_feat_idx=[0, 1, 2, 3, 4, 5, 6, 7, 8],\n ego_command_dim=128,\n img_stride=32,\n embed_dims=512,\n num_reg_fcs=2,\n num_cls_fcs=2,\n agent_num_propagated=50,\n map_num_propagated=50,\n memory_len_frame=10,\n agent_num_query=900,\n agent_num_query_sifted=900,\n fut_mode=6,\n fut_ego_mode=1,\n fut_ts=6,\n fut_ego_fix_dist=True,\n fut_ts_ego_fix_dist=20,\n fut_ts_ego_fix_time=30,\n num_classes=9,\n code_size=10,\n map_num_query=100,\n map_num_query_sifted=100,\n map_num_classes=6,\n map_num_pts_per_vec=20,\n map_num_pts_per_gt_vec=20,\n map_query_embed_type='instance_pts',\n map_transform_method='minmax',\n map_gt_shift_pts_pattern='v2',\n map_dir_interval=1,\n map_code_size=2,\n map_code_weights=[1.0, 1.0, 1.0, 1.0],\n sync_cls_avg_factor=True,\n with_box_refine=True,\n LID=True,\n with_ego_pos=True,\n position_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n depth_start=1,\n depth_step=0.8,\n depth_num=64,\n agent_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n map_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n transformer=dict(\n type='DriveTransformerWrapper',\n embed_dims=512,\n decoder=dict(\n type='DriveTransformerDecoder',\n num_layers=6,\n fut_mode=6,\n agent_num_query=900,\n map_num_query=100,\n map_num_pts_per_vec=20,\n return_intermediate=True,\n embed_dims=512,\n refine=True,\n transformerlayers=dict(\n type='DriveTransformerDecoderLayer',\n agent_query_num=900,\n map_query_num=100,\n memory_len_frame=10,\n agent_num_propagated=50,\n map_num_propagated=50,\n map_pts_per_vec=20,\n feedforward_channels=2048,\n ffn_dropout=0.1,\n with_cp=False,\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n no_wq=True)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n operation_order=('task_self_attn', 'norm',\n 'temporal_cross_attn', 'norm',\n 'sensor_cross_attn', 'norm', 'ffn',\n 'norm')))),\n bbox_coder=dict(\n type='CustomNMSFreeCoder',\n post_center_range=[-20, -35, -10.0, 20, 35, 10.0],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=100,\n voxel_size=[0.15, 0.15, 4],\n num_classes=9),\n loss_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_bbox=dict(type='L1Loss', loss_weight=0.25),\n loss_traj=dict(type='L1Loss', loss_weight=0.2),\n loss_traj_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.5,\n loss_weight=0.2),\n map_bbox_coder=dict(\n type='MapNMSFreeCoder',\n post_center_range=[-20, -35, -20, -35, 20, 35, 20, 35],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=50,\n voxel_size=[0.15, 0.15, 4],\n num_classes=6),\n loss_map_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_map_pts=dict(type='PtsL1Loss', loss_weight=1.0),\n loss_map_dir=dict(type='PtsDirCosLoss', loss_weight=0.005),\n loss_plan_reg_fix_time=dict(type='L1Loss', loss_weight=3.5),\n loss_plan_reg_fix_dist=dict(type='L1Loss', loss_weight=10.0),\n loss_plan_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=4.0,\n alpha=0.5,\n loss_weight=20.0)),\n train_cfg=dict(\n pts=dict(\n grid_size=[512, 512, 1],\n voxel_size=[0.15, 0.15, 4],\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n out_size_factor=4,\n assigner=dict(\n type='HungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(type='BBox3DL1Cost', weight=0.25),\n iou_cost=dict(type='IoUCost', weight=0.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n map_assigner=dict(\n type='MapHungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(\n type='BBoxL1Cost', weight=0.0, box_format='xywh'),\n iou_cost=dict(type='IoUCost', iou_mode='giou', weight=0.0),\n pts_cost=dict(type='OrderedPtsL1Cost', weight=1.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]))))\ninfo_root = 'data/infos'\nmap_root = 'data/bench2drive/maps'\nmap_file = 'data/infos/b2d_map_infos.pkl'\nann_file_train = 'data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl'\nann_file_val = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\nann_file_test = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\noptimizer = dict(type='AdamW', lr=0.0001, weight_decay=0.01)\noptimizer_config = dict(\n grad_clip=dict(max_norm=35, norm_type=2),\n type='GradientCumulativeFp16OptimizerHook',\n cumulative_iters=32)\nlr_config = dict(\n policy='CosineAnnealing',\n warmup='linear',\n warmup_iters=1000,\n warmup_ratio=0.1,\n min_lr_ratio=0.01)\nrunner = dict(type='EpochBasedRunner', max_epochs=24)\nfp16 = dict(loss_scale=512.0)\nfind_unused_parameters = True\ncustom_hooks = [dict(type='CustomSetEpochInfoHook')]\ncumulative_iters = 32\ngpu_ids = range(0, 1)\n", "CLASSES": ["car", "van", "truck", "bicycle", "traffic_sign", "traffic_cone", "traffic_light", "pedestrian", "others"], "PALETTE": null, "env_info": "MMCV: 0.0.1", "seed": 0, "exp_name": "drivetransformer_goalpoint_1gpu.py", "fp16": {"loss_scaler": {"scale": 512.0, "growth_factor": 2.0, "backoff_factor": 0.5, "growth_interval": 2000, "_growth_tracker": 0}}, "epoch": 6, "iter": 237168, "time": "Thu Feb 26 07:15:52 2026", "hook_msgs": {"last_ckpt": "/home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu/epoch_5.pth"}} +{"mode": "train", "epoch": 7, "iter": 50, "lr": 9e-05, "memory": 19865, "data_time": 0.19223, "loss_cls": 0.16772, "loss_bbox": 0.36557, "loss_traj": 0.6574, "loss_traj_cls": 0.00093, "loss_map_cls": 0.1842, "loss_map_pts": 0.79026, "loss_map_dir": 0.01021, 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b/DriveTransformer/goalpoint_1gpu/20260302_065826.log new file mode 100644 index 0000000000000000000000000000000000000000..05622248760bd43f0fd02aaaedacd54a3ad01fa4 --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260302_065826.log @@ -0,0 +1,4117 @@ +2026-03-02 06:58:34,633 - mmdet - INFO - initialize ResNet with init_cfg {'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} +2026-03-02 06:58:34,750 - mmdet - INFO - initialize FPN with init_cfg {'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} +Name of parameter - Initialization information + +pts_bbox_head.code_weights - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_code_weights - torch.Size([4]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.position_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.pc_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_query.weight - torch.Size([900, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_reference_points.weight - torch.Size([900, 3]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.weight - torch.Size([512, 9]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.weight - torch.Size([512, 768]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.mode_embedding.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_query.weight - torch.Size([100, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_reference_points.weight - torch.Size([100, 2]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.weight - torch.Size([512, 6]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.weight - torch.Size([512, 141]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.weight - torch.Size([512, 1920]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.weight - torch.Size([512, 640]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.featurized_pe.reduce.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.spatial_alignment.reduce.0.weight - torch.Size([512, 8]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.time_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.weight - torch.Size([512, 192]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_pose_memory.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]2026-03-02 06:58:34,767 - DriveTransformer - INFO - Model: +DriveTransformer( + (pts_bbox_head): DriveTransformerlHead( + (loss_cls): FocalLoss() + (loss_bbox): L1Loss() + (loss_traj): L1Loss() + (loss_traj_cls): FocalLoss() + (loss_map_cls): FocalLoss() + (loss_map_pts): PtsL1Loss() + (loss_map_dir): PtsDirCosLoss() + (loss_plan_reg_fix_dist): L1Loss() + (loss_plan_reg_fix_time): L1Loss() + (loss_plan_cls): FocalLoss() + (agent_query): Embedding(900, 512) + (agent_reference_points): Embedding(900, 3) + (agent_cls_embedding): Sequential( + (0): Linear(in_features=9, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (agent_ref_embedding): Sequential( + (0): Linear(in_features=768, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (mode_embedding): Embedding(6, 512) + (map_query): Embedding(100, 512) + (map_reference_points): Embedding(100, 2) + (map_cls_embedding): Sequential( + (0): Linear(in_features=6, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (map_ref_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_lcf_encoder): Sequential( + (0): Linear(in_features=141, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_time_embedding): Sequential( + (0): Linear(in_features=1920, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_dist_embedding): Sequential( + (0): Linear(in_features=640, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (featurized_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (spatial_alignment): MLN( + (reduce): Sequential( + (0): Linear(in_features=8, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (time_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (img_position_encoder): Sequential( + (0): Linear(in_features=192, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_pose_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (ego_pose_memory): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (agent_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (map_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (transformer): DriveTransformerWrapper( + (decoder): DriveTransformerDecoder( + (layers): ModuleList( + (0-5): 6 x DriveTransformerDecoderLayer( + (task_self_attentions): ModuleList( + (0): AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (temporal_cross_attention_layers): ModuleList( + (0-2): 3 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (sensor_cross_attentions): ModuleList( + (0): AttentionLayer( + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (cross_w_q): ModuleList( + (0-2): 3 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + ) + (ffns): ModuleList( + (0): ModuleList( + (0-2): 3 x SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + ) + ) + (cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=9, bias=False) + ) + ) + (reg_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=10, bias=True) + ) + ) + (traj_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=12, bias=True) + ) + ) + (traj_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (6): Linear(in_features=512, out_features=1, bias=False) + ) + ) + (map_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=6, bias=False) + ) + ) + (map_reg_branches): ModuleList( + (0-5): 6 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=2, bias=True) + ) + (6): Linear(in_features=512, out_features=40, bias=True) + ) + (ego_traj_branches_fix_dist): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=20, bias=True) + ) + ) + (ego_traj_branches_fix_time): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=60, bias=True) + ) + ) + ) + (img_backbone): ResNet( + (conv1): Conv2d(3, 64, kernel_size=(7, 7), stride=(2, 2), padding=(3, 3), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (maxpool): MaxPool2d(kernel_size=3, stride=2, padding=1, dilation=1, ceil_mode=False) + (layer1): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(64, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer2): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(256, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(256, 512, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer3): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(512, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(512, 1024, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (4): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (5): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer4): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(1024, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(1024, 2048, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + ) + init_cfg={'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} + (img_neck): FPN( + (lateral_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1)) + ) + ) + (fpn_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) + ) + ) + ) + init_cfg={'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} + (grid_mask): GridMask() +) +2026-03-02 06:58:34,940 - DriveTransformer - INFO - load checkpoint from path: ./work_dirs/drivetransformer_goalpoint_1gpu/epoch_9.pth +2026-03-02 06:58:36,257 - DriveTransformer - INFO - resumed epoch 9, iter 355752 +2026-03-02 06:58:36,259 - DriveTransformer - INFO - Start running, host: humble@3090, work_dir: /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu +2026-03-02 06:58:36,259 - DriveTransformer - INFO - Hooks will be executed in the following order: +before_run: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_epoch: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_iter: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook + -------------------- +after_train_iter: +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +after_train_epoch: +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_val_epoch: +(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 + -------------------- +2026-03-02 06:58:36,259 - DriveTransformer - INFO - workflow: [('train', 1)], max: 24 epochs +2026-03-02 06:58:36,261 - DriveTransformer - INFO - Checkpoints will be saved to /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu by HardDiskBackend. +ead.transformer.decoder.layers.2.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.6.weight - torch.Size([40, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.6.bias - torch.Size([40]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +img_backbone.conv1.weight - torch.Size([64, 3, 7, 7]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv1.weight - torch.Size([64, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.0.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv1.weight - torch.Size([64, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv1.weight - torch.Size([64, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv1.weight - torch.Size([128, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.0.weight - torch.Size([512, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv1.weight - torch.Size([256, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.0.weight - torch.Size([1024, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.1.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.1.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv1.weight - torch.Size([512, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.0.weight - torch.Size([2048, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.1.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.1.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv1.weight - torch.Size([512, 2048, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv1.weight - torch.Size([512, 2048, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_neck.lateral_convs.0.conv.weight - torch.Size([512, 2048, 1, 1]): +XavierInit: gain=1, distribution=uniform, bias=0 + +img_neck.lateral_convs.0.conv.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +img_neck.fpn_convs.0.conv.weight - torch.Size([512, 512, 3, 3]): +XavierInit: gain=1, distribution=uniform, bias=0 + +img_neck.fpn_convs.0.conv.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer diff --git a/DriveTransformer/goalpoint_1gpu/20260302_065826.log.json b/DriveTransformer/goalpoint_1gpu/20260302_065826.log.json new file mode 100644 index 0000000000000000000000000000000000000000..38d47f6bb07693169b576403df69cfd46551fe9a --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260302_065826.log.json @@ -0,0 +1 @@ +{"mmcv_version": "0.0.1", "config": "point_cloud_range = [-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]\nclass_names = [\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n]\ndataset_type = 'B2D_DriveTransformer_GoalPoint_Dataset'\ndata_root = 'data/bench2drive'\ninput_modality = dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True)\nfile_client_args = dict(backend='disk')\ntrain_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\ntest_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\neval_pipeline = [\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone', 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n]\ndata = dict(\n samples_per_gpu=6,\n workers_per_gpu=8,\n train=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=False,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n sub_seq_lenth=-1,\n use_splited_data=True,\n cache_lenth=7,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n val=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_root='data/bench2drive',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=7,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n test=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=7,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n shuffler_sampler=dict(type='InfiniteGroupEachSampleInBatchSampler'),\n nonshuffler_sampler=dict(type='DistributedSampler'))\nevaluation = dict(\n interval=24,\n pipeline=[\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone',\n 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n ])\ncheckpoint_config = dict(interval=1)\nlog_config = dict(\n interval=50,\n hooks=[dict(type='TextLoggerHook'),\n dict(type='TensorboardLoggerHook')])\ndist_params = dict(backend='nccl')\nlog_level = 'INFO'\nwork_dir = './work_dirs/drivetransformer_goalpoint_1gpu'\nload_from = None\nresume_from = None\nworkflow = [('train', 1)]\nplugin = True\nplugin_dir = 'adzoo/drivetransformer/mmdet3d_plugin/'\nvoxel_size = [0.15, 0.15, 4]\nimg_norm_cfg = dict(\n mean=[123.675, 116.28, 103.53], std=[58.395, 57.12, 57.375], to_rgb=True)\nNameMapping = dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n})\ncollect_keys = [\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', 'ego_pose',\n 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n]\nnum_classes = 9\nmap_classes = [\n 'Broken', 'Solid', 'SolidSolid', 'Center', 'TrafficLight', 'StopSign'\n]\nmap_fixed_ptsnum_per_gt_line = 20\nmap_fixed_ptsnum_per_pred_line = 20\nmap_eval_use_same_gt_sample_num_flag = True\nmap_num_classes = 6\nagent_query_num_vec = 900\nagent_num_topk_sift = 900\nagent_num_propagated = 50\nmap_query_num_vec = 100\nmap_num_topk_sift = 100\nmap_num_propagated = 50\nmemory_len_frame = 10\nnum_mode = 6\nnum_gpus = 1\nbatch_size = 6\nnum_iters_per_epoch = 1041\ndata_aug_conf = dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0])\n_dim_ = 512\nqueue_length = 1\ntotal_epochs = 24\ndropout = 0.1\nmodel = dict(\n type='DriveTransformer',\n use_grid_mask=False,\n pretrained=dict(img='./ckpts/resnet50-19c8e357.pth'),\n img_backbone=dict(\n type='ResNet',\n depth=50,\n num_stages=4,\n out_indices=(3, ),\n frozen_stages=1,\n norm_cfg=dict(type='BN', requires_grad=False),\n norm_eval=True,\n style='pytorch'),\n img_neck=dict(\n type='FPN',\n in_channels=[2048],\n out_channels=512,\n start_level=0,\n add_extra_convs='on_output',\n num_outs=1,\n relu_before_extra_convs=True),\n pts_bbox_head=dict(\n type='DriveTransformerlHead',\n ego_lcf_feat_idx=[0, 1, 2, 3, 4, 5, 6, 7, 8],\n ego_command_dim=128,\n img_stride=32,\n embed_dims=512,\n num_reg_fcs=2,\n num_cls_fcs=2,\n agent_num_propagated=50,\n map_num_propagated=50,\n memory_len_frame=10,\n agent_num_query=900,\n agent_num_query_sifted=900,\n fut_mode=6,\n fut_ego_mode=1,\n fut_ts=6,\n fut_ego_fix_dist=True,\n fut_ts_ego_fix_dist=20,\n fut_ts_ego_fix_time=30,\n num_classes=9,\n code_size=10,\n map_num_query=100,\n map_num_query_sifted=100,\n map_num_classes=6,\n map_num_pts_per_vec=20,\n map_num_pts_per_gt_vec=20,\n map_query_embed_type='instance_pts',\n map_transform_method='minmax',\n map_gt_shift_pts_pattern='v2',\n map_dir_interval=1,\n map_code_size=2,\n map_code_weights=[1.0, 1.0, 1.0, 1.0],\n sync_cls_avg_factor=True,\n with_box_refine=True,\n LID=True,\n with_ego_pos=True,\n position_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n depth_start=1,\n depth_step=0.8,\n depth_num=64,\n agent_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n map_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n transformer=dict(\n type='DriveTransformerWrapper',\n embed_dims=512,\n decoder=dict(\n type='DriveTransformerDecoder',\n num_layers=6,\n fut_mode=6,\n agent_num_query=900,\n map_num_query=100,\n map_num_pts_per_vec=20,\n return_intermediate=True,\n embed_dims=512,\n refine=True,\n transformerlayers=dict(\n type='DriveTransformerDecoderLayer',\n agent_query_num=900,\n map_query_num=100,\n memory_len_frame=10,\n agent_num_propagated=50,\n map_num_propagated=50,\n map_pts_per_vec=20,\n feedforward_channels=2048,\n ffn_dropout=0.1,\n with_cp=False,\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n no_wq=True)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n operation_order=('task_self_attn', 'norm',\n 'temporal_cross_attn', 'norm',\n 'sensor_cross_attn', 'norm', 'ffn',\n 'norm')))),\n bbox_coder=dict(\n type='CustomNMSFreeCoder',\n post_center_range=[-20, -35, -10.0, 20, 35, 10.0],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=100,\n voxel_size=[0.15, 0.15, 4],\n num_classes=9),\n loss_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_bbox=dict(type='L1Loss', loss_weight=0.25),\n loss_traj=dict(type='L1Loss', loss_weight=0.2),\n loss_traj_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.5,\n loss_weight=0.2),\n map_bbox_coder=dict(\n type='MapNMSFreeCoder',\n post_center_range=[-20, -35, -20, -35, 20, 35, 20, 35],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=50,\n voxel_size=[0.15, 0.15, 4],\n num_classes=6),\n loss_map_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_map_pts=dict(type='PtsL1Loss', loss_weight=1.0),\n loss_map_dir=dict(type='PtsDirCosLoss', loss_weight=0.005),\n loss_plan_reg_fix_time=dict(type='L1Loss', loss_weight=3.5),\n loss_plan_reg_fix_dist=dict(type='L1Loss', loss_weight=10.0),\n loss_plan_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=4.0,\n alpha=0.5,\n loss_weight=20.0)),\n train_cfg=dict(\n pts=dict(\n grid_size=[512, 512, 1],\n voxel_size=[0.15, 0.15, 4],\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n out_size_factor=4,\n assigner=dict(\n type='HungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(type='BBox3DL1Cost', weight=0.25),\n iou_cost=dict(type='IoUCost', weight=0.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n map_assigner=dict(\n type='MapHungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(\n type='BBoxL1Cost', weight=0.0, box_format='xywh'),\n iou_cost=dict(type='IoUCost', iou_mode='giou', weight=0.0),\n pts_cost=dict(type='OrderedPtsL1Cost', weight=1.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]))))\ninfo_root = 'data/infos'\nmap_root = 'data/bench2drive/maps'\nmap_file = 'data/infos/b2d_map_infos.pkl'\nann_file_train = 'data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl'\nann_file_val = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\nann_file_test = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\noptimizer = dict(type='AdamW', lr=0.0001, weight_decay=0.01)\noptimizer_config = dict(\n grad_clip=dict(max_norm=35, norm_type=2),\n type='GradientCumulativeFp16OptimizerHook',\n cumulative_iters=32)\nlr_config = dict(\n policy='CosineAnnealing',\n warmup='linear',\n warmup_iters=1000,\n warmup_ratio=0.1,\n min_lr_ratio=0.01)\nrunner = dict(type='EpochBasedRunner', max_epochs=24)\nfp16 = dict(loss_scale=512.0)\nfind_unused_parameters = True\ncustom_hooks = [dict(type='CustomSetEpochInfoHook')]\ncumulative_iters = 32\ngpu_ids = range(0, 1)\n", "CLASSES": ["car", "van", "truck", "bicycle", "traffic_sign", "traffic_cone", "traffic_light", "pedestrian", "others"], "PALETTE": null, "env_info": "MMCV: 0.0.1", "seed": 0, "exp_name": "drivetransformer_goalpoint_1gpu.py", "fp16": {"loss_scaler": {"scale": 512.0, "growth_factor": 2.0, "backoff_factor": 0.5, "growth_interval": 2000, "_growth_tracker": 0}}, "epoch": 9, "iter": 355752, "time": "Sat Feb 28 10:41:11 2026", "hook_msgs": {"last_ckpt": "/home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu/epoch_8.pth"}} diff --git a/DriveTransformer/goalpoint_1gpu/20260302_071228.log b/DriveTransformer/goalpoint_1gpu/20260302_071228.log new file mode 100644 index 0000000000000000000000000000000000000000..3a0f32b77262b4e7e9148dd9b5c556e118f0edda --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260302_071228.log @@ -0,0 +1,4117 @@ +2026-03-02 07:12:35,936 - mmdet - INFO - initialize ResNet with init_cfg {'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} +2026-03-02 07:12:36,035 - mmdet - INFO - initialize FPN with init_cfg {'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} +Name of parameter - Initialization information + +pts_bbox_head.code_weights - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_code_weights - torch.Size([4]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.position_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.pc_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_query.weight - torch.Size([900, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_reference_points.weight - torch.Size([900, 3]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.weight - torch.Size([512, 9]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.weight - torch.Size([512, 768]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.mode_embedding.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_query.weight - torch.Size([100, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_reference_points.weight - torch.Size([100, 2]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.weight - torch.Size([512, 6]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.weight - torch.Size([512, 141]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.weight - torch.Size([512, 1920]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.weight - torch.Size([512, 640]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.featurized_pe.reduce.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.spatial_alignment.reduce.0.weight - torch.Size([512, 8]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.time_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.weight - torch.Size([512, 192]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_pose_memory.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]2026-03-02 07:12:36,052 - DriveTransformer - INFO - Model: +DriveTransformer( + (pts_bbox_head): DriveTransformerlHead( + (loss_cls): FocalLoss() + (loss_bbox): L1Loss() + (loss_traj): L1Loss() + (loss_traj_cls): FocalLoss() + (loss_map_cls): FocalLoss() + (loss_map_pts): PtsL1Loss() + (loss_map_dir): PtsDirCosLoss() + (loss_plan_reg_fix_dist): L1Loss() + (loss_plan_reg_fix_time): L1Loss() + (loss_plan_cls): FocalLoss() + (agent_query): Embedding(900, 512) + (agent_reference_points): Embedding(900, 3) + (agent_cls_embedding): Sequential( + (0): Linear(in_features=9, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (agent_ref_embedding): Sequential( + (0): Linear(in_features=768, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (mode_embedding): Embedding(6, 512) + (map_query): Embedding(100, 512) + (map_reference_points): Embedding(100, 2) + (map_cls_embedding): Sequential( + (0): Linear(in_features=6, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (map_ref_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_lcf_encoder): Sequential( + (0): Linear(in_features=141, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_time_embedding): Sequential( + (0): Linear(in_features=1920, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_dist_embedding): Sequential( + (0): Linear(in_features=640, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (featurized_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (spatial_alignment): MLN( + (reduce): Sequential( + (0): Linear(in_features=8, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (time_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (img_position_encoder): Sequential( + (0): Linear(in_features=192, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_pose_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (ego_pose_memory): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (agent_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (map_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (transformer): DriveTransformerWrapper( + (decoder): DriveTransformerDecoder( + (layers): ModuleList( + (0-5): 6 x DriveTransformerDecoderLayer( + (task_self_attentions): ModuleList( + (0): AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (temporal_cross_attention_layers): ModuleList( + (0-2): 3 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (sensor_cross_attentions): ModuleList( + (0): AttentionLayer( + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (cross_w_q): ModuleList( + (0-2): 3 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + ) + (ffns): ModuleList( + (0): ModuleList( + (0-2): 3 x SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + ) + ) + (cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=9, bias=False) + ) + ) + (reg_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=10, bias=True) + ) + ) + (traj_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=12, bias=True) + ) + ) + (traj_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (6): Linear(in_features=512, out_features=1, bias=False) + ) + ) + (map_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=6, bias=False) + ) + ) + (map_reg_branches): ModuleList( + (0-5): 6 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=2, bias=True) + ) + (6): Linear(in_features=512, out_features=40, bias=True) + ) + (ego_traj_branches_fix_dist): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=20, bias=True) + ) + ) + (ego_traj_branches_fix_time): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=60, bias=True) + ) + ) + ) + (img_backbone): ResNet( + (conv1): Conv2d(3, 64, kernel_size=(7, 7), stride=(2, 2), padding=(3, 3), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (maxpool): MaxPool2d(kernel_size=3, stride=2, padding=1, dilation=1, ceil_mode=False) + (layer1): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(64, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer2): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(256, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(256, 512, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer3): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(512, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(512, 1024, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (4): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (5): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer4): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(1024, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(1024, 2048, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + ) + init_cfg={'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} + (img_neck): FPN( + (lateral_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1)) + ) + ) + (fpn_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) + ) + ) + ) + init_cfg={'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} + (grid_mask): GridMask() +) +2026-03-02 07:12:36,227 - DriveTransformer - INFO - load checkpoint from path: ./work_dirs/drivetransformer_goalpoint_1gpu/epoch_9.pth +2026-03-02 07:12:36,975 - DriveTransformer - INFO - resumed epoch 9, iter 355752 +2026-03-02 07:12:36,977 - DriveTransformer - INFO - Start running, host: humble@3090, work_dir: /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu +2026-03-02 07:12:36,977 - DriveTransformer - INFO - Hooks will be executed in the following order: +before_run: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_epoch: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_iter: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook + -------------------- +after_train_iter: +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +after_train_epoch: +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_val_epoch: +(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 + -------------------- +2026-03-02 07:12:36,977 - DriveTransformer - INFO - workflow: [('train', 1)], max: 24 epochs +2026-03-02 07:12:36,979 - DriveTransformer - INFO - Checkpoints will be saved to /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu by HardDiskBackend. +ead.transformer.decoder.layers.2.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.2.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.6.weight - torch.Size([40, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.6.bias - torch.Size([40]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +img_backbone.conv1.weight - torch.Size([64, 3, 7, 7]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv1.weight - torch.Size([64, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.0.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv1.weight - torch.Size([64, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv1.weight - torch.Size([64, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv1.weight - torch.Size([128, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.0.weight - torch.Size([512, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv1.weight - torch.Size([256, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.0.weight - torch.Size([1024, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.1.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.1.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv1.weight - torch.Size([512, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.0.weight - torch.Size([2048, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.1.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.1.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv1.weight - torch.Size([512, 2048, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv1.weight - torch.Size([512, 2048, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_neck.lateral_convs.0.conv.weight - torch.Size([512, 2048, 1, 1]): +XavierInit: gain=1, distribution=uniform, bias=0 + +img_neck.lateral_convs.0.conv.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +img_neck.fpn_convs.0.conv.weight - torch.Size([512, 512, 3, 3]): +XavierInit: gain=1, distribution=uniform, bias=0 + +img_neck.fpn_convs.0.conv.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer diff --git a/DriveTransformer/goalpoint_1gpu/20260302_071228.log.json b/DriveTransformer/goalpoint_1gpu/20260302_071228.log.json new file mode 100644 index 0000000000000000000000000000000000000000..38d47f6bb07693169b576403df69cfd46551fe9a --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260302_071228.log.json @@ -0,0 +1 @@ +{"mmcv_version": "0.0.1", "config": "point_cloud_range = [-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]\nclass_names = [\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n]\ndataset_type = 'B2D_DriveTransformer_GoalPoint_Dataset'\ndata_root = 'data/bench2drive'\ninput_modality = dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True)\nfile_client_args = dict(backend='disk')\ntrain_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\ntest_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\neval_pipeline = [\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone', 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n]\ndata = dict(\n samples_per_gpu=6,\n workers_per_gpu=8,\n train=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=False,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n sub_seq_lenth=-1,\n use_splited_data=True,\n cache_lenth=7,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n val=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_root='data/bench2drive',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=7,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n test=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=7,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n shuffler_sampler=dict(type='InfiniteGroupEachSampleInBatchSampler'),\n nonshuffler_sampler=dict(type='DistributedSampler'))\nevaluation = dict(\n interval=24,\n pipeline=[\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone',\n 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n ])\ncheckpoint_config = dict(interval=1)\nlog_config = dict(\n interval=50,\n hooks=[dict(type='TextLoggerHook'),\n dict(type='TensorboardLoggerHook')])\ndist_params = dict(backend='nccl')\nlog_level = 'INFO'\nwork_dir = './work_dirs/drivetransformer_goalpoint_1gpu'\nload_from = None\nresume_from = None\nworkflow = [('train', 1)]\nplugin = True\nplugin_dir = 'adzoo/drivetransformer/mmdet3d_plugin/'\nvoxel_size = [0.15, 0.15, 4]\nimg_norm_cfg = dict(\n mean=[123.675, 116.28, 103.53], std=[58.395, 57.12, 57.375], to_rgb=True)\nNameMapping = dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n})\ncollect_keys = [\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', 'ego_pose',\n 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n]\nnum_classes = 9\nmap_classes = [\n 'Broken', 'Solid', 'SolidSolid', 'Center', 'TrafficLight', 'StopSign'\n]\nmap_fixed_ptsnum_per_gt_line = 20\nmap_fixed_ptsnum_per_pred_line = 20\nmap_eval_use_same_gt_sample_num_flag = True\nmap_num_classes = 6\nagent_query_num_vec = 900\nagent_num_topk_sift = 900\nagent_num_propagated = 50\nmap_query_num_vec = 100\nmap_num_topk_sift = 100\nmap_num_propagated = 50\nmemory_len_frame = 10\nnum_mode = 6\nnum_gpus = 1\nbatch_size = 6\nnum_iters_per_epoch = 1041\ndata_aug_conf = dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0])\n_dim_ = 512\nqueue_length = 1\ntotal_epochs = 24\ndropout = 0.1\nmodel = dict(\n type='DriveTransformer',\n use_grid_mask=False,\n pretrained=dict(img='./ckpts/resnet50-19c8e357.pth'),\n img_backbone=dict(\n type='ResNet',\n depth=50,\n num_stages=4,\n out_indices=(3, ),\n frozen_stages=1,\n norm_cfg=dict(type='BN', requires_grad=False),\n norm_eval=True,\n style='pytorch'),\n img_neck=dict(\n type='FPN',\n in_channels=[2048],\n out_channels=512,\n start_level=0,\n add_extra_convs='on_output',\n num_outs=1,\n relu_before_extra_convs=True),\n pts_bbox_head=dict(\n type='DriveTransformerlHead',\n ego_lcf_feat_idx=[0, 1, 2, 3, 4, 5, 6, 7, 8],\n ego_command_dim=128,\n img_stride=32,\n embed_dims=512,\n num_reg_fcs=2,\n num_cls_fcs=2,\n agent_num_propagated=50,\n map_num_propagated=50,\n memory_len_frame=10,\n agent_num_query=900,\n agent_num_query_sifted=900,\n fut_mode=6,\n fut_ego_mode=1,\n fut_ts=6,\n fut_ego_fix_dist=True,\n fut_ts_ego_fix_dist=20,\n fut_ts_ego_fix_time=30,\n num_classes=9,\n code_size=10,\n map_num_query=100,\n map_num_query_sifted=100,\n map_num_classes=6,\n map_num_pts_per_vec=20,\n map_num_pts_per_gt_vec=20,\n map_query_embed_type='instance_pts',\n map_transform_method='minmax',\n map_gt_shift_pts_pattern='v2',\n map_dir_interval=1,\n map_code_size=2,\n map_code_weights=[1.0, 1.0, 1.0, 1.0],\n sync_cls_avg_factor=True,\n with_box_refine=True,\n LID=True,\n with_ego_pos=True,\n position_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n depth_start=1,\n depth_step=0.8,\n depth_num=64,\n agent_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n map_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n transformer=dict(\n type='DriveTransformerWrapper',\n embed_dims=512,\n decoder=dict(\n type='DriveTransformerDecoder',\n num_layers=6,\n fut_mode=6,\n agent_num_query=900,\n map_num_query=100,\n map_num_pts_per_vec=20,\n return_intermediate=True,\n embed_dims=512,\n refine=True,\n transformerlayers=dict(\n type='DriveTransformerDecoderLayer',\n agent_query_num=900,\n map_query_num=100,\n memory_len_frame=10,\n agent_num_propagated=50,\n map_num_propagated=50,\n map_pts_per_vec=20,\n feedforward_channels=2048,\n ffn_dropout=0.1,\n with_cp=False,\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n no_wq=True)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n operation_order=('task_self_attn', 'norm',\n 'temporal_cross_attn', 'norm',\n 'sensor_cross_attn', 'norm', 'ffn',\n 'norm')))),\n bbox_coder=dict(\n type='CustomNMSFreeCoder',\n post_center_range=[-20, -35, -10.0, 20, 35, 10.0],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=100,\n voxel_size=[0.15, 0.15, 4],\n num_classes=9),\n loss_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_bbox=dict(type='L1Loss', loss_weight=0.25),\n loss_traj=dict(type='L1Loss', loss_weight=0.2),\n loss_traj_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.5,\n loss_weight=0.2),\n map_bbox_coder=dict(\n type='MapNMSFreeCoder',\n post_center_range=[-20, -35, -20, -35, 20, 35, 20, 35],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=50,\n voxel_size=[0.15, 0.15, 4],\n num_classes=6),\n loss_map_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_map_pts=dict(type='PtsL1Loss', loss_weight=1.0),\n loss_map_dir=dict(type='PtsDirCosLoss', loss_weight=0.005),\n loss_plan_reg_fix_time=dict(type='L1Loss', loss_weight=3.5),\n loss_plan_reg_fix_dist=dict(type='L1Loss', loss_weight=10.0),\n loss_plan_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=4.0,\n alpha=0.5,\n loss_weight=20.0)),\n train_cfg=dict(\n pts=dict(\n grid_size=[512, 512, 1],\n voxel_size=[0.15, 0.15, 4],\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n out_size_factor=4,\n assigner=dict(\n type='HungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(type='BBox3DL1Cost', weight=0.25),\n iou_cost=dict(type='IoUCost', weight=0.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n map_assigner=dict(\n type='MapHungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(\n type='BBoxL1Cost', weight=0.0, box_format='xywh'),\n iou_cost=dict(type='IoUCost', iou_mode='giou', weight=0.0),\n pts_cost=dict(type='OrderedPtsL1Cost', weight=1.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]))))\ninfo_root = 'data/infos'\nmap_root = 'data/bench2drive/maps'\nmap_file = 'data/infos/b2d_map_infos.pkl'\nann_file_train = 'data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl'\nann_file_val = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\nann_file_test = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\noptimizer = dict(type='AdamW', lr=0.0001, weight_decay=0.01)\noptimizer_config = dict(\n grad_clip=dict(max_norm=35, norm_type=2),\n type='GradientCumulativeFp16OptimizerHook',\n cumulative_iters=32)\nlr_config = dict(\n policy='CosineAnnealing',\n warmup='linear',\n warmup_iters=1000,\n warmup_ratio=0.1,\n min_lr_ratio=0.01)\nrunner = dict(type='EpochBasedRunner', max_epochs=24)\nfp16 = dict(loss_scale=512.0)\nfind_unused_parameters = True\ncustom_hooks = [dict(type='CustomSetEpochInfoHook')]\ncumulative_iters = 32\ngpu_ids = range(0, 1)\n", "CLASSES": ["car", "van", "truck", "bicycle", "traffic_sign", "traffic_cone", "traffic_light", "pedestrian", "others"], "PALETTE": null, "env_info": "MMCV: 0.0.1", "seed": 0, "exp_name": "drivetransformer_goalpoint_1gpu.py", "fp16": {"loss_scaler": {"scale": 512.0, "growth_factor": 2.0, "backoff_factor": 0.5, "growth_interval": 2000, "_growth_tracker": 0}}, "epoch": 9, "iter": 355752, "time": "Sat Feb 28 10:41:11 2026", "hook_msgs": {"last_ckpt": "/home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu/epoch_8.pth"}} diff --git a/DriveTransformer/goalpoint_1gpu/20260302_071328.log b/DriveTransformer/goalpoint_1gpu/20260302_071328.log new file mode 100644 index 0000000000000000000000000000000000000000..f305d0a0e51bf11bfc02194a1770ced0ee29ee96 --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260302_071328.log @@ -0,0 +1,4083 @@ +2026-03-02 07:13:35,797 - mmdet - INFO - initialize ResNet with init_cfg {'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} +2026-03-02 07:13:35,894 - mmdet - INFO - initialize FPN with init_cfg {'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} +Name of parameter - Initialization information + +pts_bbox_head.code_weights - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_code_weights - torch.Size([4]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.position_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.pc_range - torch.Size([6]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_query.weight - torch.Size([900, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_reference_points.weight - torch.Size([900, 3]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.weight - torch.Size([512, 9]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.weight - torch.Size([512, 768]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.agent_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.mode_embedding.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_query.weight - torch.Size([100, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_reference_points.weight - torch.Size([100, 2]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.weight - torch.Size([512, 6]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_cls_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.map_ref_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.weight - torch.Size([512, 141]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_lcf_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.weight - torch.Size([512, 1920]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_time_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.weight - torch.Size([512, 640]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.featurized_pe.reduce.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.featurized_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.spatial_alignment.reduce.0.weight - torch.Size([512, 8]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.spatial_alignment.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.time_embedding.0.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.time_embedding.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.weight - torch.Size([512, 192]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.2.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.img_position_encoder.4.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_pe.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_pose_memory.reduce.0.weight - torch.Size([512, 180]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.reduce.0.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.gamma.bias - torch.Size([512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.weight - torch.Size([512, 512]): +Initialized by user-defined `init_weights` in DriveTransformerlHead + +pts_bbox_head.ego_pose_memory.beta.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]2026-03-02 07:13:35,913 - DriveTransformer - INFO - Model: +DriveTransformer( + (pts_bbox_head): DriveTransformerlHead( + (loss_cls): FocalLoss() + (loss_bbox): L1Loss() + (loss_traj): L1Loss() + (loss_traj_cls): FocalLoss() + (loss_map_cls): FocalLoss() + (loss_map_pts): PtsL1Loss() + (loss_map_dir): PtsDirCosLoss() + (loss_plan_reg_fix_dist): L1Loss() + (loss_plan_reg_fix_time): L1Loss() + (loss_plan_cls): FocalLoss() + (agent_query): Embedding(900, 512) + (agent_reference_points): Embedding(900, 3) + (agent_cls_embedding): Sequential( + (0): Linear(in_features=9, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (agent_ref_embedding): Sequential( + (0): Linear(in_features=768, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (mode_embedding): Embedding(6, 512) + (map_query): Embedding(100, 512) + (map_reference_points): Embedding(100, 2) + (map_cls_embedding): Sequential( + (0): Linear(in_features=6, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (map_ref_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_lcf_encoder): Sequential( + (0): Linear(in_features=141, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_time_embedding): Sequential( + (0): Linear(in_features=1920, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_traj_ref_fix_dist_embedding): Sequential( + (0): Linear(in_features=640, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (featurized_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (spatial_alignment): MLN( + (reduce): Sequential( + (0): Linear(in_features=8, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (time_embedding): Sequential( + (0): Linear(in_features=512, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (img_position_encoder): Sequential( + (0): Linear(in_features=192, out_features=512, bias=True) + (1): SiLU(inplace=True) + (2): Linear(in_features=512, out_features=512, bias=True) + (3): SiLU(inplace=True) + (4): Linear(in_features=512, out_features=512, bias=True) + ) + (ego_pose_pe): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (ego_pose_memory): MLN( + (reduce): Sequential( + (0): Linear(in_features=180, out_features=512, bias=True) + (1): SiLU(inplace=True) + ) + (gamma): Linear(in_features=512, out_features=512, bias=True) + (beta): Linear(in_features=512, out_features=512, bias=True) + (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) + ) + (agent_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (map_prep_decoder): DriveTransformerPreDecoder( + (layers): ModuleList( + (0): DriveTransformerPreDecoderLayer( + (attentions): ModuleList( + (0-1): 2 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (ffns): ModuleList( + (0): SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + (transformer): DriveTransformerWrapper( + (decoder): DriveTransformerDecoder( + (layers): ModuleList( + (0-5): 6 x DriveTransformerDecoderLayer( + (task_self_attentions): ModuleList( + (0): AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (temporal_cross_attention_layers): ModuleList( + (0-2): 3 x AttentionLayer( + (w_q): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (sensor_cross_attentions): ModuleList( + (0): AttentionLayer( + (w_k): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (w_v): Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + (proj): Linear(in_features=512, out_features=512, bias=True) + (postnorm): Identity() + ) + ) + (cross_w_q): ModuleList( + (0-2): 3 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + ) + ) + (ffns): ModuleList( + (0): ModuleList( + (0-2): 3 x SwiGLULayer( + (swiglu): SwiGLU( + (w12): Linear(in_features=512, out_features=2736, bias=True) + (w3): Linear(in_features=1368, out_features=512, bias=True) + ) + (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (dropout): Dropout(p=0.1, inplace=False) + (postnorm): Identity() + ) + ) + ) + ) + ) + ) + ) + (cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=9, bias=False) + ) + ) + (reg_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=10, bias=True) + ) + ) + (traj_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=12, bias=True) + ) + ) + (traj_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (6): Linear(in_features=512, out_features=1, bias=False) + ) + ) + (map_cls_branches): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=6, bias=False) + ) + ) + (map_reg_branches): ModuleList( + (0-5): 6 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=2, bias=True) + ) + (6): Linear(in_features=512, out_features=40, bias=True) + ) + (ego_traj_branches_fix_dist): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=20, bias=True) + ) + ) + (ego_traj_branches_fix_time): ModuleList( + (0-6): 7 x Sequential( + (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) + (1): Linear(in_features=512, out_features=512, bias=True) + (2): SiLU(inplace=True) + (3): Linear(in_features=512, out_features=512, bias=True) + (4): SiLU(inplace=True) + (5): Linear(in_features=512, out_features=60, bias=True) + ) + ) + ) + (img_backbone): ResNet( + (conv1): Conv2d(3, 64, kernel_size=(7, 7), stride=(2, 2), padding=(3, 3), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (maxpool): MaxPool2d(kernel_size=3, stride=2, padding=1, dilation=1, ceil_mode=False) + (layer1): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(64, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer2): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(256, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(256, 512, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer3): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(512, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(512, 1024, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (3): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (4): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (5): Bottleneck( + (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + (layer4): ResLayer( + (0): Bottleneck( + (conv1): Conv2d(1024, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + (downsample): Sequential( + (0): Conv2d(1024, 2048, kernel_size=(1, 1), stride=(2, 2), bias=False) + (1): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + ) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (1): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + (2): Bottleneck( + (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) + (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) + (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) + (relu): ReLU(inplace=True) + ) + init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} + ) + ) + init_cfg={'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} + (img_neck): FPN( + (lateral_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1)) + ) + ) + (fpn_convs): ModuleList( + (0): ConvModule( + (conv): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) + ) + ) + ) + init_cfg={'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} + (grid_mask): GridMask() +) +2026-03-02 07:13:36,087 - DriveTransformer - INFO - load checkpoint from path: ./work_dirs/drivetransformer_goalpoint_1gpu/epoch_9.pth +2026-03-02 07:13:36,825 - DriveTransformer - INFO - resumed epoch 9, iter 355752 +2026-03-02 07:13:36,827 - DriveTransformer - INFO - Start running, host: humble@3090, work_dir: /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu +2026-03-02 07:13:36,827 - DriveTransformer - INFO - Hooks will be executed in the following order: +before_run: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_epoch: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_train_iter: +(VERY_HIGH ) CosineAnnealingLrUpdaterHook +(LOW ) IterTimerHook + -------------------- +after_train_iter: +(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook +(NORMAL ) CheckpointHook +(LOW ) IterTimerHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +after_train_epoch: +(NORMAL ) CheckpointHook +(VERY_LOW ) TextLoggerHook +(VERY_LOW ) TensorboardLoggerHook + -------------------- +before_val_epoch: +(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 + -------------------- +2026-03-02 07:13:36,828 - DriveTransformer - INFO - workflow: [('train', 1)], max: 24 epochs +2026-03-02 07:13:36,830 - DriveTransformer - INFO - Checkpoints will be saved to /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu by HardDiskBackend. +2026-03-02 07:13:47,600 - DriveTransformer - WARNING - Resume iter number is not divisible by cumulative_iters in GradientCumulativeOptimizerHook, which means the gradient of some iters is lost and the result may be influenced slightly. +2026-03-02 07:13:47,601 - DriveTransformer - WARNING - GradientCumulativeOptimizerHook may slightly decrease performance if the model has BatchNorm layers. +2026-03-02 07:14:31,056 - DriveTransformer - INFO - Epoch [10][50/39528] lr: 6.944e-05, eta: 7 days, 10:09:50, time: 1.082, data_time: 0.210, memory: 19862, loss_cls: 0.1159, loss_bbox: 0.3072, loss_traj: 0.4839, loss_traj_cls: 0.0020, loss_map_cls: 0.1288, loss_map_pts: 0.5999, loss_map_dir: 0.0070, d0.loss_plan_l1_fix_time: 2.4724, d0.loss_plan_l1_fix_dist: 0.3787, d1.loss_plan_l1_fix_time: 0.8607, d1.loss_plan_l1_fix_dist: 0.2685, d2.loss_plan_l1_fix_time: 0.8402, d2.loss_plan_l1_fix_dist: 0.2188, d3.loss_plan_l1_fix_time: 0.8362, d3.loss_plan_l1_fix_dist: 0.2221, d4.loss_plan_l1_fix_time: 0.8391, d4.loss_plan_l1_fix_dist: 0.2082, d5.loss_plan_l1_fix_time: 0.8431, d5.loss_plan_l1_fix_dist: 0.2493, d6.loss_plan_l1_fix_time: 0.8480, d6.loss_plan_l1_fix_dist: 0.2420, d0.loss_cls_all: 0.1555, d0.loss_bbox_all: 0.3704, d0.loss_cls: 0.1555, d0.loss_bbox: 0.3704, d1.loss_cls: 0.1504, d1.loss_bbox: 0.3340, d2.loss_cls: 0.1414, d2.loss_bbox: 0.3142, d3.loss_cls: 0.1261, d3.loss_bbox: 0.3086, d4.loss_cls: 0.1187, d4.loss_bbox: 0.3089, d5.loss_cls: 0.1171, d5.loss_bbox: 0.3068, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6631, d1.loss_traj_cls: 0.0007, d1.loss_traj: 0.5559, d2.loss_traj_cls: 0.0009, d2.loss_traj: 0.5135, d3.loss_traj_cls: 0.0007, d3.loss_traj: 0.4947, d4.loss_traj_cls: 0.0009, d4.loss_traj: 0.4875, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.4849, d0.loss_map_cls_all: 0.2106, d0.loss_map_pts_all: 1.2057, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.2106, d0.loss_map_pts: 1.2057, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1755, d1.loss_map_pts: 0.8645, d1.loss_map_dir: 0.0065, d2.loss_map_cls: 0.1528, d2.loss_map_pts: 0.7024, d2.loss_map_dir: 0.0062, d3.loss_map_cls: 0.1424, d3.loss_map_pts: 0.6395, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1381, d4.loss_map_pts: 0.6128, d4.loss_map_dir: 0.0068, d5.loss_map_cls: 0.1315, d5.loss_map_pts: 0.6002, d5.loss_map_dir: 0.0070, loss: 24.4939, grad_norm: 89.6446 +ghts` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.3.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.0.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.1.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.2.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.3.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.4.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.5.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.cls_branches.6.5.weight - torch.Size([9, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.0.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.1.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.2.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.3.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.4.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.5.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.5.weight - torch.Size([10, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.reg_branches.6.5.bias - torch.Size([10]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.0.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.1.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.2.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.3.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.4.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.5.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.5.weight - torch.Size([12, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_branches.6.5.bias - torch.Size([12]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.0.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.1.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.2.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.3.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.4.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.5.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.5.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.5.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.traj_cls_branches.6.6.weight - torch.Size([1, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.0.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.1.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.2.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.3.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.4.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.5.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_cls_branches.6.5.weight - torch.Size([6, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.0.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.1.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.2.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.3.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.4.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.5.weight - torch.Size([2, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.5.5.bias - torch.Size([2]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.6.weight - torch.Size([40, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.map_reg_branches.6.bias - torch.Size([40]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.0.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.1.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.2.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.3.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.4.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.5.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.5.weight - torch.Size([20, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_dist.6.5.bias - torch.Size([20]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.0.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.1.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.2.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.3.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.4.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.5.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.0.weight - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.0.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.1.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.1.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.3.weight - torch.Size([512, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.3.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.5.weight - torch.Size([60, 512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +pts_bbox_head.ego_traj_branches_fix_time.6.5.bias - torch.Size([60]): +The value is the same before and after calling `init_weights` of DriveTransformer + +img_backbone.conv1.weight - torch.Size([64, 3, 7, 7]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv1.weight - torch.Size([64, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.0.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.0.downsample.1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv1.weight - torch.Size([64, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.1.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv1.weight - torch.Size([64, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn1.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn1.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv2.weight - torch.Size([64, 64, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn2.weight - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn2.bias - torch.Size([64]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.conv3.weight - torch.Size([256, 64, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn3.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer1.2.bn3.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv1.weight - torch.Size([128, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.0.weight - torch.Size([512, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.0.downsample.1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.1.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.2.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv1.weight - torch.Size([128, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn1.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn1.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv2.weight - torch.Size([128, 128, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn2.weight - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn2.bias - torch.Size([128]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.conv3.weight - torch.Size([512, 128, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn3.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer2.3.bn3.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv1.weight - torch.Size([256, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.0.weight - torch.Size([1024, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.1.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.0.downsample.1.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.1.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + 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1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.2.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.3.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + 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torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.4.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv1.weight - torch.Size([256, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn1.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn1.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv2.weight - torch.Size([256, 256, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn2.weight - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn2.bias - torch.Size([256]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.conv3.weight - torch.Size([1024, 256, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn3.weight - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer3.5.bn3.bias - torch.Size([1024]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv1.weight - torch.Size([512, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.0.weight - torch.Size([2048, 1024, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.1.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.0.downsample.1.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv1.weight - torch.Size([512, 2048, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.1.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv1.weight - torch.Size([512, 2048, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn1.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn1.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv2.weight - torch.Size([512, 512, 3, 3]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn2.weight - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn2.bias - torch.Size([512]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.conv3.weight - torch.Size([2048, 512, 1, 1]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn3.weight - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_backbone.layer4.2.bn3.bias - torch.Size([2048]): +PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth + +img_neck.lateral_convs.0.conv.weight - torch.Size([512, 2048, 1, 1]): +XavierInit: gain=1, distribution=uniform, bias=0 + +img_neck.lateral_convs.0.conv.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer + +img_neck.fpn_convs.0.conv.weight - torch.Size([512, 512, 3, 3]): +XavierInit: gain=1, distribution=uniform, bias=0 + +img_neck.fpn_convs.0.conv.bias - torch.Size([512]): +The value is the same before and after calling `init_weights` of DriveTransformer diff --git a/DriveTransformer/goalpoint_1gpu/20260302_071328.log.json b/DriveTransformer/goalpoint_1gpu/20260302_071328.log.json new file mode 100644 index 0000000000000000000000000000000000000000..e0f278f0dc3786129d561f0ac1817bd74eee1e94 --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260302_071328.log.json @@ -0,0 +1,2 @@ +{"mmcv_version": "0.0.1", "config": "point_cloud_range = [-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]\nclass_names = [\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n]\ndataset_type = 'B2D_DriveTransformer_GoalPoint_Dataset'\ndata_root = 'data/bench2drive'\ninput_modality = dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True)\nfile_client_args = dict(backend='disk')\ntrain_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\ntest_pipeline = [\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd',\n 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index',\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ])\n]\neval_pipeline = [\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone', 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n]\ndata = dict(\n samples_per_gpu=6,\n workers_per_gpu=8,\n train=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=False,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n sub_seq_lenth=-1,\n use_splited_data=True,\n cache_lenth=7,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n val=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_root='data/bench2drive',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=7,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n test=dict(\n type='B2D_DriveTransformer_GoalPoint_Dataset',\n data_root='data/bench2drive',\n ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl',\n pipeline=[\n dict(type='LoadMultiViewImageFromFiles', to_float32=True),\n dict(type='ResizeCropFlipImage'),\n dict(\n type='NormalizeMultiviewImage',\n mean=[123.675, 116.28, 103.53],\n std=[58.395, 57.12, 57.375],\n to_rgb=True),\n dict(\n type='LoadAnnotations3D',\n with_bbox_3d=True,\n with_label_3d=True,\n with_attr_label=True),\n dict(\n type='CustomObjectRangeFilter',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n dict(\n type='CustomObjectNameFilter',\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ]),\n dict(\n type='TrajPreprocess',\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n with_ego_fix_dist=True,\n ego_fut_offset_input=False,\n assign_class_for_ego=False),\n dict(\n type='CustomFormatBundle3D',\n class_names=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign',\n 'traffic_cone', 'traffic_light', 'pedestrian', 'others'\n ],\n with_ego=True,\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape',\n 'gt_traj_fut_classes', 'ego_fut_classes'\n ]),\n dict(\n type='CustomCollect3D',\n keys=[\n 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs',\n 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time',\n 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist',\n 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist',\n 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels',\n 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic',\n 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv',\n 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n ])\n ],\n classes=[\n 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone',\n 'traffic_light', 'pedestrian', 'others'\n ],\n modality=dict(\n use_lidar=False,\n use_camera=True,\n use_radar=False,\n use_map=False,\n use_external=True),\n test_mode=True,\n box_type_3d='LiDAR',\n data_aug_conf=dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0]),\n name_mapping=dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n }),\n map_file='data/infos/b2d_map_infos.pkl',\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n collect_keys=[\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp',\n 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes',\n 'ego_fut_classes'\n ],\n polyline_points_num=20,\n filter_empty_gt=False,\n use_splited_data=True,\n cache_lenth=7,\n future_frames=6,\n future_frames_ego_fix_time=30,\n future_frames_ego_fix_dist=20,\n sample_interval_ego_fut=1,\n sample_interval=5,\n fix_future_dis=1,\n use_angle_as_dis_traj=True,\n use_raw_goalpoint=False),\n shuffler_sampler=dict(type='InfiniteGroupEachSampleInBatchSampler'),\n nonshuffler_sampler=dict(type='DistributedSampler'))\nevaluation = dict(\n interval=24,\n pipeline=[\n dict(\n type='LoadPointsFromFile',\n coord_type='LIDAR',\n load_dim=5,\n use_dim=5,\n file_client_args=dict(backend='disk')),\n dict(\n type='LoadPointsFromMultiSweeps',\n sweeps_num=10,\n file_client_args=dict(backend='disk')),\n dict(\n type='DefaultFormatBundle3D',\n class_names=[\n 'car', 'truck', 'trailer', 'bus', 'construction_vehicle',\n 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone',\n 'barrier'\n ],\n with_label=False),\n dict(type='Collect3D', keys=['points'])\n ])\ncheckpoint_config = dict(interval=1)\nlog_config = dict(\n interval=50,\n hooks=[dict(type='TextLoggerHook'),\n dict(type='TensorboardLoggerHook')])\ndist_params = dict(backend='nccl')\nlog_level = 'INFO'\nwork_dir = './work_dirs/drivetransformer_goalpoint_1gpu'\nload_from = None\nresume_from = None\nworkflow = [('train', 1)]\nplugin = True\nplugin_dir = 'adzoo/drivetransformer/mmdet3d_plugin/'\nvoxel_size = [0.15, 0.15, 4]\nimg_norm_cfg = dict(\n mean=[123.675, 116.28, 103.53], std=[58.395, 57.12, 57.375], to_rgb=True)\nNameMapping = dict({\n 'vehicle.bh.crossbike':\n 'bicycle',\n 'vehicle.diamondback.century':\n 'bicycle',\n 'vehicle.gazelle.omafiets':\n 'bicycle',\n 'vehicle.audi.etron':\n 'car',\n 'vehicle.chevrolet.impala':\n 'car',\n 'vehicle.dodge.charger_2020':\n 'car',\n 'vehicle.dodge.charger_police':\n 'car',\n 'vehicle.dodge.charger_police_2020':\n 'car',\n 'vehicle.lincoln.mkz_2017':\n 'car',\n 'vehicle.lincoln.mkz_2020':\n 'car',\n 'vehicle.mini.cooper_s_2021':\n 'car',\n 'vehicle.mercedes.coupe_2020':\n 'car',\n 'vehicle.ford.mustang':\n 'car',\n 'vehicle.nissan.patrol_2021':\n 'car',\n 'vehicle.audi.tt':\n 'car',\n 'vehicle.ford.crown':\n 'car',\n 'vehicle.tesla.model3':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked':\n 'car',\n '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked':\n 'van',\n 'vehicle.ford.ambulance':\n 'van',\n 'vehicle.carlamotors.firetruck':\n 'truck',\n 'traffic.speed_limit.30':\n 'traffic_sign',\n 'traffic.speed_limit.40':\n 'traffic_sign',\n 'traffic.speed_limit.50':\n 'traffic_sign',\n 'traffic.speed_limit.60':\n 'traffic_sign',\n 'traffic.speed_limit.90':\n 'traffic_sign',\n 'traffic.speed_limit.120':\n 'traffic_sign',\n 'traffic.stop':\n 'traffic_sign',\n 'traffic.yield':\n 'traffic_sign',\n 'traffic.traffic_light':\n 'traffic_light',\n 'static.prop.warningconstruction':\n 'traffic_cone',\n 'static.prop.warningaccident':\n 'traffic_cone',\n 'static.prop.trafficwarning':\n 'traffic_cone',\n 'static.prop.constructioncone':\n 'traffic_cone',\n 'walker.pedestrian.0001':\n 'pedestrian',\n 'walker.pedestrian.0003':\n 'pedestrian',\n 'walker.pedestrian.0004':\n 'pedestrian',\n 'walker.pedestrian.0005':\n 'pedestrian',\n 'walker.pedestrian.0007':\n 'pedestrian',\n 'walker.pedestrian.0010':\n 'pedestrian',\n 'walker.pedestrian.0013':\n 'pedestrian',\n 'walker.pedestrian.0014':\n 'pedestrian',\n 'walker.pedestrian.0015':\n 'pedestrian',\n 'walker.pedestrian.0016':\n 'pedestrian',\n 'walker.pedestrian.0017':\n 'pedestrian',\n 'walker.pedestrian.0018':\n 'pedestrian',\n 'walker.pedestrian.0019':\n 'pedestrian',\n 'walker.pedestrian.0020':\n 'pedestrian',\n 'walker.pedestrian.0021':\n 'pedestrian',\n 'walker.pedestrian.0022':\n 'pedestrian',\n 'walker.pedestrian.0025':\n 'pedestrian',\n 'walker.pedestrian.0027':\n 'pedestrian',\n 'walker.pedestrian.0030':\n 'pedestrian',\n 'walker.pedestrian.0031':\n 'pedestrian',\n 'walker.pedestrian.0032':\n 'pedestrian',\n 'walker.pedestrian.0034':\n 'pedestrian',\n 'walker.pedestrian.0035':\n 'pedestrian',\n 'walker.pedestrian.0041':\n 'pedestrian',\n 'walker.pedestrian.0042':\n 'pedestrian',\n 'walker.pedestrian.0046':\n 'pedestrian',\n 'walker.pedestrian.0047':\n 'pedestrian',\n 'static.prop.dirtdebris01':\n 'others',\n 'static.prop.dirtdebris02':\n 'others'\n})\ncollect_keys = [\n 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', 'ego_pose',\n 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes'\n]\nnum_classes = 9\nmap_classes = [\n 'Broken', 'Solid', 'SolidSolid', 'Center', 'TrafficLight', 'StopSign'\n]\nmap_fixed_ptsnum_per_gt_line = 20\nmap_fixed_ptsnum_per_pred_line = 20\nmap_eval_use_same_gt_sample_num_flag = True\nmap_num_classes = 6\nagent_query_num_vec = 900\nagent_num_topk_sift = 900\nagent_num_propagated = 50\nmap_query_num_vec = 100\nmap_num_topk_sift = 100\nmap_num_propagated = 50\nmemory_len_frame = 10\nnum_mode = 6\nnum_gpus = 1\nbatch_size = 6\nnum_iters_per_epoch = 1041\ndata_aug_conf = dict(\n resize_lim=(0.64, 0.69),\n final_dim=(384, 1056),\n bot_pct_lim=(0.0, 0.0),\n rot_lim=(-5.4, 5.4),\n H=900,\n W=1600,\n rand_flip=True,\n rot3d_range=[0, 0])\n_dim_ = 512\nqueue_length = 1\ntotal_epochs = 24\ndropout = 0.1\nmodel = dict(\n type='DriveTransformer',\n use_grid_mask=False,\n pretrained=dict(img='./ckpts/resnet50-19c8e357.pth'),\n img_backbone=dict(\n type='ResNet',\n depth=50,\n num_stages=4,\n out_indices=(3, ),\n frozen_stages=1,\n norm_cfg=dict(type='BN', requires_grad=False),\n norm_eval=True,\n style='pytorch'),\n img_neck=dict(\n type='FPN',\n in_channels=[2048],\n out_channels=512,\n start_level=0,\n add_extra_convs='on_output',\n num_outs=1,\n relu_before_extra_convs=True),\n pts_bbox_head=dict(\n type='DriveTransformerlHead',\n ego_lcf_feat_idx=[0, 1, 2, 3, 4, 5, 6, 7, 8],\n ego_command_dim=128,\n img_stride=32,\n embed_dims=512,\n num_reg_fcs=2,\n num_cls_fcs=2,\n agent_num_propagated=50,\n map_num_propagated=50,\n memory_len_frame=10,\n agent_num_query=900,\n agent_num_query_sifted=900,\n fut_mode=6,\n fut_ego_mode=1,\n fut_ts=6,\n fut_ego_fix_dist=True,\n fut_ts_ego_fix_dist=20,\n fut_ts_ego_fix_time=30,\n num_classes=9,\n code_size=10,\n map_num_query=100,\n map_num_query_sifted=100,\n map_num_classes=6,\n map_num_pts_per_vec=20,\n map_num_pts_per_gt_vec=20,\n map_query_embed_type='instance_pts',\n map_transform_method='minmax',\n map_gt_shift_pts_pattern='v2',\n map_dir_interval=1,\n map_code_size=2,\n map_code_weights=[1.0, 1.0, 1.0, 1.0],\n sync_cls_avg_factor=True,\n with_box_refine=True,\n LID=True,\n with_ego_pos=True,\n position_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n depth_start=1,\n depth_step=0.8,\n depth_num=64,\n agent_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n map_prep_decoder=dict(\n type='DriveTransformerPreDecoder',\n num_layers=1,\n return_intermediate=False,\n transformerlayers=dict(\n type='DriveTransformerPreDecoderLayer',\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n with_cp=False,\n operation_order=('cross_attn', 'norm', 'self_attn', 'norm',\n 'ffn', 'norm'))),\n transformer=dict(\n type='DriveTransformerWrapper',\n embed_dims=512,\n decoder=dict(\n type='DriveTransformerDecoder',\n num_layers=6,\n fut_mode=6,\n agent_num_query=900,\n map_num_query=100,\n map_num_pts_per_vec=20,\n return_intermediate=True,\n embed_dims=512,\n refine=True,\n transformerlayers=dict(\n type='DriveTransformerDecoderLayer',\n agent_query_num=900,\n map_query_num=100,\n memory_len_frame=10,\n agent_num_propagated=50,\n map_num_propagated=50,\n map_pts_per_vec=20,\n feedforward_channels=2048,\n ffn_dropout=0.1,\n with_cp=False,\n attn_cfgs=[\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n layer_scale=0.01),\n dict(\n type='AttentionLayer',\n embed_dims=512,\n head_dim=64,\n attn_drop=0.1,\n no_wq=True)\n ],\n ffn_cfgs=dict(\n type='SwiGLULayer',\n embed_dims=512,\n feedforward_channels=2048,\n ffn_drop=0.1),\n operation_order=('task_self_attn', 'norm',\n 'temporal_cross_attn', 'norm',\n 'sensor_cross_attn', 'norm', 'ffn',\n 'norm')))),\n bbox_coder=dict(\n type='CustomNMSFreeCoder',\n post_center_range=[-20, -35, -10.0, 20, 35, 10.0],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=100,\n voxel_size=[0.15, 0.15, 4],\n num_classes=9),\n loss_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_bbox=dict(type='L1Loss', loss_weight=0.25),\n loss_traj=dict(type='L1Loss', loss_weight=0.2),\n loss_traj_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.5,\n loss_weight=0.2),\n map_bbox_coder=dict(\n type='MapNMSFreeCoder',\n post_center_range=[-20, -35, -20, -35, 20, 35, 20, 35],\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n max_num=50,\n voxel_size=[0.15, 0.15, 4],\n num_classes=6),\n loss_map_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=2.0,\n alpha=0.25,\n loss_weight=2.0),\n loss_map_pts=dict(type='PtsL1Loss', loss_weight=1.0),\n loss_map_dir=dict(type='PtsDirCosLoss', loss_weight=0.005),\n loss_plan_reg_fix_time=dict(type='L1Loss', loss_weight=3.5),\n loss_plan_reg_fix_dist=dict(type='L1Loss', loss_weight=10.0),\n loss_plan_cls=dict(\n type='FocalLoss',\n use_sigmoid=True,\n gamma=4.0,\n alpha=0.5,\n loss_weight=20.0)),\n train_cfg=dict(\n pts=dict(\n grid_size=[512, 512, 1],\n voxel_size=[0.15, 0.15, 4],\n point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],\n out_size_factor=4,\n assigner=dict(\n type='HungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(type='BBox3DL1Cost', weight=0.25),\n iou_cost=dict(type='IoUCost', weight=0.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),\n map_assigner=dict(\n type='MapHungarianAssigner3D',\n cls_cost=dict(\n type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25),\n reg_cost=dict(\n type='BBoxL1Cost', weight=0.0, box_format='xywh'),\n iou_cost=dict(type='IoUCost', iou_mode='giou', weight=0.0),\n pts_cost=dict(type='OrderedPtsL1Cost', weight=1.0),\n pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]))))\ninfo_root = 'data/infos'\nmap_root = 'data/bench2drive/maps'\nmap_file = 'data/infos/b2d_map_infos.pkl'\nann_file_train = 'data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl'\nann_file_val = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\nann_file_test = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl'\noptimizer = dict(type='AdamW', lr=0.0001, weight_decay=0.01)\noptimizer_config = dict(\n grad_clip=dict(max_norm=35, norm_type=2),\n type='GradientCumulativeFp16OptimizerHook',\n cumulative_iters=32)\nlr_config = dict(\n policy='CosineAnnealing',\n warmup='linear',\n warmup_iters=1000,\n warmup_ratio=0.1,\n min_lr_ratio=0.01)\nrunner = dict(type='EpochBasedRunner', max_epochs=24)\nfp16 = dict(loss_scale=512.0)\nfind_unused_parameters = True\ncustom_hooks = [dict(type='CustomSetEpochInfoHook')]\ncumulative_iters = 32\ngpu_ids = range(0, 1)\n", "CLASSES": ["car", "van", "truck", "bicycle", "traffic_sign", "traffic_cone", "traffic_light", "pedestrian", "others"], "PALETTE": null, "env_info": "MMCV: 0.0.1", "seed": 0, "exp_name": "drivetransformer_goalpoint_1gpu.py", "fp16": {"loss_scaler": {"scale": 512.0, "growth_factor": 2.0, "backoff_factor": 0.5, "growth_interval": 2000, "_growth_tracker": 0}}, "epoch": 9, "iter": 355752, "time": "Sat Feb 28 10:41:11 2026", "hook_msgs": {"last_ckpt": "/home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu/epoch_8.pth"}} +{"mode": "train", "epoch": 10, "iter": 50, "lr": 7e-05, "memory": 19862, "data_time": 0.20962, "loss_cls": 0.11593, "loss_bbox": 0.3072, "loss_traj": 0.48392, "loss_traj_cls": 0.00202, "loss_map_cls": 0.12882, "loss_map_pts": 0.5999, "loss_map_dir": 0.007, "d0.loss_plan_l1_fix_time": 2.47242, "d0.loss_plan_l1_fix_dist": 0.37871, "d1.loss_plan_l1_fix_time": 0.86071, "d1.loss_plan_l1_fix_dist": 0.26848, "d2.loss_plan_l1_fix_time": 0.84022, "d2.loss_plan_l1_fix_dist": 0.21882, "d3.loss_plan_l1_fix_time": 0.83621, "d3.loss_plan_l1_fix_dist": 0.22214, "d4.loss_plan_l1_fix_time": 0.83909, "d4.loss_plan_l1_fix_dist": 0.20819, "d5.loss_plan_l1_fix_time": 0.84314, "d5.loss_plan_l1_fix_dist": 0.2493, "d6.loss_plan_l1_fix_time": 0.848, "d6.loss_plan_l1_fix_dist": 0.24196, "d0.loss_cls_all": 0.15553, "d0.loss_bbox_all": 0.37036, "d0.loss_cls": 0.15553, "d0.loss_bbox": 0.37036, "d1.loss_cls": 0.15043, "d1.loss_bbox": 0.33398, "d2.loss_cls": 0.14139, "d2.loss_bbox": 0.31416, "d3.loss_cls": 0.12609, "d3.loss_bbox": 0.30862, "d4.loss_cls": 0.11872, "d4.loss_bbox": 0.30886, "d5.loss_cls": 0.11713, "d5.loss_bbox": 0.30684, "d0.loss_traj_cls": 6e-05, "d0.loss_traj": 0.66307, "d1.loss_traj_cls": 0.00068, "d1.loss_traj": 0.55593, "d2.loss_traj_cls": 0.00089, "d2.loss_traj": 0.5135, "d3.loss_traj_cls": 0.0007, "d3.loss_traj": 0.49472, "d4.loss_traj_cls": 0.00086, "d4.loss_traj": 0.48748, "d5.loss_traj_cls": 0.00128, "d5.loss_traj": 0.48489, "d0.loss_map_cls_all": 0.21055, "d0.loss_map_pts_all": 1.20573, "d0.loss_map_dir_all": 0.00707, "d0.loss_map_cls": 0.21055, "d0.loss_map_pts": 1.20573, "d0.loss_map_dir": 0.00707, "d1.loss_map_cls": 0.17551, "d1.loss_map_pts": 0.86448, "d1.loss_map_dir": 0.00655, "d2.loss_map_cls": 0.15283, "d2.loss_map_pts": 0.70237, "d2.loss_map_dir": 0.00625, "d3.loss_map_cls": 0.14241, "d3.loss_map_pts": 0.63954, "d3.loss_map_dir": 0.00655, "d4.loss_map_cls": 0.13809, "d4.loss_map_pts": 0.61283, "d4.loss_map_dir": 0.00681, "d5.loss_map_cls": 0.13153, "d5.loss_map_pts": 0.60017, "d5.loss_map_dir": 0.00702, "loss": 24.49393, "time": 1.08184, "grad_norm": 89.64458} diff --git a/DriveTransformer/goalpoint_1gpu/20260302_071515.log b/DriveTransformer/goalpoint_1gpu/20260302_071515.log new file mode 100644 index 0000000000000000000000000000000000000000..e9831a0a5daee79d16efb412937558732b014acb --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260302_071515.log @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a40e899338cc7bafc4df9e36f9b7d9b3410c9dde8740badc90a2364f27458737 +size 18492763 diff --git a/DriveTransformer/goalpoint_1gpu/20260302_071515.log.json b/DriveTransformer/goalpoint_1gpu/20260302_071515.log.json new file mode 100644 index 0000000000000000000000000000000000000000..177a488c384bb161e6d8bdff258a85850bb9c1ef --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/20260302_071515.log.json @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64c1a029f6c13edf4e5c2be107abe85684617482aacad06a98e77a47b76121b4 +size 19951009 diff --git a/DriveTransformer/goalpoint_1gpu/drivetransformer_goalpoint_1gpu.py b/DriveTransformer/goalpoint_1gpu/drivetransformer_goalpoint_1gpu.py new file mode 100644 index 0000000000000000000000000000000000000000..768de8ad41e0cd4775f7099e5765f981886f71eb --- /dev/null +++ b/DriveTransformer/goalpoint_1gpu/drivetransformer_goalpoint_1gpu.py @@ -0,0 +1,1327 @@ +point_cloud_range = [-15.0, -30.0, -2.0, 15.0, 30.0, 2.0] +class_names = [ + 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone', + 'traffic_light', 'pedestrian', 'others' +] +dataset_type = 'B2D_DriveTransformer_GoalPoint_Dataset' +data_root = 'data/bench2drive' +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='ResizeCropFlipImage'), + dict( + type='NormalizeMultiviewImage', + mean=[123.675, 116.28, 103.53], + std=[58.395, 57.12, 57.375], + to_rgb=True), + 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', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone', + 'traffic_light', 'pedestrian', 'others' + ]), + dict( + type='TrajPreprocess', + pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0], + with_ego_fix_dist=True, + ego_fut_offset_input=False, + assign_class_for_ego=False), + dict( + type='CustomFormatBundle3D', + class_names=[ + 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone', + 'traffic_light', 'pedestrian', 'others' + ], + with_ego=True, + collect_keys=[ + 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', + 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', + 'ego_fut_classes' + ]), + dict( + type='CustomCollect3D', + keys=[ + 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs', + 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time', + 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist', + 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd', + 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index', + 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', + 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', + 'ego_fut_classes' + ]) +] +test_pipeline = [ + dict(type='LoadMultiViewImageFromFiles', to_float32=True), + dict(type='ResizeCropFlipImage'), + dict( + type='NormalizeMultiviewImage', + mean=[123.675, 116.28, 103.53], + std=[58.395, 57.12, 57.375], + to_rgb=True), + 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', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone', + 'traffic_light', 'pedestrian', 'others' + ]), + dict( + type='TrajPreprocess', + pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0], + with_ego_fix_dist=True, + ego_fut_offset_input=False, + assign_class_for_ego=False), + dict( + type='CustomFormatBundle3D', + class_names=[ + 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone', + 'traffic_light', 'pedestrian', 'others' + ], + with_ego=True, + collect_keys=[ + 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', + 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', + 'ego_fut_classes' + ]), + dict( + type='CustomCollect3D', + keys=[ + 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs', + 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time', + 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist', + 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd', + 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index', + 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', + 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', + 'ego_fut_classes' + ]) +] +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=6, + workers_per_gpu=8, + train=dict( + type='B2D_DriveTransformer_GoalPoint_Dataset', + data_root='data/bench2drive', + ann_file='data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl', + pipeline=[ + dict(type='LoadMultiViewImageFromFiles', to_float32=True), + dict(type='ResizeCropFlipImage'), + dict( + type='NormalizeMultiviewImage', + mean=[123.675, 116.28, 103.53], + std=[58.395, 57.12, 57.375], + to_rgb=True), + 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', 'van', 'truck', 'bicycle', 'traffic_sign', + 'traffic_cone', 'traffic_light', 'pedestrian', 'others' + ]), + dict( + type='TrajPreprocess', + pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0], + with_ego_fix_dist=True, + ego_fut_offset_input=False, + assign_class_for_ego=False), + dict( + type='CustomFormatBundle3D', + class_names=[ + 'car', 'van', 'truck', 'bicycle', 'traffic_sign', + 'traffic_cone', 'traffic_light', 'pedestrian', 'others' + ], + with_ego=True, + collect_keys=[ + 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', + 'ego_pose', 'ego_pose_inv', 'pad_shape', + 'gt_traj_fut_classes', 'ego_fut_classes' + ]), + dict( + type='CustomCollect3D', + keys=[ + 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs', + 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time', + 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist', + 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', + 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels', + 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic', + 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv', + 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes' + ]) + ], + classes=[ + 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone', + 'traffic_light', 'pedestrian', 'others' + ], + modality=dict( + use_lidar=False, + use_camera=True, + use_radar=False, + use_map=False, + use_external=True), + test_mode=False, + box_type_3d='LiDAR', + data_aug_conf=dict( + resize_lim=(0.64, 0.69), + final_dim=(384, 1056), + bot_pct_lim=(0.0, 0.0), + rot_lim=(-5.4, 5.4), + H=900, + W=1600, + rand_flip=True, + rot3d_range=[0, 0]), + name_mapping=dict({ + 'vehicle.bh.crossbike': + 'bicycle', + 'vehicle.diamondback.century': + 'bicycle', + 'vehicle.gazelle.omafiets': + 'bicycle', + 'vehicle.audi.etron': + 'car', + 'vehicle.chevrolet.impala': + 'car', + 'vehicle.dodge.charger_2020': + 'car', + 'vehicle.dodge.charger_police': + 'car', + 'vehicle.dodge.charger_police_2020': + 'car', + 'vehicle.lincoln.mkz_2017': + 'car', + 'vehicle.lincoln.mkz_2020': + 'car', + 'vehicle.mini.cooper_s_2021': + 'car', + 'vehicle.mercedes.coupe_2020': + 'car', + 'vehicle.ford.mustang': + 'car', + 'vehicle.nissan.patrol_2021': + 'car', + 'vehicle.audi.tt': + 'car', + 'vehicle.ford.crown': + 'car', + 'vehicle.tesla.model3': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked': + 'van', + 'vehicle.ford.ambulance': + 'van', + 'vehicle.carlamotors.firetruck': + 'truck', + 'traffic.speed_limit.30': + 'traffic_sign', + 'traffic.speed_limit.40': + 'traffic_sign', + 'traffic.speed_limit.50': + 'traffic_sign', + 'traffic.speed_limit.60': + 'traffic_sign', + 'traffic.speed_limit.90': + 'traffic_sign', + 'traffic.speed_limit.120': + 'traffic_sign', + 'traffic.stop': + 'traffic_sign', + 'traffic.yield': + 'traffic_sign', + 'traffic.traffic_light': + 'traffic_light', + 'static.prop.warningconstruction': + 'traffic_cone', + 'static.prop.warningaccident': + 'traffic_cone', + 'static.prop.trafficwarning': + 'traffic_cone', + 'static.prop.constructioncone': + 'traffic_cone', + 'walker.pedestrian.0001': + 'pedestrian', + 'walker.pedestrian.0003': + 'pedestrian', + 'walker.pedestrian.0004': + 'pedestrian', + 'walker.pedestrian.0005': + 'pedestrian', + 'walker.pedestrian.0007': + 'pedestrian', + 'walker.pedestrian.0010': + 'pedestrian', + 'walker.pedestrian.0013': + 'pedestrian', + 'walker.pedestrian.0014': + 'pedestrian', + 'walker.pedestrian.0015': + 'pedestrian', + 'walker.pedestrian.0016': + 'pedestrian', + 'walker.pedestrian.0017': + 'pedestrian', + 'walker.pedestrian.0018': + 'pedestrian', + 'walker.pedestrian.0019': + 'pedestrian', + 'walker.pedestrian.0020': + 'pedestrian', + 'walker.pedestrian.0021': + 'pedestrian', + 'walker.pedestrian.0022': + 'pedestrian', + 'walker.pedestrian.0025': + 'pedestrian', + 'walker.pedestrian.0027': + 'pedestrian', + 'walker.pedestrian.0030': + 'pedestrian', + 'walker.pedestrian.0031': + 'pedestrian', + 'walker.pedestrian.0032': + 'pedestrian', + 'walker.pedestrian.0034': + 'pedestrian', + 'walker.pedestrian.0035': + 'pedestrian', + 'walker.pedestrian.0041': + 'pedestrian', + 'walker.pedestrian.0042': + 'pedestrian', + 'walker.pedestrian.0046': + 'pedestrian', + 'walker.pedestrian.0047': + 'pedestrian', + 'static.prop.dirtdebris01': + 'others', + 'static.prop.dirtdebris02': + 'others' + }), + map_file='data/infos/b2d_map_infos.pkl', + point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0], + collect_keys=[ + 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', + 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', + 'ego_fut_classes' + ], + polyline_points_num=20, + filter_empty_gt=False, + sub_seq_lenth=-1, + use_splited_data=True, + cache_lenth=7, + future_frames=6, + future_frames_ego_fix_time=30, + future_frames_ego_fix_dist=20, + sample_interval_ego_fut=1, + sample_interval=5, + fix_future_dis=1, + use_angle_as_dis_traj=True, + use_raw_goalpoint=False), + val=dict( + type='B2D_DriveTransformer_GoalPoint_Dataset', + ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl', + pipeline=[ + dict(type='LoadMultiViewImageFromFiles', to_float32=True), + dict(type='ResizeCropFlipImage'), + dict( + type='NormalizeMultiviewImage', + mean=[123.675, 116.28, 103.53], + std=[58.395, 57.12, 57.375], + to_rgb=True), + 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', 'van', 'truck', 'bicycle', 'traffic_sign', + 'traffic_cone', 'traffic_light', 'pedestrian', 'others' + ]), + dict( + type='TrajPreprocess', + pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0], + with_ego_fix_dist=True, + ego_fut_offset_input=False, + assign_class_for_ego=False), + dict( + type='CustomFormatBundle3D', + class_names=[ + 'car', 'van', 'truck', 'bicycle', 'traffic_sign', + 'traffic_cone', 'traffic_light', 'pedestrian', 'others' + ], + with_ego=True, + collect_keys=[ + 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', + 'ego_pose', 'ego_pose_inv', 'pad_shape', + 'gt_traj_fut_classes', 'ego_fut_classes' + ]), + dict( + type='CustomCollect3D', + keys=[ + 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs', + 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time', + 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist', + 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', + 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels', + 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic', + 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv', + 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes' + ]) + ], + classes=[ + 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone', + 'traffic_light', 'pedestrian', 'others' + ], + 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/bench2drive', + data_aug_conf=dict( + resize_lim=(0.64, 0.69), + final_dim=(384, 1056), + bot_pct_lim=(0.0, 0.0), + rot_lim=(-5.4, 5.4), + H=900, + W=1600, + rand_flip=True, + rot3d_range=[0, 0]), + name_mapping=dict({ + 'vehicle.bh.crossbike': + 'bicycle', + 'vehicle.diamondback.century': + 'bicycle', + 'vehicle.gazelle.omafiets': + 'bicycle', + 'vehicle.audi.etron': + 'car', + 'vehicle.chevrolet.impala': + 'car', + 'vehicle.dodge.charger_2020': + 'car', + 'vehicle.dodge.charger_police': + 'car', + 'vehicle.dodge.charger_police_2020': + 'car', + 'vehicle.lincoln.mkz_2017': + 'car', + 'vehicle.lincoln.mkz_2020': + 'car', + 'vehicle.mini.cooper_s_2021': + 'car', + 'vehicle.mercedes.coupe_2020': + 'car', + 'vehicle.ford.mustang': + 'car', + 'vehicle.nissan.patrol_2021': + 'car', + 'vehicle.audi.tt': + 'car', + 'vehicle.ford.crown': + 'car', + 'vehicle.tesla.model3': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked': + 'van', + 'vehicle.ford.ambulance': + 'van', + 'vehicle.carlamotors.firetruck': + 'truck', + 'traffic.speed_limit.30': + 'traffic_sign', + 'traffic.speed_limit.40': + 'traffic_sign', + 'traffic.speed_limit.50': + 'traffic_sign', + 'traffic.speed_limit.60': + 'traffic_sign', + 'traffic.speed_limit.90': + 'traffic_sign', + 'traffic.speed_limit.120': + 'traffic_sign', + 'traffic.stop': + 'traffic_sign', + 'traffic.yield': + 'traffic_sign', + 'traffic.traffic_light': + 'traffic_light', + 'static.prop.warningconstruction': + 'traffic_cone', + 'static.prop.warningaccident': + 'traffic_cone', + 'static.prop.trafficwarning': + 'traffic_cone', + 'static.prop.constructioncone': + 'traffic_cone', + 'walker.pedestrian.0001': + 'pedestrian', + 'walker.pedestrian.0003': + 'pedestrian', + 'walker.pedestrian.0004': + 'pedestrian', + 'walker.pedestrian.0005': + 'pedestrian', + 'walker.pedestrian.0007': + 'pedestrian', + 'walker.pedestrian.0010': + 'pedestrian', + 'walker.pedestrian.0013': + 'pedestrian', + 'walker.pedestrian.0014': + 'pedestrian', + 'walker.pedestrian.0015': + 'pedestrian', + 'walker.pedestrian.0016': + 'pedestrian', + 'walker.pedestrian.0017': + 'pedestrian', + 'walker.pedestrian.0018': + 'pedestrian', + 'walker.pedestrian.0019': + 'pedestrian', + 'walker.pedestrian.0020': + 'pedestrian', + 'walker.pedestrian.0021': + 'pedestrian', + 'walker.pedestrian.0022': + 'pedestrian', + 'walker.pedestrian.0025': + 'pedestrian', + 'walker.pedestrian.0027': + 'pedestrian', + 'walker.pedestrian.0030': + 'pedestrian', + 'walker.pedestrian.0031': + 'pedestrian', + 'walker.pedestrian.0032': + 'pedestrian', + 'walker.pedestrian.0034': + 'pedestrian', + 'walker.pedestrian.0035': + 'pedestrian', + 'walker.pedestrian.0041': + 'pedestrian', + 'walker.pedestrian.0042': + 'pedestrian', + 'walker.pedestrian.0046': + 'pedestrian', + 'walker.pedestrian.0047': + 'pedestrian', + 'static.prop.dirtdebris01': + 'others', + 'static.prop.dirtdebris02': + 'others' + }), + map_file='data/infos/b2d_map_infos.pkl', + point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0], + collect_keys=[ + 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', + 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', + 'ego_fut_classes' + ], + polyline_points_num=20, + filter_empty_gt=False, + use_splited_data=True, + cache_lenth=7, + future_frames=6, + future_frames_ego_fix_time=30, + future_frames_ego_fix_dist=20, + sample_interval_ego_fut=1, + sample_interval=5, + fix_future_dis=1, + use_angle_as_dis_traj=True, + use_raw_goalpoint=False), + test=dict( + type='B2D_DriveTransformer_GoalPoint_Dataset', + data_root='data/bench2drive', + ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl', + pipeline=[ + dict(type='LoadMultiViewImageFromFiles', to_float32=True), + dict(type='ResizeCropFlipImage'), + dict( + type='NormalizeMultiviewImage', + mean=[123.675, 116.28, 103.53], + std=[58.395, 57.12, 57.375], + to_rgb=True), + 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', 'van', 'truck', 'bicycle', 'traffic_sign', + 'traffic_cone', 'traffic_light', 'pedestrian', 'others' + ]), + dict( + type='TrajPreprocess', + pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0], + with_ego_fix_dist=True, + ego_fut_offset_input=False, + assign_class_for_ego=False), + dict( + type='CustomFormatBundle3D', + class_names=[ + 'car', 'van', 'truck', 'bicycle', 'traffic_sign', + 'traffic_cone', 'traffic_light', 'pedestrian', 'others' + ], + with_ego=True, + collect_keys=[ + 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', + 'ego_pose', 'ego_pose_inv', 'pad_shape', + 'gt_traj_fut_classes', 'ego_fut_classes' + ]), + dict( + type='CustomCollect3D', + keys=[ + 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs', + 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time', + 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist', + 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', + 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels', + 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic', + 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv', + 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes' + ]) + ], + classes=[ + 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone', + 'traffic_light', 'pedestrian', 'others' + ], + 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_aug_conf=dict( + resize_lim=(0.64, 0.69), + final_dim=(384, 1056), + bot_pct_lim=(0.0, 0.0), + rot_lim=(-5.4, 5.4), + H=900, + W=1600, + rand_flip=True, + rot3d_range=[0, 0]), + name_mapping=dict({ + 'vehicle.bh.crossbike': + 'bicycle', + 'vehicle.diamondback.century': + 'bicycle', + 'vehicle.gazelle.omafiets': + 'bicycle', + 'vehicle.audi.etron': + 'car', + 'vehicle.chevrolet.impala': + 'car', + 'vehicle.dodge.charger_2020': + 'car', + 'vehicle.dodge.charger_police': + 'car', + 'vehicle.dodge.charger_police_2020': + 'car', + 'vehicle.lincoln.mkz_2017': + 'car', + 'vehicle.lincoln.mkz_2020': + 'car', + 'vehicle.mini.cooper_s_2021': + 'car', + 'vehicle.mercedes.coupe_2020': + 'car', + 'vehicle.ford.mustang': + 'car', + 'vehicle.nissan.patrol_2021': + 'car', + 'vehicle.audi.tt': + 'car', + 'vehicle.ford.crown': + 'car', + 'vehicle.tesla.model3': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked': + 'van', + 'vehicle.ford.ambulance': + 'van', + 'vehicle.carlamotors.firetruck': + 'truck', + 'traffic.speed_limit.30': + 'traffic_sign', + 'traffic.speed_limit.40': + 'traffic_sign', + 'traffic.speed_limit.50': + 'traffic_sign', + 'traffic.speed_limit.60': + 'traffic_sign', + 'traffic.speed_limit.90': + 'traffic_sign', + 'traffic.speed_limit.120': + 'traffic_sign', + 'traffic.stop': + 'traffic_sign', + 'traffic.yield': + 'traffic_sign', + 'traffic.traffic_light': + 'traffic_light', + 'static.prop.warningconstruction': + 'traffic_cone', + 'static.prop.warningaccident': + 'traffic_cone', + 'static.prop.trafficwarning': + 'traffic_cone', + 'static.prop.constructioncone': + 'traffic_cone', + 'walker.pedestrian.0001': + 'pedestrian', + 'walker.pedestrian.0003': + 'pedestrian', + 'walker.pedestrian.0004': + 'pedestrian', + 'walker.pedestrian.0005': + 'pedestrian', + 'walker.pedestrian.0007': + 'pedestrian', + 'walker.pedestrian.0010': + 'pedestrian', + 'walker.pedestrian.0013': + 'pedestrian', + 'walker.pedestrian.0014': + 'pedestrian', + 'walker.pedestrian.0015': + 'pedestrian', + 'walker.pedestrian.0016': + 'pedestrian', + 'walker.pedestrian.0017': + 'pedestrian', + 'walker.pedestrian.0018': + 'pedestrian', + 'walker.pedestrian.0019': + 'pedestrian', + 'walker.pedestrian.0020': + 'pedestrian', + 'walker.pedestrian.0021': + 'pedestrian', + 'walker.pedestrian.0022': + 'pedestrian', + 'walker.pedestrian.0025': + 'pedestrian', + 'walker.pedestrian.0027': + 'pedestrian', + 'walker.pedestrian.0030': + 'pedestrian', + 'walker.pedestrian.0031': + 'pedestrian', + 'walker.pedestrian.0032': + 'pedestrian', + 'walker.pedestrian.0034': + 'pedestrian', + 'walker.pedestrian.0035': + 'pedestrian', + 'walker.pedestrian.0041': + 'pedestrian', + 'walker.pedestrian.0042': + 'pedestrian', + 'walker.pedestrian.0046': + 'pedestrian', + 'walker.pedestrian.0047': + 'pedestrian', + 'static.prop.dirtdebris01': + 'others', + 'static.prop.dirtdebris02': + 'others' + }), + map_file='data/infos/b2d_map_infos.pkl', + point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0], + collect_keys=[ + 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', + 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', + 'ego_fut_classes' + ], + polyline_points_num=20, + filter_empty_gt=False, + use_splited_data=True, + cache_lenth=7, + future_frames=6, + future_frames_ego_fix_time=30, + future_frames_ego_fix_dist=20, + sample_interval_ego_fut=1, + sample_interval=5, + fix_future_dis=1, + use_angle_as_dis_traj=True, + use_raw_goalpoint=False), + shuffler_sampler=dict(type='InfiniteGroupEachSampleInBatchSampler'), + nonshuffler_sampler=dict(type='DistributedSampler')) +evaluation = dict( + interval=24, + 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']) + ]) +checkpoint_config = dict(interval=1) +log_config = dict( + interval=50, + hooks=[dict(type='TextLoggerHook'), + dict(type='TensorboardLoggerHook')]) +dist_params = dict(backend='nccl') +log_level = 'INFO' +work_dir = './work_dirs/drivetransformer_goalpoint_1gpu' +load_from = None +resume_from = './work_dirs/drivetransformer_goalpoint_1gpu/epoch_12.pth' +workflow = [('train', 1)] +plugin = True +plugin_dir = 'adzoo/drivetransformer/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) +NameMapping = dict({ + 'vehicle.bh.crossbike': + 'bicycle', + 'vehicle.diamondback.century': + 'bicycle', + 'vehicle.gazelle.omafiets': + 'bicycle', + 'vehicle.audi.etron': + 'car', + 'vehicle.chevrolet.impala': + 'car', + 'vehicle.dodge.charger_2020': + 'car', + 'vehicle.dodge.charger_police': + 'car', + 'vehicle.dodge.charger_police_2020': + 'car', + 'vehicle.lincoln.mkz_2017': + 'car', + 'vehicle.lincoln.mkz_2020': + 'car', + 'vehicle.mini.cooper_s_2021': + 'car', + 'vehicle.mercedes.coupe_2020': + 'car', + 'vehicle.ford.mustang': + 'car', + 'vehicle.nissan.patrol_2021': + 'car', + 'vehicle.audi.tt': + 'car', + 'vehicle.ford.crown': + 'car', + 'vehicle.tesla.model3': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked': + 'car', + '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked': + 'van', + 'vehicle.ford.ambulance': + 'van', + 'vehicle.carlamotors.firetruck': + 'truck', + 'traffic.speed_limit.30': + 'traffic_sign', + 'traffic.speed_limit.40': + 'traffic_sign', + 'traffic.speed_limit.50': + 'traffic_sign', + 'traffic.speed_limit.60': + 'traffic_sign', + 'traffic.speed_limit.90': + 'traffic_sign', + 'traffic.speed_limit.120': + 'traffic_sign', + 'traffic.stop': + 'traffic_sign', + 'traffic.yield': + 'traffic_sign', + 'traffic.traffic_light': + 'traffic_light', + 'static.prop.warningconstruction': + 'traffic_cone', + 'static.prop.warningaccident': + 'traffic_cone', + 'static.prop.trafficwarning': + 'traffic_cone', + 'static.prop.constructioncone': + 'traffic_cone', + 'walker.pedestrian.0001': + 'pedestrian', + 'walker.pedestrian.0003': + 'pedestrian', + 'walker.pedestrian.0004': + 'pedestrian', + 'walker.pedestrian.0005': + 'pedestrian', + 'walker.pedestrian.0007': + 'pedestrian', + 'walker.pedestrian.0010': + 'pedestrian', + 'walker.pedestrian.0013': + 'pedestrian', + 'walker.pedestrian.0014': + 'pedestrian', + 'walker.pedestrian.0015': + 'pedestrian', + 'walker.pedestrian.0016': + 'pedestrian', + 'walker.pedestrian.0017': + 'pedestrian', + 'walker.pedestrian.0018': + 'pedestrian', + 'walker.pedestrian.0019': + 'pedestrian', + 'walker.pedestrian.0020': + 'pedestrian', + 'walker.pedestrian.0021': + 'pedestrian', + 'walker.pedestrian.0022': + 'pedestrian', + 'walker.pedestrian.0025': + 'pedestrian', + 'walker.pedestrian.0027': + 'pedestrian', + 'walker.pedestrian.0030': + 'pedestrian', + 'walker.pedestrian.0031': + 'pedestrian', + 'walker.pedestrian.0032': + 'pedestrian', + 'walker.pedestrian.0034': + 'pedestrian', + 'walker.pedestrian.0035': + 'pedestrian', + 'walker.pedestrian.0041': + 'pedestrian', + 'walker.pedestrian.0042': + 'pedestrian', + 'walker.pedestrian.0046': + 'pedestrian', + 'walker.pedestrian.0047': + 'pedestrian', + 'static.prop.dirtdebris01': + 'others', + 'static.prop.dirtdebris02': + 'others' +}) +collect_keys = [ + 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', 'ego_pose', + 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes' +] +num_classes = 9 +map_classes = [ + 'Broken', 'Solid', 'SolidSolid', 'Center', 'TrafficLight', 'StopSign' +] +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 = 6 +agent_query_num_vec = 900 +agent_num_topk_sift = 900 +agent_num_propagated = 50 +map_query_num_vec = 100 +map_num_topk_sift = 100 +map_num_propagated = 50 +memory_len_frame = 10 +num_mode = 6 +num_gpus = 1 +batch_size = 6 +num_iters_per_epoch = 1041 +data_aug_conf = dict( + resize_lim=(0.64, 0.69), + final_dim=(384, 1056), + bot_pct_lim=(0.0, 0.0), + rot_lim=(-5.4, 5.4), + H=900, + W=1600, + rand_flip=True, + rot3d_range=[0, 0]) +_dim_ = 512 +queue_length = 1 +total_epochs = 24 +dropout = 0.1 +model = dict( + type='DriveTransformer', + use_grid_mask=False, + pretrained=dict(img='./ckpts/resnet50-19c8e357.pth'), + img_backbone=dict( + type='ResNet', + depth=50, + num_stages=4, + out_indices=(3, ), + frozen_stages=1, + norm_cfg=dict(type='BN', requires_grad=False), + norm_eval=True, + style='pytorch'), + img_neck=dict( + type='FPN', + in_channels=[2048], + out_channels=512, + start_level=0, + add_extra_convs='on_output', + num_outs=1, + relu_before_extra_convs=True), + pts_bbox_head=dict( + type='DriveTransformerlHead', + ego_lcf_feat_idx=[0, 1, 2, 3, 4, 5, 6, 7, 8], + ego_command_dim=128, + img_stride=32, + embed_dims=512, + num_reg_fcs=2, + num_cls_fcs=2, + agent_num_propagated=50, + map_num_propagated=50, + memory_len_frame=10, + agent_num_query=900, + agent_num_query_sifted=900, + fut_mode=6, + fut_ego_mode=1, + fut_ts=6, + fut_ego_fix_dist=True, + fut_ts_ego_fix_dist=20, + fut_ts_ego_fix_time=30, + num_classes=9, + code_size=10, + map_num_query=100, + map_num_query_sifted=100, + map_num_classes=6, + map_num_pts_per_vec=20, + map_num_pts_per_gt_vec=20, + map_query_embed_type='instance_pts', + map_transform_method='minmax', + map_gt_shift_pts_pattern='v2', + map_dir_interval=1, + map_code_size=2, + map_code_weights=[1.0, 1.0, 1.0, 1.0], + sync_cls_avg_factor=True, + with_box_refine=True, + LID=True, + with_ego_pos=True, + position_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0], + depth_start=1, + depth_step=0.8, + depth_num=64, + agent_prep_decoder=dict( + type='DriveTransformerPreDecoder', + num_layers=1, + return_intermediate=False, + transformerlayers=dict( + type='DriveTransformerPreDecoderLayer', + attn_cfgs=[ + dict( + type='AttentionLayer', + embed_dims=512, + head_dim=64, + attn_drop=0.1), + dict( + type='AttentionLayer', + embed_dims=512, + head_dim=64, + attn_drop=0.1) + ], + ffn_cfgs=dict( + type='SwiGLULayer', + embed_dims=512, + feedforward_channels=2048, + ffn_drop=0.1), + with_cp=False, + operation_order=('cross_attn', 'norm', 'self_attn', 'norm', + 'ffn', 'norm'))), + map_prep_decoder=dict( + type='DriveTransformerPreDecoder', + num_layers=1, + return_intermediate=False, + transformerlayers=dict( + type='DriveTransformerPreDecoderLayer', + attn_cfgs=[ + dict( + type='AttentionLayer', + embed_dims=512, + head_dim=64, + attn_drop=0.1), + dict( + type='AttentionLayer', + embed_dims=512, + head_dim=64, + attn_drop=0.1) + ], + ffn_cfgs=dict( + type='SwiGLULayer', + embed_dims=512, + feedforward_channels=2048, + ffn_drop=0.1), + with_cp=False, + operation_order=('cross_attn', 'norm', 'self_attn', 'norm', + 'ffn', 'norm'))), + transformer=dict( + type='DriveTransformerWrapper', + embed_dims=512, + decoder=dict( + type='DriveTransformerDecoder', + num_layers=6, + fut_mode=6, + agent_num_query=900, + map_num_query=100, + map_num_pts_per_vec=20, + return_intermediate=True, + embed_dims=512, + refine=True, + transformerlayers=dict( + type='DriveTransformerDecoderLayer', + agent_query_num=900, + map_query_num=100, + memory_len_frame=10, + agent_num_propagated=50, + map_num_propagated=50, + map_pts_per_vec=20, + feedforward_channels=2048, + ffn_dropout=0.1, + with_cp=False, + attn_cfgs=[ + dict( + type='AttentionLayer', + embed_dims=512, + head_dim=64, + attn_drop=0.1, + layer_scale=0.01), + dict( + type='AttentionLayer', + embed_dims=512, + head_dim=64, + attn_drop=0.1, + layer_scale=0.01), + dict( + type='AttentionLayer', + embed_dims=512, + head_dim=64, + attn_drop=0.1, + no_wq=True) + ], + ffn_cfgs=dict( + type='SwiGLULayer', + embed_dims=512, + feedforward_channels=2048, + ffn_drop=0.1), + operation_order=('task_self_attn', 'norm', + 'temporal_cross_attn', 'norm', + 'sensor_cross_attn', 'norm', 'ffn', + 'norm')))), + bbox_coder=dict( + type='CustomNMSFreeCoder', + post_center_range=[-20, -35, -10.0, 20, 35, 10.0], + pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0], + max_num=100, + voxel_size=[0.15, 0.15, 4], + num_classes=9), + loss_cls=dict( + type='FocalLoss', + use_sigmoid=True, + gamma=2.0, + alpha=0.25, + loss_weight=2.0), + loss_bbox=dict(type='L1Loss', loss_weight=0.25), + loss_traj=dict(type='L1Loss', loss_weight=0.2), + loss_traj_cls=dict( + type='FocalLoss', + use_sigmoid=True, + gamma=2.0, + alpha=0.5, + loss_weight=0.2), + map_bbox_coder=dict( + type='MapNMSFreeCoder', + post_center_range=[-20, -35, -20, -35, 20, 35, 20, 35], + pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0], + max_num=50, + voxel_size=[0.15, 0.15, 4], + num_classes=6), + loss_map_cls=dict( + type='FocalLoss', + use_sigmoid=True, + gamma=2.0, + alpha=0.25, + loss_weight=2.0), + loss_map_pts=dict(type='PtsL1Loss', loss_weight=1.0), + loss_map_dir=dict(type='PtsDirCosLoss', loss_weight=0.005), + loss_plan_reg_fix_time=dict(type='L1Loss', loss_weight=3.5), + loss_plan_reg_fix_dist=dict(type='L1Loss', loss_weight=10.0), + loss_plan_cls=dict( + type='FocalLoss', + use_sigmoid=True, + gamma=4.0, + alpha=0.5, + loss_weight=20.0)), + train_cfg=dict( + pts=dict( + grid_size=[512, 512, 1], + voxel_size=[0.15, 0.15, 4], + point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0], + out_size_factor=4, + assigner=dict( + type='HungarianAssigner3D', + cls_cost=dict( + type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25), + reg_cost=dict(type='BBox3DL1Cost', weight=0.25), + iou_cost=dict(type='IoUCost', weight=0.0), + pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]), + map_assigner=dict( + type='MapHungarianAssigner3D', + cls_cost=dict( + type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25), + reg_cost=dict( + type='BBoxL1Cost', weight=0.0, box_format='xywh'), + iou_cost=dict(type='IoUCost', iou_mode='giou', weight=0.0), + pts_cost=dict(type='OrderedPtsL1Cost', weight=1.0), + pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0])))) +info_root = 'data/infos' +map_root = 'data/bench2drive/maps' +map_file = 'data/infos/b2d_map_infos.pkl' +ann_file_train = 'data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl' +ann_file_val = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl' +ann_file_test = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl' +optimizer = dict(type='AdamW', lr=0.0001, weight_decay=0.01) +optimizer_config = dict( + grad_clip=dict(max_norm=35, norm_type=2), + 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